+ python -m lidar_slam --no-model /working/19263b82-d54e-4276-9d33-1c75c134a9bd Lidar SLAM 0.0.14 ===================================================== The recording path: /working/19263b82-d54e-4276-9d33-1c75c134a9bd 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 0.019254154 Adjusted end_distance from 9.223372036854776e+18 to 1110.039254154 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.019254154 meters Centerline goodness : 0.999844 Centerline is valid? [0, True] SLAMing on 0.049254153999999994 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:0.03, Y:0.00, Z:-0.00 [[ 9.99999982e-01 -7.55346208e-05 -1.72072408e-04 3.03153716e-02] [ 7.55329315e-05 9.99999997e-01 -9.82382805e-06 8.06446460e-05] [ 1.72073149e-04 9.81083074e-06 9.99999985e-01 -1.57174317e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.079254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:-0.00 [[ 9.99997766e-01 -2.09618729e-03 -2.73662735e-04 6.14767873e-02] [ 2.09618309e-03 9.99997803e-01 -1.56237464e-05 -1.81617614e-03] [ 2.73694884e-04 1.50500643e-05 9.99999962e-01 -5.50924747e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10925415399999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.00, Z:-0.00 [[ 9.99991931e-01 -3.92761959e-03 -8.43229864e-04 9.23362007e-02] [ 3.92758033e-03 9.99992286e-01 -4.82157955e-05 -1.55957721e-03] [ 8.43412732e-04 4.49035535e-05 9.99999643e-01 -8.68466471e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.139254154 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.00 [[ 9.99978707e-01 -6.47712101e-03 -7.95704737e-04 1.23785530e-01] [ 6.47708680e-03 9.99979022e-01 -4.55607293e-05 -1.02698863e-03] [ 7.95983148e-04 4.04059105e-05 9.99999682e-01 -7.42780522e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16925415399999996 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.00, Z:0.00 [[ 9.99956434e-01 -9.29851459e-03 -8.17063329e-04 1.56042746e-01] [ 9.29847876e-03 9.99956767e-01 -4.76489367e-05 -6.85591298e-04] [ 8.17471069e-04 4.00494148e-05 9.99999665e-01 1.80303577e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19925415399999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.00, Z:0.00 [[ 9.99863526e-01 -1.64995857e-02 -8.33048726e-04 1.89623786e-01] [ 1.64995510e-02 9.99863872e-01 -4.85112739e-05 -3.11539915e-03] [ 8.33735741e-04 3.47597234e-05 9.99999652e-01 4.60815008e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22925415399999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.00, Z:0.00 [[ 9.99783592e-01 -2.07843717e-02 -8.82536878e-04 2.22699845e-01] [ 2.07843354e-02 9.99783981e-01 -5.03109015e-05 -4.06741574e-03] [ 8.83391914e-04 3.19570713e-05 9.99999609e-01 2.69802168e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.25925415399999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.01, Z:-0.00 [[ 9.99575625e-01 -2.91226646e-02 -6.63193663e-04 2.56394040e-01] [ 2.91226454e-02 9.99575845e-01 -3.86464405e-05 -8.12297813e-03] [ 6.64037854e-04 1.93160860e-05 9.99999779e-01 -2.13809403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.289254154 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.01, Z:-0.00 [[ 9.99430047e-01 -3.37484985e-02 -7.87575976e-04 2.88256174e-01] [ 3.37484733e-02 9.99430357e-01 -4.53143495e-05 -8.43050595e-03] [ 7.88656630e-04 1.87090357e-05 9.99999689e-01 -4.39541632e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31925415399999996 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.01, Z:-0.00 [[ 9.99282199e-01 -3.78738533e-02 -8.11746088e-04 3.20897677e-01] [ 3.78738286e-02 9.99282528e-01 -4.57586090e-05 -8.83796232e-03] [ 8.12896738e-04 1.49818312e-05 9.99999669e-01 -2.69004354e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.349254154 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.01, Z:-0.00 [[ 9.98971056e-01 -4.53489445e-02 -5.50457028e-04 3.54464228e-01] [ 4.53489338e-02 9.98971207e-01 -3.19302917e-05 -1.02475853e-02] [ 5.51338727e-04 6.93479787e-06 9.99999848e-01 -5.43740438e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.37925415399999995 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.01, Z:-0.00 [[ 9.98815285e-01 -4.86576801e-02 -6.76145937e-04 3.87137496e-01] [ 4.86576650e-02 9.98815514e-01 -3.87135392e-05 -9.85010537e-03] [ 6.77228762e-04 5.76799216e-06 9.99999771e-01 -1.20197793e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.409254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.01, Z:0.00 [[ 9.98656265e-01 -5.18184864e-02 -7.12843604e-04 4.20608468e-01] [ 5.18184712e-02 9.98656520e-01 -3.97900822e-05 -9.36525620e-03] [ 7.13947775e-04 2.79814906e-06 9.99999745e-01 2.19942513e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.43925415399999995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.01, Z:0.00 [[ 9.98365731e-01 -5.71409037e-02 -8.85580447e-04 4.53718023e-01] [ 5.71408819e-02 9.98366124e-01 -4.99406954e-05 -9.94214384e-03] [ 8.86987175e-04 -7.43768893e-07 9.99999607e-01 2.88686838e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.469254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.01, Z:0.00 [[ 9.98233443e-01 -5.94042302e-02 -1.06301516e-03 4.86637525e-01] [ 5.94042013e-02 9.98234009e-01 -5.87538005e-05 -8.95761307e-03] [ 1.06462811e-03 -4.49755780e-06 9.99999433e-01 3.20486278e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.49925415399999995 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.01, Z:0.00 [[ 9.98157892e-01 -6.06539037e-02 -1.38783987e-03 5.18583072e-01] [ 6.06538555e-02 9.98158857e-01 -7.68686948e-05 -7.84172834e-03] [ 1.38994704e-03 -7.45074427e-06 9.99999034e-01 3.04174912e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5292541539999999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.01, Z:0.00 [[ 9.98088518e-01 -6.17779301e-02 -1.67258326e-03 5.51333918e-01] [ 6.17778629e-02 9.98089919e-01 -9.18438787e-05 -5.42135714e-03] [ 1.67506242e-03 -1.16602986e-05 9.99998597e-01 1.54063342e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5592541539999999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.00, Z:0.00 [[ 9.98135082e-01 -6.10261707e-02 -1.47108622e-03 5.83410787e-01] [ 6.10261184e-02 9.98136166e-01 -8.04566484e-05 -2.77974448e-03] [ 1.47325432e-03 -9.46807824e-06 9.99998915e-01 6.85877986e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5892541539999999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:0.62, Y:0.00, Z:0.00 [[ 9.98332082e-01 -5.77075000e-02 -1.70272579e-03 6.16610023e-01] [ 5.77074261e-02 9.98333534e-01 -9.25478383e-05 1.33461668e-03] [ 1.70522896e-03 -5.86644638e-06 9.99998546e-01 1.51473153e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6192541539999998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:0.65, Y:0.00, Z:0.00 [[ 9.98472997e-01 -5.52089969e-02 -1.90798983e-03 6.48310148e-01] [ 5.52089011e-02 9.98474820e-01 -1.02900747e-04 4.47328768e-03] [ 1.91076085e-03 -2.59440406e-06 9.99998174e-01 2.21118844e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6492541539999999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:0.68, Y:0.01, Z:0.00 [[ 9.98581259e-01 -5.32410188e-02 -9.28551207e-04 6.80988225e-01] [ 5.32409955e-02 9.98581691e-01 -4.98524893e-05 8.05666058e-03] [ 9.29888432e-04 3.44770966e-07 9.99999568e-01 1.85120260e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6792541539999999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:0.71, Y:0.01, Z:0.00 [[ 9.98802772e-01 -4.89171977e-02 3.61772825e-04 7.13382359e-01] [ 4.89171945e-02 9.98802837e-01 1.77783418e-05 1.27433435e-02] [-3.62209391e-04 -6.01454548e-08 9.99999934e-01 1.98976066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7092541539999999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:0.75, Y:0.02, Z:0.00 [[ 9.98877897e-01 -4.73570011e-02 5.11115868e-04 7.46212309e-01] [ 4.73569938e-02 9.98878028e-01 2.64034514e-05 1.58956449e-02] [-5.11792799e-04 -2.16891303e-06 9.99999869e-01 2.20094055e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7392541539999998 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:0.78, Y:0.02, Z:0.00 [[ 9.98949526e-01 -4.58190801e-02 6.75211878e-04 7.78732992e-01] [ 4.58190669e-02 9.98949754e-01 3.49845584e-05 1.89170082e-02] [-6.76105700e-04 -4.01022987e-06 9.99999771e-01 1.71929681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7692541539999999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:0.81, Y:0.02, Z:0.00 [[ 9.99003974e-01 -4.46199821e-02 3.42430089e-04 8.11174444e-01] [ 4.46199787e-02 9.99004033e-01 1.74363130e-05 2.19158168e-02] [-3.42867048e-04 -2.13972267e-06 9.99999941e-01 1.45468323e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7992541539999999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:0.84, Y:0.02, Z:0.00 [[ 9.99009638e-01 -4.44929880e-02 3.42437164e-04 8.44686951e-01] [ 4.44929846e-02 9.99009697e-01 1.73007630e-05 2.35881358e-02] [-3.42867810e-04 -2.04757751e-06 9.99999941e-01 1.62239423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8292541539999998 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:0.88, Y:0.03, Z:0.00 [[ 9.99116494e-01 -4.20256360e-02 -2.79824434e-04 8.76634455e-01] [ 4.20256334e-02 9.99116533e-01 -1.51728285e-05 2.83539487e-02] [ 2.80214866e-04 3.39962412e-06 9.99999961e-01 9.28330873e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8592541539999998 meters Centerline goodness : 0.998556 Centerline is valid? [True, True] Translation: X:0.91, Y:0.03, Z:0.00 [[ 9.99182855e-01 -4.04083992e-02 -8.85224881e-04 9.09002211e-01] [ 4.04083731e-02 9.99183247e-01 -4.73840992e-05 3.15931209e-02] [ 8.86416587e-04 1.15748823e-05 9.99999607e-01 7.76875570e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8892541539999999 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:0.94, Y:0.04, Z:-0.00 [[ 9.99282480e-01 -3.78587826e-02 -1.11228329e-03 9.42138663e-01] [ 3.78587412e-02 9.99283099e-01 -5.82632140e-05 3.63536923e-02] [ 1.11369167e-03 1.61117638e-05 9.99999380e-01 -1.72248104e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9192541539999999 meters Centerline goodness : 0.997584 Centerline is valid? [True, True] Translation: X:0.97, Y:0.04, Z:-0.00 [[ 9.99334806e-01 -3.64479891e-02 -1.22033280e-03 9.74931926e-01] [ 3.64479384e-02 9.99335551e-01 -6.37293605e-05 3.95840345e-02] [ 1.22184476e-03 1.92083532e-05 9.99999253e-01 -7.57943580e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9492541539999998 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:1.01, Y:0.04, Z:-0.00 [[ 9.99365216e-01 -3.56143607e-02 -8.84341719e-04 1.00739487e+00] [ 3.56143337e-02 9.99365607e-01 -4.62499118e-05 4.30354259e-02] [ 8.85427860e-04 1.47253120e-05 9.99999608e-01 -1.54278666e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9792541539999998 meters Centerline goodness : 0.996397 Centerline is valid? [True, True] Translation: X:1.04, Y:0.05, Z:-0.00 [[ 9.99423238e-01 -3.39313986e-02 -1.36072761e-03 1.03937470e+00] [ 3.39313338e-02 9.99424164e-01 -7.07180742e-05 4.81161696e-02] [ 1.36234361e-03 2.45059841e-05 9.99999072e-01 -2.11122945e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.009254154 meters Centerline goodness : 0.995579 Centerline is valid? [True, True] Translation: X:1.07, Y:0.05, Z:-0.00 [[ 9.99471086e-01 -3.24843913e-02 -1.52059751e-03 1.07124088e+00] [ 3.24843087e-02 9.99472242e-01 -7.90226683e-05 5.12289587e-02] [ 1.52236200e-03 2.95853133e-05 9.99998841e-01 -2.07670773e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0392541539999998 meters Centerline goodness : 0.994777 Centerline is valid? [True, True] Translation: X:1.10, Y:0.05, Z:-0.00 [[ 9.99526646e-01 -3.07288231e-02 -1.49077140e-03 1.10414277e+00] [ 3.07287423e-02 9.99527758e-01 -7.70710501e-05 5.45019426e-02] [ 1.49243570e-03 3.12250379e-05 9.99998886e-01 -2.57503661e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0692541539999998 meters Centerline goodness : 0.993974 Centerline is valid? [True, True] Translation: X:1.14, Y:0.06, Z:-0.00 [[ 9.99593699e-01 -2.84715167e-02 -1.34489418e-03 1.13653475e+00] [ 2.84714492e-02 9.99594604e-01 -6.92871705e-05 5.72904464e-02] [ 1.34632167e-03 3.09679328e-05 9.99999093e-01 -2.70390724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0992541539999998 meters Centerline goodness : 0.992700 Centerline is valid? [True, True] Translation: X:1.17, Y:0.06, Z:-0.00 [[ 9.99703990e-01 -2.43285977e-02 -2.28125933e-04 1.16949201e+00] [ 2.43285955e-02 9.99704016e-01 -1.22972101e-05 6.13452760e-02] [ 2.28357586e-04 6.74358640e-06 9.99999974e-01 -3.08028638e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1292541539999998 meters Centerline goodness : 0.991689 Centerline is valid? [True, True] Translation: X:1.20, Y:0.06, Z:-0.00 [[ 9.99748681e-01 -2.24137643e-02 4.45457579e-04 1.20240709e+00] [ 2.24137567e-02 9.99748780e-01 2.21259893e-05 6.39553831e-02] [-4.45841598e-04 -1.21360508e-05 9.99999901e-01 -3.40962620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1592541539999999 meters Centerline goodness : 0.989264 Centerline is valid? [True, True] Translation: X:1.23, Y:0.07, Z:-0.00 [[ 9.99803725e-01 -1.97831869e-02 1.06668616e-03 1.23449714e+00] [ 1.97831409e-02 9.99804293e-01 5.36443394e-05 6.72958160e-02] [-1.06753866e-03 -3.25314077e-05 9.99999430e-01 -4.11829676e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.189254154 meters Centerline goodness : 0.987648 Centerline is valid? [True, True] Translation: X:1.27, Y:0.07, Z:-0.00 [[ 9.99817959e-01 -1.90153736e-02 1.57004223e-03 1.26758670e+00] [ 1.90152731e-02 9.99819190e-01 7.89161268e-05 6.97507100e-02] [-1.57125897e-03 -4.90469790e-05 9.99998764e-01 -4.38884182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2192541539999997 meters Centerline goodness : 0.986389 Centerline is valid? [True, True] Translation: X:1.30, Y:0.07, Z:-0.01 [[ 9.99821294e-01 -1.87436159e-02 2.46098099e-03 1.30052313e+00] [ 1.87433678e-02 9.99824320e-01 1.23854003e-04 7.21650611e-02] [-2.46287012e-03 -7.77047979e-05 9.99996964e-01 -5.05721351e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2492541539999997 meters Centerline goodness : 0.983768 Centerline is valid? [True, True] Translation: X:1.33, Y:0.07, Z:-0.01 [[ 9.99790200e-01 -2.02199487e-02 3.27241269e-03 1.33320898e+00] [ 2.02195191e-02 9.99795551e-01 1.64324139e-04 7.45448046e-02] [-3.27506628e-03 -9.81230526e-05 9.99994632e-01 -5.48969871e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2792541539999998 meters Centerline goodness : 0.982300 Centerline is valid? [True, True] Translation: X:1.37, Y:0.08, Z:-0.01 [[ 9.99759666e-01 -2.16536843e-02 3.42465695e-03 1.36559626e+00] [ 2.16532226e-02 9.99765527e-01 1.71855926e-04 7.57169211e-02] [-3.42757528e-03 -9.76597642e-05 9.99994121e-01 -5.68591000e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3092541539999998 meters Centerline goodness : 0.980124 Centerline is valid? [True, True] Translation: X:1.40, Y:0.08, Z:-0.01 [[ 9.99612841e-01 -2.76208844e-02 3.35471220e-03 1.39822314e+00] [ 2.76204766e-02 9.99618468e-01 1.67823870e-04 7.59006787e-02] [-3.35806771e-03 -7.51001454e-05 9.99994359e-01 -6.60901852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3392541539999998 meters Centerline goodness : 0.978881 Centerline is valid? [True, True] Translation: X:1.43, Y:0.08, Z:-0.01 [[ 9.99508336e-01 -3.11316102e-02 3.72940990e-03 1.43022260e+00] [ 3.11311340e-02 9.99515292e-01 1.85700875e-04 7.63096412e-02] [-3.73338339e-03 -6.95088134e-05 9.99993028e-01 -7.44172717e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3692541539999998 meters Centerline goodness : 0.877323 Centerline is valid? [True, False] Translation: X:1.43, Y:0.07, Z:-0.00 [[ 0.99950798 -0.03062591 -0.00677142 1.42583261] [ 0.0306717 0.99950662 0.00676557 0.06887352] [ 0.00656088 -0.00696993 0.99995419 -0.0037315 ] [ 0. 0. 0. 1. ]] SLAMing on 1.3992541539999999 meters Centerline goodness : 0.968899 Centerline is valid? [False, True] Translation: X:1.43, Y:0.07, Z:-0.00 [[ 0.999426 -0.03296655 -0.00780256 1.4280815 ] [ 0.0330271 0.99942431 0.00776268 0.06704177] [ 0.00754216 -0.00801592 0.99993943 -0.00293989] [ 0. 0. 0. 1. ]] SLAMing on 1.4292541539999997 meters Centerline goodness : 0.966259 Centerline is valid? [True, True] Translation: X:1.46, Y:0.07, Z:0.00 [[ 9.99227626e-01 -3.87184457e-02 -6.71073101e-03 1.46062321e+00] [ 3.87169275e-02 9.99250155e-01 -3.56041615e-04 6.93493391e-02] [ 6.71948438e-03 9.59477316e-05 9.99977419e-01 6.56153408e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4592541539999997 meters Centerline goodness : 0.857648 Centerline is valid? [True, False] Translation: X:1.46, Y:0.07, Z:0.00 [[ 9.99181149e-01 -3.96927497e-02 -7.84331236e-03 1.46340819e+00] [ 3.97049313e-02 9.99210463e-01 1.40350417e-03 6.70895031e-02] [ 7.78141083e-03 -1.71377309e-03 9.99968256e-01 6.81809355e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4892541539999997 meters Centerline goodness : 0.399584 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:0.00 [[ 9.99132665e-01 -4.06638532e-02 -8.96487893e-03 1.46595749e+00] [ 4.06947112e-02 9.99166221e-01 3.28689898e-03 6.33495675e-02] [ 8.82374622e-03 -3.64887130e-03 9.99954413e-01 1.11000849e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5192541539999997 meters Centerline goodness : 0.833839 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:0.00 [[ 9.99117103e-01 -4.09482478e-02 -9.39448069e-03 1.46732827e+00] [ 4.09901116e-02 9.99150266e-01 4.30771768e-03 6.11940691e-02] [ 9.21010439e-03 -4.68899522e-03 9.99946592e-01 7.97123055e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5492541539999998 meters Centerline goodness : 0.188835 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:0.00 [[ 9.99096856e-01 -4.11929038e-02 -1.04219797e-02 1.47003976e+00] [ 4.12539386e-02 9.99132374e-01 5.71067079e-03 5.87585341e-02] [ 1.01776982e-02 -6.13546094e-03 9.99929383e-01 2.63488075e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5792541539999998 meters Centerline goodness : 0.254343 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.00 [[ 9.98981603e-01 -4.37087894e-02 -1.11936958e-02 1.47257538e+00] [ 4.37450348e-02 9.99038182e-01 3.01379475e-03 5.64983807e-02] [ 1.10512002e-02 -3.50039412e-03 9.99932807e-01 -7.53645503e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6092541539999998 meters Centerline goodness : 0.192777 Centerline is valid? [False, False] Translation: X:1.48, Y:0.05, Z:-0.00 [[ 0.99896244 -0.04394695 -0.01194615 1.47504565] [ 0.04400212 0.99902177 0.00439573 0.05345286] [ 0.01174128 -0.00491683 0.99991898 -0.00149879] [ 0. 0. 0. 1. ]] SLAMing on 1.6392541539999996 meters Centerline goodness : 0.228750 Centerline is valid? [False, False] Translation: X:1.48, Y:0.05, Z:-0.00 [[ 0.99892147 -0.04451262 -0.01321041 1.47878308] [ 0.04459661 0.99898625 0.00613268 0.05049229] [ 0.01292404 -0.0067152 0.99989393 -0.00241548] [ 0. 0. 0. 1. ]] SLAMing on 1.6692541539999997 meters Centerline goodness : 0.198227 Centerline is valid? [False, False] Translation: X:1.48, Y:0.05, Z:-0.00 [[ 0.99868989 -0.04923742 -0.01393487 1.48094167] [ 0.04927714 0.99878196 0.00252134 0.04861076] [ 0.01379376 -0.0032047 0.99989973 -0.00229783] [ 0. 0. 0. 1. ]] SLAMing on 1.6992541539999997 meters Centerline goodness : 0.199912 Centerline is valid? [False, False] Translation: X:1.48, Y:0.05, Z:-0.00 [[ 0.99860907 -0.05058706 -0.01486162 1.48360224] [ 0.05064152 0.99871141 0.00331063 0.04593899] [ 0.014675 -0.00405864 0.99988408 -0.0024861 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7292541539999997 meters Centerline goodness : 0.242594 Centerline is valid? [False, False] Translation: X:1.49, Y:0.04, Z:-0.00 [[ 0.9983794 -0.05449769 -0.01638819 1.48791994] [ 0.05453116 0.99851078 0.00160231 0.04117717] [ 0.01627647 -0.00249338 0.99986442 -0.00273593] [ 0. 0. 0. 1. ]] SLAMing on 1.7592541539999997 meters Centerline goodness : 0.237997 Centerline is valid? [False, False] Translation: X:1.49, Y:0.04, Z:-0.00 [[ 9.98212032e-01 -5.73217785e-02 -1.69397037e-02 1.48954941e+00] [ 5.73084252e-02 9.98355710e-01 -1.27306251e-03 3.97962884e-02] [ 1.69848241e-02 2.99998570e-04 9.99855702e-01 -2.80368461e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7892541539999998 meters Centerline goodness : 0.233191 Centerline is valid? [False, False] Translation: X:1.49, Y:0.04, Z:-0.00 [[ 9.98175950e-01 -5.74922475e-02 -1.84232183e-02 1.49350465e+00] [ 5.75191378e-02 9.98343968e-01 9.32603617e-04 3.58626036e-02] [ 1.83390914e-02 -1.99059014e-03 9.99829843e-01 -3.29009147e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8192541539999998 meters Centerline goodness : 0.224472 Centerline is valid? [False, False] Translation: X:1.50, Y:0.03, Z:-0.00 [[ 9.97997575e-01 -6.01843624e-02 -1.94597786e-02 1.49628411e+00] [ 6.01684527e-02 9.98187252e-01 -1.40255450e-03 3.23789609e-02] [ 1.95089148e-02 2.28881218e-04 9.99809657e-01 -3.16436620e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8492541539999996 meters Centerline goodness : 0.216118 Centerline is valid? [False, False] Translation: X:1.50, Y:0.03, Z:-0.00 [[ 9.98016049e-01 -5.93392415e-02 -2.10432810e-02 1.50058273e+00] [ 5.93833354e-02 9.98234161e-01 1.47618932e-03 2.58793223e-02] [ 2.09185260e-02 -2.72288085e-03 9.99777476e-01 -3.57497534e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8792541539999996 meters Centerline goodness : 0.212589 Centerline is valid? [False, False] Translation: X:1.50, Y:0.02, Z:-0.00 [[ 0.9980622 -0.05833307 -0.02165853 1.50228967] [ 0.05842969 0.99828408 0.00385462 0.0217019 ] [ 0.02139651 -0.00511265 0.999758 -0.0035196 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9092541539999996 meters Centerline goodness : 0.213555 Centerline is valid? [False, False] Translation: X:1.50, Y:0.02, Z:-0.00 [[ 0.99808405 -0.05773144 -0.02225569 1.50360087] [ 0.05787107 0.9983079 0.00568118 0.01784661] [ 0.02189005 -0.00695826 0.99973617 -0.00285987] [ 0. 0. 0. 1. ]] SLAMing on 1.9392541539999997 meters Centerline goodness : 0.213436 Centerline is valid? [False, False] Translation: X:1.50, Y:0.02, Z:-0.00 [[ 0.99806614 -0.05782657 -0.02280522 1.50480037] [ 0.05799468 0.99829387 0.00678014 0.01507036] [ 0.02237424 -0.00808961 0.99971694 -0.00217898] [ 0. 0. 0. 1. ]] SLAMing on 1.9692541539999997 meters Centerline goodness : 0.213705 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.00 [[ 9.98093457e-01 -5.66238672e-02 -2.45599039e-02 1.50865511e+00] [ 5.68898955e-02 9.98327622e-01 1.02712871e-02 8.24226211e-03] [ 2.39372305e-02 -1.16489148e-02 9.99645593e-01 -1.02123379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9992541539999997 meters Centerline goodness : 0.213463 Centerline is valid? [False, False] Translation: X:1.51, Y:0.01, Z:-0.00 [[ 9.98087078e-01 -5.62435282e-02 -2.56680679e-02 1.51106104e+00] [ 5.65605576e-02 9.98329479e-01 1.17963497e-02 5.24542658e-03] [ 2.49617206e-02 -1.32255844e-02 9.99600919e-01 -4.55010386e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0292541539999998 meters Centerline goodness : 0.214662 Centerline is valid? [False, False] Translation: X:1.51, Y:0.00, Z:-0.00 [[ 9.98110546e-01 -5.52301502e-02 -2.69252240e-02 1.51421701e+00] [ 5.56284852e-02 9.98349470e-01 1.42760794e-02 1.22943429e-03] [ 2.60923131e-02 -1.57469149e-02 9.99535505e-01 -3.27397046e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0592541539999996 meters Centerline goodness : 0.213030 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.00, Z:0.00 [[ 9.98148215e-01 -5.33638247e-02 -2.91966119e-02 1.51918738e+00] [ 5.38621166e-02 9.98411147e-01 1.65545961e-02 -4.80866137e-03] [ 2.82668062e-02 -1.80965319e-02 9.99436593e-01 7.72240743e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.089254154 meters Centerline goodness : 0.216597 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.01, Z:0.00 [[ 9.98213747e-01 -5.16612575e-02 -3.00071765e-02 1.52125682e+00] [ 5.22223221e-02 9.98469176e-01 1.82245252e-02 -8.00656405e-03] [ 2.90197389e-02 -1.97590160e-02 9.99383528e-01 9.10200308e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1192541539999996 meters Centerline goodness : 0.212469 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.02, Z:0.00 [[ 0.9984247 -0.04338045 -0.03558436 1.53299637] [ 0.04434605 0.99865641 0.02681046 -0.01658842] [ 0.0343735 -0.02834625 0.99900698 0.00440959] [ 0. 0. 0. 1. ]] SLAMing on 2.149254154 meters Centerline goodness : 0.210522 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.02, Z:0.01 [[ 0.99856755 -0.03875984 -0.03688523 1.53571189] [ 0.03996408 0.99867272 0.03249101 -0.02041949] [ 0.03557692 -0.03391855 0.99879118 0.00522629] [ 0. 0. 0. 1. ]] SLAMing on 2.1792541539999997 meters Centerline goodness : 0.208582 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.02, Z:0.01 [[ 0.99863201 -0.03617819 -0.03775245 1.53690838] [ 0.03744338 0.99874169 0.033362 -0.02180492] [ 0.03649796 -0.03472994 0.99873006 0.00624138] [ 0. 0. 0. 1. ]] SLAMing on 2.2092541539999995 meters Centerline goodness : 0.208883 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.02, Z:0.01 [[ 0.99868537 -0.03324124 -0.03901999 1.53916959] [ 0.03459921 0.99880013 0.03465827 -0.02343134] [ 0.03782109 -0.03596277 0.99863719 0.00718133] [ 0. 0. 0. 1. ]] SLAMing on 2.2392541539999997 meters Centerline goodness : 0.214764 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.02, Z:0.01 [[ 0.99889375 -0.02620312 -0.03904716 1.58250908] [ 0.02741179 0.99915125 0.03074705 -0.02191825] [ 0.03820835 -0.03178339 0.99876421 0.01237543] [ 0. 0. 0. 1. ]] SLAMing on 2.2692541539999995 meters Centerline goodness : 0.111245 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.02, Z:0.01 [[ 0.99907822 -0.02304462 -0.03621675 1.59501148] [ 0.02392723 0.99942248 0.02412887 -0.01893433] [ 0.0356398 -0.0249732 0.99905262 0.01294761] [ 0. 0. 0. 1. ]] SLAMing on 2.2992541539999998 meters Centerline goodness : 0.107291 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.02, Z:0.01 [[ 0.99923049 -0.02015034 -0.03365109 1.60711669] [ 0.02074606 0.99963251 0.01744839 -0.01596576] [ 0.03328713 -0.01813309 0.99928132 0.01361116] [ 0. 0. 0. 1. ]] SLAMing on 2.3292541539999996 meters Centerline goodness : 0.103695 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.01, Z:0.02 [[ 0.99930997 -0.01434016 -0.0342628 1.65258552] [ 0.01480442 0.99980149 0.0133348 -0.01496355] [ 0.03406478 -0.01383284 0.99932389 0.01704317] [ 0. 0. 0. 1. ]] SLAMing on 2.359254154 meters Centerline goodness : 0.099286 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.01, Z:0.02 [[ 0.99934713 -0.01211038 -0.03403886 1.66648129] [ 0.01235394 0.9998995 0.00695418 -0.01278028] [ 0.03395122 -0.00737016 0.99939632 0.01825898] [ 0. 0. 0. 1. ]] SLAMing on 2.3892541539999996 meters Centerline goodness : 0.095081 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.01, Z:0.02 [[ 0.9993621 -0.01043058 -0.03415536 1.70881432] [ 0.01055045 0.99993879 0.00333129 -0.01198005] [ 0.03411852 -0.00368952 0.99941098 0.02000259] [ 0. 0. 0. 1. ]] SLAMing on 2.4192541539999994 meters Centerline goodness : 0.081087 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.01, Z:0.02 [[ 9.99272182e-01 -1.23559496e-02 -3.60892756e-02 1.71552253e+00] [ 1.24246015e-02 9.99921403e-01 1.67862142e-03 -1.13213438e-02] [ 3.60656981e-02 -2.12579455e-03 9.99347160e-01 1.85674063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4492541539999997 meters Centerline goodness : 0.132741 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.01, Z:0.02 [[ 0.99935218 -0.01618843 -0.0321427 1.73467083] [ 0.01630509 0.99986138 0.00337059 -0.01189093] [ 0.03208368 -0.00389249 0.99947761 0.01660559] [ 0. 0. 0. 1. ]] SLAMing on 2.4792541539999995 meters Centerline goodness : 0.072556 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.01, Z:0.02 [[ 9.99373078e-01 -2.00623072e-02 -2.91711266e-02 1.77027978e+00] [ 2.00680540e-02 9.99798612e-01 -9.57787647e-05 -1.26892000e-02] [ 2.91671734e-02 -4.89689025e-04 9.99574428e-01 1.53625351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5092541539999997 meters Centerline goodness : 0.122584 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.01, Z:0.01 [[ 0.99926556 -0.02341954 -0.03032939 1.77542254] [ 0.02335105 0.99972392 -0.0026103 -0.01274159] [ 0.03038214 0.00190016 0.99953655 0.01384198] [ 0. 0. 0. 1. ]] SLAMing on 2.5392541539999995 meters Centerline goodness : 0.068491 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.02, Z:0.01 [[ 9.99279219e-01 -2.72857846e-02 -2.63918254e-02 1.79390850e+00] [ 2.73243057e-02 9.99626016e-01 1.09998832e-03 -1.51169337e-02] [ 2.63519413e-02 -1.82033377e-03 9.99651070e-01 1.08012244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.569254154 meters Centerline goodness : 0.069390 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.02, Z:0.01 [[ 0.9990909 -0.03472401 -0.024731 1.81947188] [ 0.0347965 0.99939127 0.00250683 -0.01668311] [ 0.0246289 -0.0033651 0.999691 0.00800809] [ 0. 0. 0. 1. ]] SLAMing on 2.5992541539999996 meters Centerline goodness : 0.115114 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.02, Z:0.01 [[ 9.98936715e-01 -3.82469387e-02 -2.57412393e-02 1.82426690e+00] [ 3.82582806e-02 9.99267883e-01 -5.19130976e-05 -1.60664705e-02] [ 2.57243793e-02 -9.32957660e-04 9.99668638e-01 6.36706332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6292541539999994 meters Centerline goodness : 0.875688 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.02, Z:0.00 [[ 9.98776815e-01 -4.15592141e-02 -2.67900152e-02 1.82904242e+00] [ 4.15066008e-02 9.99135059e-01 -2.51725443e-03 -1.53974284e-02] [ 2.68714585e-02 1.40221290e-03 9.99637914e-01 4.69802636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6592541539999996 meters Centerline goodness : 0.868709 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.01, Z:0.00 [[ 0.998462 -0.0469427 -0.02949616 1.83953297] [ 0.04679335 0.99888813 -0.00573379 -0.01428574] [ 0.02973252 0.00434475 0.99954845 0.00203913] [ 0. 0. 0. 1. ]] SLAMing on 2.6892541539999995 meters Centerline goodness : 0.868709 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.01, Z:0.00 [[ 0.998462 -0.0469427 -0.02949616 1.83953297] [ 0.04679335 0.99888813 -0.00573379 -0.01428574] [ 0.02973252 0.00434475 0.99954845 0.00203913] [ 0. 0. 0. 1. ]] SLAMing on 2.7192541539999997 meters Centerline goodness : 0.885766 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.01, Z:-0.00 [[ 9.98352422e-01 -4.84858599e-02 -3.06848980e-02 1.84534004e+00] [ 4.83050998e-02 9.98810786e-01 -6.60541395e-03 -1.35249539e-02] [ 3.09686763e-02 5.11229395e-03 9.99507281e-01 -5.42922681e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7492541539999995 meters Centerline goodness : 0.498024 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.01, Z:-0.00 [[ 9.98051887e-01 -5.20427533e-02 -3.44090379e-02 1.87318744e+00] [ 5.18033066e-02 9.98626731e-01 -7.81471058e-03 -9.83443279e-03] [ 3.47684841e-02 6.01698470e-03 9.99377280e-01 -1.69628227e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7792541539999998 meters Centerline goodness : 0.854508 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.00 [[ 0.99803063 -0.05164516 -0.03560399 1.87806268] [ 0.05142902 0.9986524 -0.00696061 -0.00881205] [ 0.0359155 0.00511583 0.99934174 -0.00375829] [ 0. 0. 0. 1. ]] SLAMing on 2.8092541539999996 meters Centerline goodness : 0.884743 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.01 [[ 0.99802749 -0.05093765 -0.03669447 1.8826909 ] [ 0.05074882 0.99869306 -0.00605967 -0.00747329] [ 0.03695518 0.00418551 0.99930816 -0.00579169] [ 0. 0. 0. 1. ]] SLAMing on 2.8392541539999994 meters Centerline goodness : 0.117481 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.01, Z:-0.01 [[ 0.99801249 -0.0502587 -0.0380149 1.88780864] [ 0.05009249 0.99873045 -0.00531272 -0.00540567] [ 0.03823365 0.0033979 0.99926305 -0.0078055 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8692541539999996 meters Centerline goodness : 0.623024 Centerline is valid? [False, False] Translation: X:1.91, Y:0.00, Z:-0.01 [[ 0.99822971 -0.04723974 -0.03613658 1.90675501] [ 0.04697334 0.9988626 -0.00818631 0.00208341] [ 0.0364822 0.00647436 0.99931333 -0.01203772] [ 0. 0. 0. 1. ]] SLAMing on 2.8992541539999994 meters Centerline goodness : 0.855522 Centerline is valid? [False, False] Translation: X:1.92, Y:0.01, Z:-0.02 [[ 0.99846476 -0.04380958 -0.03389462 1.92495311] [ 0.04343678 0.99898815 -0.01165833 0.00962119] [ 0.03437107 0.01016816 0.99935741 -0.01624982] [ 0. 0. 0. 1. ]] SLAMing on 2.9292541539999997 meters Centerline goodness : 0.130686 Centerline is valid? [False, False] Translation: X:1.93, Y:0.01, Z:-0.02 [[ 0.99847834 -0.0425327 -0.03509938 1.92959059] [ 0.04218633 0.99905405 -0.01055084 0.01174923] [ 0.03551494 0.00905407 0.99932813 -0.01827609] [ 0. 0. 0. 1. ]] SLAMing on 2.9592541539999995 meters Centerline goodness : 0.577809 Centerline is valid? [False, False] Translation: X:1.93, Y:0.01, Z:-0.02 [[ 0.99848728 -0.04132083 -0.03627313 1.93409098] [ 0.04099797 0.99911311 -0.00960006 0.01383183] [ 0.03663764 0.00809842 0.9992958 -0.0203151 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9892541539999997 meters Centerline goodness : 0.557318 Centerline is valid? [False, False] Translation: X:1.94, Y:0.02, Z:-0.02 [[ 0.99850393 -0.03975204 -0.03754575 1.93891543] [ 0.03946682 0.99918634 -0.00830788 0.0158369 ] [ 0.03784545 0.00681364 0.99926037 -0.02261623] [ 0. 0. 0. 1. ]] SLAMing on 3.0192541539999995 meters Centerline goodness : 0.148746 Centerline is valid? [False, False] Translation: X:1.96, Y:0.02, Z:-0.03 [[ 0.99880227 -0.03414854 -0.03504146 1.95546809] [ 0.03380319 0.99937438 -0.0104012 0.02216477] [ 0.03537472 0.00920423 0.99933173 -0.02624825] [ 0. 0. 0. 1. ]] SLAMing on 3.0492541539999993 meters Centerline goodness : 0.151216 Centerline is valid? [False, False] Translation: X:1.96, Y:0.02, Z:-0.03 [[ 0.9988144 -0.03223456 -0.03647914 1.96038737] [ 0.03193339 0.99945118 -0.008809 0.0245507 ] [ 0.03674307 0.00763365 0.99929559 -0.02833967] [ 0. 0. 0. 1. ]] SLAMing on 3.0792541539999996 meters Centerline goodness : 0.917842 Centerline is valid? [False, False] Translation: X:1.97, Y:0.03, Z:-0.03 [[ 0.99884235 -0.02979128 -0.03776815 1.96514408] [ 0.02955836 0.99954053 -0.00671064 0.02656211] [ 0.03795072 0.0055865 0.999264 -0.03061685] [ 0. 0. 0. 1. ]] SLAMing on 3.1092541539999994 meters Centerline goodness : 0.723500 Centerline is valid? [False, False] Translation: X:1.98, Y:0.03, Z:-0.03 [[ 0.99913093 -0.0227809 -0.03490586 1.98037728] [ 0.02251961 0.9997155 -0.00786045 0.03147732] [ 0.035075 0.00706756 0.99935969 -0.03384061] [ 0. 0. 0. 1. ]] SLAMing on 3.1392541539999996 meters Centerline goodness : 0.931748 Centerline is valid? [False, False] Translation: X:1.98, Y:0.03, Z:-0.04 [[ 0.99913816 -0.02042138 -0.03613742 1.98475288] [ 0.02022365 0.99977849 -0.00582872 0.03299842] [ 0.03624844 0.00509287 0.99932983 -0.03590323] [ 0. 0. 0. 1. ]] SLAMing on 3.1692541539999994 meters Centerline goodness : 0.500817 Centerline is valid? [False, False] Translation: X:2.00, Y:0.04, Z:-0.04 [[ 0.99939238 -0.01375284 -0.03202714 1.99831447] [ 0.01353083 0.99988297 -0.00713848 0.03719835] [ 0.03212157 0.00670079 0.99946151 -0.03887294] [ 0. 0. 0. 1. ]] SLAMing on 3.1992541539999997 meters Centerline goodness : 0.905568 Centerline is valid? [False, False] Translation: X:2.01, Y:0.04, Z:-0.04 [[ 9.99530727e-01 -1.31855575e-02 -2.76489924e-02 2.01421521e+00] [ 1.31991865e-02 9.99912839e-01 3.10471747e-04 3.53941315e-02] [ 2.76424887e-02 -6.75270258e-04 9.99617645e-01 -4.11348714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2292541539999995 meters Centerline goodness : 0.939607 Centerline is valid? [False, False] Translation: X:2.02, Y:0.04, Z:-0.04 [[ 0.99967329 -0.00973137 -0.02363487 2.02469866] [ 0.00961921 0.99994195 -0.0048543 0.03859832] [ 0.02368074 0.00462537 0.99970887 -0.04239588] [ 0. 0. 0. 1. ]] SLAMing on 3.2592541539999993 meters Centerline goodness : 0.916318 Centerline is valid? [False, False] Translation: X:2.04, Y:0.04, Z:-0.04 [[ 9.99748157e-01 -1.04590993e-02 -1.98552055e-02 2.04287125e+00] [ 1.04497465e-02 9.99945235e-01 -5.74746069e-04 3.93642124e-02] [ 1.98601295e-02 3.67119459e-04 9.99802701e-01 -4.34303649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2892541539999995 meters Centerline goodness : 0.914189 Centerline is valid? [False, False] Translation: X:2.05, Y:0.04, Z:-0.04 [[ 9.99732273e-01 -1.02199632e-02 -2.07589696e-02 2.04513235e+00] [ 1.02142022e-02 9.99947760e-01 -3.83530342e-04 3.97852658e-02] [ 2.07618048e-02 1.71391347e-04 9.99784436e-01 -4.38113414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3192541539999993 meters Centerline goodness : 0.940459 Centerline is valid? [False, False] Translation: X:2.06, Y:0.04, Z:-0.05 [[ 0.99982302 -0.01009468 -0.01587512 2.05812472] [ 0.00998113 0.99992415 -0.00721536 0.04283279] [ 0.01594675 0.00705563 0.99984795 -0.04670495] [ 0. 0. 0. 1. ]] SLAMing on 3.3492541539999996 meters Centerline goodness : 0.944382 Centerline is valid? [False, False] Translation: X:2.06, Y:0.04, Z:-0.05 [[ 0.99980737 -0.00975168 -0.01703325 2.06122825] [ 0.00964661 0.999934 -0.00624013 0.04120744] [ 0.01709298 0.00607461 0.99983545 -0.04789268] [ 0. 0. 0. 1. ]] SLAMing on 3.3792541539999994 meters Centerline goodness : 0.932724 Centerline is valid? [False, False] Translation: X:2.06, Y:0.04, Z:-0.05 [[ 0.99979004 -0.0094624 -0.01817524 2.0642639 ] [ 0.0093668 0.99994189 -0.00533757 0.03959426] [ 0.01822469 0.0051662 0.99982057 -0.04893423] [ 0. 0. 0. 1. ]] SLAMing on 3.4092541539999996 meters Centerline goodness : 0.948074 Centerline is valid? [False, False] Translation: X:2.07, Y:0.04, Z:-0.05 [[ 0.99976829 -0.00998505 -0.01907005 2.0672546 ] [ 0.00990453 0.99994165 -0.00431239 0.03699463] [ 0.019112 0.00412251 0.99980885 -0.04938072] [ 0. 0. 0. 1. ]] SLAMing on 3.4392541539999995 meters Centerline goodness : 0.950985 Centerline is valid? [False, True] Translation: X:2.07, Y:0.04, Z:-0.05 [[ 0.99975059 -0.00986548 -0.02003566 2.06955867] [ 0.00979612 0.99994569 -0.00355674 0.03557459] [ 0.02006966 0.00335958 0.99979294 -0.04978672] [ 0. 0. 0. 1. ]] SLAMing on 3.4692541539999993 meters Centerline goodness : 0.953868 Centerline is valid? [True, True] Translation: X:2.08, Y:0.02, Z:-0.06 [[ 0.99973633 -0.01102777 -0.02014076 2.08196974] [ 0.01137757 0.99978497 0.01733692 0.02287703] [ 0.01994524 -0.0175615 0.99964683 -0.05782415] [ 0. 0. 0. 1. ]] SLAMing on 3.4992541539999995 meters Centerline goodness : 0.957032 Centerline is valid? [True, True] Translation: X:2.13, Y:0.05, Z:-0.05 [[ 0.99976864 -0.01601396 -0.01436045 2.12978308] [ 0.01572792 0.99967994 -0.01981529 0.04529812] [ 0.01467317 0.01958485 0.99970052 -0.04577681] [ 0. 0. 0. 1. ]] SLAMing on 3.5292541539999993 meters Centerline goodness : 0.955914 Centerline is valid? [True, True] Translation: X:2.16, Y:0.04, Z:-0.06 [[ 9.99400632e-01 -2.99096371e-02 -1.74295672e-02 2.15905234e+00] [ 2.99009668e-02 9.99552579e-01 -7.57894748e-04 3.66701666e-02] [ 1.74444372e-02 2.36279579e-04 9.99847806e-01 -6.27798739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5592541539999996 meters Centerline goodness : 0.961116 Centerline is valid? [True, True] Translation: X:2.19, Y:0.03, Z:-0.05 [[ 9.99676234e-01 -2.33346840e-02 -1.01448873e-02 2.18900313e+00] [ 2.33314089e-02 9.99727688e-01 -4.41080627e-04 3.28856819e-02] [ 1.01524172e-02 2.04243308e-04 9.99948442e-01 -5.14443331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5892541539999994 meters Centerline goodness : 0.961879 Centerline is valid? [True, True] Translation: X:2.22, Y:0.03, Z:-0.05 [[ 9.99710690e-01 -2.12598941e-02 -1.12495473e-02 2.22064051e+00] [ 2.12557455e-02 9.99773952e-01 -4.88221071e-04 3.28791510e-02] [ 1.12573839e-02 2.48962310e-04 9.99936603e-01 -5.12912164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6192541539999996 meters Centerline goodness : 0.947992 Centerline is valid? [True, False] Translation: X:2.22, Y:0.03, Z:-0.05 [[ 0.99970041 -0.02119263 -0.01224561 2.22366345] [ 0.02122279 0.99977204 0.0023378 0.02882152] [ 0.01219327 -0.00259699 0.99992229 -0.05162129] [ 0. 0. 0. 1. ]] SLAMing on 3.6492541539999994 meters Centerline goodness : 0.955548 Centerline is valid? [False, True] Translation: X:2.23, Y:0.03, Z:-0.05 [[ 0.99969056 -0.02128322 -0.01287661 2.22520828] [ 0.02132976 0.99976641 0.00348776 0.02703285] [ 0.01279938 -0.00376133 0.99991101 -0.05160248] [ 0. 0. 0. 1. ]] SLAMing on 3.679254153999999 meters Centerline goodness : 0.958004 Centerline is valid? [True, True] Translation: X:2.26, Y:0.04, Z:-0.04 [[ 0.99968452 -0.02042454 -0.01461851 2.26375318] [ 0.02014481 0.99961589 -0.01903315 0.03602637] [ 0.01500164 0.01873265 0.99971198 -0.04354251] [ 0. 0. 0. 1. ]] SLAMing on 3.7092541539999995 meters Centerline goodness : 0.959305 Centerline is valid? [True, True] Translation: X:2.29, Y:0.03, Z:-0.05 [[ 9.99712608e-01 -1.88917518e-02 -1.47581725e-02 2.29194094e+00] [ 1.88653559e-02 9.99820179e-01 -1.92574778e-03 2.65378347e-02] [ 1.47918994e-02 1.64677616e-03 9.99889238e-01 -4.85978022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7392541539999993 meters Centerline goodness : 0.961837 Centerline is valid? [True, True] Translation: X:2.32, Y:0.02, Z:-0.05 [[ 0.99957992 -0.02048669 -0.02050086 2.32139395] [ 0.02074925 0.99970433 0.01267744 0.02168572] [ 0.02023508 -0.0130975 0.99970946 -0.04841019] [ 0. 0. 0. 1. ]] SLAMing on 3.7692541539999995 meters Centerline goodness : 0.965702 Centerline is valid? [True, True] Translation: X:2.35, Y:0.03, Z:-0.04 [[ 0.99973819 -0.01669611 -0.01564601 2.35495031] [ 0.01633896 0.99960917 -0.02268341 0.03157512] [ 0.01601862 0.02242184 0.99962026 -0.04118924] [ 0. 0. 0. 1. ]] SLAMing on 3.7992541539999993 meters Centerline goodness : 0.966108 Centerline is valid? [True, True] Translation: X:2.39, Y:0.02, Z:-0.05 [[ 9.99625420e-01 -1.83420735e-02 -2.03122502e-02 2.39348171e+00] [ 1.83012959e-02 9.99830115e-01 -2.19162709e-03 2.10795851e-02] [ 2.03489984e-02 1.81906565e-03 9.99791283e-01 -5.31644445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8292541539999996 meters Centerline goodness : 0.966555 Centerline is valid? [True, True] Translation: X:2.43, Y:0.02, Z:-0.05 [[ 9.99599309e-01 -1.80767333e-02 -2.17819393e-02 2.42661118e+00] [ 1.80818490e-02 9.99836509e-01 3.79164320e-05 2.08603129e-02] [ 2.17776928e-02 -4.31758978e-04 9.99762745e-01 -5.23257460e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8592541539999994 meters Centerline goodness : 0.970484 Centerline is valid? [True, True] Translation: X:2.45, Y:0.02, Z:-0.04 [[ 0.99970853 -0.01189418 -0.02100905 2.44521096] [ 0.01201492 0.99991197 0.00563021 0.0184561 ] [ 0.02094024 -0.00588099 0.99976343 -0.04468129] [ 0. 0. 0. 1. ]] SLAMing on 3.889254153999999 meters Centerline goodness : 0.971023 Centerline is valid? [True, True] Translation: X:2.49, Y:0.02, Z:-0.05 [[ 9.99516641e-01 -1.75572703e-02 -2.56559332e-02 2.49015953e+00] [ 1.75216157e-02 9.99845182e-01 -1.61388174e-03 2.02542359e-02] [ 2.56802966e-02 1.16356826e-03 9.99669530e-01 -4.55110366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9192541539999994 meters Centerline goodness : 0.978313 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.03, Z:-0.05 [[ 9.99831994e-01 -1.82794806e-02 -1.35812570e-03 2.51969284e+00] [ 1.83284345e-02 9.96080629e-01 8.65300497e-02 -2.91948164e-02] [-2.28921659e-04 -8.65404044e-02 9.96248315e-01 -5.49131324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9492541539999992 meters Centerline goodness : 0.974405 Centerline is valid? [True, True] Translation: X:2.54, Y:0.05, Z:-0.02 [[ 0.99968057 -0.01252754 -0.0219505 2.54384032] [ 0.01047204 0.99576139 -0.09137615 0.051892 ] [ 0.02300218 0.09111709 0.9955745 -0.01738662] [ 0. 0. 0. 1. ]] SLAMing on 3.9792541539999995 meters Centerline goodness : 0.980920 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.04, Z:-0.06 [[ 9.99831794e-01 -1.79969295e-02 -3.53466646e-03 2.58350947e+00] [ 1.82419447e-02 9.95780867e-01 8.99316220e-02 -3.90425020e-02] [ 1.90126017e-03 -8.99809742e-02 9.95941670e-01 -5.62909387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.009254154 meters Centerline goodness : 0.981595 Centerline is valid? [True, True] Translation: X:2.62, Y:0.00, Z:-0.03 [[ 9.99854667e-01 -1.70468156e-02 -2.25010170e-04 2.61505880e+00] [ 1.70468150e-02 9.99854692e-01 -4.53427275e-06 3.71000562e-03] [ 2.25054769e-04 6.97907047e-07 9.99999975e-01 -3.44014904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.039254154 meters Centerline goodness : 0.978577 Centerline is valid? [True, True] Translation: X:2.63, Y:0.05, Z:-0.02 [[ 0.99964043 -0.01585333 -0.02162614 2.63492966] [ 0.01350441 0.99440792 -0.10474027 0.04990689] [ 0.02316569 0.10441056 0.99426444 -0.01545639] [ 0. 0. 0. 1. ]] SLAMing on 4.069254154 meters Centerline goodness : 0.980371 Centerline is valid? [True, True] Translation: X:2.67, Y:0.00, Z:-0.04 [[ 9.99472953e-01 -1.95724512e-02 -2.58985593e-02 2.67056894e+00] [ 1.92987461e-02 9.99755683e-01 -1.07764513e-02 1.91386934e-03] [ 2.61031534e-02 1.02709619e-02 9.99606489e-01 -4.21498814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.099254154 meters Centerline goodness : 0.984443 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.07, Z:-0.06 [[ 9.99605680e-01 -2.74900328e-02 -5.72560938e-03 2.71061453e+00] [ 2.79510451e-02 9.93628559e-01 1.09183454e-01 -6.50643622e-02] [ 2.68767228e-03 -1.09300437e-01 9.94005126e-01 -5.96665769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.129254154 meters Centerline goodness : 0.985010 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.01, Z:-0.03 [[ 9.99603039e-01 -2.81512841e-02 -1.12676904e-03 2.74219081e+00] [ 2.81512522e-02 9.99603674e-01 -4.41892988e-05 -1.26843124e-02] [ 1.12756646e-03 1.24517979e-05 9.99999364e-01 -3.49125370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.159254154 meters Centerline goodness : 0.986277 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.02, Z:-0.04 [[ 9.99518606e-01 -3.10246398e-02 -1.67921326e-04 2.77486844e+00] [ 3.10246392e-02 9.99518620e-01 -6.06661338e-06 -1.50589319e-02] [ 1.68028707e-04 8.53994383e-07 9.99999986e-01 -3.57196303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1892541539999995 meters Centerline goodness : 0.986747 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.02, Z:-0.04 [[ 9.99452587e-01 -3.30829444e-02 -2.12831706e-04 2.80831738e+00] [ 3.30829436e-02 9.99452610e-01 -7.37248253e-06 -1.79560668e-02] [ 2.12959107e-04 3.27347410e-07 9.99999977e-01 -3.65298775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.219254154 meters Centerline goodness : 0.987736 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.03, Z:-0.04 [[ 9.99292453e-01 -3.76106477e-02 -1.79163186e-04 2.84033340e+00] [ 3.76106472e-02 9.99292469e-01 -6.21637010e-06 -2.52448921e-02] [ 1.79270225e-04 -5.26471666e-07 9.99999984e-01 -3.76072533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.249254154 meters Centerline goodness : 0.988929 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.03, Z:-0.04 [[ 9.99209201e-01 -3.97588949e-02 -4.51173135e-04 2.87327060e+00] [ 3.97588909e-02 9.99209303e-01 -1.76969408e-05 -2.77712732e-02] [ 4.51520005e-04 -2.55197387e-07 9.99999898e-01 -3.80017950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.279254154 meters Centerline goodness : 0.989213 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.03, Z:-0.04 [[ 9.99143901e-01 -4.13620537e-02 -8.03797984e-04 2.90647890e+00] [ 4.13620406e-02 9.99144224e-01 -3.29287966e-05 -3.00322300e-02] [ 8.04472116e-04 -3.46118511e-07 9.99999676e-01 -3.86013021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.309254154 meters Centerline goodness : 0.989994 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.04, Z:-0.04 [[ 9.99018798e-01 -4.41697192e-02 -3.23693416e-03 2.93831711e+00] [ 4.41695029e-02 9.99024042e-01 -1.38316197e-04 -3.53195248e-02] [ 3.23988444e-03 -4.79329219e-06 9.99994752e-01 -3.84292320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.339254154 meters Centerline goodness : 0.991133 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.04, Z:-0.04 [[ 9.98938093e-01 -4.59892237e-02 -2.77080518e-03 2.97040415e+00] [ 4.59890724e-02 9.98941936e-01 -1.18322092e-04 -3.68953523e-02] [ 2.77331503e-03 -9.23031524e-06 9.99996154e-01 -3.88573404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.369254154 meters Centerline goodness : 0.989566 Centerline is valid? [True, True] Translation: X:2.99, Y:0.02, Z:-0.01 [[ 0.99872841 -0.04158341 -0.02850245 2.99365675] [ 0.03784324 0.99191652 -0.12111778 0.01967674] [ 0.03330854 0.11988514 0.99222885 -0.01396411] [ 0. 0. 0. 1. ]] SLAMing on 4.399254153999999 meters Centerline goodness : 0.992324 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.10, Z:-0.06 [[ 9.98653108e-01 -5.12146770e-02 -8.30822438e-03 3.03639001e+00] [ 5.18389895e-02 9.91590551e-01 1.18578663e-01 -1.02207308e-01] [ 2.16538888e-03 -1.18849640e-01 9.92909902e-01 -6.00447806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.429254154 meters Centerline goodness : 0.991953 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.04, Z:-0.04 [[ 9.98774079e-01 -4.93959851e-02 -3.22118102e-03 3.06785577e+00] [ 4.93958106e-02 9.98779273e-01 -1.33762058e-04 -4.49763799e-02] [ 3.22385615e-03 -2.55147712e-05 9.99994803e-01 -3.86398769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.459254154 meters Centerline goodness : 0.992931 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.05, Z:-0.04 [[ 9.98733950e-01 -5.02577553e-02 -2.15780914e-03 3.09962642e+00] [ 5.02576750e-02 9.98736280e-01 -9.14406491e-05 -4.62313199e-02] [ 2.15967788e-03 -1.71215898e-05 9.99997668e-01 -3.91078361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.489254154 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.05, Z:-0.04 [[ 9.98703410e-01 -5.08662779e-02 -2.02990280e-03 3.13079563e+00] [ 5.08662078e-02 9.98705473e-01 -8.61508853e-05 -4.88445469e-02] [ 2.03165721e-03 -1.72142748e-05 9.99997936e-01 -3.93556264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5192541539999995 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.05, Z:-0.04 [[ 9.98686738e-01 -5.11696751e-02 -2.54226211e-03 3.16287027e+00] [ 5.11695668e-02 9.98689974e-01 -1.07672309e-04 -4.91310691e-02] [ 2.54444124e-03 -2.25555436e-05 9.99996763e-01 -3.95498872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.549254154 meters Centerline goodness : 0.994218 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.05, Z:-0.04 [[ 9.98686310e-01 -5.11790282e-02 -2.52212316e-03 3.19547552e+00] [ 5.11789220e-02 9.98689495e-01 -1.06659452e-04 -4.91478233e-02] [ 2.52427663e-03 -2.25602099e-05 9.99996814e-01 -4.04135342e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.579254154 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.05, Z:-0.04 [[ 9.98730233e-01 -5.02738990e-02 -3.23363100e-03 3.22631160e+00] [ 5.02737182e-02 9.98735468e-01 -1.37214531e-04 -4.97714889e-02] [ 3.23644028e-03 -2.55263528e-05 9.99994762e-01 -4.04776006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.609254153999999 meters Centerline goodness : 0.994601 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.05, Z:-0.04 [[ 9.98734425e-01 -5.01905602e-02 -3.23367147e-03 3.25896755e+00] [ 5.01903820e-02 9.98739659e-01 -1.36264944e-04 -4.84524338e-02] [ 3.23643515e-03 -2.62067160e-05 9.99994762e-01 -4.10784996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.639254154 meters Centerline goodness : 0.994919 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.05, Z:-0.04 [[ 9.98741133e-01 -5.00854021e-02 -2.75696893e-03 3.29079033e+00] [ 5.00852722e-02 9.98744938e-01 -1.16178314e-04 -4.78864963e-02] [ 2.75932760e-03 -2.20514779e-05 9.99996193e-01 -4.13415329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.669254154 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.05, Z:-0.04 [[ 9.98753826e-01 -4.98393714e-02 -2.61399527e-03 3.32306319e+00] [ 4.98392545e-02 9.98757246e-01 -1.09887569e-04 -4.71595867e-02] [ 2.61622344e-03 -2.05289452e-05 9.99996577e-01 -4.12274294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.699254154 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.05, Z:-0.04 [[ 9.98702810e-01 -5.09143239e-02 -6.54330351e-04 3.35451002e+00] [ 5.09143172e-02 9.98703025e-01 -2.68929162e-05 -4.73123665e-02] [ 6.54850935e-04 -6.45675208e-06 9.99999786e-01 -4.09520391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7292541539999995 meters Centerline goodness : 0.995703 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.05, Z:-0.04 [[ 9.98672082e-01 -5.15171113e-02 -2.44868106e-04 3.38681500e+00] [ 5.15171106e-02 9.98672112e-01 -9.21728635e-06 -4.69716227e-02] [ 2.45017797e-04 -3.40985075e-06 9.99999970e-01 -4.09120547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.759254154 meters Centerline goodness : 0.996063 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.05, Z:-0.04 [[ 9.98610485e-01 -5.26945448e-02 6.19943365e-04 3.41951568e+00] [ 5.26945376e-02 9.98610677e-01 2.79511577e-05 -4.66234264e-02] [-6.20554937e-04 4.75530982e-06 9.99999807e-01 -4.11854944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.789254154 meters Centerline goodness : 0.996573 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.05, Z:-0.04 [[ 9.98506678e-01 -5.45943843e-02 1.96647676e-03 3.45196458e+00] [ 5.45943239e-02 9.98508614e-01 8.44352567e-05 -4.62615374e-02] [-1.96815368e-03 2.30493017e-05 9.99998063e-01 -4.15096336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.819254153999999 meters Centerline goodness : 0.996671 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.04, Z:-0.04 [[ 9.98465237e-01 -5.53497154e-02 1.89201361e-03 3.48538318e+00] [ 5.53496605e-02 9.98467029e-01 8.13888670e-05 -4.47021366e-02] [-1.89361806e-03 2.34583569e-05 9.99998207e-01 -4.19822991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.849254154 meters Centerline goodness : 0.996594 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.04, Z:-0.04 [[ 9.98472833e-01 -5.52081706e-02 2.01474369e-03 3.51729699e+00] [ 5.52081092e-02 9.98474866e-01 8.61080235e-05 -4.24495727e-02] [-2.01642480e-03 2.52536675e-05 9.99997967e-01 -4.28590879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.879254154 meters Centerline goodness : 0.996723 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.04, Z:-0.04 [[ 9.98501930e-01 -5.46768932e-02 2.08178442e-03 3.54976582e+00] [ 5.46768265e-02 9.98504100e-01 8.89938648e-05 -4.02910511e-02] [-2.08353618e-03 2.49648196e-05 9.99997829e-01 -4.34442661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.909254154 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.04, Z:-0.04 [[ 9.98548043e-01 -5.38132050e-02 2.43819963e-03 3.58245466e+00] [ 5.38131122e-02 9.98551019e-01 1.03709739e-04 -3.78023473e-02] [-2.44024767e-03 2.76479527e-05 9.99997022e-01 -4.37570131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9392541539999995 meters Centerline goodness : 0.997236 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.04, Z:-0.04 [[ 9.98617812e-01 -5.25146814e-02 2.16180409e-03 3.61512719e+00] [ 5.25146054e-02 9.98620152e-01 9.19430576e-05 -3.50120292e-02] [-2.16364949e-03 2.17103138e-05 9.99997659e-01 -4.35871179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.969254154 meters Centerline goodness : 0.997558 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.03, Z:-0.04 [[ 9.98736666e-01 -5.01078016e-02 3.77881039e-03 3.64739033e+00] [ 5.01075554e-02 9.98743815e-01 1.59867722e-04 -3.02044115e-02] [-3.78207413e-03 2.96811955e-05 9.99992847e-01 -4.34871487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.999254154 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.03, Z:-0.04 [[ 9.98788597e-01 -4.90348675e-02 4.11352867e-03 3.68052069e+00] [ 4.90345730e-02 9.98797067e-01 1.72472903e-04 -2.71045705e-02] [-4.11703755e-03 2.94411528e-05 9.99991525e-01 -4.38307437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.029254153999999 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.02, Z:-0.04 [[ 9.98819721e-01 -4.83597488e-02 4.52756880e-03 3.71374803e+00] [ 4.83593877e-02 9.98829982e-01 1.89261737e-04 -2.35226822e-02] [-4.53142411e-03 2.99120996e-05 9.99989733e-01 -4.39363867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.059254154 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.02, Z:-0.04 [[ 9.98826117e-01 -4.80846590e-02 5.85269073e-03 3.74525580e+00] [ 4.80840578e-02 9.98843263e-01 2.43467008e-04 -1.74717634e-02] [-5.85762773e-03 3.82399134e-05 9.99982843e-01 -4.41243326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.089254154 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.01, Z:-0.04 [[ 9.98817349e-01 -4.82254599e-02 6.18130961e-03 3.77848760e+00] [ 4.82247942e-02 9.98836475e-01 2.56776960e-04 -1.39431391e-02] [-6.18650068e-03 4.16191012e-05 9.99980863e-01 -4.49545519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.119254154 meters Centerline goodness : 0.998258 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.01, Z:-0.05 [[ 9.98793650e-01 -4.86465252e-02 6.69035879e-03 3.81114504e+00] [ 4.86457597e-02 9.98816056e-01 2.77199725e-04 -1.04803001e-02] [-6.69592259e-03 4.85922616e-05 9.99977581e-01 -4.56838715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.149254153999999 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.01, Z:-0.05 [[ 9.98723233e-01 -5.02002834e-02 5.64232728e-03 3.84253657e+00] [ 5.01997662e-02 9.98739170e-01 2.33346188e-04 -5.35101477e-03] [-5.64692730e-03 5.01952509e-05 9.99984055e-01 -4.66354158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.179254154 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.00, Z:-0.05 [[ 9.98680233e-01 -5.11064059e-02 5.09185298e-03 3.87573312e+00] [ 5.11059962e-02 9.98693213e-01 2.10639294e-04 -2.35631823e-03] [-5.09596403e-03 4.98629196e-05 9.99987014e-01 -4.76461290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.209254154 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:3.91, Y:0.00, Z:-0.05 [[ 9.98627703e-01 -5.20902179e-02 5.41475398e-03 3.90714856e+00] [ 5.20897735e-02 9.98642381e-01 2.23163059e-04 1.04560685e-03] [-5.41902742e-03 5.91964950e-05 9.99985315e-01 -4.84112253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.239254153999999 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:3.94, Y:0.01, Z:-0.05 [[ 9.98559619e-01 -5.32970991e-02 6.17310012e-03 3.93968654e+00] [ 5.32965477e-02 9.98578697e-01 2.53911830e-04 7.29780557e-03] [-6.17785903e-03 7.54588246e-05 9.99980914e-01 -4.83633649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2692541539999995 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:3.97, Y:0.01, Z:-0.05 [[ 9.98525274e-01 -5.39144016e-02 6.36513678e-03 3.97308303e+00] [ 5.39138321e-02 9.98545558e-01 2.61158666e-04 1.11268740e-02] [-6.36995926e-03 8.23953872e-05 9.99979708e-01 -4.86048652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.299254154 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:4.01, Y:0.01, Z:-0.05 [[ 9.98518975e-01 -5.38935551e-02 7.43922470e-03 4.00633921e+00] [ 5.38927838e-02 9.98546682e-01 3.04241366e-04 1.47680412e-02] [-7.44480979e-03 9.71297520e-05 9.99972282e-01 -4.90276105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.329254154 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:4.04, Y:0.02, Z:-0.05 [[ 9.98519436e-01 -5.35496294e-02 9.55888865e-03 4.03778732e+00] [ 5.35483548e-02 9.98565182e-01 3.89416521e-04 2.12204743e-02] [-9.56602649e-03 1.23022796e-04 9.99954237e-01 -4.89270093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.359254153999999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:4.07, Y:0.03, Z:-0.05 [[ 9.98547871e-01 -5.28561746e-02 1.04103001e-02 4.07107136e+00] [ 5.28546335e-02 9.98602127e-01 4.23291492e-04 2.56497740e-02] [-1.04181214e-02 1.27555778e-04 9.99945722e-01 -4.91105064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.389254154 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:4.10, Y:0.03, Z:-0.05 [[ 9.98610779e-01 -5.14778534e-02 1.12491576e-02 4.10259719e+00] [ 5.14759810e-02 9.98674129e-01 4.56122259e-04 3.02695983e-02] [-1.12577229e-02 1.23572819e-04 9.99936622e-01 -4.96852667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.419254154 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:4.13, Y:0.04, Z:-0.05 [[ 9.98838159e-01 -4.68433680e-02 1.13150839e-02 4.13421415e+00] [ 4.68411800e-02 9.98902244e-01 4.58451111e-04 3.91204436e-02] [-1.13241381e-02 7.20934160e-05 9.99935877e-01 -5.00025826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.449254153999999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:4.17, Y:0.04, Z:-0.05 [[ 9.98994615e-01 -4.33629576e-02 1.13759969e-02 4.16694185e+00] [ 4.33605447e-02 9.99059384e-01 4.58776181e-04 4.41534309e-02] [-1.13851904e-02 3.49544887e-05 9.99935186e-01 -5.04953805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4792541539999995 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:4.20, Y:0.05, Z:-0.05 [[ 9.99125585e-01 -4.02719971e-02 1.12353154e-02 4.19984732e+00] [ 4.02694592e-02 9.99188754e-01 4.52108943e-04 4.92896232e-02] [-1.12444081e-02 7.26463676e-07 9.99936780e-01 -5.11702710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.509254154 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:4.23, Y:0.06, Z:-0.05 [[ 9.99381010e-01 -3.35614918e-02 1.05462753e-02 4.23172072e+00] [ 3.35588861e-02 9.99436652e-01 4.23994592e-04 5.80143413e-02] [-1.05545640e-02 -6.98108922e-05 9.99944297e-01 -5.12533690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.539254154 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:4.26, Y:0.06, Z:-0.05 [[ 9.99482999e-01 -3.03298279e-02 1.06693807e-02 4.26426801e+00] [ 3.03269989e-02 9.99539940e-01 4.26880501e-04 6.28190879e-02] [-1.06774194e-02 -1.03089507e-04 9.99942989e-01 -5.15391151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.569254153999999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:4.30, Y:0.07, Z:-0.05 [[ 9.99602826e-01 -2.59068298e-02 1.10917163e-02 4.29550542e+00] [ 2.59035129e-02 9.99664350e-01 4.42626332e-04 7.09122319e-02] [-1.10994604e-02 -1.55136116e-04 9.99938387e-01 -5.17251123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.599254154 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:4.33, Y:0.08, Z:-0.05 [[ 9.99645148e-01 -2.41371074e-02 1.12684969e-02 4.32866401e+00] [ 2.41335781e-02 9.99708642e-01 4.49095872e-04 7.53044847e-02] [-1.12760536e-02 -1.76987357e-04 9.99936408e-01 -5.17259765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.629254154 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:4.36, Y:0.08, Z:-0.05 [[ 9.99678646e-01 -2.26562685e-02 1.13709591e-02 4.36030230e+00] [ 2.26525805e-02 9.99743295e-01 4.53042856e-04 7.93703605e-02] [-1.13783044e-02 -1.95315703e-04 9.99935246e-01 -5.19326368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.659254153999999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:4.39, Y:0.08, Z:-0.05 [[ 9.99698767e-01 -2.19175871e-02 1.10451318e-02 4.39364606e+00] [ 2.19141069e-02 9.99759762e-01 4.36026641e-04 8.33213415e-02] [-1.10520350e-02 -1.93851097e-04 9.99938906e-01 -5.23885042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6892541539999995 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:4.43, Y:0.09, Z:-0.05 [[ 9.99713125e-01 -2.16629021e-02 1.02169479e-02 4.42650371e+00] [ 2.16599206e-02 9.99765315e-01 4.02394105e-04 8.89587343e-02] [-1.02232672e-02 -1.80980388e-04 9.99947725e-01 -5.34238283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.719254154 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:4.46, Y:0.09, Z:-0.05 [[ 9.99717429e-01 -2.18878818e-02 9.27265246e-03 4.45853881e+00] [ 2.18854451e-02 9.99760419e-01 3.64183663e-04 9.23234626e-02] [-9.27840211e-03 -1.61144629e-04 9.99956942e-01 -5.40874778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.749254154 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:4.49, Y:0.10, Z:-0.06 [[ 9.99714545e-01 -2.22496734e-02 8.70523485e-03 4.49068556e+00] [ 2.22475460e-02 9.99752435e-01 3.41153355e-04 9.54949730e-02] [-8.71067028e-03 -1.47385858e-04 9.99962051e-01 -5.50590895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.779254153999999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:4.52, Y:0.10, Z:-0.06 [[ 9.99705515e-01 -2.30143841e-02 7.69554555e-03 4.52398382e+00] [ 2.30127463e-02 9.99735126e-01 3.01319639e-04 1.00780248e-01] [-7.70044189e-03 -1.24135267e-04 9.99970343e-01 -5.54789989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.809254154 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:4.56, Y:0.10, Z:-0.06 [[ 9.99689750e-01 -2.37554003e-02 7.48891714e-03 4.55627390e+00] [ 2.37538773e-02 9.99717794e-01 2.92266529e-04 1.03923754e-01] [-7.49374663e-03 -1.14285034e-04 9.99971915e-01 -5.59399704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.839254154 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:4.59, Y:0.11, Z:-0.06 [[ 9.99663070e-01 -2.49413046e-02 7.18878041e-03 4.58944625e+00] [ 2.49399343e-02 9.99688912e-01 2.80209536e-04 1.07194733e-01] [-7.19353286e-03 -1.00827413e-04 9.99974121e-01 -5.60542291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.869254153999999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:4.62, Y:0.11, Z:-0.06 [[ 9.99578522e-01 -2.79983396e-02 7.67274566e-03 4.62226719e+00] [ 2.79968763e-02 9.99607966e-01 2.98080260e-04 1.12063440e-01] [-7.67808344e-03 -8.31417148e-05 9.99970520e-01 -5.63175815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.899254153999999 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:4.66, Y:0.11, Z:-0.06 [[ 9.99523491e-01 -2.97180483e-02 8.34438145e-03 4.65516872e+00] [ 2.97163866e-02 9.99558318e-01 3.23085289e-04 1.14741483e-01] [-8.35029735e-03 -7.49664712e-05 9.99965133e-01 -5.68885114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.929254154 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:4.69, Y:0.12, Z:-0.06 [[ 9.99404755e-01 -3.32146337e-02 9.32329425e-03 4.68847849e+00] [ 3.32127075e-02 9.99448241e-01 3.61395197e-04 1.18211488e-01] [-9.33015364e-03 -5.15282337e-05 9.99956472e-01 -5.75429539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.959254154 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:4.72, Y:0.12, Z:-0.06 [[ 9.99358476e-01 -3.45872552e-02 9.29290731e-03 4.72013480e+00] [ 3.45854359e-02 9.99401681e-01 3.56449184e-04 1.20625466e-01] [-9.29967578e-03 -3.48212633e-05 9.99956756e-01 -5.82147446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.989254153999999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:4.75, Y:0.12, Z:-0.06 [[ 9.99323618e-01 -3.54917755e-02 9.62498681e-03 4.75261608e+00] [ 3.54898904e-02 9.99369968e-01 3.66635535e-04 1.23140021e-01] [-9.63193531e-03 -2.47978217e-05 9.99953612e-01 -5.90797454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0192541539999995 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:4.79, Y:0.13, Z:-0.06 [[ 9.99316254e-01 -3.55380750e-02 1.02014337e-02 4.78577429e+00] [ 3.55359724e-02 9.99368323e-01 3.87349598e-04 1.25696944e-01] [-1.02087553e-02 -2.45668838e-05 9.99947889e-01 -5.97381144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.049254154 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:4.82, Y:0.13, Z:-0.06 [[ 9.99372673e-01 -3.35763605e-02 1.12644675e-02 4.81729620e+00] [ 3.35736757e-02 9.99436154e-01 4.27407206e-04 1.29998711e-01] [-1.12724669e-02 -4.89495025e-05 9.99936463e-01 -5.97587726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.079254153999999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:4.85, Y:0.13, Z:-0.06 [[ 9.99425713e-01 -3.17512609e-02 1.18364949e-02 4.85009818e+00] [ 3.17482222e-02 9.99495799e-01 4.44575588e-04 1.32592250e-01] [-1.18446428e-02 -6.85326027e-05 9.99929847e-01 -6.02850126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.109254153999999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:4.88, Y:0.14, Z:-0.06 [[ 9.99481723e-01 -2.97667397e-02 1.22567098e-02 4.88292528e+00] [ 2.97633496e-02 9.99556868e-01 4.58947185e-04 1.35218819e-01] [-1.22649398e-02 -9.39085844e-05 9.99924778e-01 -6.08112609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.139254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:4.92, Y:0.14, Z:-0.06 [[ 9.99589216e-01 -2.55900193e-02 1.29054198e-02 4.91531787e+00] [ 2.55859210e-02 9.99672510e-01 4.82597381e-04 1.38583833e-01] [-1.29135430e-02 -1.52202088e-04 9.99916605e-01 -6.21712793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.169254154 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:4.95, Y:0.14, Z:-0.06 [[ 9.99648135e-01 -2.33202036e-02 1.26402119e-02 4.94701463e+00] [ 2.33161329e-02 9.99728032e-01 4.69332626e-04 1.40662555e-01] [-1.26477191e-02 -1.74446624e-04 9.99919999e-01 -6.27680636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.199254153999999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:4.98, Y:0.14, Z:-0.06 [[ 9.99714239e-01 -2.04698654e-02 1.23460135e-02 4.98016982e+00] [ 2.04658153e-02 9.99790450e-01 4.54310998e-04 1.43884553e-01] [-1.23527260e-02 -2.01509943e-04 9.99923682e-01 -6.39617670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2292541539999995 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:5.01, Y:0.15, Z:-0.06 [[ 9.99741504e-01 -1.93430303e-02 1.19487078e-02 5.01214969e+00] [ 1.93391589e-02 9.99812884e-01 4.39475191e-04 1.45850125e-01] [-1.19549728e-02 -2.08283630e-04 9.99928515e-01 -6.49096942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.259254154 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:5.04, Y:0.15, Z:-0.07 [[ 9.99762410e-01 -1.86419001e-02 1.12961455e-02 5.04461124e+00] [ 1.86384347e-02 9.99826204e-01 4.11989405e-04 1.47588195e-01] [-1.13018625e-02 -2.01349051e-04 9.99936112e-01 -6.60270431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.289254153999999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:5.08, Y:0.15, Z:-0.07 [[ 9.99783498e-01 -1.81447169e-02 1.01845697e-02 5.07754866e+00] [ 1.81418956e-02 9.99835354e-01 3.69343701e-04 1.49594835e-01] [-1.01895945e-02 -1.84496337e-04 9.99948068e-01 -6.77137983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.319254153999999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:5.11, Y:0.15, Z:-0.07 [[ 9.99788629e-01 -1.82730933e-02 9.42287205e-03 5.10978832e+00] [ 1.82706863e-02 9.99833019e-01 3.41473522e-04 1.51116911e-01] [-9.42753839e-03 -1.69239005e-04 9.99955545e-01 -6.88547891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.349254154 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:5.14, Y:0.15, Z:-0.07 [[ 9.99786494e-01 -1.85012208e-02 9.20167137e-03 5.14180788e+00] [ 1.84989575e-02 9.99828825e-01 3.31031840e-04 1.52623726e-01] [-9.20622077e-03 -1.60739835e-04 9.99957609e-01 -7.01430954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.379254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:5.17, Y:0.15, Z:-0.07 [[ 9.99770277e-01 -1.96377519e-02 8.58792571e-03 5.17438630e+00] [ 1.96358267e-02 9.99807151e-01 3.08450463e-04 1.54834039e-01] [-8.59232681e-03 -1.39748584e-04 9.99963076e-01 -7.07131913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.409254153999999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:5.21, Y:0.16, Z:-0.07 [[ 9.99743599e-01 -2.07982629e-02 8.95366004e-03 5.20760529e+00] [ 2.07962256e-02 9.99783684e-01 3.20588292e-04 1.56717325e-01] [-8.95839090e-03 -1.34303758e-04 9.99959864e-01 -7.14471905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4392541539999995 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:5.24, Y:0.16, Z:-0.07 [[ 9.99712098e-01 -2.21343865e-02 9.26225574e-03 5.23988453e+00] [ 2.21322678e-02 9.99754997e-01 3.31198936e-04 1.58454932e-01] [-9.26731734e-03 -1.26108859e-04 9.99957050e-01 -7.19990249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.469254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:5.27, Y:0.16, Z:-0.07 [[ 9.99611090e-01 -2.57394825e-02 1.07307202e-02 5.27269048e+00] [ 2.57368789e-02 9.99668679e-01 3.80671582e-04 1.59983433e-01] [-1.07369632e-02 -1.04348288e-04 9.99942352e-01 -7.24592394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.499254153999999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:5.31, Y:0.16, Z:-0.07 [[ 9.99614322e-01 -2.56136123e-02 1.07307562e-02 5.30621532e+00] [ 2.56110123e-02 9.99671912e-01 3.79654691e-04 1.61079065e-01] [-1.07369599e-02 -1.04682737e-04 9.99942352e-01 -7.30754713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.529254153999999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:5.34, Y:0.16, Z:-0.07 [[ 9.99538773e-01 -2.80334740e-02 1.16776018e-02 5.33925838e+00] [ 2.80305810e-02 9.99606981e-01 4.11365919e-04 1.62361727e-01] [-1.16845443e-02 -8.38462237e-05 9.99931730e-01 -7.36181977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.559254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:5.37, Y:0.16, Z:-0.07 [[ 9.99361767e-01 -3.31327350e-02 1.33521397e-02 5.37192691e+00] [ 3.31294186e-02 9.99450960e-01 4.69551076e-04 1.63484831e-01] [-1.33603663e-02 -2.69027696e-05 9.99910746e-01 -7.38467849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.589254154 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:5.40, Y:0.16, Z:-0.07 [[ 9.99268667e-01 -3.54932226e-02 1.42254192e-02 5.40490271e+00] [ 3.54897626e-02 9.99369917e-01 4.95674148e-04 1.64580550e-01] [-1.42340490e-02 9.54510382e-06 9.99898691e-01 -7.42170090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.619254153999999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:5.44, Y:0.17, Z:-0.07 [[ 9.99184053e-01 -3.77192129e-02 1.44391358e-02 5.43778092e+00] [ 3.77159442e-02 9.99288376e-01 4.98718852e-04 1.65666219e-01] [-1.44476719e-02 4.62737171e-05 9.99895626e-01 -7.47434686e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.649254153999999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:5.47, Y:0.17, Z:-0.08 [[ 9.99098364e-01 -3.97476660e-02 1.49191883e-02 5.47017858e+00] [ 3.97444722e-02 9.99209746e-01 5.10620967e-04 1.66775504e-01] [-1.49276943e-02 8.27946930e-05 9.99888572e-01 -7.53323953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.679254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:5.50, Y:0.17, Z:-0.08 [[ 9.98913549e-01 -4.39847625e-02 1.53968481e-02 5.50321681e+00] [ 4.39819311e-02 9.99032190e-01 5.22623409e-04 1.68058781e-01] [-1.54049343e-02 1.55127509e-04 9.99881325e-01 -7.63218846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.709254153999999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:5.53, Y:0.17, Z:-0.08 [[ 9.98839361e-01 -4.57784127e-02 1.49755893e-02 5.53496047e+00] [ 4.57760010e-02 9.98951602e-01 5.03963378e-04 1.69156869e-01] [-1.49829595e-02 1.82144130e-04 9.99887733e-01 -7.72689411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.739254153999999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:5.57, Y:0.17, Z:-0.08 [[ 9.98773807e-01 -4.73618156e-02 1.44131877e-02 5.56832798e+00] [ 4.73598000e-02 9.98877779e-01 4.81320067e-04 1.70377686e-01] [-1.44198091e-02 2.01875811e-04 9.99896009e-01 -7.79859398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7692541539999995 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:5.60, Y:0.17, Z:-0.08 [[ 9.98679265e-01 -4.96950462e-02 1.30432900e-02 5.60006535e+00] [ 4.96936455e-02 9.98764414e-01 4.31665836e-04 1.72173147e-01] [-1.30486256e-02 2.17072910e-04 9.99914839e-01 -7.88207211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.799254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:5.63, Y:0.17, Z:-0.08 [[ 9.98676224e-01 -4.98727232e-02 1.25901032e-02 5.63154214e+00] [ 4.98857958e-02 9.98754665e-01 -7.26219897e-04 1.74912414e-01] [-1.25382057e-02 1.35332586e-03 9.99920478e-01 -7.94014164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.829254153999999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:5.66, Y:0.18, Z:-0.08 [[ 9.98674279e-01 -5.01240612e-02 1.17159684e-02 5.66474327e+00] [ 5.01092872e-02 9.98742536e-01 1.55136775e-03 1.77021083e-01] [-1.17789968e-02 -9.62232242e-04 9.99930162e-01 -8.04226622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.859254153999999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:5.70, Y:0.18, Z:-0.08 [[ 9.98708832e-01 -4.94761562e-02 1.15229459e-02 5.69756865e+00] [ 4.94751127e-02 9.98775286e-01 3.75781068e-04 1.79908569e-01] [-1.15274258e-02 1.94803177e-04 9.99933538e-01 -8.09369451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.889254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:5.73, Y:0.18, Z:-0.08 [[ 9.98771458e-01 -4.82252543e-02 1.13973067e-02 5.72943827e+00] [ 4.82241906e-02 9.98836469e-01 3.68289908e-04 1.82311663e-01] [-1.14018064e-02 1.81788442e-04 9.99934981e-01 -8.14831914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.919254153999999 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:5.76, Y:0.19, Z:-0.08 [[ 9.98924624e-01 -4.48356787e-02 1.18049969e-02 5.76234918e+00] [ 4.48343387e-02 9.98994364e-01 3.78261477e-04 1.87079873e-01] [-1.18100850e-02 1.51414525e-04 9.99930247e-01 -8.16330317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.949254153999999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:5.79, Y:0.19, Z:-0.08 [[ 9.99025871e-01 -4.25595002e-02 1.16617999e-02 5.79448867e+00] [ 4.25580784e-02 9.99093926e-01 3.70161387e-04 1.90255346e-01] [-1.16669873e-02 1.26502992e-04 9.99931930e-01 -8.19207051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9792541539999995 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:5.83, Y:0.19, Z:-0.08 [[ 9.99122698e-01 -4.01210239e-02 1.20057058e-02 5.82790810e+00] [ 4.01193810e-02 9.99194822e-01 3.77754273e-04 1.93451983e-01] [-1.20111949e-02 1.04238615e-04 9.99927858e-01 -8.23518461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.009254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:5.86, Y:0.20, Z:-0.08 [[ 9.99201121e-01 -3.79800181e-02 1.24353504e-02 5.85946398e+00] [ 3.79781387e-02 9.99278495e-01 3.87329272e-04 1.96643029e-01] [-1.24410890e-02 8.52516184e-05 9.99922603e-01 -8.28662431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.039254153999999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:5.89, Y:0.20, Z:-0.08 [[ 9.99308424e-01 -3.48912013e-02 1.28560529e-02 5.89250517e+00] [ 3.48889825e-02 9.99391115e-01 3.96891852e-04 2.02010990e-01] [-1.28620731e-02 5.19172336e-05 9.99917279e-01 -8.27593867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.069254153999999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:5.93, Y:0.20, Z:-0.08 [[ 9.99349329e-01 -3.37810237e-02 1.26396377e-02 5.92573183e+00] [ 3.37788359e-02 9.99429258e-01 3.86596737e-04 2.04902824e-01] [-1.26454834e-02 4.06070582e-05 9.99920042e-01 -8.31656410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.099254154 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:5.96, Y:0.21, Z:-0.08 [[ 9.99360454e-01 -3.35218000e-02 1.24488047e-02 5.95746137e+00] [ 3.35197032e-02 9.99437986e-01 3.77100797e-04 2.09801697e-01] [-1.24544494e-02 4.04206164e-05 9.99922440e-01 -8.34293604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.129254153999999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:5.99, Y:0.21, Z:-0.08 [[ 9.99359335e-01 -3.36299817e-02 1.22451896e-02 5.98914782e+00] [ 3.36280010e-02 9.99434351e-01 3.67673966e-04 2.12680857e-01] [-1.22506280e-02 4.43428375e-05 9.99924957e-01 -8.37754875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.159254153999999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:6.02, Y:0.22, Z:-0.08 [[ 9.99355130e-01 -3.37068442e-02 1.23762679e-02 6.02245242e+00] [ 3.37048673e-02 9.99431762e-01 3.68337153e-04 2.15596188e-01] [-1.23816507e-02 4.90408424e-05 9.99923343e-01 -8.43056698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1892541539999995 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:6.06, Y:0.22, Z:-0.08 [[ 9.99372427e-01 -3.31114377e-02 1.25851257e-02 6.05582746e+00] [ 3.31093917e-02 9.99451665e-01 3.70951428e-04 2.20918605e-01] [-1.25905076e-02 4.59672285e-05 9.99920735e-01 -8.49236805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.219254154 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:6.09, Y:0.22, Z:-0.09 [[ 9.99402948e-01 -3.21527533e-02 1.26470618e-02 6.08919735e+00] [ 3.21506564e-02 9.99482966e-01 3.69132263e-04 2.23987529e-01] [-1.26523915e-02 3.76994671e-05 9.99919955e-01 -8.57537790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.249254153999999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:6.12, Y:0.23, Z:-0.09 [[ 9.99429909e-01 -3.11711255e-02 1.29699052e-02 6.12123182e+00] [ 3.11688966e-02 9.99514062e-01 3.74006979e-04 2.26764964e-01] [-1.29752608e-02 3.04638718e-05 9.99915817e-01 -8.65520066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.279254153999999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:6.15, Y:0.23, Z:-0.09 [[ 9.99468554e-01 -2.95713690e-02 1.37165434e-02 6.15371985e+00] [ 2.95687553e-02 9.99562671e-01 3.93357812e-04 2.31867776e-01] [-1.37221769e-02 1.24323502e-05 9.99905846e-01 -8.73217643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.309254154 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:6.19, Y:0.23, Z:-0.09 [[ 9.99486363e-01 -2.86788728e-02 1.43014719e-02 6.18680616e+00] [ 2.86760035e-02 9.99588677e-01 4.05701043e-04 2.34807279e-01] [-1.43072244e-02 4.61639682e-06 9.99897646e-01 -8.77132878e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.339254153999999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:6.22, Y:0.24, Z:-0.09 [[ 9.99505732e-01 -2.79714249e-02 1.43489245e-02 6.22030343e+00] [ 2.79685244e-02 9.99608723e-01 4.02814370e-04 2.37612919e-01] [-1.43545774e-02 -1.29702746e-06 9.99896968e-01 -8.85533630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.369254153999999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:6.25, Y:0.24, Z:-0.09 [[ 9.99497035e-01 -2.83125057e-02 1.42856253e-02 6.25245390e+00] [ 2.83097264e-02 9.99599121e-01 3.96780786e-04 2.41532682e-01] [-1.42911323e-02 7.84092314e-06 9.99897877e-01 -8.96984652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.399254153999999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:6.29, Y:0.24, Z:-0.09 [[ 9.99490740e-01 -2.85632875e-02 1.42267034e-02 6.28516918e+00] [ 2.85606105e-02 9.99591986e-01 3.91340581e-04 2.43651709e-01] [-1.42320766e-02 1.51820469e-05 9.99898719e-01 -9.05632811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.429254154 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:6.32, Y:0.25, Z:-0.09 [[ 9.99458124e-01 -2.96972787e-02 1.41961607e-02 6.31708891e+00] [ 2.96947867e-02 9.99558938e-01 3.86340666e-04 2.47353549e-01] [-1.42013725e-02 3.54206457e-05 9.99899155e-01 -9.20040889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.459254153999999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:6.35, Y:0.25, Z:-0.09 [[ 9.99440084e-01 -3.01161629e-02 1.45786078e-02 6.35039185e+00] [ 3.01136372e-02 9.99546404e-01 3.92787481e-04 2.49585056e-01] [-1.45838243e-02 4.64473542e-05 9.99893649e-01 -9.28187008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.489254153999999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:6.38, Y:0.25, Z:-0.09 [[ 9.99426537e-01 -3.05205381e-02 1.46660888e-02 6.38346613e+00] [ 3.05180880e-02 9.99534138e-01 3.90880793e-04 2.51532486e-01] [-1.46711863e-02 5.69243517e-05 9.99892371e-01 -9.38267458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5192541539999995 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:6.42, Y:0.25, Z:-0.09 [[ 9.99331715e-01 -3.29683501e-02 1.57864062e-02 6.41513546e+00] [ 3.29658956e-02 9.99456391e-01 4.15755447e-04 2.51707950e-01] [-1.57915313e-02 1.04935413e-04 9.99875300e-01 -9.49853873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.549254153999999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:6.45, Y:0.25, Z:-0.10 [[ 9.99168775e-01 -3.74069991e-02 1.62010673e-02 6.44792841e+00] [ 3.74050686e-02 9.99300096e-01 4.22269487e-04 2.52745750e-01] [-1.62055239e-02 1.84083547e-04 9.99868665e-01 -9.51378676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.579254153999999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:6.48, Y:0.25, Z:-0.10 [[ 9.99115508e-01 -3.90287601e-02 1.56511451e-02 6.48072864e+00] [ 3.90272244e-02 9.99238066e-01 4.03654190e-04 2.53971137e-01] [-1.56549740e-02 2.07523589e-04 9.99877432e-01 -9.57403037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.609254153999999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:6.51, Y:0.25, Z:-0.10 [[ 9.99072099e-01 -4.03118377e-02 1.51623510e-02 6.51367821e+00] [ 4.03106069e-02 9.99187122e-01 3.86905636e-04 2.54799883e-01] [-1.51656228e-02 2.24656947e-04 9.99884970e-01 -9.66820144e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.639254154 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:6.55, Y:0.25, Z:-0.10 [[ 9.98913374e-01 -4.41954771e-02 1.47929156e-02 6.54695367e+00] [ 4.41947913e-02 9.99022863e-01 3.73421001e-04 2.53097015e-01] [-1.47949644e-02 2.80754586e-04 9.99890509e-01 -9.91985263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.669254153999999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:6.58, Y:0.25, Z:-0.10 [[ 9.98846365e-01 -4.58045824e-02 1.44179902e-02 6.57981067e+00] [ 4.58041564e-02 9.98950374e-01 3.59940295e-04 2.52955913e-01] [-1.44193437e-02 3.00878825e-04 9.99895991e-01 -1.00415743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.699254153999999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:6.61, Y:0.25, Z:-0.10 [[ 9.98735352e-01 -4.84604862e-02 1.33894720e-02 6.61246469e+00] [ 4.84604035e-02 9.98825050e-01 3.30808171e-04 2.52801075e-01] [-1.33897712e-02 3.18469401e-04 9.99910302e-01 -1.01925682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7292541539999995 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:6.65, Y:0.25, Z:-0.10 [[ 9.98727210e-01 -4.87243063e-02 1.30346482e-02 6.64530537e+00] [ 4.87242969e-02 9.98812215e-01 3.18480103e-04 2.53240800e-01] [-1.30346836e-02 3.17029324e-04 9.99914995e-01 -1.02437922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.759254153999999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:6.68, Y:0.25, Z:-0.10 [[ 9.98742250e-01 -4.84325328e-02 1.29694768e-02 6.67888371e+00] [ 4.84325471e-02 9.98826406e-01 3.13169649e-04 2.54186038e-01] [-1.29694235e-02 3.15369037e-04 9.99915844e-01 -1.02762524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.789254153999999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:6.71, Y:0.26, Z:-0.10 [[ 9.98788912e-01 -4.73991558e-02 1.31919804e-02 6.71052778e+00] [ 4.73991327e-02 9.98875980e-01 3.14590573e-04 2.55465432e-01] [-1.31920636e-02 3.11078851e-04 9.99912933e-01 -1.03312041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.819254153999999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:6.74, Y:0.26, Z:-0.10 [[ 9.98805581e-01 -4.69588300e-02 1.35011141e-02 6.74394110e+00] [ 4.69588145e-02 9.98896776e-01 3.18337221e-04 2.55932576e-01] [-1.35011681e-02 3.16039320e-04 9.99908805e-01 -1.03944654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.849254154 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:6.78, Y:0.26, Z:-0.10 [[ 9.98820023e-01 -4.65967498e-02 1.36858938e-02 6.77686672e+00] [ 4.65967533e-02 9.98913730e-01 3.18791851e-04 2.56114124e-01] [-1.36858819e-02 3.19302532e-04 9.99906293e-01 -1.04538130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.879254153999999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:6.81, Y:0.26, Z:-0.11 [[ 9.98834472e-01 -4.60999563e-02 1.43000253e-02 6.80961676e+00] [ 4.60999694e-02 9.98936777e-01 3.28885845e-04 2.55959952e-01] [-1.42999828e-02 3.30728210e-04 9.99897695e-01 -1.05091192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.909254153999999 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:6.84, Y:0.26, Z:-0.11 [[ 9.98836159e-01 -4.60682486e-02 1.42844124e-02 6.84314278e+00] [ 4.60683175e-02 9.98938239e-01 3.24402025e-04 2.56644961e-01] [-1.42841904e-02 3.34034373e-04 9.99897920e-01 -1.05665832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9392541539999995 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:6.88, Y:0.26, Z:-0.11 [[ 9.98833528e-01 -4.61409301e-02 1.42337197e-02 6.87543848e+00] [ 4.61410655e-02 9.98934883e-01 3.19057794e-04 2.56947443e-01] [-1.42332808e-02 3.38073373e-04 9.99898645e-01 -1.06715945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.969254153999999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:6.91, Y:0.26, Z:-0.11 [[ 9.98828442e-01 -4.63234358e-02 1.39957780e-02 6.90842929e+00] [ 4.63236353e-02 9.98926436e-01 3.10103872e-04 2.57737408e-01] [-1.39951177e-02 3.38594748e-04 9.99902006e-01 -1.07382216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.999254153999999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:6.94, Y:0.26, Z:-0.11 [[ 9.98817499e-01 -4.66592488e-02 1.36571646e-02 6.94122484e+00] [ 4.66595218e-02 9.98910807e-01 2.98819528e-04 2.58471365e-01] [-1.36562321e-02 3.38770597e-04 9.99906692e-01 -1.08431952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.029254153999998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:6.97, Y:0.26, Z:-0.11 [[ 9.98788980e-01 -4.77105019e-02 1.20116805e-02 6.97445297e+00] [ 4.77108226e-02 9.98861156e-01 2.60014338e-04 2.59156648e-01] [-1.20104065e-02 3.13387704e-04 9.99927823e-01 -1.09324784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.059254154 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:7.01, Y:0.26, Z:-0.11 [[ 9.98791273e-01 -4.78098028e-02 1.14112540e-02 7.00745480e+00] [ 4.78101321e-02 9.98856412e-01 2.44094607e-04 2.59941729e-01] [-1.14098743e-02 3.01773998e-04 9.99934860e-01 -1.10354188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.089254153999999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:7.04, Y:0.26, Z:-0.11 [[ 9.98801089e-01 -4.77684694e-02 1.07031672e-02 7.03941409e+00] [ 4.77687958e-02 9.98858394e-01 2.25298346e-04 2.60711459e-01] [-1.07017106e-02 2.86249174e-04 9.99942694e-01 -1.11074121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.119254154 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:7.07, Y:0.26, Z:-0.11 [[ 9.98820644e-01 -4.74659584e-02 1.02128980e-02 7.07160207e+00] [ 4.74662498e-02 9.98872819e-01 2.13992939e-04 2.61423885e-01] [-1.02115436e-02 2.71027401e-04 9.99947824e-01 -1.11852636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.149254154 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:7.10, Y:0.26, Z:-0.11 [[ 9.98863929e-01 -4.65361636e-02 1.02585069e-02 7.10493172e+00] [ 4.65364359e-02 9.98916571e-01 2.12279656e-04 2.62613149e-01] [-1.02572712e-02 2.65355858e-04 9.99947358e-01 -1.12498551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.179254153999999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:7.14, Y:0.27, Z:-0.11 [[ 9.98961723e-01 -4.46469418e-02 9.06233671e-03 7.13653635e+00] [ 4.46846664e-02 9.98993118e-01 -4.00380265e-03 2.65593817e-01] [-8.87445447e-03 4.40459309e-03 9.99950921e-01 -1.11036230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.209254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:7.18, Y:0.27, Z:-0.11 [[ 0.99902338 -0.04114457 0.01610597 7.17560785] [ 0.04140351 0.99901297 -0.01608857 0.27027783] [-0.01542812 0.0167397 0.99974084 -0.11302163] [ 0. 0. 0. 1. ]] SLAMing on 8.239254154 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:7.20, Y:0.26, Z:-0.12 [[ 0.99892534 -0.04562609 0.00815014 7.20063334] [ 0.04542838 0.99870307 0.02298777 0.25689904] [-0.00918842 -0.02259282 0.99970252 -0.11839866] [ 0. 0. 0. 1. ]] SLAMing on 8.269254153999999 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:7.23, Y:0.27, Z:-0.11 [[ 9.98967281e-01 -4.44863741e-02 9.23765594e-03 7.23322348e+00] [ 4.44864332e-02 9.99009969e-01 1.99177257e-04 2.68695445e-01] [-9.23737105e-03 2.11978801e-04 9.99957312e-01 -1.10171543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.299254154 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:7.27, Y:0.27, Z:-0.11 [[ 9.99062370e-01 -4.21076753e-02 1.00660373e-02 7.26667118e+00] [ 4.21076572e-02 9.99113056e-01 2.13826534e-04 2.69178864e-01] [-1.00661130e-02 2.10231204e-04 9.99949313e-01 -1.10736529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.329254154 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:7.30, Y:0.27, Z:-0.11 [[ 9.99109163e-01 -4.08304654e-02 1.06655441e-02 7.29939625e+00] [ 4.08304076e-02 9.99166066e-01 2.23259595e-04 2.69914736e-01] [-1.06657655e-02 2.12417804e-04 9.99943097e-01 -1.11557517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.359254153999998 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:7.33, Y:0.27, Z:-0.11 [[ 9.99228270e-01 -3.78828481e-02 1.03805001e-02 7.33296171e+00] [ 3.78826640e-02 9.99282171e-01 2.14434999e-04 2.70951653e-01] [-1.03811720e-02 1.78971483e-04 9.99946098e-01 -1.11927599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.389254154 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:7.37, Y:0.27, Z:-0.11 [[ 9.99300934e-01 -3.58459126e-02 1.06166887e-02 7.36582090e+00] [ 3.58456382e-02 9.99357315e-01 2.16187772e-04 2.71713484e-01] [-1.06176149e-02 1.64525339e-04 9.99943618e-01 -1.12616512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.419254153999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:7.40, Y:0.27, Z:-0.11 [[ 9.99305459e-01 -3.57195112e-02 1.06167637e-02 7.39936828e+00] [ 3.57192696e-02 9.99361841e-01 2.12431075e-04 2.72296114e-01] [-1.06175764e-02 1.66939511e-04 9.99943618e-01 -1.13116883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.449254153999998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:7.43, Y:0.27, Z:-0.11 [[ 9.99360704e-01 -3.41927499e-02 1.04421525e-02 7.43113722e+00] [ 3.41924397e-02 9.99415246e-01 2.08287265e-04 2.73348435e-01] [-1.04431683e-02 1.48888562e-04 9.99945458e-01 -1.13317308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.479254154 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:7.46, Y:0.28, Z:-0.11 [[ 9.99465559e-01 -3.13437082e-02 9.28265979e-03 7.46320567e+00] [ 3.13768230e-02 9.99501695e-01 -3.44345345e-03 2.75763020e-01] [-9.17010359e-03 3.73287350e-03 9.99950986e-01 -1.12515134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.509254153999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:7.50, Y:0.27, Z:-0.12 [[ 9.99501469e-01 -2.99083569e-02 1.01145037e-02 7.49561533e+00] [ 2.98710474e-02 9.99546462e-01 3.81991426e-03 2.72332527e-01] [-1.02241637e-02 -3.51587910e-03 9.99941551e-01 -1.16261689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.539254154 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:7.53, Y:0.27, Z:-0.12 [[ 9.99530381e-01 -2.88605507e-02 1.02998493e-02 7.52886423e+00] [ 2.88600140e-02 9.99583443e-01 2.00764488e-04 2.74232694e-01] [-1.03013530e-02 9.65835901e-05 9.99946935e-01 -1.15413599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.569254154 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:7.56, Y:0.27, Z:-0.12 [[ 9.99563275e-01 -2.76714078e-02 1.03707795e-02 7.56212736e+00] [ 2.76708299e-02 9.99617069e-01 1.99242227e-04 2.73964924e-01] [-1.03723215e-02 8.78128627e-05 9.99946202e-01 -1.15853922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.599254153999999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:7.60, Y:0.27, Z:-0.12 [[ 9.99574751e-01 -2.74146781e-02 9.93739020e-03 7.59512032e+00] [ 2.74141698e-02 9.99624143e-01 1.87390781e-04 2.73895493e-01] [-9.93879243e-03 8.51142096e-05 9.99950605e-01 -1.16104340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.629254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:7.63, Y:0.27, Z:-0.12 [[ 9.99585033e-01 -2.69927163e-02 1.00576106e-02 7.62865877e+00] [ 2.69921853e-02 9.99635627e-01 1.88563155e-04 2.73831764e-01] [-1.00590357e-02 8.29919809e-05 9.99949403e-01 -1.17137706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.659254154 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:7.66, Y:0.27, Z:-0.12 [[ 9.99600626e-01 -2.66893218e-02 9.28811076e-03 7.66163372e+00] [ 2.66888640e-02 9.99643774e-01 1.73250994e-04 2.74181508e-01] [-9.28942605e-03 7.47073234e-05 9.99956850e-01 -1.18116630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.689254153999999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:7.69, Y:0.28, Z:-0.12 [[ 9.99705623e-01 -2.34943394e-02 6.05660068e-03 7.69319459e+00] [ 2.35462707e-02 9.99685321e-01 -8.65056112e-03 2.78572726e-01] [-5.85145558e-03 8.79062496e-03 9.99944241e-01 -1.15028252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.719254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:7.73, Y:0.27, Z:-0.12 [[ 9.99697935e-01 -2.34563789e-02 7.33742552e-03 7.72715058e+00] [ 2.33928972e-02 9.99689176e-01 8.62115036e-03 2.70970733e-01] [-7.53736584e-03 -8.44690257e-03 9.99935917e-01 -1.22116816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.749254153999999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:7.77, Y:0.29, Z:-0.12 [[ 0.99966739 -0.01435692 0.02142392 7.76964099] [ 0.01541668 0.9986227 -0.05014998 0.29241966] [-0.02067441 0.05046358 0.99851189 -0.11815256] [ 0. 0. 0. 1. ]] SLAMing on 8.779254153999998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:7.79, Y:0.25, Z:-0.14 [[ 9.99746768e-01 -2.13105954e-02 7.22901112e-03 7.78925701e+00] [ 2.09148491e-02 9.98479856e-01 5.09955565e-02 2.52209238e-01] [-8.30476765e-03 -5.08314491e-02 9.98672716e-01 -1.36899119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.809254154 meters Centerline goodness : 0.997045 Centerline is valid? [True, True] Translation: X:7.82, Y:0.28, Z:-0.11 [[ 9.99800644e-01 -1.88698518e-02 6.52689312e-03 7.82025625e+00] [ 1.89295891e-02 9.99778352e-01 -9.21510899e-03 2.81745592e-01] [-6.35155871e-03 9.33682331e-03 9.99936239e-01 -1.14232693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.839254153999999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:7.85, Y:0.27, Z:-0.12 [[ 0.99976193 -0.01999152 0.00874203 7.85416443] [ 0.01990818 0.9997565 0.00951874 0.27294243] [-0.0089302 -0.00934243 0.99991648 -0.12224148] [ 0. 0. 0. 1. ]] SLAMing on 8.869254153999998 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:7.89, Y:0.28, Z:-0.12 [[ 9.99739130e-01 -2.08652912e-02 9.29039234e-03 7.88679233e+00] [ 2.08646405e-02 9.99782296e-01 1.66964187e-04 2.76683131e-01] [-9.29185354e-03 2.69200650e-05 9.99956829e-01 -1.18790612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.899254154 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:7.92, Y:0.28, Z:-0.12 [[ 9.99724590e-01 -2.14242136e-02 9.57845940e-03 7.91891234e+00] [ 2.14235512e-02 9.99770475e-01 1.71762915e-04 2.76728419e-01] [-9.57994078e-03 3.34890050e-05 9.99954111e-01 -1.19251521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.929254153999999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:7.95, Y:0.28, Z:-0.12 [[ 9.99704297e-01 -2.24527929e-02 9.33755076e-03 7.95198298e+00] [ 2.24522378e-02 9.99747903e-01 1.64284211e-04 2.76466681e-01] [-9.33888543e-03 4.54132779e-05 9.99956391e-01 -1.19595895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.959254154 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:7.99, Y:0.28, Z:-0.12 [[ 9.99643488e-01 -2.51030169e-02 9.09591343e-03 7.98501753e+00] [ 2.51026002e-02 9.99684867e-01 1.59985645e-04 2.75349917e-01] [-9.09706313e-03 6.84024701e-05 9.99958619e-01 -1.20469056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.989254154 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:8.01, Y:0.28, Z:-0.12 [[ 9.99653219e-01 -2.52808101e-02 7.37041212e-03 8.01426927e+00] [ 2.53237248e-02 9.99662544e-01 -5.78856649e-03 2.77319344e-01] [-7.22158527e-03 5.97320541e-03 9.99956084e-01 -1.18817360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.019254153999999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:8.05, Y:0.27, Z:-0.12 [[ 9.99504968e-01 -3.04406761e-02 7.94889217e-03 8.04895605e+00] [ 3.03927881e-02 9.99519557e-01 6.07737348e-03 2.69772479e-01] [-8.13007253e-03 -5.83277599e-03 9.99949939e-01 -1.23863031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.049254154 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:8.08, Y:0.27, Z:-0.12 [[ 9.99462441e-01 -3.18540741e-02 7.75544726e-03 8.08119487e+00] [ 3.18540034e-02 9.99492524e-01 1.32669716e-04 2.71642370e-01] [-7.75573762e-03 1.14443645e-04 9.99969917e-01 -1.21923585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.079254154 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:8.11, Y:0.27, Z:-0.12 [[ 9.99403250e-01 -3.36778659e-02 7.67762300e-03 8.11434852e+00] [ 3.36778739e-02 9.99432731e-01 1.28285197e-04 2.71113510e-01] [-7.67758810e-03 1.30357377e-04 9.99970518e-01 -1.22693619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.109254153999998 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:8.15, Y:0.27, Z:-0.12 [[ 9.99362486e-01 -3.50153713e-02 6.96747866e-03 8.14750278e+00] [ 3.50154058e-02 9.99386766e-01 1.17068524e-04 2.70460810e-01] [-6.96730517e-03 1.26975202e-04 9.99975720e-01 -1.22694571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.139254154 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:8.18, Y:0.27, Z:-0.12 [[ 9.99276943e-01 -3.75903291e-02 5.70597789e-03 8.18005813e+00] [ 3.75904005e-02 9.99293227e-01 9.47771006e-05 2.69491080e-01] [-5.70550776e-03 1.19781423e-04 9.99983716e-01 -1.23416201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.169254153999999 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:8.22, Y:0.29, Z:-0.12 [[ 0.99938246 -0.0287736 0.02016886 8.22415663] [ 0.02993398 0.99776079 -0.0598111 0.28919501] [-0.01840272 0.0603779 0.99800594 -0.12264478] [ 0. 0. 0. 1. ]] SLAMing on 9.199254153999998 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:8.24, Y:0.24, Z:-0.15 [[ 9.99121368e-01 -4.18814289e-02 1.56149533e-03 8.24251518e+00] [ 4.17092337e-02 9.97279506e-01 6.07776833e-02 2.38714458e-01] [-4.10270351e-03 -6.06591533e-02 9.98150106e-01 -1.45330139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.229254154 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:8.29, Y:0.30, Z:-0.12 [[ 0.99937055 -0.0283844 0.02127995 8.29034294] [ 0.0302357 0.99526052 -0.0924246 0.30070616] [-0.01855568 0.09300984 0.99549227 -0.11909447] [ 0. 0. 0. 1. ]] SLAMing on 9.259254153999999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:8.31, Y:0.22, Z:-0.16 [[ 9.99106850e-01 -4.22308359e-02 -1.43457788e-03 8.31485574e+00] [ 4.22103331e-02 9.95906730e-01 7.99254157e-02 2.24577278e-01] [-1.94661134e-03 -7.99145843e-02 9.96799814e-01 -1.55890857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.289254153999998 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:8.34, Y:0.27, Z:-0.12 [[ 9.98901147e-01 -4.66314081e-02 -4.69151301e-03 8.33850096e+00] [ 4.66577727e-02 9.98894804e-01 5.67652171e-03 2.65875416e-01] [ 4.42162377e-03 -5.88917959e-03 9.99972883e-01 -1.24472764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.319254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:8.37, Y:0.27, Z:-0.12 [[ 9.98897455e-01 -4.67642228e-02 -4.12094275e-03 8.37126686e+00] [ 4.67643134e-02 9.98905948e-01 -7.44235897e-05 2.68993005e-01] [ 4.11991459e-03 -1.18371524e-04 9.99991506e-01 -1.22247146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.349254153999999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:8.40, Y:0.27, Z:-0.12 [[ 9.98913943e-01 -4.64545839e-02 -3.59242455e-03 8.40320200e+00] [ 4.64546593e-02 9.98920398e-01 -6.24872154e-05 2.69493741e-01] [ 3.59144897e-03 -1.04465508e-04 9.99993545e-01 -1.21961768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.379254154 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:8.44, Y:0.27, Z:-0.12 [[ 9.98910640e-01 -4.65536442e-02 -3.20789679e-03 8.43627876e+00] [ 4.65537025e-02 9.98915787e-01 -5.65282454e-05 2.70169035e-01] [ 3.20705035e-03 -9.28728072e-05 9.99994853e-01 -1.20473646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.409254154 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:8.47, Y:0.27, Z:-0.12 [[ 9.98910553e-01 -4.65993307e-02 -2.49185812e-03 8.46921077e+00] [ 4.65993672e-02 9.98913658e-01 -4.34374063e-05 2.70775085e-01] [ 2.49117527e-03 -7.27289280e-05 9.99996894e-01 -1.19947250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.439254153999999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:8.50, Y:0.27, Z:-0.12 [[ 9.98879483e-01 -4.72725133e-02 -2.25581654e-03 8.50273132e+00] [ 4.72725457e-02 9.98882028e-01 -3.89705252e-05 2.70807928e-01] [ 2.25513683e-03 -6.77113325e-05 9.99997455e-01 -1.19226616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.469254154 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:8.54, Y:0.27, Z:-0.12 [[ 9.98859700e-01 -4.76740249e-02 -2.54694001e-03 8.53515434e+00] [ 4.76740725e-02 9.98862944e-01 -4.20631966e-05 2.70684633e-01] [ 2.54604932e-03 -7.94077706e-05 9.99996756e-01 -1.19695844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.499254153999999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:8.57, Y:0.27, Z:-0.12 [[ 9.98831772e-01 -4.82424622e-02 -2.78509075e-03 8.56813349e+00] [ 4.82425177e-02 9.98835651e-01 -4.72636717e-05 2.70210211e-01] [ 2.78412805e-03 -8.71513331e-05 9.99996121e-01 -1.20197942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.529254153999998 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:8.60, Y:0.27, Z:-0.12 [[ 9.98793625e-01 -4.89147884e-02 -4.31712797e-03 8.60062836e+00] [ 4.89149370e-02 9.98802945e-01 -7.12274594e-05 2.69196760e-01] [ 4.31544421e-03 -1.40030510e-04 9.99990679e-01 -1.20633149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.559254154 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:8.63, Y:0.27, Z:-0.12 [[ 9.98775246e-01 -4.91838146e-02 -5.38145724e-03 8.63403822e+00] [ 4.91840420e-02 9.98789729e-01 -9.01464091e-05 2.69473444e-01] [ 5.37937796e-03 -1.74645817e-04 9.99985516e-01 -1.20655702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.589254153999999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:8.67, Y:0.27, Z:-0.12 [[ 9.98787183e-01 -4.88658372e-02 -6.02440605e-03 8.66597569e+00] [ 4.88661338e-02 9.98805332e-01 -9.80503820e-05 2.69638659e-01] [ 6.02200020e-03 -1.96457967e-04 9.99981848e-01 -1.20695646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.619254153999998 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:8.70, Y:0.27, Z:-0.12 [[ 9.98772092e-01 -4.91047798e-02 -6.55958912e-03 8.69878643e+00] [ 4.91051309e-02 9.98793610e-01 -1.07627619e-04 2.70087001e-01] [ 6.55696072e-03 -2.14614020e-04 9.99978480e-01 -1.20512916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.649254154 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:8.73, Y:0.27, Z:-0.12 [[ 9.98769732e-01 -4.91741246e-02 -6.39754163e-03 8.73049019e+00] [ 4.91744627e-02 9.98790199e-01 -1.04532879e-04 2.69919069e-01] [ 6.39494219e-03 -2.10191397e-04 9.99979530e-01 -1.20256618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.679254153999999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:8.76, Y:0.27, Z:-0.12 [[ 9.98775248e-01 -4.90705797e-02 -6.33102226e-03 8.76207685e+00] [ 4.90709205e-02 9.98795292e-01 -1.01599676e-04 2.70070148e-01] [ 6.32838078e-03 -2.09193848e-04 9.99979954e-01 -1.20238039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.709254153999998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:8.80, Y:0.27, Z:-0.12 [[ 9.98798471e-01 -4.86351706e-02 -6.01943855e-03 8.79512919e+00] [ 4.86354715e-02 9.98816591e-01 -9.64761310e-05 2.70070301e-01] [ 6.01700722e-03 -1.96398020e-04 9.99981878e-01 -1.20187013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.739254154 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:8.83, Y:0.27, Z:-0.12 [[ 9.98878826e-01 -4.69767215e-02 -5.85471711e-03 8.82714894e+00] [ 4.69769944e-02 9.98895967e-01 -9.09798222e-05 2.70177361e-01] [ 5.85252724e-03 -1.84159195e-04 9.99982857e-01 -1.20286504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.769254153999999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:8.86, Y:0.27, Z:-0.12 [[ 9.98959334e-01 -4.52197067e-02 -5.95205616e-03 8.85936480e+00] [ 4.52199589e-02 9.98977050e-01 -9.22606288e-05 2.70376216e-01] [ 5.95013950e-03 -1.76987118e-04 9.99982282e-01 -1.20645341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.799254154 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:8.89, Y:0.27, Z:-0.12 [[ 9.99083535e-01 -4.23626398e-02 -6.12349210e-03 8.89154321e+00] [ 4.23628517e-02 9.99102287e-01 -9.51644323e-05 2.70473750e-01] [ 6.12202638e-03 -1.64331370e-04 9.99981247e-01 -1.21109874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.829254154 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:8.92, Y:0.27, Z:-0.12 [[ 9.99147738e-01 -4.08543120e-02 -5.89266516e-03 8.92410756e+00] [ 4.08544865e-02 9.99165103e-01 -9.08022259e-05 2.70654939e-01] [ 5.89145505e-03 -1.50016971e-04 9.99982634e-01 -1.21458484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.859254153999998 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:8.96, Y:0.27, Z:-0.12 [[ 9.99280081e-01 -3.75913519e-02 -5.11960237e-03 8.95600175e+00] [ 3.75914429e-02 9.99293189e-01 -7.84908408e-05 2.70546932e-01] [ 5.11893435e-03 -1.14018906e-04 9.99986892e-01 -1.21744059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.889254154 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:8.99, Y:0.27, Z:-0.12 [[ 9.99349596e-01 -3.56830620e-02 -5.20618858e-03 8.98951838e+00] [ 3.56831336e-02 9.99363151e-01 -7.91743921e-05 2.70661659e-01] [ 5.20569821e-03 -1.06650226e-04 9.99986445e-01 -1.21618163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.919254153999999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:9.02, Y:0.27, Z:-0.12 [[ 9.99415954e-01 -3.38313060e-02 -4.81599799e-03 9.02185969e+00] [ 3.38313472e-02 9.99427553e-01 -7.29219559e-05 2.70929039e-01] [ 4.81570814e-03 -9.00523342e-05 9.99988400e-01 -1.21955799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.949254153999998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:9.06, Y:0.27, Z:-0.12 [[ 9.99478975e-01 -3.19872360e-02 -4.31233390e-03 9.05509084e+00] [ 3.19872550e-02 9.99488275e-01 -6.45926115e-05 2.71030435e-01] [ 4.31219331e-03 -7.33807670e-05 9.99990700e-01 -1.22450928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.979254154 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:9.09, Y:0.27, Z:-0.12 [[ 9.99529955e-01 -3.03889024e-02 -4.04758620e-03 9.08822063e+00] [ 3.03889082e-02 9.99538149e-01 -6.00665440e-05 2.71217054e-01] [ 4.04754217e-03 -6.29634155e-05 9.99991807e-01 -1.22792665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.009254153999999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:9.12, Y:0.27, Z:-0.12 [[ 9.99637110e-01 -2.66860826e-02 -3.67442896e-03 9.12057446e+00] [ 2.66860634e-02 9.99643862e-01 -5.42656402e-05 2.70340248e-01] [ 3.67456850e-03 -4.38100966e-05 9.99993248e-01 -1.23166763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.039254153999998 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:9.16, Y:0.30, Z:-0.12 [[ 0.99973625 -0.01353278 0.01855523 9.16395228] [ 0.01520497 0.9955351 -0.09315938 0.30305555] [-0.01721167 0.09341695 0.99547829 -0.11808921] [ 0. 0. 0. 1. ]] SLAMing on 10.069254154 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:9.18, Y:0.22, Z:-0.16 [[ 9.99699187e-01 -2.38897504e-02 -5.55108448e-03 9.18146418e+00] [ 2.43059344e-02 9.95277203e-01 9.39814367e-02 2.23190280e-01] [ 3.27967477e-03 -9.40880902e-02 9.95558474e-01 -1.55249070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.099254153999999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:9.21, Y:0.27, Z:-0.12 [[ 9.99832471e-01 -1.78144828e-02 -4.20407550e-03 9.21374201e+00] [ 1.78143822e-02 9.99841309e-01 -6.13746734e-05 2.69208460e-01] [ 4.20450171e-03 -1.35286163e-05 9.99991161e-01 -1.24639379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.129254153999998 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:9.24, Y:0.28, Z:-0.12 [[ 9.99899285e-01 -1.41049330e-02 1.57186157e-03 9.24416985e+00] [ 1.41414619e-02 9.99552867e-01 -2.63455060e-02 2.82984376e-01] [-1.19955714e-03 2.63650810e-02 9.99651661e-01 -1.22604917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.159254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:9.28, Y:0.26, Z:-0.13 [[ 9.99925006e-01 -1.15795195e-02 -3.98702517e-03 9.27758769e+00] [ 1.16805429e-02 9.99585249e-01 2.63228935e-02 2.56741266e-01] [ 3.68056509e-03 -2.63674900e-02 9.99645542e-01 -1.34403787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.189254153999999 meters Centerline goodness : 0.997499 Centerline is valid? [True, True] Translation: X:9.31, Y:0.29, Z:-0.12 [[ 9.99984076e-01 -3.49886120e-03 4.42778391e-03 9.30812139e+00] [ 3.65230368e-03 9.99375920e-01 -3.51344821e-02 2.86442774e-01] [-4.30208994e-03 3.51500942e-02 9.99372785e-01 -1.22086215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.219254154 meters Centerline goodness : 0.997435 Centerline is valid? [True, True] Translation: X:9.34, Y:0.27, Z:-0.13 [[ 9.99988518e-01 -2.00632755e-04 4.78783071e-03 9.33933990e+00] [ 2.24247852e-04 9.99987811e-01 -4.93228949e-03 2.71291316e-01] [-4.78678278e-03 4.93330652e-03 9.99976374e-01 -1.34062761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.249254153999999 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:9.37, Y:0.27, Z:-0.14 [[ 9.99980629e-01 4.30482356e-03 4.49547246e-03 9.37238593e+00] [-4.31071993e-03 9.99989860e-01 1.30275815e-03 2.66873590e-01] [-4.48981874e-03 -1.32211164e-03 9.99989047e-01 -1.36182282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.279254153999998 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:9.41, Y:0.26, Z:-0.14 [[ 9.99977622e-01 6.68343502e-03 2.95858403e-04 9.40539009e+00] [-6.68733165e-03 9.99848076e-01 1.60967282e-02 2.57836995e-01] [-1.88232018e-04 -1.60983465e-02 9.99870396e-01 -1.36535091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.309254154 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:9.43, Y:0.27, Z:-0.13 [[ 9.99977687e-01 6.67951598e-03 9.74351066e-05 9.43462778e+00] [-6.67951263e-03 9.99977691e-01 -3.46889807e-05 2.66231403e-01] [-9.76646386e-05 3.40373876e-05 9.99999995e-01 -1.30827626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.339254153999999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:9.46, Y:0.25, Z:-0.13 [[ 9.99961390e-01 4.14959100e-03 -7.74590785e-03 9.46171772e+00] [-3.94918945e-03 9.99661634e-01 2.57103430e-02 2.54613491e-01] [ 7.84997430e-03 -2.56787603e-02 9.99639425e-01 -1.30083233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.369254153999998 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:9.49, Y:0.26, Z:-0.12 [[ 9.99970637e-01 3.08624435e-03 -7.01430804e-03 9.48907410e+00] [-3.08705740e-03 9.99995230e-01 -1.05088132e-04 2.64614493e-01] [ 7.01395025e-03 1.26738618e-04 9.99975394e-01 -1.22314290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.399254154 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:9.52, Y:0.28, Z:-0.12 [[ 9.99989572e-01 4.18045327e-03 1.83836089e-03 9.51884357e+00] [-4.11905559e-03 9.99472269e-01 -3.22213597e-02 2.77385443e-01] [-1.97209062e-03 3.22134513e-02 9.99479067e-01 -1.23981520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.429254153999999 meters Centerline goodness : 0.994842 Centerline is valid? [True, True] Translation: X:9.55, Y:0.26, Z:-0.13 [[ 9.99997917e-01 1.89201660e-03 -7.65820514e-04 9.54728024e+00] [-1.89513659e-03 9.99989824e-01 -4.09403936e-03 2.63881304e-01] [ 7.58066730e-04 4.09548217e-03 9.99991326e-01 -1.33188770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.459254153999998 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:9.58, Y:0.25, Z:-0.14 [[ 9.99981635e-01 -1.42947816e-03 -5.88958440e-03 9.57762076e+00] [ 1.61212213e-03 9.99514224e-01 3.11242280e-02 2.45753458e-01] [ 5.84223198e-03 -3.11331511e-02 9.99498172e-01 -1.37418914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.489254154 meters Centerline goodness : 0.997519 Centerline is valid? [True, True] Translation: X:9.61, Y:0.26, Z:-0.13 [[ 9.99967726e-01 -5.21367238e-03 -6.11262830e-03 9.60636056e+00] [ 5.18893124e-03 9.99978310e-01 -4.05644192e-03 2.60008829e-01] [ 6.13364467e-03 4.02459299e-03 9.99973090e-01 -1.25853277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.519254153999999 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:9.64, Y:0.25, Z:-0.13 [[ 9.99959588e-01 -7.40168679e-03 -5.10277361e-03 9.63639055e+00] [ 7.42093175e-03 9.99965385e-01 3.76290868e-03 2.54682554e-01] [ 5.07474511e-03 -3.80062394e-03 9.99979901e-01 -1.28849817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.549254153999998 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:9.67, Y:0.26, Z:-0.13 [[ 9.99941169e-01 -9.66417335e-03 -4.92562448e-03 9.66691977e+00] [ 9.66392336e-03 9.99953300e-01 -7.45515471e-05 2.55088145e-01] [ 4.92611494e-03 2.69463037e-05 9.99987866e-01 -1.27735303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.579254154 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:9.70, Y:0.25, Z:-0.13 [[ 9.99874383e-01 -1.53589607e-02 -3.91415524e-03 9.69754865e+00] [ 1.53588459e-02 9.99882044e-01 -5.93702863e-05 2.51752933e-01] [ 3.91460541e-03 -7.54078954e-07 9.99992338e-01 -1.27952141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.609254153999998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:9.73, Y:0.25, Z:-0.13 [[ 9.99827204e-01 -1.83200780e-02 -3.15232743e-03 9.73010111e+00] [ 1.83200198e-02 9.99832173e-01 -4.73593063e-05 2.50245171e-01] [ 3.15266601e-03 -1.03995780e-05 9.99995030e-01 -1.28018660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.639254154 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:9.76, Y:0.25, Z:-0.13 [[ 9.99767833e-01 -2.14258073e-02 -2.28353967e-03 9.76233626e+00] [ 2.14257854e-02 9.99770441e-01 -3.40627629e-05 2.48546030e-01] [ 2.28374529e-03 -1.48717762e-05 9.99997392e-01 -1.28261344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.669254153999999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:9.79, Y:0.25, Z:-0.13 [[ 9.99604909e-01 -2.80774312e-02 -1.29767971e-03 9.79497787e+00] [ 2.80774313e-02 9.99605751e-01 -1.81303520e-05 2.45051263e-01] [ 1.29767715e-03 -1.83123239e-05 9.99999158e-01 -1.28905805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.699254153999998 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:9.83, Y:0.24, Z:-0.13 [[ 9.99499372e-01 -3.16123845e-02 -1.28908942e-03 9.82840977e+00] [ 3.16123870e-02 9.99500203e-01 -1.84822337e-05 2.43793419e-01] [ 1.28902940e-03 -2.22782124e-05 9.99999169e-01 -1.29365134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.729254154 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:9.86, Y:0.24, Z:-0.13 [[ 9.99380153e-01 -3.51682107e-02 -1.58319277e-03 9.86138533e+00] [ 3.51682190e-02 9.99381407e-01 -2.26205811e-05 2.42759028e-01] [ 1.58300894e-03 -3.30715101e-05 9.99998746e-01 -1.29742316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.759254153999999 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:9.89, Y:0.24, Z:-0.13 [[ 9.99135002e-01 -4.15439973e-02 -1.82851872e-03 9.89477707e+00] [ 4.15440193e-02 9.99136674e-01 -2.59806303e-05 2.40786651e-01] [ 1.82801945e-03 -5.00058597e-05 9.99998328e-01 -1.30221913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.789254153999998 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:9.93, Y:0.24, Z:-0.13 [[ 9.99018233e-01 -4.42681844e-02 -1.70225373e-03 9.92635372e+00] [ 4.42682076e-02 9.99019682e-01 -2.40729868e-05 2.40269055e-01] [ 1.70165065e-03 -5.13063687e-05 9.99998551e-01 -1.30897515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.819254154 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:9.96, Y:0.24, Z:-0.13 [[ 9.98915282e-01 -4.65169657e-02 -2.10499103e-03 9.95840433e+00] [ 4.65170064e-02 9.98917498e-01 -2.96617997e-05 2.39918192e-01] [ 2.10409215e-03 -6.82882563e-05 9.99997784e-01 -1.31003923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.849254153999999 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:9.99, Y:0.24, Z:-0.13 [[ 9.98764181e-01 -4.96191899e-02 -2.83676581e-03 9.99194952e+00] [ 4.96192770e-02 9.98768204e-01 -3.97185318e-05 2.39216642e-01] [ 2.83524230e-03 -1.01088822e-04 9.99995976e-01 -1.31204304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.879254153999998 meters Centerline goodness : 0.998098 Centerline is valid? [True, True] Translation: X:10.02, Y:0.24, Z:-0.13 [[ 9.98803016e-01 -4.86461168e-02 -5.10788395e-03 1.00213754e+01] [ 4.86033125e-02 9.98784548e-01 -8.19413601e-03 2.42619108e-01] [ 5.50028846e-03 7.93606768e-03 9.99953382e-01 -1.28410200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.909254154 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:10.06, Y:0.24, Z:-0.13 [[ 9.98710704e-01 -5.06310570e-02 -3.66409357e-03 1.00573866e+01] [ 5.06583016e-02 9.98685820e-01 7.76982411e-03 2.35349323e-01] [ 3.26588388e-03 -7.94542326e-03 9.99963101e-01 -1.34237495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.939254153999999 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:10.09, Y:0.24, Z:-0.13 [[ 9.98720699e-01 -5.04128151e-02 -3.93881294e-03 1.00901148e+01] [ 5.04129995e-02 9.98728455e-01 -5.25222335e-05 2.39840660e-01] [ 3.93645236e-03 -1.46112333e-04 9.99992241e-01 -1.31650931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.969254153999998 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:10.13, Y:0.26, Z:-0.13 [[ 9.99041030e-01 -4.24208167e-02 1.08395387e-02 1.01314025e+01] [ 4.30044107e-02 9.97214946e-01 -6.09341693e-02 2.62464163e-01] [-8.22447278e-03 6.13418832e-02 9.98082928e-01 -1.31559389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.999254153999999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:10.15, Y:0.21, Z:-0.15 [[ 9.98796904e-01 -4.87983639e-02 -4.84397070e-03 1.01534852e+01] [ 4.90042282e-02 9.96899545e-01 6.15620307e-02 2.12086270e-01] [ 1.82482582e-03 -6.17253407e-02 9.98091505e-01 -1.50455937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.029254153999998 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:10.19, Y:0.24, Z:-0.13 [[ 9.98862565e-01 -4.75119543e-02 -4.02378248e-03 1.01862457e+01] [ 4.75121280e-02 9.98870660e-01 -5.24764116e-05 2.43542546e-01] [ 4.02173152e-03 -1.38761745e-04 9.99991903e-01 -1.32096022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.059254154 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:10.22, Y:0.25, Z:-0.13 [[ 9.98888360e-01 -4.69994175e-02 -3.61917352e-03 1.02193255e+01] [ 4.69995544e-02 9.98894909e-01 -4.72754347e-05 2.45039525e-01] [ 3.61739592e-03 -1.22876661e-04 9.99993450e-01 -1.32292894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.089254153999999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:10.25, Y:0.25, Z:-0.13 [[ 9.98930983e-01 -4.60667044e-02 -3.84066905e-03 1.02527972e+01] [ 4.60668532e-02 9.98938358e-01 -4.97744223e-05 2.47327832e-01] [ 3.83888457e-03 -1.27206324e-04 9.99992623e-01 -1.32293844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.119254153999998 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:10.28, Y:0.25, Z:-0.13 [[ 9.98937011e-01 -4.59387406e-02 -3.80537345e-03 1.02846942e+01] [ 4.59388868e-02 9.98944251e-01 -4.90284276e-05 2.48610163e-01] [ 3.80360823e-03 -1.25838309e-04 9.99992758e-01 -1.32519216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.149254154 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:10.32, Y:0.25, Z:-0.13 [[ 9.98933862e-01 -4.60068032e-02 -3.80974914e-03 1.03175675e+01] [ 4.60069520e-02 9.98941118e-01 -4.86001748e-05 2.50177734e-01] [ 3.80795100e-03 -1.26726585e-04 9.99992742e-01 -1.32256032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.179254153999999 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:10.35, Y:0.25, Z:-0.13 [[ 9.98903077e-01 -4.66438574e-02 -4.12230492e-03 1.03492163e+01] [ 4.66440383e-02 9.98911573e-01 -5.22961341e-05 2.52528367e-01] [ 4.12025739e-03 -1.40042179e-04 9.99991502e-01 -1.32246902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.209254153999998 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:10.38, Y:0.25, Z:-0.13 [[ 9.98904704e-01 -4.66279904e-02 -3.90159272e-03 1.03821336e+01] [ 4.66281543e-02 9.98912315e-01 -4.89991759e-05 2.53657108e-01] [ 3.89963375e-03 -1.32978560e-04 9.99992388e-01 -1.32082750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.239254154 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:10.41, Y:0.26, Z:-0.13 [[ 9.98889488e-01 -4.70240302e-02 -2.92081317e-03 1.04142170e+01] [ 4.70241246e-02 9.98893753e-01 -3.63902569e-05 2.55927750e-01] [ 2.91929325e-03 -1.00998837e-04 9.99995734e-01 -1.31887960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.269254153999999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:10.45, Y:0.26, Z:-0.13 [[ 9.98885721e-01 -4.71128874e-02 -2.77344463e-03 1.04461169e+01] [ 4.71129735e-02 9.98889567e-01 -3.42959415e-05 2.57320016e-01] [ 2.77198069e-03 -9.64074971e-05 9.99996153e-01 -1.31574547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.299254153999998 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:10.48, Y:0.26, Z:-0.13 [[ 9.98883504e-01 -4.71682582e-02 -2.62692405e-03 1.04790524e+01] [ 4.71683366e-02 9.98886954e-01 -3.21346533e-05 2.58692266e-01] [ 2.62551590e-03 -9.18088628e-05 9.99996549e-01 -1.31702572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.329254154 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:10.51, Y:0.26, Z:-0.13 [[ 9.98897943e-01 -4.68695018e-02 -2.47993060e-03 1.05117517e+01] [ 4.68695715e-02 9.98901017e-01 -3.00368221e-05 2.59898598e-01] [ 2.47861301e-03 -8.62295650e-05 9.99996925e-01 -1.31903554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.359254153999998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:10.54, Y:0.26, Z:-0.13 [[ 9.98917752e-01 -4.64249447e-02 -2.83722237e-03 1.05444909e+01] [ 4.64250348e-02 9.98921776e-01 -3.41035217e-05 2.61965029e-01] [ 2.83574646e-03 -9.76515341e-05 9.99995974e-01 -1.31812996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.389254153999998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:10.58, Y:0.26, Z:-0.13 [[ 9.98949654e-01 -4.57724153e-02 -2.11540277e-03 1.05777025e+01] [ 4.57724646e-02 9.98951891e-01 -2.51002061e-05 2.63358726e-01] [ 2.11433449e-03 -7.17533561e-05 9.99997762e-01 -1.32104476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.419254153999999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:10.61, Y:0.26, Z:-0.13 [[ 9.98968155e-01 -4.53753072e-02 -1.92544473e-03 1.06106771e+01] [ 4.53753478e-02 9.98970008e-01 -2.25997904e-05 2.64700094e-01] [ 1.92448701e-03 -6.47912532e-05 9.99998146e-01 -1.31870836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.449254153999998 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:10.64, Y:0.27, Z:-0.13 [[ 9.98969079e-01 -4.53644682e-02 -1.68625568e-03 1.06427228e+01] [ 4.53644996e-02 9.98970501e-01 -1.96531985e-05 2.66404734e-01] [ 1.68541124e-03 -5.68632076e-05 9.99998578e-01 -1.31422583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.479254154 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:10.68, Y:0.27, Z:-0.13 [[ 9.98985303e-01 -4.49772426e-02 -2.32629841e-03 1.06755482e+01] [ 4.49773017e-02 9.98988009e-01 -2.69048219e-05 2.68916107e-01] [ 2.32515432e-03 -7.77531039e-05 9.99997294e-01 -1.31119800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.509254153999999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:10.71, Y:0.27, Z:-0.13 [[ 9.98978029e-01 -4.51333307e-02 -2.42501286e-03 1.07079185e+01] [ 4.51333958e-02 9.98980969e-01 -2.78977236e-05 2.69855640e-01] [ 2.42380081e-03 -8.15798523e-05 9.99997059e-01 -1.31466641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.539254153999998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:10.74, Y:0.27, Z:-0.13 [[ 9.98908915e-01 -4.66253044e-02 -2.65727896e-03 1.07406253e+01] [ 4.66253887e-02 9.98912445e-01 -3.02459738e-05 2.71525458e-01] [ 2.65579925e-03 -9.36836914e-05 9.99996469e-01 -1.31398649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.569254154 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:10.77, Y:0.27, Z:-0.13 [[ 9.98860544e-01 -4.76598846e-02 -2.47961318e-03 1.07736679e+01] [ 4.76599620e-02 9.98863618e-01 -2.79211981e-05 2.72203399e-01] [ 2.47812611e-03 -9.02888867e-05 9.99996925e-01 -1.31183582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.599254153999999 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:10.81, Y:0.27, Z:-0.13 [[ 9.98812516e-01 -4.86786119e-02 -1.98784481e-03 1.08054101e+01] [ 4.86786658e-02 9.98814491e-01 -2.12625646e-05 2.72884412e-01] [ 1.98652323e-03 -7.55283174e-05 9.99998024e-01 -1.31259229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.629254153999998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:10.84, Y:0.27, Z:-0.13 [[ 9.98652498e-01 -5.18574211e-02 -1.99913460e-03 1.08382839e+01] [ 5.18574814e-02 9.98654495e-01 -2.16779582e-05 2.73883378e-01] [ 1.99756892e-03 -8.20213384e-05 9.99998001e-01 -1.31111322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.659254154 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:10.87, Y:0.27, Z:-0.13 [[ 9.98580808e-01 -5.32189731e-02 -2.02756100e-03 1.08713536e+01] [ 5.32190384e-02 9.98582863e-01 -2.17648664e-05 2.74814531e-01] [ 2.02584598e-03 -8.61708690e-05 9.99997944e-01 -1.30713644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.689254153999999 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:10.90, Y:0.28, Z:-0.13 [[ 9.98423384e-01 -5.60703631e-02 -2.61932042e-03 1.09032696e+01] [ 5.60704848e-02 9.98426813e-01 -2.69987656e-05 2.76722435e-01] [ 2.61671357e-03 -1.19910367e-04 9.99996569e-01 -1.30320100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.719254153999998 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:10.94, Y:0.28, Z:-0.13 [[ 9.98359874e-01 -5.72064095e-02 -2.23343180e-03 1.09359017e+01] [ 5.72065006e-02 9.98362367e-01 -2.31484974e-05 2.77812714e-01] [ 2.23109850e-03 -1.04656287e-04 9.99997506e-01 -1.30654109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.749254153999999 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:10.97, Y:0.28, Z:-0.13 [[ 9.98320969e-01 -5.78840161e-02 -2.16424639e-03 1.09680183e+01] [ 5.78841046e-02 9.98323309e-01 -2.17997606e-05 2.78830318e-01] [ 2.16187948e-03 -1.03512306e-04 9.99997658e-01 -1.30298711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.779254153999998 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:11.00, Y:0.28, Z:-0.13 [[ 9.98248402e-01 -5.91554405e-02 -8.72381758e-04 1.10014407e+01] [ 5.91554555e-02 9.98248783e-01 -8.58859904e-06 2.80609536e-01] [ 8.71362090e-04 -4.30325850e-05 9.99999619e-01 -1.30133645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.809254153999998 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:11.03, Y:0.28, Z:-0.13 [[ 9.98210243e-01 -5.98011665e-02 -3.62562232e-04 1.10349581e+01] [ 5.98011692e-02 9.98210309e-01 -3.33089838e-06 2.81620842e-01] [ 3.62112549e-04 -1.83567085e-05 9.99999934e-01 -1.29858907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.839254153999999 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:11.07, Y:0.28, Z:-0.13 [[ 9.98221369e-01 -5.96148800e-02 -4.06793776e-04 1.10667253e+01] [ 5.96148836e-02 9.98221451e-01 -3.17217160e-06 2.83430939e-01] [ 4.06259382e-04 -2.10844342e-05 9.99999917e-01 -1.30106430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.869254153999998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:11.10, Y:0.28, Z:-0.13 [[ 9.98258214e-01 -5.89929571e-02 -6.08050380e-04 1.11001898e+01] [ 5.89929650e-02 9.98258398e-01 -4.94260995e-06 2.84652462e-01] [ 6.07282978e-04 -3.09366938e-05 9.99999815e-01 -1.30195073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.899254154 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:11.13, Y:0.29, Z:-0.13 [[ 9.98311055e-01 -5.80847498e-02 -1.09549029e-03 1.11324327e+01] [ 5.80847744e-02 9.98311654e-01 -9.37895971e-06 2.86220230e-01] [ 1.09418550e-03 -5.42681874e-05 9.99999400e-01 -1.30218795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.929254153999999 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:11.16, Y:0.29, Z:-0.13 [[ 9.98401683e-01 -5.65000919e-02 -1.34874958e-03 1.11643715e+01] [ 5.65001279e-02 9.98402592e-01 -1.13910725e-05 2.87554256e-01] [ 1.34723867e-03 -6.48316577e-05 9.99999090e-01 -1.30188327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.959254153999998 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:11.20, Y:0.29, Z:-0.13 [[ 9.98560118e-01 -5.36221732e-02 -1.53419839e-03 1.11971857e+01] [ 5.36222159e-02 9.98561294e-01 -1.33599412e-05 2.90106386e-01] [ 1.53270752e-03 -6.89264129e-05 9.99998823e-01 -1.30421772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.989254154 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:11.23, Y:0.29, Z:-0.13 [[ 9.98662818e-01 -5.16684874e-02 -1.71542685e-03 1.12288602e+01] [ 5.16685394e-02 9.98664289e-01 -1.40059709e-05 2.91281126e-01] [ 1.71385921e-03 -7.46463577e-05 9.99998529e-01 -1.30702156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.019254153999999 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:11.26, Y:0.29, Z:-0.13 [[ 9.98782498e-01 -4.92899755e-02 -2.00521336e-03 1.12604808e+01] [ 4.92900425e-02 9.98784507e-01 -1.59946353e-05 2.92498983e-01] [ 2.00356441e-03 -8.28618901e-05 9.99997989e-01 -1.30743184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.049254153999998 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:11.29, Y:0.30, Z:-0.13 [[ 9.98988977e-01 -4.48621343e-02 -2.90057492e-03 1.12931522e+01] [ 4.48622543e-02 9.98993182e-01 -2.36933842e-05 2.95241208e-01] [ 2.89871750e-03 -1.06456900e-04 9.99995793e-01 -1.30785473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.079254154 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:11.33, Y:0.30, Z:-0.13 [[ 9.99081524e-01 -4.27195845e-02 -3.33844256e-03 1.13262857e+01] [ 4.27197327e-02 9.99087095e-01 -2.69390809e-05 2.96922760e-01] [ 3.33654570e-03 -1.15703036e-04 9.99994427e-01 -1.30965461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.109254153999998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:11.36, Y:0.30, Z:-0.13 [[ 9.99234631e-01 -3.87733742e-02 -5.17477352e-03 1.13586716e+01] [ 3.87736786e-02 9.99248017e-01 -4.15296257e-05 2.99844028e-01] [ 5.17249242e-03 -1.59147165e-04 9.99986610e-01 -1.30602361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.139254153999998 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:11.39, Y:0.30, Z:-0.13 [[ 9.99280564e-01 -3.74065884e-02 -6.25305979e-03 1.13919082e+01] [ 3.74070103e-02 9.99300112e-01 -4.95114227e-05 3.01436596e-01] [ 6.25053540e-03 -1.84432469e-04 9.99980448e-01 -1.30541519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.169254153999999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:11.42, Y:0.30, Z:-0.13 [[ 9.99319265e-01 -3.62528700e-02 -6.83637861e-03 1.14248767e+01] [ 3.62533521e-02 9.99342630e-01 -5.34227352e-05 3.02525295e-01] [ 6.83382130e-03 -1.94455272e-04 9.99976630e-01 -1.30891094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.199254153999998 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:11.46, Y:0.30, Z:-0.13 [[ 9.99335461e-01 -3.55573577e-02 -8.01936463e-03 1.14575175e+01] [ 3.55580052e-02 9.99367612e-01 -6.18620832e-05 3.03445084e-01] [ 8.01649293e-03 -2.23331636e-04 9.99967842e-01 -1.30852700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.229254153999998 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:11.49, Y:0.30, Z:-0.13 [[ 9.99339908e-01 -3.54321612e-02 -8.01937275e-03 1.14910700e+01] [ 3.54328132e-02 9.99372059e-01 -6.08033549e-05 3.03614584e-01] [ 8.01649145e-03 -2.23385718e-04 9.99967842e-01 -1.30956249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.259254153999999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:11.52, Y:0.30, Z:-0.13 [[ 9.99346993e-01 -3.49762698e-02 -9.06912949e-03 1.15234144e+01] [ 3.49770908e-02 9.99388112e-01 -6.81176147e-05 3.04953731e-01] [ 9.06596270e-03 -2.49138632e-04 9.99958872e-01 -1.31156021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.289254153999998 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:11.56, Y:0.31, Z:-0.13 [[ 9.99325666e-01 -3.53484787e-02 -9.93474408e-03 1.15560034e+01] [ 3.53494932e-02 9.99375009e-01 -7.35228635e-05 3.05999988e-01] [ 9.93113387e-03 -2.77714883e-04 9.99950647e-01 -1.30858620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.319254154 meters Centerline goodness : 0.996923 Centerline is valid? [True, True] Translation: X:11.59, Y:0.31, Z:-0.13 [[ 9.99309201e-01 -3.56801310e-02 -1.03946605e-02 1.15881079e+01] [ 3.56578420e-02 9.99361360e-01 -2.32183086e-03 3.08254809e-01] [ 1.04708653e-02 1.94957578e-03 9.99943278e-01 -1.29873215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.349254153999999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:11.62, Y:0.31, Z:-0.13 [[ 9.99245712e-01 -3.76397663e-02 -9.55277228e-03 1.16205709e+01] [ 3.76620312e-02 9.99288196e-01 2.16157595e-03 3.07817400e-01] [ 9.46461137e-03 -2.51972231e-03 9.99952035e-01 -1.30968479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.379254153999998 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:11.65, Y:0.31, Z:-0.13 [[ 9.99213501e-01 -3.84307305e-02 -9.77029242e-03 1.16536550e+01] [ 3.84318928e-02 9.99261220e-01 -6.88235745e-05 3.09554838e-01] [ 9.76571925e-03 -3.06721386e-04 9.99952267e-01 -1.29608387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.409254154 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:11.69, Y:0.31, Z:-0.13 [[ 9.99125271e-01 -4.07043051e-02 -9.58398281e-03 1.16862820e+01] [ 4.07055379e-02 9.99171184e-01 -6.64727377e-05 3.10520057e-01] [ 9.57874517e-03 -3.23706584e-04 9.99954070e-01 -1.29464720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.439254153999999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:11.72, Y:0.31, Z:-0.13 [[ 9.99085353e-01 -4.17247457e-02 -9.35433360e-03 1.17190239e+01] [ 4.17259743e-02 9.99129090e-01 -6.38704082e-05 3.11057654e-01] [ 9.34885180e-03 -3.26506694e-04 9.99956245e-01 -1.29517034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.469254153999998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:11.75, Y:0.31, Z:-0.13 [[ 9.99053503e-01 -4.25256746e-02 -9.14681143e-03 1.17518978e+01] [ 4.25268918e-02 9.99095321e-01 -6.14653612e-05 3.11518507e-01] [ 9.14115035e-03 -3.27578276e-04 9.99958165e-01 -1.29349006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.499254153999999 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:11.79, Y:0.31, Z:-0.13 [[ 9.98975628e-01 -4.44428224e-02 -8.51650187e-03 1.17852980e+01] [ 4.44439554e-02 9.99011878e-01 -5.62701740e-05 3.12933295e-01] [ 8.51058733e-03 -3.22294497e-04 9.99963732e-01 -1.28584397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.529254153999998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:11.82, Y:0.31, Z:-0.13 [[ 9.98956267e-01 -4.49829663e-02 -7.93150875e-03 1.18181532e+01] [ 4.49839730e-02 9.98987707e-01 -5.15168113e-05 3.13623078e-01] [ 7.92579712e-03 -3.05327734e-04 9.99968544e-01 -1.28405793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.559254153999998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:11.85, Y:0.31, Z:-0.13 [[ 9.98937206e-01 -4.55424969e-02 -7.09499250e-03 1.18507964e+01] [ 4.55433224e-02 9.98962364e-01 -4.52587230e-05 3.14407045e-01] [ 7.08969167e-03 -2.77918908e-04 9.99974829e-01 -1.28156228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.589254153999999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:11.88, Y:0.32, Z:-0.13 [[ 9.98874009e-01 -4.69645556e-02 -6.71148876e-03 1.18831395e+01] [ 4.69653301e-02 9.98896519e-01 -4.22375404e-05 3.15222105e-01] [ 6.70606643e-03 -2.73017304e-04 9.99977477e-01 -1.28192063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.619254153999998 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:11.92, Y:0.32, Z:-0.13 [[ 9.98868230e-01 -4.70387935e-02 -7.04348016e-03 1.19166831e+01] [ 4.70396541e-02 9.98893022e-01 -4.35240744e-05 3.15421537e-01] [ 7.03773051e-03 -2.87848056e-04 9.99975193e-01 -1.28259792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.649254153999998 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:11.95, Y:0.32, Z:-0.13 [[ 9.98854915e-01 -4.73430503e-02 -6.89157782e-03 1.19491138e+01] [ 4.73438853e-02 9.98878649e-01 -4.20169490e-05 3.15914216e-01] [ 6.88583915e-03 -2.84305234e-04 9.99976252e-01 -1.28709554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.679254153999999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:11.98, Y:0.32, Z:-0.13 [[ 9.98850345e-01 -4.73327333e-02 -7.58952910e-03 1.19825997e+01] [ 4.73337522e-02 9.98879129e-01 -4.54111636e-05 3.17086679e-01] [ 7.58317165e-03 -3.13881933e-04 9.99971198e-01 -1.29169694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.709254153999998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:12.02, Y:0.32, Z:-0.13 [[ 9.98861308e-01 -4.69767021e-02 -8.32323956e-03 1.20158935e+01] [ 4.69779226e-02 9.98895927e-01 -4.89204752e-05 3.17990290e-01] [ 8.31634822e-03 -3.42143734e-04 9.99965360e-01 -1.29320932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.739254154 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:12.05, Y:0.32, Z:-0.13 [[ 9.98916111e-01 -4.57868856e-02 -8.37636840e-03 1.20483302e+01] [ 4.57880858e-02 9.98951174e-01 -4.85340164e-05 3.19724206e-01] [ 8.36980527e-03 -3.35056464e-04 9.99964916e-01 -1.29734792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.769254153999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:12.08, Y:0.32, Z:-0.13 [[ 9.98947340e-01 -4.50523183e-02 -8.63136319e-03 1.20814502e+01] [ 4.50535736e-02 9.98984571e-01 -4.90503472e-05 3.20555905e-01] [ 8.62480849e-03 -3.39875043e-04 9.99962748e-01 -1.29838910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.799254153999998 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:12.11, Y:0.32, Z:-0.13 [[ 9.98982175e-01 -4.41986400e-02 -9.00518724e-03 1.21146970e+01] [ 4.41999805e-02 9.99022702e-01 -5.02024974e-05 3.21451002e-01] [ 8.99860537e-03 -3.47877700e-04 9.99959451e-01 -1.29693510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.829254154 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:12.15, Y:0.32, Z:-0.13 [[ 9.99033695e-01 -4.30400563e-02 -8.90116485e-03 1.21471431e+01] [ 4.30413268e-02 9.99073292e-01 -4.88756890e-05 3.22263212e-01] [ 8.89501968e-03 -3.34289485e-04 9.99960383e-01 -1.30110738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.859254153999998 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:12.18, Y:0.32, Z:-0.13 [[ 9.99183613e-01 -3.89564250e-02 -1.07006672e-02 1.21782563e+01] [ 3.89452125e-02 9.99240560e-01 -1.25429070e-03 3.24605939e-01] [ 1.07414034e-02 8.36526953e-04 9.99941960e-01 -1.29798977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.889254153999998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:12.21, Y:0.33, Z:-0.13 [[ 9.99219189e-01 -3.80470018e-02 -1.06507504e-02 1.22111332e+01] [ 3.80606932e-02 9.99274840e-01 1.08568511e-03 3.25144095e-01] [ 1.06017198e-02 -1.49021234e-03 9.99942690e-01 -1.30750964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.919254153999999 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:12.24, Y:0.33, Z:-0.13 [[ 9.99365550e-01 -3.36676525e-02 -1.16183449e-02 1.22441443e+01] [ 3.36692273e-02 9.99433029e-01 -6.00792335e-05 3.29339348e-01] [ 1.16137803e-02 -3.31139578e-04 9.99932503e-01 -1.29836176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.949254153999998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:12.28, Y:0.33, Z:-0.13 [[ 9.99450094e-01 -3.10949285e-02 -1.15158618e-02 1.22772985e+01] [ 3.10963195e-02 9.99516391e-01 -5.82888100e-05 3.31119312e-01] [ 1.15121051e-02 -2.99844161e-04 9.99933689e-01 -1.29876874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.979254153999998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:12.31, Y:0.33, Z:-0.13 [[ 9.99594087e-01 -2.64573195e-02 -1.05674857e-02 1.23081710e+01] [ 2.64582362e-02 9.99649918e-01 -5.30638965e-05 3.34205954e-01] [ 1.05651902e-02 -2.26554677e-04 9.99944161e-01 -1.29413627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.009254153999999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:12.34, Y:0.34, Z:-0.13 [[ 9.99656547e-01 -2.43206197e-02 -9.76191726e-03 1.23406353e+01] [ 2.43213076e-02 9.99704192e-01 -4.82627997e-05 3.35828281e-01] [ 9.76020339e-03 -1.89176369e-04 9.99952350e-01 -1.29139283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.039254153999998 meters Centerline goodness : 0.996412 Centerline is valid? [True, True] Translation: X:12.37, Y:0.34, Z:-0.13 [[ 9.99716111e-01 -2.25201458e-02 -7.78081015e-03 1.23725375e+01] [ 2.25205372e-02 9.99746380e-01 -3.73191676e-05 3.37258054e-01] [ 7.77967721e-03 -1.37919452e-04 9.99969728e-01 -1.29503733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.069254153999998 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:12.40, Y:0.34, Z:-0.13 [[ 9.99772773e-01 -1.97119387e-02 -8.11434081e-03 1.24049660e+01] [ 1.97122765e-02 9.99805693e-01 -3.83475736e-05 3.37916098e-01] [ 8.11352004e-03 -1.21613270e-04 9.99967077e-01 -1.28937774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.099254153999999 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:12.44, Y:0.34, Z:-0.12 [[ 9.99834434e-01 -1.48854906e-02 -1.04654864e-02 1.24355908e+01] [ 1.47742951e-02 9.99834420e-01 -1.06231977e-02 3.44648874e-01] [ 1.06218850e-02 1.04668186e-02 9.99888804e-01 -1.24024675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.129254153999998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:12.47, Y:0.34, Z:-0.13 [[ 9.99866201e-01 -1.39137380e-02 -8.60158287e-03 1.24678600e+01] [ 1.39979860e-02 9.99853869e-01 9.81311030e-03 3.35799159e-01] [ 8.46378887e-03 -9.93220215e-03 9.99914854e-01 -1.32234720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.159254154 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:12.50, Y:0.34, Z:-0.13 [[ 9.99886783e-01 -1.23194237e-02 -8.64019670e-03 1.24987581e+01] [ 1.23195638e-02 9.99924111e-01 -3.70075795e-05 3.42160255e-01] [ 8.63999691e-03 -6.94400646e-05 9.99962672e-01 -1.28311375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.189254153999999 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:12.53, Y:0.34, Z:-0.13 [[ 9.99883814e-01 -1.25241346e-02 -8.68933007e-03 1.25300258e+01] [ 1.25242867e-02 9.99921567e-01 -3.69033751e-05 3.42710935e-01] [ 8.68911072e-03 -7.19285739e-05 9.99962246e-01 -1.28307114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.219254153999998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:12.56, Y:0.34, Z:-0.13 [[ 9.99865891e-01 -1.38104527e-02 -8.80176209e-03 1.25606696e+01] [ 1.38106597e-02 9.99904628e-01 -3.72681961e-05 3.42030903e-01] [ 8.80143733e-03 -8.42949427e-05 9.99961263e-01 -1.28531420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.249254153999999 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:12.59, Y:0.34, Z:-0.13 [[ 9.99839868e-01 -1.57984572e-02 -8.40515308e-03 1.25920848e+01] [ 1.57987191e-02 9.99875192e-01 -3.52422609e-05 3.40791998e-01] [ 8.40466082e-03 -9.75540348e-05 9.99964675e-01 -1.28941716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.279254153999998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:12.63, Y:0.35, Z:-0.13 [[ 9.99901123e-01 -1.39911505e-02 1.41105559e-03 1.26283530e+01] [ 1.40316075e-02 9.99302634e-01 -3.46028772e-02 3.47429826e-01] [-9.25937504e-04 3.46192551e-02 9.99400145e-01 -1.30231067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.309254153999998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:12.65, Y:0.32, Z:-0.14 [[ 9.99705164e-01 -2.23598253e-02 -9.46690821e-03 1.26505661e+01] [ 2.26792229e-02 9.99126621e-01 3.50948298e-02 3.21129098e-01] [ 8.67392575e-03 -3.52991847e-02 9.99339147e-01 -1.42794578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.339254153999999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:12.69, Y:0.36, Z:-0.12 [[ 9.99821331e-01 -1.53441111e-02 1.10391733e-02 1.26937952e+01] [ 1.61573313e-02 9.96838027e-01 -7.78003081e-02 3.62018038e-01] [-9.81049118e-03 7.79647712e-02 9.96907844e-01 -1.24238811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.369254153999998 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:12.73, Y:0.33, Z:-0.15 [[ 9.99799665e-01 -1.73026695e-02 1.00621754e-02 1.27300432e+01] [ 1.73613732e-02 9.99832595e-01 -5.77629929e-03 3.26778185e-01] [-9.96054557e-03 5.94983528e-03 9.99932691e-01 -1.53433827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.399254153999998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:12.74, Y:0.30, Z:-0.16 [[ 9.99413906e-01 -3.22595790e-02 -1.14526486e-02 1.27434609e+01] [ 3.30891753e-02 9.96106685e-01 8.17103284e-02 2.95195984e-01] [ 8.77211908e-03 -8.20413972e-02 9.96590317e-01 -1.58688957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.429254153999999 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:12.77, Y:0.34, Z:-0.12 [[ 9.99390187e-01 -3.22421902e-02 -1.34050165e-02 1.27737863e+01] [ 3.21013966e-02 9.99428525e-01 -1.05888579e-02 3.39090247e-01] [ 1.37387639e-02 1.01520809e-02 9.99854080e-01 -1.23653310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.459254153999998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:12.81, Y:0.33, Z:-0.13 [[ 9.99363335e-01 -3.39547467e-02 -1.09544461e-02 1.28085830e+01] [ 3.40653987e-02 9.99368795e-01 1.00777481e-02 3.28627228e-01] [ 1.06053442e-02 -1.04444995e-02 9.99889213e-01 -1.31743826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.489254153999997 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:12.84, Y:0.33, Z:-0.13 [[ 9.99353680e-01 -3.44205905e-02 -1.03655588e-02 1.28412998e+01] [ 3.44218770e-02 9.99407390e-01 -5.43151197e-05 3.32511064e-01] [ 1.03612856e-02 -3.02521976e-04 9.99946275e-01 -1.27578376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.519254153999999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:12.87, Y:0.33, Z:-0.13 [[ 9.99371704e-01 -3.41056197e-02 -9.64388457e-03 1.28733310e+01] [ 3.41067273e-02 9.99418195e-01 -4.96408699e-05 3.32403986e-01] [ 9.63996674e-03 -2.79311660e-04 9.99953495e-01 -1.27099834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.549254153999998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:12.91, Y:0.33, Z:-0.13 [[ 9.99397885e-01 -3.34656419e-02 -9.16070961e-03 1.29067342e+01] [ 3.34666234e-02 9.99439835e-01 -4.61644110e-05 3.32696708e-01] [ 9.15712302e-03 -2.60441404e-04 9.99958039e-01 -1.26803287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.579254154 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:12.94, Y:0.33, Z:-0.13 [[ 9.99487518e-01 -3.06863820e-02 -9.11299284e-03 1.29396743e+01] [ 3.06872471e-02 9.99529035e-01 -4.49248097e-05 3.33158261e-01] [ 9.11007952e-03 -2.34750876e-04 9.99958475e-01 -1.25672892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.609254153999998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:12.97, Y:0.33, Z:-0.13 [[ 9.99551162e-01 -2.85503451e-02 -9.07479174e-03 1.29726704e+01] [ 2.85511240e-02 9.99592333e-01 -4.37292147e-05 3.33450351e-01] [ 9.07234073e-03 -2.15385917e-04 9.99958822e-01 -1.25876730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.639254153999998 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:13.00, Y:0.33, Z:-0.13 [[ 9.99701428e-01 -2.24048779e-02 -9.75068717e-03 1.30041257e+01] [ 2.24054908e-02 9.99748964e-01 -4.63874025e-05 3.33575065e-01] [ 9.74927870e-03 -1.72095379e-04 9.99952460e-01 -1.25886618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.669254153999999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:13.03, Y:0.33, Z:-0.13 [[ 9.99776101e-01 -1.86462047e-02 -1.00033436e-02 1.30349026e+01] [ 1.86466671e-02 9.99826135e-01 -4.70443743e-05 3.34187970e-01] [ 1.00024815e-02 -1.39495176e-04 9.99949964e-01 -1.25730365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.699254153999998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:13.07, Y:0.33, Z:-0.13 [[ 9.99845040e-01 -1.44551760e-02 -1.00470809e-02 1.30670131e+01] [ 1.44554382e-02 9.99895514e-01 -4.65296277e-05 3.34845192e-01] [ 1.00467037e-02 -9.87125392e-05 9.99949526e-01 -1.25640799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.729254153999998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:13.10, Y:0.34, Z:-0.13 [[ 9.99900900e-01 -9.74568127e-03 -1.01593245e-02 1.30973926e+01] [ 9.74570867e-03 9.99952508e-01 -4.68102832e-05 3.35639714e-01] [ 1.01592982e-02 -5.22041726e-05 9.99948392e-01 -1.25346021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.759254153999999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:13.13, Y:0.34, Z:-0.12 [[ 9.99935979e-01 -7.49410161e-04 -1.12905068e-02 1.31256006e+01] [ 6.92997340e-04 9.99987262e-01 -4.99956664e-03 3.39766586e-01] [ 1.12941097e-02 4.99142227e-03 9.99923761e-01 -1.21960033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.789254153999998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:13.15, Y:0.34, Z:-0.13 [[ 9.99943502e-01 4.19044768e-03 -9.76894333e-03 1.31529531e+01] [-4.14249543e-03 9.99979298e-01 4.92372069e-03 3.35679960e-01] [ 9.78937369e-03 -4.88297470e-03 9.99940161e-01 -1.25860850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.819254153999998 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:13.20, Y:0.37, Z:-0.12 [[ 0.99965386 0.02119631 0.0155848 13.20194094] [-0.01961128 0.9952226 -0.09564191 0.36953802] [-0.0175376 0.09530316 0.9952938 -0.11872035] [ 0. 0. 0. 1. ]] SLAMing on 13.849254153999999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:13.21, Y:0.29, Z:-0.16 [[ 9.99835272e-01 1.45112352e-02 -1.09020090e-02 1.32138998e+01] [-1.33838479e-02 9.95175683e-01 9.71917337e-02 2.91343389e-01] [ 1.22597864e-02 -9.70298126e-02 9.95205965e-01 -1.58236292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.879254153999998 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:13.24, Y:0.34, Z:-0.12 [[ 9.99818444e-01 1.61325677e-02 -1.01400175e-02 1.32415330e+01] [-1.61340143e-02 9.99869836e-01 -6.08756989e-05 3.38595119e-01] [ 1.01377155e-02 2.24463833e-04 9.99948587e-01 -1.22335304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.909254153999997 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:13.27, Y:0.34, Z:-0.12 [[ 9.99798628e-01 1.70973869e-02 -1.05063011e-02 1.32698731e+01] [-1.70990049e-02 9.99853799e-01 -6.41937090e-05 3.37025965e-01] [ 1.05036675e-02 2.43828076e-04 9.99944805e-01 -1.22961280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.939254153999999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:13.30, Y:0.34, Z:-0.12 [[ 9.99803017e-01 1.64937729e-02 -1.10400859e-02 1.32973826e+01] [-1.64955358e-02 9.99863937e-01 -6.86388288e-05 3.35901162e-01] [ 1.10374516e-02 2.50737440e-04 9.99939054e-01 -1.22985113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.969254153999998 meters Centerline goodness : 0.996326 Centerline is valid? [True, True] Translation: X:13.33, Y:0.34, Z:-0.12 [[ 9.99894569e-01 1.31636188e-02 -6.12948510e-03 1.33258017e+01] [-1.32929537e-02 9.99679162e-01 -2.15608454e-02 3.43402913e-01] [ 5.84369978e-03 2.16400511e-02 9.99748748e-01 -1.21540282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.999254153999999 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:13.35, Y:0.32, Z:-0.13 [[ 9.99903495e-01 8.90493797e-03 -1.06631599e-02 1.33541456e+01] [-8.67643758e-03 9.99735761e-01 2.12868121e-02 3.22474515e-01] [ 1.08499000e-02 -2.11922395e-02 9.99716544e-01 -1.31286250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.029254153999998 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:13.40, Y:0.35, Z:-0.12 [[ 9.99880854e-01 1.42423910e-02 5.95256756e-03 1.33957372e+01] [-1.38994664e-02 9.98436269e-01 -5.41462942e-02 3.47134588e-01] [-6.71443204e-03 5.40571054e-02 9.98515271e-01 -1.22413629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.059254153999998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:13.42, Y:0.31, Z:-0.14 [[ 9.99977196e-01 6.54003591e-03 -1.68392002e-03 1.34181000e+01] [-6.49392673e-03 9.99639073e-01 2.60682206e-02 3.11477607e-01] [ 1.85379935e-03 -2.60566909e-02 9.99658748e-01 -1.44979286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.089254153999999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:13.44, Y:0.31, Z:-0.14 [[ 9.99981629e-01 -5.05467577e-03 -3.34531110e-03 1.34437287e+01] [ 5.13990945e-03 9.99649241e-01 2.59803111e-02 3.11451412e-01] [ 3.21281565e-03 -2.59970284e-02 9.99656857e-01 -1.37869598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.119254153999998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:13.47, Y:0.32, Z:-0.13 [[ 9.99982440e-01 -4.95610749e-03 -3.24907502e-03 1.34747212e+01] [ 4.95609537e-03 9.99987718e-01 -1.17822812e-05 3.23949945e-01] [ 3.24909351e-03 -4.32065133e-06 9.99994722e-01 -1.28254666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.149254153999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:13.51, Y:0.32, Z:-0.13 [[ 9.99949579e-01 -9.59365448e-03 -2.96664189e-03 1.35054085e+01] [ 9.59366463e-03 9.99953980e-01 -1.08094788e-05 3.21707260e-01] [ 2.96660907e-03 -1.76520336e-05 9.99995599e-01 -1.28543155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.179254153999999 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:13.54, Y:0.33, Z:-0.12 [[ 9.99888970e-01 -1.33386828e-02 -6.64279299e-03 1.35361103e+01] [ 1.32247117e-02 9.99769464e-01 -1.69152449e-02 3.27312945e-01] [ 6.86688868e-03 1.68255177e-02 9.99834860e-01 -1.21899840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.209254153999998 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:13.57, Y:0.31, Z:-0.14 [[ 9.99720436e-01 -2.35753630e-02 -1.80324037e-03 1.35685791e+01] [ 2.36019000e-02 9.99585698e-01 1.64736821e-02 3.08029712e-01] [ 1.41412025e-03 -1.65116366e-02 9.99862674e-01 -1.35816892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.239254153999997 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:13.60, Y:0.31, Z:-0.13 [[ 9.99616039e-01 -2.76700864e-02 -1.46340195e-03 1.36013246e+01] [ 2.76701105e-02 9.99617109e-01 -3.74006646e-06 3.14205318e-01] [ 1.46294512e-03 -3.67538633e-05 9.99998929e-01 -1.30176915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.269254153999999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:13.64, Y:0.31, Z:-0.13 [[ 9.99479984e-01 -3.22301236e-02 9.89818924e-04 1.36381596e+01] [ 3.22349788e-02 9.99465948e-01 -5.35961652e-03 3.10742309e-01] [-8.16549206e-04 5.38873623e-03 9.99985147e-01 -1.32088230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.299254153999998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:13.66, Y:0.31, Z:-0.13 [[ 9.99298583e-01 -3.73918639e-02 -2.04711301e-03 1.36645429e+01] [ 3.74025404e-02 9.99285405e-01 5.45246102e-03 3.08042806e-01] [ 1.84177247e-03 -5.52520380e-03 9.99983040e-01 -1.32390856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.329254153999997 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:13.70, Y:0.31, Z:-0.13 [[ 9.99234549e-01 -3.90614932e-02 -2.12514093e-03 1.36966662e+01] [ 3.90615692e-02 9.99236806e-01 -5.73593431e-06 3.10098440e-01] [ 2.12374308e-03 -7.72797956e-05 9.99997742e-01 -1.30524476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.359254153999998 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:13.73, Y:0.31, Z:-0.13 [[ 9.99192660e-01 -4.01052234e-02 -2.36629922e-03 1.37296361e+01] [ 4.01053206e-02 9.99195458e-01 -6.37933524e-06 3.09560908e-01] [ 2.36465128e-03 -8.85270039e-05 9.99997200e-01 -1.30752785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.389254153999998 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:13.77, Y:0.31, Z:-0.13 [[ 9.99239634e-01 -3.89694773e-02 -1.23851031e-03 1.37665603e+01] [ 3.89716238e-02 9.99238769e-01 1.75901452e-03 3.06317867e-01] [ 1.16901964e-03 -1.80594378e-03 9.99997686e-01 -1.32150307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.419254153999999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:13.79, Y:0.29, Z:-0.13 [[ 9.98904462e-01 -4.47645754e-02 -1.36385133e-02 1.37901736e+01] [ 4.54285961e-02 9.97557778e-01 5.30539519e-02 2.88610147e-01] [ 1.12302674e-02 -5.36154077e-02 9.98498507e-01 -1.34515467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.449254153999998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:13.83, Y:0.34, Z:-0.10 [[ 9.99296207e-01 -3.72788569e-02 -4.16860983e-03 1.38264848e+01] [ 3.68864373e-02 9.96763785e-01 -7.14237169e-02 3.41087375e-01] [ 6.81771383e-03 7.12196843e-02 9.97437354e-01 -1.04936817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.479254153999998 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:13.86, Y:0.30, Z:-0.14 [[ 9.99207843e-01 -3.97627101e-02 -1.61685260e-03 1.38569469e+01] [ 3.97829626e-02 9.99089109e-01 1.54359443e-02 3.02695577e-01] [ 1.00160484e-03 -1.54880398e-02 9.99879551e-01 -1.37339381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.509254153999999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:13.89, Y:0.31, Z:-0.13 [[ 9.99254114e-01 -3.84438406e-02 -3.64519707e-03 1.38899602e+01] [ 3.84440691e-02 9.99260754e-01 -7.38353559e-06 3.10872753e-01] [ 3.64278622e-03 -1.32758180e-04 9.99993356e-01 -1.32570827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.539254153999998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:13.92, Y:0.31, Z:-0.13 [[ 9.99283949e-01 -3.75381793e-02 -4.74060943e-03 1.39229901e+01] [ 3.75385574e-02 9.99295180e-01 -9.22562775e-06 3.11531891e-01] [ 4.73761447e-03 -1.68736618e-04 9.99988763e-01 -1.32880927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.569254153999998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:13.96, Y:0.31, Z:-0.13 [[ 9.99319075e-01 -3.64638119e-02 -5.63703825e-03 1.39556901e+01] [ 3.64643324e-02 9.99334955e-01 -1.04398497e-05 3.12351035e-01] [ 5.63367004e-03 -1.95118096e-04 9.99984112e-01 -1.33517574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.599254153999999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:13.99, Y:0.31, Z:-0.13 [[ 9.99396384e-01 -3.39918970e-02 -7.17069550e-03 1.39879094e+01] [ 3.39926863e-02 9.99422082e-01 -1.18131418e-05 3.14507654e-01] [ 7.16695297e-03 -2.31945192e-04 9.99974290e-01 -1.33488209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.629254153999998 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:14.02, Y:0.32, Z:-0.13 [[ 9.99431618e-01 -3.28528535e-02 -7.55853452e-03 1.40210470e+01] [ 3.28537014e-02 9.99460171e-01 -1.19911690e-05 3.15645594e-01] [ 7.55484815e-03 -2.36341483e-04 9.99971434e-01 -1.33192411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.659254153999997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:14.05, Y:0.32, Z:-0.13 [[ 9.99487835e-01 -3.00947502e-02 -1.08799966e-02 1.40514859e+01] [ 2.99460372e-02 9.99459231e-01 -1.35823573e-02 3.23098154e-01] [ 1.12828707e-02 1.32495881e-02 9.99848561e-01 -1.27317197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.689254153999999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:14.09, Y:0.31, Z:-0.14 [[ 9.99579955e-01 -2.81853333e-02 -6.74542306e-03 1.40866206e+01] [ 2.82752435e-02 9.99507285e-01 1.36271186e-02 3.12010306e-01] [ 6.35801461e-03 -1.38121231e-02 9.99884394e-01 -1.37871365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.719254153999998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:14.12, Y:0.32, Z:-0.13 [[ 9.99618181e-01 -2.62556952e-02 -8.60988732e-03 1.41158173e+01] [ 2.62353327e-02 9.99652744e-01 -2.46951355e-03 3.21547959e-01] [ 8.67173628e-03 2.24268739e-03 9.99959885e-01 -1.30631790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.749254153999997 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:14.15, Y:0.32, Z:-0.13 [[ 9.99601462e-01 -2.73703790e-02 -6.91225048e-03 1.41463729e+01] [ 2.73746208e-02 9.99625110e-01 5.19785190e-04 3.23036778e-01] [ 6.89543243e-03 -7.08798272e-04 9.99975975e-01 -1.31733859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.779254153999998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:14.18, Y:0.33, Z:-0.13 [[ 9.99665972e-01 -2.48439932e-02 -7.12182963e-03 1.41791988e+01] [ 2.48445349e-02 9.99691327e-01 -1.24035784e-05 3.25071907e-01] [ 7.11993947e-03 -1.64539110e-04 9.99974639e-01 -1.31235146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.809254153999998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:14.21, Y:0.33, Z:-0.13 [[ 9.99700246e-01 -2.36561495e-02 -6.30908175e-03 1.42100614e+01] [ 2.36565523e-02 9.99720145e-01 -1.07843953e-05 3.25817483e-01] [ 6.30757124e-03 -1.38469959e-04 9.99980097e-01 -1.31902502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.839254153999999 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:14.24, Y:0.33, Z:-0.13 [[ 9.99768650e-01 -2.05819833e-02 -6.24723694e-03 1.42425273e+01] [ 2.05823215e-02 9.99788162e-01 -1.01621467e-05 3.27037099e-01] [ 6.24612269e-03 -1.18422843e-04 9.99980486e-01 -1.32063989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.869254153999998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:14.27, Y:0.33, Z:-0.13 [[ 9.99799380e-01 -1.90306506e-02 -6.24775761e-03 1.42742815e+01] [ 1.90309614e-02 9.99818895e-01 -9.70506973e-06 3.27662764e-01] [ 6.24681081e-03 -1.09197712e-04 9.99980483e-01 -1.32022511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.899254153999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:14.31, Y:0.33, Z:-0.13 [[ 9.99826626e-01 -1.75609220e-02 -6.19132221e-03 1.43064394e+01] [ 1.75612019e-02 9.99845790e-01 -9.16753808e-06 3.28216917e-01] [ 6.19052844e-03 -9.95611105e-05 9.99980834e-01 -1.32006788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.929254153999999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:14.34, Y:0.33, Z:-0.13 [[ 9.99873199e-01 -1.48964714e-02 -5.62861856e-03 1.43377148e+01] [ 1.48966619e-02 9.99889039e-01 -8.06794388e-06 3.29313274e-01] [ 5.62811418e-03 -7.57807070e-05 9.99984159e-01 -1.31976667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.959254153999998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:14.37, Y:0.33, Z:-0.13 [[ 9.99890727e-01 -1.37297891e-02 -5.47975682e-03 1.43698812e+01] [ 1.37299547e-02 9.99905740e-01 -7.39595227e-06 3.29541351e-01] [ 5.47934184e-03 -6.78416690e-05 9.99984986e-01 -1.31902731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.989254153999997 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:14.40, Y:0.33, Z:-0.13 [[ 9.99916496e-01 -1.19604893e-02 -4.89367071e-03 1.44019488e+01] [ 1.19606021e-02 9.99928469e-01 -6.22397159e-06 3.29540010e-01] [ 4.89339511e-03 -5.23077962e-05 9.99988026e-01 -1.32089901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.019254153999999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:14.43, Y:0.33, Z:-0.13 [[ 9.99925695e-01 -1.13610777e-02 -4.41931559e-03 1.44329873e+01] [ 1.13611647e-02 9.99935460e-01 -5.41906942e-06 3.29624703e-01] [ 4.41909193e-03 -4.47899055e-05 9.99990235e-01 -1.32400375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.049254153999998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:14.46, Y:0.33, Z:-0.13 [[ 9.99935668e-01 -1.06196363e-02 -3.98543296e-03 1.44636778e+01] [ 1.06197021e-02 9.99943609e-01 -4.65793030e-06 3.29313870e-01] [ 3.98525769e-03 -3.76664800e-05 9.99992058e-01 -1.32770988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.079254153999997 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:14.50, Y:0.33, Z:-0.13 [[ 9.99942193e-01 -9.96545299e-03 -4.03730892e-03 1.44962098e+01] [ 9.96551655e-03 9.99950343e-01 -4.37521434e-06 3.28591051e-01] [ 4.03715204e-03 -3.58589074e-05 9.99991850e-01 -1.33819748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.109254153999998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:14.53, Y:0.33, Z:-0.13 [[ 9.99947095e-01 -9.65534235e-03 -3.54691219e-03 1.45283905e+01] [ 9.65539045e-03 9.99953386e-01 -3.56334008e-06 3.28003863e-01] [ 3.54678126e-03 -3.06836705e-05 9.99993710e-01 -1.34757320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.139254153999998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:14.56, Y:0.33, Z:-0.14 [[ 9.99945592e-01 -9.72051141e-03 -3.78482079e-03 1.45596259e+01] [ 9.72056713e-03 9.99952754e-01 -3.67543946e-06 3.27573310e-01] [ 3.78467770e-03 -3.31153651e-05 9.99992838e-01 -1.35151458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.169254153999997 meters Centerline goodness : 0.997236 Centerline is valid? [True, True] Translation: X:14.59, Y:0.34, Z:-0.12 [[ 9.99910207e-01 -5.98910522e-03 -1.19878655e-02 1.45851365e+01] [ 5.63859562e-03 9.99561708e-01 -2.90619654e-02 3.38786185e-01] [ 1.21566665e-02 2.89917612e-02 9.99505724e-01 -1.22224879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.199254153999998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:14.62, Y:0.31, Z:-0.15 [[ 9.99925565e-01 -1.06289928e-02 -5.99074334e-03 1.46199345e+01] [ 1.07877749e-02 9.99573791e-01 2.71267382e-02 3.12909916e-01] [ 5.69986012e-03 -2.71893458e-02 9.99614051e-01 -1.46063525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.229254153999998 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:14.65, Y:0.33, Z:-0.14 [[ 9.99915352e-01 -1.15798275e-02 -5.93261998e-03 1.46516129e+01] [ 1.15800330e-02 9.99932949e-01 2.85876614e-07 3.25450735e-01] [ 5.93221888e-03 -6.89857876e-05 9.99982402e-01 -1.36196962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.259254153999999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:14.68, Y:0.32, Z:-0.14 [[ 9.99888274e-01 -1.36727852e-02 -6.04100164e-03 1.46829686e+01] [ 1.36730417e-02 9.99906520e-01 1.15679318e-06 3.23923039e-01] [ 6.04042111e-03 -8.37555310e-05 9.99981753e-01 -1.36446030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.289254153999998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:14.72, Y:0.32, Z:-0.14 [[ 9.99874678e-01 -1.47885204e-02 -5.65048098e-03 1.47152706e+01] [ 1.47887645e-02 9.99890640e-01 1.42351200e-06 3.23286078e-01] [ 5.64984199e-03 -8.49869660e-05 9.99984036e-01 -1.36446841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.319254153999998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:14.75, Y:0.32, Z:-0.14 [[ 9.99845824e-01 -1.68336896e-02 -4.99548759e-03 1.47475146e+01] [ 1.68339078e-02 9.99858300e-01 1.63179768e-06 3.21569610e-01] [ 4.99475226e-03 -8.57251238e-05 9.99987522e-01 -1.36512829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.349254153999999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:14.78, Y:0.32, Z:-0.14 [[ 9.99834572e-01 -1.76088730e-02 -4.55596133e-03 1.47795392e+01] [ 1.76090641e-02 9.99844948e-01 1.82410845e-06 3.20798472e-01] [ 4.55522280e-03 -8.20500219e-05 9.99989622e-01 -1.36758210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.379254153999998 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:14.81, Y:0.32, Z:-0.14 [[ 9.99830352e-01 -1.79812150e-02 -3.99283869e-03 1.48117483e+01] [ 1.79813660e-02 9.99838322e-01 1.90076101e-06 3.19889407e-01] [ 3.99215896e-03 -7.36971323e-05 9.99992029e-01 -1.36948048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.409254153999997 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:14.84, Y:0.32, Z:-0.14 [[ 9.99824512e-01 -1.84505781e-02 -3.24369572e-03 1.48435537e+01] [ 1.84506811e-02 9.99829772e-01 1.80989101e-06 3.18181275e-01] [ 3.24311016e-03 -6.16579686e-05 9.99994739e-01 -1.37009031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.439254153999999 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:14.88, Y:0.32, Z:-0.14 [[ 9.99827892e-01 -1.83865693e-02 -2.47401137e-03 1.48757280e+01] [ 1.83866295e-02 9.99830952e-01 1.59249507e-06 3.17014990e-01] [ 2.47356386e-03 -4.70809515e-05 9.99996940e-01 -1.37564796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.469254153999998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:14.91, Y:0.31, Z:-0.14 [[ 9.99843143e-01 -1.76512896e-02 -1.45646770e-03 1.49085734e+01] [ 1.76513101e-02 9.99844203e-01 1.21405661e-06 3.14763263e-01] [ 1.45621935e-03 -2.69224291e-05 9.99998939e-01 -1.38407847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.499254153999997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:14.94, Y:0.31, Z:-0.14 [[ 9.99852199e-01 -1.71431587e-02 -1.30050059e-03 1.49416479e+01] [ 1.71431748e-02 9.99853045e-01 1.24874584e-06 3.13923066e-01] [ 1.30028807e-03 -2.35432703e-05 9.99999154e-01 -1.38305614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.529254153999998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:14.97, Y:0.31, Z:-0.14 [[ 9.99864256e-01 -1.64264206e-02 -1.28148398e-03 1.49743920e+01] [ 1.64264359e-02 9.99865077e-01 1.37533931e-06 3.13222694e-01] [ 1.28128849e-03 -2.24253670e-05 9.99999179e-01 -1.38132262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.559254153999998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:15.01, Y:0.31, Z:-0.14 [[ 9.99877333e-01 -1.55455554e-02 -1.91181420e-03 1.50062150e+01] [ 1.55455878e-02 9.99879160e-01 2.09904966e-06 3.12311950e-01] [ 1.91155055e-03 -3.18190677e-05 9.99998172e-01 -1.38733425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.589254153999999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:15.04, Y:0.31, Z:-0.14 [[ 9.99876439e-01 -1.54554209e-02 -2.86996599e-03 1.50383161e+01] [ 1.54554939e-02 9.99880557e-01 3.24437851e-06 3.11564347e-01] [ 2.86957305e-03 -4.76007195e-05 9.99995882e-01 -1.39208005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.619254153999998 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:15.07, Y:0.31, Z:-0.14 [[ 9.99868631e-01 -1.56918926e-02 -4.06015534e-03 1.50699794e+01] [ 1.56920411e-02 9.99876872e-01 4.72407816e-06 3.10847617e-01] [ 4.05958129e-03 -6.84355821e-05 9.99991758e-01 -1.39861209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.649254153999998 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:15.10, Y:0.31, Z:-0.14 [[ 9.99847794e-01 -1.63542731e-02 -6.07670127e-03 1.51024250e+01] [ 1.63546205e-02 9.99866254e-01 7.48669539e-06 3.09057411e-01] [ 6.07576609e-03 -1.06867699e-04 9.99981537e-01 -1.40943845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.679254153999999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:15.14, Y:0.31, Z:-0.14 [[ 9.99837351e-01 -1.67369325e-02 -6.71905894e-03 1.51350450e+01] [ 1.67373692e-02 9.99859920e-01 8.76338086e-06 3.08505547e-01] [ 6.71797107e-03 -1.21221325e-04 9.99977427e-01 -1.41400709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.709254153999998 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:15.17, Y:0.31, Z:-0.14 [[ 9.99834343e-01 -1.68199288e-02 -6.95537363e-03 1.51666246e+01] [ 1.68204052e-02 9.99858527e-01 1.00030888e-05 3.07882986e-01] [ 6.95422138e-03 -1.26993635e-04 9.99975811e-01 -1.41965236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.739254153999997 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:15.20, Y:0.31, Z:-0.14 [[ 9.99842293e-01 -1.63381478e-02 -6.96091816e-03 1.51992492e+01] [ 1.63386163e-02 9.99866516e-01 1.04317707e-05 3.07866238e-01] [ 6.95981855e-03 -1.24161896e-04 9.99975772e-01 -1.41810313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.769254153999999 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:15.23, Y:0.31, Z:-0.14 [[ 9.99850007e-01 -1.59161475e-02 -6.82932787e-03 1.52310930e+01] [ 1.59165919e-02 9.99873323e-01 1.07297758e-05 3.08409389e-01] [ 6.82829197e-03 -1.19427791e-04 9.99976680e-01 -1.41540006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.799254153999998 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:15.26, Y:0.31, Z:-0.14 [[ 9.99863342e-01 -1.53022664e-02 -6.25606591e-03 1.52632284e+01] [ 1.53026303e-02 9.99882908e-01 1.03010912e-05 3.08964356e-01] [ 6.25517575e-03 -1.06033947e-04 9.99980431e-01 -1.41244529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.829254153999997 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:15.29, Y:0.31, Z:-0.14 [[ 9.99890754e-01 -1.40501454e-02 -4.59066768e-03 1.52940379e+01] [ 1.40503313e-02 9.99901289e-01 8.23871749e-06 3.10114109e-01] [ 4.59009878e-03 -7.27382193e-05 9.99989463e-01 -1.41091572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.859254153999998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:15.33, Y:0.31, Z:-0.14 [[ 9.99893755e-01 -1.40752807e-02 -3.79005085e-03 1.53252994e+01] [ 1.40754081e-02 9.99900937e-01 6.92576307e-06 3.10757083e-01] [ 3.78957791e-03 -6.02715395e-05 9.99992818e-01 -1.40642135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.889254153999998 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:15.36, Y:0.31, Z:-0.14 [[ 9.99884486e-01 -1.50599236e-02 -2.05268560e-03 1.53570528e+01] [ 1.50599635e-02 9.99886592e-01 3.97756145e-06 3.11186712e-01] [ 2.05239290e-03 -3.48904722e-05 9.99997893e-01 -1.40177627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.919254153999997 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:15.39, Y:0.31, Z:-0.14 [[ 9.99867110e-01 -1.62342673e-02 -1.48677618e-03 1.53881191e+01] [ 1.62342896e-02 9.99868215e-01 2.96501370e-06 3.10949373e-01] [ 1.48653211e-03 -2.71013747e-05 9.99998895e-01 -1.40589267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.949254153999998 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:15.42, Y:0.31, Z:-0.14 [[ 9.99836168e-01 -1.80419605e-02 -1.45780421e-03 1.54203863e+01] [ 1.80419841e-02 9.99837230e-01 3.04246634e-06 3.10754053e-01] [ 1.45751204e-03 -2.93436483e-05 9.99998937e-01 -1.40981077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.979254153999998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:15.45, Y:0.31, Z:-0.14 [[ 9.99757174e-01 -2.19175627e-02 -2.28321255e-03 1.54524678e+01] [ 2.19176311e-02 9.99759780e-01 4.92919500e-06 3.10187511e-01] [ 2.28255604e-03 -5.49706085e-05 9.99997393e-01 -1.41784978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.009254153999997 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:15.49, Y:0.31, Z:-0.14 [[ 9.99710469e-01 -2.39054413e-02 -2.74004344e-03 1.54859030e+01] [ 2.39055480e-02 9.99714222e-01 6.20679066e-06 3.09928429e-01] [ 2.73911202e-03 -7.17072336e-05 9.99996246e-01 -1.42345421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.039254153999995 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:15.52, Y:0.31, Z:-0.14 [[ 9.99713431e-01 -2.37812724e-02 -2.74004259e-03 1.55194555e+01] [ 2.37813796e-02 9.99717183e-01 6.57768301e-06 3.09762829e-01] [ 2.73911123e-03 -7.17377911e-05 9.99996246e-01 -1.42403596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.069254153999996 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:15.55, Y:0.31, Z:-0.14 [[ 9.99614026e-01 -2.75997291e-02 -3.17087014e-03 1.55525286e+01] [ 2.75998928e-02 9.99619050e-01 7.88731034e-06 3.09842748e-01] [ 3.16944451e-03 -9.53999421e-05 9.99994973e-01 -1.43210251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.099254153999997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:15.59, Y:0.31, Z:-0.14 [[ 9.99568246e-01 -2.91753724e-02 -3.48128957e-03 1.55856244e+01] [ 2.91755806e-02 9.99574302e-01 9.02265399e-06 3.10169385e-01] [ 3.47954435e-03 -1.10587403e-04 9.99993940e-01 -1.42971754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.129254153999995 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:15.62, Y:0.31, Z:-0.14 [[ 9.99531880e-01 -3.03364012e-02 -3.96526841e-03 1.56186231e+01] [ 3.03366820e-02 9.99539737e-01 1.06832342e-05 3.10554136e-01] [ 3.96311925e-03 -1.30971320e-04 9.99992138e-01 -1.42912707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.159254153999996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:15.65, Y:0.31, Z:-0.14 [[ 9.99494391e-01 -3.15948697e-02 -3.56751354e-03 1.56521248e+01] [ 3.15951065e-02 9.99500750e-01 1.00287778e-05 3.11542131e-01] [ 3.56541561e-03 -1.22739677e-04 9.99993636e-01 -1.42963894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.189254153999997 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:15.68, Y:0.31, Z:-0.14 [[ 9.99485168e-01 -3.18924747e-02 -3.50278297e-03 1.56847611e+01] [ 3.18927062e-02 9.99491298e-01 1.02344700e-05 3.11969594e-01] [ 3.50067470e-03 -1.21942429e-04 9.99993865e-01 -1.42811471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.219254153999998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:15.72, Y:0.31, Z:-0.14 [[ 9.99476600e-01 -3.22194833e-02 -2.90356488e-03 1.57173459e+01] [ 3.22196447e-02 9.99480812e-01 8.83504777e-06 3.13261948e-01] [ 2.90177273e-03 -1.02382252e-04 9.99995785e-01 -1.42674025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.249254153999996 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:15.75, Y:0.31, Z:-0.14 [[ 9.99474946e-01 -3.23007451e-02 -2.54840355e-03 1.57489806e+01] [ 3.23008703e-02 9.99478191e-01 7.97681371e-06 3.14182146e-01] [ 2.54681612e-03 -9.02882781e-05 9.99996753e-01 -1.42375496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.279254153999997 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:15.79, Y:0.33, Z:-0.14 [[ 9.99608314e-01 -2.64232148e-02 9.22129877e-03 1.57892254e+01] [ 2.68389389e-02 9.98471056e-01 -4.83241295e-02 3.32397852e-01] [-7.93032106e-03 4.85526915e-02 9.98789140e-01 -1.39701155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.309254153999998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:15.81, Y:0.29, Z:-0.16 [[ 9.99496236e-01 -3.16703250e-02 -2.06502051e-03 1.58108668e+01] [ 3.17334246e-02 9.98300292e-01 4.88826885e-02 2.93085703e-01] [ 5.13379946e-04 -4.89235933e-02 9.98802392e-01 -1.59387113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.339254153999995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:15.84, Y:0.32, Z:-0.14 [[ 9.99524771e-01 -3.07484525e-02 -2.18296928e-03 1.58439678e+01] [ 3.07485414e-02 9.99527152e-01 7.14045211e-06 3.17672267e-01] [ 2.18171751e-03 -7.42601801e-05 9.99997617e-01 -1.41302253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.369254153999997 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:15.88, Y:0.32, Z:-0.14 [[ 9.99560566e-01 -2.95785787e-02 -1.94487782e-03 1.58755371e+01] [ 2.95786469e-02 9.99562456e-01 6.32859120e-06 3.19149908e-01] [ 1.94383966e-03 -6.38526647e-05 9.99998109e-01 -1.41103659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.399254153999998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:15.91, Y:0.32, Z:-0.14 [[ 9.99575686e-01 -2.90696322e-02 -1.84531105e-03 1.59082320e+01] [ 2.90696932e-02 9.99577387e-01 6.22439101e-06 3.19369239e-01] [ 1.84435026e-03 -5.98643761e-05 9.99998297e-01 -1.40814667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.429254153999995 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:15.94, Y:0.32, Z:-0.14 [[ 9.99583946e-01 -2.87657201e-02 -2.11376076e-03 1.59413063e+01] [ 2.87657999e-02 9.99586179e-01 7.34093376e-06 3.19567670e-01] [ 2.11267488e-03 -6.81418987e-05 9.99997766e-01 -1.40230843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.459254153999996 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:15.97, Y:0.32, Z:-0.14 [[ 9.99601105e-01 -2.81855628e-02 -1.79025442e-03 1.59742840e+01] [ 2.81856195e-02 9.99602706e-01 6.43740805e-06 3.20436055e-01] [ 1.78936172e-03 -5.68942699e-05 9.99998397e-01 -1.40162269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.489254153999997 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:16.01, Y:0.32, Z:-0.14 [[ 9.99616536e-01 -2.76227878e-02 -1.93992335e-03 1.60061526e+01] [ 2.76228536e-02 9.99618416e-01 7.11632316e-06 3.20653278e-01] [ 1.93898654e-03 -6.06998131e-05 9.99998118e-01 -1.40263660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.519254153999995 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:16.04, Y:0.32, Z:-0.14 [[ 9.99656507e-01 -2.61042590e-02 -2.33164978e-03 1.60387054e+01] [ 2.61043505e-02 9.99659223e-01 8.80207262e-06 3.20180613e-01] [ 2.33062543e-03 -6.96652522e-05 9.99997282e-01 -1.40990387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.549254153999996 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:16.07, Y:0.32, Z:-0.14 [[ 9.99689208e-01 -2.48122723e-02 -2.41620957e-03 1.60718646e+01] [ 2.48123674e-02 9.99692126e-01 9.37443512e-06 3.20009067e-01] [ 2.41523308e-03 -6.93234013e-05 9.99997081e-01 -1.41204822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.579254153999997 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:16.10, Y:0.32, Z:-0.14 [[ 9.99735978e-01 -2.28388773e-02 -2.52201498e-03 1.61047436e+01] [ 2.28389753e-02 9.99739157e-01 1.00458802e-05 3.19977562e-01] [ 2.52112770e-03 -6.76434658e-05 9.99996820e-01 -1.41289073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.609254153999995 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:16.14, Y:0.32, Z:-0.14 [[ 9.99787541e-01 -2.04286474e-02 -2.74654453e-03 1.61378682e+01] [ 2.04287553e-02 9.99791311e-01 1.12178445e-05 3.20357926e-01] [ 2.74574220e-03 -6.73239473e-05 9.99996228e-01 -1.41156334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.639254153999996 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:16.17, Y:0.32, Z:-0.14 [[ 9.99900583e-01 -1.38283747e-02 -2.75670343e-03 1.61700330e+01] [ 1.38284587e-02 9.99904382e-01 1.14208984e-05 3.21798630e-01] [ 2.75628191e-03 -4.95407226e-05 9.99996200e-01 -1.40522669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.669254153999997 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:16.20, Y:0.32, Z:-0.14 [[ 9.99947550e-01 -9.89930286e-03 -2.62714714e-03 1.62009934e+01] [ 9.89936594e-03 9.99951000e-01 1.10086816e-05 3.22703098e-01] [ 2.62690943e-03 -3.70151951e-05 9.99996549e-01 -1.40724183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.699254153999995 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:16.23, Y:0.32, Z:-0.14 [[ 9.99995898e-01 -1.45183292e-03 -2.46892783e-03 1.62334659e+01] [ 1.45186341e-03 9.99998946e-01 1.05564786e-05 3.24129693e-01] [ 2.46890990e-03 -1.41409813e-05 9.99996952e-01 -1.40674405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.729254153999996 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:16.26, Y:0.32, Z:-0.14 [[ 9.99993658e-01 2.88722505e-03 -2.08522031e-03 1.62630182e+01] [-2.88721287e-03 9.99995832e-01 8.85165279e-06 3.24301012e-01] [ 2.08523717e-03 -2.83112175e-06 9.99997826e-01 -1.40648168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.759254153999997 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:16.29, Y:0.32, Z:-0.14 [[ 9.99978149e-01 6.36766391e-03 -1.77628355e-03 1.62914802e+01] [-6.36766192e-03 9.99979726e-01 6.77664928e-06 3.24618170e-01] [ 1.77629069e-03 4.53427191e-06 9.99998422e-01 -1.40948830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.789254153999995 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:16.32, Y:0.32, Z:-0.14 [[ 9.99919210e-01 1.26618206e-02 -1.11896739e-03 1.63183100e+01] [-1.26618238e-02 9.99919836e-01 4.17181276e-06 3.24499217e-01] [ 1.11893051e-03 9.99669222e-06 9.99999374e-01 -1.40966932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.819254153999996 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:16.35, Y:0.32, Z:-0.14 [[ 9.99895136e-01 1.44603341e-02 -7.84347386e-04 1.63464687e+01] [-1.44603363e-02 9.99895444e-01 2.81955415e-06 3.24186393e-01] [ 7.84306149e-04 8.52266852e-06 9.99999692e-01 -1.41307632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.849254153999997 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:16.37, Y:0.32, Z:-0.14 [[ 9.99870933e-01 1.60516572e-02 -6.79291264e-04 1.63741206e+01] [-1.60516593e-02 9.99871164e-01 2.34390910e-06 3.23419841e-01] [ 6.79241370e-04 8.56014538e-06 9.99999769e-01 -1.41159911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.879254153999995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:16.40, Y:0.32, Z:-0.14 [[ 9.99867839e-01 1.62467957e-02 5.89102923e-04 1.64014625e+01] [-1.62467972e-02 9.99868012e-01 -2.25668544e-06 3.22187092e-01] [-5.89061832e-04 -7.31464854e-06 9.99999826e-01 -1.41276435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.909254153999996 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:16.43, Y:0.32, Z:-0.14 [[ 9.99882752e-01 1.52830778e-02 9.53471741e-04 1.64297516e+01] [-1.52830815e-02 9.99883207e-01 -3.36145535e-06 3.21043446e-01] [-9.53411755e-04 -1.12109251e-05 9.99999545e-01 -1.41904001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.939254153999997 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:16.46, Y:0.32, Z:-0.14 [[ 9.99901476e-01 1.40016773e-02 9.95282055e-04 1.64575549e+01] [-1.40016809e-02 9.99901972e-01 -3.39012234e-06 3.19528076e-01] [-9.95231956e-04 -1.05458334e-05 9.99999505e-01 -1.42086501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.969254153999994 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:16.49, Y:0.32, Z:-0.14 [[ 9.99953232e-01 9.63201103e-03 8.71151537e-04 1.64851415e+01] [-9.63201216e-03 9.99953611e-01 -2.90532466e-06 3.16310419e-01] [-8.71139109e-04 -5.48575341e-06 9.99999621e-01 -1.42729630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.999254153999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:16.51, Y:0.31, Z:-0.14 [[ 9.99975154e-01 7.04220555e-03 3.15655984e-04 1.65142372e+01] [-7.04220557e-03 9.99975203e-01 -1.07514579e-06 3.14670206e-01] [-3.15655729e-04 -1.14779525e-06 9.99999950e-01 -1.42861272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.029254153999997 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:16.54, Y:0.31, Z:-0.14 [[ 9.99998422e-01 1.61485696e-03 -7.39879605e-04 1.65429727e+01] [-1.61485580e-03 9.99998696e-01 2.17228888e-06 3.10406431e-01] [ 7.39882149e-04 -9.77486588e-07 9.99999726e-01 -1.44083075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.059254153999998 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:16.57, Y:0.31, Z:-0.14 [[ 9.99998711e-01 -1.11017023e-03 -1.16036584e-03 1.65723217e+01] [ 1.11017499e-03 9.99999384e-01 3.45951476e-06 3.08039559e-01] [ 1.16036128e-03 -4.74771943e-06 9.99999327e-01 -1.44520835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.089254153999995 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:16.60, Y:0.31, Z:-0.15 [[ 9.99991635e-01 -3.83897999e-03 -1.41127664e-03 1.66016308e+01] [ 3.83898976e-03 9.99992631e-01 4.21464222e-06 3.05667862e-01] [ 1.41125006e-03 -9.63248352e-06 9.99999004e-01 -1.45072238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.119254153999997 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:16.63, Y:0.30, Z:-0.15 [[ 9.99956696e-01 -9.02938985e-03 -2.25292790e-03 1.66332507e+01] [ 9.02942828e-03 9.99959234e-01 6.88804836e-06 3.01110560e-01] [ 2.25277386e-03 -2.72304009e-05 9.99997462e-01 -1.45784776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.149254153999998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:16.67, Y:0.30, Z:-0.15 [[ 9.99934398e-01 -1.12198247e-02 -2.30563502e-03 1.66655256e+01] [ 1.12198713e-02 9.99937055e-01 7.26249800e-06 2.98859483e-01] [ 2.30540840e-03 -3.31309496e-05 9.99997342e-01 -1.46004948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.179254153999995 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:16.70, Y:0.29, Z:-0.15 [[ 9.99892309e-01 -1.45585618e-02 -1.84890900e-03 1.66976317e+01] [ 1.45585988e-02 9.99894018e-01 6.58884280e-06 2.94722532e-01] [ 1.84861713e-03 -3.35056577e-05 9.99998291e-01 -1.46390321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.209254153999996 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:16.73, Y:0.29, Z:-0.15 [[ 9.99871680e-01 -1.59230291e-02 -1.75544049e-03 1.67294645e+01] [ 1.59230645e-02 9.99873220e-01 6.15064201e-06 2.92743499e-01] [ 1.75512000e-03 -3.41018448e-05 9.99998459e-01 -1.46415622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.239254153999997 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:16.76, Y:0.29, Z:-0.15 [[ 9.99860444e-01 -1.66500416e-02 -1.36688381e-03 1.67612020e+01] [ 1.66500639e-02 9.99861378e-01 4.90806399e-06 2.90770038e-01] [ 1.36661261e-03 -2.76660818e-05 9.99999066e-01 -1.46303848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.269254153999995 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:16.79, Y:0.29, Z:-0.15 [[ 9.99848692e-01 -1.73633053e-02 -1.05278295e-03 1.67928045e+01] [ 1.73633190e-02 9.99849246e-01 3.91765571e-06 2.89184234e-01] [ 1.05255621e-03 -2.21968691e-05 9.99999446e-01 -1.46438862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.299254153999996 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:16.82, Y:0.29, Z:-0.15 [[ 9.99821309e-01 -1.88665926e-02 -1.18412057e-03 1.68245551e+01] [ 1.88666112e-02 9.99822010e-01 4.49693008e-06 2.86223994e-01] [ 1.18382497e-03 -2.68364689e-05 9.99999299e-01 -1.46066292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.329254153999997 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:16.86, Y:0.28, Z:-0.15 [[ 9.99808982e-01 -1.95128947e-02 -1.11656678e-03 1.68575135e+01] [ 1.95129118e-02 9.99809605e-01 4.38757244e-06 2.84582828e-01] [ 1.11626858e-03 -2.61742034e-05 9.99999377e-01 -1.46187485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.359254153999995 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:16.89, Y:0.28, Z:-0.15 [[ 9.99757564e-01 -2.18707171e-02 -2.54652195e-03 1.68900903e+01] [ 2.18708138e-02 9.99760805e-01 1.01133514e-05 2.81287942e-01] [ 2.54569165e-03 -6.58054070e-05 9.99996758e-01 -1.46687829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.389254153999996 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:16.92, Y:0.28, Z:-0.15 [[ 9.99734678e-01 -2.28018217e-02 -3.26353938e-03 1.69231138e+01] [ 2.28019864e-02 9.99740001e-01 1.32740910e-05 2.79547562e-01] [ 3.26238819e-03 -8.76857496e-05 9.99994675e-01 -1.47044489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.419254153999997 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:16.96, Y:0.28, Z:-0.15 [[ 9.99710560e-01 -2.36684444e-02 -4.31282851e-03 1.69566014e+01] [ 2.36687421e-02 9.99719856e-01 1.79789920e-05 2.78133684e-01] [ 4.31119477e-03 -1.20053014e-04 9.99990700e-01 -1.47304091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.449254153999995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:16.99, Y:0.28, Z:-0.15 [[ 9.99660835e-01 -2.53353402e-02 -6.02790719e-03 1.69889576e+01] [ 2.53359547e-02 9.99678993e-01 2.56007916e-05 2.76081314e-01] [ 6.02532358e-03 -1.78314892e-04 9.99981832e-01 -1.47701388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.479254153999996 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:17.02, Y:0.27, Z:-0.15 [[ 9.99639495e-01 -2.59920925e-02 -6.72987593e-03 1.70212336e+01] [ 2.59928764e-02 9.99662128e-01 2.90365776e-05 2.74977237e-01] [ 6.72684737e-03 -2.03954943e-04 9.99977354e-01 -1.47649223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.509254153999997 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:17.05, Y:0.27, Z:-0.15 [[ 9.99597137e-01 -2.73491142e-02 -7.58882157e-03 1.70534669e+01] [ 2.73501544e-02 9.99625914e-01 3.32943926e-05 2.73086028e-01] [ 7.58507212e-03 -2.40836421e-04 9.99971204e-01 -1.47649376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.539254153999995 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:17.09, Y:0.27, Z:-0.15 [[ 9.99581358e-01 -2.78500755e-02 -7.84104620e-03 1.70855244e+01] [ 2.78512059e-02 9.99612079e-01 3.49833984e-05 2.72265168e-01] [ 7.83703021e-03 -2.53351345e-04 9.99969258e-01 -1.47862148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.569254153999996 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:17.12, Y:0.27, Z:-0.15 [[ 9.99570542e-01 -2.81141457e-02 -8.26596908e-03 1.71176201e+01] [ 2.81154160e-02 9.99604683e-01 3.74900905e-05 2.71689290e-01] [ 8.26164740e-03 -2.69875149e-04 9.99965836e-01 -1.47771196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.599254153999997 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:17.15, Y:0.27, Z:-0.15 [[ 9.99570936e-01 -2.81154910e-02 -8.21362793e-03 1.71489089e+01] [ 2.81167488e-02 9.99604645e-01 3.76869151e-05 2.71111627e-01] [ 8.20932105e-03 -2.68611258e-04 9.99966267e-01 -1.47233182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.629254153999995 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:17.18, Y:0.27, Z:-0.15 [[ 9.99579575e-01 -2.79925256e-02 -7.55586907e-03 1.71813586e+01] [ 2.79935910e-02 9.99608102e-01 3.52626299e-05 2.71067555e-01] [ 7.55192085e-03 -2.46763713e-04 9.99971453e-01 -1.47341382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.659254153999996 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:17.21, Y:0.27, Z:-0.15 [[ 9.99578623e-01 -2.83203812e-02 -6.36648804e-03 1.72129480e+01] [ 2.83211464e-02 9.99598875e-01 3.00563613e-05 2.71479022e-01] [ 6.36308308e-03 -2.10349936e-04 9.99979733e-01 -1.46841968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.689254153999997 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:17.24, Y:0.27, Z:-0.15 [[ 9.99572976e-01 -2.85607176e-02 -6.17672151e-03 1.72446877e+01] [ 2.85614454e-02 9.99592038e-01 2.96379523e-05 2.71385539e-01] [ 6.17335516e-03 -2.06041390e-04 9.99980923e-01 -1.46596794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.719254153999994 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:17.28, Y:0.27, Z:-0.15 [[ 9.99554034e-01 -2.94119204e-02 -5.16442945e-03 1.72766793e+01] [ 2.94124426e-02 9.99567360e-01 2.51723924e-05 2.71210683e-01] [ 5.16145474e-03 -1.77059651e-04 9.99986664e-01 -1.46557614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.749254153999996 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:17.31, Y:0.27, Z:-0.15 [[ 9.99540711e-01 -2.99140635e-02 -4.84925399e-03 1.73095828e+01] [ 2.99145326e-02 9.99552460e-01 2.42164059e-05 2.71240018e-01] [ 4.84635934e-03 -1.69268450e-04 9.99988242e-01 -1.46435095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.779254153999997 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:17.34, Y:0.27, Z:-0.15 [[ 9.99528431e-01 -3.03886844e-02 -4.40957741e-03 1.73425525e+01] [ 3.03890791e-02 9.99538145e-01 2.25189618e-05 2.71112623e-01] [ 4.40685650e-03 -1.56511339e-04 9.99990278e-01 -1.46521309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.809254153999994 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:17.37, Y:0.27, Z:-0.15 [[ 9.99489872e-01 -3.16483482e-02 -4.28691815e-03 1.73746198e+01] [ 3.16487344e-02 9.99499053e-01 2.22627416e-05 2.70628973e-01] [ 4.28406605e-03 -1.57926919e-04 9.99990811e-01 -1.46434535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.839254153999995 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:17.41, Y:0.27, Z:-0.15 [[ 9.99471325e-01 -3.22039411e-02 -4.46951288e-03 1.74080068e+01] [ 3.22043687e-02 9.99481305e-01 2.37198679e-05 2.70064233e-01] [ 4.46643069e-03 -1.67645169e-04 9.99990011e-01 -1.46783082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.869254153999997 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:17.44, Y:0.27, Z:-0.15 [[ 9.99428759e-01 -3.33314081e-02 -5.58324854e-03 1.74396637e+01] [ 3.33320955e-02 9.99444331e-01 3.00794022e-05 2.69681844e-01] [ 5.57914351e-03 -2.16163593e-04 9.99984413e-01 -1.47731885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.899254153999998 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:17.47, Y:0.27, Z:-0.15 [[ 9.99423178e-01 -3.33571604e-02 -6.37265493e-03 1.74729458e+01] [ 3.33580608e-02 9.99443464e-01 3.50179109e-05 2.69553124e-01] [ 6.36794022e-03 -2.47577122e-04 9.99979694e-01 -1.47761476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.929254153999995 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:17.51, Y:0.27, Z:-0.15 [[ 9.99427328e-01 -3.32325841e-02 -6.37265040e-03 1.75064937e+01] [ 3.32334871e-02 9.99447614e-01 3.58343235e-05 2.69276484e-01] [ 6.36793937e-03 -2.47599197e-04 9.99979694e-01 -1.47803265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.959254153999996 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:17.54, Y:0.27, Z:-0.15 [[ 9.99425982e-01 -3.32356841e-02 -6.56472413e-03 1.75392306e+01] [ 3.32366469e-02 9.99447509e-01 3.75880122e-05 2.69304958e-01] [ 6.55984791e-03 -2.55755854e-04 9.99978451e-01 -1.47951226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.989254153999997 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:17.57, Y:0.27, Z:-0.15 [[ 9.99446176e-01 -3.26038747e-02 -6.65791843e-03 1.75712124e+01] [ 3.26048547e-02 9.99468320e-01 3.86846058e-05 2.69839406e-01] [ 6.65311727e-03 -2.55743644e-04 9.99977835e-01 -1.47649446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.019254153999995 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:17.60, Y:0.27, Z:-0.15 [[ 9.99473269e-01 -3.17917874e-02 -6.51664790e-03 1.76046687e+01] [ 3.17927138e-02 9.99494483e-01 3.85861988e-05 2.69870710e-01] [ 6.51212690e-03 -2.45747796e-04 9.99978766e-01 -1.47369004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.049254153999996 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:17.64, Y:0.27, Z:-0.15 [[ 9.99522158e-01 -3.03830876e-02 -5.68542167e-03 1.76380381e+01] [ 3.03837735e-02 9.99538306e-01 3.42849284e-05 2.70547419e-01] [ 5.68175507e-03 -2.07013110e-04 9.99983837e-01 -1.47591481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.079254153999997 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:17.67, Y:0.27, Z:-0.15 [[ 9.99536302e-01 -2.99080987e-02 -5.71723275e-03 1.76712191e+01] [ 2.99087881e-02 9.99552632e-01 3.50973224e-05 2.70923311e-01] [ 5.71362535e-03 -2.06076550e-04 9.99983656e-01 -1.47294992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.109254153999995 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:17.70, Y:0.27, Z:-0.15 [[ 9.99557248e-01 -2.91768743e-02 -5.83251797e-03 1.77040080e+01] [ 2.91775831e-02 9.99574243e-01 3.64429698e-05 2.71023621e-01] [ 5.82897145e-03 -2.06605612e-04 9.99982990e-01 -1.47549657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.139254153999996 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:17.74, Y:0.27, Z:-0.15 [[ 9.99568734e-01 -2.88642138e-02 -5.40396887e-03 1.77360661e+01] [ 2.88648203e-02 9.99583324e-01 3.42419193e-05 2.71878778e-01] [ 5.40072880e-03 -1.90211742e-04 9.99985398e-01 -1.47917045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.169254153999997 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:17.77, Y:0.27, Z:-0.15 [[ 9.99564020e-01 -2.89968370e-02 -5.56358373e-03 1.77683610e+01] [ 2.89974845e-02 9.99579484e-01 3.57439513e-05 2.72536490e-01] [ 5.56020769e-03 -1.97058301e-04 9.99984523e-01 -1.47981322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.199254153999995 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:17.80, Y:0.27, Z:-0.15 [[ 9.99558515e-01 -2.91220552e-02 -5.88899700e-03 1.78015563e+01] [ 2.91227866e-02 9.99575841e-01 3.84677647e-05 2.73110624e-01] [ 5.88537886e-03 -2.09954785e-04 9.99982659e-01 -1.47740426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.229254153999996 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:17.83, Y:0.27, Z:-0.15 [[ 9.99533692e-01 -3.00880713e-02 -5.20634219e-03 1.78345341e+01] [ 3.00886591e-02 9.99547233e-01 3.45996044e-05 2.74385591e-01] [ 5.20294390e-03 -1.91235326e-04 9.99986446e-01 -1.47568483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.259254153999997 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:17.87, Y:0.27, Z:-0.15 [[ 9.99512080e-01 -3.09158740e-02 -4.45101758e-03 1.78678087e+01] [ 3.09163140e-02 9.99521976e-01 3.00857839e-05 2.74905654e-01] [ 4.44795976e-03 -1.67680162e-04 9.99990094e-01 -1.47438471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.289254153999995 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:17.90, Y:0.28, Z:-0.15 [[ 9.99442805e-01 -3.31615252e-02 -3.79384268e-03 1.79011888e+01] [ 3.31618628e-02 9.99449994e-01 2.60819607e-05 2.76103644e-01] [ 3.79089112e-03 -1.51878318e-04 9.99992803e-01 -1.46683651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.319254153999996 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:17.93, Y:0.28, Z:-0.15 [[ 9.99406460e-01 -3.43155086e-02 -3.02863061e-03 1.79339074e+01] [ 3.43157300e-02 9.99411042e-01 2.11796369e-05 2.76369074e-01] [ 3.02612008e-03 -1.25096736e-04 9.99995413e-01 -1.46938586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.349254153999997 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:17.97, Y:0.28, Z:-0.15 [[ 9.99369133e-01 -3.53873046e-02 -3.01238466e-03 1.79661940e+01] [ 3.53875294e-02 9.99373665e-01 2.13166197e-05 2.76633698e-01] [ 3.00974356e-03 -1.27904022e-04 9.99995463e-01 -1.46548987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.379254153999995 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:18.00, Y:0.28, Z:-0.15 [[ 9.99314200e-01 -3.68475295e-02 -3.65900407e-03 1.79996133e+01] [ 3.68478723e-02 9.99320886e-01 2.62817089e-05 2.77807678e-01] [ 3.65555077e-03 -1.61090199e-04 9.99993305e-01 -1.46280288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.409254153999996 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:18.03, Y:0.28, Z:-0.15 [[ 9.99298812e-01 -3.72455473e-02 -3.82787572e-03 1.80323734e+01] [ 3.72459269e-02 9.99306129e-01 2.78999595e-05 2.78354040e-01] [ 3.82418052e-03 -1.70453176e-04 9.99992673e-01 -1.46432935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.439254153999997 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:18.07, Y:0.28, Z:-0.15 [[ 9.99282848e-01 -3.75983035e-02 -4.48977002e-03 1.80653802e+01] [ 3.75988313e-02 9.99292913e-01 3.31948128e-05 2.78945030e-01] [ 4.48534730e-03 -2.01981113e-04 9.99989920e-01 -1.46377523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.469254153999994 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:18.10, Y:0.28, Z:-0.15 [[ 9.99284970e-01 -3.74832277e-02 -4.95539918e-03 1.80988020e+01] [ 3.74838719e-02 9.99297232e-01 3.71708380e-05 2.79251943e-01] [ 4.95052340e-03 -2.22891808e-04 9.99987721e-01 -1.46355549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.499254153999996 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:18.13, Y:0.28, Z:-0.15 [[ 9.99291490e-01 -3.71721787e-02 -5.89462481e-03 1.81320506e+01] [ 3.71730887e-02 9.99308841e-01 4.48539115e-05 2.80365042e-01] [ 5.88888337e-03 -2.63943543e-04 9.99982626e-01 -1.46053894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.529254153999997 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:18.16, Y:0.28, Z:-0.15 [[ 9.99304739e-01 -3.68454985e-02 -5.69633074e-03 1.81645272e+01] [ 3.68463459e-02 9.99320942e-01 4.38540932e-05 2.81020796e-01] [ 5.69084677e-03 -2.53712576e-04 9.99983775e-01 -1.45877851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.559254153999994 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:18.20, Y:0.28, Z:-0.15 [[ 9.99314706e-01 -3.65068681e-02 -6.11280857e-03 1.81979241e+01] [ 3.65078418e-02 9.99333365e-01 4.77441638e-05 2.80996479e-01] [ 6.10699057e-03 -2.70876893e-04 9.99981315e-01 -1.46040902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.589254153999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:18.23, Y:0.28, Z:-0.15 [[ 9.99444928e-01 -3.31311297e-02 -3.48766787e-03 1.82348840e+01] [ 3.31079837e-02 9.99430661e-01 -6.49732142e-03 2.80918503e-01] [ 3.70094580e-03 6.37824529e-03 9.99972810e-01 -1.47457283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.619254153999997 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:18.26, Y:0.28, Z:-0.15 [[ 9.99340779e-01 -3.56511965e-02 -6.85565498e-03 1.82614651e+01] [ 3.56973328e-02 9.99339990e-01 6.72933513e-03 2.79002005e-01] [ 6.61122133e-03 -6.96962761e-03 9.99953857e-01 -1.47913482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.649254153999994 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:18.29, Y:0.28, Z:-0.15 [[ 9.99412840e-01 -3.33275169e-02 -7.95310397e-03 1.82936067e+01] [ 3.33290639e-02 9.99444430e-01 6.20240568e-05 2.83708450e-01] [ 7.94661836e-03 -3.27057149e-04 9.99968372e-01 -1.45085398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.679254153999995 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:18.33, Y:0.28, Z:-0.15 [[ 9.99451962e-01 -3.21406491e-02 -7.92170421e-03 1.83259357e+01] [ 3.21421515e-02 9.99483306e-01 6.23939279e-05 2.84245337e-01] [ 7.91560573e-03 -3.16980351e-04 9.99968621e-01 -1.45505599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.709254153999996 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:18.36, Y:0.29, Z:-0.15 [[ 9.99559075e-01 -2.83151770e-02 -8.93906512e-03 1.83592053e+01] [ 2.83169462e-02 9.99598992e-01 7.13944962e-05 2.85245350e-01] [ 8.93345894e-03 -3.24490043e-04 9.99960043e-01 -1.46049792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.739254153999997 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:18.39, Y:0.29, Z:-0.15 [[ 9.99617133e-01 -2.62898709e-02 -8.62725206e-03 1.83907687e+01] [ 2.62914519e-02 9.99654318e-01 6.98803630e-05 2.86170390e-01] [ 8.62243262e-03 -2.96676591e-04 9.99962782e-01 -1.45585939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.769254153999995 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:18.42, Y:0.29, Z:-0.15 [[ 9.99668447e-01 -2.40403023e-02 -9.22275962e-03 1.84214903e+01] [ 2.40420174e-02 9.99710946e-01 7.51234988e-05 2.87167606e-01] [ 9.21828775e-03 -2.96832338e-04 9.99957467e-01 -1.45277836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.799254153999996 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:18.45, Y:0.29, Z:-0.15 [[ 9.99756522e-01 -1.96804159e-02 -9.97885804e-03 1.84534891e+01] [ 1.96822142e-02 9.99806283e-01 8.20241886e-05 2.89558199e-01] [ 9.97531069e-03 -2.78410238e-04 9.99950207e-01 -1.45145773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.829254153999997 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:18.48, Y:0.29, Z:-0.15 [[ 9.99797700e-01 -1.75737617e-02 -9.78371333e-03 1.84846136e+01] [ 1.75753946e-02 9.99845538e-01 8.09308838e-05 2.90750570e-01] [ 9.78077986e-03 -2.52867134e-04 9.99952135e-01 -1.45455210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.859254153999995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:18.52, Y:0.29, Z:-0.14 [[ 9.99845446e-01 -1.37028462e-02 -1.10143718e-02 1.85164476e+01] [ 1.37046848e-02 9.99906082e-01 9.14686726e-05 2.93258008e-01] [ 1.10120839e-02 -2.42403029e-04 9.99939336e-01 -1.44951273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.889254153999996 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:18.55, Y:0.29, Z:-0.14 [[ 9.99867122e-01 -1.17537462e-02 -1.12955000e-02 1.85473620e+01] [ 1.17555552e-02 9.99930897e-01 9.37633245e-05 2.94288845e-01] [ 1.12936173e-02 -2.26535738e-04 9.99936199e-01 -1.44986168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.919254153999997 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:18.58, Y:0.30, Z:-0.14 [[ 9.99880527e-01 -1.02627756e-02 -1.15588858e-02 1.85758386e+01] [ 1.02645623e-02 9.99947313e-01 9.52597077e-05 2.95348675e-01] [ 1.15572991e-02 -2.13895229e-04 9.99933189e-01 -1.44750192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.949254153999995 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:18.60, Y:0.30, Z:-0.14 [[ 9.99896621e-01 -7.99437460e-03 -1.19514149e-02 1.86048335e+01] [ 7.99611509e-03 9.99968026e-01 9.78526782e-05 2.97099525e-01] [ 1.19502505e-02 -1.93407451e-04 9.99928575e-01 -1.44656861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.979254153999996 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:18.63, Y:0.30, Z:-0.14 [[ 9.99893884e-01 -7.75652574e-03 -1.23311226e-02 1.86323702e+01] [ 7.75831415e-03 9.99969899e-01 9.72022366e-05 2.97778647e-01] [ 1.23299975e-02 -1.92860645e-04 9.99923964e-01 -1.44424511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.009254153999997 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:18.66, Y:0.30, Z:-0.14 [[ 9.99891651e-01 -8.00861043e-03 -1.23510204e-02 1.86601414e+01] [ 8.01037897e-03 9.99967912e-01 9.37252643e-05 2.98536686e-01] [ 1.23498735e-02 -1.92651464e-04 9.99923719e-01 -1.44388578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.039254153999995 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:18.69, Y:0.30, Z:-0.14 [[ 9.99891470e-01 -8.22593406e-03 -1.22221802e-02 1.86883573e+01] [ 8.22763785e-03 9.99966148e-01 8.91256864e-05 2.99151293e-01] [ 1.22210333e-02 -1.89675686e-04 9.99925302e-01 -1.44175723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.069254153999996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:18.73, Y:0.33, Z:-0.14 [[ 9.99985012e-01 -1.48132812e-04 5.47293129e-03 1.87319209e+01] [ 5.60126100e-04 9.97156705e-01 -7.53537835e-02 3.25295049e-01] [-5.44620776e-03 7.53557197e-02 9.97141843e-01 -1.40202894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.099254153999997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:18.75, Y:0.26, Z:-0.17 [[ 9.99872454e-01 -1.09774669e-02 -1.16004916e-02 1.87487684e+01] [ 1.18249910e-02 9.97059626e-01 7.57117728e-02 2.63639833e-01] [ 1.07352584e-02 -7.58392918e-02 9.97062263e-01 -1.70610780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.129254153999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:18.78, Y:0.30, Z:-0.14 [[ 9.99845242e-01 -1.38795386e-02 -1.08097459e-02 1.87784177e+01] [ 1.38811304e-02 9.99903650e-01 7.22420146e-05 3.01300734e-01] [ 1.08077017e-02 -2.22282328e-04 9.99941570e-01 -1.43267118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.159254153999996 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:18.81, Y:0.30, Z:-0.14 [[ 9.99822586e-01 -1.56917025e-02 -1.04195556e-02 1.88091664e+01] [ 1.56932799e-02 9.99876850e-01 6.96398418e-05 3.01471026e-01] [ 1.04171797e-02 -2.33144490e-04 9.99945713e-01 -1.43271595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.189254153999997 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:18.84, Y:0.31, Z:-0.14 [[ 9.99768422e-01 -1.67825714e-02 -1.34702609e-02 1.88398868e+01] [ 1.66285218e-02 9.99795968e-01 -1.14679494e-02 3.06734218e-01] [ 1.36599742e-02 1.12413031e-02 9.99843507e-01 -1.38170158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.219254153999994 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:18.87, Y:0.30, Z:-0.15 [[ 9.99693812e-01 -2.24618413e-02 -1.03802023e-02 1.88698027e+01] [ 2.25806330e-02 9.99679201e-01 1.14721786e-02 2.96594803e-01] [ 1.01191861e-02 -1.17030575e-02 9.99880313e-01 -1.47511155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.249254153999996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:18.90, Y:0.30, Z:-0.14 [[ 9.99635765e-01 -2.48404318e-02 -1.05494430e-02 1.89016940e+01] [ 2.48425488e-02 9.99691374e-01 6.96624247e-05 3.01995389e-01] [ 1.05444567e-02 -3.31712103e-04 9.99944351e-01 -1.43052011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.279254153999997 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:18.93, Y:0.30, Z:-0.14 [[ 9.99515349e-01 -2.91949573e-02 -1.08037347e-02 1.89334061e+01] [ 2.91974402e-02 9.99573661e-01 7.21370164e-05 3.01517251e-01] [ 1.07970226e-02 -3.87543453e-04 9.99941635e-01 -1.43762135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.309254153999994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:18.97, Y:0.30, Z:-0.14 [[ 9.99471334e-01 -3.06101216e-02 -1.09578170e-02 1.89655453e+01] [ 3.06127696e-02 9.99531317e-01 7.39699600e-05 3.01107398e-01] [ 1.09504171e-02 -4.09379983e-04 9.99939959e-01 -1.43948149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.339254153999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:19.00, Y:0.30, Z:-0.15 [[ 9.99492713e-01 -2.95246970e-02 -1.19419106e-02 1.89978018e+01] [ 2.95277778e-02 9.99563957e-01 8.17070623e-05 3.00297766e-01] [ 1.19342910e-02 -4.34283695e-04 9.99928690e-01 -1.45255605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.369254153999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:19.03, Y:0.30, Z:-0.15 [[ 9.99542071e-01 -2.79318575e-02 -1.16386769e-02 1.90293390e+01] [ 2.79346924e-02 9.99609747e-01 8.10421211e-05 3.00703374e-01] [ 1.16318712e-02 -4.06127867e-04 9.99932265e-01 -1.45169389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.399254153999994 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:19.06, Y:0.30, Z:-0.14 [[ 9.99601660e-01 -2.58458065e-02 -1.13364729e-02 1.90612222e+01] [ 2.58483711e-02 9.99665872e-01 7.97372732e-05 3.01559548e-01] [ 1.13306242e-02 -3.72734869e-04 9.99935737e-01 -1.44800802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.429254153999995 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:19.09, Y:0.31, Z:-0.14 [[ 9.99730888e-01 -2.05418262e-02 -1.07789485e-02 1.90935302e+01] [ 2.05438452e-02 9.99788950e-01 7.66009173e-05 3.05082931e-01] [ 1.07751000e-02 -2.98021351e-04 9.99941903e-01 -1.43359678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.459254153999996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:19.12, Y:0.31, Z:-0.14 [[ 9.99797822e-01 -1.74891812e-02 -9.92184991e-03 1.91249182e+01] [ 1.74907469e-02 9.99847023e-01 7.10433739e-05 3.06341977e-01] [ 9.91908961e-03 -2.44569576e-04 9.99950775e-01 -1.43147795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.489254153999994 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:19.16, Y:0.31, Z:-0.14 [[ 9.99882228e-01 -1.24339708e-02 -8.99594228e-03 1.91559967e+01] [ 1.24350562e-02 9.99922680e-01 6.47271300e-05 3.08195737e-01] [ 8.99444189e-03 -1.76584555e-04 9.99959534e-01 -1.43557433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.519254153999995 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:19.19, Y:0.31, Z:-0.14 [[ 9.99906257e-01 -1.04488276e-02 -8.84871685e-03 1.91864454e+01] [ 1.04498013e-02 9.99945397e-01 6.38179441e-05 3.08494821e-01] [ 8.84756686e-03 -1.56279295e-04 9.99960847e-01 -1.43988391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.549254153999996 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:19.22, Y:0.31, Z:-0.14 [[ 9.99918785e-01 -8.77884303e-03 -9.23883710e-03 1.92171643e+01] [ 8.77983325e-03 9.99961454e-01 6.66267924e-05 3.08607711e-01] [ 9.23789608e-03 -1.47736830e-04 9.99957319e-01 -1.44210301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.579254153999997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:19.25, Y:0.31, Z:-0.15 [[ 9.99933689e-01 -6.81321912e-03 -9.28424445e-03 1.92465829e+01] [ 6.81413115e-03 9.99976781e-01 6.66053227e-05 3.08938060e-01] [ 9.28357508e-03 -1.29864965e-04 9.99956898e-01 -1.45057021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.609254153999995 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:19.28, Y:0.31, Z:-0.15 [[ 9.99937223e-01 -6.07728389e-03 -9.41359396e-03 1.92751187e+01] [ 6.07818405e-03 9.99981525e-01 6.70167917e-05 3.08801926e-01] [ 9.41301276e-03 -1.24230141e-04 9.99955689e-01 -1.45206943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.639254153999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:19.30, Y:0.31, Z:-0.15 [[ 9.99933432e-01 -5.74006453e-03 -1.00091888e-02 1.93037158e+01] [ 5.74103919e-03 9.99983518e-01 6.86468121e-05 3.08672754e-01] [ 1.00086298e-02 -1.26105387e-04 9.99949904e-01 -1.45530176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.669254153999997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:19.33, Y:0.31, Z:-0.15 [[ 9.99918962e-01 -6.62734580e-03 -1.08696159e-02 1.93311374e+01] [ 6.62853249e-03 9.99978028e-01 7.31525327e-05 3.08712016e-01] [ 1.08688923e-02 -1.45196207e-04 9.99940921e-01 -1.45333859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.699254153999995 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:19.36, Y:0.31, Z:-0.15 [[ 9.99913859e-01 -7.06492817e-03 -1.10617012e-02 1.93592778e+01] [ 7.06616679e-03 9.99975032e-01 7.28938529e-05 3.08113647e-01] [ 1.10609100e-02 -1.51051399e-04 9.99938815e-01 -1.45731237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.729254153999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:19.39, Y:0.31, Z:-0.15 [[ 9.99884899e-01 -8.97970260e-03 -1.22291752e-02 1.93872486e+01] [ 8.98131665e-03 9.99959664e-01 7.70693769e-05 3.06675976e-01] [ 1.22279898e-02 -1.86894601e-04 9.99925218e-01 -1.46400393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.759254153999997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:19.42, Y:0.31, Z:-0.15 [[ 9.99864813e-01 -1.04563785e-02 -1.26893870e-02 1.94160292e+01] [ 1.04581956e-02 9.99945309e-01 7.68442313e-05 3.05756923e-01] [ 1.26878895e-02 -2.09541934e-04 9.99919484e-01 -1.46392844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.789254153999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:19.45, Y:0.30, Z:-0.15 [[ 9.99848913e-01 -1.24853774e-02 -1.20941049e-02 1.94450758e+01] [ 1.24871393e-02 9.99922030e-01 7.01816946e-05 3.04024014e-01] [ 1.20922857e-02 -2.21191864e-04 9.99926861e-01 -1.46979004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.819254153999996 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:19.47, Y:0.30, Z:-0.15 [[ 9.99842446e-01 -1.34701909e-02 -1.15601474e-02 1.94734806e+01] [ 1.34718599e-02 9.99909248e-01 6.65126884e-05 3.03926598e-01] [ 1.15582024e-02 -2.22238895e-04 9.99933177e-01 -1.46775911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.849254153999997 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:19.50, Y:0.30, Z:-0.15 [[ 9.99842206e-01 -1.34880299e-02 -1.15601486e-02 1.95036391e+01] [ 1.34896978e-02 9.99909008e-01 6.63157378e-05 3.03784944e-01] [ 1.15582022e-02 -2.22248184e-04 9.99933177e-01 -1.46783758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.879254153999995 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:19.53, Y:0.30, Z:-0.15 [[ 9.99847699e-01 -1.37269821e-02 -1.07772080e-02 1.95340847e+01] [ 1.37284457e-02 9.99905759e-01 6.18286601e-05 3.03485589e-01] [ 1.07753436e-02 -2.09773558e-04 9.99941922e-01 -1.46273216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.909254153999996 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:19.56, Y:0.30, Z:-0.15 [[ 9.99867984e-01 -1.37921031e-02 -8.59027620e-03 1.95641597e+01] [ 1.37930367e-02 9.99904870e-01 4.94396200e-05 3.03429505e-01] [ 8.58877713e-03 -1.67919088e-04 9.99963102e-01 -1.45441401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.939254153999997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:19.60, Y:0.30, Z:-0.15 [[ 9.99876175e-01 -1.37820286e-02 -7.59541126e-03 1.95950310e+01] [ 1.37827603e-02 9.99905012e-01 4.39866658e-05 3.03014174e-01] [ 7.59408357e-03 -1.48666952e-04 9.99971153e-01 -1.45175351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.969254153999994 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:19.63, Y:0.30, Z:-0.15 [[ 9.99879051e-01 -1.40097120e-02 -6.75368229e-03 1.96267587e+01] [ 1.40102989e-02 9.99901850e-01 3.95973317e-05 3.02639866e-01] [ 6.75246467e-03 -1.34213650e-04 9.99977193e-01 -1.45208648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.999254153999996 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:19.66, Y:0.30, Z:-0.15 [[ 9.99872709e-01 -1.51675093e-02 -4.95101264e-03 1.96583913e+01] [ 1.51678402e-02 9.99884961e-01 2.92880009e-05 3.01191919e-01] [ 4.94999886e-03 -1.04380441e-04 9.99987743e-01 -1.45426481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.029254153999997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:19.69, Y:0.30, Z:-0.15 [[ 9.99865276e-01 -1.58851299e-02 -4.13434316e-03 1.96901101e+01] [ 1.58853680e-02 9.99873819e-01 2.47563961e-05 3.00441490e-01] [ 4.13342823e-03 -9.04286235e-05 9.99991453e-01 -1.45680867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.059254153999994 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:19.72, Y:0.30, Z:-0.15 [[ 9.99842143e-01 -1.72779150e-02 -4.14285183e-03 1.97214230e+01] [ 1.72781669e-02 9.99850721e-01 2.50214474e-05 2.99844034e-01] [ 4.14180107e-03 -9.65983831e-05 9.99991418e-01 -1.45645758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.089254153999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:19.75, Y:0.30, Z:-0.15 [[ 9.99832083e-01 -1.79015690e-02 -3.91648816e-03 1.97531517e+01] [ 1.79018000e-02 9.99839750e-01 2.39423935e-05 2.99521462e-01] [ 3.91543193e-03 -9.40505609e-05 9.99992330e-01 -1.45584742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.119254153999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:19.78, Y:0.30, Z:-0.15 [[ 9.99824009e-01 -1.83925524e-02 -3.69667984e-03 1.97849070e+01] [ 1.83927626e-02 9.99830839e-01 2.28646428e-05 2.98965550e-01] [ 3.69563397e-03 -9.08527736e-05 9.99993167e-01 -1.45899633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.149254153999994 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:19.82, Y:0.30, Z:-0.15 [[ 9.99787874e-01 -2.01289802e-02 -4.36253333e-03 1.98167371e+01] [ 2.01292908e-02 9.99797385e-01 2.72978819e-05 2.97434564e-01] [ 4.36109993e-03 -1.15106793e-04 9.99990484e-01 -1.46434974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.179254153999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:19.85, Y:0.30, Z:-0.15 [[ 9.99772880e-01 -2.07929821e-02 -4.67340014e-03 1.98493638e+01] [ 2.07933474e-02 9.99783795e-01 2.95829069e-05 2.96101642e-01] [ 4.67177461e-03 -1.26751821e-04 9.99989079e-01 -1.46995281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.209254153999996 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:19.88, Y:0.30, Z:-0.15 [[ 9.99748722e-01 -2.17403902e-02 -5.46329798e-03 1.98825286e+01] [ 2.17409069e-02 9.99763638e-01 3.51888186e-05 2.95046694e-01] [ 5.46124165e-03 -1.53957029e-04 9.99985075e-01 -1.47373290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.239254153999994 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:19.91, Y:0.29, Z:-0.15 [[ 9.99723401e-01 -2.24551405e-02 -6.99206421e-03 1.99149371e+01] [ 2.24560085e-02 9.99747831e-01 4.56576478e-05 2.93541015e-01] [ 6.98927578e-03 -2.02658872e-04 9.99975554e-01 -1.48046485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.269254153999995 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:19.95, Y:0.29, Z:-0.15 [[ 9.99719207e-01 -2.24503164e-02 -7.58228863e-03 1.99472239e+01] [ 2.24513411e-02 9.99747936e-01 5.00461881e-05 2.93200447e-01] [ 7.57925386e-03 -2.20264684e-04 9.99971253e-01 -1.48046451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.299254153999996 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:19.98, Y:0.29, Z:-0.15 [[ 9.99750139e-01 -2.09548103e-02 -7.78175360e-03 1.99796689e+01] [ 2.09558487e-02 9.99780401e-01 5.19239803e-05 2.93564188e-01] [ 7.77895667e-03 -2.14984258e-04 9.99969720e-01 -1.47337544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.329254153999994 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:20.01, Y:0.29, Z:-0.15 [[ 9.99777353e-01 -1.96387496e-02 -7.71777720e-03 2.00107387e+01] [ 1.96397350e-02 9.99807120e-01 5.19082740e-05 2.93534912e-01] [ 7.71526919e-03 -2.03471816e-04 9.99970216e-01 -1.46787920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.359254153999995 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:20.04, Y:0.29, Z:-0.15 [[ 9.99848598e-01 -1.60019091e-02 -6.83512944e-03 2.00432264e+01] [ 1.60026005e-02 9.99871949e-01 4.64687487e-05 2.93517795e-01] [ 6.83351061e-03 -1.55841559e-04 9.99976639e-01 -1.46235429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.389254153999996 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:20.08, Y:0.29, Z:-0.15 [[ 9.99883196e-01 -1.37428268e-02 -6.68803428e-03 2.00750219e+01] [ 1.37434415e-02 9.99905553e-01 4.59555798e-05 2.93378280e-01] [ 6.68677106e-03 -1.37866820e-04 9.99977634e-01 -1.46391549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.419254153999997 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:20.11, Y:0.29, Z:-0.15 [[ 9.99938525e-01 -8.50903270e-03 -7.10937240e-03 2.01063419e+01] [ 8.50959772e-03 9.99963792e-01 4.92289477e-05 2.93510508e-01] [ 7.10869609e-03 -1.09723821e-04 9.99974727e-01 -1.46471642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.449254153999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:20.14, Y:0.29, Z:-0.15 [[ 9.99957398e-01 -5.59057299e-03 -7.34491726e-03 2.01366530e+01] [ 5.59109724e-03 9.99984368e-01 5.08454615e-05 2.93809318e-01] [ 7.34451819e-03 -9.19094420e-05 9.99973024e-01 -1.46210423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.479254153999996 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:20.18, Y:0.32, Z:-0.14 [[ 9.99903185e-01 8.29245456e-03 1.11738639e-02 2.01833960e+01] [-7.30544889e-03 9.96298670e-01 -8.56480653e-02 3.24170264e-01] [-1.18427384e-02 8.55581432e-02 9.96262793e-01 -1.39204085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.509254153999997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:20.20, Y:0.25, Z:-0.18 [[ 9.99967731e-01 1.10136863e-03 -7.95768478e-03 2.01962659e+01] [-4.06375044e-04 9.96224347e-01 8.68152397e-02 2.52897879e-01] [ 8.02325490e-03 -8.68092044e-02 9.96192647e-01 -1.75848274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.539254153999995 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:20.22, Y:0.30, Z:-0.14 [[ 9.99911223e-01 9.75421156e-03 -9.07751227e-03 2.02238995e+01] [-9.75410451e-03 9.99952426e-01 5.60664458e-05 2.97888393e-01] [ 9.07762730e-03 3.24815349e-05 9.99958797e-01 -1.43001889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.569254153999996 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:20.25, Y:0.30, Z:-0.14 [[ 9.99865000e-01 1.36821921e-02 -9.09828037e-03 2.02513468e+01] [-1.36822700e-02 9.99906392e-01 5.36832855e-05 2.98815883e-01] [ 9.09816321e-03 7.08090908e-05 9.99958608e-01 -1.42448654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.599254153999997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:20.28, Y:0.30, Z:-0.14 [[ 9.99790344e-01 1.81085590e-02 -9.55762068e-03 2.02794053e+01] [-1.81088734e-02 9.99836019e-01 5.36511967e-05 2.99256609e-01] [ 9.55702496e-03 1.19437794e-04 9.99954323e-01 -1.41951486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.629254153999995 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:20.31, Y:0.30, Z:-0.14 [[ 9.99612850e-01 2.60021795e-02 -9.90138937e-03 2.03071162e+01] [-2.60029318e-02 9.99661865e-01 5.27648400e-05 2.99543000e-01] [ 9.89941337e-03 2.04720741e-04 9.99950979e-01 -1.41362827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.659254153999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.33, Y:0.30, Z:-0.14 [[ 9.99517896e-01 2.94052855e-02 -9.96514898e-03 2.03341560e+01] [-2.94062296e-02 9.99567542e-01 5.17940641e-05 2.99615990e-01] [ 9.96236249e-03 2.41268365e-04 9.99950345e-01 -1.41136525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.689254153999997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:20.36, Y:0.30, Z:-0.14 [[ 9.99391286e-01 3.34438025e-02 -9.92824387e-03 2.03613389e+01] [-3.34449572e-02 9.99440560e-01 4.97466942e-05 2.99877767e-01] [ 9.92435333e-03 2.82333279e-04 9.99950713e-01 -1.40157300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.719254153999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.39, Y:0.30, Z:-0.14 [[ 9.99368994e-01 3.39962822e-02 -1.02891338e-02 2.03896525e+01] [-3.39975813e-02 9.99421914e-01 4.86709470e-05 2.99374868e-01] [ 1.02848405e-02 3.01165429e-04 9.99947064e-01 -1.39562579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.749254153999996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:20.42, Y:0.30, Z:-0.14 [[ 9.99395018e-01 3.31171195e-02 -1.06233144e-02 2.04179076e+01] [-3.31184873e-02 9.99451431e-01 4.71862035e-05 2.98624023e-01] [ 1.06190495e-02 3.04670446e-04 9.99943570e-01 -1.39017832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.779254153999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.44, Y:0.30, Z:-0.14 [[ 9.99445812e-01 3.15201731e-02 -1.07026678e-02 2.04445949e+01] [-3.15214851e-02 9.99503073e-01 4.61138779e-05 2.97640127e-01] [ 1.06988029e-02 2.91275663e-04 9.99942724e-01 -1.38468461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.809254153999994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:20.47, Y:0.29, Z:-0.14 [[ 9.99614920e-01 2.55374241e-02 -1.08559945e-02 2.04720536e+01] [-2.55384340e-02 9.99673840e-01 4.56119159e-05 2.94260294e-01] [ 1.08536185e-02 2.31650747e-04 9.99941071e-01 -1.38489958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.839254153999995 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:20.50, Y:0.29, Z:-0.14 [[ 9.99799304e-01 1.62683623e-02 -1.16915822e-02 2.05000727e+01] [-1.62689145e-02 9.99867651e-01 4.78808779e-05 2.89791476e-01] [ 1.16908138e-02 1.42338084e-04 9.99931650e-01 -1.38066904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.869254153999997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:20.53, Y:0.29, Z:-0.14 [[ 9.99870945e-01 1.04422107e-02 -1.22087111e-02 2.05282835e+01] [-1.04423943e-02 9.99945476e-01 4.87112932e-05 2.87451143e-01] [ 1.22085541e-02 7.87831686e-05 9.99925470e-01 -1.37683931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.899254153999994 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:20.56, Y:0.29, Z:-0.13 [[ 9.99878002e-01 5.69584675e-03 -1.45443718e-02 2.05554548e+01] [-5.79400278e-03 9.99960665e-01 -6.71553359e-03 2.88300996e-01] [ 1.45055490e-02 6.79898444e-03 9.99871673e-01 -1.34561426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.929254153999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.59, Y:0.28, Z:-0.14 [[ 9.99908540e-01 -1.57402989e-03 -1.34325558e-02 2.05856905e+01] [ 1.65866579e-03 9.99978830e-01 6.29199138e-03 2.79915078e-01] [ 1.34223676e-02 -6.31369604e-03 9.99889983e-01 -1.39178771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.959254153999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:20.61, Y:0.28, Z:-0.14 [[ 9.99820540e-01 -1.31737115e-02 -1.36139786e-02 2.06137194e+01] [ 1.31756482e-02 9.99913196e-01 5.25730968e-05 2.77525856e-01] [ 1.36121043e-02 -2.31936654e-04 9.99907324e-01 -1.37042577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.989254153999994 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:20.64, Y:0.28, Z:-0.14 [[ 9.99725720e-01 -1.86379113e-02 -1.41813990e-02 2.06420854e+01] [ 1.86405473e-02 9.99826248e-01 5.37092546e-05 2.75066055e-01] [ 1.41779339e-02 -3.18043562e-04 9.99899437e-01 -1.36854493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.019254153999995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:20.67, Y:0.27, Z:-0.14 [[ 9.99526649e-01 -2.73767714e-02 -1.40352908e-02 2.06726716e+01] [ 2.73802131e-02 9.99625090e-01 5.30888840e-05 2.69876518e-01] [ 1.40285755e-02 -4.37353008e-04 9.99901499e-01 -1.36441261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.049254153999996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:20.71, Y:0.27, Z:-0.14 [[ 9.99431819e-01 -3.05804132e-02 -1.41730957e-02 2.07052955e+01] [ 3.05842584e-02 9.99532191e-01 5.45847352e-05 2.67451069e-01] [ 1.41647962e-02 -4.88027342e-04 9.99899555e-01 -1.36429169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.079254153999994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.74, Y:0.27, Z:-0.14 [[ 9.99341494e-01 -3.33177216e-02 -1.43703659e-02 2.07360488e+01] [ 3.33219818e-02 9.99444667e-01 5.70623444e-05 2.65389440e-01] [ 1.43604844e-02 -5.35873839e-04 9.99896739e-01 -1.35926141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.109254153999995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:20.77, Y:0.26, Z:-0.14 [[ 9.99188373e-01 -3.76506379e-02 -1.43187026e-02 2.07685560e+01] [ 3.76553274e-02 9.99290785e-01 5.79514618e-05 2.62311635e-01] [ 1.43063656e-02 -5.97079860e-04 9.99897480e-01 -1.35357996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.139254153999996 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:20.80, Y:0.26, Z:-0.13 [[ 9.99138327e-01 -3.91241731e-02 -1.38528811e-02 2.08002547e+01] [ 3.91287209e-02 9.99234177e-01 5.73105331e-05 2.60993232e-01] [ 1.38400301e-02 -5.99306671e-04 9.99904043e-01 -1.34860567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.169254153999994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:20.83, Y:0.26, Z:-0.13 [[ 9.99098936e-01 -4.01883293e-02 -1.36460441e-02 2.08331239e+01] [ 4.01928610e-02 9.99191939e-01 5.78962191e-05 2.59753522e-01] [ 1.36326905e-02 -6.06317604e-04 9.99906887e-01 -1.34584801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.199254153999995 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:20.87, Y:0.26, Z:-0.13 [[ 9.99012847e-01 -4.21930707e-02 -1.38951894e-02 2.08665934e+01] [ 4.21979846e-02 9.99109267e-01 6.05059873e-05 2.58004119e-01] [ 1.38802596e-02 -6.46795246e-04 9.99903455e-01 -1.34009495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.229254153999996 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:20.90, Y:0.26, Z:-0.13 [[ 9.98984315e-01 -4.27761969e-02 -1.41610854e-02 2.08988274e+01] [ 4.27813779e-02 9.99084456e-01 6.29966458e-05 2.56743752e-01] [ 1.41454255e-02 -6.68763406e-04 9.99899725e-01 -1.34062288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.259254153999997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:20.93, Y:0.25, Z:-0.13 [[ 9.98920791e-01 -4.40967182e-02 -1.45853677e-02 2.09318035e+01] [ 4.41023780e-02 9.99027015e-01 6.64710051e-05 2.54628378e-01] [ 1.45682452e-02 -7.09648669e-04 9.99893626e-01 -1.34331170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.289254153999995 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:20.96, Y:0.25, Z:-0.13 [[ 9.98880149e-01 -4.48363488e-02 -1.51046593e-02 2.09638342e+01] [ 4.48425241e-02 9.98994066e-01 7.02330081e-05 2.53938891e-01] [ 1.50863160e-02 -7.47485408e-04 9.99885916e-01 -1.34636685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.319254153999996 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:21.00, Y:0.25, Z:-0.13 [[ 9.98850856e-01 -4.52483594e-02 -1.57972866e-02 2.09963898e+01] [ 4.52551924e-02 9.98975456e-01 7.51528734e-05 2.53122587e-01] [ 1.57777011e-02 -7.89975758e-04 9.99875212e-01 -1.34567562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.349254153999997 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:21.03, Y:0.25, Z:-0.14 [[ 9.98804826e-01 -4.59543929e-02 -1.66467398e-02 2.10289902e+01] [ 4.59621084e-02 9.98943181e-01 8.09923415e-05 2.52358682e-01] [ 1.66254253e-02 -8.46014801e-04 9.99861430e-01 -1.35405168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.379254153999995 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:21.06, Y:0.25, Z:-0.14 [[ 9.98782671e-01 -4.62458974e-02 -1.71608227e-02 2.10611153e+01] [ 4.62541616e-02 9.98929700e-01 8.47669607e-05 2.52016359e-01] [ 1.71385353e-02 -8.78423237e-04 9.99852739e-01 -1.35515218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.409254153999996 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:21.09, Y:0.25, Z:-0.14 [[ 9.98764532e-01 -4.62054412e-02 -1.82884415e-02 2.10939360e+01] [ 4.62148570e-02 9.98931518e-01 9.23252525e-05 2.51203041e-01] [ 1.82646347e-02 -9.37408897e-04 9.99832748e-01 -1.35701195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.439254153999997 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:21.13, Y:0.25, Z:-0.14 [[ 9.98761389e-01 -4.61983967e-02 -1.84769015e-02 2.11272747e+01] [ 4.62080443e-02 9.98931833e-01 9.53302638e-05 2.50973950e-01] [ 1.84527609e-02 -9.48993668e-04 9.99829283e-01 -1.35688972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.469254153999994 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:21.16, Y:0.25, Z:-0.14 [[ 9.98791698e-01 -4.56670689e-02 -1.81566242e-02 2.11585931e+01] [ 4.56763163e-02 9.98956288e-01 9.47245189e-05 2.51061971e-01] [ 1.81333482e-02 -9.23937774e-04 9.99835150e-01 -1.35634523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.499254153999996 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:21.19, Y:0.25, Z:-0.13 [[ 9.98790502e-01 -4.56826435e-02 -1.81831968e-02 2.11912840e+01] [ 4.56919565e-02 9.98955572e-01 9.68402936e-05 2.52444321e-01] [ 1.81597819e-02 -9.27549004e-04 9.99834667e-01 -1.34502197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.529254153999997 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:21.22, Y:0.25, Z:-0.13 [[ 9.98827390e-01 -4.53098393e-02 -1.70547091e-02 2.12231101e+01] [ 4.53180299e-02 9.98972606e-01 9.38929401e-05 2.52771053e-01] [ 1.70329329e-02 -8.66668655e-04 9.99854553e-01 -1.34058074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.559254153999994 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:21.26, Y:0.25, Z:-0.13 [[ 9.98831760e-01 -4.53510215e-02 -1.66853403e-02 2.12550770e+01] [ 4.53588883e-02 9.98970752e-01 9.31480573e-05 2.52715170e-01] [ 1.66639426e-02 -8.49867724e-04 9.99860786e-01 -1.34381760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.589254153999995 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:21.29, Y:0.25, Z:-0.13 [[ 9.98835576e-01 -4.53504381e-02 -1.64569190e-02 2.12871480e+01] [ 4.53581101e-02 9.98970787e-01 9.30427326e-05 2.52536200e-01] [ 1.64357618e-02 -8.39389134e-04 9.99864571e-01 -1.34638050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.619254153999997 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:21.32, Y:0.25, Z:-0.13 [[ 9.98835055e-01 -4.54924184e-02 -1.60926144e-02 2.13193866e+01] [ 4.54997913e-02 9.98964344e-01 9.21309718e-05 2.52353154e-01] [ 1.60717567e-02 -8.24234241e-04 9.99870501e-01 -1.34476865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.649254153999994 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:21.35, Y:0.25, Z:-0.13 [[ 9.98855089e-01 -4.54755267e-02 -1.48488447e-02 2.13523959e+01] [ 4.54818251e-02 9.98965163e-01 8.65694653e-05 2.52588825e-01] [ 1.48295418e-02 -7.61822907e-04 9.99889746e-01 -1.34094377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.679254153999995 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:21.38, Y:0.25, Z:-0.13 [[ 9.98878532e-01 -4.55244701e-02 -1.30077382e-02 2.13839683e+01] [ 4.55293225e-02 9.98963000e-01 7.70028047e-05 2.52452472e-01] [ 1.29907437e-02 -6.69149957e-04 9.99915393e-01 -1.33996101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.709254153999996 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:21.42, Y:0.25, Z:-0.13 [[ 9.98872340e-01 -4.58544414e-02 -1.23051867e-02 2.14173528e+01] [ 4.58588246e-02 9.98947928e-01 7.41343562e-05 2.52036963e-01] [ 1.22888413e-02 -6.38352155e-04 9.99924286e-01 -1.33822463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.739254153999994 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:21.45, Y:0.25, Z:-0.13 [[ 9.98878029e-01 -4.57303676e-02 -1.23051774e-02 2.14509020e+01] [ 4.57347600e-02 9.98953616e-01 7.56462281e-05 2.51739458e-01] [ 1.22888422e-02 -6.38335692e-04 9.99924286e-01 -1.33791191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.769254153999995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:21.48, Y:0.25, Z:-0.13 [[ 9.98877994e-01 -4.58651312e-02 -1.17958802e-02 2.14841417e+01] [ 4.58691917e-02 9.98947452e-01 7.37784685e-05 2.50869733e-01] [ 1.17800807e-02 -6.14763181e-04 9.99930423e-01 -1.33444563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.799254153999996 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:21.53, Y:0.27, Z:-0.14 [[ 9.99195940e-01 -4.00488566e-02 1.88772212e-03 2.15250482e+01] [ 4.00918518e-02 9.97648122e-01 -5.55955731e-02 2.67872611e-01] [ 3.43256704e-04 5.56265532e-02 9.98451586e-01 -1.36287637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.829254153999994 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:21.55, Y:0.22, Z:-0.15 [[ 9.98811247e-01 -4.74808959e-02 -1.10298453e-02 2.15455074e+01] [ 4.80289775e-02 9.97256657e-01 5.63238567e-02 2.22258161e-01] [ 8.32527949e-03 -5.67866537e-02 9.98351624e-01 -1.52136601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.859254153999995 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:21.58, Y:0.25, Z:-0.13 [[ 9.98795330e-01 -4.77540516e-02 -1.12889366e-02 2.15791754e+01] [ 4.77578696e-02 9.98858940e-01 6.87232832e-05 2.48316289e-01] [ 1.12727734e-02 -6.07776057e-04 9.99936276e-01 -1.33618771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.889254153999996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:21.61, Y:0.25, Z:-0.13 [[ 9.98755708e-01 -4.86158496e-02 -1.11146315e-02 2.16115967e+01] [ 4.86196147e-02 9.98817365e-01 6.86401951e-05 2.46164592e-01] [ 1.10981499e-02 -6.08943886e-04 9.99938228e-01 -1.34431906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.919254153999994 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:21.65, Y:0.27, Z:-0.13 [[ 9.99160883e-01 -4.04169982e-02 6.63290695e-03 2.16546886e+01] [ 4.08044154e-02 9.96278376e-01 -7.59236230e-02 2.71914046e-01] [-3.53961683e-03 7.61305661e-02 9.97091575e-01 -1.32347663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.949254153999995 meters Centerline goodness : 0.996563 Centerline is valid? [True, True] Translation: X:21.67, Y:0.21, Z:-0.17 [[ 9.99009341e-01 -4.43724391e-02 3.37996723e-03 2.16704589e+01] [ 4.40765135e-02 9.97087626e-01 6.22376668e-02 2.08566858e-01] [-6.13176059e-03 -6.20270333e-02 9.98055634e-01 -1.71794015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.979254153999996 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:21.70, Y:0.24, Z:-0.15 [[ 9.99100527e-01 -4.23424752e-02 2.29184306e-03 2.17038433e+01] [ 4.23426416e-02 9.99103148e-01 -2.40840475e-05 2.36704641e-01] [-2.28876784e-03 1.21105074e-04 9.99997373e-01 -1.51473749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.009254153999994 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:21.74, Y:0.24, Z:-0.15 [[ 9.99207732e-01 -3.97191688e-02 2.50920700e-03 2.17358860e+01] [ 3.97193601e-02 9.99210875e-01 -2.64488743e-05 2.36007922e-01] [-2.50617639e-03 1.26092016e-04 9.99996852e-01 -1.51736788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.039254153999995 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:21.77, Y:0.24, Z:-0.15 [[ 9.99267627e-01 -3.81813021e-02 2.52937513e-03 2.17688099e+01] [ 3.81814945e-02 9.99270821e-01 -2.77980880e-05 2.35553290e-01] [-2.52646940e-03 1.24353052e-04 9.99996801e-01 -1.51733064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.069254153999996 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:21.80, Y:0.23, Z:-0.15 [[ 9.99323552e-01 -3.66979657e-02 2.38700858e-03 2.18020753e+01] [ 3.66981333e-02 9.99326396e-01 -2.64323846e-05 2.34854606e-01] [-2.38443067e-03 1.14013264e-04 9.99997151e-01 -1.51948053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.099254153999997 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:21.83, Y:0.23, Z:-0.15 [[ 9.99375084e-01 -3.52611899e-02 2.46779605e-03 2.18347046e+01] [ 3.52613654e-02 9.99378124e-01 -2.76473688e-05 2.33504571e-01] [-2.46528651e-03 1.14647950e-04 9.99996955e-01 -1.52746994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.129254153999995 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:21.87, Y:0.23, Z:-0.15 [[ 9.99476815e-01 -3.22501112e-02 2.45501012e-03 2.18672237e+01] [ 3.22502765e-02 9.99479824e-01 -2.77609930e-05 2.31608324e-01] [-2.45283779e-03 1.06921224e-04 9.99996986e-01 -1.53485379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.159254153999996 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:21.92, Y:0.26, Z:-0.15 [[ 9.99563236e-01 -1.82058085e-02 2.32784503e-02 2.19167554e+01] [ 2.03762698e-02 9.95106544e-01 -9.66838851e-02 2.64090832e-01] [-2.14043299e-02 9.71159851e-02 9.95042884e-01 -1.50870098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.189254153999997 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:21.93, Y:0.18, Z:-0.18 [[ 9.99564222e-01 -2.93873243e-02 2.78418843e-03 2.19271256e+01] [ 2.89764332e-02 9.94819735e-01 9.74374733e-02 1.82007534e-01] [-5.63319222e-03 -9.73143363e-02 9.95237754e-01 -1.84903045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.219254153999994 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:21.96, Y:0.23, Z:-0.16 [[ 9.99662965e-01 -2.58481058e-02 2.41472504e-03 2.19607545e+01] [ 2.58482393e-02 9.99665878e-01 -2.40990696e-05 2.29471202e-01] [-2.41329531e-03 8.65073381e-05 9.99997084e-01 -1.55059704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.249254153999996 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:21.99, Y:0.23, Z:-0.16 [[ 9.99715614e-01 -2.36558088e-02 3.01551236e-03 2.19937813e+01] [ 2.36560161e-02 9.99720157e-01 -3.30790093e-05 2.29011672e-01] [-3.01388598e-03 1.04404611e-04 9.99995453e-01 -1.55815352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.279254153999997 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:22.03, Y:0.23, Z:-0.16 [[ 9.99809452e-01 -1.89337954e-02 4.75088224e-03 2.20253882e+01] [ 1.89342628e-02 9.99820729e-01 -5.34092142e-05 2.28775448e-01] [-4.74901930e-03 1.43353490e-04 9.99988713e-01 -1.56395624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.309254153999994 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:22.06, Y:0.23, Z:-0.16 [[ 9.99847436e-01 -1.66068713e-02 5.41445081e-03 2.20571993e+01] [ 1.66074477e-02 9.99862085e-01 -6.15064143e-05 2.28331881e-01] [-5.41268264e-03 1.51417239e-04 9.99985340e-01 -1.56966261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.339254153999995 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:22.10, Y:0.25, Z:-0.16 [[ 9.99836458e-01 -4.66393685e-03 1.74729965e-02 2.20982231e+01] [ 5.95820462e-03 9.97183112e-01 -7.47685799e-02 2.53809607e-01] [-1.70750611e-02 7.48604598e-02 9.97047819e-01 -1.55286839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.369254153999997 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:22.12, Y:0.19, Z:-0.18 [[ 9.99896769e-01 -1.34890191e-02 4.94942856e-03 2.21183974e+01] [ 1.30854168e-02 9.97165479e-01 7.40930493e-02 1.91094351e-01] [-5.93484186e-03 -7.40206353e-02 9.97239050e-01 -1.81627398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.399254153999994 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:22.15, Y:0.23, Z:-0.16 [[ 9.99923298e-01 -1.17122455e-02 4.02751760e-03 2.21523579e+01] [ 1.17125101e-02 9.99931405e-01 -4.21294682e-05 2.26726972e-01] [-4.02674791e-03 8.92985775e-05 9.99991889e-01 -1.58912158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.429254153999995 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:22.19, Y:0.25, Z:-0.16 [[ 9.99815578e-01 -2.71234260e-03 1.90119323e-02 2.21926391e+01] [ 3.98758442e-03 9.97720607e-01 -6.73623747e-02 2.49408481e-01] [-1.87858868e-02 6.74257633e-02 9.97547421e-01 -1.58531692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.459254153999996 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:22.23, Y:0.22, Z:-0.18 [[ 9.99775605e-01 -1.83865292e-03 2.11035297e-02 2.22270167e+01] [ 2.02142174e-03 9.99960610e-01 -8.64251835e-03 2.18676106e-01] [-2.10868078e-02 8.68323815e-03 9.99739940e-01 -1.81342581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.489254153999994 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:22.24, Y:0.19, Z:-0.18 [[ 9.99913644e-01 -1.24136903e-02 4.31327821e-03 2.22421432e+01] [ 1.20562801e-02 9.97123711e-01 7.48261402e-02 1.87615732e-01] [-5.22974050e-03 -7.47676764e-02 9.97187266e-01 -1.84760553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.519254153999995 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:22.27, Y:0.23, Z:-0.16 [[ 9.99920316e-01 -1.04681422e-02 7.05553538e-03 2.22747615e+01] [ 1.05801433e-02 9.99815559e-01 -1.60283883e-02 2.31892025e-01] [-6.88644660e-03 1.61017597e-02 9.99846643e-01 -1.61208644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.549254153999996 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:22.31, Y:0.22, Z:-0.17 [[ 9.99920896e-01 -1.20223094e-02 3.69666680e-03 2.23067368e+01] [ 1.19616912e-02 9.99800363e-01 1.60047752e-02 2.15438989e-01] [-3.88834316e-03 -1.59592908e-02 9.99865082e-01 -1.67660747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.579254153999994 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:22.35, Y:0.24, Z:-0.16 [[ 9.99852088e-01 -5.24114991e-03 1.63808869e-02 2.23458094e+01] [ 6.16802455e-03 9.98352025e-01 -5.70542735e-02 2.42676769e-01] [-1.60548616e-02 5.71468722e-02 9.98236684e-01 -1.62260193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.609254153999995 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:22.38, Y:0.21, Z:-0.18 [[ 9.99855712e-01 -6.92216270e-03 1.55125081e-02 2.23802708e+01] [ 6.87293724e-03 9.99971183e-01 3.22434414e-03 2.12995395e-01] [-1.55343805e-02 -3.11726241e-03 9.99874475e-01 -1.82248990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.639254153999996 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:22.40, Y:0.20, Z:-0.18 [[ 9.99879715e-01 -1.53228445e-02 2.40105110e-03 2.23983045e+01] [ 1.51752744e-02 9.98498359e-01 5.26378038e-02 1.97332876e-01] [-3.20400647e-03 -5.25950357e-02 9.98610783e-01 -1.79234489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.669254153999994 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:22.43, Y:0.22, Z:-0.16 [[ 9.99871297e-01 -1.58687194e-02 2.36092843e-03 2.24308718e+01] [ 1.58688165e-02 9.99874082e-01 -2.23868688e-05 2.23151935e-01] [-2.36027589e-03 5.98491274e-05 9.99997213e-01 -1.62921323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.699254153999995 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:22.46, Y:0.22, Z:-0.16 [[ 9.99858865e-01 -1.66251525e-02 2.41968372e-03 2.24636699e+01] [ 1.66252598e-02 9.99861791e-01 -2.42525440e-05 2.22819656e-01] [-2.41894610e-03 6.44769917e-05 9.99997072e-01 -1.63065129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.729254153999996 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:22.50, Y:0.22, Z:-0.16 [[ 9.99847554e-01 -1.72184367e-02 2.89714456e-03 2.24959149e+01] [ 1.72185938e-02 9.99851749e-01 -2.92733560e-05 2.22178767e-01] [-2.89621102e-03 7.91536487e-05 9.99995803e-01 -1.63636989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.759254153999994 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:22.53, Y:0.22, Z:-0.16 [[ 9.99810126e-01 -1.91931670e-02 3.36666250e-03 2.25289893e+01] [ 1.91933935e-02 9.99815789e-01 -3.49734241e-05 2.22360642e-01] [-3.36537107e-03 9.95844616e-05 9.99994332e-01 -1.63881701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.789254153999995 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:22.56, Y:0.22, Z:-0.16 [[ 9.99787079e-01 -2.02318837e-02 4.05792203e-03 2.25609324e+01] [ 2.02322239e-02 9.99795307e-01 -4.27872011e-05 2.22323147e-01] [-4.05622573e-03 1.24878878e-04 9.99991766e-01 -1.64162224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.819254153999996 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:22.59, Y:0.22, Z:-0.16 [[ 9.99742455e-01 -2.22744418e-02 4.34419269e-03 2.25939234e+01] [ 2.22748527e-02 9.99751884e-01 -4.62122094e-05 2.22546678e-01] [-4.34208547e-03 1.42966560e-04 9.99990563e-01 -1.64617238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.849254153999993 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:22.63, Y:0.22, Z:-0.17 [[ 9.99722738e-01 -2.31863014e-02 4.10399838e-03 2.26255399e+01] [ 2.31866768e-02 9.99731152e-01 -4.39192973e-05 2.22115272e-01] [-4.10187670e-03 1.39065204e-04 9.99991578e-01 -1.65017308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.879254153999995 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:22.66, Y:0.22, Z:-0.17 [[ 9.99657735e-01 -2.59504714e-02 3.31444055e-03 2.26587150e+01] [ 2.59507334e-02 9.99663222e-01 -3.60614334e-05 2.22460015e-01] [-3.31238851e-03 1.22061254e-04 9.99994507e-01 -1.65449570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.909254153999996 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:22.69, Y:0.22, Z:-0.17 [[ 9.99616227e-01 -2.75830062e-02 2.56441406e-03 2.26921582e+01] [ 2.75831688e-02 9.99619512e-01 -2.80275720e-05 2.22450798e-01] [-2.56266525e-03 9.87514818e-05 9.99996711e-01 -1.65486073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.939254153999997 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:22.72, Y:0.22, Z:-0.17 [[ 9.99515649e-01 -3.10833884e-02 1.51329241e-03 2.27246060e+01] [ 3.10834490e-02 9.99516793e-01 -1.65147910e-05 2.22554474e-01] [-1.51204784e-03 6.35451392e-05 9.99998855e-01 -1.65913842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.969254153999994 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:22.77, Y:0.24, Z:-0.17 [[ 9.99580802e-01 -2.65382131e-02 1.15733699e-02 2.27653532e+01] [ 2.70872600e-02 9.98372195e-01 -5.01920386e-02 2.40159183e-01] [-1.02225237e-02 5.04844891e-02 9.98672527e-01 -1.65364840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.999254153999996 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:22.79, Y:0.20, Z:-0.18 [[ 9.99418612e-01 -3.40657538e-02 1.40064466e-03 2.27868188e+01] [ 3.39517106e-02 9.98148110e-01 5.04740726e-02 1.98363939e-01] [-3.11748815e-03 -5.03971733e-02 9.98724390e-01 -1.82462451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.029254153999997 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:22.82, Y:0.22, Z:-0.17 [[ 9.99392225e-01 -3.48495741e-02 8.29164362e-04 2.28206498e+01] [ 3.48495926e-02 9.99392568e-01 -7.82679832e-06 2.24887319e-01] [-8.28387941e-04 3.67180816e-05 9.99999656e-01 -1.65721434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.059254153999994 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:22.85, Y:0.23, Z:-0.17 [[ 9.99392956e-01 -3.47988298e-02 1.66154757e-03 2.28524975e+01] [ 3.47989081e-02 9.99394334e-01 -1.82779868e-05 2.25563819e-01] [-1.65990517e-03 7.60869325e-05 9.99998619e-01 -1.65725879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.089254153999995 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:22.89, Y:0.23, Z:-0.17 [[ 9.99398736e-01 -3.46247248e-02 1.81510627e-03 2.28852648e+01] [ 3.46248193e-02 9.99400381e-01 -2.06655277e-05 2.26693320e-01] [-1.81330236e-03 8.35008289e-05 9.99998352e-01 -1.65594212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.119254153999997 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:22.93, Y:0.25, Z:-0.16 [[ 9.99523380e-01 -2.73869396e-02 1.42467295e-02 2.29266818e+01] [ 2.81262803e-02 9.98113090e-01 -5.45817830e-02 2.48820454e-01] [-1.27250192e-02 5.49564758e-02 9.98407662e-01 -1.63515562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.149254153999994 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:22.95, Y:0.20, Z:-0.18 [[ 9.99419601e-01 -3.39164167e-02 3.18409675e-03 2.29476644e+01] [ 3.36910915e-02 9.97927235e-01 5.48283214e-02 2.03621370e-01] [-5.03707706e-03 -5.46892234e-02 9.98490719e-01 -1.83454705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.179254153999995 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:22.98, Y:0.23, Z:-0.16 [[ 9.99436933e-01 -3.34689780e-02 2.37576975e-03 2.29816817e+01] [ 3.34691360e-02 9.99439751e-01 -2.67765439e-05 2.32986925e-01] [-2.37354254e-03 1.06276428e-04 9.99997177e-01 -1.64689017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.209254153999996 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:23.02, Y:0.25, Z:-0.16 [[ 9.99521728e-01 -2.74562784e-02 1.42291509e-02 2.30241302e+01] [ 2.82300191e-02 9.97953353e-01 -5.73774505e-02 2.54234898e-01] [-1.26246576e-02 5.77516977e-02 9.98251150e-01 -1.62439705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.239254153999994 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:23.04, Y:0.21, Z:-0.18 [[ 9.99360721e-01 -3.57019297e-02 1.87655233e-03 2.30441415e+01] [ 3.55346970e-02 9.97707132e-01 5.76000284e-02 2.06683325e-01] [-3.92868180e-03 -5.74965232e-02 9.98337976e-01 -1.83599130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.269254153999995 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:23.08, Y:0.24, Z:-0.16 [[ 9.99300960e-01 -3.73815046e-02 -4.63907425e-04 2.30777585e+01] [ 3.73815119e-02 9.99301067e-01 7.01710028e-06 2.36848977e-01] [ 4.63320875e-04 -2.43537560e-05 9.99999892e-01 -1.63771151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.299254153999996 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:23.11, Y:0.24, Z:-0.16 [[ 9.99261350e-01 -3.84129474e-02 -1.09537788e-03 2.31109658e+01] [ 3.84129856e-02 9.99261949e-01 1.38174087e-05 2.37383691e-01] [ 1.09403867e-03 -5.58839371e-05 9.99999400e-01 -1.63873609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.329254153999994 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:23.14, Y:0.24, Z:-0.16 [[ 9.99181964e-01 -4.03869826e-02 -2.07213110e-03 2.31435241e+01] [ 4.03871226e-02 9.99184107e-01 2.57401533e-05 2.38926419e-01] [ 2.06940090e-03 -1.09406510e-04 9.99997853e-01 -1.64141363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.359254153999995 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:23.17, Y:0.24, Z:-0.16 [[ 9.99253043e-01 -3.83096511e-02 -5.07209638e-03 2.31716460e+01] [ 3.82602860e-02 9.99222685e-01 -9.49611269e-03 2.43465297e-01] [ 5.43194652e-03 9.29495965e-03 9.99942047e-01 -1.60246131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.389254153999996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:23.21, Y:0.24, Z:-0.17 [[ 9.99123664e-01 -4.18257237e-02 -1.58499658e-03 2.32075735e+01] [ 4.18396904e-02 9.99072822e-01 1.01457729e-02 2.35288629e-01] [ 1.15917271e-03 -1.02031975e-02 9.99947274e-01 -1.67989887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.419254153999994 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:23.24, Y:0.24, Z:-0.16 [[ 9.99141234e-01 -4.13858123e-02 -2.00244294e-03 2.32398953e+01] [ 4.13859438e-02 9.99143235e-01 2.42785699e-05 2.42237330e-01] [ 1.99972253e-03 -1.07130711e-04 9.99997995e-01 -1.63298801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.449254153999995 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:23.27, Y:0.24, Z:-0.16 [[ 9.99165451e-01 -4.08095170e-02 -1.72771950e-03 2.32730168e+01] [ 4.08096147e-02 9.99166940e-01 2.13366570e-05 2.43130446e-01] [ 1.72540947e-03 -9.18264177e-05 9.99998507e-01 -1.63031092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.479254153999996 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:23.31, Y:0.24, Z:-0.16 [[ 9.99201581e-01 -3.99313263e-02 -1.29993638e-03 2.33062642e+01] [ 3.99313813e-02 9.99202424e-01 1.63502870e-05 2.44704828e-01] [ 1.29824669e-03 -6.82454878e-05 9.99999155e-01 -1.62777640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.509254153999994 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:23.35, Y:0.25, Z:-0.16 [[ 9.99369971e-01 -3.48920883e-02 6.49638674e-03 2.33468552e+01] [ 3.50823343e-02 9.98874252e-01 -3.19289516e-02 2.54109910e-01] [-5.37500565e-03 3.21367439e-02 9.99469029e-01 -1.62312683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.539254153999995 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:23.37, Y:0.23, Z:-0.18 [[ 9.99270996e-01 -3.81406197e-02 1.66406689e-03 2.33721127e+01] [ 3.80856577e-02 9.98947034e-01 2.55794012e-02 2.29836771e-01] [-2.63792890e-03 -2.54973767e-02 9.99671409e-01 -1.75064356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.569254153999996 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:23.41, Y:0.24, Z:-0.17 [[ 9.99226124e-01 -3.93167548e-02 1.15988481e-03 2.34057701e+01] [ 3.93169919e-02 9.99226772e-01 -1.82273336e-04 2.43602502e-01] [-1.15182156e-03 2.27735461e-04 9.99999311e-01 -1.65218645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.599254153999993 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:23.44, Y:0.25, Z:-0.16 [[ 9.99336406e-01 -3.54628451e-02 8.31469494e-03 2.34409628e+01] [ 3.56872029e-02 9.98953759e-01 -2.85973931e-02 2.53545911e-01] [-7.29185085e-03 2.88751442e-02 9.99556429e-01 -1.64404047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.629254153999995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:23.46, Y:0.23, Z:-0.17 [[ 9.99151989e-01 -4.11585384e-02 -1.13007194e-03 2.34618996e+01] [ 4.11720283e-02 9.98454618e-01 3.73261390e-02 2.28601430e-01] [-4.07963780e-04 -3.73410134e-02 9.99302498e-01 -1.74357994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.659254153999996 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:23.50, Y:0.25, Z:-0.16 [[ 9.99165810e-01 -4.08064956e-02 -1.58556836e-03 2.34957496e+01] [ 4.08065793e-02 9.99167064e-01 2.04580443e-05 2.46140809e-01] [ 1.58341287e-03 -8.51425996e-05 9.99998743e-01 -1.61096684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.689254153999997 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:23.53, Y:0.25, Z:-0.16 [[ 9.99216642e-01 -3.95122787e-02 -2.20935430e-03 2.35282150e+01] [ 3.95124374e-02 9.99219078e-01 2.82030266e-05 2.45233635e-01] [ 2.20651460e-03 -1.15477907e-04 9.99997559e-01 -1.61521248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.719254153999994 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:23.56, Y:0.24, Z:-0.16 [[ 9.99232498e-01 -3.90926999e-02 -2.48524842e-03 2.35610890e+01] [ 3.90929002e-02 9.99235580e-01 3.20181726e-05 2.44674761e-01] [ 2.48209697e-03 -1.29149167e-04 9.99996911e-01 -1.61791468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.749254153999996 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:23.59, Y:0.24, Z:-0.16 [[ 9.99262211e-01 -3.82910477e-02 -2.97156870e-03 2.35940083e+01] [ 3.82913309e-02 9.99266617e-01 3.84672346e-05 2.44256987e-01] [ 2.96791645e-03 -1.52224174e-04 9.99995584e-01 -1.62156461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.779254153999997 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:23.63, Y:0.24, Z:-0.16 [[ 9.99287858e-01 -3.76176791e-02 -2.94739087e-03 2.36267696e+01] [ 3.76179558e-02 9.99292193e-01 3.84618751e-05 2.44019492e-01] [ 2.94385784e-03 -1.49309304e-04 9.99995656e-01 -1.62279358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.809254153999994 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:23.66, Y:0.24, Z:-0.16 [[ 9.99328738e-01 -3.64790844e-02 -3.36885277e-03 2.36593191e+01] [ 3.64794402e-02 9.99334403e-01 4.42150026e-05 2.43829230e-01] [ 3.36499755e-03 -1.67079186e-04 9.99994324e-01 -1.62665307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.839254153999995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:23.69, Y:0.24, Z:-0.16 [[ 9.99430989e-01 -3.37177902e-02 -8.99647158e-04 2.36942732e+01] [ 3.37101111e-02 9.99403505e-01 -7.50080670e-03 2.44180023e-01] [ 1.15202115e-03 7.46621145e-03 9.99971464e-01 -1.64394316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.869254153999997 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:23.72, Y:0.24, Z:-0.17 [[ 9.99414501e-01 -3.40592260e-02 -3.25934578e-03 2.37225844e+01] [ 3.40835083e-02 9.99389252e-01 7.70954435e-03 2.38300360e-01] [ 2.99477403e-03 -7.81612036e-03 9.99964969e-01 -1.66375419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.899254153999994 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:23.76, Y:0.24, Z:-0.16 [[ 9.99480663e-01 -3.20249212e-02 -3.57893617e-03 2.37560437e+01] [ 3.20252982e-02 9.99487057e-01 4.80867845e-05 2.41032438e-01] [ 3.57556041e-03 -1.62678310e-04 9.99993594e-01 -1.64045157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.929254153999995 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:23.79, Y:0.24, Z:-0.16 [[ 9.99511527e-01 -3.10597929e-02 -3.46355502e-03 2.37892713e+01] [ 3.10601416e-02 9.99517516e-01 4.69220540e-05 2.40734291e-01] [ 3.46042652e-03 -1.54477643e-04 9.99994001e-01 -1.64374210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.959254153999996 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:23.82, Y:0.24, Z:-0.16 [[ 9.99534317e-01 -3.03054165e-02 -3.56806681e-03 2.38227354e+01] [ 3.03057831e-02 9.99540673e-01 4.86962973e-05 2.40402822e-01] [ 3.56495214e-03 -1.56806679e-04 9.99993633e-01 -1.64361499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.989254153999994 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:23.85, Y:0.24, Z:-0.16 [[ 9.99557561e-01 -2.95217848e-02 -3.62580129e-03 2.38543890e+01] [ 2.95221589e-02 9.99564125e-01 4.96861635e-05 2.40028201e-01] [ 3.62275407e-03 -1.56705662e-04 9.99993426e-01 -1.64558092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.019254153999995 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:23.89, Y:0.24, Z:-0.16 [[ 9.99591938e-01 -2.83239888e-02 -3.70264633e-03 2.38860456e+01] [ 2.83243749e-02 9.99598783e-01 5.18638736e-05 2.38594415e-01] [ 3.69969178e-03 -1.56717853e-04 9.99993144e-01 -1.64908704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.049254153999996 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:23.92, Y:0.24, Z:-0.17 [[ 9.99656841e-01 -2.60975218e-02 -2.26271955e-03 2.39225827e+01] [ 2.60940845e-02 9.99658312e-01 -1.53553770e-03 2.35588180e-01] [ 2.30202014e-03 1.47596717e-03 9.99996261e-01 -1.66609988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.079254153999994 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:23.95, Y:0.23, Z:-0.17 [[ 9.99566354e-01 -2.91924993e-02 -3.86029125e-03 2.39498667e+01] [ 2.91991879e-02 9.99572188e-01 1.68779341e-03 2.34209253e-01] [ 3.80936886e-03 -1.79977887e-03 9.99991125e-01 -1.66408610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.109254153999995 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:23.98, Y:0.23, Z:-0.17 [[ 9.99540032e-01 -3.00113870e-02 -4.36358262e-03 2.39818500e+01] [ 3.00119415e-02 9.99549538e-01 6.16311964e-05 2.33764366e-01] [ 4.35976735e-03 -1.92562434e-04 9.99990478e-01 -1.66041401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.139254153999996 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:24.01, Y:0.23, Z:-0.17 [[ 9.99498696e-01 -3.11889219e-02 -5.44123489e-03 2.40143035e+01] [ 3.11898083e-02 9.99513477e-01 7.81100525e-05 2.32657802e-01] [ 5.43615144e-03 -2.47781969e-04 9.99985193e-01 -1.65872846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.169254153999994 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:24.05, Y:0.23, Z:-0.17 [[ 9.99490508e-01 -3.15064262e-02 -5.10579735e-03 2.40469678e+01] [ 3.15072121e-02 9.99503522e-01 7.35426376e-05 2.31785949e-01] [ 5.10094537e-03 -2.34374608e-04 9.99986963e-01 -1.66334422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.199254153999995 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:24.07, Y:0.21, Z:-0.17 [[ 9.99238124e-01 -3.60173791e-02 -1.50306456e-02 2.40730822e+01] [ 3.67497380e-02 9.97987021e-01 5.16852277e-02 2.11256971e-01] [ 1.31388228e-02 -5.21982223e-02 9.98550308e-01 -1.68992081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.229254153999996 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:24.11, Y:0.25, Z:-0.15 [[ 9.99456204e-01 -3.23323910e-02 -6.47404261e-03 2.41086538e+01] [ 3.19513647e-02 9.98126369e-01 -5.21810437e-02 2.54377255e-01] [ 8.14905055e-03 5.19458133e-02 9.98616656e-01 -1.47079931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.259254153999994 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:24.14, Y:0.23, Z:-0.17 [[ 9.99460650e-01 -3.23606180e-02 -5.58563268e-03 2.41414532e+01] [ 3.23615806e-02 9.99476224e-01 8.20082632e-05 2.29114935e-01] [ 5.58005322e-03 -2.62723934e-04 9.99984397e-01 -1.67017582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.289254153999995 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:24.17, Y:0.23, Z:-0.17 [[ 9.99479960e-01 -3.17723915e-02 -5.50680223e-03 2.41736254e+01] [ 3.17733202e-02 9.99495097e-01 8.12291711e-05 2.28466565e-01] [ 5.50144098e-03 -2.56156319e-04 9.99984834e-01 -1.66706189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.319254153999996 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:24.21, Y:0.23, Z:-0.17 [[ 9.99488017e-01 -3.15187854e-02 -5.50190937e-03 2.42070962e+01] [ 3.15197124e-02 9.99503127e-01 8.18442320e-05 2.28263150e-01] [ 5.49659599e-03 -2.55220930e-04 9.99984861e-01 -1.66719045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.349254153999993 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:24.24, Y:0.23, Z:-0.17 [[ 9.99518496e-01 -3.05719847e-02 -5.30371998e-03 2.42401688e+01] [ 3.05728360e-02 9.99532538e-01 7.94829806e-05 2.27764805e-01] [ 5.29881074e-03 -2.41594470e-04 9.99985932e-01 -1.66618145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.379254153999995 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:24.27, Y:0.23, Z:-0.17 [[ 9.99563125e-01 -2.92346392e-02 -4.34674398e-03 2.42726444e+01] [ 2.92352000e-02 9.99572558e-01 6.55288667e-05 2.27122859e-01] [ 4.34297029e-03 -1.92578169e-04 9.99990551e-01 -1.67238929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.409254153999996 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:24.31, Y:0.23, Z:-0.17 [[ 9.99583685e-01 -2.85768141e-02 -3.97776378e-03 2.43061361e+01] [ 2.85772807e-02 9.99591584e-01 6.05241002e-05 2.26674135e-01] [ 3.97440961e-03 -1.74172575e-04 9.99992087e-01 -1.67355756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.439254153999993 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:24.34, Y:0.23, Z:-0.17 [[ 9.99605152e-01 -2.78328142e-02 -3.85680212e-03 2.43396545e+01] [ 2.78332490e-02 9.99612578e-01 5.90996924e-05 2.26392656e-01] [ 3.85366300e-03 -1.66423691e-04 9.99992561e-01 -1.67320210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.469254153999994 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:24.37, Y:0.21, Z:-0.17 [[ 9.99411830e-01 -3.14319073e-02 -1.37124113e-02 2.43657024e+01] [ 3.20619409e-02 9.98311281e-01 4.84419024e-02 2.08993129e-01] [ 1.21666335e-02 -4.88530568e-02 9.98731872e-01 -1.66952665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.499254153999996 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:24.40, Y:0.25, Z:-0.15 [[ 9.99617336e-01 -2.73030646e-02 -4.44115943e-03 2.44022574e+01] [ 2.70535651e-02 9.98437135e-01 -4.89018560e-02 2.48445420e-01] [ 5.76938904e-03 4.87629939e-02 9.98793715e-01 -1.49590706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.529254153999997 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:24.43, Y:0.22, Z:-0.17 [[ 9.99549416e-01 -2.97363954e-02 -4.08791950e-03 2.44342904e+01] [ 2.97369007e-02 9.99557759e-01 6.28570751e-05 2.24586868e-01] [ 4.08424251e-03 -1.84390809e-04 9.99991642e-01 -1.67734162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.559254153999994 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:24.47, Y:0.22, Z:-0.17 [[ 9.99507586e-01 -3.10959017e-02 -4.19880834e-03 2.44672127e+01] [ 3.10964494e-02 9.99516386e-01 6.51875042e-05 2.23530848e-01] [ 4.19475067e-03 -1.95723436e-04 9.99991183e-01 -1.67742064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.589254153999995 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:24.50, Y:0.22, Z:-0.17 [[ 9.99455579e-01 -3.25927219e-02 -5.12454053e-03 2.45002171e+01] [ 3.25935591e-02 9.99468686e-01 7.99248953e-05 2.22222743e-01] [ 5.11921282e-03 -2.46908397e-04 9.99986866e-01 -1.67930699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.619254153999997 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:24.53, Y:0.22, Z:-0.17 [[ 9.99348769e-01 -3.54994146e-02 -6.46758565e-03 2.45330546e+01] [ 3.55008119e-02 9.99369642e-01 1.01339845e-04 2.20773935e-01] [ 6.45991125e-03 -3.30878391e-04 9.99979080e-01 -1.68310542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.649254153999994 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:24.57, Y:0.22, Z:-0.17 [[ 9.99310407e-01 -3.64656850e-02 -6.99740895e-03 2.45658508e+01] [ 3.64673487e-02 9.99334839e-01 1.10270381e-04 2.19576885e-01] [ 6.98873346e-03 -3.65371291e-04 9.99975512e-01 -1.68336984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.679254153999995 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:24.60, Y:0.22, Z:-0.17 [[ 9.99253091e-01 -3.78240640e-02 -7.91201657e-03 2.45990068e+01] [ 3.78262394e-02 9.99284324e-01 1.25433336e-04 2.18176995e-01] [ 7.90160973e-03 -4.24621482e-04 9.99968692e-01 -1.68494981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.709254153999996 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:24.63, Y:0.22, Z:-0.17 [[ 9.99265452e-01 -3.76430582e-02 -7.18032430e-03 2.46323751e+01] [ 3.76448514e-02 9.99291175e-01 1.14696095e-04 2.17052469e-01] [ 7.17091720e-03 -3.84914086e-04 9.99974215e-01 -1.68616688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.739254153999994 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:24.66, Y:0.21, Z:-0.17 [[ 9.99021461e-01 -4.12075974e-02 -1.60640577e-02 2.46623019e+01] [ 4.16507015e-02 9.98731337e-01 2.83008079e-02 2.07807997e-01] [ 1.48774695e-02 -2.89421937e-02 9.99470365e-01 -1.65202324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.769254153999995 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:24.70, Y:0.23, Z:-0.16 [[ 9.99295069e-01 -3.65244786e-02 -8.67912458e-03 2.46964578e+01] [ 3.62509620e-02 9.98897713e-01 -2.98198944e-02 2.29779954e-01] [ 9.75871379e-03 2.94842468e-02 9.99517607e-01 -1.56637830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.799254153999996 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:24.73, Y:0.21, Z:-0.17 [[ 9.99345421e-01 -3.52992418e-02 -7.91786954e-03 2.47287308e+01] [ 3.53013534e-02 9.99376705e-01 1.27041419e-04 2.14955266e-01] [ 7.90844991e-03 -4.06469771e-04 9.99968645e-01 -1.67519143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.829254153999994 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:24.76, Y:0.21, Z:-0.17 [[ 9.99479864e-01 -3.15489733e-02 -6.68310348e-03 2.47611178e+01] [ 3.15503980e-02 9.99502156e-01 1.07839184e-04 2.14416289e-01] [ 6.67637412e-03 -3.18637668e-04 9.99977662e-01 -1.66438277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.859254153999995 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:24.79, Y:0.21, Z:-0.17 [[ 9.99549724e-01 -2.94161615e-02 -5.91938747e-03 2.47943661e+01] [ 2.94172463e-02 9.99567215e-01 9.62637941e-05 2.13920413e-01] [ 5.91399393e-03 -2.70352528e-04 9.99982476e-01 -1.66099883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.889254153999996 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:24.83, Y:0.21, Z:-0.17 [[ 9.99616904e-01 -2.71631313e-02 -5.31127223e-03 2.48274160e+01] [ 2.71639764e-02 9.99630987e-01 8.70290986e-05 2.13061354e-01] [ 5.30694832e-03 -2.31271032e-04 9.99985891e-01 -1.65983238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.919254153999994 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:24.86, Y:0.21, Z:-0.17 [[ 9.99668896e-01 -2.52153784e-02 -5.12672623e-03 2.48603578e+01] [ 2.52161433e-02 9.99682019e-01 8.45954387e-05 2.11856376e-01] [ 5.12296292e-03 -2.13843692e-04 9.99986855e-01 -1.66015656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.949254153999995 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:24.89, Y:0.21, Z:-0.17 [[ 9.99747210e-01 -2.18037921e-02 -5.48725138e-03 2.48920990e+01] [ 2.18046179e-02 9.99762247e-01 9.07097522e-05 2.09705461e-01] [ 5.48396895e-03 -2.10334241e-04 9.99984941e-01 -1.66649801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.979254153999996 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:24.92, Y:0.21, Z:-0.17 [[ 9.99804136e-01 -1.84257391e-02 -7.22363891e-03 2.49246435e+01] [ 1.84270852e-02 9.99830200e-01 1.19822664e-04 2.07800808e-01] [ 7.22020451e-03 -2.52909805e-04 9.99973902e-01 -1.66617203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.009254153999994 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:24.96, Y:0.21, Z:-0.17 [[ 9.99831568e-01 -1.65843981e-02 -7.86093499e-03 2.49571517e+01] [ 1.65859396e-02 9.99862435e-01 1.30943567e-04 2.06820530e-01] [ 7.85768198e-03 -2.61302505e-04 9.99969094e-01 -1.66740403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.039254153999995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:24.99, Y:0.21, Z:-0.17 [[ 9.99858742e-01 -1.46363722e-02 -8.26268321e-03 2.49881875e+01] [ 1.46380116e-02 9.99892849e-01 1.37970600e-04 2.06083964e-01] [ 8.25977846e-03 -2.58900363e-04 9.99965854e-01 -1.66663373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.069254153999996 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:25.02, Y:0.20, Z:-0.17 [[ 9.99905216e-01 -1.09273187e-02 -8.37571728e-03 2.50188125e+01] [ 1.09288777e-02 9.99940268e-01 1.40384289e-04 2.04901016e-01] [ 8.37368296e-03 -2.31908172e-04 9.99964913e-01 -1.66502313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.099254153999993 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:25.05, Y:0.20, Z:-0.17 [[ 9.99918780e-01 -9.25065904e-03 -8.76695876e-03 2.50490478e+01] [ 9.25229978e-03 9.99957186e-01 1.46609456e-04 2.03968875e-01] [ 8.76522718e-03 -2.27712079e-04 9.99961559e-01 -1.66442151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.129254153999995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:25.08, Y:0.20, Z:-0.17 [[ 9.99931193e-01 -7.89997813e-03 -8.67173511e-03 2.50782868e+01] [ 7.90152832e-03 9.99968772e-01 1.44516720e-04 2.02944692e-01] [ 8.67032263e-03 -2.13026737e-04 9.99962389e-01 -1.66763881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.159254153999996 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:25.11, Y:0.20, Z:-0.17 [[ 9.99946572e-01 -5.80418605e-03 -8.55362260e-03 2.51076764e+01] [ 5.80561503e-03 9.99983137e-01 1.42240459e-04 2.01198632e-01] [ 8.55265277e-03 -1.91891899e-04 9.99963407e-01 -1.67027522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.189254153999993 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:25.14, Y:0.20, Z:-0.17 [[ 9.99950519e-01 -5.58191466e-03 -8.23419217e-03 2.51360954e+01] [ 5.58320449e-03 9.99984405e-01 1.33664437e-04 2.00150443e-01] [ 8.23331766e-03 -1.79631001e-04 9.99966090e-01 -1.66925176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.219254153999994 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:25.17, Y:0.20, Z:-0.17 [[ 9.99958222e-01 -5.59501895e-03 -7.22835468e-03 2.51651295e+01] [ 5.59601690e-03 9.99984335e-01 1.17842351e-04 1.98701043e-01] [ 7.22758212e-03 -1.58287423e-04 9.99973868e-01 -1.67325211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.249254153999996 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:25.20, Y:0.20, Z:-0.17 [[ 9.99956697e-01 -5.95107197e-03 -7.15464073e-03 2.51950527e+01] [ 5.95205764e-03 9.99982280e-01 1.16481218e-04 1.97373400e-01] [ 7.15382076e-03 -1.59061008e-04 9.99974398e-01 -1.67510165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.279254153999993 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:25.22, Y:0.19, Z:-0.17 [[ 9.99946223e-01 -7.54863031e-03 -7.11122769e-03 2.52243209e+01] [ 7.54964252e-03 9.99971494e-01 1.15506458e-04 1.94975187e-01] [ 7.11015306e-03 -1.69187474e-04 9.99974708e-01 -1.68462004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.309254153999994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:25.25, Y:0.19, Z:-0.17 [[ 9.99914018e-01 -1.06232551e-02 -7.68785409e-03 2.52541053e+01] [ 1.06245269e-02 9.99943550e-01 1.24607517e-04 1.92443978e-01] [ 7.68609638e-03 -2.06276616e-04 9.99970440e-01 -1.68628004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.339254153999995 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:25.28, Y:0.19, Z:-0.17 [[ 9.99864224e-01 -1.43752360e-02 -8.05514178e-03 2.52834234e+01] [ 1.43767574e-02 9.99896641e-01 1.30997102e-04 1.89611537e-01] [ 8.05242609e-03 -2.46786135e-04 9.99967548e-01 -1.68663571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.369254153999997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:25.32, Y:0.19, Z:-0.17 [[ 9.99865001e-01 -1.43210979e-02 -8.05513153e-03 2.53152728e+01] [ 1.43226226e-02 9.99897417e-01 1.31626686e-04 1.89065258e-01] [ 8.05242017e-03 -2.46979525e-04 9.99967548e-01 -1.68831882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.399254153999994 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:25.35, Y:0.19, Z:-0.17 [[ 9.99792124e-01 -1.84760469e-02 -8.62229366e-03 2.53457350e+01] [ 1.84779478e-02 9.99829258e-01 1.40837447e-04 1.86788515e-01] [ 8.61821935e-03 -3.00130462e-04 9.99962817e-01 -1.68435985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.429254153999995 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:25.38, Y:0.19, Z:-0.17 [[ 9.99752828e-01 -2.05810338e-02 -8.40850774e-03 2.53782532e+01] [ 2.05829235e-02 9.99788140e-01 1.38260257e-04 1.85301903e-01] [ 8.40388078e-03 -3.11297755e-04 9.99964638e-01 -1.68739295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.459254153999996 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:25.41, Y:0.18, Z:-0.17 [[ 9.99714973e-01 -2.25029335e-02 -7.97443969e-03 2.54096600e+01] [ 2.25047044e-02 9.99746728e-01 1.32397376e-04 1.83913352e-01] [ 7.96944066e-03 -3.11822047e-04 9.99968195e-01 -1.68971476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.489254153999994 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:25.44, Y:0.18, Z:-0.17 [[ 9.99649317e-01 -2.54166289e-02 -7.43226234e-03 2.54415872e+01] [ 2.54182498e-02 9.99676896e-01 1.23703302e-04 1.81083425e-01] [ 7.42671683e-03 -3.12575022e-04 9.99972373e-01 -1.69033785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.519254153999995 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:25.47, Y:0.18, Z:-0.17 [[ 9.99626463e-01 -2.64597133e-02 -6.84234223e-03 2.54735576e+01] [ 2.64611151e-02 9.99649837e-01 1.14411175e-04 1.79421057e-01] [ 6.83691900e-03 -2.95424444e-04 9.99976584e-01 -1.69817346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.549254153999996 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:25.51, Y:0.18, Z:-0.17 [[ 9.99628850e-01 -2.63693868e-02 -6.84233029e-03 2.55062534e+01] [ 2.63707913e-02 9.99652224e-01 1.15124547e-04 1.78816686e-01] [ 6.83691492e-03 -2.95519483e-04 9.99976584e-01 -1.69990037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.579254153999994 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:25.54, Y:0.18, Z:-0.17 [[ 9.99594223e-01 -2.76434541e-02 -6.87231460e-03 2.55384526e+01] [ 2.76449039e-02 9.99617800e-01 1.16035344e-04 1.77465960e-01] [ 6.86648038e-03 -3.05972736e-04 9.99976379e-01 -1.70004335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.609254153999995 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:25.57, Y:0.18, Z:-0.17 [[ 9.99580869e-01 -2.80690757e-02 -7.08609666e-03 2.55705657e+01] [ 2.80706313e-02 9.99605935e-01 1.20143180e-04 1.77079528e-01] [ 7.07993197e-03 -3.19004031e-04 9.99974886e-01 -1.70106698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.639254153999996 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:25.60, Y:0.18, Z:-0.17 [[ 9.99575990e-01 -2.81396539e-02 -7.48338338e-03 2.56023761e+01] [ 2.81413949e-02 9.99603944e-01 1.27429619e-04 1.76597082e-01] [ 7.47683372e-03 -3.37968434e-04 9.99971991e-01 -1.70167308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.669254153999994 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:25.63, Y:0.18, Z:-0.17 [[ 9.99577058e-01 -2.79794927e-02 -7.92805396e-03 2.56338490e+01] [ 2.79814442e-02 9.99608434e-01 1.35318391e-04 1.76339894e-01] [ 7.92116346e-03 -3.57099559e-04 9.99968563e-01 -1.70334661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.699254153999995 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:25.66, Y:0.18, Z:-0.17 [[ 9.99584876e-01 -2.75107179e-02 -8.55783806e-03 2.56645868e+01] [ 2.75129784e-02 9.99621436e-01 1.46508058e-04 1.75995655e-01] [ 8.55056782e-03 -3.81898853e-04 9.99963370e-01 -1.70770106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.729254153999996 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:25.70, Y:0.18, Z:-0.17 [[ 9.99594868e-01 -2.70839951e-02 -8.74966577e-03 2.56960838e+01] [ 2.70863459e-02 9.99633086e-01 1.50256850e-04 1.75450011e-01] [ 8.74238584e-03 -3.87192449e-04 9.99961710e-01 -1.70912786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.759254153999994 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:25.73, Y:0.18, Z:-0.17 [[ 9.99590139e-01 -2.72069543e-02 -8.90703956e-03 2.57279554e+01] [ 2.72094016e-02 9.99629744e-01 1.53676494e-04 1.75233839e-01] [ 8.89956060e-03 -3.95968725e-04 9.99960320e-01 -1.70919750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.789254153999995 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:25.76, Y:0.17, Z:-0.17 [[ 9.99580339e-01 -2.76145132e-02 -8.75128946e-03 2.57604922e+01] [ 2.76168970e-02 9.99618569e-01 1.51637571e-04 1.74931974e-01] [ 8.74376405e-03 -3.93257394e-04 9.99961695e-01 -1.70864431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.819254153999996 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:25.79, Y:0.17, Z:-0.17 [[ 9.99532692e-01 -2.93218621e-02 -8.63864890e-03 2.57913846e+01] [ 2.93242597e-02 9.99569940e-01 1.50986283e-04 1.73846608e-01] [ 8.63050656e-03 -4.04237710e-04 9.99962675e-01 -1.71099410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.849254153999993 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:25.82, Y:0.17, Z:-0.17 [[ 9.99508910e-01 -3.00863543e-02 -8.76073251e-03 2.58232807e+01] [ 3.00888525e-02 9.99547216e-01 1.53466426e-04 1.73052729e-01] [ 8.75214855e-03 -4.16991448e-04 9.99961612e-01 -1.71544854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.879254153999995 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:25.86, Y:0.17, Z:-0.17 [[ 9.99453078e-01 -3.16859061e-02 -9.46301293e-03 2.58551707e+01] [ 3.16888984e-02 9.99497767e-01 1.66400708e-04 1.72300703e-01] [ 9.45298773e-03 -4.66182155e-04 9.99955211e-01 -1.71741226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.909254153999996 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:25.89, Y:0.17, Z:-0.17 [[ 9.99434303e-01 -3.21799998e-02 -9.77354185e-03 2.58874426e+01] [ 3.21832221e-02 9.99481971e-01 1.72560384e-04 1.71805794e-01] [ 9.76292588e-03 -4.87006836e-04 9.99952223e-01 -1.71581821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.939254153999993 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:25.92, Y:0.17, Z:-0.17 [[ 9.99420803e-01 -3.23699392e-02 -1.04997469e-02 2.59215178e+01] [ 3.24404474e-02 9.99451774e-01 6.61586900e-03 1.68381379e-01] [ 1.02798354e-02 -6.95265360e-03 9.99922990e-01 -1.71711036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.969254153999994 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:25.95, Y:0.17, Z:-0.17 [[ 9.99449741e-01 -3.21473280e-02 -8.17093542e-03 2.59521368e+01] [ 3.20958043e-02 9.99464558e-01 -6.36056419e-03 1.74713929e-01] [ 8.37103550e-03 6.09481149e-03 9.99946388e-01 -1.68763969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.999254153999996 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:25.99, Y:0.17, Z:-0.17 [[ 9.99468569e-01 -3.18123173e-02 -7.11025479e-03 2.59854040e+01] [ 3.18140273e-02 9.99493798e-01 1.27488719e-04 1.71139080e-01] [ 7.10259985e-03 -3.53626808e-04 9.99974714e-01 -1.70842849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.029254153999993 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:26.01, Y:0.17, Z:-0.17 [[ 9.99532685e-01 -2.94814105e-02 -8.07821457e-03 2.60148918e+01] [ 2.94476250e-02 9.99557205e-01 -4.26982457e-03 1.72255296e-01] [ 8.20051803e-03 4.02994498e-03 9.99958255e-01 -1.69173526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.059254153999994 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:26.05, Y:0.17, Z:-0.17 [[ 9.99506086e-01 -3.09219750e-02 -5.60493136e-03 2.60501881e+01] [ 3.09466522e-02 9.99511481e-01 4.37082429e-03 1.67873292e-01] [ 5.46703872e-03 -4.54211934e-03 9.99974740e-01 -1.72071280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.089254153999995 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:26.08, Y:0.17, Z:-0.17 [[ 9.99531993e-01 -3.02552098e-02 -4.51844423e-03 2.60824928e+01] [ 3.02558961e-02 9.99542182e-01 8.35865772e-05 1.69607939e-01] [ 4.51384668e-03 -2.20257037e-04 9.99989788e-01 -1.70948008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.119254153999993 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:26.12, Y:0.17, Z:-0.17 [[ 9.99536581e-01 -3.00565138e-02 -4.81961355e-03 2.61153231e+01] [ 3.00572950e-02 9.99548173e-01 8.97310645e-05 1.69209513e-01] [ 4.81473892e-03 -2.34554028e-04 9.99988382e-01 -1.70885144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.149254153999994 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:26.15, Y:0.17, Z:-0.17 [[ 9.99535919e-01 -3.00430072e-02 -5.03638149e-03 2.61484719e+01] [ 3.00438629e-02 9.99548577e-01 9.43119490e-05 1.68377306e-01] [ 5.03127453e-03 -2.45580535e-04 9.99987313e-01 -1.71480327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.179254153999995 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:26.18, Y:0.17, Z:-0.17 [[ 9.99530460e-01 -3.01479848e-02 -5.47349133e-03 2.61815090e+01] [ 3.01490000e-02 9.99545410e-01 1.03039338e-04 1.67475192e-01] [ 5.46789671e-03 -2.68011246e-04 9.99985015e-01 -1.71775481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.209254153999996 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:26.21, Y:0.17, Z:-0.17 [[ 9.99527816e-01 -3.02306119e-02 -5.50038534e-03 2.62140551e+01] [ 3.02316416e-02 9.99542914e-01 1.04145170e-04 1.66405760e-01] [ 5.49472282e-03 -2.70381673e-04 9.99984867e-01 -1.72684580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.239254153999994 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:26.25, Y:0.17, Z:-0.17 [[ 9.99499851e-01 -3.09887428e-02 -6.30433793e-03 2.62463830e+01] [ 3.09873509e-02 9.99519726e-01 -3.18375233e-04 1.65477608e-01] [ 6.31117616e-03 1.22861267e-04 9.99980077e-01 -1.72825672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.269254153999995 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:26.28, Y:0.16, Z:-0.17 [[ 9.99482430e-01 -3.15493204e-02 -6.28594023e-03 2.62785753e+01] [ 3.15534563e-02 9.99501909e-01 5.59868498e-04 1.64094398e-01] [ 6.26514578e-03 -7.57921867e-04 9.99980087e-01 -1.73614147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.299254153999996 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:26.31, Y:0.16, Z:-0.17 [[ 9.99466303e-01 -3.20070207e-02 -6.53144070e-03 2.63117720e+01] [ 3.20085257e-02 9.99487588e-01 1.25989131e-04 1.63719384e-01] [ 6.52406138e-03 -3.34983678e-04 9.99978662e-01 -1.73579548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.329254153999994 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:26.34, Y:0.16, Z:-0.17 [[ 9.99455142e-01 -3.24607077e-02 -5.97670504e-03 2.63441710e+01] [ 3.24619790e-02 9.99472964e-01 1.15791590e-04 1.63114692e-01] [ 5.96979642e-03 -3.09744173e-04 9.99982133e-01 -1.73860999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.359254153999995 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:26.38, Y:0.16, Z:-0.17 [[ 9.99446855e-01 -3.28107882e-02 -5.42555704e-03 2.63761389e+01] [ 3.28118436e-02 9.99461541e-01 1.05607771e-04 1.62382219e-01] [ 5.41917052e-03 -2.83571883e-04 9.99985276e-01 -1.73786160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.389254153999996 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:26.41, Y:0.16, Z:-0.17 [[ 9.99413455e-01 -3.39540677e-02 -4.45720852e-03 2.64091307e+01] [ 3.39547945e-02 9.99423366e-01 8.74747808e-05 1.61430843e-01] [ 4.45166821e-03 -2.38767072e-04 9.99990063e-01 -1.73870124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.419254153999994 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:26.44, Y:0.16, Z:-0.17 [[ 9.99398617e-01 -3.44493134e-02 -3.95599070e-03 2.64421328e+01] [ 3.44498919e-02 9.99406423e-01 7.81438703e-05 1.60427217e-01] [ 3.95095051e-03 -2.14380328e-04 9.99992172e-01 -1.74072499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.449254153999995 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:26.47, Y:0.16, Z:-0.17 [[ 9.99367717e-01 -3.54023100e-02 -3.29275494e-03 2.64746394e+01] [ 3.54027168e-02 9.99373125e-01 6.53457675e-05 1.59503033e-01] [ 3.28837740e-03 -1.81876921e-04 9.99994577e-01 -1.74058658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.479254153999996 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:26.51, Y:0.16, Z:-0.17 [[ 9.99352670e-01 -3.58121450e-02 -3.42494510e-03 2.65076984e+01] [ 3.58125891e-02 9.99358521e-01 6.84289554e-05 1.59070463e-01] [ 3.42029748e-03 -1.91040811e-04 9.99994133e-01 -1.73744324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.509254153999994 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:26.54, Y:0.16, Z:-0.17 [[ 9.99349435e-01 -3.59321490e-02 -3.09650417e-03 2.65406474e+01] [ 3.59325139e-02 9.99354217e-01 6.22651187e-05 1.58512795e-01] [ 3.09226718e-03 -1.73489790e-04 9.99995204e-01 -1.74132118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.539254153999995 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:26.57, Y:0.16, Z:-0.17 [[ 9.99298249e-01 -3.73451738e-02 -2.88909013e-03 2.65726551e+01] [ 3.73454979e-02 9.99302412e-01 5.82992512e-05 1.57633611e-01] [ 2.88489754e-03 -1.66152849e-04 9.99995825e-01 -1.73826929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.569254153999996 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:26.61, Y:0.16, Z:-0.17 [[ 9.99286228e-01 -3.77072204e-02 -2.28015584e-03 2.66056971e+01] [ 3.77074243e-02 9.99288821e-01 4.64635016e-05 1.56652478e-01] [ 2.27678223e-03 -1.32409141e-04 9.99997399e-01 -1.74546640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.599254153999993 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:26.64, Y:0.16, Z:-0.17 [[ 9.99255843e-01 -3.84922367e-02 -2.47137842e-03 2.66383876e+01] [ 3.84924792e-02 9.99258889e-01 5.05881041e-05 1.55707633e-01] [ 2.46759961e-03 -1.45679941e-04 9.99996945e-01 -1.74258079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.629254153999995 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:26.67, Y:0.15, Z:-0.17 [[ 9.99258067e-01 -3.84612792e-02 -2.01133651e-03 2.66704684e+01] [ 3.84614401e-02 9.99260084e-01 4.13650424e-05 1.54834813e-01] [ 2.00825733e-03 -1.18693251e-04 9.99997976e-01 -1.74858533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.659254153999996 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:26.70, Y:0.15, Z:-0.17 [[ 9.99265332e-01 -3.82620797e-02 -2.19314892e-03 2.67022140e+01] [ 3.82622709e-02 9.99267730e-01 4.52494938e-05 1.54313711e-01] [ 2.18981160e-03 -1.29131108e-04 9.99997594e-01 -1.74974992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.689254153999993 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:26.73, Y:0.15, Z:-0.17 [[ 9.99285471e-01 -3.77224855e-02 -2.35820874e-03 2.67348979e+01] [ 3.77227057e-02 9.99288244e-01 4.89736846e-05 1.54079294e-01] [ 2.35468286e-03 -1.37896706e-04 9.99997218e-01 -1.74942465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.719254153999994 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:26.77, Y:0.15, Z:-0.17 [[ 9.99360323e-01 -3.56961842e-02 -2.17443099e-03 2.67682649e+01] [ 3.56963673e-02 9.99362681e-01 4.54619326e-05 1.54479531e-01] [ 2.17142237e-03 -1.23052139e-04 9.99997635e-01 -1.74903683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.749254153999996 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:26.80, Y:0.15, Z:-0.17 [[ 9.99459527e-01 -3.28130537e-02 -1.98928154e-03 2.68004686e+01] [ 3.28132015e-02 9.99461501e-01 4.17235421e-05 1.54647981e-01] [ 1.98684123e-03 -1.06975688e-04 9.99998021e-01 -1.74727423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.779254153999993 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:26.83, Y:0.15, Z:-0.18 [[ 9.99504255e-01 -3.14552512e-02 -1.34561371e-03 2.68338101e+01] [ 3.14553182e-02 9.99505159e-01 2.86284117e-05 1.54674115e-01] [ 1.34404733e-03 -7.09409268e-05 9.99999094e-01 -1.75021961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.809254153999994 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:26.87, Y:0.15, Z:-0.18 [[ 9.99551860e-01 -2.98974005e-02 -1.49172292e-03 2.68669154e+01] [ 2.98974812e-02 9.99552970e-01 3.18433722e-05 1.54482646e-01] [ 1.49010404e-03 -7.64278598e-05 9.99998887e-01 -1.75249207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.839254153999995 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:26.90, Y:0.15, Z:-0.18 [[ 9.99597215e-01 -2.83097913e-02 -1.99075989e-03 2.68998043e+01] [ 2.83099320e-02 9.99599193e-01 4.25207588e-05 1.54155858e-01] [ 1.98875822e-03 -9.88619091e-05 9.99998018e-01 -1.75471554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.869254153999993 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:26.93, Y:0.15, Z:-0.18 [[ 9.99662331e-01 -2.58732025e-02 -2.40870625e-03 2.69332578e+01] [ 2.58734018e-02 9.99665226e-01 5.15929518e-05 1.54445491e-01] [ 2.40656500e-03 -1.13896955e-04 9.99997098e-01 -1.76270246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.899254153999994 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:26.97, Y:0.15, Z:-0.18 [[ 9.99684801e-01 -2.48001853e-02 -3.90515538e-03 2.69655133e+01] [ 2.48007004e-02 9.99692412e-01 8.35391143e-05 1.54364129e-01] [ 3.90188241e-03 -1.80363372e-04 9.99992371e-01 -1.76208127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.929254153999995 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:27.00, Y:0.15, Z:-0.18 [[ 9.99691770e-01 -2.44841662e-02 -4.10983637e-03 2.69985692e+01] [ 2.44847362e-02 9.99700200e-01 8.84320306e-05 1.53475310e-01] [ 4.10643906e-03 -1.89033033e-04 9.99991551e-01 -1.76802484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.959254153999993 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:27.03, Y:0.15, Z:-0.18 [[ 9.99766020e-01 -2.14743046e-02 -2.60008052e-03 2.70349893e+01] [ 2.14665000e-02 9.99765087e-01 -2.99325191e-03 1.50412800e-01] [ 2.66374773e-03 2.93673692e-03 9.99992140e-01 -1.78352069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.989254153999994 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:27.07, Y:0.15, Z:-0.18 [[ 9.99754234e-01 -2.20277254e-02 -2.50019329e-03 2.70672560e+01] [ 2.20266159e-02 9.99757274e-01 -4.70434151e-04 1.48679905e-01] [ 2.50994902e-03 4.15247737e-04 9.99996764e-01 -1.79949229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.019254153999995 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:27.10, Y:0.15, Z:-0.18 [[ 9.99740514e-01 -2.24899397e-02 -3.62034323e-03 2.71005748e+01] [ 2.24970553e-02 9.99745033e-01 1.93686628e-03 1.47162066e-01] [ 3.57586016e-03 -2.01781076e-03 9.99991571e-01 -1.79744578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.049254153999996 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:27.13, Y:0.15, Z:-0.18 [[ 9.99670956e-01 -2.50835128e-02 -5.36638717e-03 2.71268728e+01] [ 2.50941639e-02 9.99683235e-01 1.92671988e-03 1.50758043e-01] [ 5.31635838e-03 -2.06075090e-03 9.99983745e-01 -1.77773911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.079254153999994 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:27.16, Y:0.15, Z:-0.18 [[ 9.99681836e-01 -2.44171071e-02 -6.32709183e-03 2.71586246e+01] [ 2.44184301e-02 9.99701817e-01 1.31926834e-04 1.52121153e-01] [ 6.32198392e-03 -2.86382509e-04 9.99979975e-01 -1.76925008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.109254153999995 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:27.19, Y:0.15, Z:-0.18 [[ 9.99692970e-01 -2.39852955e-02 -6.21859383e-03 2.71908696e+01] [ 2.39865681e-02 9.99712272e-01 1.30124397e-04 1.51773510e-01] [ 6.21368350e-03 -2.79247169e-04 9.99980656e-01 -1.76959358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.139254153999996 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:27.22, Y:0.15, Z:-0.18 [[ 9.99716447e-01 -2.32233013e-02 -5.26345112e-03 2.72234044e+01] [ 2.32242047e-02 9.99730276e-01 1.10577459e-04 1.52202916e-01] [ 5.25946346e-03 -2.32785571e-04 9.99986142e-01 -1.76475633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.169254153999994 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:27.26, Y:0.15, Z:-0.18 [[ 9.99721097e-01 -2.30648387e-02 -5.07363865e-03 2.72553627e+01] [ 2.30656780e-02 9.99733946e-01 1.06971116e-04 1.51918532e-01] [ 5.06982152e-03 -2.23968197e-04 9.99987123e-01 -1.76083665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.199254153999995 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:27.29, Y:0.15, Z:-0.18 [[ 9.99718013e-01 -2.32986589e-02 -4.58988540e-03 2.72874253e+01] [ 2.32993500e-02 9.99728529e-01 9.71373906e-05 1.51785253e-01] [ 4.58637621e-03 -2.04051345e-04 9.99989462e-01 -1.76173132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.229254153999996 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:27.32, Y:0.15, Z:-0.18 [[ 9.99714968e-01 -2.34939521e-02 -4.24467956e-03 2.73204530e+01] [ 2.34945478e-02 9.99723961e-01 9.05299580e-05 1.51736567e-01] [ 4.24138095e-03 -1.90230981e-04 9.99990987e-01 -1.75895829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.259254153999994 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:27.35, Y:0.14, Z:-0.18 [[ 9.99704529e-01 -2.35102180e-02 -6.17451541e-03 2.73549017e+01] [ 2.35900532e-02 9.99634674e-01 1.31919507e-02 1.44944054e-01] [ 5.86211407e-03 -1.33337100e-02 9.99893918e-01 -1.75848883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.289254153999995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:27.38, Y:0.16, Z:-0.17 [[ 9.99664806e-01 -2.56826298e-02 -3.26765196e-03 2.73832804e+01] [ 2.56374105e-02 9.99584156e-01 -1.31999652e-02 1.59290185e-01] [ 3.60530295e-03 1.31117666e-02 9.99907537e-01 -1.70613993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.319254153999996 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:27.41, Y:0.13, Z:-0.18 [[ 9.99513965e-01 -2.91105949e-02 -1.11538234e-02 2.74128447e+01] [ 2.96107013e-02 9.98424705e-01 4.76583072e-02 1.33214671e-01] [ 9.74889121e-03 -4.79654161e-02 9.98801421e-01 -1.78485614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.349254153999993 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:27.45, Y:0.17, Z:-0.16 [[ 9.99633253e-01 -2.68265619e-02 -3.70069583e-03 2.74473720e+01] [ 2.66180017e-02 9.98490189e-01 -4.80502269e-02 1.74694245e-01] [ 4.98413087e-03 4.79340995e-02 9.98838065e-01 -1.58881123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.379254153999995 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:27.48, Y:0.15, Z:-0.18 [[ 9.99594453e-01 -2.82933355e-02 -3.22754408e-03 2.74787006e+01] [ 2.82937080e-02 9.99599650e-01 6.98136457e-05 1.52494171e-01] [ 3.22427667e-03 -1.61104523e-04 9.99994789e-01 -1.76820103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.409254153999996 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:27.51, Y:0.15, Z:-0.18 [[ 9.99579193e-01 -2.88132782e-02 -3.35144984e-03 2.75113653e+01] [ 2.88136848e-02 9.99584797e-01 7.30837308e-05 1.52149351e-01] [ 3.34795253e-03 -1.69620596e-04 9.99994381e-01 -1.77370936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.439254153999993 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:27.54, Y:0.15, Z:-0.18 [[ 9.99572587e-01 -2.89873896e-02 -3.79144502e-03 2.75438084e+01] [ 2.89879118e-02 9.99579759e-01 8.28324765e-05 1.53026905e-01] [ 3.78745060e-03 -1.92703147e-04 9.99992809e-01 -1.77870490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.469254153999994 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:27.58, Y:0.15, Z:-0.18 [[ 9.99577295e-01 -2.88245836e-02 -3.79142259e-03 2.75773648e+01] [ 2.88251085e-02 9.99584467e-01 8.38600029e-05 1.52209265e-01] [ 3.78742990e-03 -1.93112722e-04 9.99992809e-01 -1.78066230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.499254153999996 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:27.61, Y:0.15, Z:-0.18 [[ 9.99586545e-01 -2.84813887e-02 -3.94323980e-03 2.76108074e+01] [ 2.84819542e-02 9.99594303e-01 8.73190547e-05 1.52406766e-01] [ 3.93915307e-03 -1.99594128e-04 9.99992222e-01 -1.78253248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.529254153999993 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:27.64, Y:0.15, Z:-0.18 [[ 9.99598445e-01 -2.80456823e-02 -4.04817152e-03 2.76443076e+01] [ 2.80462765e-02 9.99606622e-01 9.00755446e-05 1.52607276e-01] [ 4.04405283e-03 -2.03575512e-04 9.99991802e-01 -1.78799331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.559254153999994 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:27.68, Y:0.15, Z:-0.18 [[ 9.99621598e-01 -2.72314082e-02 -3.88731599e-03 2.76768814e+01] [ 2.72319544e-02 9.99629138e-01 8.76538321e-05 1.52826330e-01] [ 3.88348739e-03 -1.93479876e-04 9.99992441e-01 -1.78831552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.589254153999995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:27.71, Y:0.15, Z:-0.18 [[ 9.99670945e-01 -2.53197838e-02 -4.11217043e-03 2.77098432e+01] [ 2.53203787e-02 9.99679384e-01 9.26793354e-05 1.53926569e-01] [ 4.10850538e-03 -1.96770551e-04 9.99991541e-01 -1.79275266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.619254153999993 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:27.74, Y:0.15, Z:-0.18 [[ 9.99693466e-01 -2.43420243e-02 -4.52095842e-03 2.77425754e+01] [ 2.43427354e-02 9.99703666e-01 1.02338375e-04 1.53909998e-01] [ 4.51712759e-03 -2.12359499e-04 9.99989775e-01 -1.79521935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.649254153999994 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:27.77, Y:0.15, Z:-0.18 [[ 9.99733078e-01 -2.26812728e-02 -4.39689947e-03 2.77746259e+01] [ 2.26819308e-02 9.99742727e-01 9.98403054e-05 1.54436367e-01] [ 4.39350376e-03 -1.99543825e-04 9.99990329e-01 -1.80409667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.679254153999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:27.81, Y:0.15, Z:-0.18 [[ 9.99746592e-01 -2.19812582e-02 -4.85560518e-03 2.78067146e+01] [ 2.19820534e-02 9.99758359e-01 1.10441539e-04 1.54647104e-01] [ 4.85200423e-03 -2.17149725e-04 9.99988205e-01 -1.80274314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.709254153999993 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:27.84, Y:0.15, Z:-0.18 [[ 9.99759408e-01 -2.13510431e-02 -5.02591325e-03 2.78390623e+01] [ 2.13518887e-02 9.99772016e-01 1.14659284e-04 1.54774910e-01] [ 5.02231933e-03 -2.21944439e-04 9.99987363e-01 -1.80562912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.739254153999994 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:27.87, Y:0.16, Z:-0.18 [[ 9.99791978e-01 -1.96910559e-02 -5.31622520e-03 2.78710346e+01] [ 1.96919806e-02 9.99806087e-01 1.21658468e-04 1.55756105e-01] [ 5.31279873e-03 -2.26320164e-04 9.99985861e-01 -1.80767618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.769254153999995 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:27.90, Y:0.16, Z:-0.18 [[ 9.99803863e-01 -1.90649178e-02 -5.36323284e-03 2.79019693e+01] [ 1.90658509e-02 9.99818223e-01 1.22914866e-04 1.55827598e-01] [ 5.35991456e-03 -2.25145356e-04 9.99985610e-01 -1.80934040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.799254153999993 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:27.93, Y:0.16, Z:-0.18 [[ 9.99803563e-01 -1.90695061e-02 -5.40271859e-03 2.79342289e+01] [ 1.90704557e-02 9.99818135e-01 1.24293145e-04 1.56119921e-01] [ 5.39936582e-03 -2.27301035e-04 9.99985397e-01 -1.81153691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.829254153999994 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:27.97, Y:0.16, Z:-0.18 [[ 9.99797225e-01 -1.94143230e-02 -5.34722572e-03 2.79667828e+01] [ 1.94152602e-02 9.99811498e-01 1.23409748e-04 1.56323784e-01] [ 5.34382184e-03 -2.27202503e-04 9.99985696e-01 -1.80791358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.859254153999995 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.00, Y:0.16, Z:-0.18 [[ 9.99785852e-01 -2.01715857e-02 -4.62138814e-03 2.79987571e+01] [ 2.01722957e-02 9.99796513e-01 1.07058523e-04 1.55630510e-01] [ 4.61828821e-03 -2.00259605e-04 9.99989316e-01 -1.81334269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.889254153999996 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:28.03, Y:0.15, Z:-0.18 [[ 9.99760391e-01 -2.15042445e-02 -4.09008518e-03 2.80304426e+01] [ 2.15048139e-02 9.99768740e-01 9.52750633e-05 1.54933208e-01] [ 4.08709049e-03 -1.83208755e-04 9.99991631e-01 -1.81513082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.919254153999994 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:28.06, Y:0.15, Z:-0.18 [[ 9.99743910e-01 -2.22939512e-02 -3.88522169e-03 2.80626257e+01] [ 2.22944723e-02 9.99751443e-01 9.08630705e-05 1.54303495e-01] [ 3.88223029e-03 -1.77458769e-04 9.99992448e-01 -1.81656908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.949254153999995 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:28.10, Y:0.15, Z:-0.18 [[ 9.99724174e-01 -2.31525209e-02 -3.94159013e-03 2.80954389e+01] [ 2.31530660e-02 9.99731928e-01 9.27174575e-05 1.53822326e-01] [ 3.93838686e-03 -1.83951780e-04 9.99992228e-01 -1.81602488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.979254153999996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:28.13, Y:0.15, Z:-0.18 [[ 9.99686188e-01 -2.47028691e-02 -4.15847437e-03 2.81280230e+01] [ 2.47034909e-02 9.99694817e-01 9.82328799e-05 1.53594629e-01] [ 4.15477864e-03 -2.00930887e-04 9.99991349e-01 -1.81631099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.009254153999994 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:28.16, Y:0.15, Z:-0.18 [[ 9.99673697e-01 -2.52354615e-02 -3.95869856e-03 2.81596418e+01] [ 2.52360303e-02 9.99681516e-01 9.37879435e-05 1.52741220e-01] [ 3.95507099e-03 -1.93659177e-04 9.99992160e-01 -1.81892016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.039254153999995 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:28.19, Y:0.15, Z:-0.18 [[ 9.99650504e-01 -2.62799046e-02 -2.87006583e-03 2.81930596e+01] [ 2.62802094e-02 9.99654613e-01 6.85503124e-05 1.52295969e-01] [ 2.86727305e-03 -1.43952285e-04 9.99995879e-01 -1.81736245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.069254153999996 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:28.23, Y:0.15, Z:-0.18 [[ 9.99643920e-01 -2.65895688e-02 -2.24228207e-03 2.82257953e+01] [ 2.65897566e-02 9.99646428e-01 5.39438516e-05 1.51500121e-01] [ 2.24005492e-03 -1.13546378e-04 9.99997485e-01 -1.81793543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.099254153999993 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:28.26, Y:0.15, Z:-0.18 [[ 9.99644966e-01 -2.66136192e-02 -1.28771565e-03 2.82584860e+01] [ 2.66136817e-02 9.99645793e-01 3.14043813e-05 1.50594297e-01] [ 1.28642375e-03 -6.56640861e-05 9.99999170e-01 -1.82027275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.129254153999995 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:28.29, Y:0.15, Z:-0.18 [[ 9.99649243e-01 -2.64720383e-02 -7.88850655e-04 2.82906104e+01] [ 2.64720618e-02 9.99649553e-01 1.94480637e-05 1.50622244e-01] [ 7.88059375e-04 -4.03237454e-05 9.99999689e-01 -1.81601875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.159254153999996 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:28.32, Y:0.15, Z:-0.18 [[ 9.99652746e-01 -2.63422737e-02 -6.86335174e-04 2.83234226e+01] [ 2.63422917e-02 9.99652981e-01 1.71698659e-05 1.50311748e-01] [ 6.85644710e-04 -3.52435449e-05 9.99999764e-01 -1.81701909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.189254153999993 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:28.36, Y:0.15, Z:-0.18 [[ 9.99637528e-01 -2.69044646e-02 -9.81103175e-04 2.83557723e+01] [ 2.69045020e-02 9.99638008e-01 2.48635146e-05 1.50000067e-01] [ 9.80079084e-04 -5.12505946e-05 9.99999518e-01 -1.81911888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.219254153999994 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:28.39, Y:0.15, Z:-0.18 [[ 9.99623488e-01 -2.74081391e-02 -1.29439189e-03 2.83889839e+01] [ 2.74082037e-02 9.99624324e-01 3.21881876e-05 1.48978793e-01] [ 1.29302340e-03 -6.76530250e-05 9.99999162e-01 -1.82497865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.249254153999996 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:28.42, Y:0.15, Z:-0.18 [[ 9.99606238e-01 -2.80242998e-02 -1.41710450e-03 2.84222485e+01] [ 2.80243780e-02 9.99607239e-01 3.53457059e-05 1.47724417e-01] [ 1.41555738e-03 -7.50452603e-05 9.99998995e-01 -1.82976534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.279254153999993 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:28.46, Y:0.15, Z:-0.18 [[ 9.99574007e-01 -2.91474161e-02 -1.49425315e-03 2.84556044e+01] [ 2.91475045e-02 9.99575121e-01 3.73943751e-05 1.45988443e-01] [ 1.49252832e-03 -8.09321956e-05 9.99998883e-01 -1.83310523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.309254153999994 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:28.49, Y:0.14, Z:-0.18 [[ 9.99564595e-01 -2.94796389e-02 -1.25351012e-03 2.84890492e+01] [ 2.94797016e-02 9.99565379e-01 3.16104831e-05 1.44514085e-01] [ 1.25203345e-03 -6.85498240e-05 9.99999214e-01 -1.83664656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.339254153999995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:28.52, Y:0.14, Z:-0.18 [[ 9.99554123e-01 -2.98312664e-02 -1.28490591e-03 2.85214483e+01] [ 2.98313326e-02 9.99554946e-01 3.23908342e-05 1.43069307e-01] [ 1.28336780e-03 -7.07068475e-05 9.99999174e-01 -1.83529897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.369254153999993 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:28.55, Y:0.14, Z:-0.18 [[ 9.99561724e-01 -2.95845350e-02 -1.05649232e-03 2.85543230e+01] [ 2.95845799e-02 9.99562280e-01 2.69445571e-05 1.41856251e-01] [ 1.05523273e-03 -5.81886296e-05 9.99999442e-01 -1.83987906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.399254153999994 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:28.59, Y:0.14, Z:-0.18 [[ 9.99573826e-01 -2.91689043e-02 -1.15809558e-03 2.85878237e+01] [ 2.91689582e-02 9.99574495e-01 2.96305550e-05 1.40386924e-01] [ 1.15673852e-03 -6.33983689e-05 9.99999329e-01 -1.84389006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.429254153999995 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:28.62, Y:0.14, Z:-0.18 [[ 9.99598945e-01 -2.82792255e-02 -1.49510661e-03 2.86200125e+01] [ 2.82793140e-02 9.99600059e-01 3.80883434e-05 1.37970679e-01] [ 1.49343155e-03 -8.03536573e-05 9.99998882e-01 -1.84892953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.459254153999993 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:28.65, Y:0.14, Z:-0.19 [[ 9.99624193e-01 -2.73720927e-02 -1.49711903e-03 2.86526849e+01] [ 2.73721808e-02 9.99625311e-01 3.84065546e-05 1.36328891e-01] [ 1.49550681e-03 -7.93715340e-05 9.99998879e-01 -1.85501172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.489254153999994 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:28.69, Y:0.13, Z:-0.19 [[ 9.99687566e-01 -2.49376045e-02 -1.69893513e-03 2.86859463e+01] [ 2.49377147e-02 9.99689006e-01 4.36910717e-05 1.34652216e-01] [ 1.69731722e-03 -8.60449808e-05 9.99998556e-01 -1.85454568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.519254153999995 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:28.72, Y:0.13, Z:-0.19 [[ 9.99725333e-01 -2.33699514e-02 -1.76159957e-03 2.87176394e+01] [ 2.33700675e-02 9.99726882e-01 4.53290958e-05 1.33846822e-01] [ 1.76005910e-03 -8.64853462e-05 9.99998447e-01 -1.85211591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.549254153999993 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:28.75, Y:0.13, Z:-0.19 [[ 9.99763898e-01 -2.16582411e-02 -1.75189575e-03 2.87506599e+01] [ 2.16583538e-02 9.99765429e-01 4.53640437e-05 1.32796955e-01] [ 1.75050230e-03 -8.32965111e-05 9.99998464e-01 -1.85241123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.579254153999994 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:28.78, Y:0.13, Z:-0.19 [[ 9.99840757e-01 -1.77322855e-02 -2.00645286e-03 2.87838380e+01] [ 1.77324256e-02 9.99842767e-01 5.20863102e-05 1.31061392e-01] [ 2.00521377e-03 -8.76572920e-05 9.99997986e-01 -1.85504357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.609254153999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:28.82, Y:0.13, Z:-0.19 [[ 9.99878696e-01 -1.54838787e-02 -1.68590365e-03 2.88163126e+01] [ 1.54839744e-02 9.99880115e-01 4.37730651e-05 1.29421843e-01] [ 1.68502376e-03 -6.98722443e-05 9.99998578e-01 -1.85897466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.639254153999993 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:28.85, Y:0.13, Z:-0.19 [[ 9.99908728e-01 -1.34112364e-02 -1.63525516e-03 2.88483294e+01] [ 1.34113240e-02 9.99910063e-01 4.25958909e-05 1.28066254e-01] [ 1.63453682e-03 -6.45229398e-05 9.99998662e-01 -1.86054289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.669254153999994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:28.88, Y:0.13, Z:-0.19 [[ 9.99959440e-01 -8.88883083e-03 -1.45180033e-03 2.88791118e+01] [ 8.88889512e-03 9.99960492e-01 3.78350624e-05 1.27197622e-01] [ 1.45140666e-03 -5.07384287e-05 9.99998945e-01 -1.85743054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.699254153999995 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:28.91, Y:0.13, Z:-0.19 [[ 9.99976883e-01 -6.57512333e-03 -1.73231361e-03 2.89115445e+01] [ 6.57521168e-03 9.99978382e-01 4.53101048e-05 1.26449736e-01] [ 1.73197824e-03 -5.66993860e-05 9.99998499e-01 -1.85909645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.729254153999996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:28.94, Y:0.13, Z:-0.19 [[ 9.99995015e-01 -2.32194666e-03 -2.13984872e-03 2.89437306e+01] [ 2.32207189e-03 9.99997302e-01 5.60407093e-05 1.25660526e-01] [ 2.13971283e-03 -6.10093125e-05 9.99997709e-01 -1.85675781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.759254153999994 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:28.97, Y:0.12, Z:-0.19 [[ 9.99997949e-01 -5.99779454e-04 -1.93434868e-03 2.89742612e+01] [ 5.99877815e-04 9.99999819e-01 5.02696105e-05 1.24548108e-01] [ 1.93431818e-03 -5.14298803e-05 9.99998128e-01 -1.86056381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.789254153999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:29.00, Y:0.12, Z:-0.19 [[ 9.99998435e-01 5.38964594e-04 -1.68509814e-03 2.90037096e+01] [-5.38892025e-04 9.99999854e-01 4.35190701e-05 1.23555397e-01] [ 1.68512135e-03 -4.26109160e-05 9.99998579e-01 -1.86194323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.819254153999996 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:29.03, Y:0.12, Z:-0.19 [[ 9.99998126e-01 1.33339803e-03 -1.40354435e-03 2.90334668e+01] [-1.33334859e-03 9.99999110e-01 3.61598812e-05 1.21764462e-01] [ 1.40359132e-03 -3.42883996e-05 9.99999014e-01 -1.86681558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.849254153999993 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:29.06, Y:0.12, Z:-0.19 [[ 9.99998266e-01 1.42948584e-03 -1.19388908e-03 2.90619004e+01] [-1.42945024e-03 9.99998978e-01 3.06679528e-05 1.20156285e-01] [ 1.19393170e-03 -2.89612946e-05 9.99999287e-01 -1.86916690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.879254153999995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:29.09, Y:0.12, Z:-0.19 [[ 9.99999854e-01 2.66268766e-04 -4.69944976e-04 2.90918145e+01] [-2.66263188e-04 9.99999964e-01 1.19317711e-05 1.17643367e-01] [ 4.69948136e-04 -1.18066404e-05 9.99999890e-01 -1.87875527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.909254153999996 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:29.12, Y:0.12, Z:-0.19 [[ 9.99999107e-01 -1.17574108e-03 -6.34572023e-04 2.91224897e+01] [ 1.17575172e-03 9.99999309e-01 1.63974153e-05 1.15797682e-01] [ 6.34552305e-04 -1.71434998e-05 9.99999799e-01 -1.88148837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.939254153999993 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:29.15, Y:0.11, Z:-0.19 [[ 9.99996865e-01 -2.40747085e-03 -6.87946761e-04 2.91530709e+01] [ 2.40748365e-03 9.99997102e-01 1.77766248e-05 1.13736887e-01] [ 6.87901971e-04 -1.94327896e-05 9.99999763e-01 -1.88821337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.969254153999994 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:29.18, Y:0.11, Z:-0.19 [[ 9.99983915e-01 -5.48972258e-03 -1.42604570e-03 2.91847595e+01] [ 5.48978108e-03 9.99984930e-01 3.71145730e-05 1.10485036e-01] [ 1.42582046e-03 -4.49426547e-05 9.99998983e-01 -1.89621179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.999254153999996 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:29.22, Y:0.11, Z:-0.19 [[ 9.99976188e-01 -6.73966772e-03 -1.48363516e-03 2.92155854e+01] [ 6.73973344e-03 9.99977287e-01 3.92978392e-05 1.08583195e-01] [ 1.48333661e-03 -4.92962089e-05 9.99998899e-01 -1.90035032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.029254153999993 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:29.25, Y:0.11, Z:-0.19 [[ 9.99966257e-01 -7.94093313e-03 -2.10368839e-03 2.92481851e+01] [ 7.94106694e-03 9.99968468e-01 5.52590380e-05 1.06701453e-01] [ 2.10318325e-03 -7.19627038e-05 9.99997786e-01 -1.90200794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.059254153999994 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:29.28, Y:0.10, Z:-0.19 [[ 9.99950231e-01 -9.57224848e-03 -2.81218990e-03 2.92804767e+01] [ 9.57249427e-03 9.99954180e-01 7.39553764e-05 1.04051740e-01] [ 2.81135312e-03 -1.00871367e-04 9.99996043e-01 -1.90780749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.089254153999995 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:29.31, Y:0.10, Z:-0.19 [[ 9.99946589e-01 -9.95019144e-03 -2.79500051e-03 2.93117956e+01] [ 9.95043584e-03 9.99950490e-01 7.35500958e-05 1.02392886e-01] [ 2.79413029e-03 -1.01357641e-04 9.99996091e-01 -1.91016049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.119254153999993 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:29.34, Y:0.10, Z:-0.19 [[ 9.99952973e-01 -9.48237982e-03 -2.03396397e-03 2.93439783e+01] [ 9.48250895e-03 9.99955039e-01 5.38540125e-05 1.00529699e-01] [ 2.03336186e-03 -7.31385614e-05 9.99997930e-01 -1.90995765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.149254153999994 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:29.38, Y:0.10, Z:-0.19 [[ 9.99962411e-01 -8.46977946e-03 -1.85431806e-03 2.93762675e+01] [ 8.46988537e-03 9.99964129e-01 4.92678957e-05 9.92456100e-02] [ 1.85383426e-03 -6.49719052e-05 9.99998280e-01 -1.91198613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.179254153999995 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:29.41, Y:0.10, Z:-0.19 [[ 9.99971583e-01 -7.26661786e-03 -2.00733123e-03 2.94075162e+01] [ 7.26673948e-03 9.99973595e-01 5.32987003e-05 9.80217371e-02] [ 2.00689092e-03 -6.78839388e-05 9.99997984e-01 -1.91003846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.209254153999993 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:29.44, Y:0.10, Z:-0.19 [[ 9.99988533e-01 -4.29191472e-03 -2.12444799e-03 2.94398233e+01] [ 4.29204478e-03 9.99990788e-01 5.66634373e-05 9.71516443e-02] [ 2.12418523e-03 -6.57810135e-05 9.99997742e-01 -1.90912475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.239254153999994 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:29.47, Y:0.10, Z:-0.19 [[ 9.99994609e-01 -2.52499341e-03 -2.09921924e-03 2.94705699e+01] [ 2.52511561e-03 9.99996810e-01 5.55670251e-05 9.61416643e-02] [ 2.09907223e-03 -6.08674968e-05 9.99997795e-01 -1.91043573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.269254153999995 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:29.50, Y:0.10, Z:-0.19 [[ 9.99997512e-01 1.29641319e-03 -1.81518168e-03 2.95011400e+01] [-1.29632811e-03 9.99999159e-01 4.80484574e-05 9.53111365e-02] [ 1.81524244e-03 -4.56952668e-05 9.99998351e-01 -1.91370533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.299254153999993 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:29.53, Y:0.09, Z:-0.19 [[ 9.99992812e-01 3.13715350e-03 -2.12949397e-03 2.95303511e+01] [-3.13704119e-03 9.99995078e-01 5.60769194e-05 9.47118829e-02] [ 2.12965941e-03 -4.93962060e-05 9.99997731e-01 -1.91442798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.329254153999994 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:29.56, Y:0.09, Z:-0.19 [[ 9.99971871e-01 7.11381393e-03 -2.37725506e-03 2.95590699e+01] [-7.11368964e-03 9.99974696e-01 6.07351463e-05 9.42388515e-02] [ 2.37762696e-03 -4.38223832e-05 9.99997172e-01 -1.91815969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.359254153999995 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:29.59, Y:0.09, Z:-0.19 [[ 9.99972740e-01 6.99056418e-03 -2.37724237e-03 2.95883443e+01] [-6.99043840e-03 9.99975565e-01 6.12173311e-05 9.35253841e-02] [ 2.37761223e-03 -4.45976959e-05 9.99997172e-01 -1.91987422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.389254153999993 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:29.62, Y:0.09, Z:-0.19 [[ 9.99958543e-01 8.83641248e-03 -2.19754201e-03 2.96155789e+01] [-8.83631078e-03 9.99960957e-01 5.59856076e-05 9.33332648e-02] [ 2.19795092e-03 -3.65651225e-05 9.99997584e-01 -1.92473084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.419254153999994 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:29.64, Y:0.09, Z:-0.19 [[ 9.99940538e-01 1.05936516e-02 -2.58732373e-03 2.96431077e+01] [-1.05935161e-02 9.99943885e-01 6.60822971e-05 9.30205574e-02] [ 2.58787860e-03 -3.86695122e-05 9.99996651e-01 -1.92470789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.449254153999995 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:29.67, Y:0.09, Z:-0.19 [[ 9.99902812e-01 1.37473130e-02 -2.31924956e-03 2.96715106e+01] [-1.37472133e-02 9.99905501e-01 5.89249181e-05 9.26078800e-02] [ 2.31984045e-03 -2.70359729e-05 9.99997309e-01 -1.93572457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.479254153999992 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:29.70, Y:0.09, Z:-0.19 [[ 9.99886511e-01 1.48245563e-02 -2.68272058e-03 2.96994644e+01] [-1.48244273e-02 9.99890110e-01 6.79734879e-05 9.19952917e-02] [ 2.68343345e-03 -2.81959774e-05 9.99996399e-01 -1.93682220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.509254153999994 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:29.73, Y:0.09, Z:-0.19 [[ 9.99863059e-01 1.63634376e-02 -2.46992537e-03 2.97267885e+01] [-1.63633347e-02 9.99866110e-01 6.18655128e-05 9.19264208e-02] [ 2.47060701e-03 -2.14408254e-05 9.99996948e-01 -1.94012240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.539254153999995 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:29.75, Y:0.09, Z:-0.19 [[ 9.99856083e-01 1.68117371e-02 -2.27551290e-03 2.97544745e+01] [-1.68116510e-02 9.99858673e-01 5.69745397e-05 9.14222539e-02] [ 2.27614915e-03 -1.87112115e-05 9.99997409e-01 -1.94032455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.569254153999996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:29.78, Y:0.09, Z:-0.19 [[ 9.99859934e-01 1.66330472e-02 -1.85848378e-03 2.97815171e+01] [-1.66329902e-02 9.99861661e-01 4.60950272e-05 9.07949077e-02] [ 1.85899338e-03 -1.51764284e-05 9.99998272e-01 -1.94340151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.599254153999993 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:29.81, Y:0.09, Z:-0.19 [[ 9.99877948e-01 1.55735136e-02 -1.24671637e-03 2.98093830e+01] [-1.55734873e-02 9.99878725e-01 3.07870175e-05 8.95760454e-02] [ 1.24704463e-03 -1.13675384e-05 9.99999222e-01 -1.94397047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.629254153999995 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:29.84, Y:0.09, Z:-0.19 [[ 9.99893507e-01 1.45757888e-02 -7.21768094e-04 2.98375895e+01] [-1.45757800e-02 9.99893768e-01 1.74030285e-05 8.83554494e-02] [ 7.21945082e-04 -6.88084227e-06 9.99999739e-01 -1.94973235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.659254153999996 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:29.87, Y:0.09, Z:-0.20 [[ 9.99932012e-01 1.16578352e-02 -2.57416316e-04 2.98660223e+01] [-1.16578341e-02 9.99932045e-01 5.99202996e-06 8.62634404e-02] [ 2.57468677e-04 -2.99070588e-06 9.99999967e-01 -1.95379736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.689254153999993 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:29.89, Y:0.08, Z:-0.20 [[ 9.99952228e-01 9.76771672e-03 -3.65750823e-04 2.98941747e+01] [-9.76771424e-03 9.99952295e-01 8.55716763e-06 8.48940514e-02] [ 3.65816959e-04 -4.98420931e-06 9.99999933e-01 -1.95360148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.719254153999994 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:29.92, Y:0.08, Z:-0.20 [[ 9.99984224e-01 5.58472470e-03 -6.02334603e-04 2.99228581e+01] [-5.58471698e-03 9.99984405e-01 1.45004599e-05 8.30215888e-02] [ 6.02406190e-04 -1.11363628e-05 9.99999818e-01 -1.95710748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.749254153999996 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:29.95, Y:0.08, Z:-0.20 [[ 9.99994841e-01 3.19696919e-03 -3.10600778e-04 2.99514592e+01] [-3.19696709e-03 9.99994890e-01 7.25750377e-06 8.17429330e-02] [ 3.10622393e-04 -6.26448587e-06 9.99999952e-01 -1.96362824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.779254153999993 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:29.98, Y:0.08, Z:-0.20 [[ 9.99999167e-01 1.05058792e-03 -7.50437682e-04 2.99805216e+01] [-1.05057450e-03 9.99999448e-01 1.82804572e-05 8.00323737e-02] [ 7.50456473e-04 -1.74920512e-05 9.99999718e-01 -1.96338850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.809254153999994 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:30.01, Y:0.08, Z:-0.20 [[ 9.99993322e-01 -3.62184969e-03 -4.88265973e-04 3.00096872e+01] [ 3.62185588e-03 9.99993441e-01 1.18092769e-05 7.78878165e-02] [ 4.88219999e-04 -1.35776270e-05 9.99999881e-01 -1.97353568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.839254153999995 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:30.04, Y:0.08, Z:-0.20 [[ 9.99981742e-01 -6.03637185e-03 -2.80855842e-04 3.00412151e+01] [ 6.03637409e-03 9.99981781e-01 7.13909812e-06 7.63155881e-02] [ 2.80807630e-04 -8.83431870e-06 9.99999961e-01 -1.97792056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.869254153999993 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:30.07, Y:0.07, Z:-0.20 [[ 9.99964972e-01 -8.35701942e-03 -4.63041054e-04 3.00736747e+01] [ 8.35702635e-03 9.99965079e-01 1.30354287e-05 7.45546952e-02] [ 4.62915947e-04 -1.69046183e-05 9.99999893e-01 -1.97828452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.899254153999994 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:30.11, Y:0.07, Z:-0.20 [[ 9.99941757e-01 -1.07921615e-02 -1.04296150e-04 3.01054986e+01] [ 1.07921620e-02 9.99941763e-01 4.22729708e-06 7.29045647e-02] [ 1.04244454e-04 -5.35263181e-06 9.99999995e-01 -1.98327582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.929254153999995 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:30.14, Y:0.07, Z:-0.20 [[ 9.99876846e-01 -1.56706758e-02 8.49946468e-04 3.01383785e+01] [ 1.56706984e-02 9.99877207e-01 -1.99525310e-05 7.14169059e-02] [-8.49529430e-04 3.32693285e-05 9.99999639e-01 -1.97768598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.959254153999993 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:30.17, Y:0.07, Z:-0.20 [[ 9.99838396e-01 -1.79447442e-02 1.08065606e-03 3.01713215e+01] [ 1.79447839e-02 9.99838979e-01 -2.70111449e-05 7.03069423e-02] [-1.07999734e-03 4.63989192e-05 9.99999416e-01 -1.97783208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.989254153999994 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:30.20, Y:0.07, Z:-0.20 [[ 9.99756738e-01 -2.20041347e-02 1.51064537e-03 3.02048093e+01] [ 2.20042174e-02 9.99757877e-01 -3.81746271e-05 6.89886047e-02] [-1.50943961e-03 7.14059097e-05 9.99998858e-01 -1.97959159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.019254153999995 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:30.24, Y:0.07, Z:-0.20 [[ 9.99724476e-01 -2.34469775e-02 1.10094524e-03 3.02377236e+01] [ 2.34470223e-02 9.99725080e-01 -2.77704924e-05 6.78777339e-02] [-1.09999144e-03 5.35767287e-05 9.99999394e-01 -1.97906563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.049254153999993 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:30.27, Y:0.07, Z:-0.20 [[ 9.99683926e-01 -2.51228549e-02 9.43948662e-04 3.02706612e+01] [ 2.51228886e-02 9.99684370e-01 -2.38205729e-05 6.69903219e-02] [-9.43052283e-04 4.75277608e-05 9.99999554e-01 -1.98353952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.079254153999994 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:30.30, Y:0.07, Z:-0.20 [[ 9.99612047e-01 -2.78519478e-02 -1.54530379e-04 3.03036494e+01] [ 2.78519488e-02 9.99612059e-01 4.66300727e-06 6.58310993e-02] [ 1.54340556e-04 -8.96517044e-06 9.99999988e-01 -1.98971049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.109254153999995 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:30.34, Y:0.06, Z:-0.20 [[ 9.99580915e-01 -2.89413811e-02 -6.25473820e-04 3.03365611e+01] [ 2.89413973e-02 9.99581110e-01 1.69993970e-05 6.45977781e-02] [ 6.24719829e-04 -3.50943591e-05 9.99999804e-01 -1.99317625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.139254153999993 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:30.37, Y:0.06, Z:-0.20 [[ 9.99519075e-01 -3.09507624e-02 -1.91549350e-03 3.03686738e+01] [ 3.09509163e-02 9.99520904e-01 5.07768746e-05 6.36873220e-02] [ 1.91300421e-03 -1.10038734e-04 9.99998164e-01 -1.99787231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.169254153999994 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:30.40, Y:0.06, Z:-0.20 [[ 9.99498417e-01 -3.15670085e-02 -2.53750898e-03 3.04017617e+01] [ 3.15672812e-02 9.99501627e-01 6.74825090e-05 6.27714428e-02] [ 2.53411413e-03 -1.47550920e-04 9.99996778e-01 -2.00170533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.199254153999995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:30.43, Y:0.06, Z:-0.20 [[ 9.99485309e-01 -3.19325144e-02 -3.07109035e-03 3.04335526e+01] [ 3.19329157e-02 9.99490011e-01 8.17093062e-05 6.25368962e-02] [ 3.06691495e-03 -1.79736121e-04 9.99995281e-01 -2.00287204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.229254153999992 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:30.47, Y:0.06, Z:-0.20 [[ 9.99494190e-01 -3.16299802e-02 -3.30274876e-03 3.04665173e+01] [ 3.16304441e-02 9.99499628e-01 8.83173997e-05 6.21355557e-02] [ 3.29830268e-03 -1.92740138e-04 9.99994542e-01 -2.00405102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.259254153999994 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:30.50, Y:0.06, Z:-0.20 [[ 9.99528699e-01 -3.05604403e-02 -2.90512803e-03 3.04997678e+01] [ 3.05607959e-02 9.99532907e-01 7.80950198e-05 6.18082671e-02] [ 2.90138445e-03 -1.66841238e-04 9.99995777e-01 -2.00659408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.289254153999995 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:30.53, Y:0.06, Z:-0.20 [[ 9.99572898e-01 -2.90737242e-02 -2.95625341e-03 3.05319447e+01] [ 2.90740864e-02 9.99577256e-01 7.96217609e-05 6.17593557e-02] [ 2.95268877e-03 -1.65538121e-04 9.99995627e-01 -2.00374619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.319254153999992 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:30.56, Y:0.06, Z:-0.20 [[ 9.99700197e-01 -2.43756048e-02 -2.31207074e-03 3.05648812e+01] [ 2.43758149e-02 9.99702864e-01 6.27428391e-05 6.32019336e-02] [ 2.30985435e-03 -1.19082637e-04 9.99997325e-01 -1.99909678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.349254153999993 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:30.60, Y:0.06, Z:-0.20 [[ 9.99775371e-01 -2.10797217e-02 -2.20298631e-03 3.05977661e+01] [ 2.10799051e-02 9.99777792e-01 6.00511619e-05 6.38615082e-02] [ 2.20123093e-03 -1.06476415e-04 9.99997572e-01 -1.99690049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.379254153999995 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:30.63, Y:0.07, Z:-0.20 [[ 9.99915374e-01 -1.28719098e-02 -1.88653496e-03 3.06286379e+01] [ 1.28720294e-02 9.99917151e-01 5.12969670e-05 6.68365498e-02] [ 1.88571837e-03 -7.55761594e-05 9.99998219e-01 -1.99210301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.409254153999996 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:30.66, Y:0.07, Z:-0.20 [[ 9.99965220e-01 -8.14452848e-03 -1.79602139e-03 3.06606763e+01] [ 8.14462978e-03 9.99966831e-01 4.90967249e-05 6.80238019e-02] [ 1.79556195e-03 -6.37229466e-05 9.99998386e-01 -1.99017132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.439254153999993 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:30.69, Y:0.07, Z:-0.20 [[ 9.99994205e-01 -3.11801811e-03 -1.36679971e-03 3.06923083e+01] [ 3.11807218e-03 9.99995138e-01 3.74310976e-05 6.91249572e-02] [ 1.36667635e-03 -4.16926608e-05 9.99999065e-01 -1.98847090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.469254153999994 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:30.72, Y:0.07, Z:-0.20 [[ 9.99971162e-01 7.44874702e-03 -1.48010465e-03 3.07225477e+01] [-7.44869569e-03 9.99972257e-01 4.01872398e-05 7.21071999e-02] [ 1.48036293e-03 -2.91612318e-05 9.99998904e-01 -1.98972677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.499254153999996 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:30.75, Y:0.07, Z:-0.20 [[ 9.99920951e-01 1.23995524e-02 -2.08398756e-03 3.07505801e+01] [-1.23994662e-02 9.99923122e-01 5.42842312e-05 7.32525789e-02] [ 2.08450045e-03 -2.84396068e-05 9.99997827e-01 -1.99307056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.529254153999993 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:30.78, Y:0.08, Z:-0.20 [[ 9.99755343e-01 2.20029527e-02 -2.26360133e-03 3.07779520e+01] [-2.20028737e-02 9.99757906e-01 5.97873133e-05 7.63239333e-02] [ 2.26436882e-03 -9.96695182e-06 9.99997436e-01 -1.99862522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.559254153999994 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:30.81, Y:0.08, Z:-0.20 [[ 9.99652848e-01 2.62566562e-02 -2.18418993e-03 3.08059032e+01] [-2.62565931e-02 9.99655235e-01 5.75414315e-05 7.73348120e-02] [ 2.18494774e-03 -1.72069657e-07 9.99997613e-01 -1.99725722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.589254153999995 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:30.83, Y:0.08, Z:-0.20 [[ 9.99439250e-01 3.34775286e-02 -6.63774475e-04 3.08332157e+01] [-3.34775251e-02 9.99439470e-01 1.64199727e-05 7.90049946e-02] [ 6.63952110e-04 5.81076143e-06 9.99999780e-01 -2.00068824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.619254153999993 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:30.86, Y:0.08, Z:-0.20 [[ 9.99350705e-01 3.60300431e-02 -6.33295046e-05 3.08610515e+01] [-3.60300431e-02 9.99350707e-01 1.04973321e-06 7.89368626e-02] [ 6.33262071e-05 1.23271316e-06 9.99999998e-01 -2.00270119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.649254153999994 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:30.89, Y:0.08, Z:-0.20 [[ 9.99222563e-01 3.94049207e-02 1.23399895e-03 3.08887104e+01] [-3.94049100e-02 9.99223324e-01 -3.29755758e-05 7.88092449e-02] [-1.23433993e-03 -1.56756780e-05 9.99999238e-01 -2.00515080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.679254153999995 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:30.92, Y:0.08, Z:-0.20 [[ 9.99216600e-01 3.95501185e-02 1.40518383e-03 3.09153844e+01] [-3.95501051e-02 9.99217588e-01 -3.73896747e-05 7.85289264e-02] [-1.40556316e-03 -1.82147844e-05 9.99999012e-01 -2.00248207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.709254153999993 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:30.94, Y:0.08, Z:-0.20 [[ 9.99252647e-01 3.86029325e-02 1.99023181e-03 3.09434336e+01] [-3.86029048e-02 9.99254629e-01 -5.23491684e-05 7.78553490e-02] [-1.99076918e-03 -2.45186842e-05 9.99998018e-01 -2.00349973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.739254153999994 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:30.97, Y:0.08, Z:-0.20 [[ 9.99415256e-01 3.40908915e-02 2.63773058e-03 3.09710485e+01] [-3.40908283e-02 9.99418736e-01 -6.89302939e-05 7.54691650e-02] [-2.63854726e-03 -2.10324330e-05 9.99996519e-01 -2.01098567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.769254153999995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:31.00, Y:0.07, Z:-0.20 [[ 9.99537661e-01 3.02929379e-02 2.60803351e-03 3.09982307e+01] [-3.02928638e-02 9.99541064e-01 -6.79318714e-05 7.34068771e-02] [-2.60889445e-03 -1.11043400e-05 9.99996597e-01 -2.01445808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.799254153999993 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:31.03, Y:0.07, Z:-0.20 [[ 9.99671179e-01 2.54959927e-02 2.73653107e-03 3.10260499e+01] [-2.54958943e-02 9.99674924e-01 -7.08418153e-05 7.11171727e-02] [-2.73744767e-03 1.04821411e-06 9.99996253e-01 -2.02109310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.829254153999994 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:31.05, Y:0.07, Z:-0.20 [[ 9.99893358e-01 1.43887545e-02 2.49720969e-03 3.10534095e+01] [-1.43886386e-02 9.99896476e-01 -6.43653610e-05 6.65104643e-02] [-2.49787731e-03 2.84270491e-05 9.99996880e-01 -2.02850675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.859254153999995 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:31.08, Y:0.06, Z:-0.20 [[ 9.99961856e-01 8.24992527e-03 2.86797709e-03 3.10821788e+01] [-8.24974830e-03 9.99965968e-01 -7.35296266e-05 6.34715214e-02] [-2.86848610e-03 4.98667328e-05 9.99995885e-01 -2.03888605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.889254153999993 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:31.11, Y:0.06, Z:-0.20 [[ 9.99984792e-01 -4.31275947e-03 3.43744211e-03 3.11102254e+01] [ 4.31308658e-03 9.99990695e-01 -8.77555681e-05 5.81832038e-02] [-3.43703166e-03 1.02580219e-04 9.99994088e-01 -2.04661890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.919254153999994 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:31.14, Y:0.06, Z:-0.20 [[ 9.99946685e-01 -9.79986329e-03 3.25417131e-03 3.11430616e+01] [ 9.80018209e-03 9.99951974e-01 -8.20337093e-05 5.51591471e-02] [-3.25321110e-03 1.13920807e-04 9.99994702e-01 -2.04607364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.949254153999995 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:31.18, Y:0.05, Z:-0.20 [[ 9.99882293e-01 -1.49480629e-02 3.45776207e-03 3.11763633e+01] [ 1.49484574e-02 9.99888262e-01 -8.82559761e-05 5.24466950e-02] [-3.45605645e-03 1.39933797e-04 9.99994018e-01 -2.04987633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.979254153999992 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:31.21, Y:0.05, Z:-0.21 [[ 9.99714780e-01 -2.35104242e-02 4.19752706e-03 3.12088984e+01] [ 2.35110875e-02 9.99723570e-01 -1.08750152e-04 4.81344844e-02] [-4.19380997e-03 2.07407560e-04 9.99991184e-01 -2.05182311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.009254153999994 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:31.24, Y:0.05, Z:-0.21 [[ 9.99642290e-01 -2.63726248e-02 4.44701351e-03 3.12413286e+01] [ 2.63734041e-02 9.99652154e-01 -1.16680576e-04 4.55747537e-02] [-4.44238947e-03 2.33921723e-04 9.99990105e-01 -2.05480024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.039254153999995 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:31.27, Y:0.04, Z:-0.21 [[ 9.99522832e-01 -3.03827153e-02 5.56766194e-03 3.12746671e+01] [ 3.03840101e-02 9.99538288e-01 -1.48097550e-04 4.17482959e-02] [-5.56059168e-03 3.17194779e-04 9.99984489e-01 -2.05465473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.069254153999992 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:31.31, Y:0.04, Z:-0.21 [[ 9.99495808e-01 -3.11421342e-02 6.18854468e-03 3.13070175e+01] [ 3.11437532e-02 9.99514902e-01 -1.65399501e-04 3.97060572e-02] [-6.18039173e-03 3.58050616e-04 9.99980837e-01 -2.05446751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.099254153999993 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:31.34, Y:0.04, Z:-0.21 [[ 9.99489678e-01 -3.11868749e-02 6.91104496e-03 3.13396617e+01] [ 3.11889042e-02 9.99513490e-01 -1.86026751e-04 3.73670253e-02] [-6.90188108e-03 4.01479737e-04 9.99976101e-01 -2.05530592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.129254153999995 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:31.37, Y:0.04, Z:-0.21 [[ 9.99519111e-01 -3.01305831e-02 7.32770532e-03 3.13720564e+01] [ 3.01328444e-02 9.99545883e-01 -1.98354433e-04 3.57317327e-02] [-7.31840115e-03 4.19063650e-04 9.99973132e-01 -2.05657399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.159254153999996 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:31.41, Y:0.03, Z:-0.21 [[ 9.99554214e-01 -2.89657227e-02 7.23603897e-03 3.14050279e+01] [ 2.89679100e-02 9.99580323e-01 -1.97630965e-04 3.38908599e-02] [-7.22727764e-03 4.07155790e-04 9.99973800e-01 -2.06409826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.189254153999993 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:31.44, Y:0.03, Z:-0.21 [[ 9.99649723e-01 -2.58268193e-02 5.77985086e-03 3.14382027e+01] [ 2.58281654e-02 9.99666385e-01 -1.58370311e-04 3.17383513e-02] [-5.77383241e-03 3.07597782e-04 9.99983284e-01 -2.07835359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.219254153999994 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:31.47, Y:0.03, Z:-0.21 [[ 9.99700969e-01 -2.40294667e-02 4.53410420e-03 3.14709724e+01] [ 2.40302783e-02 9.99711223e-01 -1.24603143e-04 3.06963407e-02] [-4.52980071e-03 2.33521668e-04 9.99989713e-01 -2.08446382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.249254153999996 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:31.50, Y:0.03, Z:-0.21 [[ 9.99810549e-01 -1.93654598e-02 1.96079591e-03 3.15029629e+01] [ 1.93656025e-02 9.99812468e-01 -5.38080903e-05 3.04784238e-02] [-1.95938618e-03 9.17698904e-05 9.99998076e-01 -2.09407174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.279254153999993 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:31.54, Y:0.03, Z:-0.21 [[ 9.99813053e-01 -1.92357745e-02 1.96079478e-03 3.15364978e+01] [ 1.92359170e-02 9.99814971e-01 -5.38500832e-05 2.94617117e-02] [-1.95939612e-03 9.15577017e-05 9.99998076e-01 -2.09602828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.309254153999994 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:31.57, Y:0.03, Z:-0.21 [[ 9.99861541e-01 -1.66238302e-02 7.39358232e-04 3.15698298e+01] [ 1.66238495e-02 9.99861814e-01 -2.00256004e-05 2.90716340e-02] [-7.38923161e-04 3.23138076e-05 9.99999726e-01 -2.09999016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.339254153999995 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:31.60, Y:0.03, Z:-0.21 [[ 9.99948344e-01 -1.01496599e-02 -5.42370631e-04 3.16015675e+01] [ 1.01496699e-02 9.99948491e-01 1.56308704e-05 3.00105728e-02] [ 5.42184046e-04 -2.11349458e-05 9.99999853e-01 -2.10364317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.369254153999993 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:31.63, Y:0.03, Z:-0.21 [[ 9.99978801e-01 -6.45364941e-03 -8.64925678e-04 3.16341905e+01] [ 6.45367321e-03 9.99979175e-01 2.47342104e-05 3.02906712e-02] [ 8.64748039e-04 -3.03156337e-05 9.99999626e-01 -2.10246051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.399254153999994 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:31.67, Y:0.03, Z:-0.21 [[ 9.99996708e-01 -2.47525864e-03 -6.76740347e-04 3.16660676e+01] [ 2.47527240e-03 9.99996936e-01 1.95026485e-05 3.07646423e-02] [ 6.76690000e-04 -2.11777010e-05 9.99999771e-01 -2.10112747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.429254153999995 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:31.70, Y:0.03, Z:-0.21 [[ 9.99998210e-01 1.81098290e-03 -5.47188472e-04 3.16964270e+01] [-1.81097467e-03 9.99998360e-01 1.55367119e-05 3.13228943e-02] [ 5.47215711e-04 -1.45457396e-05 9.99999850e-01 -2.09723498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.459254153999993 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:31.73, Y:0.03, Z:-0.21 [[ 9.99979569e-01 6.35370555e-03 -7.00934550e-04 3.17257239e+01] [-6.35369342e-03 9.99979815e-01 1.95338577e-05 3.21897484e-02] [ 7.01044514e-04 -1.50799354e-05 9.99999754e-01 -2.09507697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.489254153999994 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:31.75, Y:0.03, Z:-0.21 [[ 9.99873140e-01 1.59278590e-02 8.83458652e-05 3.17534493e+01] [-1.59278587e-02 9.99873144e-01 -4.18608079e-06 3.49661437e-02] [-8.84013333e-05 2.77838929e-06 9.99999996e-01 -2.08809033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.519254153999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:31.78, Y:0.04, Z:-0.21 [[ 9.99662642e-01 2.59298485e-02 1.49818778e-03 3.17814865e+01] [-2.59298132e-02 9.99663765e-01 -4.30277919e-05 3.76132568e-02] [-1.49879974e-03 4.16554681e-06 9.99998877e-01 -2.08222565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.549254153999993 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:31.81, Y:0.04, Z:-0.21 [[ 9.99526094e-01 3.07008744e-02 2.24564993e-03 3.18096879e+01] [-3.07008119e-02 9.99528617e-01 -6.23155996e-05 3.82460920e-02] [-2.24650451e-03 -6.65720815e-06 9.99997477e-01 -2.08130844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.579254153999994 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:31.84, Y:0.04, Z:-0.21 [[ 9.99383077e-01 3.50088238e-02 2.80125557e-03 3.18371769e+01] [-3.50087447e-02 9.99387003e-01 -7.72626994e-05 3.86794031e-02] [-2.80224329e-03 -2.08534069e-05 9.99996073e-01 -2.08380098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.609254153999995 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:31.86, Y:0.04, Z:-0.21 [[ 9.99171540e-01 4.06183539e-02 2.52629158e-03 3.18647106e+01] [-4.06183081e-02 9.99174734e-01 -6.94638053e-05 3.97407671e-02] [-2.52702822e-03 -3.32074323e-05 9.99996807e-01 -2.08126030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.639254153999993 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:31.89, Y:0.04, Z:-0.21 [[ 9.99121084e-01 4.18589829e-02 2.21031577e-03 3.18922933e+01] [-4.18589512e-02 9.99123528e-01 -6.06144775e-05 3.93590702e-02] [-2.21091575e-03 -3.19602974e-05 9.99997555e-01 -2.08027515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.669254153999994 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:31.92, Y:0.04, Z:-0.21 [[ 9.99116417e-01 4.19718600e-02 2.17925078e-03 3.19204469e+01] [-4.19718299e-02 9.99118793e-01 -5.95337887e-05 3.84397587e-02] [-2.17982915e-03 -3.19859574e-05 9.99997624e-01 -2.08499533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.699254153999995 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:31.95, Y:0.04, Z:-0.21 [[ 9.99210913e-01 3.96900070e-02 1.50174946e-03 3.19475744e+01] [-3.96899899e-02 9.99212041e-01 -4.11331529e-05 3.59874777e-02] [-1.50219872e-03 -1.85037259e-05 9.99998872e-01 -2.09338017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.729254153999992 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:31.97, Y:0.03, Z:-0.21 [[ 9.99308054e-01 3.71777138e-02 1.10939774e-03 3.19742157e+01] [-3.71777029e-02 9.99308670e-01 -3.04330103e-05 3.41063902e-02] [-1.10976221e-03 -1.08329075e-05 9.99999384e-01 -2.09813140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.759254153999994 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:32.00, Y:0.03, Z:-0.21 [[ 9.99303655e-01 3.72298785e-02 2.47808743e-03 3.20044601e+01] [-3.72246482e-02 9.99304665e-01 -2.12430960e-03 3.08998272e-02] [-2.55545212e-03 2.03058442e-03 9.99994673e-01 -2.10576850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.789254153999995 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:32.03, Y:0.03, Z:-0.21 [[ 9.99591568e-01 2.85765916e-02 2.75866564e-04 3.20293785e+01] [-2.85770953e-02 9.99589514e-01 2.03799759e-03 2.84022936e-02] [-2.17514300e-04 -2.04504868e-03 9.99997885e-01 -2.10684888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.819254153999992 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:32.06, Y:0.03, Z:-0.21 [[ 9.99676585e-01 2.54305862e-02 -1.02595329e-04 3.20558757e+01] [-2.54305862e-02 9.99676590e-01 1.70932287e-06 2.76688397e-02] [ 1.02605617e-04 9.00289288e-07 9.99999995e-01 -2.10047818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.849254153999993 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:32.08, Y:0.02, Z:-0.21 [[ 9.99798742e-01 2.00617330e-02 -4.71252798e-05 3.20833151e+01] [-2.00617330e-02 9.99798743e-01 5.99615741e-07 2.39216859e-02] [ 4.71278248e-05 3.45919715e-07 9.99999999e-01 -2.10332804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.879254153999995 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:32.11, Y:0.02, Z:-0.21 [[ 9.99844316e-01 1.76444358e-02 1.35657452e-04 3.21109271e+01] [-1.76444354e-02 9.99844325e-01 -4.16425183e-06 2.18128981e-02] [-1.35709810e-04 1.77000437e-06 9.99999991e-01 -2.10489241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.909254153999992 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:32.14, Y:0.02, Z:-0.21 [[ 9.99878488e-01 1.55826763e-02 4.34655849e-04 3.21388966e+01] [-1.55826727e-02 9.99878583e-01 -1.17768984e-05 1.95388779e-02] [-4.34786590e-04 5.00236759e-06 9.99999905e-01 -2.10404439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.939254153999993 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:32.17, Y:0.02, Z:-0.21 [[ 9.99929960e-01 1.18104423e-02 7.67068177e-04 3.21671519e+01] [-1.18104303e-02 9.99930254e-01 -2.02176244e-05 1.59339059e-02] [-7.67253456e-04 1.11568031e-05 9.99999706e-01 -2.09757347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.969254153999994 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:32.20, Y:0.01, Z:-0.21 [[ 9.99948167e-01 1.01365714e-02 9.55905715e-04 3.21959612e+01] [-1.01365521e-02 9.99948624e-01 -2.50197070e-05 1.36232622e-02] [-9.56110218e-04 1.53288221e-05 9.99999543e-01 -2.09702725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.999254153999996 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:32.22, Y:0.01, Z:-0.21 [[ 9.99956789e-01 9.11170257e-03 -1.84328709e-03 3.22236354e+01] [-9.13077657e-03 9.99901933e-01 -1.06185319e-02 1.40974622e-02] [ 1.74635342e-03 1.06349037e-02 9.99941923e-01 -2.06732092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.029254154 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:32.25, Y:0.00, Z:-0.21 [[ 9.99976189e-01 6.81299041e-03 1.09774314e-03 3.22543248e+01] [-6.82417542e-03 9.99921275e-01 1.05296673e-02 1.16985467e-03] [-1.02591819e-03 -1.05369078e-02 9.99943959e-01 -2.14094609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.059254153999994 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:32.28, Y:0.00, Z:-0.21 [[ 9.99979771e-01 6.32036779e-03 7.13907044e-04 3.22831977e+01] [-6.32035611e-03 9.99980026e-01 -1.86146706e-05 3.50347598e-03] [-7.14010436e-04 1.41021473e-05 9.99999745e-01 -2.11435413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.089254153999995 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:32.31, Y:-0.00, Z:-0.21 [[ 9.99977239e-01 6.73651485e-03 -3.75281705e-04 3.23123278e+01] [-6.73651187e-03 9.99977309e-01 9.19760020e-06 -4.67113893e-04] [ 3.75335150e-04 -6.66930119e-06 9.99999930e-01 -2.12382886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.119254154 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:32.34, Y:-0.00, Z:-0.21 [[ 9.99974589e-01 7.04146060e-03 -1.11329667e-03 3.23406755e+01] [-7.04143382e-03 9.99975208e-01 2.79769568e-05 -2.03701103e-03] [ 1.11346607e-03 -2.01370411e-05 9.99999380e-01 -2.12642586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.149254154 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:32.37, Y:-0.00, Z:-0.21 [[ 9.99960037e-01 8.56318284e-03 -2.56835988e-03 3.23684922e+01] [-8.56304477e-03 9.99963334e-01 6.47513761e-05 -3.88860726e-03] [ 2.56882019e-03 -4.27558078e-05 9.99996700e-01 -2.12811908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.179254154 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:32.40, Y:-0.00, Z:-0.21 [[ 9.99949409e-01 9.69799534e-03 -2.66984894e-03 3.23974366e+01] [-9.69785036e-03 9.99952972e-01 6.72441735e-05 -4.90443782e-03] [ 2.67037552e-03 -4.13489760e-05 9.99996434e-01 -2.13240295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.209254154 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:32.43, Y:-0.01, Z:-0.21 [[ 9.99929278e-01 1.11864941e-02 -4.03738794e-03 3.24257180e+01] [-1.11861756e-02 9.99937428e-01 1.01441176e-04 -5.63586272e-03] [ 4.03827008e-03 -5.62710715e-05 9.99991845e-01 -2.13114223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.239254153999994 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:32.45, Y:-0.01, Z:-0.21 [[ 9.99927160e-01 1.13397936e-02 -4.13334917e-03 3.24532183e+01] [-1.13394626e-02 9.99935701e-01 1.03508302e-04 -6.24826421e-03] [ 4.13425716e-03 -5.66308045e-05 9.99991452e-01 -2.13224980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.269254153999995 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:32.48, Y:-0.01, Z:-0.21 [[ 9.99928783e-01 1.09954746e-02 -4.63993208e-03 3.24809327e+01] [-1.09950565e-02 9.99939546e-01 1.15602876e-04 -7.06477033e-03] [ 4.64092269e-03 -6.45783277e-05 9.99989229e-01 -2.13520108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.299254153999996 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:32.51, Y:-0.01, Z:-0.21 [[ 9.99951452e-01 8.53274638e-03 -4.92814794e-03 3.25092418e+01] [-8.53224732e-03 9.99963592e-01 1.22282142e-04 -8.07826084e-03] [ 4.92901192e-03 -8.02280282e-05 9.99987849e-01 -2.13696036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.329254154 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:32.54, Y:-0.01, Z:-0.21 [[ 9.99962688e-01 6.78561589e-03 -5.34584106e-03 3.25382076e+01] [-6.78500436e-03 9.99976973e-01 1.32522388e-04 -9.16712221e-03] [ 5.34661721e-03 -9.62458881e-05 9.99985702e-01 -2.13791374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.359254154 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:32.57, Y:-0.01, Z:-0.21 [[ 9.99972491e-01 4.67852250e-03 -5.75580916e-03 3.25659970e+01] [-4.67778208e-03 9.99989049e-01 1.42094002e-04 -9.91121248e-03] [ 5.75641092e-03 -1.15165672e-04 9.99983425e-01 -2.14422786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.389254154 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:32.59, Y:-0.01, Z:-0.22 [[ 9.99974047e-01 9.29410260e-04 -7.14436014e-03 3.25948147e+01] [-9.28175985e-04 9.99999554e-01 1.76075725e-04 -1.04974065e-02] [ 7.14452059e-03 -1.69439932e-04 9.99974463e-01 -2.15019303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.419254154 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:32.62, Y:-0.01, Z:-0.22 [[ 9.99971228e-01 -8.60071261e-04 -7.53685060e-03 3.26229520e+01] [ 8.61489924e-04 9.99999612e-01 1.84985706e-04 -1.05677972e-02] [ 7.53668858e-03 -1.91473304e-04 9.99971580e-01 -2.15189396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.449254153999995 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:32.65, Y:-0.01, Z:-0.22 [[ 9.99965210e-01 -3.61084469e-03 -7.51941108e-03 3.26510221e+01] [ 3.61232945e-03 9.99993459e-01 1.83885504e-04 -9.83022189e-03] [ 7.51869791e-03 -2.11041696e-04 9.99971712e-01 -2.15053307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.479254153999996 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:32.68, Y:-0.01, Z:-0.21 [[ 9.99962065e-01 -5.14117539e-03 -7.03106657e-03 3.26800601e+01] [ 5.14250842e-03 9.99986763e-01 1.71524754e-04 -1.00590265e-02] [ 7.03009166e-03 -2.07675567e-04 9.99975267e-01 -2.14836031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.509254154 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:32.71, Y:-0.01, Z:-0.21 [[ 9.99959314e-01 -6.55411258e-03 -6.19790286e-03 3.27092065e+01] [ 6.55517234e-03 9.99978503e-01 1.50688604e-04 -1.04702434e-02] [ 6.19678200e-03 -1.91310795e-04 9.99980781e-01 -2.14985268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.539254154 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:32.74, Y:-0.01, Z:-0.21 [[ 9.99943712e-01 -9.57384984e-03 -4.57320209e-03 3.27390091e+01] [ 9.57445892e-03 9.99954158e-01 1.11308755e-04 -1.07081352e-02] [ 4.57192679e-03 -1.55088425e-04 9.99989537e-01 -2.14726687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.569254154 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:32.77, Y:-0.01, Z:-0.21 [[ 9.99931155e-01 -1.09485178e-02 -4.22075670e-03 3.27707839e+01] [ 1.09490508e-02 9.99940052e-01 1.03187812e-04 -1.11911536e-02] [ 4.21937392e-03 -1.49393988e-04 9.99991087e-01 -2.14907477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.599254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:32.80, Y:-0.01, Z:-0.22 [[ 9.99922601e-01 -1.18394689e-02 -3.82356818e-03 3.28034161e+01] [ 1.18399147e-02 9.99929901e-01 9.39843485e-05 -1.16244148e-02] [ 3.82218743e-03 -1.39247795e-04 9.99992686e-01 -2.15135644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.629254153999995 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:32.84, Y:-0.01, Z:-0.22 [[ 9.99913732e-01 -1.27374900e-02 -3.20707658e-03 3.28352350e+01] [ 1.27378092e-02 9.99918868e-01 7.91403512e-05 -1.11858285e-02] [ 3.20580833e-03 -1.19984654e-04 9.99994854e-01 -2.15551318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.659254153999996 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:32.87, Y:-0.01, Z:-0.22 [[ 9.99914488e-01 -1.26896925e-02 -3.16057555e-03 3.28674847e+01] [ 1.26900031e-02 9.99919476e-01 7.82288710e-05 -1.14112922e-02] [ 3.15932835e-03 -1.18329895e-04 9.99995002e-01 -2.15841862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.689254154 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:32.90, Y:-0.01, Z:-0.22 [[ 9.99932157e-01 -1.13328341e-02 -2.69226186e-03 3.28997133e+01] [ 1.13330552e-02 9.99935777e-01 6.68946047e-05 -1.02011604e-02] [ 2.69133085e-03 -9.74016187e-05 9.99996374e-01 -2.16423737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.719254154 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:32.93, Y:-0.01, Z:-0.22 [[ 9.99945873e-01 -1.00936967e-02 -2.52338233e-03 3.29323720e+01] [ 1.00938875e-02 9.99949053e-01 6.29053228e-05 -9.54167594e-03] [ 2.52261883e-03 -8.83726555e-05 9.99996814e-01 -2.16265706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.749254154 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:32.96, Y:-0.01, Z:-0.22 [[ 9.99959820e-01 -8.63263047e-03 -2.41588878e-03 3.29642616e+01] [ 8.63280160e-03 9.99962735e-01 6.04186179e-05 -8.66288659e-03] [ 2.41527718e-03 -8.12720788e-05 9.99997080e-01 -2.16347198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.779254154 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:32.99, Y:-0.00, Z:-0.21 [[ 9.99975312e-01 -3.17711911e-03 -6.26743525e-03 3.29942200e+01] [ 3.12035456e-03 9.99954214e-01 -9.04614377e-03 -1.79144736e-03] [ 6.29588897e-03 9.02636382e-03 9.99939441e-01 -2.12640697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.809254153999994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:33.02, Y:-0.01, Z:-0.22 [[ 9.99990351e-01 -2.81621332e-03 -3.37154390e-03 3.30248468e+01] [ 2.84725190e-03 9.99953285e-01 9.23691324e-03 -8.71797479e-03] [ 3.34537328e-03 -9.24642375e-03 9.99951655e-01 -2.19746580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.839254153999995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:33.05, Y:-0.00, Z:-0.22 [[ 9.99989819e-01 2.02000157e-03 -4.03498411e-03 3.30543685e+01] [-2.01961551e-03 9.99997956e-01 9.97515256e-05 -1.01403654e-03] [ 4.03517736e-03 -9.16013936e-05 9.99991854e-01 -2.16994963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.869254154 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:33.08, Y:0.00, Z:-0.22 [[ 9.99983704e-01 4.23986113e-03 -3.82311066e-03 3.30822328e+01] [-4.23954088e-03 9.99991009e-01 9.18663019e-05 6.17574625e-04] [ 3.82346579e-03 -7.56565708e-05 9.99992688e-01 -2.17529731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.899254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:33.11, Y:0.00, Z:-0.22 [[ 9.99969528e-01 6.67082794e-03 -4.05489781e-03 3.31095420e+01] [-6.67048544e-03 9.99977747e-01 9.79855796e-05 2.39933729e-03] [ 4.05546122e-03 -7.09344571e-05 9.99991774e-01 -2.17121557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.929254154 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:33.14, Y:0.00, Z:-0.22 [[ 9.99952015e-01 9.05603942e-03 -3.73575241e-03 3.31364375e+01] [-9.05576718e-03 9.99958992e-01 8.97838268e-05 4.46686165e-03] [ 3.73641230e-03 -5.59494144e-05 9.99993018e-01 -2.17241985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.959254154 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:33.16, Y:0.01, Z:-0.22 [[ 9.99904639e-01 1.33163478e-02 -3.65890209e-03 3.31642094e+01] [-1.33161226e-02 9.99911333e-01 8.58861253e-05 8.63353280e-03] [ 3.65972135e-03 -3.71555463e-05 9.99993303e-01 -2.17018953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.989254153999994 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:33.19, Y:0.01, Z:-0.22 [[ 9.99878944e-01 1.52108484e-02 -3.27534496e-03 3.31924354e+01] [-1.52106765e-02 9.99884308e-01 7.74059643e-05 9.99625222e-03] [ 3.27614344e-03 -2.75763814e-05 9.99994633e-01 -2.17444779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.019254153999995 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:33.22, Y:0.01, Z:-0.22 [[ 9.99854247e-01 1.68349002e-02 -2.84076775e-03 3.32200133e+01] [-1.68347785e-02 9.99858283e-01 6.67473064e-05 1.13179969e-02] [ 2.84148885e-03 -1.89138820e-05 9.99995963e-01 -2.17286485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.049254153999996 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:33.25, Y:0.01, Z:-0.22 [[ 9.99813829e-01 1.92786121e-02 -8.01841857e-04 3.32470821e+01] [-1.92786039e-02 9.99814150e-01 1.79082310e-05 1.42662695e-02] [ 8.02038080e-04 -2.44650546e-06 9.99999678e-01 -2.16987930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.079254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:33.27, Y:0.02, Z:-0.22 [[ 9.99803164e-01 1.98401250e-02 -5.83935919e-05 3.32746555e+01] [-1.98401250e-02 9.99803165e-01 7.57801593e-07 1.52434751e-02] [ 5.83971329e-05 4.00883734e-07 9.99999998e-01 -2.16508064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.109254154 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:33.30, Y:0.02, Z:-0.22 [[ 9.99795807e-01 2.01692565e-02 1.24334147e-03 3.33031657e+01] [-2.01692353e-02 9.99796580e-01 -2.96274508e-05 1.72452847e-02] [-1.24368611e-03 4.54415450e-06 9.99999227e-01 -2.15833368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.139254154 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:33.33, Y:0.02, Z:-0.22 [[ 9.99806795e-01 1.96224554e-02 1.15440818e-03 3.33313516e+01] [-1.96224368e-02 9.99807461e-01 -2.74239142e-05 1.79320330e-02] [-1.15472404e-03 4.76631411e-06 9.99999333e-01 -2.15356505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.169254153999994 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:33.36, Y:0.02, Z:-0.22 [[ 9.99808537e-01 1.95334788e-02 1.15441296e-03 3.33598083e+01] [-1.95334604e-02 9.99809203e-01 -2.72189404e-05 1.73631166e-02] [-1.15472438e-03 4.66404915e-06 9.99999333e-01 -2.15520170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.199254153999995 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:33.39, Y:0.02, Z:-0.22 [[ 9.99844779e-01 1.75833226e-02 1.11602382e-03 3.33876813e+01] [-1.75833042e-02 9.99845401e-01 -2.63104892e-05 1.81721152e-02] [-1.11631391e-03 6.68301891e-06 9.99999377e-01 -2.15865987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.229254153999996 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:33.42, Y:0.02, Z:-0.22 [[ 9.99872210e-01 1.59596531e-02 9.23123566e-04 3.34155992e+01] [-1.59596399e-02 9.99872637e-01 -2.16822306e-05 1.77302323e-02] [-9.23352035e-04 6.94674014e-06 9.99999574e-01 -2.16413549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.259254154 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:33.44, Y:0.02, Z:-0.22 [[ 9.99917218e-01 1.28503233e-02 6.52271950e-04 3.34439104e+01] [-1.28503160e-02 9.99917431e-01 -1.53233650e-05 1.68850720e-02] [-6.52415003e-04 6.94019579e-06 9.99999787e-01 -2.17276936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.289254154 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:33.47, Y:0.02, Z:-0.22 [[ 9.99939604e-01 1.09881158e-02 2.24907694e-04 3.34728254e+01] [-1.09881148e-02 9.99939629e-01 -5.53705366e-06 1.61033645e-02] [-2.24954958e-04 3.06540768e-06 9.99999975e-01 -2.17561771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.319254154 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:33.50, Y:0.02, Z:-0.22 [[ 9.99957117e-01 9.26082908e-03 2.63114605e-05 3.35004616e+01] [-9.26082905e-03 9.99957118e-01 -1.10547871e-06 1.52580972e-02] [-2.63205699e-05 8.61765370e-07 1.00000000e+00 -2.17783111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.349254154 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:33.53, Y:0.01, Z:-0.22 [[ 9.99977146e-01 6.75692503e-03 2.25820356e-04 3.35296349e+01] [-6.75692396e-03 9.99977172e-01 -5.52830842e-06 1.39839895e-02] [-2.25852555e-04 4.00233110e-06 9.99999974e-01 -2.17960705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.379254153999995 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:33.56, Y:0.01, Z:-0.22 [[ 9.99981910e-01 6.00104781e-03 4.09820688e-04 3.35572088e+01] [-6.00104430e-03 9.99981994e-01 -9.80995667e-06 1.31671697e-02] [-4.09872178e-04 7.35042710e-06 9.99999916e-01 -2.17763369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.409254153999996 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:33.58, Y:0.01, Z:-0.22 [[ 9.99984449e-01 5.55384171e-03 5.05609084e-04 3.35849885e+01] [-5.55383642e-03 9.99984577e-01 -1.18612503e-05 1.24388973e-02] [-5.05667161e-04 9.05299575e-06 9.99999872e-01 -2.17728267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.439254154 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:33.61, Y:0.01, Z:-0.22 [[ 9.99979467e-01 6.40666605e-03 1.40595883e-04 3.36135026e+01] [-6.40666561e-03 9.99979477e-01 -3.56813902e-06 1.14990374e-02] [-1.40615858e-04 2.66731494e-06 9.99999990e-01 -2.17263688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.469254154 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:33.64, Y:0.01, Z:-0.22 [[ 9.99972531e-01 7.41154471e-03 7.62839719e-05 3.36411457e+01] [-7.41154456e-03 9.99972534e-01 -2.22346530e-06 1.08845563e-02] [-7.62983560e-05 1.65802217e-06 9.99999997e-01 -2.17158907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.499254154 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:33.67, Y:0.01, Z:-0.22 [[ 9.99942702e-01 1.06689187e-02 8.75625084e-04 3.36689448e+01] [-1.06689045e-02 9.99943085e-01 -2.09249640e-05 9.99480478e-03] [-8.75798495e-04 1.15818047e-05 9.99999616e-01 -2.16495526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.529254154 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:33.70, Y:0.01, Z:-0.22 [[ 9.99914749e-01 1.29722263e-02 1.48866975e-03 3.36970101e+01] [-1.29721912e-02 9.99915857e-01 -3.32083704e-05 8.76090222e-03] [-1.48897527e-03 1.38942307e-05 9.99998891e-01 -2.16534049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.559254153999994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:33.72, Y:0.01, Z:-0.22 [[ 9.99879050e-01 1.54033347e-02 2.14996828e-03 3.37243036e+01] [-1.54032684e-02 9.99881362e-01 -4.73773911e-05 7.45300433e-03] [-2.15044298e-03 1.42551224e-05 9.99997688e-01 -2.16915426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.589254153999995 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:33.75, Y:0.01, Z:-0.22 [[ 9.99833252e-01 1.80456383e-02 2.79690576e-03 3.37522775e+01] [-1.80455375e-02 9.99837164e-01 -6.12750272e-05 6.20057394e-03] [-2.79755607e-03 1.07931421e-05 9.99996087e-01 -2.16798723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.619254154 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:33.78, Y:0.00, Z:-0.22 [[ 9.99748014e-01 2.22598087e-02 2.89992107e-03 3.37803345e+01] [-2.22597190e-02 9.99752220e-01 -6.32076393e-05 4.97309685e-03] [-2.90060952e-03 -1.35971618e-06 9.99995793e-01 -2.16751945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.649254154 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:33.81, Y:0.00, Z:-0.22 [[ 9.99714039e-01 2.37823869e-02 2.49781032e-03 3.38069926e+01] [-2.37823254e-02 9.99717159e-01 -5.43102067e-05 4.05229785e-03] [-2.49839546e-03 -5.10906184e-06 9.99996879e-01 -2.16727484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.679254154 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:33.83, Y:0.00, Z:-0.22 [[ 9.99676332e-01 2.54211891e-02 9.96785332e-04 3.38348321e+01] [-2.54211799e-02 9.99676829e-01 -2.19049923e-05 1.87504298e-03] [-9.97020051e-04 -3.44155694e-06 9.99999503e-01 -2.17094515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.709254154 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:33.86, Y:0.00, Z:-0.22 [[ 9.99691682e-01 2.48284150e-02 2.99975169e-04 3.38622141e+01] [-2.48284140e-02 9.99691727e-01 -7.09834661e-06 5.29478257e-04] [-3.00058935e-04 -3.51749622e-07 9.99999955e-01 -2.17757860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.739254153999994 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:33.89, Y:-0.00, Z:-0.22 [[ 9.99719360e-01 2.36830995e-02 -5.59469988e-04 3.38887497e+01] [-2.36830970e-02 9.99719516e-01 1.10831569e-05 -1.08406313e-03] [ 5.59575549e-04 2.16993548e-06 9.99999843e-01 -2.18091523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.769254153999995 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:33.92, Y:-0.00, Z:-0.22 [[ 9.99805406e-01 1.96434628e-02 -1.81258562e-03 3.39164804e+01] [-1.96434273e-02 9.99807049e-01 3.73853345e-05 -3.74677688e-03] [ 1.81297026e-03 -1.77266571e-06 9.99998357e-01 -2.18330364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.799254153999996 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:33.94, Y:-0.01, Z:-0.22 [[ 9.99855965e-01 1.68508787e-02 -2.02437555e-03 3.39434913e+01] [-1.68508293e-02 9.99858014e-01 4.14687695e-05 -5.40335576e-03] [ 2.02478690e-03 -7.35038967e-06 9.99997950e-01 -2.18414222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.829254154 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:33.97, Y:-0.01, Z:-0.22 [[ 9.99902740e-01 1.37797845e-02 -2.15136423e-03 3.39716473e+01] [-1.37797217e-02 9.99905054e-01 4.39905035e-05 -6.97866861e-03] [ 2.15176614e-03 -1.43410246e-05 9.99997685e-01 -2.18052197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.859254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:34.00, Y:-0.01, Z:-0.22 [[ 9.99939859e-01 1.08358504e-02 -1.69177842e-03 3.39998003e+01] [-1.08358080e-02 9.99941290e-01 3.42573511e-05 -8.92891848e-03] [ 1.69205031e-03 -1.59235048e-05 9.99998568e-01 -2.18361899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.889254154 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:34.03, Y:-0.01, Z:-0.22 [[ 9.99990314e-01 4.14638807e-03 -1.47620803e-03 3.40277767e+01] [-4.14634870e-03 9.99991403e-01 2.97312298e-05 -1.20325000e-02] [ 1.47631862e-03 -2.36100685e-05 9.99998910e-01 -2.18567699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.919254153999994 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:34.06, Y:-0.01, Z:-0.22 [[ 9.99998874e-01 6.86496705e-04 -1.33472227e-03 3.40562897e+01] [-6.86461439e-04 9.99999764e-01 2.68802961e-05 -1.38998701e-02] [ 1.33474041e-03 -2.59640305e-05 9.99999109e-01 -2.18852471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.949254153999995 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:34.09, Y:-0.02, Z:-0.22 [[ 9.99975944e-01 -6.91689631e-03 -5.17582497e-04 3.40854374e+01] [ 6.91690265e-03 9.99976078e-01 1.04729629e-05 -1.73172283e-02] [ 5.17497675e-04 -1.40527787e-05 9.99999866e-01 -2.18989336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.979254153999996 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:34.12, Y:-0.02, Z:-0.22 [[ 9.99940393e-01 -1.09146402e-02 -2.83797153e-04 3.41175572e+01] [ 1.09146426e-02 9.99940433e-01 6.88979889e-06 -1.95793015e-02] [ 2.83705048e-04 -9.98693269e-06 9.99999960e-01 -2.18762169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.009254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:34.15, Y:-0.02, Z:-0.22 [[ 9.99813088e-01 -1.93306081e-02 3.42611743e-04 3.41496206e+01] [ 1.93306113e-02 9.99813146e-01 -6.09485262e-06 -2.35052425e-02] [-3.42429907e-04 1.27166078e-05 9.99999941e-01 -2.18838046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.039254154 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:34.18, Y:-0.03, Z:-0.22 [[ 9.99728798e-01 -2.32837007e-02 4.46744414e-04 3.41827269e+01] [ 2.32837069e-02 9.99728898e-01 -8.72361158e-06 -2.59619042e-02] [-4.46420182e-04 1.91231117e-05 9.99999900e-01 -2.18893455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.069254154 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:34.21, Y:-0.03, Z:-0.22 [[ 9.99631439e-01 -2.71474457e-02 -4.47641777e-05 3.42149222e+01] [ 2.71473447e-02 9.99630259e-01 -1.53880892e-03 -2.71071718e-02] [ 8.65223581e-05 1.53702655e-03 9.99998815e-01 -2.18219480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.099254154 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:34.25, Y:-0.03, Z:-0.22 [[ 9.99539385e-01 -3.03472719e-02 2.44980595e-04 3.42467673e+01] [ 3.03468580e-02 9.99538232e-01 1.54598188e-03 -3.10979362e-02] [-2.91783803e-04 -1.53783539e-03 9.99998775e-01 -2.19294967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.129254153999995 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:34.28, Y:-0.03, Z:-0.22 [[ 9.99342139e-01 -3.62669272e-02 -1.12956894e-05 3.42788320e+01] [ 3.62669273e-02 9.99342139e-01 7.47685673e-07 -3.40377625e-02] [ 1.12611421e-05 -1.15685375e-06 1.00000000e+00 -2.19592718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.159254153999996 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:34.31, Y:-0.04, Z:-0.22 [[ 9.99274674e-01 -3.80762920e-02 -5.67761533e-04 3.43107749e+01] [ 3.80763057e-02 9.99274834e-01 1.32349455e-05 -3.62332118e-02] [ 5.66845874e-04 -3.48436075e-05 9.99999839e-01 -2.19548086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.189254154 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:34.34, Y:-0.04, Z:-0.22 [[ 9.99216182e-01 -3.95609293e-02 -1.39829408e-03 3.43439294e+01] [ 3.95610111e-02 9.99217156e-01 3.08757491e-05 -3.82838234e-02] [ 1.39597796e-03 -8.61694756e-05 9.99999022e-01 -2.19873499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.219254154 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:34.38, Y:-0.04, Z:-0.22 [[ 9.99166441e-01 -4.06975887e-02 -3.18252577e-03 3.43774242e+01] [ 4.06980169e-02 9.99171490e-01 6.98731015e-05 -4.05726929e-02] [ 3.17704535e-03 -1.99337346e-04 9.99994933e-01 -2.20865077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.249254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:34.41, Y:-0.04, Z:-0.22 [[ 9.99173534e-01 -4.04065892e-02 -4.42233450e-03 3.44095603e+01] [ 4.04074133e-02 9.99183282e-01 9.71408681e-05 -4.14360382e-02] [ 4.41479757e-03 -2.75755682e-04 9.99990217e-01 -2.21240603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.279254154 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:34.44, Y:-0.04, Z:-0.22 [[ 9.99264586e-01 -3.79677822e-02 -5.36045001e-03 3.44430653e+01] [ 3.79689614e-02 9.99278912e-01 1.18353975e-04 -4.11659454e-02] [ 5.35209102e-03 -3.21797656e-04 9.99985626e-01 -2.21451167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.309254153999994 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:34.47, Y:-0.04, Z:-0.22 [[ 9.99351356e-01 -3.56019298e-02 -5.41932851e-03 3.44746708e+01] [ 3.56031025e-02 9.99366001e-01 1.20030949e-04 -4.10262946e-02] [ 5.41161933e-03 -3.12898000e-04 9.99985308e-01 -2.21437547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.339254153999995 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:34.51, Y:-0.04, Z:-0.22 [[ 9.99444052e-01 -3.29133816e-02 -5.31939625e-03 3.45075923e+01] [ 3.29144771e-02 9.99458165e-01 1.18502549e-04 -4.05636195e-02] [ 5.31261370e-03 -2.93521814e-04 9.99985845e-01 -2.21129219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.369254154 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:34.54, Y:-0.04, Z:-0.22 [[ 9.99627275e-01 -2.69410070e-02 -4.41516558e-03 3.45398004e+01] [ 2.69417054e-02 9.99637001e-01 9.87539910e-05 -3.74278329e-02] [ 4.41090235e-03 -2.17669273e-04 9.99990248e-01 -2.20073634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.399254154 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:34.57, Y:-0.04, Z:-0.22 [[ 9.99711156e-01 -2.37816935e-02 -3.46916106e-03 3.45732835e+01] [ 2.37821077e-02 9.99717163e-01 7.81758529e-05 -3.60225998e-02] [ 3.46632069e-03 -1.60657234e-04 9.99993979e-01 -2.19421110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.429254154 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:34.61, Y:-0.03, Z:-0.22 [[ 9.99780903e-01 -2.07832248e-02 -2.49086257e-03 3.46060072e+01] [ 2.07834294e-02 9.99784000e-01 5.62720289e-05 -3.48080451e-02] [ 2.48915503e-03 -1.08028366e-04 9.99996896e-01 -2.18871562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.459254154 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:34.64, Y:-0.03, Z:-0.22 [[ 9.99871061e-01 -1.60349274e-02 -8.61110958e-04 3.46377718e+01] [ 1.60349504e-02 9.99871432e-01 1.98007979e-05 -3.28113742e-02] [ 8.60682742e-04 -3.36061163e-05 9.99999629e-01 -2.18452294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.489254153999994 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:34.67, Y:-0.03, Z:-0.22 [[ 9.99901984e-01 -1.39909979e-02 -5.23511554e-04 3.46701773e+01] [ 1.39910062e-02 9.99902121e-01 1.22399921e-05 -3.27704011e-02] [ 5.23289063e-04 -1.95632458e-05 9.99999863e-01 -2.18742137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.519254153999995 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:34.70, Y:-0.03, Z:-0.22 [[ 9.99947455e-01 -1.02287287e-02 -6.77762896e-04 3.47018883e+01] [ 1.02287418e-02 9.99947685e-01 1.57718724e-05 -3.28642515e-02] [ 6.77566113e-04 -2.27037054e-05 9.99999770e-01 -2.19583698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.549254153999996 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:34.73, Y:-0.03, Z:-0.22 [[ 9.99963692e-01 -8.43798394e-03 -1.18923298e-03 3.47339720e+01] [ 8.43802255e-03 9.99964399e-01 2.74484702e-05 -3.33400296e-02] [ 1.18895903e-03 -3.74822483e-05 9.99999292e-01 -2.20124708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.579254154 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:34.77, Y:-0.03, Z:-0.22 [[ 9.99975396e-01 -6.69532499e-03 -2.09285120e-03 3.47657115e+01] [ 6.69544039e-03 9.99977584e-01 4.81344151e-05 -3.36726973e-02] [ 2.09248201e-03 -6.21457913e-05 9.99997809e-01 -2.20419334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.609254154 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:34.80, Y:-0.03, Z:-0.22 [[ 9.99985867e-01 -4.52360204e-03 -2.79318966e-03 3.47971826e+01] [ 4.52379885e-03 9.99989766e-01 6.41456826e-05 -3.41091766e-02] [ 2.79287090e-03 -7.67806042e-05 9.99996097e-01 -2.20768910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.639254154 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:34.83, Y:-0.03, Z:-0.22 [[ 9.99991766e-01 1.18558462e-03 -3.88097680e-03 3.48276804e+01] [-1.18524867e-03 9.99999294e-01 8.88621576e-05 -3.37753317e-02] [ 3.88107941e-03 -8.42615034e-05 9.99992465e-01 -2.20729131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.669254153999994 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:34.86, Y:-0.03, Z:-0.22 [[ 9.99981461e-01 4.53403051e-03 -4.06457023e-03 3.48567113e+01] [-4.53370014e-03 9.99989719e-01 9.04906271e-05 -3.38086396e-02] [ 4.06493872e-03 -7.20614069e-05 9.99991736e-01 -2.20581241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.699254153999995 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:34.88, Y:-0.03, Z:-0.22 [[ 9.99917289e-01 1.22365708e-02 -3.96009851e-03 3.48843757e+01] [-1.22363231e-02 9.99925130e-01 8.67657617e-05 -3.38667831e-02] [ 3.96086374e-03 -3.83015401e-05 9.99992155e-01 -2.20273257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.729254153999996 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:34.91, Y:-0.03, Z:-0.22 [[ 9.99833629e-01 1.75458524e-02 -4.98562968e-03 3.49101602e+01] [-1.75670849e-02 9.99836665e-01 -4.24735256e-03 -3.24645318e-02] [ 4.91029193e-03 4.33422890e-03 9.99978552e-01 -2.18644058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.759254154 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:34.94, Y:-0.04, Z:-0.22 [[ 9.99683889e-01 2.49321958e-02 -3.24163744e-03 3.49399855e+01] [-2.49185192e-02 9.99680692e-01 4.19313166e-03 -3.69389664e-02] [ 3.34514633e-03 -4.11102936e-03 9.99985955e-01 -2.21646648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.789254154 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:34.97, Y:-0.04, Z:-0.22 [[ 9.99584202e-01 2.86737712e-02 -3.03927489e-03 3.49679171e+01] [-2.86737032e-02 9.99588823e-01 6.59695484e-05 -3.54989776e-02] [ 3.03991681e-03 2.12051478e-05 9.99995379e-01 -2.20152217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.819254154 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:35.00, Y:-0.04, Z:-0.22 [[ 9.99471180e-01 3.24302761e-02 -2.37444555e-03 3.49956016e+01] [-3.24302461e-02 9.99474000e-01 5.11495142e-05 -3.61137943e-02] [ 2.37485538e-03 2.58813880e-05 9.99997180e-01 -2.20506838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.84925415399999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:35.02, Y:-0.03, Z:-0.22 [[ 9.99321224e-01 3.64689852e-02 -5.20628124e-03 3.50217297e+01] [-3.65194426e-02 9.99283408e-01 -9.94994731e-03 -3.24447996e-02] [ 4.83968598e-03 1.01333240e-02 9.99936945e-01 -2.16898849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.879254153999995 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:35.05, Y:-0.04, Z:-0.22 [[ 9.99174279e-01 4.05414314e-02 -2.67457069e-03 3.50515832e+01] [-4.05132098e-02 9.99130204e-01 9.87500938e-03 -4.39082222e-02] [ 3.07259137e-03 -9.75849993e-03 9.99947664e-01 -2.23961086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.909254153999996 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:35.08, Y:-0.04, Z:-0.22 [[ 9.99091470e-01 4.25236467e-02 -2.82371885e-03 3.50781484e+01] [-4.25236464e-02 9.99095459e-01 6.01709025e-05 -4.21235716e-02] [ 2.82372337e-03 5.99585865e-05 9.99996011e-01 -2.21041898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.939254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:35.11, Y:-0.04, Z:-0.22 [[ 9.99097685e-01 4.23564721e-02 -3.12170668e-03 3.51062438e+01] [-4.23564715e-02 9.99102560e-01 6.63321004e-05 -4.43113939e-02] [ 3.12171472e-03 6.59522317e-05 9.99995125e-01 -2.21148739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.969254154 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:35.13, Y:-0.05, Z:-0.22 [[ 9.99139028e-01 4.13412190e-02 -3.47952493e-03 3.51335473e+01] [-4.13412160e-02 9.99145084e-01 7.28220385e-05 -4.66461142e-02] [ 3.47956078e-03 7.10884506e-05 9.99993944e-01 -2.21114441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.999254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:35.16, Y:-0.05, Z:-0.22 [[ 9.99202010e-01 3.97513151e-02 -3.89569758e-03 3.51616892e+01] [-3.97512985e-02 9.99209601e-01 8.17256441e-05 -4.88837484e-02] [ 3.89586713e-03 7.31986096e-05 9.99992408e-01 -2.21192822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.029254154 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:35.19, Y:-0.05, Z:-0.22 [[ 9.99366232e-01 3.54316065e-02 -3.42564790e-03 3.51882353e+01] [-3.54315703e-02 9.99372102e-01 7.12681848e-05 -5.34545932e-02] [ 3.42602209e-03 5.01530671e-05 9.99994130e-01 -2.21351992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.059254153999994 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:35.22, Y:-0.06, Z:-0.22 [[ 9.99463644e-01 3.25938007e-02 -3.17315219e-03 3.52165290e+01] [-3.25937563e-02 9.99468680e-01 6.57235933e-05 -5.63170077e-02] [ 3.17360842e-03 3.77366072e-05 9.99994963e-01 -2.21673967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.089254153999995 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:35.24, Y:-0.06, Z:-0.22 [[ 9.99466568e-01 3.25040087e-02 -3.17315610e-03 3.52449900e+01] [-3.25039645e-02 9.99471604e-01 6.55349604e-05 -5.68215655e-02] [ 3.17360957e-03 3.76401512e-05 9.99994963e-01 -2.21827670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.119254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:35.27, Y:-0.06, Z:-0.22 [[ 9.99651129e-01 2.62524593e-02 -2.90329961e-03 3.52726797e+01] [-2.62523971e-02 9.99655345e-01 5.95163872e-05 -6.25857007e-02] [ 2.90386142e-03 1.67229507e-05 9.99995784e-01 -2.22362958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.149254154 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:35.30, Y:-0.07, Z:-0.22 [[ 9.99737068e-01 2.27624605e-02 -2.76844427e-03 3.52996255e+01] [-2.27623919e-02 9.99740902e-01 5.62900675e-05 -6.58996311e-02] [ 2.76900827e-03 6.74114631e-06 9.99996166e-01 -2.22836552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.179254154 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:35.33, Y:-0.07, Z:-0.22 [[ 9.99810772e-01 1.93006660e-02 -2.42985663e-03 3.53275162e+01] [-1.93006036e-02 9.99813725e-01 4.91537598e-05 -6.92348082e-02] [ 2.43035271e-03 -2.24675885e-06 9.99997047e-01 -2.23176837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.209254154 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:35.35, Y:-0.07, Z:-0.22 [[ 9.99913032e-01 1.28768866e-02 -2.84841187e-03 3.53545022e+01] [-1.28767764e-02 9.99917089e-01 5.70334693e-05 -7.49082296e-02] [ 2.84891012e-03 -2.03501465e-05 9.99995942e-01 -2.23554492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.239254153999994 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:35.38, Y:-0.08, Z:-0.22 [[ 9.99948452e-01 9.75769781e-03 -2.80714618e-03 3.53829746e+01] [-9.75757778e-03 9.99952392e-01 5.64509012e-05 -7.76944193e-02] [ 2.80756337e-03 -2.90570441e-05 9.99996058e-01 -2.23936078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.269254153999995 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:35.41, Y:-0.08, Z:-0.22 [[ 9.99992162e-01 3.27154957e-03 -2.23012476e-03 3.54105371e+01] [-3.27145828e-03 9.99994648e-01 4.45804707e-05 -8.22402180e-02] [ 2.23025867e-03 -3.72843612e-05 9.99997512e-01 -2.24553785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.299254153999996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:35.44, Y:-0.09, Z:-0.22 [[ 9.99992970e-01 -7.53828403e-04 -3.67303902e-03 3.54392950e+01] [ 7.54103044e-04 9.99999713e-01 7.33877524e-05 -8.53108222e-02] [ 3.67298265e-03 -7.61570864e-05 9.99993252e-01 -2.24683505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.329254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:35.47, Y:-0.09, Z:-0.23 [[ 9.99979155e-01 -4.89093678e-03 -4.21526784e-03 3.54690481e+01] [ 4.89133576e-03 9.99988034e-01 8.43469490e-05 -8.81809482e-02] [ 4.21480486e-03 -1.04963481e-04 9.99991112e-01 -2.25230697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.359254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:35.50, Y:-0.09, Z:-0.23 [[ 9.99893622e-01 -1.38532177e-02 -4.56439474e-03 3.54989064e+01] [ 1.38537789e-02 9.99904028e-01 9.13654583e-05 -9.34169309e-02] [ 4.56269098e-03 -1.54589855e-04 9.99989579e-01 -2.26194997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.389254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:35.53, Y:-0.10, Z:-0.23 [[ 9.99823172e-01 -1.81300682e-02 -4.99254842e-03 3.55315016e+01] [ 1.81307972e-02 9.99835619e-01 1.00783775e-04 -9.64694818e-02] [ 4.98990052e-03 -1.91284837e-04 9.99987532e-01 -2.26449360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.419254153999994 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:35.56, Y:-0.10, Z:-0.23 [[ 9.99740516e-01 -2.22371832e-02 -4.94051161e-03 3.55631809e+01] [ 2.22379488e-02 9.99752701e-01 1.00090393e-04 -9.88870421e-02] [ 4.93706410e-03 -2.09931266e-04 9.99987791e-01 -2.27230295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.449254153999995 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:35.59, Y:-0.10, Z:-0.23 [[ 9.99652025e-01 -2.58388905e-02 -5.30854054e-03 3.55940786e+01] [ 2.58398260e-02 9.99666090e-01 1.07702220e-04 -1.00859299e-01] [ 5.30398506e-03 -2.44836506e-04 9.99985904e-01 -2.27330669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.479254153999996 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:35.63, Y:-0.10, Z:-0.23 [[ 9.99489349e-01 -3.14913242e-02 -5.41634376e-03 3.56269402e+01] [ 3.14923856e-02 9.99503986e-01 1.10767492e-04 -1.02880210e-01] [ 5.41016896e-03 -2.81284515e-04 9.99985325e-01 -2.27480676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.509254154 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:35.66, Y:-0.10, Z:-0.23 [[ 9.99433125e-01 -3.32099414e-02 -5.52533236e-03 3.56590384e+01] [ 3.32110743e-02 9.99448354e-01 1.13381439e-04 -1.03855894e-01] [ 5.51851894e-03 -2.96819390e-04 9.99984729e-01 -2.27487389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.539254154 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:35.69, Y:-0.10, Z:-0.23 [[ 9.99348326e-01 -3.55448005e-02 -6.28409717e-03 3.56922950e+01] [ 3.55463162e-02 9.99368022e-01 1.29645459e-04 -1.04696881e-01] [ 6.27551753e-03 -3.52937478e-04 9.99980246e-01 -2.27392316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.569254154 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:35.73, Y:-0.11, Z:-0.23 [[ 9.99328721e-01 -3.61030561e-02 -6.21911704e-03 3.57251637e+01] [ 3.61045556e-02 9.99348010e-01 1.28972933e-04 -1.05404178e-01] [ 6.21040592e-03 -3.53424813e-04 9.99980653e-01 -2.27409839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.59925415399999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:35.76, Y:-0.11, Z:-0.23 [[ 9.99328095e-01 -3.61668434e-02 -5.94288868e-03 3.57582085e+01] [ 3.61682177e-02 9.99345708e-01 1.23899883e-04 -1.06148355e-01] [ 5.93451923e-03 -3.38760325e-04 9.99982333e-01 -2.27507601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.629254153999995 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:35.79, Y:-0.11, Z:-0.23 [[ 9.99337828e-01 -3.60070213e-02 -5.23448843e-03 3.57907957e+01] [ 3.60080888e-02 9.99351492e-01 1.09809594e-04 -1.06791123e-01] [ 5.22713991e-03 -2.98220805e-04 9.99986294e-01 -2.27645269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.659254153999996 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:35.82, Y:-0.11, Z:-0.23 [[ 9.99379338e-01 -3.50592425e-02 -3.43353600e-03 3.58235145e+01] [ 3.50596983e-02 9.99385217e-01 7.26189510e-05 -1.06174186e-01] [ 3.42887915e-03 -1.92952615e-04 9.99994103e-01 -2.27072623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.689254154 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:35.86, Y:-0.11, Z:-0.23 [[ 9.99416711e-01 -3.40620752e-02 -2.45197114e-03 3.58554225e+01] [ 3.40623054e-02 9.99419710e-01 5.21562152e-05 -1.06000962e-01] [ 2.44877173e-03 -1.35645583e-04 9.99996993e-01 -2.27011155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.719254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:35.89, Y:-0.10, Z:-0.23 [[ 9.99506434e-01 -3.13070504e-02 -2.59956536e-03 3.58871704e+01] [ 3.13073021e-02 9.99509805e-01 5.61825967e-05 -1.03944461e-01] [ 2.59653215e-03 -1.37540245e-04 9.99996620e-01 -2.26217058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.749254154 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:35.92, Y:-0.10, Z:-0.23 [[ 9.99567827e-01 -2.92585573e-02 -2.84542211e-03 3.59198087e+01] [ 2.92588502e-02 9.99571866e-01 6.13581901e-05 -1.03334859e-01] [ 2.84240864e-03 -1.44585452e-04 9.99995950e-01 -2.26199531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.779254154 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:35.95, Y:-0.10, Z:-0.23 [[ 9.99623233e-01 -2.72437354e-02 -3.34233781e-03 3.59523850e+01] [ 2.72441292e-02 9.99628807e-01 7.23350322e-05 -1.02451491e-01] [ 3.33912649e-03 -1.63366862e-04 9.99994412e-01 -2.26549483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.809254153999994 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:35.99, Y:-0.10, Z:-0.23 [[ 9.99737427e-01 -2.24864944e-02 -4.40850525e-03 3.59858349e+01] [ 2.24871346e-02 9.99747128e-01 9.57070383e-05 -9.98486062e-02] [ 4.40523835e-03 -1.94816559e-04 9.99990278e-01 -2.26741033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.839254153999995 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:36.02, Y:-0.10, Z:-0.23 [[ 9.99795040e-01 -1.96727721e-02 -4.78113956e-03 3.60184331e+01] [ 1.96734935e-02 9.99806453e-01 1.03898223e-04 -9.84108206e-02] [ 4.77817022e-03 -1.97938646e-04 9.99988565e-01 -2.26584694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.869254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:36.05, Y:-0.10, Z:-0.23 [[ 9.99848721e-01 -1.66562741e-02 -5.01033193e-03 3.60500152e+01] [ 1.66570293e-02 9.99861256e-01 1.09032181e-04 -9.68770137e-02] [ 5.00782071e-03 -1.92472932e-04 9.99987442e-01 -2.26451657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.899254154 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:36.08, Y:-0.09, Z:-0.23 [[ 9.99938214e-01 -1.02273002e-02 -4.35544103e-03 3.60822117e+01] [ 1.02278120e-02 9.99947690e-01 9.52473998e-05 -9.29952218e-02] [ 4.35423907e-03 -1.39788147e-04 9.99990510e-01 -2.26331925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.929254154 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:36.11, Y:-0.09, Z:-0.23 [[ 9.99966882e-01 -6.90622377e-03 -4.30577699e-03 3.61132729e+01] [ 6.90669662e-03 9.99976144e-01 9.49565999e-05 -9.16283655e-02] [ 4.30501848e-03 -1.24692150e-04 9.99990726e-01 -2.26566112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.959254154 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:36.14, Y:-0.09, Z:-0.23 [[ 9.99987647e-01 -1.06496570e-03 -4.85509147e-03 3.61442906e+01] [ 1.06549447e-03 9.99999427e-01 1.06324650e-04 -8.84310546e-02] [ 4.85497545e-03 -1.11496410e-04 9.99988208e-01 -2.27008655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.989254153999994 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:36.17, Y:-0.09, Z:-0.23 [[ 9.99985291e-01 1.48080885e-03 -5.21775414e-03 3.61734068e+01] [-1.48024724e-03 9.99998898e-01 1.11494357e-04 -8.74500896e-02] [ 5.21791350e-03 -1.03769150e-04 9.99986381e-01 -2.27056684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.019254153999995 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:36.20, Y:-0.09, Z:-0.23 [[ 9.99976444e-01 4.38579483e-03 -5.27972995e-03 3.62017122e+01] [-4.38525796e-03 9.99990378e-01 1.13257541e-04 -8.65889790e-02] [ 5.28017588e-03 -9.01018953e-05 9.99986056e-01 -2.27361909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.049254153999996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:36.23, Y:-0.08, Z:-0.23 [[ 9.99939034e-01 9.72639138e-03 -5.22746315e-03 3.62300735e+01] [-9.72595178e-03 9.99952696e-01 1.09510062e-04 -8.41763943e-02] [ 5.22828100e-03 -5.86613313e-05 9.99986331e-01 -2.27296131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.079254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:36.26, Y:-0.08, Z:-0.23 [[ 9.99914105e-01 1.24233468e-02 -4.17656717e-03 3.62577786e+01] [-1.24230888e-02 9.99922827e-01 8.77182393e-05 -8.36141344e-02] [ 4.17733460e-03 -3.58248399e-05 9.99991274e-01 -2.27339583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.109254154 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:36.29, Y:-0.08, Z:-0.23 [[ 9.99880964e-01 1.50436527e-02 -3.42717699e-03 3.62855729e+01] [-1.50434960e-02 9.99886838e-01 7.15050040e-05 -8.31991832e-02] [ 3.42786486e-03 -1.99397692e-05 9.99994125e-01 -2.26980930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.139254154 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:36.31, Y:-0.08, Z:-0.23 [[ 9.99789073e-01 2.04737176e-02 -1.62366394e-03 3.63133486e+01] [-2.04736925e-02 9.99790391e-01 3.21150209e-05 -8.25130589e-02] [ 1.62398112e-03 1.13414934e-06 9.99998681e-01 -2.26854719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.169254153999994 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:36.34, Y:-0.08, Z:-0.23 [[ 9.99736204e-01 2.29431204e-02 -1.06575238e-03 3.63410483e+01] [-2.29431107e-02 9.99736772e-01 2.14095984e-05 -8.25434331e-02] [ 1.06596304e-03 3.04772406e-06 9.99999432e-01 -2.26035563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.199254153999995 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:36.37, Y:-0.08, Z:-0.23 [[ 9.99652093e-01 2.63711074e-02 5.06767612e-04 3.63679393e+01] [-2.63711052e-02 9.99652222e-01 -1.10692769e-05 -8.32274428e-02] [-5.06883279e-04 -2.29859615e-06 9.99999872e-01 -2.26302760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.229254153999996 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:36.40, Y:-0.08, Z:-0.23 [[ 9.99630924e-01 2.71511034e-02 9.13321516e-04 3.63963325e+01] [-2.71510972e-02 9.99631341e-01 -1.92165901e-05 -8.43350467e-02] [-9.13506563e-04 -5.58818352e-06 9.99999583e-01 -2.26746287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.259254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:36.42, Y:-0.09, Z:-0.23 [[ 9.99631415e-01 2.71390117e-02 7.13370188e-04 3.64244858e+01] [-2.71390078e-02 9.99631669e-01 -1.50600375e-05 -8.57258779e-02] [-7.13516147e-04 -4.30567256e-06 9.99999745e-01 -2.27230254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.289254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:36.45, Y:-0.09, Z:-0.23 [[ 9.99679989e-01 2.52965832e-02 -5.87074119e-05 3.64526804e+01] [-2.52965832e-02 9.99679990e-01 5.98941832e-07 -8.84261519e-02] [ 5.87037762e-05 8.86346764e-07 9.99999998e-01 -2.28777594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.319254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:36.48, Y:-0.09, Z:-0.23 [[ 9.99724721e-01 2.34395496e-02 -1.03391751e-03 3.64810979e+01] [-2.34395413e-02 9.99725256e-01 2.01668809e-05 -8.99227992e-02] [ 1.03410615e-03 4.07322277e-06 9.99999465e-01 -2.29246632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.34925415399999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:36.51, Y:-0.09, Z:-0.23 [[ 9.99821227e-01 1.87246863e-02 -2.62688980e-03 3.65089600e+01] [-1.87246147e-02 9.99824678e-01 5.18676976e-05 -9.19481286e-02] [ 2.62740046e-03 -2.67092575e-06 9.99996548e-01 -2.29879404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.379254153999995 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:36.54, Y:-0.09, Z:-0.23 [[ 9.99869410e-01 1.58067610e-02 -3.36297590e-03 3.65354591e+01] [-1.58066282e-02 9.99875065e-01 6.60485918e-05 -9.32898912e-02] [ 3.36359976e-03 -1.28826567e-05 9.99994343e-01 -2.30211456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.409254153999996 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:36.56, Y:-0.09, Z:-0.23 [[ 9.99910849e-01 1.28959218e-02 -3.46246429e-03 3.65636854e+01] [-1.28957646e-02 9.99916844e-01 6.77325565e-05 -9.49233799e-02] [ 3.46304983e-03 -2.30753937e-05 9.99994003e-01 -2.30923095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.439254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:36.59, Y:-0.10, Z:-0.23 [[ 9.99969968e-01 7.25710815e-03 -2.71992462e-03 3.65914450e+01] [-7.25699101e-03 9.99973666e-01 5.29371308e-05 -9.70387364e-02] [ 2.72023716e-03 -3.31970725e-05 9.99996300e-01 -2.30370519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.469254154 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:36.62, Y:-0.10, Z:-0.23 [[ 9.99987651e-01 4.39412695e-03 -2.32144232e-03 3.66206481e+01] [-4.39403424e-03 9.99990345e-01 4.50346171e-05 -9.82614593e-02] [ 2.32161779e-03 -3.48335639e-05 9.99997304e-01 -2.30139456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.499254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:36.65, Y:-0.10, Z:-0.23 [[ 9.99997923e-01 1.68731761e-03 -1.14340080e-03 3.66482108e+01] [-1.68729380e-03 9.99998576e-01 2.17839627e-05 -9.95339272e-02] [ 1.14343593e-03 -1.98546643e-05 9.99999346e-01 -2.30128895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52925415399999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:36.68, Y:-0.10, Z:-0.23 [[ 9.99999054e-01 -1.14220370e-03 -7.66532767e-04 3.66778131e+01] [ 1.14221531e-03 9.99999348e-01 1.47033727e-05 -1.00916958e-01] [ 7.66515472e-04 -1.55789043e-05 9.99999706e-01 -2.30009382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.559254153999994 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:36.71, Y:-0.10, Z:-0.23 [[ 9.99975986e-01 -6.92984804e-03 -6.39605421e-05 3.67082513e+01] [ 6.92984814e-03 9.99975988e-01 1.34356556e-06 -1.03306418e-01] [ 6.39496956e-05 -1.78677014e-06 9.99999998e-01 -2.30084624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.589254153999995 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:36.74, Y:-0.11, Z:-0.23 [[ 9.99923925e-01 -1.23306092e-02 3.18159815e-04 3.67404259e+01] [ 1.23306114e-02 9.99923975e-01 -4.84926930e-06 -1.05839756e-01] [-3.18075833e-04 8.77200543e-06 9.99999949e-01 -2.30525864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.619254154 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:36.77, Y:-0.11, Z:-0.23 [[ 9.99885865e-01 -1.51079853e-02 7.05365532e-05 3.67731941e+01] [ 1.51079854e-02 9.99885868e-01 -7.99850314e-07 -1.07393178e-01] [-7.05164186e-05 1.86542424e-06 9.99999998e-01 -2.30703503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.649254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:36.81, Y:-0.11, Z:-0.23 [[ 9.99840530e-01 -1.78577935e-02 -1.17292497e-04 3.68063706e+01] [ 1.78577940e-02 9.99840537e-01 2.93982561e-06 -1.08756299e-01] [ 1.17221295e-04 -5.03394204e-06 9.99999993e-01 -2.31224401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.679254154 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:36.84, Y:-0.11, Z:-0.23 [[ 9.99720134e-01 -2.36124862e-02 -1.45053304e-03 3.68385344e+01] [ 2.36125557e-02 9.99721184e-01 3.08176226e-05 -1.09949156e-01] [ 1.44940093e-03 -6.50597900e-05 9.99998948e-01 -2.31494523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.709254154 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:36.87, Y:-0.11, Z:-0.23 [[ 9.99644145e-01 -2.65954670e-02 -2.06489880e-03 3.68703519e+01] [ 2.65956113e-02 9.99646273e-01 4.24362401e-05 -1.10818269e-01] [ 2.06303978e-03 -9.73383847e-05 9.99997867e-01 -2.31847081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.739254153999994 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:36.90, Y:-0.11, Z:-0.23 [[ 9.99560189e-01 -2.95397032e-02 -2.61422420e-03 3.69034392e+01] [ 2.95399451e-02 9.99563599e-01 5.39889051e-05 -1.11864117e-01] [ 2.61148853e-03 -1.31189200e-04 9.99996581e-01 -2.32435824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.769254153999995 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:36.94, Y:-0.11, Z:-0.23 [[ 9.99464965e-01 -3.24984340e-02 -3.69266399e-03 3.69359569e+01] [ 3.24989369e-02 9.99471767e-01 7.62509993e-05 -1.12906927e-01] [ 3.68823536e-03 -1.96217856e-04 9.99993179e-01 -2.32815671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.799254153999996 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:36.97, Y:-0.11, Z:-0.23 [[ 9.99255623e-01 -3.82959242e-02 -4.65001917e-03 3.69687410e+01] [ 3.82967865e-02 9.99266404e-01 9.65055414e-05 -1.13911053e-01] [ 4.64291217e-03 -2.74514496e-04 9.99989184e-01 -2.33535754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.829254154 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:37.00, Y:-0.11, Z:-0.23 [[ 9.99159328e-01 -4.06639481e-02 -5.20388421e-03 3.70005170e+01] [ 4.06650616e-02 9.99172828e-01 1.08301887e-04 -1.14234129e-01] [ 5.19517573e-03 -3.19827113e-04 9.99986454e-01 -2.33748191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.859254154 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:37.03, Y:-0.11, Z:-0.23 [[ 9.99046617e-01 -4.32989080e-02 -5.57324364e-03 3.70338802e+01] [ 4.33002296e-02 9.99062098e-01 1.16634141e-04 -1.13134548e-01] [ 5.56296635e-03 -3.57845673e-04 9.99984463e-01 -2.33955509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.889254154 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:37.07, Y:-0.11, Z:-0.23 [[ 9.99041892e-01 -4.34608362e-02 -5.14332988e-03 3.70666260e+01] [ 4.34619670e-02 9.99055076e-01 1.08242476e-04 -1.12716518e-01] [ 5.13376551e-03 -3.31678001e-04 9.99986767e-01 -2.34174445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.919254153999994 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:37.10, Y:-0.11, Z:-0.23 [[ 9.99058008e-01 -4.30621366e-02 -5.36177366e-03 3.70994714e+01] [ 4.30633629e-02 9.99072337e-01 1.13423771e-04 -1.11863856e-01] [ 5.35191547e-03 -3.44212931e-04 9.99985619e-01 -2.33656475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.949254153999995 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.11, Z:-0.23 [[ 9.99094076e-01 -4.22042573e-02 -5.46145342e-03 3.71330482e+01] [ 4.22055201e-02 9.99108943e-01 1.16129554e-04 -1.10539138e-01] [ 5.45168579e-03 -3.46527831e-04 9.99985079e-01 -2.33208861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.979254153999996 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:37.17, Y:-0.11, Z:-0.23 [[ 9.99099516e-01 -4.20752814e-02 -5.46143635e-03 3.71665866e+01] [ 4.20765466e-02 9.99114383e-01 1.16932050e-04 -1.11337322e-01] [ 5.45167966e-03 -3.46625136e-04 9.99985079e-01 -2.33389586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.009254154 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:37.20, Y:-0.11, Z:-0.23 [[ 9.99208775e-01 -3.94137121e-02 -5.32763633e-03 3.71997428e+01] [ 3.94148812e-02 9.99222925e-01 1.14592038e-04 -1.07300724e-01] [ 5.31897986e-03 -3.24489523e-04 9.99985801e-01 -2.32506066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.039254154 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:37.23, Y:-0.11, Z:-0.23 [[ 9.99279661e-01 -3.76108962e-02 -5.05757218e-03 3.72314600e+01] [ 3.76119288e-02 9.99292415e-01 1.09179748e-04 -1.05833506e-01] [ 5.04988717e-03 -2.99326146e-04 9.99987204e-01 -2.32411632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.069254154 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:37.26, Y:-0.10, Z:-0.23 [[ 9.99392373e-01 -3.44658387e-02 -5.19532361e-03 3.72648833e+01] [ 3.44668893e-02 9.99405834e-01 1.12803852e-04 -1.02687281e-01] [ 5.18834884e-03 -2.91801953e-04 9.99986498e-01 -2.32593187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09925415399999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:37.30, Y:-0.10, Z:-0.23 [[ 9.99440090e-01 -3.30375111e-02 -5.29432632e-03 3.72980964e+01] [ 3.30385852e-02 9.99454070e-01 1.15529349e-04 -1.01642485e-01] [ 5.28761919e-03 -2.90381714e-04 9.99985978e-01 -2.32638513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.129254153999995 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:37.33, Y:-0.10, Z:-0.23 [[ 9.99514597e-01 -3.07510478e-02 -4.99435228e-03 3.73301132e+01] [ 3.07519771e-02 9.99527040e-01 1.09369712e-04 -9.83354102e-02] [ 4.98862692e-03 -2.62902831e-04 9.99987522e-01 -2.32023958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.159254153999996 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:37.36, Y:-0.10, Z:-0.23 [[ 9.99559403e-01 -2.94040692e-02 -4.04988331e-03 3.73635302e+01] [ 2.94046718e-02 9.99567585e-01 8.93244021e-05 -9.69403548e-02] [ 4.04550557e-03 -2.08370535e-04 9.99991795e-01 -2.31887247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.189254154 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:37.40, Y:-0.10, Z:-0.23 [[ 9.99619883e-01 -2.73325895e-02 -3.60817914e-03 3.73964984e+01] [ 2.73330560e-02 9.99626379e-01 8.00377274e-05 -9.57789720e-02] [ 3.60464341e-03 -1.78629866e-04 9.99993487e-01 -2.31506214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.219254154 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:37.43, Y:-0.09, Z:-0.23 [[ 9.99737681e-01 -2.27164454e-02 -2.92088428e-03 3.74294715e+01] [ 2.27167327e-02 9.99741940e-01 6.52177024e-05 -9.23562938e-02] [ 2.91864900e-03 -1.31553542e-04 9.99995732e-01 -2.31114993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.249254154 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:37.46, Y:-0.09, Z:-0.23 [[ 9.99803402e-01 -1.97005102e-02 -2.24667542e-03 3.74615109e+01] [ 1.97006731e-02 9.99805922e-01 5.03991738e-05 -9.08397228e-02] [ 2.24524650e-03 -9.46502834e-05 9.99997475e-01 -2.31804372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.27925415399999 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:37.49, Y:-0.09, Z:-0.23 [[ 9.99862301e-01 -1.63774210e-02 -2.67549232e-03 3.74928979e+01] [ 1.63776397e-02 9.99865876e-01 5.98718569e-05 -8.92376646e-02] [ 2.67415292e-03 -1.03681862e-04 9.99996419e-01 -2.31797846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.309254153999994 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:37.52, Y:-0.08, Z:-0.23 [[ 9.99951581e-01 -9.35631338e-03 -3.04884063e-03 3.75244636e+01] [ 9.35656520e-03 9.99956224e-01 6.83440044e-05 -8.48902387e-02] [ 3.04806771e-03 -9.68673713e-05 9.99995350e-01 -2.31653302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.339254153999995 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:37.56, Y:-0.08, Z:-0.23 [[ 9.99979918e-01 -5.57166937e-03 -3.01990933e-03 3.75567065e+01] [ 5.57190019e-03 9.99984475e-01 6.80246016e-05 -8.31895889e-02] [ 3.01948343e-03 -8.48498689e-05 9.99995438e-01 -2.31516566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.369254154 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:37.59, Y:-0.08, Z:-0.23 [[ 9.99995368e-01 1.54488325e-03 -2.62243312e-03 3.75871506e+01] [-1.54473417e-03 9.99998805e-01 5.88749580e-05 -7.93994239e-02] [ 2.62252094e-03 -5.48237233e-05 9.99996560e-01 -2.30762635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.399254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:37.62, Y:-0.08, Z:-0.23 [[ 9.99987606e-01 4.32024947e-03 -2.47463508e-03 3.76162538e+01] [-4.32013046e-03 9.99990667e-01 5.34338087e-05 -7.80358275e-02] [ 2.47484283e-03 -4.27424001e-05 9.99996937e-01 -2.30807334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.429254154 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:37.64, Y:-0.08, Z:-0.23 [[ 9.99971679e-01 7.15063380e-03 -2.34745339e-03 3.76443282e+01] [-7.15053306e-03 9.99974433e-01 5.13021322e-05 -7.68139165e-02] [ 2.34776021e-03 -3.45151362e-05 9.99997243e-01 -2.30675515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.459254154 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:37.67, Y:-0.08, Z:-0.23 [[ 9.99946468e-01 1.00459975e-02 -2.47752615e-03 3.76710592e+01] [-1.00458954e-02 9.99949537e-01 5.36878337e-05 -7.57842315e-02] [ 2.47794047e-03 -2.87959913e-05 9.99996929e-01 -2.30868901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.489254153999994 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:37.70, Y:-0.07, Z:-0.23 [[ 9.99859095e-01 1.65102648e-02 -3.03341881e-03 3.76989396e+01] [-1.65101463e-02 9.99863696e-01 6.41025561e-05 -7.34350326e-02] [ 3.03406369e-03 -1.40113354e-05 9.99995397e-01 -2.31465597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.519254153999995 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:37.73, Y:-0.07, Z:-0.23 [[ 9.99789430e-01 2.02690000e-02 -3.20351673e-03 3.77269442e+01] [-2.02688848e-02 9.99794563e-01 6.84136559e-05 -7.24933783e-02] [ 3.20424528e-03 -3.46753854e-06 9.99994866e-01 -2.31260213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.549254153999996 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:37.75, Y:-0.07, Z:-0.23 [[ 9.99595645e-01 2.83344926e-02 -2.38807474e-03 3.77534560e+01] [-2.83344530e-02 9.99598498e-01 5.04541212e-05 -7.07422661e-02] [ 2.38854551e-03 1.72310715e-05 9.99997147e-01 -2.31389350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.579254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:37.78, Y:-0.07, Z:-0.23 [[ 9.99476896e-01 3.22765494e-02 -2.03912188e-03 3.77809179e+01] [-3.22765293e-02 9.99478976e-01 4.27478983e-05 -7.03734350e-02] [ 2.03943920e-03 2.30902405e-05 9.99997920e-01 -2.31037795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.609254154 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:37.81, Y:-0.07, Z:-0.23 [[ 9.99223386e-01 3.94032771e-02 -7.83592102e-05 3.78093590e+01] [-3.94032772e-02 9.99223389e-01 1.08829765e-06 -7.01799849e-02] [ 7.83412381e-05 2.00015721e-06 9.99999997e-01 -2.31234721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.639254154 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:37.84, Y:-0.07, Z:-0.23 [[ 9.99133740e-01 4.16107476e-02 5.61161873e-04 3.78370817e+01] [-4.16107472e-02 9.99133898e-01 -1.24166593e-05 -7.05715910e-02] [-5.61192516e-04 -1.09444616e-05 9.99999842e-01 -2.31222047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.669254153999994 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:37.86, Y:-0.07, Z:-0.23 [[ 9.99071055e-01 4.30904542e-02 4.90028652e-04 3.78636891e+01] [-4.30904540e-02 9.99071175e-01 -1.09484265e-05 -7.13500813e-02] [-4.90045274e-04 -1.01773011e-05 9.99999880e-01 -2.31474385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.699254153999995 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:37.89, Y:-0.07, Z:-0.23 [[ 9.99060335e-01 4.33337430e-02 7.95586703e-04 3.78902588e+01] [-4.33337430e-02 9.99060652e-01 -1.72406171e-05 -7.23552024e-02] [-7.95586471e-04 -1.72513330e-05 9.99999683e-01 -2.31887961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.729254153999996 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:37.92, Y:-0.08, Z:-0.23 [[ 9.99158277e-01 4.10193133e-02 3.91500902e-04 3.79173511e+01] [-4.10193129e-02 9.99158354e-01 -9.12151635e-06 -7.52365007e-02] [-3.91545555e-04 -6.94525944e-06 9.99999923e-01 -2.32538442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.759254154 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:37.95, Y:-0.08, Z:-0.23 [[ 9.99259598e-01 3.84715979e-02 -4.38759608e-04 3.79453104e+01] [-3.84715979e-02 9.99259694e-01 8.43536865e-06 -7.74417515e-02] [ 4.38759313e-04 8.45066013e-06 9.99999904e-01 -2.32958408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.789254154 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:37.97, Y:-0.08, Z:-0.23 [[ 9.99384902e-01 3.50571853e-02 -9.01048574e-04 3.79732087e+01] [-3.50571835e-02 9.99385308e-01 1.78259192e-05 -7.96494023e-02] [ 9.01119633e-04 1.37732707e-05 9.99999594e-01 -2.33229090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.819254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:38.00, Y:-0.08, Z:-0.23 [[ 9.99652353e-01 2.63179976e-02 -1.59278852e-03 3.80008408e+01] [-2.63179803e-02 9.99653621e-01 3.17729210e-05 -8.42904642e-02] [ 1.59307301e-03 1.01571018e-05 9.99998731e-01 -2.34136580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.84925415399999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:38.03, Y:-0.09, Z:-0.23 [[ 9.99771658e-01 2.13156632e-02 -1.50839392e-03 3.80284569e+01] [-2.13156423e-02 9.99772795e-01 2.98834659e-05 -8.71681160e-02] [ 1.50868820e-03 2.27574319e-06 9.99998862e-01 -2.34650850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.879254153999995 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:38.06, Y:-0.09, Z:-0.24 [[ 9.99942904e-01 1.06857445e-02 -5.11475523e-05 3.80574598e+01] [-1.06857444e-02 9.99942906e-01 6.38629002e-07 -9.28100079e-02] [ 5.11514563e-05 -9.20428670e-08 9.99999999e-01 -2.35130900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.909254153999996 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:38.09, Y:-0.10, Z:-0.24 [[ 9.99983780e-01 5.65766183e-03 6.55630940e-04 3.80853718e+01] [-5.65765410e-03 9.99983995e-01 -1.36572284e-05 -9.57922870e-02] [-6.55697715e-04 9.94767385e-06 9.99999785e-01 -2.35045812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.939254154 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:38.11, Y:-0.10, Z:-0.24 [[ 9.99998221e-01 8.68926071e-04 1.67430481e-03 3.81140068e+01] [-8.68870683e-04 9.99999622e-01 -3.38083280e-05 -9.86667161e-02] [-1.67433356e-03 3.23535135e-05 9.99998598e-01 -2.35012160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.969254154 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:38.14, Y:-0.10, Z:-0.24 [[ 9.99991939e-01 -3.31360874e-03 2.26737562e-03 3.81440368e+01] [ 3.31371973e-03 9.99994509e-01 -4.51979053e-05 -1.01615093e-01] [-2.26721340e-03 5.27109883e-05 9.99997428e-01 -2.35051271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.999254154 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:38.18, Y:-0.11, Z:-0.24 [[ 9.99944872e-01 -1.01398146e-02 2.72708421e-03 3.81763686e+01] [ 1.01399990e-02 9.99948587e-01 -5.37974926e-05 -1.07164791e-01] [-2.72639851e-03 8.14471581e-05 9.99996280e-01 -2.35364581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02925415399999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:38.21, Y:-0.11, Z:-0.24 [[ 9.99913446e-01 -1.28394646e-02 2.87196410e-03 3.82096441e+01] [ 1.28396836e-02 9.99917566e-01 -5.78262240e-05 -1.10379321e-01] [-2.87098490e-03 9.46963293e-05 9.99995874e-01 -2.35954971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.059254153999994 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:38.24, Y:-0.11, Z:-0.24 [[ 9.99889947e-01 -1.46234238e-02 2.49972229e-03 3.82414421e+01] [ 1.46235959e-02 9.99893068e-01 -5.05869409e-05 -1.13520315e-01] [-2.49871524e-03 8.71363024e-05 9.99996874e-01 -2.38132790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.089254153999995 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:38.27, Y:-0.12, Z:-0.24 [[ 9.99834075e-01 -1.80087447e-02 2.74013558e-03 3.82731605e+01] [ 1.80089650e-02 9.99837824e-01 -5.57558675e-05 -1.18104098e-01] [-2.73868710e-03 1.05093622e-04 9.99996244e-01 -2.36791080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.119254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:38.31, Y:-0.12, Z:-0.24 [[ 9.99817802e-01 -1.89382731e-02 2.38838083e-03 3.83058859e+01] [ 1.89384433e-02 9.99820650e-01 -4.86938799e-05 -1.20705266e-01] [-2.38703029e-03 9.39172230e-05 9.99997147e-01 -2.37297157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.149254154 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:38.34, Y:-0.12, Z:-0.24 [[ 9.99802579e-01 -1.98582338e-02 6.72974901e-04 3.83376176e+01] [ 1.98582470e-02 9.99802805e-01 -1.30230364e-05 -1.24209564e-01] [-6.72583580e-04 2.63845672e-05 9.99999773e-01 -2.38261084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.179254154 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:38.37, Y:-0.13, Z:-0.24 [[ 9.99802423e-01 -1.98688559e-02 -5.86206870e-04 3.83709913e+01] [ 1.98688668e-02 9.99802594e-01 1.28672745e-05 -1.25691541e-01] [ 5.85835492e-04 -2.45119985e-05 9.99999828e-01 -2.38862041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20925415399999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:38.40, Y:-0.13, Z:-0.24 [[ 9.99803158e-01 -1.97465593e-02 -1.92844936e-03 3.84045005e+01] [ 1.97466755e-02 9.99805015e-01 4.11898089e-05 -1.26943739e-01] [ 1.92725998e-03 -7.92621647e-05 9.99998140e-01 -2.39158566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.239254153999994 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:38.44, Y:-0.13, Z:-0.24 [[ 9.99803839e-01 -1.94777597e-02 -3.59168368e-03 3.84360586e+01] [ 1.94781597e-02 9.99810280e-01 7.64238154e-05 -1.28336458e-01] [ 3.58951370e-03 -1.46368212e-04 9.99993547e-01 -2.39813534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.269254153999995 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:38.47, Y:-0.13, Z:-0.24 [[ 9.99802028e-01 -1.94911114e-02 -4.00006547e-03 3.84681863e+01] [ 1.94916081e-02 9.99810017e-01 8.52262333e-05 -1.29111108e-01] [ 3.99764437e-03 -1.63177069e-04 9.99991996e-01 -2.40094972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.299254153999996 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:38.50, Y:-0.13, Z:-0.24 [[ 9.99802298e-01 -1.94830182e-02 -3.97200419e-03 3.85004962e+01] [ 1.94835090e-02 9.99810175e-01 8.49104648e-05 -1.29685799e-01] [ 3.96959589e-03 -1.62282257e-04 9.99992108e-01 -2.39976864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.329254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:38.53, Y:-0.13, Z:-0.24 [[ 9.99802543e-01 -1.94514149e-02 -4.06405811e-03 3.85330094e+01] [ 1.94519296e-02 9.99810790e-01 8.71637465e-05 -1.30157508e-01] [ 4.06159369e-03 -1.66200308e-04 9.99991738e-01 -2.39669438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.359254154 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:38.56, Y:-0.13, Z:-0.24 [[ 9.99804381e-01 -1.94702620e-02 -3.47980996e-03 3.85649907e+01] [ 1.94706406e-02 9.99810426e-01 7.49481722e-05 -1.30378291e-01] [ 3.47769102e-03 -1.42687640e-04 9.99993943e-01 -2.39881760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.389254154 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:38.60, Y:-0.13, Z:-0.24 [[ 9.99811102e-01 -1.91923926e-02 -3.06808877e-03 3.85962490e+01] [ 1.91926859e-02 9.99815801e-01 6.61929370e-05 -1.30440209e-01] [ 3.06625324e-03 -1.25065298e-04 9.99995291e-01 -2.39693289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.419254153999994 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:38.63, Y:-0.13, Z:-0.24 [[ 9.99830077e-01 -1.83424685e-02 -1.83588537e-03 3.86285764e+01] [ 1.83425727e-02 9.99831760e-01 3.99536431e-05 -1.29299910e-01] [ 1.83484366e-03 -7.36217150e-05 9.99998314e-01 -2.39510246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.449254153999995 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:38.66, Y:-0.13, Z:-0.24 [[ 9.99845931e-01 -1.74904376e-02 -1.48253981e-03 3.86610727e+01] [ 1.74905049e-02 9.99847029e-01 3.24418195e-05 -1.29200382e-01] [ 1.48174560e-03 -5.83671911e-05 9.99998901e-01 -2.39439647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.479254153999996 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:38.69, Y:-0.13, Z:-0.24 [[ 9.99865373e-01 -1.64062586e-02 -2.66581854e-04 3.86920330e+01] [ 1.64062608e-02 9.99865408e-01 6.06547711e-06 -1.27846554e-01] [ 2.66446463e-04 -1.04382720e-05 9.99999964e-01 -2.39164107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.509254154 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:38.72, Y:-0.13, Z:-0.24 [[ 9.99863755e-01 -1.65066563e-02 3.00542986e-05 3.87242007e+01] [ 1.65066563e-02 9.99863756e-01 -2.74792446e-07 -1.27228993e-01] [-3.00456680e-05 7.70850984e-07 1.00000000e+00 -2.39016140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.539254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:38.76, Y:-0.13, Z:-0.24 [[ 9.99859054e-01 -1.67843236e-02 3.99483824e-04 3.87575538e+01] [ 1.67843282e-02 9.99859133e-01 -8.15922913e-06 -1.27263433e-01] [-3.99290603e-04 1.48631467e-05 9.99999920e-01 -2.39135834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.569254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:38.79, Y:-0.13, Z:-0.24 [[ 9.99849446e-01 -1.73472758e-02 3.97453979e-04 3.87901507e+01] [ 1.73472804e-02 9.99849525e-01 -8.13444601e-06 -1.27562160e-01] [-3.97253061e-04 1.50279670e-05 9.99999921e-01 -2.39463050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.59925415399999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:38.82, Y:-0.13, Z:-0.24 [[ 9.99805161e-01 -1.97391266e-02 8.47787916e-05 3.88226208e+01] [ 1.97391268e-02 9.99805164e-01 -9.28204104e-07 -1.27311028e-01] [-8.47439518e-05 2.60148257e-06 9.99999996e-01 -2.40077540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.629254153999995 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:38.86, Y:-0.13, Z:-0.24 [[ 9.99782669e-01 -2.08430646e-02 -4.26446534e-04 3.88555249e+01] [ 2.08430708e-02 9.99782760e-01 1.00761262e-05 -1.27505465e-01] [ 4.26143875e-04 -1.89623917e-05 9.99999909e-01 -2.40160900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.659254153999996 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:38.89, Y:-0.13, Z:-0.24 [[ 9.99742683e-01 -2.26342994e-02 -1.50216254e-03 3.88887554e+01] [ 2.26343763e-02 9.99743809e-01 3.41715635e-05 -1.26498181e-01] [ 1.50100425e-03 -6.81632828e-05 9.99998871e-01 -2.40256628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.689254154 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:38.92, Y:-0.13, Z:-0.24 [[ 9.99737523e-01 -2.28503185e-02 -1.65773633e-03 3.89216242e+01] [ 2.28504126e-02 9.99738895e-01 3.78305483e-05 -1.26028595e-01] [ 1.65643905e-03 -7.57005777e-05 9.99998625e-01 -2.40596081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.719254154 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:38.95, Y:-0.13, Z:-0.24 [[ 9.99741960e-01 -2.26319092e-02 -1.95214845e-03 3.89548563e+01] [ 2.26320394e-02 9.99743862e-01 4.46752356e-05 -1.25459434e-01] [ 1.95063734e-03 -8.88448083e-05 9.99998094e-01 -2.40556728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.749254154 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:38.99, Y:-0.12, Z:-0.24 [[ 9.99775131e-01 -2.11252673e-02 -1.84684786e-03 3.89870084e+01] [ 2.11253826e-02 9.99776833e-01 4.29638777e-05 -1.23615716e-01] [ 1.84552808e-03 -8.19695841e-05 9.99998294e-01 -2.40527899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.77925415399999 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:39.02, Y:-0.12, Z:-0.24 [[ 9.99807237e-01 -1.95834539e-02 -1.40645195e-03 3.90194489e+01] [ 1.95835189e-02 9.99808224e-01 3.24951648e-05 -1.22950690e-01] [ 1.40554586e-03 -6.00321794e-05 9.99999010e-01 -2.40658127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.809254153999994 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:39.05, Y:-0.12, Z:-0.24 [[ 9.99849082e-01 -1.73265887e-02 -1.26579182e-03 3.90516124e+01] [ 1.73266399e-02 9.99849882e-01 2.94959518e-05 -1.22243871e-01] [ 1.26509073e-03 -5.14234193e-05 9.99999198e-01 -2.40547389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.839254153999995 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:39.08, Y:-0.12, Z:-0.24 [[ 9.99931387e-01 -1.16928714e-02 -7.05799604e-04 3.90838475e+01] [ 1.16928861e-02 9.99931636e-01 1.66084575e-05 -1.19510517e-01] [ 7.05557152e-04 -2.48601523e-05 9.99999751e-01 -2.40406405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.869254154 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:39.12, Y:-0.12, Z:-0.24 [[ 9.99965778e-01 -8.26593796e-03 -3.41244927e-04 3.91164287e+01] [ 8.26594126e-03 9.99965836e-01 8.26353708e-06 -1.18377540e-01] [ 3.41164963e-04 -1.10839648e-05 9.99999942e-01 -2.40869274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.899254154 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:39.15, Y:-0.12, Z:-0.24 [[ 9.99966529e-01 -8.17461296e-03 -3.41241918e-04 3.91491222e+01] [ 8.17461630e-03 9.99966587e-01 8.39295503e-06 -1.19189405e-01] [ 3.41161907e-04 -1.11821959e-05 9.99999942e-01 -2.41045498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.929254154 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:39.18, Y:-0.12, Z:-0.24 [[ 9.99999067e-01 -1.35837123e-03 1.43875897e-04 3.91801953e+01] [ 1.35837169e-03 9.99999077e-01 -3.04484175e-06 -1.16330811e-01] [-1.43871628e-04 3.24027586e-06 9.99999990e-01 -2.41081968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.95925415399999 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:39.21, Y:-0.12, Z:-0.24 [[ 9.99997575e-01 2.19282049e-03 2.02471054e-04 3.92104527e+01] [-2.19281965e-03 9.99997596e-01 -4.39023452e-06 -1.15402757e-01] [-2.02480195e-04 3.94624137e-06 9.99999979e-01 -2.40986297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.989254153999994 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:39.24, Y:-0.11, Z:-0.24 [[ 9.99984935e-01 5.47635308e-03 3.72977745e-04 3.92396924e+01] [-5.47635016e-03 9.99985005e-01 -8.85605146e-06 -1.14383573e-01] [-3.73020651e-04 6.81336132e-06 9.99999930e-01 -2.41132741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.019254153999995 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:39.27, Y:-0.11, Z:-0.24 [[ 9.99940176e-01 1.09326100e-02 3.48773425e-04 3.92685764e+01] [-1.09326074e-02 9.99940237e-01 -9.36009405e-06 -1.12493618e-01] [-3.48854912e-04 5.54653115e-06 9.99999939e-01 -2.41205098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.049254153999996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:39.30, Y:-0.11, Z:-0.24 [[ 9.99895166e-01 1.44794737e-02 3.72407270e-05 3.92965566e+01] [-1.44794736e-02 9.99895167e-01 -2.37288660e-06 -1.10812291e-01] [-3.72711811e-05 1.83341172e-06 9.99999999e-01 -2.42029938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.079254154 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:39.32, Y:-0.11, Z:-0.24 [[ 9.99878489e-01 1.55857687e-02 -3.00333842e-04 3.93249479e+01] [-1.55857675e-02 9.99878535e-01 6.41714596e-06 -1.10651687e-01] [ 3.00397378e-04 -1.73543278e-06 9.99999955e-01 -2.42666635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.109254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:39.35, Y:-0.11, Z:-0.24 [[ 9.99865971e-01 1.63615833e-02 -5.81406798e-04 3.93525331e+01] [-1.63615788e-02 9.99866140e-01 1.25255700e-05 -1.10662957e-01] [ 5.81533909e-04 -3.01115812e-06 9.99999831e-01 -2.43617905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.139254154 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:39.38, Y:-0.11, Z:-0.24 [[ 9.99866071e-01 1.63442257e-02 -8.40289197e-04 3.93807418e+01] [-1.63442160e-02 9.99866424e-01 1.83810481e-05 -1.10577001e-01] [ 8.40477378e-04 -4.64471819e-06 9.99999647e-01 -2.43537970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.169254153999994 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:39.41, Y:-0.11, Z:-0.24 [[ 9.99871089e-01 1.60497575e-02 -4.59820180e-04 3.94087384e+01] [-1.60497547e-02 9.99871194e-01 9.69305954e-06 -1.10580312e-01] [ 4.59916524e-04 -2.31180890e-06 9.99999894e-01 -2.43869950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.199254153999995 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:39.44, Y:-0.11, Z:-0.24 [[ 9.99885589e-01 1.51253462e-02 -1.82845092e-04 3.94369473e+01] [-1.51253459e-02 9.99885605e-01 3.46655031e-06 -1.10439172e-01] [ 1.82876608e-04 -7.00558446e-07 9.99999983e-01 -2.43973173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.229254153999996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:39.46, Y:-0.11, Z:-0.24 [[ 9.99919872e-01 1.26588122e-02 5.55977255e-05 3.94648293e+01] [-1.26588122e-02 9.99919874e-01 -1.78859342e-06 -1.10274511e-01] [-5.56159122e-05 1.08464894e-06 9.99999998e-01 -2.43750595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.259254154 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:39.49, Y:-0.11, Z:-0.24 [[ 9.99939594e-01 1.09896016e-02 1.93601501e-04 3.94939740e+01] [-1.09896009e-02 9.99939613e-01 -4.65098921e-06 -1.10820344e-01] [-1.93640922e-04 2.52310502e-06 9.99999981e-01 -2.44167341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.289254154 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:39.52, Y:-0.11, Z:-0.24 [[ 9.99960270e-01 8.91109142e-03 2.24774206e-04 3.95223834e+01] [-8.91109045e-03 9.99960295e-01 -5.33198218e-06 -1.11132830e-01] [-2.24812795e-04 3.32878706e-06 9.99999975e-01 -2.44505005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.319254154 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:39.55, Y:-0.11, Z:-0.25 [[ 9.99990470e-01 4.36582570e-03 1.82386665e-05 3.95516205e+01] [-4.36582569e-03 9.99990470e-01 -7.90658757e-07 -1.11719295e-01] [-1.82419446e-05 7.11024382e-07 1.00000000e+00 -2.45037381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34925415399999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:39.58, Y:-0.11, Z:-0.25 [[ 9.99998108e-01 1.94545962e-03 3.72683585e-06 3.95803179e+01] [-1.94545962e-03 9.99998108e-01 -3.73946966e-07 -1.12582612e-01] [-3.72755630e-06 3.66695849e-07 1.00000000e+00 -2.45449236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.379254153999995 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:39.61, Y:-0.11, Z:-0.25 [[ 9.99995809e-01 -2.79936808e-03 7.38114962e-04 3.96092917e+01] [ 2.79938080e-03 9.99996082e-01 -1.62050558e-05 -1.14028555e-01] [-7.38066706e-04 1.82712527e-05 9.99999727e-01 -2.45883659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.409254153999996 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:39.64, Y:-0.11, Z:-0.25 [[ 9.99986422e-01 -5.13200632e-03 9.04662818e-04 3.96402636e+01] [ 5.13202613e-03 9.99986831e-01 -1.95802018e-05 -1.14906948e-01] [-9.04550418e-04 2.42226891e-05 9.99999591e-01 -2.45907798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.439254154 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:39.67, Y:-0.12, Z:-0.25 [[ 9.99976160e-01 -6.82346363e-03 1.05791741e-03 3.96720372e+01] [ 6.82349074e-03 9.99976719e-01 -2.20160504e-05 -1.15949751e-01] [-1.05774255e-03 2.92342152e-05 9.99999440e-01 -2.46419178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.469254154 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:39.70, Y:-0.12, Z:-0.25 [[ 9.99963902e-01 -8.42976761e-03 1.06487870e-03 3.97043207e+01] [ 8.42979713e-03 9.99964468e-01 -2.32372436e-05 -1.17084232e-01] [-1.06464498e-03 3.22131162e-05 9.99999433e-01 -2.46884217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.499254154 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:39.74, Y:-0.12, Z:-0.25 [[ 9.99934913e-01 -1.13468205e-02 1.19108778e-03 3.97378898e+01] [ 1.13468586e-02 9.99935622e-01 -2.52144542e-05 -1.18486242e-01] [-1.19072499e-03 3.87279177e-05 9.99999290e-01 -2.47436699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.52925415399999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:39.77, Y:-0.12, Z:-0.25 [[ 9.99918721e-01 -1.26795026e-02 1.33442599e-03 3.97696365e+01] [ 1.26795534e-02 9.99919611e-01 -2.96320792e-05 -1.19449802e-01] [-1.33394300e-03 4.65495965e-05 9.99999109e-01 -2.47505878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.559254153999994 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:39.80, Y:-0.12, Z:-0.25 [[ 9.99903534e-01 -1.38192429e-02 1.39668774e-03 3.98022930e+01] [ 1.38193000e-02 9.99904508e-01 -3.12353710e-05 -1.20228814e-01] [-1.39612272e-03 5.05336047e-05 9.99999024e-01 -2.47408760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.589254153999995 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:39.83, Y:-0.12, Z:-0.25 [[ 9.99864911e-01 -1.63772175e-02 1.39536181e-03 3.98348714e+01] [ 1.63772769e-02 9.99865883e-01 -3.11636155e-05 -1.20877467e-01] [-1.39466429e-03 5.40116324e-05 9.99999026e-01 -2.47419857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.619254154 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:39.87, Y:-0.12, Z:-0.25 [[ 9.99847037e-01 -1.74207956e-02 1.55516189e-03 3.98671658e+01] [ 1.74208711e-02 9.99848244e-01 -3.50385414e-05 -1.21869292e-01] [-1.55431548e-03 6.21254566e-05 9.99998790e-01 -2.48127616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.649254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:39.90, Y:-0.12, Z:-0.25 [[ 9.99811419e-01 -1.93884924e-02 1.10113870e-03 3.98992827e+01] [ 1.93885314e-02 9.99812024e-01 -2.47709845e-05 -1.22305287e-01] [-1.10045145e-03 4.61157755e-05 9.99999393e-01 -2.47962705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.679254154 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:39.93, Y:-0.12, Z:-0.25 [[ 9.99793063e-01 -2.03298590e-02 7.27292494e-04 3.99318420e+01] [ 2.03298761e-02 9.99793327e-01 -1.61716643e-05 -1.22685984e-01] [-7.26813415e-04 3.09540840e-05 9.99999735e-01 -2.48658167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.70925415399999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:39.96, Y:-0.12, Z:-0.25 [[ 9.99770963e-01 -2.13936706e-02 -5.76153504e-04 3.99638516e+01] [ 2.13936821e-02 9.99771129e-01 1.38084126e-05 -1.22893869e-01] [ 5.75726226e-04 -2.61312949e-05 9.99999834e-01 -2.48506293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.739254153999994 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:40.00, Y:-0.12, Z:-0.25 [[ 9.99731739e-01 -2.30970089e-02 -1.72602325e-03 3.99966257e+01] [ 2.30971134e-02 9.99733225e-01 4.06808205e-05 -1.22622811e-01] [ 1.72462319e-03 -8.05360623e-05 9.99998510e-01 -2.49254823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.769254153999995 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:40.03, Y:-0.12, Z:-0.25 [[ 9.99712808e-01 -2.38432240e-02 -2.40868379e-03 4.00299106e+01] [ 2.38434300e-02 9.99715703e-01 5.68250864e-05 -1.23020620e-01] [ 2.40664412e-03 -1.14240050e-04 9.99997098e-01 -2.49276723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.799254153999996 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:40.06, Y:-0.12, Z:-0.25 [[ 9.99696226e-01 -2.45050130e-02 -2.63805919e-03 4.00621770e+01] [ 2.45052626e-02 9.99699699e-01 6.23189770e-05 -1.23601444e-01] [ 2.63573985e-03 -1.26946379e-04 9.99996518e-01 -2.49762791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.829254154 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:40.09, Y:-0.12, Z:-0.25 [[ 9.99679716e-01 -2.51433467e-02 -2.87693920e-03 4.00941512e+01] [ 2.51436466e-02 9.99683846e-01 6.81255706e-05 -1.23321014e-01] [ 2.87431674e-03 -1.40440494e-04 9.99995859e-01 -2.49870082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.859254154 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:40.13, Y:-0.12, Z:-0.25 [[ 9.99683911e-01 -2.49807550e-02 -2.83543648e-03 4.01270226e+01] [ 2.49810467e-02 9.99687923e-01 6.75210763e-05 -1.23275057e-01] [ 2.83286488e-03 -1.38331905e-04 9.99995978e-01 -2.49781931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.889254154 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:40.16, Y:-0.12, Z:-0.25 [[ 9.99712548e-01 -2.38207930e-02 -2.71849929e-03 4.01602809e+01] [ 2.38210579e-02 9.99716236e-01 6.50870077e-05 -1.21827119e-01] [ 2.71617745e-03 -1.29825827e-04 9.99996303e-01 -2.49650379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.919254153999994 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:40.19, Y:-0.12, Z:-0.25 [[ 9.99740735e-01 -2.26691494e-02 -2.13853211e-03 4.01931530e+01] [ 2.26693115e-02 9.99743017e-01 5.15854901e-05 -1.21355377e-01] [ 2.13681314e-03 -1.00051166e-04 9.99997712e-01 -2.49775172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.949254153999995 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:40.23, Y:-0.12, Z:-0.25 [[ 9.99770693e-01 -2.13150326e-02 -2.05686338e-03 4.02253889e+01] [ 2.13151799e-02 9.99772805e-01 4.97241492e-05 -1.21125921e-01] [ 2.05533620e-03 -9.35551602e-05 9.99997883e-01 -2.49540259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.979254153999996 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:40.26, Y:-0.12, Z:-0.25 [[ 9.99852906e-01 -1.71338575e-02 -7.72671115e-04 4.02585302e+01] [ 1.71338774e-02 9.99853204e-01 1.91760033e-05 -1.19437429e-01] [ 7.72229131e-04 -3.24120348e-05 9.99999701e-01 -2.48881201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.009254154 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:40.29, Y:-0.12, Z:-0.25 [[ 9.99893007e-01 -1.46273720e-02 1.18767966e-04 4.02908700e+01] [ 1.46273724e-02 9.99893014e-01 -2.37137160e-06 -1.18747749e-01] [-1.18720572e-04 4.10838115e-06 9.99999993e-01 -2.48624531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.039254154 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:40.32, Y:-0.12, Z:-0.25 [[ 9.99930258e-01 -1.17844355e-02 7.78657125e-04 4.03231551e+01] [ 1.17844535e-02 9.99930561e-01 -1.84592530e-05 -1.18174587e-01] [-7.78385524e-04 2.76340143e-05 9.99999697e-01 -2.47790366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.069254154 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:40.36, Y:-0.12, Z:-0.25 [[ 9.99977516e-01 -6.52972708e-03 1.52667415e-03 4.03554915e+01] [ 6.52979068e-03 9.99978680e-01 -3.66762066e-05 -1.16026801e-01] [-1.52640212e-03 4.66442446e-05 9.99998834e-01 -2.47027366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09925415399999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:40.39, Y:-0.12, Z:-0.25 [[ 9.99989902e-01 -4.30904209e-03 1.27613771e-03 4.03878596e+01] [ 4.30908475e-03 9.99990715e-01 -3.06851304e-05 -1.15250415e-01] [-1.27599364e-03 3.61838061e-05 9.99999185e-01 -2.47200108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.129254153999995 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:40.42, Y:-0.11, Z:-0.25 [[ 9.99999650e-01 7.61658466e-04 -3.44874478e-04 4.04193323e+01] [-7.61655507e-04 9.99999710e-01 8.71135724e-06 -1.13883444e-01] [ 3.44881013e-04 -8.44867865e-06 9.99999940e-01 -2.47901640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.159254153999996 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:40.45, Y:-0.11, Z:-0.25 [[ 9.99995269e-01 2.96130770e-03 -8.32264231e-04 4.04486546e+01] [-2.96129180e-03 9.99995615e-01 2.03387328e-05 -1.13637915e-01] [ 8.32320810e-04 -1.78740593e-05 9.99999653e-01 -2.48730698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.189254154 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:40.48, Y:-0.11, Z:-0.25 [[ 9.99985622e-01 5.16754503e-03 -1.43291039e-03 4.04772005e+01] [-5.16750268e-03 9.99986648e-01 3.32620772e-05 -1.13520777e-01] [ 1.43306314e-03 -2.58570307e-05 9.99998973e-01 -2.49298815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.219254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:40.50, Y:-0.11, Z:-0.25 [[ 9.99969631e-01 7.46199006e-03 -2.24853476e-03 4.05049069e+01] [-7.46188829e-03 9.99972158e-01 5.36455403e-05 -1.13370947e-01] [ 2.24887246e-03 -3.68655959e-05 9.99997471e-01 -2.49142379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.249254154 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:40.53, Y:-0.11, Z:-0.25 [[ 9.99916667e-01 1.27355647e-02 -2.11290613e-03 4.05323848e+01] [-1.27354901e-02 9.99918899e-01 4.87468747e-05 -1.12221545e-01] [ 2.11335559e-03 -2.18339172e-05 9.99997767e-01 -2.49316649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.27925415399999 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:40.56, Y:-0.11, Z:-0.25 [[ 9.99877704e-01 1.55437862e-02 -1.72288449e-03 4.05604025e+01] [-1.55437400e-02 9.99879188e-01 4.02122987e-05 -1.12028360e-01] [ 1.72330139e-03 -1.34273123e-05 9.99998515e-01 -2.49121470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.309254153999994 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:40.59, Y:-0.11, Z:-0.25 [[ 9.99836631e-01 1.79894331e-02 -1.75835848e-03 4.05871679e+01] [-1.79893899e-02 9.99838177e-01 4.03916998e-05 -1.11963669e-01] [ 1.75880056e-03 -8.75330475e-06 9.99998453e-01 -2.48972474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.339254153999995 meters Centerline goodness : 0.999733 Centerline is valid? [True, True] Translation: X:40.62, Y:-0.11, Z:-0.25 [[ 9.99748395e-01 2.24175008e-02 -7.76401890e-04 4.06150244e+01] [-2.24174940e-02 9.99748696e-01 1.75798331e-05 -1.12352531e-01] [ 7.76600874e-04 -1.70425228e-07 9.99999698e-01 -2.49118999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.369254154 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:40.64, Y:-0.11, Z:-0.25 [[ 9.99713697e-01 2.39191808e-02 -6.30355495e-04 4.06424947e+01] [-2.39191766e-02 9.99713895e-01 1.40938725e-05 -1.13305137e-01] [ 6.30512261e-04 9.87747032e-07 9.99999801e-01 -2.49269247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.399254154 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:40.67, Y:-0.11, Z:-0.25 [[ 9.99662582e-01 2.59752034e-02 1.04363918e-04 4.06696315e+01] [-2.59752032e-02 9.99662587e-01 -3.09566603e-06 -1.14742845e-01] [-1.04409115e-04 3.83747516e-07 9.99999995e-01 -2.49811355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.429254154 meters Centerline goodness : 0.999711 Centerline is valid? [True, True] Translation: X:40.70, Y:-0.12, Z:-0.25 [[ 9.99650920e-01 2.64116660e-02 6.79260519e-04 4.06974987e+01] [-2.64116611e-02 9.99651151e-01 -1.62381875e-05 -1.15757686e-01] [-6.79452437e-04 -1.70787958e-06 9.99999769e-01 -2.50062087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.45925415399999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:40.72, Y:-0.12, Z:-0.25 [[ 9.99660710e-01 2.60389528e-02 6.62352678e-04 4.07244620e+01] [-2.60389480e-02 9.99660929e-01 -1.58570782e-05 -1.17154100e-01] [-6.62540996e-04 -1.39526891e-06 9.99999781e-01 -2.50213966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.489254153999994 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:40.75, Y:-0.12, Z:-0.25 [[ 9.99715578e-01 2.38478405e-02 -2.10134481e-04 4.07522228e+01] [-2.38478401e-02 9.99715600e-01 4.22995051e-06 -1.20112633e-01] [ 2.10175594e-04 7.82506095e-07 9.99999978e-01 -2.50478974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.519254153999995 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:40.78, Y:-0.12, Z:-0.25 [[ 9.99748167e-01 2.24303167e-02 -6.96022193e-04 4.07803666e+01] [-2.24303115e-02 9.99748409e-01 1.52514905e-05 -1.22229655e-01] [ 6.96189175e-04 3.64344888e-07 9.99999758e-01 -2.50539625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.549254153999996 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:40.81, Y:-0.12, Z:-0.25 [[ 9.99794787e-01 2.02475924e-02 -6.47189526e-04 4.08087094e+01] [-2.02475875e-02 9.99794996e-01 1.40781904e-05 -1.24500175e-01] [ 6.47341899e-04 -9.71274749e-07 9.99999790e-01 -2.51399464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.579254154 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:40.84, Y:-0.13, Z:-0.25 [[ 9.99882875e-01 1.52702694e-02 -1.02749805e-03 4.08367877e+01] [-1.52702543e-02 9.99883403e-01 2.25549454e-05 -1.28771765e-01] [ 1.02772267e-03 -6.86214715e-06 9.99999472e-01 -2.51930417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.609254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:40.87, Y:-0.13, Z:-0.25 [[ 9.99953743e-01 9.51237160e-03 -1.42334937e-03 4.08655204e+01] [-9.51233631e-03 9.99954756e-01 3.15599195e-05 -1.32787275e-01] [ 1.42358518e-03 -1.80190817e-05 9.99998987e-01 -2.51913268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.63925415399999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:40.89, Y:-0.14, Z:-0.25 [[ 9.99978496e-01 6.42377973e-03 -1.32026237e-03 4.08944306e+01] [-6.42374684e-03 9.99979367e-01 2.91490159e-05 -1.35031819e-01] [ 1.32042237e-03 -2.06673579e-05 9.99999128e-01 -2.52110776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.669254153999994 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:40.92, Y:-0.14, Z:-0.25 [[ 9.99995239e-01 2.87781991e-03 -1.11387687e-03 4.09234130e+01] [-2.87779447e-03 9.99995859e-01 2.44408924e-05 -1.37070308e-01] [ 1.11394260e-03 -2.12352673e-05 9.99999379e-01 -2.52206172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.699254153999995 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:40.95, Y:-0.14, Z:-0.25 [[ 9.99999993e-01 -6.78681531e-05 -9.88138048e-05 4.09524820e+01] [ 6.78683416e-05 9.99999998e-01 1.90449193e-06 -1.39615433e-01] [ 9.88136753e-05 -1.91119824e-06 9.99999995e-01 -2.52204438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.729254153999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:40.98, Y:-0.14, Z:-0.25 [[ 9.99981534e-01 -5.99411058e-03 1.00087337e-03 4.09814894e+01] [ 5.99413594e-03 9.99982035e-01 -2.23392348e-05 -1.43915833e-01] [-1.00072149e-03 2.83381934e-05 9.99999499e-01 -2.52486461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.759254154 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:41.01, Y:-0.15, Z:-0.25 [[ 9.99961750e-01 -8.62067916e-03 1.47761089e-03 4.10141870e+01] [ 8.62073542e-03 9.99962840e-01 -3.17071615e-05 -1.46016486e-01] [-1.47728264e-03 4.44440412e-05 9.99998908e-01 -2.52321105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.789254154 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:41.05, Y:-0.15, Z:-0.25 [[ 9.99962526e-01 -8.53014494e-03 1.47758380e-03 4.10468822e+01] [ 8.53020288e-03 9.99963617e-01 -3.29110028e-05 -1.46811034e-01] [-1.47724931e-03 4.55138591e-05 9.99998908e-01 -2.52496895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.819254154 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:41.08, Y:-0.15, Z:-0.25 [[ 9.99935831e-01 -1.11661442e-02 1.91057039e-03 4.10798815e+01] [ 1.11662463e-02 9.99937655e-01 -4.28058929e-05 -1.48882536e-01] [-1.90997330e-03 6.41370456e-05 9.99998174e-01 -2.52393558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.84925415399999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:41.11, Y:-0.15, Z:-0.25 [[ 9.99866448e-01 -1.60996478e-02 2.80862674e-03 4.11130572e+01] [ 1.60998883e-02 9.99870386e-01 -6.30433193e-05 -1.52099243e-01] [-2.80724772e-03 1.08253476e-04 9.99996054e-01 -2.52581086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.879254153999995 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:41.15, Y:-0.15, Z:-0.25 [[ 9.99848509e-01 -1.66293686e-02 5.14028400e-03 4.11496717e+01] [ 1.66647740e-02 9.99837162e-01 -6.92349986e-03 -1.53010124e-01] [-5.02431354e-03 7.00811269e-03 9.99962821e-01 -2.53654296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.909254153999996 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:41.18, Y:-0.16, Z:-0.26 [[ 9.99733268e-01 -2.30139022e-02 1.93754319e-03 4.11779076e+01] [ 2.30001204e-02 9.99711941e-01 6.85782681e-03 -1.60591578e-01] [-2.09481042e-03 -6.81143388e-03 9.99974608e-01 -2.55563689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.939254154 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:41.21, Y:-0.16, Z:-0.25 [[ 9.99691121e-01 -2.48308570e-02 1.04501855e-03 4.12108421e+01] [ 2.48308953e-02 9.99691666e-01 -2.37084881e-05 -1.59623652e-01] [-1.04410763e-03 4.96499111e-05 9.99999454e-01 -2.53406816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.969254154 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:41.24, Y:-0.16, Z:-0.25 [[ 9.99654098e-01 -2.62994787e-02 1.46167878e-04 4.12435005e+01] [ 2.62994794e-02 9.99654109e-01 -2.83062634e-06 -1.61789568e-01] [-1.46042876e-04 6.67378631e-06 9.99999989e-01 -2.53619200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.999254154 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:41.28, Y:-0.16, Z:-0.25 [[ 9.99600334e-01 -2.82543604e-02 -9.28909990e-04 4.12754413e+01] [ 2.82543933e-02 9.99600765e-01 2.22483320e-05 -1.64723674e-01] [ 9.27910524e-04 -4.84852283e-05 9.99999568e-01 -2.53886546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.02925415399999 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:41.31, Y:-0.17, Z:-0.25 [[ 9.99587346e-01 -2.86884092e-02 -1.45341989e-03 4.13077465e+01] [ 2.86884907e-02 9.99588400e-01 3.52594869e-05 -1.66240908e-01] [ 1.45181012e-03 -7.69413599e-05 9.99998943e-01 -2.54011021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.059254153999994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:41.34, Y:-0.17, Z:-0.25 [[ 9.99592430e-01 -2.85065075e-02 -1.53410352e-03 4.13410316e+01] [ 2.85065977e-02 9.99593604e-01 3.69855587e-05 -1.67679729e-01] [ 1.53242573e-03 -8.07025562e-05 9.99998823e-01 -2.53617027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.089254153999995 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:41.37, Y:-0.17, Z:-0.25 [[ 9.99630038e-01 -2.71568624e-02 -1.51402678e-03 4.13730930e+01] [ 2.71569488e-02 9.99631181e-01 3.65474402e-05 -1.69327403e-01] [ 1.51247586e-03 -7.76502667e-05 9.99998853e-01 -2.53781458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.119254154 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:41.41, Y:-0.17, Z:-0.25 [[ 9.99668276e-01 -2.56974705e-02 -1.72556190e-03 4.14054122e+01] [ 2.56975807e-02 9.99669762e-01 4.17387583e-05 -1.70229403e-01] [ 1.72391948e-03 -8.60676789e-05 9.99998510e-01 -2.53831207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.149254154 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:41.44, Y:-0.17, Z:-0.25 [[ 9.99719945e-01 -2.35936085e-02 -1.83676793e-03 4.14387657e+01] [ 2.35937304e-02 9.99721628e-01 4.46900510e-05 -1.71239283e-01] [ 1.83520223e-03 -8.80137427e-05 9.99998312e-01 -2.54575020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.179254154 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:41.47, Y:-0.17, Z:-0.25 [[ 9.99837965e-01 -1.78774609e-02 -2.10706703e-03 4.14709205e+01] [ 1.78776086e-02 9.99840181e-01 5.12725388e-05 -1.71155225e-01] [ 2.10581366e-03 -8.89335506e-05 9.99997779e-01 -2.54398501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20925415399999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:41.50, Y:-0.17, Z:-0.25 [[ 9.99896768e-01 -1.42334351e-02 -1.96541535e-03 4.15019404e+01] [ 1.42335565e-02 9.99898697e-01 4.77665746e-05 -1.70835196e-01] [ 1.96453636e-03 -7.57364939e-05 9.99998067e-01 -2.54701236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.239254153999994 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:41.53, Y:-0.17, Z:-0.25 [[ 9.99941797e-01 -1.06308092e-02 -1.84086289e-03 4.15340718e+01] [ 1.06309101e-02 9.99943489e-01 4.49899068e-05 -1.70439164e-01] [ 1.84028058e-03 -6.45573360e-05 9.99998305e-01 -2.54355381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.269254153999995 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:41.57, Y:-0.17, Z:-0.25 [[ 9.99993594e-01 -3.13952994e-03 -1.71884145e-03 4.15662575e+01] [ 3.13960705e-03 9.99995071e-01 4.21647195e-05 -1.69426731e-01] [ 1.71870060e-03 -4.75609361e-05 9.99998522e-01 -2.53936032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.299254153999996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:41.60, Y:-0.17, Z:-0.25 [[ 9.99998538e-01 6.73850909e-04 -1.57177606e-03 4.15970270e+01] [-6.73791500e-04 9.99999772e-01 3.83264439e-05 -1.69555657e-01] [ 1.57180153e-03 -3.72673385e-05 9.99998764e-01 -2.54077287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.329254154 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:41.63, Y:-0.17, Z:-0.25 [[ 9.99959186e-01 8.94154221e-03 -1.29424291e-03 4.16267856e+01] [-8.94150926e-03 9.99960023e-01 3.12454923e-05 -1.69222580e-01] [ 1.29447055e-03 -1.96717321e-05 9.99999162e-01 -2.54219354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.359254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:41.65, Y:-0.17, Z:-0.25 [[ 9.99917558e-01 1.27107895e-02 -1.82000333e-03 4.16542400e+01] [-1.27107338e-02 9.99919214e-01 4.21397572e-05 -1.69339605e-01] [ 1.82039193e-03 -1.90027053e-05 9.99998343e-01 -2.54161584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38925415399999 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:41.68, Y:-0.17, Z:-0.25 [[ 9.99861931e-01 1.65185903e-02 -1.80402040e-03 4.16821862e+01] [-1.65185428e-02 9.99863559e-01 4.12052763e-05 -1.69618103e-01] [ 1.80445491e-03 -1.13997988e-05 9.99998372e-01 -2.54776674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.419254153999994 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:41.71, Y:-0.17, Z:-0.26 [[ 9.99785666e-01 2.05645935e-02 -2.39155684e-03 4.17099450e+01] [-2.05645187e-02 9.99788526e-01 5.58465338e-05 -1.69734569e-01] [ 2.39219955e-03 -6.65334860e-06 9.99997139e-01 -2.55192157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.449254153999995 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:41.74, Y:-0.17, Z:-0.26 [[ 9.99600505e-01 2.81072088e-02 -2.96907923e-03 4.17373967e+01] [-2.81071318e-02 9.99604914e-01 6.76457735e-05 -1.69616488e-01] [ 2.96980752e-03 1.58335520e-05 9.99995590e-01 -2.55398245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.479254153999996 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:41.76, Y:-0.17, Z:-0.26 [[ 9.99506984e-01 3.12894246e-02 -2.60021412e-03 4.17645395e+01] [-3.12893755e-02 9.99510366e-01 5.95978725e-05 -1.69988586e-01] [ 2.60080575e-03 2.17905860e-05 9.99996618e-01 -2.55921421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.509254154 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:41.79, Y:-0.17, Z:-0.26 [[ 9.99350431e-01 3.59518843e-02 -2.48547979e-03 4.17925824e+01] [-3.59518543e-02 9.99353522e-01 5.67714954e-05 -1.71227983e-01] [ 2.48591402e-03 3.26229888e-05 9.99996910e-01 -2.55933405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.539254154 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:41.82, Y:-0.17, Z:-0.26 [[ 9.99299612e-01 3.73454547e-02 -2.36685854e-03 4.18206974e+01] [-3.73454320e-02 9.99302415e-01 5.37860748e-05 -1.72369193e-01] [ 2.36721612e-03 3.46429512e-05 9.99997198e-01 -2.55874328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.569254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:41.85, Y:-0.17, Z:-0.26 [[ 9.99281738e-01 3.78420687e-02 -1.99652607e-03 4.18482805e+01] [-3.78420541e-02 9.99283732e-01 4.50711263e-05 -1.73474172e-01] [ 1.99680161e-03 3.05138944e-05 9.99998006e-01 -2.55804837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59925415399999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:41.88, Y:-0.18, Z:-0.26 [[ 9.99317665e-01 3.69143383e-02 -1.23940776e-03 4.18756794e+01] [-3.69143326e-02 9.99318433e-01 2.75242966e-05 -1.75575926e-01] [ 1.23957907e-03 1.82463946e-05 9.99999232e-01 -2.56018294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.629254153999995 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:41.90, Y:-0.18, Z:-0.26 [[ 9.99366744e-01 3.55677546e-02 -1.02262802e-03 4.19034278e+01] [-3.55677501e-02 9.99367267e-01 2.25731227e-05 -1.77288643e-01] [ 1.02278385e-03 1.38137498e-05 9.99999477e-01 -2.56329752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.659254153999996 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:41.93, Y:-0.18, Z:-0.26 [[ 9.99440788e-01 3.32824559e-02 3.22318272e-03 4.19329687e+01] [-3.32485791e-02 9.99396601e-01 -1.00481960e-02 -1.77172634e-01] [-3.55566649e-03 9.93541072e-03 9.99944321e-01 -2.57899996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.689254154 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:41.96, Y:-0.18, Z:-0.26 [[ 9.99547283e-01 2.99166153e-02 -3.19782514e-03 4.19572988e+01] [-2.99288914e-02 9.99544567e-01 -3.86255230e-03 -1.81506459e-01] [ 3.08081426e-03 3.95651102e-03 9.99987427e-01 -2.56182646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.719254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:41.99, Y:-0.19, Z:-0.26 [[ 9.99646579e-01 2.65767045e-02 6.29084962e-04 4.19867938e+01] [-2.65829648e-02 9.99545477e-01 1.42191602e-02 -1.92402181e-01] [-2.50900612e-04 -1.42308578e-02 9.99898705e-01 -2.63192154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.749254154 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:42.01, Y:-0.19, Z:-0.26 [[ 9.99752922e-01 2.22281064e-02 -8.32335970e-05 4.20146037e+01] [-2.22281063e-02 9.99752925e-01 1.14845989e-06 -1.89409034e-01] [ 8.32385602e-05 7.01949115e-07 9.99999997e-01 -2.57816305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.77925415399999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:42.04, Y:-0.19, Z:-0.26 [[ 9.99803413e-01 1.98260931e-02 -2.47985525e-04 4.20415925e+01] [-1.98260925e-02 9.99803444e-01 4.60425139e-06 -1.91383190e-01] [ 2.48028066e-04 3.13237711e-07 9.99999969e-01 -2.57864112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.809254153999994 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:42.07, Y:-0.19, Z:-0.26 [[ 9.99844735e-01 1.76195012e-02 -2.41381126e-04 4.20692603e+01] [-1.76195007e-02 9.99844765e-01 4.54306095e-06 -1.93651496e-01] [ 2.41423702e-04 -2.89340664e-07 9.99999971e-01 -2.58256993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.839254153999995 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:42.10, Y:-0.20, Z:-0.26 [[ 9.99880366e-01 1.54662371e-02 -2.22819176e-04 4.20970707e+01] [-1.54662365e-02 9.99880391e-01 4.22126334e-06 -1.96279719e-01] [ 2.22857812e-04 -7.74584257e-07 9.99999975e-01 -2.58827869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.869254154 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:42.13, Y:-0.20, Z:-0.26 [[ 9.99935619e-01 1.13332941e-02 -5.61258079e-04 4.21256251e+01] [-1.13332894e-02 9.99935776e-01 1.15755132e-05 -2.01038208e-01] [ 5.61353222e-04 -5.21386769e-06 9.99999842e-01 -2.59733909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.899254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:42.15, Y:-0.20, Z:-0.26 [[ 9.99955654e-01 9.35191910e-03 -1.10944912e-03 4.21542076e+01] [-9.35189909e-03 9.99956270e-01 2.32215433e-05 -2.03772937e-01] [ 1.10961777e-03 -1.28450573e-05 9.99999384e-01 -2.60351079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.929254154 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:42.18, Y:-0.20, Z:-0.25 [[ 9.99945909e-01 8.25669590e-03 -6.32497819e-03 4.21796023e+01] [-8.36468964e-03 9.99816349e-01 -1.72423740e-02 -2.00014069e-01] [ 6.18145157e-03 1.72943479e-02 9.99831333e-01 -2.54267805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.95925415399999 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:42.21, Y:-0.22, Z:-0.27 [[ 9.99976117e-01 6.47087934e-03 -2.42739257e-03 4.22105362e+01] [-6.42990532e-03 9.99842794e-01 1.65240344e-02 -2.17551275e-01] [ 2.53393600e-03 -1.65080318e-02 9.99860522e-01 -2.66326356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.989254153999994 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:42.24, Y:-0.21, Z:-0.26 [[ 9.99970270e-01 6.97730027e-03 -3.28286525e-03 4.22383428e+01] [-6.97711059e-03 9.99975657e-01 6.92296808e-05 -2.11351260e-01] [ 3.28326837e-03 -4.63227087e-05 9.99994609e-01 -2.60483952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.019254153999995 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:42.27, Y:-0.21, Z:-0.26 [[ 9.99942605e-01 1.01531351e-02 -3.42055200e-03 4.22652532e+01] [-1.01529497e-02 9.99948455e-01 7.15537494e-05 -2.13737158e-01] [ 3.42110218e-03 -3.68209501e-05 9.99994147e-01 -2.60120398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.049254153999996 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:42.29, Y:-0.21, Z:-0.26 [[ 9.99916013e-01 1.24729238e-02 -3.52046037e-03 4.22933965e+01] [-1.24727428e-02 9.99922210e-01 7.33695418e-05 -2.14883476e-01] [ 3.52110164e-03 -2.94535830e-05 9.99993800e-01 -2.59878629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.079254154 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:42.32, Y:-0.22, Z:-0.26 [[ 9.99878337e-01 1.52185196e-02 -3.42154913e-03 4.23209936e+01] [-1.52183660e-02 9.99884191e-01 7.09200891e-05 -2.15910763e-01] [ 3.42223219e-03 -1.88410738e-05 9.99994144e-01 -2.59730988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.109254154 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:42.35, Y:-0.22, Z:-0.26 [[ 9.99781739e-01 2.05832496e-02 -3.57827051e-03 4.23489198e+01] [-2.05831230e-02 9.99788142e-01 7.22021228e-05 -2.17473679e-01] [ 3.57899858e-03 1.46561809e-06 9.99993595e-01 -2.59713940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.13925415399999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:42.38, Y:-0.22, Z:-0.26 [[ 9.99712886e-01 2.34146529e-02 -5.08910351e-03 4.23756364e+01] [-2.34392754e-02 9.99713577e-01 -4.83371761e-03 -2.16287728e-01] [ 4.97446605e-03 4.95161468e-03 9.99975368e-01 -2.58769414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.169254153999994 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:42.40, Y:-0.22, Z:-0.26 [[ 9.99663882e-01 2.54946121e-02 -4.70621429e-03 4.24037146e+01] [-2.54780347e-02 9.99669081e-01 3.54943081e-03 -2.21619607e-01] [ 4.79514828e-03 -3.42833269e-03 9.99982626e-01 -2.61969047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.199254153999995 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:42.43, Y:-0.22, Z:-0.26 [[ 9.99609767e-01 2.74772922e-02 -5.03107808e-03 4.24338797e+01] [-2.74698672e-02 9.99621447e-01 1.53904474e-03 -2.23677906e-01] [ 5.07146233e-03 -1.40024111e-03 9.99986160e-01 -2.61644824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.229254153999996 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:42.46, Y:-0.22, Z:-0.26 [[ 9.99532138e-01 3.05831585e-02 4.19166311e-04 4.24634912e+01] [-3.05717565e-02 9.99390481e-01 -1.68533269e-02 -2.18838639e-01] [-9.34338789e-04 1.68326273e-02 9.99857885e-01 -2.64176753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.259254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:42.49, Y:-0.24, Z:-0.27 [[ 9.99604687e-01 2.75889423e-02 -5.41472454e-03 4.24899793e+01] [-2.74940587e-02 9.99479464e-01 1.68782991e-02 -2.35928407e-01] [ 5.87756040e-03 -1.67227542e-02 9.99842890e-01 -2.67434151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.289254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:42.52, Y:-0.23, Z:-0.26 [[ 9.99624322e-01 2.67977856e-02 -5.75265369e-03 4.25185032e+01] [-2.67975692e-02 9.99640874e-01 1.14701622e-04 -2.29586058e-01] [ 5.75366151e-03 3.94986039e-05 9.99983447e-01 -2.61751532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.31925415399999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:42.55, Y:-0.23, Z:-0.26 [[ 9.99659548e-01 2.55449076e-02 -5.31460420e-03 4.25463800e+01] [-2.55447084e-02 9.99673675e-01 1.05376884e-04 -2.31344693e-01] [ 5.31556175e-03 3.04190059e-05 9.99985872e-01 -2.61874737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.34925415399999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:42.58, Y:-0.23, Z:-0.26 [[ 9.99625670e-01 2.73487866e-02 -7.51065299e-04 4.25794705e+01] [-2.73564699e-02 9.99533430e-01 -1.35847325e-02 -2.31169260e-01] [ 3.79188924e-04 1.36001938e-02 9.99907441e-01 -2.64732610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.379254153999995 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:42.60, Y:-0.24, Z:-0.27 [[ 9.99801718e-01 1.94994302e-02 -4.03694047e-03 4.26028016e+01] [-1.94419610e-02 9.99715515e-01 1.38166067e-02 -2.43545054e-01] [ 4.30520798e-03 -1.37353811e-02 9.99896397e-01 -2.65969084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.409254153999996 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:42.64, Y:-0.23, Z:-0.26 [[ 9.99770480e-01 2.12961803e-02 2.33654313e-03 4.26369893e+01] [-2.12391628e-02 9.99528175e-01 -2.21884193e-02 -2.33673567e-01] [-2.80796927e-03 2.21337004e-02 9.99751076e-01 -2.63638203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.439254154 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:42.66, Y:-0.25, Z:-0.27 [[ 9.99923031e-01 1.21678457e-02 -2.42411193e-03 4.26602125e+01] [-1.21102013e-02 9.99672983e-01 2.25226714e-02 -2.53219426e-01] [ 2.69737159e-03 -2.24915813e-02 9.99743394e-01 -2.68182021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.469254154 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:42.69, Y:-0.24, Z:-0.26 [[ 9.99949546e-01 9.78588532e-03 -2.26773270e-03 4.26892557e+01] [-9.78581453e-03 9.99952117e-01 4.23106097e-05 -2.44677409e-01] [ 2.26803816e-03 -2.01168634e-05 9.99997428e-01 -2.61379014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.499254154 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:42.72, Y:-0.25, Z:-0.26 [[ 9.99973604e-01 7.08958459e-03 -1.59040617e-03 4.27180361e+01] [-7.08954672e-03 9.99974868e-01 2.94532690e-05 -2.46674752e-01] [ 1.59057502e-03 -1.81772327e-05 9.99998735e-01 -2.61390336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52925415399999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:42.75, Y:-0.25, Z:-0.26 [[ 9.99999191e-01 1.25928520e-03 1.79189841e-04 4.27462582e+01] [-1.25928453e-03 9.99999207e-01 -3.81563230e-06 -2.50632050e-01] [-1.79194504e-04 3.58997821e-06 9.99999984e-01 -2.62216407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.559254153999994 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:42.78, Y:-0.25, Z:-0.26 [[ 9.99997831e-01 -1.92365419e-03 7.98658321e-04 4.27772160e+01] [ 1.92366670e-03 9.99998150e-01 -1.48920003e-05 -2.52855508e-01] [-7.98628196e-04 1.64283204e-05 9.99999681e-01 -2.62599938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.589254153999995 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:42.81, Y:-0.25, Z:-0.26 [[ 9.99986601e-01 -5.16711939e-03 -3.12810550e-04 4.28073126e+01] [ 5.16536166e-03 9.99972182e-01 -5.38087973e-03 -2.52552703e-01] [ 3.40605496e-04 5.37919186e-03 9.99985474e-01 -2.61362153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.619254154 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:42.84, Y:-0.26, Z:-0.26 [[ 9.99922331e-01 -1.23533396e-02 1.65110229e-03 4.28385722e+01] [ 1.23445182e-02 9.99910020e-01 5.25018563e-03 -2.61911661e-01] [-1.71581105e-03 -5.22939579e-03 9.99984855e-01 -2.64928859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.649254154 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:42.87, Y:-0.26, Z:-0.26 [[ 9.99879667e-01 -1.55128437e-02 5.28883651e-05 4.28696147e+01] [ 1.55129247e-02 9.99869580e-01 -4.49133235e-03 -2.59221263e-01] [ 1.67918692e-05 4.49161234e-03 9.99989913e-01 -2.62883015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.679254154 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:42.90, Y:-0.26, Z:-0.27 [[ 9.99786623e-01 -2.02456910e-02 4.10135134e-03 4.29045853e+01] [ 2.02792578e-02 9.99759777e-01 -8.31507914e-03 -2.64938635e-01] [-3.93202158e-03 8.39647725e-03 9.99957018e-01 -2.68424930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.70925415399999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:42.94, Y:-0.27, Z:-0.27 [[ 9.99782662e-01 -2.04576844e-02 4.01404158e-03 4.29380737e+01] [ 2.04575990e-02 9.99790719e-01 6.23456316e-05 -2.69454142e-01] [-4.01447696e-03 1.97855715e-05 9.99991942e-01 -2.70859156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.739254153999994 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:42.96, Y:-0.27, Z:-0.27 [[ 9.99612141e-01 -2.78403474e-02 -6.94312974e-04 4.29634030e+01] [ 2.78469697e-02 9.99529763e-01 1.28374161e-02 -2.71943005e-01] [ 3.36588358e-04 -1.28517715e-02 9.99917356e-01 -2.68321556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.769254153999995 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:43.00, Y:-0.27, Z:-0.27 [[ 9.99644635e-01 -2.65014866e-02 2.87652342e-03 4.30007938e+01] [ 2.65324936e-02 9.99583660e-01 -1.13372413e-02 -2.66627353e-01] [-2.57487206e-03 1.14095338e-02 9.99931594e-01 -2.67775364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.799254153999996 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:43.03, Y:-0.27, Z:-0.27 [[ 9.99526721e-01 -3.05608299e-02 3.51703741e-03 4.30334128e+01] [ 3.05647873e-02 9.99532207e-01 -1.07701740e-03 -2.72718025e-01] [-3.48247762e-03 1.18400517e-03 9.99993235e-01 -2.71130640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.829254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:43.06, Y:-0.28, Z:-0.27 [[ 9.99386182e-01 -3.50146315e-02 -1.11128895e-03 4.30594807e+01] [ 3.50256126e-02 9.99311662e-01 1.22232934e-02 -2.75659261e-01] [ 6.82529893e-04 -1.22547141e-02 9.99924675e-01 -2.68596750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.859254154 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:43.09, Y:-0.27, Z:-0.27 [[ 9.99391233e-01 -3.48743929e-02 -9.69368102e-04 4.30925329e+01] [ 3.48744255e-02 9.99391702e-01 1.68170505e-05 -2.71033183e-01] [ 9.68191952e-04 -5.06129686e-05 9.99999530e-01 -2.65620615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.88925415399999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:43.13, Y:-0.27, Z:-0.27 [[ 9.99422074e-01 -3.39605980e-02 -1.48150668e-03 4.31256941e+01] [ 3.39606733e-02 9.99423170e-01 2.56904981e-05 -2.71374262e-01] [ 1.47977964e-03 -7.59886153e-05 9.99998902e-01 -2.65469710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.919254153999994 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:43.16, Y:-0.27, Z:-0.27 [[ 9.99518079e-01 -3.09466243e-02 -2.43218194e-03 4.31576280e+01] [ 3.09468183e-02 9.99521032e-01 4.21308331e-05 -2.70603077e-01] [ 2.42971320e-03 -1.17378822e-04 9.99997041e-01 -2.65561382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.949254153999995 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:43.19, Y:-0.27, Z:-0.27 [[ 9.99573574e-01 -2.90945785e-02 -2.48508755e-03 4.31911386e+01] [ 2.90947760e-02 9.99576656e-01 4.33658170e-05 -2.70512404e-01] [ 2.48277379e-03 -1.15650390e-04 9.99996911e-01 -2.65814590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.979254153999996 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:43.22, Y:-0.27, Z:-0.27 [[ 9.99634271e-01 -2.69522514e-02 -2.21388493e-03 4.32237022e+01] [ 2.69524036e-02 9.99636717e-01 3.89231672e-05 -2.70257612e-01] [ 2.21203160e-03 -9.85784521e-05 9.99997549e-01 -2.65594602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.009254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:43.26, Y:-0.27, Z:-0.27 [[ 9.99744932e-01 -2.25684327e-02 -8.57954611e-04 4.32572691e+01] [ 2.25684542e-02 9.99745300e-01 1.53810433e-05 -2.68647057e-01] [ 8.57388964e-04 -3.47398294e-05 9.99999632e-01 -2.65600929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.039254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:43.29, Y:-0.27, Z:-0.27 [[ 9.99789790e-01 -2.05021899e-02 -1.91402025e-04 4.32896235e+01] [ 2.05021910e-02 9.99789808e-01 3.93728126e-06 -2.67976395e-01] [ 1.91281071e-04 -7.86061449e-06 9.99999982e-01 -2.65376217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.06925415399999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:43.32, Y:-0.27, Z:-0.27 [[ 9.99834947e-01 -1.81652715e-02 3.18961548e-04 4.33221316e+01] [ 1.81652741e-02 9.99834998e-01 -5.46016577e-06 -2.67447524e-01] [-3.18809733e-04 1.12532885e-05 9.99999949e-01 -2.65341416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.09925415399999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:43.35, Y:-0.27, Z:-0.27 [[ 9.99912095e-01 -1.32376773e-02 7.52658229e-04 4.33548435e+01] [ 1.32376910e-02 9.99912378e-01 -1.32323407e-05 -2.65714531e-01] [-7.52417114e-04 2.31946346e-05 9.99999717e-01 -2.65558614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.129254153999995 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:43.39, Y:-0.26, Z:-0.27 [[ 9.99946436e-01 -1.03244748e-02 7.28256537e-04 4.33875420e+01] [ 1.03244869e-02 9.99946701e-01 -1.28489461e-05 -2.64654704e-01] [-7.28085063e-04 2.03671329e-05 9.99999735e-01 -2.65912696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.159254153999996 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:43.43, Y:-0.24, Z:-0.27 [[ 9.99870958e-01 1.55153446e-03 1.59893510e-02 4.34304601e+01] [-3.72585857e-04 9.97297057e-01 -7.34740871e-02 -2.38428113e-01] [-1.60601303e-02 7.34586485e-02 9.97168942e-01 -2.65837319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.189254154 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:43.45, Y:-0.30, Z:-0.29 [[ 9.99998304e-01 -1.81775497e-03 -2.95900416e-04 4.34462520e+01] [ 1.83469108e-03 9.97245807e-01 7.41446857e-02 -2.95552400e-01] [ 1.60308578e-04 -7.41451029e-02 9.97247451e-01 -2.86688396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.219254154 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:43.48, Y:-0.26, Z:-0.27 [[ 9.99996318e-01 1.48112014e-03 -2.27367923e-03 4.34770517e+01] [-1.48103464e-03 9.99998902e-01 3.92869428e-05 -2.58821287e-01] [ 2.27373492e-03 -3.59194004e-05 9.99997414e-01 -2.65635367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.249254154 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:43.51, Y:-0.26, Z:-0.27 [[ 9.99971651e-01 6.68825051e-03 -3.45902888e-03 4.35057266e+01] [-6.68808480e-03 9.99977633e-01 5.94714914e-05 -2.56188378e-01] [ 3.45934927e-03 -3.63355270e-05 9.99994016e-01 -2.65258132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27925415399999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:43.53, Y:-0.26, Z:-0.27 [[ 9.99954881e-01 8.76935343e-03 -3.65163944e-03 4.35332857e+01] [-8.76918814e-03 9.99961548e-01 6.12741530e-05 -2.55047033e-01] [ 3.65203636e-03 -2.92494752e-05 9.99993331e-01 -2.65365871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.309254153999994 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:43.56, Y:-0.25, Z:-0.27 [[ 9.99933991e-01 1.08091995e-02 -3.89556032e-03 4.35614554e+01] [-1.08090269e-02 9.99941579e-01 6.53650131e-05 -2.53992879e-01] [ 3.89603928e-03 -2.32534822e-05 9.99992410e-01 -2.65176218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.339254153999995 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:43.59, Y:-0.24, Z:-0.26 [[ 9.99846921e-01 1.55116490e-02 -8.09463569e-03 4.35877875e+01] [-1.56242780e-02 9.99779336e-01 -1.40414082e-02 -2.44689601e-01] [ 7.87504410e-03 1.41657316e-02 9.99868649e-01 -2.60061729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.369254154 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:43.62, Y:-0.26, Z:-0.27 [[ 9.99864800e-01 1.59884287e-02 -3.84070909e-03 4.36174099e+01] [-1.59351380e-02 9.99781526e-01 1.35266894e-02 -2.56910526e-01] [ 4.05614050e-03 -1.34636584e-02 9.99901134e-01 -2.68220048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.399254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:43.64, Y:-0.25, Z:-0.26 [[ 9.99840938e-01 1.74167299e-02 -3.84132580e-03 4.36445084e+01] [-1.74166148e-02 9.99848317e-01 6.34160815e-05 -2.50060735e-01] [ 3.84184763e-03 3.49689723e-06 9.99992620e-01 -2.63758517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.429254154 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:43.67, Y:-0.25, Z:-0.26 [[ 9.99817926e-01 1.86896712e-02 -3.84863267e-03 4.36727722e+01] [-1.86895666e-02 9.99825333e-01 6.31527997e-05 -2.49804202e-01] [ 3.84914074e-03 8.78797525e-06 9.99992592e-01 -2.63790526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.45925415399999 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:43.71, Y:-0.23, Z:-0.27 [[ 9.99555161e-01 2.80247099e-02 1.02027222e-02 4.37133961e+01] [-2.73563995e-02 9.97786261e-01 -6.06152164e-02 -2.30112833e-01] [-1.18788599e-02 6.03091426e-02 9.98109062e-01 -2.65261951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.489254153999994 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:43.73, Y:-0.28, Z:-0.28 [[ 9.99803759e-01 1.95221182e-02 -3.36615411e-03 4.37308128e+01] [-1.92788728e-02 9.97928676e-01 6.13733137e-02 -2.78378908e-01] [ 4.55731879e-03 -6.12963740e-02 9.98109205e-01 -2.80818872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.519254153999995 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:43.76, Y:-0.25, Z:-0.26 [[ 9.99816487e-01 1.87533317e-02 -3.91205762e-03 4.37604396e+01] [-1.87532345e-02 9.99824141e-01 6.15420499e-05 -2.49445036e-01] [ 3.91252376e-03 1.18329777e-05 9.99992346e-01 -2.61571282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.549254153999996 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:43.79, Y:-0.25, Z:-0.26 [[ 9.99890755e-01 1.43573778e-02 -3.51331191e-03 4.37872490e+01] [-1.43572739e-02 9.99896928e-01 5.47902605e-05 -2.50717416e-01] [ 3.51373643e-03 -4.34269351e-06 9.99993827e-01 -2.61224672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.579254154 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:43.81, Y:-0.25, Z:-0.26 [[ 9.99917247e-01 1.16329125e-02 -5.49318963e-03 4.38147063e+01] [-1.16632517e-02 9.99916725e-01 -5.52370335e-03 -2.49232833e-01] [ 5.42847543e-03 5.58731470e-03 9.99969656e-01 -2.59568934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.609254154 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:43.84, Y:-0.26, Z:-0.26 [[ 9.99985837e-01 2.70676117e-03 -4.58246499e-03 4.38442944e+01] [-2.68139891e-03 9.99981105e-01 5.53175959e-03 -2.57595714e-01] [ 4.59735155e-03 -5.51939383e-03 9.99974200e-01 -2.63806184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.63925415399999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:43.87, Y:-0.26, Z:-0.26 [[ 9.99984021e-01 -2.11359568e-03 -5.24313177e-03 4.38726410e+01] [ 2.11405065e-03 9.99997762e-01 8.12350479e-05 -2.57392181e-01] [ 5.24294834e-03 -9.23179960e-05 9.99986251e-01 -2.62768496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.669254153999994 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:43.90, Y:-0.26, Z:-0.26 [[ 9.99957898e-01 -6.96263089e-03 -5.97695272e-03 4.39009666e+01] [ 6.96330689e-03 9.99975752e-01 9.22986325e-05 -2.59856829e-01] [ 5.97616514e-03 -1.33914103e-04 9.99982134e-01 -2.63497068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.699254153999995 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:43.93, Y:-0.26, Z:-0.26 [[ 9.99835775e-01 -1.67750542e-02 -6.85713694e-03 4.39310110e+01] [ 1.67761729e-02 9.99859265e-01 1.05655980e-04 -2.63791138e-01] [ 6.85439952e-03 -2.20675144e-04 9.99976484e-01 -2.64559603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.729254153999996 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:43.96, Y:-0.26, Z:-0.26 [[ 9.99747164e-01 -2.00885421e-02 -1.01024022e-02 4.39607387e+01] [ 1.99711168e-02 9.99733342e-01 -1.15930747e-02 -2.60394282e-01] [ 1.03325963e-02 1.13883873e-02 9.99881764e-01 -2.60877638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.759254154 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:43.99, Y:-0.27, Z:-0.27 [[ 9.99622671e-01 -2.67624677e-02 -6.18759692e-03 4.39917622e+01] [ 2.68350998e-02 9.99568212e-01 1.19694572e-02 -2.74311602e-01] [ 5.86459297e-03 -1.21309856e-02 9.99909219e-01 -2.67673113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.789254154 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:44.02, Y:-0.27, Z:-0.26 [[ 9.99565502e-01 -2.88496713e-02 -6.04184246e-03 4.40225489e+01] [ 2.88507627e-02 9.99583726e-01 9.35498778e-05 -2.69914356e-01] [ 6.03662851e-03 -2.67820994e-04 9.99981744e-01 -2.64103865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81925415399999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:44.05, Y:-0.27, Z:-0.26 [[ 9.99528471e-01 -3.01418334e-02 -5.85715555e-03 4.40548168e+01] [ 3.01428838e-02 9.99545596e-01 9.11256233e-05 -2.71239765e-01] [ 5.85174734e-03 -2.67634214e-04 9.99982843e-01 -2.64172025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84925415399999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:44.09, Y:-0.27, Z:-0.26 [[ 9.99517453e-01 -3.05877533e-02 -5.40842723e-03 4.40871881e+01] [ 3.05886611e-02 9.99532054e-01 8.51852805e-05 -2.72363787e-01] [ 5.40329075e-03 -2.50580722e-04 9.99985371e-01 -2.64203888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.879254153999995 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:44.12, Y:-0.27, Z:-0.26 [[ 9.99517910e-01 -3.06528496e-02 -4.93452913e-03 4.41197844e+01] [ 3.06536086e-02 9.99530065e-01 7.82435961e-05 -2.72873911e-01] [ 4.92981183e-03 -2.29467000e-04 9.99987822e-01 -2.63938827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.909254153999996 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:44.15, Y:-0.27, Z:-0.26 [[ 9.99538064e-01 -3.00627417e-02 -4.45979729e-03 4.41529785e+01] [ 3.00633581e-02 9.99547993e-01 7.12313258e-05 -2.73079971e-01] [ 4.45564002e-03 -2.05274905e-04 9.99990053e-01 -2.64142643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.939254154 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:44.19, Y:-0.27, Z:-0.26 [[ 9.99569497e-01 -2.90475404e-02 -4.13045771e-03 4.41858859e+01] [ 2.90480625e-02 9.99578014e-01 6.64449903e-05 -2.72671161e-01] [ 4.12678465e-03 -1.86398179e-04 9.99991467e-01 -2.64007413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.969254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:44.22, Y:-0.27, Z:-0.26 [[ 9.99583985e-01 -2.85831843e-02 -3.85467665e-03 4.42186777e+01] [ 2.85836372e-02 9.99591402e-01 6.24484103e-05 -2.72985316e-01] [ 3.85131666e-03 -1.72603110e-04 9.99992569e-01 -2.64496784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99925415399999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:44.25, Y:-0.27, Z:-0.27 [[ 9.99583163e-01 -2.85598398e-02 -4.22313339e-03 4.42521797e+01] [ 2.85603852e-02 9.99592067e-01 6.88847766e-05 -2.72767571e-01] [ 4.21944330e-03 -1.89470379e-04 9.99991080e-01 -2.65107450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02925415399999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:44.30, Y:-0.24, Z:-0.26 [[ 9.99749100e-01 -1.87385873e-02 1.22720432e-02 4.42993548e+01] [ 1.97909899e-02 9.95548578e-01 -9.21485025e-02 -2.41419682e-01] [-1.04906824e-02 9.23682583e-02 9.95669649e-01 -2.62338573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.059254153999994 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:44.33, Y:-0.30, Z:-0.29 [[ 9.99710776e-01 -2.30084240e-02 6.99829441e-03 4.43251141e+01] [ 2.27508788e-02 9.99132223e-01 3.48883839e-02 -2.98509792e-01] [-7.79494818e-03 -3.47190760e-02 9.99366712e-01 -2.93014849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.089254153999995 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:44.34, Y:-0.30, Z:-0.28 [[ 9.99481824e-01 -3.12369458e-02 -7.76768538e-03 4.43422466e+01] [ 3.16180189e-02 9.97982067e-01 5.50644682e-02 -2.96702440e-01] [ 6.03196490e-03 -5.52815339e-02 9.98452586e-01 -2.80791061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.119254154 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:44.37, Y:-0.27, Z:-0.26 [[ 9.99469973e-01 -3.11347433e-02 -9.50788888e-03 4.43749279e+01] [ 3.11375586e-02 9.99515098e-01 1.48173863e-04 -2.69476310e-01] [ 9.49866513e-03 -4.44147774e-04 9.99954788e-01 -2.64147811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.149254154 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:44.41, Y:-0.27, Z:-0.26 [[ 9.99489704e-01 -3.02111142e-02 -1.03739766e-02 4.44074178e+01] [ 3.02144246e-02 9.99543427e-01 1.62490795e-04 -2.67903930e-01] [ 1.03643310e-02 -4.75851609e-04 9.99946176e-01 -2.64565147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.179254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:44.44, Y:-0.27, Z:-0.26 [[ 9.99539779e-01 -2.86810578e-02 -9.88063767e-03 4.44392248e+01] [ 2.86839934e-02 9.99588518e-01 1.55493088e-04 -2.67249597e-01] [ 9.87211226e-03 -4.38837672e-04 9.99951173e-01 -2.64648014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20925415399999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:44.47, Y:-0.27, Z:-0.26 [[ 9.99595534e-01 -2.68291283e-02 -9.43223455e-03 4.44709494e+01] [ 2.68317278e-02 9.99639953e-01 1.49139037e-04 -2.66049361e-01] [ 9.42483723e-03 -4.02161865e-04 9.99955504e-01 -2.63985871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.239254153999994 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:44.50, Y:-0.26, Z:-0.26 [[ 9.99765095e-01 -2.03652997e-02 -7.41679713e-03 4.45023223e+01] [ 2.03667324e-02 9.99792570e-01 1.17687025e-04 -2.62589501e-01] [ 7.41286193e-03 -2.68715302e-04 9.99972488e-01 -2.63073588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.269254153999995 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:44.55, Y:-0.23, Z:-0.26 [[ 9.99916768e-01 -7.00964239e-03 1.08315591e-02 4.45466234e+01] [ 7.92003937e-03 9.96226296e-01 -8.64317022e-02 -2.30350725e-01] [-1.01848286e-02 8.65102947e-02 9.96198895e-01 -2.60299548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.299254153999996 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:44.56, Y:-0.30, Z:-0.29 [[ 9.99971861e-01 -5.58633009e-03 -5.00694157e-03 4.45626126e+01] [ 6.00252889e-03 9.96157128e-01 8.73781812e-02 -2.99255685e-01] [ 4.49957717e-03 -8.74057768e-02 9.96162629e-01 -2.87719686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.329254154 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:44.59, Y:-0.26, Z:-0.26 [[ 9.99982967e-01 -1.31110871e-04 -5.83509866e-03 4.45941396e+01] [ 1.31636428e-04 9.99999987e-01 8.96842643e-05 -2.55373299e-01] [ 5.83508683e-03 -9.04508483e-05 9.99982972e-01 -2.60741320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.359254154 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:44.62, Y:-0.25, Z:-0.26 [[ 9.99970879e-01 5.27220265e-03 -5.51763427e-03 4.46221740e+01] [-5.27181705e-03 9.99986100e-01 8.44256476e-05 -2.53844526e-01] [ 5.51800268e-03 -5.53352307e-05 9.99984774e-01 -2.60123151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.38925415399999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:44.65, Y:-0.25, Z:-0.26 [[ 9.99937763e-01 9.88719403e-03 -5.16858539e-03 4.46498885e+01] [-9.88692372e-03 9.99951120e-01 7.78472670e-05 -2.52731533e-01] [ 5.16910244e-03 -2.67410125e-05 9.99986640e-01 -2.60046066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.419254153999994 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:44.68, Y:-0.25, Z:-0.26 [[ 9.99823552e-01 1.81332693e-02 -4.90403381e-03 4.46775160e+01] [-1.81331321e-02 9.99835579e-01 7.24541901e-05 -2.51154418e-01] [ 4.90454132e-03 1.64840871e-05 9.99987973e-01 -2.60060136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.449254153999995 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:44.71, Y:-0.25, Z:-0.26 [[ 9.99763131e-01 2.10959268e-02 -5.35200053e-03 4.47054154e+01] [-2.10958103e-02 9.99777456e-01 7.82172043e-05 -2.51307664e-01] [ 5.35245954e-03 3.47061109e-05 9.99985675e-01 -2.60540634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.479254153999996 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:44.75, Y:-0.23, Z:-0.26 [[ 9.99418137e-01 3.27413290e-02 9.55993869e-03 4.47467553e+01] [-3.20150060e-02 9.97158393e-01 -6.81922172e-02 -2.28420414e-01] [-1.17654769e-02 6.78464772e-02 9.97626398e-01 -2.61802836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.509254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:44.76, Y:-0.28, Z:-0.28 [[ 9.99670864e-01 2.45450046e-02 -7.46367195e-03 4.47637262e+01] [-2.39699287e-02 9.97310473e-01 6.92622711e-02 -2.84590325e-01] [ 9.14364097e-03 -6.90605707e-02 9.97570565e-01 -2.82401632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.539254154 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:44.79, Y:-0.24, Z:-0.25 [[ 9.99534553e-01 2.68462448e-02 -1.44898931e-02 4.47887686e+01] [-2.71343766e-02 9.99430321e-01 -2.00688807e-02 -2.42737344e-01] [ 1.39428644e-02 2.04527139e-02 9.99693595e-01 -2.52884770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.56925415399999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:44.82, Y:-0.26, Z:-0.27 [[ 9.99695698e-01 2.32266218e-02 -8.30876236e-03 4.48207740e+01] [-2.30533284e-02 9.99526539e-01 2.03774860e-02 -2.62184964e-01] [ 8.77812865e-03 -2.01797404e-02 9.99757832e-01 -2.67778260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59925415399999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:44.85, Y:-0.25, Z:-0.26 [[ 9.99698203e-01 2.30176454e-02 -8.58429747e-03 4.48493231e+01] [-2.30175029e-02 9.99735056e-01 1.15418658e-04 -2.52856887e-01] [ 8.58467977e-03 8.22052664e-05 9.99963148e-01 -2.61052754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.629254153999995 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:44.88, Y:-0.26, Z:-0.26 [[ 9.99768079e-01 1.96681651e-02 -8.77218961e-03 4.48773028e+01] [-1.96678965e-02 9.99806561e-01 1.16892868e-04 -2.55282962e-01] [ 8.77279180e-03 5.56647595e-05 9.99961517e-01 -2.61197659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.659254153999996 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:44.90, Y:-0.25, Z:-0.25 [[ 9.99692541e-01 1.93738656e-02 -1.54750579e-02 4.49033634e+01] [-1.97408743e-02 9.99518798e-01 -2.39263652e-02 -2.45757159e-01] [ 1.50040651e-02 2.42245000e-02 9.99593943e-01 -2.51598966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.689254154 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:44.94, Y:-0.27, Z:-0.27 [[ 9.99884009e-01 1.26663233e-02 -8.45770709e-03 4.49354686e+01] [-1.24734648e-02 9.99669504e-01 2.24787983e-02 -2.69418903e-01] [ 8.73963557e-03 -2.23706940e-02 9.99711544e-01 -2.67697161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.719254154 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:44.96, Y:-0.26, Z:-0.26 [[ 9.99916618e-01 9.71697276e-03 -8.50515356e-03 4.49634144e+01] [-9.71634920e-03 9.99952789e-01 1.14633799e-04 -2.59744819e-01] [ 8.50586591e-03 -3.19851983e-05 9.99963824e-01 -2.60129569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74925415399999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:44.99, Y:-0.26, Z:-0.26 [[ 9.99945330e-01 6.69346265e-03 -8.03337148e-03 4.49902640e+01] [-6.69281635e-03 9.99977597e-01 1.07332203e-04 -2.60990958e-01] [ 8.03390993e-03 -5.35604553e-05 9.99967726e-01 -2.59974703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77925415399999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:45.02, Y:-0.26, Z:-0.26 [[ 9.99973355e-01 2.82638420e-04 -7.29442241e-03 4.50187495e+01] [-2.81939980e-04 9.99999956e-01 9.67779677e-05 -2.64071143e-01] [ 7.29444944e-03 -9.47187998e-05 9.99973391e-01 -2.59912679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.809254153999994 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:45.05, Y:-0.27, Z:-0.26 [[ 9.99967709e-01 -2.96571567e-03 -7.46895303e-03 4.50466460e+01] [ 2.96653381e-03 9.99995595e-01 9.84623279e-05 -2.66063413e-01] [ 7.46862812e-03 -1.20616050e-04 9.99972102e-01 -2.59949122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.839254153999995 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:45.08, Y:-0.27, Z:-0.26 [[ 9.99923435e-01 -9.91378209e-03 -7.40551015e-03 4.50752526e+01] [ 9.91477245e-03 9.99950843e-01 9.70316858e-05 -2.69207145e-01] [ 7.40418416e-03 -1.70448205e-04 9.99972574e-01 -2.60138685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.869254154 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:45.11, Y:-0.27, Z:-0.26 [[ 9.99882818e-01 -1.32938980e-02 -7.59100675e-03 4.51056769e+01] [ 1.32950341e-02 9.99911612e-01 9.92141884e-05 -2.70906857e-01] [ 7.58901685e-03 -2.00125256e-04 9.99971183e-01 -2.60371374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.899254154 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:45.14, Y:-0.27, Z:-0.26 [[ 9.99830613e-01 -1.64957809e-02 -8.16297046e-03 4.51361514e+01] [ 1.64972019e-02 9.99863906e-01 1.06776328e-04 -2.72450274e-01] [ 8.16009817e-03 -2.41424413e-04 9.99966677e-01 -2.60325821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.929254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:45.17, Y:-0.27, Z:-0.26 [[ 9.99717504e-01 -2.23505965e-02 -8.08475978e-03 4.51674580e+01] [ 2.23521836e-02 9.99750153e-01 1.05985543e-04 -2.74694652e-01] [ 8.08037099e-03 -2.86667637e-04 9.99967312e-01 -2.60305500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.95925415399999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:45.20, Y:-0.28, Z:-0.26 [[ 9.99666355e-01 -2.45515676e-02 -8.02491430e-03 4.51992495e+01] [ 2.45532058e-02 9.99698519e-01 1.05662301e-04 -2.76190104e-01] [ 8.01990076e-03 -3.02664419e-04 9.99967794e-01 -2.60352836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.989254153999994 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:45.23, Y:-0.28, Z:-0.26 [[ 9.99627936e-01 -2.60898372e-02 -7.95681811e-03 4.52307854e+01] [ 2.60915027e-02 9.99659553e-01 1.05566115e-04 -2.78041069e-01] [ 7.95135503e-03 -3.13132179e-04 9.99968338e-01 -2.60446933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.019254153999995 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:45.26, Y:-0.28, Z:-0.26 [[ 9.99570954e-01 -2.80667944e-02 -8.37635243e-03 4.52623457e+01] [ 2.80687153e-02 9.99605990e-01 1.11832052e-04 -2.80301552e-01] [ 8.36991330e-03 -3.46897523e-04 9.99964911e-01 -2.61097387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.049254153999996 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:45.29, Y:-0.28, Z:-0.26 [[ 9.99561201e-01 -2.83212900e-02 -8.67814278e-03 4.52943496e+01] [ 2.83233663e-02 9.99598806e-01 1.16429359e-04 -2.80747112e-01] [ 8.67136374e-03 -3.62172487e-04 9.99962337e-01 -2.61042059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.079254154 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:45.33, Y:-0.28, Z:-0.26 [[ 9.99578394e-01 -2.76133709e-02 -8.97418153e-03 4.53253449e+01] [ 2.76155706e-02 9.99618610e-01 1.21273137e-04 -2.80048276e-01] [ 8.96741011e-03 -3.69049152e-04 9.99959724e-01 -2.60799170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.109254154 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:45.36, Y:-0.28, Z:-0.26 [[ 9.99600874e-01 -2.67434699e-02 -9.10378315e-03 4.53570138e+01] [ 2.67457039e-02 9.99642262e-01 1.23711377e-04 -2.79766452e-01] [ 9.09721791e-03 -3.67149089e-04 9.99958552e-01 -2.60876641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.13925415399999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:45.39, Y:-0.28, Z:-0.26 [[ 9.99622242e-01 -2.58389781e-02 -9.36587036e-03 4.53887869e+01] [ 2.58413087e-02 9.99666049e-01 1.27879753e-04 -2.79374353e-01] [ 9.35943834e-03 -3.69857792e-04 9.99956131e-01 -2.60998542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.169254153999994 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:45.42, Y:-0.28, Z:-0.26 [[ 9.99653580e-01 -2.42790323e-02 -1.01611159e-02 4.54199735e+01] [ 2.42817011e-02 9.99705146e-01 1.39353068e-04 -2.78406576e-01] [ 1.01547365e-02 -3.86033972e-04 9.99948365e-01 -2.61306800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.199254153999995 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:45.45, Y:-0.28, Z:-0.26 [[ 9.99655269e-01 -2.40048808e-02 -1.06352477e-02 4.54521225e+01] [ 2.40077964e-02 9.99711761e-01 1.46545048e-04 -2.78120733e-01] [ 1.06286644e-02 -4.01823392e-04 9.99943433e-01 -2.61268419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.229254153999996 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:45.48, Y:-0.28, Z:-0.26 [[ 9.99641791e-01 -2.42172989e-02 -1.13935044e-02 4.54834309e+01] [ 2.42206665e-02 9.99706624e-01 1.57661209e-04 -2.77017342e-01] [ 1.13863437e-02 -4.33563002e-04 9.99935079e-01 -2.61499445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.259254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:45.51, Y:-0.28, Z:-0.26 [[ 9.99635950e-01 -2.43338708e-02 -1.16546251e-02 4.55144492e+01] [ 2.43374149e-02 9.99703788e-01 1.62336493e-04 -2.76426762e-01] [ 1.16472226e-02 -4.45920840e-04 9.99932069e-01 -2.61373051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.289254154 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:45.56, Y:-0.26, Z:-0.26 [[ 9.99844736e-01 -1.75096481e-02 1.97900147e-03 4.55560968e+01] [ 1.75949599e-02 9.98162184e-01 -5.79885494e-02 -2.56568848e-01] [-9.60005337e-04 5.80143663e-02 9.98315287e-01 -2.62873532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.31925415399999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:45.57, Y:-0.30, Z:-0.28 [[ 9.99613978e-01 -2.50256886e-02 -1.20668821e-02 4.55738104e+01] [ 2.56970664e-02 9.97919433e-01 5.91309144e-02 -3.01395950e-01] [ 1.05619843e-02 -5.94181721e-02 9.98177302e-01 -2.78407110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.34925415399999 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:45.61, Y:-0.27, Z:-0.26 [[ 9.99605724e-01 -2.47741432e-02 -1.32150606e-02 4.56067547e+01] [ 2.47786832e-02 9.99692945e-01 1.79904360e-04 -2.72024094e-01] [ 1.32065459e-02 -5.07285229e-04 9.99912661e-01 -2.59870381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.379254153999995 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:45.64, Y:-0.27, Z:-0.26 [[ 9.99612196e-01 -2.47309473e-02 -1.27999079e-02 4.56373645e+01] [ 2.47352218e-02 9.99694022e-01 1.75722105e-04 -2.70869054e-01] [ 1.27916457e-02 -4.92262521e-04 9.99918062e-01 -2.59904029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.409254153999996 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:45.67, Y:-0.27, Z:-0.26 [[ 9.99712581e-01 -2.24985544e-02 -8.28069365e-03 4.56713766e+01] [ 2.24314877e-02 9.99715529e-01 -8.10484450e-03 -2.67157823e-01] [ 8.46068532e-03 7.91676673e-03 9.99932869e-01 -2.61505536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.439254154 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:45.70, Y:-0.27, Z:-0.26 [[ 9.99612444e-01 -2.55889809e-02 -1.09619833e-02 4.56979579e+01] [ 2.56843244e-02 9.99632705e-01 8.64698322e-03 -2.70225796e-01] [ 1.07366895e-02 -8.92518317e-03 9.99902528e-01 -2.61081279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.469254154 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:45.73, Y:-0.26, Z:-0.26 [[ 9.99617149e-01 -2.57381265e-02 -1.01540255e-02 4.57289773e+01] [ 2.57408301e-02 9.99668641e-01 1.35630192e-04 -2.64926401e-01] [ 1.01471700e-02 -3.96951312e-04 9.99948437e-01 -2.57773372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49925415399999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:45.76, Y:-0.26, Z:-0.26 [[ 9.99583645e-01 -2.75440373e-02 -8.59430019e-03 4.57597449e+01] [ 2.75460444e-02 9.99620529e-01 1.15231271e-04 -2.62489769e-01] [ 8.58786497e-03 -3.51922269e-04 9.99963062e-01 -2.57831296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52925415399999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:45.79, Y:-0.26, Z:-0.26 [[ 9.99546458e-01 -2.89630452e-02 -8.24743612e-03 4.57919907e+01] [ 2.89649460e-02 9.99580422e-01 1.11098162e-04 -2.61818243e-01] [ 8.24075794e-03 -3.49934316e-04 9.99965983e-01 -2.57806080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.559254153999994 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:45.84, Y:-0.23, Z:-0.25 [[ 9.99664479e-01 -2.42133165e-02 9.20022359e-03 4.58376303e+01] [ 2.49167093e-02 9.95970552e-01 -8.61499711e-02 -2.29814588e-01] [-7.07717524e-03 8.63503053e-02 9.96239699e-01 -2.52544143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.589254153999995 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:45.85, Y:-0.30, Z:-0.29 [[ 9.99324659e-01 -3.60720052e-02 -7.00263566e-03 4.58517585e+01] [ 3.65445207e-02 9.95547613e-01 8.68875613e-02 -3.01250752e-01] [ 3.83724866e-03 -8.70847905e-02 9.96193513e-01 -2.85496910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.619254154 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:45.88, Y:-0.26, Z:-0.26 [[ 9.99204857e-01 -3.89736109e-02 -8.40903326e-03 4.58848006e+01] [ 3.89759206e-02 9.99240144e-01 1.10902610e-04 -2.58363449e-01] [ 8.39832133e-03 -4.38564240e-04 9.99964637e-01 -2.57696666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.649254154 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:45.92, Y:-0.26, Z:-0.26 [[ 9.99093088e-01 -4.16650834e-02 -8.77629056e-03 4.59183089e+01] [ 4.16677183e-02 9.99131517e-01 1.17524531e-04 -2.57989033e-01] [ 8.76377183e-03 -4.83105949e-04 9.99961481e-01 -2.58141501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67925415399999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:45.95, Y:-0.26, Z:-0.26 [[ 9.98914261e-01 -4.56635416e-02 -9.22715428e-03 4.59499416e+01] [ 4.56666331e-02 9.98956727e-01 1.24522514e-04 -2.56668833e-01] [ 9.21184170e-03 -5.45760385e-04 9.99957421e-01 -2.58170752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70925415399999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:45.98, Y:-0.26, Z:-0.26 [[ 9.98856623e-01 -4.68707756e-02 -9.41154081e-03 4.59825529e+01] [ 4.68740542e-02 9.98900799e-01 1.27955188e-04 -2.56248894e-01] [ 9.39519828e-03 -5.68965961e-04 9.99955702e-01 -2.57994525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.739254153999994 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:46.02, Y:-0.24, Z:-0.26 [[ 9.99047599e-01 -4.36305421e-02 -5.20523326e-04 4.60219521e+01] [ 4.35678786e-02 9.98125505e-01 -4.29804191e-02 -2.40271501e-01] [ 2.39480659e-03 4.29168064e-02 9.99075779e-01 -2.56330666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.769254153999995 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:46.04, Y:-0.28, Z:-0.27 [[ 9.98804335e-01 -4.79357040e-02 -9.59523240e-03 4.60448008e+01] [ 4.83104696e-02 9.97878816e-01 4.36344806e-02 -2.75332020e-01] [ 7.48322960e-03 -4.40458585e-02 9.99001483e-01 -2.72214576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.799254153999996 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:46.08, Y:-0.25, Z:-0.26 [[ 9.98844311e-01 -4.68171057e-02 -1.08720295e-02 4.60767817e+01] [ 4.68214879e-02 9.98903262e-01 1.48749579e-04 -2.51802303e-01] [ 1.08531417e-02 -6.57622267e-04 9.99940887e-01 -2.57720256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.829254154 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:46.11, Y:-0.25, Z:-0.26 [[ 9.98909026e-01 -4.53366468e-02 -1.11958022e-02 4.61102663e+01] [ 4.53412189e-02 9.98971546e-01 1.54762428e-04 -2.50656853e-01] [ 1.11772714e-02 -6.62224904e-04 9.99937313e-01 -2.57871246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.859254154 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:46.15, Y:-0.23, Z:-0.26 [[ 9.99322825e-01 -3.67599588e-02 -1.61136030e-03 4.61495426e+01] [ 3.66561010e-02 9.98393430e-01 -4.32075106e-02 -2.32344495e-01] [ 3.19707784e-03 4.31191854e-02 9.99064820e-01 -2.56889743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.88925415399999 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:46.17, Y:-0.27, Z:-0.27 [[ 9.99200551e-01 -3.84571941e-02 -1.09226327e-02 4.61730631e+01] [ 3.89038161e-02 9.98267483e-01 4.41421150e-02 -2.67537683e-01] [ 9.20612711e-03 -4.45317577e-02 9.98965550e-01 -2.72380973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.919254153999994 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:46.21, Y:-0.24, Z:-0.26 [[ 9.99290483e-01 -3.58547786e-02 -1.15311056e-02 4.62062761e+01] [ 3.58590089e-02 9.99356846e-01 1.60250967e-04 -2.44980167e-01] [ 1.15179436e-02 -5.73631284e-04 9.99933502e-01 -2.56506049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.949254153999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:46.25, Y:-0.21, Z:-0.25 [[ 9.99704885e-01 -2.37735272e-02 4.99619251e-03 4.62493880e+01] [ 2.40826781e-02 9.96864401e-01 -7.53750045e-02 -2.14539742e-01] [-3.18859673e-03 7.54730819e-02 9.97142741e-01 -2.50515445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.979254153999996 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:46.27, Y:-0.28, Z:-0.28 [[ 9.99513941e-01 -2.95390904e-02 -9.96611900e-03 4.62655717e+01] [ 3.02198309e-02 9.96574106e-01 7.69857980e-02 -2.77100347e-01] [ 7.65788568e-03 -7.72495529e-02 9.96982379e-01 -2.80946584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.009254154 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:46.31, Y:-0.21, Z:-0.25 [[ 9.99782299e-01 -2.03146025e-02 4.76148105e-03 4.63069934e+01] [ 2.05976092e-02 9.97347523e-01 -6.98115872e-02 -2.11385622e-01] [-3.33065668e-03 6.98944642e-02 9.97548831e-01 -2.49149488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.039254154 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:46.32, Y:-0.27, Z:-0.28 [[ 9.99605180e-01 -2.61378241e-02 -1.03100890e-02 4.63248947e+01] [ 2.68053710e-02 9.97113323e-01 7.10386731e-02 -2.69966367e-01] [ 8.42353079e-03 -7.12869914e-02 9.97420277e-01 -2.78272879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.06925415399999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:46.36, Y:-0.23, Z:-0.25 [[ 9.99611658e-01 -2.56737600e-02 -1.08346838e-02 4.63580674e+01] [ 2.56767694e-02 9.99670288e-01 1.38718479e-04 -2.34760756e-01] [ 1.08275501e-02 -4.16864288e-04 9.99941293e-01 -2.53468643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.09925415399999 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:46.39, Y:-0.23, Z:-0.25 [[ 9.99626968e-01 -2.35929496e-02 -1.37585440e-02 4.63883493e+01] [ 2.34501649e-02 9.99670405e-01 -1.04485023e-02 -2.28293795e-01] [ 1.40005203e-02 1.01219645e-02 9.99850754e-01 -2.49386973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.129254153999995 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:46.42, Y:-0.24, Z:-0.26 [[ 9.99611070e-01 -2.54959990e-02 -1.12987685e-02 4.64204081e+01] [ 2.56168059e-02 9.99614790e-01 1.06794895e-02 -2.37272631e-01] [ 1.10221318e-02 -1.09647743e-02 9.99879136e-01 -2.57801143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.159254153999996 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:46.46, Y:-0.21, Z:-0.25 [[ 9.99756736e-01 -2.19103700e-02 -2.53080255e-03 4.64561673e+01] [ 2.17572941e-02 9.98522811e-01 -4.97877162e-02 -2.13034698e-01] [ 3.61793136e-03 4.97205412e-02 9.98756616e-01 -2.51439959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.189254154 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:46.49, Y:-0.24, Z:-0.27 [[ 9.99746934e-01 -2.20155117e-02 -4.62431486e-03 4.64900642e+01] [ 2.20090882e-02 9.99756740e-01 -1.43540921e-03 -2.36290083e-01] [ 4.65479122e-03 1.33326900e-03 9.99988278e-01 -2.70618581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.219254154 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:46.51, Y:-0.26, Z:-0.27 [[ 9.99470409e-01 -2.71183342e-02 -1.79860544e-02 4.65117056e+01] [ 2.80044363e-02 9.98306179e-01 5.09953333e-02 -2.55353541e-01] [ 1.65726808e-02 -5.14720159e-02 9.98536919e-01 -2.72771519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24925415399999 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:46.54, Y:-0.23, Z:-0.25 [[ 9.99430182e-01 -2.75174834e-02 -1.95473817e-02 4.65435843e+01] [ 2.75274331e-02 9.99621020e-01 2.40063436e-04 -2.30359759e-01] [ 1.95333677e-02 -7.78015886e-04 9.99808903e-01 -2.54252226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.27925415399999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:46.57, Y:-0.23, Z:-0.25 [[ 9.99450888e-01 -2.66367231e-02 -1.97080524e-02 4.65736375e+01] [ 2.66466764e-02 9.99644885e-01 2.42561606e-04 -2.29175556e-01] [ 1.96945927e-02 -7.67582508e-04 9.99805748e-01 -2.53569840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.309254153999994 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:46.60, Y:-0.23, Z:-0.25 [[ 9.99485904e-01 -2.57830081e-02 -1.90568518e-02 4.66042839e+01] [ 2.57921626e-02 9.99667299e-01 2.34710504e-04 -2.28414228e-01] [ 1.90444600e-02 -7.26107260e-04 9.99818374e-01 -2.52555667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.339254153999995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:46.64, Y:-0.23, Z:-0.25 [[ 9.99564554e-01 -2.40616065e-02 -1.70804229e-02 4.66353274e+01] [ 2.40687140e-02 9.99710284e-01 2.10639794e-04 -2.27100538e-01] [ 1.70704061e-02 -6.21651886e-04 9.99854097e-01 -2.51482330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.369254154 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:46.67, Y:-0.23, Z:-0.25 [[ 9.99601071e-01 -2.30202108e-02 -1.63636138e-02 4.66654220e+01] [ 2.30266020e-02 9.99734832e-01 2.02249942e-04 -2.27107691e-01] [ 1.63546189e-02 -5.78967682e-04 9.99866087e-01 -2.50612845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.399254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:46.70, Y:-0.23, Z:-0.25 [[ 9.99636708e-01 -2.18222112e-02 -1.58190698e-02 4.66969248e+01] [ 2.18280403e-02 9.99761721e-01 1.95903687e-04 -2.26901384e-01] [ 1.58110254e-02 -5.41131810e-04 9.99874851e-01 -2.49924100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.42925415399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:46.73, Y:-0.23, Z:-0.25 [[ 9.99687390e-01 -2.00553390e-02 -1.49300061e-02 4.67278292e+01] [ 2.00603420e-02 9.99798754e-01 1.85396587e-04 -2.26068140e-01] [ 1.49232833e-02 -4.84839658e-04 9.99888524e-01 -2.49284455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45925415399999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:46.76, Y:-0.23, Z:-0.25 [[ 9.99694806e-01 -1.96639969e-02 -1.49539842e-02 4.67585094e+01] [ 1.96689773e-02 9.99806530e-01 1.86028726e-04 -2.25904709e-01] [ 1.49474330e-02 -4.80101527e-04 9.99888166e-01 -2.48605512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.489254153999994 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:46.79, Y:-0.23, Z:-0.25 [[ 9.99698044e-01 -1.93943447e-02 -1.50890626e-02 4.67893252e+01] [ 1.93993847e-02 9.99811797e-01 1.87709111e-04 -2.26247585e-01] [ 1.50825823e-02 -4.80370963e-04 9.99886136e-01 -2.48274817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.519254153999995 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:46.82, Y:-0.23, Z:-0.25 [[ 9.99698397e-01 -1.93761295e-02 -1.50890614e-02 4.68203293e+01] [ 1.93811690e-02 9.99812150e-01 1.87810577e-04 -2.26631585e-01] [ 1.50825878e-02 -4.80197582e-04 9.99886136e-01 -2.47979588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.549254153999996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:46.85, Y:-0.23, Z:-0.25 [[ 9.99700336e-01 -1.94288885e-02 -1.48915000e-02 4.68508308e+01] [ 1.94338052e-02 9.99811129e-01 1.85522786e-04 -2.27158799e-01] [ 1.48850830e-02 -4.74865702e-04 9.99889098e-01 -2.48037676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.579254154 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:46.88, Y:-0.23, Z:-0.25 [[ 9.99807432e-01 -1.66823716e-02 -1.03343072e-02 4.68847767e+01] [ 1.65571179e-02 9.99789832e-01 -1.20894423e-02 -2.25969517e-01] [ 1.05338158e-02 1.19160079e-02 9.99873516e-01 -2.49712145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.609254154 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:46.91, Y:-0.23, Z:-0.25 [[ 9.99678621e-01 -1.99698125e-02 -1.56160449e-02 4.69092966e+01] [ 2.01714429e-02 9.99713792e-01 1.28626202e-02 -2.34933294e-01] [ 1.53547114e-02 -1.31734846e-02 9.99795325e-01 -2.52319246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63925415399999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:46.94, Y:-0.23, Z:-0.25 [[ 9.99661856e-01 -1.99484697e-02 -1.66803153e-02 4.69395288e+01] [ 1.99546296e-02 9.99800866e-01 2.02922527e-04 -2.29760742e-01] [ 1.66729457e-02 -5.35703425e-04 9.99860853e-01 -2.47154401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.669254153999994 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:46.97, Y:-0.23, Z:-0.25 [[ 9.99662469e-01 -1.92517352e-02 -1.74447546e-02 4.69702208e+01] [ 1.92583668e-02 9.99814518e-01 2.12222228e-04 -2.30952041e-01] [ 1.74374333e-02 -5.48108079e-04 9.99847806e-01 -2.46932547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.699254153999995 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:47.00, Y:-0.23, Z:-0.25 [[ 9.99666229e-01 -1.88062768e-02 -1.77131332e-02 4.69986613e+01] [ 1.88130364e-02 9.99822996e-01 2.15046536e-04 -2.31264310e-01] [ 1.77059537e-02 -5.48212579e-04 9.99843087e-01 -2.46474989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.729254153999996 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:47.03, Y:-0.23, Z:-0.25 [[ 9.99686102e-01 -1.77899992e-02 -1.76412383e-02 4.70287351e+01] [ 1.77965316e-02 9.99841606e-01 2.13357659e-04 -2.31620097e-01] [ 1.76346484e-02 -5.27243541e-04 9.99844358e-01 -2.46291615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.759254154 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:47.06, Y:-0.23, Z:-0.25 [[ 9.99702713e-01 -1.58941228e-02 -1.84895443e-02 4.70573072e+01] [ 1.59009270e-02 9.99873548e-01 2.21036391e-04 -2.31828805e-01] [ 1.84836931e-02 -5.14971573e-04 9.99829029e-01 -2.45963769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.789254154 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:47.08, Y:-0.23, Z:-0.25 [[ 9.99719613e-01 -1.47576639e-02 -1.85177451e-02 4.70847729e+01] [ 1.47642341e-02 9.99890979e-01 2.18136740e-04 -2.32116121e-01] [ 1.85125071e-02 -4.91475902e-04 9.99828508e-01 -2.46108689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81925415399999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:47.11, Y:-0.23, Z:-0.25 [[ 9.99765240e-01 -1.14777449e-02 -1.83773312e-02 4.71127354e+01] [ 1.14836009e-02 9.99934039e-01 2.13152673e-04 -2.32205674e-01] [ 1.83736725e-02 -4.24140569e-04 9.99831100e-01 -2.45481730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84925415399999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:47.14, Y:-0.23, Z:-0.24 [[ 9.99783557e-01 -9.78286085e-03 -1.83612224e-02 4.71410482e+01] [ 9.78832528e-03 9.99952072e-01 2.07758391e-04 -2.31985531e-01] [ 1.83583099e-02 -3.87439041e-04 9.99831397e-01 -2.44984142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.879254153999995 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:47.17, Y:-0.23, Z:-0.24 [[ 9.99803039e-01 -7.65261779e-03 -1.83117543e-02 4.71691935e+01] [ 7.65760135e-03 9.99970660e-01 2.02047145e-04 -2.32232901e-01] [ 1.83096708e-02 -3.42231464e-04 9.99832305e-01 -2.44620587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.909254153999996 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:47.20, Y:-0.23, Z:-0.24 [[ 9.99841763e-01 -3.21887127e-03 -1.74953497e-02 4.71966243e+01] [ 3.22265812e-03 9.99994790e-01 1.88260577e-04 -2.32032847e-01] [ 1.74946526e-02 -2.44612318e-04 9.99846927e-01 -2.44136627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.939254154 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:47.22, Y:-0.23, Z:-0.24 [[ 9.99849342e-01 -1.32746424e-03 -1.73069508e-02 4.72242416e+01] [ 1.33080376e-03 9.99999098e-01 1.81442398e-04 -2.32048990e-01] [ 1.73066944e-02 -2.04447217e-04 9.99850207e-01 -2.43846697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.969254154 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:47.25, Y:-0.23, Z:-0.24 [[ 9.99854552e-01 2.71995242e-04 -1.70529032e-02 4.72514520e+01] [-2.69046019e-04 9.99999948e-01 1.75239462e-04 -2.32110829e-01] [ 1.70529499e-02 -1.70625958e-04 9.99854573e-01 -2.43847252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99925415399999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:47.28, Y:-0.23, Z:-0.24 [[ 9.99839633e-01 1.48171138e-03 -1.78469361e-02 4.72797766e+01] [-1.47873696e-03 9.99998890e-01 1.79857929e-04 -2.32536399e-01] [ 1.78471827e-02 -1.53438161e-04 9.99840715e-01 -2.44121946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02925415399999 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:47.31, Y:-0.23, Z:-0.24 [[ 9.99821357e-01 1.13861341e-03 -1.88668549e-02 4.73080688e+01] [-1.13530162e-03 9.99999338e-01 1.86245080e-04 -2.32832313e-01] [ 1.88670545e-02 -1.64792237e-04 9.99821988e-01 -2.44102209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.059254153999994 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:47.34, Y:-0.23, Z:-0.24 [[ 9.99790960e-01 5.73114444e-05 -2.04458515e-02 4.73360878e+01] [-5.32428809e-05 9.99999979e-01 1.99536428e-04 -2.33814894e-01] [ 2.04458625e-02 -1.98406121e-04 9.99790942e-01 -2.44900108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.089254153999995 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:47.36, Y:-0.23, Z:-0.25 [[ 9.99772037e-01 -1.09992808e-03 -2.13228503e-02 4.73627179e+01] [ 1.10456108e-03 9.99999369e-01 2.05502045e-04 -2.34569751e-01] [ 2.13226108e-02 -2.29007589e-04 9.99772621e-01 -2.45119561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.119254154 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:47.39, Y:-0.24, Z:-0.25 [[ 9.99755570e-01 -2.35442222e-03 -2.19830885e-02 4.73898192e+01] [ 2.35958781e-03 9.99997194e-01 2.09044311e-04 -2.35012150e-01] [ 2.19825346e-02 -2.60864242e-04 9.99758321e-01 -2.45116843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.149254154 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:47.42, Y:-0.24, Z:-0.24 [[ 9.99748831e-01 -3.73850836e-03 -2.20974989e-02 4.74173744e+01] [ 3.74400949e-03 9.99992970e-01 2.07581512e-04 -2.35385499e-01] [ 2.20965675e-02 -2.90262620e-04 9.99755799e-01 -2.44744354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.17925415399999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:47.45, Y:-0.24, Z:-0.24 [[ 9.99744196e-01 -5.24369988e-03 -2.20010554e-02 4.74457540e+01] [ 5.24946573e-03 9.99986201e-01 2.04325706e-04 -2.35576764e-01] [ 2.19996804e-02 -3.19767226e-04 9.99757927e-01 -2.44088109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.20925415399999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:47.47, Y:-0.24, Z:-0.24 [[ 9.99752673e-01 -6.60188223e-03 -2.12369316e-02 4.74723579e+01] [ 6.60750896e-03 9.99978151e-01 1.94790960e-04 -2.35572462e-01] [ 2.12351816e-02 -3.35065999e-04 9.99774452e-01 -2.43460725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.239254153999994 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:47.50, Y:-0.24, Z:-0.24 [[ 9.99770532e-01 -9.28287671e-03 -1.93057625e-02 4.75006032e+01] [ 9.28798532e-03 9.99956850e-01 1.74966482e-04 -2.36493544e-01] [ 1.93033053e-02 -3.54237971e-04 9.99813611e-01 -2.42549078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.269254153999995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:47.53, Y:-0.24, Z:-0.24 [[ 9.99764020e-01 -1.11911637e-02 -1.86188658e-02 4.75287170e+01] [ 1.11961803e-02 9.99937307e-01 1.65212767e-04 -2.36924549e-01] [ 1.86158497e-02 -3.73633959e-04 9.99826640e-01 -2.41789624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.299254153999996 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:47.56, Y:-0.24, Z:-0.24 [[ 9.99768714e-01 -1.43658862e-02 -1.60043617e-02 4.75559508e+01] [ 1.43699487e-02 9.99896737e-01 1.38859954e-04 -2.37523697e-01] [ 1.60007142e-02 -3.68809695e-04 9.99871912e-01 -2.41214625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.329254154 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:47.58, Y:-0.24, Z:-0.24 [[ 9.99748171e-01 -1.64135186e-02 -1.53033194e-02 4.75847740e+01] [ 1.64174344e-02 9.99865216e-01 1.30271553e-04 -2.38037693e-01] [ 1.52991185e-02 -3.81479988e-04 9.99882889e-01 -2.40534131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.359254154 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:47.61, Y:-0.24, Z:-0.24 [[ 9.99698169e-01 -2.03999766e-02 -1.36898713e-02 4.76140494e+01] [ 2.04034527e-02 9.99791821e-01 1.14284061e-04 -2.39294637e-01] [ 1.36846899e-02 -3.93570207e-04 9.99906283e-01 -2.40625619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38925415399999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:47.65, Y:-0.24, Z:-0.24 [[ 9.99656562e-01 -2.26680507e-02 -1.31498000e-02 4.76454164e+01] [ 2.26714547e-02 9.99742964e-01 1.09828340e-04 -2.40337351e-01] [ 1.31439304e-02 -4.07915714e-04 9.99913532e-01 -2.40508178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.419254153999994 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:47.68, Y:-0.24, Z:-0.24 [[ 9.99602121e-01 -2.50516535e-02 -1.29620591e-02 4.76775723e+01] [ 2.50551783e-02 9.99686064e-01 1.09584106e-04 -2.41599846e-01] [ 1.29552445e-02 -4.34307205e-04 9.99915983e-01 -2.40536863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.449254153999995 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:47.71, Y:-0.24, Z:-0.24 [[ 9.99535147e-01 -2.75713990e-02 -1.30118035e-02 4.77093216e+01] [ 2.75751764e-02 9.99619726e-01 1.10952558e-04 -2.43019695e-01] [ 1.30037964e-02 -4.69703759e-04 9.99915337e-01 -2.40997027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.479254153999996 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:47.74, Y:-0.25, Z:-0.24 [[ 9.99345546e-01 -3.32265564e-02 -1.42995262e-02 4.77408925e+01] [ 3.32317157e-02 9.99447666e-01 1.23274691e-04 -2.45369944e-01] [ 1.42875321e-02 -5.98391801e-04 9.99897749e-01 -2.41836697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.509254154 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:47.78, Y:-0.24, Z:-0.24 [[ 9.99397449e-01 -3.31716851e-02 -1.02165543e-02 4.77760494e+01] [ 3.29853208e-02 9.99295540e-01 -1.78995288e-02 -2.41259645e-01] [ 1.08031147e-02 1.75517471e-02 9.99787592e-01 -2.43031216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.539254154 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:47.80, Y:-0.26, Z:-0.25 [[ 9.99131018e-01 -3.82435955e-02 -1.65721580e-02 4.78036887e+01] [ 3.85488365e-02 9.99085295e-01 1.85084145e-02 -2.56396564e-01] [ 1.58491711e-02 -1.91311684e-02 9.99691353e-01 -2.48412134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56925415399999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:47.84, Y:-0.25, Z:-0.24 [[ 9.99021738e-01 -4.05395142e-02 -1.76667851e-02 4.78371561e+01] [ 4.05486218e-02 9.99177554e-01 1.57468182e-04 -2.48663174e-01] [ 1.76458714e-02 -8.73677923e-04 9.99843918e-01 -2.41748276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59925415399999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:47.87, Y:-0.25, Z:-0.24 [[ 9.98860059e-01 -4.37060262e-02 -1.91928581e-02 4.78693878e+01] [ 4.37173934e-02 9.99043923e-01 1.72892695e-04 -2.50181865e-01] [ 1.91669518e-02 -1.01175734e-03 9.99815785e-01 -2.41868587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.629254153999995 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:47.91, Y:-0.25, Z:-0.24 [[ 9.99030542e-01 -4.13486360e-02 -1.51084941e-02 4.79052224e+01] [ 4.11519919e-02 9.99066983e-01 -1.31025824e-02 -2.47672727e-01] [ 1.56361715e-02 1.24681354e-02 9.99800008e-01 -2.43851112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.659254153999996 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:47.93, Y:-0.26, Z:-0.25 [[ 9.98913007e-01 -4.23354442e-02 -1.95067936e-02 4.79320457e+01] [ 4.26092682e-02 9.98995918e-01 1.38421649e-02 -2.57545671e-01] [ 1.89011930e-02 -1.46582888e-02 9.99713899e-01 -2.46802699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.689254154 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:47.96, Y:-0.25, Z:-0.24 [[ 9.99010182e-01 -4.02087688e-02 -1.90239579e-02 4.79628825e+01] [ 4.02193084e-02 9.99190862e-01 1.71589685e-04 -2.50605464e-01] [ 1.90016655e-02 -9.36550274e-04 9.99819013e-01 -2.41568072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.719254154 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:47.99, Y:-0.25, Z:-0.24 [[ 9.99133777e-01 -3.71722856e-02 -1.87060756e-02 4.79942691e+01] [ 3.71819631e-02 9.99308497e-01 1.69697255e-04 -2.49662837e-01] [ 1.86868322e-02 -8.65078870e-04 9.99825012e-01 -2.41262850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74925415399999 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:48.02, Y:-0.24, Z:-0.24 [[ 9.99438228e-01 -2.63434990e-02 -2.07183138e-02 4.80234426e+01] [ 2.61248119e-02 9.99600821e-01 -1.07560635e-02 -2.42104726e-01] [ 2.09933958e-02 1.02087590e-02 9.99727492e-01 -2.35338542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77925415399999 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:48.05, Y:-0.25, Z:-0.24 [[ 9.99575454e-01 -2.28087186e-02 -1.81293453e-02 4.80545436e+01] [ 2.29399155e-02 9.99711903e-01 7.06197426e-03 -2.48518569e-01] [ 1.79630477e-02 -7.47486178e-03 9.99810710e-01 -2.41766039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.809254153999994 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:48.08, Y:-0.24, Z:-0.24 [[ 9.99686490e-01 -1.89748926e-02 -1.63362972e-02 4.80848404e+01] [ 1.90279116e-02 9.99814159e-01 3.09616845e-03 -2.44921872e-01] [ 1.62745117e-02 -3.40604339e-03 9.99861760e-01 -2.39612820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.839254153999995 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:48.11, Y:-0.24, Z:-0.24 [[ 9.99850924e-01 -9.57349539e-03 -1.43693528e-02 4.81145964e+01] [ 9.57651897e-03 9.99954134e-01 1.41624254e-04 -2.40578975e-01] [ 1.43673379e-02 -2.79211521e-04 9.99896745e-01 -2.37254474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.869254154 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:48.14, Y:-0.24, Z:-0.24 [[ 9.99889688e-01 -5.59538397e-03 -1.37587316e-02 4.81421794e+01] [ 5.59776587e-03 9.99984323e-01 1.34614301e-04 -2.39521315e-01] [ 1.37577627e-02 -2.11617609e-04 9.99905335e-01 -2.36727094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.899254154 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:48.17, Y:-0.24, Z:-0.24 [[ 9.99910459e-01 1.47633595e-03 -1.33001519e-02 4.81691134e+01] [-1.47478278e-03 9.99998904e-01 1.26585633e-04 -2.38014976e-01] [ 1.33003242e-02 -1.06959463e-04 9.99911541e-01 -2.36876592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.92925415399999 meters Centerline goodness : 0.999690 Centerline is valid? [True, True] Translation: X:48.20, Y:-0.24, Z:-0.24 [[ 9.99903098e-01 4.41066569e-03 -1.32038420e-02 4.81964833e+01] [-4.40942309e-03 9.99990271e-01 1.23219909e-04 -2.37564715e-01] [ 1.32042570e-02 -6.49866432e-05 9.99912818e-01 -2.36885218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.95925415399999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:48.22, Y:-0.24, Z:-0.24 [[ 9.99885074e-01 6.50832915e-03 -1.36923670e-02 4.82246789e+01] [-6.50721952e-03 9.99978820e-01 1.25590819e-04 -2.37014655e-01] [ 1.36928944e-02 -3.64771473e-05 9.99906247e-01 -2.36846466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.989254153999994 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:48.25, Y:-0.24, Z:-0.24 [[ 9.99841538e-01 1.04185719e-02 -1.44343829e-02 4.82515288e+01] [-1.04178004e-02 9.99945725e-01 1.28642853e-04 -2.36739302e-01] [ 1.44349398e-02 2.17520517e-05 9.99895811e-01 -2.38279292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.019254153999995 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:48.28, Y:-0.24, Z:-0.24 [[ 9.99810936e-01 1.21901124e-02 -1.51490396e-02 4.82793576e+01] [-1.21894943e-02 9.99925696e-01 1.33141798e-04 -2.37179434e-01] [ 1.51495370e-02 5.15425062e-05 9.99885238e-01 -2.38397993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.049254153999996 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:48.31, Y:-0.24, Z:-0.24 [[ 9.99782435e-01 1.36283138e-02 -1.57908938e-02 4.83068854e+01] [-1.36278486e-02 9.99907127e-01 1.37072849e-04 -2.37480828e-01] [ 1.57912954e-02 7.81528829e-05 9.99875307e-01 -2.38433130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.079254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:48.34, Y:-0.24, Z:-0.24 [[ 9.99755688e-01 1.50606904e-02 -1.61784000e-02 4.83351081e+01] [-1.50604179e-02 9.99886576e-01 1.38689234e-04 -2.37792945e-01] [ 1.61786538e-02 1.04998115e-04 9.99869112e-01 -2.38349640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.10925415399999 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:48.36, Y:-0.24, Z:-0.24 [[ 9.99714082e-01 1.75190694e-02 -1.62738140e-02 4.83621887e+01] [-1.75191494e-02 9.99846518e-01 1.37653972e-04 -2.38465180e-01] [ 1.62737279e-02 1.47488766e-04 9.99867563e-01 -2.38187232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13925415399999 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:48.39, Y:-0.24, Z:-0.24 [[ 9.99704605e-01 1.80798288e-02 -1.62426141e-02 4.83900692e+01] [-1.80800136e-02 9.99836534e-01 1.35474533e-04 -2.39062150e-01] [ 1.62424083e-02 1.58232170e-04 9.99868071e-01 -2.37688891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.169254153999994 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:48.42, Y:-0.24, Z:-0.24 [[ 9.99704518e-01 1.83526465e-02 -1.59391957e-02 4.84183991e+01] [-1.83528857e-02 9.99831563e-01 1.31279603e-04 -2.39725878e-01] [ 1.59389203e-02 1.61289426e-04 9.99872954e-01 -2.37189847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.199254153999995 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:48.45, Y:-0.24, Z:-0.24 [[ 9.99728504e-01 1.73797587e-02 -1.55197104e-02 4.84455624e+01] [-1.73799005e-02 9.99848950e-01 1.25746342e-04 -2.41694930e-01] [ 1.55195516e-02 1.44018820e-04 9.99879554e-01 -2.36907069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.229254153999996 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:48.47, Y:-0.24, Z:-0.24 [[ 9.99747189e-01 1.61255450e-02 -1.56692419e-02 4.84739779e+01] [-1.61255783e-02 9.99869967e-01 1.24229842e-04 -2.42917661e-01] [ 1.56692077e-02 1.28477153e-04 9.99877222e-01 -2.36775542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.259254154 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:48.50, Y:-0.25, Z:-0.24 [[ 9.99791751e-01 1.26749860e-02 -1.59937089e-02 4.85018868e+01] [-1.26746075e-02 9.99919666e-01 1.25030256e-04 -2.45853993e-01] [ 1.59940088e-02 7.77097641e-05 9.99872085e-01 -2.36695793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.289254154 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:48.53, Y:-0.25, Z:-0.24 [[ 9.99820633e-01 1.03413798e-02 -1.58668597e-02 4.85286767e+01] [-1.03407422e-02 9.99946526e-01 1.22228809e-04 -2.47724313e-01] [ 1.58672752e-02 4.18682206e-05 9.99874106e-01 -2.36553792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31925415399999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:48.56, Y:-0.25, Z:-0.24 [[ 9.99870115e-01 4.36191372e-03 -1.55153612e-02 4.85566507e+01] [-4.36061291e-03 9.99990486e-01 1.17669879e-04 -2.51694667e-01] [ 1.55157269e-02 -4.99981110e-05 9.99879623e-01 -2.36025719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34925415399999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:48.58, Y:-0.25, Z:-0.24 [[ 9.99877455e-01 5.32406175e-04 -1.56457893e-02 4.85831970e+01] [-5.30642535e-04 9.99999852e-01 1.16874134e-04 -2.53709429e-01] [ 1.56458492e-02 -1.08557491e-04 9.99877590e-01 -2.35436035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.379254153999995 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:48.61, Y:-0.26, Z:-0.24 [[ 9.99878777e-01 -3.66608195e-03 -1.51324862e-02 4.86113242e+01] [ 3.66818559e-03 9.99993266e-01 1.11261222e-04 -2.55926743e-01] [ 1.51319764e-02 -1.66756502e-04 9.99885491e-01 -2.35312498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.409254153999996 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:48.64, Y:-0.26, Z:-0.23 [[ 9.99877757e-01 -3.93423197e-03 -1.51325027e-02 4.86397076e+01] [ 3.93633174e-03 9.99992247e-01 1.08976180e-04 -2.56055558e-01] [ 1.51319566e-02 -1.68529409e-04 9.99885491e-01 -2.34999698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.439254154 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:48.67, Y:-0.26, Z:-0.23 [[ 9.99844753e-01 -8.54647174e-03 -1.54086745e-02 4.86676417e+01] [ 8.54914279e-03 9.99963450e-01 1.07485503e-04 -2.58391149e-01] [ 1.54071927e-02 -2.39199775e-04 9.99881274e-01 -2.34487922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.469254154 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:48.70, Y:-0.26, Z:-0.23 [[ 9.99789089e-01 -1.33327691e-02 -1.56210020e-02 4.86961487e+01] [ 1.33360742e-02 9.99911065e-01 1.07426693e-04 -2.60962415e-01] [ 1.56181805e-02 -3.15726877e-04 9.99877979e-01 -2.34373662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49925415399999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:48.72, Y:-0.27, Z:-0.23 [[ 9.99606303e-01 -2.26766537e-02 -1.65229889e-02 4.87248148e+01] [ 2.26816062e-02 9.99742733e-01 1.12375023e-04 -2.66472855e-01] [ 1.65161898e-02 -4.87098710e-04 9.99863480e-01 -2.34999516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.52925415399999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:48.77, Y:-0.24, Z:-0.23 [[ 9.99810641e-01 -1.94264494e-02 -1.13844807e-03 4.87672214e+01] [ 1.92982048e-02 9.97334250e-01 -7.03702621e-02 -2.44540822e-01] [ 2.50245759e-03 7.03349668e-02 9.97520291e-01 -2.31525383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.559254153999994 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:48.78, Y:-0.31, Z:-0.26 [[ 9.99274135e-01 -3.38596396e-02 -1.74564347e-02 4.87844945e+01] [ 3.50267180e-02 9.96820579e-01 7.15671810e-02 -3.08616100e-01] [ 1.49776944e-02 -7.21266745e-02 9.97283015e-01 -2.57695016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.589254153999995 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:48.82, Y:-0.28, Z:-0.23 [[ 9.99156744e-01 -3.70096634e-02 -1.77788026e-02 4.88174681e+01] [ 3.70175217e-02 9.99314610e-01 1.13003371e-04 -2.75131422e-01] [ 1.77624349e-02 -7.71035289e-04 9.99841938e-01 -2.33055086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.619254154 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:48.85, Y:-0.28, Z:-0.23 [[ 9.99096615e-01 -3.86374613e-02 -1.76946274e-02 4.88483583e+01] [ 3.86455644e-02 9.99252974e-01 1.16103507e-04 -2.76778424e-01] [ 1.76769231e-02 -7.99817482e-04 9.99843431e-01 -2.32543341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.649254154 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:48.88, Y:-0.28, Z:-0.23 [[ 9.99054239e-01 -3.96990543e-02 -1.77373475e-02 4.88806541e+01] [ 3.97073823e-02 9.99211344e-01 1.17446420e-04 -2.79096758e-01] [ 1.77186964e-02 -8.21638983e-04 9.99842674e-01 -2.31794152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67925415399999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:48.91, Y:-0.28, Z:-0.23 [[ 9.99084432e-01 -3.90162414e-02 -1.75507962e-02 4.89126711e+01] [ 3.90243119e-02 9.99238255e-01 1.17461170e-04 -2.80242832e-01] [ 1.75328441e-02 -8.02261370e-04 9.99845966e-01 -2.31589734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70925415399999 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:48.94, Y:-0.28, Z:-0.23 [[ 9.99122145e-01 -3.79219554e-02 -1.78007096e-02 4.89441236e+01] [ 3.79301128e-02 9.99280387e-01 1.20748040e-04 -2.80941518e-01] [ 1.77833209e-02 -7.95824962e-04 9.99841548e-01 -2.31057797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.739254153999994 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:48.98, Y:-0.28, Z:-0.23 [[ 9.99189653e-01 -3.61523122e-02 -1.76931596e-02 4.89750593e+01] [ 3.61601320e-02 9.99346001e-01 1.22141339e-04 -2.81215697e-01] [ 1.76771726e-02 -7.61829347e-04 9.99843456e-01 -2.30671705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.769254153999995 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:49.01, Y:-0.28, Z:-0.23 [[ 9.99325315e-01 -3.16011215e-02 -1.87158643e-02 4.90075811e+01] [ 3.16091116e-02 9.99500299e-01 1.31171810e-04 -2.80922001e-01] [ 1.87023667e-02 -7.22675152e-04 9.99824834e-01 -2.29689305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.799254153999996 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:49.04, Y:-0.28, Z:-0.23 [[ 9.99395169e-01 -2.89751788e-02 -1.92285094e-02 4.90380261e+01] [ 2.89831466e-02 9.99579891e-01 1.35767473e-04 -2.80885240e-01] [ 1.92164974e-02 -6.92988062e-04 9.99815106e-01 -2.29210279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.829254154 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:49.07, Y:-0.28, Z:-0.23 [[ 9.99513193e-01 -2.35007873e-02 -2.05204557e-02 4.90689451e+01] [ 2.35087141e-02 9.99723621e-01 1.45111366e-04 -2.80697895e-01] [ 2.05113741e-02 -6.27450251e-04 9.99789423e-01 -2.28662422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85925415399999 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:49.10, Y:-0.28, Z:-0.23 [[ 9.99572463e-01 -2.05223535e-02 -2.08260371e-02 4.90976498e+01] [ 2.05298585e-02 9.99789229e-01 1.46607353e-04 -2.80582795e-01] [ 2.08186388e-02 -5.74100267e-04 9.99783104e-01 -2.27981186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.88925415399999 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:49.13, Y:-0.28, Z:-0.23 [[ 9.99627674e-01 -1.78329505e-02 -2.06518616e-02 4.91253669e+01] [ 1.78396862e-02 9.99840850e-01 1.41953603e-04 -2.80443043e-01] [ 2.06460434e-02 -5.10323480e-04 9.99786717e-01 -2.27513548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.919254153999994 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:49.15, Y:-0.28, Z:-0.23 [[ 9.99672407e-01 -1.50957019e-02 -2.06687673e-02 4.91521833e+01] [ 1.51017724e-02 9.99885952e-01 1.37638616e-04 -2.80299326e-01] [ 2.06643323e-02 -4.49728545e-04 9.99786369e-01 -2.27155626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.949254153999995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:49.18, Y:-0.28, Z:-0.23 [[ 9.99762904e-01 -8.64143411e-03 -1.99865328e-02 4.91800039e+01] [ 8.64574501e-03 9.99962616e-01 1.29291154e-04 -2.80170148e-01] [ 1.99846684e-02 -3.02058966e-04 9.99800241e-01 -2.26326318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.979254153999996 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:49.21, Y:-0.28, Z:-0.23 [[ 9.99813836e-01 -1.46413127e-03 -1.92392830e-02 4.92075209e+01] [ 1.46669340e-03 9.99998917e-01 1.19062095e-04 -2.79055955e-01] [ 1.92390878e-02 -1.47258060e-04 9.99814901e-01 -2.25461698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.009254154 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:49.24, Y:-0.28, Z:-0.22 [[ 9.99818046e-01 2.42799173e-03 -1.89203330e-02 4.92355839e+01] [-2.42631214e-03 9.99997050e-01 1.11726813e-04 -2.78617343e-01] [ 1.89205484e-02 -6.57998499e-05 9.99820988e-01 -2.24942999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.039254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:49.26, Y:-0.28, Z:-0.22 [[ 9.99801554e-01 6.34261451e-03 -1.88844829e-02 4.92637154e+01] [-6.34174251e-03 9.99979885e-01 1.06061563e-04 -2.78183169e-01] [ 1.88847758e-02 1.37200129e-05 9.99821667e-01 -2.24474541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.06925415399999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:49.29, Y:-0.28, Z:-0.22 [[ 9.99773570e-01 1.02623795e-02 -1.86411511e-02 4.92907046e+01] [-1.02622907e-02 9.99947336e-01 1.00426411e-04 -2.77937708e-01] [ 1.86412000e-02 9.08972396e-05 9.99826234e-01 -2.23758919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09925415399999 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:49.32, Y:-0.28, Z:-0.22 [[ 9.99738079e-01 1.38199277e-02 -1.82423191e-02 4.93172290e+01] [-1.38204766e-02 9.99904488e-01 9.59865888e-05 -2.78089247e-01] [ 1.82419033e-02 1.56156096e-04 9.99833590e-01 -2.23280744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.129254153999995 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:49.34, Y:-0.28, Z:-0.22 [[ 9.99643910e-01 1.98087617e-02 -1.78792293e-02 4.93449088e+01] [-1.98103049e-02 9.99803753e-01 9.08109046e-05 -2.78957999e-01] [ 1.78775194e-02 2.63414418e-04 9.99840150e-01 -2.23065835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.159254153999996 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:49.37, Y:-0.28, Z:-0.22 [[ 9.99594016e-01 2.20681061e-02 -1.80222545e-02 4.93713696e+01] [-2.20701164e-02 9.99756422e-01 8.73667573e-05 -2.79933380e-01] [ 1.80197927e-02 3.10421966e-04 9.99837582e-01 -2.22921785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.189254154 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:49.40, Y:-0.28, Z:-0.22 [[ 9.99511577e-01 2.54330800e-02 -1.81594535e-02 4.93995121e+01] [-2.54357375e-02 9.99676456e-01 8.46461963e-05 -2.82029891e-01] [ 1.81557309e-02 3.77294239e-04 9.99835100e-01 -2.23185741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.219254154 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:49.43, Y:-0.28, Z:-0.22 [[ 9.99492033e-01 2.61732280e-02 -1.81834779e-02 4.94271696e+01] [-2.61761114e-02 9.99657344e-01 7.94573140e-05 -2.82963804e-01] [ 1.81793268e-02 3.96555790e-04 9.99834664e-01 -2.22663679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24925415399999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:49.46, Y:-0.28, Z:-0.22 [[ 9.99478777e-01 2.65200938e-02 -1.84081427e-02 4.94551969e+01] [-2.65232071e-02 9.99648195e-01 7.50399173e-05 -2.83957999e-01] [ 1.84036567e-02 4.13242176e-04 9.99830553e-01 -2.22178042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27925415399999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:49.48, Y:-0.29, Z:-0.22 [[ 9.99482407e-01 2.63882196e-02 -1.84005385e-02 4.94828815e+01] [-2.63914068e-02 9.99651684e-01 6.96322738e-05 -2.85158801e-01] [ 1.83959668e-02 4.16019865e-04 9.99830693e-01 -2.21670396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.309254153999994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:49.51, Y:-0.29, Z:-0.22 [[ 9.99496088e-01 2.57977758e-02 -1.84944633e-02 4.95099596e+01] [-2.58009737e-02 9.99667097e-01 6.57179180e-05 -2.88915394e-01] [ 1.84900019e-02 4.11490360e-04 9.99828961e-01 -2.21350168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.339254153999995 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:49.54, Y:-0.29, Z:-0.22 [[ 9.99567136e-01 2.32500504e-02 -1.80270696e-02 4.95378729e+01] [-2.32527331e-02 9.99729617e-01 6.08038466e-05 -2.93335559e-01] [ 1.80236091e-02 3.58401112e-04 9.99837497e-01 -2.21309144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.369254154 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:49.57, Y:-0.30, Z:-0.22 [[ 9.99616949e-01 2.10880377e-02 -1.79234533e-02 4.95658127e+01] [-2.10904330e-02 9.99777571e-01 5.53902265e-05 -2.95575370e-01] [ 1.79206347e-02 3.22644382e-04 9.99839360e-01 -2.21126932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.399254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:49.59, Y:-0.30, Z:-0.22 [[ 9.99661714e-01 1.90782840e-02 -1.76770111e-02 4.95938050e+01] [-1.90803695e-02 9.99817952e-01 5.06865442e-05 -2.98050944e-01] [ 1.76747601e-02 2.86614505e-04 9.99843748e-01 -2.20844764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.42925415399999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:49.62, Y:-0.30, Z:-0.22 [[ 9.99712582e-01 1.66713134e-02 -1.72284936e-02 4.96203758e+01] [-1.66729711e-02 9.99860995e-01 4.74256187e-05 -3.00861346e-01] [ 1.72268894e-02 2.39838188e-04 9.99851577e-01 -2.20580862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45925415399999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:49.65, Y:-0.31, Z:-0.22 [[ 9.99790616e-01 1.15141297e-02 -1.69159573e-02 4.96483359e+01] [-1.15150238e-02 9.99933699e-01 4.45434761e-05 -3.06488816e-01] [ 1.69153486e-02 1.50253502e-04 9.99856914e-01 -2.20233201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.489254153999994 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:49.68, Y:-0.31, Z:-0.22 [[ 9.99814581e-01 9.00620190e-03 -1.70203541e-02 4.96765812e+01] [-9.00677469e-03 9.99959437e-01 4.30029788e-05 -3.09448538e-01] [ 1.70200510e-02 1.10303489e-04 9.99855142e-01 -2.20011569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.519254153999995 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:49.70, Y:-0.31, Z:-0.22 [[ 9.99831312e-01 6.34439572e-03 -1.72364653e-02 4.97040539e+01] [-6.34462007e-03 9.99979872e-01 4.16676779e-05 -3.12510949e-01] [ 1.72363827e-02 6.76981746e-05 9.99851440e-01 -2.19805878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.549254153999996 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:49.73, Y:-0.32, Z:-0.22 [[ 9.99842245e-01 1.82602713e-03 -1.76678009e-02 4.97318007e+01] [-1.82559226e-03 9.99998333e-01 4.07422297e-05 -3.19281089e-01] [ 1.76678459e-02 -8.48160173e-06 9.99843911e-01 -2.19776481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.579254154 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:49.76, Y:-0.32, Z:-0.22 [[ 9.99846379e-01 -3.46322744e-04 -1.75242268e-02 4.97599592e+01] [ 3.47050851e-04 9.99999939e-01 3.85074422e-05 -3.22607641e-01] [ 1.75242124e-02 -4.45833244e-05 9.99846438e-01 -2.19724181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.60925415399999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:49.79, Y:-0.33, Z:-0.22 [[ 9.99843838e-01 -1.96370330e-03 -1.75625594e-02 4.97871556e+01] [ 1.96464085e-03 9.99998069e-01 3.61302382e-05 -3.25934408e-01] [ 1.75624546e-02 -7.06287176e-05 9.99845766e-01 -2.19770074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63925415399999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:49.81, Y:-0.33, Z:-0.22 [[ 9.99833479e-01 -4.26391859e-03 -1.77435202e-02 4.98148862e+01] [ 4.26518496e-03 9.99990903e-01 3.35287561e-05 -3.32435267e-01] [ 1.77432158e-02 -1.09202568e-04 9.99842571e-01 -2.19072271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.669254153999994 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:49.84, Y:-0.34, Z:-0.22 [[ 9.99827995e-01 -5.35091445e-03 -1.77580538e-02 4.98423365e+01] [ 5.35230046e-03 9.99985676e-01 3.05236729e-05 -3.35074960e-01] [ 1.77576361e-02 -1.25564862e-04 9.99842313e-01 -2.18492621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.699254153999995 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:49.87, Y:-0.34, Z:-0.22 [[ 9.99806373e-01 -5.50167080e-03 -1.88930608e-02 4.98696996e+01] [ 5.50318260e-03 9.99984857e-01 2.80282754e-05 -3.37686721e-01] [ 1.88926205e-02 -1.31994811e-04 9.99821510e-01 -2.17930092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.729254153999996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:49.90, Y:-0.34, Z:-0.22 [[ 9.99791651e-01 -5.23301687e-03 -1.97299395e-02 4.98980741e+01] [ 5.23453810e-03 9.99986299e-01 2.54594461e-05 -3.40134324e-01] [ 1.97295360e-02 -1.28731262e-04 9.99805345e-01 -2.18249561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.759254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:49.93, Y:-0.34, Z:-0.22 [[ 9.99767210e-01 -3.22173536e-03 -2.13341722e-02 4.99254802e+01] [ 3.22292271e-03 9.99994806e-01 2.12716942e-05 -3.44104835e-01] [ 2.13339929e-02 -9.00251305e-05 9.99772400e-01 -2.17679143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.78925415399999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:49.95, Y:-0.35, Z:-0.22 [[ 9.99769522e-01 -1.53516299e-03 -2.14136685e-02 4.99537238e+01] [ 1.53584388e-03 9.99998820e-01 1.53510856e-05 -3.46178313e-01] [ 2.14136197e-02 -4.82355992e-05 9.99770701e-01 -2.17358522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.81925415399999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:49.98, Y:-0.35, Z:-0.22 [[ 9.99769569e-01 4.12481604e-04 -2.14624759e-02 4.99819510e+01] [-4.12375146e-04 9.99999915e-01 9.38598924e-06 -3.47940551e-01] [ 2.14624780e-02 -5.33234771e-07 9.99769654e-01 -2.16813636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84925415399999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:50.01, Y:-0.35, Z:-0.22 [[ 9.99750632e-01 5.19717916e-03 -2.17178270e-02 5.00096274e+01] [-5.19833307e-03 9.99986489e-01 3.32285037e-06 -3.50825716e-01] [ 2.17175508e-02 1.09574476e-04 9.99764140e-01 -2.15485650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.879254153999995 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:50.04, Y:-0.35, Z:-0.22 [[ 9.99737281e-01 7.39216986e-03 -2.16962134e-02 5.00371857e+01] [-7.39397248e-03 9.99972664e-01 -2.86469668e-06 -3.52013297e-01] [ 2.16955992e-02 1.63285149e-04 9.99764609e-01 -2.15017768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.909254153999996 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:50.06, Y:-0.35, Z:-0.21 [[ 9.99678793e-01 1.21797310e-02 -2.22253135e-02 5.00637804e+01] [-1.21829094e-02 9.99925786e-01 -7.60853410e-06 -3.54914132e-01] [ 2.22235714e-02 2.78375072e-04 9.99752987e-01 -2.14460278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.939254154 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:50.09, Y:-0.36, Z:-0.21 [[ 9.99651721e-01 1.37756558e-02 -2.25092939e-02 5.00912308e+01] [-1.37794226e-02 9.99905059e-01 -1.22393102e-05 -3.56343504e-01] [ 2.25069883e-02 3.22400120e-04 9.99746634e-01 -2.14087641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.969254154 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:50.12, Y:-0.36, Z:-0.21 [[ 9.99635528e-01 1.50925439e-02 -2.23836346e-02 5.01180045e+01] [-1.50967007e-02 9.99886038e-01 -1.67286507e-05 -3.58019445e-01] [ 2.23808313e-02 3.54641587e-04 9.99749455e-01 -2.13707222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99925415399999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:50.15, Y:-0.36, Z:-0.21 [[ 9.99624380e-01 1.57366119e-02 -2.24378843e-02 5.01451517e+01] [-1.57410120e-02 9.99876102e-01 -1.94842199e-05 -3.62181517e-01] [ 2.24347976e-02 3.72671907e-04 9.99748239e-01 -2.13368834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02925415399999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:50.17, Y:-0.36, Z:-0.21 [[ 9.99638503e-01 1.50172941e-02 -2.23012371e-02 5.01735091e+01] [-1.50215169e-02 9.99887170e-01 -2.18357886e-05 -3.64390155e-01] [ 2.22983930e-02 3.56826305e-04 9.99751296e-01 -2.13013034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.059254153999994 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:50.20, Y:-0.37, Z:-0.21 [[ 9.99637312e-01 1.37173427e-02 -2.31749434e-02 5.01992959e+01] [-1.37492330e-02 9.99904734e-01 -1.21727967e-03 -3.68322669e-01] [ 2.31560378e-02 1.53547587e-03 9.99730684e-01 -2.12379622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.089254153999995 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:50.23, Y:-0.37, Z:-0.21 [[ 9.99702027e-01 9.71104144e-03 -2.23953566e-02 5.02303416e+01] [-9.69314285e-03 9.99952608e-01 9.07628426e-04 -3.71501756e-01] [ 2.24031092e-02 -6.90276587e-04 9.99748781e-01 -2.11951292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.119254154 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:50.26, Y:-0.37, Z:-0.21 [[ 9.99737988e-01 7.00719068e-03 -2.17911574e-02 5.02576584e+01] [-7.00926593e-03 9.99975435e-01 -1.88547360e-05 -3.73384065e-01] [ 2.17904899e-02 1.71589813e-04 9.99762544e-01 -2.11373600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.149254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:50.29, Y:-0.38, Z:-0.21 [[ 9.99758934e-01 1.56016219e-03 -2.19006857e-02 5.02856503e+01] [-1.56100839e-03 9.99998781e-01 -2.15422412e-05 -3.77984817e-01] [ 2.19006254e-02 5.57242022e-05 9.99760151e-01 -2.10583588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17925415399999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:50.31, Y:-0.38, Z:-0.21 [[ 9.99764275e-01 -9.66846105e-04 -2.16900687e-02 5.03133972e+01] [ 9.66559941e-04 9.99999533e-01 -2.36769650e-05 -3.80369768e-01] [ 2.16900814e-02 2.70663225e-06 9.99764743e-01 -2.10460334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20925415399999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:50.34, Y:-0.38, Z:-0.21 [[ 9.99758138e-01 -3.13641450e-03 -2.17675973e-02 5.03413359e+01] [ 3.13658902e-03 9.99995081e-01 -2.61246104e-05 -3.82642216e-01] [ 2.17675722e-02 -4.21577149e-05 9.99763057e-01 -2.10106366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.239254153999994 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:50.37, Y:-0.38, Z:-0.21 [[ 9.99757991e-01 -5.15625412e-03 -2.13862612e-02 5.03681739e+01] [ 5.15683201e-03 9.99986703e-01 -2.81272986e-05 -3.84641509e-01] [ 2.13861219e-02 -8.21648648e-05 9.99771287e-01 -2.09789942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.269254153999995 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:50.40, Y:-0.39, Z:-0.21 [[ 9.99772106e-01 -8.10964400e-03 -1.97476647e-02 5.03963316e+01] [ 8.11066888e-03 9.99967108e-01 -2.81931538e-05 -3.87934097e-01] [ 1.97472438e-02 -1.31980041e-04 9.99804995e-01 -2.09345697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.299254153999996 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:50.42, Y:-0.39, Z:-0.21 [[ 9.99763224e-01 -1.04147431e-02 -1.91057250e-02 5.04243237e+01] [ 1.04160846e-02 9.99945751e-01 -2.92988358e-05 -3.90299643e-01] [ 1.91049936e-02 -1.69714949e-04 9.99817469e-01 -2.08759093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.329254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:50.45, Y:-0.39, Z:-0.21 [[ 9.99760363e-01 -1.06859074e-02 -1.91057194e-02 5.04527418e+01] [ 1.06872355e-02 9.99942889e-01 -3.25875999e-05 -3.90180376e-01] [ 1.91049765e-02 -1.71607533e-04 9.99817469e-01 -2.08428634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35925415399999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:50.48, Y:-0.39, Z:-0.21 [[ 9.99751019e-01 -1.16625232e-02 -1.90232695e-02 5.04799897e+01] [ 1.16639393e-02 9.99931973e-01 -3.65122003e-05 -3.91082966e-01] [ 1.90224012e-02 -1.85383151e-04 9.99819041e-01 -2.08376038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.38925415399999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:50.51, Y:-0.39, Z:-0.21 [[ 9.99735719e-01 -1.30261948e-02 -1.89422875e-02 5.05067730e+01] [ 1.30277890e-02 9.99915134e-01 -3.92387819e-05 -3.91687757e-01] [ 1.89411910e-02 -2.07547713e-04 9.99820578e-01 -2.08046072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.419254153999994 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:50.53, Y:-0.39, Z:-0.21 [[ 9.99695066e-01 -1.59005691e-02 -1.88930622e-02 5.05346521e+01] [ 1.59025855e-02 9.99873545e-01 -4.35147730e-05 -3.93181865e-01] [ 1.88913650e-02 -2.56947034e-04 9.99821509e-01 -2.08114117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.449254153999995 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:50.56, Y:-0.39, Z:-0.21 [[ 9.99674643e-01 -1.77578864e-02 -1.83102859e-02 5.05629542e+01] [ 1.77599958e-02 9.99842278e-01 -4.74091205e-05 -3.93864648e-01] [ 1.83082399e-02 -2.77796906e-04 9.99832352e-01 -2.08489151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.479254153999996 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:50.59, Y:-0.39, Z:-0.21 [[ 9.99582502e-01 -2.17907318e-02 -1.89733101e-02 5.05903610e+01] [ 2.17936272e-02 9.99762489e-01 -5.41742768e-05 -3.94687807e-01] [ 1.89699843e-02 -3.59345588e-04 9.99819989e-01 -2.07977434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.509254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:50.62, Y:-0.40, Z:-0.21 [[ 9.99475490e-01 -2.64684216e-02 -1.86592457e-02 5.06186541e+01] [ 2.64719541e-02 9.99649555e-01 -5.76966270e-05 -3.95166711e-01] [ 1.86542338e-02 -4.36280332e-04 9.99825899e-01 -2.07858823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53925415399999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:50.65, Y:-0.40, Z:-0.21 [[ 9.99345658e-01 -3.10428667e-02 -1.85632880e-02 5.06466802e+01] [ 3.10470505e-02 9.99517922e-01 -6.28404879e-05 -3.95025202e-01] [ 1.85562898e-02 -5.13535972e-04 9.99827685e-01 -2.07568353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.56925415399999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:50.68, Y:-0.40, Z:-0.21 [[ 9.99266947e-01 -3.34787776e-02 -1.85671946e-02 5.06752098e+01] [ 3.34832870e-02 9.99439275e-01 -6.80386213e-05 -3.95021206e-01] [ 1.85590614e-02 -5.53701960e-04 9.99827612e-01 -2.07815348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59925415399999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:50.70, Y:-0.39, Z:-0.21 [[ 9.99194377e-01 -3.55043576e-02 -1.87093122e-02 5.07040606e+01] [ 3.55092012e-02 9.99369347e-01 -7.33591170e-05 -3.94959421e-01] [ 1.87001177e-02 -5.91052716e-04 9.99824963e-01 -2.07810356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.629254153999995 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:50.73, Y:-0.39, Z:-0.21 [[ 9.99185957e-01 -3.57405215e-02 -1.87092931e-02 5.07333228e+01] [ 3.57453198e-02 9.99360929e-01 -7.79917869e-05 -3.94792435e-01] [ 1.87001240e-02 -5.90841368e-04 9.99824963e-01 -2.07469700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.659254153999996 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:50.76, Y:-0.39, Z:-0.21 [[ 9.99126382e-01 -3.74764716e-02 -1.84928766e-02 5.07621679e+01] [ 3.74813994e-02 9.99297322e-01 -8.01745003e-05 -3.94539542e-01] [ 1.84828867e-02 -6.13034436e-04 9.99828989e-01 -2.07619593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.689254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:50.79, Y:-0.39, Z:-0.21 [[ 9.99075140e-01 -3.88175113e-02 -1.84950172e-02 5.07922422e+01] [ 3.88226537e-02 9.99246113e-01 -8.10586642e-05 -3.93707384e-01] [ 1.84842206e-02 -6.37041951e-04 9.99828949e-01 -2.07314529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.719254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:50.82, Y:-0.39, Z:-0.21 [[ 9.99022637e-01 -4.03314583e-02 -1.80871027e-02 5.08231361e+01] [ 4.03366167e-02 9.99186144e-01 -7.96793825e-05 -3.91367667e-01] [ 1.80755960e-02 -6.49971020e-04 9.99836412e-01 -2.06553249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74925415399999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:50.85, Y:-0.39, Z:-0.21 [[ 9.99021636e-01 -4.03990600e-02 -1.79913026e-02 5.08531432e+01] [ 4.04041748e-02 9.99183415e-01 -7.92573528e-05 -3.90242339e-01] [ 1.79798131e-02 -6.47743923e-04 9.99838140e-01 -2.06130878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77925415399999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:50.88, Y:-0.39, Z:-0.21 [[ 9.99033412e-01 -4.02298439e-02 -1.77144547e-02 5.08839313e+01] [ 4.02347778e-02 9.99190250e-01 -7.79278865e-05 -3.88938322e-01] [ 1.77032454e-02 -6.34884586e-04 9.99843084e-01 -2.05428223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.809254153999994 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:50.92, Y:-0.39, Z:-0.20 [[ 9.99087704e-01 -3.89365784e-02 -1.75414538e-02 5.09151996e+01] [ 3.89412248e-02 9.99241500e-01 -7.67433500e-05 -3.85658852e-01] [ 1.75311368e-02 -6.06412359e-04 9.99846134e-01 -2.04632332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.839254153999995 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:50.95, Y:-0.38, Z:-0.20 [[ 9.99127808e-01 -3.79872894e-02 -1.73374853e-02 5.09469651e+01] [ 3.79916964e-02 9.99278052e-01 -7.52223879e-05 -3.83829205e-01] [ 1.73278260e-02 -5.83523697e-04 9.99849692e-01 -2.04333540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.869254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:50.98, Y:-0.38, Z:-0.20 [[ 9.99169314e-01 -3.69964577e-02 -1.70863885e-02 5.09783456e+01] [ 3.70006038e-02 9.99315241e-01 -7.35126397e-05 -3.81976806e-01] [ 1.70774082e-02 -5.58755118e-04 9.99854014e-01 -2.03802076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.899254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:51.01, Y:-0.37, Z:-0.20 [[ 9.99224889e-01 -3.44511855e-02 -1.90456449e-02 5.10079909e+01] [ 3.42734216e-02 9.99366553e-01 -9.58259207e-03 -3.74025565e-01] [ 1.93637122e-02 8.92240508e-03 9.99772693e-01 -2.01153832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.92925415399999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:51.04, Y:-0.38, Z:-0.21 [[ 9.99286279e-01 -3.39468690e-02 -1.65693234e-02 5.10375791e+01] [ 3.41019241e-02 9.99376320e-01 9.16681099e-03 -3.81365648e-01] [ 1.62478049e-02 -9.72531426e-03 9.99820697e-01 -2.05478375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95925415399999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:51.07, Y:-0.37, Z:-0.20 [[ 9.99357324e-01 -3.15269172e-02 -1.70584815e-02 5.10677245e+01] [ 3.15302142e-02 9.99502796e-01 -7.57012644e-05 -3.73551724e-01] [ 1.70523866e-02 -4.62204962e-04 9.99854491e-01 -2.02701619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.989254153999994 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:51.10, Y:-0.37, Z:-0.20 [[ 9.99393610e-01 -3.00285034e-02 -1.76266949e-02 5.10976029e+01] [ 3.00317890e-02 9.99548941e-01 -7.83303631e-05 -3.71800790e-01] [ 1.76210963e-02 -4.51078317e-04 9.99844635e-01 -2.02043757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.019254153999995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:51.13, Y:-0.37, Z:-0.20 [[ 9.99480180e-01 -2.64203001e-02 -1.84753413e-02 5.11273633e+01] [ 2.64232849e-02 9.99650841e-01 -8.25760327e-05 -3.68242453e-01] [ 1.84710722e-02 -4.05646099e-04 9.99829313e-01 -2.01789315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.049254153999996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:51.16, Y:-0.37, Z:-0.20 [[ 9.99579431e-01 -2.16620897e-02 -1.92799365e-02 5.11554358e+01] [ 2.16644334e-02 9.99765295e-01 -8.73193506e-05 -3.65165242e-01] [ 1.92773029e-02 -3.30406274e-04 9.99814121e-01 -2.01745933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.079254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:51.18, Y:-0.36, Z:-0.20 [[ 9.99573437e-01 -2.19369319e-02 -1.92799218e-02 5.11838465e+01] [ 2.19392659e-02 9.99759301e-01 -9.04714729e-05 -3.64964761e-01] [ 1.92772658e-02 -3.32554449e-04 9.99814121e-01 -2.01412152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.10925415399999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:51.21, Y:-0.36, Z:-0.20 [[ 9.99620515e-01 -1.93629679e-02 -1.95933915e-02 5.12116622e+01] [ 1.93647745e-02 9.99812480e-01 -9.75396417e-05 -3.62948714e-01] [ 1.95916060e-02 -2.81918980e-04 9.99808026e-01 -2.00685910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13925415399999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:51.24, Y:-0.36, Z:-0.20 [[ 9.99670217e-01 -1.64350331e-02 -1.97318659e-02 5.12386724e+01] [ 1.64362061e-02 9.99864911e-01 -1.02737318e-04 -3.60871967e-01] [ 1.97308888e-02 -2.21613577e-04 9.99805303e-01 -1.99904148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.169254153999994 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:51.27, Y:-0.36, Z:-0.20 [[ 9.99742016e-01 -1.14032020e-02 -1.96435394e-02 5.12655212e+01] [ 1.14033443e-02 9.99934974e-01 -1.04769306e-04 -3.57444221e-01] [ 1.96434568e-02 -1.19259767e-04 9.99807042e-01 -1.98690262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.199254153999995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:51.29, Y:-0.36, Z:-0.20 [[ 9.99763751e-01 -9.77879046e-03 -1.94117609e-02 5.12919673e+01] [ 9.77856462e-03 9.99952183e-01 -1.06555284e-04 -3.56240031e-01] [ 1.94118747e-02 -8.32890486e-05 9.99811568e-01 -1.98221903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.229254153999996 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:51.32, Y:-0.36, Z:-0.20 [[ 9.99773454e-01 -8.66224080e-03 -1.94423619e-02 5.13203568e+01] [ 8.66171434e-03 9.99962480e-01 -1.11289282e-04 -3.55760191e-01] [ 1.94425965e-02 -5.71401147e-05 9.99810973e-01 -1.98155324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.259254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:51.35, Y:-0.35, Z:-0.20 [[ 9.99775939e-01 -8.69908055e-03 -1.92976279e-02 5.13481920e+01] [ 8.69846254e-03 9.99962161e-01 -1.15964344e-04 -3.54480465e-01] [ 1.92979065e-02 -5.19213322e-05 9.99813777e-01 -1.98099689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.28925415399999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:51.38, Y:-0.35, Z:-0.20 [[ 9.99778048e-01 -9.50127711e-03 -1.88037600e-02 5.13755276e+01] [ 9.50075272e-03 9.99954860e-01 -1.17222422e-04 -3.53691487e-01] [ 1.88040249e-02 -6.14534692e-05 9.99823187e-01 -1.97804833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31925415399999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:51.40, Y:-0.35, Z:-0.20 [[ 9.99762323e-01 -1.09744109e-02 -1.88377281e-02 5.14035587e+01] [ 1.09740788e-02 9.99939776e-01 -1.21007312e-04 -3.53295666e-01] [ 1.88379215e-02 -8.57481598e-05 9.99822547e-01 -1.97357285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34925415399999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:51.43, Y:-0.35, Z:-0.20 [[ 9.99704381e-01 -1.52534040e-02 -1.89336925e-02 5.14318531e+01] [ 1.52537548e-02 9.99883647e-01 -1.25895249e-04 -3.53137454e-01] [ 1.89334098e-02 -1.62951871e-04 9.99820734e-01 -1.96850121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.379254153999995 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:51.46, Y:-0.35, Z:-0.20 [[ 9.99650543e-01 -1.83645989e-02 -1.90140352e-02 5.14597872e+01] [ 1.83654496e-02 9.99831332e-01 -1.29891790e-04 -3.53083831e-01] [ 1.90132136e-02 -2.19354906e-04 9.99819208e-01 -1.96770155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.409254153999996 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:51.49, Y:-0.35, Z:-0.20 [[ 9.99582722e-01 -2.15311011e-02 -1.92560118e-02 5.14868566e+01] [ 2.15324747e-02 9.99768140e-01 -1.36020999e-04 -3.53436350e-01] [ 1.92544758e-02 -2.78665348e-04 9.99814577e-01 -1.96587406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.439254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:51.51, Y:-0.35, Z:-0.20 [[ 9.99413908e-01 -2.80146030e-02 -1.96728725e-02 5.15147443e+01] [ 2.80172445e-02 9.99607430e-01 -1.41387280e-04 -3.54766249e-01] [ 1.96691105e-02 -4.09875264e-04 9.99806460e-01 -1.96607747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.46925415399999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:51.54, Y:-0.35, Z:-0.20 [[ 9.99331064e-01 -3.11284689e-02 -1.91948555e-02 5.15430337e+01] [ 3.11315198e-02 9.99515287e-01 -1.39917278e-04 -3.54842384e-01] [ 1.91899069e-02 -4.57741342e-04 9.99815752e-01 -1.96370336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49925415399999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:51.57, Y:-0.36, Z:-0.20 [[ 9.99207423e-01 -3.53017457e-02 -1.83932713e-02 5.15730371e+01] [ 3.53052299e-02 9.99376567e-01 -1.35352665e-04 -3.55083463e-01] [ 1.83865825e-02 -5.14133285e-04 9.99830820e-01 -1.95507176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.52925415399999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:51.60, Y:-0.35, Z:-0.20 [[ 9.99162359e-01 -3.67717051e-02 -1.79560942e-02 5.16035507e+01] [ 3.67752553e-02 9.99323553e-01 -1.32549064e-04 -3.54937531e-01] [ 1.79488219e-02 -5.27901914e-04 9.99838768e-01 -1.95311976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.559254153999994 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:51.63, Y:-0.35, Z:-0.19 [[ 9.99124842e-01 -3.77478006e-02 -1.80181312e-02 5.16344098e+01] [ 3.77515383e-02 9.99287148e-01 -1.32772328e-04 -3.54847559e-01] [ 1.80102988e-02 -5.47556037e-04 9.99837651e-01 -1.94695296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.589254153999995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:51.66, Y:-0.35, Z:-0.19 [[ 9.99095839e-01 -3.79022237e-02 -1.92594119e-02 5.16648073e+01] [ 3.77850579e-02 9.99265321e-01 -6.41159724e-03 -3.51861162e-01] [ 1.94882762e-02 5.67808213e-03 9.99793962e-01 -1.93197231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.619254154 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:51.70, Y:-0.36, Z:-0.19 [[ 9.99090377e-01 -3.81785400e-02 -1.89952088e-02 5.16950508e+01] [ 3.82042117e-02 9.99269462e-01 9.90312605e-04 -3.55438034e-01] [ 1.89435234e-02 -1.71510877e-03 9.99819084e-01 -1.94707034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.649254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:51.73, Y:-0.36, Z:-0.20 [[ 9.99147416e-01 -3.75843567e-02 -1.70838161e-02 5.17269037e+01] [ 3.76740307e-02 9.99277783e-01 4.95777957e-03 -3.57257961e-01] [ 1.68851429e-02 -5.59716886e-03 9.99841769e-01 -1.95436003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67925415399999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:51.76, Y:-0.35, Z:-0.19 [[ 9.99189069e-01 -3.65271755e-02 -1.69401584e-02 5.17580977e+01] [ 3.65303391e-02 9.99332537e-01 -1.22746574e-04 -3.54163646e-01] [ 1.69333350e-02 -4.96182695e-04 9.99856498e-01 -1.93668479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70925415399999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:51.79, Y:-0.35, Z:-0.19 [[ 9.99230355e-01 -3.52944951e-02 -1.71171509e-02 5.17889890e+01] [ 3.52975554e-02 9.99376840e-01 -1.23396640e-04 -3.53075142e-01] [ 1.71108394e-02 -4.80891913e-04 9.99853483e-01 -1.92860784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.739254153999994 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:51.82, Y:-0.35, Z:-0.19 [[ 9.99284697e-01 -3.37208148e-02 -1.71172786e-02 5.18191385e+01] [ 3.37236535e-02 9.99431188e-01 -1.22864528e-04 -3.51939403e-01] [ 1.71116852e-02 -4.54480529e-04 9.99853481e-01 -1.92424890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.769254153999995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:51.85, Y:-0.35, Z:-0.19 [[ 9.99374957e-01 -3.05644514e-02 -1.77625680e-02 5.18507250e+01] [ 3.05670178e-02 9.99532711e-01 -1.27056367e-04 -3.49848042e-01] [ 1.77581512e-02 -4.15971781e-04 9.99842225e-01 -1.91637449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.799254153999996 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:51.88, Y:-0.35, Z:-0.19 [[ 9.99419979e-01 -2.90515313e-02 -1.77683644e-02 5.18798824e+01] [ 2.90538642e-02 9.99577839e-01 -1.26883074e-04 -3.49214802e-01] [ 1.77645495e-02 -3.89430168e-04 9.99842122e-01 -1.91472627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.829254154 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:51.91, Y:-0.35, Z:-0.19 [[ 9.99444788e-01 -2.81009619e-02 -1.79011522e-02 5.19094821e+01] [ 2.81031658e-02 9.99605020e-01 -1.28481996e-04 -3.48391827e-01] [ 1.78976920e-02 -3.74668386e-04 9.99839753e-01 -1.91321133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.85925415399999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:51.94, Y:-0.35, Z:-0.19 [[ 9.99455103e-01 -2.71052587e-02 -1.88361900e-02 5.19384267e+01] [ 2.71075065e-02 9.99632515e-01 -1.36023825e-04 -3.47031114e-01] [ 1.88329550e-02 -3.74652438e-04 9.99822574e-01 -1.91006882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88925415399999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:51.97, Y:-0.35, Z:-0.19 [[ 9.99441222e-01 -2.72038468e-02 -1.94215152e-02 5.19673427e+01] [ 2.72062051e-02 9.99629832e-01 -1.42827088e-04 -3.46167438e-01] [ 1.94182115e-02 -3.85638448e-04 9.99811374e-01 -1.90738317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.919254153999994 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:52.00, Y:-0.34, Z:-0.19 [[ 9.99383896e-01 -2.82185098e-02 -2.08696715e-02 5.19958458e+01] [ 2.82213398e-02 9.99601686e-01 -1.58961794e-04 -3.44702635e-01] [ 2.08658445e-02 -4.30106235e-04 9.99782192e-01 -1.90707683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.949254153999995 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:52.02, Y:-0.34, Z:-0.19 [[ 9.99338650e-01 -2.92962484e-02 -2.15405000e-02 5.20240665e+01] [ 2.92993875e-02 9.99570666e-01 -1.69921815e-04 -3.43631723e-01] [ 2.15362300e-02 -4.61314019e-04 9.99767962e-01 -1.90531097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.979254153999996 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:52.05, Y:-0.34, Z:-0.19 [[ 9.99297448e-01 -3.02513944e-02 -2.21238318e-02 5.20514001e+01] [ 3.02548428e-02 9.99542201e-01 -1.78910657e-04 -3.42694622e-01] [ 2.21191158e-02 -4.90568091e-04 9.99755222e-01 -1.90085191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.009254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:52.08, Y:-0.34, Z:-0.19 [[ 9.99246421e-01 -3.13326890e-02 -2.29096617e-02 5.20795803e+01] [ 3.13366140e-02 9.99508870e-01 -1.87748419e-04 -3.41968575e-01] [ 2.29042927e-02 -5.30304288e-04 9.99737522e-01 -1.89662173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03925415399999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:52.11, Y:-0.34, Z:-0.19 [[ 9.99153632e-01 -3.39911030e-02 -2.31651582e-02 5.21078093e+01] [ 3.39957223e-02 9.99421959e-01 -1.94490614e-04 -3.40738867e-01] [ 2.31583788e-02 -5.93190281e-04 9.99731633e-01 -1.89267148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.06925415399999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:52.14, Y:-0.34, Z:-0.19 [[ 9.99104066e-01 -3.56839074e-02 -2.27535564e-02 5.21353732e+01] [ 3.56887080e-02 9.99362936e-01 -1.95188209e-04 -3.39796552e-01] [ 2.27460260e-02 -6.17031697e-04 9.99741085e-01 -1.88346731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.09925415399999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:52.17, Y:-0.34, Z:-0.19 [[ 9.99056096e-01 -3.73821354e-02 -2.21245050e-02 5.21652943e+01] [ 3.73870599e-02 9.99300841e-01 -1.91159187e-04 -3.38727206e-01] [ 2.21161823e-02 -6.36191441e-04 9.99755205e-01 -1.87134786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.129254153999995 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:52.20, Y:-0.34, Z:-0.19 [[ 9.98939807e-01 -4.12217079e-02 -2.04947123e-02 5.21950057e+01] [ 4.12267288e-02 9.99149801e-01 -1.77642608e-04 -3.36939046e-01] [ 2.04846105e-02 -6.67475674e-04 9.99789946e-01 -1.85741094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.159254153999996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:52.23, Y:-0.34, Z:-0.19 [[ 9.98883290e-01 -4.29311727e-02 -1.97253223e-02 5.22261119e+01] [ 4.29361580e-02 9.99077803e-01 -1.70894561e-04 -3.36454082e-01] [ 1.97144683e-02 -6.76225833e-04 9.99805422e-01 -1.85008372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.189254154 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:52.26, Y:-0.34, Z:-0.18 [[ 9.98782728e-01 -4.58941510e-02 -1.80772964e-02 5.22573317e+01] [ 4.58988358e-02 9.98946081e-01 -1.55879388e-04 -3.35552154e-01] [ 1.80653983e-02 -6.74037218e-04 9.99836580e-01 -1.84701300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21925415399999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:52.29, Y:-0.34, Z:-0.18 [[ 9.98786823e-01 -4.58049483e-02 -1.80773067e-02 5.22900253e+01] [ 4.58096403e-02 9.98950175e-01 -1.54675285e-04 -3.35332658e-01] [ 1.80654136e-02 -6.73627280e-04 9.99836580e-01 -1.84314670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24925415399999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:52.32, Y:-0.33, Z:-0.18 [[ 9.98719324e-01 -4.73224958e-02 -1.78967290e-02 5.23226517e+01] [ 4.73273644e-02 9.98879421e-01 -1.51639690e-04 -3.34519555e-01] [ 1.78838503e-02 -6.95559527e-04 9.99839829e-01 -1.83867115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27925415399999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:52.35, Y:-0.33, Z:-0.18 [[ 9.98646129e-01 -4.87958910e-02 -1.80241428e-02 5.23535977e+01] [ 4.88010905e-02 9.98808505e-01 -1.51507994e-04 -3.33470143e-01] [ 1.80100601e-02 -7.28294950e-04 9.99837540e-01 -1.83482389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.309254153999994 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:52.39, Y:-0.33, Z:-0.18 [[ 9.98479322e-01 -5.20545883e-02 -1.81483734e-02 5.23854723e+01] [ 5.20604172e-02 9.98643926e-01 -1.51437783e-04 -3.30771083e-01] [ 1.81316459e-02 -7.93604397e-04 9.99835293e-01 -1.82697336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.339254153999995 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:52.42, Y:-0.33, Z:-0.18 [[ 9.98414841e-01 -5.31784106e-02 -1.84353574e-02 5.24161431e+01] [ 5.31846394e-02 9.98584684e-01 -1.52588390e-04 -3.29297290e-01] [ 1.84173800e-02 -8.28131324e-04 9.99830043e-01 -1.82156791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.369254154 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:52.45, Y:-0.33, Z:-0.18 [[ 9.98345586e-01 -5.42025146e-02 -1.91879894e-02 5.24479801e+01] [ 5.42094747e-02 9.98529573e-01 -1.57602727e-04 -3.27842093e-01] [ 1.91683174e-02 -8.82828840e-04 9.99815881e-01 -1.82016252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.399254154 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:52.48, Y:-0.33, Z:-0.18 [[ 9.98301090e-01 -5.49236726e-02 -1.94505391e-02 5.24792287e+01] [ 5.49309862e-02 9.98490141e-01 -1.58459651e-04 -3.25347569e-01] [ 1.94298747e-02 -9.10246853e-04 9.99810808e-01 -1.82106694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.42925415399999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:52.51, Y:-0.32, Z:-0.18 [[ 9.98316516e-01 -5.46781459e-02 -1.93503041e-02 5.25105000e+01] [ 5.46853586e-02 9.98503624e-01 -1.56595820e-04 -3.23835268e-01] [ 1.93299111e-02 -9.01846125e-04 9.99812753e-01 -1.81722705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45925415399999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:52.54, Y:-0.32, Z:-0.18 [[ 9.98422302e-01 -5.28553295e-02 -1.89531190e-02 5.25426572e+01] [ 5.28619428e-02 9.98601818e-01 -1.52244951e-04 -3.20355166e-01] [ 1.89346661e-02 -8.49893940e-04 9.99820362e-01 -1.81383435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.489254153999994 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:52.58, Y:-0.32, Z:-0.18 [[ 9.98492769e-01 -5.13508346e-02 -1.93721854e-02 5.25752727e+01] [ 5.13574888e-02 9.98680322e-01 -1.54182580e-04 -3.18100950e-01] [ 1.93545377e-02 -8.40956600e-04 9.99812330e-01 -1.81115342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.519254153999995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:52.61, Y:-0.32, Z:-0.18 [[ 9.98585189e-01 -4.93116715e-02 -1.98992302e-02 5.26062179e+01] [ 4.93183151e-02 9.98783099e-01 -1.57048476e-04 -3.15752312e-01] [ 1.98827591e-02 -8.24570223e-04 9.99801978e-01 -1.80849364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.549254153999996 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:52.64, Y:-0.31, Z:-0.18 [[ 9.98810292e-01 -4.40975171e-02 -2.08185021e-02 5.26376767e+01] [ 4.41036820e-02 9.99026946e-01 -1.63144045e-04 -3.10931124e-01] [ 2.08054388e-02 -7.55222643e-04 9.99783258e-01 -1.81113320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.579254154 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:52.67, Y:-0.31, Z:-0.18 [[ 9.98914499e-01 -4.13111393e-02 -2.15223949e-02 5.26686629e+01] [ 4.13171038e-02 9.99146070e-01 -1.67658692e-04 -3.08772348e-01] [ 2.15109425e-02 -7.21766327e-04 9.99768352e-01 -1.81108299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.60925415399999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:52.70, Y:-0.30, Z:-0.18 [[ 9.99170736e-01 -3.51057197e-02 -2.06259302e-02 5.26989581e+01] [ 3.51098878e-02 9.99383445e-01 -1.60122239e-04 -3.04712061e-01] [ 2.06188344e-02 -5.64184640e-04 9.99787250e-01 -1.80952713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63925415399999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:52.73, Y:-0.30, Z:-0.18 [[ 9.99282193e-01 -3.22242656e-02 -1.99172074e-02 5.27296602e+01] [ 3.22275841e-02 9.99480545e-01 -1.54420462e-04 -3.02025098e-01] [ 1.99118374e-02 -4.87573858e-04 9.99801621e-01 -1.80143837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.669254153999994 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:52.76, Y:-0.30, Z:-0.18 [[ 9.99465216e-01 -2.75048423e-02 -1.76851986e-02 5.27600443e+01] [ 2.75067200e-02 9.99621609e-01 -1.37115434e-04 -2.97803767e-01] [ 1.76822780e-02 -3.49419699e-04 9.99843595e-01 -1.79363101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.699254153999995 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:52.79, Y:-0.30, Z:-0.18 [[ 9.99520631e-01 -2.57782057e-02 -1.71461992e-02 5.27905119e+01] [ 2.57797167e-02 9.99667639e-01 -1.32936507e-04 -2.95973399e-01] [ 1.71439273e-02 -3.09151375e-04 9.99852984e-01 -1.78666243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.729254153999996 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:52.82, Y:-0.29, Z:-0.18 [[ 9.99571031e-01 -2.44343298e-02 -1.61467540e-02 5.28201329e+01] [ 2.44354947e-02 9.99701401e-01 -1.25170117e-04 -2.94296989e-01] [ 1.61449910e-02 -2.69437498e-04 9.99869625e-01 -1.78660134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.759254154 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:52.85, Y:-0.29, Z:-0.18 [[ 9.99630620e-01 -2.25226374e-02 -1.52103105e-02 5.28505716e+01] [ 2.25234505e-02 9.99746308e-01 -1.17865415e-04 -2.91130463e-01] [ 1.52091064e-02 -2.24766798e-04 9.99884310e-01 -1.78578163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.78925415399999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:52.88, Y:-0.29, Z:-0.18 [[ 9.99630225e-01 -2.25402015e-02 -1.52103101e-02 5.28807284e+01] [ 2.25410157e-02 9.99745912e-01 -1.17924812e-04 -2.90864573e-01] [ 1.52091034e-02 -2.24974632e-04 9.99884310e-01 -1.78221359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81925415399999 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:52.91, Y:-0.29, Z:-0.18 [[ 9.99669749e-01 -2.08719751e-02 -1.49917765e-02 5.29108823e+01] [ 2.08725755e-02 9.99782137e-01 -1.16435421e-04 -2.88410875e-01] [ 1.49909406e-02 -1.96520018e-04 9.99887610e-01 -1.78996109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.84925415399999 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:52.94, Y:-0.29, Z:-0.18 [[ 9.99707024e-01 -1.89737690e-02 -1.50287240e-02 5.29410442e+01] [ 1.89741579e-02 9.99819968e-01 -1.16722379e-04 -2.85565445e-01] [ 1.50282330e-02 -1.68469200e-04 9.99887056e-01 -1.79368739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.879254153999995 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:52.97, Y:-0.28, Z:-0.18 [[ 9.99714983e-01 -1.83754606e-02 -1.52412258e-02 5.29704359e+01] [ 1.83757892e-02 9.99831144e-01 -1.18496778e-04 -2.83658647e-01] [ 1.52408297e-02 -1.61606548e-04 9.99883839e-01 -1.79363948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.909254153999996 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:53.00, Y:-0.28, Z:-0.18 [[ 9.99724400e-01 -1.78935477e-02 -1.51968487e-02 5.29996110e+01] [ 1.78938103e-02 9.99839886e-01 -1.18702340e-04 -2.82064484e-01] [ 1.51965394e-02 -1.53259901e-04 9.99884514e-01 -1.79353589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.939254154 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:53.03, Y:-0.28, Z:-0.18 [[ 9.99711940e-01 -1.76861575e-02 -1.62245509e-02 5.30296787e+01] [ 1.76864195e-02 9.99843575e-01 -1.27345128e-04 -2.79317487e-01] [ 1.62242652e-02 -1.59645769e-04 9.99868365e-01 -1.79397013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.96925415399999 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:53.06, Y:-0.28, Z:-0.18 [[ 9.99703703e-01 -1.79445269e-02 -1.64468659e-02 5.30578847e+01] [ 1.79448173e-02 9.99838970e-01 -1.29933889e-04 -2.77810506e-01] [ 1.64465490e-02 -1.65240613e-04 9.99864733e-01 -1.79298765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99925415399999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:53.09, Y:-0.28, Z:-0.18 [[ 9.99689743e-01 -1.91032939e-02 -1.59837784e-02 5.30863839e+01] [ 1.91036833e-02 9.99817500e-01 -1.28334118e-04 -2.75704124e-01] [ 1.59833130e-02 -1.77054739e-04 9.99872243e-01 -1.79660263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02925415399999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:53.12, Y:-0.27, Z:-0.18 [[ 9.99685438e-01 -1.96853103e-02 -1.55407231e-02 5.31158200e+01] [ 1.96857022e-02 9.99806210e-01 -1.27770239e-04 -2.74799672e-01] [ 1.55402267e-02 -1.78200000e-04 9.99879228e-01 -1.79510698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.059254153999994 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:53.14, Y:-0.27, Z:-0.18 [[ 9.99681066e-01 -2.01922811e-02 -1.51669847e-02 5.31441223e+01] [ 2.01927036e-02 9.99796099e-01 -1.25299457e-04 -2.74200872e-01] [ 1.51664222e-02 -1.81002932e-04 9.99884967e-01 -1.79381847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.089254153999995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:53.17, Y:-0.27, Z:-0.18 [[ 9.99673568e-01 -2.13547346e-02 -1.40261174e-02 5.31739306e+01] [ 2.13552009e-02 9.99771945e-01 -1.16547784e-04 -2.72200867e-01] [ 1.40254075e-02 -1.83020814e-04 9.99901622e-01 -1.79228821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.119254154 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:53.20, Y:-0.27, Z:-0.18 [[ 9.99637562e-01 -2.31314585e-02 -1.37724098e-02 5.32040131e+01] [ 2.31320713e-02 9.99732411e-01 -1.14827658e-04 -2.70500738e-01] [ 1.37713806e-02 -2.03798325e-04 9.99905149e-01 -1.78607919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.14925415399999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:53.24, Y:-0.27, Z:-0.18 [[ 9.99611675e-01 -2.44293990e-02 -1.34053296e-02 5.32356162e+01] [ 2.44300997e-02 9.99701534e-01 -1.11503611e-04 -2.69756253e-01] [ 1.34040525e-02 -2.16033228e-04 9.99910138e-01 -1.78516539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17925415399999 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:53.27, Y:-0.27, Z:-0.18 [[ 9.99524499e-01 -2.74892538e-02 -1.39684139e-02 5.32674736e+01] [ 2.74903216e-02 9.99622063e-01 -1.15593895e-04 -2.68869531e-01] [ 1.39663123e-02 -2.68457261e-04 9.99902430e-01 -1.78396190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20925415399999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:53.30, Y:-0.27, Z:-0.18 [[ 9.99458831e-01 -2.97772069e-02 -1.39772164e-02 5.32992691e+01] [ 2.97785142e-02 9.99556515e-01 -1.14625057e-04 -2.68575780e-01] [ 1.39744309e-02 -3.01657712e-04 9.99902307e-01 -1.78406394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.239254153999994 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:53.33, Y:-0.27, Z:-0.18 [[ 9.99461591e-01 -2.96844122e-02 -1.39772252e-02 5.33319690e+01] [ 2.96857255e-02 9.99559275e-01 -1.13547351e-04 -2.68365416e-01] [ 1.39744356e-02 -3.01437854e-04 9.99902307e-01 -1.78019807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.269254153999995 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:53.36, Y:-0.27, Z:-0.18 [[ 9.99385111e-01 -3.21771216e-02 -1.39295576e-02 5.33633325e+01] [ 3.21786848e-02 9.99482126e-01 -1.11949201e-04 -2.68221560e-01] [ 1.39259461e-02 -3.36354479e-04 9.99902973e-01 -1.78201952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.299254153999996 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:53.40, Y:-0.27, Z:-0.18 [[ 9.99155409e-01 -3.84545035e-02 -1.44816935e-02 5.33951445e+01] [ 3.84568645e-02 9.99260255e-01 -1.15511967e-04 -2.67408825e-01] [ 1.44754227e-02 -4.41506116e-04 9.99895128e-01 -1.77761675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.329254154 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:53.43, Y:-0.27, Z:-0.18 [[ 9.99019616e-01 -4.18231208e-02 -1.45131985e-02 5.34268383e+01] [ 4.18258625e-02 9.99124909e-01 -1.14703360e-04 -2.66610324e-01] [ 1.45052954e-02 -4.92436139e-04 9.99894671e-01 -1.77485951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35925415399999 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:53.46, Y:-0.27, Z:-0.18 [[ 9.98754540e-01 -4.76220602e-02 -1.48831365e-02 5.34596081e+01] [ 4.76256043e-02 9.98865250e-01 -1.16408182e-04 -2.65599570e-01] [ 1.48717914e-02 -5.92555169e-04 9.99889233e-01 -1.77574364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38925415399999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:53.49, Y:-0.26, Z:-0.18 [[ 9.98634525e-01 -4.99055548e-02 -1.54441093e-02 5.34922787e+01] [ 4.99096707e-02 9.98753729e-01 -1.19053811e-04 -2.64672970e-01] [ 1.54308032e-02 -6.51919163e-04 9.99880726e-01 -1.76779455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.419254153999994 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:53.52, Y:-0.26, Z:-0.18 [[ 9.98555636e-01 -5.15634268e-02 -1.50948780e-02 5.35243270e+01] [ 5.15675713e-02 9.98669501e-01 -1.14794551e-04 -2.63486140e-01] [ 1.50807134e-02 -6.63777450e-04 9.99886059e-01 -1.76666284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.449254153999995 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:53.56, Y:-0.26, Z:-0.18 [[ 9.98493360e-01 -5.27678278e-02 -1.50521537e-02 5.35564209e+01] [ 5.27721059e-02 9.98606575e-01 -1.13107388e-04 -2.61031856e-01] [ 1.50371481e-02 -6.81396873e-04 9.99886704e-01 -1.75709756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.479254153999996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:53.59, Y:-0.26, Z:-0.17 [[ 9.98497285e-01 -5.28418145e-02 -1.45228951e-02 5.35890184e+01] [ 5.28458238e-02 9.98602677e-01 -1.07820200e-04 -2.59291897e-01] [ 1.45082993e-02 -6.59816177e-04 9.99894531e-01 -1.74832190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.509254154 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:53.62, Y:-0.26, Z:-0.17 [[ 9.98539327e-01 -5.22580209e-02 -1.37226878e-02 5.36213933e+01] [ 5.22615665e-02 9.98633426e-01 -1.00345606e-04 -2.57552541e-01] [ 1.37091786e-02 -6.16970129e-04 9.99905834e-01 -1.74114845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53925415399999 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:53.65, Y:-0.25, Z:-0.17 [[ 9.98608509e-01 -5.10333937e-02 -1.32905346e-02 5.36541990e+01] [ 5.10366401e-02 9.98696777e-01 -9.50073116e-05 -2.54260616e-01] [ 1.32780626e-02 -5.83429120e-04 9.99911672e-01 -1.73304968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.56925415399999 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:53.69, Y:-0.25, Z:-0.17 [[ 9.98635234e-01 -5.04981025e-02 -1.33270572e-02 5.36875814e+01] [ 5.05013382e-02 9.98723989e-01 -9.38409124e-05 -2.52530826e-01] [ 1.33147905e-02 -5.79321382e-04 9.99911186e-01 -1.73416836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59925415399999 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:53.72, Y:-0.25, Z:-0.17 [[ 9.98648784e-01 -4.98939739e-02 -1.45326300e-02 5.37198380e+01] [ 4.98977813e-02 9.98754325e-01 -1.00711332e-04 -2.49763463e-01] [ 1.45195519e-02 -6.24570745e-04 9.99894391e-01 -1.73323847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.629254153999995 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:53.75, Y:-0.25, Z:-0.17 [[ 9.98634336e-01 -5.00143846e-02 -1.51004778e-02 5.37532180e+01] [ 5.00185310e-02 9.98748285e-01 -1.03193014e-04 -2.48408553e-01] [ 1.50867375e-02 -6.52251631e-04 9.99885976e-01 -1.73222022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.659254153999996 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:53.79, Y:-0.25, Z:-0.17 [[ 9.98612422e-01 -5.02649295e-02 -1.57056231e-02 5.37864949e+01] [ 5.02694743e-02 9.98735685e-01 -1.05519800e-04 -2.46884947e-01] [ 1.56910702e-02 -6.84140034e-04 9.99876654e-01 -1.72705604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.689254154 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:53.82, Y:-0.24, Z:-0.17 [[ 9.98581395e-01 -5.06635598e-02 -1.63829286e-02 5.38185755e+01] [ 5.06685881e-02 9.98715516e-01 -1.08278193e-04 -2.43489679e-01] [ 1.63673707e-02 -7.21975269e-04 9.99865785e-01 -1.71905691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71925415399999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:53.85, Y:-0.24, Z:-0.17 [[ 9.98568412e-01 -5.07678001e-02 -1.68451152e-02 5.38519591e+01] [ 5.07731589e-02 9.98710205e-01 -1.09671238e-04 -2.40030306e-01] [ 1.68289562e-02 -7.45765476e-04 9.99858105e-01 -1.70813023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74925415399999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:53.88, Y:-0.24, Z:-0.17 [[ 9.98575115e-01 -5.07676245e-02 -1.64434890e-02 5.38837720e+01] [ 5.07727647e-02 9.98710226e-01 -1.04991674e-04 -2.38125942e-01] [ 1.64276108e-02 -7.30039324e-04 9.99864791e-01 -1.70327005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77925415399999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:53.92, Y:-0.24, Z:-0.17 [[ 9.98596895e-01 -5.04576338e-02 -1.60707360e-02 5.39170647e+01] [ 5.04625437e-02 9.98725949e-01 -1.00102290e-04 -2.36276306e-01] [ 1.60553120e-02 -7.11008382e-04 9.99870852e-01 -1.69622265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.809254153999994 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:53.95, Y:-0.23, Z:-0.17 [[ 9.98652195e-01 -4.93449270e-02 -1.60895096e-02 5.39498275e+01] [ 4.93497320e-02 9.98781555e-01 -9.84952317e-05 -2.34578828e-01] [ 1.60747656e-02 -6.95650506e-04 9.99870551e-01 -1.68987645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.839254153999995 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:53.98, Y:-0.23, Z:-0.17 [[ 9.98850153e-01 -4.53116512e-02 -1.56596754e-02 5.39824311e+01] [ 4.53157337e-02 9.98972710e-01 -9.42168917e-05 -2.32229786e-01] [ 1.56478575e-02 -6.15521125e-04 9.99877375e-01 -1.68844619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.869254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:54.02, Y:-0.23, Z:-0.17 [[ 9.98960681e-01 -4.29665257e-02 -1.52130354e-02 5.40152406e+01] [ 4.29701320e-02 9.99076353e-01 -8.98939779e-05 -2.31021274e-01] [ 1.52028463e-02 -5.63905588e-04 9.99884271e-01 -1.68085440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89925415399999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:54.05, Y:-0.23, Z:-0.17 [[ 9.99030688e-01 -4.14490968e-02 -1.48208491e-02 5.40473766e+01] [ 4.14523755e-02 9.99140477e-01 -8.60405969e-05 -2.29614975e-01] [ 1.48116765e-02 -5.28402205e-04 9.99890161e-01 -1.67503577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.92925415399999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:54.08, Y:-0.23, Z:-0.17 [[ 9.99136766e-01 -3.89024519e-02 -1.45713038e-02 5.40797464e+01] [ 3.89053688e-02 9.99242896e-01 -8.33392835e-05 -2.27405118e-01] [ 1.45635139e-02 -4.83634606e-04 9.99893829e-01 -1.66879510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95925415399999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:54.11, Y:-0.23, Z:-0.17 [[ 9.99148368e-01 -3.82778613e-02 -1.54059776e-02 5.41126591e+01] [ 3.82810676e-02 9.99267008e-01 -8.68294058e-05 -2.26295023e-01] [ 1.53980087e-02 -5.03001809e-04 9.99881317e-01 -1.66664985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.989254153999994 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:54.15, Y:-0.22, Z:-0.17 [[ 9.99141112e-01 -3.78694653e-02 -1.68208566e-02 5.41457870e+01] [ 3.78732624e-02 9.99282546e-01 -9.28741910e-05 -2.24986706e-01] [ 1.68123055e-02 -5.44266293e-04 9.99858515e-01 -1.66952338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.019254153999995 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:54.18, Y:-0.22, Z:-0.17 [[ 9.99121769e-01 -3.80007590e-02 -1.76531440e-02 5.41784328e+01] [ 3.80049928e-02 9.99277545e-01 -9.57053977e-05 -2.24477705e-01] [ 1.76440273e-02 -5.75286266e-04 9.99844167e-01 -1.66680471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.049254153999996 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:54.21, Y:-0.22, Z:-0.17 [[ 9.99093543e-01 -3.82270671e-02 -1.87291980e-02 5.42110876e+01] [ 3.82318988e-02 9.99268889e-01 -1.00140564e-04 -2.23237693e-01] [ 1.87193329e-02 -6.16003010e-04 9.99824588e-01 -1.66222991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.079254154 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:54.24, Y:-0.22, Z:-0.17 [[ 9.99105133e-01 -3.78114479e-02 -1.89532871e-02 5.42421842e+01] [ 3.78163450e-02 9.99284701e-01 -1.00091042e-04 -2.22628166e-01] [ 1.89435144e-02 -6.16742571e-04 9.99820365e-01 -1.65706227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.10925415399999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:54.27, Y:-0.22, Z:-0.16 [[ 9.99167535e-01 -3.66660876e-02 -1.78839534e-02 5.42740899e+01] [ 3.66702828e-02 9.99327415e-01 -9.34060113e-05 -2.21330868e-01] [ 1.78753497e-02 -5.62481373e-04 9.99840065e-01 -1.64623244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13925415399999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:54.31, Y:-0.22, Z:-0.16 [[ 9.99170847e-01 -3.65757006e-02 -1.78839606e-02 5.43067935e+01] [ 3.65799065e-02 9.99330727e-01 -9.20016608e-05 -2.21221123e-01] [ 1.78753564e-02 -5.62268230e-04 9.99840065e-01 -1.64236648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.169254153999994 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:54.34, Y:-0.22, Z:-0.16 [[ 9.99213663e-01 -3.56306791e-02 -1.73928427e-02 5.43379370e+01] [ 3.56345374e-02 9.99364884e-01 -8.81342324e-05 -2.20871127e-01] [ 1.73849365e-02 -5.31720975e-04 9.99848729e-01 -1.63686250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.199254153999995 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:54.37, Y:-0.22, Z:-0.16 [[ 9.99266945e-01 -3.45119991e-02 -1.65678935e-02 5.43703426e+01] [ 3.45153620e-02 9.99404164e-01 -8.30072576e-05 -2.20490953e-01] [ 1.65608865e-02 -4.88900435e-04 9.99862740e-01 -1.63090810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.229254153999996 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:54.40, Y:-0.22, Z:-0.16 [[ 9.99333012e-01 -3.30832168e-02 -1.54606734e-02 5.44027952e+01] [ 3.30859906e-02 9.99452506e-01 -7.64073611e-05 -2.20051201e-01] [ 1.54547366e-02 -4.35175297e-04 9.99880474e-01 -1.61935950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.259254154 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:54.44, Y:-0.22, Z:-0.16 [[ 9.99369960e-01 -3.23188027e-02 -1.46689536e-02 5.44350569e+01] [ 3.23212323e-02 9.99477530e-01 -7.14747497e-05 -2.20172854e-01] [ 1.46635995e-02 -4.02688940e-04 9.99892403e-01 -1.61460595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.28925415399999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:54.47, Y:-0.22, Z:-0.16 [[ 9.99379273e-01 -3.19844965e-02 -1.47668442e-02 5.44659599e+01] [ 3.19869371e-02 9.99488284e-01 -7.09389220e-05 -2.20178985e-01] [ 1.47615567e-02 -4.01451228e-04 9.99890962e-01 -1.61048279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.31925415399999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:54.50, Y:-0.22, Z:-0.16 [[ 9.99394800e-01 -3.16535197e-02 -1.44252883e-02 5.44977716e+01] [ 3.16558259e-02 9.99498826e-01 -6.84885199e-05 -2.20390549e-01] [ 1.44202266e-02 -3.88197344e-04 9.99895948e-01 -1.60774474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.34925415399999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:54.53, Y:-0.22, Z:-0.16 [[ 9.99379271e-01 -3.15413983e-02 -1.56911946e-02 5.45304618e+01] [ 3.15441324e-02 9.99502357e-01 -7.32799061e-05 -2.21607022e-01] [ 1.56856974e-02 -4.21730702e-04 9.99876883e-01 -1.60649094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.379254153999995 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:54.56, Y:-0.22, Z:-0.16 [[ 9.99362950e-01 -3.17879972e-02 -1.62240059e-02 5.45623661e+01] [ 3.17909724e-02 9.99494537e-01 -7.45573916e-05 -2.22223056e-01] [ 1.62181752e-02 -4.41267027e-04 9.99868379e-01 -1.60472882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.409254153999996 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:54.59, Y:-0.22, Z:-0.16 [[ 9.99331320e-01 -3.21576541e-02 -1.74010961e-02 5.45934822e+01] [ 3.21611599e-02 9.99482693e-01 -7.84060281e-05 -2.23343029e-01] [ 1.73946158e-02 -4.81285835e-04 9.99848586e-01 -1.60176129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.439254154 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:54.63, Y:-0.22, Z:-0.16 [[ 9.99324102e-01 -3.23092739e-02 -1.75342297e-02 5.46251590e+01] [ 3.23128859e-02 9.99477799e-01 -7.73482804e-05 -2.23803993e-01] [ 1.75275723e-02 -4.89285561e-04 9.99846261e-01 -1.60110299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.46925415399999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:54.66, Y:-0.22, Z:-0.16 [[ 9.99316845e-01 -3.21608064e-02 -1.82078329e-02 5.46574921e+01] [ 3.21646971e-02 9.99482579e-01 -7.92020244e-05 -2.24692567e-01] [ 1.82009589e-02 -5.06501511e-04 9.99834221e-01 -1.59729524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49925415399999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:54.69, Y:-0.22, Z:-0.16 [[ 9.99330494e-01 -3.17474732e-02 -1.81841181e-02 5.46897008e+01] [ 3.17513093e-02 9.99495797e-01 -7.77860383e-05 -2.24888512e-01] [ 1.81774191e-02 -4.99635597e-04 9.99834652e-01 -1.59858265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52925415399999 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:54.72, Y:-0.22, Z:-0.16 [[ 9.99347476e-01 -3.10769623e-02 -1.84077334e-02 5.47217724e+01] [ 3.10808044e-02 9.99516872e-01 -7.74007970e-05 -2.24971470e-01] [ 1.84012455e-02 -4.94776870e-04 9.99830560e-01 -1.59797283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.559254153999994 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:54.75, Y:-0.22, Z:-0.16 [[ 9.99396597e-01 -2.92752490e-02 -1.86922884e-02 5.47529987e+01] [ 2.92789191e-02 9.99571278e-01 -7.73531076e-05 -2.24970907e-01] [ 1.86865391e-02 -4.69983568e-04 9.99825281e-01 -1.59799531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.589254153999995 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:54.78, Y:-0.22, Z:-0.16 [[ 9.99429622e-01 -2.79448745e-02 -1.89608973e-02 5.47838855e+01] [ 2.79484288e-02 9.99609363e-01 -7.75604022e-05 -2.24757481e-01] [ 1.89556579e-02 -4.52411124e-04 9.99820223e-01 -1.59484188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.619254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:54.82, Y:-0.22, Z:-0.16 [[ 9.99459990e-01 -2.68898100e-02 -1.88856281e-02 5.48154632e+01] [ 2.68931606e-02 9.99638311e-01 -7.65799325e-05 -2.24237979e-01] [ 1.88808566e-02 -4.31355651e-04 9.99821648e-01 -1.59204901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.64925415399999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:54.85, Y:-0.22, Z:-0.16 [[ 9.99484448e-01 -2.59990946e-02 -1.88384148e-02 5.48473010e+01] [ 2.60022830e-02 9.99661881e-01 -7.57131141e-05 -2.23780397e-01] [ 1.88340136e-02 -4.14167713e-04 9.99822538e-01 -1.58685195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67925415399999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:54.88, Y:-0.22, Z:-0.16 [[ 9.99523153e-01 -2.52429802e-02 -1.77836749e-02 5.48778636e+01] [ 2.52457111e-02 9.99681274e-01 -7.09597779e-05 -2.23313087e-01] [ 1.77797980e-02 -3.78035576e-04 9.99841855e-01 -1.57839989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.70925415399999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:54.91, Y:-0.22, Z:-0.16 [[ 9.99516269e-01 -2.60404852e-02 -1.70035553e-02 5.49079218e+01] [ 2.60431057e-02 9.99660819e-01 -6.73345354e-05 -2.23301012e-01] [ 1.69995414e-02 -3.75523424e-04 9.99855427e-01 -1.57419620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.739254153999994 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:54.94, Y:-0.22, Z:-0.16 [[ 9.99483333e-01 -2.72393229e-02 -1.70612625e-02 5.49392852e+01] [ 2.72421510e-02 9.99628862e-01 -6.66692613e-05 -2.23500771e-01] [ 1.70567465e-02 -3.98150674e-04 9.99854444e-01 -1.56861872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.769254153999995 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:54.97, Y:-0.22, Z:-0.16 [[ 9.99379759e-01 -3.02670787e-02 -1.80000402e-02 5.49716721e+01] [ 3.02707333e-02 9.99541734e-01 -6.94537810e-05 -2.24425405e-01] [ 1.79938936e-02 -4.75463714e-04 9.99837984e-01 -1.56508250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.799254153999996 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:55.00, Y:-0.22, Z:-0.16 [[ 9.99309672e-01 -3.21907784e-02 -1.85454461e-02 5.50028705e+01] [ 3.21950093e-02 9.99481604e-01 -7.04544850e-05 -2.24925717e-01] [ 1.85381002e-02 -5.26664961e-04 9.99828016e-01 -1.56729070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.829254154 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:55.04, Y:-0.23, Z:-0.16 [[ 9.99148791e-01 -3.60938563e-02 -1.99731800e-02 5.50353770e+01] [ 3.60995639e-02 9.99348196e-01 -7.48292496e-05 -2.26179696e-01] [ 1.99628623e-02 -6.46257535e-04 9.99800513e-01 -1.56712089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85925415399999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:55.07, Y:-0.23, Z:-0.16 [[ 9.99079689e-01 -3.79582104e-02 -1.99737020e-02 5.50661052e+01] [ 3.79643167e-02 9.99279093e-01 -7.35117100e-05 -2.26854428e-01] [ 1.99620932e-02 -6.84843891e-04 9.99800503e-01 -1.56832195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88925415399999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:55.10, Y:-0.23, Z:-0.16 [[ 9.99031260e-01 -3.93249870e-02 -1.97506296e-02 5.50983708e+01] [ 3.93312484e-02 9.99226225e-01 -7.14749115e-05 -2.27599476e-01] [ 1.97381578e-02 -7.05411249e-04 9.99804935e-01 -1.56519219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.919254153999994 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:55.13, Y:-0.23, Z:-0.16 [[ 9.99013639e-01 -4.01614619e-02 -1.89421945e-02 5.51298371e+01] [ 4.01673940e-02 9.99192962e-01 -6.73445897e-05 -2.27962683e-01] [ 1.89296121e-02 -6.93580424e-04 9.99820578e-01 -1.56008932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.949254153999995 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:55.16, Y:-0.23, Z:-0.16 [[ 9.99012839e-01 -4.03223777e-02 -1.86401105e-02 5.51616409e+01] [ 4.03281707e-02 9.99186486e-01 -6.51602253e-05 -2.28208324e-01] [ 1.86275739e-02 -6.86625657e-04 9.99826256e-01 -1.55178000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.979254153999996 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:55.19, Y:-0.23, Z:-0.15 [[ 9.99084097e-01 -3.89370970e-02 -1.77445597e-02 5.51937347e+01] [ 3.89421500e-02 9.99241465e-01 -6.08104440e-05 -2.28346224e-01] [ 1.77334676e-02 -6.30256560e-04 9.99842551e-01 -1.54027116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.009254154 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:55.22, Y:-0.23, Z:-0.15 [[ 9.99143504e-01 -3.77571004e-02 -1.69310155e-02 5.52247070e+01] [ 3.77615496e-02 9.99286777e-01 -5.69466253e-05 -2.28070591e-01] [ 1.69210900e-02 -5.82443530e-04 9.99856658e-01 -1.53298884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03925415399999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:55.26, Y:-0.23, Z:-0.15 [[ 9.99253214e-01 -3.54342443e-02 -1.54087179e-02 5.52557496e+01] [ 3.54376686e-02 9.99371887e-01 -5.08414685e-05 -2.27400121e-01] [ 1.54008410e-02 -4.95245538e-04 9.99881277e-01 -1.52862132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06925415399999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:55.29, Y:-0.23, Z:-0.15 [[ 9.99309941e-01 -3.40812494e-02 -1.47685325e-02 5.52878754e+01] [ 3.40842697e-02 9.99418961e-01 -4.72142461e-05 -2.27283815e-01] [ 1.47615605e-02 -4.56192980e-04 9.99890938e-01 -1.52713006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.09925415399999 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:55.32, Y:-0.23, Z:-0.15 [[ 9.99368884e-01 -3.23131289e-02 -1.47545154e-02 5.53201061e+01] [ 3.23159664e-02 9.99477702e-01 -4.61230506e-05 -2.27255354e-01] [ 1.47482995e-02 -4.30712482e-04 9.99891145e-01 -1.52516624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.129254153999995 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:55.35, Y:-0.23, Z:-0.15 [[ 9.99470308e-01 -2.88686179e-02 -1.50235278e-02 5.53510215e+01] [ 2.88711897e-02 9.99583139e-01 -4.57179115e-05 -2.27175660e-01] [ 1.50185849e-02 -3.88053426e-04 9.99887139e-01 -1.53197250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.159254153999996 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:55.38, Y:-0.23, Z:-0.15 [[ 9.99520807e-01 -2.70950121e-02 -1.49671730e-02 5.53833232e+01] [ 2.70973902e-02 9.99632797e-01 -4.39204346e-05 -2.27122341e-01] [ 1.49628670e-02 -3.61671939e-04 9.99887985e-01 -1.53379993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.189254154 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:55.41, Y:-0.23, Z:-0.15 [[ 9.99599613e-01 -2.34682397e-02 -1.58068389e-02 5.54148349e+01] [ 2.34936059e-02 9.99722977e-01 1.42096496e-03 -2.27129817e-01] [ 1.57691125e-02 -1.79175567e-03 9.99874054e-01 -1.53412005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21925415399999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:55.45, Y:-0.23, Z:-0.15 [[ 9.99625335e-01 -2.20283156e-02 -1.62463402e-02 5.54452362e+01] [ 2.20070542e-02 9.99756711e-01 -1.48633447e-03 -2.25340425e-01] [ 1.62751291e-02 1.12824350e-03 9.99866915e-01 -1.51652797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24925415399999 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:55.48, Y:-0.23, Z:-0.15 [[ 9.99650164e-01 -2.02213565e-02 -1.70483535e-02 5.54754586e+01] [ 2.02234022e-02 9.99795485e-01 -5.24120923e-05 -2.25729724e-01] [ 1.70459267e-02 -2.92381954e-04 9.99854665e-01 -1.52213923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27925415399999 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:55.51, Y:-0.23, Z:-0.15 [[ 9.99667427e-01 -1.90204811e-02 -1.74142576e-02 5.55055358e+01] [ 1.90224341e-02 9.99819056e-01 -5.35017841e-05 -2.25550899e-01] [ 1.74121242e-02 -2.77777577e-04 9.99848359e-01 -1.52369245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.309254153999994 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:55.54, Y:-0.23, Z:-0.15 [[ 9.99684319e-01 -1.77647361e-02 -1.77672988e-02 5.55354514e+01] [ 1.77665598e-02 9.99842161e-01 -5.52067869e-05 -2.25502346e-01] [ 1.77654751e-02 -2.60474418e-04 9.99842148e-01 -1.51811925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.339254153999995 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:55.56, Y:-0.23, Z:-0.15 [[ 9.99733183e-01 -1.42254380e-02 -1.81988931e-02 5.55633723e+01] [ 1.42267271e-02 9.99898793e-01 -5.86398102e-05 -2.25123731e-01] [ 1.81978854e-02 -2.00286521e-04 9.99834385e-01 -1.52498431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.369254154 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:55.59, Y:-0.22, Z:-0.15 [[ 9.99710335e-01 -1.42344923e-02 -1.94068378e-02 5.55915803e+01] [ 1.42358505e-02 9.99898663e-01 -6.81713634e-05 -2.24838652e-01] [ 1.94058416e-02 -2.08121225e-04 9.99811667e-01 -1.51725299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.39925415399999 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:55.62, Y:-0.22, Z:-0.15 [[ 9.99715311e-01 -1.31208244e-02 -1.99283747e-02 5.56180920e+01] [ 1.31219287e-02 9.99913901e-01 -7.53554589e-05 -2.24351018e-01] [ 1.99276476e-02 -1.86164706e-04 9.99801407e-01 -1.51704641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.42925415399999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:55.65, Y:-0.22, Z:-0.15 [[ 9.99725185e-01 -1.13348264e-02 -2.05201398e-02 5.56457681e+01] [ 1.13355193e-02 9.99935748e-01 -8.25541398e-05 -2.24299650e-01] [ 2.05197570e-02 -1.50074987e-04 9.99789436e-01 -1.51478187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.45925415399999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:55.67, Y:-0.22, Z:-0.15 [[ 9.99743046e-01 -1.07758445e-02 -1.99429788e-02 5.56739372e+01] [ 1.07762731e-02 9.99941931e-01 -8.59810603e-05 -2.24368333e-01] [ 1.99427473e-02 -1.28952019e-04 9.99801115e-01 -1.51218850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.489254153999994 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:55.70, Y:-0.22, Z:-0.15 [[ 9.99774652e-01 -9.84718491e-03 -1.88063074e-02 5.57012809e+01] [ 9.84732340e-03 9.99951510e-01 -8.52426743e-05 -2.24734831e-01] [ 1.88062349e-02 -9.99683256e-05 9.99823142e-01 -1.50623734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.519254153999995 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:55.73, Y:-0.22, Z:-0.15 [[ 9.99783055e-01 -1.02917632e-02 -1.81086213e-02 5.57292695e+01] [ 1.02919058e-02 9.99947033e-01 -8.53240282e-05 -2.24688104e-01] [ 1.81085403e-02 -1.01066707e-04 9.99836022e-01 -1.50000912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.549254153999996 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:55.76, Y:-0.22, Z:-0.15 [[ 9.99790657e-01 -1.11375632e-02 -1.71638232e-02 5.57561545e+01] [ 1.11377490e-02 9.99937970e-01 -8.47715642e-05 -2.24656632e-01] [ 1.71637027e-02 -1.06412537e-04 9.99852687e-01 -1.49689056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57925415399999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:55.78, Y:-0.23, Z:-0.15 [[ 9.99769993e-01 -1.47943494e-02 -1.55269895e-02 5.57845521e+01] [ 1.47949154e-02 9.99890546e-01 -7.84231541e-05 -2.25562427e-01] [ 1.55264503e-02 -1.51315380e-04 9.99879446e-01 -1.49290913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.60925415399999 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:55.81, Y:-0.23, Z:-0.15 [[ 9.99726758e-01 -1.79459819e-02 -1.49783838e-02 5.58134490e+01] [ 1.79468315e-02 9.99838940e-01 -7.76993382e-05 -2.26434841e-01] [ 1.49773658e-02 -1.91136423e-04 9.99887815e-01 -1.49084671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.63925415399999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:55.84, Y:-0.23, Z:-0.15 [[ 9.99591823e-01 -2.48189206e-02 -1.41495383e-02 5.58424876e+01] [ 2.48203255e-02 9.99691925e-01 -7.63372561e-05 -2.29209784e-01] [ 1.41470738e-02 -2.74890050e-04 9.99899887e-01 -1.49236671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.669254153999994 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:55.87, Y:-0.23, Z:-0.15 [[ 9.99505052e-01 -2.84391619e-02 -1.34486091e-02 5.58743539e+01] [ 2.84407573e-02 9.99595477e-01 -7.26502677e-05 -2.30841925e-01] [ 1.34452349e-02 -3.09874316e-04 9.99909561e-01 -1.49400674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.699254153999995 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:55.91, Y:-0.23, Z:-0.15 [[ 9.99398619e-01 -3.21172538e-02 -1.30722022e-02 5.59066736e+01] [ 3.21190874e-02 9.99484047e-01 -6.97036370e-05 -2.32097973e-01] [ 1.30676962e-02 -3.50205486e-04 9.99914553e-01 -1.49549888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.729254153999996 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:55.94, Y:-0.23, Z:-0.15 [[ 9.99206138e-01 -3.78642056e-02 -1.23853379e-02 5.59375794e+01] [ 3.78663031e-02 9.99282812e-01 -6.51867136e-05 -2.34353234e-01] [ 1.23789235e-02 -4.03851993e-04 9.99923297e-01 -1.49029609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.759254154 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:55.97, Y:-0.24, Z:-0.15 [[ 9.99154944e-01 -3.91691120e-02 -1.24570956e-02 5.59703823e+01] [ 3.91713441e-02 9.99232506e-01 -6.48477240e-05 -2.35602752e-01] [ 1.24500749e-02 -4.23168254e-04 9.99922405e-01 -1.49319874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.78925415399999 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:56.00, Y:-0.24, Z:-0.15 [[ 9.99098072e-01 -4.05431707e-02 -1.26211933e-02 5.60024258e+01] [ 4.05455890e-02 9.99177687e-01 -6.43156806e-05 -2.38695752e-01] [ 1.26134223e-02 -4.47476043e-04 9.99920347e-01 -1.49508372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81925415399999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:56.03, Y:-0.24, Z:-0.15 [[ 9.99063965e-01 -4.07638996e-02 -1.44740533e-02 5.60344722e+01] [ 4.06412293e-02 9.99136182e-01 -8.67064773e-03 -2.35649298e-01] [ 1.48149998e-02 8.07428838e-03 9.99857651e-01 -1.46386073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84925415399999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:56.07, Y:-0.25, Z:-0.15 [[ 9.99046742e-01 -4.17814593e-02 -1.26458530e-02 5.60681829e+01] [ 4.18887378e-02 9.99087467e-01 8.34065084e-03 -2.45426298e-01] [ 1.22858287e-02 -8.86241887e-03 9.99885251e-01 -1.52221030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.879254153999995 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:56.10, Y:-0.23, Z:-0.15 [[ 9.99193011e-01 -3.97096556e-02 -6.03908657e-03 5.61044845e+01] [ 3.95193444e-02 9.98800573e-01 -2.89073678e-02 -2.30614503e-01] [ 7.17974474e-03 2.86453791e-02 9.99563852e-01 -1.48361588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.909254153999996 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:56.13, Y:-0.26, Z:-0.16 [[ 9.99014504e-01 -4.21068689e-02 -1.40367998e-02 5.61314796e+01] [ 4.25042233e-02 9.98665793e-01 2.93261957e-02 -2.56662003e-01] [ 1.27832375e-02 -2.98939181e-02 9.99471332e-01 -1.59021723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.939254154 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:56.16, Y:-0.24, Z:-0.15 [[ 9.98976058e-01 -4.26232772e-02 -1.51687562e-02 5.61639780e+01] [ 4.26271062e-02 9.99091049e-01 -7.09505931e-05 -2.43593846e-01] [ 1.51579927e-02 -5.75722239e-04 9.99884945e-01 -1.49024997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.96925415399999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:56.20, Y:-0.24, Z:-0.15 [[ 9.98972483e-01 -4.20883875e-02 -1.68090946e-02 5.61961273e+01] [ 4.19667419e-02 9.99090667e-01 -7.52537734e-03 -2.40678202e-01] [ 1.71105405e-02 6.81222195e-03 9.99830397e-01 -1.46433411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99925415399999 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:56.23, Y:-0.25, Z:-0.15 [[ 9.99050642e-01 -4.11996403e-02 -1.41564165e-02 5.62294457e+01] [ 4.13053503e-02 9.99120210e-01 7.25772804e-03 -2.48240084e-01] [ 1.38449461e-02 -7.83557360e-03 9.99873453e-01 -1.51293336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02925415399999 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:56.26, Y:-0.24, Z:-0.15 [[ 9.99052548e-01 -4.11642136e-02 -1.41249699e-02 5.62629474e+01] [ 4.11674576e-02 9.99152259e-01 -6.11372820e-05 -2.44617866e-01] [ 1.41155122e-02 -5.20409742e-04 9.99900236e-01 -1.48300846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.059254153999994 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:56.30, Y:-0.24, Z:-0.15 [[ 9.99092574e-01 -3.99756369e-02 -1.46961515e-02 5.62955297e+01] [ 3.99790482e-02 9.99200516e-01 -6.17101160e-05 -2.44298708e-01] [ 1.46868691e-02 -5.25884031e-04 9.99892004e-01 -1.48084961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.089254153999995 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:56.33, Y:-0.24, Z:-0.15 [[ 9.99127775e-01 -3.88143789e-02 -1.53991419e-02 5.63279758e+01] [ 3.88180129e-02 9.99246295e-01 -6.29597324e-05 -2.43685814e-01] [ 1.53899792e-02 -5.34859271e-04 9.99881424e-01 -1.47686769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.119254154 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:56.36, Y:-0.24, Z:-0.15 [[ 9.99196565e-01 -3.63451373e-02 -1.68895196e-02 5.63599614e+01] [ 3.63491829e-02 9.99339148e-01 -6.74872206e-05 -2.42805689e-01] [ 1.68808109e-02 -5.46487237e-04 9.99857360e-01 -1.47549893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.14925415399999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:56.39, Y:-0.24, Z:-0.15 [[ 9.99219891e-01 -3.54561439e-02 -1.73917268e-02 5.63914595e+01] [ 3.54603258e-02 9.99371083e-01 -6.79668343e-05 -2.42548592e-01] [ 1.73831987e-02 -5.48802485e-04 9.99848750e-01 -1.47523074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17925415399999 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:56.42, Y:-0.24, Z:-0.15 [[ 9.99227800e-01 -3.48490006e-02 -1.81480089e-02 5.64241116e+01] [ 3.48534902e-02 9.99392430e-01 -6.89347050e-05 -2.42376501e-01] [ 1.81393850e-02 -5.63639976e-04 9.99835309e-01 -1.47275045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20925415399999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:56.46, Y:-0.24, Z:-0.15 [[ 9.99205815e-01 -3.48356413e-02 -1.93446848e-02 5.64559586e+01] [ 3.48407685e-02 9.99392874e-01 -7.20216604e-05 -2.42256951e-01] [ 1.93354490e-02 -6.02019222e-04 9.99812871e-01 -1.47226806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.239254153999994 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:56.49, Y:-0.24, Z:-0.15 [[ 9.99189248e-01 -3.52367908e-02 -1.94734643e-02 5.64875147e+01] [ 3.52420878e-02 9.99378802e-01 -7.12016501e-05 -2.42178828e-01] [ 1.94638764e-02 -6.15141617e-04 9.99810372e-01 -1.46800225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.269254153999995 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:56.52, Y:-0.24, Z:-0.15 [[ 9.99158511e-01 -3.58106198e-02 -1.99967248e-02 5.65201194e+01] [ 3.58163449e-02 9.99358386e-01 -7.18813420e-05 -2.41969733e-01] [ 1.99864687e-02 -6.44388736e-04 9.99800043e-01 -1.46845026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.299254153999996 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:56.55, Y:-0.24, Z:-0.15 [[ 9.99143424e-01 -3.59987122e-02 -2.04086147e-02 5.65516165e+01] [ 3.60047420e-02 9.99351616e-01 -7.20281142e-05 -2.41595333e-01] [ 2.03979750e-02 -6.62840490e-04 9.99791720e-01 -1.45906026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.32925415399999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:56.58, Y:-0.24, Z:-0.15 [[ 9.99138975e-01 -3.61805226e-02 -2.03046325e-02 5.65831015e+01] [ 3.61865477e-02 9.99345050e-01 -7.07201943e-05 -2.41022887e-01] [ 2.02938927e-02 -6.64095251e-04 9.99793837e-01 -1.45177256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.35925415399999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:56.62, Y:-0.24, Z:-0.14 [[ 9.99171303e-01 -3.57925350e-02 -1.93804421e-02 5.66150087e+01] [ 3.57979687e-02 9.99359045e-01 -6.65920262e-05 -2.39476406e-01] [ 1.93704036e-02 -6.27243618e-04 9.99812179e-01 -1.43919809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.38925415399999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:56.65, Y:-0.24, Z:-0.14 [[ 9.99186898e-01 -3.56676003e-02 -1.87980298e-02 5.66475815e+01] [ 3.56727149e-02 9.99363524e-01 -6.32732037e-05 -2.38671396e-01] [ 1.87883221e-02 -6.07355001e-04 9.99823299e-01 -1.43435872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.419254153999994 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:56.68, Y:-0.24, Z:-0.14 [[ 9.99193364e-01 -3.56823811e-02 -1.84225365e-02 5.66794523e+01] [ 3.56873204e-02 9.99363003e-01 -6.06796101e-05 -2.37952218e-01] [ 1.84129666e-02 -5.96820298e-04 9.99830289e-01 -1.43050405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.449254153999995 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:56.71, Y:-0.24, Z:-0.14 [[ 9.99188656e-01 -3.63252990e-02 -1.73926075e-02 5.67112507e+01] [ 3.63298199e-02 9.99339853e-01 -5.60596182e-05 -2.36387728e-01] [ 1.73831622e-02 -5.75856165e-04 9.99848736e-01 -1.42314252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.479254153999996 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:56.74, Y:-0.24, Z:-0.14 [[ 9.99166160e-01 -3.71312453e-02 -1.69780603e-02 5.67429905e+01] [ 3.71356903e-02 9.99310231e-01 -5.34982165e-05 -2.35333139e-01] [ 1.69683358e-02 -5.77038382e-04 9.99855861e-01 -1.41699465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.509254154 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:56.78, Y:-0.23, Z:-0.14 [[ 9.99122035e-01 -3.88266707e-02 -1.57368630e-02 5.67754583e+01] [ 3.88307163e-02 9.99245802e-01 -4.85065459e-05 -2.33708940e-01] [ 1.57268776e-02 -5.62609703e-04 9.99876167e-01 -1.40836363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53925415399999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:56.81, Y:-0.23, Z:-0.14 [[ 9.99105696e-01 -3.92524086e-02 -1.57180555e-02 5.68076753e+01] [ 3.92565151e-02 9.99229165e-01 -4.73094482e-05 -2.32855423e-01] [ 1.57077965e-02 -5.69768944e-04 9.99876463e-01 -1.40314172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.56925415399999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:56.84, Y:-0.23, Z:-0.14 [[ 9.99155510e-01 -3.78151843e-02 -1.60710285e-02 5.68400355e+01] [ 3.78193117e-02 9.99284593e-01 -4.71267222e-05 -2.31673809e-01] [ 1.60613133e-02 -5.60708312e-04 9.99870852e-01 -1.40665828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.59925415399999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:56.87, Y:-0.23, Z:-0.14 [[ 9.99223439e-01 -3.59422567e-02 -1.61454010e-02 5.68709293e+01] [ 3.59461996e-02 9.99353725e-01 -4.60184972e-05 -2.31324146e-01] [ 1.61366206e-02 -5.34383044e-04 9.99869653e-01 -1.40909899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.629254153999995 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:56.90, Y:-0.23, Z:-0.14 [[ 9.99246004e-01 -3.52096319e-02 -1.63617215e-02 5.69025329e+01] [ 3.52135974e-02 9.99379808e-01 -4.57557331e-05 -2.31363808e-01] [ 1.63531851e-02 -5.30433841e-04 9.99866137e-01 -1.40563012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.659254153999996 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:56.93, Y:-0.23, Z:-0.14 [[ 9.99277933e-01 -3.44803597e-02 -1.59598457e-02 5.69342481e+01] [ 3.44840542e-02 9.99405247e-01 -4.37359920e-05 -2.31541190e-01] [ 1.59518616e-02 -5.06655772e-04 9.99872633e-01 -1.40751195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.689254154 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:56.97, Y:-0.23, Z:-0.14 [[ 9.99253656e-01 -3.49337138e-02 -1.64853271e-02 5.69659297e+01] [ 3.49377365e-02 9.99389490e-01 -4.40083183e-05 -2.32423457e-01] [ 1.64768000e-02 -5.31984540e-04 9.99864107e-01 -1.40976761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71925415399999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:57.00, Y:-0.23, Z:-0.14 [[ 9.99203323e-01 -3.64819941e-02 -1.61797388e-02 5.69980046e+01] [ 3.64860869e-02 9.99334160e-01 -4.22534714e-05 -2.33281744e-01] [ 1.61705072e-02 -5.48115546e-04 9.99869099e-01 -1.41816176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74925415399999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:57.03, Y:-0.23, Z:-0.14 [[ 9.99161361e-01 -3.78230535e-02 -1.56841161e-02 5.70294338e+01] [ 3.78270809e-02 9.99284299e-01 -3.99060664e-05 -2.34002396e-01] [ 1.56744004e-02 -5.53411730e-04 9.99876996e-01 -1.41827398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77925415399999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:57.06, Y:-0.23, Z:-0.14 [[ 9.99164741e-01 -3.77336611e-02 -1.56841185e-02 5.70621352e+01] [ 3.77376925e-02 9.99287679e-01 -3.89462197e-05 -2.33981052e-01] [ 1.56744160e-02 -5.52968753e-04 9.99876996e-01 -1.41417372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.809254153999994 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:57.09, Y:-0.23, Z:-0.14 [[ 9.99150391e-01 -3.81666574e-02 -1.55500049e-02 5.70938788e+01] [ 3.81706932e-02 9.99271233e-01 -3.72853224e-05 -2.34404095e-01] [ 1.55400956e-02 -5.56300820e-04 9.99879091e-01 -1.40690269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.839254153999995 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:57.13, Y:-0.23, Z:-0.14 [[ 9.99177346e-01 -3.73356494e-02 -1.58328997e-02 5.71261379e+01] [ 3.73397474e-02 9.99302628e-01 -3.68119136e-05 -2.34817187e-01] [ 1.58232327e-02 -5.54414847e-04 9.99874651e-01 -1.40471723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.869254154 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:57.16, Y:-0.24, Z:-0.14 [[ 9.99185073e-01 -3.68361812e-02 -1.65010588e-02 5.71578911e+01] [ 3.68405846e-02 9.99321155e-01 -3.71384890e-05 -2.35072729e-01] [ 1.64912252e-02 -5.70800430e-04 9.99863848e-01 -1.40396301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.89925415399999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:57.19, Y:-0.24, Z:-0.14 [[ 9.99188620e-01 -3.67398507e-02 -1.65010616e-02 5.71905951e+01] [ 3.67442622e-02 9.99324701e-01 -3.58568019e-05 -2.35061157e-01] [ 1.64912358e-02 -5.70491626e-04 9.99863848e-01 -1.39986321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.92925415399999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:57.22, Y:-0.24, Z:-0.14 [[ 9.99213974e-01 -3.59214592e-02 -1.67655566e-02 5.72217531e+01] [ 3.59259273e-02 9.99354455e-01 -3.46985755e-05 -2.35294937e-01] [ 1.67559802e-02 -5.67646868e-04 9.99859448e-01 -1.40148553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.95925415399999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:57.25, Y:-0.24, Z:-0.14 [[ 9.99234597e-01 -3.52066727e-02 -1.70502326e-02 5.72535118e+01] [ 3.52112213e-02 9.99379892e-01 -3.34432405e-05 -2.35345779e-01] [ 1.70408370e-02 -5.66941870e-04 9.99854634e-01 -1.39878344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.989254153999994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:57.28, Y:-0.24, Z:-0.14 [[ 9.99257130e-01 -3.45276354e-02 -1.71181331e-02 5.72845795e+01] [ 3.45321402e-02 9.99403587e-01 -3.24390176e-05 -2.35196183e-01] [ 1.71090437e-02 -5.58710853e-04 9.99853473e-01 -1.39891732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.019254153999995 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:57.32, Y:-0.24, Z:-0.14 [[ 9.99291744e-01 -3.34301094e-02 -1.72753674e-02 5.73171079e+01] [ 3.34345509e-02 9.99440909e-01 -3.17339991e-05 -2.35172159e-01] [ 1.72667697e-02 -5.45882626e-04 9.99850769e-01 -1.39846908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.049254153999996 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:57.35, Y:-0.23, Z:-0.14 [[ 9.99331594e-01 -3.18787464e-02 -1.78916299e-02 5.73491602e+01] [ 3.18832854e-02 9.99491598e-01 -3.15643654e-05 -2.34354569e-01] [ 1.78835400e-02 -5.38900675e-04 9.99839931e-01 -1.39762389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.07925415399999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:57.38, Y:-0.23, Z:-0.14 [[ 9.99354026e-01 -3.08824800e-02 -1.83794043e-02 5.73806055e+01] [ 3.08871227e-02 9.99522879e-01 -3.12787287e-05 -2.33753350e-01] [ 1.83716011e-02 -5.36428394e-04 9.99831084e-01 -1.39452929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.10925415399999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:57.41, Y:-0.23, Z:-0.14 [[ 9.99402530e-01 -2.84372944e-02 -1.96443987e-02 5.74116707e+01] [ 2.84421411e-02 9.99595440e-01 -3.26852573e-05 -2.32356204e-01] [ 1.96373808e-02 -5.26063029e-04 9.99807030e-01 -1.39364905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.13925415399999 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:57.44, Y:-0.23, Z:-0.14 [[ 9.99437578e-01 -2.70787896e-02 -1.97804574e-02 5.74421563e+01] [ 2.70834495e-02 9.99633176e-01 -3.23188952e-05 -2.31754672e-01] [ 1.97740766e-02 -5.03422301e-04 9.99804347e-01 -1.39242651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.169254153999994 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:57.47, Y:-0.23, Z:-0.14 [[ 9.99465328e-01 -2.57877623e-02 -2.01009893e-02 5.74731395e+01] [ 2.57923182e-02 9.99667322e-01 -3.26115526e-05 -2.30897536e-01] [ 2.00951432e-02 -4.85856997e-04 9.99797954e-01 -1.38943306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.199254153999995 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:57.50, Y:-0.23, Z:-0.14 [[ 9.99525198e-01 -2.35465834e-02 -1.98730304e-02 5.75024116e+01] [ 2.35505885e-02 9.99722646e-01 -3.25040056e-05 -2.29268870e-01] [ 1.98682839e-02 -4.35532989e-04 9.99802511e-01 -1.37845532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.229254153999996 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:57.53, Y:-0.23, Z:-0.14 [[ 9.99569478e-01 -2.26911961e-02 -1.86002445e-02 5.75322995e+01] [ 2.26945446e-02 9.99742445e-01 -3.10603240e-05 -2.28607629e-01] [ 1.85961587e-02 -3.91077127e-04 9.99827000e-01 -1.37107120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25925415399999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:57.56, Y:-0.23, Z:-0.14 [[ 9.99573483e-01 -2.27604484e-02 -1.82979351e-02 5.75622327e+01] [ 2.27636886e-02 9.99740873e-01 -3.12050898e-05 -2.28664361e-01] [ 1.82939039e-02 -3.85336717e-04 9.99832578e-01 -1.36845178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.28925415399999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:57.59, Y:-0.23, Z:-0.14 [[ 9.99572485e-01 -2.30580031e-02 -1.79770901e-02 5.75917704e+01] [ 2.30611673e-02 9.99734055e-01 -3.12954226e-05 -2.28994389e-01] [ 1.79730308e-02 -3.83290638e-04 9.99838399e-01 -1.36083276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.31925415399999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:57.62, Y:-0.23, Z:-0.14 [[ 9.99567911e-01 -2.42892895e-02 -1.65536130e-02 5.76207852e+01] [ 2.42921343e-02 9.99704902e-01 -2.92280311e-05 -2.29402805e-01] [ 1.65494380e-02 -3.72907189e-04 9.99862979e-01 -1.36195083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.34925415399999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:57.65, Y:-0.23, Z:-0.14 [[ 9.99552706e-01 -2.49894282e-02 -1.64291553e-02 5.76525610e+01] [ 2.49923275e-02 9.99687643e-01 -2.88470562e-05 -2.29515406e-01] [ 1.64247444e-02 -3.81768676e-04 9.99865032e-01 -1.35856344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.379254153999995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:57.68, Y:-0.23, Z:-0.14 [[ 9.99516686e-01 -2.70483436e-02 -1.53225649e-02 5.76842962e+01] [ 2.70511151e-02 9.99634051e-01 -2.63954907e-05 -2.30019151e-01] [ 1.53176716e-02 -3.88109734e-04 9.99882602e-01 -1.35653376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.409254153999996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:57.72, Y:-0.23, Z:-0.14 [[ 9.99468101e-01 -2.88734040e-02 -1.51605255e-02 5.77165854e+01] [ 2.88763365e-02 9.99582991e-01 -2.54853766e-05 -2.30269012e-01] [ 1.51549393e-02 -4.12308614e-04 9.99885072e-01 -1.35584616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.439254154 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:57.75, Y:-0.23, Z:-0.14 [[ 9.99317605e-01 -3.37983561e-02 -1.48994871e-02 5.77492256e+01] [ 3.38017511e-02 9.99428557e-01 -2.39811508e-05 -2.32297583e-01] [ 1.48917834e-02 -4.79663969e-04 9.99888996e-01 -1.35628534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.46925415399999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:57.78, Y:-0.23, Z:-0.14 [[ 9.99230074e-01 -3.65445282e-02 -1.42743250e-02 5.77799326e+01] [ 3.65479379e-02 9.99331901e-01 -2.20075104e-05 -2.34041131e-01] [ 1.42655926e-02 -4.99706579e-04 9.99898116e-01 -1.35697232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49925415399999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:57.81, Y:-0.24, Z:-0.14 [[ 9.99131853e-01 -3.90380499e-02 -1.45454500e-02 5.78121203e+01] [ 3.90418663e-02 9.99237575e-01 -2.15901204e-05 -2.35847801e-01] [ 1.45352030e-02 -5.46310138e-04 9.99894209e-01 -1.35055125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52925415399999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:57.84, Y:-0.24, Z:-0.14 [[ 9.98994281e-01 -4.25341483e-02 -1.41870740e-02 5.78447468e+01] [ 4.25381450e-02 9.99094843e-01 -2.00647444e-05 -2.39288378e-01] [ 1.41750860e-02 -5.83447247e-04 9.99899358e-01 -1.35382682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.559254153999994 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:57.88, Y:-0.24, Z:-0.13 [[ 9.98946848e-01 -4.35640641e-02 -1.44002755e-02 5.78771293e+01] [ 4.35683047e-02 9.99050450e-01 -1.92514103e-05 -2.40934911e-01] [ 1.43874403e-02 -6.08164453e-04 9.99896310e-01 -1.34943538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.589254153999995 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:57.91, Y:-0.24, Z:-0.13 [[ 9.98874105e-01 -4.51588445e-02 -1.45327773e-02 5.79102295e+01] [ 4.51633521e-02 9.98979615e-01 -1.80378216e-05 -2.43741327e-01] [ 1.45187628e-02 -6.38331425e-04 9.99894393e-01 -1.34989217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.619254154 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:57.94, Y:-0.24, Z:-0.13 [[ 9.98839225e-01 -4.58398831e-02 -1.47955235e-02 5.79433210e+01] [ 4.58446543e-02 9.98948581e-01 -1.67066073e-05 -2.44831134e-01] [ 1.47807330e-02 -6.61608443e-04 9.99890540e-01 -1.34539529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.64925415399999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:57.98, Y:-0.25, Z:-0.14 [[ 9.98791392e-01 -4.70002012e-02 -1.43783120e-02 5.79759369e+01] [ 4.70048493e-02 9.98894661e-01 -1.46829696e-05 -2.47357614e-01] [ 1.43631092e-02 -6.61185168e-04 9.99896627e-01 -1.35420828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.67925415399999 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:58.01, Y:-0.25, Z:-0.14 [[ 9.98772220e-01 -4.74005750e-02 -1.43957607e-02 5.80091265e+01] [ 4.74052992e-02 9.98875737e-01 -1.30897709e-05 -2.49751085e-01] [ 1.43801966e-02 -6.69361645e-04 9.99896376e-01 -1.35649391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.70925415399999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:58.04, Y:-0.25, Z:-0.14 [[ 9.98780584e-01 -4.70279699e-02 -1.50238032e-02 5.80426457e+01] [ 4.70330993e-02 9.98893331e-01 -1.19221712e-05 -2.50796250e-01] [ 1.50077375e-02 -6.94708397e-04 9.99887136e-01 -1.35280378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.739254153999994 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:58.08, Y:-0.25, Z:-0.14 [[ 9.98813269e-01 -4.59038855e-02 -1.62753505e-02 5.80754491e+01] [ 4.59097877e-02 9.98945590e-01 -1.09893786e-05 -2.52320324e-01] [ 1.62586940e-02 -7.36221548e-04 9.99867548e-01 -1.35586635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.769254153999995 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:58.11, Y:-0.25, Z:-0.14 [[ 9.98823779e-01 -4.53401434e-02 -1.71851434e-02 5.81073409e+01] [ 4.53466735e-02 9.98971310e-01 -9.69968995e-06 -2.52660907e-01] [ 1.71679050e-02 -7.69600803e-04 9.99852324e-01 -1.35124597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.799254153999996 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:58.14, Y:-0.25, Z:-0.13 [[ 9.98845489e-01 -4.46084553e-02 -1.78262240e-02 5.81396859e+01] [ 4.46153938e-02 9.99004238e-01 -8.47136528e-06 -2.53144502e-01] [ 1.78088512e-02 -7.86862416e-04 9.99841100e-01 -1.34939622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.82925415399999 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:58.17, Y:-0.25, Z:-0.13 [[ 9.98868013e-01 -4.41942490e-02 -1.75943223e-02 5.81706779e+01] [ 4.42009650e-02 9.99022660e-01 -7.16716125e-06 -2.53742080e-01] [ 1.75774434e-02 -7.70526976e-04 9.99845208e-01 -1.34871466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85925415399999 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:58.20, Y:-0.25, Z:-0.14 [[ 9.98867808e-01 -4.39115132e-02 -1.82997658e-02 5.82014904e+01] [ 4.39187501e-02 9.99035106e-01 -6.42547899e-06 -2.54893773e-01] [ 1.82823907e-02 -7.97284640e-04 9.99832545e-01 -1.35031445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88925415399999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:58.23, Y:-0.26, Z:-0.14 [[ 9.98874176e-01 -4.38335104e-02 -1.81384689e-02 5.82328241e+01] [ 4.38406315e-02 9.99038537e-01 -5.04231429e-06 -2.55298942e-01] [ 1.81212505e-02 -7.90165293e-04 9.99835484e-01 -1.35396178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.919254153999994 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:58.27, Y:-0.24, Z:-0.13 [[ 9.99265940e-01 -3.77507063e-02 -6.51658552e-03 5.82739653e+01] [ 3.73726245e-02 9.98013416e-01 -5.07199065e-02 -2.37835094e-01] [ 8.41835207e-03 5.04391331e-02 9.98691657e-01 -1.34117487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.949254153999995 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:58.31, Y:-0.26, Z:-0.15 [[ 9.99268222e-01 -3.75207383e-02 -7.43062242e-03 5.83081568e+01] [ 3.75324518e-02 9.99294367e-01 1.44322350e-03 -2.64014131e-01] [ 7.37122831e-03 -1.72105686e-03 9.99971351e-01 -1.51149036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.979254153999996 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:58.33, Y:-0.28, Z:-0.15 [[ 9.98807969e-01 -4.41083905e-02 -2.09067201e-02 5.83254277e+01] [ 4.51129479e-02 9.97714831e-01 5.02984915e-02 -2.80805012e-01] [ 1.86403592e-02 -5.11816979e-02 9.98515383e-01 -1.49631159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.00925415399999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:58.36, Y:-0.26, Z:-0.13 [[ 9.98782483e-01 -4.47297890e-02 -2.08038040e-02 5.83586194e+01] [ 4.47389446e-02 9.98998712e-01 -2.53565000e-05 -2.55545426e-01] [ 2.07841076e-02 -9.05414606e-04 9.99783577e-01 -1.33398360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.03925415399999 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:58.39, Y:-0.26, Z:-0.13 [[ 9.98752792e-01 -4.50561215e-02 -2.15129409e-02 5.83907099e+01] [ 4.50660888e-02 9.98984007e-01 -2.15152504e-05 -2.55425165e-01] [ 2.14920534e-02 -9.48015690e-04 9.99768570e-01 -1.32898945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.06925415399999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:58.42, Y:-0.25, Z:-0.13 [[ 9.98658976e-01 -4.63884633e-02 -2.29860788e-02 5.84215004e+01] [ 4.64002306e-02 9.98922929e-01 -2.14371248e-05 -2.54895467e-01] [ 2.29623156e-02 -1.04515098e-03 9.99735785e-01 -1.32622576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.09925415399999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:58.45, Y:-0.25, Z:-0.13 [[ 9.98603550e-01 -4.71121811e-02 -2.39038073e-02 5.84534741e+01] [ 4.71251494e-02 9.98888993e-01 -2.08172007e-05 -2.54768119e-01] [ 2.38782307e-02 -1.10568236e-03 9.99714263e-01 -1.32304425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.129254153999995 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:58.49, Y:-0.25, Z:-0.13 [[ 9.98512471e-01 -4.88314499e-02 -2.42556075e-02 5.84854139e+01] [ 4.88453510e-02 9.98806353e-01 -1.93880338e-05 -2.54530007e-01] [ 2.42276016e-02 -1.16541447e-03 9.99705789e-01 -1.32129350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.159254153999996 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:58.52, Y:-0.25, Z:-0.13 [[ 9.98497548e-01 -4.91551467e-02 -2.42160600e-02 5.85173913e+01] [ 4.91691392e-02 9.98790466e-01 -1.76284200e-05 -2.54478020e-01] [ 2.41876364e-02 -1.17308089e-03 9.99706748e-01 -1.31533595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.189254154 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:58.55, Y:-0.25, Z:-0.13 [[ 9.98498579e-01 -4.92266200e-02 -2.40276580e-02 5.85499897e+01] [ 4.92404575e-02 9.98786953e-01 -1.57728812e-05 -2.54147119e-01] [ 2.39992878e-02 -1.16738367e-03 9.99711294e-01 -1.30857065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.21925415399999 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:58.58, Y:-0.25, Z:-0.13 [[ 9.98559927e-01 -4.83679971e-02 -2.32079710e-02 5.85809054e+01] [ 4.83807090e-02 9.98828968e-01 -1.37610583e-05 -2.52655685e-01] [ 2.31814593e-02 -1.10907685e-03 9.99730659e-01 -1.29731516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.24925415399999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:58.61, Y:-0.25, Z:-0.13 [[ 9.98615458e-01 -4.72766969e-02 -2.30668873e-02 5.86128605e+01] [ 4.72889970e-02 9.98881250e-01 -1.22554965e-05 -2.51667650e-01] [ 2.30416606e-02 -1.07857143e-03 9.99733924e-01 -1.28653039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27925415399999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:58.64, Y:-0.25, Z:-0.13 [[ 9.98736107e-01 -4.51283356e-02 -2.21273895e-02 5.86437522e+01] [ 4.51391596e-02 9.98980709e-01 -1.03087710e-05 -2.49553983e-01] [ 2.21053004e-02 -9.88516024e-04 9.99755159e-01 -1.28008447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.309254153999994 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:58.68, Y:-0.25, Z:-0.13 [[ 9.98816635e-01 -4.37329543e-02 -2.12780987e-02 5.86763380e+01] [ 4.37426742e-02 9.99042831e-01 -8.63604061e-06 -2.49005421e-01] [ 2.12581096e-02 -9.22135116e-04 9.99773596e-01 -1.27705954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.339254153999995 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:58.71, Y:-0.25, Z:-0.13 [[ 9.98865529e-01 -4.27464371e-02 -2.09856542e-02 5.87071984e+01] [ 4.27557036e-02 9.99085557e-01 -7.12296246e-06 -2.48393981e-01] [ 2.09667684e-02 -8.90141526e-04 9.99779777e-01 -1.27259318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.369254154 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:58.74, Y:-0.25, Z:-0.13 [[ 9.98981334e-01 -4.05011296e-02 -1.98985568e-02 5.87380363e+01] [ 4.05090440e-02 9.99179172e-01 -5.34696992e-06 -2.46918402e-01] [ 1.98824401e-02 -8.00729991e-04 9.99802004e-01 -1.26814211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.39925415399999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:58.77, Y:-0.25, Z:-0.13 [[ 9.99007690e-01 -3.99712305e-02 -1.96452436e-02 5.87702494e+01] [ 3.99788818e-02 9.99200525e-01 -3.26459963e-06 -2.45980000e-01] [ 1.96296683e-02 -7.82133515e-04 9.99807014e-01 -1.26344348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.42925415399999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:58.80, Y:-0.25, Z:-0.13 [[ 9.99018584e-01 -3.97819132e-02 -1.94748280e-02 5.88010356e+01] [ 3.97894216e-02 9.99208087e-01 -1.93941507e-06 -2.45265829e-01] [ 1.94594828e-02 -7.72954629e-04 9.99810348e-01 -1.25629190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.45925415399999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:58.83, Y:-0.24, Z:-0.13 [[ 9.98993327e-01 -4.06156135e-02 -1.90448050e-02 5.88332449e+01] [ 4.06229660e-02 9.99174547e-01 -8.01696792e-07 -2.44657207e-01] [ 1.90291170e-02 -7.72855577e-04 9.99818631e-01 -1.25048558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.489254153999994 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:58.87, Y:-0.24, Z:-0.12 [[ 9.98968942e-01 -4.12386266e-02 -1.89849688e-02 5.88653101e+01] [ 4.12460708e-02 9.99149019e-01 5.46722505e-07 -2.44779328e-01] [ 1.89687904e-02 -7.83601524e-04 9.99819769e-01 -1.24957473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.519254153999995 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:58.90, Y:-0.24, Z:-0.13 [[ 9.98870886e-01 -4.30154214e-02 -2.01649679e-02 5.88978401e+01] [ 4.30242116e-02 9.99074030e-01 2.08182743e-06 -2.44828838e-01] [ 2.01462062e-02 -8.69661322e-04 9.99796666e-01 -1.25151133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.549254153999996 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:58.93, Y:-0.25, Z:-0.12 [[ 9.98806446e-01 -4.38607798e-02 -2.14922226e-02 5.89286291e+01] [ 4.38710039e-02 9.99037204e-01 4.21530873e-06 -2.45067688e-01] [ 2.14713451e-02 -9.47095660e-04 9.99769015e-01 -1.24914947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57925415399999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:58.96, Y:-0.25, Z:-0.12 [[ 9.98756312e-01 -4.44578014e-02 -2.25684194e-02 5.89607235e+01] [ 4.44692822e-02 9.99010752e-01 6.85102961e-06 -2.45552569e-01] [ 2.25457890e-02 -1.01044392e-03 9.99745301e-01 -1.24936527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.60925415399999 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:58.99, Y:-0.25, Z:-0.12 [[ 9.98652286e-01 -4.57199341e-02 -2.45621340e-02 5.89915386e+01] [ 4.57339569e-02 9.98953655e-01 9.17454086e-06 -2.45508350e-01] [ 2.45360141e-02 -1.13248575e-03 9.99698305e-01 -1.24798738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63925415399999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:59.02, Y:-0.25, Z:-0.12 [[ 9.98632218e-01 -4.59059483e-02 -2.50267093e-02 5.90235127e+01] [ 4.59206045e-02 9.98945093e-01 1.09232947e-05 -2.45265934e-01] [ 2.49998069e-02 -1.16014997e-03 9.99686783e-01 -1.24424625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.669254153999994 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:59.06, Y:-0.25, Z:-0.12 [[ 9.98627067e-01 -4.61678897e-02 -2.47488613e-02 5.90552348e+01] [ 4.61823458e-02 9.98933026e-01 1.25554180e-05 -2.45172018e-01] [ 2.47218753e-02 -1.15549865e-03 9.99693700e-01 -1.23489375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.699254153999995 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:59.09, Y:-0.25, Z:-0.12 [[ 9.98658797e-01 -4.57364196e-02 -2.42649457e-02 5.90861397e+01] [ 4.57502255e-02 9.98952910e-01 1.38353969e-05 -2.45224653e-01] [ 2.42389053e-02 -1.12394358e-03 9.99705563e-01 -1.22727392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.729254153999996 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:59.12, Y:-0.25, Z:-0.12 [[ 9.98692210e-01 -4.53521078e-02 -2.36020213e-02 5.91174734e+01] [ 4.53651050e-02 9.98970474e-01 1.52687407e-05 -2.45026741e-01] [ 2.35770299e-02 -1.08595694e-03 9.99721433e-01 -1.21985341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75925415399999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:59.15, Y:-0.24, Z:-0.12 [[ 9.98762660e-01 -4.46770051e-02 -2.18429657e-02 5.91491836e+01] [ 4.46880195e-02 9.99000991e-01 1.61541455e-05 -2.44674969e-01] [ 2.18204227e-02 -9.92253036e-04 9.99761414e-01 -1.20785503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.78925415399999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:59.18, Y:-0.24, Z:-0.12 [[ 9.98843404e-01 -4.36356077e-02 -2.01937460e-02 5.91800791e+01] [ 4.36448337e-02 9.99047110e-01 1.61690888e-05 -2.44655412e-01] [ 2.01737980e-02 -8.97503073e-04 9.99796085e-01 -1.20455339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.81925415399999 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:59.21, Y:-0.24, Z:-0.12 [[ 9.98884208e-01 -4.28477388e-02 -1.98597647e-02 5.92123192e+01] [ 4.28565294e-02 9.99081237e-01 1.70466553e-05 -2.44878655e-01] [ 1.98407879e-02 -8.68148224e-04 9.99802775e-01 -1.20144804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.84925415399999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:59.24, Y:-0.24, Z:-0.12 [[ 9.98902573e-01 -4.24481081e-02 -1.97941298e-02 5.92449456e+01] [ 4.24567909e-02 9.99098304e-01 1.84321622e-05 -2.44924189e-01] [ 1.97754991e-02 -8.58807164e-04 9.99804077e-01 -1.19854098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.879254153999995 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:59.28, Y:-0.25, Z:-0.12 [[ 9.98916152e-01 -4.20847613e-02 -1.98845015e-02 5.92759011e+01] [ 4.20934789e-02 9.99113677e-01 1.98872638e-05 -2.45207792e-01] [ 1.98660405e-02 -8.56873555e-04 9.99802284e-01 -1.19435282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.909254153999996 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:59.31, Y:-0.25, Z:-0.12 [[ 9.98889838e-01 -4.25229731e-02 -2.02703973e-02 5.93080140e+01] [ 4.25321479e-02 9.99095099e-01 2.15267936e-05 -2.45846789e-01] [ 2.02511392e-02 -8.83646430e-04 9.99794534e-01 -1.19080981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93925415399999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:59.34, Y:-0.25, Z:-0.12 [[ 9.98855031e-01 -4.32150362e-02 -2.05204053e-02 5.93392683e+01] [ 4.32246135e-02 9.99065379e-01 2.32044173e-05 -2.46634880e-01] [ 2.05002237e-02 -9.10164439e-04 9.99789434e-01 -1.18894209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.96925415399999 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:59.37, Y:-0.25, Z:-0.12 [[ 9.98821857e-01 -4.38756843e-02 -2.07321366e-02 5.93709155e+01] [ 4.38856262e-02 9.99036561e-01 2.45947630e-05 -2.47552427e-01] [ 2.07110834e-02 -9.34408585e-04 9.99785066e-01 -1.19110744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99925415399999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:59.40, Y:-0.25, Z:-0.12 [[ 9.98738646e-01 -4.52461978e-02 -2.17691937e-02 5.94035636e+01] [ 4.52575139e-02 9.98975353e-01 2.71839473e-05 -2.49021053e-01] [ 2.17456580e-02 -1.01236925e-03 9.99763023e-01 -1.18883348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02925415399999 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:59.43, Y:-0.25, Z:-0.12 [[ 9.98695501e-01 -4.56734852e-02 -2.28304377e-02 5.94346898e+01] [ 4.56860780e-02 9.98955846e-01 3.00266693e-05 -2.49550345e-01] [ 2.28052278e-02 -1.07302066e-03 9.99739351e-01 -1.18302652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.059254153999994 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:59.47, Y:-0.25, Z:-0.12 [[ 9.98712897e-01 -4.48400140e-02 -2.37049252e-02 5.94666867e+01] [ 4.48533909e-02 9.98993580e-01 3.26419994e-05 -2.50120248e-01] [ 2.36796044e-02 -1.09584626e-03 9.99718998e-01 -1.18295371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.089254153999995 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:59.50, Y:-0.25, Z:-0.12 [[ 9.98841595e-01 -4.20560216e-02 -2.33828653e-02 5.94981895e+01] [ 4.20683068e-02 9.99114736e-01 3.35199207e-05 -2.50437140e-01] [ 2.33607556e-02 -1.01715864e-03 9.99726583e-01 -1.17200926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.119254154 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:59.53, Y:-0.25, Z:-0.12 [[ 9.98943965e-01 -3.99991975e-02 -2.26057421e-02 5.95288901e+01] [ 4.00101749e-02 9.99199272e-01 3.33419540e-05 -2.50290211e-01] [ 2.25863074e-02 -9.37766438e-04 9.99744457e-01 -1.16221505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.14925415399999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:59.56, Y:-0.25, Z:-0.12 [[ 9.99079775e-01 -3.70851549e-02 -2.15474973e-02 5.95602668e+01] [ 3.70944725e-02 9.99311763e-01 3.27549073e-05 -2.50216463e-01] [ 2.15314528e-02 -8.32017812e-04 9.99767825e-01 -1.15434065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17925415399999 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:59.59, Y:-0.25, Z:-0.11 [[ 9.99208347e-01 -3.39527787e-02 -2.07337358e-02 5.95911875e+01] [ 3.39607470e-02 9.99423167e-01 3.22313718e-05 -2.50214355e-01] [ 2.07206816e-02 -7.36339013e-04 9.99785032e-01 -1.14807030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20925415399999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:59.62, Y:-0.25, Z:-0.11 [[ 9.99439193e-01 -2.66795677e-02 -2.02361155e-02 5.96210749e+01] [ 2.66856859e-02 9.99643873e-01 3.23197732e-05 -2.50322185e-01] [ 2.02280466e-02 -5.72316269e-04 9.99795228e-01 -1.13979860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.239254153999994 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:59.65, Y:-0.25, Z:-0.11 [[ 9.99535841e-01 -2.28082223e-02 -2.01962157e-02 5.96492592e+01] [ 2.28135372e-02 9.99739737e-01 3.27733088e-05 -2.49896394e-01] [ 2.01902119e-02 -4.93505215e-04 9.99796035e-01 -1.13065476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.269254153999995 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:59.68, Y:-0.25, Z:-0.11 [[ 9.99674292e-01 -1.49823113e-02 -2.06601002e-02 5.96769763e+01] [ 1.49861693e-02 9.99887701e-01 3.19162472e-05 -2.49218573e-01] [ 2.06573020e-02 -3.41521611e-04 9.99786557e-01 -1.12706790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.299254153999996 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:59.70, Y:-0.25, Z:-0.11 [[ 9.99710703e-01 -1.14679315e-02 -2.11422946e-02 5.97038696e+01] [ 1.14711294e-02 9.99934204e-01 2.99799588e-05 -2.48980650e-01] [ 2.11405597e-02 -2.72497283e-04 9.99776476e-01 -1.12439623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.32925415399999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:59.73, Y:-0.25, Z:-0.11 [[ 9.99731828e-01 -8.29987915e-03 -2.16190525e-02 5.97321088e+01] [ 8.30240238e-03 9.99965534e-01 2.69588835e-05 -2.49083914e-01] [ 2.16180836e-02 -2.06441727e-04 9.99766281e-01 -1.12312410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35925415399999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:59.76, Y:-0.25, Z:-0.11 [[ 9.99734598e-01 -3.43751887e-03 -2.27797550e-02 5.97596832e+01] [ 3.43891018e-03 9.99994087e-01 2.19029828e-05 -2.50347246e-01] [ 2.27795450e-02 -1.00234701e-04 9.99740507e-01 -1.12318945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.38925415399999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:59.79, Y:-0.25, Z:-0.11 [[ 9.99725580e-01 -1.52574453e-03 -2.33760086e-02 5.97865705e+01] [ 1.52656089e-03 9.99998835e-01 1.70782253e-05 -2.50905986e-01] [ 2.33759553e-02 -5.27584392e-05 9.99726744e-01 -1.12161498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.419254153999994 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:59.81, Y:-0.25, Z:-0.11 [[ 9.99689444e-01 1.32496658e-03 -2.48849180e-02 5.98146391e+01] [-1.32504986e-03 9.99999122e-01 1.31429942e-05 -2.51551231e-01] [ 2.48849135e-02 1.98348444e-05 9.99690322e-01 -1.11926279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.449254153999995 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:59.84, Y:-0.25, Z:-0.11 [[ 9.99672494e-01 2.30210364e-03 -2.54873401e-02 5.98418824e+01] [-2.30265149e-03 9.99997349e-01 7.85400174e-06 -2.51530859e-01] [ 2.54872906e-02 5.08370320e-05 9.99675145e-01 -1.11836671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.479254153999996 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:59.87, Y:-0.25, Z:-0.11 [[ 9.99646206e-01 3.14905784e-03 -2.64110841e-02 5.98696103e+01] [-3.15008558e-03 9.99995038e-01 2.69271246e-06 -2.51520029e-01] [ 2.64109615e-02 8.05054152e-05 9.99651166e-01 -1.11411450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.50925415399999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:59.90, Y:-0.25, Z:-0.11 [[ 9.99633346e-01 4.48530710e-03 -2.67031039e-02 5.98961399e+01] [-4.48698821e-03 9.99989933e-01 -3.03675115e-06 -2.51628531e-01] [ 2.67028215e-02 1.22852150e-04 9.99643409e-01 -1.10875317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.53925415399999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:59.92, Y:-0.25, Z:-0.11 [[ 9.99643957e-01 4.44594488e-03 -2.63095753e-02 5.99236204e+01] [-4.44770269e-03 9.99990109e-01 -8.29368349e-06 -2.51846906e-01] [ 2.63092782e-02 1.25307899e-04 9.99653843e-01 -1.10542432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.56925415399999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:59.95, Y:-0.25, Z:-0.11 [[ 9.99652137e-01 4.15189078e-03 -2.60454792e-02 5.99500826e+01] [-4.15365758e-03 9.99991373e-01 -1.37339220e-05 -2.52420922e-01] [ 2.60451975e-02 1.21913146e-04 9.99660759e-01 -1.10109398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.59925415399999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:59.98, Y:-0.25, Z:-0.11 [[ 9.99704055e-01 2.05461751e-03 -2.42400856e-02 5.99778002e+01] [-2.05564103e-03 9.99997887e-01 -1.73061586e-05 -2.53707459e-01] [ 2.42399988e-02 6.71299515e-05 9.99706166e-01 -1.09113948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.629254153999995 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:60.01, Y:-0.25, Z:-0.11 [[ 9.99758656e-01 -2.08884376e-03 -2.18693154e-02 6.00061162e+01] [ 2.08890495e-03 9.99997818e-01 -2.00458711e-05 -2.54584065e-01] [ 2.18693096e-02 -2.56418881e-05 9.99760838e-01 -1.07390371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.659254153999996 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:60.03, Y:-0.26, Z:-0.11 [[ 9.99770083e-01 -4.99136250e-03 -2.08534711e-02 6.00330010e+01] [ 4.99200159e-03 9.99987540e-01 -2.14093490e-05 -2.55468792e-01] [ 2.08533181e-02 -8.26961344e-05 9.99782542e-01 -1.06149656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68925415399999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:60.06, Y:-0.26, Z:-0.11 [[ 9.99777436e-01 -8.31443605e-03 -1.93893698e-02 6.00606528e+01] [ 8.31557026e-03 9.99965425e-01 -2.21286682e-05 -2.56664296e-01] [ 1.93888833e-02 -1.39109923e-04 9.99812008e-01 -1.05642227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71925415399999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:60.09, Y:-0.26, Z:-0.10 [[ 9.99708018e-01 -1.61175362e-02 -1.80029091e-02 6.00889330e+01] [ 1.61197463e-02 9.99870068e-01 -2.23517551e-05 -2.60287955e-01] [ 1.80009302e-02 -2.67857099e-04 9.99837934e-01 -1.04667707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74925415399999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:60.12, Y:-0.26, Z:-0.10 [[ 9.99631098e-01 -2.04823062e-02 -1.78365737e-02 6.01159719e+01] [ 2.04851388e-02 9.99790157e-01 -2.39002034e-05 -2.62148178e-01] [ 1.78333204e-02 -3.41493302e-04 9.99840915e-01 -1.04145350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77925415399999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:60.14, Y:-0.27, Z:-0.10 [[ 9.99433082e-01 -2.85931062e-02 -1.77749447e-02 6.01445533e+01] [ 2.85971646e-02 9.99591017e-01 -2.58672287e-05 -2.66229589e-01] [ 1.77684147e-02 -4.82460454e-04 9.99842013e-01 -1.03716663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.809254153999994 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:60.18, Y:-0.27, Z:-0.10 [[ 9.99322106e-01 -3.21394903e-02 -1.79549651e-02 6.01753141e+01] [ 3.21441858e-02 9.99483242e-01 -2.70973440e-05 -2.68235654e-01] [ 1.79465576e-02 -5.50068759e-04 9.99838796e-01 -1.03296480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.839254153999995 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:60.21, Y:-0.27, Z:-0.10 [[ 9.99323844e-01 -3.20854275e-02 -1.79549658e-02 6.02071647e+01] [ 3.20901226e-02 9.99484979e-01 -2.66304972e-05 -2.68216849e-01] [ 1.79465731e-02 -5.49564564e-04 9.99838796e-01 -1.02849221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.869254154 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:60.24, Y:-0.27, Z:-0.10 [[ 9.99211899e-01 -3.52762292e-02 -1.81980480e-02 6.02389299e+01] [ 3.52815976e-02 9.99377410e-01 -2.60708610e-05 -2.70210049e-01] [ 1.81876378e-02 -6.16005893e-04 9.99834401e-01 -1.02743973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89925415399999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:60.27, Y:-0.27, Z:-0.10 [[ 9.99091435e-01 -3.81880759e-02 -1.89202299e-02 6.02697490e+01] [ 3.81944120e-02 9.99270327e-01 -2.64902735e-05 -2.71917191e-01] [ 1.89074360e-02 -6.96180852e-04 9.99820996e-01 -1.02403079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.92925415399999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:60.30, Y:-0.28, Z:-0.10 [[ 9.98927201e-01 -4.16455060e-02 -2.02509185e-02 6.03005989e+01] [ 4.16534864e-02 9.99132117e-01 -2.77511280e-05 -2.75356407e-01] [ 2.02344988e-02 -8.15800004e-04 9.99794929e-01 -1.02416912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95925415399999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:60.33, Y:-0.28, Z:-0.10 [[ 9.98879403e-01 -4.24831406e-02 -2.08595636e-02 6.03323393e+01] [ 4.24918167e-02 9.99096815e-01 -2.73192208e-05 -2.76955295e-01] [ 2.08418842e-02 -8.59072148e-04 9.99782415e-01 -1.02236134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.989254153999994 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:60.36, Y:-0.28, Z:-0.10 [[ 9.98878542e-01 -4.20649687e-02 -2.17301105e-02 6.03631448e+01] [ 4.20743175e-02 9.99114483e-01 -2.69931401e-05 -2.78881909e-01] [ 2.17120036e-02 -8.87316699e-04 9.99763873e-01 -1.02002952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.019254153999995 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:60.39, Y:-0.28, Z:-0.10 [[ 9.98921033e-01 -4.05195637e-02 -2.26921770e-02 6.03937341e+01] [ 4.05293822e-02 9.99178347e-01 -2.72500349e-05 -2.79145939e-01] [ 2.26746360e-02 -8.92479281e-04 9.99742499e-01 -1.01344369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.049254153999996 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:60.42, Y:-0.28, Z:-0.10 [[ 9.99095838e-01 -3.52259835e-02 -2.38041421e-02 6.04245322e+01] [ 3.52352938e-02 9.99379044e-01 -2.83288589e-05 -2.78976607e-01] [ 2.37903586e-02 -8.10442694e-04 9.99716641e-01 -1.00701915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.07925415399999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:60.45, Y:-0.28, Z:-0.10 [[ 9.99204284e-01 -3.18080608e-02 -2.40633925e-02 6.04535990e+01] [ 3.18165690e-02 9.99493724e-01 -2.93046292e-05 -2.78552731e-01] [ 2.40521419e-02 -7.36333276e-04 9.99710434e-01 -1.00143455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.10925415399999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:60.48, Y:-0.28, Z:-0.10 [[ 9.99316109e-01 -2.80366271e-02 -2.41093579e-02 6.04818798e+01] [ 2.80439884e-02 9.99606689e-01 -3.27920448e-05 -2.77887395e-01] [ 2.41007949e-02 -6.43352936e-04 9.99709327e-01 -9.93823863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13925415399999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:60.51, Y:-0.28, Z:-0.10 [[ 9.99519666e-01 -2.01272648e-02 -2.35654309e-02 6.05084989e+01] [ 2.01319926e-02 9.99797330e-01 -3.66232791e-05 -2.76294663e-01] [ 2.35613920e-02 -4.37813393e-04 9.99722296e-01 -9.83259957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.169254153999994 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:60.54, Y:-0.28, Z:-0.10 [[ 9.99589875e-01 -1.66193064e-02 -2.33212658e-02 6.05360490e+01] [ 1.66228821e-02 9.99861830e-01 -4.05420391e-05 -2.75629559e-01] [ 2.33187173e-02 -3.47141242e-04 9.99728021e-01 -9.76000122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.199254153999995 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:60.56, Y:-0.28, Z:-0.10 [[ 9.99638898e-01 -1.37778605e-02 -2.30704206e-02 6.05642883e+01] [ 1.37804557e-02 9.99905044e-01 -4.64935940e-05 -2.75040390e-01] [ 2.30688705e-02 -2.71444106e-04 9.99733841e-01 -9.72159955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.229254153999996 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:60.59, Y:-0.27, Z:-0.10 [[ 9.99681631e-01 -1.01315145e-02 -2.31082184e-02 6.05918760e+01] [ 1.01329943e-02 9.99948658e-01 -5.30588559e-05 -2.74531825e-01] [ 2.31075695e-02 -1.81113482e-04 9.99732968e-01 -9.63426509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.25925415399999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:60.62, Y:-0.27, Z:-0.10 [[ 9.99689512e-01 -9.62789871e-03 -2.29822350e-02 6.06185377e+01] [ 9.62911259e-03 9.99953637e-01 -5.78478521e-05 -2.74467150e-01] [ 2.29817264e-02 -1.63468637e-04 9.99735872e-01 -9.57629228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.28925415399999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:60.65, Y:-0.28, Z:-0.10 [[ 9.99678707e-01 -1.12151264e-02 -2.27311195e-02 6.06457176e+01] [ 1.12166613e-02 9.99937089e-01 -5.99786619e-05 -2.75672813e-01] [ 2.27303622e-02 -1.95007877e-04 9.99741613e-01 -9.56288616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.31925415399999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:60.67, Y:-0.28, Z:-0.10 [[ 9.99645423e-01 -1.33490704e-02 -2.30397780e-02 6.06738459e+01] [ 1.33511157e-02 9.99910868e-01 -6.50565800e-05 -2.76391675e-01] [ 2.30385929e-02 -2.42573230e-04 9.99734547e-01 -9.50505695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.34925415399999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:60.70, Y:-0.28, Z:-0.09 [[ 9.99533777e-01 -1.91341875e-02 -2.37930983e-02 6.07005883e+01] [ 1.91378813e-02 9.99816851e-01 -7.24694071e-05 -2.78398531e-01] [ 2.37901273e-02 -3.82913872e-04 9.99716902e-01 -9.49138939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.379254153999995 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:60.73, Y:-0.28, Z:-0.09 [[ 9.99451986e-01 -2.28803108e-02 -2.39211098e-02 6.07284188e+01] [ 2.28850071e-02 9.99738101e-01 -7.74508956e-05 -2.79557885e-01] [ 2.39166169e-02 -4.70026314e-04 9.99713846e-01 -9.46260453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.409254153999996 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:60.76, Y:-0.28, Z:-0.09 [[ 9.99269414e-01 -3.00649188e-02 -2.35953148e-02 6.07566041e+01] [ 3.00713699e-02 9.99547751e-01 -8.14476095e-05 -2.81869121e-01] [ 2.35870926e-02 -6.28155335e-04 9.99721588e-01 -9.42483390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.43925415399999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:60.78, Y:-0.28, Z:-0.09 [[ 9.99045341e-01 -3.69220335e-02 -2.33488940e-02 6.07848127e+01] [ 3.69301663e-02 9.99317845e-01 -8.29339885e-05 -2.83632043e-01] [ 2.33360286e-02 -7.79423725e-04 9.99727374e-01 -9.31720859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.46925415399999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:60.81, Y:-0.28, Z:-0.09 [[ 9.98946842e-01 -3.96898723e-02 -2.30200062e-02 6.08144132e+01] [ 3.96984754e-02 9.99211701e-01 -8.33266023e-05 -2.84422215e-01] [ 2.30051668e-02 -8.30620305e-04 9.99735001e-01 -9.25537162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.49925415399999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:60.84, Y:-0.28, Z:-0.09 [[ 9.98863009e-01 -4.20510933e-02 -2.24587221e-02 6.08445794e+01] [ 4.20598668e-02 9.99115089e-01 -8.17826046e-05 -2.84922764e-01] [ 2.24422872e-02 -8.62921242e-04 9.99747768e-01 -9.22772540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.52925415399999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:60.88, Y:-0.29, Z:-0.09 [[ 9.98806093e-01 -4.35557647e-02 -2.21197753e-02 6.08754229e+01] [ 4.35646502e-02 9.99050607e-01 -8.02523290e-05 -2.85210433e-01] [ 2.21022704e-02 -8.83483757e-04 9.99755325e-01 -9.14948634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.559254153999994 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:60.91, Y:-0.29, Z:-0.09 [[ 9.98780599e-01 -4.43966920e-02 -2.15927861e-02 6.09070704e+01] [ 4.44053719e-02 9.99013592e-01 -7.75634400e-05 -2.85169449e-01] [ 2.15749303e-02 -8.81366837e-04 9.99766846e-01 -9.05025570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.589254153999995 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:60.94, Y:-0.28, Z:-0.09 [[ 9.98820971e-01 -4.41553432e-02 -2.01735806e-02 6.09378707e+01] [ 4.41628864e-02 9.99024341e-01 -7.16544749e-05 -2.84792410e-01] [ 2.01570620e-02 -8.19353555e-04 9.99796490e-01 -8.98625873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61925415399999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:60.97, Y:-0.28, Z:-0.09 [[ 9.98879043e-01 -4.28641204e-02 -2.00829492e-02 6.09704959e+01] [ 4.28713594e-02 9.99080598e-01 -7.01401736e-05 -2.84450598e-01] [ 2.00674914e-02 -7.90921784e-04 9.99798315e-01 -8.88925507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.64925415399999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:61.00, Y:-0.28, Z:-0.09 [[ 9.99025158e-01 -3.95364517e-02 -1.96367643e-02 6.10006297e+01] [ 3.95427517e-02 9.99217877e-01 -6.75039964e-05 -2.83666217e-01] [ 1.96240748e-02 -7.09053504e-04 9.99807178e-01 -8.83634367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.67925415399999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:61.03, Y:-0.28, Z:-0.09 [[ 9.99113893e-01 -3.73040252e-02 -1.94894716e-02 6.10321660e+01] [ 3.73098155e-02 9.99303744e-01 -6.65490500e-05 -2.83174975e-01] [ 1.94783845e-02 -6.60658511e-04 9.99810060e-01 -8.79793539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.70925415399999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:61.06, Y:-0.28, Z:-0.09 [[ 9.99308384e-01 -3.18467327e-02 -1.91973798e-02 6.10628130e+01] [ 3.18513563e-02 9.99492615e-01 -6.49409443e-05 -2.82050763e-01] [ 1.91897075e-02 -5.46566555e-04 9.99815711e-01 -8.75260466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.739254153999994 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:61.09, Y:-0.28, Z:-0.09 [[ 9.99392852e-01 -2.91656817e-02 -1.90601550e-02 6.10936233e+01] [ 2.91697571e-02 9.99574470e-01 -6.42193613e-05 -2.81170128e-01] [ 1.90539173e-02 -4.91799720e-04 9.99818337e-01 -8.69702781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.769254153999995 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:61.12, Y:-0.28, Z:-0.09 [[ 9.99463361e-01 -2.65530662e-02 -1.91813547e-02 6.11241344e+01] [ 2.65567128e-02 9.99647306e-01 -6.46277196e-05 -2.80239990e-01] [ 1.91763057e-02 -4.44800690e-04 9.99816019e-01 -8.65302552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.799254153999996 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:61.15, Y:-0.28, Z:-0.09 [[ 9.99550710e-01 -2.21620707e-02 -2.01797067e-02 6.11536177e+01] [ 2.21652079e-02 9.99754319e-01 -6.82171792e-05 -2.78804345e-01] [ 2.01762607e-02 -3.79100863e-04 9.99796367e-01 -8.63451195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.82925415399999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:61.18, Y:-0.28, Z:-0.09 [[ 9.99587926e-01 -1.81306787e-02 -2.22543458e-02 6.11813166e+01] [ 1.81334296e-02 9.99835573e-01 -7.81989727e-05 -2.77672221e-01] [ 2.22521044e-02 -3.25380864e-04 9.99752338e-01 -8.69082149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.85925415399999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:61.21, Y:-0.28, Z:-0.09 [[ 9.99582925e-01 -1.84043607e-02 -2.22543220e-02 6.12097112e+01] [ 1.84070380e-02 9.99830573e-01 -8.45491032e-05 -2.77493637e-01] [ 2.22521076e-02 -3.25122311e-04 9.99752338e-01 -8.65081062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.88925415399999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:61.24, Y:-0.28, Z:-0.09 [[ 9.99577849e-01 -1.86780376e-02 -2.22542975e-02 6.12381058e+01] [ 1.86806472e-02 9.99825497e-01 -9.06406403e-05 -2.77307409e-01] [ 2.22521071e-02 -3.25122303e-04 9.99752338e-01 -8.61080794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.919254153999994 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:61.27, Y:-0.28, Z:-0.09 [[ 9.99567366e-01 -1.80420621e-02 -2.32285190e-02 6.12655242e+01] [ 1.80445780e-02 9.99837178e-01 -1.01304373e-04 -2.76212444e-01] [ 2.32265646e-02 -3.17888277e-04 9.99730176e-01 -8.62796866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.949254153999995 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:61.29, Y:-0.28, Z:-0.09 [[ 9.99556248e-01 -1.82620712e-02 -2.35330323e-02 6.12935077e+01] [ 1.82645515e-02 9.99833183e-01 -1.09557386e-04 -2.75795276e-01] [ 2.35311074e-02 -3.20311511e-04 9.99723054e-01 -8.62384067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.979254153999996 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:61.32, Y:-0.28, Z:-0.09 [[ 9.99506709e-01 -1.97248090e-02 -2.44391340e-02 6.13216783e+01] [ 1.97277432e-02 9.99805382e-01 -1.21058328e-04 -2.75041718e-01] [ 2.44367656e-02 -3.61130349e-04 9.99701312e-01 -8.57257372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.00925415399999 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:61.35, Y:-0.27, Z:-0.09 [[ 9.99474455e-01 -2.12144392e-02 -2.45104361e-02 6.13486583e+01] [ 2.12177053e-02 9.99774871e-01 -1.26834651e-04 -2.74359699e-01] [ 2.45076088e-02 -3.93287216e-04 9.99699566e-01 -8.51921132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.03925415399999 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:61.38, Y:-0.27, Z:-0.08 [[ 9.99423503e-01 -2.31631519e-02 -2.48219515e-02 6.13762307e+01] [ 2.31669814e-02 9.99731601e-01 -1.33318494e-04 -2.73818453e-01] [ 2.48183774e-02 -4.41808054e-04 9.99691879e-01 -8.48949069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.06925415399999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:61.40, Y:-0.27, Z:-0.08 [[ 9.99298918e-01 -2.81043686e-02 -2.47349497e-02 6.14040839e+01] [ 2.81095091e-02 9.99604840e-01 -1.39919848e-04 -2.72920783e-01] [ 2.47291078e-02 -5.55465540e-04 9.99694035e-01 -8.45690450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09925415399999 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:61.43, Y:-0.27, Z:-0.08 [[ 9.99210005e-01 -3.11393677e-02 -2.46922110e-02 6.14312141e+01] [ 3.11452840e-02 9.99514857e-01 -1.45036227e-04 -2.72213273e-01] [ 2.46847481e-02 -6.24124273e-04 9.99695090e-01 -8.37493950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.129254153999995 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:61.46, Y:-0.27, Z:-0.08 [[ 9.99014288e-01 -3.78803686e-02 -2.31415320e-02 6.14586772e+01] [ 3.78872707e-02 9.99282010e-01 -1.40268913e-04 -2.71640740e-01] [ 2.31302300e-02 -7.36638839e-04 9.99732189e-01 -8.34563131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.159254153999996 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:61.49, Y:-0.27, Z:-0.08 [[ 9.98871581e-01 -4.15372437e-02 -2.30265414e-02 6.14886053e+01] [ 4.15449561e-02 9.99136625e-01 -1.43553905e-04 -2.71165815e-01] [ 2.30126237e-02 -8.13244736e-04 9.99734844e-01 -8.25787199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18925415399999 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:61.52, Y:-0.27, Z:-0.08 [[ 9.98733497e-01 -4.49336448e-02 -2.26355954e-02 6.15203529e+01] [ 4.49419812e-02 9.98989589e-01 -1.40547036e-04 -2.70685600e-01] [ 2.26190394e-02 -8.76919468e-04 9.99743772e-01 -8.17856518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21925415399999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:61.55, Y:-0.27, Z:-0.08 [[ 9.98582248e-01 -4.84447672e-02 -2.20589853e-02 6.15514831e+01] [ 4.84535599e-02 9.98825427e-01 -1.36021767e-04 -2.70233040e-01] [ 2.20396650e-02 -9.33007445e-04 9.99756662e-01 -8.13383753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24925415399999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:61.58, Y:-0.27, Z:-0.08 [[ 9.98254253e-01 -5.49062116e-02 -2.17658896e-02 6.15823152e+01] [ 5.49163299e-02 9.98490951e-01 -1.33032112e-04 -2.69665998e-01] [ 2.17403481e-02 -1.06250290e-03 9.99763086e-01 -8.08395797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27925415399999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:61.61, Y:-0.27, Z:-0.08 [[ 9.98100247e-01 -5.76253584e-02 -2.17994434e-02 6.16146881e+01] [ 5.76361834e-02 9.98337645e-01 -1.31915230e-04 -2.69101802e-01] [ 2.17708067e-02 -1.12477209e-03 9.99762355e-01 -8.02402933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.309254153999994 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:61.65, Y:-0.27, Z:-0.08 [[ 9.97972624e-01 -5.98880320e-02 -2.15421811e-02 6.16465538e+01] [ 5.98991615e-02 9.98204425e-01 -1.28824435e-04 -2.68806414e-01] [ 2.15112155e-02 -1.16179532e-03 9.99767932e-01 -7.98886279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.339254153999995 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:61.68, Y:-0.27, Z:-0.08 [[ 9.97753668e-01 -6.36266433e-02 -2.09587170e-02 6.16786885e+01] [ 6.36380306e-02 9.97973039e-01 -1.23866586e-04 -2.67815705e-01] [ 2.09241157e-02 -1.21018313e-03 9.99780334e-01 -7.92385539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36925415399999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:61.71, Y:-0.27, Z:-0.08 [[ 9.97694211e-01 -6.46213843e-02 -2.07445822e-02 6.17105924e+01] [ 6.46327871e-02 9.97909108e-01 -1.21012778e-04 -2.67349552e-01] [ 2.07090276e-02 -1.22004642e-03 9.99784801e-01 -7.86571239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.39925415399999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:61.74, Y:-0.27, Z:-0.08 [[ 9.97642101e-01 -6.53940718e-02 -2.08291762e-02 6.17441118e+01] [ 6.54057775e-02 9.97858743e-01 -1.19495240e-04 -2.66750058e-01] [ 2.07923899e-02 -1.24313499e-03 9.99783042e-01 -7.80755480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.42925415399999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:61.78, Y:-0.26, Z:-0.08 [[ 9.97633631e-01 -6.54194024e-02 -2.11527737e-02 6.17758342e+01] [ 6.54315279e-02 9.97857054e-01 -1.19107954e-04 -2.64875405e-01] [ 2.11152365e-02 -1.26523220e-03 9.99776248e-01 -7.77168730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.45925415399999 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:61.81, Y:-0.26, Z:-0.08 [[ 9.97680513e-01 -6.45071137e-02 -2.17353633e-02 6.18087912e+01] [ 6.45197478e-02 9.97916423e-01 -1.20226107e-04 -2.63520190e-01] [ 2.16978315e-02 -1.28241292e-03 9.99763752e-01 -7.72556278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.489254153999994 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:61.84, Y:-0.26, Z:-0.08 [[ 9.97772065e-01 -6.28807335e-02 -2.22917166e-02 6.18413447e+01] [ 6.28936727e-02 9.98020226e-01 -1.20857827e-04 -2.62013980e-01] [ 2.22551837e-02 -1.28141937e-03 9.99751502e-01 -7.69413194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.519254153999995 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:61.87, Y:-0.26, Z:-0.08 [[ 9.98060545e-01 -5.74592525e-02 -2.39495707e-02 6.18731494e+01] [ 5.74726924e-02 9.98347071e-01 -1.27339564e-04 -2.58752120e-01] [ 2.39173006e-02 -1.24935372e-03 9.99713160e-01 -7.68146462e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.549254153999996 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:61.91, Y:-0.25, Z:-0.08 [[ 9.98442829e-01 -4.97529737e-02 -2.52301080e-02 6.19050248e+01] [ 4.97654883e-02 9.98760922e-01 -1.32022938e-04 -2.53826559e-01] [ 2.52054145e-02 -1.12377129e-03 9.99681661e-01 -7.63686958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57925415399999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:61.94, Y:-0.25, Z:-0.08 [[ 9.98643696e-01 -4.54462537e-02 -2.54048592e-02 6.19368166e+01] [ 4.54575979e-02 9.98966260e-01 -1.31096098e-04 -2.50741682e-01] [ 2.53845550e-02 -1.02392558e-03 9.99677236e-01 -7.55280228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.60925415399999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:61.97, Y:-0.25, Z:-0.07 [[ 9.98840423e-01 -4.08110915e-02 -2.55394672e-02 6.19683285e+01] [ 4.08210801e-02 9.99166464e-01 -1.30347458e-04 -2.47583114e-01] [ 2.55234987e-02 -9.12352326e-04 9.99673806e-01 -7.49413017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63925415399999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:62.00, Y:-0.24, Z:-0.07 [[ 9.99183464e-01 -3.16368086e-02 -2.51300101e-02 6.19986488e+01] [ 3.16436096e-02 9.99499208e-01 -1.27087985e-04 -2.41226643e-01] [ 2.51214459e-02 -6.68220015e-04 9.99684183e-01 -7.40813114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.669254153999994 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:62.03, Y:-0.24, Z:-0.07 [[ 9.99334413e-01 -2.69344420e-02 -2.46021718e-02 6.20287359e+01] [ 2.69395467e-02 9.99637057e-01 -1.23982544e-04 -2.37931926e-01] [ 2.45965820e-02 -5.38871333e-04 9.99697313e-01 -7.30215021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.699254153999995 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:62.06, Y:-0.23, Z:-0.07 [[ 9.99455874e-01 -2.23662764e-02 -2.42426338e-02 6.20561961e+01] [ 2.23698548e-02 9.99749756e-01 -1.23611484e-04 -2.34952814e-01] [ 2.42393320e-02 -4.18759974e-04 9.99706097e-01 -7.22891678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.729254153999996 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:62.08, Y:-0.23, Z:-0.07 [[ 9.99633467e-01 -1.32018924e-02 -2.36355914e-02 6.20835711e+01] [ 1.32026366e-02 9.99912834e-01 -1.24566451e-04 -2.29387822e-01] [ 2.36351757e-02 -1.87531331e-04 9.99720633e-01 -7.15053957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.75925415399999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:62.11, Y:-0.23, Z:-0.07 [[ 9.99629824e-01 -1.34749676e-02 -2.36355545e-02 6.21119539e+01] [ 1.34756293e-02 9.99909191e-01 -1.31286531e-04 -2.29160216e-01] [ 2.36351772e-02 -1.87266038e-04 9.99720633e-01 -7.11052703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.78925415399999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:62.14, Y:-0.23, Z:-0.07 [[ 9.99683714e-01 -9.17808152e-03 -2.34144078e-02 6.21389892e+01] [ 9.17743572e-03 9.99957877e-01 -1.35040213e-04 -2.26236231e-01] [ 2.34146610e-02 -7.98867211e-05 9.99725836e-01 -7.09746309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81925415399999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:62.17, Y:-0.22, Z:-0.07 [[ 9.99717110e-01 -2.23407436e-03 -2.36792815e-02 6.21669576e+01] [ 2.23135631e-03 9.99997501e-01 -1.41207333e-04 -2.21281037e-01] [ 2.36795378e-02 8.83304725e-05 9.99719597e-01 -7.00166019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84925415399999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:62.19, Y:-0.22, Z:-0.07 [[ 9.99722390e-01 -3.50965670e-04 -2.35588388e-02 6.21941263e+01] [ 3.47626451e-04 9.99999929e-01 -1.45834797e-04 -2.18752224e-01] [ 2.35588883e-02 1.37604637e-04 9.99722441e-01 -6.94549521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.879254153999995 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:62.22, Y:-0.22, Z:-0.07 [[ 9.99721557e-01 1.16871439e-03 -2.35678474e-02 6.22207677e+01] [-1.17254898e-03 9.99999301e-01 -1.48885802e-04 -2.17194828e-01] [ 2.35676570e-02 1.76478801e-04 9.99722229e-01 -6.90309639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.909254153999996 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:62.25, Y:-0.22, Z:-0.07 [[ 9.99724126e-01 -1.44832829e-04 -2.34872419e-02 6.22488654e+01] [ 1.41280484e-04 9.99999978e-01 -1.52905027e-04 -2.17391648e-01] [ 2.34872635e-02 1.49544555e-04 9.99724125e-01 -6.85510923e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93925415399999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:62.28, Y:-0.22, Z:-0.07 [[ 9.99715585e-01 -1.75153117e-03 -2.37840478e-02 6.22762549e+01] [ 1.74821446e-03 9.99998459e-01 -1.60243320e-04 -2.17813279e-01] [ 2.37842918e-02 1.18618129e-04 9.99717107e-01 -6.90052287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.96925415399999 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:62.30, Y:-0.22, Z:-0.07 [[ 9.99696200e-01 -4.39809807e-03 -2.42521133e-02 6.23043886e+01] [ 4.39535734e-03 9.99990327e-01 -1.66315059e-04 -2.17986801e-01] [ 2.42526102e-02 5.96678278e-05 9.99705860e-01 -6.88815481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99925415399999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:62.33, Y:-0.22, Z:-0.07 [[ 9.99667094e-01 -7.47639046e-03 -2.46942186e-02 6.23309073e+01] [ 7.47439838e-03 9.99972051e-01 -1.72971361e-04 -2.17974605e-01] [ 2.46948217e-02 -1.16606501e-05 9.99695036e-01 -6.84148570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02925415399999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:62.36, Y:-0.22, Z:-0.07 [[ 9.99610683e-01 -1.40933058e-02 -2.40802895e-02 6.23588345e+01] [ 1.40932403e-02 9.99900670e-01 -1.72437326e-04 -2.18814036e-01] [ 2.40803278e-02 -1.66999113e-04 9.99710013e-01 -6.77606480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.059254153999994 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:62.39, Y:-0.22, Z:-0.07 [[ 9.99562021e-01 -1.78409138e-02 -2.36107806e-02 6.23866806e+01] [ 1.78418358e-02 9.99840807e-01 -1.71626931e-04 -2.19143549e-01] [ 2.36100839e-02 -2.49707908e-04 9.99721212e-01 -6.71336279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.089254153999995 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:62.41, Y:-0.22, Z:-0.07 [[ 9.99499118e-01 -2.15945361e-02 -2.31341679e-02 6.24146002e+01] [ 2.15963293e-02 9.99766757e-01 -1.72351154e-04 -2.20218924e-01] [ 2.31324938e-02 -3.27348281e-04 9.99732354e-01 -6.67307794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11925415399999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:62.44, Y:-0.22, Z:-0.07 [[ 9.99347355e-01 -2.87434889e-02 -2.18786660e-02 6.24427020e+01] [ 2.87467040e-02 9.99586714e-01 -1.67606144e-04 -2.23759645e-01] [ 2.18744415e-02 -4.61442780e-04 9.99760619e-01 -6.63607947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.14925415399999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:62.47, Y:-0.23, Z:-0.07 [[ 9.99252331e-01 -3.24011732e-02 -2.10936625e-02 6.24728444e+01] [ 3.24049447e-02 9.99474809e-01 -1.63078794e-04 -2.25445482e-01] [ 2.10878682e-02 -5.20582100e-04 9.99777491e-01 -6.62729273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17925415399999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:62.50, Y:-0.23, Z:-0.07 [[ 9.99033792e-01 -3.90355130e-02 -2.01918525e-02 6.25030981e+01] [ 3.90403146e-02 9.99237624e-01 -1.56483557e-04 -2.28150745e-01] [ 2.01825672e-02 -6.31963914e-04 9.99796112e-01 -6.58876404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20925415399999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:62.54, Y:-0.23, Z:-0.06 [[ 9.98920435e-01 -4.17604615e-02 -2.03476937e-02 6.25353175e+01] [ 4.17659165e-02 9.99127411e-01 -1.56985176e-04 -2.29072811e-01] [ 2.03364943e-02 -6.93024376e-04 9.99792952e-01 -6.47723218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.239254153999994 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:62.57, Y:-0.23, Z:-0.06 [[ 9.98816454e-01 -4.45151834e-02 -1.95982232e-02 6.25676018e+01] [ 4.45208001e-02 9.99008446e-01 -1.49837864e-04 -2.29635436e-01] [ 1.95854606e-02 -7.22868054e-04 9.99807925e-01 -6.45039857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.269254153999995 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:62.60, Y:-0.23, Z:-0.06 [[ 9.98635611e-01 -4.87095075e-02 -1.88228898e-02 6.25993459e+01] [ 4.87154567e-02 9.98812687e-01 -1.42609102e-04 -2.31476956e-01] [ 1.88074876e-02 -7.74551145e-04 9.99822824e-01 -6.41270018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.299254153999996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:62.63, Y:-0.23, Z:-0.06 [[ 9.98564517e-01 -5.02999900e-02 -1.84069677e-02 6.26315603e+01] [ 5.03059738e-02 9.98733843e-01 -1.38095905e-04 -2.32724917e-01] [ 1.83906078e-02 -7.88082764e-04 9.99830568e-01 -6.38803940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.32925415399999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:62.66, Y:-0.23, Z:-0.06 [[ 9.98504440e-01 -5.15651178e-02 -1.81637771e-02 6.26634133e+01] [ 5.15711809e-02 9.98669312e-01 -1.34752641e-04 -2.34168605e-01] [ 1.81465553e-02 -8.02176323e-04 9.99835016e-01 -6.38709423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35925415399999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:62.70, Y:-0.24, Z:-0.06 [[ 9.98450522e-01 -5.27145046e-02 -1.78251476e-02 6.26952623e+01] [ 5.27205485e-02 9.98609296e-01 -1.31000288e-04 -2.37246494e-01] [ 1.78072637e-02 -8.08954252e-04 9.99841111e-01 -6.39947166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.38925415399999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:62.73, Y:-0.24, Z:-0.06 [[ 9.98450424e-01 -5.27359713e-02 -1.77670455e-02 6.27287498e+01] [ 5.27420038e-02 9.98608164e-01 -1.29196007e-04 -2.38213739e-01] [ 1.77491300e-02 -8.08073775e-04 9.99842145e-01 -6.35893097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.419254153999994 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:62.76, Y:-0.24, Z:-0.06 [[ 9.98480716e-01 -5.20717435e-02 -1.80220380e-02 6.27614906e+01] [ 5.20778771e-02 9.98643018e-01 -1.29120094e-04 -2.39013279e-01] [ 1.80043059e-02 -8.09625557e-04 9.99837582e-01 -6.29856774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.449254153999995 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:62.79, Y:-0.24, Z:-0.06 [[ 9.98626294e-01 -4.91463431e-02 -1.81703361e-02 6.27935064e+01] [ 4.91521292e-02 9.98791295e-01 -1.28287844e-04 -2.39281325e-01] [ 1.81546784e-02 -7.64999096e-04 9.99834898e-01 -6.20184503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.479254153999996 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:62.83, Y:-0.24, Z:-0.06 [[ 9.98728664e-01 -4.68488631e-02 -1.86075406e-02 6.28259544e+01] [ 4.68545629e-02 9.98901713e-01 -1.29766613e-04 -2.39073051e-01] [ 1.85931836e-02 -7.42246547e-04 9.99826856e-01 -6.17947414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.50925415399999 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:62.86, Y:-0.24, Z:-0.06 [[ 9.98953247e-01 -4.11433961e-02 -1.99907701e-02 6.28585412e+01] [ 4.11488643e-02 9.99153017e-01 -1.37901553e-04 -2.38584235e-01] [ 1.99795120e-02 -6.84840282e-04 9.99800155e-01 -6.19605625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.53925415399999 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:62.89, Y:-0.24, Z:-0.06 [[ 9.99065821e-01 -3.79842589e-02 -2.06077838e-02 6.28909880e+01] [ 3.79894302e-02 9.99278131e-01 -1.40626079e-04 -2.38328766e-01] [ 2.05982492e-02 -6.42383255e-04 9.99787627e-01 -6.19676181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.56925415399999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:62.92, Y:-0.24, Z:-0.06 [[ 9.99239149e-01 -3.15003186e-02 -2.29968007e-02 6.29225276e+01] [ 3.15050813e-02 9.99503580e-01 -1.55262160e-04 -2.37563666e-01] [ 2.29902754e-02 -5.69372048e-04 9.99735527e-01 -6.19664930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.59925415399999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:62.95, Y:-0.24, Z:-0.06 [[ 9.99376570e-01 -2.50050370e-02 -2.49242891e-02 6.29522007e+01] [ 2.50086242e-02 9.99687221e-01 -1.67822437e-04 -2.35907846e-01] [ 2.49206897e-02 -4.55604368e-04 9.99689328e-01 -6.17557066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.629254153999995 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:62.98, Y:-0.23, Z:-0.06 [[ 9.99484873e-01 -1.87565037e-02 -2.60419346e-02 6.29793213e+01] [ 1.87582467e-02 9.99824033e-01 -1.77382270e-04 -2.34439902e-01] [ 2.60406791e-02 -3.11210138e-04 9.99660836e-01 -6.06468193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.659254153999996 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:63.01, Y:-0.23, Z:-0.06 [[ 9.99525144e-01 -1.62310283e-02 -2.61923758e-02 6.30076454e+01] [ 1.62317856e-02 9.99868239e-01 -1.83711357e-04 -2.33570920e-01] [ 2.61919065e-02 -2.41524908e-04 9.99656904e-01 -5.98921099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.68925415399999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:63.04, Y:-0.23, Z:-0.06 [[ 9.99601208e-01 -1.11519414e-02 -2.59433830e-02 6.30356544e+01] [ 1.11507793e-02 9.99937810e-01 -1.89466360e-04 -2.32713672e-01] [ 2.59438825e-02 -9.98981351e-05 9.99663396e-01 -5.89380123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.71925415399999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:63.06, Y:-0.23, Z:-0.06 [[ 9.99686658e-01 -6.37877025e-03 -2.42052921e-02 6.30631118e+01] [ 6.37619530e-03 9.99979655e-01 -1.83559020e-04 -2.32628287e-01] [ 2.42059705e-02 2.91638335e-05 9.99706992e-01 -5.77248984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.74925415399999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:63.09, Y:-0.23, Z:-0.06 [[ 9.99708150e-01 -5.72378286e-03 -2.34702645e-02 6.30912709e+01] [ 5.72102274e-03 9.99983618e-01 -1.84745644e-04 -2.32613562e-01] [ 2.34709374e-02 5.04178092e-05 9.99724518e-01 -5.70092593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.77925415399999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:63.12, Y:-0.23, Z:-0.06 [[ 9.99706537e-01 -5.99904058e-03 -2.34702101e-02 6.31196550e+01] [ 5.99619867e-03 9.99982004e-01 -1.91460293e-04 -2.32316007e-01] [ 2.34709363e-02 5.06720638e-05 9.99724518e-01 -5.66091439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.809254153999994 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:63.15, Y:-0.23, Z:-0.06 [[ 9.99704849e-01 -6.27429428e-03 -2.34701559e-02 6.31480390e+01] [ 6.27137654e-03 9.99980315e-01 -1.97920665e-04 -2.32010763e-01] [ 2.34709358e-02 5.06720627e-05 9.99724518e-01 -5.62091174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.839254153999995 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:63.18, Y:-0.23, Z:-0.06 [[ 9.99703085e-01 -6.54954750e-03 -2.34701000e-02 6.31764229e+01] [ 6.54655394e-03 9.99978550e-01 -2.04381021e-04 -2.31697707e-01] [ 2.34709352e-02 5.06720616e-05 9.99724518e-01 -5.58090909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.86925415399999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:63.20, Y:-0.23, Z:-0.06 [[ 9.99719375e-01 -6.03032411e-03 -2.29086553e-02 6.32034783e+01] [ 6.02722349e-03 9.99981815e-01 -2.04392439e-04 -2.31737602e-01] [ 2.29094712e-02 6.62594964e-05 9.99737541e-01 -5.51806223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89925415399999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:63.23, Y:-0.23, Z:-0.05 [[ 9.99741406e-01 -5.58298816e-03 -2.20443205e-02 6.32315995e+01] [ 5.57991838e-03 9.99984412e-01 -2.00763256e-04 -2.32472799e-01] [ 2.20450977e-02 7.77058306e-05 9.99756974e-01 -5.44570209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.92925415399999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:63.26, Y:-0.23, Z:-0.05 [[ 9.99752468e-01 -5.68159416e-03 -2.15109895e-02 6.32590374e+01] [ 5.67855973e-03 9.99983856e-01 -2.02144743e-04 -2.32941307e-01] [ 2.15117908e-02 7.99432669e-05 9.99768591e-01 -5.41132257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.95925415399999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:63.29, Y:-0.23, Z:-0.05 [[ 9.99766781e-01 -6.00620922e-03 -2.07438906e-02 6.32855820e+01] [ 6.00335721e-03 9.99981960e-01 -1.99757637e-04 -2.34683753e-01] [ 2.07447162e-02 7.51780645e-05 9.99784802e-01 -5.33655841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.989254153999994 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:63.31, Y:-0.24, Z:-0.05 [[ 9.99769666e-01 -6.84962550e-03 -2.03395552e-02 6.33138673e+01] [ 6.84698526e-03 9.99976539e-01 -1.99445693e-04 -2.35707657e-01] [ 2.03404442e-02 6.01351187e-05 9.99793110e-01 -5.30104999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.019254153999995 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:63.34, Y:-0.24, Z:-0.05 [[ 9.99739508e-01 -9.31942225e-03 -2.08342382e-02 6.33404511e+01] [ 9.31708307e-03 9.99956573e-01 -2.09342430e-04 -2.38495630e-01] [ 2.08352843e-02 1.51735702e-05 9.99782922e-01 -5.28999763e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.04925415399999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:63.37, Y:-0.24, Z:-0.05 [[ 9.99710062e-01 -1.12892689e-02 -2.12683689e-02 6.33678576e+01] [ 1.12871936e-02 9.99936274e-01 -2.17623373e-04 -2.39806401e-01] [ 2.12694704e-02 -2.24999213e-05 9.99773779e-01 -5.26862730e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07925415399999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:63.40, Y:-0.24, Z:-0.05 [[ 9.99674490e-01 -1.33025682e-02 -2.17705020e-02 6.33959697e+01] [ 1.33007304e-02 9.99911515e-01 -2.29221964e-04 -2.41373782e-01] [ 2.17716249e-02 -6.04162272e-05 9.99762968e-01 -5.23467276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.10925415399999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:63.42, Y:-0.24, Z:-0.05 [[ 9.99632043e-01 -1.55382334e-02 -2.22338155e-02 6.34236800e+01] [ 1.55367224e-02 9.99879269e-01 -2.40710925e-04 -2.43090958e-01] [ 2.22348714e-02 -1.04818265e-04 9.99752769e-01 -5.23102530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.13925415399999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:63.45, Y:-0.25, Z:-0.05 [[ 9.99537749e-01 -1.97272187e-02 -2.31327587e-02 6.34516111e+01] [ 1.97265817e-02 9.99805379e-01 -2.55756292e-04 -2.46688909e-01] [ 2.31333019e-02 -2.00692185e-04 9.99732369e-01 -5.24343154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.169254153999994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:63.48, Y:-0.25, Z:-0.05 [[ 9.99499605e-01 -2.17913624e-02 -2.29276313e-02 6.34797419e+01] [ 2.17911847e-02 9.99762511e-01 -2.57625028e-04 -2.48211136e-01] [ 2.29278002e-02 -2.42124133e-04 9.99737094e-01 -5.20871854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.199254153999995 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:63.51, Y:-0.25, Z:-0.05 [[ 9.99464266e-01 -2.34748662e-02 -2.28059591e-02 6.35063893e+01] [ 2.34750098e-02 9.99724390e-01 -2.61460634e-04 -2.49545867e-01] [ 2.28058113e-02 -2.74049551e-04 9.99739876e-01 -5.18519058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.229254153999996 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:63.53, Y:-0.25, Z:-0.05 [[ 9.99412949e-01 -2.55990392e-02 -2.27694182e-02 6.35329118e+01] [ 2.55996532e-02 9.99672240e-01 -2.64566401e-04 -2.52752879e-01] [ 2.27687279e-02 -3.18478122e-04 9.99740708e-01 -5.11314335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25925415399999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:63.56, Y:-0.25, Z:-0.05 [[ 9.99393319e-01 -2.66096021e-02 -2.24705128e-02 6.35609740e+01] [ 2.66103394e-02 9.99645847e-01 -2.66250327e-04 -2.53910309e-01] [ 2.24696396e-02 -3.31859174e-04 9.99747471e-01 -5.06012485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.28925415399999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:63.59, Y:-0.26, Z:-0.05 [[ 9.99403304e-01 -2.73621632e-02 -2.10795807e-02 6.35885272e+01] [ 2.73628877e-02 9.99625534e-01 -2.54114945e-04 -2.57105429e-01] [ 2.10786403e-02 -3.22834884e-04 9.99777769e-01 -5.00635906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.31925415399999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:63.62, Y:-0.26, Z:-0.05 [[ 9.99401883e-01 -2.79337004e-02 -2.03859108e-02 6.36168721e+01] [ 2.79344407e-02 9.99609726e-01 -2.48504926e-04 -2.58302635e-01] [ 2.03848964e-02 -3.21112724e-04 9.99792155e-01 -4.93902939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.34925415399999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:63.65, Y:-0.26, Z:-0.05 [[ 9.99389804e-01 -2.79032753e-02 -2.10101465e-02 6.36460953e+01] [ 2.79039432e-02 9.99610575e-01 -2.61430668e-04 -2.61038437e-01] [ 2.10092594e-02 -3.24994791e-04 9.99779228e-01 -4.85606525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.379254153999995 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:63.67, Y:-0.26, Z:-0.05 [[ 9.99391471e-01 -2.77666642e-02 -2.11116155e-02 6.36744107e+01] [ 2.77671959e-02 9.99614381e-01 -2.68004833e-04 -2.62351223e-01] [ 2.11109160e-02 -3.18368619e-04 9.99777089e-01 -4.84779107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.409254153999996 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:63.70, Y:-0.26, Z:-0.05 [[ 9.99404948e-01 -2.72280204e-02 -2.11751168e-02 6.37030712e+01] [ 2.72283213e-02 9.99629203e-01 -2.74157244e-04 -2.63647855e-01] [ 2.11747299e-02 -3.02568777e-04 9.99775744e-01 -4.81757566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.43925415399999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:63.73, Y:-0.27, Z:-0.05 [[ 9.99476571e-01 -2.46028648e-02 -2.10067376e-02 6.37313715e+01] [ 2.46024687e-02 9.99697275e-01 -2.77332320e-04 -2.66888467e-01] [ 2.10072015e-02 -2.39630448e-04 9.99779296e-01 -4.77425666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.46925415399999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:63.76, Y:-0.27, Z:-0.05 [[ 9.99520863e-01 -2.29940089e-02 -2.07200145e-02 6.37588975e+01] [ 2.29931640e-02 9.99735583e-01 -2.79042022e-04 -2.68109246e-01] [ 2.07209521e-02 -1.97510368e-04 9.99785279e-01 -4.77773591e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.49925415399999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:63.79, Y:-0.27, Z:-0.05 [[ 9.99559552e-01 -2.08594078e-02 -2.11089168e-02 6.37870231e+01] [ 2.08579229e-02 9.99782408e-01 -2.90535713e-04 -2.69086583e-01] [ 2.11103840e-02 -1.49880411e-04 9.99777140e-01 -4.72166992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.52925415399999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:63.81, Y:-0.27, Z:-0.05 [[ 9.99632781e-01 -1.58466218e-02 -2.19815200e-02 6.38135141e+01] [ 1.58436694e-02 9.99874434e-01 -3.08470678e-04 -2.70753233e-01] [ 2.19836481e-02 -3.99105342e-05 9.99758330e-01 -4.66195058e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.559254153999994 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:63.84, Y:-0.27, Z:-0.05 [[ 9.99656375e-01 -1.36801605e-02 -2.23603565e-02 6.38408914e+01] [ 1.36764752e-02 9.99906422e-01 -3.17736044e-04 -2.71128327e-01] [ 2.23626108e-02 1.18159995e-05 9.99749925e-01 -4.63687142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.589254153999995 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:63.87, Y:-0.27, Z:-0.05 [[ 9.99682262e-01 -1.07977167e-02 -2.27768317e-02 6.38676879e+01] [ 1.07930786e-02 9.99941700e-01 -3.26555977e-04 -2.73204312e-01] [ 2.27790299e-02 8.06200825e-05 9.99740521e-01 -4.63229534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61925415399999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:63.90, Y:-0.27, Z:-0.05 [[ 9.99682005e-01 -1.05211856e-02 -2.29171118e-02 6.38952732e+01] [ 1.05163176e-02 9.99944647e-01 -3.32930662e-04 -2.74375185e-01] [ 2.29193460e-02 9.18211658e-05 9.99737313e-01 -4.64608796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.64925415399999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:63.92, Y:-0.27, Z:-0.05 [[ 9.99679084e-01 -1.07953468e-02 -2.29170152e-02 6.39236697e+01] [ 1.07904008e-02 9.99941724e-01 -3.39471878e-04 -2.73888211e-01] [ 2.29193444e-02 9.20791568e-05 9.99737313e-01 -4.60607754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67925415399999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:63.95, Y:-0.28, Z:-0.05 [[ 9.99656865e-01 -1.23399103e-02 -2.31058085e-02 6.39511663e+01] [ 1.23351444e-02 9.99923858e-01 -3.48781843e-04 -2.77790157e-01] [ 2.31083531e-02 6.36486789e-05 9.99732964e-01 -4.63453253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70925415399999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:63.98, Y:-0.28, Z:-0.05 [[ 9.99638659e-01 -1.42172497e-02 -2.28127410e-02 6.39787300e+01] [ 1.42129424e-02 9.99898929e-01 -3.50946550e-04 -2.79582237e-01] [ 2.28154248e-02 2.65835651e-05 9.99739694e-01 -4.62388190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.739254153999994 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:64.01, Y:-0.28, Z:-0.05 [[ 9.99597414e-01 -1.68848628e-02 -2.28015725e-02 6.40066519e+01] [ 1.68811019e-02 9.99857440e-01 -3.57424577e-04 -2.80993144e-01] [ 2.28043570e-02 -2.76349873e-05 9.99739946e-01 -4.56011574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.769254153999995 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:64.03, Y:-0.28, Z:-0.05 [[ 9.99463444e-01 -2.28709891e-02 -2.34465790e-02 6.40338754e+01] [ 2.28685329e-02 9.99738411e-01 -3.72916773e-04 -2.83918576e-01] [ 2.34489746e-02 -1.63472180e-04 9.99725022e-01 -4.55252841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.79925415399999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:64.06, Y:-0.28, Z:-0.05 [[ 9.99457261e-01 -2.31396772e-02 -2.34465100e-02 6.40622757e+01] [ 2.31371941e-02 9.99732228e-01 -3.77212980e-04 -2.83388113e-01] [ 2.34489602e-02 -1.65478202e-04 9.99725022e-01 -4.51258308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.82925415399999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:64.09, Y:-0.29, Z:-0.04 [[ 9.99237142e-01 -3.06314969e-02 -2.42249035e-02 6.40897765e+01] [ 3.06309217e-02 9.99530685e-01 -3.94901209e-04 -2.86337311e-01] [ 2.42256308e-02 -3.47431166e-04 9.99706456e-01 -4.42876764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85925415399999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:64.12, Y:-0.29, Z:-0.04 [[ 9.99091557e-01 -3.49173416e-02 -2.44303055e-02 6.41176769e+01] [ 3.49179222e-02 9.99390102e-01 -4.02954552e-04 -2.87945095e-01] [ 2.44294756e-02 -4.50467017e-04 9.99701454e-01 -4.39272258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88925415399999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:64.15, Y:-0.29, Z:-0.04 [[ 9.98747324e-01 -4.39233813e-02 -2.39691377e-02 6.41450555e+01] [ 4.39264165e-02 9.99034689e-01 -4.00126743e-04 -2.91424180e-01] [ 2.39635749e-02 -6.53252811e-04 9.99712619e-01 -4.30058735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.919254153999994 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:64.18, Y:-0.29, Z:-0.04 [[ 9.98548984e-01 -4.84661472e-02 -2.34725031e-02 6.41750515e+01] [ 4.84702753e-02 9.98824548e-01 -3.93371343e-04 -2.92769914e-01] [ 2.34639775e-02 -7.44918133e-04 9.99724405e-01 -4.22933272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.949254153999995 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:64.21, Y:-0.29, Z:-0.04 [[ 9.98343005e-01 -5.27249352e-02 -2.30505122e-02 6.42060316e+01] [ 5.27300457e-02 9.98608729e-01 -3.86466807e-04 -2.93899277e-01] [ 2.30388191e-02 -8.29628130e-04 9.99734227e-01 -4.14953848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.979254153999996 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:64.24, Y:-0.30, Z:-0.04 [[ 9.97917053e-01 -6.05245016e-02 -2.23235301e-02 6.42361424e+01] [ 6.05312555e-02 9.98166232e-01 -3.73666484e-04 -2.95742693e-01] [ 2.23052099e-02 -9.78383150e-04 9.99750729e-01 -4.07198648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00925415399999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:64.27, Y:-0.30, Z:-0.04 [[ 9.97742943e-01 -6.36046946e-02 -2.15281692e-02 6.42685266e+01] [ 6.36117077e-02 9.97974660e-01 -3.59576921e-04 -2.96019164e-01] [ 2.15074381e-02 -1.01067827e-03 9.99768177e-01 -4.05160106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03925415399999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:64.30, Y:-0.30, Z:-0.04 [[ 9.97591348e-01 -6.60722357e-02 -2.11178002e-02 6.43006407e+01] [ 6.60795673e-02 9.97814295e-01 -3.51205239e-04 -2.95827033e-01] [ 2.10948479e-02 -1.04509579e-03 9.99776933e-01 -4.02548977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06925415399999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:64.33, Y:-0.30, Z:-0.04 [[ 9.97396327e-01 -6.92023917e-02 -2.02878336e-02 6.43316536e+01] [ 6.92098306e-02 9.97602068e-01 -3.36077324e-04 -2.95459133e-01] [ 2.02624421e-02 -1.06891524e-03 9.99794124e-01 -3.94290039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09925415399998 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:64.36, Y:-0.29, Z:-0.04 [[ 9.97364294e-01 -6.97681942e-02 -1.99214474e-02 6.43638094e+01] [ 6.97755027e-02 9.97562665e-01 -3.28830487e-04 -2.94967054e-01] [ 1.98958341e-02 -1.06206522e-03 9.99801494e-01 -3.89894669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12925415399998 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:64.40, Y:-0.29, Z:-0.04 [[ 9.97427730e-01 -6.91875904e-02 -1.87350402e-02 6.43959779e+01] [ 6.91939763e-02 9.97603177e-01 -3.07944058e-04 -2.93758431e-01] [ 1.87114415e-02 -9.89199984e-04 9.99824436e-01 -3.86094776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.15925415399998 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:64.43, Y:-0.29, Z:-0.04 [[ 9.97474665e-01 -6.85357153e-02 -1.86319400e-02 6.44277341e+01] [ 6.85419429e-02 9.97648189e-01 -3.04892091e-04 -2.92157865e-01] [ 1.86090172e-02 -9.72947229e-04 9.99826364e-01 -3.78187535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.18925415399998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:64.46, Y:-0.29, Z:-0.04 [[ 9.97539555e-01 -6.75614619e-02 -1.87158933e-02 6.44601238e+01] [ 6.75676019e-02 9.97714652e-01 -3.04814757e-04 -2.90494484e-01] [ 1.86937147e-02 -9.60523251e-04 9.99824796e-01 -3.74496619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.21925415399998 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:64.49, Y:-0.29, Z:-0.04 [[ 9.97618617e-01 -6.59714713e-02 -2.01211209e-02 6.44926305e+01] [ 6.59782824e-02 9.97821006e-01 -3.25879635e-04 -2.88048540e-01] [ 2.00987758e-02 -1.00245340e-03 9.99797497e-01 -3.77609257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.24925415399998 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:64.53, Y:-0.29, Z:-0.04 [[ 9.97639659e-01 -6.53803793e-02 -2.09884800e-02 6.45250479e+01] [ 6.53876936e-02 9.97859877e-01 -3.38323677e-04 -2.86472763e-01] [ 2.09656818e-02 -1.03486318e-03 9.99779660e-01 -3.76605932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27925415399999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:64.56, Y:-0.28, Z:-0.04 [[ 9.97649984e-01 -6.45440072e-02 -2.29908639e-02 6.45557902e+01] [ 6.45526005e-02 9.97914238e-01 -3.68965361e-04 -2.83204245e-01] [ 2.29667249e-02 -1.11602177e-03 9.99735607e-01 -3.78279813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30925415399999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:64.59, Y:-0.28, Z:-0.04 [[ 9.97668253e-01 -6.39979865e-02 -2.37131573e-02 6.45869326e+01] [ 6.40070062e-02 9.97949377e-01 -3.79228521e-04 -2.81428529e-01] [ 2.36888004e-02 -1.13946395e-03 9.99718732e-01 -3.77328754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33925415399999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:64.62, Y:-0.28, Z:-0.04 [[ 9.97728140e-01 -6.29983583e-02 -2.38697637e-02 6.46186896e+01] [ 6.30072479e-02 9.98012997e-01 -3.80235320e-04 -2.79447180e-01] [ 2.38462886e-02 -1.12459664e-03 9.99715004e-01 -3.79341388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36925415399999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:64.65, Y:-0.27, Z:-0.04 [[ 9.97925278e-01 -5.96602013e-02 -2.42032882e-02 6.46503959e+01] [ 5.96684049e-02 9.98218180e-01 -3.83750313e-04 -2.74838197e-01] [ 2.41830569e-02 -1.06121746e-03 9.99706984e-01 -3.61756037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39925415399999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:64.68, Y:-0.27, Z:-0.04 [[ 9.98100968e-01 -5.70305251e-02 -2.32803886e-02 6.46823799e+01] [ 5.70374394e-02 9.98371973e-01 -3.67445499e-04 -2.72130708e-01] [ 2.32634431e-02 -9.61106047e-04 9.99728907e-01 -3.56134235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42925415399999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:64.71, Y:-0.27, Z:-0.03 [[ 9.98277757e-01 -5.40861947e-02 -2.27201019e-02 6.47132685e+01] [ 5.40920524e-02 9.98535889e-01 -3.57119150e-04 -2.69331002e-01] [ 2.27061523e-02 -8.72472835e-04 9.99741801e-01 -3.49741231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45925415399998 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:64.75, Y:-0.27, Z:-0.03 [[ 9.98458341e-01 -5.08994573e-02 -2.21401482e-02 6.47452245e+01] [ 5.09042666e-02 9.98703477e-01 -3.46672709e-04 -2.66487107e-01] [ 2.21290884e-02 -7.80889747e-04 9.99754817e-01 -3.40941908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48925415399998 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:64.78, Y:-0.26, Z:-0.03 [[ 9.98796977e-01 -4.38801070e-02 -2.18891317e-02 6.47774298e+01] [ 4.38831579e-02 9.99036612e-01 -3.41172650e-04 -2.61297566e-01] [ 2.18830146e-02 -6.19802011e-04 9.99760346e-01 -3.29132165e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.51925415399998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:64.81, Y:-0.26, Z:-0.03 [[ 9.98950909e-01 -4.03206653e-02 -2.17100224e-02 6.48080304e+01] [ 4.03228515e-02 9.99186646e-01 -3.37227439e-04 -2.58473284e-01] [ 2.17059617e-02 -5.38536352e-04 9.99764253e-01 -3.23012617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.54925415399998 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:64.84, Y:-0.26, Z:-0.03 [[ 9.99099742e-01 -3.66901331e-02 -2.12964770e-02 6.48387529e+01] [ 3.66914176e-02 9.99326589e-01 -3.30555733e-04 -2.56067398e-01] [ 2.12942638e-02 -4.51139782e-04 9.99773150e-01 -3.18164473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.57925415399998 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:64.87, Y:-0.25, Z:-0.03 [[ 9.99329519e-01 -3.03842924e-02 -2.04281018e-02 6.48690448e+01] [ 3.03841570e-02 9.99538245e-01 -3.17077148e-04 -2.52485611e-01] [ 2.04283032e-02 -3.03826100e-04 9.99791274e-01 -3.10754524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.60925415399998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:64.90, Y:-0.25, Z:-0.03 [[ 9.99419858e-01 -2.75193666e-02 -2.00656847e-02 6.48984777e+01] [ 2.75186542e-02 9.99621242e-01 -3.11671226e-04 -2.50881302e-01] [ 2.00666616e-02 -2.40690226e-04 9.99798615e-01 -3.07051381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63925415399999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:64.93, Y:-0.25, Z:-0.03 [[ 9.99549062e-01 -2.26967115e-02 -1.96604272e-02 6.49270045e+01] [ 2.26950790e-02 9.99742387e-01 -3.06181568e-04 -2.48386507e-01] [ 1.96623117e-02 -1.40151450e-04 9.99806668e-01 -3.01496197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66925415399999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:64.96, Y:-0.25, Z:-0.03 [[ 9.99585435e-01 -2.10994635e-02 -1.95900591e-02 6.49552344e+01] [ 2.10974888e-02 9.99777376e-01 -3.07486485e-04 -2.46885451e-01] [ 1.95921857e-02 -1.05942042e-04 9.99808049e-01 -2.94869937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69925415399999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:64.98, Y:-0.25, Z:-0.03 [[ 9.99626082e-01 -1.84438241e-02 -2.01871696e-02 6.49820707e+01] [ 1.84410832e-02 9.99829897e-01 -3.21933480e-04 -2.45232565e-01] [ 2.01896734e-02 -5.04601715e-05 9.99796166e-01 -2.91895769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72925415399999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:65.01, Y:-0.24, Z:-0.03 [[ 9.99636433e-01 -1.76257467e-02 -2.04042827e-02 6.50085221e+01] [ 1.76227227e-02 9.99844654e-01 -3.28018617e-04 -2.44463643e-01] [ 2.04068946e-02 -3.16796555e-05 9.99791757e-01 -2.88496033e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75925415399999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:65.04, Y:-0.24, Z:-0.03 [[ 9.99647102e-01 -1.74200314e-02 -2.00552773e-02 6.50364269e+01] [ 1.74169989e-02 9.99848259e-01 -3.25878868e-04 -2.43882001e-01] [ 2.00579109e-02 -2.35388773e-05 9.99798820e-01 -2.86818062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78925415399999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:65.06, Y:-0.24, Z:-0.03 [[ 9.99633532e-01 -1.77493284e-02 -2.04392424e-02 6.50635098e+01] [ 1.77461471e-02 9.99842468e-01 -3.37027161e-04 -2.43995959e-01] [ 2.04420046e-02 -2.58141502e-05 9.99791040e-01 -2.81916962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81925415399999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:65.09, Y:-0.24, Z:-0.03 [[ 9.99630325e-01 -1.84363296e-02 -1.99828696e-02 6.50910137e+01] [ 1.84333585e-02 9.99830036e-01 -3.32883489e-04 -2.44089478e-01] [ 1.99856103e-02 -3.55909679e-05 9.99800267e-01 -2.78536300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.84925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:65.12, Y:-0.24, Z:-0.02 [[ 9.99556882e-01 -1.94760573e-02 -2.25104856e-02 6.51191141e+01] [ 1.92188999e-02 9.99748187e-01 -1.15843464e-02 -2.38410908e-01] [ 2.27304345e-02 1.11465865e-02 9.99679489e-01 -2.34352766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.87925415399998 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:65.15, Y:-0.25, Z:-0.03 [[ 9.99575639e-01 -2.19609773e-02 -1.91378355e-02 6.51480946e+01] [ 2.21665327e-02 9.99698143e-01 1.05956579e-02 -2.50051251e-01] [ 1.88993676e-02 -1.10153810e-02 9.99760709e-01 -2.97677704e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.90925415399998 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:65.18, Y:-0.25, Z:-0.03 [[ 9.99534630e-01 -2.38839332e-02 -1.89757961e-02 6.51759393e+01] [ 2.38820104e-02 9.99714730e-01 -3.27964881e-04 -2.45090218e-01] [ 1.89782160e-02 -1.25367905e-04 9.99819890e-01 -2.59692904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.93925415399998 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:65.20, Y:-0.25, Z:-0.03 [[ 9.99496286e-01 -2.53162787e-02 -1.91379319e-02 6.52048364e+01] [ 2.53144819e-02 9.99679481e-01 -3.36177796e-04 -2.46056617e-01] [ 1.91403086e-02 -1.48458372e-04 9.99816796e-01 -2.57629340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.96925415399998 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:65.23, Y:-0.25, Z:-0.03 [[ 9.99447547e-01 -2.70039469e-02 -1.93749062e-02 6.52337631e+01] [ 2.70023255e-02 9.99635311e-01 -3.45336794e-04 -2.46387461e-01] [ 1.93771659e-02 -1.78021513e-04 9.99812229e-01 -2.54606038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99925415399998 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:65.26, Y:-0.25, Z:-0.03 [[ 9.99364703e-01 -2.87842757e-02 -2.10155972e-02 6.52627527e+01] [ 2.87826716e-02 9.99585621e-01 -3.78864360e-04 -2.47665358e-01] [ 2.10177942e-02 -2.26261364e-04 9.99779076e-01 -2.55853603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02925415399999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:65.29, Y:-0.25, Z:-0.03 [[ 9.99323366e-01 -2.95762982e-02 -2.18643947e-02 6.52916626e+01] [ 2.95746919e-02 9.99562494e-01 -3.96887407e-04 -2.47844112e-01] [ 2.18665674e-02 -2.50013879e-04 9.99760867e-01 -2.52781673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05925415399999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:65.32, Y:-0.25, Z:-0.02 [[ 9.99297986e-01 -3.01288299e-02 -2.22663199e-02 6.53205408e+01] [ 3.01271741e-02 9.99545990e-01 -4.09886596e-04 -2.47715140e-01] [ 2.22685601e-02 -2.61222445e-04 9.99751991e-01 -2.49404681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08925415399999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:65.35, Y:-0.25, Z:-0.02 [[ 9.99287479e-01 -3.03257438e-02 -2.24695946e-02 6.53493476e+01] [ 3.03239771e-02 9.99540034e-01 -4.19430105e-04 -2.48453402e-01] [ 2.24719789e-02 -2.62236217e-04 9.99747439e-01 -2.41357028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11925415399999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:65.38, Y:-0.25, Z:-0.02 [[ 9.99300408e-01 -3.01158084e-02 -2.21750381e-02 6.53776200e+01] [ 3.01139399e-02 9.99546385e-01 -4.18263282e-04 -2.48831465e-01] [ 2.21775755e-02 -2.49807096e-04 9.99754016e-01 -2.36284584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14925415399999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:65.41, Y:-0.25, Z:-0.02 [[ 9.99326667e-01 -2.96327989e-02 -2.16358535e-02 6.54057341e+01] [ 2.96308652e-02 9.99560825e-01 -4.10024222e-04 -2.49280076e-01] [ 2.16385017e-02 -2.31340917e-04 9.99765833e-01 -2.33826340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17925415399999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:65.43, Y:-0.25, Z:-0.02 [[ 9.99380782e-01 -2.81028897e-02 -2.11726209e-02 6.54341888e+01] [ 2.81006306e-02 9.99605018e-01 -4.04265648e-04 -2.49988591e-01] [ 2.11756191e-02 -1.90948680e-04 9.99775753e-01 -2.27600297e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20925415399998 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:65.46, Y:-0.25, Z:-0.02 [[ 9.99430646e-01 -2.66796539e-02 -2.06538215e-02 6.54615733e+01] [ 2.66771156e-02 9.99644023e-01 -3.98456165e-04 -2.49465699e-01] [ 2.06570999e-02 -1.52755081e-04 9.99786608e-01 -2.24957636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23925415399998 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:65.49, Y:-0.25, Z:-0.02 [[ 9.99479430e-01 -2.49886315e-02 -2.04067779e-02 6.54904852e+01] [ 2.49857438e-02 9.99687729e-01 -3.96500626e-04 -2.48729338e-01] [ 2.04103135e-02 -1.13584305e-04 9.99791681e-01 -2.16455061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.26925415399998 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:65.52, Y:-0.25, Z:-0.02 [[ 9.99584931e-01 -2.05612419e-02 -2.01792067e-02 6.55180738e+01] [ 2.05574097e-02 9.99788595e-01 -3.97350402e-04 -2.48047378e-01] [ 2.01831107e-02 -1.76467444e-05 9.99796300e-01 -2.11930569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29925415399998 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:65.55, Y:-0.25, Z:-0.02 [[ 9.99623748e-01 -1.83054406e-02 -2.04272790e-02 6.55453578e+01] [ 1.83009399e-02 9.99832441e-01 -4.07261411e-04 -2.47729010e-01] [ 2.04313114e-02 3.32697728e-05 9.99791258e-01 -2.07609803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.32925415399998 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:65.57, Y:-0.25, Z:-0.02 [[ 9.99678809e-01 -1.48303521e-02 -2.05509138e-02 6.55734681e+01] [ 1.48249867e-02 9.99890018e-01 -4.13415690e-04 -2.48208535e-01] [ 2.05547847e-02 1.08615881e-04 9.99788722e-01 -2.07928350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35925415399998 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:65.60, Y:-0.25, Z:-0.02 [[ 9.99687145e-01 -1.38676672e-02 -2.08158584e-02 6.56008228e+01] [ 1.38618375e-02 9.99903830e-01 -4.24327977e-04 -2.48460884e-01] [ 2.08197410e-02 1.35649177e-04 9.99783236e-01 -2.04301099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.38925415399999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:65.63, Y:-0.25, Z:-0.02 [[ 9.99684483e-01 -1.41129961e-02 -2.07787937e-02 6.56291085e+01] [ 1.41071409e-02 9.99900398e-01 -4.28350161e-04 -2.48595677e-01] [ 2.07827694e-02 1.35085640e-04 9.99784006e-01 -2.02609457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41925415399999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:65.66, Y:-0.25, Z:-0.02 [[ 9.99626714e-01 -1.64237017e-02 -2.18333244e-02 6.56570163e+01] [ 1.64176448e-02 9.99865117e-01 -4.56647291e-04 -2.50034896e-01] [ 2.18378793e-02 9.80250658e-05 9.99761520e-01 -2.00458939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44925415399999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:65.68, Y:-0.25, Z:-0.02 [[ 9.99559413e-01 -1.91546363e-02 -2.26733426e-02 6.56845640e+01] [ 1.91486530e-02 9.99816532e-01 -4.80992858e-04 -2.50321847e-01] [ 2.26783960e-02 4.66169678e-05 9.99742811e-01 -1.99643482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47925415399999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:65.71, Y:-0.25, Z:-0.02 [[ 9.99478022e-01 -2.20743727e-02 -2.35882696e-02 6.57128928e+01] [ 2.20685428e-02 9.99756331e-01 -5.07469747e-04 -2.50923284e-01] [ 2.35937240e-02 -1.33538789e-05 9.99721629e-01 -1.96567895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50925415399999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:65.74, Y:-0.25, Z:-0.02 [[ 9.99288888e-01 -2.80782853e-02 -2.51659943e-02 6.57394746e+01] [ 2.80734062e-02 9.99605714e-01 -5.47228786e-04 -2.53059405e-01] [ 2.51714369e-02 -1.59655535e-04 9.99683136e-01 -1.92324107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53925415399999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:65.77, Y:-0.25, Z:-0.02 [[ 9.99184229e-01 -3.13657460e-02 -2.54374966e-02 6.57672878e+01] [ 3.13616968e-02 9.99507945e-01 -5.58210021e-04 -2.53879086e-01] [ 2.54424887e-02 -2.40008409e-04 9.99676259e-01 -1.89410785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56925415399998 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:65.80, Y:-0.25, Z:-0.02 [[ 9.99175651e-01 -3.16379534e-02 -2.54373375e-02 6.57956840e+01] [ 3.16338096e-02 9.99499366e-01 -5.65390229e-04 -2.53176754e-01] [ 2.54424905e-02 -2.39755741e-04 9.99676259e-01 -1.85360827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.59925415399998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:65.82, Y:-0.26, Z:-0.02 [[ 9.99018469e-01 -3.65461715e-02 -2.50295144e-02 6.58240833e+01] [ 3.65435246e-02 9.99331904e-01 -5.63300587e-04 -2.55259521e-01] [ 2.50333788e-02 -3.51918985e-04 9.99686554e-01 -1.78065934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.62925415399998 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:65.85, Y:-0.26, Z:-0.02 [[ 9.98951738e-01 -3.85133244e-02 -2.47416634e-02 6.58522141e+01] [ 3.85111630e-02 9.99258011e-01 -5.64017769e-04 -2.55346818e-01] [ 2.47450276e-02 -3.89403704e-04 9.99693719e-01 -1.68681755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.65925415399998 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:65.88, Y:-0.26, Z:-0.02 [[ 9.98904721e-01 -3.99557608e-02 -2.43494274e-02 6.58805821e+01] [ 3.99539784e-02 9.99201364e-01 -5.59892537e-04 -2.55296270e-01] [ 2.43523520e-02 -4.13577197e-04 9.99703352e-01 -1.58453848e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.68925415399998 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:65.91, Y:-0.26, Z:-0.02 [[ 9.98893575e-01 -4.06827873e-02 -2.35910316e-02 6.59088427e+01] [ 4.06812818e-02 9.99172026e-01 -5.43933176e-04 -2.55138324e-01] [ 2.35936275e-02 -4.16382049e-04 9.99721545e-01 -1.51615692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.71925415399998 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:65.94, Y:-0.26, Z:-0.01 [[ 9.98913614e-01 -4.11041793e-02 -2.19553588e-02 6.59382414e+01] [ 4.11029553e-02 9.99154788e-01 -5.07210324e-04 -2.55285834e-01] [ 2.19576503e-02 -3.95770830e-04 9.99758823e-01 -1.40679694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.74925415399998 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:65.97, Y:-0.26, Z:-0.01 [[ 9.98932060e-01 -4.09822947e-02 -2.13352024e-02 6.59684324e+01] [ 4.09811092e-02 9.99159800e-01 -4.92965417e-04 -2.55008450e-01] [ 2.13374794e-02 -3.81901298e-04 9.99772257e-01 -1.39518073e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77925415399999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:66.00, Y:-0.25, Z:-0.01 [[ 9.98954556e-01 -4.03040652e-02 -2.15726129e-02 6.59994111e+01] [ 4.03027133e-02 9.99187392e-01 -4.97610335e-04 -2.54611178e-01] [ 2.15751385e-02 -3.72344721e-04 9.99767160e-01 -1.30627257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80925415399999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:66.03, Y:-0.25, Z:-0.01 [[ 9.99063722e-01 -3.77909443e-02 -2.10599904e-02 6.60298591e+01] [ 3.77890976e-02 9.99285619e-01 -4.85785794e-04 -2.54853202e-01] [ 2.10633039e-02 -3.10507069e-04 9.99778096e-01 -1.25385500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83925415399999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:66.06, Y:-0.25, Z:-0.01 [[ 9.99134808e-01 -3.60825076e-02 -2.06805986e-02 6.60601455e+01] [ 3.60803610e-02 9.99348778e-01 -4.77034454e-04 -2.54430254e-01] [ 2.06843436e-02 -2.69541736e-04 9.99786020e-01 -1.24093916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86925415399999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:66.09, Y:-0.25, Z:-0.01 [[ 9.99214143e-01 -3.37527779e-02 -2.07809353e-02 6.60901634e+01] [ 3.37501067e-02 9.99430188e-01 -4.79348896e-04 -2.54055545e-01] [ 2.07852734e-02 -2.22386587e-04 9.99783938e-01 -1.20595569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89925415399999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:66.12, Y:-0.25, Z:-0.01 [[ 9.99377257e-01 -2.83162929e-02 -2.10543571e-02 6.61184894e+01] [ 2.83123365e-02 9.99599007e-01 -4.86031003e-04 -2.53158220e-01] [ 2.10596771e-02 -1.10369712e-04 9.99778214e-01 -1.16330341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92925415399999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:66.15, Y:-0.25, Z:-0.01 [[ 9.99441209e-01 -2.60154350e-02 -2.09872804e-02 6.61463847e+01] [ 2.60109391e-02 9.99661540e-01 -4.87221123e-04 -2.52358872e-01] [ 2.09928523e-02 -5.89500046e-05 9.99779624e-01 -1.09729492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:66.17, Y:-0.25, Z:-0.01 [[ 9.99488883e-01 -2.37841321e-02 -2.13608818e-02 6.61741034e+01] [ 2.37788302e-02 9.99717118e-01 -5.02206131e-04 -2.52113593e-01] [ 2.13667837e-02 -5.98733647e-06 9.99771704e-01 -1.07519487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.98925415399998 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:66.20, Y:-0.25, Z:-0.01 [[ 9.99554511e-01 -2.02877076e-02 -2.18903861e-02 6.62021344e+01] [ 2.02811565e-02 9.99794180e-01 -5.21257535e-04 -2.52258575e-01] [ 2.18964558e-02 7.70629742e-05 9.99760241e-01 -1.04831019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01925415399998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:66.23, Y:-0.25, Z:-0.01 [[ 9.99568416e-01 -1.89465167e-02 -2.24501788e-02 6.62288187e+01] [ 1.89391672e-02 9.99820492e-01 -5.39964894e-04 -2.52249738e-01] [ 2.24563793e-02 1.14544164e-04 9.99747817e-01 -1.00589258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04925415399998 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:66.26, Y:-0.25, Z:-0.01 [[ 9.99575657e-01 -1.83511173e-02 -2.26217143e-02 6.62569517e+01] [ 1.83434056e-02 9.99831595e-01 -5.48372652e-04 -2.52332421e-01] [ 2.26279680e-02 1.33180672e-04 9.99743946e-01 -9.91412094e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07925415399998 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:66.28, Y:-0.25, Z:-0.01 [[ 9.99563306e-01 -1.84331952e-02 -2.30957540e-02 6.62849103e+01] [ 1.84250210e-02 9.99830084e-01 -5.66693822e-04 -2.53829085e-01] [ 2.31022756e-02 1.40906598e-04 9.99733097e-01 -1.01432584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.10925415399998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:66.31, Y:-0.25, Z:-0.01 [[ 9.99541682e-01 -1.93801468e-02 -2.32558964e-02 6.63126674e+01] [ 1.93719553e-02 9.99812179e-01 -5.77490181e-04 -2.53979697e-01] [ 2.32627203e-02 1.26713322e-04 9.99729378e-01 -9.81822842e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13925415399999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:66.34, Y:-0.25, Z:-0.01 [[ 9.99513043e-01 -2.08858440e-02 -2.31831343e-02 6.63403265e+01] [ 2.08779510e-02 9.99781862e-01 -5.82478939e-04 -2.54213042e-01] [ 2.31902427e-02 9.81789568e-05 9.99731065e-01 -9.54764025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16925415399999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:66.37, Y:-0.26, Z:-0.01 [[ 9.99432981e-01 -2.46841213e-02 -2.29000076e-02 6.63683692e+01] [ 2.46772637e-02 9.99695301e-01 -5.82042463e-04 -2.56188755e-01] [ 2.29073972e-02 1.66029069e-05 9.99737591e-01 -9.26878524e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19925415399999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:66.40, Y:-0.26, Z:-0.01 [[ 9.99362437e-01 -2.73463918e-02 -2.29541724e-02 6.63961929e+01] [ 2.73400485e-02 9.99626017e-01 -5.90184183e-04 -2.57018803e-01] [ 2.29617273e-02 -3.77602817e-05 9.99736344e-01 -8.48060037e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22925415399999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:66.42, Y:-0.26, Z:-0.01 [[ 9.99279007e-01 -3.03895930e-02 -2.27582703e-02 6.64242054e+01] [ 3.03839957e-02 9.99538125e-01 -5.91772658e-04 -2.57632537e-01] [ 2.27657426e-02 -1.00141194e-04 9.99740822e-01 -7.88077170e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25925415399999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:66.45, Y:-0.26, Z:-0.01 [[ 9.99182521e-01 -3.35235345e-02 -2.25933925e-02 6.64521066e+01] [ 3.35186709e-02 9.99437915e-01 -5.94035001e-04 -2.58244399e-01] [ 2.26006072e-02 -1.63751097e-04 9.99744560e-01 -7.20096814e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28925415399999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:66.48, Y:-0.26, Z:-0.01 [[ 9.98966344e-01 -3.99988352e-02 -2.15948258e-02 6.64800337e+01] [ 3.99957725e-02 9.99199684e-01 -5.73882156e-04 -2.60901016e-01] [ 2.16004978e-02 -2.90412781e-04 9.99766640e-01 -6.78211651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31925415399998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:66.51, Y:-0.26, Z:-0.01 [[ 9.98848404e-01 -4.30714743e-02 -2.11356189e-02 6.65093740e+01] [ 4.30691368e-02 9.99071934e-01 -5.65991915e-04 -2.61642701e-01] [ 2.11403818e-02 -3.44952742e-04 9.99776458e-01 -6.14311400e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:66.54, Y:-0.26, Z:-0.01 [[ 9.98759328e-01 -4.54762189e-02 -2.02908429e-02 6.65403910e+01] [ 4.54745503e-02 9.98965349e-01 -5.43869862e-04 -2.62545985e-01] [ 2.02945821e-02 -3.79521858e-04 9.99793972e-01 -5.60583295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37925415399998 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:66.57, Y:-0.26, Z:-0.01 [[ 9.98566207e-01 -5.02081531e-02 -1.85653093e-02 6.65707469e+01] [ 5.02075783e-02 9.98738680e-01 -4.97352685e-04 -2.64878950e-01] [ 1.85668637e-02 -4.35479635e-04 9.99827526e-01 -5.40671286e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.40925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:66.60, Y:-0.27, Z:-0.01 [[ 9.98489496e-01 -5.19059780e-02 -1.80137657e-02 6.66034159e+01] [ 5.19057332e-02 9.98651873e-01 -4.81451880e-04 -2.65755614e-01] [ 1.80144711e-02 -4.54293071e-04 9.99837623e-01 -5.03178295e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43925415399998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:66.63, Y:-0.27, Z:-0.00 [[ 9.98326414e-01 -5.49821567e-02 -1.79257760e-02 6.66343650e+01] [ 5.49824322e-02 9.98487208e-01 -4.77848089e-04 -2.67535932e-01] [ 1.79249311e-02 -5.08554393e-04 9.99839206e-01 -4.85127691e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.46925415399998 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:66.67, Y:-0.27, Z:-0.00 [[ 9.98288203e-01 -5.55813741e-02 -1.82037110e-02 6.66653508e+01] [ 5.55817762e-02 9.98454021e-01 -4.84242996e-04 -2.67720758e-01] [ 1.82024833e-02 -5.28380522e-04 9.99834181e-01 -4.81485549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:66.70, Y:-0.27, Z:-0.00 [[ 9.98265031e-01 -5.57304586e-02 -1.90011415e-02 6.66977589e+01] [ 5.57309456e-02 9.98445696e-01 -5.04305837e-04 -2.67600884e-01] [ 1.89997131e-02 -5.55520699e-04 9.99819335e-01 -4.28109878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52925415399999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:66.73, Y:-0.27, Z:-0.00 [[ 9.98278432e-01 -5.52868434e-02 -1.95841118e-02 6.67304043e+01] [ 5.52873036e-02 9.98470353e-01 -5.18343443e-04 -2.67865579e-01] [ 1.95828126e-02 -5.65301657e-04 9.99808079e-01 -3.85039102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55925415399999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:66.76, Y:-0.27, Z:-0.00 [[ 9.98314179e-01 -5.46343288e-02 -1.95930905e-02 6.67614876e+01] [ 5.46346902e-02 9.98506276e-01 -5.17236986e-04 -2.67311608e-01] [ 1.95920827e-02 -5.54097411e-04 9.99807903e-01 -3.26427117e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58925415399999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:66.79, Y:-0.27, Z:-0.00 [[ 9.98394113e-01 -5.32133308e-02 -1.94302779e-02 6.67913402e+01] [ 5.32134342e-02 9.98583030e-01 -5.12071547e-04 -2.67001470e-01] [ 1.94299948e-02 -5.22702594e-04 9.99811083e-01 -2.18712297e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61925415399999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:66.82, Y:-0.27, Z:-0.00 [[ 9.98449367e-01 -5.22275656e-02 -1.92650774e-02 6.68229458e+01] [ 5.22274921e-02 9.98635084e-01 -5.07287617e-04 -2.66161860e-01] [ 1.92652766e-02 -4.99665677e-04 9.99814282e-01 -1.49620100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64925415399999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:66.85, Y:-0.26, Z:-0.00 [[ 9.98580395e-01 -4.97878082e-02 -1.89306327e-02 6.68535157e+01] [ 4.97873137e-02 9.98759719e-01 -4.97709084e-04 -2.64419235e-01] [ 1.89319332e-02 -4.45502814e-04 9.99820676e-01 -7.28783872e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67925415399999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:66.88, Y:-0.26, Z:-0.00 [[ 9.98631693e-01 -4.87150653e-02 -1.90153690e-02 6.68836219e+01] [ 4.87143895e-02 9.98812625e-01 -4.99014826e-04 -2.63165028e-01] [ 1.90171002e-02 -4.27990073e-04 9.99819067e-01 -3.47673306e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:66.92, Y:-0.26, Z:0.00 [[ 9.98665714e-01 -4.79505352e-02 -1.91712711e-02 6.69150827e+01] [ 4.79497158e-02 9.98849624e-01 -5.02676665e-04 -2.62111438e-01] [ 1.91733205e-02 -4.17251049e-04 9.99816088e-01 1.31526390e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73925415399998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:66.95, Y:-0.26, Z:0.00 [[ 9.98676990e-01 -4.75360249e-02 -1.96110947e-02 6.69467162e+01] [ 4.75351019e-02 9.98869436e-01 -5.13479803e-04 -2.60877921e-01] [ 1.96133319e-02 -4.19414919e-04 9.99807552e-01 4.59126296e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.76925415399998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:66.98, Y:-0.26, Z:0.00 [[ 9.98651180e-01 -4.71875912e-02 -2.16599122e-02 6.69780712e+01] [ 4.71864018e-02 9.98885941e-01 -5.66277759e-04 -2.59515561e-01] [ 2.16625030e-02 -4.56539367e-04 9.99765236e-01 1.10384875e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79925415399998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:67.01, Y:-0.26, Z:0.00 [[ 9.98622433e-01 -4.75237880e-02 -2.22424472e-02 6.70072166e+01] [ 4.75226259e-02 9.98869993e-01 -5.81121854e-04 -2.58457385e-01] [ 2.22449302e-02 -4.76698179e-04 9.99752437e-01 1.04588079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.82925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:67.04, Y:-0.26, Z:0.00 [[ 9.98576677e-01 -4.79663076e-02 -2.33206685e-02 6.70375754e+01] [ 4.79651445e-02 9.98848824e-01 -6.09561154e-04 -2.57327567e-01] [ 2.33230607e-02 -5.09885684e-04 9.99727850e-01 1.84872373e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:67.07, Y:-0.26, Z:0.00 [[ 9.98525147e-01 -4.87965217e-02 -2.37998092e-02 6.70676103e+01] [ 4.87955460e-02 9.98808594e-01 -6.22085047e-04 -2.56034079e-01] [ 2.38018096e-02 -5.40157123e-04 9.99716551e-01 2.37005184e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.88925415399999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:67.10, Y:-0.25, Z:0.00 [[ 9.98459964e-01 -5.03098731e-02 -2.33798277e-02 6.70978025e+01] [ 5.03093461e-02 9.98733496e-01 -6.11107471e-04 -2.54973447e-01] [ 2.33809618e-02 -5.66057502e-04 9.99726468e-01 3.17173152e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91925415399999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:67.13, Y:-0.25, Z:0.00 [[ 9.98405338e-01 -5.14066205e-02 -2.33268261e-02 6.71279437e+01] [ 5.14063950e-02 9.98677631e-01 -6.09722102e-04 -2.54390874e-01] [ 2.33273232e-02 -5.90398235e-04 9.99727707e-01 4.12937987e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94925415399999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:67.16, Y:-0.25, Z:0.00 [[ 9.98363357e-01 -5.23555423e-02 -2.30109691e-02 6.71573926e+01] [ 5.23555748e-02 9.98628325e-01 -6.01455076e-04 -2.53867711e-01] [ 2.30108951e-02 -6.04281808e-04 9.99735032e-01 4.59451021e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97925415399999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:67.19, Y:-0.25, Z:0.01 [[ 9.98263445e-01 -5.45495310e-02 -2.22360955e-02 6.71875842e+01] [ 5.45501054e-02 9.98510865e-01 -5.81184326e-04 -2.52353924e-01] [ 2.22346862e-02 -6.32806283e-04 9.99752579e-01 5.37764314e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00925415399999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:67.22, Y:-0.25, Z:0.01 [[ 9.98218183e-01 -5.54657654e-02 -2.20002011e-02 6.72189357e+01] [ 5.54665561e-02 9.98460380e-01 -5.74740492e-04 -2.51076035e-01] [ 2.19982076e-02 -6.46558980e-04 9.99757801e-01 6.06446129e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03925415399999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:67.25, Y:-0.25, Z:0.01 [[ 9.98162331e-01 -5.66790357e-02 -2.14347191e-02 6.72499214e+01] [ 5.66800819e-02 9.98392235e-01 -5.59206159e-04 -2.49151119e-01] [ 2.14319524e-02 -6.56743112e-04 9.99770094e-01 6.52411949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06925415399998 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:67.28, Y:-0.25, Z:0.01 [[ 9.98182709e-01 -5.63429550e-02 -2.13717508e-02 6.72811130e+01] [ 5.63439378e-02 9.98411263e-01 -5.56644346e-04 -2.47663419e-01] [ 2.13691597e-02 -6.48535836e-04 9.99771443e-01 6.89269719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.09925415399998 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:67.31, Y:-0.25, Z:0.01 [[ 9.98209739e-01 -5.57829777e-02 -2.15772064e-02 6.73136081e+01] [ 5.57838776e-02 9.98442710e-01 -5.60659239e-04 -2.46085243e-01] [ 2.15748797e-02 -6.44004730e-04 9.99767028e-01 7.64804878e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.12925415399998 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:67.34, Y:-0.24, Z:0.01 [[ 9.98290726e-01 -5.43168790e-02 -2.15708797e-02 6.73435080e+01] [ 5.43174690e-02 9.98523560e-01 -5.58986029e-04 -2.43721232e-01] [ 2.15693939e-02 -6.13645019e-04 9.99767165e-01 8.12126036e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.15925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:67.38, Y:-0.24, Z:0.01 [[ 9.98313281e-01 -5.38236176e-02 -2.17625867e-02 6.73755949e+01] [ 5.38241328e-02 9.98550272e-01 -5.62496435e-04 -2.41740894e-01] [ 2.17613125e-02 -6.09804696e-04 9.99763009e-01 8.68322725e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.18925415399998 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:67.41, Y:-0.24, Z:0.01 [[ 9.98307162e-01 -5.38667658e-02 -2.19358373e-02 6.74065222e+01] [ 5.38673324e-02 9.98547941e-01 -5.65481164e-04 -2.39749481e-01] [ 2.19344459e-02 -6.17101145e-04 9.99759221e-01 9.22133726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.21925415399998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:67.44, Y:-0.24, Z:0.01 [[ 9.98287279e-01 -5.41304901e-02 -2.21900496e-02 6.74376853e+01] [ 5.41311592e-02 9.98533671e-01 -5.70943333e-04 -2.37734698e-01] [ 2.21884172e-02 -6.31207644e-04 9.99753608e-01 9.87578484e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.24925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:67.47, Y:-0.23, Z:0.01 [[ 9.98180470e-01 -5.57171699e-02 -2.30509341e-02 6.74687946e+01] [ 5.57183387e-02 9.98446351e-01 -5.92057505e-04 -2.34806946e-01] [ 2.30481088e-02 -6.93379514e-04 9.99734117e-01 1.00298876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27925415399999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:67.50, Y:-0.23, Z:0.01 [[ 9.98094630e-01 -5.68687705e-02 -2.39385297e-02 6.74996946e+01] [ 5.68703900e-02 9.98381381e-01 -6.13685506e-04 -2.33224793e-01] [ 2.39346818e-02 -7.48877311e-04 9.99713244e-01 1.02598394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30925415399999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:67.53, Y:-0.23, Z:0.01 [[ 9.98000601e-01 -5.78160514e-02 -2.55363250e-02 6.75298550e+01] [ 5.77502081e-02 9.98325580e-01 -3.30903482e-03 -2.30354894e-01] [ 2.56848818e-02 1.82769066e-03 9.99668418e-01 1.13763806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33925415399999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:67.56, Y:-0.23, Z:0.01 [[ 9.97811336e-01 -6.11965056e-02 -2.50504699e-02 6.75605166e+01] [ 6.12640137e-02 9.98119719e-01 1.93562613e-03 -2.30321665e-01] [ 2.48849144e-02 -3.46608202e-03 9.99684314e-01 9.62490252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36925415399999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:67.59, Y:-0.23, Z:0.01 [[ 9.97726799e-01 -6.24343568e-02 -2.53610929e-02 6.75928879e+01] [ 6.24379068e-02 9.98048637e-01 -6.52645142e-04 -2.26961525e-01] [ 2.53523516e-02 -9.32332004e-04 9.99678143e-01 1.10294336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39925415399999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:67.62, Y:-0.22, Z:0.01 [[ 9.97619923e-01 -6.41053639e-02 -2.53966687e-02 6.76240065e+01] [ 6.41095069e-02 9.97942657e-01 -6.51885986e-04 -2.23800723e-01] [ 2.53862085e-02 -9.77833463e-04 9.99677240e-01 1.15945287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42925415399999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:67.66, Y:-0.22, Z:0.01 [[ 9.97570155e-01 -6.50023743e-02 -2.50694405e-02 6.76552488e+01] [ 6.50067283e-02 9.97884619e-01 -6.42116780e-04 -2.21903371e-01] [ 2.50581482e-02 -9.89125774e-04 9.99685506e-01 1.17343224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45925415399998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:67.69, Y:-0.22, Z:0.01 [[ 9.97572495e-01 -6.49664445e-02 -2.50694704e-02 6.76870805e+01] [ 6.49708164e-02 9.97886959e-01 -6.40948511e-04 -2.21120606e-01] [ 2.50581377e-02 -9.89391356e-04 9.99685506e-01 1.21867952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.48925415399998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:67.72, Y:-0.22, Z:0.01 [[ 9.97467354e-01 -6.64302135e-02 -2.54146426e-02 6.77188194e+01] [ 6.64352148e-02 9.97790530e-01 -6.48443511e-04 -2.17771744e-01] [ 2.54015659e-02 -1.04162601e-03 9.99676785e-01 1.30609915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.51925415399998 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:67.75, Y:-0.22, Z:0.01 [[ 9.97448168e-01 -6.68135144e-02 -2.51616150e-02 6.77514239e+01] [ 6.68185839e-02 9.97764936e-01 -6.40176659e-04 -2.15695946e-01] [ 2.51481496e-02 -1.04272045e-03 9.99683191e-01 1.37836495e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.54925415399998 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:67.78, Y:-0.21, Z:0.01 [[ 9.97420715e-01 -6.73645811e-02 -2.47776024e-02 6.77834636e+01] [ 6.73697105e-02 9.97727882e-01 -6.28631835e-04 -2.13520999e-01] [ 2.47636523e-02 -1.04224948e-03 9.99692790e-01 1.43504289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.57925415399998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:67.81, Y:-0.21, Z:0.01 [[ 9.97402449e-01 -6.80024183e-02 -2.37492135e-02 6.78148429e+01] [ 6.80073463e-02 9.97684639e-01 -6.01046216e-04 -2.10076312e-01] [ 2.37350981e-02 -1.01563602e-03 9.99717767e-01 1.49399463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.60925415399998 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:67.85, Y:-0.20, Z:0.02 [[ 9.97481596e-01 -6.74049586e-02 -2.20689254e-02 6.78466737e+01] [ 6.74090958e-02 9.97725264e-01 -5.57238225e-04 -2.04797013e-01] [ 2.20562851e-02 -9.31811435e-04 9.99756296e-01 1.53533690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63925415399999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:67.88, Y:-0.20, Z:0.02 [[ 9.97569809e-01 -6.61773269e-02 -2.17953712e-02 6.78782979e+01] [ 6.61811041e-02 9.97807477e-01 -5.48748542e-04 -2.01848416e-01] [ 2.17838991e-02 -8.95026753e-04 9.99762302e-01 1.59889667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66925415399999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:67.91, Y:-0.20, Z:0.02 [[ 9.97695899e-01 -6.41188542e-02 -2.21735314e-02 6.79101179e+01] [ 6.41222928e-02 9.97941893e-01 -5.56615719e-04 -1.99075750e-01] [ 2.21635854e-02 -8.66484450e-04 9.99753982e-01 1.63585623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69925415399999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:67.94, Y:-0.20, Z:0.02 [[ 9.97701815e-01 -6.40267200e-02 -2.21735761e-02 6.79428036e+01] [ 6.40301755e-02 9.97947809e-01 -5.54828350e-04 -1.98314255e-01] [ 2.21635955e-02 -8.66224720e-04 9.99753982e-01 1.68230734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72925415399999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:67.97, Y:-0.20, Z:0.02 [[ 9.97852860e-01 -6.15901399e-02 -2.22783274e-02 6.79746125e+01] [ 6.15930645e-02 9.98101190e-01 -5.55534946e-04 -1.95654723e-01] [ 2.22702405e-02 -8.17848319e-04 9.99751653e-01 1.70663135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75925415399999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:68.01, Y:-0.19, Z:0.02 [[ 9.98124839e-01 -5.68794670e-02 -2.26170730e-02 6.80070338e+01] [ 5.68813112e-02 9.98380789e-01 -5.62301332e-04 -1.90823746e-01] [ 2.26124346e-02 -7.25241839e-04 9.99744043e-01 1.75381478e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78925415399999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:68.04, Y:-0.19, Z:0.02 [[ 9.98236395e-01 -5.49566337e-02 -2.24470072e-02 6.80389559e+01] [ 5.49580013e-02 9.98488512e-01 -5.56431566e-04 -1.88174592e-01] [ 2.24436584e-02 -6.78192412e-04 9.99747879e-01 1.77435778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81925415399998 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:68.07, Y:-0.18, Z:0.02 [[ 9.98382376e-01 -5.21972487e-02 -2.25405916e-02 6.80699961e+01] [ 5.21979592e-02 9.98636602e-01 -5.57239839e-04 -1.83912384e-01] [ 2.25389462e-02 -6.20234446e-04 9.99745773e-01 1.80189227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84925415399998 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:68.10, Y:-0.18, Z:0.02 [[ 9.98421334e-01 -5.12742795e-02 -2.29300863e-02 6.81024200e+01] [ 5.12748042e-02 9.98684422e-01 -5.65446124e-04 -1.81753616e-01] [ 2.29289129e-02 -6.11182214e-04 9.99736911e-01 1.83974973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.87925415399998 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:68.13, Y:-0.18, Z:0.02 [[ 9.98443370e-01 -5.07686964e-02 -2.30949288e-02 6.81334895e+01] [ 5.07691410e-02 9.98710254e-01 -5.67458483e-04 -1.79775207e-01] [ 2.30939513e-02 -6.05934536e-04 9.99733116e-01 1.81609450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.90925415399998 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:68.17, Y:-0.18, Z:0.02 [[ 9.98439720e-01 -5.05752763e-02 -2.36699663e-02 6.81652759e+01] [ 5.05757450e-02 9.98720060e-01 -5.79230046e-04 -1.78199346e-01] [ 2.36689649e-02 -6.18799892e-04 9.99719659e-01 1.83509299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.93925415399998 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:68.20, Y:-0.18, Z:0.02 [[ 9.98427168e-01 -5.07524930e-02 -2.38196225e-02 6.81978378e+01] [ 5.07530592e-02 9.98711064e-01 -5.81163179e-04 -1.76529782e-01] [ 2.38184161e-02 -6.28669606e-04 9.99716104e-01 1.81625526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.96925415399998 meters Centerline goodness : 0.996794 Centerline is valid? [True, True] Translation: X:68.23, Y:-0.17, Z:0.02 [[ 9.98396217e-01 -5.04160490e-02 -2.57529863e-02 6.82279580e+01] [ 5.02655689e-02 9.98715008e-01 -6.45793153e-03 -1.71519082e-01] [ 2.60454773e-02 5.15308590e-03 9.99647477e-01 2.03778444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99925415399998 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:68.26, Y:-0.18, Z:0.02 [[ 9.98353290e-01 -5.18890613e-02 -2.44588233e-02 6.82590264e+01] [ 5.20281245e-02 9.98632681e-01 5.08351461e-03 -1.75288048e-01] [ 2.41616014e-02 -6.34769024e-03 9.99687913e-01 1.66155205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02925415399999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:68.29, Y:-0.17, Z:0.02 [[ 9.98320186e-01 -5.24082248e-02 -2.47019158e-02 6.82909835e+01] [ 5.24094099e-02 9.98625502e-01 -5.99873485e-04 -1.70889727e-01] [ 2.46994013e-02 -6.95747019e-04 9.99694681e-01 1.88720896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05925415399999 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:68.32, Y:-0.17, Z:0.02 [[ 9.98273595e-01 -5.30919201e-02 -2.51212417e-02 6.83229764e+01] [ 5.30934079e-02 9.98589365e-01 -6.08230451e-04 -1.67480554e-01] [ 2.51180969e-02 -7.26591933e-04 9.99684227e-01 1.99456327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08925415399999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:68.36, Y:-0.17, Z:0.02 [[ 9.98266169e-01 -5.32420795e-02 -2.50985331e-02 6.83551628e+01] [ 5.32436579e-02 9.98581367e-01 -6.05855451e-04 -1.65747607e-01] [ 2.50951845e-02 -7.31532712e-04 9.99684799e-01 2.09398257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11925415399999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:68.39, Y:-0.16, Z:0.02 [[ 9.98263423e-01 -5.34372733e-02 -2.47910433e-02 6.83871043e+01] [ 5.34389178e-02 9.98570942e-01 -5.96640337e-04 -1.64071327e-01] [ 2.47874983e-02 -7.29202301e-04 9.99692477e-01 2.15511726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14925415399999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:68.42, Y:-0.16, Z:0.02 [[ 9.98273971e-01 -5.33334344e-02 -2.45890813e-02 6.84192921e+01] [ 5.33350649e-02 9.98576498e-01 -5.89984400e-04 -1.62981357e-01] [ 2.45855446e-02 -7.22494176e-04 9.99697469e-01 2.22786558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17925415399999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:68.45, Y:-0.16, Z:0.02 [[ 9.98293572e-01 -5.31927599e-02 -2.40930208e-02 6.84513548e+01] [ 5.31943266e-02 9.98584013e-01 -5.76325000e-04 -1.61727298e-01] [ 2.40895617e-02 -7.06270471e-04 9.99709555e-01 2.30750853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20925415399998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:68.48, Y:-0.16, Z:0.02 [[ 9.98354907e-01 -5.24316208e-02 -2.32035652e-02 6.84824748e+01] [ 5.24329035e-02 9.98624296e-01 -5.53533482e-04 -1.60839983e-01] [ 2.32006666e-02 -6.64007425e-04 9.99730608e-01 2.36207310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23925415399998 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:68.51, Y:-0.16, Z:0.02 [[ 9.98502702e-01 -4.99588019e-02 -2.22816711e-02 6.85149054e+01] [ 4.99593994e-02 9.98751109e-01 -5.30189583e-04 -1.59397734e-01] [ 2.22803314e-02 -5.83783175e-04 9.99751592e-01 2.46544493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.26925415399998 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:68.55, Y:-0.16, Z:0.03 [[ 9.98623516e-01 -4.76110941e-02 -2.20058387e-02 6.85473258e+01] [ 4.76111427e-02 9.98865810e-01 -5.22014659e-04 -1.57861195e-01] [ 2.20057336e-02 -5.26427010e-04 9.99757706e-01 2.53467318e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29925415399998 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:68.58, Y:-0.16, Z:0.03 [[ 9.98751816e-01 -4.48826631e-02 -2.19170280e-02 6.85782095e+01] [ 4.48820976e-02 9.98992157e-01 -5.17952638e-04 -1.56216823e-01] [ 2.19181861e-02 -4.66376050e-04 9.99759659e-01 2.61658242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.32925415399998 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:68.61, Y:-0.15, Z:0.03 [[ 9.99008393e-01 -3.87365433e-02 -2.19478990e-02 6.86099555e+01] [ 3.87345362e-02 9.99249403e-01 -5.16721848e-04 -1.53780235e-01] [ 2.19514410e-02 -3.33932225e-04 9.99758982e-01 2.63159256e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35925415399998 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:68.64, Y:-0.15, Z:0.03 [[ 9.99117897e-01 -3.57546695e-02 -2.20234364e-02 6.86407404e+01] [ 3.57519357e-02 9.99360561e-01 -5.17983399e-04 -1.52591636e-01] [ 2.20278741e-02 -2.69853996e-04 9.99757321e-01 2.65335444e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.38925415399999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:68.67, Y:-0.15, Z:0.03 [[ 9.99250869e-01 -3.05299554e-02 -2.37828365e-02 6.86691230e+01] [ 3.03930057e-02 9.99519420e-01 -6.09876369e-03 -1.48912404e-01] [ 2.39576020e-02 5.37136303e-03 9.99698545e-01 2.81390780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41925415399999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:68.70, Y:-0.15, Z:0.02 [[ 9.99301067e-01 -2.95924105e-02 -2.28400153e-02 6.86989023e+01] [ 2.97123617e-02 9.99546331e-01 4.93035305e-03 -1.53416515e-01] [ 2.26837525e-02 -5.60553786e-03 9.99726975e-01 2.47263428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44925415399999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:68.73, Y:-0.15, Z:0.03 [[ 9.99321316e-01 -2.88698863e-02 -2.28787403e-02 6.87274809e+01] [ 2.88648954e-02 9.99583172e-01 -5.48423919e-04 -1.50030898e-01] [ 2.28850368e-02 -1.12340733e-04 9.99738097e-01 2.70312951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47925415399999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:68.75, Y:-0.15, Z:0.03 [[ 9.99326315e-01 -2.73863047e-02 -2.44316701e-02 6.87547696e+01] [ 2.71940340e-02 9.99596806e-01 -8.16763079e-03 -1.45844406e-01] [ 2.46455006e-02 7.49773272e-03 9.99668137e-01 2.97180841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50925415399999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:68.78, Y:-0.15, Z:0.03 [[ 9.99347325e-01 -2.78897768e-02 -2.29583214e-02 6.87845545e+01] [ 2.80490782e-02 9.99584453e-01 6.64612679e-03 -1.52396575e-01] [ 2.27634221e-02 -7.28574878e-03 9.99714331e-01 2.53556903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53925415399999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:68.81, Y:-0.15, Z:0.03 [[ 9.99320430e-01 -2.87578057e-02 -2.30578969e-02 6.88119030e+01] [ 2.87524740e-02 9.99586404e-01 -5.62794456e-04 -1.48640784e-01] [ 2.30645449e-02 -1.00559584e-04 9.99733973e-01 2.79565371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56925415399998 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:68.84, Y:-0.15, Z:0.03 [[ 9.99286956e-01 -2.96684802e-02 -2.33529750e-02 6.88393869e+01] [ 2.96631303e-02 9.99559787e-01 -5.75541278e-04 -1.48366132e-01] [ 2.33597701e-02 -1.17591447e-04 9.99727116e-01 2.80626875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59925415399998 meters Centerline goodness : 0.996561 Centerline is valid? [True, True] Translation: X:68.87, Y:-0.15, Z:0.03 [[ 9.99140791e-01 -3.22752708e-02 -2.59997294e-02 6.88673387e+01] [ 3.20840911e-02 9.99455225e-01 -7.73715283e-03 -1.45250517e-01] [ 2.62352841e-02 6.89632732e-03 9.99632008e-01 3.06403768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.62925415399998 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:68.90, Y:-0.15, Z:0.03 [[ 9.99099403e-01 -3.41190227e-02 -2.52245046e-02 6.88963700e+01] [ 3.42857792e-02 9.99392788e-01 6.20810434e-03 -1.52083624e-01] [ 2.49973735e-02 -7.06735513e-03 9.99662535e-01 2.62565420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65925415399998 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:68.92, Y:-0.15, Z:0.03 [[ 9.99021564e-01 -3.61626327e-02 -2.54593490e-02 6.89240462e+01] [ 3.61580706e-02 9.99345878e-01 -6.39673428e-04 -1.48787390e-01] [ 2.54658278e-02 -2.81513390e-04 9.99675654e-01 2.85144367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68925415399998 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:68.95, Y:-0.15, Z:0.03 [[ 9.98801921e-01 -4.10862014e-02 -2.65828193e-02 6.89532018e+01] [ 4.10828525e-02 9.99155517e-01 -6.72344233e-04 -1.49816148e-01] [ 2.65879946e-02 -4.20559329e-04 9.99646388e-01 2.92837179e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71925415399998 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:68.99, Y:-0.14, Z:0.03 [[ 9.99060829e-01 -3.93606711e-02 -1.81161958e-02 6.89893139e+01] [ 3.87408951e-02 9.98691703e-01 -3.33770321e-02 -1.39426815e-01] [ 1.94062368e-02 3.26438477e-02 9.99278628e-01 3.08109769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74925415399998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:69.01, Y:-0.17, Z:0.02 [[ 9.98527011e-01 -4.64128417e-02 -2.81008330e-02 6.90115691e+01] [ 4.73391405e-02 9.98325391e-01 3.32478420e-02 -1.66523819e-01] [ 2.65106483e-02 -3.45291376e-02 9.99052013e-01 2.06528979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77925415399999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:69.04, Y:-0.15, Z:0.03 [[ 9.98372994e-01 -4.99039270e-02 -2.75855391e-02 6.90411109e+01] [ 4.99032184e-02 9.98753803e-01 -7.14550838e-04 -1.49884811e-01] [ 2.75868210e-02 -6.63218923e-04 9.99619191e-01 3.16369895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80925415399999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:69.07, Y:-0.15, Z:0.03 [[ 9.98115232e-01 -5.52234087e-02 -2.67648934e-02 6.90725023e+01] [ 5.52246634e-02 9.98473713e-01 -6.92857894e-04 -1.51410419e-01] [ 2.67623045e-02 -7.86530211e-04 9.99641516e-01 3.20134809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83925415399999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:69.10, Y:-0.15, Z:0.03 [[ 9.97964973e-01 -5.80370418e-02 -2.64124065e-02 6.91034959e+01] [ 5.80392786e-02 9.98314067e-01 -6.82563570e-04 -1.51935269e-01] [ 2.64074909e-02 -8.51782484e-04 9.99650899e-01 3.26495499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86925415399999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:69.14, Y:-0.15, Z:0.03 [[ 9.97606624e-01 -6.39348134e-02 -2.63317756e-02 6.91355361e+01] [ 6.39391308e-02 9.97953569e-01 -6.78831345e-04 -1.52896612e-01] [ 2.63212904e-02 -1.00642420e-03 9.99653028e-01 3.38081276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89925415399999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:69.17, Y:-0.16, Z:0.03 [[ 9.97366402e-01 -6.65828602e-02 -2.87572959e-02 6.91698455e+01] [ 6.68553530e-02 9.97725448e-01 8.61934148e-03 -1.57688546e-01] [ 2.81179855e-02 -1.05192208e-02 9.99549261e-01 3.49701099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92925415399998 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:69.20, Y:-0.15, Z:0.04 [[ 9.97165864e-01 -7.03920184e-02 -2.65556710e-02 6.91995550e+01] [ 7.01470673e-02 9.97486067e-01 -1.00466878e-02 -1.48071969e-01] [ 2.71961185e-02 8.15541172e-03 9.99596849e-01 3.74364097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95925415399998 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:69.23, Y:-0.15, Z:0.04 [[ 9.96738136e-01 -7.58507544e-02 -2.75635919e-02 6.92318469e+01] [ 7.58601753e-02 9.97118216e-01 -7.05247496e-04 -1.52808314e-01] [ 2.75376531e-02 -1.38803184e-03 9.99619803e-01 3.52135243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98925415399998 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:69.26, Y:-0.15, Z:0.04 [[ 9.96524449e-01 -7.83473947e-02 -2.82967986e-02 6.92641548e+01] [ 7.83583865e-02 9.96924993e-01 -7.21919852e-04 -1.52182756e-01] [ 2.82663463e-02 -1.49788069e-03 9.99599305e-01 3.57757411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01925415399998 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:69.30, Y:-0.15, Z:0.04 [[ 9.96345301e-01 -8.04732888e-02 -2.86372227e-02 6.92966549e+01] [ 8.04854833e-02 9.96755515e-01 -7.28469870e-04 -1.51488149e-01] [ 2.86029320e-02 -1.57907318e-03 9.99589605e-01 3.65394711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.04925415399998 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:69.33, Y:-0.15, Z:0.04 [[ 9.96199464e-01 -8.22428867e-02 -2.86833790e-02 6.93283916e+01] [ 8.22559199e-02 9.96610975e-01 -7.27256206e-04 -1.50600006e-01] [ 2.86459820e-02 -1.63488549e-03 9.99588283e-01 3.70474694e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07925415399998 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:69.36, Y:-0.16, Z:0.04 [[ 9.95904539e-01 -8.46458181e-02 -3.17684673e-02 6.93619781e+01] [ 8.50771298e-02 9.96296239e-01 1.24774511e-02 -1.55194725e-01] [ 3.05946404e-02 -1.51291202e-02 9.99417369e-01 3.95516643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.10925415399998 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:69.39, Y:-0.14, Z:0.04 [[ 9.95952288e-01 -8.55199852e-02 -2.76653732e-02 6.93927881e+01] [ 8.51574806e-02 9.96268743e-01 -1.40283863e-02 -1.40970596e-01] [ 2.87618540e-02 1.16156899e-02 9.99518800e-01 4.29936545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13925415399999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:69.43, Y:-0.15, Z:0.04 [[ 9.95787072e-01 -8.59362589e-02 -3.19854260e-02 6.94259094e+01] [ 8.64002514e-02 9.96170170e-01 1.34159743e-02 -1.51599739e-01] [ 3.07100086e-02 -1.61230026e-02 9.99398291e-01 4.09200043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16925415399999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:69.46, Y:-0.14, Z:0.04 [[ 9.95963755e-01 -8.51988552e-02 -2.82374500e-02 6.94563510e+01] [ 8.47986427e-02 9.96283957e-01 -1.50820277e-02 -1.36908824e-01] [ 2.94174900e-02 1.26266555e-02 9.99487458e-01 4.41501618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19925415399999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:69.49, Y:-0.15, Z:0.04 [[ 9.95777715e-01 -8.54879079e-02 -3.34448808e-02 6.94893167e+01] [ 8.59807324e-02 9.96204203e-01 1.35830681e-02 -1.47623076e-01] [ 3.21567427e-02 -1.64013318e-02 9.99348258e-01 4.18946603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22925415399999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:69.52, Y:-0.13, Z:0.05 [[ 9.96036507e-01 -8.35307207e-02 -3.05596930e-02 6.95203354e+01] [ 8.30915745e-02 9.96423371e-01 -1.53705949e-02 -1.31457544e-01] [ 3.17343092e-02 1.27704207e-02 9.99414754e-01 4.51795634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25925415399999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:69.55, Y:-0.14, Z:0.04 [[ 9.96128016e-01 -8.21284662e-02 -3.13670217e-02 6.95514427e+01] [ 8.21444635e-02 9.96620127e-01 -7.80466418e-04 -1.36092764e-01] [ 3.13251037e-02 -1.79918270e-03 9.99507629e-01 4.12762112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28925415399999 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:69.58, Y:-0.13, Z:0.04 [[ 9.96311134e-01 -7.94828265e-02 -3.23512648e-02 6.95835802e+01] [ 7.94985541e-02 9.96834659e-01 -8.01872807e-04 -1.31661687e-01] [ 3.23125971e-02 -1.77296397e-03 9.99476239e-01 4.25908116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31925415399998 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:69.61, Y:-0.13, Z:0.04 [[ 9.96461838e-01 -7.77129468e-02 -3.20078590e-02 6.96143094e+01] [ 7.77274951e-02 9.96974328e-01 -7.91377421e-04 -1.28896155e-01] [ 3.19725140e-02 -1.69931331e-03 9.99487304e-01 4.34976683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34925415399998 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:69.65, Y:-0.13, Z:0.04 [[ 9.96622160e-01 -7.56883883e-02 -3.18674967e-02 6.96450941e+01] [ 7.57018311e-02 9.97130189e-01 -7.86206180e-04 -1.26106938e-01] [ 3.18355497e-02 -1.62887735e-03 9.99491793e-01 4.44523610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37925415399998 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:69.68, Y:-0.13, Z:0.04 [[ 9.96628802e-01 -7.56008629e-02 -3.18675534e-02 6.96777817e+01] [ 7.56143346e-02 9.97136830e-01 -7.83902637e-04 -1.25365253e-01] [ 3.18355749e-02 -1.62838390e-03 9.99491793e-01 4.49164029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.40925415399998 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:69.71, Y:-0.12, Z:0.05 [[ 9.96976687e-01 -7.11179462e-02 -3.13005427e-02 6.97101228e+01] [ 7.11288146e-02 9.97466843e-01 -7.67504589e-04 -1.20376649e-01] [ 3.12758369e-02 -1.46118632e-03 9.99509723e-01 4.63181381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43925415399998 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:69.74, Y:-0.11, Z:0.05 [[ 9.97346340e-01 -6.77268272e-02 -2.67086981e-02 6.97435237e+01] [ 6.71584863e-02 9.97507788e-01 -2.16321689e-02 -1.08181208e-01] [ 2.81072125e-02 1.97810487e-02 9.99409173e-01 4.96870384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.46925415399998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:69.77, Y:-0.12, Z:0.04 [[ 9.97628886e-01 -6.15167381e-02 -3.08593051e-02 6.97739951e+01] [ 6.21661100e-02 9.97854366e-01 2.05436074e-02 -1.22087409e-01] [ 2.95293166e-02 -2.24132991e-02 9.99312595e-01 4.23552213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49925415399998 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:69.81, Y:-0.11, Z:0.05 [[ 9.97858087e-01 -5.80900850e-02 -3.00795637e-02 6.98058855e+01] [ 5.80944327e-02 9.98310825e-01 -7.30103951e-04 -1.08714028e-01] [ 3.00711659e-02 -1.01891506e-03 9.99547241e-01 5.02026613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52925415399999 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:69.84, Y:-0.09, Z:0.05 [[ 9.98437918e-01 -5.18914225e-02 -2.07123942e-02 6.98400856e+01] [ 5.10729536e-02 9.97961740e-01 -3.82611871e-02 -9.02347025e-02] [ 2.26556044e-02 3.71435769e-02 9.99053091e-01 5.20350284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55925415399999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:69.87, Y:-0.12, Z:0.04 [[ 9.98299964e-01 -4.93735845e-02 -3.09746684e-02 6.98680022e+01] [ 5.05233710e-02 9.98018383e-01 3.75059541e-02 -1.20631862e-01] [ 2.90614851e-02 -3.90071373e-02 9.98816236e-01 3.90557688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58925415399999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:69.90, Y:-0.10, Z:0.05 [[ 9.98684133e-01 -4.13012435e-02 -3.04008183e-02 6.98983313e+01] [ 4.12979510e-02 9.99146604e-01 -7.36454982e-04 -9.68413398e-02] [ 3.04052909e-02 -5.20005600e-04 9.99537517e-01 5.23192188e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61925415399999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:69.93, Y:-0.09, Z:0.05 [[ 9.98848682e-01 -3.71709109e-02 -3.03254608e-02 6.99281667e+01] [ 3.71657303e-02 9.99308846e-01 -7.34675930e-04 -9.41267805e-02] [ 3.03318098e-02 -3.93237813e-04 9.99539807e-01 5.26494914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64925415399999 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:69.96, Y:-0.09, Z:0.05 [[ 9.99067689e-01 -3.07220335e-02 -3.03300014e-02 6.99556308e+01] [ 3.07138205e-02 9.99527948e-01 -7.36742718e-04 -8.99702061e-02] [ 3.03383183e-02 -1.95494376e-04 9.99539668e-01 5.36859231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67925415399998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:69.98, Y:-0.09, Z:0.05 [[ 9.99153142e-01 -2.82824796e-02 -2.98847726e-02 6.99826987e+01] [ 2.82733190e-02 9.99599964e-01 -7.29137868e-04 -8.78640178e-02] [ 2.98934394e-02 -1.16421317e-04 9.99553084e-01 5.41725485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70925415399998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:70.01, Y:-0.09, Z:0.05 [[ 9.99219207e-01 -2.63821458e-02 -2.94101806e-02 7.00102002e+01] [ 2.63722740e-02 9.99651929e-01 -7.23566807e-04 -8.61740530e-02] [ 2.94190330e-02 -5.26114902e-05 9.99567165e-01 5.46450847e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73925415399998 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:70.04, Y:-0.08, Z:0.05 [[ 9.99308572e-01 -2.39631518e-02 -2.84279058e-02 7.00383018e+01] [ 2.39527202e-02 9.99712842e-01 -7.07472280e-04 -8.38520917e-02] [ 2.84366958e-02 2.60574396e-05 9.99595595e-01 5.47415728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.76925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:70.06, Y:-0.08, Z:0.05 [[ 9.99226746e-01 -2.51012817e-02 -3.02627847e-02 7.00626061e+01] [ 2.53248153e-02 9.99654586e-01 7.02584062e-03 -8.20729015e-02] [ 3.00759739e-02 -7.78680729e-03 9.99517284e-01 5.41752101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:70.10, Y:-0.08, Z:0.06 [[ 9.99301404e-01 -2.41304270e-02 -2.85381580e-02 7.00960461e+01] [ 2.38825035e-02 9.99674290e-01 -8.99666235e-03 -7.76422708e-02] [ 2.87459561e-02 8.30881466e-03 9.99552217e-01 5.83528637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.82925415399998 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:70.12, Y:-0.08, Z:0.06 [[ 9.99296385e-01 -2.38756179e-02 -2.89256055e-02 7.01212800e+01] [ 2.38573817e-02 9.99714896e-01 -9.75453180e-04 -8.11842265e-02] [ 2.89406482e-02 2.84677626e-04 9.99581091e-01 5.52622615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85925415399998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:70.15, Y:-0.08, Z:0.06 [[ 9.99207979e-01 -2.71795455e-02 -2.90634863e-02 7.01517706e+01] [ 2.71707909e-02 9.99630563e-01 -6.96176513e-04 -8.07233778e-02] [ 2.90716709e-02 -9.40527812e-05 9.99577325e-01 5.53953079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88925415399999 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:70.18, Y:-0.08, Z:0.06 [[ 9.99357520e-01 -2.56301171e-02 -2.50528394e-02 7.01840964e+01] [ 2.52296010e-02 9.99550828e-01 -1.61743461e-02 -7.52101023e-02] [ 2.54561367e-02 1.55318813e-02 9.99555274e-01 5.54784702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91925415399999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:70.21, Y:-0.09, Z:0.05 [[ 9.98893873e-01 -3.52745667e-02 -3.10923721e-02 7.02090637e+01] [ 3.59759434e-02 9.99103941e-01 2.22945637e-02 -9.08569102e-02] [ 3.02780804e-02 -2.33884805e-02 9.99267840e-01 4.85850395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94925415399999 meters Centerline goodness : 0.997184 Centerline is valid? [True, True] Translation: X:70.24, Y:-0.08, Z:0.06 [[ 9.98799280e-01 -3.96471162e-02 -2.87768125e-02 7.02357924e+01] [ 3.93964671e-02 9.99181068e-01 -9.22565241e-03 -7.58847292e-02] [ 2.91190167e-02 8.08087024e-03 9.99543287e-01 5.78710796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97925415399999 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:70.27, Y:-0.08, Z:0.06 [[ 9.98638741e-01 -4.35392596e-02 -2.87227710e-02 7.02674699e+01] [ 4.34960359e-02 9.99051333e-01 -2.12823636e-03 -8.13740535e-02] [ 2.87881844e-02 8.76012607e-04 9.99585150e-01 5.54074599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00925415399999 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:70.30, Y:-0.08, Z:0.05 [[ 9.98308199e-01 -5.12401080e-02 -2.74807426e-02 7.02977099e+01] [ 5.12394065e-02 9.98686132e-01 -7.30172521e-04 -8.35254248e-02] [ 2.74820506e-02 -6.79159725e-04 9.99622066e-01 5.49677525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03925415399999 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:70.33, Y:-0.08, Z:0.06 [[ 9.98146049e-01 -5.46227749e-02 -2.68480324e-02 7.03294919e+01] [ 5.46233580e-02 9.98506776e-01 -7.12224959e-04 -8.39544373e-02] [ 2.68468460e-02 -7.55625157e-04 9.99639273e-01 5.54517015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06925415399998 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:70.36, Y:-0.08, Z:0.06 [[ 9.97992599e-01 -5.77865701e-02 -2.59130255e-02 7.03613288e+01] [ 5.77882270e-02 9.98328629e-01 -6.85543541e-04 -8.44162228e-02] [ 2.59093304e-02 -8.13300418e-04 9.99663966e-01 5.56823363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09925415399998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:70.39, Y:-0.09, Z:0.06 [[ 9.97745689e-01 -6.25109329e-02 -2.44115525e-02 7.03929978e+01] [ 6.25138533e-02 9.98043888e-01 -6.44241735e-04 -8.65429438e-02] [ 2.44040730e-02 -8.83270800e-04 9.99701786e-01 5.54777300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.12925415399998 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:70.43, Y:-0.09, Z:0.06 [[ 9.97644647e-01 -6.43256080e-02 -2.38196340e-02 7.04252208e+01] [ 6.43289396e-02 9.97928552e-01 -6.27152533e-04 -8.67926172e-02] [ 2.38106348e-02 -9.06616430e-04 9.99716076e-01 5.58706798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15925415399998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:70.46, Y:-0.09, Z:0.06 [[ 9.97486738e-01 -6.69959576e-02 -2.30596795e-02 7.04572908e+01] [ 6.69998337e-02 9.97752803e-01 -6.05338579e-04 -8.74084836e-02] [ 2.30484151e-02 -9.41177489e-04 9.99733907e-01 5.59158612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.18925415399998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:70.49, Y:-0.09, Z:0.06 [[ 9.97444892e-01 -6.77829653e-02 -2.25645097e-02 7.04893515e+01] [ 6.77869229e-02 9.97699646e-01 -5.90331085e-04 -8.73864181e-02] [ 2.25526177e-02 -9.40755953e-04 9.99745215e-01 5.59596900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21925415399998 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:70.52, Y:-0.09, Z:0.06 [[ 9.97392264e-01 -6.85927815e-02 -2.24433050e-02 7.05228515e+01] [ 6.85969489e-02 9.97644283e-01 -5.85035411e-04 -8.69192771e-02] [ 2.24305642e-02 -9.56032457e-04 9.99747946e-01 5.62172956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.24925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:70.56, Y:-0.09, Z:0.06 [[ 9.97274552e-01 -7.03424207e-02 -2.22578641e-02 7.05556145e+01] [ 7.03470080e-02 9.97522413e-01 -5.77791488e-04 -8.67410805e-02] [ 2.22433616e-02 -9.89557396e-04 9.99752096e-01 5.61292772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27925415399999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:70.59, Y:-0.09, Z:0.06 [[ 9.97196401e-01 -7.13607677e-02 -2.25161917e-02 7.05872441e+01] [ 7.13657747e-02 9.97450043e-01 -5.82119820e-04 -8.64376531e-02] [ 2.25003169e-02 -1.02639767e-03 9.99746309e-01 5.62952649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30925415399999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:70.62, Y:-0.09, Z:0.06 [[ 9.97102702e-01 -7.26627252e-02 -2.25017660e-02 7.06200320e+01] [ 7.26681064e-02 9.97356010e-01 -5.79529932e-04 -8.59771997e-02] [ 2.24843817e-02 -1.05730986e-03 9.99746635e-01 5.61787031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33925415399999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:70.65, Y:-0.09, Z:0.06 [[ 9.96818674e-01 -7.60917718e-02 -2.37186401e-02 7.06530223e+01] [ 7.60987835e-02 9.97100098e-01 -6.08156939e-04 -8.51462247e-02] [ 2.36961341e-02 -1.19873746e-03 9.99718489e-01 5.59686181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36925415399999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:70.70, Y:-0.06, Z:0.06 [[ 9.97574598e-01 -6.94581437e-02 -4.52640592e-03 7.06982649e+01] [ 6.88845586e-02 9.94487979e-01 -7.90479406e-02 -5.68688824e-02] [ 9.99197949e-03 7.85444180e-02 9.96860539e-01 5.78784912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39925415399999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:70.71, Y:-0.12, Z:0.03 [[ 9.96453922e-01 -7.92746802e-02 -2.81976431e-02 7.07145712e+01] [ 8.12991334e-02 9.93482411e-01 7.98946162e-02 -1.23087853e-01] [ 2.16802423e-02 -8.19037476e-02 9.96404407e-01 3.21504690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42925415399998 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:70.74, Y:-0.08, Z:0.06 [[ 9.96274340e-01 -8.21023861e-02 -2.63938829e-02 7.07449432e+01] [ 8.21127897e-02 9.96622803e-01 -6.91251130e-04 -8.22162005e-02] [ 2.63614990e-02 -1.47859960e-03 9.99651382e-01 5.71753008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45925415399998 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:70.78, Y:-0.08, Z:0.06 [[ 9.96129964e-01 -8.37066065e-02 -2.68011157e-02 7.07775484e+01] [ 8.37180592e-02 9.96489238e-01 -6.96435732e-04 -8.07539066e-02] [ 2.67653197e-02 -1.54999689e-03 9.99640543e-01 5.68248659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48925415399998 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:70.81, Y:-0.08, Z:0.06 [[ 9.96177314e-01 -8.32351266e-02 -2.65079758e-02 7.08095185e+01] [ 8.32462335e-02 9.96528772e-01 -6.86179502e-04 -7.80059552e-02] [ 2.64730748e-02 -1.52313269e-03 9.99648366e-01 5.76680844e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51925415399998 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:70.84, Y:-0.08, Z:0.06 [[ 9.96288886e-01 -8.19542753e-02 -2.63049709e-02 7.08427781e+01] [ 8.19648343e-02 9.96634991e-01 -6.78390146e-04 -7.53766351e-02] [ 2.62720514e-02 -1.48021002e-03 9.99653734e-01 5.85673805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.54925415399998 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:70.88, Y:-0.07, Z:0.06 [[ 9.96443893e-01 -8.01526379e-02 -2.59831348e-02 7.08755647e+01] [ 8.01624019e-02 9.96781593e-01 -6.67291799e-04 -7.23474126e-02] [ 2.59529957e-02 -1.41795166e-03 9.99662159e-01 5.97198129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57925415399998 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:70.91, Y:-0.07, Z:0.06 [[ 9.96776712e-01 -7.62869667e-02 -2.48291077e-02 7.09089355e+01] [ 7.62947521e-02 9.97085105e-01 -6.34982745e-04 -6.73891030e-02] [ 2.48051743e-02 -1.26139460e-03 9.99691509e-01 6.10777642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.60925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:70.94, Y:-0.07, Z:0.06 [[ 9.96916949e-01 -7.45561743e-02 -2.44535204e-02 7.09406999e+01] [ 7.45632680e-02 9.97216090e-01 -6.22857926e-04 -6.50034462e-02] [ 2.44318819e-02 -1.20239677e-03 9.99700774e-01 6.13594618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63925415399999 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:70.97, Y:-0.06, Z:0.06 [[ 9.97169017e-01 -7.12617969e-02 -2.39939063e-02 7.09730941e+01] [ 7.12677450e-02 9.97457036e-01 -6.08215358e-04 -6.15517337e-02] [ 2.39762332e-02 -1.10349809e-03 9.99711920e-01 6.15835186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66925415399999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:71.01, Y:-0.06, Z:0.06 [[ 9.97256873e-01 -6.99090057e-02 -2.43199739e-02 7.10056315e+01] [ 6.99148079e-02 9.97552778e-01 -6.12670695e-04 -5.97090074e-02] [ 2.43032888e-02 -1.08933624e-03 9.99704038e-01 6.22680512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69925415399999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:71.04, Y:-0.06, Z:0.06 [[ 9.97357737e-01 -6.83760721e-02 -2.45409176e-02 7.10382072e+01] [ 6.83815841e-02 9.97659050e-01 -6.15507638e-04 -5.79658892e-02] [ 2.45255545e-02 -1.06426552e-03 9.99698637e-01 6.29280941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72925415399999 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:71.07, Y:-0.05, Z:0.06 [[ 9.97605393e-01 -6.48103533e-02 -2.41474365e-02 7.10706317e+01] [ 6.48147071e-02 9.97897134e-01 -6.03146214e-04 -5.44801161e-02] [ 2.41357478e-02 -9.63407112e-04 9.99708226e-01 6.33253230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75925415399999 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:71.10, Y:-0.05, Z:0.06 [[ 9.97746081e-01 -6.26042604e-02 -2.41550155e-02 7.11034018e+01] [ 6.26080290e-02 9.98038012e-01 -6.00954172e-04 -5.22201037e-02] [ 2.41452459e-02 -9.12698240e-04 9.99708044e-01 6.40022871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78925415399999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:71.14, Y:-0.05, Z:0.06 [[ 9.97908368e-01 -6.00999321e-02 -2.38094036e-02 7.11356662e+01] [ 6.01029397e-02 9.98192010e-01 -5.89918641e-04 -4.97579181e-02] [ 2.38018105e-02 -8.42330402e-04 9.99716342e-01 6.44594582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81925415399998 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:71.17, Y:-0.05, Z:0.06 [[ 9.98096833e-01 -5.70249495e-02 -2.34705479e-02 7.11681880e+01] [ 5.70270762e-02 9.98372464e-01 -5.79241393e-04 -4.71616115e-02] [ 2.34653799e-02 -7.60317723e-04 9.99724361e-01 6.48244111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84925415399998 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:71.20, Y:-0.04, Z:0.07 [[ 9.98502853e-01 -4.96440178e-02 -2.29678701e-02 7.12004573e+01] [ 4.96441575e-02 9.98766809e-01 -5.64455695e-04 -4.28035263e-02] [ 2.29675682e-02 -5.76609938e-04 9.99736044e-01 6.55774290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87925415399998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:71.23, Y:-0.04, Z:0.07 [[ 9.98730309e-01 -4.52282981e-02 -2.21849092e-02 7.12325873e+01] [ 4.52273808e-02 9.98976571e-01 -5.43347565e-04 -3.99265441e-02] [ 2.21867792e-02 -4.60707656e-04 9.99753737e-01 6.60059474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.90925415399998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:71.26, Y:-0.04, Z:0.07 [[ 9.98945346e-01 -4.05211123e-02 -2.15924659e-02 7.12647097e+01] [ 4.05191772e-02 9.99178622e-01 -5.27295746e-04 -3.68301932e-02] [ 2.15960969e-02 -3.48169319e-04 9.99766716e-01 6.64883877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93925415399998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:71.30, Y:-0.03, Z:0.07 [[ 9.99307534e-01 -3.01773113e-02 -2.17665459e-02 7.12960834e+01] [ 3.01729231e-02 9.99544553e-01 -5.30070479e-04 -3.13848176e-02] [ 2.17726285e-02 -1.27056892e-04 9.99762940e-01 6.78792272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.96925415399998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:71.33, Y:-0.03, Z:0.07 [[ 9.99456829e-01 -2.50082845e-02 -2.14623780e-02 7.13267883e+01] [ 2.50028440e-02 9.99687244e-01 -5.21835845e-04 -2.84147599e-02] [ 2.14687157e-02 -1.50680898e-05 9.99769520e-01 6.83451362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99925415399998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:71.36, Y:-0.03, Z:0.07 [[ 9.99562811e-01 -2.02714670e-02 -2.15233470e-02 7.13564651e+01] [ 2.02648927e-02 9.99794509e-01 -5.23540116e-04 -2.55266167e-02] [ 2.15295371e-02 8.71429127e-05 9.99768209e-01 6.90377429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02925415399999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:71.38, Y:-0.02, Z:0.07 [[ 9.99681025e-01 -1.27266993e-02 -2.18146488e-02 7.13838790e+01] [ 1.27181244e-02 9.99918980e-01 -5.31778217e-04 -2.19142836e-02] [ 2.18196492e-02 2.54167176e-04 9.99761891e-01 6.83659045e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05925415399999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:71.41, Y:-0.02, Z:0.07 [[ 9.99691517e-01 -1.07945216e-02 -2.23684940e-02 7.14114860e+01] [ 1.07849467e-02 9.99941690e-01 -5.48646683e-04 -1.98858672e-02] [ 2.23731120e-02 3.07234419e-04 9.99749643e-01 6.82306011e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08925415399999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:71.44, Y:-0.02, Z:0.07 [[ 9.99703750e-01 -9.59179427e-03 -2.23698599e-02 7.14398100e+01] [ 9.58177702e-03 9.99953940e-01 -5.54945498e-04 -1.75481502e-02] [ 2.23741524e-02 3.40438086e-04 9.99749609e-01 6.77430717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11925415399999 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:71.47, Y:-0.02, Z:0.07 [[ 9.99683345e-01 -1.11038637e-02 -2.25812658e-02 7.14675941e+01] [ 1.10938964e-02 9.99938300e-01 -5.66627107e-04 -1.62873466e-02] [ 2.25861643e-02 3.15933457e-04 9.99744850e-01 6.80347752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14925415399999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:71.50, Y:-0.02, Z:0.07 [[ 9.99652166e-01 -1.37928478e-02 -2.24789669e-02 7.14956542e+01] [ 1.37835062e-02 9.99904840e-01 -5.70464130e-04 -1.54550877e-02] [ 2.24846961e-02 2.60426724e-04 9.99747153e-01 6.83099685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17925415399998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:71.52, Y:-0.02, Z:0.07 [[ 9.99525755e-01 -2.16765614e-02 -2.18721795e-02 7.15233980e+01] [ 2.16694974e-02 9.99765032e-01 -5.59950884e-04 -1.52252076e-02] [ 2.18791781e-02 8.57261919e-05 9.99760618e-01 6.82386471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20925415399998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:71.55, Y:-0.02, Z:0.07 [[ 9.99412127e-01 -2.65841749e-02 -2.16490578e-02 7.15516993e+01] [ 2.65783386e-02 9.99646578e-01 -5.57326312e-04 -1.53749353e-02] [ 2.16562226e-02 -1.83973124e-05 9.99765476e-01 6.87559741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23925415399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:71.58, Y:-0.02, Z:0.07 [[ 9.99109489e-01 -3.67415440e-02 -2.07433903e-02 7.15807904e+01] [ 3.67382858e-02 9.99324776e-01 -5.38254915e-04 -1.62174297e-02] [ 2.07491602e-02 -2.24301008e-04 9.99784688e-01 6.98748977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.26925415399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:71.61, Y:-0.02, Z:0.07 [[ 9.99112680e-01 -3.66546584e-02 -2.07433952e-02 7.16134814e+01] [ 3.66513855e-02 9.99327967e-01 -5.38064695e-04 -1.54322689e-02] [ 2.07491775e-02 -2.22686913e-04 9.99784688e-01 7.03813575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29925415399998 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:71.65, Y:-0.02, Z:0.07 [[ 9.98970515e-01 -4.09945169e-02 -1.94257316e-02 7.16458871e+01] [ 4.09924966e-02 9.99159328e-01 -5.02349277e-04 -1.55779440e-02] [ 1.94299945e-02 -2.94477119e-04 9.99811176e-01 7.07743119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.32925415399998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:71.68, Y:-0.02, Z:0.07 [[ 9.98636873e-01 -4.91259291e-02 -1.76362891e-02 7.16780106e+01] [ 4.91255507e-02 9.98792508e-01 -4.54943643e-04 -1.70391077e-02] [ 1.76373429e-02 -4.12068915e-04 9.99844365e-01 7.13557609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35925415399998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:71.71, Y:-0.02, Z:0.07 [[ 9.98489558e-01 -5.22279184e-02 -1.70542608e-02 7.17106224e+01] [ 5.22280376e-02 9.98635088e-01 -4.38705909e-04 -1.77726023e-02] [ 1.70538959e-02 -4.52667302e-04 9.99854469e-01 7.18065538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38925415399999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:71.74, Y:-0.02, Z:0.07 [[ 9.98233793e-01 -5.69398968e-02 -1.69452701e-02 7.17436897e+01] [ 5.69407235e-02 9.98377466e-01 -4.34070292e-04 -1.94356915e-02] [ 1.69424917e-02 -5.31572304e-04 9.99856324e-01 7.22159410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41925415399999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:71.78, Y:-0.02, Z:0.07 [[ 9.98175855e-01 -5.80091396e-02 -1.67302810e-02 7.17761148e+01] [ 5.80101258e-02 9.98315904e-01 -4.26752867e-04 -1.97594960e-02] [ 1.67268611e-02 -5.44551296e-04 9.99859948e-01 7.25680085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44925415399999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:71.81, Y:-0.02, Z:0.07 [[ 9.98129391e-01 -5.87293622e-02 -1.69876938e-02 7.18093187e+01] [ 5.87305106e-02 9.98273780e-01 -4.31707790e-04 -1.99105379e-02] [ 1.69837233e-02 -5.66795699e-04 9.99855606e-01 7.30487596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47925415399999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:71.84, Y:-0.02, Z:0.07 [[ 9.98064519e-01 -5.99278549e-02 -1.66092972e-02 7.18431557e+01] [ 6.00086838e-02 9.98188108e-01 4.41114091e-03 -2.22391039e-02] [ 1.63148528e-02 -5.39930529e-03 9.99852326e-01 7.08881602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50925415399999 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:71.87, Y:-0.02, Z:0.07 [[ 9.98121999e-01 -5.85441905e-02 -1.80292027e-02 7.18741015e+01] [ 5.84579744e-02 9.98275945e-01 -5.27293348e-03 -1.93965522e-02] [ 1.83068189e-02 4.20908024e-03 9.99823556e-01 7.45023019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53925415399999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:71.91, Y:-0.02, Z:0.07 [[ 9.98179351e-01 -5.73829205e-02 -1.85791258e-02 7.19075985e+01] [ 5.73841806e-02 9.98352062e-01 -4.65727888e-04 -2.16179367e-02] [ 1.85752334e-02 -6.01267949e-04 9.99827285e-01 7.30632386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56925415399998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:71.94, Y:-0.02, Z:0.08 [[ 9.98244875e-01 -5.55018604e-02 -2.06570320e-02 7.19390062e+01] [ 5.53459520e-02 9.98434830e-01 -8.04460348e-03 -1.78081558e-02] [ 2.10711907e-02 6.88720109e-03 9.99754255e-01 7.64974296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59925415399998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:71.97, Y:-0.02, Z:0.07 [[ 9.98536223e-01 -5.01973176e-02 -2.01405124e-02 7.19725224e+01] [ 5.03473925e-02 9.98707133e-01 7.01452113e-03 -2.46614096e-02] [ 1.97623633e-02 -8.01827572e-03 9.99772552e-01 7.13090612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.62925415399998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:72.00, Y:-0.02, Z:0.07 [[ 9.98677792e-01 -4.71126679e-02 -2.05685379e-02 7.20043693e+01] [ 4.71121785e-02 9.98889475e-01 -5.08628515e-04 -2.02349054e-02] [ 2.05696589e-02 -4.61072628e-04 9.99788316e-01 7.40689221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65925415399998 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:72.04, Y:-0.02, Z:0.07 [[ 9.98930758e-01 -4.09445474e-02 -2.14682135e-02 7.20365548e+01] [ 4.09426607e-02 9.99161358e-01 -5.27597211e-04 -1.93854593e-02] [ 2.14718116e-02 -3.51932699e-04 9.99769392e-01 7.38521306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.68925415399998 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:72.07, Y:-0.02, Z:0.07 [[ 9.99028689e-01 -3.80854740e-02 -2.21624575e-02 7.20674449e+01] [ 3.80828033e-02 9.99274440e-01 -5.42704071e-04 -1.85325259e-02] [ 2.21670464e-02 -3.01831572e-04 9.99754235e-01 7.43193797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71925415399998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:72.10, Y:-0.02, Z:0.07 [[ 9.99108932e-01 -3.57224787e-02 -2.24776767e-02 7.20983023e+01] [ 3.57191839e-02 9.99361716e-01 -5.48183947e-04 -1.77081929e-02] [ 2.24829120e-02 -2.55188789e-04 9.99747195e-01 7.45891564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.74925415399998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:72.13, Y:-0.02, Z:0.07 [[ 9.99176068e-01 -3.32832863e-02 -2.32251732e-02 7.21299639e+01] [ 3.32791361e-02 9.99445936e-01 -5.65288625e-04 -1.66886996e-02] [ 2.32311197e-02 -2.08090835e-04 9.99730099e-01 7.46594382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77925415399999 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:72.16, Y:-0.02, Z:0.08 [[ 9.99164857e-01 -3.30737656e-02 -2.39940565e-02 7.21605027e+01] [ 3.30692893e-02 9.99452891e-01 -5.83431194e-04 -1.59575323e-02] [ 2.40002255e-02 -2.10522453e-04 9.99711931e-01 7.53166380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80925415399999 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:72.19, Y:-0.02, Z:0.08 [[ 9.99091639e-01 -3.45537785e-02 -2.49385994e-02 7.21902315e+01] [ 3.45493997e-02 9.99402807e-01 -6.06566330e-04 -1.55745933e-02] [ 2.49446654e-02 -2.55598289e-04 9.99688801e-01 7.60904189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83925415399999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:72.22, Y:-0.02, Z:0.07 [[ 9.99039262e-01 -3.69759718e-02 -2.35229931e-02 7.22195255e+01] [ 3.71295456e-02 9.99291686e-01 6.12560534e-03 -1.84112767e-02] [ 2.32798312e-02 -6.99311828e-03 9.99704529e-01 7.37811601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86925415399999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:72.25, Y:-0.01, Z:0.08 [[ 9.98940014e-01 -3.87558268e-02 -2.48361696e-02 7.22491652e+01] [ 3.85952224e-02 9.99231009e-01 -6.91378312e-03 -1.23290125e-02] [ 2.50850202e-02 5.94789711e-03 9.99667627e-01 7.97047286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89925415399999 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:72.28, Y:-0.02, Z:0.08 [[ 9.98845416e-01 -4.11989269e-02 -2.47079761e-02 7.22806829e+01] [ 4.11965685e-02 9.99150878e-01 -6.04679621e-04 -1.56219170e-02] [ 2.47119081e-02 -4.13902362e-04 9.99694528e-01 7.82223626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92925415399998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:72.31, Y:-0.02, Z:0.08 [[ 9.98580794e-01 -4.72741941e-02 -2.45264814e-02 7.23117902e+01] [ 4.72737272e-02 9.98881793e-01 -5.99178371e-04 -1.69570034e-02] [ 2.45273814e-02 -5.61130179e-04 9.99699001e-01 7.89860302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95925415399998 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:72.34, Y:-0.02, Z:0.08 [[ 9.98439962e-01 -5.03987698e-02 -2.40334217e-02 7.23439626e+01] [ 5.03992605e-02 9.98728978e-01 -5.85688400e-04 -1.73639270e-02] [ 2.40323927e-02 -6.26491978e-04 9.99710984e-01 7.95495963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98925415399998 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:72.38, Y:-0.02, Z:0.08 [[ 9.98120427e-01 -5.67384083e-02 -2.31595838e-02 7.23765043e+01] [ 5.67406057e-02 9.98388795e-01 -5.62768543e-04 -1.85240099e-02] [ 2.31541996e-02 -7.52378035e-04 9.99731622e-01 8.11007569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01925415399998 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:72.41, Y:-0.02, Z:0.08 [[ 9.97972807e-01 -5.95690712e-02 -2.24009601e-02 7.24083927e+01] [ 5.95718775e-02 9.98223871e-01 -5.42614201e-04 -1.87479350e-02] [ 2.23934961e-02 -7.92953031e-04 9.99748920e-01 8.21727163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.04925415399998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:72.44, Y:-0.02, Z:0.08 [[ 9.97677077e-01 -6.48237834e-02 -2.09362486e-02 7.24416826e+01] [ 6.48274291e-02 9.97896362e-01 -5.05231639e-04 -2.00662007e-02] [ 2.09249573e-02 -8.53185148e-04 9.99780685e-01 8.35100597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07925415399998 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:72.47, Y:-0.02, Z:0.08 [[ 9.97543539e-01 -6.70681493e-02 -2.02175786e-02 7.24746705e+01] [ 6.70720516e-02 9.97748016e-01 -4.85771696e-04 -2.03831583e-02] [ 2.02046288e-02 -8.71456061e-04 9.99795486e-01 8.40500439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.10925415399998 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:72.51, Y:-0.02, Z:0.08 [[ 9.97434613e-01 -6.88222762e-02 -1.96897595e-02 7.25078639e+01] [ 6.88263596e-02 9.97628543e-01 -4.70994506e-04 -2.08475475e-02] [ 1.96754810e-02 -8.85388243e-04 9.99806027e-01 8.47306872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13925415399999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:72.54, Y:-0.02, Z:0.09 [[ 9.97329096e-01 -7.04434449e-02 -1.92975447e-02 7.25400640e+01] [ 7.04477083e-02 9.97515368e-01 -4.59625579e-04 -2.10970922e-02] [ 1.92819750e-02 -9.01069840e-04 9.99813679e-01 8.56436620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16925415399999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:72.57, Y:-0.02, Z:0.09 [[ 9.97212034e-01 -7.20747636e-02 -1.93232609e-02 7.25727730e+01] [ 7.20793788e-02 9.97398793e-01 -4.58424191e-04 -2.24370373e-02] [ 1.93060380e-02 -9.35662526e-04 9.99813183e-01 8.65703007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19925415399999 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:72.61, Y:-0.02, Z:0.09 [[ 9.97184337e-01 -7.22275105e-02 -2.01639403e-02 7.26061207e+01] [ 7.22326128e-02 9.97387699e-01 -4.76120802e-04 -2.31789442e-02] [ 2.01456551e-02 -9.81713888e-04 9.99796574e-01 8.73355624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22925415399999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:72.64, Y:-0.02, Z:0.09 [[ 9.97209339e-01 -7.17526636e-02 -2.06177005e-02 7.26388382e+01] [ 7.17579442e-02 9.97421958e-01 -4.84540328e-04 -2.33141096e-02] [ 2.05993142e-02 -9.96295660e-04 9.99787315e-01 8.72462243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25925415399999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:72.68, Y:-0.02, Z:0.09 [[ 9.97674334e-01 -6.67046633e-02 -1.40146669e-02 7.26780323e+01] [ 6.63733033e-02 9.97531803e-01 -2.29104178e-02 -1.73814483e-02] [ 1.55083076e-02 2.19269361e-02 9.99639286e-01 8.55926508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28925415399999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:72.70, Y:-0.03, Z:0.08 [[ 9.97341336e-01 -6.91173581e-02 -2.30879023e-02 7.27024090e+01] [ 6.96429242e-02 9.97311574e-01 2.27922725e-02 -3.44049323e-02] [ 2.14504905e-02 -2.43395845e-02 9.99473592e-01 8.01615711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31925415399998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:72.73, Y:-0.02, Z:0.09 [[ 9.97551196e-01 -6.53675859e-02 -2.48734933e-02 7.27349018e+01] [ 6.53732958e-02 9.97860707e-01 -5.84400290e-04 -2.22047712e-02] [ 2.48584824e-02 -1.04309303e-03 9.99690436e-01 8.88630690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34925415399998 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:72.77, Y:-0.02, Z:0.09 [[ 9.97718874e-01 -6.24692659e-02 -2.55859269e-02 7.27682832e+01] [ 6.24744292e-02 9.98046386e-01 -5.98294292e-04 -2.15501956e-02] [ 2.55733168e-02 -1.00153667e-03 9.99672448e-01 8.91129365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:72.80, Y:-0.02, Z:0.09 [[ 9.98090990e-01 -5.59881117e-02 -2.60711957e-02 7.27999293e+01] [ 5.59913350e-02 9.98431070e-01 -6.06925523e-04 -2.00401363e-02] [ 2.60642725e-02 -8.53994159e-04 9.99659904e-01 8.95953340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.40925415399998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:72.83, Y:-0.02, Z:0.09 [[ 9.98272966e-01 -5.23862701e-02 -2.65850196e-02 7.28316484e+01] [ 5.23884057e-02 9.98626594e-01 -6.16638572e-04 -1.84585554e-02] [ 2.65808110e-02 -7.77173176e-04 9.99646366e-01 9.07931758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43925415399998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:72.86, Y:-0.02, Z:0.09 [[ 9.98455813e-01 -4.87962337e-02 -2.65502711e-02 7.28639736e+01] [ 4.87971465e-02 9.98808521e-01 -6.13908889e-04 -1.69899932e-02] [ 2.65485935e-02 -6.82616571e-04 9.99647291e-01 9.18472258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.46925415399998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:72.90, Y:-0.02, Z:0.09 [[ 9.98778790e-01 -4.20671257e-02 -2.59091961e-02 7.28964007e+01] [ 4.20657797e-02 9.99114665e-01 -5.97223718e-04 -1.53360964e-02] [ 2.59113813e-02 -4.93396156e-04 9.99664122e-01 9.28996642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49925415399998 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:72.93, Y:-0.01, Z:0.09 [[ 9.98907729e-01 -3.89765786e-02 -2.57715904e-02 7.29279258e+01] [ 3.89742572e-02 9.99240039e-01 -5.92558878e-04 -1.43600023e-02] [ 2.57751009e-02 -4.12516950e-04 9.99667682e-01 9.39410220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52925415399999 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:72.96, Y:-0.01, Z:0.09 [[ 9.99025728e-01 -3.62542403e-02 -2.51639649e-02 7.29585136e+01] [ 3.62511775e-02 9.99342543e-01 -5.78036258e-04 -1.34875106e-02] [ 2.51683769e-02 -3.34750263e-04 9.99683170e-01 9.44455485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55925415399999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:72.99, Y:-0.01, Z:0.10 [[ 9.99207376e-01 -3.15750132e-02 -2.42412555e-02 7.29881068e+01] [ 3.15707938e-02 9.99501363e-01 -5.56846176e-04 -1.31997040e-02] [ 2.42467504e-02 -2.08910874e-04 9.99705983e-01 9.54620172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58925415399999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:73.02, Y:-0.01, Z:0.10 [[ 9.99269168e-01 -2.98484179e-02 -2.38788982e-02 7.30179236e+01] [ 2.98438235e-02 9.99554423e-01 -5.48830767e-04 -1.25518288e-02] [ 2.38846401e-02 -1.64207960e-04 9.99714708e-01 9.58156314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61925415399999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:73.05, Y:-0.01, Z:0.10 [[ 9.99345063e-01 -2.72367458e-02 -2.38244696e-02 7.30469772e+01] [ 2.72314065e-02 9.99629006e-01 -5.48574725e-04 -1.23256317e-02] [ 2.38305722e-02 -1.00558373e-04 9.99716007e-01 9.66870003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64925415399999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:73.08, Y:-0.01, Z:0.10 [[ 9.99347377e-01 -2.66503618e-02 -2.43839915e-02 7.30759367e+01] [ 2.66445199e-02 9.99644812e-01 -5.64504104e-04 -1.20496842e-02] [ 2.43903749e-02 -8.55640527e-05 9.99702507e-01 9.74910951e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67925415399998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:73.10, Y:-0.01, Z:0.10 [[ 9.99351279e-01 -2.64959667e-02 -2.43923105e-02 7.31037353e+01] [ 2.64899531e-02 9.99648917e-01 -5.69683453e-04 -1.20170999e-02] [ 2.43988411e-02 -7.68372726e-05 9.99702301e-01 9.75802226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70925415399998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:73.13, Y:-0.01, Z:0.10 [[ 9.99331456e-01 -2.68030672e-02 -2.48643836e-02 7.31316058e+01] [ 2.67967946e-02 9.99640730e-01 -5.85492603e-04 -1.28048962e-02] [ 2.48711436e-02 -8.11846056e-05 9.99690662e-01 9.77613424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73925415399998 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:73.16, Y:-0.01, Z:0.10 [[ 9.99314628e-01 -2.71387998e-02 -2.51745818e-02 7.31591891e+01] [ 2.71322884e-02 9.99631671e-01 -6.00253982e-04 -1.28525941e-02] [ 2.51815995e-02 -8.32014288e-05 9.99682890e-01 9.82011050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.76925415399998 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:73.19, Y:-0.01, Z:0.10 [[ 9.99291103e-01 -2.75592814e-02 -2.56471789e-02 7.31864924e+01] [ 2.75525102e-02 9.99620167e-01 -6.17424809e-04 -1.26506792e-02] [ 2.56544531e-02 -8.96570402e-05 9.99670866e-01 9.85632544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79925415399998 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:73.21, Y:-0.01, Z:0.10 [[ 9.99267355e-01 -2.78206701e-02 -2.62823718e-02 7.32139428e+01] [ 2.78135153e-02 9.99612926e-01 -6.37826696e-04 -1.29467578e-02] [ 2.62899434e-02 -9.36457540e-05 9.99654355e-01 9.93644134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.82925415399998 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:73.24, Y:-0.01, Z:0.10 [[ 9.99265325e-01 -2.77255628e-02 -2.64594719e-02 7.32419393e+01] [ 2.77180747e-02 9.99615569e-01 -6.49798877e-04 -1.29119400e-02] [ 2.64673161e-02 -8.40841341e-05 9.99649676e-01 1.00028243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85925415399998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:73.27, Y:-0.01, Z:0.10 [[ 9.99284695e-01 -2.64222101e-02 -2.70548727e-02 7.32677553e+01] [ 2.63236834e-02 9.99645503e-01 -3.99150348e-03 -1.26676573e-02] [ 2.71507462e-02 3.27646444e-03 9.99625981e-01 1.01622325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88925415399999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:73.30, Y:-0.02, Z:0.10 [[ 9.99297549e-01 -2.68771531e-02 -2.61156573e-02 7.32975076e+01] [ 2.69529595e-02 9.99633438e-01 2.55499691e-03 -1.62553407e-02] [ 2.60374132e-02 -3.25709640e-03 9.99655663e-01 1.00016595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91925415399999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:73.33, Y:-0.02, Z:0.10 [[ 9.99313801e-01 -2.67153224e-02 -2.56557874e-02 7.33250159e+01] [ 2.67073674e-02 9.99643082e-01 -6.52732317e-04 -1.50958655e-02] [ 2.56640683e-02 -3.29141272e-05 9.99670623e-01 1.01400746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94925415399999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:73.35, Y:-0.02, Z:0.10 [[ 9.99355869e-01 -2.58268559e-02 -2.49162672e-02 7.33524425e+01] [ 2.58189003e-02 9.99666431e-01 -6.40999061e-04 -1.64775886e-02] [ 2.49245109e-02 -2.72444607e-06 9.99689336e-01 1.02206730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97925415399999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:73.38, Y:-0.02, Z:0.10 [[ 9.99385184e-01 -2.57065802e-02 -2.38416747e-02 7.33795920e+01] [ 2.56991346e-02 9.99669531e-01 -6.18692677e-04 -1.81499768e-02] [ 2.38497003e-02 5.60188703e-06 9.99715555e-01 1.02713346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00925415399999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:73.41, Y:-0.02, Z:0.10 [[ 9.99381876e-01 -2.62149050e-02 -2.34231472e-02 7.34079180e+01] [ 2.62077614e-02 9.99656330e-01 -6.11958428e-04 -1.87022007e-02] [ 2.34311398e-02 -2.28809230e-06 9.99725453e-01 1.03457997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03925415399998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:73.44, Y:-0.02, Z:0.10 [[ 9.99360067e-01 -2.68728524e-02 -2.36073419e-02 7.34355950e+01] [ 2.68656225e-02 9.99638860e-01 -6.23417126e-04 -1.96617909e-02] [ 2.36155693e-02 -1.12077537e-05 9.99721113e-01 1.04031846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06925415399998 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:73.46, Y:-0.02, Z:0.10 [[ 9.99324955e-01 -2.80143655e-02 -2.37661630e-02 7.34630985e+01] [ 2.80072000e-02 9.99607520e-01 -6.34372554e-04 -2.08553516e-02] [ 2.37746068e-02 -3.16793568e-05 9.99717344e-01 1.04261998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09925415399998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:73.49, Y:-0.02, Z:0.10 [[ 9.99233647e-01 -3.10171434e-02 -2.38758407e-02 7.34908548e+01] [ 3.10106026e-02 9.99518848e-01 -6.44242584e-04 -2.41384412e-02] [ 2.38843353e-02 -9.66553416e-05 9.99714724e-01 1.04468092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.12925415399998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:73.52, Y:-0.03, Z:0.11 [[ 9.99161683e-01 -3.30570820e-02 -2.41487094e-02 7.35194131e+01] [ 3.30508227e-02 9.99453455e-01 -6.58387985e-04 -2.53578032e-02] [ 2.41572754e-02 -1.40298666e-04 9.99708161e-01 1.05084766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.15925415399998 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:73.55, Y:-0.03, Z:0.11 [[ 9.99078858e-01 -3.56517365e-02 -2.38828362e-02 7.35482108e+01] [ 3.56462505e-02 9.99364255e-01 -6.55524813e-04 -2.63412408e-02] [ 2.38910235e-02 -1.96412583e-04 9.99714549e-01 1.05346999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.18925415399998 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:73.58, Y:-0.03, Z:0.11 [[ 9.99075958e-01 -3.57329273e-02 -2.38827943e-02 7.35783308e+01] [ 3.57274281e-02 9.99361356e-01 -6.57049476e-04 -2.54843216e-02] [ 2.38910200e-02 -1.96828483e-04 9.99714549e-01 1.05814409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21925415399998 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:73.61, Y:-0.03, Z:0.11 [[ 9.98975300e-01 -3.83911485e-02 -2.39681046e-02 7.36082491e+01] [ 3.83863374e-02 9.99262754e-01 -6.60958013e-04 -2.68962470e-02] [ 2.39758091e-02 -2.59767019e-04 9.99712505e-01 1.06157741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.24925415399998 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:73.64, Y:-0.03, Z:0.11 [[ 9.98688004e-01 -4.52135353e-02 -2.40417909e-02 7.36393121e+01] [ 4.52106571e-02 9.98977255e-01 -6.63535064e-04 -3.04409875e-02] [ 2.40472031e-02 -4.24280657e-04 9.99710734e-01 1.06312761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27925415399999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:73.67, Y:-0.03, Z:0.11 [[ 9.98334032e-01 -5.22949841e-02 -2.43802367e-02 7.36703936e+01] [ 5.22941456e-02 9.98631499e-01 -6.72391241e-04 -3.34337876e-02] [ 2.43820350e-02 -6.03672592e-04 9.99702532e-01 1.06231942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30925415399999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:73.70, Y:-0.03, Z:0.11 [[ 9.98120673e-01 -5.59756230e-02 -2.49369505e-02 7.37024790e+01] [ 5.59759322e-02 9.98431883e-01 -6.86192673e-04 -3.43266441e-02] [ 2.49362565e-02 -7.10965957e-04 9.99688790e-01 1.06554223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33925415399999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:73.73, Y:-0.04, Z:0.11 [[ 9.97896241e-01 -5.96980685e-02 -2.52830465e-02 7.37345954e+01] [ 5.96996265e-02 9.98216146e-01 -6.93863219e-04 -3.51441620e-02] [ 2.52793675e-02 -8.16984932e-04 9.99680092e-01 1.07170203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36925415399999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:73.77, Y:-0.04, Z:0.11 [[ 9.97393923e-01 -6.76831427e-02 -2.49870755e-02 7.37672257e+01] [ 6.76872098e-02 9.97706357e-01 -6.83948961e-04 -3.72825499e-02] [ 2.49760559e-02 -1.00913889e-03 9.99687540e-01 1.07688117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39925415399999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:73.80, Y:-0.04, Z:0.11 [[ 9.97136078e-01 -7.16362544e-02 -2.42464399e-02 7.37993978e+01] [ 7.16412920e-02 9.97430242e-01 -6.61938010e-04 -3.78943159e-02] [ 2.42315512e-02 -1.07700401e-03 9.99705793e-01 1.08219877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42925415399998 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:73.83, Y:-0.04, Z:0.11 [[ 9.96631749e-01 -7.86855277e-02 -2.31029286e-02 7.38319992e+01] [ 7.86920346e-02 9.96898775e-01 -6.28755877e-04 -4.00417084e-02] [ 2.30807552e-02 -1.19137839e-03 9.99732894e-01 1.09200441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45925415399998 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:73.86, Y:-0.04, Z:0.11 [[ 9.96409896e-01 -8.16888727e-02 -2.22316889e-02 7.38644113e+01] [ 8.16956943e-02 9.96657138e-01 -6.02735356e-04 -4.07634272e-02] [ 2.22066082e-02 -1.21566179e-03 9.99752664e-01 1.09588788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48925415399998 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:73.90, Y:-0.04, Z:0.11 [[ 9.96205735e-01 -8.41365891e-02 -2.22523472e-02 7.38978933e+01] [ 8.41440801e-02 9.96453417e-01 -6.01128043e-04 -4.14260864e-02] [ 2.22240043e-02 -1.27355608e-03 9.99752205e-01 1.10344668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.51925415399998 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:73.93, Y:-0.04, Z:0.11 [[ 9.95954046e-01 -8.70587919e-02 -2.22778909e-02 7.39311822e+01] [ 8.70670817e-02 9.96202271e-01 -5.99418820e-04 -4.26517625e-02] [ 2.22454702e-02 -1.34267735e-03 9.99751637e-01 1.10604593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.54925415399998 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:73.96, Y:-0.04, Z:0.11 [[ 9.95893630e-01 -8.77811495e-02 -2.21437788e-02 7.39628748e+01] [ 8.77895688e-02 9.96138866e-01 -5.93501750e-04 -4.22177802e-02] [ 2.21103770e-02 -1.35292818e-03 9.99754620e-01 1.11033911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.57925415399998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:74.00, Y:-0.04, Z:0.11 [[ 9.95904835e-01 -8.75437454e-02 -2.25754754e-02 7.39962200e+01] [ 8.75524858e-02 9.96159726e-01 -6.02844694e-04 -4.16094208e-02] [ 2.25415547e-02 -1.37616304e-03 9.99744960e-01 1.11872652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.60925415399998 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:74.03, Y:-0.04, Z:0.11 [[ 9.96007282e-01 -8.61884324e-02 -2.32604406e-02 7.40279103e+01] [ 8.61974008e-02 9.96277886e-01 -6.18658713e-04 -4.10516530e-02] [ 2.32271838e-02 -1.38880094e-03 9.99729248e-01 1.12025792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63925415399999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:74.06, Y:-0.04, Z:0.11 [[ 9.96097867e-01 -8.50245473e-02 -2.36614631e-02 7.40614180e+01] [ 8.50335559e-02 9.96377891e-01 -6.26988109e-04 -4.02996150e-02] [ 2.36290681e-02 -1.38747683e-03 9.99719832e-01 1.12388932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66925415399999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:74.09, Y:-0.04, Z:0.11 [[ 9.96372224e-01 -8.14744218e-02 -2.45827338e-02 7.40933147e+01] [ 8.14831322e-02 9.96674510e-01 -6.48818851e-04 -3.94628890e-02] [ 2.45538463e-02 -1.35661307e-03 9.99697588e-01 1.12499642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69925415399999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:74.13, Y:-0.04, Z:0.11 [[ 9.96550545e-01 -7.90915203e-02 -2.51305187e-02 7.41261730e+01] [ 7.90999298e-02 9.96866473e-01 -6.60817160e-04 -3.82642761e-02] [ 2.51040366e-02 -1.32928457e-03 9.99683960e-01 1.13278820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72925415399999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:74.16, Y:-0.04, Z:0.11 [[ 9.96733269e-01 -7.66485969e-02 -2.54515757e-02 7.41594400e+01] [ 7.66564989e-02 9.97057339e-01 -6.66493713e-04 -3.65011980e-02] [ 2.54277661e-02 -1.28671223e-03 9.99675834e-01 1.13743938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75925415399999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:74.19, Y:-0.03, Z:0.11 [[ 9.96985965e-01 -7.32507358e-02 -2.55600213e-02 7.41925354e+01] [ 7.32576632e-02 9.97312825e-01 -6.66518211e-04 -3.43363450e-02] [ 2.55401600e-02 -1.20795813e-03 9.99673067e-01 1.14694870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78925415399998 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:74.22, Y:-0.03, Z:0.12 [[ 9.97549476e-01 -6.52139584e-02 -2.53413055e-02 7.42240353e+01] [ 6.52182514e-02 9.97870807e-01 -6.57930146e-04 -2.96903925e-02] [ 2.53302552e-02 -9.96397758e-04 9.99678641e-01 1.15817520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81925415399998 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:74.26, Y:-0.03, Z:0.12 [[ 9.97850537e-01 -6.04830778e-02 -2.52210929e-02 7.42558860e+01] [ 6.04858860e-02 9.98168840e-01 -6.52224326e-04 -2.69165206e-02] [ 2.52143575e-02 -8.74697753e-04 9.99681685e-01 1.16859112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84925415399998 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:74.29, Y:-0.02, Z:0.12 [[ 9.98423442e-01 -5.05709241e-02 -2.43559384e-02 7.42874006e+01] [ 5.05706334e-02 9.98720289e-01 -6.28271775e-04 -2.27120667e-02] [ 2.43565422e-02 -6.04413965e-04 9.99703153e-01 1.17465629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.87925415399998 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:74.32, Y:-0.02, Z:0.12 [[ 9.98673355e-01 -4.56588134e-02 -2.38076230e-02 7.43188339e+01] [ 4.56571670e-02 9.98956980e-01 -6.13004293e-04 -2.03299612e-02] [ 2.38107802e-02 -4.74797565e-04 9.99716370e-01 1.18121825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.90925415399998 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:74.35, Y:-0.02, Z:0.12 [[ 9.98891611e-01 -4.07943391e-02 -2.34813098e-02 7.43501801e+01] [ 4.07914133e-02 9.99167502e-01 -6.03771092e-04 -1.76603431e-02] [ 2.34863921e-02 -3.54733935e-04 9.99724094e-01 1.18651153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.93925415399998 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:74.38, Y:-0.01, Z:0.12 [[ 9.99226637e-01 -3.16897948e-02 -2.32783991e-02 7.43802119e+01] [ 3.16844645e-02 9.99497743e-01 -5.97869086e-04 -1.30170189e-02] [ 2.32856537e-02 -1.40156894e-04 9.99728843e-01 1.19965908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.96925415399998 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:74.41, Y:-0.01, Z:0.12 [[ 9.99355078e-01 -2.77293470e-02 -2.28147192e-02 7.44086371e+01] [ 2.77231601e-02 9.99615467e-01 -5.87487325e-04 -1.09904612e-02] [ 2.28222368e-02 -4.53876707e-05 9.99739538e-01 1.19591489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99925415399998 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:74.44, Y:-0.01, Z:0.12 [[ 9.99503011e-01 -2.21496954e-02 -2.24303953e-02 7.44359842e+01] [ 2.21422128e-02 9.99754662e-01 -5.81929006e-04 -7.91737378e-03] [ 2.24377818e-02 8.49812077e-05 9.99748238e-01 1.21080371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02925415399999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:74.46, Y:-0.01, Z:0.12 [[ 9.99538810e-01 -2.06182560e-02 -2.22947336e-02 7.44643424e+01] [ 2.06104111e-02 9.99787414e-01 -5.81618191e-04 -6.92918147e-03] [ 2.23019860e-02 1.21846329e-04 9.99751272e-01 1.21314900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05925415399999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:74.49, Y:-0.01, Z:0.12 [[ 9.99551432e-01 -1.98203844e-02 -2.24518741e-02 7.44924665e+01] [ 1.98120879e-02 9.99803546e-01 -5.91920519e-04 -6.33120743e-03] [ 2.24591954e-02 1.46836498e-04 9.99747750e-01 1.21706313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08925415399999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:74.52, Y:-0.01, Z:0.12 [[ 9.99505587e-01 -2.08866036e-02 -2.35017164e-02 7.45199190e+01] [ 2.08776809e-02 9.99781842e-01 -6.24989032e-04 -6.58974498e-03] [ 2.35096432e-02 1.34018693e-04 9.99723601e-01 1.20802145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11925415399999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:74.55, Y:-0.01, Z:0.12 [[ 9.99459156e-01 -2.24038803e-02 -2.40719914e-02 7.45476614e+01] [ 2.23948587e-02 9.99748996e-01 -6.44326720e-04 -5.96920268e-03] [ 2.40803847e-02 1.04889392e-04 9.99710020e-01 1.21412532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14925415399999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:74.58, Y:-0.01, Z:0.12 [[ 9.99409313e-01 -2.41871881e-02 -2.44131981e-02 7.45756069e+01] [ 2.41782803e-02 9.99707445e-01 -6.60029688e-04 -5.78613108e-03] [ 2.44220202e-02 6.93706682e-05 9.99701736e-01 1.21653594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17925415399998 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:74.60, Y:-0.01, Z:0.12 [[ 9.99351972e-01 -2.62673829e-02 -2.46101898e-02 7.46031120e+01] [ 2.62587998e-02 9.99654952e-01 -6.71922035e-04 -5.83323651e-03] [ 2.46193477e-02 2.52525655e-05 9.99696898e-01 1.21879973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20925415399998 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:74.63, Y:-0.01, Z:0.12 [[ 9.99301424e-01 -2.82433419e-02 -2.44740011e-02 7.46308020e+01] [ 2.82352885e-02 9.99601077e-01 -6.74634249e-04 -5.95722461e-03] [ 2.44832918e-02 -1.68675162e-05 9.99700239e-01 1.22109176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.23925415399998 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:74.66, Y:-0.01, Z:0.12 [[ 9.99240680e-01 -3.03365303e-02 -2.44490802e-02 7.46584033e+01] [ 3.03289629e-02 9.99539740e-01 -6.80355420e-04 -5.95016086e-03] [ 2.44584669e-02 -6.16764329e-05 9.99700845e-01 1.23027532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.26925415399998 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:74.69, Y:-0.01, Z:0.12 [[ 9.99146381e-01 -3.39094329e-02 -2.35936425e-02 7.46858662e+01] [ 3.39032739e-02 9.99424900e-01 -6.61119342e-04 -6.97276394e-03] [ 2.36024920e-02 -1.39346726e-04 9.99721413e-01 1.23635729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.29925415399998 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:74.72, Y:-0.01, Z:0.12 [[ 9.99095633e-01 -3.56594967e-02 -2.31585222e-02 7.47154427e+01] [ 3.56539985e-02 9.99363982e-01 -6.50405471e-04 -6.90078426e-03] [ 2.31669861e-02 -1.75876652e-04 9.99731594e-01 1.24236195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.32925415399998 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:74.75, Y:-0.01, Z:0.12 [[ 9.98991006e-01 -3.88224396e-02 -2.25784888e-02 7.47453360e+01] [ 3.88180105e-02 9.99246096e-01 -6.34579019e-04 -7.87507297e-03] [ 2.25861027e-02 -2.42513282e-04 9.99744872e-01 1.24864286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35925415399998 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:74.78, Y:-0.01, Z:0.13 [[ 9.98921159e-01 -4.05484628e-02 -2.26349208e-02 7.47754624e+01] [ 4.05444556e-02 9.99177533e-01 -6.36117515e-04 -8.04105901e-03] [ 2.26420980e-02 -2.82289297e-04 9.99743595e-01 1.25321224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38925415399999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:74.81, Y:-0.01, Z:0.13 [[ 9.98851146e-01 -4.22618188e-02 -2.25904167e-02 7.48064807e+01] [ 4.22582654e-02 9.99106519e-01 -6.34866798e-04 -8.65306218e-03] [ 2.25970632e-02 -3.20494394e-04 9.99744602e-01 1.25532342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41925415399999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:74.84, Y:-0.01, Z:0.13 [[ 9.98693277e-01 -4.59522837e-02 -2.23634844e-02 7.48359022e+01] [ 4.59497237e-02 9.98943556e-01 -6.28596617e-04 -1.08486869e-02] [ 2.23687441e-02 -3.99820711e-04 9.99749708e-01 1.25475167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44925415399999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:74.87, Y:-0.01, Z:0.13 [[ 9.98602414e-01 -4.79684717e-02 -2.21865985e-02 7.48669946e+01] [ 4.79664486e-02 9.98848753e-01 -6.23657330e-04 -1.14999287e-02] [ 2.21909721e-02 -4.41426620e-04 9.99753653e-01 1.25548925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47925415399999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:74.90, Y:-0.01, Z:0.13 [[ 9.98426757e-01 -5.13022913e-02 -2.26293033e-02 7.48990799e+01] [ 5.13010650e-02 9.98683031e-01 -6.35097035e-04 -1.36194361e-02] [ 2.26320831e-02 -5.26809485e-04 9.99743723e-01 1.25937160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50925415399999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:74.93, Y:-0.01, Z:0.13 [[ 9.98351293e-01 -5.26418629e-02 -2.28807873e-02 7.49311424e+01] [ 5.26409988e-02 9.98613296e-01 -6.40493293e-04 -1.39539103e-02] [ 2.28827752e-02 -5.65030191e-04 9.99737995e-01 1.26780490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53925415399998 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:74.96, Y:-0.01, Z:0.13 [[ 9.98272478e-01 -5.40723639e-02 -2.29834329e-02 7.49628660e+01] [ 5.40719095e-02 9.98536838e-01 -6.41685757e-04 -1.39315317e-02] [ 2.29845018e-02 -6.02180871e-04 9.99735640e-01 1.27436389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56925415399998 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:75.00, Y:-0.01, Z:0.13 [[ 9.98190167e-01 -5.56350505e-02 -2.28283142e-02 7.49950584e+01] [ 5.56350491e-02 9.98450969e-01 -6.35665177e-04 -1.46683409e-02] [ 2.28283177e-02 -6.35539653e-04 9.99739198e-01 1.27782102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59925415399998 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:75.03, Y:-0.01, Z:0.13 [[ 9.98176648e-01 -5.58598178e-02 -2.28704926e-02 7.50272251e+01] [ 5.58599140e-02 9.98438414e-01 -6.35147697e-04 -1.47710211e-02] [ 2.28702576e-02 -6.43554152e-04 9.99738234e-01 1.28381247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.62925415399998 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:75.06, Y:-0.02, Z:0.13 [[ 9.98179877e-01 -5.58686140e-02 -2.27074923e-02 7.50595379e+01] [ 5.58687489e-02 9.98437924e-01 -6.28956274e-04 -1.54958054e-02] [ 2.27071604e-02 -6.40827691e-04 9.99741954e-01 1.28810426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.65925415399998 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:75.09, Y:-0.02, Z:0.13 [[ 9.98191477e-01 -5.57567832e-02 -2.24712216e-02 7.50913520e+01] [ 5.57569238e-02 9.98444180e-01 -6.20773184e-04 -1.50269178e-02] [ 2.24708728e-02 -6.33275690e-04 9.99747297e-01 1.29371659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.68925415399998 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:75.12, Y:-0.01, Z:0.13 [[ 9.98191429e-01 -5.57686979e-02 -2.24437702e-02 7.51223048e+01] [ 5.57688751e-02 9.98443514e-01 -6.18499571e-04 -1.45465353e-02] [ 2.24433297e-02 -6.34282848e-04 9.99747916e-01 1.29782924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.71925415399998 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:75.15, Y:-0.01, Z:0.13 [[ 9.98176258e-01 -5.61121503e-02 -2.22617269e-02 7.51537557e+01] [ 5.61124367e-02 9.98424268e-01 -6.12282227e-04 -1.42586150e-02] [ 2.22610048e-02 -6.37994157e-04 9.99751990e-01 1.29562461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.74925415399998 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:75.19, Y:-0.01, Z:0.13 [[ 9.98134101e-01 -5.66473689e-02 -2.27901787e-02 7.51854555e+01] [ 5.66478396e-02 9.98394026e-01 -6.25452286e-04 -1.35737206e-02] [ 2.27890085e-02 -6.66729132e-04 9.99740075e-01 1.30111983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77925415399999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:75.22, Y:-0.01, Z:0.13 [[ 9.97974768e-01 -5.91925325e-02 -2.32939181e-02 7.52165760e+01] [ 5.91937641e-02 9.98246308e-01 -6.37247681e-04 -1.30053540e-02] [ 2.32907881e-02 -7.42897589e-04 9.99728457e-01 1.30647718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80925415399999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:75.25, Y:-0.01, Z:0.13 [[ 9.97850322e-01 -6.11236273e-02 -2.36355094e-02 7.52490001e+01] [ 6.11254935e-02 9.98129881e-01 -6.44174169e-04 -1.23674161e-02] [ 2.36306824e-02 -8.01942773e-04 9.99720435e-01 1.31133068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83925415399999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:75.28, Y:-0.01, Z:0.13 [[ 9.97699409e-01 -6.32951307e-02 -2.42820230e-02 7.52811311e+01] [ 6.32977871e-02 9.97994466e-01 -6.59970254e-04 -1.19172411e-02] [ 2.42750975e-02 -8.78546393e-04 9.99704930e-01 1.31707715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86925415399999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:75.31, Y:-0.01, Z:0.13 [[ 9.97388482e-01 -6.79033532e-02 -2.46038755e-02 7.53126436e+01] [ 6.79075209e-02 9.97691397e-01 -6.67055524e-04 -1.15813221e-02] [ 2.45923703e-02 -1.00547470e-03 9.99697056e-01 1.32630650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89925415399999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:75.34, Y:-0.01, Z:0.13 [[ 9.97083798e-01 -7.24606850e-02 -2.39447078e-02 7.53447672e+01] [ 7.24659782e-02 9.97370675e-01 -6.47722894e-04 -1.09368333e-02] [ 2.39286838e-02 -1.08934267e-03 9.99713075e-01 1.33663761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92925415399998 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:75.38, Y:-0.01, Z:0.13 [[ 9.96895811e-01 -7.53438812e-02 -2.28482238e-02 7.53773679e+01] [ 7.53494934e-02 9.97156996e-01 -6.16411720e-04 -1.06728718e-02] [ 2.28297090e-02 -1.10710383e-03 9.99738755e-01 1.34575465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95925415399998 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:75.41, Y:-0.01, Z:0.14 [[ 9.96908492e-01 -7.51758893e-02 -2.28482882e-02 7.54109115e+01] [ 7.51815122e-02 9.97169676e-01 -6.14017438e-04 -9.85243797e-03] [ 2.28297794e-02 -1.10564966e-03 9.99738755e-01 1.35095312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.98925415399998 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:75.44, Y:-0.01, Z:0.14 [[ 9.96882312e-01 -7.55901457e-02 -2.26226831e-02 7.54440352e+01] [ 7.55958410e-02 9.97138357e-01 -6.04568707e-04 -9.41278528e-03] [ 2.26036445e-02 -1.10749690e-03 9.99743892e-01 1.36091326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.01925415399998 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:75.48, Y:-0.01, Z:0.14 [[ 9.96936530e-01 -7.51160562e-02 -2.17975302e-02 7.54757134e+01] [ 7.51212795e-02 9.97174236e-01 -5.80258391e-04 -8.13404730e-03] [ 2.17795223e-02 -1.05897757e-03 9.99762237e-01 1.36663517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.04925415399998 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:75.51, Y:-0.01, Z:0.14 [[ 9.97048112e-01 -7.36640785e-02 -2.16486849e-02 7.55078671e+01] [ 7.36689437e-02 9.97282587e-01 -5.73773154e-04 -6.66181263e-03] [ 2.16321229e-02 -1.02275631e-03 9.99765475e-01 1.37544828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.07925415399998 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:75.54, Y:-0.01, Z:0.14 [[ 9.97057239e-01 -7.35404163e-02 -2.16487776e-02 7.55413968e+01] [ 7.35453286e-02 9.97291712e-01 -5.70257754e-04 -5.87341892e-03] [ 2.16320834e-02 -1.02358684e-03 9.99765475e-01 1.38063985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.10925415399998 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:75.57, Y:-0.00, Z:0.14 [[ 9.97322038e-01 -6.99591378e-02 -2.13183600e-02 7.55742956e+01] [ 6.99631385e-02 9.97549421e-01 -5.59023903e-04 -2.60512449e-03] [ 2.13052265e-02 -9.33972518e-04 9.99772582e-01 1.39119297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13925415399999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:75.61, Y:-0.00, Z:0.14 [[ 9.97491240e-01 -6.74806712e-02 -2.13912489e-02 7.56077841e+01] [ 6.74841806e-02 9.97720188e-01 -5.58592238e-04 -6.95748908e-04] [ 2.13801751e-02 -8.86380043e-04 9.99771025e-01 1.40042641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16925415399999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:75.64, Y:0.00, Z:0.14 [[ 9.97871296e-01 -6.15827384e-02 -2.14579301e-02 7.56393228e+01] [ 6.15849556e-02 9.98101689e-01 -5.58103599e-04 2.04504363e-03] [ 2.14515658e-02 -7.64570111e-04 9.99769596e-01 1.40730858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19925415399999 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:75.67, Y:0.00, Z:0.14 [[ 9.98050142e-01 -5.85006409e-02 -2.17620917e-02 7.56714943e+01] [ 5.85022306e-02 9.98287118e-01 -5.64132820e-04 3.94186433e-03] [ 2.17578179e-02 -7.10098064e-04 9.99763018e-01 1.41043499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22925415399999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:75.70, Y:0.01, Z:0.14 [[ 9.98412237e-01 -5.16477516e-02 -2.24836502e-02 7.57022091e+01] [ 5.16477475e-02 9.98665195e-01 -5.81260704e-04 6.91742172e-03] [ 2.24836597e-02 -5.80892086e-04 9.99747042e-01 1.42138031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25925415399999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:75.73, Y:0.01, Z:0.14 [[ 9.98583273e-01 -4.80557273e-02 -2.28493709e-02 7.57345353e+01] [ 4.80548154e-02 9.98844526e-01 -5.89307820e-04 8.71056383e-03] [ 2.28512887e-02 -5.09549371e-04 9.99738745e-01 1.42598752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28925415399998 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:75.77, Y:0.01, Z:0.14 [[ 9.98747172e-01 -4.42441667e-02 -2.33782006e-02 7.57661883e+01] [ 4.42422022e-02 9.99020653e-01 -6.01501679e-04 1.03714366e-02] [ 2.33819182e-02 -4.33554978e-04 9.99726512e-01 1.43160046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31925415399998 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:75.80, Y:0.01, Z:0.14 [[ 9.98886283e-01 -4.04646102e-02 -2.42653831e-02 7.57977177e+01] [ 4.04614011e-02 9.99180908e-01 -6.23414837e-04 1.21270622e-02] [ 2.42707338e-02 -3.59090870e-04 9.99705358e-01 1.43588597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34925415399998 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:75.83, Y:0.01, Z:0.14 [[ 9.99127122e-01 -3.28888461e-02 -2.57549722e-02 7.58270209e+01] [ 3.28827249e-02 9.99458998e-01 -6.61267108e-04 1.46680846e-02] [ 2.57627870e-02 -1.86203763e-04 9.99668067e-01 1.43545016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37925415399998 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:75.85, Y:0.02, Z:0.14 [[ 9.99212324e-01 -2.98335610e-02 -2.61665909e-02 7.58549859e+01] [ 2.98261060e-02 9.99554875e-01 -6.75237807e-04 1.65020589e-02] [ 2.61750882e-02 -1.05741576e-04 9.99657368e-01 1.43894730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.40925415399998 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:75.88, Y:0.02, Z:0.14 [[ 9.99340365e-01 -2.47841964e-02 -2.65439076e-02 7.58828970e+01] [ 2.47745364e-02 9.99692824e-01 -6.92779157e-04 1.88610291e-02] [ 2.65529239e-02 3.47091707e-05 9.99647408e-01 1.44895576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43925415399998 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:75.91, Y:0.02, Z:0.15 [[ 9.99378875e-01 -2.32974780e-02 -2.64403423e-02 7.59108207e+01] [ 2.32871703e-02 9.99728574e-01 -6.97736547e-04 1.98855149e-02] [ 2.64494212e-02 8.15824136e-05 9.99650150e-01 1.45682024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.46925415399998 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:75.94, Y:0.02, Z:0.15 [[ 9.99414941e-01 -2.23962871e-02 -2.58492179e-02 7.59389927e+01] [ 2.23859432e-02 9.99749166e-01 -6.89505980e-04 2.05362642e-02] [ 2.58581764e-02 1.10443455e-04 9.99665615e-01 1.46474057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49925415399998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:75.97, Y:0.02, Z:0.15 [[ 9.99441251e-01 -2.23752073e-02 -2.48301320e-02 7.59673373e+01] [ 2.23654833e-02 9.99749637e-01 -6.69300058e-04 2.09880389e-02] [ 2.48388912e-02 1.13588186e-04 9.99691461e-01 1.47135940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52925415399999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:75.99, Y:0.02, Z:0.15 [[ 9.99438247e-01 -2.36003119e-02 -2.37952964e-02 7.59945944e+01] [ 2.35916023e-02 9.99721470e-01 -6.46717083e-04 2.08496934e-02] [ 2.38039315e-02 8.49846169e-05 9.99716643e-01 1.48106178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55925415399999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:76.02, Y:0.02, Z:0.15 [[ 9.99395858e-01 -2.55192167e-02 -2.35942365e-02 7.60223167e+01] [ 2.55110883e-02 9.99674331e-01 -6.45490225e-04 2.08053729e-02] [ 2.36030250e-02 4.31856068e-05 9.99721409e-01 1.48461380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58925415399999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:76.05, Y:0.02, Z:0.15 [[ 9.99233095e-01 -3.13776128e-02 -2.34236372e-02 7.60507458e+01] [ 3.13710535e-02 9.99507598e-01 -6.47531242e-04 1.94344032e-02] [ 2.34324213e-02 -8.77895267e-05 9.99725419e-01 1.48447955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61925415399999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:76.08, Y:0.02, Z:0.15 [[ 9.99086829e-01 -3.54033652e-02 -2.39188247e-02 7.60797464e+01] [ 3.53975178e-02 9.99373088e-01 -6.67950725e-04 1.89755129e-02] [ 2.39274774e-02 -1.79326252e-04 9.99713681e-01 1.48696842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64925415399999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:76.11, Y:0.02, Z:0.15 [[ 9.98915396e-01 -3.96000484e-02 -2.44921955e-02 7.61099130e+01] [ 3.95950714e-02 9.99215571e-01 -6.88321915e-04 1.82870193e-02] [ 2.45002407e-02 -2.82194870e-04 9.99699784e-01 1.49088346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67925415399998 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:76.14, Y:0.02, Z:0.15 [[ 9.98492370e-01 -4.86850695e-02 -2.53525282e-02 7.61400055e+01] [ 4.86826387e-02 9.98814043e-01 -7.13451201e-04 1.58619944e-02] [ 2.53571956e-02 -5.21852393e-04 9.99678318e-01 1.49137982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70925415399998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:76.17, Y:0.02, Z:0.15 [[ 9.98259893e-01 -5.32117263e-02 -2.54105894e-02 7.61702744e+01] [ 5.32107503e-02 9.98583049e-01 -7.15053561e-04 1.52601836e-02] [ 2.54126331e-02 -6.38307236e-04 9.99676843e-01 1.49845304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.73925415399998 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:76.20, Y:0.01, Z:0.15 [[ 9.98016869e-01 -5.74809432e-02 -2.56567971e-02 7.62014948e+01] [ 5.74813911e-02 9.98346318e-01 -7.20668913e-04 1.46591526e-02] [ 2.56557936e-02 -7.55548655e-04 9.99670550e-01 1.50505070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.76925415399998 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:76.23, Y:0.01, Z:0.15 [[ 9.97570225e-01 -6.49684174e-02 -2.51545348e-02 7.62339506e+01] [ 6.49712551e-02 9.97886887e-01 -7.05325891e-04 1.30801858e-02] [ 2.51472043e-02 -9.30709591e-04 9.99683326e-01 1.50804442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.79925415399998 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:76.26, Y:0.01, Z:0.15 [[ 9.97354210e-01 -6.81568000e-02 -2.52830174e-02 7.62646753e+01] [ 6.81607314e-02 9.97674102e-01 -7.07271389e-04 1.31526517e-02] [ 2.52724171e-02 -1.01790886e-03 9.99680083e-01 1.51512118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.82925415399998 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:76.30, Y:0.01, Z:0.15 [[ 9.97002378e-01 -7.31750118e-02 -2.51331584e-02 7.62965019e+01] [ 7.31805260e-02 9.97318464e-01 -7.01538897e-04 1.29366922e-02] [ 2.51170980e-02 -1.13982180e-03 9.99683866e-01 1.51362476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85925415399998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:76.33, Y:0.01, Z:0.15 [[ 9.96842475e-01 -7.53230374e-02 -2.51300746e-02 7.63290950e+01] [ 7.53292775e-02 9.97158468e-01 -6.99610261e-04 1.35852464e-02] [ 2.51113634e-02 -1.19562914e-03 9.99683945e-01 1.51925483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88925415399999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:76.36, Y:0.01, Z:0.15 [[ 9.96713331e-01 -7.70867791e-02 -2.49030837e-02 7.63607441e+01] [ 7.70934966e-02 9.97023628e-01 -6.91653570e-04 1.42879238e-02] [ 2.48822802e-02 -1.23048547e-03 9.99689631e-01 1.52629498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91925415399999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:76.39, Y:0.02, Z:0.15 [[ 9.96529333e-01 -7.98068211e-02 -2.36677112e-02 7.63933687e+01] [ 7.98136937e-02 9.96809583e-01 -6.55624035e-04 1.52346433e-02] [ 2.36445246e-02 -1.23565887e-03 9.99719666e-01 1.53417649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94925415399999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:76.43, Y:0.02, Z:0.15 [[ 9.96425952e-01 -8.12405740e-02 -2.31363556e-02 7.64250972e+01] [ 8.12475822e-02 9.96693746e-01 -6.38500533e-04 1.64910435e-02] [ 2.31117331e-02 -1.24355445e-03 9.99732115e-01 1.53656303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97925415399999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:76.46, Y:0.02, Z:0.15 [[ 9.96246259e-01 -8.34586344e-02 -2.29792920e-02 7.64579607e+01] [ 8.34661874e-02 9.96510410e-01 -6.31916882e-04 1.83940401e-02] [ 2.29518426e-02 -1.28844907e-03 9.99735741e-01 1.53894971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00925415399999 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:76.49, Y:0.02, Z:0.15 [[ 9.96172439e-01 -8.43350824e-02 -2.29796650e-02 7.64907832e+01] [ 8.43429262e-02 9.96436588e-01 -6.29390713e-04 2.00301506e-02] [ 2.29508587e-02 -1.31119051e-03 9.99735735e-01 1.54459925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03925415399998 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:76.52, Y:0.02, Z:0.15 [[ 9.96090192e-01 -8.51811898e-02 -2.34199696e-02 7.65241512e+01] [ 8.51896324e-02 9.96364551e-01 -6.38801391e-04 2.18102118e-02] [ 2.33892413e-02 -1.35883480e-03 9.99725511e-01 1.54899512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06925415399998 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:76.56, Y:0.02, Z:0.16 [[ 9.95985353e-01 -8.62480015e-02 -2.39678776e-02 7.65558707e+01] [ 8.62572305e-02 9.96272687e-01 -6.50456376e-04 2.44343549e-02] [ 2.39346424e-02 -1.41955772e-03 9.99712518e-01 1.55788801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09925415399998 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:76.59, Y:0.03, Z:0.16 [[ 9.95997877e-01 -8.61572685e-02 -2.37729844e-02 7.65890769e+01] [ 8.61664087e-02 9.96280552e-01 -6.41523402e-04 2.59996155e-02] [ 2.37398339e-02 -1.40947674e-03 9.99717177e-01 1.56021012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12925415399998 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:76.62, Y:0.03, Z:0.16 [[ 9.96029273e-01 -8.55614439e-02 -2.45952734e-02 7.66219451e+01] [ 8.55711137e-02 9.96331846e-01 -6.60991746e-04 2.89797635e-02] [ 2.45616096e-02 -1.44627781e-03 9.99697272e-01 1.56284911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15925415399998 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:76.65, Y:0.03, Z:0.16 [[ 9.96131200e-01 -8.43048518e-02 -2.48057504e-02 7.66539848e+01] [ 8.43143621e-02 9.96438983e-01 -6.64128560e-04 3.12826680e-02] [ 2.47734059e-02 -1.42992184e-03 9.99692069e-01 1.57087043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18925415399998 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:76.69, Y:0.03, Z:0.16 [[ 9.96274704e-01 -8.26170999e-02 -2.47210256e-02 7.66870433e+01] [ 8.26260856e-02 9.96580401e-01 -6.59501422e-04 3.38441112e-02] [ 2.46909757e-02 -1.38555699e-03 9.99694171e-01 1.57801546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21925415399998 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:76.72, Y:0.04, Z:0.16 [[ 9.96665521e-01 -7.76335278e-02 -2.51172017e-02 7.67196677e+01] [ 7.76412944e-02 9.96981135e-01 -6.67332781e-04 3.89476772e-02] [ 2.50931837e-02 -1.28502448e-03 9.99684291e-01 1.58800081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.24925415399998 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:76.75, Y:0.04, Z:0.16 [[ 9.96886618e-01 -7.44479731e-02 -2.59724736e-02 7.67527961e+01] [ 7.44552758e-02 9.97224117e-01 -6.87118494e-04 4.22560238e-02] [ 2.59515316e-02 -1.24880845e-03 9.99662422e-01 1.59968042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27925415399999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:76.79, Y:0.05, Z:0.16 [[ 9.97158879e-01 -7.06988585e-02 -2.59969678e-02 7.67859603e+01] [ 7.07049783e-02 9.97497036e-01 -6.84885581e-04 4.53281951e-02] [ 2.59803190e-02 -1.15517531e-03 9.99661787e-01 1.60556945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30925415399999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:76.82, Y:0.05, Z:0.16 [[ 9.97689970e-01 -6.28276954e-02 -2.58341559e-02 7.68186501e+01] [ 6.28311772e-02 9.98023940e-01 -6.77736281e-04 5.13414968e-02] [ 2.58256867e-02 -9.47019737e-04 9.99666013e-01 1.61902905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33925415399999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:76.85, Y:0.05, Z:0.16 [[ 9.97950663e-01 -5.86958555e-02 -2.54807916e-02 7.68506412e+01] [ 5.86979591e-02 9.98275566e-01 -6.66035433e-04 5.45622213e-02] [ 2.54759452e-02 -8.30999964e-04 9.99675090e-01 1.62718344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36925415399999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:76.88, Y:0.06, Z:0.16 [[ 9.98415491e-01 -5.07465739e-02 -2.43164901e-02 7.68814785e+01] [ 5.07461713e-02 9.98711382e-01 -6.34029406e-04 5.97560713e-02] [ 2.43173302e-02 -6.00943988e-04 9.99704109e-01 1.63999717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39925415399998 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:76.91, Y:0.06, Z:0.16 [[ 9.98620070e-01 -4.68209239e-02 -2.37856652e-02 7.69133437e+01] [ 4.68194596e-02 9.98903176e-01 -6.18757019e-04 6.24907211e-02] [ 2.37885473e-02 -4.95728815e-04 9.99716890e-01 1.64854886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42925415399998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:76.94, Y:0.06, Z:0.17 [[ 9.98827575e-01 -4.26259721e-02 -2.29456143e-02 7.69447943e+01] [ 4.26235470e-02 9.99091027e-01 -5.94975815e-04 6.49450952e-02] [ 2.29501187e-02 -3.83745218e-04 9.99736538e-01 1.65749140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45925415399998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:76.98, Y:0.07, Z:0.17 [[ 9.98989040e-01 -3.88521540e-02 -2.26143295e-02 7.69755833e+01] [ 3.88488766e-02 9.99244927e-01 -5.84400145e-04 6.76311832e-02] [ 2.26199592e-02 -2.94731957e-04 9.99744093e-01 1.66372094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48925415399998 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:77.01, Y:0.07, Z:0.17 [[ 9.99238558e-01 -3.19267256e-02 -2.24273865e-02 7.70066387e+01] [ 3.19217756e-02 9.99490203e-01 -5.78773982e-04 7.16592008e-02] [ 2.24344314e-02 -1.37588719e-04 9.99748307e-01 1.66729223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51925415399998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:77.04, Y:0.07, Z:0.17 [[ 9.99310568e-01 -2.94631966e-02 -2.25900184e-02 7.70363365e+01] [ 2.94575551e-02 9.99565862e-01 -5.82532209e-04 7.37064017e-02] [ 2.25973745e-02 -8.33161194e-05 9.99744643e-01 1.66439582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54925415399998 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:77.07, Y:0.08, Z:0.17 [[ 9.99381660e-01 -2.62224407e-02 -2.34239279e-02 7.70656709e+01] [ 2.62154714e-02 9.99656133e-01 -6.04608174e-04 7.58742531e-02] [ 2.34317275e-02 -9.83499205e-06 9.99725439e-01 1.66856991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57925415399998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:77.09, Y:0.08, Z:0.17 [[ 9.99395467e-01 -2.57763175e-02 -2.33298667e-02 7.70933222e+01] [ 2.57692175e-02 9.99667736e-01 -6.04967421e-04 7.68060590e-02] [ 2.33377088e-02 3.40928917e-06 9.99727639e-01 1.66814641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.60925415399998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:77.12, Y:0.08, Z:0.17 [[ 9.99352056e-01 -2.69698986e-02 -2.38346988e-02 7.71213633e+01] [ 2.69626622e-02 9.99636246e-01 -6.24984006e-04 7.79709118e-02] [ 2.38428846e-02 -1.80678819e-05 9.99715718e-01 1.67229401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63925415399999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:77.15, Y:0.08, Z:0.17 [[ 9.99309711e-01 -2.82765702e-02 -2.40943194e-02 7.71494636e+01] [ 2.82694277e-02 9.99600137e-01 -6.37073508e-04 7.86669444e-02] [ 2.41026992e-02 -4.44988771e-05 9.99709487e-01 1.67576023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66925415399999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:77.18, Y:0.08, Z:0.17 [[ 9.99256024e-01 -3.04276736e-02 -2.36971655e-02 7.71783722e+01] [ 3.04212866e-02 9.99536967e-01 -6.30062113e-04 7.94798130e-02] [ 2.37053643e-02 -9.13049025e-05 9.99718984e-01 1.68000491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69925415399999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:77.21, Y:0.08, Z:0.17 [[ 9.99139771e-01 -3.45876569e-02 -2.28781789e-02 7.72066753e+01] [ 3.45826614e-02 9.99401652e-01 -6.14081545e-04 7.91367970e-02] [ 2.28857294e-02 -1.77635019e-04 9.99738072e-01 1.68273459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72925415399999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:77.24, Y:0.08, Z:0.17 [[ 9.99091043e-01 -3.64780487e-02 -2.20553930e-02 7.72373267e+01] [ 3.64737840e-02 9.99334433e-01 -5.95737035e-04 7.93108787e-02] [ 2.20624449e-02 -2.09248103e-04 9.99756573e-01 1.68687064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75925415399999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:77.27, Y:0.08, Z:0.17 [[ 9.99016885e-01 -3.86227901e-02 -2.17610369e-02 7.72691150e+01] [ 3.86191582e-02 9.99253829e-01 -5.87278419e-04 7.98698062e-02] [ 2.17674817e-02 -2.53691868e-04 9.99763028e-01 1.69757503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78925415399998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:77.30, Y:0.08, Z:0.17 [[ 9.98866874e-01 -4.28499444e-02 -2.07087051e-02 7.73016746e+01] [ 4.28475823e-02 9.99081465e-01 -5.57958234e-04 7.96258035e-02] [ 2.07135919e-02 -3.29991952e-04 9.99785396e-01 1.70515445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81925415399998 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:77.33, Y:0.08, Z:0.17 [[ 9.98767789e-01 -4.50800047e-02 -2.07532186e-02 7.73340199e+01] [ 4.50781455e-02 9.98983308e-01 -5.57625469e-04 7.98537503e-02] [ 2.07572568e-02 -3.78578252e-04 9.99784473e-01 1.71394853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:77.37, Y:0.08, Z:0.17 [[ 9.98579183e-01 -4.92244893e-02 -2.04099457e-02 7.73666157e+01] [ 4.92235866e-02 9.98787635e-01 -5.46908929e-04 7.91134056e-02] [ 2.04121227e-02 -4.58518857e-04 9.99791546e-01 1.71622330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.87925415399998 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:77.40, Y:0.08, Z:0.17 [[ 9.98472191e-01 -5.14101494e-02 -2.02553836e-02 7.73975535e+01] [ 5.14097382e-02 9.98677498e-01 -5.41361444e-04 7.90539262e-02] [ 2.02564273e-02 -5.00789620e-04 9.99794692e-01 1.71906995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.90925415399998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:77.43, Y:0.08, Z:0.17 [[ 9.98305401e-01 -5.44612471e-02 -2.05011722e-02 7.74293642e+01] [ 5.44614938e-02 9.98515722e-01 -5.46701020e-04 7.78720542e-02] [ 2.05005168e-02 -5.70749883e-04 9.99789679e-01 1.72122763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.93925415399998 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:77.46, Y:0.08, Z:0.17 [[ 9.98235862e-01 -5.55756308e-02 -2.08928863e-02 7.74611253e+01] [ 5.55761631e-02 9.98454296e-01 -5.55608886e-04 7.79785908e-02] [ 2.08914704e-02 -6.06517745e-04 9.99781565e-01 1.72717757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.96925415399998 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:77.49, Y:0.08, Z:0.17 [[ 9.98194608e-01 -5.63326748e-02 -2.08363642e-02 7.74922252e+01] [ 5.63333990e-02 9.98411860e-01 -5.52663491e-04 7.80099657e-02] [ 2.08344062e-02 -6.22117504e-04 9.99782747e-01 1.72843956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99925415399998 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:77.52, Y:0.08, Z:0.17 [[ 9.98200221e-01 -5.62331075e-02 -2.08364010e-02 7.75249153e+01] [ 5.62338390e-02 9.98417474e-01 -5.51274726e-04 7.88167501e-02] [ 2.08344267e-02 -6.21428265e-04 9.99782747e-01 1.73350629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02925415399999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:77.56, Y:0.08, Z:0.17 [[ 9.98205263e-01 -5.58967078e-02 -2.14897782e-02 7.75572781e+01] [ 5.58974519e-02 9.98436354e-01 -5.66522576e-04 7.84831374e-02] [ 2.14878425e-02 -6.35718026e-04 9.99768908e-01 1.73718994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05925415399999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:77.59, Y:0.08, Z:0.17 [[ 9.98276596e-01 -5.45561656e-02 -2.16208881e-02 7.75882618e+01] [ 5.45566457e-02 9.98510516e-01 -5.68086932e-04 7.91025521e-02] [ 2.16196767e-02 -6.12455242e-04 9.99766080e-01 1.73867578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08925415399999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:77.62, Y:0.08, Z:0.17 [[ 9.98499479e-01 -4.98303091e-02 -2.27096936e-02 7.76200252e+01] [ 4.98296736e-02 9.98757553e-01 -5.94217906e-04 7.97571644e-02] [ 2.27110881e-02 -5.38290352e-04 9.99741925e-01 1.73784615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11925415399999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:77.65, Y:0.08, Z:0.17 [[ 9.98663671e-01 -4.63402664e-02 -2.28790650e-02 7.76525365e+01] [ 4.63387441e-02 9.98925605e-01 -5.96979934e-04 8.04783142e-02] [ 2.28821480e-02 -4.64004966e-04 9.99738062e-01 1.74167349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14925415399998 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:77.68, Y:0.08, Z:0.17 [[ 9.98828022e-01 -4.24363718e-02 -2.32752407e-02 7.76841899e+01] [ 4.24337743e-02 9.99099098e-01 -6.05704102e-04 8.16682605e-02] [ 2.32799758e-02 -3.82662079e-04 9.99728911e-01 1.74833834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17925415399998 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:77.72, Y:0.08, Z:0.18 [[ 9.99155429e-01 -3.39104196e-02 -2.32058648e-02 7.77153713e+01] [ 3.39055645e-02 9.99424859e-01 -6.02755678e-04 8.42233416e-02] [ 2.32129578e-02 -1.84561337e-04 9.99730526e-01 1.75861624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20925415399998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:77.75, Y:0.09, Z:0.18 [[ 9.99287826e-01 -2.97778273e-02 -2.31758862e-02 7.77459933e+01] [ 2.97718865e-02 9.99556538e-01 -6.01410781e-04 8.55282336e-02] [ 2.31835173e-02 -8.90073822e-05 9.99731222e-01 1.76381743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23925415399998 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:77.77, Y:0.09, Z:0.18 [[ 9.99450385e-01 -2.35071288e-02 -2.33739836e-02 7.77747757e+01] [ 2.34993238e-02 9.99723668e-01 -6.08574902e-04 8.67146579e-02] [ 2.33818305e-02 5.89676107e-05 9.99726606e-01 1.76943478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26925415399998 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:77.80, Y:0.09, Z:0.18 [[ 9.99485818e-01 -2.17529160e-02 -2.35565153e-02 7.78026700e+01] [ 2.17443513e-02 9.99763372e-01 -6.19694974e-04 8.76851833e-02] [ 2.35644213e-02 1.07155195e-04 9.99722315e-01 1.77321157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29925415399998 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:77.83, Y:0.09, Z:0.18 [[ 9.99513521e-01 -2.04433108e-02 -2.35540416e-02 7.78294883e+01] [ 2.04342536e-02 9.99791003e-01 -6.25179208e-04 8.82067110e-02] [ 2.35618997e-02 1.43565812e-04 9.99722370e-01 1.77776398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32925415399998 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:77.86, Y:0.09, Z:0.18 [[ 9.99530640e-01 -1.96164528e-02 -2.35307230e-02 7.78564113e+01] [ 1.96071146e-02 9.99807565e-01 -6.27525259e-04 8.77831346e-02] [ 2.35385047e-02 1.65861141e-04 9.99722917e-01 1.78424513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35925415399998 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:77.88, Y:0.09, Z:0.18 [[ 9.99501007e-01 -2.06418548e-02 -2.39092110e-02 7.78845354e+01] [ 2.06324009e-02 9.99786923e-01 -6.42055836e-04 8.78571258e-02] [ 2.39173697e-02 1.48431028e-04 9.99713928e-01 1.79180854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38925415399999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:77.91, Y:0.09, Z:0.18 [[ 9.99466681e-01 -2.22143802e-02 -2.39347919e-02 7.79116366e+01] [ 2.22052073e-02 9.99753223e-01 -6.48987413e-04 8.77457536e-02] [ 2.39433022e-02 1.17164280e-04 9.99713311e-01 1.79339006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41925415399999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:77.94, Y:0.09, Z:0.18 [[ 9.99325195e-01 -2.69274688e-02 -2.49812945e-02 7.79397746e+01] [ 2.69187973e-02 9.99637390e-01 -6.83401447e-04 8.64937609e-02] [ 2.49906383e-02 1.04738817e-05 9.99687685e-01 1.79595082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44925415399999 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:77.97, Y:0.09, Z:0.18 [[ 9.99228852e-01 -3.02260411e-02 -2.50616831e-02 7.79673600e+01] [ 3.02181663e-02 9.99543087e-01 -6.92961934e-04 8.61666552e-02] [ 2.50711776e-02 -6.48905510e-05 9.99685667e-01 1.79588498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47925415399999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:78.00, Y:0.09, Z:0.18 [[ 9.99096608e-01 -3.40040014e-02 -2.54891334e-02 7.79953798e+01] [ 3.39968928e-02 9.99421685e-01 -7.12307042e-04 8.55155395e-02] [ 2.54986140e-02 -1.54887787e-04 9.99674845e-01 1.80190465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50925415399999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:78.02, Y:0.08, Z:0.18 [[ 9.98818858e-01 -4.17243812e-02 -2.48990855e-02 7.80241997e+01] [ 4.17198259e-02 9.99129102e-01 -7.02619226e-04 8.34429963e-02] [ 2.49067173e-02 -3.36996181e-04 9.99689723e-01 1.80075746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53925415399998 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:78.06, Y:0.08, Z:0.18 [[ 9.98666847e-01 -4.54168474e-02 -2.45323823e-02 7.80559102e+01] [ 4.54134515e-02 9.98968035e-01 -6.95827215e-04 8.29319330e-02] [ 2.45386681e-02 -4.19200585e-04 9.99698794e-01 1.80732631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56925415399998 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:78.09, Y:0.08, Z:0.18 [[ 9.98325818e-01 -5.26483987e-02 -2.39521762e-02 7.80883462e+01] [ 5.26472692e-02 9.98612941e-01 -6.78189207e-04 8.16821756e-02] [ 2.39546587e-02 -5.83962875e-04 9.99712875e-01 1.82314658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59925415399998 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:78.12, Y:0.08, Z:0.18 [[ 9.98172567e-01 -5.57176998e-02 -2.33894226e-02 7.81201722e+01] [ 5.57175042e-02 9.98446355e-01 -6.60559491e-04 8.14518348e-02] [ 2.33898886e-02 -6.43847887e-04 9.99726212e-01 1.83083209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.62925415399998 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:78.15, Y:0.08, Z:0.18 [[ 9.97997001e-01 -5.89605755e-02 -2.29267705e-02 7.81525444e+01] [ 5.89612803e-02 9.98260061e-01 -6.45832669e-04 8.13459866e-02] [ 2.29249580e-02 -7.07252676e-04 9.99736938e-01 1.83707680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.65925415399998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:78.18, Y:0.08, Z:0.18 [[ 9.97818630e-01 -6.21010819e-02 -2.23928134e-02 7.81844982e+01] [ 6.21025802e-02 9.98069574e-01 -6.29170588e-04 8.12481380e-02] [ 2.23886579e-02 -7.62853355e-04 9.99749052e-01 1.84076626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.68925415399998 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:78.22, Y:0.08, Z:0.18 [[ 9.97410315e-01 -6.85919795e-02 -2.16287539e-02 7.82178897e+01] [ 6.85949389e-02 9.97644409e-01 -6.05919299e-04 7.95673929e-02] [ 2.16193667e-02 -8.79272896e-04 9.99765888e-01 1.83926121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71925415399998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:78.25, Y:0.08, Z:0.18 [[ 9.97204592e-01 -7.15148716e-02 -2.16477280e-02 7.82501543e+01] [ 7.15185728e-02 9.97439085e-01 -6.04165797e-04 7.90658697e-02] [ 2.16354969e-02 -9.45737704e-04 9.99765478e-01 1.84326677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.74925415399998 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:78.28, Y:0.08, Z:0.18 [[ 9.96814598e-01 -7.69370322e-02 -2.10083544e-02 7.82834563e+01] [ 7.69417607e-02 9.97035418e-01 -5.84328261e-04 7.88627031e-02] [ 2.09910298e-02 -1.03395283e-03 9.99779129e-01 1.84779536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77925415399999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:78.32, Y:0.08, Z:0.19 [[ 9.96630569e-01 -7.92839334e-02 -2.10134917e-02 7.83150068e+01] [ 7.92892312e-02 9.96851483e-01 -5.82241871e-04 7.98283160e-02] [ 2.09934927e-02 -1.08586355e-03 9.99779023e-01 1.85829545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80925415399999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:78.35, Y:0.08, Z:0.19 [[ 9.96486728e-01 -8.10076546e-02 -2.12593691e-02 7.83479100e+01] [ 8.10135126e-02 9.96712830e-01 -5.86973309e-04 8.07786852e-02] [ 2.12370353e-02 -1.13738506e-03 9.99773822e-01 1.86263793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83925415399999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:78.38, Y:0.08, Z:0.19 [[ 9.96217854e-01 -8.40890811e-02 -2.18863664e-02 7.83794924e+01] [ 8.40960824e-02 9.96457469e-01 -6.01933781e-04 8.15541420e-02] [ 2.18594493e-02 -1.24090049e-03 9.99760284e-01 1.86388177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86925415399999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:78.41, Y:0.08, Z:0.19 [[ 9.96105540e-01 -8.53247591e-02 -2.22134779e-02 7.84126781e+01] [ 8.53323257e-02 9.96352359e-01 -6.08760562e-04 8.23368550e-02] [ 2.21843935e-02 -1.28913797e-03 9.99753065e-01 1.87120433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89925415399998 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:78.44, Y:0.08, Z:0.19 [[ 9.96007434e-01 -8.64358039e-02 -2.23168930e-02 7.84448260e+01] [ 8.64437702e-02 9.96256545e-01 -6.09297524e-04 8.32304225e-02] [ 2.22860158e-02 -1.32229150e-03 9.99750761e-01 1.87298735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92925415399998 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:78.48, Y:0.08, Z:0.19 [[ 9.95847383e-01 -8.80519553e-02 -2.31266867e-02 7.84776541e+01] [ 8.80609975e-02 9.96114885e-01 -6.29121717e-04 8.49519308e-02] [ 2.30922323e-02 -1.41004989e-03 9.99732344e-01 1.87613365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95925415399998 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:78.51, Y:0.09, Z:0.19 [[ 9.95830076e-01 -8.81198398e-02 -2.36083402e-02 7.85097500e+01] [ 8.81293407e-02 9.96108834e-01 -6.39727072e-04 8.61716873e-02] [ 2.35728489e-02 -1.44352800e-03 9.99721080e-01 1.87797968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98925415399998 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:78.54, Y:0.09, Z:0.19 [[ 9.95903064e-01 -8.70845548e-02 -2.43591506e-02 7.85422541e+01] [ 8.70944204e-02 9.96199844e-01 -6.57650071e-04 8.87395537e-02] [ 2.43238532e-02 -1.46659038e-03 9.99703056e-01 1.88486016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01925415399998 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:78.58, Y:0.09, Z:0.19 [[ 9.96009128e-01 -8.58724602e-02 -2.43256385e-02 7.85754773e+01] [ 8.58820021e-02 9.96305101e-01 -6.54126161e-04 9.06808293e-02] [ 2.42919292e-02 -1.43761891e-03 9.99703874e-01 1.89227002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04925415399998 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:78.61, Y:0.09, Z:0.19 [[ 9.96150494e-01 -8.42805122e-02 -2.41037075e-02 7.86089238e+01] [ 8.42894787e-02 9.96441101e-01 -6.45566630e-04 9.24247654e-02] [ 2.40723335e-02 -1.38860742e-03 9.99709255e-01 1.89847255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07925415399998 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:78.64, Y:0.10, Z:0.19 [[ 9.96533238e-01 -7.99886012e-02 -2.28764015e-02 7.86414674e+01] [ 7.99956053e-02 9.96795029e-01 -6.10258940e-04 9.57140324e-02] [ 2.28518971e-02 -1.22186827e-03 9.99738115e-01 1.91022992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.10925415399998 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:78.67, Y:0.10, Z:0.19 [[ 9.96800255e-01 -7.68431592e-02 -2.20086273e-02 7.86739332e+01] [ 7.68489273e-02 9.97042577e-01 -5.84824116e-04 9.79592178e-02] [ 2.19884782e-02 -1.10838657e-03 9.99757610e-01 1.91836233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13925415399999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:78.71, Y:0.10, Z:0.19 [[ 9.97355256e-01 -6.95857694e-02 -2.09836668e-02 7.87069337e+01] [ 6.95894505e-02 9.97575561e-01 -5.55608902e-04 1.02113645e-01] [ 2.09714556e-02 -9.06102381e-04 9.99779664e-01 1.93250761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16925415399999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:78.74, Y:0.10, Z:0.19 [[ 9.97644533e-01 -6.54729399e-02 -2.04616804e-02 7.87394151e+01] [ 6.54756216e-02 9.97854023e-01 -5.39572270e-04 1.04436174e-01] [ 2.04530975e-02 -8.01439917e-04 9.99790492e-01 1.94315684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19925415399999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:78.77, Y:0.11, Z:0.19 [[ 9.97918430e-01 -6.12627114e-02 -2.01416971e-02 7.87727204e+01] [ 6.12644976e-02 9.98121426e-01 -5.28930348e-04 1.07012664e-01] [ 2.01362632e-02 -7.06141613e-04 9.99796996e-01 1.94812529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22925415399999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:78.80, Y:0.11, Z:0.20 [[ 9.98415549e-01 -5.26147293e-02 -1.99520108e-02 7.88045644e+01] [ 5.26147987e-02 9.98614746e-01 -5.21823258e-04 1.10574996e-01] [ 1.99518278e-02 -5.28774576e-04 9.99800803e-01 1.95345287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25925415399999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:78.84, Y:0.11, Z:0.20 [[ 9.98630395e-01 -4.83278253e-02 -2.00438599e-02 7.88371432e+01] [ 4.83270676e-02 9.98831428e-01 -5.22463445e-04 1.12758380e-01] [ 2.00456868e-02 -4.46913099e-04 9.99798965e-01 1.95799850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28925415399998 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:78.87, Y:0.11, Z:0.20 [[ 9.98801820e-01 -4.44675548e-02 -2.04342945e-02 7.88688082e+01] [ 4.44659901e-02 9.99010758e-01 -5.31151192e-04 1.14872168e-01] [ 2.04376990e-02 -3.78116360e-04 9.99791057e-01 1.95890943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31925415399998 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:78.90, Y:0.12, Z:0.20 [[ 9.99079061e-01 -3.71483746e-02 -2.14715516e-02 7.88999238e+01] [ 3.71449897e-02 9.99309732e-01 -5.56591144e-04 1.17793799e-01] [ 2.14774069e-02 -2.41482005e-04 9.99769305e-01 1.96407108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34925415399998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:78.93, Y:0.12, Z:0.20 [[ 9.99190178e-01 -3.39376966e-02 -2.16152885e-02 7.89317090e+01] [ 3.39335382e-02 9.99423935e-01 -5.59244451e-04 1.19601639e-01] [ 2.16218162e-02 -1.74691656e-04 9.99766206e-01 1.97231377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37925415399998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:78.96, Y:0.12, Z:0.20 [[ 9.99337611e-01 -2.92132296e-02 -2.17008460e-02 7.89610168e+01] [ 2.92079341e-02 9.99573200e-01 -5.61008865e-04 1.21498946e-01] [ 2.17079730e-02 -7.31996209e-05 9.99764352e-01 1.97397454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40925415399998 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:78.99, Y:0.12, Z:0.20 [[ 9.99386047e-01 -2.73942148e-02 -2.18422840e-02 7.89909492e+01] [ 2.73884071e-02 9.99624708e-01 -5.65055737e-04 1.22530222e-01] [ 2.18495661e-02 -3.35165465e-05 9.99761269e-01 1.98003378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43925415399998 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:79.02, Y:0.12, Z:0.20 [[ 9.99432125e-01 -2.61409667e-02 -2.12620976e-02 7.90199079e+01] [ 2.61351441e-02 9.99658267e-01 -5.51724412e-04 1.23327818e-01] [ 2.12692543e-02 -4.27688401e-06 9.99773784e-01 1.98249430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46925415399998 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:79.05, Y:0.12, Z:0.20 [[ 9.99490202e-01 -2.39086470e-02 -2.11592316e-02 7.90487580e+01] [ 2.39022942e-02 9.99714146e-01 -5.53127511e-04 1.24087066e-01] [ 2.11664077e-02 4.70913488e-05 9.99775965e-01 1.99196471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49925415399998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:79.08, Y:0.12, Z:0.20 [[ 9.99512104e-01 -2.32966319e-02 -2.08043371e-02 7.90772677e+01] [ 2.32903148e-02 9.99728595e-01 -5.45919331e-04 1.24538818e-01] [ 2.08114088e-02 6.11134193e-05 9.99783417e-01 1.99603195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52925415399999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:79.10, Y:0.12, Z:0.20 [[ 9.99532121e-01 -2.25645065e-02 -2.06490413e-02 7.91046752e+01] [ 2.25580416e-02 9.99745386e-01 -5.45984985e-04 1.24618345e-01] [ 2.06561037e-02 7.99275967e-05 9.99786637e-01 1.99913250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55925415399999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:79.13, Y:0.12, Z:0.20 [[ 9.99522893e-01 -2.29632003e-02 -2.06562005e-02 7.91329352e+01] [ 2.29567598e-02 9.99736308e-01 -5.48895867e-04 1.23684724e-01] [ 2.06633580e-02 7.44345516e-05 9.99786487e-01 2.00368476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58925415399999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:79.16, Y:0.12, Z:0.20 [[ 9.99501607e-01 -2.41199709e-02 -2.03657831e-02 7.91610671e+01] [ 2.41138391e-02 9.99709070e-01 -5.46639498e-04 1.23412478e-01] [ 2.03730430e-02 5.52698402e-05 9.99792446e-01 2.00330814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61925415399999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:79.19, Y:0.12, Z:0.20 [[ 9.99406201e-01 -2.73683570e-02 -2.09336490e-02 7.91889185e+01] [ 2.73624912e-02 9.99625416e-01 -5.66638781e-04 1.21006476e-01] [ 2.09413156e-02 -6.49447732e-06 9.99780707e-01 2.00087762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64925415399998 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:79.22, Y:0.12, Z:0.20 [[ 9.99329017e-01 -3.00675449e-02 -2.09154955e-02 7.92179687e+01] [ 3.00622476e-02 9.99547867e-01 -5.67710474e-04 1.20108357e-01] [ 2.09231086e-02 -6.14372548e-05 9.99781086e-01 2.00548775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67925415399998 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:79.25, Y:0.12, Z:0.20 [[ 9.99233636e-01 -3.29142219e-02 -2.11847845e-02 7.92471772e+01] [ 3.29094062e-02 9.99458173e-01 -5.75999964e-04 1.18935481e-01] [ 2.11922646e-02 -1.21620141e-04 9.99775411e-01 2.00926872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70925415399998 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:79.28, Y:0.12, Z:0.20 [[ 9.98993743e-01 -3.94773562e-02 -2.12847535e-02 7.92768891e+01] [ 3.94739700e-02 9.99220431e-01 -5.79374320e-04 1.15617365e-01] [ 2.12910328e-02 -2.61402403e-04 9.99773286e-01 2.01019620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73925415399998 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:79.31, Y:0.11, Z:0.20 [[ 9.98852805e-01 -4.26485738e-02 -2.17755382e-02 7.93083089e+01] [ 4.26457817e-02 9.99090079e-01 -5.92790755e-04 1.14505428e-01] [ 2.17810058e-02 -3.36524138e-04 9.99762709e-01 2.01537958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76925415399998 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:79.34, Y:0.11, Z:0.20 [[ 9.98576329e-01 -4.87693316e-02 -2.16070982e-02 7.93405972e+01] [ 4.87680355e-02 9.98809959e-01 -5.87225301e-04 1.12024493e-01] [ 2.16100234e-02 -4.67346445e-04 9.99766367e-01 2.01809794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79925415399998 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:79.37, Y:0.11, Z:0.20 [[ 9.98433162e-01 -5.15445303e-02 -2.17803257e-02 7.93731196e+01] [ 5.15439070e-02 9.98670555e-01 -5.90378173e-04 1.11380128e-01] [ 2.17818008e-02 -5.33189939e-04 9.99762606e-01 2.02488842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82925415399998 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:79.41, Y:0.11, Z:0.20 [[ 9.98300975e-01 -5.41451852e-02 -2.15281595e-02 7.94057557e+01] [ 5.41452129e-02 9.98532902e-01 -5.82030255e-04 1.10883689e-01] [ 2.15280897e-02 -5.84605407e-04 9.99768073e-01 2.03024819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85925415399998 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:79.44, Y:0.11, Z:0.20 [[ 9.98142205e-01 -5.69779816e-02 -2.15788701e-02 7.94366835e+01] [ 5.69787013e-02 9.98375224e-01 -5.81984212e-04 1.10450269e-01] [ 2.15769696e-02 -6.48632992e-04 9.99766980e-01 2.03541353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88925415399999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:79.47, Y:0.11, Z:0.20 [[ 9.98147133e-01 -5.68915856e-02 -2.15789062e-02 7.94693672e+01] [ 5.68923141e-02 9.98380152e-01 -5.80642897e-04 1.11266213e-01] [ 2.15769854e-02 -6.48106869e-04 9.99766980e-01 2.04047958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91925415399999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:79.50, Y:0.11, Z:0.20 [[ 9.97834348e-01 -6.23353735e-02 -2.09979755e-02 7.95002410e+01] [ 6.23373002e-02 9.98054980e-01 -5.63420942e-04 1.09410268e-01] [ 2.09922550e-02 -7.46756331e-04 9.99779359e-01 2.04194488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94925415399999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:79.53, Y:0.11, Z:0.20 [[ 9.97651005e-01 -6.49928983e-02 -2.16424334e-02 7.95322199e+01] [ 6.49955971e-02 9.97885383e-01 -5.79434456e-04 1.08990222e-01] [ 2.16343271e-02 -8.28589515e-04 9.99765607e-01 2.04943888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97925415399999 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:79.56, Y:0.11, Z:0.21 [[ 9.97471554e-01 -6.76300293e-02 -2.18329487e-02 7.95643013e+01] [ 6.76334417e-02 9.97710067e-01 -5.82919161e-04 1.08875463e-01] [ 2.18223755e-02 -8.95192181e-04 9.99761463e-01 2.05451016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00925415399999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:79.60, Y:0.11, Z:0.21 [[ 9.97090298e-01 -7.29280493e-02 -2.21909288e-02 7.95977925e+01] [ 7.29329255e-02 9.97336673e-01 -5.90582721e-04 1.08361185e-01] [ 2.21748971e-02 -1.02958506e-03 9.99753577e-01 2.06140262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03925415399998 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:79.63, Y:0.11, Z:0.21 [[ 9.96898942e-01 -7.54608204e-02 -2.23195815e-02 7.96296638e+01] [ 7.54664390e-02 9.97148167e-01 -5.91655197e-04 1.08753329e-01] [ 2.23005766e-02 -1.09455890e-03 9.99750712e-01 2.06819074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06925415399998 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:79.66, Y:0.11, Z:0.21 [[ 9.96539007e-01 -7.99514728e-02 -2.27545317e-02 7.96622509e+01] [ 7.99585306e-02 9.96798010e-01 -6.00945307e-04 1.08933974e-01] [ 2.27297184e-02 -1.22055348e-03 9.99740902e-01 2.07851719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09925415399998 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:79.70, Y:0.11, Z:0.21 [[ 9.96432069e-01 -8.13414905e-02 -2.25098396e-02 7.96957166e+01] [ 8.13488060e-02 9.96685518e-01 -5.92026447e-04 1.09693936e-01] [ 2.24833875e-02 -1.24123444e-03 9.99746446e-01 2.08428802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12925415399998 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:79.73, Y:0.11, Z:0.21 [[ 9.96347611e-01 -8.23811508e-02 -2.24674074e-02 7.97274301e+01] [ 8.23887556e-02 9.96600094e-01 -5.88531709e-04 1.10860499e-01] [ 2.24395043e-02 -1.26467958e-03 9.99747403e-01 2.09000710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15925415399998 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:79.76, Y:0.11, Z:0.21 [[ 9.96270789e-01 -8.31400340e-02 -2.30705338e-02 7.97608561e+01] [ 8.31483089e-02 9.96537002e-01 -6.02015946e-04 1.12602160e-01] [ 2.30406922e-02 -1.31850497e-03 9.99733659e-01 2.09505041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18925415399998 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:79.80, Y:0.13, Z:0.21 [[ 9.97007781e-01 -7.68820132e-02 -8.03989233e-03 7.98027606e+01] [ 7.62907452e-02 9.95400221e-01 -5.79493132e-02 1.33851580e-01] [ 1.24581705e-02 5.71625468e-02 9.98287152e-01 2.08888344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21925415399998 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:79.82, Y:0.09, Z:0.19 [[ 9.96295019e-01 -8.20817315e-02 -2.56675793e-02 7.98226719e+01] [ 8.34676215e-02 9.94784598e-01 5.86238904e-02 8.77597060e-02] [ 2.07217621e-02 -6.05491018e-02 9.97950106e-01 1.94069584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24925415399998 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:79.85, Y:0.12, Z:0.21 [[ 9.96308937e-01 -8.23617021e-02 -2.41878459e-02 7.98535043e+01] [ 8.23703092e-02 9.96601585e-01 -6.41960667e-04 1.18421981e-01] [ 2.41585186e-02 -1.35276920e-03 9.99707225e-01 2.11963933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27925415399999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:79.89, Y:0.12, Z:0.21 [[ 9.96441264e-01 -8.04467952e-02 -2.51619020e-02 7.98851979e+01] [ 8.04555604e-02 9.96757975e-01 -6.65464276e-04 1.22489644e-01] [ 2.51338609e-02 -1.36131886e-03 9.99683168e-01 2.12792311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30925415399999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:79.92, Y:0.12, Z:0.21 [[ 9.96572794e-01 -7.87369191e-02 -2.53606851e-02 7.99185498e+01] [ 7.87453337e-02 9.96894541e-01 -6.68262743e-04 1.24933841e-01] [ 2.53345454e-02 -1.33106314e-03 9.99678143e-01 2.13472424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33925415399999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:79.95, Y:0.13, Z:0.21 [[ 9.96868602e-01 -7.49735551e-02 -2.51387513e-02 7.99499964e+01] [ 7.49806930e-02 9.97184767e-01 -6.59880039e-04 1.29397640e-01] [ 2.51174534e-02 -1.22710730e-03 9.99683754e-01 2.14236411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36925415399999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:79.98, Y:0.13, Z:0.22 [[ 9.97030828e-01 -7.29469104e-02 -2.46632745e-02 7.99832267e+01] [ 7.29532196e-02 9.97335155e-01 -6.45061040e-04 1.32400126e-01] [ 2.46446059e-02 -1.15611953e-03 9.99695607e-01 2.15174582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39925415399998 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:80.01, Y:0.14, Z:0.22 [[ 9.97213808e-01 -7.06587581e-02 -2.39157251e-02 8.00149603e+01] [ 7.06640909e-02 9.97499974e-01 -6.23112120e-04 1.35047367e-01] [ 2.38999635e-02 -1.06860696e-03 9.99713784e-01 2.16101496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42925415399998 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:80.05, Y:0.14, Z:0.22 [[ 9.97533805e-01 -6.60427991e-02 -2.37624933e-02 8.00475507e+01] [ 6.60468102e-02 9.97816335e-01 -6.16847227e-04 1.40443282e-01] [ 2.37513423e-02 -9.54110926e-04 9.99717442e-01 2.17381062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45925415399998 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:80.08, Y:0.14, Z:0.22 [[ 9.97690178e-01 -6.36353720e-02 -2.37665198e-02 8.00808214e+01] [ 6.36387642e-02 9.97972810e-01 -6.14352402e-04 1.43665871e-01] [ 2.37574351e-02 -8.99538593e-04 9.99717348e-01 2.17865321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48925415399998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:80.11, Y:0.15, Z:0.22 [[ 9.97828005e-01 -6.13407667e-02 -2.40121581e-02 8.01127837e+01] [ 6.13436257e-02 9.98116515e-01 -6.18215225e-04 1.46959711e-01] [ 2.40048533e-02 -8.56120373e-04 9.99711475e-01 2.18648877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:80.14, Y:0.15, Z:0.22 [[ 9.98084102e-01 -5.66284374e-02 -2.49268124e-02 8.01449285e+01] [ 5.66301045e-02 9.98395023e-01 -6.39596530e-04 1.52190818e-01] [ 2.49230248e-02 -7.73236864e-04 9.99689074e-01 2.18834511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54925415399998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:80.18, Y:0.16, Z:0.22 [[ 9.98229999e-01 -5.39511000e-02 -2.50229505e-02 8.01757782e+01] [ 5.39519821e-02 9.98543326e-01 -6.40362590e-04 1.55193424e-01] [ 2.50210484e-02 -7.10808628e-04 9.99686672e-01 2.19378324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57925415399998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:80.21, Y:0.16, Z:0.22 [[ 9.98518244e-01 -4.82650152e-02 -2.51357133e-02 8.02081601e+01] [ 4.82641436e-02 9.98834401e-01 -6.41701407e-04 1.60795334e-01] [ 2.51373869e-02 -5.72403113e-04 9.99683842e-01 2.20315662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60925415399998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:80.24, Y:0.16, Z:0.22 [[ 9.98671945e-01 -4.50806841e-02 -2.49414756e-02 8.02404310e+01] [ 4.50788782e-02 9.98983229e-01 -6.34941911e-04 1.63803208e-01] [ 2.49447395e-02 -4.90235069e-04 9.99688711e-01 2.21026096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63925415399999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:80.27, Y:0.17, Z:0.22 [[ 9.98936058e-01 -3.88633712e-02 -2.48272201e-02 8.02718658e+01] [ 3.88596989e-02 9.99244478e-01 -6.30545837e-04 1.68625570e-01] [ 2.48329677e-02 -3.34903323e-04 9.99691558e-01 2.22648349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66925415399999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:80.30, Y:0.17, Z:0.22 [[ 9.99043393e-01 -3.61439306e-02 -2.46153500e-02 8.03018561e+01] [ 3.61395098e-02 9.99346559e-01 -6.24576632e-04 1.71379386e-01] [ 2.46218400e-02 -2.65607525e-04 9.99696801e-01 2.23374007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69925415399999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:80.33, Y:0.17, Z:0.22 [[ 9.99125000e-01 -3.37247476e-02 -2.47361131e-02 8.03334177e+01] [ 3.37195498e-02 9.99431137e-01 -6.27330018e-04 1.73768941e-01] [ 2.47431982e-02 -2.07309493e-04 9.99693819e-01 2.24272561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72925415399999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:80.36, Y:0.18, Z:0.22 [[ 9.99188136e-01 -3.18311115e-02 -2.46951419e-02 8.03632303e+01] [ 3.18253635e-02 9.99493249e-01 -6.25849102e-04 1.75822458e-01] [ 2.47025491e-02 -1.60590871e-04 9.99694833e-01 2.24680977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75925415399999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:80.39, Y:0.18, Z:0.23 [[ 9.99260973e-01 -2.97721791e-02 -2.43130855e-02 8.03927477e+01] [ 2.97659840e-02 9.99556705e-01 -6.16750152e-04 1.78565902e-01] [ 2.43206696e-02 -1.07408557e-04 9.99704203e-01 2.25208172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78925415399998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:80.42, Y:0.18, Z:0.23 [[ 9.99239390e-01 -3.01469986e-02 -2.47346031e-02 8.04213639e+01] [ 3.01406754e-02 9.99545469e-01 -6.28501138e-04 1.80318392e-01] [ 2.47423079e-02 -1.17494550e-04 9.99693855e-01 2.25455665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81925415399998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:80.45, Y:0.18, Z:0.23 [[ 9.99203010e-01 -3.12282711e-02 -2.48624203e-02 8.04512940e+01] [ 3.12221874e-02 9.99512268e-01 -6.32940891e-04 1.81089229e-01] [ 2.48700597e-02 -1.43822703e-04 9.99690682e-01 2.25894964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84925415399998 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:80.48, Y:0.18, Z:0.23 [[ 9.99152692e-01 -3.31902667e-02 -2.43373061e-02 8.04799833e+01] [ 3.31849948e-02 9.99449034e-01 -6.20572628e-04 1.82007327e-01] [ 2.43444941e-02 -1.87586567e-04 9.99703611e-01 2.26458458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87925415399998 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:80.51, Y:0.18, Z:0.23 [[ 9.99088547e-01 -3.53462132e-02 -2.39315620e-02 8.05100251e+01] [ 3.53417136e-02 9.99375100e-01 -6.11079166e-04 1.82637470e-01] [ 2.39382065e-02 -2.35260216e-04 9.99713412e-01 2.27055488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90925415399998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:80.54, Y:0.18, Z:0.23 [[ 9.98890278e-01 -4.09352741e-02 -2.32919594e-02 8.05399480e+01] [ 4.09325333e-02 9.99161736e-01 -5.94624507e-04 1.82826873e-01] [ 2.32967757e-02 -3.59434265e-04 9.99728529e-01 2.27529095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93925415399998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:80.57, Y:0.18, Z:0.23 [[ 9.98758247e-01 -4.39452560e-02 -2.34686565e-02 8.05717653e+01] [ 4.39433229e-02 9.99033846e-01 -5.98328170e-04 1.82953876e-01] [ 2.34722759e-02 -4.33705558e-04 9.99724394e-01 2.28150347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96925415399998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:80.60, Y:0.18, Z:0.23 [[ 9.98614217e-01 -4.69622044e-02 -2.37528514e-02 8.06029752e+01] [ 4.69611150e-02 9.98896536e-01 -6.03979774e-04 1.83029465e-01] [ 2.37550052e-02 -5.12317598e-04 9.99717679e-01 2.28689430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99925415399998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:80.64, Y:0.18, Z:0.23 [[ 9.98481334e-01 -4.96516498e-02 -2.38692051e-02 8.06350160e+01] [ 4.96513516e-02 9.98766427e-01 -6.05512603e-04 1.83087413e-01] [ 2.38698254e-02 -5.80545262e-04 9.99714907e-01 2.28818049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02925415399999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:80.67, Y:0.18, Z:0.23 [[ 9.98262915e-01 -5.37911249e-02 -2.40347068e-02 8.06663081e+01] [ 5.37920717e-02 9.98551974e-01 -6.07603804e-04 1.82630073e-01] [ 2.40325876e-02 -6.86328327e-04 9.99710940e-01 2.28965136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05925415399999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:80.70, Y:0.18, Z:0.23 [[ 9.98171314e-01 -5.53416931e-02 -2.43171758e-02 8.06972057e+01] [ 5.53431804e-02 9.98467204e-01 -6.12344523e-04 1.82003003e-01] [ 2.43137907e-02 -7.34565112e-04 9.99704106e-01 2.29238444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08925415399999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:80.73, Y:0.18, Z:0.23 [[ 9.98176078e-01 -5.51497301e-02 -2.45565460e-02 8.07283163e+01] [ 5.51512206e-02 9.98477823e-01 -6.17076593e-04 1.82211429e-01] [ 2.45531982e-02 -7.38372393e-04 9.99698252e-01 2.29772502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11925415399999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:80.76, Y:0.18, Z:0.23 [[ 9.98216251e-01 -5.43734036e-02 -2.46546022e-02 8.07603837e+01] [ 5.43747049e-02 9.98520410e-01 -6.18108621e-04 1.82472347e-01] [ 2.46517322e-02 -7.23580649e-04 9.99695838e-01 2.30298547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14925415399998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:80.79, Y:0.18, Z:0.23 [[ 9.98395529e-01 -5.10438450e-02 -2.45131465e-02 8.07921942e+01] [ 5.10441709e-02 9.98696209e-01 -6.12837351e-04 1.82780448e-01] [ 2.45124680e-02 -6.39399166e-04 9.99699320e-01 2.31008085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17925415399998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:80.82, Y:0.18, Z:0.23 [[ 9.98519748e-01 -4.86983307e-02 -2.42236629e-02 8.08236500e+01] [ 4.86980106e-02 9.98813366e-01 -6.03474842e-04 1.83496793e-01] [ 2.42243065e-02 -5.77062645e-04 9.99706382e-01 2.31621577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:80.86, Y:0.18, Z:0.23 [[ 9.98812128e-01 -4.24528552e-02 -2.39183719e-02 8.08560072e+01] [ 4.24508114e-02 9.99098382e-01 -5.93423127e-04 1.83813049e-01] [ 2.39219992e-02 -4.22636079e-04 9.99713739e-01 2.32456451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:80.89, Y:0.19, Z:0.24 [[ 9.98925647e-01 -3.85777241e-02 -2.56770329e-02 8.08858683e+01] [ 3.84107633e-02 9.99237765e-01 -6.96428734e-03 1.87231228e-01] [ 2.59261274e-02 5.97053081e-03 9.99646032e-01 2.35597627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26925415399998 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:80.92, Y:0.18, Z:0.23 [[ 9.99132300e-01 -3.35472896e-02 -2.46825022e-02 8.09169069e+01] [ 3.36883618e-02 9.99418217e-01 5.32191141e-03 1.81407303e-01] [ 2.44896066e-02 -6.14880666e-03 9.99681175e-01 2.31716424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29925415399998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:80.95, Y:0.18, Z:0.23 [[ 9.99199875e-01 -3.11268030e-02 -2.51143756e-02 8.09475700e+01] [ 3.11210241e-02 9.99515431e-01 -6.21018545e-04 1.84153401e-01] [ 2.51215363e-02 -1.61063438e-04 9.99684391e-01 2.34221961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32925415399998 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:80.98, Y:0.18, Z:0.23 [[ 9.99233701e-01 -2.94675808e-02 -2.57618480e-02 8.09766106e+01] [ 2.94608891e-02 9.99565729e-01 -6.39344002e-04 1.84152954e-01] [ 2.57695003e-02 -1.20112874e-04 9.99667904e-01 2.34776598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35925415399998 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:81.01, Y:0.18, Z:0.24 [[ 9.99255188e-01 -2.82828945e-02 -2.62515998e-02 8.10057117e+01] [ 2.82753617e-02 9.99599955e-01 -6.58177443e-04 1.83884353e-01] [ 2.62597132e-02 -8.45862562e-05 9.99655151e-01 2.35107463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38925415399999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:81.03, Y:0.18, Z:0.24 [[ 9.99256969e-01 -2.71932268e-02 -2.73137085e-02 8.10332996e+01] [ 2.71844627e-02 9.99630195e-01 -6.92207280e-04 1.82385829e-01] [ 2.73224311e-02 -5.08155435e-05 9.99626671e-01 2.35629108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41925415399999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:81.06, Y:0.18, Z:0.24 [[ 9.99228652e-01 -2.77178045e-02 -2.78176915e-02 8.10610412e+01] [ 2.77086912e-02 9.99615786e-01 -7.13098472e-04 1.81813844e-01] [ 2.78267691e-02 -5.82433997e-05 9.99612759e-01 2.35839159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44925415399999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:81.09, Y:0.18, Z:0.24 [[ 9.99177658e-01 -2.85003482e-02 -2.88398518e-02 8.10877760e+01] [ 2.84906883e-02 9.99593780e-01 -7.45899170e-04 1.81042012e-01] [ 2.88493948e-02 -7.63814403e-05 9.99583767e-01 2.36286845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47925415399999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:81.11, Y:0.16, Z:0.23 [[ 9.98508218e-01 -3.55133793e-02 -4.14745429e-02 8.11122510e+01] [ 3.76888897e-02 9.97887970e-01 5.29069652e-02 1.59607017e-01] [ 3.95080423e-02 -5.43911691e-02 9.97737799e-01 2.33961938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50925415399998 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:81.15, Y:0.20, Z:0.25 [[ 9.98984598e-01 -3.46736750e-02 -2.87664759e-02 8.11473399e+01] [ 3.30432572e-02 9.97920770e-01 -5.53378687e-02 2.02356345e-01] [ 3.06254311e-02 5.43311404e-02 9.98053210e-01 2.54831249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53925415399998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:81.18, Y:0.17, Z:0.24 [[ 9.98806014e-01 -3.84203392e-02 -3.01732267e-02 8.11760039e+01] [ 3.84140717e-02 9.99261597e-01 -7.87572870e-04 1.74767715e-01] [ 3.01812055e-02 -3.72443975e-04 9.99544374e-01 2.37186423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56925415399998 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:81.20, Y:0.17, Z:0.24 [[ 9.98743381e-01 -4.04256318e-02 -2.96213822e-02 8.12046404e+01] [ 4.04202318e-02 9.99182463e-01 -7.81307750e-04 1.73966577e-01] [ 2.96287505e-02 -4.16977189e-04 9.99560885e-01 2.37813468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59925415399998 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:81.23, Y:0.17, Z:0.24 [[ 9.98703393e-01 -4.16709866e-02 -2.92414369e-02 8.12336758e+01] [ 4.16661143e-02 9.99131289e-01 -7.76185203e-04 1.73132949e-01] [ 2.92483790e-02 -4.43198258e-04 9.99572076e-01 2.38826309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62925415399998 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:81.26, Y:0.16, Z:0.24 [[ 9.98200685e-01 -4.66850739e-02 -3.76283964e-02 8.12585296e+01] [ 4.85587920e-02 9.97541697e-01 5.05233218e-02 1.55260685e-01] [ 3.51772094e-02 -5.22596039e-02 9.98013776e-01 2.37539270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65925415399998 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:81.29, Y:0.19, Z:0.26 [[ 9.98672032e-01 -4.44403426e-02 -2.60620033e-02 8.12941324e+01] [ 4.30194719e-02 9.97680398e-01 -5.27555500e-02 1.94044003e-01] [ 2.83460245e-02 5.15643187e-02 9.98267311e-01 2.57870139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68925415399998 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:81.32, Y:0.17, Z:0.24 [[ 9.98693092e-01 -4.34584058e-02 -2.68975074e-02 8.13248782e+01] [ 4.34548769e-02 9.99055134e-01 -7.15979568e-04 1.69466243e-01] [ 2.69032082e-02 -4.53784025e-04 9.99637940e-01 2.41106004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71925415399998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:81.36, Y:0.17, Z:0.24 [[ 9.98765068e-01 -4.21746285e-02 -2.62609968e-02 8.13556513e+01] [ 4.21708133e-02 9.99110171e-01 -6.99328556e-04 1.67284484e-01] [ 2.62671229e-02 -4.08982659e-04 9.99654876e-01 2.41668451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74925415399998 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:81.39, Y:0.17, Z:0.24 [[ 9.98800222e-01 -4.15389035e-02 -2.59352113e-02 8.13860603e+01] [ 4.15349681e-02 9.99136812e-01 -6.90652912e-04 1.66710615e-01] [ 2.59415133e-02 -3.87393894e-04 9.99663387e-01 2.41688571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77925415399999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:81.42, Y:0.17, Z:0.24 [[ 9.98818015e-01 -4.10165941e-02 -2.60808544e-02 8.14166160e+01] [ 4.10124364e-02 9.99158395e-01 -6.94531377e-04 1.66006797e-01] [ 2.60873919e-02 -3.75928931e-04 9.99659595e-01 2.42236247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80925415399999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:81.45, Y:0.17, Z:0.24 [[ 9.98817260e-01 -4.10349782e-02 -2.60808496e-02 8.14467604e+01] [ 4.10308221e-02 9.99157640e-01 -6.94709795e-04 1.66840716e-01] [ 2.60873876e-02 -3.76230567e-04 9.99659595e-01 2.42730664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83925415399999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:81.48, Y:0.16, Z:0.24 [[ 9.98867533e-01 -4.01137795e-02 -2.55839155e-02 8.14766850e+01] [ 4.01094663e-02 9.99195059e-01 -6.81937230e-04 1.64297544e-01] [ 2.55906771e-02 -3.44992238e-04 9.99672445e-01 2.42543397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86925415399999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:81.51, Y:0.17, Z:0.24 [[ 9.98874144e-01 -3.91977824e-02 -2.67203878e-02 8.15066276e+01] [ 3.90939884e-02 9.99225868e-01 -4.39604288e-03 1.65267927e-01] [ 2.68720179e-02 3.34648703e-03 9.99633281e-01 2.43921335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89925415399998 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:81.53, Y:0.16, Z:0.24 [[ 9.98894100e-01 -3.91566376e-02 -2.60256544e-02 8.15349773e+01] [ 3.92450596e-02 9.99225421e-01 2.89525207e-03 1.61126454e-01] [ 2.58921271e-02 -3.91342857e-03 9.99657083e-01 2.41968780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92925415399998 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:81.56, Y:0.16, Z:0.24 [[ 9.98953607e-01 -3.72676619e-02 -2.65106221e-02 8.15645468e+01] [ 3.72618274e-02 9.99305282e-01 -7.14223228e-04 1.60860756e-01] [ 2.65188221e-02 -2.74358354e-04 9.99648277e-01 2.43555903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95925415399998 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:81.59, Y:0.16, Z:0.24 [[ 9.99015123e-01 -3.59144326e-02 -2.60564284e-02 8.15933704e+01] [ 3.59082649e-02 9.99354842e-01 -7.04716860e-04 1.60328760e-01] [ 2.60649273e-02 -2.31618331e-04 9.99660225e-01 2.43679024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98925415399998 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:81.62, Y:0.16, Z:0.24 [[ 9.99118992e-01 -3.26349923e-02 -2.63855651e-02 8.16225227e+01] [ 3.26273472e-02 9.99467327e-01 -7.20327599e-04 1.58929112e-01] [ 2.63950181e-02 -1.41198010e-04 9.99651581e-01 2.44070320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01925415399998 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:81.65, Y:0.16, Z:0.24 [[ 9.99149101e-01 -3.13195558e-02 -2.68357813e-02 8.16501884e+01] [ 3.13109766e-02 9.99509417e-01 -7.39937951e-04 1.58820768e-01] [ 2.68457907e-02 -1.00946184e-04 9.99639582e-01 2.44585054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04925415399998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:81.68, Y:0.16, Z:0.25 [[ 9.99186308e-01 -2.96904810e-02 -2.72982903e-02 8.16766979e+01] [ 2.96808212e-02 9.99559139e-01 -7.59075024e-04 1.58385186e-01] [ 2.73087928e-02 -5.17783024e-05 9.99627044e-01 2.45010633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07925415399998 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:81.70, Y:0.16, Z:0.25 [[ 9.99225113e-01 -2.75393537e-02 -2.81203976e-02 8.17033914e+01] [ 2.75281479e-02 9.99620720e-01 -7.85617962e-04 1.56744262e-01] [ 2.81313675e-02 1.09067322e-05 9.99604235e-01 2.45492349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10925415399998 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:81.73, Y:0.14, Z:0.25 [[ 9.98697322e-01 -3.01813873e-02 -4.11429603e-02 8.17274416e+01] [ 3.24501927e-02 9.97923414e-01 5.56403212e-02 1.37136721e-01] [ 3.93782213e-02 -5.69029368e-02 9.97602833e-01 2.48283877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13925415399999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:81.76, Y:0.18, Z:0.26 [[ 9.99306727e-01 -2.67651212e-02 -2.58784503e-02 8.17643942e+01] [ 2.52412852e-02 9.98025316e-01 -5.75182207e-02 1.81764329e-01] [ 2.73668307e-02 5.68251395e-02 9.98008998e-01 2.63391847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16925415399999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:81.79, Y:0.15, Z:0.25 [[ 9.99307631e-01 -2.57216447e-02 -2.68822525e-02 8.17920587e+01] [ 2.57108331e-02 9.99669142e-01 -7.47808494e-04 1.53862522e-01] [ 2.68925932e-02 5.61256273e-05 9.99638327e-01 2.46651888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19925415399999 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:81.82, Y:0.15, Z:0.25 [[ 9.99296854e-01 -2.60830768e-02 -2.69345650e-02 8.18199889e+01] [ 2.60722124e-02 9.99659777e-01 -7.54528947e-04 1.53394267e-01] [ 2.69450817e-02 5.17547030e-05 9.99636914e-01 2.47419652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22925415399999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:81.85, Y:0.15, Z:0.25 [[ 9.99290052e-01 -2.73767863e-02 -2.58824787e-02 8.18475616e+01] [ 2.73669982e-02 9.99625185e-01 -7.32387542e-04 1.51268556e-01] [ 2.58928280e-02 2.35418376e-05 9.99664724e-01 2.48367327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25925415399998 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:81.88, Y:0.15, Z:0.25 [[ 9.99271531e-01 -2.86110996e-02 -2.52549303e-02 8.18754307e+01] [ 2.86019921e-02 9.99590619e-01 -7.21853722e-04 1.50368202e-01] [ 2.52652444e-02 -1.01344150e-06 9.99680783e-01 2.48988643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28925415399998 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:81.90, Y:0.15, Z:0.25 [[ 9.99265068e-01 -2.93483928e-02 -2.46575492e-02 8.19021230e+01] [ 2.93630220e-02 9.99568787e-01 2.31360742e-04 1.48942939e-01] [ 2.46401264e-02 -9.55210865e-04 9.99695930e-01 2.48900298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31925415399998 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:81.93, Y:0.15, Z:0.25 [[ 9.99198944e-01 -3.22932256e-02 -2.36351197e-02 8.19314587e+01] [ 3.22634907e-02 9.99478055e-01 -1.63842952e-03 1.46865710e-01] [ 2.36756936e-02 8.74565585e-04 9.99719309e-01 2.50093701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34925415399998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:81.96, Y:0.15, Z:0.25 [[ 9.99145872e-01 -3.38832462e-02 -2.36527525e-02 8.19590362e+01] [ 3.38762944e-02 9.99425792e-01 -6.94655128e-04 1.45593875e-01] [ 2.36627081e-02 -1.07205803e-04 9.99719993e-01 2.50209740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37925415399998 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:81.99, Y:0.14, Z:0.25 [[ 9.99080616e-01 -3.58586347e-02 -2.34963993e-02 8.19874882e+01] [ 3.58521664e-02 9.99356862e-01 -6.96622912e-04 1.44744420e-01] [ 2.35062678e-02 -1.46414368e-04 9.99723679e-01 2.50427649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40925415399998 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:82.02, Y:0.14, Z:0.25 [[ 9.98907159e-01 -4.01002658e-02 -2.40095049e-02 8.20164394e+01] [ 4.00945871e-02 9.99195631e-01 -7.18063791e-04 1.42164528e-01] [ 2.40189869e-02 -2.45372122e-04 9.99711472e-01 2.50579834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43925415399998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:82.05, Y:0.14, Z:0.25 [[ 9.98813341e-01 -4.22232745e-02 -2.42714680e-02 8.20458301e+01] [ 4.22179916e-02 9.99108156e-01 -7.30265344e-04 1.41084291e-01] [ 2.42806558e-02 -2.95293864e-04 9.99705138e-01 2.50697223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.46925415399998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:82.08, Y:0.14, Z:0.25 [[ 9.98713686e-01 -4.43342158e-02 -2.46059136e-02 8.20753067e+01] [ 4.43294086e-02 9.99016694e-01 -7.41068393e-04 1.40151084e-01] [ 2.46145731e-02 -3.50650452e-04 9.99696954e-01 2.51138834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49925415399998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:82.11, Y:0.14, Z:0.25 [[ 9.98534175e-01 -4.80918450e-02 -2.48329596e-02 8.21052459e+01] [ 4.80880945e-02 9.98842818e-01 -7.48530946e-04 1.37588640e-01] [ 2.48402216e-02 -4.46735979e-04 9.99691334e-01 2.51236980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52925415399999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:82.14, Y:0.16, Z:0.25 [[ 9.98943401e-01 -4.44783790e-02 -1.15652337e-02 8.21441009e+01] [ 4.37336333e-02 9.97347218e-01 -5.81884587e-02 1.57273241e-01] [ 1.41226820e-02 5.76211872e-02 9.98238623e-01 2.52656668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55925415399999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:82.16, Y:0.11, Z:0.24 [[ 9.98348816e-01 -5.07285595e-02 -2.69491126e-02 8.21648166e+01] [ 5.22275376e-02 9.96938705e-01 5.81850659e-02 1.09078971e-01] [ 2.39149689e-02 -5.94964774e-02 9.97942004e-01 2.38615818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58925415399999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:82.20, Y:0.14, Z:0.25 [[ 9.98244921e-01 -5.38979715e-02 -2.45374344e-02 8.21951518e+01] [ 5.38957711e-02 9.98546284e-01 -7.51480158e-04 1.36229788e-01] [ 2.45422672e-02 -5.72302694e-04 9.99698629e-01 2.53932130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61925415399999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:82.23, Y:0.14, Z:0.25 [[ 9.98193838e-01 -5.46589452e-02 -2.49291410e-02 8.22255709e+01] [ 5.46569305e-02 9.98504901e-01 -7.62698514e-04 1.35953064e-01] [ 2.49335578e-02 -6.01229373e-04 9.99688930e-01 2.54904623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:82.26, Y:0.13, Z:0.26 [[ 9.98110698e-01 -5.60415802e-02 -2.51868371e-02 8.22560087e+01] [ 5.60399713e-02 9.98428229e-01 -7.70279796e-04 1.34480424e-01] [ 2.51904168e-02 -6.42645120e-04 9.99682465e-01 2.55041384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67925415399998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:82.29, Y:0.13, Z:0.26 [[ 9.97962768e-01 -5.82933891e-02 -2.59266969e-02 8.22877025e+01] [ 5.82924530e-02 9.98299235e-01 -7.92540908e-04 1.33076239e-01] [ 2.59288015e-02 -7.20404438e-04 9.99663533e-01 2.55512954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:82.32, Y:0.13, Z:0.26 [[ 9.97911904e-01 -5.91295736e-02 -2.59908630e-02 8.23181760e+01] [ 5.91289365e-02 9.98250038e-01 -7.93720219e-04 1.32656385e-01] [ 2.59923124e-02 -7.44749234e-04 9.99661865e-01 2.55843951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73925415399998 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:82.35, Y:0.13, Z:0.26 [[ 9.97833755e-01 -6.04892382e-02 -2.58621303e-02 8.23481298e+01] [ 6.04890757e-02 9.98168547e-01 -7.89318725e-04 1.32568989e-01] [ 2.58625103e-02 -7.76767491e-04 9.99665208e-01 2.56116934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76925415399998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:82.38, Y:0.13, Z:0.26 [[ 9.97644111e-01 -6.37337061e-02 -2.53819469e-02 8.23794931e+01] [ 6.37346140e-02 9.97966583e-01 -7.74037643e-04 1.31427403e-01] [ 2.53796670e-02 -8.45494489e-04 9.99677527e-01 2.56522387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:82.41, Y:0.13, Z:0.26 [[ 9.97545900e-01 -6.54592224e-02 -2.48448783e-02 8.24110338e+01] [ 6.54606667e-02 9.97854864e-01 -7.56043505e-04 1.31017295e-01] [ 2.48410727e-02 -8.72174201e-04 9.99691032e-01 2.56835588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82925415399998 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:82.45, Y:0.13, Z:0.26 [[ 9.97668781e-01 -6.49487242e-02 -2.09443544e-02 8.24453133e+01] [ 6.46676408e-02 9.97811014e-01 -1.38302671e-02 1.33663421e-01] [ 2.17967657e-02 1.24436037e-02 9.99684979e-01 2.56203375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85925415399998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:82.47, Y:0.12, Z:0.25 [[ 9.97290304e-01 -6.92157046e-02 -2.49245874e-02 8.24716357e+01] [ 6.95531163e-02 9.97494401e-01 1.29338423e-02 1.23861025e-01] [ 2.39669114e-02 -1.46323783e-02 9.99605663e-01 2.54578314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88925415399999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:82.50, Y:0.13, Z:0.26 [[ 9.97063368e-01 -7.26031498e-02 -2.43602866e-02 8.25032026e+01] [ 7.26066201e-02 9.97360379e-01 -7.43169160e-04 1.29059811e-01] [ 2.43499411e-02 -1.02773133e-03 9.99702968e-01 2.57751361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91925415399999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:82.54, Y:0.13, Z:0.26 [[ 9.97270597e-01 -7.09242043e-02 -2.05210480e-02 8.25378221e+01] [ 7.05856987e-02 9.97364647e-01 -1.67755649e-02 1.32953631e-01] [ 2.16567614e-02 1.52812851e-02 9.99648672e-01 2.57097972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94925415399999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:82.56, Y:0.12, Z:0.25 [[ 9.96879680e-01 -7.46636627e-02 -2.56171854e-02 8.25632212e+01] [ 7.50866677e-02 9.97049169e-01 1.59670313e-02 1.21505055e-01] [ 2.43494364e-02 -1.78407181e-02 9.99544303e-01 2.54707240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97925415399999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:82.60, Y:0.13, Z:0.26 [[ 9.96907067e-01 -7.45149691e-02 -2.49763843e-02 8.25951872e+01] [ 7.45191427e-02 9.97219290e-01 -7.64907342e-04 1.30217116e-01] [ 2.49639293e-02 -1.09867721e-03 9.99687749e-01 2.59055880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00925415399998 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:82.63, Y:0.13, Z:0.26 [[ 9.97049878e-01 -7.28196186e-02 -2.42661244e-02 8.26271920e+01] [ 7.28230989e-02 9.97344598e-01 -7.41419400e-04 1.31256092e-01] [ 2.42556780e-02 -1.02790226e-03 9.99705259e-01 2.59332611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:82.66, Y:0.13, Z:0.26 [[ 9.97168364e-01 -7.13581011e-02 -2.37334082e-02 8.26597528e+01] [ 7.13610578e-02 9.97450288e-01 -7.23419784e-04 1.32390040e-01] [ 2.37245167e-02 -9.72269788e-04 9.99718061e-01 2.59385881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:82.69, Y:0.13, Z:0.26 [[ 9.97294297e-01 -6.96003513e-02 -2.36617144e-02 8.26915801e+01] [ 6.96028373e-02 9.97574522e-01 -7.19492971e-04 1.33768465e-01] [ 2.36544004e-02 -9.29376221e-04 9.99719764e-01 2.59840507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09925415399998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:82.72, Y:0.14, Z:0.26 [[ 9.97452957e-01 -6.73461425e-02 -2.34967157e-02 8.27236235e+01] [ 6.73480103e-02 9.97729291e-01 -7.12736902e-04 1.35255697e-01] [ 2.34913616e-02 -8.71535520e-04 9.99723660e-01 2.60488388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12925415399998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:82.75, Y:0.14, Z:0.26 [[ 9.97797999e-01 -6.20592432e-02 -2.34051995e-02 8.27543931e+01] [ 6.20596812e-02 9.98072189e-01 -7.08346328e-04 1.37317264e-01] [ 2.34040381e-02 -7.45732671e-04 9.99725810e-01 2.61097116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15925415399998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:82.79, Y:0.14, Z:0.26 [[ 9.97971278e-01 -5.92023282e-02 -2.34182247e-02 8.27854973e+01] [ 5.92020083e-02 9.98245772e-01 -7.07567811e-04 1.38927791e-01] [ 2.34190334e-02 -6.80273578e-04 9.99725505e-01 2.61811641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:82.82, Y:0.14, Z:0.26 [[ 9.98276760e-01 -5.39750193e-02 -2.30262515e-02 8.28168167e+01] [ 5.39733394e-02 9.98542135e-01 -6.94886498e-04 1.40840902e-01] [ 2.30301888e-02 -5.49114643e-04 9.99734619e-01 2.62435497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21925415399998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:82.85, Y:0.14, Z:0.26 [[ 9.98413492e-01 -5.16620384e-02 -2.23949106e-02 8.28482763e+01] [ 5.16598861e-02 9.98664508e-01 -6.75015345e-04 1.41867915e-01] [ 2.23998750e-02 -4.82974101e-04 9.99748975e-01 2.62686937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.24925415399998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:82.88, Y:0.14, Z:0.26 [[ 9.98517357e-01 -4.96816745e-02 -2.22445368e-02 8.28785616e+01] [ 4.96790733e-02 9.98765008e-01 -6.69875919e-04 1.42729466e-01] [ 2.22503456e-02 -4.36205244e-04 9.99752335e-01 2.62917623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27925415399999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:82.91, Y:0.14, Z:0.26 [[ 9.98630527e-01 -4.70719723e-02 -2.28320037e-02 8.29078909e+01] [ 4.70685473e-02 9.98891425e-01 -6.87685648e-04 1.43473966e-01] [ 2.28390634e-02 -3.87925365e-04 9.99739079e-01 2.63057988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30925415399999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:82.94, Y:0.14, Z:0.26 [[ 9.98648378e-01 -4.65432700e-02 -2.31331077e-02 8.29388120e+01] [ 4.65396052e-02 9.98916202e-01 -6.97063396e-04 1.44401765e-01] [ 2.31404797e-02 -3.80484470e-04 9.99732151e-01 2.63128383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33925415399999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:82.97, Y:0.15, Z:0.26 [[ 9.98658765e-01 -4.60362715e-02 -2.36924723e-02 8.29691095e+01] [ 4.60322848e-02 9.98939697e-01 -7.13918570e-04 1.45068128e-01] [ 2.37002172e-02 -3.77657594e-04 9.99719039e-01 2.63639951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36925415399999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:83.00, Y:0.15, Z:0.26 [[ 9.98646200e-01 -4.61902513e-02 -2.39212764e-02 8.29987734e+01] [ 4.61862248e-02 9.98932587e-01 -7.21087884e-04 1.45457718e-01] [ 2.39290497e-02 -3.84721771e-04 9.99713585e-01 2.64053006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39925415399998 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:83.03, Y:0.15, Z:0.26 [[ 9.98617934e-01 -4.67127573e-02 -2.40860820e-02 8.30279409e+01] [ 4.67088056e-02 9.98908284e-01 -7.26945437e-04 1.45610122e-01] [ 2.40937445e-02 -3.99091372e-04 9.99709624e-01 2.64472207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42925415399998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:83.06, Y:0.15, Z:0.27 [[ 9.98546946e-01 -4.87701561e-02 -2.29231110e-02 8.30574647e+01] [ 4.87670998e-02 9.98809937e-01 -6.92661830e-04 1.45007634e-01] [ 2.29296123e-02 -4.26238289e-04 9.99736991e-01 2.65110321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45925415399998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:83.09, Y:0.15, Z:0.27 [[ 9.98500105e-01 -4.99858628e-02 -2.23372572e-02 8.30877770e+01] [ 4.99832516e-02 9.98749828e-01 -6.75549083e-04 1.45315128e-01] [ 2.23430997e-02 -4.41952914e-04 9.99750264e-01 2.65889934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48925415399998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:83.12, Y:0.14, Z:0.27 [[ 9.98410995e-01 -5.23492333e-02 -2.08576918e-02 8.31181710e+01] [ 5.23474735e-02 9.98628732e-01 -6.30721738e-04 1.44471834e-01] [ 2.08621081e-02 -4.62127952e-04 9.99782256e-01 2.66618869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:83.15, Y:0.14, Z:0.27 [[ 9.98353054e-01 -5.36892413e-02 -2.02149523e-02 8.31496332e+01] [ 5.36878714e-02 9.98557579e-01 -6.10857276e-04 1.44502944e-01] [ 2.02185903e-02 -4.75446531e-04 9.99795470e-01 2.66879637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.54925415399998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:83.18, Y:0.14, Z:0.27 [[ 9.98302531e-01 -5.47497902e-02 -1.98624636e-02 8.31811368e+01] [ 5.47486916e-02 9.98499986e-01 -5.99489000e-04 1.44575616e-01] [ 1.98654916e-02 -4.88972510e-04 9.99802542e-01 2.67264916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57925415399998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:83.21, Y:0.14, Z:0.27 [[ 9.98266991e-01 -5.54447712e-02 -1.97203651e-02 8.32124932e+01] [ 5.54438392e-02 9.98461630e-01 -5.94418171e-04 1.44521686e-01] [ 1.97229853e-02 -4.99984713e-04 9.99805358e-01 2.67658313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.60925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:83.24, Y:0.14, Z:0.27 [[ 9.98184788e-01 -5.70363809e-02 -1.93385844e-02 8.32448783e+01] [ 5.70358044e-02 9.98371964e-01 -5.81810327e-04 1.44014148e-01] [ 1.93402848e-02 -5.22237499e-04 9.99812823e-01 2.67905977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63925415399999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:83.28, Y:0.14, Z:0.27 [[ 9.98155656e-01 -5.76025816e-02 -1.91632299e-02 8.32773203e+01] [ 5.76021464e-02 9.98339452e-01 -5.75142070e-04 1.44045440e-01] [ 1.91645381e-02 -5.29761863e-04 9.99816203e-01 2.67994714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66925415399999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:83.31, Y:0.14, Z:0.27 [[ 9.98085073e-01 -5.89787480e-02 -1.86465780e-02 8.33085611e+01] [ 5.89785999e-02 9.98259091e-01 -5.58340015e-04 1.43013186e-01] [ 1.86470462e-02 -5.42478229e-04 9.99825982e-01 2.67791857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69925415399999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:83.34, Y:0.14, Z:0.27 [[ 9.98088229e-01 -5.89253028e-02 -1.86466084e-02 8.33403919e+01] [ 5.89251644e-02 9.98262247e-01 -5.57324197e-04 1.43934902e-01] [ 1.86470457e-02 -5.42495743e-04 9.99825982e-01 2.68315247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72925415399999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:83.37, Y:0.14, Z:0.27 [[ 9.98086053e-01 -5.91611739e-02 -1.80052008e-02 8.33721233e+01] [ 5.91611006e-02 9.98248304e-01 -5.37187511e-04 1.43896420e-01] [ 1.80054418e-02 -5.29048135e-04 9.99837749e-01 2.68547072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:83.40, Y:0.14, Z:0.27 [[ 9.98085745e-01 -5.91871290e-02 -1.79368224e-02 8.34032786e+01] [ 5.91870835e-02 9.98246765e-01 -5.33862226e-04 1.44206765e-01] [ 1.79369727e-02 -5.28787926e-04 9.99838980e-01 2.68851355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:83.44, Y:0.14, Z:0.27 [[ 9.98125216e-01 -5.86050401e-02 -1.76494486e-02 8.34353491e+01] [ 5.86049223e-02 9.98281117e-01 -5.24335118e-04 1.44634706e-01] [ 1.76498400e-02 -5.10992463e-04 9.99844099e-01 2.69448719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:83.47, Y:0.15, Z:0.27 [[ 9.98248674e-01 -5.64967612e-02 -1.75414182e-02 8.34671058e+01] [ 5.64963418e-02 9.98402671e-01 -5.19854996e-04 1.45366478e-01] [ 1.75427689e-02 -4.72081396e-04 9.99846002e-01 2.69729053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84925415399998 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:83.50, Y:0.15, Z:0.27 [[ 9.98336466e-01 -5.49491047e-02 -1.74612867e-02 8.34980256e+01] [ 5.49484746e-02 9.98489058e-01 -5.16216172e-04 1.46074419e-01] [ 1.74632693e-02 -4.44113641e-04 9.99847407e-01 2.70111512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:83.53, Y:0.15, Z:0.27 [[ 9.98488886e-01 -5.20819260e-02 -1.75333274e-02 8.35303508e+01] [ 5.20808662e-02 9.98642737e-01 -5.17358652e-04 1.46798646e-01] [ 1.75364751e-02 -3.96574015e-04 9.99846146e-01 2.70274761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.90925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:83.56, Y:0.15, Z:0.27 [[ 9.98559119e-01 -5.08810084e-02 -1.70531090e-02 8.35610467e+01] [ 5.08798509e-02 9.98704655e-01 -5.02014531e-04 1.47526649e-01] [ 1.70565624e-02 -3.66368457e-04 9.99854459e-01 2.70393270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.93925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:83.59, Y:0.15, Z:0.27 [[ 9.98624592e-01 -4.96147807e-02 -1.69498687e-02 8.35936756e+01] [ 4.96134604e-02 9.98768369e-01 -4.98643651e-04 1.48387010e-01] [ 1.69537329e-02 -3.42983829e-04 9.99856216e-01 2.70764908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.96925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:83.63, Y:0.15, Z:0.27 [[ 9.98672788e-01 -4.85361522e-02 -1.72309070e-02 8.36254073e+01] [ 4.85346494e-02 9.98821371e-01 -5.05631443e-04 1.49259515e-01] [ 1.72351396e-02 -3.31335668e-04 9.99851409e-01 2.70854175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99925415399998 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:83.66, Y:0.15, Z:0.27 [[ 9.98690464e-01 -4.82357151e-02 -1.70491042e-02 8.36565560e+01] [ 4.82342207e-02 9.98835928e-01 -4.99087673e-04 1.49945455e-01] [ 1.70533317e-02 -3.23916154e-04 9.99854529e-01 2.71067648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02925415399999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:83.69, Y:0.15, Z:0.27 [[ 9.98687120e-01 -4.81878810e-02 -1.73771093e-02 8.36875986e+01] [ 4.81863329e-02 9.98838235e-01 -5.08026520e-04 1.50785878e-01] [ 1.73814019e-02 -3.29979629e-04 9.99848878e-01 2.71575757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05925415399999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:83.72, Y:0.15, Z:0.27 [[ 9.98659463e-01 -4.88913386e-02 -1.69974502e-02 8.37184953e+01] [ 4.88899744e-02 9.98804047e-01 -4.96029845e-04 1.51557166e-01] [ 1.70013736e-02 -3.35640005e-04 9.99855410e-01 2.71913474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08925415399999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:83.75, Y:0.15, Z:0.27 [[ 9.98636493e-01 -4.93817159e-02 -1.69293216e-02 8.37503071e+01] [ 4.93804431e-02 9.98779920e-01 -4.93445109e-04 1.52306683e-01] [ 1.69330336e-02 -3.43205107e-04 9.99856567e-01 2.72176321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11925415399999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:83.78, Y:0.15, Z:0.27 [[ 9.98589533e-01 -5.02878163e-02 -1.70317428e-02 8.37819046e+01] [ 5.02866705e-02 9.98734702e-01 -4.95805137e-04 1.52972131e-01] [ 1.70351255e-02 -3.61363817e-04 9.99854826e-01 2.72925769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:83.81, Y:0.15, Z:0.27 [[ 9.98561353e-01 -5.08658141e-02 -1.69674040e-02 8.38136106e+01] [ 5.08647759e-02 9.98705428e-01 -4.93014969e-04 1.53802975e-01] [ 1.69705161e-02 -3.70737509e-04 9.99855922e-01 2.73241433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17925415399998 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:83.85, Y:0.15, Z:0.27 [[ 9.98546380e-01 -5.11876694e-02 -1.68804614e-02 8.38461018e+01] [ 5.11867084e-02 9.98688981e-01 -4.89268066e-04 1.54445886e-01] [ 1.68833753e-02 -3.75498400e-04 9.99857395e-01 2.73780235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20925415399998 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:83.88, Y:0.15, Z:0.27 [[ 9.98490940e-01 -5.24447485e-02 -1.62908291e-02 8.38787752e+01] [ 5.24440397e-02 9.98623753e-01 -4.71009614e-04 1.54868905e-01] [ 1.62931109e-02 -3.84058057e-04 9.99867185e-01 2.74165098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:83.91, Y:0.16, Z:0.27 [[ 9.98467919e-01 -5.30622384e-02 -1.56911919e-02 8.39106057e+01] [ 5.30616746e-02 9.98591134e-01 -4.52552214e-04 1.55330258e-01] [ 1.56930985e-02 -3.80742050e-04 9.99876783e-01 2.74192402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26925415399998 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:83.94, Y:0.16, Z:0.27 [[ 9.98337142e-01 -5.54458354e-02 -1.57705253e-02 8.39415984e+01] [ 5.54455820e-02 9.98461608e-01 -4.53635349e-04 1.55535333e-01] [ 1.57714163e-02 -4.21524939e-04 9.99875535e-01 2.74637123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29925415399998 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:83.97, Y:0.16, Z:0.27 [[ 9.98286315e-01 -5.64979049e-02 -1.52453321e-02 8.39730302e+01] [ 5.64978032e-02 9.98402628e-01 -4.37703323e-04 1.55798591e-01] [ 1.52457089e-02 -4.24374535e-04 9.99883687e-01 2.74799922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32925415399998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:84.01, Y:0.16, Z:0.28 [[ 9.98203483e-01 -5.79770739e-02 -1.51150702e-02 8.40051382e+01] [ 5.79771553e-02 9.98317816e-01 -4.33172356e-04 1.56501054e-01] [ 1.51147579e-02 -4.43934618e-04 9.99885667e-01 2.75495997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35925415399998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:84.04, Y:0.16, Z:0.28 [[ 9.98038328e-01 -6.08660768e-02 -1.46566401e-02 8.40372201e+01] [ 6.08664794e-02 9.98145829e-01 -4.19015823e-04 1.57246044e-01] [ 1.46549680e-02 -4.73904230e-04 9.99892498e-01 2.75845825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38925415399999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:84.07, Y:0.16, Z:0.28 [[ 9.97928043e-01 -6.23517527e-02 -1.58707335e-02 8.40687976e+01] [ 6.22533696e-02 9.98038424e-01 -6.61983785e-03 1.61172003e-01] [ 1.62523603e-02 5.61811520e-03 9.99852138e-01 2.77555604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41925415399999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:84.10, Y:0.16, Z:0.28 [[ 9.97866450e-01 -6.35723477e-02 -1.48695886e-02 8.41024420e+01] [ 6.36634882e-02 9.97954927e-01 5.73797666e-03 1.56172322e-01] [ 1.44744025e-02 -6.67238427e-03 9.99872977e-01 2.75595249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44925415399999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:84.14, Y:0.17, Z:0.27 [[ 9.98211759e-01 -5.96713737e-02 -3.55111723e-03 8.41393699e+01] [ 5.94651091e-02 9.97310712e-01 -4.28397611e-02 1.74376818e-01] [ 6.09787465e-03 4.25519858e-02 9.99075645e-01 2.74063486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47925415399999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:84.16, Y:0.14, Z:0.27 [[ 9.97701260e-01 -6.55967727e-02 -1.70076467e-02 8.41619585e+01] [ 6.62774649e-02 9.96868024e-01 4.31444173e-02 1.40904277e-01] [ 1.41242446e-02 -4.41724632e-02 9.98924071e-01 2.69395122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50925415399998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:84.19, Y:0.16, Z:0.28 [[ 9.97619296e-01 -6.70601216e-02 -1.60835246e-02 8.41931332e+01] [ 6.70613269e-02 9.97748747e-01 -4.64979796e-04 1.63311479e-01] [ 1.60784981e-02 -6.14709683e-04 9.99870544e-01 2.79167334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53925415399998 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:84.22, Y:0.16, Z:0.28 [[ 9.97586389e-01 -6.75042464e-02 -1.62656849e-02 8.42249050e+01] [ 6.75055572e-02 9.97718788e-01 -4.69076116e-04 1.64677409e-01] [ 1.62602440e-02 -6.30080171e-04 9.99867595e-01 2.79478315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56925415399998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:84.26, Y:0.17, Z:0.28 [[ 9.97537534e-01 -6.80476601e-02 -1.69818814e-02 8.42565882e+01] [ 6.80491891e-02 9.97681848e-01 -4.88459943e-04 1.66242601e-01] [ 1.69757533e-02 -6.68346129e-04 9.99855678e-01 2.80144222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59925415399998 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:84.29, Y:0.17, Z:0.28 [[ 9.97483009e-01 -6.87422161e-02 -1.73825714e-02 8.42879557e+01] [ 6.87439453e-02 9.97634212e-01 -4.98724505e-04 1.68389517e-01] [ 1.73757313e-02 -6.97477316e-04 9.99848787e-01 2.80544160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:84.32, Y:0.17, Z:0.28 [[ 9.97461655e-01 -6.90433493e-02 -1.74144645e-02 8.43204014e+01] [ 6.90451470e-02 9.97613412e-01 -4.98705136e-04 1.69813829e-01] [ 1.74073356e-02 -7.04945014e-04 9.99848232e-01 2.81181901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65925415399998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:84.35, Y:0.17, Z:0.28 [[ 9.97426063e-01 -6.96511561e-02 -1.70283447e-02 8.43526288e+01] [ 6.96529833e-02 9.97571163e-01 -4.86473572e-04 1.72411728e-01] [ 1.70208691e-02 -7.00853593e-04 9.99854889e-01 2.82010832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68925415399998 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:84.38, Y:0.17, Z:0.28 [[ 9.97380368e-01 -7.01823499e-02 -1.75168557e-02 8.43842160e+01] [ 7.01843879e-02 9.97533910e-01 -4.99141709e-04 1.74612154e-01] [ 1.75086885e-02 -7.31575656e-04 9.99846444e-01 2.83305260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.71925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:84.42, Y:0.19, Z:0.28 [[ 9.97712343e-01 -6.69115587e-02 -9.63972594e-03 8.44215066e+01] [ 6.65845531e-02 9.97299697e-01 -3.09808304e-02 1.86445820e-01] [ 1.16866714e-02 3.02681001e-02 9.99473493e-01 2.81536690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.74925415399998 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:84.45, Y:0.17, Z:0.28 [[ 9.97201466e-01 -7.21368527e-02 -1.96344277e-02 8.44456323e+01] [ 7.27230957e-02 9.96870589e-01 3.09899935e-02 1.65060068e-01] [ 1.73374629e-02 -3.23311434e-02 9.99326828e-01 2.78316413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77925415399999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:84.48, Y:0.18, Z:0.29 [[ 9.97108993e-01 -7.36564570e-02 -1.86650108e-02 8.44771337e+01] [ 7.36592970e-02 9.97283320e-01 -5.36219706e-04 1.81871605e-01] [ 1.86538000e-02 -8.40182086e-04 9.99825650e-01 2.86115664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80925415399999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:84.51, Y:0.18, Z:0.29 [[ 9.97020487e-01 -7.48665946e-02 -1.85779628e-02 8.45090724e+01] [ 7.48696483e-02 9.97193187e-01 -5.32072275e-04 1.83360928e-01] [ 1.85656524e-02 -8.60438585e-04 9.99827273e-01 2.86815966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83925415399999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:84.54, Y:0.19, Z:0.29 [[ 9.96889823e-01 -7.68044991e-02 -1.76564173e-02 8.45399811e+01] [ 7.68075817e-02 9.97045807e-01 -5.04478643e-04 1.85901143e-01] [ 1.76430031e-02 -8.53237091e-04 9.99843986e-01 2.87400527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86925415399998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:84.57, Y:0.19, Z:0.29 [[ 9.96829904e-01 -7.75872996e-02 -1.76168529e-02 8.45725987e+01] [ 7.75905068e-02 9.96985186e-01 -5.02404670e-04 1.88343215e-01] [ 1.76027216e-02 -8.66088548e-04 9.99844685e-01 2.87978899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89925415399998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:84.61, Y:0.21, Z:0.29 [[ 9.97192333e-01 -7.45517046e-02 -7.03521289e-03 8.46115493e+01] [ 7.41535082e-02 9.96192456e-01 -4.58459234e-02 2.08746007e-01] [ 1.04263177e-02 4.51955176e-02 9.98923749e-01 2.86768721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:84.65, Y:0.19, Z:0.28 [[ 9.97158572e-01 -7.46981013e-02 -9.74552491e-03 8.46455750e+01] [ 7.47099616e-02 9.97204936e-01 8.58169362e-04 1.89132948e-01] [ 9.65418192e-03 -1.58381873e-03 9.99952143e-01 2.76098013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95925415399998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:84.67, Y:0.18, Z:0.28 [[ 9.96558751e-01 -7.99051559e-02 -2.20413562e-02 8.46667780e+01] [ 8.08172112e-02 9.95749781e-01 4.41695867e-02 1.78699312e-01] [ 1.84182979e-02 -4.57989091e-02 9.98780870e-01 2.79610976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98925415399998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:84.70, Y:0.20, Z:0.29 [[ 9.96559778e-01 -8.01959068e-02 -2.09099486e-02 8.46987662e+01] [ 8.02006680e-02 9.96778550e-01 -6.12141364e-04 2.02821153e-01] [ 2.08916795e-02 -1.06695639e-03 9.99781176e-01 2.91282467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01925415399998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:84.73, Y:0.21, Z:0.29 [[ 9.96635140e-01 -7.93122152e-02 -2.06874293e-02 8.47316067e+01] [ 7.93167326e-02 9.96849282e-01 -6.03358780e-04 2.05740396e-01] [ 2.06701027e-02 -1.03953073e-03 9.99785810e-01 2.91701898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04925415399998 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:84.76, Y:0.21, Z:0.29 [[ 9.96876975e-01 -7.59801063e-02 -2.15248608e-02 8.47637373e+01] [ 7.59842778e-02 9.97108820e-01 -6.25188951e-04 2.11727613e-01] [ 2.15101305e-02 -1.01231454e-03 9.99768118e-01 2.93014415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07925415399998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:84.80, Y:0.22, Z:0.29 [[ 9.97048336e-01 -7.37065876e-02 -2.14931496e-02 8.47953561e+01] [ 7.37102947e-02 9.97279503e-01 -6.20771835e-04 2.15454161e-01] [ 2.14804325e-02 -9.65326869e-04 9.99768803e-01 2.94029994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.10925415399998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:84.83, Y:0.22, Z:0.29 [[ 9.97417419e-01 -6.86175699e-02 -2.12160675e-02 8.48267768e+01] [ 6.86200656e-02 9.97642678e-01 -6.11212243e-04 2.21601767e-01] [ 2.12079943e-02 -8.46214206e-04 9.99774727e-01 2.94695699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13925415399999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:84.86, Y:0.23, Z:0.30 [[ 9.97563746e-01 -6.64749189e-02 -2.11579270e-02 8.48586269e+01] [ 6.64769594e-02 9.97787775e-01 -6.07658229e-04 2.25140702e-01] [ 2.11515149e-02 -8.00336834e-04 9.99775961e-01 2.95524592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16925415399999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:84.89, Y:0.23, Z:0.30 [[ 9.97736193e-01 -6.38915856e-02 -2.09846416e-02 8.48907849e+01] [ 6.38930546e-02 9.97956570e-01 -6.01133259e-04 2.28207374e-01] [ 2.09801684e-02 -7.41000445e-04 9.99779617e-01 2.96034793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19925415399999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:84.92, Y:0.23, Z:0.30 [[ 9.97878481e-01 -6.15827814e-02 -2.11210364e-02 8.49231581e+01] [ 6.15837865e-02 9.98101735e-01 -6.03454811e-04 2.31365309e-01] [ 2.11181055e-02 -6.98538826e-04 9.99776744e-01 2.96906156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22925415399999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:84.95, Y:0.24, Z:0.30 [[ 9.98152699e-01 -5.69572151e-02 -2.11438957e-02 8.49541170e+01] [ 5.69572184e-02 9.98376438e-01 -6.02547859e-04 2.36706235e-01] [ 2.11438868e-02 -6.02862715e-04 9.99776261e-01 2.98008755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25925415399998 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:84.99, Y:0.24, Z:0.30 [[ 9.98285844e-01 -5.44914026e-02 -2.13555895e-02 8.49851541e+01] [ 5.44908707e-02 9.98514084e-01 -6.07244026e-04 2.39941274e-01] [ 2.13569465e-02 -5.57481551e-04 9.99771759e-01 2.98603178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28925415399998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:85.02, Y:0.25, Z:0.30 [[ 9.98525128e-01 -4.97239766e-02 -2.17966587e-02 8.50174200e+01] [ 4.97223421e-02 9.98762889e-01 -6.17274249e-04 2.45518462e-01] [ 2.18003871e-02 -4.67417070e-04 9.99762234e-01 2.99541070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31925415399998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:85.05, Y:0.25, Z:0.30 [[ 9.98611267e-01 -4.76974199e-02 -2.23717110e-02 8.50490531e+01] [ 4.76952272e-02 9.98861735e-01 -6.31885170e-04 2.48591029e-01] [ 2.23763853e-02 -4.36016187e-04 9.99749522e-01 3.00426991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34925415399998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:85.08, Y:0.26, Z:0.30 [[ 9.98830307e-01 -4.49906011e-02 -1.77162230e-02 8.50792777e+01] [ 4.46374680e-02 9.98806066e-01 -1.98478809e-02 2.60139706e-01] [ 1.85880391e-02 1.90338576e-02 9.99646036e-01 3.01395805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37925415399998 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:85.11, Y:0.25, Z:0.30 [[ 9.98877972e-01 -4.17688958e-02 -2.23194265e-02 8.51106700e+01] [ 4.21888647e-02 9.98934848e-01 1.86887442e-02 2.45541366e-01] [ 2.15150447e-02 -1.96094061e-02 9.99576197e-01 2.96008161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.40925415399998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:85.14, Y:0.26, Z:0.30 [[ 9.98938829e-01 -4.06237521e-02 -2.17008267e-02 8.51408901e+01] [ 4.06200754e-02 9.99174478e-01 -6.10378696e-04 2.56792201e-01] [ 2.17077080e-02 -2.71758235e-04 9.99764323e-01 3.02218339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43925415399998 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:85.17, Y:0.26, Z:0.30 [[ 9.99025834e-01 -3.85399673e-02 -2.14954247e-02 8.51711751e+01] [ 3.85358850e-02 9.99257034e-01 -6.04257294e-04 2.60376196e-01] [ 2.15027424e-02 -2.24676567e-04 9.99768764e-01 3.03081196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.46925415399998 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:85.20, Y:0.26, Z:0.30 [[ 9.99063680e-01 -3.77113350e-02 -2.12042075e-02 8.52021976e+01] [ 3.77071773e-02 9.99288654e-01 -5.96003428e-04 2.61947856e-01] [ 2.12116001e-02 -2.04105436e-04 9.99774988e-01 3.02892994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49925415399998 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:85.23, Y:0.26, Z:0.30 [[ 9.99093856e-01 -3.68976311e-02 -2.12139331e-02 8.52337980e+01] [ 3.68933025e-02 9.99319033e-01 -5.95514999e-04 2.63587984e-01] [ 2.12214602e-02 -1.87676674e-04 9.99774782e-01 3.03258970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52925415399999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:85.26, Y:0.27, Z:0.30 [[ 9.99144015e-01 -3.54104988e-02 -2.13853719e-02 8.52641979e+01] [ 3.54057752e-02 9.99372839e-01 -5.99584987e-04 2.66130363e-01] [ 2.13931915e-02 -1.58093920e-04 9.99771127e-01 3.03260982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55925415399999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:85.29, Y:0.27, Z:0.30 [[ 9.99159994e-01 -3.47438568e-02 -2.17294987e-02 8.52940983e+01] [ 3.47388309e-02 9.99396239e-01 -6.08837758e-04 2.67723649e-01] [ 2.17375327e-02 -1.46531051e-04 9.99763701e-01 3.03739150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58925415399999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:85.32, Y:0.27, Z:0.30 [[ 9.99163014e-01 -3.44223150e-02 -2.20992392e-02 8.53248384e+01] [ 3.44170457e-02 9.99407366e-01 -6.18847925e-04 2.68962864e-01] [ 2.21074446e-02 -1.42260567e-04 9.99755590e-01 3.03930638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61925415399998 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:85.35, Y:0.27, Z:0.30 [[ 9.99160062e-01 -3.45078798e-02 -2.20992325e-02 8.53549563e+01] [ 3.45026262e-02 9.99404415e-01 -6.19085708e-04 2.69828758e-01] [ 2.21074339e-02 -1.43915843e-04 9.99755590e-01 3.04513184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64925415399998 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:85.39, Y:0.27, Z:0.31 [[ 9.99160924e-01 -3.42742943e-02 -2.24214225e-02 8.53855785e+01] [ 3.42687899e-02 9.99412454e-01 -6.29791922e-04 2.70890222e-01] [ 2.24298346e-02 -1.39091539e-04 9.99748410e-01 3.05260440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67925415399998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:85.42, Y:0.27, Z:0.31 [[ 9.99177508e-01 -3.39834732e-02 -2.21230987e-02 8.54152605e+01] [ 3.39780408e-02 9.99422386e-01 -6.21514390e-04 2.71874834e-01] [ 2.21314414e-02 -1.30696352e-04 9.99755061e-01 3.05453926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70925415399998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:85.45, Y:0.27, Z:0.31 [[ 9.99187138e-01 -3.37980262e-02 -2.19717190e-02 8.54453038e+01] [ 3.37926055e-02 9.99428676e-01 -6.18056862e-04 2.72824001e-01] [ 2.19800551e-02 -1.24927165e-04 9.99758402e-01 3.06343230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73925415399998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:85.48, Y:0.27, Z:0.31 [[ 9.99227480e-01 -3.30874223e-02 -2.12053327e-02 8.54750722e+01] [ 3.30821975e-02 9.99452456e-01 -5.97242924e-04 2.73082577e-01] [ 2.12134831e-02 -1.04737463e-04 9.99774963e-01 3.06838078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76925415399998 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:85.50, Y:0.27, Z:0.31 [[ 9.99233612e-01 -3.29665086e-02 -2.11044738e-02 8.55040828e+01] [ 3.29612908e-02 9.99456452e-01 -5.95137279e-04 2.73444310e-01] [ 2.11126221e-02 -1.00949524e-04 9.99777099e-01 3.07182123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79925415399998 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:85.53, Y:0.27, Z:0.31 [[ 9.99231691e-01 -3.31987110e-02 -2.08296409e-02 8.55343036e+01] [ 3.31936715e-02 9.99448765e-01 -5.87732700e-04 2.73883751e-01] [ 2.08376709e-02 -1.04131118e-04 9.99782867e-01 3.07631824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82925415399998 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:85.56, Y:0.27, Z:0.31 [[ 9.99193651e-01 -3.42429277e-02 -2.09635238e-02 8.55640961e+01] [ 3.42380523e-02 9.99413531e-01 -5.91540805e-04 2.73284632e-01] [ 2.09714854e-02 -1.26686407e-04 9.99780066e-01 3.07917113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85925415399998 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:85.59, Y:0.27, Z:0.31 [[ 9.99147720e-01 -3.53874671e-02 -2.12499696e-02 8.55931055e+01] [ 3.53827079e-02 9.99373656e-01 -6.00022216e-04 2.73218718e-01] [ 2.12578931e-02 -1.52370640e-04 9.99774014e-01 3.08233582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88925415399999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:85.62, Y:0.27, Z:0.31 [[ 9.99008872e-01 -3.87548041e-02 -2.18938131e-02 8.56236513e+01] [ 3.87505525e-02 9.99248724e-01 -6.18565104e-04 2.71923235e-01] [ 2.19013372e-02 -2.30445328e-04 9.99760110e-01 3.07833729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91925415399999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:85.65, Y:0.27, Z:0.31 [[ 9.98925976e-01 -4.05433579e-02 -2.24305952e-02 8.56538931e+01] [ 4.05393461e-02 9.99177742e-01 -6.33730789e-04 2.71602962e-01] [ 2.24378451e-02 -2.76271516e-04 9.99748202e-01 3.08495982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94925415399999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:85.68, Y:0.27, Z:0.31 [[ 9.98830283e-01 -4.25848427e-02 -2.29040993e-02 8.56843822e+01] [ 4.25811977e-02 9.99092800e-01 -6.47044392e-04 2.71500456e-01] [ 2.29108750e-02 -3.28996449e-04 9.99737457e-01 3.09040519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97925415399999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:85.72, Y:0.27, Z:0.31 [[ 9.98658979e-01 -4.63033921e-02 -2.31568324e-02 8.57150051e+01] [ 4.63006751e-02 9.98927335e-01 -6.53765631e-04 2.70917572e-01] [ 2.31622645e-02 -4.19288057e-04 9.99731631e-01 3.10046915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00925415399998 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:85.75, Y:0.27, Z:0.31 [[ 9.98588182e-01 -4.78080088e-02 -2.31524909e-02 8.57464413e+01] [ 4.78057080e-02 9.98856440e-01 -6.53170633e-04 2.71075698e-01] [ 2.31572415e-02 -4.54572746e-04 9.99731732e-01 3.10845608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03925415399998 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:85.78, Y:0.27, Z:0.31 [[ 9.98495905e-01 -4.95054061e-02 -2.35614412e-02 8.57772292e+01] [ 4.95035172e-02 9.98773729e-01 -6.63787435e-04 2.71636252e-01] [ 2.35654096e-02 -5.03585176e-04 9.99722170e-01 3.11519630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06925415399998 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:85.81, Y:0.27, Z:0.31 [[ 9.98347770e-01 -5.27111529e-02 -2.28749608e-02 8.58086066e+01] [ 5.27102413e-02 9.98609642e-01 -6.43221076e-04 2.71283872e-01] [ 2.28770613e-02 -5.63586378e-04 9.99738127e-01 3.11842829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09925415399998 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:85.84, Y:0.27, Z:0.31 [[ 9.98138901e-01 -5.65908944e-02 -2.27201490e-02 8.58406646e+01] [ 5.65910201e-02 9.98397240e-01 -6.37943401e-04 2.70868378e-01] [ 2.27198358e-02 -6.49000282e-04 9.99741661e-01 3.12555447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12925415399998 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:85.87, Y:0.27, Z:0.31 [[ 9.98019055e-01 -5.88053861e-02 -2.23582536e-02 8.58715072e+01] [ 5.88060980e-02 9.98269228e-01 -6.26209495e-04 2.71221374e-01] [ 2.23563810e-02 -6.89832642e-04 9.99749827e-01 3.12709438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15925415399998 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:85.90, Y:0.27, Z:0.31 [[ 9.97872118e-01 -6.11824167e-02 -2.25377158e-02 8.59036298e+01] [ 6.11837752e-02 9.98126319e-01 -6.29925125e-04 2.71633387e-01] [ 2.25340277e-02 -7.50357818e-04 9.99745795e-01 3.13100805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18925415399998 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:85.94, Y:0.27, Z:0.31 [[ 9.97717089e-01 -6.37320398e-02 -2.23346708e-02 8.59354432e+01] [ 6.37340484e-02 9.97966725e-01 -6.22613010e-04 2.72046676e-01] [ 2.23289386e-02 -8.02287346e-04 9.99750356e-01 3.13672949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21925415399998 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:85.97, Y:0.27, Z:0.31 [[ 9.97323156e-01 -6.97203517e-02 -2.20362029e-02 8.59674561e+01] [ 6.97238027e-02 9.97566146e-01 -6.12606843e-04 2.72915237e-01] [ 2.20252812e-02 -9.25480874e-04 9.99756986e-01 3.14717167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24925415399998 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:86.00, Y:0.27, Z:0.32 [[ 9.97102986e-01 -7.28350570e-02 -2.19246313e-02 8.59997041e+01] [ 7.28392681e-02 9.97343508e-01 -6.07510139e-04 2.73507841e-01] [ 2.19106367e-02 -9.91223926e-04 9.99759442e-01 3.15379075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27925415399999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:86.03, Y:0.27, Z:0.32 [[ 9.96586911e-01 -7.94406103e-02 -2.24436837e-02 8.60329574e+01] [ 7.94467342e-02 9.96838920e-01 -6.20073498e-04 2.73799885e-01] [ 2.24219964e-02 -1.16512024e-03 9.99747917e-01 3.15553654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30925415399999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:86.07, Y:0.27, Z:0.32 [[ 9.96335362e-01 -8.23661419e-02 -2.30578534e-02 8.60654637e+01] [ 8.23734461e-02 9.96601331e-01 -6.34463485e-04 2.74812632e-01] [ 2.30317457e-02 -1.26721644e-03 9.99733931e-01 3.16132220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33925415399999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:86.10, Y:0.28, Z:0.32 [[ 9.96138597e-01 -8.45756184e-02 -2.35554570e-02 8.60972604e+01] [ 8.45839095e-02 9.96416151e-01 -6.45931025e-04 2.76072506e-01] [ 2.35256678e-02 -1.34897582e-03 9.99722323e-01 3.16943531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36925415399998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:86.13, Y:0.28, Z:0.32 [[ 9.95824732e-01 -8.79904392e-02 -2.43060694e-02 8.61299951e+01] [ 8.80003386e-02 9.96120223e-01 -6.64125807e-04 2.78663501e-01] [ 2.42702040e-02 -1.47758943e-03 9.99704343e-01 3.17134416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39925415399998 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:86.16, Y:0.28, Z:0.32 [[ 9.95746972e-01 -8.88063071e-02 -2.45236213e-02 8.61619348e+01] [ 8.88166959e-02 9.96047764e-01 -6.67425097e-04 2.80265813e-01] [ 2.44859697e-02 -1.51352049e-03 9.99699028e-01 3.17400284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42925415399998 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:86.19, Y:0.28, Z:0.32 [[ 9.95711215e-01 -8.91212879e-02 -2.48308590e-02 8.61945587e+01] [ 8.91320961e-02 9.96019586e-01 -6.73378087e-04 2.82295298e-01] [ 2.47920342e-02 -1.54273640e-03 9.99691440e-01 3.18172824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45925415399998 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:86.23, Y:0.29, Z:0.32 [[ 9.95769264e-01 -8.83036187e-02 -2.54173951e-02 8.62265159e+01] [ 8.83147482e-02 9.96092382e-01 -6.86544428e-04 2.86174637e-01] [ 2.53786980e-02 -1.56109101e-03 9.99676690e-01 3.19168930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48925415399998 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:86.26, Y:0.29, Z:0.32 [[ 9.95901828e-01 -8.67636158e-02 -2.55269365e-02 8.62584560e+01] [ 8.67744108e-02 9.96227750e-01 -6.86625218e-04 2.88678873e-01] [ 2.54902166e-02 -1.53127357e-03 9.99673899e-01 3.19957808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51925415399998 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:86.29, Y:0.29, Z:0.32 [[ 9.96063965e-01 -8.48235794e-02 -2.57203860e-02 8.62901605e+01] [ 8.48339944e-02 9.96394862e-01 -6.87931109e-04 2.91388484e-01] [ 2.56860132e-02 -1.49673969e-03 9.99668939e-01 3.20707983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54925415399998 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:86.32, Y:0.30, Z:0.32 [[ 9.96513126e-01 -7.95968365e-02 -2.50186708e-02 8.63232190e+01] [ 7.96050953e-02 9.96826255e-01 -6.67267953e-04 2.96813952e-01] [ 2.49923803e-02 -1.32667240e-03 9.99686761e-01 3.21767153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57925415399998 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:86.35, Y:0.30, Z:0.32 [[ 9.96792884e-01 -7.61365154e-02 -2.46409639e-02 8.63547031e+01] [ 7.61435342e-02 9.97096652e-01 -6.54662355e-04 3.00026957e-01] [ 2.46192663e-02 -1.22368730e-03 9.99696151e-01 3.22855464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.60925415399998 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:86.39, Y:0.31, Z:0.32 [[ 9.97412868e-01 -6.79333530e-02 -2.35080796e-02 8.63855502e+01] [ 6.79375101e-02 9.97689384e-01 -6.22694399e-04 3.05947602e-01] [ 2.34960632e-02 -9.75996988e-04 9.99723453e-01 3.23991590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63925415399999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:86.42, Y:0.31, Z:0.32 [[ 9.97742633e-01 -6.31528346e-02 -2.28332604e-02 8.64188494e+01] [ 6.31555370e-02 9.98003514e-01 -6.03463441e-04 3.09313678e-01] [ 2.28257846e-02 -8.39945622e-04 9.99739105e-01 3.24799392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66925415399999 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:86.45, Y:0.31, Z:0.33 [[ 9.98050962e-01 -5.81268298e-02 -2.27056859e-02 8.64513152e+01] [ 5.81282539e-02 9.98308945e-01 -5.97839185e-04 3.12611545e-01] [ 2.27020398e-02 -7.23167898e-04 9.99742014e-01 3.25724160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69925415399999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:86.48, Y:0.32, Z:0.33 [[ 9.98558578e-01 -4.88685280e-02 -2.21953457e-02 8.64830790e+01] [ 4.88676375e-02 9.98805093e-01 -5.82830860e-04 3.18466531e-01] [ 2.21973064e-02 -5.02643352e-04 9.99753483e-01 3.26156357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72925415399999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:86.51, Y:0.32, Z:0.33 [[ 9.98748635e-01 -4.48216055e-02 -2.21852959e-02 8.65137210e+01] [ 4.48197533e-02 9.98994921e-01 -5.80960846e-04 3.21609074e-01] [ 2.21890375e-02 -4.14105637e-04 9.99753707e-01 3.26647880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75925415399998 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:86.55, Y:0.32, Z:0.33 [[ 9.98897752e-01 -4.11426648e-02 -2.25956432e-02 8.65461027e+01] [ 4.11398326e-02 9.99153224e-01 -5.90371953e-04 3.24607871e-01] [ 2.26007992e-02 -3.39859761e-04 9.99744512e-01 3.26989577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78925415399998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:86.58, Y:0.33, Z:0.33 [[ 9.99098307e-01 -3.53629434e-02 -2.34954106e-02 8.65770675e+01] [ 3.53583213e-02 9.99374512e-01 -6.12262756e-04 3.29537958e-01] [ 2.35023659e-02 -2.19047594e-04 9.99723757e-01 3.27237838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:86.61, Y:0.33, Z:0.33 [[ 9.99154100e-01 -3.33336260e-02 -2.40822281e-02 8.66076115e+01] [ 3.33281982e-02 9.99444265e-01 -6.26832190e-04 3.31861729e-01] [ 2.40897394e-02 -1.76315319e-04 9.99709785e-01 3.27643420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84925415399998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:86.64, Y:0.33, Z:0.33 [[ 9.99196382e-01 -3.09843938e-02 -2.54274852e-02 8.66371362e+01] [ 3.09775791e-02 9.99519860e-01 -6.61958450e-04 3.34858259e-01] [ 2.54357868e-02 -1.26255446e-04 9.99676450e-01 3.27587403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87925415399998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:86.67, Y:0.34, Z:0.33 [[ 9.99176348e-01 -3.10496273e-02 -2.61255937e-02 8.66655533e+01] [ 3.10424011e-02 9.99517836e-01 -6.82216249e-04 3.36854887e-01] [ 2.61341795e-02 -1.29346820e-04 9.99658436e-01 3.28237432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.90925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:86.69, Y:0.34, Z:0.33 [[ 9.99169800e-01 -3.12141680e-02 -2.61798831e-02 8.66929875e+01] [ 3.12068236e-02 9.99512711e-01 -6.89154465e-04 3.38634041e-01] [ 2.61886373e-02 -1.28408664e-04 9.99657011e-01 3.28789915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.93925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:86.72, Y:0.34, Z:0.33 [[ 9.99140424e-01 -3.26214036e-02 -2.55784562e-02 8.67212647e+01] [ 3.26147695e-02 9.99467768e-01 -6.76618029e-04 3.41029736e-01] [ 2.55869147e-02 -1.58199028e-04 9.99672589e-01 3.29986476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.96925415399998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:86.75, Y:0.34, Z:0.33 [[ 9.99112591e-01 -3.36435186e-02 -2.53405681e-02 8.67496401e+01] [ 3.36371722e-02 9.99433881e-01 -6.76783717e-04 3.42406047e-01] [ 2.53489917e-02 -1.76201920e-04 9.99678647e-01 3.30918084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99925415399998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:86.78, Y:0.34, Z:0.33 [[ 9.99058647e-01 -3.58253291e-02 -2.44615230e-02 8.67791640e+01] [ 3.58199469e-02 9.99358043e-01 -6.58304103e-04 3.43614315e-01] [ 2.44694037e-02 -2.18526046e-04 9.99700555e-01 3.31669502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02925415399999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:86.81, Y:0.34, Z:0.33 [[ 9.99024353e-01 -3.71078925e-02 -2.39446395e-02 8.68092226e+01] [ 3.71030887e-02 9.99311235e-01 -6.45013560e-04 3.44398790e-01] [ 2.39520824e-02 -2.44035829e-04 9.99713078e-01 3.32479073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05925415399999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:86.84, Y:0.34, Z:0.33 [[ 9.98990391e-01 -3.83903583e-02 -2.33319445e-02 8.68400028e+01] [ 3.83861607e-02 9.99262782e-01 -6.27917330e-04 3.44979617e-01] [ 2.33388498e-02 -2.68340392e-04 9.99727576e-01 3.32950873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08925415399999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:86.87, Y:0.35, Z:0.33 [[ 9.98941624e-01 -3.98343230e-02 -2.29969038e-02 8.68716497e+01] [ 3.98306573e-02 9.99206254e-01 -6.17608959e-04 3.45901390e-01] [ 2.30032521e-02 -2.99026498e-04 9.99735345e-01 3.33289641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:86.90, Y:0.35, Z:0.33 [[ 9.98841359e-01 -4.23443763e-02 -2.28668769e-02 8.69022385e+01] [ 4.23414271e-02 9.99103011e-01 -6.13343486e-04 3.46392199e-01] [ 2.28723372e-02 -3.55583361e-04 9.99738331e-01 3.33657838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14925415399998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:86.93, Y:0.35, Z:0.33 [[ 9.98786912e-01 -4.34008816e-02 -2.32608844e-02 8.69341668e+01] [ 4.33981313e-02 9.99057663e-01 -6.23267813e-04 3.46884675e-01] [ 2.32660152e-02 -3.86967182e-04 9.99729235e-01 3.33892715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17925415399998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:86.97, Y:0.35, Z:0.33 [[ 9.98724789e-01 -4.44878780e-02 -2.38668165e-02 8.69660086e+01] [ 4.44853350e-02 9.99009834e-01 -6.37737364e-04 3.47439110e-01] [ 2.38715560e-02 -4.24799213e-04 9.99714944e-01 3.34310418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20925415399998 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:87.00, Y:0.35, Z:0.33 [[ 9.98609418e-01 -4.67535924e-02 -2.43583944e-02 8.69975544e+01] [ 4.67516593e-02 9.98906332e-01 -6.49149119e-04 3.47539496e-01] [ 2.43621044e-02 -4.90548931e-04 9.99703080e-01 3.34781073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23925415399998 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:87.03, Y:0.35, Z:0.34 [[ 9.98584256e-01 -4.73613144e-02 -2.42154907e-02 8.70293339e+01] [ 4.73596164e-02 9.98877696e-01 -6.43942235e-04 3.47756430e-01] [ 2.42188116e-02 -5.03805774e-04 9.99706555e-01 3.35277344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26925415399998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:87.06, Y:0.35, Z:0.34 [[ 9.98612533e-01 -4.70413236e-02 -2.36669314e-02 8.70616496e+01] [ 4.70396512e-02 9.98892826e-01 -6.27688162e-04 3.48356174e-01] [ 2.36702553e-02 -4.86466932e-04 9.99719702e-01 3.35686249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29925415399998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:87.09, Y:0.35, Z:0.34 [[ 9.98641810e-01 -4.62370564e-02 -2.40139692e-02 8.70940201e+01] [ 4.62351454e-02 9.98930382e-01 -6.35091696e-04 3.49134721e-01] [ 2.40176482e-02 -4.76060237e-04 9.99711421e-01 3.36342600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32925415399998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:87.13, Y:0.35, Z:0.34 [[ 9.98667965e-01 -4.55486052e-02 -2.42408854e-02 8.71266189e+01] [ 4.55464991e-02 9.98962015e-01 -6.39289114e-04 3.50129212e-01] [ 2.42448425e-02 -4.65649907e-04 9.99705942e-01 3.36600822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35925415399998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:87.16, Y:0.35, Z:0.34 [[ 9.98779769e-01 -4.26630008e-02 -2.48765408e-02 8.71591882e+01] [ 4.26599345e-02 9.99089436e-01 -6.54186223e-04 3.50794373e-01] [ 2.48817987e-02 -4.07843639e-04 9.99690317e-01 3.36810384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38925415399999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:87.19, Y:0.35, Z:0.34 [[ 9.98846322e-01 -4.08738314e-02 -2.52062460e-02 8.71902435e+01] [ 4.08701559e-02 9.99164247e-01 -6.61185884e-04 3.51633616e-01] [ 2.52122051e-02 -3.69760118e-04 9.99682053e-01 3.36683870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41925415399999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:87.22, Y:0.35, Z:0.34 [[ 9.98936396e-01 -3.86309667e-02 -2.51738992e-02 8.72202923e+01] [ 3.86266066e-02 9.99253496e-01 -6.59626945e-04 3.52522782e-01] [ 2.51805889e-02 -3.13456939e-04 9.99682870e-01 3.37423723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44925415399999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:87.25, Y:0.35, Z:0.34 [[ 9.99095555e-01 -3.41715233e-02 -2.53057183e-02 8.72508106e+01] [ 3.41656871e-02 9.99415963e-01 -6.63080976e-04 3.53618382e-01] [ 2.53135973e-02 -2.02105999e-04 9.99679539e-01 3.38476571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47925415399999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:87.28, Y:0.35, Z:0.34 [[ 9.99161638e-01 -3.22866999e-02 -2.51712364e-02 8.72795477e+01] [ 3.22803178e-02 9.99478637e-01 -6.59941502e-04 3.54332255e-01] [ 2.51794203e-02 -1.53147279e-04 9.99682936e-01 3.39443616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:87.31, Y:0.36, Z:0.34 [[ 9.99154044e-01 -3.25209005e-02 -2.51711669e-02 8.73087717e+01] [ 3.25145263e-02 9.99471043e-01 -6.62581259e-04 3.55144039e-01] [ 2.51794002e-02 -1.56407822e-04 9.99682936e-01 3.40009283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53925415399998 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:87.34, Y:0.35, Z:0.34 [[ 9.99244918e-01 -3.02198799e-02 -2.44203147e-02 8.73371002e+01] [ 3.02130791e-02 9.99543271e-01 -6.47486975e-04 3.54994136e-01] [ 2.44287282e-02 -9.08148305e-05 9.99701570e-01 3.40734251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56925415399998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:87.37, Y:0.35, Z:0.34 [[ 9.99248108e-01 -3.00477495e-02 -2.45020697e-02 8.73660159e+01] [ 3.00407932e-02 9.99548461e-01 -6.52024991e-04 3.54957445e-01] [ 2.45105980e-02 -8.45268717e-05 9.99699567e-01 3.41177626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59925415399998 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:87.39, Y:0.35, Z:0.34 [[ 9.99231512e-01 -3.01224983e-02 -2.50802843e-02 8.73942939e+01] [ 3.01150687e-02 9.99546211e-01 -6.73971626e-04 3.54461236e-01] [ 2.50892048e-02 -8.18407972e-05 9.99685213e-01 3.41259578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62925415399998 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:87.42, Y:0.35, Z:0.34 [[ 9.99165764e-01 -3.09664276e-02 -2.66243572e-02 8.74218529e+01] [ 3.09581966e-02 9.99520420e-01 -7.21389616e-04 3.52604379e-01] [ 2.66339275e-02 -1.03454278e-04 9.99645249e-01 3.40866042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65925415399998 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:87.45, Y:0.35, Z:0.34 [[ 9.99101687e-01 -3.20449888e-02 -2.77297118e-02 8.74501309e+01] [ 3.20363573e-02 9.99486419e-01 -7.55594967e-04 3.52276208e-01] [ 2.77396834e-02 -1.33442749e-04 9.99615172e-01 3.40900854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.68925415399998 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:87.48, Y:0.35, Z:0.34 [[ 9.99030857e-01 -3.35070806e-02 -2.85415830e-02 8.74775834e+01] [ 3.34982915e-02 9.99438466e-01 -7.86164071e-04 3.52156440e-01] [ 2.85518980e-02 -1.70692101e-04 9.99592297e-01 3.41186401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71925415399998 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:87.50, Y:0.35, Z:0.34 [[ 9.98877734e-01 -3.69532890e-02 -2.96264571e-02 8.75042526e+01] [ 3.69451211e-02 9.99316957e-01 -8.23234486e-04 3.50885211e-01] [ 2.96366422e-02 -2.72242446e-04 9.99560701e-01 3.41729131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74925415399998 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:87.53, Y:0.35, Z:0.34 [[ 9.98755935e-01 -3.96292241e-02 -3.02672515e-02 8.75318373e+01] [ 3.96217571e-02 9.99214391e-01 -8.46656898e-04 3.50717992e-01] [ 3.02770256e-02 -3.53638084e-04 9.99541483e-01 3.42387932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77925415399999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:87.56, Y:0.35, Z:0.34 [[ 9.98534543e-01 -4.49093990e-02 -3.01978950e-02 8.75593666e+01] [ 4.49041702e-02 9.98990936e-01 -8.51633423e-04 3.49185034e-01] [ 3.02056698e-02 -5.05626026e-04 9.99543577e-01 3.43074402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80925415399999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:87.59, Y:0.35, Z:0.34 [[ 9.98408288e-01 -4.77853338e-02 -2.99575209e-02 8.75894255e+01] [ 4.77813937e-02 9.98857457e-01 -8.47785225e-04 3.49119595e-01] [ 2.99638048e-02 -5.84976305e-04 9.99550813e-01 3.43592768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83925415399999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:87.62, Y:0.35, Z:0.34 [[ 9.98309687e-01 -4.99977708e-02 -2.96309248e-02 8.76201920e+01] [ 4.99948746e-02 9.98749122e-01 -8.39058692e-04 3.48926787e-01] [ 2.96358112e-02 -6.43753949e-04 9.99560556e-01 3.44557302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:87.65, Y:0.35, Z:0.35 [[ 9.98122833e-01 -5.45204303e-02 -2.78986050e-02 8.76504583e+01] [ 5.45196410e-02 9.98512386e-01 -7.89516222e-04 3.48719556e-01] [ 2.79001474e-02 -7.32987759e-04 9.99610446e-01 3.45349944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89925415399998 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:87.68, Y:0.35, Z:0.35 [[ 9.98028300e-01 -5.64399856e-02 -2.74597948e-02 8.76824922e+01] [ 5.64399723e-02 9.98405693e-01 -7.76165067e-04 3.48951096e-01] [ 2.74598222e-02 -7.75195358e-04 9.99622607e-01 3.45878507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92925415399998 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:87.72, Y:0.35, Z:0.35 [[ 9.97849861e-01 -5.98226943e-02 -2.67749780e-02 8.77151972e+01] [ 5.98239486e-02 9.98208658e-01 -7.54902645e-04 3.47989320e-01] [ 2.67721752e-02 -8.48505411e-04 9.99641201e-01 3.46036542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95925415399998 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:87.75, Y:0.35, Z:0.35 [[ 9.97763923e-01 -6.14516432e-02 -2.62840331e-02 8.77477503e+01] [ 6.14534660e-02 9.98109676e-01 -7.39171425e-04 3.47879454e-01] [ 2.62797711e-02 -8.77726355e-04 9.99654242e-01 3.46341142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98925415399998 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:87.78, Y:0.35, Z:0.35 [[ 9.97687140e-01 -6.28997707e-02 -2.57679997e-02 8.77791247e+01] [ 6.29020496e-02 9.98019443e-01 -7.22917626e-04 3.47914978e-01] [ 2.57624360e-02 -8.99614374e-04 9.99667689e-01 3.46920962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01925415399998 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:87.81, Y:0.35, Z:0.35 [[ 9.97500391e-01 -6.60812425e-02 -2.50247568e-02 8.78113906e+01] [ 6.60844273e-02 9.97813789e-01 -7.00619381e-04 3.48051526e-01] [ 2.50163452e-02 -9.54878617e-04 9.99686586e-01 3.47532444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.04925415399998 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:87.84, Y:0.35, Z:0.35 [[ 9.97423860e-01 -6.73228989e-02 -2.47643155e-02 8.78433166e+01] [ 6.73264446e-02 9.97730761e-01 -6.91514293e-04 3.48369284e-01] [ 2.47546741e-02 -9.77560457e-04 9.99693078e-01 3.47747331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07925415399998 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:87.88, Y:0.35, Z:0.35 [[ 9.97311516e-01 -6.88244699e-02 -2.51581433e-02 8.78753088e+01] [ 6.88286537e-02 9.97628250e-01 -7.00628871e-04 3.48913730e-01] [ 2.51466949e-02 -1.03285589e-03 9.99683238e-01 3.48095452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.10925415399998 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:87.91, Y:0.35, Z:0.35 [[ 9.97100930e-01 -7.13503056e-02 -2.64361489e-02 8.79076154e+01] [ 7.13558650e-02 9.97450651e-01 -7.34201907e-04 3.49084058e-01] [ 2.64211395e-02 -1.15430087e-03 9.99650234e-01 3.48273050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13925415399999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:87.94, Y:0.35, Z:0.35 [[ 9.97020449e-01 -7.21881341e-02 -2.71863662e-02 8.79400944e+01] [ 7.21943802e-02 9.97390297e-01 -7.52996426e-04 3.49809852e-01] [ 2.71697753e-02 -1.21195002e-03 9.99630099e-01 3.48677549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16925415399999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:87.97, Y:0.35, Z:0.35 [[ 9.97002182e-01 -7.23907760e-02 -2.73171306e-02 8.79721379e+01] [ 7.23972140e-02 9.97375593e-01 -7.54574482e-04 3.51269794e-01] [ 2.73000636e-02 -1.22537175e-03 9.99626533e-01 3.49071764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19925415399999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:88.00, Y:0.35, Z:0.35 [[ 9.97056988e-01 -7.15720945e-02 -2.74735918e-02 8.80036780e+01] [ 7.15783783e-02 9.97434692e-01 -7.55915471e-04 3.52796771e-01] [ 2.74572161e-02 -1.21282435e-03 9.99622244e-01 3.49885179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22925415399999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:88.04, Y:0.35, Z:0.35 [[ 9.97138033e-01 -7.04235303e-02 -2.75003593e-02 8.80362407e+01] [ 7.04295065e-02 9.97516475e-01 -7.52431213e-04 3.54733022e-01] [ 2.74850503e-02 -1.18655895e-03 9.99621510e-01 3.50745787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25925415399998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:88.07, Y:0.36, Z:0.35 [[ 9.97347581e-01 -6.72260424e-02 -2.79009255e-02 8.80685035e+01] [ 6.72310041e-02 9.97737146e-01 -7.61276708e-04 3.58178054e-01] [ 2.78889674e-02 -1.11654976e-03 9.99610404e-01 3.51330602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28925415399998 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:88.10, Y:0.36, Z:0.35 [[ 9.97479887e-01 -6.52243532e-02 -2.79223573e-02 8.80993925e+01] [ 6.52285933e-02 9.97870058e-01 -7.59938664e-04 3.60139145e-01] [ 2.79124508e-02 -1.06331255e-03 9.99609806e-01 3.51398320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31925415399998 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:88.13, Y:0.36, Z:0.35 [[ 9.97673985e-01 -6.17735314e-02 -2.88210071e-02 8.81314476e+01] [ 6.17766632e-02 9.98089691e-01 -7.82591639e-04 3.64291670e-01] [ 2.88142935e-02 -9.99694328e-04 9.99584282e-01 3.51548691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34925415399998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:88.16, Y:0.37, Z:0.35 [[ 9.97785812e-01 -5.98687186e-02 -2.89691188e-02 8.81636665e+01] [ 5.98711426e-02 9.98205806e-01 -7.84485230e-04 3.66667286e-01] [ 2.89641087e-02 -9.51666014e-04 9.99579999e-01 3.52335034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37925415399998 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:88.20, Y:0.37, Z:0.35 [[ 9.97882960e-01 -5.81132928e-02 -2.91966173e-02 8.81953256e+01] [ 5.81150674e-02 9.98309580e-01 -7.88496012e-04 3.69126187e-01] [ 2.91930849e-02 -9.09936647e-04 9.99573377e-01 3.53009844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.40925415399998 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:88.23, Y:0.37, Z:0.35 [[ 9.97975210e-01 -5.64089159e-02 -2.93856116e-02 8.82261383e+01] [ 5.64100336e-02 9.98407372e-01 -7.91625202e-04 3.71548425e-01] [ 2.93834660e-02 -8.67621010e-04 9.99567836e-01 3.53996458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43925415399998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:88.26, Y:0.38, Z:0.36 [[ 9.98184393e-01 -5.29050130e-02 -2.87919695e-02 8.82580558e+01] [ 5.29046792e-02 9.98599267e-01 -7.73901301e-04 3.75675141e-01] [ 2.87925829e-02 -7.50733708e-04 9.99585126e-01 3.55404822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.46925415399998 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:88.29, Y:0.38, Z:0.36 [[ 9.98285354e-01 -5.11165436e-02 -2.85210766e-02 8.82881676e+01] [ 5.11155316e-02 9.98692454e-01 -7.65041719e-04 3.78124682e-01] [ 2.85228903e-02 -6.94140052e-04 9.99592899e-01 3.56452834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49925415399998 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:88.32, Y:0.38, Z:0.36 [[ 9.98479821e-01 -4.78882913e-02 -2.72902592e-02 8.83197007e+01] [ 4.78861763e-02 9.98852531e-01 -7.31403129e-04 3.81647530e-01] [ 2.72939701e-02 -5.76534898e-04 9.99627284e-01 3.57284973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52925415399999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:88.35, Y:0.38, Z:0.36 [[ 9.98569240e-01 -4.64634155e-02 -2.64693093e-02 8.83506126e+01] [ 4.64609535e-02 9.98919856e-01 -7.08341241e-04 3.83685054e-01] [ 2.64736306e-02 -5.22461575e-04 9.99649375e-01 3.57781181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55925415399999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:88.38, Y:0.39, Z:0.36 [[ 9.98636609e-01 -4.52311140e-02 -2.60589568e-02 8.83821621e+01] [ 4.52283415e-02 9.98976432e-01 -6.96089825e-04 3.85946989e-01] [ 2.60637686e-02 -4.83462614e-04 9.99660165e-01 3.58310802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58925415399999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:88.41, Y:0.39, Z:0.36 [[ 9.98754290e-01 -4.28312948e-02 -2.55997575e-02 8.84135207e+01] [ 4.28278546e-02 9.99082233e-01 -6.82900953e-04 3.89555236e-01] [ 2.56055124e-02 -4.14332436e-04 9.99672039e-01 3.58767703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:88.44, Y:0.39, Z:0.36 [[ 9.98805653e-01 -4.16065936e-02 -2.56156155e-02 8.84447104e+01] [ 4.16027704e-02 9.99133997e-01 -6.82390940e-04 3.91908860e-01] [ 2.56218242e-02 -3.84104642e-04 9.99671633e-01 3.59644448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:88.48, Y:0.39, Z:0.36 [[ 9.98868774e-01 -4.02182498e-02 -2.53705418e-02 8.84751405e+01] [ 4.02140721e-02 9.99190859e-01 -6.75061987e-04 3.93997919e-01] [ 2.53771632e-02 -3.45954457e-04 9.99677888e-01 3.59856716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67925415399998 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:88.51, Y:0.40, Z:0.36 [[ 9.98971869e-01 -3.75269500e-02 -2.54348611e-02 8.85050475e+01] [ 3.75218878e-02 9.99295577e-01 -6.76426289e-04 3.97752674e-01] [ 2.54423284e-02 -2.78633170e-04 9.99676253e-01 3.61067279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70925415399998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:88.54, Y:0.40, Z:0.36 [[ 9.99023159e-01 -3.63062903e-02 -2.51909074e-02 8.85354140e+01] [ 3.63009367e-02 9.99340679e-01 -6.69938474e-04 4.00020997e-01] [ 2.51986215e-02 -2.45169485e-04 9.99682434e-01 3.61716895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73925415399998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:88.57, Y:0.40, Z:0.36 [[ 9.99075283e-01 -3.47370594e-02 -2.53360509e-02 8.85655021e+01] [ 3.47311394e-02 9.99396465e-01 -6.73798485e-04 4.03162467e-01] [ 2.53441655e-02 -2.06774504e-04 9.99678764e-01 3.62843177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76925415399998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:88.59, Y:0.40, Z:0.36 [[ 9.99094892e-01 -3.43443667e-02 -2.50970194e-02 8.85948683e+01] [ 3.43384314e-02 9.99410039e-01 -6.67544148e-04 4.04571344e-01] [ 2.51051396e-02 -1.94852333e-04 9.99684797e-01 3.63062861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79925415399998 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:88.62, Y:0.41, Z:0.37 [[ 9.99052840e-01 -3.38263523e-02 -2.73715344e-02 8.86245860e+01] [ 3.35663550e-02 9.99387424e-01 -9.90331164e-03 4.10456748e-01] [ 2.76897602e-02 8.97516898e-03 9.99576272e-01 3.66524015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.82925415399998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:88.65, Y:0.41, Z:0.36 [[ 9.99168737e-01 -3.48139303e-02 -2.12090794e-02 8.86533155e+01] [ 3.46278640e-02 9.99359045e-01 -9.07804359e-03 4.12540129e-01] [ 2.15115277e-02 8.33607223e-03 9.99733847e-01 3.60420672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85925415399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:88.68, Y:0.40, Z:0.36 [[ 9.99025985e-01 -3.58615719e-02 -2.57104955e-02 8.86842661e+01] [ 3.62770908e-02 9.99215571e-01 1.58812683e-02 4.01305824e-01] [ 2.51208002e-02 -1.67985017e-02 9.99543274e-01 3.57472492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88925415399999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:88.71, Y:0.41, Z:0.36 [[ 9.98999839e-01 -3.69804499e-02 -2.51350043e-02 8.87139482e+01] [ 3.69750101e-02 9.99315958e-01 -6.81304138e-04 4.10402927e-01] [ 2.51430059e-02 -2.48744314e-04 9.99683834e-01 3.63452712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91925415399999 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:88.74, Y:0.41, Z:0.36 [[ 9.98911725e-01 -3.91515693e-02 -2.53479899e-02 8.87439249e+01] [ 3.91467386e-02 9.99233237e-01 -6.86964222e-04 4.11321790e-01] [ 2.53554497e-02 -3.06074517e-04 9.99678452e-01 3.64295993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94925415399999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:88.78, Y:0.41, Z:0.36 [[ 9.98864622e-01 -4.02846756e-02 -2.54285588e-02 8.87755901e+01] [ 4.02801959e-02 9.99188186e-01 -6.88567643e-04 4.12201794e-01] [ 2.54356542e-02 -3.36481470e-04 9.99676405e-01 3.64978310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97925415399997 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:88.81, Y:0.41, Z:0.37 [[ 9.98708088e-01 -4.41254403e-02 -2.52011959e-02 8.88056246e+01] [ 4.41222827e-02 9.99025905e-01 -6.81607321e-04 4.13091135e-01] [ 2.52067238e-02 -4.31207547e-04 9.99682167e-01 3.65487102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00925415399998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:88.84, Y:0.41, Z:0.37 [[ 9.98605163e-01 -4.63353733e-02 -2.53132792e-02 8.88381138e+01] [ 4.63329175e-02 9.98925820e-01 -6.83836513e-04 4.13529122e-01] [ 2.53177740e-02 -4.89955402e-04 9.99679334e-01 3.65774675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03925415399998 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:88.87, Y:0.41, Z:0.37 [[ 9.98457990e-01 -4.88921134e-02 -2.62907550e-02 8.88689159e+01] [ 4.88903989e-02 9.98803898e-01 -7.08386370e-04 4.13868217e-01] [ 2.62939431e-02 -5.78071470e-04 9.99654087e-01 3.66493096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:88.90, Y:0.41, Z:0.37 [[ 9.98152451e-01 -5.40476749e-02 -2.77584659e-02 8.89012894e+01] [ 5.40478039e-02 9.98538070e-01 -7.46187837e-04 4.13604418e-01] [ 2.77582147e-02 -7.55474903e-04 9.99614381e-01 3.66203843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09925415399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:88.93, Y:0.41, Z:0.37 [[ 9.98021408e-01 -5.62634098e-02 -2.80659737e-02 8.89325155e+01] [ 5.62644707e-02 9.98415616e-01 -7.52538871e-04 4.13998179e-01] [ 2.80638468e-02 -8.28067253e-04 9.99605790e-01 3.66120409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:88.98, Y:0.45, Z:0.37 [[ 9.98815571e-01 -4.84658660e-02 -4.30297997e-03 8.89796783e+01] [ 4.78423900e-02 9.94365315e-01 -9.45977074e-02 4.47747806e-01] [ 8.86349385e-03 9.42797983e-02 9.95506282e-01 3.72609266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.15925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:88.99, Y:0.37, Z:0.34 [[ 9.97642641e-01 -6.06480292e-02 -3.21088327e-02 8.89941883e+01] [ 6.34609046e-02 9.93415861e-01 9.53815551e-02 3.67390236e-01] [ 2.61127203e-02 -9.71943622e-02 9.94922802e-01 3.36097053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.18925415399998 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:89.03, Y:0.42, Z:0.37 [[ 9.97529476e-01 -6.36621576e-02 -2.96997430e-02 8.90254253e+01] [ 6.36661069e-02 9.97970924e-01 -8.13611249e-04 4.16747770e-01] [ 2.96912762e-02 -1.07926581e-03 9.99558534e-01 3.68423943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.21925415399998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:89.06, Y:0.42, Z:0.37 [[ 9.97378925e-01 -6.59462973e-02 -2.97718902e-02 8.90574941e+01] [ 6.59514724e-02 9.97822504e-01 -8.09179023e-04 4.18896400e-01] [ 2.97604244e-02 -1.15644189e-03 9.99556391e-01 3.69323227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24925415399998 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:89.09, Y:0.42, Z:0.37 [[ 9.97314341e-01 -6.72457270e-02 -2.90192757e-02 8.90898627e+01] [ 6.72512523e-02 9.97735762e-01 -7.86660592e-04 4.20294671e-01] [ 2.90064687e-02 -1.16703474e-03 9.99578543e-01 3.69774856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27925415399999 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:89.12, Y:0.42, Z:0.37 [[ 9.97242017e-01 -6.83597987e-02 -2.89015289e-02 8.91220768e+01] [ 6.83658125e-02 9.97660015e-01 -7.81172192e-04 4.21820173e-01] [ 2.88873005e-02 -1.19685877e-03 9.99581958e-01 3.70705586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30925415399999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:89.16, Y:0.42, Z:0.37 [[ 9.97101026e-01 -7.07920018e-02 -2.78933161e-02 8.91554932e+01] [ 7.07986259e-02 9.97490346e-01 -7.51284729e-04 4.24054954e-01] [ 2.78764984e-02 -1.22570168e-03 9.99610623e-01 3.71757424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33925415399999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:89.19, Y:0.43, Z:0.37 [[ 9.97017484e-01 -7.21055432e-02 -2.75122976e-02 8.91884094e+01] [ 7.21125678e-02 9.97396227e-01 -7.38061945e-04 4.25553664e-01] [ 2.74938802e-02 -1.24812176e-03 9.99621193e-01 3.72385373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36925415399998 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:89.22, Y:0.43, Z:0.37 [[ 9.96849506e-01 -7.44636461e-02 -2.73171862e-02 8.92202248e+01] [ 7.44715320e-02 9.97222873e-01 -7.29987727e-04 4.27901070e-01] [ 2.72956804e-02 -1.30666480e-03 9.99626549e-01 3.73265901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39925415399998 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:89.25, Y:0.43, Z:0.37 [[ 9.96787821e-01 -7.51686849e-02 -2.76352777e-02 8.92520412e+01] [ 7.51770958e-02 9.97169927e-01 -7.35959558e-04 4.29542521e-01] [ 2.76123889e-02 -1.34394439e-03 9.99617802e-01 3.73668211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42925415399998 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:89.29, Y:0.43, Z:0.37 [[ 9.96799338e-01 -7.50157818e-02 -2.76353570e-02 8.92855890e+01] [ 7.50242167e-02 9.97181443e-01 -7.32971186e-04 4.30338792e-01] [ 2.76124495e-02 -1.34269582e-03 9.99617802e-01 3.74331273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45925415399998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:89.32, Y:0.43, Z:0.37 [[ 9.96737206e-01 -7.57453336e-02 -2.78852569e-02 8.93184643e+01] [ 7.57543168e-02 9.97126242e-01 -7.35652980e-04 4.32058398e-01] [ 2.78608437e-02 -1.37917589e-03 9.99610860e-01 3.74836695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48925415399998 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:89.35, Y:0.43, Z:0.37 [[ 9.96658080e-01 -7.62676891e-02 -2.92559471e-02 8.93514029e+01] [ 7.62778989e-02 9.97086301e-01 -7.68519995e-04 4.34249032e-01] [ 2.92293173e-02 -1.46563051e-03 9.99571658e-01 3.74952520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.51925415399998 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:89.38, Y:0.44, Z:0.38 [[ 9.96635685e-01 -7.62651228e-02 -3.00156924e-02 8.93834924e+01] [ 7.62759884e-02 9.97086435e-01 -7.84501169e-04 4.35619844e-01] [ 2.99880698e-02 -1.50761475e-03 9.99549120e-01 3.75233812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.54925415399998 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:89.42, Y:0.44, Z:0.38 [[ 9.96629046e-01 -7.60266287e-02 -3.08301214e-02 8.94166499e+01] [ 7.60381248e-02 9.97104589e-01 -8.01054358e-04 4.37144602e-01] [ 3.08017570e-02 -1.54591058e-03 9.99524318e-01 3.75736092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.57925415399998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:89.45, Y:0.44, Z:0.38 [[ 9.96675717e-01 -7.48421798e-02 -3.21894932e-02 8.94486982e+01] [ 7.48542077e-02 9.97194140e-01 -8.32945272e-04 4.40422409e-01] [ 3.21615134e-02 -1.57934268e-03 9.99481437e-01 3.76229148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.60925415399998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:89.48, Y:0.44, Z:0.38 [[ 9.96771959e-01 -7.33003749e-02 -3.27523552e-02 8.94817158e+01] [ 7.33121037e-02 9.97308690e-01 -8.44264056e-04 4.42738375e-01] [ 3.27260934e-02 -1.55960533e-03 9.99463141e-01 3.77067553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63925415399999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:89.51, Y:0.45, Z:0.38 [[ 9.97089532e-01 -6.87276402e-02 -3.29996507e-02 8.95148396e+01] [ 6.87371661e-02 9.97634444e-01 -8.47051214e-04 4.46846127e-01] [ 3.29798040e-02 -1.42371657e-03 9.99455004e-01 3.78215124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66925415399999 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:89.55, Y:0.45, Z:0.38 [[ 9.97322925e-01 -6.55101725e-02 -3.24869312e-02 8.95474439e+01] [ 6.55177990e-02 9.97851055e-01 -8.30848710e-04 4.49617177e-01] [ 3.24715477e-02 -1.29984777e-03 9.99471815e-01 3.79332126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69925415399999 meters Centerline goodness : 0.997858 Centerline is valid? [True, True] Translation: X:89.58, Y:0.46, Z:0.39 [[ 9.97616044e-01 -5.97498888e-02 -3.45279468e-02 8.95752409e+01] [ 5.93558145e-02 9.98160755e-01 -1.23285987e-02 4.57165879e-01] [ 3.52010739e-02 1.02497735e-02 9.99327687e-01 3.85608260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72925415399997 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:89.61, Y:0.45, Z:0.38 [[ 9.98172495e-01 -5.23571584e-02 -3.01727981e-02 8.96081982e+01] [ 5.26791565e-02 9.98561648e-01 9.97702276e-03 4.52327134e-01] [ 2.96070305e-02 -1.15482673e-02 9.99494903e-01 3.77979059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75925415399998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:89.64, Y:0.46, Z:0.38 [[ 9.98423021e-01 -4.80042589e-02 -2.91043479e-02 8.96393574e+01] [ 4.80031465e-02 9.98846912e-01 -7.37321887e-04 4.60609134e-01] [ 2.91061826e-02 -6.60941132e-04 9.99576107e-01 3.83122998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78925415399998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:89.67, Y:0.47, Z:0.38 [[ 9.98843097e-01 -3.90745485e-02 -2.80294091e-02 8.96714836e+01] [ 3.90700467e-02 9.99236223e-01 -7.08464367e-04 4.65913810e-01] [ 2.80356838e-02 -3.87465580e-04 9.99606848e-01 3.84424733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81925415399998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:89.70, Y:0.47, Z:0.39 [[ 9.99000374e-01 -3.51441678e-02 -2.76249851e-02 8.97014498e+01] [ 3.51383324e-02 9.99382215e-01 -6.96797586e-04 4.68731518e-01] [ 2.76324071e-02 -2.74594860e-04 9.99618114e-01 3.85229576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84925415399998 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:89.73, Y:0.47, Z:0.39 [[ 9.99100641e-01 -3.11669497e-02 -2.87494525e-02 8.97306750e+01] [ 3.10039078e-02 9.99500651e-01 -6.09967619e-03 4.73692849e-01] [ 2.89252048e-02 5.20284501e-03 9.99568038e-01 3.88176824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87925415399998 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:89.76, Y:0.47, Z:0.38 [[ 9.99198660e-01 -2.88115824e-02 -2.77836297e-02 8.97582042e+01] [ 2.89495964e-02 9.99570389e-01 4.57799137e-03 4.70725984e-01] [ 2.76397944e-02 -5.37864771e-03 9.99603477e-01 3.84176729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.90925415399998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:89.79, Y:0.48, Z:0.39 [[ 9.99283290e-01 -2.46750081e-02 -2.87062750e-02 8.97858813e+01] [ 2.46641160e-02 9.99695525e-01 -7.33504855e-04 4.75910482e-01] [ 2.87156339e-02 2.49642477e-05 9.99587621e-01 3.86678874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93925415399998 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:89.81, Y:0.48, Z:0.39 [[ 9.99300830e-01 -2.33054518e-02 -2.92353881e-02 8.98138867e+01] [ 2.32934118e-02 9.99728389e-01 -7.52379383e-04 4.77081557e-01] [ 2.92449819e-02 7.08614091e-05 9.99572272e-01 3.86747363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96925415399998 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:89.84, Y:0.48, Z:0.39 [[ 9.99318100e-01 -2.16762210e-02 -2.98910812e-02 8.98408093e+01] [ 2.16626957e-02 9.99765035e-01 -7.76282496e-04 4.77965545e-01] [ 2.99008847e-02 1.28231754e-04 9.99552860e-01 3.86884936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99925415399998 meters Centerline goodness : 0.999712 Centerline is valid? [True, True] Translation: X:89.87, Y:0.48, Z:0.39 [[ 9.99314148e-01 -2.15800588e-02 -3.00921186e-02 8.98685555e+01] [ 2.15661482e-02 9.99767114e-01 -7.86787970e-04 4.78623974e-01] [ 3.01020895e-02 1.37277259e-04 9.99546820e-01 3.87859054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02925415399999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:89.90, Y:0.48, Z:0.39 [[ 9.99312197e-01 -2.15739440e-02 -3.01612105e-02 8.98974345e+01] [ 2.15231211e-02 9.99766333e-01 -2.00872109e-03 4.79895494e-01] [ 3.01974989e-02 1.35817609e-03 9.99543029e-01 3.88904666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05925415399999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:89.92, Y:0.48, Z:0.39 [[ 9.99339921e-01 -2.20518465e-02 -2.88693490e-02 8.99247457e+01] [ 2.20740260e-02 9.99756238e-01 4.49758375e-04 4.77605367e-01] [ 2.88523937e-02 -1.08672426e-03 9.99583092e-01 3.88567943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08925415399999 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:89.95, Y:0.48, Z:0.39 [[ 9.99339662e-01 -2.29353430e-02 -2.81817178e-02 8.99529016e+01] [ 2.29232153e-02 9.99736945e-01 -7.53381065e-04 4.77681707e-01] [ 2.81915835e-02 1.06867995e-04 9.99602533e-01 3.89435396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11925415399998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:89.98, Y:0.48, Z:0.39 [[ 9.99325808e-01 -2.42369542e-02 -2.75771380e-02 8.99812942e+01] [ 2.42256304e-02 9.99706239e-01 -7.44699253e-04 4.77213184e-01] [ 2.75870861e-02 7.61236317e-05 9.99619401e-01 3.89876808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14925415399998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:90.01, Y:0.48, Z:0.39 [[ 9.99265981e-01 -2.71339135e-02 -2.70416343e-02 9.00096086e+01] [ 2.71238844e-02 9.99631808e-01 -7.37677559e-04 4.75387463e-01] [ 2.70516938e-02 3.66192697e-06 9.99634036e-01 3.90679146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17925415399998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:90.04, Y:0.47, Z:0.39 [[ 9.99225102e-01 -2.90000118e-02 -2.66119125e-02 9.00367332e+01] [ 2.89907908e-02 9.99579410e-01 -7.32331227e-04 4.74832778e-01] [ 2.66219574e-02 -3.97366431e-05 9.99645572e-01 3.91080872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20925415399998 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:90.07, Y:0.47, Z:0.39 [[ 9.99116356e-01 -3.31907147e-02 -2.57853549e-02 9.00653187e+01] [ 3.31833543e-02 9.99449026e-01 -7.13410758e-04 4.72529148e-01] [ 2.57948265e-02 -1.42864211e-04 9.99667248e-01 3.91959244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23925415399998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:90.10, Y:0.47, Z:0.39 [[ 9.99054339e-01 -3.52977794e-02 -2.53868907e-02 9.00955148e+01] [ 3.52911970e-02 9.99376821e-01 -7.07415561e-04 4.71483180e-01] [ 2.53960403e-02 -1.89187175e-04 9.99677451e-01 3.92439813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.26925415399998 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:90.13, Y:0.47, Z:0.39 [[ 9.98977030e-01 -3.74742585e-02 -2.53095478e-02 9.01267705e+01] [ 3.74684193e-02 9.99297564e-01 -7.05070558e-04 4.70343103e-01] [ 2.53181914e-02 -2.43959455e-04 9.99679413e-01 3.93146072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.29925415399998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:90.16, Y:0.47, Z:0.39 [[ 9.98778252e-01 -4.21803929e-02 -2.57452661e-02 9.01578761e+01] [ 4.21759406e-02 9.99109942e-01 -7.16157897e-04 4.66418647e-01] [ 2.57525592e-02 -3.70547882e-04 9.99668279e-01 3.93029341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.32925415399998 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:90.19, Y:0.46, Z:0.39 [[ 9.98670197e-01 -4.44662027e-02 -2.60882110e-02 9.01901861e+01] [ 4.44624508e-02 9.99010794e-01 -7.24156452e-04 4.64990493e-01] [ 2.60946048e-02 -4.36752331e-04 9.99659382e-01 3.93400892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35925415399998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:90.22, Y:0.46, Z:0.39 [[ 9.98461448e-01 -4.88660413e-02 -2.62077781e-02 9.02221199e+01] [ 4.88638193e-02 9.98805187e-01 -7.25576249e-04 4.61025005e-01] [ 2.62119208e-02 -5.56152223e-04 9.99656254e-01 3.92352100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38925415399999 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:90.25, Y:0.46, Z:0.39 [[ 9.98351703e-01 -5.09729122e-02 -2.63749842e-02 9.02543302e+01] [ 5.09714473e-02 9.98699845e-01 -7.28281037e-04 4.59711133e-01] [ 2.63778153e-02 -6.17290504e-04 9.99651854e-01 3.93822936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41925415399999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:90.29, Y:0.46, Z:0.39 [[ 9.98224121e-01 -5.35526295e-02 -2.60906145e-02 9.02857944e+01] [ 5.35521233e-02 9.98564797e-01 -7.18625494e-04 4.56810264e-01] [ 2.60916535e-02 -6.79858504e-04 9.99659324e-01 3.94510177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44925415399999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:90.32, Y:0.46, Z:0.39 [[ 9.98227872e-01 -5.38424791e-02 -2.53397523e-02 9.03183335e+01] [ 5.38421317e-02 9.98549217e-01 -6.96489392e-04 4.55365198e-01] [ 2.53404905e-02 -6.69091155e-04 9.99678654e-01 3.93457218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47925415399997 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:90.35, Y:0.45, Z:0.40 [[ 9.98180879e-01 -5.48507219e-02 -2.50266087e-02 9.03509451e+01] [ 5.48507443e-02 9.98494329e-01 -6.86093243e-04 4.54995703e-01] [ 2.50265595e-02 -6.87882956e-04 9.99686550e-01 3.95797913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50925415399998 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:90.38, Y:0.45, Z:0.40 [[ 9.98122393e-01 -5.62742532e-02 -2.41846274e-02 9.03820825e+01] [ 5.62747316e-02 9.98415103e-01 -6.61352088e-04 4.52795792e-01] [ 2.41835144e-02 -7.00873087e-04 9.99707290e-01 3.96550863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53925415399998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:90.41, Y:0.45, Z:0.40 [[ 9.98093539e-01 -5.70280653e-02 -2.36026958e-02 9.04137468e+01] [ 5.70287614e-02 9.98372328e-01 -6.44167643e-04 4.51763294e-01] [ 2.36010140e-02 -7.03092943e-04 9.99721210e-01 3.96919903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56925415399998 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:90.45, Y:0.45, Z:0.40 [[ 9.97937421e-01 -5.97718782e-02 -2.34142546e-02 9.04461332e+01] [ 5.97733485e-02 9.98211771e-01 -6.37696446e-04 4.49136232e-01] [ 2.34105009e-02 -7.63167253e-04 9.99725645e-01 3.97371384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59925415399998 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:90.48, Y:0.45, Z:0.40 [[ 9.97806628e-01 -6.17928963e-02 -2.37396710e-02 9.04781163e+01] [ 6.17950205e-02 9.98088653e-01 -6.44814985e-04 4.48316130e-01] [ 2.37341413e-02 -8.23592793e-04 9.99717966e-01 3.97648899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62925415399998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:90.51, Y:0.45, Z:0.40 [[ 9.97648010e-01 -6.39721293e-02 -2.46173691e-02 9.05109073e+01] [ 6.39751254e-02 9.97951271e-01 -6.66650414e-04 4.47608507e-01] [ 2.46095818e-02 -9.09816817e-04 9.99696724e-01 3.97921933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.65925415399998 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:90.54, Y:0.45, Z:0.40 [[ 9.97368317e-01 -6.75699718e-02 -2.62819066e-02 9.05433392e+01] [ 6.75747107e-02 9.97713965e-01 -7.08812249e-04 4.45679151e-01] [ 2.62697196e-02 -1.06904535e-03 9.99654320e-01 3.97876442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.68925415399998 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:90.58, Y:0.45, Z:0.40 [[ 9.97263223e-01 -6.88858454e-02 -2.68477971e-02 9.05759650e+01] [ 6.88913366e-02 9.97623909e-01 -7.21471859e-04 4.45488453e-01] [ 2.68337035e-02 -1.13008328e-03 9.99639273e-01 3.98065042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.71925415399998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:90.61, Y:0.45, Z:0.40 [[ 9.97126286e-01 -7.06288813e-02 -2.73994616e-02 9.06088079e+01] [ 7.06353409e-02 9.97501935e-01 -7.33249442e-04 4.45078132e-01] [ 2.73828046e-02 -1.20422802e-03 9.99624295e-01 3.99310496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74925415399998 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:90.64, Y:0.45, Z:0.40 [[ 9.97090964e-01 -7.12448841e-02 -2.70882935e-02 9.06415129e+01] [ 7.12515048e-02 9.97458120e-01 -7.21956568e-04 4.45369404e-01] [ 2.70708741e-02 -1.21022531e-03 9.99632784e-01 4.00068770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77925415399999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:90.67, Y:0.45, Z:0.40 [[ 9.97052499e-01 -7.18359677e-02 -2.69426958e-02 9.06738350e+01] [ 7.18428089e-02 9.97415710e-01 -7.15245350e-04 4.45971038e-01] [ 2.69244484e-02 -1.22250178e-03 9.99636724e-01 4.00762214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80925415399999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:90.71, Y:0.45, Z:0.40 [[ 9.97034342e-01 -7.19766205e-02 -2.72375859e-02 9.07070086e+01] [ 7.19837367e-02 9.97405546e-01 -7.20434637e-04 4.46265952e-01] [ 2.72187737e-02 -1.24236514e-03 9.99628729e-01 4.01693317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83925415399999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:90.74, Y:0.45, Z:0.40 [[ 9.96999230e-01 -7.22299668e-02 -2.78454104e-02 9.07398394e+01] [ 7.22375897e-02 9.97387183e-01 -7.33396127e-04 4.46457713e-01] [ 2.78256286e-02 -1.28028996e-03 9.99611972e-01 4.02022731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86925415399998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:90.77, Y:0.45, Z:0.40 [[ 9.97015578e-01 -7.17696379e-02 -2.84439145e-02 9.07727985e+01] [ 7.17774976e-02 9.97420390e-01 -7.45924843e-04 4.47600134e-01] [ 2.84240751e-02 -1.29793432e-03 9.99595112e-01 4.02541571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89925415399998 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:90.81, Y:0.45, Z:0.40 [[ 9.97070554e-01 -7.09344477e-02 -2.86114366e-02 9.08051457e+01] [ 7.09421676e-02 9.97480151e-01 -7.46457585e-04 4.48715765e-01] [ 2.85922897e-02 -1.28548645e-03 9.99590330e-01 4.03342771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92925415399998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:90.84, Y:0.45, Z:0.40 [[ 9.97136500e-01 -6.99963572e-02 -2.86236120e-02 9.08369877e+01] [ 7.00038266e-02 9.97546447e-01 -7.42283300e-04 4.49841604e-01] [ 2.86053396e-02 -1.26360460e-03 9.99589985e-01 4.04380728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95925415399998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:90.87, Y:0.45, Z:0.41 [[ 9.97253559e-01 -6.86253104e-02 -2.78550894e-02 9.08702312e+01] [ 6.86319224e-02 9.97641790e-01 -7.19750869e-04 4.51079542e-01] [ 2.78387943e-02 -1.19397421e-03 9.99611713e-01 4.05255137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98925415399998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:90.90, Y:0.45, Z:0.41 [[ 9.97566032e-01 -6.45373034e-02 -2.63997652e-02 9.09026894e+01] [ 6.45418834e-02 9.97914768e-01 -6.79461029e-04 4.53368744e-01] [ 2.63885662e-02 -1.02608333e-03 9.99651235e-01 4.06954407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01925415399998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:90.93, Y:0.46, Z:0.41 [[ 9.97752738e-01 -6.16760100e-02 -2.61829027e-02 9.09345249e+01] [ 6.16795907e-02 9.98095775e-01 -6.71604528e-04 4.55297686e-01] [ 2.61744665e-02 -9.44855465e-04 9.99656943e-01 4.08545815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.04925415399998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:90.97, Y:0.46, Z:0.41 [[ 9.97990989e-01 -5.82593143e-02 -2.48965514e-02 9.09665467e+01] [ 5.82615334e-02 9.98301151e-01 -6.36844005e-04 4.57241675e-01] [ 2.48913580e-02 -8.14946680e-04 9.99689830e-01 4.09233077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07925415399998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:91.00, Y:0.46, Z:0.41 [[ 9.98407644e-01 -5.08990990e-02 -2.43198980e-02 9.09973553e+01] [ 5.08990750e-02 9.98703609e-01 -6.20408157e-04 4.60508059e-01] [ 2.43199481e-02 -6.18440065e-04 9.99704035e-01 4.10556461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.10925415399998 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:91.03, Y:0.46, Z:0.41 [[ 9.98602293e-01 -4.67720825e-02 -2.46136724e-02 9.10293793e+01] [ 4.67708407e-02 9.98905449e-01 -6.26452629e-04 4.62533830e-01] [ 2.46160319e-02 -5.25625118e-04 9.99696841e-01 4.11307895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13925415399999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:91.06, Y:0.47, Z:0.41 [[ 9.98954868e-01 -3.78250703e-02 -2.56600204e-02 9.10616426e+01] [ 3.78208190e-02 9.99284325e-01 -6.51152630e-04 4.65206221e-01] [ 2.56662860e-02 -3.20010897e-04 9.99670515e-01 4.10763560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16925415399999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:91.09, Y:0.47, Z:0.41 [[ 9.99084878e-01 -3.33362998e-02 -2.67973396e-02 9.10924129e+01] [ 3.33300902e-02 9.99444168e-01 -6.78474212e-04 4.67123512e-01] [ 2.68050626e-02 -2.15304419e-04 9.99640657e-01 4.12501708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19925415399999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:91.12, Y:0.47, Z:0.41 [[ 9.99186244e-01 -2.93566159e-02 -2.76593400e-02 9.11211828e+01] [ 2.93484222e-02 9.99568996e-01 -7.02233576e-04 4.68750131e-01] [ 2.76680339e-02 -1.10095860e-04 9.99617161e-01 4.12643116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22925415399997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:91.15, Y:0.47, Z:0.41 [[ 9.99343516e-01 -2.15291511e-02 -2.91381803e-02 9.11487248e+01] [ 2.15164954e-02 9.99768214e-01 -7.47841723e-04 4.71249701e-01] [ 2.91475269e-02 1.20399253e-04 9.99575113e-01 4.13498771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25925415399998 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:91.18, Y:0.47, Z:0.41 [[ 9.99396291e-01 -1.83759336e-02 -2.94852234e-02 9.11762772e+01] [ 1.83613455e-02 9.99831123e-01 -7.65457460e-04 4.72950274e-01] [ 2.94943100e-02 2.23606972e-04 9.99564923e-01 4.14052196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28925415399998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:91.20, Y:0.47, Z:0.42 [[ 9.99477177e-01 -1.20683244e-02 -2.99954766e-02 9.12027180e+01] [ 1.20501700e-02 9.99927085e-01 -7.85937612e-04 4.74496053e-01] [ 3.00027744e-02 4.24076115e-04 9.99549725e-01 4.15390260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31925415399998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:91.23, Y:0.48, Z:0.42 [[ 9.99473916e-01 -1.23357901e-02 -2.99953397e-02 9.12310905e+01] [ 1.23176002e-02 9.99923823e-01 -7.91130576e-04 4.75317176e-01] [ 3.00028140e-02 4.21243771e-04 9.99549725e-01 4.15961727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34925415399998 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:91.26, Y:0.48, Z:0.42 [[ 9.99495012e-01 -1.00002678e-02 -3.01614982e-02 9.12588154e+01] [ 9.98056178e-03 9.99949870e-01 -8.03832264e-04 4.76267331e-01] [ 3.01680248e-02 5.02397642e-04 9.99544715e-01 4.16689870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37925415399998 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:91.29, Y:0.48, Z:0.42 [[ 9.99514834e-01 -8.31722713e-03 -3.00153223e-02 9.12862274e+01] [ 8.29669379e-03 9.99965255e-01 -8.08574413e-04 4.77079081e-01] [ 3.00210045e-02 5.59154182e-04 9.99549112e-01 4.17829558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.40925415399998 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:91.31, Y:0.48, Z:0.42 [[ 9.99528076e-01 -6.77346095e-03 -2.99624143e-02 9.13144878e+01] [ 6.75204746e-03 9.99976872e-01 -8.15798266e-04 4.76786134e-01] [ 2.99672471e-02 6.13105627e-04 9.99550693e-01 4.18813351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.43925415399998 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:91.34, Y:0.48, Z:0.42 [[ 9.99527553e-01 -7.61867672e-03 -2.97762918e-02 9.13425977e+01] [ 7.59764540e-03 9.99970802e-01 -8.19388627e-04 4.76925242e-01] [ 2.97816651e-02 5.92771802e-04 9.99556252e-01 4.19996152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.46925415399998 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:91.37, Y:0.47, Z:0.42 [[ 9.99468456e-01 -1.15410647e-02 -3.04894879e-02 9.13700321e+01] [ 1.15206120e-02 9.99933277e-01 -8.46399497e-04 4.74946544e-01] [ 3.04972219e-02 4.94692038e-04 9.99534729e-01 4.19848652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49925415399998 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:91.40, Y:0.47, Z:0.42 [[ 9.99417139e-01 -1.55996201e-02 -3.03650292e-02 9.13982340e+01] [ 1.55810953e-02 9.99878249e-01 -8.46604080e-04 4.74477549e-01] [ 3.03745389e-02 3.72990213e-04 9.99538518e-01 4.22298319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52925415399999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:91.43, Y:0.47, Z:0.42 [[ 9.99326216e-01 -2.02071431e-02 -3.06395936e-02 9.14256722e+01] [ 2.01903160e-02 9.99795786e-01 -8.58508463e-04 4.73313247e-01] [ 3.06506845e-02 2.39306937e-04 9.99530129e-01 4.22917469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55925415399999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:91.45, Y:0.47, Z:0.42 [[ 9.99007560e-01 -3.13928647e-02 -3.15971984e-02 9.14532804e+01] [ 3.13803930e-02 9.99507117e-01 -8.90642924e-04 4.69700674e-01] [ 3.16095845e-02 -1.01773490e-04 9.99500287e-01 4.23838762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58925415399999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:91.48, Y:0.47, Z:0.42 [[ 9.98766022e-01 -3.76543336e-02 -3.23818582e-02 9.14815663e+01] [ 3.76443367e-02 9.99290779e-01 -9.18539011e-04 4.68112202e-01] [ 3.23934793e-02 -3.01588017e-04 9.99475148e-01 4.24853376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61925415399998 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:91.51, Y:0.47, Z:0.43 [[ 9.98506295e-01 -4.38781605e-02 -3.25558741e-02 9.15095969e+01] [ 4.38710542e-02 9.99036766e-01 -9.32910557e-04 4.66653821e-01] [ 3.25654496e-02 -4.96743453e-04 9.99469482e-01 4.25554736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64925415399998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:91.54, Y:0.46, Z:0.43 [[ 9.97937854e-01 -5.48891472e-02 -3.32749268e-02 9.15385371e+01] [ 5.48876151e-02 9.98492077e-01 -9.60175062e-04 4.63107818e-01] [ 3.32774540e-02 -8.68186334e-04 9.99445775e-01 4.27117012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67925415399998 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:91.57, Y:0.46, Z:0.43 [[ 9.97665708e-01 -5.96221794e-02 -3.32915975e-02 9.15702597e+01] [ 5.96232572e-02 9.98220488e-01 -9.61259010e-04 4.61955557e-01] [ 3.32896671e-02 -1.02593833e-03 9.99445219e-01 4.27697605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70925415399998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:91.60, Y:0.46, Z:0.43 [[ 9.97156866e-01 -6.73807643e-02 -3.37345008e-02 9.16013729e+01] [ 6.73863439e-02 9.97726483e-01 -9.72815767e-04 4.59409735e-01] [ 3.37233539e-02 -1.30319475e-03 9.99430356e-01 4.28740674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73925415399998 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:91.63, Y:0.46, Z:0.43 [[ 9.96937210e-01 -7.05965960e-02 -3.36499592e-02 9.16336856e+01] [ 7.06040328e-02 9.97503951e-01 -9.68676498e-04 4.59025617e-01] [ 3.36343526e-02 -1.41011318e-03 9.99433210e-01 4.30568311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76925415399998 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:91.67, Y:0.46, Z:0.43 [[ 9.96768694e-01 -7.30282339e-02 -3.34521683e-02 9.16651419e+01] [ 7.30370484e-02 9.97328766e-01 -9.60030390e-04 4.58259451e-01] [ 3.34329190e-02 -1.48631940e-03 9.99439859e-01 4.31339753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79925415399998 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:91.70, Y:0.46, Z:0.43 [[ 9.96449592e-01 -7.72096277e-02 -3.35690919e-02 9.16961644e+01] [ 7.72209709e-02 9.97013540e-01 -9.60387704e-04 4.56424628e-01] [ 3.35429903e-02 -1.63525993e-03 9.99435938e-01 4.32905507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.82925415399998 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:91.73, Y:0.46, Z:0.43 [[ 9.96351515e-01 -7.85399017e-02 -3.33937381e-02 9.17286139e+01] [ 7.85519390e-02 9.96909567e-01 -9.53349175e-04 4.56315506e-01] [ 3.33654129e-02 -1.67327198e-03 9.99441819e-01 4.33741647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85925415399998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:91.76, Y:0.46, Z:0.44 [[ 9.96141519e-01 -8.07412886e-02 -3.43935912e-02 9.17596222e+01] [ 8.07554443e-02 9.96733464e-01 -9.79640536e-04 4.56158309e-01] [ 3.43603407e-02 -1.80160912e-03 9.99407885e-01 4.35230094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88925415399999 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:91.79, Y:0.46, Z:0.44 [[ 9.96083888e-01 -8.12638618e-02 -3.48291956e-02 9.17916354e+01] [ 8.12787716e-02 9.96690916e-01 -9.89918600e-04 4.56799740e-01] [ 3.47943875e-02 -1.84483227e-03 9.99392789e-01 4.35829249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91925415399999 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:91.82, Y:0.46, Z:0.44 [[ 9.96017996e-01 -8.11800314e-02 -3.68504199e-02 9.18239942e+01] [ 8.11967687e-02 9.96697544e-01 -1.04462815e-03 4.57847043e-01] [ 3.68135259e-02 -1.95166658e-03 9.99320247e-01 4.36702032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94925415399999 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:91.86, Y:0.46, Z:0.44 [[ 9.96028527e-01 -8.05097097e-02 -3.80178793e-02 9.18553290e+01] [ 8.05271354e-02 9.96751837e-01 -1.07520455e-03 4.58791921e-01] [ 3.79809554e-02 -1.99053650e-03 9.99276481e-01 4.37373790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97925415399997 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:91.89, Y:0.46, Z:0.44 [[ 9.96083400e-01 -7.92663498e-02 -3.91753155e-02 9.18876302e+01] [ 7.92839957e-02 9.96851456e-01 -1.10539631e-03 4.59779776e-01] [ 3.91395911e-02 -2.00490863e-03 9.99231741e-01 4.38061141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00925415399998 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:91.92, Y:0.46, Z:0.44 [[ 9.96254157e-01 -7.62904478e-02 -4.07114504e-02 9.19189140e+01] [ 7.63071381e-02 9.97083701e-01 -1.14607762e-03 4.61912790e-01] [ 4.06801584e-02 -1.96478967e-03 9.99170288e-01 4.39026793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03925415399998 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:91.95, Y:0.46, Z:0.44 [[ 9.96383978e-01 -7.40074691e-02 -4.17356252e-02 9.19496846e+01] [ 7.40231705e-02 9.97255834e-01 -1.17116164e-03 4.63465466e-01] [ 4.17077704e-02 -1.92247660e-03 9.99128003e-01 4.40292231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06925415399998 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:91.98, Y:0.47, Z:0.44 [[ 9.96751647e-01 -6.86901230e-02 -4.20454625e-02 9.19812609e+01] [ 6.87014747e-02 9.97636569e-01 -1.17659844e-03 4.66815788e-01] [ 4.20269116e-02 -1.71580885e-03 9.99115006e-01 4.41719664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09925415399998 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:92.01, Y:0.47, Z:0.44 [[ 9.96959591e-01 -6.54443552e-02 -4.22919736e-02 9.20112263e+01] [ 6.54529741e-02 9.97854955e-01 -1.18234700e-03 4.69166152e-01] [ 4.22786333e-02 -1.58938327e-03 9.99104595e-01 4.43179877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12925415399998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:92.04, Y:0.47, Z:0.44 [[ 9.97209581e-01 -6.20061653e-02 -4.15726825e-02 9.20404644e+01] [ 6.20115082e-02 9.98074758e-01 -1.16225979e-03 4.71700397e-01] [ 4.15647123e-02 -1.41896814e-03 9.99134806e-01 4.44327822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15925415399998 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:92.07, Y:0.48, Z:0.45 [[ 9.97690129e-01 -5.46538679e-02 -4.03405759e-02 9.20702910e+01] [ 5.46528495e-02 9.98504778e-01 -1.12888332e-03 4.76185807e-01] [ 4.03419556e-02 -1.07845168e-03 9.99185350e-01 4.45834799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.18925415399998 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:92.10, Y:0.48, Z:0.45 [[ 9.97896713e-01 -5.12338763e-02 -3.97144862e-02 9.20992473e+01] [ 5.12299574e-02 9.98686259e-01 -1.11702551e-03 4.79011103e-01] [ 3.97195412e-02 -9.19895353e-04 9.99210444e-01 4.46613882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21925415399998 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:92.13, Y:0.48, Z:0.45 [[ 9.98293152e-01 -4.37551009e-02 -3.86817068e-02 9.21269548e+01] [ 4.37455149e-02 9.99042107e-01 -1.09458008e-03 4.83700254e-01] [ 3.86925474e-02 -5.99439385e-04 9.99250983e-01 4.48450932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24925415399998 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:92.15, Y:0.49, Z:0.45 [[ 9.98428503e-01 -4.06081004e-02 -3.86200158e-02 9.21544230e+01] [ 4.05959199e-02 9.99175041e-01 -1.09986432e-03 4.86432859e-01] [ 3.86328193e-02 -4.69679182e-04 9.99253364e-01 4.49383340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27925415399999 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:92.18, Y:0.49, Z:0.45 [[ 9.98557917e-01 -3.76117640e-02 -3.83072121e-02 9.21815983e+01] [ 3.75972746e-02 9.99292368e-01 -1.09881458e-03 4.88996280e-01] [ 3.83214330e-02 -3.43016776e-04 9.99265405e-01 4.49944847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30925415399999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:92.21, Y:0.49, Z:0.45 [[ 9.98690317e-01 -3.33612180e-02 -3.87902109e-02 9.22097761e+01] [ 3.33428567e-02 9.99443344e-01 -1.12036412e-03 4.93202623e-01] [ 3.88059948e-02 -1.74479651e-04 9.99246748e-01 4.50963107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33925415399997 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:92.24, Y:0.50, Z:0.45 [[ 9.98744146e-01 -3.17725791e-02 -3.87380208e-02 9.22374132e+01] [ 3.17526554e-02 9.99495119e-01 -1.12961448e-03 4.95195350e-01] [ 3.87543535e-02 -1.01839178e-04 9.99248763e-01 4.51516783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36925415399998 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:92.27, Y:0.51, Z:0.45 [[ 9.99225760e-01 -2.90267406e-02 -2.65580103e-02 9.22657848e+01] [ 2.79262385e-02 9.98772488e-01 -4.09101802e-02 5.14405556e-01] [ 2.77128992e-02 4.01368406e-02 9.98809806e-01 4.51726314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39925415399998 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:92.30, Y:0.48, Z:0.44 [[ 9.98767058e-01 -3.01819849e-02 -3.94133492e-02 9.22953483e+01] [ 3.17101079e-02 9.98746055e-01 3.87399923e-02 4.80411950e-01] [ 3.81946771e-02 -3.99420297e-02 9.98471733e-01 4.39640240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42925415399998 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:92.32, Y:0.50, Z:0.45 [[ 9.98805890e-01 -3.12135098e-02 -3.75833779e-02 9.23223731e+01] [ 3.11934674e-02 9.99512738e-01 -1.11968945e-03 5.00515562e-01] [ 3.76000144e-02 -5.40034506e-05 9.99292868e-01 4.53977680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45925415399998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:92.35, Y:0.50, Z:0.46 [[ 9.98773593e-01 -3.10573223e-02 -3.85584362e-02 9.23491802e+01] [ 3.08518859e-02 9.99506485e-01 -5.91170569e-03 5.04122149e-01] [ 3.87230088e-02 4.71485505e-03 9.99238860e-01 4.56549306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:92.38, Y:0.50, Z:0.46 [[ 9.98764383e-01 -3.23647766e-02 -3.77124463e-02 9.23787332e+01] [ 3.25177394e-02 9.99465206e-01 3.44957345e-03 5.01428836e-01] [ 3.75806332e-02 -4.67163460e-03 9.99282679e-01 4.55131856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51925415399998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:92.41, Y:0.50, Z:0.46 [[ 9.98751788e-01 -3.25791200e-02 -3.78611561e-02 9.24057454e+01] [ 3.25591251e-02 9.99469156e-01 -1.14473783e-03 5.04518475e-01] [ 3.78783523e-02 -8.94171629e-05 9.99282354e-01 4.57994984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.54925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:92.43, Y:0.50, Z:0.46 [[ 9.98731358e-01 -3.35308757e-02 -3.75680115e-02 9.24337728e+01] [ 3.35115773e-02 9.99437675e-01 -1.14345651e-03 5.04965537e-01] [ 3.75852272e-02 -1.16957445e-04 9.99293419e-01 4.59161213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57925415399998 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:92.46, Y:0.51, Z:0.46 [[ 9.98706413e-01 -3.40879643e-02 -3.77294415e-02 9.24611624e+01] [ 3.40684836e-02 9.99418828e-01 -1.15931358e-03 5.05153848e-01] [ 3.77470328e-02 -1.27570956e-04 9.99287319e-01 4.60016315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.60925415399998 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:92.49, Y:0.51, Z:0.46 [[ 9.98665470e-01 -3.51636275e-02 -3.78258939e-02 9.24878210e+01] [ 3.51445141e-02 9.99381556e-01 -1.17031026e-03 5.05340704e-01] [ 3.78436530e-02 -1.60624214e-04 9.99283659e-01 4.60413407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63925415399999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:92.52, Y:0.50, Z:0.46 [[ 9.98537074e-01 -3.79906685e-02 -3.84762465e-02 9.25153151e+01] [ 3.79726865e-02 9.99278059e-01 -1.19830167e-03 5.04350596e-01] [ 3.84939932e-02 -2.64497804e-04 9.99258797e-01 4.60959090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66925415399999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:92.54, Y:0.50, Z:0.46 [[ 9.98456176e-01 -3.98688410e-02 -3.86747992e-02 9.25431159e+01] [ 3.98516487e-02 9.99204868e-01 -1.21565520e-03 5.04248795e-01] [ 3.86925144e-02 -3.27476068e-04 9.99251111e-01 4.61378827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69925415399999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:92.57, Y:0.50, Z:0.46 [[ 9.98382046e-01 -4.16954745e-02 -3.86623670e-02 9.25705725e+01] [ 4.16792294e-02 9.99130291e-01 -1.22644476e-03 5.04117046e-01] [ 3.86798791e-02 -3.86957233e-04 9.99251579e-01 4.62276255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72925415399997 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:92.60, Y:0.50, Z:0.46 [[ 9.98239111e-01 -4.49018495e-02 -3.87620984e-02 9.25980339e+01] [ 4.48876173e-02 9.98991276e-01 -1.23782545e-03 5.02724879e-01] [ 3.87785788e-02 -5.04292460e-04 9.99247701e-01 4.63269987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75925415399998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:92.63, Y:0.50, Z:0.46 [[ 9.98185526e-01 -4.65591677e-02 -3.81824617e-02 9.26258875e+01] [ 4.65462748e-02 9.98915381e-01 -1.22702868e-03 5.02199366e-01] [ 3.81981777e-02 -5.52449091e-04 9.99270031e-01 4.63864449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78925415399998 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:92.65, Y:0.50, Z:0.46 [[ 9.98092764e-01 -4.97990417e-02 -3.64813614e-02 9.26535068e+01] [ 4.97890575e-02 9.98759056e-01 -1.18268232e-03 5.00034499e-01] [ 3.64949865e-02 -6.35945930e-04 9.99333634e-01 4.64105459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81925415399998 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:92.68, Y:0.50, Z:0.46 [[ 9.98042238e-01 -5.11412640e-02 -3.60036549e-02 9.26828456e+01] [ 5.11321826e-02 9.98691205e-01 -1.17356470e-03 4.99271318e-01] [ 3.60165511e-02 -6.69678324e-04 9.99350969e-01 4.64766576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84925415399998 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:92.71, Y:0.50, Z:0.47 [[ 9.97980822e-01 -5.18720114e-02 -3.66547783e-02 9.27118647e+01] [ 5.17263961e-02 9.98649221e-01 -4.91047693e-03 5.00295579e-01] [ 3.68599821e-02 3.00454223e-03 9.99315923e-01 4.66319170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87925415399998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:92.74, Y:0.49, Z:0.46 [[ 9.97796476e-01 -5.63630994e-02 -3.50056316e-02 9.27417388e+01] [ 5.64788775e-02 9.98401083e-01 2.32663723e-03 4.94790034e-01] [ 3.48185240e-02 -4.29858921e-03 9.99384407e-01 4.63500880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.90925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:92.77, Y:0.50, Z:0.46 [[ 9.97660350e-01 -5.87008963e-02 -3.50432625e-02 9.27727545e+01] [ 5.86966606e-02 9.98275202e-01 -1.15052352e-03 4.95864477e-01] [ 3.50503567e-02 -9.09090787e-04 9.99385134e-01 4.64671466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93925415399998 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:92.80, Y:0.49, Z:0.46 [[ 9.97340772e-01 -6.37416658e-02 -3.53324794e-02 9.28035596e+01] [ 6.37405554e-02 9.97965830e-01 -1.15898037e-03 4.93661411e-01] [ 3.53344824e-02 -1.09621348e-03 9.99374941e-01 4.63953633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96925415399998 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:92.84, Y:0.49, Z:0.46 [[ 9.97160899e-01 -6.62610380e-02 -3.57717186e-02 9.28359898e+01] [ 6.62615730e-02 9.97801599e-01 -1.17187400e-03 4.92950037e-01] [ 3.57707276e-02 -1.20174341e-03 9.99359300e-01 4.63789376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99925415399998 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:92.87, Y:0.49, Z:0.46 [[ 9.96994477e-01 -6.91120265e-02 -3.50077183e-02 9.28686407e+01] [ 6.91143814e-02 9.97608086e-01 -1.14431584e-03 4.92847752e-01] [ 3.50030688e-02 -1.27866022e-03 9.99386387e-01 4.64114184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02925415399999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:92.90, Y:0.49, Z:0.46 [[ 9.96619114e-01 -7.45389808e-02 -3.45583979e-02 9.28995736e+01] [ 7.45446422e-02 9.97217041e-01 -1.12640256e-03 4.91748525e-01] [ 3.45461842e-02 -1.45354909e-03 9.99402045e-01 4.64123741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05925415399999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:92.93, Y:0.49, Z:0.46 [[ 9.96444863e-01 -7.68698584e-02 -3.44769444e-02 9.29306954e+01] [ 7.68769964e-02 9.97039955e-01 -1.12051586e-03 4.91576904e-01] [ 3.44610250e-02 -1.53395166e-03 9.99404865e-01 4.64680199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08925415399997 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:92.96, Y:0.49, Z:0.47 [[ 9.96156781e-01 -8.06497812e-02 -3.41654901e-02 9.29626756e+01] [ 8.06590797e-02 9.96741132e-01 -1.10828191e-03 4.91149791e-01] [ 3.41435320e-02 -1.65173445e-03 9.99415575e-01 4.65074508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11925415399998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:92.99, Y:0.49, Z:0.47 [[ 9.96100371e-01 -8.16687028e-02 -3.33807304e-02 9.29935754e+01] [ 8.16782475e-02 9.96658165e-01 -1.07986965e-03 4.91660651e-01] [ 3.33573691e-02 -1.65082100e-03 9.99442125e-01 4.65117883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14925415399998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:93.03, Y:0.49, Z:0.47 [[ 9.96073651e-01 -8.20626866e-02 -3.32114017e-02 9.30259115e+01] [ 8.20724606e-02 9.96625789e-01 -1.07114935e-03 4.92581231e-01] [ 3.31872408e-02 -1.65879781e-03 9.99447775e-01 4.65985315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17925415399998 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:93.06, Y:0.49, Z:0.47 [[ 9.96157308e-01 -8.16143613e-02 -3.17759993e-02 9.30580489e+01] [ 8.16231577e-02 9.96662739e-01 -1.02240345e-03 4.93752961e-01] [ 3.17533973e-02 -1.57518273e-03 9.99494493e-01 4.66180632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20925415399998 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:93.09, Y:0.50, Z:0.47 [[ 9.96342709e-01 -7.94516727e-02 -3.14426110e-02 9.30911034e+01] [ 7.94593063e-02 9.96837600e-01 -1.00863784e-03 4.95509048e-01] [ 3.14233149e-02 -1.49345910e-03 9.99505050e-01 4.66565119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23925415399998 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:93.12, Y:0.50, Z:0.47 [[ 9.96349906e-01 -7.93613255e-02 -3.14427141e-02 9.31237822e+01] [ 7.93690158e-02 9.96844797e-01 -1.00541375e-03 4.96494152e-01] [ 3.14232970e-02 -1.49383338e-03 9.99505050e-01 4.67223287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26925415399998 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:93.16, Y:0.50, Z:0.47 [[ 9.96441802e-01 -7.81797942e-02 -3.14905404e-02 9.31553947e+01] [ 7.81870093e-02 9.96938204e-01 -1.00408540e-03 4.98135668e-01] [ 3.14726220e-02 -1.46163851e-03 9.99503546e-01 4.67795327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29925415399998 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:93.19, Y:0.50, Z:0.47 [[ 9.96518449e-01 -7.72706747e-02 -3.13085334e-02 9.31871098e+01] [ 7.72774408e-02 9.97009130e-01 -9.95661313e-04 5.00191114e-01] [ 3.12918291e-02 -1.42724847e-03 9.99509272e-01 4.68264510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.32925415399998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:93.22, Y:0.50, Z:0.47 [[ 9.96599553e-01 -7.62830695e-02 -3.11484236e-02 9.32195034e+01] [ 7.62893553e-02 9.97085231e-01 -9.88319452e-04 5.01961151e-01] [ 3.11330252e-02 -1.39133443e-03 9.99514282e-01 4.68930105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:93.25, Y:0.50, Z:0.47 [[ 9.96678515e-01 -7.50951846e-02 -3.15063530e-02 9.32517873e+01] [ 7.51010964e-02 9.97175426e-01 -9.97369538e-04 5.04178927e-01] [ 3.14922586e-02 -1.37210486e-03 9.99503054e-01 4.68988163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38925415399999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:93.28, Y:0.51, Z:0.47 [[ 9.96773144e-01 -7.38972533e-02 -3.13447883e-02 9.32826246e+01] [ 7.39025779e-02 9.97264974e-01 -9.90195246e-04 5.06594338e-01] [ 3.13322322e-02 -1.32946063e-03 9.99508141e-01 4.68980571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41925415399999 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:93.31, Y:0.51, Z:0.47 [[ 9.96853038e-01 -7.29899909e-02 -3.09270355e-02 9.33142828e+01] [ 7.29947958e-02 9.97331845e-01 -9.75145477e-04 5.08897272e-01] [ 3.09156932e-02 -1.28543591e-03 9.99521169e-01 4.69726450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44925415399999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:93.35, Y:0.51, Z:0.47 [[ 9.96960167e-01 -7.14578627e-02 -3.10515455e-02 9.33465931e+01] [ 7.14620341e-02 9.97442842e-01 -9.76834077e-04 5.11084924e-01] [ 3.10419443e-02 -1.24514194e-03 9.99517307e-01 4.70152031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47925415399997 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:93.38, Y:0.52, Z:0.47 [[ 9.97314254e-01 -6.68575017e-02 -2.99057333e-02 9.33786068e+01] [ 6.68593678e-02 9.97761968e-01 -9.38680022e-04 5.15902110e-01] [ 2.99015611e-02 -1.06331946e-03 9.99552283e-01 4.71238136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50925415399998 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:93.41, Y:0.52, Z:0.47 [[ 9.97556982e-01 -6.35183124e-02 -2.90773550e-02 9.34106333e+01] [ 6.35187203e-02 9.97980232e-01 -9.10579657e-04 5.18796539e-01] [ 2.90764640e-02 -9.38601285e-04 9.99576750e-01 4.72191620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53925415399998 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:93.44, Y:0.52, Z:0.47 [[ 9.97796525e-01 -5.99349696e-02 -2.84586533e-02 9.34431954e+01] [ 5.99339628e-02 9.98201948e-01 -8.89136456e-04 5.21768052e-01] [ 2.84607736e-02 -8.18462604e-04 9.99594575e-01 4.72902097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56925415399998 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:93.47, Y:0.53, Z:0.47 [[ 9.98264013e-01 -5.25827652e-02 -2.65332447e-02 9.34742434e+01] [ 5.25793514e-02 9.98616407e-01 -8.26800499e-04 5.26282888e-01] [ 2.65400089e-02 -5.69735611e-04 9.99647590e-01 4.73527723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59925415399998 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:93.51, Y:0.53, Z:0.47 [[ 9.98452990e-01 -4.89160229e-02 -2.64357559e-02 9.35065307e+01] [ 4.89114270e-02 9.98802783e-01 -8.20830074e-04 5.28802334e-01] [ 2.64442582e-02 -4.73450300e-04 9.99650177e-01 4.74124002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62925415399998 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:93.54, Y:0.53, Z:0.47 [[ 9.98698556e-01 -4.39728012e-02 -2.58377155e-02 9.35388143e+01] [ 4.39668049e-02 9.99032672e-01 -8.00402564e-04 5.33109551e-01] [ 2.58479179e-02 -3.36640911e-04 9.99665830e-01 4.74571687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65925415399998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.57, Y:0.54, Z:0.47 [[ 9.98763895e-01 -4.22653008e-02 -2.61596344e-02 9.35697621e+01] [ 4.22586137e-02 9.99106379e-01 -8.08652755e-04 5.35085075e-01] [ 2.61704355e-02 -2.97816706e-04 9.99657451e-01 4.74843629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.68925415399998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:93.60, Y:0.54, Z:0.47 [[ 9.98779670e-01 -4.13556433e-02 -2.69978240e-02 9.36008650e+01] [ 4.13482159e-02 9.99144449e-01 -8.33550657e-04 5.36981705e-01] [ 2.70091980e-02 -2.83778404e-04 9.99635145e-01 4.74848879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71925415399998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:93.63, Y:0.54, Z:0.47 [[ 9.98777571e-01 -4.03688104e-02 -2.85258308e-02 9.36324622e+01] [ 4.03601471e-02 9.99184810e-01 -8.79639851e-04 5.38259534e-01] [ 2.85380869e-02 -2.72742177e-04 9.99592669e-01 4.74389564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74925415399998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.66, Y:0.54, Z:0.47 [[ 9.98757357e-01 -4.18351208e-02 -2.70843842e-02 9.36630179e+01] [ 4.18278688e-02 9.99124483e-01 -8.34493293e-04 5.40406064e-01] [ 2.70955825e-02 -2.99425755e-04 9.99632802e-01 4.74928918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77925415399999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:93.69, Y:0.54, Z:0.48 [[ 9.98736351e-01 -4.32642210e-02 -2.55716417e-02 9.36938164e+01] [ 4.32582273e-02 9.99063614e-01 -7.87786577e-04 5.41609883e-01] [ 2.55817798e-02 -3.19392799e-04 9.99672682e-01 4.75244338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80925415399999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:93.73, Y:0.54, Z:0.48 [[ 9.98710772e-01 -4.42712555e-02 -2.48364673e-02 9.37252355e+01] [ 4.42659255e-02 9.99019491e-01 -7.64619371e-04 5.43094647e-01] [ 2.48459655e-02 -3.35775608e-04 9.99691235e-01 4.75959937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83925415399997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:93.76, Y:0.54, Z:0.48 [[ 9.98710974e-01 -4.47357186e-02 -2.39813807e-02 9.37573911e+01] [ 4.47309063e-02 9.98998800e-01 -7.37331283e-04 5.44498663e-01] [ 2.39903556e-02 -3.36328050e-04 9.99712133e-01 4.76633019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86925415399998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:93.79, Y:0.55, Z:0.48 [[ 9.98717953e-01 -4.52303480e-02 -2.27302790e-02 9.37898766e+01] [ 4.52261880e-02 9.98976529e-01 -6.97314476e-04 5.46991549e-01] [ 2.27385550e-02 -3.31583383e-04 9.99741391e-01 4.76967688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89925415399998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:93.82, Y:0.55, Z:0.48 [[ 9.98725476e-01 -4.49115357e-02 -2.30299088e-02 9.38215062e+01] [ 4.49072185e-02 9.98990913e-01 -7.04859987e-04 5.48423004e-01] [ 2.30383260e-02 -3.30247520e-04 9.99734528e-01 4.77373465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92925415399998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:93.85, Y:0.55, Z:0.48 [[ 9.98667101e-01 -4.65445260e-02 -2.23075782e-02 9.38527318e+01] [ 4.65409119e-02 9.98916152e-01 -6.81436914e-04 5.51341089e-01] [ 2.23151173e-02 -3.57686404e-04 9.99750923e-01 4.77740312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95925415399998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:93.88, Y:0.55, Z:0.48 [[ 9.98628891e-01 -4.72337597e-02 -2.25678918e-02 9.38845114e+01] [ 4.72302946e-02 9.98883791e-01 -6.86829496e-04 5.52713821e-01] [ 2.25751429e-02 -3.80000401e-04 9.99745077e-01 4.78119405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98925415399998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:93.92, Y:0.55, Z:0.48 [[ 9.98560860e-01 -4.87430065e-02 -2.23680014e-02 9.39162553e+01] [ 4.87400165e-02 9.98811268e-01 -6.79152381e-04 5.54352652e-01] [ 2.23745157e-02 -4.12041770e-04 9.99749574e-01 4.78504057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01925415399998 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:93.95, Y:0.56, Z:0.48 [[ 9.98390930e-01 -5.18612236e-02 -2.29338952e-02 9.39483302e+01] [ 5.18589418e-02 9.98654178e-01 -6.94626973e-04 5.56653679e-01] [ 2.29390545e-02 -4.95818268e-04 9.99736742e-01 4.79446233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04925415399998 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:93.98, Y:0.56, Z:0.48 [[ 9.98321677e-01 -5.31782194e-02 -2.29326321e-02 9.39804810e+01] [ 5.31763234e-02 9.98584898e-01 -6.92918950e-04 5.58327833e-01] [ 2.29370283e-02 -5.27717055e-04 9.99736772e-01 4.79791550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07925415399998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:94.01, Y:0.56, Z:0.48 [[ 9.98198934e-01 -5.50538714e-02 -2.38319138e-02 9.40125419e+01] [ 5.50524025e-02 9.98483208e-01 -7.18224911e-04 5.60177185e-01] [ 2.38353068e-02 -5.95072769e-04 9.99715722e-01 4.80259366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.10925415399998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:94.04, Y:0.56, Z:0.48 [[ 9.98173752e-01 -5.54841190e-02 -2.38887626e-02 9.40449116e+01] [ 5.54828165e-02 9.98459384e-01 -7.17832173e-04 5.61730064e-01] [ 2.38917875e-02 -6.08894601e-04 9.99714365e-01 4.80786118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13925415399999 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:94.08, Y:0.56, Z:0.48 [[ 9.98136271e-01 -5.57734774e-02 -2.47649846e-02 9.40769061e+01] [ 5.57722116e-02 9.98443243e-01 -7.42352375e-04 5.64496165e-01] [ 2.47678351e-02 -6.40229129e-04 9.99693025e-01 4.81634292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16925415399999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:94.11, Y:0.57, Z:0.48 [[ 9.98166549e-01 -5.53964048e-02 -2.43880756e-02 9.41076852e+01] [ 5.53951049e-02 9.98464246e-01 -7.29408674e-04 5.66302159e-01] [ 2.43910281e-02 -6.22908667e-04 9.99702301e-01 4.82150143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19925415399999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:94.14, Y:0.57, Z:0.48 [[ 9.98285010e-01 -5.35188764e-02 -2.37227579e-02 9.41398693e+01] [ 5.35171475e-02 9.98566679e-01 -7.08207125e-04 5.68559051e-01] [ 2.37266580e-02 -5.62581776e-04 9.99718325e-01 4.83459593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22925415399997 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:94.17, Y:0.57, Z:0.48 [[ 9.98350088e-01 -5.24158253e-02 -2.34453254e-02 9.41715382e+01] [ 5.24138719e-02 9.98625204e-01 -6.98247330e-04 5.70163104e-01] [ 2.34496920e-02 -5.31764996e-04 9.99724877e-01 4.84255364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25925415399998 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:94.20, Y:0.57, Z:0.48 [[ 9.98397783e-01 -5.15204456e-02 -2.33989277e-02 9.42040610e+01] [ 5.15182942e-02 9.98671809e-01 -6.95154318e-04 5.71915403e-01] [ 2.34036641e-02 -5.11432309e-04 9.99725966e-01 4.84776751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28925415399998 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:94.24, Y:0.57, Z:0.49 [[ 9.98496100e-01 -4.95373472e-02 -2.34859337e-02 9.42354041e+01] [ 4.95346705e-02 9.98772162e-01 -6.96079902e-04 5.74082299e-01] [ 2.34915788e-02 -4.68334920e-04 9.99723925e-01 4.85368427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31925415399998 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:94.27, Y:0.58, Z:0.49 [[ 9.98514307e-01 -4.88148311e-02 -2.42134581e-02 9.42677988e+01] [ 4.88118082e-02 9.98807736e-01 -7.16219598e-04 5.75865150e-01] [ 2.42195514e-02 -4.66747155e-04 9.99706555e-01 4.85857031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34925415399998 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:94.30, Y:0.58, Z:0.49 [[ 9.98505691e-01 -4.78673319e-02 -2.63648341e-02 9.42986886e+01] [ 4.78634794e-02 9.98853584e-01 -7.77534536e-04 5.77818502e-01] [ 2.63718275e-02 -4.85540034e-04 9.99652085e-01 4.86139199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37925415399998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:94.33, Y:0.58, Z:0.49 [[ 9.98478322e-01 -4.77463986e-02 -2.75920447e-02 9.43304890e+01] [ 4.77422169e-02 9.98859361e-01 -8.10691036e-04 5.79045110e-01] [ 2.75992797e-02 -5.07847954e-04 9.99618938e-01 4.86586198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40925415399998 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:94.36, Y:0.58, Z:0.49 [[ 9.98451934e-01 -4.75516131e-02 -2.88544383e-02 9.43619625e+01] [ 4.75470151e-02 9.98868643e-01 -8.45832629e-04 5.80522118e-01] [ 2.88620143e-02 -5.27419188e-04 9.99583266e-01 4.86881293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43925415399998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:94.39, Y:0.58, Z:0.49 [[ 9.98416534e-01 -4.74347345e-02 -3.02385579e-02 9.43936898e+01] [ 4.74296869e-02 9.98874187e-01 -8.84573938e-04 5.81927574e-01] [ 3.02464745e-02 -5.51032090e-04 9.99542319e-01 4.87673954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46925415399998 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:94.43, Y:0.58, Z:0.49 [[ 9.98342779e-01 -4.75466730e-02 -3.24192777e-02 9.44254128e+01] [ 4.75409945e-02 9.98868839e-01 -9.46397464e-04 5.84136924e-01] [ 3.24276043e-02 -5.96415626e-04 9.99473909e-01 4.88244020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49925415399998 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:94.46, Y:0.59, Z:0.49 [[ 9.98351957e-01 -4.72645848e-02 -3.25488632e-02 9.44557929e+01] [ 4.72587342e-02 9.98882231e-01 -9.49467286e-04 5.86740611e-01] [ 3.25573572e-02 -5.90315550e-04 9.99469694e-01 4.89703163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52925415399999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:94.49, Y:0.59, Z:0.49 [[ 9.98376551e-01 -4.70149857e-02 -3.21536045e-02 9.44863840e+01] [ 4.70091469e-02 9.98894019e-01 -9.37937386e-04 5.88527526e-01] [ 3.21621404e-02 -5.75098826e-04 9.99482499e-01 4.90715191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55925415399999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:94.52, Y:0.59, Z:0.49 [[ 9.98417483e-01 -4.67907304e-02 -3.11954593e-02 9.45172100e+01] [ 4.67851374e-02 9.98904562e-01 -9.09582925e-04 5.90318990e-01] [ 3.12038466e-02 -5.51340354e-04 9.99512889e-01 4.91589367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58925415399997 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:94.55, Y:0.59, Z:0.49 [[ 9.98455817e-01 -4.63854167e-02 -3.05675485e-02 9.45481350e+01] [ 4.63798963e-02 9.98923477e-01 -8.89980692e-04 5.92045814e-01] [ 3.05759240e-02 -5.29113331e-04 9.99532307e-01 4.92794616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61925415399998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:94.58, Y:0.59, Z:0.49 [[ 9.98558616e-01 -4.49084359e-02 -2.93925626e-02 9.45791604e+01] [ 4.49027327e-02 9.98990998e-01 -8.54384258e-04 5.94571023e-01] [ 2.94012745e-02 -4.66653621e-04 9.99567580e-01 4.93941425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64925415399998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:94.61, Y:0.60, Z:0.49 [[ 9.98597078e-01 -4.50504905e-02 -2.78267527e-02 9.46105647e+01] [ 4.50454602e-02 9.98984611e-01 -8.07921859e-04 5.97096138e-01] [ 2.78348950e-02 -4.46680474e-04 9.99612434e-01 4.94683090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67925415399998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:94.64, Y:0.60, Z:0.50 [[ 9.98612569e-01 -4.55513659e-02 -2.64198698e-02 9.46416329e+01] [ 4.55470335e-02 9.98961902e-01 -7.66048827e-04 5.99384151e-01] [ 2.64273379e-02 -4.38360707e-04 9.99650641e-01 4.95632892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70925415399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:94.67, Y:0.60, Z:0.50 [[ 9.98584161e-01 -4.65003444e-02 -2.58339210e-02 9.46739749e+01] [ 4.64965573e-02 9.98918170e-01 -7.47596325e-04 6.00411058e-01] [ 2.58407366e-02 -4.54650538e-04 9.99665969e-01 4.96335262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73925415399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:94.71, Y:0.60, Z:0.50 [[ 9.98514790e-01 -4.79176195e-02 -2.59251797e-02 9.47061416e+01] [ 4.79143308e-02 9.98851169e-01 -7.48393735e-04 6.00760539e-01] [ 2.59312573e-02 -4.94905423e-04 9.99663606e-01 4.96429839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76925415399998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:94.74, Y:0.60, Z:0.50 [[ 9.98264399e-01 -5.28184654e-02 -2.60460893e-02 9.47380398e+01] [ 5.28168613e-02 9.98603934e-01 -7.50018904e-04 6.01651904e-01] [ 2.60493421e-02 -6.26955513e-04 9.99660462e-01 4.96550636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79925415399998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:94.77, Y:0.60, Z:0.50 [[ 9.98102850e-01 -5.54629783e-02 -2.67312477e-02 9.47691542e+01] [ 5.54622852e-02 9.98460488e-01 -7.67917316e-04 6.02119925e-01] [ 2.67326856e-02 -7.16115624e-04 9.99642361e-01 4.96852153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.82925415399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.80, Y:0.60, Z:0.50 [[ 9.97747521e-01 -6.08702114e-02 -2.81904445e-02 9.48020844e+01] [ 6.08716526e-02 9.98145275e-01 -8.07840539e-04 6.01964401e-01] [ 2.81873324e-02 -9.09978050e-04 9.99602244e-01 4.96939995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85925415399998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:94.83, Y:0.60, Z:0.50 [[ 9.97565779e-01 -6.32765811e-02 -2.93017108e-02 9.48346743e+01] [ 6.32792604e-02 9.97995509e-01 -8.36777919e-04 6.02527034e-01] [ 2.92959242e-02 -1.01944957e-03 9.99570262e-01 4.96959148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88925415399999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:94.87, Y:0.60, Z:0.50 [[ 9.97408479e-01 -6.52458531e-02 -3.03200391e-02 9.48664891e+01] [ 6.52497295e-02 9.97868593e-01 -8.62604931e-04 6.03300291e-01] [ 3.03116961e-02 -1.11800488e-03 9.99539870e-01 4.97215174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91925415399999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:94.90, Y:0.60, Z:0.50 [[ 9.97269526e-01 -6.69034459e-02 -3.12637326e-02 9.48990443e+01] [ 6.69085225e-02 9.97758722e-01 -8.84925237e-04 6.03419103e-01] [ 3.12528664e-02 -1.20930118e-03 9.99510778e-01 4.97162743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94925415399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.93, Y:0.61, Z:0.50 [[ 9.97292794e-01 -6.73934743e-02 -2.94143149e-02 9.49314027e+01] [ 6.70557154e-02 9.97673129e-01 -1.23231319e-02 6.11170020e-01] [ 3.01763702e-02 1.03173727e-02 9.99491340e-01 4.99519253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:94.96, Y:0.60, Z:0.49 [[ 9.97509735e-01 -6.30825655e-02 -3.15423362e-02 9.49631741e+01] [ 6.34489338e-02 9.97927172e-01 1.07513578e-02 6.00544237e-01] [ 3.07987311e-02 -1.27259117e-02 9.99444590e-01 4.94085594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00925415399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:94.99, Y:0.61, Z:0.50 [[ 9.97704445e-01 -6.15985008e-02 -2.81330071e-02 9.49949563e+01] [ 6.12881350e-02 9.98050774e-01 -1.17650673e-02 6.14760802e-01] [ 2.88028800e-02 1.00138404e-02 9.99534950e-01 5.00645905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.03, Y:0.61, Z:0.50 [[ 9.98053220e-01 -5.52156994e-02 -2.89999526e-02 9.50271954e+01] [ 5.55340872e-02 9.98403766e-01 1.02900974e-02 6.05992517e-01] [ 2.83854869e-02 -1.18805507e-02 9.99526446e-01 4.96743236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.06, Y:0.62, Z:0.50 [[ 9.98315380e-01 -5.30081211e-02 -2.35911258e-02 9.50603372e+01] [ 5.25455498e-02 9.98421935e-01 -1.98142448e-02 6.22487386e-01] [ 2.46042133e-02 1.85412566e-02 9.99525315e-01 5.03858283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09925415399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:95.09, Y:0.61, Z:0.50 [[ 9.98356068e-01 -5.02748631e-02 -2.75245369e-02 9.50904325e+01] [ 5.07981175e-02 9.98534737e-01 1.86528700e-02 6.05317797e-01] [ 2.65464357e-02 -2.00204006e-02 9.99447082e-01 4.95300387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12925415399998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:95.12, Y:0.62, Z:0.50 [[ 9.98355201e-01 -5.05815849e-02 -2.69887986e-02 9.51227176e+01] [ 5.05797804e-02 9.98719742e-01 -7.49960649e-04 6.15359614e-01] [ 2.69921802e-02 -6.16360393e-04 9.99635455e-01 5.03270770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15925415399998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:95.15, Y:0.62, Z:0.50 [[ 9.98600310e-01 -4.64084229e-02 -2.53708236e-02 9.51540517e+01] [ 4.64055436e-02 9.98922435e-01 -7.02564597e-04 6.16846145e-01] [ 2.53760898e-02 -4.75765635e-04 9.99677862e-01 5.03639977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18925415399998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:95.19, Y:0.62, Z:0.50 [[ 9.98706318e-01 -4.42103546e-02 -2.51223878e-02 9.51863349e+01] [ 4.42069024e-02 9.99022157e-01 -6.93052597e-04 6.17800006e-01] [ 2.51284621e-02 -4.18426936e-04 9.99684143e-01 5.04278611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21925415399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:95.22, Y:0.62, Z:0.50 [[ 9.98873981e-01 -4.00714145e-02 -2.53978858e-02 9.52183206e+01] [ 4.00665951e-02 9.99196767e-01 -6.98820454e-04 6.18883980e-01] [ 2.54054881e-02 -3.19573235e-04 9.99677177e-01 5.03977562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.25, Y:0.62, Z:0.50 [[ 9.98952423e-01 -3.77534610e-02 -2.58598707e-02 9.52492114e+01] [ 3.77477346e-02 9.99287048e-01 -7.09739014e-04 6.19747257e-01] [ 2.58682289e-02 -2.67156026e-04 9.99665326e-01 5.04322235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27925415399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.28, Y:0.62, Z:0.50 [[ 9.99074279e-01 -3.36753196e-02 -2.67686036e-02 9.52810022e+01] [ 3.36677566e-02 9.99432811e-01 -7.33311249e-04 6.20648290e-01] [ 2.67781152e-02 -1.68606423e-04 9.99641388e-01 5.04069441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30925415399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.31, Y:0.62, Z:0.50 [[ 9.99128648e-01 -3.19785174e-02 -2.68201309e-02 9.53117081e+01] [ 3.19703342e-02 9.99488549e-01 -7.33969686e-04 6.21395300e-01] [ 2.68298850e-02 -1.24118408e-04 9.99640006e-01 5.04310345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.34, Y:0.62, Z:0.50 [[ 9.99178508e-01 -2.98553490e-02 -2.74037942e-02 9.53410739e+01] [ 2.98460039e-02 9.99554227e-01 -7.50068467e-04 6.21948783e-01] [ 2.74139719e-02 -6.84414573e-05 9.99624164e-01 5.04737897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.37, Y:0.62, Z:0.50 [[ 9.99259442e-01 -2.65694194e-02 -2.78322363e-02 9.53702126e+01] [ 2.65584437e-02 9.99646970e-01 -7.64005344e-04 6.21590311e-01] [ 2.78427099e-02 2.42586735e-05 9.99612316e-01 5.04444076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39925415399998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:95.40, Y:0.62, Z:0.50 [[ 9.99281331e-01 -2.55225271e-02 -2.80253993e-02 9.53984792e+01] [ 2.55107810e-02 9.99674245e-01 -7.76647547e-04 6.21848044e-01] [ 2.80360919e-02 6.11395712e-05 9.99606910e-01 5.04787227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42925415399998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:95.43, Y:0.62, Z:0.50 [[ 9.99305323e-01 -2.47255697e-02 -2.78840187e-02 9.54264838e+01] [ 2.47134085e-02 9.99694272e-01 -7.80724718e-04 6.21929605e-01] [ 2.78947977e-02 9.10732205e-05 9.99610860e-01 5.04992530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45925415399998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:95.45, Y:0.62, Z:0.51 [[ 9.99334631e-01 -2.43589795e-02 -2.71465702e-02 9.54545997e+01] [ 2.43471083e-02 9.99703270e-01 -7.67796101e-04 6.21193306e-01] [ 2.71572177e-02 1.06344751e-04 9.99631169e-01 5.05254729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48925415399998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:95.48, Y:0.62, Z:0.51 [[ 9.99342839e-01 -2.47478173e-02 -2.64846362e-02 9.54824264e+01] [ 2.47364544e-02 9.99693721e-01 -7.56627532e-04 6.21127922e-01] [ 2.64952494e-02 1.00994308e-04 9.99648934e-01 5.05982473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51925415399998 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:95.51, Y:0.62, Z:0.51 [[ 9.99337642e-01 -2.62215612e-02 -2.52330415e-02 9.55102266e+01] [ 2.62115395e-02 9.99656154e-01 -7.27893464e-04 6.19695995e-01] [ 2.52434517e-02 6.60144733e-05 9.99681331e-01 5.06674495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54925415399998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:95.54, Y:0.62, Z:0.51 [[ 9.99316449e-01 -2.74282791e-02 -2.47855463e-02 9.55378461e+01] [ 2.74188063e-02 9.99623773e-01 -7.22017644e-04 6.19110931e-01] [ 2.47960250e-02 4.19340148e-05 9.99692530e-01 5.07374797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57925415399998 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:95.57, Y:0.62, Z:0.51 [[ 9.99281101e-01 -2.88253815e-02 -2.46247453e-02 9.55661176e+01] [ 2.88163054e-02 9.99584462e-01 -7.23425263e-04 6.18711645e-01] [ 2.46353658e-02 1.33110140e-05 9.99696503e-01 5.07981272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.60925415399998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:95.60, Y:0.62, Z:0.51 [[ 9.99188575e-01 -3.20591856e-02 -2.43803337e-02 9.55953443e+01] [ 3.20512213e-02 9.99485970e-01 -7.17467873e-04 6.17050838e-01] [ 2.43908029e-02 -6.45337698e-05 9.99702498e-01 5.09228824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63925415399999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:95.63, Y:0.62, Z:0.51 [[ 9.99127813e-01 -3.39556784e-02 -2.43027725e-02 9.56257503e+01] [ 3.39483079e-02 9.99423334e-01 -7.15913731e-04 6.16700193e-01] [ 2.43130672e-02 -1.09748682e-04 9.99704388e-01 5.10105987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66925415399999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:95.66, Y:0.61, Z:0.51 [[ 9.98935182e-01 -3.88076489e-02 -2.49493253e-02 9.56558147e+01] [ 3.88013956e-02 9.99246672e-01 -7.34881141e-04 6.14777672e-01] [ 2.49590493e-02 -2.33970015e-04 9.99688447e-01 5.10711007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69925415399999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:95.69, Y:0.61, Z:0.51 [[ 9.98822292e-01 -4.10070394e-02 -2.59316788e-02 9.56865586e+01] [ 4.10010374e-02 9.99158812e-01 -7.63337184e-04 6.13961534e-01] [ 2.59411676e-02 -3.00787537e-04 9.99663426e-01 5.11373044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72925415399997 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:95.72, Y:0.61, Z:0.51 [[ 9.98692977e-01 -4.35546386e-02 -2.67456853e-02 9.57179408e+01] [ 4.35491831e-02 9.99050975e-01 -7.86699893e-04 6.13400396e-01] [ 2.67545674e-02 -3.79081087e-04 9.99641961e-01 5.11769509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75925415399998 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:95.75, Y:0.61, Z:0.51 [[ 9.98453424e-01 -4.79835909e-02 -2.80773236e-02 9.57491346e+01] [ 4.79793618e-02 9.98847987e-01 -8.24691093e-04 6.11323959e-01] [ 2.80845498e-02 -5.23716420e-04 9.99605414e-01 5.12316832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78925415399998 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:95.78, Y:0.61, Z:0.51 [[ 9.98351827e-01 -4.99116102e-02 -2.83277267e-02 9.57816521e+01] [ 4.99081283e-02 9.98753468e-01 -8.30378878e-04 6.11097852e-01] [ 2.83338608e-02 -5.84773547e-04 9.99598345e-01 5.13003527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81925415399998 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:95.81, Y:0.61, Z:0.51 [[ 9.98256133e-01 -5.14585883e-02 -2.89258701e-02 9.58134887e+01] [ 5.14556679e-02 9.98674922e-01 -8.45802406e-04 6.09857576e-01] [ 2.89310649e-02 -6.44072526e-04 9.99581202e-01 5.13814670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84925415399998 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:95.84, Y:0.61, Z:0.51 [[ 9.98255929e-01 -5.13454596e-02 -2.91332122e-02 9.58443332e+01] [ 5.13425071e-02 9.98680742e-01 -8.49876049e-04 6.10166061e-01] [ 2.91384153e-02 -6.47378350e-04 9.99575177e-01 5.14669132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87925415399998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:95.88, Y:0.61, Z:0.52 [[ 9.98257012e-01 -5.11596831e-02 -2.94214884e-02 9.58767727e+01] [ 5.11566438e-02 9.98690274e-01 -8.56501036e-04 6.10966302e-01] [ 2.94267726e-02 -6.50096437e-04 9.99566727e-01 5.15723569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.90925415399998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:95.91, Y:0.61, Z:0.52 [[ 9.98367275e-01 -4.93426607e-02 -2.87764955e-02 9.59078094e+01] [ 4.93390540e-02 9.98781738e-01 -8.35803461e-04 6.11354922e-01] [ 2.87826789e-02 -5.85366240e-04 9.99585521e-01 5.16782727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93925415399998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:95.94, Y:0.61, Z:0.52 [[ 9.98452676e-01 -4.79751095e-02 -2.81183715e-02 9.59401412e+01] [ 4.79711704e-02 9.98848388e-01 -8.15030606e-04 6.11855205e-01] [ 2.81250913e-02 -5.35101702e-04 9.99604268e-01 5.17944561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.96925415399998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:95.97, Y:0.61, Z:0.52 [[ 9.98580684e-01 -4.52438807e-02 -2.80999909e-02 9.59715087e+01] [ 4.52389203e-02 9.98975865e-01 -8.12557724e-04 6.11648484e-01] [ 2.81079760e-02 -4.59808802e-04 9.99604787e-01 5.19312441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99925415399998 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:96.00, Y:0.61, Z:0.52 [[ 9.98626736e-01 -4.40054560e-02 -2.84281793e-02 9.60017322e+01] [ 4.39999143e-02 9.99031198e-01 -8.20757346e-04 6.12099235e-01] [ 2.84367558e-02 -4.31207223e-04 9.99595501e-01 5.20051339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02925415399999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:96.03, Y:0.61, Z:0.52 [[ 9.98640140e-01 -4.31828466e-02 -2.92080966e-02 9.60326364e+01] [ 4.31766560e-02 9.99067098e-01 -8.42897543e-04 6.12874888e-01] [ 2.92172470e-02 -4.19356619e-04 9.99572997e-01 5.20772442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05925415399999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:96.06, Y:0.61, Z:0.52 [[ 9.98636079e-01 -4.18890606e-02 -3.11655026e-02 9.60628351e+01] [ 4.18813829e-02 9.99122185e-01 -8.99385056e-04 6.13159570e-01] [ 3.11758195e-02 -4.07095982e-04 9.99513833e-01 5.20932821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08925415399997 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:96.10, Y:0.62, Z:0.52 [[ 9.98723468e-01 -4.07491464e-02 -2.98486482e-02 9.60952705e+01] [ 4.03121230e-02 9.99073034e-01 -1.50998471e-02 6.18551166e-01] [ 3.04362854e-02 1.38773092e-02 9.99440370e-01 5.24644946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11925415399998 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:96.12, Y:0.61, Z:0.52 [[ 9.98516109e-01 -4.23875547e-02 -3.41888103e-02 9.61220096e+01] [ 4.28830969e-02 9.98983491e-01 1.38933075e-02 6.07127055e-01] [ 3.35651538e-02 -1.53388134e-02 9.99318819e-01 5.16990962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14925415399998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:96.16, Y:0.63, Z:0.53 [[ 9.98796980e-01 -4.00294925e-02 -2.83236927e-02 9.61589566e+01] [ 3.90122776e-02 9.98604418e-01 -3.55985716e-02 6.26065570e-01] [ 2.97091574e-02 3.44507741e-02 9.98964719e-01 5.26990430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17925415399998 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:96.18, Y:0.60, Z:0.51 [[ 9.98307977e-01 -4.38123936e-02 -3.82316200e-02 9.61822267e+01] [ 4.51545244e-02 9.98367483e-01 3.49776655e-02 5.98300500e-01] [ 3.66367510e-02 -3.66448131e-02 9.98656551e-01 5.12036541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20925415399998 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:96.21, Y:0.62, Z:0.53 [[ 9.98266557e-01 -4.51075349e-02 -3.78046616e-02 9.62094493e+01] [ 4.50975417e-02 9.98981963e-01 -1.11748283e-03 6.17098946e-01] [ 3.78165819e-02 -5.89351565e-04 9.99284523e-01 5.26024562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23925415399998 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:96.24, Y:0.62, Z:0.53 [[ 9.98233965e-01 -4.56795192e-02 -3.79780433e-02 9.62373965e+01] [ 4.56695547e-02 9.98955962e-01 -1.13032055e-03 6.18494800e-01] [ 3.79900253e-02 -6.06115962e-04 9.99277935e-01 5.27332016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26925415399998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:96.27, Y:0.63, Z:0.53 [[ 9.98560041e-01 -4.31087198e-02 -3.19293389e-02 9.62724358e+01] [ 4.23049545e-02 9.98780927e-01 -2.54352265e-02 6.27122490e-01] [ 3.29868947e-02 2.40478316e-02 9.99166436e-01 5.31078655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29925415399998 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:96.30, Y:0.61, Z:0.52 [[ 9.98148349e-01 -4.77648331e-02 -3.76615783e-02 9.62974526e+01] [ 4.86997416e-02 9.98517589e-01 2.43096753e-02 6.08640434e-01] [ 3.64446007e-02 -2.60987714e-02 9.98994817e-01 5.21165091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32925415399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:96.33, Y:0.62, Z:0.53 [[ 9.98113337e-01 -4.96292793e-02 -3.61483176e-02 9.63256298e+01] [ 4.96220970e-02 9.98767463e-01 -1.09638725e-03 6.21161272e-01] [ 3.61581764e-02 -6.99436590e-04 9.99345835e-01 5.30632310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35925415399998 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:96.36, Y:0.63, Z:0.53 [[ 9.98429091e-01 -4.87560523e-02 -2.76079410e-02 9.63618602e+01] [ 4.79012962e-02 9.98376509e-01 -3.08190211e-02 6.30682453e-01] [ 2.90657336e-02 2.94481510e-02 9.99143628e-01 5.34589703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38925415399999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:96.39, Y:0.61, Z:0.52 [[ 9.97894260e-01 -5.37620689e-02 -3.62861532e-02 9.63850607e+01] [ 5.48587609e-02 9.98045264e-01 2.99360582e-02 6.07932469e-01] [ 3.46057989e-02 -3.18636341e-02 9.98892961e-01 5.22647620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41925415399999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:96.42, Y:0.62, Z:0.53 [[ 9.97807737e-01 -5.62179975e-02 -3.49178454e-02 9.64169446e+01] [ 5.62149325e-02 9.98418117e-01 -1.07029851e-03 6.23608889e-01] [ 3.49227794e-02 -8.94952191e-04 9.99389613e-01 5.34297873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44925415399997 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:96.45, Y:0.62, Z:0.54 [[ 9.97591976e-01 -6.00149332e-02 -3.47628716e-02 9.64484085e+01] [ 6.00143102e-02 9.98196952e-01 -1.06231339e-03 6.24263866e-01] [ 3.47639472e-02 -1.02651444e-03 9.99395024e-01 5.35847963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47925415399997 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:96.48, Y:0.62, Z:0.54 [[ 9.97326224e-01 -6.43735569e-02 -3.45897035e-02 9.64810723e+01] [ 6.43756832e-02 9.97925178e-01 -1.05338430e-03 6.24038992e-01] [ 3.45857462e-02 -1.17616801e-03 9.99401042e-01 5.36752862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50925415399998 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:96.51, Y:0.62, Z:0.54 [[ 9.97189686e-01 -6.64118825e-02 -3.46726391e-02 9.65129512e+01] [ 6.64153386e-02 9.97791508e-01 -1.05332904e-03 6.23974955e-01] [ 3.46660184e-02 -1.25242621e-03 9.99398168e-01 5.37059806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53925415399998 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:96.54, Y:0.62, Z:0.54 [[ 9.97077545e-01 -6.79649584e-02 -3.48874301e-02 9.65439552e+01] [ 6.79694891e-02 9.97686840e-01 -1.05749382e-03 6.23878797e-01] [ 3.48786024e-02 -1.31687745e-03 9.99390689e-01 5.37348121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56925415399998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:96.58, Y:0.62, Z:0.54 [[ 9.96955606e-01 -6.94295715e-02 -3.54831544e-02 9.65753946e+01] [ 6.94352545e-02 9.97585882e-01 -1.07358338e-03 6.24048425e-01] [ 3.54720324e-02 -1.39346689e-03 9.99369698e-01 5.37964476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59925415399998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:96.61, Y:0.62, Z:0.54 [[ 9.96797415e-01 -7.13459599e-02 -3.61201867e-02 9.66071392e+01] [ 7.13531857e-02 9.97450517e-01 -1.09062173e-03 6.24058719e-01] [ 3.61059104e-02 -1.49016147e-03 9.99346858e-01 5.38109428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62925415399998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:96.64, Y:0.62, Z:0.54 [[ 9.96808024e-01 -7.11370342e-02 -3.62392870e-02 9.66396883e+01] [ 7.11442669e-02 9.97465439e-01 -1.09155008e-03 6.24799814e-01] [ 3.62250859e-02 -1.49015162e-03 9.99342545e-01 5.38932915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65925415399998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:96.67, Y:0.63, Z:0.54 [[ 9.96924888e-01 -6.94269560e-02 -3.63409598e-02 9.66713151e+01] [ 6.94331842e-02 9.97586006e-01 -1.09216874e-03 6.26271086e-01] [ 3.63290589e-02 -1.43445836e-03 9.99338852e-01 5.39790172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.68925415399998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:96.70, Y:0.63, Z:0.54 [[ 9.97070893e-01 -6.73651041e-02 -3.62156944e-02 9.67025820e+01] [ 6.73700040e-02 9.97727469e-01 -1.08640096e-03 6.27204739e-01] [ 3.62065786e-02 -1.35663270e-03 9.99343406e-01 5.40540418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:96.73, Y:0.63, Z:0.54 [[ 9.97234669e-01 -6.49286717e-02 -3.61563527e-02 9.67349140e+01] [ 6.49320373e-02 9.97889102e-01 -1.08238572e-03 6.28792099e-01] [ 3.61503082e-02 -1.26831308e-03 9.99345559e-01 5.41081632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:96.77, Y:0.63, Z:0.54 [[ 9.97595299e-01 -5.93544404e-02 -3.57864395e-02 9.67666701e+01] [ 5.93542472e-02 9.98236410e-01 -1.06871532e-03 6.31188004e-01] [ 3.57867599e-02 -1.05793180e-03 9.99358889e-01 5.42008837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77925415399999 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:96.80, Y:0.63, Z:0.54 [[ 9.97804237e-01 -5.62246114e-02 -3.50071020e-02 9.67965101e+01] [ 5.62225653e-02 9.98417715e-01 -1.04362169e-03 6.32863062e-01] [ 3.50103880e-02 -9.26858938e-04 9.99386519e-01 5.42341938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80925415399999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:96.83, Y:0.64, Z:0.54 [[ 9.98160421e-01 -5.03037285e-02 -3.38424013e-02 9.68273607e+01] [ 5.02984424e-02 9.98733724e-01 -1.00807241e-03 6.35558329e-01] [ 3.38502573e-02 -6.96002096e-04 9.99426673e-01 5.42946764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83925415399997 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:96.86, Y:0.64, Z:0.54 [[ 9.98321016e-01 -4.75174887e-02 -3.31245618e-02 9.68575080e+01] [ 4.75109170e-02 9.98870232e-01 -9.85915258e-04 6.37315246e-01] [ 3.31339870e-02 -5.89518385e-04 9.99450745e-01 5.43438621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86925415399998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:96.89, Y:0.64, Z:0.54 [[ 9.98461137e-01 -4.49301400e-02 -3.25060026e-02 9.68873159e+01] [ 4.49224344e-02 9.98990009e-01 -9.67701159e-04 6.38971568e-01] [ 3.25166508e-02 -4.94036771e-04 9.99471072e-01 5.43896438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89925415399998 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:96.92, Y:0.64, Z:0.54 [[ 9.98711061e-01 -4.00873702e-02 -3.11322776e-02 9.69172858e+01] [ 4.00779271e-02 9.99196127e-01 -9.27522926e-04 6.41023164e-01] [ 3.11444332e-02 -3.21389747e-04 9.99514843e-01 5.44090420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:96.95, Y:0.64, Z:0.54 [[ 9.98825442e-01 -3.78075133e-02 -3.03039354e-02 9.69461864e+01] [ 3.77974764e-02 9.99285011e-01 -9.04185018e-04 6.42408711e-01] [ 3.03164534e-02 -2.42289282e-04 9.99540321e-01 5.44255000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95925415399998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:96.98, Y:0.64, Z:0.54 [[ 9.98991323e-01 -3.35264854e-02 -2.98715695e-02 9.69760644e+01] [ 3.35147670e-02 9.99437823e-01 -8.93027587e-04 6.44729665e-01] [ 2.98847165e-02 -1.09011881e-04 9.99553346e-01 5.44659281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98925415399998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:97.00, Y:0.65, Z:0.55 [[ 9.99070786e-01 -3.14111530e-02 -2.95110821e-02 9.70038505e+01] [ 3.13987489e-02 9.99506547e-01 -8.83745571e-04 6.46493384e-01] [ 2.95242793e-02 -4.36866751e-05 9.99564062e-01 5.45134895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01925415399998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:97.03, Y:0.65, Z:0.55 [[ 9.99126997e-01 -2.93514496e-02 -2.97277111e-02 9.70320996e+01] [ 2.93378238e-02 9.99569153e-01 -8.94515156e-04 6.47932148e-01] [ 2.97411583e-02 2.15878913e-05 9.99557634e-01 5.45600867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04925415399998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:97.06, Y:0.65, Z:0.55 [[ 9.99121753e-01 -2.95296318e-02 -2.97274797e-02 9.70605040e+01] [ 2.95158577e-02 9.99563905e-01 -9.02147240e-04 6.48880366e-01] [ 2.97411558e-02 2.39228700e-05 9.99557634e-01 5.46220157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07925415399998 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:97.09, Y:0.65, Z:0.55 [[ 9.99314268e-01 -2.52167190e-02 -2.71129435e-02 9.70882004e+01] [ 2.50330455e-02 9.99661463e-01 -7.09265228e-03 6.53728005e-01] [ 2.72826182e-02 6.40906907e-03 9.99607214e-01 5.46188780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10925415399998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:97.12, Y:0.65, Z:0.54 [[ 9.99287415e-01 -2.34943039e-02 -2.95411658e-02 9.71166448e+01] [ 2.36596559e-02 9.99706232e-01 5.26026341e-03 6.48023998e-01] [ 2.94089013e-02 -5.95544884e-03 9.99549723e-01 5.44527703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13925415399999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:97.14, Y:0.65, Z:0.55 [[ 9.99389377e-01 -2.06795723e-02 -2.81642975e-02 9.71444939e+01] [ 2.06632817e-02 9.99786114e-01 -8.69363131e-04 6.51115675e-01] [ 2.81762516e-02 2.86865464e-04 9.99602929e-01 5.46994878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16925415399999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:97.17, Y:0.65, Z:0.55 [[ 9.99432111e-01 -1.98537336e-02 -2.72265287e-02 9.71723310e+01] [ 1.98379945e-02 9.99802848e-01 -8.48093924e-04 6.51384886e-01] [ 2.72379987e-02 3.07492574e-04 9.99628930e-01 5.47197768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19925415399997 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:97.20, Y:0.65, Z:0.55 [[ 9.99453211e-01 -1.94238802e-02 -2.67580082e-02 9.71995129e+01] [ 1.94083278e-02 9.99811287e-01 -8.40835438e-04 6.51521092e-01] [ 2.67692909e-02 3.21047485e-04 9.99641587e-01 5.47864672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22925415399997 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:97.23, Y:0.65, Z:0.55 [[ 9.99455959e-01 -2.03723700e-02 -2.59374642e-02 9.72272753e+01] [ 2.03579340e-02 9.99792419e-01 -8.20536112e-04 6.50376733e-01] [ 2.59487964e-02 2.92056523e-04 9.99663231e-01 5.48099866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25925415399998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:97.25, Y:0.65, Z:0.55 [[ 9.99435137e-01 -2.16154973e-02 -2.57328132e-02 9.72544187e+01] [ 2.16015224e-02 9.99766323e-01 -8.20966152e-04 6.49804500e-01] [ 2.57445456e-02 2.64634477e-04 9.99668519e-01 5.48286851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28925415399998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:97.28, Y:0.65, Z:0.55 [[ 9.99340709e-01 -2.55513439e-02 -2.57929483e-02 9.72823210e+01] [ 2.55385106e-02 9.99673497e-01 -8.26890981e-04 6.46787742e-01] [ 2.58056550e-02 1.67632337e-04 9.99666965e-01 5.48132378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31925415399998 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:97.31, Y:0.65, Z:0.55 [[ 9.99261753e-01 -2.82961610e-02 -2.59860672e-02 9.73098989e+01] [ 2.82838625e-02 9.99599578e-01 -8.40779051e-04 6.45918402e-01] [ 2.59994526e-02 1.05171997e-04 9.99661952e-01 5.48623903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34925415399998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:97.34, Y:0.65, Z:0.55 [[ 9.99171373e-01 -3.11108805e-02 -2.62427212e-02 9.73378994e+01] [ 3.10991035e-02 9.99515939e-01 -8.56882300e-04 6.45048928e-01] [ 2.62566764e-02 4.00471617e-05 9.99655233e-01 5.49145529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37925415399998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:97.37, Y:0.64, Z:0.55 [[ 9.98972859e-01 -3.72474180e-02 -2.58041831e-02 9.73668563e+01] [ 3.72378891e-02 9.99306068e-01 -8.49873962e-04 6.41817401e-01] [ 2.58179324e-02 -1.11892287e-04 9.99666655e-01 5.49050425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.40925415399998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:97.40, Y:0.64, Z:0.55 [[ 9.98855936e-01 -4.03649606e-02 -2.56415609e-02 9.73972714e+01] [ 4.03564358e-02 9.99184986e-01 -8.50071012e-04 6.40392073e-01] [ 2.56549757e-02 -1.85703528e-04 9.99670840e-01 5.49432059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43925415399998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:97.43, Y:0.64, Z:0.55 [[ 9.98587583e-01 -4.67338702e-02 -2.52741833e-02 9.74279552e+01] [ 4.67276284e-02 9.98907316e-01 -8.37826468e-04 6.36733375e-01] [ 2.52857215e-02 -3.44359538e-04 9.99680206e-01 5.49797063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.46925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:97.46, Y:0.65, Z:0.55 [[ 9.98855127e-01 -4.56336837e-02 -1.43527981e-02 9.74632006e+01] [ 4.50689556e-02 9.98280732e-01 -3.74749098e-02 6.47727707e-01] [ 1.60382400e-02 3.67851402e-02 9.99194490e-01 5.49945912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49925415399998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:97.49, Y:0.62, Z:0.54 [[ 9.98469760e-01 -5.03356284e-02 -2.29011424e-02 9.74880681e+01] [ 5.10061922e-02 9.98256477e-01 2.97047815e-02 6.17586946e-01] [ 2.13660049e-02 -3.08274262e-02 9.99296334e-01 5.35848857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52925415399999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:97.52, Y:0.63, Z:0.54 [[ 9.98384379e-01 -5.26196263e-02 -2.14430816e-02 9.75185467e+01] [ 5.26899059e-02 9.98607203e-01 2.72540638e-03 6.29385279e-01] [ 2.12698059e-02 -3.85083711e-03 9.99766356e-01 5.44996282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55925415399999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:97.55, Y:0.63, Z:0.55 [[ 9.98141404e-01 -5.65326504e-02 -2.27551374e-02 9.75506230e+01] [ 5.63861198e-02 9.98384281e-01 -7.03088382e-03 6.31758075e-01] [ 2.31158460e-02 5.73474235e-03 9.99716345e-01 5.48571013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58925415399997 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:97.58, Y:0.62, Z:0.54 [[ 9.98061055e-01 -5.86252854e-02 -2.09094990e-02 9.75827140e+01] [ 5.87548782e-02 9.98256520e-01 5.63774034e-03 6.24005108e-01] [ 2.05425296e-02 -6.85534413e-03 9.99765477e-01 5.44721872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61925415399998 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:97.62, Y:0.63, Z:0.55 [[ 9.98132577e-01 -5.83639622e-02 -1.80279203e-02 9.76177911e+01] [ 5.82608653e-02 9.98282187e-01 -6.19240622e-03 6.27811737e-01] [ 1.83583651e-02 5.13052014e-03 9.99818308e-01 5.45887465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64925415399998 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:97.65, Y:0.62, Z:0.55 [[ 9.97942450e-01 -6.09556236e-02 -1.98816133e-02 9.76472150e+01] [ 6.10711599e-02 9.98119575e-01 5.25620457e-03 6.23758722e-01] [ 1.95238322e-02 -6.45958286e-03 9.99788525e-01 5.45691496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67925415399998 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:97.68, Y:0.63, Z:0.55 [[ 9.97794115e-01 -6.35824834e-02 -1.90832900e-02 9.76798566e+01] [ 6.35828287e-02 9.97976391e-01 -5.89258145e-04 6.25136167e-01] [ 1.90821394e-02 -6.25411251e-04 9.99817724e-01 5.47254840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70925415399998 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:97.71, Y:0.63, Z:0.55 [[ 9.97701340e-01 -6.49137285e-02 -1.94485060e-02 9.77121420e+01] [ 6.49143810e-02 9.97890658e-01 -5.98420813e-04 6.25379356e-01] [ 1.94463282e-02 -6.65442483e-04 9.99810681e-01 5.47871728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73925415399998 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:97.74, Y:0.63, Z:0.55 [[ 9.97537006e-01 -6.75060322e-02 -1.90487903e-02 9.77443092e+01] [ 6.74725000e-02 9.97718252e-01 -2.39830352e-03 6.25725563e-01] [ 1.91672257e-02 1.10712701e-03 9.99815679e-01 5.47686469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76925415399998 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:97.78, Y:0.62, Z:0.55 [[ 9.97457644e-01 -6.85013086e-02 -1.96422915e-02 9.77760441e+01] [ 6.85385592e-02 9.97647711e-01 1.22877859e-03 6.24351276e-01] [ 1.95119142e-02 -2.57190896e-03 9.99806316e-01 5.47782049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79925415399998 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:97.81, Y:0.63, Z:0.55 [[ 9.97381205e-01 -6.96111098e-02 -1.96220765e-02 9.78077087e+01] [ 6.96127843e-02 9.97573908e-01 -5.98519101e-04 6.25587895e-01] [ 1.96161351e-02 -7.68995678e-04 9.99807289e-01 5.48477951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.82925415399998 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:97.84, Y:0.63, Z:0.55 [[ 9.97244106e-01 -7.14068999e-02 -2.01307437e-02 9.78402560e+01] [ 7.14090657e-02 9.97446926e-01 -6.12142679e-04 6.26169953e-01] [ 2.01230596e-02 -8.27061920e-04 9.99797169e-01 5.48424274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85925415399998 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:97.87, Y:0.63, Z:0.55 [[ 9.97188079e-01 -7.20874010e-02 -2.04778439e-02 9.78732022e+01] [ 7.20898311e-02 9.97397950e-01 -6.20466568e-04 6.27092114e-01] [ 2.04692874e-02 -8.57522444e-04 9.99790114e-01 5.48907215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88925415399999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:97.91, Y:0.63, Z:0.55 [[ 9.97073058e-01 -7.35089324e-02 -2.10179392e-02 9.79052973e+01] [ 7.35118565e-02 9.97294141e-01 -6.34509387e-04 6.28504711e-01] [ 2.10077097e-02 -9.12415513e-04 9.99778897e-01 5.49341689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91925415399999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:97.94, Y:0.63, Z:0.55 [[ 9.97038726e-01 -7.38834934e-02 -2.13309395e-02 9.79382267e+01] [ 7.38866343e-02 9.97266440e-01 -6.41922233e-04 6.29614184e-01] [ 2.13200575e-02 -9.36049999e-04 9.99772264e-01 5.49724204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94925415399997 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:97.97, Y:0.63, Z:0.55 [[ 9.97025481e-01 -7.40173140e-02 -2.14855139e-02 9.79699231e+01] [ 7.40205809e-02 9.97256506e-01 -6.44278094e-04 6.30780502e-01] [ 2.14742563e-02 -9.48008545e-04 9.99768952e-01 5.50129597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97925415399997 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:98.00, Y:0.63, Z:0.55 [[ 9.97054896e-01 -7.33030150e-02 -2.25433271e-02 9.80024178e+01] [ 7.33064791e-02 9.97309233e-01 -6.73804343e-04 6.32933691e-01] [ 2.25320601e-02 -9.80752016e-04 9.99745640e-01 5.50915817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00925415399998 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:98.04, Y:0.63, Z:0.55 [[ 9.97105210e-01 -7.26672786e-02 -2.23756015e-02 9.80356230e+01] [ 7.26705853e-02 9.97355775e-01 -6.66387598e-04 6.34501285e-01] [ 2.23648600e-02 -9.61589515e-04 9.99749413e-01 5.51493843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03925415399998 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:98.07, Y:0.64, Z:0.55 [[ 9.97187650e-01 -7.14978520e-02 -2.24688070e-02 9.80679373e+01] [ 7.15009440e-02 9.97440309e-01 -6.66762525e-04 6.35990830e-01] [ 2.24589659e-02 -9.41653552e-04 9.99747322e-01 5.52455960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06925415399998 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:98.10, Y:0.64, Z:0.55 [[ 9.97386569e-01 -6.90109245e-02 -2.13898059e-02 9.80994937e+01] [ 6.90131952e-02 9.97615546e-01 -6.32879753e-04 6.38348460e-01] [ 2.13824785e-02 -8.44953083e-04 9.99771012e-01 5.53231501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09925415399998 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:98.13, Y:0.64, Z:0.55 [[ 9.97521090e-01 -6.73300791e-02 -2.04532557e-02 9.81324888e+01] [ 6.73318392e-02 9.97730454e-01 -6.03360788e-04 6.40163780e-01] [ 2.04474605e-02 -7.75290216e-04 9.99790628e-01 5.53991939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12925415399998 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:98.16, Y:0.64, Z:0.56 [[ 9.97777679e-01 -6.35679769e-02 -1.99703668e-02 9.81641039e+01] [ 6.35689451e-02 9.97977277e-01 -5.86970378e-04 6.42847021e-01] [ 1.99672848e-02 -6.83829207e-04 9.99800400e-01 5.55353303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15925415399998 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:98.20, Y:0.64, Z:0.56 [[ 9.97933499e-01 -6.12514146e-02 -1.94163856e-02 9.81967832e+01] [ 6.12519260e-02 9.98122176e-01 -5.68919452e-04 6.44587598e-01] [ 1.94147722e-02 -6.21547234e-04 9.99811322e-01 5.55671422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.18925415399998 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:98.23, Y:0.65, Z:0.56 [[ 9.98227964e-01 -5.63277481e-02 -1.91863463e-02 9.82298484e+01] [ 5.63273774e-02 9.98412196e-01 -5.60155847e-04 6.47474827e-01] [ 1.91874344e-02 -5.21553337e-04 9.99815768e-01 5.56595157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:98.26, Y:0.65, Z:0.56 [[ 9.98378733e-01 -5.35336256e-02 -1.93405348e-02 9.82615435e+01] [ 5.35327656e-02 9.98565935e-01 -5.62558811e-04 6.49306803e-01] [ 1.93429150e-02 -4.73705563e-04 9.99812796e-01 5.57446545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24925415399998 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:98.29, Y:0.65, Z:0.56 [[ 9.98504938e-01 -5.09259730e-02 -1.98603818e-02 9.82934088e+01] [ 5.09245804e-02 9.98702336e-01 -5.76185142e-04 6.51262056e-01] [ 1.98639525e-02 -4.36057900e-04 9.99802597e-01 5.58168508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27925415399999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:98.32, Y:0.65, Z:0.56 [[ 9.98742375e-01 -4.55813065e-02 -2.08809391e-02 9.83245601e+01] [ 4.55786354e-02 9.98960571e-01 -6.04063502e-04 6.53612612e-01] [ 2.08867688e-02 -3.48420893e-04 9.99781787e-01 5.58577979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30925415399999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:98.36, Y:0.66, Z:0.56 [[ 9.98842811e-01 -4.30638483e-02 -2.14136207e-02 9.83570819e+01] [ 4.30605126e-02 9.99072275e-01 -6.17055673e-04 6.55061035e-01] [ 2.14203276e-02 -3.05739862e-04 9.99770512e-01 5.58920612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33925415399997 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:98.39, Y:0.66, Z:0.56 [[ 9.98939899e-01 -4.07895819e-02 -2.13374941e-02 9.83889541e+01] [ 4.07857843e-02 9.99167725e-01 -6.13314342e-04 6.56423094e-01] [ 2.13447523e-02 -2.57602266e-04 9.99772142e-01 5.59231570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36925415399998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:98.42, Y:0.66, Z:0.56 [[ 9.99074903e-01 -3.70582191e-02 -2.18180319e-02 9.84212217e+01] [ 3.70533940e-02 9.99313091e-01 -6.25510624e-04 6.57851834e-01] [ 2.18262253e-02 -1.83500169e-04 9.99761763e-01 5.59914878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39925415399998 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:98.45, Y:0.66, Z:0.56 [[ 9.99140393e-01 -3.52238918e-02 -2.18575307e-02 9.84525942e+01] [ 3.52186427e-02 9.99379436e-01 -6.25166077e-04 6.58856830e-01] [ 2.18659874e-02 -1.45163882e-04 9.99760900e-01 5.60309500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42925415399998 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:98.48, Y:0.66, Z:0.56 [[ 9.99217138e-01 -3.28092988e-02 -2.21056617e-02 9.84828282e+01] [ 3.28033559e-02 9.99461626e-01 -6.31499867e-04 6.60151776e-01] [ 2.21144796e-02 -9.41343984e-05 9.99755441e-01 5.60814385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45925415399998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:98.51, Y:0.66, Z:0.56 [[ 9.99243847e-01 -3.18399868e-02 -2.23147962e-02 9.85123569e+01] [ 3.18336951e-02 9.99492976e-01 -6.37209987e-04 6.60905874e-01] [ 2.23237709e-02 -7.36342613e-05 9.99750791e-01 5.61823666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48925415399998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:98.54, Y:0.66, Z:0.56 [[ 9.99261306e-01 -3.13813409e-02 -2.21822837e-02 9.85420747e+01] [ 3.13750018e-02 9.99507482e-01 -6.33828153e-04 6.61658533e-01] [ 2.21912489e-02 -6.26092430e-05 9.99753742e-01 5.62285603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51925415399998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:98.57, Y:0.66, Z:0.56 [[ 9.99318764e-01 -3.00115255e-02 -2.14782523e-02 9.85715888e+01] [ 3.00052567e-02 9.99549552e-01 -6.14149856e-04 6.61523489e-01] [ 2.14870091e-02 -3.07289986e-05 9.99769127e-01 5.62080257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.54925415399998 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:98.60, Y:0.66, Z:0.56 [[ 9.99300587e-01 -3.06105853e-02 -2.14785703e-02 9.86007181e+01] [ 3.06044379e-02 9.99531385e-01 -6.14938941e-04 6.62124206e-01] [ 2.14873287e-02 -4.28307252e-05 9.99769120e-01 5.63685383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57925415399998 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:98.63, Y:0.66, Z:0.56 [[ 9.99292314e-01 -3.09990284e-02 -2.13056754e-02 9.86303389e+01] [ 3.09930526e-02 9.99519413e-01 -6.10702060e-04 6.62165924e-01] [ 2.13143673e-02 -5.00580435e-05 9.99772822e-01 5.64634982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.60925415399998 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:98.66, Y:0.66, Z:0.57 [[ 9.99239905e-01 -3.29032162e-02 -2.09043245e-02 9.86607824e+01] [ 3.28978734e-02 9.99458539e-01 -5.99519130e-04 6.60973233e-01] [ 2.09127317e-02 -8.86443803e-05 9.99781301e-01 5.65065355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63925415399999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:98.69, Y:0.66, Z:0.57 [[ 9.99178947e-01 -3.45036493e-02 -2.12351051e-02 9.86910334e+01] [ 3.44984973e-02 9.99404564e-01 -6.09005652e-04 6.60455180e-01] [ 2.12434739e-02 -1.24073591e-04 9.99774324e-01 5.65557106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66925415399999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:98.72, Y:0.66, Z:0.57 [[ 9.99004833e-01 -3.89208627e-02 -2.17832421e-02 9.87213003e+01] [ 3.89164925e-02 9.99242271e-01 -6.24658393e-04 6.58037066e-01] [ 2.17910485e-02 -2.23690623e-04 9.99762522e-01 5.65701555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69925415399997 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:98.75, Y:0.66, Z:0.57 [[ 9.98884505e-01 -4.15315853e-02 -2.24693836e-02 9.87526412e+01] [ 4.15276071e-02 9.99137149e-01 -6.43830302e-04 6.57305631e-01] [ 2.24767352e-02 -2.89987624e-04 9.99747324e-01 5.66287222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72925415399997 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:98.78, Y:0.66, Z:0.57 [[ 9.98623162e-01 -4.71032724e-02 -2.30881283e-02 9.87838091e+01] [ 4.71005824e-02 9.98889933e-01 -6.60601283e-04 6.55370333e-01] [ 2.30936154e-02 -4.27772546e-04 9.99733215e-01 5.66251475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75925415399998 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:98.81, Y:0.65, Z:0.57 [[ 9.98488593e-01 -4.97733396e-02 -2.33054534e-02 9.88146856e+01] [ 4.97713556e-02 9.98760416e-01 -6.65530983e-04 6.54848683e-01] [ 2.33096900e-02 -4.95418914e-04 9.99728170e-01 5.66430589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78925415399998 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:98.85, Y:0.65, Z:0.57 [[ 9.98358666e-01 -5.20902616e-02 -2.38029279e-02 9.88465973e+01] [ 5.20888838e-02 9.98642222e-01 -6.78319963e-04 6.54355768e-01] [ 2.38059427e-02 -5.62661335e-04 9.99716440e-01 5.66877294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81925415399998 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:98.88, Y:0.65, Z:0.57 [[ 9.98146403e-01 -5.62051364e-02 -2.33396627e-02 9.88785225e+01] [ 5.62049745e-02 9.98419031e-01 -6.63448841e-04 6.52850032e-01] [ 2.33400526e-02 -6.49586070e-04 9.99727373e-01 5.67315954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84925415399998 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:98.91, Y:0.65, Z:0.57 [[ 9.98063350e-01 -5.78131143e-02 -2.29606738e-02 9.89103434e+01] [ 5.78134205e-02 9.98327193e-01 -6.51021707e-04 6.52912006e-01] [ 2.29599026e-02 -6.77674182e-04 9.99736157e-01 5.67747976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87925415399998 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:98.94, Y:0.65, Z:0.57 [[ 9.97994306e-01 -5.91085940e-02 -2.26613994e-02 9.89416535e+01] [ 5.91092620e-02 9.98251313e-01 -6.40943415e-04 6.52710664e-01] [ 2.26596569e-02 -6.99840714e-04 9.99742992e-01 5.68129890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:98.97, Y:0.65, Z:0.57 [[ 9.97862670e-01 -6.14573071e-02 -2.22056447e-02 9.89743110e+01] [ 6.14585577e-02 9.98109439e-01 -6.26769583e-04 6.52566390e-01] [ 2.22021831e-02 -7.39296925e-04 9.99753228e-01 5.68652185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:99.01, Y:0.65, Z:0.57 [[ 9.97868148e-01 -6.13682930e-02 -2.22056914e-02 9.90069933e+01] [ 6.13695585e-02 9.98114916e-01 -6.25110702e-04 6.53425448e-01] [ 2.22021938e-02 -7.38975419e-04 9.99753228e-01 5.69244612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96925415399998 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:99.04, Y:0.65, Z:0.57 [[ 9.97829912e-01 -6.21328213e-02 -2.17939963e-02 9.90389824e+01] [ 6.21342628e-02 9.98067613e-01 -6.11664366e-04 6.54060172e-01] [ 2.17898863e-02 -7.43816894e-04 9.99762296e-01 5.69598251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99925415399998 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:99.07, Y:0.65, Z:0.57 [[ 9.97752165e-01 -6.33130699e-02 -2.19561357e-02 9.90712593e+01] [ 6.33148539e-02 9.97993413e-01 -6.14596575e-04 6.54979921e-01] [ 2.19509908e-02 -7.76934457e-04 9.99758746e-01 5.69938227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02925415399999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:99.10, Y:0.66, Z:0.57 [[ 9.97719874e-01 -6.37829847e-02 -2.20631853e-02 9.91021597e+01] [ 6.37849349e-02 9.97963478e-01 -6.16048994e-04 6.55656632e-01] [ 2.20575465e-02 -7.92654511e-04 9.99756388e-01 5.70112756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05925415399999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:99.13, Y:0.66, Z:0.57 [[ 9.97665641e-01 -6.46087302e-02 -2.21129289e-02 9.91348319e+01] [ 6.46109200e-02 9.97910341e-01 -6.16161956e-04 6.56527676e-01] [ 2.21065299e-02 -8.14013068e-04 9.99755289e-01 5.70283151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08925415399997 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:99.17, Y:0.66, Z:0.57 [[ 9.97576302e-01 -6.58161077e-02 -2.25778988e-02 9.91666996e+01] [ 6.58187371e-02 9.97831399e-01 -6.27447424e-04 6.57307070e-01] [ 2.25702325e-02 -8.60122102e-04 9.99744890e-01 5.69673861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11925415399998 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:99.20, Y:0.66, Z:0.57 [[ 9.97478873e-01 -6.72207516e-02 -2.27435337e-02 9.91990288e+01] [ 6.72238229e-02 9.97737721e-01 -6.30353364e-04 6.58721095e-01] [ 2.27344543e-02 -9.00143116e-04 9.99741134e-01 5.70923532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:99.23, Y:0.66, Z:0.57 [[ 9.97302577e-01 -6.94259572e-02 -2.38245076e-02 9.92306785e+01] [ 6.94300127e-02 9.97586608e-01 -6.57919267e-04 6.60881285e-01] [ 2.38126864e-02 -9.97991286e-04 9.99715940e-01 5.71287603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17925415399998 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:99.26, Y:0.66, Z:0.57 [[ 9.97217408e-01 -7.04919824e-02 -2.42553544e-02 9.92637070e+01] [ 7.04965953e-02 9.97511798e-01 -6.65916150e-04 6.62595800e-01] [ 2.42419440e-02 -1.04585673e-03 9.99705574e-01 5.71911631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20925415399998 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:99.29, Y:0.67, Z:0.57 [[ 9.97195500e-01 -7.01571175e-02 -2.60598084e-02 9.92924310e+01] [ 6.99944359e-02 9.97522084e-01 -7.10432974e-03 6.67352778e-01] [ 2.64936536e-02 5.26036406e-03 9.99635141e-01 5.74464284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23925415399998 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:99.33, Y:0.66, Z:0.57 [[ 9.97067767e-01 -7.22700315e-02 -2.51577205e-02 9.93266169e+01] [ 7.24275247e-02 9.97359032e-01 5.40516708e-03 6.64522153e-01] [ 2.47006482e-02 -7.21142930e-03 9.99668882e-01 5.71937457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26925415399998 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:99.36, Y:0.67, Z:0.57 [[ 9.97081717e-01 -7.23026481e-02 -2.45025909e-02 9.93587390e+01] [ 7.23081777e-02 9.97382118e-01 -6.61413953e-04 6.69768132e-01] [ 2.44862680e-02 -1.11225393e-03 9.99699548e-01 5.73842927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.29925415399998 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:99.39, Y:0.67, Z:0.58 [[ 9.97123711e-01 -7.19597900e-02 -2.37927204e-02 9.93919965e+01] [ 7.19649601e-02 9.97406956e-01 -6.39981567e-04 6.74313297e-01] [ 2.37770778e-02 -1.07410138e-03 9.99716708e-01 5.75238201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.32925415399998 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:99.42, Y:0.68, Z:0.58 [[ 9.97152771e-01 -7.16728543e-02 -2.34382858e-02 9.94238086e+01] [ 7.16778512e-02 9.97427637e-01 -6.27939261e-04 6.76623022e-01] [ 2.34230002e-02 -1.05385459e-03 9.99725088e-01 5.76111658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:99.46, Y:0.68, Z:0.58 [[ 9.97214550e-01 -7.09355329e-02 -2.30497640e-02 9.94559429e+01] [ 7.09402175e-02 9.97480379e-01 -6.15417197e-04 6.80654129e-01] [ 2.30353423e-02 -1.02145229e-03 9.99734129e-01 5.76475913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38925415399999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:99.49, Y:0.68, Z:0.58 [[ 9.97239751e-01 -7.05792973e-02 -2.30530069e-02 9.94891312e+01] [ 7.05839390e-02 9.97505655e-01 -6.13298830e-04 6.83394390e-01] [ 2.30387909e-02 -1.01556606e-03 9.99734056e-01 5.76990964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41925415399999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:99.52, Y:0.69, Z:0.58 [[ 9.97250185e-01 -7.04501419e-02 -2.29966520e-02 9.95207522e+01] [ 7.04547831e-02 9.97514788e-01 -6.09343543e-04 6.86194949e-01] [ 2.29824287e-02 -1.01255617e-03 9.99735356e-01 5.77393268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44925415399997 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:99.55, Y:0.69, Z:0.58 [[ 9.97185782e-01 -7.11233926e-02 -2.37060929e-02 9.95540078e+01] [ 7.11285697e-02 9.97466959e-01 -6.25820743e-04 6.90658518e-01] [ 2.36905549e-02 -1.06212093e-03 9.99718775e-01 5.78230844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47925415399997 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:99.59, Y:0.70, Z:0.58 [[ 9.97037308e-01 -7.25574255e-02 -2.55347915e-02 9.95873812e+01] [ 7.24542821e-02 9.97359487e-01 -4.94283385e-03 6.95483396e-01] [ 2.58260059e-02 3.07808477e-03 9.99661714e-01 5.80725934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50925415399998 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:99.62, Y:0.70, Z:0.58 [[ 9.96928836e-01 -7.42548298e-02 -2.48820506e-02 9.96194624e+01] [ 7.43689915e-02 9.97223953e-01 3.69331396e-03 6.95628151e-01] [ 2.45387305e-02 -5.53242420e-03 9.99683571e-01 5.78278508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:99.65, Y:0.70, Z:0.58 [[ 9.96854596e-01 -7.50888533e-02 -2.53491334e-02 9.96528865e+01] [ 7.50961328e-02 9.97176076e-01 -6.66018481e-04 6.99624992e-01] [ 2.53275600e-02 -1.23969831e-03 9.99678437e-01 5.79362509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56925415399998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:99.68, Y:0.70, Z:0.58 [[ 9.96732738e-01 -7.66926813e-02 -2.53393228e-02 9.96844007e+01] [ 7.67005528e-02 9.97053954e-01 -6.62572323e-04 7.02155653e-01] [ 2.53154864e-02 -1.28313254e-03 9.99678688e-01 5.81321882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:99.72, Y:0.71, Z:0.58 [[ 9.96549277e-01 -7.91047728e-02 -2.51390949e-02 9.97175954e+01] [ 7.91133828e-02 9.96865410e-01 -6.53457495e-04 7.06148468e-01] [ 2.51119858e-02 -1.33763625e-03 9.99683749e-01 5.82429324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62925415399998 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:99.75, Y:0.71, Z:0.58 [[ 9.96519655e-01 -7.95695927e-02 -2.48446516e-02 9.97506928e+01] [ 7.95782108e-02 9.96828418e-01 -6.43199485e-04 7.08479102e-01] [ 2.48170339e-02 -1.33613199e-03 9.99691117e-01 5.83127436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65925415399998 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:99.78, Y:0.71, Z:0.58 [[ 9.96483260e-01 -7.99368362e-02 -2.51240043e-02 9.97832139e+01] [ 7.99458328e-02 9.96798999e-01 -6.47759394e-04 7.13103697e-01] [ 2.50953622e-02 -1.36307805e-03 9.99684133e-01 5.84361060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.68925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:99.81, Y:0.72, Z:0.59 [[ 9.96517529e-01 -7.95131701e-02 -2.51091482e-02 9.98148741e+01] [ 7.95220999e-02 9.96832895e-01 -6.44266176e-04 7.15770020e-01] [ 2.50808525e-02 -1.35470965e-03 9.99684508e-01 5.85263648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71925415399998 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:99.85, Y:0.73, Z:0.60 [[ 9.96458678e-01 -7.75682429e-02 -3.24541370e-02 9.98455875e+01] [ 7.66615615e-02 9.96655233e-01 -2.83081630e-02 7.31340511e-01] [ 3.45413999e-02 2.57199298e-02 9.99072258e-01 5.97591668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74925415399998 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:99.88, Y:0.71, Z:0.58 [[ 9.96652520e-01 -7.74014166e-02 -2.63206304e-02 9.98792302e+01] [ 7.80926098e-02 9.96598298e-01 2.63320560e-02 7.08762615e-01] [ 2.41929570e-02 -2.82993567e-02 9.99306683e-01 5.78360419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77925415399999 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:99.91, Y:0.73, Z:0.59 [[ 9.96786882e-01 -7.61187642e-02 -2.49368507e-02 9.99101567e+01] [ 7.61267303e-02 9.97097950e-01 -6.31101248e-04 7.26838480e-01] [ 2.49125214e-02 -1.26928747e-03 9.99688829e-01 5.88857626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80925415399997 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:99.94, Y:0.73, Z:0.59 [[ 9.97005037e-01 -7.35102308e-02 -2.40250334e-02 9.99427067e+01] [ 7.35169202e-02 9.97293786e-01 -6.05896135e-04 7.31736850e-01] [ 2.40045560e-02 -1.16216496e-03 9.99711174e-01 5.89776023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83925415399997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:99.97, Y:0.73, Z:0.59 [[ 9.97156265e-01 -7.14153051e-02 -2.40673648e-02 9.99742427e+01] [ 7.14214820e-02 9.97446042e-01 -6.03937336e-04 7.34466799e-01] [ 2.40490282e-02 -1.11670697e-03 9.99710157e-01 5.90948489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86925415399998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:100.01, Y:0.74, Z:0.59 [[ 9.97322353e-01 -6.90045067e-02 -2.42178002e-02 1.00005838e+02] [ 6.90101451e-02 9.97615775e-01 -6.03858224e-04 7.37210909e-01] [ 2.42017285e-02 -1.06903260e-03 9.99706524e-01 5.91419867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89925415399998 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:100.04, Y:0.74, Z:0.59 [[ 9.97475502e-01 -6.67253253e-02 -2.42971980e-02 1.00038587e+02] [ 6.67303785e-02 9.97770862e-01 -6.03670009e-04 7.40011467e-01] [ 2.42833163e-02 -1.01921517e-03 9.99704597e-01 5.91753536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92925415399998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:100.07, Y:0.74, Z:0.59 [[ 9.97773234e-01 -6.20543759e-02 -2.44505264e-02 1.00071288e+02] [ 6.20581584e-02 9.98072352e-01 -6.04790938e-04 7.44369403e-01] [ 2.44409243e-02 -9.13910428e-04 9.99700858e-01 5.90881993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95925415399998 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:100.10, Y:0.75, Z:0.59 [[ 9.97847596e-01 -6.09925895e-02 -2.40848165e-02 1.00103355e+02] [ 6.09960226e-02 9.98137833e-01 -5.92760131e-04 7.47332936e-01] [ 2.40761205e-02 -8.77593741e-04 9.99709743e-01 5.93475155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98925415399998 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:100.14, Y:0.75, Z:0.59 [[ 9.98047101e-01 -5.75254666e-02 -2.43475684e-02 1.00136454e+02] [ 5.75280420e-02 9.98343713e-01 -5.95230482e-04 7.50426585e-01] [ 2.43414827e-02 -8.06599877e-04 9.99703377e-01 5.93869163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01925415399998 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:100.17, Y:0.75, Z:0.59 [[ 9.98096400e-01 -5.64033273e-02 -2.49447552e-02 1.00169542e+02] [ 5.64057487e-02 9.98407744e-01 -6.07103635e-04 7.52367401e-01] [ 2.49392794e-02 -8.01079638e-04 9.99688647e-01 5.94548738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.04925415399998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:100.20, Y:0.75, Z:0.59 [[ 9.98174774e-01 -5.50318207e-02 -2.48720604e-02 1.00202535e+02] [ 5.50338690e-02 9.98484306e-01 -6.02664988e-04 7.53930967e-01] [ 2.48675278e-02 -7.67240728e-04 9.99690461e-01 5.94631849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.07925415399998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:100.23, Y:0.76, Z:0.59 [[ 9.98298337e-01 -5.25488933e-02 -2.52793302e-02 1.00234794e+02] [ 5.25502956e-02 9.98618093e-01 -6.09305805e-04 7.55986168e-01] [ 2.52764149e-02 -7.20167304e-04 9.99680241e-01 5.94504913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.10925415399998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:100.27, Y:0.76, Z:0.59 [[ 9.98366987e-01 -5.11985347e-02 -2.53390686e-02 1.00267365e+02] [ 5.11996057e-02 9.98688256e-01 -6.06937485e-04 7.57465699e-01] [ 2.53369045e-02 -6.91403971e-04 9.99678730e-01 5.94980578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13925415399999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:100.30, Y:0.76, Z:0.60 [[ 9.98507123e-01 -4.84462567e-02 -2.52286835e-02 1.00299025e+02] [ 4.84464860e-02 9.98825598e-01 -6.02488096e-04 7.59709482e-01] [ 2.52282432e-02 -6.20652406e-04 9.99681525e-01 5.95363760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16925415399999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:100.33, Y:0.76, Z:0.60 [[ 9.98565918e-01 -4.70785195e-02 -2.54896236e-02 1.00329686e+02] [ 4.70783524e-02 9.98891015e-01 -6.06989616e-04 7.61019664e-01] [ 2.54899322e-02 -5.93890341e-04 9.99674902e-01 5.96152698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19925415399997 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:100.37, Y:0.79, Z:0.60 [[ 9.99180554e-01 -3.96209080e-02 -8.27064425e-03 1.00370837e+02] [ 3.89412833e-02 9.96753037e-01 -7.04766593e-02 7.87045468e-01] [ 1.10361390e-02 7.00968380e-02 9.97479141e-01 6.00770047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22925415399997 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:100.39, Y:0.73, Z:0.57 [[ 9.98649034e-01 -4.30530785e-02 -2.90953590e-02 1.00393097e+02] [ 4.49775556e-02 9.96595821e-01 6.90926108e-02 7.30125812e-01] [ 2.60216636e-02 -7.03079071e-02 9.97185876e-01 5.72162122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25925415399998 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:100.42, Y:0.77, Z:0.60 [[ 9.98687539e-01 -4.33639844e-02 -2.72537150e-02 1.00424823e+02] [ 4.33616504e-02 9.99059212e-01 -6.76906561e-04 7.65397214e-01] [ 2.72574284e-02 -5.05747913e-04 9.99628319e-01 5.98392804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28925415399998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:100.46, Y:0.77, Z:0.60 [[ 9.98771965e-01 -4.15163260e-02 -2.70362219e-02 1.00456824e+02] [ 4.15135269e-02 9.99137721e-01 -6.65052333e-04 7.66141614e-01] [ 2.70405196e-02 -4.58133299e-04 9.99634233e-01 5.98681678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31925415399998 meters Centerline goodness : 0.999669 Centerline is valid? [True, True] Translation: X:100.49, Y:0.77, Z:0.60 [[ 9.98808372e-01 -4.07057127e-02 -2.69236072e-02 1.00488648e+02] [ 4.07026887e-02 9.99171084e-01 -6.60566547e-04 7.66787244e-01] [ 2.69281786e-02 -4.36083804e-04 9.99637276e-01 5.98869848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34925415399998 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:100.52, Y:0.77, Z:0.60 [[ 9.98873226e-01 -3.90627837e-02 -2.69513963e-02 1.00520001e+02] [ 3.90591817e-02 9.99236681e-01 -6.60279984e-04 7.67268479e-01] [ 2.69566162e-02 -3.93163489e-04 9.99636527e-01 5.99286262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37925415399998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:100.55, Y:0.77, Z:0.60 [[ 9.98883603e-01 -3.87935414e-02 -2.69556967e-02 1.00551695e+02] [ 3.87898668e-02 9.99247172e-01 -6.59403770e-04 7.67887534e-01] [ 2.69609843e-02 -3.86940271e-04 9.99636412e-01 5.99672076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40925415399998 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:100.58, Y:0.77, Z:0.60 [[ 9.98897692e-01 -3.71351046e-02 -2.87121011e-02 1.00580859e+02] [ 3.69509640e-02 9.99293136e-01 -6.91772483e-03 7.70876667e-01] [ 2.89486959e-02 5.84915956e-03 9.99563785e-01 6.01921963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.43925415399998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:100.61, Y:0.77, Z:0.60 [[ 9.98885635e-01 -3.83540905e-02 -2.75036632e-02 1.00610558e+02] [ 3.85169561e-02 9.99243268e-01 5.41627899e-03 7.65456851e-01] [ 2.72751139e-02 -6.46960067e-03 9.99607029e-01 5.97593472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.46925415399998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:100.64, Y:0.77, Z:0.60 [[ 9.98872882e-01 -3.85288995e-02 -2.77216285e-02 1.00641879e+02] [ 3.85248700e-02 9.99257411e-01 -6.79627999e-04 7.69054888e-01] [ 2.77272280e-02 -3.89110155e-04 9.99615451e-01 6.00471923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49925415399998 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:100.67, Y:0.77, Z:0.60 [[ 9.98871875e-01 -3.88368519e-02 -2.73253708e-02 1.00671859e+02] [ 3.88330826e-02 9.99245488e-01 -6.68790219e-04 7.69897071e-01] [ 2.73307272e-02 -3.93092643e-04 9.99626369e-01 6.00345212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52925415399999 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:100.70, Y:0.78, Z:0.60 [[ 9.99133542e-01 -3.67677713e-02 -1.95012070e-02 1.00704765e+02] [ 3.62001845e-02 9.98932340e-01 -2.87006451e-02 7.81282858e-01] [ 2.05356451e-02 2.79698299e-02 9.99397807e-01 6.01768460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55925415399997 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:100.73, Y:0.76, Z:0.59 [[ 9.98823618e-01 -3.97346141e-02 -2.77946204e-02 1.00731347e+02] [ 4.05192319e-02 9.98779047e-01 2.82596327e-02 7.56835268e-01] [ 2.66377988e-02 -2.93526053e-02 9.99214117e-01 5.90799236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58925415399997 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:100.77, Y:0.78, Z:0.60 [[ 9.99143450e-01 -3.79301965e-02 -1.65428808e-02 1.00766064e+02] [ 3.73150597e-02 9.98653811e-01 -3.60298662e-02 7.84185166e-01] [ 1.78872309e-02 3.53817062e-02 9.99213782e-01 6.03489298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61925415399998 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:100.79, Y:0.75, Z:0.59 [[ 9.98704055e-01 -4.35715000e-02 -2.63008439e-02 1.00790474e+02] [ 4.45036487e-02 9.98361702e-01 3.59630104e-02 7.52744314e-01] [ 2.46907929e-02 -3.70868878e-02 9.99006971e-01 5.89256384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64925415399998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:100.82, Y:0.77, Z:0.60 [[ 9.98708867e-01 -4.45201353e-02 -2.44653967e-02 1.00820724e+02] [ 4.45184177e-02 9.99008374e-01 -6.15130506e-04 7.70605206e-01] [ 2.44685219e-02 -4.74824460e-04 9.99700488e-01 6.02965819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67925415399998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:100.85, Y:0.77, Z:0.60 [[ 9.98585954e-01 -4.73280887e-02 -2.42104106e-02 1.00852947e+02] [ 4.73272773e-02 9.98879252e-01 -6.06828180e-04 7.70553346e-01] [ 2.42119969e-02 -5.39842719e-04 9.99706701e-01 6.04031659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70925415399998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:100.88, Y:0.77, Z:0.60 [[ 9.98517200e-01 -4.88300392e-02 -2.40630291e-02 1.00884863e+02] [ 4.88297183e-02 9.98806937e-01 -6.01264835e-04 7.70757023e-01] [ 2.40636801e-02 -5.74617652e-04 9.99710263e-01 6.04363981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73925415399998 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:100.91, Y:0.78, Z:0.61 [[ 9.98373611e-01 -5.02861387e-02 -2.68595811e-02 1.00914180e+02] [ 4.99645476e-02 9.98672599e-01 -1.25133366e-02 7.75630170e-01] [ 2.74531750e-02 1.11509582e-02 9.99560893e-01 6.09542044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76925415399998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:100.95, Y:0.76, Z:0.60 [[ 9.98326401e-01 -5.25291995e-02 -2.41884195e-02 1.00947421e+02] [ 5.28089620e-02 9.98543209e-01 1.10757769e-02 7.64474063e-01] [ 2.35713803e-02 -1.23346059e-02 9.99646061e-01 6.00424444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.79925415399998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:100.98, Y:0.77, Z:0.60 [[ 9.98318269e-01 -5.30240338e-02 -2.34325915e-02 1.00979515e+02] [ 5.30248777e-02 9.98593020e-01 -5.85760267e-04 7.70485464e-01] [ 2.34306817e-02 -6.57735124e-04 9.99725248e-01 6.04947345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.82925415399998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:101.01, Y:0.77, Z:0.60 [[ 9.98161536e-01 -5.56523408e-02 -2.40076222e-02 1.01012506e+02] [ 5.56540840e-02 9.98449932e-01 -5.96059062e-04 7.69533317e-01] [ 2.40035809e-02 -7.41158996e-04 9.99711598e-01 6.04980017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.85925415399998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:101.05, Y:0.77, Z:0.61 [[ 9.98166516e-01 -5.55629192e-02 -2.40076855e-02 1.01045195e+02] [ 5.55646980e-02 9.98454912e-01 -5.93501048e-04 7.70280674e-01] [ 2.40035681e-02 -7.41566921e-04 9.99711598e-01 6.05692411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88925415399999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:101.08, Y:0.77, Z:0.61 [[ 9.98143957e-01 -5.58141180e-02 -2.43603075e-02 1.01077695e+02] [ 5.58160770e-02 9.98440887e-01 -6.00052358e-04 7.69955046e-01] [ 2.43558184e-02 -7.60758165e-04 9.99703064e-01 6.06019943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91925415399999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:101.11, Y:0.77, Z:0.61 [[ 9.98166895e-01 -5.53004267e-02 -2.45908860e-02 1.01108488e+02] [ 5.53023099e-02 9.98469474e-01 -6.04002655e-04 7.69090420e-01] [ 2.45866506e-02 -7.57037342e-04 9.99697416e-01 6.05856907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94925415399997 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:101.14, Y:0.77, Z:0.61 [[ 9.98214534e-01 -5.44793004e-02 -2.44897911e-02 1.01141035e+02] [ 5.44809544e-02 9.98514630e-01 -6.00164794e-04 7.69713668e-01] [ 2.44861112e-02 -7.35133972e-04 9.99699900e-01 6.06386926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97925415399997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:101.17, Y:0.77, Z:0.61 [[ 9.98288733e-01 -5.31550241e-02 -2.43751876e-02 1.01173477e+02] [ 5.31563106e-02 9.98586026e-01 -5.95622249e-04 7.70449809e-01] [ 2.43723821e-02 -7.01092064e-04 9.99702704e-01 6.07165357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00925415399998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:101.21, Y:0.77, Z:0.61 [[ 9.98380839e-01 -5.16485863e-02 -2.38353329e-02 1.01205161e+02] [ 5.16494272e-02 9.98665109e-01 -5.80760367e-04 7.71576619e-01] [ 2.38335107e-02 -6.51261267e-04 9.99715729e-01 6.07857048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03925415399998 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:101.24, Y:0.77, Z:0.61 [[ 9.98562885e-01 -4.82385599e-02 -2.33496575e-02 1.01237467e+02] [ 4.82384735e-02 9.98835686e-01 -5.67281228e-04 7.73765668e-01] [ 2.33498360e-02 -5.59885853e-04 9.99727199e-01 6.09021591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06925415399998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:101.27, Y:0.78, Z:0.61 [[ 9.98710147e-01 -4.52325767e-02 -2.30663451e-02 1.01269521e+02] [ 4.52317286e-02 9.98976365e-01 -5.58766043e-04 7.75532737e-01] [ 2.30680080e-02 -4.85285346e-04 9.99733780e-01 6.09503259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09925415399998 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:101.30, Y:0.78, Z:0.61 [[ 9.98765443e-01 -4.39001820e-02 -2.32457384e-02 1.01300318e+02] [ 4.38990014e-02 9.99035816e-01 -5.61333833e-04 7.76176349e-01] [ 2.32479679e-02 -4.59823870e-04 9.99729624e-01 6.09944465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12925415399998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:101.33, Y:0.78, Z:0.61 [[ 9.99000489e-01 -4.06012796e-02 -1.86964906e-02 1.01334937e+02] [ 4.03612934e-02 9.99100066e-01 -1.30393088e-02 7.79524477e-01] [ 1.92090776e-02 1.22716614e-02 9.99740175e-01 6.08721260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15925415399998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:101.36, Y:0.77, Z:0.61 [[ 9.98817954e-01 -4.24424461e-02 -2.36924830e-02 1.01362682e+02] [ 4.27458143e-02 9.99008429e-01 1.24480556e-02 7.70757991e-01] [ 2.31406643e-02 -1.34460959e-02 9.99641792e-01 6.05083383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.18925415399998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:101.39, Y:0.78, Z:0.61 [[ 9.98799274e-01 -4.24839431e-02 -2.43951660e-02 1.01394347e+02] [ 4.24822514e-02 9.99097049e-01 -5.87831684e-04 7.77502362e-01] [ 2.43981117e-02 -4.49235714e-04 9.99702221e-01 6.10031674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.21925415399998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:101.43, Y:0.78, Z:0.61 [[ 9.98727001e-01 -4.34299947e-02 -2.56556734e-02 1.01426749e+02] [ 4.34284858e-02 9.99056348e-01 -6.16260131e-04 7.78813865e-01] [ 2.56582275e-02 -4.98711413e-04 9.99670649e-01 6.10653096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24925415399998 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:101.46, Y:0.78, Z:0.61 [[ 9.98684668e-01 -4.40932847e-02 -2.61670745e-02 1.01458563e+02] [ 4.40919929e-02 9.99027279e-01 -6.26622047e-04 7.79930864e-01] [ 2.61692511e-02 -5.27960633e-04 9.99657387e-01 6.11195410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27925415399999 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:101.49, Y:0.78, Z:0.61 [[ 9.98644634e-01 -4.46612431e-02 -2.67257985e-02 1.01491039e+02] [ 4.46601514e-02 9.99002034e-01 -6.38040096e-04 7.80965844e-01] [ 2.67276227e-02 -5.56402886e-04 9.99642598e-01 6.11767751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30925415399997 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:101.52, Y:0.78, Z:0.61 [[ 9.98559215e-01 -4.64240610e-02 -2.69128455e-02 1.01522420e+02] [ 4.64236537e-02 9.98921636e-01 -6.40281370e-04 7.81603466e-01] [ 2.69135481e-02 -6.10033757e-04 9.99637579e-01 6.12121422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33925415399997 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:101.55, Y:0.78, Z:0.61 [[ 9.98533048e-01 -4.70858470e-02 -2.67334139e-02 1.01554910e+02] [ 4.70857621e-02 9.98890650e-01 -6.33019541e-04 7.82083866e-01] [ 2.67335634e-02 -6.26672235e-04 9.99642398e-01 6.12699756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36925415399998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:101.59, Y:0.78, Z:0.61 [[ 9.98479912e-01 -4.85789406e-02 -2.60375079e-02 1.01586692e+02] [ 4.85794140e-02 9.98819134e-01 -6.14742636e-04 7.83289052e-01] [ 2.60366247e-02 -6.51078706e-04 9.99660778e-01 6.14015604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39925415399998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:101.62, Y:0.78, Z:0.61 [[ 9.98478133e-01 -4.88900289e-02 -2.55182725e-02 1.01617831e+02] [ 4.88906355e-02 9.98803957e-01 -6.00506389e-04 7.84199157e-01] [ 2.55171103e-02 -6.48012058e-04 9.99674176e-01 6.14855719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42925415399998 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:101.65, Y:0.79, Z:0.62 [[ 9.98491151e-01 -4.90445788e-02 -2.46992225e-02 1.01649534e+02] [ 4.90452615e-02 9.98796389e-01 -5.78502388e-04 7.85351689e-01] [ 2.46978667e-02 -6.33750313e-04 9.99694760e-01 6.15623925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45925415399998 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:101.68, Y:0.79, Z:0.62 [[ 9.98546832e-01 -4.85070918e-02 -2.34795058e-02 1.01681811e+02] [ 4.85075977e-02 9.98822663e-01 -5.48335358e-04 7.87406669e-01] [ 2.34784607e-02 -5.91395889e-04 9.99724168e-01 6.17181347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48925415399998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:101.71, Y:0.79, Z:0.62 [[ 9.98592726e-01 -4.78354550e-02 -2.28984007e-02 1.01714056e+02] [ 4.78357962e-02 9.98855071e-01 -5.33164830e-04 7.88679877e-01] [ 2.28976878e-02 -5.62948706e-04 9.99737655e-01 6.18155002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:0.79, Z:0.62 [[ 9.98678397e-01 -4.66993325e-02 -2.14623212e-02 1.01744994e+02] [ 4.66994012e-02 9.98908864e-01 -4.98268428e-04 7.90300962e-01] [ 2.14621716e-02 -5.04667631e-04 9.99769534e-01 6.19128539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.54925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:0.80, Z:0.62 [[ 9.98691684e-01 -4.53500553e-02 -2.36282409e-02 1.01775879e+02] [ 4.50824093e-02 9.98914287e-01 -1.17398044e-02 7.96629225e-01] [ 2.41349882e-02 1.06592270e-02 9.99651881e-01 6.24586759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.57925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.81, Y:0.79, Z:0.62 [[ 9.98744063e-01 -4.55917314e-02 -2.07771630e-02 1.01808866e+02] [ 4.58192283e-02 9.98893423e-01 1.06078739e-02 7.86833559e-01] [ 2.02705401e-02 -1.15465446e-02 9.99727854e-01 6.16571428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.84, Y:0.79, Z:0.62 [[ 9.98721183e-01 -4.60640472e-02 -2.08351337e-02 1.01841848e+02] [ 4.60640794e-02 9.98938372e-01 -4.78639653e-04 7.93680540e-01] [ 2.08350626e-02 -4.81723690e-04 9.99782810e-01 6.21488274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63925415399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.87, Y:0.79, Z:0.62 [[ 9.98702234e-01 -4.63295004e-02 -2.11524130e-02 1.01874635e+02] [ 4.63296431e-02 9.98926089e-01 -4.83560214e-04 7.94170404e-01] [ 2.11521003e-02 -4.97051080e-04 9.99776146e-01 6.21844890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66925415399999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:101.91, Y:0.79, Z:0.62 [[ 9.98582529e-01 -4.81214340e-02 -2.27433730e-02 1.01907362e+02] [ 4.81221247e-02 9.98841326e-01 -5.17247172e-04 7.93931370e-01] [ 2.27419115e-02 -5.77945445e-04 9.99741202e-01 6.21887716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69925415399997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:101.94, Y:0.79, Z:0.62 [[ 9.98519834e-01 -4.90427529e-02 -2.35148577e-02 1.01939813e+02] [ 4.90438089e-02 9.98796487e-01 -5.32146941e-04 7.93744979e-01] [ 2.35126552e-02 -6.21898912e-04 9.99723346e-01 6.22281327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72925415399997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:101.97, Y:0.79, Z:0.62 [[ 9.98460295e-01 -4.98821069e-02 -2.42655228e-02 1.01971758e+02] [ 4.98835334e-02 9.98754892e-01 -5.46898354e-04 7.93792663e-01] [ 2.42625900e-02 -6.64393725e-04 9.99705399e-01 6.22577277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75925415399998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:102.00, Y:0.79, Z:0.62 [[ 9.98368289e-01 -5.08672458e-02 -2.59476973e-02 1.02003653e+02] [ 5.08692611e-02 9.98705151e-01 -5.82835232e-04 7.93623161e-01] [ 2.59437462e-02 -7.38055977e-04 9.99663132e-01 6.22803241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78925415399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.04, Y:0.79, Z:0.62 [[ 9.98350133e-01 -5.10215666e-02 -2.63402956e-02 1.02035637e+02] [ 5.10237476e-02 9.98697266e-01 -5.89737874e-04 7.94344921e-01] [ 2.63360705e-02 -7.55215707e-04 9.99652860e-01 6.23459222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81925415399998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:102.07, Y:0.80, Z:0.62 [[ 9.98370883e-01 -5.02593706e-02 -2.70106632e-02 1.02067123e+02] [ 5.02614364e-02 9.98735913e-01 -6.02864934e-04 7.95489745e-01] [ 2.70068190e-02 -7.55711936e-04 9.99634964e-01 6.24566996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84925415399998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:102.10, Y:0.80, Z:0.63 [[ 9.98399271e-01 -4.95246345e-02 -2.73167921e-02 1.02099197e+02] [ 4.95265156e-02 9.98772624e-01 -6.08129272e-04 7.96498471e-01] [ 2.73133815e-02 -7.45749708e-04 9.99626642e-01 6.25728510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87925415399998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:102.13, Y:0.80, Z:0.63 [[ 9.98465278e-01 -4.85166952e-02 -2.67061517e-02 1.02129885e+02] [ 4.85181804e-02 9.98822124e-01 -5.92746912e-04 7.97200740e-01] [ 2.67034533e-02 -7.03896676e-04 9.99643151e-01 6.26223279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.16, Y:0.80, Z:0.63 [[ 9.98562894e-01 -4.66570230e-02 -2.63679566e-02 1.02162339e+02] [ 4.66578618e-02 9.98910758e-01 -5.83768038e-04 7.98216231e-01] [ 2.63664724e-02 -6.47343373e-04 9.99652135e-01 6.27403019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.93925415399998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:102.19, Y:0.80, Z:0.63 [[ 9.98619215e-01 -4.55931792e-02 -2.60945427e-02 1.02194674e+02] [ 4.55936866e-02 9.98959901e-01 -5.75837928e-04 7.99011519e-01] [ 2.60936561e-02 -6.14703583e-04 9.99659314e-01 6.28421476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.96925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.23, Y:0.80, Z:0.63 [[ 9.98716616e-01 -4.36680524e-02 -2.56558306e-02 1.02226209e+02] [ 4.36679538e-02 9.99045941e-01 -5.64370724e-04 8.00312872e-01] [ 2.56559984e-02 -5.56691206e-04 9.99670676e-01 6.29187774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.26, Y:0.80, Z:0.63 [[ 9.98742535e-01 -4.27795582e-02 -2.61392098e-02 1.02258083e+02] [ 4.27791919e-02 9.99084387e-01 -5.73474599e-04 8.01401724e-01] [ 2.61398094e-02 -5.45460796e-04 9.99658148e-01 6.30127123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02925415399999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.29, Y:0.80, Z:0.63 [[ 9.98691353e-01 -4.22622337e-02 -2.88007668e-02 1.02290116e+02] [ 4.25096626e-02 9.99063759e-01 8.03334347e-03 7.99290252e-01] [ 2.84342952e-02 -9.24714154e-03 9.99552891e-01 6.31130117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.32, Y:0.81, Z:0.64 [[ 9.98799461e-01 -4.11439614e-02 -2.65859360e-02 1.02321575e+02] [ 4.09092400e-02 9.99119460e-01 -9.31340950e-03 8.07789748e-01] [ 2.69457166e-02 8.21461795e-03 9.99603145e-01 6.35263898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08925415399997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.35, Y:0.80, Z:0.63 [[ 9.98784870e-01 -4.09564083e-02 -2.74108722e-02 1.02352258e+02] [ 4.09554346e-02 9.99160796e-01 -5.97175173e-04 8.04274861e-01] [ 2.74123270e-02 -5.26174655e-04 9.99624073e-01 6.32938625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.38, Y:0.80, Z:0.63 [[ 9.98752509e-01 -4.13580764e-02 -2.79809702e-02 1.02383996e+02] [ 4.13572369e-02 9.99144238e-01 -6.08973387e-04 8.04742756e-01] [ 2.79822111e-02 -5.49001914e-04 9.99608271e-01 6.34005643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.42, Y:0.81, Z:0.63 [[ 9.98722051e-01 -4.18413621e-02 -2.83472344e-02 1.02415200e+02] [ 4.18407241e-02 9.99124104e-01 -6.15919434e-04 8.05191996e-01] [ 2.83481761e-02 -5.70936494e-04 9.99597947e-01 6.34519062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.45, Y:0.81, Z:0.64 [[ 9.98692239e-01 -4.24822805e-02 -2.84441115e-02 1.02445893e+02] [ 4.24819240e-02 9.99097045e-01 -6.17109394e-04 8.05192379e-01] [ 2.84446440e-02 -5.92058219e-04 9.99595194e-01 6.35319496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.48, Y:0.80, Z:0.64 [[ 9.98632730e-01 -4.39932360e-02 -2.82359040e-02 1.02477565e+02] [ 4.39935056e-02 9.99031630e-01 -6.11973197e-04 8.03703357e-01] [ 2.82354839e-02 -6.31059938e-04 9.99601100e-01 6.35868269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23925415399998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:102.51, Y:0.80, Z:0.64 [[ 9.98593467e-01 -4.48564363e-02 -2.82663704e-02 1.02508860e+02] [ 4.48570839e-02 9.98993227e-01 -6.11508553e-04 8.03591325e-01] [ 2.82653426e-02 -6.57298500e-04 9.99600239e-01 6.36686374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:102.54, Y:0.80, Z:0.64 [[ 9.98579794e-01 -4.53315589e-02 -2.79900708e-02 1.02539713e+02] [ 4.53324186e-02 9.98971775e-01 -6.04162175e-04 8.03407726e-01] [ 2.79886783e-02 -6.65553467e-04 9.99608019e-01 6.37674683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.29925415399998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:102.57, Y:0.80, Z:0.64 [[ 9.98562013e-01 -4.55378866e-02 -2.82879381e-02 1.02571934e+02] [ 4.55388819e-02 9.98962381e-01 -6.09377747e-04 8.02742725e-01] [ 2.82863358e-02 -6.79699604e-04 9.99599630e-01 6.38942089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.32925415399998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:102.60, Y:0.80, Z:0.64 [[ 9.98610129e-01 -4.47809207e-02 -2.77935258e-02 1.02604621e+02] [ 4.47816418e-02 9.98996621e-01 -5.96805365e-04 8.03109882e-01] [ 2.77923638e-02 -6.48663834e-04 9.99613507e-01 6.38810269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35925415399998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:102.64, Y:0.80, Z:0.64 [[ 9.98606842e-01 -4.41989047e-02 -2.88241545e-02 1.02636245e+02] [ 4.41994969e-02 9.99022534e-01 -6.16902723e-04 8.03408328e-01] [ 2.88232463e-02 -6.57969845e-04 9.99584307e-01 6.40840410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38925415399999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:102.67, Y:0.81, Z:0.64 [[ 9.98911661e-01 -4.11689324e-02 -2.19228739e-02 1.02669135e+02] [ 4.05431393e-02 9.98777979e-01 -2.82631028e-02 8.14076091e-01] [ 2.30596454e-02 2.73435208e-02 9.99360088e-01 6.40807349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41925415399999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:102.70, Y:0.79, Z:0.63 [[ 9.98653253e-01 -4.23612284e-02 -2.99534163e-02 1.02695473e+02] [ 4.31981424e-02 9.98677767e-01 2.78682182e-02 7.90114317e-01] [ 2.87332789e-02 -2.91246187e-02 9.99162727e-01 6.32015498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44925415399997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:102.73, Y:0.80, Z:0.64 [[ 9.98667062e-01 -4.25570473e-02 -2.92060985e-02 1.02726522e+02] [ 4.25567959e-02 9.99093850e-01 -6.30483710e-04 8.04416325e-01] [ 2.92064649e-02 -6.13274656e-04 9.99573212e-01 6.42689928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47925415399997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:102.76, Y:0.80, Z:0.64 [[ 9.98736922e-01 -4.06093059e-02 -2.95879223e-02 1.02756873e+02] [ 4.06082289e-02 9.99174942e-01 -6.37535822e-04 8.04022775e-01] [ 2.95894005e-02 -5.64782557e-04 9.99561978e-01 6.43493647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50925415399998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:102.79, Y:0.80, Z:0.64 [[ 9.98788502e-01 -3.93442199e-02 -2.95560622e-02 1.02787261e+02] [ 3.93425915e-02 9.99225578e-01 -6.36849328e-04 8.04468930e-01] [ 2.95582297e-02 -5.26734298e-04 9.99562921e-01 6.44099595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53925415399998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:102.82, Y:0.81, Z:0.65 [[ 9.98832906e-01 -3.77748148e-02 -3.00979928e-02 1.02817580e+02] [ 3.77724142e-02 9.99286157e-01 -6.48526395e-04 8.05224445e-01] [ 3.01010055e-02 -4.89104347e-04 9.99546742e-01 6.45115412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56925415399998 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:102.85, Y:0.81, Z:0.65 [[ 9.98897902e-01 -3.59933667e-02 -3.01240644e-02 1.02845999e+02] [ 3.59901366e-02 9.99351934e-01 -6.49603583e-04 8.06034666e-01] [ 3.01279234e-02 -4.35281536e-04 9.99545956e-01 6.45378588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59925415399998 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:102.87, Y:0.81, Z:0.65 [[ 9.99014945e-01 -3.22523864e-02 -3.04782470e-02 1.02874997e+02] [ 3.22472349e-02 9.99479704e-01 -6.60666884e-04 8.06762295e-01] [ 3.04836974e-02 -3.22823101e-04 9.99535212e-01 6.45817782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62925415399998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:102.90, Y:0.81, Z:0.65 [[ 9.99096802e-01 -2.88274055e-02 -3.12179566e-02 1.02902614e+02] [ 2.88200780e-02 9.99584381e-01 -6.84750917e-04 8.07110514e-01] [ 3.12247214e-02 -2.15571493e-04 9.99512366e-01 6.46599402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65925415399998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:102.93, Y:0.81, Z:0.65 [[ 9.99124138e-01 -2.75900122e-02 -3.14602603e-02 1.02929796e+02] [ 2.75816914e-02 9.99619309e-01 -6.98508941e-04 8.07661617e-01] [ 3.14675555e-02 -1.69830046e-04 9.99504759e-01 6.47318851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.68925415399998 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:102.96, Y:0.81, Z:0.65 [[ 9.99144118e-01 -2.65781301e-02 -3.16959765e-02 1.02956545e+02] [ 2.65689971e-02 9.99646730e-01 -7.09352608e-04 8.08002301e-01] [ 3.17036326e-02 -1.33384824e-04 9.99497305e-01 6.48031572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.71925415399998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:102.98, Y:0.81, Z:0.65 [[ 9.99141560e-01 -2.60234760e-02 -3.22323184e-02 1.02984333e+02] [ 2.60135646e-02 9.99661326e-01 -7.26880853e-04 8.07822182e-01] [ 3.22403181e-02 -1.12220627e-04 9.99480140e-01 6.49086799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74925415399998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:103.01, Y:0.81, Z:0.65 [[ 9.99134427e-01 -2.62961483e-02 -3.22321088e-02 1.03012701e+02] [ 2.62860821e-02 9.99654190e-01 -7.36075936e-04 8.08540973e-01] [ 3.22403186e-02 -1.11817050e-04 9.99480140e-01 6.49718509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77925415399999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:103.04, Y:0.81, Z:0.65 [[ 9.99121867e-01 -2.68864125e-02 -3.21343502e-02 1.03040706e+02] [ 2.68764248e-02 9.99638488e-01 -7.42787629e-04 8.08444413e-01] [ 3.21427041e-02 -1.21521083e-04 9.99483282e-01 6.50088825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80925415399997 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:103.07, Y:0.81, Z:0.65 [[ 9.99067593e-01 -2.86639748e-02 -3.22849933e-02 1.03068141e+02] [ 2.86545694e-02 9.99589089e-01 -7.54059767e-04 8.07531242e-01] [ 3.22933414e-02 -1.71755903e-04 9.99478419e-01 6.50972170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83925415399997 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:103.10, Y:0.81, Z:0.65 [[ 9.99030543e-01 -3.03524471e-02 -3.18857779e-02 1.03095629e+02] [ 3.03439547e-02 9.99539235e-01 -7.50308553e-04 8.07420595e-01] [ 3.18938598e-02 -2.17959439e-04 9.99491238e-01 6.51538632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86925415399998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:103.12, Y:0.81, Z:0.65 [[ 9.98965942e-01 -3.22441377e-02 -3.20524840e-02 1.03122867e+02] [ 3.22362843e-02 9.99479986e-01 -7.61882319e-04 8.06906209e-01] [ 3.20603825e-02 -2.72158498e-04 9.99485897e-01 6.52014554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89925415399998 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:103.15, Y:0.81, Z:0.65 [[ 9.98876174e-01 -3.45458683e-02 -3.24495221e-02 1.03151257e+02] [ 3.45388469e-02 9.99403054e-01 -7.77053300e-04 8.06274790e-01] [ 3.24569955e-02 -3.44589049e-04 9.99473074e-01 6.52752438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92925415399998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:103.18, Y:0.80, Z:0.65 [[ 9.98671348e-01 -3.91431586e-02 -3.35164365e-02 1.03178762e+02] [ 3.91379273e-02 9.99233488e-01 -8.12383645e-04 8.03974367e-01] [ 3.35225450e-02 -5.00459587e-04 9.99437836e-01 6.51922087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95925415399998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:103.21, Y:0.80, Z:0.65 [[ 9.98444919e-01 -4.44377769e-02 -3.36604793e-02 1.03205478e+02] [ 4.44352448e-02 9.99011927e-01 -8.23657147e-04 8.01985469e-01] [ 3.36638218e-02 -6.73335347e-04 9.99432986e-01 6.53209477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98925415399998 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:103.23, Y:0.80, Z:0.65 [[ 9.98344472e-01 -4.66514099e-02 -3.36446427e-02 1.03234763e+02] [ 4.66500301e-02 9.98910953e-01 -8.26420761e-04 8.01481251e-01] [ 3.36465557e-02 -7.44470996e-04 9.99433517e-01 6.54005219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01925415399998 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:103.26, Y:0.80, Z:0.65 [[ 9.98273257e-01 -4.81297189e-02 -3.36754275e-02 1.03264060e+02] [ 4.81291368e-02 9.98840778e-01 -8.28371345e-04 8.00990827e-01] [ 3.36762595e-02 -7.93828294e-04 9.99432479e-01 6.54963505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.04925415399998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:103.29, Y:0.80, Z:0.66 [[ 9.98225695e-01 -4.91273392e-02 -3.36447187e-02 1.03294868e+02] [ 4.91272975e-02 9.98792182e-01 -8.28409517e-04 8.00550719e-01] [ 3.36447796e-02 -8.25934440e-04 9.99433513e-01 6.56332247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.07925415399998 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:103.33, Y:0.80, Z:0.66 [[ 9.98226504e-01 -4.99697869e-02 -3.23553275e-02 1.03325871e+02] [ 4.99701899e-02 9.98750392e-01 -7.96661773e-04 7.99809064e-01] [ 3.23547051e-02 -8.21552965e-04 9.99476112e-01 6.57479767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10925415399998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:103.36, Y:0.80, Z:0.66 [[ 9.98274899e-01 -4.94501447e-02 -3.16529353e-02 1.03356440e+02] [ 4.94502692e-02 9.98776283e-01 -7.79367278e-04 7.99663818e-01] [ 3.16527409e-02 -7.87223380e-04 9.99498616e-01 6.58526484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13925415399999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:103.39, Y:0.80, Z:0.66 [[ 9.98355402e-01 -4.75240867e-02 -3.20616918e-02 1.03386277e+02] [ 4.74160300e-02 9.98866720e-01 -4.12264215e-03 8.00283384e-01] [ 3.22212818e-02 2.59562392e-03 9.99477389e-01 6.60045303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16925415399999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:103.42, Y:0.80, Z:0.66 [[ 9.98411813e-01 -4.71414700e-02 -3.08469359e-02 1.03416628e+02] [ 4.72393427e-02 9.98880591e-01 2.45140816e-03 7.97379593e-01] [ 3.06968425e-02 -3.90470384e-03 9.99521114e-01 6.57890111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:103.45, Y:0.80, Z:0.66 [[ 9.98528870e-01 -4.48651614e-02 -3.04501841e-02 1.03446021e+02] [ 4.48629568e-02 9.98992865e-01 -7.55943184e-04 7.97972372e-01] [ 3.04534321e-02 -6.11254200e-04 9.99536000e-01 6.59546649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22925415399997 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:103.48, Y:0.80, Z:0.66 [[ 9.98570687e-01 -4.39796925e-02 -3.03705502e-02 1.03476664e+02] [ 4.39770779e-02 9.99032256e-01 -7.54363632e-04 7.97961520e-01] [ 3.03743360e-02 -5.82322644e-04 9.99538424e-01 6.60063829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25925415399998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:103.51, Y:0.80, Z:0.66 [[ 9.98594694e-01 -4.32374587e-02 -3.06457213e-02 1.03507078e+02] [ 4.32344473e-02 9.99064664e-01 -7.61198511e-04 7.98002325e-01] [ 3.06499695e-02 -5.64822028e-04 9.99530020e-01 6.60734799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:103.54, Y:0.80, Z:0.66 [[ 9.98613721e-01 -4.22862777e-02 -3.13449727e-02 1.03536589e+02] [ 4.22826541e-02 9.99105385e-01 -7.78727241e-04 7.97439836e-01] [ 3.13498605e-02 -5.47700931e-04 9.99508322e-01 6.61358191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31925415399998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:103.56, Y:0.80, Z:0.66 [[ 9.98609033e-01 -4.21244666e-02 -3.17100746e-02 1.03564964e+02] [ 4.21206444e-02 9.99112220e-01 -7.88815086e-04 7.97422922e-01] [ 3.17151515e-02 -5.47930909e-04 9.99496798e-01 6.62089968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34925415399998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:103.59, Y:0.80, Z:0.66 [[ 9.98556474e-01 -4.26277390e-02 -3.26778824e-02 1.03593331e+02] [ 4.26238175e-02 9.99090858e-01 -8.16925672e-04 7.96001797e-01] [ 3.26829973e-02 -5.77109678e-04 9.99465602e-01 6.62054430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37925415399998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:103.62, Y:0.79, Z:0.66 [[ 9.98531912e-01 -4.26107309e-02 -3.34416925e-02 1.03622228e+02] [ 4.26063351e-02 9.99091581e-01 -8.44371825e-04 7.94948193e-01] [ 3.34472928e-02 -5.81695747e-04 9.99440313e-01 6.59965914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:103.65, Y:0.79, Z:0.66 [[ 9.98481487e-01 -4.35750114e-02 -3.37036958e-02 1.03650403e+02] [ 4.35708690e-02 9.99049971e-01 -8.57703294e-04 7.94672891e-01] [ 3.37090507e-02 -6.12098454e-04 9.99431501e-01 6.62485486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43925415399998 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:103.68, Y:0.79, Z:0.66 [[ 9.98427420e-01 -4.45522042e-02 -3.40262747e-02 1.03679664e+02] [ 4.45483803e-02 9.99006849e-01 -8.70878401e-04 7.93389938e-01] [ 3.40312810e-02 -6.46306550e-04 9.99420559e-01 6.62694309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.46925415399998 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:103.71, Y:0.79, Z:0.66 [[ 9.98407540e-01 -4.51240990e-02 -3.38555861e-02 1.03708559e+02] [ 4.51203546e-02 9.98981175e-01 -8.74987004e-04 7.93391809e-01] [ 3.38605761e-02 -6.53982426e-04 9.99426352e-01 6.63206387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49925415399998 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:103.74, Y:0.79, Z:0.66 [[ 9.98429803e-01 -4.54753864e-02 -3.27096106e-02 1.03737472e+02] [ 4.54718142e-02 9.98965258e-01 -8.53469857e-04 7.92536699e-01] [ 3.27145765e-02 -6.35235595e-04 9.99464533e-01 6.64338789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52925415399999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:103.77, Y:0.79, Z:0.67 [[ 9.98465210e-01 -4.52715015e-02 -3.19016503e-02 1.03765943e+02] [ 4.52678034e-02 9.98974536e-01 -8.38524832e-04 7.92589916e-01] [ 3.19068976e-02 -6.06879763e-04 9.99490661e-01 6.65343926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55925415399997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:103.80, Y:0.79, Z:0.67 [[ 9.98514066e-01 -4.48732734e-02 -3.09200544e-02 1.03796082e+02] [ 4.48695533e-02 9.98992522e-01 -8.14503379e-04 7.92794886e-01] [ 3.09254525e-02 -5.74075946e-04 9.99521529e-01 6.66073265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:103.83, Y:0.79, Z:0.67 [[ 9.98577523e-01 -4.41004694e-02 -2.99679814e-02 1.03825411e+02] [ 4.40965991e-02 9.99026959e-01 -7.90347660e-04 7.92348337e-01] [ 2.99736761e-02 -5.32262655e-04 9.99550547e-01 6.67525146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61925415399998 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:103.86, Y:0.79, Z:0.67 [[ 9.98588062e-01 -4.41296520e-02 -2.95712185e-02 1.03855273e+02] [ 4.41258767e-02 9.99025674e-01 -7.80543390e-04 7.92314335e-01] [ 2.95768516e-02 -5.25414631e-04 9.99562371e-01 6.67928711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64925415399998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:103.89, Y:0.79, Z:0.67 [[ 9.98572430e-01 -4.49570439e-02 -2.88438370e-02 1.03885686e+02] [ 4.49537746e-02 9.98988777e-01 -7.62119671e-04 7.91754779e-01] [ 2.88489321e-02 -5.35607653e-04 9.99583639e-01 6.68737029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67925415399998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:103.92, Y:0.79, Z:0.67 [[ 9.98533068e-01 -4.57237086e-02 -2.90009428e-02 1.03916127e+02] [ 4.57207303e-02 9.98953967e-01 -7.66146984e-04 7.91563578e-01] [ 2.90056379e-02 -5.60921184e-04 9.99579091e-01 6.69034023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:103.95, Y:0.79, Z:0.67 [[ 9.98467479e-01 -4.67049325e-02 -2.96874227e-02 1.03946726e+02] [ 4.67022614e-02 9.98908547e-01 -7.83734665e-04 7.91040843e-01] [ 2.96916245e-02 -6.03936199e-04 9.99558924e-01 6.69591447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:103.98, Y:0.79, Z:0.67 [[ 9.98377293e-01 -4.88484583e-02 -2.92678720e-02 1.03977657e+02] [ 4.88467939e-02 9.98805984e-01 -7.72265579e-04 7.88812852e-01] [ 2.92706497e-02 -6.58629291e-04 9.99571306e-01 6.69512186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76925415399998 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:104.01, Y:0.79, Z:0.67 [[ 9.98324351e-01 -5.00641272e-02 -2.90185092e-02 1.04008076e+02] [ 5.00630077e-02 9.98745768e-01 -7.65561192e-04 7.88485080e-01] [ 2.90204404e-02 -6.88475470e-04 9.99578581e-01 6.70116334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.79925415399998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:104.04, Y:0.79, Z:0.67 [[ 9.98271307e-01 -5.11911052e-02 -2.88767806e-02 1.04038298e+02] [ 5.11904793e-02 9.98688618e-01 -7.61418709e-04 7.88335430e-01] [ 2.88778899e-02 -7.18113789e-04 9.99582689e-01 6.70669762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.82925415399998 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:104.07, Y:0.79, Z:0.67 [[ 9.98165589e-01 -5.28338608e-02 -2.95641844e-02 1.04069890e+02] [ 5.28339329e-02 9.98603008e-01 -7.79275989e-04 7.87364128e-01] [ 2.95640556e-02 -7.84145659e-04 9.99562580e-01 6.71168415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85925415399998 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:104.10, Y:0.79, Z:0.67 [[ 9.98134600e-01 -5.34121775e-02 -2.95712525e-02 1.04100643e+02] [ 5.34125309e-02 9.98572228e-01 -7.78522038e-04 7.87364111e-01] [ 2.95706141e-02 -8.02405655e-04 9.99562372e-01 6.71898604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88925415399999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:104.13, Y:0.79, Z:0.67 [[ 9.98116581e-01 -5.33672232e-02 -3.02527571e-02 1.04131931e+02] [ 5.33675941e-02 9.98574617e-01 -7.95761440e-04 7.86749380e-01] [ 3.02521029e-02 -8.20254173e-04 9.99541964e-01 6.72427632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91925415399997 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:104.16, Y:0.79, Z:0.67 [[ 9.98126059e-01 -5.30788413e-02 -3.04467787e-02 1.04162645e+02] [ 5.30791234e-02 9.98589990e-01 -7.99536602e-04 7.87011949e-01] [ 3.04462869e-02 -8.18050006e-04 9.99536070e-01 6.73330228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94925415399997 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:104.19, Y:0.79, Z:0.67 [[ 9.98146572e-01 -5.25974696e-02 -3.06092763e-02 1.04193197e+02] [ 5.25975713e-02 9.98615467e-01 -8.02413226e-04 7.87269775e-01] [ 3.06091016e-02 -8.09047579e-04 9.99531104e-01 6.74148394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97925415399997 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:104.22, Y:0.79, Z:0.67 [[ 9.98232054e-01 -5.10355932e-02 -3.04652953e-02 1.04223290e+02] [ 5.10349670e-02 9.98696548e-01 -7.98638806e-04 7.87552699e-01] [ 3.04663442e-02 -7.57568483e-04 9.99535506e-01 6.74869443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00925415399998 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:104.25, Y:0.79, Z:0.67 [[ 9.98315866e-01 -4.92631524e-02 -3.06361465e-02 1.04253492e+02] [ 4.92616853e-02 9.98785583e-01 -8.03117621e-04 7.87858838e-01] [ 3.06385055e-02 -7.07423143e-04 9.99530280e-01 6.74597286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03925415399998 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:104.28, Y:0.79, Z:0.68 [[ 9.98512624e-01 -4.57145861e-02 -2.97105519e-02 1.04283937e+02] [ 4.57116359e-02 9.98954373e-01 -7.78853428e-04 7.88995191e-01] [ 2.97150907e-02 -5.80422950e-04 9.99558241e-01 6.76233075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06925415399998 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:104.31, Y:0.79, Z:0.68 [[ 9.98628476e-01 -4.31055555e-02 -2.97166405e-02 1.04313168e+02] [ 4.31014503e-02 9.99070397e-01 -7.78983056e-04 7.90093377e-01] [ 2.97225943e-02 -5.02915644e-04 9.99558060e-01 6.77197256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09925415399998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:104.34, Y:0.79, Z:0.68 [[ 9.98764368e-01 -3.99258460e-02 -2.95916294e-02 1.04342393e+02] [ 3.99203748e-02 9.99202563e-01 -7.75883961e-04 7.91253502e-01] [ 2.95990097e-02 -4.06383682e-04 9.99561771e-01 6.78077630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12925415399998 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:104.37, Y:0.79, Z:0.68 [[ 9.98994798e-01 -3.39387580e-02 -2.92840389e-02 1.04371441e+02] [ 3.39307516e-02 9.99423889e-01 -7.70424977e-04 7.92898734e-01] [ 2.92933153e-02 -2.23978906e-04 9.99570834e-01 6.79060840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15925415399998 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:104.40, Y:0.79, Z:0.68 [[ 9.99080809e-01 -3.10136457e-02 -2.95920722e-02 1.04398703e+02] [ 3.10039893e-02 9.99518952e-01 -7.85211067e-04 7.93836545e-01] [ 2.96021893e-02 -1.32982980e-04 9.99561750e-01 6.79098224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.18925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:104.43, Y:0.79, Z:0.68 [[ 9.99196798e-01 -2.73586835e-02 -2.92790385e-02 1.04426439e+02] [ 2.73475200e-02 9.99625681e-01 -7.81727529e-04 7.94746449e-01] [ 2.92894659e-02 -1.96094487e-05 9.99570971e-01 6.81064259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.21925415399998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:104.45, Y:0.80, Z:0.68 [[ 9.99234652e-01 -2.60442521e-02 -2.91857263e-02 1.04453675e+02] [ 2.60323874e-02 9.99660791e-01 -7.86480204e-04 7.95303082e-01] [ 2.91963096e-02 2.61041372e-05 9.99573697e-01 6.81584791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24925415399998 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:104.48, Y:0.80, Z:0.68 [[ 9.99270752e-01 -2.46538416e-02 -2.91573748e-02 1.04481918e+02] [ 2.46412698e-02 9.99696045e-01 -7.90458652e-04 7.95407892e-01] [ 2.91680001e-02 7.14074717e-05 9.99574521e-01 6.82352758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27925415399999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:104.51, Y:0.80, Z:0.68 [[ 9.99272740e-01 -2.47829224e-02 -2.89792734e-02 1.04509891e+02] [ 2.47703204e-02 9.99692853e-01 -7.93825369e-04 7.95516585e-01] [ 2.89900459e-02 7.54221643e-05 9.99579697e-01 6.82779247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30925415399997 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:104.54, Y:0.80, Z:0.68 [[ 9.99249595e-01 -2.51455397e-02 -2.94609730e-02 1.04537352e+02] [ 2.51324225e-02 9.99683798e-01 -8.15509337e-04 7.95535465e-01] [ 2.94721638e-02 7.44717552e-05 9.99565599e-01 6.83019053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33925415399997 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:104.56, Y:0.80, Z:0.68 [[ 9.99230180e-01 -2.59180048e-02 -2.94500280e-02 1.04563888e+02] [ 2.57964043e-02 9.99657082e-01 -4.50156841e-03 7.97792999e-01] [ 2.95566007e-02 3.73839819e-03 9.99556117e-01 6.83618501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36925415399998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:104.59, Y:0.79, Z:0.68 [[ 9.99163160e-01 -2.66311482e-02 -3.10444992e-02 1.04592586e+02] [ 2.67263528e-02 9.99639260e-01 2.65573027e-03 7.93709904e-01] [ 3.09625750e-02 -3.48321409e-03 9.99514475e-01 6.82322541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39925415399998 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:104.62, Y:0.80, Z:0.68 [[ 9.99089433e-01 -2.80518848e-02 -3.21464942e-02 1.04620742e+02] [ 2.80370467e-02 9.99606468e-01 -9.12334862e-04 7.95780218e-01] [ 3.21594363e-02 1.02113591e-05 9.99482752e-01 6.83925245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42925415399998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:104.65, Y:0.80, Z:0.69 [[ 9.99054085e-01 -2.85791044e-02 -3.27745425e-02 1.04648877e+02] [ 2.85008754e-02 9.99589700e-01 -2.85167776e-03 7.97218000e-01] [ 3.28425935e-02 1.91487717e-03 9.99458702e-01 6.85077394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45925415399998 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:104.68, Y:0.81, Z:0.68 [[ 9.99247730e-01 -2.83048545e-02 -2.65105453e-02 1.04676821e+02] [ 2.77695480e-02 9.99407244e-01 -2.03473303e-02 8.05660622e-01] [ 2.70707592e-02 1.95958377e-02 9.99441433e-01 6.84113064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48925415399998 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:104.70, Y:0.80, Z:0.68 [[ 9.99196129e-01 -2.98446491e-02 -2.67655158e-02 1.04704848e+02] [ 2.97703062e-02 9.99551734e-01 -3.17184343e-03 7.97160829e-01] [ 2.68481803e-02 2.37247607e-03 9.99636707e-01 6.78894166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51925415399998 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:104.73, Y:0.79, Z:0.68 [[ 9.98944873e-01 -3.19488467e-02 -3.29910968e-02 1.04733198e+02] [ 3.26888283e-02 9.99220342e-01 2.21393056e-02 7.85884270e-01] [ 3.22580497e-02 -2.31943861e-02 9.99210408e-01 6.79560249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.54925415399998 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:104.76, Y:0.80, Z:0.69 [[ 9.98972698e-01 -3.30926210e-02 -3.09584735e-02 1.04760599e+02] [ 3.30803335e-02 9.99452283e-01 -9.09137704e-04 7.97408538e-01] [ 3.09716027e-02 -1.15912883e-04 9.99520258e-01 6.88088130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.57925415399998 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:104.79, Y:0.80, Z:0.69 [[ 9.98992251e-01 -3.30208428e-02 -3.03991191e-02 1.04788269e+02] [ 3.30087091e-02 9.99454658e-01 -9.01028987e-04 7.98298942e-01] [ 3.04122940e-02 -1.03314707e-04 9.99537434e-01 6.88775100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60925415399998 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:104.82, Y:0.80, Z:0.69 [[ 9.99042219e-01 -3.19655574e-02 -2.98805497e-02 1.04815592e+02] [ 3.19531529e-02 9.99488969e-01 -8.92663409e-04 7.99058222e-01] [ 2.98938143e-02 -6.29693380e-05 9.99553078e-01 6.89018752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63925415399999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:104.84, Y:0.80, Z:0.69 [[ 9.99176329e-01 -2.81305927e-02 -2.92460797e-02 1.04843200e+02] [ 2.81169315e-02 9.99604255e-01 -8.78332310e-04 8.00347125e-01] [ 2.92592137e-02 5.52988344e-05 9.99571856e-01 6.90048838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66925415399997 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:104.87, Y:0.80, Z:0.69 [[ 9.99168682e-01 -2.84011748e-02 -2.92458273e-02 1.04871577e+02] [ 2.83873855e-02 9.99596604e-01 -8.86664717e-04 8.01280593e-01] [ 2.92592120e-02 5.57150398e-05 9.99571856e-01 6.90686418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69925415399997 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:104.90, Y:0.80, Z:0.69 [[ 9.99239624e-01 -2.61337923e-02 -2.89343767e-02 1.04899641e+02] [ 2.61191153e-02 9.99658446e-01 -8.85150825e-04 8.02523116e-01] [ 2.89476264e-02 1.28737457e-04 9.99580921e-01 6.91448499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72925415399997 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:104.93, Y:0.80, Z:0.69 [[ 9.99377017e-01 -2.07251279e-02 -2.85665328e-02 1.04926043e+02] [ 2.07084040e-02 9.99785170e-01 -8.81188179e-04 8.03934355e-01] [ 2.85786586e-02 2.89071912e-04 9.99591505e-01 6.92878725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75925415399998 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:104.95, Y:0.80, Z:0.69 [[ 9.99439644e-01 -1.85776222e-02 -2.78436649e-02 1.04953915e+02] [ 1.85607791e-02 9.99827361e-01 -8.63268068e-04 8.04790018e-01] [ 2.78548955e-02 3.45984219e-04 9.99611917e-01 6.93376351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78925415399998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:104.98, Y:0.81, Z:0.69 [[ 9.99452785e-01 -1.71039308e-02 -2.83123128e-02 1.04981798e+02] [ 1.70856864e-02 9.99853636e-01 -8.86208145e-04 8.05525592e-01] [ 2.83233265e-02 4.01987902e-04 9.99598733e-01 6.94219777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:105.01, Y:0.81, Z:0.69 [[ 9.99481918e-01 -1.58895976e-02 -2.79895634e-02 1.05008940e+02] [ 1.58710869e-02 9.99873656e-01 -8.83386467e-04 8.05868468e-01] [ 2.80000638e-02 4.38704007e-04 9.99607825e-01 6.94486173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84925415399998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:105.04, Y:0.81, Z:0.70 [[ 9.99468661e-01 -1.58201407e-02 -2.84976913e-02 1.05036512e+02] [ 1.58007885e-02 9.99874751e-01 -9.04151305e-04 8.05724214e-01] [ 2.85084258e-02 4.53384900e-04 9.99593449e-01 6.95176960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87925415399998 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:105.06, Y:0.80, Z:0.69 [[ 9.99393089e-01 -1.83227920e-02 -2.96264748e-02 1.05063461e+02] [ 1.83027448e-02 9.99832042e-01 -9.47729054e-04 8.04587792e-01] [ 2.96388638e-02 4.04908060e-04 9.99560590e-01 6.94826929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90925415399998 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:105.09, Y:0.80, Z:0.70 [[ 9.99321065e-01 -2.08458653e-02 -3.03785912e-02 1.05091416e+02] [ 2.08257916e-02 9.99782642e-01 -9.77073680e-04 8.04173571e-01] [ 3.03923561e-02 3.43752103e-04 9.99537987e-01 6.95064044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.93925415399998 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:105.12, Y:0.80, Z:0.70 [[ 9.99232117e-01 -2.36759127e-02 -3.12190336e-02 1.05118896e+02] [ 2.36557997e-02 9.99719649e-01 -1.01349432e-03 8.03871534e-01] [ 3.12342767e-02 2.74204871e-04 9.99512053e-01 6.95165899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.96925415399998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:105.15, Y:0.80, Z:0.70 [[ 9.99148286e-01 -2.65155706e-02 -3.16168696e-02 1.05145957e+02] [ 2.64961135e-02 9.99648381e-01 -1.03428558e-03 8.03403220e-01] [ 3.16331772e-02 1.95680503e-04 9.99499527e-01 6.95208066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99925415399998 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:105.17, Y:0.80, Z:0.70 [[ 9.98928132e-01 -3.26207463e-02 -3.28401319e-02 1.05173872e+02] [ 3.26028519e-02 9.99467802e-01 -1.08037284e-03 8.02035038e-01] [ 3.28578970e-02 8.53286200e-06 9.99460033e-01 6.95593448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02925415399999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:105.20, Y:0.80, Z:0.70 [[ 9.98812155e-01 -3.53769639e-02 -3.35074524e-02 1.05201325e+02] [ 3.53595487e-02 9.99374037e-01 -1.11235365e-03 8.02005268e-01] [ 3.35258296e-02 -7.37760494e-05 9.99437849e-01 6.96422134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05925415399997 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:105.23, Y:0.80, Z:0.70 [[ 9.98598153e-01 -4.05400788e-02 -3.40328053e-02 1.05229612e+02] [ 4.05247649e-02 9.99177884e-01 -1.13992399e-03 8.01411436e-01] [ 3.40510390e-02 -2.40845443e-04 9.99420066e-01 6.97664512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08925415399997 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:105.26, Y:0.80, Z:0.70 [[ 9.98510941e-01 -4.31642602e-02 -3.33578660e-02 1.05257282e+02] [ 4.31506886e-02 9.99067940e-01 -1.12698570e-03 8.01532496e-01] [ 3.33754200e-02 -3.14107336e-04 9.99442836e-01 6.98499084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11925415399998 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:105.28, Y:0.80, Z:0.70 [[ 9.98365902e-01 -4.73349542e-02 -3.20144967e-02 1.05284606e+02] [ 4.73243557e-02 9.98878981e-01 -1.08912607e-03 8.00671389e-01] [ 3.20301615e-02 -4.27719098e-04 9.99486811e-01 7.00276705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14925415399998 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:105.31, Y:0.80, Z:0.70 [[ 9.98302492e-01 -4.94586952e-02 -3.07566672e-02 1.05313755e+02] [ 4.94497704e-02 9.98776059e-01 -1.05120925e-03 8.00862148e-01] [ 3.07710143e-02 -4.71485319e-04 9.99526349e-01 7.01071698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17925415399998 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:105.34, Y:0.80, Z:0.70 [[ 9.98219409e-01 -5.16593298e-02 -2.98215498e-02 1.05342808e+02] [ 5.16517408e-02 9.98664632e-01 -1.02527976e-03 8.01215261e-01] [ 2.98346923e-02 -5.16880800e-04 9.99554713e-01 7.01709347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:105.37, Y:0.80, Z:0.70 [[ 9.98091718e-01 -5.46830473e-02 -2.86825047e-02 1.05373252e+02] [ 5.46772330e-02 9.98503593e-01 -9.87563412e-04 8.00787989e-01] [ 2.86935869e-02 -5.82601127e-04 9.99588084e-01 7.01904200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23925415399998 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:105.40, Y:0.80, Z:0.70 [[ 9.98012640e-01 -5.64813758e-02 -2.79396498e-02 1.05403449e+02] [ 5.64765657e-02 9.98403462e-01 -9.61884446e-04 8.01509317e-01] [ 2.79493717e-02 -6.17962634e-04 9.99609149e-01 7.02975848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26925415399998 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:105.43, Y:0.80, Z:0.70 [[ 9.97765948e-01 -6.07791623e-02 -2.77309737e-02 1.05433518e+02] [ 6.07760957e-02 9.98150968e-01 -9.54201703e-04 8.01397966e-01] [ 2.77376938e-02 -7.33310346e-04 9.99614967e-01 7.03940039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.29925415399998 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:105.47, Y:0.80, Z:0.70 [[ 9.97600200e-01 -6.34857092e-02 -2.76297954e-02 1.05465164e+02] [ 6.34837175e-02 9.97982422e-01 -9.50152927e-04 8.01755406e-01] [ 2.76343713e-02 -8.06169378e-04 9.99617773e-01 7.04348699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.32925415399998 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:105.50, Y:0.80, Z:0.70 [[ 9.97188725e-01 -6.95168811e-02 -2.79651403e-02 1.05497592e+02] [ 6.95172413e-02 9.97580288e-01 -9.60516491e-04 8.01821894e-01] [ 2.79642449e-02 -9.86243194e-04 9.99608438e-01 7.04746664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35925415399998 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:105.53, Y:0.80, Z:0.71 [[ 9.96713876e-01 -7.55946174e-02 -2.91016005e-02 1.05529663e+02] [ 7.55976546e-02 9.97137904e-01 -9.97436765e-04 8.01453725e-01] [ 2.90937098e-02 -1.20585368e-03 9.99575961e-01 7.05143055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38925415399999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:105.56, Y:0.80, Z:0.71 [[ 9.96720692e-01 -7.55046673e-02 -2.91016765e-02 1.05562336e+02] [ 7.55077310e-02 9.97144720e-01 -9.95215661e-04 8.02510282e-01] [ 2.90937265e-02 -1.20544952e-03 9.99575961e-01 7.05874322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41925415399997 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:105.60, Y:0.80, Z:0.71 [[ 9.96306262e-01 -8.04793686e-02 -2.99483615e-02 1.05595019e+02] [ 8.04849343e-02 9.96755302e-01 -1.02153477e-03 8.02683201e-01] [ 2.99334005e-02 -1.39263042e-03 9.99550925e-01 7.05755490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44925415399997 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:105.63, Y:0.80, Z:0.71 [[ 9.96140873e-01 -8.23564796e-02 -3.03442274e-02 1.05626102e+02] [ 8.23631261e-02 9.96601851e-01 -1.03293756e-03 8.03652899e-01] [ 3.03261823e-02 -1.47029411e-03 9.99538974e-01 7.06274910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47925415399997 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:105.67, Y:0.84, Z:0.71 [[ 9.96870136e-01 -7.83003506e-02 -1.09081024e-02 1.05667733e+02] [ 7.70368655e-02 9.93100712e-01 -8.84098218e-02 8.38957411e-01] [ 1.77553643e-02 8.72927851e-02 9.96024456e-01 7.08374478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50925415399998 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:105.69, Y:0.76, Z:0.68 [[ 9.95873954e-01 -8.33095908e-02 -3.59802669e-02 1.05688932e+02] [ 8.61971811e-02 9.92383533e-01 8.80055033e-02 7.62189880e-01] [ 2.83745220e-02 -9.07437862e-02 9.95469965e-01 6.82923104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53925415399998 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:105.72, Y:0.81, Z:0.71 [[ 9.95818957e-01 -8.49734438e-02 -3.35278880e-02 1.05719075e+02] [ 8.49827467e-02 9.96381759e-01 -1.15006306e-03 8.08435587e-01] [ 3.35043008e-02 -1.70403742e-03 9.99437121e-01 7.07703830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56925415399998 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:105.75, Y:0.81, Z:0.71 [[ 9.96008514e-01 -8.27477506e-02 -3.34641542e-02 1.05751364e+02] [ 8.27558619e-02 9.96569193e-01 -1.14498849e-03 8.12546438e-01] [ 3.34440904e-02 -1.62893664e-03 9.99439262e-01 7.08645559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59925415399998 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:105.78, Y:0.82, Z:0.71 [[ 9.96153871e-01 -8.11118018e-02 -3.31412124e-02 1.05783082e+02] [ 8.11189346e-02 9.96703787e-01 -1.13149913e-03 8.15412744e-01] [ 3.31237498e-02 -1.56123261e-03 9.99450039e-01 7.09904005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62925415399998 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:105.82, Y:0.82, Z:0.71 [[ 9.96339226e-01 -7.91527380e-02 -3.22953701e-02 1.05815601e+02] [ 7.91585596e-02 9.96861431e-01 -1.10027006e-03 8.18057927e-01] [ 3.22810982e-02 -1.46021276e-03 9.99477763e-01 7.11005005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65925415399998 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:105.85, Y:0.82, Z:0.71 [[ 9.96673532e-01 -7.55668870e-02 -3.05207448e-02 1.05846460e+02] [ 7.55704846e-02 9.97139923e-01 -1.03726406e-03 8.22515844e-01] [ 3.05118359e-02 -1.27265384e-03 9.99533595e-01 7.12880402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.68925415399998 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:105.88, Y:0.83, Z:0.71 [[ 9.96815217e-01 -7.39719131e-02 -2.97922846e-02 1.05878361e+02] [ 7.39747258e-02 9.97259606e-01 -1.00927333e-03 8.25338434e-01] [ 2.97852999e-02 -1.19781707e-03 9.99555602e-01 7.13986451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.71925415399998 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:105.91, Y:0.83, Z:0.71 [[ 9.97079067e-01 -7.08017878e-02 -2.86433291e-02 1.05908995e+02] [ 7.08031360e-02 9.97489839e-01 -9.68428357e-04 8.29406105e-01] [ 2.86399962e-02 -1.06243788e-03 9.99589227e-01 7.14842283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74925415399998 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:105.94, Y:0.83, Z:0.72 [[ 9.97221469e-01 -6.89507379e-02 -2.81981884e-02 1.05939621e+02] [ 6.89513482e-02 9.97619570e-01 -9.51862378e-04 8.31724175e-01] [ 2.81966962e-02 -9.95085505e-04 9.99601899e-01 7.15734688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77925415399999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:105.97, Y:0.84, Z:0.72 [[ 9.97460295e-01 -6.56542217e-02 -2.76130929e-02 1.05971883e+02] [ 6.56535877e-02 9.97842042e-01 -9.30561803e-04 8.36326997e-01] [ 2.76146003e-02 -8.84700164e-04 9.99618253e-01 7.16615955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80925415399997 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:106.00, Y:0.84, Z:0.72 [[ 9.97565789e-01 -6.40500770e-02 -2.75696196e-02 1.06003506e+02] [ 6.40488871e-02 9.97946331e-01 -9.27134327e-04 8.38936004e-01] [ 2.75723838e-02 -8.40925967e-04 9.99619456e-01 7.17178750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83925415399997 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:106.03, Y:0.84, Z:0.72 [[ 9.97705087e-01 -6.15797909e-02 -2.81511636e-02 1.06034545e+02] [ 6.15776224e-02 9.98101850e-01 -9.44759836e-04 8.42481525e-01] [ 2.81559065e-02 -7.90890025e-04 9.99603231e-01 7.17606964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86925415399998 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:106.07, Y:0.84, Z:0.72 [[ 9.97744419e-01 -6.06010226e-02 -2.88719760e-02 1.06067030e+02] [ 6.05983813e-02 9.98161761e-01 -9.67261219e-04 8.44667320e-01] [ 2.88775194e-02 -7.84515525e-04 9.99582650e-01 7.18148004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:106.10, Y:0.85, Z:0.72 [[ 9.97755953e-01 -6.00814902e-02 -2.95511995e-02 1.06097978e+02] [ 6.00785575e-02 9.98193163e-01 -9.87926565e-04 8.46789207e-01] [ 2.95571614e-02 -7.89683825e-04 9.99562780e-01 7.18489122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92925415399998 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:106.13, Y:0.85, Z:0.72 [[ 9.97743498e-01 -5.99434144e-02 -3.02440104e-02 1.06129670e+02] [ 5.99403345e-02 9.98201451e-01 -1.00926887e-03 8.48676761e-01] [ 3.02501141e-02 -8.05844642e-04 9.99542036e-01 7.18945285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95925415399998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:106.16, Y:0.85, Z:0.72 [[ 9.97685129e-01 -6.02733221e-02 -3.14882607e-02 1.06160980e+02] [ 6.02702324e-02 9.98181547e-01 -1.04811339e-03 8.51577186e-01] [ 3.14941741e-02 -8.52117655e-04 9.99503572e-01 7.19716368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98925415399998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:106.19, Y:0.85, Z:0.72 [[ 9.97668054e-01 -6.05315983e-02 -3.15337847e-02 1.06192020e+02] [ 6.05287183e-02 9.98165907e-01 -1.04678690e-03 8.54667937e-01] [ 3.15393125e-02 -8.64353721e-04 9.99502138e-01 7.20691004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01925415399998 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:106.22, Y:0.86, Z:0.72 [[ 9.97687842e-01 -6.02379851e-02 -3.14698959e-02 1.06222439e+02] [ 6.02350002e-02 9.98183678e-01 -1.04372976e-03 8.56244914e-01] [ 3.14756086e-02 -8.54272695e-04 9.99504155e-01 7.21323149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04925415399998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:106.25, Y:0.86, Z:0.72 [[ 9.97735043e-01 -5.99046131e-02 -3.05977202e-02 1.06253683e+02] [ 5.99016545e-02 9.98203768e-01 -1.01415077e-03 8.57817572e-01] [ 3.06035119e-02 -8.21000302e-04 9.99531266e-01 7.22035241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07925415399998 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:106.29, Y:0.86, Z:0.72 [[ 9.97845149e-01 -5.88714785e-02 -2.89690656e-02 1.06285208e+02] [ 5.88684216e-02 9.98265290e-01 -9.59112135e-04 8.59766016e-01] [ 2.89752770e-02 -7.48317776e-04 9.99579848e-01 7.22972513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10925415399998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:106.32, Y:0.86, Z:0.72 [[ 9.97877681e-01 -5.86295912e-02 -2.83320415e-02 1.06316921e+02] [ 5.86266130e-02 9.98279542e-01 -9.36491590e-04 8.61501090e-01] [ 2.83382035e-02 -7.26507577e-04 9.99598128e-01 7.23857999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13925415399999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:106.35, Y:0.86, Z:0.72 [[ 9.97908671e-01 -5.83780719e-02 -2.77539969e-02 1.06347793e+02] [ 5.83751751e-02 9.98294296e-01 -9.15283975e-04 8.63288189e-01] [ 2.77600893e-02 -7.06774614e-04 9.99614365e-01 7.24463463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16925415399997 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:106.38, Y:0.87, Z:0.73 [[ 9.97892499e-01 -5.90408305e-02 -2.69210131e-02 1.06380018e+02] [ 5.90384178e-02 9.98255319e-01 -8.85138386e-04 8.65500678e-01] [ 2.69263039e-02 -7.06101066e-04 9.99637172e-01 7.25308240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19925415399997 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:106.41, Y:0.87, Z:0.73 [[ 9.97823529e-01 -6.01458009e-02 -2.70312381e-02 1.06410918e+02] [ 6.01438241e-02 9.98189328e-01 -8.86891376e-04 8.66971268e-01] [ 2.70356362e-02 -7.40800945e-04 9.99634196e-01 7.25962110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22925415399997 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:106.45, Y:0.90, Z:0.73 [[ 9.98527194e-01 -5.41280513e-02 -3.68750793e-03 1.06452975e+02] [ 5.35882746e-02 9.94613880e-01 -8.87216198e-02 9.00742063e-01] [ 8.46997496e-03 8.83933428e-02 9.96049636e-01 7.27807750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25925415399998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:106.47, Y:0.83, Z:0.70 [[ 9.97404543e-01 -6.50401498e-02 -3.08861969e-02 1.06472811e+02] [ 6.75484942e-02 9.93769148e-01 8.86571020e-02 8.25492619e-01] [ 2.49274784e-02 -9.05133124e-02 9.95583227e-01 7.00188855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:106.50, Y:0.87, Z:0.73 [[ 9.97010576e-01 -7.16495506e-02 -2.89180467e-02 1.06502246e+02] [ 7.15639488e-02 9.97428050e-01 -3.98566794e-03 8.73196112e-01] [ 2.91292423e-02 1.90426347e-03 9.99573840e-01 7.28929192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31925415399998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:106.54, Y:0.88, Z:0.73 [[ 9.96767136e-01 -7.45164849e-02 -3.00427947e-02 1.06535160e+02] [ 7.44112836e-02 9.97216999e-01 -4.60621161e-03 8.75158348e-01] [ 3.03024243e-02 2.35579743e-03 9.99538000e-01 7.29956965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34925415399998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:106.57, Y:0.87, Z:0.73 [[ 9.96501505e-01 -7.81358647e-02 -2.96569931e-02 1.06568601e+02] [ 7.83243990e-02 9.96914113e-01 5.24784284e-03 8.72955230e-01] [ 2.91554303e-02 -7.55234945e-03 9.99546359e-01 7.26984503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37925415399998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:106.60, Y:0.88, Z:0.73 [[ 9.96509001e-01 -7.81176635e-02 -2.94523759e-02 1.06601992e+02] [ 7.81230296e-02 9.96943254e-01 -9.70227518e-04 8.76991941e-01] [ 2.94381394e-02 -1.33406838e-03 9.99565714e-01 7.29806880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40925415399998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:106.64, Y:0.88, Z:0.73 [[ 9.96389026e-01 -7.96248439e-02 -2.94752935e-02 1.06635074e+02] [ 7.96310073e-02 9.96823941e-01 -9.66535115e-04 8.79891500e-01] [ 2.94586384e-02 -1.38410233e-03 9.99565042e-01 7.30267879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:106.67, Y:0.88, Z:0.73 [[ 9.96384145e-01 -7.95490584e-02 -2.98426223e-02 1.06667758e+02] [ 7.95554428e-02 9.96829966e-01 -9.75225460e-04 8.81735644e-01] [ 2.98255985e-02 -1.40244385e-03 9.99554134e-01 7.31224521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.46925415399998 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:106.70, Y:0.88, Z:0.73 [[ 9.96508973e-01 -7.79273070e-02 -2.99533249e-02 1.06699618e+02] [ 7.79331037e-02 9.96958113e-01 -9.75645641e-04 8.84705926e-01] [ 2.99382397e-02 -1.36211594e-03 9.99550822e-01 7.32101217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49925415399998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:106.73, Y:0.89, Z:0.73 [[ 9.96657872e-01 -7.60425183e-02 -2.98432907e-02 1.06731524e+02] [ 7.60475104e-02 9.97103724e-01 -9.69340551e-04 8.86863856e-01] [ 2.98305674e-02 -1.30340707e-03 9.99554120e-01 7.33019417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52925415399999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:106.76, Y:0.89, Z:0.73 [[ 9.96832386e-01 -7.38715783e-02 -2.94649603e-02 1.06764477e+02] [ 7.38755787e-02 9.97267009e-01 -9.54307769e-04 8.89423046e-01] [ 2.94549290e-02 -1.22545610e-03 9.99565358e-01 7.34401011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55925415399997 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:106.80, Y:0.89, Z:0.74 [[ 9.96838906e-01 -7.37835015e-02 -2.94650578e-02 1.06797154e+02] [ 7.37875525e-02 9.97273529e-01 -9.51289800e-04 8.90415166e-01] [ 2.94549116e-02 -1.22587181e-03 9.99565358e-01 7.35149720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58925415399997 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:106.83, Y:0.89, Z:0.74 [[ 9.97269642e-01 -6.82285335e-02 -2.82511742e-02 1.06829661e+02] [ 6.82301020e-02 9.97669197e-01 -9.09584965e-04 8.94416951e-01] [ 2.82473859e-02 -1.02047902e-03 9.99600442e-01 7.36643832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61925415399998 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:106.86, Y:0.90, Z:0.74 [[ 9.97504445e-01 -6.44732561e-02 -2.87764032e-02 1.06860367e+02] [ 6.43871565e-02 9.97917336e-01 -3.90962901e-03 8.98427672e-01] [ 2.89685381e-02 2.04704154e-03 9.99578228e-01 7.38539651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64925415399998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:106.89, Y:0.90, Z:0.74 [[ 9.97662734e-01 -6.21736836e-02 -2.83461066e-02 1.06892469e+02] [ 6.22548303e-02 9.98058306e-01 1.98838027e-03 8.97977880e-01] [ 2.81674422e-02 -3.74841495e-03 9.99596191e-01 7.37107269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:106.92, Y:0.90, Z:0.74 [[ 9.98002531e-01 -5.62255638e-02 -2.88033827e-02 1.06924185e+02] [ 5.62224656e-02 9.98417844e-01 -9.18060646e-04 9.02833065e-01] [ 2.88094298e-02 -7.03170348e-04 9.99584675e-01 7.38303291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70925415399998 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:106.96, Y:0.90, Z:0.74 [[ 9.98153935e-01 -5.31735386e-02 -2.93478425e-02 1.06956557e+02] [ 5.31690677e-02 9.98585089e-01 -9.33239537e-04 9.04807292e-01] [ 2.93559415e-02 -6.28880706e-04 9.99568824e-01 7.38593575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:106.99, Y:0.91, Z:0.74 [[ 9.98446411e-01 -4.68065165e-02 -3.02310207e-02 1.06988145e+02] [ 4.67989189e-02 9.98903870e-01 -9.59208095e-04 9.08401949e-01] [ 3.02427807e-02 -4.57061206e-04 9.99542478e-01 7.38641753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76925415399998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:107.04, Y:0.96, Z:0.75 [[ 9.99521760e-01 -3.08091361e-02 2.65505646e-03 1.07041680e+02] [ 3.09033091e-02 9.92097233e-01 -1.21606191e-01 9.55714878e-01] [ 1.11250750e-03 1.21630084e-01 9.92574876e-01 7.47137824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79925415399998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:107.05, Y:0.85, Z:0.70 [[ 9.98817337e-01 -3.33930410e-02 -3.53388185e-02 1.07052660e+02] [ 3.75164232e-02 9.91659106e-01 1.23307484e-01 8.52719720e-01] [ 3.09264492e-02 -1.24487439e-01 9.91739095e-01 7.01847689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.82925415399998 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:107.08, Y:0.92, Z:0.74 [[ 9.98949635e-01 -3.30224919e-02 -3.17669979e-02 1.07078864e+02] [ 3.30060151e-02 9.99454609e-01 -1.04306352e-03 9.18288796e-01] [ 3.17841170e-02 -6.53409246e-06 9.99494757e-01 7.43434784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85925415399998 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:107.11, Y:0.92, Z:0.74 [[ 9.99053374e-01 -2.96205885e-02 -3.18586979e-02 1.07106572e+02] [ 2.96021877e-02 9.99561209e-01 -1.04918710e-03 9.20683390e-01] [ 3.18757961e-02 1.05106760e-04 9.99491832e-01 7.44169977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88925415399999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:107.13, Y:0.92, Z:0.75 [[ 9.99227618e-01 -2.33955587e-02 -3.15723716e-02 1.07132968e+02] [ 2.33741259e-02 9.99726239e-01 -1.04780820e-03 9.23372029e-01] [ 3.15882424e-02 3.09022306e-04 9.99500919e-01 7.45205329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91925415399997 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:107.16, Y:0.94, Z:0.75 [[ 9.99499682e-01 -1.98328898e-02 -2.46382392e-02 1.07162179e+02] [ 1.91772514e-02 9.99463048e-01 -2.65678032e-02 9.36001310e-01] [ 2.51519260e-02 2.60820172e-02 9.99343339e-01 7.47910386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94925415399997 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:107.20, Y:0.93, Z:0.74 [[ 9.99592570e-01 -1.52679089e-02 -2.41160531e-02 1.07195524e+02] [ 1.50231069e-02 9.99834097e-01 -1.02997723e-02 9.27851359e-01] [ 2.42693081e-02 9.93327778e-03 9.99656106e-01 7.40934468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97925415399997 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:107.22, Y:0.92, Z:0.74 [[ 9.99533591e-01 -1.60662702e-02 -2.59706564e-02 1.07223585e+02] [ 1.60691086e-02 9.99870879e-01 -9.94143239e-05 9.24952398e-01] [ 2.59689003e-02 -3.17957342e-04 9.99662701e-01 7.39124947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00925415399998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:107.25, Y:0.91, Z:0.74 [[ 9.99174844e-01 -1.86248078e-02 -3.60935866e-02 1.07248536e+02] [ 1.98369704e-02 9.99241098e-01 3.35219757e-02 9.12383048e-01] [ 3.54418548e-02 -3.42103023e-02 9.98786028e-01 7.38978221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03925415399998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:107.28, Y:0.93, Z:0.75 [[ 9.99165473e-01 -2.19784236e-02 -3.44282801e-02 1.07275976e+02] [ 2.19491058e-02 9.99758334e-01 -1.22932322e-03 9.29182484e-01] [ 3.44469785e-02 4.72627357e-04 9.99406415e-01 7.51267869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06925415399998 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:107.30, Y:0.93, Z:0.75 [[ 9.99088352e-01 -2.44941872e-02 -3.49642602e-02 1.07304284e+02] [ 2.44653132e-02 9.99699894e-01 -1.25347613e-03 9.29213371e-01] [ 3.49844701e-02 3.96921824e-04 9.99387777e-01 7.52295564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09925415399998 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:107.33, Y:0.93, Z:0.75 [[ 9.98889307e-01 -3.10791440e-02 -3.54152475e-02 1.07332634e+02] [ 3.10532904e-02 9.99516911e-01 -1.27996629e-03 9.27882912e-01] [ 3.54379190e-02 1.78784678e-04 9.99371864e-01 7.52725261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12925415399998 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:107.36, Y:0.93, Z:0.75 [[ 9.98744929e-01 -3.53872677e-02 -3.54444399e-02 1.07360161e+02] [ 3.53637225e-02 9.99373674e-01 -1.29118022e-03 9.27564980e-01] [ 3.54679314e-02 3.61123639e-05 9.99370814e-01 7.53175154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15925415399998 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:107.39, Y:0.93, Z:0.75 [[ 9.98570186e-01 -3.98967789e-02 -3.55785151e-02 1.07387916e+02] [ 3.98755533e-02 9.99203800e-01 -1.30624750e-03 9.27132000e-01] [ 3.56023026e-02 -1.14333172e-04 9.99366031e-01 7.53632767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.18925415399998 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:107.42, Y:0.93, Z:0.75 [[ 9.98351132e-01 -4.46160356e-02 -3.61168496e-02 1.07415902e+02] [ 4.45968739e-02 9.99004171e-01 -1.33638679e-03 9.26795655e-01] [ 3.61405076e-02 -2.76515318e-04 9.99346680e-01 7.54549584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21925415399998 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:107.44, Y:0.92, Z:0.75 [[ 9.97923870e-01 -5.32309127e-02 -3.62549168e-02 1.07443569e+02] [ 5.32169118e-02 9.98582061e-01 -1.35176055e-03 9.24770246e-01] [ 3.62754650e-02 -5.80420591e-04 9.99341660e-01 7.54449296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24925415399998 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:107.47, Y:0.92, Z:0.76 [[ 9.97482862e-01 -6.09492566e-02 -3.62371005e-02 1.07473664e+02] [ 6.09400655e-02 9.98140502e-01 -1.35912103e-03 9.23373313e-01] [ 3.62525551e-02 -8.52591344e-04 9.99342296e-01 7.55516700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27925415399997 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:107.50, Y:0.92, Z:0.76 [[ 9.97293491e-01 -6.40514050e-02 -3.60986292e-02 1.07504001e+02] [ 6.40443290e-02 9.97946137e-01 -1.35350680e-03 9.23184826e-01] [ 3.61111816e-02 -9.62068963e-04 9.99347315e-01 7.55976796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30925415399997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:107.53, Y:0.92, Z:0.76 [[ 9.97132757e-01 -6.67506207e-02 -3.56457595e-02 1.07534528e+02] [ 6.67455036e-02 9.97769140e-01 -1.33484028e-03 9.23196947e-01] [ 3.56553402e-02 -1.04818121e-03 9.99363597e-01 7.56748442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33925415399997 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:107.57, Y:0.92, Z:0.76 [[ 9.97012315e-01 -6.87207194e-02 -3.52690510e-02 1.07565793e+02] [ 6.87169707e-02 9.97635322e-01 -1.31988199e-03 9.23549924e-01] [ 3.52763543e-02 -1.10764374e-03 9.99376982e-01 7.57692234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36925415399998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:107.60, Y:0.92, Z:0.76 [[ 9.96861993e-01 -7.09889183e-02 -3.50248495e-02 1.07598232e+02] [ 7.09866875e-02 9.97476404e-01 -1.30879134e-03 9.24084278e-01] [ 3.50293706e-02 -1.18161370e-03 9.99385585e-01 7.58868827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39925415399998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:107.63, Y:0.93, Z:0.76 [[ 9.96838619e-01 -7.12734406e-02 -3.51121800e-02 1.07630453e+02] [ 7.12714660e-02 9.97456096e-01 -1.30946254e-03 9.25369898e-01] [ 3.51161878e-02 -1.19717371e-03 9.99382519e-01 7.60270413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:107.66, Y:0.93, Z:0.76 [[ 9.96903877e-01 -7.03136089e-02 -3.51945494e-02 1.07662798e+02] [ 7.03111205e-02 9.97524251e-01 -1.30990182e-03 9.27195533e-01] [ 3.51995204e-02 -1.16872200e-03 9.99379621e-01 7.61258247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45925415399998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:107.69, Y:0.93, Z:0.76 [[ 9.96964170e-01 -6.93621584e-02 -3.53742102e-02 1.07694110e+02] [ 6.93591354e-02 9.97590890e-01 -1.31407773e-03 9.28753493e-01] [ 3.53801371e-02 -1.14343622e-03 9.99373273e-01 7.62327488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48925415399998 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:107.73, Y:0.93, Z:0.76 [[ 9.97030666e-01 -6.81407524e-02 -3.58704467e-02 1.07726536e+02] [ 6.81369317e-02 9.97675092e-01 -1.33036991e-03 9.30235310e-01] [ 3.58777036e-02 -1.11768257e-03 9.99355563e-01 7.63131815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:107.76, Y:0.93, Z:0.76 [[ 9.97150206e-01 -6.62448374e-02 -3.60983215e-02 1.07758101e+02] [ 6.62398186e-02 9.97802837e-01 -1.33629189e-03 9.31701583e-01] [ 3.61075300e-02 -1.05866254e-03 9.99347350e-01 7.63714936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54925415399998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:107.79, Y:0.93, Z:0.76 [[ 9.97201881e-01 -6.54073755e-02 -3.61978411e-02 1.07790371e+02] [ 6.54018540e-02 9.97858110e-01 -1.33787807e-03 9.33026430e-01] [ 3.62078164e-02 -1.03327139e-03 9.99343748e-01 7.64525288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57925415399998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:107.82, Y:0.93, Z:0.77 [[ 9.97260111e-01 -6.44958836e-02 -3.62291644e-02 1.07822677e+02] [ 6.44898432e-02 9.97917468e-01 -1.33651342e-03 9.34698320e-01] [ 3.62399157e-02 -1.00356161e-03 9.99342615e-01 7.65361128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:107.85, Y:0.94, Z:0.77 [[ 9.97378813e-01 -6.21777091e-02 -3.70058818e-02 1.07853428e+02] [ 6.21699086e-02 9.98064650e-01 -1.36258854e-03 9.37165925e-01] [ 3.70189851e-02 -9.41635354e-04 9.99314119e-01 7.66124038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63925415399999 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:107.88, Y:0.95, Z:0.77 [[ 9.97431766e-01 -5.88226465e-02 -4.08627920e-02 1.07879851e+02] [ 5.81688754e-02 9.98161848e-01 -1.70090517e-02 9.45809567e-01] [ 4.17881974e-02 1.45884258e-02 9.99019982e-01 7.72846188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66925415399997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:107.91, Y:0.93, Z:0.76 [[ 9.97527183e-01 -5.86256451e-02 -3.87627788e-02 1.07912065e+02] [ 5.91879553e-02 9.98155288e-01 1.35206136e-02 9.33766055e-01] [ 3.78986180e-02 -1.57814692e-02 9.99156965e-01 7.62010899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69925415399997 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:107.94, Y:0.94, Z:0.77 [[ 9.97690062e-01 -5.46162064e-02 -4.03932028e-02 1.07942260e+02] [ 5.46003594e-02 9.98507167e-01 -1.49623225e-03 9.44681483e-01] [ 4.04146210e-02 -7.12707343e-04 9.99182741e-01 7.67975485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72925415399997 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:107.97, Y:0.95, Z:0.77 [[ 9.97775913e-01 -5.25886588e-02 -4.09592635e-02 1.07971410e+02] [ 5.25706384e-02 9.98616055e-01 -1.51766019e-03 9.47420273e-01] [ 4.09823898e-02 -6.38969851e-04 9.99159665e-01 7.68850180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75925415399998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:108.00, Y:0.95, Z:0.77 [[ 9.97966523e-01 -4.82954349e-02 -4.15977085e-02 1.07999486e+02] [ 4.82730258e-02 9.98832985e-01 -1.54358606e-03 9.51549654e-01] [ 4.16237115e-02 -4.67600044e-04 9.99133248e-01 7.69918725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78925415399998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:108.03, Y:0.95, Z:0.77 [[ 9.98080721e-01 -4.62441520e-02 -4.11868042e-02 1.08027229e+02] [ 4.62201790e-02 9.98930098e-01 -1.53461001e-03 9.54184677e-01] [ 4.12137050e-02 -3.71996792e-04 9.99150285e-01 7.71229038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81925415399998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:108.05, Y:0.96, Z:0.77 [[ 9.98217677e-01 -4.39102600e-02 -4.04148318e-02 1.08054564e+02] [ 4.38848754e-02 9.99035445e-01 -1.51547785e-03 9.56623815e-01] [ 4.04423945e-02 -2.60823081e-04 9.99181838e-01 7.72131423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84925415399998 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:108.08, Y:0.98, Z:0.78 [[ 9.98675539e-01 -3.94365403e-02 -3.30443342e-02 1.08080572e+02] [ 3.84137312e-02 9.98779828e-01 -3.10360995e-02 9.75382621e-01] [ 3.42279708e-02 2.97256372e-02 9.98971888e-01 7.77752543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87925415399998 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:108.11, Y:0.95, Z:0.76 [[ 9.98602934e-01 -3.58484202e-02 -3.88210003e-02 1.08111645e+02] [ 3.69416203e-02 9.98930151e-01 2.78185181e-02 9.48901471e-01] [ 3.77822178e-02 -2.92137645e-02 9.98858879e-01 7.64588071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90925415399998 meters Centerline goodness : 0.995816 Centerline is valid? [True, True] Translation: X:108.14, Y:0.98, Z:0.78 [[ 9.99044230e-01 -3.14566192e-02 -3.03497641e-02 1.08136228e+02] [ 3.05923690e-02 9.99124620e-01 -2.85324436e-02 9.81107152e-01] [ 3.12207307e-02 2.75767019e-02 9.99132019e-01 7.79566676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93925415399998 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:108.17, Y:0.96, Z:0.77 [[ 9.98948058e-01 -2.83441660e-02 -3.60469929e-02 1.08167461e+02] [ 2.92741465e-02 9.99245123e-01 2.55383915e-02 9.56865366e-01] [ 3.52959175e-02 -2.65667715e-02 9.99023726e-01 7.68256967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.96925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:108.19, Y:0.97, Z:0.78 [[ 9.99040720e-01 -2.72699425e-02 -3.42635502e-02 1.08194581e+02] [ 2.72405654e-02 9.99628030e-01 -1.32399823e-03 9.72057593e-01] [ 3.42869106e-02 3.89369660e-04 9.99411955e-01 7.78722736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99925415399998 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:108.22, Y:0.97, Z:0.78 [[ 9.99116306e-01 -2.58298327e-02 -3.31575942e-02 1.08222682e+02] [ 2.58012275e-02 9.99666260e-01 -1.29035602e-03 9.73747153e-01] [ 3.31798578e-02 4.33709113e-04 9.99449303e-01 7.79664129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02925415399997 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:108.25, Y:0.99, Z:0.78 [[ 9.99279484e-01 -2.61597537e-02 -2.74987269e-02 1.08249284e+02] [ 2.53248555e-02 9.99220482e-01 -3.02833332e-02 9.88831138e-01] [ 2.82694956e-02 2.95651123e-02 9.99163020e-01 7.83723819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05925415399997 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:108.28, Y:0.96, Z:0.77 [[ 9.98924096e-01 -3.02530927e-02 -3.51482724e-02 1.08280354e+02] [ 3.12241081e-02 9.99136396e-01 2.74138062e-02 9.60727555e-01] [ 3.42885658e-02 -2.84817850e-02 9.99006047e-01 7.70072221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08925415399997 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:108.31, Y:0.98, Z:0.78 [[ 9.99185863e-01 -3.15443761e-02 -2.51508175e-02 1.08311834e+02] [ 3.08669199e-02 9.99161897e-01 -2.68837638e-02 9.83420426e-01] [ 2.59777701e-02 2.60855485e-02 9.99322120e-01 7.77957150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11925415399998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:108.34, Y:0.96, Z:0.77 [[ 9.98562578e-01 -3.88685618e-02 -3.69054644e-02 1.08340500e+02] [ 3.97403842e-02 9.98940885e-01 2.31907394e-02 9.62439663e-01] [ 3.59649865e-02 -2.46240418e-02 9.99049637e-01 7.72597492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14925415399998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:108.37, Y:0.97, Z:0.78 [[ 9.98143071e-01 -4.87716617e-02 -3.64929389e-02 1.08368701e+02] [ 4.87503243e-02 9.98809907e-01 -1.47481724e-03 9.72712361e-01] [ 3.65214382e-02 -3.06963992e-04 9.99332823e-01 7.81522704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17925415399998 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:108.40, Y:0.97, Z:0.78 [[ 9.97896798e-01 -5.33183193e-02 -3.68664912e-02 1.08398433e+02] [ 5.32995528e-02 9.98577453e-01 -1.49237212e-03 9.72317148e-01] [ 3.68936177e-02 -4.75734132e-04 9.99319086e-01 7.82229094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20925415399998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:108.43, Y:0.97, Z:0.78 [[ 9.97426654e-01 -6.14943365e-02 -3.68580688e-02 1.08428328e+02] [ 6.14811096e-02 9.98107130e-01 -1.49325110e-03 9.70393969e-01] [ 3.68801278e-02 -7.76666522e-04 9.99319395e-01 7.82680486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23925415399998 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:108.46, Y:0.97, Z:0.78 [[ 9.97227678e-01 -6.47519654e-02 -3.66625407e-02 1.08459513e+02] [ 6.47410670e-02 9.97900991e-01 -1.48561738e-03 9.70103593e-01] [ 3.66817824e-02 -8.92073238e-04 9.99326599e-01 7.83397770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26925415399998 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:108.49, Y:0.97, Z:0.78 [[ 9.97058890e-01 -6.75388304e-02 -3.62225943e-02 1.08491290e+02] [ 6.75300850e-02 9.97716161e-01 -1.46623994e-03 9.70253778e-01] [ 3.62388958e-02 -9.84187301e-04 9.99342671e-01 7.84550513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29925415399998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:108.52, Y:0.97, Z:0.79 [[ 9.96818599e-01 -7.15232595e-02 -3.51724956e-02 1.08522318e+02] [ 7.15175750e-02 9.97438327e-01 -1.42132128e-03 9.69746098e-01] [ 3.51840527e-02 -1.09865210e-03 9.99380246e-01 7.85527562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.32925415399998 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:108.55, Y:0.97, Z:0.79 [[ 9.96713414e-01 -7.31409772e-02 -3.48248216e-02 1.08554280e+02] [ 7.31364591e-02 9.97320953e-01 -1.40529800e-03 9.70407166e-01] [ 3.48343091e-02 -1.14628477e-03 9.99392444e-01 7.86402667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35925415399998 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:108.59, Y:0.97, Z:0.79 [[ 9.96529949e-01 -7.57311243e-02 -3.45377735e-02 1.08586148e+02] [ 7.57283191e-02 9.97127518e-01 -1.39123165e-03 9.70750232e-01] [ 3.45439238e-02 -1.22908352e-03 9.99402425e-01 7.86949656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38925415399999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:108.62, Y:0.97, Z:0.79 [[ 9.96426889e-01 -7.71983901e-02 -3.42617029e-02 1.08618693e+02] [ 7.71965801e-02 9.97014940e-01 -1.37763428e-03 9.71481835e-01] [ 3.42657808e-02 -1.27217445e-03 9.99411946e-01 7.87667522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41925415399997 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:108.65, Y:0.97, Z:0.79 [[ 9.96299575e-01 -7.87510507e-02 -3.44300617e-02 1.08650578e+02] [ 7.87502348e-02 9.96893420e-01 -1.38189929e-03 9.72092678e-01] [ 3.44319280e-02 -1.33458977e-03 9.99406154e-01 7.88495602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44925415399997 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:108.68, Y:0.97, Z:0.79 [[ 9.96063876e-01 -8.17278312e-02 -3.43120394e-02 1.08682719e+02] [ 8.17288678e-02 9.96653652e-01 -1.37469411e-03 9.72007005e-01] [ 3.43095702e-02 -1.43500099e-03 9.99410223e-01 7.89109258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47925415399997 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:108.72, Y:0.97, Z:0.79 [[ 9.96071206e-01 -8.16384071e-02 -3.43121412e-02 1.08715384e+02] [ 8.16394783e-02 9.96660982e-01 -1.37214827e-03 9.73251813e-01] [ 3.43095924e-02 -1.43446792e-03 9.99410223e-01 7.90084460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50925415399998 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:108.75, Y:0.97, Z:0.79 [[ 9.95961969e-01 -8.30307024e-02 -3.41417484e-02 1.08748020e+02] [ 8.30326862e-02 9.96545893e-01 -1.36219951e-03 9.74477465e-01] [ 3.41369235e-02 -1.47818218e-03 9.99416072e-01 7.91067315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53925415399998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:108.78, Y:0.98, Z:0.79 [[ 9.95814750e-01 -8.46572033e-02 -3.44404015e-02 1.08780341e+02] [ 8.46603324e-02 9.96408928e-01 -1.37006051e-03 9.75794135e-01] [ 3.44327091e-02 -1.55140938e-03 9.99405814e-01 7.92120563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56925415399998 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:108.81, Y:0.98, Z:0.79 [[ 9.95752893e-01 -8.53201531e-02 -3.45925873e-02 1.08813094e+02] [ 8.53239058e-02 9.96352324e-01 -1.37042865e-03 9.77311250e-01] [ 3.45833299e-02 -1.58696637e-03 9.99400558e-01 7.92839254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:108.85, Y:0.98, Z:0.79 [[ 9.95754875e-01 -8.53570192e-02 -3.44442640e-02 1.08845862e+02] [ 8.53608866e-02 9.96349169e-01 -1.36092805e-03 9.78781579e-01] [ 3.44346786e-02 -1.58504217e-03 9.99405694e-01 7.94007893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:108.88, Y:0.98, Z:0.79 [[ 9.95775853e-01 -8.51583102e-02 -3.43294772e-02 1.08878933e+02] [ 8.51621575e-02 9.96366186e-01 -1.35279440e-03 9.80068419e-01] [ 3.43199319e-02 -1.57649234e-03 9.99409654e-01 7.94396262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65925415399998 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:108.91, Y:0.98, Z:0.80 [[ 9.95777976e-01 -8.49834722e-02 -3.46991711e-02 1.08911389e+02] [ 8.49874244e-02 9.96381091e-01 -1.36370080e-03 9.81572883e-01] [ 3.46894900e-02 -1.59104996e-03 9.99396872e-01 7.95322272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.68925415399998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:108.94, Y:0.98, Z:0.80 [[ 9.95805966e-01 -8.44120297e-02 -3.52858000e-02 1.08944024e+02] [ 8.44158755e-02 9.96429649e-01 -1.38346600e-03 9.82886531e-01] [ 3.52765985e-02 -1.60101800e-03 9.99376305e-01 7.95925078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71925415399998 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:108.98, Y:0.98, Z:0.80 [[ 9.95867370e-01 -8.31238834e-02 -3.65869070e-02 1.08975586e+02] [ 8.31272989e-02 9.96537910e-01 -1.43047200e-03 9.84919466e-01] [ 3.65791462e-02 -1.61681036e-03 9.99329451e-01 7.96621568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74925415399998 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:109.01, Y:0.99, Z:0.80 [[ 9.95928945e-01 -8.21143360e-02 -3.71856449e-02 1.09008922e+02] [ 8.21172946e-02 9.96621616e-01 -1.45033658e-03 9.86796084e-01] [ 3.71791109e-02 -1.60915237e-03 9.99307322e-01 7.97619024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77925415399997 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:109.04, Y:0.99, Z:0.80 [[ 9.95981783e-01 -8.10001714e-02 -3.82002704e-02 1.09041345e+02] [ 8.10026259e-02 9.96712780e-01 -1.48601643e-03 9.88946341e-01] [ 3.81950653e-02 -1.61427692e-03 9.99268998e-01 7.98927859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80925415399997 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:109.07, Y:0.99, Z:0.80 [[ 9.96240972e-01 -7.72571702e-02 -3.91823288e-02 1.09073406e+02] [ 7.72569759e-02 9.97010053e-01 -1.52136312e-03 9.92376427e-01] [ 3.91827119e-02 -1.51146396e-03 9.99230920e-01 8.00730762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83925415399997 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:109.10, Y:0.99, Z:0.80 [[ 9.96460614e-01 -7.45183111e-02 -3.89007258e-02 1.09104240e+02] [ 7.45161390e-02 9.97218668e-01 -1.50776969e-03 9.94838250e-01] [ 3.89048864e-02 -1.39629878e-03 9.99241943e-01 8.01658940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86925415399998 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:109.14, Y:1.00, Z:0.80 [[ 9.96920588e-01 -6.83064730e-02 -3.85170887e-02 1.09136657e+02] [ 6.82997975e-02 9.97663729e-01 -1.49066817e-03 9.98727351e-01] [ 3.85289247e-02 -1.14463157e-03 9.99256830e-01 8.03717468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89925415399998 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:109.17, Y:1.00, Z:0.80 [[ 9.97193340e-01 -6.46381639e-02 -3.77803033e-02 1.09168437e+02] [ 6.46292119e-02 9.97908280e-01 -1.45947372e-03 1.00141990e+00] [ 3.77956152e-02 -9.86333752e-04 9.99285004e-01 8.04996037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92925415399998 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:109.20, Y:1.00, Z:0.81 [[ 9.97461746e-01 -6.06977372e-02 -3.72270080e-02 1.09199970e+02] [ 6.06863971e-02 9.98155850e-01 -1.43556724e-03 1.00433480e+00] [ 3.72454915e-02 -8.27249578e-04 9.99305804e-01 8.06505811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95925415399998 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:109.23, Y:1.01, Z:0.81 [[ 9.97721157e-01 -5.67661321e-02 -3.64705323e-02 1.09230661e+02] [ 5.67526846e-02 9.98387279e-01 -1.40469976e-03 1.00739442e+00] [ 3.64914549e-02 -6.68301947e-04 9.99333742e-01 8.07755671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98925415399998 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:109.26, Y:1.01, Z:0.81 [[ 9.98210498e-01 -4.83118525e-02 -3.52387001e-02 1.09262164e+02] [ 4.82940551e-02 9.98832240e-01 -1.35654761e-03 1.01203613e+00] [ 3.52630871e-02 -3.47699665e-04 9.99378003e-01 8.09375507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01925415399998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:109.29, Y:1.02, Z:0.81 [[ 9.98605035e-01 -3.98205456e-02 -3.46743028e-02 1.09291411e+02] [ 3.97982265e-02 9.99206846e-01 -1.33391037e-03 1.01604393e+00] [ 3.46999178e-02 -4.79261453e-05 9.99397775e-01 8.09962289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04925415399998 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:109.32, Y:1.02, Z:0.81 [[ 9.98746102e-01 -3.58987240e-02 -3.48927701e-02 1.09318975e+02] [ 3.58736664e-02 9.99355429e-01 -1.34412434e-03 1.01834790e+00] [ 3.49185315e-02 9.07073499e-05 9.99390158e-01 8.10799276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.07925415399998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:109.35, Y:1.02, Z:0.81 [[ 9.98872114e-01 -3.21338168e-02 -3.49559362e-02 1.09345803e+02] [ 3.21061963e-02 9.99483550e-01 -1.35133480e-03 1.02058304e+00] [ 3.49813067e-02 2.27508501e-04 9.99387941e-01 8.11538582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10925415399998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:109.37, Y:1.02, Z:0.81 [[ 9.99053519e-01 -2.49646105e-02 -3.56207061e-02 1.09373154e+02] [ 2.49311765e-02 9.99688214e-01 -1.38254676e-03 1.02386613e+00] [ 3.56441148e-02 4.93172095e-04 9.99364425e-01 8.12782087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13925415399999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:109.40, Y:1.03, Z:0.81 [[ 9.99109830e-01 -2.20193426e-02 -3.59818900e-02 1.09400091e+02] [ 2.19829785e-02 9.99757357e-01 -1.40598055e-03 1.02588390e+00] [ 3.60041180e-02 6.13739876e-04 9.99351453e-01 8.13953084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16925415399997 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:109.43, Y:1.03, Z:0.81 [[ 9.99158106e-01 -1.97108521e-02 -3.59800076e-02 1.09428231e+02] [ 1.96727993e-02 9.99805476e-01 -1.41136663e-03 1.02761435e+00] [ 3.60008279e-02 7.02350939e-04 9.99351513e-01 8.14659170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19925415399997 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:109.46, Y:1.03, Z:0.82 [[ 9.99184858e-01 -1.80376659e-02 -3.61145635e-02 1.09455816e+02] [ 1.79978624e-02 9.99837007e-01 -1.42696895e-03 1.02909942e+00] [ 3.61344163e-02 7.75820827e-04 9.99346638e-01 8.15618556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22925415399997 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:109.48, Y:1.03, Z:0.82 [[ 9.99207806e-01 -1.68857733e-02 -3.60365321e-02 1.09483313e+02] [ 1.68450210e-02 9.99857084e-01 -1.43419981e-03 1.02948436e+00] [ 3.60555994e-02 8.26027503e-04 9.99349444e-01 8.16153494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25925415399998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:109.51, Y:1.03, Z:0.82 [[ 9.99170220e-01 -1.77760627e-02 -3.66453656e-02 1.09511670e+02] [ 1.77341189e-02 9.99841659e-01 -1.46933940e-03 1.02973136e+00] [ 3.66656822e-02 8.18246900e-04 9.99327253e-01 8.16689267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28925415399998 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:109.54, Y:1.03, Z:0.82 [[ 9.99138644e-01 -1.90222812e-02 -3.68798564e-02 1.09538839e+02] [ 1.89802684e-02 9.99818750e-01 -1.48899353e-03 1.02949546e+00] [ 3.69014960e-02 7.87721405e-04 9.99318597e-01 8.16902401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31925415399998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:109.57, Y:1.03, Z:0.82 [[ 9.99017953e-01 -2.32027973e-02 -3.77459778e-02 1.09566299e+02] [ 2.31614502e-02 9.99730563e-01 -1.53237638e-03 1.02820905e+00] [ 3.77713631e-02 6.56619927e-04 9.99286192e-01 8.17477764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34925415399998 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:109.59, Y:1.03, Z:0.82 [[ 9.98930411e-01 -2.60754019e-02 -3.81851712e-02 1.09594523e+02] [ 2.60347551e-02 9.99659819e-01 -1.56141696e-03 1.02805959e+00] [ 3.82128959e-02 5.65605309e-04 9.99269460e-01 8.18473233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37925415399998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:109.62, Y:1.03, Z:0.82 [[ 9.98722692e-01 -3.27936840e-02 -3.84390210e-02 1.09622506e+02] [ 3.27570330e-02 9.99462091e-01 -1.58307454e-03 1.02629775e+00] [ 3.84702591e-02 3.21904194e-04 9.99259694e-01 8.19869864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40925415399998 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:109.65, Y:1.03, Z:0.82 [[ 9.98587732e-01 -3.62825009e-02 -3.88087762e-02 1.09649107e+02] [ 3.62473827e-02 9.99341553e-01 -1.60837497e-03 1.02578295e+00] [ 3.88415786e-02 1.99386954e-04 9.99245361e-01 8.20911317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.43925415399998 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:109.68, Y:1.03, Z:0.82 [[ 9.98432753e-01 -4.00696322e-02 -3.90699656e-02 1.09675631e+02] [ 4.00367417e-02 9.99196888e-01 -1.62420292e-03 1.02516578e+00] [ 3.91036693e-02 5.74232718e-05 9.99235157e-01 8.21443341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.46925415399998 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:109.70, Y:1.02, Z:0.82 [[ 9.98261794e-01 -4.40391458e-02 -3.91655888e-02 1.09703247e+02] [ 4.40088932e-02 9.99029802e-01 -1.63466147e-03 1.02425338e+00] [ 3.91995796e-02 -9.18141233e-05 9.99231397e-01 8.22063999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49925415399998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:109.73, Y:1.02, Z:0.82 [[ 9.97889848e-01 -5.16308526e-02 -3.93714021e-02 1.09730927e+02] [ 5.16057228e-02 9.98666166e-01 -1.65497719e-03 1.02177531e+00] [ 3.94043351e-02 -3.80304726e-04 9.99223275e-01 8.23244764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52925415399997 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:109.76, Y:1.02, Z:0.82 [[ 9.97683774e-01 -5.54145398e-02 -3.94501655e-02 1.09759416e+02] [ 5.53918171e-02 9.98463299e-01 -1.66962773e-03 1.02143408e+00] [ 3.94820641e-02 -5.19455861e-04 9.99220144e-01 8.24555948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55925415399997 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:109.79, Y:1.02, Z:0.83 [[ 9.97315355e-01 -6.21217263e-02 -3.87682133e-02 1.09788597e+02] [ 6.21045446e-02 9.98068288e-01 -1.64849204e-03 1.01914578e+00] [ 3.87957315e-02 -7.63615803e-04 9.99246870e-01 8.25474811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58925415399997 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:109.82, Y:1.02, Z:0.83 [[ 9.97114133e-01 -6.53416186e-02 -3.86507155e-02 1.09819498e+02] [ 6.53269490e-02 9.97862560e-01 -1.64371224e-03 1.01881986e+00] [ 3.86755047e-02 -8.85964613e-04 9.99251430e-01 8.26488814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:109.85, Y:1.02, Z:0.83 [[ 9.96940007e-01 -6.82583942e-02 -3.80974277e-02 1.09851257e+02] [ 6.82463217e-02 9.97667189e-01 -1.61879080e-03 1.01831406e+00] [ 3.81190496e-02 -9.86171991e-04 9.99272718e-01 8.26944413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64925415399998 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:109.88, Y:1.02, Z:0.83 [[ 9.96517995e-01 -7.39834357e-02 -3.84491523e-02 1.09884033e+02] [ 7.39754612e-02 9.97258727e-01 -1.63199000e-03 1.01648279e+00] [ 3.84644929e-02 -1.21798638e-03 9.99259225e-01 8.27885096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67925415399998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:109.91, Y:1.02, Z:0.83 [[ 9.96328220e-01 -7.62603149e-02 -3.89158378e-02 1.09914852e+02] [ 7.62540077e-02 9.97087062e-01 -1.64851949e-03 1.01688254e+00] [ 3.89281949e-02 -1.32502211e-03 9.99241132e-01 8.29222396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70925415399998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:109.95, Y:1.02, Z:0.83 [[ 9.95906366e-01 -8.08942506e-02 -4.03315181e-02 1.09946973e+02] [ 8.08914451e-02 9.96721461e-01 -1.70413899e-03 1.01778424e+00] [ 4.03371447e-02 -1.56531191e-03 9.99184900e-01 8.30449635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:109.98, Y:1.02, Z:0.83 [[ 9.95727619e-01 -8.26443590e-02 -4.11875963e-02 1.09978533e+02] [ 8.26430477e-02 9.96577698e-01 -1.73741346e-03 1.01885335e+00] [ 4.11902274e-02 -1.67387792e-03 9.99149920e-01 8.31396964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76925415399998 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:110.01, Y:1.02, Z:0.83 [[ 9.95582251e-01 -8.40451670e-02 -4.18615825e-02 1.10010374e+02] [ 8.40451567e-02 9.96460387e-01 -1.76327309e-03 1.01978769e+00] [ 4.18616032e-02 -1.76277986e-03 9.99121864e-01 8.32123775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79925415399998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:110.04, Y:1.02, Z:0.83 [[ 9.95416584e-01 -8.54987031e-02 -4.28461904e-02 1.10041345e+02] [ 8.55001645e-02 9.96336527e-01 -1.80177649e-03 1.02072709e+00] [ 4.28432741e-02 -1.86983813e-03 9.99080056e-01 8.33176436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.82925415399998 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:110.07, Y:1.02, Z:0.83 [[ 9.95213692e-01 -8.73240443e-02 -4.38659227e-02 1.10073965e+02] [ 8.73274649e-02 9.96177957e-01 -1.84195961e-03 1.02123940e+00] [ 4.38591126e-02 -1.99755640e-03 9.99035729e-01 8.34210955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85925415399998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:110.11, Y:1.02, Z:0.84 [[ 9.95143897e-01 -8.80572491e-02 -4.39834737e-02 1.10105645e+02] [ 8.80615442e-02 9.96113330e-01 -1.84367636e-03 1.02240523e+00] [ 4.39748735e-02 -2.03852934e-03 9.99030558e-01 8.35024494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88925415399999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:110.14, Y:1.02, Z:0.84 [[ 9.95072354e-01 -8.83771305e-02 -4.49498912e-02 1.10138154e+02] [ 8.83820962e-02 9.96084870e-01 -1.88080681e-03 1.02347895e+00] [ 4.49401269e-02 -2.10122675e-03 9.98987472e-01 8.35984881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91925415399997 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:110.17, Y:1.02, Z:0.84 [[ 9.95070976e-01 -8.74326041e-02 -4.67898774e-02 1.10168949e+02] [ 8.74371545e-02 9.96168123e-01 -1.95337936e-03 1.02499275e+00] [ 4.67813733e-02 -2.14742263e-03 9.98902844e-01 8.36702087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94925415399997 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:110.20, Y:1.03, Z:0.84 [[ 9.95131767e-01 -8.63106968e-02 -4.75734175e-02 1.10201243e+02] [ 8.63143639e-02 9.96265982e-01 -1.98105660e-03 1.02728264e+00] [ 4.75667639e-02 -2.13485692e-03 9.98865779e-01 8.37730733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97925415399997 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:110.23, Y:1.03, Z:0.84 [[ 9.95263705e-01 -8.44198431e-02 -4.82021610e-02 1.10232859e+02] [ 8.44215668e-02 9.96428113e-01 -2.00371971e-03 1.02970724e+00] [ 4.81991420e-02 -2.07507246e-03 9.98835590e-01 8.38759009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00925415399998 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:110.26, Y:1.03, Z:0.84 [[ 9.95688779e-01 -7.91475438e-02 -4.83686079e-02 1.10263123e+02] [ 7.91431930e-02 9.96861235e-01 -2.00810292e-03 1.03359058e+00] [ 4.83757267e-02 -1.82860053e-03 9.98827535e-01 8.40443292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03925415399998 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:110.29, Y:1.04, Z:0.84 [[ 9.95969847e-01 -7.55355255e-02 -4.83574945e-02 1.10294606e+02] [ 7.55269851e-02 9.97141740e-01 -2.00642055e-03 1.03634591e+00] [ 4.83708322e-02 -1.65396140e-03 9.98828077e-01 8.42112975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:110.33, Y:1.04, Z:0.84 [[ 9.96237591e-01 -7.19529298e-02 -4.83056758e-02 1.10325360e+02] [ 7.19402546e-02 9.97406932e-01 -2.00317999e-03 1.03951348e+00] [ 4.83245506e-02 -1.47947941e-03 9.98830591e-01 8.43663598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09925415399998 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:110.35, Y:1.04, Z:0.85 [[ 9.96834389e-01 -6.37953455e-02 -4.74484396e-02 1.10354346e+02] [ 6.37738654e-02 9.97962435e-01 -1.96794913e-03 1.04421247e+00] [ 4.74773063e-02 -1.06425103e-03 9.98871750e-01 8.46011879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:110.38, Y:1.05, Z:0.85 [[ 9.97112751e-01 -5.99560056e-02 -4.65987130e-02 1.10382609e+02] [ 5.99308787e-02 9.98200649e-01 -1.93740109e-03 1.04707336e+00] [ 4.66310244e-02 -8.60894492e-04 9.98911811e-01 8.47046253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15925415399998 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:110.42, Y:1.08, Z:0.86 [[ 9.98606074e-01 -4.58330349e-02 -2.61771096e-02 1.10424023e+02] [ 4.37501258e-02 9.96204209e-01 -7.52535694e-02 1.08000509e+00] [ 2.95268463e-02 7.40034197e-02 9.96820776e-01 8.55217656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.18925415399998 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:110.45, Y:1.02, Z:0.82 [[ 9.97803624e-01 -4.46517037e-02 -4.89300883e-02 1.10445236e+02] [ 4.82250135e-02 9.96057083e-01 7.44623119e-02 1.01677808e+00] [ 4.54122919e-02 -7.66584188e-02 9.96022696e-01 8.24871056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21925415399998 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:110.48, Y:1.09, Z:0.86 [[ 9.99043336e-01 -3.67414555e-02 -2.37166114e-02 1.10484491e+02] [ 3.47189746e-02 9.96134467e-01 -8.06890123e-02 1.08751845e+00] [ 2.65895658e-02 7.97884037e-02 9.96457127e-01 8.58136138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24925415399998 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:110.50, Y:1.02, Z:0.83 [[ 9.98093346e-01 -3.65173684e-02 -4.97609807e-02 1.10504319e+02] [ 4.04283796e-02 9.95974596e-01 8.00009436e-02 1.01985463e+00] [ 4.66392487e-02 -8.18601653e-02 9.95551954e-01 8.26133736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27925415399997 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:110.53, Y:1.06, Z:0.85 [[ 9.98456667e-01 -3.10234393e-02 -4.60633200e-02 1.10529928e+02] [ 3.09649322e-02 9.99518504e-01 -1.98332553e-03 1.06347431e+00] [ 4.61026703e-02 5.53917016e-04 9.98936553e-01 8.54860059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30925415399997 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:110.56, Y:1.07, Z:0.86 [[ 9.98561332e-01 -2.78823335e-02 -4.58022082e-02 1.10557968e+02] [ 2.78208454e-02 9.99610965e-01 -1.97950867e-03 1.06546907e+00] [ 4.58395829e-02 7.02404664e-04 9.98948567e-01 8.55491467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33925415399997 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:110.58, Y:1.07, Z:0.86 [[ 9.98712808e-01 -2.27783229e-02 -4.53196961e-02 1.10584589e+02] [ 2.27123443e-02 9.99740100e-01 -1.97030761e-03 1.06808366e+00] [ 4.53527979e-02 9.38454903e-04 9.98970592e-01 8.56692519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36925415399998 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:110.61, Y:1.07, Z:0.86 [[ 9.98708847e-01 -2.29520624e-02 -4.53193214e-02 1.10612971e+02] [ 2.28858729e-02 9.99736126e-01 -1.97889585e-03 1.06941377e+00] [ 4.53527825e-02 9.39168563e-04 9.98970592e-01 8.57595879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39925415399998 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:110.64, Y:1.07, Z:0.86 [[ 9.98749896e-01 -2.16301945e-02 -4.50641791e-02 1.10640775e+02] [ 2.15629866e-02 9.99765537e-01 -1.97701078e-03 1.07112879e+00] [ 4.50963763e-02 1.00282102e-03 9.98982138e-01 8.58602886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42925415399998 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:110.67, Y:1.07, Z:0.86 [[ 9.98750029e-01 -2.14908490e-02 -4.51278551e-02 1.10668294e+02] [ 2.14227346e-02 9.99768521e-01 -1.99250736e-03 1.07250087e+00] [ 4.51602296e-02 1.02325472e-03 9.98979232e-01 8.59551880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45925415399998 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:110.70, Y:1.07, Z:0.86 [[ 9.98739470e-01 -2.34711331e-02 -4.43686398e-02 1.10696309e+02] [ 2.34066961e-02 9.99724082e-01 -1.97134049e-03 1.07226504e+00] [ 4.44026673e-02 9.30332292e-04 9.99013282e-01 8.60114086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48925415399998 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:110.72, Y:1.07, Z:0.86 [[ 9.98692193e-01 -2.59799485e-02 -4.40334589e-02 1.10724168e+02] [ 2.59183634e-02 9.99662124e-01 -1.96903267e-03 1.07225334e+00] [ 4.40697365e-02 8.25182361e-04 9.99028116e-01 8.60846438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51925415399998 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:110.75, Y:1.07, Z:0.86 [[ 9.98616666e-01 -2.92769539e-02 -4.36762339e-02 1.10752326e+02] [ 2.92189631e-02 9.99571102e-01 -1.96568121e-03 1.07180327e+00] [ 4.37150504e-02 6.86787753e-04 9.99043804e-01 8.61113887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54925415399998 meters Centerline goodness : 0.998301 Centerline is valid? [True, True] Translation: X:110.78, Y:1.08, Z:0.86 [[ 9.98687514e-01 -3.73306774e-02 -3.50666456e-02 1.10778896e+02] [ 3.61122002e-02 9.98743003e-01 -3.47609360e-02 1.08480798e+00] [ 3.63202163e-02 3.34489791e-02 9.98780260e-01 8.63115916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57925415399998 meters Centerline goodness : 0.996261 Centerline is valid? [True, True] Translation: X:110.81, Y:1.07, Z:0.85 [[ 9.98424899e-01 -4.14527280e-02 -3.78073188e-02 1.10807968e+02] [ 4.13627173e-02 9.99139199e-01 -3.16019781e-03 1.06871099e+00] [ 3.79057731e-02 1.59140674e-03 9.99280051e-01 8.52627229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60925415399998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:110.84, Y:1.05, Z:0.85 [[ 9.97872879e-01 -4.68172125e-02 -4.53637106e-02 1.10837701e+02] [ 4.81791231e-02 9.98405692e-01 2.94082834e-02 1.05141251e+00] [ 4.39145730e-02 -3.15313122e-02 9.98537574e-01 8.50063243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63925415399999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:110.86, Y:1.06, Z:0.86 [[ 9.97339453e-01 -5.80752533e-02 -4.40599723e-02 1.10864714e+02] [ 5.80431115e-02 9.98312055e-01 -2.00954284e-03 1.06294201e+00] [ 4.41023062e-02 -5.53181527e-04 9.99026867e-01 8.61469539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66925415399997 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:110.89, Y:1.06, Z:0.86 [[ 9.97015194e-01 -6.33445694e-02 -4.41380560e-02 1.10892609e+02] [ 6.33171896e-02 9.97991410e-01 -2.01948202e-03 1.06190221e+00] [ 4.41773240e-02 -7.81243399e-04 9.99023400e-01 8.62132710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69925415399997 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:110.92, Y:1.06, Z:0.86 [[ 9.96694529e-01 -6.80127918e-02 -4.44328248e-02 1.10922625e+02] [ 6.79892408e-02 9.97683963e-01 -2.04279815e-03 1.06091617e+00] [ 4.44688532e-02 -9.84908291e-04 9.99010286e-01 8.63265924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72925415399997 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:110.95, Y:1.06, Z:0.86 [[ 9.96065363e-01 -7.66898904e-02 -4.44123104e-02 1.10952700e+02] [ 7.66749084e-02 9.97054052e-01 -2.04325226e-03 1.05791257e+00] [ 4.44381708e-02 -1.37009702e-03 9.99011197e-01 8.63912611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75925415399998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:110.98, Y:1.06, Z:0.86 [[ 9.95769559e-01 -8.04433777e-02 -4.44055073e-02 1.10983876e+02] [ 8.04321190e-02 9.96757995e-01 -2.04308383e-03 1.05718200e+00] [ 4.44258969e-02 -1.53718836e-03 9.99011500e-01 8.64749875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:111.01, Y:1.05, Z:0.86 [[ 9.95224437e-01 -8.73032691e-02 -4.36630082e-02 1.11014073e+02] [ 8.72990272e-02 9.96180129e-01 -2.00757178e-03 1.05449419e+00] [ 4.36714887e-02 -1.81375364e-03 9.99044299e-01 8.64947111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81925415399998 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:111.05, Y:1.05, Z:0.87 [[ 9.95002735e-01 -9.01337514e-02 -4.29588749e-02 1.11046467e+02] [ 9.01323330e-02 9.95927842e-01 -1.97385577e-03 1.05412595e+00] [ 4.29618506e-02 -1.90799173e-03 9.99074892e-01 8.65519216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84925415399998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:111.08, Y:1.05, Z:0.87 [[ 9.94833168e-01 -9.21619045e-02 -4.25811205e-02 1.11078910e+02] [ 9.21624940e-02 9.95742064e-01 -1.95342969e-03 1.05369089e+00] [ 4.25798446e-02 -1.98104561e-03 9.99091103e-01 8.66410692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87925415399998 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:111.11, Y:1.05, Z:0.87 [[ 9.94602415e-01 -9.50752598e-02 -4.15539442e-02 1.11110221e+02] [ 9.50784732e-02 9.95467961e-01 -1.90345133e-03 1.05274163e+00] [ 4.15465912e-02 -2.05770828e-03 9.99134449e-01 8.66769738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90925415399998 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:111.14, Y:1.05, Z:0.87 [[ 9.94546991e-01 -9.56759391e-02 -4.15017696e-02 1.11141787e+02] [ 9.56797611e-02 9.95410357e-01 -1.89876611e-03 1.05367367e+00] [ 4.14929575e-02 -2.08246729e-03 9.99136626e-01 8.67612292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93925415399998 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:111.17, Y:1.05, Z:0.87 [[ 9.94527313e-01 -9.58960389e-02 -4.14653269e-02 1.11173774e+02] [ 9.59001464e-02 9.95389156e-01 -1.89465178e-03 1.05486994e+00] [ 4.14558264e-02 -2.09224798e-03 9.99138147e-01 8.68333316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96925415399998 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:111.21, Y:1.06, Z:0.87 [[ 9.94495449e-01 -9.58729157e-02 -4.22751308e-02 1.11206028e+02] [ 9.58773453e-02 9.95391290e-01 -1.92741522e-03 1.05615162e+00] [ 4.22650839e-02 -2.13642165e-03 9.99104148e-01 8.68859760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99925415399998 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:111.24, Y:1.06, Z:0.87 [[ 9.94511615e-01 -9.56868328e-02 -4.23163910e-02 1.11237504e+02] [ 9.56913740e-02 9.95409194e-01 -1.92289850e-03 1.05771141e+00] [ 4.23061207e-02 -2.13696871e-03 9.99102410e-01 8.69638366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02925415399997 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:111.27, Y:1.06, Z:0.87 [[ 9.94528255e-01 -9.54939495e-02 -4.23610184e-02 1.11269887e+02] [ 9.54984305e-02 9.95427724e-01 -1.92245987e-03 1.05935128e+00] [ 4.23509155e-02 -2.13347012e-03 9.99100520e-01 8.70435752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05925415399997 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:111.30, Y:1.06, Z:0.87 [[ 9.94518398e-01 -9.53757409e-02 -4.28558589e-02 1.11301374e+02] [ 9.53803463e-02 9.95439008e-01 -1.94194582e-03 1.06092039e+00] [ 4.28456082e-02 -2.15630582e-03 9.99079378e-01 8.70716696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08925415399997 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:111.33, Y:1.06, Z:0.87 [[ 9.94511015e-01 -9.52246556e-02 -4.33601975e-02 1.11333706e+02] [ 9.52293403e-02 9.95453426e-01 -1.96221045e-03 1.06241090e+00] [ 4.33499079e-02 -2.17772310e-03 9.99057577e-01 8.71694090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11925415399998 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:111.37, Y:1.06, Z:0.87 [[ 9.94547700e-01 -9.48200468e-02 -4.34054346e-02 1.11365898e+02] [ 9.48244945e-02 9.95492074e-01 -1.96109426e-03 1.06407623e+00] [ 4.33957172e-02 -2.16549661e-03 9.99055615e-01 8.72161382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:111.40, Y:1.07, Z:0.87 [[ 9.94622655e-01 -9.34777459e-02 -4.45834687e-02 1.11398120e+02] [ 9.34812454e-02 9.95619010e-01 -2.01097677e-03 1.06666810e+00] [ 4.45761305e-02 -2.16755513e-03 9.99003639e-01 8.72815081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17925415399998 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:111.43, Y:1.07, Z:0.87 [[ 9.94731052e-01 -9.21841262e-02 -4.48577933e-02 1.11429273e+02] [ 9.21864958e-02 9.95739709e-01 -2.02027473e-03 1.06872497e+00] [ 4.48529233e-02 -2.12565277e-03 9.98991340e-01 8.73446509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20925415399998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:111.46, Y:1.07, Z:0.87 [[ 9.95064092e-01 -8.80480740e-02 -4.57710633e-02 1.11461073e+02] [ 8.80463044e-02 9.96114256e-01 -2.05863195e-03 1.07249179e+00] [ 4.57744672e-02 -1.98150224e-03 9.98949834e-01 8.74553061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23925415399998 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:111.49, Y:1.08, Z:0.88 [[ 9.95297610e-01 -8.54693357e-02 -4.55813647e-02 1.11492233e+02] [ 8.54650088e-02 9.96339069e-01 -2.04731409e-03 1.07535838e+00] [ 4.55894771e-02 -1.85792492e-03 9.98958532e-01 8.75471368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:111.52, Y:1.08, Z:0.88 [[ 9.95549067e-01 -8.26547639e-02 -4.52796280e-02 1.11522675e+02] [ 8.26476504e-02 9.96576758e-01 -2.03238147e-03 1.07817736e+00] [ 4.52926109e-02 -1.71891939e-03 9.98972284e-01 8.76508448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29925415399998 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:111.55, Y:1.08, Z:0.88 [[ 9.95822002e-01 -7.93529328e-02 -4.51846540e-02 1.11553502e+02] [ 7.93425022e-02 9.96845353e-01 -2.02708272e-03 1.08109055e+00] [ 4.52029674e-02 -1.56644994e-03 9.98976595e-01 8.77900734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.32925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:111.58, Y:1.09, Z:0.88 [[ 9.96411041e-01 -7.26244265e-02 -4.34825237e-02 1.11583349e+02] [ 7.26084212e-02 9.97358620e-01 -1.94940991e-03 1.08634441e+00] [ 4.35092446e-02 -1.21478384e-03 9.99052286e-01 8.80066040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35925415399998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:111.61, Y:1.09, Z:0.88 [[ 9.96750947e-01 -6.87376789e-02 -4.19842859e-02 1.11614188e+02] [ 6.87193492e-02 9.97634257e-01 -1.88134313e-03 1.08932889e+00] [ 4.20142810e-02 -1.00990225e-03 9.99116500e-01 8.81450591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38925415399997 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:111.65, Y:1.09, Z:0.88 [[ 9.97364543e-01 -6.05909744e-02 -3.99086753e-02 1.11645561e+02] [ 6.05679458e-02 9.98162477e-01 -1.78696844e-03 1.09448713e+00] [ 3.99436164e-02 -6.34927523e-04 9.99201734e-01 8.83906790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41925415399997 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:111.67, Y:1.10, Z:0.88 [[ 9.97677916e-01 -5.60870870e-02 -3.86395547e-02 1.11674741e+02] [ 5.60621683e-02 9.98425783e-01 -1.72896649e-03 1.09748428e+00] [ 3.86757004e-02 -4.41265539e-04 9.99251718e-01 8.84614633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44925415399997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:111.70, Y:1.10, Z:0.89 [[ 9.97933664e-01 -5.18228499e-02 -3.79841388e-02 1.11704129e+02] [ 5.17956780e-02 9.98656257e-01 -1.69972590e-03 1.10036743e+00] [ 3.80211825e-02 -2.71200530e-04 9.99276897e-01 8.85584906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47925415399997 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:111.73, Y:1.10, Z:0.89 [[ 9.98375039e-01 -4.36366098e-02 -3.66487177e-02 1.11732618e+02] [ 4.36057479e-02 9.99047469e-01 -1.64137700e-03 1.10357911e+00] [ 3.66854327e-02 4.06150796e-05 9.99326862e-01 8.85537020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50925415399998 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:111.76, Y:1.11, Z:0.89 [[ 9.98511498e-01 -4.02011557e-02 -3.68599326e-02 1.11760373e+02] [ 4.01674808e-02 9.99191592e-01 -1.65397044e-03 1.10581336e+00] [ 3.68966263e-02 1.70937860e-04 9.99319073e-01 8.86380440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53925415399998 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:111.79, Y:1.11, Z:0.89 [[ 9.98617551e-01 -3.73246422e-02 -3.70116038e-02 1.11787857e+02] [ 3.72883167e-02 9.99303151e-01 -1.67150484e-03 1.10830625e+00] [ 3.70482006e-02 2.89093671e-04 9.99313438e-01 8.86959814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56925415399998 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:111.82, Y:1.11, Z:0.89 [[ 9.98747843e-01 -3.30733123e-02 -3.75353440e-02 1.11815883e+02] [ 3.30325296e-02 9.99452821e-01 -1.70632541e-03 1.11170142e+00] [ 3.75712392e-02 4.64301465e-04 9.99293844e-01 8.88090475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59925415399998 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:111.84, Y:1.11, Z:0.89 [[ 9.98786304e-01 -3.19569178e-02 -3.74789766e-02 1.11843071e+02] [ 3.19150944e-02 9.99489114e-01 -1.71382072e-03 1.11336759e+00] [ 3.75145975e-02 5.15595583e-04 9.99295947e-01 8.89033959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62925415399998 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:111.87, Y:1.11, Z:0.89 [[ 9.98789854e-01 -3.20055910e-02 -3.73425960e-02 1.11871392e+02] [ 3.19638986e-02 9.99487556e-01 -1.71311726e-03 1.11464215e+00] [ 3.73782893e-02 5.17429182e-04 9.99301054e-01 8.89935380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65925415399998 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:111.90, Y:1.12, Z:0.89 [[ 9.98777550e-01 -3.27907194e-02 -3.69888314e-02 1.11898797e+02] [ 3.27499582e-02 9.99462118e-01 -1.70751063e-03 1.11554367e+00] [ 3.70249263e-02 4.94040598e-04 9.99314220e-01 8.90707423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68925415399998 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:111.93, Y:1.12, Z:0.89 [[ 9.98738811e-01 -3.38231615e-02 -3.71049903e-02 1.11926105e+02] [ 3.37824874e-02 9.99427724e-01 -1.72278852e-03 1.11615596e+00] [ 3.71420262e-02 4.67116897e-04 9.99309888e-01 8.91245283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71925415399998 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:111.95, Y:1.12, Z:0.89 [[ 9.98690496e-01 -3.53394483e-02 -3.69921113e-02 1.11954414e+02] [ 3.52998625e-02 9.99375281e-01 -1.72290482e-03 1.11664108e+00] [ 3.70298881e-02 4.14832231e-04 9.99314072e-01 8.91718507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74925415399998 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:111.98, Y:1.12, Z:0.89 [[ 9.98583814e-01 -3.83651686e-02 -3.68575678e-02 1.11982562e+02] [ 3.83275447e-02 9.99263737e-01 -1.72708135e-03 1.11605791e+00] [ 3.68966908e-02 3.11975398e-04 9.99319037e-01 8.92270616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77925415399997 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:112.01, Y:1.12, Z:0.89 [[ 9.98533587e-01 -3.98980095e-02 -3.65899598e-02 1.12010269e+02] [ 3.98615752e-02 9.99203723e-01 -1.72500964e-03 1.11650783e+00] [ 3.66296485e-02 2.63946627e-04 9.99328874e-01 8.93409882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80925415399997 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:112.04, Y:1.12, Z:0.89 [[ 9.98374968e-01 -4.36901724e-02 -3.65867628e-02 1.12038603e+02] [ 4.36559014e-02 9.99045119e-01 -1.73544652e-03 1.11577909e+00] [ 3.66276488e-02 1.35398256e-04 9.99328973e-01 8.94792844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83925415399997 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:112.07, Y:1.12, Z:0.90 [[ 9.98290048e-01 -4.57475610e-02 -3.63887339e-02 1.12065260e+02] [ 4.57146666e-02 9.98953030e-01 -1.73591935e-03 1.11550771e+00] [ 3.64300501e-02 6.94521739e-05 9.99336203e-01 8.95468154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86925415399998 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:112.09, Y:1.12, Z:0.90 [[ 9.98189143e-01 -4.78674829e-02 -3.64299180e-02 1.12093003e+02] [ 4.78357311e-02 9.98853695e-01 -1.74320070e-03 1.11505631e+00] [ 3.64716008e-02 -2.60775097e-06 9.99334690e-01 8.96609894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89925415399998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:112.12, Y:1.11, Z:0.90 [[ 9.98006485e-01 -5.18571660e-02 -3.59706814e-02 1.12122328e+02] [ 5.18284260e-02 9.98654503e-01 -1.73160629e-03 1.11294922e+00] [ 3.60120792e-02 -1.36149490e-04 9.99351345e-01 8.97862372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92925415399998 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:112.15, Y:1.11, Z:0.90 [[ 9.97931207e-01 -5.35133418e-02 -3.56318347e-02 1.12152318e+02] [ 5.34858992e-02 9.98567117e-01 -1.72361316e-03 1.11234836e+00] [ 3.56730148e-02 -1.85753360e-04 9.99363498e-01 8.98823896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95925415399998 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:112.18, Y:1.11, Z:0.90 [[ 9.97835892e-01 -5.56924595e-02 -3.49554463e-02 1.12182324e+02] [ 5.56673418e-02 9.98447937e-01 -1.69214654e-03 1.11007688e+00] [ 3.49954331e-02 -2.57392230e-04 9.99387439e-01 8.99639472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:112.21, Y:1.11, Z:0.90 [[ 9.97810241e-01 -5.58852479e-02 -3.53774167e-02 1.12212816e+02] [ 5.58595986e-02 9.98437163e-01 -1.71377010e-03 1.10981247e+00] [ 3.54179020e-02 -2.66150942e-04 9.99372554e-01 9.00849593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01925415399998 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:112.24, Y:1.11, Z:0.90 [[ 9.97789064e-01 -5.55427853e-02 -3.64963479e-02 1.12241161e+02] [ 5.53413450e-02 9.98446287e-01 -6.50747224e-03 1.11164539e+00] [ 3.68010862e-02 4.47332766e-03 9.99312598e-01 9.03492610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04925415399998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:112.27, Y:1.11, Z:0.90 [[ 9.97924646e-01 -5.30623666e-02 -3.64799415e-02 1.12270848e+02] [ 5.32014030e-02 9.98579734e-01 2.85053334e-03 1.10534361e+00] [ 3.62768742e-02 -4.78540155e-03 9.99330320e-01 9.00808329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07925415399998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:112.30, Y:1.11, Z:0.90 [[ 9.98036322e-01 -5.12850567e-02 -3.59630697e-02 1.12299812e+02] [ 5.12551176e-02 9.98684051e-01 -1.75455348e-03 1.10759264e+00] [ 3.60057265e-02 -9.21832615e-05 9.99351579e-01 9.02680242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:112.33, Y:1.11, Z:0.90 [[ 9.98131047e-01 -4.92014093e-02 -3.62440874e-02 1.12328555e+02] [ 4.91695256e-02 9.98788877e-01 -1.77105544e-03 1.10755338e+00] [ 3.62873298e-02 -1.43591661e-05 9.99341398e-01 9.03630224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13925415399997 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:112.36, Y:1.11, Z:0.90 [[ 9.98316282e-01 -4.46470674e-02 -3.70302699e-02 1.12356186e+02] [ 4.46103217e-02 9.99002809e-01 -1.81838232e-03 1.10633666e+00] [ 3.70745291e-02 1.63388423e-04 9.99312490e-01 9.04321657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:112.38, Y:1.11, Z:0.91 [[ 9.98383264e-01 -4.28447703e-02 -3.73521543e-02 1.12384217e+02] [ 4.28059557e-02 9.99081713e-01 -1.83862817e-03 1.10651700e+00] [ 3.73966299e-02 2.36760931e-04 9.99300473e-01 9.05292436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19925415399997 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:112.41, Y:1.11, Z:0.91 [[ 9.98441678e-01 -4.12915436e-02 -3.75396444e-02 1.12411890e+02] [ 4.12508260e-02 9.99147093e-01 -1.85888276e-03 1.10677205e+00] [ 3.75843827e-02 3.07444685e-04 9.99293410e-01 9.06096799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22925415399997 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:112.44, Y:1.11, Z:0.91 [[ 9.98478851e-01 -3.95342340e-02 -3.84321330e-02 1.12440031e+02] [ 3.94898138e-02 9.99218139e-01 -1.91453893e-03 1.10525044e+00] [ 3.84777743e-02 3.93948849e-04 9.99259379e-01 9.07095390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25925415399998 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:112.47, Y:1.10, Z:0.91 [[ 9.98455241e-01 -3.97538764e-02 -3.88170137e-02 1.12468192e+02] [ 3.97082839e-02 9.99209422e-01 -1.94511796e-03 1.10489564e+00] [ 3.88636518e-02 4.00756223e-04 9.99244443e-01 9.07761113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28925415399998 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:112.50, Y:1.11, Z:0.91 [[ 9.98444389e-01 -4.00260662e-02 -3.88164517e-02 1.12496537e+02] [ 3.99802456e-02 9.99198555e-01 -1.95627568e-03 1.10639610e+00] [ 3.88636444e-02 4.01341202e-04 9.99244443e-01 9.08682207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:112.52, Y:1.11, Z:0.91 [[ 9.98411788e-01 -4.05530709e-02 -3.91068931e-02 1.12523150e+02] [ 4.05065839e-02 9.99177308e-01 -1.98065719e-03 1.10589859e+00] [ 3.91550419e-02 3.93424839e-04 9.99233070e-01 9.09381872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34925415399998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:112.55, Y:1.10, Z:0.91 [[ 9.98293866e-01 -4.23359933e-02 -4.02122062e-02 1.12551242e+02] [ 4.22880230e-02 9.99103372e-01 -2.04315447e-03 1.10413222e+00] [ 4.02626498e-02 3.39173876e-04 9.99189073e-01 9.10732925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:112.58, Y:1.10, Z:0.91 [[ 9.98223996e-01 -4.38245580e-02 -4.03517251e-02 1.12579178e+02] [ 4.37769890e-02 9.99039200e-01 -2.06213087e-03 1.10402182e+00] [ 4.04033271e-02 2.91991494e-04 9.99183410e-01 9.11511838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40925415399998 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:112.61, Y:1.10, Z:0.91 [[ 9.98052357e-01 -4.71230179e-02 -4.08768208e-02 1.12606790e+02] [ 4.70764693e-02 9.98889079e-01 -2.10111179e-03 1.10203930e+00] [ 4.09304206e-02 1.72683175e-04 9.99161984e-01 9.12363997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.43925415399998 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:112.63, Y:1.10, Z:0.91 [[ 9.97930129e-01 -4.90949195e-02 -4.15348834e-02 1.12634880e+02] [ 4.90480537e-02 9.98794112e-01 -2.14725444e-03 1.10165357e+00] [ 4.15902163e-02 1.05604707e-04 9.99134747e-01 9.13845124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.46925415399998 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:112.66, Y:1.10, Z:0.91 [[ 9.97828810e-01 -5.12581276e-02 -4.13554219e-02 1.12662841e+02] [ 5.12130224e-02 9.98685438e-01 -2.15005395e-03 1.10141554e+00] [ 4.14112654e-02 2.74496268e-05 9.99142185e-01 9.14647573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49925415399998 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:112.69, Y:1.10, Z:0.92 [[ 9.97659392e-01 -5.52469093e-02 -4.02928963e-02 1.12689985e+02] [ 5.52069302e-02 9.98472715e-01 -2.10506419e-03 1.09897500e+00] [ 4.03476559e-02 -1.24310061e-04 9.99185694e-01 9.15832554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52925415399997 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:112.72, Y:1.10, Z:0.92 [[ 9.97568577e-01 -5.72782558e-02 -3.97005815e-02 1.12717443e+02] [ 5.72408030e-02 9.98358234e-01 -2.08037046e-03 1.09847965e+00] [ 3.97545624e-02 -1.97180968e-04 9.99209455e-01 9.17310418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55925415399997 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:112.74, Y:1.10, Z:0.92 [[ 9.97479803e-01 -5.99542512e-02 -3.79411510e-02 1.12744923e+02] [ 5.99216042e-02 9.98201087e-01 -1.99806087e-03 1.09654485e+00] [ 3.79926904e-02 -2.80469274e-04 9.99277978e-01 9.18625950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58925415399997 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:112.77, Y:1.10, Z:0.92 [[ 9.97462686e-01 -6.05711382e-02 -3.74075860e-02 1.12772523e+02] [ 6.05396659e-02 9.98163839e-01 -1.97452177e-03 1.09657483e+00] [ 3.74584987e-02 -2.95130969e-04 9.99298141e-01 9.20046061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61925415399998 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:112.80, Y:1.10, Z:0.92 [[ 9.97479382e-01 -6.06207573e-02 -3.68782681e-02 1.12801527e+02] [ 6.05900529e-02 9.98160829e-01 -1.95065730e-03 1.09643505e+00] [ 3.69286930e-02 -2.88715776e-04 9.99317861e-01 9.21193162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64925415399998 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:112.83, Y:1.10, Z:0.92 [[ 9.97620559e-01 -5.85828870e-02 -3.63492091e-02 1.12830370e+02] [ 5.85513980e-02 9.98282527e-01 -1.93110253e-03 1.09510069e+00] [ 3.63999099e-02 -2.01789428e-04 9.99337283e-01 9.22435335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67925415399998 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:112.86, Y:1.10, Z:0.92 [[ 9.97685338e-01 -5.75774832e-02 -3.61773295e-02 1.12859591e+02] [ 5.75455308e-02 9.98341028e-01 -1.92472536e-03 1.09550792e+00] [ 3.62281331e-02 -1.61573360e-04 9.99343533e-01 9.23492948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70925415399998 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:112.89, Y:1.10, Z:0.92 [[ 9.97773040e-01 -5.57809005e-02 -3.65711799e-02 1.12888354e+02] [ 5.57466959e-02 9.98443030e-01 -1.95511955e-03 1.09547167e+00] [ 3.66232980e-02 -8.79568662e-05 9.99329138e-01 9.22928296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73925415399998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:112.92, Y:1.10, Z:0.93 [[ 9.97815612e-01 -5.48486225e-02 -3.68189339e-02 1.12915848e+02] [ 5.48129639e-02 9.98494680e-01 -1.97796824e-03 1.09610708e+00] [ 3.68719985e-02 -4.45073092e-05 9.99319996e-01 9.25510879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76925415399998 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:112.94, Y:1.10, Z:0.93 [[ 9.97895479e-01 -5.25357543e-02 -3.80079889e-02 1.12944191e+02] [ 5.24956411e-02 9.98619042e-01 -2.05329825e-03 1.09552071e+00] [ 3.80633731e-02 5.37232926e-05 9.99275326e-01 9.26149031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79925415399998 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:112.97, Y:1.09, Z:0.93 [[ 9.97901722e-01 -5.14316235e-02 -3.93311830e-02 1.12972038e+02] [ 5.13873440e-02 9.98676512e-01 -2.13660782e-03 1.09454400e+00] [ 3.93890179e-02 1.10999590e-04 9.99223945e-01 9.27128616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.82925415399998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:113.00, Y:1.09, Z:0.93 [[ 9.97869024e-01 -5.14562417e-02 -4.01206555e-02 1.12999533e+02] [ 5.14097091e-02 9.98675242e-01 -2.19135147e-03 1.09456748e+00] [ 4.01802640e-02 1.24090528e-04 9.99192439e-01 9.27755139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85925415399998 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:113.03, Y:1.09, Z:0.93 [[ 9.97813423e-01 -5.19288875e-02 -4.08872023e-02 1.13027784e+02] [ 5.18804622e-02 9.98650778e-01 -2.24525881e-03 1.09481020e+00] [ 4.09486301e-02 1.19102429e-04 9.99161246e-01 9.28586903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88925415399997 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:113.06, Y:1.09, Z:0.93 [[ 9.97788362e-01 -5.22073264e-02 -4.11433966e-02 1.13055177e+02] [ 5.21580954e-02 9.98636261e-01 -2.26983069e-03 1.09482093e+00] [ 4.12057895e-02 1.18849437e-04 9.99150674e-01 9.29398191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91925415399997 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:113.08, Y:1.09, Z:0.93 [[ 9.97688044e-01 -5.34611176e-02 -4.19580225e-02 1.13083007e+02] [ 5.34107312e-02 9.98569929e-01 -2.32175988e-03 1.09296572e+00] [ 4.20221434e-02 7.53834082e-05 9.99116677e-01 9.27916912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94925415399997 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:113.11, Y:1.09, Z:0.93 [[ 9.97610686e-01 -5.51383811e-02 -4.16254590e-02 1.13110116e+02] [ 5.50898044e-02 9.98478722e-01 -2.31403497e-03 1.09356242e+00] [ 4.16897272e-02 1.53676173e-05 9.99130605e-01 9.31511170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97925415399997 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:113.14, Y:1.09, Z:0.93 [[ 9.97501323e-01 -5.71475724e-02 -4.15363115e-02 1.13138148e+02] [ 5.71006590e-02 9.98365740e-01 -2.31593828e-03 1.09385348e+00] [ 4.16007807e-02 -6.15992675e-05 9.99134311e-01 9.32623155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00925415399998 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:113.17, Y:1.09, Z:0.93 [[ 9.97218340e-01 -6.17544163e-02 -4.17369791e-02 1.13165703e+02] [ 6.17105620e-02 9.98091345e-01 -2.33951281e-03 1.09200491e+00] [ 4.18017929e-02 -2.42607361e-04 9.99125894e-01 9.33782260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03925415399998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:113.19, Y:1.09, Z:0.93 [[ 9.97070324e-01 -6.38531600e-02 -4.21134561e-02 1.13193075e+02] [ 6.38099201e-02 9.97959253e-01 -2.37154905e-03 1.09106186e+00] [ 4.21789441e-02 -3.22655091e-04 9.99110020e-01 9.33015745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:113.22, Y:1.09, Z:0.94 [[ 9.96680068e-01 -7.04740496e-02 -4.07707018e-02 1.13220341e+02] [ 7.04388517e-02 9.97513445e-01 -2.30097829e-03 1.08907346e+00] [ 4.08314825e-02 -5.78502223e-04 9.99165880e-01 9.36297284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09925415399998 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:113.25, Y:1.09, Z:0.94 [[ 9.96450026e-01 -7.38001007e-02 -4.05079016e-02 1.13248551e+02] [ 7.37678529e-02 9.97272806e-01 -2.29225853e-03 1.08885243e+00] [ 4.05665976e-02 -7.04059854e-04 9.99176589e-01 9.37839013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12925415399998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:113.28, Y:1.09, Z:0.94 [[ 9.96211943e-01 -7.68328979e-02 -4.07243160e-02 1.13276138e+02] [ 7.68023730e-02 9.97043646e-01 -2.31584797e-03 1.08871472e+00] [ 4.07818538e-02 -8.20648700e-04 9.99167737e-01 9.39105391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15925415399998 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:113.30, Y:1.09, Z:0.94 [[ 9.95840189e-01 -8.16287609e-02 -4.04853369e-02 1.13304317e+02] [ 8.16021391e-02 9.96662302e-01 -2.31241853e-03 1.08727566e+00] [ 4.05389689e-02 -1.00089079e-03 9.99177457e-01 9.40283569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18925415399998 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:113.33, Y:1.09, Z:0.94 [[ 9.95708397e-01 -8.32454902e-02 -4.04348520e-02 1.13334303e+02] [ 8.32201355e-02 9.96528504e-01 -2.31276327e-03 1.08748326e+00] [ 4.04870097e-02 -1.06215605e-03 9.99179500e-01 9.41345138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.21925415399998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:113.36, Y:1.09, Z:0.94 [[ 9.95568838e-01 -8.49904935e-02 -4.02405763e-02 1.13363675e+02] [ 8.49667462e-02 9.96381126e-01 -2.30311707e-03 1.08584083e+00] [ 4.02906938e-02 -1.12619925e-03 9.99187366e-01 9.41858021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24925415399998 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:113.39, Y:1.09, Z:0.94 [[ 9.95502974e-01 -8.53815514e-02 -4.10343609e-02 1.13391148e+02] [ 8.53571076e-02 9.96347650e-01 -2.35055520e-03 1.08597750e+00] [ 4.10851830e-02 -1.16258967e-03 9.99154971e-01 9.41505670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:113.42, Y:1.09, Z:0.94 [[ 9.95428619e-01 -8.65499895e-02 -4.03852048e-02 1.13420028e+02] [ 8.65270718e-02 9.96246802e-01 -2.31834278e-03 1.08717643e+00] [ 4.04342837e-02 -1.18666877e-03 9.99181495e-01 9.44530788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30925415399997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:113.45, Y:1.09, Z:0.95 [[ 9.95388873e-01 -8.68118280e-02 -4.08007232e-02 1.13448558e+02] [ 8.67882244e-02 9.96224005e-01 -2.35275525e-03 1.08796861e+00] [ 4.08509069e-02 -1.19911592e-03 9.99164534e-01 9.45366606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:113.48, Y:1.09, Z:0.95 [[ 9.95318766e-01 -8.69653239e-02 -4.21614283e-02 1.13476255e+02] [ 8.69398370e-02 9.96210573e-01 -2.44118681e-03 1.08865814e+00] [ 4.22139592e-02 -1.23574866e-03 9.99107829e-01 9.45873488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36925415399998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:113.50, Y:1.09, Z:0.95 [[ 9.95278287e-01 -8.67365633e-02 -4.35649016e-02 1.13504863e+02] [ 8.67088060e-02 9.96230487e-01 -2.52994293e-03 1.08973566e+00] [ 4.36201217e-02 -1.25946334e-03 9.99047396e-01 9.45483694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39925415399998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:113.53, Y:1.09, Z:0.95 [[ 9.95215756e-01 -8.72906429e-02 -4.38855671e-02 1.13532193e+02] [ 8.72625995e-02 9.96182059e-01 -2.55798255e-03 1.09153572e+00] [ 4.39413026e-02 -1.28382413e-03 9.99033290e-01 9.47468321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42925415399998 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:113.56, Y:1.09, Z:0.95 [[ 9.95149080e-01 -8.78632288e-02 -4.42533820e-02 1.13560060e+02] [ 8.78349913e-02 9.96131682e-01 -2.58590761e-03 1.09307486e+00] [ 4.43094020e-02 -1.31363184e-03 9.99016992e-01 9.48597425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45925415399998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:113.59, Y:1.09, Z:0.95 [[ 9.95087451e-01 -8.85901703e-02 -4.41898850e-02 1.13587681e+02] [ 8.85621532e-02 9.96067272e-01 -2.59520810e-03 1.09440014e+00] [ 4.42460081e-02 -1.33109235e-03 9.99019779e-01 9.49503469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:113.62, Y:1.10, Z:0.95 [[ 9.95039427e-01 -8.92740643e-02 -4.38939648e-02 1.13615564e+02] [ 8.92465965e-02 9.96006196e-01 -2.58894278e-03 1.09584349e+00] [ 4.39497864e-02 -1.34128683e-03 9.99032841e-01 9.50518128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51925415399998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:113.64, Y:1.10, Z:0.95 [[ 9.94873855e-01 -9.08701055e-02 -4.43693264e-02 1.13643642e+02] [ 9.08433749e-02 9.95861739e-01 -2.62259463e-03 1.09761233e+00] [ 4.44240300e-02 -1.42150853e-03 9.99011754e-01 9.51734103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54925415399998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:113.67, Y:1.10, Z:0.95 [[ 9.94750527e-01 -9.21504273e-02 -4.44936894e-02 1.13671918e+02] [ 9.21245521e-02 9.95744002e-01 -2.63607194e-03 1.09958606e+00] [ 4.45472395e-02 -1.47672726e-03 9.99006188e-01 9.52810854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.57925415399998 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:113.70, Y:1.10, Z:0.95 [[ 9.94498482e-01 -9.48483913e-02 -4.44584240e-02 1.13700034e+02] [ 9.48248229e-02 9.95490464e-01 -2.64351922e-03 1.10155506e+00] [ 4.45086707e-02 -1.58678633e-03 9.99007738e-01 9.53342815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60925415399998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:113.74, Y:1.12, Z:0.95 [[ 9.95347906e-01 -9.15149154e-02 -3.01258450e-02 1.13736769e+02] [ 8.97151393e-02 9.94364852e-01 -5.64777300e-02 1.12234742e+00] [ 3.51246361e-02 5.35122459e-02 9.97949247e-01 9.52366345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63925415399997 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:113.76, Y:1.08, Z:0.94 [[ 9.94221398e-01 -9.59241949e-02 -4.81908719e-02 1.13759688e+02] [ 9.84511339e-02 9.93722829e-01 5.31254483e-02 1.07788407e+00] [ 4.27923537e-02 -5.75629035e-02 9.97424346e-01 9.42719149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66925415399997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:113.79, Y:1.11, Z:0.96 [[ 9.94024840e-01 -9.96475597e-02 -4.45531383e-02 1.13786747e+02] [ 9.96278226e-02 9.95021193e-01 -2.66879975e-03 1.10755081e+00] [ 4.45972562e-02 -1.78587892e-03 9.99003451e-01 9.56592947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69925415399997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:113.81, Y:1.11, Z:0.96 [[ 9.93976056e-01 -1.00313042e-01 -4.41462794e-02 1.13814927e+02] [ 1.00294136e-01 9.94954306e-01 -2.64852774e-03 1.11017430e+00] [ 4.41892127e-02 -1.79503981e-03 9.99021567e-01 9.57753054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72925415399997 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:113.84, Y:1.11, Z:0.96 [[ 9.94005794e-01 -1.00258145e-01 -4.35979942e-02 1.13844088e+02] [ 1.00239281e-01 9.94959899e-01 -2.62415919e-03 1.11298064e+00] [ 4.36413492e-02 -1.76180214e-03 9.99045709e-01 9.58927868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75925415399998 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:113.87, Y:1.12, Z:0.96 [[ 9.94139046e-01 -9.88233997e-02 -4.38348299e-02 1.13873475e+02] [ 9.88028774e-02 9.95103524e-01 -2.63979469e-03 1.11642755e+00] [ 4.38810672e-02 -1.70668435e-03 9.99035304e-01 9.59151744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:113.90, Y:1.12, Z:0.96 [[ 9.94238672e-01 -9.83290239e-02 -4.26716163e-02 1.13903250e+02] [ 9.83090810e-02 9.95152610e-01 -2.57066995e-03 1.11966071e+00] [ 4.27175418e-02 -1.63914791e-03 9.99085845e-01 9.61596756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81925415399998 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:113.93, Y:1.12, Z:0.96 [[ 9.94341470e-01 -9.72690443e-02 -4.27056606e-02 1.13932364e+02] [ 9.72480461e-02 9.95256848e-01 -2.57383429e-03 1.12264790e+00] [ 4.27534556e-02 -1.59377188e-03 9.99084382e-01 9.62943092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84925415399998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:113.96, Y:1.13, Z:0.96 [[ 9.94572291e-01 -9.43316459e-02 -4.39032870e-02 1.13962599e+02] [ 9.43066030e-02 9.95539685e-01 -2.64587914e-03 1.12654233e+00] [ 4.39570546e-02 -1.50885178e-03 9.99032282e-01 9.61996523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87925415399998 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:113.99, Y:1.13, Z:0.96 [[ 9.94662154e-01 -9.34432396e-02 -4.37671230e-02 1.13991920e+02] [ 9.34174748e-02 9.95623531e-01 -2.63808723e-03 1.12978980e+00] [ 4.38220890e-02 -1.46460859e-03 9.99038277e-01 9.63131410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90925415399998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:114.02, Y:1.14, Z:0.97 [[ 9.94691803e-01 -9.29831902e-02 -4.40720253e-02 1.14019845e+02] [ 9.27058705e-02 9.95658948e-01 -8.29950284e-03 1.13671762e+00] [ 4.46524205e-02 4.16971198e-03 9.98993881e-01 9.67324303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:114.05, Y:1.14, Z:0.96 [[ 9.94731949e-01 -9.22548045e-02 -4.46922890e-02 1.14048951e+02] [ 9.24673634e-02 9.95712034e-01 2.70788671e-03 1.13658993e+00] [ 4.42508345e-02 -6.82619956e-03 9.98997130e-01 9.64905825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.96925415399998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:114.08, Y:1.14, Z:0.97 [[ 9.94805586e-01 -9.12484889e-02 -4.51171806e-02 1.14075522e+02] [ 9.10760726e-02 9.95826657e-01 -5.86676414e-03 1.14367474e+00] [ 4.54642244e-02 1.72719412e-03 9.98964474e-01 9.67483012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99925415399998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:114.11, Y:1.14, Z:0.97 [[ 9.94688233e-01 -9.25501792e-02 -4.50531235e-02 1.14105148e+02] [ 9.26518233e-02 9.95698554e-01 1.68662948e-04 1.14350885e+00] [ 4.48437201e-02 -4.34202109e-03 9.98984578e-01 9.67330221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02925415399997 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:114.13, Y:1.15, Z:0.97 [[ 9.94653617e-01 -9.30285574e-02 -4.48315621e-02 1.14133284e+02] [ 9.29996398e-02 9.95662386e-01 -2.73484360e-03 1.14863091e+00] [ 4.48915187e-02 -1.44909705e-03 9.98990817e-01 9.69014451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05925415399997 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:114.16, Y:1.15, Z:0.97 [[ 9.94644740e-01 -9.33226976e-02 -4.44152597e-02 1.14162633e+02] [ 9.32945122e-02 9.95634863e-01 -2.71157769e-03 1.15173457e+00] [ 4.44744328e-02 -1.44664350e-03 9.99009475e-01 9.69853707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08925415399997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:114.19, Y:1.15, Z:0.97 [[ 9.94664757e-01 -9.33288256e-02 -4.39517000e-02 1.14191680e+02] [ 9.33011606e-02 9.95634313e-01 -2.68487832e-03 1.15482446e+00] [ 4.40103972e-02 -1.43019077e-03 9.99030049e-01 9.70879336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11925415399998 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:114.22, Y:1.16, Z:0.97 [[ 9.94757169e-01 -9.26651494e-02 -4.32590500e-02 1.14221643e+02] [ 9.26376711e-02 9.95696376e-01 -2.64374538e-03 1.15946670e+00] [ 4.33178623e-02 -1.37753297e-03 9.99060391e-01 9.72619936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14925415399998 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:114.25, Y:1.16, Z:0.97 [[ 9.94860249e-01 -9.18312686e-02 -4.26626580e-02 1.14252128e+02] [ 9.18037848e-02 9.95773703e-01 -2.60710940e-03 1.16283952e+00] [ 4.27217671e-02 -1.32288397e-03 9.99086133e-01 9.74117951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17925415399998 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:114.28, Y:1.16, Z:0.98 [[ 9.94858377e-01 -9.18515364e-02 -4.26626819e-02 1.14283048e+02] [ 9.18240879e-02 9.95771832e-01 -2.60671844e-03 1.16472637e+00] [ 4.27217280e-02 -1.32414618e-03 9.99086133e-01 9.75126833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20925415399998 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:114.31, Y:1.17, Z:0.98 [[ 9.94978866e-01 -9.09571195e-02 -4.17595449e-02 1.14314373e+02] [ 9.09300204e-02 9.95854015e-01 -2.55185057e-03 1.16809772e+00] [ 4.18185195e-02 -1.25815888e-03 9.99124431e-01 9.76572349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23925415399998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:114.34, Y:1.17, Z:0.98 [[ 9.95209740e-01 -8.89583287e-02 -4.05461317e-02 1.14344542e+02] [ 8.89311764e-02 9.96034695e-01 -2.47640918e-03 1.17204975e+00] [ 4.06056511e-02 -1.14126865e-03 9.99174599e-01 9.77945691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26925415399998 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:114.38, Y:1.17, Z:0.98 [[ 9.95319259e-01 -8.80294251e-02 -3.98797429e-02 1.14375192e+02] [ 8.80024360e-02 9.96117283e-01 -2.43513217e-03 1.17494766e+00] [ 3.99392645e-02 -1.08578058e-03 9.99201519e-01 9.78687115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29925415399998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:114.40, Y:1.18, Z:0.98 [[ 9.95501215e-01 -8.59766418e-02 -3.98164390e-02 1.14404579e+02] [ 8.59434052e-02 9.96296760e-01 -2.54883100e-03 1.17951419e+00] [ 3.98881291e-02 -8.84595992e-04 9.99203760e-01 9.79707475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.32925415399998 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:114.43, Y:1.18, Z:0.98 [[ 9.95546135e-01 -8.53266428e-02 -4.00905991e-02 1.14433807e+02] [ 8.52977659e-02 9.96352533e-01 -2.43337481e-03 1.18267764e+00] [ 4.01520016e-02 -9.97101648e-04 9.99193086e-01 9.80790749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35925415399998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:114.47, Y:1.20, Z:0.98 [[ 9.96258230e-01 -8.11831553e-02 -2.96451497e-02 1.14465630e+02] [ 8.02546779e-02 9.96283710e-01 -3.12722922e-02 1.19716982e+00] [ 3.20737630e-02 2.87761165e-02 9.99071173e-01 9.79247528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38925415399997 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:114.49, Y:1.17, Z:0.97 [[ 9.95777663e-01 -8.14667818e-02 -4.23085004e-02 1.14494771e+02] [ 8.26553435e-02 9.96208444e-01 2.71446358e-02 1.17496184e+00] [ 3.99366992e-02 -3.05270456e-02 9.98735781e-01 9.74765276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41925415399997 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:114.53, Y:1.19, Z:0.98 [[ 9.96019493e-01 -7.93803513e-02 -4.05453982e-02 1.14525231e+02] [ 7.93445833e-02 9.96844131e-01 -2.49314711e-03 1.19294878e+00] [ 4.06153491e-02 -7.33834608e-04 9.99174587e-01 9.83912654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44925415399997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:114.56, Y:1.20, Z:0.99 [[ 9.96148002e-01 -7.78124035e-02 -4.04275594e-02 1.14555883e+02] [ 7.77756015e-02 9.96967794e-01 -2.48469589e-03 1.19548416e+00] [ 4.04983148e-02 -6.69152900e-04 9.99179383e-01 9.85081863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47925415399997 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:114.59, Y:1.20, Z:0.99 [[ 9.96329520e-01 -7.54423165e-02 -4.04468219e-02 1.14586339e+02] [ 7.54035273e-02 9.97150003e-01 -2.48587978e-03 1.19868495e+00] [ 4.05190891e-02 -5.73077639e-04 9.99178600e-01 9.86593269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50925415399998 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:114.62, Y:1.20, Z:0.99 [[ 9.96400767e-01 -7.47138342e-02 -4.00419066e-02 1.14615628e+02] [ 7.46752245e-02 9.97204870e-01 -2.46113220e-03 1.20097055e+00] [ 4.01138649e-02 -5.37864348e-04 9.99194970e-01 9.87187561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53925415399998 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:114.65, Y:1.20, Z:0.99 [[ 9.96414101e-01 -7.44803586e-02 -4.01449305e-02 1.14645093e+02] [ 7.44413252e-02 9.97222341e-01 -2.46834221e-03 1.20296633e+00] [ 4.02172646e-02 -5.28950845e-04 9.99190819e-01 9.88151959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56925415399998 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:114.67, Y:1.20, Z:0.99 [[ 9.96379213e-01 -7.50075814e-02 -4.00290811e-02 1.14673495e+02] [ 7.49691341e-02 9.97182813e-01 -2.46281539e-03 1.20491623e+00] [ 4.01010415e-02 -5.47047490e-04 9.99195480e-01 9.88882915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59925415399998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:114.71, Y:1.21, Z:0.99 [[ 9.96866926e-01 -7.27243344e-02 -3.11047100e-02 1.14705465e+02] [ 7.19794332e-02 9.97106786e-01 -2.44339560e-02 1.21375213e+00] [ 3.27916606e-02 2.21185032e-02 9.99217433e-01 9.87060995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:114.73, Y:1.20, Z:0.98 [[ 9.96144085e-01 -7.68499386e-02 -4.23207888e-02 1.14732493e+02] [ 7.75368882e-02 9.96879112e-01 1.48346454e-02 1.19926171e+00] [ 4.10486688e-02 -1.80588665e-02 9.98993936e-01 9.84921557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65925415399998 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:114.76, Y:1.21, Z:0.99 [[ 9.95766979e-01 -8.23626196e-02 -4.07985650e-02 1.14762485e+02] [ 8.25597694e-02 9.96581079e-01 3.16834564e-03 1.20504339e+00] [ 4.03981247e-02 -6.52325408e-03 9.99162369e-01 9.89227893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68925415399998 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:114.79, Y:1.21, Z:0.99 [[ 9.95595501e-01 -8.45082215e-02 -4.05950533e-02 1.14793316e+02] [ 8.44758345e-02 9.96422353e-01 -2.51557984e-03 1.20869872e+00] [ 4.06624057e-02 -9.24801030e-04 9.99172514e-01 9.90676279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.71925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:114.82, Y:1.21, Z:0.99 [[ 9.95385778e-01 -8.69828452e-02 -4.05109560e-02 1.14823684e+02] [ 8.69526939e-02 9.96209282e-01 -2.50902312e-03 1.21029872e+00] [ 4.05756324e-02 -1.02509083e-03 9.99175944e-01 9.92850039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74925415399997 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:114.85, Y:1.21, Z:0.99 [[ 9.94957565e-01 -9.18455007e-02 -4.02970070e-02 1.14854060e+02] [ 9.18196785e-02 9.95772525e-01 -2.49503387e-03 1.21129223e+00] [ 4.03558101e-02 -1.21760541e-03 9.99184631e-01 9.94291146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77925415399997 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:114.89, Y:1.21, Z:1.00 [[ 9.94791593e-01 -9.39038787e-02 -3.96452818e-02 1.14885584e+02] [ 9.38805505e-02 9.95580444e-01 -2.45383186e-03 1.21254984e+00] [ 3.97004916e-02 -1.28086958e-03 9.99210804e-01 9.95261618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80925415399997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:114.92, Y:1.21, Z:1.00 [[ 9.94469167e-01 -9.75378476e-02 -3.89543751e-02 1.14916894e+02] [ 9.75181670e-02 9.95230828e-01 -2.40954747e-03 1.21284594e+00] [ 3.90036171e-02 -1.40253859e-03 9.99238085e-01 9.96306064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83925415399997 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:114.95, Y:1.21, Z:1.00 [[ 9.94351383e-01 -9.87699833e-02 -3.88563784e-02 1.14948625e+02] [ 9.87514278e-02 9.95109235e-01 -2.40124654e-03 1.21407297e+00] [ 3.89035121e-02 -1.44944002e-03 9.99241921e-01 9.97007521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86925415399998 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:114.98, Y:1.22, Z:1.00 [[ 9.94306125e-01 -9.92393720e-02 -3.88185178e-02 1.14979309e+02] [ 9.92213338e-02 9.95062504e-01 -2.39571522e-03 1.21533611e+00] [ 3.88646008e-02 -1.46955080e-03 9.99243405e-01 9.98130492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89925415399998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:115.01, Y:1.22, Z:1.00 [[ 9.94366740e-01 -9.87439096e-02 -3.85282511e-02 1.15011277e+02] [ 9.87259379e-02 9.95111831e-01 -2.37341820e-03 1.21735590e+00] [ 3.85742791e-02 -1.44368961e-03 9.99254693e-01 9.98797593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92925415399998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:115.04, Y:1.22, Z:1.00 [[ 9.94488143e-01 -9.75171442e-02 -3.85193556e-02 1.15043508e+02] [ 9.74983723e-02 9.95232862e-01 -2.37001313e-03 1.21931961e+00] [ 3.85668455e-02 -1.39862452e-03 9.99255044e-01 9.99851782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95925415399998 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:115.07, Y:1.22, Z:1.00 [[ 9.94604679e-01 -9.62397179e-02 -3.87227288e-02 1.15074928e+02] [ 9.62198873e-02 9.95357257e-01 -2.37977923e-03 1.22160218e+00] [ 3.87719784e-02 -1.35895705e-03 9.99247160e-01 1.00086163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:115.11, Y:1.22, Z:1.00 [[ 9.94770522e-01 -9.43880096e-02 -3.90193806e-02 1.15105780e+02] [ 9.43665358e-02 9.95534639e-01 -2.39585902e-03 1.22384902e+00] [ 3.90712853e-02 -1.29879385e-03 9.99235582e-01 1.00192042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01925415399998 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:115.14, Y:1.23, Z:1.00 [[ 9.95185391e-01 -8.99080811e-02 -3.90201896e-02 1.15137482e+02] [ 8.98832537e-02 9.95949432e-01 -2.39366752e-03 1.22703346e+00] [ 3.90773457e-02 -1.12511866e-03 9.99235555e-01 1.00309433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04925415399998 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:115.17, Y:1.23, Z:1.00 [[ 9.95414713e-01 -8.73942835e-02 -3.88817226e-02 1.15169270e+02] [ 8.73678300e-02 9.96173272e-01 -2.38224687e-03 1.22969610e+00] [ 3.89411276e-02 -1.02568815e-03 9.99240980e-01 1.00423717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.07925415399998 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:115.20, Y:1.23, Z:1.01 [[ 9.95777012e-01 -8.30384349e-02 -3.91504815e-02 1.15200077e+02] [ 8.30083608e-02 9.96545971e-01 -2.39589027e-03 1.23361001e+00] [ 3.92142056e-02 -8.64044838e-04 9.99230454e-01 1.00577478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10925415399998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:115.23, Y:1.24, Z:1.01 [[ 9.95937810e-01 -8.10987037e-02 -3.91264492e-02 1.15230930e+02] [ 8.10672511e-02 9.96705763e-01 -2.39236549e-03 1.23628112e+00] [ 3.91915751e-02 -7.89226432e-04 9.99231403e-01 1.00662492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13925415399997 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:115.26, Y:1.24, Z:1.01 [[ 9.96038875e-01 -7.95493608e-02 -3.97298319e-02 1.15261718e+02] [ 7.95157580e-02 9.96830653e-01 -2.42777590e-03 1.23894894e+00] [ 3.97970423e-02 -7.40988518e-04 9.99207509e-01 1.00775491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16925415399997 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:115.29, Y:1.24, Z:1.01 [[ 9.96154541e-01 -7.76862067e-02 -4.05090655e-02 1.15292431e+02] [ 7.76497945e-02 9.96977627e-01 -2.47388064e-03 1.24260739e+00] [ 4.05788184e-02 -6.81153177e-04 9.99176108e-01 1.00823989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19925415399997 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:115.32, Y:1.25, Z:1.01 [[ 9.96141551e-01 -7.76683507e-02 -4.08611969e-02 1.15322882e+02] [ 7.76313360e-02 9.96979014e-01 -2.49420484e-03 1.24569809e+00] [ 4.09314766e-02 -6.87528228e-04 9.99161719e-01 1.00903049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22925415399997 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:115.35, Y:1.25, Z:1.01 [[ 9.96014615e-01 -7.85893333e-02 -4.21735025e-02 1.15352042e+02] [ 7.85507293e-02 9.96906794e-01 -2.57426876e-03 1.24912508e+00] [ 4.22453613e-02 -7.48750067e-04 9.99106986e-01 1.00960971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25925415399998 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:115.38, Y:1.25, Z:1.01 [[ 9.96182280e-01 -7.74684534e-02 -4.02430484e-02 1.15382777e+02] [ 7.72691634e-02 9.96989168e-01 -6.48652388e-03 1.25130718e+00] [ 4.06243843e-02 3.35221347e-03 9.99168866e-01 1.00946461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28925415399998 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:115.41, Y:1.25, Z:1.01 [[ 9.95718697e-01 -8.16229892e-02 -4.33816019e-02 1.15411091e+02] [ 8.17722629e-02 9.96649634e-01 1.67464563e-03 1.25201164e+00] [ 4.30995681e-02 -5.21488772e-03 9.99057172e-01 1.01022772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31925415399998 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:115.46, Y:1.29, Z:1.01 [[ 9.96835647e-01 -7.75395779e-02 -1.75016363e-02 1.15457782e+02] [ 7.56293397e-02 9.92929454e-01 -9.14948170e-02 1.28939823e+00] [ 2.44723596e-02 8.98816578e-02 9.95651742e-01 1.01341711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34925415399998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:115.47, Y:1.21, Z:0.99 [[ 9.95077556e-01 -8.60680600e-02 -4.91217560e-02 1.15473776e+02] [ 9.02342284e-02 9.91839345e-01 9.00694005e-02 1.21466722e+00] [ 4.09687918e-02 -9.40585026e-02 9.94723357e-01 9.90071151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37925415399998 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:115.50, Y:1.26, Z:1.02 [[ 9.94545371e-01 -9.50649411e-02 -4.29204069e-02 1.15501833e+02] [ 9.50383501e-02 9.95470047e-01 -2.66423816e-03 1.26362263e+00] [ 4.29792551e-02 -1.42937893e-03 9.99074942e-01 1.01669371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40925415399998 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:115.53, Y:1.27, Z:1.02 [[ 9.94255749e-01 -9.83116413e-02 -4.23122481e-02 1.15533771e+02] [ 9.82891098e-02 9.95154460e-01 -2.61758209e-03 1.26618930e+00] [ 4.23645612e-02 -1.55628715e-03 9.99101007e-01 1.01782186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43925415399998 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:115.57, Y:1.29, Z:1.02 [[ 9.95041779e-01 -9.62110526e-02 -2.52049702e-02 1.15573935e+02] [ 9.46325103e-02 9.93837509e-01 -5.77208177e-02 1.28803544e+00] [ 3.06030254e-02 5.50494156e-02 9.98014537e-01 1.01931699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.46925415399998 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:115.60, Y:1.24, Z:1.00 [[ 9.93250408e-01 -1.06660358e-01 -4.55762667e-02 1.15595125e+02] [ 1.09112337e-01 9.92495386e-01 5.52033123e-02 1.24400374e+00] [ 3.93462294e-02 -5.98036454e-02 9.97434408e-01 1.00452205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49925415399997 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:115.62, Y:1.28, Z:1.02 [[ 9.92925728e-01 -1.11239594e-01 -4.15241116e-02 1.15624764e+02] [ 1.11228437e-01 9.93791501e-01 -2.58612864e-03 1.27517755e+00] [ 4.15539890e-02 -2.05082834e-03 9.99134155e-01 1.02159321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52925415399997 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:115.66, Y:1.28, Z:1.02 [[ 9.92605114e-01 -1.13973863e-01 -4.17737438e-02 1.15657385e+02] [ 1.13965275e-01 9.93481345e-01 -2.59475360e-03 1.27858027e+00] [ 4.17971693e-02 -2.18519049e-03 9.99123727e-01 1.02304397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55925415399997 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:115.69, Y:1.28, Z:1.02 [[ 9.92185190e-01 -1.17448655e-01 -4.21231761e-02 1.15689639e+02] [ 1.17443272e-01 9.93076160e-01 -2.61103164e-03 1.28334975e+00] [ 4.21381842e-02 -2.35645670e-03 9.99109013e-01 1.02415321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58925415399997 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:115.72, Y:1.29, Z:1.03 [[ 9.92056866e-01 -1.18631097e-01 -4.18310560e-02 1.15722501e+02] [ 1.18627132e-01 9.92935505e-01 -2.58582285e-03 1.28680550e+00] [ 4.18422997e-02 -2.39701489e-03 9.99121352e-01 1.02510392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:115.76, Y:1.29, Z:1.03 [[ 9.91973168e-01 -1.19403962e-01 -4.16164307e-02 1.15755649e+02] [ 1.19400907e-01 9.92842802e-01 -2.56793821e-03 1.29037022e+00] [ 4.16251956e-02 -2.42171376e-03 9.99130361e-01 1.02653512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64925415399998 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:115.79, Y:1.30, Z:1.03 [[ 9.91844072e-01 -1.20500653e-01 -4.15322819e-02 1.15787904e+02] [ 1.20498754e-01 9.92710182e-01 -2.55825599e-03 1.29532721e+00] [ 4.15377906e-02 -2.46719718e-03 9.99133887e-01 1.02768030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67925415399998 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:115.82, Y:1.30, Z:1.03 [[ 9.91829526e-01 -1.20522212e-01 -4.18161303e-02 1.15820506e+02] [ 1.20520476e-01 9.92707510e-01 -2.57169045e-03 1.29864068e+00] [ 4.18211325e-02 -2.48902143e-03 9.99122013e-01 1.02839888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70925415399998 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:115.85, Y:1.30, Z:1.03 [[ 9.91795334e-01 -1.20720028e-01 -4.20557942e-02 1.15852949e+02] [ 1.20718646e-01 9.92683405e-01 -2.58176695e-03 1.30249288e+00] [ 4.20597600e-02 -2.51633413e-03 9.99111928e-01 1.02975951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73925415399998 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:115.89, Y:1.31, Z:1.03 [[ 9.91813042e-01 -1.19951398e-01 -4.38012785e-02 1.15885460e+02] [ 1.19949374e-01 9.92776382e-01 -2.68396176e-03 1.30813839e+00] [ 4.38068198e-02 -2.59194767e-03 9.99036658e-01 1.03044358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76925415399998 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:115.92, Y:1.31, Z:1.03 [[ 9.91879690e-01 -1.19298394e-01 -4.40746449e-02 1.15918166e+02] [ 1.19295919e-01 9.92855083e-01 -2.69583136e-03 1.31178108e+00] [ 4.40813436e-02 -2.58398491e-03 9.99024603e-01 1.03076543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79925415399998 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:115.95, Y:1.32, Z:1.03 [[ 9.92118504e-01 -1.16878064e-01 -4.51707028e-02 1.15949993e+02] [ 1.16873233e-01 9.93143014e-01 -2.75699071e-03 1.31781298e+00] [ 4.51831997e-02 -2.54398459e-03 9.98975478e-01 1.03131517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.82925415399998 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:115.98, Y:1.32, Z:1.03 [[ 9.92291072e-01 -1.15334022e-01 -4.53485543e-02 1.15982258e+02] [ 1.15327861e-01 9.93323644e-01 -2.76092671e-03 1.32243694e+00] [ 4.53642200e-02 -2.49030884e-03 9.98967410e-01 1.03273765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85925415399998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:116.02, Y:1.33, Z:1.03 [[ 9.92475688e-01 -1.13845769e-01 -4.50682766e-02 1.16015173e+02] [ 1.13838346e-01 9.93495509e-01 -2.73961397e-03 1.32732725e+00] [ 4.50870239e-02 -2.41149781e-03 9.98980152e-01 1.03406312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88925415399997 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:116.05, Y:1.33, Z:1.04 [[ 9.92871077e-01 -1.10592640e-01 -4.44555143e-02 1.16046680e+02] [ 1.10582374e-01 9.93863301e-01 -2.69765027e-03 1.33486058e+00] [ 4.44810444e-02 -2.23757738e-03 9.99007723e-01 1.03600606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91925415399997 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:116.08, Y:1.34, Z:1.04 [[ 9.93096153e-01 -1.08794247e-01 -4.38616371e-02 1.16079455e+02] [ 1.08782688e-01 9.94062003e-01 -2.65741149e-03 1.33944500e+00] [ 4.38902979e-02 -2.13232166e-03 9.99034081e-01 1.03768097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94925415399997 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:116.11, Y:1.35, Z:1.04 [[ 9.93518985e-01 -1.05557771e-01 -4.21614087e-02 1.16111947e+02] [ 1.05544369e-01 9.94411325e-01 -2.54993364e-03 1.34681147e+00] [ 4.21949476e-02 -1.91649178e-03 9.99107559e-01 1.03962979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97925415399997 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:116.15, Y:1.35, Z:1.04 [[ 9.93700697e-01 -1.04174778e-01 -4.13103002e-02 1.16145004e+02] [ 1.04160901e-01 9.94557332e-01 -2.49403511e-03 1.35100634e+00] [ 4.13452775e-02 -1.82459365e-03 9.99143252e-01 1.04101152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00925415399998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:116.18, Y:1.35, Z:1.04 [[ 9.93888824e-01 -1.02800772e-01 -4.02120271e-02 1.16177897e+02] [ 1.02786672e-01 9.94700471e-01 -2.42344653e-03 1.35479984e+00] [ 4.02480545e-02 -1.72462402e-03 9.99188230e-01 1.04210302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03925415399998 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:116.21, Y:1.36, Z:1.04 [[ 9.94121097e-01 -1.00642184e-01 -3.99298704e-02 1.16209868e+02] [ 1.00626738e-01 9.94921350e-01 -2.40155332e-03 1.36029570e+00] [ 3.99687781e-02 -1.63057779e-03 9.99199599e-01 1.04341528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06925415399998 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:116.24, Y:1.36, Z:1.04 [[ 9.94187185e-01 -9.99301606e-02 -4.00724867e-02 1.16242229e+02] [ 9.99142981e-02 9.94993144e-01 -2.40339324e-03 1.36364647e+00] [ 4.01120210e-02 -1.61439163e-03 9.99193885e-01 1.04396769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09925415399998 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:116.28, Y:1.37, Z:1.05 [[ 9.94199661e-01 -9.98058727e-02 -4.00727181e-02 1.16275706e+02] [ 9.97900649e-02 9.95005621e-01 -2.39953007e-03 1.36555806e+00] [ 4.01120669e-02 -1.61324715e-03 9.99193885e-01 1.04508650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12925415399998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:116.31, Y:1.37, Z:1.05 [[ 9.94223864e-01 -9.93211099e-02 -4.06721602e-02 1.16308718e+02] [ 9.93046268e-02 9.95054111e-01 -2.43038439e-03 1.36873696e+00] [ 4.07123887e-02 -1.62258753e-03 9.99169590e-01 1.04597861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15925415399998 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:116.34, Y:1.37, Z:1.05 [[ 9.94192325e-01 -9.90732515e-02 -4.20251271e-02 1.16340320e+02] [ 9.90556246e-02 9.95078740e-01 -2.50670545e-03 1.37334523e+00] [ 4.20666580e-02 -1.67067789e-03 9.99113410e-01 1.04659143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18925415399998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:116.37, Y:1.38, Z:1.05 [[ 9.94140366e-01 -9.90048672e-02 -4.33931978e-02 1.16371805e+02] [ 9.89862205e-02 9.95085450e-01 -2.58347801e-03 1.37670955e+00] [ 4.34357167e-02 -1.72698887e-03 9.99054731e-01 1.04780187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.21925415399998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:116.41, Y:1.38, Z:1.05 [[ 9.94030262e-01 -9.94499597e-02 -4.48725259e-02 1.16405092e+02] [ 9.94307993e-02 9.95040912e-01 -2.66432967e-03 1.38165566e+00] [ 4.49149666e-02 -1.81328680e-03 9.98989168e-01 1.04839549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24925415399997 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:116.44, Y:1.38, Z:1.05 [[ 9.94007351e-01 -9.95958328e-02 -4.50561494e-02 1.16437085e+02] [ 9.95769317e-02 9.95026286e-01 -2.66932584e-03 1.38470119e+00] [ 4.50979067e-02 -1.83322360e-03 9.98980890e-01 1.04938379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27925415399997 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:116.47, Y:1.39, Z:1.05 [[ 9.94028504e-01 -9.93846263e-02 -4.50558552e-02 1.16469572e+02] [ 9.93658427e-02 9.95047408e-01 -2.66191615e-03 1.38784916e+00] [ 4.50972655e-02 -1.83099249e-03 9.98980923e-01 1.05039366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30925415399997 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:116.50, Y:1.39, Z:1.05 [[ 9.94114826e-01 -9.87780461e-02 -4.44815835e-02 1.16502589e+02] [ 9.87593488e-02 9.95107889e-01 -2.62311156e-03 1.39108242e+00] [ 4.45230805e-02 -1.78529813e-03 9.99006761e-01 1.05170151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:1.40, Z:1.05 [[ 9.94336562e-01 -9.73778222e-02 -4.25718422e-02 1.16534083e+02] [ 9.73596027e-02 9.95246114e-01 -2.50603709e-03 1.39600114e+00] [ 4.26134930e-02 -1.65293334e-03 9.99090265e-01 1.05350062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36925415399998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:116.57, Y:1.40, Z:1.05 [[ 9.94465714e-01 -9.65144523e-02 -4.15078760e-02 1.16566902e+02] [ 9.64965433e-02 9.95330330e-01 -2.43948418e-03 1.39957727e+00] [ 4.15494934e-02 -1.57938318e-03 9.99135199e-01 1.05484954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39925415399998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:116.60, Y:1.40, Z:1.06 [[ 9.94623021e-01 -9.55177673e-02 -4.00175229e-02 1.16599364e+02] [ 9.55004846e-02 9.95426615e-01 -2.34765403e-03 1.40302298e+00] [ 4.00587500e-02 -1.48666209e-03 9.99196220e-01 1.05575090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42925415399998 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:116.63, Y:1.41, Z:1.06 [[ 9.94820098e-01 -9.42708634e-02 -3.80260142e-02 1.16632066e+02] [ 9.42545001e-02 9.95545645e-01 -2.22680333e-03 1.40797352e+00] [ 3.80665555e-02 -1.36885425e-03 9.99274268e-01 1.05714413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45925415399998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:116.67, Y:1.41, Z:1.06 [[ 9.94919897e-01 -9.33334627e-02 -3.77261718e-02 1.16665171e+02] [ 9.33168388e-02 9.95634022e-01 -2.20513363e-03 1.41085156e+00] [ 3.77672729e-02 -1.32655577e-03 9.99285682e-01 1.05811325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48925415399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.70, Y:1.41, Z:1.06 [[ 9.95117363e-01 -9.10279971e-02 -3.81488916e-02 1.16697556e+02] [ 9.10094802e-02 9.95847540e-01 -2.22530787e-03 1.41409675e+00] [ 3.81930452e-02 -1.25746830e-03 9.99269588e-01 1.05824680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51925415399998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:116.73, Y:1.42, Z:1.06 [[ 9.95169160e-01 -9.03513411e-02 -3.84054555e-02 1.16730767e+02] [ 9.03323241e-02 9.95909173e-01 -2.23370511e-03 1.41647549e+00] [ 3.84501637e-02 -1.24633962e-03 9.99259742e-01 1.05870606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.76, Y:1.42, Z:1.06 [[ 9.95167119e-01 -9.03440889e-02 -3.84753215e-02 1.16764035e+02] [ 9.03251568e-02 9.95909824e-01 -2.23362991e-03 1.41907843e+00] [ 3.85197459e-02 -1.25245441e-03 9.99257054e-01 1.05996463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.57925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.80, Y:1.42, Z:1.06 [[ 9.95156425e-01 -9.02183317e-02 -3.90428192e-02 1.16796744e+02] [ 9.01989100e-02 9.95921201e-01 -2.26224368e-03 1.42106464e+00] [ 3.90876673e-02 -1.27033341e-03 9.99234978e-01 1.06095665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60925415399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:116.83, Y:1.42, Z:1.06 [[ 9.95170374e-01 -9.01568805e-02 -3.88286485e-02 1.16829275e+02] [ 9.01377882e-02 9.95926773e-01 -2.24562760e-03 1.42268692e+00] [ 3.88729493e-02 -1.26514643e-03 9.99243360e-01 1.06171697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63925415399997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:116.86, Y:1.42, Z:1.06 [[ 9.95154673e-01 -9.02758201e-02 -3.89545106e-02 1.16862649e+02] [ 9.02568608e-02 9.95915982e-01 -2.24865473e-03 1.42442732e+00] [ 3.89984189e-02 -1.27815259e-03 9.99238455e-01 1.06279621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66925415399997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:116.89, Y:1.43, Z:1.06 [[ 9.95155274e-01 -9.03096186e-02 -3.88607050e-02 1.16894369e+02] [ 9.02909380e-02 9.95912914e-01 -2.23908266e-03 1.42595355e+00] [ 3.89040887e-02 -1.28053459e-03 9.99242129e-01 1.06305262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69925415399997 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:116.94, Y:1.46, Z:1.07 [[ 9.96358922e-01 -8.43639365e-02 -1.23136082e-02 1.16935393e+02] [ 8.28657149e-02 9.92222308e-01 -9.28879144e-02 1.46420818e+00] [ 2.00542269e-02 9.15293263e-02 9.95600427e-01 1.07232312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72925415399997 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:116.96, Y:1.38, Z:1.03 [[ 9.95264715e-01 -8.66184292e-02 -4.41066387e-02 1.16960183e+02] [ 9.03446057e-02 9.91744966e-01 9.09932654e-02 1.38300141e+00] [ 3.58608431e-02 -9.45471832e-02 9.94874279e-01 1.03198645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75925415399998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:117.00, Y:1.46, Z:1.07 [[ 9.96177086e-01 -8.56257930e-02 -1.73042657e-02 1.16996813e+02] [ 8.41404175e-02 9.93742254e-01 -7.34623872e-02 1.46069335e+00] [ 2.34862551e-02 7.17255586e-02 9.97147853e-01 1.07124683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78925415399998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:117.02, Y:1.40, Z:1.04 [[ 9.95280511e-01 -8.71337409e-02 -4.27131901e-02 1.17022664e+02] [ 9.00285178e-02 9.93381848e-01 7.13258058e-02 1.39708993e+00] [ 3.62156234e-02 -7.48345896e-02 9.96538114e-01 1.04116047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81925415399998 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:117.05, Y:1.43, Z:1.07 [[ 9.95248238e-01 -8.95549326e-02 -3.82211829e-02 1.17052344e+02] [ 8.95358494e-02 9.95981139e-01 -2.21414867e-03 1.43478038e+00] [ 3.82658653e-02 -1.21853852e-03 9.99266851e-01 1.06834396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84925415399998 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:117.09, Y:1.44, Z:1.07 [[ 9.95253415e-01 -8.95160323e-02 -3.81774747e-02 1.17085104e+02] [ 8.94971192e-02 9.95984635e-01 -2.20756126e-03 1.43619914e+00] [ 3.82217903e-02 -1.21969112e-03 9.99268536e-01 1.06934130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87925415399998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:117.12, Y:1.44, Z:1.07 [[ 9.95216541e-01 -8.98373478e-02 -3.83834321e-02 1.17117940e+02] [ 8.98186305e-02 9.95955675e-01 -2.21526834e-03 1.43782229e+00] [ 3.84272109e-02 -1.24287561e-03 9.99260629e-01 1.07052062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90925415399998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:117.15, Y:1.44, Z:1.07 [[ 9.95173193e-01 -9.02657098e-02 -3.85021666e-02 1.17151267e+02] [ 9.02473609e-02 9.95916912e-01 -2.21786401e-03 1.43914058e+00] [ 3.85451559e-02 -1.26756012e-03 9.99256055e-01 1.07142739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93925415399998 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:117.18, Y:1.44, Z:1.07 [[ 9.94934761e-01 -9.25634343e-02 -3.92024463e-02 1.17182887e+02] [ 9.25463605e-02 9.95705826e-01 -2.25393358e-03 1.43956589e+00] [ 3.92427360e-02 -1.38552686e-03 9.99228747e-01 1.07203141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.96925415399998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:117.22, Y:1.44, Z:1.07 [[ 9.94799317e-01 -9.37839828e-02 -3.97351696e-02 1.17215531e+02] [ 9.37675638e-02 9.95591504e-01 -2.28080134e-03 1.44055560e+00] [ 3.97738999e-02 -1.45693044e-03 9.99207643e-01 1.07271897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99925415399997 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:117.25, Y:1.44, Z:1.07 [[ 9.94543057e-01 -9.58554695e-02 -4.11805493e-02 1.17248917e+02] [ 9.58398024e-02 9.95393976e-01 -2.35904767e-03 1.44034275e+00] [ 4.12169983e-02 -1.60056122e-03 9.99148936e-01 1.07325443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02925415399997 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:117.28, Y:1.44, Z:1.07 [[ 9.94446251e-01 -9.68129552e-02 -4.12783802e-02 1.17282000e+02] [ 9.67982291e-02 9.95301227e-01 -2.36000394e-03 1.44132872e+00] [ 4.13129015e-02 -1.64877703e-03 9.99144897e-01 1.07405173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05925415399997 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:117.32, Y:1.46, Z:1.08 [[ 9.94776059e-01 -9.69250848e-02 -3.20331116e-02 1.17317492e+02] [ 9.59098204e-02 9.94880507e-01 -3.18446848e-02 1.45530748e+00] [ 3.49556671e-02 2.86060401e-02 9.98979377e-01 1.07650173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08925415399997 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:117.35, Y:1.43, Z:1.07 [[ 9.94240343e-01 -9.81233334e-02 -4.31039718e-02 1.17347514e+02] [ 9.93886250e-02 9.94647345e-01 2.82588257e-02 1.42922645e+00] [ 4.01004009e-02 -3.23801091e-02 9.98670860e-01 1.06712352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11925415399998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:117.38, Y:1.45, Z:1.08 [[ 9.94218759e-01 -9.90807014e-02 -4.13772192e-02 1.17379769e+02] [ 9.90683061e-02 9.95077849e-01 -2.35498809e-03 1.44593312e+00] [ 4.14068881e-02 -1.75779768e-03 9.99140821e-01 1.07930111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14925415399998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:117.41, Y:1.45, Z:1.08 [[ 9.94307226e-01 -9.87715196e-02 -3.99665698e-02 1.17411574e+02] [ 9.87598961e-02 9.95108703e-01 -2.26990742e-03 1.44651535e+00] [ 3.99952837e-02 -1.69010893e-03 9.99198439e-01 1.08113071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17925415399998 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:117.45, Y:1.45, Z:1.08 [[ 9.94535354e-01 -9.84814232e-02 -3.46531327e-02 1.17446104e+02] [ 9.80091880e-02 9.95071308e-01 -1.50761612e-02 1.45367361e+00] [ 3.59670599e-02 1.15974499e-02 9.99285680e-01 1.08141303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20925415399998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:117.48, Y:1.44, Z:1.08 [[ 9.94314449e-01 -9.90942991e-02 -3.89755800e-02 1.17477269e+02] [ 9.96006804e-02 9.94963689e-01 1.12677284e-02 1.44205578e+00] [ 3.76627193e-02 -1.50856594e-02 9.99176632e-01 1.07924650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23925415399998 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:117.51, Y:1.45, Z:1.09 [[ 9.94256150e-01 -1.00125678e-01 -3.78094805e-02 1.17508417e+02] [ 1.00116814e-01 9.94973405e-01 -2.13249217e-03 1.44971273e+00] [ 3.78329447e-02 -1.66512126e-03 9.99282691e-01 1.08500992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26925415399998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:117.54, Y:1.45, Z:1.09 [[ 9.94213695e-01 -1.00465155e-01 -3.80247567e-02 1.17541887e+02] [ 1.00456569e-01 9.94939140e-01 -2.14117550e-03 1.45094669e+00] [ 3.80474323e-02 -1.69105061e-03 9.99274503e-01 1.08651382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29925415399998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:117.57, Y:1.45, Z:1.09 [[ 9.94024747e-01 -1.02170943e-01 -3.84174490e-02 1.17574600e+02] [ 1.02163610e-01 9.94765266e-01 -2.15914542e-03 1.45108238e+00] [ 3.84369458e-02 -1.77862131e-03 9.99259445e-01 1.08677866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.32925415399998 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:117.61, Y:1.45, Z:1.09 [[ 9.93903367e-01 -1.03130583e-01 -3.89894745e-02 1.17606899e+02] [ 1.03123930e-01 9.94666111e-01 -2.18710126e-03 1.45172259e+00] [ 3.90070660e-02 -1.84698054e-03 9.99237228e-01 1.08727399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35925415399998 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:117.64, Y:1.45, Z:1.09 [[ 9.93631436e-01 -1.05158723e-01 -4.04748369e-02 1.17640489e+02] [ 1.05153389e-01 9.94453431e-01 -2.26658265e-03 1.45111821e+00] [ 4.04886914e-02 -2.00391851e-03 9.99177987e-01 1.08750701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38925415399997 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:117.67, Y:1.45, Z:1.09 [[ 9.93519388e-01 -1.05967744e-01 -4.11103689e-02 1.17672833e+02] [ 1.05963110e-01 9.94367407e-01 -2.29787228e-03 1.45184244e+00] [ 4.11223112e-02 -2.07320187e-03 9.99151969e-01 1.08859525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41925415399997 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:117.71, Y:1.45, Z:1.09 [[ 9.93457072e-01 -1.06433841e-01 -4.14111419e-02 1.17706208e+02] [ 1.06429701e-01 9.94317544e-01 -2.31089130e-03 1.45298579e+00] [ 4.14217819e-02 -2.11160414e-03 9.99139518e-01 1.08993378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44925415399997 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:117.74, Y:1.45, Z:1.09 [[ 9.93408402e-01 -1.06684872e-01 -4.19295338e-02 1.17739608e+02] [ 1.06681044e-01 9.94290552e-01 -2.33523984e-03 1.45437644e+00] [ 4.19392740e-02 -2.15323955e-03 9.99117841e-01 1.09129028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47925415399997 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:117.77, Y:1.46, Z:1.09 [[ 9.93374393e-01 -1.06869845e-01 -4.22628915e-02 1.17772112e+02] [ 1.06866315e-01 9.94270623e-01 -2.34927057e-03 1.45547198e+00] [ 4.22718176e-02 -2.18277423e-03 9.99103763e-01 1.09251880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50925415399998 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:117.81, Y:1.46, Z:1.09 [[ 9.93644290e-01 -1.05880647e-01 -3.82140366e-02 1.17806323e+02] [ 1.05380510e-01 9.94320660e-01 -1.48786269e-02 1.46186257e+00] [ 3.95723648e-02 1.07570480e-02 9.99158803e-01 1.09261988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53925415399998 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:117.84, Y:1.45, Z:1.09 [[ 9.93473949e-01 -1.05405528e-01 -4.35796629e-02 1.17836686e+02] [ 1.05962902e-01 9.94312755e-01 1.06775092e-02 1.45106437e+00] [ 4.22063462e-02 -1.52256548e-02 9.98992895e-01 1.08955231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56925415399998 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:117.87, Y:1.46, Z:1.10 [[ 9.93525704e-01 -1.05218044e-01 -4.28466959e-02 1.17868508e+02] [ 1.05213639e-01 9.94446832e-01 -2.36414563e-03 1.45885034e+00] [ 4.28575118e-02 -2.15921736e-03 9.99078861e-01 1.09552718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:117.90, Y:1.46, Z:1.10 [[ 9.93667059e-01 -1.03834080e-01 -4.29448430e-02 1.17901726e+02] [ 1.03828540e-01 9.94592398e-01 -2.36550996e-03 1.45995197e+00] [ 4.29582349e-02 -2.10837103e-03 9.99074644e-01 1.09584730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:117.93, Y:1.46, Z:1.10 [[ 9.93931373e-01 -1.01520328e-01 -4.23562101e-02 1.17933326e+02] [ 1.01513034e-01 9.94831484e-01 -2.32856288e-03 1.46206717e+00] [ 4.23736878e-02 -1.98527571e-03 9.99099860e-01 1.09823936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65925415399998 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:117.97, Y:1.46, Z:1.10 [[ 9.94099939e-01 -9.99705856e-02 -4.20855427e-02 1.17966678e+02] [ 9.99621670e-02 9.94988558e-01 -2.30969129e-03 1.46394812e+00] [ 4.21055346e-02 -1.91089808e-03 9.99111341e-01 1.09981740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68925415399998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:118.00, Y:1.47, Z:1.10 [[ 9.94233086e-01 -9.87513203e-02 -4.18180207e-02 1.17999922e+02] [ 9.87421237e-02 9.95110419e-01 -2.29043254e-03 1.46609754e+00] [ 4.18397314e-02 -1.85197636e-03 9.99122619e-01 1.10186570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.71925415399998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:118.03, Y:1.47, Z:1.10 [[ 9.94479943e-01 -9.66739631e-02 -4.07895608e-02 1.18033165e+02] [ 9.66636469e-02 9.95314607e-01 -2.22972799e-03 1.46808154e+00] [ 4.08140023e-02 -1.72544793e-03 9.99165272e-01 1.10366967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74925415399997 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:118.07, Y:1.47, Z:1.10 [[ 9.94603081e-01 -9.54979370e-02 -4.05568113e-02 1.18065654e+02] [ 9.54869369e-02 9.95428224e-01 -2.21270280e-03 1.46903399e+00] [ 4.05827032e-02 -1.67188467e-03 9.99174784e-01 1.10266217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77925415399997 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:118.10, Y:1.47, Z:1.10 [[ 9.94602599e-01 -9.52878632e-02 -4.10596398e-02 1.18097371e+02] [ 9.52765862e-02 9.95448328e-01 -2.23586540e-03 1.47002002e+00] [ 4.10858006e-02 -1.68822477e-03 9.99154196e-01 1.10483150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80925415399997 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:118.13, Y:1.47, Z:1.11 [[ 9.94574186e-01 -9.52915917e-02 -4.17337041e-02 1.18130039e+02] [ 9.52802339e-02 9.95447911e-01 -2.26567235e-03 1.47110201e+00] [ 4.17596281e-02 -1.72301785e-03 9.99126201e-01 1.10542030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83925415399997 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:118.16, Y:1.47, Z:1.11 [[ 9.94524239e-01 -9.53982771e-02 -4.26697481e-02 1.18162447e+02] [ 9.53867048e-02 9.95437608e-01 -2.31177540e-03 1.47220280e+00] [ 4.26956114e-02 -1.77101000e-03 9.99086557e-01 1.10606875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:118.19, Y:1.47, Z:1.11 [[ 9.94391192e-01 -9.60036198e-02 -4.43786335e-02 1.18194623e+02] [ 9.59918938e-02 9.95379222e-01 -2.40013520e-03 1.47317503e+00] [ 4.44039914e-02 -1.87331578e-03 9.99011900e-01 1.10633360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:118.23, Y:1.47, Z:1.11 [[ 9.94389036e-01 -9.57730600e-02 -4.49217694e-02 1.18226853e+02] [ 9.57609875e-02 9.95401401e-01 -2.42559539e-03 1.47459561e+00] [ 4.49474989e-02 -1.88976753e-03 9.98987563e-01 1.10726066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92925415399998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:118.26, Y:1.48, Z:1.11 [[ 9.94406726e-01 -9.53985635e-02 -4.53252383e-02 1.18259639e+02] [ 9.53860535e-02 9.95437356e-01 -2.44368666e-03 1.47612683e+00] [ 4.53515596e-02 -1.89337716e-03 9.98969294e-01 1.10849463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95925415399998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:118.29, Y:1.48, Z:1.11 [[ 9.94547714e-01 -9.41259078e-02 -4.48905125e-02 1.18292992e+02] [ 9.41125657e-02 9.95558633e-01 -2.41527622e-03 1.47706800e+00] [ 4.49184773e-02 -1.82265386e-03 9.98988993e-01 1.10988276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98925415399998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:118.33, Y:1.48, Z:1.11 [[ 9.94556338e-01 -9.40346135e-02 -4.48907689e-02 1.18325631e+02] [ 9.40213937e-02 9.95567259e-01 -2.41050308e-03 1.47876149e+00] [ 4.49184504e-02 -1.82331154e-03 9.98988993e-01 1.11102288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01925415399998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:118.36, Y:1.48, Z:1.11 [[ 9.94716035e-01 -9.26955298e-02 -4.41310283e-02 1.18357540e+02] [ 9.26816142e-02 9.95692986e-01 -2.36570559e-03 1.48002427e+00] [ 4.41602457e-02 -1.73692965e-03 9.99022951e-01 1.11197732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:118.39, Y:1.48, Z:1.11 [[ 9.95080154e-01 -8.94462191e-02 -4.26011771e-02 1.18388860e+02] [ 8.94304263e-02 9.95990462e-01 -2.28018803e-03 1.48218014e+00] [ 4.26343202e-02 -1.54087157e-03 9.99089556e-01 1.11336225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.07925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:118.42, Y:1.48, Z:1.12 [[ 9.95285749e-01 -8.74651308e-02 -4.19062004e-02 1.18421239e+02] [ 8.74481942e-02 9.96166549e-01 -2.24062317e-03 1.48445391e+00] [ 4.19415314e-02 -1.43456125e-03 9.99119037e-01 1.11533633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10925415399998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:118.45, Y:1.49, Z:1.12 [[ 9.95483250e-01 -8.54736572e-02 -4.13201207e-02 1.18453073e+02] [ 8.54555997e-02 9.96339537e-01 -2.20633168e-03 1.48660493e+00] [ 4.13574532e-02 -1.33466947e-03 9.99143523e-01 1.11679325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13925415399997 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:118.48, Y:1.49, Z:1.12 [[ 9.95819790e-01 -8.19514363e-02 -4.03349520e-02 1.18484274e+02] [ 8.19314727e-02 9.96635645e-01 -2.15050779e-03 1.48848886e+00] [ 4.03754881e-02 -1.16318380e-03 9.99183900e-01 1.11779883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16925415399997 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:118.52, Y:1.49, Z:1.12 [[ 9.95904522e-01 -8.07840502e-02 -4.05970573e-02 1.18516674e+02] [ 8.07630521e-02 9.96730989e-01 -2.15970116e-03 1.49000588e+00] [ 4.06388145e-02 -1.12788610e-03 9.99173266e-01 1.11872324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19925415399997 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:118.55, Y:1.49, Z:1.12 [[ 9.96045299e-01 -7.91020303e-02 -4.04553063e-02 1.18548385e+02] [ 7.90799135e-02 9.96865963e-01 -2.14917705e-03 1.49077857e+00] [ 4.04985221e-02 -1.05852443e-03 9.99179038e-01 1.11898440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22925415399997 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:118.58, Y:1.49, Z:1.12 [[ 9.96175006e-01 -7.73236317e-02 -4.06990519e-02 1.18578637e+02] [ 7.73278080e-02 9.97004633e-01 -1.47397381e-03 1.49177425e+00] [ 4.06911163e-02 -1.67883260e-03 9.99170363e-01 1.11948281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:118.61, Y:1.49, Z:1.12 [[ 9.96106744e-01 -7.83930101e-02 -4.03223341e-02 1.18611931e+02] [ 7.83339773e-02 9.96922525e-01 -3.04433017e-03 1.49421056e+00] [ 4.04368973e-02 -1.26130989e-04 9.99182086e-01 1.12139440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28925415399998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:118.64, Y:1.50, Z:1.12 [[ 9.96065549e-01 -7.83589858e-02 -4.13919270e-02 1.18643475e+02] [ 7.83356028e-02 9.96924642e-01 -2.18904129e-03 1.49512032e+00] [ 4.14361630e-02 -1.06203293e-03 9.99140589e-01 1.12174407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31925415399998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:118.67, Y:1.50, Z:1.12 [[ 9.96012330e-01 -7.86337729e-02 -4.21446098e-02 1.18674670e+02] [ 7.86098754e-02 9.96902969e-01 -2.22653617e-03 1.49650261e+00] [ 4.21891676e-02 -1.09532504e-03 9.99109040e-01 1.12261801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34925415399998 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:118.71, Y:1.50, Z:1.12 [[ 9.95884798e-01 -7.96997130e-02 -4.31442300e-02 1.18706737e+02] [ 7.96757759e-02 9.96818232e-01 -2.27684903e-03 1.49739882e+00] [ 4.31884193e-02 -1.17007067e-03 9.99066260e-01 1.12345568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37925415399998 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:118.74, Y:1.50, Z:1.12 [[ 9.95810901e-01 -8.03174593e-02 -4.37007521e-02 1.18739402e+02] [ 8.02936338e-02 9.96768593e-01 -2.30305184e-03 1.49848408e+00] [ 4.37445125e-02 -1.21548806e-03 9.99042011e-01 1.12432286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40925415399998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:118.77, Y:1.50, Z:1.13 [[ 9.95765787e-01 -8.09133416e-02 -4.36294485e-02 1.18771076e+02] [ 8.08903264e-02 9.96720365e-01 -2.29560130e-03 1.49946786e+00] [ 4.36721046e-02 -1.24331910e-03 9.99045145e-01 1.12549483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:118.80, Y:1.50, Z:1.13 [[ 9.95766236e-01 -8.15425395e-02 -4.24313238e-02 1.18802801e+02] [ 8.15215441e-02 9.96669090e-01 -2.22777668e-03 1.49963264e+00] [ 4.24716475e-02 -1.24072224e-03 9.99096902e-01 1.12662843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.46925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:118.84, Y:1.50, Z:1.13 [[ 9.95838004e-01 -8.10755801e-02 -4.16343674e-02 1.18835040e+02] [ 8.10550847e-02 9.96707233e-01 -2.18289160e-03 1.50074605e+00] [ 4.16742543e-02 -1.20087077e-03 9.99130529e-01 1.12781250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49925415399997 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:118.87, Y:1.50, Z:1.13 [[ 9.95877043e-01 -8.07304787e-02 -4.13703514e-02 1.18866613e+02] [ 8.07100673e-02 9.96735267e-01 -2.16609724e-03 1.50213686e+00] [ 4.14101584e-02 -1.18183734e-03 9.99141533e-01 1.12936821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52925415399997 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:118.90, Y:1.50, Z:1.13 [[ 9.96058581e-01 -7.87215800e-02 -4.08682710e-02 1.18898675e+02] [ 7.87000678e-02 9.96896048e-01 -2.13745494e-03 1.50392004e+00] [ 4.09096817e-02 -1.08730536e-03 9.99162257e-01 1.13104713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55925415399997 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:118.93, Y:1.51, Z:1.13 [[ 9.96165572e-01 -7.73198790e-02 -4.09364118e-02 1.18931204e+02] [ 7.72972356e-02 9.97005801e-01 -2.13802204e-03 1.50543838e+00] [ 4.09791516e-02 -1.03444751e-03 9.99159466e-01 1.13213065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58925415399997 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:118.96, Y:1.51, Z:1.13 [[ 9.96317472e-01 -7.50292331e-02 -4.14982923e-02 1.18963222e+02] [ 7.50041080e-02 9.97180876e-01 -2.16426096e-03 1.50653560e+00] [ 4.15436864e-02 -9.56251386e-04 9.99136231e-01 1.13356604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:118.99, Y:1.51, Z:1.13 [[ 9.96373599e-01 -7.42084509e-02 -4.16263948e-02 1.18993930e+02] [ 7.41825778e-02 9.97242320e-01 -2.16799273e-03 1.50740968e+00] [ 4.16724859e-02 -9.27822550e-04 9.99130894e-01 1.13455580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64925415399998 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:119.03, Y:1.51, Z:1.14 [[ 9.96398291e-01 -7.38383328e-02 -4.16934827e-02 1.19025111e+02] [ 7.38121481e-02 9.97269804e-01 -2.16919758e-03 1.50803044e+00] [ 4.17398213e-02 -9.16100762e-04 9.99128094e-01 1.13554936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:119.06, Y:1.51, Z:1.14 [[ 9.96350114e-01 -7.42992241e-02 -4.20246976e-02 1.19055250e+02] [ 7.42731173e-02 9.97235545e-01 -2.18438921e-03 1.50740452e+00] [ 4.20708206e-02 -9.44888857e-04 9.99114184e-01 1.13598163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70925415399998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:119.09, Y:1.51, Z:1.14 [[ 9.96295220e-01 -7.48941727e-02 -4.22693378e-02 1.19086121e+02] [ 7.48683338e-02 9.97191009e-01 -2.19621467e-03 1.50798663e+00] [ 4.23150873e-02 -9.76556713e-04 9.99103838e-01 1.13667866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73925415399998 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:119.12, Y:1.51, Z:1.14 [[ 9.96112336e-01 -7.69226636e-02 -4.29315452e-02 1.19116423e+02] [ 7.68979517e-02 9.97036477e-01 -2.22920424e-03 1.50815236e+00] [ 4.29757929e-02 -1.08081005e-03 9.99075529e-01 1.13776392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76925415399998 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:119.15, Y:1.51, Z:1.14 [[ 9.96022072e-01 -7.78827455e-02 -4.32933127e-02 1.19147705e+02] [ 7.78585615e-02 9.96961882e-01 -2.24706357e-03 1.50871239e+00] [ 4.33367901e-02 -1.13263014e-03 9.99059878e-01 1.13854275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:119.18, Y:1.51, Z:1.14 [[ 9.95908768e-01 -7.89151790e-02 -4.40240925e-02 1.19179303e+02] [ 7.88912494e-02 9.96880613e-01 -2.28340916e-03 1.50917736e+00] [ 4.40669600e-02 -1.19904846e-03 9.99027860e-01 1.13985372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.82925415399998 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:119.21, Y:1.51, Z:1.14 [[ 9.95707268e-01 -8.11493663e-02 -4.45175929e-02 1.19210825e+02] [ 8.11271996e-02 9.96701085e-01 -2.30738441e-03 1.50881985e+00] [ 4.45579759e-02 -1.31410822e-03 9.99005936e-01 1.14083848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:119.24, Y:1.51, Z:1.14 [[ 9.95595096e-01 -8.23455116e-02 -4.48287935e-02 1.19241800e+02] [ 8.23243256e-02 9.96602887e-01 -2.32171566e-03 1.50963216e+00] [ 4.48676879e-02 -1.37901147e-03 9.98991986e-01 1.14205542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88925415399997 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:119.27, Y:1.51, Z:1.14 [[ 9.95470220e-01 -8.38796445e-02 -4.47576395e-02 1.19272851e+02] [ 8.38601735e-02 9.96474841e-01 -2.31580725e-03 1.51059166e+00] [ 4.47941108e-02 -1.44806626e-03 9.98995191e-01 1.14332341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91925415399997 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:119.30, Y:1.51, Z:1.14 [[ 9.95340860e-01 -8.54130306e-02 -4.47346137e-02 1.19304468e+02] [ 8.53952042e-02 9.96344473e-01 -2.31286119e-03 1.51139120e+00] [ 4.47686336e-02 -1.51803622e-03 9.98996229e-01 1.14408474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94925415399997 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:119.34, Y:1.51, Z:1.15 [[ 9.95047915e-01 -8.91143921e-02 -4.40258034e-02 1.19337062e+02] [ 8.91008497e-02 9.96020014e-01 -2.27374416e-03 1.51208823e+00] [ 4.40532047e-02 -1.66025211e-03 9.99027807e-01 1.14693954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97925415399997 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:119.37, Y:1.51, Z:1.15 [[ 9.94934023e-01 -9.05611973e-02 -4.36458394e-02 1.19369002e+02] [ 9.05494124e-02 9.95889420e-01 -2.25100621e-03 1.51287312e+00] [ 4.36702835e-02 -1.71250244e-03 9.99044530e-01 1.14758149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:119.40, Y:1.51, Z:1.15 [[ 9.94697984e-01 -9.33437413e-02 -4.31609328e-02 1.19400544e+02] [ 9.33349585e-02 9.95632283e-01 -2.22301017e-03 1.51267555e+00] [ 4.31799222e-02 -1.81720014e-03 9.99065660e-01 1.14951632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03925415399998 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:119.43, Y:1.51, Z:1.15 [[ 9.94606426e-01 -9.43874345e-02 -4.30008065e-02 1.19432861e+02] [ 9.43797967e-02 9.95533806e-01 -2.21227623e-03 1.51352043e+00] [ 4.30175677e-02 -1.85806323e-03 9.99072588e-01 1.15086942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06925415399998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:119.47, Y:1.51, Z:1.15 [[ 9.94532029e-01 -9.51052827e-02 -4.31396417e-02 1.19465339e+02] [ 9.50984044e-02 9.95465410e-01 -2.21629492e-03 1.51442947e+00] [ 4.31548024e-02 -1.89833480e-03 9.99066594e-01 1.15190427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09925415399998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:119.50, Y:1.51, Z:1.15 [[ 9.94374093e-01 -9.66865486e-02 -4.32651652e-02 1.19496426e+02] [ 9.66812798e-02 9.95312918e-01 -2.21912764e-03 1.51481487e+00] [ 4.32769377e-02 -1.97628852e-03 9.99061160e-01 1.15294268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12925415399998 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:119.53, Y:1.52, Z:1.15 [[ 9.94280127e-01 -9.74670163e-02 -4.36716147e-02 1.19528890e+02] [ 9.74626179e-02 9.95236677e-01 -2.23498273e-03 1.51585763e+00] [ 4.36814298e-02 -2.03415099e-03 9.99043440e-01 1.15422101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15925415399998 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:119.56, Y:1.52, Z:1.16 [[ 9.94252386e-01 -9.77413764e-02 -4.36900099e-02 1.19560256e+02] [ 9.77373732e-02 9.95209737e-01 -2.23284471e-03 1.51697806e+00] [ 4.36989646e-02 -2.05013562e-03 9.99042640e-01 1.15535760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18925415399998 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:119.59, Y:1.52, Z:1.16 [[ 9.94194450e-01 -9.80241731e-02 -4.43695580e-02 1.19592807e+02] [ 9.80204455e-02 9.95181824e-01 -2.26489654e-03 1.51852065e+00] [ 4.43777923e-02 -2.09737628e-03 9.99012619e-01 1.15715564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.21925415399998 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:119.62, Y:1.52, Z:1.16 [[ 9.94201501e-01 -9.78570266e-02 -4.45800045e-02 1.19624427e+02] [ 9.78532385e-02 9.95198261e-01 -2.27245724e-03 1.52008566e+00] [ 4.45883189e-02 -2.10301741e-03 9.99003233e-01 1.15845239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24925415399997 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:119.66, Y:1.52, Z:1.16 [[ 9.94300212e-01 -9.70249593e-02 -4.41955420e-02 1.19656222e+02] [ 9.70205321e-02 9.95279836e-01 -2.25022734e-03 1.52255770e+00] [ 4.42052601e-02 -2.05047348e-03 9.99020365e-01 1.15968775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27925415399997 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:119.69, Y:1.52, Z:1.16 [[ 9.94413530e-01 -9.59484214e-02 -4.39958150e-02 1.19688028e+02] [ 9.59431258e-02 9.95384304e-01 -2.23681053e-03 1.52461118e+00] [ 4.40073621e-02 -1.99678135e-03 9.99029211e-01 1.16071853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30925415399997 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:119.72, Y:1.53, Z:1.16 [[ 9.94556501e-01 -9.44498858e-02 -4.40066548e-02 1.19719359e+02] [ 9.44432603e-02 9.95527739e-01 -2.23427011e-03 1.52662726e+00] [ 4.40208721e-02 -1.93402409e-03 9.99028740e-01 1.16211075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33925415399997 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:119.75, Y:1.53, Z:1.16 [[ 9.94924280e-01 -9.06536290e-02 -4.36760360e-02 1.19751250e+02] [ 9.06435630e-02 9.95880936e-01 -2.21492639e-03 1.52901887e+00] [ 4.36969227e-02 -1.75526748e-03 9.99043291e-01 1.16306044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36925415399998 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:119.78, Y:1.53, Z:1.16 [[ 9.95140370e-01 -8.83661197e-02 -4.34404478e-02 1.19782693e+02] [ 8.83541431e-02 9.96086697e-01 -2.19937102e-03 1.53163214e+00] [ 4.34648021e-02 -1.64946065e-03 9.99053597e-01 1.16431754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:119.81, Y:1.53, Z:1.16 [[ 9.95404084e-01 -8.52806519e-02 -4.35651172e-02 1.19814192e+02] [ 8.52658639e-02 9.96355804e-01 -2.20092008e-03 1.53390320e+00] [ 4.35940533e-02 -1.52381252e-03 9.99048165e-01 1.16417176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42925415399998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:119.85, Y:1.54, Z:1.17 [[ 9.95866816e-01 -7.96454939e-02 -4.36563907e-02 1.19846359e+02] [ 7.96253462e-02 9.96822427e-01 -2.20298699e-03 1.53754882e+00] [ 4.36931274e-02 -1.28227358e-03 9.99044176e-01 1.16527609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45925415399998 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:119.88, Y:1.54, Z:1.17 [[ 9.96038037e-01 -7.77689210e-02 -4.31303028e-02 1.19877141e+02] [ 7.77476286e-02 9.96970703e-01 -2.17342466e-03 1.54063962e+00] [ 4.31686732e-02 -1.18846513e-03 9.99067091e-01 1.16900973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48925415399998 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:119.91, Y:1.54, Z:1.17 [[ 9.96327370e-01 -7.38618261e-02 -4.33151624e-02 1.19909130e+02] [ 7.38367727e-02 9.97267957e-01 -2.18018075e-03 1.54338041e+00] [ 4.33578556e-02 -1.02607805e-03 9.99059079e-01 1.17059143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51925415399998 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:119.94, Y:1.54, Z:1.17 [[ 9.96456994e-01 -7.23299462e-02 -4.29166333e-02 1.19939106e+02] [ 7.23040488e-02 9.97380304e-01 -2.15740653e-03 1.54492977e+00] [ 4.29602498e-02 -9.53283516e-04 9.99076328e-01 1.17138282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54925415399998 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:119.97, Y:1.55, Z:1.17 [[ 9.96519129e-01 -7.13989851e-02 -4.30326614e-02 1.19970602e+02] [ 7.13721208e-02 9.97447415e-01 -2.16229628e-03 1.54637739e+00] [ 4.30772026e-02 -9.16562709e-04 9.99071326e-01 1.17301974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.57925415399998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:120.00, Y:1.55, Z:1.17 [[ 9.96559550e-01 -7.07921537e-02 -4.30991182e-02 1.20001291e+02] [ 7.07647015e-02 9.97490688e-01 -2.16419821e-03 1.54707105e+00] [ 4.31441773e-02 -8.93143840e-04 9.99068457e-01 1.17396823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60925415399997 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:120.03, Y:1.55, Z:1.17 [[ 9.96514869e-01 -7.11141739e-02 -4.35991954e-02 1.20031428e+02] [ 7.10864172e-02 9.97467759e-01 -2.18866344e-03 1.54797146e+00] [ 4.36444368e-02 -9.18274934e-04 9.99046706e-01 1.17494892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:120.06, Y:1.55, Z:1.17 [[ 9.96486714e-01 -7.14994376e-02 -4.36126088e-02 1.20061856e+02] [ 7.14720324e-02 9.97440201e-01 -2.18933679e-03 1.54855630e+00] [ 4.36575057e-02 -9.35436772e-04 9.99046119e-01 1.17483691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66925415399997 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:120.09, Y:1.55, Z:1.18 [[ 9.96317365e-01 -7.33654975e-02 -4.43757985e-02 1.20091283e+02] [ 7.33389662e-02 9.97304584e-01 -2.22782030e-03 1.54864161e+00] [ 4.44196324e-02 -1.03485913e-03 9.99012425e-01 1.17656125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:120.12, Y:1.55, Z:1.18 [[ 9.96248637e-01 -7.42028134e-02 -4.45263398e-02 1.20121604e+02] [ 7.41769091e-02 9.97242592e-01 -2.23600879e-03 1.54916435e+00] [ 4.45694806e-02 -1.07520555e-03 9.99005708e-01 1.17703056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72925415399997 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:120.15, Y:1.55, Z:1.18 [[ 9.96101848e-01 -7.59591641e-02 -4.48476703e-02 1.20152063e+02] [ 7.59346902e-02 9.97110251e-01 -2.25153162e-03 1.54878157e+00] [ 4.48890963e-02 -1.16273914e-03 9.98991300e-01 1.17789442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:120.18, Y:1.55, Z:1.18 [[ 9.96028646e-01 -7.69650384e-02 -4.47584519e-02 1.20182760e+02] [ 7.69417719e-02 9.97033061e-01 -2.24491593e-03 1.54945427e+00] [ 4.47984363e-02 -1.20779402e-03 9.98995316e-01 1.17886531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78925415399998 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:120.21, Y:1.55, Z:1.18 [[ 9.95956412e-01 -7.78263907e-02 -4.48762507e-02 1.20212909e+02] [ 7.78038831e-02 9.96966143e-01 -2.25064017e-03 1.55031746e+00] [ 4.49152618e-02 -1.25000706e-03 9.98990018e-01 1.18038145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81925415399998 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:120.24, Y:1.55, Z:1.18 [[ 9.95914960e-01 -7.83909295e-02 -4.48135647e-02 1.20244483e+02] [ 7.83691007e-02 9.96921881e-01 -2.24648986e-03 1.55090812e+00] [ 4.48517276e-02 -1.27468590e-03 9.98992842e-01 1.18208839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84925415399998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:120.28, Y:1.55, Z:1.18 [[ 9.95868203e-01 -7.94115675e-02 -4.40491319e-02 1.20275412e+02] [ 7.93915442e-02 9.96841067e-01 -2.20656388e-03 1.55085823e+00] [ 4.40852103e-02 -1.29968180e-03 9.99026929e-01 1.18357072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87925415399998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:120.31, Y:1.55, Z:1.18 [[ 9.95846008e-01 -7.99637624e-02 -4.35491103e-02 1.20305290e+02] [ 7.99447812e-02 9.96796910e-01 -2.18006997e-03 1.55125545e+00] [ 4.35839452e-02 -1.31051012e-03 9.99048909e-01 1.18470114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90925415399998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:120.34, Y:1.55, Z:1.19 [[ 9.95850416e-01 -7.99088178e-02 -4.35491665e-02 1.20337086e+02] [ 7.98898331e-02 9.96801318e-01 -2.17894706e-03 1.55281901e+00] [ 4.35839837e-02 -1.30923031e-03 9.99048909e-01 1.18581271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93925415399998 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:120.37, Y:1.55, Z:1.19 [[ 9.95824151e-01 -8.03978296e-02 -4.32486892e-02 1.20367317e+02] [ 8.03796559e-02 9.96761976e-01 -2.16184493e-03 1.55322046e+00] [ 4.32824566e-02 -1.32349736e-03 9.99061999e-01 1.18663216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.96925415399998 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:120.40, Y:1.55, Z:1.19 [[ 9.95773113e-01 -8.07278547e-02 -4.38054900e-02 1.20398573e+02] [ 8.07095721e-02 9.96735258e-01 -2.18870483e-03 1.55282738e+00] [ 4.38391658e-02 -1.35606893e-03 9.99037681e-01 1.18763681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99925415399997 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:120.43, Y:1.55, Z:1.19 [[ 9.95784247e-01 -8.06847582e-02 -4.36314508e-02 1.20429892e+02] [ 8.06666484e-02 9.96738755e-01 -2.17842343e-03 1.55244208e+00] [ 4.36649236e-02 -1.35036317e-03 9.99045320e-01 1.18791584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02925415399997 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:120.46, Y:1.55, Z:1.19 [[ 9.95809065e-01 -8.04298174e-02 -4.35356294e-02 1.20461302e+02] [ 8.04116127e-02 9.96759377e-01 -2.17205615e-03 1.55297521e+00] [ 4.35692449e-02 -1.33781696e-03 9.99049514e-01 1.18911011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05925415399997 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:120.49, Y:1.55, Z:1.19 [[ 9.95879813e-01 -7.97216378e-02 -4.32187185e-02 1.20492481e+02] [ 7.97030993e-02 9.96816319e-01 -2.15466440e-03 1.55362470e+00] [ 4.32528972e-02 -1.29887903e-03 9.99063311e-01 1.18991351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08925415399997 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:120.52, Y:1.55, Z:1.19 [[ 9.95935371e-01 -7.90812175e-02 -4.31149349e-02 1.20522806e+02] [ 7.90622455e-02 9.96867368e-01 -2.14770899e-03 1.55460853e+00] [ 4.31497151e-02 -1.26978422e-03 9.99067810e-01 1.19119950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11925415399998 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:120.55, Y:1.56, Z:1.19 [[ 9.96062592e-01 -7.76633918e-02 -4.27517247e-02 1.20554600e+02] [ 7.76435358e-02 9.96978915e-01 -2.12722527e-03 1.55519107e+00] [ 4.27877756e-02 -1.20054555e-03 9.99083462e-01 1.19227962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14925415399998 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:120.59, Y:1.56, Z:1.19 [[ 9.96066264e-01 -7.71526110e-02 -4.35829260e-02 1.20585286e+02] [ 7.71315510e-02 9.97018569e-01 -2.16713159e-03 1.55587405e+00] [ 4.36201864e-02 -1.20301202e-03 9.99047462e-01 1.19295084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17925415399998 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:120.62, Y:1.56, Z:1.19 [[ 9.96036129e-01 -7.73686159e-02 -4.38876582e-02 1.20615949e+02] [ 7.73474979e-02 9.97001808e-01 -2.18165013e-03 1.55597134e+00] [ 4.39248658e-02 -1.22159821e-03 9.99034090e-01 1.19399461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20925415399998 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:120.65, Y:1.56, Z:1.19 [[ 9.95958986e-01 -7.79253726e-02 -4.46467773e-02 1.20646316e+02] [ 7.79040770e-02 9.96958389e-01 -2.21938585e-03 1.55669798e+00] [ 4.46839257e-02 -1.26774870e-03 9.99000370e-01 1.19483723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23925415399998 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:120.68, Y:1.56, Z:1.20 [[ 9.95880297e-01 -7.85395243e-02 -4.53208352e-02 1.20676376e+02] [ 7.85182165e-02 9.96910133e-01 -2.25289318e-03 1.55737327e+00] [ 4.53577410e-02 -1.31489922e-03 9.98969943e-01 1.19551008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26925415399998 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:120.71, Y:1.56, Z:1.20 [[ 9.95743128e-01 -7.95866976e-02 -4.64928109e-02 1.20705776e+02] [ 7.95653942e-02 9.96826968e-01 -2.31158243e-03 1.55704611e+00] [ 4.65292590e-02 -1.39747651e-03 9.98915950e-01 1.19565394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29925415399998 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:120.74, Y:1.56, Z:1.20 [[ 9.95705710e-01 -7.99133649e-02 -4.67332035e-02 1.20735035e+02] [ 7.98921191e-02 9.96800804e-01 -2.32526727e-03 1.55820752e+00] [ 4.67695147e-02 -1.41833276e-03 9.98904701e-01 1.19657078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32925415399998 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:120.76, Y:1.56, Z:1.20 [[ 9.95695108e-01 -7.97819225e-02 -4.71815283e-02 1.20764187e+02] [ 7.97600377e-02 9.96811325e-01 -2.34932062e-03 1.55941923e+00] [ 4.72185150e-02 -1.42399342e-03 9.98883569e-01 1.19784961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35925415399997 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:120.79, Y:1.56, Z:1.20 [[ 9.95785023e-01 -7.84293555e-02 -4.75502303e-02 1.20794094e+02] [ 7.84055041e-02 9.96918734e-01 -2.36943491e-03 1.56116711e+00] [ 4.75895486e-02 -1.36875197e-03 9.98866038e-01 1.19943784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38925415399997 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:120.82, Y:1.56, Z:1.20 [[ 9.95863283e-01 -7.75151785e-02 -4.74101195e-02 1.20823809e+02] [ 7.74903502e-02 9.96990299e-01 -2.36418875e-03 1.56283577e+00] [ 4.74506898e-02 -1.31941800e-03 9.98872710e-01 1.20098996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41925415399997 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:120.85, Y:1.56, Z:1.20 [[ 9.95915235e-01 -7.69395963e-02 -4.72561460e-02 1.20852667e+02] [ 7.69141885e-02 9.97034927e-01 -2.35847937e-03 1.56433837e+00] [ 4.72974886e-02 -1.28582259e-03 9.98880020e-01 1.20239267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44925415399997 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:120.88, Y:1.57, Z:1.20 [[ 9.96033811e-01 -7.58924614e-02 -4.64433157e-02 1.20881357e+02] [ 7.58665557e-02 9.97115274e-01 -2.32278683e-03 1.56571740e+00] [ 4.64856215e-02 -1.20992017e-03 9.98918226e-01 1.20373166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47925415399997 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:120.91, Y:1.57, Z:1.20 [[ 9.96120316e-01 -7.51298513e-02 -4.58238029e-02 1.20910637e+02] [ 7.51033998e-02 9.97173097e-01 -2.30107860e-03 1.56714418e+00] [ 4.58671431e-02 -1.14937224e-03 9.98946888e-01 1.20467261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50925415399998 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:120.94, Y:1.57, Z:1.21 [[ 9.96176946e-01 -7.44651287e-02 -4.56775239e-02 1.20939849e+02] [ 7.44380705e-02 9.97222996e-01 -2.29541846e-03 1.56856782e+00] [ 4.57216059e-02 -1.11350379e-03 9.98953600e-01 1.20584436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53925415399998 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:120.97, Y:1.57, Z:1.21 [[ 9.96387776e-01 -7.20792385e-02 -4.48997053e-02 1.20968508e+02] [ 7.20505913e-02 9.97398422e-01 -2.25815259e-03 1.56994333e+00] [ 4.49456612e-02 -9.85054678e-04 9.98988947e-01 1.20718980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56925415399998 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:121.00, Y:1.57, Z:1.21 [[ 9.96517216e-01 -7.05973652e-02 -4.43784959e-02 1.20997202e+02] [ 7.05677186e-02 9.97504484e-01 -2.23626143e-03 1.57155905e+00] [ 4.44256228e-02 -9.03216199e-04 9.99012286e-01 1.20821873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59925415399998 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:121.03, Y:1.57, Z:1.21 [[ 9.96795794e-01 -6.70427376e-02 -4.36281569e-02 1.21026804e+02] [ 6.70102864e-02 9.97749843e-01 -2.20750180e-03 1.57290620e+00] [ 4.36779837e-02 -7.23106781e-04 9.99045400e-01 1.20958971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62925415399998 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:121.06, Y:1.57, Z:1.21 [[ 9.96939752e-01 -6.51097501e-02 -4.32648967e-02 1.21055358e+02] [ 6.50759420e-02 9.97877909e-01 -2.19087232e-03 1.57406654e+00] [ 4.33157318e-02 -6.31336205e-04 9.99061234e-01 1.21000787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65925415399998 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:121.08, Y:1.58, Z:1.21 [[ 9.97032815e-01 -6.36577540e-02 -4.32811325e-02 1.21083751e+02] [ 6.36223772e-02 9.97971629e-01 -2.19575233e-03 1.57526758e+00] [ 4.33331189e-02 -5.64411405e-04 9.99060520e-01 1.21129234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68925415399998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:121.11, Y:1.58, Z:1.21 [[ 9.97113351e-01 -6.25803247e-02 -4.29961360e-02 1.21111747e+02] [ 6.25439311e-02 9.98039804e-01 -2.19243744e-03 1.57648373e+00] [ 4.30490586e-02 -5.03038726e-04 9.99072833e-01 1.21213894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.71925415399998 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:121.14, Y:1.58, Z:1.21 [[ 9.97171187e-01 -6.14030201e-02 -4.33508197e-02 1.21140093e+02] [ 6.13643529e-02 9.98112956e-01 -2.22337943e-03 1.57695081e+00] [ 4.34055370e-02 -4.43105096e-04 9.99057437e-01 1.21269107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74925415399997 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:121.17, Y:1.58, Z:1.21 [[ 9.97159679e-01 -6.15175698e-02 -4.34530045e-02 1.21167484e+02] [ 6.14782673e-02 9.98105905e-01 -2.24151094e-03 1.57770879e+00] [ 4.35085927e-02 -4.36271093e-04 9.99052958e-01 1.21327439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77925415399997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:121.20, Y:1.58, Z:1.21 [[ 9.97125181e-01 -6.19964643e-02 -4.35638846e-02 1.21195731e+02] [ 6.19568568e-02 9.98076270e-01 -2.26007885e-03 1.57842042e+00] [ 4.36201963e-02 -4.45499829e-04 9.99048087e-01 1.21393700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80925415399997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:121.22, Y:1.58, Z:1.21 [[ 9.97072320e-01 -6.27739211e-02 -4.36603253e-02 1.21223787e+02] [ 6.27343196e-02 9.98027663e-01 -2.27795533e-03 1.57911234e+00] [ 4.37172086e-02 -4.67714593e-04 9.99043836e-01 1.21496455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83925415399997 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:121.25, Y:1.58, Z:1.22 [[ 9.96952721e-01 -6.43588687e-02 -4.40818439e-02 1.21251042e+02] [ 6.43195400e-02 9.97926678e-01 -2.31141950e-03 1.57847789e+00] [ 4.41392083e-02 -5.30947956e-04 9.99025249e-01 1.21534606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86925415399998 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:121.28, Y:1.58, Z:1.22 [[ 9.96874409e-01 -6.56396965e-02 -4.39641070e-02 1.21278664e+02] [ 6.56015104e-02 9.97843222e-01 -2.31232505e-03 1.57893728e+00] [ 4.40210665e-02 -5.79014159e-04 9.99030435e-01 1.21587680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89925415399998 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:121.31, Y:1.58, Z:1.22 [[ 9.96746111e-01 -6.73746896e-02 -4.42474959e-02 1.21307110e+02] [ 6.73371382e-02 9.97727534e-01 -2.34029790e-03 1.57851347e+00] [ 4.43046218e-02 -6.46816909e-04 9.99017859e-01 1.21659534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92925415399998 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:121.33, Y:1.58, Z:1.22 [[ 9.96701992e-01 -6.80506159e-02 -4.42069242e-02 1.21334439e+02] [ 6.80133041e-02 9.97681648e-01 -2.34928955e-03 1.57931427e+00] [ 4.42643076e-02 -6.65117404e-04 9.99019634e-01 1.21748582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95925415399998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:121.36, Y:1.58, Z:1.22 [[ 9.96685038e-01 -6.85082742e-02 -4.38810986e-02 1.21362038e+02] [ 6.84717639e-02 9.97650319e-01 -2.33629089e-03 1.58047469e+00] [ 4.39380473e-02 -6.76070046e-04 9.99034029e-01 1.21834573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98925415399998 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:121.39, Y:1.58, Z:1.22 [[ 9.96700851e-01 -6.86702616e-02 -4.32644014e-02 1.21391060e+02] [ 6.86346378e-02 9.97639188e-01 -2.31003254e-03 1.58134652e+00] [ 4.33208929e-02 -6.67025124e-04 9.99060987e-01 1.21967277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01925415399998 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:121.42, Y:1.58, Z:1.22 [[ 9.96734436e-01 -6.85599447e-02 -4.26614286e-02 1.21419530e+02] [ 6.85247423e-02 9.97646792e-01 -2.28868315e-03 1.58239979e+00] [ 4.27179494e-02 -6.42154096e-04 9.99086965e-01 1.22061940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04925415399998 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:121.45, Y:1.58, Z:1.22 [[ 9.96769617e-01 -6.81997072e-02 -4.24161496e-02 1.21448328e+02] [ 6.81641142e-02 9.97671502e-01 -2.28653992e-03 1.58333523e+00] [ 4.24733250e-02 -6.12105749e-04 9.99097414e-01 1.22185786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07925415399998 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:121.48, Y:1.58, Z:1.22 [[ 9.96892245e-01 -6.70331497e-02 -4.13812608e-02 1.21477157e+02] [ 6.69978856e-02 9.97750603e-01 -2.23997211e-03 1.58361399e+00] [ 4.14383303e-02 -5.39446160e-04 9.99140918e-01 1.22335933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10925415399997 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:121.51, Y:1.58, Z:1.22 [[ 9.96977599e-01 -6.63442027e-02 -4.04241794e-02 1.21505466e+02] [ 6.63098508e-02 9.97796673e-01 -2.19148235e-03 1.58439938e+00] [ 4.04805039e-02 -4.95662497e-04 9.99180206e-01 1.22459333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13925415399997 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:121.54, Y:1.59, Z:1.23 [[ 9.97066021e-01 -6.56686855e-02 -3.93315823e-02 1.21535532e+02] [ 6.56352890e-02 9.97841382e-01 -2.14116718e-03 1.58525762e+00] [ 3.93872881e-02 -4.46654731e-04 9.99223920e-01 1.22573850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16925415399997 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:121.56, Y:1.59, Z:1.23 [[ 9.97145808e-01 -6.48268505e-02 -3.87003561e-02 1.21564910e+02] [ 6.47938291e-02 9.97896445e-01 -2.10821246e-03 1.58591108e+00] [ 3.87556165e-02 -4.05349043e-04 9.99248637e-01 1.22679369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19925415399997 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:121.59, Y:1.59, Z:1.23 [[ 9.97292090e-01 -6.27453318e-02 -3.83602757e-02 1.21594433e+02] [ 6.27112948e-02 9.98029519e-01 -2.09109765e-03 1.58591734e+00] [ 3.84158941e-02 -3.20187414e-04 9.99261786e-01 1.22805861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22925415399997 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:121.62, Y:1.59, Z:1.23 [[ 9.97359641e-01 -6.16831444e-02 -3.83267133e-02 1.21623037e+02] [ 6.16482993e-02 9.98095743e-01 -2.09144612e-03 1.58653798e+00] [ 3.83827364e-02 -2.76852742e-04 9.99263073e-01 1.22875186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25925415399998 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:121.65, Y:1.59, Z:1.23 [[ 9.97414094e-01 -6.06498197e-02 -3.85580757e-02 1.21651368e+02] [ 6.06134246e-02 9.98159079e-01 -2.11328483e-03 1.58703702e+00] [ 3.86152637e-02 -2.29316945e-04 9.99254126e-01 1.22966977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28925415399998 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:121.68, Y:1.59, Z:1.23 [[ 9.97434076e-01 -6.00112317e-02 -3.90373663e-02 1.21680338e+02] [ 5.99733191e-02 9.98197681e-01 -2.14256678e-03 1.58752821e+00] [ 3.90955866e-02 -2.04131315e-04 9.99235454e-01 1.23041242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31925415399998 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:121.71, Y:1.59, Z:1.23 [[ 9.97456609e-01 -5.94395248e-02 -3.93351744e-02 1.21708285e+02] [ 5.94001744e-02 9.98231893e-01 -2.16937825e-03 1.58655682e+00] [ 3.93945725e-02 -1.72655552e-04 9.99223718e-01 1.23093850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34925415399998 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:121.74, Y:1.59, Z:1.23 [[ 9.97439022e-01 -5.98559694e-02 -3.91491945e-02 1.21736647e+02] [ 5.98168541e-02 9.98207008e-01 -2.17076438e-03 1.58675053e+00] [ 3.92089335e-02 -1.76576558e-04 9.99231019e-01 1.23149125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37925415399998 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:121.76, Y:1.59, Z:1.23 [[ 9.97352936e-01 -6.09617008e-02 -3.96332120e-02 1.21764939e+02] [ 6.09220124e-02 9.98140084e-01 -2.20948877e-03 1.58694751e+00] [ 3.96941917e-02 -2.10894923e-04 9.99211853e-01 1.23243337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40925415399998 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:121.79, Y:1.59, Z:1.23 [[ 9.97148893e-01 -6.41468735e-02 -3.97399449e-02 1.21793229e+02] [ 6.41090320e-02 9.97940415e-01 -2.22716120e-03 1.58525851e+00] [ 3.98009626e-02 -3.26878079e-04 9.99207574e-01 1.23300313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43925415399998 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:121.82, Y:1.59, Z:1.23 [[ 9.97016255e-01 -6.61110460e-02 -3.98486837e-02 1.21821375e+02] [ 6.60740965e-02 9.97812194e-01 -2.24498439e-03 1.58511160e+00] [ 3.99099208e-02 -3.94679844e-04 9.99203204e-01 1.23385142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46925415399998 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:121.85, Y:1.58, Z:1.23 [[ 9.96859522e-01 -6.81807490e-02 -4.02800069e-02 1.21849438e+02] [ 6.81442026e-02 9.97672874e-01 -2.28119620e-03 1.58497127e+00] [ 4.03418039e-02 -4.70816803e-04 9.99185827e-01 1.23478327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49925415399997 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:121.88, Y:1.58, Z:1.24 [[ 9.96572711e-01 -7.20005513e-02 -4.07277771e-02 1.21877530e+02] [ 7.19659339e-02 9.97404399e-01 -2.31735419e-03 1.58322401e+00] [ 4.07889148e-02 -6.21600563e-04 9.99167593e-01 1.23564680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52925415399997 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:121.91, Y:1.58, Z:1.24 [[ 9.96424156e-01 -7.42028236e-02 -4.04084387e-02 1.21906799e+02] [ 7.41703722e-02 9.97242924e-01 -2.30373348e-03 1.58327164e+00] [ 4.04679731e-02 -7.01613252e-04 9.99180590e-01 1.23654422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55925415399997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:121.94, Y:1.58, Z:1.24 [[ 9.96295569e-01 -7.60112623e-02 -4.02172440e-02 1.21935240e+02] [ 7.59802176e-02 9.97106668e-01 -2.30205546e-03 1.58314525e+00] [ 4.02758643e-02 -7.62187298e-04 9.99188307e-01 1.23760998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58925415399997 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:121.96, Y:1.58, Z:1.24 [[ 9.96026174e-01 -7.97422540e-02 -3.96614838e-02 1.21963761e+02] [ 7.97149309e-02 9.96815111e-01 -2.27238376e-03 1.58088039e+00] [ 3.97163714e-02 -8.98258737e-04 9.99210590e-01 1.23860287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:121.99, Y:1.58, Z:1.24 [[ 9.95894383e-01 -8.17449406e-02 -3.88862688e-02 1.21992664e+02] [ 8.17201195e-02 9.96652823e-01 -2.23003435e-03 1.58070555e+00] [ 3.89384036e-02 -9.56911849e-04 9.99241155e-01 1.23955275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64925415399998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:122.02, Y:1.58, Z:1.24 [[ 9.95756973e-01 -8.38159679e-02 -3.79859746e-02 1.22022591e+02] [ 8.37937142e-02 9.96480737e-01 -2.18033738e-03 1.58077819e+00] [ 3.80350391e-02 -1.01189975e-03 9.99275894e-01 1.24044731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67925415399998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:122.05, Y:1.58, Z:1.24 [[ 9.95457394e-01 -8.78241527e-02 -3.67626759e-02 1.22053225e+02] [ 8.78059947e-02 9.96135357e-01 -2.11129967e-03 1.57954019e+00] [ 3.68060244e-02 -1.12627446e-03 9.99321794e-01 1.24187287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:122.08, Y:1.58, Z:1.24 [[ 9.95304486e-01 -8.96428714e-02 -3.65121298e-02 1.22084042e+02] [ 8.96261830e-02 9.95973268e-01 -2.09687978e-03 1.57951463e+00] [ 3.65530756e-02 -1.18540898e-03 9.99331010e-01 1.24195882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:122.12, Y:1.58, Z:1.24 [[ 9.95149040e-01 -9.14977639e-02 -3.61461821e-02 1.22115859e+02] [ 9.14826548e-02 9.95804508e-01 -2.07517572e-03 1.57991814e+00] [ 3.61844050e-02 -1.24163957e-03 9.99344359e-01 1.24194967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76925415399998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:122.15, Y:1.58, Z:1.24 [[ 9.94690912e-01 -9.61000891e-02 -3.68070880e-02 1.22146117e+02] [ 9.60876171e-02 9.95370640e-01 -2.11175679e-03 1.57957515e+00] [ 3.68396348e-02 -1.43616010e-03 9.99320158e-01 1.24248716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79925415399998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:122.18, Y:1.58, Z:1.24 [[ 9.94696137e-01 -9.60459824e-02 -3.68071311e-02 1.22177896e+02] [ 9.60335012e-02 9.95375864e-01 -2.11100685e-03 1.58136878e+00] [ 3.68396836e-02 -1.43490731e-03 9.99320158e-01 1.24359863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82925415399998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:122.21, Y:1.58, Z:1.25 [[ 9.94437034e-01 -9.87622188e-02 -3.66197845e-02 1.22209250e+02] [ 9.87517746e-02 9.95109886e-01 -2.09827314e-03 1.58258172e+00] [ 3.66479396e-02 -1.52966819e-03 9.99327068e-01 1.24618636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85925415399997 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:122.24, Y:1.58, Z:1.25 [[ 9.94187970e-01 -1.01063409e-01 -3.71007811e-02 1.22241704e+02] [ 1.01054365e-01 9.94878638e-01 -2.12374763e-03 1.58338338e+00] [ 3.71254077e-02 -1.63779152e-03 9.99309272e-01 1.24732766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88925415399997 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:122.27, Y:1.58, Z:1.25 [[ 9.93952842e-01 -1.03237272e-01 -3.74140849e-02 1.22271736e+02] [ 1.03229712e-01 9.94655242e-01 -2.13896994e-03 1.58437505e+00] [ 3.74349371e-02 -1.73620997e-03 9.99297559e-01 1.24786130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:122.30, Y:1.58, Z:1.25 [[ 9.93529738e-01 -1.06735071e-01 -3.88108666e-02 1.22302768e+02] [ 1.06729686e-01 9.94285603e-01 -2.21658705e-03 1.58494095e+00] [ 3.88256735e-02 -1.94002645e-03 9.99244116e-01 1.24710608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94925415399997 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:122.33, Y:1.59, Z:1.25 [[ 9.93342624e-01 -1.08429470e-01 -3.89034836e-02 1.22334289e+02] [ 1.08425408e-01 9.94102108e-01 -2.22048940e-03 1.58705336e+00] [ 3.89148015e-02 -2.01241934e-03 9.99240506e-01 1.24988755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97925415399997 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:122.37, Y:1.59, Z:1.25 [[ 9.93274008e-01 -1.09080193e-01 -3.88362728e-02 1.22365607e+02] [ 1.09076694e-01 9.94030868e-01 -2.21527626e-03 1.58836727e+00] [ 3.88460967e-02 -2.03575593e-03 9.99243132e-01 1.25073444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:122.40, Y:1.59, Z:1.25 [[ 9.93211815e-01 -1.09672422e-01 -3.87588643e-02 1.22396653e+02] [ 1.09669441e-01 9.93965659e-01 -2.20949412e-03 1.59072517e+00] [ 3.87673007e-02 -2.05616731e-03 9.99246150e-01 1.25238491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03925415399998 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:122.43, Y:1.59, Z:1.25 [[ 9.93243510e-01 -1.09270732e-01 -3.90798791e-02 1.22427892e+02] [ 1.09267445e-01 9.94009894e-01 -2.22641316e-03 1.59288963e+00] [ 3.90890683e-02 -2.05878811e-03 9.99233609e-01 1.25387588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06925415399998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:122.46, Y:1.59, Z:1.25 [[ 9.93318458e-01 -1.08598094e-01 -3.90499148e-02 1.22458816e+02] [ 1.08594347e-01 9.94083661e-01 -2.22334635e-03 1.59496751e+00] [ 3.90603334e-02 -2.03210904e-03 9.99234788e-01 1.25489594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09925415399998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:122.49, Y:1.60, Z:1.26 [[ 9.93515279e-01 -1.06527457e-01 -3.97402944e-02 1.22489306e+02] [ 1.06521978e-01 9.94307777e-01 -2.26134034e-03 1.59764219e+00] [ 3.97549786e-02 -1.98653857e-03 9.99207484e-01 1.25606935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12925415399998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:122.52, Y:1.60, Z:1.26 [[ 9.93633726e-01 -1.05387488e-01 -3.98182813e-02 1.22519463e+02] [ 1.05381098e-01 9.94429330e-01 -2.26517799e-03 1.60013231e+00] [ 3.98351882e-02 -1.94533696e-03 9.99204370e-01 1.25724816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15925415399998 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:122.55, Y:1.60, Z:1.26 [[ 9.93806928e-01 -1.03718048e-01 -3.98792740e-02 1.22550286e+02] [ 1.03710299e-01 9.94604960e-01 -2.26864774e-03 1.60268742e+00] [ 3.98994235e-02 -1.88129359e-03 9.99201930e-01 1.25809121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:122.58, Y:1.61, Z:1.26 [[ 9.94020942e-01 -1.01644204e-01 -3.98851267e-02 1.22581815e+02] [ 1.01634794e-01 9.94819190e-01 -2.26879274e-03 1.60553265e+00] [ 3.99090991e-02 -1.79848914e-03 9.99201696e-01 1.25961028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.21925415399997 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:122.61, Y:1.61, Z:1.26 [[ 9.94497479e-01 -9.69441303e-02 -3.97064293e-02 1.22612968e+02] [ 9.69311268e-02 9.95288532e-01 -2.25706301e-03 1.60984515e+00] [ 3.97381628e-02 -1.60414546e-03 9.99208840e-01 1.26100897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24925415399997 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:122.64, Y:1.61, Z:1.26 [[ 9.94722115e-01 -9.45025812e-02 -3.99646923e-02 1.22642139e+02] [ 9.44875161e-02 9.95523459e-01 -2.26987164e-03 1.61271533e+00] [ 4.00002974e-02 -1.51827299e-03 9.99198514e-01 1.26210808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27925415399997 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:122.67, Y:1.62, Z:1.26 [[ 9.95201712e-01 -8.90796748e-02 -4.04767196e-02 1.22671418e+02] [ 8.90597104e-02 9.96023634e-01 -2.29972166e-03 1.61653043e+00] [ 4.05206278e-02 -1.31615799e-03 9.99177835e-01 1.26330676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30925415399997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:122.70, Y:1.62, Z:1.26 [[ 9.95472127e-01 -8.60838639e-02 -4.03089730e-02 1.22700706e+02] [ 8.60615581e-02 9.96287186e-01 -2.29150598e-03 1.61914781e+00] [ 4.03565749e-02 -1.18792268e-03 9.99184635e-01 1.26436966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:122.73, Y:1.62, Z:1.27 [[ 9.95720966e-01 -8.31751281e-02 -4.02697918e-02 1.22730669e+02] [ 8.31504362e-02 9.96534374e-01 -2.29058911e-03 1.62200108e+00] [ 4.03207518e-02 -1.06766316e-03 9.99186217e-01 1.26551953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36925415399998 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:122.76, Y:1.62, Z:1.27 [[ 9.95990318e-01 -8.02575024e-02 -3.95224049e-02 1.22760085e+02] [ 8.02313723e-02 9.96773729e-01 -2.24935747e-03 1.62476816e+00] [ 3.95754228e-02 -9.30598528e-04 9.99216153e-01 1.26631025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39925415399998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:122.79, Y:1.63, Z:1.27 [[ 9.96515637e-01 -7.38263980e-02 -3.88104110e-02 1.22789076e+02] [ 7.37962729e-02 9.97270889e-01 -2.21017000e-03 1.62875314e+00] [ 3.88676620e-02 -6.61594716e-04 9.99244148e-01 1.26820181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42925415399998 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:122.82, Y:1.63, Z:1.27 [[ 9.96745753e-01 -7.07933657e-02 -3.85513109e-02 1.22817700e+02] [ 7.07613418e-02 9.97490857e-01 -2.19624418e-03 1.63191548e+00] [ 3.86100597e-02 -5.38845433e-04 9.99254208e-01 1.26958507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45925415399998 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:122.85, Y:1.64, Z:1.27 [[ 9.97085676e-01 -6.60163522e-02 -3.82360515e-02 1.22846452e+02] [ 6.59812342e-02 9.97818480e-01 -2.18099641e-03 1.63555565e+00] [ 3.82966202e-02 -3.48221590e-04 9.99266355e-01 1.27106233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48925415399998 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:122.88, Y:1.64, Z:1.27 [[ 9.97180228e-01 -6.45179351e-02 -3.83279143e-02 1.22875311e+02] [ 6.44811592e-02 9.97916508e-01 -2.19619326e-03 1.63744730e+00] [ 3.83897523e-02 -2.81427844e-04 9.99262802e-01 1.27168424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:122.90, Y:1.64, Z:1.27 [[ 9.97208459e-01 -6.38766750e-02 -3.86660034e-02 1.22904304e+02] [ 6.38383745e-02 9.97957769e-01 -2.22565097e-03 1.63919956e+00] [ 3.87292057e-02 -2.48936828e-04 9.99249712e-01 1.27263744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54925415399998 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:122.93, Y:1.64, Z:1.27 [[ 9.97179558e-01 -6.42010740e-02 -3.88735301e-02 1.22931969e+02] [ 6.41622073e-02 9.97936951e-01 -2.24786878e-03 1.64065113e+00] [ 3.89376477e-02 -2.52682696e-04 9.99241610e-01 1.27379647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57925415399998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:122.96, Y:1.64, Z:1.27 [[ 9.97074937e-01 -6.57797010e-02 -3.89178762e-02 1.22960171e+02] [ 6.57415221e-02 9.97834124e-01 -2.26133561e-03 1.64160817e+00] [ 3.89823349e-02 -3.03799357e-04 9.99239854e-01 1.27491374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60925415399997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:122.99, Y:1.64, Z:1.28 [[ 9.96975316e-01 -6.74609294e-02 -3.85906931e-02 1.22987633e+02] [ 6.74244203e-02 9.97721852e-01 -2.24822610e-03 1.64280580e+00] [ 3.86544452e-02 -3.60529185e-04 9.99252573e-01 1.27577072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63925415399997 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:123.02, Y:1.64, Z:1.28 [[ 9.96828402e-01 -6.96563403e-02 -3.84854655e-02 1.23016140e+02] [ 6.96212438e-02 9.97570953e-01 -2.25302127e-03 1.64397625e+00] [ 3.85489197e-02 -4.33530377e-04 9.99256620e-01 1.27729160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66925415399997 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:123.04, Y:1.64, Z:1.28 [[ 9.96662292e-01 -7.19203923e-02 -3.86229552e-02 1.23044492e+02] [ 7.18863654e-02 9.97410243e-01 -2.27083352e-03 1.64462776e+00] [ 3.86862504e-02 -5.13209732e-04 9.99251275e-01 1.27834678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:123.07, Y:1.64, Z:1.28 [[ 9.96323094e-01 -7.63875758e-02 -3.87973042e-02 1.23074706e+02] [ 7.63562782e-02 9.97077968e-01 -2.28999275e-03 1.64411345e+00] [ 3.88588643e-02 -6.80845097e-04 9.99244477e-01 1.27901659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:123.10, Y:1.64, Z:1.28 [[ 9.96114638e-01 -7.88660862e-02 -3.91888804e-02 1.23104532e+02] [ 7.88360127e-02 9.96884911e-01 -2.31456129e-03 1.64494669e+00] [ 3.92493440e-02 -7.83926692e-04 9.99229140e-01 1.27998258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75925415399998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:123.13, Y:1.65, Z:1.28 [[ 9.95932112e-01 -8.08361204e-02 -3.98089278e-02 1.23133806e+02] [ 8.08065998e-02 9.96727023e-01 -2.35268908e-03 1.64560388e+00] [ 3.98688164e-02 -8.73705498e-04 9.99204541e-01 1.28128507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78925415399998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:123.16, Y:1.65, Z:1.28 [[ 9.95653027e-01 -8.38636654e-02 -4.05207968e-02 1.23162596e+02] [ 8.38355173e-02 9.96476725e-01 -2.39639960e-03 1.64550372e+00] [ 4.05790017e-02 -1.01109945e-03 9.99175822e-01 1.28159154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81925415399998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:123.19, Y:1.65, Z:1.28 [[ 9.95547104e-01 -8.49462510e-02 -4.08668390e-02 1.23190949e+02] [ 8.49184378e-02 9.96384969e-01 -2.41914662e-03 1.64666448e+00] [ 4.09246015e-02 -1.06197371e-03 9.99161673e-01 1.28285875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84925415399998 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:123.22, Y:1.65, Z:1.28 [[ 9.95479901e-01 -8.58026854e-02 -4.07144371e-02 1.23220146e+02] [ 8.57757084e-02 9.96311552e-01 -2.41223977e-03 1.64812485e+00] [ 4.07712406e-02 -1.09097347e-03 9.99167912e-01 1.28406951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87925415399998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:123.25, Y:1.65, Z:1.29 [[ 9.95437725e-01 -8.62742087e-02 -4.07491888e-02 1.23249463e+02] [ 8.62475193e-02 9.96270811e-01 -2.41579025e-03 1.64928153e+00] [ 4.08056477e-02 -1.10974770e-03 9.99166486e-01 1.28550166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90925415399998 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:123.28, Y:1.65, Z:1.29 [[ 9.95330468e-01 -8.75273703e-02 -4.06966794e-02 1.23278861e+02] [ 8.75017340e-02 9.96161442e-01 -2.41419211e-03 1.64909104e+00] [ 4.07517707e-02 -1.15811105e-03 9.99168630e-01 1.28595167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93925415399998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:123.31, Y:1.65, Z:1.29 [[ 9.95297216e-01 -8.79813688e-02 -4.05306208e-02 1.23308182e+02] [ 8.79562658e-02 9.96121433e-01 -2.40560495e-03 1.64978217e+00] [ 4.05850685e-02 -1.17063015e-03 9.99175401e-01 1.28693576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96925415399997 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:123.34, Y:1.65, Z:1.29 [[ 9.95208351e-01 -8.88908810e-02 -4.07277457e-02 1.23337372e+02] [ 8.88662951e-02 9.96040631e-01 -2.41727403e-03 1.65108102e+00] [ 4.07813631e-02 -1.21363257e-03 9.99167357e-01 1.28795528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99925415399997 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:123.37, Y:1.65, Z:1.29 [[ 9.94925439e-01 -9.18159515e-02 -4.11485288e-02 1.23366524e+02] [ 9.17933169e-02 9.95775084e-01 -2.44311893e-03 1.65217244e+00] [ 4.11989970e-02 -1.34643877e-03 9.99150054e-01 1.28887769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02925415399997 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:123.40, Y:1.65, Z:1.29 [[ 9.94755089e-01 -9.35559140e-02 -4.13473608e-02 1.23396284e+02] [ 9.35345032e-02 9.95613009e-01 -2.45631225e-03 1.65356885e+00] [ 4.13957728e-02 -1.42397573e-03 9.99141813e-01 1.28974664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05925415399997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:123.43, Y:1.65, Z:1.29 [[ 9.94546998e-01 -9.55665424e-02 -4.17529108e-02 1.23427045e+02] [ 9.55464518e-02 9.95421880e-01 -2.48103861e-03 1.65480865e+00] [ 4.17988653e-02 -1.52183298e-03 9.99124887e-01 1.29058787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08925415399997 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:123.46, Y:1.66, Z:1.29 [[ 9.94334570e-01 -9.77202834e-02 -4.18271317e-02 1.23457754e+02] [ 9.77020229e-02 9.95212609e-01 -2.48544896e-03 1.65619959e+00] [ 4.18697676e-02 -1.61522756e-03 9.99121771e-01 1.29142722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11925415399998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:123.49, Y:1.66, Z:1.29 [[ 9.93904643e-01 -1.01939830e-01 -4.19741852e-02 1.23488623e+02] [ 1.01925195e-01 9.94788939e-01 -2.49418716e-03 1.65682616e+00] [ 4.20097122e-02 -1.79924279e-03 9.99115582e-01 1.29261531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14925415399998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:123.52, Y:1.66, Z:1.29 [[ 9.93697661e-01 -1.04061721e-01 -4.16667446e-02 1.23520330e+02] [ 1.04049169e-01 9.94569073e-01 -2.47566478e-03 1.65819739e+00] [ 4.16980775e-02 -1.87532786e-03 9.99128497e-01 1.29366365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17925415399998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:123.55, Y:1.66, Z:1.30 [[ 9.93505862e-01 -1.05937260e-01 -4.15138540e-02 1.23551348e+02] [ 1.05926497e-01 9.94370907e-01 -2.46504465e-03 1.66012329e+00] [ 4.15413087e-02 -1.94838081e-03 9.99134888e-01 1.29506469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20925415399998 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:123.58, Y:1.66, Z:1.30 [[ 9.93134950e-01 -1.09317113e-01 -4.16261985e-02 1.23582749e+02] [ 1.09309316e-01 9.94004714e-01 -2.47017668e-03 1.66288289e+00] [ 4.16466701e-02 -2.09691249e-03 9.99130201e-01 1.29704586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23925415399998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:123.61, Y:1.67, Z:1.30 [[ 9.92925479e-01 -1.10981642e-01 -4.22145587e-02 1.23614265e+02] [ 1.10975190e-01 9.93820024e-01 -2.50351108e-03 1.66500320e+00] [ 4.22315175e-02 -2.19896871e-03 9.99105432e-01 1.29777025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26925415399998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:123.65, Y:1.67, Z:1.30 [[ 9.92734950e-01 -1.12674063e-01 -4.22122579e-02 1.23645078e+02] [ 1.12669203e-01 9.93629404e-01 -2.50179273e-03 1.66737976e+00] [ 4.22252278e-02 -2.27240439e-03 9.99105533e-01 1.29921672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:123.68, Y:1.67, Z:1.30 [[ 9.92568328e-01 -1.13949888e-01 -4.27029051e-02 1.23677542e+02] [ 1.13946173e-01 9.93483706e-01 -2.52897195e-03 1.66955807e+00] [ 4.27128165e-02 -2.35565517e-03 9.99084614e-01 1.30046179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32925415399998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:123.71, Y:1.67, Z:1.30 [[ 9.92223474e-01 -1.16607619e-01 -4.35343710e-02 1.23708801e+02] [ 1.16606438e-01 9.93174862e-01 -2.57523706e-03 1.67225673e+00] [ 4.35375352e-02 -2.52117726e-03 9.99048611e-01 1.30127690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:123.74, Y:1.67, Z:1.30 [[ 9.92062518e-01 -1.17882900e-01 -4.37673583e-02 1.23740609e+02] [ 1.17883028e-01 9.93024118e-01 -2.58705853e-03 1.67469705e+00] [ 4.37670123e-02 -2.59290494e-03 9.99038400e-01 1.30196830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:123.77, Y:1.68, Z:1.30 [[ 9.91899604e-01 -1.19060485e-01 -4.42693547e-02 1.23772043e+02] [ 1.19061925e-01 9.92883391e-01 -2.61357696e-03 1.67762110e+00] [ 4.42654807e-02 -2.67838863e-03 9.99016213e-01 1.30305760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41925415399997 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:123.80, Y:1.68, Z:1.30 [[ 9.91758793e-01 -1.19677288e-01 -4.57366671e-02 1.23804000e+02] [ 1.19679610e-01 9.92808901e-01 -2.69741135e-03 1.68055533e+00] [ 4.57305891e-02 -2.79856507e-03 9.98949889e-01 1.30254915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44925415399997 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:123.84, Y:1.69, Z:1.31 [[ 9.91488175e-01 -1.21912311e-01 -4.57010543e-02 1.23835844e+02] [ 1.21917146e-01 9.92536630e-01 -2.69196700e-03 1.68638856e+00] [ 4.56881544e-02 -2.90268868e-03 9.98951534e-01 1.30552584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47925415399997 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:123.87, Y:1.69, Z:1.31 [[ 9.91402907e-01 -1.22608000e-01 -4.56897687e-02 1.23867832e+02] [ 1.22613724e-01 9.92450830e-01 -2.68789340e-03 1.68979085e+00] [ 4.56744061e-02 -2.93740734e-03 9.98952061e-01 1.30675878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50925415399998 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:123.90, Y:1.69, Z:1.31 [[ 9.91355213e-01 -1.23068789e-01 -4.54853201e-02 1.23899964e+02] [ 1.23075099e-01 9.92393762e-01 -2.67246712e-03 1.69312189e+00] [ 4.54682452e-02 -2.94874605e-03 9.98961432e-01 1.30776265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:123.93, Y:1.70, Z:1.31 [[ 9.91411020e-01 -1.23081164e-01 -4.42178248e-02 1.23931087e+02] [ 1.23087270e-01 9.92392458e-01 -2.59494794e-03 1.69819714e+00] [ 4.42008251e-02 -2.86999137e-03 9.99018543e-01 1.30926087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56925415399998 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:123.96, Y:1.70, Z:1.31 [[ 9.91517511e-01 -1.22572231e-01 -4.32327770e-02 1.23962729e+02] [ 1.22577692e-01 9.92455684e-01 -2.53462656e-03 1.70195069e+00] [ 4.32172901e-02 -2.78624741e-03 9.99061811e-01 1.31049975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59925415399998 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:123.99, Y:1.71, Z:1.31 [[ 9.91656077e-01 -1.21610987e-01 -4.27667208e-02 1.23993795e+02] [ 1.21615567e-01 9.92574119e-01 -2.50433911e-03 1.70593041e+00] [ 4.27536954e-02 -2.71765590e-03 9.99081947e-01 1.31219543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62925415399998 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:124.03, Y:1.71, Z:1.31 [[ 9.92085688e-01 -1.18562495e-01 -4.13391227e-02 1.24026035e+02] [ 1.18564230e-01 9.92943440e-01 -2.41843351e-03 1.71284314e+00] [ 4.13341462e-02 -2.50204798e-03 9.99142246e-01 1.31329636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65925415399998 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:124.06, Y:1.72, Z:1.31 [[ 9.92341512e-01 -1.16528882e-01 -4.09797882e-02 1.24058302e+02] [ 1.16528979e-01 9.93184406e-01 -2.39447152e-03 1.71682696e+00] [ 4.09795117e-02 -2.39919938e-03 9.99157106e-01 1.31455174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68925415399998 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:124.09, Y:1.72, Z:1.32 [[ 9.92622949e-01 -1.14261644e-01 -4.05457385e-02 1.24089991e+02] [ 1.14259975e-01 9.93448066e-01 -2.36611834e-03 1.72081916e+00] [ 4.05504420e-02 -2.28409170e-03 9.99174882e-01 1.31552134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71925415399997 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:124.12, Y:1.72, Z:1.32 [[ 9.92633529e-01 -1.14169637e-01 -4.05459199e-02 1.24122617e+02] [ 1.14168018e-01 9.93458645e-01 -2.36300527e-03 1.72266173e+00] [ 4.05504781e-02 -2.28344907e-03 9.99174882e-01 1.31666184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74925415399997 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:124.15, Y:1.73, Z:1.32 [[ 9.92899709e-01 -1.11800989e-01 -4.06288821e-02 1.24153459e+02] [ 1.11797532e-01 9.93728193e-01 -2.36427412e-03 1.72627995e+00] [ 4.06383938e-02 -2.19472164e-03 9.99171509e-01 1.31749971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77925415399997 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:124.18, Y:1.73, Z:1.32 [[ 9.93119758e-01 -1.09696387e-01 -4.09859702e-02 1.24184981e+02] [ 1.09691181e-01 9.93962860e-01 -2.38265271e-03 1.73015696e+00] [ 4.09999006e-02 -2.12954001e-03 9.99156881e-01 1.31857061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80925415399997 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:124.22, Y:1.73, Z:1.32 [[ 9.93366282e-01 -1.07353444e-01 -4.12148946e-02 1.24217243e+02] [ 1.07346294e-01 9.94218812e-01 -2.39291439e-03 1.73428404e+00] [ 4.12335111e-02 -2.04722574e-03 9.99147440e-01 1.31937239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83925415399997 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:124.25, Y:1.74, Z:1.32 [[ 9.93817707e-01 -1.02817164e-01 -4.18926725e-02 1.24248523e+02] [ 1.02805883e-01 9.94698471e-01 -2.42926344e-03 1.74034818e+00] [ 4.19203473e-02 -1.89256818e-03 9.99119163e-01 1.32074384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86925415399998 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:124.28, Y:1.74, Z:1.32 [[ 9.94027140e-01 -1.00704452e-01 -4.20554224e-02 1.24280070e+02] [ 1.00691301e-01 9.94914733e-01 -2.43623459e-03 1.74422119e+00] [ 4.20868991e-02 -1.81293191e-03 9.99112309e-01 1.32156755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89925415399998 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:124.31, Y:1.75, Z:1.32 [[ 9.94177013e-01 -9.89001136e-02 -4.27882423e-02 1.24311778e+02] [ 9.88849742e-02 9.95095791e-01 -2.47541127e-03 1.74819569e+00] [ 4.28232183e-02 -1.77011726e-03 9.99081097e-01 1.32260994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92925415399998 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:124.34, Y:1.75, Z:1.32 [[ 9.94323595e-01 -9.70194332e-02 -4.36785695e-02 1.24342361e+02] [ 9.70019863e-02 9.95280988e-01 -2.52374432e-03 1.75192047e+00] [ 4.37173020e-02 -1.72748948e-03 9.99042448e-01 1.32374919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95925415399998 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:124.37, Y:1.76, Z:1.32 [[ 9.94636644e-01 -9.33746814e-02 -4.44872410e-02 1.24373929e+02] [ 9.33530641e-02 9.95629756e-01 -2.56776710e-03 1.75752117e+00] [ 4.45325853e-02 -1.59902501e-03 9.99006653e-01 1.32417902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98925415399998 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:124.41, Y:1.76, Z:1.33 [[ 9.94774053e-01 -9.17960066e-02 -4.46998406e-02 1.24405314e+02] [ 9.17727229e-02 9.95776645e-01 -2.57709873e-03 1.76134962e+00] [ 4.47476246e-02 -1.53859514e-03 9.98997139e-01 1.32521615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01925415399998 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:124.44, Y:1.77, Z:1.33 [[ 9.94941599e-01 -9.00868569e-02 -4.44474135e-02 1.24437067e+02] [ 9.00622201e-02 9.95932849e-01 -2.56057157e-03 1.76513056e+00] [ 4.44973130e-02 -1.45541356e-03 9.99008444e-01 1.32650912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04925415399998 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:124.47, Y:1.77, Z:1.33 [[ 9.95247682e-01 -8.71904274e-02 -4.33575993e-02 1.24467721e+02] [ 8.71643675e-02 9.96190820e-01 -2.49480307e-03 1.77086140e+00] [ 4.34099653e-02 -1.29629075e-03 9.99056502e-01 1.32828688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07925415399998 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:124.50, Y:1.77, Z:1.33 [[ 9.95361372e-01 -8.60929549e-02 -4.29388230e-02 1.24499444e+02] [ 8.60664838e-02 9.96286339e-01 -2.46819730e-03 1.77459963e+00] [ 4.29918571e-02 -1.23884526e-03 9.99074655e-01 1.32972303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10925415399997 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:124.53, Y:1.78, Z:1.33 [[ 9.95430483e-01 -8.54029655e-02 -4.27140124e-02 1.24530613e+02] [ 8.53762898e-02 9.96345762e-01 -2.45168727e-03 1.77803214e+00] [ 4.27673066e-02 -1.20627966e-03 9.99084332e-01 1.33124115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13925415399997 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:124.56, Y:1.78, Z:1.33 [[ 9.95468994e-01 -8.51796505e-02 -4.22600272e-02 1.24562818e+02] [ 8.51535434e-02 9.96364900e-01 -2.42077028e-03 1.78121741e+00] [ 4.23126081e-02 -1.18878931e-03 9.99103713e-01 1.33238354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16925415399997 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:124.59, Y:1.79, Z:1.33 [[ 9.95383227e-01 -8.64019456e-02 -4.17963593e-02 1.24594577e+02] [ 8.63776131e-02 9.96259600e-01 -2.39113031e-03 1.78520298e+00] [ 4.18466225e-02 -1.23017876e-03 9.99123289e-01 1.33388695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19925415399997 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:124.63, Y:1.78, Z:1.33 [[ 9.95196749e-01 -8.64626633e-02 -4.59090364e-02 1.24630219e+02] [ 8.71551753e-02 9.96105966e-01 1.32996110e-02 1.77941080e+00] [ 4.45803452e-02 -1.72369398e-02 9.98857087e-01 1.33479171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22925415399997 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:124.66, Y:1.80, Z:1.34 [[ 9.95068909e-01 -9.02432037e-02 -4.11585945e-02 1.24656210e+02] [ 8.95623538e-02 9.95816734e-01 -1.81001971e-02 1.79765635e+00] [ 4.26198369e-02 1.43246828e-02 9.98988665e-01 1.34073107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25925415399998 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:124.69, Y:1.79, Z:1.34 [[ 9.95090771e-01 -9.01121317e-02 -4.09165211e-02 1.24692474e+02] [ 8.98157610e-02 9.95917475e-01 -9.02842717e-03 1.79358557e+00] [ 4.15630492e-02 5.30915607e-03 9.99121777e-01 1.33838943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28925415399998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:124.72, Y:1.78, Z:1.34 [[ 9.94227788e-01 -9.62022628e-02 -4.74997963e-02 1.24722417e+02] [ 9.72039394e-02 9.95078431e-01 1.92434713e-02 1.78434789e+00] [ 4.54147573e-02 -2.37495612e-02 9.98685866e-01 1.33600293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:124.75, Y:1.80, Z:1.34 [[ 9.93977240e-01 -9.90613549e-02 -4.68625014e-02 1.24753875e+02] [ 9.91089640e-02 9.95075721e-01 -1.31223747e-03 1.79625887e+00] [ 4.67617294e-02 -3.34015978e-03 9.98900488e-01 1.34386951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34925415399998 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:124.78, Y:1.81, Z:1.35 [[ 9.93917185e-01 -1.01144377e-01 -4.35711359e-02 1.24781546e+02] [ 1.00305316e-01 9.94734282e-01 -2.10369029e-02 1.80784586e+00] [ 4.54694671e-02 1.65385228e-02 9.98828817e-01 1.34684979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37925415399998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:124.81, Y:1.80, Z:1.34 [[ 9.93918860e-01 -1.00948374e-01 -4.39855074e-02 1.24814584e+02] [ 1.01079731e-01 9.94878033e-01 7.66884451e-04 1.79970704e+00] [ 4.36827994e-02 -5.20826419e-03 9.99031875e-01 1.34058335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40925415399998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:124.85, Y:1.80, Z:1.34 [[ 9.93918008e-01 -1.00829138e-01 -4.42772946e-02 1.24845437e+02] [ 1.00815176e-01 9.94901894e-01 -2.55392676e-03 1.80496373e+00] [ 4.43090745e-02 -1.92542945e-03 9.99016015e-01 1.34280285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43925415399998 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:124.88, Y:1.81, Z:1.34 [[ 9.94004943e-01 -9.97709858e-02 -4.47205165e-02 1.24876838e+02] [ 9.97558126e-02 9.95008613e-01 -2.57643239e-03 1.80806495e+00] [ 4.47543523e-02 -1.90014493e-03 9.98996215e-01 1.34412183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46925415399997 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:124.91, Y:1.81, Z:1.35 [[ 9.94167508e-01 -9.82919040e-02 -4.43809464e-02 1.24908689e+02] [ 9.82757061e-02 9.95155954e-01 -2.55199070e-03 1.81111843e+00] [ 4.44168031e-02 -1.82446261e-03 9.99011421e-01 1.34543782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49925415399997 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:124.94, Y:1.81, Z:1.35 [[ 9.94345951e-01 -9.65896071e-02 -4.41200350e-02 1.24940215e+02] [ 9.65720656e-02 9.95322770e-01 -2.53383227e-03 1.81447532e+00] [ 4.41584173e-02 -1.74125706e-03 9.99023024e-01 1.34676548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52925415399997 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:124.97, Y:1.82, Z:1.35 [[ 9.94499472e-01 -9.48408759e-02 -4.44523205e-02 1.24971716e+02] [ 9.47177164e-02 9.95492242e-01 -4.87347248e-03 1.81895683e+00] [ 4.47141445e-02 6.36243521e-04 9.98999620e-01 1.34918764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55925415399997 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:125.00, Y:1.82, Z:1.35 [[ 9.94858180e-01 -9.11192778e-02 -4.42094871e-02 1.25003382e+02] [ 9.11968028e-02 9.95832854e-01 -2.64314849e-04 1.82127464e+00] [ 4.40493439e-02 -3.76880808e-03 9.99022248e-01 1.34885957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58925415399997 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:125.03, Y:1.83, Z:1.35 [[ 9.95022233e-01 -8.92509391e-02 -4.43286008e-02 1.25034017e+02] [ 8.92263420e-02 9.96008144e-01 -2.53714567e-03 1.82503565e+00] [ 4.43780900e-02 -1.43076254e-03 9.99013783e-01 1.35038879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61925415399998 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:125.06, Y:1.83, Z:1.35 [[ 9.95280344e-01 -8.77560638e-02 -4.14235446e-02 1.25064843e+02] [ 8.74777075e-02 9.96130309e-01 -8.48870446e-03 1.83193193e+00] [ 4.20081836e-02 4.82500398e-03 9.99105616e-01 1.35131265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64925415399998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:125.11, Y:1.87, Z:1.37 [[ 9.96244546e-01 -8.22166144e-02 -2.71520274e-02 1.25112758e+02] [ 7.95103158e-02 9.92851030e-01 -8.90221459e-02 1.86506518e+00] [ 3.42770179e-02 8.65289611e-02 9.95659492e-01 1.36523592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67925415399998 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:125.13, Y:1.79, Z:1.33 [[ 9.94698896e-01 -8.30943392e-02 -6.05758739e-02 1.25131757e+02] [ 8.88431255e-02 9.91076642e-01 9.93679458e-02 1.78811562e+00] [ 5.17784199e-02 -1.04222936e-01 9.93205203e-01 1.33201790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70925415399998 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:125.16, Y:1.84, Z:1.37 [[ 9.94672317e-01 -8.73199164e-02 -5.47924577e-02 1.25157736e+02] [ 8.72685077e-02 9.96179244e-01 -3.33475810e-03 1.84221683e+00] [ 5.48742999e-02 -1.46466444e-03 9.98492196e-01 1.36523033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73925415399998 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:125.19, Y:1.85, Z:1.37 [[ 9.94749567e-01 -8.54149586e-02 -5.63700637e-02 1.25186226e+02] [ 8.52323822e-02 9.96345139e-01 -5.63958188e-03 1.84614175e+00] [ 5.66457436e-02 8.05416816e-04 9.98394016e-01 1.36729035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76925415399998 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:125.22, Y:1.85, Z:1.37 [[ 9.94747129e-01 -8.59030253e-02 -5.56670368e-02 1.25216702e+02] [ 8.59514966e-02 9.96298152e-01 -1.52731061e-03 1.84793187e+00] [ 5.55921665e-02 -3.26537728e-03 9.98448220e-01 1.36744922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79925415399998 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:125.25, Y:1.85, Z:1.37 [[ 9.94748229e-01 -8.59840110e-02 -5.55221664e-02 1.25245926e+02] [ 8.59283993e-02 9.96295539e-01 -3.39258400e-03 1.85157665e+00] [ 5.56081947e-02 -1.39616396e-03 9.98451691e-01 1.36956710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82925415399998 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:125.28, Y:1.85, Z:1.37 [[ 9.94733728e-01 -8.62843472e-02 -5.53156529e-02 1.25275598e+02] [ 8.62294990e-02 9.96269560e-01 -3.38199971e-03 1.85430641e+00] [ 5.54011148e-02 -1.40565186e-03 9.98463189e-01 1.37130241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85925415399997 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:125.31, Y:1.86, Z:1.37 [[ 9.94771889e-01 -8.64945902e-02 -5.42915661e-02 1.25306117e+02] [ 8.64419789e-02 9.96251351e-01 -3.32098790e-03 1.85748016e+00] [ 5.43752935e-02 -1.38944501e-03 9.98519603e-01 1.37245163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88925415399997 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:125.34, Y:1.86, Z:1.37 [[ 9.94735429e-01 -8.69745126e-02 -5.41928137e-02 1.25336780e+02] [ 8.69228136e-02 9.96209535e-01 -3.31476597e-03 1.86011044e+00] [ 5.42756979e-02 -1.41327669e-03 9.98524988e-01 1.37396291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91925415399997 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:125.37, Y:1.86, Z:1.38 [[ 9.94679873e-01 -8.77667147e-02 -5.39347174e-02 1.25366827e+02] [ 8.77167133e-02 9.96140000e-01 -3.29817293e-03 1.86264033e+00] [ 5.40159992e-02 -1.45034991e-03 9.98539017e-01 1.37531549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94925415399997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:125.39, Y:1.88, Z:1.38 [[ 9.94971859e-01 -8.91890690e-02 -4.55665458e-02 1.25394460e+02] [ 8.77242372e-02 9.95591451e-01 -3.31981998e-02 1.87969103e+00] [ 4.83265800e-02 2.90339841e-02 9.98409520e-01 1.37869497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97925415399997 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:125.43, Y:1.85, Z:1.37 [[ 9.94474987e-01 -8.93889569e-02 -5.50373941e-02 1.25427320e+02] [ 9.09603958e-02 9.95495526e-01 2.67369437e-02 1.85264359e+00] [ 5.23994921e-02 -3.15954448e-02 9.98126255e-01 1.36724915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00925415399998 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:125.46, Y:1.87, Z:1.38 [[ 9.93975700e-01 -9.57957292e-02 -5.32492893e-02 1.25456729e+02] [ 9.57583648e-02 9.95399276e-01 -3.25848227e-03 1.86906621e+00] [ 5.33164527e-02 -1.86021268e-03 9.98575934e-01 1.37852152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03925415399998 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:125.49, Y:1.87, Z:1.38 [[ 9.93654961e-01 -9.91480070e-02 -5.30988753e-02 1.25488552e+02] [ 9.91157896e-02 9.95070612e-01 -3.24624341e-03 1.87084909e+00] [ 5.31589889e-02 -2.03729109e-03 9.98583983e-01 1.37920154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06925415399998 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:125.52, Y:1.87, Z:1.38 [[ 9.93291293e-01 -1.02722993e-01 -5.31073848e-02 1.25520683e+02] [ 1.02696065e-01 9.94707495e-01 -3.24293444e-03 1.87268695e+00] [ 5.31594376e-02 -2.23274093e-03 9.98583541e-01 1.38042757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09925415399998 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:125.55, Y:1.87, Z:1.38 [[ 9.92904627e-01 -1.06347465e-01 -5.32035552e-02 1.25552206e+02] [ 1.06325855e-01 9.94326046e-01 -3.24455226e-03 1.87466712e+00] [ 5.32467306e-02 -2.43538253e-03 9.98578417e-01 1.38198584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12925415399998 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:125.58, Y:1.88, Z:1.38 [[ 9.92175122e-01 -1.13109085e-01 -5.28664583e-02 1.25584677e+02] [ 1.13097619e-01 9.93578669e-01 -3.21811985e-03 1.87684418e+00] [ 5.28909839e-02 -2.78613211e-03 9.98596406e-01 1.38310447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15925415399998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:125.62, Y:1.88, Z:1.38 [[ 9.91889072e-01 -1.15676412e-01 -5.26786134e-02 1.25616231e+02] [ 1.15668821e-01 9.93282671e-01 -3.20310963e-03 1.87875858e+00] [ 5.26952780e-02 -2.91614367e-03 9.98606381e-01 1.38479095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18925415399998 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:125.65, Y:1.88, Z:1.39 [[ 9.91659992e-01 -1.17676875e-01 -5.25605621e-02 1.25648170e+02] [ 1.17672270e-01 9.93047351e-01 -3.19299689e-03 1.88077469e+00] [ 5.25708689e-02 -3.01855341e-03 9.98612634e-01 1.38622635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21925415399997 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:125.68, Y:1.88, Z:1.39 [[ 9.91497316e-01 -1.19218606e-01 -5.21535886e-02 1.25680196e+02] [ 1.19216435e-01 9.92863250e-01 -3.16369109e-03 1.88278911e+00] [ 5.21585523e-02 -3.08077367e-03 9.98634064e-01 1.38770196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24925415399997 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:125.71, Y:1.88, Z:1.39 [[ 9.91350645e-01 -1.20757667e-01 -5.13953653e-02 1.25712105e+02] [ 1.20758081e-01 9.92677099e-01 -3.10863097e-03 1.88491553e+00] [ 5.13943932e-02 -3.12466237e-03 9.98673547e-01 1.38883891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27925415399997 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:125.74, Y:1.89, Z:1.39 [[ 9.91361062e-01 -1.20756817e-01 -5.11960496e-02 1.25743882e+02] [ 1.20757646e-01 9.92677215e-01 -3.08837980e-03 1.88718964e+00] [ 5.11940948e-02 -3.12061494e-03 9.98683847e-01 1.39005502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30925415399997 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:125.77, Y:1.89, Z:1.39 [[ 9.91439158e-01 -1.20109529e-01 -5.12064094e-02 1.25774664e+02] [ 1.20109674e-01 9.92755834e-01 -3.08559170e-03 1.88956249e+00] [ 5.12060706e-02 -3.09120868e-03 9.98683325e-01 1.39137378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33925415399997 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:125.81, Y:1.89, Z:1.39 [[ 9.91555070e-01 -1.19129239e-01 -5.12519949e-02 1.25806490e+02] [ 1.19128221e-01 9.92874084e-01 -3.08558274e-03 1.89233496e+00] [ 5.12543606e-02 -3.04603377e-03 9.98680986e-01 1.39249509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36925415399998 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:125.84, Y:1.90, Z:1.39 [[ 9.91909827e-01 -1.15978637e-01 -5.16125085e-02 1.25837010e+02] [ 1.15973534e-01 9.93247454e-01 -3.10386672e-03 1.89575901e+00] [ 5.16239749e-02 -2.90692910e-03 9.98662363e-01 1.39363026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39925415399998 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:125.87, Y:1.90, Z:1.40 [[ 9.92121496e-01 -1.13926867e-01 -5.21114819e-02 1.25869673e+02] [ 1.13919009e-01 9.93485107e-01 -3.13074290e-03 1.89850700e+00] [ 5.21286569e-02 -2.83041107e-03 9.98636366e-01 1.39558668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42925415399998 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:125.90, Y:1.90, Z:1.40 [[ 9.92639537e-01 -1.09272746e-01 -5.22131866e-02 1.25901528e+02] [ 1.09258762e-01 9.94008411e-01 -3.13067139e-03 1.90279841e+00] [ 5.22424437e-02 -2.59711990e-03 9.98631054e-01 1.39718322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45925415399998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:125.93, Y:1.91, Z:1.40 [[ 9.92952827e-01 -1.06505261e-01 -5.19741531e-02 1.25933195e+02] [ 1.06488040e-01 9.94309125e-01 -3.10831901e-03 1.90591326e+00] [ 5.20094270e-02 -2.44821157e-03 9.98643593e-01 1.39862040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48925415399998 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:125.97, Y:1.91, Z:1.40 [[ 9.93322812e-01 -1.03049493e-01 -5.18709298e-02 1.25965581e+02] [ 1.03027835e-01 9.94673648e-01 -3.09838800e-03 1.90876325e+00] [ 5.19139343e-02 -2.26645014e-03 9.98648991e-01 1.40049679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51925415399998 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:126.00, Y:1.91, Z:1.40 [[ 9.93693660e-01 -9.97032236e-02 -5.13047469e-02 1.25997468e+02] [ 9.96777755e-02 9.95015061e-01 -3.06083861e-03 1.91197249e+00] [ 5.13541714e-02 -2.07240713e-03 9.98678354e-01 1.40199656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54925415399998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:126.03, Y:1.92, Z:1.40 [[ 9.94053806e-01 -9.60301573e-02 -5.13345897e-02 1.26029472e+02] [ 9.59999846e-02 9.95376635e-01 -3.05884972e-03 1.91527554e+00] [ 5.13909930e-02 -1.88745862e-03 9.98676826e-01 1.40367277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57925415399998 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:126.06, Y:1.92, Z:1.41 [[ 9.94908147e-01 -8.71309102e-02 -5.06555326e-02 1.26061905e+02] [ 8.70901917e-02 9.96195869e-01 -3.01470674e-03 1.91981485e+00] [ 5.07255064e-02 -1.41224375e-03 9.98711634e-01 1.40501807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60925415399997 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:126.09, Y:1.92, Z:1.41 [[ 9.94916340e-01 -8.70371806e-02 -5.06557593e-02 1.26094524e+02] [ 8.69965348e-02 9.96204064e-01 -3.01089285e-03 1.92169369e+00] [ 5.07255329e-02 -1.41128903e-03 9.98711634e-01 1.40646853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63925415399997 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:126.13, Y:1.92, Z:1.41 [[ 9.95345489e-01 -8.22298843e-02 -5.02553916e-02 1.26126131e+02] [ 8.21839870e-02 9.96612712e-01 -2.98251151e-03 1.92473692e+00] [ 5.03304136e-02 -1.16155907e-03 9.98731946e-01 1.40784315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66925415399997 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:126.16, Y:1.93, Z:1.41 [[ 9.95722837e-01 -7.75477994e-02 -5.02232171e-02 1.26158339e+02] [ 7.74961932e-02 9.96988203e-01 -2.97694780e-03 1.92787981e+00] [ 5.03028107e-02 -9.27893227e-04 9.98733581e-01 1.40970439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69925415399997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:126.19, Y:1.93, Z:1.41 [[ 9.96116408e-01 -7.26423550e-02 -4.97512854e-02 1.26189797e+02] [ 7.25857713e-02 9.97357824e-01 -2.94551864e-03 1.93060491e+00] [ 4.98338032e-02 -6.77155979e-04 9.98757295e-01 1.41073719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72925415399997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:126.22, Y:1.93, Z:1.41 [[ 9.96697853e-01 -6.41789296e-02 -4.97439007e-02 1.26220581e+02] [ 6.41119053e-02 9.97938375e-01 -2.94344313e-03 1.93420514e+00] [ 4.98302544e-02 -2.55452808e-04 9.98757669e-01 1.41223380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:126.25, Y:1.94, Z:1.41 [[ 9.96922964e-01 -6.06381124e-02 -4.96751827e-02 1.26249588e+02] [ 6.05668645e-02 9.98159813e-01 -2.93967519e-03 1.93649532e+00] [ 4.97620275e-02 -7.80403544e-05 9.98761100e-01 1.41330207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:126.28, Y:1.94, Z:1.41 [[ 9.97075505e-01 -5.77378773e-02 -5.00677121e-02 1.26276943e+02] [ 5.76616325e-02 9.98331775e-01 -2.96710550e-03 1.93840913e+00] [ 5.01555022e-02 7.14422027e-05 9.98741418e-01 1.41468108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:126.30, Y:1.94, Z:1.42 [[ 9.97221108e-01 -5.52069323e-02 -5.00225626e-02 1.26304278e+02] [ 5.51269421e-02 9.98474912e-01 -2.97838746e-03 1.94021241e+00] [ 5.01107014e-02 2.12519933e-04 9.98743647e-01 1.41594020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84925415399998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:126.33, Y:1.94, Z:1.42 [[ 9.97392014e-01 -5.23844602e-02 -4.96491658e-02 1.26331212e+02] [ 5.23018284e-02 9.98626927e-01 -2.96292124e-03 1.94109555e+00] [ 4.97362049e-02 3.58451835e-04 9.98762325e-01 1.41718782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87925415399998 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:126.36, Y:1.94, Z:1.42 [[ 9.97416436e-01 -5.23255448e-02 -4.92188058e-02 1.26359472e+02] [ 5.22437607e-02 9.98630012e-01 -2.94752745e-03 1.94184064e+00] [ 4.93056076e-02 3.68536814e-04 9.98783671e-01 1.41836239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90925415399998 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:126.39, Y:1.94, Z:1.42 [[ 9.97390872e-01 -5.31069532e-02 -4.88988670e-02 1.26387339e+02] [ 5.30264884e-02 9.98588772e-01 -2.94222915e-03 1.94233546e+00] [ 4.89861123e-02 3.41617301e-04 9.98799401e-01 1.41961492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93925415399998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:126.41, Y:1.95, Z:1.42 [[ 9.97600953e-01 -5.46496896e-02 -4.24941086e-02 1.26414534e+02] [ 5.38429102e-02 9.98351012e-01 -1.99047436e-02 1.95066224e+00] [ 4.35118244e-02 1.75689848e-02 9.98898419e-01 1.42062863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96925415399997 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:126.44, Y:1.93, Z:1.42 [[ 9.97195552e-01 -5.64931696e-02 -4.90871955e-02 1.26444317e+02] [ 5.72515326e-02 9.98259051e-01 1.41820248e-02 1.93423920e+00] [ 4.82005496e-02 -1.69525692e-02 9.98693806e-01 1.41559509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99925415399997 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:126.47, Y:1.94, Z:1.42 [[ 9.96788436e-01 -6.43382588e-02 -4.76802076e-02 1.26471692e+02] [ 6.42730140e-02 9.97928133e-01 -2.90186135e-03 1.93988325e+00] [ 4.77681213e-02 -1.72008817e-04 9.98858437e-01 1.42255620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02925415399997 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:126.50, Y:1.94, Z:1.43 [[ 9.96444752e-01 -6.84791494e-02 -4.90760779e-02 1.26499688e+02] [ 6.79763284e-02 9.97616623e-01 -1.18445080e-02 1.94380477e+00] [ 4.97702130e-02 8.46638621e-03 9.98724810e-01 1.42679849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05925415399997 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:126.53, Y:1.94, Z:1.42 [[ 9.96173071e-01 -7.33479495e-02 -4.75319961e-02 1.26529475e+02] [ 7.36975479e-02 9.97264677e-01 5.64237820e-03 1.93501114e+00] [ 4.69881239e-02 -9.12377679e-03 9.98853780e-01 1.42144278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08925415399997 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:126.56, Y:1.94, Z:1.43 [[ 9.95782281e-01 -7.86744596e-02 -4.72014664e-02 1.26559333e+02] [ 7.86254429e-02 9.96900018e-01 -2.89710019e-03 1.93853148e+00] [ 4.72830705e-02 -8.26355170e-04 9.98881188e-01 1.42571207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11925415399998 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:126.59, Y:1.94, Z:1.43 [[ 9.95019734e-01 -8.77617387e-02 -4.72610534e-02 1.26591285e+02] [ 8.77228352e-02 9.96140698e-01 -2.90064657e-03 1.93535026e+00] [ 4.73332245e-02 -1.25967301e-03 9.98878361e-01 1.42679718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14925415399998 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:126.62, Y:1.93, Z:1.43 [[ 9.94638175e-01 -9.20279179e-02 -4.71779994e-02 1.26622319e+02] [ 9.19940266e-02 9.95755354e-01 -2.89374965e-03 1.93459922e+00] [ 4.72440513e-02 -1.46186026e-03 9.98882307e-01 1.42797388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17925415399998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:126.66, Y:1.93, Z:1.43 [[ 9.94287053e-01 -9.57828904e-02 -4.71051309e-02 1.26655035e+02] [ 9.57534344e-02 9.95400898e-01 -2.88662783e-03 1.93370327e+00] [ 4.71649791e-02 -1.64034137e-03 9.98885766e-01 1.42912233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20925415399998 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:126.69, Y:1.93, Z:1.43 [[ 9.93701816e-01 -1.01989093e-01 -4.64211741e-02 1.26687177e+02] [ 1.01967393e-01 9.94783684e-01 -2.84140517e-03 1.93037212e+00] [ 4.64688189e-02 -1.90993664e-03 9.98917915e-01 1.43037540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:126.72, Y:1.93, Z:1.43 [[ 9.93466067e-01 -1.04497148e-01 -4.58859530e-02 1.26718145e+02] [ 1.04478765e-01 9.94523161e-01 -2.80534526e-03 1.92966795e+00] [ 4.59277936e-02 -2.00709236e-03 9.98942746e-01 1.43140550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:126.75, Y:1.93, Z:1.43 [[ 9.93282325e-01 -1.06430151e-01 -4.54185553e-02 1.26751065e+02] [ 1.06414271e-01 9.94318011e-01 -2.77424425e-03 1.92895550e+00] [ 4.54557508e-02 -2.07757466e-03 9.98964193e-01 1.43227494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29925415399998 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:126.78, Y:1.93, Z:1.43 [[ 9.93116556e-01 -1.08107769e-01 -4.50801172e-02 1.26782914e+02] [ 1.08094070e-01 9.94136870e-01 -2.74864137e-03 1.92850634e+00] [ 4.51129562e-02 -2.14317210e-03 9.98979593e-01 1.43336452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32925415399997 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:126.82, Y:1.93, Z:1.43 [[ 9.93006660e-01 -1.09134061e-01 -4.50280961e-02 1.26816489e+02] [ 1.09121595e-01 9.94024627e-01 -2.74214364e-03 1.92793686e+00] [ 4.50582977e-02 -2.19057076e-03 9.98981957e-01 1.43427998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35925415399997 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:126.85, Y:1.93, Z:1.43 [[ 9.92932318e-01 -1.09772457e-01 -4.51156247e-02 1.26849836e+02] [ 1.09760832e-01 9.93954244e-01 -2.74233311e-03 1.92550781e+00] [ 4.51438993e-02 -2.22897733e-03 9.98978008e-01 1.43494276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38925415399997 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:126.88, Y:1.93, Z:1.44 [[ 9.92922853e-01 -1.09625780e-01 -4.56770762e-02 1.26881050e+02] [ 1.09613948e-01 9.93970373e-01 -2.77128177e-03 1.92536841e+00] [ 4.57054644e-02 -2.25517564e-03 9.98952414e-01 1.43569970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41925415399997 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:126.91, Y:1.93, Z:1.44 [[ 9.92945487e-01 -1.09198145e-01 -4.62063258e-02 1.26913420e+02] [ 1.09185700e-01 9.94017424e-01 -2.80073074e-03 1.92586128e+00] [ 4.62357276e-02 -2.26409705e-03 9.98927991e-01 1.43689917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44925415399997 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:126.94, Y:1.93, Z:1.44 [[ 9.93030436e-01 -1.08177380e-01 -4.67782912e-02 1.26944548e+02] [ 1.08163667e-01 9.94129067e-01 -2.83175682e-03 1.92607334e+00] [ 4.68099911e-02 -2.24769080e-03 9.98901283e-01 1.43798233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47925415399997 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:126.98, Y:1.93, Z:1.44 [[ 9.93112319e-01 -1.06646382e-01 -4.85228842e-02 1.26976571e+02] [ 1.06630099e-01 9.94294438e-01 -2.93137976e-03 1.92603436e+00] [ 4.85586549e-02 -2.26281060e-03 9.98817770e-01 1.43907300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50925415399998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:127.01, Y:1.93, Z:1.44 [[ 9.93178669e-01 -1.05745348e-01 -4.91330185e-02 1.27009134e+02] [ 1.05727737e-01 9.94390696e-01 -2.96454789e-03 1.92700994e+00] [ 4.91709036e-02 -2.25039711e-03 9.98787844e-01 1.43966085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53925415399998 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:127.04, Y:1.93, Z:1.44 [[ 9.93220418e-01 -1.05017208e-01 -4.98456400e-02 1.27040564e+02] [ 1.04998354e-01 9.94467859e-01 -3.00385489e-03 1.92798557e+00] [ 4.98853434e-02 -2.25022016e-03 9.98752416e-01 1.44063511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56925415399998 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:127.07, Y:1.93, Z:1.44 [[ 9.93273571e-01 -1.04077152e-01 -5.07499619e-02 1.27072771e+02] [ 1.04056539e-01 9.94566690e-01 -3.05534133e-03 1.92891976e+00] [ 5.07922129e-02 -2.24607562e-03 9.98706717e-01 1.44139412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59925415399998 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:127.11, Y:1.96, Z:1.44 [[ 9.94687558e-01 -9.77229614e-02 -3.23556063e-02 1.27113810e+02] [ 9.52113211e-02 9.92869837e-01 -7.17237149e-02 1.95551148e+00] [ 3.91339594e-02 6.82620668e-02 9.96899606e-01 1.44335514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62925415399998 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:127.13, Y:1.90, Z:1.42 [[ 9.93227669e-01 -1.00356978e-01 -5.85429327e-02 1.27134440e+02] [ 1.04298239e-01 9.92172093e-01 6.86761579e-02 1.89642953e+00] [ 5.11925324e-02 -7.43169850e-02 9.95919831e-01 1.42408661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65925415399998 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:127.16, Y:1.94, Z:1.45 [[ 9.93058519e-01 -1.03452476e-01 -5.59675252e-02 1.27159983e+02] [ 1.02989750e-01 9.94620508e-01 -1.10975979e-02 1.93791869e+00] [ 5.68145223e-02 5.25648273e-03 9.98370913e-01 1.44889515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68925415399998 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:127.19, Y:1.93, Z:1.45 [[ 9.93042837e-01 -1.04102123e-01 -5.50333621e-02 1.27189828e+02] [ 1.04492131e-01 9.94516634e-01 4.24960160e-03 1.93235319e+00] [ 5.42892014e-02 -9.97058972e-03 9.98475473e-01 1.44529592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71925415399997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:127.22, Y:1.94, Z:1.45 [[ 9.92971171e-01 -1.04918007e-01 -5.47765038e-02 1.27220943e+02] [ 1.04892616e-01 9.94477924e-01 -3.34628053e-03 1.93809191e+00] [ 5.48251089e-02 -2.42289070e-03 9.98493033e-01 1.44939139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74925415399997 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:127.25, Y:1.94, Z:1.45 [[ 9.92895401e-01 -1.05670042e-01 -5.47043330e-02 1.27250737e+02] [ 1.05645957e-01 9.94398198e-01 -3.34002035e-03 1.94046632e+00] [ 5.47508302e-02 -2.46300078e-03 9.98497011e-01 1.45086070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77925415399997 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:127.28, Y:1.94, Z:1.45 [[ 9.92718101e-01 -1.07297061e-01 -5.47550271e-02 1.27282390e+02] [ 1.07275466e-01 9.94223720e-01 -3.34191986e-03 1.94316887e+00] [ 5.47973249e-02 -2.55628669e-03 9.98494226e-01 1.45333492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80925415399997 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:127.31, Y:1.95, Z:1.46 [[ 9.92636358e-01 -1.08371678e-01 -5.41169166e-02 1.27314064e+02] [ 1.08352280e-01 9.94107080e-01 -3.30099632e-03 1.94552847e+00] [ 5.41557445e-02 -2.58700236e-03 9.98529150e-01 1.45520848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83925415399997 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:127.35, Y:1.95, Z:1.46 [[ 9.92420079e-01 -1.10911117e-01 -5.29255317e-02 1.27345357e+02] [ 1.10896262e-01 9.93826750e-01 -3.22638517e-03 1.94793521e+00] [ 5.29566512e-02 -2.66731419e-03 9.98593250e-01 1.45776123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86925415399998 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:127.38, Y:1.95, Z:1.46 [[ 9.92298269e-01 -1.12345185e-01 -5.21795395e-02 1.27377566e+02] [ 1.12332833e-01 9.93665553e-01 -3.17871859e-03 1.94982011e+00] [ 5.22061247e-02 -2.70723854e-03 9.98632661e-01 1.45894169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89925415399998 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:127.41, Y:1.95, Z:1.46 [[ 9.92131278e-01 -1.13907836e-01 -5.19666485e-02 1.27408258e+02] [ 1.13897915e-01 9.93487427e-01 -3.16200019e-03 1.95157713e+00] [ 5.19883885e-02 -2.78177363e-03 9.98643815e-01 1.46060773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92925415399998 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:127.45, Y:1.98, Z:1.46 [[ 9.93299271e-01 -1.10880893e-01 -3.25881241e-02 1.27445939e+02] [ 1.08564124e-01 9.91904660e-01 -6.58709026e-02 1.97659698e+00] [ 3.96281366e-02 6.18916184e-02 9.97295863e-01 1.46291691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95925415399998 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:127.47, Y:1.92, Z:1.44 [[ 9.91845640e-01 -1.14767341e-01 -5.54137522e-02 1.27469847e+02] [ 1.18151403e-01 9.91043595e-01 6.22321314e-02 1.92315370e+00] [ 4.77752280e-02 -6.82718808e-02 9.96522191e-01 1.44414505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98925415399998 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:127.50, Y:1.96, Z:1.46 [[ 9.91248701e-01 -1.21729045e-01 -5.10691009e-02 1.27499778e+02] [ 1.21728923e-01 9.92558466e-01 -3.12435221e-03 1.95701142e+00] [ 5.10693929e-02 -3.11957656e-03 9.98690235e-01 1.46484501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01925415399998 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:127.53, Y:1.96, Z:1.47 [[ 9.90998250e-01 -1.23705236e-01 -5.11808959e-02 1.27531707e+02] [ 1.23708016e-01 9.92313739e-01 -3.12573834e-03 1.95859645e+00] [ 5.11741763e-02 -3.23388585e-03 9.98684508e-01 1.46586736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04925415399998 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:127.57, Y:1.98, Z:1.47 [[ 9.91800104e-01 -1.22202070e-01 -3.74059845e-02 1.27568595e+02] [ 1.20336112e-01 9.91541409e-01 -4.86297631e-02 1.97718582e+00] [ 4.30322403e-02 4.37297134e-02 9.98116195e-01 1.46673478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07925415399997 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:127.60, Y:1.94, Z:1.45 [[ 9.90651291e-01 -1.24933590e-01 -5.47870197e-02 1.27595150e+02] [ 1.27402879e-01 9.90867682e-01 4.41558868e-02 1.93946982e+00] [ 4.87701337e-02 -5.07231103e-02 9.97521248e-01 1.45489248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10925415399997 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:127.63, Y:1.99, Z:1.47 [[ 9.91598195e-01 -1.24570203e-01 -3.48609244e-02 1.27631891e+02] [ 1.22199068e-01 9.90476253e-01 -6.34364202e-02 1.98787928e+00] [ 4.24312055e-02 5.86434673e-02 9.97376828e-01 1.47137310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13925415399997 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:127.66, Y:1.94, Z:1.45 [[ 9.90316997e-01 -1.26711985e-01 -5.67126004e-02 1.27656974e+02] [ 1.30037469e-01 9.89729216e-01 5.93829537e-02 1.93649384e+00] [ 4.86055856e-02 -6.61827114e-02 9.96622971e-01 1.45360678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16925415399997 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:127.69, Y:1.99, Z:1.47 [[ 9.91107259e-01 -1.27260840e-01 -3.88726043e-02 1.27692596e+02] [ 1.25273462e-01 9.90867309e-01 -4.98852238e-02 1.98819411e+00] [ 4.48660283e-02 4.45719018e-02 9.97998189e-01 1.47326004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19925415399997 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:127.73, Y:1.97, Z:1.46 [[ 9.91627748e-01 -1.23404909e-01 -3.80215374e-02 1.27728632e+02] [ 1.23130965e-01 9.92345213e-01 -9.47331123e-03 1.96942957e+00] [ 3.88995438e-02 4.71236970e-03 9.99232015e-01 1.45845763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22925415399997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:127.76, Y:1.97, Z:1.46 [[ 9.91340611e-01 -1.24265629e-01 -4.24481586e-02 1.27760344e+02] [ 1.24556343e-01 9.92203376e-01 4.26366652e-03 1.96639258e+00] [ 4.15873791e-02 -9.51393317e-03 9.99089573e-01 1.45820129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25925415399998 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:127.78, Y:1.95, Z:1.46 [[ 9.90272320e-01 -1.26710791e-01 -5.74900675e-02 1.27781913e+02] [ 1.29519142e-01 9.90411150e-01 4.80681374e-02 1.95479678e+00] [ 5.08480521e-02 -5.50466102e-02 9.97188220e-01 1.46319838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28925415399998 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:127.81, Y:1.98, Z:1.48 [[ 9.90276752e-01 -1.28178657e-01 -5.40572419e-02 1.27811174e+02] [ 1.28185993e-01 9.91744501e-01 -3.34588155e-03 1.98379876e+00] [ 5.40398430e-02 -3.61603253e-03 9.98532233e-01 1.48070251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31925415399998 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:127.85, Y:2.01, Z:1.48 [[ 9.91710975e-01 -1.23048525e-01 -3.69919256e-02 1.27849814e+02] [ 1.20803042e-01 9.90991917e-01 -5.78069650e-02 2.00756758e+00] [ 4.37717610e-02 5.28590645e-02 9.97642197e-01 1.48202260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34925415399998 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:127.87, Y:1.96, Z:1.47 [[ 9.90766459e-01 -1.22846499e-01 -5.73634236e-02 1.27874367e+02] [ 1.25935330e-01 9.90581497e-01 5.37456124e-02 1.96457242e+00] [ 5.02206857e-02 -6.04734318e-02 9.96905636e-01 1.46676792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:127.91, Y:2.02, Z:1.49 [[ 9.92008183e-01 -1.20965103e-01 -3.58776951e-02 1.27910213e+02] [ 1.18571537e-01 9.90965978e-01 -6.26675512e-02 2.01785201e+00] [ 4.31341620e-02 5.79126502e-02 9.97389377e-01 1.48587110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40925415399998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:127.95, Y:1.99, Z:1.47 [[ 9.92148049e-01 -1.18237884e-01 -4.07682597e-02 1.27946209e+02] [ 1.18367723e-01 9.92969525e-01 7.77321072e-04 1.98961283e+00] [ 4.03897306e-02 -5.59686366e-03 9.99168327e-01 1.46720724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43925415399998 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:127.97, Y:1.97, Z:1.47 [[ 9.90665017e-01 -1.23043671e-01 -5.86777600e-02 1.27965366e+02] [ 1.26324813e-01 9.90411045e-01 5.59285551e-02 1.97266261e+00] [ 5.12334469e-02 -6.28189200e-02 9.96709043e-01 1.47172444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46925415399997 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:128.00, Y:2.00, Z:1.49 [[ 9.90508775e-01 -1.26178782e-01 -5.45094619e-02 1.27995646e+02] [ 1.26179616e-01 9.92001447e-01 -3.44007297e-03 2.00459748e+00] [ 5.45075293e-02 -3.47056054e-03 9.98507328e-01 1.49183816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49925415399997 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:128.03, Y:2.01, Z:1.49 [[ 9.90467235e-01 -1.26646144e-01 -5.41794227e-02 1.28026653e+02] [ 1.26647987e-01 9.91941852e-01 -3.41326337e-03 2.00719827e+00] [ 5.41751135e-02 -3.48098930e-03 9.98525383e-01 1.49325868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52925415399997 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:128.06, Y:2.01, Z:1.49 [[ 9.90478552e-01 -1.26557438e-01 -5.41798151e-02 1.28059254e+02] [ 1.26559490e-01 9.91953168e-01 -3.40702371e-03 2.00918333e+00] [ 5.41750234e-02 -3.48238584e-03 9.98525383e-01 1.49486427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55925415399997 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:128.09, Y:2.01, Z:1.50 [[ 9.90277380e-01 -1.28065130e-01 -5.43142177e-02 1.28091331e+02] [ 1.28069708e-01 9.91759304e-01 -3.41068575e-03 2.01263536e+00] [ 5.43034206e-02 -3.57848106e-03 9.98518068e-01 1.49654677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58925415399997 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:128.12, Y:2.02, Z:1.50 [[ 9.90146528e-01 -1.28855452e-01 -5.48281381e-02 1.28123779e+02] [ 1.28861544e-01 9.91656632e-01 -3.43898690e-03 2.01507720e+00] [ 5.48138190e-02 -3.66013760e-03 9.98489884e-01 1.49797753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:128.16, Y:2.02, Z:1.50 [[ 9.90034473e-01 -1.29602521e-01 -5.50901906e-02 1.28156114e+02] [ 1.29610041e-01 9.91559037e-01 -3.45148096e-03 2.01755123e+00] [ 5.50724969e-02 -3.72315673e-03 9.98475417e-01 1.49911256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64925415399998 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:128.19, Y:2.02, Z:1.50 [[ 9.89935084e-01 -1.30215314e-01 -5.54301576e-02 1.28188129e+02] [ 1.30224104e-01 9.91478517e-01 -3.46881116e-03 2.01978036e+00] [ 5.54095028e-02 -3.78444476e-03 9.98456541e-01 1.50037252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67925415399998 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:128.23, Y:2.04, Z:1.50 [[ 9.91243120e-01 -1.26396475e-01 -3.82231328e-02 1.28227866e+02] [ 1.23969792e-01 9.90451327e-01 -6.03130179e-02 2.04235751e+00] [ 4.54815054e-02 5.50463502e-02 9.97447408e-01 1.50198149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70925415399998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:128.25, Y:1.99, Z:1.48 [[ 9.89775022e-01 -1.28837198e-01 -6.12077054e-02 1.28251286e+02] [ 1.32289608e-01 9.89619081e-01 5.61563415e-02 1.99412811e+00] [ 5.33372875e-02 -6.36792875e-02 9.96544069e-01 1.48390529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73925415399998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:128.28, Y:2.03, Z:1.51 [[ 9.89406472e-01 -1.31620959e-01 -6.12434161e-02 1.28277221e+02] [ 1.30600718e-01 9.91225326e-01 -2.03912883e-02 2.03416088e+00] [ 6.33899460e-02 1.21768385e-02 9.97914545e-01 1.51041317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76925415399998 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:128.31, Y:2.02, Z:1.50 [[ 9.89606649e-01 -1.30903343e-01 -5.95230601e-02 1.28310249e+02] [ 1.31848499e-01 9.91194533e-01 1.22217150e-02 2.02119345e+00] [ 5.73990685e-02 -1.99427166e-02 9.98152110e-01 1.50098008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79925415399998 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:128.34, Y:2.03, Z:1.51 [[ 9.89690274e-01 -1.30814906e-01 -5.83148537e-02 1.28340383e+02] [ 1.30824727e-01 9.91398735e-01 -3.66583138e-03 2.03208883e+00] [ 5.82928176e-02 -4.00098713e-03 9.98291510e-01 1.50810843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82925415399997 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:128.37, Y:2.04, Z:1.51 [[ 9.90283564e-01 -1.26784532e-01 -5.71326953e-02 1.28372188e+02] [ 1.26787458e-01 9.91923417e-01 -3.58832326e-03 2.03680525e+00] [ 5.71262022e-02 -3.69025166e-03 9.98360145e-01 1.51041486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85925415399997 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:128.40, Y:2.04, Z:1.51 [[ 9.90707357e-01 -1.23726013e-01 -5.64872282e-02 1.28403930e+02] [ 1.23724152e-01 9.92310323e-01 -3.54367611e-03 2.04015014e+00] [ 5.64913045e-02 -3.47808840e-03 9.98397033e-01 1.51244030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88925415399997 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:128.44, Y:2.04, Z:1.51 [[ 9.91142699e-01 -1.20435435e-01 -5.59594098e-02 1.28435422e+02] [ 1.20428609e-01 9.92715797e-01 -3.50650442e-03 2.04383748e+00] [ 5.59740975e-02 -3.26366764e-03 9.98426887e-01 1.51438251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91925415399997 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:128.47, Y:2.05, Z:1.52 [[ 9.91663660e-01 -1.16322685e-01 -5.54275975e-02 1.28467352e+02] [ 1.16309807e-01 9.93206924e-01 -3.46916475e-03 2.04747645e+00] [ 5.54546162e-02 -3.00652854e-03 9.98456682e-01 1.51598881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94925415399997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:128.50, Y:2.05, Z:1.52 [[ 9.92175084e-01 -1.12091669e-01 -5.49914607e-02 1.28497944e+02] [ 1.12072729e-01 9.93694060e-01 -3.43792556e-03 2.05088804e+00] [ 5.50300506e-02 -2.75201899e-03 9.98480906e-01 1.51731430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97925415399997 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:128.53, Y:2.06, Z:1.52 [[ 9.93109835e-01 -1.03618076e-01 -5.47371077e-02 1.28528518e+02] [ 1.03586628e-01 9.94614559e-01 -3.41902671e-03 2.05621606e+00] [ 5.47965972e-02 -2.27456337e-03 9.98494947e-01 1.51905532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00925415399998 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:128.56, Y:2.06, Z:1.52 [[ 9.93516913e-01 -9.94986705e-02 -5.49923426e-02 1.28560340e+02] [ 9.94608020e-02 9.95035563e-01 -3.43187053e-03 2.06008031e+00] [ 5.50608031e-02 -2.05996109e-03 9.98480878e-01 1.52083433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:128.60, Y:2.09, Z:1.52 [[ 9.95521947e-01 -8.91812995e-02 -3.13488118e-02 1.28602990e+02] [ 8.63943891e-02 9.92948065e-01 -8.11797362e-02 2.09107582e+00] [ 3.83674564e-02 7.81078476e-02 9.96206355e-01 1.52453465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06925415399998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:128.62, Y:2.03, Z:1.50 [[ 9.94333911e-01 -8.59405451e-02 -6.25643327e-02 1.28623310e+02] [ 9.07161715e-02 9.92819083e-01 7.79797734e-02 2.02726397e+00] [ 5.54134392e-02 -8.32135298e-02 9.94989879e-01 1.49670467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09925415399998 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:128.65, Y:2.07, Z:1.53 [[ 9.94413852e-01 -8.80671664e-02 -5.81830353e-02 1.28650930e+02] [ 8.80033037e-02 9.96113444e-01 -3.66402636e-03 2.07108653e+00] [ 5.82795840e-02 -1.47674075e-03 9.98299208e-01 1.52550415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12925415399998 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:128.69, Y:2.10, Z:1.53 [[ 9.96139540e-01 -8.01792074e-02 -3.57395094e-02 1.28692177e+02] [ 7.73418313e-02 9.94199835e-01 -7.47323779e-02 2.09867718e+00] [ 4.15241972e-02 7.16797174e-02 9.96562973e-01 1.52898360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15925415399998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:128.71, Y:2.04, Z:1.50 [[ 9.94622690e-01 -8.14976361e-02 -6.39049283e-02 1.28713276e+02] [ 8.59858262e-02 9.93767148e-01 7.09457079e-02 2.03923586e+00] [ 5.77247108e-02 -7.60591289e-02 9.95430995e-01 1.50399212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18925415399998 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:128.74, Y:2.08, Z:1.53 [[ 9.94670087e-01 -8.43886039e-02 -5.92450965e-02 1.28739562e+02] [ 8.43137400e-02 9.96432138e-01 -3.76675700e-03 2.07905970e+00] [ 5.93515895e-02 -1.24849515e-03 9.98236360e-01 1.53078317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21925415399997 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:128.77, Y:2.08, Z:1.53 [[ 9.94780063e-01 -8.32673299e-02 -5.89845638e-02 1.28768175e+02] [ 8.31909230e-02 9.96526556e-01 -3.75409956e-03 2.08141454e+00] [ 5.90922780e-02 -1.17247690e-03 9.98251836e-01 1.53220606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24925415399997 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:128.80, Y:2.08, Z:1.53 [[ 9.94797824e-01 -8.32570264e-02 -5.86988706e-02 1.28796352e+02] [ 8.31804516e-02 9.96527442e-01 -3.75099679e-03 2.08337150e+00] [ 5.88073322e-02 -1.15111513e-03 9.98268688e-01 1.53362062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27925415399997 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:128.83, Y:2.09, Z:1.53 [[ 9.94817031e-01 -8.32461130e-02 -5.83880040e-02 1.28825077e+02] [ 8.31694537e-02 9.96528378e-01 -3.74606053e-03 2.08530842e+00] [ 5.84971479e-02 -1.12945358e-03 9.98286937e-01 1.53456610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30925415399997 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:128.85, Y:2.09, Z:1.54 [[ 9.94702045e-01 -8.34758990e-02 -5.99968066e-02 1.28851239e+02] [ 8.29451867e-02 9.96490193e-01 -1.12867331e-02 2.09078088e+00] [ 6.07283996e-02 6.25049021e-03 9.98134757e-01 1.53850059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33925415399997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:128.88, Y:2.09, Z:1.53 [[ 9.94709198e-01 -8.41994615e-02 -5.88562818e-02 1.28880746e+02] [ 8.45524337e-02 9.96412784e-01 3.52831715e-03 2.08560365e+00] [ 5.83480693e-02 -8.48609140e-03 9.98260231e-01 1.53413876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36925415399998 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:128.91, Y:2.09, Z:1.54 [[ 9.94640482e-01 -8.53980488e-02 -5.82879399e-02 1.28910143e+02] [ 8.53231095e-02 9.96346172e-01 -3.77780081e-03 2.09125578e+00] [ 5.83975826e-02 -1.21575466e-03 9.98292665e-01 1.53818807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39925415399998 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:128.94, Y:2.09, Z:1.54 [[ 9.94577842e-01 -8.64635403e-02 -5.77838389e-02 1.28938869e+02] [ 8.63914786e-02 9.96254214e-01 -3.74873060e-03 2.09324846e+00] [ 5.78915215e-02 -1.26362689e-03 9.98322080e-01 1.53929960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42925415399998 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:128.97, Y:2.10, Z:1.54 [[ 9.94349170e-01 -8.92143996e-02 -5.75371039e-02 1.28968761e+02] [ 8.91467754e-02 9.96011455e-01 -3.74613731e-03 2.09570048e+00] [ 5.76418240e-02 -1.40427875e-03 9.98336340e-01 1.54121487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45925415399998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:129.00, Y:2.10, Z:1.54 [[ 9.94158053e-01 -9.13881513e-02 -5.74279643e-02 1.28999470e+02] [ 9.13242956e-02 9.95814179e-01 -3.74091203e-03 2.09751968e+00] [ 5.75294562e-02 -1.52551057e-03 9.98342644e-01 1.54251267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48925415399998 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:129.03, Y:2.10, Z:1.54 [[ 9.93974805e-01 -9.34257583e-02 -5.73211474e-02 1.29029711e+02] [ 9.33655219e-02 9.95624898e-01 -3.73395387e-03 2.09863234e+00] [ 5.74192090e-02 -1.64036277e-03 9.98348809e-01 1.54391914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51925415399998 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:129.06, Y:2.10, Z:1.55 [[ 9.93721097e-01 -9.59812796e-02 -5.74976093e-02 1.29061285e+02] [ 9.59249549e-02 9.95381523e-01 -3.74521347e-03 2.09995389e+00] [ 5.75915283e-02 -1.79375794e-03 9.98338619e-01 1.54535112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54925415399998 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:129.09, Y:2.10, Z:1.55 [[ 9.93472280e-01 -9.86882365e-02 -5.72141746e-02 1.29092665e+02] [ 9.86370651e-02 9.95116504e-01 -3.72465248e-03 2.10115015e+00] [ 5.73023488e-02 -1.94309928e-03 9.98354980e-01 1.54643202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57925415399997 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:129.12, Y:2.10, Z:1.55 [[ 9.92898480e-01 -1.04127317e-01 -5.75335544e-02 1.29124206e+02] [ 1.04084834e-01 9.94561380e-01 -3.74276080e-03 2.10162171e+00] [ 5.76103749e-02 -2.27218895e-03 9.98336557e-01 1.54777763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60925415399997 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:129.16, Y:2.10, Z:1.55 [[ 9.92686904e-01 -1.06149386e-01 -5.74892982e-02 1.29155303e+02] [ 1.06110726e-01 9.94347311e-01 -3.73336844e-03 2.10251584e+00] [ 5.75606239e-02 -2.39416521e-03 9.98339142e-01 1.54811688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63925415399997 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:129.19, Y:2.10, Z:1.55 [[ 9.92426631e-01 -1.08743504e-01 -5.71334544e-02 1.29187544e+02] [ 1.08709735e-01 9.94066620e-01 -3.70800434e-03 2.10476107e+00] [ 5.71976813e-02 -2.53104043e-03 9.98359664e-01 1.55119099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66925415399997 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:129.22, Y:2.11, Z:1.55 [[ 9.92139435e-01 -1.11634649e-01 -5.65424319e-02 1.29219311e+02] [ 1.11606484e-01 9.93745720e-01 -3.66557234e-03 2.10556016e+00] [ 5.65980046e-02 -2.67374315e-03 9.98393468e-01 1.55295789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69925415399997 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:129.26, Y:2.15, Z:1.56 [[ 9.94090272e-01 -1.05371057e-01 -2.61050124e-02 1.29264417e+02] [ 1.01986579e-01 9.88909184e-01 -1.07969272e-01 2.14716104e+00] [ 3.71923228e-02 1.04668842e-01 9.93811433e-01 1.56418894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72925415399997 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:129.30, Y:2.10, Z:1.53 [[ 9.94534782e-01 -9.95064588e-02 -3.16074766e-02 1.29304862e+02] [ 9.94375968e-02 9.95036745e-01 -3.74703249e-03 2.09613773e+00] [ 3.18234546e-02 5.83582627e-04 9.99493335e-01 1.52649169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75925415399998 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:129.33, Y:2.09, Z:1.52 [[ 9.94272439e-01 -1.00278065e-01 -3.69679285e-02 1.29331156e+02] [ 1.01063948e-01 9.94678153e-01 2.00362198e-02 2.08756197e+00] [ 3.47619975e-02 -2.36575859e-02 9.99115570e-01 1.52478229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:129.36, Y:2.10, Z:1.53 [[ 9.94095474e-01 -1.01548062e-01 -3.82384458e-02 1.29360626e+02] [ 1.01776932e-01 9.94798871e-01 4.08201744e-03 2.09863048e+00] [ 3.76250417e-02 -7.94970677e-03 9.99260306e-01 1.53338115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81925415399998 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:129.38, Y:2.07, Z:1.54 [[ 9.92360925e-01 -1.05741140e-01 -6.35500184e-02 1.29375257e+02] [ 1.10777664e-01 9.90474249e-01 8.17867443e-02 2.07255844e+00] [ 5.42964332e-02 -8.82018919e-02 9.94621699e-01 1.53602051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84925415399998 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:129.41, Y:2.15, Z:1.57 [[ 9.94216731e-01 -1.03055485e-01 -3.02102491e-02 1.29413801e+02] [ 9.96406640e-02 9.90138971e-01 -9.84710937e-02 2.15452935e+00] [ 4.00603312e-02 9.48914395e-02 9.94681248e-01 1.57326916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:129.44, Y:2.07, Z:1.54 [[ 9.92591068e-01 -1.02380809e-01 -6.54304335e-02 1.29436005e+02] [ 1.08292829e-01 9.89635303e-01 9.43113476e-02 2.07058206e+00] [ 5.50965948e-02 -1.00698248e-01 9.93390270e-01 1.53528810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90925415399998 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:129.46, Y:2.12, Z:1.57 [[ 9.92567476e-01 -1.06082085e-01 -5.96355318e-02 1.29462754e+02] [ 1.06036439e-01 9.94354445e-01 -3.93845457e-03 2.12254061e+00] [ 5.97166556e-02 -2.41435751e-03 9.98212448e-01 1.56889238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93925415399998 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:129.49, Y:2.13, Z:1.57 [[ 9.92915058e-01 -1.02141319e-01 -6.07193463e-02 1.29494113e+02] [ 1.02086908e-01 9.94767419e-01 -4.00577028e-03 2.12524418e+00] [ 6.08107820e-02 -2.22126069e-03 9.98146840e-01 1.57016861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96925415399997 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:129.52, Y:2.13, Z:1.57 [[ 9.93337037e-01 -9.73519394e-02 -6.16776355e-02 1.29523938e+02] [ 9.72867048e-02 9.95248088e-01 -4.06702428e-03 2.12821262e+00] [ 6.17804815e-02 -1.96048807e-03 9.98087836e-01 1.57187533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99925415399997 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:129.55, Y:2.13, Z:1.57 [[ 9.93335254e-01 -9.73701337e-02 -6.16776249e-02 1.29553988e+02] [ 9.73049241e-02 9.95246306e-01 -4.06718592e-03 2.13022565e+00] [ 6.17804507e-02 -1.96145744e-03 9.98087836e-01 1.57347310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.029254154 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:129.58, Y:2.13, Z:1.58 [[ 9.93565000e-01 -9.48177510e-02 -6.19530873e-02 1.29584105e+02] [ 9.47469436e-02 9.95493003e-01 -4.08632829e-03 2.13315131e+00] [ 6.20613214e-02 -1.80983290e-03 9.98070697e-01 1.57535167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.059254154 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:129.61, Y:2.14, Z:1.58 [[ 9.94007043e-01 -8.95507537e-02 -6.26949883e-02 1.29613256e+02] [ 8.94677661e-02 9.95981133e-01 -4.13544256e-03 2.13704825e+00] [ 6.28133574e-02 -1.49852152e-03 9.98024166e-01 1.57751035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.089254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:129.66, Y:2.17, Z:1.59 [[ 9.96076466e-01 -8.08463590e-02 -3.59936082e-02 1.29655535e+02] [ 7.72769695e-02 9.92807938e-01 -9.14366855e-02 2.17286679e+00] [ 4.31270630e-02 8.82964536e-02 9.95160184e-01 1.58501701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.119254154 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:129.68, Y:2.10, Z:1.55 [[ 9.94443079e-01 -7.91909750e-02 -6.93667915e-02 1.29677626e+02] [ 8.51271429e-02 9.92540583e-01 8.72729094e-02 2.09648541e+00] [ 6.19381289e-02 -9.26929375e-02 9.93766415e-01 1.55127488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14925415399998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:129.72, Y:2.18, Z:1.59 [[ 9.96899768e-01 -7.15185001e-02 -3.28017803e-02 1.29715897e+02] [ 6.79374927e-02 9.92698321e-01 -9.96721616e-02 2.18183482e+00] [ 3.96906758e-02 9.71346841e-02 9.94479514e-01 1.59098768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17925415399998 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:129.73, Y:2.11, Z:1.54 [[ 9.96360395e-01 -6.82661189e-02 -5.10460578e-02 1.29734392e+02] [ 7.16948364e-02 9.95060411e-01 6.86631506e-02 2.10828544e+00] [ 4.61065444e-02 -7.20729827e-02 9.96333113e-01 1.54257273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20925415399998 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:129.76, Y:2.14, Z:1.57 [[ 9.96326746e-01 -6.79387088e-02 -5.21281761e-02 1.29761631e+02] [ 6.88448413e-02 9.97502467e-01 1.57866091e-02 2.13646346e+00] [ 5.09254624e-02 -1.93173769e-02 9.98515616e-01 1.56801875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23925415399998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:129.79, Y:2.15, Z:1.58 [[ 9.96532045e-01 -6.63743248e-02 -5.01829913e-02 1.29788904e+02] [ 6.62992685e-02 9.97794777e-01 -3.16061330e-03 2.14804929e+00] [ 5.02821102e-02 -1.77443177e-04 9.98735039e-01 1.57631867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.26925415399998 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:129.81, Y:2.16, Z:1.58 [[ 9.96891490e-01 -6.47725990e-02 -4.48538547e-02 1.29814476e+02] [ 6.38596728e-02 9.97727326e-01 -2.14970979e-02 2.16023348e+00] [ 4.61443394e-02 1.85659214e-02 9.98762237e-01 1.58065023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29925415399998 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:129.85, Y:2.14, Z:1.57 [[ 9.96830778e-01 -6.17895835e-02 -5.01043697e-02 1.29846285e+02] [ 6.26049196e-02 9.97927628e-01 1.48685275e-02 2.14322777e+00] [ 4.90818147e-02 -1.79581858e-02 9.98633306e-01 1.57269308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32925415399998 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:129.87, Y:2.15, Z:1.58 [[ 9.96958251e-01 -6.07300604e-02 -4.88477690e-02 1.29872309e+02] [ 6.06504540e-02 9.98154217e-01 -3.11161158e-03 2.15246113e+00] [ 4.89465750e-02 1.39507468e-04 9.98801388e-01 1.58040691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35925415399998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:129.90, Y:2.16, Z:1.58 [[ 9.97253658e-01 -6.11228437e-02 -4.18227176e-02 1.29898816e+02] [ 6.01159866e-02 9.97880186e-01 -2.49239447e-02 2.16474858e+00] [ 4.32574836e-02 2.23412811e-02 9.98814125e-01 1.58279672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38925415399999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:129.93, Y:2.14, Z:1.57 [[ 9.96864288e-01 -6.07412464e-02 -5.07158077e-02 1.29929785e+02] [ 6.17547445e-02 9.97916899e-01 1.86605173e-02 2.14344818e+00] [ 4.94766985e-02 -2.17339451e-02 9.98538778e-01 1.57476008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.419254154 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:129.96, Y:2.16, Z:1.58 [[ 9.96858282e-01 -6.19729337e-02 -4.93246550e-02 1.29957062e+02] [ 6.18919714e-02 9.98077825e-01 -3.16852897e-03 2.15606385e+00] [ 4.94262074e-02 1.05774211e-04 9.98777772e-01 1.58364739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.449254154 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:129.98, Y:2.16, Z:1.58 [[ 9.96764918e-01 -6.33069775e-02 -4.95169192e-02 1.29983534e+02] [ 6.32263893e-02 9.97994100e-01 -3.19372218e-03 2.15651325e+00] [ 4.96197782e-02 5.26142125e-05 9.98768179e-01 1.58436110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.479254154 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:130.01, Y:2.16, Z:1.58 [[ 9.96434916e-01 -6.77080526e-02 -5.03296994e-02 1.30011802e+02] [ 6.76300133e-02 9.97705164e-01 -3.25388627e-03 2.15516140e+00] [ 5.04345153e-02 -1.61512350e-04 9.98727357e-01 1.58491085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.509254154 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:130.04, Y:2.16, Z:1.59 [[ 9.96243818e-01 -7.04592715e-02 -5.03363375e-02 1.30039437e+02] [ 7.03839802e-02 9.97514616e-01 -3.26897155e-03 2.15506140e+00] [ 5.04415617e-02 -2.86179082e-04 9.98726973e-01 1.58596146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.539254154 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:130.07, Y:2.16, Z:1.59 [[ 9.95997268e-01 -7.36021259e-02 -5.07165659e-02 1.30067505e+02] [ 7.35290541e-02 9.97287590e-01 -3.30759420e-03 2.15509135e+00] [ 5.08224478e-02 -4.34786332e-04 9.98707610e-01 1.58709770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.569254154 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:130.10, Y:2.15, Z:1.59 [[ 9.95784287e-01 -7.65428567e-02 -5.05454651e-02 1.30096392e+02] [ 7.64736571e-02 9.97066126e-01 -3.30442007e-03 2.15487367e+00] [ 5.06501009e-02 -5.74906982e-04 9.98716294e-01 1.58796263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.599254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:130.13, Y:2.15, Z:1.59 [[ 9.95384250e-01 -8.19134632e-02 -5.00037941e-02 1.30126415e+02] [ 8.18519445e-02 9.96639102e-01 -3.28023140e-03 2.15244381e+00] [ 5.01044316e-02 -8.27817104e-04 9.98743641e-01 1.58893967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.629254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:130.16, Y:2.15, Z:1.59 [[ 9.95199110e-01 -8.44840222e-02 -4.94083137e-02 1.30155576e+02] [ 8.44270419e-02 9.96424387e-01 -3.24283526e-03 2.15224763e+00] [ 4.95056165e-02 -9.44131007e-04 9.98773399e-01 1.58986605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.659254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:130.19, Y:2.15, Z:1.59 [[ 9.95007882e-01 -8.67754866e-02 -4.92882366e-02 1.30186621e+02] [ 8.67215640e-02 9.96227334e-01 -3.23549886e-03 2.15232942e+00] [ 4.93830506e-02 -1.05500610e-03 9.98779356e-01 1.59120037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.689254154 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:130.22, Y:2.15, Z:1.59 [[ 9.94657365e-01 -9.08763489e-02 -4.89715840e-02 1.30218110e+02] [ 9.08281680e-02 9.95861397e-01 -3.21291505e-03 2.15101513e+00] [ 4.90608880e-02 -1.25224964e-03 9.98795005e-01 1.59238776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.719254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:130.26, Y:2.18, Z:1.60 [[ 9.95883143e-01 -8.65502833e-02 -2.69409237e-02 1.30260196e+02] [ 8.42957875e-02 9.93550186e-01 -7.58435822e-02 2.17821384e+00] [ 3.33314433e-02 7.32603386e-02 9.96755706e-01 1.59651562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.749254154 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:130.28, Y:2.11, Z:1.57 [[ 9.94286682e-01 -9.20103730e-02 -5.41117937e-02 1.30282198e+02] [ 9.58194507e-02 9.92747010e-01 7.26085900e-02 2.11371632e+00] [ 4.70385779e-02 -7.73787164e-02 9.95891513e-01 1.57204597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.779254154 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:130.32, Y:2.17, Z:1.60 [[ 9.95013164e-01 -9.44397746e-02 -3.20925463e-02 1.30316937e+02] [ 9.27269085e-02 9.94373127e-01 -5.12230865e-02 2.16680593e+00] [ 3.67494624e-02 4.79918027e-02 9.98171460e-01 1.59710959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.809254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:130.34, Y:2.13, Z:1.58 [[ 9.93657219e-01 -9.97941445e-02 -5.18310709e-02 1.30341032e+02] [ 1.02270739e-01 9.93619406e-01 4.75517872e-02 2.12510033e+00] [ 4.67549679e-02 -5.25509786e-02 9.97523116e-01 1.58273112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.839254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:130.37, Y:2.15, Z:1.60 [[ 9.93332703e-01 -1.04499953e-01 -4.86816309e-02 1.30370414e+02] [ 1.04466565e-01 9.94523132e-01 -3.23666029e-03 2.15070763e+00] [ 4.87532390e-02 -1.87052224e-03 9.98809102e-01 1.59956675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.869254154 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:130.40, Y:2.15, Z:1.60 [[ 9.93072280e-01 -1.06782655e-01 -4.90398848e-02 1.30402515e+02] [ 1.06751731e-01 9.94280374e-01 -3.25681420e-03 2.15123880e+00] [ 4.91071663e-02 -2.00084068e-03 9.98791511e-01 1.60105262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.89925415399998 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:130.43, Y:2.15, Z:1.60 [[ 9.92659884e-01 -1.10047349e-01 -5.01590966e-02 1.30433766e+02] [ 1.10019341e-01 9.93923877e-01 -3.32745128e-03 2.15091369e+00] [ 5.02205010e-02 -2.21544335e-03 9.98735697e-01 1.60204471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.92925415399998 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:130.47, Y:2.15, Z:1.60 [[ 9.92526353e-01 -1.11129362e-01 -5.04153047e-02 1.30465501e+02] [ 1.11102607e-01 9.93803323e-01 -3.34151795e-03 2.15174694e+00] [ 5.04742381e-02 -2.28472714e-03 9.98722750e-01 1.60326389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.95925415399998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:130.50, Y:2.17, Z:1.60 [[ 9.93505107e-01 -1.07471821e-01 -3.73819433e-02 1.30502054e+02] [ 1.05822944e-01 9.93428576e-01 -4.36024024e-02 2.16631507e+00] [ 4.18223202e-02 3.93633422e-02 9.98349348e-01 1.60391323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.98925415399998 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:130.53, Y:2.13, Z:1.59 [[ 9.92339267e-01 -1.11169252e-01 -5.38904132e-02 1.30526456e+02] [ 1.13355884e-01 9.92774219e-01 3.93674303e-02 2.13260818e+00] [ 4.91245651e-02 -4.51746423e-02 9.97770529e-01 1.59285521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.01925415399998 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:130.56, Y:2.15, Z:1.61 [[ 9.92160606e-01 -1.14020476e-01 -5.11533366e-02 1.30557084e+02] [ 1.13995864e-01 9.93475379e-01 -3.40798989e-03 2.15467929e+00] [ 5.12081611e-02 -2.44999549e-03 9.98684996e-01 1.60776911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.04925415399998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:130.59, Y:2.16, Z:1.61 [[ 9.92174263e-01 -1.13750370e-01 -5.14886903e-02 1.30588955e+02] [ 1.13725270e-01 9.93506327e-01 -3.42652259e-03 2.15615000e+00] [ 5.15441078e-02 -2.45585766e-03 9.98667699e-01 1.60922971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.07925415399998 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:130.62, Y:2.16, Z:1.61 [[ 9.92182451e-01 -1.13329493e-01 -5.22533286e-02 1.30620930e+02] [ 1.13303266e-01 9.93554379e-01 -3.47350927e-03 2.15790035e+00] [ 5.23101745e-02 -2.47411784e-03 9.98627821e-01 1.61060035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.10925415399998 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:130.65, Y:2.16, Z:1.61 [[ 9.92219191e-01 -1.12559027e-01 -5.32122473e-02 1.30651548e+02] [ 1.12530934e-01 9.93641940e-01 -3.53335784e-03 2.15975754e+00] [ 5.32716319e-02 -2.48215844e-03 9.98576974e-01 1.61202399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.13925415399999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:130.68, Y:2.16, Z:1.61 [[ 9.92330822e-01 -1.11197674e-01 -5.39871958e-02 1.30683881e+02] [ 1.11166924e-01 9.93795294e-01 -3.58158280e-03 2.16202415e+00] [ 5.40504848e-02 -2.44747552e-03 9.98535205e-01 1.61318235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.169254154 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:130.72, Y:2.16, Z:1.61 [[ 9.92516383e-01 -1.09136906e-01 -5.47755843e-02 1.30716252e+02] [ 1.09102350e-01 9.94023894e-01 -3.62976013e-03 2.16450444e+00] [ 5.48443804e-02 -2.37354858e-03 9.98492093e-01 1.61474949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.199254154 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:130.75, Y:2.18, Z:1.62 [[ 9.93938584e-01 -1.00449730e-01 -4.46759679e-02 1.30751652e+02] [ 9.87192513e-02 9.94335371e-01 -3.93913526e-02 2.17992998e+00] [ 4.83797459e-02 3.47422072e-02 9.98224614e-01 1.61525075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.229254154 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:130.78, Y:2.15, Z:1.61 [[ 9.93196875e-01 -1.00054202e-01 -5.95745274e-02 1.30776001e+02] [ 1.02200245e-01 9.94178192e-01 3.41296507e-02 2.15174158e+00] [ 5.58128809e-02 -3.99859937e-02 9.97640237e-01 1.60571774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.259254154 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:130.80, Y:2.17, Z:1.62 [[ 9.93795040e-01 -9.55501063e-02 -5.69350189e-02 1.30804587e+02] [ 9.54887918e-02 9.95423242e-01 -3.80273593e-03 2.17418343e+00] [ 5.70377929e-02 -1.65751607e-03 9.98370644e-01 1.61912876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.289254154 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:130.83, Y:2.18, Z:1.62 [[ 9.94108606e-01 -9.22791458e-02 -5.68562944e-02 1.30833230e+02] [ 9.22125268e-02 9.95732098e-01 -3.79977361e-03 2.17724851e+00] [ 5.69642772e-02 -1.46547492e-03 9.98375142e-01 1.62104139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.319254154 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:130.86, Y:2.18, Z:1.62 [[ 9.94445038e-01 -8.89215459e-02 -5.63207412e-02 1.30862181e+02] [ 8.88499729e-02 9.96037853e-01 -3.77855615e-03 2.18050608e+00] [ 5.64335852e-02 -1.24652991e-03 9.98405577e-01 1.62267499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.349254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:130.89, Y:2.18, Z:1.62 [[ 9.94815421e-01 -8.48839531e-02 -5.60088561e-02 1.30889932e+02] [ 8.48060644e-02 9.96390343e-01 -3.77030510e-03 2.18359567e+00] [ 5.61267217e-02 -9.99133001e-04 9.98423153e-01 1.62450609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.379254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:130.92, Y:2.19, Z:1.63 [[ 9.95308610e-01 -7.87355498e-02 -5.62270830e-02 1.30918968e+02] [ 7.86468397e-02 9.96895327e-01 -3.79221280e-03 2.18563265e+00] [ 5.63510983e-02 -6.47660341e-04 9.98410804e-01 1.62716509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.409254154 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:130.95, Y:2.19, Z:1.63 [[ 9.95919476e-01 -7.16912001e-02 -5.48157781e-02 1.30945775e+02] [ 7.15955012e-02 9.97426849e-01 -3.71013371e-03 2.19116305e+00] [ 5.49407127e-02 -2.29568683e-04 9.98489592e-01 1.62803796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.439254154 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:130.97, Y:2.19, Z:1.63 [[ 9.96113805e-01 -6.57328425e-02 -5.86215044e-02 1.30973488e+02] [ 6.66575185e-02 9.97678278e-01 1.39581081e-02 2.18563107e+00] [ 5.75678954e-02 -1.78114282e-02 9.98182694e-01 1.62839666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.469254154 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:131.00, Y:2.21, Z:1.64 [[ 9.96511690e-01 -6.44054220e-02 -5.30697102e-02 1.30999749e+02] [ 6.33407899e-02 9.97760205e-01 -2.15062313e-02 2.20554354e+00] [ 5.43359628e-02 1.80697336e-02 9.98359198e-01 1.63651527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.499254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:131.03, Y:2.20, Z:1.63 [[ 9.96730769e-01 -6.02602223e-02 -5.38189546e-02 1.31028658e+02] [ 6.01499106e-02 9.98182613e-01 -3.66858679e-03 2.19870322e+00] [ 5.39422146e-02 4.19388022e-04 9.98543971e-01 1.63115527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.529254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:131.06, Y:2.20, Z:1.63 [[ 9.96876878e-01 -5.82947369e-02 -5.32748888e-02 1.31055904e+02] [ 5.81830201e-02 9.98299272e-01 -3.64685906e-03 2.20113836e+00] [ 5.33968754e-02 5.35775547e-04 9.98573225e-01 1.63286970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.559254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:131.08, Y:2.20, Z:1.63 [[ 9.97039992e-01 -5.56979646e-02 -5.29999152e-02 1.31082633e+02] [ 5.55829923e-02 9.98447428e-01 -3.64195543e-03 2.20262874e+00] [ 5.31204786e-02 6.85281337e-04 9.98587876e-01 1.63460009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.589254154 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:131.11, Y:2.20, Z:1.64 [[ 9.97061830e-01 -5.55978730e-02 -5.26933048e-02 1.31109308e+02] [ 5.54837424e-02 9.98453001e-01 -3.62743412e-03 2.20403517e+00] [ 5.28134659e-02 6.93154352e-04 9.98604154e-01 1.63568832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.619254154 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:131.14, Y:2.21, Z:1.64 [[ 9.97001622e-01 -5.66231163e-02 -5.27407596e-02 1.31136939e+02] [ 5.65097976e-02 9.98395415e-01 -3.63854837e-03 2.20526067e+00] [ 5.28621585e-02 6.47268978e-04 9.98601609e-01 1.63714462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.64925415399998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:131.16, Y:2.21, Z:1.64 [[ 9.96901615e-01 -5.82852447e-02 -5.28204538e-02 1.31163878e+02] [ 5.81731289e-02 9.98299805e-01 -3.65885140e-03 2.20641230e+00] [ 5.29439058e-02 5.74783806e-04 9.98597322e-01 1.63826133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.67925415399998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:131.19, Y:2.21, Z:1.64 [[ 9.96574649e-01 -6.34639839e-02 -5.30216146e-02 1.31191720e+02] [ 6.33577227e-02 9.97984081e-01 -3.68425843e-03 2.20635079e+00] [ 5.31485451e-02 3.12309790e-04 9.98586568e-01 1.63909085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.70925415399998 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:131.22, Y:2.21, Z:1.64 [[ 9.96360395e-01 -6.64996760e-02 -5.33268731e-02 1.31219521e+02] [ 6.63956954e-02 9.97786433e-01 -3.72107403e-03 2.20670846e+00] [ 5.34562807e-02 1.66855968e-04 9.98570177e-01 1.64020919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.73925415399998 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:131.25, Y:2.21, Z:1.64 [[ 9.96095301e-01 -7.01949854e-02 -5.35426557e-02 1.31247110e+02] [ 7.00946495e-02 9.97533290e-01 -3.75184379e-03 2.20692278e+00] [ 5.36739421e-02 -1.58597176e-05 9.98558515e-01 1.64088735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.76925415399998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:131.28, Y:2.21, Z:1.64 [[ 9.95804436e-01 -7.68155969e-02 -4.97281592e-02 1.31275142e+02] [ 7.60516080e-02 9.96957583e-01 -1.70801260e-02 2.21207103e+00] [ 5.08888855e-02 1.32265588e-02 9.98616733e-01 1.64232484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.79925415399998 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:131.30, Y:2.20, Z:1.64 [[ 9.95330533e-01 -8.00642251e-02 -5.39152186e-02 1.31304343e+02] [ 8.06924994e-02 9.96693050e-01 9.57525018e-03 2.19915765e+00] [ 5.29702887e-02 -1.38810926e-02 9.98499606e-01 1.63907635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.82925415399998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:131.33, Y:2.21, Z:1.64 [[ 9.95080985e-01 -8.40136483e-02 -5.24932415e-02 1.31330292e+02] [ 8.39346580e-02 9.96464349e-01 -3.71139662e-03 2.20595320e+00] [ 5.26194517e-02 -7.12862070e-04 9.98614383e-01 1.64423443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.85925415399998 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:131.36, Y:2.21, Z:1.65 [[ 9.94820814e-01 -8.70099190e-02 -5.25435165e-02 1.31357776e+02] [ 8.69346081e-02 9.96207069e-01 -3.72146395e-03 2.20622923e+00] [ 5.26680269e-02 -8.65660215e-04 9.98611701e-01 1.64570176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.88925415399999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:131.39, Y:2.21, Z:1.65 [[ 9.94250749e-01 -9.28712442e-02 -5.32952172e-02 1.31386308e+02] [ 9.28018305e-02 9.95677420e-01 -3.78103826e-03 2.20574064e+00] [ 5.34159940e-02 -1.18659358e-03 9.98571642e-01 1.64726277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.919254154 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:131.41, Y:2.21, Z:1.65 [[ 9.94018271e-01 -9.53452418e-02 -5.32631288e-02 1.31414533e+02] [ 9.52788188e-02 9.95443407e-01 -3.79071980e-03 2.20680748e+00] [ 5.33818575e-02 -1.30680325e-03 9.98573317e-01 1.64829126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.949254154 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:131.44, Y:2.21, Z:1.65 [[ 9.93809924e-01 -9.75873793e-02 -5.30899162e-02 1.31444433e+02] [ 9.75244358e-02 9.95225948e-01 -3.78113117e-03 2.20799417e+00] [ 5.32054529e-02 -1.41983845e-03 9.98582577e-01 1.64965060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.979254154 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:131.47, Y:2.21, Z:1.65 [[ 9.93630116e-01 -9.94945661e-02 -5.29152491e-02 1.31474126e+02] [ 9.94346335e-02 9.95036952e-01 -3.77062045e-03 2.20880690e+00] [ 5.30277844e-02 -1.51500637e-03 9.98591888e-01 1.65071572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.009254154 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:131.50, Y:2.21, Z:1.65 [[ 9.93295867e-01 -1.02913572e-01 -5.26509102e-02 1.31503615e+02] [ 1.02858935e-01 9.94688871e-01 -3.75358248e-03 2.20804421e+00] [ 5.27575690e-02 -1.68719859e-03 9.98605924e-01 1.65210002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.039254154 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:131.53, Y:2.21, Z:1.65 [[ 9.93169903e-01 -1.04156888e-01 -5.25821876e-02 1.31534541e+02] [ 1.04104105e-01 9.94559339e-01 -3.74922206e-03 2.20913759e+00] [ 5.26866130e-02 -1.75040706e-03 9.98609562e-01 1.65380243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.069254154 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:131.56, Y:2.21, Z:1.66 [[ 9.93013847e-01 -1.05536581e-01 -5.27781240e-02 1.31564407e+02] [ 1.05485429e-01 9.94413734e-01 -3.76167069e-03 2.21053524e+00] [ 5.28802852e-02 -1.83193195e-03 9.98599179e-01 1.65537464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.099254154 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:131.60, Y:2.21, Z:1.66 [[ 9.92777901e-01 -1.07773398e-01 -5.26966139e-02 1.31595373e+02] [ 1.07725520e-01 9.94173577e-01 -3.75639416e-03 2.21141965e+00] [ 5.27944205e-02 -1.94750503e-03 9.98603503e-01 1.65688506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.129254154 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:131.63, Y:2.21, Z:1.66 [[ 9.92634191e-01 -1.09102124e-01 -5.26696206e-02 1.31626502e+02] [ 1.09056264e-01 9.94028495e-01 -3.75251160e-03 2.21314174e+00] [ 5.27645107e-02 -2.01908075e-03 9.98604942e-01 1.65842834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.159254154 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:131.66, Y:2.23, Z:1.66 [[ 9.93484731e-01 -1.06970395e-01 -3.93118736e-02 1.31664442e+02] [ 1.05094208e-01 9.93348866e-01 -4.70450710e-02 2.23066370e+00] [ 4.40828349e-02 4.26071095e-02 9.98118900e-01 1.65868824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.189254154 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:131.69, Y:2.19, Z:1.65 [[ 9.92189663e-01 -1.11115923e-01 -5.66826613e-02 1.31687782e+02] [ 1.13567022e-01 9.92641383e-01 4.20192341e-02 2.19430159e+00] [ 5.15965494e-02 -4.81283308e-02 9.97507624e-01 1.64855544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.219254154 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:131.72, Y:2.22, Z:1.66 [[ 9.91577723e-01 -1.17592240e-01 -5.42741617e-02 1.31717393e+02] [ 1.17554863e-01 9.93058764e-01 -3.89174706e-03 2.21779884e+00] [ 5.43550712e-02 -2.52122196e-03 9.98518487e-01 1.66312476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.249254154 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:131.75, Y:2.22, Z:1.66 [[ 9.91297680e-01 -1.19684102e-01 -5.48144638e-02 1.31747423e+02] [ 1.19649351e-01 9.92808446e-01 -3.92711364e-03 2.21942512e+00] [ 5.48902757e-02 -2.66557639e-03 9.98488834e-01 1.66444872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.279254154 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:131.78, Y:2.22, Z:1.67 [[ 9.91041392e-01 -1.21467538e-01 -5.55211343e-02 1.31778108e+02] [ 1.21434687e-01 9.92591455e-01 -3.97755810e-03 2.22125227e+00] [ 5.55929477e-02 -2.80026688e-03 9.98449589e-01 1.66573994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.309254154 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:131.81, Y:2.22, Z:1.67 [[ 9.90824748e-01 -1.23049819e-01 -5.59022485e-02 1.31809179e+02] [ 1.23019094e-01 9.92396228e-01 -4.00364804e-03 2.22318270e+00] [ 5.59698288e-02 -2.91013042e-03 9.98428219e-01 1.66725186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.339254154 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:131.84, Y:2.23, Z:1.67 [[ 9.90826986e-01 -1.23031732e-01 -5.59023804e-02 1.31840074e+02] [ 1.23001082e-01 9.92398468e-01 -4.00180605e-03 2.22539502e+00] [ 5.59697858e-02 -2.91095586e-03 9.98428219e-01 1.66866170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36925415399998 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:131.87, Y:2.23, Z:1.67 [[ 9.90653130e-01 -1.24283170e-01 -5.62144924e-02 1.31870254e+02] [ 1.24254243e-01 9.92242257e-01 -4.02311798e-03 2.22727429e+00] [ 5.62784007e-02 -2.99937480e-03 9.98410610e-01 1.66996425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39925415399998 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:131.90, Y:2.23, Z:1.67 [[ 9.90449053e-01 -1.25949744e-01 -5.61011123e-02 1.31900249e+02] [ 1.25923654e-01 9.92031815e-01 -4.01398887e-03 2.22892278e+00] [ 5.61596491e-02 -3.08880556e-03 9.98417024e-01 1.67186929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42925415399998 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:131.93, Y:2.23, Z:1.67 [[ 9.90431149e-01 -1.26109649e-01 -5.60579611e-02 1.31930419e+02] [ 1.26083936e-01 9.92011474e-01 -4.00945298e-03 2.23120322e+00] [ 5.61157713e-02 -3.09692123e-03 9.98419466e-01 1.67332185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45925415399998 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:131.96, Y:2.23, Z:1.67 [[ 9.90452850e-01 -1.25986811e-01 -5.59506525e-02 1.31961809e+02] [ 1.25961172e-01 9.92027113e-01 -3.99871223e-03 2.23363382e+00] [ 5.60083493e-02 -3.08707382e-03 9.98425528e-01 1.67494999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.48925415399998 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:132.00, Y:2.24, Z:1.67 [[ 9.90937416e-01 -1.23504890e-01 -5.28164735e-02 1.31995430e+02] [ 1.23051097e-01 9.92330518e-01 -1.17716199e-02 2.23749458e+00] [ 5.38652511e-02 5.16581364e-03 9.98534851e-01 1.67492195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51925415399998 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:132.02, Y:2.24, Z:1.68 [[ 9.90913141e-01 -1.22050315e-01 -5.65231600e-02 1.32022397e+02] [ 1.22502441e-01 9.92457592e-01 4.59134673e-03 2.23588407e+00] [ 5.55364639e-02 -1.14738509e-02 9.98390731e-01 1.67597615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.54925415399998 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:132.05, Y:2.24, Z:1.68 [[ 9.91166182e-01 -1.20380478e-01 -5.56609349e-02 1.32053499e+02] [ 1.20345881e-01 9.92724023e-01 -3.98528985e-03 2.24372925e+00] [ 5.57356983e-02 -2.74847971e-03 9.98441775e-01 1.68033185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57925415399998 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:132.09, Y:2.25, Z:1.68 [[ 9.91501479e-01 -1.17784862e-01 -5.52407678e-02 1.32085645e+02] [ 1.17746896e-01 9.93035771e-01 -3.95287058e-03 2.24732507e+00] [ 5.53216468e-02 -2.58515193e-03 9.98465238e-01 1.68269893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:132.12, Y:2.25, Z:1.68 [[ 9.91880853e-01 -1.14996951e-01 -5.42961821e-02 1.32117100e+02] [ 1.14956313e-01 9.93362965e-01 -3.88142603e-03 2.25071908e+00] [ 5.43821686e-02 -2.39177675e-03 9.98517330e-01 1.68427408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63925415399999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:132.15, Y:2.26, Z:1.69 [[ 9.92640239e-01 -1.08558422e-01 -5.36695971e-02 1.32148155e+02] [ 1.08509472e-01 9.94088022e-01 -3.83381793e-03 2.25507005e+00] [ 5.37684969e-02 -2.01805768e-03 9.98551389e-01 1.68652498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.669254154 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:132.18, Y:2.26, Z:1.69 [[ 9.93036473e-01 -1.05097426e-01 -5.32268126e-02 1.32178474e+02] [ 1.05044403e-01 9.94460270e-01 -3.80053462e-03 2.25851280e+00] [ 5.33313769e-02 -1.81710929e-03 9.98575216e-01 1.68809498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.699254154 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:132.21, Y:2.26, Z:1.69 [[ 9.93417738e-01 -1.01700520e-01 -5.27086428e-02 1.32207378e+02] [ 1.01643752e-01 9.94813743e-01 -3.76350674e-03 2.26207489e+00] [ 5.28180328e-02 -1.61876985e-03 9.98602841e-01 1.68936156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.729254154 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:132.24, Y:2.27, Z:1.69 [[ 9.94171940e-01 -9.40380442e-02 -5.27162237e-02 1.32237515e+02] [ 9.39705041e-02 9.95567867e-01 -3.76386514e-03 2.26709237e+00] [ 5.28365249e-02 -1.21184101e-03 9.98602440e-01 1.69090537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.759254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:132.27, Y:2.27, Z:1.69 [[ 9.94513498e-01 -9.03967588e-02 -5.26434140e-02 1.32267560e+02] [ 9.03243078e-02 9.95905313e-01 -3.75866663e-03 2.27055142e+00] [ 5.27676270e-02 -1.01693524e-03 9.98606300e-01 1.69246641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.789254154 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:132.30, Y:2.29, Z:1.69 [[ 9.95763166e-01 -8.36661256e-02 -3.81535848e-02 1.32303074e+02] [ 8.17436936e-02 9.95426609e-01 -4.94351584e-02 2.29110995e+00] [ 4.21151417e-02 4.61068950e-02 9.98048330e-01 1.69406875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.819254154 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:132.33, Y:2.25, Z:1.68 [[ 9.94978000e-01 -8.23639293e-02 -5.68767376e-02 1.32328814e+02] [ 8.49335079e-02 9.95399517e-01 4.43407352e-02 2.25409502e+00] [ 5.29629999e-02 -4.89487968e-02 9.97396078e-01 1.68142892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.849254154 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:132.36, Y:2.28, Z:1.70 [[ 9.95235764e-01 -8.10905790e-02 -5.41303315e-02 1.32355121e+02] [ 8.09990490e-02 9.96706602e-01 -3.88627039e-03 2.28164141e+00] [ 5.42671987e-02 -5.16750095e-04 9.98526316e-01 1.69639405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.879254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:132.38, Y:2.28, Z:1.70 [[ 9.95218937e-01 -8.04453195e-02 -5.53878786e-02 1.32381441e+02] [ 8.03477390e-02 9.96758908e-01 -3.98999529e-03 2.28430089e+00] [ 5.55293378e-02 -4.79371942e-04 9.98456941e-01 1.69749562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.909254154 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:132.41, Y:2.29, Z:1.70 [[ 9.95148417e-01 -8.09253608e-02 -5.59527806e-02 1.32409123e+02] [ 8.08260364e-02 9.96720038e-01 -4.03959205e-03 2.28729946e+00] [ 5.60961631e-02 -5.02447856e-04 9.98425244e-01 1.69849907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.939254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:132.44, Y:2.29, Z:1.70 [[ 9.95047218e-01 -8.16386074e-02 -5.67112941e-02 1.32435962e+02] [ 8.15368721e-02 9.96661854e-01 -4.10937665e-03 2.28982180e+00] [ 5.68574673e-02 -5.35037727e-04 9.98382162e-01 1.69942423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.969254154 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:132.46, Y:2.29, Z:1.70 [[ 9.94871988e-01 -8.32719491e-02 -5.74065296e-02 1.32463383e+02] [ 8.31698847e-02 9.96526663e-01 -4.16902104e-03 2.29199966e+00] [ 5.75542999e-02 -6.26852201e-04 9.98342181e-01 1.70081586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.999254154 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:132.49, Y:2.29, Z:1.70 [[ 9.94556695e-01 -8.73842165e-02 -5.67536732e-02 1.32490419e+02] [ 8.72903095e-02 9.96174328e-01 -4.13632249e-03 2.29374674e+00] [ 5.68980015e-02 -8.40238473e-04 9.98379643e-01 1.70192798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.029254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:132.52, Y:2.30, Z:1.70 [[ 9.94344364e-01 -8.98544362e-02 -5.66168301e-02 1.32518302e+02] [ 8.97644739e-02 9.95954436e-01 -4.13526481e-03 2.29577187e+00] [ 5.67593550e-02 -9.70302709e-04 9.98387417e-01 1.70390133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.059254154 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:132.55, Y:2.30, Z:1.71 [[ 9.94152873e-01 -9.24203888e-02 -5.58438612e-02 1.32547194e+02] [ 9.23360318e-02 9.95719485e-01 -4.09446301e-03 2.29765429e+00] [ 5.59832326e-02 -1.08587838e-03 9.98431119e-01 1.70528790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.089254154 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:132.58, Y:2.30, Z:1.71 [[ 9.93977407e-01 -9.46090014e-02 -5.52996571e-02 1.32575361e+02] [ 9.45289668e-02 9.95513804e-01 -4.06710590e-03 2.29907909e+00] [ 5.54363568e-02 -1.18480808e-03 9.98461520e-01 1.70522976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11925415399998 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:132.61, Y:2.30, Z:1.71 [[ 9.93771527e-01 -9.71474601e-02 -5.45941601e-02 1.32605164e+02] [ 9.70730358e-02 9.95269143e-01 -4.01966758e-03 2.30111265e+00] [ 5.47263835e-02 -1.30498966e-03 9.98500536e-01 1.70832058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14925415399998 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:132.64, Y:2.30, Z:1.71 [[ 9.93471647e-01 -1.00668537e-01 -5.36649987e-02 1.32635107e+02] [ 1.00601662e-01 9.94918931e-01 -3.95293253e-03 2.30237617e+00] [ 5.37902591e-02 -1.47166167e-03 9.98551172e-01 1.71021967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:132.67, Y:2.30, Z:1.71 [[ 9.93353593e-01 -1.02143298e-01 -5.30602018e-02 1.32665227e+02] [ 1.02080029e-01 9.94768512e-01 -3.90825364e-03 2.30403302e+00] [ 5.31818199e-02 -1.53410917e-03 9.98583667e-01 1.71140811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20925415399998 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:132.70, Y:2.31, Z:1.71 [[ 9.93193479e-01 -1.04008028e-01 -5.24313265e-02 1.32695971e+02] [ 1.03948907e-01 9.94575145e-01 -3.86072310e-03 2.30531868e+00] [ 5.25484403e-02 -1.61573410e-03 9.98617069e-01 1.71267478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23925415399998 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:132.73, Y:2.31, Z:1.71 [[ 9.93200038e-01 -1.04164540e-01 -5.19945544e-02 1.32727530e+02] [ 1.04106764e-01 9.94558769e-01 -3.82567660e-03 2.30660548e+00] [ 5.21101399e-02 -1.61332268e-03 9.98640041e-01 1.71321039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.26925415399998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:132.76, Y:2.31, Z:1.72 [[ 9.93140504e-01 -1.04798562e-01 -5.18575121e-02 1.32757824e+02] [ 1.04742048e-01 9.94492111e-01 -3.81378708e-03 2.30868767e+00] [ 5.19715660e-02 -1.64403557e-03 9.98647212e-01 1.71573631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29925415399998 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:132.79, Y:2.31, Z:1.72 [[ 9.93149686e-01 -1.04641418e-01 -5.19987888e-02 1.32788023e+02] [ 1.04584430e-01 9.94508663e-01 -3.82322074e-03 2.31018191e+00] [ 5.21133131e-02 -1.64123320e-03 9.98639829e-01 1.71694887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32925415399998 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:132.82, Y:2.31, Z:1.72 [[ 9.93360585e-01 -1.02551996e-01 -5.21328743e-02 1.32818564e+02] [ 1.02491890e-01 9.94726459e-01 -3.83213112e-03 2.31116087e+00] [ 5.22509421e-02 -1.53650880e-03 9.98632804e-01 1.71802193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35925415399998 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:132.85, Y:2.31, Z:1.72 [[ 9.93564927e-01 -1.00270648e-01 -5.26738368e-02 1.32848817e+02] [ 1.00206130e-01 9.94959168e-01 -3.87106784e-03 2.31285615e+00] [ 5.27964714e-02 -1.43208412e-03 9.98604267e-01 1.71938176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38925415399999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:132.88, Y:2.31, Z:1.72 [[ 9.93854532e-01 -9.71211919e-02 -5.31097355e-02 1.32879041e+02] [ 9.70511100e-02 9.95271746e-01 -3.90310259e-03 2.31480797e+00] [ 5.32376932e-02 -1.27524259e-03 9.98581054e-01 1.72108481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.419254154 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:132.91, Y:2.32, Z:1.72 [[ 9.94512686e-01 -9.21096115e-02 -4.96017848e-02 1.32909897e+02] [ 9.15684455e-02 9.95712889e-01 -1.30791008e-02 2.31967771e+00] [ 5.05938473e-02 8.46537335e-03 9.98683433e-01 1.72088200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.449254154 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:132.94, Y:2.31, Z:1.72 [[ 9.95023008e-01 -8.32737441e-02 -5.47238235e-02 1.32938239e+02] [ 8.37189926e-02 9.96471991e-01 5.89085933e-03 2.31410934e+00] [ 5.40402035e-02 -1.04429639e-02 9.98484152e-01 1.72069193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.479254154 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:132.97, Y:2.32, Z:1.72 [[ 9.95474755e-01 -7.83463322e-02 -5.37760664e-02 1.32965637e+02] [ 7.82460678e-02 9.96926169e-01 -3.97060816e-03 2.32054301e+00] [ 5.39218504e-02 -2.55125549e-04 9.98545126e-01 1.72382657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.509254154 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:132.99, Y:2.32, Z:1.73 [[ 9.95813500e-01 -7.39876241e-02 -5.36777827e-02 1.32993542e+02] [ 7.38810450e-02 9.97259160e-01 -3.96986954e-03 2.32289893e+00] [ 5.38243817e-02 -1.25210011e-05 9.98550417e-01 1.72668534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.539254154 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:133.02, Y:2.32, Z:1.73 [[ 9.96380508e-01 -6.60320338e-02 -5.35317968e-02 1.33020667e+02] [ 6.59137663e-02 9.97817411e-01 -3.97373089e-03 2.32423579e+00] [ 5.36773524e-02 4.30865653e-04 9.98558239e-01 1.72838246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.569254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:133.05, Y:2.33, Z:1.73 [[ 9.96574469e-01 -6.33391722e-02 -5.31740217e-02 1.33049007e+02] [ 6.32182245e-02 9.97991890e-01 -3.95515785e-03 2.32560229e+00] [ 5.33177588e-02 5.80042099e-04 9.98577428e-01 1.72944986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.599254154 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:133.08, Y:2.33, Z:1.73 [[ 9.96664794e-01 -6.16998689e-02 -5.34079992e-02 1.33077070e+02] [ 6.15746585e-02 9.98094512e-01 -3.98828333e-03 2.32663280e+00] [ 5.35523075e-02 6.86402274e-04 9.98564810e-01 1.73105341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.629254154 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:133.10, Y:2.33, Z:1.73 [[ 9.96683673e-01 -6.10281687e-02 -5.38258157e-02 1.33104719e+02] [ 6.08991555e-02 9.98135767e-01 -4.03531232e-03 2.32730730e+00] [ 5.39717395e-02 7.43983188e-04 9.98542186e-01 1.73224250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.659254154 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:133.13, Y:2.33, Z:1.73 [[ 9.96581385e-01 -6.26627987e-02 -5.38415980e-02 1.33132823e+02] [ 6.25352376e-02 9.98034530e-01 -4.05231605e-03 2.32595631e+00] [ 5.39897034e-02 6.71465620e-04 9.98541267e-01 1.73325598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.689254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:133.16, Y:2.33, Z:1.73 [[ 9.96413006e-01 -6.49486256e-02 -5.42475604e-02 1.33159756e+02] [ 6.48217189e-02 9.97888448e-01 -4.09750145e-03 2.32611002e+00] [ 5.43991410e-02 5.66383623e-04 9.98519110e-01 1.73481198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.719254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:133.19, Y:2.33, Z:1.74 [[ 9.96178210e-01 -6.80081892e-02 -5.48074793e-02 1.33187547e+02] [ 6.78828063e-02 9.97684678e-01 -4.14826396e-03 2.32614302e+00] [ 5.49626983e-02 4.11924671e-04 9.98488323e-01 1.73650318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.749254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:133.21, Y:2.33, Z:1.74 [[ 9.95888865e-01 -7.17647981e-02 -5.52736947e-02 1.33214417e+02] [ 7.16422310e-02 9.97421558e-01 -4.19832049e-03 2.32605170e+00] [ 5.54324663e-02 2.21129825e-04 9.98462414e-01 1.73802048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.779254154 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:133.24, Y:2.32, Z:1.74 [[ 9.95145688e-01 -8.07845191e-02 -5.62042806e-02 1.33242460e+02] [ 8.06716469e-02 9.96731551e-01 -4.27791946e-03 2.32352896e+00] [ 5.63661695e-02 -2.76938777e-04 9.98410125e-01 1.73945521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.809254154 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:133.27, Y:2.32, Z:1.74 [[ 9.94717425e-01 -8.58787521e-02 -5.62324075e-02 1.33270329e+02] [ 8.57729634e-02 9.96305444e-01 -4.29657933e-03 2.32307700e+00] [ 5.63936386e-02 -5.49337905e-04 9.98408461e-01 1.74039249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.839254154 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:133.30, Y:2.32, Z:1.74 [[ 9.94263201e-01 -9.10111827e-02 -5.61929904e-02 1.33298497e+02] [ 9.09127964e-02 9.95849530e-01 -4.31006702e-03 2.32273195e+00] [ 5.63520274e-02 -8.23320871e-04 9.98410623e-01 1.74184142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86925415399998 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:133.33, Y:2.32, Z:1.74 [[ 9.93411337e-01 -1.00093344e-01 -5.58143087e-02 1.33325701e+02] [ 1.00009761e-01 9.94977183e-01 -4.29573863e-03 2.32096610e+00] [ 5.59639384e-02 -1.31454020e-03 9.98431925e-01 1.74342225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89925415399998 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:133.35, Y:2.32, Z:1.75 [[ 9.92961717e-01 -1.04325807e-01 -5.60638429e-02 1.33353803e+02] [ 1.04247708e-01 9.94541965e-01 -4.32381557e-03 2.32211035e+00] [ 5.62089300e-02 -1.55114381e-03 9.98417823e-01 1.74539807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92925415399998 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:133.38, Y:2.32, Z:1.75 [[ 9.92563419e-01 -1.08177406e-01 -5.58167342e-02 1.33382573e+02] [ 1.08105165e-01 9.94130073e-01 -4.32092918e-03 2.32338731e+00] [ 5.59565210e-02 -1.74528103e-03 9.98431681e-01 1.74705128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95925415399998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:133.41, Y:2.32, Z:1.75 [[ 9.92222386e-01 -1.11234656e-01 -5.58711730e-02 1.33410037e+02] [ 1.11166378e-01 9.93792341e-01 -4.33820864e-03 2.32428121e+00] [ 5.60069029e-02 -1.90652819e-03 9.98428561e-01 1.74796248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.98925415399998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:133.44, Y:2.32, Z:1.75 [[ 9.91492022e-01 -1.17478221e-01 -5.60574599e-02 1.33439179e+02] [ 1.17419053e-01 9.93072888e-01 -4.35949631e-03 2.32456109e+00] [ 5.61812895e-02 -2.25980805e-03 9.98418027e-01 1.75048810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01925415399998 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:133.47, Y:2.33, Z:1.75 [[ 9.91166666e-01 -1.20184209e-01 -5.60749169e-02 1.33467673e+02] [ 1.20128639e-01 9.92748703e-01 -4.37299143e-03 2.32558760e+00] [ 5.61938655e-02 -2.40184011e-03 9.98416987e-01 1.75206670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.04925415399998 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:133.50, Y:2.33, Z:1.75 [[ 9.90877474e-01 -1.22512517e-01 -5.61472536e-02 1.33498186e+02] [ 1.22460391e-01 9.92463732e-01 -4.38109786e-03 2.32695271e+00] [ 5.62608521e-02 -2.53468344e-03 9.98412886e-01 1.75315922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07925415399998 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:133.53, Y:2.33, Z:1.76 [[ 9.90267876e-01 -1.27500060e-01 -5.57966718e-02 1.33527418e+02] [ 1.27456460e-01 9.91834610e-01 -4.35391894e-03 2.32856860e+00] [ 5.58961952e-02 -2.80010024e-03 9.98432659e-01 1.75629189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10925415399998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:133.56, Y:2.33, Z:1.76 [[ 9.89977704e-01 -1.29680062e-01 -5.59216105e-02 1.33558178e+02] [ 1.29639685e-01 9.91551564e-01 -4.36450610e-03 2.33077907e+00] [ 5.60151497e-02 -2.92889626e-03 9.98425623e-01 1.75806055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13925415399999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:133.59, Y:2.33, Z:1.76 [[ 9.89662154e-01 -1.31978438e-01 -5.61294316e-02 1.33588345e+02] [ 1.31941443e-01 9.91247832e-01 -4.38072588e-03 2.33293810e+00] [ 5.62163388e-02 -3.07035958e-03 9.98413890e-01 1.75956990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.169254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:133.62, Y:2.34, Z:1.76 [[ 9.89368756e-01 -1.34020127e-01 -5.64629955e-02 1.33617742e+02] [ 1.33986006e-01 9.90973426e-01 -4.40671818e-03 2.33505974e+00] [ 5.65439170e-02 -3.20538198e-03 9.98394967e-01 1.76120471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.199254154 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:133.65, Y:2.34, Z:1.76 [[ 9.89075255e-01 -1.35914245e-01 -5.70741466e-02 1.33648272e+02] [ 1.35882534e-01 9.90714942e-01 -4.45423102e-03 2.33729992e+00] [ 5.71496033e-02 -3.34981002e-03 9.98360006e-01 1.76282061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.229254154 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:133.68, Y:2.34, Z:1.76 [[ 9.89072832e-01 -1.35931881e-01 -5.70741313e-02 1.33679139e+02] [ 1.35900188e-01 9.90712520e-01 -4.45442733e-03 2.33970782e+00] [ 5.71495551e-02 -3.35063211e-03 9.98360006e-01 1.76425292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.259254154 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:133.71, Y:2.34, Z:1.77 [[ 9.88711785e-01 -1.38518040e-01 -5.71118144e-02 1.33710798e+02] [ 1.38490575e-01 9.90353719e-01 -4.45777890e-03 2.34209880e+00] [ 5.71783806e-02 -3.50198950e-03 9.98357836e-01 1.76548788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.289254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:133.74, Y:2.34, Z:1.77 [[ 9.88452965e-01 -1.39505750e-01 -5.91513404e-02 1.33742322e+02] [ 1.39551260e-01 9.90209076e-01 -3.38121321e-03 2.34480020e+00] [ 5.90438928e-02 -4.91247385e-03 9.98243300e-01 1.76840544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.319254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:133.77, Y:2.35, Z:1.77 [[ 9.88524380e-01 -1.38990497e-01 -5.91708699e-02 1.33772778e+02] [ 1.38893043e-01 9.90290539e-01 -5.77674596e-03 2.34793217e+00] [ 5.93992654e-02 -2.50796796e-03 9.98231154e-01 1.76866578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.349254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:133.80, Y:2.35, Z:1.77 [[ 9.88506314e-01 -1.38484746e-01 -6.06402686e-02 1.33801916e+02] [ 1.38454117e-01 9.90357568e-01 -4.72701494e-03 2.35015516e+00] [ 6.07101684e-02 -3.72321071e-03 9.98148493e-01 1.76924810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.379254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:133.83, Y:2.35, Z:1.77 [[ 9.88618813e-01 -1.37052307e-01 -6.20444061e-02 1.33831521e+02] [ 1.37017355e-01 9.90556833e-01 -4.83790287e-03 2.35487959e+00] [ 6.21215561e-02 -3.71831861e-03 9.98061665e-01 1.77134322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.409254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:133.86, Y:2.36, Z:1.77 [[ 9.88462815e-01 -1.37320534e-01 -6.39087967e-02 1.33860588e+02] [ 1.37539851e-01 9.90495753e-01 -9.76038610e-04 2.35801315e+00] [ 6.34354218e-02 -7.82522849e-03 9.97955266e-01 1.77329598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.439254154 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:133.89, Y:2.36, Z:1.78 [[ 9.88834007e-01 -1.35131303e-01 -6.28238597e-02 1.33889742e+02] [ 1.34830831e-01 9.90827600e-01 -9.01748994e-03 2.36389596e+00] [ 6.34661593e-02 4.46207510e-04 9.97983891e-01 1.77509485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.469254154 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:133.92, Y:2.37, Z:1.78 [[ 9.89071050e-01 -1.32968772e-01 -6.37005762e-02 1.33918980e+02] [ 1.32922460e-01 9.91113912e-01 -4.98334734e-03 2.36578155e+00] [ 6.37971568e-02 -3.53835271e-03 9.97956614e-01 1.77552422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.499254154 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:133.95, Y:2.37, Z:1.78 [[ 9.89740957e-01 -1.27728104e-01 -6.40185122e-02 1.33947656e+02] [ 1.27670234e-01 9.91804014e-01 -5.01085158e-03 2.37109589e+00] [ 6.41338440e-02 -3.21381337e-03 9.97936131e-01 1.77775040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.529254154 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:133.98, Y:2.38, Z:1.78 [[ 9.90203151e-01 -1.24385656e-01 -6.34501986e-02 1.33975717e+02] [ 1.24321494e-01 9.92229524e-01 -4.97373938e-03 2.37513017e+00] [ 6.35758222e-02 -2.96321110e-03 9.97972612e-01 1.77944764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.559254154 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:134.00, Y:2.38, Z:1.78 [[ 9.90441103e-01 -1.21022863e-01 -6.61807226e-02 1.34002667e+02] [ 1.21875783e-01 9.92504637e-01 8.99103254e-03 2.37549652e+00] [ 6.45965535e-02 -1.69709156e-02 9.97767144e-01 1.78247261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.589254154 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:134.03, Y:2.39, Z:1.79 [[ 9.91822399e-01 -1.11887731e-01 -6.13959732e-02 1.34032368e+02] [ 1.10881931e-01 9.93641035e-01 -1.95624807e-02 2.39311556e+00] [ 6.31943600e-02 1.25948025e-02 9.97921762e-01 1.78847501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61925415399998 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:134.06, Y:2.39, Z:1.79 [[ 9.92364877e-01 -1.06557185e-01 -6.21089132e-02 1.34060583e+02] [ 1.06459242e-01 9.94305025e-01 -4.89353423e-03 2.39061062e+00] [ 6.22766458e-02 -1.75589633e-03 9.98057381e-01 1.78574608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64925415399998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:134.09, Y:2.39, Z:1.79 [[ 9.92852363e-01 -1.02101219e-01 -6.18023232e-02 1.34087819e+02] [ 1.01994562e-01 9.94772955e-01 -4.88638611e-03 2.39486741e+00] [ 6.19781857e-02 -1.45204087e-03 9.98076448e-01 1.78720287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67925415399998 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:134.12, Y:2.40, Z:1.79 [[ 9.93319172e-01 -9.79353741e-02 -6.10383859e-02 1.34115679e+02] [ 9.78224631e-02 9.95192100e-01 -4.84256886e-03 2.39887781e+00] [ 6.12191782e-02 -1.16070876e-03 9.98123672e-01 1.78864454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70925415399998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:134.14, Y:2.40, Z:1.79 [[ 9.94036375e-01 -9.08364560e-02 -6.03359181e-02 1.34142611e+02] [ 9.07122040e-02 9.95865577e-01 -4.80094236e-03 2.40377702e+00] [ 6.05225644e-02 -7.00892766e-04 9.98166583e-01 1.79026941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73925415399998 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:134.17, Y:2.41, Z:1.79 [[ 9.94254043e-01 -8.87316115e-02 -5.98798686e-02 1.34169814e+02] [ 8.86048533e-02 9.96055414e-01 -4.77403267e-03 2.40721923e+00] [ 6.00672750e-02 -5.59045687e-04 9.98194174e-01 1.79184233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.76925415399998 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:134.20, Y:2.41, Z:1.79 [[ 9.94393393e-01 -8.72699182e-02 -5.97138281e-02 1.34197879e+02] [ 8.71402017e-02 9.96184600e-01 -4.77791743e-03 2.41054033e+00] [ 5.99029644e-02 -4.52345502e-04 9.98204102e-01 1.79282539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:134.22, Y:2.41, Z:1.79 [[ 9.94485250e-01 -8.59165422e-02 -6.01451126e-02 1.34224877e+02] [ 8.57814876e-02 9.96302273e-01 -4.82868992e-03 2.41397649e+00] [ 6.03375768e-02 -3.57276328e-04 9.98177965e-01 1.79398870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82925415399998 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:134.25, Y:2.42, Z:1.79 [[ 9.94418031e-01 -8.62703150e-02 -6.07471261e-02 1.34252388e+02] [ 8.61323620e-02 9.96271698e-01 -4.89075839e-03 2.41644140e+00] [ 6.09425698e-02 -3.68835126e-04 9.98141206e-01 1.79486228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85925415399998 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:134.28, Y:2.42, Z:1.80 [[ 9.94299950e-01 -8.72289717e-02 -6.13083660e-02 1.34279913e+02] [ 8.70892034e-02 9.96188203e-01 -4.95335151e-03 2.41928784e+00] [ 6.15067467e-02 -4.14179599e-04 9.98106582e-01 1.79626248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88925415399999 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:134.31, Y:2.42, Z:1.80 [[ 9.94188126e-01 -8.84507319e-02 -6.13713158e-02 1.34307974e+02] [ 8.83119228e-02 9.96080441e-01 -4.97592457e-03 2.42164793e+00] [ 6.15708915e-02 -4.72813778e-04 9.98102601e-01 1.79722226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.919254154 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:134.33, Y:2.42, Z:1.80 [[ 9.93941442e-01 -9.08670887e-02 -6.18351205e-02 1.34334385e+02] [ 9.07298635e-02 9.95862841e-01 -5.02927414e-03 2.42362059e+00] [ 6.20362943e-02 -6.11488056e-04 9.98073707e-01 1.79841985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.949254154 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:134.36, Y:2.43, Z:1.80 [[ 9.93822104e-01 -9.22773216e-02 -6.16645931e-02 1.34361518e+02] [ 9.21430037e-02 9.95733108e-01 -5.02444660e-03 2.42561502e+00] [ 6.18651194e-02 -6.88554746e-04 9.98084281e-01 1.79969431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.979254154 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:134.39, Y:2.43, Z:1.80 [[ 9.93699342e-01 -9.38921015e-02 -6.12036864e-02 1.34389403e+02] [ 9.37620232e-02 9.95582081e-01 -5.00024001e-03 2.42758355e+00] [ 6.14027765e-02 -7.69846252e-04 9.98112772e-01 1.80099469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.009254154 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:134.42, Y:2.43, Z:1.80 [[ 9.93564730e-01 -9.56435357e-02 -6.06748753e-02 1.34417521e+02] [ 9.55179461e-02 9.95415283e-01 -4.97363654e-03 2.42938207e+00] [ 6.08723944e-02 -8.53909624e-04 9.98145191e-01 1.80232823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.039254154 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:134.44, Y:2.43, Z:1.80 [[ 9.93335465e-01 -9.88929805e-02 -5.92016223e-02 1.34444599e+02] [ 9.87783114e-02 9.95097559e-01 -4.86749541e-03 2.42978053e+00] [ 5.93927510e-02 -1.01278047e-03 9.98234179e-01 1.80328832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.069254154 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:134.47, Y:2.43, Z:1.80 [[ 9.93192136e-01 -1.00698408e-01 -5.85594626e-02 1.34471982e+02] [ 1.00588807e-01 9.94916389e-01 -4.82389558e-03 2.43109628e+00] [ 5.87475277e-02 -1.09937129e-03 9.98272267e-01 1.80453546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.099254154 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:134.50, Y:2.43, Z:1.81 [[ 9.93014840e-01 -1.02679604e-01 -5.81242324e-02 1.34499706e+02] [ 1.02574070e-01 9.94713768e-01 -4.80422159e-03 2.43250996e+00] [ 5.83102698e-02 -1.19137575e-03 9.98297798e-01 1.80587344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.129254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:134.53, Y:2.43, Z:1.81 [[ 9.92665053e-01 -1.06216669e-01 -5.77417703e-02 1.34527328e+02] [ 1.06117559e-01 9.94342060e-01 -4.78871098e-03 2.43268834e+00] [ 5.79237117e-02 -1.37382970e-03 9.98320067e-01 1.80705557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.159254154 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:134.56, Y:2.43, Z:1.81 [[ 9.92448107e-01 -1.08305534e-01 -5.75904984e-02 1.34556196e+02] [ 1.08209546e-01 9.94116559e-01 -4.79186280e-03 2.43370097e+00] [ 5.77706534e-02 -1.47616653e-03 9.98328790e-01 1.80814613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.189254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:134.59, Y:2.43, Z:1.81 [[ 9.92238929e-01 -1.10308022e-01 -5.73938043e-02 1.34585055e+02] [ 1.10215350e-01 9.93896201e-01 -4.78732560e-03 2.43441732e+00] [ 5.75715645e-02 -1.57550741e-03 9.98340139e-01 1.80924381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.219254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:134.61, Y:2.44, Z:1.81 [[ 9.92029480e-01 -1.12296475e-01 -5.71577933e-02 1.34614354e+02] [ 1.12207699e-01 9.93673324e-01 -4.77041325e-03 2.43538249e+00] [ 5.73318751e-02 -1.68115391e-03 9.98353760e-01 1.81022370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.249254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:134.64, Y:2.43, Z:1.81 [[ 9.91667195e-01 -1.15638583e-01 -5.67793355e-02 1.34643281e+02] [ 1.15556322e-01 9.93289615e-01 -4.74098435e-03 2.43494328e+00] [ 5.69465650e-02 -1.85973251e-03 9.98375496e-01 1.81081795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.279254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:134.67, Y:2.44, Z:1.81 [[ 9.91450396e-01 -1.17555183e-01 -5.66294158e-02 1.34672402e+02] [ 1.17476195e-01 9.93064418e-01 -4.73339889e-03 2.43645027e+00] [ 5.67930934e-02 -1.95967806e-03 9.98384046e-01 1.81162060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.309254154 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:134.70, Y:2.44, Z:1.81 [[ 9.91214784e-01 -1.19199117e-01 -5.73133773e-02 1.34701017e+02] [ 1.19120154e-01 9.92868222e-01 -4.80442074e-03 2.43797676e+00] [ 5.74773137e-02 -2.06496548e-03 9.98344677e-01 1.81248841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.339254154 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:134.73, Y:2.44, Z:1.81 [[ 9.90851472e-01 -1.21716336e-01 -5.82966102e-02 1.34729121e+02] [ 1.21638273e-01 9.92562406e-01 -4.89904385e-03 2.43855070e+00] [ 5.84593173e-02 -2.23687419e-03 9.98287286e-01 1.81257018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36925415399998 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:134.76, Y:2.44, Z:1.81 [[ 9.90737175e-01 -1.22489240e-01 -5.86194135e-02 1.34758917e+02] [ 1.22411403e-01 9.92467198e-01 -4.93053816e-03 2.44036637e+00] [ 5.87817829e-02 -2.29081717e-03 9.98268228e-01 1.81338570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39925415399998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:134.79, Y:2.44, Z:1.81 [[ 9.90643276e-01 -1.23109296e-01 -5.89067052e-02 1.34788462e+02] [ 1.23031662e-01 9.92390367e-01 -4.95684189e-03 2.44232021e+00] [ 5.90686801e-02 -2.33692773e-03 9.98251186e-01 1.81428633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42925415399998 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:134.82, Y:2.44, Z:1.82 [[ 9.90591750e-01 -1.23528076e-01 -5.88965059e-02 1.34817384e+02] [ 1.23451068e-01 9.92338273e-01 -4.95833024e-03 2.44459871e+00] [ 5.90577500e-02 -2.35915552e-03 9.98251780e-01 1.81517154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45925415399998 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:134.85, Y:2.45, Z:1.82 [[ 9.90622872e-01 -1.23310350e-01 -5.88292768e-02 1.34846363e+02] [ 1.23232937e-01 9.92365397e-01 -4.95600514e-03 2.44722102e+00] [ 5.89912653e-02 -2.34017254e-03 9.98255756e-01 1.81661068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.48925415399998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:134.88, Y:2.45, Z:1.82 [[ 9.90678406e-01 -1.22966154e-01 -5.86141674e-02 1.34876264e+02] [ 1.22888495e-01 9.92408182e-01 -4.94143739e-03 2.45009219e+00] [ 5.87768089e-02 -2.30763152e-03 9.98268482e-01 1.81809801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51925415399998 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:134.91, Y:2.45, Z:1.82 [[ 9.90723929e-01 -1.22726164e-01 -5.83471037e-02 1.34905751e+02] [ 1.22648676e-01 9.92437951e-01 -4.92096950e-03 2.45286925e+00] [ 5.85098117e-02 -2.28087277e-03 9.98284228e-01 1.81932772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.54925415399998 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:134.93, Y:2.46, Z:1.82 [[ 9.90790543e-01 -1.22737244e-01 -5.71810261e-02 1.34933982e+02] [ 1.22662704e-01 9.92436689e-01 -4.82496699e-03 2.45577890e+00] [ 5.73407513e-02 -2.23344762e-03 9.98352167e-01 1.82005055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57925415399998 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:134.96, Y:2.46, Z:1.82 [[ 9.90768395e-01 -1.22931227e-01 -5.71480573e-02 1.34963505e+02] [ 1.22856893e-01 9.92412664e-01 -4.82570213e-03 2.45858141e+00] [ 5.73076853e-02 -2.23987963e-03 9.98354052e-01 1.82146324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60925415399998 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:134.99, Y:2.46, Z:1.82 [[ 9.90743788e-01 -1.23351766e-01 -5.66664677e-02 1.34994032e+02] [ 1.23279276e-01 9.92360473e-01 -4.78660820e-03 2.46135327e+00] [ 5.68239992e-02 -2.24349875e-03 9.98381690e-01 1.82267648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63925415399999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:135.02, Y:2.46, Z:1.82 [[ 9.90714964e-01 -1.23921708e-01 -5.59220031e-02 1.35023228e+02] [ 1.23852004e-01 9.92289457e-01 -4.72390778e-03 2.46411828e+00] [ 5.60762087e-02 -2.24600604e-03 9.98423965e-01 1.82359125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.669254154 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:135.05, Y:2.47, Z:1.83 [[ 9.90585405e-01 -1.25119059e-01 -5.55497586e-02 1.35051742e+02] [ 1.25052082e-01 9.92139075e-01 -4.69380168e-03 2.46683145e+00] [ 5.57003702e-02 -2.29700154e-03 9.98444887e-01 1.82515556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.699254154 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:135.08, Y:2.47, Z:1.83 [[ 9.90497218e-01 -1.25896219e-01 -5.53660822e-02 1.35081831e+02] [ 1.25830765e-01 9.92040680e-01 -4.68062822e-03 2.46959404e+00] [ 5.55146792e-02 -2.33060722e-03 9.98455151e-01 1.82626695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.729254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:135.11, Y:2.47, Z:1.83 [[ 9.90423490e-01 -1.26469258e-01 -5.53790376e-02 1.35112392e+02] [ 1.26404676e-01 9.91967712e-01 -4.68155373e-03 2.47226432e+00] [ 5.55262898e-02 -2.36344853e-03 9.98454428e-01 1.82727715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.759254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:135.14, Y:2.48, Z:1.83 [[ 9.90281216e-01 -1.27484441e-01 -5.55952317e-02 1.35142442e+02] [ 1.27421006e-01 9.91837592e-01 -4.69882341e-03 2.47520004e+00] [ 5.57404676e-02 -2.43084376e-03 9.98442332e-01 1.82826628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.789254154 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:135.17, Y:2.48, Z:1.83 [[ 9.90284537e-01 -1.27275675e-01 -5.60128445e-02 1.35172959e+02] [ 1.27210998e-01 9.91864385e-01 -4.73329956e-03 2.47819971e+00] [ 5.61595794e-02 -2.43813647e-03 9.98418829e-01 1.82982129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.819254154 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:135.20, Y:2.48, Z:1.83 [[ 9.90338576e-01 -1.26925275e-01 -5.58523075e-02 1.35203066e+02] [ 1.26860412e-01 9.91909351e-01 -4.71973357e-03 2.48164781e+00] [ 5.59994795e-02 -2.41131250e-03 9.98427886e-01 1.83121006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.849254154 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:135.23, Y:2.49, Z:1.83 [[ 9.90460158e-01 -1.26016891e-01 -5.57531908e-02 1.35234516e+02] [ 1.25950841e-01 9.92025298e-01 -4.71101081e-03 2.48524651e+00] [ 5.59022427e-02 -2.35609277e-03 9.98433467e-01 1.83306623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.879254154 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:135.27, Y:2.49, Z:1.83 [[ 9.90914495e-01 -1.22931888e-01 -5.45546906e-02 1.35265771e+02] [ 1.22864084e-01 9.92412810e-01 -4.60782148e-03 2.48992177e+00] [ 5.47072220e-02 -2.13685501e-03 9.98500152e-01 1.83481819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.909254154 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:135.30, Y:2.49, Z:1.84 [[ 9.91224023e-01 -1.20566662e-01 -5.42090063e-02 1.35296591e+02] [ 1.20496293e-01 9.92703227e-01 -4.57663509e-03 2.49360813e+00] [ 5.43652452e-02 -1.99551365e-03 9.98519123e-01 1.83643800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.939254154 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:135.33, Y:2.50, Z:1.84 [[ 9.91581104e-01 -1.18001099e-01 -5.33165478e-02 1.35327493e+02] [ 1.17929428e-01 9.93011785e-01 -4.49933737e-03 2.49758775e+00] [ 5.34748870e-02 -1.82613207e-03 9.98567525e-01 1.83808588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.969254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:135.36, Y:2.50, Z:1.84 [[ 9.92295269e-01 -1.12061074e-01 -5.28432989e-02 1.35358888e+02] [ 1.11982359e-01 9.93700197e-01 -4.45746451e-03 2.50311571e+00] [ 5.30099048e-02 -1.49439631e-03 9.98592868e-01 1.83973531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.999254154 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:135.39, Y:2.51, Z:1.84 [[ 9.92628844e-01 -1.09196140e-01 -5.25754843e-02 1.35389894e+02] [ 1.09114308e-01 9.94019324e-01 -4.43294830e-03 2.50701678e+00] [ 5.27451082e-02 -1.33646522e-03 9.98607114e-01 1.84085452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.029254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:135.42, Y:2.51, Z:1.84 [[ 9.92906272e-01 -1.06562681e-01 -5.27402086e-02 1.35420538e+02] [ 1.06476714e-01 9.94305260e-01 -4.44513010e-03 2.51093340e+00] [ 5.29135518e-02 -1.20200655e-03 9.98598373e-01 1.84243871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.059254154 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:135.45, Y:2.51, Z:1.84 [[ 9.93150040e-01 -1.04304287e-01 -5.26651100e-02 1.35451959e+02] [ 1.04215405e-01 9.94544845e-01 -4.43855462e-03 2.51488762e+00] [ 5.28407740e-02 -1.08036508e-03 9.98602366e-01 1.84365762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.089254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:135.48, Y:2.52, Z:1.85 [[ 9.93383021e-01 -1.01675145e-01 -5.34072824e-02 1.35482616e+02] [ 1.01580036e-01 9.94817195e-01 -4.49937833e-03 2.51979702e+00] [ 5.35879578e-02 -9.55507632e-04 9.98562676e-01 1.84506730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11925415399998 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:135.51, Y:2.52, Z:1.85 [[ 9.93427653e-01 -1.01238160e-01 -5.34072354e-02 1.35512880e+02] [ 1.01142420e-01 9.94861783e-01 -4.49937437e-03 2.52288832e+00] [ 5.35883258e-02 -9.31934101e-04 9.98562678e-01 1.84591832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14925415399998 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:135.54, Y:2.53, Z:1.85 [[ 9.93429505e-01 -1.01219977e-01 -5.34072468e-02 1.35543744e+02] [ 1.01124219e-01 9.94863634e-01 -4.49923900e-03 2.52549051e+00] [ 5.35883405e-02 -9.31089328e-04 9.98562678e-01 1.84735020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17925415399998 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:135.57, Y:2.53, Z:1.85 [[ 9.93365413e-01 -1.01700692e-01 -5.36854285e-02 1.35573971e+02] [ 1.01604680e-01 9.94814577e-01 -4.52182094e-03 2.52845110e+00] [ 5.38669192e-02 -9.62870259e-04 9.98547659e-01 1.84869691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.20925415399998 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:135.60, Y:2.53, Z:1.85 [[ 9.93225034e-01 -1.03042658e-01 -5.37237535e-02 1.35604101e+02] [ 1.02948469e-01 9.94676398e-01 -4.52504897e-03 2.53103291e+00] [ 5.39040227e-02 -1.03638626e-03 9.98545583e-01 1.84987205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.23925415399998 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:135.63, Y:2.53, Z:1.85 [[ 9.92819835e-01 -1.06941158e-01 -5.35944482e-02 1.35634115e+02] [ 1.06853094e-01 9.94264572e-01 -4.51415784e-03 2.53293715e+00] [ 5.37698104e-02 -1.24498716e-03 9.98552581e-01 1.85058884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.26925415399998 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:135.66, Y:2.53, Z:1.85 [[ 9.92536973e-01 -1.09473428e-01 -5.37208175e-02 1.35664207e+02] [ 1.09388651e-01 9.93988757e-01 -4.52480168e-03 2.53499982e+00] [ 5.38932342e-02 -1.38541477e-03 9.98545743e-01 1.85169595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.29925415399998 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:135.69, Y:2.54, Z:1.85 [[ 9.92203241e-01 -1.12247730e-01 -5.41588056e-02 1.35694845e+02] [ 1.12165699e-01 9.93679047e-01 -4.56154543e-03 2.53705495e+00] [ 5.43284935e-02 -1.54878013e-03 9.98521916e-01 1.85319234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.32925415399998 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:135.72, Y:2.54, Z:1.85 [[ 9.91861605e-01 -1.15283865e-01 -5.40387539e-02 1.35724242e+02] [ 1.15206739e-01 9.93331113e-01 -4.55060629e-03 2.53928598e+00] [ 5.42029870e-02 -1.71205693e-03 9.98528470e-01 1.85447681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.35925415399998 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:135.75, Y:2.54, Z:1.86 [[ 9.91526691e-01 -1.18258496e-01 -5.37563955e-02 1.35754758e+02] [ 1.18186535e-01 9.92981093e-01 -4.52684013e-03 2.54178022e+00] [ 5.39144216e-02 -1.86479929e-03 9.98543819e-01 1.85589916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.38925415399999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:135.78, Y:2.54, Z:1.86 [[ 9.90796653e-01 -1.24581720e-01 -5.29281423e-02 1.35784923e+02] [ 1.24520961e-01 9.92206967e-01 -4.45697098e-03 2.54441246e+00] [ 5.30709287e-02 -2.17471124e-03 9.98588377e-01 1.85759853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.419254154 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:135.82, Y:2.53, Z:1.86 [[ 9.89962795e-01 -1.27307329e-01 -6.13718934e-02 1.35817275e+02] [ 1.29036122e-01 9.91323076e-01 2.50646864e-02 2.53414985e+00] [ 5.76484559e-02 -3.27322981e-02 9.97800207e-01 1.85912329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.449254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:135.85, Y:2.56, Z:1.87 [[ 9.90129241e-01 -1.31209059e-01 -4.92774665e-02 1.35845999e+02] [ 1.29577817e-01 9.90952470e-01 -3.49684314e-02 2.56398576e+00] [ 5.34198021e-02 2.82380000e-02 9.98172801e-01 1.86982573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.479254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:135.88, Y:2.55, Z:1.86 [[ 9.89511468e-01 -1.34947811e-01 -5.15377752e-02 1.35878225e+02] [ 1.34904957e-01 9.90849103e-01 -4.32529271e-03 2.55225969e+00] [ 5.16498471e-02 -2.67277460e-03 9.98661679e-01 1.86243978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.509254154 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:135.91, Y:2.56, Z:1.86 [[ 9.89258983e-01 -1.36919686e-01 -5.11826588e-02 1.35910098e+02] [ 1.36880189e-01 9.90578309e-01 -4.29274477e-03 2.55543250e+00] [ 5.12881929e-02 -2.75925570e-03 9.98680083e-01 1.86449645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.539254154 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:135.94, Y:2.54, Z:1.87 [[ 9.88406700e-01 -1.38592498e-01 -6.20025379e-02 1.35942170e+02] [ 1.40736756e-01 9.89541132e-01 3.16466896e-02 2.54377431e+00] [ 5.69680678e-02 -4.00058361e-02 9.97574144e-01 1.86634801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.569254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:135.97, Y:2.58, Z:1.88 [[ 9.88870074e-01 -1.41194918e-01 -4.69038575e-02 1.35970541e+02] [ 1.39298293e-01 9.89379628e-01 -4.15203145e-02 2.58005504e+00] [ 5.22681785e-02 3.45245692e-02 9.98036117e-01 1.87844219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.599254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:136.00, Y:2.57, Z:1.87 [[ 9.88816790e-01 -1.40371369e-01 -5.03709705e-02 1.36004465e+02] [ 1.40338352e-01 9.90094657e-01 -4.20922970e-03 2.56536022e+00] [ 5.04628840e-02 -2.90682200e-03 9.98721707e-01 1.86815820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.629254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:136.04, Y:2.57, Z:1.87 [[ 9.88708864e-01 -1.41073646e-01 -5.05273119e-02 1.36035957e+02] [ 1.41041517e-01 9.89994693e-01 -4.21877075e-03 2.56892672e+00] [ 5.06169280e-02 -2.95531267e-03 9.98713769e-01 1.86947790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.659254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:136.07, Y:2.57, Z:1.87 [[ 9.88736624e-01 -1.40761227e-01 -5.08543570e-02 1.36066559e+02] [ 1.40728454e-01 9.90039142e-01 -4.24247347e-03 2.57197140e+00] [ 5.09449797e-02 -2.96196614e-03 9.98697069e-01 1.87085287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.689254154 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:136.10, Y:2.58, Z:1.87 [[ 9.88726132e-01 -1.40567633e-01 -5.15885322e-02 1.36099693e+02] [ 1.40533812e-01 9.90066540e-01 -4.30052166e-03 2.57545170e+00] [ 5.16805937e-02 -2.99789494e-03 9.98659166e-01 1.87219922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.719254154 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:136.13, Y:2.58, Z:1.87 [[ 9.88831543e-01 -1.39355723e-01 -5.28409140e-02 1.36131326e+02] [ 1.39318833e-01 9.90237805e-01 -4.39902214e-03 2.57951790e+00] [ 5.29380996e-02 -3.01184265e-03 9.98593254e-01 1.87345022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.749254154 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:136.16, Y:2.58, Z:1.87 [[ 9.88917425e-01 -1.38582974e-01 -5.32643059e-02 1.36163361e+02] [ 1.38544633e-01 9.90346285e-01 -4.42945555e-03 2.58335047e+00] [ 5.33639546e-02 -2.99911792e-03 9.98570625e-01 1.87491264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.779254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:136.20, Y:2.59, Z:1.88 [[ 9.89049520e-01 -1.37505721e-01 -5.36024654e-02 1.36195294e+02] [ 1.37465529e-01 9.90496539e-01 -4.45362899e-03 2.58724680e+00] [ 5.37054559e-02 -2.96363165e-03 9.98552423e-01 1.87608294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.809254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:136.23, Y:2.59, Z:1.88 [[ 9.89182048e-01 -1.36372039e-01 -5.40513050e-02 1.36225976e+02] [ 1.36329696e-01 9.90653360e-01 -4.48704769e-03 2.59130578e+00] [ 5.41580147e-02 -2.93029096e-03 9.98528078e-01 1.87785584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.839254154 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:136.26, Y:2.60, Z:1.88 [[ 9.89426764e-01 -1.34671011e-01 -5.38367628e-02 1.36258054e+02] [ 1.34626662e-01 9.90886328e-01 -4.46610123e-03 2.59515432e+00] [ 5.39475666e-02 -2.82898360e-03 9.98539762e-01 1.87948310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86925415399998 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:136.29, Y:2.60, Z:1.88 [[ 9.90046092e-01 -1.30261970e-01 -5.32968565e-02 1.36288426e+02] [ 1.30212365e-01 9.91476288e-01 -4.41698862e-03 2.60053926e+00] [ 5.34179351e-02 -2.56688741e-03 9.98568944e-01 1.88139470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.89925415399998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:136.32, Y:2.60, Z:1.88 [[ 9.90435123e-01 -1.27437667e-01 -5.28952535e-02 1.36320439e+02] [ 1.27385107e-01 9.91843672e-01 -4.37769384e-03 2.60481277e+00] [ 5.30217056e-02 -2.40224582e-03 9.98590471e-01 1.88340270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.92925415399998 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:136.35, Y:2.61, Z:1.88 [[ 9.90874953e-01 -1.24211845e-01 -5.23282338e-02 1.36350901e+02] [ 1.24156111e-01 9.92253262e-01 -4.32706884e-03 2.60907479e+00] [ 5.24603339e-02 -2.20928588e-03 9.98620565e-01 1.88492699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.95925415399998 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:136.38, Y:2.62, Z:1.89 [[ 9.91740291e-01 -1.17403116e-01 -5.16498148e-02 1.36383009e+02] [ 1.17339747e-01 9.93082659e-01 -4.26803675e-03 2.61512846e+00] [ 5.17936162e-02 -1.82779221e-03 9.98656137e-01 1.88678830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.98925415399998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:136.41, Y:2.62, Z:1.89 [[ 9.92164387e-01 -1.13870092e-01 -5.14143049e-02 1.36414117e+02] [ 1.13802752e-01 9.93494295e-01 -4.24490394e-03 2.61906365e+00] [ 5.15631862e-02 -1.63944689e-03 9.98668388e-01 1.88832395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.01925415399998 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:136.45, Y:2.62, Z:1.89 [[ 9.92551431e-01 -1.10409103e-01 -5.14925852e-02 1.36445567e+02] [ 1.10337059e-01 9.93885146e-01 -4.24840438e-03 2.62299480e+00] [ 5.16467781e-02 -1.46478059e-03 9.98664340e-01 1.88964760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.04925415399998 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:136.48, Y:2.63, Z:1.89 [[ 9.92916907e-01 -1.07024460e-01 -5.15924500e-02 1.36477279e+02] [ 1.06947771e-01 9.94255545e-01 -4.25281366e-03 2.62677796e+00] [ 5.17512345e-02 -1.29500694e-03 9.98659167e-01 1.89122484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.07925415399998 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:136.51, Y:2.63, Z:1.89 [[ 9.93482278e-01 -1.01563097e-01 -5.17484415e-02 1.36508515e+02] [ 1.01478731e-01 9.94828580e-01 -4.26197890e-03 2.63083994e+00] [ 5.19136883e-02 -1.01716568e-03 9.98651057e-01 1.89201793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.10925415399998 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:136.54, Y:2.63, Z:1.89 [[ 9.93648744e-01 -9.95152323e-02 -5.25251504e-02 1.36539153e+02] [ 9.94256334e-02 9.95035607e-01 -4.32257294e-03 2.63417040e+00] [ 5.26945567e-02 -9.27227173e-04 9.98610246e-01 1.89349992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.13925415399999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:136.57, Y:2.64, Z:1.89 [[ 9.93788829e-01 -9.78137102e-02 -5.30682668e-02 1.36570389e+02] [ 9.77201226e-02 9.95204378e-01 -4.36167161e-03 2.63761291e+00] [ 5.32404027e-02 -8.51257018e-04 9.98581361e-01 1.89474896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.169254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:136.60, Y:2.64, Z:1.90 [[ 9.93921092e-01 -9.56490893e-02 -5.45170971e-02 1.36601638e+02] [ 9.55471775e-02 9.95414827e-01 -4.47871648e-03 2.64090007e+00] [ 5.46955119e-02 -7.57463980e-04 9.98502793e-01 1.89569418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.199254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:136.63, Y:2.64, Z:1.90 [[ 9.93940868e-01 -9.51444134e-02 -5.50371912e-02 1.36633014e+02] [ 9.50398877e-02 9.95463206e-01 -4.51938734e-03 2.64345995e+00] [ 5.52174933e-02 -7.38724701e-04 9.98474077e-01 1.89696502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.229254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:136.66, Y:2.65, Z:1.90 [[ 9.93944693e-01 -9.49986420e-02 -5.52196139e-02 1.36663091e+02] [ 9.48933244e-02 9.95477130e-01 -4.53207557e-03 2.64587525e+00] [ 5.54004038e-02 -7.35340274e-04 9.98463948e-01 1.89824779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.259254154 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:136.69, Y:2.63, Z:1.90 [[ 9.93004317e-01 -9.72194670e-02 -6.70134444e-02 1.36689150e+02] [ 9.99584031e-02 9.94234805e-01 3.88003936e-02 2.63281799e+00] [ 6.28549453e-02 -4.52275153e-02 9.96997356e-01 1.89848345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.289254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:136.72, Y:2.67, Z:1.92 [[ 9.93922158e-01 -9.72656402e-02 -5.15571440e-02 1.36720993e+02] [ 9.47278302e-02 9.94267977e-01 -4.95764841e-02 2.67215728e+00] [ 5.60837057e-02 4.43912697e-02 9.97438737e-01 1.91711205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.319254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:136.75, Y:2.65, Z:1.90 [[ 9.93824190e-01 -9.65045225e-02 -5.47755020e-02 1.36754089e+02] [ 9.64030921e-02 9.95332216e-01 -4.49717861e-03 2.65299992e+00] [ 5.49538199e-02 -8.11122878e-04 9.98488568e-01 1.90361282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.349254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:136.79, Y:2.65, Z:1.91 [[ 9.93742228e-01 -9.74499563e-02 -5.45883792e-02 1.36785207e+02] [ 9.73506624e-02 9.95240054e-01 -4.48146063e-03 2.65498547e+00] [ 5.47652596e-02 -8.60798204e-04 9.98498886e-01 1.90520552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.379254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:136.82, Y:2.66, Z:1.91 [[ 9.93653172e-01 -9.82845756e-02 -5.47130377e-02 1.36815011e+02] [ 9.81861930e-02 9.95157934e-01 -4.48984343e-03 2.65655574e+00] [ 5.48893959e-02 -9.10717716e-04 9.98492025e-01 1.90635776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.409254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:136.85, Y:2.66, Z:1.91 [[ 9.93350097e-01 -1.01603302e-01 -5.41512175e-02 1.36846240e+02] [ 1.01511917e-01 9.94824404e-01 -4.44258623e-03 2.65791119e+00] [ 5.43223341e-02 -1.08395043e-03 9.98522864e-01 1.90815918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.439254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:136.88, Y:2.66, Z:1.91 [[ 9.93112503e-01 -1.03689151e-01 -5.45537917e-02 1.36877773e+02] [ 1.03599655e-01 9.94609018e-01 -4.47360821e-03 2.65985666e+00] [ 5.47235579e-02 -1.20895775e-03 9.98500812e-01 1.90974028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.469254154 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:136.91, Y:2.66, Z:1.91 [[ 9.92851167e-01 -1.05831272e-01 -5.51933224e-02 1.36909877e+02] [ 1.05743105e-01 9.94383192e-01 -4.52361492e-03 2.66183480e+00] [ 5.53620521e-02 -1.34503691e-03 9.98465440e-01 1.91146292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.499254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:136.94, Y:2.66, Z:1.91 [[ 9.92576764e-01 -1.08310842e-01 -5.53184309e-02 1.36940818e+02] [ 1.08226376e-01 9.94115958e-01 -4.52923007e-03 2.66390418e+00] [ 5.54834996e-02 -1.49130478e-03 9.98458491e-01 1.91295170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.529254154 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:136.97, Y:2.66, Z:1.91 [[ 9.92003705e-01 -1.13615970e-01 -5.49550727e-02 1.36971778e+02] [ 1.13541058e-01 9.93523143e-01 -4.49358303e-03 2.66433694e+00] [ 5.51096793e-02 -1.78200609e-03 9.98478717e-01 1.91422920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.559254154 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:137.00, Y:2.67, Z:1.92 [[ 9.91665525e-01 -1.16527396e-01 -5.49622745e-02 1.37003862e+02] [ 1.16457055e-01 9.93185571e-01 -4.49183790e-03 2.66575086e+00] [ 5.51111601e-02 -1.94634382e-03 9.98478328e-01 1.91561313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.589254154 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:137.04, Y:2.67, Z:1.92 [[ 9.91371220e-01 -1.18794098e-01 -5.54172095e-02 1.37036518e+02] [ 1.18726347e-01 9.92916703e-01 -4.52496220e-03 2.66683133e+00] [ 5.55622117e-02 -2.09356553e-03 9.98453032e-01 1.91600179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.61925415399998 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:137.07, Y:2.67, Z:1.92 [[ 9.91020806e-01 -1.21684536e-01 -5.54133205e-02 1.37067335e+02] [ 1.21621520e-01 9.92566254e-01 -4.52071482e-03 2.66865495e+00] [ 5.55514930e-02 -2.25932980e-03 9.98453267e-01 1.91801851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.64925415399998 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:137.10, Y:2.67, Z:1.92 [[ 9.90468803e-01 -1.25680986e-01 -5.63546005e-02 1.37099636e+02] [ 1.25622450e-01 9.92067484e-01 -4.59415775e-03 2.67069101e+00] [ 5.64849650e-02 -2.52903307e-03 9.98400247e-01 1.91895855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.67925415399998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:137.13, Y:2.67, Z:1.92 [[ 9.90252731e-01 -1.27069808e-01 -5.70332549e-02 1.37131318e+02] [ 1.27012389e-01 9.91890253e-01 -4.64533948e-03 2.67331942e+00] [ 5.71610120e-02 -2.64386984e-03 9.98361472e-01 1.92024939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.70925415399998 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:137.16, Y:2.68, Z:1.92 [[ 9.90079071e-01 -1.27973572e-01 -5.80189515e-02 1.37163280e+02] [ 1.27915956e-01 9.91773774e-01 -4.72124130e-03 2.67593281e+00] [ 5.81458686e-02 -2.74714746e-03 9.98304318e-01 1.92178599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.73925415399998 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:137.19, Y:2.68, Z:1.92 [[ 9.89987547e-01 -1.28733132e-01 -5.79002434e-02 1.37194106e+02] [ 1.28677283e-01 9.91675348e-01 -4.70750768e-03 2.67879774e+00] [ 5.80242562e-02 -2.79007202e-03 9.98311275e-01 1.92321157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.76925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:137.23, Y:2.68, Z:1.92 [[ 9.90015841e-01 -1.28550497e-01 -5.78221830e-02 1.37226317e+02] [ 1.28494689e-01 9.91699071e-01 -4.69769285e-03 2.68157377e+00] [ 5.79460958e-02 -2.77905310e-03 9.98315845e-01 1.92482376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.79925415399998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:137.26, Y:2.68, Z:1.93 [[ 9.90098715e-01 -1.27895076e-01 -5.78565744e-02 1.37257498e+02] [ 1.27838325e-01 9.91783901e-01 -4.69637717e-03 2.68412131e+00] [ 5.79818625e-02 -2.74641053e-03 9.98313859e-01 1.92678835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.82925415399998 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:137.29, Y:2.69, Z:1.93 [[ 9.90227415e-01 -1.27053430e-01 -5.75073201e-02 1.37289385e+02] [ 1.26996142e-01 9.91892243e-01 -4.66461640e-03 2.68704660e+00] [ 5.76337202e-02 -2.68417676e-03 9.98334187e-01 1.92821644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.85925415399998 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:137.32, Y:2.69, Z:1.93 [[ 9.90615328e-01 -1.24118171e-01 -5.72359311e-02 1.37321679e+02] [ 1.24056771e-01 9.92264280e-01 -4.63848201e-03 2.69156270e+00] [ 5.73688899e-02 -2.50555344e-03 9.98349905e-01 1.93070665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.88925415399999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:137.35, Y:2.70, Z:1.93 [[ 9.90828865e-01 -1.22276399e-01 -5.75034163e-02 1.37353285e+02] [ 1.22211572e-01 9.92493150e-01 -4.65599262e-03 2.69530778e+00] [ 5.76410648e-02 -2.41429102e-03 9.98334452e-01 1.93212110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.919254154 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:137.39, Y:2.70, Z:1.93 [[ 9.91049212e-01 -1.20344264e-01 -5.77816389e-02 1.37385116e+02] [ 1.20275775e-01 9.92729514e-01 -4.67433304e-03 2.69892991e+00] [ 5.79240675e-02 -2.31723730e-03 9.98318302e-01 1.93368306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.949254154 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:137.42, Y:2.70, Z:1.94 [[ 9.91288946e-01 -1.18117425e-01 -5.82623360e-02 1.37415768e+02] [ 1.18044192e-01 9.92997176e-01 -4.70917521e-03 2.70233854e+00] [ 5.84105708e-02 -2.20937704e-03 9.98290200e-01 1.93524768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.979254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:137.45, Y:2.71, Z:1.94 [[ 9.91519136e-01 -1.15770413e-01 -5.90509430e-02 1.37447912e+02] [ 1.15691240e-01 9.93273774e-01 -4.76938989e-03 2.70598322e+00] [ 5.92059073e-02 -2.10273546e-03 9.98243577e-01 1.93663873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.009254154 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:137.48, Y:2.71, Z:1.94 [[ 9.91798456e-01 -1.13074347e-01 -5.95820055e-02 1.37478886e+02] [ 1.12989136e-01 9.93584590e-01 -4.80812773e-03 2.70953688e+00] [ 5.97434384e-02 -1.96342567e-03 9.98211834e-01 1.93802962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.039254154 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:137.51, Y:2.71, Z:1.94 [[ 9.91800472e-01 -1.13056546e-01 -5.95822250e-02 1.37509760e+02] [ 1.12971466e-01 9.93586612e-01 -4.80540645e-03 2.71202712e+00] [ 5.97433837e-02 -1.96508693e-03 9.98211835e-01 1.93942940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.069254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:137.54, Y:2.72, Z:1.94 [[ 9.92413802e-01 -1.07192889e-01 -6.02040763e-02 1.37539799e+02] [ 1.07095313e-01 9.94236907e-01 -4.85447230e-03 2.71683130e+00] [ 6.03774796e-02 -1.62992911e-03 9.98174285e-01 1.94128323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.099254154 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:137.57, Y:2.72, Z:1.94 [[ 9.92728134e-01 -1.04199094e-01 -6.02776981e-02 1.37570132e+02] [ 1.04095817e-01 9.94555401e-01 -4.85960525e-03 2.72080967e+00] [ 6.04558767e-02 -1.45038935e-03 9.98169817e-01 1.94311643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.129254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:137.60, Y:2.72, Z:1.94 [[ 9.93063758e-01 -1.00972338e-01 -6.02408433e-02 1.37599691e+02] [ 1.00863240e-01 9.94888445e-01 -4.85691138e-03 2.72472899e+00] [ 6.04233326e-02 -1.25286398e-03 9.98172055e-01 1.94460112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.159254154 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:137.63, Y:2.73, Z:1.95 [[ 9.93627743e-01 -9.55752420e-02 -5.97434681e-02 1.37629881e+02] [ 9.54581405e-02 9.95421787e-01 -4.81762413e-03 2.73034624e+00] [ 5.99303954e-02 -9.16075384e-04 9.98202138e-01 1.94679625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.189254154 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:137.66, Y:2.73, Z:1.95 [[ 9.93873524e-01 -9.31800325e-02 -5.94381936e-02 1.37659092e+02] [ 9.30598143e-02 9.95648981e-01 -4.79353095e-03 2.73383593e+00] [ 5.96262383e-02 -7.67143757e-04 9.98220478e-01 1.94803095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.219254154 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:137.69, Y:2.74, Z:1.95 [[ 9.94085216e-01 -9.10647332e-02 -5.91759934e-02 1.37688512e+02] [ 9.09417011e-02 9.95844772e-01 -4.77453600e-03 2.73709402e+00] [ 5.93648955e-02 -6.35269852e-04 9.98236147e-01 1.94954119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.249254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:137.72, Y:2.74, Z:1.95 [[ 9.94399721e-01 -8.80961539e-02 -5.83803298e-02 1.37716560e+02] [ 8.79711583e-02 9.96111874e-01 -4.71271228e-03 2.74065907e+00] [ 5.85685115e-02 -4.49465453e-04 9.98283290e-01 1.95081526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.279254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:137.74, Y:2.74, Z:1.95 [[ 9.94553076e-01 -8.69107050e-02 -5.75387473e-02 1.37744854e+02] [ 8.67869808e-02 9.96216038e-01 -4.65042131e-03 2.74323810e+00] [ 5.77251942e-02 -3.68523336e-04 9.98332443e-01 1.95206479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.309254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:137.77, Y:2.75, Z:1.95 [[ 9.94707266e-01 -8.58115671e-02 -5.65139807e-02 1.37773661e+02] [ 8.56897612e-02 9.96311343e-01 -4.57956599e-03 2.74568690e+00] [ 5.66984998e-02 -2.87341956e-04 9.98391305e-01 1.95338255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.339254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:137.80, Y:2.75, Z:1.95 [[ 9.94814660e-01 -8.50354855e-02 -5.57921003e-02 1.37802096e+02] [ 8.49152671e-02 9.96377896e-01 -4.52618854e-03 2.74822525e+00] [ 5.59749022e-02 -2.34882393e-04 9.98432149e-01 1.95491267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.36925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:137.83, Y:2.75, Z:1.96 [[ 9.94957621e-01 -8.41825938e-02 -5.45217773e-02 1.37830117e+02] [ 8.40658812e-02 9.96450331e-01 -4.43463627e-03 2.75073514e+00] [ 5.47015622e-02 -1.71146105e-04 9.98502734e-01 1.95691873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.39925415399998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:137.86, Y:2.75, Z:1.96 [[ 9.94923322e-01 -8.46876673e-02 -5.43652671e-02 1.37859213e+02] [ 8.45722288e-02 9.96407527e-01 -4.42463327e-03 2.75272753e+00] [ 5.45446732e-02 -1.95620975e-04 9.98511312e-01 1.95839190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.42925415399998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:137.89, Y:2.75, Z:1.96 [[ 9.94883661e-01 -8.56406097e-02 -5.35927844e-02 1.37887696e+02] [ 8.55296947e-02 9.96326065e-01 -4.36394281e-03 2.75392370e+00] [ 5.37696187e-02 -2.42159083e-04 9.98553338e-01 1.95917399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.45925415399998 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:137.92, Y:2.75, Z:1.96 [[ 9.94749158e-01 -8.70906940e-02 -5.37524323e-02 1.37917806e+02] [ 8.69810752e-02 9.96200336e-01 -4.37984471e-03 2.75495193e+00] [ 5.39296348e-02 -3.18597515e-04 9.98544688e-01 1.96034635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.48925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:137.95, Y:2.76, Z:1.96 [[ 9.94586325e-01 -8.88760000e-02 -5.38432789e-02 1.37948400e+02] [ 8.87686238e-02 9.96042611e-01 -4.38724706e-03 2.75579539e+00] [ 5.40201211e-02 -4.16097838e-04 9.98539761e-01 1.96084831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.51925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:137.98, Y:2.76, Z:1.96 [[ 9.94138728e-01 -9.32679504e-02 -5.46743012e-02 1.37978717e+02] [ 9.31638658e-02 9.95640823e-01 -4.45496025e-03 2.75538565e+00] [ 5.48514712e-02 -6.64820743e-04 9.98494303e-01 1.96146589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.54925415399998 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:138.01, Y:2.76, Z:1.96 [[ 9.93918868e-01 -9.54532109e-02 -5.48996148e-02 1.38008745e+02] [ 9.53515960e-02 9.95433605e-01 -4.47331921e-03 2.75642581e+00] [ 5.50759142e-02 -7.88649529e-04 9.98481858e-01 1.96232448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.57925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:138.04, Y:2.76, Z:1.96 [[ 9.93716037e-01 -9.74556757e-02 -5.50529712e-02 1.38039167e+02] [ 9.73565715e-02 9.95239457e-01 -4.48563263e-03 2.75742763e+00] [ 5.52280395e-02 -9.02323446e-04 9.98473359e-01 1.96301958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.60925415399998 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:138.07, Y:2.76, Z:1.96 [[ 9.93472424e-01 -9.97985332e-02 -5.52521067e-02 1.38070001e+02] [ 9.97023948e-02 9.95007124e-01 -4.50067213e-03 2.75882329e+00] [ 5.54254003e-02 -1.03747371e-03 9.98462292e-01 1.96495823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.63925415399999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:138.10, Y:2.76, Z:1.97 [[ 9.93252528e-01 -1.01947277e-01 -5.52826196e-02 1.38101286e+02] [ 1.01854466e-01 9.94789127e-01 -4.50117811e-03 2.76048016e+00] [ 5.54534318e-02 -1.15997518e-03 9.98460601e-01 1.96620731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.669254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:138.13, Y:2.76, Z:1.97 [[ 9.92854499e-01 -1.06134353e-01 -5.45476244e-02 1.38132776e+02] [ 1.06050410e-01 9.94350845e-01 -4.43935938e-03 2.76091686e+00] [ 5.47106450e-02 -1.37716002e-03 9.98501301e-01 1.96746161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.699254154 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:138.16, Y:2.76, Z:1.97 [[ 9.92649011e-01 -1.08145244e-01 -5.43373489e-02 1.38164182e+02] [ 1.08065075e-01 9.94133996e-01 -4.42004886e-03 2.76210073e+00] [ 5.44966130e-02 -1.48441257e-03 9.98512852e-01 1.96887709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.729254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:138.20, Y:2.76, Z:1.97 [[ 9.92430220e-01 -1.10203197e-01 -5.41988368e-02 1.38196269e+02] [ 1.10126674e-01 9.93907796e-01 -4.40558426e-03 2.76381543e+00] [ 5.43541559e-02 -1.59650269e-03 9.98520444e-01 1.97059948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.759254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:138.23, Y:2.77, Z:1.97 [[ 9.92035666e-01 -1.14104671e-01 -5.33419272e-02 1.38227965e+02] [ 1.14036387e-01 9.93467129e-01 -4.33198601e-03 2.76538283e+00] [ 5.34877511e-02 -1.78543604e-03 9.98566909e-01 1.97204061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.789254154 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:138.26, Y:2.77, Z:1.97 [[ 9.91862404e-01 -1.15840539e-01 -5.28198997e-02 1.38260288e+02] [ 1.15776250e-01 9.93266074e-01 -4.28565310e-03 2.76753951e+00] [ 5.29606668e-02 -1.86451174e-03 9.98594858e-01 1.97343571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.819254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:138.29, Y:2.77, Z:1.97 [[ 9.91663342e-01 -1.17611189e-01 -5.26443231e-02 1.38292032e+02] [ 1.17550023e-01 9.93057793e-01 -4.26748166e-03 2.76962552e+00] [ 5.27807589e-02 -1.95643628e-03 9.98604208e-01 1.97475586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.849254154 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:138.32, Y:2.77, Z:1.98 [[ 9.91233958e-01 -1.21576241e-01 -5.17151628e-02 1.38324020e+02] [ 1.21522795e-01 9.92579804e-01 -4.18835122e-03 2.77094429e+00] [ 5.18406302e-02 -2.13293516e-03 9.98653093e-01 1.97616255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.879254154 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:138.35, Y:2.77, Z:1.98 [[ 9.90969461e-01 -1.23818096e-01 -5.14646061e-02 1.38354689e+02] [ 1.23768372e-01 9.92302398e-01 -4.16436089e-03 2.77255431e+00] [ 5.15840752e-02 -2.24293604e-03 9.98666137e-01 1.97709321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.909254154 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:138.39, Y:2.77, Z:1.98 [[ 9.90689637e-01 -1.25977626e-01 -5.16108591e-02 1.38386872e+02] [ 1.25930693e-01 9.92030264e-01 -4.17324105e-03 2.77437495e+00] [ 5.17252692e-02 -2.36500461e-03 9.98658552e-01 1.97818648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.939254154 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:138.42, Y:2.78, Z:1.98 [[ 9.90432110e-01 -1.27935859e-01 -5.17363582e-02 1.38418998e+02] [ 1.27891546e-01 9.91779351e-01 -4.17983046e-03 2.77628023e+00] [ 5.18458020e-02 -2.47680455e-03 9.98652031e-01 1.97941273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.969254154 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:138.45, Y:2.78, Z:1.98 [[ 9.89952988e-01 -1.31396440e-01 -5.22308058e-02 1.38450839e+02] [ 1.31356322e-01 9.91326258e-01 -4.21510263e-03 2.77865328e+00] [ 5.23316187e-02 -2.68809307e-03 9.98626144e-01 1.98050676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.999254154 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:138.48, Y:2.78, Z:1.98 [[ 9.89799223e-01 -1.32457956e-01 -5.24632121e-02 1.38482471e+02] [ 1.32419431e-01 9.91184768e-01 -4.22502975e-03 2.78129868e+00] [ 5.25603755e-02 -2.76521753e-03 9.98613920e-01 1.98213861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.029254154 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:138.51, Y:2.78, Z:1.98 [[ 9.89645709e-01 -1.33498483e-01 -5.27211988e-02 1.38514316e+02] [ 1.33461261e-01 9.91044953e-01 -4.24181313e-03 2.78419408e+00] [ 5.28153536e-02 -2.83834553e-03 9.98600261e-01 1.98348035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.059254154 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:138.55, Y:2.79, Z:1.98 [[ 9.89557249e-01 -1.33943387e-01 -5.32505414e-02 1.38546069e+02] [ 1.33906310e-01 9.90984755e-01 -4.27967876e-03 2.78709016e+00] [ 5.33437094e-02 -2.89559635e-03 9.98572013e-01 1.98479239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.089254154 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:138.58, Y:2.79, Z:1.99 [[ 9.89525136e-01 -1.34107945e-01 -5.34328023e-02 1.38576715e+02] [ 1.34071054e-01 9.90962433e-01 -4.29056943e-03 2.78997577e+00] [ 5.35252992e-02 -2.91816583e-03 9.98562230e-01 1.98621047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.11925415399998 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:138.61, Y:2.79, Z:1.99 [[ 9.89646771e-01 -1.32901454e-01 -5.41892342e-02 1.38608426e+02] [ 1.32861882e-01 9.91125024e-01 -4.34816893e-03 2.79394145e+00] [ 5.42861840e-02 -2.89653230e-03 9.98521217e-01 1.98824900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.14925415399998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:138.64, Y:2.80, Z:1.99 [[ 9.89820818e-01 -1.31636593e-01 -5.40976446e-02 1.38640433e+02] [ 1.31595481e-01 9.91294013e-01 -4.33696768e-03 2.79764919e+00] [ 5.41975748e-02 -2.82618467e-03 9.98526232e-01 1.98975875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.17925415399998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:138.67, Y:2.80, Z:1.99 [[ 9.90035595e-01 -1.29932035e-01 -5.42880014e-02 1.38671722e+02] [ 1.29888311e-01 9.91519098e-01 -4.34796897e-03 2.80151268e+00] [ 5.43925306e-02 -2.74673277e-03 9.98515853e-01 1.99134046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.20925415399998 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:138.70, Y:2.81, Z:1.99 [[ 9.90294366e-01 -1.27882305e-01 -5.44351333e-02 1.38703319e+02] [ 1.27835568e-01 9.91785818e-01 -4.35405495e-03 2.80550097e+00] [ 5.45447998e-02 -2.64695012e-03 9.98507816e-01 1.99310836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.23925415399998 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:138.73, Y:2.81, Z:1.99 [[ 9.90880510e-01 -1.23093476e-01 -5.48070320e-02 1.38734608e+02] [ 1.23038994e-01 9.92392171e-01 -4.38012018e-03 2.81123056e+00] [ 5.49292337e-02 -2.40322636e-03 9.98487358e-01 1.99456288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.26925415399998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:138.77, Y:2.82, Z:2.00 [[ 9.91216022e-01 -1.20227892e-01 -5.51003867e-02 1.38766088e+02] [ 1.20168576e-01 9.92743748e-01 -4.40051145e-03 2.81549754e+00] [ 5.52296286e-02 -2.25947758e-03 9.98471123e-01 1.99636115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.29925415399998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:138.80, Y:2.82, Z:2.00 [[ 9.91548468e-01 -1.17444012e-01 -5.51229534e-02 1.38798103e+02] [ 1.17380567e-01 9.93077266e-01 -4.39847640e-03 2.82005112e+00] [ 5.52579265e-02 -2.10906099e-03 9.98469886e-01 1.99817138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.32925415399998 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:138.83, Y:2.83, Z:2.00 [[ 9.92233859e-01 -1.11570607e-01 -5.49906253e-02 1.38828664e+02] [ 1.11498701e-01 9.93754912e-01 -4.38351018e-03 2.82583995e+00] [ 5.51362749e-02 -1.78191608e-03 9.98477249e-01 2.00045327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.35925415399998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:138.86, Y:2.83, Z:2.00 [[ 9.92581803e-01 -1.08767841e-01 -5.43223763e-02 1.38860783e+02] [ 1.08693793e-01 9.94065872e-01 -4.32450779e-03 2.82992683e+00] [ 5.44703878e-02 -1.61207737e-03 9.98514085e-01 2.00229979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38925415399999 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:138.89, Y:2.83, Z:2.00 [[ 9.92885562e-01 -1.06142433e-01 -5.39633684e-02 1.38892981e+02] [ 1.06065694e-01 9.94349861e-01 -4.29210996e-03 2.83412219e+00] [ 5.41140428e-02 -1.46208813e-03 9.98533691e-01 2.00446748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.419254154 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:138.93, Y:2.84, Z:2.01 [[ 9.93172729e-01 -1.03852371e-01 -5.31282904e-02 1.38925183e+02] [ 1.03774916e-01 9.94591847e-01 -4.22194853e-03 2.83816577e+00] [ 5.32794239e-02 -1.32025972e-03 9.98578770e-01 2.00639208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.449254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:138.96, Y:2.84, Z:2.01 [[ 9.93442437e-01 -1.01508517e-01 -5.26131724e-02 1.38956824e+02] [ 1.01429479e-01 9.94833962e-01 -4.17711771e-03 2.84203504e+00] [ 5.27653838e-02 -1.18680069e-03 9.98606232e-01 2.00835608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.479254154 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:138.99, Y:2.85, Z:2.01 [[ 9.93842034e-01 -9.76975369e-02 -5.22800497e-02 1.38987336e+02] [ 9.76144254e-02 9.95215669e-01 -4.14690605e-03 2.84658479e+00] [ 5.24350671e-02 -9.81917466e-04 9.98623853e-01 2.01019479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.509254154 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:139.02, Y:2.85, Z:2.01 [[ 9.94001860e-01 -9.54892973e-02 -5.33113180e-02 1.39016453e+02] [ 9.51419614e-02 9.95422836e-01 -9.02135823e-03 2.85208987e+00] [ 5.39287465e-02 3.89510350e-03 9.98537189e-01 2.01309049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.539254154 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:139.06, Y:2.87, Z:2.02 [[ 9.95425038e-01 -8.95029417e-02 -3.34397671e-02 1.39058911e+02] [ 8.72172863e-02 9.94099611e-01 -6.44911493e-02 2.87450795e+00] [ 3.90146070e-02 6.12795790e-02 9.97357846e-01 2.01673827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.569254154 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:139.08, Y:2.82, Z:1.99 [[ 9.94133550e-01 -9.05841182e-02 -5.91016213e-02 1.39080750e+02] [ 9.42661588e-02 9.93563817e-01 6.28079023e-02 2.82321819e+00] [ 5.30318340e-02 -6.80107257e-02 9.96274142e-01 1.99294569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.599254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:139.11, Y:2.86, Z:2.02 [[ 9.94422353e-01 -8.99373731e-02 -5.50949427e-02 1.39108488e+02] [ 8.98324009e-02 9.95947248e-01 -4.38391880e-03 2.85942490e+00] [ 5.52659348e-02 -5.89844136e-04 9.98471496e-01 2.01663060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.629254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:139.14, Y:2.86, Z:2.02 [[ 9.94592502e-01 -8.78999490e-02 -5.53114231e-02 1.39139146e+02] [ 8.77911627e-02 9.96129192e-01 -4.39824066e-03 2.86256005e+00] [ 5.54839283e-02 -4.81396964e-04 9.98459464e-01 2.01821416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.659254154 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:139.17, Y:2.87, Z:2.02 [[ 9.94754012e-01 -8.57142484e-02 -5.58347770e-02 1.39170701e+02] [ 8.56000699e-02 9.96319695e-01 -4.43775135e-03 2.86572205e+00] [ 5.60096665e-02 -3.64989855e-04 9.98430160e-01 2.01988107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.689254154 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:139.20, Y:2.87, Z:2.02 [[ 9.95062121e-01 -8.19613338e-02 -5.59796004e-02 1.39199589e+02] [ 8.18407243e-02 9.96635498e-01 -4.44751442e-03 2.86952729e+00] [ 5.61557812e-02 -1.55857914e-04 9.98422007e-01 2.02184699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.719254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:139.23, Y:2.87, Z:2.02 [[ 9.95166697e-01 -8.04595961e-02 -5.62982956e-02 1.39227920e+02] [ 8.03351816e-02 9.96757868e-01 -4.47328288e-03 2.87195600e+00] [ 5.64756877e-02 -7.10716471e-05 9.98403972e-01 2.02322176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.749254154 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:139.26, Y:2.87, Z:2.02 [[ 9.95243589e-01 -7.94418606e-02 -5.63843035e-02 1.39256091e+02] [ 7.93151431e-02 9.96839501e-01 -4.48523809e-03 2.87415111e+00] [ 5.65624166e-02 -8.22464182e-06 9.98399065e-01 2.02435727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.779254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:139.29, Y:2.88, Z:2.03 [[ 9.95281801e-01 -7.87511017e-02 -5.66780506e-02 1.39285940e+02] [ 7.86212359e-02 9.96894308e-01 -4.52097192e-03 2.87645179e+00] [ 5.68580576e-02 4.35426877e-05 9.98382271e-01 2.02574871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.809254154 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:139.31, Y:2.88, Z:2.03 [[ 9.95267411e-01 -7.87168048e-02 -5.69775785e-02 1.39314578e+02] [ 7.85853617e-02 9.96897017e-01 -4.54737372e-03 2.87824340e+00] [ 5.71587328e-02 4.82492543e-05 9.98365102e-01 2.02715469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.83925415399997 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:139.34, Y:2.88, Z:2.03 [[ 9.95205997e-01 -7.94217136e-02 -5.70720169e-02 1.39341910e+02] [ 7.92907438e-02 9.96841106e-01 -4.55924204e-03 2.88024455e+00] [ 5.72538353e-02 1.21023457e-05 9.98359654e-01 2.02879020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.86925415399998 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:139.37, Y:2.88, Z:2.03 [[ 9.95118248e-01 -8.07679682e-02 -5.67116158e-02 1.39370823e+02] [ 8.06404463e-02 9.96732929e-01 -4.53723448e-03 2.88208793e+00] [ 5.68927981e-02 -5.81651777e-05 9.98380291e-01 2.03027143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.89925415399998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:139.40, Y:2.88, Z:2.03 [[ 9.94960802e-01 -8.30482555e-02 -5.61781991e-02 1.39399955e+02] [ 8.29259510e-02 9.96545512e-01 -4.50878902e-03 2.88381829e+00] [ 5.63585793e-02 -1.72562250e-04 9.98410577e-01 2.03165545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:139.43, Y:2.89, Z:2.03 [[ 9.94717709e-01 -8.59306384e-02 -5.61480575e-02 1.39428660e+02] [ 8.58123466e-02 9.96301069e-01 -4.51887687e-03 2.88531749e+00] [ 5.63286797e-02 -3.23189725e-04 9.98412227e-01 2.03334506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.95925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:139.46, Y:2.89, Z:2.03 [[ 9.94716208e-01 -8.59481892e-02 -5.61477819e-02 1.39458687e+02] [ 8.58297321e-02 9.96299556e-01 -4.52229952e-03 2.88776980e+00] [ 5.63286936e-02 -3.20744443e-04 9.98412227e-01 2.03474858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.98925415399998 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:139.49, Y:2.89, Z:2.04 [[ 9.94134362e-01 -9.28100277e-02 -5.55262950e-02 1.39488227e+02] [ 9.27048039e-02 9.95683588e-01 -4.47338348e-03 2.88706779e+00] [ 5.57017955e-02 -7.00410047e-04 9.98447204e-01 2.03600961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.01925415399998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:139.52, Y:2.89, Z:2.04 [[ 9.93730428e-01 -9.70606073e-02 -5.54894095e-02 1.39519311e+02] [ 9.69620658e-02 9.95278032e-01 -4.47175470e-03 2.88791875e+00] [ 5.56614215e-02 -9.36649064e-04 9.98449262e-01 2.03736984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.04925415399998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:139.55, Y:2.89, Z:2.04 [[ 9.93310083e-01 -1.01230503e-01 -5.55649611e-02 1.39550217e+02] [ 1.01138366e-01 9.94862305e-01 -4.47499894e-03 2.88846363e+00] [ 5.57324916e-02 -1.17468780e-03 9.98445046e-01 2.03851903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.07925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:139.58, Y:2.89, Z:2.04 [[ 9.92851509e-01 -1.05478818e-01 -5.58578525e-02 1.39582886e+02] [ 1.05392780e-01 9.94420526e-01 -4.49214212e-03 2.88906515e+00] [ 5.60200209e-02 -1.42698427e-03 9.98428626e-01 2.03989449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.10925415399998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:139.62, Y:2.89, Z:2.04 [[ 9.91959857e-01 -1.13715853e-01 -5.55368888e-02 1.39615093e+02] [ 1.13643905e-01 9.93511526e-01 -4.46222607e-03 2.88789975e+00] [ 5.56839649e-02 -1.88507980e-03 9.98446665e-01 2.04074431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13925415399999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:139.65, Y:2.89, Z:2.04 [[ 9.91541552e-01 -1.17272936e-01 -5.56094289e-02 1.39646775e+02] [ 1.17206602e-01 9.93097520e-01 -4.46410885e-03 2.88827634e+00] [ 5.57491051e-02 -2.09144275e-03 9.98442619e-01 2.04193384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.169254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:139.68, Y:2.89, Z:2.04 [[ 9.91195341e-01 -1.20374920e-01 -5.51513708e-02 1.39678940e+02] [ 1.20314639e-01 9.92725951e-01 -4.42415089e-03 2.88884576e+00] [ 5.52827538e-02 -2.25031948e-03 9.98468203e-01 2.04308366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.199254154 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:139.71, Y:2.89, Z:2.04 [[ 9.90710350e-01 -1.24534856e-01 -5.46266549e-02 1.39709796e+02] [ 1.24482229e-01 9.92212178e-01 -4.37822643e-03 2.88827824e+00] [ 5.47464741e-02 -2.46249354e-03 9.98497251e-01 2.04439802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.229254154 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:139.74, Y:2.89, Z:2.05 [[ 9.90597617e-01 -1.25369166e-01 -5.47625103e-02 1.39742027e+02] [ 1.25317723e-01 9.92106966e-01 -4.38594987e-03 2.88983133e+00] [ 5.48801308e-02 -2.51800158e-03 9.98489775e-01 2.04578037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.259254154 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:139.77, Y:2.89, Z:2.05 [[ 9.90562163e-01 -1.25703095e-01 -5.46382037e-02 1.39774335e+02] [ 1.25652610e-01 9.92064669e-01 -4.37200791e-03 2.89163112e+00] [ 5.47542064e-02 -2.53468729e-03 9.98496646e-01 2.04720803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.289254154 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:139.81, Y:2.89, Z:2.05 [[ 9.90567271e-01 -1.25526937e-01 -5.49497055e-02 1.39805728e+02] [ 1.25475822e-01 9.92086952e-01 -4.39298067e-03 2.89320405e+00] [ 5.50663233e-02 -2.54331661e-03 9.98479460e-01 2.04839726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.319254154 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:139.84, Y:2.90, Z:2.05 [[ 9.90594735e-01 -1.25126662e-01 -5.53659567e-02 1.39836500e+02] [ 1.25074319e-01 9.92137516e-01 -4.42317978e-03 2.89543253e+00] [ 5.54841004e-02 -2.54328075e-03 9.98456332e-01 2.04995238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.349254154 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:139.87, Y:2.90, Z:2.05 [[ 9.90683831e-01 -1.24362020e-01 -5.54944598e-02 1.39868299e+02] [ 1.24308413e-01 9.92233738e-01 -4.43029396e-03 2.89769732e+00] [ 5.56144356e-02 -2.50940766e-03 9.98449166e-01 2.05131050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.379254154 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:139.90, Y:2.90, Z:2.05 [[ 9.90752821e-01 -1.23726269e-01 -5.56835590e-02 1.39900107e+02] [ 1.23671522e-01 9.92313272e-01 -4.44133365e-03 2.89978155e+00] [ 5.58050443e-02 -2.48620666e-03 9.98438589e-01 2.05262184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.409254154 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:139.93, Y:2.90, Z:2.05 [[ 9.90829536e-01 -1.23045982e-01 -5.58257786e-02 1.39930725e+02] [ 1.22990100e-01 9.92397926e-01 -4.44872904e-03 2.90166943e+00] [ 5.59487851e-02 -2.45808596e-03 9.98430614e-01 2.05408389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.439254154 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:139.96, Y:2.90, Z:2.06 [[ 9.90905440e-01 -1.22353229e-01 -5.60008561e-02 1.39961838e+02] [ 1.22296066e-01 9.92483644e-01 -4.45960153e-03 2.90363985e+00] [ 5.61255803e-02 -2.42964098e-03 9.98420761e-01 2.05570545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.469254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:139.99, Y:2.91, Z:2.06 [[ 9.90961740e-01 -1.21957785e-01 -5.58670701e-02 1.39994407e+02] [ 1.21900446e-01 9.92532376e-01 -4.44576408e-03 2.90609823e+00] [ 5.59920714e-02 -2.40463866e-03 9.98428318e-01 2.05703686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.499254154 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:140.03, Y:2.91, Z:2.06 [[ 9.90994904e-01 -1.21727120e-01 -5.57817895e-02 1.40026787e+02] [ 1.21669818e-01 9.92560722e-01 -4.43494108e-03 2.90856824e+00] [ 5.59066658e-02 -2.39195616e-03 9.98433134e-01 2.05842899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.529254154 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:140.06, Y:2.91, Z:2.06 [[ 9.90872766e-01 -1.21856298e-01 -5.76385729e-02 1.40059288e+02] [ 1.21795591e-01 9.92544646e-01 -4.57821799e-03 2.91120996e+00] [ 5.77667416e-02 -2.48369251e-03 9.98327018e-01 2.06026030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.559254154 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:140.09, Y:2.91, Z:2.06 [[ 9.90792695e-01 -1.22186519e-01 -5.83120151e-02 1.40090858e+02] [ 1.22125211e-01 9.92503915e-01 -4.62737454e-03 2.91373450e+00] [ 5.84403061e-02 -2.53659825e-03 9.98287682e-01 2.06157733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.58925415399997 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:140.12, Y:2.92, Z:2.06 [[ 9.90690032e-01 -1.22748150e-01 -5.88740376e-02 1.40121567e+02] [ 1.22686889e-01 9.92434451e-01 -4.66784308e-03 2.91598338e+00] [ 5.90015922e-02 -2.59868689e-03 9.98254506e-01 2.06264721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.61925415399998 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:140.15, Y:2.92, Z:2.06 [[ 9.90618075e-01 -1.23298427e-01 -5.89349471e-02 1.40154116e+02] [ 1.23238215e-01 9.92366132e-01 -4.66921296e-03 2.91839369e+00] [ 5.90607521e-02 -2.63763095e-03 9.98250906e-01 2.06427642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.64925415399998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:140.19, Y:2.92, Z:2.07 [[ 9.90517122e-01 -1.24047996e-01 -5.90586565e-02 1.40185951e+02] [ 1.23989115e-01 9.92272567e-01 -4.67471085e-03 2.92105918e+00] [ 5.91821731e-02 -2.69224941e-03 9.98243569e-01 2.06594232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67925415399998 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:140.22, Y:2.92, Z:2.07 [[ 9.90482448e-01 -1.24399738e-01 -5.89001274e-02 1.40218339e+02] [ 1.24342045e-01 9.92228482e-01 -4.65789006e-03 2.92392316e+00] [ 5.90218243e-02 -2.71020395e-03 9.98253014e-01 2.06802780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.70925415399998 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:140.25, Y:2.93, Z:2.07 [[ 9.90691084e-01 -1.22806663e-01 -5.87341426e-02 1.40245800e+02] [ 1.22650115e-01 9.92430125e-01 -6.27669371e-03 2.92765612e+00] [ 5.90603522e-02 -9.85484867e-04 9.98253927e-01 2.07082722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.73925415399998 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:140.28, Y:2.93, Z:2.07 [[ 9.90684562e-01 -1.23398547e-01 -5.75925034e-02 1.40278342e+02] [ 1.23408611e-01 9.92350132e-01 -3.39554867e-03 2.92938210e+00] [ 5.75709342e-02 -3.74349321e-03 9.98334400e-01 2.07170548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.76925415399998 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:140.31, Y:2.93, Z:2.07 [[ 9.90913559e-01 -1.21849933e-01 -5.69465679e-02 1.40310614e+02] [ 1.21792285e-01 9.92545432e-01 -4.49487035e-03 2.93295068e+00] [ 5.70697555e-02 -2.48162467e-03 9.98367109e-01 2.07401185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.79925415399998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:140.34, Y:2.94, Z:2.08 [[ 9.91601615e-01 -1.16924285e-01 -5.52715824e-02 1.40342944e+02] [ 1.16862556e-01 9.93138532e-01 -4.35873065e-03 2.93732680e+00] [ 5.54019797e-02 -2.13705403e-03 9.98461844e-01 2.07590210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.82925415399998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:140.37, Y:2.94, Z:2.08 [[ 9.91947958e-01 -1.14091611e-01 -5.49759293e-02 1.40373775e+02] [ 1.14026414e-01 9.93468276e-01 -4.33147872e-03 2.94076959e+00] [ 5.51110271e-02 -1.97210661e-03 9.98478285e-01 2.07773875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.85925415399998 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:140.41, Y:2.94, Z:2.08 [[ 9.92296463e-01 -1.11211910e-01 -5.45860813e-02 1.40405441e+02] [ 1.11143459e-01 9.93795081e-01 -4.29757371e-03 2.94434709e+00] [ 5.47253204e-02 -1.80241871e-03 9.98499820e-01 2.07949111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88925415399999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:140.44, Y:2.95, Z:2.08 [[ 9.92573566e-01 -1.08770323e-01 -5.44677203e-02 1.40435933e+02] [ 1.08698713e-01 9.94065508e-01 -4.28431739e-03 2.94772182e+00] [ 5.46104887e-02 -1.66807090e-03 9.98506341e-01 2.08103823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.919254154 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:140.47, Y:2.95, Z:2.08 [[ 9.92919392e-01 -1.05380915e-01 -5.48264885e-02 1.40468137e+02] [ 1.05303377e-01 9.94430806e-01 -4.30929258e-03 2.95180085e+00] [ 5.49752664e-02 -1.49463421e-03 9.98486598e-01 2.08255698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.949254154 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:140.50, Y:2.95, Z:2.08 [[ 9.93021536e-01 -1.04262983e-01 -5.51131553e-02 1.40498977e+02] [ 1.04183130e-01 9.94548714e-01 -4.32788988e-03 2.95454996e+00] [ 5.52639564e-02 -1.44417317e-03 9.98470735e-01 2.08366177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.979254154 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:140.53, Y:2.96, Z:2.08 [[ 9.93063684e-01 -1.03768044e-01 -5.52875387e-02 1.40531178e+02] [ 1.03687098e-01 9.94600505e-01 -4.33836637e-03 2.95711909e+00] [ 5.54391977e-02 -1.42433034e-03 9.98461049e-01 2.08453080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.009254154 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:140.56, Y:2.96, Z:2.09 [[ 9.93030635e-01 -1.03611547e-01 -5.61676462e-02 1.40563537e+02] [ 1.03527988e-01 9.94616794e-01 -4.40326300e-03 2.95934363e+00] [ 5.63215131e-02 -1.44234837e-03 9.98411642e-01 2.08575864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.039254154 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:140.59, Y:2.96, Z:2.09 [[ 9.92788705e-01 -1.05005550e-01 -5.78309821e-02 1.40593802e+02] [ 1.04919574e-01 9.94470395e-01 -4.52945494e-03 2.96167042e+00] [ 5.79868176e-02 -1.57081029e-03 9.98316113e-01 2.08693181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.069254154 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:140.63, Y:2.96, Z:2.09 [[ 9.92675058e-01 -1.05882191e-01 -5.81823992e-02 1.40625143e+02] [ 1.05796855e-01 9.94377337e-01 -4.55380994e-03 2.96428785e+00] [ 5.83374266e-02 -1.63506132e-03 9.98295583e-01 2.08819610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.099254154 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:140.65, Y:2.97, Z:2.09 [[ 9.92402714e-01 -1.07945829e-01 -5.90300787e-02 1.40654906e+02] [ 1.07861748e-01 9.94155177e-01 -4.61822239e-03 2.96662684e+00] [ 5.91835762e-02 -1.78395101e-03 9.98245522e-01 2.08957993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.129254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:140.69, Y:2.97, Z:2.09 [[ 9.92272513e-01 -1.09140452e-01 -5.90222174e-02 1.40685597e+02] [ 1.09058552e-01 9.94024606e-01 -4.61677295e-03 2.96906498e+00] [ 5.91734131e-02 -1.85578066e-03 9.98245993e-01 2.09102001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.159254154 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:140.72, Y:2.97, Z:2.09 [[ 9.92160757e-01 -1.10245277e-01 -5.88473471e-02 1.40715657e+02] [ 1.10165813e-01 9.93902564e-01 -4.60287611e-03 2.97149340e+00] [ 5.89959746e-02 -1.91617281e-03 9.98256382e-01 2.09252440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.189254154 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:140.75, Y:2.97, Z:2.09 [[ 9.91987136e-01 -1.12054553e-01 -5.83549487e-02 1.40746332e+02] [ 1.11979608e-01 9.93700028e-01 -4.56313447e-03 2.97469019e+00] [ 5.84986342e-02 -2.00799361e-03 9.98285469e-01 2.09414806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.219254154 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:140.78, Y:2.98, Z:2.10 [[ 9.91933083e-01 -1.12757261e-01 -5.79185604e-02 1.40778096e+02] [ 1.12684770e-01 9.93620477e-01 -4.52656670e-03 2.97765160e+00] [ 5.80594708e-02 -2.03648840e-03 9.98311049e-01 2.09578986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.249254154 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:140.81, Y:2.98, Z:2.10 [[ 9.91836885e-01 -1.13655006e-01 -5.78111923e-02 1.40810166e+02] [ 1.13584544e-01 9.93518080e-01 -4.51405977e-03 2.98086625e+00] [ 5.79495102e-02 -2.08924691e-03 9.98317329e-01 2.09755888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.279254154 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:140.84, Y:2.98, Z:2.10 [[ 9.91730523e-01 -1.14931421e-01 -5.71081286e-02 1.40842101e+02] [ 1.14865003e-01 9.93371120e-01 -4.45514331e-03 2.98400501e+00] [ 5.72416016e-02 -2.14142373e-03 9.98358059e-01 2.09871804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.309254154 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:140.87, Y:2.99, Z:2.10 [[ 9.91544299e-01 -1.16608754e-01 -5.69412188e-02 1.40873863e+02] [ 1.16545712e-01 9.93175413e-01 -4.43810838e-03 2.98710896e+00] [ 5.70701407e-02 -2.23567381e-03 9.98367668e-01 2.10044267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.33925415399997 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:140.91, Y:2.99, Z:2.10 [[ 9.91322103e-01 -1.18525054e-01 -5.68533103e-02 1.40906098e+02] [ 1.18465578e-01 9.92948290e-01 -4.42725524e-03 2.98997330e+00] [ 5.69771379e-02 -2.34632427e-03 9.98372726e-01 2.10187580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.36925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:140.94, Y:2.99, Z:2.10 [[ 9.90723152e-01 -1.23461654e-01 -5.67878104e-02 1.40938568e+02] [ 1.23410627e-01 9.92345856e-01 -4.41810458e-03 2.99332010e+00] [ 5.68986148e-02 -2.63110081e-03 9.98376495e-01 2.10331210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.39925415399998 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:140.97, Y:3.00, Z:2.10 [[ 9.90435444e-01 -1.25837427e-01 -5.65912821e-02 1.40970581e+02] [ 1.25790853e-01 9.92047032e-01 -4.39866492e-03 2.99643495e+00] [ 5.66947301e-02 -2.76207200e-03 9.98387740e-01 2.10486738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42925415399998 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:141.00, Y:3.00, Z:2.11 [[ 9.89813782e-01 -1.30812127e-01 -5.61859802e-02 1.41001761e+02] [ 1.30774419e-01 9.91402549e-01 -4.36325882e-03 3.00009865e+00] [ 5.62736911e-02 -3.02887518e-03 9.98410786e-01 2.10614167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.45925415399998 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:141.03, Y:3.00, Z:2.11 [[ 9.89580330e-01 -1.32643495e-01 -5.60042249e-02 1.41034435e+02] [ 1.32609150e-01 9.91158882e-01 -4.34558189e-03 3.00312880e+00] [ 5.60854981e-02 -3.12637032e-03 9.98421075e-01 2.10764819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.48925415399998 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:141.07, Y:3.01, Z:2.11 [[ 9.89401772e-01 -1.34135780e-01 -5.56032872e-02 1.41067564e+02] [ 1.34104604e-01 9.90957815e-01 -4.30848513e-03 3.00616838e+00] [ 5.56784340e-02 -3.19383401e-03 9.98443645e-01 2.10917587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.51925415399998 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:141.10, Y:3.01, Z:2.11 [[ 9.89247088e-01 -1.35296011e-01 -5.55444681e-02 1.41099322e+02] [ 1.35267052e-01 9.90799855e-01 -4.29801033e-03 3.00901010e+00] [ 5.56149546e-02 -3.26154226e-03 9.98446964e-01 2.11073624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.54925415399998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:141.13, Y:3.01, Z:2.11 [[ 9.89168384e-01 -1.36090145e-01 -5.50034640e-02 1.41132278e+02] [ 1.36063249e-01 9.90691032e-01 -4.25104039e-03 3.01215537e+00] [ 5.50699632e-02 -3.27895528e-03 9.98477114e-01 2.11225487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.57925415399998 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:141.16, Y:3.02, Z:2.11 [[ 9.89178022e-01 -1.36076997e-01 -5.48624823e-02 1.41164091e+02] [ 1.36050536e-01 9.90692849e-01 -4.23437490e-03 3.01532763e+00] [ 5.49280699e-02 -3.27551952e-03 9.98484941e-01 2.11377941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.60925415399998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:141.19, Y:3.02, Z:2.12 [[ 9.89283608e-01 -1.35056166e-01 -5.54776965e-02 1.41194728e+02] [ 1.34771050e-01 9.90837099e-01 -8.86605565e-03 3.02051588e+00] [ 5.61667753e-02 1.29425610e-03 9.98420562e-01 2.11641323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63925415399999 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:141.23, Y:3.02, Z:2.11 [[ 9.89255944e-01 -1.35259098e-01 -5.54766083e-02 1.41227758e+02] [ 1.35470658e-01 9.90781357e-01 5.33733294e-05 3.01918910e+00] [ 5.49579700e-02 -7.56825250e-03 9.98459986e-01 2.11473496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.669254154 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:141.26, Y:3.03, Z:2.12 [[ 9.89210696e-01 -1.34511021e-01 -5.80429428e-02 1.41258391e+02] [ 1.33760484e-01 9.90873886e-01 -1.66455518e-02 3.02962153e+00] [ 5.97522465e-02 8.70210578e-03 9.98175306e-01 2.12204318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.699254154 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:141.29, Y:3.02, Z:2.11 [[ 9.89513766e-01 -1.32682189e-01 -5.70783934e-02 1.41291236e+02] [ 1.33325120e-01 9.91043288e-01 7.59041149e-03 3.02159664e+00] [ 5.55600463e-02 -1.51208003e-02 9.98340845e-01 2.11443576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.729254154 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:141.32, Y:3.03, Z:2.12 [[ 9.89701256e-01 -1.31566758e-01 -5.64057837e-02 1.41323170e+02] [ 1.31532956e-01 9.91302352e-01 -4.32766611e-03 3.03047404e+00] [ 5.64845630e-02 -3.13612286e-03 9.98398547e-01 2.11992957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.759254154 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:141.36, Y:3.05, Z:2.13 [[ 9.90914581e-01 -1.27174056e-01 -4.37613092e-02 1.41361433e+02] [ 1.25072402e-01 9.90994463e-01 -4.78212062e-02 3.05062354e+00] [ 4.94488319e-02 4.19133985e-02 9.97896828e-01 2.12517499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.789254154 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:141.39, Y:3.02, Z:2.11 [[ 9.90282173e-01 -1.25252854e-01 -6.04395647e-02 1.41387172e+02] [ 1.27869277e-01 9.90920450e-01 4.15464785e-02 3.01576627e+00] [ 5.46869856e-02 -4.88711004e-02 9.97306848e-01 2.10822945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.819254154 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:141.42, Y:3.06, Z:2.13 [[ 9.91810191e-01 -1.19333553e-01 -4.55197561e-02 1.41423400e+02] [ 1.17434581e-01 9.92177660e-01 -4.23392329e-02 3.05877751e+00] [ 5.02161762e-02 3.66468891e-02 9.98065800e-01 2.12929914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.849254154 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:141.46, Y:3.04, Z:2.12 [[ 9.91826547e-01 -1.17667071e-01 -4.93412617e-02 1.41459278e+02] [ 1.17706264e-01 9.93046191e-01 -2.12073322e-03 3.04215461e+00] [ 4.92476925e-02 -3.70437607e-03 9.98779727e-01 2.11686675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.879254154 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:141.48, Y:3.03, Z:2.12 [[ 9.91337521e-01 -1.16304121e-01 -6.10186101e-02 1.41482137e+02] [ 1.18577609e-01 9.92325898e-01 3.50522838e-02 3.03203929e+00] [ 5.64736221e-02 -4.19840850e-02 9.97520960e-01 2.11705352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.909254154 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:141.51, Y:3.06, Z:2.13 [[ 9.91779535e-01 -1.14376811e-01 -5.73698496e-02 1.41512336e+02] [ 1.14311879e-01 9.93435066e-01 -4.42309733e-03 3.05519925e+00] [ 5.74991201e-02 -2.17131792e-03 9.98343196e-01 2.13243869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.939254154 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:141.54, Y:3.06, Z:2.13 [[ 9.92248076e-01 -1.10383805e-01 -5.70891579e-02 1.41544343e+02] [ 1.10313143e-01 9.93887153e-01 -4.39735694e-03 3.05883589e+00] [ 5.72255776e-02 -1.93441550e-03 9.98359400e-01 2.13424198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.969254154 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:141.57, Y:3.06, Z:2.14 [[ 9.93055580e-01 -1.02836691e-01 -5.71421904e-02 1.41574958e+02] [ 1.02753652e-01 9.94697115e-01 -4.39731546e-03 3.06326224e+00] [ 5.72913773e-02 -1.50479009e-03 9.98356366e-01 2.13556485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.999254154 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:141.61, Y:3.07, Z:2.14 [[ 9.93455529e-01 -9.88996073e-02 -5.71400011e-02 1.41607255e+02] [ 9.88102630e-02 9.95096592e-01 -4.39377033e-03 3.06626032e+00] [ 5.72943625e-02 -1.28100310e-03 9.98356507e-01 2.13706929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.029254154 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:141.64, Y:3.07, Z:2.14 [[ 9.93786610e-01 -9.54715805e-02 -5.72132085e-02 1.41638433e+02] [ 9.53765694e-02 9.95431561e-01 -4.39525771e-03 3.06929342e+00] [ 5.73714556e-02 -1.08885129e-03 9.98352308e-01 2.13841834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.059254154 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:141.67, Y:3.07, Z:2.14 [[ 9.94440270e-01 -8.84857115e-02 -5.70861490e-02 1.41670626e+02] [ 8.83798087e-02 9.96077209e-01 -4.38214463e-03 3.07251965e+00] [ 5.72499692e-02 -6.87481847e-04 9.98359639e-01 2.14028387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.08925415399997 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:141.70, Y:3.08, Z:2.14 [[ 9.94755067e-01 -8.50590958e-02 -5.68093826e-02 1.41702276e+02] [ 8.49488533e-02 9.96375787e-01 -4.35704667e-03 3.07516617e+00] [ 5.69740997e-02 -4.91697656e-04 9.98375536e-01 2.14202316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.11925415399998 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:141.73, Y:3.08, Z:2.14 [[ 9.95037718e-01 -8.19203501e-02 -5.64712028e-02 1.41732863e+02] [ 8.18064939e-02 9.96638831e-01 -4.32884169e-03 3.07730767e+00] [ 5.66360137e-02 -3.12350346e-04 9.98394844e-01 2.14354022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.14925415399998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:141.76, Y:3.08, Z:2.15 [[ 9.95285421e-01 -7.88754251e-02 -5.64411030e-02 1.41762594e+02] [ 7.87569435e-02 9.96884470e-01 -4.32395465e-03 3.07918720e+00] [ 5.66063129e-02 -1.41559740e-04 9.98396567e-01 2.14525223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17925415399998 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:141.79, Y:3.08, Z:2.15 [[ 9.95693305e-01 -7.37201503e-02 -5.62155033e-02 1.41791743e+02] [ 7.35941856e-02 9.97278956e-01 -4.31049464e-03 3.07975852e+00] [ 5.63803088e-02 1.54796463e-04 9.98409353e-01 2.14666744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.20925415399998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:141.82, Y:3.08, Z:2.15 [[ 9.95834560e-01 -7.20535306e-02 -5.58732238e-02 1.41820351e+02] [ 7.19256717e-02 9.97400732e-01 -4.29856130e-03 3.08080338e+00] [ 5.60377208e-02 2.61936748e-04 9.98428618e-01 2.14779257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.23925415399998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:141.85, Y:3.08, Z:2.15 [[ 9.95955130e-01 -7.04815132e-02 -5.57291164e-02 1.41848147e+02] [ 7.03511055e-02 9.97513020e-01 -4.30084951e-03 3.08161753e+00] [ 5.58936496e-02 3.62848187e-04 9.98436662e-01 2.14909753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.26925415399998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:141.88, Y:3.08, Z:2.15 [[ 9.95995193e-01 -6.98564708e-02 -5.58000816e-02 1.41876307e+02] [ 6.97242615e-02 9.97556970e-01 -4.31504905e-03 3.08247191e+00] [ 5.59651944e-02 4.07148630e-04 9.98432637e-01 2.15037533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.29925415399998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:141.90, Y:3.08, Z:2.15 [[ 9.96006321e-01 -6.92705703e-02 -5.63293580e-02 1.41903843e+02] [ 6.91340508e-02 9.97597803e-01 -4.37102732e-03 3.08117008e+00] [ 5.64968273e-02 4.59294138e-04 9.98402673e-01 2.15112768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.32925415399998 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:141.93, Y:3.08, Z:2.15 [[ 9.95961816e-01 -6.96458808e-02 -5.66525549e-02 1.41931953e+02] [ 6.95079122e-02 9.97571676e-01 -4.40459552e-03 3.08150770e+00] [ 5.68217461e-02 4.49008135e-04 9.98384238e-01 2.15200719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.35925415399998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:141.96, Y:3.08, Z:2.15 [[ 9.95888348e-01 -7.00875121e-02 -5.73945971e-02 1.41959412e+02] [ 6.99456891e-02 9.97540747e-01 -4.47868748e-03 3.08170519e+00] [ 5.75673493e-02 4.45768037e-04 9.98341526e-01 2.15322617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.38925415399999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:141.99, Y:3.08, Z:2.15 [[ 9.95752700e-01 -7.09600868e-02 -5.86619650e-02 1.41987876e+02] [ 7.08124394e-02 9.97479067e-01 -4.59451691e-03 3.07984937e+00] [ 5.88401095e-02 4.21005774e-04 9.98267331e-01 2.15382838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.419254154 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:142.02, Y:3.08, Z:2.16 [[ 9.95666804e-01 -7.23211302e-02 -5.84574174e-02 1.42015885e+02] [ 7.21758543e-02 9.97381335e-01 -4.59553655e-03 3.08005025e+00] [ 5.86366914e-02 3.56409140e-04 9.98279325e-01 2.15531859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.449254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:142.04, Y:3.08, Z:2.16 [[ 9.95592854e-01 -7.34510932e-02 -5.83078523e-02 1.42043724e+02] [ 7.33075035e-02 9.97298773e-01 -4.60072603e-03 3.07988347e+00] [ 5.84882779e-02 3.06046869e-04 9.98288048e-01 2.15636080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.479254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:142.07, Y:3.08, Z:2.16 [[ 9.95540464e-01 -7.73236933e-02 -5.40391599e-02 1.42069005e+02] [ 7.67089006e-02 9.96963979e-01 -1.33629484e-02 3.08328607e+00] [ 5.49083684e-02 9.15807127e-03 9.98449398e-01 2.15814347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.509254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:142.10, Y:3.07, Z:2.16 [[ 9.95315164e-01 -7.78175596e-02 -5.73772757e-02 1.42100573e+02] [ 7.81676175e-02 9.96932686e-01 3.87864895e-03 3.07239344e+00] [ 5.68994546e-02 -8.34552305e-03 9.98345033e-01 2.15611392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.539254154 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:142.13, Y:3.08, Z:2.16 [[ 9.95136024e-01 -8.06306441e-02 -5.65949966e-02 1.42128358e+02] [ 8.05048848e-02 9.96744046e-01 -4.50222576e-03 3.07553082e+00] [ 5.67737433e-02 -7.58466396e-05 9.98387067e-01 2.16052644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.569254154 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:142.16, Y:3.07, Z:2.16 [[ 9.94961774e-01 -8.30474780e-02 -5.61621311e-02 1.42156525e+02] [ 8.29265632e-02 9.96545572e-01 -4.48409016e-03 3.07481740e+00] [ 5.63405155e-02 -1.95834217e-04 9.98411592e-01 2.16210975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.599254154 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:142.18, Y:3.08, Z:2.17 [[ 9.94756474e-01 -8.54159191e-02 -5.62465858e-02 1.42182645e+02] [ 8.49477620e-02 9.96328310e-01 -1.06666401e-02 3.07706025e+00] [ 5.69511666e-02 5.83268770e-03 9.98359927e-01 2.16543565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.629254154 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:142.21, Y:3.07, Z:2.16 [[ 9.94601423e-01 -8.80436503e-02 -5.49210713e-02 1.42211220e+02] [ 8.83058530e-02 9.96090609e-01 2.36109420e-03 3.06750145e+00] [ 5.44984840e-02 -7.19819970e-03 9.98487907e-01 2.16268738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.659254154 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:142.24, Y:3.07, Z:2.17 [[ 9.94524814e-01 -8.92770024e-02 -5.43139990e-02 1.42240502e+02] [ 8.91708900e-02 9.96006716e-01 -4.37881974e-03 3.07033563e+00] [ 5.44880357e-02 -4.88382744e-04 9.98514304e-01 2.16585772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.689254154 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:142.27, Y:3.07, Z:2.17 [[ 9.94454186e-01 -8.98945248e-02 -5.45879740e-02 1.42269375e+02] [ 8.97880675e-02 9.95951155e-01 -4.40456420e-03 3.06989455e+00] [ 5.47629020e-02 -5.21211392e-04 9.98499250e-01 2.16698428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.719254154 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:142.30, Y:3.07, Z:2.17 [[ 9.94422236e-01 -8.94805219e-02 -5.58359380e-02 1.42297488e+02] [ 8.93677388e-02 9.95988449e-01 -4.51858732e-03 3.06689349e+00] [ 5.60162748e-02 -4.96547814e-04 9.98429732e-01 2.16752848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.749254154 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:142.33, Y:3.07, Z:2.17 [[ 9.94419342e-01 -8.90472051e-02 -5.65753180e-02 1.42326254e+02] [ 8.89303263e-02 9.96027295e-01 -4.58521972e-03 3.06690964e+00] [ 5.67588619e-02 -4.71630308e-04 9.98387805e-01 2.16855590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.779254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:142.35, Y:3.07, Z:2.17 [[ 9.94445297e-01 -8.84599169e-02 -5.70385387e-02 1.42353783e+02] [ 8.83392745e-02 9.96079646e-01 -4.63803432e-03 3.06704879e+00] [ 5.72252076e-02 -4.26471704e-04 9.98361204e-01 2.16957723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.809254154 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:142.38, Y:3.07, Z:2.17 [[ 9.94474596e-01 -8.77456362e-02 -5.76279587e-02 1.42380573e+02] [ 8.76203798e-02 9.96142843e-01 -4.70163723e-03 3.06739997e+00] [ 5.78182267e-02 -3.73724841e-04 9.98327057e-01 2.17103763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.83925415399997 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:142.41, Y:3.07, Z:2.17 [[ 9.94617735e-01 -8.62894505e-02 -5.73558419e-02 1.42408154e+02] [ 8.61624329e-02 9.96270070e-01 -4.68850349e-03 3.06599566e+00] [ 5.75464770e-02 -2.78650160e-04 9.98342789e-01 2.17226881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.86925415399998 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:142.44, Y:3.07, Z:2.17 [[ 9.94630492e-01 -8.61080457e-02 -5.74072152e-02 1.42436215e+02] [ 8.59795224e-02 9.96285773e-01 -4.70961967e-03 3.06646915e+00] [ 5.75995279e-02 -2.51513616e-04 9.98339737e-01 2.17382179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.89925415399998 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:142.46, Y:3.07, Z:2.18 [[ 9.94618376e-01 -8.62546162e-02 -5.73971068e-02 1.42464599e+02] [ 8.61254049e-02 9.96273096e-01 -4.72572877e-03 3.06666265e+00] [ 5.75908093e-02 -2.43052398e-04 9.98340242e-01 2.17509785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:142.49, Y:3.07, Z:2.18 [[ 9.94583492e-01 -8.68136508e-02 -5.71582694e-02 1.42492325e+02] [ 8.66854703e-02 9.96224535e-01 -4.72287040e-03 3.06695608e+00] [ 5.73524800e-02 -2.57502532e-04 9.98353959e-01 2.17608616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.95925415399998 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:142.52, Y:3.07, Z:2.18 [[ 9.94468866e-01 -8.79021004e-02 -5.74882216e-02 1.42520857e+02] [ 8.77732744e-02 9.96129072e-01 -4.76704708e-03 3.06539512e+00] [ 5.76847223e-02 -3.05249552e-04 9.98334803e-01 2.17748835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.98925415399998 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:142.55, Y:3.07, Z:2.18 [[ 9.94384233e-01 -8.88452023e-02 -5.75024159e-02 1.42548765e+02] [ 8.87169200e-02 9.96045387e-01 -4.78497082e-03 3.06626414e+00] [ 5.77001378e-02 -3.43337701e-04 9.98333900e-01 2.17871929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.01925415399998 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:142.58, Y:3.07, Z:2.18 [[ 9.94283403e-01 -8.97912301e-02 -5.77758640e-02 1.42576521e+02] [ 8.96623361e-02 9.95960535e-01 -4.82466169e-03 3.06686489e+00] [ 5.79756927e-02 -3.83237895e-04 9.98317921e-01 2.18023505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.04925415399998 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:142.60, Y:3.07, Z:2.18 [[ 9.94134704e-01 -9.19392778e-02 -5.69504957e-02 1.42603194e+02] [ 9.18166971e-02 9.95764497e-01 -4.77087389e-03 3.06526054e+00] [ 5.71479124e-02 -4.86115116e-04 9.98365604e-01 2.18141437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.07925415399998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:142.63, Y:3.07, Z:2.18 [[ 9.93988662e-01 -9.37256943e-02 -5.65865230e-02 1.42631318e+02] [ 9.36070681e-02 9.95597892e-01 -4.74917573e-03 3.06577140e+00] [ 5.67825427e-02 -5.76271674e-04 9.98386404e-01 2.18302758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.10925415399998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:142.66, Y:3.07, Z:2.18 [[ 9.93846857e-01 -9.57294726e-02 -5.57161878e-02 1.42658796e+02] [ 9.56167109e-02 9.95407167e-01 -4.69227203e-03 3.06611559e+00] [ 5.59094813e-02 -6.63998815e-04 9.98435621e-01 2.18458569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.13925415399999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:142.69, Y:3.07, Z:2.19 [[ 9.93642696e-01 -9.81056902e-02 -5.52219638e-02 1.42686610e+02] [ 9.79976931e-02 9.95175700e-01 -4.66674657e-03 3.06649252e+00] [ 5.54133909e-02 -7.74546422e-04 9.98463197e-01 2.18593281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.169254154 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:142.71, Y:3.07, Z:2.19 [[ 9.93394165e-01 -1.01048055e-01 -5.43812729e-02 1.42714630e+02] [ 1.00946861e-01 9.94881131e-01 -4.61152593e-03 3.06667804e+00] [ 5.45688880e-02 -9.08555838e-04 9.98509595e-01 2.18727020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.199254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:142.74, Y:3.06, Z:2.19 [[ 9.92757497e-01 -1.07302492e-01 -5.40252389e-02 1.42742519e+02] [ 1.07211075e-01 9.94225660e-01 -4.59586108e-03 3.06457556e+00] [ 5.42064262e-02 -1.22952840e-03 9.98528994e-01 2.18864186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.229254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:142.77, Y:3.06, Z:2.19 [[ 9.92385451e-01 -1.10821371e-01 -5.37563074e-02 1.42770271e+02] [ 1.10735683e-01 9.93839343e-01 -4.57914418e-03 3.06487220e+00] [ 5.39326003e-02 -1.40846536e-03 9.98543585e-01 2.18983496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.259254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:142.80, Y:3.07, Z:2.19 [[ 9.91984331e-01 -1.14348865e-01 -5.37719736e-02 1.42799378e+02] [ 1.14267480e-01 9.93439391e-01 -4.59563735e-03 3.06537646e+00] [ 5.39447026e-02 -1.58558771e-03 9.98542666e-01 2.19103268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.289254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:142.83, Y:3.07, Z:2.19 [[ 9.91610027e-01 -1.17586726e-01 -5.36927876e-02 1.42828873e+02] [ 1.17509654e-01 9.93061081e-01 -4.60118083e-03 3.06566152e+00] [ 5.38612555e-02 -1.74684382e-03 9.98546901e-01 2.19234925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.319254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:142.86, Y:3.06, Z:2.19 [[ 9.90827172e-01 -1.24242686e-01 -5.31532666e-02 1.42858481e+02] [ 1.24176601e-01 9.92249669e-01 -4.55689912e-03 3.06442212e+00] [ 5.33074726e-02 -2.08529251e-03 9.98575969e-01 2.19328711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.349254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:142.89, Y:3.07, Z:2.19 [[ 9.90435485e-01 -1.27363369e-01 -5.30671571e-02 1.42889007e+02] [ 1.27301871e-01 9.91853578e-01 -4.55126252e-03 3.06570904e+00] [ 5.32145138e-02 -2.24781649e-03 9.98580574e-01 2.19480423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.379254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:142.92, Y:3.07, Z:2.20 [[ 9.90034388e-01 -1.30375389e-01 -5.32369055e-02 1.42919014e+02] [ 1.30317839e-01 9.91461756e-01 -4.56582085e-03 3.06693832e+00] [ 5.33776265e-02 -2.41739882e-03 9.98571472e-01 2.19616860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.409254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:142.95, Y:3.07, Z:2.20 [[ 9.89636129e-01 -1.33234009e-01 -5.35633297e-02 1.42949451e+02] [ 1.33179925e-01 9.91081230e-01 -4.59381637e-03 3.06816137e+00] [ 5.36976633e-02 -2.58735359e-03 9.98553888e-01 2.19753422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.439254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:142.98, Y:3.07, Z:2.20 [[ 9.88945896e-01 -1.38239670e-01 -5.36265662e-02 1.42979726e+02] [ 1.38192788e-01 9.90394669e-01 -4.59923979e-03 3.06881065e+00] [ 5.37472627e-02 -2.86240539e-03 9.98550469e-01 2.19884442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.469254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:143.01, Y:3.07, Z:2.20 [[ 9.88612310e-01 -1.40488479e-01 -5.39322601e-02 1.43008639e+02] [ 1.40444389e-01 9.90077763e-01 -4.62557986e-03 3.07072627e+00] [ 5.40469721e-02 -3.00157811e-03 9.98533883e-01 2.20011856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.499254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:143.04, Y:3.07, Z:2.20 [[ 9.88325317e-01 -1.42501339e-01 -5.39113634e-02 1.43037719e+02] [ 1.42460205e-01 9.89789725e-01 -4.62489764e-03 3.07277805e+00] [ 5.40199677e-02 -3.10932044e-03 9.98535015e-01 2.20124058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.529254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:143.07, Y:3.07, Z:2.20 [[ 9.87951913e-01 -1.44984228e-01 -5.41349270e-02 1.43066961e+02] [ 1.44946362e-01 9.89428607e-01 -4.64592278e-03 3.07456269e+00] [ 5.42362310e-02 -3.25671243e-03 9.98522822e-01 2.20241539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.559254154 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:143.10, Y:3.08, Z:2.20 [[ 9.87848074e-01 -1.45554527e-01 -5.44982705e-02 1.43097747e+02] [ 1.45516970e-01 9.89344696e-01 -4.67796236e-03 3.07704236e+00] [ 5.45984735e-02 -3.30930709e-03 9.98502907e-01 2.20391487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.58925415399997 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:143.13, Y:3.08, Z:2.20 [[ 9.87855696e-01 -1.45695399e-01 -5.39812462e-02 1.43126922e+02] [ 1.45658760e-01 9.89324040e-01 -4.63355549e-03 3.07960690e+00] [ 5.40800323e-02 -3.28555718e-03 9.98531199e-01 2.20489405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.61925415399998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:143.16, Y:3.08, Z:2.21 [[ 9.87867057e-01 -1.45653280e-01 -5.38869154e-02 1.43158347e+02] [ 1.45616729e-01 9.89330267e-01 -4.62502107e-03 3.08257727e+00] [ 5.39856059e-02 -3.27793042e-03 9.98536334e-01 2.20645564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.64925415399998 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:143.19, Y:3.09, Z:2.21 [[ 9.88092951e-01 -1.44176071e-01 -5.37175979e-02 1.43188282e+02] [ 1.44137676e-01 9.89546912e-01 -4.60861156e-03 3.08643754e+00] [ 5.38205346e-02 -3.18899315e-03 9.98545532e-01 2.20856804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67925415399998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:143.22, Y:3.09, Z:2.21 [[ 9.88280291e-01 -1.43051833e-01 -5.32751223e-02 1.43218469e+02] [ 1.43012486e-01 9.89710334e-01 -4.56978154e-03 3.09025710e+00] [ 5.33806547e-02 -3.10278268e-03 9.98569416e-01 2.21012056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.70925415399998 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:143.25, Y:3.09, Z:2.21 [[ 9.88475551e-01 -1.41477252e-01 -5.38541855e-02 1.43249180e+02] [ 1.41434733e-01 9.89936806e-01 -4.61920487e-03 3.09429721e+00] [ 5.39657528e-02 -3.05088125e-03 9.98538126e-01 2.21196687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.73925415399998 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:143.28, Y:3.10, Z:2.21 [[ 9.88733777e-01 -1.39670344e-01 -5.38304043e-02 1.43279224e+02] [ 1.39625296e-01 9.90193656e-01 -4.61526961e-03 3.09826069e+00] [ 5.39471411e-02 -2.95281318e-03 9.98539427e-01 2.21345736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.76925415399998 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:143.31, Y:3.10, Z:2.21 [[ 9.88736338e-01 -1.39652181e-01 -5.38304895e-02 1.43310081e+02] [ 1.39607161e-01 9.90196218e-01 -4.61427591e-03 3.10090693e+00] [ 5.39471407e-02 -2.95281952e-03 9.98539427e-01 2.21492829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.79925415399998 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:143.34, Y:3.11, Z:2.22 [[ 9.89298957e-01 -1.35526932e-01 -5.40372530e-02 1.43340680e+02] [ 1.35475491e-01 9.90769876e-01 -4.63087227e-03 3.10679411e+00] [ 5.41660903e-02 -2.73940627e-03 9.98528182e-01 2.21673167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.82925415399998 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:143.37, Y:3.11, Z:2.22 [[ 9.89638890e-01 -1.33127336e-01 -5.37771322e-02 1.43371825e+02] [ 1.33072962e-01 9.91095538e-01 -4.60659941e-03 3.11102286e+00] [ 5.39115401e-02 -2.59741236e-03 9.98542337e-01 2.21831368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.85925415399998 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:143.40, Y:3.12, Z:2.22 [[ 9.89956168e-01 -1.30779879e-01 -5.36973756e-02 1.43402087e+02] [ 1.30722337e-01 9.91408358e-01 -4.59763461e-03 3.11517274e+00] [ 5.38373051e-02 -2.46798970e-03 9.98546671e-01 2.21961805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88925415399999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:143.44, Y:3.12, Z:2.22 [[ 9.90586522e-01 -1.26172900e-01 -5.30918224e-02 1.43435388e+02] [ 1.26218540e-01 9.91999295e-01 -2.50591469e-03 3.11551071e+00] [ 5.29832289e-02 -4.21884697e-03 9.98586490e-01 2.22048131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.919254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:143.46, Y:3.12, Z:2.22 [[ 9.90617396e-01 -1.25873909e-01 -5.32253149e-02 1.43462096e+02] [ 1.25732055e-01 9.92045980e-01 -6.01864742e-03 3.12399259e+00] [ 5.35595503e-02 -7.29951386e-04 9.98564390e-01 2.22288638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.949254154 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:143.49, Y:3.13, Z:2.22 [[ 9.91422285e-01 -1.19346895e-01 -5.32744834e-02 1.43491610e+02] [ 1.19273018e-01 9.92850952e-01 -4.57537892e-03 3.12996298e+00] [ 5.34396788e-02 -1.81807577e-03 9.98569424e-01 2.22417357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.979254154 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:143.52, Y:3.13, Z:2.23 [[ 9.91839307e-01 -1.15700927e-01 -5.35545001e-02 1.43521309e+02] [ 1.15620997e-01 9.93282757e-01 -4.59879999e-03 3.13484448e+00] [ 5.37268469e-02 -1.63075411e-03 9.98554338e-01 2.22544019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.009254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:143.55, Y:3.14, Z:2.23 [[ 9.92255047e-01 -1.11952063e-01 -5.38206087e-02 1.43549344e+02] [ 1.11865718e-01 9.93712575e-01 -4.62368998e-03 3.13963853e+00] [ 5.39998473e-02 -1.43280131e-03 9.98539916e-01 2.22711830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.039254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:143.58, Y:3.15, Z:2.23 [[ 9.93104383e-01 -1.03679680e-01 -5.47193585e-02 1.43577048e+02] [ 1.03577713e-01 9.94610241e-01 -4.70383705e-03 3.14650856e+00] [ 5.49121266e-02 -9.96304798e-04 9.98490694e-01 2.22867812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.069254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:143.60, Y:3.15, Z:2.23 [[ 9.93457871e-01 -9.99833597e-02 -5.51795781e-02 1.43604276e+02] [ 9.98737112e-02 9.94988793e-01 -4.74809442e-03 3.15076912e+00] [ 5.53777922e-02 -7.93957470e-04 9.98465157e-01 2.22990970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.099254154 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:143.63, Y:3.15, Z:2.23 [[ 9.93805059e-01 -9.62725619e-02 -5.55256609e-02 1.43631886e+02] [ 9.61548734e-02 9.95354843e-01 -4.79347763e-03 3.15487343e+00] [ 5.57292158e-02 -5.75280576e-04 9.98445754e-01 2.23113751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.129254154 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:143.66, Y:3.16, Z:2.23 [[ 9.94151464e-01 -9.26101436e-02 -5.55538341e-02 1.43659453e+02] [ 9.24857047e-02 9.95702383e-01 -4.81230493e-03 3.15860293e+00] [ 5.57607532e-02 -3.53775508e-04 9.98444096e-01 2.23260222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.159254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:143.69, Y:3.17, Z:2.24 [[ 9.94700924e-01 -8.60280210e-02 -5.62961112e-02 1.43685124e+02] [ 8.55250218e-02 9.96272072e-01 -1.12884626e-02 3.16692337e+00] [ 5.70573674e-02 6.41391807e-03 9.98350298e-01 2.23628269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.189254154 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:143.71, Y:3.16, Z:2.23 [[ 9.94995432e-01 -8.32525418e-02 -5.52549097e-02 1.43714345e+02] [ 8.34552697e-02 9.96510586e-01 1.36771387e-03 3.16498241e+00] [ 5.49482368e-02 -5.97218244e-03 9.98471344e-01 2.23396473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.219254154 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:143.74, Y:3.17, Z:2.24 [[ 9.95161517e-01 -8.18440269e-02 -5.43609256e-02 1.43741642e+02] [ 8.17061765e-02 9.96645107e-01 -4.75721075e-03 3.17159457e+00] [ 5.45678998e-02 2.92569682e-04 9.98510019e-01 2.23728994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.249254154 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:143.77, Y:3.18, Z:2.24 [[ 9.95355714e-01 -7.98233781e-02 -5.38073542e-02 1.43768823e+02] [ 7.96845656e-02 9.96808937e-01 -4.72368408e-03 3.17534186e+00] [ 5.40127120e-02 4.14130294e-04 9.98540162e-01 2.23875084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.279254154 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:143.80, Y:3.18, Z:2.24 [[ 9.95316448e-01 -8.02731740e-02 -5.38645123e-02 1.43796736e+02] [ 8.01342858e-02 9.96772822e-01 -4.73680071e-03 3.17794020e+00] [ 5.40709200e-02 3.98221429e-04 9.98537018e-01 2.24010581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.309254154 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:143.82, Y:3.18, Z:2.24 [[ 9.95220285e-01 -8.12264875e-02 -5.42110813e-02 1.43824109e+02] [ 8.10863434e-02 9.96695603e-01 -4.78332250e-03 3.18028461e+00] [ 5.44204788e-02 3.64681225e-04 9.98518041e-01 2.24148624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.33925415399997 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:143.85, Y:3.18, Z:2.24 [[ 9.95052041e-01 -8.30709921e-02 -5.45036358e-02 1.43851443e+02] [ 8.29312134e-02 9.96543592e-01 -4.82521447e-03 3.18274525e+00] [ 5.47160843e-02 2.81286859e-04 9.98501913e-01 2.24265790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36925415399998 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:143.88, Y:3.18, Z:2.24 [[ 9.94623857e-01 -8.76402297e-02 -5.51595283e-02 1.43878770e+02] [ 8.75032526e-02 9.96152191e-01 -4.89823384e-03 3.18441744e+00] [ 5.53765673e-02 4.52620957e-05 9.98465540e-01 2.24373056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39925415399998 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:143.91, Y:3.19, Z:2.25 [[ 9.94328192e-01 -9.08538278e-02 -5.52904065e-02 1.43906343e+02] [ 9.07207020e-02 9.95864231e-01 -4.91813753e-03 3.18623337e+00] [ 5.55085697e-02 -1.25741692e-04 9.98458203e-01 2.24513123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42925415399998 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:143.93, Y:3.19, Z:2.25 [[ 9.94008128e-01 -9.43902970e-02 -5.51208964e-02 1.43933870e+02] [ 9.42625433e-02 9.95535222e-01 -4.91884453e-03 3.18783152e+00] [ 5.53390850e-02 -3.06464441e-04 9.98467572e-01 2.24660581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.45925415399998 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:143.96, Y:3.19, Z:2.25 [[ 9.93355397e-01 -1.01415790e-01 -5.44048926e-02 1.43961030e+02] [ 1.01301057e-01 9.94843899e-01 -4.86957283e-03 3.18757581e+00] [ 5.46182271e-02 -6.74056679e-04 9.98507083e-01 2.24757878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.48925415399998 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:143.99, Y:3.19, Z:2.25 [[ 9.92971112e-01 -1.05125921e-01 -5.43774994e-02 1.43988838e+02] [ 1.05016419e-01 9.94458538e-01 -4.87515338e-03 3.18860787e+00] [ 5.45886735e-02 -8.69643816e-04 9.98508548e-01 2.24893923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.51925415399998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:144.02, Y:3.19, Z:2.25 [[ 9.92611705e-01 -1.08583294e-01 -5.41449049e-02 1.44018187e+02] [ 1.08479125e-01 9.94086809e-01 -4.86788754e-03 3.18999100e+00] [ 5.43533070e-02 -1.04166974e-03 9.98521223e-01 2.25054392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.54925415399998 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:144.05, Y:3.19, Z:2.25 [[ 9.92262684e-01 -1.11902177e-01 -5.37835304e-02 1.44047705e+02] [ 1.11804162e-01 9.93718487e-01 -4.83724462e-03 3.19146924e+00] [ 5.39869866e-02 -1.21340519e-03 9.98540902e-01 2.25187118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57925415399998 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:144.08, Y:3.19, Z:2.25 [[ 9.91567181e-01 -1.17841380e-01 -5.39252790e-02 1.44078685e+02] [ 1.17751565e-01 9.93031237e-01 -4.85085913e-03 3.19237772e+00] [ 5.41211184e-02 -1.53983327e-03 9.98533191e-01 2.25322090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60925415399998 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:144.11, Y:3.19, Z:2.25 [[ 9.91256497e-01 -1.20296022e-01 -5.42164494e-02 1.44108950e+02] [ 1.20208921e-01 9.92736639e-01 -4.87664850e-03 3.19409945e+00] [ 5.44092972e-02 -1.68329135e-03 9.98517298e-01 2.25424109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.63925415399999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:144.14, Y:3.20, Z:2.26 [[ 9.90954429e-01 -1.22674951e-01 -5.44074907e-02 1.44139144e+02] [ 1.22590964e-01 9.92445229e-01 -4.89108457e-03 3.19598832e+00] [ 5.45964681e-02 -1.82302481e-03 9.98506836e-01 2.25553891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.669254154 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:144.17, Y:3.20, Z:2.26 [[ 9.90670012e-01 -1.24880819e-01 -5.45683891e-02 1.44170405e+02] [ 1.24799688e-01 9.92169832e-01 -4.90527575e-03 3.19808551e+00] [ 5.47536843e-02 -1.95060834e-03 9.98497987e-01 2.25699760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.699254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:144.20, Y:3.20, Z:2.26 [[ 9.90098874e-01 -1.29153404e-01 -5.49874414e-02 1.44200526e+02] [ 1.29077700e-01 9.91622173e-01 -4.94102156e-03 3.19909969e+00] [ 5.51649159e-02 -2.20555256e-03 9.98474821e-01 2.25804155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.729254154 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:144.23, Y:3.20, Z:2.26 [[ 9.89838721e-01 -1.31224716e-01 -5.47666013e-02 1.44232162e+02] [ 1.31152843e-01 9.91349951e-01 -4.92002224e-03 3.20138075e+00] [ 5.49384960e-02 -2.31276696e-03 9.98487062e-01 2.25968895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.759254154 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:144.26, Y:3.20, Z:2.26 [[ 9.89546736e-01 -1.33558122e-01 -5.44011481e-02 1.44263269e+02] [ 1.33490831e-01 9.91038008e-01 -4.88516475e-03 3.20411541e+00] [ 5.45660589e-02 -2.42795564e-03 9.98507211e-01 2.26121116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.789254154 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:144.29, Y:3.21, Z:2.26 [[ 9.88892734e-01 -1.38548687e-01 -5.38091286e-02 1.44294661e+02] [ 1.38490351e-01 9.90352008e-01 -4.82946736e-03 3.20641460e+00] [ 5.39590949e-02 -2.67621990e-03 9.98539561e-01 2.26294671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.819254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:144.33, Y:3.21, Z:2.26 [[ 9.88505327e-01 -1.41248318e-01 -5.39085355e-02 1.44325958e+02] [ 1.41194087e-01 9.89970140e-01 -4.83245496e-03 3.20908750e+00] [ 5.40504166e-02 -2.83465896e-03 9.98534184e-01 2.26446782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.849254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:144.36, Y:3.22, Z:2.26 [[ 9.89185796e-01 -1.40596255e-01 -4.17630803e-02 1.44361883e+02] [ 1.38942497e-01 9.89485078e-01 -4.01778787e-02 3.22394908e+00] [ 4.69728041e-02 3.39407202e-02 9.98319379e-01 2.26316976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.879254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:144.39, Y:3.20, Z:2.26 [[ 9.87769783e-01 -1.44543172e-01 -5.84647499e-02 1.44386821e+02] [ 1.46608490e-01 9.88653681e-01 3.27085576e-02 3.19681639e+00] [ 5.30735916e-02 -4.08799535e-02 9.97753488e-01 2.25812282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.909254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:144.42, Y:3.22, Z:2.27 [[ 9.87212168e-01 -1.49130003e-01 -5.63238614e-02 1.44415241e+02] [ 1.49082229e-01 9.88811790e-01 -5.07271011e-03 3.21870956e+00] [ 5.64501915e-02 -3.38904566e-03 9.98399665e-01 2.26958295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.939254154 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:144.45, Y:3.22, Z:2.27 [[ 9.87086716e-01 -1.49801896e-01 -5.67380491e-02 1.44446534e+02] [ 1.49754741e-01 9.88709990e-01 -5.10619490e-03 3.22255056e+00] [ 5.68623936e-02 -3.45653468e-03 9.98376042e-01 2.27122743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.969254154 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:144.48, Y:3.23, Z:2.27 [[ 9.87084183e-01 -1.49543323e-01 -5.74596425e-02 1.44478390e+02] [ 1.49494916e-01 9.88749007e-01 -5.16441452e-03 3.22820666e+00] [ 5.75854681e-02 -3.49221254e-03 9.98334472e-01 2.27362537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.999254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:144.51, Y:3.23, Z:2.28 [[ 9.87209600e-01 -1.48590969e-01 -5.77748234e-02 1.44509751e+02] [ 1.48540659e-01 9.88892690e-01 -5.18838501e-03 3.23262322e+00] [ 5.79040477e-02 -3.45988687e-03 9.98316158e-01 2.27569639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.029254154 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:144.54, Y:3.24, Z:2.28 [[ 9.87461195e-01 -1.46921345e-01 -5.77451858e-02 1.44541220e+02] [ 1.46868496e-01 9.89142456e-01 -5.18138817e-03 3.23725807e+00] [ 5.78794714e-02 -3.36452881e-03 9.98317909e-01 2.27744007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.059254154 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:144.57, Y:3.24, Z:2.28 [[ 9.87772685e-01 -1.44815553e-01 -5.77371493e-02 1.44572286e+02] [ 1.44759373e-01 9.89453348e-01 -5.17654917e-03 3.24204431e+00] [ 5.78778605e-02 -3.24473968e-03 9.98318399e-01 2.27967556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.08925415399997 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:144.60, Y:3.25, Z:2.28 [[ 9.88676331e-01 -1.38983662e-01 -5.65920031e-02 1.44603491e+02] [ 1.38920343e-01 9.90290577e-01 -5.07061112e-03 3.24902501e+00] [ 5.67472595e-02 -2.84858728e-03 9.98384512e-01 2.28186401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.11925415399998 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:144.63, Y:3.25, Z:2.28 [[ 9.89162094e-01 -1.35542923e-01 -5.64488052e-02 1.44633869e+02] [ 1.35474566e-01 9.90767935e-01 -5.05371454e-03 3.25404693e+00] [ 5.66126614e-02 -2.64843452e-03 9.98392704e-01 2.28402029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.14925415399998 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:144.67, Y:3.26, Z:2.29 [[ 9.89712745e-01 -1.31612551e-01 -5.60965158e-02 1.44665237e+02] [ 1.31538929e-01 9.91298301e-01 -5.01890341e-03 3.25917398e+00] [ 5.62689315e-02 -2.41160295e-03 9.98412736e-01 2.28607749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17925415399998 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:144.70, Y:3.26, Z:2.29 [[ 9.90207014e-01 -1.27923592e-01 -5.59072884e-02 1.44697239e+02] [ 1.27844829e-01 9.91781589e-01 -4.99786438e-03 3.26444622e+00] [ 5.60871641e-02 -2.19853737e-03 9.98423455e-01 2.28820120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.20925415399998 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:144.73, Y:3.27, Z:2.29 [[ 9.90723066e-01 -1.24042122e-01 -5.55099775e-02 1.44728593e+02] [ 1.23958601e-01 9.92275001e-01 -4.95858496e-03 3.26951040e+00] [ 5.56962363e-02 -1.96835467e-03 9.98445820e-01 2.29003793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23925415399998 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:144.76, Y:3.28, Z:2.29 [[ 9.91654018e-01 -1.16608895e-01 -5.49970362e-02 1.44760202e+02] [ 1.16515614e-01 9.93176721e-01 -4.91049324e-03 3.27674764e+00] [ 5.51943833e-02 -1.53850310e-03 9.98474443e-01 2.29200966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.26925415399998 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:144.79, Y:3.28, Z:2.29 [[ 9.92025296e-01 -1.13263383e-01 -5.52921208e-02 1.44790733e+02] [ 1.13164131e-01 9.93564063e-01 -4.93284135e-03 3.28141238e+00] [ 5.54949745e-02 -1.36358138e-03 9.98458035e-01 2.29362696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.29925415399998 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:144.82, Y:3.29, Z:2.30 [[ 9.92387074e-01 -1.10150421e-01 -5.50888407e-02 1.44821562e+02] [ 1.10047266e-01 9.93914218e-01 -4.91180479e-03 3.28599774e+00] [ 5.52946194e-02 -1.18796472e-03 9.98469375e-01 2.29507053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:144.85, Y:3.29, Z:2.30 [[ 9.92639550e-01 -1.07408608e-01 -5.59474202e-02 1.44852623e+02] [ 1.07297975e-01 9.94214404e-01 -4.98632716e-03 3.29030221e+00] [ 5.61593055e-02 -1.05341932e-03 9.98421265e-01 2.29664418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35925415399998 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:144.88, Y:3.29, Z:2.30 [[ 9.92898525e-01 -1.04935197e-01 -5.60457247e-02 1.44882724e+02] [ 1.04820334e-01 9.94478639e-01 -4.99336951e-03 3.29436130e+00] [ 5.62602563e-02 -9.16822383e-04 9.98415717e-01 2.29783122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38925415399999 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:144.91, Y:3.30, Z:2.30 [[ 9.93244573e-01 -1.01079253e-01 -5.69930140e-02 1.44911645e+02] [ 1.00954119e-01 9.94878123e-01 -5.07793720e-03 3.29892546e+00] [ 5.72143769e-02 -7.10045930e-04 9.98361663e-01 2.29909576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.419254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:144.94, Y:3.30, Z:2.30 [[ 9.93370247e-01 -9.93366369e-02 -5.78600483e-02 1.44941872e+02] [ 9.92046592e-02 9.95053692e-01 -5.15607085e-03 3.30218988e+00] [ 5.80860415e-02 -6.18099004e-04 9.98311389e-01 2.29968150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.449254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:144.97, Y:3.31, Z:2.30 [[ 9.93461934e-01 -9.87175405e-02 -5.73431102e-02 1.44971435e+02] [ 9.85868608e-02 9.95115328e-01 -5.11036480e-03 3.30561518e+00] [ 5.75674905e-02 -5.76324318e-04 9.98341451e-01 2.30186369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.479254154 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:145.00, Y:3.31, Z:2.30 [[ 9.93499694e-01 -9.82224313e-02 -5.75387893e-02 1.45000532e+02] [ 9.80899141e-02 9.95164335e-01 -5.12977224e-03 3.30842494e+00] [ 5.77644097e-02 -5.47547743e-04 9.98330092e-01 2.30319762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.509254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:145.03, Y:3.31, Z:2.30 [[ 9.93441526e-01 -9.85385185e-02 -5.80008189e-02 1.45028990e+02] [ 9.84043165e-02 9.95133075e-01 -5.17241873e-03 3.31053481e+00] [ 5.82282157e-02 -5.69035383e-04 9.98303136e-01 2.30452084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.539254154 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:145.06, Y:3.31, Z:2.31 [[ 9.93344344e-01 -9.96473036e-02 -5.77704929e-02 1.45057678e+02] [ 9.95157390e-02 9.95022624e-01 -5.15704553e-03 3.31277115e+00] [ 5.79968331e-02 -6.26351282e-04 9.98316571e-01 2.30536511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.569254154 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:145.09, Y:3.31, Z:2.31 [[ 9.93229800e-01 -1.00634730e-01 -5.80277173e-02 1.45086934e+02] [ 1.00502940e-01 9.94923211e-01 -5.19259093e-03 3.31483224e+00] [ 5.82556778e-02 -6.74520129e-04 9.98301468e-01 2.30675779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.599254154 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:145.12, Y:3.32, Z:2.31 [[ 9.92973398e-01 -1.03458112e-01 -5.74478018e-02 1.45115541e+02] [ 1.03333530e-01 9.94633466e-01 -5.14299918e-03 3.31641644e+00] [ 5.76715912e-02 -8.29422773e-04 9.98335264e-01 2.30794613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.629254154 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:145.15, Y:3.32, Z:2.31 [[ 9.92848193e-01 -1.04966333e-01 -5.68729738e-02 1.45145932e+02] [ 1.04846555e-01 9.94475364e-01 -5.09415851e-03 3.31854018e+00] [ 5.70934864e-02 -9.05209276e-04 9.98368426e-01 2.30957832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.659254154 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:145.18, Y:3.32, Z:2.31 [[ 9.92850149e-01 -1.04947823e-01 -5.68729891e-02 1.45176779e+02] [ 1.04828024e-01 9.94477318e-01 -5.09398743e-03 3.32130561e+00] [ 5.70935006e-02 -9.04316888e-04 9.98368426e-01 2.31106339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.689254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:145.21, Y:3.32, Z:2.31 [[ 9.92767054e-01 -1.06064864e-01 -5.62478484e-02 1.45206740e+02] [ 1.05949536e-01 9.94358751e-01 -5.03694830e-03 3.32332622e+00] [ 5.64647835e-02 -9.58917110e-04 9.98404131e-01 2.31277722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.719254154 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:145.24, Y:3.33, Z:2.31 [[ 9.92673355e-01 -1.07135783e-01 -5.58706842e-02 1.45237951e+02] [ 1.07023757e-01 9.94243881e-01 -5.00198531e-03 3.32549199e+00] [ 5.60849776e-02 -1.01415300e-03 9.98425484e-01 2.31480341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.749254154 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:145.27, Y:3.33, Z:2.32 [[ 9.92509138e-01 -1.08918530e-01 -5.53386305e-02 1.45268452e+02] [ 1.08811501e-01 9.94050064e-01 -4.95245192e-03 3.32661552e+00] [ 5.55487830e-02 -1.10612568e-03 9.98455362e-01 2.31626668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.779254154 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:145.30, Y:3.33, Z:2.32 [[ 9.92492104e-01 -1.09189138e-01 -5.51103872e-02 1.45298398e+02] [ 1.09083457e-01 9.94020364e-01 -4.93114824e-03 3.32853233e+00] [ 5.53192749e-02 -1.11750585e-03 9.98468091e-01 2.31777411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.809254154 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:145.33, Y:3.33, Z:2.32 [[ 9.92568988e-01 -1.08610373e-01 -5.48688458e-02 1.45330104e+02] [ 1.08504747e-01 9.94083809e-01 -4.90927144e-03 3.33045703e+00] [ 5.50774290e-02 -1.08073966e-03 9.98481501e-01 2.31953395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.83925415399997 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:145.36, Y:3.33, Z:2.32 [[ 9.92645536e-01 -1.07864619e-01 -5.49551088e-02 1.45361169e+02] [ 1.07757631e-01 9.94165045e-01 -4.91495783e-03 3.33250197e+00] [ 5.51645983e-02 -1.04302141e-03 9.98476729e-01 2.32056274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:145.39, Y:3.33, Z:2.32 [[ 9.92750903e-01 -1.06840452e-01 -5.50523652e-02 1.45392824e+02] [ 1.06731625e-01 9.94275685e-01 -4.92160385e-03 3.33444660e+00] [ 5.52630545e-02 -9.89901750e-04 9.98471339e-01 2.32173834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:145.42, Y:3.34, Z:2.32 [[ 9.92874870e-01 -1.05702957e-01 -5.50125111e-02 1.45424569e+02] [ 1.05592658e-01 9.94397317e-01 -4.91598837e-03 3.33659594e+00] [ 5.52239279e-02 -9.27955933e-04 9.98473563e-01 2.32300902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92925415399998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:145.45, Y:3.34, Z:2.32 [[ 9.93139304e-01 -1.03202744e-01 -5.49865146e-02 1.45454467e+02] [ 1.03088826e-01 9.94660027e-01 -4.91174235e-03 3.33776018e+00] [ 5.51997933e-02 -7.90450852e-04 9.98475016e-01 2.32354178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.95925415399998 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:145.48, Y:3.34, Z:2.32 [[ 9.93287568e-01 -1.01638189e-01 -5.52221515e-02 1.45484762e+02] [ 1.01520926e-01 9.94821179e-01 -4.93190032e-03 3.33935562e+00] [ 5.54374353e-02 -7.07408659e-04 9.98461912e-01 2.32314012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.98925415399998 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:145.52, Y:3.34, Z:2.32 [[ 9.93488499e-01 -9.93738424e-02 -5.57264956e-02 1.45515018e+02] [ 9.92508660e-02 9.95049997e-01 -4.97694338e-03 3.34117553e+00] [ 5.59452272e-02 -5.86366941e-04 9.98433667e-01 2.32458997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.01925415399998 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:145.54, Y:3.35, Z:2.33 [[ 9.93584778e-01 -9.78836586e-02 -5.66399021e-02 1.45543259e+02] [ 9.73356152e-02 9.95174841e-01 -1.23617580e-02 3.34700903e+00] [ 5.75766197e-02 6.76937489e-03 9.98318140e-01 2.32809994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.04925415399998 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:145.57, Y:3.34, Z:2.33 [[ 9.93734428e-01 -9.66511282e-02 -5.61288266e-02 1.45573047e+02] [ 9.69172312e-02 9.95290370e-01 2.03197178e-03 3.34241687e+00] [ 5.56680882e-02 -7.45909078e-03 9.98421467e-01 2.32565683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.07925415399998 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:145.60, Y:3.35, Z:2.33 [[ 9.93878601e-01 -9.55815424e-02 -5.54030332e-02 1.45601569e+02] [ 9.54530413e-02 9.95421541e-01 -4.96707789e-03 3.34785348e+00] [ 5.56241337e-02 -3.51715592e-04 9.98451717e-01 2.32906968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.10925415399998 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:145.63, Y:3.35, Z:2.33 [[ 9.94041808e-01 -9.40099000e-02 -5.51636058e-02 1.45630397e+02] [ 9.38792869e-02 9.95571232e-01 -4.96007825e-03 3.34974727e+00] [ 5.53855955e-02 -2.48194836e-04 9.98465009e-01 2.33057631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.13925415399999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:145.66, Y:3.35, Z:2.33 [[ 9.94329614e-01 -9.13247156e-02 -5.44831672e-02 1.45658944e+02] [ 9.11925015e-02 9.95821163e-01 -4.91307172e-03 3.35077453e+00] [ 5.47041758e-02 -8.32435979e-05 9.98502602e-01 2.33192439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.169254154 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:145.69, Y:3.35, Z:2.33 [[ 9.94384008e-01 -9.07573126e-02 -5.44385477e-02 1.45687928e+02] [ 9.06236838e-02 9.95873038e-01 -4.92332847e-03 3.35235937e+00] [ 5.46607100e-02 -3.77426344e-05 9.98504985e-01 2.33314487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.199254154 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:145.72, Y:3.35, Z:2.33 [[ 9.94457114e-01 -9.01488038e-02 -5.41132286e-02 1.45715715e+02] [ 9.00151626e-02 9.95928307e-01 -4.90687336e-03 3.35355853e+00] [ 5.43352449e-02 8.66405651e-06 9.98522749e-01 2.33424028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.229254154 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:145.74, Y:3.35, Z:2.34 [[ 9.94415499e-01 -9.03605075e-02 -5.45233362e-02 1.45743668e+02] [ 9.02247959e-02 9.95909122e-01 -4.95050803e-03 3.35479816e+00] [ 5.47476183e-02 3.50503407e-06 9.98500224e-01 2.33530345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.259254154 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:145.77, Y:3.36, Z:2.34 [[ 9.94375564e-01 -9.08542471e-02 -5.44310806e-02 1.45771740e+02] [ 9.07189356e-02 9.95864200e-01 -4.95671399e-03 3.35603190e+00] [ 5.46563030e-02 -9.09442500e-06 9.98505227e-01 2.33625475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.289254154 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:145.80, Y:3.36, Z:2.34 [[ 9.94193577e-01 -9.26909635e-02 -5.46581866e-02 1.45799553e+02] [ 9.25569415e-02 9.95694920e-01 -4.98378848e-03 3.35539445e+00] [ 5.48848309e-02 -1.04144085e-04 9.98492686e-01 2.33561092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.319254154 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:145.83, Y:3.36, Z:2.34 [[ 9.93980982e-01 -9.50590176e-02 -5.44572376e-02 1.45827267e+02] [ 9.49287356e-02 9.95471614e-01 -4.97997961e-03 3.35701478e+00] [ 5.46840262e-02 -2.19551694e-04 9.98503685e-01 2.33876363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.349254154 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:145.86, Y:3.36, Z:2.34 [[ 9.93778197e-01 -9.72851551e-02 -5.42263235e-02 1.45856137e+02] [ 9.71589623e-02 9.95256493e-01 -4.96481905e-03 3.35820510e+00] [ 5.44521037e-02 -3.34644403e-04 9.98516328e-01 2.34007431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.379254154 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:145.88, Y:3.36, Z:2.34 [[ 9.93262499e-01 -1.02316238e-01 -5.44150259e-02 1.45884616e+02] [ 1.02195947e-01 9.94751742e-01 -4.99593779e-03 3.35836070e+00] [ 5.46406074e-02 -5.98717466e-04 9.98505907e-01 2.34142414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.409254154 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:145.91, Y:3.36, Z:2.34 [[ 9.92989563e-01 -1.05041004e-01 -5.42043841e-02 1.45913491e+02] [ 1.04924931e-01 9.94467622e-01 -4.99067984e-03 3.35968379e+00] [ 5.44287310e-02 -7.31698257e-04 9.98517390e-01 2.34305191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.439254154 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:145.94, Y:3.36, Z:2.34 [[ 9.92708596e-01 -1.07667951e-01 -5.41964519e-02 1.45941697e+02] [ 1.07555124e-01 9.94186536e-01 -5.00274830e-03 3.36102545e+00] [ 5.44200184e-02 -8.62834875e-04 9.98517760e-01 2.34435528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.469254154 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:145.97, Y:3.36, Z:2.35 [[ 9.92270962e-01 -1.12416715e-01 -5.25435105e-02 1.45971101e+02] [ 1.12317170e-01 9.93660557e-01 -4.85290991e-03 3.36099100e+00] [ 5.27559621e-02 -1.08613683e-03 9.98606844e-01 2.34555958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.499254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:146.00, Y:3.36, Z:2.35 [[ 9.92115772e-01 -1.13992740e-01 -5.20763782e-02 1.46002178e+02] [ 1.13897043e-01 9.93480908e-01 -4.81135242e-03 3.36245888e+00] [ 5.22853468e-02 -1.15792689e-03 9.98631514e-01 2.34546978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.529254154 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:146.03, Y:3.36, Z:2.35 [[ 9.91962150e-01 -1.15901628e-01 -5.07730801e-02 1.46032620e+02] [ 1.15813248e-01 9.93259937e-01 -4.68919349e-03 3.36454937e+00] [ 5.09743515e-02 -1.22869286e-03 9.98699207e-01 2.34876014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.559254154 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:146.06, Y:3.37, Z:2.35 [[ 9.91825918e-01 -1.17220241e-01 -5.04059792e-02 1.46064094e+02] [ 1.17134841e-01 9.93105109e-01 -4.65518609e-03 3.36644200e+00] [ 5.06041175e-02 -1.28716215e-03 9.98717961e-01 2.35040930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58925415399997 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:146.09, Y:3.37, Z:2.35 [[ 9.91728227e-01 -1.18786213e-01 -4.86308433e-02 1.46094277e+02] [ 1.18708688e-01 9.92918975e-01 -4.48949774e-03 3.36758420e+00] [ 4.88197775e-02 -1.32054199e-03 9.98806731e-01 2.35146296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61925415399998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:146.13, Y:3.37, Z:2.35 [[ 9.91742923e-01 -1.18904856e-01 -4.80375840e-02 1.46125982e+02] [ 1.18829394e-01 9.92904787e-01 -4.43382119e-03 3.37000529e+00] [ 4.82239499e-02 -1.31106622e-03 9.98835688e-01 2.35308330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64925415399998 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:146.16, Y:3.37, Z:2.35 [[ 9.91848514e-01 -1.18179721e-01 -4.76453467e-02 1.46157327e+02] [ 1.18104822e-01 9.92991412e-01 -4.39405062e-03 3.37237617e+00] [ 4.78307078e-02 -1.26891261e-03 9.98854651e-01 2.35461078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67925415399998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:146.19, Y:3.38, Z:2.36 [[ 9.91958780e-01 -1.17349298e-01 -4.74016999e-02 1.46189258e+02] [ 1.17274342e-01 9.93089946e-01 -4.36893780e-03 3.37504711e+00] [ 4.75868434e-02 -1.22519697e-03 9.98866353e-01 2.35547880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:146.22, Y:3.38, Z:2.36 [[ 9.92328132e-01 -1.14370020e-01 -4.69507960e-02 1.46220712e+02] [ 1.14293315e-01 9.93437639e-01 -4.32389319e-03 3.37743326e+00] [ 4.71372117e-02 -1.07544128e-03 9.98887845e-01 2.35642950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73925415399998 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:146.25, Y:3.38, Z:2.36 [[ 9.92530863e-01 -1.12662316e-01 -4.67941047e-02 1.46252755e+02] [ 1.12584306e-01 9.93632838e-01 -4.30777994e-03 3.38014196e+00] [ 4.69814835e-02 -9.92677247e-04 9.98895267e-01 2.35760242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76925415399998 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:146.28, Y:3.38, Z:2.36 [[ 9.92756666e-01 -1.10680707e-01 -4.67331155e-02 1.46283725e+02] [ 1.10600872e-01 9.93855608e-01 -4.29863087e-03 3.38226371e+00] [ 4.69217444e-02 -9.01228857e-04 9.98898162e-01 2.35893054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79925415399998 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:146.31, Y:3.38, Z:2.36 [[ 9.93191413e-01 -1.06775601e-01 -4.65809932e-02 1.46314210e+02] [ 1.06692072e-01 9.94282886e-01 -4.28292671e-03 3.38414293e+00] [ 4.67719964e-02 -7.16056667e-04 9.98905335e-01 2.35923822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82925415399998 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:146.34, Y:3.39, Z:2.36 [[ 9.93367958e-01 -1.04761133e-01 -4.73836018e-02 1.46343416e+02] [ 1.04672557e-01 9.94497211e-01 -4.35360406e-03 3.38635192e+00] [ 4.75789483e-02 -6.35032017e-04 9.98867279e-01 2.36073440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85925415399998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:146.37, Y:3.39, Z:2.36 [[ 9.93537208e-01 -1.02953378e-01 -4.77955804e-02 1.46372951e+02] [ 1.02861123e-01 9.94686029e-01 -4.39232883e-03 3.38893562e+00] [ 4.79938012e-02 -5.52364950e-04 9.98847481e-01 2.36167185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88925415399999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:146.40, Y:3.39, Z:2.36 [[ 9.93784142e-01 -9.97797638e-02 -4.93667728e-02 1.46402238e+02] [ 9.96773801e-02 9.95009462e-01 -4.53765633e-03 3.39120509e+00] [ 4.95731724e-02 -4.11299683e-04 9.98770410e-01 2.36235267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.919254154 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:146.43, Y:3.39, Z:2.36 [[ 9.93818965e-01 -9.89994368e-02 -5.02292310e-02 1.46430625e+02] [ 9.88923260e-02 9.95087418e-01 -4.61932111e-03 3.39339839e+00] [ 5.04397860e-02 -3.76516554e-04 9.98727033e-01 2.36307162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.949254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:146.46, Y:3.40, Z:2.36 [[ 9.93825728e-01 -9.86005065e-02 -5.08759579e-02 1.46459764e+02] [ 9.84894212e-02 9.95127037e-01 -4.69198370e-03 3.39542649e+00] [ 5.10906732e-02 -3.47729532e-04 9.98693958e-01 2.36414231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.979254154 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:146.49, Y:3.40, Z:2.37 [[ 9.93836512e-01 -9.82080509e-02 -5.14214625e-02 1.46487326e+02] [ 9.80933739e-02 9.95165854e-01 -4.75525766e-03 3.39730969e+00] [ 5.16398883e-02 -3.18156062e-04 9.98665720e-01 2.36533992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.009254154 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:146.52, Y:3.40, Z:2.37 [[ 9.93750377e-01 -9.89231167e-02 -5.17146474e-02 1.46515081e+02] [ 9.88078019e-02 9.95095017e-01 -4.78800810e-03 3.39957588e+00] [ 5.19346327e-02 -3.51725785e-04 9.98650424e-01 2.36712376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.039254154 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:146.54, Y:3.40, Z:2.37 [[ 9.93672742e-01 -9.97814494e-02 -5.15571894e-02 1.46542367e+02] [ 9.96672035e-02 9.95009305e-01 -4.78860859e-03 3.40212903e+00] [ 5.17776975e-02 -3.80251055e-04 9.98658563e-01 2.36869023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.069254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:146.57, Y:3.40, Z:2.37 [[ 9.93606358e-01 -1.00711546e-01 -5.10253881e-02 1.46570326e+02] [ 1.00600131e-01 9.94915583e-01 -4.75365440e-03 3.40451812e+00] [ 5.12447016e-02 -4.09899483e-04 9.98686043e-01 2.37045950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.099254154 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:146.60, Y:3.41, Z:2.37 [[ 9.93464820e-01 -1.02444447e-01 -5.03267926e-02 1.46598899e+02] [ 1.02337921e-01 9.94738609e-01 -4.69576026e-03 3.40679651e+00] [ 5.05430582e-02 -4.85266709e-04 9.98721765e-01 2.37202080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.129254154 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:146.63, Y:3.41, Z:2.37 [[ 9.93142228e-01 -1.06407346e-01 -4.84354361e-02 1.46627630e+02] [ 1.06312801e-01 9.94322410e-01 -4.53131942e-03 3.40810626e+00] [ 4.86426052e-02 -6.49062216e-04 9.98816037e-01 2.37332404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.159254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:146.66, Y:3.41, Z:2.37 [[ 9.92923312e-01 -1.08718629e-01 -4.77865729e-02 1.46657702e+02] [ 1.08629149e-01 9.94072280e-01 -4.47322656e-03 3.40998304e+00] [ 4.79896306e-02 -7.49443843e-04 9.98847553e-01 2.37484375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.189254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:146.69, Y:3.41, Z:2.38 [[ 9.92645828e-01 -1.11425292e-01 -4.73145235e-02 1.46688192e+02] [ 1.11340644e-01 9.93772431e-01 -4.42903875e-03 3.41210294e+00] [ 4.75133760e-02 -8.71562678e-04 9.98870222e-01 2.37648285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.219254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:146.72, Y:3.41, Z:2.38 [[ 9.92009657e-01 -1.17379988e-01 -4.62469396e-02 1.46718607e+02] [ 1.17305576e-01 9.93086432e-01 -4.32912953e-03 3.41321179e+00] [ 4.64353613e-02 -1.13048559e-03 9.98920657e-01 2.37767702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.249254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:146.75, Y:3.42, Z:2.38 [[ 9.91632416e-01 -1.20552804e-01 -4.61754614e-02 1.46750210e+02] [ 1.20482095e-01 9.92706094e-01 -4.32162298e-03 3.41536797e+00] [ 4.63596457e-02 -1.27785487e-03 9.98923996e-01 2.37917511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.279254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:146.78, Y:3.42, Z:2.38 [[ 9.91196668e-01 -1.23987348e-01 -4.64360028e-02 1.46780776e+02] [ 1.23919678e-01 9.92282742e-01 -4.34432599e-03 3.41722715e+00] [ 4.66162857e-02 -1.44825309e-03 9.98911820e-01 2.38075046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30925415399997 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:146.81, Y:3.42, Z:2.38 [[ 9.90660604e-01 -1.27970201e-01 -4.70658682e-02 1.46812735e+02] [ 1.27905312e-01 9.91776623e-01 -4.40022351e-03 3.41935858e+00] [ 4.72419253e-02 -1.66084648e-03 9.98882096e-01 2.38211053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33925415399997 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:146.84, Y:3.42, Z:2.38 [[ 9.90113432e-01 -1.32049139e-01 -4.73119142e-02 1.46843541e+02] [ 1.31988384e-01 9.91241410e-01 -4.41965759e-03 3.42108126e+00] [ 4.74811405e-02 -1.86866078e-03 9.98870387e-01 2.38309566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36925415399998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:146.88, Y:3.42, Z:2.38 [[ 9.88812100e-01 -1.40847594e-01 -4.91180926e-02 1.46875968e+02] [ 1.40793069e-01 9.90028426e-01 -4.58550922e-03 3.42209627e+00] [ 4.92741658e-02 -2.38128002e-03 9.98782452e-01 2.38378842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39925415399998 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:146.91, Y:3.42, Z:2.38 [[ 9.88196266e-01 -1.44886234e-01 -4.97606138e-02 1.46907279e+02] [ 1.44835568e-01 9.89444851e-01 -4.64164229e-03 3.42430392e+00] [ 4.99078932e-02 -2.62025319e-03 9.98750387e-01 2.38475380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42925415399998 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:146.94, Y:3.43, Z:2.39 [[ 9.87663887e-01 -1.48391906e-01 -4.99988856e-02 1.46939739e+02] [ 1.48345519e-01 9.88924623e-01 -4.65805199e-03 3.42712375e+00] [ 5.01363463e-02 -2.81652090e-03 9.98738411e-01 2.38628341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.45925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:146.97, Y:3.43, Z:2.39 [[ 9.87169887e-01 -1.51438205e-01 -5.06170426e-02 1.46970993e+02] [ 1.51394843e-01 9.88462139e-01 -4.71190031e-03 3.43044908e+00] [ 5.07465919e-02 -3.01171309e-03 9.98707021e-01 2.38769312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.48925415399998 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:147.00, Y:3.43, Z:2.39 [[ 9.86821701e-01 -1.53535099e-01 -5.10872163e-02 1.47002946e+02] [ 1.53493875e-01 9.88138169e-01 -4.75275985e-03 3.43416415e+00] [ 5.12109439e-02 -3.15144823e-03 9.98682886e-01 2.38928698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.51925415399998 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:147.03, Y:3.44, Z:2.39 [[ 9.86576131e-01 -1.54943789e-01 -5.15747924e-02 1.47034999e+02] [ 1.54903889e-01 9.87917911e-01 -4.79429936e-03 3.43929734e+00] [ 5.16945081e-02 -3.25919462e-03 9.98657627e-01 2.39039159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.54925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:147.07, Y:3.44, Z:2.39 [[ 9.86647553e-01 -1.54402896e-01 -5.18300298e-02 1.47066390e+02] [ 1.54362058e-01 9.88002621e-01 -4.81418085e-03 3.44379402e+00] [ 5.19515287e-02 -3.25069029e-03 9.98644317e-01 2.39189922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.57925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:147.10, Y:3.45, Z:2.39 [[ 9.86661886e-01 -1.54311154e-01 -5.18303947e-02 1.47098914e+02] [ 1.54270396e-01 9.88016957e-01 -4.81024967e-03 3.44675241e+00] [ 5.19515840e-02 -3.24980548e-03 9.98644317e-01 2.39346305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.60925415399998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:147.13, Y:3.45, Z:2.39 [[ 9.86889753e-01 -1.52901080e-01 -5.16708425e-02 1.47130705e+02] [ 1.52858894e-01 9.88236413e-01 -4.79068578e-03 3.45158476e+00] [ 5.17955090e-02 -3.17046912e-03 9.98652679e-01 2.39477501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.63925415399999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:147.16, Y:3.46, Z:2.40 [[ 9.87196634e-01 -1.50939995e-01 -5.15744493e-02 1.47161608e+02] [ 1.50895499e-01 9.88538173e-01 -4.77791569e-03 3.45644874e+00] [ 5.17044905e-02 -3.06560998e-03 9.98657723e-01 2.39630253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.669254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:147.19, Y:3.46, Z:2.40 [[ 9.87861135e-01 -1.46576259e-01 -5.14371243e-02 1.47192923e+02] [ 1.46526256e-01 9.89195318e-01 -4.76222720e-03 3.46430484e+00] [ 5.15793920e-02 -2.83247008e-03 9.98664880e-01 2.39804721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.699254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:147.22, Y:3.47, Z:2.40 [[ 9.88187539e-01 -1.44304142e-01 -5.15916944e-02 1.47224573e+02] [ 1.44250952e-01 9.89529628e-01 -4.77268839e-03 3.46974425e+00] [ 5.17402288e-02 -2.72583983e-03 9.98656857e-01 2.39985177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.729254154 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:147.26, Y:3.48, Z:2.40 [[ 9.88698669e-01 -1.40653641e-01 -5.18796149e-02 1.47256140e+02] [ 1.40595046e-01 9.90055573e-01 -4.79545599e-03 3.47755405e+00] [ 5.20382002e-02 -2.55275587e-03 9.98641832e-01 2.40125019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.759254154 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:147.29, Y:3.48, Z:2.40 [[ 9.88886260e-01 -1.39270749e-01 -5.20348311e-02 1.47287649e+02] [ 1.39210096e-01 9.90251207e-01 -4.80592173e-03 3.48267152e+00] [ 5.21968786e-02 -2.49126388e-03 9.98633706e-01 2.40259681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.789254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:147.32, Y:3.49, Z:2.40 [[ 9.89003195e-01 -1.38379726e-01 -5.21893798e-02 1.47319687e+02] [ 1.38317679e-01 9.90376203e-01 -4.81631890e-03 3.48763697e+00] [ 5.23536007e-02 -2.45535910e-03 9.98625591e-01 2.40431063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.819254154 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:147.35, Y:3.49, Z:2.41 [[ 9.89094560e-01 -1.37615909e-01 -5.24767861e-02 1.47350609e+02] [ 1.37552324e-01 9.90482683e-01 -4.83868692e-03 3.49250556e+00] [ 5.26432282e-02 -2.43238500e-03 9.98610422e-01 2.40574069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.849254154 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:147.38, Y:3.50, Z:2.41 [[ 9.89195707e-01 -1.36792606e-01 -5.27222559e-02 1.47381575e+02] [ 1.36727573e-01 9.90596788e-01 -4.85540877e-03 3.49726885e+00] [ 5.28906813e-02 -2.40563655e-03 9.98597411e-01 2.40706381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.879254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:147.41, Y:3.50, Z:2.41 [[ 9.89501182e-01 -1.34246221e-01 -5.35290845e-02 1.47413580e+02] [ 1.34175632e-01 9.90945320e-01 -4.92662906e-03 3.50425163e+00] [ 5.37057771e-02 -2.30739345e-03 9.98554137e-01 2.40788351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.909254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:147.45, Y:3.51, Z:2.41 [[ 9.89682091e-01 -1.32839640e-01 -5.36934783e-02 1.47445746e+02] [ 1.32766765e-01 9.91135008e-01 -4.93779657e-03 3.51001088e+00] [ 5.38734211e-02 -2.24186059e-03 9.98545256e-01 2.41108090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.939254154 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:147.48, Y:3.52, Z:2.41 [[ 9.90049656e-01 -1.30187678e-01 -5.34120547e-02 1.47477149e+02] [ 1.30111922e-01 9.91487165e-01 -4.90803149e-03 3.51527570e+00] [ 5.35963319e-02 -2.09035019e-03 9.98560496e-01 2.41289641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.969254154 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:147.51, Y:3.52, Z:2.41 [[ 9.90995091e-01 -1.23185243e-01 -5.24797615e-02 1.47507343e+02] [ 1.23102493e-01 9.92382263e-01 -4.81869685e-03 3.52320095e+00] [ 5.26735769e-02 -1.68508456e-03 9.98610362e-01 2.41485902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.999254154 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:147.54, Y:3.53, Z:2.42 [[ 9.91577173e-01 -1.18687369e-01 -5.18460990e-02 1.47538859e+02] [ 1.18600611e-01 9.92930642e-01 -4.75766628e-03 3.52855304e+00] [ 5.20442553e-02 -1.43138574e-03 9.98643754e-01 2.41653888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.029254154 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:147.57, Y:3.53, Z:2.42 [[ 9.92182146e-01 -1.13628607e-01 -5.16055037e-02 1.47569613e+02] [ 1.13536000e-01 9.93522614e-01 -4.73201008e-03 3.53359381e+00] [ 5.18089266e-02 -1.16406657e-03 9.98656337e-01 2.41849478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.05925415399997 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:147.60, Y:3.54, Z:2.42 [[ 9.93306334e-01 -1.03605639e-01 -5.10724924e-02 1.47601176e+02] [ 1.03501827e-01 9.94618251e-01 -4.68038927e-03 3.54111653e+00] [ 5.12825478e-02 -6.37035950e-04 9.98683981e-01 2.41989582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.08925415399997 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:147.63, Y:3.55, Z:2.42 [[ 9.93806129e-01 -9.89350338e-02 -5.06086563e-02 1.47632152e+02] [ 9.88272286e-02 9.95093816e-01 -4.63428316e-03 3.54633253e+00] [ 5.08188539e-02 -3.95934233e-04 9.98707809e-01 2.42156514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.11925415399998 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:147.66, Y:3.55, Z:2.42 [[ 9.94193269e-01 -9.48644213e-02 -5.07984787e-02 1.47661945e+02] [ 9.47505865e-02 9.95490183e-01 -4.64983973e-03 3.55128731e+00] [ 5.10104913e-02 -1.90346293e-04 9.98698099e-01 2.42315771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.14925415399998 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:147.69, Y:3.56, Z:2.42 [[ 9.94523086e-01 -9.15918774e-02 -5.03463926e-02 1.47692111e+02] [ 9.14759129e-02 9.95796630e-01 -4.60759178e-03 3.55596798e+00] [ 5.05567860e-02 -2.31258258e-05 9.98721188e-01 2.42435722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17925415399998 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:147.72, Y:3.56, Z:2.43 [[ 9.94706500e-01 -8.93923587e-02 -5.06752844e-02 1.47722176e+02] [ 8.92720229e-02 9.95996485e-01 -4.63763605e-03 3.56017178e+00] [ 5.08869743e-02 8.92015795e-05 9.98704415e-01 2.42565616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.20925415399998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:147.75, Y:3.56, Z:2.43 [[ 9.94832362e-01 -8.76994990e-02 -5.11602253e-02 1.47752279e+02] [ 8.75746555e-02 9.96146960e-01 -4.68113595e-03 3.56464593e+00] [ 5.13736362e-02 1.76606427e-04 9.98679487e-01 2.42628573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:147.78, Y:3.57, Z:2.43 [[ 9.94766502e-01 -8.82886590e-02 -5.14268392e-02 1.47781927e+02] [ 8.81632895e-02 9.96094921e-01 -4.70567030e-03 3.56789674e+00] [ 5.16414707e-02 1.47083866e-04 9.98665678e-01 2.42728194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26925415399998 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:147.81, Y:3.57, Z:2.43 [[ 9.94600349e-01 -8.97512128e-02 -5.21043670e-02 1.47811550e+02] [ 8.96244188e-02 9.95964213e-01 -4.76961453e-03 3.57108454e+00] [ 5.23221636e-02 7.40366698e-05 9.98630255e-01 2.42874877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:147.84, Y:3.57, Z:2.43 [[ 9.94405785e-01 -9.16793028e-02 -5.24598928e-02 1.47841278e+02] [ 9.15533496e-02 9.95788584e-01 -4.80410314e-03 3.57404775e+00] [ 5.26793992e-02 -2.56509518e-05 9.98611476e-01 2.43003699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32925415399998 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:147.87, Y:3.58, Z:2.43 [[ 9.93867592e-01 -9.71497727e-02 -5.28122315e-02 1.47870375e+02] [ 9.70297349e-02 9.95269723e-01 -4.83824203e-03 3.57710604e+00] [ 5.30324492e-02 -3.15784876e-04 9.98592740e-01 2.43153354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.35925415399998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:147.90, Y:3.58, Z:2.43 [[ 9.93551108e-01 -1.00322246e-01 -5.28359952e-02 1.47901923e+02] [ 1.00206545e-01 9.94954879e-01 -4.84110421e-03 3.57978983e+00] [ 5.30551017e-02 -4.84628057e-04 9.98591469e-01 2.43301830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.38925415399999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:147.93, Y:3.58, Z:2.43 [[ 9.93182101e-01 -1.03746003e-01 -5.31608963e-02 1.47933156e+02] [ 1.03633878e-01 9.94603596e-01 -4.86890088e-03 3.58244810e+00] [ 5.33791476e-02 -6.73564631e-04 9.98574090e-01 2.43440669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.419254154 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:147.97, Y:3.58, Z:2.44 [[ 9.92838342e-01 -1.07026297e-01 -5.30791667e-02 1.47965150e+02] [ 1.06919313e-01 9.94255826e-01 -4.85925588e-03 3.58497008e+00] [ 5.32943389e-02 -8.50732511e-04 9.98578484e-01 2.43553423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.449254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:147.99, Y:3.59, Z:2.44 [[ 9.92149504e-01 -1.12351855e-01 -5.49219596e-02 1.47993288e+02] [ 1.11712166e-01 9.93633474e-01 -1.45915040e-02 3.59175364e+00] [ 5.62116800e-02 8.34150241e-03 9.98384028e-01 2.43996322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.479254154 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:148.03, Y:3.59, Z:2.44 [[ 9.91732103e-01 -1.16216212e-01 -5.44171745e-02 1.48028043e+02] [ 1.16607694e-01 9.93169737e-01 4.06431463e-03 3.58551159e+00] [ 5.35731516e-02 -1.03761725e-02 9.98510016e-01 2.43611190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.509254154 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:148.06, Y:3.59, Z:2.44 [[ 9.91431652e-01 -1.19319334e-01 -5.31617865e-02 1.48059989e+02] [ 1.19230029e-01 9.92854765e-01 -4.85959389e-03 3.59266434e+00] [ 5.33617765e-02 -1.52052614e-03 9.98574088e-01 2.44033981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.539254154 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:148.09, Y:3.60, Z:2.44 [[ 9.91104664e-01 -1.22025466e-01 -5.31161927e-02 1.48091005e+02] [ 1.21940399e-01 9.92525567e-01 -4.85157671e-03 3.59555175e+00] [ 5.33111952e-02 -1.66858942e-03 9.98576553e-01 2.44206894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.569254154 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:148.12, Y:3.60, Z:2.44 [[ 9.90427400e-01 -1.27433839e-01 -5.30488589e-02 1.48123196e+02] [ 1.27356886e-01 9.91845136e-01 -4.84238662e-03 3.59811652e+00] [ 5.32333366e-02 -1.96010510e-03 9.98580177e-01 2.44346980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.599254154 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:148.16, Y:3.60, Z:2.44 [[ 9.90048150e-01 -1.30328349e-01 -5.30959723e-02 1.48155558e+02] [ 1.30255623e-01 9.91468618e-01 -4.84273040e-03 3.60091018e+00] [ 5.32741353e-02 -2.12151269e-03 9.98577671e-01 2.44480397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.629254154 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:148.19, Y:3.60, Z:2.45 [[ 9.89668977e-01 -1.33226231e-01 -5.29725155e-02 1.48186291e+02] [ 1.33158205e-01 9.91083039e-01 -4.82727189e-03 3.60346922e+00] [ 5.31432808e-02 -2.27632386e-03 9.98584303e-01 2.44611161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.659254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:148.22, Y:3.61, Z:2.45 [[ 9.88827895e-01 -1.39159995e-01 -5.34218055e-02 1.48218179e+02] [ 1.39099782e-01 9.90266435e-01 -4.86183192e-03 3.60637544e+00] [ 5.35783934e-02 -2.62344649e-03 9.98560200e-01 2.44681895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.689254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:148.25, Y:3.61, Z:2.45 [[ 9.88532687e-01 -1.41110655e-01 -5.37671833e-02 1.48251181e+02] [ 1.41052762e-01 9.89990008e-01 -4.88908669e-03 3.60912347e+00] [ 5.39188765e-02 -2.75098772e-03 9.98541530e-01 2.44683802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.719254154 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:148.28, Y:3.61, Z:2.45 [[ 9.88190333e-01 -1.43564436e-01 -5.35641591e-02 1.48283855e+02] [ 1.43510885e-01 9.89636782e-01 -4.86476470e-03 3.61306431e+00] [ 5.37074692e-02 -2.87972643e-03 9.98552560e-01 2.44992774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.749254154 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:148.32, Y:3.62, Z:2.45 [[ 9.87948693e-01 -1.45157702e-01 -5.37272920e-02 1.48316167e+02] [ 1.45106493e-01 9.89404039e-01 -4.87362955e-03 3.61668860e+00] [ 5.38654446e-02 -2.98128299e-03 9.98543753e-01 2.45147083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.779254154 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:148.35, Y:3.62, Z:2.45 [[ 9.87673923e-01 -1.46940124e-01 -5.39334901e-02 1.48347978e+02] [ 1.46891490e-01 9.89140543e-01 -4.88639120e-03 3.62121763e+00] [ 5.40658086e-02 -3.09620955e-03 9.98532574e-01 2.45312819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80925415399997 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:148.38, Y:3.63, Z:2.45 [[ 9.87618351e-01 -1.47095691e-01 -5.45238474e-02 1.48380337e+02] [ 1.47046509e-01 9.89117270e-01 -4.93467245e-03 3.62514998e+00] [ 5.46563482e-02 -3.14396835e-03 9.98500275e-01 2.45485577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83925415399997 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:148.41, Y:3.63, Z:2.46 [[ 9.87619573e-01 -1.47069066e-01 -5.45735198e-02 1.48412942e+02] [ 1.47020078e-01 9.89121206e-01 -4.93327141e-03 3.62934728e+00] [ 5.47053573e-02 -3.15120771e-03 9.98497568e-01 2.45607343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86925415399998 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:148.45, Y:3.63, Z:2.46 [[ 9.87666083e-01 -1.46585197e-01 -5.50317104e-02 1.48445906e+02] [ 1.46534966e-01 9.89193012e-01 -4.96870769e-03 3.63322717e+00] [ 5.51653224e-02 -3.15664575e-03 9.98472244e-01 2.45761834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89925415399998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:148.48, Y:3.64, Z:2.46 [[ 9.87780710e-01 -1.45360115e-01 -5.62112651e-02 1.48478038e+02] [ 1.45306126e-01 9.89373763e-01 -5.06829643e-03 3.63863396e+00] [ 5.63506791e-02 -3.16147574e-03 9.98406033e-01 2.45899149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92925415399998 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:148.51, Y:3.64, Z:2.46 [[ 9.87909891e-01 -1.44271823e-01 -5.67422991e-02 1.48510287e+02] [ 1.44215559e-01 9.89533119e-01 -5.10677693e-03 3.64275518e+00] [ 5.68851482e-02 -3.13808693e-03 9.98375797e-01 2.46001790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95925415399998 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:148.54, Y:3.65, Z:2.46 [[ 9.88040263e-01 -1.43061181e-01 -5.75320480e-02 1.48543541e+02] [ 1.43001555e-01 9.89708943e-01 -5.17338874e-03 3.64698944e+00] [ 5.76800935e-02 -3.11565596e-03 9.98330256e-01 2.46158030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.98925415399998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:148.57, Y:3.65, Z:2.46 [[ 9.88459026e-01 -1.39449658e-01 -5.91823277e-02 1.48574774e+02] [ 1.39380500e-01 9.90224633e-01 -5.31530993e-03 3.65254172e+00] [ 5.93450169e-02 -2.99489638e-03 9.98233039e-01 2.46237982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01925415399998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:148.61, Y:3.66, Z:2.46 [[ 9.88774333e-01 -1.36991478e-01 -5.96544494e-02 1.48605868e+02] [ 1.36917102e-01 9.90568051e-01 -5.35191786e-03 3.65745462e+00] [ 5.98249589e-02 -2.87587531e-03 9.98204740e-01 2.46402625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04925415399998 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:148.64, Y:3.66, Z:2.47 [[ 9.89207782e-01 -1.33922175e-01 -5.94374933e-02 1.48637501e+02] [ 1.33843194e-01 9.90988210e-01 -5.32605614e-03 3.66250424e+00] [ 5.96151321e-02 -2.68672779e-03 9.98217821e-01 2.46589877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07925415399998 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:148.67, Y:3.67, Z:2.47 [[ 9.89663389e-01 -1.30523456e-01 -5.94138421e-02 1.48668543e+02] [ 1.30438670e-01 9.91442107e-01 -5.31987215e-03 3.66777705e+00] [ 5.95997529e-02 -2.48497983e-03 9.98219262e-01 2.46811784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10925415399998 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:148.70, Y:3.68, Z:2.47 [[ 9.90744294e-01 -1.22446857e-01 -5.85876402e-02 1.48700076e+02] [ 1.22350502e-01 9.92473108e-01 -5.24259206e-03 3.67573676e+00] [ 5.87885963e-02 -1.97415899e-03 9.98268503e-01 2.47109618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13925415399999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:148.73, Y:3.68, Z:2.47 [[ 9.91355291e-01 -1.17874870e-01 -5.76211957e-02 1.48731045e+02] [ 1.17774182e-01 9.93027037e-01 -5.15217458e-03 3.68096035e+00] [ 5.78267172e-02 -1.67865365e-03 9.98325224e-01 2.47327081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.169254154 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:148.76, Y:3.69, Z:2.48 [[ 9.91957560e-01 -1.13340711e-01 -5.63389965e-02 1.48762564e+02] [ 1.13237325e-01 9.93555214e-01 -5.03441365e-03 3.68610779e+00] [ 5.65465077e-02 -1.38575259e-03 9.98399004e-01 2.47526789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.199254154 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:148.79, Y:3.69, Z:2.48 [[ 9.92559810e-01 -1.08522473e-01 -5.52077646e-02 1.48794342e+02] [ 1.08415961e-01 9.94093396e-01 -4.92952152e-03 3.69104270e+00] [ 5.54166380e-02 -1.09255791e-03 9.98462720e-01 2.47717690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.229254154 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:148.83, Y:3.70, Z:2.48 [[ 9.93609656e-01 -9.94238723e-02 -5.34298145e-02 1.48825857e+02] [ 9.93111621e-02 9.95045009e-01 -4.76696983e-03 3.69869724e+00] [ 5.36390209e-02 -5.69669714e-04 9.98560229e-01 2.47988716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.259254154 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:148.86, Y:3.70, Z:2.48 [[ 9.94078234e-01 -9.50856719e-02 -5.26039823e-02 1.48856264e+02] [ 9.49705478e-02 9.95469037e-01 -4.68952575e-03 3.70331807e+00] [ 5.28115423e-02 -3.34073540e-04 9.98604441e-01 2.48132813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.289254154 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:148.89, Y:3.71, Z:2.48 [[ 9.94457885e-01 -9.13154429e-02 -5.21057048e-02 1.48887889e+02] [ 9.11974713e-02 9.95822008e-01 -4.64216498e-03 3.70766341e+00] [ 5.23119089e-02 -1.35470950e-04 9.98630786e-01 2.48266124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.319254154 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:148.92, Y:3.71, Z:2.48 [[ 9.95006585e-01 -8.55019021e-02 -5.14909772e-02 1.48919120e+02] [ 8.53791097e-02 9.96337994e-01 -4.58366324e-03 3.71253660e+00] [ 5.16943288e-02 1.64521320e-04 9.98662941e-01 2.48415566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.349254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:148.95, Y:3.72, Z:2.49 [[ 9.95144021e-01 -8.35538143e-02 -5.20301509e-02 1.48950656e+02] [ 8.34259305e-02 9.96503231e-01 -4.62866195e-03 3.71596518e+00] [ 5.22349559e-02 2.65521511e-04 9.98634788e-01 2.48560270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.379254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:148.98, Y:3.72, Z:2.49 [[ 9.95176618e-01 -8.27706550e-02 -5.26546999e-02 1.48981486e+02] [ 8.26387820e-02 9.96568575e-01 -4.68049681e-03 3.71896437e+00] [ 5.28614271e-02 3.06600722e-04 9.98601810e-01 2.48664553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.409254154 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:149.01, Y:3.72, Z:2.49 [[ 9.95135853e-01 -8.27940568e-02 -5.33833156e-02 1.49012630e+02] [ 8.26586458e-02 9.96566631e-01 -4.74328455e-03 3.72189649e+00] [ 5.35927467e-02 3.07619938e-04 9.98562829e-01 2.48763515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.439254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:149.04, Y:3.72, Z:2.49 [[ 9.94833290e-01 -8.52104525e-02 -5.51897165e-02 1.49043503e+02] [ 8.50695443e-02 9.96362959e-01 -4.90171090e-03 3.72436343e+00] [ 5.54066662e-02 1.81421154e-04 9.98463854e-01 2.48879825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.469254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:149.07, Y:3.73, Z:2.49 [[ 9.94834855e-01 -8.51920651e-02 -5.51898851e-02 1.49074353e+02] [ 8.50512340e-02 9.96364531e-01 -4.89981159e-03 3.72710401e+00] [ 5.54066691e-02 1.80535525e-04 9.98463854e-01 2.49028667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.499254154 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:149.10, Y:3.73, Z:2.49 [[ 9.94611566e-01 -8.74003236e-02 -5.57585518e-02 1.49104980e+02] [ 8.72600898e-02 9.96173268e-01 -4.94940159e-03 3.72930479e+00] [ 5.59777581e-02 5.72358290e-05 9.98432014e-01 2.49123556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.529254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:149.14, Y:3.73, Z:2.49 [[ 9.94357213e-01 -9.00674946e-02 -5.60497906e-02 1.49135590e+02] [ 8.99300520e-02 9.95935659e-01 -4.97475025e-03 3.73120445e+00] [ 5.62700485e-02 -9.38817884e-05 9.98415581e-01 2.49246488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55925415399997 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:149.17, Y:3.73, Z:2.49 [[ 9.94096182e-01 -9.26984764e-02 -5.63894807e-02 1.49166460e+02] [ 9.25637747e-02 9.95694196e-01 -5.00163947e-03 3.73286452e+00] [ 5.66103230e-02 -2.47512487e-04 9.98396319e-01 2.49364290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58925415399997 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:149.20, Y:3.73, Z:2.50 [[ 9.93546981e-01 -9.84824523e-02 -5.62636888e-02 1.49197414e+02] [ 9.83577291e-02 9.95138620e-01 -4.98841773e-03 3.73367852e+00] [ 5.64814413e-02 -5.77741286e-04 9.98403482e-01 2.49529609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61925415399998 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:149.23, Y:3.74, Z:2.50 [[ 9.93313811e-01 -1.01255819e-01 -5.54520710e-02 1.49228706e+02] [ 1.01139138e-01 9.94860156e-01 -4.91375057e-03 3.73558773e+00] [ 5.56646019e-02 -7.27478359e-04 9.98449259e-01 2.49739014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64925415399998 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:149.26, Y:3.74, Z:2.50 [[ 9.93073905e-01 -1.03933344e-01 -5.47912355e-02 1.49260083e+02] [ 1.03823869e-01 9.94583881e-01 -4.84846129e-03 3.73719979e+00] [ 5.49983965e-02 -8.73757688e-04 9.98486060e-01 2.49945014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:149.29, Y:3.74, Z:2.50 [[ 9.92561082e-01 -1.09417149e-01 -5.33890148e-02 1.49291582e+02] [ 1.09321465e-01 9.93995250e-01 -4.71811532e-03 3.73771003e+00] [ 5.35846699e-02 -1.15354766e-03 9.98562643e-01 2.50200344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:149.32, Y:3.74, Z:2.50 [[ 9.92349196e-01 -1.11336545e-01 -5.33595984e-02 1.49323948e+02] [ 1.11244065e-01 9.93781958e-01 -4.70940505e-03 3.73889491e+00] [ 5.35521350e-02 -1.26256430e-03 9.98564257e-01 2.50337506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73925415399998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:149.36, Y:3.74, Z:2.51 [[ 9.92076049e-01 -1.14192118e-01 -5.23953523e-02 1.49356250e+02] [ 1.14107124e-01 9.93457707e-01 -4.62053688e-03 3.74141568e+00] [ 5.25801954e-02 -1.39475900e-03 9.98615731e-01 2.50683973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76925415399998 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:149.39, Y:3.74, Z:2.51 [[ 9.91906729e-01 -1.15872726e-01 -5.19090791e-02 1.49388950e+02] [ 1.15791806e-01 9.93262976e-01 -4.57370909e-03 3.74298568e+00] [ 5.20893345e-02 -1.47395322e-03 9.98641341e-01 2.50873614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79925415399998 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:149.42, Y:3.75, Z:2.51 [[ 9.91486752e-01 -1.18715126e-01 -5.34858876e-02 1.49418749e+02] [ 1.18249171e-01 9.92913781e-01 -1.18049385e-02 3.74672273e+00] [ 5.45082996e-02 5.37977824e-03 9.98498825e-01 2.51359470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82925415399998 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:149.45, Y:3.74, Z:2.51 [[ 9.91400176e-01 -1.19409747e-01 -5.35444070e-02 1.49453022e+02] [ 1.19696443e-01 9.92808169e-01 2.16833265e-03 3.74184842e+00] [ 5.29004046e-02 -8.55876040e-03 9.98563115e-01 2.51064379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85925415399998 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:149.49, Y:3.75, Z:2.51 [[ 9.91295545e-01 -1.20208523e-01 -5.36940814e-02 1.49485236e+02] [ 1.20129204e-01 9.92747074e-01 -4.71400417e-03 3.74733713e+00] [ 5.38713057e-02 -1.77725594e-03 9.98546305e-01 2.51466538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88925415399999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:149.52, Y:3.75, Z:2.52 [[ 9.91275017e-01 -1.19527766e-01 -5.55603646e-02 1.49517267e+02] [ 1.19442119e-01 9.92829214e-01 -4.87162651e-03 3.74877000e+00] [ 5.57442477e-02 -1.80712604e-03 9.98443445e-01 2.51550667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.919254154 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:149.56, Y:3.75, Z:2.51 [[ 9.92175195e-01 -1.14650307e-01 -4.94336845e-02 1.49555824e+02] [ 1.13929591e-01 9.93340480e-01 -1.71679832e-02 3.75213643e+00] [ 5.10727944e-02 1.14016876e-02 9.98629847e-01 2.51376922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.949254154 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:149.58, Y:3.75, Z:2.51 [[ 9.91358292e-01 -1.17173516e-01 -5.89839240e-02 1.49578927e+02] [ 1.17912345e-01 9.92981452e-01 9.19323596e-03 3.74682686e+00] [ 5.74927387e-02 -1.60687235e-02 9.98216600e-01 2.51323987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.979254154 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:149.61, Y:3.76, Z:2.52 [[ 9.91502718e-01 -1.16080647e-01 -5.87166377e-02 1.49610399e+02] [ 1.15978318e-01 9.93238346e-01 -5.15922359e-03 3.75624947e+00] [ 5.89185022e-02 -1.69447269e-03 9.98261358e-01 2.51963178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.009254154 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:149.64, Y:3.76, Z:2.52 [[ 9.92230485e-01 -1.10388794e-01 -5.73844882e-02 1.49642356e+02] [ 1.09920199e-01 9.93876533e-01 -1.12688916e-02 3.76102693e+00] [ 5.82770555e-02 4.87362344e-03 9.98288552e-01 2.51999476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.039254154 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:149.67, Y:3.76, Z:2.52 [[ 9.92146905e-01 -1.08526416e-01 -6.21814721e-02 1.49672016e+02] [ 1.08802129e-01 9.94062867e-01 1.05521917e-03 3.75989236e+00] [ 6.16977733e-02 -7.81240895e-03 9.98064302e-01 2.52064267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.069254154 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:149.70, Y:3.77, Z:2.52 [[ 9.92424916e-01 -1.05740004e-01 -6.25446786e-02 1.49701407e+02] [ 1.05603939e-01 9.94393135e-01 -5.48652763e-03 3.76635169e+00] [ 6.27741445e-02 -1.15999772e-03 9.98027084e-01 2.52467249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.099254154 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:149.73, Y:3.77, Z:2.53 [[ 9.92786350e-01 -1.02162501e-01 -6.27541818e-02 1.49730753e+02] [ 1.02018420e-01 9.94767282e-01 -5.50430988e-03 3.76976672e+00] [ 6.29881409e-02 -9.37478756e-04 9.98013835e-01 2.52634848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.129254154 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:149.76, Y:3.77, Z:2.53 [[ 9.93431578e-01 -9.55508002e-02 -6.29582774e-02 1.49761229e+02] [ 9.53924556e-02 9.95424420e-01 -5.52305610e-03 3.77407620e+00] [ 6.31979392e-02 -5.18966346e-04 9.98000877e-01 2.52865834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.159254154 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:149.79, Y:3.78, Z:2.53 [[ 9.93730097e-01 -9.23663582e-02 -6.29996118e-02 1.49789971e+02] [ 9.22013590e-02 9.95725040e-01 -5.52749894e-03 3.77717684e+00] [ 6.32408460e-02 -3.15807773e-04 9.97998244e-01 2.53037441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.189254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:149.82, Y:3.78, Z:2.53 [[ 9.93999996e-01 -8.96573938e-02 -6.26542857e-02 1.49818549e+02] [ 8.94884250e-02 9.95972657e-01 -5.50351209e-03 3.78028638e+00] [ 6.28953859e-02 -1.36342349e-04 9.98020116e-01 2.53209134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.219254154 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:149.85, Y:3.78, Z:2.53 [[ 9.94217537e-01 -8.71886485e-02 -6.26867438e-02 1.49847361e+02] [ 8.70135951e-02 9.96191818e-01 -5.52231615e-03 3.78328507e+00] [ 6.29295045e-02 3.57846198e-05 9.98017974e-01 2.53381993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.249254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:149.87, Y:3.79, Z:2.54 [[ 9.94459326e-01 -8.39191502e-02 -6.33105403e-02 1.49874285e+02] [ 8.37330515e-02 9.96472533e-01 -5.59170995e-03 3.78636868e+00] [ 6.35564660e-02 2.59543371e-04 9.97978210e-01 2.53555802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.279254154 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:149.90, Y:3.79, Z:2.54 [[ 9.94490540e-01 -8.34672653e-02 -6.34175133e-02 1.49901991e+02] [ 8.32789402e-02 9.96510475e-01 -5.61179365e-03 3.78899835e+00] [ 6.36646173e-02 2.99532407e-04 9.97971306e-01 2.53669292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30925415399997 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:149.93, Y:3.79, Z:2.54 [[ 9.94423703e-01 -8.38832069e-02 -6.39148361e-02 1.49929958e+02] [ 8.36915584e-02 9.96475550e-01 -5.67466502e-03 3.79139764e+00] [ 6.41655805e-02 2.93889162e-04 9.97939223e-01 2.53821327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33925415399997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:149.96, Y:3.79, Z:2.54 [[ 9.94322563e-01 -8.46901443e-02 -6.44221953e-02 1.49956506e+02] [ 8.44960699e-02 9.96407302e-01 -5.73605711e-03 3.79326634e+00] [ 6.46765334e-02 2.60068694e-04 9.97906247e-01 2.53937916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36925415399998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:149.98, Y:3.79, Z:2.54 [[ 9.93913127e-01 -8.87390001e-02 -6.52846476e-02 1.49984160e+02] [ 8.85476750e-02 9.96054913e-01 -5.82404018e-03 3.79478839e+00] [ 6.55439135e-02 7.78622619e-06 9.97849686e-01 2.54113376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39925415399998 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:150.02, Y:3.81, Z:2.54 [[ 9.94724899e-01 -8.73645199e-02 -5.37570174e-02 1.50021037e+02] [ 8.52843703e-02 9.95559511e-01 -3.98476739e-02 3.80740327e+00] [ 5.69995828e-02 3.50528400e-02 9.97758661e-01 2.54483584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42925415399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:150.04, Y:3.78, Z:2.53 [[ 9.93225438e-01 -9.31227091e-02 -6.95082023e-02 1.50044631e+02] [ 9.54470946e-02 9.94954891e-01 3.08968927e-02 3.78142675e+00] [ 6.62803235e-02 -3.73219358e-02 9.97102799e-01 2.53263621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45925415399998 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:150.07, Y:3.80, Z:2.55 [[ 9.92917798e-01 -9.81503318e-02 -6.69384659e-02 1.50070261e+02] [ 9.76523477e-02 9.95163289e-01 -1.06792551e-02 3.80331705e+00] [ 6.76628763e-02 4.06692414e-03 9.97699953e-01 2.54876884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48925415399998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:150.10, Y:3.80, Z:2.55 [[ 9.92426300e-01 -1.03626230e-01 -6.59669913e-02 1.50098053e+02] [ 1.03758571e-01 9.94601491e-01 -1.42597773e-03 3.80084138e+00] [ 6.57586366e-02 -5.42946298e-03 9.97820787e-01 2.54785608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51925415399998 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:150.13, Y:3.81, Z:2.55 [[ 9.92212793e-01 -1.06311019e-01 -6.48979262e-02 1.50127319e+02] [ 1.06154337e-01 9.94332353e-01 -5.86758966e-03 3.80505356e+00] [ 6.51538971e-02 -1.06729881e-03 9.97874657e-01 2.55147908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54925415399998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:150.16, Y:3.81, Z:2.55 [[ 9.91971662e-01 -1.08848437e-01 -6.43757675e-02 1.50157207e+02] [ 1.08699493e-01 9.94057606e-01 -5.82207378e-03 3.80719882e+00] [ 6.46269449e-02 -1.22228108e-03 9.97908745e-01 2.55310754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:150.19, Y:3.82, Z:2.56 [[ 9.92578797e-01 -1.10689952e-01 -5.03494406e-02 1.50191326e+02] [ 1.08379869e-01 9.93020849e-01 -4.65123348e-02 3.82330100e+00] [ 5.51464923e-02 4.07102916e-02 9.97648002e-01 2.55715685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60925415399998 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:150.22, Y:3.79, Z:2.54 [[ 9.91312079e-01 -1.13443809e-01 -6.65647447e-02 1.50218295e+02] [ 1.16090807e-01 9.92536730e-01 3.73331540e-02 3.79071879e+00] [ 6.18327389e-02 -4.47363614e-02 9.97083432e-01 2.54224532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63925415399999 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:150.25, Y:3.81, Z:2.56 [[ 9.91080975e-01 -1.17953249e-01 -6.20123597e-02 1.50247379e+02] [ 1.17832089e-01 9.93017630e-01 -5.62007753e-03 3.81385343e+00] [ 6.22422729e-02 -1.73709396e-03 9.98059558e-01 2.55820393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.669254154 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:150.28, Y:3.82, Z:2.56 [[ 9.90758319e-01 -1.20588803e-01 -6.20990595e-02 1.50278377e+02] [ 1.20472788e-01 9.92700706e-01 -5.62284003e-03 3.81608339e+00] [ 6.23238317e-02 -1.91037126e-03 9.98054152e-01 2.55995486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.699254154 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:150.31, Y:3.82, Z:2.56 [[ 9.89977338e-01 -1.26986327e-01 -6.18008263e-02 1.50310504e+02] [ 1.26884261e-01 9.91901782e-01 -5.58925017e-03 3.81730367e+00] [ 6.20101081e-02 -2.30832119e-03 9.98072852e-01 2.56128726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.729254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:150.34, Y:3.82, Z:2.56 [[ 9.89562046e-01 -1.30335197e-01 -6.14792092e-02 1.50342925e+02] [ 1.30240913e-01 9.91466812e-01 -5.55566472e-03 3.81908771e+00] [ 6.16786942e-02 -2.50943337e-03 9.98092902e-01 2.56233119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.759254154 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:150.38, Y:3.83, Z:2.56 [[ 9.89995620e-01 -1.31497322e-01 -5.11578521e-02 1.50378760e+02] [ 1.29647799e-01 9.90833766e-01 -3.79459638e-02 3.83280680e+00] [ 5.56787198e-02 3.09338350e-02 9.97969427e-01 2.56437090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.789254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:150.41, Y:3.81, Z:2.55 [[ 9.88609894e-01 -1.35422682e-01 -6.56595401e-02 1.50406215e+02] [ 1.37533872e-01 9.90079550e-01 2.87561932e-02 3.80680537e+00] [ 6.11139271e-02 -3.74590679e-02 9.97427645e-01 2.55407135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.819254154 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:150.44, Y:3.83, Z:2.57 [[ 9.87803595e-01 -1.42068514e-01 -6.37227967e-02 1.50437590e+02] [ 1.41991498e-01 9.89851126e-01 -5.75878438e-03 3.82529985e+00] [ 6.38942240e-02 -3.35954747e-03 9.97951022e-01 2.56616527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.849254154 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:150.47, Y:3.83, Z:2.57 [[ 9.87504047e-01 -1.44061592e-01 -6.38906533e-02 1.50468526e+02] [ 1.43988749e-01 9.89562518e-01 -5.76734176e-03 3.82807589e+00] [ 6.40546482e-02 -3.50426191e-03 9.97940240e-01 2.56721992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.879254154 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:150.50, Y:3.83, Z:2.57 [[ 9.87455874e-01 -1.43996130e-01 -6.47766317e-02 1.50500404e+02] [ 1.43921462e-01 9.89571869e-01 -5.84201253e-03 3.83026672e+00] [ 6.49423597e-02 -3.55401796e-03 9.97882688e-01 2.56844027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.909254154 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:150.53, Y:3.83, Z:2.57 [[ 9.87553393e-01 -1.43436946e-01 -6.45301374e-02 1.50532124e+02] [ 1.43361991e-01 9.89653237e-01 -5.81460398e-03 3.83332092e+00] [ 6.46964884e-02 -3.50893710e-03 9.97898818e-01 2.56949928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.939254154 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:150.56, Y:3.84, Z:2.57 [[ 9.87774757e-01 -1.41539222e-01 -6.53274651e-02 1.50562004e+02] [ 1.41055598e-01 9.89929184e-01 -1.19803663e-02 3.83918885e+00] [ 6.63652559e-02 2.61909878e-03 9.97791959e-01 2.57339253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.969254154 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:150.59, Y:3.84, Z:2.57 [[ 9.88096465e-01 -1.39655318e-01 -6.45117682e-02 1.50594129e+02] [ 1.39949831e-01 9.90158595e-01 4.68086381e-05 3.83740403e+00] [ 6.38703446e-02 -9.07466251e-03 9.97916945e-01 2.57054760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.999254154 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:150.63, Y:3.85, Z:2.57 [[ 9.88935626e-01 -1.34199958e-01 -6.32194575e-02 1.50625611e+02] [ 1.34108989e-01 9.90950198e-01 -5.69948289e-03 3.84622612e+00] [ 6.34122043e-02 -2.84187585e-03 9.97983375e-01 2.57397275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.029254154 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:150.66, Y:3.86, Z:2.58 [[ 9.90273648e-01 -1.28806903e-01 -5.26011711e-02 1.50661402e+02] [ 1.26965752e-01 9.91217764e-01 -3.69735386e-02 3.86342459e+00] [ 5.69016622e-02 2.99353737e-02 9.97930897e-01 2.57764719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05925415399997 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:150.69, Y:3.84, Z:2.57 [[ 9.90064602e-01 -1.24480221e-01 -6.53969342e-02 1.50691095e+02] [ 1.26483619e-01 9.91589442e-01 2.74276068e-02 3.84003110e+00] [ 6.14327149e-02 -3.54267435e-02 9.97482314e-01 2.56696388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08925415399997 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:150.72, Y:3.86, Z:2.58 [[ 9.91269286e-01 -1.17064332e-01 -6.06724326e-02 1.50719708e+02] [ 1.16949252e-01 9.93122902e-01 -5.45663864e-03 3.86165176e+00] [ 6.08939601e-02 -1.68659733e-03 9.98142816e-01 2.57962545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11925415399998 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:150.75, Y:3.87, Z:2.58 [[ 9.91863089e-01 -1.12453272e-01 -5.96814456e-02 1.50751473e+02] [ 1.12333788e-01 9.93656051e-01 -5.36408369e-03 3.86568471e+00] [ 5.99060383e-02 -1.38380621e-03 9.98203061e-01 2.58130750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14925415399998 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:150.78, Y:3.87, Z:2.58 [[ 9.92461937e-01 -1.07816145e-01 -5.82664849e-02 1.50782777e+02] [ 1.07694514e-01 9.94170262e-01 -5.23284028e-03 3.86960398e+00] [ 5.84909912e-02 -1.08158597e-03 9.98287350e-01 2.58246207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17925415399998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:150.82, Y:3.87, Z:2.58 [[ 9.92978573e-01 -1.03443080e-01 -5.73853952e-02 1.50815045e+02] [ 1.03317991e-01 9.94635041e-01 -5.15045443e-03 3.87379733e+00] [ 5.76103038e-02 -8.14652860e-04 9.98338815e-01 2.58389181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20925415399998 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:150.84, Y:3.89, Z:2.59 [[ 9.93493553e-01 -9.69771600e-02 -5.97159085e-02 1.50844904e+02] [ 9.58703765e-02 9.95169421e-01 -2.11351246e-02 3.88654735e+00] [ 6.14770705e-02 1.52726234e-02 9.97991642e-01 2.59121410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23925415399998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:150.88, Y:3.88, Z:2.58 [[ 9.94024701e-01 -9.21607241e-02 -5.84918284e-02 1.50875571e+02] [ 9.29139208e-02 9.95621025e-01 1.02848167e-02 3.87557257e+00] [ 5.72878380e-02 -1.56580670e-02 9.98234907e-01 2.58028385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.26925415399998 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:150.90, Y:3.90, Z:2.59 [[ 9.94066538e-01 -9.20289207e-02 -5.79861630e-02 1.50900574e+02] [ 9.09235184e-02 9.95627334e-01 -2.14272107e-02 3.89690617e+00] [ 5.97045319e-02 1.60277672e-02 9.98087411e-01 2.59191261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29925415399998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:150.93, Y:3.89, Z:2.59 [[ 9.94307543e-01 -8.44539818e-02 -6.49617887e-02 1.50927949e+02] [ 8.39611564e-02 9.96415956e-01 -1.02842588e-02 3.89465558e+00] [ 6.55975094e-02 4.77144920e-03 9.97834756e-01 2.59204074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32925415399998 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:150.96, Y:3.88, Z:2.58 [[ 9.94686211e-01 -7.93386769e-02 -6.56103270e-02 1.50958117e+02] [ 8.08728128e-02 9.96501856e-01 2.10627364e-02 3.88270075e+00] [ 6.37097230e-02 -2.62569052e-02 9.97622998e-01 2.58319414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35925415399998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:150.99, Y:3.90, Z:2.59 [[ 9.95292792e-01 -7.58634826e-02 -6.03074717e-02 1.50990810e+02] [ 7.51328872e-02 9.97071070e-01 -1.42944596e-02 3.89778056e+00] [ 6.12152628e-02 9.69609809e-03 9.98077491e-01 2.59485057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38925415399999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:151.02, Y:3.90, Z:2.59 [[ 9.95260176e-01 -7.56645632e-02 -6.10905622e-02 1.51019588e+02] [ 7.54806860e-02 9.97133097e-01 -5.31537809e-03 3.89603162e+00] [ 6.13176072e-02 6.79026588e-04 9.98118074e-01 2.59310759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.419254154 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:151.05, Y:3.90, Z:2.59 [[ 9.95442747e-01 -7.35383875e-02 -6.07111471e-02 1.51046798e+02] [ 7.33518821e-02 9.97292050e-01 -5.29804193e-03 3.89881318e+00] [ 6.09363537e-02 8.20620511e-04 9.98141316e-01 2.59442766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.449254154 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:151.07, Y:3.90, Z:2.60 [[ 9.95693396e-01 -7.05321341e-02 -6.01654326e-02 1.51074065e+02] [ 7.03429523e-02 9.97509002e-01 -5.25925994e-03 3.90165976e+00] [ 6.03865074e-02 1.00439623e-03 9.98174564e-01 2.59544739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.479254154 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:151.10, Y:3.90, Z:2.60 [[ 9.95172259e-01 -7.23341033e-02 -6.63321441e-02 1.51097750e+02] [ 7.33377625e-02 9.97224765e-01 1.28195401e-02 3.90134918e+00] [ 6.52207669e-02 -1.76223017e-02 9.97715243e-01 2.59558050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.509254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:151.13, Y:3.91, Z:2.60 [[ 9.95340532e-01 -7.17666873e-02 -6.43954096e-02 1.51125825e+02] [ 7.16700960e-02 9.97421109e-01 -3.81172260e-03 3.91109331e+00] [ 6.45028955e-02 -8.21263184e-04 9.97917182e-01 2.60344326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.539254154 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:151.16, Y:3.92, Z:2.61 [[ 9.95978682e-01 -6.90635867e-02 -5.70673793e-02 1.51159981e+02] [ 6.75543578e-02 9.97323528e-01 -2.79676359e-02 3.91925427e+00] [ 5.88461853e-02 2.40000189e-02 9.97978520e-01 2.60752983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.569254154 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:151.19, Y:3.91, Z:2.60 [[ 9.95876269e-01 -6.95203055e-02 -5.82870828e-02 1.51189561e+02] [ 6.93414154e-02 9.97580009e-01 -5.08855457e-03 3.90887935e+00] [ 5.84997864e-02 1.02586192e-03 9.98286894e-01 2.60036212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.599254154 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:151.22, Y:3.91, Z:2.60 [[ 9.95801375e-01 -7.13783271e-02 -5.73127884e-02 1.51216089e+02] [ 7.12075520e-02 9.97448893e-01 -5.01903979e-03 3.90998347e+00] [ 5.75248280e-02 9.16863369e-04 9.98343655e-01 2.60130147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.629254154 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:151.24, Y:3.91, Z:2.60 [[ 9.95551152e-01 -7.42984453e-02 -5.79451887e-02 1.51240258e+02] [ 7.43206028e-02 9.97232819e-01 -1.77558139e-03 3.91156317e+00] [ 5.79167668e-02 -2.53883925e-03 9.98318187e-01 2.60318225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.659254154 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:151.27, Y:3.91, Z:2.60 [[ 9.95055894e-01 -8.13282934e-02 -5.70041803e-02 1.51268289e+02] [ 8.15169352e-02 9.96671467e-01 9.87951294e-04 3.90887811e+00] [ 5.67340916e-02 -5.62987283e-03 9.98373451e-01 2.60454069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.689254154 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:151.30, Y:3.91, Z:2.61 [[ 9.94958429e-01 -8.47160269e-02 -5.36742040e-02 1.51299934e+02] [ 8.40177889e-02 9.96349256e-01 -1.51384293e-02 3.91458822e+00] [ 5.47607208e-02 1.05525198e-02 9.98443743e-01 2.60931593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.719254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:151.33, Y:3.91, Z:2.61 [[ 9.94671288e-01 -8.77948516e-02 -5.40471375e-02 1.51329696e+02] [ 8.76645636e-02 9.96138577e-01 -4.78127275e-03 3.90979977e+00] [ 5.42582098e-02 1.77760001e-05 9.98526938e-01 2.60713165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.749254154 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:151.36, Y:3.91, Z:2.61 [[ 9.94055998e-01 -9.18728257e-02 -5.84128145e-02 1.51357313e+02] [ 9.25388568e-02 9.95670226e-01 8.79547503e-03 3.90631518e+00] [ 5.73518351e-02 -1.41486498e-02 9.98253767e-01 2.60848663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.779254154 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:151.39, Y:3.91, Z:2.62 [[ 9.93779756e-01 -9.74919998e-02 -5.38247732e-02 1.51388693e+02] [ 9.65724657e-02 9.95136201e-01 -1.94344887e-02 3.91382698e+00] [ 5.54576875e-02 1.41156104e-02 9.98361254e-01 2.61507211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80925415399997 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:151.42, Y:3.91, Z:2.61 [[ 9.93582532e-01 -9.85837284e-02 -5.54526849e-02 1.51421361e+02] [ 9.84625002e-02 9.95128596e-01 -4.92071645e-03 3.90694668e+00] [ 5.56676551e-02 -5.70872094e-04 9.98449191e-01 2.61167890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83925415399997 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:151.45, Y:3.91, Z:2.61 [[ 9.93445804e-01 -9.95730797e-02 -5.61305367e-02 1.51451970e+02] [ 9.94505695e-02 9.95030048e-01 -4.97866966e-03 3.90696159e+00] [ 5.63473121e-02 -6.36175357e-04 9.98411025e-01 2.61327391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86925415399998 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:151.48, Y:3.91, Z:2.61 [[ 9.93383975e-01 -1.00219256e-01 -5.60747701e-02 1.51483546e+02] [ 1.00098207e-01 9.94965147e-01 -4.97038203e-03 3.90685215e+00] [ 5.62905698e-02 -6.75486061e-04 9.98414200e-01 2.61459314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89925415399998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:151.51, Y:3.90, Z:2.62 [[ 9.93434826e-01 -9.93381440e-02 -5.67378161e-02 1.51513875e+02] [ 9.92128883e-02 9.95053531e-01 -5.02720394e-03 3.90455937e+00] [ 5.69565574e-02 -6.34923138e-04 9.98376456e-01 2.61633704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92925415399998 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:151.54, Y:3.90, Z:2.62 [[ 9.93569950e-01 -9.79460844e-02 -5.67918983e-02 1.51543205e+02] [ 9.78183128e-02 9.95191567e-01 -5.03207583e-03 3.90471016e+00] [ 5.70116904e-02 -5.55568332e-04 9.98373356e-01 2.61804876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:151.57, Y:3.91, Z:2.62 [[ 9.93745046e-01 -9.63361831e-02 -5.64811752e-02 1.51573812e+02] [ 9.62071542e-02 9.95348747e-01 -5.00549503e-03 3.90547303e+00] [ 5.67006773e-02 -4.59707242e-04 9.98391117e-01 2.61940454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.98925415399998 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:151.60, Y:3.91, Z:2.62 [[ 9.94130467e-01 -9.20501341e-02 -5.68452916e-02 1.51603425e+02] [ 9.19124219e-02 9.95754350e-01 -5.03792798e-03 3.90513308e+00] [ 5.70676884e-02 -2.16430727e-04 9.98370288e-01 2.62119147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01925415399998 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:151.63, Y:3.91, Z:2.62 [[ 9.94340668e-01 -8.96648616e-02 -5.69811305e-02 1.51631436e+02] [ 8.95224406e-02 9.95971991e-01 -5.05232854e-03 3.90643045e+00] [ 5.72046264e-02 -7.73541454e-05 9.98362472e-01 2.62254025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04925415399998 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:151.66, Y:3.91, Z:2.62 [[ 9.94509976e-01 -8.73047706e-02 -5.76869555e-02 1.51659546e+02] [ 8.71544552e-02 9.96181646e-01 -5.12134684e-03 3.90763360e+00] [ 5.79138044e-02 6.55553354e-05 9.98321585e-01 2.62402604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07925415399998 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:151.69, Y:3.89, Z:2.62 [[ 9.93809146e-01 -8.41530791e-02 -7.25371700e-02 1.51686038e+02] [ 8.74695962e-02 9.95202859e-01 4.38216674e-02 3.88885153e+00] [ 6.85014707e-02 -4.98951708e-02 9.96402539e-01 2.62478435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10925415399998 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:151.72, Y:3.93, Z:2.64 [[ 9.95074424e-01 -8.32422913e-02 -5.38294618e-02 1.51716483e+02] [ 8.02208971e-02 9.95200153e-01 -5.60469674e-02 3.93210804e+00] [ 5.82365666e-02 5.14526561e-02 9.96975991e-01 2.64318351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13925415399999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:151.75, Y:3.91, Z:2.63 [[ 9.95097702e-01 -7.98184015e-02 -5.83916692e-02 1.51747865e+02] [ 7.96500088e-02 9.96809279e-01 -5.20934828e-03 3.90867593e+00] [ 5.86211595e-02 5.32913535e-04 9.98280159e-01 2.62809369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.169254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:151.78, Y:3.91, Z:2.63 [[ 9.95106326e-01 -7.97249010e-02 -5.83724337e-02 1.51775699e+02] [ 7.95554366e-02 9.96816749e-01 -5.22504316e-03 3.90927236e+00] [ 5.86031857e-02 5.55629047e-04 9.98281202e-01 2.62972086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.199254154 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:151.80, Y:3.91, Z:2.63 [[ 9.95090692e-01 -8.01041683e-02 -5.81191675e-02 1.51803250e+02] [ 7.99358103e-02 9.96786347e-01 -5.21963003e-03 3.90947673e+00] [ 5.83505067e-02 5.48202516e-04 9.98296007e-01 2.63111327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.229254154 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:151.83, Y:3.91, Z:2.63 [[ 9.94866719e-01 -8.24694446e-02 -5.86430121e-02 1.51830583e+02] [ 8.23011680e-02 9.96593501e-01 -5.28314533e-03 3.90754002e+00] [ 5.88789428e-02 4.29637071e-04 9.98265038e-01 2.63242697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.259254154 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:151.86, Y:3.91, Z:2.63 [[ 9.94652189e-01 -8.41398394e-02 -5.98958312e-02 1.51858722e+02] [ 8.39667671e-02 9.96453896e-01 -5.40508670e-03 3.90765387e+00] [ 6.01382175e-02 3.46922009e-04 9.98189999e-01 2.63378780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.289254154 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:151.89, Y:3.91, Z:2.63 [[ 9.94423659e-01 -8.60342351e-02 -6.09893152e-02 1.51886573e+02] [ 8.58572235e-02 9.96292149e-01 -5.52192776e-03 3.90748808e+00] [ 6.12382507e-02 2.54762338e-04 9.98123145e-01 2.63492851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.319254154 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:151.91, Y:3.90, Z:2.64 [[ 9.93982461e-01 -8.99371933e-02 -6.25313376e-02 1.51914179e+02] [ 8.97576949e-02 9.95947438e-01 -5.67943692e-03 3.90415062e+00] [ 6.27887181e-02 3.25919696e-05 9.98026841e-01 2.63576453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.349254154 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:151.94, Y:3.89, Z:2.64 [[ 9.92980026e-01 -9.25495078e-02 -7.36563373e-02 1.51939840e+02] [ 9.49876269e-02 9.95016926e-01 3.03095372e-02 3.89003213e+00] [ 7.04841695e-02 -3.70932057e-02 9.96822991e-01 2.63952678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.379254154 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:151.96, Y:3.91, Z:2.65 [[ 9.92870992e-01 -9.80375326e-02 -6.77925968e-02 1.51964777e+02] [ 9.76848138e-02 9.95181047e-01 -8.50648019e-03 3.90605061e+00] [ 6.82998618e-02 1.82353022e-03 9.97663171e-01 2.65073487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.409254154 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:152.00, Y:3.92, Z:2.65 [[ 9.93508186e-01 -9.79913860e-02 -5.77855791e-02 1.51997310e+02] [ 9.57456979e-02 9.94584226e-01 -4.04348660e-02 3.91741616e+00] [ 6.14348940e-02 3.46396497e-02 9.97509824e-01 2.65055521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.439254154 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:152.03, Y:3.90, Z:2.64 [[ 9.93394284e-01 -9.74401213e-02 -6.06070924e-02 1.52026846e+02] [ 9.72843492e-02 9.95241305e-01 -5.52273761e-03 3.90083009e+00] [ 6.08568180e-02 -4.09865574e-04 9.98146422e-01 2.64219382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.469254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:152.05, Y:3.90, Z:2.64 [[ 9.93328166e-01 -9.84623505e-02 -6.00359846e-02 1.52054317e+02] [ 9.83104146e-02 9.95140674e-01 -5.48647661e-03 3.90119184e+00] [ 6.02844615e-02 -4.52290781e-04 9.98181135e-01 2.64394510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.499254154 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:152.08, Y:3.90, Z:2.65 [[ 9.93248197e-01 -9.94089603e-02 -5.97986458e-02 1.52082347e+02] [ 9.92593960e-02 9.95046537e-01 -5.47379571e-03 3.90167956e+00] [ 6.00465797e-02 -4.98739742e-04 9.98195452e-01 2.64588965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.529254154 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:152.11, Y:3.90, Z:2.65 [[ 9.93344459e-01 -9.95834856e-02 -5.78784443e-02 1.52110662e+02] [ 9.94427313e-02 9.95029096e-01 -5.31423298e-03 3.90267664e+00] [ 5.81199460e-02 -4.76726700e-04 9.98309493e-01 2.64727609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55925415399997 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:152.14, Y:3.90, Z:2.65 [[ 9.93035137e-01 -1.01401911e-01 -5.99905686e-02 1.52137879e+02] [ 1.01253012e-01 9.94845368e-01 -5.52458181e-03 3.90114560e+00] [ 6.02415425e-02 -5.88121884e-04 9.98183656e-01 2.64933174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58925415399997 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:152.17, Y:3.90, Z:2.65 [[ 9.92890814e-01 -1.02679421e-01 -6.02060529e-02 1.52165398e+02] [ 1.02531217e-01 9.94714282e-01 -5.55397283e-03 3.90195638e+00] [ 6.04580994e-02 -6.58511285e-04 9.98170519e-01 2.65071603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:152.19, Y:3.90, Z:2.65 [[ 9.92657314e-01 -1.04731453e-01 -6.05209041e-02 1.52193328e+02] [ 1.04584460e-01 9.94500241e-01 -5.60015473e-03 3.90076263e+00] [ 6.07745661e-02 -7.70511522e-04 9.98151220e-01 2.65181083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64925415399998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:152.22, Y:3.90, Z:2.65 [[ 9.92538321e-01 -1.06054479e-01 -6.01675083e-02 1.52219963e+02] [ 1.05910693e-01 9.94359973e-01 -5.58286585e-03 3.90138133e+00] [ 6.04202499e-02 -8.31174215e-04 9.98172682e-01 2.65309738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67925415399998 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:152.25, Y:3.90, Z:2.65 [[ 9.92398807e-01 -1.07258247e-01 -6.03347060e-02 1.52247142e+02] [ 1.07115433e-01 9.94230788e-01 -5.60578569e-03 3.90182370e+00] [ 6.05878890e-02 -8.99603159e-04 9.98162461e-01 2.65441949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70925415399998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:152.27, Y:3.90, Z:2.66 [[ 9.92221918e-01 -1.08877118e-01 -6.03443418e-02 1.52274865e+02] [ 1.08736702e-01 9.94054724e-01 -5.61566929e-03 3.90293753e+00] [ 6.05969959e-02 -9.89654566e-04 9.98161823e-01 2.65585837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:152.30, Y:3.90, Z:2.66 [[ 9.91831931e-01 -1.12021453e-01 -6.09968488e-02 1.52302693e+02] [ 1.11882808e-01 9.93705092e-01 -5.69449508e-03 3.90296829e+00] [ 6.12507849e-02 -1.17651670e-03 9.98121715e-01 2.65728705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:152.33, Y:3.90, Z:2.66 [[ 9.91644765e-01 -1.13757903e-01 -6.08259846e-02 1.52329773e+02] [ 1.13622295e-01 9.93507696e-01 -5.69490956e-03 3.90433535e+00] [ 6.10789248e-02 -1.26386069e-03 9.98132139e-01 2.65849961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79925415399998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:152.36, Y:3.89, Z:2.67 [[ 9.90358259e-01 -1.16614511e-01 -7.47768271e-02 1.52355429e+02] [ 1.19194193e-01 9.92386822e-01 3.10022437e-02 3.89139393e+00] [ 7.05922263e-02 -3.96162916e-02 9.96718259e-01 2.66517602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82925415399998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:152.38, Y:3.93, Z:2.67 [[ 9.91202063e-01 -1.19155002e-01 -5.76242574e-02 1.52384843e+02] [ 1.16700115e-01 9.92180904e-01 -4.42508420e-02 3.92576993e+00] [ 6.24463969e-02 3.71367685e-02 9.97357162e-01 2.67050509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85925415399998 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:152.41, Y:3.91, Z:2.66 [[ 9.90835220e-01 -1.20146686e-01 -6.17279515e-02 1.52413933e+02] [ 1.20017959e-01 9.92754764e-01 -5.80245446e-03 3.90792751e+00] [ 6.19778636e-02 -1.65918652e-03 9.98076145e-01 2.66143685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88925415399999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:152.44, Y:3.91, Z:2.66 [[ 9.90677873e-01 -1.21374631e-01 -6.18510415e-02 1.52440843e+02] [ 1.21247284e-01 9.92605259e-01 -5.82197299e-03 3.90970004e+00] [ 6.21003089e-02 -1.73157101e-03 9.98068411e-01 2.66266335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.919254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:152.47, Y:3.91, Z:2.66 [[ 9.90517363e-01 -1.22625983e-01 -6.19533813e-02 1.52467606e+02] [ 1.22500166e-01 9.92451313e-01 -5.83949899e-03 3.91189618e+00] [ 6.22017890e-02 -1.80517437e-03 9.98061961e-01 2.66390649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.949254154 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:152.50, Y:3.91, Z:2.67 [[ 9.90284078e-01 -1.24619314e-01 -6.17047043e-02 1.52495489e+02] [ 1.24497769e-01 9.92202785e-01 -5.82568125e-03 3.91420147e+00] [ 6.19495719e-02 -1.91301865e-03 9.98077447e-01 2.66509211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.979254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:152.52, Y:3.92, Z:2.67 [[ 9.90218702e-01 -1.25541085e-01 -6.08798610e-02 1.52523554e+02] [ 1.25423441e-01 9.92086550e-01 -5.76521473e-03 3.91721447e+00] [ 6.11218626e-02 -1.92693820e-03 9.98128451e-01 2.66641022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.009254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:152.55, Y:3.92, Z:2.67 [[ 9.90115671e-01 -1.26479300e-01 -6.06130738e-02 1.52550262e+02] [ 1.26363474e-01 9.91967310e-01 -5.75577676e-03 3.92037442e+00] [ 6.08541743e-02 -1.96039378e-03 9.98144742e-01 2.66810121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.039254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:152.58, Y:3.92, Z:2.67 [[ 9.90043383e-01 -1.27340030e-01 -5.99884662e-02 1.52577487e+02] [ 1.27227604e-01 9.91857138e-01 -5.70560459e-03 3.92357572e+00] [ 6.02265402e-02 -1.98339273e-03 9.98182764e-01 2.66979147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.069254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:152.60, Y:3.93, Z:2.67 [[ 9.90009073e-01 -1.28097002e-01 -5.89338104e-02 1.52604020e+02] [ 1.27988860e-01 9.91759673e-01 -5.62169594e-03 3.92688953e+00] [ 5.91682989e-02 -1.97734123e-03 9.98246063e-01 2.67102683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.099254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:152.63, Y:3.93, Z:2.67 [[ 9.89926531e-01 -1.29481436e-01 -5.72714701e-02 1.52631634e+02] [ 1.29380929e-01 9.91579850e-01 -5.47513388e-03 3.93079659e+00] [ 5.74981639e-02 -1.98985569e-03 9.98343629e-01 2.67272372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.129254154 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:152.66, Y:3.93, Z:2.67 [[ 9.89932639e-01 -1.29850106e-01 -5.63233554e-02 1.52659681e+02] [ 1.29752643e-01 9.91531692e-01 -5.39952752e-03 3.93427304e+00] [ 5.65475212e-02 -1.96293568e-03 9.98397979e-01 2.67417602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.159254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:152.69, Y:3.94, Z:2.68 [[ 9.89910995e-01 -1.30256227e-01 -5.57632304e-02 1.52687533e+02] [ 1.30161055e-01 9.91478426e-01 -5.35082921e-03 3.93774071e+00] [ 5.59850187e-02 -1.96135625e-03 9.98429682e-01 2.67555219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.189254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:152.72, Y:3.94, Z:2.68 [[ 9.89862508e-01 -1.30853931e-01 -5.52219465e-02 1.52715837e+02] [ 1.30761210e-01 9.91399701e-01 -5.30458580e-03 3.94160510e+00] [ 5.54411472e-02 -1.97007791e-03 9.98460013e-01 2.67688558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.219254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:152.74, Y:3.95, Z:2.68 [[ 9.90002784e-01 -1.30192754e-01 -5.42617284e-02 1.52743998e+02] [ 1.30101547e-01 9.91486907e-01 -5.22499676e-03 3.94652661e+00] [ 5.44800500e-02 -1.88677348e-03 9.98513077e-01 2.67791635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.249254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:152.77, Y:3.95, Z:2.68 [[ 9.90138370e-01 -1.29128384e-01 -5.43310967e-02 1.52773290e+02] [ 1.29035189e-01 9.91626200e-01 -5.23451537e-03 3.95066024e+00] [ 5.45520634e-02 -1.82772879e-03 9.98509255e-01 2.67922300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.279254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:152.80, Y:3.95, Z:2.68 [[ 9.90136009e-01 -1.29146566e-01 -5.43309123e-02 1.52803271e+02] [ 1.29053293e-01 9.91623834e-01 -5.23642842e-03 3.95358239e+00] [ 5.45520943e-02 -1.82680682e-03 9.98509255e-01 2.68074619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:152.83, Y:3.96, Z:2.68 [[ 9.90309848e-01 -1.27818974e-01 -5.43020736e-02 1.52832488e+02] [ 1.27723749e-01 9.91795968e-01 -5.23472728e-03 3.95797828e+00] [ 5.45256751e-02 -1.75166241e-03 9.98510832e-01 2.68186740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33925415399997 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:152.86, Y:3.96, Z:2.68 [[ 9.90675162e-01 -1.24762504e-01 -5.47452424e-02 1.52861134e+02] [ 1.24660940e-01 9.92185354e-01 -5.27959049e-03 3.96390361e+00] [ 5.49761226e-02 -1.59423420e-03 9.98486397e-01 2.68302487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36925415399998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:152.89, Y:3.97, Z:2.68 [[ 9.90858528e-01 -1.23049011e-01 -5.53020613e-02 1.52889862e+02] [ 1.22942532e-01 9.92399444e-01 -5.33638456e-03 3.96824513e+00] [ 5.55383718e-02 -1.51137331e-03 9.98455410e-01 2.68435973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:152.92, Y:3.97, Z:2.69 [[ 9.91062123e-01 -1.21420855e-01 -5.52525441e-02 1.52917449e+02] [ 1.21311853e-01 9.92600107e-01 -5.33497935e-03 3.97246579e+00] [ 5.54914590e-02 -1.41549253e-03 9.98458159e-01 2.68532868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:152.95, Y:3.98, Z:2.69 [[ 9.91235029e-01 -1.19780690e-01 -5.57288377e-02 1.52947208e+02] [ 1.19666830e-01 9.92799487e-01 -5.38775633e-03 3.97677141e+00] [ 5.59729106e-02 -1.32836056e-03 9.98431404e-01 2.68685862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45925415399998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:152.98, Y:3.98, Z:2.69 [[ 9.91598641e-01 -1.16719519e-01 -5.57556152e-02 1.52976528e+02] [ 1.16600602e-01 9.93164247e-01 -5.39237423e-03 3.98251369e+00] [ 5.60038790e-02 -1.15406735e-03 9.98429884e-01 2.68772694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:153.01, Y:3.99, Z:2.69 [[ 9.91788523e-01 -1.15200956e-01 -5.55361710e-02 1.53006147e+02] [ 1.15080481e-01 9.93341639e-01 -5.37318906e-03 3.98685209e+00] [ 5.57853876e-02 -1.06206203e-03 9.98442218e-01 2.68908088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51925415399998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:153.03, Y:3.99, Z:2.69 [[ 9.91924297e-01 -1.13876877e-01 -5.58412586e-02 1.53034087e+02] [ 1.13752854e-01 9.93494376e-01 -5.40490750e-03 3.99104239e+00] [ 5.60934703e-02 -9.90843455e-04 9.98425030e-01 2.69070333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54925415399998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:153.06, Y:4.00, Z:2.69 [[ 9.92117339e-01 -1.12234468e-01 -5.57369618e-02 1.53062419e+02] [ 1.12108082e-01 9.93681352e-01 -5.39902930e-03 3.99657102e+00] [ 5.59907368e-02 -8.92093317e-04 9.98430890e-01 2.69194758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57925415399998 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:153.09, Y:4.00, Z:2.69 [[ 9.92148636e-01 -1.11806607e-01 -5.60389672e-02 1.53090354e+02] [ 1.11677407e-01 9.93729613e-01 -5.44172839e-03 4.00058993e+00] [ 5.62960024e-02 -8.59283166e-04 9.98413753e-01 2.69367870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60925415399998 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:153.12, Y:4.01, Z:2.69 [[ 9.92494731e-01 -1.09818654e-01 -5.37965834e-02 1.53118761e+02] [ 1.09393587e-01 9.93939923e-01 -1.07922456e-02 4.00626871e+00] [ 5.46557618e-02 4.82624571e-03 9.98493593e-01 2.69430911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63925415399999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:153.15, Y:4.01, Z:2.70 [[ 9.92159223e-01 -1.11348020e-01 -5.67599744e-02 1.53147740e+02] [ 1.11530403e-01 9.93761021e-01 4.57464828e-05 4.00593646e+00] [ 5.64007563e-02 -6.37585063e-03 9.98387852e-01 2.69528039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.669254154 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:153.18, Y:4.01, Z:2.70 [[ 9.91897022e-01 -1.13904745e-01 -5.62672793e-02 1.53175606e+02] [ 1.13777246e-01 9.93491200e-01 -5.47476281e-03 4.01334621e+00] [ 5.65246483e-02 -9.71535147e-04 9.98400731e-01 2.69828478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.699254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:153.20, Y:4.02, Z:2.70 [[ 9.91682949e-01 -1.15777615e-01 -5.62180746e-02 1.53204391e+02] [ 1.15652530e-01 9.93274591e-01 -5.48437557e-03 4.01669605e+00] [ 5.64749530e-02 -1.06300083e-03 9.98403450e-01 2.69998494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.729254154 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:153.23, Y:4.02, Z:2.70 [[ 9.91452157e-01 -1.17776776e-01 -5.61360057e-02 1.53233723e+02] [ 1.17489921e-01 9.93038593e-01 -8.39477152e-03 4.02118435e+00] [ 5.67339292e-02 1.72759947e-03 9.98387839e-01 2.70194884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.759254154 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:153.26, Y:4.02, Z:2.70 [[ 9.91116098e-01 -1.20834172e-01 -5.55696267e-02 1.53263480e+02] [ 1.20869455e-01 9.92664635e-01 -2.73795768e-03 4.02120345e+00] [ 5.54928421e-02 -4.00303655e-03 9.98451060e-01 2.70212108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.789254154 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:153.29, Y:4.03, Z:2.70 [[ 9.90484227e-01 -1.26460162e-01 -5.43030699e-02 1.53294214e+02] [ 1.26358157e-01 9.91970411e-01 -5.32157071e-03 4.02532133e+00] [ 5.45400052e-02 -1.59070398e-03 9.98510319e-01 2.70449276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.819254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:153.32, Y:4.03, Z:2.71 [[ 9.90150927e-01 -1.29044559e-01 -5.43014096e-02 1.53324486e+02] [ 1.28946541e-01 9.91637279e-01 -5.31953858e-03 4.02846606e+00] [ 5.45337595e-02 -1.73483287e-03 9.98510420e-01 2.70615710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.849254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:153.35, Y:4.03, Z:2.71 [[ 9.89906485e-01 -1.30868426e-01 -5.43930738e-02 1.53354942e+02] [ 1.30772829e-01 9.91398041e-01 -5.32844257e-03 4.03144495e+00] [ 5.46225117e-02 -1.83847626e-03 9.98505384e-01 2.70733453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.879254154 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:153.39, Y:4.03, Z:2.71 [[ 9.89732407e-01 -1.31957223e-01 -5.49277213e-02 1.53385537e+02] [ 1.31861466e-01 9.91253556e-01 -5.37980060e-03 4.03484126e+00] [ 5.51572026e-02 -1.91828686e-03 9.98475840e-01 2.70890797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.909254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:153.42, Y:4.04, Z:2.71 [[ 9.89710482e-01 -1.31838496e-01 -5.56037173e-02 1.53415153e+02] [ 1.31740249e-01 9.91269318e-01 -5.44478236e-03 4.03925903e+00] [ 5.58360908e-02 -1.93648940e-03 9.98438071e-01 2.71037561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.939254154 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:153.45, Y:4.04, Z:2.71 [[ 9.89855914e-01 -1.30809934e-01 -5.54439346e-02 1.53445956e+02] [ 1.30710816e-01 9.91405690e-01 -5.42598229e-03 4.04305465e+00] [ 5.56772046e-02 -1.87618130e-03 9.98447059e-01 2.71174284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.969254154 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:153.48, Y:4.05, Z:2.71 [[ 9.90116806e-01 -1.28881891e-01 -5.53007168e-02 1.53477264e+02] [ 1.28780395e-01 9.91658380e-01 -5.40994923e-03 4.04637524e+00] [ 5.55366637e-02 -1.76516648e-03 9.98455088e-01 2.71351038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.999254154 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:153.51, Y:4.05, Z:2.72 [[ 9.90762137e-01 -1.24128398e-01 -5.46125268e-02 1.53507309e+02] [ 1.24022304e-01 9.92265058e-01 -5.34069021e-03 4.05115389e+00] [ 5.48530333e-02 -1.48181776e-03 9.98493339e-01 2.71557100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.029254154 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:153.54, Y:4.06, Z:2.72 [[ 9.91129285e-01 -1.21212687e-01 -5.44997720e-02 1.53537050e+02] [ 1.21102679e-01 9.92625683e-01 -5.32873501e-03 4.05503123e+00] [ 5.47437837e-02 -1.31860306e-03 9.98499564e-01 2.71760768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05925415399997 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:153.57, Y:4.06, Z:2.72 [[ 9.91437953e-01 -1.18888986e-01 -5.40017964e-02 1.53567028e+02] [ 1.18777535e-01 9.92906853e-01 -5.28004527e-03 4.05897657e+00] [ 5.42464929e-02 -1.17936301e-03 9.98526879e-01 2.71909218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08925415399997 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:153.60, Y:4.06, Z:2.72 [[ 9.91729371e-01 -1.16520221e-01 -5.38134923e-02 1.53597533e+02] [ 1.16406063e-01 9.93187769e-01 -5.26163376e-03 4.06259600e+00] [ 5.40599890e-02 -1.04610004e-03 9.98537142e-01 2.72060938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11925415399998 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:153.63, Y:4.07, Z:2.72 [[ 9.92134361e-01 -1.13014540e-01 -5.38249309e-02 1.53627147e+02] [ 1.12895174e-01 9.93592966e-01 -5.26281727e-03 4.06666216e+00] [ 5.40748476e-02 -8.55153074e-04 9.98536519e-01 2.72161774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14925415399998 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:153.66, Y:4.07, Z:2.72 [[ 9.92209744e-01 -1.12045602e-01 -5.44573820e-02 1.53656169e+02] [ 1.11921896e-01 9.93702735e-01 -5.32573565e-03 4.06955600e+00] [ 5.47111747e-02 -8.10726618e-04 9.98501893e-01 2.72293679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17925415399998 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:153.69, Y:4.07, Z:2.72 [[ 9.92204760e-01 -1.11916380e-01 -5.48127610e-02 1.53686030e+02] [ 1.11790749e-01 9.93717300e-01 -5.36242545e-03 4.07221388e+00] [ 5.50685321e-02 -8.06935555e-04 9.98482251e-01 2.72387874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20925415399998 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:153.72, Y:4.07, Z:2.72 [[ 9.91954623e-01 -1.13466746e-01 -5.61366464e-02 1.53715236e+02] [ 1.13337340e-01 9.93541375e-01 -5.49388054e-03 4.07463278e+00] [ 5.63974537e-02 -9.12698003e-04 9.98407980e-01 2.72477467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23925415399998 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:153.74, Y:4.08, Z:2.73 [[ 9.91754071e-01 -1.14988697e-01 -5.65814637e-02 1.53744741e+02] [ 1.14859642e-01 9.93366291e-01 -5.53853229e-03 4.07775953e+00] [ 5.68429873e-02 -1.00606472e-03 9.98382623e-01 2.72638761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26925415399998 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:153.77, Y:4.08, Z:2.73 [[ 9.91493135e-01 -1.16908441e-01 -5.72169541e-02 1.53773313e+02] [ 1.16779535e-01 9.93142058e-01 -5.60291601e-03 4.08077912e+00] [ 5.74795917e-02 -1.12651656e-03 9.98346046e-01 2.72805787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29925415399998 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:153.80, Y:4.08, Z:2.73 [[ 9.91214475e-01 -1.18972949e-01 -5.77866880e-02 1.53803884e+02] [ 1.18844809e-01 9.92896701e-01 -5.66140082e-03 4.08359623e+00] [ 5.80497655e-02 -1.25598548e-03 9.98312900e-01 2.72971222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32925415399998 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:153.83, Y:4.08, Z:2.73 [[ 9.90510048e-01 -1.22223241e-01 -6.28595647e-02 1.53834267e+02] [ 1.23170823e-01 9.92319859e-01 1.14125577e-02 4.07709724e+00] [ 6.09819145e-02 -1.90467173e-02 9.97957128e-01 2.73192182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35925415399998 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:153.86, Y:4.10, Z:2.74 [[ 9.90296481e-01 -1.26962509e-01 -5.65101781e-02 1.53861418e+02] [ 1.25842615e-01 9.91784305e-01 -2.29679808e-02 4.09684157e+00] [ 5.89619802e-02 1.56337220e-02 9.98137802e-01 2.73813592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38925415399999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:153.89, Y:4.09, Z:2.73 [[ 9.90056736e-01 -1.28031346e-01 -5.82720730e-02 1.53891270e+02] [ 1.27915658e-01 9.91768517e-01 -5.72656999e-03 4.09119570e+00] [ 5.85255878e-02 -1.78428138e-03 9.98284314e-01 2.73486823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.419254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:153.92, Y:4.09, Z:2.74 [[ 9.89869240e-01 -1.29765512e-01 -5.76177071e-02 1.53921685e+02] [ 1.29655143e-01 9.91542961e-01 -5.66564971e-03 4.09396522e+00] [ 5.78656379e-02 -1.86217969e-03 9.98322643e-01 2.73651635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.449254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:153.95, Y:4.10, Z:2.74 [[ 9.89628237e-01 -1.32275427e-01 -5.60282418e-02 1.53950627e+02] [ 1.32175072e-01 9.91211076e-01 -5.50945826e-03 4.09705288e+00] [ 5.62645798e-02 -1.95322143e-03 9.98413983e-01 2.73796070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.479254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:153.98, Y:4.10, Z:2.74 [[ 9.89589126e-01 -1.32739727e-01 -5.56194829e-02 1.53981907e+02] [ 1.32641523e-01 9.91148983e-01 -5.46997373e-03 4.10041090e+00] [ 5.58532767e-02 -1.96442637e-03 9.98437055e-01 2.74009028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.509254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:154.01, Y:4.10, Z:2.74 [[ 9.89652676e-01 -1.32329618e-01 -5.54657787e-02 1.54012191e+02] [ 1.32231417e-01 9.91203873e-01 -5.45298628e-03 4.10362833e+00] [ 5.56994863e-02 -1.93775605e-03 9.98445698e-01 2.74092397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.539254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:154.04, Y:4.10, Z:2.75 [[ 9.89576520e-01 -1.29701829e-01 -6.25759225e-02 1.54044373e+02] [ 1.31231245e-01 9.91130052e-01 2.09661899e-02 4.09560334e+00] [ 5.93015241e-02 -2.89595655e-02 9.97819960e-01 2.74503034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.569254154 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:154.07, Y:4.12, Z:2.75 [[ 9.90024936e-01 -1.30990422e-01 -5.18857989e-02 1.54071640e+02] [ 1.29422531e-01 9.91056131e-01 -3.25200412e-02 4.12483791e+00] [ 5.56815530e-02 2.54804603e-02 9.98123395e-01 2.75244303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.599254154 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:154.10, Y:4.12, Z:2.75 [[ 9.90279753e-01 -1.28038746e-01 -5.43331404e-02 1.54102936e+02] [ 1.27938186e-01 9.91767771e-01 -5.33939628e-03 4.11534786e+00] [ 5.45695072e-02 -1.66378742e-03 9.98508588e-01 2.74618554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.629254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:154.13, Y:4.12, Z:2.75 [[ 9.90482164e-01 -1.26461720e-01 -5.43370614e-02 1.54133730e+02] [ 1.26358833e-01 9.91970233e-01 -5.33874216e-03 4.11912275e+00] [ 5.45758940e-02 -1.57803879e-03 9.98508378e-01 2.74794508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.659254154 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:154.16, Y:4.12, Z:2.75 [[ 9.90880138e-01 -1.23077860e-01 -5.48488068e-02 1.54164091e+02] [ 1.22967961e-01 9.92396020e-01 -5.38696210e-03 4.12393648e+00] [ 5.50947534e-02 -1.40681216e-03 9.98480140e-01 2.74990447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.689254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:154.19, Y:4.12, Z:2.75 [[ 9.90929281e-01 -1.21743830e-01 -5.68999088e-02 1.54193694e+02] [ 1.22237483e-01 9.92486919e-01 5.26436097e-03 4.12362683e+00] [ 5.58315117e-02 -1.21719110e-02 9.98366008e-01 2.75197388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.719254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:154.22, Y:4.14, Z:2.76 [[ 9.91151581e-01 -1.20959649e-01 -5.46562542e-02 1.54222141e+02] [ 1.20237528e-01 9.92610920e-01 -1.63247920e-02 4.13666167e+00] [ 5.62270358e-02 9.60861052e-03 9.98371772e-01 2.75619550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.749254154 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:154.25, Y:4.13, Z:2.75 [[ 9.91355142e-01 -1.16680640e-01 -6.00050822e-02 1.54253419e+02] [ 1.17325988e-01 9.93066372e-01 7.33441439e-03 4.12936078e+00] [ 5.87332451e-02 -1.43111650e-02 9.98171126e-01 2.75450805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77925415399997 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:154.28, Y:4.14, Z:2.76 [[ 9.91556702e-01 -1.16555998e-01 -5.68331500e-02 1.54280595e+02] [ 1.16420435e-01 9.93183655e-01 -5.70177306e-03 4.13960346e+00] [ 5.71103314e-02 -9.62908739e-04 9.98367409e-01 2.75534287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80925415399997 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:154.31, Y:4.15, Z:2.76 [[ 9.91445420e-01 -1.16846491e-01 -5.81625101e-02 1.54308796e+02] [ 1.15984820e-01 9.93088086e-01 -1.79882058e-02 4.14926642e+00] [ 5.98623545e-02 1.10883560e-02 9.98145053e-01 2.76080698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83925415399997 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:154.34, Y:4.15, Z:2.76 [[ 9.91481082e-01 -1.15488331e-01 -6.02304665e-02 1.54339392e+02] [ 1.15340095e-01 9.93308278e-01 -5.94371283e-03 4.14729602e+00] [ 6.05138504e-02 -1.05390891e-03 9.98166801e-01 2.75852407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86925415399998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:154.37, Y:4.15, Z:2.76 [[ 9.91564471e-01 -1.13921859e-01 -6.18199800e-02 1.54369582e+02] [ 1.13762530e-01 9.93489228e-01 -6.10250675e-03 4.15212445e+00] [ 6.21126931e-02 -9.81768459e-04 9.98068660e-01 2.75966254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89925415399998 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:154.40, Y:4.16, Z:2.76 [[ 9.91625227e-01 -1.13140910e-01 -6.22779625e-02 1.54398307e+02] [ 1.12977621e-01 9.93578509e-01 -6.14851422e-03 4.15593618e+00] [ 6.25736936e-02 -9.38994264e-04 9.98039905e-01 2.76120353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92925415399998 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:154.43, Y:4.16, Z:2.76 [[ 9.91621384e-01 -1.12871754e-01 -6.28251422e-02 1.54426801e+02] [ 1.12704618e-01 9.93609136e-01 -6.20924533e-03 4.15990482e+00] [ 6.31244836e-02 -9.23463189e-04 9.98005234e-01 2.76311546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95925415399998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:154.46, Y:4.16, Z:2.76 [[ 9.91655903e-01 -1.12660366e-01 -6.26594847e-02 1.54455368e+02] [ 1.12492667e-01 9.93633155e-01 -6.20906921e-03 4.16385227e+00] [ 6.29600575e-02 -8.91472433e-04 9.98015649e-01 2.76479899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98925415399998 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:154.48, Y:4.17, Z:2.77 [[ 9.91715473e-01 -1.12340316e-01 -6.22902326e-02 1.54483427e+02] [ 1.12173092e-01 9.93669425e-01 -6.18630878e-03 4.16786004e+00] [ 6.25908715e-02 -8.52229831e-04 9.98038905e-01 2.76686117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:154.51, Y:4.17, Z:2.77 [[ 9.91813886e-01 -1.12240461e-01 -6.08875492e-02 1.54511346e+02] [ 1.12080178e-01 9.93680735e-01 -6.05226505e-03 4.17225076e+00] [ 6.11820937e-02 -8.21566808e-04 9.98126283e-01 2.76945550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.04925415399998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:154.54, Y:4.18, Z:2.77 [[ 9.91829221e-01 -1.12509921e-01 -6.01358011e-02 1.54541044e+02] [ 1.12353269e-01 9.93650267e-01 -5.99073730e-03 4.17577547e+00] [ 6.04279723e-02 -8.14665530e-04 9.98172228e-01 2.77129599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:154.57, Y:4.18, Z:2.77 [[ 9.91791605e-01 -1.13144826e-01 -5.95622462e-02 1.54570294e+02] [ 1.12992174e-01 9.93578149e-01 -5.93559905e-03 4.17910878e+00] [ 5.98513286e-02 -8.43190348e-04 9.98206946e-01 2.77276670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10925415399998 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:154.60, Y:4.18, Z:2.78 [[ 9.91275518e-01 -1.14410335e-01 -6.54455687e-02 1.54598334e+02] [ 1.15572917e-01 9.93196771e-01 1.42504339e-02 4.17500893e+00] [ 6.33699306e-02 -2.16898416e-02 9.97754380e-01 2.77544854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13925415399999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:154.63, Y:4.20, Z:2.78 [[ 9.91342801e-01 -1.18033129e-01 -5.75120148e-02 1.54627693e+02] [ 1.16644303e-01 9.92808129e-01 -2.69467213e-02 4.19581646e+00] [ 6.02790016e-02 2.00049893e-02 9.97981083e-01 2.78201171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.169254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:154.66, Y:4.19, Z:2.78 [[ 9.91092829e-01 -1.19002484e-01 -5.97780257e-02 1.54658611e+02] [ 1.18858832e-01 9.92893240e-01 -5.96583326e-03 4.18880739e+00] [ 6.00631466e-02 -1.19245174e-03 9.98193867e-01 2.77672519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.199254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:154.69, Y:4.19, Z:2.78 [[ 9.91090747e-01 -1.19019876e-01 -5.97779186e-02 1.54688579e+02] [ 1.18876191e-01 9.92891156e-01 -5.96690596e-03 4.19183177e+00] [ 6.00631471e-02 -1.19242598e-03 9.98193867e-01 2.77827333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.229254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:154.72, Y:4.19, Z:2.78 [[ 9.90853118e-01 -1.20924561e-01 -5.98944759e-02 1.54719198e+02] [ 1.20783735e-01 9.92660836e-01 -5.97944555e-03 4.19480308e+00] [ 6.01779624e-02 -1.30952623e-03 9.98186805e-01 2.77981856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.259254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:154.75, Y:4.20, Z:2.78 [[ 9.90368557e-01 -1.24576337e-01 -6.04223237e-02 1.54748216e+02] [ 1.24439790e-01 9.92208824e-01 -6.03230588e-03 4.19782692e+00] [ 6.07030453e-02 -1.54473519e-03 9.98154674e-01 2.78149405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.289254154 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:154.78, Y:4.20, Z:2.78 [[ 9.90156848e-01 -1.26078351e-01 -6.07755435e-02 1.54778283e+02] [ 1.25942971e-01 9.92018922e-01 -6.06846831e-03 4.20111712e+00] [ 6.10555916e-02 -1.64551708e-03 9.98133011e-01 2.78326892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.319254154 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:154.81, Y:4.20, Z:2.78 [[ 9.89989505e-01 -1.27389387e-01 -6.07677847e-02 1.54806600e+02] [ 1.27256485e-01 9.91851282e-01 -6.06806089e-03 4.20444743e+00] [ 6.10456117e-02 -1.72577809e-03 9.98133486e-01 2.78479336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.349254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:154.83, Y:4.21, Z:2.79 [[ 9.89870236e-01 -1.28020296e-01 -6.13817472e-02 1.54834868e+02] [ 1.27885748e-01 9.91769951e-01 -6.13190263e-03 4.20765169e+00] [ 6.16615804e-02 -1.78006274e-03 9.98095527e-01 2.78654485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.379254154 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:154.87, Y:4.21, Z:2.79 [[ 9.89719645e-01 -1.28747871e-01 -6.22817004e-02 1.54866263e+02] [ 1.28610628e-01 9.91675635e-01 -6.22431428e-03 4.21179343e+00] [ 6.25646120e-02 -1.84976249e-03 9.98039201e-01 2.78834610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.409254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:154.90, Y:4.22, Z:2.79 [[ 9.89686639e-01 -1.28495033e-01 -6.33196958e-02 1.54896221e+02] [ 1.28352796e-01 9.91708396e-01 -6.32593105e-03 4.21544566e+00] [ 6.36075247e-02 -1.86657055e-03 9.97973245e-01 2.79022952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.439254154 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:154.92, Y:4.21, Z:2.79 [[ 9.89143249e-01 -1.28569221e-01 -7.11729426e-02 1.54923773e+02] [ 1.30564576e-01 9.91146558e-01 2.41120908e-02 4.20752121e+00] [ 6.74427443e-02 -3.31429770e-02 9.97172512e-01 2.79095201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.469254154 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:154.95, Y:4.24, Z:2.80 [[ 9.89708659e-01 -1.29417340e-01 -6.10567177e-02 1.54952847e+02] [ 1.27258482e-01 9.91140294e-01 -3.80288851e-02 4.23778626e+00] [ 6.54373703e-02 2.98675317e-02 9.97409585e-01 2.80299971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.499254154 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:154.99, Y:4.23, Z:2.79 [[ 9.89904795e-01 -1.25691881e-01 -6.54984625e-02 1.54985193e+02] [ 1.25532631e-01 9.92067818e-01 -6.55766240e-03 4.22759648e+00] [ 6.58031617e-02 -1.73073285e-03 9.97831122e-01 2.79457292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52925415399997 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:155.01, Y:4.23, Z:2.80 [[ 9.90069667e-01 -1.24212885e-01 -6.58271451e-02 1.55013886e+02] [ 1.24048716e-01 9.92254237e-01 -6.59136254e-03 4.23145884e+00] [ 6.61359958e-02 -1.63986471e-03 9.97809271e-01 2.79630981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55925415399997 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:155.04, Y:4.24, Z:2.80 [[ 9.90260726e-01 -1.22703155e-01 -6.57847317e-02 1.55041928e+02] [ 1.22535638e-01 9.92442231e-01 -6.59063672e-03 4.23549012e+00] [ 6.60962378e-02 -1.53452534e-03 9.97812073e-01 2.79813077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58925415399997 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:155.07, Y:4.24, Z:2.80 [[ 9.90393485e-01 -1.21475018e-01 -6.60648608e-02 1.55071130e+02] [ 1.21303126e-01 9.92593422e-01 -6.62195188e-03 4.23966336e+00] [ 6.63799479e-02 -1.45553610e-03 9.97793357e-01 2.80022535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61925415399998 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:155.10, Y:4.24, Z:2.80 [[ 9.90631864e-01 -1.19383417e-01 -6.63031711e-02 1.55100260e+02] [ 1.19205448e-01 9.92847351e-01 -6.64816239e-03 4.24450876e+00] [ 6.66226082e-02 -1.31781773e-03 9.97777376e-01 2.80276004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64925415399998 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:155.13, Y:4.25, Z:2.80 [[ 9.90710768e-01 -1.18552975e-01 -6.66135537e-02 1.55129601e+02] [ 1.18371302e-01 9.92946922e-01 -6.68164622e-03 4.24799598e+00] [ 6.69358521e-02 -1.26555423e-03 9.97756478e-01 2.80443113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67925415399998 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:155.16, Y:4.25, Z:2.81 [[ 9.90719535e-01 -1.18263497e-01 -6.69966240e-02 1.55157739e+02] [ 1.18078880e-01 9.92981461e-01 -6.72283577e-03 4.25121494e+00] [ 6.73214717e-02 -1.25044159e-03 9.97730553e-01 2.80616097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70925415399998 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:155.19, Y:4.25, Z:2.81 [[ 9.90668843e-01 -1.18848143e-01 -6.67110324e-02 1.55186104e+02] [ 1.18813317e-01 9.92906398e-01 -4.50346246e-03 4.25367354e+00] [ 6.67730390e-02 -3.46471908e-03 9.97762175e-01 2.80696597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73925415399998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:155.21, Y:4.26, Z:2.81 [[ 9.90553147e-01 -1.19939952e-01 -6.64745913e-02 1.55213460e+02] [ 1.19628717e-01 9.92780952e-01 -8.65741118e-03 4.25878886e+00] [ 6.70330776e-02 6.23355815e-04 9.97750559e-01 2.81026061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76925415399998 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:155.24, Y:4.26, Z:2.81 [[ 9.90398897e-01 -1.21136972e-01 -6.66022494e-02 1.55241646e+02] [ 1.20958643e-01 9.92634811e-01 -6.71853419e-03 4.26112354e+00] [ 6.69255741e-02 -1.40208883e-03 9.97756985e-01 2.81136969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79925415399998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:155.27, Y:4.26, Z:2.81 [[ 9.90275778e-01 -1.22250683e-01 -6.63976904e-02 1.55272300e+02] [ 1.22075762e-01 9.92498166e-01 -6.70066670e-03 4.26450959e+00] [ 6.67187471e-02 -1.47004070e-03 9.97770739e-01 2.81313980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82925415399998 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:155.30, Y:4.27, Z:2.81 [[ 9.90110777e-01 -1.23459056e-01 -6.66221481e-02 1.55301679e+02] [ 1.23285661e-01 9.92348446e-01 -6.72360252e-03 4.26769121e+00] [ 6.69424747e-02 -1.55644421e-03 9.97755623e-01 2.81478393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85925415399998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:155.33, Y:4.27, Z:2.82 [[ 9.90028773e-01 -1.24456953e-01 -6.59810293e-02 1.55332350e+02] [ 1.24289033e-01 9.92223706e-01 -6.65981181e-03 4.27106812e+00] [ 6.62968014e-02 -1.60731299e-03 9.97798652e-01 2.81616152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88925415399999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:155.36, Y:4.27, Z:2.82 [[ 9.89862515e-01 -1.25799618e-01 -6.59291897e-02 1.55361805e+02] [ 1.25634916e-01 9.92054223e-01 -6.65485076e-03 4.27499418e+00] [ 6.62425087e-02 -1.69562087e-03 9.97802112e-01 2.81813573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.919254154 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:155.39, Y:4.27, Z:2.82 [[ 9.89385561e-01 -1.26284715e-01 -7.18914678e-02 1.55394144e+02] [ 1.27306123e-01 9.91815168e-01 9.78897874e-03 4.27199204e+00] [ 7.00668498e-02 -1.88372982e-02 9.97364423e-01 2.82093167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.949254154 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:155.42, Y:4.29, Z:2.83 [[ 9.89776828e-01 -1.27406857e-01 -6.41039983e-02 1.55422130e+02] [ 1.26132686e-01 9.91733513e-01 -2.35623390e-02 4.29045253e+00] [ 6.65760870e-02 1.52358476e-02 9.97665021e-01 2.82653063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.979254154 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:155.45, Y:4.29, Z:2.82 [[ 9.89919081e-01 -1.25856710e-01 -6.49638514e-02 1.55454679e+02] [ 1.25696791e-01 9.92047021e-01 -6.55938828e-03 4.28699598e+00] [ 6.52727383e-02 -1.67248402e-03 9.97866059e-01 2.82245470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.009254154 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:155.48, Y:4.29, Z:2.82 [[ 9.89996387e-01 -1.25527096e-01 -6.44212766e-02 1.55484853e+02] [ 1.25369278e-01 9.92088838e-01 -6.50249164e-03 4.29071855e+00] [ 6.47278683e-02 -1.63900569e-03 9.97901607e-01 2.82405511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.039254154 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:155.52, Y:4.29, Z:2.83 [[ 9.90064389e-01 -1.25135051e-01 -6.41383218e-02 1.55516095e+02] [ 1.24977886e-01 9.92138415e-01 -6.47251729e-03 4.29427521e+00] [ 6.44440317e-02 -1.60766302e-03 9.97920028e-01 2.82565553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.069254154 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:155.55, Y:4.30, Z:2.83 [[ 9.90244212e-01 -1.24297919e-01 -6.29795793e-02 1.55547664e+02] [ 1.24144836e-01 9.92243768e-01 -6.35333487e-03 4.29793433e+00] [ 6.32808014e-02 -1.52723644e-03 9.97994593e-01 2.82660820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.099254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:155.58, Y:4.30, Z:2.83 [[ 9.90335918e-01 -1.23856562e-01 -6.24044965e-02 1.55579677e+02] [ 1.23705557e-01 9.92299016e-01 -6.29263049e-03 4.30142442e+00] [ 6.27033040e-02 -1.48796500e-03 9.98031103e-01 2.82764131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.129254154 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:155.61, Y:4.30, Z:2.83 [[ 9.90345554e-01 -1.23132485e-01 -6.36716189e-02 1.55612647e+02] [ 1.23273841e-01 9.92371204e-01 -1.71869578e-03 4.30252256e+00] [ 6.33975084e-02 -6.14694230e-03 9.97969424e-01 2.82908323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.159254154 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:155.64, Y:4.31, Z:2.83 [[ 9.90362946e-01 -1.23402776e-01 -6.28728151e-02 1.55643835e+02] [ 1.23248942e-01 9.92355570e-01 -6.33415215e-03 4.30831226e+00] [ 6.31738403e-02 -1.47589839e-03 9.98001447e-01 2.83146952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.189254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:155.67, Y:4.31, Z:2.83 [[ 9.90486086e-01 -1.22953009e-01 -6.18051032e-02 1.55674365e+02] [ 1.22690954e-01 9.92412424e-01 -8.03186829e-03 4.31237454e+00] [ 6.23236947e-02 3.72526687e-04 9.98055919e-01 2.83261317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.219254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:155.70, Y:4.32, Z:2.83 [[ 9.90407418e-01 -1.23751063e-01 -6.14721068e-02 1.55703324e+02] [ 1.23483105e-01 9.92313176e-01 -8.15374143e-03 4.31596145e+00] [ 6.20086157e-02 4.84759390e-04 9.98075496e-01 2.83341397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.249254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:155.73, Y:4.32, Z:2.83 [[ 9.90355775e-01 -1.24220533e-01 -6.13571403e-02 1.55734021e+02] [ 1.24075392e-01 9.92253519e-01 -6.18476717e-03 4.31799204e+00] [ 6.16501135e-02 -1.48779138e-03 9.98096714e-01 2.83416378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27925415399997 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:155.77, Y:4.32, Z:2.84 [[ 9.90266096e-01 -1.24840753e-01 -6.15454730e-02 1.55766507e+02] [ 1.24696140e-01 9.92175605e-01 -6.20012611e-03 4.32098652e+00] [ 6.18379453e-02 -1.53470825e-03 9.98085023e-01 2.83579424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30925415399997 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:155.80, Y:4.32, Z:2.84 [[ 9.90142458e-01 -1.25768709e-01 -6.16453061e-02 1.55798581e+02] [ 1.25625707e-01 9.92058301e-01 -6.20559708e-03 4.32407097e+00] [ 6.19362075e-02 -1.59981000e-03 9.98078828e-01 2.83758597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33925415399997 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:155.83, Y:4.33, Z:2.84 [[ 9.90002236e-01 -1.26938344e-01 -6.14998336e-02 1.55830403e+02] [ 1.26798552e-01 9.91909197e-01 -6.18637171e-03 4.32702995e+00] [ 6.17875384e-02 -1.67356801e-03 9.98087922e-01 2.83896066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:155.86, Y:4.33, Z:2.84 [[ 9.89626310e-01 -1.29709228e-01 -6.17679720e-02 1.55861791e+02] [ 1.29573873e-01 9.91550332e-01 -6.20895000e-03 4.32990497e+00] [ 6.20514112e-02 -1.85897508e-03 9.98071223e-01 2.84023395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39925415399998 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:155.89, Y:4.33, Z:2.84 [[ 9.89484238e-01 -1.30708648e-01 -6.19370072e-02 1.55894213e+02] [ 1.30574733e-01 9.91418944e-01 -6.22228048e-03 4.33272241e+00] [ 6.22188281e-02 -1.93055972e-03 9.98060665e-01 2.84191229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42925415399998 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:155.93, Y:4.34, Z:2.84 [[ 9.89321942e-01 -1.32040717e-01 -6.17036741e-02 1.55925953e+02] [ 1.31910679e-01 9.91242253e-01 -6.19425797e-03 4.33586023e+00] [ 6.19811832e-02 -2.01125823e-03 9.98075292e-01 2.84330339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45925415399998 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:155.96, Y:4.34, Z:2.85 [[ 9.89069334e-01 -1.34054937e-01 -6.14095009e-02 1.55956599e+02] [ 1.33930278e-01 9.90971609e-01 -6.16037843e-03 4.33902296e+00] [ 6.16809011e-02 -2.13155013e-03 9.98093644e-01 2.84501161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48925415399998 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:155.99, Y:4.34, Z:2.85 [[ 9.89014095e-01 -1.34540918e-01 -6.12361145e-02 1.55987202e+02] [ 1.34418140e-01 9.90905685e-01 -6.13894671e-03 4.34226312e+00] [ 6.15051536e-02 -2.15973981e-03 9.98104429e-01 2.84664333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51925415399998 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:156.02, Y:4.35, Z:2.85 [[ 9.89067275e-01 -1.34539739e-01 -6.03737002e-02 1.56019032e+02] [ 1.34420785e-01 9.90905898e-01 -6.04603556e-03 4.34567995e+00] [ 6.06380877e-02 -2.13554423e-03 9.98157534e-01 2.84837973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54925415399998 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:156.05, Y:4.35, Z:2.85 [[ 9.89182022e-01 -1.33801781e-01 -6.01332677e-02 1.56051178e+02] [ 1.33682677e-01 9.91005919e-01 -6.01757023e-03 4.34916857e+00] [ 6.03975858e-02 -2.08630391e-03 9.98172219e-01 2.85043051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57925415399998 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:156.08, Y:4.35, Z:2.85 [[ 9.89587612e-01 -1.31101218e-01 -5.94039429e-02 1.56082737e+02] [ 1.30980388e-01 9.91367163e-01 -5.94022566e-03 4.35383627e+00] [ 5.96698892e-02 -1.90237778e-03 9.98216352e-01 2.85304631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60925415399998 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:156.11, Y:4.36, Z:2.86 [[ 9.89860409e-01 -1.29228566e-01 -5.89605640e-02 1.56114542e+02] [ 1.29106473e-01 9.91613235e-01 -5.89157136e-03 4.35772810e+00] [ 5.92274350e-02 -1.78035724e-03 9.98242927e-01 2.85511360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63925415399999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:156.15, Y:4.36, Z:2.86 [[ 9.90138816e-01 -1.27227618e-01 -5.86366653e-02 1.56146118e+02] [ 1.27103614e-01 9.91872165e-01 -5.85488782e-03 4.36135104e+00] [ 5.89049796e-02 -1.65578038e-03 9.98262221e-01 2.85708018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.669254154 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:156.18, Y:4.36, Z:2.86 [[ 9.90384987e-01 -1.25416954e-01 -5.83794962e-02 1.56178063e+02] [ 1.25291148e-01 9.92102917e-01 -5.82490143e-03 4.36485696e+00] [ 5.86490099e-02 -1.54553915e-03 9.98277469e-01 2.85868818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.699254154 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:156.21, Y:4.37, Z:2.86 [[ 9.90578333e-01 -1.23774903e-01 -5.86032438e-02 1.56209943e+02] [ 1.23645517e-01 9.92309250e-01 -5.84285712e-03 4.36802131e+00] [ 5.88757399e-02 -1.45822073e-03 9.98264254e-01 2.86030996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.729254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:156.24, Y:4.37, Z:2.86 [[ 9.90678871e-01 -1.22707353e-01 -5.91462554e-02 1.56242072e+02] [ 1.22573919e-01 9.92441893e-01 -5.89260437e-03 4.37130371e+00] [ 5.94222876e-02 -1.41210970e-03 9.98231936e-01 2.86190747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.759254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:156.27, Y:4.37, Z:2.86 [[ 9.90814557e-01 -1.20994077e-01 -6.03899542e-02 1.56272734e+02] [ 1.20852092e-01 9.92652322e-01 -6.01157981e-03 4.37401788e+00] [ 6.06735938e-02 -1.34189154e-03 9.98156758e-01 2.86291848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.789254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:156.30, Y:4.38, Z:2.86 [[ 9.90858747e-01 -1.20431485e-01 -6.07881667e-02 1.56303492e+02] [ 1.20286945e-01 9.92720761e-01 -6.04499613e-03 4.37662213e+00] [ 6.10736829e-02 -1.32228558e-03 9.98132384e-01 2.86405540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.819254154 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:156.34, Y:4.38, Z:2.87 [[ 9.90849089e-01 -1.20131598e-01 -6.15344050e-02 1.56335148e+02] [ 1.19983045e-01 9.92757096e-01 -6.11698100e-03 4.37948133e+00] [ 6.18235599e-02 -1.32208026e-03 9.98086218e-01 2.86548402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.849254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:156.37, Y:4.38, Z:2.87 [[ 9.90886315e-01 -1.19377817e-01 -6.23958964e-02 1.56366967e+02] [ 1.19223753e-01 9.92848054e-01 -6.19990645e-03 4.38227977e+00] [ 6.26897756e-02 -1.29567047e-03 9.98032221e-01 2.86725843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.879254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:156.40, Y:4.39, Z:2.87 [[ 9.90866876e-01 -1.19394364e-01 -6.26723277e-02 1.56398157e+02] [ 1.19239229e-01 9.92846050e-01 -6.22317644e-03 4.38520141e+00] [ 6.29669852e-02 -1.30666062e-03 9.98014755e-01 2.86893698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.909254154 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:156.43, Y:4.39, Z:2.87 [[ 9.90830283e-01 -1.19461564e-01 -6.31211957e-02 1.56427883e+02] [ 1.19304466e-01 9.92837945e-01 -6.26565049e-03 4.38770717e+00] [ 6.34176226e-02 -1.32244430e-03 9.97986200e-01 2.87053792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.939254154 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:156.46, Y:4.39, Z:2.87 [[ 9.90860712e-01 -1.19087148e-01 -6.33506155e-02 1.56457271e+02] [ 1.18789129e-01 9.92883432e-01 -8.46360507e-03 4.39172179e+00] [ 6.39076831e-02 8.60889291e-04 9.97955443e-01 2.87283602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.969254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:156.49, Y:4.39, Z:2.87 [[ 9.90856956e-01 -1.18913410e-01 -6.37345629e-02 1.56487546e+02] [ 1.18874989e-01 9.92899444e-01 -4.40810403e-03 4.39285559e+00] [ 6.38061947e-02 -3.20864494e-03 9.97957150e-01 2.87320377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.999254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:156.52, Y:4.40, Z:2.88 [[ 9.90807905e-01 -1.19299367e-01 -6.37758280e-02 1.56516428e+02] [ 1.19138179e-01 9.92857454e-01 -6.33808340e-03 4.39673080e+00] [ 6.40764356e-02 -1.31831285e-03 9.97944123e-01 2.87588916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02925415399997 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:156.55, Y:4.40, Z:2.88 [[ 9.90824599e-01 -1.19010988e-01 -6.40546504e-02 1.56546577e+02] [ 1.18847724e-01 9.92892080e-01 -6.36674598e-03 4.40000780e+00] [ 6.43570678e-02 -1.30442086e-03 9.97926083e-01 2.87764670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05925415399997 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:156.58, Y:4.40, Z:2.88 [[ 9.90887914e-01 -1.18357742e-01 -6.42852032e-02 1.56576817e+02] [ 1.18191926e-01 9.92970211e-01 -6.38966190e-03 4.40323691e+00] [ 6.45895578e-02 -1.26655324e-03 9.97911111e-01 2.87926046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08925415399997 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:156.61, Y:4.41, Z:2.88 [[ 9.90885943e-01 -1.18374252e-01 -6.42851803e-02 1.56607619e+02] [ 1.18208456e-01 9.92968242e-01 -6.38989216e-03 4.40629759e+00] [ 6.45895412e-02 -1.26739761e-03 9.97911111e-01 2.88083263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11925415399998 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:156.64, Y:4.41, Z:2.88 [[ 9.91038812e-01 -1.17236071e-01 -6.40138747e-02 1.56637506e+02] [ 1.17069247e-01 9.93103365e-01 -6.36377073e-03 4.40963207e+00] [ 6.43184578e-02 -1.18731231e-03 9.97928718e-01 2.88271844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14925415399998 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:156.67, Y:4.41, Z:2.88 [[ 9.91099393e-01 -1.16854812e-01 -6.37726176e-02 1.56667608e+02] [ 1.16688455e-01 9.93148333e-01 -6.33978680e-03 4.41285945e+00] [ 6.40765034e-02 -1.15816940e-03 9.97944317e-01 2.88449896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17925415399998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:156.70, Y:4.42, Z:2.89 [[ 9.91170029e-01 -1.16479912e-01 -6.33593246e-02 1.56699143e+02] [ 1.16314971e-01 9.93192408e-01 -6.29821750e-03 4.41607024e+00] [ 6.36616160e-02 -1.12703360e-03 9.97970906e-01 2.88644027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20925415399998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:156.73, Y:4.42, Z:2.89 [[ 9.91185189e-01 -1.16277278e-01 -6.34942098e-02 1.56729271e+02] [ 1.16111388e-01 9.93216161e-01 -6.30898823e-03 4.41918357e+00] [ 6.37970673e-02 -1.11902512e-03 9.97962265e-01 2.88820648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23925415399998 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:156.76, Y:4.42, Z:2.89 [[ 9.91276943e-01 -1.14841830e-01 -6.46635683e-02 1.56757684e+02] [ 1.14444021e-01 9.93381013e-01 -9.83512298e-03 4.42352328e+00] [ 6.53650445e-02 2.34897189e-03 9.97858654e-01 2.89110930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.26925415399998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:156.79, Y:4.42, Z:2.89 [[ 9.91233106e-01 -1.15383866e-01 -6.43699666e-02 1.56787663e+02] [ 1.15403472e-01 9.93312791e-01 -3.42595157e-03 4.42393433e+00] [ 6.43348107e-02 -4.03260098e-03 9.97920222e-01 2.89044001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:156.82, Y:4.43, Z:2.89 [[ 9.91250712e-01 -1.15215362e-01 -6.44006705e-02 1.56819077e+02] [ 1.15042441e-01 9.93339965e-01 -6.39933566e-03 4.42869301e+00] [ 6.47090615e-02 -1.06546433e-03 9.97903604e-01 2.89338530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32925415399998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:156.85, Y:4.43, Z:2.90 [[ 9.91289102e-01 -1.14573325e-01 -6.49528254e-02 1.56848037e+02] [ 1.14396156e-01 9.93414256e-01 -6.45255517e-03 4.43190933e+00] [ 6.52643534e-02 -1.03400595e-03 9.97867474e-01 2.89533762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35925415399998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:156.88, Y:4.43, Z:2.90 [[ 9.91595120e-01 -1.12394866e-01 -6.40820772e-02 1.56878245e+02] [ 1.12217813e-01 9.93663235e-01 -6.36698260e-03 4.43474295e+00] [ 6.43916203e-02 -8.77681708e-04 9.97924320e-01 2.89669403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38925415399999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:156.91, Y:4.44, Z:2.90 [[ 9.91753449e-01 -1.11064907e-01 -6.39506220e-02 1.56908417e+02] [ 1.10885819e-01 9.93812841e-01 -6.35392165e-03 4.43754412e+00] [ 6.42606470e-02 -7.89693373e-04 9.97932836e-01 2.89860004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.419254154 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:156.94, Y:4.44, Z:2.90 [[ 9.91945193e-01 -1.09442005e-01 -6.37744653e-02 1.56938589e+02] [ 1.09260552e-01 9.93992948e-01 -6.33641930e-03 4.44033871e+00] [ 6.40848392e-02 -6.82652598e-04 9.97944221e-01 2.90072986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.449254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:156.97, Y:4.44, Z:2.90 [[ 9.92157883e-01 -1.07721167e-01 -6.33946802e-02 1.56969086e+02] [ 1.07538361e-01 9.94180983e-01 -6.29868511e-03 4.44336351e+00] [ 6.37042872e-02 -5.68069916e-04 9.97968657e-01 2.90252272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.479254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:157.00, Y:4.45, Z:2.90 [[ 9.92299888e-01 -1.06253316e-01 -6.36487559e-02 1.56998343e+02] [ 1.06066008e-01 9.94338980e-01 -6.32416857e-03 4.44635817e+00] [ 6.39604029e-02 -4.75497721e-04 9.97952324e-01 2.90456388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.509254154 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:157.03, Y:4.45, Z:2.91 [[ 9.92514538e-01 -1.03761886e-01 -6.44077917e-02 1.57028193e+02] [ 1.03564778e-01 9.94602116e-01 -6.40052681e-03 4.44936743e+00] [ 6.47242567e-02 -3.17762721e-04 9.97903136e-01 2.90597834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.539254154 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:157.06, Y:4.45, Z:2.91 [[ 9.92502438e-01 -1.03426826e-01 -6.51291165e-02 1.57056475e+02] [ 1.03224501e-01 9.94637021e-01 -6.47299747e-03 4.45228123e+00] [ 6.54493120e-02 -2.98454793e-04 9.97855851e-01 2.90716693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.569254154 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:157.09, Y:4.45, Z:2.91 [[ 9.92469699e-01 -1.03425515e-01 -6.56281931e-02 1.57085444e+02] [ 1.03219637e-01 9.94637158e-01 -6.52918097e-03 4.45467628e+00] [ 6.59515234e-02 -2.94104009e-04 9.97822785e-01 2.90859905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.599254154 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:157.11, Y:4.46, Z:2.91 [[ 9.92379468e-01 -1.03985690e-01 -6.61057269e-02 1.57113702e+02] [ 1.03776884e-01 9.94578743e-01 -6.59409409e-03 4.45663815e+00] [ 6.64330422e-02 -3.16402787e-04 9.97790835e-01 2.91007867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.629254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:157.14, Y:4.46, Z:2.91 [[ 9.92159093e-01 -1.05700264e-01 -6.66917452e-02 1.57140818e+02] [ 1.05490480e-01 9.94397948e-01 -6.66928947e-03 4.45697030e+00] [ 6.70230802e-02 -4.18348025e-04 9.97751338e-01 2.91091726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.659254154 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:157.17, Y:4.46, Z:2.91 [[ 9.91977033e-01 -1.07893353e-01 -6.58831576e-02 1.57168997e+02] [ 1.07692758e-01 9.94162322e-01 -6.59901675e-03 4.45883293e+00] [ 6.62105430e-02 -5.49065868e-04 9.97805523e-01 2.91227672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.689254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:157.20, Y:4.46, Z:2.91 [[ 9.91771107e-01 -1.09752859e-01 -6.59119206e-02 1.57196646e+02] [ 1.09554947e-01 9.93958692e-01 -6.62060955e-03 4.46044473e+00] [ 6.62403572e-02 -6.54847714e-04 9.97803481e-01 2.91379080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.719254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:157.23, Y:4.46, Z:2.92 [[ 9.91599579e-01 -1.11641473e-01 -6.53181167e-02 1.57225775e+02] [ 1.11450031e-01 9.93748263e-01 -6.57882306e-03 4.46230879e+00] [ 6.56442345e-02 -7.56147955e-04 9.97842805e-01 2.91531041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.749254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:157.26, Y:4.46, Z:2.92 [[ 9.91436769e-01 -1.13486811e-01 -6.46055520e-02 1.57255215e+02] [ 1.13302594e-01 9.93539134e-01 -6.52003150e-03 4.46446156e+00] [ 6.49280818e-02 -8.55777658e-04 9.97889579e-01 2.91663401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77925415399997 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:157.29, Y:4.48, Z:2.92 [[ 9.91811739e-01 -1.15942652e-01 -5.35422901e-02 1.57289649e+02] [ 1.13738393e-01 9.92599679e-01 -4.25376987e-02 4.48054712e+00] [ 5.80779935e-02 3.60995748e-02 9.97659144e-01 2.92140045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80925415399997 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:157.32, Y:4.45, Z:2.91 [[ 9.90833198e-01 -1.16859754e-01 -6.77744199e-02 1.57317489e+02] [ 1.19226496e-01 9.92351842e-01 3.19822490e-02 4.44898666e+00] [ 6.35186327e-02 -3.97695806e-02 9.97187928e-01 2.90756865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83925415399997 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:157.35, Y:4.47, Z:2.92 [[ 9.90694606e-01 -1.20293145e-01 -6.36691155e-02 1.57345922e+02] [ 1.20126564e-01 9.92737619e-01 -6.45195717e-03 4.46915867e+00] [ 6.39828523e-02 -1.25643294e-03 9.97950207e-01 2.92062119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86925415399998 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:157.38, Y:4.47, Z:2.92 [[ 9.90401970e-01 -1.23037258e-01 -6.29743730e-02 1.57375580e+02] [ 1.22879951e-01 9.92401037e-01 -6.37968552e-03 4.46999768e+00] [ 6.32807720e-02 -1.41983476e-03 9.97994753e-01 2.92165546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89925415399998 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:157.41, Y:4.47, Z:2.92 [[ 9.90216714e-01 -1.24602523e-01 -6.28097998e-02 1.57405595e+02] [ 1.24449181e-01 9.92205580e-01 -6.36300579e-03 4.47205313e+00] [ 6.31130804e-02 -1.51587346e-03 9.98005231e-01 2.92338711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92925415399998 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:157.44, Y:4.47, Z:2.92 [[ 9.90082318e-01 -1.26094331e-01 -6.19453299e-02 1.57436355e+02] [ 1.25948098e-01 9.92016984e-01 -6.27542986e-03 4.47449812e+00] [ 6.22421155e-02 -1.58870432e-03 9.98059815e-01 2.92483882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95925415399998 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:157.47, Y:4.47, Z:2.93 [[ 9.89430296e-01 -1.28856308e-01 -6.65112152e-02 1.57465145e+02] [ 1.29559556e-01 9.91551294e-01 6.35247215e-03 4.47243431e+00] [ 6.51307254e-02 -1.49024919e-02 9.97765456e-01 2.92896721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98925415399998 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:157.50, Y:4.49, Z:2.93 [[ 9.89688504e-01 -1.31798865e-01 -5.60867638e-02 1.57498936e+02] [ 1.30213881e-01 9.90999644e-01 -3.10491577e-02 4.48828317e+00] [ 5.96742067e-02 2.34257192e-02 9.97942997e-01 2.93377275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01925415399998 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:157.53, Y:4.47, Z:2.93 [[ 9.89089278e-01 -1.33154549e-01 -6.30259237e-02 1.57527774e+02] [ 1.33834566e-01 9.90981209e-01 6.67468412e-03 4.47335377e+00] [ 6.15687416e-02 -1.50369057e-02 9.97989570e-01 2.92578395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04925415399998 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:157.56, Y:4.48, Z:2.93 [[ 9.88783430e-01 -1.36449136e-01 -6.07368259e-02 1.57557731e+02] [ 1.36327867e-01 9.90644650e-01 -6.15558383e-03 4.48147709e+00] [ 6.10085357e-02 -2.19358260e-03 9.98134834e-01 2.93072656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07925415399998 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:157.59, Y:4.48, Z:2.93 [[ 9.88301094e-01 -1.38607702e-01 -6.36305923e-02 1.57589781e+02] [ 1.39004427e-01 9.90290070e-01 1.82925128e-03 4.48075708e+00] [ 6.27591954e-02 -1.06527851e-02 9.97971844e-01 2.93408892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10925415399998 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:157.62, Y:4.49, Z:2.94 [[ 9.88379182e-01 -1.39900679e-01 -5.94507527e-02 1.57619075e+02] [ 1.39295321e-01 9.90148662e-01 -1.42281519e-02 4.48954936e+00] [ 6.08556113e-02 5.78159742e-03 9.98129835e-01 2.93694739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13925415399999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:157.65, Y:4.49, Z:2.94 [[ 9.87995780e-01 -1.42097584e-01 -6.06021063e-02 1.57650571e+02] [ 1.41987045e-01 9.89849421e-01 -6.14847086e-03 4.48900301e+00] [ 6.08606427e-02 -2.53005071e-03 9.98143066e-01 2.93668266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.169254154 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:157.69, Y:4.50, Z:2.94 [[ 9.88119938e-01 -1.42137274e-01 -5.84464203e-02 1.57685856e+02] [ 1.41514430e-01 9.89827307e-01 -1.46822626e-02 4.49586034e+00] [ 5.99387596e-02 6.23682452e-03 9.98182572e-01 2.93850929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.199254154 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:157.71, Y:4.49, Z:2.93 [[ 9.87983691e-01 -1.42033891e-01 -6.09475221e-02 1.57713612e+02] [ 1.42499354e-01 9.89789268e-01 3.33756288e-03 4.49045368e+00] [ 5.98511562e-02 -1.19824402e-02 9.98135392e-01 2.93489907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.229254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:157.74, Y:4.50, Z:2.94 [[ 9.87730343e-01 -1.43486162e-01 -6.16481225e-02 1.57743778e+02] [ 1.43375051e-01 9.89648721e-01 -6.24525512e-03 4.49972966e+00] [ 6.19060933e-02 -2.67017475e-03 9.98078407e-01 2.93983958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.259254154 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:157.77, Y:4.50, Z:2.94 [[ 9.87799226e-01 -1.42921543e-01 -6.18556539e-02 1.57773439e+02] [ 1.42808753e-01 9.89730483e-01 -6.26348379e-03 4.50384558e+00] [ 6.21156130e-02 -2.64646439e-03 9.98065452e-01 2.94082930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.289254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:157.80, Y:4.51, Z:2.94 [[ 9.87820225e-01 -1.42738857e-01 -6.19420913e-02 1.57803445e+02] [ 1.42625459e-01 9.89756864e-01 -6.27119203e-03 4.50764772e+00] [ 6.22027529e-02 -2.63970886e-03 9.98060043e-01 2.94226398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.319254154 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:157.83, Y:4.51, Z:2.95 [[ 9.87585868e-01 -1.42895267e-01 -6.52311026e-02 1.57834138e+02] [ 1.43471064e-01 9.89645577e-01 4.20545695e-03 4.50805154e+00] [ 6.39547323e-02 -1.35120255e-02 9.97861322e-01 2.94508449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.349254154 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:157.86, Y:4.52, Z:2.95 [[ 9.87908840e-01 -1.42490865e-01 -6.10940105e-02 1.57863699e+02] [ 1.41701503e-01 9.89761963e-01 -1.70862921e-02 4.52113390e+00] [ 6.29031683e-02 8.22258584e-03 9.97985762e-01 2.94877550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.379254154 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:157.89, Y:4.52, Z:2.95 [[ 9.88142226e-01 -1.39194429e-01 -6.48062615e-02 1.57894483e+02] [ 1.39770252e-01 9.90174115e-01 4.41573756e-03 4.51803901e+00] [ 6.35548365e-02 -1.34213642e-02 9.97888095e-01 2.94694413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.409254154 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:157.92, Y:4.52, Z:2.95 [[ 9.87440506e-01 -1.39816462e-01 -7.35704008e-02 1.57922404e+02] [ 1.41818864e-01 9.89632070e-01 2.27107094e-02 4.51608687e+00] [ 6.96322970e-02 -3.28591450e-02 9.97031404e-01 2.95239496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.439254154 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:157.95, Y:4.55, Z:2.96 [[ 9.88718479e-01 -1.38765541e-01 -5.63905445e-02 1.57953132e+02] [ 1.36167967e-01 9.89542872e-01 -4.75729847e-02 4.54872884e+00] [ 6.24023524e-02 3.93577033e-02 9.97274745e-01 2.96279609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.469254154 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:157.99, Y:4.54, Z:2.95 [[ 9.89223800e-01 -1.33668364e-01 -5.97414610e-02 1.57987145e+02] [ 1.33546536e-01 9.91024105e-01 -6.04536790e-03 4.53558388e+00] [ 6.00133023e-02 -1.99804338e-03 9.98195578e-01 2.95136571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.499254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:158.02, Y:4.54, Z:2.95 [[ 9.89481988e-01 -1.31925710e-01 -5.93380374e-02 1.58019264e+02] [ 1.31802651e-01 9.91257816e-01 -6.00024812e-03 4.54017505e+00] [ 5.96108804e-02 -1.88377317e-03 9.98219913e-01 2.95289249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52925415399997 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:158.05, Y:4.55, Z:2.96 [[ 9.89909793e-01 -1.28786742e-01 -5.90980344e-02 1.58046728e+02] [ 1.28459579e-01 9.91670969e-01 -9.31804442e-03 4.54557009e+00] [ 5.98058456e-02 1.63231482e-03 9.98208694e-01 2.95530948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55925415399997 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:158.08, Y:4.55, Z:2.95 [[ 9.89929723e-01 -1.28715303e-01 -5.89195507e-02 1.58079018e+02] [ 1.28756701e-01 9.91671339e-01 -3.10917852e-03 4.54720948e+00] [ 5.88290286e-02 -4.50841875e-03 9.98257892e-01 2.95472923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58925415399997 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:158.11, Y:4.55, Z:2.96 [[ 9.90154228e-01 -1.27201025e-01 -5.84337549e-02 1.58110523e+02] [ 1.27074507e-01 9.91875680e-01 -5.89116650e-03 4.55284927e+00] [ 5.87083828e-02 -1.59227717e-03 9.98273906e-01 2.95708345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61925415399998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:158.14, Y:4.56, Z:2.96 [[ 9.90526051e-01 -1.24192909e-01 -5.86025978e-02 1.58141924e+02] [ 1.24060656e-01 9.92257073e-01 -5.90383394e-03 4.55884626e+00] [ 5.88820564e-02 -1.42237543e-03 9.98263933e-01 2.95845021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64925415399998 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:158.17, Y:4.56, Z:2.96 [[ 9.90759406e-01 -1.22235520e-01 -5.87730910e-02 1.58173534e+02] [ 1.22099314e-01 9.92500252e-01 -5.91665815e-03 4.56301425e+00] [ 5.90555334e-02 -1.31416940e-03 9.98253834e-01 2.96010530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67925415399998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:158.21, Y:4.57, Z:2.96 [[ 9.91012163e-01 -1.20160504e-01 -5.87906917e-02 1.58205177e+02] [ 1.20020827e-01 9.92753758e-01 -5.91407371e-03 4.56721584e+00] [ 5.90753182e-02 -1.19518846e-03 9.98252813e-01 2.96158819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:158.24, Y:4.57, Z:2.96 [[ 9.91268269e-01 -1.18111275e-01 -5.86254648e-02 1.58236823e+02] [ 1.17969060e-01 9.92999785e-01 -5.89309315e-03 4.57170255e+00] [ 5.89111146e-02 -1.07435471e-03 9.98262654e-01 2.96326339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73925415399998 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:158.27, Y:4.58, Z:2.96 [[ 9.91789095e-01 -1.13772913e-01 -5.83961875e-02 1.58267433e+02] [ 1.13624538e-01 9.93506445e-01 -5.86585987e-03 4.57678838e+00] [ 5.86843646e-02 -8.17543996e-04 9.98276253e-01 2.96472567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76925415399998 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:158.29, Y:4.58, Z:2.97 [[ 9.91962823e-01 -1.11341372e-01 -6.01070491e-02 1.58294627e+02] [ 1.11673582e-01 9.93742539e-01 2.18582400e-03 4.57823187e+00] [ 5.94875589e-02 -8.88062560e-03 9.98189544e-01 2.96613994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79925415399998 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:158.33, Y:4.59, Z:2.97 [[ 9.92317823e-01 -1.09812226e-01 -5.69790684e-02 1.58325241e+02] [ 1.09169863e-01 9.93920589e-01 -1.42759644e-02 4.58824332e+00] [ 5.82003446e-02 7.94589682e-03 9.98273301e-01 2.97012617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82925415399998 meters Centerline goodness : 0.997544 Centerline is valid? [True, True] Translation: X:158.35, Y:4.59, Z:2.97 [[ 9.92447353e-01 -1.07179469e-01 -5.96725543e-02 1.58354364e+02] [ 1.07485035e-01 9.94204838e-01 1.92536826e-03 4.58595294e+00] [ 5.91203822e-02 -8.32473320e-03 9.98216149e-01 2.96872046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85925415399998 meters Centerline goodness : 0.995518 Centerline is valid? [True, True] Translation: X:158.38, Y:4.60, Z:2.97 [[ 9.92720635e-01 -1.05771132e-01 -5.76038957e-02 1.58381882e+02] [ 1.05241219e-01 9.94372313e-01 -1.21650611e-02 4.59610507e+00] [ 5.85664313e-02 6.01420292e-03 9.98265397e-01 2.97352525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88925415399999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:158.41, Y:4.59, Z:2.97 [[ 9.93021056e-01 -1.01428078e-01 -6.01791204e-02 1.58411789e+02] [ 1.02110084e-01 9.94737975e-01 8.36008216e-03 4.58926453e+00] [ 5.90145093e-02 -1.44466327e-02 9.98152585e-01 2.96965435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.919254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:158.44, Y:4.60, Z:2.98 [[ 9.93082502e-01 -1.01626249e-01 -5.88153907e-02 1.58440668e+02] [ 1.01578328e-01 9.94820242e-01 -3.81175430e-03 4.59821752e+00] [ 5.88981155e-02 -2.18898256e-03 9.98261599e-01 2.97578366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.949254154 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:158.47, Y:4.61, Z:2.98 [[ 9.93510654e-01 -1.01612639e-01 -5.11023668e-02 1.58470356e+02] [ 1.00296423e-01 9.94571948e-01 -2.76995927e-02 4.60934143e+00] [ 5.36396092e-02 2.23944558e-02 9.98309211e-01 2.97920991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.979254154 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:158.50, Y:4.60, Z:2.97 [[ 9.93452244e-01 -1.01220459e-01 -5.29816627e-02 1.58502811e+02] [ 1.01081779e-01 9.94864016e-01 -5.29754051e-03 4.60116647e+00] [ 5.32457692e-02 -9.26271918e-05 9.98581434e-01 2.97322799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.009254154 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:158.53, Y:4.60, Z:2.97 [[ 9.93457695e-01 -1.01166845e-01 -5.29818616e-02 1.58534472e+02] [ 1.01028194e-01 9.94869469e-01 -5.29555108e-03 4.60430224e+00] [ 5.32457707e-02 -9.17558215e-05 9.98581434e-01 2.97477562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.039254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:158.57, Y:4.61, Z:2.98 [[ 9.93381501e-01 -1.01964843e-01 -5.28806699e-02 1.58567076e+02] [ 1.01828009e-01 9.94787993e-01 -5.28247346e-03 4.60645704e+00] [ 5.31436821e-02 -1.37221944e-04 9.98586867e-01 2.97632592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.069254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:158.60, Y:4.61, Z:2.98 [[ 9.93253073e-01 -1.03216587e-01 -5.28646322e-02 1.58599263e+02] [ 1.03081816e-01 9.94658883e-01 -5.27696417e-03 4.60856616e+00] [ 5.31269462e-02 -2.08021410e-04 9.98587745e-01 2.97762730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.099254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:158.63, Y:4.61, Z:2.98 [[ 9.92912308e-01 -1.06043636e-01 -5.36646702e-02 1.58631281e+02] [ 1.05909093e-01 9.94361409e-01 -5.35281111e-03 4.60887059e+00] [ 5.39297086e-02 -3.68704529e-04 9.98544666e-01 2.97838124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.129254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:158.66, Y:4.61, Z:2.98 [[ 9.92732252e-01 -1.07360166e-01 -5.43734399e-02 1.58663462e+02] [ 1.07224241e-01 9.94220092e-01 -5.41941762e-03 4.61036922e+00] [ 5.46409960e-02 -4.50120142e-04 9.98505963e-01 2.97953058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.159254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:158.70, Y:4.61, Z:2.98 [[ 9.92490826e-01 -1.09251229e-01 -5.50102686e-02 1.58695837e+02] [ 1.09115229e-01 9.94014009e-01 -5.47876541e-03 4.61231456e+00] [ 5.52795395e-02 -5.64833642e-04 9.98470757e-01 2.98097616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.189254154 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:158.73, Y:4.61, Z:2.98 [[ 9.92321907e-01 -1.10698040e-01 -5.51650002e-02 1.58728179e+02] [ 1.10563733e-01 9.93853872e-01 -5.49010079e-03 4.61403498e+00] [ 5.54336925e-02 -6.51301093e-04 9.98462158e-01 2.98243180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.219254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:158.76, Y:4.62, Z:2.98 [[ 9.92186937e-01 -1.11831346e-01 -5.53067094e-02 1.58759702e+02] [ 1.11698326e-01 9.93726940e-01 -5.50026543e-03 4.61596197e+00] [ 5.55748692e-02 -7.20375330e-04 9.98454263e-01 2.98385132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.249254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:158.79, Y:4.62, Z:2.99 [[ 9.92092399e-01 -1.12581239e-01 -5.54809527e-02 1.58791722e+02] [ 1.12448727e-01 9.93642227e-01 -5.51442524e-03 4.61793773e+00] [ 5.57490382e-02 -7.67943153e-04 9.98444518e-01 2.98537510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27925415399997 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:158.82, Y:4.62, Z:2.99 [[ 9.92069516e-01 -1.12715730e-01 -5.56168976e-02 1.58823318e+02] [ 1.12582997e-01 9.93626969e-01 -5.52403734e-03 4.61900612e+00] [ 5.58850953e-02 -7.81287943e-04 9.98436901e-01 2.98644276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30925415399997 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:158.86, Y:4.62, Z:2.99 [[ 9.92129714e-01 -1.12199392e-01 -5.55871070e-02 1.58855082e+02] [ 1.12066167e-01 9.93685426e-01 -5.51793159e-03 4.62120738e+00] [ 5.58552066e-02 -7.54930137e-04 9.98438594e-01 2.98781844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33925415399997 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:158.89, Y:4.62, Z:2.99 [[ 9.92208349e-01 -1.11364358e-01 -5.58620790e-02 1.58887204e+02] [ 1.11228723e-01 9.93779386e-01 -5.54106748e-03 4.62347929e+00] [ 5.61316600e-02 -7.15574296e-04 9.98423119e-01 2.98955192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:158.92, Y:4.63, Z:2.99 [[ 9.92353649e-01 -1.10222241e-01 -5.55454100e-02 1.58918811e+02] [ 1.10086567e-01 9.93906753e-01 -5.50582438e-03 4.62556701e+00] [ 5.58138224e-02 -6.51078561e-04 9.98440981e-01 2.99119389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39925415399998 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:158.95, Y:4.64, Z:3.00 [[ 9.93516109e-01 -1.04989690e-01 -4.36223107e-02 1.58951664e+02] [ 1.03309685e-01 9.93879000e-01 -3.91361976e-02 4.63872193e+00] [ 4.74641958e-02 3.43758356e-02 9.98281249e-01 2.99558214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42925415399998 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:158.98, Y:4.61, Z:2.98 [[ 9.92952997e-01 -1.03553523e-01 -5.76282415e-02 1.58979636e+02] [ 1.05415912e-01 9.93967516e-01 3.02665367e-02 4.61070117e+00] [ 5.41463935e-02 -3.61281819e-02 9.97879212e-01 2.98404281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45925415399998 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:159.01, Y:4.63, Z:3.00 [[ 9.93195450e-01 -1.03233188e-01 -5.39046132e-02 1.59008718e+02] [ 1.03094729e-01 9.94657152e-01 -5.35043074e-03 4.63009151e+00] [ 5.41689511e-02 -2.43258012e-04 9.98531755e-01 2.99686448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.48925415399998 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:159.04, Y:4.63, Z:3.00 [[ 9.93108469e-01 -1.01261244e-01 -5.90061744e-02 1.59036178e+02] [ 1.02186354e-01 9.94682019e-01 1.28697518e-02 4.62583114e+00] [ 5.73891736e-02 -1.88106853e-02 9.98174654e-01 2.99950172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51925415399998 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:159.07, Y:4.64, Z:3.01 [[ 9.93734551e-01 -9.88814855e-02 -5.20969684e-02 1.59067001e+02] [ 9.77107762e-02 9.94911635e-01 -2.45650776e-02 4.64150503e+00] [ 5.42609114e-02 1.93207312e-02 9.98339853e-01 3.00606208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54925415399998 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:159.10, Y:4.63, Z:3.00 [[ 9.93863764e-01 -9.63817912e-02 -5.42712604e-02 1.59097424e+02] [ 9.62305251e-02 9.95344428e-01 -5.39967169e-03 4.63347259e+00] [ 5.45390267e-02 1.43986135e-04 9.98511629e-01 3.00137608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57925415399998 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:159.13, Y:4.63, Z:3.00 [[ 9.93938068e-01 -9.54464952e-02 -5.45626582e-02 1.59126938e+02] [ 9.52921288e-02 9.95434542e-01 -5.42979037e-03 4.63464116e+00] [ 5.48318091e-02 1.97483503e-04 9.98495585e-01 3.00246291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60925415399998 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:159.16, Y:4.63, Z:3.00 [[ 9.93991044e-01 -9.44793298e-02 -5.52762139e-02 1.59156160e+02] [ 9.43192797e-02 9.95526790e-01 -5.50299418e-03 4.63354244e+00] [ 5.55488710e-02 2.56314258e-04 9.98455937e-01 3.00340211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63925415399999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:159.18, Y:4.63, Z:3.00 [[ 9.93899852e-01 -9.50911638e-02 -5.58637088e-02 1.59183771e+02] [ 9.49283853e-02 9.95468542e-01 -5.56629803e-03 4.63423490e+00] [ 5.61398706e-02 2.29291113e-04 9.98422888e-01 3.00436757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.669254154 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:159.21, Y:4.64, Z:3.01 [[ 9.93762981e-01 -9.61449851e-02 -5.64914100e-02 1.59212863e+02] [ 9.59792965e-02 9.95367322e-01 -5.64518746e-03 4.63505390e+00] [ 5.67724600e-02 1.87972528e-04 9.98387126e-01 3.00554741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.699254154 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:159.24, Y:4.64, Z:3.01 [[ 9.93611150e-01 -9.73808563e-02 -5.70425330e-02 1.59240595e+02] [ 9.72131767e-02 9.95247181e-01 -5.71374391e-03 4.63553820e+00] [ 5.73278294e-02 1.31953829e-04 9.98355399e-01 3.00649210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.729254154 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:159.27, Y:4.64, Z:3.01 [[ 9.93396874e-01 -9.93100498e-02 -5.74470624e-02 1.59268325e+02] [ 9.91427977e-02 9.95056538e-01 -5.76128562e-03 4.63637939e+00] [ 5.77352286e-02 2.77806326e-05 9.98331930e-01 3.00794127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.759254154 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:159.30, Y:4.63, Z:3.01 [[ 9.93054922e-01 -1.02523331e-01 -5.77138515e-02 1.59296336e+02] [ 1.02358968e-01 9.94730590e-01 -5.80478341e-03 4.63472520e+00] [ 5.80048592e-02 -1.43061539e-04 9.98316290e-01 3.00921146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.789254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:159.32, Y:4.64, Z:3.01 [[ 9.92930840e-01 -1.04009689e-01 -5.71868058e-02 1.59323016e+02] [ 1.03849893e-01 9.94576261e-01 -5.76718110e-03 4.63525654e+00] [ 5.74764823e-02 -2.12431658e-04 9.98346838e-01 3.01032258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.819254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:159.35, Y:4.64, Z:3.01 [[ 9.92808338e-01 -1.05384827e-01 -5.67947317e-02 1.59349612e+02] [ 1.05229048e-01 9.94431475e-01 -5.73489758e-03 4.63572644e+00] [ 5.70828400e-02 -2.82801442e-04 9.98369405e-01 3.01197371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.849254154 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:159.38, Y:4.64, Z:3.01 [[ 9.92705896e-01 -1.06624330e-01 -5.62694893e-02 1.59377413e+02] [ 1.06472937e-01 9.94299319e-01 -5.69023580e-03 4.63623889e+00] [ 5.65554324e-02 -3.42447139e-04 9.98399402e-01 3.01340429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.879254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:159.41, Y:4.64, Z:3.02 [[ 9.92568099e-01 -1.08337595e-01 -5.54214260e-02 1.59405054e+02] [ 1.08192510e-01 9.94114074e-01 -5.62045830e-03 4.63722557e+00] [ 5.57041265e-02 -4.17495588e-04 9.98447232e-01 3.01519524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.909254154 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:159.43, Y:4.64, Z:3.02 [[ 9.92309416e-01 -1.11099727e-01 -5.45790527e-02 1.59433552e+02] [ 1.10962339e-01 9.93809112e-01 -5.55061367e-03 4.63609201e+00] [ 5.48578315e-02 -5.48293121e-04 9.98494025e-01 3.01677971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.939254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:159.46, Y:4.64, Z:3.02 [[ 9.92231999e-01 -1.11949377e-01 -5.42493933e-02 1.59462121e+02] [ 1.11845193e-01 9.93713253e-01 -4.96227816e-03 4.63693293e+00] [ 5.44638650e-02 -1.14380269e-03 9.98515087e-01 3.01808416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.969254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:159.49, Y:4.64, Z:3.02 [[ 9.91893945e-01 -1.15076193e-01 -5.38875851e-02 1.59491977e+02] [ 1.14903514e-01 9.93356666e-01 -6.30208555e-03 4.63859451e+00] [ 5.42548119e-02 5.91276110e-05 9.98527121e-01 3.01970974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.999254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:159.52, Y:4.64, Z:3.02 [[ 9.91307161e-01 -1.19951102e-01 -5.40540929e-02 1.59522205e+02] [ 1.19828036e-01 9.92779296e-01 -5.52372336e-03 4.63685535e+00] [ 5.43263610e-02 -1.00148929e-03 9.98522731e-01 3.02066733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02925415399997 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:159.55, Y:4.64, Z:3.02 [[ 9.90960180e-01 -1.22909088e-01 -5.37706024e-02 1.59551912e+02] [ 1.22791559e-01 9.92417261e-01 -5.49659719e-03 4.63768601e+00] [ 5.40384558e-02 -1.15566714e-03 9.98538186e-01 3.02179356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05925415399997 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:159.58, Y:4.64, Z:3.02 [[ 9.90584037e-01 -1.25813013e-01 -5.39847339e-02 1.59580697e+02] [ 1.25698787e-01 9.92053098e-01 -5.51964965e-03 4.63823021e+00] [ 5.42501663e-02 -1.31813876e-03 9.98526505e-01 3.02302849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08925415399997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:159.61, Y:4.64, Z:3.02 [[ 9.89699479e-01 -1.32448051e-01 -5.43364925e-02 1.59611720e+02] [ 1.32342165e-01 9.91188508e-01 -5.55822240e-03 4.63756514e+00] [ 5.45938826e-02 -1.69003925e-03 9.98507212e-01 3.02433357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11925415399998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:159.64, Y:4.64, Z:3.03 [[ 9.89245713e-01 -1.35867953e-01 -5.41554955e-02 1.59642183e+02] [ 1.35767884e-01 9.90725186e-01 -5.53970775e-03 4.63903140e+00] [ 5.44058820e-02 -1.87244490e-03 9.98517148e-01 3.02522616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14925415399998 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:159.67, Y:4.64, Z:3.03 [[ 9.88724842e-01 -1.39407902e-01 -5.46683086e-02 1.59672289e+02] [ 1.39311326e-01 9.90232842e-01 -5.59216475e-03 4.64055126e+00] [ 5.49139466e-02 -2.08680234e-03 9.98488910e-01 3.02663439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:159.70, Y:4.64, Z:3.03 [[ 9.88274184e-01 -1.42504504e-01 -5.48325052e-02 1.59701856e+02] [ 1.42412094e-01 9.89791561e-01 -5.60907647e-03 4.64203161e+00] [ 5.50720696e-02 -2.26550642e-03 9.98479812e-01 3.02775580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:159.73, Y:4.64, Z:3.03 [[ 9.87269200e-01 -1.49022596e-01 -5.56038909e-02 1.59732914e+02] [ 1.48937816e-01 9.88830199e-01 -5.68890056e-03 4.64262834e+00] [ 5.58305812e-02 -2.66504578e-03 9.98436700e-01 3.02836900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23925415399998 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:159.76, Y:4.64, Z:3.03 [[ 9.86783431e-01 -1.52059390e-01 -5.60036009e-02 1.59762209e+02] [ 1.51978252e-01 9.88367229e-01 -5.72993115e-03 4.64455812e+00] [ 5.62234136e-02 -2.85712824e-03 9.98414125e-01 3.02945786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:159.79, Y:4.65, Z:3.03 [[ 9.86353421e-01 -1.54601310e-01 -5.66159350e-02 1.59792320e+02] [ 1.54522509e-01 9.87972282e-01 -5.79348323e-03 4.64704440e+00] [ 5.68306546e-02 -3.03401432e-03 9.98379222e-01 3.03088926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29925415399998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:159.82, Y:4.65, Z:3.03 [[ 9.85956687e-01 -1.56995177e-01 -5.69379108e-02 1.59821835e+02] [ 1.56919444e-01 9.87594218e-01 -5.82658261e-03 4.65016715e+00] [ 5.71462968e-02 -3.18990722e-03 9.98360719e-01 3.03258212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:159.85, Y:4.65, Z:3.03 [[ 9.85630274e-01 -1.58925668e-01 -5.72328208e-02 1.59852106e+02] [ 1.58852339e-01 9.87284975e-01 -5.85765121e-03 4.65362286e+00] [ 5.74360351e-02 -3.31808908e-03 9.98343674e-01 3.03413112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35925415399998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:159.88, Y:4.66, Z:3.04 [[ 9.85146575e-01 -1.61745027e-01 -5.76608371e-02 1.59882508e+02] [ 1.61675405e-01 9.86826346e-01 -5.90145772e-03 4.65828719e+00] [ 5.78557646e-02 -3.50853831e-03 9.98318787e-01 3.03600900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38925415399999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:159.91, Y:4.66, Z:3.04 [[ 9.85013787e-01 -1.62544918e-01 -5.76800662e-02 1.59913161e+02] [ 1.62476614e-01 9.86694735e-01 -5.90342577e-03 4.66259218e+00] [ 5.78721895e-02 -3.55670607e-03 9.98317665e-01 3.03771416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.419254154 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:159.94, Y:4.67, Z:3.04 [[ 9.84931073e-01 -1.62931244e-01 -5.80016466e-02 1.59942028e+02] [ 1.62862846e-01 9.86630860e-01 -5.93631171e-03 4.66673901e+00] [ 5.81934251e-02 -3.59945535e-03 9.98298838e-01 3.03958539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.449254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:159.97, Y:4.67, Z:3.04 [[ 9.84978791e-01 -1.62670675e-01 -5.79226465e-02 1.59972433e+02] [ 1.62602023e-01 9.86673928e-01 -5.92808625e-03 4.67111390e+00] [ 5.81150910e-02 -3.57930027e-03 9.98303473e-01 3.04134920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.479254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:160.00, Y:4.68, Z:3.04 [[ 9.85072803e-01 -1.62123889e-01 -5.78568662e-02 1.60002128e+02] [ 1.62054453e-01 9.86764051e-01 -5.92135398e-03 4.67539291e+00] [ 5.80510686e-02 -3.54299803e-03 9.98307328e-01 3.04324547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.509254154 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:160.03, Y:4.68, Z:3.05 [[ 9.85357539e-01 -1.60586771e-01 -5.72923159e-02 1.60030802e+02] [ 1.60516095e-01 9.87015806e-01 -5.86355823e-03 4.68078393e+00] [ 5.74900313e-02 -3.41863753e-03 9.98340227e-01 3.04503893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.539254154 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:160.06, Y:4.69, Z:3.05 [[ 9.85521667e-01 -1.59618643e-01 -5.71745849e-02 1.60061144e+02] [ 1.59546640e-01 9.87173050e-01 -5.85141462e-03 4.68543127e+00] [ 5.73752043e-02 -3.35531703e-03 9.98347048e-01 3.04675396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.569254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:160.09, Y:4.69, Z:3.05 [[ 9.85942254e-01 -1.57004627e-01 -5.71613320e-02 1.60089826e+02] [ 1.56928272e-01 9.87592675e-01 -5.85020489e-03 4.69152817e+00] [ 5.73706220e-02 -3.20226486e-03 9.98347814e-01 3.04830510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.599254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:160.12, Y:4.70, Z:3.05 [[ 9.86150552e-01 -1.55532613e-01 -5.75907509e-02 1.60120850e+02] [ 1.55452577e-01 9.87825769e-01 -5.89467886e-03 4.69629255e+00] [ 5.78064426e-02 -3.13958980e-03 9.98322873e-01 3.04968108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.629254154 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:160.15, Y:4.70, Z:3.05 [[ 9.86400346e-01 -1.53674682e-01 -5.82962234e-02 1.60152220e+02] [ 1.53589563e-01 9.88116728e-01 -5.96481507e-03 4.70078886e+00] [ 5.85201145e-02 -3.06999580e-03 9.98281509e-01 3.05073473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.659254154 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:160.18, Y:4.71, Z:3.05 [[ 9.86643800e-01 -1.52144742e-01 -5.81892608e-02 1.60182455e+02] [ 1.52057396e-01 9.88353744e-01 -5.95194174e-03 4.70567065e+00] [ 5.84171304e-02 -2.97566102e-03 9.98287826e-01 3.05261520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.689254154 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:160.21, Y:4.71, Z:3.05 [[ 9.87338653e-01 -1.47630359e-01 -5.80315531e-02 1.60213340e+02] [ 1.47535779e-01 9.89038915e-01 -5.93459053e-03 4.71245638e+00] [ 5.82715900e-02 -2.70227974e-03 9.98297110e-01 3.05463504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.719254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:160.24, Y:4.72, Z:3.06 [[ 9.87783136e-01 -1.44401294e-01 -5.85896101e-02 1.60244725e+02] [ 1.44299350e-01 9.89515954e-01 -5.98946607e-03 4.71738758e+00] [ 5.88402406e-02 -2.53814905e-03 9.98264185e-01 3.05557682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.749254154 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:160.28, Y:4.72, Z:3.06 [[ 9.88199528e-01 -1.41768804e-01 -5.79939654e-02 1.60275378e+02] [ 1.41664524e-01 9.89896985e-01 -5.92641164e-03 4.72360690e+00] [ 5.82482318e-02 -2.35921031e-03 9.98299343e-01 3.05855977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77925415399997 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:160.31, Y:4.73, Z:3.06 [[ 9.88693672e-01 -1.38143863e-01 -5.83189108e-02 1.60305900e+02] [ 1.38032245e-01 9.90409818e-01 -5.95741977e-03 4.72940719e+00] [ 5.85826029e-02 -2.15982698e-03 9.98280228e-01 3.06021218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80925415399997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:160.34, Y:4.74, Z:3.06 [[ 9.89254112e-01 -1.34185001e-01 -5.80576138e-02 1.60335837e+02] [ 1.34067714e-01 9.90954440e-01 -5.92833596e-03 4.73528492e+00] [ 5.83279440e-02 -1.91902083e-03 9.98295632e-01 3.06170026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83925415399997 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:160.37, Y:4.74, Z:3.06 [[ 9.90336694e-01 -1.25971376e-01 -5.80038359e-02 1.60366726e+02] [ 1.25840421e-01 9.92032836e-01 -5.91950919e-03 4.74350192e+00] [ 5.82873985e-02 -1.43691999e-03 9.98298810e-01 3.06327183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86925415399998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:160.40, Y:4.75, Z:3.06 [[ 9.90843743e-01 -1.21898858e-01 -5.80460702e-02 1.60396809e+02] [ 1.21760834e-01 9.92541802e-01 -5.92205412e-03 4.74882291e+00] [ 5.83350428e-02 -1.19990765e-03 9.98296340e-01 3.06465702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89925415399998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:160.43, Y:4.75, Z:3.07 [[ 9.90845965e-01 -1.21880781e-01 -5.80460878e-02 1.60427617e+02] [ 1.21742736e-01 9.92544023e-01 -5.92188179e-03 4.75196804e+00] [ 5.83350611e-02 -1.19901685e-03 9.98296340e-01 3.06617203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92925415399998 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:160.46, Y:4.76, Z:3.07 [[ 9.91362298e-01 -1.17867626e-01 -5.75153685e-02 1.60457945e+02] [ 1.17725397e-01 9.93028857e-01 -5.86684918e-03 4.75725284e+00] [ 5.78059323e-02 -9.54846517e-04 9.98327382e-01 3.06775803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95925415399998 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:160.49, Y:4.76, Z:3.07 [[ 9.91870835e-01 -1.13833048e-01 -5.68707602e-02 1.60488415e+02] [ 1.13687363e-01 9.93499638e-01 -5.80109597e-03 4.76250312e+00] [ 5.71614361e-02 -7.11548838e-04 9.98364695e-01 3.06938426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98925415399998 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:160.52, Y:4.77, Z:3.07 [[ 9.92666937e-01 -1.07496864e-01 -5.52881194e-02 1.60518415e+02] [ 1.07349353e-01 9.94205366e-01 -5.63965886e-03 4.76970914e+00] [ 5.55739906e-02 -3.36840936e-04 9.98454515e-01 3.07086768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01925415399998 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:160.55, Y:4.77, Z:3.07 [[ 9.92947562e-01 -1.05167924e-01 -5.47252018e-02 1.60547486e+02] [ 1.05019861e-01 9.94454457e-01 -5.58235141e-03 4.77456749e+00] [ 5.50088051e-02 -2.04250876e-04 9.98485848e-01 3.07217947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04925415399998 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:160.58, Y:4.78, Z:3.07 [[ 9.93118863e-01 -1.03803666e-01 -5.42192057e-02 1.60577000e+02] [ 1.03656245e-01 9.94597800e-01 -5.53172495e-03 4.77946440e+00] [ 5.45005160e-02 -1.26498854e-04 9.98513734e-01 3.07367726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:160.61, Y:4.78, Z:3.08 [[ 9.93151289e-01 -1.03653269e-01 -5.39121265e-02 1.60606866e+02] [ 1.03507246e-01 9.94613486e-01 -5.50125487e-03 4.78405603e+00] [ 5.41919511e-02 -1.16717389e-04 9.98530530e-01 3.07510177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10925415399998 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:160.64, Y:4.79, Z:3.08 [[ 9.92998316e-01 -1.05641146e-01 -5.28610679e-02 1.60636539e+02] [ 1.05503583e-01 9.94404294e-01 -5.39392529e-03 4.78835374e+00] [ 5.31350934e-02 -2.20873338e-04 9.98587309e-01 3.07646638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13925415399999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:160.67, Y:4.79, Z:3.08 [[ 9.92801083e-01 -1.07602023e-01 -5.26100129e-02 1.60667468e+02] [ 1.07468571e-01 9.94193995e-01 -5.36726677e-03 4.79146697e+00] [ 5.28820876e-02 -3.25294628e-04 9.98600710e-01 3.07759282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.169254154 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:160.70, Y:4.79, Z:3.08 [[ 9.92494486e-01 -1.10579168e-01 -5.22201359e-02 1.60698828e+02] [ 1.10451909e-01 9.93867202e-01 -5.32548772e-03 4.79486160e+00] [ 5.24887683e-02 -4.82296513e-04 9.98621398e-01 3.07922926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.199254154 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:160.73, Y:4.80, Z:3.08 [[ 9.92152666e-01 -1.13655754e-01 -5.21100431e-02 1.60730310e+02] [ 1.13533422e-01 9.93519980e-01 -5.31135800e-03 4.79806900e+00] [ 5.23760354e-02 -6.46553531e-04 9.98627224e-01 3.08075760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.229254154 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:160.76, Y:4.80, Z:3.08 [[ 9.91372686e-01 -1.20283201e-01 -5.20782973e-02 1.60762180e+02] [ 1.20170300e-01 9.92739117e-01 -5.30520560e-03 4.80098362e+00] [ 5.23382900e-02 -9.98828676e-04 9.98628913e-01 3.08159335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.259254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:160.79, Y:4.80, Z:3.08 [[ 9.90931509e-01 -1.23901087e-01 -5.19929409e-02 1.60794367e+02] [ 1.23793729e-01 9.92293858e-01 -5.29266476e-03 4.80395087e+00] [ 5.22480428e-02 -1.19173175e-03 9.98633427e-01 3.08302402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.289254154 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:160.83, Y:4.81, Z:3.08 [[ 9.90579713e-01 -1.26857642e-01 -5.15652169e-02 1.60826650e+02] [ 1.26756239e-01 9.91920028e-01 -5.24533969e-03 4.80687729e+00] [ 5.18139828e-02 -1.34028586e-03 9.98655854e-01 3.08463819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.319254154 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:160.86, Y:4.81, Z:3.09 [[ 9.90269328e-01 -1.29242781e-01 -5.16038856e-02 1.60859108e+02] [ 1.29144656e-01 9.91611891e-01 -5.24546424e-03 4.80977878e+00] [ 5.18489650e-02 -1.46994371e-03 9.98653856e-01 3.08612164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.349254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:160.89, Y:4.81, Z:3.09 [[ 9.89802773e-01 -1.32433538e-01 -5.24578691e-02 1.60891113e+02] [ 1.32336818e-01 9.91190484e-01 -5.32834844e-03 4.81368034e+00] [ 5.27013927e-02 -1.66809340e-03 9.98608923e-01 3.08769610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.379254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:160.92, Y:4.82, Z:3.09 [[ 9.89756442e-01 -1.32538445e-01 -5.30636008e-02 1.60922454e+02] [ 1.32439848e-01 9.91176412e-01 -5.38575595e-03 4.81758198e+00] [ 5.33092092e-02 -1.69714856e-03 9.98576611e-01 3.08928978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.409254154 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:160.95, Y:4.82, Z:3.09 [[ 9.89815085e-01 -1.31954221e-01 -5.34245400e-02 1.60953461e+02] [ 1.31853764e-01 9.91254382e-01 -5.41615307e-03 4.82158245e+00] [ 5.36719936e-02 -1.68323666e-03 9.98557201e-01 3.09092424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.439254154 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:160.98, Y:4.83, Z:3.09 [[ 9.90221351e-01 -1.28982034e-01 -5.31536622e-02 1.60984802e+02] [ 1.28878622e-01 9.91645766e-01 -5.38296105e-03 4.82619428e+00] [ 5.34039093e-02 -1.52004779e-03 9.98571836e-01 3.09272051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.469254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:161.02, Y:4.83, Z:3.09 [[ 9.90511233e-01 -1.26760661e-01 -5.30964350e-02 1.61015651e+02] [ 1.26654488e-01 9.91932340e-01 -5.37336058e-03 4.82977470e+00] [ 5.33492017e-02 -1.40252776e-03 9.98574932e-01 3.09449985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.499254154 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:161.05, Y:4.83, Z:3.10 [[ 9.90859139e-01 -1.24283212e-01 -5.24580749e-02 1.61046863e+02] [ 1.24176257e-01 9.92245990e-01 -5.30593020e-03 4.83338738e+00] [ 5.27107525e-02 -1.25661798e-03 9.98609031e-01 3.09584081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52925415399997 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:161.08, Y:4.84, Z:3.10 [[ 9.91534881e-01 -1.18848548e-01 -5.22838551e-02 1.61079095e+02] [ 1.18734903e-01 9.92911923e-01 -5.28541465e-03 4.83759524e+00] [ 5.25414270e-02 -9.67245503e-04 9.98618277e-01 3.09746185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55925415399997 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:161.11, Y:4.84, Z:3.10 [[ 9.91821753e-01 -1.16261346e-01 -5.26584256e-02 1.61111177e+02] [ 1.16142633e-01 9.93218301e-01 -5.31930804e-03 4.84161523e+00] [ 5.29197419e-02 -8.40082792e-04 9.98598415e-01 3.09909961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58925415399997 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:161.14, Y:4.85, Z:3.10 [[ 9.92117385e-01 -1.13659864e-01 -5.27686388e-02 1.61142396e+02] [ 1.13537181e-01 9.93519469e-01 -5.32658211e-03 4.84547613e+00] [ 5.30320886e-02 -7.06607759e-04 9.98592559e-01 3.10055185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61925415399998 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:161.17, Y:4.85, Z:3.10 [[ 9.92343899e-01 -1.11483229e-01 -5.31514486e-02 1.61173919e+02] [ 1.11355802e-01 9.93766136e-01 -5.36216974e-03 4.84927880e+00] [ 5.34179017e-02 -5.97605774e-04 9.98572066e-01 3.10186943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64925415399998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:161.21, Y:4.85, Z:3.10 [[ 9.92722291e-01 -1.07655073e-01 -5.39707173e-02 1.61205556e+02] [ 1.07518249e-01 9.94188224e-01 -5.44079368e-03 4.85312438e+00] [ 5.42427806e-02 -4.01639869e-04 9.98527696e-01 3.10354319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67925415399998 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:161.24, Y:4.86, Z:3.11 [[ 9.92888758e-01 -1.05787093e-01 -5.45985836e-02 1.61235810e+02] [ 1.05644463e-01 9.94388755e-01 -5.50008021e-03 4.85604545e+00] [ 5.48740551e-02 -3.07070231e-04 9.98493237e-01 3.10537553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70925415399998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:161.27, Y:4.86, Z:3.11 [[ 9.93032616e-01 -1.04287230e-01 -5.48670793e-02 1.61266588e+02] [ 1.04141076e-01 9.94547194e-01 -5.52402772e-03 4.85915746e+00] [ 5.51439853e-02 -2.28376954e-04 9.98478387e-01 3.10662039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73925415399998 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:161.30, Y:4.86, Z:3.11 [[ 9.93153395e-01 -1.03095045e-01 -5.49340089e-02 1.61296484e+02] [ 1.02946711e-01 9.94671496e-01 -5.53076621e-03 4.86217096e+00] [ 5.52114874e-02 -1.62376279e-04 9.98474669e-01 3.10808655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76925415399998 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:161.33, Y:4.86, Z:3.11 [[ 9.93320566e-01 -1.01361976e-01 -5.51362204e-02 1.61326527e+02] [ 1.01209879e-01 9.94849609e-01 -5.55112490e-03 4.86482355e+00] [ 5.54149203e-02 -6.62836547e-05 9.98463411e-01 3.11006513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79925415399998 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:161.36, Y:4.87, Z:3.11 [[ 9.93370902e-01 -1.00900992e-01 -5.50748703e-02 1.61357467e+02] [ 1.00748538e-01 9.94896471e-01 -5.54470761e-03 4.86766549e+00] [ 5.53532606e-02 -4.07614808e-05 9.98466832e-01 3.11139529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82925415399998 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:161.39, Y:4.87, Z:3.11 [[ 9.93484525e-01 -9.96191900e-02 -5.53580665e-02 1.61388433e+02] [ 9.94632765e-02 9.95025636e-01 -5.57139920e-03 4.86958224e+00] [ 5.56377136e-02 2.90042048e-05 9.98451022e-01 3.11099428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85925415399998 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:161.42, Y:4.87, Z:3.11 [[ 9.93429636e-01 -1.00097956e-01 -5.54793370e-02 1.61418788e+02] [ 9.99421038e-02 9.94977587e-01 -5.58360421e-03 4.87254719e+00] [ 5.57596042e-02 2.19624634e-06 9.98444223e-01 3.11414076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88925415399999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:161.45, Y:4.87, Z:3.12 [[ 9.93406434e-01 -1.00163293e-01 -5.57760863e-02 1.61448969e+02] [ 1.00005871e-01 9.94971012e-01 -5.61346993e-03 4.87383476e+00] [ 5.60578526e-02 -1.47892500e-06 9.98427522e-01 3.11601525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.919254154 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:161.48, Y:4.88, Z:3.12 [[ 9.93408590e-01 -1.00380749e-01 -5.53450871e-02 1.61478432e+02] [ 1.00226083e-01 9.94949097e-01 -5.57021727e-03 4.87550967e+00] [ 5.56246870e-02 -1.35196081e-05 9.98451748e-01 3.11658569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.949254154 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:161.51, Y:4.88, Z:3.12 [[ 9.93295881e-01 -1.01693610e-01 -5.49700105e-02 1.61508419e+02] [ 1.01542981e-01 9.94815763e-01 -5.53358911e-03 4.87791811e+00] [ 5.52477636e-02 -8.53274454e-05 9.98472672e-01 3.11879771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.979254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:161.54, Y:4.88, Z:3.12 [[ 9.93041762e-01 -1.04296111e-01 -5.46843622e-02 1.61538881e+02] [ 1.04150890e-01 9.94546263e-01 -5.50657908e-03 4.87928997e+00] [ 5.49604428e-02 -2.27161996e-04 9.98488507e-01 3.12067915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.009254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:161.57, Y:4.88, Z:3.12 [[ 9.92869877e-01 -1.06109529e-01 -5.43155105e-02 1.61569974e+02] [ 1.05968984e-01 9.94354395e-01 -5.46922535e-03 4.88111611e+00] [ 5.45892034e-02 -3.25530378e-04 9.98508845e-01 3.12226406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.039254154 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:161.60, Y:4.88, Z:3.12 [[ 9.92616147e-01 -1.08458606e-01 -5.43131253e-02 1.61600666e+02] [ 1.08321704e-01 9.94100861e-01 -5.46684429e-03 4.88258895e+00] [ 5.45856510e-02 -4.56812366e-04 9.98508987e-01 3.12385943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.069254154 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:161.63, Y:4.88, Z:3.13 [[ 9.91861114e-01 -1.15196457e-01 -5.42338197e-02 1.61631928e+02] [ 1.15070180e-01 9.93342382e-01 -5.45576233e-03 4.88188367e+00] [ 5.45012362e-02 -8.29336875e-04 9.98513359e-01 3.12501809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.099254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:161.66, Y:4.88, Z:3.13 [[ 9.91397839e-01 -1.19032188e-01 -5.44211578e-02 1.61663127e+02] [ 1.18910917e-01 9.92889845e-01 -5.47257221e-03 4.88322290e+00] [ 5.46856272e-02 -1.04577354e-03 9.98503074e-01 3.12648905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.129254154 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:161.69, Y:4.88, Z:3.13 [[ 9.90948360e-01 -1.22742246e-01 -5.43662419e-02 1.61693190e+02] [ 1.22626899e-01 9.92437794e-01 -5.46514326e-03 4.88426230e+00] [ 5.46259172e-02 -1.25108889e-03 9.98506106e-01 3.12802079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.159254154 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:161.72, Y:4.89, Z:3.13 [[ 9.90450191e-01 -1.26479598e-01 -5.48755959e-02 1.61724715e+02] [ 1.26367867e-01 9.91968117e-01 -5.51521092e-03 4.88532027e+00] [ 5.51324032e-02 -1.47197031e-03 9.98477967e-01 3.12846704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.189254154 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:161.76, Y:4.89, Z:3.13 [[ 9.89925126e-01 -1.30632409e-01 -5.46206871e-02 1.61756004e+02] [ 1.30528138e-01 9.91429419e-01 -5.48747478e-03 4.88664777e+00] [ 5.48693982e-02 -1.69734743e-03 9.98492097e-01 3.13103608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.219254154 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:161.79, Y:4.89, Z:3.13 [[ 9.89378543e-01 -1.34667093e-01 -5.47254298e-02 1.61788564e+02] [ 1.34568752e-01 9.90889024e-01 -5.49486150e-03 4.88818246e+00] [ 5.49668048e-02 -1.92783472e-03 9.98486321e-01 3.13250003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24925415399997 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:161.82, Y:4.89, Z:3.13 [[ 9.88811985e-01 -1.38906846e-01 -5.43667765e-02 1.61821194e+02] [ 1.38816396e-01 9.90303111e-01 -5.45490503e-03 4.88997733e+00] [ 5.45973115e-02 -2.15312452e-03 9.98506133e-01 3.13366819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27925415399997 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:161.85, Y:4.89, Z:3.14 [[ 9.87736610e-01 -1.46364345e-01 -5.43495009e-02 1.61853229e+02] [ 1.46285419e-01 9.89227417e-01 -5.44917119e-03 4.88991973e+00] [ 5.45615808e-02 -2.56819363e-03 9.98507105e-01 3.13522593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30925415399997 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:161.89, Y:4.90, Z:3.14 [[ 9.87654989e-01 -1.48486076e-01 -4.98949735e-02 1.61887653e+02] [ 1.47701876e-01 9.88847998e-01 -1.90733477e-02 4.89655376e+00] [ 5.21706712e-02 1.14683058e-02 9.98572330e-01 3.13666660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33925415399997 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:161.92, Y:4.89, Z:3.13 [[ 9.86339182e-01 -1.55011840e-01 -5.57346122e-02 1.61917155e+02] [ 1.55745092e-01 9.87755950e-01 9.03601382e-03 4.88659451e+00] [ 5.36515057e-02 -1.75929668e-02 9.98404729e-01 3.13441161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36925415399998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:161.95, Y:4.90, Z:3.14 [[ 9.85987175e-01 -1.57765439e-01 -5.42158324e-02 1.61946939e+02] [ 1.57704492e-01 9.87471435e-01 -5.42752017e-03 4.89627848e+00] [ 5.43928609e-02 -3.19861502e-03 9.98514489e-01 3.13991361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39925415399998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:161.98, Y:4.90, Z:3.14 [[ 9.85759124e-01 -1.59194050e-01 -5.41867491e-02 1.61978231e+02] [ 1.59135644e-01 9.87241858e-01 -5.41861337e-03 4.89922066e+00] [ 5.43580379e-02 -3.28159564e-03 9.98516116e-01 3.14158271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42925415399998 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:162.01, Y:4.90, Z:3.14 [[ 9.85624821e-01 -1.59985190e-01 -5.42996435e-02 1.62010471e+02] [ 1.59927902e-01 9.87113780e-01 -5.42684566e-03 4.90229327e+00] [ 5.44681413e-02 -3.33519426e-03 9.98509939e-01 3.14354151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45925415399998 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:162.04, Y:4.91, Z:3.15 [[ 9.85533680e-01 -1.60583846e-01 -5.41866549e-02 1.62041224e+02] [ 1.60527904e-01 9.87016467e-01 -5.41174506e-03 4.90570065e+00] [ 5.43521595e-02 -3.36501309e-03 9.98516159e-01 3.14521259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:162.07, Y:4.91, Z:3.15 [[ 9.85629508e-01 -1.60070464e-01 -5.39622140e-02 1.62071791e+02] [ 1.60014374e-01 9.87099988e-01 -5.38643402e-03 4.90889684e+00] [ 5.41283098e-02 -3.32570159e-03 9.98528450e-01 3.14669327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51925415399998 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:162.10, Y:4.91, Z:3.15 [[ 9.85701408e-01 -1.59561551e-01 -5.41557530e-02 1.62103829e+02] [ 1.59504457e-01 9.87182424e-01 -5.40276838e-03 4.91243222e+00] [ 5.43236816e-02 -3.31256758e-03 9.98517884e-01 3.14846562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.54925415399998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:162.14, Y:4.92, Z:3.15 [[ 9.85783747e-01 -1.58856076e-01 -5.47279672e-02 1.62136177e+02] [ 1.58796902e-01 9.87296195e-01 -5.45596696e-03 4.91611248e+00] [ 5.48994273e-02 -3.31222810e-03 9.98486396e-01 3.15001160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57925415399998 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:162.17, Y:4.92, Z:3.15 [[ 9.86021423e-01 -1.57017693e-01 -5.57422417e-02 1.62168579e+02] [ 1.56953606e-01 9.87590365e-01 -5.55311430e-03 4.92006785e+00] [ 5.59224381e-02 -3.27345619e-03 9.98429750e-01 3.15106304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60925415399998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:162.20, Y:4.92, Z:3.15 [[ 9.86122601e-01 -1.56112395e-01 -5.64901459e-02 1.62199648e+02] [ 1.56045318e-01 9.87733887e-01 -5.62378364e-03 4.92383627e+00] [ 5.66751737e-02 -3.26928262e-03 9.98387318e-01 3.15319528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63925415399999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:162.23, Y:4.93, Z:3.15 [[ 9.86265643e-01 -1.55092588e-01 -5.68011549e-02 1.62230729e+02] [ 1.55023247e-01 9.87894655e-01 -5.65193148e-03 4.92763260e+00] [ 5.69901299e-02 -3.23119361e-03 9.98369513e-01 3.15454059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.669254154 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:162.26, Y:4.93, Z:3.16 [[ 9.86669695e-01 -1.52372646e-01 -5.71444729e-02 1.62262060e+02] [ 1.52298051e-01 9.88318268e-01 -5.68380228e-03 4.93248169e+00] [ 5.73429824e-02 -3.09495636e-03 9.98349740e-01 3.15645487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.699254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:162.29, Y:4.94, Z:3.16 [[ 9.86946006e-01 -1.50425104e-01 -5.75314619e-02 1.62293401e+02] [ 1.50346437e-01 9.88616838e-01 -5.71817770e-03 4.93659235e+00] [ 5.77367294e-02 -3.00611763e-03 9.98327318e-01 3.15857157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.729254154 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:162.32, Y:4.94, Z:3.16 [[ 9.87338495e-01 -1.47978112e-01 -5.71417005e-02 1.62324837e+02] [ 1.47896610e-01 9.88986539e-01 -5.67615012e-03 4.94099430e+00] [ 5.73523185e-02 -2.84678224e-03 9.98349942e-01 3.16037948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.759254154 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:162.36, Y:4.95, Z:3.16 [[ 9.87751801e-01 -1.45351921e-01 -5.67379918e-02 1.62355297e+02] [ 1.45267473e-01 9.89376390e-01 -5.63203550e-03 4.94540784e+00] [ 5.69538567e-02 -2.67913149e-03 9.98373217e-01 3.16215630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.789254154 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:162.39, Y:4.95, Z:3.16 [[ 9.88742166e-01 -1.39016171e-01 -5.53482895e-02 1.62386979e+02] [ 1.38926071e-01 9.90287532e-01 -5.49097433e-03 4.95149020e+00] [ 5.55740552e-02 -2.26016257e-03 9.98452010e-01 3.16428329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.819254154 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:162.42, Y:4.95, Z:3.17 [[ 9.88755185e-01 -1.38923374e-01 -5.53487143e-02 1.62419485e+02] [ 1.38833369e-01 9.90300556e-01 -5.48668857e-03 4.95465514e+00] [ 5.55740919e-02 -2.25925668e-03 9.98452010e-01 3.16588299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.849254154 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:162.45, Y:4.96, Z:3.17 [[ 9.89256830e-01 -1.35333110e-01 -5.52799590e-02 1.62449967e+02] [ 1.35238010e-01 9.90798015e-01 -5.47489585e-03 4.95925860e+00] [ 5.55122083e-02 -2.05987351e-03 9.98455884e-01 3.16787065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.879254154 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:162.48, Y:4.96, Z:3.17 [[ 9.89779113e-01 -1.31620055e-01 -5.48950761e-02 1.62480500e+02] [ 1.31520742e-01 9.91298527e-01 -5.43370012e-03 4.96380712e+00] [ 5.51325920e-02 -1.84167825e-03 9.98477344e-01 3.16931672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.909254154 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:162.51, Y:4.97, Z:3.17 [[ 9.90818135e-01 -1.23474520e-01 -5.50769042e-02 1.62512430e+02] [ 1.23362148e-01 9.92346761e-01 -5.44849480e-03 4.96988722e+00] [ 5.53281377e-02 -1.39593775e-03 9.98467250e-01 3.17132841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.939254154 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:162.54, Y:4.97, Z:3.17 [[ 9.91321195e-01 -1.19281254e-01 -5.52654627e-02 1.62544436e+02] [ 1.19161832e-01 9.92859816e-01 -5.46298476e-03 4.97418313e+00] [ 5.55224888e-02 -1.16996119e-03 9.98456751e-01 3.17292912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.969254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:162.58, Y:4.98, Z:3.17 [[ 9.91766865e-01 -1.15330310e-01 -5.56543341e-02 1.62575050e+02] [ 1.15203213e-01 9.93326733e-01 -5.49733054e-03 4.97831808e+00] [ 5.59169467e-02 -9.59487838e-04 9.98434963e-01 3.17421657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99925415399997 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:162.61, Y:4.98, Z:3.18 [[ 9.92236594e-01 -1.11208817e-01 -5.56699255e-02 1.62606598e+02] [ 1.11075334e-01 9.93796793e-01 -5.49587661e-03 4.98255321e+00] [ 5.59357833e-02 -7.30345654e-04 9.98434101e-01 3.17563625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02925415399997 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:162.64, Y:4.99, Z:3.18 [[ 9.92668154e-01 -1.07319910e-01 -5.56091077e-02 1.62637213e+02] [ 1.07180720e-01 9.94224408e-01 -5.48807043e-03 4.98685825e+00] [ 5.58769115e-02 -5.12391464e-04 9.98437533e-01 3.17717349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05925415399997 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:162.67, Y:4.99, Z:3.18 [[ 9.93546054e-01 -9.91119541e-02 -5.51639341e-02 1.62666649e+02] [ 9.89623263e-02 9.95076288e-01 -5.44425586e-03 4.99159696e+00] [ 5.54319136e-02 -5.00323150e-05 9.98462468e-01 3.17907236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08925415399997 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:162.70, Y:5.00, Z:3.18 [[ 9.93929025e-01 -9.52589710e-02 -5.50529043e-02 1.62696535e+02] [ 9.51039873e-02 9.95452511e-01 -5.43420076e-03 4.99531427e+00] [ 5.53202081e-02 1.65459155e-04 9.98468651e-01 3.18060563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11925415399998 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:162.73, Y:5.00, Z:3.18 [[ 9.94300030e-01 -9.16191545e-02 -5.45287162e-02 1.62725430e+02] [ 9.14616217e-02 9.95794054e-01 -5.38278025e-03 4.99865405e+00] [ 5.47925371e-02 3.64813752e-04 9.98497694e-01 3.18184790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14925415399998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:162.75, Y:5.00, Z:3.19 [[ 9.94533913e-01 -8.86365425e-02 -5.51892980e-02 1.62753246e+02] [ 8.81047305e-02 9.96038926e-01 -1.20005904e-02 5.00473220e+00] [ 5.60343800e-02 7.07255586e-03 9.98403790e-01 3.18532751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17925415399998 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:162.78, Y:5.00, Z:3.18 [[ 9.95058901e-01 -8.33293627e-02 -5.39814906e-02 1.62781362e+02] [ 8.35134704e-02 9.96505973e-01 1.15992322e-03 5.00113651e+00] [ 5.36962222e-02 -5.66237354e-03 9.98541263e-01 3.18270945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20925415399998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:162.81, Y:5.01, Z:3.19 [[ 9.95194941e-01 -8.23961031e-02 -5.28952834e-02 1.62808514e+02] [ 8.22336650e-02 9.96599281e-01 -5.24374991e-03 5.00598127e+00] [ 5.31474660e-02 8.68780361e-04 9.98586297e-01 3.18563688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23925415399998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:162.84, Y:5.01, Z:3.19 [[ 9.95202334e-01 -8.24263920e-02 -5.27086814e-02 1.62836130e+02] [ 8.22643254e-02 9.96596767e-01 -5.24063858e-03 5.00785106e+00] [ 5.29612684e-02 8.79451626e-04 9.98596180e-01 3.18624284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.26925415399998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:162.86, Y:5.01, Z:3.19 [[ 9.95192350e-01 -8.27470115e-02 -5.23938859e-02 1.62863659e+02] [ 8.25865158e-02 9.96570204e-01 -5.22460598e-03 5.00916105e+00] [ 5.26465061e-02 8.72459414e-04 9.98612830e-01 3.18736771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29925415399998 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:162.89, Y:5.01, Z:3.19 [[ 9.94960044e-01 -8.56044932e-02 -5.22147647e-02 1.62891956e+02] [ 8.54482135e-02 9.96328927e-01 -5.22217448e-03 5.00920896e+00] [ 5.24701221e-02 7.34196593e-04 9.98622224e-01 3.18845128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32925415399998 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:162.92, Y:5.01, Z:3.19 [[ 9.94773960e-01 -8.77630170e-02 -5.21768278e-02 1.62919968e+02] [ 8.76091447e-02 9.96141180e-01 -5.23334872e-03 5.01050584e+00] [ 5.24347813e-02 6.34831777e-04 9.98624149e-01 3.18972568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35925415399998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:162.95, Y:5.01, Z:3.19 [[ 9.94545562e-01 -9.04064968e-02 -5.20172203e-02 1.62948763e+02] [ 9.02569311e-02 9.95904823e-01 -5.22203855e-03 5.01172254e+00] [ 5.22763068e-02 4.98640589e-04 9.98632535e-01 3.19106399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38925415399999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:162.98, Y:5.01, Z:3.19 [[ 9.93905677e-01 -9.72266967e-02 -5.19468503e-02 1.62978014e+02] [ 9.70866536e-02 9.95262251e-01 -5.21850517e-03 5.01056238e+00] [ 5.22081172e-02 1.43356050e-04 9.98636216e-01 3.19134289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.419254154 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:163.01, Y:5.01, Z:3.19 [[ 9.93490032e-01 -1.01138259e-01 -5.24271706e-02 1.63006616e+02] [ 1.01000369e-01 9.94872379e-01 -5.27970456e-03 5.01106592e+00] [ 5.26923241e-02 -4.98297449e-05 9.98610793e-01 3.19261831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.449254154 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:163.04, Y:5.01, Z:3.19 [[ 9.93084366e-01 -1.05065337e-01 -5.23900424e-02 1.63036824e+02] [ 1.04932953e-01 9.94465288e-01 -5.27877996e-03 5.01151880e+00] [ 5.26546954e-02 -2.55167985e-04 9.98612747e-01 3.19373049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.479254154 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:163.07, Y:5.01, Z:3.19 [[ 9.92626995e-01 -1.09200166e-01 -5.26020230e-02 1.63066476e+02] [ 1.09072409e-01 9.94019667e-01 -5.30198470e-03 5.01200889e+00] [ 5.28664230e-02 -4.74536248e-04 9.98601480e-01 3.19482872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.509254154 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:163.10, Y:5.01, Z:3.20 [[ 9.91752024e-01 -1.16906912e-01 -5.25423254e-02 1.63097353e+02] [ 1.16790196e-01 9.93142484e-01 -5.29684396e-03 5.01051124e+00] [ 5.28012533e-02 -8.83272738e-04 9.98604650e-01 3.19603551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.539254154 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:163.13, Y:5.01, Z:3.20 [[ 9.91321736e-01 -1.20568145e-01 -5.23883445e-02 1.63128146e+02] [ 1.20457217e-01 9.92704471e-01 -5.28132100e-03 5.01182361e+00] [ 5.26429029e-02 -1.07506586e-03 9.98612822e-01 3.19739118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.569254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:163.16, Y:5.01, Z:3.20 [[ 9.90980339e-01 -1.23371712e-01 -5.23200559e-02 1.63158844e+02] [ 1.23264974e-01 9.92359777e-01 -5.27443675e-03 5.01295856e+00] [ 5.25710352e-02 -1.22236723e-03 9.98616439e-01 3.19893675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.599254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:163.19, Y:5.01, Z:3.20 [[ 9.90658708e-01 -1.25970877e-01 -5.22174502e-02 1.63189317e+02] [ 1.25868162e-01 9.92033011e-01 -5.26409297e-03 5.01424552e+00] [ 5.24645567e-02 -1.35759495e-03 9.98621864e-01 3.20021870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.629254154 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:163.22, Y:5.01, Z:3.20 [[ 9.90137907e-01 -1.29890349e-01 -5.24921186e-02 1.63218790e+02] [ 1.29792048e-01 9.91527116e-01 -5.29176760e-03 5.01360137e+00] [ 5.27347085e-02 -1.57347988e-03 9.98607318e-01 3.19981415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.659254154 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:163.25, Y:5.02, Z:3.20 [[ 9.89896438e-01 -1.31828848e-01 -5.22130022e-02 1.63248775e+02] [ 1.31734291e-01 9.91271089e-01 -5.26343854e-03 5.01544285e+00] [ 5.24511126e-02 -1.66798378e-03 9.98622100e-01 3.20259628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.689254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:163.28, Y:5.02, Z:3.20 [[ 9.89684954e-01 -1.33219244e-01 -5.26908346e-02 1.63279775e+02] [ 1.33124916e-01 9.91085034e-01 -5.31160741e-03 5.01714283e+00] [ 5.29287059e-02 -1.75764497e-03 9.98596747e-01 3.20284781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.719254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:163.31, Y:5.02, Z:3.21 [[ 9.89139348e-01 -1.37391452e-01 -5.22200971e-02 1.63310415e+02] [ 1.37304604e-01 9.90514884e-01 -5.26409315e-03 5.01943978e+00] [ 5.24480248e-02 -1.96313808e-03 9.98621726e-01 3.20576590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74925415399997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:163.34, Y:5.02, Z:3.21 [[ 9.88875364e-01 -1.39284837e-01 -5.22039173e-02 1.63340652e+02] [ 1.39200719e-01 9.90250208e-01 -5.26162424e-03 5.02195584e+00] [ 5.24278045e-02 -2.06373223e-03 9.98622585e-01 3.20705888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77925415399997 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:163.37, Y:5.02, Z:3.21 [[ 9.88560302e-01 -1.41508321e-01 -5.21912357e-02 1.63371071e+02] [ 1.41427337e-01 9.89934663e-01 -5.26028672e-03 5.02462430e+00] [ 5.24102877e-02 -2.18115686e-03 9.98623254e-01 3.20805229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80925415399997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:163.40, Y:5.04, Z:3.21 [[ 9.88615938e-01 -1.43151197e-01 -4.63277748e-02 1.63404257e+02] [ 1.42168163e-01 9.89554482e-01 -2.38776161e-02 5.03524459e+00] [ 4.92619665e-02 1.70194572e-02 9.98640875e-01 3.20876128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83925415399997 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:163.43, Y:5.02, Z:3.20 [[ 9.87615084e-01 -1.46696090e-01 -5.56480362e-02 1.63434420e+02] [ 1.47692011e-01 9.88931384e-01 1.42051781e-02 5.01973966e+00] [ 5.29482454e-02 -2.22480185e-02 9.98349392e-01 3.20321347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86925415399998 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:163.46, Y:5.03, Z:3.21 [[ 9.87275935e-01 -1.49860256e-01 -5.31801889e-02 1.63463283e+02] [ 1.49788205e-01 9.88703574e-01 -5.36065096e-03 5.03306637e+00] [ 5.33827914e-02 -2.67332336e-03 9.98570544e-01 3.21177147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89925415399998 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:163.50, Y:5.04, Z:3.21 [[ 9.87024307e-01 -1.51232713e-01 -5.39600209e-02 1.63495056e+02] [ 1.51160763e-01 9.88494246e-01 -5.43586057e-03 5.03669782e+00] [ 5.41612502e-02 -2.79131144e-03 9.98528301e-01 3.21342780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92925415399998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:163.53, Y:5.04, Z:3.21 [[ 9.86814549e-01 -1.52320101e-01 -5.47323674e-02 1.63526366e+02] [ 1.52247971e-01 9.88326970e-01 -5.50956671e-03 5.04068642e+00] [ 5.49326926e-02 -2.89597127e-03 9.98485860e-01 3.21489149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95925415399998 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:163.56, Y:5.05, Z:3.22 [[ 9.86664598e-01 -1.52982034e-01 -5.55829898e-02 1.63558299e+02] [ 1.52908878e-01 9.88224471e-01 -5.59188156e-03 5.04671958e+00] [ 5.57839281e-02 -2.98182103e-03 9.98438412e-01 3.21692124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.98925415399998 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:163.59, Y:5.05, Z:3.22 [[ 9.86704139e-01 -1.52753466e-01 -5.55096411e-02 1.63590285e+02] [ 1.52680372e-01 9.88259866e-01 -5.58037254e-03 5.05158400e+00] [ 5.57103718e-02 -2.96905600e-03 9.98442557e-01 3.21830822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01925415399998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:163.62, Y:5.06, Z:3.22 [[ 9.86848712e-01 -1.51827647e-01 -5.54795957e-02 1.63621987e+02] [ 1.51753403e-01 9.88402673e-01 -5.57325425e-03 5.05579086e+00] [ 5.56823548e-02 -2.91925868e-03 9.98444266e-01 3.21885386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.04925415399998 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:163.65, Y:5.06, Z:3.22 [[ 9.87000553e-01 -1.50881263e-01 -5.53602042e-02 1.63653522e+02] [ 1.50806080e-01 9.88547745e-01 -5.55720469e-03 5.06072196e+00] [ 5.55646831e-02 -2.86369127e-03 9.98450983e-01 3.22166725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07925415399998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:163.69, Y:5.07, Z:3.22 [[ 9.87259115e-01 -1.49300208e-01 -5.50353366e-02 1.63685197e+02] [ 1.49223677e-01 9.88788055e-01 -5.52058229e-03 5.06547110e+00] [ 5.52425075e-02 -2.76233011e-03 9.98469146e-01 3.22318664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10925415399998 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:163.72, Y:5.07, Z:3.22 [[ 9.87909075e-01 -1.45244136e-01 -5.42199259e-02 1.63715553e+02] [ 1.45163967e-01 9.89392684e-01 -5.43498727e-03 5.07273334e+00] [ 5.44341981e-02 -2.50150631e-03 9.98514227e-01 3.22488576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13925415399999 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:163.75, Y:5.08, Z:3.22 [[ 9.88321539e-01 -1.42451300e-01 -5.41125034e-02 1.63747899e+02] [ 1.42367437e-01 9.89799032e-01 -5.42119448e-03 5.07817930e+00] [ 5.43327596e-02 -2.34597515e-03 9.98520129e-01 3.22484410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.169254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:163.78, Y:5.08, Z:3.23 [[ 9.88746778e-01 -1.39865191e-01 -5.30804776e-02 1.63778045e+02] [ 1.39780972e-01 9.90168188e-01 -5.31414340e-03 5.08449106e+00] [ 5.33018640e-02 -2.16529860e-03 9.98576098e-01 3.22930693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.199254154 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:163.81, Y:5.09, Z:3.23 [[ 9.89219939e-01 -1.36665776e-01 -5.25963729e-02 1.63810246e+02] [ 1.36578722e-01 9.90615241e-01 -5.26282827e-03 5.09046118e+00] [ 5.28220171e-02 -1.97745073e-03 9.98601985e-01 3.23106265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.229254154 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:163.84, Y:5.10, Z:3.23 [[ 9.90169483e-01 -1.29799891e-01 -5.21189260e-02 1.63840429e+02] [ 1.29705107e-01 9.91538919e-01 -5.21125058e-03 5.09792019e+00] [ 5.23543633e-02 -1.60006958e-03 9.98627288e-01 3.23264755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.259254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:163.87, Y:5.10, Z:3.23 [[ 9.90617739e-01 -1.26387402e-01 -5.19876965e-02 1.63872551e+02] [ 1.26288712e-01 9.91979941e-01 -5.19218406e-03 5.10316577e+00] [ 5.22269787e-02 -1.42198959e-03 9.98634228e-01 3.23440552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.289254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:163.90, Y:5.11, Z:3.24 [[ 9.91065860e-01 -1.23006601e-01 -5.15542145e-02 1.63904352e+02] [ 1.22905163e-01 9.92405082e-01 -5.14535246e-03 5.10826179e+00] [ 5.17955768e-02 -1.23689597e-03 9.98656942e-01 3.23595016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.319254154 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:163.93, Y:5.11, Z:3.24 [[ 9.91745769e-01 -1.17755321e-01 -5.07347492e-02 1.63934955e+02] [ 1.17650388e-01 9.93042185e-01 -5.06016720e-03 5.11473567e+00] [ 5.09776078e-02 -9.50563523e-04 9.98699344e-01 3.23738282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.349254154 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:163.96, Y:5.12, Z:3.24 [[ 9.91979971e-01 -1.15648301e-01 -5.10020417e-02 1.63964898e+02] [ 1.15539607e-01 9.93289862e-01 -5.08427318e-03 5.11927206e+00] [ 5.12477984e-02 -8.49258714e-04 9.98685607e-01 3.23902157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.379254154 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:164.00, Y:5.12, Z:3.24 [[ 9.92174509e-01 -1.13907028e-01 -5.11364171e-02 1.63996101e+02] [ 1.13795497e-01 9.93491121e-01 -5.09676748e-03 5.12387271e+00] [ 5.13841340e-02 -7.62211209e-04 9.98678672e-01 3.24058288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.409254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:164.03, Y:5.13, Z:3.24 [[ 9.92335702e-01 -1.12506015e-01 -5.11101794e-02 1.64026642e+02] [ 1.12392829e-01 9.93650803e-01 -5.09244268e-03 5.12829768e+00] [ 5.13586013e-02 -6.91004964e-04 9.98680037e-01 3.24169308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.439254154 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:164.06, Y:5.13, Z:3.24 [[ 9.92533990e-01 -1.10129743e-01 -5.24186837e-02 1.64056952e+02] [ 1.10007470e-01 9.93917048e-01 -5.22095782e-03 5.13322269e+00] [ 5.26748061e-02 -5.84468660e-04 9.98611548e-01 3.24301285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.469254154 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:164.09, Y:5.14, Z:3.24 [[ 9.92618482e-01 -1.09128296e-01 -5.29109150e-02 1.64087515e+02] [ 1.09002437e-01 9.94027527e-01 -5.26727017e-03 5.13688249e+00] [ 5.31697142e-02 -5.39028979e-04 9.98585345e-01 3.24419860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49925415399997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:164.12, Y:5.14, Z:3.25 [[ 9.92729860e-01 -1.07981528e-01 -5.31734401e-02 1.64118157e+02] [ 1.07852773e-01 9.94152785e-01 -5.29340449e-03 5.14064685e+00] [ 5.34341134e-02 -4.79982276e-04 9.98571262e-01 3.24544382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52925415399997 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:164.16, Y:5.17, Z:3.25 [[ 9.94217401e-01 -1.03193347e-01 -2.97135028e-02 1.64155581e+02] [ 1.00689137e-01 9.92003174e-01 -7.61012551e-02 5.17294293e+00] [ 3.73290323e-02 7.26693651e-02 9.96657266e-01 3.24826967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55925415399997 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:164.18, Y:5.11, Z:3.23 [[ 9.92893480e-01 -1.02305097e-01 -6.07964207e-02 1.64182639e+02] [ 1.06424745e-01 9.91930734e-01 6.88998773e-02 5.11327720e+00] [ 5.32570295e-02 -7.48804825e-02 9.95769352e-01 3.22770750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58925415399997 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:164.21, Y:5.15, Z:3.25 [[ 9.93003214e-01 -1.05601419e-01 -5.28484383e-02 1.64208915e+02] [ 1.05469773e-01 9.94408483e-01 -5.28157597e-03 5.15367879e+00] [ 5.31106773e-02 -3.29290872e-04 9.98588578e-01 3.25105457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61925415399998 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:164.24, Y:5.16, Z:3.25 [[ 9.93037208e-01 -1.05358536e-01 -5.26942291e-02 1.64238483e+02] [ 1.05227394e-01 9.94434250e-01 -5.26470433e-03 5.15704770e+00] [ 5.29556277e-02 -3.16829124e-04 9.98596816e-01 3.25317300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64925415399998 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:164.27, Y:5.16, Z:3.25 [[ 9.93030327e-01 -1.05576948e-01 -5.23858467e-02 1.64269139e+02] [ 1.05447565e-01 9.94411083e-01 -5.23534249e-03 5.16036477e+00] [ 5.26457981e-02 -3.25106087e-04 9.98613196e-01 3.25472533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:164.30, Y:5.17, Z:3.26 [[ 9.92924299e-01 -1.06445566e-01 -5.26372284e-02 1.64297357e+02] [ 1.05891675e-01 9.94289922e-01 -1.32099651e-02 5.16648500e+00] [ 5.37428079e-02 7.54265104e-03 9.98526324e-01 3.25855789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:164.33, Y:5.17, Z:3.26 [[ 9.92921294e-01 -1.06027906e-01 -5.35293041e-02 1.64327735e+02] [ 1.05879415e-01 9.94363150e-01 -5.61032411e-03 5.16577573e+00] [ 5.38224184e-02 -9.70411416e-05 9.98550518e-01 3.25772952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73925415399998 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:164.36, Y:5.16, Z:3.26 [[ 9.92830170e-01 -1.07726261e-01 -5.18006351e-02 1.64359315e+02] [ 1.08005528e-01 9.94146856e-01 2.61430626e-03 5.16458885e+00] [ 5.12158091e-02 -8.19031706e-03 9.98654024e-01 3.25673862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.76925415399998 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:164.39, Y:5.17, Z:3.26 [[ 9.92672589e-01 -1.09622353e-01 -5.08337480e-02 1.64390855e+02] [ 1.09505586e-01 9.93973174e-01 -5.08491658e-03 5.17103718e+00] [ 5.10848023e-02 -5.18922031e-04 9.98694184e-01 3.26068861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79925415399998 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:164.43, Y:5.21, Z:3.27 [[ 9.94064095e-01 -1.06438456e-01 -2.25262088e-02 1.64430852e+02] [ 1.04085426e-01 9.90680793e-01 -8.78509547e-02 5.20716296e+00] [ 3.16670023e-02 8.49848297e-02 9.95878898e-01 3.26564927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82925415399998 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:164.46, Y:5.13, Z:3.24 [[ 9.92013091e-01 -1.10873074e-01 -6.01430642e-02 1.64457000e+02] [ 1.15594884e-01 9.89928696e-01 8.17251520e-02 5.13357187e+00] [ 5.04762263e-02 -8.80246512e-02 9.94838586e-01 3.23967628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85925415399998 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:164.48, Y:5.18, Z:3.27 [[ 9.91733628e-01 -1.17289176e-01 -5.20351867e-02 1.64483751e+02] [ 1.17176274e-01 9.93097383e-01 -5.22575188e-03 5.17904916e+00] [ 5.22889319e-02 -9.14735402e-04 9.98631579e-01 3.26621352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88925415399999 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:164.52, Y:5.18, Z:3.27 [[ 9.91521442e-01 -1.18850399e-01 -5.25339286e-02 1.64515817e+02] [ 1.18737767e-01 9.92911658e-01 -5.27096514e-03 5.18142070e+00] [ 5.27880065e-02 -1.01148643e-03 9.98605229e-01 3.26780812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.919254154 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:164.55, Y:5.18, Z:3.27 [[ 9.91377669e-01 -1.19746913e-01 -5.32070908e-02 1.64548116e+02] [ 1.19632875e-01 9.92803867e-01 -5.33458137e-03 5.18353946e+00] [ 5.34630051e-02 -1.07673239e-03 9.98569250e-01 3.26765069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.949254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:164.58, Y:5.19, Z:3.27 [[ 9.91122946e-01 -1.21149808e-01 -5.47542635e-02 1.64580423e+02] [ 1.21031402e-01 9.92633521e-01 -5.48562159e-03 5.18557081e+00] [ 5.50154994e-02 -1.19005985e-03 9.98484791e-01 3.26812942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.979254154 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:164.61, Y:5.19, Z:3.27 [[ 9.91050407e-01 -1.21386020e-01 -5.55385047e-02 1.64612019e+02] [ 1.21264798e-01 9.92604622e-01 -5.56005701e-03 5.18869388e+00] [ 5.58026896e-02 -1.22456876e-03 9.98441065e-01 3.27097723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.009254154 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:164.64, Y:5.19, Z:3.27 [[ 9.91077999e-01 -1.21048840e-01 -5.57815255e-02 1.64643739e+02] [ 1.20926253e-01 9.92645809e-01 -5.58024102e-03 5.19173403e+00] [ 5.60467792e-02 -1.21499677e-03 9.98427405e-01 3.27250681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.039254154 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:164.68, Y:5.20, Z:3.27 [[ 9.91161180e-01 -1.20099514e-01 -5.63526500e-02 1.64675435e+02] [ 1.19973109e-01 9.92761160e-01 -5.63317006e-03 5.19504509e+00] [ 5.66212631e-02 -1.17742315e-03 9.98395035e-01 3.27413303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.069254154 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:164.71, Y:5.20, Z:3.28 [[ 9.91569343e-01 -1.16566022e-01 -5.65915302e-02 1.64706958e+02] [ 1.16433018e-01 9.93182458e-01 -5.65307855e-03 5.19819730e+00] [ 5.68646720e-02 -9.83703294e-04 9.98381411e-01 3.27546430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.099254154 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:164.74, Y:5.20, Z:3.28 [[ 9.91909349e-01 -1.13681188e-01 -5.65016045e-02 1.64737813e+02] [ 1.13544049e-01 9.93516943e-01 -5.64200778e-03 5.20126122e+00] [ 5.67766916e-02 -8.19060683e-04 9.98386567e-01 3.27701492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.129254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:164.77, Y:5.21, Z:3.28 [[ 9.92669496e-01 -1.06844038e-01 -5.64944513e-02 1.64767949e+02] [ 1.06695993e-01 9.94275700e-01 -5.63901389e-03 5.20510890e+00] [ 5.67735551e-02 -4.30054492e-04 9.98386988e-01 3.27934973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.159254154 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:164.80, Y:5.21, Z:3.28 [[ 9.93051735e-01 -1.03235046e-01 -5.64869661e-02 1.64798577e+02] [ 1.03081386e-01 9.94656963e-01 -5.63508394e-03 5.20896683e+00] [ 5.67668923e-02 -2.26824856e-04 9.98387434e-01 3.28092855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.189254154 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:164.83, Y:5.21, Z:3.28 [[ 9.93402561e-01 -9.98723328e-02 -5.63637121e-02 1.64829051e+02] [ 9.97139323e-02 9.95000259e-01 -5.62278824e-03 5.21281782e+00] [ 5.66434691e-02 -3.45551328e-05 9.98394469e-01 3.28262998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.219254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:164.86, Y:5.22, Z:3.28 [[ 9.93700380e-01 -9.67314771e-02 -5.65913119e-02 1.64858430e+02] [ 9.65667030e-02 9.95310504e-01 -5.64549340e-03 5.21617719e+00] [ 5.68720241e-02 1.45092535e-04 9.98381466e-01 3.28461292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24925415399997 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:164.89, Y:5.22, Z:3.29 [[ 9.93880245e-01 -9.45934086e-02 -5.70451133e-02 1.64886729e+02] [ 9.44224378e-02 9.95515954e-01 -5.69113967e-03 5.21922079e+00] [ 5.73276647e-02 2.69972625e-04 9.98355381e-01 3.28619965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27925415399997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:164.92, Y:5.22, Z:3.29 [[ 9.94043740e-01 -9.26182244e-02 -5.74361146e-02 1.64915001e+02] [ 9.24413245e-02 9.95701618e-01 -5.73499638e-03 5.22090243e+00] [ 5.77203974e-02 3.91366743e-04 9.98332711e-01 3.28732164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30925415399997 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:164.94, Y:5.22, Z:3.29 [[ 9.93952645e-01 -9.31999935e-02 -5.80680767e-02 1.64943919e+02] [ 9.30191935e-02 9.95647336e-01 -5.81475964e-03 5.22260309e+00] [ 5.83572614e-02 3.78150065e-04 9.98295691e-01 3.28893530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33925415399997 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:164.97, Y:5.22, Z:3.29 [[ 9.93786219e-01 -9.46440521e-02 -5.85786103e-02 1.64971717e+02] [ 9.44616509e-02 9.95511128e-01 -5.88133041e-03 5.22421103e+00] [ 5.88722914e-02 3.11352875e-04 9.98265474e-01 3.29002418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36925415399998 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:165.00, Y:5.23, Z:3.29 [[ 9.93579888e-01 -9.67349908e-02 -5.86630022e-02 1.64999749e+02] [ 9.65547899e-02 9.95310153e-01 -5.90527438e-03 5.22581186e+00] [ 5.89591283e-02 2.03168005e-04 9.98260377e-01 3.29150166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39925415399998 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:165.03, Y:5.23, Z:3.29 [[ 9.92997203e-01 -1.02237479e-01 -5.91950440e-02 1.65027653e+02] [ 1.02063325e-01 9.94760013e-01 -5.96603490e-03 5.22669219e+00] [ 5.94948152e-02 -1.17387050e-04 9.98228608e-01 3.29340028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42925415399998 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:165.06, Y:5.23, Z:3.30 [[ 9.92664754e-01 -1.05205403e-01 -5.95693663e-02 1.65055006e+02] [ 1.05033449e-01 9.94450473e-01 -6.01919002e-03 5.22850303e+00] [ 5.98720358e-02 -2.81738237e-04 9.98206021e-01 3.29512200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45925415399998 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:165.08, Y:5.23, Z:3.30 [[ 9.92190976e-01 -1.09457451e-01 -5.98007896e-02 1.65080472e+02] [ 1.09250334e-01 9.93991471e-01 -6.73197183e-03 5.22871248e+00] [ 6.01783393e-02 1.46145434e-04 9.98187631e-01 3.29667151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.48925415399998 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:165.11, Y:5.23, Z:3.30 [[ 9.91823724e-01 -1.13017963e-01 -5.92675405e-02 1.65110377e+02] [ 1.12883174e-01 9.93592327e-01 -5.62823163e-03 5.22990142e+00] [ 5.95238648e-02 -1.10809443e-03 9.98226268e-01 3.29751481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51925415399998 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:165.14, Y:5.23, Z:3.30 [[ 9.91574378e-01 -1.15413178e-01 -5.88221947e-02 1.65139465e+02] [ 1.15263837e-01 9.93317170e-01 -5.93693122e-03 5.23159848e+00] [ 5.91142961e-02 -8.93162994e-04 9.98250821e-01 3.29904824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.54925415399998 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:165.17, Y:5.23, Z:3.30 [[ 9.91322863e-01 -1.17588388e-01 -5.87533178e-02 1.65169464e+02] [ 1.17443157e-01 9.93061896e-01 -5.93091290e-03 5.23350620e+00] [ 5.90430877e-02 -1.02072558e-03 9.98254913e-01 3.30067006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57925415399998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:165.20, Y:5.24, Z:3.30 [[ 9.91134707e-01 -1.19538102e-01 -5.79882323e-02 1.65198810e+02] [ 1.19399955e-01 9.92828980e-01 -5.85382497e-03 5.23545310e+00] [ 5.82721527e-02 -1.12186322e-03 9.98300104e-01 3.30257658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60925415399998 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:165.23, Y:5.24, Z:3.30 [[ 9.90757957e-01 -1.22827087e-01 -5.75515222e-02 1.65226481e+02] [ 1.22587392e-01 9.92427926e-01 -7.69045517e-03 5.23695723e+00] [ 5.80603340e-02 5.64288646e-04 9.98312916e-01 3.30484624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63925415399999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:165.26, Y:5.24, Z:3.30 [[ 9.90509763e-01 -1.25325906e-01 -5.64254007e-02 1.65256323e+02] [ 1.25299447e-01 9.92110822e-01 -4.02056127e-03 5.23759266e+00] [ 5.64841311e-02 -3.08766632e-03 9.98398723e-01 3.30468923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.669254154 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:165.29, Y:5.24, Z:3.31 [[ 9.90287778e-01 -1.27167756e-01 -5.62003521e-02 1.65286053e+02] [ 1.27049401e-01 9.91880079e-01 -5.68848348e-03 5.24021500e+00] [ 5.64674014e-02 -1.50698541e-03 9.98403306e-01 3.30648088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.699254154 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:165.32, Y:5.24, Z:3.31 [[ 9.90029559e-01 -1.29192825e-01 -5.61309834e-02 1.65317103e+02] [ 1.29078201e-01 9.91618161e-01 -5.67808566e-03 5.24212563e+00] [ 5.63940704e-02 -1.62381374e-03 9.98407268e-01 3.30778752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.729254154 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:165.35, Y:5.24, Z:3.31 [[ 9.89394913e-01 -1.33941788e-01 -5.61898939e-02 1.65348442e+02] [ 1.33834707e-01 9.90987382e-01 -5.68151149e-03 5.24315704e+00] [ 5.64444677e-02 -1.89889944e-03 9.98403934e-01 3.30846659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.759254154 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:165.38, Y:5.25, Z:3.31 [[ 9.89009839e-01 -1.36710607e-01 -5.63005214e-02 1.65379783e+02] [ 1.36607925e-01 9.90608872e-01 -5.68659430e-03 5.24512014e+00] [ 5.65492138e-02 -2.06699969e-03 9.98397673e-01 3.30986341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.789254154 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:165.41, Y:5.25, Z:3.31 [[ 9.88484007e-01 -1.39808392e-01 -5.79049373e-02 1.65408712e+02] [ 1.39151058e-01 9.90153696e-01 -1.52525933e-02 5.25138277e+00] [ 5.94672282e-02 7.01941127e-03 9.98205578e-01 3.31416831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.819254154 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:165.44, Y:5.24, Z:3.31 [[ 9.88081689e-01 -1.42944488e-01 -5.71091020e-02 1.65439750e+02] [ 1.43370731e-01 9.89663156e-01 3.41627947e-03 5.24481305e+00] [ 5.60304358e-02 -1.15633369e-02 9.98362098e-01 3.31019165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.849254154 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:165.47, Y:5.25, Z:3.31 [[ 9.87183569e-01 -1.49367087e-01 -5.61967482e-02 1.65471543e+02] [ 1.49284494e-01 9.88777923e-01 -5.68855579e-03 5.25160176e+00] [ 5.64157869e-02 -2.77365433e-03 9.98403509e-01 3.31447308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.879254154 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:165.50, Y:5.25, Z:3.32 [[ 9.86823181e-01 -1.51602566e-01 -5.65391191e-02 1.65504009e+02] [ 1.51522857e-01 9.88437209e-01 -5.71904449e-03 5.25456652e+00] [ 5.67523909e-02 -2.92328318e-03 9.98384005e-01 3.31602834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.909254154 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:165.53, Y:5.26, Z:3.32 [[ 9.86503361e-01 -1.53469913e-01 -5.70798057e-02 1.65534962e+02] [ 1.53392022e-01 9.88148571e-01 -5.76962936e-03 5.25749786e+00] [ 5.72887930e-02 -3.06382807e-03 9.98352947e-01 3.31730312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.939254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:165.57, Y:5.26, Z:3.32 [[ 9.86260747e-01 -1.54832278e-01 -5.75908404e-02 1.65566565e+02] [ 1.54755493e-01 9.87935670e-01 -5.81797101e-03 5.26066201e+00] [ 5.77968552e-02 -3.17446247e-03 9.98323318e-01 3.31907697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.969254154 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:165.60, Y:5.26, Z:3.32 [[ 9.86023387e-01 -1.56134881e-01 -5.81358734e-02 1.65598518e+02] [ 1.56059142e-01 9.87730278e-01 -5.86876640e-03 5.26467562e+00] [ 5.83388815e-02 -3.28589359e-03 9.98291429e-01 3.31981098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99925415399997 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:165.63, Y:5.27, Z:3.32 [[ 9.85962021e-01 -1.56392350e-01 -5.84835483e-02 1.65630237e+02] [ 1.56316404e-01 9.87689413e-01 -5.89960890e-03 5.26835203e+00] [ 5.86862352e-02 -3.32514767e-03 9.98270940e-01 3.32130898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02925415399997 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:165.66, Y:5.27, Z:3.32 [[ 9.85957393e-01 -1.56332389e-01 -5.87214071e-02 1.65661534e+02] [ 1.56255961e-01 9.87698858e-01 -5.91950868e-03 5.27220575e+00] [ 5.89244777e-02 -3.33918657e-03 9.98256859e-01 3.32309719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05925415399997 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:165.69, Y:5.28, Z:3.32 [[ 9.85950721e-01 -1.56096022e-01 -5.94576198e-02 1.65693485e+02] [ 1.56017444e-01 9.87736135e-01 -5.99032688e-03 5.27623799e+00] [ 5.96635058e-02 -3.37025874e-03 9.98212857e-01 3.32399897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08925415399997 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:165.73, Y:5.29, Z:3.33 [[ 9.86385366e-01 -1.55132230e-01 -5.45701517e-02 1.65726932e+02] [ 1.54212584e-01 9.87820752e-01 -2.07036292e-02 5.28811314e+00] [ 5.71173285e-02 1.20063528e-02 9.98295276e-01 3.32607998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11925415399998 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:165.76, Y:5.29, Z:3.32 [[ 9.86873937e-01 -1.53188752e-01 -5.11178923e-02 1.65762273e+02] [ 1.52255022e-01 9.88102791e-01 -2.17090408e-02 5.29167441e+00] [ 5.38353130e-02 1.36411307e-02 9.98456648e-01 3.32366521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14925415399998 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:165.79, Y:5.28, Z:3.32 [[ 9.86006850e-01 -1.54127843e-01 -6.35224329e-02 1.65787276e+02] [ 1.56107919e-01 9.87358340e-01 2.74559107e-02 5.27514881e+00] [ 5.84876836e-02 -3.69880708e-02 9.97602663e-01 3.32098503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17925415399998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:165.82, Y:5.31, Z:3.33 [[ 9.86606407e-01 -1.54648503e-01 -5.18809946e-02 1.65820276e+02] [ 1.53325605e-01 9.87761733e-01 -2.86010229e-02 5.30544224e+00] [ 5.56691665e-02 2.02632676e-02 9.98243630e-01 3.33266575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20925415399998 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:165.85, Y:5.29, Z:3.33 [[ 9.86271878e-01 -1.53625048e-01 -6.05568060e-02 1.65848892e+02] [ 1.54974152e-01 9.87750470e-01 1.82214719e-02 5.29031916e+00] [ 5.70157390e-02 -2.73560650e-02 9.97998422e-01 3.32817736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23925415399998 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:165.88, Y:5.31, Z:3.34 [[ 9.86338801e-01 -1.54383136e-01 -5.74596906e-02 1.65878936e+02] [ 1.54306240e-01 9.88006047e-01 -5.79954328e-03 5.30670450e+00] [ 5.76658734e-02 -3.14607425e-03 9.98330982e-01 3.33723543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26925415399998 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:165.91, Y:5.31, Z:3.34 [[ 9.86483636e-01 -1.53889412e-01 -5.62857417e-02 1.65909497e+02] [ 1.53815042e-01 9.88083348e-01 -5.67715322e-03 5.31108999e+00] [ 5.64886578e-02 -3.05717499e-03 9.98398560e-01 3.33900150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:165.94, Y:5.32, Z:3.34 [[ 9.86797211e-01 -1.52378986e-01 -5.48808641e-02 1.65941349e+02] [ 1.52306115e-01 9.88317884e-01 -5.53249037e-03 5.31674419e+00] [ 5.50827747e-02 -2.89924511e-03 9.98477582e-01 3.34105270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32925415399998 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:165.97, Y:5.32, Z:3.34 [[ 9.86913409e-01 -1.51653981e-01 -5.47995763e-02 1.65972796e+02] [ 1.51580437e-01 9.88429511e-01 -5.52019978e-03 5.32118029e+00] [ 5.50026787e-02 -2.85858452e-03 9.98482115e-01 3.34291375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35925415399998 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:166.00, Y:5.33, Z:3.34 [[ 9.87012125e-01 -1.51103161e-01 -5.45426358e-02 1.66004956e+02] [ 1.51029736e-01 9.88513978e-01 -5.48939204e-03 5.32562295e+00] [ 5.47456224e-02 -2.81946340e-03 9.98496353e-01 3.34395092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38925415399999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:166.04, Y:5.33, Z:3.34 [[ 9.87050904e-01 -1.50447027e-01 -5.56435466e-02 1.66036423e+02] [ 1.50369806e-01 9.88613982e-01 -5.59600745e-03 5.33059748e+00] [ 5.58518909e-02 -2.84356510e-03 9.98435016e-01 3.34446470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.419254154 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:166.07, Y:5.33, Z:3.35 [[ 9.86976727e-01 -1.50593952e-01 -5.65544156e-02 1.66068437e+02] [ 1.50514714e-01 9.88591437e-01 -5.68252390e-03 5.33470322e+00] [ 5.67649647e-02 -2.90375284e-03 9.98383347e-01 3.34567573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.449254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:166.11, Y:5.36, Z:3.35 [[ 9.88244335e-01 -1.47804639e-01 -3.90758548e-02 1.66105441e+02] [ 1.45182952e-01 9.87391965e-01 -6.30794542e-02 5.36190281e+00] [ 4.79066211e-02 5.66647654e-02 9.97243230e-01 3.34842626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.479254154 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:166.15, Y:5.34, Z:3.33 [[ 9.88493030e-01 -1.44831138e-01 -4.36517004e-02 1.66146099e+02] [ 1.44033246e-01 9.89351750e-01 -2.09174125e-02 5.34469295e+00] [ 4.62163789e-02 1.43894203e-02 9.98827808e-01 3.33332433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.509254154 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:166.16, Y:5.31, Z:3.32 [[ 9.87111814e-01 -1.45653887e-01 -6.62963919e-02 1.66164071e+02] [ 1.49969947e-01 9.86513300e-01 6.55783756e-02 5.31132267e+00] [ 5.58505271e-02 -7.46756556e-02 9.95642639e-01 3.32328282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.539254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:166.19, Y:5.35, Z:3.35 [[ 9.86771847e-01 -1.50585653e-01 -6.00440156e-02 1.66194337e+02] [ 1.50471561e-01 9.88593342e-01 -6.44316881e-03 5.35128603e+00] [ 6.03293628e-02 -2.67697917e-03 9.98174935e-01 3.34667779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.569254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:166.23, Y:5.36, Z:3.35 [[ 9.86817588e-01 -1.50237862e-01 -6.01633860e-02 1.66225398e+02] [ 1.50150268e-01 9.88644980e-01 -6.00003068e-03 5.35514913e+00] [ 6.03816614e-02 -3.11261275e-03 9.98170510e-01 3.34796210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.599254154 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:166.26, Y:5.36, Z:3.35 [[ 9.86877012e-01 -1.49794916e-01 -6.02930087e-02 1.66256250e+02] [ 1.49706528e-01 9.88712233e-01 -6.00625215e-03 5.35956488e+00] [ 6.05121413e-02 -3.09882481e-03 9.98162651e-01 3.34970040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.629254154 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:166.29, Y:5.36, Z:3.35 [[ 9.86890157e-01 -1.49708141e-01 -6.02933712e-02 1.66288755e+02] [ 1.49619814e-01 9.88725381e-01 -6.00261135e-03 5.36273613e+00] [ 6.05122262e-02 -3.09716491e-03 9.98162651e-01 3.35132967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.659254154 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:166.32, Y:5.37, Z:3.35 [[ 9.87064565e-01 -1.48640712e-01 -6.00789785e-02 1.66320949e+02] [ 1.48551351e-01 9.88886638e-01 -5.97611701e-03 5.36724819e+00] [ 6.02995933e-02 -3.02600010e-03 9.98175737e-01 3.35316430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.689254154 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:166.35, Y:5.37, Z:3.35 [[ 9.87234389e-01 -1.47521894e-01 -6.00462537e-02 1.66352374e+02] [ 1.47430833e-01 9.89054360e-01 -5.96847542e-03 5.37183619e+00] [ 6.02694898e-02 -2.96038502e-03 9.98177752e-01 3.35475453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.719254154 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:166.38, Y:5.38, Z:3.36 [[ 9.87850189e-01 -1.43748331e-01 -5.90628574e-02 1.66384095e+02] [ 1.43653753e-01 9.89610622e-01 -5.86643811e-03 5.37794978e+00] [ 5.92925217e-02 -2.68943913e-03 9.98237028e-01 3.35658569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74925415399997 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:166.42, Y:5.38, Z:3.36 [[ 9.88192653e-01 -1.41620801e-01 -5.84707531e-02 1.66415808e+02] [ 1.41524649e-01 9.89917722e-01 -5.80326871e-03 5.38266031e+00] [ 5.87030982e-02 -2.54030532e-03 9.98272254e-01 3.35822639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77925415399997 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:166.45, Y:5.39, Z:3.36 [[ 9.88535896e-01 -1.39502031e-01 -5.77578223e-02 1.66446423e+02] [ 1.39404840e-01 9.90218903e-01 -5.72838862e-03 5.38726975e+00] [ 5.79920093e-02 -2.38900221e-03 9.98314189e-01 3.35999013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80925415399997 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:166.48, Y:5.39, Z:3.36 [[ 9.88819333e-01 -1.37595773e-01 -5.74780902e-02 1.66478143e+02] [ 1.37496500e-01 9.90485867e-01 -5.69732066e-03 5.39196651e+00] [ 5.77151633e-02 -2.26941542e-03 9.98330511e-01 3.36195329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83925415399997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:166.51, Y:5.40, Z:3.36 [[ 9.89318818e-01 -1.34233172e-01 -5.68307327e-02 1.66510138e+02] [ 1.34130820e-01 9.90947646e-01 -5.62901919e-03 5.39743184e+00] [ 5.70718819e-02 -2.05385817e-03 9.98367959e-01 3.36376194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86925415399998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:166.54, Y:5.40, Z:3.37 [[ 9.89483623e-01 -1.33106983e-01 -5.66099963e-02 1.66541468e+02] [ 1.33003843e-01 9.91099686e-01 -5.60263130e-03 5.40155452e+00] [ 5.68518989e-02 -1.98563514e-03 9.98380648e-01 3.36538348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89925415399998 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:166.57, Y:5.41, Z:3.37 [[ 9.89566527e-01 -1.32337114e-01 -5.69646960e-02 1.66573279e+02] [ 1.32231785e-01 9.91202828e-01 -5.63109818e-03 5.40576637e+00] [ 5.72087710e-02 -1.96019715e-03 9.98360313e-01 3.36690544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92925415399998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:166.60, Y:5.41, Z:3.37 [[ 9.89624390e-01 -1.31679218e-01 -5.74817306e-02 1.66604242e+02] [ 1.31571123e-01 9.91290474e-01 -5.67766548e-03 5.40979276e+00] [ 5.77287225e-02 -1.94417962e-03 9.98330414e-01 3.36819990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:166.63, Y:5.41, Z:3.37 [[ 9.89827035e-01 -1.29840863e-01 -5.81703630e-02 1.66634860e+02] [ 1.29727367e-01 9.91533091e-01 -5.73930594e-03 5.41478188e+00] [ 5.84230363e-02 -1.86536784e-03 9.98290173e-01 3.36930772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.98925415399998 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:166.67, Y:5.42, Z:3.37 [[ 9.89979435e-01 -1.28509037e-01 -5.85332857e-02 1.66666943e+02] [ 1.28391991e-01 9.91706702e-01 -5.77179896e-03 5.41910602e+00] [ 5.87895800e-02 -1.80124283e-03 9.98268772e-01 3.37084046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01925415399998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:166.70, Y:5.42, Z:3.37 [[ 9.90258777e-01 -1.26373367e-01 -5.84579030e-02 1.66699172e+02] [ 1.26253161e-01 9.91981331e-01 -5.76004893e-03 5.42318352e+00] [ 5.87170652e-02 -1.67655600e-03 9.98273257e-01 3.37251602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.04925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:166.73, Y:5.43, Z:3.37 [[ 9.90547336e-01 -1.23995577e-01 -5.86606444e-02 1.66731285e+02] [ 1.23870628e-01 9.92281567e-01 -5.77567717e-03 5.42751605e+00] [ 5.89240346e-02 -1.54524922e-03 9.98261274e-01 3.37445285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07925415399998 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:166.76, Y:5.43, Z:3.38 [[ 9.91337188e-01 -1.17699412e-01 -5.82874578e-02 1.66761672e+02] [ 1.17565414e-01 9.93048582e-01 -5.73480956e-03 5.43268085e+00] [ 5.85572610e-02 -1.16745913e-03 9.98283369e-01 3.37578507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10925415399998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:166.79, Y:5.44, Z:3.38 [[ 9.91750083e-01 -1.14161910e-01 -5.82994884e-02 1.66793327e+02] [ 1.14021946e-01 9.93461692e-01 -5.73263346e-03 5.43685260e+00] [ 5.85727567e-02 -9.62081427e-04 9.98282679e-01 3.37765587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13925415399999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:166.83, Y:5.44, Z:3.38 [[ 9.92176483e-01 -1.10540806e-01 -5.80220406e-02 1.66825096e+02] [ 1.10396228e-01 9.93871304e-01 -5.70118136e-03 5.44086612e+00] [ 5.82966544e-02 -7.48836339e-04 9.98299023e-01 3.37801949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.169254154 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:166.86, Y:5.45, Z:3.38 [[ 9.92502826e-01 -1.07894899e-01 -5.74180329e-02 1.66856998e+02] [ 1.07749131e-01 9.94162130e-01 -5.63770907e-03 5.44509233e+00] [ 5.76911139e-02 -5.91300935e-04 9.98334306e-01 3.38072773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.199254154 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:166.89, Y:5.45, Z:3.38 [[ 9.93068472e-01 -1.02751221e-01 -5.70718630e-02 1.66885065e+02] [ 1.02483526e-01 9.94705627e-01 -7.60548441e-03 5.45005426e+00] [ 5.75511761e-02 1.70384105e-03 9.98341104e-01 3.38301806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.229254154 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:166.92, Y:5.45, Z:3.38 [[ 9.93120142e-01 -1.02344280e-01 -5.69037106e-02 1.66915642e+02] [ 1.02290179e-01 9.94747073e-01 -3.87032968e-03 5.45176200e+00] [ 5.70009057e-02 -1.97698840e-03 9.98372169e-01 3.38179339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.259254154 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:166.95, Y:5.46, Z:3.38 [[ 9.93149896e-01 -1.02145035e-01 -5.67421931e-02 1.66947037e+02] [ 1.01992339e-01 9.94769489e-01 -5.58814432e-03 5.45580221e+00] [ 5.70162036e-02 -2.37404029e-04 9.98373225e-01 3.38483473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.289254154 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:166.98, Y:5.46, Z:3.39 [[ 9.93068351e-01 -1.02393486e-01 -5.77132911e-02 1.66978623e+02] [ 1.02236057e-01 9.94743941e-01 -5.68165648e-03 5.45869961e+00] [ 5.79917112e-02 -2.58106077e-04 9.98317031e-01 3.38637602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.319254154 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:167.01, Y:5.46, Z:3.39 [[ 9.92707969e-01 -1.05286775e-01 -5.86990836e-02 1.67009372e+02] [ 1.05129146e-01 9.94441805e-01 -5.77571367e-03 5.46075274e+00] [ 5.89809289e-02 -4.37387542e-04 9.98259014e-01 3.38761490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.349254154 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:167.04, Y:5.46, Z:3.39 [[ 9.92401435e-01 -1.07921046e-01 -5.90968706e-02 1.67039532e+02] [ 1.07766314e-01 9.94159284e-01 -5.80851311e-03 5.46277437e+00] [ 5.93785634e-02 -6.04275168e-04 9.98235354e-01 3.38876786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.379254154 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:167.07, Y:5.46, Z:3.39 [[ 9.92070484e-01 -1.10813983e-01 -5.92993767e-02 1.67071263e+02] [ 1.10663446e-01 9.93840858e-01 -5.82679351e-03 5.46494439e+00] [ 5.95798336e-02 -7.81683519e-04 9.98223238e-01 3.38975758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.409254154 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:167.10, Y:5.47, Z:3.39 [[ 9.91294016e-01 -1.17374310e-01 -5.96610780e-02 1.67103592e+02] [ 1.17234055e-01 9.93087036e-01 -5.85789990e-03 5.46638522e+00] [ 5.99362101e-02 -1.18740899e-03 9.98201503e-01 3.39120963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.439254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:167.14, Y:5.47, Z:3.39 [[ 9.90906788e-01 -1.20488743e-01 -5.98848855e-02 1.67136018e+02] [ 1.20353377e-01 9.92713727e-01 -5.87544782e-03 5.46879198e+00] [ 6.01564732e-02 -1.38532707e-03 9.98187998e-01 3.39295237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.469254154 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:167.17, Y:5.47, Z:3.39 [[ 9.90512890e-01 -1.23575968e-01 -6.01098534e-02 1.67166962e+02] [ 1.23445514e-01 9.92333852e-01 -5.89328033e-03 5.47118757e+00] [ 6.03773102e-02 -1.58292160e-03 9.98174371e-01 3.39463530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49925415399997 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:167.20, Y:5.47, Z:3.40 [[ 9.90175257e-01 -1.26318540e-01 -5.99715569e-02 1.67199146e+02] [ 1.26193914e-01 9.91988188e-01 -5.87625150e-03 5.47362411e+00] [ 6.02333556e-02 -1.74952669e-03 9.98182790e-01 3.39635198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52925415399997 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:167.23, Y:5.48, Z:3.40 [[ 9.89638779e-01 -1.30886642e-01 -5.90235088e-02 1.67231135e+02] [ 1.30774284e-01 9.91395324e-01 -5.77908984e-03 5.47594290e+00] [ 5.92720363e-02 -1.99954566e-03 9.98239865e-01 3.39689496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55925415399997 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:167.26, Y:5.48, Z:3.40 [[ 9.89360295e-01 -1.33285106e-01 -5.83205525e-02 1.67261628e+02] [ 1.33179811e-01 9.91075466e-01 -5.70607808e-03 5.47890631e+00] [ 5.85606039e-02 -2.12175306e-03 9.98281600e-01 3.40022502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58925415399997 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:167.29, Y:5.48, Z:3.40 [[ 9.89214397e-01 -1.34805754e-01 -5.72912311e-02 1.67294085e+02] [ 1.34706877e-01 9.90869655e-01 -5.60206222e-03 5.48180923e+00] [ 5.75233326e-02 -2.17588224e-03 9.98341791e-01 3.40244871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.61925415399998 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:167.33, Y:5.48, Z:3.40 [[ 9.89118013e-01 -1.36084767e-01 -5.59150466e-02 1.67326233e+02] [ 1.35992856e-01 9.90694754e-01 -5.46331728e-03 5.48493601e+00] [ 5.61382176e-02 -2.20018132e-03 9.98420583e-01 3.40425451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.64925415399998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:167.36, Y:5.49, Z:3.41 [[ 9.89021333e-01 -1.37382424e-01 -5.44322760e-02 1.67359267e+02] [ 1.37297555e-01 9.90515597e-01 -5.31343966e-03 5.48862636e+00] [ 5.46459916e-02 -2.21831325e-03 9.98503327e-01 3.40659833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67925415399998 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:167.39, Y:5.49, Z:3.41 [[ 9.89015363e-01 -1.37729713e-01 -5.36576069e-02 1.67390998e+02] [ 1.37648061e-01 9.90467383e-01 -5.23208971e-03 5.49202032e+00] [ 5.38667237e-02 -2.21124846e-03 9.98545686e-01 3.40835271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:167.42, Y:5.50, Z:3.41 [[ 9.89102302e-01 -1.37161723e-01 -5.35097911e-02 1.67421855e+02] [ 1.37079949e-01 9.90546270e-01 -5.21287893e-03 5.49541132e+00] [ 5.37189315e-02 -2.17904890e-03 9.98553718e-01 3.41000067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.73925415399998 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:167.45, Y:5.50, Z:3.41 [[ 9.88943700e-01 -1.38168649e-01 -5.38496203e-02 1.67454263e+02] [ 1.38087551e-01 9.90406155e-01 -5.24176230e-03 5.49911503e+00] [ 5.40572426e-02 -2.25215439e-03 9.98535298e-01 3.41189204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.76925415399998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:167.49, Y:5.50, Z:3.41 [[ 9.88771438e-01 -1.39163067e-01 -5.44489180e-02 1.67486936e+02] [ 1.39081901e-01 9.90266722e-01 -5.29565850e-03 5.50255320e+00] [ 5.46559116e-02 -2.33666315e-03 9.98502514e-01 3.41202980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.79925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:167.53, Y:5.53, Z:3.42 [[ 9.90050520e-01 -1.36218749e-01 -3.52763305e-02 1.67526738e+02] [ 1.33837581e-01 9.89010615e-01 -6.28132601e-02 5.52809936e+00] [ 4.34450091e-02 5.74670020e-02 9.97401662e-01 3.41588662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.82925415399998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:167.55, Y:5.48, Z:3.40 [[ 9.88524451e-01 -1.38018665e-01 -6.14024194e-02 1.67552981e+02] [ 1.41445081e-01 9.88391267e-01 5.54616297e-02 5.47853338e+00] [ 5.30348750e-02 -6.35102473e-02 9.96570996e-01 3.39634044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.85925415399998 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:167.58, Y:5.51, Z:3.42 [[ 9.88312946e-01 -1.41743459e-01 -5.60919939e-02 1.67581241e+02] [ 1.41660770e-01 9.89900161e-01 -5.46779055e-03 5.51160239e+00] [ 5.63004973e-02 -2.54214687e-03 9.98410633e-01 3.41771489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.88925415399999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:167.61, Y:5.51, Z:3.42 [[ 9.88179689e-01 -1.42390952e-01 -5.67954080e-02 1.67614445e+02] [ 1.42307787e-01 9.89807025e-01 -5.52684743e-03 5.51475220e+00] [ 5.70034669e-02 -2.62091047e-03 9.98370540e-01 3.41919271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.919254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:167.65, Y:5.52, Z:3.42 [[ 9.87938455e-01 -1.43206595e-01 -5.89022902e-02 1.67647687e+02] [ 1.43118969e-01 9.89688930e-01 -5.72555455e-03 5.51888584e+00] [ 5.91148817e-02 -2.77353954e-03 9.98247333e-01 3.42095691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.949254154 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:167.68, Y:5.52, Z:3.42 [[ 9.87956202e-01 -1.42757420e-01 -5.96897080e-02 1.67679185e+02] [ 1.42667056e-01 9.89753773e-01 -5.79484776e-03 5.52237116e+00] [ 5.99053712e-02 -2.79069911e-03 9.98200160e-01 3.42217796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.979254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:167.71, Y:5.53, Z:3.42 [[ 9.87966199e-01 -1.42145024e-01 -6.09719798e-02 1.67709850e+02] [ 1.42050174e-01 9.89841818e-01 -5.90957117e-03 5.52597789e+00] [ 6.11926314e-02 -2.82262376e-03 9.98121984e-01 3.42369871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.009254154 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:167.74, Y:5.53, Z:3.43 [[ 9.88321109e-01 -1.38992540e-01 -6.24696723e-02 1.67741243e+02] [ 1.38886916e-01 9.90289759e-01 -6.05122802e-03 5.53042831e+00] [ 6.27041523e-02 -2.69566375e-03 9.98028518e-01 3.42549058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.039254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:167.77, Y:5.53, Z:3.43 [[ 9.88708220e-01 -1.36433470e-01 -6.19835832e-02 1.67773205e+02] [ 1.36324740e-01 9.90646036e-01 -5.99973805e-03 5.53430718e+00] [ 6.22223561e-02 -2.51790552e-03 9.98059136e-01 3.42734361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.069254154 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:167.80, Y:5.54, Z:3.43 [[ 9.89195275e-01 -1.33050956e-01 -6.15642081e-02 1.67803891e+02] [ 1.32937413e-01 9.91106545e-01 -5.95495975e-03 5.53830535e+00] [ 6.18090026e-02 -2.29356851e-03 9.98085360e-01 3.42972637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.099254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:167.84, Y:5.54, Z:3.43 [[ 9.89724648e-01 -1.29446049e-01 -6.07358276e-02 1.67835551e+02] [ 1.29328973e-01 9.91584360e-01 -5.87140515e-03 5.54285820e+00] [ 6.09847269e-02 -2.04382782e-03 9.98136607e-01 3.43225770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.129254154 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:167.87, Y:5.55, Z:3.43 [[ 9.90312575e-01 -1.25391873e-01 -5.96479908e-02 1.67867578e+02] [ 1.25271872e-01 9.92105720e-01 -5.76188467e-03 5.54752284e+00] [ 5.98996064e-02 -1.76614863e-03 9.98202844e-01 3.43493676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.159254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:167.90, Y:5.55, Z:3.44 [[ 9.91494258e-01 -1.16848861e-01 -5.73191064e-02 1.67898678e+02] [ 1.16724014e-01 9.93148978e-01 -5.53282954e-03 5.55419808e+00] [ 5.75729167e-02 -1.20474746e-03 9.98340577e-01 3.43816243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.189254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:167.93, Y:5.56, Z:3.44 [[ 9.92060032e-01 -1.12491202e-01 -5.62371921e-02 1.67929685e+02] [ 1.12364258e-01 9.93652278e-01 -5.42433841e-03 5.55859045e+00] [ 5.64904044e-02 -9.37781024e-04 9.98402702e-01 3.44004802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.219254154 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:167.96, Y:5.56, Z:3.44 [[ 9.92552819e-01 -1.08297567e-01 -5.57721994e-02 1.67962041e+02] [ 1.08166278e-01 9.94118279e-01 -5.37628270e-03 5.56298626e+00] [ 5.60264012e-02 -6.96426650e-04 9.98429045e-01 3.44207840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24925415399997 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:167.99, Y:5.57, Z:3.44 [[ 9.93023375e-01 -1.04257390e-01 -5.50905889e-02 1.67993564e+02] [ 1.04123301e-01 9.94550239e-01 -5.30653449e-03 5.56687940e+00] [ 5.53436038e-02 -4.66701195e-04 9.98467259e-01 3.44366621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27925415399997 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:168.03, Y:5.57, Z:3.45 [[ 9.93426306e-01 -1.00544872e-01 -5.47257065e-02 1.68025983e+02] [ 1.00407146e-01 9.94932490e-01 -5.26735161e-03 5.57060799e+00] [ 5.49779887e-02 -2.62126341e-04 9.98487532e-01 3.44509041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30925415399997 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:168.06, Y:5.58, Z:3.45 [[ 9.93926581e-01 -9.43327487e-02 -5.66681980e-02 1.68055055e+02] [ 9.38404073e-02 9.95523200e-01 -1.12931890e-02 5.57728066e+00] [ 5.74798234e-02 5.90683399e-03 9.98329194e-01 3.44882776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33925415399997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:168.09, Y:5.58, Z:3.45 [[ 9.94099311e-01 -9.24000009e-02 -5.68225309e-02 1.68086271e+02] [ 9.25604256e-02 9.95707051e-01 1.92228785e-04 5.57527915e+00] [ 5.65608328e-02 -5.45061215e-03 9.98384276e-01 3.44619159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36925415399998 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:168.12, Y:5.58, Z:3.45 [[ 9.94212568e-01 -9.10358312e-02 -5.70425044e-02 1.68117676e+02] [ 9.08708514e-02 9.95847581e-01 -5.48485280e-03 5.58069863e+00] [ 5.73049582e-02 2.69608640e-04 9.98356684e-01 3.44794158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39925415399998 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:168.15, Y:5.58, Z:3.45 [[ 9.94195490e-01 -9.11433613e-02 -5.71683104e-02 1.68149004e+02] [ 9.09779493e-02 9.95837747e-01 -5.49487618e-03 5.58389887e+00] [ 5.74311829e-02 2.61925476e-04 9.98349433e-01 3.45085010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42925415399998 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:168.18, Y:5.59, Z:3.45 [[ 9.93962823e-01 -9.28852464e-02 -5.83972321e-02 1.68180358e+02] [ 9.27157714e-02 9.95676807e-01 -5.61080828e-03 5.58533821e+00] [ 5.86659309e-02 1.62590422e-04 9.98277658e-01 3.45184538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45925415399998 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:168.21, Y:5.59, Z:3.45 [[ 9.93753382e-01 -9.46336527e-02 -5.91497034e-02 1.68211383e+02] [ 9.44630034e-02 9.95512164e-01 -5.68089558e-03 5.58688934e+00] [ 5.94218531e-02 5.79505654e-05 9.98232959e-01 3.45303229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48925415399998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:168.24, Y:5.59, Z:3.45 [[ 9.93206234e-01 -9.96717747e-02 -6.00575911e-02 1.68242262e+02] [ 9.95051895e-02 9.95020339e-01 -5.76560867e-03 5.58721003e+00] [ 6.03331931e-02 -2.49603511e-04 9.98178262e-01 3.45405595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51925415399998 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:168.27, Y:5.59, Z:3.46 [[ 9.93207946e-01 -9.96545226e-02 -6.00578989e-02 1.68273087e+02] [ 9.94880998e-02 9.95022066e-01 -5.76240131e-03 5.59016701e+00] [ 6.03331840e-02 -2.51783463e-04 9.98178262e-01 3.45562173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.54925415399998 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:168.30, Y:5.59, Z:3.46 [[ 9.92895561e-01 -1.02488399e-01 -6.04527278e-02 1.68303966e+02] [ 1.02325101e-01 9.94734108e-01 -5.79903319e-03 5.59209012e+00] [ 6.07287238e-02 -4.27997156e-04 9.98154216e-01 3.45717601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57925415399998 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:168.34, Y:5.59, Z:3.46 [[ 9.92644528e-01 -1.04723593e-01 -6.07438150e-02 1.68335592e+02] [ 1.04563034e-01 9.94501204e-01 -5.82473148e-03 5.59393281e+00] [ 6.10197840e-02 -5.69669747e-04 9.98136394e-01 3.45850018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60925415399998 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:168.37, Y:5.60, Z:3.46 [[ 9.92415445e-01 -1.07152001e-01 -6.02497563e-02 1.68366573e+02] [ 1.06998646e-01 9.94242393e-01 -5.77517767e-03 5.59614639e+00] [ 6.05216838e-02 -7.15266846e-04 9.98166626e-01 3.46105735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63925415399999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:168.40, Y:5.60, Z:3.46 [[ 9.92230131e-01 -1.08954841e-01 -6.00683737e-02 1.68396422e+02] [ 1.08805830e-01 9.94046358e-01 -5.75577813e-03 5.59758348e+00] [ 6.03378680e-02 -8.24732772e-04 9.98177670e-01 3.46183294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.669254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:168.43, Y:5.60, Z:3.46 [[ 9.92083414e-01 -1.10574466e-01 -5.95297173e-02 1.68427360e+02] [ 1.10431102e-01 9.93867420e-01 -5.70292671e-03 5.59941512e+00] [ 5.97952446e-02 -9.16153310e-04 9.98210243e-01 3.46447706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.699254154 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:168.46, Y:5.60, Z:3.47 [[ 9.91900823e-01 -1.12530601e-01 -5.89034947e-02 1.68459701e+02] [ 1.12393827e-01 9.93647730e-01 -5.64052577e-03 5.60042108e+00] [ 5.91640555e-02 -1.02554703e-03 9.98247746e-01 3.46655081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.729254154 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:168.49, Y:5.62, Z:3.47 [[ 9.92817115e-01 -1.10880443e-01 -4.49411208e-02 1.68494346e+02] [ 1.08870283e-01 9.93038938e-01 -4.49547388e-02 5.61777955e+00] [ 4.96128842e-02 3.97390815e-02 9.97977639e-01 3.46928538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.759254154 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:168.52, Y:5.58, Z:3.46 [[ 9.91686167e-01 -1.12130289e-01 -6.31295854e-02 1.68521461e+02] [ 1.14551539e-01 9.92760180e-01 3.61271274e-02 5.58483821e+00] [ 5.86215933e-02 -4.30583637e-02 9.97351235e-01 3.45712034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.789254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:168.55, Y:5.61, Z:3.47 [[ 9.91595364e-01 -1.15035157e-01 -5.92076537e-02 1.68551151e+02] [ 1.14900196e-01 9.93360743e-01 -5.69026344e-03 5.60762413e+00] [ 5.94691392e-02 -1.16053220e-03 9.98229470e-01 3.47301863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.819254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:168.58, Y:5.61, Z:3.47 [[ 9.91507631e-01 -1.15948187e-01 -5.88951268e-02 1.68581886e+02] [ 1.15816504e-01 9.93254523e-01 -5.65603683e-03 5.60842340e+00] [ 5.91536582e-02 -1.21302404e-03 9.98248152e-01 3.47445811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.849254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:168.61, Y:5.61, Z:3.48 [[ 9.91490152e-01 -1.16229088e-01 -5.86351270e-02 1.68613628e+02] [ 1.16099255e-01 9.93221673e-01 -5.62770668e-03 5.61004432e+00] [ 5.88917822e-02 -1.22767882e-03 9.98263618e-01 3.47577388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.879254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:168.65, Y:5.61, Z:3.48 [[ 9.91479485e-01 -1.16417253e-01 -5.84418906e-02 1.68645618e+02] [ 1.16288850e-01 9.93199621e-01 -5.60492219e-03 5.61191532e+00] [ 5.86969733e-02 -1.23897491e-03 9.98275077e-01 3.47737128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.909254154 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:168.68, Y:5.61, Z:3.48 [[ 9.91497678e-01 -1.16377194e-01 -5.82125671e-02 1.68677833e+02] [ 1.16249975e-01 9.93204320e-01 -5.57870845e-03 5.61422971e+00] [ 5.84662076e-02 -1.23593300e-03 9.98288623e-01 3.47885610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.939254154 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:168.71, Y:5.62, Z:3.48 [[ 9.91709519e-01 -1.14294785e-01 -5.87276014e-02 1.68709978e+02] [ 1.14161916e-01 9.93446240e-01 -5.62369028e-03 5.61611543e+00] [ 5.89854732e-02 -1.12738829e-03 9.98258205e-01 3.47878004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.969254154 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:168.74, Y:5.62, Z:3.48 [[ 9.91843643e-01 -1.13016605e-01 -5.89358570e-02 1.68741453e+02] [ 1.12880798e-01 9.93592534e-01 -5.63924228e-03 5.61943351e+00] [ 5.91955556e-02 -1.05947997e-03 9.98245843e-01 3.48268026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99925415399997 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:168.77, Y:5.62, Z:3.48 [[ 9.92029397e-01 -1.11302799e-01 -5.90708253e-02 1.68773280e+02] [ 1.11163596e-01 9.93786073e-01 -5.64773818e-03 5.62250629e+00] [ 5.93323725e-02 -9.63803052e-04 9.98237818e-01 3.48414818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02925415399997 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:168.81, Y:5.63, Z:3.49 [[ 9.92443977e-01 -1.07402756e-01 -5.93262276e-02 1.68805683e+02] [ 1.07255647e-01 9.94215320e-01 -5.66772006e-03 5.62504346e+00] [ 5.95917731e-02 -7.38178295e-04 9.98222558e-01 3.48573086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05925415399997 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:168.84, Y:5.63, Z:3.49 [[ 9.92618256e-01 -1.05826566e-01 -5.92430297e-02 1.68836630e+02] [ 1.05677307e-01 9.94384392e-01 -5.65570645e-03 5.62737348e+00] [ 5.95088680e-02 -6.46686362e-04 9.98227567e-01 3.48706672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08925415399997 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:168.87, Y:5.63, Z:3.49 [[ 9.92742006e-01 -1.04703024e-01 -5.91657568e-02 1.68867263e+02] [ 1.04552281e-01 9.94503363e-01 -5.64630937e-03 5.62993098e+00] [ 5.94317298e-02 -5.80586337e-04 9.98232204e-01 3.48848259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11925415399998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:168.90, Y:5.63, Z:3.49 [[ 9.92815622e-01 -1.03851583e-01 -5.94305382e-02 1.68896787e+02] [ 1.03698009e-01 9.94592663e-01 -5.67080289e-03 5.63252280e+00] [ 5.96980991e-02 -5.32766807e-04 9.98216336e-01 3.48977010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:168.93, Y:5.64, Z:3.49 [[ 9.92798840e-01 -1.03334378e-01 -6.06009113e-02 1.68926923e+02] [ 1.03173672e-01 9.94646543e-01 -5.78341229e-03 5.63524900e+00] [ 6.08741123e-02 -5.10653538e-04 9.98145321e-01 3.49129741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17925415399998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:168.96, Y:5.64, Z:3.49 [[ 9.92758512e-01 -1.03549239e-01 -6.08941013e-02 1.68957239e+02] [ 1.03387377e-01 9.94624189e-01 -5.81139270e-03 5.63774282e+00] [ 6.11685114e-02 -5.26371833e-04 9.98127315e-01 3.49253386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20925415399998 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:168.99, Y:5.64, Z:3.49 [[ 9.92713528e-01 -1.03774493e-01 -6.12430141e-02 1.68988135e+02] [ 1.03611197e-01 9.94600704e-01 -5.84469100e-03 5.63961074e+00] [ 6.15188748e-02 -5.43358189e-04 9.98105772e-01 3.49262901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:169.02, Y:5.64, Z:3.50 [[ 9.92559821e-01 -1.05296692e-01 -6.11359883e-02 1.69017114e+02] [ 1.05136840e-01 9.94440648e-01 -5.83465872e-03 5.64189834e+00] [ 6.14104821e-02 -6.36396802e-04 9.98112392e-01 3.49537099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.26925415399998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:169.05, Y:5.64, Z:3.50 [[ 9.92291415e-01 -1.07805013e-01 -6.11214047e-02 1.69047549e+02] [ 1.07649934e-01 9.94171743e-01 -5.83415636e-03 5.64264636e+00] [ 6.13941248e-02 -7.90531927e-04 9.98113288e-01 3.49702650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29925415399998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:169.08, Y:5.64, Z:3.50 [[ 9.92168347e-01 -1.08946219e-01 -6.10957661e-02 1.69077534e+02] [ 1.08793431e-01 9.94047273e-01 -5.83170910e-03 5.64465895e+00] [ 6.13674223e-02 -8.60780863e-04 9.98114872e-01 3.49761437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32925415399998 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:169.11, Y:5.65, Z:3.50 [[ 9.92009683e-01 -1.10372425e-01 -6.11123303e-02 1.69107862e+02] [ 1.10222257e-01 9.93889846e-01 -5.83329018e-03 5.64769320e+00] [ 6.13827589e-02 -9.49258625e-04 9.98113849e-01 3.50060785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35925415399998 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:169.14, Y:5.65, Z:3.50 [[ 9.91929673e-01 -1.11390920e-01 -6.05606008e-02 1.69137946e+02] [ 1.11245359e-01 9.93776160e-01 -5.78044845e-03 5.65046188e+00] [ 6.08275708e-02 -1.00328745e-03 9.98147785e-01 3.50250381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38925415399999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:169.17, Y:5.65, Z:3.50 [[ 9.91807690e-01 -1.12518833e-01 -6.04732912e-02 1.69168728e+02] [ 1.12375865e-01 9.93649014e-01 -5.77083148e-03 5.65326213e+00] [ 6.07385534e-02 -1.07218335e-03 9.98153134e-01 3.50444381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.419254154 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:169.20, Y:5.66, Z:3.50 [[ 9.91686335e-01 -1.13459020e-01 -6.07063724e-02 1.69199086e+02] [ 1.13316833e-01 9.93542027e-01 -5.79099267e-03 5.65565609e+00] [ 6.09713727e-02 -1.13620556e-03 9.98138868e-01 3.50470423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.449254154 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:169.23, Y:5.66, Z:3.51 [[ 9.91438519e-01 -1.16318485e-01 -5.93268384e-02 1.69230369e+02] [ 1.16187874e-01 9.93211137e-01 -5.65816036e-03 5.65747102e+00] [ 5.95822253e-02 -1.28334110e-03 9.98222576e-01 3.50755698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.479254154 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:169.26, Y:5.66, Z:3.51 [[ 9.91313854e-01 -1.17612950e-01 -5.88560636e-02 1.69261498e+02] [ 1.17486820e-01 9.93058591e-01 -5.61094923e-03 5.65965155e+00] [ 5.91074399e-02 -1.35260003e-03 9.98250711e-01 3.50860779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.509254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:169.29, Y:5.66, Z:3.51 [[ 9.91152180e-01 -1.19110932e-01 -5.85657130e-02 1.69293760e+02] [ 1.18988853e-01 9.92879911e-01 -5.57989750e-03 5.66215260e+00] [ 5.88133467e-02 -1.43813944e-03 9.98267961e-01 3.51058599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.539254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:169.33, Y:5.66, Z:3.51 [[ 9.90896007e-01 -1.21690773e-01 -5.75886987e-02 1.69326095e+02] [ 1.21577324e-01 9.92566821e-01 -5.48264407e-03 5.66394016e+00] [ 5.78278188e-02 -1.56874976e-03 9.98325339e-01 3.51200948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.569254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:169.36, Y:5.67, Z:3.51 [[ 9.90746997e-01 -1.22818174e-01 -5.77588351e-02 1.69357853e+02] [ 1.22706212e-01 9.92427828e-01 -5.49461760e-03 5.66664212e+00] [ 5.79963142e-02 -1.64359198e-03 9.98315444e-01 3.51397125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.599254154 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:169.39, Y:5.67, Z:3.52 [[ 9.90620329e-01 -1.23899267e-01 -5.76223516e-02 1.69388826e+02] [ 1.23789894e-01 9.92293333e-01 -5.47757664e-03 5.66938361e+00] [ 5.78569430e-02 -1.70686601e-03 9.98323425e-01 3.51582489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.629254154 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:169.42, Y:5.67, Z:3.52 [[ 9.90380584e-01 -1.25650600e-01 -5.79501925e-02 1.69420406e+02] [ 1.25543163e-01 9.92072883e-01 -5.50544917e-03 5.67205732e+00] [ 5.81825775e-02 -1.82276051e-03 9.98304295e-01 3.51772015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.659254154 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:169.45, Y:5.67, Z:3.52 [[ 9.90274072e-01 -1.26252511e-01 -5.84599461e-02 1.69452232e+02] [ 1.26144474e-01 9.91996358e-01 -5.54958202e-03 5.67448570e+00] [ 5.86927022e-02 -1.87879198e-03 9.98274329e-01 3.51955727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.689254154 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:169.48, Y:5.68, Z:3.52 [[ 9.90235430e-01 -1.26595149e-01 -5.83734700e-02 1.69483452e+02] [ 1.26488270e-01 9.91952648e-01 -5.53723170e-03 5.67660912e+00] [ 5.86047048e-02 -1.90039621e-03 9.98279458e-01 3.52085137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71925415399997 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:169.52, Y:5.68, Z:3.52 [[ 9.90167555e-01 -1.27040014e-01 -5.85580742e-02 1.69515883e+02] [ 1.26933432e-01 9.91895703e-01 -5.55139167e-03 5.67918043e+00] [ 5.87887511e-02 -1.93616939e-03 9.98268568e-01 3.52269871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74925415399997 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:169.55, Y:5.68, Z:3.52 [[ 9.90018901e-01 -1.27728918e-01 -5.95642406e-02 1.69547810e+02] [ 1.27620149e-01 9.91807069e-01 -5.64237883e-03 5.68136051e+00] [ 5.97969298e-02 -2.01553558e-03 9.98208528e-01 3.52387045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77925415399997 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:169.58, Y:5.68, Z:3.53 [[ 9.89958705e-01 -1.27959472e-01 -6.00677615e-02 1.69578692e+02] [ 1.27849544e-01 9.91777277e-01 -5.68571458e-03 5.68376901e+00] [ 6.03013819e-02 -2.05101325e-03 9.98178109e-01 3.52508025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80925415399997 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:169.61, Y:5.69, Z:3.53 [[ 9.89864522e-01 -1.28384097e-01 -6.07103961e-02 1.69610236e+02] [ 1.28272809e-01 9.91722291e-01 -5.74312772e-03 5.68622055e+00] [ 6.09451794e-02 -2.10257469e-03 9.98138900e-01 3.52643608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83925415399997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:169.64, Y:5.69, Z:3.53 [[ 9.89883842e-01 -1.28260358e-01 -6.06569069e-02 1.69642601e+02] [ 1.28149249e-01 9.91738315e-01 -5.73454943e-03 5.68843185e+00] [ 6.08912940e-02 -2.09659928e-03 9.98142202e-01 3.52760534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86925415399998 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:169.67, Y:5.69, Z:3.53 [[ 9.89832313e-01 -1.28431187e-01 -6.11344548e-02 1.69674565e+02] [ 1.28318924e-01 9.91716139e-01 -5.77519582e-03 5.69086923e+00] [ 6.13697407e-02 -2.12823201e-03 9.98112832e-01 3.52882480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89925415399998 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:169.71, Y:5.69, Z:3.53 [[ 9.89851169e-01 -1.28020849e-01 -6.16873211e-02 1.69705944e+02] [ 1.27906024e-01 9.91769198e-01 -5.82303498e-03 5.69350749e+00] [ 6.19250549e-02 -2.12624200e-03 9.98078537e-01 3.53002037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:169.74, Y:5.70, Z:3.53 [[ 9.89939052e-01 -1.27525824e-01 -6.13011962e-02 1.69738018e+02] [ 1.27411705e-01 9.91833058e-01 -5.78302110e-03 5.69671260e+00] [ 6.15380374e-02 -2.08565148e-03 9.98102560e-01 3.53244253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95925415399998 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:169.77, Y:5.70, Z:3.53 [[ 9.90039081e-01 -1.26724669e-01 -6.13471768e-02 1.69769364e+02] [ 1.26609113e-01 9.91935829e-01 -5.78299089e-03 5.70001094e+00] [ 6.15853103e-02 -2.04172464e-03 9.98099735e-01 3.53454007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98925415399998 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:169.80, Y:5.70, Z:3.54 [[ 9.90316749e-01 -1.24478949e-01 -6.14632254e-02 1.69801347e+02] [ 1.24358861e-01 9.92220412e-01 -5.79032582e-03 5.70387855e+00] [ 6.17058405e-02 -1.90924003e-03 9.98092553e-01 3.53692203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:169.83, Y:5.71, Z:3.54 [[ 9.90460543e-01 -1.23408003e-01 -6.13056028e-02 1.69833254e+02] [ 1.23286759e-01 9.92354307e-01 -5.77097097e-03 5.70744586e+00] [ 6.15490630e-02 -1.84225003e-03 9.98102359e-01 3.53861325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.04925415399998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:169.86, Y:5.71, Z:3.54 [[ 9.90573055e-01 -1.22520995e-01 -6.12668597e-02 1.69864259e+02] [ 1.22398466e-01 9.92464307e-01 -5.76317273e-03 5.71044753e+00] [ 6.15112811e-02 -1.79012604e-03 9.98104783e-01 3.54028525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07925415399998 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:169.90, Y:5.71, Z:3.54 [[ 9.90648091e-01 -1.21836849e-01 -6.14177610e-02 1.69896357e+02] [ 1.21712567e-01 9.92548590e-01 -5.77470835e-03 5.71352091e+00] [ 6.16636843e-02 -1.75460957e-03 9.98095442e-01 3.54184668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10925415399998 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:169.93, Y:5.72, Z:3.54 [[ 9.90725376e-01 -1.21239962e-01 -6.13522747e-02 1.69927791e+02] [ 1.21115072e-01 9.92621737e-01 -5.76419402e-03 5.71643348e+00] [ 6.15984522e-02 -1.71995186e-03 9.98099530e-01 3.54297797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13925415399999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:169.96, Y:5.72, Z:3.54 [[ 9.90877974e-01 -1.20215733e-01 -6.09017053e-02 1.69959936e+02] [ 1.20090955e-01 9.92746424e-01 -5.71832839e-03 5.71945670e+00] [ 6.11473833e-02 -1.64757833e-03 9.98127388e-01 3.54449266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.169254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:169.99, Y:5.72, Z:3.55 [[ 9.90984064e-01 -1.19558817e-01 -6.04671287e-02 1.69989887e+02] [ 1.19434856e-01 9.92825831e-01 -5.67321508e-03 5.72249037e+00] [ 6.07116101e-02 -1.59981705e-03 9.98154067e-01 3.54601547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.199254154 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:170.02, Y:5.73, Z:3.55 [[ 9.91128263e-01 -1.18592643e-01 -6.00045924e-02 1.70021213e+02] [ 1.18469012e-01 9.92941810e-01 -5.62635425e-03 5.72603121e+00] [ 6.02483128e-02 -1.53224608e-03 9.98182244e-01 3.54779008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.229254154 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:170.05, Y:5.73, Z:3.55 [[ 9.91484560e-01 -1.15837912e-01 -5.94974448e-02 1.70052072e+02] [ 1.15711537e-01 9.93267205e-01 -5.57665634e-03 5.73054899e+00] [ 5.97428490e-02 -1.35537216e-03 9.98212881e-01 3.55001007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.259254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:170.08, Y:5.73, Z:3.55 [[ 9.91705414e-01 -1.14298839e-01 -5.87890015e-02 1.70084230e+02] [ 1.14172899e-01 9.93445627e-01 -5.50783810e-03 5.73426082e+00] [ 5.90332159e-02 -1.24995783e-03 9.98255236e-01 3.55156521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.289254154 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:170.12, Y:5.74, Z:3.55 [[ 9.91893282e-01 -1.12741877e-01 -5.86258250e-02 1.70116383e+02] [ 1.12614173e-01 9.93623635e-01 -5.48822950e-03 5.73771100e+00] [ 5.88707586e-02 -1.15836080e-03 9.98264941e-01 3.55336842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.319254154 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:170.15, Y:5.74, Z:3.56 [[ 9.92030603e-01 -1.11393996e-01 -5.88783535e-02 1.70148298e+02] [ 1.11263077e-01 9.93775727e-01 -5.50748889e-03 5.74115184e+00] [ 5.91253797e-02 -1.08738927e-03 9.98249972e-01 3.55528047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.349254154 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:170.18, Y:5.74, Z:3.56 [[ 9.92178770e-01 -1.10308699e-01 -5.84232785e-02 1.70178985e+02] [ 1.10178162e-01 9.93896852e-01 -5.46076771e-03 5.74392174e+00] [ 5.86690828e-02 -1.01891164e-03 9.98276966e-01 3.55648590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.379254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:170.21, Y:5.75, Z:3.56 [[ 9.92352561e-01 -1.08718743e-01 -5.84519373e-02 1.70210054e+02] [ 1.08585503e-01 9.94072117e-01 -5.46036644e-03 5.74627049e+00] [ 5.86990852e-02 -9.28424380e-04 9.98275290e-01 3.55765080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.409254154 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:170.24, Y:5.75, Z:3.56 [[ 9.92448876e-01 -1.07835855e-01 -5.84521771e-02 1.70240032e+02] [ 1.07701201e-01 9.94168324e-01 -5.45839959e-03 5.74883163e+00] [ 5.86999142e-02 -8.78187144e-04 9.98275287e-01 3.55912868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.439254154 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:170.27, Y:5.75, Z:3.56 [[ 9.92450789e-01 -1.07818192e-01 -5.84522750e-02 1.70270864e+02] [ 1.07683570e-01 9.94170240e-01 -5.45735140e-03 5.75171126e+00] [ 5.86999140e-02 -8.78196912e-04 9.98275287e-01 3.56070980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:170.30, Y:5.75, Z:3.56 [[ 9.92642039e-01 -1.06012484e-01 -5.85075632e-02 1.70301430e+02] [ 1.05874526e-01 9.94364498e-01 -5.46160248e-03 5.75459923e+00] [ 5.87568418e-02 -7.73044296e-04 9.98272025e-01 3.56189646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49925415399997 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:170.33, Y:5.76, Z:3.56 [[ 9.92719095e-01 -1.05256431e-01 -5.85651924e-02 1.70331026e+02] [ 1.05116878e-01 9.94444846e-01 -5.46712319e-03 5.75734589e+00] [ 5.88153037e-02 -7.28872606e-04 9.98268616e-01 3.56317525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52925415399997 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:170.36, Y:5.76, Z:3.56 [[ 9.92836928e-01 -1.04059751e-01 -5.87060658e-02 1.70361688e+02] [ 1.03917381e-01 9.94570829e-01 -5.48119647e-03 5.75981267e+00] [ 5.89577125e-02 -6.58646330e-04 9.98260264e-01 3.56446162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55925415399997 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:170.39, Y:5.76, Z:3.57 [[ 9.92927117e-01 -1.03049084e-01 -5.89629320e-02 1.70392479e+02] [ 1.02903684e-01 9.94676090e-01 -5.50517924e-03 5.76233761e+00] [ 5.92163224e-02 -6.01261185e-04 9.98244993e-01 3.56590537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:170.42, Y:5.76, Z:3.57 [[ 9.93086474e-01 -1.01397254e-01 -5.91426504e-02 1.70421915e+02] [ 1.01248030e-01 9.94845889e-01 -5.52210836e-03 5.76462646e+00] [ 5.93977492e-02 -5.04145696e-04 9.98234268e-01 3.56685645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61925415399998 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:170.45, Y:5.77, Z:3.57 [[ 9.93122893e-01 -1.00691618e-01 -5.97337272e-02 1.70452677e+02] [ 1.00538064e-01 9.94917575e-01 -5.57821304e-03 5.76746762e+00] [ 5.99918143e-02 -4.65662207e-04 9.98198760e-01 3.56822237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64925415399998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:170.48, Y:5.77, Z:3.57 [[ 9.93221439e-01 -9.95828045e-02 -5.99536342e-02 1.70482414e+02] [ 9.94260885e-02 9.95029198e-01 -5.59891602e-03 5.77009847e+00] [ 6.02131723e-02 -3.99991917e-04 9.98185461e-01 3.57003132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67925415399998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:170.51, Y:5.77, Z:3.57 [[ 9.93278523e-01 -9.88118998e-02 -6.02825334e-02 1.70512208e+02] [ 9.86519623e-02 9.95106066e-01 -5.63090904e-03 5.77306803e+00] [ 6.05439155e-02 -3.53929202e-04 9.98165472e-01 3.57176073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70925415399998 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:170.54, Y:5.78, Z:3.57 [[ 9.93430866e-01 -9.73801309e-02 -6.01017825e-02 1.70542120e+02] [ 9.72184009e-02 9.95247226e-01 -5.61622171e-03 5.77516071e+00] [ 6.03630407e-02 -2.63671194e-04 9.98176454e-01 3.57326612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73925415399998 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:170.57, Y:5.78, Z:3.57 [[ 9.93515019e-01 -9.68757484e-02 -5.95230778e-02 1.70570438e+02] [ 9.67160775e-02 9.95296457e-01 -5.56445818e-03 5.77708139e+00] [ 5.97821695e-02 -2.28465832e-04 9.98211421e-01 3.57448377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.76925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:170.60, Y:5.78, Z:3.58 [[ 9.93564516e-01 -9.66706126e-02 -5.90283491e-02 1.70599074e+02] [ 9.65129390e-02 9.95316406e-01 -5.52302868e-03 5.77903929e+00] [ 5.92857989e-02 -2.09514143e-04 9.98241028e-01 3.57590107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.79925415399998 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:170.63, Y:5.78, Z:3.58 [[ 9.93670935e-01 -9.62761405e-02 -5.78703527e-02 1.70627768e+02] [ 9.61230907e-02 9.95354649e-01 -5.42907765e-03 5.78013290e+00] [ 5.81242152e-02 -1.67960494e-04 9.98309345e-01 3.57740989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82925415399998 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:170.66, Y:5.78, Z:3.58 [[ 9.93705711e-01 -9.60052041e-02 -5.77231439e-02 1.70656693e+02] [ 9.58516922e-02 9.95380822e-01 -5.42876066e-03 5.78210500e+00] [ 5.79776997e-02 -1.38270552e-04 9.98317869e-01 3.57904004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85925415399998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:170.69, Y:5.78, Z:3.58 [[ 9.93711424e-01 -9.61538283e-02 -5.73763677e-02 1.70686363e+02] [ 9.60022303e-02 9.95366476e-01 -5.39916090e-03 5.78421863e+00] [ 5.76296629e-02 -1.43051397e-04 9.98338020e-01 3.58038441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88925415399999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:170.72, Y:5.79, Z:3.58 [[ 9.93740963e-01 -9.58946441e-02 -5.72984741e-02 1.70716285e+02] [ 9.57429067e-02 9.95391481e-01 -5.39392346e-03 5.78603873e+00] [ 5.75516614e-02 -1.25759760e-04 9.98342522e-01 3.58200712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.919254154 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:170.75, Y:5.79, Z:3.58 [[ 9.93782360e-01 -9.51256740e-02 -5.78595426e-02 1.70745078e+02] [ 9.49694305e-02 9.95465268e-01 -5.45043563e-03 5.78616345e+00] [ 5.81156415e-02 -7.83410278e-05 9.98309855e-01 3.58127646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.949254154 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:170.77, Y:5.79, Z:3.58 [[ 9.93761595e-01 -9.57832668e-02 -5.71266909e-02 1.70773283e+02] [ 9.56312138e-02 9.95402208e-01 -5.39586207e-03 5.78806995e+00] [ 5.73808676e-02 -1.00894298e-04 9.98352356e-01 3.58461054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.979254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:170.80, Y:5.79, Z:3.59 [[ 9.93762690e-01 -9.56141584e-02 -5.73903156e-02 1.70801355e+02] [ 9.52765984e-02 9.95413724e-01 -8.59581838e-03 5.79103295e+00] [ 5.79489897e-02 3.07424955e-03 9.98314812e-01 3.58740571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.009254154 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:170.83, Y:5.79, Z:3.59 [[ 9.93773076e-01 -9.56940817e-02 -5.70764149e-02 1.70830240e+02] [ 9.57141273e-02 9.95405997e-01 -2.38873079e-03 5.78911764e+00] [ 5.70427931e-02 -3.08916290e-03 9.98366955e-01 3.58674270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.039254154 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:170.86, Y:5.79, Z:3.59 [[ 9.93671417e-01 -9.68778228e-02 -5.68489505e-02 1.70858627e+02] [ 9.67269775e-02 9.95296273e-01 -5.40560892e-03 5.78946166e+00] [ 5.71052322e-02 -1.27428088e-04 9.98368157e-01 3.58902375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.069254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:170.89, Y:5.79, Z:3.59 [[ 9.93625986e-01 -9.74618764e-02 -5.66443449e-02 1.70886978e+02] [ 9.73122399e-02 9.95239248e-01 -5.40061397e-03 5.79039557e+00] [ 5.69010292e-02 -1.45997695e-04 9.98379813e-01 3.59059114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.099254154 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:170.92, Y:5.79, Z:3.59 [[ 9.93492247e-01 -9.85731314e-02 -5.70656832e-02 1.70915943e+02] [ 9.84222516e-02 9.95129790e-01 -5.45539078e-03 5.78927749e+00] [ 5.73255163e-02 -1.96644579e-04 9.98355521e-01 3.59170568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.129254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:170.94, Y:5.79, Z:3.59 [[ 9.93384805e-01 -9.91958875e-02 -5.78515825e-02 1.70944427e+02] [ 9.90410107e-02 9.95067901e-01 -5.54537008e-03 5.78978125e+00] [ 5.81163307e-02 -2.20992825e-04 9.98309793e-01 3.59320852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.159254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:170.97, Y:5.79, Z:3.59 [[ 9.93289389e-01 -9.96648498e-02 -5.86779907e-02 1.70972139e+02] [ 9.95055076e-02 9.95021035e-01 -5.63852314e-03 5.79014207e+00] [ 5.89477977e-02 -2.38098048e-04 9.98261038e-01 3.59444551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.189254154 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:171.00, Y:5.79, Z:3.60 [[ 9.93217610e-01 -1.00357742e-01 -5.87120350e-02 1.70999656e+02] [ 1.00199018e-01 9.94951380e-01 -5.64867463e-03 5.79087058e+00] [ 5.89825085e-02 -2.72525111e-04 9.98258979e-01 3.59520145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21925415399997 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:171.03, Y:5.79, Z:3.60 [[ 9.93148919e-01 -1.00867559e-01 -5.89996597e-02 1.71028620e+02] [ 1.00707179e-01 9.94899821e-01 -5.69308723e-03 5.78998475e+00] [ 5.92729987e-02 -2.87605859e-04 9.98241769e-01 3.59685751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24925415399997 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:171.06, Y:5.79, Z:3.60 [[ 9.93099452e-01 -1.01367351e-01 -5.89757528e-02 1.71055799e+02] [ 1.01207126e-01 9.94849018e-01 -5.70518752e-03 5.79104951e+00] [ 5.92502895e-02 -3.02947860e-04 9.98243112e-01 3.59828382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27925415399997 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:171.08, Y:5.79, Z:3.60 [[ 9.93057433e-01 -1.01882020e-01 -5.87961618e-02 1.71083982e+02] [ 1.01723142e-01 9.94796436e-01 -5.69676317e-03 5.79173726e+00] [ 5.90706100e-02 -3.23717307e-04 9.98253754e-01 3.59995884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30925415399997 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:171.11, Y:5.79, Z:3.60 [[ 9.92980662e-01 -1.02643360e-01 -5.87685704e-02 1.71110732e+02] [ 1.02485019e-01 9.94718159e-01 -5.71006719e-03 5.79229169e+00] [ 5.90442647e-02 -3.52911744e-04 9.98255303e-01 3.60165678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33925415399997 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:171.14, Y:5.79, Z:3.60 [[ 9.92755857e-01 -1.05412581e-01 -5.76541088e-02 1.71137962e+02] [ 1.05264406e-01 9.94428448e-01 -5.60954477e-03 5.79009196e+00] [ 5.79242026e-02 -5.00017106e-04 9.98320859e-01 3.60297870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36925415399998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:171.17, Y:5.79, Z:3.60 [[ 9.92549247e-01 -1.07564532e-01 -5.72351611e-02 1.71165492e+02] [ 1.07421378e-01 9.94197918e-01 -5.58093437e-03 5.79015368e+00] [ 5.75033886e-02 -6.08927683e-04 9.98345125e-01 3.60446345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39925415399998 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:171.19, Y:5.79, Z:3.61 [[ 9.92275674e-01 -1.10158223e-01 -5.70451816e-02 1.71193378e+02] [ 1.10019356e-01 9.93913788e-01 -5.57884958e-03 5.79029551e+00] [ 5.73125486e-02 -7.40317394e-04 9.98356010e-01 3.60598489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42925415399998 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:171.22, Y:5.79, Z:3.61 [[ 9.91735964e-01 -1.15237552e-01 -5.63922390e-02 1.71222172e+02] [ 1.15109121e-01 9.93337453e-01 -5.53128642e-03 5.78770245e+00] [ 5.66539350e-02 -1.00568539e-03 9.98393369e-01 3.60688739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45925415399998 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:171.25, Y:5.79, Z:3.61 [[ 9.91392572e-01 -1.18189461e-01 -5.63206832e-02 1.71251002e+02] [ 1.18065287e-01 9.92990387e-01 -5.53881929e-03 5.78804067e+00] [ 5.65805271e-02 -1.15837335e-03 9.98397367e-01 3.60796760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48925415399998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:171.28, Y:5.79, Z:3.61 [[ 9.91018144e-01 -1.21124954e-01 -5.66726072e-02 1.71279801e+02] [ 1.21003176e-01 9.92636391e-01 -5.58813251e-03 5.78840644e+00] [ 5.69321545e-02 -1.31962478e-03 9.98377177e-01 3.60920966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.51925415399998 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:171.31, Y:5.79, Z:3.61 [[ 9.90736402e-01 -1.23481153e-01 -5.65135950e-02 1.71309351e+02] [ 1.23363132e-01 9.92345876e-01 -5.58569297e-03 5.78887632e+00] [ 5.67707607e-02 -1.43774472e-03 9.98386205e-01 3.60994380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.54925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:171.34, Y:5.79, Z:3.61 [[ 9.89964772e-01 -1.29280566e-01 -5.70638697e-02 1.71337787e+02] [ 1.29169719e-01 9.91606448e-01 -5.64230849e-03 5.78744051e+00] [ 5.73143420e-02 -1.78523737e-03 9.98354586e-01 3.61085034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57925415399998 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:171.38, Y:5.81, Z:3.61 [[ 9.90948918e-01 -1.28424753e-01 -3.90810023e-02 1.71375210e+02] [ 1.25994766e-01 9.90254872e-01 -5.93347043e-02 5.80817614e+00] [ 4.63201976e-02 5.38736593e-02 9.97472841e-01 3.60996419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60925415399998 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:171.40, Y:5.76, Z:3.60 [[ 9.89056775e-01 -1.33174782e-01 -6.34915251e-02 1.71400638e+02] [ 1.36486990e-01 9.89326617e-01 5.10308323e-02 5.76152769e+00] [ 5.60178358e-02 -5.91381576e-02 9.96676818e-01 3.60017471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63925415399999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:171.43, Y:5.79, Z:3.62 [[ 9.87952844e-01 -1.43253723e-01 -5.85452767e-02 1.71425699e+02] [ 1.42795072e-01 9.89679942e-01 -1.19657623e-02 5.79189417e+00] [ 5.96552261e-02 3.46163185e-03 9.98213039e-01 3.61694329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.669254154 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:171.46, Y:5.80, Z:3.62 [[ 9.88517241e-01 -1.44298423e-01 -4.48511930e-02 1.71462010e+02] [ 1.42316395e-01 9.88814142e-01 -4.46389659e-02 5.80476271e+00] [ 5.07908263e-02 3.77433273e-02 9.97995858e-01 3.61537787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.699254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:171.49, Y:5.77, Z:3.61 [[ 9.86839496e-01 -1.48349472e-01 -6.43447175e-02 1.71488043e+02] [ 1.51205985e-01 9.87608005e-01 4.20378274e-02 5.76985575e+00] [ 5.73110686e-02 -5.12138949e-02 9.97041914e-01 3.61023076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.729254154 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:171.52, Y:5.80, Z:3.62 [[ 9.86311034e-01 -1.53664413e-01 -5.98146463e-02 1.71515625e+02] [ 1.53582254e-01 9.88117675e-01 -5.99602525e-03 5.79555538e+00] [ 6.00252849e-02 -3.27252235e-03 9.98191493e-01 3.62342286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.759254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:171.54, Y:5.80, Z:3.62 [[ 9.85816584e-01 -1.56759858e-01 -5.99333698e-02 1.71544370e+02] [ 1.56683046e-01 9.87630662e-01 -6.00829197e-03 5.79788338e+00] [ 6.01338927e-02 -3.46746906e-03 9.98184297e-01 3.62488788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.789254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:171.57, Y:5.80, Z:3.63 [[ 9.85735402e-01 -1.57103327e-01 -6.03677169e-02 1.71574201e+02] [ 1.57025845e-01 9.87575931e-01 -6.05506354e-03 5.80113444e+00] [ 6.05689749e-02 -3.51060124e-03 9.98157841e-01 3.62686029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.819254154 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:171.60, Y:5.80, Z:3.63 [[ 9.85792458e-01 -1.56243144e-01 -6.16547582e-02 1.71604013e+02] [ 1.56160508e-01 9.87712318e-01 -6.18649105e-03 5.80382002e+00] [ 6.18637610e-02 -3.52944218e-03 9.98078363e-01 3.62670502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.849254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:171.63, Y:5.81, Z:3.63 [[ 9.85792160e-01 -1.56535046e-01 -6.09146669e-02 1.71632911e+02] [ 1.56454797e-01 9.87666193e-01 -6.11446170e-03 5.80813730e+00] [ 6.11204847e-02 -3.50280346e-03 9.98124249e-01 3.63042954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.879254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:171.66, Y:5.81, Z:3.63 [[ 9.86073618e-01 -1.54277131e-01 -6.21078598e-02 1.71662693e+02] [ 1.54189125e-01 9.88021671e-01 -6.23625835e-03 5.81328326e+00] [ 6.23260235e-02 -3.42694673e-03 9.98049960e-01 3.63237796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.909254154 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:171.69, Y:5.82, Z:3.63 [[ 9.86283888e-01 -1.52439213e-01 -6.32959643e-02 1.71691817e+02] [ 1.52344018e-01 9.88307089e-01 -6.35593471e-03 5.81709738e+00] [ 6.35247439e-02 -3.37400551e-03 9.97974560e-01 3.63281976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.939254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:171.72, Y:5.82, Z:3.64 [[ 9.86422073e-01 -1.51732973e-01 -6.28378760e-02 1.71719902e+02] [ 1.51637549e-01 9.88416008e-01 -6.31264383e-03 5.82171965e+00] [ 6.30677988e-02 -3.30165033e-03 9.98003783e-01 3.63574449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96925415399997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:171.75, Y:5.83, Z:3.64 [[ 9.86825837e-01 -1.49172273e-01 -6.26290695e-02 1.71749183e+02] [ 1.49072073e-01 9.88806290e-01 -6.29592588e-03 5.82671223e+00] [ 6.28671954e-02 -3.12326292e-03 9.98017014e-01 3.63765657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99925415399997 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:171.78, Y:5.83, Z:3.64 [[ 9.87070388e-01 -1.47641144e-01 -6.24030553e-02 1.71778953e+02] [ 1.47538470e-01 9.89036409e-01 -6.27552823e-03 5.83107948e+00] [ 6.26454198e-02 -3.01246319e-03 9.98031300e-01 3.63952048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02925415399997 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:171.81, Y:5.84, Z:3.64 [[ 9.87305621e-01 -1.46235922e-01 -6.19892462e-02 1.71808588e+02] [ 1.46131700e-01 9.89245488e-01 -6.23620253e-03 5.83554903e+00] [ 6.22345390e-02 -2.90155611e-03 9.98057335e-01 3.64139329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05925415399997 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:171.84, Y:5.84, Z:3.64 [[ 9.87859480e-01 -1.42634007e-01 -6.15563851e-02 1.71837983e+02] [ 1.42524118e-01 9.89771943e-01 -6.19493474e-03 5.84165856e+00] [ 6.18103912e-02 -2.65354446e-03 9.98084382e-01 3.64361624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08925415399997 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:171.87, Y:5.85, Z:3.65 [[ 9.88097500e-01 -1.40558396e-01 -6.25033379e-02 1.71865037e+02] [ 1.40153404e-01 9.90070469e-01 -1.08392359e-02 5.84842769e+00] [ 6.34062547e-02 1.95016633e-03 9.97985894e-01 3.64627279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11925415399998 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:171.89, Y:5.85, Z:3.65 [[ 9.88426564e-01 -1.38215162e-01 -6.25259738e-02 1.71893623e+02] [ 1.38361944e-01 9.90379717e-01 -1.99712259e-03 5.84864206e+00] [ 6.22004889e-02 -6.67720628e-03 9.98041339e-01 3.64580768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:171.92, Y:5.86, Z:3.65 [[ 9.89041662e-01 -1.33448403e-01 -6.31515249e-02 1.71921396e+02] [ 1.33312369e-01 9.91053522e-01 -6.38183086e-03 5.85645098e+00] [ 6.34381864e-02 -2.10698283e-03 9.97983546e-01 3.64876836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17925415399998 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:171.95, Y:5.86, Z:3.65 [[ 9.89308879e-01 -1.31219540e-01 -6.36346957e-02 1.71949801e+02] [ 1.31076454e-01 9.91351369e-01 -6.43628666e-03 5.86086632e+00] [ 6.39289093e-02 -1.97353472e-03 9.97952504e-01 3.65029718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20925415399998 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:171.98, Y:5.87, Z:3.65 [[ 9.89630100e-01 -1.28630936e-01 -6.39245489e-02 1.71977745e+02] [ 1.28480197e-01 9.91690901e-01 -6.48043305e-03 5.86521071e+00] [ 6.42269776e-02 -1.79980703e-03 9.97933693e-01 3.65210661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23925415399998 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:172.00, Y:5.87, Z:3.65 [[ 9.90317727e-01 -1.23434752e-01 -6.35189838e-02 1.72004741e+02] [ 1.23274740e-01 9.92351637e-01 -6.44717872e-03 5.87107293e+00] [ 6.38289735e-02 -1.44553081e-03 9.97959805e-01 3.65424130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.26925415399998 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:172.03, Y:5.88, Z:3.66 [[ 9.90661074e-01 -1.20802538e-01 -6.32248588e-02 1.72033212e+02] [ 1.20637488e-01 9.92675768e-01 -6.43556997e-03 5.87567036e+00] [ 6.35392185e-02 -1.25181951e-03 9.97978557e-01 3.65628682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.29925415399998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:172.06, Y:5.88, Z:3.66 [[ 9.91015913e-01 -1.17805225e-01 -6.33197349e-02 1.72060903e+02] [ 1.17632620e-01 9.93036169e-01 -6.46008492e-03 5.88001783e+00] [ 6.36398188e-02 -1.04641939e-03 9.97972384e-01 3.65826105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32925415399998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:172.09, Y:5.88, Z:3.66 [[ 9.90983929e-01 -1.18074388e-01 -6.33189597e-02 1.72089117e+02] [ 1.17901847e-01 9.93004191e-01 -6.46767327e-03 5.88297658e+00] [ 6.36396590e-02 -1.05606204e-03 9.97972384e-01 3.65978457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.35925415399998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:172.12, Y:5.89, Z:3.66 [[ 9.91334879e-01 -1.15398702e-01 -6.27558493e-02 1.72116570e+02] [ 1.15222768e-01 9.93318882e-01 -6.42746671e-03 5.88737159e+00] [ 6.30782914e-02 -8.59130736e-04 9.98008212e-01 3.66162130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.38925415399999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:172.14, Y:5.89, Z:3.66 [[ 9.92006581e-01 -1.09902835e-01 -6.20025007e-02 1.72143779e+02] [ 1.09719229e-01 9.93942217e-01 -6.36860974e-03 5.89234483e+00] [ 6.23268313e-02 -4.85163816e-04 9.98055675e-01 3.66366887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.419254154 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:172.17, Y:5.90, Z:3.66 [[ 9.92255966e-01 -1.07411032e-01 -6.23776275e-02 1.72170271e+02] [ 1.07219187e-01 9.94214651e-01 -6.42447303e-03 5.89555623e+00] [ 6.27068104e-02 -3.13356829e-04 9.98031942e-01 3.66440724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.449254154 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:172.20, Y:5.90, Z:3.67 [[ 9.92450784e-01 -1.05952162e-01 -6.17703951e-02 1.72198163e+02] [ 1.05760628e-01 9.94371206e-01 -6.37134404e-03 5.89923872e+00] [ 6.20977599e-02 -2.09630413e-04 9.98070050e-01 3.66666381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.479254154 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:172.23, Y:5.90, Z:3.67 [[ 9.92658821e-01 -1.03944934e-01 -6.18378159e-02 1.72225341e+02] [ 1.03748029e-01 9.94583051e-01 -6.39534265e-03 5.90267708e+00] [ 6.21676071e-02 -6.71581929e-05 9.98065721e-01 3.66804053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.509254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:172.25, Y:5.91, Z:3.67 [[ 9.92617086e-01 -1.04416356e-01 -6.17134079e-02 1.72253343e+02] [ 1.04220573e-01 9.94533668e-01 -6.39181541e-03 5.90568926e+00] [ 6.20434720e-02 -8.71815291e-05 9.98073444e-01 3.66934104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.539254154 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:172.28, Y:5.91, Z:3.67 [[ 9.92459445e-01 -1.05795938e-01 -6.18988690e-02 1.72280246e+02] [ 1.05600614e-01 9.94387849e-01 -6.42773160e-03 5.90827527e+00] [ 6.22315111e-02 -1.57295621e-04 9.98061729e-01 3.67083213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.569254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:172.31, Y:5.91, Z:3.67 [[ 9.91927780e-01 -1.10604984e-01 -6.20146455e-02 1.72308505e+02] [ 1.10417730e-01 9.93864344e-01 -6.44904875e-03 5.90995609e+00] [ 6.23474419e-02 -4.50525803e-04 9.98054404e-01 3.67226758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.599254154 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:172.34, Y:5.91, Z:3.67 [[ 9.91520280e-01 -1.14053835e-01 -6.22836816e-02 1.72336095e+02] [ 1.13870605e-01 9.93474357e-01 -6.49522388e-03 5.91199734e+00] [ 6.26180457e-02 -6.52134296e-04 9.98037352e-01 3.67411328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.629254154 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:172.36, Y:5.91, Z:3.68 [[ 9.91085958e-01 -1.17678454e-01 -6.24532299e-02 1.72363173e+02] [ 1.17500356e-01 9.93051373e-01 -6.52963787e-03 5.91393333e+00] [ 6.27876634e-02 -8.66844354e-04 9.98026532e-01 3.67568042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.659254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:172.39, Y:5.91, Z:3.68 [[ 9.90217554e-01 -1.25078838e-01 -6.18423781e-02 1.72391116e+02] [ 1.24918044e-01 9.92145936e-01 -6.47486586e-03 5.91448099e+00] [ 6.21665328e-02 -1.31370307e-03 9.98064926e-01 3.67694804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.689254154 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:172.42, Y:5.92, Z:3.68 [[ 9.89755985e-01 -1.28553660e-01 -6.21051197e-02 1.72419570e+02] [ 1.28397230e-01 9.91701388e-01 -6.51985220e-03 5.91580048e+00] [ 6.24278843e-02 -1.52106258e-03 9.98048318e-01 3.67659311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.71925415399997 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:172.45, Y:5.92, Z:3.68 [[ 9.89292718e-01 -1.32369836e-01 -6.14666163e-02 1.72448828e+02] [ 1.32223107e-01 9.91198887e-01 -6.46656057e-03 5.91816358e+00] [ 6.17816192e-02 -1.72998567e-03 9.98088192e-01 3.67931788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74925415399997 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:172.48, Y:5.92, Z:3.68 [[ 9.88543658e-01 -1.37814177e-01 -6.15523273e-02 1.72478759e+02] [ 1.37677430e-01 9.90455938e-01 -6.47774518e-03 5.91918550e+00] [ 6.18575931e-02 -2.07083230e-03 9.98082837e-01 3.68054398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77925415399997 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:172.51, Y:5.92, Z:3.68 [[ 9.88240649e-01 -1.39976273e-01 -6.15391077e-02 1.72508085e+02] [ 1.39843694e-01 9.90152404e-01 -6.47750480e-03 5.92165029e+00] [ 6.18397924e-02 -2.20452260e-03 9.98083654e-01 3.68201603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80925415399997 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:172.54, Y:5.92, Z:3.68 [[ 9.87822168e-01 -1.43065314e-01 -6.11529199e-02 1.72538366e+02] [ 1.42940237e-01 9.89710383e-01 -6.43783253e-03 5.92382922e+00] [ 6.14447103e-02 -2.38177915e-03 9.98107647e-01 3.68323921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83925415399997 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:172.57, Y:5.93, Z:3.68 [[ 9.87824808e-01 -1.43047080e-01 -6.11529352e-02 1.72569157e+02] [ 1.42921977e-01 9.89713021e-01 -6.43768712e-03 5.92707262e+00] [ 6.14447486e-02 -2.38079133e-03 9.98107647e-01 3.68490049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:172.60, Y:5.93, Z:3.69 [[ 9.87685848e-01 -1.44072105e-01 -6.09909279e-02 1.72598648e+02] [ 1.43949665e-01 9.89564187e-01 -6.41978243e-03 5.92995256e+00] [ 6.12793495e-02 -2.43889539e-03 9.98117675e-01 3.68674622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89925415399998 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:172.63, Y:5.93, Z:3.69 [[ 9.87401874e-01 -1.46140779e-01 -6.06664056e-02 1.72628642e+02] [ 1.46023471e-01 9.89260510e-01 -6.38660666e-03 5.93266132e+00] [ 6.09482230e-02 -2.55257174e-03 9.98137665e-01 3.68871820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92925415399998 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:172.66, Y:5.94, Z:3.69 [[ 9.87259035e-01 -1.47144338e-01 -6.05651893e-02 1.72659230e+02] [ 1.47029312e-01 9.89111586e-01 -6.37581683e-03 5.93555012e+00] [ 6.08438958e-02 -2.61027537e-03 9.98143881e-01 3.68985863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95925415399998 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:172.69, Y:5.94, Z:3.69 [[ 9.87133237e-01 -1.48044469e-01 -6.04219124e-02 1.72690254e+02] [ 1.47931744e-01 9.88977126e-01 -6.35948377e-03 5.93851149e+00] [ 6.06973757e-02 -2.66066107e-03 9.98152668e-01 3.69135307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98925415399998 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:172.72, Y:5.94, Z:3.69 [[ 9.86956167e-01 -1.48976892e-01 -6.10197504e-02 1.72721021e+02] [ 1.48863845e-01 9.88836861e-01 -6.42008844e-03 5.94161989e+00] [ 6.12950233e-02 -2.74728878e-03 9.98115911e-01 3.69268600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01925415399998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:172.75, Y:5.94, Z:3.69 [[ 9.86900895e-01 -1.49087355e-01 -6.16407661e-02 1.72750728e+02] [ 1.48972346e-01 9.88820109e-01 -6.48325594e-03 5.94494550e+00] [ 6.19182005e-02 -2.78443847e-03 9.98077343e-01 3.69458810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.04925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:172.78, Y:5.95, Z:3.70 [[ 9.86915733e-01 -1.48805139e-01 -6.20835479e-02 1.72781687e+02] [ 1.48687999e-01 9.88862608e-01 -6.52850085e-03 5.94847433e+00] [ 6.23635736e-02 -2.78799829e-03 9.98049604e-01 3.69506060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07925415399998 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:172.81, Y:5.95, Z:3.70 [[ 9.86996893e-01 -1.47887137e-01 -6.29803797e-02 1.72812131e+02] [ 1.47764876e-01 9.89000360e-01 -6.62043281e-03 5.95367411e+00] [ 6.32666950e-02 -2.77194142e-03 9.97992806e-01 3.69762574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10925415399998 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:172.84, Y:5.96, Z:3.70 [[ 9.87113274e-01 -1.46901378e-01 -6.34615523e-02 1.72843175e+02] [ 1.46775365e-01 9.89147371e-01 -6.66861173e-03 5.95815891e+00] [ 6.37524559e-02 -2.73191735e-03 9.97962004e-01 3.69982706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13925415399999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:172.87, Y:5.96, Z:3.70 [[ 9.87266772e-01 -1.45743906e-01 -6.37419308e-02 1.72873490e+02] [ 1.45614501e-01 9.89318745e-01 -6.69606969e-03 5.96262554e+00] [ 6.40369983e-02 -2.67094231e-03 9.97943951e-01 3.70132496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.169254154 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:172.90, Y:5.97, Z:3.70 [[ 9.87704392e-01 -1.42692575e-01 -6.38659793e-02 1.72903128e+02] [ 1.42556313e-01 9.89763956e-01 -6.70890538e-03 5.96824067e+00] [ 6.41695553e-02 -2.47808320e-03 9.97935933e-01 3.70298272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.199254154 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:172.93, Y:5.97, Z:3.71 [[ 9.87993909e-01 -1.40711243e-01 -6.37838720e-02 1.72933319e+02] [ 1.40571275e-01 9.90047896e-01 -6.69929692e-03 5.97271977e+00] [ 6.40917546e-02 -2.34731566e-03 9.97941249e-01 3.70511217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.229254154 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:172.96, Y:5.98, Z:3.71 [[ 9.88307336e-01 -1.38747853e-01 -6.32269239e-02 1.72962709e+02] [ 1.38606285e-01 9.90325296e-01 -6.64116685e-03 5.97742750e+00] [ 6.35366698e-02 -2.20013509e-03 9.97977079e-01 3.70669122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.259254154 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:172.99, Y:5.98, Z:3.71 [[ 9.88654934e-01 -1.36526222e-01 -6.26259762e-02 1.72992794e+02] [ 1.36382760e-01 9.90634366e-01 -6.57999230e-03 5.98209320e+00] [ 6.29377857e-02 -2.03576163e-03 9.98015376e-01 3.70909961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.289254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:173.02, Y:5.99, Z:3.71 [[ 9.89296037e-01 -1.32189270e-01 -6.18008698e-02 1.73023082e+02] [ 1.32041122e-01 9.91222972e-01 -6.49314301e-03 5.98811543e+00] [ 6.21167657e-02 -1.73661554e-03 9.98067378e-01 3.71128337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.319254154 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:173.05, Y:5.99, Z:3.71 [[ 9.89613936e-01 -1.29825703e-01 -6.17215105e-02 1.73053705e+02] [ 1.29673406e-01 9.91535560e-01 -6.48382452e-03 5.99244869e+00] [ 6.20408396e-02 -1.58715542e-03 9.98072350e-01 3.71261614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.349254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:173.08, Y:6.00, Z:3.72 [[ 9.89771059e-01 -1.28634284e-01 -6.16966169e-02 1.73083407e+02] [ 1.28479780e-01 9.91690948e-01 -6.48151993e-03 5.99732980e+00] [ 6.20177221e-02 -1.51154690e-03 9.98073904e-01 3.71511291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.379254154 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:173.11, Y:6.00, Z:3.72 [[ 9.89959715e-01 -1.27108925e-01 -6.18310988e-02 1.73112752e+02] [ 1.26950642e-01 9.91887752e-01 -6.49777511e-03 6.00163316e+00] [ 6.21554349e-02 -1.41696212e-03 9.98065476e-01 3.71680724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.409254154 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:173.14, Y:6.01, Z:3.72 [[ 9.90176700e-01 -1.25382898e-01 -6.18807874e-02 1.73142058e+02] [ 1.25220914e-01 9.92107563e-01 -6.50428786e-03 6.00667102e+00] [ 6.22079237e-02 -1.30837446e-03 9.98062354e-01 3.71803717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.439254154 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:173.17, Y:6.01, Z:3.72 [[ 9.90248582e-01 -1.24807446e-01 -6.18938305e-02 1.73171006e+02] [ 1.24644151e-01 9.92180169e-01 -6.50757865e-03 6.01034276e+00] [ 6.22220254e-02 -1.27058344e-03 9.98061524e-01 3.71989250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46925415399997 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:173.20, Y:6.01, Z:3.72 [[ 9.90210824e-01 -1.25111724e-01 -6.18835991e-02 1.73199628e+02] [ 1.24948960e-01 9.92141824e-01 -6.50836641e-03 6.01411328e+00] [ 6.22115798e-02 -1.28763649e-03 9.98062153e-01 3.72138011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49925415399997 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:173.22, Y:6.03, Z:3.73 [[ 9.89944871e-01 -1.25766440e-01 -6.47453086e-02 1.73224158e+02] [ 1.24032671e-01 9.91819940e-01 -3.01513254e-02 6.02923719e+00] [ 6.80077130e-02 2.18176164e-02 9.97446210e-01 3.73047599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52925415399997 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:173.26, Y:6.01, Z:3.72 [[ 9.89945283e-01 -1.25393764e-01 -6.54579306e-02 1.73259830e+02] [ 1.26535657e-01 9.91869044e-01 1.35840488e-02 6.01194604e+00] [ 6.32223401e-02 -2.17302273e-02 9.97762864e-01 3.71746194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55925415399997 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:173.29, Y:6.03, Z:3.73 [[ 9.89630449e-01 -1.29121256e-01 -6.29227809e-02 1.73289007e+02] [ 1.28963014e-01 9.91627528e-01 -6.58691233e-03 6.02592548e+00] [ 6.32464720e-02 -1.59610246e-03 9.97996661e-01 3.72710880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58925415399997 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:173.32, Y:6.03, Z:3.73 [[ 9.89170175e-01 -1.32885185e-01 -6.23208795e-02 1.73318067e+02] [ 1.32737540e-01 9.91129765e-01 -6.52183675e-03 6.02920450e+00] [ 6.26347341e-02 -1.82111382e-03 9.98034856e-01 3.72815759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61925415399998 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:173.35, Y:6.03, Z:3.73 [[ 9.88937273e-01 -1.34311919e-01 -6.29553676e-02 1.73348458e+02] [ 1.34164160e-01 9.90937222e-01 -6.58786282e-03 6.03211269e+00] [ 6.32696456e-02 -1.93137090e-03 9.97994600e-01 3.72802710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64925415399998 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:173.38, Y:6.04, Z:3.73 [[ 9.88719754e-01 -1.35832867e-01 -6.31084722e-02 1.73378874e+02] [ 1.35687544e-01 9.90729677e-01 -6.60286988e-03 6.03534419e+00] [ 6.34203230e-02 -2.03464574e-03 9.97984831e-01 3.72887332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67925415399998 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:173.41, Y:6.04, Z:3.73 [[ 9.88182067e-01 -1.39837479e-01 -6.27828103e-02 1.73409556e+02] [ 1.39701731e-01 9.90171844e-01 -6.56851326e-03 6.04002398e+00] [ 6.30842954e-02 -2.27998023e-03 9.98005598e-01 3.73180616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70925415399998 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:173.44, Y:6.04, Z:3.74 [[ 9.87882852e-01 -1.42041140e-01 -6.25442660e-02 1.73440213e+02] [ 1.41910983e-01 9.89857812e-01 -6.54105979e-03 6.04420197e+00] [ 6.28390299e-02 -2.41391745e-03 9.98020756e-01 3.73518238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73925415399998 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:173.47, Y:6.05, Z:3.73 [[ 9.87713256e-01 -1.43001452e-01 -6.30326055e-02 1.73472057e+02] [ 1.42871442e-01 9.89719326e-01 -6.58838636e-03 6.04705229e+00] [ 6.33267367e-02 -2.49812270e-03 9.97989721e-01 3.73443502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.76925415399998 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:173.50, Y:6.05, Z:3.74 [[ 9.87421421e-01 -1.45267040e-01 -6.24213435e-02 1.73502378e+02] [ 1.45144340e-01 9.89389009e-01 -6.51992639e-03 6.05139386e+00] [ 6.27061216e-02 -2.62218970e-03 9.98028590e-01 3.73918869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79925415399998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:173.53, Y:6.06, Z:3.74 [[ 9.87106007e-01 -1.47334435e-01 -6.25643294e-02 1.73534305e+02] [ 1.47215544e-01 9.89082872e-01 -6.53117470e-03 6.05591320e+00] [ 6.28435735e-02 -2.76347998e-03 9.98019563e-01 3.74136505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82925415399998 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:173.57, Y:6.06, Z:3.74 [[ 9.87017103e-01 -1.48143725e-01 -6.20538135e-02 1.73566668e+02] [ 1.48028650e-01 9.88961888e-01 -6.47323208e-03 6.05991467e+00] [ 6.23278253e-02 -2.79655150e-03 9.98051813e-01 3.74345255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:173.60, Y:6.06, Z:3.75 [[ 9.86963389e-01 -1.48631801e-01 -6.17402401e-02 1.73598296e+02] [ 1.48519124e-01 9.88888593e-01 -6.43590218e-03 6.06359990e+00] [ 6.20107989e-02 -2.81760656e-03 9.98071501e-01 3.74517429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88925415399999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:173.63, Y:6.07, Z:3.75 [[ 9.86882311e-01 -1.49271803e-01 -6.14917311e-02 1.73630609e+02] [ 1.49161555e-01 9.88792092e-01 -6.40537929e-03 6.06758416e+00] [ 6.17586800e-02 -2.85084675e-03 9.98087039e-01 3.74702120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.919254154 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:173.66, Y:6.07, Z:3.75 [[ 9.86886001e-01 -1.49298009e-01 -6.13687704e-02 1.73661647e+02] [ 1.49188552e-01 9.88788134e-01 -6.38771574e-03 6.07120925e+00] [ 6.16343852e-02 -2.85157075e-03 9.98094721e-01 3.74869206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.949254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:173.69, Y:6.08, Z:3.75 [[ 9.86858400e-01 -1.49282059e-01 -6.18495429e-02 1.73693714e+02] [ 1.49171288e-01 9.88790459e-01 -6.43072498e-03 6.07505786e+00] [ 6.21162298e-02 -2.87996101e-03 9.98064767e-01 3.75037087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.979254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:173.72, Y:6.08, Z:3.75 [[ 9.86926842e-01 -1.48691254e-01 -6.21797351e-02 1.73724447e+02] [ 1.48578419e-01 9.88879526e-01 -6.46042064e-03 6.07841937e+00] [ 6.24488750e-02 -2.86260417e-03 9.98044059e-01 3.75106008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.009254154 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:173.76, Y:6.08, Z:3.75 [[ 9.87011162e-01 -1.47912530e-01 -6.26964812e-02 1.73755319e+02] [ 1.47796473e-01 9.88996368e-01 -6.51052452e-03 6.08302498e+00] [ 6.29695803e-02 -2.84035841e-03 9.98011405e-01 3.75267936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.039254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:173.79, Y:6.09, Z:3.76 [[ 9.87027031e-01 -1.47661911e-01 -6.30364927e-02 1.73786033e+02] [ 1.47544341e-01 9.89033808e-01 -6.54175391e-03 6.08769212e+00] [ 6.33111903e-02 -2.84378982e-03 9.97989783e-01 3.75582853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.069254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:173.82, Y:6.09, Z:3.76 [[ 9.87091199e-01 -1.47069887e-01 -6.34146197e-02 1.73816993e+02] [ 1.46950191e-01 9.89122053e-01 -6.57306560e-03 6.09196930e+00] [ 6.36914989e-02 -2.83057530e-03 9.97965621e-01 3.75771353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.099254154 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:173.85, Y:6.10, Z:3.76 [[ 9.87225434e-01 -1.46037613e-01 -6.37099470e-02 1.73848435e+02] [ 1.45915133e-01 9.89275120e-01 -6.59624682e-03 6.09697758e+00] [ 6.39899656e-02 -2.78426274e-03 9.97946658e-01 3.75933825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.129254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:173.88, Y:6.10, Z:3.76 [[ 9.87331476e-01 -1.45291760e-01 -6.37719416e-02 1.73879760e+02] [ 1.45167791e-01 9.89385051e-01 -6.59797765e-03 6.10120846e+00] [ 6.40536375e-02 -2.74324090e-03 9.97942687e-01 3.76122344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.159254154 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:173.91, Y:6.11, Z:3.76 [[ 9.87476196e-01 -1.44251714e-01 -6.38921311e-02 1.73911112e+02] [ 1.44125350e-01 9.89537385e-01 -6.60662176e-03 6.10558073e+00] [ 6.41766688e-02 -2.68459404e-03 9.97934942e-01 3.76331446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.189254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:173.94, Y:6.11, Z:3.77 [[ 9.87746444e-01 -1.42487385e-01 -6.36734449e-02 1.73941785e+02] [ 1.42358558e-01 9.89793291e-01 -6.57885522e-03 6.10996622e+00] [ 6.39609525e-02 -2.56621896e-03 9.97949102e-01 3.76550116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21925415399997 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:173.97, Y:6.12, Z:3.77 [[ 9.88446753e-01 -1.37410642e-01 -6.39635167e-02 1.73974020e+02] [ 1.37270492e-01 9.90511600e-01 -6.60161143e-03 6.11562538e+00] [ 6.42637369e-02 -2.25496205e-03 9.97930402e-01 3.76605511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24925415399997 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:174.01, Y:6.12, Z:3.77 [[ 9.88454248e-01 -1.37356498e-01 -6.39639829e-02 1.74005659e+02] [ 1.37216528e-01 9.90519108e-01 -6.59709159e-03 6.11885825e+00] [ 6.42637006e-02 -2.25599242e-03 9.97930402e-01 3.76782484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27925415399997 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:174.04, Y:6.13, Z:3.77 [[ 9.88731338e-01 -1.35185429e-01 -6.43058466e-02 1.74036148e+02] [ 1.34829747e-01 9.90819731e-01 -9.85903842e-03 6.12574371e+00] [ 6.50483000e-02 1.07759918e-03 9.97881535e-01 3.77224212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30925415399997 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:174.07, Y:6.13, Z:3.77 [[ 9.89222325e-01 -1.31853462e-01 -6.36698967e-02 1.74067790e+02] [ 1.31900904e-01 9.91256812e-01 -3.47611152e-03 6.12789228e+00] [ 6.35715562e-02 -4.95946983e-03 9.97964960e-01 3.77239249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33925415399997 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:174.10, Y:6.13, Z:3.78 [[ 9.89610239e-01 -1.29185867e-01 -6.31077375e-02 1.74098338e+02] [ 1.29032942e-01 9.91618939e-01 -6.51000354e-03 6.13428386e+00] [ 6.34198282e-02 -1.70061089e-03 9.97985488e-01 3.77559348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36925415399998 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:174.13, Y:6.14, Z:3.78 [[ 9.90215084e-01 -1.24651255e-01 -6.27387619e-02 1.74128387e+02] [ 1.24491225e-01 9.92199622e-01 -6.46871377e-03 6.14026443e+00] [ 6.30557092e-02 -1.40500736e-03 9.98009020e-01 3.77663922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39925415399998 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:174.16, Y:6.14, Z:3.78 [[ 9.90388675e-01 -1.22993969e-01 -6.32673333e-02 1.74159043e+02] [ 1.22827935e-01 9.92406551e-01 -6.52192131e-03 6.14423957e+00] [ 6.35890730e-02 -1.31175889e-03 9.97975305e-01 3.77764686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42925415399998 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:174.19, Y:6.15, Z:3.78 [[ 9.90445020e-01 -1.22480068e-01 -6.33821317e-02 1.74190391e+02] [ 1.22312547e-01 9.92470143e-01 -6.53113524e-03 6.14898064e+00] [ 6.37048072e-02 -1.28369959e-03 9.97967960e-01 3.78111386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45925415399998 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:174.22, Y:6.15, Z:3.78 [[ 9.90377079e-01 -1.22899672e-01 -6.36310647e-02 1.74222091e+02] [ 1.22732000e-01 9.92418222e-01 -6.55205984e-03 6.15242511e+00] [ 6.39538740e-02 -1.32055793e-03 9.97951982e-01 3.78259447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48925415399998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:174.25, Y:6.16, Z:3.78 [[ 9.90238380e-01 -1.23747094e-01 -6.41452072e-02 1.74253457e+02] [ 1.23578773e-01 9.92312814e-01 -6.60039756e-03 6.15589021e+00] [ 6.44688911e-02 -1.39101899e-03 9.97918748e-01 3.78462385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51925415399998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:174.28, Y:6.16, Z:3.79 [[ 9.90039037e-01 -1.25207342e-01 -6.43880934e-02 1.74283131e+02] [ 1.25041034e-01 9.92129471e-01 -6.62216915e-03 6.15937764e+00] [ 6.47104693e-02 -1.49494780e-03 9.97902961e-01 3.78647799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.54925415399998 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:174.32, Y:6.16, Z:3.79 [[ 9.89670755e-01 -1.28128261e-01 -6.43035490e-02 1.74315164e+02] [ 1.27968649e-01 9.91756174e-01 -6.61183016e-03 6.16355600e+00] [ 6.46206041e-02 -1.68530336e-03 9.97908481e-01 3.78836841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57925415399998 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:174.35, Y:6.17, Z:3.79 [[ 9.89476709e-01 -1.29398361e-01 -6.47449401e-02 1.74346557e+02] [ 1.29239551e-01 9.91591084e-01 -6.65281040e-03 6.16672295e+00] [ 6.50613681e-02 -1.78480605e-03 9.97879669e-01 3.78993906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60925415399998 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:174.38, Y:6.17, Z:3.79 [[ 9.89290905e-01 -1.30644631e-01 -6.50806125e-02 1.74378949e+02] [ 1.30487039e-01 9.91427480e-01 -6.68457918e-03 6.16997279e+00] [ 6.53960121e-02 -1.87918307e-03 9.97857620e-01 3.79151869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63925415399999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:174.41, Y:6.17, Z:3.79 [[ 9.89122861e-01 -1.31737683e-01 -6.54304944e-02 1.74410019e+02] [ 1.31581082e-01 9.91282662e-01 -6.71589843e-03 6.17311903e+00] [ 6.57448516e-02 -1.96656660e-03 9.97834529e-01 3.79298267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.669254154 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:174.44, Y:6.18, Z:3.79 [[ 9.88856028e-01 -1.33506332e-01 -6.58772714e-02 1.74441015e+02] [ 1.33351727e-01 9.91045731e-01 -6.75834415e-03 6.17676157e+00] [ 6.61896704e-02 -2.10181854e-03 9.97804846e-01 3.79490096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.699254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:174.47, Y:6.18, Z:3.80 [[ 9.88790100e-01 -1.34006454e-01 -6.58514151e-02 1.74472994e+02] [ 1.33853260e-01 9.90978154e-01 -6.75292883e-03 6.18034535e+00] [ 6.61622498e-02 -2.13719742e-03 9.97806589e-01 3.79680144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.729254154 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:174.50, Y:6.18, Z:3.80 [[ 9.88775622e-01 -1.34061322e-01 -6.59570372e-02 1.74503582e+02] [ 1.33908117e-01 9.90970706e-01 -6.75836740e-03 6.18354038e+00] [ 6.62675274e-02 -2.14967372e-03 9.97799576e-01 3.79813016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.759254154 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:174.54, Y:6.19, Z:3.80 [[ 9.88826200e-01 -1.33996359e-01 -6.53277969e-02 1.74535302e+02] [ 1.33846394e-01 9.90979531e-01 -6.68669982e-03 6.18783705e+00] [ 6.56345029e-02 -2.13190607e-03 9.97841454e-01 3.80135168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.789254154 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:174.57, Y:6.19, Z:3.80 [[ 9.88943659e-01 -1.32972974e-01 -6.56401416e-02 1.74567429e+02] [ 1.32819649e-01 9.91117484e-01 -6.71372265e-03 6.19128273e+00] [ 6.59498357e-02 -2.07880713e-03 9.97820774e-01 3.80309580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.819254154 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:174.60, Y:6.19, Z:3.80 [[ 9.89379580e-01 -1.30142892e-01 -6.47369608e-02 1.74601896e+02] [ 1.30029551e-01 9.91492091e-01 -5.97903895e-03 6.19269467e+00] [ 6.49643141e-02 -2.50217892e-03 9.97884451e-01 3.80382371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.849254154 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:174.63, Y:6.20, Z:3.81 [[ 9.89296130e-01 -1.30187117e-01 -6.59126804e-02 1.74629848e+02] [ 1.30035435e-01 9.91487350e-01 -6.60460534e-03 6.19849248e+00] [ 6.62114234e-02 -2.03707357e-03 9.97803537e-01 3.80718852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.879254154 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:174.66, Y:6.20, Z:3.81 [[ 9.89811830e-01 -1.26281485e-01 -6.57687397e-02 1.74661335e+02] [ 1.26112525e-01 9.91993107e-01 -6.73105404e-03 6.20338752e+00] [ 6.60921440e-02 -1.63178492e-03 9.97812190e-01 3.80964464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.909254154 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:174.69, Y:6.21, Z:3.81 [[ 9.90085984e-01 -1.24232588e-01 -6.55439472e-02 1.74693376e+02] [ 1.24060620e-01 9.92251999e-01 -6.70317350e-03 6.20720633e+00] [ 6.58688652e-02 -1.49470461e-03 9.97827169e-01 3.81181492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.939254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:174.72, Y:6.21, Z:3.81 [[ 9.90351825e-01 -1.22179234e-01 -6.53872894e-02 1.74724534e+02] [ 1.22003928e-01 9.92507122e-01 -6.68244696e-03 6.21094966e+00] [ 6.57138067e-02 -1.35953261e-03 9.97837586e-01 3.81359020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96925415399997 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:174.76, Y:6.21, Z:3.82 [[ 9.90579472e-01 -1.20343029e-01 -6.53442055e-02 1.74756902e+02] [ 1.20164216e-01 9.92731593e-01 -6.67421113e-03 6.21464575e+00] [ 6.56724520e-02 -1.24069870e-03 9.97840463e-01 3.81569567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99925415399997 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:174.79, Y:6.22, Z:3.82 [[ 9.90909951e-01 -1.16986374e-01 -6.64203050e-02 1.74787729e+02] [ 1.16794397e-01 9.93132976e-01 -6.77948548e-03 6.21730574e+00] [ 6.67573026e-02 -1.03965983e-03 9.97768701e-01 3.81585739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02925415399997 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:174.82, Y:6.22, Z:3.82 [[ 9.91031187e-01 -1.16083968e-01 -6.61944067e-02 1.74816541e+02] [ 1.15891408e-01 9.93238923e-01 -6.75457781e-03 6.22061124e+00] [ 6.65309593e-02 -9.77365739e-04 9.97783883e-01 3.81802213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05925415399997 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:174.85, Y:6.22, Z:3.82 [[ 9.91128496e-01 -1.15124053e-01 -6.64135313e-02 1.74846790e+02] [ 1.14927995e-01 9.93350701e-01 -6.77796202e-03 6.22407522e+00] [ 6.67522343e-02 -9.14942659e-04 9.97769163e-01 3.81988992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08925415399997 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:174.88, Y:6.23, Z:3.82 [[ 9.91143322e-01 -1.14968177e-01 -6.64622743e-02 1.74875885e+02] [ 1.14771481e-01 9.93368763e-01 -6.78293947e-03 6.22690725e+00] [ 6.68013694e-02 -9.05108473e-04 9.97765883e-01 3.82156876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11925415399998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:174.91, Y:6.23, Z:3.82 [[ 9.91094412e-01 -1.15240396e-01 -6.67197005e-02 1.74906092e+02] [ 1.15042786e-01 9.93337199e-01 -6.80922611e-03 6.22980038e+00] [ 6.70598584e-02 -9.27034305e-04 9.97748523e-01 3.82323619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14925415399998 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:174.94, Y:6.23, Z:3.82 [[ 9.90989519e-01 -1.15885646e-01 -6.71586931e-02 1.74936721e+02] [ 1.15686919e-01 9.93262081e-01 -6.85380913e-03 6.23218500e+00] [ 6.75004414e-02 -9.77329309e-04 9.97718766e-01 3.82427861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17925415399998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:174.97, Y:6.23, Z:3.82 [[ 9.90882377e-01 -1.16175100e-01 -6.82309423e-02 1.74966225e+02] [ 1.15970714e-01 9.93228231e-01 -6.96242417e-03 6.23405268e+00] [ 6.85777584e-02 -1.01384768e-03 9.97645259e-01 3.82471364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:175.00, Y:6.24, Z:3.83 [[ 9.90761961e-01 -1.17220206e-01 -6.81920873e-02 1.74996728e+02] [ 1.17018453e-01 9.93105356e-01 -6.95948446e-03 6.23723558e+00] [ 6.85377193e-02 -1.08454012e-03 9.97647936e-01 3.82756404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23925415399998 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:175.03, Y:6.24, Z:3.83 [[ 9.90693515e-01 -1.17611340e-01 -6.85122804e-02 1.75026711e+02] [ 1.17408604e-01 9.93059075e-01 -6.99240571e-03 6.23917688e+00] [ 6.88591280e-02 -1.11660022e-03 9.97625768e-01 3.82779837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26925415399998 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:175.06, Y:6.24, Z:3.83 [[ 9.90615721e-01 -1.18846440e-01 -6.74982749e-02 1.75056157e+02] [ 1.18652444e-01 9.92911941e-01 -6.89014933e-03 6.24250087e+00] [ 6.78387129e-02 -1.18334502e-03 9.97695599e-01 3.83084895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29925415399998 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:175.09, Y:6.25, Z:3.83 [[ 9.90499178e-01 -1.20100919e-01 -6.69861748e-02 1.75087205e+02] [ 1.19912684e-01 9.92760890e-01 -6.83844339e-03 6.24504379e+00] [ 6.73225579e-02 -1.25901944e-03 9.97730469e-01 3.83295717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32925415399998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:175.12, Y:6.25, Z:3.83 [[ 9.90471364e-01 -1.20195430e-01 -6.72274892e-02 1.75117130e+02] [ 1.20006179e-01 9.92749435e-01 -6.86120620e-03 6.24686765e+00] [ 6.75647376e-02 -1.27188582e-03 9.97714082e-01 3.83329064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35925415399998 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:175.15, Y:6.25, Z:3.84 [[ 9.90467223e-01 -1.21057407e-01 -6.57250727e-02 1.75147315e+02] [ 1.20878353e-01 9.92644657e-01 -6.70888069e-03 6.24989818e+00] [ 6.60538020e-02 -1.29981210e-03 9.97815216e-01 3.83600421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38925415399999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:175.18, Y:6.25, Z:3.84 [[ 9.90429661e-01 -1.22083508e-01 -6.43793766e-02 1.75178392e+02] [ 1.21913901e-01 9.92518927e-01 -6.57118259e-03 6.25176283e+00] [ 6.46999828e-02 -1.34044679e-03 9.97903861e-01 3.83784069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.419254154 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:175.21, Y:6.25, Z:3.84 [[ 9.90431228e-01 -1.22396117e-01 -6.37587075e-02 1.75209546e+02] [ 1.22230575e-01 9.92480412e-01 -6.50530794e-03 6.25402044e+00] [ 6.40754927e-02 -1.35020336e-03 9.97944141e-01 3.83951986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.449254154 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:175.24, Y:6.26, Z:3.84 [[ 9.90467397e-01 -1.22261589e-01 -6.34542345e-02 1.75241668e+02] [ 1.22097585e-01 9.92497008e-01 -6.47054574e-03 6.25584547e+00] [ 6.37692372e-02 -1.33874423e-03 9.97963773e-01 3.84003334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.479254154 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:175.27, Y:6.26, Z:3.84 [[ 9.90442020e-01 -1.22937456e-01 -6.25378820e-02 1.75273624e+02] [ 1.22779795e-01 9.92413479e-01 -6.37245017e-03 6.25751763e+00] [ 6.28468499e-02 -1.36684594e-03 9.98022247e-01 3.84140935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.509254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:175.31, Y:6.26, Z:3.84 [[ 9.90356920e-01 -1.23722906e-01 -6.23362901e-02 1.75305158e+02] [ 1.23568107e-01 9.92315794e-01 -6.34725340e-03 6.26017193e+00] [ 6.26425858e-02 -1.41673101e-03 9.98035019e-01 3.84425440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.539254154 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:175.34, Y:6.26, Z:3.85 [[ 9.90236179e-01 -1.24648479e-01 -6.24104628e-02 1.75337832e+02] [ 1.24495442e-01 9.92199860e-01 -6.35010119e-03 6.26115190e+00] [ 6.27151829e-02 -1.48171819e-03 9.98030365e-01 3.84545654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.569254154 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:175.37, Y:6.26, Z:3.85 [[ 9.90247805e-01 -1.24555840e-01 -6.24109508e-02 1.75370321e+02] [ 1.24402921e-01 9.92211495e-01 -6.34530195e-03 6.26439811e+00] [ 6.27152072e-02 -1.48068326e-03 9.98030365e-01 3.84727636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.599254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:175.40, Y:6.27, Z:3.85 [[ 9.90176834e-01 -1.25076176e-01 -6.24962952e-02 1.75401564e+02] [ 1.24924228e-01 9.92145975e-01 -6.34834279e-03 6.26563324e+00] [ 6.27994742e-02 -1.52131948e-03 9.98025006e-01 3.84900627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.629254154 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:175.43, Y:6.27, Z:3.85 [[ 9.90168024e-01 -1.25378272e-01 -6.20288121e-02 1.75433899e+02] [ 1.25229406e-01 9.92107827e-01 -6.29726350e-03 6.26824541e+00] [ 6.23288100e-02 -1.53248231e-03 9.98054493e-01 3.85046031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.659254154 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:175.47, Y:6.27, Z:3.85 [[ 9.90139364e-01 -1.25725969e-01 -6.17820392e-02 1.75465977e+02] [ 1.25579248e-01 9.92063793e-01 -6.26760226e-03 6.27022578e+00] [ 6.20797245e-02 -1.55274231e-03 9.98069986e-01 3.85201746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.689254154 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:175.50, Y:6.27, Z:3.85 [[ 9.90155051e-01 -1.25537726e-01 -6.19132758e-02 1.75496783e+02] [ 1.25390321e-01 9.92087637e-01 -6.27596760e-03 6.27247266e+00] [ 6.22112662e-02 -1.54914454e-03 9.98061801e-01 3.85372171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71925415399997 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:175.53, Y:6.27, Z:3.85 [[ 9.90182778e-01 -1.25211602e-01 -6.21298674e-02 1.75526842e+02] [ 1.25062946e-01 9.92128863e-01 -6.29115863e-03 6.27397289e+00] [ 6.24285608e-02 -1.54074731e-03 9.98048246e-01 3.85286917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74925415399997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:175.56, Y:6.28, Z:3.86 [[ 9.90094594e-01 -1.25728299e-01 -6.24907226e-02 1.75557535e+02] [ 1.25579017e-01 9.92063449e-01 -6.32643890e-03 6.27687255e+00] [ 6.27901742e-02 -1.58375057e-03 9.98025494e-01 3.85630879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77925415399997 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:175.59, Y:6.28, Z:3.86 [[ 9.90156588e-01 -1.25215093e-01 -6.25388878e-02 1.75589897e+02] [ 1.25064720e-01 9.92128400e-01 -6.32875093e-03 6.27879550e+00] [ 6.28390619e-02 -1.55495409e-03 9.98022462e-01 3.85767193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80925415399997 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:175.62, Y:6.28, Z:3.86 [[ 9.90226920e-01 -1.24823045e-01 -6.22081489e-02 1.75621949e+02] [ 1.24673778e-01 9.92177845e-01 -6.29064342e-03 6.28165674e+00] [ 6.25067644e-02 -1.52656046e-03 9.98043373e-01 3.85969077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83925415399997 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:175.65, Y:6.28, Z:3.86 [[ 9.90320172e-01 -1.24362968e-01 -6.16425870e-02 1.75654221e+02] [ 1.24215800e-01 9.92235676e-01 -6.22883537e-03 6.28465109e+00] [ 6.19386104e-02 -1.48844192e-03 9.98078851e-01 3.86166741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86925415399998 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:175.69, Y:6.29, Z:3.86 [[ 9.90523135e-01 -1.23451599e-01 -6.01965281e-02 1.75685437e+02] [ 1.23309840e-01 9.92349604e-01 -6.07837390e-03 6.28701431e+00] [ 6.04863858e-02 -1.40205426e-03 9.98168038e-01 3.86387698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89925415399998 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:175.72, Y:6.29, Z:3.87 [[ 9.90624859e-01 -1.22966138e-01 -5.95123301e-02 1.75717624e+02] [ 1.22826911e-01 9.92409935e-01 -6.00590767e-03 6.28992317e+00] [ 5.97991509e-02 -1.36011423e-03 9.98209503e-01 3.86586840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92925415399998 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:175.75, Y:6.29, Z:3.87 [[ 9.90740472e-01 -1.22413547e-01 -5.87217224e-02 1.75749356e+02] [ 1.22277281e-01 9.92478311e-01 -5.92181175e-03 6.29188459e+00] [ 5.90049459e-02 -1.31335401e-03 9.98256826e-01 3.86586729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95925415399998 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:175.78, Y:6.29, Z:3.87 [[ 9.90735689e-01 -1.22880096e-01 -5.78210822e-02 1.75780023e+02] [ 1.22749019e-01 9.92420640e-01 -5.82676534e-03 6.29363963e+00] [ 5.80988289e-02 -1.32469672e-03 9.98309958e-01 3.86891835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98925415399998 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:175.81, Y:6.29, Z:3.87 [[ 9.90596508e-01 -1.24183207e-01 -5.74202807e-02 1.75811856e+02] [ 1.24056313e-01 9.92258326e-01 -5.78315949e-03 6.29479025e+00] [ 5.76939229e-02 -1.39457070e-03 9.98333344e-01 3.86988365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01925415399998 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:175.84, Y:6.30, Z:3.87 [[ 9.90494925e-01 -1.25223574e-01 -5.69109904e-02 1.75843453e+02] [ 1.25100872e-01 9.92127494e-01 -5.72773494e-03 6.29697469e+00] [ 5.71802057e-02 -1.44632216e-03 9.98362826e-01 3.87105816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.04925415399998 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:175.88, Y:6.30, Z:3.87 [[ 9.90230454e-01 -1.27263289e-01 -5.69886263e-02 1.75876102e+02] [ 1.27143806e-01 9.91867729e-01 -5.73238237e-03 6.29776670e+00] [ 5.72547012e-02 -1.56937124e-03 9.98358371e-01 3.87213339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07925415399998 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:175.91, Y:6.30, Z:3.87 [[ 9.90066916e-01 -1.28366072e-01 -5.73554944e-02 1.75907027e+02] [ 1.28247137e-01 9.91725484e-01 -5.76505402e-03 6.29992117e+00] [ 5.76209428e-02 -1.64788869e-03 9.98337173e-01 3.87363582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10925415399998 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:175.94, Y:6.30, Z:3.88 [[ 9.90073611e-01 -1.28314285e-01 -5.73558079e-02 1.75938674e+02] [ 1.28195443e-01 9.91732186e-01 -5.76193350e-03 6.30306760e+00] [ 5.76209391e-02 -1.64801492e-03 9.98337173e-01 3.87540875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13925415399999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:175.97, Y:6.31, Z:3.88 [[ 9.90080303e-01 -1.28262504e-01 -5.73561086e-02 1.75970320e+02] [ 1.28143749e-01 9.91738884e-01 -5.75893880e-03 6.30621243e+00] [ 5.76209390e-02 -1.64801492e-03 9.98337173e-01 3.87718171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.169254154 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:176.00, Y:6.31, Z:3.88 [[ 9.89923715e-01 -1.29325004e-01 -5.76721957e-02 1.76001121e+02] [ 1.29206912e-01 9.91600765e-01 -5.78765789e-03 6.30813589e+00] [ 5.79362822e-02 -1.72230652e-03 9.98318797e-01 3.87846850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.199254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:176.03, Y:6.31, Z:3.88 [[ 9.89596684e-01 -1.31496199e-01 -5.83708120e-02 1.76033343e+02] [ 1.31379126e-01 9.91314903e-01 -5.85556892e-03 6.30926489e+00] [ 5.86338409e-02 -1.87405468e-03 9.98277797e-01 3.87981039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.229254154 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:176.06, Y:6.31, Z:3.88 [[ 9.89508441e-01 -1.32138240e-01 -5.84168682e-02 1.76064875e+02] [ 1.32022351e-01 9.91229442e-01 -5.85590681e-03 6.31155885e+00] [ 5.86783089e-02 -1.91786305e-03 9.98275101e-01 3.88131225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.259254154 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:176.10, Y:6.31, Z:3.88 [[ 9.89392315e-01 -1.32996998e-01 -5.84349656e-02 1.76097094e+02] [ 1.32882724e-01 9.91114477e-01 -5.85443367e-03 6.31422634e+00] [ 5.86943625e-02 -1.97266574e-03 9.98274051e-01 3.88262938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.289254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:176.13, Y:6.32, Z:3.88 [[ 9.89279720e-01 -1.33673668e-01 -5.87961476e-02 1.76129371e+02] [ 1.33559427e-01 9.91023325e-01 -5.88627708e-03 6.31711879e+00] [ 5.90551940e-02 -2.02960525e-03 9.98252656e-01 3.88480372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.319254154 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:176.16, Y:6.32, Z:3.89 [[ 9.89061584e-01 -1.34963916e-01 -5.95140632e-02 1.76160899e+02] [ 1.34849464e-01 9.90848210e-01 -5.95371050e-03 6.31951491e+00] [ 5.97729391e-02 -2.13685319e-03 9.98209712e-01 3.88648162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.349254154 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:176.19, Y:6.32, Z:3.89 [[ 9.89035784e-01 -1.35247599e-01 -5.92984316e-02 1.76191476e+02] [ 1.35134673e-01 9.90809501e-01 -5.92898222e-03 6.32176223e+00] [ 5.95553300e-02 -2.14929856e-03 9.98222692e-01 3.88663726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.379254154 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:176.22, Y:6.32, Z:3.89 [[ 9.88949840e-01 -1.35913362e-01 -5.92095518e-02 1.76223094e+02] [ 1.35802040e-01 9.90718312e-01 -5.91881498e-03 6.32481680e+00] [ 5.94644333e-02 -2.18736682e-03 9.98228028e-01 3.88927144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.409254154 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:176.26, Y:6.33, Z:3.89 [[ 9.88894236e-01 -1.36269288e-01 -5.93200715e-02 1.76255288e+02] [ 1.36158453e-01 9.90669352e-01 -5.92545528e-03 6.32776161e+00] [ 5.95740343e-02 -2.21728058e-03 9.98221427e-01 3.89100897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.439254154 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:176.29, Y:6.33, Z:3.89 [[ 9.88845886e-01 -1.36619477e-01 -5.93205908e-02 1.76286556e+02] [ 1.36509544e-01 9.90621062e-01 -5.92088955e-03 6.33062300e+00] [ 5.95731355e-02 -2.24297951e-03 9.98221424e-01 3.89295800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46925415399997 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:176.32, Y:6.33, Z:3.89 [[ 9.88820984e-01 -1.36719896e-01 -5.95040433e-02 1.76318831e+02] [ 1.36609874e-01 9.90607162e-01 -5.93233764e-03 6.33393532e+00] [ 5.97562001e-02 -2.26281991e-03 9.98210437e-01 3.89451941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49925415399997 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:176.35, Y:6.34, Z:3.90 [[ 9.88828408e-01 -1.36764725e-01 -5.92772263e-02 1.76350346e+02] [ 1.36655887e-01 9.90600977e-01 -5.90526229e-03 6.33726494e+00] [ 5.95277099e-02 -2.26129082e-03 9.98224092e-01 3.89594012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52925415399997 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:176.38, Y:6.34, Z:3.90 [[ 9.88782116e-01 -1.36727857e-01 -6.01283680e-02 1.76382596e+02] [ 1.36616079e-01 9.90605987e-01 -5.98548795e-03 6.34161810e+00] [ 6.03819043e-02 -2.29615845e-03 9.98172707e-01 3.89776816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55925415399997 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:176.41, Y:6.35, Z:3.90 [[ 9.88753618e-01 -1.36842977e-01 -6.03347548e-02 1.76413473e+02] [ 1.36730913e-01 9.90590045e-01 -6.00161576e-03 6.34538000e+00] [ 6.05882865e-02 -2.31550680e-03 9.98160156e-01 3.89934162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.58925415399997 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:176.45, Y:6.35, Z:3.90 [[ 9.88714801e-01 -1.36933496e-01 -6.07639694e-02 1.76445337e+02] [ 1.36820216e-01 9.90577477e-01 -6.04081398e-03 6.34916137e+00] [ 6.10186092e-02 -2.34109724e-03 9.98133883e-01 3.90131310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.61925415399998 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:176.48, Y:6.35, Z:3.90 [[ 9.88748446e-01 -1.36970956e-01 -6.01287683e-02 1.76476274e+02] [ 1.36860382e-01 9.90572339e-01 -5.97301052e-03 6.35363057e+00] [ 6.03800236e-02 -2.32344134e-03 9.98172758e-01 3.90301233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.64925415399998 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:176.51, Y:6.36, Z:3.90 [[ 9.88821561e-01 -1.36806339e-01 -5.92954112e-02 1.76507999e+02] [ 1.36698913e-01 9.90595170e-01 -5.88352406e-03 6.35739434e+00] [ 5.95426514e-02 -2.28786282e-03 9.98223141e-01 3.90467030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67925415399998 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:176.54, Y:6.36, Z:3.91 [[ 9.88946351e-01 -1.36100108e-01 -5.88377050e-02 1.76540092e+02] [ 1.35993344e-01 9.90692575e-01 -5.83376445e-03 6.36133965e+00] [ 5.90840534e-02 -2.23225616e-03 9.98250515e-01 3.90655027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70925415399998 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:176.57, Y:6.37, Z:3.91 [[ 9.89112029e-01 -1.34911570e-01 -5.87899874e-02 1.76571032e+02] [ 1.34803140e-01 9.90855280e-01 -5.82469963e-03 6.36559432e+00] [ 5.90381888e-02 -2.16379446e-03 9.98253380e-01 3.90856173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73925415399998 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:176.60, Y:6.37, Z:3.91 [[ 9.89617403e-01 -1.30986337e-01 -5.91605973e-02 1.76603177e+02] [ 1.30869734e-01 9.91382265e-01 -5.85803481e-03 6.37197686e+00] [ 5.94180895e-02 -1.94511844e-03 9.98231289e-01 3.91035270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.76925415399998 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:176.63, Y:6.38, Z:3.91 [[ 9.89928892e-01 -1.28525759e-01 -5.93457527e-02 1.76634510e+02] [ 1.28404268e-01 9.91704524e-01 -5.87206519e-03 6.37653477e+00] [ 5.96081631e-02 -1.80732094e-03 9.98220216e-01 3.91213670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.79925415399998 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:176.67, Y:6.38, Z:3.91 [[ 9.90516383e-01 -1.23749462e-01 -5.96939385e-02 1.76665770e+02] [ 1.23618079e-01 9.92312311e-01 -5.90314439e-03 6.38241849e+00] [ 5.99655410e-02 -1.53208879e-03 9.98199272e-01 3.91366557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.82925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:176.70, Y:6.39, Z:3.92 [[ 9.90765832e-01 -1.21763229e-01 -5.96387691e-02 1.76696389e+02] [ 1.21628759e-01 9.92558167e-01 -5.89328976e-03 6.38659015e+00] [ 5.99125333e-02 -1.41491936e-03 9.98202628e-01 3.91517782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.85925415399998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:176.73, Y:6.39, Z:3.92 [[ 9.90933158e-01 -1.20285539e-01 -5.98570457e-02 1.76727900e+02] [ 1.20147597e-01 9.92738440e-01 -5.91141779e-03 6.39051222e+00] [ 6.01334483e-02 -1.33386034e-03 9.98189456e-01 3.91628508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88925415399999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:176.76, Y:6.39, Z:3.92 [[ 9.91024850e-01 -1.19302741e-01 -6.03042552e-02 1.76759014e+02] [ 1.19161174e-01 9.92857088e-01 -5.95127381e-03 6.39458673e+00] [ 6.05835105e-02 -1.28806564e-03 9.98162301e-01 3.91845508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.919254154 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:176.79, Y:6.40, Z:3.92 [[ 9.91050441e-01 -1.18634374e-01 -6.11956635e-02 1.76790369e+02] [ 1.18487458e-01 9.92937197e-01 -6.03694682e-03 6.39921724e+00] [ 6.14796400e-02 -1.26799983e-03 9.98107532e-01 3.92014211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.949254154 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:176.82, Y:6.40, Z:3.92 [[ 9.91050525e-01 -1.18707153e-01 -6.10530003e-02 1.76820112e+02] [ 1.18561194e-01 9.92928494e-01 -6.02069601e-03 6.40284233e+00] [ 6.13359634e-02 -1.27170264e-03 9.98116367e-01 3.92113526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.979254154 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:176.85, Y:6.41, Z:3.92 [[ 9.91031990e-01 -1.18824988e-01 -6.11246008e-02 1.76851432e+02] [ 1.18678987e-01 9.92914387e-01 -6.02651145e-03 6.40640938e+00] [ 6.14075956e-02 -1.28174005e-03 9.98111950e-01 3.92351482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.009254154 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:176.88, Y:6.41, Z:3.92 [[ 9.91048943e-01 -1.18849915e-01 -6.08004190e-02 1.76881356e+02] [ 1.18705637e-01 9.92911407e-01 -5.99238907e-03 6.40970877e+00] [ 6.10816246e-02 -1.27860164e-03 9.98131955e-01 3.92494261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.039254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:176.91, Y:6.41, Z:3.93 [[ 9.91079022e-01 -1.18985446e-01 -6.00402907e-02 1.76912161e+02] [ 1.18845075e-01 9.92895184e-01 -5.91629037e-03 6.41354080e+00] [ 6.03176679e-02 -1.27198160e-03 9.98178421e-01 3.92673384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.069254154 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:176.94, Y:6.42, Z:3.93 [[ 9.91085410e-01 -1.18937726e-01 -6.00293962e-02 1.76942756e+02] [ 1.18797449e-01 9.92900902e-01 -5.91304679e-03 6.41709378e+00] [ 6.03065260e-02 -1.27100475e-03 9.98179096e-01 3.92885590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.099254154 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:176.97, Y:6.42, Z:3.93 [[ 9.91115276e-01 -1.18881583e-01 -5.96462876e-02 1.76974263e+02] [ 1.18743120e-01 9.92907638e-01 -5.87314752e-03 6.42053541e+00] [ 5.99214636e-02 -1.26162007e-03 9.98202297e-01 3.93066294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.129254154 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:177.00, Y:6.42, Z:3.93 [[ 9.91127034e-01 -1.18792864e-01 -5.96276631e-02 1.77004755e+02] [ 1.18654464e-01 9.92918261e-01 -5.86903394e-03 6.42422841e+00] [ 5.99025949e-02 -1.25813019e-03 9.98203434e-01 3.93256115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.159254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:177.04, Y:6.43, Z:3.93 [[ 9.91126887e-01 -1.18830290e-01 -5.95554845e-02 1.77036172e+02] [ 1.18692489e-01 9.92913777e-01 -5.85864758e-03 6.42731572e+00] [ 5.98296459e-02 -1.26212558e-03 9.98207804e-01 3.93389234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18925415399997 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:177.07, Y:6.43, Z:3.94 [[ 9.91092049e-01 -1.18968667e-01 -5.98582158e-02 1.77067687e+02] [ 1.18829917e-01 9.92897184e-01 -5.88504876e-03 6.43043296e+00] [ 6.01331903e-02 -1.28032175e-03 9.98189541e-01 3.93568579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21925415399997 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:177.10, Y:6.43, Z:3.94 [[ 9.91094541e-01 -1.18899306e-01 -5.99546919e-02 1.77098592e+02] [ 1.18760251e-01 9.92905489e-01 -5.89006711e-03 6.43303863e+00] [ 6.02296675e-02 -1.28262088e-03 9.98183722e-01 3.93696853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24925415399997 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:177.13, Y:6.44, Z:3.94 [[ 9.91048098e-01 -1.19012031e-01 -6.04963077e-02 1.77130937e+02] [ 1.18870876e-01 9.92891955e-01 -5.93974456e-03 6.43594416e+00] [ 6.07731983e-02 -1.30467651e-03 9.98150748e-01 3.93860658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27925415399997 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:177.16, Y:6.44, Z:3.94 [[ 9.91056021e-01 -1.18844443e-01 -6.06956496e-02 1.77161537e+02] [ 1.18702314e-01 9.92912030e-01 -5.95487180e-03 6.43886584e+00] [ 6.09731441e-02 -1.30310249e-03 9.98138556e-01 3.94034090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30925415399997 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:177.19, Y:6.44, Z:3.94 [[ 9.91074733e-01 -1.18567726e-01 -6.09308440e-02 1.77192413e+02] [ 1.18424172e-01 9.92945124e-01 -5.97464597e-03 6.44198346e+00] [ 6.12093846e-02 -1.29436409e-03 9.98124108e-01 3.94206635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33925415399997 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:177.22, Y:6.45, Z:3.94 [[ 9.91179464e-01 -1.17687659e-01 -6.09334411e-02 1.77223988e+02] [ 1.17542569e-01 9.93049884e-01 -5.97268209e-03 6.44505489e+00] [ 6.12128576e-02 -1.24227335e-03 9.98123962e-01 3.94407942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36925415399998 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:177.26, Y:6.45, Z:3.95 [[ 9.91463831e-01 -1.15409590e-01 -6.06638129e-02 1.77255545e+02] [ 1.15261657e-01 9.93317381e-01 -5.94403265e-03 6.44825657e+00] [ 6.09444181e-02 -1.09891822e-03 9.98140556e-01 3.94604621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39925415399998 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:177.29, Y:6.45, Z:3.95 [[ 9.91671778e-01 -1.13726624e-01 -6.04428607e-02 1.77285994e+02] [ 1.13576768e-01 9.93511584e-01 -5.92035011e-03 6.45125440e+00] [ 6.07239836e-02 -9.93860667e-04 9.98154101e-01 3.94786717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42925415399998 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:177.32, Y:6.45, Z:3.95 [[ 9.91913799e-01 -1.11696039e-01 -6.02578700e-02 1.77316079e+02] [ 1.11543356e-01 9.93742041e-01 -5.90223036e-03 6.45421359e+00] [ 6.05400345e-02 -8.66861308e-04 9.98165394e-01 3.94928341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:177.35, Y:6.46, Z:3.95 [[ 9.92465302e-01 -1.06770843e-01 -6.01050008e-02 1.77346250e+02] [ 1.06609906e-01 9.94283495e-01 -5.88725689e-03 6.45672114e+00] [ 6.03899976e-02 -5.64890322e-04 9.98174699e-01 3.95008816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48925415399998 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:177.38, Y:6.46, Z:3.95 [[ 9.92713861e-01 -1.04684154e-01 -5.96692432e-02 1.77375021e+02] [ 1.04521773e-01 9.94505424e-01 -5.84465201e-03 6.45971448e+00] [ 5.99532285e-02 -4.34668027e-04 9.98201093e-01 3.95288061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.51925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:177.40, Y:6.46, Z:3.95 [[ 9.92948703e-01 -1.02541360e-01 -5.94822867e-02 1.77404082e+02] [ 1.02376089e-01 9.94728695e-01 -5.82741979e-03 6.46215615e+00] [ 5.97662890e-02 -3.03234932e-04 9.98212352e-01 3.95418652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.54925415399998 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:177.43, Y:6.46, Z:3.96 [[ 9.93253919e-01 -9.92145388e-02 -6.00260639e-02 1.77433733e+02] [ 9.90400873e-02 9.95066060e-01 -5.88186998e-03 6.46409953e+00] [ 6.03134659e-02 -1.02796199e-04 9.98179480e-01 3.95613476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57925415399998 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:177.46, Y:6.47, Z:3.96 [[ 9.93329925e-01 -9.83401711e-02 -6.02069078e-02 1.77462456e+02] [ 9.81628642e-02 9.95152857e-01 -5.90283961e-03 6.46632514e+00] [ 6.04955625e-02 -4.66152895e-05 9.98168465e-01 3.95691862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60925415399998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:177.49, Y:6.47, Z:3.96 [[ 9.93314875e-01 -9.74486476e-02 -6.18814964e-02 1.77490910e+02] [ 9.72585881e-02 9.95240554e-01 -6.08329987e-03 6.46755601e+00] [ 6.21797841e-02 2.41252834e-05 9.98064965e-01 3.95803444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63925415399999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:177.52, Y:6.47, Z:3.96 [[ 9.93283419e-01 -9.73638002e-02 -6.25167247e-02 1.77517836e+02] [ 9.71686347e-02 9.95248857e-01 -6.16182619e-03 6.46926220e+00] [ 6.28196377e-02 4.57749922e-05 9.98024895e-01 3.95898508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.669254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:177.55, Y:6.47, Z:3.96 [[ 9.93199826e-01 -9.75614026e-02 -6.35285604e-02 1.77545834e+02] [ 9.73593730e-02 9.95229506e-01 -6.27551276e-03 6.47115164e+00] [ 6.38377456e-02 4.77373766e-05 9.97960290e-01 3.95984995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.699254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:177.57, Y:6.47, Z:3.96 [[ 9.93106240e-01 -9.83030062e-02 -6.38475980e-02 1.77573760e+02] [ 9.80992521e-02 9.95156530e-01 -6.32598843e-03 6.47333846e+00] [ 6.41602177e-02 1.89769732e-05 9.97939610e-01 3.96167561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.729254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:177.60, Y:6.48, Z:3.96 [[ 9.93016596e-01 -9.89104362e-02 -6.43021374e-02 1.77600339e+02] [ 9.87038932e-02 9.95096340e-01 -6.38872835e-03 6.47529809e+00] [ 6.46187335e-02 -2.75802760e-06 9.97910026e-01 3.96328003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.759254154 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:177.63, Y:6.48, Z:3.96 [[ 9.92906095e-01 -9.98436754e-02 -6.45656785e-02 1.77627958e+02] [ 9.96367650e-02 9.95003134e-01 -6.42475575e-03 6.47707804e+00] [ 6.48845237e-02 -5.39361929e-05 9.97892778e-01 3.96475178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.789254154 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:177.66, Y:6.48, Z:3.97 [[ 9.92788653e-01 -1.01053077e-01 -6.44900405e-02 1.77655484e+02] [ 1.00847967e-01 9.94881029e-01 -6.43622445e-03 6.47860886e+00] [ 6.48103182e-02 -1.13878850e-04 9.97897595e-01 3.96629251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.819254154 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:177.68, Y:6.48, Z:3.97 [[ 9.92497883e-01 -1.03825332e-01 -6.45620124e-02 1.77682734e+02] [ 1.03624473e-01 9.94595507e-01 -6.46105646e-03 6.47965648e+00] [ 6.48839088e-02 -2.77619636e-04 9.97892780e-01 3.96814283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.849254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:177.71, Y:6.48, Z:3.97 [[ 9.92358988e-01 -1.05259311e-01 -6.43748143e-02 1.77709325e+02] [ 1.05062095e-01 9.94444743e-01 -6.45057326e-03 6.48156015e+00] [ 6.46961785e-02 -3.62068512e-04 9.97904942e-01 3.96996082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.879254154 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:177.74, Y:6.48, Z:3.97 [[ 9.92211099e-01 -1.06940811e-01 -6.38811307e-02 1.77736880e+02] [ 1.06749481e-01 9.94265283e-01 -6.41058838e-03 6.48311087e+00] [ 6.42003440e-02 -4.58620603e-04 9.97936925e-01 3.97114872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.909254154 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:177.77, Y:6.48, Z:3.97 [[ 9.91934503e-01 -1.10446797e-01 -6.21888000e-02 1.77765306e+02] [ 1.10271238e-01 9.93881826e-01 -6.25866186e-03 6.48365871e+00] [ 6.24995672e-02 -6.49453292e-04 9.98044780e-01 3.97292131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93925415399997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:177.79, Y:6.49, Z:3.97 [[ 9.91759927e-01 -1.12317087e-01 -6.16207691e-02 1.77792639e+02] [ 1.12147294e-01 9.93672139e-01 -6.21815461e-03 6.48576027e+00] [ 6.19292464e-02 -7.43685958e-04 9.98080265e-01 3.97490104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96925415399997 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:177.82, Y:6.49, Z:3.98 [[ 9.91527730e-01 -1.14487955e-01 -6.13617809e-02 1.77821729e+02] [ 1.14323337e-01 9.93424256e-01 -6.19852784e-03 6.48789835e+00] [ 6.16679384e-02 -8.69071334e-04 9.98096343e-01 3.97658568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99925415399997 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:177.85, Y:6.49, Z:3.98 [[ 9.91313618e-01 -1.16491865e-01 -6.10487972e-02 1.77851601e+02] [ 1.16331852e-01 9.93191168e-01 -6.18099293e-03 6.48978100e+00] [ 6.13531616e-02 -9.74617179e-04 9.98115644e-01 3.97837636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02925415399997 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:177.88, Y:6.49, Z:3.98 [[ 9.90630338e-01 -1.22160024e-01 -6.10611264e-02 1.77881233e+02] [ 1.22010563e-01 9.92509535e-01 -6.18435569e-03 6.49029024e+00] [ 6.13592311e-02 -1.32369201e-03 9.98114869e-01 3.97996869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05925415399997 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:177.91, Y:6.49, Z:3.98 [[ 9.90620595e-01 -1.22239083e-01 -6.10609804e-02 1.77911168e+02] [ 1.22089682e-01 9.92499796e-01 -6.18579666e-03 6.49335424e+00] [ 6.13591567e-02 -1.32713812e-03 9.98114869e-01 3.98164739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08925415399997 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:177.94, Y:6.49, Z:3.98 [[ 9.90181202e-01 -1.25562792e-01 -6.14424274e-02 1.77940966e+02] [ 1.25417613e-01 9.92084482e-01 -6.22915313e-03 6.49483354e+00] [ 6.17382287e-02 -1.53797226e-03 9.98091191e-01 3.98315395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11925415399998 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:177.97, Y:6.49, Z:3.98 [[ 9.89197155e-01 -1.33084749e-01 -6.14608729e-02 1.77970868e+02] [ 1.32953840e-01 9.91102632e-01 -6.23298573e-03 6.49462454e+00] [ 6.17435482e-02 -2.00580729e-03 9.98090032e-01 3.98456027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14925415399998 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:178.00, Y:6.50, Z:3.99 [[ 9.88632809e-01 -1.37122819e-01 -6.16644302e-02 1.78001461e+02] [ 1.36998889e-01 9.90551462e-01 -6.25340389e-03 6.49631366e+00] [ 6.19392758e-02 -2.26563819e-03 9.98077348e-01 3.98598192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17925415399998 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:178.03, Y:6.50, Z:3.99 [[ 9.88141663e-01 -1.40412243e-01 -6.21325730e-02 1.78030801e+02] [ 1.40292900e-01 9.90089996e-01 -6.30099769e-03 6.49785570e+00] [ 6.24015762e-02 -2.49048054e-03 9.98048015e-01 3.98666923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20925415399998 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:178.06, Y:6.50, Z:3.99 [[ 9.87622107e-01 -1.44046957e-01 -6.20729309e-02 1.78061646e+02] [ 1.43934953e-01 9.89567124e-01 -6.29568331e-03 6.50048929e+00] [ 6.23322057e-02 -2.71670838e-03 9.98051760e-01 3.98960005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23925415399998 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:178.09, Y:6.50, Z:3.99 [[ 9.87197070e-01 -1.46849052e-01 -6.22679698e-02 1.78092056e+02] [ 1.46742036e-01 9.89154648e-01 -6.31327357e-03 6.50264742e+00] [ 6.25197500e-02 -2.90488349e-03 9.98039499e-01 3.99129304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.26925415399998 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:178.12, Y:6.50, Z:3.99 [[ 9.86634201e-01 -1.50579834e-01 -6.22789411e-02 1.78123432e+02] [ 1.50480263e-01 9.88592856e-01 -6.31310836e-03 6.50484011e+00] [ 6.25191431e-02 -3.14302281e-03 9.98038816e-01 3.99292623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.29925415399998 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:178.15, Y:6.51, Z:4.00 [[ 9.86513642e-01 -1.51324777e-01 -6.23830641e-02 1.78154015e+02] [ 1.51226511e-01 9.88478925e-01 -6.32121983e-03 6.50795952e+00] [ 6.26209013e-02 -3.19800355e-03 9.98032262e-01 3.99512338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.32925415399998 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:178.18, Y:6.51, Z:4.00 [[ 9.86446339e-01 -1.51750601e-01 -6.24129459e-02 1.78184565e+02] [ 1.51653290e-01 9.88413539e-01 -6.32104953e-03 6.51160104e+00] [ 6.26490238e-02 -3.22975244e-03 9.98030395e-01 3.99685194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.35925415399998 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:178.22, Y:6.52, Z:4.00 [[ 9.86520679e-01 -1.51075156e-01 -6.28748477e-02 1.78216303e+02] [ 1.50975134e-01 9.88517061e-01 -6.36625659e-03 6.51639688e+00] [ 6.31146429e-02 -3.21209479e-03 9.98001114e-01 3.99906257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.38925415399999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:178.25, Y:6.52, Z:4.00 [[ 9.86685976e-01 -1.50139908e-01 -6.25203390e-02 1.78247819e+02] [ 1.50039431e-01 9.88659777e-01 -6.32571084e-03 6.52038435e+00] [ 6.27610861e-02 -3.13902590e-03 9.98023643e-01 4.00084831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.419254154 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:178.28, Y:6.52, Z:4.00 [[ 9.86880834e-01 -1.48879448e-01 -6.24590243e-02 1.78278503e+02] [ 1.48776937e-01 9.88850618e-01 -6.31496032e-03 6.52440996e+00] [ 6.27028126e-02 -3.06034900e-03 9.98027551e-01 4.00322727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.449254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:178.31, Y:6.53, Z:4.01 [[ 9.87160264e-01 -1.47231868e-01 -6.19466649e-02 1.78310405e+02] [ 1.47128019e-01 9.89097651e-01 -6.25958855e-03 6.52872289e+00] [ 6.21929116e-02 -2.93487303e-03 9.98059832e-01 4.00553948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.479254154 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:178.34, Y:6.53, Z:4.01 [[ 9.87861352e-01 -1.43185994e-01 -6.02305623e-02 1.78341383e+02] [ 1.43080576e-01 9.89692356e-01 -6.08183911e-03 6.53428068e+00] [ 6.04805613e-02 -2.60980974e-03 9.98165963e-01 4.00776983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.509254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:178.37, Y:6.54, Z:4.01 [[ 9.88293869e-01 -1.40442086e-01 -5.95923594e-02 1.78373251e+02] [ 1.40334116e-01 9.90085940e-01 -6.01400096e-03 6.53891177e+00] [ 5.98461760e-02 -2.41924080e-03 9.98204680e-01 4.00977198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.539254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:178.41, Y:6.54, Z:4.01 [[ 9.88715314e-01 -1.37602309e-01 -5.92252616e-02 1.78405173e+02] [ 1.37490841e-01 9.90485031e-01 -5.97257921e-03 6.54390935e+00] [ 5.94835758e-02 -2.23775048e-03 9.98226776e-01 4.01193132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.569254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:178.44, Y:6.55, Z:4.01 [[ 9.89602435e-01 -1.31148634e-01 -5.90513065e-02 1.78436809e+02] [ 1.31026601e-01 9.91360993e-01 -5.95069646e-03 6.55080357e+00] [ 5.93215876e-02 -1.84846826e-03 9.98237212e-01 4.01408880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.599254154 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:178.47, Y:6.56, Z:4.02 [[ 9.89990039e-01 -1.27947424e-01 -5.95749820e-02 1.78468206e+02] [ 1.27817687e-01 9.91779536e-01 -5.99915109e-03 6.55565495e+00] [ 5.98528240e-02 -1.67563660e-03 9.98205806e-01 4.01596901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.629254154 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:178.50, Y:6.56, Z:4.02 [[ 9.90389817e-01 -1.24633430e-01 -5.99542998e-02 1.78499091e+02] [ 1.24496105e-01 9.92201742e-01 -6.03511844e-03 6.56031365e+00] [ 6.02389382e-02 -1.48695698e-03 9.98182879e-01 4.01747262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.659254154 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:178.53, Y:6.57, Z:4.02 [[ 9.90742706e-01 -1.21813617e-01 -5.99193964e-02 1.78530442e+02] [ 1.21671435e-01 9.92552119e-01 -6.02938986e-03 6.56506561e+00] [ 6.02075856e-02 -1.31690490e-03 9.98185009e-01 4.01890622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68925415399997 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:178.56, Y:6.57, Z:4.02 [[ 9.91211627e-01 -1.17781735e-01 -6.02243563e-02 1.78560606e+02] [ 1.17630797e-01 9.93038920e-01 -6.05791319e-03 6.57089545e+00] [ 6.05186413e-02 -1.07956502e-03 9.98166483e-01 4.02088746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71925415399997 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:178.59, Y:6.58, Z:4.02 [[ 9.91354104e-01 -1.16744375e-01 -5.98981696e-02 1.78591115e+02] [ 1.16593238e-01 9.93161481e-01 -6.02408488e-03 6.57502317e+00] [ 6.01918328e-02 -1.01172026e-03 9.98186315e-01 4.02268096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74925415399997 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:178.62, Y:6.58, Z:4.02 [[ 9.91331085e-01 -1.16405360e-01 -6.09300595e-02 1.78621269e+02] [ 1.16248328e-01 9.93201276e-01 -6.12786421e-03 6.57921846e+00] [ 6.12291291e-02 -1.00827527e-03 9.98123227e-01 4.02428376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77925415399997 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:178.65, Y:6.58, Z:4.03 [[ 9.91225563e-01 -1.16916616e-01 -6.16635130e-02 1.78651483e+02] [ 1.16756767e-01 9.93141177e-01 -6.20162918e-03 6.58260201e+00] [ 6.19656474e-02 -1.05241903e-03 9.98077728e-01 4.02544106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80925415399997 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:178.68, Y:6.59, Z:4.03 [[ 9.91110066e-01 -1.17565971e-01 -6.22822534e-02 1.78682291e+02] [ 1.17404192e-01 9.93064461e-01 -6.26359893e-03 6.58587186e+00] [ 6.25866785e-02 -1.10428169e-03 9.98038921e-01 4.02678343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83925415399997 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:178.71, Y:6.59, Z:4.03 [[ 9.90961182e-01 -1.18516405e-01 -6.28474151e-02 1.78712589e+02] [ 1.18353725e-01 9.92951397e-01 -6.31819634e-03 6.58919282e+00] [ 6.31532385e-02 -1.17713838e-03 9.98003148e-01 4.02822589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86925415399998 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:178.74, Y:6.59, Z:4.03 [[ 9.90849616e-01 -1.19088937e-01 -6.35205810e-02 1.78742046e+02] [ 1.18923984e-01 9.92882832e-01 -6.38497642e-03 6.59203447e+00] [ 6.38288744e-02 -1.22756912e-03 9.97960103e-01 4.02809108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.89925415399998 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:178.77, Y:6.60, Z:4.03 [[ 9.90624674e-01 -1.21030885e-01 -6.33583482e-02 1.78771362e+02] [ 1.20870665e-01 9.92647827e-01 -6.36982456e-03 6.59541899e+00] [ 6.36634721e-02 -1.34806029e-03 9.97970513e-01 4.02940575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92925415399998 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:178.80, Y:6.60, Z:4.03 [[ 9.90482389e-01 -1.22645852e-01 -6.24710418e-02 1.78801029e+02] [ 1.22493235e-01 9.92449469e-01 -6.28160934e-03 6.59937478e+00] [ 6.27697656e-02 -1.43045660e-03 9.98027009e-01 4.03343357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:178.83, Y:6.60, Z:4.04 [[ 9.90387800e-01 -1.23582738e-01 -6.21233609e-02 1.78832037e+02] [ 1.23433671e-01 9.92333166e-01 -6.24639985e-03 6.60285876e+00] [ 6.24190186e-02 -1.48175628e-03 9.98048932e-01 4.03546138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98925415399998 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:178.86, Y:6.61, Z:4.04 [[ 9.90294986e-01 -1.24577699e-01 -6.16136106e-02 1.78862624e+02] [ 1.24433133e-01 9.92208670e-01 -6.19287556e-03 6.60633567e+00] [ 6.19050528e-02 -1.53400096e-03 9.98080864e-01 4.03763059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.01925415399998 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:178.89, Y:6.61, Z:4.04 [[ 9.90027146e-01 -1.27203541e-01 -6.05434541e-02 1.78894256e+02] [ 1.27069001e-01 9.91875228e-01 -6.08292401e-03 6.60944872e+00] [ 6.08253218e-02 -1.67093634e-03 9.98147027e-01 4.03994568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.04925415399998 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:178.93, Y:6.61, Z:4.04 [[ 9.89831647e-01 -1.28991096e-01 -5.99550468e-02 1.78925387e+02] [ 1.28862710e-01 9.91644176e-01 -6.01918117e-03 6.61214231e+00] [ 6.02304937e-02 -1.76799382e-03 9.98182930e-01 4.04166695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.07925415399998 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:178.96, Y:6.61, Z:4.04 [[ 9.89587804e-01 -1.30697004e-01 -6.02849163e-02 1.78957756e+02] [ 1.30570784e-01 9.91420559e-01 -6.04531188e-03 6.61427034e+00] [ 6.05578095e-02 -1.88908186e-03 9.98162904e-01 4.04183494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.10925415399998 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:178.99, Y:6.62, Z:4.04 [[ 9.88839466e-01 -1.36034574e-01 -6.07544723e-02 1.78989408e+02] [ 1.35916706e-01 9.90701563e-01 -6.08781045e-03 6.61642347e+00] [ 6.10177034e-02 -2.23768052e-03 9.98134176e-01 4.04375870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.13925415399999 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:179.02, Y:6.62, Z:4.05 [[ 9.88405146e-01 -1.39125789e-01 -6.08217223e-02 1.79019996e+02] [ 1.39013769e-01 9.90271722e-01 -6.09009025e-03 6.61916150e+00] [ 6.10773203e-02 -2.43558033e-03 9.98130066e-01 4.04556147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.169254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:179.05, Y:6.62, Z:4.05 [[ 9.87971866e-01 -1.42001723e-01 -6.12135747e-02 1.79051877e+02] [ 1.41893977e-01 9.89862907e-01 -6.12578838e-03 6.62193392e+00] [ 6.14629195e-02 -2.63373097e-03 9.98105893e-01 4.04716466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.199254154 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:179.08, Y:6.62, Z:4.05 [[ 9.87543646e-01 -1.44645598e-01 -6.19289684e-02 1.79084125e+02] [ 1.44540784e-01 9.89479464e-01 -6.19284178e-03 6.62482175e+00] [ 6.21732098e-02 -2.83556010e-03 9.98061347e-01 4.04854461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.229254154 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:179.12, Y:6.63, Z:4.05 [[ 9.86743612e-01 -1.49166576e-01 -6.39247695e-02 1.79116152e+02] [ 1.49064667e-01 9.88806819e-01 -6.38749514e-03 6.62697525e+00] [ 6.41620488e-02 -3.22610446e-03 9.97934278e-01 4.04737045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.259254154 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:179.15, Y:6.63, Z:4.05 [[ 9.86406499e-01 -1.51723115e-01 -6.31055801e-02 1.79147911e+02] [ 1.51629304e-01 9.88417347e-01 -6.30098530e-03 6.63086145e+00] [ 6.33306552e-02 -3.35332235e-03 9.97986966e-01 4.05140604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.289254154 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:179.18, Y:6.63, Z:4.05 [[ 9.86128778e-01 -1.53320768e-01 -6.35828162e-02 1.79180246e+02] [ 1.53229147e-01 9.88170321e-01 -6.34388195e-03 6.63431141e+00] [ 6.38033007e-02 -3.48685609e-03 9.97956402e-01 4.05307925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.319254154 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:179.21, Y:6.64, Z:4.05 [[ 9.85939222e-01 -1.54469885e-01 -6.37409242e-02 1.79211072e+02] [ 1.54380491e-01 9.87991031e-01 -6.35509634e-03 6.63786177e+00] [ 6.39571324e-02 -3.57461645e-03 9.97946245e-01 4.05490174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.349254154 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:179.24, Y:6.64, Z:4.06 [[ 9.85846835e-01 -1.55193035e-01 -6.34124612e-02 1.79243337e+02] [ 1.55106278e-01 9.87877581e-01 -6.31873185e-03 6.64251337e+00] [ 6.36243720e-02 -3.60636906e-03 9.97967401e-01 4.05684872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.379254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:179.28, Y:6.65, Z:4.06 [[ 9.85969994e-01 -1.54342092e-01 -6.35742913e-02 1.79275153e+02] [ 1.54253428e-01 9.88011037e-01 -6.33022213e-03 6.64599185e+00] [ 6.37891212e-02 -3.56514327e-03 9.97957032e-01 4.05751390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.409254154 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:179.31, Y:6.65, Z:4.06 [[ 9.86079941e-01 -1.53957682e-01 -6.27963541e-02 1.79306734e+02] [ 1.53870686e-01 9.88071239e-01 -6.24815050e-03 6.65079397e+00] [ 6.30092222e-02 -3.50134220e-03 9.98006803e-01 4.06096701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43925415399997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:179.34, Y:6.66, Z:4.06 [[ 9.86381204e-01 -1.52162448e-01 -6.24396504e-02 1.79338942e+02] [ 1.52073141e-01 9.88349746e-01 -6.20805544e-03 6.65584542e+00] [ 6.26568455e-02 -3.37188454e-03 9.98029433e-01 4.06278477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46925415399997 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:179.37, Y:6.66, Z:4.06 [[ 9.86587623e-01 -1.50918180e-01 -6.21977875e-02 1.79370352e+02] [ 1.50827385e-01 9.88540801e-01 -6.17943038e-03 6.65957866e+00] [ 6.24176391e-02 -3.28458014e-03 9.98044713e-01 4.06411825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49925415399997 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:179.40, Y:6.66, Z:4.07 [[ 9.86744180e-01 -1.49883352e-01 -6.22165903e-02 1.79400913e+02] [ 1.49790673e-01 9.88698432e-01 -6.17778614e-03 6.66379092e+00] [ 6.24393925e-02 -3.22357040e-03 9.98043552e-01 4.06635376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52925415399997 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:179.43, Y:6.67, Z:4.07 [[ 9.86987861e-01 -1.48400820e-01 -6.19044359e-02 1.79432591e+02] [ 1.48306383e-01 9.88922382e-01 -6.14322313e-03 6.66783835e+00] [ 6.21303415e-02 -3.11753632e-03 9.98063175e-01 4.06772335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55925415399997 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:179.46, Y:6.67, Z:4.07 [[ 9.87450603e-01 -1.45059598e-01 -6.24421313e-02 1.79464305e+02] [ 1.44957150e-01 9.89418559e-01 -6.19185975e-03 6.67369277e+00] [ 6.26795923e-02 -2.93727776e-03 9.98029379e-01 4.06948501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58925415399997 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:179.50, Y:6.68, Z:4.07 [[ 9.87726737e-01 -1.42953784e-01 -6.29293982e-02 1.79495150e+02] [ 1.42845761e-01 9.89725318e-01 -6.23559885e-03 6.67834009e+00] [ 6.31742211e-02 -2.83013005e-03 9.97998501e-01 4.07136704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61925415399998 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:179.53, Y:6.68, Z:4.07 [[ 9.88004923e-01 -1.40832539e-01 -6.33440488e-02 1.79526905e+02] [ 1.40718975e-01 9.90029706e-01 -6.27300537e-03 6.68318419e+00] [ 6.35959333e-02 -2.71594943e-03 9.97972034e-01 4.07326386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64925415399998 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:179.56, Y:6.69, Z:4.08 [[ 9.88552155e-01 -1.36375581e-01 -6.45471688e-02 1.79558346e+02] [ 1.36248498e-01 9.90654102e-01 -6.38730993e-03 6.68962593e+00] [ 6.48149907e-02 -2.48026578e-03 9.97894215e-01 4.07530969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67925415399998 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:179.59, Y:6.70, Z:4.08 [[ 9.89204640e-01 -1.31398091e-01 -6.48746652e-02 1.79588899e+02] [ 1.31259375e-01 9.91327308e-01 -6.41442630e-03 6.69587615e+00] [ 6.51548706e-02 -2.17022774e-03 9.97872804e-01 4.07677529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70925415399998 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:179.62, Y:6.70, Z:4.08 [[ 9.89592632e-01 -1.28339584e-01 -6.50797511e-02 1.79620853e+02] [ 1.28193859e-01 9.91728300e-01 -6.42748479e-03 6.70051228e+00] [ 6.53663317e-02 -1.98223284e-03 9.97859366e-01 4.07871004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73925415399998 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:179.65, Y:6.70, Z:4.08 [[ 9.89604266e-01 -1.28249603e-01 -6.50802359e-02 1.79653352e+02] [ 1.28104006e-01 9.91739943e-01 -6.42257261e-03 6.70365910e+00] [ 6.53663618e-02 -1.98123370e-03 9.97859366e-01 4.08052986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.76925415399998 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:179.68, Y:6.71, Z:4.08 [[ 9.90068076e-01 -1.24742607e-01 -6.48420169e-02 1.79684212e+02] [ 1.24590929e-01 9.92187595e-01 -6.39348638e-03 6.70831103e+00] [ 6.51329850e-02 -1.74874035e-03 9.97875060e-01 4.08246143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.79925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:179.72, Y:6.71, Z:4.08 [[ 9.90999055e-01 -1.17323000e-01 -6.44684955e-02 1.79715815e+02] [ 1.17157615e-01 9.93093013e-01 -6.35296620e-03 6.71488613e+00] [ 6.47685615e-02 -1.25719165e-03 9.97899520e-01 4.08485503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82925415399998 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:179.75, Y:6.72, Z:4.09 [[ 9.91504979e-01 -1.13275039e-01 -6.39268476e-02 1.79747308e+02] [ 1.13104321e-01 9.93563177e-01 -6.29484502e-03 6.71979635e+00] [ 6.42284106e-02 -9.89032520e-04 9.97934734e-01 4.08696023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85925415399998 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:179.78, Y:6.72, Z:4.09 [[ 9.91979998e-01 -1.08915935e-01 -6.41327007e-02 1.79778435e+02] [ 1.08735312e-01 9.94050708e-01 -6.31046523e-03 6.72406273e+00] [ 6.44384668e-02 -7.13633964e-04 9.97921427e-01 4.08784460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88925415399999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:179.81, Y:6.73, Z:4.09 [[ 9.92406880e-01 -1.05213282e-01 -6.37083153e-02 1.79809035e+02] [ 1.05027617e-01 9.94449567e-01 -6.26563754e-03 6.72881285e+00] [ 6.40139349e-02 -4.73070727e-04 9.97948893e-01 4.09006683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.919254154 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:179.84, Y:6.73, Z:4.09 [[ 9.93072777e-01 -9.86199678e-02 -6.38792782e-02 1.79839315e+02] [ 9.84196685e-02 9.95125168e-01 -6.28245153e-03 6.73425210e+00] [ 6.41874526e-02 -4.80457979e-05 9.97937858e-01 4.09249593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.949254154 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:179.87, Y:6.74, Z:4.09 [[ 9.93064404e-01 -9.87042876e-02 -6.38792075e-02 1.79869253e+02] [ 9.85041164e-02 9.95116808e-01 -6.28317044e-03 6.73722103e+00] [ 6.41874489e-02 -5.27719789e-05 9.97937858e-01 4.09417400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.979254154 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:179.90, Y:6.74, Z:4.10 [[ 9.93286059e-01 -9.62110432e-02 -6.42358105e-02 1.79898795e+02] [ 9.60030889e-02 9.95360951e-01 -6.32335030e-03 6.74095355e+00] [ 6.45461935e-02 1.14059480e-04 9.97914714e-01 4.09578720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.009254154 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:179.93, Y:6.74, Z:4.10 [[ 9.93439984e-01 -9.43020743e-02 -6.46847517e-02 1.79927125e+02] [ 9.40869829e-02 9.95543600e-01 -6.37021552e-03 6.74404560e+00] [ 6.49972152e-02 2.42433670e-04 9.97885416e-01 4.09746688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.039254154 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:179.95, Y:6.75, Z:4.10 [[ 9.93621249e-01 -9.21781168e-02 -6.49615865e-02 1.79954782e+02] [ 9.19563372e-02 9.95742459e-01 -6.40215375e-03 6.74689450e+00] [ 6.52751484e-02 3.87686457e-04 9.97867228e-01 4.09921520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.069254154 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:179.98, Y:6.75, Z:4.10 [[ 9.93630790e-01 -9.19939351e-02 -6.50766407e-02 1.79982668e+02] [ 9.17704645e-02 9.95759484e-01 -6.42126246e-03 6.74944393e+00] [ 6.53913993e-02 4.08250549e-04 9.97859608e-01 4.10098332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.099254154 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:180.01, Y:6.75, Z:4.10 [[ 9.93634009e-01 -9.19506507e-02 -6.50886584e-02 1.80009444e+02] [ 9.17258727e-02 9.95763473e-01 -6.43971967e-03 6.75190433e+00] [ 6.54050450e-02 4.28410473e-04 9.97858706e-01 4.10274422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.129254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:180.04, Y:6.75, Z:4.10 [[ 9.93679090e-01 -9.18377934e-02 -6.45576095e-02 1.80035956e+02] [ 9.16159130e-02 9.95773883e-01 -6.39520292e-03 6.75301373e+00] [ 6.48721028e-02 4.40275085e-04 9.97893490e-01 4.10388739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.159254154 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:180.06, Y:6.75, Z:4.11 [[ 9.93656601e-01 -9.21308704e-02 -6.44861319e-02 1.80064104e+02] [ 9.19094933e-02 9.95746814e-01 -6.39743644e-03 6.75487114e+00] [ 6.48012618e-02 4.29967242e-04 9.97898097e-01 4.10540583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18925415399997 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:180.09, Y:6.76, Z:4.11 [[ 9.93611125e-01 -9.28659916e-02 -6.41314272e-02 1.80092946e+02] [ 9.26474409e-02 9.95678537e-01 -6.37981617e-03 6.75669695e+00] [ 6.44467536e-02 3.97443714e-04 9.97921068e-01 4.10663365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21925415399997 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:180.12, Y:6.76, Z:4.11 [[ 9.93576139e-01 -9.33806080e-02 -6.39258782e-02 1.80120255e+02] [ 9.31635359e-02 9.95630413e-01 -6.37468047e-03 6.75825574e+00] [ 6.42418201e-02 3.78169563e-04 9.97934289e-01 4.10838576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24925415399997 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:180.15, Y:6.76, Z:4.11 [[ 9.93467443e-01 -9.46955401e-02 -6.36804007e-02 1.80148919e+02] [ 9.44823664e-02 9.95506236e-01 -6.35746108e-03 6.75813919e+00] [ 6.39962592e-02 2.99255657e-04 9.97950094e-01 4.10984137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27925415399997 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:180.18, Y:6.76, Z:4.11 [[ 9.93397721e-01 -9.56794851e-02 -6.32961642e-02 1.80176918e+02] [ 9.54699227e-02 9.95412163e-01 -6.33402648e-03 6.75965972e+00] [ 6.36118081e-02 2.49327569e-04 9.97974687e-01 4.11116620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30925415399997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:180.21, Y:6.76, Z:4.11 [[ 9.93298634e-01 -9.65158194e-02 -6.35808227e-02 1.80205518e+02] [ 9.63056176e-02 9.95331430e-01 -6.36969109e-03 6.76136462e+00] [ 6.38987671e-02 2.03815063e-04 9.97956365e-01 4.11293048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33925415399997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:180.23, Y:6.76, Z:4.11 [[ 9.93260665e-01 -9.69440179e-02 -6.35225014e-02 1.80234545e+02] [ 9.67340324e-02 9.95289817e-01 -6.38017235e-03 6.76277430e+00] [ 6.38418183e-02 1.92386527e-04 9.97960012e-01 4.11465588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36925415399998 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:180.26, Y:6.76, Z:4.12 [[ 9.93276163e-01 -9.67482320e-02 -6.35786419e-02 1.80262260e+02] [ 9.65365065e-02 9.95308862e-01 -6.40092165e-03 6.76154756e+00] [ 6.38996636e-02 2.20222919e-04 9.97956304e-01 4.11555153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:180.29, Y:6.76, Z:4.12 [[ 9.93267594e-01 -9.67470725e-02 -6.37141253e-02 1.80290645e+02] [ 9.65339567e-02 9.95308973e-01 -6.42210038e-03 6.76248634e+00] [ 6.40365600e-02 2.28287585e-04 9.97947527e-01 4.11710312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:180.32, Y:6.76, Z:4.12 [[ 9.93320326e-01 -9.62283093e-02 -6.36776521e-02 1.80318718e+02] [ 9.60131675e-02 9.95359249e-01 -6.43721686e-03 6.76345882e+00] [ 6.40015824e-02 2.80325279e-04 9.97949758e-01 4.11887694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45925415399998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:180.35, Y:6.76, Z:4.12 [[ 9.93386219e-01 -9.55578584e-02 -6.36593749e-02 1.80347344e+02] [ 9.53402736e-02 9.95423819e-01 -6.45395068e-03 6.76460085e+00] [ 6.39847837e-02 3.41963445e-04 9.97950816e-01 4.12048475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48925415399998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:180.38, Y:6.77, Z:4.12 [[ 9.93464346e-01 -9.46523843e-02 -6.37927905e-02 1.80375340e+02] [ 9.44309175e-02 9.95510297e-01 -6.48464437e-03 6.76583340e+00] [ 6.41201669e-02 4.18251234e-04 9.97942097e-01 4.12174715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.51925415399998 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:180.40, Y:6.77, Z:4.12 [[ 9.93744126e-01 -9.13240646e-02 -6.42847322e-02 1.80402039e+02] [ 9.10910438e-02 9.95821011e-01 -6.55260646e-03 6.76518115e+00] [ 6.46144976e-02 6.55850818e-04 9.97910084e-01 4.12342378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.54925415399998 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:180.43, Y:6.77, Z:4.13 [[ 9.93864629e-01 -8.96990941e-02 -6.47083611e-02 1.80429804e+02] [ 8.94588947e-02 9.95968609e-01 -6.60580524e-03 6.76648319e+00] [ 6.50400311e-02 7.76537712e-04 9.97882353e-01 4.12525851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57925415399998 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:180.46, Y:6.77, Z:4.13 [[ 9.94163015e-01 -8.61738690e-02 -6.49150449e-02 1.80456963e+02] [ 8.59234135e-02 9.96279582e-01 -6.64539769e-03 6.76585413e+00] [ 6.52461934e-02 1.02888636e-03 9.97868667e-01 4.12625216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:180.49, Y:6.77, Z:4.13 [[ 9.94288820e-01 -8.48232566e-02 -6.47669527e-02 1.80485145e+02] [ 8.45701406e-02 9.96395373e-01 -6.64467284e-03 6.76664380e+00] [ 6.50971148e-02 1.12937362e-03 9.97878294e-01 4.12757863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63925415399999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:180.51, Y:6.77, Z:4.13 [[ 9.94376840e-01 -8.36436265e-02 -6.49495468e-02 1.80513158e+02] [ 8.33853304e-02 9.96494974e-01 -6.68229547e-03 6.76722052e+00] [ 6.52808284e-02 1.22888044e-03 9.97866175e-01 4.12917633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.669254154 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:180.54, Y:6.77, Z:4.13 [[ 9.94658436e-01 -8.30328515e-02 -6.13199923e-02 1.80538714e+02] [ 8.21495352e-02 9.96478530e-01 -1.67926569e-02 6.77381060e+00] [ 6.24983979e-02 1.16655490e-02 9.97976886e-01 4.13149184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.699254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:180.57, Y:6.76, Z:4.13 [[ 9.94409642e-01 -8.18844746e-02 -6.66663102e-02 1.80569391e+02] [ 8.22648953e-02 9.96606054e-01 2.97664545e-03 6.76353328e+00] [ 6.61963073e-02 -8.44430197e-03 9.97770887e-01 4.12920702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.729254154 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:180.60, Y:6.77, Z:4.13 [[ 9.94437085e-01 -8.28964682e-02 -6.49850675e-02 1.80597458e+02] [ 8.26330783e-02 9.96557280e-01 -6.73510665e-03 6.76534105e+00] [ 6.53196586e-02 1.32772366e-03 9.97863507e-01 4.13435175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.759254154 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:180.63, Y:6.76, Z:4.14 [[ 9.94360432e-01 -8.40549750e-02 -6.46690984e-02 1.80625562e+02] [ 8.37953448e-02 9.96460316e-01 -6.72147572e-03 6.76492790e+00] [ 6.50051637e-02 1.26460010e-03 9.97884126e-01 4.13583680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.789254154 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:180.65, Y:6.76, Z:4.14 [[ 9.94248880e-01 -8.59289048e-02 -6.39170366e-02 1.80652387e+02] [ 8.56780294e-02 9.96300612e-01 -6.66075551e-03 6.76450205e+00] [ 6.42529341e-02 1.14616297e-03 9.97932987e-01 4.13721562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.819254154 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:180.68, Y:6.76, Z:4.14 [[ 9.93921606e-01 -8.97975842e-02 -6.36885767e-02 1.80681283e+02] [ 8.95558147e-02 9.95959627e-01 -6.64655054e-03 6.75981308e+00] [ 6.40280953e-02 9.02467818e-04 9.97947688e-01 4.13896801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.849254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:180.71, Y:6.76, Z:4.14 [[ 9.93668164e-01 -9.19556731e-02 -6.45579951e-02 1.80709099e+02] [ 9.17105345e-02 9.95762785e-01 -6.75669600e-03 6.75803964e+00] [ 6.49057656e-02 7.93265472e-04 9.97891082e-01 4.13981890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.879254154 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:180.74, Y:6.76, Z:4.14 [[ 9.93422515e-01 -9.51151148e-02 -6.37559593e-02 1.80737359e+02] [ 9.48813219e-02 9.95466100e-01 -6.69162683e-03 6.75724506e+00] [ 6.41033710e-02 5.98363061e-04 9.97943084e-01 4.14188851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.909254154 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:180.77, Y:6.75, Z:4.14 [[ 9.92869971e-01 -1.00942754e-01 -6.34017482e-02 1.80765471e+02] [ 1.00722304e-01 9.94892207e-01 -6.67188301e-03 6.75156673e+00] [ 6.37513834e-02 2.38342167e-04 9.97965783e-01 4.14285848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93925415399997 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:180.79, Y:6.75, Z:4.14 [[ 9.92550864e-01 -1.04224470e-01 -6.30875729e-02 1.80793749e+02] [ 1.04012223e-01 9.94553799e-01 -6.64823915e-03 6.75022621e+00] [ 6.34368945e-02 3.68368182e-05 9.97985851e-01 4.14484271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96925415399997 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:180.82, Y:6.75, Z:4.15 [[ 9.92224026e-01 -1.07560722e-01 -6.26272612e-02 1.80822318e+02] [ 1.07357021e-01 9.94198505e-01 -6.61841803e-03 6.74899872e+00] [ 6.29758112e-02 -1.56522832e-04 9.98015041e-01 4.14619881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99925415399997 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:180.85, Y:6.75, Z:4.15 [[ 9.91931055e-01 -1.10829718e-01 -6.15593686e-02 1.80850134e+02] [ 1.10638068e-01 9.93839352e-01 -6.52377438e-03 6.74772402e+00] [ 6.19031511e-02 -3.39675218e-04 9.98082103e-01 4.14777039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02925415399997 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:180.88, Y:6.74, Z:4.15 [[ 9.91438193e-01 -1.16402509e-01 -5.91672740e-02 1.80878875e+02] [ 1.16234369e-01 9.93201914e-01 -6.28729655e-03 6.74192064e+00] [ 5.94969068e-02 -6.43804797e-04 9.98228282e-01 4.14895545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05925415399997 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:180.91, Y:6.74, Z:4.15 [[ 9.91216475e-01 -1.18540408e-01 -5.86350739e-02 1.80906064e+02] [ 1.18378022e-01 9.92948947e-01 -6.24759560e-03 6.74018786e+00] [ 5.89622274e-02 -7.48384354e-04 9.98259934e-01 4.15033955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08925415399997 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:180.93, Y:6.74, Z:4.15 [[ 9.90999231e-01 -1.20880430e-01 -5.75191000e-02 1.80934633e+02] [ 1.20727660e-01 9.92666700e-01 -6.13637479e-03 6.73911376e+00] [ 5.78390628e-02 -8.63003672e-04 9.98325547e-01 4.15120418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11925415399998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:180.96, Y:6.73, Z:4.15 [[ 9.90651681e-01 -1.23733431e-01 -5.74393952e-02 1.80962992e+02] [ 1.23584887e-01 9.92314978e-01 -6.14492506e-03 6.73484013e+00] [ 5.77583049e-02 -1.01116079e-03 9.98330084e-01 4.15194757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.14925415399998 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:180.99, Y:6.73, Z:4.15 [[ 9.90535304e-01 -1.24736923e-01 -5.72757450e-02 1.80991436e+02] [ 1.24589924e-01 9.92189295e-01 -6.14433483e-03 6.73448023e+00] [ 5.75948065e-02 -1.04980015e-03 9.98339489e-01 4.15292051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17925415399998 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:181.02, Y:6.73, Z:4.15 [[ 9.90481815e-01 -1.25267525e-01 -5.70422806e-02 1.81019815e+02] [ 1.25121619e-01 9.92122435e-01 -6.13640315e-03 6.73390030e+00] [ 5.73616183e-02 -1.05922675e-03 9.98352905e-01 4.15373440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:181.05, Y:6.73, Z:4.16 [[ 9.90448031e-01 -1.25526875e-01 -5.70587632e-02 1.81047338e+02] [ 1.25380348e-01 9.92089656e-01 -6.15498561e-03 6.73359621e+00] [ 5.73800249e-02 -1.05785420e-03 9.98351849e-01 4.15510220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23925415399998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:181.08, Y:6.73, Z:4.16 [[ 9.90415092e-01 -1.25791669e-01 -5.70473597e-02 1.81075332e+02] [ 1.25645197e-01 9.92056108e-01 -6.16143258e-03 6.73022699e+00] [ 5.73692385e-02 -1.06535096e-03 9.98352461e-01 4.15618904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.26925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:181.10, Y:6.73, Z:4.16 [[ 9.90387122e-01 -1.26025873e-01 -5.70160310e-02 1.81103828e+02] [ 1.25878987e-01 9.92026387e-01 -6.17482717e-03 6.73032529e+00] [ 5.73395952e-02 -1.06165091e-03 9.98354167e-01 4.15766054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.29925415399998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:181.13, Y:6.73, Z:4.16 [[ 9.90372535e-01 -1.26353309e-01 -5.65427586e-02 1.81132101e+02] [ 1.26208444e-01 9.91984742e-01 -6.14010262e-03 6.73041789e+00] [ 5.68653760e-02 -1.05518458e-03 9.98381298e-01 4.15888743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:181.16, Y:6.73, Z:4.16 [[ 9.90290525e-01 -1.26855067e-01 -5.68547940e-02 1.81159771e+02] [ 1.26708428e-01 9.91920683e-01 -6.19136723e-03 6.73082290e+00] [ 5.71808524e-02 -1.07272929e-03 9.98363260e-01 4.16044539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.35925415399998 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:181.19, Y:6.73, Z:4.16 [[ 9.90099383e-01 -1.27783494e-01 -5.80912280e-02 1.81187915e+02] [ 1.27630940e-01 9.91801439e-01 -6.34413796e-03 6.72813728e+00] [ 5.84256397e-02 -1.13291096e-03 9.98291120e-01 4.16006832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.38925415399999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:181.22, Y:6.73, Z:4.16 [[ 9.89937735e-01 -1.29003690e-01 -5.81491913e-02 1.81215453e+02] [ 1.28851898e-01 9.91643401e-01 -6.36814050e-03 6.72934258e+00] [ 5.84847754e-02 -1.18857105e-03 9.98287593e-01 4.16303956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.419254154 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:181.24, Y:6.73, Z:4.16 [[ 9.89718391e-01 -1.30364119e-01 -5.88447418e-02 1.81243605e+02] [ 1.30210006e-01 9.91465377e-01 -6.46229823e-03 6.72995302e+00] [ 5.91849759e-02 -1.26631878e-03 9.98246230e-01 4.16300180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.449254154 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:181.27, Y:6.73, Z:4.16 [[ 9.89297574e-01 -1.33073759e-01 -5.98471711e-02 1.81270969e+02] [ 1.32918238e-01 9.91105098e-01 -6.58996827e-03 6.72887697e+00] [ 6.01917882e-02 -1.43534088e-03 9.98185799e-01 4.16390328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.479254154 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:181.30, Y:6.73, Z:4.17 [[ 9.89011933e-01 -1.35108005e-01 -6.00101979e-02 1.81298060e+02] [ 1.34954897e-01 9.90829656e-01 -6.61578203e-03 6.73082886e+00] [ 6.03537289e-02 -1.55558269e-03 9.98175840e-01 4.16651189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.509254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:181.33, Y:6.73, Z:4.17 [[ 9.88742766e-01 -1.37035494e-01 -6.00750853e-02 1.81326442e+02] [ 1.36885088e-01 9.90564736e-01 -6.63149863e-03 6.73235154e+00] [ 6.04170117e-02 -1.66653703e-03 9.98171833e-01 4.16811464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.539254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:181.35, Y:6.73, Z:4.17 [[ 9.88495628e-01 -1.38805088e-01 -6.00794499e-02 1.81354615e+02] [ 1.38656842e-01 9.90318161e-01 -6.64980516e-03 6.73392714e+00] [ 6.04207972e-02 -1.75712349e-03 9.98171448e-01 4.17003119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.569254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:181.38, Y:6.73, Z:4.17 [[ 9.87971649e-01 -1.42856207e-01 -5.91956427e-02 1.81381523e+02] [ 1.42718541e-01 9.89741516e-01 -6.56882365e-03 6.73440889e+00] [ 5.95267823e-02 -1.95850423e-03 9.98224788e-01 4.17167079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.599254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:181.41, Y:6.74, Z:4.17 [[ 9.87933233e-01 -1.43122011e-01 -5.91947394e-02 1.81409731e+02] [ 1.42984336e-01 9.89703099e-01 -6.57695370e-03 6.73762857e+00] [ 5.95265238e-02 -1.96632937e-03 9.98224788e-01 4.17325536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.629254154 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:181.44, Y:6.74, Z:4.18 [[ 9.87528538e-01 -1.46478164e-01 -5.77194433e-02 1.81437582e+02] [ 1.46352088e-01 9.89211677e-01 -6.42844712e-03 6.73870463e+00] [ 5.80383744e-02 -2.09908608e-03 9.98312146e-01 4.17533793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.659254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:181.46, Y:6.74, Z:4.18 [[ 9.87373298e-01 -1.47828174e-01 -5.69280330e-02 1.81464554e+02] [ 1.47706820e-01 9.89010761e-01 -6.35687899e-03 6.74065187e+00] [ 5.72421630e-02 -2.13204616e-03 9.98358047e-01 4.17562717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68925415399997 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:181.49, Y:6.74, Z:4.18 [[ 9.87186987e-01 -1.49245407e-01 -5.64593747e-02 1.81492357e+02] [ 1.49127931e-01 9.88797764e-01 -6.31200827e-03 6.74376668e+00] [ 5.67689417e-02 -2.18853731e-03 9.98384945e-01 4.17885983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71925415399997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:181.52, Y:6.75, Z:4.18 [[ 9.87103292e-01 -1.49949179e-01 -5.60565292e-02 1.81519644e+02] [ 1.49833580e-01 9.88691265e-01 -6.28336249e-03 6.74643759e+00] [ 5.63647858e-02 -2.19682263e-03 9.98407825e-01 4.18062343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74925415399997 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:181.55, Y:6.75, Z:4.18 [[ 9.86947262e-01 -1.51167989e-01 -5.55278415e-02 1.81547868e+02] [ 1.51055570e-01 9.88505575e-01 -6.24044767e-03 6.74912122e+00] [ 5.58329368e-02 -2.22879700e-03 9.98437637e-01 4.18181623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77925415399997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:181.57, Y:6.75, Z:4.18 [[ 9.86850954e-01 -1.51717796e-01 -5.57396128e-02 1.81574682e+02] [ 1.51604464e-01 9.88421286e-01 -6.28078271e-03 6.75223222e+00] [ 5.60471262e-02 -2.25217773e-03 9.98425584e-01 4.18328373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80925415399997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:181.60, Y:6.76, Z:4.18 [[ 9.86739714e-01 -1.52291234e-01 -5.61437095e-02 1.81602356e+02] [ 1.52176760e-01 9.88332999e-01 -6.33372387e-03 6.75598060e+00] [ 5.64532514e-02 -2.29403095e-03 9.98402608e-01 4.18316638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83925415399997 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:181.63, Y:6.76, Z:4.19 [[ 9.86630675e-01 -1.52922947e-01 -5.63425540e-02 1.81630257e+02] [ 1.52807727e-01 9.88235388e-01 -6.37309996e-03 6.76069740e+00] [ 5.66542989e-02 -2.32168169e-03 9.98391156e-01 4.18638958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:181.66, Y:6.76, Z:4.19 [[ 9.86587952e-01 -1.53199032e-01 -5.63406522e-02 1.81658456e+02] [ 1.53083306e-01 9.88192629e-01 -6.38986861e-03 6.76397469e+00] [ 5.66543389e-02 -2.32064591e-03 9.98391156e-01 4.18797580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89925415399998 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:181.69, Y:6.77, Z:4.19 [[ 9.86537697e-01 -1.53367642e-01 -5.67603647e-02 1.81685102e+02] [ 1.53249551e-01 9.88166448e-01 -6.45342737e-03 6.76808567e+00] [ 5.70784349e-02 -2.33195104e-03 9.98366974e-01 4.18964690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92925415399998 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:181.71, Y:6.77, Z:4.19 [[ 9.86484130e-01 -1.53692259e-01 -5.68133025e-02 1.81711275e+02] [ 1.53574059e-01 9.88115979e-01 -6.46687797e-03 6.77245622e+00] [ 5.71320411e-02 -2.34557699e-03 9.98363876e-01 4.19104868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95925415399998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:181.74, Y:6.78, Z:4.19 [[ 9.86353783e-01 -1.54190166e-01 -5.77200771e-02 1.81739525e+02] [ 1.53975519e-01 9.88040846e-01 -8.17474402e-03 6.77760055e+00] [ 5.82902589e-02 -8.24289120e-04 9.98299337e-01 4.19303835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:181.77, Y:6.78, Z:4.19 [[ 9.86211080e-01 -1.55064669e-01 -5.78156898e-02 1.81766471e+02] [ 1.55038000e-01 9.87895986e-01 -4.97391798e-03 6.78082197e+00] [ 5.78871668e-02 -4.05829588e-03 9.98314883e-01 4.19199104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.01925415399998 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:181.79, Y:6.79, Z:4.19 [[ 9.86108843e-01 -1.55838803e-01 -5.74770937e-02 1.81792641e+02] [ 1.55719716e-01 9.87779414e-01 -6.57257417e-03 6.78594443e+00] [ 5.77989520e-02 -2.46904318e-03 9.98325190e-01 4.19326265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.04925415399998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:181.82, Y:6.79, Z:4.19 [[ 9.85942949e-01 -1.56885463e-01 -5.74756700e-02 1.81820073e+02] [ 1.56767713e-01 9.87613582e-01 -6.58005255e-03 6.79063927e+00] [ 5.77960669e-02 -2.52277289e-03 9.98325223e-01 4.19438939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:181.85, Y:6.80, Z:4.20 [[ 9.85558882e-01 -1.59095867e-01 -5.79844402e-02 1.81846931e+02] [ 1.58978853e-01 9.87259557e-01 -6.65514506e-03 6.79754761e+00] [ 5.83044988e-02 -2.65926244e-03 9.98295304e-01 4.19792809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10925415399998 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:181.87, Y:6.80, Z:4.20 [[ 9.85333862e-01 -1.60407824e-01 -5.81937247e-02 1.81874615e+02] [ 1.60291255e-01 9.87047049e-01 -6.69604286e-03 6.80223977e+00] [ 5.85140419e-02 -2.73010739e-03 9.98282852e-01 4.19938788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13925415399999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:181.90, Y:6.81, Z:4.20 [[ 9.85106711e-01 -1.61748688e-01 -5.83277733e-02 1.81902644e+02] [ 1.61632935e-01 9.86828011e-01 -6.72831229e-03 6.80692144e+00] [ 5.86477763e-02 -2.79958361e-03 9.98274812e-01 4.20090991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.169254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:181.93, Y:6.81, Z:4.20 [[ 9.84875596e-01 -1.63202163e-01 -5.81817305e-02 1.81930322e+02] [ 1.63088497e-01 9.86588498e-01 -6.72885050e-03 6.81159908e+00] [ 5.84995890e-02 -2.86169032e-03 9.98283331e-01 4.20205976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.199254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:181.96, Y:6.82, Z:4.20 [[ 9.84601979e-01 -1.64923428e-01 -5.79586511e-02 1.81956574e+02] [ 1.64812617e-01 9.86302004e-01 -6.71993856e-03 6.81825321e+00] [ 5.82730090e-02 -2.93585214e-03 9.98296367e-01 4.20462341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.229254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:181.98, Y:6.82, Z:4.21 [[ 9.84507002e-01 -1.65625016e-01 -5.75701040e-02 1.81983462e+02] [ 1.65516449e-01 9.86184390e-01 -6.68232642e-03 6.82327416e+00] [ 5.78814983e-02 -2.95000204e-03 9.98319102e-01 4.20635074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.259254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:182.01, Y:6.83, Z:4.21 [[ 9.84457741e-01 -1.66235795e-01 -5.66446534e-02 1.82010955e+02] [ 1.66131273e-01 9.86081677e-01 -6.58232559e-03 6.83023206e+00] [ 5.69504729e-02 -2.93042698e-03 9.98372704e-01 4.20718868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.289254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:182.04, Y:6.84, Z:4.21 [[ 9.84513033e-01 -1.66033405e-01 -5.62760781e-02 1.82037310e+02] [ 1.65928988e-01 9.86115913e-01 -6.55574192e-03 6.83579132e+00] [ 5.65832083e-02 -2.88361931e-03 9.98393723e-01 4.20980600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.319254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:182.07, Y:6.84, Z:4.21 [[ 9.84889672e-01 -1.63896653e-01 -5.59483796e-02 1.82068124e+02] [ 1.63820835e-01 9.86472043e-01 -5.97010658e-03 6.84002509e+00] [ 5.61699928e-02 -3.28561394e-03 9.98415814e-01 4.21104779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.349254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:182.09, Y:6.85, Z:4.21 [[ 9.84984264e-01 -1.63284199e-01 -5.60737942e-02 1.82094693e+02] [ 1.63164921e-01 9.86575855e-01 -6.72985298e-03 6.84658965e+00] [ 5.64199301e-02 -2.52047691e-03 9.98403946e-01 4.21085008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.379254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:182.12, Y:6.85, Z:4.21 [[ 9.85277349e-01 -1.61396657e-01 -5.63885131e-02 1.82122278e+02] [ 1.61282556e-01 9.86886212e-01 -6.59860716e-03 6.85270116e+00] [ 5.67140392e-02 -2.59302536e-03 9.98387096e-01 4.21474267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.409254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:182.15, Y:6.86, Z:4.22 [[ 9.86577807e-01 -1.53678368e-01 -5.52013523e-02 1.82152265e+02] [ 1.53434182e-01 9.88120921e-01 -8.66013923e-03 6.86038239e+00] [ 5.58764871e-02 7.41268390e-05 9.98437686e-01 4.21541224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43925415399997 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:182.18, Y:6.87, Z:4.21 [[ 9.87794873e-01 -1.48556476e-01 -4.68215972e-02 1.82184531e+02] [ 1.47239891e-01 9.88632495e-01 -3.04336192e-02 6.87483273e+00] [ 5.08104637e-02 2.31681661e-02 9.98439549e-01 4.21428520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46925415399997 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:182.21, Y:6.86, Z:4.21 [[ 9.87418872e-01 -1.46119675e-01 -6.04401431e-02 1.82208741e+02] [ 1.47693221e-01 9.88779102e-01 2.24187528e-02 6.85969430e+00] [ 5.64861295e-02 -3.10632990e-02 9.97920031e-01 4.21370006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49925415399997 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:182.23, Y:6.88, Z:4.22 [[ 9.88515633e-01 -1.39666006e-01 -5.77083254e-02 1.82234665e+02] [ 1.39505983e-01 9.90197795e-01 -6.81228232e-03 6.88225907e+00] [ 5.80941008e-02 -1.31660911e-03 9.98310243e-01 4.22031704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52925415399997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:182.26, Y:6.89, Z:4.22 [[ 9.88941302e-01 -1.36408559e-01 -5.82048678e-02 1.82260903e+02] [ 1.36239271e-01 9.90652033e-01 -6.88559169e-03 6.88843478e+00] [ 5.86000243e-02 -1.12034274e-03 9.98280913e-01 4.22344059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55925415399997 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:182.29, Y:6.89, Z:4.23 [[ 9.89304178e-01 -1.33619559e-01 -5.85068896e-02 1.82288715e+02] [ 1.33443168e-01 9.91032243e-01 -6.92923068e-03 6.89424261e+00] [ 5.89080948e-02 -9.52227827e-04 9.98262956e-01 4.22511379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:182.32, Y:6.90, Z:4.23 [[ 9.89610077e-01 -1.31191940e-01 -5.88266207e-02 1.82315036e+02] [ 1.31008349e-01 9.91356667e-01 -6.98361396e-03 6.89954813e+00] [ 5.92343565e-02 -7.95723686e-04 9.98243787e-01 4.22625316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:182.34, Y:6.91, Z:4.23 [[ 9.89945877e-01 -1.28633340e-01 -5.88270724e-02 1.82342538e+02] [ 1.28444764e-01 9.91692019e-01 -6.99155895e-03 6.90657468e+00] [ 5.92376857e-02 -6.34764442e-04 9.98243705e-01 4.22801865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64925415399998 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:182.37, Y:6.91, Z:4.23 [[ 9.90003211e-01 -1.28243338e-01 -5.87136094e-02 1.82368981e+02] [ 1.28053802e-01 9.91742554e-01 -6.99497048e-03 6.91061696e+00] [ 5.91258433e-02 -5.93457691e-04 9.98250361e-01 4.22887822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:182.40, Y:6.91, Z:4.23 [[ 9.89903058e-01 -1.29022670e-01 -5.86948525e-02 1.82395388e+02] [ 1.28834177e-01 9.91641443e-01 -7.00027797e-03 6.91470465e+00] [ 5.91074428e-02 -6.32306447e-04 9.98251426e-01 4.23062613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:182.42, Y:6.92, Z:4.23 [[ 9.89514464e-01 -1.31927714e-01 -5.87894841e-02 1.82422799e+02] [ 1.31743258e-01 9.91259017e-01 -7.01956430e-03 6.91883890e+00] [ 5.92016814e-02 -7.99157779e-04 9.98245722e-01 4.23204777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:182.45, Y:6.92, Z:4.23 [[ 9.89173305e-01 -1.34447311e-01 -5.88225511e-02 1.82450415e+02] [ 1.34266086e-01 9.90920304e-01 -7.04052831e-03 6.92277229e+00] [ 5.92350403e-02 -9.33571033e-04 9.98243627e-01 4.23359227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76925415399998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:182.48, Y:6.93, Z:4.24 [[ 9.88801574e-01 -1.37127095e-01 -5.88863982e-02 1.82478120e+02] [ 1.36949208e-01 9.90552874e-01 -7.06523444e-03 6.92642119e+00] [ 5.92989261e-02 -1.07833066e-03 9.98239688e-01 4.23511072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.79925415399998 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:182.51, Y:6.93, Z:4.24 [[ 9.88398967e-01 -1.39957919e-01 -5.89852695e-02 1.82506051e+02] [ 1.39783490e-01 9.90156684e-01 -7.09350115e-03 6.93012549e+00] [ 5.93974505e-02 -1.23395760e-03 9.98233650e-01 4.23688794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82925415399998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:182.53, Y:6.93, Z:4.24 [[ 9.87395765e-01 -1.46659928e-01 -5.95018313e-02 1.82534739e+02] [ 1.46494205e-01 9.89185604e-01 -7.16166180e-03 6.93365277e+00] [ 5.99086837e-02 -1.64527894e-03 9.98202506e-01 4.23727871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:182.56, Y:6.94, Z:4.24 [[ 9.86927704e-01 -1.49343654e-01 -6.05820179e-02 1.82563079e+02] [ 1.49175920e-01 9.88783668e-01 -7.30774885e-03 6.93651840e+00] [ 6.09938758e-02 -1.82515845e-03 9.98136472e-01 4.24068861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88925415399999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:182.59, Y:6.94, Z:4.24 [[ 9.86341137e-01 -1.53361592e-01 -6.00947961e-02 1.82590600e+02] [ 1.53203121e-01 9.88168027e-01 -7.26321609e-03 6.93968563e+00] [ 6.04976545e-02 -2.04270150e-03 9.98166249e-01 4.23990181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.919254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:182.62, Y:6.94, Z:4.24 [[ 9.85852680e-01 -1.56423247e-01 -6.02184459e-02 1.82619545e+02] [ 1.56269483e-01 9.87687601e-01 -7.28369133e-03 6.94325535e+00] [ 6.06163510e-02 -2.22965881e-03 9.98158648e-01 4.24230725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.949254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:182.66, Y:6.97, Z:4.24 [[ 9.86710622e-01 -1.57415579e-01 -4.02800789e-02 1.82656466e+02] [ 1.54854345e-01 9.86093568e-01 -6.03291501e-02 6.96752733e+00] [ 4.92166749e-02 5.32898680e-02 9.97365484e-01 4.24089424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.979254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:182.68, Y:6.92, Z:4.23 [[ 9.84886356e-01 -1.59749506e-01 -6.69250453e-02 1.82681358e+02] [ 1.63181598e-01 9.85359626e-01 4.93778615e-02 6.92363242e+00] [ 5.80571486e-02 -5.95525179e-02 9.96535431e-01 4.23328855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.009254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:182.71, Y:6.96, Z:4.25 [[ 9.84515611e-01 -1.64659550e-01 -6.01352183e-02 1.82707568e+02] [ 1.64519466e-01 9.86346768e-01 -7.30741248e-03 6.95540745e+00] [ 6.05174135e-02 -2.69915234e-03 9.98163492e-01 4.24840798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.039254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:182.74, Y:6.96, Z:4.25 [[ 9.84009160e-01 -1.67554905e-01 -6.04262064e-02 1.82737246e+02] [ 1.67418892e-01 9.85858507e-01 -7.34292668e-03 6.95952038e+00] [ 6.08020330e-02 -2.89098141e-03 9.98145658e-01 4.24997340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.069254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:182.77, Y:6.96, Z:4.25 [[ 9.83806388e-01 -1.68795106e-01 -6.02760584e-02 1.82768796e+02] [ 1.68661975e-01 9.85646722e-01 -7.32653455e-03 6.96362268e+00] [ 6.06475825e-02 -2.95838754e-03 9.98154857e-01 4.25103580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.099254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:182.80, Y:6.97, Z:4.25 [[ 9.83556704e-01 -1.70339656e-01 -6.00050897e-02 1.82798598e+02] [ 1.70210726e-01 9.85380712e-01 -7.29123701e-03 6.96791550e+00] [ 6.03698448e-02 -3.04216482e-03 9.98171442e-01 4.25336919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.129254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:182.83, Y:6.97, Z:4.25 [[ 9.83331104e-01 -1.71734920e-01 -5.97248502e-02 1.82827897e+02] [ 1.71609957e-01 9.85138267e-01 -7.25381417e-03 6.97219003e+00] [ 6.00829686e-02 -3.11647788e-03 9.98188522e-01 4.25492008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.159254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:182.86, Y:6.98, Z:4.26 [[ 9.82859840e-01 -1.74558392e-01 -5.92950474e-02 1.82858873e+02] [ 1.74440226e-01 9.84641416e-01 -7.20346694e-03 6.97794659e+00] [ 5.96417850e-02 -3.26344311e-03 9.98214510e-01 4.25692689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:182.89, Y:6.98, Z:4.26 [[ 9.82641947e-01 -1.75711046e-01 -5.95015365e-02 1.82889451e+02] [ 1.75594294e-01 9.84436095e-01 -7.22632411e-03 6.98277311e+00] [ 5.98452052e-02 -3.34724108e-03 9.98202057e-01 4.25881357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21925415399997 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:182.92, Y:6.97, Z:4.26 [[ 9.81562824e-01 -1.76970345e-01 -7.22213259e-02 1.82920229e+02] [ 1.79354094e-01 9.83388181e-01 2.79247841e-02 6.97275823e+00] [ 6.60797396e-02 -4.03631204e-02 9.96997636e-01 4.26244059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24925415399997 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:182.95, Y:7.01, Z:4.27 [[ 9.82176410e-01 -1.79611116e-01 -5.54016895e-02 1.82947969e+02] [ 1.77296139e-01 9.83162778e-01 -4.42383375e-02 7.01023111e+00] [ 6.24145761e-02 3.36273458e-02 9.97483645e-01 4.27131007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27925415399997 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:182.98, Y:7.00, Z:4.26 [[ 9.82035402e-01 -1.78257256e-01 -6.18936105e-02 1.82981700e+02] [ 1.78136699e-01 9.83977129e-01 -7.50510765e-03 6.99863145e+00] [ 6.22397370e-02 -3.65524204e-03 9.98054535e-01 4.26163327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30925415399997 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:183.01, Y:7.00, Z:4.27 [[ 9.81970056e-01 -1.78825214e-01 -6.12890849e-02 1.83012134e+02] [ 1.78708240e-01 9.83874061e-01 -7.42952838e-03 7.00439872e+00] [ 6.16293279e-02 -3.65729007e-03 9.98092406e-01 4.26510394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33925415399997 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:183.04, Y:7.01, Z:4.27 [[ 9.81976265e-01 -1.78114166e-01 -6.32294089e-02 1.83043332e+02] [ 1.77988364e-01 9.84002760e-01 -7.66229504e-03 7.01129891e+00] [ 6.35826761e-02 -3.72990717e-03 9.97969604e-01 4.26543212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36925415399998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:183.07, Y:7.02, Z:4.27 [[ 9.82028094e-01 -1.77448091e-01 -6.42884008e-02 1.83073818e+02] [ 1.77316780e-01 9.84123012e-01 -7.78819239e-03 7.01683039e+00] [ 6.46496946e-02 -3.75118852e-03 9.97900970e-01 4.26728292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39925415399998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:183.11, Y:7.02, Z:4.27 [[ 9.82420063e-01 -1.75813181e-01 -6.27737664e-02 1.83105450e+02] [ 1.75684816e-01 9.84417113e-01 -7.60214689e-03 7.02219294e+00] [ 6.31321275e-02 -3.55989600e-03 9.97998828e-01 4.26931726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42925415399998 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:183.14, Y:7.03, Z:4.27 [[ 9.82403539e-01 -1.75110553e-01 -6.49582987e-02 1.83135384e+02] [ 1.74971899e-01 9.84542039e-01 -7.86177488e-03 7.02925520e+00] [ 6.53308556e-02 -3.64244143e-03 9.97857010e-01 4.27241551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:183.17, Y:7.04, Z:4.27 [[ 9.82723700e-01 -1.73116438e-01 -6.54585982e-02 1.83165894e+02] [ 1.72971469e-01 9.84895001e-01 -7.91878489e-03 7.03590401e+00] [ 6.58407180e-02 -3.54049230e-03 9.97823865e-01 4.27484384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48925415399998 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:183.20, Y:7.05, Z:4.28 [[ 9.83781989e-01 -1.66495643e-01 -6.67248009e-02 1.83195189e+02] [ 1.66036776e-01 9.86041550e-01 -1.24036744e-02 7.04650343e+00] [ 6.78585838e-02 1.12374071e-03 9.97694317e-01 4.27645310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51925415399998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:183.23, Y:7.05, Z:4.28 [[ 9.84362142e-01 -1.63896206e-01 -6.45694003e-02 1.83225582e+02] [ 1.64001760e-01 9.86453114e-01 -3.69832361e-03 7.04918822e+00] [ 6.43008271e-02 -6.94900553e-03 9.97906366e-01 4.27766467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.54925415399998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:183.26, Y:7.06, Z:4.28 [[ 9.85057937e-01 -1.60275893e-01 -6.30277693e-02 1.83255692e+02] [ 1.60115440e-01 9.87068873e-01 -7.62140525e-03 7.05768789e+00] [ 6.34342768e-02 -2.58419328e-03 9.97982672e-01 4.28084264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57925415399998 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:183.29, Y:7.07, Z:4.28 [[ 9.86417034e-01 -1.52208833e-01 -6.17568262e-02 1.83287107e+02] [ 1.52039141e-01 9.88346280e-01 -7.46532817e-03 7.06757062e+00] [ 6.21734183e-02 -2.02552792e-03 9.98063306e-01 4.28367299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60925415399998 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:183.32, Y:7.07, Z:4.29 [[ 9.87023134e-01 -1.48358857e-01 -6.14408892e-02 1.83317599e+02] [ 1.48183727e-01 9.88931993e-01 -7.42264078e-03 7.07412371e+00] [ 6.18620755e-02 -1.77822177e-03 9.98083124e-01 4.28557776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63925415399999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:183.35, Y:7.08, Z:4.29 [[ 9.87598434e-01 -1.44771903e-01 -6.07488964e-02 1.83348725e+02] [ 1.44594119e-01 9.89463858e-01 -7.33577976e-03 7.08040571e+00] [ 6.11708522e-02 -1.53912855e-03 9.98126123e-01 4.28741893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.669254154 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:183.38, Y:7.09, Z:4.29 [[ 9.88114756e-01 -1.41366355e-01 -6.03720318e-02 1.83380141e+02] [ 1.41184560e-01 9.89956466e-01 -7.28799502e-03 7.08655585e+00] [ 6.07959605e-02 -1.32222330e-03 9.98149339e-01 4.28906734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.699254154 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:183.41, Y:7.09, Z:4.29 [[ 9.88929632e-01 -1.35662069e-01 -6.01164439e-02 1.83410270e+02] [ 1.35471564e-01 9.90754691e-01 -7.25239065e-03 7.09387809e+00] [ 6.05445231e-02 -9.71964650e-04 9.98165024e-01 4.29036760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.729254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:183.44, Y:7.10, Z:4.29 [[ 9.89188658e-01 -1.33583768e-01 -6.05076589e-02 1.83441998e+02] [ 1.33387316e-01 9.91037155e-01 -7.29258359e-03 7.09910235e+00] [ 6.09395089e-02 -8.57213216e-04 9.98141093e-01 4.29206861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.759254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:183.47, Y:7.10, Z:4.29 [[ 9.89201027e-01 -1.33491890e-01 -6.05082110e-02 1.83474419e+02] [ 1.33295547e-01 9.91049536e-01 -7.28799985e-03 7.10294988e+00] [ 6.09395233e-02 -8.56178115e-04 9.98141093e-01 4.29390535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.789254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:183.51, Y:7.11, Z:4.30 [[ 9.89403456e-01 -1.31923299e-01 -6.06386345e-02 1.83506082e+02] [ 1.31723509e-01 9.91259631e-01 -7.29808270e-03 7.10814279e+00] [ 6.10714176e-02 -7.66785462e-04 9.98133104e-01 4.29541895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.819254154 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:183.54, Y:7.11, Z:4.30 [[ 9.89523824e-01 -1.30502951e-01 -6.17380057e-02 1.83536821e+02] [ 1.30293393e-01 9.91447676e-01 -7.42542898e-03 7.11412121e+00] [ 6.21790426e-02 -6.96415371e-04 9.98064768e-01 4.29711764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.849254154 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:183.57, Y:7.12, Z:4.30 [[ 9.89518020e-01 -1.29734837e-01 -6.34268103e-02 1.83569292e+02] [ 1.29512541e-01 9.91548495e-01 -7.62121452e-03 7.11803954e+00] [ 6.38794953e-02 -6.73238277e-04 9.97957392e-01 4.29765333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.879254154 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:183.60, Y:7.12, Z:4.30 [[ 9.89491291e-01 -1.30619063e-01 -6.20132735e-02 1.83599623e+02] [ 1.30408587e-01 9.91432370e-01 -7.44687932e-03 7.12261533e+00] [ 6.24546711e-02 -7.18441165e-04 9.98047543e-01 4.30062562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.909254154 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:183.63, Y:7.13, Z:4.30 [[ 9.89276044e-01 -1.32125404e-01 -6.22558219e-02 1.83630772e+02] [ 1.31916495e-01 9.91232669e-01 -7.47220068e-03 7.12698515e+00] [ 6.26972721e-02 -8.20500708e-04 9.98032253e-01 4.30235374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93925415399997 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:183.66, Y:7.13, Z:4.30 [[ 9.89125346e-01 -1.33229125e-01 -6.22980682e-02 1.83661879e+02] [ 1.33022262e-01 9.91084861e-01 -7.47498965e-03 7.13070174e+00] [ 6.27385586e-02 -8.93328237e-04 9.98029596e-01 4.30392471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96925415399997 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:183.69, Y:7.13, Z:4.31 [[ 9.88948765e-01 -1.34559836e-01 -6.22413904e-02 1.83693063e+02] [ 1.34356124e-01 9.90904986e-01 -7.46592647e-03 7.13440622e+00] [ 6.26799180e-02 -9.79093230e-04 9.98033200e-01 4.30562999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99925415399997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:183.72, Y:7.14, Z:4.31 [[ 9.88804520e-01 -1.35777470e-01 -6.18878072e-02 1.83724443e+02] [ 1.35578590e-01 9.90738801e-01 -7.42124917e-03 7.13794649e+00] [ 6.23222903e-02 -1.05249690e-03 9.98055522e-01 4.30725341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02925415399997 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:183.75, Y:7.14, Z:4.31 [[ 9.88423081e-01 -1.38326645e-01 -6.23341904e-02 1.83754884e+02] [ 1.38130097e-01 9.90385905e-01 -7.47236248e-03 7.14170987e+00] [ 6.27685303e-02 -1.22437219e-03 9.98027361e-01 4.30879774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05925415399997 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:183.79, Y:7.15, Z:4.31 [[ 9.88207472e-01 -1.39931906e-01 -6.21695557e-02 1.83785374e+02] [ 1.39739765e-01 9.90160241e-01 -7.44946663e-03 7.14507330e+00] [ 6.26002403e-02 -1.32594050e-03 9.98037801e-01 4.31041756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08925415399997 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:183.82, Y:7.15, Z:4.31 [[ 9.87937776e-01 -1.41936600e-01 -6.19108404e-02 1.83815291e+02] [ 1.41750052e-01 9.89874692e-01 -7.41737958e-03 7.14874378e+00] [ 6.23367717e-02 -1.44795539e-03 9.98054122e-01 4.31175592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11925415399998 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:183.85, Y:7.15, Z:4.31 [[ 9.87464744e-01 -1.45658329e-01 -6.08032079e-02 1.83847161e+02] [ 1.45485522e-01 9.89333571e-01 -7.28335313e-03 7.15135352e+00] [ 6.12155359e-02 -1.65393201e-03 9.98123200e-01 4.31299700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14925415399998 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:183.88, Y:7.15, Z:4.31 [[ 9.87192719e-01 -1.47602541e-01 -6.05311942e-02 1.83879104e+02] [ 1.47435195e-01 9.89045173e-01 -7.24633510e-03 7.15471678e+00] [ 6.09376629e-02 -1.77089918e-03 9.98140003e-01 4.31485449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17925415399998 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:183.91, Y:7.16, Z:4.32 [[ 9.86916516e-01 -1.49371843e-01 -6.06946759e-02 1.83909739e+02] [ 1.49207201e-01 9.88779289e-01 -7.26148142e-03 7.15790064e+00] [ 6.10982993e-02 -1.88960676e-03 9.98129965e-01 4.31650804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20925415399998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:183.94, Y:7.16, Z:4.32 [[ 9.86564357e-01 -1.51556619e-01 -6.10029551e-02 1.83941215e+02] [ 1.51394682e-01 9.88446476e-01 -7.29486666e-03 7.16158852e+00] [ 6.14037413e-02 -2.03866756e-03 9.98110928e-01 4.31828956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:183.97, Y:7.17, Z:4.32 [[ 9.86222001e-01 -1.53590065e-01 -6.14512629e-02 1.83973319e+02] [ 1.53429963e-01 9.88132235e-01 -7.34384630e-03 7.16531311e+00] [ 6.18499156e-02 -2.18580222e-03 9.98083068e-01 4.31991560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26925415399998 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:184.00, Y:7.17, Z:4.32 [[ 9.85955404e-01 -1.55192648e-01 -6.17023822e-02 1.84004788e+02] [ 1.55034652e-01 9.87881547e-01 -7.36924541e-03 7.16885856e+00] [ 6.20982975e-02 -2.30026005e-03 9.98067388e-01 4.32141202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.29925415399998 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:184.04, Y:7.17, Z:4.32 [[ 9.85464478e-01 -1.58205437e-01 -6.18934824e-02 1.84036508e+02] [ 1.58052677e-01 9.87403047e-01 -7.38739501e-03 7.17278837e+00] [ 6.22825392e-02 -2.50241522e-03 9.98055421e-01 4.32251994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32925415399998 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:184.07, Y:7.18, Z:4.32 [[ 9.85245660e-01 -1.59524649e-01 -6.19909347e-02 1.84067019e+02] [ 1.59374295e-01 9.87190537e-01 -7.39449312e-03 7.17654613e+00] [ 6.23764680e-02 -2.59436923e-03 9.98049320e-01 4.32357703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35925415399998 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:184.10, Y:7.18, Z:4.33 [[ 9.85177661e-01 -1.59974445e-01 -6.19124652e-02 1.84097775e+02] [ 1.59825573e-01 9.87117671e-01 -7.38168030e-03 7.18001035e+00] [ 6.22957687e-02 -2.62292868e-03 9.98054286e-01 4.32516717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38925415399999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:184.13, Y:7.19, Z:4.33 [[ 9.85239066e-01 -1.59274274e-01 -6.27350664e-02 1.84128543e+02] [ 1.58833048e-01 9.87232640e-01 -1.19907088e-02 7.18690138e+00] [ 6.38439167e-02 1.84931286e-03 9.97958183e-01 4.32785414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.419254154 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:184.16, Y:7.19, Z:4.33 [[ 9.85470677e-01 -1.57937927e-01 -6.24752468e-02 1.84161744e+02] [ 1.58054604e-01 9.87425503e-01 -3.10138497e-03 7.18772937e+00] [ 6.21794783e-02 -6.81817642e-03 9.98041695e-01 4.32693819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.449254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:184.19, Y:7.20, Z:4.33 [[ 9.86155227e-01 -1.53655991e-01 -6.23514570e-02 1.84192439e+02] [ 1.53492614e-01 9.88121858e-01 -7.43045913e-03 7.19713451e+00] [ 6.27525721e-02 -2.24290198e-03 9.98026595e-01 4.33051375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.479254154 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:184.22, Y:7.20, Z:4.33 [[ 9.86534227e-01 -1.51206627e-01 -6.23440085e-02 1.84223407e+02] [ 1.51038688e-01 9.88499966e-01 -7.42509723e-03 7.20277598e+00] [ 6.27497742e-02 -2.09124470e-03 9.98027100e-01 4.33221187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.509254154 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:184.25, Y:7.21, Z:4.33 [[ 9.86922456e-01 -1.48699617e-01 -6.22293351e-02 1.84254148e+02] [ 1.48527534e-01 9.88880525e-01 -7.40803425e-03 7.20813058e+00] [ 6.26389494e-02 -1.93161432e-03 9.98034384e-01 4.33395206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.539254154 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:184.29, Y:7.21, Z:4.34 [[ 9.87225488e-01 -1.46732779e-01 -6.20912762e-02 1.84285908e+02] [ 1.46557791e-01 9.89174519e-01 -7.38813556e-03 7.21368893e+00] [ 6.25031899e-02 -1.80620457e-03 9.98043130e-01 4.33591592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.569254154 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:184.32, Y:7.22, Z:4.34 [[ 9.87470836e-01 -1.45068176e-01 -6.21013061e-02 1.84317700e+02] [ 1.44890120e-01 9.89420192e-01 -7.38493362e-03 7.21897647e+00] [ 6.25156051e-02 -1.70545913e-03 9.98042529e-01 4.33801778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.599254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:184.35, Y:7.23, Z:4.34 [[ 9.87665678e-01 -1.43347500e-01 -6.29920861e-02 1.84348236e+02] [ 1.43161128e-01 9.89671084e-01 -7.48576249e-03 7.22546073e+00] [ 6.34145115e-02 -1.62458741e-03 9.97985952e-01 4.33963581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.629254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:184.38, Y:7.23, Z:4.34 [[ 9.87656399e-01 -1.43061035e-01 -6.37838379e-02 1.84379989e+02] [ 1.42869821e-01 9.89712519e-01 -7.57252836e-03 7.23041838e+00] [ 6.42109967e-02 -1.63372942e-03 9.97935007e-01 4.34116340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65925415399997 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:184.41, Y:7.24, Z:4.34 [[ 9.87572218e-01 -1.43429371e-01 -6.42582990e-02 1.84411909e+02] [ 1.43236390e-01 9.89659139e-01 -7.62404302e-03 7.23563777e+00] [ 6.46873245e-02 -1.67483369e-03 9.97904176e-01 4.34289749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68925415399997 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:184.44, Y:7.24, Z:4.34 [[ 9.87455926e-01 -1.43941017e-01 -6.48982184e-02 1.84443792e+02] [ 1.43745592e-01 9.89584756e-01 -7.69511866e-03 7.24069462e+00] [ 6.53299309e-02 -1.73024233e-03 9.97862218e-01 4.34442530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71925415399997 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:184.48, Y:7.25, Z:4.35 [[ 9.87345255e-01 -1.44369544e-01 -6.56260757e-02 1.84475164e+02] [ 1.44170977e-01 9.89522236e-01 -7.77653529e-03 7.24582699e+00] [ 6.60611560e-02 -1.78325025e-03 9.97813983e-01 4.34648436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74925415399997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:184.51, Y:7.25, Z:4.35 [[ 9.87257104e-01 -1.44855371e-01 -6.58811948e-02 1.84505709e+02] [ 1.44656651e-01 9.89451152e-01 -7.80204306e-03 7.25230522e+00] [ 6.63163919e-02 -1.82753054e-03 9.97796971e-01 4.34841095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77925415399997 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:184.54, Y:7.26, Z:4.35 [[ 9.87273688e-01 -1.44574161e-01 -6.62493530e-02 1.84537678e+02] [ 1.44372839e-01 9.89492289e-01 -7.84177569e-03 7.25745468e+00] [ 6.66869421e-02 -1.82262837e-03 9.97772284e-01 4.35065977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:184.57, Y:7.26, Z:4.35 [[ 9.87385618e-01 -1.44007868e-01 -6.58131906e-02 1.84569615e+02] [ 1.43808250e-01 9.89574947e-01 -7.78537204e-03 7.26445067e+00] [ 6.62482394e-02 -1.77731538e-03 9.97801589e-01 4.35294801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83925415399997 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:184.60, Y:7.27, Z:4.36 [[ 9.87477988e-01 -1.43493051e-01 -6.55512662e-02 1.84601494e+02] [ 1.43294204e-01 9.89649794e-01 -7.74960094e-03 7.26974680e+00] [ 6.59848110e-02 -1.74055615e-03 9.97819109e-01 4.35540671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86925415399998 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:184.63, Y:7.27, Z:4.36 [[ 9.87614545e-01 -1.42873304e-01 -6.48438882e-02 1.84633281e+02] [ 1.42677701e-01 9.89739551e-01 -7.66129023e-03 7.27478523e+00] [ 6.52731546e-02 -1.68537520e-03 9.97866010e-01 4.35667559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89925415399998 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:184.66, Y:7.28, Z:4.36 [[ 9.87795493e-01 -1.42358533e-01 -6.31989896e-02 1.84663292e+02] [ 1.42171960e-01 9.89813843e-01 -7.46254611e-03 7.28135674e+00] [ 6.36175919e-02 -1.61365482e-03 9.97973045e-01 4.35980260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92925415399998 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:184.70, Y:7.29, Z:4.36 [[ 9.87949547e-01 -1.41634210e-01 -6.24134900e-02 1.84695260e+02] [ 1.41451024e-01 9.89917848e-01 -7.36630089e-03 7.28624166e+00] [ 6.28275479e-02 -1.55091846e-03 9.98023193e-01 4.36156081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95925415399998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:184.73, Y:7.29, Z:4.36 [[ 9.88116516e-01 -1.40758543e-01 -6.17477371e-02 1.84725927e+02] [ 1.40577809e-01 9.90042843e-01 -7.28340492e-03 7.29106387e+00] [ 6.21581067e-02 -1.48350887e-03 9.98065213e-01 4.36321809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:184.76, Y:7.30, Z:4.37 [[ 9.88308809e-01 -1.39521595e-01 -6.14770083e-02 1.84758024e+02] [ 1.39340264e-01 9.90218035e-01 -7.24806797e-03 7.29579197e+00] [ 6.18869043e-02 -1.40289315e-03 9.98082182e-01 4.36501674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.01925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:184.79, Y:7.30, Z:4.37 [[ 9.88514388e-01 -1.37928309e-01 -6.17663775e-02 1.84789227e+02] [ 1.37742454e-01 9.90441344e-01 -7.27746025e-03 7.30040416e+00] [ 6.21797417e-02 -1.31397822e-03 9.98064103e-01 4.36592375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.04925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:184.82, Y:7.31, Z:4.37 [[ 9.88853055e-01 -1.35922715e-01 -6.07836464e-02 1.84820168e+02] [ 1.35739351e-01 9.90718746e-01 -7.15505012e-03 7.30707861e+00] [ 6.11920317e-02 -1.17543956e-03 9.98125320e-01 4.36869564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.07925415399998 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:184.85, Y:7.31, Z:4.37 [[ 9.88938977e-01 -1.35234083e-01 -6.09216129e-02 1.84852114e+02] [ 1.35048785e-01 9.90813023e-01 -7.16795025e-03 7.31192951e+00] [ 6.13312786e-02 -1.13872445e-03 9.98116816e-01 4.37084371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.10925415399998 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:184.88, Y:7.32, Z:4.37 [[ 9.88961389e-01 -1.34944340e-01 -6.11996470e-02 1.84883026e+02] [ 1.34757061e-01 9.90852536e-01 -7.19630674e-03 7.31619210e+00] [ 6.16109263e-02 -1.13021505e-03 9.98099602e-01 4.37249540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.13925415399999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:184.92, Y:7.32, Z:4.37 [[ 9.88866600e-01 -1.35295120e-01 -6.19522150e-02 1.84916018e+02] [ 1.35104125e-01 9.90804654e-01 -7.28106527e-03 7.32051959e+00] [ 6.23676355e-02 -1.16999754e-03 9.98052558e-01 4.37331839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.169254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:184.95, Y:7.32, Z:4.38 [[ 9.88756112e-01 -1.35694396e-01 -6.28361517e-02 1.84948142e+02] [ 1.35499155e-01 9.90749991e-01 -7.37797795e-03 7.32420065e+00] [ 6.32560670e-02 -1.21922468e-03 9.97996585e-01 4.37524712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.199254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:184.98, Y:7.33, Z:4.38 [[ 9.88652584e-01 -1.36227788e-01 -6.33092209e-02 1.84980012e+02] [ 1.36031055e-01 9.90676729e-01 -7.42775992e-03 7.32797793e+00] [ 6.37308391e-02 -1.26854607e-03 9.97966318e-01 4.37635960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.229254154 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:185.01, Y:7.34, Z:4.38 [[ 9.88511159e-01 -1.36396145e-01 -6.51289475e-02 1.85009820e+02] [ 1.35591829e-01 9.90625124e-01 -1.66348804e-02 7.33601167e+00] [ 6.67873053e-02 7.61281180e-03 9.97738193e-01 4.38106052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.259254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:185.04, Y:7.33, Z:4.38 [[ 9.88573329e-01 -1.36104666e-01 -6.47942396e-02 1.85043440e+02] [ 1.36503371e-01 9.90638068e-01 1.74596748e-03 7.33135477e+00] [ 6.39500060e-02 -1.05706490e-02 9.97897118e-01 4.37611358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.289254154 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:185.07, Y:7.34, Z:4.38 [[ 9.88652715e-01 -1.36049506e-01 -6.36894072e-02 1.85074235e+02] [ 1.35851078e-01 9.90701212e-01 -7.45608023e-03 7.33955510e+00] [ 6.41115689e-02 -1.28080062e-03 9.97941915e-01 4.38112249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.319254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:185.11, Y:7.34, Z:4.38 [[ 9.88790099e-01 -1.35112793e-01 -6.35505624e-02 1.85105711e+02] [ 1.34913601e-01 9.90829471e-01 -7.43509705e-03 7.34370058e+00] [ 6.39723469e-02 -1.22208486e-03 9.97950923e-01 4.38322186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.349254154 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:185.14, Y:7.35, Z:4.39 [[ 9.89174554e-01 -1.32509003e-01 -6.30481238e-02 1.85137406e+02] [ 1.32307962e-01 9.91181246e-01 -7.37166830e-03 7.34827366e+00] [ 6.34689303e-02 -1.04990206e-03 9.97983263e-01 4.38537598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.379254154 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:185.17, Y:7.35, Z:4.39 [[ 9.89345514e-01 -1.31061672e-01 -6.33900074e-02 1.85167501e+02] [ 1.30835206e-01 9.91374006e-01 -7.72851808e-03 7.35239901e+00] [ 6.38561181e-02 -6.47469971e-04 9.97958905e-01 4.38736365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40925415399997 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:185.20, Y:7.36, Z:4.39 [[ 9.89514041e-01 -1.30099517e-01 -6.27381793e-02 1.85198286e+02] [ 1.29917791e-01 9.91500166e-01 -6.98481902e-03 7.35612850e+00] [ 6.31136368e-02 -1.23922918e-03 9.98005578e-01 4.38878389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43925415399997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:185.23, Y:7.36, Z:4.39 [[ 9.89640127e-01 -1.29105312e-01 -6.28031663e-02 1.85228993e+02] [ 1.28899596e-01 9.91630534e-01 -7.33333951e-03 7.35982508e+00] [ 6.32243104e-02 -8.37935717e-04 9.97998990e-01 4.39044947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46925415399997 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:185.26, Y:7.36, Z:4.39 [[ 9.89752887e-01 -1.28431956e-01 -6.24055669e-02 1.85261222e+02] [ 1.28227722e-01 9.91718006e-01 -7.28341619e-03 7.36357726e+00] [ 6.28241478e-02 -7.93341487e-04 9.98024297e-01 4.39205486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49925415399997 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:185.29, Y:7.37, Z:4.39 [[ 9.90001671e-01 -1.26672494e-01 -6.20545821e-02 1.85293338e+02] [ 1.26467378e-01 9.91944360e-01 -7.23799588e-03 7.36662724e+00] [ 6.24715478e-02 -6.82252258e-04 9.98046512e-01 4.39329683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52925415399997 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:185.32, Y:7.37, Z:4.40 [[ 9.90144792e-01 -1.25550956e-01 -6.20503629e-02 1.85324653e+02] [ 1.25343947e-01 9.92086981e-01 -7.23302602e-03 7.37004124e+00] [ 6.24674706e-02 -6.15894382e-04 9.98046810e-01 4.39505338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55925415399997 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:185.36, Y:7.37, Z:4.40 [[ 9.90356719e-01 -1.23871078e-01 -6.20445440e-02 1.85356275e+02] [ 1.23661036e-01 9.92298187e-01 -7.22880403e-03 7.37319727e+00] [ 6.24621283e-02 -5.13397953e-04 9.98047203e-01 4.39697436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58925415399997 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:185.39, Y:7.37, Z:4.40 [[ 9.90604060e-01 -1.21025581e-01 -6.36899182e-02 1.85386110e+02] [ 1.21473861e-01 9.92589474e-01 3.19960072e-03 7.37275085e+00] [ 6.28307089e-02 -1.09061977e-02 9.97964607e-01 4.39788876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61925415399998 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:185.42, Y:7.38, Z:4.40 [[ 9.91000311e-01 -1.19699006e-01 -5.99210437e-02 1.85417696e+02] [ 1.18834245e-01 9.92754438e-01 -1.78058485e-02 7.38387243e+00] [ 6.16182244e-02 1.05249294e-02 9.98044298e-01 4.40393666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:185.45, Y:7.38, Z:4.40 [[ 9.91180882e-01 -1.17759565e-01 -6.07712521e-02 1.85450878e+02] [ 1.17547111e-01 9.93042127e-01 -7.07175083e-03 7.38148282e+00] [ 6.11811798e-02 -1.34100920e-04 9.98126668e-01 4.40133648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:185.48, Y:7.39, Z:4.40 [[ 9.91191675e-01 -1.17668406e-01 -6.07717842e-02 1.85483319e+02] [ 1.17456062e-01 9.93052933e-01 -7.06717525e-03 7.38519761e+00] [ 6.11811818e-02 -1.33089184e-04 9.98126668e-01 4.40315247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:185.51, Y:7.39, Z:4.40 [[ 9.91272615e-01 -1.16776794e-01 -6.11701169e-02 1.85514061e+02] [ 1.16560298e-01 9.93158181e-01 -7.10799343e-03 7.38741755e+00] [ 6.15816508e-02 -8.40478437e-05 9.98102045e-01 4.40456794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73925415399998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:185.55, Y:7.39, Z:4.41 [[ 9.91325527e-01 -1.16140529e-01 -6.15229853e-02 1.85546282e+02] [ 1.15920522e-01 9.93232790e-01 -7.14544438e-03 7.38959715e+00] [ 6.19365221e-02 -4.83151418e-05 9.98080089e-01 4.40590533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:185.58, Y:7.39, Z:4.41 [[ 9.91218550e-01 -1.16529275e-01 -6.25037140e-02 1.85578051e+02] [ 1.16303251e-01 9.93187254e-01 -7.25479032e-03 7.38995814e+00] [ 6.29232875e-02 -7.83023787e-05 9.98018363e-01 4.40702457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79925415399998 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:185.61, Y:7.39, Z:4.41 [[ 9.91101081e-01 -1.17190332e-01 -6.31274318e-02 1.85609070e+02] [ 1.16961323e-01 9.93109466e-01 -7.32382115e-03 7.39161664e+00] [ 6.35507311e-02 -1.24820894e-04 9.97978601e-01 4.40864281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82925415399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:185.64, Y:7.39, Z:4.41 [[ 9.90949037e-01 -1.18326552e-01 -6.33942745e-02 1.85639993e+02] [ 1.18098069e-01 9.92974716e-01 -7.35249977e-03 7.39317859e+00] [ 6.38189077e-02 -2.00788857e-04 9.97961476e-01 4.41011677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:185.67, Y:7.39, Z:4.41 [[ 9.90765859e-01 -1.19889069e-01 -6.33215957e-02 1.85670010e+02] [ 1.19664432e-01 9.92787248e-01 -7.34196277e-03 7.39436787e+00] [ 6.37450938e-02 -3.03176723e-04 9.97966167e-01 4.41103974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88925415399999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:185.70, Y:7.39, Z:4.41 [[ 9.89671558e-01 -1.24997915e-01 -7.01835363e-02 1.85698718e+02] [ 1.26363606e-01 9.91865206e-01 1.53509512e-02 7.38580774e+00] [ 6.76937708e-02 -2.40610445e-02 9.97415971e-01 4.41157439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.919254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:185.73, Y:7.40, Z:4.42 [[ 9.90011696e-01 -1.26997325e-01 -6.12251669e-02 1.85729411e+02] [ 1.26111593e-01 9.91850267e-01 -1.81359847e-02 7.39996024e+00] [ 6.30294197e-02 1.02336336e-02 9.97959200e-01 4.41720032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.949254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:185.76, Y:7.40, Z:4.42 [[ 9.89082944e-01 -1.30675477e-01 -6.81091074e-02 1.85757400e+02] [ 1.31033888e-01 9.91377565e-01 8.02355014e-04 7.39505247e+00] [ 6.74169929e-02 -9.71819683e-03 9.97677556e-01 4.41805453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.979254154 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:185.79, Y:7.41, Z:4.42 [[ 9.89250113e-01 -1.32349761e-01 -6.21912834e-02 1.85787521e+02] [ 1.30506389e-01 9.90903429e-01 -3.28401590e-02 7.40893345e+00] [ 6.59719432e-02 2.43707712e-02 9.97523818e-01 4.42423480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.009254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:185.82, Y:7.40, Z:4.42 [[ 9.88475955e-01 -1.36666979e-01 -6.50954983e-02 1.85818917e+02] [ 1.36589463e-01 9.90611566e-01 -5.66076388e-03 7.39518634e+00] [ 6.52579930e-02 -3.29583016e-03 9.97862983e-01 4.41643860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.039254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:185.86, Y:7.41, Z:4.42 [[ 9.89425137e-01 -1.36251426e-01 -4.97337685e-02 1.85855180e+02] [ 1.33795518e-01 9.89758322e-01 -4.97717104e-02 7.41439999e+00] [ 5.60058778e-02 4.25912260e-02 9.97521593e-01 4.42094571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.069254154 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:185.88, Y:7.38, Z:4.41 [[ 9.87749970e-01 -1.39446225e-01 -7.00339020e-02 1.85880713e+02] [ 1.42340316e-01 9.89081678e-01 3.81663216e-02 7.37665181e+00] [ 6.39470998e-02 -4.76674307e-02 9.96814218e-01 4.40648341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.099254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:185.91, Y:7.40, Z:4.42 [[ 9.87417560e-01 -1.44384562e-01 -6.44954267e-02 1.85909578e+02] [ 1.44200707e-01 9.89519877e-01 -7.52121387e-03 7.40139979e+00] [ 6.49054539e-02 -1.87370750e-03 9.97889659e-01 4.42273217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.129254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:185.94, Y:7.40, Z:4.42 [[ 9.86793153e-01 -1.49084788e-01 -6.33482383e-02 1.85941648e+02] [ 1.48917372e-01 9.88822082e-01 -7.38281583e-03 7.40246009e+00] [ 6.37408024e-02 -2.14834103e-03 9.97964175e-01 4.42462480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15925415399997 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:185.97, Y:7.41, Z:4.43 [[ 9.86464725e-01 -1.51297047e-01 -6.32182657e-02 1.85974041e+02] [ 1.51135147e-01 9.88485687e-01 -7.36297573e-03 7.40511444e+00] [ 6.36043473e-02 -2.29118601e-03 9.97972563e-01 4.42687024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18925415399997 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:186.01, Y:7.41, Z:4.43 [[ 9.86138485e-01 -1.53400396e-01 -6.32392879e-02 1.86005891e+02] [ 1.53243000e-01 9.88161122e-01 -7.36073821e-03 7.40789182e+00] [ 6.36197458e-02 -2.43227095e-03 9.97971248e-01 4.42859940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21925415399997 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:186.04, Y:7.41, Z:4.43 [[ 9.85865150e-01 -1.54821253e-01 -6.40334775e-02 1.86037193e+02] [ 1.54663169e-01 9.87939180e-01 -7.44850292e-03 7.41021723e+00] [ 6.44143678e-02 -2.56040109e-03 9.97919953e-01 4.42998822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24925415399997 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:186.07, Y:7.41, Z:4.43 [[ 9.85336512e-01 -1.58379435e-01 -6.34658454e-02 1.86068768e+02] [ 1.58231721e-01 9.87374434e-01 -7.37898077e-03 7.41192129e+00] [ 6.38332320e-02 -2.77153077e-03 9.97956731e-01 4.43193508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27925415399997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:186.10, Y:7.41, Z:4.43 [[ 9.85155921e-01 -1.59442420e-01 -6.36075998e-02 1.86100816e+02] [ 1.59296487e-01 9.87203115e-01 -7.39182959e-03 7.41475231e+00] [ 6.39721919e-02 -2.85036251e-03 9.97947611e-01 4.43374694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.30925415399997 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:186.13, Y:7.41, Z:4.44 [[ 9.84962990e-01 -1.59870382e-01 -6.54932764e-02 1.86134501e+02] [ 1.60146068e-01 9.87092766e-01 -1.05273714e-03 7.41469683e+00] [ 6.48162409e-02 -9.45158359e-03 9.97852455e-01 4.43627102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.33925415399997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:186.16, Y:7.42, Z:4.44 [[ 9.84863715e-01 -1.61438362e-01 -6.30961060e-02 1.86163464e+02] [ 1.60888281e-01 9.86877015e-01 -1.37374416e-02 7.42453795e+00] [ 6.44858469e-02 3.37808375e-03 9.97912904e-01 4.43969315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.36925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:186.20, Y:7.42, Z:4.44 [[ 9.84075727e-01 -1.61758315e-01 -7.36831800e-02 1.86195715e+02] [ 1.63248286e-01 9.86476557e-01 1.46287064e-02 7.41525266e+00] [ 7.03204148e-02 -2.64244077e-02 9.97174403e-01 4.44041832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39925415399998 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:186.23, Y:7.44, Z:4.45 [[ 9.84626840e-01 -1.63190481e-01 -6.22804324e-02 1.86225530e+02] [ 1.61523117e-01 9.86383104e-01 -3.09621573e-02 7.43948984e+00] [ 6.64850956e-02 2.04264415e-02 9.97578314e-01 4.44864448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42925415399998 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:186.26, Y:7.43, Z:4.44 [[ 9.84646225e-01 -1.61793670e-01 -6.55333525e-02 1.86257965e+02] [ 1.61645585e-01 9.86819680e-01 -7.59098309e-03 7.43128091e+00] [ 6.58977750e-02 -3.11874427e-03 9.97821505e-01 4.44298279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45925415399998 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:186.29, Y:7.44, Z:4.45 [[ 9.84624595e-01 -1.61678767e-01 -6.61391269e-02 1.86290077e+02] [ 1.61527934e-01 9.86838433e-01 -7.65725487e-03 7.43508766e+00] [ 6.65066479e-02 -3.14379506e-03 9.97781029e-01 4.44512788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48925415399998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:186.32, Y:7.44, Z:4.45 [[ 9.84938644e-01 -1.59783704e-01 -6.60684139e-02 1.86319497e+02] [ 1.59886934e-01 9.87128187e-01 -3.75637473e-03 7.43658999e+00] [ 6.58182011e-02 -6.86367752e-03 9.97808025e-01 4.44537269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51925415399998 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:186.35, Y:7.45, Z:4.45 [[ 9.84858916e-01 -1.59614296e-01 -6.76475576e-02 1.86351157e+02] [ 1.59161295e-01 9.87178821e-01 -1.20689071e-02 7.44515871e+00] [ 6.87066062e-02 1.11929790e-03 9.97636281e-01 4.44993117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.54925415399998 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:186.38, Y:7.45, Z:4.45 [[ 9.85026830e-01 -1.57920090e-01 -6.91620578e-02 1.86382037e+02] [ 1.57746485e-01 9.87447244e-01 -7.99915156e-03 7.44744339e+00] [ 6.95571101e-02 -3.03069261e-03 9.97573367e-01 4.45049413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57925415399998 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:186.41, Y:7.45, Z:4.45 [[ 9.85247273e-01 -1.56159971e-01 -7.00133873e-02 1.86413504e+02] [ 1.55977854e-01 9.87727385e-01 -8.09451996e-03 7.45212517e+00] [ 7.04181800e-02 -2.94543421e-03 9.97513210e-01 4.45240905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60925415399998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:186.44, Y:7.46, Z:4.45 [[ 9.85541002e-01 -1.54038045e-01 -7.05777130e-02 1.86444732e+02] [ 1.53847908e-01 9.88060889e-01 -8.15479257e-03 7.45703836e+00] [ 7.09912261e-02 -2.82135101e-03 9.97472950e-01 4.45449421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63925415399999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:186.48, Y:7.46, Z:4.46 [[ 9.85901635e-01 -1.51721200e-01 -7.05595087e-02 1.86475588e+02] [ 1.51525498e-01 9.88419757e-01 -8.14909321e-03 7.46214546e+00] [ 7.09788026e-02 -2.65736034e-03 9.97474284e-01 4.45665746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.669254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:186.51, Y:7.47, Z:4.46 [[ 9.86819279e-01 -1.46033172e-01 -6.97282042e-02 1.86506473e+02] [ 1.45828052e-01 9.89277194e-01 -8.05060288e-03 7.46900840e+00] [ 7.01561773e-02 -2.22383803e-03 9.97533541e-01 4.45937464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.699254154 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:186.54, Y:7.47, Z:4.46 [[ 9.87344322e-01 -1.42624467e-01 -6.93502032e-02 1.86536755e+02] [ 1.42413371e-01 9.89774907e-01 -8.00408807e-03 7.47429491e+00] [ 6.97826697e-02 -1.97360529e-03 9.97560266e-01 4.46216643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.729254154 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:186.57, Y:7.48, Z:4.46 [[ 9.87920469e-01 -1.38993671e-01 -6.85120854e-02 1.86567709e+02] [ 1.38779193e-01 9.90291810e-01 -7.90354524e-03 7.47953301e+00] [ 6.89454998e-02 -1.69997779e-03 9.97618979e-01 4.46421979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.759254154 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:186.60, Y:7.48, Z:4.47 [[ 9.88462254e-01 -1.35323534e-01 -6.80434687e-02 1.86598354e+02] [ 1.35103465e-01 9.90800423e-01 -7.84702804e-03 7.48473687e+00] [ 6.84793851e-02 -1.43641735e-03 9.97651498e-01 4.46621519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.789254154 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:186.63, Y:7.49, Z:4.47 [[ 9.89550572e-01 -1.27433808e-01 -6.74558389e-02 1.86628634e+02] [ 1.27199368e-01 9.91846683e-01 -7.77682754e-03 7.49139662e+00] [ 6.78968808e-02 -8.84775942e-04 9.97691952e-01 4.46822472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.819254154 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:186.66, Y:7.49, Z:4.47 [[ 9.90146725e-01 -1.22939116e-01 -6.70480132e-02 1.86657596e+02] [ 1.22921247e-01 9.92406640e-01 -4.40764816e-03 7.49492412e+00] [ 6.70807659e-02 -3.87740703e-03 9.97740015e-01 4.46902214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.849254154 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:186.69, Y:7.50, Z:4.47 [[ 9.90458375e-01 -1.20613790e-01 -6.66672386e-02 1.86688207e+02] [ 1.20132819e-01 9.92694743e-01 -1.11916880e-02 7.50299980e+00] [ 6.75300892e-02 3.07597782e-03 9.97712496e-01 4.47295938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.879254154 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:186.72, Y:7.51, Z:4.47 [[ 9.90798596e-01 -1.17373871e-01 -6.73907773e-02 1.86717113e+02] [ 1.17115988e-01 9.93087781e-01 -7.77852306e-03 7.50571844e+00] [ 6.78379528e-02 -1.85587751e-04 9.97696335e-01 4.47384214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90925415399997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:186.75, Y:7.51, Z:4.48 [[ 9.91069925e-01 -1.14976899e-01 -6.75330761e-02 1.86746217e+02] [ 1.14712074e-01 9.93368166e-01 -7.79920725e-03 7.50980276e+00] [ 6.79819366e-02 -1.72994726e-05 9.97686552e-01 4.47553699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93925415399997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:186.77, Y:7.51, Z:4.48 [[ 9.91285307e-01 -1.13098217e-01 -6.75443066e-02 1.86774408e+02] [ 1.12828753e-01 9.93583806e-01 -7.80335840e-03 7.51332952e+00] [ 6.79934751e-02 1.14414665e-04 9.97685759e-01 4.47727693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96925415399997 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:186.80, Y:7.52, Z:4.48 [[ 9.91492912e-01 -1.11323103e-01 -6.74460752e-02 1.86803272e+02] [ 1.11050017e-01 9.93784237e-01 -7.79644928e-03 7.51688895e+00] [ 6.78947713e-02 2.40236375e-04 9.97692459e-01 4.47877265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99925415399997 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:186.83, Y:7.52, Z:4.48 [[ 9.91476392e-01 -1.11520635e-01 -6.73625479e-02 1.86831599e+02] [ 1.11248277e-01 9.93762091e-01 -7.79273515e-03 7.52006083e+00] [ 6.78113973e-02 2.32345513e-04 9.97698131e-01 4.48052889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02925415399997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:186.86, Y:7.52, Z:4.48 [[ 9.91372299e-01 -1.12310140e-01 -6.75825151e-02 1.86860271e+02] [ 1.12036655e-01 9.93673183e-01 -7.83541983e-03 7.52319793e+00] [ 6.80349299e-02 1.96099221e-04 9.97682920e-01 4.48248974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05925415399997 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:186.89, Y:7.53, Z:4.48 [[ 9.91132022e-01 -1.14240624e-01 -6.78704303e-02 1.86888551e+02] [ 1.13968288e-01 9.93453106e-01 -7.88389042e-03 7.52581603e+00] [ 6.83267504e-02 7.88995022e-05 9.97662994e-01 4.48419087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08925415399997 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:186.92, Y:7.53, Z:4.49 [[ 9.90919686e-01 -1.15714578e-01 -6.84712505e-02 1.86918261e+02] [ 1.15440662e-01 9.93282506e-01 -7.95722993e-03 7.52882013e+00] [ 6.89320628e-02 -1.93906877e-05 9.97621356e-01 4.48605672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11925415399998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:186.95, Y:7.53, Z:4.49 [[ 9.90723419e-01 -1.17165056e-01 -6.88437154e-02 1.86946532e+02] [ 1.16891452e-01 9.93112449e-01 -8.00329940e-03 7.53142560e+00] [ 6.93072578e-02 -1.18185683e-04 9.97595354e-01 4.48773915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14925415399998 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:186.98, Y:7.53, Z:4.49 [[ 9.90283492e-01 -1.20888535e-01 -6.87354874e-02 1.86975760e+02] [ 1.20624501e-01 9.92666017e-01 -7.99425116e-03 7.53326053e+00] [ 6.91977958e-02 -3.74608924e-04 9.97602889e-01 4.48898872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17925415399998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:187.01, Y:7.54, Z:4.49 [[ 9.90017291e-01 -1.23581970e-01 -6.77735900e-02 1.87005645e+02] [ 1.23331443e-01 9.92334213e-01 -7.88442695e-03 7.53615667e+00] [ 6.82284251e-02 -5.52895669e-04 9.97669573e-01 4.49075310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20925415399998 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:187.04, Y:7.54, Z:4.49 [[ 9.89729576e-01 -1.26199434e-01 -6.71496089e-02 1.87035447e+02] [ 1.25959504e-01 9.92004625e-01 -7.81205043e-03 7.53901588e+00] [ 6.75985990e-02 -7.26314052e-04 9.97712334e-01 4.49245360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:187.06, Y:7.54, Z:4.49 [[ 9.89424169e-01 -1.28821161e-01 -6.66702531e-02 1.87064870e+02] [ 1.28590524e-01 9.91667435e-01 -7.75725500e-03 7.54189549e+00] [ 6.71140175e-02 -8.97947219e-04 9.97744908e-01 4.49428634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26925415399998 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:187.10, Y:7.54, Z:4.50 [[ 9.89141895e-01 -1.31160043e-01 -6.62974769e-02 1.87095036e+02] [ 1.30937240e-01 9.91360650e-01 -7.71366044e-03 7.54485611e+00] [ 6.67364338e-02 -1.05090393e-03 9.97770086e-01 4.49625762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:187.13, Y:7.55, Z:4.50 [[ 9.88768134e-01 -1.34225523e-01 -6.57349628e-02 1.87126398e+02] [ 1.34013273e-01 9.90950026e-01 -7.64784683e-03 7.54752767e+00] [ 6.61665993e-02 -1.24741028e-03 9.97807810e-01 4.49770607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32925415399998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:187.16, Y:7.55, Z:4.50 [[ 9.88681406e-01 -1.34985378e-01 -6.54830156e-02 1.87157379e+02] [ 1.34776573e-01 9.90846744e-01 -7.61618301e-03 7.55078246e+00] [ 6.59117061e-02 -1.29559790e-03 9.97824618e-01 4.49933154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.35925415399998 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:187.19, Y:7.55, Z:4.50 [[ 9.88567712e-01 -1.35642716e-01 -6.58402054e-02 1.87189170e+02] [ 1.35433270e-01 9.90756899e-01 -7.65487571e-03 7.55422996e+00] [ 6.62699659e-02 -1.34959138e-03 9.97800817e-01 4.50116467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38925415399999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:187.22, Y:7.56, Z:4.50 [[ 9.88557179e-01 -1.35816463e-01 -6.56398702e-02 1.87220545e+02] [ 1.35608987e-01 9.90733079e-01 -7.62683611e-03 7.55726308e+00] [ 6.60674406e-02 -1.36179274e-03 9.97814231e-01 4.50238913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.419254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:187.25, Y:7.56, Z:4.50 [[ 9.88559451e-01 -1.35823576e-01 -6.55909078e-02 1.87252386e+02] [ 1.35616682e-01 9.90732099e-01 -7.61727574e-03 7.56052342e+00] [ 6.60176234e-02 -1.36509136e-03 9.97817523e-01 4.50382800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.449254154 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:187.28, Y:7.56, Z:4.50 [[ 9.88624346e-01 -1.35477049e-01 -6.53289522e-02 1.87284783e+02] [ 1.35271370e-01 9.90779577e-01 -7.58198518e-03 7.56360642e+00] [ 6.57537766e-02 -1.34140175e-03 9.97834977e-01 4.50469397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.479254154 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:187.32, Y:7.57, Z:4.51 [[ 9.88660447e-01 -1.35216194e-01 -6.53230513e-02 1.87317147e+02] [ 1.35010304e-01 9.90815228e-01 -7.57644042e-03 7.56725811e+00] [ 6.57475314e-02 -1.32875807e-03 9.97835406e-01 4.50611812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.509254154 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:187.35, Y:7.57, Z:4.51 [[ 9.88727418e-01 -1.34636845e-01 -6.55058287e-02 1.87348608e+02] [ 1.34428827e-01 9.90894159e-01 -7.59316130e-03 7.57065189e+00] [ 6.59316623e-02 -1.29830494e-03 9.97823296e-01 4.50755959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.539254154 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:187.38, Y:7.57, Z:4.51 [[ 9.88765342e-01 -1.34305864e-01 -6.56127510e-02 1.87378874e+02] [ 1.34096586e-01 9.90939098e-01 -7.60332224e-03 7.57424370e+00] [ 6.60394110e-02 -1.28054436e-03 9.97816194e-01 4.50873456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.569254154 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:187.41, Y:7.58, Z:4.51 [[ 9.88772570e-01 -1.34252555e-01 -6.56129298e-02 1.87410469e+02] [ 1.34043262e-01 9.90946324e-01 -7.60177828e-03 7.57787513e+00] [ 6.60394498e-02 -1.27854130e-03 9.97816194e-01 4.51051516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.599254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:187.44, Y:7.58, Z:4.51 [[ 9.88841221e-01 -1.33723441e-01 -6.56588202e-02 1.87441351e+02] [ 1.33512917e-01 9.91017904e-01 -7.60368327e-03 7.58132774e+00] [ 6.60858570e-02 -1.24746514e-03 9.97813161e-01 4.51111847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.629254154 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:187.47, Y:7.59, Z:4.51 [[ 9.88817076e-01 -1.33881470e-01 -6.57003977e-02 1.87472855e+02] [ 1.33671214e-01 9.90996549e-01 -7.60567163e-03 7.58523125e+00] [ 6.61271259e-02 -1.26163393e-03 9.97810409e-01 4.51320081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65925415399997 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:187.50, Y:7.59, Z:4.51 [[ 9.88749866e-01 -1.34468994e-01 -6.55117647e-02 1.87503127e+02] [ 1.34261520e-01 9.90916947e-01 -7.57948486e-03 7.58883802e+00] [ 6.59359235e-02 -1.30149447e-03 9.97823010e-01 4.51463660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68925415399997 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:187.54, Y:7.59, Z:4.52 [[ 9.88418180e-01 -1.37068363e-01 -6.51288300e-02 1.87535336e+02] [ 1.36869055e-01 9.90560502e-01 -7.53343300e-03 7.59219897e+00] [ 6.55466419e-02 -1.46793931e-03 9.97848427e-01 4.51647062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71925415399997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:187.57, Y:7.60, Z:4.52 [[ 9.88153002e-01 -1.38953301e-01 -6.51584545e-02 1.87566696e+02] [ 1.38758212e-01 9.90297645e-01 -7.53213727e-03 7.59524291e+00] [ 6.55728793e-02 -1.59836658e-03 9.97846503e-01 4.51813103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74925415399997 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:187.60, Y:7.60, Z:4.52 [[ 9.87795663e-01 -1.41507146e-01 -6.50803819e-02 1.87598993e+02] [ 1.41318307e-01 9.89935653e-01 -7.51929619e-03 7.59838539e+00] [ 6.54894245e-02 -1.76952121e-03 9.97851694e-01 4.51967093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77925415399997 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:187.63, Y:7.60, Z:4.52 [[ 9.86981201e-01 -1.46971324e-01 -6.53264031e-02 1.87631454e+02] [ 1.46793307e-01 9.89138428e-01 -7.54288922e-03 7.60085211e+00] [ 6.57254441e-02 -2.14478889e-03 9.97835440e-01 4.52092177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80925415399997 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:187.66, Y:7.60, Z:4.52 [[ 9.86576511e-01 -1.49602465e-01 -6.54667086e-02 1.87663021e+02] [ 1.49429782e-01 9.88743483e-01 -7.55419673e-03 7.60406883e+00] [ 6.58599079e-02 -2.32988296e-03 9.97826159e-01 4.52244554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83925415399997 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:187.69, Y:7.61, Z:4.52 [[ 9.86211427e-01 -1.51969620e-01 -6.55153110e-02 1.87694878e+02] [ 1.51802212e-01 9.88382017e-01 -7.55493145e-03 7.60755509e+00] [ 6.59022753e-02 -2.49460937e-03 9.97822964e-01 4.52379979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86925415399998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:187.73, Y:7.61, Z:4.53 [[ 9.85915321e-01 -1.53775425e-01 -6.57578804e-02 1.87726737e+02] [ 1.53611103e-01 9.88102324e-01 -7.57802130e-03 7.61127886e+00] [ 6.61408279e-02 -2.62985327e-03 9.97806832e-01 4.52524386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89925415399998 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:187.76, Y:7.62, Z:4.53 [[ 9.85627587e-01 -1.55586009e-01 -6.58122663e-02 1.87757781e+02] [ 1.55425753e-01 9.87818498e-01 -7.57956276e-03 7.61534055e+00] [ 6.61898479e-02 -2.75829486e-03 9.97803235e-01 4.52668531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92925415399998 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:187.79, Y:7.62, Z:4.53 [[ 9.85440924e-01 -1.56987022e-01 -6.52783274e-02 1.87789559e+02] [ 1.56832669e-01 9.87596603e-01 -7.51428551e-03 7.61995608e+00] [ 6.56482997e-02 -2.83288985e-03 9.97838802e-01 4.52864141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95925415399998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:187.82, Y:7.62, Z:4.53 [[ 9.85455829e-01 -1.57204960e-01 -6.45244870e-02 1.87821708e+02] [ 1.57054922e-01 9.87561974e-01 -7.42280446e-03 7.62451236e+00] [ 6.48888315e-02 -2.81904235e-03 9.97888517e-01 4.53031291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98925415399998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:187.85, Y:7.63, Z:4.53 [[ 9.85590012e-01 -1.56715590e-01 -6.36596540e-02 1.87853064e+02] [ 1.56568827e-01 9.87639934e-01 -7.31866569e-03 7.62905670e+00] [ 6.40197655e-02 -2.75391353e-03 9.97944831e-01 4.53243394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01925415399998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:187.88, Y:7.64, Z:4.53 [[ 9.85959283e-01 -1.54985184e-01 -6.21601627e-02 1.87884287e+02] [ 1.54842106e-01 9.87913416e-01 -7.14172877e-03 7.63528162e+00] [ 6.25157208e-02 -2.58355673e-03 9.98040635e-01 4.53484261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.04925415399998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:187.92, Y:7.64, Z:4.54 [[ 9.85973688e-01 -1.54893297e-01 -6.21607089e-02 1.87916731e+02] [ 1.54750336e-01 9.87927830e-01 -7.13697144e-03 7.63894823e+00] [ 6.25157633e-02 -2.58252455e-03 9.98040635e-01 4.53666960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07925415399998 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:187.95, Y:7.65, Z:4.54 [[ 9.86484381e-01 -1.52316078e-01 -6.04018024e-02 1.87948155e+02] [ 1.52176609e-01 9.88329025e-01 -6.92947649e-03 7.64562392e+00] [ 6.07523252e-02 -2.35592116e-03 9.98150091e-01 4.53879265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10925415399998 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:187.98, Y:7.65, Z:4.54 [[ 9.86725831e-01 -1.51132151e-01 -5.94239554e-02 1.87979591e+02] [ 1.50995349e-01 9.88511004e-01 -6.81179395e-03 7.65077689e+00] [ 5.97707149e-02 -2.25136781e-03 9.98209594e-01 4.54060282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13925415399999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:188.01, Y:7.66, Z:4.54 [[ 9.86996701e-01 -1.49724877e-01 -5.84805434e-02 1.88011937e+02] [ 1.49590235e-01 9.88725389e-01 -6.69828556e-03 7.65576515e+00] [ 5.88240980e-02 -2.13693247e-03 9.98266076e-01 4.54259805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.169254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:188.04, Y:7.66, Z:4.54 [[ 9.87510156e-01 -1.46796755e-01 -5.72224118e-02 1.88044241e+02] [ 1.46663286e-01 9.89164801e-01 -6.54810249e-03 7.66230670e+00] [ 5.75636358e-02 -1.92610926e-03 9.98339981e-01 4.54437579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.199254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:188.08, Y:7.67, Z:4.55 [[ 9.87785247e-01 -1.44958177e-01 -5.71614571e-02 1.88076762e+02] [ 1.44822286e-01 9.89436103e-01 -6.53476142e-03 7.66738241e+00] [ 5.75048765e-02 -1.82331197e-03 9.98343560e-01 4.54603802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.229254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:188.11, Y:7.67, Z:4.55 [[ 9.88083247e-01 -1.42968672e-01 -5.70215387e-02 1.88108329e+02] [ 1.42830509e-01 9.89725738e-01 -6.51229986e-03 7.67235440e+00] [ 5.73667393e-02 -1.70972101e-03 9.98351709e-01 4.54749627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.259254154 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:188.14, Y:7.68, Z:4.55 [[ 9.88430658e-01 -1.40665130e-01 -5.67287895e-02 1.88140684e+02] [ 1.40525182e-01 9.90055974e-01 -6.46856689e-03 7.67725536e+00] [ 5.70745787e-02 -1.57809365e-03 9.98368670e-01 4.54896996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.289254154 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:188.17, Y:7.68, Z:4.55 [[ 9.89083461e-01 -1.36190475e-01 -5.62677625e-02 1.88173412e+02] [ 1.36045906e-01 9.90681798e-01 -6.40986927e-03 7.68378516e+00] [ 5.66164112e-02 -1.31510302e-03 9.98395138e-01 4.55054438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.319254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:188.21, Y:7.69, Z:4.55 [[ 9.89353136e-01 -1.34203709e-01 -5.63004116e-02 1.88205665e+02] [ 1.34056115e-01 9.90953028e-01 -6.40730080e-03 7.68912243e+00] [ 5.66509469e-02 -1.20833131e-03 9.98393314e-01 4.55234655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.349254154 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:188.24, Y:7.69, Z:4.55 [[ 9.89618655e-01 -1.32203386e-01 -5.63665026e-02 1.88236935e+02] [ 1.32052558e-01 9.91221999e-01 -6.40858312e-03 7.69400756e+00] [ 5.67189538e-02 -1.10128745e-03 9.98389577e-01 4.55402003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.379254154 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:188.27, Y:7.70, Z:4.56 [[ 9.89846056e-01 -1.30549134e-01 -5.62290775e-02 1.88268479e+02] [ 1.30396666e-01 9.91441327e-01 -6.38782215e-03 7.69880325e+00] [ 5.65817558e-02 -1.00912365e-03 9.98397459e-01 4.55538083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40925415399997 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:188.30, Y:7.70, Z:4.56 [[ 9.90013097e-01 -1.29030968e-01 -5.67897567e-02 1.88300612e+02] [ 1.28873185e-01 9.91640123e-01 -6.44735668e-03 7.70328916e+00] [ 5.71469100e-02 -9.35709251e-04 9.98365342e-01 4.55712904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43925415399997 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:188.33, Y:7.71, Z:4.56 [[ 9.90102075e-01 -1.28220691e-01 -5.70730689e-02 1.88331751e+02] [ 1.28060221e-01 9.91745254e-01 -6.47540831e-03 7.70777731e+00] [ 5.74322265e-02 -8.97474624e-04 9.98349004e-01 4.55854992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46925415399997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:188.36, Y:7.71, Z:4.56 [[ 9.90194113e-01 -1.27177637e-01 -5.78054187e-02 1.88363434e+02] [ 1.27011430e-01 9.91879592e-01 -6.55531354e-03 7.71236382e+00] [ 5.81697044e-02 -8.50916007e-04 9.98306346e-01 4.55958938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49925415399997 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:188.39, Y:7.72, Z:4.56 [[ 9.90202956e-01 -1.27073500e-01 -5.78829173e-02 1.88394928e+02] [ 1.26906931e-01 9.91892939e-01 -6.55961593e-03 7.71637976e+00] [ 5.82472103e-02 -8.50392303e-04 9.98301828e-01 4.56103313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52925415399997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:188.43, Y:7.72, Z:4.56 [[ 9.90300009e-01 -1.26691500e-01 -5.70539749e-02 1.88427421e+02] [ 1.26529613e-01 9.91941824e-01 -6.45564457e-03 7.72012579e+00] [ 5.74120992e-02 -8.25992506e-04 9.98350223e-01 4.56168335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55925415399997 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:188.46, Y:7.72, Z:4.56 [[ 9.90219446e-01 -1.27292321e-01 -5.71149210e-02 1.88459067e+02] [ 1.27131324e-01 9.91864867e-01 -6.45842399e-03 7.72437402e+00] [ 5.74723913e-02 -8.65838474e-04 9.98346721e-01 4.56447123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58925415399997 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:188.49, Y:7.73, Z:4.57 [[ 9.90239163e-01 -1.27507514e-01 -5.62870764e-02 1.88490803e+02] [ 1.27351726e-01 9.91837223e-01 -6.36082272e-03 7.72810390e+00] [ 5.66386703e-02 -8.69520565e-04 9.98394363e-01 4.56681250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61925415399998 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:188.52, Y:7.73, Z:4.57 [[ 9.90255384e-01 -1.27485572e-01 -5.60509014e-02 1.88523359e+02] [ 1.27331286e-01 9.91840045e-01 -6.33001755e-03 7.73205963e+00] [ 5.64005144e-02 -8.68699417e-04 9.98407846e-01 4.56880029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64925415399998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:188.56, Y:7.74, Z:4.57 [[ 9.90206378e-01 -1.27841706e-01 -5.61054995e-02 1.88556078e+02] [ 1.27688047e-01 9.91794180e-01 -6.32989634e-03 7.73598660e+00] [ 5.64543326e-02 -8.96097915e-04 9.98404780e-01 4.57069256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67925415399998 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:188.59, Y:7.74, Z:4.57 [[ 9.90013725e-01 -1.29531682e-01 -5.56270483e-02 1.88589346e+02] [ 1.29383643e-01 9.91574790e-01 -6.26974773e-03 7.73939900e+00] [ 5.59705097e-02 -9.90093866e-04 9.98431931e-01 4.57186871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70925415399998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:188.62, Y:7.74, Z:4.57 [[ 9.89845226e-01 -1.30845671e-01 -5.55503282e-02 1.88621474e+02] [ 1.30700455e-01 9.91402172e-01 -6.25488955e-03 7.74259012e+00] [ 5.58911413e-02 -1.06908061e-03 9.98436296e-01 4.57377348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73925415399998 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:188.65, Y:7.75, Z:4.58 [[ 9.89638860e-01 -1.32446081e-01 -5.54343020e-02 1.88654371e+02] [ 1.32304264e-01 9.91189530e-01 -6.23670376e-03 7.74591583e+00] [ 5.57719267e-02 -1.16211014e-03 9.98442859e-01 4.57537383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76925415399998 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:188.69, Y:7.75, Z:4.58 [[ 9.89203364e-01 -1.35561829e-01 -5.56749062e-02 1.88686064e+02] [ 1.35424057e-01 9.90767969e-01 -6.25750039e-03 7.74841373e+00] [ 5.60091920e-02 -1.34978121e-03 9.98429341e-01 4.57661978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.79925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:188.72, Y:7.75, Z:4.58 [[ 9.89012692e-01 -1.36820623e-01 -5.59822524e-02 1.88718867e+02] [ 1.36683634e-01 9.90594801e-01 -6.28680009e-03 7.75150025e+00] [ 5.63158921e-02 -1.43413262e-03 9.98411971e-01 4.57834458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.82925415399998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:188.75, Y:7.75, Z:4.58 [[ 9.88903533e-01 -1.37513814e-01 -5.62116741e-02 1.88751174e+02] [ 1.37377180e-01 9.90498734e-01 -6.30617463e-03 7.75466218e+00] [ 5.65447781e-02 -1.48600288e-03 9.98398958e-01 4.58018834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.85925415399998 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:188.79, Y:7.77, Z:4.58 [[ 9.89841586e-01 -1.35642797e-01 -4.25989017e-02 1.88788589e+02] [ 1.33814487e-01 9.90064649e-01 -4.31934511e-02 7.77285955e+00] [ 4.80345472e-02 3.70543240e-02 9.98158133e-01 4.58334074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.88925415399999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:188.82, Y:7.74, Z:4.57 [[ 9.88952547e-01 -1.35285613e-01 -6.05859925e-02 1.88817687e+02] [ 1.37440751e-01 9.89962684e-01 3.29229931e-02 7.74198672e+00] [ 5.55238645e-02 -4.08862621e-02 9.97619875e-01 4.57102818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.919254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:188.85, Y:7.77, Z:4.59 [[ 9.89026249e-01 -1.36684716e-01 -5.60746536e-02 1.88847178e+02] [ 1.36547516e-01 9.90613559e-01 -6.28904728e-03 7.76501953e+00] [ 5.64079288e-02 -1.43682180e-03 9.98406771e-01 4.58655288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.949254154 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:188.88, Y:7.77, Z:4.59 [[ 9.89194683e-01 -1.35647208e-01 -5.56211717e-02 1.88879914e+02] [ 1.35510926e-01 9.90756252e-01 -6.23201339e-03 7.76847974e+00] [ 5.59523788e-02 -1.37260196e-03 9.98432495e-01 4.58833676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.979254154 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:188.91, Y:7.77, Z:4.59 [[ 9.89339692e-01 -1.34545978e-01 -5.57167295e-02 1.88911276e+02] [ 1.34407831e-01 9.90906474e-01 -6.23651153e-03 7.77174077e+00] [ 5.60491656e-02 -1.31873639e-03 9.98427139e-01 4.59009423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.009254154 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:188.94, Y:7.77, Z:4.59 [[ 9.89504718e-01 -1.33181715e-01 -5.60628526e-02 1.88944633e+02] [ 1.33039952e-01 9.91090842e-01 -6.27006342e-03 7.77472964e+00] [ 5.63984376e-02 -1.25434187e-03 9.98407553e-01 4.59168133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.039254154 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:188.98, Y:7.78, Z:4.59 [[ 9.89654388e-01 -1.32097732e-01 -5.59855517e-02 1.88976770e+02] [ 1.31954974e-01 9.91235974e-01 -6.25526778e-03 7.77767857e+00] [ 5.63211996e-02 -1.19701883e-03 9.98411984e-01 4.59266093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.069254154 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:189.01, Y:7.78, Z:4.59 [[ 9.89832758e-01 -1.30369782e-01 -5.68755819e-02 1.89008695e+02] [ 1.30219899e-01 9.91464806e-01 -6.34946143e-03 7.78005480e+00] [ 5.72179157e-02 -1.12142759e-03 9.98361083e-01 4.59397636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.099254154 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:189.04, Y:7.78, Z:4.60 [[ 9.89918212e-01 -1.29662295e-01 -5.70054694e-02 1.89039699e+02] [ 1.29510793e-01 9.91557617e-01 -6.35980350e-03 7.78301600e+00] [ 5.73488341e-02 -1.08713824e-03 9.98353609e-01 4.59557150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.129254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:189.07, Y:7.79, Z:4.60 [[ 9.89969233e-01 -1.29098601e-01 -5.73974605e-02 1.89070672e+02] [ 1.28944243e-01 9.91631190e-01 -6.40038926e-03 7.78592661e+00] [ 5.77433934e-02 -1.06488361e-03 9.98330890e-01 4.59756414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15925415399997 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:189.10, Y:7.79, Z:4.60 [[ 9.89977952e-01 -1.28676183e-01 -5.81901552e-02 1.89102554e+02] [ 1.28516989e-01 9.91686100e-01 -6.48557645e-03 7.78803347e+00] [ 5.85409073e-02 -1.05784581e-03 9.98284450e-01 4.59915055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18925415399997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:189.13, Y:7.79, Z:4.60 [[ 9.89855773e-01 -1.29307081e-01 -5.88661762e-02 1.89134164e+02] [ 1.29145534e-01 9.91603974e-01 -6.55662054e-03 7.79116276e+00] [ 5.92197517e-02 -1.11219507e-03 9.98244351e-01 4.60102930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21925415399997 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:189.17, Y:7.79, Z:4.60 [[ 9.89532164e-01 -1.31161392e-01 -6.01895834e-02 1.89165393e+02] [ 1.30996194e-01 9.91360234e-01 -6.69950425e-03 7.79345698e+00] [ 6.05482758e-02 -1.25523142e-03 9.98164481e-01 4.60245881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24925415399997 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:189.20, Y:7.80, Z:4.60 [[ 9.89295596e-01 -1.32631338e-01 -6.08535241e-02 1.89197562e+02] [ 1.32465466e-01 9.91164501e-01 -6.76989446e-03 7.79644548e+00] [ 6.12137530e-02 -1.36356364e-03 9.98123748e-01 4.60459559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27925415399997 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:189.23, Y:7.80, Z:4.61 [[ 9.89037521e-01 -1.34326182e-01 -6.13291021e-02 1.89229716e+02] [ 1.34161237e-01 9.90936059e-01 -6.81828590e-03 7.79942350e+00] [ 6.16890930e-02 -1.48444764e-03 9.98094310e-01 4.60621181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30925415399997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:189.26, Y:7.80, Z:4.61 [[ 9.88736852e-01 -1.36192551e-01 -6.20566453e-02 1.89260495e+02] [ 1.36027619e-01 9.90681054e-01 -6.89468588e-03 7.80218089e+00] [ 6.24173476e-02 -1.62438767e-03 9.98048814e-01 4.60813805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33925415399997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:189.29, Y:7.80, Z:4.61 [[ 9.88083480e-01 -1.40764271e-01 -6.22611893e-02 1.89292640e+02] [ 1.40607524e-01 9.90041273e-01 -6.91387800e-03 7.80430622e+00] [ 6.26143741e-02 -1.92290306e-03 9.98035943e-01 4.60988067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:189.32, Y:7.81, Z:4.61 [[ 9.87744081e-01 -1.43141542e-01 -6.22264352e-02 1.89324525e+02] [ 1.42989966e-01 9.89700048e-01 -6.90540542e-03 7.80704990e+00] [ 6.25739563e-02 -2.07698253e-03 9.98038169e-01 4.61157001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:189.36, Y:7.81, Z:4.61 [[ 9.87384587e-01 -1.45673718e-01 -6.20551766e-02 1.89356117e+02] [ 1.45528250e-01 9.89330162e-01 -6.88181402e-03 7.81005933e+00] [ 6.23955574e-02 -2.23578414e-03 9.98048995e-01 4.61374406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:189.39, Y:7.81, Z:4.62 [[ 9.86694547e-01 -1.50488524e-01 -6.15392118e-02 1.89388021e+02] [ 1.50355081e-01 9.88608535e-01 -6.82006245e-03 7.81316493e+00] [ 6.18645312e-02 -2.52341474e-03 9.98081366e-01 4.61616177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45925415399998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:189.42, Y:7.82, Z:4.62 [[ 9.86414483e-01 -1.52412106e-01 -6.12945082e-02 1.89421008e+02] [ 1.52283716e-01 9.88313508e-01 -6.78822086e-03 7.81665995e+00] [ 6.16127974e-02 -2.63815608e-03 9.98096640e-01 4.61821994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48925415399998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:189.45, Y:7.82, Z:4.62 [[ 9.86433881e-01 -1.52286207e-01 -6.12952609e-02 1.89454312e+02] [ 1.52157996e-01 9.88332918e-01 -6.78141711e-03 7.82025116e+00] [ 6.16128404e-02 -2.63714448e-03 9.98096640e-01 4.62010603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:189.49, Y:7.82, Z:4.62 [[ 9.86001466e-01 -1.55112550e-01 -6.11653911e-02 1.89485839e+02] [ 1.54990775e-01 9.87892793e-01 -6.75936889e-03 7.82346033e+00] [ 6.14733120e-02 -2.81532371e-03 9.98104757e-01 4.62278850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.54925415399998 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:189.52, Y:7.83, Z:4.62 [[ 9.85863635e-01 -1.56315599e-01 -6.03185486e-02 1.89518357e+02] [ 1.56199752e-01 9.87703032e-01 -6.66023590e-03 7.82638279e+00] [ 6.06179121e-02 -2.85565795e-03 9.98156959e-01 4.62494607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57925415399998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:189.55, Y:7.83, Z:4.63 [[ 9.85860398e-01 -1.56475743e-01 -5.99551353e-02 1.89550116e+02] [ 1.56362003e-01 9.87677675e-01 -6.61313699e-03 7.82949906e+00] [ 6.02511442e-02 -2.85507520e-03 9.98179166e-01 4.62710947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60925415399998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:189.58, Y:7.83, Z:4.63 [[ 9.85880141e-01 -1.56350851e-01 -5.99563149e-02 1.89583422e+02] [ 1.56237531e-01 9.87697445e-01 -6.60242580e-03 7.83306969e+00] [ 6.02509939e-02 -2.85822613e-03 9.98179166e-01 4.62899416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63925415399999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:189.61, Y:7.84, Z:4.63 [[ 9.86218310e-01 -1.54285744e-01 -5.97440680e-02 1.89614034e+02] [ 1.54069096e-01 9.88025685e-01 -8.24374140e-03 7.83577909e+00] [ 6.03005655e-02 -1.07458583e-03 9.98179687e-01 4.62829648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.669254154 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:189.65, Y:7.84, Z:4.63 [[ 9.85943492e-01 -1.56042884e-01 -5.97163965e-02 1.89648148e+02] [ 1.56010827e-01 9.87741512e-01 -5.22762435e-03 7.83876004e+00] [ 5.98000973e-02 -4.16226220e-03 9.98201695e-01 4.63168300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.699254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:189.68, Y:7.84, Z:4.63 [[ 9.86083291e-01 -1.54909273e-01 -6.03561052e-02 1.89680839e+02] [ 1.54793245e-01 9.87924695e-01 -6.62175648e-03 7.84247700e+00] [ 6.06530583e-02 -2.81311398e-03 9.98154944e-01 4.63292574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.729254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:189.71, Y:7.85, Z:4.63 [[ 9.86189835e-01 -1.54074342e-01 -6.07511870e-02 1.89713274e+02] [ 1.53955627e-01 9.88055328e-01 -6.65829929e-03 7.84590877e+00] [ 6.10514071e-02 -2.78664003e-03 9.98130733e-01 4.63442475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.759254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:189.75, Y:7.85, Z:4.64 [[ 9.86410573e-01 -1.52618888e-01 -6.08412369e-02 1.89745148e+02] [ 1.52497472e-01 9.88281410e-01 -6.66145814e-03 7.84947178e+00] [ 6.11449278e-02 -2.70720209e-03 9.98125227e-01 4.63589836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.789254154 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:189.78, Y:7.85, Z:4.64 [[ 9.86657027e-01 -1.50892410e-01 -6.11505686e-02 1.89778298e+02] [ 1.50766804e-01 9.88546722e-01 -6.68955329e-03 7.85332900e+00] [ 6.14595969e-02 -2.61918103e-03 9.98106136e-01 4.63765103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.819254154 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:189.81, Y:7.86, Z:4.64 [[ 9.87289682e-01 -1.46586259e-01 -6.14129675e-02 1.89809508e+02] [ 1.46451671e-01 9.89195058e-01 -6.71159921e-03 7.85807760e+00] [ 6.17332322e-02 -2.36773909e-03 9.98089877e-01 4.63934467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.849254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:189.84, Y:7.86, Z:4.64 [[ 9.87671836e-01 -1.43865863e-01 -6.17005418e-02 1.89841705e+02] [ 1.43725058e-01 9.89594722e-01 -6.73750058e-03 7.86259889e+00] [ 6.20278268e-02 -2.21347435e-03 9.98071966e-01 4.64140761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.879254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:189.87, Y:7.87, Z:4.64 [[ 9.88129015e-01 -1.40590197e-01 -6.19309881e-02 1.89873757e+02] [ 1.40442198e-01 9.90065814e-01 -6.75812082e-03 7.86712568e+00] [ 6.22658797e-02 -2.01982880e-03 9.98057554e-01 4.64330454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90925415399997 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:189.90, Y:7.87, Z:4.65 [[ 9.88606487e-01 -1.37008205e-01 -6.23375198e-02 1.89904814e+02] [ 1.36851450e-01 9.90568257e-01 -6.79763499e-03 7.87163701e+00] [ 6.26809002e-02 -1.81079394e-03 9.98031976e-01 4.64524238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93925415399997 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:189.94, Y:7.88, Z:4.65 [[ 9.89707770e-01 -1.28905595e-01 -6.21440116e-02 1.89936110e+02] [ 1.28734270e-01 9.91656018e-01 -6.76980005e-03 7.87708172e+00] [ 6.24981482e-02 -1.29994024e-03 9.98044233e-01 4.64709803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96925415399997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:189.97, Y:7.88, Z:4.65 [[ 9.90291586e-01 -1.24492457e-01 -6.18401408e-02 1.89967737e+02] [ 1.24314481e-01 9.92220029e-01 -6.73227111e-03 7.88159503e+00] [ 6.21971433e-02 -1.02071357e-03 9.98063361e-01 4.64914751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:190.00, Y:7.89, Z:4.65 [[ 9.90892155e-01 -1.19908926e-01 -6.12746771e-02 1.89998381e+02] [ 1.19725699e-01 9.92784627e-01 -6.66641257e-03 7.88549743e+00] [ 6.16319198e-02 -7.30457649e-04 9.98098679e-01 4.65087059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02925415399997 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:190.03, Y:7.89, Z:4.65 [[ 9.91956229e-01 -1.11224845e-01 -6.04307253e-02 1.90029031e+02] [ 1.11030733e-01 9.93795249e-01 -6.57108472e-03 7.88957704e+00] [ 6.07866356e-02 -1.91439316e-04 9.98150764e-01 4.65276673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05925415399997 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:190.06, Y:7.89, Z:4.65 [[ 9.92437626e-01 -1.07228081e-01 -5.97469400e-02 1.90060315e+02] [ 1.07031507e-01 9.94234447e-01 -6.48999950e-03 7.89322157e+00] [ 6.00983760e-02 4.61146898e-05 9.98192458e-01 4.65478405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08925415399997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:190.09, Y:7.90, Z:4.66 [[ 9.92802368e-01 -1.03762454e-01 -5.98064483e-02 1.90089975e+02] [ 1.03559317e-01 9.94602075e-01 -6.49456559e-03 7.89665816e+00] [ 6.01575097e-02 2.54305133e-04 9.98188865e-01 4.65653818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11925415399998 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:190.12, Y:7.90, Z:4.66 [[ 9.93147704e-01 -1.00632839e-01 -5.94194397e-02 1.90119922e+02] [ 1.00426669e-01 9.94923533e-01 -6.45350690e-03 7.89965381e+00] [ 5.97672336e-02 4.41989149e-04 9.98212243e-01 4.65749552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14925415399998 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:190.15, Y:7.90, Z:4.66 [[ 9.93440295e-01 -9.77670463e-02 -5.93126081e-02 1.90149475e+02] [ 9.75565069e-02 9.95209138e-01 -6.44201955e-03 7.90230625e+00] [ 5.96582668e-02 6.13430942e-04 9.98218671e-01 4.65847238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17925415399998 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:190.18, Y:7.90, Z:4.66 [[ 9.93672964e-01 -9.55446330e-02 -5.90361231e-02 1.90177892e+02] [ 9.53320110e-02 9.95424868e-01 -6.41407012e-03 7.90432929e+00] [ 5.93788550e-02 7.45455730e-04 9.98235241e-01 4.66156983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20925415399998 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:190.21, Y:7.91, Z:4.66 [[ 9.93673956e-01 -9.56687614e-02 -5.88179993e-02 1.90206576e+02] [ 9.54577166e-02 9.95412951e-01 -6.39391264e-03 7.90593896e+00] [ 5.91598959e-02 7.38832562e-04 9.98248246e-01 4.66310310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23925415399998 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:190.23, Y:7.91, Z:4.66 [[ 9.93594217e-01 -9.64980669e-02 -5.88103334e-02 1.90234435e+02] [ 9.62877265e-02 9.95332924e-01 -6.40660959e-03 7.90713656e+00] [ 5.91540865e-02 7.02856941e-04 9.98248616e-01 4.66454172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26925415399998 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:190.26, Y:7.91, Z:4.67 [[ 9.93171690e-01 -1.00925243e-01 -5.85157166e-02 1.90262459e+02] [ 1.00724364e-01 9.94893914e-01 -6.37987803e-03 7.90635714e+00] [ 5.88608211e-02 4.42355914e-04 9.98266101e-01 4.66578935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29925415399998 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:190.29, Y:7.91, Z:4.67 [[ 9.92833608e-01 -1.04272543e-01 -5.83837600e-02 1.90291179e+02] [ 1.04077468e-01 9.94548727e-01 -6.38048214e-03 7.90714133e+00] [ 5.87308033e-02 2.58323183e-04 9.98273823e-01 4.66747675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:190.32, Y:7.91, Z:4.67 [[ 9.92410001e-01 -1.08122561e-01 -5.85824282e-02 1.90321067e+02] [ 1.07932685e-01 9.94137571e-01 -6.40506036e-03 7.90794653e+00] [ 5.89315244e-02 3.34872009e-05 9.98262027e-01 4.66900168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:190.35, Y:7.91, Z:4.67 [[ 9.91947019e-01 -1.12229409e-01 -5.86998352e-02 1.90352100e+02] [ 1.12045849e-01 9.93682301e-01 -6.41963951e-03 7.90862932e+00] [ 5.90494597e-02 -2.09130564e-04 9.98255036e-01 4.67028506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.38925415399999 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:190.38, Y:7.91, Z:4.67 [[ 9.90945008e-01 -1.20630663e-01 -5.89596016e-02 1.90382748e+02] [ 1.20460440e-01 9.92697201e-01 -6.44594120e-03 7.90614873e+00] [ 5.93066096e-02 -7.14726286e-04 9.98239558e-01 4.67178825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.419254154 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:190.41, Y:7.91, Z:4.67 [[ 9.90396341e-01 -1.24945612e-01 -5.91919079e-02 1.90413701e+02] [ 1.24781805e-01 9.92163110e-01 -6.47020286e-03 7.90679764e+00] [ 5.95364509e-02 -9.78007899e-04 9.98225653e-01 4.67317304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.449254154 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:190.44, Y:7.91, Z:4.67 [[ 9.89868509e-01 -1.28875140e-01 -5.95947427e-02 1.90444965e+02] [ 1.28716353e-01 9.91660072e-01 -6.51175087e-03 7.90759799e+00] [ 5.99369296e-02 -1.22504083e-03 9.98201414e-01 4.67481819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.479254154 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:190.48, Y:7.91, Z:4.68 [[ 9.88786442e-01 -1.36549509e-01 -6.04615904e-02 1.90476875e+02] [ 1.36400793e-01 9.90631752e-01 -6.59963154e-03 7.90682606e+00] [ 6.07963477e-02 -1.72138272e-03 9.98148707e-01 4.67681386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.509254154 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:190.51, Y:7.93, Z:4.68 [[ 9.89972680e-01 -1.36126276e-01 -3.77323416e-02 1.90513020e+02] [ 1.33209501e-01 9.88520712e-01 -7.12883611e-02 7.93423950e+00] [ 4.70034203e-02 6.55472235e-02 9.96741812e-01 4.67865111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.539254154 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:190.54, Y:7.88, Z:4.66 [[ 9.87882203e-01 -1.39122462e-01 -6.88018381e-02 1.90540246e+02] [ 1.43389026e-01 9.87752202e-01 6.15237761e-02 7.87513093e+00] [ 5.93998279e-02 -7.06436720e-02 9.95731456e-01 4.66094471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.569254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:190.57, Y:7.91, Z:4.68 [[ 9.86930368e-01 -1.49313172e-01 -6.06137437e-02 1.90567673e+02] [ 1.49186133e-01 9.88786826e-01 -6.64158836e-03 7.90956956e+00] [ 6.09257478e-02 -2.48794482e-03 9.98139200e-01 4.68275781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.599254154 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:190.60, Y:7.91, Z:4.69 [[ 9.86540388e-01 -1.52019934e-01 -6.02328959e-02 1.90599880e+02] [ 1.51899785e-01 9.88373895e-01 -6.59542387e-03 7.91137335e+00] [ 6.05352578e-02 -2.64271192e-03 9.98162561e-01 4.68501016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.629254154 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:190.63, Y:7.91, Z:4.69 [[ 9.86225262e-01 -1.54447547e-01 -5.92088470e-02 1.90632377e+02] [ 1.54336069e-01 9.87997167e-01 -6.47892167e-03 7.91314159e+00] [ 5.94988267e-02 -2.74838446e-03 9.98224592e-01 4.68662832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.65925415399997 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:190.66, Y:7.92, Z:4.69 [[ 9.85933196e-01 -1.56557114e-01 -5.85286545e-02 1.90663502e+02] [ 1.56452141e-01 9.87664804e-01 -6.40016050e-03 7.91516360e+00] [ 5.88086828e-02 -2.84680259e-03 9.98265213e-01 4.68878129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.68925415399997 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:190.70, Y:7.92, Z:4.69 [[ 9.85439747e-01 -1.59714253e-01 -5.83083437e-02 1.90695946e+02] [ 1.59615767e-01 9.87158647e-01 -6.37277054e-03 7.91639199e+00] [ 5.85774079e-02 -3.02694960e-03 9.98278280e-01 4.69110334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.71925415399997 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:190.73, Y:7.94, Z:4.69 [[ 9.86966178e-01 -1.56547365e-01 -3.72919108e-02 1.90734979e+02] [ 1.53927619e-01 9.85940073e-01 -6.50266182e-02 7.94248928e+00] [ 4.69473350e-02 5.84388178e-02 9.97186468e-01 4.69271390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.74925415399997 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:190.76, Y:7.89, Z:4.68 [[ 9.85255453e-01 -1.57819968e-01 -6.60647491e-02 1.90759390e+02] [ 1.61597815e-01 9.85245782e-01 5.63639519e-02 7.88974919e+00] [ 5.61946583e-02 -6.62088100e-02 9.96222141e-01 4.67708245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.77925415399997 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:190.79, Y:7.93, Z:4.69 [[ 9.85618778e-01 -1.60055316e-01 -5.42025782e-02 1.90791164e+02] [ 1.59321148e-01 9.87069316e-01 -1.76334086e-02 7.92816566e+00] [ 5.63240226e-02 8.74420165e-03 9.98374250e-01 4.69449326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.80925415399997 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:190.82, Y:7.92, Z:4.69 [[ 9.85024422e-01 -1.61092995e-01 -6.14486366e-02 1.90819649e+02] [ 1.61746936e-01 9.86815297e-01 5.78776135e-03 7.92074056e+00] [ 5.97060868e-02 -1.56402150e-02 9.98093466e-01 4.69484024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.83925415399997 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:190.85, Y:7.93, Z:4.70 [[ 9.84881594e-01 -1.62198781e-01 -6.08259845e-02 1.90850926e+02] [ 1.62093664e-01 9.86752688e-01 -6.69149283e-03 7.92993317e+00] [ 6.11055557e-02 -3.26917859e-03 9.98125956e-01 4.70023790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.86925415399998 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:190.88, Y:7.93, Z:4.70 [[ 9.84756105e-01 -1.62446025e-01 -6.21828115e-02 1.90881700e+02] [ 1.62336955e-01 9.86711701e-01 -6.83606659e-03 7.93292221e+00] [ 6.24669995e-02 -3.36270996e-03 9.98041365e-01 4.70199458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89925415399998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:190.91, Y:7.94, Z:4.70 [[ 9.84437753e-01 -1.63155405e-01 -6.52887700e-02 1.90913242e+02] [ 1.63036993e-01 9.86593877e-01 -7.17354552e-03 7.93638807e+00] [ 6.55839035e-02 -3.58257572e-03 9.97840627e-01 4.70326880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92925415399998 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:190.95, Y:7.94, Z:4.70 [[ 9.84595487e-01 -1.62156688e-01 -6.53982869e-02 1.90948850e+02] [ 1.62086560e-01 9.86755710e-01 -6.41212979e-03 7.93920612e+00] [ 6.55719028e-02 -4.28682932e-03 9.97838639e-01 4.70374602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95925415399998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:190.98, Y:7.94, Z:4.71 [[ 9.84248513e-01 -1.63577080e-01 -6.70626776e-02 1.90975250e+02] [ 1.63451512e-01 9.86523672e-01 -7.39240638e-03 7.94483322e+00] [ 6.73681472e-02 -3.68553104e-03 9.97721379e-01 4.70678416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98925415399998 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:191.01, Y:7.95, Z:4.71 [[ 9.84270292e-01 -1.63085429e-01 -6.79347792e-02 1.91007326e+02] [ 1.62956421e-01 9.86604960e-01 -7.47377469e-03 7.94923694e+00] [ 6.82436538e-02 -3.71419406e-03 9.97661771e-01 4.70914290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01925415399998 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:191.04, Y:7.96, Z:4.71 [[ 9.84522880e-01 -1.61164427e-01 -6.88529340e-02 1.91037324e+02] [ 1.61027545e-01 9.86920879e-01 -7.57027074e-03 7.95500763e+00] [ 6.91724565e-02 -3.63411420e-03 9.97598098e-01 4.71108001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.04925415399998 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:191.07, Y:7.96, Z:4.71 [[ 9.84836974e-01 -1.59172921e-01 -6.89935993e-02 1.91068417e+02] [ 1.59030712e-01 9.87244504e-01 -7.58426562e-03 7.96025220e+00] [ 6.93207615e-02 -3.50283605e-03 9.97588273e-01 4.71337669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07925415399998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:191.10, Y:7.97, Z:4.72 [[ 9.85225226e-01 -1.56692627e-01 -6.91279593e-02 1.91098278e+02] [ 1.56543972e-01 9.87641778e-01 -7.59625552e-03 7.96557994e+00] [ 6.94639378e-02 -3.33754279e-03 9.97578880e-01 4.71569484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10925415399998 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:191.13, Y:7.97, Z:4.72 [[ 9.86257375e-01 -1.50371708e-01 -6.84451617e-02 1.91127531e+02] [ 1.50211034e-01 9.88625374e-01 -7.51764107e-03 7.97316535e+00] [ 6.87970641e-02 -2.86688953e-03 9.97626556e-01 4.71840897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13925415399999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:191.16, Y:7.98, Z:4.72 [[ 9.86887230e-01 -1.46545888e-01 -6.76601640e-02 1.91158112e+02] [ 1.46379999e-01 9.89200531e-01 -7.43005593e-03 7.97867268e+00] [ 6.80183143e-02 -2.57146742e-03 9.97680759e-01 4.72104252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.169254154 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:191.19, Y:7.98, Z:4.72 [[ 9.87523001e-01 -1.42447361e-01 -6.71347346e-02 1.91187928e+02] [ 1.42274719e-01 9.89799769e-01 -7.37035737e-03 7.98397899e+00] [ 6.74998327e-02 -2.27317808e-03 9.97716696e-01 4.72330814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.199254154 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:191.22, Y:7.99, Z:4.73 [[ 9.88132675e-01 -1.38291420e-01 -6.68528199e-02 1.91218037e+02] [ 1.38110728e-01 9.90389600e-01 -7.33940749e-03 7.98934488e+00] [ 6.72253146e-02 -1.98078330e-03 9.97735854e-01 4.72617590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.229254154 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:191.25, Y:8.00, Z:4.73 [[ 9.89430885e-01 -1.28971525e-01 -6.62787284e-02 1.91246168e+02] [ 1.28702578e-01 9.91648255e-01 -8.32970579e-03 7.99654960e+00] [ 6.67994802e-02 -2.88575013e-04 9.97766379e-01 4.72914483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.259254154 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:191.27, Y:8.00, Z:4.73 [[ 9.89713313e-01 -1.26837451e-01 -6.61801963e-02 1.91274232e+02] [ 1.26678582e-01 9.91921803e-01 -6.60853963e-03 8.00072745e+00] [ 6.64837900e-02 -1.84305377e-03 9.97785803e-01 4.73053999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.289254154 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:191.30, Y:8.01, Z:4.74 [[ 9.90203591e-01 -1.21949333e-01 -6.80088914e-02 1.91299084e+02] [ 1.20942705e-01 9.92482527e-01 -1.87428755e-02 8.01016375e+00] [ 6.97833176e-02 1.03340833e-02 9.97508644e-01 4.73668009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.319254154 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:191.33, Y:8.01, Z:4.73 [[ 9.90616446e-01 -1.17667608e-01 -6.95225886e-02 1.91332403e+02] [ 1.18113129e-01 9.92997439e-01 2.31830580e-03 8.00573271e+00] [ 6.87629630e-02 -1.05080823e-02 9.97577684e-01 4.73110550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.349254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:191.36, Y:8.01, Z:4.74 [[ 9.90798002e-01 -1.16465095e-01 -6.89579651e-02 1.91360197e+02] [ 1.16218721e-01 9.93194661e-01 -7.58771361e-03 8.01417736e+00] [ 6.93723866e-02 -4.96315048e-04 9.97590710e-01 4.73569927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.379254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:191.39, Y:8.02, Z:4.74 [[ 9.90766789e-01 -1.16730728e-01 -6.89572866e-02 1.91388368e+02] [ 1.16484568e-01 9.93163470e-01 -7.59387366e-03 8.01735818e+00] [ 6.93722964e-02 -5.08701942e-04 9.97590711e-01 4.73735451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40925415399997 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:191.42, Y:8.02, Z:4.74 [[ 9.90767466e-01 -1.16188166e-01 -6.98579886e-02 1.91417316e+02] [ 1.15932839e-01 9.93227114e-01 -7.71211045e-03 8.02109250e+00] [ 7.02809044e-02 -4.57926795e-04 9.97527135e-01 4.73891826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43925415399997 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:191.44, Y:8.02, Z:4.74 [[ 9.90307670e-01 -1.16572091e-01 -7.55093812e-02 1.91442990e+02] [ 1.17879642e-01 9.92941715e-01 1.30821080e-02 8.01720236e+00] [ 7.34514057e-02 -2.18563307e-02 9.97059272e-01 4.73991872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.46925415399997 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:191.47, Y:8.04, Z:4.75 [[ 9.90649172e-01 -1.17966037e-01 -6.85436453e-02 1.91472774e+02] [ 1.16154806e-01 9.92782505e-01 -2.98489351e-02 8.03840719e+00] [ 7.15700924e-02 2.16081490e-02 9.97201489e-01 4.74985455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.49925415399997 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:191.50, Y:8.03, Z:4.74 [[ 9.90458750e-01 -1.17711932e-01 -7.16614658e-02 1.91501964e+02] [ 1.17443814e-01 9.93047640e-01 -7.95829530e-03 8.03106826e+00] [ 7.21000358e-02 -5.33832662e-04 9.97397263e-01 4.74464297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.52925415399997 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:191.53, Y:8.03, Z:4.75 [[ 9.90293068e-01 -1.18671877e-01 -7.23645288e-02 1.91529044e+02] [ 1.18399618e-01 9.92933350e-01 -8.05564830e-03 8.03349134e+00] [ 7.28091329e-02 -5.90479876e-04 9.97345718e-01 4.74539496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.55925415399997 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:191.56, Y:8.04, Z:4.75 [[ 9.90153539e-01 -1.20216698e-01 -7.17210912e-02 1.91556712e+02] [ 1.19952478e-01 9.92747437e-01 -7.99552910e-03 8.03705077e+00] [ 7.21621257e-02 -6.86321182e-04 9.97392679e-01 4.74844477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.58925415399997 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:191.58, Y:8.04, Z:4.75 [[ 9.89826511e-01 -1.23140429e-01 -7.12735051e-02 1.91584351e+02] [ 1.22885702e-01 9.92388870e-01 -7.96460218e-03 8.03935640e+00] [ 7.17117977e-02 -8.74920348e-04 9.97425011e-01 4.75059710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.61925415399998 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:191.61, Y:8.04, Z:4.75 [[ 9.89569062e-01 -1.24826114e-01 -7.19132320e-02 1.91612604e+02] [ 1.24570381e-01 9.92178136e-01 -8.04783349e-03 8.04140224e+00] [ 7.23553162e-02 -9.94371660e-04 9.97378423e-01 4.75147049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.64925415399998 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:191.64, Y:8.04, Z:4.75 [[ 9.89348561e-01 -1.26952679e-01 -7.12210843e-02 1.91641062e+02] [ 1.26706227e-01 9.91908139e-01 -7.98600516e-03 8.04410093e+00] [ 7.16586179e-02 -1.12321217e-03 9.97428584e-01 4.75364137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.67925415399998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:191.67, Y:8.05, Z:4.76 [[ 9.88807540e-01 -1.32098567e-01 -6.93514096e-02 1.91669180e+02] [ 1.31877263e-01 9.91235521e-01 -7.78009340e-03 8.04624606e+00] [ 6.97713198e-02 -1.45285904e-03 9.97561954e-01 4.75624513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.70925415399998 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:191.70, Y:8.05, Z:4.76 [[ 9.88504855e-01 -1.34798384e-01 -6.84656592e-02 1.91699908e+02] [ 1.34588947e-01 9.90871724e-01 -7.68384456e-03 8.04876874e+00] [ 6.88764557e-02 -1.61920336e-03 9.97623883e-01 4.75795462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.73925415399998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:191.73, Y:8.05, Z:4.76 [[ 9.88114865e-01 -1.37893033e-01 -6.79302993e-02 1.91729809e+02] [ 1.37694157e-01 9.90445454e-01 -7.62376155e-03 8.05091256e+00] [ 6.83325197e-02 -1.82045320e-03 9.97660941e-01 4.75977282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.76925415399998 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:191.76, Y:8.05, Z:4.76 [[ 9.87177286e-01 -1.45309568e-01 -6.60767315e-02 1.91759714e+02] [ 1.45137954e-01 9.89383636e-01 -7.41588387e-03 8.05078651e+00] [ 6.64528357e-02 -2.26944949e-03 9.97786986e-01 4.76058927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.79925415399998 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:191.79, Y:8.05, Z:4.76 [[ 9.86566278e-01 -1.49743246e-01 -6.52988536e-02 1.91791113e+02] [ 1.49585280e-01 9.88721662e-01 -7.32934387e-03 8.05254054e+00] [ 6.56599108e-02 -2.53686382e-03 9.97838835e-01 4.76201281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.82925415399998 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:191.82, Y:8.05, Z:4.76 [[ 9.85272763e-01 -1.58224043e-01 -6.48285080e-02 1.91823802e+02] [ 1.58086791e-01 9.87398428e-01 -7.27399039e-03 8.05281669e+00] [ 6.51624870e-02 -3.08166621e-03 9.97869908e-01 4.76254501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.85925415399998 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:191.86, Y:8.06, Z:4.76 [[ 9.85287500e-01 -1.58132016e-01 -6.48290653e-02 1.91856250e+02] [ 1.57994892e-01 9.87413174e-01 -7.26902004e-03 8.05639633e+00] [ 6.51625379e-02 -3.08058657e-03 9.97869908e-01 4.76444856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.88925415399999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:191.89, Y:8.06, Z:4.77 [[ 9.84060766e-01 -1.65676346e-01 -6.46200948e-02 1.91888450e+02] [ 1.65556676e-01 9.86173704e-01 -7.23963234e-03 8.05831289e+00] [ 6.49260741e-02 -3.57404996e-03 9.97883676e-01 4.76571301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.919254154 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:191.92, Y:8.06, Z:4.77 [[ 9.83590995e-01 -1.68341543e-01 -6.48835869e-02 1.91920932e+02] [ 1.68226989e-01 9.85721518e-01 -7.26424074e-03 8.06111240e+00] [ 6.51800212e-02 -3.77012870e-03 9.97866399e-01 4.76720239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.949254154 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:191.95, Y:8.06, Z:4.77 [[ 9.83238037e-01 -1.70335494e-01 -6.50290881e-02 1.91952550e+02] [ 1.70225089e-01 9.85378346e-01 -7.27559925e-03 8.06389226e+00] [ 6.53175480e-02 -3.91593635e-03 9.97856845e-01 4.76847709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.979254154 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:191.98, Y:8.07, Z:4.77 [[ 9.82945103e-01 -1.72113357e-01 -6.47758929e-02 1.91983363e+02] [ 1.72007961e-01 9.85068936e-01 -7.24248714e-03 8.06670695e+00] [ 6.50552486e-02 -4.02300198e-03 9.97873554e-01 4.76951445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.009254154 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:192.02, Y:8.07, Z:4.77 [[ 9.82981524e-01 -1.71958900e-01 -6.46332700e-02 1.92015275e+02] [ 1.71853881e-01 9.85095973e-01 -7.22275306e-03 8.07039096e+00] [ 6.49119907e-02 -4.00764549e-03 9.97882945e-01 4.77119321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.039254154 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:192.05, Y:8.07, Z:4.77 [[ 9.83059639e-01 -1.71347694e-01 -6.50669941e-02 1.92046624e+02] [ 1.71240246e-01 9.85202506e-01 -7.26640588e-03 8.07459537e+00] [ 6.53492475e-02 -3.99877773e-03 9.97854441e-01 4.77313948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.069254154 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:192.08, Y:8.08, Z:4.77 [[ 9.83248633e-01 -1.70266919e-01 -6.50484562e-02 1.92078952e+02] [ 1.70157427e-01 9.85390143e-01 -7.26054034e-03 8.07913663e+00] [ 6.53343374e-02 -3.92956156e-03 9.97855692e-01 4.77499219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.099254154 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:192.11, Y:8.08, Z:4.78 [[ 9.83609367e-01 -1.67890667e-01 -6.57672910e-02 1.92110838e+02] [ 1.67773782e-01 9.85798227e-01 -7.33583994e-03 8.08473597e+00] [ 6.60648979e-02 -3.81842627e-03 9.97808022e-01 4.77640772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.12925415399997 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:192.14, Y:8.09, Z:4.78 [[ 9.83785238e-01 -1.66196434e-01 -6.74192154e-02 1.92141984e+02] [ 1.66069992e-01 9.86085332e-01 -7.51505723e-03 8.08909386e+00] [ 6.77300751e-02 -3.80310621e-03 9.97696433e-01 4.77756333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.15925415399997 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:192.17, Y:8.09, Z:4.78 [[ 9.83993154e-01 -1.64336857e-01 -6.89265606e-02 1.92174351e+02] [ 1.64200449e-01 9.86397104e-01 -7.67893180e-03 8.09357613e+00] [ 6.92508913e-02 -3.76175589e-03 9.97592183e-01 4.77868646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.18925415399997 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:192.21, Y:8.10, Z:4.78 [[ 9.84607655e-01 -1.59823707e-01 -7.07400061e-02 1.92206202e+02] [ 1.59668802e-01 9.87139224e-01 -7.87567549e-03 8.09926757e+00] [ 7.10889544e-02 -3.54052167e-03 9.97463696e-01 4.77957736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.21925415399997 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:192.24, Y:8.10, Z:4.78 [[ 9.84978838e-01 -1.57235740e-01 -7.13695340e-02 1.92238107e+02] [ 1.57071684e-01 9.87555283e-01 -7.94038239e-03 8.10418838e+00] [ 7.17298723e-02 -3.38902424e-03 9.97418337e-01 4.78125784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.24925415399997 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:192.27, Y:8.11, Z:4.78 [[ 9.85933381e-01 -1.51061799e-01 -7.15241362e-02 1.92268664e+02] [ 1.50881172e-01 9.88519917e-01 -7.95274061e-03 8.11055090e+00] [ 7.19043885e-02 -2.95077306e-03 9.97407165e-01 4.78352218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.27925415399997 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:192.30, Y:8.12, Z:4.79 [[ 9.86499785e-01 -1.47614929e-01 -7.09084447e-02 1.92300013e+02] [ 1.47428700e-01 9.89041282e-01 -7.88168038e-03 8.11548546e+00] [ 7.12948327e-02 -2.67866383e-03 9.97451689e-01 4.78596985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.30925415399997 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:192.33, Y:8.12, Z:4.79 [[ 9.87113424e-01 -1.43892349e-01 -7.00148581e-02 1.92330252e+02] [ 1.43701603e-01 9.89590481e-01 -7.78002175e-03 8.12014115e+00] [ 7.04055228e-02 -2.38148347e-03 9.97515609e-01 4.78816095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.33925415399997 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:192.36, Y:8.13, Z:4.79 [[ 9.88389091e-01 -1.35702557e-01 -6.83507215e-02 1.92360518e+02] [ 1.35501306e-01 9.90748067e-01 -7.59367896e-03 8.12658027e+00] [ 6.87488269e-02 -1.75610260e-03 9.97632455e-01 4.79112156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.36925415399998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:192.39, Y:8.13, Z:4.79 [[ 9.89067829e-01 -1.31072071e-01 -6.75643536e-02 1.92390980e+02] [ 1.30864804e-01 9.91371825e-01 -7.50381111e-03 8.13150726e+00] [ 6.79649366e-02 -1.42001775e-03 9.97686700e-01 4.79307987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.39925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:192.42, Y:8.14, Z:4.80 [[ 9.90260036e-01 -1.22179724e-01 -6.67620801e-02 1.92420571e+02] [ 1.21957305e-01 9.92507669e-01 -7.41239779e-03 8.13787610e+00] [ 6.71675212e-02 -8.01922081e-04 9.97741390e-01 4.79520900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.42925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:192.45, Y:8.14, Z:4.80 [[ 9.90262261e-01 -1.22161617e-01 -6.67622161e-02 1.92451336e+02] [ 1.21939240e-01 9.92509897e-01 -7.41117312e-03 8.14129285e+00] [ 6.71675211e-02 -8.01928870e-04 9.97741390e-01 4.79701488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.45925415399998 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:192.48, Y:8.15, Z:4.80 [[ 9.91157374e-01 -1.14930287e-01 -6.63180903e-02 1.92480965e+02] [ 1.14694750e-01 9.93373511e-01 -7.36080933e-03 8.14641575e+00] [ 6.67246142e-02 -3.10616372e-04 9.97771381e-01 4.79916719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.48925415399998 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:192.51, Y:8.15, Z:4.80 [[ 9.91462798e-01 -1.12371665e-01 -6.61371988e-02 1.92509932e+02] [ 1.12131715e-01 9.93666237e-01 -7.34088471e-03 8.15008851e+00] [ 6.65432089e-02 -1.37863458e-04 9.97783535e-01 4.80065517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.51925415399998 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:192.54, Y:8.15, Z:4.80 [[ 9.91632748e-01 -1.10802627e-01 -6.62364809e-02 1.92539098e+02] [ 1.10558366e-01 9.93842431e-01 -7.35328977e-03 8.15360287e+00] [ 6.66433890e-02 -3.12341670e-05 9.97776858e-01 4.80219797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.54925415399998 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:192.57, Y:8.16, Z:4.80 [[ 9.91684451e-01 -1.10252266e-01 -6.63806218e-02 1.92567030e+02] [ 1.10005532e-01 9.93903636e-01 -7.37190915e-03 8.15690376e+00] [ 6.67887110e-02 8.37204680e-06 9.97767141e-01 4.80351522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.57925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:192.60, Y:8.16, Z:4.81 [[ 9.91553860e-01 -1.11557990e-01 -6.61495083e-02 1.92595784e+02] [ 1.11315524e-01 9.93757923e-01 -7.35151554e-03 8.16028798e+00] [ 6.65567183e-02 -7.40435400e-05 9.97782641e-01 4.80523830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.60925415399998 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:192.62, Y:8.17, Z:4.81 [[ 9.91729219e-01 -1.13766493e-01 -5.94166724e-02 1.92622585e+02] [ 1.12415057e-01 9.93330902e-01 -2.56237178e-02 8.17289324e+00] [ 6.19355372e-02 1.87324610e-02 9.97904346e-01 4.80700673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.63925415399999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:192.65, Y:8.16, Z:4.80 [[ 9.90894916e-01 -1.17096487e-01 -6.64505634e-02 1.92653005e+02] [ 1.18094720e-01 9.92938211e-01 1.12848102e-02 8.15558211e+00] [ 6.46598919e-02 -1.90295218e-02 9.97725902e-01 4.80221427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.669254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:192.68, Y:8.17, Z:4.81 [[ 9.90598397e-01 -1.21003384e-01 -6.38200340e-02 1.92681373e+02] [ 1.20794659e-01 9.92651886e-01 -7.13322588e-03 8.16690776e+00] [ 6.42142216e-02 -6.42957099e-04 9.97935930e-01 4.81017270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.699254154 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:192.72, Y:8.19, Z:4.81 [[ 9.92197806e-01 -1.18306739e-01 -3.93323047e-02 1.92721259e+02] [ 1.15361047e-01 9.90838550e-01 -7.02196389e-02 8.19266237e+00] [ 4.72794202e-02 6.51343558e-02 9.96755824e-01 4.81165739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.729254154 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:192.74, Y:8.14, Z:4.79 [[ 9.89897027e-01 -1.22776366e-01 -7.09213632e-02 1.92744956e+02] [ 1.27140653e-01 9.90026143e-01 6.06917687e-02 8.13738715e+00] [ 6.27624889e-02 -6.90955899e-02 9.95633803e-01 4.79338536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.759254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:192.77, Y:8.17, Z:4.82 [[ 9.89556279e-01 -1.29538465e-01 -6.32309757e-02 1.92772065e+02] [ 1.29348108e-01 9.91573741e-01 -7.11213174e-03 8.17355916e+00] [ 6.36194698e-02 -1.14095248e-03 9.97973577e-01 4.81555980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.789254154 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:192.81, Y:8.20, Z:4.82 [[ 9.90987368e-01 -1.29339975e-01 -3.48598162e-02 1.92814235e+02] [ 1.26034905e-01 9.88424863e-01 -8.44481719e-02 8.20366107e+00] [ 4.53788335e-02 7.92935180e-02 9.95817905e-01 4.81798441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.819254154 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:192.84, Y:8.13, Z:4.79 [[ 9.88349581e-01 -1.33715056e-01 -7.27006798e-02 1.92837878e+02] [ 1.39126654e-01 9.87407371e-01 7.53024446e-02 8.13469068e+00] [ 6.17161165e-02 -8.45397420e-02 9.94506990e-01 4.79467433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.849254154 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:192.86, Y:8.18, Z:4.82 [[ 9.87593665e-01 -1.44117199e-01 -6.23617340e-02 1.92864091e+02] [ 1.43958866e-01 9.89558571e-01 -7.04832725e-03 8.17574282e+00] [ 6.27263736e-02 -2.01664115e-03 9.98028725e-01 4.82085288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.87925415399997 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:192.90, Y:8.18, Z:4.82 [[ 9.87137725e-01 -1.47596783e-01 -6.14353376e-02 1.92895144e+02] [ 1.47450129e-01 9.89045151e-01 -6.93896210e-03 8.17619335e+00] [ 6.17864913e-02 -2.20893720e-03 9.98086945e-01 4.82284730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.90925415399997 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:192.93, Y:8.18, Z:4.83 [[ 9.87001558e-01 -1.48283299e-01 -6.19676382e-02 1.92927297e+02] [ 1.48135905e-01 9.88942299e-01 -6.99167557e-03 8.17863497e+00] [ 6.23191673e-02 -2.27883750e-03 9.98053670e-01 4.82527555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.93925415399997 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:192.96, Y:8.18, Z:4.83 [[ 9.86962158e-01 -1.48276730e-01 -6.26075812e-02 1.92960045e+02] [ 1.48126559e-01 9.88943219e-01 -7.05916816e-03 8.17972873e+00] [ 6.29620533e-02 -2.30671376e-03 9.98013256e-01 4.82654066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.96925415399997 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:192.99, Y:8.18, Z:4.83 [[ 9.87553959e-01 -1.44081462e-01 -6.30690939e-02 1.92991013e+02] [ 1.43920828e-01 9.89563688e-01 -7.10649323e-03 8.18108550e+00] [ 6.34347991e-02 -2.05891067e-03 9.97983861e-01 4.82805981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.99925415399997 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:193.02, Y:8.18, Z:4.83 [[ 9.87561641e-01 -1.44028627e-01 -6.30694866e-02 1.93022613e+02] [ 1.43868107e-01 9.89571379e-01 -7.10300589e-03 8.18461271e+00] [ 6.34347951e-02 -2.05903151e-03 9.97983861e-01 4.82995765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.02925415399997 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:193.05, Y:8.19, Z:4.83 [[ 9.87569320e-01 -1.43975798e-01 -6.30698656e-02 1.93054213e+02] [ 1.43815386e-01 9.89579067e-01 -7.09963889e-03 8.18813829e+00] [ 6.34347950e-02 -2.05903151e-03 9.97983861e-01 4.83185552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.05925415399997 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:193.09, Y:8.19, Z:4.83 [[ 9.87879827e-01 -1.41792055e-01 -6.31542590e-02 1.93085838e+02] [ 1.41626972e-01 9.89894595e-01 -7.10578791e-03 8.19129510e+00] [ 6.35236039e-02 -1.92468193e-03 9.97978480e-01 4.83357382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.08925415399997 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:193.12, Y:8.19, Z:4.84 [[ 9.88179561e-01 -1.39461063e-01 -6.36534913e-02 1.93116737e+02] [ 1.39288682e-01 9.90225935e-01 -7.15959737e-03 8.19403638e+00] [ 6.40298230e-02 -1.79124310e-03 9.97946378e-01 4.83537950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.11925415399998 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:193.15, Y:8.20, Z:4.84 [[ 9.88739077e-01 -1.35090952e-01 -6.43853375e-02 1.93147511e+02] [ 1.34905484e-01 9.90832024e-01 -7.23949888e-03 8.19712336e+00] [ 6.47730451e-02 -1.52795965e-03 9.97898852e-01 4.83680661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.14925415399998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:193.18, Y:8.20, Z:4.84 [[ 9.88967155e-01 -1.33045060e-01 -6.51381471e-02 1.93178092e+02] [ 1.32850951e-01 9.91108983e-01 -7.32177875e-03 8.20054008e+00] [ 6.55331292e-02 -1.41266608e-03 9.97849394e-01 4.83856983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.17925415399998 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:193.21, Y:8.20, Z:4.84 [[ 9.89138963e-01 -1.31509067e-01 -6.56466137e-02 1.93208840e+02] [ 1.31308609e-01 9.91314086e-01 -7.37781933e-03 8.20378574e+00] [ 6.60466630e-02 -1.32227698e-03 9.97815659e-01 4.84004153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.20925415399998 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:193.24, Y:8.21, Z:4.84 [[ 9.89215345e-01 -1.30632525e-01 -6.62430740e-02 1.93239501e+02] [ 1.30426443e-01 9.91430036e-01 -7.44485365e-03 8.20689190e+00] [ 6.66479133e-02 -1.27528506e-03 9.97775741e-01 4.84135458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.23925415399998 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:193.27, Y:8.21, Z:4.84 [[ 9.89239221e-01 -1.29747127e-01 -6.76124737e-02 1.93269337e+02] [ 1.29530344e-01 9.91546340e-01 -7.59907012e-03 8.20915872e+00] [ 6.80268584e-02 -1.24056881e-03 9.97682719e-01 4.84291982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.26925415399998 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:193.30, Y:8.21, Z:4.84 [[ 9.89208109e-01 -1.29971043e-01 -6.76375958e-02 1.93298554e+02] [ 1.29754449e-01 9.91516997e-01 -7.60442673e-03 8.21175742e+00] [ 6.80521811e-02 -1.25391839e-03 9.97680975e-01 4.84443890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.29925415399998 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:193.33, Y:8.22, Z:4.85 [[ 9.89205728e-01 -1.29989300e-01 -6.76373342e-02 1.93328468e+02] [ 1.29772589e-01 9.91514605e-01 -7.60675237e-03 8.21515429e+00] [ 6.80522012e-02 -1.25282897e-03 9.97680975e-01 4.84623753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.32925415399998 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:193.36, Y:8.22, Z:4.85 [[ 9.89083150e-01 -1.30779854e-01 -6.79054661e-02 1.93358154e+02] [ 1.30563183e-01 9.91410566e-01 -7.63833696e-03 8.21759799e+00] [ 6.83211372e-02 -1.31100340e-03 9.97662520e-01 4.84815147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.35925415399998 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:193.39, Y:8.22, Z:4.85 [[ 9.88966708e-01 -1.31697583e-01 -6.78277005e-02 1.93386368e+02] [ 1.31483370e-01 9.91288994e-01 -7.63240985e-03 8.21940762e+00] [ 6.82420229e-02 -1.37001538e-03 9.97667855e-01 4.84972408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38925415399999 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:193.42, Y:8.22, Z:4.85 [[ 9.88810884e-01 -1.32938439e-01 -6.76787110e-02 1.93415867e+02] [ 1.32727763e-01 9.91123239e-01 -7.62012200e-03 8.22144619e+00] [ 6.80909503e-02 -1.44798435e-03 9.97678067e-01 4.85157498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.419254154 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:193.45, Y:8.22, Z:4.85 [[ 9.88593930e-01 -1.34722868e-01 -6.73185756e-02 1.93445193e+02] [ 1.34518390e-01 9.90882089e-01 -7.58205740e-03 8.22358568e+00] [ 6.77262474e-02 -1.56001049e-03 9.97702722e-01 4.85344152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.449254154 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:193.48, Y:8.24, Z:4.86 [[ 9.89477205e-01 -1.35421927e-01 -5.09486208e-02 1.93481490e+02] [ 1.32732393e-01 9.89737802e-01 -5.29263189e-02 8.24224870e+00] [ 5.75931600e-02 4.56068537e-02 9.97297871e-01 4.85567838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.479254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:193.51, Y:8.20, Z:4.84 [[ 9.87791491e-01 -1.37923245e-01 -7.24234034e-02 1.93507217e+02] [ 1.41117468e-01 9.89143875e-01 4.09909158e-02 8.20273210e+00] [ 6.59835657e-02 -5.07106851e-02 9.96531282e-01 4.84354504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.509254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:193.53, Y:8.23, Z:4.86 [[ 9.87422325e-01 -1.43176187e-01 -6.70651357e-02 1.93533550e+02] [ 1.42990739e-01 9.89694982e-01 -7.58227966e-03 8.22897799e+00] [ 6.74596301e-02 -2.10278109e-03 9.97719789e-01 4.85913816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.539254154 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:193.56, Y:8.23, Z:4.86 [[ 9.86658716e-01 -1.48526648e-01 -6.66664262e-02 1.93563671e+02] [ 1.48355630e-01 9.88905360e-01 -7.53637358e-03 8.22969961e+00] [ 6.70461384e-02 -2.45451098e-03 9.97746857e-01 4.86099467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.569254154 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:193.59, Y:8.23, Z:4.86 [[ 9.86292861e-01 -1.51240742e-01 -6.59744624e-02 1.93592981e+02] [ 1.51079155e-01 9.88493516e-01 -7.46047683e-03 8.23180822e+00] [ 6.63436564e-02 -2.60915099e-03 9.97793421e-01 4.86271251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.599254154 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:193.62, Y:8.23, Z:4.86 [[ 9.85847934e-01 -1.54114780e-01 -6.59733732e-02 1.93623222e+02] [ 1.53959539e-01 9.88048980e-01 -7.46146131e-03 8.23413292e+00] [ 6.63348456e-02 -2.80136392e-03 9.97793486e-01 4.86475646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62925415399997 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:193.65, Y:8.24, Z:4.87 [[ 9.85055457e-01 -1.59340284e-01 -6.53943459e-02 1.93653477e+02] [ 1.59199224e-01 9.87218773e-01 -7.39597443e-03 8.23589325e+00] [ 6.57370026e-02 -3.12528417e-03 9.97832090e-01 4.86693634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65925415399997 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:193.68, Y:8.24, Z:4.87 [[ 9.84794594e-01 -1.61193006e-01 -6.47797929e-02 1.93684415e+02] [ 1.61058590e-01 9.86917654e-01 -7.32627690e-03 8.23892173e+00] [ 6.51132659e-02 -3.21846421e-03 9.97872689e-01 4.86876184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68925415399997 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:193.72, Y:8.24, Z:4.87 [[ 9.84438215e-01 -1.63580018e-01 -6.42104259e-02 1.93715201e+02] [ 1.63453164e-01 9.86524385e-01 -7.25950889e-03 8.24238654e+00] [ 6.45326616e-02 -3.34885931e-03 9.97909976e-01 4.87159987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71925415399997 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:193.75, Y:8.25, Z:4.87 [[ 9.84386248e-01 -1.64064234e-01 -6.37702214e-02 1.93746259e+02] [ 1.63940281e-01 9.86443936e-01 -7.20730352e-03 8.24612883e+00] [ 6.40882089e-02 -3.35973752e-03 9.97938582e-01 4.87339564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74925415399997 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:193.78, Y:8.25, Z:4.88 [[ 9.84325938e-01 -1.64444973e-01 -6.37204655e-02 1.93778076e+02] [ 1.64322240e-01 9.86380449e-01 -7.19805769e-03 8.25004672e+00] [ 6.40363057e-02 -3.38545473e-03 9.97941827e-01 4.87556389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77925415399997 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:193.81, Y:8.25, Z:4.88 [[ 9.84287048e-01 -1.64732363e-01 -6.35787347e-02 1.93809388e+02] [ 1.64611088e-01 9.86332438e-01 -7.17709870e-03 8.25379549e+00] [ 6.38920689e-02 -3.40143940e-03 9.97951018e-01 4.87705030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80925415399997 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:193.84, Y:8.26, Z:4.88 [[ 9.84216904e-01 -1.64959534e-01 -6.40736897e-02 1.93841622e+02] [ 1.64837349e-01 9.86294300e-01 -7.22516044e-03 8.25763921e+00] [ 6.43873740e-02 -3.45061209e-03 9.97919014e-01 4.87867806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83925415399997 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:193.87, Y:8.26, Z:4.88 [[ 9.84156072e-01 -1.64881216e-01 -6.51997770e-02 1.93873320e+02] [ 1.64754850e-01 9.86307182e-01 -7.34728072e-03 8.26192997e+00] [ 6.55184369e-02 -3.51110855e-03 9.97845182e-01 4.88026366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86925415399998 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:193.90, Y:8.27, Z:4.88 [[ 9.84153146e-01 -1.64788322e-01 -6.54781898e-02 1.93903981e+02] [ 1.64660988e-01 9.86322658e-01 -7.37384323e-03 8.26604459e+00] [ 6.57977454e-02 -3.52471240e-03 9.97826755e-01 4.88184910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89925415399998 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:193.94, Y:8.27, Z:4.88 [[ 9.84210302e-01 -1.64329222e-01 -6.57722410e-02 1.93935449e+02] [ 1.64199959e-01 9.86399292e-01 -7.40338848e-03 8.27010918e+00] [ 6.60942850e-02 -3.51330804e-03 9.97807197e-01 4.88359112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92925415399998 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:193.97, Y:8.27, Z:4.89 [[ 9.84280840e-01 -1.63800240e-01 -6.60356617e-02 1.93966261e+02] [ 1.63668915e-01 9.86487340e-01 -7.43061809e-03 8.27439525e+00] [ 6.63604813e-02 -3.49417008e-03 9.97789596e-01 4.88543948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95925415399998 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:194.00, Y:8.28, Z:4.89 [[ 9.84585313e-01 -1.61723941e-01 -6.66117751e-02 1.93995821e+02] [ 1.61585739e-01 9.86830230e-01 -7.49309687e-03 8.28016689e+00] [ 6.69463265e-02 -3.38591978e-03 9.97750833e-01 4.88757421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98925415399998 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:194.03, Y:8.28, Z:4.89 [[ 9.84833485e-01 -1.60053751e-01 -6.69761370e-02 1.94025393e+02] [ 1.59910267e-01 9.87102813e-01 -7.53285447e-03 8.28461267e+00] [ 6.73179948e-02 -3.29156465e-03 9.97726141e-01 4.88942614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01925415399998 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:194.06, Y:8.29, Z:4.89 [[ 9.85528131e-01 -1.55347054e-01 -6.78350608e-02 1.94056245e+02] [ 1.55188843e-01 9.87855372e-01 -7.62807972e-03 8.29064778e+00] [ 6.81962289e-02 -3.00955745e-03 9.97667388e-01 4.89121426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.04925415399998 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:194.09, Y:8.30, Z:4.89 [[ 9.86017134e-01 -1.52202886e-01 -6.78564193e-02 1.94086300e+02] [ 1.52037307e-01 9.88345318e-01 -7.62816539e-03 8.29556108e+00] [ 6.82266032e-02 -2.79520549e-03 9.97665935e-01 4.89307796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07925415399998 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:194.12, Y:8.30, Z:4.90 [[ 9.86585885e-01 -1.48516508e-01 -6.77579373e-02 1.94116468e+02] [ 1.48342808e-01 9.88906673e-01 -7.61602077e-03 8.30078663e+00] [ 6.81373812e-02 -2.53754407e-03 9.97672721e-01 4.89505271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10925415399998 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:194.15, Y:8.31, Z:4.90 [[ 9.87210728e-01 -1.44431965e-01 -6.74861988e-02 1.94145941e+02] [ 1.44250118e-01 9.89512184e-01 -7.58561665e-03 8.30584117e+00] [ 6.78740215e-02 -2.24629004e-03 9.97691371e-01 4.89701697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13925415399999 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:194.18, Y:8.31, Z:4.90 [[ 9.87832269e-01 -1.40248513e-01 -6.72143046e-02 1.94175431e+02] [ 1.40058371e-01 9.90114415e-01 -7.55637228e-03 8.31098781e+00] [ 6.76096218e-02 -1.94949760e-03 9.97709947e-01 4.89923859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.169254154 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:194.21, Y:8.32, Z:4.90 [[ 9.88420711e-01 -1.36236914e-01 -6.68131796e-02 1.94205782e+02] [ 1.36039743e-01 9.90674890e-01 -7.51334830e-03 8.31620333e+00] [ 6.72137348e-02 -1.66289871e-03 9.97737214e-01 4.90117843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.199254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:194.23, Y:8.32, Z:4.90 [[ 9.89486307e-01 -1.28780185e-01 -6.58218264e-02 1.94234528e+02] [ 1.28572327e-01 9.91672510e-01 -7.40198071e-03 8.32187344e+00] [ 6.62269243e-02 -1.13870686e-03 9.97803938e-01 4.90314866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.229254154 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:194.26, Y:8.33, Z:4.90 [[ 9.89900711e-01 -1.25747880e-01 -6.54526755e-02 1.94263551e+02] [ 1.25535641e-01 9.92061796e-01 -7.36176149e-03 8.32598600e+00] [ 6.58588247e-02 -9.29230647e-04 9.97828518e-01 4.90458457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.259254154 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:194.29, Y:8.33, Z:4.91 [[ 9.90251205e-01 -1.23155953e-01 -6.50781227e-02 1.94292697e+02] [ 1.22940391e-01 9.92387046e-01 -7.32199421e-03 8.33013388e+00] [ 6.54844331e-02 -7.50116265e-04 9.97853309e-01 4.90640443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.289254154 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:194.32, Y:8.33, Z:4.91 [[ 9.90450016e-01 -1.21282409e-01 -6.55693777e-02 1.94320915e+02] [ 1.21059311e-01 9.92617843e-01 -7.37976835e-03 8.33389936e+00] [ 6.59803703e-02 -6.28491973e-04 9.97820723e-01 4.90816356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.319254154 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:194.35, Y:8.34, Z:4.91 [[ 9.90587024e-01 -1.19767619e-01 -6.62802062e-02 1.94349784e+02] [ 1.19535938e-01 9.92801812e-01 -7.46468849e-03 8.33835854e+00] [ 6.66971368e-02 -5.28443031e-04 9.97773127e-01 4.90953520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.349254154 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:194.38, Y:8.34, Z:4.91 [[ 9.90461099e-01 -1.20382644e-01 -6.70434948e-02 1.94377768e+02] [ 1.20145857e-01 9.92727408e-01 -7.56751776e-03 8.34208971e+00] [ 6.74669126e-02 -5.59666185e-04 9.97721355e-01 4.91100198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37925415399997 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:194.41, Y:8.35, Z:4.91 [[ 9.90107464e-01 -1.23413601e-01 -6.67554713e-02 1.94405883e+02] [ 1.23184688e-01 9.92355039e-01 -7.55040051e-03 8.34513357e+00] [ 6.71769505e-02 -7.47543985e-04 9.97740797e-01 4.91220584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40925415399997 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:194.43, Y:8.35, Z:4.91 [[ 9.89794628e-01 -1.26042686e-01 -6.64818398e-02 1.94434002e+02] [ 1.25821106e-01 9.92024397e-01 -7.52634305e-03 8.34772440e+00] [ 6.69002475e-02 -9.15284691e-04 9.97759249e-01 4.91377172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43925415399997 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:194.46, Y:8.35, Z:4.92 [[ 9.89361138e-01 -1.29496362e-01 -6.62965365e-02 1.94462790e+02] [ 1.29282678e-01 9.91579254e-01 -7.52149675e-03 8.35031031e+00] [ 6.67122766e-02 -1.12951716e-03 9.97771615e-01 4.91536843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46925415399997 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:194.49, Y:8.35, Z:4.92 [[ 9.88828963e-01 -1.33510438e-01 -6.62740083e-02 1.94493471e+02] [ 1.33304930e-01 9.91046439e-01 -7.53338635e-03 8.35302035e+00] [ 6.66864056e-02 -1.38542145e-03 9.97773022e-01 4.91684193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49925415399997 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:194.52, Y:8.36, Z:4.92 [[ 9.88214094e-01 -1.38152267e-01 -6.59306886e-02 1.94523604e+02] [ 1.37959192e-01 9.90409560e-01 -7.49436110e-03 8.35531247e+00] [ 6.63337472e-02 -1.68971128e-03 9.97796061e-01 4.91822690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52925415399997 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:194.55, Y:8.36, Z:4.92 [[ 9.86804107e-01 -1.48295206e-01 -6.50091243e-02 1.94553682e+02] [ 1.48129446e-01 9.88940375e-01 -7.38928367e-03 8.35662726e+00] [ 6.53859431e-02 -2.33799008e-03 9.97857311e-01 4.91978346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55925415399997 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:194.59, Y:8.36, Z:4.92 [[ 9.86062616e-01 -1.53293690e-01 -6.46649974e-02 1.94585359e+02] [ 1.53140649e-01 9.88177097e-01 -7.34624557e-03 8.35939399e+00] [ 6.50266025e-02 -2.65898152e-03 9.97879988e-01 4.92185532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58925415399997 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:194.62, Y:8.36, Z:4.92 [[ 9.85330640e-01 -1.58101117e-01 -6.42461442e-02 1.94616384e+02] [ 1.57960536e-01 9.87418486e-01 -7.29397944e-03 8.36202544e+00] [ 6.45910167e-02 -2.96137393e-03 9.97907426e-01 4.92369532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61925415399998 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:194.65, Y:8.36, Z:4.93 [[ 9.84653272e-01 -1.62317244e-01 -6.41174457e-02 1.94648455e+02] [ 1.62186363e-01 9.86733321e-01 -7.27572221e-03 8.36469855e+00] [ 6.44477954e-02 -3.23491163e-03 9.97915837e-01 4.92528339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64925415399998 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:194.68, Y:8.37, Z:4.93 [[ 9.84136272e-01 -1.65558354e-01 -6.37669989e-02 1.94679340e+02] [ 1.65435966e-01 9.86194022e-01 -7.23138946e-03 8.36730029e+00] [ 6.40838500e-02 -3.43268241e-03 9.97938614e-01 4.92699296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67925415399998 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:194.71, Y:8.37, Z:4.93 [[ 9.83374419e-01 -1.70116008e-01 -6.35239860e-02 1.94711248e+02] [ 1.70004238e-01 9.85417026e-01 -7.20029518e-03 8.37038890e+00] [ 6.38225028e-02 -3.71876075e-03 9.97954337e-01 4.92875165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70925415399998 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:194.74, Y:8.38, Z:4.93 [[ 9.83283295e-01 -1.71413721e-01 -6.14109030e-02 1.94744038e+02] [ 1.71000737e-01 9.85198334e-01 -1.19578822e-02 8.37671437e+00] [ 6.25516644e-02 1.25667611e-03 9.98040936e-01 4.92995910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73925415399998 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:194.78, Y:8.38, Z:4.93 [[ 9.83092461e-01 -1.71723584e-01 -6.35627558e-02 1.94775803e+02] [ 1.71945061e-01 9.85104489e-01 -2.01030327e-03 8.37509372e+00] [ 6.29611726e-02 -8.95298791e-03 9.97975819e-01 4.93084536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76925415399998 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:194.81, Y:8.38, Z:4.93 [[ 9.83053151e-01 -1.72221209e-01 -6.28200359e-02 1.94805970e+02] [ 1.72117094e-01 9.85050867e-01 -7.10600677e-03 8.38097612e+00] [ 6.31047360e-02 -3.82681965e-03 9.97999573e-01 4.93390667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.79925415399998 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:194.84, Y:8.38, Z:4.94 [[ 9.82982432e-01 -1.72203638e-01 -6.39644025e-02 1.94837881e+02] [ 1.72096145e-01 9.85053640e-01 -7.22798973e-03 8.38482068e+00] [ 6.42530537e-02 -3.90304014e-03 9.97926005e-01 4.93553327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82925415399998 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:194.87, Y:8.39, Z:4.94 [[ 9.83076715e-01 -1.71520244e-01 -6.43504315e-02 1.94868410e+02] [ 1.71410298e-01 9.85172930e-01 -7.26691401e-03 8.38844605e+00] [ 6.46427260e-02 -3.88639267e-03 9.97900904e-01 4.93684070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85925415399998 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:194.90, Y:8.39, Z:4.94 [[ 9.83271315e-01 -1.70262627e-01 -6.47159837e-02 1.94899937e+02] [ 1.70148958e-01 9.85391281e-01 -7.30451176e-03 8.39227264e+00] [ 6.50142515e-02 -3.82904031e-03 9.97876989e-01 4.93788272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88925415399999 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:194.93, Y:8.40, Z:4.94 [[ 9.83900362e-01 -1.66194345e-01 -6.57230388e-02 1.94930424e+02] [ 1.66068395e-01 9.86086371e-01 -7.41329305e-03 8.39722570e+00] [ 6.60406402e-02 -3.62057788e-03 9.97810365e-01 4.93912947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.919254154 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:194.96, Y:8.40, Z:4.94 [[ 9.84342512e-01 -1.63461607e-01 -6.59554508e-02 1.94962444e+02] [ 1.63328907e-01 9.86543653e-01 -7.43569920e-03 8.40231409e+00] [ 6.62833827e-02 -3.45315683e-03 9.97794863e-01 4.94067251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.949254154 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:194.99, Y:8.41, Z:4.94 [[ 9.84939531e-01 -1.59779016e-01 -6.60665297e-02 1.94993353e+02] [ 1.59637925e-01 9.87147571e-01 -7.44347587e-03 8.40735719e+00] [ 6.64067256e-02 -3.21535009e-03 9.97787456e-01 4.94287013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.979254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:195.03, Y:8.41, Z:4.94 [[ 9.85584402e-01 -1.55748189e-01 -6.60748631e-02 1.95025289e+02] [ 1.55598276e-01 9.87792394e-01 -7.44067997e-03 8.41261529e+00] [ 6.64271196e-02 -2.94771669e-03 9.97786926e-01 4.94475005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.009254154 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:195.06, Y:8.42, Z:4.95 [[ 9.86301970e-01 -1.51117635e-01 -6.61202318e-02 1.95055989e+02] [ 1.50957476e-01 9.88512254e-01 -7.44065300e-03 8.41802321e+00] [ 6.64850733e-02 -2.64261261e-03 9.97783920e-01 4.94669231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.039254154 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:195.09, Y:8.43, Z:4.95 [[ 9.87759766e-01 -1.41284583e-01 -6.61007737e-02 1.95086636e+02] [ 1.41103018e-01 9.89967029e-01 -7.43099359e-03 8.42536962e+00] [ 6.64874714e-02 -1.98698218e-03 9.97785282e-01 4.94823211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.069254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:195.12, Y:8.43, Z:4.95 [[ 9.88392775e-01 -1.36493362e-01 -6.67029620e-02 1.95117049e+02] [ 1.36297740e-01 9.90639557e-01 -7.49625364e-03 8.43105515e+00] [ 6.71017816e-02 -1.68222001e-03 9.97744717e-01 4.95018052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.099254154 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:195.15, Y:8.44, Z:4.95 [[ 9.89031944e-01 -1.31641411e-01 -6.69802485e-02 1.95147056e+02] [ 1.31433200e-01 9.91296468e-01 -7.52508436e-03 8.43658634e+00] [ 6.73878965e-02 -1.36087961e-03 9.97725924e-01 4.95216315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.12925415399997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:195.18, Y:8.44, Z:4.95 [[ 9.90208647e-01 -1.22436463e-01 -6.70533283e-02 1.95177442e+02] [ 1.22206790e-01 9.92476081e-01 -7.53193138e-03 8.44398180e+00] [ 6.74710075e-02 -7.36188428e-04 9.97720964e-01 4.95381945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15925415399997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:195.21, Y:8.45, Z:4.96 [[ 9.90691691e-01 -1.18490019e-01 -6.70081271e-02 1.95206763e+02] [ 1.18251768e-01 9.92955133e-01 -7.52489228e-03 8.44884348e+00] [ 6.74276883e-02 -4.68981224e-04 9.97724053e-01 4.95554416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18925415399997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:195.24, Y:8.45, Z:4.96 [[ 9.90689511e-01 -1.18508391e-01 -6.70078644e-02 1.95236676e+02] [ 1.18270023e-01 9.92952941e-01 -7.52723101e-03 8.45223607e+00] [ 6.74276960e-02 -4.67872862e-04 9.97724053e-01 4.95735573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21925415399997 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:195.27, Y:8.46, Z:4.96 [[ 9.91086245e-01 -1.14979350e-01 -6.72889643e-02 1.95265289e+02] [ 1.14730744e-01 9.93367856e-01 -7.56035021e-03 8.45666727e+00] [ 6.77119784e-02 -2.27153826e-04 9.97704884e-01 4.95882590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24925415399997 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:195.29, Y:8.46, Z:4.96 [[ 9.91357785e-01 -1.12173935e-01 -6.80202266e-02 1.95293167e+02] [ 1.11912913e-01 9.93688587e-01 -7.64803392e-03 8.46094377e+00] [ 6.84488329e-02 -3.04037382e-05 9.97654628e-01 4.96065785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27925415399997 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:195.32, Y:8.47, Z:4.96 [[ 9.91559342e-01 -1.10158331e-01 -6.83755323e-02 1.95320632e+02] [ 1.09888533e-01 9.93914044e-01 -7.70613306e-03 8.46502847e+00] [ 6.88082966e-02 1.27401324e-04 9.97629892e-01 4.96199973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30925415399997 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:195.35, Y:8.47, Z:4.96 [[ 9.91815891e-01 -1.07534073e-01 -6.88306721e-02 1.95348181e+02] [ 1.07252931e-01 9.94201344e-01 -7.77791289e-03 8.46924683e+00] [ 6.92679374e-02 3.31966285e-04 9.97598037e-01 4.96399328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33925415399997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:195.38, Y:8.47, Z:4.97 [[ 9.91879504e-01 -1.07200066e-01 -6.84338819e-02 1.95375852e+02] [ 1.06919975e-01 9.94237399e-01 -7.75321701e-03 8.47265673e+00] [ 6.88706702e-02 3.73308073e-04 9.97625527e-01 4.96570223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36925415399998 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:195.40, Y:8.48, Z:4.97 [[ 9.91919538e-01 -1.07897088e-01 -6.67371581e-02 1.95400211e+02] [ 1.07257802e-01 9.94144940e-01 -1.30996722e-02 8.48035461e+00] [ 6.77598246e-02 5.83573992e-03 9.97684595e-01 4.96839885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39925415399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:195.43, Y:8.48, Z:4.97 [[ 9.91864558e-01 -1.07625672e-01 -6.79809735e-02 1.95431521e+02] [ 1.07678220e-01 9.94181564e-01 -2.90152060e-03 8.47673987e+00] [ 6.78977086e-02 -4.44215480e-03 9.97682399e-01 4.96845247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:195.46, Y:8.48, Z:4.97 [[ 9.91702357e-01 -1.10405183e-01 -6.58569020e-02 1.95458547e+02] [ 1.10149776e-01 9.93886643e-01 -7.50786361e-03 8.48157381e+00] [ 6.62832023e-02 1.91443057e-04 9.97800832e-01 4.97170738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45925415399998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:195.49, Y:8.48, Z:4.97 [[ 9.91525808e-01 -1.12247953e-01 -6.53985393e-02 1.95487235e+02] [ 1.11998872e-01 9.93680225e-01 -7.47416089e-03 8.48392673e+00] [ 6.58241945e-02 8.62608081e-05 9.97831232e-01 4.97342381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48925415399998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:195.52, Y:8.49, Z:4.98 [[ 9.91246659e-01 -1.14879168e-01 -6.50602641e-02 1.95515837e+02] [ 1.14637218e-01 9.93379470e-01 -7.45229244e-03 8.48648193e+00] [ 6.54856438e-02 -7.12676742e-05 9.97853509e-01 4.97526047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51925415399998 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:195.55, Y:8.49, Z:4.98 [[ 9.90609250e-01 -1.20685509e-01 -6.42520192e-02 1.95545664e+02] [ 1.20460732e-01 9.92690697e-01 -7.37512532e-03 8.48745363e+00] [ 6.46724525e-02 -4.33977902e-04 9.97906451e-01 4.97710424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.54925415399998 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:195.57, Y:8.49, Z:4.98 [[ 9.90165920e-01 -1.24293513e-01 -6.42072783e-02 1.95574714e+02] [ 1.24076479e-01 9.92245271e-01 -7.37221041e-03 8.48932835e+00] [ 6.46256862e-02 -6.66901491e-04 9.97909353e-01 4.97888746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57925415399998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:195.60, Y:8.49, Z:4.98 [[ 9.89657525e-01 -1.28172606e-01 -6.44186831e-02 1.95604783e+02] [ 1.27962348e-01 9.91751446e-01 -7.39640970e-03 8.49107971e+00] [ 6.48353392e-02 -9.23253413e-04 9.97895549e-01 4.98056687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60925415399998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:195.64, Y:8.49, Z:4.98 [[ 9.88445285e-01 -1.36959942e-01 -6.49453043e-02 1.95636677e+02] [ 1.36765160e-01 9.90575433e-01 -7.45667946e-03 8.49092441e+00] [ 6.53544893e-02 -1.51173527e-03 9.97860965e-01 4.98156955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63925415399999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:195.67, Y:8.49, Z:4.98 [[ 9.87775880e-01 -1.41617726e-01 -6.51400765e-02 1.95667409e+02] [ 1.41432045e-01 9.89919733e-01 -7.47648794e-03 8.49249623e+00] [ 6.55422503e-02 -1.82779979e-03 9.97848121e-01 4.98293629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.669254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:195.70, Y:8.49, Z:4.98 [[ 9.86449429e-01 -1.50342786e-01 -6.56853964e-02 1.95699077e+02] [ 1.50173522e-01 9.88630940e-01 -7.53508416e-03 8.49218971e+00] [ 6.60714608e-02 -2.43122784e-03 9.97811932e-01 4.98456004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.699254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:195.73, Y:8.50, Z:4.99 [[ 9.86454881e-01 -1.50306887e-01 -6.56856672e-02 1.95730662e+02] [ 1.50137700e-01 9.88636399e-01 -7.53272306e-03 8.49577985e+00] [ 6.60714616e-02 -2.43120357e-03 9.97811932e-01 4.98647137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.729254154 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:195.76, Y:8.50, Z:4.99 [[ 9.85885129e-01 -1.54101854e-01 -6.54456326e-02 1.95761012e+02] [ 1.53942404e-01 9.88051338e-01 -7.50266183e-03 8.49738830e+00] [ 6.58198190e-02 -2.67809526e-03 9.97827931e-01 4.98824423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.759254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:195.79, Y:8.50, Z:4.99 [[ 9.84872786e-01 -1.60476001e-01 -6.53685672e-02 1.95792516e+02] [ 1.60331158e-01 9.87034862e-01 -7.49004462e-03 8.49817016e+00] [ 6.57230271e-02 -3.10387694e-03 9.97833077e-01 4.99010368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.789254154 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:195.82, Y:8.50, Z:4.99 [[ 9.84553998e-01 -1.62410075e-01 -6.53941299e-02 1.95824566e+02] [ 1.62269538e-01 9.86718040e-01 -7.49040074e-03 8.50030911e+00] [ 6.57420843e-02 -3.23677127e-03 9.97831399e-01 4.99184603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.819254154 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:195.85, Y:8.50, Z:4.99 [[ 9.84399366e-01 -1.63071447e-01 -6.60726253e-02 1.95853142e+02] [ 1.62690526e-01 9.86614238e-01 -1.11416916e-02 8.50415973e+00] [ 6.70050847e-02 2.18484017e-04 9.97752610e-01 4.99457700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.849254154 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:195.88, Y:8.50, Z:4.99 [[ 9.84291969e-01 -1.63801197e-01 -6.58672041e-02 1.95884682e+02] [ 1.63879058e-01 9.86471257e-01 -4.25601966e-03 8.50334085e+00] [ 6.56732447e-02 -6.60508939e-03 9.97819321e-01 4.99427033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.87925415399997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:195.91, Y:8.51, Z:5.00 [[ 9.84295203e-01 -1.63727959e-01 -6.60008218e-02 1.95914954e+02] [ 1.63587800e-01 9.86499817e-01 -7.55922087e-03 8.50782642e+00] [ 6.63474545e-02 -3.35642440e-03 9.97790935e-01 4.99705465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.90925415399997 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:195.95, Y:8.51, Z:5.00 [[ 9.84429412e-01 -1.62742268e-01 -6.64355815e-02 1.95946898e+02] [ 1.62598274e-01 9.86663044e-01 -7.60523384e-03 8.51108807e+00] [ 6.67872261e-02 -3.31549501e-03 9.97761732e-01 4.99914864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.93925415399997 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:195.98, Y:8.51, Z:5.00 [[ 9.85049440e-01 -1.58832430e-01 -6.67072736e-02 1.95978484e+02] [ 1.58678654e-01 9.87300789e-01 -7.63130624e-03 8.51463774e+00] [ 6.70722428e-02 -3.06780647e-03 9.97743405e-01 5.00102221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.96925415399997 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:196.01, Y:8.52, Z:5.00 [[ 9.85476770e-01 -1.56137268e-01 -6.67584433e-02 1.96009332e+02] [ 1.55977416e-01 9.87731134e-01 -7.63230216e-03 8.51855317e+00] [ 6.71310797e-02 -2.89135298e-03 9.97739975e-01 5.00293028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.99925415399997 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:196.04, Y:8.52, Z:5.01 [[ 9.86323807e-01 -1.50089557e-01 -6.81063380e-02 1.96041320e+02] [ 1.49909072e-01 9.88669158e-01 -7.78238045e-03 8.52340311e+00] [ 6.85026899e-02 -2.53381083e-03 9.97647714e-01 5.00507560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.02925415399997 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:196.07, Y:8.53, Z:5.01 [[ 9.86714432e-01 -1.47067079e-01 -6.90355211e-02 1.96072900e+02] [ 1.46874592e-01 9.89123704e-01 -7.88368465e-03 8.52747350e+00] [ 6.94441008e-02 -2.36061857e-03 9.97583051e-01 5.00606533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.05925415399997 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:196.10, Y:8.53, Z:5.01 [[ 9.86968532e-01 -1.44642868e-01 -7.05092762e-02 1.96103071e+02] [ 1.44436076e-01 9.89481392e-01 -8.04950066e-03 8.53161879e+00] [ 7.09319197e-02 -2.23947930e-03 9.97478645e-01 5.00894964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.08925415399997 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:196.13, Y:8.54, Z:5.01 [[ 9.87244417e-01 -1.42364974e-01 -7.12788557e-02 1.96132676e+02] [ 1.42147766e-01 9.89812006e-01 -8.13666419e-03 8.53572095e+00] [ 7.17110431e-02 -2.09925378e-03 9.97423240e-01 5.01052253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.11925415399998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:196.16, Y:8.54, Z:5.01 [[ 9.87551526e-01 -1.39184127e-01 -7.32786668e-02 1.96160874e+02] [ 1.38945591e-01 9.90264662e-01 -8.36794405e-03 8.54023169e+00] [ 7.37299591e-02 -1.91797174e-03 9.97276398e-01 5.01277392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.14925415399998 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:196.19, Y:8.54, Z:5.01 [[ 9.87696562e-01 -1.37958010e-01 -7.36416237e-02 1.96187330e+02] [ 1.37713329e-01 9.90436387e-01 -8.41442569e-03 8.54393192e+00] [ 7.40981811e-02 -1.83053380e-03 9.97249271e-01 5.01452811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.17925415399998 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:196.21, Y:8.55, Z:5.02 [[ 9.87751596e-01 -1.37377210e-01 -7.39884284e-02 1.96214885e+02] [ 1.37127715e-01 9.90517198e-01 -8.46578595e-03 8.54787108e+00] [ 7.44498169e-02 -1.78377052e-03 9.97223166e-01 5.01670667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.20925415399998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:196.24, Y:8.55, Z:5.02 [[ 9.87766656e-01 -1.37132051e-01 -7.42417247e-02 1.96242841e+02] [ 1.36878525e-01 9.90551230e-01 -8.51648363e-03 8.55178633e+00] [ 7.47081146e-02 -1.74979921e-03 9.97203909e-01 5.01828470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.23925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:196.27, Y:8.56, Z:5.02 [[ 9.87776542e-01 -1.37170000e-01 -7.40398199e-02 1.96269055e+02] [ 1.36916455e-01 9.90546014e-01 -8.51345578e-03 8.55552058e+00] [ 7.45076392e-02 -1.72787773e-03 9.97218946e-01 5.02040518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.26925415399998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:196.30, Y:8.56, Z:5.02 [[ 9.87704117e-01 -1.37852115e-01 -7.37385296e-02 1.96297517e+02] [ 1.37601377e-01 9.90451265e-01 -8.49427019e-03 8.55908597e+00] [ 7.42053730e-02 -1.75669758e-03 9.97241433e-01 5.02233495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.29925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:196.33, Y:8.56, Z:5.02 [[ 9.87648127e-01 -1.38469182e-01 -7.33311912e-02 1.96325597e+02] [ 1.38221517e-01 9.90365153e-01 -8.46610509e-03 8.56256437e+00] [ 7.37969511e-02 -1.77441569e-03 9.97271709e-01 5.02444204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.32925415399998 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:196.35, Y:8.57, Z:5.03 [[ 9.87449292e-01 -1.40122770e-01 -7.28663520e-02 1.96353733e+02] [ 1.39881354e-01 9.90132376e-01 -8.43115123e-03 8.56677879e+00] [ 7.33287305e-02 -1.86730965e-03 9.97306077e-01 5.02725390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.35925415399998 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:196.38, Y:8.57, Z:5.03 [[ 9.87347414e-01 -1.41024420e-01 -7.25065305e-02 1.96382064e+02] [ 1.40786636e-01 9.90004278e-01 -8.40556070e-03 8.57034765e+00] [ 7.29671647e-02 -1.90874189e-03 9.97332517e-01 5.02896380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.38925415399999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:196.41, Y:8.57, Z:5.03 [[ 9.87258062e-01 -1.41780106e-01 -7.22490140e-02 1.96411570e+02] [ 1.41545757e-01 9.89896249e-01 -8.37943151e-03 8.57372813e+00] [ 7.27070646e-02 -1.95388005e-03 9.97351425e-01 5.03116772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.419254154 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:196.44, Y:8.59, Z:5.03 [[ 9.88000405e-01 -1.41041109e-01 -6.29492197e-02 1.96444243e+02] [ 1.39089098e-01 9.89682030e-01 -3.44049675e-02 8.58680322e+00] [ 6.71522263e-02 2.52365716e-02 9.97423528e-01 5.03337289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.449254154 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:196.47, Y:8.57, Z:5.03 [[ 9.86967059e-01 -1.42448803e-01 -7.48622868e-02 1.96472615e+02] [ 1.44288392e-01 9.89338769e-01 1.97398018e-02 8.56679321e+00] [ 7.12522515e-02 -3.02842931e-02 9.96998485e-01 5.02666874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.479254154 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:196.50, Y:8.58, Z:5.04 [[ 9.86815463e-01 -1.45388165e-01 -7.11162625e-02 1.96500257e+02] [ 1.45169054e-01 9.89372323e-01 -8.26757670e-03 8.58396377e+00] [ 7.15624696e-02 -2.16530799e-03 9.97433769e-01 5.03718379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.509254154 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:196.53, Y:8.59, Z:5.04 [[ 9.86501947e-01 -1.48319731e-01 -6.93913957e-02 1.96530716e+02] [ 1.48118356e-01 9.88936740e-01 -8.06705339e-03 8.58648984e+00] [ 6.98202039e-02 -2.31997560e-03 9.97556894e-01 5.03945829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.539254154 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:196.56, Y:8.59, Z:5.04 [[ 9.86275423e-01 -1.50093055e-01 -6.87958200e-02 1.96560865e+02] [ 1.49899437e-01 9.88668901e-01 -7.99765024e-03 8.58969760e+00] [ 6.92166795e-02 -2.42456879e-03 9.97598703e-01 5.04175833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.569254154 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:196.59, Y:8.59, Z:5.04 [[ 9.86087920e-01 -1.51651463e-01 -6.80620868e-02 1.96592341e+02] [ 1.51465752e-01 9.88430849e-01 -7.91094573e-03 8.59277224e+00] [ 6.84743727e-02 -2.50818714e-03 9.97649723e-01 5.04384692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.599254154 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:196.62, Y:8.60, Z:5.05 [[ 9.85899619e-01 -1.53189865e-01 -6.73409725e-02 1.96623338e+02] [ 1.53011816e-01 9.88193381e-01 -7.82465069e-03 8.59563746e+00] [ 6.77445605e-02 -2.58964437e-03 9.97699338e-01 5.04577791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.62925415399997 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:196.65, Y:8.60, Z:5.05 [[ 9.85551611e-01 -1.55801554e-01 -6.64371710e-02 1.96653466e+02] [ 1.55634323e-01 9.87784592e-01 -7.71731116e-03 8.59776117e+00] [ 6.68279829e-02 -2.73409570e-03 9.97760766e-01 5.04702691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.65925415399997 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:196.69, Y:8.60, Z:5.05 [[ 9.85451620e-01 -1.56252420e-01 -6.68601908e-02 1.96685313e+02] [ 1.56084197e-01 9.87713233e-01 -7.76482214e-03 8.60053834e+00] [ 6.72519675e-02 -2.78396265e-03 9.97732140e-01 5.04721681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.68925415399997 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:196.72, Y:8.60, Z:5.05 [[ 9.85272780e-01 -1.57549981e-01 -6.64496232e-02 1.96715705e+02] [ 1.57387079e-01 9.87506874e-01 -7.71237322e-03 8.60399921e+00] [ 6.68345439e-02 -2.85952071e-03 9.97759975e-01 5.05049073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.71925415399997 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:196.75, Y:8.61, Z:5.05 [[ 9.85186693e-01 -1.58075743e-01 -6.64773545e-02 1.96746447e+02] [ 1.57914135e-01 9.87422731e-01 -7.71205281e-03 8.60673971e+00] [ 6.68603394e-02 -2.89990214e-03 9.97758130e-01 5.05177927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.74925415399997 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:196.78, Y:8.61, Z:5.05 [[ 9.85056613e-01 -1.58318491e-01 -6.78139015e-02 1.96778825e+02] [ 1.58151086e-01 9.87383607e-01 -7.86431322e-03 8.60935070e+00] [ 6.82034009e-02 -2.97804842e-03 9.97666992e-01 5.05326532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.77925415399997 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:196.81, Y:8.61, Z:5.05 [[ 9.84995469e-01 -1.58304410e-01 -6.87287438e-02 1.96810347e+02] [ 1.58132761e-01 9.87385730e-01 -7.96556002e-03 8.61289315e+00] [ 6.91227642e-02 -3.02222548e-03 9.97603583e-01 5.05484405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.80925415399997 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:196.84, Y:8.62, Z:5.06 [[ 9.84985786e-01 -1.57953024e-01 -6.96695349e-02 1.96841673e+02] [ 1.57775951e-01 9.87441944e-01 -8.07199071e-03 8.61637306e+00] [ 7.00696163e-02 -3.04138103e-03 9.97537467e-01 5.05634829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.83925415399997 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:196.87, Y:8.62, Z:5.06 [[ 9.84992374e-01 -1.57436072e-01 -7.07382998e-02 1.96871740e+02] [ 1.57252372e-01 9.87524461e-01 -8.19336429e-03 8.61965454e+00] [ 7.11457325e-02 -3.05336413e-03 9.97461258e-01 5.05787215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.86925415399998 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:196.90, Y:8.62, Z:5.06 [[ 9.85166167e-01 -1.55669888e-01 -7.22115614e-02 1.96902851e+02] [ 1.55473843e-01 9.87804613e-01 -8.36242102e-03 8.62362939e+00] [ 7.26326906e-02 -2.98863466e-03 9.97354280e-01 5.05996591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.89925415399998 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:196.93, Y:8.63, Z:5.06 [[ 9.85345492e-01 -1.54484625e-01 -7.23101863e-02 1.96933946e+02] [ 1.54285059e-01 9.87990913e-01 -8.37112943e-03 8.62752206e+00] [ 7.27350177e-02 -2.90792673e-03 9.97347062e-01 5.06213404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.92925415399998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:196.96, Y:8.63, Z:5.06 [[ 9.85580616e-01 -1.53087625e-01 -7.20765507e-02 1.96962833e+02] [ 1.52885767e-01 9.88208658e-01 -8.34207536e-03 8.63111807e+00] [ 7.25037400e-02 -2.79769098e-03 9.97364217e-01 5.06403937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.95925415399998 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:196.99, Y:8.63, Z:5.07 [[ 9.85845524e-01 -1.51527838e-01 -7.17489865e-02 1.96992279e+02] [ 1.51323594e-01 9.88449386e-01 -8.30548650e-03 8.63491491e+00] [ 7.21787540e-02 -2.66938781e-03 9.97388140e-01 5.06614111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.98925415399998 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:197.02, Y:8.64, Z:5.07 [[ 9.86170778e-01 -1.49568140e-01 -7.13902585e-02 1.97020964e+02] [ 1.49360717e-01 9.88748230e-01 -8.26526184e-03 8.63892902e+00] [ 7.18232115e-02 -2.51194049e-03 9.97414215e-01 5.06827402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.01925415399998 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:197.05, Y:8.64, Z:5.07 [[ 9.87065812e-01 -1.44458665e-01 -6.95181804e-02 1.97050072e+02] [ 1.44249229e-01 9.89508645e-01 -8.04991788e-03 8.64397072e+00] [ 6.99517209e-02 -2.08214523e-03 9.97548205e-01 5.07121709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.04925415399998 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:197.08, Y:8.65, Z:5.07 [[ 9.87497621e-01 -1.41659245e-01 -6.91455509e-02 1.97080046e+02] [ 1.41445046e-01 9.89913711e-01 -8.00894150e-03 8.64806007e+00] [ 6.95826695e-02 -1.87148494e-03 9.97574433e-01 5.07377169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.07925415399998 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:197.11, Y:8.65, Z:5.08 [[ 9.87955370e-01 -1.38760747e-01 -6.84809644e-02 1.97109191e+02] [ 1.38543673e-01 9.90324558e-01 -7.93227205e-03 8.65203542e+00] [ 6.89190688e-02 -1.65087355e-03 9.97620888e-01 5.07589523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.10925415399998 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:197.14, Y:8.66, Z:5.08 [[ 9.87952907e-01 -1.38778408e-01 -6.84806995e-02 1.97139092e+02] [ 1.38561218e-01 9.90322085e-01 -7.93455850e-03 8.65553336e+00] [ 6.89190945e-02 -1.64979900e-03 9.97620888e-01 5.07771621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.13925415399999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:197.17, Y:8.66, Z:5.08 [[ 9.88758793e-01 -1.33001899e-01 -6.83121124e-02 1.97168575e+02] [ 1.32771918e-01 9.91115004e-01 -7.91625142e-03 8.65984795e+00] [ 6.87580360e-02 -1.24266702e-03 9.97632592e-01 5.07983380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.169254154 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:197.20, Y:8.66, Z:5.08 [[ 9.89115991e-01 -1.30371568e-01 -6.82115168e-02 1.97198294e+02] [ 1.30135923e-01 9.91464642e-01 -7.90595721e-03 8.66338968e+00] [ 6.86600192e-02 -1.05686003e-03 9.97639557e-01 5.08119474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.199254154 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:197.23, Y:8.67, Z:5.08 [[ 9.89345123e-01 -1.28210483e-01 -6.89804325e-02 1.97225586e+02] [ 1.27964040e-01 9.91746558e-01 -7.99802286e-03 8.66658006e+00] [ 6.94365369e-02 -9.14209905e-04 9.97585952e-01 5.08318726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.229254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:197.25, Y:8.67, Z:5.08 [[ 9.89525648e-01 -1.26642447e-01 -6.92869643e-02 1.97253119e+02] [ 1.26389411e-01 9.91948109e-01 -8.04152178e-03 8.66988916e+00] [ 6.97474713e-02 -7.99846553e-04 9.97564359e-01 5.08462505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.259254154 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:197.28, Y:8.67, Z:5.09 [[ 9.89661252e-01 -1.25490988e-01 -6.94450799e-02 1.97281416e+02] [ 1.25232591e-01 9.92094512e-01 -8.07944798e-03 8.67337089e+00] [ 6.99099806e-02 -7.00870668e-04 9.97553058e-01 5.08632755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.289254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:197.31, Y:8.68, Z:5.09 [[ 9.89811770e-01 -1.24006870e-01 -6.99639573e-02 1.97309289e+02] [ 1.23739716e-01 9.92281188e-01 -8.15644320e-03 8.67625452e+00] [ 7.04353737e-02 -5.83976744e-04 9.97516174e-01 5.08791563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.319254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:197.34, Y:8.68, Z:5.09 [[ 9.89785763e-01 -1.24070707e-01 -7.02182453e-02 1.97336684e+02] [ 1.23801157e-01 9.92273209e-01 -8.19468645e-03 8.67875486e+00] [ 7.06924041e-02 -5.82116010e-04 9.97497993e-01 5.08968952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.349254154 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:197.36, Y:8.68, Z:5.09 [[ 9.89691392e-01 -1.24651219e-01 -7.05196511e-02 1.97364191e+02] [ 1.24379318e-01 9.92200437e-01 -8.25095291e-03 8.68105718e+00] [ 7.09981200e-02 -6.05289006e-04 9.97476266e-01 5.09104926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.37925415399997 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:197.39, Y:8.68, Z:5.09 [[ 9.89465590e-01 -1.26046334e-01 -7.12051128e-02 1.97391381e+02] [ 1.25771320e-01 9.92024113e-01 -8.35065589e-03 8.68292704e+00] [ 7.16897584e-02 -6.92874354e-04 9.97426738e-01 5.09212771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.40925415399997 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:197.42, Y:8.69, Z:5.09 [[ 9.89431497e-01 -1.26314386e-01 -7.12038574e-02 1.97419528e+02] [ 1.26039296e-01 9.91990012e-01 -8.36134665e-03 8.68630972e+00] [ 7.16896737e-02 -7.01504298e-04 9.97426738e-01 5.09384423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.43925415399997 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:197.45, Y:8.69, Z:5.10 [[ 9.89140075e-01 -1.28542466e-01 -7.12653240e-02 1.97447570e+02] [ 1.28271252e-01 9.91703646e-01 -8.38832187e-03 8.68800031e+00] [ 7.17523373e-02 -8.44067018e-04 9.97422122e-01 5.09524300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.46925415399997 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:197.47, Y:8.69, Z:5.10 [[ 9.88954893e-01 -1.30123289e-01 -7.09658377e-02 1.97474920e+02] [ 1.29856944e-01 9.91497381e-01 -8.37361741e-03 8.69048878e+00] [ 7.14520449e-02 -9.34276892e-04 9.97443599e-01 5.09697877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.49925415399997 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:197.50, Y:8.69, Z:5.10 [[ 9.88757215e-01 -1.31833420e-01 -7.05628762e-02 1.97501854e+02] [ 1.31573112e-01 9.91271346e-01 -8.34472337e-03 8.69316335e+00] [ 7.10470707e-02 -1.03327181e-03 9.97472429e-01 5.09890961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.52925415399997 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:197.53, Y:8.70, Z:5.10 [[ 9.88550392e-01 -1.33640003e-01 -7.00604930e-02 1.97529841e+02] [ 1.33387184e-01 9.91029283e-01 -8.29573352e-03 8.69572164e+00] [ 7.05406420e-02 -1.14442127e-03 9.97508250e-01 5.10060102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.55925415399997 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:197.56, Y:8.70, Z:5.10 [[ 9.88088736e-01 -1.37294159e-01 -6.95051407e-02 1.97557669e+02] [ 1.37053087e-01 9.90529364e-01 -8.24808056e-03 8.69670607e+00] [ 6.99792961e-02 -1.37605861e-03 9.97547495e-01 5.10188009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.58925415399997 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:197.59, Y:8.70, Z:5.10 [[ 9.87748230e-01 -1.39898448e-01 -6.91509808e-02 1.97586602e+02] [ 1.39665658e-01 9.90164652e-01 -8.21377816e-03 8.69892020e+00] [ 6.96199516e-02 -1.54487242e-03 9.97572391e-01 5.10388559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.61925415399998 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:197.62, Y:8.70, Z:5.11 [[ 9.87432072e-01 -1.42169201e-01 -6.90349300e-02 1.97615115e+02] [ 1.41941622e-01 9.89840934e-01 -8.21590482e-03 8.70111968e+00] [ 6.95016483e-02 -1.68628203e-03 9.97580411e-01 5.10549080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.64925415399998 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:197.64, Y:8.70, Z:5.11 [[ 9.87053797e-01 -1.44678906e-01 -6.92301605e-02 1.97644109e+02] [ 1.44455943e-01 9.89476901e-01 -8.24277183e-03 8.70369306e+00] [ 6.96941998e-02 -1.86464887e-03 9.97566660e-01 5.10744819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.67925415399998 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:197.67, Y:8.71, Z:5.11 [[ 9.86744578e-01 -1.46906976e-01 -6.89454702e-02 1.97673882e+02] [ 1.46691094e-01 9.89148268e-01 -8.21141465e-03 8.70621894e+00] [ 6.94036065e-02 -2.01111753e-03 9.97586635e-01 5.10896158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.70925415399998 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:197.70, Y:8.71, Z:5.11 [[ 9.86173332e-01 -1.50506143e-01 -6.93545983e-02 1.97704058e+02] [ 1.50296409e-01 9.88606455e-01 -8.26237984e-03 8.70712598e+00] [ 6.98079424e-02 -2.27560841e-03 9.97557854e-01 5.11092732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.73925415399998 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:197.73, Y:8.71, Z:5.11 [[ 9.86004236e-01 -1.51692501e-01 -6.91739199e-02 1.97733125e+02] [ 1.51486747e-01 9.88424933e-01 -8.24119953e-03 8.70929811e+00] [ 6.96233553e-02 -2.35307442e-03 9.97570575e-01 5.11261239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.76925415399998 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:197.76, Y:8.71, Z:5.11 [[ 9.85840643e-01 -1.52927259e-01 -6.87857562e-02 1.97762608e+02] [ 1.52726640e-01 9.88234475e-01 -8.19733770e-03 8.71200357e+00] [ 6.92300520e-02 -2.42414876e-03 9.97597776e-01 5.11439743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.79925415399998 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:197.79, Y:8.71, Z:5.12 [[ 9.85672038e-01 -1.54067779e-01 -6.86567832e-02 1.97792114e+02] [ 1.53870573e-01 9.88057123e-01 -8.18338794e-03 8.71407639e+00] [ 6.90976201e-02 -2.49812194e-03 9.97606775e-01 5.11625784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.82925415399998 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:197.82, Y:8.72, Z:5.12 [[ 9.85631172e-01 -1.54214669e-01 -6.89132009e-02 1.97822466e+02] [ 1.54016194e-01 9.88034163e-01 -8.21612853e-03 8.71716091e+00] [ 6.93556443e-02 -2.51567654e-03 9.97588826e-01 5.11826856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.85925415399998 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:197.85, Y:8.72, Z:5.12 [[ 9.85649927e-01 -1.54172978e-01 -6.87380076e-02 1.97852625e+02] [ 1.53975410e-01 9.88040693e-01 -8.19524124e-03 8.72049902e+00] [ 6.91794335e-02 -2.50632395e-03 9.97601085e-01 5.12016441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.88925415399999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:197.88, Y:8.72, Z:5.12 [[ 9.85709315e-01 -1.53964043e-01 -6.83536339e-02 1.97882577e+02] [ 1.53768178e-01 9.88073345e-01 -8.14941454e-03 8.72410614e+00] [ 6.87931205e-02 -2.47765989e-03 9.97627870e-01 5.12167538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.919254154 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:197.91, Y:8.73, Z:5.12 [[ 9.85764892e-01 -1.53524946e-01 -6.85395456e-02 1.97912925e+02] [ 1.53326966e-01 9.88141725e-01 -8.17141871e-03 8.72750296e+00] [ 6.89813015e-02 -2.45386288e-03 9.97614935e-01 5.12319221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.949254154 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:197.94, Y:8.73, Z:5.13 [[ 9.85751193e-01 -1.53524827e-01 -6.87365505e-02 1.97941998e+02] [ 1.53325773e-01 9.88141724e-01 -8.19394535e-03 8.73095478e+00] [ 6.91794275e-02 -2.46189332e-03 9.97601196e-01 5.12505769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.979254154 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:197.97, Y:8.73, Z:5.13 [[ 9.85737693e-01 -1.53698617e-01 -6.85414867e-02 1.97971419e+02] [ 1.53501012e-01 9.88114698e-01 -8.17211444e-03 8.73478115e+00] [ 6.89828931e-02 -2.46562634e-03 9.97614796e-01 5.12699298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.009254154 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:198.00, Y:8.74, Z:5.13 [[ 9.85685664e-01 -1.53925571e-01 -6.87800077e-02 1.98002073e+02] [ 1.53726987e-01 9.88079313e-01 -8.20275506e-03 8.73862008e+00] [ 6.92227165e-02 -2.48800527e-03 9.97598128e-01 5.12858381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.039254154 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:198.03, Y:8.74, Z:5.13 [[ 9.85543439e-01 -1.54524539e-01 -6.94715557e-02 1.98031922e+02] [ 1.54323425e-01 9.87985645e-01 -8.28522958e-03 8.74205873e+00] [ 6.99171710e-02 -2.55563477e-03 9.97549527e-01 5.13025659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.069254154 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:198.06, Y:8.75, Z:5.13 [[ 9.85069206e-01 -1.56862696e-01 -7.09419042e-02 1.98061385e+02] [ 1.56659007e-01 9.87616510e-01 -8.46078988e-03 8.74523990e+00] [ 7.13905781e-02 -2.77922472e-03 9.97444566e-01 5.13142842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.099254154 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:198.09, Y:8.75, Z:5.13 [[ 9.84851054e-01 -1.58285903e-01 -7.08094270e-02 1.98090459e+02] [ 1.58086532e-01 9.87389135e-01 -8.44650813e-03 8.74855728e+00] [ 7.12534221e-02 -2.87546435e-03 9.97454100e-01 5.13281085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.12925415399997 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:198.12, Y:8.75, Z:5.13 [[ 9.84593657e-01 -1.59799226e-01 -7.09897085e-02 1.98119990e+02] [ 1.59602572e-01 9.87145008e-01 -8.47064134e-03 8.75203720e+00] [ 7.14307383e-02 -2.99000031e-03 9.97441081e-01 5.13452992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.15925415399997 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:198.15, Y:8.76, Z:5.14 [[ 9.84316561e-01 -1.61445236e-01 -7.11079644e-02 1.98149789e+02] [ 1.61252049e-01 9.86876764e-01 -8.48695977e-03 8.75548164e+00] [ 7.15449771e-02 -3.11244989e-03 9.97432518e-01 5.13641684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.18925415399997 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:198.18, Y:8.76, Z:5.14 [[ 9.84135570e-01 -1.62631357e-01 -7.09099516e-02 1.98178873e+02] [ 1.62442298e-01 9.86681746e-01 -8.46353034e-03 8.75884655e+00] [ 7.13419903e-02 -3.18951421e-03 9.97446814e-01 5.13808095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.21925415399997 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:198.21, Y:8.76, Z:5.14 [[ 9.83780328e-01 -1.64936600e-01 -7.05137178e-02 1.98206899e+02] [ 1.64755426e-01 9.86298529e-01 -8.41791590e-03 8.76247465e+00] [ 7.09359986e-02 -3.33613757e-03 9.97475290e-01 5.14076841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.24925415399997 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:198.24, Y:8.77, Z:5.14 [[ 9.83694607e-01 -1.65717217e-01 -6.98764940e-02 1.98237515e+02] [ 1.65541038e-01 9.86167595e-01 -8.34505005e-03 8.76610494e+00] [ 7.02928524e-02 -3.35844663e-03 9.97520745e-01 5.14220197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.27925415399997 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:198.27, Y:8.77, Z:5.15 [[ 9.83610491e-01 -1.66396172e-01 -6.94457821e-02 1.98267333e+02] [ 1.66223843e-01 9.86053168e-01 -8.29361198e-03 8.76965865e+00] [ 6.98572588e-02 -3.38586106e-03 9.97551251e-01 5.14501723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.30925415399997 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:198.30, Y:8.77, Z:5.15 [[ 9.83754709e-01 -1.65854905e-01 -6.86936886e-02 1.98298853e+02] [ 1.65684995e-01 9.86144607e-01 -8.20346502e-03 8.77342101e+00] [ 6.91024955e-02 -3.31131613e-03 9.97604070e-01 5.14693448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.33925415399997 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:198.33, Y:8.78, Z:5.15 [[ 9.83863463e-01 -1.65245442e-01 -6.86048819e-02 1.98329110e+02] [ 1.65074660e-01 9.86247065e-01 -8.19046216e-03 8.77680206e+00] [ 6.90148000e-02 -3.26663107e-03 9.97610288e-01 5.14881936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.36925415399998 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:198.36, Y:8.78, Z:5.15 [[ 9.84020736e-01 -1.64359249e-01 -6.84779374e-02 1.98359792e+02] [ 1.64187058e-01 9.86395356e-01 -8.17387469e-03 8.78018318e+00] [ 6.88897713e-02 -3.19992891e-03 9.97619146e-01 5.15029504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.39925415399998 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:198.39, Y:8.78, Z:5.15 [[ 9.84224086e-01 -1.63151485e-01 -6.84437045e-02 1.98390171e+02] [ 1.62976722e-01 9.86596109e-01 -8.16735650e-03 8.78372336e+00] [ 6.88588089e-02 -3.11622164e-03 9.97621548e-01 5.15233872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.42925415399998 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:198.42, Y:8.79, Z:5.15 [[ 9.84518021e-01 -1.61530075e-01 -6.80610135e-02 1.98419964e+02] [ 1.61353475e-01 9.86863269e-01 -8.12056840e-03 8.78756778e+00] [ 6.84786303e-02 -2.98703509e-03 9.97648112e-01 5.15404585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.45925415399998 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:198.45, Y:8.79, Z:5.16 [[ 9.85089953e-01 -1.58018550e-01 -6.80288312e-02 1.98450215e+02] [ 1.57833763e-01 9.87432338e-01 -8.11672863e-03 8.79267739e+00] [ 6.84564615e-02 -2.74153861e-03 9.97650338e-01 5.15632885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.48925415399998 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:198.48, Y:8.80, Z:5.16 [[ 9.85462071e-01 -1.55643559e-01 -6.81145346e-02 1.98480762e+02] [ 1.55452647e-01 9.87809915e-01 -8.12695417e-03 8.79693772e+00] [ 6.85491207e-02 -2.57977962e-03 9.97644407e-01 5.15819911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.51925415399998 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:198.51, Y:8.80, Z:5.16 [[ 9.85808258e-01 -1.53288691e-01 -6.84445461e-02 1.98511223e+02] [ 1.53090261e-01 9.88178467e-01 -8.16632885e-03 8.80131495e+00] [ 6.88872325e-02 -2.42775897e-03 9.97621499e-01 5.16047683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.54925415399998 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:198.54, Y:8.81, Z:5.16 [[ 9.86237646e-01 -1.50502781e-01 -6.84413493e-02 1.98542600e+02] [ 1.50297696e-01 9.88607063e-01 -8.16562818e-03 8.80556146e+00] [ 6.88905511e-02 -2.23332719e-03 9.97621724e-01 5.16222798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.57925415399998 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:198.57, Y:8.81, Z:5.16 [[ 9.87052816e-01 -1.44937988e-01 -6.87002104e-02 1.98571144e+02] [ 1.44718031e-01 9.89439004e-01 -8.19441991e-03 8.81092790e+00] [ 6.91623505e-02 -1.85383394e-03 9.97603695e-01 5.16408317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.60925415399998 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:198.60, Y:8.82, Z:5.17 [[ 9.87498532e-01 -1.41976515e-01 -6.84785990e-02 1.98599379e+02] [ 1.41750756e-01 9.89868669e-01 -8.16956651e-03 8.81555483e+00] [ 6.89447062e-02 -1.63945822e-03 9.97619136e-01 5.16574580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.63925415399999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:198.63, Y:8.82, Z:5.17 [[ 9.87944389e-01 -1.39044960e-01 -6.80616121e-02 1.98628583e+02] [ 1.38814750e-01 9.90285048e-01 -8.12338484e-03 8.82020867e+00] [ 6.85299125e-02 -1.42250322e-03 9.97648048e-01 5.16731475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.669254154 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:198.66, Y:8.82, Z:5.17 [[ 9.88333263e-01 -1.36373148e-01 -6.78212734e-02 1.98657287e+02] [ 1.36138102e-01 9.90656778e-01 -8.09729176e-03 8.82472417e+00] [ 6.82918574e-02 -1.23023663e-03 9.97664627e-01 5.16895696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.699254154 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:198.69, Y:8.83, Z:5.17 [[ 9.88667021e-01 -1.33845439e-01 -6.79920556e-02 1.98686152e+02] [ 1.33602993e-01 9.91001658e-01 -8.12122579e-03 8.82928075e+00] [ 6.84672289e-02 -1.05475399e-03 9.97652808e-01 5.17062078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.729254154 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:198.71, Y:8.83, Z:5.17 [[ 9.89201671e-01 -1.29658658e-01 -6.83277943e-02 1.98713889e+02] [ 1.29403640e-01 9.91558393e-01 -8.16407620e-03 8.83441461e+00] [ 6.88095411e-02 -7.65947500e-04 9.97629521e-01 5.17176998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.759254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:198.74, Y:8.84, Z:5.17 [[ 9.89364451e-01 -1.28426260e-01 -6.82984552e-02 1.98740802e+02] [ 1.28168225e-01 9.91718831e-01 -8.16498230e-03 8.83857091e+00] [ 6.87814623e-02 -6.75548525e-04 9.97631522e-01 5.17358616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.789254154 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:198.77, Y:8.84, Z:5.18 [[ 9.89489823e-01 -1.27567582e-01 -6.80911350e-02 1.98769664e+02] [ 1.27308423e-01 9.91829696e-01 -8.14978023e-03 8.84250291e+00] [ 6.85744575e-02 -6.04450397e-04 9.97645818e-01 5.17516659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.819254154 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:198.80, Y:8.85, Z:5.18 [[ 9.89631637e-01 -1.26648946e-01 -6.77441272e-02 1.98798127e+02] [ 1.26389068e-01 9.91947465e-01 -8.12587309e-03 8.84647219e+00] [ 6.82277485e-02 -5.20496013e-04 9.97669636e-01 5.17726230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.849254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:198.83, Y:8.85, Z:5.18 [[ 9.89648351e-01 -1.26507941e-01 -6.77634247e-02 1.98826366e+02] [ 1.26246471e-01 9.91965471e-01 -8.14446797e-03 8.84985034e+00] [ 6.82493174e-02 -4.94733934e-04 9.97668174e-01 5.17932345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.87925415399997 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:198.85, Y:8.85, Z:5.18 [[ 9.89573243e-01 -1.27030128e-01 -6.78833094e-02 1.98854993e+02] [ 1.26768527e-01 9.91898720e-01 -8.16518360e-03 8.85343912e+00] [ 6.83705920e-02 -5.25419915e-04 9.97659855e-01 5.18139427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.90925415399997 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:198.88, Y:8.86, Z:5.18 [[ 9.89462985e-01 -1.27829551e-01 -6.79897660e-02 1.98882930e+02] [ 1.27567882e-01 9.91795990e-01 -8.19444106e-03 8.85578035e+00] [ 6.84794690e-02 -5.65214362e-04 9.97652366e-01 5.18279709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.93925415399997 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:198.91, Y:8.86, Z:5.18 [[ 9.89213013e-01 -1.29521209e-01 -6.84242052e-02 1.98910635e+02] [ 1.29259665e-01 9.91576420e-01 -8.25488812e-03 8.85720880e+00] [ 6.89170115e-02 -6.78647083e-04 9.97622165e-01 5.18428923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.96925415399997 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:198.94, Y:8.86, Z:5.19 [[ 9.89177860e-01 -1.29790659e-01 -6.84218266e-02 1.98938772e+02] [ 1.29528399e-01 9.91541187e-01 -8.27455905e-03 8.86069328e+00] [ 6.89170197e-02 -6.77559017e-04 9.97622166e-01 5.18600875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.99925415399997 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:198.97, Y:8.86, Z:5.19 [[ 9.89021347e-01 -1.30906797e-01 -6.85579041e-02 1.98966614e+02] [ 1.30644848e-01 9.91394405e-01 -8.31009083e-03 8.86281511e+00] [ 6.90557699e-02 -7.37879770e-04 9.97612528e-01 5.18768229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.02925415399997 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:198.99, Y:8.87, Z:5.19 [[ 9.88986030e-01 -1.31174589e-01 -6.85555244e-02 1.98994749e+02] [ 1.30911925e-01 9.91359009e-01 -8.32967994e-03 8.86631782e+00] [ 6.90557790e-02 -7.36798588e-04 9.97612528e-01 5.18940180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.05925415399997 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:199.02, Y:8.87, Z:5.19 [[ 9.88852496e-01 -1.32242876e-01 -6.84292526e-02 1.99022771e+02] [ 1.31982430e-01 9.91217028e-01 -8.33321680e-03 8.86841516e+00] [ 6.89302489e-02 -7.91136773e-04 9.97621168e-01 5.19090044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.08925415399997 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:199.05, Y:8.87, Z:5.19 [[ 9.88715132e-01 -1.33217715e-01 -6.85231978e-02 1.99050984e+02] [ 1.32957525e-01 9.91086441e-01 -8.36438619e-03 8.87073592e+00] [ 6.90266966e-02 -8.40679589e-04 9.97614459e-01 5.19267684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.11925415399998 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:199.08, Y:8.87, Z:5.19 [[ 9.88681761e-01 -1.33566158e-01 -6.83261034e-02 1.99078172e+02] [ 1.33307171e-01 9.91039538e-01 -8.35661712e-03 8.87318959e+00] [ 6.88300311e-02 -8.46324584e-04 9.97628042e-01 5.19429781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.14925415399998 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:199.11, Y:8.88, Z:5.20 [[ 9.88686959e-01 -1.33634864e-01 -6.81162323e-02 1.99106977e+02] [ 1.33376943e-01 9.91030282e-01 -8.34092582e-03 8.87601815e+00] [ 6.86198874e-02 -8.38570257e-04 9.97642525e-01 5.19595207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.17925415399998 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:199.13, Y:8.88, Z:5.20 [[ 9.88695123e-01 -1.32988995e-01 -6.92522951e-02 1.99134369e+02] [ 1.32719643e-01 9.91117199e-01 -8.49670593e-03 8.87884721e+00] [ 6.97671091e-02 -7.90488139e-04 9.97562993e-01 5.19760330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.20925415399998 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:199.16, Y:8.88, Z:5.20 [[ 9.88737881e-01 -1.32300756e-01 -6.99565052e-02 1.99161257e+02] [ 1.32023692e-01 9.91209341e-01 -8.58990056e-03 8.88185131e+00] [ 7.04779918e-02 -7.42756049e-04 9.97513058e-01 5.19931053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.23925415399998 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:199.19, Y:8.89, Z:5.20 [[ 9.88758229e-01 -1.31921242e-01 -7.03843088e-02 1.99188003e+02] [ 1.31639198e-01 9.91259946e-01 -8.65112153e-03 8.88503458e+00] [ 7.09104128e-02 -7.11466339e-04 9.97482435e-01 5.20078677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.26925415399998 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:199.22, Y:8.89, Z:5.20 [[ 9.88797349e-01 -1.31605612e-01 -7.04255955e-02 1.99216135e+02] [ 1.31321699e-01 9.91301923e-01 -8.66657860e-03 8.88811452e+00] [ 7.09535986e-02 -6.78918875e-04 9.97479386e-01 5.20209685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.29925415399998 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:199.24, Y:8.89, Z:5.20 [[ 9.88713858e-01 -1.31783675e-01 -7.12598795e-02 1.99242877e+02] [ 1.31492075e-01 9.91278265e-01 -8.78833578e-03 8.89036964e+00] [ 7.17965290e-02 -6.80960042e-04 9.97419067e-01 5.20338089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.32925415399998 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:199.27, Y:8.89, Z:5.21 [[ 9.88542018e-01 -1.32937266e-01 -7.15007821e-02 1.99270619e+02] [ 1.32645914e-01 9.91124165e-01 -8.82895874e-03 8.89326622e+00] [ 7.20398507e-02 -7.56489932e-04 9.97401468e-01 5.20506126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.35925415399998 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:199.30, Y:8.90, Z:5.21 [[ 9.88288691e-01 -1.34671353e-01 -7.17571589e-02 1.99298301e+02] [ 1.34380962e-01 9.90889942e-01 -8.88140069e-03 8.89626318e+00] [ 7.22995173e-02 -8.65408192e-04 9.97382590e-01 5.20688608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.38925415399999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:199.32, Y:8.90, Z:5.21 [[ 9.87657864e-01 -1.39488578e-01 -7.12381901e-02 1.99324959e+02] [ 1.39213501e-01 9.90222965e-01 -8.83632743e-03 8.89857870e+00] [ 7.17742586e-02 -1.19004958e-03 9.97420192e-01 5.20813059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.419254154 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:199.35, Y:8.90, Z:5.21 [[ 9.87153720e-01 -1.42874494e-01 -7.15151226e-02 1.99351793e+02] [ 1.42605415e-01 9.89739778e-01 -8.88070681e-03 8.90122509e+00] [ 7.20501881e-02 -1.43182097e-03 9.97399980e-01 5.21010003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.449254154 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:199.38, Y:8.90, Z:5.21 [[ 9.86646036e-01 -1.46394253e-01 -7.14025417e-02 1.99379722e+02] [ 1.46134139e-01 9.89224913e-01 -8.88167544e-03 8.90369231e+00] [ 7.19333993e-02 -1.67127905e-03 9.97408037e-01 5.21155690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.479254154 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:199.41, Y:8.91, Z:5.21 [[ 9.86039702e-01 -1.50300449e-01 -7.16622643e-02 1.99407829e+02] [ 1.50047268e-01 9.88638457e-01 -8.93413870e-03 8.90625706e+00] [ 7.21908755e-02 -1.94331151e-03 9.97388942e-01 5.21285827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.509254154 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:199.43, Y:8.91, Z:5.21 [[ 9.85417992e-01 -1.54100669e-01 -7.21412892e-02 1.99434521e+02] [ 1.53852912e-01 9.88052662e-01 -9.01214698e-03 8.90845521e+00] [ 7.26681707e-02 -2.21841567e-03 9.97353706e-01 5.21456638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.539254154 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:199.46, Y:8.91, Z:5.22 [[ 9.84716292e-01 -1.58200013e-01 -7.28462781e-02 1.99461294e+02] [ 1.57957918e-01 9.87403829e-01 -9.10908098e-03 8.91082859e+00] [ 7.33697506e-02 -2.53678601e-03 9.97301581e-01 5.21609555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.569254154 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:199.49, Y:8.91, Z:5.22 [[ 9.83401866e-01 -1.66448062e-01 -7.22205888e-02 1.99488720e+02] [ 1.66231478e-01 9.86045306e-01 -9.04152806e-03 8.91221667e+00] [ 7.27177174e-02 -3.11387968e-03 9.97347701e-01 5.21775307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.59925415399996 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:199.52, Y:8.92, Z:5.22 [[ 9.82811228e-01 -1.70075191e-01 -7.18089067e-02 1.99518470e+02] [ 1.69869435e-01 9.85425410e-01 -9.00760712e-03 8.91504699e+00] [ 7.22942918e-02 -3.34536101e-03 9.97377734e-01 5.21959251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.62925415399997 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:199.55, Y:8.92, Z:5.22 [[ 9.82290043e-01 -1.73376940e-01 -7.10401849e-02 1.99546933e+02] [ 1.73183964e-01 9.84849154e-01 -8.91396053e-03 8.91811058e+00] [ 7.15093412e-02 -3.54692614e-03 9.97433624e-01 5.22232725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.65925415399997 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:199.58, Y:8.92, Z:5.22 [[ 9.81863683e-01 -1.76130227e-01 -7.01559080e-02 1.99576143e+02] [ 1.75948765e-01 9.84359932e-01 -8.80660593e-03 8.92131913e+00] [ 7.06097743e-02 -3.69695885e-03 9.97497164e-01 5.22445384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.68925415399997 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:199.61, Y:8.92, Z:5.23 [[ 9.81197080e-01 -1.79887541e-01 -6.99482892e-02 1.99605697e+02] [ 1.79716471e-01 9.83679240e-01 -8.78310522e-03 8.92445084e+00] [ 7.03866511e-02 -3.95290249e-03 9.97511952e-01 5.22611147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.71925415399997 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:199.64, Y:8.93, Z:5.23 [[ 9.80947542e-01 -1.81270505e-01 -6.98779183e-02 1.99636386e+02] [ 1.81103143e-01 9.83424950e-01 -8.77608313e-03 8.92851570e+00] [ 7.03105333e-02 -4.04623345e-03 9.97516946e-01 5.22879228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.74925415399997 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:199.67, Y:8.93, Z:5.23 [[ 9.80784959e-01 -1.81862245e-01 -7.06186096e-02 1.99667731e+02] [ 1.81693035e-01 9.83315324e-01 -8.86645496e-03 8.93285722e+00] [ 7.10528344e-02 -4.13482385e-03 9.97463983e-01 5.23100753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.77925415399997 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:199.70, Y:8.94, Z:5.23 [[ 9.80623733e-01 -1.81812946e-01 -7.29461865e-02 1.99697574e+02] [ 1.81632459e-01 9.83323860e-01 -9.15616366e-03 8.93795774e+00] [ 7.33944348e-02 -4.27064386e-03 9.97293848e-01 5.23297434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.80925415399997 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:199.73, Y:8.94, Z:5.23 [[ 9.80623337e-01 -1.81422225e-01 -7.39178427e-02 1.99726612e+02] [ 1.81235863e-01 9.83395899e-01 -9.27726590e-03 8.94272997e+00] [ 7.43736056e-02 -4.29906053e-03 9.97221182e-01 5.23460388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.83925415399997 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:199.76, Y:8.95, Z:5.24 [[ 9.80657180e-01 -1.80824159e-01 -7.49274257e-02 1.99756771e+02] [ 1.80630857e-01 9.83505993e-01 -9.40507188e-03 8.94774923e+00] [ 7.53922365e-02 -4.31105385e-03 9.97144636e-01 5.23674068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.86925415399998 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:199.79, Y:8.95, Z:5.24 [[ 9.80768480e-01 -1.80014016e-01 -7.54197744e-02 1.99785593e+02] [ 1.79815761e-01 9.83654749e-01 -9.46716152e-03 8.95258317e+00] [ 7.58912410e-02 -4.27657051e-03 9.97106930e-01 5.23902202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.89925415399998 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:199.82, Y:8.96, Z:5.24 [[ 9.80894319e-01 -1.79260672e-01 -7.55774178e-02 1.99815234e+02] [ 1.79059277e-01 9.83792535e-01 -9.48806501e-03 8.95758272e+00] [ 7.60533364e-02 -4.22604873e-03 9.97094795e-01 5.24118787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.92925415399998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:199.85, Y:8.96, Z:5.24 [[ 9.81374933e-01 -1.76762374e-01 -7.52216974e-02 1.99845118e+02] [ 1.76555581e-01 9.84245373e-01 -9.44312136e-03 8.96414415e+00] [ 7.57057962e-02 -4.01356787e-03 9.97122121e-01 5.24400621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.95925415399998 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:199.88, Y:8.97, Z:5.25 [[ 9.81760455e-01 -1.74808350e-01 -7.47559337e-02 1.99876275e+02] [ 1.74598591e-01 9.84594989e-01 -9.38298040e-03 8.96985621e+00] [ 7.52445411e-02 -3.84044159e-03 9.97157716e-01 5.24671511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.98925415399998 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:199.91, Y:8.98, Z:5.25 [[ 9.82224542e-01 -1.72351015e-01 -7.43644888e-02 1.99905707e+02] [ 1.72136664e-01 9.85028886e-01 -9.33070504e-03 8.97570962e+00] [ 7.48593260e-02 -3.63600751e-03 9.97187475e-01 5.24926914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.01925415399998 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:199.93, Y:8.98, Z:5.25 [[ 9.83456751e-01 -1.65539832e-01 -7.35485041e-02 1.99933843e+02] [ 1.65311408e-01 9.86198276e-01 -9.22489440e-03 8.98411205e+00] [ 7.40604954e-02 -3.08612209e-03 9.97248975e-01 5.25270902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.04925415399998 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:199.97, Y:8.99, Z:5.26 [[ 9.84136171e-01 -1.61669845e-01 -7.30674878e-02 1.99965021e+02] [ 1.61433713e-01 9.86840999e-01 -9.16515460e-03 8.99051909e+00] [ 7.35877217e-02 -2.77579568e-03 9.97284885e-01 5.25537799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.07925415399998 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:200.00, Y:9.00, Z:5.26 [[ 9.84852715e-01 -1.57652439e-01 -7.21861422e-02 1.99995646e+02] [ 1.57411393e-01 9.87491628e-01 -9.05194803e-03 8.99663460e+00] [ 7.27102728e-02 -2.44808564e-03 9.97350101e-01 5.25765457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.10925415399998 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:200.03, Y:9.00, Z:5.26 [[ 9.85558091e-01 -1.53428590e-01 -7.16583409e-02 2.00026705e+02] [ 1.53180106e-01 9.88157457e-01 -8.98308022e-03 9.00226387e+00] [ 7.21879852e-02 -2.12328489e-03 9.97388784e-01 5.26012671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.13925415399999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:200.06, Y:9.01, Z:5.26 [[ 9.86190688e-01 -1.49403771e-01 -7.14593538e-02 2.00057649e+02] [ 1.49146310e-01 9.88774584e-01 -8.95544335e-03 9.00782613e+00] [ 7.19951699e-02 -1.82612406e-03 9.97403309e-01 5.26258834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.169254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:200.09, Y:9.02, Z:5.27 [[ 9.87202613e-01 -1.42705647e-01 -7.11765319e-02 2.00088703e+02] [ 1.42433016e-01 9.89764273e-01 -8.91734129e-03 9.01519027e+00] [ 7.17205433e-02 -1.33466550e-03 9.97423873e-01 5.26520050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.199254154 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:200.12, Y:9.02, Z:5.27 [[ 9.87499290e-01 -1.40425675e-01 -7.15945609e-02 2.00117979e+02] [ 1.40143993e-01 9.90090522e-01 -8.96767211e-03 9.01994185e+00] [ 7.21443876e-02 -1.17797778e-03 9.97393503e-01 5.26705940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.229254154 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:200.15, Y:9.02, Z:5.27 [[ 9.87637482e-01 -1.39099890e-01 -7.22732671e-02 2.00146978e+02] [ 1.38809176e-01 9.90277755e-01 -9.05426448e-03 9.02431520e+00] [ 7.28300559e-02 -1.08986170e-03 9.97343770e-01 5.26868676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.259254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:200.18, Y:9.03, Z:5.27 [[ 9.87634744e-01 -1.38122999e-01 -7.41596232e-02 2.00176714e+02] [ 1.37813937e-01 9.90414535e-01 -9.29337140e-03 9.02865543e+00] [ 7.47323971e-02 -1.04177317e-03 9.97203080e-01 5.27033034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.289254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:200.21, Y:9.03, Z:5.27 [[ 9.87549212e-01 -1.38404417e-01 -7.47714584e-02 2.00205877e+02] [ 1.38090824e-01 9.90375219e-01 -9.37283088e-03 9.03231755e+00] [ 7.53490407e-02 -1.06912058e-03 9.97156647e-01 5.27191856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.319254154 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:200.23, Y:9.04, Z:5.27 [[ 9.87395750e-01 -1.39143727e-01 -7.54231831e-02 2.00234701e+02] [ 1.38826310e-01 9.90271553e-01 -9.46083970e-03 9.03589834e+00] [ 7.60058491e-02 -1.12912926e-03 9.97106732e-01 5.27380038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.34925415399996 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:200.26, Y:9.04, Z:5.28 [[ 9.87287962e-01 -1.39969428e-01 -7.53063075e-02 2.00262009e+02] [ 1.39654097e-01 9.90155130e-01 -9.46320075e-03 9.03862339e+00] [ 7.58894855e-02 -1.17393016e-03 9.97115544e-01 5.27557481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.37925415399997 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:200.29, Y:9.04, Z:5.28 [[ 9.87014207e-01 -1.41904976e-01 -7.52723964e-02 2.00291638e+02] [ 1.41595082e-01 9.89879410e-01 -9.46504941e-03 9.04164067e+00] [ 7.58537329e-02 -1.31606289e-03 9.97118087e-01 5.27773491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.40925415399997 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:200.32, Y:9.05, Z:5.28 [[ 9.86840059e-01 -1.43053542e-01 -7.53815835e-02 2.00320448e+02] [ 1.42745854e-01 9.89713956e-01 -9.48189008e-03 9.04513025e+00] [ 7.59626232e-02 -1.40329954e-03 9.97109678e-01 5.27992609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.43925415399997 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:200.35, Y:9.05, Z:5.28 [[ 9.86577903e-01 -1.44925957e-01 -7.52363520e-02 2.00349135e+02] [ 1.44624331e-01 9.89441309e-01 -9.47094750e-03 9.04862665e+00] [ 7.58145407e-02 -1.53717952e-03 9.97120751e-01 5.28167818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.46925415399997 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:200.38, Y:9.05, Z:5.28 [[ 9.86386316e-01 -1.46359198e-01 -7.49734670e-02 2.00378636e+02] [ 1.46062592e-01 9.89230177e-01 -9.45392738e-03 9.05173791e+00] [ 7.55496853e-02 -1.62559431e-03 9.97140713e-01 5.28342707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.49925415399997 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:200.41, Y:9.05, Z:5.29 [[ 9.85887955e-01 -1.49768792e-01 -7.47947122e-02 2.00407490e+02] [ 1.49483157e-01 9.88719261e-01 -9.43443228e-03 9.05412312e+00] [ 7.53639561e-02 -1.87925655e-03 9.97154322e-01 5.28546554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.52925415399997 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:200.44, Y:9.06, Z:5.29 [[ 9.85672270e-01 -1.51467516e-01 -7.42143302e-02 2.00437248e+02] [ 1.51190817e-01 9.88460233e-01 -9.36504229e-03 9.05741853e+00] [ 7.47764139e-02 -1.98966274e-03 9.97198340e-01 5.28730297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.55925415399997 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:200.47, Y:9.06, Z:5.29 [[ 9.85430486e-01 -1.53304169e-01 -7.36518109e-02 2.00466672e+02] [ 1.53036567e-01 9.88176795e-01 -9.29677504e-03 9.06089271e+00] [ 7.42062449e-02 -2.11009475e-03 9.97240683e-01 5.28935592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.58925415399997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:200.50, Y:9.06, Z:5.29 [[ 9.85157627e-01 -1.55189278e-01 -7.33535140e-02 2.00496961e+02] [ 1.54928889e-01 9.87882213e-01 -9.26132440e-03 9.06418609e+00] [ 7.39018900e-02 -2.24071409e-03 9.97262999e-01 5.29129529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.61925415399998 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:200.53, Y:9.07, Z:5.29 [[ 9.84859806e-01 -1.57236402e-01 -7.29923095e-02 2.00526784e+02] [ 1.56984180e-01 9.87558119e-01 -9.21572015e-03 9.06721463e+00] [ 7.35331946e-02 -2.38244551e-03 9.97289924e-01 5.29295826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.64925415399998 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:200.56, Y:9.07, Z:5.30 [[ 9.84227345e-01 -1.61481918e-01 -7.22504242e-02 2.00558498e+02] [ 1.61246235e-01 9.86872053e-01 -9.12159278e-03 9.06937663e+00] [ 7.27748967e-02 -2.67238781e-03 9.97344811e-01 5.29508205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.67925415399998 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:200.59, Y:9.07, Z:5.30 [[ 9.83848362e-01 -1.63792990e-01 -7.22098109e-02 2.00589595e+02] [ 1.63563971e-01 9.86490632e-01 -9.11378389e-03 9.07274212e+00] [ 7.27270759e-02 -2.84434208e-03 9.97347824e-01 5.29722340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.70925415399998 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:200.62, Y:9.08, Z:5.30 [[ 9.83456431e-01 -1.66070670e-01 -7.23462522e-02 2.00620740e+02] [ 1.65847124e-01 9.86109226e-01 -9.12830634e-03 9.07591103e+00] [ 7.28572507e-02 -3.02112631e-03 9.97337803e-01 5.29904894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.73925415399998 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:200.65, Y:9.08, Z:5.30 [[ 9.83059263e-01 -1.68235754e-01 -7.27407464e-02 2.00651087e+02] [ 1.68015895e-01 9.85741588e-01 -9.17500434e-03 9.07870671e+00] [ 7.32471427e-02 -3.20202863e-03 9.97308680e-01 5.30062502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.76925415399998 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:200.68, Y:9.08, Z:5.30 [[ 9.82167745e-01 -1.73216625e-01 -7.30925531e-02 2.00681684e+02] [ 1.73008703e-01 9.84877188e-01 -9.21482708e-03 9.08093363e+00] [ 7.35833495e-02 -3.59514186e-03 9.97282591e-01 5.30202250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.79925415399998 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:200.71, Y:9.08, Z:5.30 [[ 9.81691008e-01 -1.75698596e-01 -7.35715201e-02 2.00713192e+02] [ 1.75495189e-01 9.84436634e-01 -9.27105594e-03 9.08421861e+00] [ 7.40554111e-02 -3.81013558e-03 9.97246850e-01 5.30384984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.82925415399998 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:200.74, Y:9.09, Z:5.31 [[ 9.81222820e-01 -1.78255519e-01 -7.36664611e-02 2.00744491e+02] [ 1.78058963e-01 9.83976058e-01 -9.28027534e-03 9.08745001e+00] [ 7.41402943e-02 -4.01095577e-03 9.97239755e-01 5.30581078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.85925415399998 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:200.77, Y:9.09, Z:5.31 [[ 9.80746266e-01 -1.80627079e-01 -7.42335584e-02 2.00774536e+02] [ 1.80434435e-01 9.83542580e-01 -9.34920815e-03 9.09080398e+00] [ 7.47005858e-02 -4.22508917e-03 9.97197057e-01 5.30779901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.88925415399999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:200.80, Y:9.09, Z:5.31 [[ 9.79993171e-01 -1.84482965e-01 -7.46955201e-02 2.00804234e+02] [ 1.84299159e-01 9.82825186e-01 -9.40600802e-03 9.09443345e+00] [ 7.51478867e-02 -4.54849794e-03 9.97162026e-01 5.30961118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.919254154 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:200.84, Y:9.10, Z:5.31 [[ 9.80003098e-01 -1.84430126e-01 -7.46957562e-02 2.00835782e+02] [ 1.84246310e-01 9.82835113e-01 -9.40413249e-03 9.09837452e+00] [ 7.51480173e-02 -4.54633847e-03 9.97162026e-01 5.31153327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.949254154 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:200.87, Y:9.10, Z:5.31 [[ 9.79664375e-01 -1.85985357e-01 -7.52805380e-02 2.00866444e+02] [ 1.85803515e-01 9.82541246e-01 -9.47388802e-03 9.10255525e+00] [ 7.57282380e-02 -4.70615800e-03 9.97117388e-01 5.31339888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.979254154 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:200.90, Y:9.11, Z:5.32 [[ 9.79385889e-01 -1.87070786e-01 -7.62089302e-02 2.00898183e+02] [ 1.86887972e-01 9.82334449e-01 -9.58727116e-03 9.10699974e+00] [ 7.66561558e-02 -4.85289430e-03 9.97045778e-01 5.31578258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.009254154 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:200.93, Y:9.11, Z:5.32 [[ 9.79214149e-01 -1.87924057e-01 -7.63164480e-02 2.00929245e+02] [ 1.87743722e-01 9.82171179e-01 -9.59534721e-03 9.11122035e+00] [ 7.67590122e-02 -4.93203429e-03 9.97037476e-01 5.31765990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.039254154 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:200.96, Y:9.12, Z:5.32 [[ 9.78960144e-01 -1.89248149e-01 -7.63031759e-02 2.00960679e+02] [ 1.89072228e-01 9.81916362e-01 -9.58909023e-03 9.11583611e+00] [ 7.67380545e-02 -5.03947436e-03 9.97038552e-01 5.31936380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.069254154 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:200.99, Y:9.12, Z:5.32 [[ 9.78853878e-01 -1.89675922e-01 -7.66037189e-02 2.00991702e+02] [ 1.89500335e-01 9.81833515e-01 -9.62146310e-03 9.11987650e+00] [ 7.70370585e-02 -5.09842390e-03 9.97015194e-01 5.32139955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.09925415399996 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:201.02, Y:9.12, Z:5.32 [[ 9.78824596e-01 -1.89738361e-01 -7.68229372e-02 2.01022962e+02] [ 1.89562266e-01 9.81821328e-01 -9.64504862e-03 9.12381754e+00] [ 7.72564340e-02 -5.12191925e-03 9.96998099e-01 5.32268285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.12925415399997 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:201.05, Y:9.13, Z:5.33 [[ 9.78848321e-01 -1.89657047e-01 -7.67213736e-02 2.01054918e+02] [ 1.89481434e-01 9.81837090e-01 -9.62886858e-03 9.12936608e+00] [ 7.71540730e-02 -5.11207406e-03 9.97006076e-01 5.32571947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.15925415399997 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:201.09, Y:9.14, Z:5.33 [[ 9.79167492e-01 -1.87975268e-01 -7.67875121e-02 2.01085045e+02] [ 1.87794623e-01 9.82161090e-01 -9.63182658e-03 9.13519754e+00] [ 7.72282518e-02 -4.98911040e-03 9.97000956e-01 5.32810871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.18925415399997 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:201.12, Y:9.14, Z:5.33 [[ 9.79177530e-01 -1.87922759e-01 -7.67880312e-02 2.01116597e+02] [ 1.87742277e-01 9.82171138e-01 -9.62768658e-03 9.13912120e+00] [ 7.72282495e-02 -4.98914543e-03 9.97000956e-01 5.33003015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.21925415399997 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:201.15, Y:9.14, Z:5.33 [[ 9.79488258e-01 -1.86377393e-01 -7.65912472e-02 2.01148793e+02] [ 1.86193481e-01 9.82466211e-01 -9.59851891e-03 9.14420631e+00] [ 7.70372594e-02 -4.85915436e-03 9.97016374e-01 5.33227418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.24925415399997 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:201.18, Y:9.15, Z:5.33 [[ 9.79959647e-01 -1.84005345e-01 -7.62962901e-02 2.01179765e+02] [ 1.83816106e-01 9.82914197e-01 -9.55617175e-03 9.14942728e+00] [ 7.67510934e-02 -4.65982424e-03 9.97039395e-01 5.33460835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.27925415399997 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:201.21, Y:9.15, Z:5.34 [[ 9.80502674e-01 -1.81229123e-01 -7.59638806e-02 2.01209809e+02] [ 1.81033487e-01 9.83430940e-01 -9.51121416e-03 9.15484298e+00] [ 7.64289395e-02 -4.42623530e-03 9.97065206e-01 5.33719163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.30925415399997 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:201.24, Y:9.16, Z:5.34 [[ 9.81809968e-01 -1.74426708e-01 -7.49967341e-02 2.01240948e+02] [ 1.74216320e-01 9.84662643e-01 -9.38898886e-03 9.16228033e+00] [ 7.54841728e-02 -3.84745220e-03 9.97139577e-01 5.33989080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.33925415399997 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:201.27, Y:9.17, Z:5.34 [[ 9.82581224e-01 -1.70472661e-01 -7.39811452e-02 2.01272948e+02] [ 1.70257167e-01 9.85356188e-01 -9.25636250e-03 9.16778012e+00] [ 7.44757360e-02 -3.50069217e-03 9.97216682e-01 5.34220380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.36925415399998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:201.30, Y:9.17, Z:5.34 [[ 9.83311011e-01 -1.66444615e-01 -7.34550539e-02 2.01303553e+02] [ 1.66221353e-01 9.86045684e-01 -9.18530750e-03 9.17335404e+00] [ 7.39588839e-02 -3.17778445e-03 9.97256228e-01 5.34492038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.39925415399998 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:201.34, Y:9.18, Z:5.35 [[ 9.84830639e-01 -1.58148676e-01 -7.13975380e-02 2.01335182e+02] [ 1.57916272e-01 9.87412181e-01 -8.92390793e-03 9.18105572e+00] [ 7.19101029e-02 -2.48629511e-03 9.97408019e-01 5.34764734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.42925415399998 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:201.37, Y:9.19, Z:5.35 [[ 9.85506788e-01 -1.54041142e-01 -7.10471532e-02 2.01366418e+02] [ 1.53800738e-01 9.88062028e-01 -8.87484645e-03 9.18632684e+00] [ 7.15660857e-02 -2.18088315e-03 9.97433476e-01 5.34968072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.45925415399998 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:201.40, Y:9.19, Z:5.35 [[ 9.86113344e-01 -1.50212441e-01 -7.08286274e-02 2.01397735e+02] [ 1.49964031e-01 9.88651912e-01 -8.84225505e-03 9.19135379e+00] [ 7.13530746e-02 -1.90228079e-03 9.97449307e-01 5.35113492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.48925415399998 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:201.43, Y:9.20, Z:5.35 [[ 9.86615041e-01 -1.46727471e-01 -7.11463936e-02 2.01429582e+02] [ 1.46468165e-01 9.89175558e-01 -8.87652053e-03 9.19647474e+00] [ 7.16787029e-02 -1.66297307e-03 9.97426387e-01 5.35279835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.51925415399998 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:201.46, Y:9.20, Z:5.35 [[ 9.87107571e-01 -1.43195708e-01 -7.15096615e-02 2.01460142e+02] [ 1.42924849e-01 9.89693375e-01 -8.91687599e-03 9.20168257e+00] [ 7.20494966e-02 -1.41859177e-03 9.97400049e-01 5.35418956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.54925415399998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:201.49, Y:9.21, Z:5.36 [[ 9.87875649e-01 -1.36791121e-01 -7.34158825e-02 2.01491369e+02] [ 1.36488151e-01 9.90599429e-01 -9.15177479e-03 9.20805341e+00] [ 7.39776128e-02 -9.79582619e-04 9.97259421e-01 5.35551090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.57925415399998 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:201.52, Y:9.21, Z:5.36 [[ 9.88237275e-01 -1.33904588e-01 -7.38691445e-02 2.01521056e+02] [ 1.33589974e-01 9.90993929e-01 -9.20603449e-03 9.21261157e+00] [ 7.44366041e-02 -7.70430660e-04 9.97225450e-01 5.35717512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.60925415399998 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:201.55, Y:9.22, Z:5.36 [[ 9.88589046e-01 -1.31088378e-01 -7.42127730e-02 2.01550255e+02] [ 1.30762880e-01 9.91370528e-01 -9.24912593e-03 9.21719600e+00] [ 7.47848088e-02 -5.60691353e-04 9.97199538e-01 5.35915735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.63925415399999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:201.58, Y:9.22, Z:5.36 [[ 9.88979711e-01 -1.28253407e-01 -7.39607666e-02 2.01579594e+02] [ 1.27922078e-01 9.91741370e-01 -9.21934840e-03 9.22157654e+00] [ 7.45323648e-02 -3.43466421e-04 9.97218536e-01 5.36094686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.669254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:201.61, Y:9.23, Z:5.36 [[ 9.89703821e-01 -1.23046414e-01 -7.31158484e-02 2.01608785e+02] [ 1.22708224e-01 9.92400916e-01 -9.11670607e-03 9.22675770e+00] [ 7.36820129e-02 5.09229002e-05 9.97281785e-01 5.36337256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.699254154 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:201.64, Y:9.23, Z:5.37 [[ 9.90026958e-01 -1.20693589e-01 -7.26614109e-02 2.01637865e+02] [ 1.20353069e-01 9.92689783e-01 -9.06271078e-03 9.23085480e+00] [ 7.32240514e-02 2.27304160e-04 9.97315490e-01 5.36569567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.729254154 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:201.67, Y:9.23, Z:5.37 [[ 9.90319973e-01 -1.18717534e-01 -7.19200785e-02 2.01666388e+02] [ 1.18378526e-01 9.92927998e-01 -8.97308559e-03 9.23469724e+00] [ 7.24767222e-02 3.72432986e-04 9.97370035e-01 5.36763066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.759254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:201.70, Y:9.24, Z:5.37 [[ 9.90495168e-01 -1.17545199e-01 -7.14314276e-02 2.01695235e+02] [ 1.17207294e-01 9.93067426e-01 -8.91833951e-03 9.23818389e+00] [ 7.19845319e-02 4.61287842e-04 9.97405642e-01 5.36976830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.789254154 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:201.72, Y:9.24, Z:5.37 [[ 9.90699852e-01 -1.16080444e-01 -7.09868582e-02 2.01724941e+02] [ 1.15741856e-01 9.93239646e-01 -8.87853885e-03 9.24033901e+00] [ 7.15375866e-02 5.79816438e-04 9.97437736e-01 5.37131390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.819254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:201.75, Y:9.24, Z:5.37 [[ 9.90677293e-01 -1.16514410e-01 -7.05896110e-02 2.01753563e+02] [ 1.16180346e-01 9.93188849e-01 -8.83391212e-03 9.24267007e+00] [ 7.11380925e-02 5.50430748e-04 9.97466325e-01 5.37248967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.84925415399996 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:201.78, Y:9.24, Z:5.37 [[ 9.90529856e-01 -1.17525796e-01 -7.09809258e-02 2.01781337e+02] [ 1.17189395e-01 9.93069706e-01 -8.89975453e-03 9.24498095e+00] [ 7.15349579e-02 4.97260791e-04 9.97437969e-01 5.37406037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.87925415399997 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:201.81, Y:9.25, Z:5.38 [[ 9.90300751e-01 -1.19198874e-01 -7.13866285e-02 2.01810438e+02] [ 1.18862330e-01 9.92870323e-01 -8.95924159e-03 9.24726093e+00] [ 7.19455965e-02 3.87162665e-04 9.97408483e-01 5.37587356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.90925415399997 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:201.84, Y:9.25, Z:5.38 [[ 9.90017024e-01 -1.21355475e-01 -7.16877956e-02 2.01838035e+02] [ 1.21020503e-01 9.92609081e-01 -9.01390973e-03 9.24951603e+00] [ 7.22518442e-02 2.48230982e-04 9.97386389e-01 5.37763024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.93925415399997 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:201.87, Y:9.25, Z:5.38 [[ 9.89297137e-01 -1.27326913e-01 -7.12673260e-02 2.01866899e+02] [ 1.27010717e-01 9.91860789e-01 -8.96951345e-03 9.25005169e+00] [ 7.18293267e-02 -1.78200221e-04 9.97416922e-01 5.37983518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.96925415399997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:201.90, Y:9.25, Z:5.38 [[ 9.88825996e-01 -1.31063500e-01 -7.10317386e-02 2.01896887e+02] [ 1.30757880e-01 9.91373881e-01 -8.95571491e-03 9.25172802e+00] [ 7.15927777e-02 -4.32315820e-04 9.97433851e-01 5.38176132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.99925415399997 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:201.93, Y:9.25, Z:5.38 [[ 9.88258019e-01 -1.35163554e-01 -7.12523812e-02 2.01926234e+02] [ 1.34866491e-01 9.90823033e-01 -8.98596107e-03 9.25296452e+00] [ 7.18130749e-02 -7.29110545e-04 9.97417842e-01 5.38326993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.02925415399997 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:201.96, Y:9.25, Z:5.38 [[ 9.87702734e-01 -1.39020360e-01 -7.15307503e-02 2.01956304e+02] [ 1.38730952e-01 9.90289006e-01 -9.02259304e-03 9.25384031e+00] [ 7.20904398e-02 -1.01188930e-03 9.97397586e-01 5.38390622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.05925415399997 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:201.99, Y:9.25, Z:5.39 [[ 9.86566631e-01 -1.47283822e-01 -7.06665352e-02 2.01987139e+02] [ 1.47022357e-01 9.89092987e-01 -8.91573730e-03 9.25309892e+00] [ 7.12089183e-02 -1.59359165e-03 9.97460150e-01 5.38673555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.08925415399997 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:202.02, Y:9.25, Z:5.39 [[ 9.86079980e-01 -1.50693621e-01 -7.02688097e-02 2.02017301e+02] [ 1.50443730e-01 9.88578821e-01 -8.86555773e-03 9.25480704e+00] [ 7.08022401e-02 -1.82935284e-03 9.97488695e-01 5.38874930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.11925415399998 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:202.05, Y:9.26, Z:5.39 [[ 9.85637234e-01 -1.53838022e-01 -6.96642377e-02 2.02048258e+02] [ 1.53600274e-01 9.88093979e-01 -8.78892064e-03 9.25673406e+00] [ 7.01868839e-02 -2.03775858e-03 9.97531778e-01 5.39075891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.14925415399998 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:202.08, Y:9.26, Z:5.39 [[ 9.85298615e-01 -1.56366442e-01 -6.88198670e-02 2.02078256e+02] [ 1.56140767e-01 9.87696676e-01 -8.67966963e-03 9.25870885e+00] [ 6.93303630e-02 -2.19352035e-03 9.97591344e-01 5.39260952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.17925415399998 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:202.11, Y:9.26, Z:5.39 [[ 9.84723301e-01 -1.60147131e-01 -6.83587419e-02 2.02108445e+02] [ 1.59933815e-01 9.87090122e-01 -8.61773042e-03 9.25920145e+00] [ 6.88563437e-02 -2.44679442e-03 9.97623585e-01 5.39484951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.20925415399998 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:202.14, Y:9.26, Z:5.40 [[ 9.84512502e-01 -1.61450693e-01 -6.83286701e-02 2.02139461e+02] [ 1.61240789e-01 9.86877516e-01 -8.61256985e-03 9.26145495e+00] [ 6.88225336e-02 -2.53818601e-03 9.97625690e-01 5.39691928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.23925415399998 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:202.17, Y:9.26, Z:5.40 [[ 9.84286044e-01 -1.62631120e-01 -6.87902730e-02 2.02169417e+02] [ 1.62421404e-01 9.86683407e-01 -8.66845840e-03 9.26369855e+00] [ 6.92839820e-02 -2.64077011e-03 9.97593482e-01 5.39838549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.26925415399998 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:202.21, Y:9.29, Z:5.40 [[ 9.85561713e-01 -1.61765412e-01 -5.00006152e-02 2.02206685e+02] [ 1.58509389e-01 9.85320015e-01 -6.33974854e-02 9.28595340e+00] [ 5.95221273e-02 5.45565673e-02 9.96735019e-01 5.40054497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.29925415399998 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:202.23, Y:9.24, Z:5.38 [[ 9.83428486e-01 -1.63407467e-01 -7.85265138e-02 2.02232190e+02] [ 1.67589076e-01 9.84590730e-01 4.99499313e-02 9.23830503e+00] [ 6.91542858e-02 -6.22823712e-02 9.95659877e-01 5.38413272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.32925415399998 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:202.26, Y:9.27, Z:5.40 [[ 9.82996531e-01 -1.69318318e-01 -7.10572163e-02 2.02259233e+02] [ 1.69108609e-01 9.85556323e-01 -9.00068129e-03 9.27035973e+00] [ 7.15548691e-02 -3.16874852e-03 9.97431632e-01 5.40366304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.35925415399998 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:202.29, Y:9.27, Z:5.41 [[ 9.82581719e-01 -1.71299698e-01 -7.20387373e-02 2.02290656e+02] [ 1.71089821e-01 9.85213224e-01 -9.12005069e-03 9.27294473e+00] [ 7.25357786e-02 -3.36389962e-03 9.97360138e-01 5.40579074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.38925415399999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:202.32, Y:9.27, Z:5.41 [[ 9.81767752e-01 -1.75280919e-01 -7.35437332e-02 2.02321203e+02] [ 1.75073475e-01 9.84511368e-01 -9.30827966e-03 9.27418469e+00] [ 7.40362052e-02 -3.73698811e-03 9.97248552e-01 5.40556720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.419254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:202.35, Y:9.28, Z:5.41 [[ 9.81320662e-01 -1.77961333e-01 -7.30720329e-02 2.02350703e+02] [ 1.77763954e-01 9.84029697e-01 -9.24834713e-03 9.27761535e+00] [ 7.35508986e-02 -3.91397939e-03 9.97283784e-01 5.40962608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.449254154 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:202.38, Y:9.28, Z:5.41 [[ 9.80969679e-01 -1.79833549e-01 -7.32009769e-02 2.02380407e+02] [ 1.79640761e-01 9.83688664e-01 -9.26332037e-03 9.28103147e+00] [ 7.36728269e-02 -4.06284277e-03 9.97274189e-01 5.41209453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.479254154 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:202.41, Y:9.28, Z:5.41 [[ 9.80687923e-01 -1.81324829e-01 -7.32973745e-02 2.02409488e+02] [ 1.81135762e-01 9.83414369e-01 -9.27438752e-03 9.28469337e+00] [ 7.37633680e-02 -4.18149593e-03 9.97267006e-01 5.41387579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.509254154 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:202.44, Y:9.29, Z:5.42 [[ 9.80394917e-01 -1.83028257e-01 -7.29826315e-02 2.02439923e+02] [ 1.82845548e-01 9.83098286e-01 -9.23397699e-03 9.28937113e+00] [ 7.34391787e-02 -4.29160518e-03 9.97290464e-01 5.41707645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.539254154 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:202.47, Y:9.29, Z:5.42 [[ 9.80395271e-01 -1.83047123e-01 -7.29305393e-02 2.02469920e+02] [ 1.82864908e-01 9.83094770e-01 -9.22491401e-03 9.29385990e+00] [ 7.33862257e-02 -4.29237429e-03 9.97294358e-01 5.41960840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.569254154 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:202.50, Y:9.30, Z:5.42 [[ 9.80452623e-01 -1.82672100e-01 -7.30996474e-02 2.02500634e+02] [ 1.82488119e-01 9.83164595e-01 -9.24472453e-03 9.29856664e+00] [ 7.35577385e-02 -4.27580276e-03 9.97281794e-01 5.42197848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.59925415399996 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:202.53, Y:9.30, Z:5.42 [[ 9.80531369e-01 -1.82296223e-01 -7.29816515e-02 2.02530795e+02] [ 1.82111980e-01 9.83234501e-01 -9.22733977e-03 9.30309009e+00] [ 7.34401868e-02 -4.24313694e-03 9.97290597e-01 5.42427903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.62925415399997 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:202.56, Y:9.31, Z:5.43 [[ 9.80709815e-01 -1.81497143e-01 -7.25744128e-02 2.02561977e+02] [ 1.81312884e-01 9.83382667e-01 -9.17430322e-03 9.30850623e+00] [ 7.30335295e-02 -4.16134688e-03 9.97320804e-01 5.42746867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.65925415399997 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:202.59, Y:9.31, Z:5.43 [[ 9.80768832e-01 -1.81142303e-01 -7.26633618e-02 2.02593568e+02] [ 1.80956853e-01 9.83448169e-01 -9.18240907e-03 9.31343456e+00] [ 7.31239728e-02 -4.14311267e-03 9.97314253e-01 5.43014378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.68925415399997 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:202.63, Y:9.32, Z:5.43 [[ 9.80879327e-01 -1.80684355e-01 -7.23112026e-02 2.02625308e+02] [ 1.80499850e-01 9.83532613e-01 -9.13253187e-03 9.31817409e+00] [ 7.27705317e-02 -4.09424948e-03 9.97340306e-01 5.43219352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.71925415399997 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:202.66, Y:9.32, Z:5.43 [[ 9.81008540e-01 -1.80025325e-01 -7.22019824e-02 2.02657209e+02] [ 1.79839991e-01 9.83653661e-01 -9.11336238e-03 9.32310075e+00] [ 7.26623804e-02 -4.04451757e-03 9.97348395e-01 5.43450455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.74925415399997 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:202.69, Y:9.33, Z:5.44 [[ 9.81440132e-01 -1.77609117e-01 -7.23206012e-02 2.02688205e+02] [ 1.77417017e-01 9.84093476e-01 -9.12317003e-03 9.32916181e+00] [ 7.27905900e-02 -3.87706011e-03 9.97339711e-01 5.43717452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.77925415399997 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:202.72, Y:9.33, Z:5.44 [[ 9.81715840e-01 -1.76050483e-01 -7.23894840e-02 2.02719565e+02] [ 1.75854106e-01 9.84373923e-01 -9.12760980e-03 9.33437528e+00] [ 7.28652404e-02 -3.76926886e-03 9.97334673e-01 5.43941147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.80925415399997 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:202.75, Y:9.34, Z:5.44 [[ 9.81732106e-01 -1.75959465e-01 -7.23901874e-02 2.02751954e+02] [ 1.75763252e-01 9.84390201e-01 -9.12202759e-03 9.33839689e+00] [ 7.28652982e-02 -3.76814742e-03 9.97334673e-01 5.44140596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.83925415399997 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:202.78, Y:9.34, Z:5.44 [[ 9.82100207e-01 -1.73981422e-01 -7.21778931e-02 2.02782868e+02] [ 1.73781496e-01 9.84742293e-01 -9.08894873e-03 9.34329544e+00] [ 7.26579321e-02 -3.61692378e-03 9.97350361e-01 5.44360633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.86925415399998 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:202.81, Y:9.35, Z:5.45 [[ 9.82439077e-01 -1.71778293e-01 -7.28400920e-02 2.02814178e+02] [ 1.71568968e-01 9.85129452e-01 -9.16798776e-03 9.34860279e+00] [ 7.33317812e-02 -3.49010998e-03 9.97301494e-01 5.44615363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.89925415399998 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:202.85, Y:9.35, Z:5.45 [[ 9.82916356e-01 -1.68986675e-01 -7.29310685e-02 2.02845343e+02] [ 1.68769614e-01 9.85612838e-01 -9.17335499e-03 9.35394339e+00] [ 7.34319721e-02 -3.29190763e-03 9.97294795e-01 5.44823005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.92925415399998 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:202.87, Y:9.36, Z:5.45 [[ 9.84008693e-01 -1.62411567e-01 -7.31394264e-02 2.02873978e+02] [ 1.62175681e-01 9.86719085e-01 -9.19221772e-03 9.36047469e+00] [ 7.36609903e-02 -2.81621411e-03 9.97279363e-01 5.45068897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.95925415399998 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:202.90, Y:9.37, Z:5.45 [[ 9.84642409e-01 -1.58534139e-01 -7.31180827e-02 2.02904564e+02] [ 1.58287677e-01 9.87350269e-01 -9.19014300e-03 9.36606121e+00] [ 7.36501100e-02 -2.52468689e-03 9.97280947e-01 5.45325877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.98925415399998 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:202.93, Y:9.37, Z:5.46 [[ 9.85328199e-01 -1.54181193e-01 -7.31881169e-02 2.02934918e+02] [ 1.53922463e-01 9.88040132e-01 -9.19634277e-03 9.37132593e+00] [ 7.37306997e-02 -2.20387932e-03 9.97275753e-01 5.45549898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.01925415399998 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:202.97, Y:9.38, Z:5.46 [[ 9.86798362e-01 -1.44704531e-01 -7.27295812e-02 2.02965668e+02] [ 1.44423503e-01 9.89473791e-01 -9.13610070e-03 9.37801244e+00] [ 7.32860496e-02 -1.48837167e-03 9.97309851e-01 5.45804031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.04925415399998 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:203.00, Y:9.38, Z:5.46 [[ 9.87456328e-01 -1.40167791e-01 -7.26841805e-02 2.02995008e+02] [ 1.39874985e-01 9.90127094e-01 -9.12837619e-03 9.38287700e+00] [ 7.32460807e-02 -1.15282580e-03 9.97313232e-01 5.46036552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.07925415399998 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:203.03, Y:9.39, Z:5.46 [[ 9.88068073e-01 -1.35774237e-01 -7.27106609e-02 2.03025531e+02] [ 1.35469250e-01 9.90739458e-01 -9.13281577e-03 9.38740154e+00] [ 7.32773218e-02 -8.26215012e-04 9.97311261e-01 5.46244870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.10925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:203.05, Y:9.39, Z:5.46 [[ 9.88981073e-01 -1.28710604e-01 -7.31438097e-02 2.03054522e+02] [ 1.28382625e-01 9.91682151e-01 -9.18768600e-03 9.39157152e+00] [ 7.37179631e-02 -3.03946693e-04 9.97279083e-01 5.46366850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.13925415399999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:203.08, Y:9.39, Z:5.46 [[ 9.89298334e-01 -1.25813378e-01 -7.38904564e-02 2.03082463e+02] [ 1.25470328e-01 9.92053923e-01 -9.28495004e-03 9.39437863e+00] [ 7.44714881e-02 -8.54741938e-05 9.97223140e-01 5.46470328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.169254154 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:203.11, Y:9.40, Z:5.47 [[ 9.89471055e-01 -1.24645758e-01 -7.35558779e-02 2.03110870e+02] [ 1.24301929e-01 9.92201308e-01 -9.25178933e-03 9.39753743e+00] [ 7.41354345e-02 1.12402391e-05 9.97248182e-01 5.46661852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.199254154 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:203.14, Y:9.40, Z:5.47 [[ 9.89523588e-01 -1.24040572e-01 -7.38715511e-02 2.03138731e+02] [ 1.23690828e-01 9.92277144e-01 -9.30848935e-03 9.40050641e+00] [ 7.44556821e-02 7.37364249e-05 9.97224321e-01 5.46847723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.229254154 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:203.17, Y:9.40, Z:5.47 [[ 9.89526856e-01 -1.24153055e-01 -7.36384381e-02 2.03165688e+02] [ 1.23805296e-01 9.92263077e-01 -9.28627868e-03 9.40321834e+00] [ 7.42216230e-02 7.21935165e-05 9.97241769e-01 5.47035826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.259254154 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:203.19, Y:9.40, Z:5.47 [[ 9.89130365e-01 -1.27552913e-01 -7.31530952e-02 2.03191924e+02] [ 1.27277707e-01 9.91831291e-01 -8.43061791e-03 9.40470567e+00] [ 7.36308787e-02 -9.71778030e-04 9.97285089e-01 5.47161159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.289254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:203.22, Y:9.41, Z:5.47 [[ 9.88855236e-01 -1.29325170e-01 -7.37585396e-02 2.03221448e+02] [ 1.28890250e-01 9.91601713e-01 -1.06463852e-02 9.40543124e+00] [ 7.45159398e-02 1.02097722e-03 9.97219300e-01 5.47336716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.319254154 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:203.25, Y:9.41, Z:5.48 [[ 9.88462814e-01 -1.32600143e-01 -7.32015556e-02 2.03248220e+02] [ 1.32276388e-01 9.91169479e-01 -9.27472655e-03 9.40613255e+00] [ 7.37849778e-02 -5.15115034e-04 9.97274040e-01 5.47507038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.34925415399996 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:203.28, Y:9.41, Z:5.48 [[ 9.87999925e-01 -1.36314978e-01 -7.26248927e-02 2.03276022e+02] [ 1.36005178e-01 9.90665248e-01 -9.21729292e-03 9.40742279e+00] [ 7.32034124e-02 -7.70676776e-04 9.97316733e-01 5.47691761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.37925415399997 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:203.31, Y:9.41, Z:5.48 [[ 9.86956457e-01 -1.44447302e-01 -7.10769163e-02 2.03305200e+02] [ 1.44170233e-01 9.89511607e-01 -9.04005285e-03 9.40629282e+00] [ 7.16372450e-02 -1.32503708e-03 9.97429872e-01 5.47848674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.40925415399997 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:203.33, Y:9.41, Z:5.48 [[ 9.86388962e-01 -1.48727526e-01 -7.01208808e-02 2.03334938e+02] [ 1.48467543e-01 9.88876923e-01 -8.93418304e-03 9.40754409e+00] [ 7.06696798e-02 -1.59809534e-03 9.97498492e-01 5.48011851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.43925415399997 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:203.37, Y:9.41, Z:5.48 [[ 9.85162529e-01 -1.56954182e-01 -6.94274840e-02 2.03365193e+02] [ 1.56719580e-01 9.87603513e-01 -8.84726767e-03 9.40686007e+00] [ 6.99554427e-02 -2.16464955e-03 9.97547768e-01 5.48193509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.46925415399997 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:203.40, Y:9.41, Z:5.48 [[ 9.84600540e-01 -1.60305027e-01 -6.97429193e-02 2.03395223e+02] [ 1.60076525e-01 9.87064579e-01 -8.88952453e-03 9.40799170e+00] [ 7.02658007e-02 -2.41157349e-03 9.97525389e-01 5.48308073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.49925415399997 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:203.44, Y:9.44, Z:5.49 [[ 9.86383299e-01 -1.58982975e-01 -4.20998882e-02 2.03435582e+02] [ 1.55026850e-01 9.84271333e-01 -8.47149280e-02 9.43856952e+00] [ 5.49059444e-02 7.70347771e-02 9.95515435e-01 5.48587842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.52925415399997 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:203.46, Y:9.37, Z:5.47 [[ 9.83182610e-01 -1.64055356e-01 -8.02358722e-02 2.03462969e+02] [ 1.69874902e-01 9.82829489e-01 7.20327185e-02 9.37099109e+00] [ 6.70408281e-02 -8.44513772e-02 9.94169750e-01 5.46582001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.55925415399997 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:203.49, Y:9.41, Z:5.49 [[ 9.82732113e-01 -1.71328616e-01 -6.98863386e-02 2.03488789e+02] [ 1.71124730e-01 9.85208823e-01 -8.93874258e-03 9.41326751e+00] [ 7.03840999e-02 -3.17489147e-03 9.97514911e-01 5.48908740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.58925415399997 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:203.52, Y:9.42, Z:5.49 [[ 9.82477755e-01 -1.72824235e-01 -6.97799711e-02 2.03520323e+02] [ 1.72625070e-01 9.84947214e-01 -8.92028380e-03 9.41578841e+00] [ 7.02712293e-02 -3.28179200e-03 9.97522523e-01 5.49093810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.61925415399998 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:203.55, Y:9.42, Z:5.49 [[ 9.82284939e-01 -1.74096321e-01 -6.93308719e-02 2.03550332e+02] [ 1.73903041e-01 9.84722918e-01 -8.86040906e-03 9.41816265e+00] [ 6.98142631e-02 -3.35340306e-03 9.97554371e-01 5.49263833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.64925415399998 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:203.58, Y:9.42, Z:5.49 [[ 9.82050459e-01 -1.75602253e-01 -6.88530726e-02 2.03581028e+02] [ 1.75415426e-01 9.84455194e-01 -8.79772788e-03 9.41955494e+00] [ 6.93276657e-02 -3.43807832e-03 9.97588018e-01 5.49380746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.67925415399998 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:203.61, Y:9.42, Z:5.49 [[ 9.82098955e-01 -1.75346661e-01 -6.88127316e-02 2.03607868e+02] [ 1.75187095e-01 9.84499376e-01 -8.39402747e-03 9.42189872e+00] [ 6.92179560e-02 -3.81133691e-03 9.97594280e-01 5.49499454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.70925415399998 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:203.64, Y:9.43, Z:5.50 [[ 9.81933114e-01 -1.76294037e-01 -6.87587933e-02 2.03636231e+02] [ 1.76065086e-01 9.84333417e-01 -9.42386300e-03 9.42540227e+00] [ 6.93429488e-02 -2.85241973e-03 9.97588803e-01 5.49721312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.73925415399998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:203.66, Y:9.43, Z:5.50 [[ 9.81971181e-01 -1.75801980e-01 -6.94713202e-02 2.03664455e+02] [ 1.75243272e-01 9.84424123e-01 -1.41046442e-02 9.43084715e+00] [ 7.08688679e-02 1.67597265e-03 9.97484233e-01 5.49971874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.76925415399998 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:203.69, Y:9.43, Z:5.50 [[ 9.82089878e-01 -1.74835531e-01 -7.02282669e-02 2.03694993e+02] [ 1.74979761e-01 9.84563323e-01 -4.14077159e-03 9.42970758e+00] [ 6.98681298e-02 -8.22191548e-03 9.97522353e-01 5.49872541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.79925415399998 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:203.72, Y:9.44, Z:5.50 [[ 9.82301167e-01 -1.73708288e-01 -7.00703096e-02 2.03724966e+02] [ 1.73507013e-01 9.84791551e-01 -8.99543058e-03 9.43581019e+00] [ 7.05672297e-02 -3.32146819e-03 9.97501496e-01 5.50178300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.82925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:203.76, Y:9.44, Z:5.50 [[ 9.82925319e-01 -1.69733478e-01 -7.10518353e-02 2.03755490e+02] [ 1.69516279e-01 9.85485189e-01 -9.11990231e-03 9.44016013e+00] [ 7.15684841e-02 -3.08025984e-03 9.97430932e-01 5.50355244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.85925415399998 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:203.79, Y:9.44, Z:5.51 [[ 9.83206922e-01 -1.68073548e-01 -7.11015514e-02 2.03785270e+02] [ 1.67851881e-01 9.85770003e-01 -9.12399909e-03 9.44490688e+00] [ 7.16232794e-02 -2.96375008e-03 9.97427352e-01 5.50585401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.88925415399999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:203.81, Y:9.45, Z:5.51 [[ 9.83495278e-01 -1.66263214e-01 -7.13693390e-02 2.03814520e+02] [ 1.66035107e-01 9.86077312e-01 -9.15855152e-03 9.44923804e+00] [ 7.18984161e-02 -2.84242363e-03 9.97407910e-01 5.50793499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.919254154 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:203.84, Y:9.45, Z:5.51 [[ 9.83726123e-01 -1.64801040e-01 -7.15788523e-02 2.03843821e+02] [ 1.64567620e-01 9.86323019e-01 -9.18696545e-03 9.45357543e+00] [ 7.21138912e-02 -2.74210345e-03 9.97392635e-01 5.50979650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.949254154 meters Centerline goodness : 0.997680 Centerline is valid? [True, True] Translation: X:203.87, Y:9.47, Z:5.52 [[ 9.84216593e-01 -1.63486853e-01 -6.77476721e-02 2.03866200e+02] [ 1.60925715e-01 9.86084562e-01 -4.17151241e-02 9.47414532e+00] [ 7.36248079e-02 3.01543747e-02 9.96830026e-01 5.51661998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.979254154 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:203.90, Y:9.45, Z:5.51 [[ 9.84164840e-01 -1.59991818e-01 -7.63032533e-02 2.03902924e+02] [ 1.62079048e-01 9.86533515e-01 2.19546385e-02 9.44750160e+00] [ 7.17631542e-02 -3.39741420e-02 9.96842920e-01 5.50546252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.009254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:203.93, Y:9.47, Z:5.52 [[ 9.84168369e-01 -1.61753841e-01 -7.24452703e-02 2.03929029e+02] [ 1.61505685e-01 9.86827873e-01 -9.30926293e-03 9.46694561e+00] [ 7.29968211e-02 -2.53844090e-03 9.97328943e-01 5.51560110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.039254154 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:203.96, Y:9.48, Z:5.52 [[ 9.84692587e-01 -1.61518743e-01 -6.55149195e-02 2.03955520e+02] [ 1.60014698e-01 9.86728033e-01 -2.76240094e-02 9.48112321e+00] [ 6.91072029e-02 1.67178072e-02 9.97469152e-01 5.51598343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.069254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:203.99, Y:9.47, Z:5.51 [[ 9.84289330e-01 -1.59938902e-01 -7.47934605e-02 2.03986637e+02] [ 1.61061491e-01 9.86901611e-01 9.18726553e-03 9.46760640e+00] [ 7.23443855e-02 -2.10892737e-02 9.97156724e-01 5.51422567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.09925415399996 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:204.01, Y:9.48, Z:5.52 [[ 9.84460202e-01 -1.60026296e-01 -7.23166352e-02 2.04013006e+02] [ 1.59772300e-01 9.87109887e-01 -9.32106262e-03 9.48284203e+00] [ 7.28760807e-02 -2.37797997e-03 9.97338168e-01 5.52178243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.12925415399997 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:204.04, Y:9.49, Z:5.52 [[ 9.84605274e-01 -1.59285493e-01 -7.19762840e-02 2.04042421e+02] [ 1.59031564e-01 9.87229866e-01 -9.28192590e-03 9.48793639e+00] [ 7.25356133e-02 -2.30746784e-03 9.97363154e-01 5.52386087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.15925415399997 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:204.07, Y:9.49, Z:5.53 [[ 9.84819908e-01 -1.58242647e-01 -7.13373181e-02 2.04071537e+02] [ 1.57990296e-01 9.87397786e-01 -9.20206895e-03 9.49273871e+00] [ 7.18944697e-02 -2.20822331e-03 9.97409800e-01 5.52645084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.18925415399997 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:204.10, Y:9.50, Z:5.53 [[ 9.85016871e-01 -1.57229732e-01 -7.08560139e-02 2.04100268e+02] [ 1.56977980e-01 9.87559785e-01 -9.14251226e-03 9.49754194e+00] [ 7.14120246e-02 -2.11730511e-03 9.97444655e-01 5.52823313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.21925415399997 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:204.14, Y:9.54, Z:5.53 [[ 9.87958149e-01 -1.49501668e-01 -3.98490457e-02 2.04142079e+02] [ 1.45492393e-01 9.85307043e-01 -8.94538643e-02 9.53515509e+00] [ 5.26370473e-02 8.25789412e-02 9.95193479e-01 5.52936014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.24925415399997 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:204.17, Y:9.47, Z:5.51 [[ 9.85583352e-01 -1.47861254e-01 -8.22344588e-02 2.04165628e+02] [ 1.54224704e-01 9.85007161e-01 7.73022175e-02 9.46850315e+00] [ 6.95715280e-02 -8.88703637e-02 9.93610518e-01 5.51148997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.27925415399997 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:204.19, Y:9.52, Z:5.54 [[ 9.85825788e-01 -1.52043045e-01 -7.09255090e-02 2.04189163e+02] [ 1.51773300e-01 9.88372434e-01 -9.20854462e-03 9.51583130e+00] [ 7.15009131e-02 -1.68657782e-03 9.97439108e-01 5.53707987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.30925415399997 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:204.22, Y:9.52, Z:5.54 [[ 9.86189775e-01 -1.49613018e-01 -7.10329044e-02 2.04219663e+02] [ 1.49336322e-01 9.88743470e-01 -9.22023849e-03 9.52056467e+00] [ 7.16127881e-02 -1.51488778e-03 9.97431358e-01 5.53752316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.33925415399997 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:204.25, Y:9.53, Z:5.54 [[ 9.86839451e-01 -1.45531469e-01 -7.04875094e-02 2.04248972e+02] [ 1.45248609e-01 9.89352884e-01 -9.14944494e-03 9.52774621e+00] [ 7.10685529e-02 -1.20917944e-03 9.97470701e-01 5.54025507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.36925415399998 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:204.28, Y:9.53, Z:5.54 [[ 9.87184759e-01 -1.43322734e-01 -7.01772405e-02 2.04278096e+02] [ 1.43036776e-01 9.89675452e-01 -9.10931070e-03 9.53343473e+00] [ 7.07582635e-02 -1.04535356e-03 9.97492945e-01 5.54318435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.39925415399998 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:204.31, Y:9.54, Z:5.55 [[ 9.87573292e-01 -1.40625199e-01 -7.01679856e-02 2.04308050e+02] [ 1.40332434e-01 9.90062538e-01 -9.10925170e-03 9.53879129e+00] [ 7.07516842e-02 -8.50790490e-04 9.97493597e-01 5.54540244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.42925415399998 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:204.34, Y:9.54, Z:5.55 [[ 9.87987809e-01 -1.37830017e-01 -6.98782925e-02 2.04336903e+02] [ 1.37532673e-01 9.90455686e-01 -9.07177613e-03 9.54392846e+00] [ 7.04617153e-02 -6.47744111e-04 9.97514274e-01 5.54734742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.45925415399998 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:204.37, Y:9.55, Z:5.55 [[ 9.88689720e-01 -1.32725125e-01 -6.98332179e-02 2.04367107e+02] [ 1.32415358e-01 9.91152845e-01 -9.06705439e-03 9.55023642e+00] [ 7.04188185e-02 -2.82487075e-04 9.97517474e-01 5.54962378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.48925415399998 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:204.40, Y:9.56, Z:5.55 [[ 9.89760322e-01 -1.28699852e-01 -6.17321133e-02 2.04395760e+02] [ 1.27154248e-01 9.91477416e-01 -2.83607297e-02 9.56198447e+00] [ 6.48560179e-02 2.02208245e-02 9.97689739e-01 5.54994113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.51925415399998 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:204.43, Y:9.55, Z:5.55 [[ 9.89051953e-01 -1.28037814e-01 -7.33658770e-02 2.04425480e+02] [ 1.29188909e-01 9.91557362e-01 1.11455818e-02 9.54970340e+00] [ 7.13194195e-02 -2.05016170e-02 9.97242811e-01 5.54721366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.54925415399998 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:204.45, Y:9.56, Z:5.56 [[ 9.89189704e-01 -1.28297154e-01 -7.10180922e-02 2.04453043e+02] [ 1.27963794e-01 9.91735770e-01 -9.24284941e-03 9.56367856e+00] [ 7.16170136e-02 5.51869868e-05 9.97432203e-01 5.55515951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.57925415399998 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:204.48, Y:9.57, Z:5.56 [[ 9.89197002e-01 -1.27421046e-01 -7.24787377e-02 2.04480823e+02] [ 1.27071199e-01 9.91848709e-01 -9.43658334e-03 9.56684363e+00] [ 7.30903617e-02 1.24679887e-04 9.97325315e-01 5.55691853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.60925415399998 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:204.51, Y:9.57, Z:5.56 [[ 9.89099349e-01 -1.27800914e-01 -7.31396150e-02 2.04508138e+02] [ 1.27444847e-01 9.91799836e-01 -9.53396719e-03 9.56991444e+00] [ 7.37583078e-02 1.08773739e-04 9.97276140e-01 5.55887776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.63925415399999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:204.54, Y:9.57, Z:5.56 [[ 9.89000950e-01 -1.28284603e-01 -7.36218778e-02 2.04535397e+02] [ 1.27923581e-01 9.91737391e-01 -9.61797694e-03 9.57266412e+00] [ 7.42474073e-02 9.42140604e-05 9.97239848e-01 5.56051097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.669254154 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:204.56, Y:9.58, Z:5.56 [[ 9.88711681e-01 -1.30144390e-01 -7.42404873e-02 2.04562615e+02] [ 1.29781044e-01 9.91495051e-01 -9.71820618e-03 9.57519893e+00] [ 7.48738458e-02 -2.65039898e-05 9.97193014e-01 5.56255021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.699254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:204.59, Y:9.58, Z:5.56 [[ 9.88551267e-01 -1.31479780e-01 -7.40233750e-02 2.04590701e+02] [ 1.31121480e-01 9.91318846e-01 -9.70070209e-03 9.57798045e+00] [ 7.46562128e-02 -1.16413137e-04 9.97209324e-01 5.56444022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.729254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:204.62, Y:9.58, Z:5.57 [[ 9.88517407e-01 -1.31735601e-01 -7.40207240e-02 2.04618797e+02] [ 1.31376505e-01 9.91284882e-01 -9.72089176e-03 9.58176812e+00] [ 7.46562122e-02 -1.15313287e-04 9.97209324e-01 5.56623678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.759254154 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:204.65, Y:9.58, Z:5.57 [[ 9.88280259e-01 -1.33531913e-01 -7.39686320e-02 2.04646489e+02] [ 1.33176880e-01 9.91044487e-01 -9.73363913e-03 9.58432686e+00] [ 7.46059564e-02 -2.31348255e-04 9.97213065e-01 5.56828139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.789254154 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:204.67, Y:9.59, Z:5.57 [[ 9.88031091e-01 -1.35463806e-01 -7.37842856e-02 2.04673421e+02] [ 1.35114523e-01 9.90782231e-01 -9.72812372e-03 9.58651886e+00] [ 7.44219677e-02 -3.57639845e-04 9.97226776e-01 5.56997670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.819254154 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:204.70, Y:9.59, Z:5.57 [[ 9.87374522e-01 -1.40185168e-01 -7.37541372e-02 2.04700266e+02] [ 1.39848651e-01 9.90125054e-01 -9.73304638e-03 9.58679754e+00] [ 7.43902478e-02 -7.04254544e-04 9.97228958e-01 5.57184702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.84925415399996 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:204.73, Y:9.59, Z:5.57 [[ 9.86952248e-01 -1.43337900e-01 -7.33451206e-02 2.04727942e+02] [ 1.43013026e-01 9.89673375e-01 -9.68947620e-03 9.58875647e+00] [ 7.39765822e-02 -9.26257347e-04 9.97259549e-01 5.57362539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.87925415399997 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:204.76, Y:9.59, Z:5.58 [[ 9.86499994e-01 -1.46598214e-01 -7.29844212e-02 2.04755393e+02] [ 1.46283971e-01 9.89195457e-01 -9.66166627e-03 9.59072463e+00] [ 7.36122409e-02 -1.14521721e-03 9.97286281e-01 5.57570537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.90925415399997 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:204.78, Y:9.59, Z:5.58 [[ 9.86078961e-01 -1.49758002e-01 -7.22552673e-02 2.04782231e+02] [ 1.49457161e-01 9.88721761e-01 -9.58314543e-03 9.59245509e+00] [ 7.28755078e-02 -1.34932906e-03 9.97340132e-01 5.57754853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.93925415399997 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:204.82, Y:9.61, Z:5.58 [[ 9.87199547e-01 -1.51619343e-01 -4.94836324e-02 2.04822071e+02] [ 1.48351221e-01 9.86852781e-01 -6.41365981e-02 9.61080746e+00] [ 5.85574092e-02 5.59746632e-02 9.96713533e-01 5.57733245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.96925415399997 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:204.84, Y:9.57, Z:5.57 [[ 9.84537171e-01 -1.56229786e-01 -7.92389559e-02 2.04844987e+02] [ 1.60451128e-01 9.85776216e-01 5.00068687e-02 9.56516772e+00] [ 7.02993157e-02 -6.19476009e-02 9.95600573e-01 5.56533183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.99925415399997 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:204.87, Y:9.61, Z:5.58 [[ 9.86465489e-01 -1.55974149e-01 -5.05757170e-02 2.04872411e+02] [ 1.53045304e-01 9.86551277e-01 -5.73908851e-02 9.60969993e+00] [ 5.88470327e-02 4.88737516e-02 9.97069899e-01 5.57807639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.02925415399997 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:204.90, Y:9.57, Z:5.57 [[ 9.83283473e-01 -1.65491318e-01 -7.59357336e-02 2.04903103e+02] [ 1.69187302e-01 9.84551729e-01 4.50948964e-02 9.57014338e+00] [ 6.72998440e-02 -5.71884283e-02 9.96092473e-01 5.57087392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.05925415399997 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:204.94, Y:9.62, Z:5.58 [[ 9.84784750e-01 -1.66667556e-01 -4.92028621e-02 2.04938830e+02] [ 1.63649529e-01 9.84687611e-01 -6.00761213e-02 9.61525538e+00] [ 5.84621891e-02 5.11100228e-02 9.96980410e-01 5.58363712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.08925415399997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:204.96, Y:9.57, Z:5.57 [[ 9.82330444e-01 -1.70503239e-01 -7.71721676e-02 2.04962260e+02] [ 1.74346980e-01 9.83603913e-01 4.61136865e-02 9.57425477e+00] [ 6.80443132e-02 -5.87536125e-02 9.95950794e-01 5.57497905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.11925415399998 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:204.99, Y:9.60, Z:5.59 [[ 9.81534844e-01 -1.77567199e-01 -7.11283349e-02 2.04988111e+02] [ 1.77343751e-01 9.84103164e-01 -9.49511597e-03 9.60090402e+00] [ 7.16836405e-02 -3.29437851e-03 9.97421978e-01 5.58913660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.14925415399998 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:205.02, Y:9.60, Z:5.59 [[ 9.81215226e-01 -1.79618131e-01 -7.03847139e-02 2.05017632e+02] [ 1.79404656e-01 9.83730505e-01 -9.39486183e-03 9.60443948e+00] [ 7.09270777e-02 -3.40896393e-03 9.97475678e-01 5.59191668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.17925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:205.05, Y:9.61, Z:5.59 [[ 9.81026419e-01 -1.80749384e-01 -7.01200814e-02 2.05046909e+02] [ 1.80540287e-01 9.83523043e-01 -9.36098365e-03 9.60736505e+00] [ 7.06567079e-02 -3.47612734e-03 9.97494635e-01 5.59368527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.20925415399998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:205.08, Y:9.61, Z:5.60 [[ 9.80886654e-01 -1.81679942e-01 -6.96690007e-02 2.05077161e+02] [ 1.81475709e-01 9.83351423e-01 -9.30297831e-03 9.61077506e+00] [ 7.01992756e-02 -3.51806400e-03 9.97526784e-01 5.59594756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.23925415399998 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:205.11, Y:9.61, Z:5.60 [[ 9.80908360e-01 -1.81648033e-01 -6.94462443e-02 2.05106729e+02] [ 1.81445014e-01 9.83357367e-01 -9.27337276e-03 9.61362974e+00] [ 6.99749659e-02 -3.50434589e-03 9.97542592e-01 5.59662339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.26925415399998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:205.14, Y:9.64, Z:5.60 [[ 9.82895733e-01 -1.77768183e-01 -4.81087427e-02 2.05144935e+02] [ 1.74630634e-01 9.82612823e-01 -6.30569673e-02 9.63695004e+00] [ 5.84817900e-02 5.35771639e-02 9.96849722e-01 5.59785103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.29925415399998 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:205.17, Y:9.59, Z:5.59 [[ 9.81077784e-01 -1.77898527e-01 -7.64100527e-02 2.05169915e+02] [ 1.81894960e-01 9.82099649e-01 4.89336602e-02 9.59443886e+00] [ 6.63370599e-02 -6.19063304e-02 9.95874993e-01 5.58640978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.32925415399998 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:205.20, Y:9.63, Z:5.60 [[ 9.81003729e-01 -1.81284579e-01 -6.90477099e-02 2.05196170e+02] [ 1.81080637e-01 9.83424715e-01 -9.25381899e-03 9.62612862e+00] [ 6.95807990e-02 -3.42517235e-03 9.97570439e-01 5.60243910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.35925415399998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:205.23, Y:9.63, Z:5.60 [[ 9.81131313e-01 -1.80502804e-01 -6.92826411e-02 2.05225092e+02] [ 1.80295670e-01 9.83568651e-01 -9.28330575e-03 9.63038281e+00] [ 6.98198966e-02 -3.38321827e-03 9.97553876e-01 5.60405121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.38925415399999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:205.25, Y:9.63, Z:5.61 [[ 9.81259349e-01 -1.79715483e-01 -6.95157175e-02 2.05253179e+02] [ 1.79504800e-01 9.83712975e-01 -9.31716365e-03 9.63449945e+00] [ 7.00579518e-02 -3.33585103e-03 9.97537345e-01 5.60562479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.419254154 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:205.28, Y:9.64, Z:5.61 [[ 9.81340578e-01 -1.78996962e-01 -7.02193565e-02 2.05282536e+02] [ 1.78779902e-01 9.83844044e-01 -9.41510992e-03 9.63905993e+00] [ 7.07701717e-02 -3.31438025e-03 9.97487142e-01 5.60771537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.449254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:205.31, Y:9.65, Z:5.61 [[ 9.81413951e-01 -1.78194940e-01 -7.12265391e-02 2.05309431e+02] [ 1.77552446e-01 9.83992345e-01 -1.53034180e-02 9.64632536e+00] [ 7.28133608e-02 2.37254174e-03 9.97342762e-01 5.61111954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.479254154 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:205.34, Y:9.65, Z:5.61 [[ 9.81984992e-01 -1.74524073e-01 -7.24349542e-02 2.05337509e+02] [ 1.74685281e-01 9.84615564e-01 -4.15260892e-03 9.64542834e+00] [ 7.20453134e-02 -8.57552068e-03 9.97364494e-01 5.60757795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.509254154 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:205.37, Y:9.65, Z:5.61 [[ 9.82215310e-01 -1.73938930e-01 -7.06988885e-02 2.05366425e+02] [ 1.73703581e-01 9.84752056e-01 -9.51079322e-03 9.65348999e+00] [ 7.12751730e-02 -2.93900336e-03 9.97452361e-01 5.61261131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.539254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:205.40, Y:9.66, Z:5.61 [[ 9.82540521e-01 -1.72261328e-01 -7.02862683e-02 2.05395384e+02] [ 1.72024266e-01 9.85047311e-01 -9.45769181e-03 9.65806622e+00] [ 7.08644941e-02 -2.79837826e-03 9.97482026e-01 5.61393025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.569254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:205.42, Y:9.66, Z:5.62 [[ 9.82889199e-01 -1.70410846e-01 -6.99211391e-02 2.05424346e+02] [ 1.70171472e-01 9.85369536e-01 -9.40995836e-03 9.66270269e+00] [ 7.05017194e-02 -2.64963670e-03 9.97508139e-01 5.61609836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.59925415399996 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:205.45, Y:9.67, Z:5.62 [[ 9.83557919e-01 -1.66884139e-01 -6.90181412e-02 2.05453414e+02] [ 1.66642080e-01 9.85973681e-01 -9.29076121e-03 9.66812967e+00] [ 6.96005514e-02 -2.36332483e-03 9.97572142e-01 5.61784301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.62925415399997 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:205.48, Y:9.67, Z:5.62 [[ 9.83898607e-01 -1.65107750e-01 -6.84321755e-02 2.05481594e+02] [ 1.64865398e-01 9.86273043e-01 -9.21331006e-03 9.67240596e+00] [ 6.90139989e-02 -2.21713494e-03 9.97613228e-01 5.61925213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.65925415399997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:205.51, Y:9.68, Z:5.62 [[ 9.84141439e-01 -1.63620151e-01 -6.85133186e-02 2.05511109e+02] [ 1.63373383e-01 9.86521154e-01 -9.22775690e-03 9.67715948e+00] [ 6.90996851e-02 -2.11183468e-03 9.97607525e-01 5.62132047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.68925415399997 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:205.54, Y:9.68, Z:5.62 [[ 9.84445660e-01 -1.61986497e-01 -6.80229126e-02 2.05540549e+02] [ 1.61739190e-01 9.86790987e-01 -9.16413260e-03 9.68181169e+00] [ 6.86088629e-02 -1.98038025e-03 9.97641670e-01 5.62272202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.71925415399997 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:205.57, Y:9.69, Z:5.62 [[ 9.84767274e-01 -1.60052289e-01 -6.79461653e-02 2.05570289e+02] [ 1.59800777e-01 9.87106821e-01 -9.15623204e-03 9.68629233e+00] [ 6.85355991e-02 -1.84109233e-03 9.97646973e-01 5.62372240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.74925415399997 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:205.60, Y:9.69, Z:5.63 [[ 9.85244487e-01 -1.57315156e-01 -6.74184087e-02 2.05599522e+02] [ 1.57060979e-01 9.87547096e-01 -9.08745240e-03 9.69183733e+00] [ 6.80084477e-02 -1.63543889e-03 9.97683405e-01 5.62612095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.77925415399997 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:205.63, Y:9.70, Z:5.63 [[ 9.85438755e-01 -1.55976975e-01 -6.76878339e-02 2.05630128e+02] [ 1.55717546e-01 9.87759478e-01 -9.12468998e-03 9.69616919e+00] [ 6.82825410e-02 -1.54836026e-03 9.97664822e-01 5.62773611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.80925415399997 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:205.66, Y:9.70, Z:5.63 [[ 9.85651114e-01 -1.54593903e-01 -6.77687754e-02 2.05660925e+02] [ 1.54330762e-01 9.87977026e-01 -9.13306672e-03 9.70043804e+00] [ 6.83659096e-02 -1.45678935e-03 9.97659251e-01 5.62886165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.83925415399997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:205.69, Y:9.70, Z:5.63 [[ 9.85789893e-01 -1.53590380e-01 -6.80314840e-02 2.05690688e+02] [ 1.53322977e-01 9.88133619e-01 -9.16600784e-03 9.70483749e+00] [ 6.86320071e-02 -1.39503179e-03 9.97641068e-01 5.63135803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.86925415399998 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:205.72, Y:9.71, Z:5.63 [[ 9.86157233e-01 -1.51483707e-01 -6.74284690e-02 2.05720368e+02] [ 1.51216187e-01 9.88458979e-01 -9.08360794e-03 9.70951026e+00] [ 6.80262942e-02 -1.23841030e-03 9.97682760e-01 5.63294226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.89925415399998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:205.75, Y:9.71, Z:5.63 [[ 9.86315256e-01 -1.50380344e-01 -6.75867425e-02 2.05750005e+02] [ 1.50108978e-01 9.88627531e-01 -9.10492971e-03 9.71381177e+00] [ 6.81873168e-02 -1.16504580e-03 9.97671856e-01 5.63480224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.92925415399998 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:205.78, Y:9.72, Z:5.64 [[ 9.86695929e-01 -1.47881098e-01 -6.75449831e-02 2.05779643e+02] [ 1.47604218e-01 9.89004650e-01 -9.09930411e-03 9.71822619e+00] [ 6.81479175e-02 -9.91678085e-04 9.97674736e-01 5.63665975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.95925415399998 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:205.81, Y:9.72, Z:5.64 [[ 9.86912040e-01 -1.46382004e-01 -6.76530411e-02 2.05808633e+02] [ 1.46100704e-01 9.89227738e-01 -9.11406410e-03 9.72210499e+00] [ 6.82583998e-02 -8.89377366e-04 9.97667279e-01 5.63820004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.98925415399998 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:205.84, Y:9.73, Z:5.64 [[ 9.87052271e-01 -1.45306889e-01 -6.79243821e-02 2.05838147e+02] [ 1.45020610e-01 9.89386296e-01 -9.15316228e-03 9.72623921e+00] [ 6.85334704e-02 -8.15785684e-04 9.97648484e-01 5.64008878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.01925415399998 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:205.87, Y:9.73, Z:5.64 [[ 9.87274138e-01 -1.43882362e-01 -6.77321346e-02 2.05867588e+02] [ 1.43594181e-01 9.89594543e-01 -9.12976619e-03 9.72945250e+00] [ 6.83409631e-02 -7.12358342e-04 9.97661769e-01 5.64040810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.04925415399998 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:205.90, Y:9.73, Z:5.64 [[ 9.87466869e-01 -1.42859370e-01 -6.70848876e-02 2.05896535e+02] [ 1.42574150e-01 9.89742795e-01 -9.04499408e-03 9.73310819e+00] [ 6.76889463e-02 -6.32938860e-04 9.97706272e-01 5.64336776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.07925415399998 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:205.92, Y:9.74, Z:5.65 [[ 9.87553066e-01 -1.42320532e-01 -6.69612495e-02 2.05924986e+02] [ 1.42034953e-01 9.89820446e-01 -9.03088109e-03 9.73633784e+00] [ 6.75648937e-02 -5.92363602e-04 9.97714706e-01 5.64561177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.10925415399998 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:205.95, Y:9.74, Z:5.65 [[ 9.87498105e-01 -1.42753128e-01 -6.68508565e-02 2.05953523e+02] [ 1.42469170e-01 9.89758134e-01 -9.02058678e-03 9.73949931e+00] [ 6.74538960e-02 -6.16373690e-04 9.97722202e-01 5.64738633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.13925415399999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:205.98, Y:9.74, Z:5.65 [[ 9.87420528e-01 -1.43350907e-01 -6.67174575e-02 2.05982611e+02] [ 1.43068309e-01 9.89671718e-01 -9.01943084e-03 9.74237268e+00] [ 6.73213244e-02 -6.39182641e-04 9.97731142e-01 5.64885881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.169254154 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:206.01, Y:9.75, Z:5.65 [[ 9.87236837e-01 -1.44628752e-01 -6.66779756e-02 2.06011361e+02] [ 1.44348268e-01 9.89485736e-01 -9.03085729e-03 9.74504945e+00] [ 6.72830273e-02 -7.09255314e-04 9.97733677e-01 5.64976146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.199254154 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:206.04, Y:9.75, Z:5.65 [[ 9.86593246e-01 -1.48789550e-01 -6.70480115e-02 2.06039317e+02] [ 1.48514440e-01 9.88868396e-01 -9.09706848e-03 9.74686960e+00] [ 6.76552083e-02 -9.82491547e-04 9.97708278e-01 5.65238877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.229254154 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:206.07, Y:9.75, Z:5.66 [[ 9.85928937e-01 -1.52627052e-01 -6.81844062e-02 2.06067363e+02] [ 1.51975886e-01 9.88275356e-01 -1.46680261e-02 9.75208132e+00] [ 6.96237059e-02 4.09924582e-03 9.97564903e-01 5.65547431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.259254154 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:206.09, Y:9.75, Z:5.65 [[ 9.85699011e-01 -1.54184240e-01 -6.80050043e-02 2.06094729e+02] [ 1.54295858e-01 9.88017986e-01 -3.63984104e-03 9.74904299e+00] [ 6.77513734e-02 -6.90510279e-03 9.97678340e-01 5.65405364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.289254154 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:206.12, Y:9.75, Z:5.66 [[ 9.84753908e-01 -1.60453102e-01 -6.71903527e-02 2.06121745e+02] [ 1.60201711e-01 9.87041904e-01 -9.14825744e-03 9.75285406e+00] [ 6.77875600e-02 -1.75522721e-03 9.97698234e-01 5.65754435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.319254154 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:206.15, Y:9.76, Z:5.66 [[ 9.84246188e-01 -1.63423971e-01 -6.74688590e-02 2.06151571e+02] [ 1.63176922e-01 9.86553984e-01 -9.19396314e-03 9.75560950e+00] [ 6.80641856e-02 -1.96023760e-03 9.97679019e-01 5.65947683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.34925415399996 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:206.18, Y:9.76, Z:5.66 [[ 9.83786535e-01 -1.66097351e-01 -6.76440933e-02 2.06181775e+02] [ 1.65855163e-01 9.86107020e-01 -9.22012998e-03 9.75839915e+00] [ 6.82357544e-02 -2.14848238e-03 9.97666911e-01 5.66113967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.37925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:206.21, Y:9.76, Z:5.66 [[ 9.82827087e-01 -1.71492072e-01 -6.81277283e-02 2.06210782e+02] [ 1.71259317e-01 9.85182224e-01 -9.28616198e-03 9.76018066e+00] [ 6.87107300e-02 -2.54081668e-03 9.97633389e-01 5.66312046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.40925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:206.24, Y:9.76, Z:5.67 [[ 9.82377176e-01 -1.74084749e-01 -6.80410419e-02 2.06241090e+02] [ 1.73858706e-01 9.84726924e-01 -9.27551081e-03 9.76311724e+00] [ 6.86165709e-02 -2.71747738e-03 9.97639405e-01 5.66500584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.43925415399997 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:206.27, Y:9.77, Z:5.67 [[ 9.81680611e-01 -1.77715702e-01 -6.87044868e-02 2.06268146e+02] [ 1.77146608e-01 9.84080028e-01 -1.43379566e-02 9.76838685e+00] [ 7.01587933e-02 1.90452715e-03 9.97534018e-01 5.66836977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.46925415399997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:206.30, Y:9.77, Z:5.67 [[ 9.81471234e-01 -1.79066210e-01 -6.81873054e-02 2.06296881e+02] [ 1.79191082e-01 9.83804758e-01 -4.33067826e-03 9.76644152e+00] [ 6.78584736e-02 -7.96812085e-03 9.97663138e-01 5.66750274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.49925415399997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:206.33, Y:9.77, Z:5.67 [[ 9.80831175e-01 -1.83200621e-01 -6.63908058e-02 2.06325914e+02] [ 1.83003931e-01 9.83070210e-01 -9.08427068e-03 9.77128184e+00] [ 6.69310674e-02 -3.23964254e-03 9.97752342e-01 5.67095188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.52925415399997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:206.36, Y:9.78, Z:5.67 [[ 9.80444185e-01 -1.84987486e-01 -6.71478257e-02 2.06356986e+02] [ 1.84790393e-01 9.82734998e-01 -9.18884963e-03 9.77510248e+00] [ 6.76883406e-02 -3.39911889e-03 9.97700724e-01 5.67323621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.55925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:206.39, Y:9.78, Z:5.68 [[ 9.80132580e-01 -1.86566283e-01 -6.73286464e-02 2.06386595e+02] [ 1.86372015e-01 9.82436069e-01 -9.21096516e-03 9.77888390e+00] [ 6.78645462e-02 -3.52020845e-03 9.97688334e-01 5.67520340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.58925415399997 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:206.42, Y:9.78, Z:5.67 [[ 9.80505412e-01 -1.85619273e-01 -6.44563550e-02 2.06421227e+02] [ 1.85246441e-01 9.82621658e-01 -1.17657928e-02 9.78155182e+00] [ 6.55201684e-02 -4.03886842e-04 9.97851163e-01 5.67468380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.61925415399998 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:206.45, Y:9.78, Z:5.68 [[ 9.80473602e-01 -1.85578786e-01 -6.50540521e-02 2.06453816e+02] [ 1.85466818e-01 9.82619498e-01 -7.80910695e-03 9.78416384e+00] [ 6.53725845e-02 -4.40874481e-03 9.97851185e-01 5.67575359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.64925415399998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:206.48, Y:9.79, Z:5.68 [[ 9.79377532e-01 -1.90012911e-01 -6.86639927e-02 2.06478386e+02] [ 1.90094106e-01 9.81750968e-01 -5.40986336e-03 9.78919443e+00] [ 6.84388852e-02 -7.75432170e-03 9.97625175e-01 5.67956899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.67925415399998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:206.51, Y:9.79, Z:5.68 [[ 9.78687261e-01 -1.93448360e-01 -6.89128183e-02 2.06507877e+02] [ 1.93259046e-01 9.81102089e-01 -9.46739022e-03 9.79464228e+00] [ 6.94419612e-02 -4.05241129e-03 9.97577762e-01 5.68139942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.70925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:206.54, Y:9.80, Z:5.68 [[ 9.78353007e-01 -1.94905297e-01 -6.95508410e-02 2.06539104e+02] [ 1.94716144e-01 9.80813096e-01 -9.55477374e-03 9.79914829e+00] [ 7.00786517e-02 -4.19472997e-03 9.97532649e-01 5.68327356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.73925415399998 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:206.57, Y:9.80, Z:5.68 [[ 9.78077860e-01 -1.96187169e-01 -6.98161544e-02 2.06570393e+02] [ 1.96000006e-01 9.80557014e-01 -9.58857177e-03 9.80388479e+00] [ 7.03398746e-02 -4.30559697e-03 9.97513791e-01 5.68495068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.76925415399998 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:206.60, Y:9.81, Z:5.69 [[ 9.77473814e-01 -1.98603998e-01 -7.14240542e-02 2.06599866e+02] [ 1.98414725e-01 9.80069091e-01 -9.80680880e-03 9.80920498e+00] [ 7.19481793e-02 -4.58568527e-03 9.97397830e-01 5.68696425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.79925415399998 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:206.63, Y:9.81, Z:5.69 [[ 9.77347348e-01 -1.99131512e-01 -7.16854359e-02 2.06630746e+02] [ 1.98942375e-01 9.79961776e-01 -9.84116450e-03 9.81412128e+00] [ 7.22086731e-02 -4.64303482e-03 9.97378739e-01 5.68908375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.82925415399998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:206.66, Y:9.82, Z:5.69 [[ 9.77260346e-01 -1.99416501e-01 -7.20782548e-02 2.06661043e+02] [ 1.99226232e-01 9.79903589e-01 -9.89269781e-03 9.81927841e+00] [ 7.26025077e-02 -4.69213784e-03 9.97349918e-01 5.69127039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.85925415399998 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:206.69, Y:9.82, Z:5.69 [[ 9.77306752e-01 -1.99234879e-01 -7.19512008e-02 2.06691350e+02] [ 1.99044790e-01 9.79940636e-01 -9.87525972e-03 9.82470723e+00] [ 7.24754016e-02 -4.67035362e-03 9.97359265e-01 5.69354382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.88925415399999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:206.72, Y:9.83, Z:5.70 [[ 9.77510890e-01 -1.98343175e-01 -7.16410771e-02 2.06722295e+02] [ 1.98152363e-01 9.80121914e-01 -9.83234816e-03 9.83055664e+00] [ 7.21671687e-02 -4.58462130e-03 9.97382014e-01 5.69629562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.919254154 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:206.75, Y:9.84, Z:5.70 [[ 9.78154723e-01 -1.95258652e-01 -7.13259843e-02 2.06751380e+02] [ 1.95061531e-01 9.80742179e-01 -9.78659408e-03 9.83803296e+00] [ 7.18633184e-02 -4.34015245e-03 9.97405046e-01 5.69887579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.949254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:206.78, Y:9.84, Z:5.70 [[ 9.78621198e-01 -1.92963412e-01 -7.11735320e-02 2.06781966e+02] [ 1.92761196e-01 9.81197117e-01 -9.76417880e-03 9.84406173e+00] [ 7.17193937e-02 -4.16406277e-03 9.97416156e-01 5.70061559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.979254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:206.81, Y:9.85, Z:5.70 [[ 9.79669081e-01 -1.87579552e-01 -7.11505748e-02 2.06811020e+02] [ 1.87363496e-01 9.82242176e-01 -9.75850933e-03 9.85267309e+00] [ 7.17175922e-02 -3.77091057e-03 9.97417850e-01 5.70313971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.009254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:206.84, Y:9.86, Z:5.71 [[ 9.80216501e-01 -1.84696506e-01 -7.11534333e-02 2.06841417e+02] [ 1.84472970e-01 9.82789152e-01 -9.75740988e-03 9.85888841e+00] [ 7.17309818e-02 -3.56151098e-03 9.97417657e-01 5.70525426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.039254154 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:206.87, Y:9.87, Z:5.71 [[ 9.80750904e-01 -1.81819935e-01 -7.11981465e-02 2.06872086e+02] [ 1.81588751e-01 9.83326116e-01 -9.76091552e-03 9.86505267e+00] [ 7.17857259e-02 -3.35575578e-03 9.97414432e-01 5.70724694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.06925415399996 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:206.90, Y:9.87, Z:5.71 [[ 9.81209637e-01 -1.79044121e-01 -7.19086280e-02 2.06903051e+02] [ 1.78801063e-01 9.83835884e-01 -9.85562755e-03 9.87123079e+00] [ 7.25108807e-02 -3.18690240e-03 9.97362530e-01 5.70938005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.09925415399996 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:206.93, Y:9.88, Z:5.71 [[ 9.81672625e-01 -1.76395067e-01 -7.21362470e-02 2.06933901e+02] [ 1.76143530e-01 9.84314868e-01 -9.88414851e-03 9.87739789e+00] [ 7.27482955e-02 -3.00333520e-03 9.97345810e-01 5.71121837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.12925415399997 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:206.96, Y:9.89, Z:5.71 [[ 9.82479242e-01 -1.71481281e-01 -7.29980036e-02 2.06963019e+02] [ 1.71210353e-01 9.85183751e-01 -9.99963513e-03 9.88535554e+00] [ 7.36311972e-02 -2.67358000e-03 9.97281956e-01 5.71396546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.15925415399997 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:206.99, Y:9.89, Z:5.72 [[ 9.82851904e-01 -1.69250628e-01 -7.31871597e-02 2.06993967e+02] [ 1.68972240e-01 9.85569836e-01 -1.00239647e-02 9.89150069e+00] [ 7.38276193e-02 -2.51452553e-03 9.97267848e-01 5.71647915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.18925415399997 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:207.02, Y:9.90, Z:5.72 [[ 9.83181167e-01 -1.67154972e-01 -7.35799409e-02 2.07023535e+02] [ 1.66867922e-01 9.85927780e-01 -1.00751843e-02 9.89763163e+00] [ 7.42286249e-02 -2.37240044e-03 9.97238428e-01 5.71913819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.21925415399997 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:207.05, Y:9.90, Z:5.72 [[ 9.83538994e-01 -1.65198197e-01 -7.32161395e-02 2.07051123e+02] [ 1.64908614e-01 9.86257904e-01 -1.00247786e-02 9.90335287e+00] [ 7.38660716e-02 -2.21421144e-03 9.97265712e-01 5.72122301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.24925415399997 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:207.08, Y:9.91, Z:5.72 [[ 9.84224921e-01 -1.60908877e-01 -7.35502411e-02 2.07081438e+02] [ 1.60604468e-01 9.86967442e-01 -1.00734238e-02 9.91025946e+00] [ 7.42125966e-02 -1.89798259e-03 9.97240637e-01 5.72340483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.27925415399997 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:207.11, Y:9.92, Z:5.73 [[ 9.84596729e-01 -1.58612111e-01 -7.35627544e-02 2.07111779e+02] [ 1.58301371e-01 9.87339463e-01 -1.00728248e-02 9.91567168e+00] [ 7.42290824e-02 -1.72741449e-03 9.97239720e-01 5.72551539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.30925415399997 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:207.14, Y:9.92, Z:5.73 [[ 9.85013649e-01 -1.56134440e-01 -7.32812882e-02 2.07142352e+02] [ 1.55819258e-01 9.87734620e-01 -1.00338753e-02 9.92120899e+00] [ 7.39490989e-02 -1.53513181e-03 9.97260836e-01 5.72737008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.33925415399997 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:207.17, Y:9.93, Z:5.73 [[ 9.85919029e-01 -1.50504220e-01 -7.28844845e-02 2.07172691e+02] [ 1.50177276e-01 9.88608744e-01 -9.97680789e-03 9.92811244e+00] [ 7.35557904e-02 -1.10926857e-03 9.97290487e-01 5.72995642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.36925415399998 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:207.20, Y:9.93, Z:5.73 [[ 9.86375223e-01 -1.47568484e-01 -7.27149354e-02 2.07202349e+02] [ 1.47235280e-01 9.89051439e-01 -9.95103903e-03 9.93323615e+00] [ 7.33872712e-02 -8.90745539e-04 9.97303121e-01 5.73190893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.39925415399998 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:207.23, Y:9.94, Z:5.73 [[ 9.86846247e-01 -1.44401489e-01 -7.26821499e-02 2.07232362e+02] [ 1.44060092e-01 9.89518964e-01 -9.94537666e-03 9.93826370e+00] [ 7.33564928e-02 -6.56039535e-04 9.97305567e-01 5.73433487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.42925415399998 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:207.26, Y:9.94, Z:5.74 [[ 9.87266315e-01 -1.41651922e-01 -7.23875445e-02 2.07261175e+02] [ 1.41305879e-01 9.89916426e-01 -9.90543516e-03 9.94288230e+00] [ 7.30607433e-02 -4.49483146e-04 9.97327391e-01 5.73605893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.45925415399998 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:207.29, Y:9.95, Z:5.74 [[ 9.87814715e-01 -1.37881068e-01 -7.21865682e-02 2.07290347e+02] [ 1.37526690e-01 9.90448779e-01 -9.88061756e-03 9.94742257e+00] [ 7.28594484e-02 -1.67360339e-04 9.97342204e-01 5.73747843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.48925415399998 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:207.32, Y:9.95, Z:5.74 [[ 9.87926581e-01 -1.36907266e-01 -7.25084149e-02 2.07318424e+02] [ 1.36546882e-01 9.90583864e-01 -9.92759570e-03 9.95093820e+00] [ 7.31848258e-02 -9.30622731e-05 9.97318391e-01 5.73906865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.51925415399998 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:207.35, Y:9.95, Z:5.74 [[ 9.87938805e-01 -1.36620212e-01 -7.28823458e-02 2.07347101e+02] [ 1.36254856e-01 9.90623497e-01 -9.98503127e-03 9.95412673e+00] [ 7.35631214e-02 -6.59736581e-05 9.97290561e-01 5.74093708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.54925415399998 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:207.38, Y:9.96, Z:5.74 [[ 9.87842994e-01 -1.37216336e-01 -7.30609126e-02 2.07375303e+02] [ 1.36849402e-01 9.90541099e-01 -1.00285714e-02 9.95733034e+00] [ 7.37459205e-02 -9.16882923e-05 9.97277058e-01 5.74288405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.57925415399998 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:207.40, Y:9.96, Z:5.75 [[ 9.87699271e-01 -1.38198057e-01 -7.31535913e-02 2.07404893e+02] [ 1.37831650e-01 9.90404602e-01 -1.00579007e-02 9.96069926e+00] [ 7.38416358e-02 -1.48698994e-04 9.97269969e-01 5.74503496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.60925415399998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:207.43, Y:9.96, Z:5.75 [[ 9.87527740e-01 -1.39379428e-01 -7.32279839e-02 2.07433394e+02] [ 1.39015287e-01 9.90239022e-01 -1.00712334e-02 9.96364295e+00] [ 7.39169299e-02 -2.34186808e-04 9.97264374e-01 5.74671992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.63925415399999 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:207.46, Y:9.97, Z:5.75 [[ 9.87071801e-01 -1.42712804e-01 -7.29542019e-02 2.07462951e+02] [ 1.42360118e-01 9.89764026e-01 -1.00383727e-02 9.96507652e+00] [ 7.36400490e-02 -4.77174140e-04 9.97284772e-01 5.74835919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.669254154 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:207.49, Y:9.97, Z:5.75 [[ 9.86795604e-01 -1.44649450e-01 -7.28764171e-02 2.07491166e+02] [ 1.44302572e-01 9.89482771e-01 -1.00306092e-02 9.96718115e+00] [ 7.35608812e-02 -6.18093357e-04 9.97290537e-01 5.74965332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.699254154 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:207.52, Y:9.97, Z:5.75 [[ 9.86457303e-01 -1.47239667e-01 -7.22666602e-02 2.07519370e+02] [ 1.46905076e-01 9.89100522e-01 -9.95266581e-03 9.96958419e+00] [ 7.29444186e-02 -7.98459371e-04 9.97335688e-01 5.75211182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.729254154 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:207.55, Y:9.97, Z:5.75 [[ 9.86124937e-01 -1.49717860e-01 -7.17089352e-02 2.07549345e+02] [ 1.49393790e-01 9.88728297e-01 -9.89197293e-03 9.97196576e+00] [ 7.23816584e-02 -9.58148411e-04 9.97376547e-01 5.75391774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.759254154 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:207.58, Y:9.97, Z:5.76 [[ 9.85750456e-01 -1.52395312e-01 -7.12159255e-02 2.07578146e+02] [ 1.52082457e-01 9.88318957e-01 -9.82680108e-03 9.97441274e+00] [ 7.18816076e-02 -1.14391928e-03 9.97412515e-01 5.75580738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.789254154 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:207.61, Y:9.98, Z:5.76 [[ 9.84925421e-01 -1.57799662e-01 -7.08602954e-02 2.07608764e+02] [ 1.57503628e-01 9.87469967e-01 -9.78122167e-03 9.97568055e+00] [ 7.15158870e-02 -1.52697974e-03 9.97438292e-01 5.75748677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.81925415399996 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:207.64, Y:9.98, Z:5.76 [[ 9.84435944e-01 -1.60889090e-01 -7.07147297e-02 2.07639719e+02] [ 1.60602246e-01 9.86970944e-01 -9.76081376e-03 9.97872752e+00] [ 7.13637920e-02 -1.74804851e-03 9.97448823e-01 5.76026382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.84925415399996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:207.67, Y:9.98, Z:5.76 [[ 9.84005024e-01 -1.63559322e-01 -7.05865540e-02 2.07670653e+02] [ 1.63280563e-01 9.86531592e-01 -9.74044609e-03 9.98110519e+00] [ 7.12290063e-02 -1.94076437e-03 9.97458100e-01 5.76208594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.87925415399997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:207.70, Y:9.98, Z:5.76 [[ 9.83437171e-01 -1.68547490e-01 -6.66563953e-02 2.07701787e+02] [ 1.67567793e-01 9.85656331e-01 -2.00656677e-02 9.98485611e+00] [ 6.90823160e-02 8.56385846e-03 9.97574205e-01 5.76034463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.90925415399997 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:207.74, Y:9.99, Z:5.76 [[ 9.83545593e-01 -1.70335364e-01 -6.01990937e-02 2.07736237e+02] [ 1.68779674e-01 9.85194613e-01 -3.00831484e-02 9.98987745e+00] [ 6.44320469e-02 1.94277646e-02 9.97732967e-01 5.76133957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.93925415399997 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:207.76, Y:9.97, Z:5.76 [[ 9.81659115e-01 -1.74435198e-01 -7.69268678e-02 2.07763221e+02] [ 1.76763624e-01 9.83947779e-01 2.45232503e-02 9.97015104e+00] [ 7.14143027e-02 -3.76713441e-02 9.96735104e-01 5.75974027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.96925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:207.79, Y:9.99, Z:5.77 [[ 9.80675248e-01 -1.81793623e-01 -7.22989425e-02 2.07791987e+02] [ 1.81544043e-01 9.83331316e-01 -1.00639622e-02 9.98764740e+00] [ 7.29233784e-02 -3.25596372e-03 9.97332231e-01 5.77049652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.99925415399997 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:207.82, Y:9.99, Z:5.77 [[ 9.80263753e-01 -1.83843161e-01 -7.26957152e-02 2.07822240e+02] [ 1.83596641e-01 9.82949606e-01 -1.01165550e-02 9.99061291e+00] [ 7.33160841e-02 -3.42979699e-03 9.97302857e-01 5.77208627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.02925415399997 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:207.85, Y:9.99, Z:5.77 [[ 9.79922880e-01 -1.85554021e-01 -7.29441888e-02 2.07852345e+02] [ 1.85310624e-01 9.82627575e-01 -1.01499056e-02 9.99382920e+00] [ 7.35603272e-02 -3.57120844e-03 9.97284375e-01 5.77388538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.05925415399997 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:207.88, Y:10.00, Z:5.78 [[ 9.79674024e-01 -1.86884524e-01 -7.28902012e-02 2.07882716e+02] [ 1.86645155e-01 9.82375039e-01 -1.01423934e-02 9.99695845e+00] [ 7.35009706e-02 -3.66836351e-03 9.97288399e-01 5.77561349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.08925415399997 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:207.91, Y:10.00, Z:5.78 [[ 9.79199955e-01 -1.89074172e-01 -7.36098211e-02 2.07912288e+02] [ 1.88836216e-01 9.81955180e-01 -1.02424885e-02 9.99892021e+00] [ 7.42181351e-02 -3.87075584e-03 9.97234519e-01 5.77725753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.11925415399998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:207.94, Y:10.00, Z:5.78 [[ 9.79004162e-01 -1.90060184e-01 -7.36748062e-02 2.07942236e+02] [ 1.89824607e-01 9.81764498e-01 -1.02512683e-02 1.00025009e+01] [ 7.42796671e-02 -3.94925679e-03 9.97229630e-01 5.77889178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.14925415399998 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:207.98, Y:10.02, Z:5.78 [[ 9.80217298e-01 -1.88337178e-01 -6.08535625e-02 2.07976333e+02] [ 1.86044416e-01 9.81667864e-01 -4.14207615e-02 1.00172566e+01] [ 6.75390560e-02 2.92798815e-02 9.97286902e-01 5.77826732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.17925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:208.01, Y:10.01, Z:5.77 [[ 9.80603516e-01 -1.86099716e-01 -6.15113069e-02 2.08010065e+02] [ 1.85374383e-01 9.82514865e-01 -1.73458449e-02 1.00090387e+01] [ 6.36638302e-02 5.60677595e-03 9.97955651e-01 5.77081183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.20925415399998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:208.03, Y:9.99, Z:5.77 [[ 9.78952551e-01 -1.88083090e-01 -7.92253373e-02 2.08032824e+02] [ 1.91256290e-01 9.80933370e-01 3.45073121e-02 9.99322187e+00] [ 7.12245352e-02 -4.89333653e-02 9.96259299e-01 5.77497918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.23925415399998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:208.06, Y:10.02, Z:5.79 [[ 9.78982581e-01 -1.90554336e-01 -7.26784072e-02 2.08059545e+02] [ 1.90323683e-01 9.81668921e-01 -1.01501888e-02 1.00191318e+01] [ 7.32802961e-02 -3.89556404e-03 9.97303777e-01 5.78853751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.26925415399998 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:208.09, Y:10.02, Z:5.79 [[ 9.79124482e-01 -1.89716674e-01 -7.29577403e-02 2.08090205e+02] [ 1.89481951e-01 9.81831338e-01 -1.01888909e-02 1.00236427e+01] [ 7.35651983e-02 -3.84798245e-03 9.97282986e-01 5.79107058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.29925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:208.12, Y:10.03, Z:5.79 [[ 9.79255880e-01 -1.89054334e-01 -7.29135079e-02 2.08119739e+02] [ 1.88818235e-01 9.81959283e-01 -1.01804261e-02 1.00280381e+01] [ 7.35227496e-02 -3.79815772e-03 9.97286308e-01 5.79294610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.32925415399998 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:208.15, Y:10.03, Z:5.80 [[ 9.79593598e-01 -1.87070111e-01 -7.34925547e-02 2.08150209e+02] [ 1.86824595e-01 9.82339683e-01 -1.02624952e-02 1.00330437e+01] [ 7.41144589e-02 -3.67714218e-03 9.97242962e-01 5.79513141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.35925415399998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:208.18, Y:10.04, Z:5.80 [[ 9.79832755e-01 -1.85762577e-01 -7.36208992e-02 2.08180348e+02] [ 1.85512525e-01 9.82588121e-01 -1.02804172e-02 1.00381138e+01] [ 7.42487379e-02 -3.58450939e-03 9.97233311e-01 5.79706172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.38925415399999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:208.21, Y:10.04, Z:5.80 [[ 9.80106543e-01 -1.84197797e-01 -7.39076229e-02 2.08211235e+02] [ 1.83941385e-01 9.82883036e-01 -1.03201088e-02 1.00435871e+01] [ 7.45434901e-02 -3.47986433e-03 9.97211692e-01 5.79949275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.419254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:208.24, Y:10.06, Z:5.80 [[ 9.82020030e-01 -1.78434278e-01 -6.16268566e-02 2.08243433e+02] [ 1.76302616e-01 9.83583061e-01 -3.84934894e-02 1.00606031e+01] [ 6.74836903e-02 2.69364015e-02 9.97356697e-01 5.80069216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.449254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:208.27, Y:10.04, Z:5.80 [[ 9.81305577e-01 -1.76246984e-01 -7.73069597e-02 2.08270878e+02] [ 1.78313208e-01 9.83757317e-01 2.06383159e-02 1.00417247e+01] [ 7.24138464e-02 -3.40373465e-02 9.96793707e-01 5.79704771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.479254154 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:208.30, Y:10.06, Z:5.81 [[ 9.81759016e-01 -1.75769287e-01 -7.24871916e-02 2.08297715e+02] [ 1.75498820e-01 9.84427484e-01 -1.01337658e-02 1.00621959e+01] [ 7.31395885e-02 -2.77250064e-03 9.97317860e-01 5.80788971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.509254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:208.33, Y:10.07, Z:5.81 [[ 9.82272368e-01 -1.73128532e-01 -7.18853656e-02 2.08328364e+02] [ 1.72855794e-01 9.84895916e-01 -1.00453529e-02 1.00682971e+01] [ 7.25387402e-02 -2.55852937e-03 9.97362314e-01 5.81021366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.539254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:208.36, Y:10.07, Z:5.81 [[ 9.82275569e-01 -1.73110226e-01 -7.18857198e-02 2.08359005e+02] [ 1.72837624e-01 9.84899131e-01 -1.00428182e-02 1.00725787e+01] [ 7.25386974e-02 -2.55974208e-03 9.97362314e-01 5.81225183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.56925415399996 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:208.39, Y:10.08, Z:5.81 [[ 9.82787225e-01 -1.70505738e-01 -7.11130377e-02 2.08388401e+02] [ 1.70232259e-01 9.85353897e-01 -9.93354272e-03 1.00781409e+01] [ 7.17652349e-02 -2.34317415e-03 9.97418799e-01 5.81434003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.59925415399996 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:208.42, Y:10.08, Z:5.82 [[ 9.83665939e-01 -1.65598399e-01 -7.05584262e-02 2.08417976e+02] [ 1.65316650e-01 9.86191303e-01 -9.85486100e-03 1.00848470e+01] [ 7.12160555e-02 -1.97059153e-03 9.97458967e-01 5.81635778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.62925415399997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:208.45, Y:10.09, Z:5.82 [[ 9.84011658e-01 -1.63359925e-01 -7.09548563e-02 2.08447735e+02] [ 1.63069188e-01 9.86564862e-01 -9.91023022e-03 1.00900872e+01] [ 7.16205025e-02 -1.81876877e-03 9.97430296e-01 5.81852354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.65925415399997 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:208.48, Y:10.10, Z:5.82 [[ 9.84312238e-01 -1.61492322e-01 -7.10608776e-02 2.08476890e+02] [ 1.61195849e-01 9.86872530e-01 -9.92514618e-03 1.00954362e+01] [ 7.17308630e-02 -1.68527564e-03 9.97422600e-01 5.82034189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.68925415399997 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:208.51, Y:10.10, Z:5.82 [[ 9.84635453e-01 -1.59431216e-01 -7.12370183e-02 2.08507183e+02] [ 1.59127799e-01 9.87207842e-01 -9.95093564e-03 1.01007667e+01] [ 7.19122329e-02 -1.53774590e-03 9.97409778e-01 5.82197582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.71925415399997 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:208.54, Y:10.11, Z:5.82 [[ 9.85048049e-01 -1.56540216e-01 -7.19409668e-02 2.08535807e+02] [ 1.56223058e-01 9.87670677e-01 -1.00493935e-02 1.01068189e+01] [ 7.26271176e-02 -1.33970232e-03 9.97358264e-01 5.82378678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.74925415399997 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:208.56, Y:10.11, Z:5.83 [[ 9.85202948e-01 -1.55414698e-01 -7.22594156e-02 2.08564635e+02] [ 1.55091594e-01 9.87848512e-01 -1.00953354e-02 1.01115116e+01] [ 7.29503197e-02 -1.26087379e-03 9.97334779e-01 5.82598956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.77925415399997 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:208.59, Y:10.12, Z:5.83 [[ 9.85286247e-01 -1.54884482e-01 -7.22620888e-02 2.08593553e+02] [ 1.54559738e-01 9.87931835e-01 -1.00983299e-02 1.01162337e+01] [ 7.29540927e-02 -1.21906393e-03 9.97334555e-01 5.82775210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.80925415399997 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:208.62, Y:10.12, Z:5.83 [[ 9.85378052e-01 -1.54415919e-01 -7.20126339e-02 2.08622313e+02] [ 1.54091870e-01 9.88005233e-01 -1.00675280e-02 1.01205132e+01] [ 7.27034457e-02 -1.17624028e-03 9.97352909e-01 5.82965296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.83925415399997 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:208.65, Y:10.13, Z:5.83 [[ 9.85612202e-01 -1.53350060e-01 -7.10798538e-02 2.08651991e+02] [ 1.53030435e-01 9.88171351e-01 -9.95320177e-03 1.01251875e+01] [ 7.17653993e-02 -1.06738382e-03 9.97420968e-01 5.83156462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.86925415399998 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:208.68, Y:10.13, Z:5.83 [[ 9.85758169e-01 -1.52463704e-01 -7.09623228e-02 2.08682230e+02] [ 1.52142850e-01 9.88308563e-01 -9.93663483e-03 1.01296281e+01] [ 7.16476474e-02 -1.00129110e-03 9.97429502e-01 5.83364584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.89925415399998 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:208.71, Y:10.13, Z:5.84 [[ 9.85938498e-01 -1.51293744e-01 -7.09611264e-02 2.08712187e+02] [ 1.50969962e-01 9.88488422e-01 -9.93524960e-03 1.01339051e+01] [ 7.16473930e-02 -9.17453496e-04 9.97429601e-01 5.83550914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.92925415399998 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:208.74, Y:10.14, Z:5.84 [[ 9.86296979e-01 -1.48954807e-01 -7.09276753e-02 2.08741553e+02] [ 1.48625291e-01 9.88843722e-01 -9.93054216e-03 1.01380320e+01] [ 7.16155885e-02 -7.47182624e-04 9.97432027e-01 5.83731030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.95925415399998 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:208.77, Y:10.14, Z:5.84 [[ 9.86423599e-01 -1.48104645e-01 -7.09471414e-02 2.08771164e+02] [ 1.47772756e-01 9.88971458e-01 -9.93321224e-03 1.01418824e+01] [ 7.16358527e-02 -6.85699621e-04 9.97430616e-01 5.83900861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.98925415399998 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:208.80, Y:10.15, Z:5.84 [[ 9.87579638e-01 -1.44782505e-01 -6.10285493e-02 2.08802123e+02] [ 1.43148142e-01 9.89235045e-01 -3.03749260e-02 1.01526838e+01] [ 6.47693376e-02 2.12615350e-02 9.97673734e-01 5.83843730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.01925415399998 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:208.83, Y:10.14, Z:5.84 [[ 9.86583681e-01 -1.45768665e-01 -7.35128322e-02 2.08832081e+02] [ 1.47033853e-01 9.89057770e-01 1.20736663e-02 1.01384264e+01] [ 7.09484757e-02 -2.27205571e-02 9.97221184e-01 5.83649594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.04925415399998 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:208.86, Y:10.15, Z:5.84 [[ 9.86593640e-01 -1.47653918e-01 -6.95076277e-02 2.08859757e+02] [ 1.47333882e-01 9.89038886e-01 -9.73700235e-03 1.01506661e+01] [ 7.01834532e-02 -6.34364012e-04 9.97533899e-01 5.84446184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.07925415399998 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:208.89, Y:10.15, Z:5.85 [[ 9.86499879e-01 -1.48386115e-01 -6.92787852e-02 2.08888945e+02] [ 1.48069811e-01 9.88929267e-01 -9.70746834e-03 1.01537291e+01] [ 6.99522718e-02 -6.81680304e-04 9.97550107e-01 5.84601752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.10925415399998 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:208.92, Y:10.16, Z:5.85 [[ 9.86338737e-01 -1.49340262e-01 -6.95225288e-02 2.08917927e+02] [ 1.49023909e-01 9.88785581e-01 -9.74422730e-03 1.01566060e+01] [ 7.01980795e-02 -7.49410136e-04 9.97532790e-01 5.84786742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.13925415399999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:208.95, Y:10.16, Z:5.85 [[ 9.86115076e-01 -1.50886629e-01 -6.93561944e-02 2.08946671e+02] [ 1.50575417e-01 9.88550704e-01 -9.72364313e-03 1.01595849e+01] [ 7.00292826e-02 -8.54706803e-04 9.97544570e-01 5.84963202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.169254154 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:208.98, Y:10.17, Z:5.85 [[ 9.85747771e-01 -1.52706575e-01 -7.05835222e-02 2.08975197e+02] [ 1.51919494e-01 9.88256476e-01 -1.64196817e-02 1.01654475e+01] [ 7.22620162e-02 5.46265175e-03 9.97370724e-01 5.85282941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.199254154 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:209.01, Y:10.16, Z:5.85 [[ 9.84972819e-01 -1.57290988e-01 -7.13308593e-02 2.09006315e+02] [ 1.57412474e-01 9.87525042e-01 -3.95034175e-03 1.01604817e+01] [ 7.10623629e-02 -7.33738780e-03 9.97444887e-01 5.85087568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.229254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:209.03, Y:10.17, Z:5.85 [[ 9.84480458e-01 -1.60577582e-01 -7.08030290e-02 2.09034506e+02] [ 1.60277024e-01 9.87021990e-01 -9.94317861e-03 1.01656408e+01] [ 7.14807981e-02 -1.55923371e-03 9.97440757e-01 5.85435916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.259254154 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:209.06, Y:10.17, Z:5.86 [[ 9.83965903e-01 -1.63766178e-01 -7.06522597e-02 2.09064341e+02] [ 1.63474751e-01 9.86497574e-01 -9.92686462e-03 1.01684627e+01] [ 7.13239675e-02 -1.78216429e-03 9.97451611e-01 5.85588745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.289254154 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:209.09, Y:10.17, Z:5.86 [[ 9.83536180e-01 -1.66159177e-01 -7.10472470e-02 2.09093690e+02] [ 1.65870516e-01 9.86096988e-01 -9.98505510e-03 1.01703859e+01] [ 7.17185848e-02 -1.96398057e-03 9.97422973e-01 5.85612211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.31925415399996 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:209.12, Y:10.17, Z:5.86 [[ 9.82624702e-01 -1.71767420e-01 -7.03181907e-02 2.09121675e+02] [ 1.71498771e-01 9.85134737e-01 -9.88540149e-03 1.01727519e+01] [ 7.09708822e-02 -2.34584358e-03 9.97475629e-01 5.85962912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.34925415399996 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:209.15, Y:10.18, Z:5.86 [[ 9.82286074e-01 -1.73631643e-01 -7.04707171e-02 2.09152572e+02] [ 1.73366283e-01 9.84807542e-01 -9.91143482e-03 1.01763507e+01] [ 7.11210324e-02 -2.48138190e-03 9.97464607e-01 5.86170588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.37925415399997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:209.18, Y:10.18, Z:5.86 [[ 9.82037722e-01 -1.75141858e-01 -7.01943227e-02 2.09181962e+02] [ 1.74882593e-01 9.84539821e-01 -9.87017630e-03 1.01799138e+01] [ 7.08377869e-02 -2.58287973e-03 9.97484504e-01 5.86369246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.40925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:209.21, Y:10.18, Z:5.87 [[ 9.81705065e-01 -1.76834534e-01 -7.06025014e-02 2.09211094e+02] [ 1.76576521e-01 9.84236837e-01 -9.92878869e-03 1.01833298e+01] [ 7.12453354e-02 -2.71960194e-03 9.97455115e-01 5.86555648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.43925415399997 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:209.24, Y:10.19, Z:5.87 [[ 9.81684277e-01 -1.77126207e-01 -7.01590139e-02 2.09240708e+02] [ 1.76872182e-01 9.84184377e-01 -9.86623672e-03 1.01871573e+01] [ 7.07969745e-02 -2.72364842e-03 9.97487028e-01 5.86700968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.46925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:209.27, Y:10.19, Z:5.87 [[ 9.81685013e-01 -1.77099907e-01 -7.02150801e-02 2.09272173e+02] [ 1.76845336e-01 9.84189112e-01 -9.87513830e-03 1.01913101e+01] [ 7.08538034e-02 -2.72293416e-03 9.97482994e-01 5.86903446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.49925415399997 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:209.30, Y:10.20, Z:5.87 [[ 9.81702361e-01 -1.76768495e-01 -7.08051790e-02 2.09302383e+02] [ 1.76508953e-01 9.84248687e-01 -9.95552559e-03 1.01955688e+01] [ 7.14497277e-02 -2.72438502e-03 9.97440482e-01 5.87120262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.52925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:209.33, Y:10.20, Z:5.87 [[ 9.81953083e-01 -1.75709577e-01 -6.99591805e-02 2.09331091e+02] [ 1.75453526e-01 9.84438573e-01 -9.83650909e-03 1.02004877e+01] [ 7.05988846e-02 -2.61559445e-03 9.97501356e-01 5.87306887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.55925415399997 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:209.36, Y:10.20, Z:5.87 [[ 9.82259835e-01 -1.74069944e-01 -6.97514967e-02 2.09362644e+02] [ 1.73810148e-01 9.84730182e-01 -9.82344567e-03 1.02048204e+01] [ 7.03963707e-02 -2.47434187e-03 9.97516029e-01 5.87405671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.58925415399997 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:209.39, Y:10.21, Z:5.88 [[ 9.82496085e-01 -1.73143476e-01 -6.87224860e-02 2.09392302e+02] [ 1.72889207e-01 9.84893749e-01 -9.67598324e-03 1.02100580e+01] [ 6.93596802e-02 -2.37476048e-03 9.97588891e-01 5.87722383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.61925415399998 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:209.42, Y:10.21, Z:5.88 [[ 9.82747158e-01 -1.71765757e-01 -6.85897138e-02 2.09422724e+02] [ 1.71509217e-01 9.85135195e-01 -9.65592245e-03 1.02147121e+01] [ 6.92286979e-02 -2.27443778e-03 9.97598223e-01 5.87947884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.64925415399998 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:209.45, Y:10.22, Z:5.88 [[ 9.83390801e-01 -1.67875867e-01 -6.89943923e-02 2.09452116e+02] [ 1.67606910e-01 9.85806083e-01 -9.71032691e-03 1.02198036e+01] [ 6.96452212e-02 -2.01489073e-03 9.97569789e-01 5.88171412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.67925415399998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:209.48, Y:10.22, Z:5.88 [[ 9.83725824e-01 -1.65746540e-01 -6.93656131e-02 2.09480831e+02] [ 1.65469482e-01 9.86166602e-01 -9.76131993e-03 1.02246894e+01] [ 7.00239560e-02 -1.87542958e-03 9.97543547e-01 5.88383635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.70925415399998 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:209.51, Y:10.23, Z:5.89 [[ 9.84036199e-01 -1.63747702e-01 -6.97097449e-02 2.09510363e+02] [ 1.63462898e-01 9.86500712e-01 -9.80947006e-03 1.02297312e+01] [ 7.03749911e-02 -1.74208326e-03 9.97519085e-01 5.88590992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.73925415399998 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:209.54, Y:10.23, Z:5.89 [[ 9.84555967e-01 -1.60096526e-01 -7.08424316e-02 2.09538155e+02] [ 1.59792923e-01 9.87100217e-01 -9.96916429e-03 1.02346062e+01] [ 7.15246081e-02 -1.50491903e-03 9.97437700e-01 5.88782575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.76925415399998 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:209.57, Y:10.24, Z:5.89 [[ 9.84783501e-01 -1.58477045e-01 -7.13195805e-02 2.09567326e+02] [ 1.58164816e-01 9.87361679e-01 -1.00401743e-02 1.02388779e+01] [ 7.20093579e-02 -1.39285032e-03 9.97402984e-01 5.88948516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.79925415399998 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:209.60, Y:10.24, Z:5.89 [[ 9.84898752e-01 -1.57492038e-01 -7.19076257e-02 2.09596315e+02] [ 1.57171817e-01 9.87519363e-01 -1.01256375e-02 1.02434033e+01] [ 7.26048800e-02 -1.32912448e-03 9.97359897e-01 5.89159555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.82925415399998 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:209.63, Y:10.25, Z:5.89 [[ 9.85011905e-01 -1.56590008e-01 -7.23264595e-02 2.09625837e+02] [ 1.56263416e-01 9.87662879e-01 -1.01873129e-02 1.02475356e+01] [ 7.30293906e-02 -1.26735521e-03 9.97328984e-01 5.89353985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.85925415399998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:209.65, Y:10.25, Z:5.90 [[ 9.85074860e-01 -1.56248591e-01 -7.22073263e-02 2.09653989e+02] [ 1.55921954e-01 9.87716987e-01 -1.01733546e-02 1.02511592e+01] [ 7.29099751e-02 -1.23719149e-03 9.97337759e-01 5.89532493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.88925415399999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:209.68, Y:10.25, Z:5.90 [[ 9.85008443e-01 -1.56761311e-01 -7.20018009e-02 2.09682024e+02] [ 1.56437511e-01 9.87635706e-01 -1.01497339e-02 1.02549635e+01] [ 7.27026350e-02 -1.26620895e-03 9.97352858e-01 5.89732845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.919254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:209.71, Y:10.26, Z:5.90 [[ 9.84933485e-01 -1.57334955e-01 -7.17756356e-02 2.09709500e+02] [ 1.57013451e-01 9.87544457e-01 -1.01351584e-02 1.02587406e+01] [ 7.24762458e-02 -1.28728337e-03 9.97369308e-01 5.89918947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.949254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:209.74, Y:10.26, Z:5.90 [[ 9.84870150e-01 -1.58064577e-01 -7.10378550e-02 2.09737790e+02] [ 1.57751022e-01 9.87427895e-01 -1.00383102e-02 1.02622549e+01] [ 7.17314609e-02 -1.31986217e-03 9.97423108e-01 5.90112346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.979254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:209.77, Y:10.27, Z:5.90 [[ 9.84652544e-01 -1.59857402e-01 -7.00355486e-02 2.09767080e+02] [ 1.59555988e-01 9.87139105e-01 -9.91330136e-03 1.02653888e+01] [ 7.07195434e-02 -1.41343376e-03 9.97495237e-01 5.90327421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.009254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:209.80, Y:10.27, Z:5.91 [[ 9.84505610e-01 -1.60965938e-01 -6.95605532e-02 2.09796344e+02] [ 1.60671183e-01 9.86958852e-01 -9.84863398e-03 1.02687103e+01] [ 7.02386983e-02 -1.48034099e-03 9.97529114e-01 5.90512704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.039254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:209.82, Y:10.27, Z:5.91 [[ 9.84338244e-01 -1.62006446e-01 -6.95135386e-02 2.09824915e+02] [ 1.61714488e-01 9.86788481e-01 -9.84469256e-03 1.02715899e+01] [ 7.01900628e-02 -1.55083892e-03 9.97532431e-01 5.90717696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.06925415399996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:209.85, Y:10.27, Z:5.91 [[ 9.83932166e-01 -1.64853659e-01 -6.85621179e-02 2.09854584e+02] [ 1.64576211e-01 9.86316529e-01 -9.71470230e-03 1.02731122e+01] [ 6.92254544e-02 -1.72508554e-03 9.97599549e-01 5.90890389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.09925415399996 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:209.88, Y:10.28, Z:5.91 [[ 9.83677937e-01 -1.66427665e-01 -6.84072244e-02 2.09884642e+02] [ 1.66155100e-01 9.86051969e-01 -9.69518473e-03 1.02760808e+01] [ 6.90666253e-02 -1.82926993e-03 9.97610372e-01 5.91137502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.12925415399997 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:209.91, Y:10.28, Z:5.91 [[ 9.83390262e-01 -1.68273449e-01 -6.80267499e-02 2.09914418e+02] [ 1.68008317e-01 9.85738430e-01 -9.64124981e-03 1.02788657e+01] [ 6.86789480e-02 -1.94794857e-03 9.97636912e-01 5.91326052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.15925415399997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:209.95, Y:10.28, Z:5.92 [[ 9.83010894e-01 -1.70617765e-01 -6.76694967e-02 2.09945259e+02] [ 1.70360971e-01 9.85335052e-01 -9.59034520e-03 1.02817898e+01] [ 6.83134103e-02 -2.10082736e-03 9.97661698e-01 5.91500047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.18925415399997 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:209.98, Y:10.28, Z:5.92 [[ 9.81895238e-01 -1.76635032e-01 -6.84237306e-02 2.09975297e+02] [ 1.76387035e-01 9.84273121e-01 -9.69729554e-03 1.02828056e+01] [ 6.90605210e-02 -2.54733063e-03 9.97609220e-01 5.91600554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.21925415399997 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:210.00, Y:10.29, Z:5.92 [[ 9.81224952e-01 -1.80220022e-01 -6.86901621e-02 2.10004064e+02] [ 1.79978699e-01 9.83622314e-01 -9.73711818e-03 1.02852716e+01] [ 6.93199999e-02 -2.80846272e-03 9.97590522e-01 5.91708454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.24925415399997 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:210.03, Y:10.29, Z:5.92 [[ 9.80451745e-01 -1.84115659e-01 -6.93959656e-02 2.10031555e+02] [ 1.83877841e-01 9.82899702e-01 -9.85471188e-03 1.02875107e+01] [ 7.00236807e-02 -3.09831084e-03 9.97540518e-01 5.91842123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.27925415399997 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:210.06, Y:10.29, Z:5.92 [[ 9.79724557e-01 -1.87915264e-01 -6.94812652e-02 2.10061307e+02] [ 1.87685062e-01 9.82179512e-01 -9.88551390e-03 1.02904416e+01] [ 7.01007141e-02 -3.35551482e-03 9.97534275e-01 5.91951666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.30925415399997 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:210.09, Y:10.29, Z:5.92 [[ 9.78320799e-01 -1.94709026e-01 -7.05465131e-02 2.10091247e+02] [ 1.94489092e-01 9.80853301e-01 -1.00397170e-02 1.02932706e+01] [ 7.11506037e-02 -3.89846326e-03 9.97457966e-01 5.92140506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.33925415399997 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:210.12, Y:10.30, Z:5.92 [[ 9.77807133e-01 -1.97313824e-01 -7.04305736e-02 2.10120515e+02] [ 1.97101151e-01 9.80331893e-01 -1.00258050e-02 1.02971547e+01] [ 7.10235674e-02 -4.07864349e-03 9.97466299e-01 5.92319024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.36925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:210.15, Y:10.30, Z:5.93 [[ 9.77390884e-01 -1.99284245e-01 -7.06600925e-02 2.10148559e+02] [ 1.99075114e-01 9.79932585e-01 -1.00611832e-02 1.03011482e+01] [ 7.12471624e-02 -4.23295723e-03 9.97449710e-01 5.92530602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.39925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:210.18, Y:10.31, Z:5.93 [[ 9.76975184e-01 -2.01187879e-01 -7.10135699e-02 2.10178185e+02] [ 2.00981395e-01 9.79542834e-01 -1.01151160e-02 1.03064745e+01] [ 7.15958722e-02 -4.39018898e-03 9.97424061e-01 5.92768480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.42925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:210.21, Y:10.31, Z:5.93 [[ 9.76978882e-01 -2.01169915e-01 -7.10135847e-02 2.10208813e+02] [ 2.00963390e-01 9.79546529e-01 -1.01150115e-02 1.03108388e+01] [ 7.15959464e-02 -4.38897814e-03 9.97424061e-01 5.92973113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.45925415399998 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:210.24, Y:10.32, Z:5.93 [[ 9.77744986e-01 -1.99998277e-01 -6.33674334e-02 2.10241171e+02] [ 1.98607730e-01 9.79690474e-01 -2.75961198e-02 1.03216238e+01] [ 6.75996472e-02 1.43967057e-02 9.97608652e-01 5.92967335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.48925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:210.27, Y:10.31, Z:5.93 [[ 9.77004068e-01 -2.00099434e-01 -7.36428322e-02 2.10269560e+02] [ 2.01287762e-01 9.79490726e-01 9.00864067e-03 1.03115469e+01] [ 7.03298473e-02 -2.36248794e-02 9.97243991e-01 5.92879017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.51925415399998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:210.30, Y:10.33, Z:5.93 [[ 9.77288452e-01 -1.99805046e-01 -7.06061209e-02 2.10298712e+02] [ 1.99595783e-01 9.79826486e-01 -1.00787591e-02 1.03261121e+01] [ 7.11955342e-02 -4.24282913e-03 9.97453354e-01 5.93480363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.54925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:210.33, Y:10.33, Z:5.94 [[ 9.77424975e-01 -1.99351160e-01 -6.99966642e-02 2.10328642e+02] [ 1.99144507e-01 9.79919221e-01 -9.98930747e-03 1.03316992e+01] [ 7.05824567e-02 -4.17565260e-03 9.97497208e-01 5.93717166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.57925415399998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:210.36, Y:10.34, Z:5.94 [[ 9.77561591e-01 -1.98610400e-01 -7.01943341e-02 2.10359009e+02] [ 1.98400690e-01 9.80069803e-01 -1.00173408e-02 1.03371378e+01] [ 7.07848953e-02 -4.13403674e-03 9.97483037e-01 5.93937014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.60925415399998 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:210.39, Y:10.34, Z:5.94 [[ 9.77723049e-01 -1.97731853e-01 -7.04255218e-02 2.10388214e+02] [ 1.97518669e-01 9.80247630e-01 -1.00478509e-02 1.03425458e+01] [ 7.10212310e-02 -4.08633989e-03 9.97466434e-01 5.94127888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.63925415399999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:210.42, Y:10.35, Z:5.94 [[ 9.78109420e-01 -1.95784076e-01 -7.05021868e-02 2.10418902e+02] [ 1.95565413e-01 9.80639076e-01 -1.00584590e-02 1.03500791e+01] [ 7.11064853e-02 -3.94951579e-03 9.97460911e-01 5.94390737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.669254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:210.45, Y:10.36, Z:5.95 [[ 9.78360877e-01 -1.94508442e-01 -7.05440253e-02 2.10448383e+02] [ 1.94286402e-01 9.80893243e-01 -1.00618322e-02 1.03559338e+01] [ 7.11532691e-02 -3.86164188e-03 9.97457919e-01 5.94647756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.699254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:210.48, Y:10.36, Z:5.95 [[ 9.78681745e-01 -1.93006824e-01 -7.02168638e-02 2.10478765e+02] [ 1.92783088e-01 9.81190300e-01 -1.00137598e-02 1.03620748e+01] [ 7.08288297e-02 -3.73633993e-03 9.97481487e-01 5.94858162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.729254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:210.51, Y:10.37, Z:5.95 [[ 9.79030129e-01 -1.91302586e-01 -7.00237556e-02 2.10508338e+02] [ 1.91075915e-01 9.81524488e-01 -9.98368927e-03 1.03679328e+01] [ 7.06399364e-02 -3.60552058e-03 9.97495363e-01 5.95058035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.759254154 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:210.54, Y:10.38, Z:5.95 [[ 9.79802852e-01 -1.87103211e-01 -7.05603235e-02 2.10536893e+02] [ 1.86862277e-01 9.82334620e-01 -1.00590530e-02 1.03751826e+01] [ 7.11959296e-02 -3.32917388e-03 9.97456794e-01 5.95264882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.789254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:210.57, Y:10.38, Z:5.95 [[ 9.80310410e-01 -1.84404888e-01 -7.06140078e-02 2.10567568e+02] [ 1.84156536e-01 9.82845365e-01 -1.00676937e-02 1.03812390e+01] [ 7.12591822e-02 -3.13456618e-03 9.97452908e-01 5.95473107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.81925415399996 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:210.60, Y:10.39, Z:5.96 [[ 9.80805263e-01 -1.81805315e-01 -7.04830686e-02 2.10597026e+02] [ 1.81551381e-01 9.83330142e-01 -1.00463174e-02 1.03874612e+01] [ 7.11345997e-02 -2.94281752e-03 9.97462385e-01 5.95664549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.84925415399996 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:210.63, Y:10.40, Z:5.96 [[ 9.81790012e-01 -1.75953228e-01 -7.16158743e-02 2.10627337e+02] [ 1.75675825e-01 9.84395190e-01 -1.02036284e-02 1.03955774e+01] [ 7.22936836e-02 -2.56335737e-03 9.97380094e-01 5.95872181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.87925415399997 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:210.66, Y:10.40, Z:5.96 [[ 9.82352862e-01 -1.72718701e-01 -7.17712036e-02 2.10656316e+02] [ 1.72431643e-01 9.84968431e-01 -1.02234608e-02 1.04013859e+01] [ 7.24581526e-02 -2.33258061e-03 9.97368726e-01 5.96013647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.90925415399997 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:210.69, Y:10.41, Z:5.96 [[ 9.82948935e-01 -1.69181214e-01 -7.20354588e-02 2.10686072e+02] [ 1.68882466e-01 9.85582771e-01 -1.02623015e-02 1.04072753e+01] [ 7.27330957e-02 -2.07820759e-03 9.97349276e-01 5.96211731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.93925415399997 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:210.71, Y:10.41, Z:5.96 [[ 9.84119385e-01 -1.61770082e-01 -7.30717224e-02 2.10714274e+02] [ 1.61442246e-01 9.86827255e-01 -1.04100655e-02 1.04147919e+01] [ 7.37932044e-02 -1.55211576e-03 9.97272357e-01 5.96450936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.96925415399997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:210.74, Y:10.42, Z:5.97 [[ 9.84739805e-01 -1.58039974e-01 -7.28758061e-02 2.10743364e+02] [ 1.57703586e-01 9.87431901e-01 -1.03836027e-02 1.04204407e+01] [ 7.36009200e-02 -1.26762903e-03 9.97286969e-01 5.96641189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.99925415399997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:210.77, Y:10.43, Z:5.97 [[ 9.85383226e-01 -1.54174874e-01 -7.24569318e-02 2.10771855e+02] [ 1.53831701e-01 9.88043100e-01 -1.03267214e-02 1.04261420e+01] [ 7.31826925e-02 -9.70395075e-04 9.97318080e-01 5.96858752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.02925415399997 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:210.80, Y:10.43, Z:5.97 [[ 9.85992142e-01 -1.50369461e-01 -7.21700878e-02 2.10801255e+02] [ 1.50018555e-01 9.88629638e-01 -1.02894429e-02 1.04321045e+01] [ 7.28967057e-02 -6.81542428e-04 9.97339263e-01 5.97098807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.05925415399997 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:210.83, Y:10.44, Z:5.97 [[ 9.86573524e-01 -1.46588945e-01 -7.20025249e-02 2.10829830e+02] [ 1.46229590e-01 9.89197412e-01 -1.02657958e-02 1.04377722e+01] [ 7.27295635e-02 -4.00937344e-04 9.97351618e-01 5.97333770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.08925415399997 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:210.86, Y:10.44, Z:5.98 [[ 9.87079884e-01 -1.43321791e-01 -7.16391435e-02 2.10859164e+02] [ 1.42957268e-01 9.89676129e-01 -1.02166489e-02 1.04432201e+01] [ 7.23638186e-02 -1.56687604e-04 9.97378290e-01 5.97559845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.11925415399998 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:210.89, Y:10.45, Z:5.98 [[ 9.87852459e-01 -1.38054607e-01 -7.13333362e-02 2.10888400e+02] [ 1.37679278e-01 9.90424592e-01 -1.01756680e-02 1.04487942e+01] [ 7.20550882e-02 2.30936421e-04 9.97400627e-01 5.97787048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.14925415399998 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:210.92, Y:10.45, Z:5.98 [[ 9.88054503e-01 -1.36824902e-01 -7.09030774e-02 2.10916352e+02] [ 1.36450659e-01 9.90595196e-01 -1.01180654e-02 1.04531556e+01] [ 7.16206511e-02 3.22428438e-04 9.97431892e-01 5.97957109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.17925415399998 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:210.94, Y:10.46, Z:5.98 [[ 9.88148857e-01 -1.36235929e-01 -7.07220444e-02 2.10944157e+02] [ 1.35860845e-01 9.90676348e-01 -1.01096236e-02 1.04569939e+01] [ 7.14399506e-02 3.81456250e-04 9.97444830e-01 5.98133673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.20925415399998 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:210.97, Y:10.46, Z:5.98 [[ 9.88047264e-01 -1.37052570e-01 -7.05634247e-02 2.10972168e+02] [ 1.36680528e-01 9.90563720e-01 -1.00970387e-02 1.04599261e+01] [ 7.12813936e-02 3.31705312e-04 9.97456191e-01 5.98285958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.23925415399998 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:211.00, Y:10.46, Z:5.99 [[ 9.87908502e-01 -1.37917079e-01 -7.08214062e-02 2.10999377e+02] [ 1.37543130e-01 9.90443737e-01 -1.01534121e-02 1.04633603e+01] [ 7.15449472e-02 2.89644203e-04 9.97437335e-01 5.98504158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.26925415399998 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:211.03, Y:10.47, Z:5.99 [[ 9.87703489e-01 -1.39492403e-01 -7.05952292e-02 2.11025896e+02] [ 1.39124399e-01 9.90223125e-01 -1.01274440e-02 1.04668482e+01] [ 7.13177300e-02 1.81392952e-04 9.97453632e-01 5.98600294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.29925415399998 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:211.05, Y:10.47, Z:5.99 [[ 9.87371264e-01 -1.41440193e-01 -7.13628704e-02 2.11053522e+02] [ 1.41068498e-01 9.89946801e-01 -1.02474223e-02 1.04703828e+01] [ 7.20948426e-02 5.09573296e-05 9.97397780e-01 5.98871846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.32925415399998 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:211.08, Y:10.47, Z:5.99 [[ 9.86725489e-01 -1.45634114e-01 -7.18575920e-02 2.11082422e+02] [ 1.45266874e-01 9.89338490e-01 -1.03386047e-02 1.04724823e+01] [ 7.25971352e-02 -2.37162936e-04 9.97361319e-01 5.99007668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.35925415399998 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:211.11, Y:10.48, Z:5.99 [[ 9.86478571e-01 -1.47369705e-01 -7.17091258e-02 2.11111745e+02] [ 1.47007359e-01 9.89081417e-01 -1.03338002e-02 1.04754257e+01] [ 7.24490529e-02 -3.47696713e-04 9.97372054e-01 5.99182029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.38925415399999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:211.14, Y:10.48, Z:5.99 [[ 9.86197451e-01 -1.49224785e-01 -7.17394715e-02 2.11141363e+02] [ 1.48866836e-01 9.88803182e-01 -1.03408567e-02 1.04784885e+01] [ 7.24793298e-02 -4.81501644e-04 9.97369798e-01 5.99373948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.419254154 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:211.17, Y:10.48, Z:6.00 [[ 9.85944552e-01 -1.50870072e-01 -7.17743857e-02 2.11169655e+02] [ 1.50515921e-01 9.88553419e-01 -1.03487242e-02 1.04812366e+01] [ 7.25141271e-02 -5.99919571e-04 9.97367205e-01 5.99543482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.449254154 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:211.20, Y:10.48, Z:6.00 [[ 9.85549280e-01 -1.53647670e-01 -7.13092555e-02 2.11199651e+02] [ 1.53305076e-01 9.88125377e-01 -1.02855460e-02 1.04830529e+01] [ 7.20428352e-02 -7.95158440e-04 9.97401222e-01 5.99737047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.479254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:211.23, Y:10.49, Z:6.00 [[ 9.85351563e-01 -1.55038463e-01 -7.10307776e-02 2.11229410e+02] [ 1.54701959e-01 9.87908033e-01 -1.02480383e-02 1.04860606e+01] [ 7.17607159e-02 -8.90679872e-04 9.97421479e-01 5.99868607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.509254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:211.26, Y:10.49, Z:6.00 [[ 9.85081962e-01 -1.56835855e-01 -7.08240329e-02 2.11258752e+02] [ 1.56505756e-01 9.87624161e-01 -1.02208519e-02 1.04892472e+01] [ 7.15505221e-02 -1.01599203e-03 9.97436459e-01 6.00117834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.539254154 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:211.29, Y:10.50, Z:6.00 [[ 9.85698810e-01 -1.57563385e-01 -5.97631574e-02 2.11291868e+02] [ 1.55407195e-01 9.87072981e-01 -3.91858915e-02 1.05028791e+01] [ 6.51648596e-02 2.93378620e-02 9.97443147e-01 6.00319848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.56925415399996 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:211.33, Y:10.49, Z:6.00 [[ 9.84913276e-01 -1.60139078e-01 -6.55844125e-02 2.11325035e+02] [ 1.60250444e-01 9.87069847e-01 -3.59332252e-03 1.04868957e+01] [ 6.53118274e-02 -6.97082017e-03 9.97840555e-01 5.99585205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.59925415399996 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:211.35, Y:10.48, Z:6.00 [[ 9.83534016e-01 -1.64526758e-01 -7.47782460e-02 2.11351687e+02] [ 1.66130894e-01 9.85978392e-01 1.57205697e-02 1.04837311e+01] [ 7.11432804e-02 -2.78846919e-02 9.97076265e-01 6.00055623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.62925415399997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:211.38, Y:10.50, Z:6.01 [[ 9.83039324e-01 -1.69074030e-01 -7.10468807e-02 2.11377935e+02] [ 1.68770705e-01 9.85601579e-01 -1.02944839e-02 1.04987700e+01] [ 7.17644477e-02 -1.87074965e-03 9.97419854e-01 6.00925151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.65925415399997 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:211.41, Y:10.50, Z:6.01 [[ 9.81876720e-01 -1.75189433e-01 -7.22963997e-02 2.11407462e+02] [ 1.74891574e-01 9.84531929e-01 -1.04794382e-02 1.05000122e+01] [ 7.30140007e-02 -2.35451472e-03 9.97328137e-01 6.01164400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.68925415399997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:211.44, Y:10.50, Z:6.01 [[ 9.81243822e-01 -1.78373783e-01 -7.30982567e-02 2.11436184e+02] [ 1.78077872e-01 9.83959320e-01 -1.05985390e-02 1.05023266e+01] [ 7.38162124e-02 -2.61743106e-03 9.97268427e-01 6.01173413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.71925415399997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:211.46, Y:10.50, Z:6.01 [[ 9.79620059e-01 -1.86690725e-01 -7.41020531e-02 2.11463328e+02] [ 1.86409840e-01 9.82413254e-01 -1.07503605e-02 1.05046511e+01] [ 7.48058317e-02 -3.28208304e-03 9.97192717e-01 6.01466558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.74925415399997 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:211.49, Y:10.51, Z:6.02 [[ 9.79564648e-01 -1.86982586e-01 -7.40986735e-02 2.11491348e+02] [ 1.86700778e-01 9.82357750e-01 -1.07736076e-02 1.05089139e+01] [ 7.48058832e-02 -3.28083482e-03 9.97192718e-01 6.01656951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.77925415399997 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:211.52, Y:10.51, Z:6.02 [[ 9.78048683e-01 -1.94808249e-01 -7.39629632e-02 2.11518478e+02] [ 1.94548151e-01 9.80833786e-01 -1.07749936e-02 1.05107167e+01] [ 7.46444308e-02 -3.85088944e-03 9.97202778e-01 6.01820352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.80925415399997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:211.55, Y:10.51, Z:6.02 [[ 9.77336599e-01 -1.98274142e-01 -7.41655972e-02 2.11547458e+02] [ 1.98021827e-01 9.80137955e-01 -1.08140951e-02 1.05140752e+01] [ 7.48366723e-02 -4.11739614e-03 9.97187304e-01 6.02007315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.83925415399997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:211.58, Y:10.52, Z:6.02 [[ 9.76729672e-01 -2.01295781e-01 -7.40213299e-02 2.11576152e+02] [ 2.01052881e-01 9.79520899e-01 -1.07956673e-02 1.05177304e+01] [ 7.46785619e-02 -4.33775312e-03 9.97198223e-01 6.02225905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.86925415399998 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:211.60, Y:10.52, Z:6.02 [[ 9.75751847e-01 -2.05805928e-01 -7.45134376e-02 2.11604449e+02] [ 2.05572733e-01 9.78581480e-01 -1.08691325e-02 1.05217385e+01] [ 7.51544019e-02 -4.71235482e-03 9.97160774e-01 6.02397720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.89925415399998 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:211.63, Y:10.53, Z:6.03 [[ 9.75380178e-01 -2.07416489e-01 -7.49126732e-02 2.11632414e+02] [ 2.07185066e-01 9.78240672e-01 -1.09332537e-02 1.05261820e+01] [ 7.55503609e-02 -4.85670822e-03 9.97130160e-01 6.02557166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.92925415399998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:211.66, Y:10.52, Z:6.03 [[ 9.74374867e-01 -2.08538758e-01 -8.42923825e-02 2.11663297e+02] [ 2.10533032e-01 9.77465328e-01 1.54069591e-02 1.05209628e+01] [ 7.91799332e-02 -3.27584846e-02 9.96321946e-01 6.03104024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.95925415399998 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:211.69, Y:10.54, Z:6.04 [[ 9.74402393e-01 -2.10770922e-01 -7.82022683e-02 2.11691545e+02] [ 2.10086286e-01 9.77535476e-01 -1.69748712e-02 1.05419979e+01] [ 8.00233008e-02 1.11130998e-04 9.96792987e-01 6.04068771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.98925415399998 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:211.72, Y:10.54, Z:6.04 [[ 9.74280891e-01 -2.10661860e-01 -7.99895406e-02 2.11721588e+02] [ 2.10593165e-01 9.77528692e-01 -9.39018047e-03 1.05446729e+01] [ 8.01702239e-02 -7.69657712e-03 9.96751472e-01 6.04206822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.01925415399998 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:211.75, Y:10.55, Z:6.04 [[ 9.74278216e-01 -2.10308828e-01 -8.09453791e-02 2.11752271e+02] [ 2.10475344e-01 9.77577110e-01 -6.56682324e-03 1.05492650e+01] [ 8.05114106e-02 -1.06390937e-02 9.96696906e-01 6.04374731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.04925415399998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:211.78, Y:10.57, Z:6.05 [[ 9.75197193e-01 -2.09063045e-01 -7.26847860e-02 2.11781719e+02] [ 2.07352999e-01 9.77793392e-01 -3.04107906e-02 1.05666429e+01] [ 7.74284760e-02 1.45851092e-02 9.96891221e-01 6.04832490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.07925415399998 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:211.81, Y:10.56, Z:6.05 [[ 9.74954063e-01 -2.07341337e-01 -8.04620730e-02 2.11813706e+02] [ 2.08315920e-01 9.78054130e-01 3.82045364e-03 1.05576805e+01] [ 7.79041249e-02 -2.04862976e-02 9.96750349e-01 6.04572767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.10925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:211.84, Y:10.58, Z:6.05 [[ 9.76138748e-01 -2.06481624e-01 -6.72196677e-02 2.11843203e+02] [ 2.04267487e-01 9.78162825e-01 -3.83703209e-02 1.05810121e+01] [ 7.36745463e-02 2.37239644e-02 9.97000118e-01 6.05017636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.13925415399999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:211.88, Y:10.58, Z:6.04 [[ 9.76629782e-01 -2.02733001e-01 -7.13694615e-02 2.11876748e+02] [ 2.02511092e-01 9.79224662e-01 -1.04076825e-02 1.05758046e+01] [ 7.19967175e-02 -4.28865487e-03 9.97395649e-01 6.04437708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.169254154 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:211.91, Y:10.59, Z:6.05 [[ 9.76958619e-01 -2.01980253e-01 -6.89625530e-02 2.11909635e+02] [ 2.01121895e-01 9.79377185e-01 -1.92435214e-02 1.05864091e+01] [ 7.14271623e-02 4.93024479e-03 9.97433633e-01 6.04781132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.199254154 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:211.94, Y:10.58, Z:6.05 [[ 9.77040836e-01 -2.00054350e-01 -7.32766161e-02 2.11939700e+02] [ 2.00525948e-01 9.79687942e-01 -9.38838975e-04 1.05839510e+01] [ 7.19760361e-02 -1.37765789e-02 9.97311213e-01 6.04595446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.229254154 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:211.97, Y:10.60, Z:6.05 [[ 9.77590471e-01 -1.97594149e-01 -7.26183433e-02 2.11969697e+02] [ 1.97351104e-01 9.80275795e-01 -1.05786434e-02 1.05966167e+01] [ 7.32762822e-02 -3.98972924e-03 9.97303699e-01 6.05042951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.259254154 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:212.00, Y:10.60, Z:6.05 [[ 9.77939221e-01 -1.95753080e-01 -7.29082463e-02 2.12000685e+02] [ 1.95503392e-01 9.80645571e-01 -1.06154935e-02 1.06030387e+01] [ 7.35751643e-02 -3.87250203e-03 9.97282156e-01 6.05258454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.289254154 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:212.03, Y:10.61, Z:6.05 [[ 9.78373789e-01 -1.93252476e-01 -7.37442155e-02 2.12032205e+02] [ 1.92990279e-01 9.81141967e-01 -1.07328276e-02 1.06094849e+01] [ 7.44276902e-02 -3.73119947e-03 9.97219433e-01 6.05350464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.31925415399996 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:212.06, Y:10.62, Z:6.06 [[ 9.78798920e-01 -1.91286875e-01 -7.32257129e-02 2.12063249e+02] [ 1.91023273e-01 9.81527710e-01 -1.06519327e-02 1.06165630e+01] [ 7.39106412e-02 -3.56171509e-03 9.97258508e-01 6.05733098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.34925415399996 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:212.10, Y:10.62, Z:6.06 [[ 9.78816290e-01 -1.91197667e-01 -7.32265126e-02 2.12095547e+02] [ 1.90934226e-01 9.81545096e-01 -1.06464322e-02 1.06211968e+01] [ 7.39106973e-02 -3.56054628e-03 9.97258508e-01 6.05945008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.37925415399997 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:212.13, Y:10.63, Z:6.06 [[ 9.79867310e-01 -1.85543210e-01 -7.37141247e-02 2.12126639e+02] [ 1.85260788e-01 9.82631021e-01 -1.07106185e-02 1.06296427e+01] [ 7.44210681e-02 -3.16135193e-03 9.97221896e-01 6.06111027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.40925415399997 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:212.16, Y:10.64, Z:6.06 [[ 9.80348309e-01 -1.83014367e-01 -7.36405787e-02 2.12158563e+02] [ 1.82725799e-01 9.83105747e-01 -1.06944830e-02 1.06361444e+01] [ 7.43537202e-02 -2.97171526e-03 9.97227503e-01 6.06382341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.43925415399997 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:212.19, Y:10.64, Z:6.07 [[ 9.80924141e-01 -1.79678377e-01 -7.41856488e-02 2.12189392e+02] [ 1.79376400e-01 9.83721582e-01 -1.07683390e-02 1.06420581e+01] [ 7.49128614e-02 -2.74423089e-03 9.97186308e-01 6.06568697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.46925415399997 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:212.22, Y:10.65, Z:6.07 [[ 9.82089020e-01 -1.72912300e-01 -7.48498026e-02 2.12219989e+02] [ 1.72585578e-01 9.84934650e-01 -1.08606173e-02 1.06499557e+01] [ 7.56000984e-02 -2.25190344e-03 9.97135675e-01 6.06750600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.49925415399997 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:212.25, Y:10.66, Z:6.07 [[ 9.82751436e-01 -1.69023985e-01 -7.50367021e-02 2.12250298e+02] [ 1.68684577e-01 9.85609987e-01 -1.08842427e-02 1.06560849e+01] [ 7.57966211e-02 -1.96102918e-03 9.97121370e-01 6.06962564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.52925415399997 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:212.28, Y:10.66, Z:6.07 [[ 9.83443943e-01 -1.64945539e-01 -7.50398585e-02 2.12278739e+02] [ 1.64594247e-01 9.86301302e-01 -1.08846798e-02 1.06619008e+01] [ 7.58072895e-02 -1.64665657e-03 9.97121128e-01 6.07153082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.55925415399997 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:212.31, Y:10.67, Z:6.07 [[ 9.84131875e-01 -1.60834169e-01 -7.49454663e-02 2.12308349e+02] [ 1.60471862e-01 9.86980550e-01 -1.08708658e-02 1.06678071e+01] [ 7.57181242e-02 -1.32827303e-03 9.97128378e-01 6.07416676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.58925415399997 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:212.34, Y:10.67, Z:6.08 [[ 9.85534840e-01 -1.52774976e-01 -7.33545206e-02 2.12337191e+02] [ 1.52405586e-01 9.88260758e-01 -1.06400919e-02 1.06744581e+01] [ 7.41189339e-02 -6.93457419e-04 9.97249168e-01 6.07687827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.61925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:212.37, Y:10.68, Z:6.08 [[ 9.86211579e-01 -1.49080538e-01 -7.18450791e-02 2.12366577e+02] [ 1.48716399e-01 9.88824973e-01 -1.04213669e-02 1.06793040e+01] [ 7.25958314e-02 -4.06868820e-04 9.97361359e-01 6.07917145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.64925415399998 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:212.40, Y:10.68, Z:6.08 [[ 9.86721935e-01 -1.45991196e-01 -7.11785986e-02 2.12397836e+02] [ 1.45625619e-01 9.89285874e-01 -1.03266338e-02 1.06840818e+01] [ 7.19235797e-02 -1.75911386e-04 9.97410130e-01 6.08130847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.67925415399998 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:212.43, Y:10.69, Z:6.08 [[ 9.87440385e-01 -1.41583726e-01 -7.01108800e-02 2.12429015e+02] [ 1.41218125e-01 9.89926274e-01 -1.01691893e-02 1.06883872e+01] [ 7.08443940e-02 1.40541172e-04 9.97487369e-01 6.08362712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.70925415399998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:212.46, Y:10.69, Z:6.09 [[ 9.87659222e-01 -1.40342896e-01 -6.95207366e-02 2.12459800e+02] [ 1.39980539e-01 9.90102935e-01 -1.00810599e-02 1.06922747e+01] [ 7.02474905e-02 2.25101632e-04 9.97529568e-01 6.08517833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.73925415399998 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:212.49, Y:10.70, Z:6.09 [[ 9.87692715e-01 -1.39970614e-01 -6.97948949e-02 2.12490306e+02] [ 1.39604629e-01 9.90155626e-01 -1.01184596e-02 1.06960109e+01] [ 7.05240949e-02 2.50238409e-04 9.97510045e-01 6.08687102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.76925415399998 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:212.52, Y:10.70, Z:6.09 [[ 9.87633295e-01 -1.40344225e-01 -6.98854218e-02 2.12520104e+02] [ 1.39978215e-01 9.90102746e-01 -1.01316868e-02 1.06991895e+01] [ 7.06156718e-02 2.23954631e-04 9.97503572e-01 6.08831100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.79925415399998 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:212.55, Y:10.70, Z:6.09 [[ 9.87090548e-01 -1.43431621e-01 -7.12714521e-02 2.12549096e+02] [ 1.43058850e-01 9.89660230e-01 -1.03341919e-02 1.07002502e+01] [ 7.20167716e-02 4.77117160e-06 9.97403421e-01 6.08904280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.82925415399998 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:212.58, Y:10.70, Z:6.09 [[ 9.86715534e-01 -1.45754970e-01 -7.17491751e-02 2.12578633e+02] [ 1.45383038e-01 9.89320708e-01 -1.04071987e-02 1.07026594e+01] [ 7.24998456e-02 -1.62168478e-04 9.97368410e-01 6.09032629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.85925415399998 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:212.61, Y:10.71, Z:6.09 [[ 9.86298729e-01 -1.48356031e-01 -7.21477968e-02 2.12607815e+02] [ 1.47986708e-01 9.88933953e-01 -1.04675978e-02 1.07050494e+01] [ 7.29023372e-02 -3.52736561e-04 9.97339022e-01 6.09191115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.88925415399999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:212.64, Y:10.71, Z:6.09 [[ 9.85465031e-01 -1.53954454e-01 -7.18101629e-02 2.12638654e+02] [ 1.53603241e-01 9.88077653e-01 -1.04209838e-02 1.07056220e+01] [ 7.25583740e-02 -7.60758691e-04 9.97363877e-01 6.09342276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.919254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:212.67, Y:10.71, Z:6.10 [[ 9.85067515e-01 -1.56551978e-01 -7.16482360e-02 2.12668445e+02] [ 1.56209218e-01 9.87669264e-01 -1.03973466e-02 1.07080598e+01] [ 7.23924858e-02 -9.50026484e-04 9.97375769e-01 6.09564595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.949254154 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:212.70, Y:10.71, Z:6.10 [[ 9.84689955e-01 -1.59076286e-01 -7.12771204e-02 2.12698781e+02] [ 1.58743757e-01 9.87265646e-01 -1.03423077e-02 1.07107351e+01] [ 7.20146682e-02 -1.13083138e-03 9.97402932e-01 6.09748029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.979254154 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:212.73, Y:10.71, Z:6.10 [[ 9.84334073e-01 -1.61397360e-01 -7.09741219e-02 2.12729681e+02] [ 1.61073694e-01 9.86888654e-01 -1.02980920e-02 1.07134568e+01] [ 7.17056405e-02 -1.29530114e-03 9.97424996e-01 6.09980106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.009254154 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:212.76, Y:10.71, Z:6.10 [[ 9.83633117e-01 -1.66143708e-01 -6.97291934e-02 2.12761422e+02] [ 1.65843382e-01 9.86100229e-01 -1.01149266e-02 1.07140362e+01] [ 7.04405050e-02 -1.61474851e-03 9.97514676e-01 6.10180678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.039254154 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:212.79, Y:10.72, Z:6.10 [[ 9.83232543e-01 -1.68612243e-01 -6.94527091e-02 2.12792762e+02] [ 1.68320621e-01 9.85680840e-01 -1.00722513e-02 1.07164518e+01] [ 7.01565096e-02 -1.78695780e-03 9.97534396e-01 6.10384301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.06925415399996 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:212.82, Y:10.72, Z:6.11 [[ 9.82859502e-01 -1.70857628e-01 -6.92450018e-02 2.12823889e+02] [ 1.70573491e-01 9.85293810e-01 -1.00395313e-02 1.07187067e+01] [ 6.99420021e-02 -1.94391298e-03 9.97549165e-01 6.10572338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.09925415399996 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:212.86, Y:10.72, Z:6.11 [[ 9.81918850e-01 -1.76015432e-01 -6.96702197e-02 2.12855754e+02] [ 1.75740922e-01 9.84384655e-01 -1.00985272e-02 1.07193818e+01] [ 7.03597918e-02 -2.32797446e-03 9.97518962e-01 6.10662450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.12925415399997 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:212.89, Y:10.72, Z:6.11 [[ 9.81304504e-01 -1.79098791e-01 -7.04634151e-02 2.12887224e+02] [ 1.78826107e-01 9.83827710e-01 -1.02108121e-02 1.07223449e+01] [ 7.11526044e-02 -2.58078228e-03 9.97462103e-01 6.10888492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.15925415399997 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:212.92, Y:10.73, Z:6.11 [[ 9.80636750e-01 -1.82833787e-01 -7.01667351e-02 2.12917649e+02] [ 1.82573103e-01 9.83139730e-01 -1.01653081e-02 1.07256889e+01] [ 7.08422668e-02 -2.84208378e-03 9.97483481e-01 6.11110221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.18925415399997 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:212.95, Y:10.73, Z:6.11 [[ 9.79914450e-01 -1.86368133e-01 -7.09548388e-02 2.12948889e+02] [ 1.86110893e-01 9.82474986e-01 -1.02780212e-02 1.07290182e+01] [ 7.16268498e-02 -3.13388694e-03 9.97426575e-01 6.11310292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.21925415399997 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:212.98, Y:10.73, Z:6.12 [[ 9.78453297e-01 -1.93542473e-01 -7.19058818e-02 2.12979993e+02] [ 1.93297763e-01 9.81084881e-01 -1.04130735e-02 1.07310287e+01] [ 7.25611454e-02 -3.71053993e-03 9.97357063e-01 6.11506827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.24925415399997 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:213.01, Y:10.73, Z:6.12 [[ 9.77711797e-01 -1.96710501e-01 -7.33799820e-02 2.13010054e+02] [ 1.96464728e-01 9.80453335e-01 -1.06239302e-02 1.07338947e+01] [ 7.40354867e-02 -4.02943636e-03 9.97247467e-01 6.11597831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.27925415399997 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:213.04, Y:10.74, Z:6.12 [[ 9.77062353e-01 -2.00111294e-01 -7.28328754e-02 2.13040745e+02] [ 1.99878658e-01 9.79763929e-01 -1.05435396e-02 1.07374747e+01] [ 7.34689056e-02 -4.25604173e-03 9.97288427e-01 6.11828075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.30925415399997 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:213.07, Y:10.74, Z:6.12 [[ 9.76483877e-01 -2.02437040e-01 -7.41517532e-02 2.13069905e+02] [ 2.02202577e-01 9.79284887e-01 -1.07344483e-02 1.07409678e+01] [ 7.47887412e-02 -4.51165988e-03 9.97189194e-01 6.11980529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.33925415399997 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:213.10, Y:10.75, Z:6.12 [[ 9.75776252e-01 -2.05938927e-01 -7.38231925e-02 2.13099726e+02] [ 2.05716504e-01 9.78553275e-01 -1.06867779e-02 1.07458924e+01] [ 7.44407504e-02 -4.75874497e-03 9.97214084e-01 6.12230849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.36925415399998 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:213.13, Y:10.75, Z:6.13 [[ 9.76023823e-01 -2.05892202e-01 -7.06108899e-02 2.13132116e+02] [ 2.05054236e-01 9.78566249e-01 -1.89962199e-02 1.07544967e+01] [ 7.30086072e-02 4.06170104e-03 9.97323040e-01 6.12535741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.39925415399998 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:213.16, Y:10.75, Z:6.12 [[ 9.75836435e-01 -2.05222470e-01 -7.50132673e-02 2.13161669e+02] [ 2.05684382e-01 9.78617075e-01 -1.59836798e-03 1.07527950e+01] [ 7.37372853e-02 -1.38693118e-02 9.97181255e-01 6.12490618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.42925415399998 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:213.19, Y:10.76, Z:6.13 [[ 9.76454470e-01 -2.02759718e-01 -7.36557219e-02 2.13191060e+02] [ 2.02529595e-01 9.79218136e-01 -1.06585770e-02 1.07642489e+01] [ 7.42861487e-02 -4.50984838e-03 9.97226769e-01 6.12974471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.45925415399998 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:213.22, Y:10.77, Z:6.13 [[ 9.76966127e-01 -2.00293917e-01 -7.36174846e-02 2.13221597e+02] [ 2.00057089e-01 9.79726330e-01 -1.06526944e-02 1.07699878e+01] [ 7.42586579e-02 -4.32037805e-03 9.97229656e-01 6.13179178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.48925415399998 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:213.25, Y:10.78, Z:6.13 [[ 9.77454352e-01 -1.97722773e-01 -7.40857230e-02 2.13250881e+02] [ 1.97475794e-01 9.80249176e-01 -1.07174628e-02 1.07757105e+01] [ 7.47415554e-02 -4.15430626e-03 9.97194285e-01 6.13422132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.51925415399998 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:213.28, Y:10.78, Z:6.14 [[ 9.78477315e-01 -1.92959576e-01 -7.31351174e-02 2.13282472e+02] [ 1.92705955e-01 9.81199558e-01 -1.05755624e-02 1.07839138e+01] [ 7.38008009e-02 -3.74562473e-03 9.97265969e-01 6.13652359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.54925415399998 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:213.31, Y:10.79, Z:6.14 [[ 9.78969768e-01 -1.90337918e-01 -7.34143745e-02 2.13313294e+02] [ 1.90075406e-01 9.81712155e-01 -1.06106153e-02 1.07900855e+01] [ 7.40913862e-02 -3.56679548e-03 9.97245077e-01 6.13890652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.57925415399998 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:213.34, Y:10.80, Z:6.14 [[ 9.79425451e-01 -1.87995436e-01 -7.33723527e-02 2.13343812e+02] [ 1.87726962e-01 9.82164046e-01 -1.06006348e-02 1.07964230e+01] [ 7.40565578e-02 -3.39143738e-03 9.97248276e-01 6.14131825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.60925415399998 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:213.38, Y:10.80, Z:6.14 [[ 9.79878852e-01 -1.85617913e-01 -7.33718338e-02 2.13375458e+02] [ 1.85343024e-01 9.82616739e-01 -1.05975046e-02 1.08028786e+01] [ 7.40634788e-02 -3.21468691e-03 9.97248348e-01 6.14356812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.63925415399999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:213.41, Y:10.81, Z:6.15 [[ 9.80716891e-01 -1.80929854e-01 -7.38834694e-02 2.13405906e+02] [ 1.80638252e-01 9.83491769e-01 -1.06659424e-02 1.08111539e+01] [ 7.45935714e-02 -2.88591090e-03 9.97209843e-01 6.14607768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.669254154 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:213.44, Y:10.83, Z:6.15 [[ 9.81967437e-01 -1.77312854e-01 -6.55751793e-02 2.13439929e+02] [ 1.75533190e-01 9.83952715e-01 -3.20180323e-02 1.08258779e+01] [ 7.02000844e-02 1.99300447e-02 9.97333816e-01 6.14813030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.699254154 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:213.47, Y:10.81, Z:6.14 [[ 9.81567326e-01 -1.74522302e-01 -7.78944886e-02 2.13467585e+02] [ 1.76035879e-01 9.84298517e-01 1.29537371e-02 1.08125484e+01] [ 7.44107136e-02 -2.64271898e-02 9.96877450e-01 6.14371395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.729254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:213.50, Y:10.83, Z:6.15 [[ 9.82622534e-01 -1.69981097e-01 -7.45612704e-02 2.13496788e+02] [ 1.69651571e-01 9.85445172e-01 -1.07776388e-02 1.08328985e+01] [ 7.53080388e-02 -2.05908597e-03 9.97158192e-01 6.15348968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.759254154 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:213.53, Y:10.84, Z:6.16 [[ 9.83188426e-01 -1.66711970e-01 -7.44824673e-02 2.13527249e+02] [ 1.66374192e-01 9.86003973e-01 -1.07607258e-02 1.08397898e+01] [ 7.52339505e-02 -1.81213924e-03 9.97164264e-01 6.15562401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.789254154 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:213.56, Y:10.85, Z:6.16 [[ 9.84273156e-01 -1.59979470e-01 -7.49194489e-02 2.13558831e+02] [ 1.59618565e-01 9.87119473e-01 -1.08193683e-02 1.08488885e+01] [ 7.56853238e-02 -1.30932114e-03 9.97130893e-01 6.15797386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.81925415399996 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:213.59, Y:10.86, Z:6.16 [[ 9.85225960e-01 -1.54194748e-01 -7.45237392e-02 2.13589005e+02] [ 1.53821505e-01 9.88040096e-01 -1.07570271e-02 1.08568794e+01] [ 7.52911195e-02 -8.65251404e-04 9.97161220e-01 6.16007003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.84925415399996 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:213.62, Y:10.86, Z:6.16 [[ 9.85234344e-01 -1.54140968e-01 -7.45241568e-02 2.13620468e+02] [ 1.53767790e-01 9.88048488e-01 -1.07541334e-02 1.08613908e+01] [ 7.52911330e-02 -8.64073343e-04 9.97161220e-01 6.16214778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.87925415399997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:213.65, Y:10.87, Z:6.16 [[ 9.85607199e-01 -1.51933708e-01 -7.41255496e-02 2.13650558e+02] [ 1.51558562e-01 9.88390442e-01 -1.06928628e-02 1.08673854e+01] [ 7.48895910e-02 -6.95399187e-04 9.97191589e-01 6.16423104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.90925415399997 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:213.68, Y:10.87, Z:6.17 [[ 9.85902235e-01 -1.50043185e-01 -7.40528585e-02 2.13681364e+02] [ 1.49663565e-01 9.88679289e-01 -1.06808388e-02 1.08731096e+01] [ 7.48171146e-02 -5.52751947e-04 9.97197119e-01 6.16630273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.93925415399997 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:213.71, Y:10.88, Z:6.17 [[ 9.86146786e-01 -1.48400786e-01 -7.41061658e-02 2.13711982e+02] [ 1.48016193e-01 9.88927207e-01 -1.06857828e-02 1.08786440e+01] [ 7.48713821e-02 -4.31162173e-04 9.97193106e-01 6.16837447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.96925415399997 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:213.74, Y:10.89, Z:6.17 [[ 9.86443957e-01 -1.46515833e-01 -7.39014914e-02 2.13741906e+02] [ 1.46128273e-01 9.89208283e-01 -1.06536927e-02 1.08860716e+01] [ 7.46649021e-02 -2.89826555e-04 9.97208638e-01 6.17078509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.99925415399997 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:213.77, Y:10.89, Z:6.17 [[ 9.86570812e-01 -1.45777776e-01 -7.36673175e-02 2.13773023e+02] [ 1.45390730e-01 9.89317333e-01 -1.06184099e-02 1.08917074e+01] [ 7.44282822e-02 -2.34731803e-04 9.97226341e-01 6.17295068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.02925415399997 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:213.80, Y:10.90, Z:6.18 [[ 9.86589265e-01 -1.45877710e-01 -7.32210021e-02 2.13803230e+02] [ 1.45495806e-01 9.89302600e-01 -1.05515821e-02 1.08968221e+01] [ 7.39769684e-02 -2.43271033e-04 9.97259920e-01 6.17501796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.05925415399997 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:213.83, Y:10.90, Z:6.18 [[ 9.86523686e-01 -1.46328500e-01 -7.32051036e-02 2.13834074e+02] [ 1.45948111e-01 9.89236015e-01 -1.05478056e-02 1.09008999e+01] [ 7.39605695e-02 -2.78486590e-04 9.97261128e-01 6.17695823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.08925415399997 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:213.87, Y:10.91, Z:6.18 [[ 9.86410342e-01 -1.47180297e-01 -7.30246397e-02 2.13865242e+02] [ 1.46804313e-01 9.89109621e-01 -1.05191215e-02 1.09051133e+01] [ 7.37775811e-02 -3.44161851e-04 9.97274661e-01 6.17916805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.11925415399998 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:213.90, Y:10.91, Z:6.18 [[ 9.86245259e-01 -1.48449624e-01 -7.26842398e-02 2.13895784e+02] [ 1.48080778e-01 9.88919873e-01 -1.04674412e-02 1.09095524e+01] [ 7.34327769e-02 -4.39674557e-04 9.97300072e-01 6.18122626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.14925415399998 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:213.93, Y:10.91, Z:6.18 [[ 9.86062702e-01 -1.49761775e-01 -7.24690200e-02 2.13926954e+02] [ 1.49398843e-01 9.88721963e-01 -1.04338277e-02 1.09139468e+01] [ 7.32143003e-02 -5.38379396e-04 9.97316086e-01 6.18366249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.17925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:213.96, Y:10.92, Z:6.19 [[ 9.85598894e-01 -1.53050085e-01 -7.19061364e-02 2.13956767e+02] [ 1.52701689e-01 9.88218126e-01 -1.03503408e-02 1.09178864e+01] [ 7.26430679e-02 -7.78903999e-04 9.97357698e-01 6.18623733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.20925415399998 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:213.99, Y:10.92, Z:6.19 [[ 9.85323872e-01 -1.55048429e-01 -7.13922407e-02 2.13986390e+02] [ 1.54710328e-01 9.87906441e-01 -1.02750991e-02 1.09214533e+01] [ 7.21219924e-02 -9.20816585e-04 9.97395393e-01 6.18796526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.23925415399998 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:214.02, Y:10.93, Z:6.19 [[ 9.85331925e-01 -1.54997143e-01 -7.13924534e-02 2.14017855e+02] [ 1.54659014e-01 9.87914491e-01 -1.02736213e-02 1.09259496e+01] [ 7.21220212e-02 -9.18559362e-04 9.97395393e-01 6.19004337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.26925415399998 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:214.05, Y:10.93, Z:6.19 [[ 9.85006203e-01 -1.57036538e-01 -7.14304302e-02 2.14049080e+02] [ 1.56703668e-01 9.87592212e-01 -1.02754114e-02 1.09292452e+01] [ 7.21577515e-02 -1.07206641e-03 9.97392656e-01 6.19171130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.29925415399998 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:214.08, Y:10.93, Z:6.19 [[ 9.84379288e-01 -1.60860985e-01 -7.15622914e-02 2.14079590e+02] [ 1.60537141e-01 9.86976140e-01 -1.02919793e-02 1.09306225e+01] [ 7.22858521e-02 -1.35719443e-03 9.97383033e-01 6.19269677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.32925415399998 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:214.11, Y:10.93, Z:6.19 [[ 9.84145874e-01 -1.62352264e-01 -7.14047726e-02 2.14110598e+02] [ 1.62033862e-01 9.86731775e-01 -1.02679623e-02 1.09337432e+01] [ 7.21243850e-02 -1.46481830e-03 9.97394570e-01 6.19425965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.35925415399998 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:214.14, Y:10.94, Z:6.20 [[ 9.83881573e-01 -1.63740728e-01 -7.18750576e-02 2.14141508e+02] [ 1.63421994e-01 9.86502144e-01 -1.03330829e-02 1.09374869e+01] [ 7.25968450e-02 -1.57943534e-03 9.97360117e-01 6.19648272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.38925415399999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:214.17, Y:10.94, Z:6.20 [[ 9.83759911e-01 -1.64644738e-01 -7.14740995e-02 2.14172320e+02] [ 1.64332113e-01 9.86351572e-01 -1.02729669e-02 1.09410057e+01] [ 7.21899803e-02 -1.63935679e-03 9.97389552e-01 6.19810543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.419254154 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:214.20, Y:10.94, Z:6.20 [[ 9.83493865e-01 -1.65997178e-01 -7.20052419e-02 2.14203805e+02] [ 1.65683687e-01 9.86124668e-01 -1.03467806e-02 1.09438955e+01] [ 7.27236816e-02 -1.75409876e-03 9.97350585e-01 6.20014187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.449254154 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:214.24, Y:10.95, Z:6.20 [[ 9.83303619e-01 -1.66753252e-01 -7.28515303e-02 2.14235362e+02] [ 1.66434627e-01 9.85996951e-01 -1.04654958e-02 1.09479051e+01] [ 7.35765422e-02 -1.83425741e-03 9.97287886e-01 6.20234593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.479254154 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:214.27, Y:10.95, Z:6.20 [[ 9.83247307e-01 -1.67134812e-01 -7.27371103e-02 2.14266169e+02] [ 1.66818624e-01 9.85932288e-01 -1.04437069e-02 1.09512767e+01] [ 7.34593726e-02 -1.86515794e-03 9.97296466e-01 6.20390093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.509254154 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:214.30, Y:10.95, Z:6.21 [[ 9.82903762e-01 -1.68837437e-01 -7.34446375e-02 2.14295736e+02] [ 1.68520067e-01 9.85641851e-01 -1.05417615e-02 1.09534154e+01] [ 7.41699525e-02 -2.01535820e-03 9.97243579e-01 6.20523144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.53925415399996 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:214.33, Y:10.96, Z:6.21 [[ 9.82708292e-01 -1.69776941e-01 -7.38931905e-02 2.14327517e+02] [ 1.69458299e-01 9.85480282e-01 -1.06065523e-02 1.09570942e+01] [ 7.46210302e-02 -2.09866744e-03 9.97209756e-01 6.20734115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.56925415399996 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:214.36, Y:10.96, Z:6.21 [[ 9.82552770e-01 -1.70788718e-01 -7.36292642e-02 2.14359102e+02] [ 1.70475595e-01 9.85305278e-01 -1.05631538e-02 1.09610756e+01] [ 7.43513702e-02 -2.17313666e-03 9.97229738e-01 6.20922092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.59925415399996 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:214.39, Y:10.96, Z:6.21 [[ 9.82231665e-01 -1.72560627e-01 -7.37820199e-02 2.14390498e+02] [ 1.72251602e-01 9.84996172e-01 -1.05795363e-02 1.09648352e+01] [ 7.45006186e-02 -2.31751558e-03 9.97218274e-01 6.21170716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.62925415399997 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:214.42, Y:10.97, Z:6.21 [[ 9.82092490e-01 -1.73442355e-01 -7.35669139e-02 2.14422679e+02] [ 1.73138008e-01 9.84841140e-01 -1.05431898e-02 1.09691262e+01] [ 7.42803590e-02 -2.38284133e-03 9.97234551e-01 6.21390893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.65925415399997 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:214.45, Y:10.97, Z:6.22 [[ 9.81988656e-01 -1.74006343e-01 -7.36211398e-02 2.14454264e+02] [ 1.73703540e-01 9.84741527e-01 -1.05454276e-02 1.09733139e+01] [ 7.43327649e-02 -2.43276229e-03 9.97230526e-01 6.21627877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.68925415399997 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:214.49, Y:10.98, Z:6.22 [[ 9.81803490e-01 -1.74824754e-01 -7.41499376e-02 2.14485906e+02] [ 1.74520333e-01 9.84596346e-01 -1.06155520e-02 1.09777833e+01] [ 7.48636188e-02 -2.51828582e-03 9.97190602e-01 6.21824356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.71925415399997 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:214.52, Y:10.98, Z:6.22 [[ 9.81373464e-01 -1.77391582e-01 -7.37451728e-02 2.14516419e+02] [ 1.77098105e-01 9.84136633e-01 -1.05521945e-02 1.09817776e+01] [ 7.44471965e-02 -2.70448672e-03 9.97221290e-01 6.22085938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.74925415399997 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:214.55, Y:10.99, Z:6.22 [[ 9.81126438e-01 -1.78805142e-01 -7.36181580e-02 2.14548437e+02] [ 1.78516967e-01 9.83880490e-01 -1.05296679e-02 1.09861538e+01] [ 7.43142282e-02 -2.81115474e-03 9.97230913e-01 6.22301071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.77925415399997 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:214.58, Y:10.99, Z:6.23 [[ 9.80857926e-01 -1.80304306e-01 -7.35396935e-02 2.14579008e+02] [ 1.80021353e-01 9.83606522e-01 -1.05129711e-02 1.09901866e+01] [ 7.42296561e-02 -2.92698413e-03 9.97236878e-01 6.22520483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.80925415399997 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:214.61, Y:10.99, Z:6.23 [[ 9.80599484e-01 -1.81711869e-01 -7.35217528e-02 2.14610367e+02] [ 1.81433321e-01 9.83347127e-01 -1.05060580e-02 1.09944953e+01] [ 7.42064798e-02 -3.03706071e-03 9.97238274e-01 6.22720573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.83925415399997 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:214.64, Y:11.00, Z:6.23 [[ 9.80143287e-01 -1.84160006e-01 -7.35134548e-02 2.14641957e+02] [ 1.83888782e-01 9.82890979e-01 -1.04994884e-02 1.09994083e+01] [ 7.41892974e-02 -3.22729660e-03 9.97238955e-01 6.22975854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.86925415399998 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:214.67, Y:11.00, Z:6.23 [[ 9.79978093e-01 -1.84893859e-01 -7.38728584e-02 2.14672830e+02] [ 1.84622462e-01 9.82752941e-01 -1.05453531e-02 1.10042786e+01] [ 7.45485399e-02 -3.30437396e-03 9.97211911e-01 6.23192887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.89925415399998 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:214.70, Y:11.01, Z:6.23 [[ 9.79898267e-01 -1.85187092e-01 -7.41965459e-02 2.14704910e+02] [ 1.84914479e-01 9.82697587e-01 -1.05871669e-02 1.10094499e+01] [ 7.48733733e-02 -3.34566913e-03 9.97187437e-01 6.23441294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.92925415399998 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:214.74, Y:11.01, Z:6.24 [[ 9.79991636e-01 -1.84775253e-01 -7.39898566e-02 2.14736299e+02] [ 1.84503403e-01 9.82775227e-01 -1.05521040e-02 1.10144597e+01] [ 7.46651658e-02 -3.31040671e-03 9.97203166e-01 6.23618534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.95925415399998 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:214.77, Y:11.02, Z:6.24 [[ 9.80276889e-01 -1.83073681e-01 -7.44395563e-02 2.14766774e+02] [ 1.82794044e-01 9.83093968e-01 -1.06106838e-02 1.10205268e+01] [ 7.51236157e-02 -3.20569942e-03 9.97169076e-01 6.23807226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.98925415399998 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:214.80, Y:11.03, Z:6.24 [[ 9.80554908e-01 -1.81479367e-01 -7.46814004e-02 2.14798345e+02] [ 1.81193637e-01 9.83389873e-01 -1.06406867e-02 1.10257897e+01] [ 7.53719979e-02 -3.09801696e-03 9.97150673e-01 6.23986770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.01925415399998 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:214.83, Y:11.03, Z:6.24 [[ 9.80888494e-01 -1.79806757e-01 -7.43457675e-02 2.14827297e+02] [ 1.79689713e-01 9.83688193e-01 -8.31536253e-03 1.10300496e+01] [ 7.46282121e-02 -5.20272620e-03 9.97197855e-01 6.24096152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.04925415399998 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:214.86, Y:11.04, Z:6.24 [[ 9.81229871e-01 -1.77995634e-01 -7.41990247e-02 2.14857396e+02] [ 1.77530052e-01 9.84031130e-01 -1.28769200e-02 1.10376068e+01] [ 7.53061857e-02 -5.37338160e-04 9.97160313e-01 6.24469362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.07925415399998 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:214.89, Y:11.04, Z:6.25 [[ 9.82190208e-01 -1.72880022e-01 -7.35859526e-02 2.14888164e+02] [ 1.72578277e-01 9.84939971e-01 -1.04877270e-02 1.10438481e+01] [ 7.42908645e-02 -2.39839420e-03 9.97233731e-01 6.24638331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.10925415399998 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:214.92, Y:11.05, Z:6.25 [[ 9.82629596e-01 -1.70477661e-01 -7.33242362e-02 2.14919815e+02] [ 1.70172026e-01 9.85359046e-01 -1.04418000e-02 1.10498083e+01] [ 7.40307931e-02 -2.21731205e-03 9.97253491e-01 6.24872985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.13925415399999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:214.95, Y:11.06, Z:6.25 [[ 9.83562901e-01 -1.65534042e-01 -7.21283651e-02 2.14951917e+02] [ 1.65225411e-01 9.86202397e-01 -1.02661967e-02 1.10560231e+01] [ 7.28325716e-02 -1.81998860e-03 9.97342521e-01 6.25032882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.169254154 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:214.98, Y:11.06, Z:6.25 [[ 9.83918262e-01 -1.63329281e-01 -7.23076785e-02 2.14984033e+02] [ 1.63013563e-01 9.86570205e-01 -1.02863351e-02 1.10614118e+01] [ 7.30166609e-02 -1.66621936e-03 9.97329329e-01 6.25266274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.199254154 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:215.01, Y:11.07, Z:6.25 [[ 9.84252034e-01 -1.61274737e-01 -7.23767445e-02 2.15014432e+02] [ 1.60953252e-01 9.86908379e-01 -1.02909247e-02 1.10662644e+01] [ 7.30888817e-02 -1.52040886e-03 9.97324272e-01 6.25481343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.229254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:215.05, Y:11.07, Z:6.26 [[ 9.84501718e-01 -1.59708456e-01 -7.24539565e-02 2.15046408e+02] [ 1.59382353e-01 9.87163219e-01 -1.02977523e-02 1.10714690e+01] [ 7.31685190e-02 -1.40972724e-03 9.97318595e-01 6.25684020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.259254154 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:215.08, Y:11.08, Z:6.26 [[ 9.84908553e-01 -1.57280334e-01 -7.22359893e-02 2.15078436e+02] [ 1.56950055e-01 9.87553230e-01 -1.02615058e-02 1.10770418e+01] [ 7.29508176e-02 -1.23079768e-03 9.97334780e-01 6.25886251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.28925415399996 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:215.11, Y:11.08, Z:6.26 [[ 9.85016937e-01 -1.56592476e-01 -7.22525389e-02 2.15110517e+02] [ 1.56260596e-01 9.87662590e-01 -1.02584174e-02 1.10818985e+01] [ 7.29675207e-02 -1.18550990e-03 9.97333613e-01 6.26074401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.31925415399996 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:215.14, Y:11.09, Z:6.26 [[ 9.85054327e-01 -1.56148259e-01 -7.27027756e-02 2.15141524e+02] [ 1.55811415e-01 9.87732941e-01 -1.03169485e-02 1.10862047e+01] [ 7.34219000e-02 -1.16516759e-03 9.97300289e-01 6.26261357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.34925415399996 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:215.17, Y:11.09, Z:6.26 [[ 9.85063403e-01 -1.55951278e-01 -7.30019968e-02 2.15173700e+02] [ 1.55611430e-01 9.87764068e-01 -1.03551141e-02 1.10904800e+01] [ 7.37236426e-02 -1.15950117e-03 9.97278035e-01 6.26411268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.37925415399997 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:215.21, Y:11.09, Z:6.27 [[ 9.84948493e-01 -1.56097654e-01 -7.42292980e-02 2.15205463e+02] [ 1.55747111e-01 9.87740903e-01 -1.05235535e-02 1.10946648e+01] [ 7.49620159e-02 -1.19584054e-03 9.97185673e-01 6.26555109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.40925415399997 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:215.24, Y:11.10, Z:6.27 [[ 9.84916866e-01 -1.56118760e-01 -7.46036169e-02 2.15237642e+02] [ 1.55765152e-01 9.87737552e-01 -1.05710200e-02 1.10990682e+01] [ 7.53391284e-02 -1.20906782e-03 9.97157236e-01 6.26731144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.43925415399997 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:215.27, Y:11.10, Z:6.27 [[ 9.84871077e-01 -1.56243783e-01 -7.49455944e-02 2.15269356e+02] [ 1.55887715e-01 9.87717757e-01 -1.06137933e-02 1.11035537e+01] [ 7.56834336e-02 -1.22987950e-03 9.97131137e-01 6.26927208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.46925415399997 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:215.30, Y:11.11, Z:6.27 [[ 9.84947688e-01 -1.56057599e-01 -7.43241412e-02 2.15297106e+02] [ 1.55567741e-01 9.87747761e-01 -1.23709066e-02 1.11083428e+01] [ 7.53440780e-02 6.22257112e-04 9.97157401e-01 6.27149824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.49925415399997 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:215.33, Y:11.11, Z:6.27 [[ 9.84913269e-01 -1.56392968e-01 -7.40749113e-02 2.15326139e+02] [ 1.56168093e-01 9.87690807e-01 -8.85413921e-03 1.11107111e+01] [ 7.45478341e-02 -2.84757844e-03 9.97213373e-01 6.27271190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.52925415399997 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:215.36, Y:11.12, Z:6.27 [[ 9.85081504e-01 -1.55889660e-01 -7.28892548e-02 2.15358074e+02] [ 1.55551287e-01 9.87773793e-01 -1.03310859e-02 1.11158541e+01] [ 7.36086051e-02 -1.16105578e-03 9.97286531e-01 6.27496126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.55925415399997 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:215.39, Y:11.12, Z:6.28 [[ 9.85526901e-01 -1.53357314e-01 -7.22375337e-02 2.15388885e+02] [ 1.53018556e-01 9.88170328e-01 -1.02335156e-02 1.11198684e+01] [ 7.29523718e-02 -9.68278099e-04 9.97334956e-01 6.27765083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.58925415399997 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:215.42, Y:11.12, Z:6.28 [[ 9.85880361e-01 -1.51345184e-01 -7.16557698e-02 2.15420224e+02] [ 1.51006835e-01 9.88480636e-01 -1.01472829e-02 1.11242430e+01] [ 7.23660834e-02 -8.16504033e-04 9.97377804e-01 6.27990180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.61925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:215.45, Y:11.13, Z:6.28 [[ 9.86313203e-01 -1.48983980e-01 -7.06402046e-02 2.15451520e+02] [ 1.48649302e-01 9.88839405e-01 -1.00008291e-02 1.11285512e+01] [ 7.13417812e-02 -6.36667364e-04 9.97451726e-01 6.28182086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.64925415399998 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:215.48, Y:11.13, Z:6.28 [[ 9.86975395e-01 -1.44842714e-01 -7.00011311e-02 2.15483639e+02] [ 1.44503937e-01 9.89454635e-01 -9.90647103e-03 1.11327487e+01] [ 7.06978237e-02 -3.37995890e-04 9.97497721e-01 6.28425654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.67925415399998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:215.51, Y:11.14, Z:6.29 [[ 9.87164686e-01 -1.43521213e-01 -7.00538684e-02 2.15514157e+02] [ 1.43178969e-01 9.89647210e-01 -9.90874113e-03 1.11365779e+01] [ 7.07507299e-02 -2.48681337e-04 9.97493996e-01 6.28606646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.70925415399998 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:215.55, Y:11.14, Z:6.29 [[ 9.87270973e-01 -1.42709746e-01 -7.02136323e-02 2.15545045e+02] [ 1.42364188e-01 9.89764563e-01 -9.92711832e-03 1.11400204e+01] [ 7.09116616e-02 -1.95150975e-04 9.97482580e-01 6.28805309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.73925415399998 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:215.58, Y:11.14, Z:6.29 [[ 9.87223334e-01 -1.42660692e-01 -7.09789805e-02 2.15576308e+02] [ 1.42307616e-01 9.89771634e-01 -1.00326553e-02 1.11419742e+01] [ 7.16842471e-02 -1.96378038e-04 9.97427356e-01 6.28908244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.76925415399998 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:215.60, Y:11.15, Z:6.29 [[ 9.87015503e-01 -1.43328307e-01 -7.25078841e-02 2.15604773e+02] [ 1.42622634e-01 9.89665808e-01 -1.48449328e-02 1.11471854e+01] [ 7.38862728e-02 4.31091346e-03 9.97257356e-01 6.29201804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.79925415399998 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:215.63, Y:11.15, Z:6.29 [[ 9.86768859e-01 -1.44556594e-01 -7.34207745e-02 2.15633400e+02] [ 1.44507401e-01 9.89485469e-01 -6.00982596e-03 1.11460471e+01] [ 7.35175495e-02 -4.67953620e-03 9.97282945e-01 6.29082126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.82925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:215.66, Y:11.15, Z:6.29 [[ 9.86525555e-01 -1.46315488e-01 -7.32059213e-02 2.15663294e+02] [ 1.45948111e-01 9.89237875e-01 -1.03718607e-02 1.11513375e+01] [ 7.39356339e-02 -4.52160305e-04 9.97262913e-01 6.29374153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.85925415399998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:215.69, Y:11.15, Z:6.30 [[ 9.85883940e-01 -1.49953267e-01 -7.44773369e-02 2.15692709e+02] [ 1.49583363e-01 9.88692811e-01 -1.05519539e-02 1.11532616e+01] [ 7.52175075e-02 -7.37568613e-04 9.97166878e-01 6.29578549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.88925415399999 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:215.72, Y:11.16, Z:6.30 [[ 9.85554196e-01 -1.52047354e-01 -7.45957652e-02 2.15721923e+02] [ 1.51682252e-01 9.88372801e-01 -1.05688241e-02 1.11562015e+01] [ 7.53353872e-02 -8.98704698e-04 9.97157847e-01 6.29751897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.919254154 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:215.75, Y:11.16, Z:6.30 [[ 9.84913893e-01 -1.56352420e-01 -7.41521648e-02 2.15751546e+02] [ 1.56003637e-01 9.87700581e-01 -1.05084820e-02 1.11582252e+01] [ 7.48831628e-02 -1.21805749e-03 9.97191570e-01 6.29879041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.949254154 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:215.78, Y:11.16, Z:6.30 [[ 9.84548366e-01 -1.58674767e-01 -7.40731608e-02 2.15781288e+02] [ 1.58333199e-01 9.87329925e-01 -1.04984508e-02 1.11617861e+01] [ 7.48004876e-02 -1.39200788e-03 9.97197548e-01 6.30124762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.979254154 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:215.81, Y:11.17, Z:6.30 [[ 9.84230881e-01 -1.60955462e-01 -7.33683352e-02 2.15811680e+02] [ 1.60626692e-01 9.86960453e-01 -1.03985553e-02 1.11654598e+01] [ 7.40853496e-02 -1.55033376e-03 9.97250699e-01 6.30351614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.009254154 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:215.84, Y:11.17, Z:6.31 [[ 9.83877406e-01 -1.63429796e-01 -7.26357399e-02 2.15843010e+02] [ 1.63114315e-01 9.86553468e-01 -1.02944208e-02 1.11693976e+01] [ 7.33414562e-02 -1.71948095e-03 9.97305407e-01 6.30562291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.03925415399996 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:215.87, Y:11.17, Z:6.31 [[ 9.82882826e-01 -1.69664466e-01 -7.18005540e-02 2.15873336e+02] [ 1.69372972e-01 9.85499516e-01 -1.01735140e-02 1.11722068e+01] [ 7.24854950e-02 -2.16170102e-03 9.97367124e-01 6.30767364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.06925415399996 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:215.90, Y:11.18, Z:6.31 [[ 9.82210212e-01 -1.73467669e-01 -7.19170914e-02 2.15904554e+02] [ 1.73185498e-01 9.84836523e-01 -1.01885595e-02 1.11759090e+01] [ 7.25939639e-02 -2.44769010e-03 9.97358574e-01 6.31019391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.09925415399996 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:215.94, Y:11.18, Z:6.31 [[ 9.81564603e-01 -1.77322675e-01 -7.13274093e-02 2.15935466e+02] [ 1.77055439e-01 9.84149029e-01 -1.01025312e-02 1.11796331e+01] [ 7.19882084e-02 -2.71261869e-03 9.97401794e-01 6.31201188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.12925415399997 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:215.97, Y:11.18, Z:6.31 [[ 9.80780262e-01 -1.81545539e-01 -7.14933276e-02 2.15967164e+02] [ 1.81288435e-01 9.83377864e-01 -1.01232544e-02 1.11835449e+01] [ 7.21427874e-02 -3.03222538e-03 9.97389705e-01 6.31431870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.15925415399997 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:216.00, Y:11.19, Z:6.32 [[ 9.80797286e-01 -1.81453245e-01 -7.14940789e-02 2.15999481e+02] [ 1.81196284e-01 9.83394902e-01 -1.01179460e-02 1.11880559e+01] [ 7.21428468e-02 -3.03080740e-03 9.97389705e-01 6.31645034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.18925415399997 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:216.03, Y:11.19, Z:6.32 [[ 9.79346804e-01 -1.89214065e-01 -7.12592139e-02 2.16031608e+02] [ 1.88979712e-01 9.81929275e-01 -1.00780287e-02 1.11914255e+01] [ 7.18784131e-02 -3.59666055e-03 9.97406917e-01 6.31804206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.21925415399997 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:216.06, Y:11.20, Z:6.32 [[ 9.78641551e-01 -1.92655724e-01 -7.17250810e-02 2.16062548e+02] [ 1.92427887e-01 9.81258742e-01 -1.01385377e-02 1.11950346e+01] [ 7.23341100e-02 -3.87991154e-03 9.97372911e-01 6.31978869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.24925415399997 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:216.09, Y:11.20, Z:6.32 [[ 9.77901866e-01 -1.96701096e-01 -7.08281016e-02 2.16094753e+02] [ 1.96489769e-01 9.80454801e-01 -1.00076375e-02 1.11995952e+01] [ 7.14122656e-02 -4.13050996e-03 9.97438333e-01 6.32299794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.27925415399997 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:216.13, Y:11.20, Z:6.32 [[ 9.76968686e-01 -2.01055985e-01 -7.14750130e-02 2.16127006e+02] [ 2.00852762e-01 9.79569440e-01 -1.00936045e-02 1.12036329e+01] [ 7.20441180e-02 -4.49481826e-03 9.97391318e-01 6.32385982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.30925415399997 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:216.16, Y:11.21, Z:6.33 [[ 9.76599312e-01 -2.02935713e-01 -7.12101122e-02 2.16159762e+02] [ 2.02739363e-01 9.79181156e-01 -1.00505895e-02 1.12086731e+01] [ 7.17672235e-02 -4.62169396e-03 9.97410701e-01 6.32679655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.33925415399997 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:216.19, Y:11.21, Z:6.33 [[ 9.76426471e-01 -2.03758945e-01 -7.12294795e-02 2.16191014e+02] [ 2.03565247e-01 9.79009848e-01 -1.00452552e-02 1.12137009e+01] [ 7.17811725e-02 -4.69139345e-03 9.97409371e-01 6.32905569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.36925415399998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:216.22, Y:11.22, Z:6.33 [[ 9.76405847e-01 -2.03796966e-01 -7.14032058e-02 2.16222963e+02] [ 2.03602906e-01 9.79001834e-01 -1.00630789e-02 1.12189930e+01] [ 7.19546944e-02 -4.71225107e-03 9.97396770e-01 6.33083886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.39925415399998 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:216.25, Y:11.22, Z:6.33 [[ 9.76691174e-01 -2.01856979e-01 -7.29939065e-02 2.16254910e+02] [ 2.01649275e-01 9.79403837e-01 -1.02807600e-02 1.12249583e+01] [ 7.35657552e-02 -4.67804081e-03 9.97279397e-01 6.33122348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.42925415399998 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:216.29, Y:11.23, Z:6.33 [[ 9.76850302e-01 -2.01028446e-01 -7.31508754e-02 2.16286543e+02] [ 2.00818473e-01 9.79574424e-01 -1.02902094e-02 1.12307605e+01] [ 7.37253515e-02 -4.63805291e-03 9.97267798e-01 6.33411289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.45925415399998 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:216.32, Y:11.24, Z:6.34 [[ 9.77277186e-01 -1.98897049e-01 -7.32752694e-02 2.16317999e+02] [ 1.98680809e-01 9.80010103e-01 -1.03021890e-02 1.12369052e+01] [ 7.38595793e-02 -4.49029550e-03 9.97258542e-01 6.33600409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.48925415399998 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:216.35, Y:11.24, Z:6.34 [[ 9.77782744e-01 -1.96430267e-01 -7.31850738e-02 2.16348627e+02] [ 1.96208116e-01 9.80508349e-01 -1.02836156e-02 1.12435310e+01] [ 7.37785892e-02 -4.30436358e-03 9.97265357e-01 6.33830249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.51925415399998 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:216.38, Y:11.25, Z:6.34 [[ 9.78928735e-01 -1.90876408e-01 -7.25584445e-02 2.16380021e+02] [ 1.90643465e-01 9.81606486e-01 -1.01870128e-02 1.12533398e+01] [ 7.31683002e-02 -3.86043374e-03 9.97312136e-01 6.34113685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.54925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:216.42, Y:11.29, Z:6.35 [[ 9.81591310e-01 -1.84926872e-01 -4.77551320e-02 2.16417732e+02] [ 1.81081042e-01 9.80590799e-01 -7.51754020e-02 1.12856102e+01] [ 6.07301950e-02 6.51439722e-02 9.96026157e-01 6.34582662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.57925415399998 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:216.45, Y:11.23, Z:6.33 [[ 9.80184968e-01 -1.80468183e-01 -8.16618819e-02 2.16445662e+02] [ 1.85538773e-01 9.80838923e-01 5.94169214e-02 1.12335205e+01] [ 6.93742884e-02 -7.33910186e-02 9.94887414e-01 6.32519894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.60925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:216.47, Y:11.28, Z:6.35 [[ 9.81111942e-01 -1.79666456e-01 -7.16890674e-02 2.16470726e+02] [ 1.79407641e-01 9.83723116e-01 -1.00861505e-02 1.12758628e+01] [ 7.23343356e-02 -2.96592374e-03 9.97376031e-01 6.34846149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.63925415399999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:216.50, Y:11.28, Z:6.35 [[ 9.81609878e-01 -1.76917734e-01 -7.17088800e-02 2.16503391e+02] [ 1.76651951e-01 9.84221742e-01 -1.00821610e-02 1.12825550e+01] [ 7.23611519e-02 -2.77076475e-03 9.97374647e-01 6.35068544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.669254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:216.54, Y:11.29, Z:6.35 [[ 9.82100588e-01 -1.74272258e-01 -7.14675844e-02 2.16535657e+02] [ 1.74001843e-01 9.84694140e-01 -1.00403370e-02 1.12893007e+01] [ 7.21234638e-02 -2.57487051e-03 9.97392388e-01 6.35247128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.699254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:216.57, Y:11.30, Z:6.35 [[ 9.82996774e-01 -1.68964504e-01 -7.18911628e-02 2.16566859e+02] [ 1.68677327e-01 9.85619666e-01 -1.00912238e-02 1.12980174e+01] [ 7.25624025e-02 -2.20676873e-03 9.97361433e-01 6.35339015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.729254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:216.60, Y:11.31, Z:6.36 [[ 9.83414403e-01 -1.66385113e-01 -7.21949184e-02 2.16597224e+02] [ 1.65909475e-01 9.86060769e-01 -1.25779718e-02 1.13055152e+01] [ 7.32813641e-02 3.91537670e-04 9.97311229e-01 6.35713025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.759254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:216.63, Y:11.31, Z:6.36 [[ 9.83747702e-01 -1.64428974e-01 -7.21357892e-02 2.16630409e+02] [ 1.64285873e-01 9.86380706e-01 -7.95329056e-03 1.13099183e+01] [ 7.24611021e-02 -4.02685983e-03 9.97363110e-01 6.35770388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.78925415399996 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:216.66, Y:11.32, Z:6.36 [[ 9.84123230e-01 -1.62222925e-01 -7.20082748e-02 2.16661504e+02] [ 1.61919373e-01 9.86752588e-01 -1.00720984e-02 1.13171166e+01] [ 7.26882767e-02 -1.74734874e-03 9.97353178e-01 6.36038501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.81925415399996 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:216.69, Y:11.32, Z:6.36 [[ 9.85152606e-01 -1.55237680e-01 -7.33185177e-02 2.16691223e+02] [ 1.54950018e-01 9.87875373e-01 -9.63012731e-03 1.13244773e+01] [ 7.39245167e-02 -1.87356066e-03 9.97262080e-01 6.36203895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.84925415399996 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:216.72, Y:11.33, Z:6.37 [[ 9.85283625e-01 -1.54644406e-01 -7.28099284e-02 2.16723347e+02] [ 1.54223704e-01 9.87970196e-01 -1.13991913e-02 1.13318571e+01] [ 7.36968604e-02 2.41967574e-06 9.97280689e-01 6.36504232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.87925415399997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:216.75, Y:11.34, Z:6.37 [[ 9.85721236e-01 -1.51754338e-01 -7.29675609e-02 2.16754783e+02] [ 1.51415323e-01 9.88417730e-01 -1.01877996e-02 1.13376247e+01] [ 7.36684736e-02 -1.00607643e-03 9.97282279e-01 6.36713107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.90925415399997 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:216.79, Y:11.34, Z:6.37 [[ 9.86245477e-01 -1.48703615e-01 -7.21601956e-02 2.16785477e+02] [ 1.48364280e-01 9.88881507e-01 -1.00700239e-02 1.13437164e+01] [ 7.28553320e-02 -7.74479933e-04 9.97342218e-01 6.36831988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.93925415399997 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:216.82, Y:11.35, Z:6.37 [[ 9.87207816e-01 -1.42978154e-01 -7.05547638e-02 2.16815527e+02] [ 1.42903327e-01 9.89717649e-01 -6.13312788e-03 1.13496072e+01] [ 7.07061982e-02 -4.02783870e-03 9.97489053e-01 6.37030073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.96925415399997 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:216.85, Y:11.36, Z:6.37 [[ 9.87399377e-01 -1.42263090e-01 -6.93086121e-02 2.16847975e+02] [ 1.41673566e-01 9.89823090e-01 -1.33735306e-02 1.13589708e+01] [ 7.05058244e-02 3.38581755e-03 9.97505622e-01 6.37494975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.99925415399997 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:216.88, Y:11.36, Z:6.37 [[ 9.87664065e-01 -1.40177128e-01 -6.97858707e-02 2.16879230e+02] [ 1.39840943e-01 9.90126427e-01 -9.70404293e-03 1.13623467e+01] [ 7.04571197e-02 -1.74587477e-04 9.97514794e-01 6.37394520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.02925415399997 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:216.91, Y:11.37, Z:6.38 [[ 9.87760930e-01 -1.39807551e-01 -6.91534082e-02 2.16910959e+02] [ 1.39476811e-01 9.90178684e-01 -9.61213875e-03 1.13690696e+01] [ 6.98180803e-02 -1.50801752e-04 9.97559729e-01 6.37723408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.05925415399997 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:216.94, Y:11.37, Z:6.38 [[ 9.87688796e-01 -1.40438755e-01 -6.89042682e-02 2.16943078e+02] [ 1.40112289e-01 9.90089348e-01 -9.57237236e-03 1.13743613e+01] [ 6.95657140e-02 -1.99809782e-04 9.97577351e-01 6.37914152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.08925415399997 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:216.97, Y:11.38, Z:6.38 [[ 9.87495561e-01 -1.41650316e-01 -6.91932426e-02 2.16974816e+02] [ 1.41324439e-01 9.89916715e-01 -9.60729589e-03 1.13794214e+01] [ 6.98564239e-02 -2.91534127e-04 9.97557013e-01 6.38166452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.11925415399998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:217.01, Y:11.38, Z:6.38 [[ 9.87274916e-01 -1.43344163e-01 -6.88526816e-02 2.17006283e+02] [ 1.43025961e-01 9.89672814e-01 -9.55485001e-03 1.13840254e+01] [ 6.95112592e-02 -4.14457234e-04 9.97581081e-01 6.38328064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.14925415399998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:217.04, Y:11.39, Z:6.38 [[ 9.86466805e-01 -1.48532472e-01 -6.94359270e-02 2.17037701e+02] [ 1.48222045e-01 9.88907214e-01 -9.63055812e-03 1.13880909e+01] [ 7.00961398e-02 -7.91709178e-04 9.97539926e-01 6.38489700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.17925415399998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:217.07, Y:11.39, Z:6.39 [[ 9.85954864e-01 -1.51830203e-01 -6.95743871e-02 2.17070138e+02] [ 1.51527111e-01 9.88406051e-01 -9.64434178e-03 1.13921933e+01] [ 7.02320476e-02 -1.03352017e-03 9.97530146e-01 6.38711387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.20925415399998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:217.10, Y:11.40, Z:6.39 [[ 9.85432347e-01 -1.55164093e-01 -6.96217922e-02 2.17102937e+02] [ 1.54869445e-01 9.87887882e-01 -9.64305240e-03 1.13959742e+01] [ 7.02747802e-02 -1.27971252e-03 9.97526851e-01 6.38891193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.23925415399998 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:217.14, Y:11.40, Z:6.39 [[ 9.84318481e-01 -1.62272635e-01 -6.91716646e-02 2.17135047e+02] [ 1.61999826e-01 9.86744350e-01 -9.57304110e-03 1.13987295e+01] [ 6.98081919e-02 -1.78287639e-03 9.97558839e-01 6.39059169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.26925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:217.17, Y:11.40, Z:6.39 [[ 9.83848242e-01 -1.65136752e-01 -6.90832153e-02 2.17167849e+02] [ 1.64872139e-01 9.86268672e-01 -9.55429026e-03 1.14023272e+01] [ 6.97123755e-02 -1.98992579e-03 9.97565148e-01 6.39272864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.29925415399998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:217.20, Y:11.41, Z:6.39 [[ 9.83526983e-01 -1.67025650e-01 -6.91166138e-02 2.17201013e+02] [ 1.66765972e-01 9.85950245e-01 -9.55120056e-03 1.14057016e+01] [ 6.97408378e-02 -2.13243584e-03 9.97562864e-01 6.39265461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.32925415399998 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:217.23, Y:11.41, Z:6.40 [[ 9.82656883e-01 -1.71956727e-01 -6.93998148e-02 2.17229879e+02] [ 1.71102907e-01 9.85086707e-01 -1.81100767e-02 1.14127041e+01] [ 7.14789845e-02 5.92148140e-03 9.97424529e-01 6.39919704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.35925415399998 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:217.26, Y:11.41, Z:6.40 [[ 9.82430166e-01 -1.73309248e-01 -6.92450239e-02 2.17263996e+02] [ 1.73643080e-01 9.84807903e-01 -1.21477812e-03 1.14087622e+01] [ 6.84035790e-02 -1.08304846e-02 9.97598943e-01 6.39506120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.38925415399999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:217.30, Y:11.42, Z:6.40 [[ 9.82242172e-01 -1.74824444e-01 -6.80935330e-02 2.17296044e+02] [ 1.74591977e-01 9.84596031e-01 -9.39664422e-03 1.14165590e+01] [ 6.86873854e-02 -2.65880431e-03 9.97634690e-01 6.39994743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.419254154 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:217.33, Y:11.42, Z:6.40 [[ 9.81768265e-01 -1.77635206e-01 -6.76521069e-02 2.17327444e+02] [ 1.77412889e-01 9.84092295e-01 -9.32850946e-03 1.14208269e+01] [ 6.82329888e-02 -2.84392119e-03 9.97665360e-01 6.40188489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.449254154 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:217.36, Y:11.43, Z:6.40 [[ 9.81458683e-01 -1.79205209e-01 -6.80025426e-02 2.17359546e+02] [ 1.78984759e-01 9.83807220e-01 -9.37071450e-03 1.14251348e+01] [ 6.85806732e-02 -2.97444961e-03 9.97641140e-01 6.40444061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.479254154 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:217.39, Y:11.43, Z:6.41 [[ 9.80731143e-01 -1.83029907e-01 -6.83116311e-02 2.17391178e+02] [ 1.82817109e-01 9.83101932e-01 -9.40722060e-03 1.14292966e+01] [ 6.88790992e-02 -3.26258072e-03 9.97619680e-01 6.40609940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.509254154 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:217.42, Y:11.43, Z:6.41 [[ 9.80467421e-01 -1.84594744e-01 -6.78853274e-02 2.17422362e+02] [ 1.84388770e-01 9.82808988e-01 -9.34210660e-03 1.14326321e+01] [ 6.84428137e-02 -3.35766084e-03 9.97649391e-01 6.40775901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.53925415399996 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:217.45, Y:11.44, Z:6.41 [[ 9.80063141e-01 -1.86467553e-01 -6.86009622e-02 2.17454667e+02] [ 1.86262077e-01 9.82454780e-01 -9.43635921e-03 1.14366173e+01] [ 6.91569180e-02 -3.52952982e-03 9.97599550e-01 6.40968363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.56925415399996 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:217.49, Y:11.44, Z:6.41 [[ 9.79737924e-01 -1.88089468e-01 -6.88182565e-02 2.17487376e+02] [ 1.87887208e-01 9.82145067e-01 -9.45853689e-03 1.14407055e+01] [ 6.93685624e-02 -3.66318280e-03 9.97584374e-01 6.41137740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.59925415399996 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:217.52, Y:11.44, Z:6.41 [[ 9.79444314e-01 -1.89479105e-01 -6.91845734e-02 2.17519894e+02] [ 1.89278682e-01 9.81877441e-01 -9.50110692e-03 1.14448576e+01] [ 6.97310331e-02 -3.78935973e-03 9.97558632e-01 6.41313379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.62925415399997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:217.55, Y:11.45, Z:6.41 [[ 9.79207245e-01 -1.90582148e-01 -6.95098343e-02 2.17552411e+02] [ 1.90383151e-01 9.81663528e-01 -9.53797454e-03 1.14491761e+01] [ 7.00530368e-02 -3.89384748e-03 9.97535669e-01 6.41491822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.65925415399997 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:217.58, Y:11.45, Z:6.42 [[ 9.79008100e-01 -1.91549232e-01 -6.96565313e-02 2.17584185e+02] [ 1.91352371e-01 9.81474941e-01 -9.55043190e-03 1.14540110e+01] [ 7.01955178e-02 -3.97899226e-03 9.97525316e-01 6.41644467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.68925415399997 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:217.62, Y:11.46, Z:6.42 [[ 9.78936338e-01 -1.91753101e-01 -7.01027350e-02 2.17616573e+02] [ 1.91554698e-01 9.81434940e-01 -9.60503130e-03 1.14592742e+01] [ 7.06430681e-02 -4.02579405e-03 9.97493534e-01 6.41864351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.71925415399997 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:217.65, Y:11.46, Z:6.42 [[ 9.78999988e-01 -1.91391492e-01 -7.02019921e-02 2.17649345e+02] [ 1.91192151e-01 9.81505574e-01 -9.61086635e-03 1.14643255e+01] [ 7.07430846e-02 -4.01303185e-03 9.97486497e-01 6.42087017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.74925415399997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:217.68, Y:11.47, Z:6.42 [[ 9.79075963e-01 -1.90921368e-01 -7.04222234e-02 2.17681617e+02] [ 1.90720123e-01 9.81597187e-01 -9.63318245e-03 1.14700640e+01] [ 7.09654368e-02 -3.99931772e-03 9.97470758e-01 6.42259382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.77925415399997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:217.71, Y:11.47, Z:6.42 [[ 9.79180762e-01 -1.90196521e-01 -7.09247400e-02 2.17713466e+02] [ 1.89991058e-01 9.81737960e-01 -9.69415063e-03 1.14747358e+01] [ 7.14733033e-02 -3.98274060e-03 9.97434562e-01 6.42346318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.80925415399997 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:217.75, Y:11.48, Z:6.43 [[ 9.79165613e-01 -1.90341638e-01 -7.07443476e-02 2.17745630e+02] [ 1.90138065e-01 9.81709806e-01 -9.66293011e-03 1.14799299e+01] [ 7.12896778e-02 -3.98958451e-03 9.97447675e-01 6.42663310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.83925415399997 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:217.78, Y:11.49, Z:6.43 [[ 9.79180667e-01 -1.90245711e-01 -7.07939971e-02 2.17778658e+02] [ 1.90042154e-01 9.81728387e-01 -9.66200199e-03 1.14850672e+01] [ 7.13386310e-02 -3.99299814e-03 9.97444162e-01 6.42891764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.86925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:217.81, Y:11.49, Z:6.43 [[ 9.79333522e-01 -1.89652389e-01 -7.02696497e-02 2.17811033e+02] [ 1.89450852e-01 9.81843441e-01 -9.58286824e-03 1.14907123e+01] [ 7.08112085e-02 -3.92782086e-03 9.97482002e-01 6.43075661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.89925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:217.84, Y:11.50, Z:6.44 [[ 9.79354363e-01 -1.89233449e-01 -7.11036867e-02 2.17841026e+02] [ 1.88474057e-01 9.81925729e-01 -1.73029404e-02 1.14995027e+01] [ 7.30928345e-02 3.54450987e-03 9.97318843e-01 6.43587049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.92925415399998 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:217.87, Y:11.50, Z:6.43 [[ 9.79669522e-01 -1.87861664e-01 -7.03961844e-02 2.17874645e+02] [ 1.88193032e-01 9.82130114e-01 -1.95493390e-03 1.14980885e+01] [ 6.95054698e-02 -1.13328822e-02 9.97517196e-01 6.43303681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.95925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:217.91, Y:11.51, Z:6.44 [[ 9.79879338e-01 -1.87423931e-01 -6.86203582e-02 2.17906772e+02] [ 1.87228429e-01 9.82272121e-01 -9.32717489e-03 1.15073574e+01] [ 6.91520005e-02 -3.70817587e-03 9.97599243e-01 6.43840918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.98925415399998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:217.94, Y:11.51, Z:6.44 [[ 9.80542469e-01 -1.84499853e-01 -6.70542377e-02 2.17939274e+02] [ 1.84306836e-01 9.82826561e-01 -9.10719774e-03 1.15137959e+01] [ 6.75829625e-02 -3.42856023e-03 9.97707767e-01 6.44109724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.01925415399998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:217.97, Y:11.52, Z:6.45 [[ 9.80796381e-01 -1.82938969e-01 -6.76150305e-02 2.17970020e+02] [ 1.82269275e-01 9.83118510e-01 -1.59970568e-02 1.15224795e+01] [ 6.94000732e-02 3.36571285e-03 9.97583231e-01 6.44577582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.04925415399998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:218.00, Y:11.52, Z:6.45 [[ 9.80835245e-01 -1.82351929e-01 -6.86294196e-02 2.18003866e+02] [ 1.82137347e-01 9.83227934e-01 -9.42425252e-03 1.15237349e+01] [ 6.91968931e-02 -3.25634137e-03 9.97597708e-01 6.44564185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.07925415399998 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:218.04, Y:11.53, Z:6.45 [[ 9.81238339e-01 -1.80626802e-01 -6.74186953e-02 2.18035850e+02] [ 1.80878563e-01 9.83502505e-01 -2.40188280e-03 1.15255437e+01] [ 6.67403001e-02 -9.83777723e-03 9.97721880e-01 6.44519476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.10925415399998 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:218.07, Y:11.53, Z:6.45 [[ 9.81689038e-01 -1.78303380e-01 -6.70413135e-02 2.18066571e+02] [ 1.78098942e-01 9.83970854e-01 -9.06231720e-03 1.15340933e+01] [ 6.75825402e-02 -3.04360956e-03 9.97709044e-01 6.44895797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.13925415399999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:218.10, Y:11.54, Z:6.45 [[ 9.81819342e-01 -1.77392883e-01 -6.75466131e-02 2.18098658e+02] [ 1.77183622e-01 9.84135513e-01 -9.12449426e-03 1.15391917e+01] [ 6.80936411e-02 -3.00954863e-03 9.97674395e-01 6.45073074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.169254154 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:218.13, Y:11.54, Z:6.45 [[ 9.81881716e-01 -1.76791167e-01 -6.82142139e-02 2.18130815e+02] [ 1.76576728e-01 9.84243803e-01 -9.20848848e-03 1.15441134e+01] [ 6.87673967e-02 -3.00339622e-03 9.97628200e-01 6.45294911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.199254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:218.16, Y:11.55, Z:6.45 [[ 9.81954964e-01 -1.76253540e-01 -6.85502621e-02 2.18163760e+02] [ 1.76036184e-01 9.84340268e-01 -9.24652531e-03 1.15490029e+01] [ 6.91065162e-02 -2.98765512e-03 9.97604813e-01 6.45488005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.229254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:218.20, Y:11.55, Z:6.45 [[ 9.81969484e-01 -1.75564825e-01 -7.00922568e-02 2.18195229e+02] [ 1.75336363e-01 9.84463262e-01 -9.44700783e-03 1.15533166e+01] [ 7.06618140e-02 -3.01304798e-03 9.97495779e-01 6.45446232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.259254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:218.23, Y:11.56, Z:6.46 [[ 9.81891133e-01 -1.75533956e-01 -7.12575189e-02 2.18227312e+02] [ 1.75298222e-01 9.84468598e-01 -9.59755644e-03 1.15584309e+01] [ 7.18354868e-02 -3.06756082e-03 9.97411777e-01 6.45885098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.28925415399996 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:218.26, Y:11.56, Z:6.46 [[ 9.82001183e-01 -1.74810146e-01 -7.15198491e-02 2.18260396e+02] [ 1.74571336e-01 9.84597486e-01 -9.62491086e-03 1.15632213e+01] [ 7.21007957e-02 -3.03364172e-03 9.97392737e-01 6.46119200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.31925415399996 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:218.29, Y:11.57, Z:6.46 [[ 9.82206217e-01 -1.73535802e-01 -7.18071956e-02 2.18292463e+02] [ 1.73292243e-01 9.84823114e-01 -9.65571669e-03 1.15678320e+01] [ 7.23929985e-02 -2.95972504e-03 9.97371793e-01 6.46341353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.34925415399996 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:218.33, Y:11.57, Z:6.47 [[ 9.82788862e-01 -1.70247805e-01 -7.17059081e-02 2.18325256e+02] [ 1.69996686e-01 9.85397527e-01 -9.63541684e-03 1.15734899e+01] [ 7.22992331e-02 -2.72018636e-03 9.97379277e-01 6.46577499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.37925415399997 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:218.36, Y:11.58, Z:6.47 [[ 9.83144918e-01 -1.68412430e-01 -7.11570381e-02 2.18357646e+02] [ 1.68160900e-01 9.85713261e-01 -9.55396458e-03 1.15784704e+01] [ 7.17494425e-02 -2.57289982e-03 9.97419369e-01 6.46789973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.40925415399997 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:218.39, Y:11.58, Z:6.47 [[ 9.83451723e-01 -1.66683826e-01 -7.09873994e-02 2.18389643e+02] [ 1.66429542e-01 9.86007357e-01 -9.52364311e-03 1.15835670e+01] [ 7.15815353e-02 -2.44835716e-03 9.97431747e-01 6.47016630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.43925415399997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:218.42, Y:11.59, Z:6.47 [[ 9.84060983e-01 -1.63346241e-01 -7.02992717e-02 2.18422567e+02] [ 1.63088814e-01 9.86566373e-01 -9.42498928e-03 1.15894420e+01] [ 7.08944341e-02 -2.19026062e-03 9.97481419e-01 6.47299512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.46925415399997 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:218.46, Y:11.59, Z:6.48 [[ 9.84327389e-01 -1.61964771e-01 -6.97639184e-02 2.18455449e+02] [ 1.61708323e-01 9.86794344e-01 -9.34564153e-03 1.15944233e+01] [ 7.03563048e-02 -2.08223530e-03 9.97519752e-01 6.47543854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.49925415399997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:218.49, Y:11.60, Z:6.48 [[ 9.84565335e-01 -1.60758921e-01 -6.91929882e-02 2.18488260e+02] [ 1.60504218e-01 9.86991702e-01 -9.26150885e-03 1.15990638e+01] [ 6.97817754e-02 -1.98720590e-03 9.97560301e-01 6.47769045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.52925415399997 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:218.52, Y:11.60, Z:6.48 [[ 9.84741967e-01 -1.59831778e-01 -6.88263173e-02 2.18519918e+02] [ 1.59578041e-01 9.87142401e-01 -9.20478345e-03 1.16035921e+01] [ 6.94125930e-02 -1.91883235e-03 9.97586192e-01 6.47959595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.55925415399997 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:218.55, Y:11.61, Z:6.48 [[ 9.84867154e-01 -1.58862122e-01 -6.92785312e-02 2.18551066e+02] [ 1.58454026e-01 9.87300751e-01 -1.13819837e-02 1.16092644e+01] [ 7.02069119e-02 2.32279724e-04 9.97532423e-01 6.48221924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.58925415399997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:218.58, Y:11.61, Z:6.48 [[ 9.84770488e-01 -1.59357445e-01 -6.95146765e-02 2.18584268e+02] [ 1.59235931e-01 9.87213408e-01 -7.32162736e-03 1.16120759e+01] [ 6.97925765e-02 -3.85911166e-03 9.97554060e-01 6.48252996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.61925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:218.62, Y:11.62, Z:6.49 [[ 9.84603101e-01 -1.60107910e-01 -7.01583196e-02 2.18615342e+02] [ 1.59846700e-01 9.87097490e-01 -9.35825813e-03 1.16173193e+01] [ 7.07514324e-02 -2.00040587e-03 9.97491971e-01 6.48524179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.64925415399998 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:218.65, Y:11.63, Z:6.49 [[ 9.84171979e-01 -1.61843175e-01 -7.21962714e-02 2.18645471e+02] [ 1.60871341e-01 9.86790222e-01 -1.91172757e-02 1.16260102e+01] [ 7.43365753e-02 7.20037604e-03 9.97207214e-01 6.49056301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.67925415399998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:218.68, Y:11.62, Z:6.49 [[ 9.83574016e-01 -1.64517576e-01 -7.42706030e-02 2.18679546e+02] [ 1.64908814e-01 9.86308428e-01 -8.75815794e-04 1.16213848e+01] [ 7.33978088e-02 -1.13864474e-02 9.97237740e-01 6.48542629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.70925415399998 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:218.71, Y:11.63, Z:6.49 [[ 9.83171824e-01 -1.67295274e-01 -7.33856628e-02 2.18711423e+02] [ 1.67031871e-01 9.85903232e-01 -9.75561123e-03 1.16295601e+01] [ 7.39832297e-02 -2.66630250e-03 9.97255921e-01 6.49038880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.73925415399998 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:218.74, Y:11.63, Z:6.49 [[ 9.82703922e-01 -1.69695534e-01 -7.41378908e-02 2.18743856e+02] [ 1.69434133e-01 9.85492316e-01 -9.84728813e-03 1.16332330e+01] [ 7.47333626e-02 -2.88452060e-03 9.97199380e-01 6.49251355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.76925415399998 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:218.78, Y:11.64, Z:6.50 [[ 9.81922056e-01 -1.74037093e-01 -7.44322955e-02 2.18776009e+02] [ 1.73786653e-01 9.84733782e-01 -9.87819251e-03 1.16362624e+01] [ 7.50151677e-02 -3.23572442e-03 9.97177143e-01 6.49514252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.79925415399998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:218.81, Y:11.64, Z:6.50 [[ 9.81734605e-01 -1.75081685e-01 -7.44551531e-02 2.18808380e+02] [ 1.74834615e-01 9.84548301e-01 -9.87418992e-03 1.16400935e+01] [ 7.50334843e-02 -3.32350405e-03 9.97175476e-01 6.49719087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.82925415399998 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:218.84, Y:11.64, Z:6.50 [[ 9.81710662e-01 -1.75031165e-01 -7.48883673e-02 2.18840667e+02] [ 1.74781675e-01 9.84557204e-01 -9.92357980e-03 1.16437246e+01] [ 7.54688173e-02 -3.34703018e-03 9.97142545e-01 6.49957534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.85925415399998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:218.87, Y:11.65, Z:6.50 [[ 9.81952512e-01 -1.73705998e-01 -7.48030115e-02 2.18873310e+02] [ 1.73453858e-01 9.84792195e-01 -9.90413957e-03 1.16478952e+01] [ 7.53858303e-02 -3.24947622e-03 9.97149145e-01 6.50098435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.88925415399999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:218.91, Y:11.65, Z:6.50 [[ 9.82072517e-01 -1.73181404e-01 -7.44430856e-02 2.18905835e+02] [ 1.72930798e-01 9.84884739e-01 -9.84830160e-03 1.16524548e+01] [ 7.50234017e-02 -3.20175589e-03 9.97176633e-01 6.50441140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.919254154 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:218.94, Y:11.66, Z:6.51 [[ 9.82153809e-01 -1.72594689e-01 -7.47326548e-02 2.18937454e+02] [ 1.72341122e-01 9.84987803e-01 -9.87753084e-03 1.16567050e+01] [ 7.53155629e-02 -3.17825506e-03 9.97154684e-01 6.50702216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.949254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:218.97, Y:11.67, Z:6.51 [[ 9.82065110e-01 -1.72566236e-01 -7.59540229e-02 2.18968733e+02] [ 1.71622500e-01 9.84982794e-01 -1.88311786e-02 1.16653557e+01] [ 7.80630313e-02 5.45802419e-03 9.96933485e-01 6.51307671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.979254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:219.00, Y:11.66, Z:6.51 [[ 9.82268526e-01 -1.71458458e-01 -7.58323147e-02 2.19003114e+02] [ 1.71860653e-01 9.85120491e-01 -1.23865349e-03 1.16615202e+01] [ 7.49163447e-02 -1.18159008e-02 9.97119815e-01 6.50914396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.009254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.04, Y:11.67, Z:6.51 [[ 9.82236397e-01 -1.72053790e-01 -7.48942884e-02 2.19035347e+02] [ 1.71800190e-01 9.85082430e-01 -9.86412077e-03 1.16691460e+01] [ 7.54742070e-02 -3.17795454e-03 9.97142690e-01 6.51478408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.03925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.07, Y:11.67, Z:6.52 [[ 9.82272938e-01 -1.71881840e-01 -7.48098143e-02 2.19066836e+02] [ 1.71628988e-01 9.85112473e-01 -9.84409291e-03 1.16729122e+01] [ 7.53881019e-02 -3.16994661e-03 9.97149229e-01 6.51663398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.06925415399996 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:219.10, Y:11.68, Z:6.52 [[ 9.82229674e-01 -1.71724397e-01 -7.57337322e-02 2.19098901e+02] [ 1.71465786e-01 9.85139801e-01 -9.95269415e-03 1.16775462e+01] [ 7.63174343e-02 -3.20991240e-03 9.97078405e-01 6.51914759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.09925415399996 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:219.13, Y:11.68, Z:6.52 [[ 9.82227405e-01 -1.71486053e-01 -7.63011053e-02 2.19131792e+02] [ 1.71223373e-01 9.85181278e-01 -1.00202975e-02 1.16824373e+01] [ 7.68887617e-02 -3.22232183e-03 9.97034470e-01 6.52146195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.12925415399997 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:219.16, Y:11.69, Z:6.52 [[ 9.82299692e-01 -1.70913632e-01 -7.66540598e-02 2.19164367e+02] [ 1.70647412e-01 9.85280817e-01 -1.00584795e-02 1.16872086e+01] [ 7.72449059e-02 -3.20037557e-03 9.97007012e-01 6.52397772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.15925415399997 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:219.20, Y:11.69, Z:6.53 [[ 9.82399823e-01 -1.70270274e-01 -7.68024800e-02 2.19197361e+02] [ 1.70001714e-01 9.85392319e-01 -1.00695535e-02 1.16921564e+01] [ 7.73951195e-02 -3.16422560e-03 9.96995478e-01 6.52673380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.18925415399997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:219.23, Y:11.70, Z:6.53 [[ 9.82659652e-01 -1.68346664e-01 -7.77136295e-02 2.19228365e+02] [ 1.68066369e-01 9.85723113e-01 -1.01804224e-02 1.16975699e+01] [ 7.83179609e-02 -3.05715718e-03 9.96923744e-01 6.53009076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.21925415399997 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:219.26, Y:11.70, Z:6.53 [[ 9.82884560e-01 -1.66993369e-01 -7.77891743e-02 2.19259644e+02] [ 1.66708952e-01 9.85953574e-01 -1.01820626e-02 1.17021479e+01] [ 7.83968514e-02 -2.96035957e-03 9.96917835e-01 6.53232986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.24925415399997 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:219.29, Y:11.71, Z:6.53 [[ 9.83110582e-01 -1.65583025e-01 -7.79477050e-02 2.19292015e+02] [ 1.65294041e-01 9.86191688e-01 -1.01899261e-02 1.17069524e+01] [ 7.85586575e-02 -2.86646695e-03 9.96905372e-01 6.53438556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.27925415399997 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:219.32, Y:11.71, Z:6.54 [[ 9.83358659e-01 -1.64201012e-01 -7.77417221e-02 2.19324976e+02] [ 1.63909910e-01 9.86423046e-01 -1.01545610e-02 1.17117740e+01] [ 7.83536155e-02 -2.75706312e-03 9.96921817e-01 6.53686778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.30925415399997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:219.36, Y:11.72, Z:6.54 [[ 9.83782776e-01 -1.61517083e-01 -7.79979540e-02 2.19357479e+02] [ 1.61216315e-01 9.86866596e-01 -1.01794942e-02 1.17172716e+01] [ 7.86177376e-02 -2.56013173e-03 9.96901548e-01 6.54044343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.33925415399997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:219.39, Y:11.72, Z:6.54 [[ 9.83982239e-01 -1.60188627e-01 -7.82212004e-02 2.19389712e+02] [ 1.59882630e-01 9.87083332e-01 -1.01999904e-02 1.17218703e+01] [ 7.88447656e-02 -2.46960186e-03 9.96883847e-01 6.54262141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.36925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.42, Y:11.72, Z:6.54 [[ 9.83256837e-01 -1.60203082e-01 -8.68387278e-02 2.19420003e+02] [ 1.61869855e-01 9.86733465e-01 1.24587282e-02 1.17193782e+01] [ 8.36907520e-02 -2.63067020e-02 9.96144475e-01 6.54409825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.39925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.45, Y:11.74, Z:6.56 [[ 9.84528636e-01 -1.58339290e-01 -7.50468741e-02 2.19450436e+02] [ 1.56128712e-01 9.87134110e-01 -3.44974636e-02 1.17424658e+01] [ 7.95436332e-02 2.22467690e-02 9.96583108e-01 6.55786486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.42925415399998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.48, Y:11.73, Z:6.55 [[ 9.84239881e-01 -1.56866290e-01 -8.16383709e-02 2.19484371e+02] [ 1.57208130e-01 9.87562899e-01 -2.26384338e-03 1.17334220e+01] [ 8.09781470e-02 -1.06060507e-02 9.96659446e-01 6.55110104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.45925415399998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:219.52, Y:11.74, Z:6.56 [[ 9.84527985e-01 -1.56800537e-01 -7.82191648e-02 2.19515725e+02] [ 1.56125293e-01 9.87627675e-01 -1.47128805e-02 1.17431835e+01] [ 7.95583994e-02 2.27325257e-03 9.96827615e-01 6.55649316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.48925415399998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:219.55, Y:11.74, Z:6.56 [[ 9.84577070e-01 -1.55764493e-01 -7.96581238e-02 2.19548959e+02] [ 1.55633808e-01 9.87783350e-01 -7.88486396e-03 1.17436620e+01] [ 7.99131502e-02 -4.63424093e-03 9.96791057e-01 6.55731905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.51925415399998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:219.58, Y:11.75, Z:6.56 [[ 9.84919508e-01 -1.55173027e-01 -7.65172871e-02 2.19580155e+02] [ 1.54337758e-01 9.87876196e-01 -1.67474652e-02 1.17491509e+01] [ 7.81883614e-02 4.68539864e-03 9.96927594e-01 6.56185561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.54925415399998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:219.61, Y:11.75, Z:6.56 [[ 9.84888288e-01 -1.54983206e-01 -7.72998438e-02 2.19612805e+02] [ 1.54674437e-01 9.87914862e-01 -1.00022338e-02 1.17494943e+01] [ 7.79158427e-02 -2.10522688e-03 9.96957717e-01 6.56179335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.57925415399998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:219.65, Y:11.75, Z:6.56 [[ 9.84779695e-01 -1.55466618e-01 -7.77115347e-02 2.19645672e+02] [ 1.55156629e-01 9.87838780e-01 -1.00481523e-02 1.17530835e+01] [ 7.83286199e-02 -2.16224334e-03 9.96925249e-01 6.56455125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.60925415399998 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:219.68, Y:11.76, Z:6.57 [[ 9.84628316e-01 -1.56103553e-01 -7.83502344e-02 2.19678005e+02] [ 1.55791142e-01 9.87738156e-01 -1.01220605e-02 1.17566291e+01] [ 7.89696056e-02 -2.23980509e-03 9.96874508e-01 6.56726072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.63925415399999 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:219.71, Y:11.76, Z:6.57 [[ 9.84358014e-01 -1.57319323e-01 -7.93090838e-02 2.19709853e+02] [ 1.57003947e-01 9.87544928e-01 -1.02359818e-02 1.17586986e+01] [ 7.99316012e-02 -2.37596845e-03 9.96797519e-01 6.56991543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.669254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:219.74, Y:11.76, Z:6.57 [[ 9.84203069e-01 -1.57917271e-01 -8.00403336e-02 2.19743110e+02] [ 1.57599131e-01 9.87449280e-01 -1.03166363e-02 1.17616535e+01] [ 8.06649449e-02 -2.46062198e-03 9.96738236e-01 6.57234618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.699254154 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:219.78, Y:11.76, Z:6.58 [[ 9.84100855e-01 -1.58295043e-01 -8.05492738e-02 2.19775167e+02] [ 1.57974824e-01 9.87388651e-01 -1.03733971e-02 1.17647175e+01] [ 8.11754961e-02 -2.51628840e-03 9.96696647e-01 6.57527372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.729254154 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:219.81, Y:11.77, Z:6.58 [[ 9.84145767e-01 -1.58022969e-01 -8.05347764e-02 2.19808295e+02] [ 1.57702589e-01 9.87432269e-01 -1.03637581e-02 1.17673086e+01] [ 8.11603488e-02 -2.50109410e-03 9.96697919e-01 6.57860946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.759254154 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:219.84, Y:11.77, Z:6.58 [[ 9.84240805e-01 -1.57438930e-01 -8.05172121e-02 2.19841523e+02] [ 1.57117466e-01 9.87525658e-01 -1.03526014e-02 1.17708755e+01] [ 8.11427153e-02 -2.46120760e-03 9.96699454e-01 6.58145342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.78925415399996 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:219.87, Y:11.77, Z:6.58 [[ 9.84482580e-01 -1.56058774e-01 -8.02477964e-02 2.19873820e+02] [ 1.55735609e-01 9.87744979e-01 -1.03090236e-02 1.17743085e+01] [ 8.08731716e-02 -2.34838526e-03 9.96721634e-01 6.58416649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.81925415399996 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:219.91, Y:11.78, Z:6.59 [[ 9.85168803e-01 -1.52394254e-01 -7.88569634e-02 2.19905509e+02] [ 1.52071153e-01 9.88317717e-01 -1.01219475e-02 1.17774114e+01] [ 7.94782608e-02 -2.02004239e-03 9.96834553e-01 6.58725804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.84925415399996 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:219.94, Y:11.78, Z:6.59 [[ 9.85575155e-01 -1.50052070e-01 -7.82687067e-02 2.19937198e+02] [ 1.49726952e-01 9.88676412e-01 -1.00395015e-02 1.17807987e+01] [ 7.88888722e-02 -1.82425164e-03 9.96881747e-01 6.58965985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.87925415399997 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:219.97, Y:11.78, Z:6.59 [[ 9.86008210e-01 -1.47443027e-01 -7.77712189e-02 2.19969509e+02] [ 1.47114380e-01 9.89069239e-01 -9.96997082e-03 1.17841384e+01] [ 7.83911230e-02 -1.61079153e-03 9.96921380e-01 6.59186747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.90925415399997 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:220.00, Y:11.79, Z:6.59 [[ 9.86838917e-01 -1.42015380e-01 -7.73342348e-02 2.20001409e+02] [ 1.41674218e-01 9.89863750e-01 -9.90822999e-03 1.17864639e+01] [ 7.79574766e-02 -1.17844025e-03 9.96955989e-01 6.59409567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.93925415399997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:220.03, Y:11.79, Z:6.60 [[ 9.87200997e-01 -1.39596225e-01 -7.71173450e-02 2.20033741e+02] [ 1.39250050e-01 9.90208015e-01 -9.87472349e-03 1.17896353e+01] [ 7.77406873e-02 -9.90257264e-04 9.96973121e-01 6.59586898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.96925415399997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:220.07, Y:11.79, Z:6.60 [[ 9.87213621e-01 -1.39506511e-01 -7.71180909e-02 2.20066119e+02] [ 1.39160518e-01 9.90220660e-01 -9.86889544e-03 1.17937184e+01] [ 7.77407020e-02 -9.89085470e-04 9.96973121e-01 6.59801278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.99925415399997 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:220.10, Y:11.80, Z:6.60 [[ 9.87516577e-01 -1.37140131e-01 -7.74828717e-02 2.20098053e+02] [ 1.36784123e-01 9.90551323e-01 -9.90863251e-03 1.17966496e+01] [ 7.81096322e-02 -8.13487796e-04 9.96944444e-01 6.59989001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.02925415399997 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:220.13, Y:11.80, Z:6.60 [[ 9.87953955e-01 -1.33574234e-01 -7.81339012e-02 2.20130424e+02] [ 1.33201533e-01 9.91038662e-01 -9.98605423e-03 1.17976789e+01] [ 7.87675964e-02 -5.41793605e-04 9.96892859e-01 6.60041051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.05925415399997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:220.16, Y:11.80, Z:6.60 [[ 9.88110915e-01 -1.32178893e-01 -7.85210859e-02 2.20162184e+02] [ 1.31798511e-01 9.91225781e-01 -1.00301634e-02 1.17999571e+01] [ 7.91579006e-02 -4.38048276e-04 9.96861994e-01 6.60187186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.08925415399997 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:220.19, Y:11.80, Z:6.60 [[ 9.88214185e-01 -1.31196547e-01 -7.88681866e-02 2.20193859e+02] [ 1.30809900e-01 9.91356310e-01 -1.00715672e-02 1.18019883e+01] [ 7.95078293e-02 -3.63874054e-04 9.96834175e-01 6.60345481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.11925415399998 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:220.22, Y:11.80, Z:6.60 [[ 9.88266504e-01 -1.30460103e-01 -7.94322251e-02 2.20224442e+02] [ 1.30065739e-01 9.91453512e-01 -1.01408992e-02 1.18016796e+01] [ 8.00763413e-02 -3.09500097e-04 9.96788686e-01 6.60424149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.14925415399998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:220.25, Y:11.80, Z:6.61 [[ 9.88251351e-01 -1.30400280e-01 -7.97184625e-02 2.20254881e+02] [ 1.30002967e-01 9.91461382e-01 -1.01762408e-02 1.18033022e+01] [ 8.03647616e-02 -3.06952922e-04 9.96765474e-01 6.60615440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.17925415399998 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:220.28, Y:11.81, Z:6.61 [[ 9.88224244e-01 -1.30839753e-01 -7.93334937e-02 2.20284851e+02] [ 1.30447692e-01 9.91403471e-01 -1.01270391e-02 1.18051224e+01] [ 7.99765203e-02 -3.41085627e-04 9.96796689e-01 6.60753942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.20925415399998 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:220.32, Y:11.81, Z:6.61 [[ 9.88188650e-01 -1.31512363e-01 -7.86618688e-02 2.20315714e+02] [ 1.31129071e-01 9.91314453e-01 -1.00410356e-02 1.18067668e+01] [ 7.92991678e-02 -3.92420330e-04 9.96850785e-01 6.60900597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.23925415399998 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:220.34, Y:11.81, Z:6.62 [[ 9.88003735e-01 -1.33016992e-01 -7.84544392e-02 2.20340342e+02] [ 1.31328033e-01 9.90989205e-01 -2.63314101e-02 1.18123627e+01] [ 8.12500273e-02 1.57122643e-02 9.96569896e-01 6.61553679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.26925415399998 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:220.37, Y:11.80, Z:6.61 [[ 9.87866875e-01 -1.33944184e-01 -7.86002139e-02 2.20373759e+02] [ 1.34727479e-01 9.90871427e-01 4.72451789e-03 1.17994956e+01] [ 7.72498844e-02 -1.52568034e-02 9.96895022e-01 6.60634852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.29925415399998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:220.40, Y:11.81, Z:6.61 [[ 9.87712953e-01 -1.36668857e-01 -7.57941000e-02 2.20402496e+02] [ 1.36327690e-01 9.90616490e-01 -9.68146809e-03 1.18074434e+01] [ 7.64060405e-02 -7.70323096e-04 9.97076488e-01 6.61258982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.32925415399998 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:220.43, Y:11.81, Z:6.61 [[ 9.87249438e-01 -1.40840290e-01 -7.41792383e-02 2.20433015e+02] [ 1.40525552e-01 9.90031747e-01 -9.47146077e-03 1.18061889e+01] [ 7.47737642e-02 -1.07338412e-03 9.97199946e-01 6.61349105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.35925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:220.46, Y:11.81, Z:6.62 [[ 9.86948437e-01 -1.43411879e-01 -7.32517339e-02 2.20464215e+02] [ 1.43112071e-01 9.89662298e-01 -9.35261591e-03 1.18079203e+01] [ 7.38357556e-02 -1.25265767e-03 9.97269629e-01 6.61506991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.38925415399999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:220.49, Y:11.82, Z:6.62 [[ 9.86792629e-01 -1.48258197e-01 -6.52672543e-02 2.20490991e+02] [ 1.46367506e-01 9.88683653e-01 -3.28814092e-02 1.18224236e+01] [ 6.94036058e-02 2.28941270e-02 9.97325924e-01 6.61680376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.419254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:220.53, Y:11.80, Z:6.61 [[ 9.85511223e-01 -1.52325766e-01 -7.45955098e-02 2.20526042e+02] [ 1.53780303e-01 9.88004086e-01 1.41259931e-02 1.17969449e+01] [ 7.15489157e-02 -2.53926448e-02 9.97113818e-01 6.60890135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.449254154 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:220.56, Y:11.81, Z:6.62 [[ 9.84891101e-01 -1.58030403e-01 -7.08230935e-02 2.20555964e+02] [ 1.57787466e-01 9.87431650e-01 -9.04720165e-03 1.18100900e+01] [ 7.13626970e-02 -2.26448807e-03 9.97447862e-01 6.61936618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.479254154 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:220.59, Y:11.81, Z:6.62 [[ 9.84274263e-01 -1.62033270e-01 -7.03519320e-02 2.20586955e+02] [ 1.61804121e-01 9.86782020e-01 -8.98178411e-03 1.18114813e+01] [ 7.08773694e-02 -2.54269358e-03 9.97481796e-01 6.62098535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.509254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:220.62, Y:11.81, Z:6.62 [[ 9.83649723e-01 -1.66122397e-01 -6.95454618e-02 2.20618733e+02] [ 1.65908936e-01 9.86101142e-01 -8.87485667e-03 1.18133356e+01] [ 7.00531718e-02 -2.80846331e-03 9.97539305e-01 6.62302228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.53925415399996 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:220.65, Y:11.82, Z:6.62 [[ 9.83100490e-01 -1.69698591e-01 -6.86717883e-02 2.20651089e+02] [ 1.69499507e-01 9.85491355e-01 -8.75825513e-03 1.18152455e+01] [ 6.91617172e-02 -3.02958938e-03 9.97600861e-01 6.62474517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.56925415399996 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:220.68, Y:11.82, Z:6.63 [[ 9.82080128e-01 -1.75701646e-01 -6.81729704e-02 2.20682155e+02] [ 1.75520201e-01 9.84437480e-01 -8.68943108e-03 1.18152890e+01] [ 6.86387746e-02 -3.43201589e-03 9.97635675e-01 6.62578340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.59925415399996 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:220.71, Y:11.82, Z:6.63 [[ 9.81797939e-01 -1.77345205e-01 -6.79815075e-02 2.20714608e+02] [ 1.77169266e-01 9.84142323e-01 -8.65679763e-03 1.18173553e+01] [ 6.84387203e-02 -3.54500770e-03 9.97649024e-01 6.62652150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.62925415399997 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:220.75, Y:11.82, Z:6.63 [[ 9.81227311e-01 -1.80587890e-01 -6.76829204e-02 2.20746153e+02] [ 1.80421513e-01 9.83551667e-01 -8.61376202e-03 1.18193766e+01] [ 6.81251903e-02 -3.75939635e-03 9.97669698e-01 6.62866866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.65925415399997 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:220.78, Y:11.82, Z:6.63 [[ 9.81127828e-01 -1.81061722e-01 -6.78589601e-02 2.20777944e+02] [ 1.80895869e-01 9.83464370e-01 -8.63233656e-03 1.18223510e+01] [ 6.82998552e-02 -3.80597996e-03 9.97657579e-01 6.63037328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.68925415399997 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:220.81, Y:11.83, Z:6.63 [[ 9.81044381e-01 -1.81237648e-01 -6.85918189e-02 2.20810226e+02] [ 1.81068976e-01 9.83431736e-01 -8.72048686e-03 1.18257705e+01] [ 6.90358521e-02 -3.86466575e-03 9.97606694e-01 6.63234313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.71925415399997 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:220.84, Y:11.83, Z:6.63 [[ 9.81067196e-01 -1.81166450e-01 -6.84534441e-02 2.20842188e+02] [ 1.80998633e-01 9.83444885e-01 -8.69784032e-03 1.18296104e+01] [ 6.88959464e-02 -3.85681398e-03 9.97616396e-01 6.63412359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.74925415399997 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:220.88, Y:11.85, Z:6.63 [[ 9.83127397e-01 -1.75831788e-01 -5.04351409e-02 2.20879448e+02] [ 1.72962223e-01 9.83303662e-01 -5.65506587e-02 1.18508961e+01] [ 5.95364622e-02 4.68731278e-02 9.97125027e-01 6.63478545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.77925415399997 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:220.91, Y:11.81, Z:6.62 [[ 9.81799277e-01 -1.74262887e-01 -7.55157324e-02 2.20905661e+02] [ 1.77793421e-01 9.83135907e-01 4.28169221e-02 1.18129638e+01] [ 6.67808276e-02 -5.54638236e-02 9.96224917e-01 6.62305518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.80925415399997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:220.93, Y:11.84, Z:6.64 [[ 9.81981388e-01 -1.76018459e-01 -6.87753958e-02 2.20933177e+02] [ 1.75834933e-01 9.84380679e-01 -8.76096420e-03 1.18427077e+01] [ 6.92432623e-02 -3.49001332e-03 9.97593700e-01 6.64040142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.83925415399997 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:220.96, Y:11.85, Z:6.64 [[ 9.82959252e-01 -1.70993763e-01 -6.74702974e-02 2.20963683e+02] [ 1.70805651e-01 9.85267295e-01 -8.58997029e-03 1.18482370e+01] [ 6.79451087e-02 -3.08071727e-03 9.97684304e-01 6.64213527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.86925415399998 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:221.00, Y:11.85, Z:6.64 [[ 9.83464294e-01 -1.68028094e-01 -6.75613939e-02 2.20995132e+02] [ 1.67832742e-01 9.85777990e-01 -8.59791911e-03 1.18532977e+01] [ 6.80452271e-02 -2.88326755e-03 9.97678071e-01 6.64427967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.89925415399998 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:221.03, Y:11.86, Z:6.65 [[ 9.84042176e-01 -1.64756038e-01 -6.72045007e-02 2.21026468e+02] [ 1.64555472e-01 9.86330795e-01 -8.54748193e-03 1.18584800e+01] [ 6.76941178e-02 -2.64778559e-03 9.97702609e-01 6.64661718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.92925415399998 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:221.06, Y:11.87, Z:6.65 [[ 9.85239379e-01 -1.57732937e-01 -6.65108023e-02 2.21057885e+02] [ 1.57520838e-01 9.87479473e-01 -8.45433435e-03 1.18652977e+01] [ 6.70115790e-02 -2.14729422e-03 9.97749887e-01 6.64837143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.95925415399998 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:221.09, Y:11.87, Z:6.65 [[ 9.85859360e-01 -1.53904122e-01 -6.62936216e-02 2.21089061e+02] [ 1.53685094e-01 9.88083987e-01 -8.42177413e-03 1.18708890e+01] [ 6.67998117e-02 -1.88565661e-03 9.97764616e-01 6.65045826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.98925415399998 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:221.12, Y:11.88, Z:6.65 [[ 9.86510011e-01 -1.49747580e-01 -6.61336634e-02 2.21120106e+02] [ 1.49520614e-01 9.88722957e-01 -8.39644584e-03 1.18760506e+01] [ 6.66452187e-02 -1.60516807e-03 9.97775445e-01 6.65214866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.01925415399998 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:221.15, Y:11.88, Z:6.65 [[ 9.87845764e-01 -1.40798609e-01 -6.58520949e-02 2.21151779e+02] [ 1.40553938e-01 9.90037752e-01 -8.35700063e-03 1.18827681e+01] [ 6.63727141e-02 -1.00034361e-03 9.97794399e-01 6.65406134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.04925415399998 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:221.18, Y:11.89, Z:6.66 [[ 9.88468487e-01 -1.36370323e-01 -6.58269272e-02 2.21182495e+02] [ 1.36116360e-01 9.90657678e-01 -8.34879034e-03 1.18881582e+01] [ 6.63504781e-02 -7.07605569e-04 9.97796128e-01 6.65638006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.07925415399998 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:221.21, Y:11.89, Z:6.66 [[ 9.89141875e-01 -1.31504065e-01 -6.56127492e-02 2.21214061e+02] [ 1.31241296e-01 9.91315557e-01 -8.31794455e-03 1.18934167e+01] [ 6.61367825e-02 -3.83474999e-04 9.97810493e-01 6.65843354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.10925415399998 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:221.24, Y:11.90, Z:6.66 [[ 9.90320088e-01 -1.22608518e-01 -6.50636220e-02 2.21244401e+02] [ 1.22331254e-01 9.92455092e-01 -8.24346640e-03 1.18992975e+01] [ 6.55834421e-02 2.04355882e-04 9.97847068e-01 6.66092952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.13925415399999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:221.28, Y:11.90, Z:6.66 [[ 9.90781393e-01 -1.18646845e-01 -6.53846852e-02 2.21275316e+02] [ 1.18358374e-01 9.92936407e-01 -8.28171191e-03 1.19039865e+01] [ 6.59054334e-02 4.66541036e-04 9.97825764e-01 6.66356563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.169254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:221.30, Y:11.91, Z:6.67 [[ 9.91190240e-01 -1.15407137e-01 -6.49853964e-02 2.21304639e+02] [ 1.15115388e-01 9.93318044e-01 -8.22865965e-03 1.19080735e+01] [ 6.55008129e-02 6.75348048e-04 9.97852287e-01 6.66563851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.199254154 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:221.34, Y:11.91, Z:6.67 [[ 9.91532938e-01 -1.12674376e-01 -6.45516751e-02 2.21335166e+02] [ 1.12380648e-01 9.93631602e-01 -8.17495650e-03 1.19118710e+01] [ 6.50616925e-02 8.51379573e-04 9.97880880e-01 6.66770270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.229254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:221.37, Y:11.91, Z:6.67 [[ 9.91879026e-01 -1.09764474e-01 -6.42476328e-02 2.21365127e+02] [ 1.09467415e-01 9.93957084e-01 -8.13637301e-03 1.19145951e+01] [ 6.47524744e-02 1.03727543e-03 9.97900817e-01 6.66956162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.259254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:221.39, Y:11.92, Z:6.67 [[ 9.91945457e-01 -1.09333516e-01 -6.39561751e-02 2.21394280e+02] [ 1.09038105e-01 9.94004554e-01 -8.10178962e-03 1.19175100e+01] [ 6.44585264e-02 1.06287326e-03 9.97919821e-01 6.67157183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.28925415399996 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:221.42, Y:11.92, Z:6.67 [[ 9.91902052e-01 -1.09761064e-01 -6.38970082e-02 2.21424122e+02] [ 1.09466930e-01 9.93957461e-01 -8.09671230e-03 1.19202191e+01] [ 6.43996118e-02 1.03653620e-03 9.97923652e-01 6.67313935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.31925415399996 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:221.45, Y:11.92, Z:6.67 [[ 9.91467477e-01 -1.13170529e-01 -6.46890454e-02 2.21453476e+02] [ 1.12876217e-01 9.93575235e-01 -8.19825099e-03 1.19211553e+01] [ 6.52012339e-02 8.26444505e-04 9.97871793e-01 6.67450232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.34925415399996 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:221.48, Y:11.92, Z:6.68 [[ 9.91128812e-01 -1.15935254e-01 -6.49822600e-02 2.21482735e+02] [ 1.15644037e-01 9.93256560e-01 -8.23785671e-03 1.19234476e+01] [ 6.54991141e-02 6.49966244e-04 9.97852416e-01 6.67632339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.37925415399997 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:221.51, Y:11.93, Z:6.68 [[ 9.90689019e-01 -1.19462462e-01 -6.52992225e-02 2.21513027e+02] [ 1.19175963e-01 9.92838629e-01 -8.27926838e-03 1.19256533e+01] [ 6.58206524e-02 4.20082554e-04 9.97831381e-01 6.67813013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.40925415399997 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:221.54, Y:11.93, Z:6.68 [[ 9.89670197e-01 -1.27820493e-01 -6.49216626e-02 2.21542796e+02] [ 1.27555248e-01 9.91797310e-01 -8.23137032e-03 1.19252359e+01] [ 6.54412681e-02 -1.34756871e-04 9.97856414e-01 6.67989269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.43925415399997 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:221.57, Y:11.93, Z:6.68 [[ 9.89095283e-01 -1.32464915e-01 -6.43705559e-02 2.21573651e+02] [ 1.32213893e-01 9.91187599e-01 -8.16278561e-03 1.19269153e+01] [ 6.48845794e-02 -4.36909044e-04 9.97892680e-01 6.68193585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.46925415399997 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:221.60, Y:11.93, Z:6.68 [[ 9.88511381e-01 -1.37053213e-01 -6.37312010e-02 2.21604860e+02] [ 1.36816827e-01 9.90563415e-01 -8.07937341e-03 1.19287250e+01] [ 6.42371002e-02 -7.32948107e-04 9.97934396e-01 6.68400148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.49925415399997 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:221.64, Y:11.93, Z:6.69 [[ 9.87936434e-01 -1.41472492e-01 -6.29852070e-02 2.21636358e+02] [ 1.41250721e-01 9.89941672e-01 -7.98253467e-03 1.19306540e+01] [ 6.34809902e-02 -1.01046905e-03 9.97982536e-01 6.68602811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.52925415399997 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:221.67, Y:11.93, Z:6.69 [[ 9.86719841e-01 -1.49999240e-01 -6.23232250e-02 2.21667515e+02] [ 1.49799290e-01 9.88684904e-01 -7.89516892e-03 1.19306854e+01] [ 6.28023010e-02 -1.54565502e-03 9.98024790e-01 6.68800458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.55925415399997 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:221.70, Y:11.95, Z:6.69 [[ 9.87311335e-01 -1.51404589e-01 -4.78850558e-02 2.21703092e+02] [ 1.49172382e-01 9.87683919e-01 -4.72025162e-02 1.19469900e+01] [ 5.44419772e-02 3.94604515e-02 9.97736911e-01 6.68989864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.58925415399997 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:221.73, Y:11.91, Z:6.68 [[ 9.85062028e-01 -1.58138022e-01 -6.81554626e-02 2.21730428e+02] [ 1.60729348e-01 9.86400718e-01 3.43467525e-02 1.19119610e+01] [ 6.17970698e-02 -4.47882647e-02 9.97083313e-01 6.67902825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.61925415399998 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:221.76, Y:11.93, Z:6.69 [[ 9.84425955e-01 -1.64029293e-01 -6.32450052e-02 2.21759490e+02] [ 1.63850603e-01 9.86452424e-01 -8.03711164e-03 1.19348060e+01] [ 6.37065105e-02 -2.45079094e-03 9.97965668e-01 6.69317716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.64925415399998 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:221.79, Y:11.94, Z:6.69 [[ 9.83911366e-01 -1.66869677e-01 -6.38195480e-02 2.21790618e+02] [ 1.66693996e-01 9.85975363e-01 -8.10524268e-03 1.19371026e+01] [ 6.42770212e-02 -2.66349508e-03 9.97928540e-01 6.69493619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.67925415399998 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:221.82, Y:11.94, Z:6.70 [[ 9.83380947e-01 -1.69802176e-01 -6.42583405e-02 2.21822502e+02] [ 1.69630542e-01 9.85473965e-01 -8.15740048e-03 1.19397916e+01] [ 6.47100659e-02 -2.87834488e-03 9.97899956e-01 6.69649979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.70925415399998 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:221.85, Y:11.94, Z:6.70 [[ 9.82367389e-01 -1.75100336e-01 -6.55300381e-02 2.21854796e+02] [ 1.74933897e-01 9.84545077e-01 -8.31402373e-03 1.19417321e+01] [ 6.59730647e-02 -3.29599915e-03 9.97815961e-01 6.69848580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.73925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:221.89, Y:11.94, Z:6.70 [[ 9.81863185e-01 -1.77574037e-01 -6.64240010e-02 2.21885445e+02] [ 1.77408997e-01 9.84101168e-01 -8.42246636e-03 1.19447714e+01] [ 6.68635484e-02 -3.51450577e-03 9.97755939e-01 6.70048082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.76925415399998 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:221.92, Y:11.95, Z:6.70 [[ 9.81376956e-01 -1.79976488e-01 -6.71396589e-02 2.21917980e+02] [ 1.79814039e-01 9.83663855e-01 -8.50484176e-03 1.19478111e+01] [ 6.75735272e-02 -3.72619751e-03 9.97707339e-01 6.70104068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.79925415399998 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:221.95, Y:11.95, Z:6.70 [[ 9.80484570e-01 -1.84326231e-01 -6.83655540e-02 2.21948578e+02] [ 1.84168670e-01 9.82856547e-01 -8.65499903e-03 1.19505238e+01] [ 6.87888756e-02 -4.10470012e-03 9.97622795e-01 6.70413404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.82925415399998 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:221.98, Y:11.95, Z:6.71 [[ 9.80216504e-01 -1.85647875e-01 -6.86328797e-02 2.21980432e+02] [ 1.85492569e-01 9.82607285e-01 -8.68500516e-03 1.19539748e+01] [ 6.90515204e-02 -4.21770379e-03 9.97604179e-01 6.70606379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.85925415399998 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:222.01, Y:11.96, Z:6.71 [[ 9.80226468e-01 -1.85595029e-01 -6.86334986e-02 2.22011964e+02] [ 1.85439936e-01 9.82617263e-01 -8.68011177e-03 1.19579294e+01] [ 6.90514461e-02 -4.21891629e-03 9.97604179e-01 6.70820867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.88925415399999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:222.04, Y:11.96, Z:6.71 [[ 9.80056211e-01 -1.86257715e-01 -6.92667838e-02 2.22043056e+02] [ 1.86101659e-01 9.82491474e-01 -8.75643565e-03 1.19618256e+01] [ 6.96849782e-02 -4.30886423e-03 9.97559741e-01 6.71052077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.919254154 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:222.07, Y:11.97, Z:6.71 [[ 9.80001705e-01 -1.86201263e-01 -7.01836773e-02 2.22073213e+02] [ 1.86041087e-01 9.82501929e-01 -8.86984054e-03 1.19671642e+01] [ 7.06071738e-02 -4.36458877e-03 9.97494650e-01 6.71278819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.949254154 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:222.10, Y:11.97, Z:6.72 [[ 9.80116756e-01 -1.85407919e-01 -7.06756612e-02 2.22103245e+02] [ 1.85243525e-01 9.82652063e-01 -8.93081203e-03 1.19722465e+01] [ 7.11054276e-02 -4.33897014e-03 9.97459368e-01 6.71525538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.979254154 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:222.13, Y:11.98, Z:6.72 [[ 9.80280776e-01 -1.84148881e-01 -7.16853474e-02 2.22133412e+02] [ 1.83976412e-01 9.82888918e-01 -9.05839933e-03 1.19772547e+01] [ 7.21268276e-02 -4.30863830e-03 9.97386162e-01 6.71775097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.00925415399996 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:222.16, Y:11.98, Z:6.72 [[ 9.80501551e-01 -1.82802123e-01 -7.21116713e-02 2.22163328e+02] [ 1.82623973e-01 9.83140606e-01 -9.11227105e-03 1.19824573e+01] [ 7.25616548e-02 -4.23472402e-03 9.97354939e-01 6.71979036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.03925415399996 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:222.19, Y:11.99, Z:6.72 [[ 9.80894943e-01 -1.80229394e-01 -7.32289320e-02 2.22193360e+02] [ 1.80038548e-01 9.83616030e-01 -9.25345183e-03 1.19888075e+01] [ 7.36968954e-02 -4.10736648e-03 9.97272228e-01 6.72251718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.06925415399996 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:222.22, Y:11.99, Z:6.72 [[ 9.81095186e-01 -1.79086975e-01 -7.33491122e-02 2.22223521e+02] [ 1.78892323e-01 9.83824999e-01 -9.26863820e-03 1.19937788e+01] [ 7.38225826e-02 -4.02817672e-03 9.97263255e-01 6.72482412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.09925415399996 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:222.25, Y:12.00, Z:6.73 [[ 9.81316756e-01 -1.77784757e-01 -7.35527289e-02 2.22252503e+02] [ 1.77585381e-01 9.84061506e-01 -9.29436701e-03 1.19984271e+01] [ 7.40328059e-02 -3.94117126e-03 9.97248019e-01 6.72706369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.12925415399997 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:222.28, Y:12.00, Z:6.73 [[ 9.81623645e-01 -1.75910326e-01 -7.39633483e-02 2.22280277e+02] [ 1.75703391e-01 9.84398781e-01 -9.34661063e-03 1.20042556e+01] [ 7.44535952e-02 -3.82075715e-03 9.97217160e-01 6.72958072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.15925415399997 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:222.31, Y:12.01, Z:6.73 [[ 9.81730110e-01 -1.75128547e-01 -7.44041914e-02 2.22309530e+02] [ 1.74916625e-01 9.84538319e-01 -9.40602813e-03 1.20091026e+01] [ 7.49010416e-02 -3.78034902e-03 9.97183806e-01 6.73221393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.18925415399997 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:222.34, Y:12.01, Z:6.73 [[ 9.81892601e-01 -1.73920783e-01 -7.50898172e-02 2.22339022e+02] [ 1.73701225e-01 9.84752621e-01 -9.49528275e-03 1.20140809e+01] [ 7.55963212e-02 -3.71984537e-03 9.97131566e-01 6.73472659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.21925415399997 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:222.37, Y:12.02, Z:6.74 [[ 9.82134937e-01 -1.72489747e-01 -7.52213537e-02 2.22366841e+02] [ 1.72264915e-01 9.85004691e-01 -9.51615947e-03 1.20189158e+01] [ 7.57348262e-02 -3.61184738e-03 9.97121452e-01 6.73686425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.24925415399997 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:222.39, Y:12.02, Z:6.74 [[ 9.82798272e-01 -1.68298841e-01 -7.60464084e-02 2.22394031e+02] [ 1.68055255e-01 9.85730467e-01 -9.63727602e-03 1.20246627e+01] [ 7.65832040e-02 -3.30850035e-03 9.97057705e-01 6.73960095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.27925415399997 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:222.42, Y:12.03, Z:6.74 [[ 9.83236714e-01 -1.65550355e-01 -7.64110162e-02 2.22421448e+02] [ 1.65295522e-01 9.86196462e-01 -9.69165033e-03 1.20295660e+01] [ 7.69607300e-02 -3.10121236e-03 9.97029302e-01 6.74223746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.30925415399997 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:222.45, Y:12.03, Z:6.74 [[ 9.83710996e-01 -1.62574733e-01 -7.66950578e-02 2.22449182e+02] [ 1.62307396e-01 9.86692091e-01 -9.74813011e-03 1.20345685e+01] [ 7.72592066e-02 -2.85883233e-03 9.97006942e-01 6.74453178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.33925415399997 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:222.48, Y:12.04, Z:6.75 [[ 9.84965405e-01 -1.54690237e-01 -7.69030616e-02 2.22475390e+02] [ 1.54395980e-01 9.87960510e-01 -9.79344395e-03 1.20411151e+01] [ 7.74921382e-02 -2.22732010e-03 9.96990475e-01 6.74721398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.36925415399998 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:222.50, Y:12.05, Z:6.75 [[ 9.85625966e-01 -1.50407260e-01 -7.69357619e-02 2.22503234e+02] [ 1.50098924e-01 9.88622333e-01 -9.80791006e-03 1.20462791e+01] [ 7.75355933e-02 -1.88104424e-03 9.96987810e-01 6.74974597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.39925415399998 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:222.53, Y:12.05, Z:6.75 [[ 9.86219772e-01 -1.46346649e-01 -7.71571137e-02 2.22530795e+02] [ 1.46022560e-01 9.89232161e-01 -9.85620099e-03 1.20518561e+01] [ 7.77687203e-02 -1.54629895e-03 9.96970228e-01 6.75239812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.42925415399998 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:222.56, Y:12.06, Z:6.75 [[ 9.86862295e-01 -1.42026586e-01 -7.70146665e-02 2.22558153e+02] [ 1.41689014e-01 9.89862135e-01 -9.85779169e-03 1.20569419e+01] [ 7.76339708e-02 -1.18384923e-03 9.96981226e-01 6.75494410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.45925415399998 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:222.58, Y:12.06, Z:6.76 [[ 9.87931350e-01 -1.34187604e-01 -7.73649416e-02 2.22584529e+02] [ 1.33821494e-01 9.90955792e-01 -9.92094960e-03 1.20623583e+01] [ 7.79965055e-02 -5.51874943e-04 9.96953480e-01 6.75774613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.48925415399998 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:222.61, Y:12.07, Z:6.76 [[ 9.88300506e-01 -1.31389418e-01 -7.74527693e-02 2.22612091e+02] [ 1.31013076e-01 9.91330781e-01 -9.94263902e-03 1.20663669e+01] [ 7.80876718e-02 -3.21010390e-04 9.96946444e-01 6.75972102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.51925415399998 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:222.64, Y:12.07, Z:6.76 [[ 9.88569438e-01 -1.29194108e-01 -7.77132490e-02 2.22639640e+02] [ 1.28806710e-01 9.91619315e-01 -9.99823692e-03 1.20702759e+01] [ 7.83536721e-02 -1.26036490e-04 9.96925617e-01 6.76170645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.54925415399998 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:222.67, Y:12.07, Z:6.76 [[ 9.88890245e-01 -1.26422906e-01 -7.81878040e-02 2.22666862e+02] [ 1.26020300e-01 9.91976429e-01 -1.00820990e-02 1.20737691e+01] [ 7.88350668e-02 1.16838801e-04 9.96887666e-01 6.76425773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.57925415399998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:222.70, Y:12.08, Z:6.77 [[ 9.88848110e-01 -1.26511405e-01 -7.85765879e-02 2.22695011e+02] [ 1.26103229e-01 9.91965144e-01 -1.01552432e-02 1.20768505e+01] [ 7.92299904e-02 1.33231594e-04 9.96856354e-01 6.76624879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.60925415399998 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:222.72, Y:12.08, Z:6.77 [[ 9.88513400e-01 -1.28613199e-01 -7.93719332e-02 2.22723300e+02] [ 1.28201554e-01 9.91694835e-01 -1.02818484e-02 1.20787006e+01] [ 8.00351176e-02 -1.18602668e-05 9.96792044e-01 6.76850564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.63925415399999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:222.75, Y:12.08, Z:6.77 [[ 9.88224138e-01 -1.30881566e-01 -7.92658156e-02 2.22751315e+02] [ 1.30476429e-01 9.91397996e-01 -1.02915245e-02 1.20809479e+01] [ 7.99309416e-02 -1.71987573e-04 9.96800389e-01 6.77029797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.669254154 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:222.78, Y:12.08, Z:6.77 [[ 9.87822352e-01 -1.33737252e-01 -7.95069031e-02 2.22777775e+02] [ 1.33337081e-01 9.91016751e-01 -1.03451111e-02 1.20828672e+01] [ 8.01761995e-02 -3.82086405e-04 9.96780633e-01 6.77200565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.699254154 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:222.81, Y:12.08, Z:6.77 [[ 9.87317362e-01 -1.37161161e-01 -7.99452533e-02 2.22805771e+02] [ 1.36766351e-01 9.90548534e-01 -1.04195534e-02 1.20846865e+01] [ 8.06188115e-02 -6.46414592e-04 9.96744797e-01 6.77403986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.729254154 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:222.83, Y:12.08, Z:6.78 [[ 9.86178934e-01 -1.45159133e-01 -7.98744992e-02 2.22833997e+02] [ 1.44789298e-01 9.89407499e-01 -1.04336002e-02 1.20843314e+01] [ 8.05429608e-02 -1.27557594e-03 9.96750322e-01 6.77625500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.75925415399996 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:222.87, Y:12.09, Z:6.78 [[ 9.86003678e-01 -1.47910069e-01 -7.69373733e-02 2.22866544e+02] [ 1.46945483e-01 9.88979299e-01 -1.80823679e-02 1.20870716e+01] [ 7.87640337e-02 6.52368178e-03 9.96871942e-01 6.78012584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.78925415399996 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:222.89, Y:12.08, Z:6.78 [[ 9.84929000e-01 -1.53180453e-01 -8.03157115e-02 2.22893404e+02] [ 1.53560746e-01 9.88138135e-01 -1.45694415e-03 1.20834595e+01] [ 7.95861927e-02 -1.08983540e-02 9.96768410e-01 6.77781173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.81925415399996 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:222.92, Y:12.09, Z:6.78 [[ 9.83820168e-01 -1.60789518e-01 -7.90228362e-02 2.22921210e+02] [ 1.60473915e-01 9.86985606e-01 -1.03699951e-02 1.20869599e+01] [ 7.96617883e-02 -2.47889356e-03 9.96818867e-01 6.78259512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.84925415399996 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:222.96, Y:12.09, Z:6.79 [[ 9.84012897e-01 -1.61760772e-01 -7.45122257e-02 2.22956112e+02] [ 1.60398467e-01 9.86761549e-01 -2.39578148e-02 1.20928959e+01] [ 7.74012339e-02 1.16231519e-02 9.96932270e-01 6.78645959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.87925415399997 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:222.98, Y:12.08, Z:6.78 [[ 9.82903183e-01 -1.65185214e-01 -8.13337406e-02 2.22981556e+02] [ 1.66152539e-01 9.86086218e-01 5.22533797e-03 1.20841724e+01] [ 7.93389321e-02 -1.86498088e-02 9.96673226e-01 6.78211573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.90925415399997 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:223.01, Y:12.09, Z:6.79 [[ 9.82570128e-01 -1.68031523e-01 -7.95069192e-02 2.23008653e+02] [ 1.67732446e-01 9.85776919e-01 -1.04733746e-02 1.20936263e+01] [ 8.01359429e-02 -3.04506501e-03 9.96779293e-01 6.78853182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.93925415399997 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:223.04, Y:12.09, Z:6.79 [[ 9.82160540e-01 -1.70460025e-01 -7.93980673e-02 2.23036711e+02] [ 1.70169096e-01 9.85359293e-01 -1.04662297e-02 1.20948683e+01] [ 8.00196973e-02 -3.23157947e-03 9.96788044e-01 6.79049068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.96925415399997 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:223.07, Y:12.10, Z:6.79 [[ 9.82073853e-01 -1.70976314e-01 -7.93602387e-02 2.23066371e+02] [ 1.70685812e-01 9.85269768e-01 -1.04803116e-02 1.20978697e+01] [ 7.99831291e-02 -3.25322680e-03 9.96790909e-01 6.79240597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.99925415399997 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:223.10, Y:12.10, Z:6.79 [[ 9.81997860e-01 -1.71152488e-01 -7.99188908e-02 2.23095540e+02] [ 1.70858221e-01 9.85239066e-01 -1.05570802e-02 1.20999284e+01] [ 8.05460838e-02 -3.28776927e-03 9.96745463e-01 6.79423092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.02925415399997 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:223.12, Y:12.10, Z:6.80 [[ 9.81960371e-01 -1.71033079e-01 -8.06319758e-02 2.23123889e+02] [ 1.70732866e-01 9.85259747e-01 -1.06545741e-02 1.21031991e+01] [ 8.12657247e-02 -3.30415873e-03 9.96686994e-01 6.79660017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.05925415399997 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:223.15, Y:12.11, Z:6.80 [[ 9.82011967e-01 -1.70745777e-01 -8.06125116e-02 2.23152321e+02] [ 1.70444148e-01 9.85309683e-01 -1.06593097e-02 1.21067486e+01] [ 8.12483204e-02 -3.27236115e-03 9.96688518e-01 6.79801342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.08925415399997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:223.18, Y:12.11, Z:6.80 [[ 9.82121360e-01 -1.70157351e-01 -8.05239702e-02 2.23180806e+02] [ 1.69852687e-01 9.85411712e-01 -1.06688084e-02 1.21107041e+01] [ 8.11646395e-02 -3.19914804e-03 9.96695574e-01 6.79964518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.11925415399998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:223.21, Y:12.12, Z:6.80 [[ 9.82473216e-01 -1.67864715e-01 -8.10420715e-02 2.23209359e+02] [ 1.67546569e-01 9.85805453e-01 -1.07590312e-02 1.21150868e+01] [ 8.16977776e-02 -3.00786105e-03 9.96652610e-01 6.80137886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.14925415399998 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:223.24, Y:12.12, Z:6.80 [[ 9.82685498e-01 -1.66676237e-01 -8.09212184e-02 2.23236985e+02] [ 1.66353475e-01 9.86007456e-01 -1.07618910e-02 1.21191636e+01] [ 8.15826762e-02 -2.88597164e-03 9.96662399e-01 6.80280836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.17925415399998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:223.26, Y:12.12, Z:6.80 [[ 9.82899491e-01 -1.65412522e-01 -8.09153126e-02 2.23264335e+02] [ 1.65084694e-01 9.86220574e-01 -1.07713926e-02 1.21232758e+01] [ 8.15820692e-02 -2.77068336e-03 9.96662776e-01 6.80432082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.20925415399998 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:223.29, Y:12.13, Z:6.81 [[ 9.83075930e-01 -1.64462282e-01 -8.07085694e-02 2.23293130e+02] [ 1.64131042e-01 9.86379781e-01 -1.07670433e-02 1.21277993e+01] [ 8.13800735e-02 -2.66196045e-03 9.96679586e-01 6.80590227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.23925415399998 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:223.32, Y:12.13, Z:6.81 [[ 9.83421727e-01 -1.62411357e-01 -8.06489826e-02 2.23320922e+02] [ 1.62072180e-01 9.86720043e-01 -1.07780383e-02 1.21327450e+01] [ 8.13284434e-02 -2.47159939e-03 9.96684291e-01 6.80744471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.26925415399998 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:223.35, Y:12.14, Z:6.81 [[ 9.83528175e-01 -1.61365016e-01 -8.14472930e-02 2.23346784e+02] [ 1.60639642e-01 9.86892585e-01 -1.54249875e-02 1.21388652e+01] [ 8.28687829e-02 2.08724579e-03 9.96558281e-01 6.81043049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.29925415399998 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:223.37, Y:12.14, Z:6.81 [[ 9.83641969e-01 -1.60431494e-01 -8.19158848e-02 2.23374465e+02] [ 1.60369832e-01 9.87029447e-01 -7.37477138e-03 1.21393809e+01] [ 8.20365361e-02 -5.88270209e-03 9.96611961e-01 6.80945534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.32925415399998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:223.40, Y:12.15, Z:6.81 [[ 9.83228687e-01 -1.63140541e-01 -8.15261449e-02 2.23402386e+02] [ 1.62811699e-01 9.86599028e-01 -1.07102509e-02 1.21460792e+01] [ 8.21808914e-02 -2.74278429e-03 9.96613655e-01 6.81185686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.35925415399998 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:223.43, Y:12.15, Z:6.81 [[ 9.83005729e-01 -1.64432122e-01 -8.16199395e-02 2.23429610e+02] [ 1.64086835e-01 9.86384940e-01 -1.09663156e-02 1.21502218e+01] [ 8.23118937e-02 -2.61280648e-03 9.96603194e-01 6.81353604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.38925415399999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:223.46, Y:12.18, Z:6.81 [[ 9.84532304e-01 -1.64769386e-01 -5.95582995e-02 2.23460698e+02] [ 1.60913589e-01 9.84850810e-01 -6.46196503e-02 1.21774856e+01] [ 6.93033796e-02 5.40363935e-02 9.96131071e-01 6.81223263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.419254154 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:223.49, Y:12.13, Z:6.80 [[ 9.82641957e-01 -1.63354441e-01 -8.79210527e-02 2.23493437e+02] [ 1.67769252e-01 9.84781917e-01 4.53657720e-02 1.21316963e+01] [ 7.91723626e-02 -5.93287602e-02 9.95093883e-01 6.80145217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.449254154 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:223.52, Y:12.16, Z:6.82 [[ 9.82023972e-01 -1.71027120e-01 -7.98663997e-02 2.23516688e+02] [ 1.70715620e-01 9.85261555e-01 -1.07631525e-02 1.21635790e+01] [ 8.05300841e-02 -3.06476824e-03 9.96747467e-01 6.81928501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.479254154 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:223.54, Y:12.19, Z:6.82 [[ 9.82730285e-01 -1.74645684e-01 -6.11561292e-02 2.23542713e+02] [ 1.70475701e-01 9.83023416e-01 -6.78453977e-02 1.21944752e+01] [ 7.19668129e-02 5.62480930e-02 9.95819728e-01 6.82238489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.50925415399996 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:223.58, Y:12.14, Z:6.81 [[ 9.81061534e-01 -1.73244852e-01 -8.66284468e-02 2.23578836e+02] [ 1.77759992e-01 9.82931985e-01 4.73930161e-02 1.21447905e+01] [ 7.69392751e-02 -6.18945371e-02 9.95112765e-01 6.80666289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.53925415399996 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:223.60, Y:12.18, Z:6.82 [[ 9.80797983e-01 -1.78616417e-01 -7.83038458e-02 2.23603070e+02] [ 1.78337989e-01 9.83912285e-01 -1.05913933e-02 1.21769536e+01] [ 7.89359125e-02 -3.57653318e-03 9.96873277e-01 6.82484294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.56925415399996 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:223.63, Y:12.18, Z:6.83 [[ 9.80562769e-01 -1.80217375e-01 -7.75780549e-02 2.23631689e+02] [ 1.79948851e-01 9.83619969e-01 -1.04960786e-02 1.21820979e+01] [ 7.81988997e-02 -3.66801797e-03 9.96931030e-01 6.82725309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.59925415399996 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:223.66, Y:12.19, Z:6.83 [[ 9.80249024e-01 -1.82295782e-01 -7.66818011e-02 2.23658454e+02] [ 1.82039428e-01 9.83236453e-01 -1.03790735e-02 1.21878775e+01] [ 7.72884034e-02 -3.78503457e-03 9.97001593e-01 6.82943242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.62925415399997 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:223.68, Y:12.20, Z:6.84 [[ 9.80081801e-01 -1.82626073e-01 -7.80216692e-02 2.23683162e+02] [ 1.81269995e-01 9.83135975e-01 -2.41835313e-02 1.21987585e+01] [ 8.11224532e-02 9.55885137e-03 9.96658305e-01 6.83629036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.65925415399997 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:223.72, Y:12.19, Z:6.83 [[ 9.80064813e-01 -1.82530769e-01 -7.84568779e-02 2.23716299e+02] [ 1.83153807e-01 9.83083978e-01 7.58719329e-04 1.21926167e+01] [ 7.69912100e-02 -1.51132699e-02 9.96917220e-01 6.83029274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.68925415399997 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:223.75, Y:12.20, Z:6.84 [[ 9.80020212e-01 -1.83693837e-01 -7.62689931e-02 2.23747564e+02] [ 1.83447130e-01 9.82975736e-01 -1.02884529e-02 1.22031494e+01] [ 7.68604950e-02 -3.90843610e-03 9.97034196e-01 6.83558822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.71925415399997 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:223.78, Y:12.21, Z:6.84 [[ 9.80081787e-01 -1.83810474e-01 -7.51890929e-02 2.23777878e+02] [ 1.83571465e-01 9.82954096e-01 -1.01372249e-02 1.22091085e+01] [ 7.57707550e-02 -3.86726244e-03 9.97117765e-01 6.83728409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.74925415399997 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:223.81, Y:12.21, Z:6.84 [[ 9.80231462e-01 -1.83238275e-01 -7.46325352e-02 2.23809521e+02] [ 1.83001465e-01 9.83061190e-01 -1.00578507e-02 1.22143682e+01] [ 7.52113321e-02 -3.79884158e-03 9.97160380e-01 6.83937194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.77925415399997 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:223.84, Y:12.22, Z:6.84 [[ 9.80248397e-01 -1.83147349e-01 -7.46332965e-02 2.23841859e+02] [ 1.82910706e-01 9.83078139e-01 -1.00521987e-02 1.22186632e+01] [ 7.52113958e-02 -3.79757725e-03 9.97160380e-01 6.84163229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.80925415399997 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:223.87, Y:12.22, Z:6.84 [[ 9.80366230e-01 -1.82526036e-01 -7.46076545e-02 2.23872374e+02] [ 1.82288276e-01 9.83193848e-01 -1.00419451e-02 1.22242092e+01] [ 7.51867034e-02 -3.75531685e-03 9.97162403e-01 6.84374540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.83925415399997 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:223.90, Y:12.23, Z:6.85 [[ 9.80804072e-01 -1.80071725e-01 -7.48167538e-02 2.23903248e+02] [ 1.79825843e-01 9.83646963e-01 -1.00657445e-02 1.22320408e+01] [ 7.54058286e-02 -3.58146264e-03 9.97146496e-01 6.84584516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.86925415399998 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:223.93, Y:12.24, Z:6.85 [[ 9.81101222e-01 -1.78519317e-01 -7.46407705e-02 2.23934306e+02] [ 1.78270533e-01 9.83930326e-01 -1.00364983e-02 1.22382971e+01] [ 7.52330265e-02 -3.45942915e-03 9.97159979e-01 6.84796790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.89925415399998 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:223.97, Y:12.24, Z:6.85 [[ 9.81501970e-01 -1.76414295e-01 -7.43765987e-02 2.23965183e+02] [ 1.76161560e-01 9.84310505e-01 -9.99676617e-03 1.22436434e+01] [ 7.49732398e-02 -3.29045198e-03 9.97180117e-01 6.84965505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.92925415399998 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:224.00, Y:12.25, Z:6.85 [[ 9.81799527e-01 -1.74866716e-01 -7.41034506e-02 2.23996894e+02] [ 1.74611757e-01 9.84587028e-01 -9.95580743e-03 1.22500306e+01] [ 7.47022355e-02 -3.16472670e-03 9.97200863e-01 6.85209868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.95925415399998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:224.03, Y:12.26, Z:6.85 [[ 9.82559394e-01 -1.70614936e-01 -7.39430948e-02 2.24027844e+02] [ 1.70349478e-01 9.85333687e-01 -9.92877245e-03 1.22574115e+01] [ 7.45526191e-02 -2.84055897e-03 9.97213036e-01 6.85403581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.98925415399998 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:224.06, Y:12.28, Z:6.86 [[ 9.84662636e-01 -1.65834066e-01 -5.42084506e-02 2.24063986e+02] [ 1.62576590e-01 9.84880006e-01 -5.98349911e-02 1.22827439e+01] [ 6.33114990e-02 5.01042550e-02 9.96735280e-01 6.85623500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.01925415399998 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:224.10, Y:12.27, Z:6.84 [[ 9.85822294e-01 -1.58778451e-01 -5.42568747e-02 2.24100956e+02] [ 1.57727618e-01 9.87211090e-01 -2.31573598e-02 1.22690645e+01] [ 5.72398781e-02 1.42712339e-02 9.98258448e-01 6.84092844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.04925415399998 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:224.13, Y:12.26, Z:6.83 [[ 9.85577465e-01 -1.55189451e-01 -6.74781043e-02 2.24125765e+02] [ 1.56642822e-01 9.87512819e-01 1.67767503e-02 1.22604538e+01] [ 6.40319183e-02 -2.71047476e-02 9.97579694e-01 6.83444914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.07925415399998 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:224.15, Y:12.26, Z:6.84 [[ 9.85115126e-01 -1.54074229e-01 -7.62188929e-02 2.24153659e+02] [ 1.56573259e-01 9.87271033e-01 2.79414061e-02 1.22616381e+01] [ 7.09436545e-02 -3.94593423e-02 9.96699533e-01 6.84216266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.10925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:224.19, Y:12.31, Z:6.86 [[ 9.87635319e-01 -1.50388311e-01 -4.42700022e-02 2.24188084e+02] [ 1.46497642e-01 9.85897732e-01 -8.08956267e-02 1.23137808e+01] [ 5.58114514e-02 7.34099271e-02 9.95738954e-01 6.85882091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.13925415399999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:224.23, Y:12.28, Z:6.83 [[ 9.88147214e-01 -1.42512741e-01 -5.70543715e-02 2.24227395e+02] [ 1.42792453e-01 9.89752301e-01 8.35194018e-04 1.22811000e+01] [ 5.63506697e-02 -8.97222829e-03 9.98370723e-01 6.83453362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.169254154 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:224.25, Y:12.27, Z:6.84 [[ 9.86300570e-01 -1.43566737e-01 -8.12390163e-02 2.24246770e+02] [ 1.48601699e-01 9.87091609e-01 5.97301515e-02 1.22651990e+01] [ 7.16150884e-02 -7.09841383e-02 9.94903277e-01 6.83927502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.199254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:224.27, Y:12.30, Z:6.86 [[ 9.86504060e-01 -1.47206579e-01 -7.16935316e-02 2.24272760e+02] [ 1.46896233e-01 9.89105212e-01 -9.61126029e-03 1.23049609e+01] [ 7.23272865e-02 -1.04996239e-03 9.97380399e-01 6.86357296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.229254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:224.30, Y:12.32, Z:6.87 [[ 9.87017338e-01 -1.46518432e-01 -6.57960734e-02 2.24300662e+02] [ 1.45208719e-01 9.89102807e-01 -2.42912568e-02 1.23186661e+01] [ 6.86381977e-02 1.44217281e-02 9.97537374e-01 6.86557155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.25925415399996 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:224.33, Y:12.31, Z:6.86 [[ 9.87056993e-01 -1.42636106e-01 -7.33037140e-02 2.24334741e+02] [ 1.43384287e-01 9.89654354e-01 5.02047776e-03 1.23096212e+01] [ 7.18292384e-02 -1.54660984e-02 9.97297027e-01 6.86229014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.28925415399996 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:224.37, Y:12.32, Z:6.87 [[ 9.87207705e-01 -1.42706306e-01 -7.11045523e-02 2.24365198e+02] [ 1.42389030e-01 9.89764824e-01 -9.53713300e-03 1.23221070e+01] [ 7.17377938e-02 -7.09377087e-04 9.97423273e-01 6.86924017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.31925415399996 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:224.40, Y:12.33, Z:6.87 [[ 9.87429504e-01 -1.41467756e-01 -7.04971534e-02 2.24397245e+02] [ 1.41153106e-01 9.89942670e-01 -9.45040979e-03 1.23272133e+01] [ 7.11250686e-02 -6.19278704e-04 9.97467213e-01 6.87107660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.34925415399996 meters Centerline goodness : 0.996728 Centerline is valid? [True, True] Translation: X:224.42, Y:12.34, Z:6.87 [[ 9.87884050e-01 -1.40716402e-01 -6.54522631e-02 2.24424436e+02] [ 1.39433041e-01 9.89945405e-01 -2.38017406e-02 1.23400811e+01] [ 6.81434624e-02 1.43871518e-02 9.97571791e-01 6.87431054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.37925415399997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:224.46, Y:12.34, Z:6.87 [[ 9.88268726e-01 -1.36712670e-01 -6.80776767e-02 2.24457045e+02] [ 1.36550621e-01 9.90608007e-01 -7.05014887e-03 1.23373236e+01] [ 6.84021363e-02 -2.32860738e-03 9.97655113e-01 6.87189477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.40925415399997 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:224.49, Y:12.34, Z:6.87 [[ 9.88115426e-01 -1.35895991e-01 -7.18344258e-02 2.24489933e+02] [ 1.36450032e-01 9.90642885e-01 2.83965654e-03 1.23364042e+01] [ 7.07763649e-02 -1.26077181e-02 9.97412528e-01 6.87428723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.43925415399997 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:224.52, Y:12.35, Z:6.88 [[ 9.88295689e-01 -1.35907464e-01 -6.92877493e-02 2.24520720e+02] [ 1.35592452e-01 9.90721504e-01 -9.25144836e-03 1.23467737e+01] [ 6.99022041e-02 -2.51729263e-04 9.97553817e-01 6.88012251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.46925415399997 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:224.55, Y:12.36, Z:6.88 [[ 9.88494588e-01 -1.36275068e-01 -6.56319733e-02 2.24549083e+02] [ 1.35261825e-01 9.90614764e-01 -1.96628690e-02 1.23570828e+01] [ 6.76955606e-02 1.05591392e-02 9.97650147e-01 6.88259050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.49925415399997 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:224.58, Y:12.35, Z:6.88 [[ 9.88177062e-01 -1.35710866e-01 -7.13348138e-02 2.24582295e+02] [ 1.36116539e-01 9.90692481e-01 8.34198943e-04 1.23497699e+01] [ 7.05576538e-02 -1.05341842e-02 9.97452078e-01 6.88086179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.52925415399997 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:224.61, Y:12.36, Z:6.89 [[ 9.88082440e-01 -1.37104833e-01 -6.99668302e-02 2.24612400e+02] [ 1.36787150e-01 9.90556482e-01 -9.33442552e-03 1.23585106e+01] [ 7.05858920e-02 -3.47381353e-04 9.97505645e-01 6.88615542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.55925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:224.64, Y:12.36, Z:6.89 [[ 9.87832688e-01 -1.38785142e-01 -7.01802272e-02 2.24644255e+02] [ 1.38470031e-01 9.90322402e-01 -9.35893613e-03 1.23620534e+01] [ 7.07999325e-02 -4.72795198e-04 9.97490424e-01 6.88765580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.58925415399997 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:224.67, Y:12.37, Z:6.89 [[ 9.87622820e-01 -1.39973261e-01 -7.07718243e-02 2.24674814e+02] [ 1.39656231e-01 9.90155121e-01 -9.43257611e-03 1.23658144e+01] [ 7.13953926e-02 -5.67898816e-04 9.97447931e-01 6.88932575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.61925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:224.70, Y:12.38, Z:6.89 [[ 9.87920152e-01 -1.40976009e-01 -6.43392463e-02 2.24704371e+02] [ 1.39517157e-01 9.89860892e-01 -2.66529039e-02 1.23780932e+01] [ 6.74443237e-02 1.73545121e-02 9.97572095e-01 6.89156440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.64925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:224.74, Y:12.36, Z:6.89 [[ 9.86975314e-01 -1.42689847e-01 -7.42922376e-02 2.24737372e+02] [ 1.43670959e-01 9.89593127e-01 8.00619674e-03 1.23646558e+01] [ 7.23766847e-02 -1.85755556e-02 9.97204374e-01 6.88691795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.67925415399998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:224.77, Y:12.38, Z:6.89 [[ 9.86778669e-01 -1.45124236e-01 -7.21582678e-02 2.24767734e+02] [ 1.44808998e-01 9.89412968e-01 -9.60902807e-03 1.23773421e+01] [ 7.27888287e-02 -9.67182494e-04 9.97346906e-01 6.89499463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.70925415399998 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:224.80, Y:12.38, Z:6.90 [[ 9.86575341e-01 -1.46331976e-01 -7.24986156e-02 2.24799389e+02] [ 1.46017401e-01 9.89234965e-01 -9.64901526e-03 1.23815254e+01] [ 7.31301249e-02 -1.06657889e-03 9.97321837e-01 6.89734984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.73925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:224.83, Y:12.39, Z:6.90 [[ 9.86179300e-01 -1.48737303e-01 -7.29904334e-02 2.24830691e+02] [ 1.48425406e-01 9.88875943e-01 -9.70918444e-03 1.23859312e+01] [ 7.36226016e-02 -1.25863802e-03 9.97285380e-01 6.89958297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.76925415399998 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:224.86, Y:12.40, Z:6.90 [[ 9.86229833e-01 -1.51743319e-01 -6.57623167e-02 2.24857869e+02] [ 1.50000412e-01 9.88209024e-01 -3.07050599e-02 1.24021153e+01] [ 6.96462026e-02 2.04178715e-02 9.97362781e-01 6.90312985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.79925415399998 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:224.89, Y:12.38, Z:6.90 [[ 9.85781595e-01 -1.49754460e-01 -7.62118618e-02 2.24892447e+02] [ 1.51021161e-01 9.88468147e-01 1.11054575e-02 1.23842318e+01] [ 7.36699060e-02 -2.24571594e-02 9.97029799e-01 6.89679189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.82925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:224.92, Y:12.40, Z:6.91 [[ 9.85467107e-01 -1.53289796e-01 -7.31902985e-02 2.24921974e+02] [ 1.52987883e-01 9.88179996e-01 -9.74696832e-03 1.23987477e+01] [ 7.38192997e-02 -1.59191214e-03 9.97270363e-01 6.90655078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.85925415399998 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:224.95, Y:12.40, Z:6.91 [[ 9.85331398e-01 -1.54483732e-01 -7.25038763e-02 2.24953635e+02] [ 1.54191075e-01 9.87993920e-01 -9.65024914e-03 1.24031003e+01] [ 7.31241955e-02 -1.67075716e-03 9.97321443e-01 6.90843274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.88925415399999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:224.99, Y:12.41, Z:6.91 [[ 9.85171323e-01 -1.55520681e-01 -7.24622776e-02 2.24985962e+02] [ 1.55231551e-01 9.87831083e-01 -9.63936594e-03 1.24073060e+01] [ 7.30796109e-02 -1.75200485e-03 9.97324572e-01 6.91073616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.919254154 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:225.02, Y:12.41, Z:6.91 [[ 9.84947093e-01 -1.56898810e-01 -7.25395624e-02 2.25017038e+02] [ 1.56613184e-01 9.87612929e-01 -9.64429705e-03 1.24113474e+01] [ 7.31541884e-02 -1.86152946e-03 9.97318906e-01 6.91317034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.949254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:225.05, Y:12.42, Z:6.92 [[ 9.84325548e-01 -1.60626132e-01 -7.28180062e-02 2.25048724e+02] [ 1.60348783e-01 9.87012979e-01 -9.67718360e-03 1.24152365e+01] [ 7.34267258e-02 -2.15077963e-03 9.97298295e-01 6.91534178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.979254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:225.08, Y:12.42, Z:6.92 [[ 9.83856416e-01 -1.63187784e-01 -7.34595174e-02 2.25080170e+02] [ 1.62913054e-01 9.86592185e-01 -9.75692670e-03 1.24193463e+01] [ 7.40667970e-02 -2.36809941e-03 9.97250471e-01 6.91759898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.00925415399996 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:225.11, Y:12.42, Z:6.92 [[ 9.83335579e-01 -1.66001996e-01 -7.41247357e-02 2.25110967e+02] [ 1.65730647e-01 9.86121966e-01 -9.83981057e-03 1.24231992e+01] [ 7.47294583e-02 -2.60890457e-03 9.97200432e-01 6.91980783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.03925415399996 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:225.14, Y:12.43, Z:6.92 [[ 9.82108333e-01 -1.72621915e-01 -7.52655087e-02 2.25142614e+02] [ 1.72361837e-01 9.84983076e-01 -9.98689872e-03 1.24263688e+01] [ 7.58592098e-02 -3.16468486e-03 9.97113517e-01 6.92234941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.06925415399996 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:225.18, Y:12.43, Z:6.92 [[ 9.81457573e-01 -1.76122569e-01 -7.56430633e-02 2.25175047e+02] [ 1.75870673e-01 9.84362170e-01 -1.00311907e-02 1.24301094e+01] [ 7.62268890e-02 -3.45820839e-03 9.97084501e-01 6.92470746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.09925415399996 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:225.21, Y:12.43, Z:6.93 [[ 9.80819330e-01 -1.79532336e-01 -7.59050850e-02 2.25207311e+02] [ 1.79289528e-01 9.83744945e-01 -1.00571979e-02 1.24338875e+01] [ 7.64768359e-02 -3.74469280e-03 9.97064326e-01 6.92686762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.12925415399997 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:225.24, Y:12.44, Z:6.93 [[ 9.79652228e-01 -1.85578850e-01 -7.64329898e-02 2.25239340e+02] [ 1.85351627e-01 9.82620166e-01 -1.01184790e-02 1.24376247e+01] [ 7.69823729e-02 -4.25438852e-03 9.97023377e-01 6.92911389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.15925415399997 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:225.27, Y:12.44, Z:6.93 [[ 9.79170000e-01 -1.87880687e-01 -7.69867386e-02 2.25272345e+02] [ 1.87657822e-01 9.82181664e-01 -1.01842973e-02 1.24418936e+01] [ 7.75283958e-02 -4.47500526e-03 9.96980101e-01 6.93135752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.18925415399997 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:225.30, Y:12.45, Z:6.93 [[ 9.78418778e-01 -1.91283798e-01 -7.81485972e-02 2.25303987e+02] [ 1.91065640e-01 9.81522912e-01 -1.03293027e-02 1.24466312e+01] [ 7.86804670e-02 -4.82512803e-03 9.96888210e-01 6.93383268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.21925415399997 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:225.34, Y:12.45, Z:6.94 [[ 9.78279204e-01 -1.91871981e-01 -7.84534392e-02 2.25336837e+02] [ 1.91654594e-01 9.81407735e-01 -1.03621078e-02 1.24516634e+01] [ 7.89830102e-02 -4.89892743e-03 9.96863925e-01 6.93654390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.24925415399997 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:225.37, Y:12.46, Z:6.94 [[ 9.78291404e-01 -1.91893503e-01 -7.82484022e-02 2.25369773e+02] [ 1.91678012e-01 9.81403540e-01 -1.03262467e-02 1.24566987e+01] [ 7.87747986e-02 -4.89641975e-03 9.96880412e-01 6.93876221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.27925415399997 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:225.40, Y:12.46, Z:6.94 [[ 9.78397124e-01 -1.91090252e-01 -7.88896970e-02 2.25401215e+02] [ 1.90869399e-01 9.81560334e-01 -1.04011039e-02 1.24612342e+01] [ 7.94225469e-02 -4.88121896e-03 9.96829089e-01 6.94124066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.30925415399997 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:225.43, Y:12.47, Z:6.94 [[ 9.78940239e-01 -1.88107967e-01 -7.93183515e-02 2.25433995e+02] [ 1.87876102e-01 9.82137213e-01 -1.04434674e-02 1.24679748e+01] [ 7.98660040e-02 -4.67849217e-03 9.96794629e-01 6.94392844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.33925415399997 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:225.47, Y:12.47, Z:6.95 [[ 9.79387474e-01 -1.85683362e-01 -7.95101530e-02 2.25466048e+02] [ 1.85443134e-01 9.82599326e-01 -1.04598379e-02 1.24736550e+01] [ 8.00688407e-02 -4.50037775e-03 9.96779177e-01 6.94675530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.36925415399998 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:225.50, Y:12.48, Z:6.95 [[ 9.79949591e-01 -1.82765661e-01 -7.93442625e-02 2.25497594e+02] [ 1.82517600e-01 9.83147269e-01 -1.04293967e-02 1.24795103e+01] [ 7.99132306e-02 -4.26144136e-03 9.96792715e-01 6.94927333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.39925415399998 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:225.53, Y:12.49, Z:6.95 [[ 9.80610310e-01 -1.79206397e-01 -7.92999786e-02 2.25529196e+02] [ 1.78947588e-01 9.83803465e-01 -1.04164589e-02 1.24854429e+01] [ 7.98822898e-02 -3.97605291e-03 9.96796374e-01 6.95184966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.42925415399998 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:225.56, Y:12.49, Z:6.95 [[ 9.82119661e-01 -1.71089652e-01 -7.85449049e-02 2.25560023e+02] [ 1.70810285e-01 9.85249975e-01 -1.03117644e-02 1.24927607e+01] [ 7.91506018e-02 -3.28889103e-03 9.96857244e-01 6.95387123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.45925415399998 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:225.59, Y:12.50, Z:6.96 [[ 9.82875022e-01 -1.66995999e-01 -7.79039591e-02 2.25591299e+02] [ 1.66708688e-01 9.85953193e-01 -1.02232689e-02 1.24991423e+01] [ 7.85169022e-02 -2.93907120e-03 9.96908450e-01 6.95773673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.48925415399998 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:225.62, Y:12.51, Z:6.96 [[ 9.84407799e-01 -1.58292074e-01 -7.67131361e-02 2.25623038e+02] [ 1.57987526e-01 9.87389848e-01 -1.00613053e-02 1.25072660e+01] [ 7.73383967e-02 -2.21529120e-03 9.97002440e-01 6.96065322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.51925415399998 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:225.65, Y:12.51, Z:6.96 [[ 9.85076851e-01 -1.54257318e-01 -7.63431605e-02 2.25654000e+02] [ 1.53944219e-01 9.88028887e-01 -1.00048183e-02 1.25128769e+01] [ 7.69725643e-02 -1.89707331e-03 9.97031406e-01 6.96289413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.54925415399998 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:225.69, Y:12.52, Z:6.97 [[ 9.85612451e-01 -1.50696940e-01 -7.65410241e-02 2.25686039e+02] [ 1.50371829e-01 9.88578668e-01 -1.00264216e-02 1.25185395e+01] [ 7.71777747e-02 -1.62744786e-03 9.97016019e-01 6.96543645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.57925415399998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:225.72, Y:12.52, Z:6.97 [[ 9.86088602e-01 -1.47535010e-01 -7.65681984e-02 2.25717224e+02] [ 1.47200587e-01 9.89055863e-01 -1.00243352e-02 1.25237502e+01] [ 7.72091660e-02 -1.38600113e-03 9.97013954e-01 6.96723721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.60925415399998 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:225.75, Y:12.53, Z:6.97 [[ 9.86748178e-01 -1.42070592e-01 -7.83835397e-02 2.25749201e+02] [ 1.41703255e-01 9.89856037e-01 -1.02573213e-02 1.25296709e+01] [ 7.90456837e-02 -9.85809597e-04 9.96870507e-01 6.96851734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.63925415399999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:225.78, Y:12.54, Z:6.97 [[ 9.87298845e-01 -1.37053583e-01 -8.03573634e-02 2.25779748e+02] [ 1.36651369e-01 9.90563451e-01 -1.05096883e-02 1.25350635e+01] [ 8.10394577e-02 -6.04740560e-04 9.96710711e-01 6.96925287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.669254154 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:225.81, Y:12.54, Z:6.97 [[ 9.87306104e-01 -1.37000944e-01 -8.03579363e-02 2.25811262e+02] [ 1.36598913e-01 9.90570732e-01 -1.05053068e-02 1.25391522e+01] [ 8.10394567e-02 -6.04853268e-04 9.96710711e-01 6.97147176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.699254154 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:225.84, Y:12.54, Z:6.97 [[ 9.87546558e-01 -1.34959182e-01 -8.08567532e-02 2.25842470e+02] [ 1.34545646e-01 9.90851059e-01 -1.05663350e-02 1.25445168e+01] [ 8.15430234e-02 -4.44176310e-04 9.96669724e-01 6.97484341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.729254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:225.87, Y:12.55, Z:6.98 [[ 9.87824660e-01 -1.32650597e-01 -8.12789023e-02 2.25873410e+02] [ 1.32225163e-01 9.91162829e-01 -1.06185480e-02 1.25494339e+01] [ 8.19691834e-02 -2.57852514e-04 9.96634831e-01 6.97722022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.75925415399996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:225.90, Y:12.55, Z:6.98 [[ 9.88141982e-01 -1.30386440e-01 -8.10851347e-02 2.25903577e+02] [ 1.29955627e-01 9.91463247e-01 -1.05907428e-02 1.25542109e+01] [ 8.17738203e-02 -7.23119416e-05 9.96650910e-01 6.97929995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.78925415399996 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:225.93, Y:12.56, Z:6.98 [[ 9.88829386e-01 -1.25877332e-01 -7.98206962e-02 2.25933195e+02] [ 1.25445197e-01 9.92045770e-01 -1.04255912e-02 1.25592189e+01] [ 8.04981296e-02 2.96007983e-04 9.96754716e-01 6.98201344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.81925415399996 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:225.96, Y:12.56, Z:6.98 [[ 9.89158386e-01 -1.23704085e-01 -7.91390308e-02 2.25962941e+02] [ 1.23272366e-01 9.92319041e-01 -1.03365571e-02 1.25633898e+01] [ 7.98098415e-02 4.68836567e-04 9.96809997e-01 6.98477515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.84925415399996 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:225.99, Y:12.57, Z:6.99 [[ 9.89635584e-01 -1.21617924e-01 -7.63576481e-02 2.25991285e+02] [ 1.21209842e-01 9.92576799e-01 -9.97355070e-03 1.25675180e+01] [ 7.70037925e-02 6.14882189e-04 9.97030610e-01 6.98640142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.87925415399997 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:226.02, Y:12.57, Z:6.99 [[ 9.89609446e-01 -1.21154853e-01 -7.74251025e-02 2.26020833e+02] [ 1.20733612e-01 9.92633398e-01 -1.01159830e-02 1.25710170e+01] [ 7.80803430e-02 6.63060066e-04 9.96946849e-01 6.98902621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.90925415399997 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:226.05, Y:12.57, Z:6.99 [[ 9.89719202e-01 -1.21024598e-01 -7.62164582e-02 2.26049791e+02] [ 1.20615839e-01 9.92649286e-01 -9.96068795e-03 1.25737098e+01] [ 7.68617010e-02 6.65372059e-04 9.97041542e-01 6.99109090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.93925415399997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:226.08, Y:12.58, Z:6.99 [[ 9.89668940e-01 -1.21804202e-01 -7.56249071e-02 2.26080114e+02] [ 1.21404068e-01 9.92553967e-01 -9.88310156e-03 1.25767284e+01] [ 7.62656048e-02 5.99827297e-04 9.97087357e-01 6.99303369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.96925415399997 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:226.11, Y:12.58, Z:7.00 [[ 9.89537024e-01 -1.22985153e-01 -7.54395799e-02 2.26110248e+02] [ 1.22590407e-01 9.92408381e-01 -9.85888193e-03 1.25793915e+01] [ 7.60793674e-02 5.07559853e-04 9.97101636e-01 6.99523294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.99925415399997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:226.14, Y:12.58, Z:7.00 [[ 9.89113964e-01 -1.26181621e-01 -7.57084221e-02 2.26141174e+02] [ 1.25793398e-01 9.92007122e-01 -9.89401579e-03 1.25797627e+01] [ 7.63517369e-02 2.62689479e-04 9.97080911e-01 6.99617451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.02925415399997 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:226.17, Y:12.58, Z:7.00 [[ 9.88728323e-01 -1.28890498e-01 -7.61809820e-02 2.26171330e+02] [ 1.28505432e-01 9.91658831e-01 -9.95577266e-03 1.25821153e+01] [ 7.68287480e-02 5.38843966e-05 9.97044302e-01 6.99877297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.05925415399997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:226.20, Y:12.58, Z:7.00 [[ 9.88292059e-01 -1.31603523e-01 -7.71966192e-02 2.26201566e+02] [ 1.31216378e-01 9.91302420e-01 -1.00883552e-02 1.25841203e+01] [ 7.78528585e-02 -1.59219393e-04 9.96964847e-01 7.00051340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.08925415399997 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:226.23, Y:12.58, Z:7.00 [[ 9.87395416e-01 -1.37442524e-01 -7.84846759e-02 2.26231377e+02] [ 1.37060821e-01 9.90509543e-01 -1.02555757e-02 1.25830894e+01] [ 7.91493726e-02 -6.30865662e-04 9.96862568e-01 7.00113098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.11925415399998 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:226.26, Y:12.58, Z:7.00 [[ 9.86930340e-01 -1.40746442e-01 -7.84789332e-02 2.26261912e+02] [ 1.40375120e-01 9.90045271e-01 -1.02560598e-02 1.25848457e+01] [ 7.91412006e-02 -8.94473078e-04 9.96863015e-01 7.00369253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.14925415399998 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:226.29, Y:12.59, Z:7.01 [[ 9.86994872e-01 -1.43488658e-01 -7.24715605e-02 2.26291853e+02] [ 1.41978831e-01 9.89538634e-01 -2.55989064e-02 1.25944002e+01] [ 7.53865617e-02 1.49765620e-02 9.97041909e-01 7.00520276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.17925415399998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:226.33, Y:12.58, Z:7.00 [[ 9.86205709e-01 -1.44618666e-01 -8.05216852e-02 2.26325241e+02] [ 1.45515517e-01 9.89341491e-01 5.35242767e-03 1.25810631e+01] [ 7.88893831e-02 -1.69957493e-02 9.96738486e-01 7.00227128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.20925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:226.35, Y:12.59, Z:7.01 [[ 9.85926425e-01 -1.47857949e-01 -7.80199440e-02 2.26354745e+02] [ 1.47513563e-01 9.89007528e-01 -1.01910504e-02 1.25878478e+01] [ 7.86691398e-02 -1.46137403e-03 9.96899710e-01 7.00966074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.23925415399998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:226.38, Y:12.59, Z:7.01 [[ 9.85901507e-01 -1.48097799e-01 -7.78797793e-02 2.26383949e+02] [ 1.47755480e-01 9.88971615e-01 -1.01716869e-02 1.25894637e+01] [ 7.85272955e-02 -1.47888271e-03 9.96910867e-01 7.01139994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.26925415399998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:226.41, Y:12.59, Z:7.02 [[ 9.85956830e-01 -1.47137985e-01 -7.89907738e-02 2.26412294e+02] [ 1.46333271e-01 9.89107351e-01 -1.59129407e-02 1.25940795e+01] [ 8.04717531e-02 4.13049429e-03 9.96748331e-01 7.01553580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.29925415399998 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:226.44, Y:12.59, Z:7.01 [[ 9.86127900e-01 -1.46150550e-01 -7.86878784e-02 2.26442395e+02] [ 1.46206404e-01 9.89241052e-01 -5.08222216e-03 1.25899716e+01] [ 7.85840492e-02 -6.49295069e-03 9.96886347e-01 7.01426418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.32925415399998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:226.47, Y:12.60, Z:7.02 [[ 9.86313635e-01 -1.45205670e-01 -7.81071497e-02 2.26472473e+02] [ 1.44850313e-01 9.89400731e-01 -1.02264387e-02 1.25950752e+01] [ 7.87642079e-02 -1.22736915e-03 9.96892518e-01 7.01824506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.35925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:226.50, Y:12.60, Z:7.02 [[ 9.86727745e-01 -1.42340762e-01 -7.81502697e-02 2.26501346e+02] [ 1.41976001e-01 9.89817210e-01 -1.02325548e-02 1.25963595e+01] [ 7.88109916e-02 -9.98717000e-04 9.96889076e-01 7.02081059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.38925415399999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:226.53, Y:12.60, Z:7.02 [[ 9.87030400e-01 -1.40479086e-01 -7.76956646e-02 2.26529334e+02] [ 1.40112462e-01 9.90083289e-01 -1.01773407e-02 1.25985615e+01] [ 7.83548827e-02 -8.40786210e-04 9.96925175e-01 7.02255092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.419254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:226.56, Y:12.60, Z:7.02 [[ 9.87247187e-01 -1.38833046e-01 -7.78997942e-02 2.26556699e+02] [ 1.38458719e-01 9.90315551e-01 -1.02123999e-02 1.26006415e+01] [ 7.85631962e-02 -7.03742676e-04 9.96908887e-01 7.02471837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.449254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:226.58, Y:12.60, Z:7.03 [[ 9.87490358e-01 -1.36951098e-01 -7.81485115e-02 2.26584905e+02] [ 1.36566799e-01 9.90577665e-01 -1.02663641e-02 1.26030349e+01] [ 7.88181599e-02 -5.34556558e-04 9.96888866e-01 7.02686795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.479254154 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:226.61, Y:12.60, Z:7.03 [[ 9.88131059e-01 -1.32046275e-01 -7.84907047e-02 2.26613859e+02] [ 1.31641461e-01 9.91243545e-01 -1.03324544e-02 1.26045402e+01] [ 7.91677665e-02 -1.22811965e-04 9.96861299e-01 7.02954072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.50925415399996 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:226.64, Y:12.61, Z:7.03 [[ 9.88425676e-01 -1.29558104e-01 -7.89264277e-02 2.26641600e+02] [ 1.29139269e-01 9.91571827e-01 -1.04096493e-02 1.26068696e+01] [ 7.96098766e-02 9.66634622e-05 9.96826092e-01 7.03151224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.53925415399996 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:226.67, Y:12.61, Z:7.03 [[ 9.88744850e-01 -1.26803917e-01 -7.94001776e-02 2.26669382e+02] [ 1.26369355e-01 9.91927744e-01 -1.04946237e-02 1.26091009e+01] [ 8.00899984e-02 3.42755961e-04 9.96787578e-01 7.03393646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.56925415399996 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:226.70, Y:12.61, Z:7.04 [[ 9.89434160e-01 -1.21309719e-01 -7.93977000e-02 2.26696658e+02] [ 1.20855758e-01 9.92614375e-01 -1.05161099e-02 1.26102210e+01] [ 8.00870047e-02 8.09329098e-04 9.96787548e-01 7.03614770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.59925415399996 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:226.72, Y:12.61, Z:7.04 [[ 9.89733268e-01 -1.18809371e-01 -7.94505612e-02 2.26722972e+02] [ 1.18345942e-01 9.92916556e-01 -1.05332867e-02 1.26124399e+01] [ 8.01392308e-02 1.02249280e-03 9.96783155e-01 7.03826319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.62925415399997 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:226.75, Y:12.61, Z:7.04 [[ 9.89991308e-01 -1.16776260e-01 -7.92496963e-02 2.26750619e+02] [ 1.16307743e-01 9.93157528e-01 -1.05182403e-02 1.26144841e+01] [ 7.99357132e-02 1.19561321e-03 9.96799304e-01 7.04023192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.65925415399997 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:226.78, Y:12.61, Z:7.04 [[ 9.90242575e-01 -1.14455499e-01 -7.94957941e-02 2.26778215e+02] [ 1.13974722e-01 9.93427375e-01 -1.05741876e-02 1.26144423e+01] [ 8.01835719e-02 1.41049966e-03 9.96779116e-01 7.04244787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.68925415399997 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:226.81, Y:12.61, Z:7.04 [[ 9.90086382e-01 -1.15254982e-01 -8.02822844e-02 2.26806387e+02] [ 1.14765310e-01 9.93334977e-01 -1.07026694e-02 1.26134837e+01] [ 8.09807371e-02 1.38294601e-03 9.96714707e-01 7.04468065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.71925415399997 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:226.83, Y:12.61, Z:7.05 [[ 9.89866341e-01 -1.17118282e-01 -8.02990373e-02 2.26833594e+02] [ 1.16632707e-01 9.93117182e-01 -1.07272441e-02 1.26144812e+01] [ 8.10027101e-02 1.25304376e-03 9.96713094e-01 7.04644813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.74925415399997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:226.86, Y:12.61, Z:7.05 [[ 9.89199123e-01 -1.22674934e-01 -8.02244097e-02 2.26861678e+02] [ 1.22207487e-01 9.92446575e-01 -1.07296390e-02 1.26118610e+01] [ 8.09346984e-02 8.09725970e-04 9.96719077e-01 7.04915283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.77925415399997 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:226.89, Y:12.61, Z:7.05 [[ 9.88324602e-01 -1.30242933e-01 -7.90649129e-02 2.26889971e+02] [ 1.29811207e-01 9.91482090e-01 -1.05979504e-02 1.26085331e+01] [ 7.97717532e-02 2.10703344e-04 9.96813133e-01 7.05108034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.80925415399997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:226.92, Y:12.60, Z:7.05 [[ 9.86267373e-01 -1.46280970e-01 -7.66716793e-02 2.26918202e+02] [ 1.45921671e-01 9.89242546e-01 -1.02981434e-02 1.25992520e+01] [ 7.73533096e-02 -1.03133674e-03 9.97003211e-01 7.05286261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.83925415399997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:226.95, Y:12.60, Z:7.05 [[ 9.86227940e-01 -1.46547352e-01 -7.66702227e-02 2.26946277e+02] [ 1.46188015e-01 9.89203108e-01 -1.03089764e-02 1.26031084e+01] [ 7.73531758e-02 -1.04126708e-03 9.97003211e-01 7.05484523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.86925415399998 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:226.97, Y:12.61, Z:7.06 [[ 9.86188437e-01 -1.46814412e-01 -7.66674342e-02 2.26974351e+02] [ 1.46454271e-01 9.89163507e-01 -1.03296751e-02 1.26069771e+01] [ 7.73531733e-02 -1.04126704e-03 9.97003211e-01 7.05683066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.89925415399998 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:227.00, Y:12.61, Z:7.06 [[ 9.86148861e-01 -1.47081460e-01 -7.66646401e-02 2.27002424e+02] [ 1.46720517e-01 9.89123834e-01 -1.03503730e-02 1.26108534e+01] [ 7.73531708e-02 -1.04126701e-03 9.97003211e-01 7.05881608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.92925415399998 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:227.03, Y:12.61, Z:7.06 [[ 9.85585518e-01 -1.51079588e-01 -7.61324225e-02 2.27029788e+02] [ 1.50734022e-01 9.88520713e-01 -1.02982734e-02 1.26117542e+01] [ 7.68143355e-02 -1.32591716e-03 9.97044533e-01 7.06041977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.95925415399998 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:227.06, Y:12.61, Z:7.06 [[ 9.84999688e-01 -1.54997822e-01 -7.58372616e-02 2.27057421e+02] [ 1.54665698e-01 9.87913493e-01 -1.02690453e-02 1.26125376e+01] [ 7.65123337e-02 -1.61441661e-03 9.97067328e-01 7.06218179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.98925415399998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:227.09, Y:12.61, Z:7.06 [[ 9.84389361e-01 -1.58936610e-01 -7.56091207e-02 2.27085030e+02] [ 1.58616398e-01 9.87286975e-01 -1.02600052e-02 1.26135048e+01] [ 7.62785905e-02 -1.89300638e-03 9.97084747e-01 7.06437072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.01925415399998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:227.11, Y:12.61, Z:7.07 [[ 9.83198437e-01 -1.66280838e-01 -7.53094675e-02 2.27113320e+02] [ 1.65982913e-01 9.86075442e-01 -1.02418714e-02 1.26121195e+01] [ 7.59638434e-02 -2.43029276e-03 9.97107611e-01 7.06630685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.04925415399998 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:227.14, Y:12.61, Z:7.07 [[ 9.82572920e-01 -1.69919060e-01 -7.53523020e-02 2.27141526e+02] [ 1.69629804e-01 9.85454346e-01 -1.02694080e-02 1.26135861e+01] [ 7.60012217e-02 -2.69155406e-03 9.97104092e-01 7.06817408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.07925415399998 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:227.17, Y:12.62, Z:7.07 [[ 9.81933284e-01 -1.73521571e-01 -7.54804032e-02 2.27169855e+02] [ 1.73241306e-01 9.84825599e-01 -1.02951299e-02 1.26151244e+01] [ 7.61214604e-02 -2.96719287e-03 9.97094138e-01 7.07022430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.10925415399998 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:227.20, Y:12.61, Z:7.07 [[ 9.80742343e-01 -1.79940530e-01 -7.59332810e-02 2.27197498e+02] [ 1.79674565e-01 9.83671381e-01 -1.03761569e-02 1.26149976e+01] [ 7.65604866e-02 -3.46694287e-03 9.97058911e-01 7.07221268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.13925415399999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:227.22, Y:12.62, Z:7.07 [[ 9.80206855e-01 -1.82845883e-01 -7.59072053e-02 2.27224893e+02] [ 1.82588119e-01 9.83134686e-01 -1.03811500e-02 1.26171207e+01] [ 7.65251570e-02 -3.68407940e-03 9.97060845e-01 7.07406691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.169254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:227.25, Y:12.62, Z:7.08 [[ 9.79672826e-01 -1.85718698e-01 -7.58269038e-02 2.27251460e+02] [ 1.85468381e-01 9.82595282e-01 -1.03918687e-02 1.26196630e+01] [ 7.64371223e-02 -3.88286176e-03 9.97066843e-01 7.07568692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.199254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:227.28, Y:12.62, Z:7.08 [[ 9.78841291e-01 -1.89601090e-01 -7.69490370e-02 2.27279968e+02] [ 1.89353978e-01 9.81852084e-01 -1.05619718e-02 1.26213898e+01] [ 7.75551337e-02 -4.23211212e-03 9.96979082e-01 7.07726776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.229254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:227.31, Y:12.62, Z:7.08 [[ 9.78593658e-01 -1.90780431e-01 -7.71834208e-02 2.27307755e+02] [ 1.90533952e-01 9.81623231e-01 -1.06134951e-02 1.26248131e+01] [ 7.77898860e-02 -4.31976322e-03 9.96960417e-01 7.07909035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.25925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:227.34, Y:12.63, Z:7.08 [[ 9.78382340e-01 -1.91712775e-01 -7.75513343e-02 2.27335197e+02] [ 1.91466136e-01 9.81441185e-01 -1.06732689e-02 1.26287658e+01] [ 7.81582755e-02 -4.40591659e-03 9.96931227e-01 7.08138599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.28925415399996 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:227.36, Y:12.63, Z:7.08 [[ 9.78386067e-01 -1.91467721e-01 -7.81077234e-02 2.27363009e+02] [ 1.91215012e-01 9.81489065e-01 -1.07719230e-02 1.26334422e+01] [ 7.87243519e-02 -4.39626993e-03 9.96886728e-01 7.08357319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.31925415399996 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:227.39, Y:12.64, Z:7.09 [[ 9.78430402e-01 -1.91314655e-01 -7.79272169e-02 2.27390890e+02] [ 1.91061906e-01 9.81519053e-01 -1.07562050e-02 1.26379479e+01] [ 7.85448678e-02 -4.36472462e-03 9.96901025e-01 7.08558573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.34925415399996 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:227.42, Y:12.64, Z:7.09 [[ 9.78539017e-01 -1.90692028e-01 -7.80893209e-02 2.27418731e+02] [ 1.90434419e-01 9.81640491e-01 -1.08018255e-02 1.26423113e+01] [ 7.87154613e-02 -4.30088675e-03 9.96887847e-01 7.08775512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.37925415399997 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:227.45, Y:12.65, Z:7.09 [[ 9.78609125e-01 -1.90137321e-01 -7.85619466e-02 2.27446611e+02] [ 1.89873133e-01 9.81748257e-01 -1.08882535e-02 1.26467952e+01] [ 7.91983175e-02 -4.26145874e-03 9.96849771e-01 7.09000323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.40925415399997 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:227.47, Y:12.65, Z:7.09 [[ 9.79045113e-01 -1.87918887e-01 -7.84675617e-02 2.27474056e+02] [ 1.87646708e-01 9.82176168e-01 -1.08944337e-02 1.26520010e+01] [ 7.91162389e-02 -4.05803762e-03 9.96857138e-01 7.09227588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.43925415399997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:227.50, Y:12.66, Z:7.09 [[ 9.79270373e-01 -1.86944752e-01 -7.79820279e-02 2.27501978e+02] [ 1.86672129e-01 9.82362506e-01 -1.08362055e-02 1.26567071e+01] [ 7.86323921e-02 -3.94549621e-03 9.96895872e-01 7.09405038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.46925415399997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:227.53, Y:12.66, Z:7.10 [[ 9.79481665e-01 -1.85859286e-01 -7.79230014e-02 2.27529906e+02] [ 1.85581792e-01 9.82568899e-01 -1.08516260e-02 1.26614252e+01] [ 7.85815931e-02 -3.83212157e-03 9.96900320e-01 7.09633436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.49925415399997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:227.56, Y:12.67, Z:7.10 [[ 9.80098209e-01 -1.83105162e-01 -7.66811619e-02 2.27558496e+02] [ 1.82826294e-01 9.83086990e-01 -1.07011862e-02 1.26671322e+01] [ 7.73436951e-02 -3.53111922e-03 9.96998237e-01 7.09798397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.52925415399997 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:227.59, Y:12.67, Z:7.10 [[ 9.80409758e-01 -1.81501243e-01 -7.65114646e-02 2.27585814e+02] [ 1.81217287e-01 9.83384912e-01 -1.06962813e-02 1.26721370e+01] [ 7.71816082e-02 -3.37846147e-03 9.97011327e-01 7.09967558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.55925415399997 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:227.61, Y:12.68, Z:7.10 [[ 9.80682436e-01 -1.80014965e-01 -7.65282374e-02 2.27612879e+02] [ 1.79725704e-01 9.83658491e-01 -1.07072661e-02 1.26771525e+01] [ 7.72051186e-02 -3.25366352e-03 9.97009921e-01 7.10130025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.58925415399997 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:227.64, Y:12.68, Z:7.10 [[ 9.80633349e-01 -1.80283496e-01 -7.65251333e-02 2.27640935e+02] [ 1.79993324e-01 9.83609314e-01 -1.07294077e-02 1.26811740e+01] [ 7.72051690e-02 -3.25239810e-03 9.97009922e-01 7.10328600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.61925415399998 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:227.67, Y:12.69, Z:7.10 [[ 9.81378087e-01 -1.76206576e-01 -7.64741388e-02 2.27666988e+02] [ 1.75902882e-01 9.84348910e-01 -1.07424117e-02 1.26876994e+01] [ 7.71701187e-02 -2.90965404e-03 9.97013694e-01 7.10453163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.64925415399998 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:227.69, Y:12.69, Z:7.11 [[ 9.81725924e-01 -1.74183115e-01 -7.66449810e-02 2.27694649e+02] [ 1.73871049e-01 9.84709451e-01 -1.07775195e-02 1.26930677e+01] [ 7.73502991e-02 -2.74577296e-03 9.97000197e-01 7.10638723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.67925415399998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:227.72, Y:12.70, Z:7.11 [[ 9.82107266e-01 -1.72252342e-01 -7.61212760e-02 2.27721647e+02] [ 1.71937051e-01 9.85049545e-01 -1.07258372e-02 1.26986097e+01] [ 7.68307789e-02 -2.55414505e-03 9.97040876e-01 7.10790860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.70925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:227.75, Y:12.70, Z:7.11 [[ 9.82502735e-01 -1.69862740e-01 -7.63873415e-02 2.27749288e+02] [ 1.69536318e-01 9.85464921e-01 -1.07854992e-02 1.27036654e+01] [ 7.71090999e-02 -2.35364617e-03 9.97019883e-01 7.10999198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.73925415399998 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:227.78, Y:12.71, Z:7.11 [[ 9.83550282e-01 -1.64110362e-01 -7.54760326e-02 2.27775325e+02] [ 1.63773195e-01 9.86440233e-01 -1.06774443e-02 1.27094847e+01] [ 7.62048744e-02 -1.85914764e-03 9.97090448e-01 7.11166830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.76925415399998 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:227.80, Y:12.71, Z:7.11 [[ 9.84049705e-01 -1.61158515e-01 -7.53267029e-02 2.27803105e+02] [ 1.60813248e-01 9.86927211e-01 -1.06667905e-02 1.27146691e+01] [ 7.60610169e-02 -1.61687973e-03 9.97101854e-01 7.11359278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.79925415399998 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:227.83, Y:12.72, Z:7.12 [[ 9.84609615e-01 -1.57890111e-01 -7.49307671e-02 2.27831005e+02] [ 1.57537405e-01 9.87455785e-01 -1.06319408e-02 1.27197179e+01] [ 7.56694978e-02 -1.33608748e-03 9.97132058e-01 7.11543030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.82925415399998 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:227.86, Y:12.72, Z:7.12 [[ 9.85125521e-01 -1.54477910e-01 -7.52614330e-02 2.27858423e+02] [ 1.54110677e-01 9.87995674e-01 -1.06979833e-02 1.27245349e+01] [ 7.60105723e-02 -1.05973401e-03 9.97106449e-01 7.11736661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.85925415399998 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:227.89, Y:12.73, Z:7.12 [[ 9.86088911e-01 -1.48248061e-01 -7.51742741e-02 2.27885819e+02] [ 1.47862950e-01 9.88950043e-01 -1.06939640e-02 1.27303784e+01] [ 7.59289610e-02 -5.70290629e-04 9.97113067e-01 7.11909345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.88925415399999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:227.91, Y:12.71, Z:7.13 [[ 9.84995852e-01 -1.44070726e-01 -9.50094620e-02 2.27914361e+02] [ 1.48590175e-01 9.87993361e-01 4.23093217e-02 1.27128098e+01] [ 8.77731830e-02 -5.57919790e-02 9.94576856e-01 7.12528905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.919254154 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:227.94, Y:12.77, Z:7.14 [[ 9.87051773e-01 -1.46118078e-01 -6.61687552e-02 2.27939740e+02] [ 1.41775680e-01 9.87684518e-01 -6.61736304e-02 1.27656411e+01] [ 7.50230187e-02 5.59356790e-02 9.95611745e-01 7.13980867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.949254154 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:227.97, Y:12.74, Z:7.13 [[ 9.87679099e-01 -1.38433073e-01 -7.29813736e-02 2.27971176e+02] [ 1.38041155e-01 9.90371769e-01 -1.04114790e-02 1.27432426e+01] [ 7.37199851e-02 2.08767093e-04 9.97278958e-01 7.12506844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.979254154 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:228.00, Y:12.73, Z:7.13 [[ 9.86824953e-01 -1.36031353e-01 -8.75898597e-02 2.27999619e+02] [ 1.38920813e-01 9.89914454e-01 2.77557569e-02 1.27309754e+01] [ 8.29308150e-02 -3.95581281e-02 9.95769870e-01 7.13181438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.00925415399996 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:228.03, Y:12.77, Z:7.14 [[ 9.88036500e-01 -1.39103386e-01 -6.65892032e-02 2.28025711e+02] [ 1.35900092e-01 9.89436927e-01 -5.04552509e-02 1.27698605e+01] [ 7.29043128e-02 4.08021507e-02 9.96503962e-01 7.14069893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.03925415399996 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:228.06, Y:12.75, Z:7.13 [[ 9.87980979e-01 -1.36262157e-01 -7.29808915e-02 2.28056270e+02] [ 1.35862073e-01 9.90672733e-01 -1.04419110e-02 1.27542073e+01] [ 7.37230166e-02 4.01074275e-04 9.97278675e-01 7.13116114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.06925415399996 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:228.08, Y:12.74, Z:7.14 [[ 9.86409353e-01 -1.37337188e-01 -9.01947122e-02 2.28084160e+02] [ 1.40765355e-01 9.89499973e-01 3.27859548e-02 1.27389976e+01] [ 8.47449344e-02 -4.50366632e-02 9.95384345e-01 7.13616584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.09925415399996 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:228.11, Y:12.78, Z:7.15 [[ 9.87644909e-01 -1.41583535e-01 -6.71687201e-02 2.28111136e+02] [ 1.37932074e-01 9.88844802e-01 -5.62201055e-02 1.27808423e+01] [ 7.43792810e-02 4.62607801e-02 9.96156445e-01 7.14769259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.12925415399997 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:228.14, Y:12.76, Z:7.14 [[ 9.87404322e-01 -1.39846580e-01 -7.39975651e-02 2.28143158e+02] [ 1.39443126e-01 9.90173170e-01 -1.06163871e-02 1.27613222e+01] [ 7.47550690e-02 1.64214707e-04 9.97201912e-01 7.13596384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.15925415399997 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:228.17, Y:12.76, Z:7.14 [[ 9.87089843e-01 -1.41672984e-01 -7.47155148e-02 2.28170803e+02] [ 1.41265146e-01 9.89913513e-01 -1.07422144e-02 1.27635301e+01] [ 7.54837793e-02 4.88326122e-05 9.97147029e-01 7.13777763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.18925415399997 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:228.20, Y:12.76, Z:7.14 [[ 9.86729820e-01 -1.44221809e-01 -7.45944507e-02 2.28198217e+02] [ 1.43820900e-01 9.89545378e-01 -1.07468282e-02 1.27644477e+01] [ 7.53645209e-02 -1.24025193e-04 9.97156043e-01 7.13944299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.21925415399997 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:228.23, Y:12.77, Z:7.14 [[ 9.86542670e-01 -1.45520460e-01 -7.45476810e-02 2.28226353e+02] [ 1.45122542e-01 9.89355221e-01 -1.07561667e-02 1.27670265e+01] [ 7.53193797e-02 -2.07131498e-04 9.97159440e-01 7.14123519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.24925415399997 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:228.25, Y:12.77, Z:7.14 [[ 9.86222841e-01 -1.47639242e-01 -7.46134181e-02 2.28254097e+02] [ 1.47244968e-01 9.89041219e-01 -1.07882199e-02 1.27675889e+01] [ 7.53885107e-02 -3.46861498e-04 9.97154177e-01 7.14281454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.27925415399997 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:228.28, Y:12.77, Z:7.14 [[ 9.86029578e-01 -1.48742360e-01 -7.49758697e-02 2.28280574e+02] [ 1.48345767e-01 9.88875898e-01 -1.08624457e-02 1.27698458e+01] [ 7.57575362e-02 -4.11660074e-04 9.97126184e-01 7.14483595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.30925415399997 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:228.31, Y:12.77, Z:7.15 [[ 9.85855786e-01 -1.49967267e-01 -7.48210359e-02 2.28308583e+02] [ 1.49575011e-01 9.88690839e-01 -1.08508682e-02 1.27723402e+01] [ 7.56021478e-02 -4.93966096e-04 9.97137940e-01 7.14654179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.33925415399997 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:228.34, Y:12.77, Z:7.15 [[ 9.85673571e-01 -1.51157842e-01 -7.48259221e-02 2.28335559e+02] [ 1.50767338e-01 9.88509478e-01 -1.08729635e-02 1.27746253e+01] [ 7.56096669e-02 -5.64112338e-04 9.97137333e-01 7.14810171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.36925415399998 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:228.36, Y:12.78, Z:7.15 [[ 9.85350229e-01 -1.53224066e-01 -7.48819811e-02 2.28362346e+02] [ 1.52838194e-01 9.88191215e-01 -1.08908205e-02 1.27751416e+01] [ 7.56664517e-02 -7.13554338e-04 9.97132929e-01 7.14968222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.39925415399998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:228.39, Y:12.78, Z:7.15 [[ 9.85211228e-01 -1.54377463e-01 -7.43400030e-02 2.28389700e+02] [ 1.53999659e-01 9.88011630e-01 -1.08223795e-02 1.27774419e+01] [ 7.51195190e-02 -7.86005322e-04 9.97174228e-01 7.15101141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.42925415399998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:228.42, Y:12.78, Z:7.15 [[ 9.85050532e-01 -1.55347260e-01 -7.44491634e-02 2.28416966e+02] [ 1.54969534e-01 9.87859566e-01 -1.08591659e-02 1.27798513e+01] [ 7.52322600e-02 -8.40524937e-04 9.97165684e-01 7.15298195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.45925415399998 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:228.45, Y:12.78, Z:7.15 [[ 9.84742971e-01 -1.57217955e-01 -7.45908514e-02 2.28445091e+02] [ 1.56843355e-01 9.87563448e-01 -1.08902712e-02 1.27810238e+01] [ 7.53753446e-02 -9.74961353e-04 9.97154756e-01 7.15408711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.48925415399998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:228.47, Y:12.78, Z:7.16 [[ 9.84603944e-01 -1.57861540e-01 -7.50653533e-02 2.28472799e+02] [ 1.57482358e-01 9.87460741e-01 -1.09813962e-02 1.27838748e+01] [ 7.58576296e-02 -1.00914291e-03 9.97118148e-01 7.15596702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.51925415399998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:228.50, Y:12.79, Z:7.16 [[ 9.84480519e-01 -1.58443069e-01 -7.54579481e-02 2.28500273e+02] [ 1.58059931e-01 9.87367569e-01 -1.10607879e-02 1.27873674e+01] [ 7.62572360e-02 -1.03774785e-03 9.97087638e-01 7.15789673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.54925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:228.53, Y:12.79, Z:7.16 [[ 9.84423235e-01 -1.58667423e-01 -7.57333768e-02 2.28527509e+02] [ 1.58280461e-01 9.87331542e-01 -1.11230653e-02 1.27909561e+01] [ 7.65388198e-02 -1.03730994e-03 9.97066063e-01 7.15982947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.57925415399998 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:228.55, Y:12.79, Z:7.16 [[ 9.84511674e-01 -1.57705210e-01 -7.65887088e-02 2.28553908e+02] [ 1.57304879e-01 9.87485777e-01 -1.12700880e-02 1.27941064e+01] [ 7.74076122e-02 -9.52244364e-04 9.96999075e-01 7.16193800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.60925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:228.58, Y:12.80, Z:7.16 [[ 9.84594590e-01 -1.57011033e-01 -7.69482190e-02 2.28581783e+02] [ 1.56603938e-01 9.87596447e-01 -1.13342137e-02 1.27978024e+01] [ 7.77733843e-02 -8.90788635e-04 9.96970665e-01 7.16370525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.63925415399999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:228.61, Y:12.80, Z:7.17 [[ 9.84721242e-01 -1.56178624e-01 -7.70215095e-02 2.28609547e+02] [ 1.55766421e-01 9.87728501e-01 -1.13679242e-02 1.28017325e+01] [ 7.78517669e-02 -8.03128492e-04 9.96964622e-01 7.16548832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.669254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:228.64, Y:12.81, Z:7.17 [[ 9.84902392e-01 -1.54765517e-01 -7.75558760e-02 2.28635724e+02] [ 1.54341482e-01 9.87951001e-01 -1.14685409e-02 1.28054345e+01] [ 7.83963400e-02 -6.74695440e-04 9.96922042e-01 7.16731775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.699254154 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:228.66, Y:12.81, Z:7.17 [[ 9.85526582e-01 -1.51086386e-01 -7.68782193e-02 2.28662886e+02] [ 1.50657688e-01 9.88520495e-01 -1.13794556e-02 1.28093406e+01] [ 7.77149762e-02 -3.67538761e-04 9.96975550e-01 7.16950594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.729254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:228.69, Y:12.80, Z:7.18 [[ 9.84108842e-01 -1.51238944e-01 -9.30406826e-02 2.28685456e+02] [ 1.54298394e-01 9.87666783e-01 2.65768962e-02 1.28001524e+01] [ 8.78737300e-02 -4.05105865e-02 9.95307540e-01 7.17559528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.75925415399996 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:228.71, Y:12.82, Z:7.19 [[ 9.84348029e-01 -1.52255699e-01 -8.87533689e-02 2.28710391e+02] [ 1.52191949e-01 9.88322309e-01 -7.52488206e-03 1.28209765e+01] [ 8.88626407e-02 -6.10044536e-03 9.96025208e-01 7.18784663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.78925415399996 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:228.75, Y:12.84, Z:7.19 [[ 9.86483970e-01 -1.48661439e-01 -6.89141023e-02 2.28745040e+02] [ 1.44643022e-01 9.87659552e-01 -6.00583522e-02 1.28443101e+01] [ 7.69920324e-02 4.92786577e-02 9.95813156e-01 7.18780926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.81925415399996 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:228.78, Y:12.82, Z:7.18 [[ 9.86683572e-01 -1.43515642e-01 -7.65427275e-02 2.28777078e+02] [ 1.43067184e-01 9.89648020e-01 -1.13391613e-02 1.28249149e+01] [ 7.73777057e-02 2.37411707e-04 9.97001823e-01 7.17782182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.84925415399996 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:228.80, Y:12.83, Z:7.18 [[ 9.86669868e-01 -1.43379769e-01 -7.69728092e-02 2.28803535e+02] [ 1.42924133e-01 9.89667706e-01 -1.14246972e-02 1.28287679e+01] [ 7.78155739e-02 2.71132463e-04 9.96967734e-01 7.17961959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.87925415399997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:228.83, Y:12.83, Z:7.18 [[ 9.86574181e-01 -1.43867123e-01 -7.72893038e-02 2.28830872e+02] [ 1.43408300e-01 9.89596984e-01 -1.14834233e-02 1.28324038e+01] [ 7.81373490e-02 2.45321263e-04 9.96942573e-01 7.18174840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.90925415399997 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:228.85, Y:12.81, Z:7.19 [[ 9.83246339e-01 -1.50437432e-01 -1.02933064e-01 2.28849590e+02] [ 1.56516099e-01 9.86212880e-01 5.37295567e-02 1.28135149e+01] [ 9.34309766e-02 -6.89400715e-02 9.93236084e-01 7.18925178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.93925415399997 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:228.88, Y:12.87, Z:7.20 [[ 9.85953350e-01 -1.53387557e-01 -6.60927285e-02 2.28883474e+02] [ 1.47833503e-01 9.85603550e-01 -8.20420491e-02 1.28725532e+01] [ 7.77254573e-02 7.11189136e-02 9.94434942e-01 7.20405528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.96925415399997 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:228.92, Y:12.84, Z:7.19 [[ 9.85413123e-01 -1.51913130e-01 -7.67031820e-02 2.28916409e+02] [ 1.51482652e-01 9.88393786e-01 -1.14336872e-02 1.28426485e+01] [ 7.75498757e-02 -3.52296045e-04 9.96988412e-01 7.18811085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.99925415399997 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:228.94, Y:12.85, Z:7.19 [[ 9.84874611e-01 -1.55427397e-01 -7.65788737e-02 2.28944195e+02] [ 1.55008040e-01 9.87847126e-01 -1.14264423e-02 1.28462288e+01] [ 7.74242025e-02 -6.16728181e-04 9.96998050e-01 7.18998703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.02925415399997 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:228.97, Y:12.85, Z:7.19 [[ 9.83622685e-01 -1.63336587e-01 -7.62074332e-02 2.28972226e+02] [ 1.62943211e-01 9.86569660e-01 -1.13936694e-02 1.28493285e+01] [ 7.70449445e-02 -1.21041214e-03 9.97026886e-01 7.19221893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.05925415399997 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:229.00, Y:12.85, Z:7.19 [[ 9.82901151e-01 -1.67842494e-01 -7.57246680e-02 2.28999391e+02] [ 1.67465713e-01 9.85812635e-01 -1.13438475e-02 1.28528934e+01] [ 7.65543142e-02 -1.53140478e-03 9.97064237e-01 7.19381326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.08925415399997 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:229.03, Y:12.86, Z:7.20 [[ 9.82048822e-01 -1.72683265e-01 -7.58986241e-02 2.29026843e+02] [ 1.72317432e-01 9.84975591e-01 -1.13924356e-02 1.28566139e+01] [ 7.67255751e-02 -1.89072804e-03 9.97050456e-01 7.19573166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.11925415399998 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:229.05, Y:12.86, Z:7.20 [[ 9.81195841e-01 -1.77407111e-01 -7.60357695e-02 2.29053453e+02] [ 1.77052436e-01 9.84134994e-01 -1.14345220e-02 1.28598633e+01] [ 7.68580271e-02 -2.24281273e-03 9.97039525e-01 7.19743037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.14925415399998 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:229.08, Y:12.86, Z:7.20 [[ 9.79357994e-01 -1.87112146e-01 -7.64654476e-02 2.29081350e+02] [ 1.86782000e-01 9.82333950e-01 -1.15106645e-02 1.28632525e+01] [ 7.72683903e-02 -3.00930799e-03 9.97005787e-01 7.20013023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.17925415399998 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:229.11, Y:12.86, Z:7.20 [[ 9.78250102e-01 -1.90886637e-01 -8.11728422e-02 2.29110928e+02] [ 1.91342242e-01 9.81520913e-01 -2.20096769e-03 1.28617946e+01] [ 8.00929775e-02 -1.33786968e-02 9.96697610e-01 7.20427854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.20925415399998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:229.13, Y:12.88, Z:7.21 [[ 9.76263034e-01 -2.02619922e-01 -7.65222540e-02 2.29134673e+02] [ 2.01570116e-01 9.79242823e-01 -2.12833662e-02 1.28759143e+01] [ 7.92463020e-02 5.35356408e-03 9.96840691e-01 7.20674944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.23925415399998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:229.16, Y:12.88, Z:7.21 [[ 9.75222131e-01 -2.06881914e-01 -7.83688020e-02 2.29163409e+02] [ 2.06593828e-01 9.78354969e-01 -1.18551753e-02 1.28759286e+01] [ 7.91251282e-02 -4.62908146e-03 9.96853944e-01 7.20685671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.26925415399998 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:229.19, Y:12.88, Z:7.21 [[ 9.74309997e-01 -2.11196424e-01 -7.82054963e-02 2.29190957e+02] [ 2.10921482e-01 9.77431128e-01 -1.18540322e-02 1.28806863e+01] [ 7.89440157e-02 -4.94571709e-03 9.96866783e-01 7.20893451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.29925415399998 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:229.23, Y:12.89, Z:7.21 [[ 9.73809674e-01 -2.15643677e-01 -7.20591656e-02 2.29225211e+02] [ 2.14272916e-01 9.76418819e-01 -2.63326108e-02 1.28901764e+01] [ 7.60383864e-02 1.02026235e-02 9.97052692e-01 7.21028717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.32925415399998 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:229.25, Y:12.88, Z:7.21 [[ 9.72273250e-01 -2.18866553e-01 -8.23538652e-02 2.29250586e+02] [ 2.19935035e-01 9.75506228e-01 4.02246836e-03 1.28825952e+01] [ 7.94563246e-02 -2.20234386e-02 9.96595033e-01 7.20914696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.35925415399998 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:229.28, Y:12.90, Z:7.22 [[ 9.71884509e-01 -2.22143834e-01 -7.80552233e-02 2.29275684e+02] [ 2.21896324e-01 9.74997154e-01 -1.19403371e-02 1.28961385e+01] [ 7.87560928e-02 -5.71553848e-03 9.96877530e-01 7.21626626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.38925415399999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:229.31, Y:12.90, Z:7.22 [[ 9.72061045e-01 -2.21608734e-01 -7.73750223e-02 2.29307311e+02] [ 2.21385180e-01 9.75117883e-01 -1.15635527e-02 1.29015363e+01] [ 7.80123522e-02 -5.88920416e-03 9.96934998e-01 7.21768864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.419254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:229.33, Y:12.91, Z:7.22 [[ 9.71672416e-01 -2.22845070e-01 -7.86942860e-02 2.29331804e+02] [ 2.22637027e-01 9.74833343e-01 -1.15198609e-02 1.29090148e+01] [ 7.92809582e-02 -6.32673075e-03 9.96832234e-01 7.22009990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.449254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:229.36, Y:12.91, Z:7.22 [[ 9.71802020e-01 -2.22232220e-01 -7.88268688e-02 2.29357633e+02] [ 2.21976410e-01 9.74976900e-01 -1.21044707e-02 1.29149926e+01] [ 7.95443796e-02 -5.73455625e-03 9.96814831e-01 7.22186480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.47925415399996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:229.39, Y:12.92, Z:7.22 [[ 9.71762194e-01 -2.22407147e-01 -7.88244856e-02 2.29385668e+02] [ 2.22150657e-01 9.74937019e-01 -1.21199715e-02 1.29194030e+01] [ 7.95444774e-02 -5.73318117e-03 9.96814831e-01 7.22382820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.50925415399996 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:229.41, Y:12.93, Z:7.23 [[ 9.72343535e-01 -2.19678228e-01 -7.93065349e-02 2.29412716e+02] [ 2.19408289e-01 9.75556721e-01 -1.22100935e-02 1.29273349e+01] [ 8.00503149e-02 -5.52810570e-03 9.96775495e-01 7.22582577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.53925415399996 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:229.44, Y:12.93, Z:7.23 [[ 9.72985400e-01 -2.16504268e-01 -8.01580513e-02 2.29443002e+02] [ 2.16489364e-01 9.76243663e-01 -8.98137103e-03 1.29310789e+01] [ 8.01982948e-02 -8.61462266e-03 9.96741703e-01 7.22766388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.56925415399996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:229.47, Y:12.94, Z:7.23 [[ 9.73231747e-01 -2.15619336e-01 -7.95504119e-02 2.29468072e+02] [ 2.15110331e-01 9.76474302e-01 -1.50161006e-02 1.29416154e+01] [ 8.09166946e-02 -2.49796967e-03 9.96717738e-01 7.23044160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.59925415399996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:229.50, Y:12.95, Z:7.23 [[ 9.73723323e-01 -2.12863953e-01 -8.09433585e-02 2.29496801e+02] [ 2.12554508e-01 9.77068988e-01 -1.25209186e-02 1.29469949e+01] [ 8.17524976e-02 -5.01296526e-03 9.96640055e-01 7.23173091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.62925415399997 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:229.52, Y:12.96, Z:7.23 [[ 9.75011237e-01 -2.06427780e-01 -8.21015178e-02 2.29523943e+02] [ 2.06084814e-01 9.78451422e-01 -1.27226148e-02 1.29566282e+01] [ 8.29586480e-02 -4.51518360e-03 9.96542762e-01 7.23367223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.65925415399997 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:229.55, Y:12.96, Z:7.24 [[ 9.75710537e-01 -2.03489091e-01 -8.11242132e-02 2.29549833e+02] [ 2.03142308e-01 9.79068237e-01 -1.25932138e-02 1.29640990e+01] [ 8.19887221e-02 -4.19242858e-03 9.96624439e-01 7.23653666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.68925415399997 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:229.58, Y:12.97, Z:7.24 [[ 9.76467514e-01 -1.99752376e-01 -8.13030245e-02 2.29576366e+02] [ 1.99390320e-01 9.79838740e-01 -1.26310988e-02 1.29707351e+01] [ 8.21869450e-02 -3.87717838e-03 9.96609389e-01 7.23889558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.71925415399997 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:229.60, Y:12.98, Z:7.24 [[ 9.77150090e-01 -1.96390664e-01 -8.12921259e-02 2.29604677e+02] [ 1.96016306e-01 9.80519179e-01 -1.26391310e-02 1.29781601e+01] [ 8.21906958e-02 -3.58425419e-03 9.96610176e-01 7.24108608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.74925415399997 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:229.63, Y:12.99, Z:7.24 [[ 9.78746573e-01 -1.88278664e-01 -8.12790866e-02 2.29631070e+02] [ 1.87874933e-01 9.82111415e-01 -1.26561270e-02 1.29874326e+01] [ 8.22079974e-02 -2.88316195e-03 9.96611024e-01 7.24353486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.77925415399997 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:229.66, Y:12.99, Z:7.25 [[ 9.79520788e-01 -1.84312792e-01 -8.10420972e-02 2.29658012e+02] [ 1.83897036e-01 9.82864375e-01 -1.26293312e-02 1.29942217e+01] [ 8.19811375e-02 -2.53270899e-03 9.96630663e-01 7.24550144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.80925415399997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:229.68, Y:13.00, Z:7.25 [[ 9.80246946e-01 -1.80562794e-01 -8.07031713e-02 2.29684537e+02] [ 1.80135972e-01 9.83561027e-01 -1.25991371e-02 1.30012954e+01] [ 8.16514294e-02 -2.18727854e-03 9.96658547e-01 7.24785516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.83925415399997 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:229.71, Y:13.01, Z:7.25 [[ 9.81764943e-01 -1.72412008e-01 -8.00730714e-02 2.29711432e+02] [ 1.71963309e-01 9.85023812e-01 -1.25183821e-02 1.30106641e+01] [ 8.10322014e-02 -1.47952170e-03 9.96710386e-01 7.25013261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.86925415399998 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:229.74, Y:13.02, Z:7.25 [[ 9.82441085e-01 -1.68870889e-01 -7.93229963e-02 2.29738927e+02] [ 1.68417206e-01 9.85637505e-01 -1.24238723e-02 1.30173059e+01] [ 8.02817505e-02 -1.15363480e-03 9.96771543e-01 7.25253067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.89925415399998 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:229.77, Y:13.02, Z:7.25 [[ 9.83056440e-01 -1.65669562e-01 -7.84450891e-02 2.29766118e+02] [ 1.65213916e-01 9.86180945e-01 -1.23087478e-02 1.30234445e+01] [ 7.94002370e-02 -8.60026535e-04 9.96842446e-01 7.25435913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.92925415399998 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:229.79, Y:13.03, Z:7.26 [[ 9.84142652e-01 -1.59102695e-01 -7.84192153e-02 2.29792863e+02] [ 1.58624728e-01 9.87261990e-01 -1.23271159e-02 1.30308053e+01] [ 7.93815879e-02 -3.07586160e-04 9.96844255e-01 7.25651043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.95925415399998 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:229.82, Y:13.04, Z:7.26 [[ 9.84720625e-01 -1.55525764e-01 -7.83391784e-02 2.29819717e+02] [ 1.55035769e-01 9.87831836e-01 -1.23358684e-02 1.30360557e+01] [ 7.93044798e-02 2.00927391e-06 9.96850440e-01 7.25769170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.98925415399998 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:229.85, Y:13.04, Z:7.26 [[ 9.85152660e-01 -1.53015112e-01 -7.78499286e-02 2.29845943e+02] [ 1.52522254e-01 9.88223825e-01 -1.22733003e-02 1.30418435e+01] [ 7.88111546e-02 2.17227918e-04 9.96889540e-01 7.26064759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.01925415399998 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:229.87, Y:13.05, Z:7.26 [[ 9.85483743e-01 -1.50802189e-01 -7.79775096e-02 2.29873189e+02] [ 1.50299916e-01 9.88563875e-01 -1.23044688e-02 1.30473983e+01] [ 7.89412899e-02 4.05840761e-04 9.96879184e-01 7.26249289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.04925415399998 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:229.90, Y:13.05, Z:7.26 [[ 9.85754582e-01 -1.48987651e-01 -7.80421897e-02 2.29900903e+02] [ 1.48477154e-01 9.88838891e-01 -1.23362607e-02 1.30525924e+01] [ 7.90091027e-02 5.73043360e-04 9.96873730e-01 7.26454388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.07925415399998 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:229.93, Y:13.06, Z:7.27 [[ 9.86102532e-01 -1.46592699e-01 -7.81816885e-02 2.29928324e+02] [ 1.46071130e-01 9.89196623e-01 -1.23800273e-02 1.30576909e+01] [ 7.91518839e-02 7.87888719e-04 9.96862257e-01 7.26602951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.10925415399998 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:229.96, Y:13.06, Z:7.27 [[ 9.86155816e-01 -1.46271433e-01 -7.81112940e-02 2.29956286e+02] [ 1.45747967e-01 9.89244140e-01 -1.23919674e-02 1.30621157e+01] [ 7.90837307e-02 8.35848390e-04 9.96867627e-01 7.26800846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.13925415399999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:229.98, Y:13.07, Z:7.27 [[ 9.85993739e-01 -1.47553875e-01 -7.77444596e-02 2.29983514e+02] [ 1.47037474e-01 9.89053734e-01 -1.23569216e-02 1.30656374e+01] [ 7.87167597e-02 7.52498361e-04 9.96896738e-01 7.26940480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.169254154 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:230.01, Y:13.07, Z:7.27 [[ 9.85799913e-01 -1.48862930e-01 -7.77068843e-02 2.30011201e+02] [ 1.48349260e-01 9.88857613e-01 -1.23741141e-02 1.30690620e+01] [ 7.86830910e-02 6.70641881e-04 9.96899454e-01 7.27123262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.199254154 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:230.04, Y:13.07, Z:7.27 [[ 9.85576132e-01 -1.50378921e-01 -7.76264709e-02 2.30038952e+02] [ 1.49869338e-01 9.88628270e-01 -1.23824993e-02 1.30725530e+01] [ 7.86057905e-02 5.70067946e-04 9.96905615e-01 7.27338974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.22925415399996 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:230.07, Y:13.08, Z:7.28 [[ 9.85312163e-01 -1.52386405e-01 -7.70605247e-02 2.30066648e+02] [ 1.51889669e-01 9.88320905e-01 -1.23011282e-02 1.30760149e+01] [ 7.80350522e-02 4.15753616e-04 9.96950529e-01 7.27503876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.25925415399996 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:230.10, Y:13.08, Z:7.28 [[ 9.84645591e-01 -1.56872009e-01 -7.65782796e-02 2.30095497e+02] [ 1.56393294e-01 9.87618938e-01 -1.22462799e-02 1.30782081e+01] [ 7.75512577e-02 8.19161348e-05 9.96988363e-01 7.27718110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.28925415399996 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:230.12, Y:13.08, Z:7.28 [[ 9.84199811e-01 -1.59623806e-01 -7.66222666e-02 2.30122980e+02] [ 1.59151419e-01 9.87177911e-01 -1.22718717e-02 1.30811309e+01] [ 7.75986919e-02 -1.16568681e-04 9.96984669e-01 7.27904618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.31925415399996 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:230.15, Y:13.08, Z:7.28 [[ 9.83691190e-01 -1.62888266e-01 -7.62827404e-02 2.30150367e+02] [ 1.62429184e-01 9.86644455e-01 -1.22261901e-02 1.30839872e+01] [ 7.72554457e-02 -3.63747817e-04 9.97011266e-01 7.28081718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.34925415399996 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:230.18, Y:13.09, Z:7.28 [[ 9.83124241e-01 -1.66415435e-01 -7.59778251e-02 2.30178928e+02] [ 1.65968838e-01 9.86055537e-01 -1.21992557e-02 1.30867567e+01] [ 7.69484996e-02 -6.16567354e-04 9.97034878e-01 7.28293401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.37925415399997 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:230.21, Y:13.09, Z:7.29 [[ 9.81860615e-01 -1.74066423e-01 -7.51705618e-02 2.30209010e+02] [ 1.73650302e-01 9.84733200e-01 -1.20870988e-02 1.30878102e+01] [ 7.61269059e-02 -1.18554450e-03 9.97097432e-01 7.28539925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.40925415399997 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:230.24, Y:13.09, Z:7.29 [[ 9.81181715e-01 -1.77853722e-01 -7.51697836e-02 2.30238786e+02] [ 1.77448500e-01 9.84055828e-01 -1.20895441e-02 1.30903167e+01] [ 7.61214341e-02 -1.47672570e-03 9.97097461e-01 7.28585560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.43925415399997 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:230.27, Y:13.09, Z:7.29 [[ 9.80356907e-01 -1.82534112e-01 -7.47103254e-02 2.30269088e+02] [ 1.82147407e-01 9.83197820e-01 -1.20153675e-02 1.30934599e+01] [ 7.56482435e-02 -1.82894360e-03 9.97132889e-01 7.28930548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.46925415399997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:230.30, Y:13.10, Z:7.29 [[ 9.79551419e-01 -1.86847957e-01 -7.46113828e-02 2.30298923e+02] [ 1.86474756e-01 9.82386471e-01 -1.19994280e-02 1.30961351e+01] [ 7.55392817e-02 -2.15908265e-03 9.97140489e-01 7.29145710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.49925415399997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:230.33, Y:13.10, Z:7.29 [[ 9.77844049e-01 -1.95692525e-01 -7.43333857e-02 2.30329563e+02] [ 1.95347566e-01 9.80661216e-01 -1.19544440e-02 1.30968915e+01] [ 7.52352637e-02 -2.83126405e-03 9.97161792e-01 7.29298559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.52925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:230.36, Y:13.10, Z:7.29 [[ 9.76958406e-01 -2.00003303e-01 -7.45047036e-02 2.30358807e+02] [ 1.99669239e-01 9.79790093e-01 -1.19819754e-02 1.30997087e+01] [ 7.53954052e-02 -3.17040589e-03 9.97148676e-01 7.29486407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.55925415399997 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:230.39, Y:13.10, Z:7.30 [[ 9.76066813e-01 -2.04254954e-01 -7.46558095e-02 2.30388030e+02] [ 2.03931913e-01 9.78911448e-01 -1.20063072e-02 1.31029449e+01] [ 7.55337743e-02 -3.50574400e-03 9.97137081e-01 7.29679511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.58925415399997 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:230.42, Y:13.11, Z:7.30 [[ 9.74447197e-01 -2.11813660e-01 -7.47504813e-02 2.30418140e+02] [ 2.11511724e-01 9.77301496e-01 -1.20240109e-02 1.31053142e+01] [ 7.56006070e-02 -4.09383940e-03 9.97129775e-01 7.29847749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.61925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:230.45, Y:13.11, Z:7.30 [[ 9.73778149e-01 -2.14730223e-01 -7.51468395e-02 2.30448155e+02] [ 2.14433715e-01 9.76663743e-01 -1.20877672e-02 1.31095127e+01] [ 7.59888025e-02 -4.34321234e-03 9.97099212e-01 7.30065343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.64925415399998 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:230.48, Y:13.11, Z:7.30 [[ 9.73263114e-01 -2.17060934e-01 -7.51229773e-02 2.30477679e+02] [ 2.16771509e-01 9.76147575e-01 -1.20840626e-02 1.31138338e+01] [ 7.59540900e-02 -4.52354870e-03 9.97101055e-01 7.30275842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.67925415399998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:230.51, Y:13.12, Z:7.30 [[ 9.72692955e-01 -2.19567981e-01 -7.52217882e-02 2.30507555e+02] [ 2.19285149e-01 9.75585764e-01 -1.21012331e-02 1.31184153e+01] [ 7.60423491e-02 -4.72423689e-03 9.97093397e-01 7.30483797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.70925415399998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:230.54, Y:13.12, Z:7.31 [[ 9.72547494e-01 -2.20119989e-01 -7.54888157e-02 2.30537161e+02] [ 2.19836801e-01 9.75461070e-01 -1.21441909e-02 1.31237960e+01] [ 7.63095802e-02 -4.78441735e-03 9.97072694e-01 7.30719553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.73925415399998 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:230.57, Y:13.13, Z:7.31 [[ 9.72626953e-01 -2.19619430e-01 -7.59217838e-02 2.30566988e+02] [ 2.19331468e-01 9.75573949e-01 -1.22138442e-02 1.31293527e+01] [ 7.67497119e-02 -4.77252224e-03 9.97038969e-01 7.30948887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.76925415399998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:230.60, Y:13.14, Z:7.31 [[ 9.72818609e-01 -2.18690026e-01 -7.61487147e-02 2.30595784e+02] [ 2.18397509e-01 9.75782997e-01 -1.22503485e-02 1.31355375e+01] [ 7.69836500e-02 -4.71332261e-03 9.97021215e-01 7.31189349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.79925415399998 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:230.63, Y:13.14, Z:7.31 [[ 9.73660172e-01 -2.14928171e-01 -7.61035586e-02 2.30626104e+02] [ 2.14624584e-01 9.76619887e-01 -1.22427503e-02 1.31435015e+01] [ 7.69555607e-02 -4.41341630e-03 9.97024756e-01 7.31432349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.82925415399998 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:230.66, Y:13.15, Z:7.32 [[ 9.74259464e-01 -2.12302047e-01 -7.58045998e-02 2.30657071e+02] [ 2.11993145e-01 9.77195102e-01 -1.21917792e-02 1.31499116e+01] [ 7.66642233e-02 -4.19209923e-03 9.97048155e-01 7.31659779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.85925415399998 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:230.69, Y:13.16, Z:7.32 [[ 9.74793302e-01 -2.09815526e-01 -7.58647669e-02 2.30686207e+02] [ 2.09498844e-01 9.77732799e-01 -1.21987111e-02 1.31559775e+01] [ 7.67349499e-02 -4.00235903e-03 9.97043494e-01 7.31929722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.88925415399999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:230.71, Y:13.16, Z:7.32 [[ 9.75395683e-01 -2.07289460e-01 -7.50622546e-02 2.30714528e+02] [ 2.06972086e-01 9.78272411e-01 -1.20683950e-02 1.31622983e+01] [ 7.59329839e-02 -3.76433106e-03 9.97105818e-01 7.32148566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.919254154 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:230.74, Y:13.17, Z:7.32 [[ 9.76525512e-01 -2.02065367e-01 -7.46157656e-02 2.30744898e+02] [ 2.01736567e-01 9.79366349e-01 -1.19963495e-02 1.31700069e+01] [ 7.55002167e-02 -3.33798710e-03 9.97140198e-01 7.32418774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.949254154 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:230.77, Y:13.18, Z:7.33 [[ 9.77055382e-01 -1.99499355e-01 -7.45840995e-02 2.30774917e+02] [ 1.99163582e-01 9.79892924e-01 -1.19885742e-02 1.31762010e+01] [ 7.54761441e-02 -3.14093547e-03 9.97142661e-01 7.32602195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.97925415399996 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:230.81, Y:13.18, Z:7.33 [[ 9.77490638e-01 -1.97069557e-01 -7.53368564e-02 2.30806676e+02] [ 1.96719912e-01 9.80384965e-01 -1.21077236e-02 1.31826814e+01] [ 7.62451851e-02 -2.98507329e-03 9.97084631e-01 7.32856243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.00925415399996 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:230.84, Y:13.19, Z:7.33 [[ 9.78362808e-01 -1.92264270e-01 -7.64242470e-02 2.30836792e+02] [ 1.91890257e-01 9.81339599e-01 -1.22768649e-02 1.31905760e+01] [ 7.73585423e-02 -2.65384040e-03 9.96999806e-01 7.33070817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.03925415399996 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:230.87, Y:13.20, Z:7.33 [[ 9.78772610e-01 -1.89988231e-01 -7.68677481e-02 2.30866546e+02] [ 1.89603075e-01 9.81783207e-01 -1.23453435e-02 1.31967151e+01] [ 7.78129343e-02 -2.49107737e-03 9.96964865e-01 7.33291076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.06925415399996 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:230.90, Y:13.20, Z:7.34 [[ 9.79124062e-01 -1.87986688e-01 -7.73115553e-02 2.30896901e+02] [ 1.87590970e-01 9.82168772e-01 -1.24149789e-02 1.32031048e+01] [ 7.82668461e-02 -2.34714505e-03 9.96929682e-01 7.33533594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.09925415399996 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:230.93, Y:13.21, Z:7.34 [[ 9.79877389e-01 -1.84090635e-01 -7.71423462e-02 2.30926717e+02] [ 1.83684841e-01 9.82907167e-01 -1.23846623e-02 1.32106905e+01] [ 7.81036653e-02 -2.03442901e-03 9.96943167e-01 7.33743513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.12925415399997 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:230.96, Y:13.22, Z:7.34 [[ 9.80200392e-01 -1.82398057e-01 -7.70593302e-02 2.30957845e+02] [ 1.81988275e-01 9.83222931e-01 -1.23667486e-02 1.32169842e+01] [ 7.80221714e-02 -1.90200275e-03 9.96949810e-01 7.33965550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.15925415399997 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:230.99, Y:13.22, Z:7.34 [[ 9.80526118e-01 -1.80473183e-01 -7.74465108e-02 2.30987750e+02] [ 1.80053495e-01 9.83578330e-01 -1.24260875e-02 1.32226215e+01] [ 7.84172854e-02 -1.76041163e-03 9.96919069e-01 7.34015696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.18925415399997 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:231.02, Y:13.23, Z:7.34 [[ 9.80809000e-01 -1.79255950e-01 -7.66877490e-02 2.31018480e+02] [ 1.78840865e-01 9.83801092e-01 -1.23027347e-02 1.32294700e+01] [ 7.76508296e-02 -1.64827044e-03 9.96979253e-01 7.34394611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.21925415399997 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:231.05, Y:13.24, Z:7.35 [[ 9.81479941e-01 -1.75607981e-01 -7.65438547e-02 2.31047904e+02] [ 1.75183589e-01 9.84459236e-01 -1.22768966e-02 1.32370981e+01] [ 7.75102258e-02 -1.35969942e-03 9.96990630e-01 7.34681736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.24925415399997 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:231.08, Y:13.24, Z:7.35 [[ 9.81892603e-01 -1.73442039e-01 -7.61890710e-02 2.31078276e+02] [ 1.73015187e-01 9.84843366e-01 -1.22184064e-02 1.32431596e+01] [ 7.71534865e-02 -1.18470351e-03 9.97018523e-01 7.34889248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.27925415399997 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:231.11, Y:13.25, Z:7.35 [[ 9.82299409e-01 -1.71153441e-01 -7.61207656e-02 2.31108303e+02] [ 1.70720700e-01 9.85243871e-01 -1.22047684e-02 1.32490062e+01] [ 7.70864059e-02 -1.00665363e-03 9.97023908e-01 7.35133834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.30925415399997 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:231.14, Y:13.26, Z:7.36 [[ 9.82955121e-01 -1.67126842e-01 -7.66018901e-02 2.31135867e+02] [ 1.65933141e-01 9.85897408e-01 -2.17369376e-02 1.32600338e+01] [ 7.91544306e-02 8.65564190e-03 9.96824787e-01 7.35693506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.33925415399997 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:231.17, Y:13.26, Z:7.35 [[ 9.83618486e-01 -1.64119082e-01 -7.45627311e-02 2.31166473e+02] [ 1.63866605e-01 9.86436442e-01 -9.53319332e-03 1.32590541e+01] [ 7.51159741e-02 -2.84131644e-03 9.97170756e-01 7.35444522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.36925415399998 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:231.19, Y:13.26, Z:7.36 [[ 9.83492529e-01 -1.64128816e-01 -7.61851500e-02 2.31194077e+02] [ 1.64115837e-01 9.86419829e-01 -6.47394371e-03 1.32640480e+01] [ 7.62131034e-02 -6.13611441e-03 9.97072671e-01 7.35669450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.39925415399998 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:231.22, Y:13.27, Z:7.36 [[ 9.83499501e-01 -1.64501469e-01 -7.52861081e-02 2.31224077e+02] [ 1.64057794e-01 9.86376727e-01 -1.20827407e-02 1.32715841e+01] [ 7.62480934e-02 -4.67903397e-04 9.97088767e-01 7.36052089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.42925415399998 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:231.25, Y:13.28, Z:7.36 [[ 9.83644779e-01 -1.63652541e-01 -7.52382461e-02 2.31253624e+02] [ 1.63207045e-01 9.86517959e-01 -1.20738175e-02 1.32770240e+01] [ 7.61997919e-02 -4.03064340e-04 9.97092488e-01 7.36279994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.45925415399998 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:231.28, Y:13.29, Z:7.36 [[ 9.84517271e-01 -1.61500035e-01 -6.81430959e-02 2.31284142e+02] [ 1.59974937e-01 9.86743225e-01 -2.73098425e-02 1.32872799e+01] [ 7.16502787e-02 1.59858242e-02 9.97301705e-01 7.36460734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.48925415399998 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:231.31, Y:13.28, Z:7.36 [[ 9.83723369e-01 -1.61764935e-01 -7.82332350e-02 2.31314444e+02] [ 1.62592285e-01 9.86684052e-01 4.28141684e-03 1.32791271e+01] [ 7.64989022e-02 -1.69318503e-02 9.96925890e-01 7.36194153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.51925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:231.34, Y:13.29, Z:7.37 [[ 9.83652267e-01 -1.63045352e-01 -7.64488829e-02 2.31343390e+02] [ 1.62583426e-01 9.86618510e-01 -1.22697216e-02 1.32910920e+01] [ 7.74264039e-02 -3.60181835e-04 9.96998005e-01 7.36732515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.54925415399998 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:231.37, Y:13.30, Z:7.37 [[ 9.84030606e-01 -1.63924947e-01 -6.93713042e-02 2.31371063e+02] [ 1.62307482e-01 9.86331969e-01 -2.83818480e-02 1.33023193e+01] [ 7.30756279e-02 1.66691254e-02 9.97187090e-01 7.37057948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.57925415399998 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:231.40, Y:13.29, Z:7.37 [[ 9.82923208e-01 -1.66213865e-01 -7.89614976e-02 2.31401325e+02] [ 1.67101060e-01 9.85928485e-01 4.71781804e-03 1.32909796e+01] [ 7.70662229e-02 -1.78318028e-02 9.96866503e-01 7.36811917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.60925415399998 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:231.43, Y:13.30, Z:7.38 [[ 9.82658035e-01 -1.69338226e-01 -7.55496633e-02 2.31429220e+02] [ 1.68904689e-01 9.85557645e-01 -1.21381564e-02 1.33028982e+01] [ 7.65140021e-02 -8.33035477e-04 9.97068159e-01 7.37527578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.63925415399999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:231.46, Y:13.31, Z:7.38 [[ 9.82309152e-01 -1.71352158e-01 -7.55457978e-02 2.31459164e+02] [ 1.70924707e-01 9.85209346e-01 -1.21362610e-02 1.33067407e+01] [ 7.65080005e-02 -9.91083053e-04 9.97068475e-01 7.37760334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.669254154 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:231.49, Y:13.31, Z:7.38 [[ 9.81513316e-01 -1.75957181e-01 -7.53039211e-02 2.31489125e+02] [ 1.75545985e-01 9.84396902e-01 -1.20974041e-02 1.33095487e+01] [ 7.62575718e-02 -1.34553779e-03 9.97087244e-01 7.37954704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.699254154 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:231.52, Y:13.31, Z:7.38 [[ 9.81026175e-01 -1.78458884e-01 -7.57632489e-02 2.31520216e+02] [ 1.78050115e-01 9.83946150e-01 -1.21709133e-02 1.33136364e+01] [ 7.67189646e-02 -1.54967064e-03 9.97051553e-01 7.38136855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.72925415399996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:231.55, Y:13.32, Z:7.38 [[ 9.80590016e-01 -1.80601030e-01 -7.63314413e-02 2.31550371e+02] [ 1.80192784e-01 9.83554912e-01 -1.22594919e-02 1.33173102e+01] [ 7.72902409e-02 -1.73283956e-03 9.97007129e-01 7.38346028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.75925415399996 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:231.59, Y:13.34, Z:7.38 [[ 9.81824502e-01 -1.80733553e-01 -5.79312606e-02 2.31585823e+02] [ 1.77219774e-01 9.82280622e-01 -6.09748487e-02 1.33394684e+01] [ 6.79249558e-02 4.96000355e-02 9.96456741e-01 7.38433145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.78925415399996 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:231.62, Y:13.30, Z:7.37 [[ 9.79233876e-01 -1.83197951e-01 -8.68304503e-02 2.31615493e+02] [ 1.87150260e-01 9.81527402e-01 3.97333531e-02 1.32997787e+01] [ 7.79473975e-02 -5.51585867e-02 9.95430426e-01 7.37343265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.81925415399996 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:231.64, Y:13.33, Z:7.39 [[ 9.78964093e-01 -1.88223794e-01 -7.87471197e-02 2.31641419e+02] [ 1.87810323e-01 9.82123317e-01 -1.26914383e-02 1.33290384e+01] [ 7.97282131e-02 -2.36505964e-03 9.96813833e-01 7.39016112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.84925415399996 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:231.67, Y:13.33, Z:7.39 [[ 9.78843390e-01 -1.88904112e-01 -7.86184075e-02 2.31670720e+02] [ 1.88494367e-01 9.81992559e-01 -1.26683702e-02 1.33333615e+01] [ 7.95957983e-02 -2.41877650e-03 9.96824287e-01 7.39263390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.87925415399997 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:231.70, Y:13.34, Z:7.39 [[ 9.78868181e-01 -1.88918447e-01 -7.82745398e-02 2.31699493e+02] [ 1.88512179e-01 9.81989829e-01 -1.26148286e-02 1.33375466e+01] [ 7.92479758e-02 -2.40744968e-03 9.96852026e-01 7.39446360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.90925415399997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:231.73, Y:13.34, Z:7.40 [[ 9.78915398e-01 -1.88739794e-01 -7.81148769e-02 2.31727717e+02] [ 1.88334209e-01 9.82024242e-01 -1.25942174e-02 1.33414596e+01] [ 7.90877327e-02 -2.38303023e-03 9.96864811e-01 7.39668803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.93925415399997 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:231.76, Y:13.35, Z:7.40 [[ 9.78957017e-01 -1.88632278e-01 -7.78525736e-02 2.31755586e+02] [ 1.88228728e-01 9.82044950e-01 -1.25563357e-02 1.33455191e+01] [ 7.88232570e-02 -2.36197792e-03 9.96885809e-01 7.39814232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.96925415399997 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:231.78, Y:13.35, Z:7.40 [[ 9.78929924e-01 -1.88664971e-01 -7.81135884e-02 2.31783230e+02] [ 1.88258270e-01 9.82038661e-01 -1.26052544e-02 1.33497405e+01] [ 7.90887337e-02 -2.36586826e-03 9.96864773e-01 7.40032694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.99925415399997 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:231.81, Y:13.35, Z:7.40 [[ 9.78870199e-01 -1.89056131e-01 -7.79160645e-02 2.31810636e+02] [ 1.88652057e-01 9.81963390e-01 -1.25817867e-02 1.33533699e+01] [ 7.88893868e-02 -2.38308979e-03 9.96880527e-01 7.40288216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.02925415399997 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:231.84, Y:13.36, Z:7.40 [[ 9.78786944e-01 -1.89531093e-01 -7.78079897e-02 2.31838249e+02] [ 1.89127947e-01 9.81871794e-01 -1.25857175e-02 1.33576086e+01] [ 7.87828552e-02 -2.39692939e-03 9.96888919e-01 7.40496088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.05925415399997 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:231.87, Y:13.36, Z:7.41 [[ 9.78668030e-01 -1.89952537e-01 -7.82746460e-02 2.31868596e+02] [ 1.89544375e-01 9.81790275e-01 -1.26801505e-02 1.33623034e+01] [ 7.92579130e-02 -2.42686088e-03 9.96851189e-01 7.40765947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.08925415399997 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:231.90, Y:13.37, Z:7.41 [[ 9.78453020e-01 -1.90835937e-01 -7.88120143e-02 2.31899948e+02] [ 1.90425033e-01 9.81618722e-01 -1.27668290e-02 1.33668817e+01] [ 7.97997185e-02 -2.51603803e-03 9.96807742e-01 7.40990650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.11925415399998 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:231.93, Y:13.37, Z:7.41 [[ 9.78224012e-01 -1.91799528e-01 -7.93140808e-02 2.31929341e+02] [ 1.91386788e-01 9.81430642e-01 -1.28449075e-02 1.33716946e+01] [ 8.03049165e-02 -2.61447025e-03 9.96766916e-01 7.41221056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.14925415399998 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:231.96, Y:13.38, Z:7.41 [[ 9.77926324e-01 -1.93027790e-01 -8.00023606e-02 2.31959773e+02] [ 1.92612298e-01 9.81189455e-01 -1.29520629e-02 1.33765236e+01] [ 8.09975807e-02 -2.74327523e-03 9.96710523e-01 7.41477363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.17925415399998 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:231.99, Y:13.38, Z:7.42 [[ 9.77625104e-01 -1.94464948e-01 -8.02031109e-02 2.31989950e+02] [ 1.94052188e-01 9.80905270e-01 -1.29845636e-02 1.33813311e+01] [ 8.11966967e-02 -2.86955381e-03 9.96693966e-01 7.41702347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.20925415399998 meters Centerline goodness : 0.998492 Centerline is valid? [True, True] Translation: X:232.02, Y:13.39, Z:7.42 [[ 9.76824217e-01 -1.98200744e-01 -8.08140699e-02 2.32018779e+02] [ 1.97794383e-01 9.80156212e-01 -1.30836946e-02 1.33862416e+01] [ 8.18036106e-02 -3.20409933e-03 9.96643318e-01 7.41919969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.23925415399998 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:232.05, Y:13.39, Z:7.42 [[ 9.76396546e-01 -2.00135831e-01 -8.12122828e-02 2.32048564e+02] [ 1.99732017e-01 9.79762325e-01 -1.31494375e-02 1.33915781e+01] [ 8.22004086e-02 -3.38162762e-03 9.96610083e-01 7.42155773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.26925415399998 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:232.08, Y:13.40, Z:7.42 [[ 9.76009477e-01 -2.01935773e-01 -8.14091222e-02 2.32077946e+02] [ 2.01536216e-01 9.79392363e-01 -1.31815364e-02 1.33966689e+01] [ 8.23932963e-02 -3.54158203e-03 9.96593599e-01 7.42426172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.29925415399998 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:232.11, Y:13.40, Z:7.43 [[ 9.75727862e-01 -2.03345377e-01 -8.12760558e-02 2.32107837e+02] [ 2.02951893e-01 9.79100256e-01 -1.31612414e-02 1.34017808e+01] [ 8.22536846e-02 -3.65333944e-03 9.96604728e-01 7.42671810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.32925415399998 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:232.14, Y:13.41, Z:7.43 [[ 9.75365297e-01 -2.05519926e-01 -8.01504698e-02 2.32137376e+02] [ 2.05144580e-01 9.78645619e-01 -1.29789724e-02 1.34071827e+01] [ 8.11063436e-02 -3.78319523e-03 9.96698274e-01 7.42924751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.35925415399998 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:232.17, Y:13.41, Z:7.43 [[ 9.75289205e-01 -2.05928232e-01 -8.00283009e-02 2.32166378e+02] [ 2.05555383e-01 9.78559676e-01 -1.29593884e-02 1.34123609e+01] [ 8.09811721e-02 -3.81109643e-03 9.96708345e-01 7.43200540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.38925415399999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:232.20, Y:13.42, Z:7.43 [[ 9.75302697e-01 -2.06199912e-01 -7.91596193e-02 2.32197041e+02] [ 2.05835940e-01 9.78502542e-01 -1.28195563e-02 1.34188072e+01] [ 8.01012801e-02 -3.79094681e-03 9.96779521e-01 7.43491754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.419254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:232.23, Y:13.42, Z:7.44 [[ 9.75423973e-01 -2.05679979e-01 -7.90178397e-02 2.32227208e+02] [ 2.05315860e-01 9.78612142e-01 -1.27934851e-02 1.34242694e+01] [ 7.99591811e-02 -3.74454359e-03 9.96791105e-01 7.43722802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.449254154 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:232.26, Y:13.43, Z:7.44 [[ 9.75628518e-01 -2.04772113e-01 -7.88503495e-02 2.32258708e+02] [ 2.04406946e-01 9.78802808e-01 -1.27618132e-02 1.34301018e+01] [ 7.97922069e-02 -3.66677023e-03 9.96804775e-01 7.43990759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.47925415399996 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:232.29, Y:13.44, Z:7.44 [[ 9.75810336e-01 -2.03878175e-01 -7.89169010e-02 2.32290061e+02] [ 2.03509949e-01 9.78989638e-01 -1.27667020e-02 1.34360385e+01] [ 7.98616803e-02 -3.60249474e-03 9.96799445e-01 7.44234210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.50925415399996 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:232.32, Y:13.44, Z:7.44 [[ 9.76277662e-01 -2.01713209e-01 -7.87001150e-02 2.32320563e+02] [ 2.01340457e-01 9.79438652e-01 -1.27258188e-02 1.34424062e+01] [ 7.96489003e-02 -3.42158452e-03 9.96817107e-01 7.44443250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.53925415399996 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:232.35, Y:13.45, Z:7.45 [[ 9.76502206e-01 -2.00486956e-01 -7.90469614e-02 2.32351425e+02] [ 2.00107267e-01 9.79690676e-01 -1.27773910e-02 1.34477860e+01] [ 8.00032713e-02 -3.34072087e-03 9.96789003e-01 7.44643635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.56925415399996 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:232.38, Y:13.46, Z:7.45 [[ 9.77077449e-01 -1.97243213e-01 -8.00922790e-02 2.32377714e+02] [ 1.96472613e-01 9.80353680e-01 -1.74692299e-02 1.34554169e+01] [ 8.19644475e-02 1.33285127e-03 9.96634363e-01 7.44946597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.59925415399996 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:232.41, Y:13.46, Z:7.45 [[ 9.77281041e-01 -1.96221361e-01 -8.01183201e-02 2.32407791e+02] [ 1.96137701e-01 9.80535148e-01 -8.99026114e-03 1.34572383e+01] [ 8.03229101e-02 -6.92821137e-03 9.96744817e-01 7.44898784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.62925415399997 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:232.44, Y:13.46, Z:7.45 [[ 9.77662903e-01 -1.94556925e-01 -7.95163567e-02 2.32436777e+02] [ 1.94152505e-01 9.80887046e-01 -1.28610835e-02 1.34644041e+01] [ 8.04987771e-02 -2.86449561e-03 9.96750591e-01 7.45201102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.65925415399997 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:232.47, Y:13.48, Z:7.45 [[ 9.79539864e-01 -1.90898440e-01 -6.37137299e-02 2.32470170e+02] [ 1.87989925e-01 9.80950748e-01 -4.89430126e-02 1.34846498e+01] [ 7.18431757e-02 3.59640926e-02 9.96767346e-01 7.45277085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.68925415399997 meters Centerline goodness : 0.998398 Centerline is valid? [True, True] Translation: X:232.50, Y:13.46, Z:7.45 [[ 9.78646227e-01 -1.86759311e-01 -8.58633885e-02 2.32498899e+02] [ 1.89639023e-01 9.81492656e-01 2.66309374e-02 1.34575219e+01] [ 7.93007097e-02 -4.23453155e-02 9.95950938e-01 7.44526988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.71925415399997 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:232.53, Y:13.48, Z:7.46 [[ 9.79978081e-01 -1.82566439e-01 -7.94509713e-02 2.32526570e+02] [ 1.82122139e-01 9.83191754e-01 -1.28647009e-02 1.34833818e+01] [ 8.04642025e-02 -1.86265594e-03 9.96755759e-01 7.45891503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.74925415399997 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:232.56, Y:13.49, Z:7.46 [[ 9.80743723e-01 -1.78380443e-01 -7.95120536e-02 2.32557226e+02] [ 1.77922194e-01 9.83960410e-01 -1.28687378e-02 1.34894573e+01] [ 8.05322440e-02 -1.52602521e-03 9.96750836e-01 7.46109318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.77925415399997 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:232.59, Y:13.50, Z:7.46 [[ 9.81446822e-01 -1.74361696e-01 -7.97504541e-02 2.32587861e+02] [ 1.73887789e-01 9.84680938e-01 -1.29030042e-02 1.34957023e+01] [ 8.07785416e-02 -1.20401766e-03 9.96731347e-01 7.46309856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.80925415399997 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:232.62, Y:13.50, Z:7.47 [[ 9.82155597e-01 -1.70447401e-01 -7.94862630e-02 2.32618839e+02] [ 1.69964065e-01 9.85366381e-01 -1.28573222e-02 1.35018529e+01] [ 8.05145885e-02 -8.81917435e-04 9.96753040e-01 7.46560441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.83925415399997 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:232.65, Y:13.51, Z:7.47 [[ 9.83337420e-01 -1.63710575e-01 -7.90339602e-02 2.32649304e+02] [ 1.63211220e-01 9.86508357e-01 -1.27812153e-02 1.35080856e+01] [ 8.00600823e-02 -3.30981774e-04 9.96789985e-01 7.46742343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.86925415399998 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:232.68, Y:13.51, Z:7.47 [[ 9.83803415e-01 -1.61030017e-01 -7.87411896e-02 2.32678939e+02] [ 1.60526009e-01 9.86949502e-01 -1.27310696e-02 1.35131533e+01] [ 7.97636623e-02 -1.15139137e-04 9.96813797e-01 7.46976938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.89925415399998 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:232.71, Y:13.52, Z:7.47 [[ 9.84163123e-01 -1.58840836e-01 -7.86926677e-02 2.32709125e+02] [ 1.58330564e-01 9.87304201e-01 -1.27219187e-02 1.35176538e+01] [ 7.97143616e-02 6.09887631e-05 9.96817745e-01 7.47077060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.92925415399998 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:232.74, Y:13.52, Z:7.47 [[ 9.84361981e-01 -1.57952887e-01 -7.79895852e-02 2.32737611e+02] [ 1.57448927e-01 9.87446641e-01 -1.26082193e-02 1.35225325e+01] [ 7.90020586e-02 1.31675245e-04 9.96874444e-01 7.47365317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.95925415399998 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:232.77, Y:13.53, Z:7.48 [[ 9.84450774e-01 -1.57814514e-01 -7.71443565e-02 2.32767824e+02] [ 1.57321034e-01 9.87468764e-01 -1.24712897e-02 1.35266943e+01] [ 7.81457928e-02 1.40940935e-04 9.96941932e-01 7.47572790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.98925415399998 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:232.80, Y:13.53, Z:7.48 [[ 9.84297001e-01 -1.58877572e-01 -7.69241868e-02 2.32798087e+02] [ 1.58390186e-01 9.87298290e-01 -1.24352376e-02 1.35307530e+01] [ 7.79227985e-02 5.59307945e-05 9.96959395e-01 7.47781661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.01925415399998 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:232.83, Y:13.53, Z:7.48 [[ 9.83515238e-01 -1.63488697e-01 -7.72607477e-02 2.32828267e+02] [ 1.63011566e-01 9.86545157e-01 -1.24852870e-02 1.35333236e+01] [ 7.82624198e-02 -3.14925516e-04 9.96932743e-01 7.47967835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.04925415399998 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:232.86, Y:13.54, Z:7.48 [[ 9.82929213e-01 -1.66962941e-01 -7.72886648e-02 2.32859701e+02] [ 1.66496205e-01 9.85962994e-01 -1.24895087e-02 1.35370806e+01] [ 7.82890485e-02 -5.91966432e-04 9.96930526e-01 7.48162842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.07925415399998 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:232.89, Y:13.54, Z:7.48 [[ 9.82210207e-01 -1.71158154e-01 -7.72528032e-02 2.32889520e+02] [ 1.70705013e-01 9.85243129e-01 -1.24809641e-02 1.35403272e+01] [ 7.82490124e-02 -9.28510443e-04 9.96933413e-01 7.48354891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.10925415399998 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:232.91, Y:13.54, Z:7.49 [[ 9.81605325e-01 -1.74596993e-01 -7.72455510e-02 2.32914510e+02] [ 1.74010270e-01 9.84639791e-01 -1.43145990e-02 1.35433835e+01] [ 7.85583291e-02 6.09767410e-04 9.96909332e-01 7.48558061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.13925415399999 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:232.95, Y:13.54, Z:7.49 [[ 9.79446852e-01 -1.86262795e-01 -7.73953178e-02 2.32945770e+02] [ 1.85946793e-01 9.82494449e-01 -1.13335106e-02 1.35438486e+01] [ 7.81514815e-02 -3.29083989e-03 9.96936064e-01 7.48652112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.169254154 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:232.98, Y:13.55, Z:7.49 [[ 9.78531316e-01 -1.91128225e-01 -7.71133331e-02 2.32977853e+02] [ 1.90735820e-01 9.81561931e-01 -1.24909121e-02 1.35478939e+01] [ 7.80788780e-02 -2.48552619e-03 9.96944086e-01 7.48867496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.199254154 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:233.01, Y:13.55, Z:7.49 [[ 9.77653464e-01 -1.95557595e-01 -7.71422755e-02 2.33009681e+02] [ 1.95179096e-01 9.80688089e-01 -1.24897166e-02 1.35513629e+01] [ 7.80949697e-02 -2.84594485e-03 9.96941862e-01 7.49066852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.22925415399996 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:233.04, Y:13.55, Z:7.49 [[ 9.76201623e-01 -2.02856655e-01 -7.66783524e-02 2.33041965e+02] [ 2.02505558e-01 9.79202492e-01 -1.24088226e-02 1.35541731e+01] [ 7.76008460e-02 -3.41427975e-03 9.96978661e-01 7.49268455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.25925415399996 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:233.07, Y:13.56, Z:7.49 [[ 9.75618777e-01 -2.05769655e-01 -7.63338162e-02 2.33072991e+02] [ 2.05431025e-01 9.78593703e-01 -1.23473817e-02 1.35583831e+01] [ 7.72405083e-02 -3.63499673e-03 9.97005863e-01 7.49462394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.28925415399996 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:233.10, Y:13.56, Z:7.50 [[ 9.75614722e-01 -2.05788657e-01 -7.63344196e-02 2.33103510e+02] [ 2.05450377e-01 9.78589688e-01 -1.23436499e-02 1.35633156e+01] [ 7.72402590e-02 -3.64028872e-03 9.97005863e-01 7.49680793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.31925415399996 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:233.14, Y:13.57, Z:7.50 [[ 9.75183053e-01 -2.07700906e-01 -7.66703810e-02 2.33135890e+02] [ 2.07365457e-01 9.78184970e-01 -1.23988530e-02 1.35674389e+01] [ 7.75730674e-02 -3.80763729e-03 9.96979399e-01 7.49767194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.34925415399996 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:233.17, Y:13.57, Z:7.50 [[ 9.74383264e-01 -2.11555856e-01 -7.62979338e-02 2.33166555e+02] [ 2.11235896e-01 9.77357308e-01 -1.23324433e-02 1.35718944e+01] [ 7.71793438e-02 -4.10033600e-03 9.97008794e-01 7.50016750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.37925415399997 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:233.20, Y:13.58, Z:7.50 [[ 9.74062309e-01 -2.13087368e-01 -7.61340355e-02 2.33198236e+02] [ 2.12774162e-01 9.77024028e-01 -1.22965661e-02 1.35767689e+01] [ 7.70050249e-02 -4.22173402e-03 9.97021767e-01 7.50235679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.40925415399997 meters Centerline goodness : 0.998362 Centerline is valid? [True, True] Translation: X:233.23, Y:13.58, Z:7.50 [[ 9.73908595e-01 -2.13950267e-01 -7.56791382e-02 2.33229156e+02] [ 2.13643821e-01 9.76835223e-01 -1.22174091e-02 1.35813359e+01] [ 7.65399657e-02 -4.26974051e-03 9.97057372e-01 7.50417205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.43925415399997 meters Centerline goodness : 0.998216 Centerline is valid? [True, True] Translation: X:233.26, Y:13.59, Z:7.51 [[ 9.73535054e-01 -2.15908782e-01 -7.49192673e-02 2.33260874e+02] [ 2.15614559e-01 9.76403700e-01 -1.20903785e-02 1.35866261e+01] [ 7.57618687e-02 -4.38327746e-03 9.97116305e-01 7.50671089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.46925415399997 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:233.29, Y:13.59, Z:7.51 [[ 9.73481681e-01 -2.16398196e-01 -7.41972870e-02 2.33292270e+02] [ 2.16111448e-01 9.76295345e-01 -1.19683086e-02 1.35917470e+01] [ 7.50283864e-02 -4.38395396e-03 9.97171762e-01 7.50874742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.49925415399997 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:233.32, Y:13.60, Z:7.51 [[ 9.73387464e-01 -2.16851539e-01 -7.41097475e-02 2.33323054e+02] [ 2.16567213e-01 9.76194591e-01 -1.19483517e-02 1.35970196e+01] [ 7.49365531e-02 -4.41936576e-03 9.97178511e-01 7.51140360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.52925415399997 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:233.35, Y:13.60, Z:7.51 [[ 9.73398748e-01 -2.16862248e-01 -7.39299903e-02 2.33354813e+02] [ 2.16580010e-01 9.76192217e-01 -1.19102988e-02 1.36024754e+01] [ 7.47527753e-02 -4.41828805e-03 9.97192309e-01 7.51360282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.55925415399997 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:233.39, Y:13.61, Z:7.52 [[ 9.73419770e-01 -2.16526857e-01 -7.46329063e-02 2.33385776e+02] [ 2.16238664e-01 9.76266566e-01 -1.20180377e-02 1.36081865e+01] [ 7.54638391e-02 -4.43992447e-03 9.97138654e-01 7.51552791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.58925415399997 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:233.42, Y:13.61, Z:7.52 [[ 9.73568134e-01 -2.15798795e-01 -7.48062118e-02 2.33416712e+02] [ 2.15507437e-01 9.76427949e-01 -1.20417964e-02 1.36136366e+01] [ 7.56414811e-02 -4.39778575e-03 9.97125381e-01 7.51734028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.61925415399998 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:233.45, Y:13.62, Z:7.52 [[ 9.73828479e-01 -2.14426712e-01 -7.53609833e-02 2.33448893e+02] [ 2.14127256e-01 9.76730494e-01 -1.21268175e-02 1.36191133e+01] [ 7.62076840e-02 -4.32740032e-03 9.97082576e-01 7.51845694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.64925415399998 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:233.48, Y:13.63, Z:7.52 [[ 9.74378901e-01 -2.11860992e-01 -7.55028285e-02 2.33479608e+02] [ 2.11553174e-01 9.77291041e-01 -1.21439161e-02 1.36267282e+01] [ 7.63610600e-02 -4.14008737e-03 9.97071636e-01 7.52167299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.67925415399998 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:233.51, Y:13.63, Z:7.52 [[ 9.74766577e-01 -2.09881258e-01 -7.60261653e-02 2.33511523e+02] [ 2.09563509e-01 9.77718630e-01 -1.22235757e-02 1.36330874e+01] [ 7.68976977e-02 -4.01717693e-03 9.97030895e-01 7.52417153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.70925415399998 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:233.54, Y:13.64, Z:7.53 [[ 9.75197544e-01 -2.07693109e-01 -7.65070116e-02 2.33541783e+02] [ 2.07365067e-01 9.78186362e-01 -1.22951144e-02 1.36395777e+01] [ 7.73917259e-02 -3.87471620e-03 9.96993233e-01 7.52686971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.73925415399998 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:233.57, Y:13.65, Z:7.53 [[ 9.75714654e-01 -2.05185296e-01 -7.66805577e-02 2.33572296e+02] [ 2.04848386e-01 9.78716195e-01 -1.23186382e-02 1.36463120e+01] [ 7.75761071e-02 -3.68841266e-03 9.96979610e-01 7.52932504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.76925415399998 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:233.60, Y:13.66, Z:7.53 [[ 9.76887466e-01 -1.99511032e-01 -7.67217429e-02 2.33603860e+02] [ 1.99156637e-01 9.79890212e-01 -1.23209557e-02 1.36551018e+01] [ 7.76370516e-02 -3.24345710e-03 9.96976413e-01 7.53205224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.79925415399998 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:233.63, Y:13.66, Z:7.53 [[ 9.77520806e-01 -1.96392774e-01 -7.67004062e-02 2.33633853e+02] [ 1.96029451e-01 9.80520716e-01 -1.23117548e-02 1.36615550e+01] [ 7.76242769e-02 -3.00054208e-03 9.96978168e-01 7.53466428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.82925415399998 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:233.67, Y:13.67, Z:7.54 [[ 9.78216285e-01 -1.93183284e-01 -7.59810381e-02 2.33665492e+02] [ 1.92817430e-01 9.81158905e-01 -1.21918480e-02 1.36683835e+01] [ 7.69047334e-02 -2.72420425e-03 9.97034724e-01 7.53688123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.85925415399998 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:233.70, Y:13.68, Z:7.54 [[ 9.78904236e-01 -1.90005224e-01 -7.51299678e-02 2.33695696e+02] [ 1.89638635e-01 9.81780017e-01 -1.20493655e-02 1.36750429e+01] [ 7.60505434e-02 -2.45236964e-03 9.97100948e-01 7.53932810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.88925415399999 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:233.73, Y:13.68, Z:7.54 [[ 9.80231541e-01 -1.83440800e-01 -7.41323001e-02 2.33727210e+02] [ 1.83065815e-01 9.83028873e-01 -1.18803478e-02 1.36835911e+01] [ 7.50535319e-02 -1.92559832e-03 9.97177647e-01 7.54249735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.919254154 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:233.76, Y:13.69, Z:7.54 [[ 9.80834245e-01 -1.80288236e-01 -7.38940881e-02 2.33757898e+02] [ 1.79907144e-01 9.83612380e-01 -1.18365794e-02 1.36901602e+01] [ 7.48171360e-02 -1.68435194e-03 9.97195848e-01 7.54467355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.949254154 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:233.79, Y:13.70, Z:7.55 [[ 9.81411925e-01 -1.76916000e-01 -7.43731304e-02 2.33788989e+02] [ 1.76520598e-01 9.84224900e-01 -1.19090314e-02 1.36962815e+01] [ 7.53067850e-02 -1.44072407e-03 9.97159372e-01 7.54574852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.97925415399996 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:233.82, Y:13.70, Z:7.55 [[ 9.82422456e-01 -1.71443660e-01 -7.38457186e-02 2.33820102e+02] [ 1.71038715e-01 9.85193400e-01 -1.18204295e-02 1.37042667e+01] [ 7.47788523e-02 -1.01782142e-03 9.97199623e-01 7.54926083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.00925415399996 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:233.85, Y:13.71, Z:7.55 [[ 9.82874712e-01 -1.68813285e-01 -7.38875873e-02 2.33850414e+02] [ 1.68400868e-01 9.85647704e-01 -1.18216346e-02 1.37098204e+01] [ 7.48227797e-02 -8.23548091e-04 9.97196507e-01 7.55163663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.03925415399996 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:233.88, Y:13.72, Z:7.55 [[ 9.83282279e-01 -1.66493946e-01 -7.37273712e-02 2.33881765e+02] [ 1.66077120e-01 9.86042263e-01 -1.17917913e-02 1.37153262e+01] [ 7.46615658e-02 -6.49770024e-04 9.97208719e-01 7.55379518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.06925415399996 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:233.91, Y:13.72, Z:7.56 [[ 9.83972940e-01 -1.62783592e-01 -7.27925515e-02 2.33912015e+02] [ 1.62367532e-01 9.86661728e-01 -1.16369404e-02 1.37207506e+01] [ 7.37159276e-02 -3.68712481e-04 9.97279212e-01 7.55578726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.09925415399996 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:233.94, Y:13.73, Z:7.56 [[ 9.84212990e-01 -1.61415530e-01 -7.25935005e-02 2.33943265e+02] [ 1.60998330e-01 9.86886495e-01 -1.16010173e-02 1.37258028e+01] [ 7.35141296e-02 -2.69560447e-04 9.97294139e-01 7.55793482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.12925415399997 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:233.97, Y:13.73, Z:7.56 [[ 9.84363280e-01 -1.60173426e-01 -7.33035288e-02 2.33974767e+02] [ 1.59744983e-01 9.87088871e-01 -1.17089880e-02 1.37307367e+01] [ 7.42325662e-02 -1.83973137e-04 9.97240940e-01 7.55999688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.15925415399997 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:234.01, Y:13.74, Z:7.56 [[ 9.84476663e-01 -1.59413350e-01 -7.34376167e-02 2.34006551e+02] [ 1.58981631e-01 9.87211916e-01 -1.17249607e-02 1.37355296e+01] [ 7.43676055e-02 -1.32281900e-04 9.97230887e-01 7.56181597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.18925415399997 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:234.04, Y:13.74, Z:7.56 [[ 9.84493759e-01 -1.58951270e-01 -7.42060085e-02 2.34037088e+02] [ 1.58509568e-01 9.87286424e-01 -1.18420333e-02 1.37397405e+01] [ 7.51448911e-02 -1.03954516e-04 9.97172620e-01 7.56265934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.21925415399997 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:234.07, Y:13.74, Z:7.56 [[ 9.84379430e-01 -1.59643182e-01 -7.42374093e-02 2.34069110e+02] [ 1.59203394e-01 9.87174771e-01 -1.18427542e-02 1.37436860e+01] [ 7.51759125e-02 -1.61083881e-04 9.97170274e-01 7.56474429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.24925415399997 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:234.10, Y:13.75, Z:7.57 [[ 9.84232180e-01 -1.60437757e-01 -7.44764475e-02 2.34100739e+02] [ 1.59997826e-01 9.87045933e-01 -1.18752531e-02 1.37477771e+01] [ 7.54169136e-02 -2.28063412e-04 9.97152063e-01 7.56646357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.27925415399997 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:234.13, Y:13.75, Z:7.57 [[ 9.84067114e-01 -1.61432119e-01 -7.45089693e-02 2.34131701e+02] [ 1.60995095e-01 9.86883770e-01 -1.18745362e-02 1.37515050e+01] [ 7.54486241e-02 -3.10238036e-04 9.97149642e-01 7.56847380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.30925415399997 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:234.16, Y:13.76, Z:7.57 [[ 9.83852791e-01 -1.62832490e-01 -7.42917635e-02 2.34162024e+02] [ 1.62402673e-01 9.86653637e-01 -1.18309912e-02 1.37551840e+01] [ 7.52267084e-02 -4.25227230e-04 9.97166366e-01 7.57048216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.33925415399997 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:234.19, Y:13.76, Z:7.57 [[ 9.83130178e-01 -1.67335935e-01 -7.38494326e-02 2.34193256e+02] [ 1.66924012e-01 9.85899639e-01 -1.17591240e-02 1.37580344e+01] [ 7.47758529e-02 -7.66493869e-04 9.97200072e-01 7.57270825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.36925415399998 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:234.22, Y:13.76, Z:7.57 [[ 9.82752167e-01 -1.69682312e-01 -7.35261207e-02 2.34223811e+02] [ 1.69280758e-01 9.85498363e-01 -1.17048104e-02 1.37613589e+01] [ 7.44459709e-02 -9.43629664e-04 9.97224602e-01 7.57466193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.39925415399998 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:234.25, Y:13.76, Z:7.58 [[ 9.81846898e-01 -1.75139029e-01 -7.28216320e-02 2.34254983e+02] [ 1.74760407e-01 9.84542789e-01 -1.15886533e-02 1.37629916e+01] [ 7.37256382e-02 -1.34805477e-03 9.97277651e-01 7.57667307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.42925415399998 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:234.29, Y:13.77, Z:7.58 [[ 9.81326726e-01 -1.78056755e-01 -7.27574674e-02 2.34287365e+02] [ 1.77687008e-01 9.84018969e-01 -1.15756450e-02 1.37662936e+01] [ 7.36558499e-02 -1.56856689e-03 9.97282485e-01 7.57850903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.45925415399998 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:234.32, Y:13.77, Z:7.58 [[ 9.80859855e-01 -1.80688981e-01 -7.25633253e-02 2.34319429e+02] [ 1.80328787e-01 9.83538698e-01 -1.15393946e-02 1.37693032e+01] [ 7.34538800e-02 -1.76672748e-03 9.97297050e-01 7.58060345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.48925415399998 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:234.35, Y:13.77, Z:7.58 [[ 9.80408800e-01 -1.83125607e-01 -7.25506533e-02 2.34351293e+02] [ 1.82772590e-01 9.83087582e-01 -1.15320157e-02 1.37725344e+01] [ 7.34354537e-02 -1.95418110e-03 9.97298057e-01 7.58271402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.51925415399998 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:234.38, Y:13.77, Z:7.58 [[ 9.79739841e-01 -1.86520160e-01 -7.29388314e-02 2.34382888e+02] [ 1.86173122e-01 9.82448613e-01 -1.15884490e-02 1.37736497e+01] [ 7.38201331e-02 -2.22558474e-03 9.97269088e-01 7.58342592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.54925415399998 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:234.41, Y:13.78, Z:7.59 [[ 9.79539456e-01 -1.87599182e-01 -7.28628919e-02 2.34414788e+02] [ 1.87256049e-01 9.82242956e-01 -1.15736004e-02 1.37774490e+01] [ 7.37402602e-02 -2.30721908e-03 9.97274812e-01 7.58595363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.57925415399998 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:234.45, Y:13.78, Z:7.59 [[ 9.79459574e-01 -1.87864133e-01 -7.32530541e-02 2.34445665e+02] [ 1.87518442e-01 9.82192226e-01 -1.16303317e-02 1.37810424e+01] [ 7.41335024e-02 -2.34485883e-03 9.97245569e-01 7.58784394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.60925415399998 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:234.48, Y:13.78, Z:7.59 [[ 9.79625316e-01 -1.86608428e-01 -7.42397075e-02 2.34475397e+02] [ 1.86249956e-01 9.82431719e-01 -1.17843474e-02 1.37837245e+01] [ 7.51345021e-02 -2.28289722e-03 9.97170795e-01 7.58972376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.63925415399999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:234.51, Y:13.79, Z:7.59 [[ 9.79934103e-01 -1.84857786e-01 -7.45436340e-02 2.34505523e+02] [ 1.84491411e-01 9.82762911e-01 -1.18313360e-02 1.37878007e+01] [ 7.54458333e-02 -2.15873057e-03 9.97147565e-01 7.59173784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.669254154 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:234.54, Y:13.79, Z:7.59 [[ 9.80295465e-01 -1.82772612e-01 -7.49331325e-02 2.34536310e+02] [ 1.82396329e-01 9.83153160e-01 -1.18929561e-02 1.37921491e+01] [ 7.58444527e-02 -2.00891737e-03 9.97117638e-01 7.59357566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.699254154 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:234.57, Y:13.80, Z:7.60 [[ 9.80755192e-01 -1.80062740e-01 -7.54762403e-02 2.34567323e+02] [ 1.79673187e-01 9.83653452e-01 -1.19762909e-02 1.37965043e+01] [ 7.63989481e-02 -1.81524708e-03 9.97075677e-01 7.59597659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.72925415399996 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:234.60, Y:13.80, Z:7.60 [[ 9.81850964e-01 -1.73950784e-01 -7.55632863e-02 2.34597429e+02] [ 1.73542455e-01 9.84753431e-01 -1.19873643e-02 1.38010586e+01] [ 7.64964168e-02 -1.34363300e-03 9.97068951e-01 7.59805203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.75925415399996 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:234.62, Y:13.81, Z:7.60 [[ 9.82379192e-01 -1.70788406e-01 -7.59107540e-02 2.34624940e+02] [ 1.70366938e-01 9.85307111e-01 -1.20417172e-02 1.38056674e+01] [ 7.68519914e-02 -1.10315034e-03 9.97041902e-01 7.60026703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.78925415399996 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:234.65, Y:13.81, Z:7.60 [[ 9.82861029e-01 -1.67875295e-01 -7.61713997e-02 2.34652836e+02] [ 1.67441583e-01 9.85807855e-01 -1.20908582e-02 1.38101606e+01] [ 7.71201205e-02 -8.70626433e-04 9.97021429e-01 7.60223673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.81925415399996 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:234.68, Y:13.81, Z:7.60 [[ 9.83354377e-01 -1.64929608e-01 -7.62390548e-02 2.34680761e+02] [ 1.64484664e-01 9.86305146e-01 -1.21224739e-02 1.38146146e+01] [ 7.71943269e-02 -6.19467576e-04 9.97015874e-01 7.60437497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.84925415399996 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:234.71, Y:13.82, Z:7.61 [[ 9.84275635e-01 -1.59184783e-01 -7.65616017e-02 2.34707613e+02] [ 1.58717113e-01 9.87248795e-01 -1.21940740e-02 1.38183915e+01] [ 7.75264600e-02 -1.49306401e-04 9.96990284e-01 7.60579955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.87925415399997 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:234.73, Y:13.82, Z:7.61 [[ 9.84711776e-01 -1.56717632e-01 -7.60414535e-02 2.34733788e+02] [ 1.56247908e-01 9.87643448e-01 -1.21248113e-02 1.38223746e+01] [ 7.70020151e-02 5.81264779e-05 9.97030935e-01 7.60741978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.90925415399997 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:234.76, Y:13.83, Z:7.61 [[ 9.85271010e-01 -1.52963203e-01 -7.64414485e-02 2.34761876e+02] [ 1.52476457e-01 9.88231818e-01 -1.21985090e-02 1.38262102e+01] [ 7.74077947e-02 3.63316082e-04 9.96999449e-01 7.60944587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.93925415399997 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:234.79, Y:13.83, Z:7.61 [[ 9.85319492e-01 -1.52178311e-01 -7.73773836e-02 2.34788971e+02] [ 1.51224024e-01 9.88334144e-01 -1.80807680e-02 1.38329797e+01] [ 7.92262109e-02 6.11401379e-03 9.96837914e-01 7.61306853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.96925415399997 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:234.82, Y:13.83, Z:7.61 [[ 9.85481303e-01 -1.50966048e-01 -7.76907536e-02 2.34817895e+02] [ 1.50895989e-01 9.88526219e-01 -6.80544877e-03 1.38310928e+01] [ 7.78267386e-02 -5.01658060e-03 9.96954278e-01 7.61222879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.99925415399997 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:234.85, Y:13.84, Z:7.62 [[ 9.85483813e-01 -1.51618607e-01 -7.63770439e-02 2.34845000e+02] [ 1.51124828e-01 9.88438936e-01 -1.22374838e-02 1.38368168e+01] [ 7.73494743e-02 5.17374540e-04 9.97003907e-01 7.61605528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.02925415399997 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:234.87, Y:13.84, Z:7.62 [[ 9.85216368e-01 -1.53433338e-01 -7.62031409e-02 2.34872646e+02] [ 1.52945474e-01 9.88158921e-01 -1.22322710e-02 1.38377339e+01] [ 7.71776517e-02 3.96508147e-04 9.97017278e-01 7.61808522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.05925415399997 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:234.90, Y:13.84, Z:7.62 [[ 9.85006636e-01 -1.54885521e-01 -7.59763254e-02 2.34899655e+02] [ 1.54403165e-01 9.87932378e-01 -1.22179953e-02 1.38399502e+01] [ 7.69518624e-02 3.03821286e-04 9.97034763e-01 7.61900007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.08925415399997 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:234.93, Y:13.84, Z:7.62 [[ 9.84776602e-01 -1.56457043e-01 -7.57379533e-02 2.34926383e+02] [ 1.55981192e-01 9.87684745e-01 -1.21947691e-02 1.38425251e+01] [ 7.67131786e-02 1.95427069e-04 9.97053183e-01 7.62201568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.11925415399998 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:234.95, Y:13.85, Z:7.62 [[ 9.84495312e-01 -1.58320982e-01 -7.55211741e-02 2.34953996e+02] [ 1.57852513e-01 9.87387696e-01 -1.21704943e-02 1.38453003e+01] [ 7.64955227e-02 6.05874510e-05 9.97069923e-01 7.62446796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.14925415399998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:234.98, Y:13.85, Z:7.63 [[ 9.84037124e-01 -1.61520033e-01 -7.47142391e-02 2.34982162e+02] [ 1.61069111e-01 9.86869420e-01 -1.20619040e-02 1.38463494e+01] [ 7.56814370e-02 -1.64794754e-04 9.97132034e-01 7.62675809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.17925415399998 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:235.01, Y:13.85, Z:7.63 [[ 9.83664626e-01 -1.64041158e-01 -7.41242327e-02 2.35009283e+02] [ 1.63602904e-01 9.86453438e-01 -1.19876445e-02 1.38464453e+01] [ 7.50865713e-02 -3.35117869e-04 9.97176962e-01 7.62837121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.20925415399998 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:235.04, Y:13.85, Z:7.63 [[ 9.83621558e-01 -1.64299926e-01 -7.41226322e-02 2.35037248e+02] [ 1.63861660e-01 9.86410369e-01 -1.19975329e-02 1.38510604e+01] [ 7.50865267e-02 -3.44825608e-04 9.97176963e-01 7.63037665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.23925415399998 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:235.07, Y:13.86, Z:7.63 [[ 9.83578427e-01 -1.64559359e-01 -7.41194717e-02 2.35065212e+02] [ 1.64120360e-01 9.86367121e-01 -1.20170273e-02 1.38556874e+01] [ 7.50865243e-02 -3.44825597e-04 9.97176963e-01 7.63238467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.26925415399998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:235.09, Y:13.86, Z:7.63 [[ 9.83406691e-01 -1.65614141e-01 -7.40488741e-02 2.35093046e+02] [ 1.65177455e-01 9.86190546e-01 -1.20256549e-02 1.38559418e+01] [ 7.50179181e-02 -4.05095038e-04 9.97182104e-01 7.63420463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.29925415399998 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:235.12, Y:13.86, Z:7.64 [[ 9.83366978e-01 -1.65891015e-01 -7.39564621e-02 2.35119718e+02] [ 1.65454630e-01 9.86144009e-01 -1.20315519e-02 1.38584446e+01] [ 7.49276484e-02 -4.05008293e-04 9.97188891e-01 7.63619667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.32925415399998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:235.15, Y:13.86, Z:7.64 [[ 9.83272686e-01 -1.66377217e-01 -7.41177894e-02 2.35147360e+02] [ 1.65939537e-01 9.86062084e-01 -1.20679618e-02 1.38613670e+01] [ 7.50925758e-02 -4.32974484e-04 9.97176473e-01 7.63836216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.35925415399998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:235.17, Y:13.86, Z:7.64 [[ 9.83213980e-01 -1.66604569e-01 -7.43854007e-02 2.35174353e+02] [ 1.66162766e-01 9.86023697e-01 -1.21327277e-02 1.38644005e+01] [ 7.53671357e-02 -4.31016479e-04 9.97155760e-01 7.64060074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.38925415399999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:235.20, Y:13.87, Z:7.64 [[ 9.83189513e-01 -1.66587574e-01 -7.47459828e-02 2.35202578e+02] [ 1.66140255e-01 9.86026575e-01 -1.22069350e-02 1.38661088e+01] [ 7.57350491e-02 -4.16586148e-04 9.97127890e-01 7.64259304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.419254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:235.23, Y:13.87, Z:7.64 [[ 9.83186752e-01 -1.66455190e-01 -7.50764975e-02 2.35230664e+02] [ 1.66001876e-01 9.86048944e-01 -1.22823846e-02 1.38687140e+01] [ 7.60735677e-02 -3.86961648e-04 9.97102132e-01 7.64428141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.449254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:235.26, Y:13.87, Z:7.65 [[ 9.83267677e-01 -1.66077152e-01 -7.48535552e-02 2.35257185e+02] [ 1.65623798e-01 9.86112705e-01 -1.22674567e-02 1.38709387e+01] [ 7.58513860e-02 -3.35336475e-04 9.97119078e-01 7.64650771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.47925415399996 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:235.29, Y:13.87, Z:7.65 [[ 9.83456938e-01 -1.64677611e-01 -7.54568418e-02 2.35285486e+02] [ 1.64211962e-01 9.86347422e-01 -1.23771908e-02 1.38720874e+01] [ 7.64649076e-02 -2.18481822e-04 9.97072249e-01 7.64859503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.50925415399996 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:235.31, Y:13.88, Z:7.65 [[ 9.83579235e-01 -1.63695657e-01 -7.59975072e-02 2.35312104e+02] [ 1.63218720e-01 9.86510880e-01 -1.24872953e-02 1.38753116e+01] [ 7.70164838e-02 -1.21971509e-04 9.97029812e-01 7.65083996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.53925415399996 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:235.34, Y:13.88, Z:7.65 [[ 9.83719794e-01 -1.62396233e-01 -7.69599318e-02 2.35339951e+02] [ 1.61902273e-01 9.86725627e-01 -1.26566418e-02 1.38788337e+01] [ 7.79937279e-02 -9.39889865e-06 9.96953850e-01 7.65308334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.56925415399996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:235.37, Y:13.88, Z:7.66 [[ 9.83812783e-01 -1.61437361e-01 -7.77842289e-02 2.35367130e+02] [ 1.60927874e-01 9.86882957e-01 -1.28159715e-02 1.38824016e+01] [ 7.88329064e-02 9.08660032e-05 9.96887840e-01 7.65543617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.59925415399996 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:235.39, Y:13.88, Z:7.66 [[ 9.84196945e-01 -1.58881952e-01 -7.81850302e-02 2.35394114e+02] [ 1.58357323e-01 9.87297535e-01 -1.29048430e-02 1.38841002e+01] [ 7.92422343e-02 3.19734956e-04 9.96855339e-01 7.65717204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.62925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:235.42, Y:13.89, Z:7.66 [[ 9.84321570e-01 -1.58024408e-01 -7.83539034e-02 2.35421792e+02] [ 1.57493421e-01 9.87435122e-01 -1.29499454e-02 1.38868387e+01] [ 7.94158037e-02 4.06686238e-04 9.96841494e-01 7.65912225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.65925415399997 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:235.45, Y:13.89, Z:7.66 [[ 9.84564096e-01 -1.56650973e-01 -7.80641677e-02 2.35449633e+02] [ 1.56117792e-01 9.87653878e-01 -1.29248565e-02 1.38869949e+01] [ 7.91250693e-02 5.38144177e-04 9.96864551e-01 7.66125756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.68925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:235.48, Y:13.89, Z:7.66 [[ 9.84519044e-01 -1.56953518e-01 -7.80246390e-02 2.35476941e+02] [ 1.56419986e-01 9.87605845e-01 -1.29415081e-02 1.38897842e+01] [ 7.90888048e-02 5.36548275e-04 9.96867430e-01 7.66331940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.71925415399997 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:235.51, Y:13.89, Z:7.67 [[ 9.84454167e-01 -1.57348060e-01 -7.80485771e-02 2.35505023e+02] [ 1.56813587e-01 9.87543067e-01 -1.29688036e-02 1.38926834e+01] [ 7.91169473e-02 5.28115441e-04 9.96865201e-01 7.66564719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.74925415399997 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:235.53, Y:13.89, Z:7.67 [[ 9.84168365e-01 -1.59112848e-01 -7.80751573e-02 2.35533146e+02] [ 1.58581708e-01 9.87260317e-01 -1.29964653e-02 1.38940331e+01] [ 7.91484092e-02 4.09418250e-04 9.96862760e-01 7.66820081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.77925415399997 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:235.56, Y:13.90, Z:7.67 [[ 9.83950987e-01 -1.60575758e-01 -7.78195393e-02 2.35559800e+02] [ 1.60050903e-01 9.87023469e-01 -1.29761480e-02 1.38962734e+01] [ 7.88933665e-02 3.12806085e-04 9.96883012e-01 7.66951643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.80925415399997 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:235.59, Y:13.90, Z:7.67 [[ 9.83660573e-01 -1.62318971e-01 -7.78744392e-02 2.35587552e+02] [ 1.61797898e-01 9.86738323e-01 -1.29970188e-02 1.38983503e+01] [ 7.89513562e-02 1.84734333e-04 9.96878453e-01 7.67154368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.83925415399997 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:235.62, Y:13.90, Z:7.67 [[ 9.83226103e-01 -1.64649247e-01 -7.84669143e-02 2.35615301e+02] [ 1.64125701e-01 9.86352181e-01 -1.31198068e-02 1.39006915e+01] [ 7.95561784e-02 2.12992501e-05 9.96830384e-01 7.67359038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.86925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:235.64, Y:13.90, Z:7.68 [[ 9.82521448e-01 -1.68654353e-01 -7.87865106e-02 2.35642461e+02] [ 1.68137561e-01 9.85675215e-01 -1.31958654e-02 1.39009759e+01] [ 7.98834509e-02 -2.81750918e-04 9.96804171e-01 7.67518154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.89925415399998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:235.67, Y:13.90, Z:7.68 [[ 9.82108258e-01 -1.70801126e-01 -7.93116950e-02 2.35669119e+02] [ 1.70283545e-01 9.85305422e-01 -1.32943798e-02 1.39034593e+01] [ 8.04169382e-02 -4.48956321e-04 9.96761212e-01 7.67725740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.92925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:235.70, Y:13.91, Z:7.68 [[ 9.81694950e-01 -1.73154068e-01 -7.93265069e-02 2.35695417e+02] [ 1.72643080e-01 9.84894548e-01 -1.33077549e-02 1.39062456e+01] [ 8.04325361e-02 -6.31016736e-04 9.96759855e-01 7.67909737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.95925415399998 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:235.72, Y:13.91, Z:7.68 [[ 9.81310711e-01 -1.75115121e-01 -7.97745755e-02 2.35723322e+02] [ 1.74603451e-01 9.84547656e-01 -1.33995781e-02 1.39089527e+01] [ 8.08883401e-02 -7.79766661e-04 9.96722864e-01 7.68061291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.98925415399998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:235.75, Y:13.91, Z:7.68 [[ 9.80560002e-01 -1.79165541e-01 -8.00111978e-02 2.35751582e+02] [ 1.78662316e-01 9.83818334e-01 -1.34634131e-02 1.39101662e+01] [ 8.11286630e-02 -1.09330150e-03 9.96703037e-01 7.68348247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.01925415399998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:235.78, Y:13.91, Z:7.68 [[ 9.80257031e-01 -1.80947786e-01 -7.97123041e-02 2.35778682e+02] [ 1.80452373e-01 9.83491955e-01 -1.34356260e-02 1.39128442e+01] [ 8.08275566e-02 -1.21390759e-03 9.96727361e-01 7.68489800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.04925415399998 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:235.81, Y:13.92, Z:7.69 [[ 9.79901081e-01 -1.82801070e-01 -7.98601321e-02 2.35806111e+02] [ 1.82308947e-01 9.83148985e-01 -1.34729679e-02 1.39156981e+01] [ 8.09772808e-02 -1.35704074e-03 9.96715024e-01 7.68713557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.07925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:235.83, Y:13.92, Z:7.69 [[ 9.79240122e-01 -1.86429339e-01 -7.95794294e-02 2.35832598e+02] [ 1.85950780e-01 9.82467022e-01 -1.34483644e-02 1.39181666e+01] [ 8.06913347e-02 -1.62867895e-03 9.96737807e-01 7.68914352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.10925415399998 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:235.86, Y:13.92, Z:7.69 [[ 9.78894889e-01 -1.88328081e-01 -7.93557172e-02 2.35860192e+02] [ 1.87857445e-01 9.82104581e-01 -1.34228283e-02 1.39220819e+01] [ 8.04635089e-02 -1.76802424e-03 9.96755987e-01 7.69100746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.13925415399999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:235.89, Y:13.93, Z:7.69 [[ 9.78478292e-01 -1.90427068e-01 -7.94843625e-02 2.35887755e+02] [ 1.89959855e-01 9.81699468e-01 -1.34687725e-02 1.39264493e+01] [ 8.05945753e-02 -1.91993652e-03 9.96745117e-01 7.69322592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.169254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:235.91, Y:13.93, Z:7.69 [[ 9.77786094e-01 -1.94135153e-01 -7.90309913e-02 2.35914416e+02] [ 1.93683535e-01 9.80972346e-01 -1.34143419e-02 1.39300901e+01] [ 8.01314123e-02 -2.19064480e-03 9.96781901e-01 7.69471186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.199254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:235.94, Y:13.93, Z:7.70 [[ 9.77435303e-01 -1.95851386e-01 -7.91357224e-02 2.35941342e+02] [ 1.95403335e-01 9.80630834e-01 -1.34425984e-02 1.39341857e+01] [ 8.02356810e-02 -2.32411385e-03 9.96773211e-01 7.69682215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.22925415399996 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:235.97, Y:13.93, Z:7.70 [[ 9.76450239e-01 -1.96955176e-01 -8.80544726e-02 2.35970026e+02] [ 1.98223811e-01 9.80139528e-01 5.81611643e-03 1.39299717e+01] [ 8.51601550e-02 -2.31336414e-02 9.96098681e-01 7.70348238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.25925415399996 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:235.99, Y:13.95, Z:7.70 [[ 9.76785780e-01 -2.00572823e-01 -7.52335199e-02 2.35994827e+02] [ 1.98535816e-01 9.79513424e-01 -3.37191640e-02 1.39528237e+01] [ 8.04553906e-02 1.79998517e-02 9.96595673e-01 7.70486290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.28925415399996 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:236.02, Y:13.95, Z:7.70 [[ 9.76239024e-01 -2.02093684e-01 -7.82017368e-02 2.36022577e+02] [ 2.01673998e-01 9.79362257e-01 -1.33104500e-02 1.39488381e+01] [ 7.92777874e-02 -2.77707623e-03 9.96848695e-01 7.70277144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.31925415399996 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:236.05, Y:13.95, Z:7.70 [[ 9.75963121e-01 -2.03362408e-01 -7.83563431e-02 2.36048450e+02] [ 2.02944317e-01 9.79099311e-01 -1.33470261e-02 1.39542780e+01] [ 7.94329250e-02 -2.87576930e-03 9.96836065e-01 7.70474177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.34925415399996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:236.08, Y:13.96, Z:7.71 [[ 9.75652389e-01 -2.04881263e-01 -7.82693016e-02 2.36075556e+02] [ 2.04468044e-01 9.78782284e-01 -1.33438675e-02 1.39600585e+01] [ 7.93425142e-02 -2.98459479e-03 9.96842945e-01 7.70685192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.37925415399997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:236.10, Y:13.97, Z:7.71 [[ 9.75427887e-01 -2.06007366e-01 -7.81114717e-02 2.36101989e+02] [ 2.05597676e-01 9.78545692e-01 -1.33387971e-02 1.39656435e+01] [ 7.91835346e-02 -3.04850240e-03 9.96855393e-01 7.70867155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.40925415399997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:236.13, Y:13.97, Z:7.71 [[ 9.75097098e-01 -2.07562480e-01 -7.81246816e-02 2.36128727e+02] [ 2.07156700e-01 9.78216646e-01 -1.33527110e-02 1.39720064e+01] [ 7.91943859e-02 -3.16386147e-03 9.96854171e-01 7.71067280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.43925415399997 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:236.16, Y:13.98, Z:7.71 [[ 9.74939887e-01 -2.08320265e-01 -7.80697402e-02 2.36155283e+02] [ 2.07915717e-01 9.78055427e-01 -1.33654783e-02 1.39777254e+01] [ 7.91408330e-02 -3.20138814e-03 9.96858305e-01 7.71261526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.46925415399997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:236.18, Y:13.98, Z:7.71 [[ 9.74739204e-01 -2.09105500e-01 -7.84753046e-02 2.36182479e+02] [ 2.08698317e-01 9.77887618e-01 -1.34468807e-02 1.39848539e+01] [ 7.95518454e-02 -3.27046220e-03 9.96825365e-01 7.71448590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.49925415399997 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:236.21, Y:13.99, Z:7.72 [[ 9.74747446e-01 -2.09130305e-01 -7.83066512e-02 2.36209013e+02] [ 2.08723166e-01 9.77882404e-01 -1.34403977e-02 1.39909826e+01] [ 7.93854908e-02 -3.24341881e-03 9.96838715e-01 7.71596544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.52925415399997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:236.24, Y:14.00, Z:7.72 [[ 9.74798878e-01 -2.09042179e-01 -7.79006778e-02 2.36236520e+02] [ 2.08638043e-01 9.77901364e-01 -1.33824416e-02 1.39973608e+01] [ 7.89766738e-02 -3.20785599e-03 9.96871303e-01 7.71835277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.55925415399997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:236.26, Y:14.00, Z:7.72 [[ 9.74885472e-01 -2.08849286e-01 -7.73323446e-02 2.36263647e+02] [ 2.08448619e-01 9.77942778e-01 -1.33077733e-02 1.40039067e+01] [ 7.84059268e-02 -3.14626552e-03 9.96916552e-01 7.72027793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.58925415399997 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:236.29, Y:14.01, Z:7.72 [[ 9.75268004e-01 -2.07225711e-01 -7.68753884e-02 2.36289813e+02] [ 2.06823063e-01 9.78288630e-01 -1.32505467e-02 1.40120439e+01] [ 7.79521724e-02 -2.97676906e-03 9.96952656e-01 7.72162724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.61925415399998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:236.32, Y:14.02, Z:7.72 [[ 9.75443598e-01 -2.06291845e-01 -7.71586835e-02 2.36317174e+02] [ 2.05882421e-01 9.78486205e-01 -1.33106909e-02 1.40184206e+01] [ 7.82445944e-02 -2.90178832e-03 9.96929969e-01 7.72371680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.64925415399998 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:236.34, Y:14.02, Z:7.73 [[ 9.75722362e-01 -2.04989551e-01 -7.71048427e-02 2.36343658e+02] [ 2.04574925e-01 9.78760231e-01 -1.33233107e-02 1.40249163e+01] [ 7.81982931e-02 -2.77386521e-03 9.96933966e-01 7.72548232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.67925415399998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:236.37, Y:14.03, Z:7.73 [[ 9.75865920e-01 -2.03967935e-01 -7.79922332e-02 2.36370761e+02] [ 2.03539517e-01 9.78973814e-01 -1.34883818e-02 1.40318872e+01] [ 7.91035514e-02 -2.71164943e-03 9.96862716e-01 7.72716983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.70925415399998 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:236.40, Y:14.04, Z:7.73 [[ 9.76517069e-01 -2.01038413e-01 -7.74465652e-02 2.36396979e+02] [ 2.00604975e-01 9.79580334e-01 -1.34169045e-02 1.40411981e+01] [ 7.85624454e-02 -2.43433001e-03 9.96906222e-01 7.72969409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.73925415399998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:236.42, Y:14.05, Z:7.73 [[ 9.76755339e-01 -1.99849846e-01 -7.75180420e-02 2.36423610e+02] [ 1.99409987e-01 9.79823795e-01 -1.34531937e-02 1.40479159e+01] [ 7.86426408e-02 -2.31739296e-03 9.96900178e-01 7.73188693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.76925415399998 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:236.45, Y:14.06, Z:7.73 [[ 9.76944264e-01 -1.98879359e-01 -7.76331472e-02 2.36450571e+02] [ 1.98433255e-01 9.80021467e-01 -1.34969491e-02 1.40550058e+01] [ 7.87664154e-02 -2.21923108e-03 9.96890629e-01 7.73412435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.79925415399998 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:236.48, Y:14.06, Z:7.74 [[ 9.77529705e-01 -1.96155313e-01 -7.71930687e-02 2.36476659e+02] [ 1.95703948e-01 9.80570870e-01 -1.34437376e-02 1.40644821e+01] [ 7.83303351e-02 -1.96533546e-03 9.96925522e-01 7.73653983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.82925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:236.50, Y:14.07, Z:7.74 [[ 9.77811075e-01 -1.94650461e-01 -7.74383596e-02 2.36503571e+02] [ 1.94189642e-01 9.80870970e-01 -1.35101489e-02 1.40717534e+01] [ 7.85867955e-02 -1.82735413e-03 9.96905601e-01 7.73895124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.85925415399998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:236.53, Y:14.08, Z:7.74 [[ 9.78183407e-01 -1.92781203e-01 -7.74120845e-02 2.36529762e+02] [ 1.92313103e-01 9.81240373e-01 -1.35277738e-02 1.40785323e+01] [ 7.85677632e-02 -1.65471434e-03 9.96907402e-01 7.74114127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.88925415399999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:236.56, Y:14.09, Z:7.74 [[ 9.78891949e-01 -1.89113470e-01 -7.75025626e-02 2.36556804e+02] [ 1.88631873e-01 9.81954313e-01 -1.35552351e-02 1.40881162e+01] [ 7.86674531e-02 -1.35034304e-03 9.96899999e-01 7.74323564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.919254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:236.58, Y:14.10, Z:7.75 [[ 9.79282826e-01 -1.87275545e-01 -7.70260808e-02 2.36583967e+02] [ 1.86792376e-01 9.82306722e-01 -1.34949281e-02 1.40951336e+01] [ 7.81905070e-02 -1.17253328e-03 9.96937746e-01 7.74525152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.94925415399996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:236.61, Y:14.10, Z:7.75 [[ 9.79579713e-01 -1.85822419e-01 -7.67698754e-02 2.36609586e+02] [ 1.85336316e-01 9.82582803e-01 -1.34716605e-02 1.41022177e+01] [ 7.79360959e-02 -1.03168054e-03 9.96957823e-01 7.74722314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.97925415399996 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:236.64, Y:14.11, Z:7.75 [[ 9.79799446e-01 -1.84806740e-01 -7.64167202e-02 2.36637146e+02] [ 1.84321162e-01 9.82774437e-01 -1.34207244e-02 1.41085644e+01] [ 7.75806395e-02 -9.35600388e-04 9.96985641e-01 7.74938532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.00925415399996 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:236.66, Y:14.12, Z:7.75 [[ 9.80005853e-01 -1.84043825e-01 -7.56068691e-02 2.36662655e+02] [ 1.83564610e-01 9.82917675e-01 -1.32995452e-02 1.41160626e+01] [ 7.67630272e-02 -8.45113264e-04 9.97049008e-01 7.75156143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.03925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:236.69, Y:14.12, Z:7.75 [[ 9.80015783e-01 -1.84183013e-01 -7.51377649e-02 2.36688558e+02] [ 1.83709411e-01 9.82891606e-01 -1.32265732e-02 1.41217068e+01] [ 7.62883886e-02 -8.41264049e-04 9.97085440e-01 7.75331222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.06925415399996 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:236.72, Y:14.13, Z:7.76 [[ 9.79657728e-01 -1.85958317e-01 -7.54336774e-02 2.36715943e+02] [ 1.85227554e-01 9.82554891e-01 -1.66324749e-02 1.41299567e+01] [ 7.72106757e-02 2.32173698e-03 9.97012097e-01 7.75641214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.09925415399996 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:236.74, Y:14.13, Z:7.76 [[ 9.79591666e-01 -1.86050232e-01 -7.60623362e-02 2.36744158e+02] [ 1.85570747e-01 9.82539723e-01 -1.33861999e-02 1.41335689e+01] [ 7.72247724e-02 -1.00193476e-03 9.97013205e-01 7.75762051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.12925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:236.77, Y:14.14, Z:7.76 [[ 9.79414869e-01 -1.87185481e-01 -7.55520418e-02 2.36771922e+02] [ 1.86955489e-01 9.82315756e-01 -1.01686305e-02 1.41377006e+01] [ 7.61193810e-02 -4.16556109e-03 9.97090010e-01 7.75841535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.15925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:236.80, Y:14.14, Z:7.76 [[ 9.79103357e-01 -1.89004125e-01 -7.50603530e-02 2.36799895e+02] [ 1.88540208e-01 9.81975625e-01 -1.32838935e-02 1.41444894e+01] [ 7.62181477e-02 -1.14558985e-03 9.97090508e-01 7.76089628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.18925415399997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:236.83, Y:14.15, Z:7.76 [[ 9.78294829e-01 -1.93050582e-01 -7.53040506e-02 2.36827373e+02] [ 1.92594148e-01 9.81187739e-01 -1.33459582e-02 1.41493513e+01] [ 7.64638562e-02 -1.44683754e-03 9.97071304e-01 7.76236469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.21925415399997 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:236.86, Y:14.15, Z:7.76 [[ 9.77810118e-01 -1.95508423e-01 -7.52584149e-02 2.36855575e+02] [ 1.95059192e-01 9.80700667e-01 -1.33458760e-02 1.41541888e+01] [ 7.64152089e-02 -1.63011307e-03 9.97074751e-01 7.76414525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.24925415399997 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:236.88, Y:14.16, Z:7.77 [[ 9.77512805e-01 -1.96816105e-01 -7.57108736e-02 2.36881013e+02] [ 1.96335822e-01 9.80439470e-01 -1.38090787e-02 1.41587729e+01] [ 7.69477779e-02 -1.36620534e-03 9.97034188e-01 7.76585955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.27925415399997 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:236.91, Y:14.16, Z:7.77 [[ 9.76793955e-01 -2.00495383e-01 -7.53337298e-02 2.36911800e+02] [ 2.00049344e-01 9.79692833e-01 -1.34985919e-02 1.41637926e+01] [ 7.65103206e-02 -1.88512029e-03 9.97067007e-01 7.76809754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.30925415399997 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:236.94, Y:14.17, Z:7.77 [[ 9.75983157e-01 -2.04521538e-01 -7.50187831e-02 2.36939575e+02] [ 2.04098049e-01 9.78859407e-01 -1.33509689e-02 1.41687687e+01] [ 7.61634022e-02 -2.28086649e-03 9.97092741e-01 7.77000467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.33925415399997 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:236.97, Y:14.17, Z:7.77 [[ 9.75714326e-01 -2.05699814e-01 -7.52936892e-02 2.36969217e+02] [ 2.05275306e-01 9.78612283e-01 -1.34182310e-02 1.41743043e+01] [ 7.64434567e-02 -2.36357479e-03 9.97071117e-01 7.77218876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.36925415399998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:237.00, Y:14.18, Z:7.77 [[ 9.75583017e-01 -2.06299203e-01 -7.53552621e-02 2.36997895e+02] [ 2.05875774e-01 9.78485983e-01 -1.34293172e-02 1.41797056e+01] [ 7.65045252e-02 -2.41240913e-03 9.97066316e-01 7.77412732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.39925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:237.03, Y:14.19, Z:7.78 [[ 9.75800428e-01 -2.05256770e-01 -7.53868884e-02 2.37028180e+02] [ 2.04829779e-01 9.78705384e-01 -1.34362857e-02 1.41856126e+01] [ 7.65394421e-02 -2.33034637e-03 9.97063831e-01 7.77583678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.42925415399998 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:237.06, Y:14.19, Z:7.78 [[ 9.76100770e-01 -2.03706770e-01 -7.57022957e-02 2.37056608e+02] [ 2.03271535e-01 9.79029434e-01 -1.34926195e-02 1.41914826e+01] [ 7.68633136e-02 -2.21796554e-03 9.97039173e-01 7.77795129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.45925415399998 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:237.08, Y:14.20, Z:7.78 [[ 9.76554375e-01 -2.01450694e-01 -7.58891961e-02 2.37084316e+02] [ 2.01006375e-01 9.79496524e-01 -1.35276124e-02 1.41973967e+01] [ 7.70583507e-02 -2.04376320e-03 9.97024490e-01 7.78011579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.48925415399998 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:237.11, Y:14.20, Z:7.78 [[ 9.77187429e-01 -1.98568766e-01 -7.53337471e-02 2.37114070e+02] [ 1.98122086e-01 9.80085306e-01 -1.34324683e-02 1.42036433e+01] [ 7.65007673e-02 -1.79923990e-03 9.97067899e-01 7.78220421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.51925415399998 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:237.14, Y:14.21, Z:7.78 [[ 9.77899446e-01 -1.95186217e-01 -7.49333958e-02 2.37144150e+02] [ 1.94734359e-01 9.80765013e-01 -1.33610832e-02 1.42099273e+01] [ 7.60999522e-02 -1.52631087e-03 9.97099026e-01 7.78406168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.54925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:237.17, Y:14.22, Z:7.79 [[ 9.79379320e-01 -1.87854647e-01 -7.43423134e-02 2.37172682e+02] [ 1.87388766e-01 9.82196382e-01 -1.32558734e-02 1.42174448e+01] [ 7.55089286e-02 -9.48386138e-04 9.97144675e-01 7.78637535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.57925415399998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:237.20, Y:14.22, Z:7.79 [[ 9.80197581e-01 -1.83863468e-01 -7.35318099e-02 2.37202212e+02] [ 1.83396287e-01 9.82951589e-01 -1.31139367e-02 1.42237504e+01] [ 7.46893833e-02 -6.31211884e-04 9.97206647e-01 7.78850886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.60925415399998 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:237.23, Y:14.23, Z:7.79 [[ 9.80938852e-01 -1.80085370e-01 -7.29947057e-02 2.37231463e+02] [ 1.79614545e-01 9.83650925e-01 -1.30181393e-02 1.42298332e+01] [ 7.41456863e-02 -3.40912212e-04 9.97247362e-01 7.79092791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.63925415399999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:237.26, Y:14.24, Z:7.79 [[ 9.82090744e-01 -1.73764327e-01 -7.28267018e-02 2.37260051e+02] [ 1.73278296e-01 9.84787256e-01 -1.29881417e-02 1.42356946e+01] [ 7.39756835e-02 1.36246966e-04 9.97260036e-01 7.79264169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.669254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:237.29, Y:14.24, Z:7.79 [[ 9.82524266e-01 -1.70974219e-01 -7.35790928e-02 2.37289503e+02] [ 1.70470056e-01 9.85275440e-01 -1.31250858e-02 1.42411375e+01] [ 7.47397243e-02 3.52683210e-04 9.97203013e-01 7.79374052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.69925415399996 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:237.32, Y:14.25, Z:7.80 [[ 9.82700296e-01 -1.69941741e-01 -7.36201976e-02 2.37317896e+02] [ 1.69433844e-01 9.85454015e-01 -1.31361093e-02 1.42465931e+01] [ 7.47816926e-02 4.35105471e-04 9.97199834e-01 7.79677248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.72925415399996 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:237.35, Y:14.25, Z:7.80 [[ 9.82872715e-01 -1.68837036e-01 -7.38598823e-02 2.37345816e+02] [ 1.68321246e-01 9.85643832e-01 -1.31982721e-02 1.42515711e+01] [ 7.50278946e-02 5.40034117e-04 9.97181289e-01 7.79889732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.75925415399996 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:237.37, Y:14.26, Z:7.80 [[ 9.82890285e-01 -1.68402240e-01 -7.46148263e-02 2.37373862e+02] [ 1.67873078e-01 9.85718178e-01 -1.33530037e-02 1.42558820e+01] [ 7.57978664e-02 5.98717081e-04 9.97123024e-01 7.80081172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.78925415399996 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:237.40, Y:14.26, Z:7.80 [[ 9.82789941e-01 -1.69099667e-01 -7.43588168e-02 2.37402337e+02] [ 1.68574660e-01 9.85598796e-01 -1.33265753e-02 1.42602790e+01] [ 7.55414798e-02 5.62211897e-04 9.97142502e-01 7.80274625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.81925415399996 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:237.43, Y:14.26, Z:7.80 [[ 9.82722715e-01 -1.69419013e-01 -7.45202250e-02 2.37429883e+02] [ 1.68891216e-01 9.85543955e-01 -1.33742255e-02 1.42639604e+01] [ 7.57088054e-02 5.57343737e-04 9.97129814e-01 7.80378749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.84925415399996 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:237.46, Y:14.27, Z:7.81 [[ 9.82183210e-01 -1.72614299e-01 -7.42997074e-02 2.37456885e+02] [ 1.72098188e-01 9.84989443e-01 -1.33420665e-02 1.42665236e+01] [ 7.54874588e-02 3.17508740e-04 9.97146701e-01 7.80701092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.87925415399997 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:237.48, Y:14.27, Z:7.81 [[ 9.81835870e-01 -1.74651557e-01 -7.41293395e-02 2.37484360e+02] [ 1.74142440e-01 9.84630287e-01 -1.33269516e-02 1.42702676e+01] [ 7.53175657e-02 1.75815066e-04 9.97159583e-01 7.80916132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.90925415399997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:237.51, Y:14.27, Z:7.81 [[ 9.81448946e-01 -1.76885112e-01 -7.39568992e-02 2.37510879e+02] [ 1.76383119e-01 9.84231506e-01 -1.33168579e-02 1.42740639e+01] [ 7.51462642e-02 2.50675570e-05 9.97172522e-01 7.81119752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.93925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:237.54, Y:14.28, Z:7.81 [[ 9.81003120e-01 -1.79249311e-01 -7.41792686e-02 2.37538737e+02] [ 1.78750264e-01 9.83803671e-01 -1.33671230e-02 1.42779647e+01] [ 7.53738844e-02 -1.46374503e-04 9.97155332e-01 7.81382841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.96925415399997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:237.57, Y:14.28, Z:7.82 [[ 9.80234202e-01 -1.83699208e-01 -7.34541437e-02 2.37567115e+02] [ 1.83220780e-01 9.82982394e-01 -1.32574175e-02 1.42796501e+01] [ 7.46395071e-02 -4.62951430e-04 9.97210474e-01 7.81653327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.99925415399997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:237.59, Y:14.28, Z:7.82 [[ 9.79800906e-01 -1.86223985e-01 -7.28753177e-02 2.37594399e+02] [ 1.85758509e-01 9.82507115e-01 -1.31736685e-02 1.42828756e+01] [ 7.40537712e-02 -6.29637987e-04 9.97254051e-01 7.81873436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.02925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:237.62, Y:14.28, Z:7.82 [[ 9.79071904e-01 -1.90205442e-01 -7.23885077e-02 2.37622865e+02] [ 1.89755456e-01 9.81743894e-01 -1.31069941e-02 1.42842436e+01] [ 7.35599971e-02 -9.03424558e-04 9.97290384e-01 7.82073753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.05925415399997 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:237.65, Y:14.29, Z:7.82 [[ 9.78619748e-01 -1.92883820e-01 -7.14088320e-02 2.37649813e+02] [ 1.92451561e-01 9.81221019e-01 -1.29502190e-02 1.42874141e+01] [ 7.25657347e-02 -1.06940118e-03 9.97363059e-01 7.82359369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.08925415399997 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:237.68, Y:14.29, Z:7.83 [[ 9.78187727e-01 -1.95228604e-01 -7.09546525e-02 2.37677843e+02] [ 1.94806944e-01 9.80757004e-01 -1.28822968e-02 1.42908622e+01] [ 7.21042652e-02 -1.22115438e-03 9.97396352e-01 7.82612538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.11925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:237.70, Y:14.29, Z:7.83 [[ 9.77893519e-01 -1.96484100e-01 -7.15420429e-02 2.37704313e+02] [ 1.96057268e-01 9.80506143e-01 -1.30096273e-02 1.42936677e+01] [ 7.27035974e-02 -1.30430726e-03 9.97352739e-01 7.82692623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.14925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:237.73, Y:14.30, Z:7.83 [[ 9.77064379e-01 -2.00759432e-01 -7.09989475e-02 2.37731633e+02] [ 2.00349658e-01 9.79639264e-01 -1.29200248e-02 1.42959053e+01] [ 7.21471735e-02 -1.60091883e-03 9.97392712e-01 7.83093255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.17925415399998 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:237.76, Y:14.30, Z:7.83 [[ 9.76679715e-01 -2.02505383e-01 -7.13323430e-02 2.37759500e+02] [ 2.02094909e-01 9.79279643e-01 -1.30011377e-02 1.42992984e+01] [ 7.24871117e-02 -1.71795586e-03 9.97367870e-01 7.83301108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.20925415399998 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:237.79, Y:14.30, Z:7.84 [[ 9.76383662e-01 -2.03857869e-01 -7.15326098e-02 2.37787523e+02] [ 2.03447218e-01 9.78998834e-01 -1.30580466e-02 1.43027395e+01] [ 7.26923271e-02 -1.80344712e-03 9.97352783e-01 7.83507618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.23925415399998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:237.81, Y:14.31, Z:7.84 [[ 9.76139875e-01 -2.05009203e-01 -7.15693445e-02 2.37814559e+02] [ 2.04599768e-01 9.78758258e-01 -1.30846217e-02 1.43063863e+01] [ 7.27315548e-02 -1.87065029e-03 9.97349799e-01 7.83711225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.26925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:237.84, Y:14.31, Z:7.84 [[ 9.75938821e-01 -2.05822759e-01 -7.19750611e-02 2.37841152e+02] [ 2.05410210e-01 9.78587377e-01 -1.31678361e-02 1.43095786e+01] [ 7.31441266e-02 -1.93341001e-03 9.97319507e-01 7.83932012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.29925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:237.87, Y:14.31, Z:7.84 [[ 9.76083962e-01 -2.04856872e-01 -7.27582388e-02 2.37868591e+02] [ 2.04431541e-01 9.78790159e-01 -1.33255210e-02 1.43136970e+01] [ 7.39448727e-02 -1.86725152e-03 9.97260582e-01 7.84033236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.32925415399998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:237.89, Y:14.32, Z:7.84 [[ 9.76222022e-01 -2.04201212e-01 -7.27490812e-02 2.37894866e+02] [ 2.03772724e-01 9.78927286e-01 -1.33433741e-02 1.43185660e+01] [ 7.39407937e-02 -1.79818279e-03 9.97261012e-01 7.84319275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.35925415399998 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:237.92, Y:14.32, Z:7.84 [[ 9.76799044e-01 -2.01091152e-01 -7.36612236e-02 2.37921281e+02] [ 2.00642341e-01 9.79571270e-01 -1.35195731e-02 1.43234017e+01] [ 7.48750848e-02 -1.57365426e-03 9.97191679e-01 7.84460007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.38925415399999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:237.95, Y:14.33, Z:7.85 [[ 9.77261310e-01 -1.98666774e-01 -7.41069801e-02 2.37948829e+02] [ 1.98204827e-01 9.80066115e-01 -1.36109259e-02 1.43280674e+01] [ 7.53337788e-02 -1.38692989e-03 9.97157409e-01 7.84510055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.419254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:237.98, Y:14.33, Z:7.85 [[ 9.77597470e-01 -1.97066412e-01 -7.39460324e-02 2.37975842e+02] [ 1.96600386e-01 9.80389356e-01 -1.36014510e-02 1.43333674e+01] [ 7.51762922e-02 -1.24107438e-03 9.97169487e-01 7.84784059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.44925415399996 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:238.00, Y:14.34, Z:7.85 [[ 9.78053797e-01 -1.94700097e-01 -7.41797923e-02 2.38003621e+02] [ 1.94222619e-01 9.80862269e-01 -1.36669087e-02 1.43383913e+01] [ 7.54211078e-02 -1.04042156e-03 9.97151229e-01 7.84959757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.47925415399996 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:238.03, Y:14.34, Z:7.85 [[ 9.78876722e-01 -1.90482084e-01 -7.42760993e-02 2.38030698e+02] [ 1.89989558e-01 9.81690426e-01 -1.37067364e-02 1.43427302e+01] [ 7.55270233e-02 -6.94478079e-04 9.97143513e-01 7.85029285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.50925415399996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:238.06, Y:14.35, Z:7.85 [[ 9.79031078e-01 -1.89453362e-01 -7.48703687e-02 2.38058154e+02] [ 1.88949068e-01 9.81889532e-01 -1.38274192e-02 1.43477471e+01] [ 7.61340823e-02 -6.09213282e-04 9.97097403e-01 7.85179371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.53925415399996 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:238.08, Y:14.35, Z:7.85 [[ 9.79188745e-01 -1.88494013e-01 -7.52290464e-02 2.38084718e+02] [ 1.87980346e-01 9.82074204e-01 -1.39157554e-02 1.43522898e+01] [ 7.65035425e-02 -5.15431077e-04 9.97069176e-01 7.85289322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.56925415399996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:238.11, Y:14.36, Z:7.85 [[ 9.79124585e-01 -1.88578344e-01 -7.58502111e-02 2.38111360e+02] [ 1.88055578e-01 9.82058014e-01 -1.40412831e-02 1.43562161e+01] [ 7.71371896e-02 -5.15889757e-04 9.97020355e-01 7.85359484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.59925415399996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:238.14, Y:14.36, Z:7.85 [[ 9.78979602e-01 -1.89468131e-01 -7.55034201e-02 2.38138141e+02] [ 1.88951562e-01 9.81886707e-01 -1.39929250e-02 1.43603255e+01] [ 7.67870179e-02 -5.67701028e-04 9.97047357e-01 7.85492952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.62925415399997 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:238.17, Y:14.36, Z:7.86 [[ 9.78732489e-01 -1.90773055e-01 -7.54211923e-02 2.38166123e+02] [ 1.90260273e-01 9.81633951e-01 -1.39933788e-02 1.43644911e+01] [ 7.67055626e-02 -6.53882133e-04 9.97053574e-01 7.85662558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.65925415399997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:238.19, Y:14.37, Z:7.86 [[ 9.78378345e-01 -1.92687356e-01 -7.51491663e-02 2.38192710e+02] [ 1.92182259e-01 9.81259891e-01 -1.39644088e-02 1.43684009e+01] [ 7.64316277e-02 -7.79861419e-04 9.97074520e-01 7.85807836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.68925415399997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:238.22, Y:14.37, Z:7.86 [[ 9.77408099e-01 -1.97697381e-01 -7.47606453e-02 2.38220379e+02] [ 1.97211309e-01 9.80262420e-01 -1.39028049e-02 1.43714774e+01] [ 7.60335992e-02 -1.15493067e-03 9.97104587e-01 7.85967509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.71925415399997 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:238.25, Y:14.38, Z:7.86 [[ 9.76830266e-01 -2.00678473e-01 -7.43692219e-02 2.38247528e+02] [ 2.00204485e-01 9.79656218e-01 -1.38513401e-02 1.43753733e+01] [ 7.56359364e-02 -1.35864353e-03 9.97134574e-01 7.86129562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.74925415399997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:238.28, Y:14.38, Z:7.86 [[ 9.76289169e-01 -2.03228258e-01 -7.45502108e-02 2.38275606e+02] [ 2.02758569e-01 9.79130162e-01 -1.38956321e-02 1.43790979e+01] [ 7.58183450e-02 -1.54953893e-03 9.97120443e-01 7.86190063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.77925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:238.30, Y:14.38, Z:7.86 [[ 9.75153396e-01 -2.09232220e-01 -7.27855227e-02 2.38302632e+02] [ 2.08799651e-01 9.77864042e-01 -1.35875257e-02 1.43823726e+01] [ 7.40172936e-02 -1.94766987e-03 9.97255056e-01 7.86495962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.80925415399997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:238.33, Y:14.39, Z:7.87 [[ 9.74651640e-01 -2.11541152e-01 -7.28321487e-02 2.38330594e+02] [ 2.11113342e-01 9.77366815e-01 -1.36112516e-02 1.43867235e+01] [ 7.40630651e-02 -2.10960967e-03 9.97251328e-01 7.86572929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.83925415399997 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:238.36, Y:14.39, Z:7.87 [[ 9.74160226e-01 -2.14008454e-01 -7.21958146e-02 2.38357730e+02] [ 2.13593312e-01 9.76829202e-01 -1.35132225e-02 1.43909829e+01] [ 7.34149238e-02 -2.25649925e-03 9.97298931e-01 7.86788893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.86925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:238.38, Y:14.40, Z:7.87 [[ 9.73772721e-01 -2.16091665e-01 -7.12115186e-02 2.38383955e+02] [ 2.15691868e-01 9.76370227e-01 -1.33491088e-02 1.43952490e+01] [ 7.24134377e-02 -2.36074743e-03 9.97371907e-01 7.86971831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.89925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:238.41, Y:14.40, Z:7.87 [[ 9.73116037e-01 -2.19770643e-01 -6.88915362e-02 2.38411109e+02] [ 2.19405094e-01 9.75548263e-01 -1.29225292e-02 1.44002051e+01] [ 7.00470110e-02 -2.54003358e-03 9.97540458e-01 7.87397039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.92925415399998 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:238.44, Y:14.41, Z:7.88 [[ 9.73055117e-01 -2.20041413e-01 -6.88877091e-02 2.38438960e+02] [ 2.19675102e-01 9.75487228e-01 -1.29428988e-02 1.44055219e+01] [ 7.00470541e-02 -2.53876061e-03 9.97540458e-01 7.87598031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.95925415399998 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:238.47, Y:14.41, Z:7.88 [[ 9.72576854e-01 -2.22317222e-01 -6.83323916e-02 2.38465739e+02] [ 2.21961029e-01 9.74970753e-01 -1.28581898e-02 1.44103148e+01] [ 6.94806803e-02 -2.66155011e-03 9.97579747e-01 7.87809542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.98925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:238.49, Y:14.42, Z:7.88 [[ 9.72297817e-01 -2.23604260e-01 -6.81035232e-02 2.38492773e+02] [ 2.23252987e-01 9.74676177e-01 -1.28239187e-02 1.44152066e+01] [ 6.92463646e-02 -2.73564686e-03 9.97595839e-01 7.87987443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.01925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:238.52, Y:14.42, Z:7.88 [[ 9.72256786e-01 -2.23783760e-01 -6.80997127e-02 2.38520644e+02] [ 2.23431513e-01 9.74635002e-01 -1.28441220e-02 1.44205579e+01] [ 6.92466696e-02 -2.72783703e-03 9.97595839e-01 7.88188616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.04925415399998 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:238.55, Y:14.43, Z:7.88 [[ 9.71945316e-01 -2.25199419e-01 -6.78787439e-02 2.38546945e+02] [ 2.24852009e-01 9.74308649e-01 -1.28152700e-02 1.44258409e+01] [ 6.90208386e-02 -2.80693034e-03 9.97611269e-01 7.88392817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.07925415399998 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:238.57, Y:14.43, Z:7.89 [[ 9.71339831e-01 -2.27498298e-01 -6.88727556e-02 2.38573287e+02] [ 2.27145319e-01 9.73773860e-01 -1.30182160e-02 1.44314585e+01] [ 7.00281111e-02 -2.99901228e-03 9.97540510e-01 7.88557877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.10925415399998 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:238.60, Y:14.44, Z:7.89 [[ 9.70946678e-01 -2.29061191e-01 -6.92352498e-02 2.38601018e+02] [ 2.28707811e-01 9.73407027e-01 -1.30956958e-02 1.44369020e+01] [ 7.03937944e-02 -3.11942012e-03 9.97514402e-01 7.88678710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.13925415399999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:238.63, Y:14.44, Z:7.89 [[ 9.70440661e-01 -2.31312410e-01 -6.88439644e-02 2.38627641e+02] [ 2.30967221e-01 9.72874116e-01 -1.30421544e-02 1.44426565e+01] [ 6.99933232e-02 -3.24406220e-03 9.97542185e-01 7.89095477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.169254154 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:238.65, Y:14.45, Z:7.89 [[ 9.70015147e-01 -2.32964134e-01 -6.92699543e-02 2.38654927e+02] [ 2.32617386e-01 9.72479510e-01 -1.31436249e-02 1.44485516e+01] [ 7.04256044e-02 -3.36388049e-03 9.97511363e-01 7.89320245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.19925415399996 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:238.68, Y:14.45, Z:7.89 [[ 9.69668086e-01 -2.34384571e-01 -6.93374095e-02 2.38681998e+02] [ 2.34039299e-01 9.72137834e-01 -1.31771646e-02 1.44545203e+01] [ 7.04940432e-02 -3.45020280e-03 9.97506234e-01 7.89466231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.22925415399996 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:238.71, Y:14.46, Z:7.90 [[ 9.69338777e-01 -2.35694316e-01 -6.95019839e-02 2.38708408e+02] [ 2.35349262e-01 9.71820819e-01 -1.32295183e-02 1.44607687e+01] [ 7.06615972e-02 -3.53335552e-03 9.97494087e-01 7.89762451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.25925415399996 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:238.73, Y:14.47, Z:7.90 [[ 9.69215624e-01 -2.36128283e-01 -6.97460312e-02 2.38734907e+02] [ 2.35781264e-01 9.71715338e-01 -1.32851933e-02 1.44666346e+01] [ 7.09102982e-02 -3.56859051e-03 9.97476313e-01 7.89924048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.28925415399996 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:238.76, Y:14.47, Z:7.90 [[ 9.69101860e-01 -2.36477970e-01 -7.01409587e-02 2.38762121e+02] [ 2.36126876e-01 9.71630180e-01 -1.33750387e-02 1.44729844e+01] [ 7.13139743e-02 -3.60039054e-03 9.97447419e-01 7.90160102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.31925415399996 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:238.79, Y:14.48, Z:7.90 [[ 9.69160737e-01 -2.35924510e-01 -7.11835032e-02 2.38788085e+02] [ 2.35559840e-01 9.71764748e-01 -1.35954883e-02 1.44804612e+01] [ 7.23811279e-02 -3.59176115e-03 9.97370579e-01 7.90330933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.34925415399996 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:238.81, Y:14.49, Z:7.90 [[ 9.69237139e-01 -2.35516650e-01 -7.14931920e-02 2.38813904e+02] [ 2.35146618e-01 9.71863785e-01 -1.36693764e-02 1.44869178e+01] [ 7.27010099e-02 -3.56251504e-03 9.97347418e-01 7.90493082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.37925415399997 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:238.84, Y:14.49, Z:7.91 [[ 9.69274079e-01 -2.35170940e-01 -7.21275900e-02 2.38841400e+02] [ 2.34792635e-01 9.71947512e-01 -1.38004799e-02 1.44939623e+01] [ 7.33497035e-02 -3.55857949e-03 9.97299934e-01 7.90712476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.40925415399997 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:238.87, Y:14.50, Z:7.91 [[ 9.69553976e-01 -2.33895000e-01 -7.25135578e-02 2.38868524e+02] [ 2.33507493e-01 9.72255707e-01 -1.38957467e-02 1.45025877e+01] [ 7.37518661e-02 -3.45978258e-03 9.97270621e-01 7.90872680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.43925415399997 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:238.90, Y:14.53, Z:7.91 [[ 9.71673349e-01 -2.30419079e-01 -5.25162038e-02 2.38903709e+02] [ 2.27147700e-01 9.71911786e-01 -6.15743712e-02 1.45277341e+01] [ 6.52290273e-02 4.79012405e-02 9.96719943e-01 7.90724090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.46925415399997 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:238.93, Y:14.49, Z:7.90 [[ 9.70233648e-01 -2.27547319e-01 -8.28787405e-02 2.38931118e+02] [ 2.31224503e-01 9.72168316e-01 3.77358533e-02 1.44925938e+01] [ 7.19853933e-02 -5.57761902e-02 9.95844928e-01 7.90142165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.49925415399997 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:238.96, Y:14.54, Z:7.91 [[ 9.72135426e-01 -2.27952722e-01 -5.46833619e-02 2.38959559e+02] [ 2.24951560e-01 9.72761496e-01 -5.59630924e-02 1.45400113e+01] [ 6.59508082e-02 4.21025971e-02 9.96934232e-01 7.91087609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.52925415399997 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:238.99, Y:14.51, Z:7.91 [[ 9.70921389e-01 -2.25042230e-01 -8.16556867e-02 2.38987609e+02] [ 2.28212618e-01 9.73094887e-01 3.17071397e-02 1.45105684e+01] [ 7.23232858e-02 -4.94199981e-02 9.96156115e-01 7.90699076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.55925415399997 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:239.01, Y:14.54, Z:7.92 [[ 9.71829581e-01 -2.24222681e-01 -7.26047893e-02 2.39008723e+02] [ 2.23800214e-01 9.74534372e-01 -1.40079131e-02 1.45417674e+01] [ 7.38967546e-02 -2.63566301e-03 9.97262414e-01 7.91892110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.58925415399997 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:239.03, Y:14.55, Z:7.92 [[ 9.72310963e-01 -2.21963110e-01 -7.31010916e-02 2.39034809e+02] [ 2.21527969e-01 9.75051925e-01 -1.41103878e-02 1.45494960e+01] [ 7.44093457e-02 -2.47425163e-03 9.97224713e-01 7.92054515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.61925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:239.06, Y:14.56, Z:7.92 [[ 9.72895709e-01 -2.19301362e-01 -7.33542963e-02 2.39061180e+02] [ 2.18854963e-01 9.75654530e-01 -1.41683948e-02 1.45570589e+01] [ 7.46755998e-02 -2.26958132e-03 9.97205297e-01 7.92225939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.64925415399998 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:239.09, Y:14.56, Z:7.92 [[ 9.73460008e-01 -2.16716138e-01 -7.35508504e-02 2.39087833e+02] [ 2.16259265e-01 9.76232473e-01 -1.42158183e-02 1.45644423e+01] [ 7.48835258e-02 -2.06752226e-03 9.97190144e-01 7.92395931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.67925415399998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:239.11, Y:14.57, Z:7.93 [[ 9.74846693e-01 -2.10419990e-01 -7.34666747e-02 2.39113512e+02] [ 2.09944788e-01 9.77609834e-01 -1.42196237e-02 1.45734723e+01] [ 7.48138368e-02 -1.56199235e-03 9.97196295e-01 7.92575733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.70925415399998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:239.14, Y:14.58, Z:7.93 [[ 9.75449298e-01 -2.07634388e-01 -7.33936458e-02 2.39140032e+02] [ 2.07151551e-01 9.78205588e-01 -1.42149065e-02 1.45808476e+01] [ 7.47455778e-02 -1.33768693e-03 9.97201739e-01 7.92820023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.73925415399998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:239.17, Y:14.59, Z:7.93 [[ 9.76536269e-01 -2.02654743e-01 -7.28558207e-02 2.39166858e+02] [ 2.02163626e-01 9.79249810e-01 -1.41307213e-02 1.45898732e+01] [ 7.42077063e-02 -9.29635068e-04 9.97242374e-01 7.93097461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.76925415399998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:239.19, Y:14.60, Z:7.93 [[ 9.76918138e-01 -2.00851808e-01 -7.27289694e-02 2.39194119e+02] [ 2.00355923e-01 9.79621333e-01 -1.41261595e-02 1.45968599e+01] [ 7.40841146e-02 -7.71578284e-04 9.97251698e-01 7.93353350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.79925415399998 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:239.22, Y:14.60, Z:7.94 [[ 9.77275927e-01 -1.99132131e-01 -7.26509286e-02 2.39219951e+02] [ 1.98631117e-01 9.79972453e-01 -1.41304971e-02 1.46033608e+01] [ 7.40097447e-02 -6.21340502e-04 9.97257325e-01 7.93545783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.82925415399998 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:239.25, Y:14.61, Z:7.94 [[ 9.77461412e-01 -1.98227421e-01 -7.26297348e-02 2.39247332e+02] [ 1.97723539e-01 9.80155903e-01 -1.41353565e-02 1.46098424e+01] [ 7.39904786e-02 -5.43842696e-04 9.97258800e-01 7.93771720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.85925415399998 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:239.27, Y:14.62, Z:7.94 [[ 9.77498612e-01 -1.98040280e-01 -7.26395951e-02 2.39274903e+02] [ 1.97534307e-01 9.80193750e-01 -1.41566513e-02 1.46158393e+01] [ 7.40044642e-02 -5.10705144e-04 9.97257779e-01 7.93956098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.88925415399999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:239.30, Y:14.62, Z:7.94 [[ 9.77275759e-01 -1.98802364e-01 -7.35507337e-02 2.39301618e+02] [ 1.98284256e-01 9.80039444e-01 -1.43541832e-02 1.46217658e+01] [ 7.49362657e-02 -5.55957302e-04 9.97188170e-01 7.94181500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.919254154 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:239.33, Y:14.63, Z:7.94 [[ 9.77000339e-01 -1.99989284e-01 -7.39907045e-02 2.39327793e+02] [ 1.99466884e-01 9.79797881e-01 -1.44594383e-02 1.46275296e+01] [ 7.53876682e-02 -6.31819130e-04 9.97154101e-01 7.94395356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.94925415399996 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:239.36, Y:14.63, Z:7.95 [[ 9.76684455e-01 -2.01468486e-01 -7.41479852e-02 2.39355293e+02] [ 2.00947413e-01 9.79494719e-01 -1.44994283e-02 1.46332071e+01] [ 7.55487378e-02 -7.38479524e-04 9.97141837e-01 7.94623076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.97925415399996 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:239.38, Y:14.64, Z:7.95 [[ 9.76030612e-01 -2.04510164e-01 -7.44300815e-02 2.39381313e+02] [ 2.03992479e-01 9.78863971e-01 -1.45737767e-02 1.46382062e+01] [ 7.58374106e-02 -9.58724616e-04 9.97119736e-01 7.94878609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.00925415399996 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:239.41, Y:14.64, Z:7.95 [[ 9.75689796e-01 -2.05939696e-01 -7.49550719e-02 2.39407560e+02] [ 2.05418218e-01 9.78564101e-01 -1.46852557e-02 1.46431215e+01] [ 7.63726196e-02 -1.06888312e-03 9.97078773e-01 7.95101296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.03925415399996 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:239.44, Y:14.65, Z:7.95 [[ 9.75369411e-01 -2.07450122e-01 -7.49597166e-02 2.39435403e+02] [ 2.06932321e-01 9.78244887e-01 -1.46954278e-02 1.46483489e+01] [ 7.63775278e-02 -1.17811743e-03 9.97078274e-01 7.95328854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.06925415399996 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:239.46, Y:14.65, Z:7.96 [[ 9.75027820e-01 -2.08888187e-01 -7.54087288e-02 2.39462451e+02] [ 2.08366933e-01 9.77938694e-01 -1.48031120e-02 1.46534767e+01] [ 7.68373089e-02 -1.27923951e-03 9.97042823e-01 7.95530967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.09925415399996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:239.49, Y:14.66, Z:7.96 [[ 9.74791017e-01 -2.09840385e-01 -7.58253709e-02 2.39489804e+02] [ 2.09314702e-01 9.77734734e-01 -1.49045429e-02 1.46586027e+01] [ 7.72646738e-02 -1.34255039e-03 9.97009713e-01 7.95724548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.12925415399997 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:239.52, Y:14.66, Z:7.96 [[ 9.74707402e-01 -2.10119661e-01 -7.61262651e-02 2.39516692e+02] [ 2.09589183e-01 9.77674742e-01 -1.49824462e-02 1.46636328e+01] [ 7.75748331e-02 -1.35174051e-03 9.96985616e-01 7.95926766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.15925415399997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:239.54, Y:14.67, Z:7.96 [[ 9.74719949e-01 -2.10152839e-01 -7.58736091e-02 2.39543755e+02] [ 2.09625263e-01 9.77667626e-01 -1.49419670e-02 1.46689616e+01] [ 7.73192681e-02 -1.34079200e-03 9.97005483e-01 7.96080507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.18925415399997 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:239.57, Y:14.67, Z:7.96 [[ 9.74802097e-01 -2.09963218e-01 -7.53413456e-02 2.39570992e+02] [ 2.09441011e-01 9.77708424e-01 -1.48559858e-02 1.46739734e+01] [ 7.67810789e-02 -1.29792145e-03 9.97047131e-01 7.96218246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.21925415399997 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:239.60, Y:14.68, Z:7.96 [[ 9.74930672e-01 -2.09445089e-01 -7.51195073e-02 2.39598155e+02] [ 2.08922980e-01 9.77819630e-01 -1.48310086e-02 1.46786724e+01] [ 7.65596108e-02 -1.23498618e-03 9.97064241e-01 7.96295811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.24925415399997 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:239.63, Y:14.68, Z:7.96 [[ 9.75159855e-01 -2.08463576e-01 -7.48745302e-02 2.39625009e+02] [ 2.07940597e-01 9.78029471e-01 -1.48007427e-02 1.46840458e+01] [ 7.63149129e-02 -1.13636438e-03 9.97083117e-01 7.96457599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.27925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:239.65, Y:14.69, Z:7.97 [[ 9.75257947e-01 -2.07923077e-01 -7.50994777e-02 2.39654367e+02] [ 2.07394744e-01 9.78144574e-01 -1.48530631e-02 1.46901238e+01] [ 7.65464411e-02 -1.08966907e-03 9.97065422e-01 7.96639308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.30925415399997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:239.68, Y:14.70, Z:7.97 [[ 9.75359037e-01 -2.07410125e-01 -7.52049761e-02 2.39682169e+02] [ 2.06878563e-01 9.78253516e-01 -1.48767899e-02 1.46957779e+01] [ 7.66551292e-02 -1.04808593e-03 9.97057116e-01 7.96807053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.33925415399997 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:239.71, Y:14.70, Z:7.97 [[ 9.75356062e-01 -2.07355206e-01 -7.53947699e-02 2.39711288e+02] [ 2.06820478e-01 9.78265164e-01 -1.49183805e-02 1.47016803e+01] [ 7.68494809e-02 -1.04244953e-03 9.97042161e-01 7.96977627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.36925415399998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:239.74, Y:14.71, Z:7.97 [[ 9.75468221e-01 -2.06996993e-01 -7.49265955e-02 2.39739735e+02] [ 2.06467630e-01 9.78341062e-01 -1.48284602e-02 1.47074869e+01] [ 7.63732118e-02 -1.00522495e-03 9.97078794e-01 7.97166573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.39925415399998 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:239.77, Y:14.71, Z:7.97 [[ 9.75550580e-01 -2.06782297e-01 -7.44455976e-02 2.39768651e+02] [ 2.06258982e-01 9.78386488e-01 -1.47347321e-02 1.47136359e+01] [ 7.58834485e-02 -9.80596663e-04 9.97116212e-01 7.97408310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.42925415399998 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:239.80, Y:14.72, Z:7.98 [[ 9.75720048e-01 -2.06179493e-01 -7.38945569e-02 2.39797149e+02] [ 2.05661977e-01 9.78513752e-01 -1.46283462e-02 1.47195980e+01] [ 7.53229051e-02 -9.24129995e-04 9.97158767e-01 7.97652867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.45925415399998 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:239.83, Y:14.73, Z:7.98 [[ 9.76005223e-01 -2.05200350e-01 -7.28465580e-02 2.39826917e+02] [ 2.04694608e-01 9.78719632e-01 -1.44221667e-02 1.47260131e+01] [ 7.42557902e-02 -8.35187554e-04 9.97238878e-01 7.97921564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.48925415399998 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:239.86, Y:14.73, Z:7.98 [[ 9.76020210e-01 -2.05170497e-01 -7.27297509e-02 2.39856008e+02] [ 2.04666290e-01 9.78725894e-01 -1.43990905e-02 1.47318112e+01] [ 7.41367590e-02 -8.31524990e-04 9.97247737e-01 7.98143983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.51925415399998 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:239.89, Y:14.74, Z:7.98 [[ 9.75953213e-01 -2.05506923e-01 -7.26789528e-02 2.39886268e+02] [ 2.05004256e-01 9.78655288e-01 -1.43903436e-02 1.47381112e+01] [ 7.40849568e-02 -8.55192522e-04 9.97251567e-01 7.98380236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.54925415399998 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:239.91, Y:14.74, Z:7.99 [[ 9.75491050e-01 -2.07216729e-01 -7.40164768e-02 2.39914636e+02] [ 2.06700273e-01 9.78294547e-01 -1.46552438e-02 1.47440932e+01] [ 7.54467274e-02 -1.00316687e-03 9.97149329e-01 7.98614653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.57925415399998 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:239.94, Y:14.75, Z:7.99 [[ 9.75487404e-01 -2.07233985e-01 -7.40162177e-02 2.39944141e+02] [ 2.06717479e-01 9.78290892e-01 -1.46565526e-02 1.47499691e+01] [ 7.54467274e-02 -1.00316356e-03 9.97149329e-01 7.98830215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.60925415399998 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:239.97, Y:14.76, Z:7.99 [[ 9.74667350e-01 -2.10465765e-01 -7.56816973e-02 2.39974499e+02] [ 2.09935358e-01 9.77600390e-01 -1.49874486e-02 1.47553949e+01] [ 7.71408016e-02 -1.28048734e-03 9.97019387e-01 7.99009672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.63925415399999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:240.00, Y:14.76, Z:7.99 [[ 9.74094115e-01 -2.12820913e-01 -7.64716540e-02 2.40003401e+02] [ 2.12286803e-01 9.77090095e-01 -1.51413073e-02 1.47608062e+01] [ 7.79420825e-02 -1.48486468e-03 9.96956783e-01 7.99255010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.669254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:240.03, Y:14.77, Z:7.99 [[ 9.73416991e-01 -2.15609690e-01 -7.72775720e-02 2.40031256e+02] [ 2.15072762e-01 9.76478107e-01 -1.53040756e-02 1.47660641e+01] [ 7.87595641e-02 -1.72305354e-03 9.96892152e-01 7.99463525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.69925415399996 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:240.06, Y:14.77, Z:8.00 [[ 9.72835184e-01 -2.18117388e-01 -7.75661587e-02 2.40058596e+02] [ 2.17582889e-01 9.75920662e-01 -1.53801010e-02 1.47711080e+01] [ 7.90530844e-02 -1.91476556e-03 9.96868569e-01 7.99646228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.72925415399996 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:240.09, Y:14.78, Z:8.00 [[ 9.71664601e-01 -2.22908707e-01 -7.86104991e-02 2.40088114e+02] [ 2.22374805e-01 9.74836542e-01 -1.55936816e-02 1.47767599e+01] [ 8.01083545e-02 -2.32916599e-03 9.96783440e-01 7.99938873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.75925415399996 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:240.12, Y:14.78, Z:8.00 [[ 9.71205170e-01 -2.24905093e-01 -7.86016339e-02 2.40118015e+02] [ 2.24377829e-01 9.74377484e-01 -1.55919230e-02 1.47826027e+01] [ 8.00943652e-02 -2.49350774e-03 9.96784167e-01 8.00152581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.78925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:240.15, Y:14.79, Z:8.00 [[ 9.70793106e-01 -2.26618725e-01 -7.87699051e-02 2.40148868e+02] [ 2.26094850e-01 9.73979969e-01 -1.56249658e-02 1.47887385e+01] [ 8.02612195e-02 -2.64086078e-03 9.96770366e-01 8.00385904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.81925415399996 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:240.18, Y:14.79, Z:8.01 [[ 9.70525585e-01 -2.27836808e-01 -7.85523888e-02 2.40178454e+02] [ 2.27320020e-01 9.73695486e-01 -1.55791083e-02 1.47945312e+01] [ 8.00356007e-02 -2.73660736e-03 9.96788249e-01 8.00602886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.84925415399996 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:240.21, Y:14.80, Z:8.01 [[ 9.70178742e-01 -2.29300696e-01 -7.85773442e-02 2.40207522e+02] [ 2.28788352e-01 9.73351438e-01 -1.55842201e-02 1.48005689e+01] [ 8.00568435e-02 -2.85810204e-03 9.96786202e-01 8.00798520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.87925415399997 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:240.24, Y:14.81, Z:8.01 [[ 9.70012253e-01 -2.29609540e-01 -7.97225771e-02 2.40237372e+02] [ 2.29083068e-01 9.73278432e-01 -1.58127152e-02 1.48066087e+01] [ 8.12230151e-02 -2.92456499e-03 9.96691662e-01 8.00940338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.90925415399997 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:240.27, Y:14.81, Z:8.01 [[ 9.70016471e-01 -2.29591704e-01 -7.97226123e-02 2.40267707e+02] [ 2.29065187e-01 9.73282643e-01 -1.58125378e-02 1.48126275e+01] [ 8.12230624e-02 -2.92325294e-03 9.96691662e-01 8.01161901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.93925415399997 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:240.30, Y:14.82, Z:8.01 [[ 9.69990093e-01 -2.30190576e-01 -7.83040132e-02 2.40296906e+02] [ 2.29684684e-01 9.73141185e-01 -1.55300046e-02 1.48190876e+01] [ 7.97757208e-02 -2.92128185e-03 9.96808558e-01 8.01379662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.96925415399997 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:240.33, Y:14.83, Z:8.02 [[ 9.70081210e-01 -2.29893169e-01 -7.80485559e-02 2.40326668e+02] [ 2.29389509e-01 9.73211592e-01 -1.54806675e-02 1.48260697e+01] [ 7.95166590e-02 -2.88601527e-03 9.96829359e-01 8.01544465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.99925415399997 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:240.36, Y:14.83, Z:8.02 [[ 9.70076489e-01 -2.29913102e-01 -7.80485234e-02 2.40356991e+02] [ 2.29409494e-01 9.73206878e-01 -1.54808313e-02 1.48320822e+01] [ 7.95166058e-02 -2.88748173e-03 9.96829359e-01 8.01765939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.02925415399997 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:240.39, Y:14.84, Z:8.02 [[ 9.70482186e-01 -2.28366401e-01 -7.75442725e-02 2.40386786e+02] [ 2.27864281e-01 9.73571399e-01 -1.53818093e-02 1.48398926e+01] [ 7.90075743e-02 -2.74179802e-03 9.96870245e-01 8.01926401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.05925415399997 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:240.42, Y:14.85, Z:8.02 [[ 9.70769051e-01 -2.27315219e-01 -7.70405081e-02 2.40417084e+02] [ 2.26816691e-01 9.73817643e-01 -1.52769927e-02 1.48468760e+01] [ 7.84960990e-02 -2.64364140e-03 9.96910916e-01 8.02116193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.08925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:240.45, Y:14.85, Z:8.02 [[ 9.71070595e-01 -2.25991802e-01 -7.71336870e-02 2.40446304e+02] [ 2.25488125e-01 9.74125886e-01 -1.52926305e-02 1.48534779e+01] [ 7.85939303e-02 -2.54250665e-03 9.96903471e-01 8.02348738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.11925415399998 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:240.47, Y:14.86, Z:8.03 [[ 9.71650259e-01 -2.23591482e-01 -7.68285332e-02 2.40473774e+02] [ 2.23084366e-01 9.74680140e-01 -1.52312564e-02 1.48608552e+01] [ 7.82888247e-02 -2.33979039e-03 9.96927974e-01 8.02541735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.14925415399998 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:240.50, Y:14.87, Z:8.03 [[ 9.71968608e-01 -2.22213036e-01 -7.68009855e-02 2.40504400e+02] [ 2.21701633e-01 9.74995601e-01 -1.52303392e-02 1.48677516e+01] [ 7.82650029e-02 -2.22349235e-03 9.96930111e-01 8.02793709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.17925415399998 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:240.54, Y:14.87, Z:8.03 [[ 9.72284811e-01 -2.20764201e-01 -7.69767131e-02 2.40535089e+02] [ 2.20246151e-01 9.75324918e-01 -1.52622604e-02 1.48749108e+01] [ 7.84466671e-02 -2.11456088e-03 9.96916069e-01 8.03014544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.20925415399998 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:240.56, Y:14.88, Z:8.03 [[ 9.72609845e-01 -2.19256002e-01 -7.71809208e-02 2.40564667e+02] [ 2.18730667e-01 9.75665313e-01 -1.53000990e-02 1.48818610e+01] [ 7.86573858e-02 -2.00080737e-03 9.96899700e-01 8.03242369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.23925415399998 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:240.59, Y:14.89, Z:8.03 [[ 9.72978071e-01 -2.17522238e-01 -7.74451411e-02 2.40594846e+02] [ 2.16987836e-01 9.76053579e-01 -1.53522007e-02 1.48891066e+01] [ 7.89300522e-02 -1.86729895e-03 9.96878408e-01 8.03464313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.26925415399998 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:240.63, Y:14.90, Z:8.04 [[ 9.73682882e-01 -2.14051637e-01 -7.82530692e-02 2.40625510e+02] [ 2.13495083e-01 9.76821027e-01 -1.55090695e-02 1.48975290e+01] [ 7.97589851e-02 -1.60573006e-03 9.96812884e-01 8.03721270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.29925415399998 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:240.66, Y:14.90, Z:8.04 [[ 9.74094478e-01 -2.12300279e-01 -7.79008315e-02 2.40655621e+02] [ 2.11743588e-01 9.77203385e-01 -1.54336091e-02 1.49044754e+01] [ 7.94015158e-02 -1.46120816e-03 9.96841644e-01 8.03914367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.32925415399998 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:240.69, Y:14.91, Z:8.04 [[ 9.74448821e-01 -2.10674485e-01 -7.78829729e-02 2.40686483e+02] [ 2.10113101e-01 9.77555364e-01 -1.54271190e-02 1.49114759e+01] [ 7.93850182e-02 -1.33129500e-03 9.96843140e-01 8.04124249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.35925415399998 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:240.72, Y:14.92, Z:8.04 [[ 9.74992096e-01 -2.08218135e-01 -7.76892572e-02 2.40715590e+02] [ 2.07651977e-01 9.78081760e-01 -1.53859574e-02 1.49195096e+01] [ 7.91900808e-02 -1.13114094e-03 9.96858893e-01 8.04361301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.38925415399999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:240.75, Y:14.93, Z:8.05 [[ 9.75192631e-01 -2.07301375e-01 -7.76239113e-02 2.40745532e+02] [ 2.06733375e-01 9.78276557e-01 -1.53716990e-02 1.49265001e+01] [ 7.91242271e-02 -1.05708556e-03 9.96864203e-01 8.04599623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.419254154 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:240.77, Y:14.93, Z:8.05 [[ 9.75402613e-01 -2.06444513e-01 -7.72684046e-02 2.40774844e+02] [ 2.05879027e-01 9.78457815e-01 -1.53012988e-02 1.49333240e+01] [ 7.87627435e-02 -9.83017096e-04 9.96892905e-01 8.04816138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.44925415399996 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:240.81, Y:14.94, Z:8.05 [[ 9.75668727e-01 -2.05474359e-01 -7.64906682e-02 2.40805621e+02] [ 2.04917275e-01 9.78662089e-01 -1.51467958e-02 1.49415186e+01] [ 7.79707953e-02 -8.96004296e-04 9.96955241e-01 8.05060587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.47925415399996 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:240.84, Y:14.95, Z:8.05 [[ 9.75699975e-01 -2.05603578e-01 -7.57411880e-02 2.40835962e+02] [ 2.05058197e-01 9.78634944e-01 -1.49927476e-02 1.49485208e+01] [ 7.72055358e-02 -9.02928020e-04 9.97014789e-01 8.05301800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.50925415399996 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:240.87, Y:14.96, Z:8.05 [[ 9.75659034e-01 -2.06101281e-01 -7.49113520e-02 2.40866073e+02] [ 2.05569568e-01 9.78530217e-01 -1.48245312e-02 1.49552096e+01] [ 7.63583764e-02 -9.35806492e-04 9.97079998e-01 8.05489700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.53925415399996 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:240.90, Y:14.97, Z:8.06 [[ 9.75845465e-01 -2.07284856e-01 -6.89827325e-02 2.40895058e+02] [ 2.05933682e-01 9.78214290e-01 -2.62320529e-02 1.49675834e+01] [ 7.29174020e-02 1.13925618e-02 9.97272913e-01 8.05656712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.56925415399996 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:240.93, Y:14.96, Z:8.06 [[ 9.74674339e-01 -2.10383204e-01 -7.58211066e-02 2.40928412e+02] [ 2.10792210e-01 9.77527277e-01 -2.65839371e-03 1.49626508e+01] [ 7.46764812e-02 -1.33914305e-02 9.97117893e-01 8.05535392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.59925415399996 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:240.96, Y:14.97, Z:8.06 [[ 9.74149315e-01 -2.13746945e-01 -7.31119438e-02 2.40958789e+02] [ 2.13262375e-01 9.76887908e-01 -1.44628874e-02 1.49746645e+01] [ 7.45135718e-02 -1.50301495e-03 9.97218867e-01 8.06064653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.62925415399997 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:240.99, Y:14.98, Z:8.06 [[ 9.73560945e-01 -2.16464031e-01 -7.29548451e-02 2.40990742e+02] [ 2.15989571e-01 9.76289091e-01 -1.44262021e-02 1.49811975e+01] [ 7.43477733e-02 -1.71269876e-03 9.97230904e-01 8.06249393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.65925415399997 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:241.02, Y:14.99, Z:8.06 [[ 9.72401534e-01 -2.21745288e-01 -7.25553855e-02 2.41021327e+02] [ 2.21291073e-01 9.75102341e-01 -1.43417313e-02 1.49877317e+01] [ 7.39291376e-02 -2.10993763e-03 9.97261265e-01 8.06439817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.68925415399997 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:241.05, Y:14.99, Z:8.07 [[ 9.71770888e-01 -2.24500358e-01 -7.25322706e-02 2.41052466e+02] [ 2.24054395e-01 9.74471238e-01 -1.43329771e-02 1.49941057e+01] [ 7.38983701e-02 -2.32280410e-03 9.97263072e-01 8.06647284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.71925415399997 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:241.08, Y:15.00, Z:8.07 [[ 9.71160858e-01 -2.27145490e-01 -7.24673344e-02 2.41084162e+02] [ 2.26708074e-01 9.73857556e-01 -1.43146459e-02 1.50004945e+01] [ 7.38243685e-02 -2.52710602e-03 9.97268056e-01 8.06872794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.74925415399997 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:241.12, Y:15.01, Z:8.07 [[ 9.70479563e-01 -2.29993984e-01 -7.26098150e-02 2.41115325e+02] [ 2.29563199e-01 9.73188152e-01 -1.43372855e-02 1.50067189e+01] [ 7.39605011e-02 -2.75449884e-03 9.97257367e-01 8.07100420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.77925415399997 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:241.15, Y:15.01, Z:8.07 [[ 9.69168634e-01 -2.35499770e-01 -7.24708029e-02 2.41148045e+02] [ 2.35086373e-01 9.71869223e-01 -1.43042314e-02 1.50135301e+01] [ 7.38007860e-02 -3.17368581e-03 9.97267954e-01 8.07379019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.80925415399997 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:241.18, Y:15.02, Z:8.08 [[ 9.68582388e-01 -2.37952626e-01 -7.22959579e-02 2.41179962e+02] [ 2.37548643e-01 9.71270948e-01 -1.42613936e-02 1.50203337e+01] [ 7.36124996e-02 -3.36047195e-03 9.97281258e-01 8.07615545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.83925415399997 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:241.21, Y:15.03, Z:8.08 [[ 9.68156745e-01 -2.39672340e-01 -7.23165752e-02 2.41211154e+02] [ 2.39273526e-01 9.70847525e-01 -1.42570372e-02 1.50266147e+01] [ 7.36253855e-02 -3.50039527e-03 9.97279825e-01 8.07854928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.86925415399998 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:241.24, Y:15.03, Z:8.08 [[ 9.67850864e-01 -2.41081850e-01 -7.17234031e-02 2.41242084e+02] [ 2.40693912e-01 9.70498167e-01 -1.41332279e-02 1.50333421e+01] [ 7.30146960e-02 -3.58452965e-03 9.97324423e-01 8.08055964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.89925415399998 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:241.27, Y:15.04, Z:8.08 [[ 9.67538503e-01 -2.42356909e-01 -7.16405933e-02 2.41273294e+02] [ 2.41973740e-01 9.70180176e-01 -1.41115323e-02 1.50416859e+01] [ 7.29243107e-02 -3.68169150e-03 9.97330682e-01 8.08263181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.92925415399998 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:241.30, Y:15.05, Z:8.09 [[ 9.67543260e-01 -2.42250306e-01 -7.19362872e-02 2.41303823e+02] [ 2.41864069e-01 9.70206753e-01 -1.41643798e-02 1.50490955e+01] [ 7.32243970e-02 -3.69415288e-03 9.97308649e-01 8.08534804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.95925415399998 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:241.33, Y:15.06, Z:8.09 [[ 9.67568589e-01 -2.42092616e-01 -7.21262165e-02 2.41334651e+02] [ 2.41704200e-01 9.70246106e-01 -1.41976895e-02 1.50565829e+01] [ 7.34173365e-02 -3.69597113e-03 9.97294457e-01 8.08746958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.98925415399998 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:241.37, Y:15.06, Z:8.09 [[ 9.67752245e-01 -2.41305852e-01 -7.22985337e-02 2.41366308e+02] [ 2.40913794e-01 9.70442250e-01 -1.42261397e-02 1.50641870e+01] [ 7.35944025e-02 -3.65033546e-03 9.97281575e-01 8.08979552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.01925415399998 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:241.40, Y:15.07, Z:8.09 [[ 9.68168823e-01 -2.39692920e-01 -7.20863015e-02 2.41397064e+02] [ 2.39299310e-01 9.70842354e-01 -1.41761701e-02 1.50729408e+01] [ 7.33823622e-02 -3.52527627e-03 9.97297649e-01 8.09202614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.04925415399998 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:241.43, Y:15.08, Z:8.09 [[ 9.68461649e-01 -2.38346286e-01 -7.26159967e-02 2.41428458e+02] [ 2.37943606e-01 9.71174088e-01 -1.42734419e-02 1.50804947e+01] [ 7.39247963e-02 -3.45523107e-03 9.97257833e-01 8.09422021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.07925415399998 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:241.46, Y:15.09, Z:8.10 [[ 9.69139767e-01 -2.35404468e-01 -7.31631653e-02 2.41459611e+02] [ 2.34987742e-01 9.71892023e-01 -1.43755301e-02 1.50898961e+01] [ 7.44907607e-02 -3.26054913e-03 9.97216373e-01 8.09646596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.10925415399998 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:241.49, Y:15.10, Z:8.10 [[ 9.69587795e-01 -2.33404739e-01 -7.36324400e-02 2.41491804e+02] [ 2.32977320e-01 9.72374627e-01 -1.44621051e-02 1.50980641e+01] [ 7.49738403e-02 -3.13240794e-03 9.97180581e-01 8.09832102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.13925415399999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:241.52, Y:15.11, Z:8.10 [[ 9.69982995e-01 -2.31472287e-01 -7.45222806e-02 2.41523519e+02] [ 2.31029443e-01 9.72836786e-01 -1.46281808e-02 1.51065439e+01] [ 7.58840345e-02 -3.02775439e-03 9.97112053e-01 8.10050507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.169254154 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:241.56, Y:15.11, Z:8.10 [[ 9.70470075e-01 -2.29257231e-01 -7.50263643e-02 2.41555544e+02] [ 2.28802435e-01 9.73361605e-01 -1.47184249e-02 1.51148801e+01] [ 7.64020877e-02 -2.88242395e-03 9.97072922e-01 8.10247465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.19925415399996 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:241.59, Y:15.12, Z:8.10 [[ 9.71677321e-01 -2.23919562e-01 -7.55196218e-02 2.41586902e+02] [ 2.23443344e-01 9.74604455e-01 -1.48063873e-02 1.51248893e+01] [ 7.69171996e-02 -2.48732615e-03 9.97034381e-01 8.10287635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.22925415399996 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:241.62, Y:15.13, Z:8.11 [[ 9.72300743e-01 -2.21485073e-01 -7.46701259e-02 2.41619131e+02] [ 2.21013002e-01 9.75161103e-01 -1.46313171e-02 1.51332151e+01] [ 7.60560207e-02 -2.27702815e-03 9.97100946e-01 8.10621700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.25925415399996 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:241.65, Y:15.14, Z:8.11 [[ 9.73088335e-01 -2.18251295e-01 -7.39287819e-02 2.41650982e+02] [ 2.17779874e-01 9.75890529e-01 -1.44776685e-02 1.51413331e+01] [ 7.53061679e-02 -2.01215045e-03 9.97158429e-01 8.10872621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.28925415399996 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:241.68, Y:15.15, Z:8.11 [[ 9.73921830e-01 -2.14709397e-01 -7.33221916e-02 2.41683161e+02] [ 2.14236284e-01 9.76676444e-01 -1.43505864e-02 1.51496627e+01] [ 7.46932631e-02 -1.73192450e-03 9.97205053e-01 8.11122781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.31925415399996 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:241.71, Y:15.16, Z:8.11 [[ 9.74777151e-01 -2.10948044e-01 -7.28726903e-02 2.41714257e+02] [ 2.10470829e-01 9.77496210e-01 -1.42544254e-02 1.51581016e+01] [ 7.42397218e-02 -1.44268734e-03 9.97239381e-01 8.11383387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.34925415399996 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:241.75, Y:15.17, Z:8.12 [[ 9.76533366e-01 -2.03069014e-01 -7.17325637e-02 2.41745408e+02] [ 2.02585861e-01 9.79164070e-01 -1.40247321e-02 1.51689847e+01] [ 7.30859375e-02 -8.36384364e-04 9.97325296e-01 8.11735203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.37925415399997 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:241.78, Y:15.18, Z:8.12 [[ 9.77308403e-01 -1.99468377e-01 -7.12786955e-02 2.41777227e+02] [ 1.98982328e-01 9.79904097e-01 -1.39281296e-02 1.51769626e+01] [ 7.26245072e-02 -5.71122671e-04 9.97359190e-01 8.11979252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.40925415399997 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:241.81, Y:15.18, Z:8.12 [[ 9.78023223e-01 -1.96136240e-01 -7.07188105e-02 2.41809480e+02] [ 1.95649674e-01 9.80576599e-01 -1.38107841e-02 1.51844418e+01] [ 7.20540060e-02 -3.28844620e-04 9.97400678e-01 8.12222639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.43925415399997 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:241.84, Y:15.19, Z:8.12 [[ 9.78577982e-01 -1.93328080e-01 -7.07770201e-02 2.41841711e+02] [ 1.92833949e-01 9.81134158e-01 -1.38141744e-02 1.51915770e+01] [ 7.21124199e-02 -1.29965373e-04 9.97396502e-01 8.12466023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.46925415399997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:241.87, Y:15.20, Z:8.13 [[ 9.79350291e-01 -1.89602663e-01 -7.01700632e-02 2.41873513e+02] [ 1.89107986e-01 9.81860892e-01 -1.36878615e-02 1.51988265e+01] [ 7.14924958e-02 1.35491842e-04 9.97441128e-01 8.12757388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.49925415399997 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:241.90, Y:15.20, Z:8.13 [[ 9.79549346e-01 -1.88538198e-01 -7.02597017e-02 2.41904858e+02] [ 1.88040094e-01 9.82065836e-01 -1.36973578e-02 1.52047265e+01] [ 7.15821278e-02 2.05596979e-04 9.97434688e-01 8.12984791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.52925415399997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:241.94, Y:15.21, Z:8.13 [[ 9.79561754e-01 -1.88449464e-01 -7.03247499e-02 2.41937730e+02] [ 1.87950682e-01 9.82082867e-01 -1.37034173e-02 1.52106458e+01] [ 7.16471336e-02 2.05758718e-04 9.97430021e-01 8.13235191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.55925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:241.97, Y:15.22, Z:8.13 [[ 9.79118693e-01 -1.90396390e-01 -7.12446453e-02 2.41969866e+02] [ 1.89890205e-01 9.81707294e-01 -1.38743861e-02 1.52154742e+01] [ 7.25830210e-02 5.60104567e-05 9.97362372e-01 8.13389900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.58925415399997 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:242.00, Y:15.22, Z:8.14 [[ 9.78666507e-01 -1.92482949e-01 -7.18483295e-02 2.42002885e+02] [ 1.91974738e-01 9.81300312e-01 -1.39784926e-02 1.52207630e+01] [ 7.31954096e-02 -1.12781740e-04 9.97317612e-01 8.13578123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.61925415399998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:242.03, Y:15.23, Z:8.14 [[ 9.78013504e-01 -1.95430386e-01 -7.27774090e-02 2.42034781e+02] [ 1.94917708e-01 9.80717515e-01 -1.41507032e-02 1.52255398e+01] [ 7.41395571e-02 -3.46026975e-04 9.97247816e-01 8.13729455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.64925415399998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:242.07, Y:15.23, Z:8.14 [[ 9.77281291e-01 -1.98772450e-01 -7.35580825e-02 2.42067513e+02] [ 1.98258690e-01 9.80045477e-01 -1.42952550e-02 1.52300603e+01] [ 7.49317689e-02 -6.13043832e-04 9.97188475e-01 8.13907035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.67925415399998 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:242.10, Y:15.23, Z:8.14 [[ 9.75583678e-01 -2.06649002e-01 -7.43819655e-02 2.42100585e+02] [ 2.06147122e-01 9.78414357e-01 -1.44468306e-02 1.52335176e+01] [ 7.57618060e-02 -1.23953595e-03 9.97125174e-01 8.14111749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.70925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:242.13, Y:15.24, Z:8.14 [[ 9.74728664e-01 -2.10653655e-01 -7.43577158e-02 2.42132675e+02] [ 2.10164409e-01 9.77559516e-01 -1.44330860e-02 1.52384682e+01] [ 7.57294750e-02 -1.55900280e-03 9.97127182e-01 8.14342516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.73925415399998 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:242.16, Y:15.24, Z:8.15 [[ 9.73843418e-01 -2.14691421e-01 -7.44082690e-02 2.42164129e+02] [ 2.14214323e-01 9.76680106e-01 -1.44289259e-02 1.52430246e+01] [ 7.57708427e-02 -1.88780240e-03 9.97123471e-01 8.14585329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.76925415399998 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:242.20, Y:15.25, Z:8.15 [[ 9.72205911e-01 -2.22215460e-01 -7.37289412e-02 2.42196667e+02] [ 2.21769124e-01 9.74994486e-01 -1.42901189e-02 1.52470308e+01] [ 7.50607965e-02 -2.45786457e-03 9.97175930e-01 8.14848721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.79925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:242.23, Y:15.25, Z:8.15 [[ 9.71432018e-01 -2.25691937e-01 -7.33688183e-02 2.42228330e+02] [ 2.25260455e-01 9.74194922e-01 -1.42120292e-02 1.52520416e+01] [ 7.46830706e-02 -2.72107319e-03 9.97203607e-01 8.15062416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.82925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:242.26, Y:15.26, Z:8.15 [[ 9.71460544e-01 -2.25568692e-01 -7.33701395e-02 2.42261199e+02] [ 2.25137375e-01 9.74223473e-01 -1.42052052e-02 1.52583101e+01] [ 7.46831616e-02 -2.71856430e-03 9.97203607e-01 8.15301957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.85925415399998 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:242.29, Y:15.26, Z:8.16 [[ 9.70799276e-01 -2.28451323e-01 -7.32035483e-02 2.42293573e+02] [ 2.28030844e-01 9.73550888e-01 -1.41633974e-02 1.52632003e+01] [ 7.45030263e-02 -2.94285098e-03 9.97216445e-01 8.15510639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.88925415399999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:242.33, Y:15.27, Z:8.16 [[ 9.69586439e-01 -2.33600085e-01 -7.30283373e-02 2.42326331e+02] [ 2.33196786e-01 9.72327031e-01 -1.41210317e-02 1.52675485e+01] [ 7.43061006e-02 -3.33841271e-03 9.97229892e-01 8.15724059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.919254154 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:242.36, Y:15.27, Z:8.16 [[ 9.69051265e-01 -2.35754552e-01 -7.32081703e-02 2.42358045e+02] [ 2.35356016e-01 9.71806255e-01 -1.41473741e-02 1.52733704e+01] [ 7.44794657e-02 -3.52045254e-03 9.97216333e-01 8.15908637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.94925415399996 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:242.39, Y:15.28, Z:8.16 [[ 9.68568324e-01 -2.37539207e-01 -7.38276884e-02 2.42390066e+02] [ 2.37139599e-01 9.71370921e-01 -1.42598880e-02 1.52794929e+01] [ 7.51013522e-02 -3.69579261e-03 9.97169057e-01 8.16174157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.97925415399996 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:242.42, Y:15.29, Z:8.16 [[ 9.67668891e-01 -2.41085990e-01 -7.41246443e-02 2.42422054e+02] [ 2.40694167e-01 9.70495534e-01 -1.43085842e-02 1.52863353e+01] [ 7.53872354e-02 -3.99539774e-03 9.97146329e-01 8.16367899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.00925415399996 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:242.45, Y:15.29, Z:8.17 [[ 9.67329936e-01 -2.42465916e-01 -7.40477863e-02 2.42453671e+02] [ 2.42079571e-01 9.70151232e-01 -1.42852509e-02 1.52925100e+01] [ 7.53012376e-02 -4.10690547e-03 9.97152374e-01 8.16619250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.03925415399996 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:242.49, Y:15.30, Z:8.17 [[ 9.67018876e-01 -2.43853034e-01 -7.35540049e-02 2.42485623e+02] [ 2.43476347e-01 9.69803131e-01 -1.41829358e-02 1.52984671e+01] [ 7.47914562e-02 -4.19349384e-03 9.97190379e-01 8.16844421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.06925415399996 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:242.52, Y:15.30, Z:8.17 [[ 9.66709186e-01 -2.45086063e-01 -7.35266705e-02 2.42517748e+02] [ 2.44713815e-01 9.69491812e-01 -1.41695285e-02 1.53042387e+01] [ 7.47562590e-02 -4.29517867e-03 9.97192586e-01 8.17068765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.09925415399996 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:242.55, Y:15.31, Z:8.17 [[ 9.66183728e-01 -2.47319107e-01 -7.29538472e-02 2.42549631e+02] [ 2.46959594e-01 9.68923906e-01 -1.40507155e-02 1.53112729e+01] [ 7.41617370e-02 -4.44107978e-03 9.97236338e-01 8.17317716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.12925415399997 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:242.58, Y:15.32, Z:8.18 [[ 9.65999786e-01 -2.47951597e-01 -7.32421931e-02 2.42581169e+02] [ 2.47591682e-01 9.68761897e-01 -1.40977078e-02 1.53183129e+01] [ 7.44497951e-02 -4.51577507e-03 9.97214538e-01 8.17598343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.15925415399997 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:242.61, Y:15.33, Z:8.18 [[ 9.65986367e-01 -2.48043400e-01 -7.31082076e-02 2.42613492e+02] [ 2.47685595e-01 9.68738369e-01 -1.40647772e-02 1.53255981e+01] [ 7.43114010e-02 -4.52146693e-03 9.97224835e-01 8.17818803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.18925415399997 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:242.64, Y:15.33, Z:8.18 [[ 9.66025132e-01 -2.47669039e-01 -7.38613037e-02 2.42644314e+02] [ 2.47303378e-01 9.68834025e-01 -1.42011254e-02 1.53338005e+01] [ 7.50765232e-02 -4.54750590e-03 9.97167406e-01 8.17960296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.21925415399997 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:242.68, Y:15.34, Z:8.18 [[ 9.66035802e-01 -2.47501628e-01 -7.42817140e-02 2.42676551e+02] [ 2.47131845e-01 9.68876712e-01 -1.42747469e-02 1.53410863e+01] [ 7.55028459e-02 -4.56746053e-03 9.97135126e-01 8.18168431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.24925415399997 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:242.71, Y:15.35, Z:8.18 [[ 9.66060499e-01 -2.47273870e-01 -7.47177749e-02 2.42708594e+02] [ 2.46899704e-01 9.68934782e-01 -1.43500339e-02 1.53480866e+01] [ 7.59450394e-02 -4.58479557e-03 9.97101465e-01 8.18357964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.27925415399997 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:242.74, Y:15.36, Z:8.19 [[ 9.66041555e-01 -2.47152504e-01 -7.53614854e-02 2.42741267e+02] [ 2.46772153e-01 9.68965565e-01 -1.44650880e-02 1.53551457e+01] [ 7.65977669e-02 -4.62323993e-03 9.97051357e-01 8.18556597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.30925415399997 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:242.77, Y:15.36, Z:8.19 [[ 9.65865811e-01 -2.47316091e-01 -7.70583284e-02 2.42773059e+02] [ 2.46919645e-01 9.68923211e-01 -1.47817631e-02 1.53635898e+01] [ 7.83193709e-02 -4.75001545e-03 9.96917004e-01 8.18749633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.33925415399997 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:242.81, Y:15.37, Z:8.19 [[ 9.65846979e-01 -2.47284519e-01 -7.73949619e-02 2.42805482e+02] [ 2.46885200e-01 9.68931137e-01 -1.48374715e-02 1.53712023e+01] [ 7.86594654e-02 -4.77694358e-03 9.96890099e-01 8.18949934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.36925415399998 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:242.84, Y:15.38, Z:8.19 [[ 9.65858179e-01 -2.47020234e-01 -7.80959737e-02 2.42836515e+02] [ 2.46613499e-01 9.68998397e-01 -1.49629409e-02 1.53785787e+01] [ 7.93710225e-02 -4.80744250e-03 9.96833551e-01 8.19221169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.39925415399998 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:242.87, Y:15.39, Z:8.20 [[ 9.66128530e-01 -2.46106418e-01 -7.76356495e-02 2.42868236e+02] [ 2.45702120e-01 9.69231362e-01 -1.48672669e-02 1.53860980e+01] [ 7.89058361e-02 -4.71155298e-03 9.96870940e-01 8.19508113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.42925415399998 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:242.90, Y:15.39, Z:8.20 [[ 9.66498497e-01 -2.45012125e-01 -7.64834222e-02 2.42898950e+02] [ 2.44616972e-01 9.69509285e-01 -1.46383950e-02 1.53938522e+01] [ 7.77379723e-02 -4.56115635e-03 9.96963391e-01 8.19735999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.45925415399998 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:242.93, Y:15.40, Z:8.20 [[ 9.67698026e-01 -2.40955443e-01 -7.41687592e-02 2.42930593e+02] [ 2.40572484e-01 9.70527465e-01 -1.41886810e-02 1.54038235e+01] [ 7.54016578e-02 -4.11260409e-03 9.97144762e-01 8.20162637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.48925415399998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:242.96, Y:15.41, Z:8.20 [[ 9.68500523e-01 -2.38201735e-01 -7.25718236e-02 2.42962370e+02] [ 2.37828005e-01 9.71208179e-01 -1.38748967e-02 1.54120488e+01] [ 7.37873731e-02 -3.82176728e-03 9.97266673e-01 8.20457562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.51925415399998 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:242.99, Y:15.42, Z:8.21 [[ 9.69439103e-01 -2.34788984e-01 -7.11474422e-02 2.42993466e+02] [ 2.34421221e-01 9.72040064e-01 -1.35943192e-02 1.54199643e+01] [ 7.23499607e-02 -3.49960562e-03 9.97373168e-01 8.20745670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.54925415399998 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:243.02, Y:15.43, Z:8.21 [[ 9.70310564e-01 -2.31522913e-01 -6.99610579e-02 2.43024972e+02] [ 2.31160261e-01 9.72824120e-01 -1.33478688e-02 1.54280242e+01] [ 7.11501420e-02 -3.22063830e-03 9.97460418e-01 8.21016678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.57925415399998 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:243.06, Y:15.44, Z:8.21 [[ 9.71147481e-01 -2.28236744e-01 -6.91415868e-02 2.43056789e+02] [ 2.27874782e-01 9.73601188e-01 -1.31837346e-02 1.54360623e+01] [ 7.03253436e-02 -2.95227337e-03 9.97519739e-01 8.21282248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.60925415399998 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:243.09, Y:15.44, Z:8.21 [[ 9.72633791e-01 -2.22006356e-01 -6.85323701e-02 2.43087635e+02] [ 2.21635825e-01 9.75042048e-01 -1.30600853e-02 1.54444754e+01] [ 6.97213645e-02 -2.48654815e-03 9.97563406e-01 8.21445947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.63925415399999 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:243.12, Y:15.45, Z:8.22 [[ 9.73176875e-01 -2.19582047e-01 -6.86330391e-02 2.43119905e+02] [ 2.19205786e-01 9.75591241e-01 -1.30595985e-02 1.54511742e+01] [ 6.98254452e-02 -2.33545999e-03 9.97556491e-01 8.21619400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.669254154 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:243.15, Y:15.46, Z:8.22 [[ 9.73787837e-01 -2.16338404e-01 -7.02491552e-02 2.43151227e+02] [ 2.15936356e-01 9.76316049e-01 -1.33589939e-02 1.54585629e+01] [ 7.14754411e-02 -2.16052079e-03 9.97440020e-01 8.21727838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.69925415399996 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:243.18, Y:15.47, Z:8.22 [[ 9.73895131e-01 -2.15425689e-01 -7.15544958e-02 2.43183526e+02] [ 2.15007072e-01 9.76517879e-01 -1.35937855e-02 1.54656037e+01] [ 7.28026951e-02 -2.14580107e-03 9.97344055e-01 8.21951734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.72925415399996 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:243.22, Y:15.47, Z:8.22 [[ 9.73929515e-01 -2.15019855e-01 -7.23032650e-02 2.43215399e+02] [ 2.14591913e-01 9.76607320e-01 -1.37278264e-02 1.54722629e+01] [ 7.35636530e-02 -2.14576071e-03 9.97288215e-01 8.22173866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.75925415399996 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:243.25, Y:15.48, Z:8.22 [[ 9.73745757e-01 -2.15179858e-01 -7.42753562e-02 2.43247110e+02] [ 2.14729407e-01 9.76571898e-01 -1.40928743e-02 1.54784371e+01] [ 7.55677283e-02 -2.22622667e-03 9.97138186e-01 8.22295003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.78925415399996 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:243.28, Y:15.48, Z:8.22 [[ 9.73726068e-01 -2.15137112e-01 -7.46563284e-02 2.43279552e+02] [ 2.14683450e-01 9.76581252e-01 -1.41447969e-02 1.54844452e+01] [ 7.59510414e-02 -2.25432064e-03 9.97109000e-01 8.22469210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.81925415399996 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:243.31, Y:15.49, Z:8.23 [[ 9.73825449e-01 -2.14568721e-01 -7.49950613e-02 2.43311843e+02] [ 2.14109890e-01 9.76706352e-01 -1.42005765e-02 1.54908114e+01] [ 7.62951523e-02 -2.22830161e-03 9.97082787e-01 8.22653239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.84925415399996 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:243.34, Y:15.50, Z:8.23 [[ 9.74092280e-01 -2.13331749e-01 -7.50586105e-02 2.43343850e+02] [ 2.12869130e-01 9.76977471e-01 -1.42040499e-02 1.54970362e+01] [ 7.63607463e-02 -2.14160583e-03 9.97077956e-01 8.22894647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.87925415399997 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:243.38, Y:15.50, Z:8.23 [[ 9.74119551e-01 -2.13206632e-01 -7.50601906e-02 2.43376750e+02] [ 2.12744286e-01 9.77004786e-01 -1.41956953e-02 1.55031652e+01] [ 7.63607818e-02 -2.14032234e-03 9.97077956e-01 8.23134153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.90925415399997 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:243.41, Y:15.51, Z:8.23 [[ 9.75072220e-01 -2.09137807e-01 -7.41319351e-02 2.43408137e+02] [ 2.08675816e-01 9.77884506e-01 -1.40105653e-02 1.55103028e+01] [ 7.54226096e-02 -1.80822906e-03 9.97150019e-01 8.23463052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.93925415399997 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:243.44, Y:15.52, Z:8.24 [[ 9.75683518e-01 -2.06434442e-01 -7.36647365e-02 2.43440252e+02] [ 2.05971091e-01 9.78459133e-01 -1.39152985e-02 1.55170820e+01] [ 7.49505311e-02 -1.59587878e-03 9.97185976e-01 8.23687043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.96925415399997 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:243.47, Y:15.52, Z:8.24 [[ 9.76994160e-01 -2.00590116e-01 -7.24293902e-02 2.43472634e+02] [ 2.00126729e-01 9.79674597e-01 -1.36739535e-02 1.55238118e+01] [ 7.37000935e-02 -1.13568418e-03 9.97279803e-01 8.23970595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.99925415399997 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:243.50, Y:15.53, Z:8.24 [[ 9.77593730e-01 -1.97756639e-01 -7.21305135e-02 2.43504428e+02] [ 1.97289967e-01 9.80250710e-01 -1.36093831e-02 1.55295863e+01] [ 7.33973329e-02 -9.26179027e-04 9.97302348e-01 8.24214155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.02925415399997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:243.54, Y:15.54, Z:8.24 [[ 9.78142525e-01 -1.95174141e-01 -7.17234663e-02 2.43537255e+02] [ 1.94706283e-01 9.80768329e-01 -1.35258384e-02 1.55354203e+01] [ 7.29839981e-02 -7.34811836e-04 9.97332841e-01 8.24466355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.05925415399997 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:243.57, Y:15.54, Z:8.25 [[ 9.78762389e-01 -1.91966146e-01 -7.19248586e-02 2.43569055e+02] [ 1.91487596e-01 9.81401418e-01 -1.35556999e-02 1.55402957e+01] [ 7.31893937e-02 -5.04908993e-04 9.97317932e-01 8.24653589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.08925415399997 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:243.60, Y:15.55, Z:8.25 [[ 9.78998012e-01 -1.90661716e-01 -7.21872804e-02 2.43601393e+02] [ 1.90176622e-01 9.81655712e-01 -1.35983477e-02 1.55453431e+01] [ 7.34557404e-02 -4.15577764e-04 9.97298391e-01 8.24855200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.11925415399998 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:243.63, Y:15.55, Z:8.25 [[ 9.79093515e-01 -1.90190101e-01 -7.21360758e-02 2.43634321e+02] [ 1.89705006e-01 9.81747205e-01 -1.35807114e-02 1.55504444e+01] [ 7.34023077e-02 -3.87788228e-04 9.97302337e-01 8.25052293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.14925415399998 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:243.67, Y:15.55, Z:8.25 [[ 9.79048107e-01 -1.90133615e-01 -7.28972810e-02 2.43666929e+02] [ 1.89638685e-01 9.81758143e-01 -1.37155846e-02 1.55533548e+01] [ 7.41752929e-02 -3.95927396e-04 9.97245140e-01 8.25252905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.17925415399998 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:243.70, Y:15.56, Z:8.25 [[ 9.79004309e-01 -1.90279098e-01 -7.31055974e-02 2.43699614e+02] [ 1.89782365e-01 9.81729948e-01 -1.37463618e-02 1.55574950e+01] [ 7.43855997e-02 -4.16405751e-04 9.97229467e-01 8.25442608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.20925415399998 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:243.73, Y:15.56, Z:8.26 [[ 9.78904594e-01 -1.90591318e-01 -7.36257052e-02 2.43731861e+02] [ 1.90089019e-01 9.81669367e-01 -1.38354520e-02 1.55615369e+01] [ 7.49130165e-02 -4.51850507e-04 9.97189970e-01 8.25669175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.23925415399998 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:243.77, Y:15.56, Z:8.26 [[ 9.78597199e-01 -1.91762353e-01 -7.46640681e-02 2.43765257e+02] [ 1.91250226e-01 9.81441228e-01 -1.40166945e-02 1.55637362e+01] [ 7.59662689e-02 -5.62821886e-04 9.97110229e-01 8.25892183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.26925415399998 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:243.80, Y:15.57, Z:8.26 [[ 9.78446006e-01 -1.92446742e-01 -7.48843460e-02 2.43797245e+02] [ 1.91934249e-01 9.81307220e-01 -1.40493841e-02 1.55680073e+01] [ 7.61883075e-02 -6.26306943e-04 9.97093250e-01 8.26113533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.29925415399998 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:243.83, Y:15.57, Z:8.27 [[ 9.78143255e-01 -1.93683144e-01 -7.56479511e-02 2.43828058e+02] [ 1.92689680e-01 9.81049993e-01 -2.02878777e-02 1.55748377e+01] [ 7.81438418e-02 5.26787123e-03 9.96928177e-01 8.26551333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.32925415399998 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:243.86, Y:15.57, Z:8.26 [[ 9.77745212e-01 -1.95424955e-01 -7.63111263e-02 2.43860314e+02] [ 1.95368113e-01 9.80695010e-01 -8.28242646e-03 1.55707427e+01] [ 7.64565336e-02 -6.81065796e-03 9.97049654e-01 8.26327709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.35925415399998 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:243.89, Y:15.58, Z:8.27 [[ 9.77762800e-01 -1.95758399e-01 -7.52233708e-02 2.43891721e+02] [ 1.95252448e-01 9.80651736e-01 -1.40944692e-02 1.55794682e+01] [ 7.65270398e-02 -9.06499633e-04 9.97067094e-01 8.26756022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.38925415399999 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:243.92, Y:15.58, Z:8.27 [[ 9.77193515e-01 -1.98446446e-01 -7.55767261e-02 2.43923424e+02] [ 1.97944260e-01 9.80111083e-01 -1.41540093e-02 1.55807899e+01] [ 7.68823997e-02 -1.12877297e-03 9.97039529e-01 8.26958060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.41925415399996 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:243.96, Y:15.59, Z:8.27 [[ 9.76815740e-01 -2.00138688e-01 -7.59968091e-02 2.43956537e+02] [ 1.99636354e-01 9.79766750e-01 -1.42282135e-02 1.55850776e+01] [ 7.73067627e-02 -1.27338296e-03 9.97006541e-01 8.27213772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.44925415399996 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:243.99, Y:15.59, Z:8.28 [[ 9.75913345e-01 -2.03965018e-01 -7.74042290e-02 2.43988579e+02] [ 2.03456634e-01 9.78976845e-01 -1.44822309e-02 1.55873694e+01] [ 7.87308164e-02 -1.61500145e-03 9.96894603e-01 8.27529879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.47925415399996 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:244.02, Y:15.59, Z:8.28 [[ 9.75399197e-01 -2.06209552e-01 -7.79360461e-02 2.44021229e+02] [ 2.05702387e-01 9.78506158e-01 -1.45680076e-02 1.55914811e+01] [ 7.92649633e-02 -1.82200784e-03 9.96851918e-01 8.27761138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.50925415399996 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:244.05, Y:15.60, Z:8.28 [[ 9.74836129e-01 -2.08563933e-01 -7.87121803e-02 2.44053981e+02] [ 2.08055000e-01 9.78006602e-01 -1.47038496e-02 1.55955811e+01] [ 8.00477246e-02 -2.04261889e-03 9.96788939e-01 8.28014831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.53925415399996 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:244.09, Y:15.60, Z:8.28 [[ 9.74152350e-01 -2.11317757e-01 -7.98248328e-02 2.44085493e+02] [ 2.10804285e-01 9.77414686e-01 -1.49025079e-02 1.55996685e+01] [ 8.11711285e-02 -2.31010372e-03 9.96697502e-01 8.28317173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.56925415399996 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:244.12, Y:15.60, Z:8.29 [[ 9.72789138e-01 -2.16845094e-01 -8.16057460e-02 2.44118094e+02] [ 2.16328445e-01 9.76201893e-01 -1.52272354e-02 1.56021609e+01] [ 8.29656350e-02 -2.84075495e-03 9.96548360e-01 8.28637694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.59925415399996 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:244.15, Y:15.61, Z:8.29 [[ 9.72040734e-01 -2.19876687e-01 -8.24078572e-02 2.44150790e+02] [ 2.19361240e-01 9.75522631e-01 -1.53701786e-02 1.56066628e+01] [ 8.37702737e-02 -3.13665003e-03 9.96480157e-01 8.28885638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.62925415399997 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:244.18, Y:15.61, Z:8.29 [[ 9.71350917e-01 -2.22579728e-01 -8.32806171e-02 2.44181208e+02] [ 2.22063955e-01 9.74908512e-01 -1.55239576e-02 1.56109485e+01] [ 8.46463008e-02 -3.41441280e-03 9.96405212e-01 8.29185359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.65925415399997 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:244.21, Y:15.62, Z:8.29 [[ 9.70658175e-01 -2.25304154e-01 -8.40282442e-02 2.44212580e+02] [ 2.24789674e-01 9.74281491e-01 -1.56582082e-02 1.56158323e+01] [ 8.53950224e-02 -3.68991381e-03 9.96340341e-01 8.29463514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.68925415399997 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:244.24, Y:15.62, Z:8.30 [[ 9.69504409e-01 -2.29902432e-01 -8.48885924e-02 2.44244245e+02] [ 2.29395448e-01 9.73204863e-01 -1.58120970e-02 1.56198818e+01] [ 8.62492305e-02 -4.14315894e-03 9.96264977e-01 8.29803765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.71925415399997 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:244.28, Y:15.63, Z:8.30 [[ 9.69527902e-01 -2.29802884e-01 -8.48898263e-02 2.44276325e+02] [ 2.29296099e-01 9.73228383e-01 -1.58054702e-02 1.56257929e+01] [ 8.62493310e-02 -4.14106163e-03 9.96264977e-01 8.30037327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.74925415399997 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:244.31, Y:15.63, Z:8.30 [[ 9.69131319e-01 -2.31593010e-01 -8.45527283e-02 2.44308395e+02] [ 2.31097756e-01 9.72803301e-01 -1.57342131e-02 1.56309084e+01] [ 8.58971069e-02 -4.29142714e-03 9.96294771e-01 8.30338840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.77925415399997 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:244.34, Y:15.63, Z:8.30 [[ 9.69041828e-01 -2.31791944e-01 -8.50319420e-02 2.44338470e+02] [ 2.32226415e-01 9.72649500e-01 -4.88298018e-03 1.56306532e+01] [ 8.38381113e-02 -1.50148510e-02 9.96366261e-01 8.30274336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.80925415399997 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:244.37, Y:15.65, Z:8.31 [[ 9.68452327e-01 -2.35313674e-01 -8.20217354e-02 2.44365706e+02] [ 2.33963827e-01 9.71901996e-01 -2.58348192e-02 1.56455572e+01] [ 8.57963746e-02 5.82967169e-03 9.96295637e-01 8.31354108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.83925415399997 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:244.40, Y:15.65, Z:8.31 [[ 9.68518473e-01 -2.34554471e-01 -8.34036378e-02 2.44396903e+02] [ 2.34083532e-01 9.72092600e-01 -1.55201987e-02 1.56465115e+01] [ 8.47163912e-02 -4.49181897e-03 9.96394980e-01 8.31313036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.86925415399998 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:244.43, Y:15.65, Z:8.32 [[ 9.68568020e-01 -2.34416894e-01 -8.32148465e-02 2.44428721e+02] [ 2.33948411e-01 9.72125844e-01 -1.54752688e-02 1.56529264e+01] [ 8.45229674e-02 -4.47913061e-03 9.96411464e-01 8.31633624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.89925415399998 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:244.46, Y:15.66, Z:8.32 [[ 9.68632118e-01 -2.34130487e-01 -8.32750529e-02 2.44459898e+02] [ 2.33660802e-01 9.72194935e-01 -1.54802171e-02 1.56594767e+01] [ 8.45839755e-02 -4.46348023e-03 9.96406357e-01 8.31956854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.92925415399998 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:244.49, Y:15.67, Z:8.32 [[ 9.68944344e-01 -2.32495274e-01 -8.42187991e-02 2.44490320e+02] [ 2.32009250e-01 9.72587682e-01 -1.56495904e-02 1.56667601e+01] [ 8.55486224e-02 -4.37595824e-03 9.96324387e-01 8.32261139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.95925415399998 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:244.52, Y:15.67, Z:8.32 [[ 9.69145839e-01 -2.31359268e-01 -8.50248895e-02 2.44522174e+02] [ 2.30859975e-01 9.72858783e-01 -1.57943386e-02 1.56735163e+01] [ 8.63713771e-02 -4.32182631e-03 9.96253636e-01 8.32488018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.98925415399998 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:244.55, Y:15.68, Z:8.33 [[ 9.69487647e-01 -2.29695377e-01 -8.56372407e-02 2.44552767e+02] [ 2.29182928e-01 9.73253467e-01 -1.59020152e-02 1.56798026e+01] [ 8.69993608e-02 -4.20978630e-03 9.96199472e-01 8.32737367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.01925415399998 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:244.58, Y:15.69, Z:8.33 [[ 9.69703537e-01 -2.28368797e-01 -8.67337479e-02 2.44583774e+02] [ 2.27838308e-01 9.73565859e-01 -1.61004391e-02 1.56869988e+01] [ 8.81178537e-02 -4.14861759e-03 9.96101417e-01 8.32969629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.04925415399998 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:244.61, Y:15.70, Z:8.33 [[ 9.70405564e-01 -2.24711678e-01 -8.84177748e-02 2.44613578e+02] [ 2.24145831e-01 9.74417504e-01 -1.64065507e-02 1.56950540e+01] [ 8.98425710e-02 -3.89746754e-03 9.95948353e-01 8.33236560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.07925415399998 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:244.64, Y:15.70, Z:8.34 [[ 9.70894191e-01 -2.22381833e-01 -8.89426261e-02 2.44644736e+02] [ 2.21799995e-01 9.74952595e-01 -1.64984798e-02 1.57021277e+01] [ 9.03838063e-02 -3.70919586e-03 9.95900100e-01 8.33510187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.10925415399998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:244.68, Y:15.71, Z:8.34 [[ 9.71882646e-01 -2.17384268e-01 -9.04886882e-02 2.44675671e+02] [ 2.16761048e-01 9.76080498e-01 -1.67782705e-02 1.57116463e+01] [ 9.19715758e-02 -3.30791297e-03 9.95756138e-01 8.33811948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.13925415399999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:244.71, Y:15.72, Z:8.34 [[ 9.72418560e-01 -2.14725079e-01 -9.10784493e-02 2.44705829e+02] [ 2.14082679e-01 9.76669666e-01 -1.68810610e-02 1.57187336e+01] [ 9.25783458e-02 -3.08286135e-03 9.95700631e-01 8.34065184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.16925415399996 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:244.74, Y:15.73, Z:8.34 [[ 9.73113741e-01 -2.11543153e-01 -9.10996204e-02 2.44736679e+02] [ 2.10887158e-01 9.77364684e-01 -1.68783928e-02 1.57257131e+01] [ 9.26080601e-02 -2.78714407e-03 9.95698739e-01 8.34305504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.19925415399996 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:244.77, Y:15.73, Z:8.35 [[ 9.74554454e-01 -2.04447118e-01 -9.18966338e-02 2.44767318e+02] [ 2.03749050e-01 9.78875269e-01 -1.70156708e-02 1.57345345e+01] [ 9.34341469e-02 -2.14115406e-03 9.95623159e-01 8.34675103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.22925415399996 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:244.80, Y:15.74, Z:8.35 [[ 9.75433257e-01 -2.00457794e-01 -9.13599204e-02 2.44797640e+02] [ 1.99751009e-01 9.79700767e-01 -1.69097939e-02 1.57422214e+01] [ 9.28950841e-02 -1.75486089e-03 9.95674356e-01 8.34960930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.25925415399996 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:244.83, Y:15.75, Z:8.35 [[ 9.76290117e-01 -1.96331706e-01 -9.11672559e-02 2.44826526e+02] [ 1.95610346e-01 9.80536589e-01 -1.68698042e-02 1.57493874e+01] [ 9.27049075e-02 -1.36343542e-03 9.95692694e-01 8.35310878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.28925415399996 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:244.86, Y:15.76, Z:8.36 [[ 9.78086562e-01 -1.88081982e-01 -8.92851952e-02 2.44857628e+02] [ 1.87356040e-01 9.82153166e-01 -1.65188543e-02 1.57576820e+01] [ 9.07986360e-02 -5.71251154e-04 9.95869109e-01 8.35683235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.31925415399996 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:244.89, Y:15.76, Z:8.36 [[ 9.78832193e-01 -1.84526395e-01 -8.85299233e-02 2.44888940e+02] [ 1.83798781e-01 9.82827528e-01 -1.63725104e-02 1.57646859e+01] [ 9.00308060e-02 -2.45751756e-04 9.95938951e-01 8.35989916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.34925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:244.92, Y:15.77, Z:8.36 [[ 9.79377203e-01 -1.81760112e-01 -8.82244591e-02 2.44919591e+02] [ 1.81026879e-01 9.83342901e-01 -1.63097346e-02 1.57714351e+01] [ 8.97193548e-02 2.38378092e-06 9.95967086e-01 8.36293795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.37925415399997 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:244.95, Y:15.78, Z:8.37 [[ 9.79861227e-01 -1.78730914e-01 -8.90350328e-02 2.44949815e+02] [ 1.77972088e-01 9.83897954e-01 -1.64545599e-02 1.57779967e+01] [ 9.05423251e-02 2.77434521e-04 9.95892570e-01 8.36548517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.40925415399997 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:244.98, Y:15.78, Z:8.37 [[ 9.79744960e-01 -1.78950284e-01 -8.98699559e-02 2.44980794e+02] [ 1.78178476e-01 9.83858085e-01 -1.66042136e-02 1.57835412e+01] [ 9.13906114e-02 2.55002789e-04 9.95815089e-01 8.36782196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.43925415399997 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:245.01, Y:15.79, Z:8.37 [[ 9.79531163e-01 -1.79861304e-01 -9.03803766e-02 2.45011137e+02] [ 1.79084826e-01 9.83691966e-01 -1.66955745e-02 1.57885571e+01] [ 9.19093381e-02 1.68081531e-04 9.95767365e-01 8.36962809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.46925415399997 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:245.04, Y:15.79, Z:8.37 [[ 9.79051180e-01 -1.81947256e-01 -9.14001268e-02 2.45043044e+02] [ 1.81162454e-01 9.83308291e-01 -1.68810576e-02 1.57938377e+01] [ 9.29459646e-02 -3.08519169e-05 9.95671154e-01 8.37173874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.49925415399997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:245.08, Y:15.80, Z:8.37 [[ 9.77907744e-01 -1.88030557e-01 -9.13288284e-02 2.45075259e+02] [ 1.87274063e-01 9.82162986e-01 -1.68610183e-02 1.57981736e+01] [ 9.28701815e-02 -6.15000436e-04 9.95678036e-01 8.37439140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.52925415399997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:245.11, Y:15.80, Z:8.38 [[ 9.77332584e-01 -1.91424775e-01 -9.04299524e-02 2.45106293e+02] [ 1.90698215e-01 9.81506843e-01 -1.66885745e-02 1.58025049e+01] [ 9.19522236e-02 -9.34542871e-04 9.95762981e-01 8.37662780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.55925415399997 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:245.14, Y:15.81, Z:8.38 [[ 9.76676647e-01 -1.94989325e-01 -8.98993386e-02 2.45138185e+02] [ 1.94286843e-01 9.80804545e-01 -1.65851506e-02 1.58070626e+01] [ 9.14076072e-02 -1.26792939e-03 9.95812754e-01 8.37910774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.58925415399997 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:245.17, Y:15.81, Z:8.38 [[ 9.75436151e-01 -2.01351482e-01 -8.93414587e-02 2.45169558e+02] [ 2.00684874e-01 9.79517293e-01 -1.64758640e-02 1.58102006e+01] [ 9.08289434e-02 -1.85832604e-03 9.95864775e-01 8.38155686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.61925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:245.20, Y:15.81, Z:8.38 [[ 9.74948692e-01 -2.03877897e-01 -8.89317214e-02 2.45200988e+02] [ 2.03228365e-01 9.78994095e-01 -1.63949162e-02 1.58147134e+01] [ 9.04061911e-02 -2.08924620e-03 9.95902784e-01 8.38355600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.64925415399998 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:245.23, Y:15.82, Z:8.39 [[ 9.74059269e-01 -2.07990101e-01 -8.91552519e-02 2.45231867e+02] [ 2.07355168e-01 9.78127775e-01 -1.64283233e-02 1.58178025e+01] [ 9.06221568e-02 -2.48464170e-03 9.95882248e-01 8.38568268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.67925415399998 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:245.26, Y:15.82, Z:8.39 [[ 9.73760349e-01 -2.08846539e-01 -9.04096542e-02 2.45263928e+02] [ 2.08198246e-01 9.77944940e-01 -1.66488797e-02 1.58220753e+01] [ 9.18927247e-02 -2.61111246e-03 9.95765489e-01 8.38820070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.70925415399998 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:245.30, Y:15.83, Z:8.39 [[ 9.73572158e-01 -2.10509520e-01 -8.85606823e-02 2.45295617e+02] [ 2.09894967e-01 9.77588030e-01 -1.63017157e-02 1.58273700e+01] [ 9.00075293e-02 -2.71754498e-03 9.95937377e-01 8.39000171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.73925415399998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:245.33, Y:15.83, Z:8.39 [[ 9.73412254e-01 -2.11377173e-01 -8.82512039e-02 2.45327779e+02] [ 2.10771071e-01 9.77400574e-01 -1.62380406e-02 1.58320860e+01] [ 8.96891284e-02 -2.79449311e-03 9.95965889e-01 8.39209844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.76925415399998 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:245.36, Y:15.84, Z:8.39 [[ 9.73085216e-01 -2.13121757e-01 -8.76600221e-02 2.45359043e+02] [ 2.12531375e-01 9.77021220e-01 -1.61229765e-02 1.58352045e+01] [ 8.90818588e-02 -2.94147498e-03 9.96019965e-01 8.39376205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.79925415399998 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:245.39, Y:15.84, Z:8.40 [[ 9.72720538e-01 -2.15045296e-01 -8.70073327e-02 2.45390647e+02] [ 2.14471815e-01 9.76599158e-01 -1.59976808e-02 1.58386525e+01] [ 8.84115139e-02 -3.09934782e-03 9.96079213e-01 8.39564147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.82925415399998 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:245.42, Y:15.84, Z:8.40 [[ 9.72398573e-01 -2.15755789e-01 -8.88282317e-02 2.45421179e+02] [ 2.15161581e-01 9.76441990e-01 -1.63258659e-02 1.58425892e+01] [ 9.02580154e-02 -3.23717409e-03 9.95913155e-01 8.39841595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.85925415399998 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:245.45, Y:15.85, Z:8.40 [[ 9.72092251e-01 -2.17997594e-01 -8.66816246e-02 2.45453066e+02] [ 2.17441125e-01 9.75943500e-01 -1.59261231e-02 1.58479889e+01] [ 8.80682246e-02 -3.36648911e-03 9.96108756e-01 8.39936917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.88925415399999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:245.49, Y:15.85, Z:8.40 [[ 9.71708563e-01 -2.19684795e-01 -8.67240418e-02 2.45485187e+02] [ 2.19135059e-01 9.75564527e-01 -1.59273042e-02 1.58530276e+01] [ 8.81038854e-02 -3.52758017e-03 9.96105045e-01 8.40123999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.91925415399996 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:245.52, Y:15.86, Z:8.40 [[ 9.71257137e-01 -2.21661688e-01 -8.67506140e-02 2.45516619e+02] [ 2.21120055e-01 9.75116556e-01 -1.59255434e-02 1.58577587e+01] [ 8.81220428e-02 -3.71450277e-03 9.96102760e-01 8.40315718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.94925415399996 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:245.55, Y:15.86, Z:8.40 [[ 9.70750460e-01 -2.23872611e-01 -8.67444401e-02 2.45548007e+02] [ 2.23340430e-01 9.74610526e-01 -1.59177709e-02 1.58623558e+01] [ 8.81055973e-02 -3.92135710e-03 9.96103422e-01 8.40478678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.97925415399996 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:245.58, Y:15.87, Z:8.41 [[ 9.69761549e-01 -2.28049541e-01 -8.69249430e-02 2.45579558e+02] [ 2.27532421e-01 9.73639963e-01 -1.59442557e-02 1.58660409e+01] [ 8.82696785e-02 -4.31611666e-03 9.96087263e-01 8.40619790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.00925415399996 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:245.61, Y:15.87, Z:8.41 [[ 9.69290299e-01 -2.29779083e-01 -8.76235624e-02 2.45610266e+02] [ 2.29261218e-01 9.73232335e-01 -1.60659867e-02 1.58709222e+01] [ 8.89697120e-02 -4.51607966e-03 9.96024094e-01 8.40833410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.03925415399996 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:245.64, Y:15.88, Z:8.41 [[ 9.68983785e-01 -2.31053446e-01 -8.76625908e-02 2.45641440e+02] [ 2.30540785e-01 9.72929994e-01 -1.60678060e-02 1.58763444e+01] [ 8.90020859e-02 -4.64035896e-03 9.96020630e-01 8.41062104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.06925415399996 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:245.67, Y:15.88, Z:8.41 [[ 9.68796952e-01 -2.31776892e-01 -8.78176423e-02 2.45673221e+02] [ 2.31265966e-01 9.72757512e-01 -1.60895916e-02 1.58818028e+01] [ 8.91544668e-02 -4.72168461e-03 9.96006620e-01 8.41297913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.09925415399996 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:245.70, Y:15.89, Z:8.42 [[ 9.68500758e-01 -2.33061991e-01 -8.76834640e-02 2.45704762e+02] [ 2.32558453e-01 9.72449841e-01 -1.60584161e-02 1.58874638e+01] [ 8.90103771e-02 -4.83894258e-03 9.96018944e-01 8.41513689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.12925415399997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:245.74, Y:15.89, Z:8.42 [[ 9.68425427e-01 -2.33359887e-01 -8.77231704e-02 2.45735119e+02] [ 2.32857667e-01 9.72378219e-01 -1.60594429e-02 1.58927659e+01] [ 8.90477300e-02 -4.87463994e-03 9.96015431e-01 8.41720161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.15925415399997 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:245.77, Y:15.90, Z:8.42 [[ 9.68452051e-01 -2.33269259e-01 -8.76702749e-02 2.45765919e+02] [ 2.32767712e-01 9.72399997e-01 -1.60448709e-02 1.58979848e+01] [ 8.89933502e-02 -4.86812113e-03 9.96020324e-01 8.41892654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.18925415399997 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:245.80, Y:15.90, Z:8.42 [[ 9.68604787e-01 -2.32347019e-01 -8.84286732e-02 2.45796513e+02] [ 2.31833343e-01 9.72620963e-01 -1.61790889e-02 1.59031843e+01] [ 8.97667443e-02 -4.82957192e-03 9.95951107e-01 8.42106571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.21925415399997 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:245.83, Y:15.91, Z:8.42 [[ 9.68755677e-01 -2.31592127e-01 -8.87554166e-02 2.45827847e+02] [ 2.31071854e-01 9.72801227e-01 -1.62348939e-02 1.59093559e+01] [ 9.01012517e-02 -4.78123304e-03 9.95921134e-01 8.42328325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.24925415399997 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:245.86, Y:15.92, Z:8.43 [[ 9.68961900e-01 -2.30815151e-01 -8.85279745e-02 2.45858247e+02] [ 2.30294884e-01 9.72986253e-01 -1.61869813e-02 1.59151922e+01] [ 8.98727027e-02 -4.70297143e-03 9.95942157e-01 8.42542730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.27925415399997 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:245.89, Y:15.92, Z:8.43 [[ 9.69271885e-01 -2.29677322e-01 -8.80927989e-02 2.45887724e+02] [ 2.29157932e-01 9.73256058e-01 -1.61023954e-02 1.59211830e+01] [ 8.94352053e-02 -4.57956445e-03 9.95982114e-01 8.42819194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.30925415399997 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:245.92, Y:15.93, Z:8.43 [[ 9.69417163e-01 -2.29167221e-01 -8.78222577e-02 2.45919408e+02] [ 2.28649436e-01 9.73376555e-01 -1.60473332e-02 1.59269903e+01] [ 8.91616494e-02 -4.52394943e-03 9.96006895e-01 8.43075637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.33925415399997 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:245.95, Y:15.93, Z:8.43 [[ 9.69575414e-01 -2.28925859e-01 -8.66975631e-02 2.45951384e+02] [ 2.28420867e-01 9.73433690e-01 -1.58353583e-02 1.59327222e+01] [ 8.80194517e-02 -4.44995844e-03 9.96108816e-01 8.43317586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.36925415399998 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:245.98, Y:15.94, Z:8.44 [[ 9.69705708e-01 -2.28816200e-01 -8.55218455e-02 2.45983189e+02] [ 2.28324947e-01 9.73459765e-01 -1.56142579e-02 1.59382983e+01] [ 8.68248707e-02 -4.38553586e-03 9.96213937e-01 8.43563467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.39925415399998 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:246.01, Y:15.94, Z:8.44 [[ 9.69885420e-01 -2.28554570e-01 -8.41729164e-02 2.46014987e+02] [ 2.28078249e-01 9.73521612e-01 -1.53617719e-02 1.59440654e+01] [ 8.54551564e-02 -4.29885280e-03 9.96332744e-01 8.43895262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.42925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:246.05, Y:15.95, Z:8.44 [[ 9.70026479e-01 -2.28466116e-01 -8.27759832e-02 2.46046232e+02] [ 2.28005671e-01 9.73542696e-01 -1.51007606e-02 1.59504111e+01] [ 8.40359659e-02 -4.22525592e-03 9.96453764e-01 8.44092853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.45925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:246.08, Y:15.96, Z:8.44 [[ 9.70168133e-01 -2.28089052e-01 -8.21533773e-02 2.46076253e+02] [ 2.27634653e-01 9.73631360e-01 -1.49813399e-02 1.59565540e+01] [ 8.34041841e-02 -4.16653692e-03 9.96507091e-01 8.44322296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.48925415399998 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:246.11, Y:15.96, Z:8.45 [[ 9.70386896e-01 -2.27417579e-01 -8.14279880e-02 2.46107656e+02] [ 2.26969206e-01 9.73788798e-01 -1.48443784e-02 1.59633788e+01] [ 8.26695352e-02 -4.07685550e-03 9.96568677e-01 8.44538278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.51925415399998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:246.14, Y:15.97, Z:8.45 [[ 9.70443647e-01 -2.27127906e-01 -8.15600550e-02 2.46140222e+02] [ 2.26677597e-01 9.73856452e-01 -1.48619685e-02 1.59696713e+01] [ 8.28033536e-02 -4.06513438e-03 9.96557615e-01 8.44741801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.54925415399998 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:246.17, Y:15.98, Z:8.45 [[ 9.70466587e-01 -2.26987699e-01 -8.16773430e-02 2.46171410e+02] [ 2.26536375e-01 9.73889128e-01 -1.48740143e-02 1.59756470e+01] [ 8.29208947e-02 -4.06815534e-03 9.96547829e-01 8.44972590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.57925415399998 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:246.20, Y:15.98, Z:8.45 [[ 9.70447831e-01 -2.27054314e-01 -8.17150326e-02 2.46202775e+02] [ 2.26603444e-01 9.73873537e-01 -1.48732480e-02 1.59817666e+01] [ 8.29571430e-02 -4.08319656e-03 9.96544751e-01 8.45173167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.60925415399998 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:246.23, Y:15.99, Z:8.45 [[ 9.70134283e-01 -2.27771304e-01 -8.34248562e-02 2.46234070e+02] [ 2.27304529e-01 9.73705434e-01 -1.51782070e-02 1.59889325e+01] [ 8.46883958e-02 -4.23794867e-03 9.96398472e-01 8.45359534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.63925415399999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:246.27, Y:15.99, Z:8.46 [[ 9.70154727e-01 -2.27683792e-01 -8.34259940e-02 2.46266172e+02] [ 2.27217232e-01 9.73725907e-01 -1.51719508e-02 1.59947066e+01] [ 8.46884589e-02 -4.23668364e-03 9.96398472e-01 8.45591937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.66925415399996 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:246.30, Y:16.00, Z:8.46 [[ 9.69979024e-01 -2.28007739e-01 -8.45763767e-02 2.46298589e+02] [ 2.27530157e-01 9.73649681e-01 -1.53728918e-02 1.60011602e+01] [ 8.58529005e-02 -4.33229360e-03 9.96298404e-01 8.45794666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.69925415399996 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:246.33, Y:16.01, Z:8.46 [[ 9.69830202e-01 -2.28433016e-01 -8.51336346e-02 2.46329299e+02] [ 2.27951523e-01 9.73549654e-01 -1.54652374e-02 1.60073789e+01] [ 8.64145914e-02 -4.40768733e-03 9.96249512e-01 8.45944223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.72925415399996 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:246.36, Y:16.01, Z:8.46 [[ 9.69629302e-01 -2.29422640e-01 -8.47600694e-02 2.46361080e+02] [ 2.28949566e-01 9.73316584e-01 -1.53923022e-02 1.60138664e+01] [ 8.60297238e-02 -4.48095385e-03 9.96282494e-01 8.46132902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.75925415399996 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:246.39, Y:16.02, Z:8.46 [[ 9.69493955e-01 -2.30340604e-01 -8.38133472e-02 2.46392935e+02] [ 2.29881992e-01 9.73099584e-01 -1.52140988e-02 1.60200463e+01] [ 8.50631580e-02 -4.51720234e-03 9.96365322e-01 8.46333013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.78925415399996 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:246.42, Y:16.03, Z:8.47 [[ 9.69538115e-01 -2.30403968e-01 -8.31255402e-02 2.46424741e+02] [ 2.29953641e-01 9.73084701e-01 -1.50826964e-02 1.60258469e+01] [ 8.43633045e-02 -4.49177160e-03 9.96424938e-01 8.46604608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.81925415399996 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:246.46, Y:16.03, Z:8.47 [[ 9.69660288e-01 -2.30225807e-01 -8.21888256e-02 2.46456763e+02] [ 2.29785607e-01 9.73127136e-01 -1.49047395e-02 1.60320448e+01] [ 8.34116322e-02 -4.43327512e-03 9.96505316e-01 8.46897254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.84925415399996 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:246.49, Y:16.04, Z:8.47 [[ 9.69852443e-01 -2.30155932e-01 -8.00904841e-02 2.46488152e+02] [ 2.29738413e-01 9.73144165e-01 -1.45153555e-02 1.60388094e+01] [ 8.12803825e-02 -4.32210775e-03 9.96681905e-01 8.47194647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.87925415399997 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:246.52, Y:16.04, Z:8.47 [[ 9.69952148e-01 -2.29901107e-01 -7.96135112e-02 2.46519812e+02] [ 2.29488305e-01 9.73204574e-01 -1.44213467e-02 1.60443119e+01] [ 8.07957168e-02 -4.28235359e-03 9.96721482e-01 8.47437955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.90925415399997 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:246.55, Y:16.05, Z:8.48 [[ 9.69969374e-01 -2.30029359e-01 -7.90310537e-02 2.46550542e+02] [ 2.29623562e-01 9.73174330e-01 -1.43088578e-02 1.60494303e+01] [ 8.02024501e-02 -4.26823827e-03 9.96769456e-01 8.47628827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.93925415399997 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:246.58, Y:16.06, Z:8.48 [[ 9.69896109e-01 -2.30391488e-01 -7.88752165e-02 2.46581830e+02] [ 2.29988844e-01 9.73088549e-01 -1.42761479e-02 1.60550781e+01] [ 8.00416729e-02 -4.29403956e-03 9.96782269e-01 8.47852399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.96925415399997 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:246.61, Y:16.06, Z:8.48 [[ 9.69788813e-01 -2.30610271e-01 -7.95522573e-02 2.46613685e+02] [ 2.30201912e-01 9.73036450e-01 -1.43925637e-02 1.60604561e+01] [ 8.07263190e-02 -4.35533447e-03 9.96726789e-01 8.48203160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.99925415399997 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:246.65, Y:16.07, Z:8.48 [[ 9.69750482e-01 -2.31051369e-01 -7.87354236e-02 2.46646309e+02] [ 2.30653396e-01 9.72931811e-01 -1.42373623e-02 1.60663699e+01] [ 7.98937603e-02 -4.35390387e-03 9.96793876e-01 8.48263418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.02925415399997 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:246.68, Y:16.07, Z:8.48 [[ 9.69597904e-01 -2.31553485e-01 -7.91384129e-02 2.46677379e+02] [ 2.31153891e-01 9.72812099e-01 -1.43003071e-02 1.60721877e+01] [ 8.02980915e-02 -4.42760422e-03 9.96761061e-01 8.48491442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.05925415399997 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:246.71, Y:16.08, Z:8.49 [[ 9.69470497e-01 -2.32163710e-01 -7.89111398e-02 2.46710188e+02] [ 2.31769574e-01 9.72666412e-01 -1.42448773e-02 1.60780880e+01] [ 8.00613587e-02 -4.47921294e-03 9.96779873e-01 8.48618744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.08925415399997 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:246.74, Y:16.09, Z:8.49 [[ 9.69603834e-01 -2.31496271e-01 -7.92330799e-02 2.46739708e+02] [ 2.30773857e-01 9.72835631e-01 -1.82828226e-02 1.60850353e+01] [ 8.13131685e-02 -5.57828570e-04 9.96688446e-01 8.48917369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.11925415399998 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:246.77, Y:16.09, Z:8.49 [[ 9.69560347e-01 -2.31497534e-01 -7.97597933e-02 2.46773011e+02] [ 2.31373722e-01 9.72803672e-01 -1.09185982e-02 1.60873497e+01] [ 8.01182484e-02 -7.86808039e-03 9.96754313e-01 8.48856084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.14925415399998 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:246.81, Y:16.10, Z:8.49 [[ 9.69837440e-01 -2.30524739e-01 -7.92065917e-02 2.46805541e+02] [ 2.30125081e-01 9.73056539e-01 -1.42625200e-02 1.60951429e+01] [ 8.03603556e-02 -4.39509743e-03 9.96756187e-01 8.49062572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.17925415399998 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:246.84, Y:16.10, Z:8.49 [[ 9.70079273e-01 -2.29385072e-01 -7.95530805e-02 2.46836744e+02] [ 2.28978829e-01 9.73326129e-01 -1.43158355e-02 1.61011358e+01] [ 8.07149309e-02 -4.32847593e-03 9.96727829e-01 8.49247859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.20925415399998 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:246.87, Y:16.11, Z:8.50 [[ 9.70423206e-01 -2.27822215e-01 -7.98488607e-02 2.46869202e+02] [ 2.27408316e-01 9.73693594e-01 -1.43611819e-02 1.61074925e+01] [ 8.10201203e-02 -4.22187075e-03 9.96703525e-01 8.49510617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.23925415399998 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:246.90, Y:16.12, Z:8.50 [[ 9.71249325e-01 -2.24616459e-01 -7.88808957e-02 2.46900141e+02] [ 2.24202714e-01 9.74439388e-01 -1.41782124e-02 1.61152150e+01] [ 8.00493116e-02 -3.91473176e-03 9.96783217e-01 8.49607685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.26925415399998 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:246.93, Y:16.12, Z:8.50 [[ 9.71696636e-01 -2.22841587e-01 -7.84045538e-02 2.46932148e+02] [ 2.22427679e-01 9.74847445e-01 -1.40849505e-02 1.61216207e+01] [ 7.95711917e-02 -3.75304384e-03 9.96822121e-01 8.49850251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.29925415399998 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:246.96, Y:16.13, Z:8.50 [[ 9.72352109e-01 -2.20624355e-01 -7.65262756e-02 2.46963279e+02] [ 2.20223866e-01 9.75352597e-01 -1.37390273e-02 1.61282062e+01] [ 7.76712657e-02 -3.49374016e-03 9.96972902e-01 8.50005806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.32925415399998 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:247.00, Y:16.13, Z:8.50 [[ 9.72554299e-01 -2.19885770e-01 -7.60814288e-02 2.46995985e+02] [ 2.19488243e-01 9.75519625e-01 -1.36518219e-02 1.61344772e+01] [ 7.72207683e-02 -3.42184103e-03 9.97008146e-01 8.50238824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.35925415399998 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:247.03, Y:16.14, Z:8.50 [[ 9.72460623e-01 -2.20387539e-01 -7.58265779e-02 2.47027144e+02] [ 2.19994858e-01 9.75406260e-01 -1.35974679e-02 1.61405253e+01] [ 7.69584312e-02 -3.45845507e-03 9.97028304e-01 8.50373474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.38925415399999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:247.06, Y:16.15, Z:8.51 [[ 9.71826855e-01 -2.22923079e-01 -7.65366895e-02 2.47056151e+02] [ 2.22117046e-01 9.74834943e-01 -1.89960738e-02 1.61485329e+01] [ 7.88453026e-02 1.46079126e-03 9.96885793e-01 8.50673641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.41925415399996 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:247.09, Y:16.15, Z:8.51 [[ 9.71277816e-01 -2.24949324e-01 -7.75706492e-02 2.47088596e+02] [ 2.24950817e-01 9.74330085e-01 -8.83266086e-03 1.61493022e+01] [ 7.75663183e-02 -8.87061336e-03 9.96947731e-01 8.50557044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.44925415399996 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:247.12, Y:16.16, Z:8.51 [[ 9.69527168e-01 -2.32283448e-01 -7.78554500e-02 2.47120814e+02] [ 2.31908849e-01 9.72637563e-01 -1.39447821e-02 1.61570924e+01] [ 7.89642772e-02 -4.53552278e-03 9.96867129e-01 8.50900825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.47925415399996 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:247.15, Y:16.16, Z:8.51 [[ 9.69009407e-01 -2.34442435e-01 -7.78300344e-02 2.47151814e+02] [ 2.34075675e-01 9.72118555e-01 -1.39317610e-02 1.61626954e+01] [ 7.89262165e-02 -4.71811043e-03 9.96869295e-01 8.51117040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.50925415399996 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:247.18, Y:16.17, Z:8.51 [[ 9.69030855e-01 -2.34353354e-01 -7.78312788e-02 2.47183934e+02] [ 2.33986866e-01 9.72140034e-01 -1.39248054e-02 1.61683749e+01] [ 7.89262269e-02 -4.71793088e-03 9.96869295e-01 8.51349997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.53925415399996 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:247.22, Y:16.17, Z:8.52 [[ 9.69052295e-01 -2.34264259e-01 -7.78325544e-02 2.47216054e+02] [ 2.33898055e-01 9.72161508e-01 -1.39176723e-02 1.61740513e+01] [ 7.89262266e-02 -4.71793087e-03 9.96869295e-01 8.51582948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.56925415399996 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:247.25, Y:16.18, Z:8.52 [[ 9.68349354e-01 -2.37366532e-01 -7.71793905e-02 2.47248468e+02] [ 2.37016820e-01 9.71407621e-01 -1.37935023e-02 1.61807578e+01] [ 7.82467639e-02 -4.93588462e-03 9.96921803e-01 8.51847679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.59925415399996 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:247.28, Y:16.19, Z:8.52 [[ 9.68379678e-01 -2.37242290e-01 -7.71809261e-02 2.47281427e+02] [ 2.36892868e-01 9.71437978e-01 -1.37849047e-02 1.61865489e+01] [ 7.82468452e-02 -4.93458930e-03 9.96921803e-01 8.52086632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.62925415399997 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:247.31, Y:16.19, Z:8.52 [[ 9.68037248e-01 -2.38853412e-01 -7.65044657e-02 2.47313894e+02] [ 2.38515857e-01 9.71042609e-01 -1.36541865e-02 1.61939700e+01] [ 7.75504450e-02 -5.02976705e-03 9.96975742e-01 8.52312291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.65925415399997 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:247.35, Y:16.20, Z:8.53 [[ 9.67983037e-01 -2.39075213e-01 -7.64975971e-02 2.47345963e+02] [ 2.38739078e-01 9.70987891e-01 -1.36443273e-02 1.62007344e+01] [ 7.75402610e-02 -5.05548848e-03 9.96976404e-01 8.52529742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.68925415399997 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:247.38, Y:16.21, Z:8.53 [[ 9.67932121e-01 -2.39012755e-01 -7.73324793e-02 2.47377810e+02] [ 2.38669766e-01 9.71002956e-01 -1.37841070e-02 1.62089757e+01] [ 7.83846435e-02 -5.11484482e-03 9.96910069e-01 8.52741508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.71925415399997 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:247.41, Y:16.22, Z:8.53 [[ 9.67963584e-01 -2.38796736e-01 -7.76055356e-02 2.47409003e+02] [ 2.38451391e-01 9.71056051e-01 -1.38231525e-02 1.62157392e+01] [ 7.86602486e-02 -5.12483962e-03 9.96888309e-01 8.52957239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.74925415399997 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:247.44, Y:16.22, Z:8.53 [[ 9.67933640e-01 -2.38845110e-01 -7.78298236e-02 2.47441092e+02] [ 2.38499060e-01 9.71043980e-01 -1.38487126e-02 1.62225971e+01] [ 7.88838790e-02 -5.15770496e-03 9.96870469e-01 8.53204845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.77925415399997 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:247.47, Y:16.23, Z:8.53 [[ 9.67867640e-01 -2.39056473e-01 -7.80015035e-02 2.47472645e+02] [ 2.38710283e-01 9.70991768e-01 -1.38703553e-02 1.62300161e+01] [ 7.90546160e-02 -5.19509298e-03 9.96856749e-01 8.53373075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.80925415399997 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:247.50, Y:16.24, Z:8.54 [[ 9.67806024e-01 -2.39352319e-01 -7.78586342e-02 2.47504796e+02] [ 2.39008948e-01 9.70918766e-01 -1.38373682e-02 1.62365429e+01] [ 7.89064152e-02 -5.21702188e-03 9.96868377e-01 8.53620435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.83925415399997 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:247.54, Y:16.24, Z:8.54 [[ 9.67770994e-01 -2.39569915e-01 -7.76244720e-02 2.47536824e+02] [ 2.39229991e-01 9.70865042e-01 -1.37870093e-02 1.62427448e+01] [ 7.86658389e-02 -5.22743409e-03 9.96887336e-01 8.53857032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.86925415399998 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:247.57, Y:16.25, Z:8.54 [[ 9.67723392e-01 -2.39792298e-01 -7.75312266e-02 2.47568793e+02] [ 2.39454601e-01 9.70810030e-01 -1.37615384e-02 1.62490440e+01] [ 7.85680033e-02 -5.24784626e-03 9.96894944e-01 8.54098187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.89925415399998 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:247.60, Y:16.26, Z:8.54 [[ 9.67642174e-01 -2.40108406e-01 -7.75665893e-02 2.47600610e+02] [ 2.39772162e-01 9.70731693e-01 -1.37582822e-02 1.62553590e+01] [ 7.85998257e-02 -5.28521467e-03 9.96892238e-01 8.54334604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.92925415399998 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:247.63, Y:16.26, Z:8.55 [[ 9.67244820e-01 -2.41519496e-01 -7.81395681e-02 2.47632466e+02] [ 2.41183982e-01 9.70380640e-01 -1.38455594e-02 1.62621209e+01] [ 7.91690966e-02 -5.45396658e-03 9.96846281e-01 8.54508616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.95925415399998 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:247.66, Y:16.27, Z:8.55 [[ 9.67040813e-01 -2.42136772e-01 -7.87518227e-02 2.47664679e+02] [ 2.41798724e-01 9.70226215e-01 -1.39451990e-02 1.62678821e+01] [ 7.97837283e-02 -5.55651360e-03 9.96796710e-01 8.54723896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.98925415399998 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:247.70, Y:16.27, Z:8.55 [[ 9.66552116e-01 -2.43612056e-01 -8.01883650e-02 2.47697273e+02] [ 2.43267350e-01 9.69855467e-01 -1.41904965e-02 1.62735860e+01] [ 8.12281002e-02 -5.79135662e-03 9.96678712e-01 8.54917209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.01925415399998 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:247.73, Y:16.28, Z:8.55 [[ 9.66349078e-01 -2.44060596e-01 -8.12642906e-02 2.47728662e+02] [ 2.43709100e-01 9.69741920e-01 -1.43694935e-02 1.62792749e+01] [ 8.23124163e-02 -5.91890028e-03 9.96588999e-01 8.55129144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.04925415399998 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:247.76, Y:16.29, Z:8.55 [[ 9.66109547e-01 -2.44731086e-01 -8.20916496e-02 2.47760681e+02] [ 2.44376606e-01 9.69572067e-01 -1.44941987e-02 1.62854195e+01] [ 8.31409513e-02 -6.05829495e-03 9.96519382e-01 8.55376223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.07925415399998 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:247.79, Y:16.29, Z:8.56 [[ 9.65984592e-01 -2.45014277e-01 -8.27150066e-02 2.47793420e+02] [ 2.44656220e-01 9.69500038e-01 -1.45948494e-02 1.62916306e+01] [ 8.37681485e-02 -6.13834117e-03 9.96466366e-01 8.55580129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.10925415399998 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:247.83, Y:16.30, Z:8.56 [[ 9.65966708e-01 -2.44953406e-01 -8.31032389e-02 2.47825004e+02] [ 2.44592531e-01 9.69515213e-01 -1.46542021e-02 1.62975084e+01] [ 8.41594511e-02 -6.17096014e-03 9.96433192e-01 8.55785180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.13925415399999 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:247.86, Y:16.30, Z:8.56 [[ 9.66195968e-01 -2.44028629e-01 -8.31587645e-02 2.47857730e+02] [ 2.43664546e-01 9.69748829e-01 -1.46560044e-02 1.63045290e+01] [ 8.42195991e-02 -6.10227022e-03 9.96428533e-01 8.56019364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.16925415399996 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:247.89, Y:16.31, Z:8.56 [[ 9.66732920e-01 -2.42069554e-01 -8.26425620e-02 2.47890088e+02] [ 2.41703631e-01 9.70240940e-01 -1.45558735e-02 1.63111546e+01] [ 8.37067308e-02 -5.90336518e-03 9.96472947e-01 8.56282152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.19925415399996 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:247.92, Y:16.32, Z:8.57 [[ 9.67389749e-01 -2.39639222e-01 -8.20372937e-02 2.47920924e+02] [ 2.39270697e-01 9.70845513e-01 -1.44403056e-02 1.63179781e+01] [ 8.31060021e-02 -5.65971688e-03 9.96524641e-01 8.56548945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.22925415399996 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:247.95, Y:16.33, Z:8.57 [[ 9.69450097e-01 -2.31730633e-01 -8.04202939e-02 2.47952219e+02] [ 2.31350061e-01 9.72767701e-01 -1.41473791e-02 1.63267524e+01] [ 8.15086455e-02 -4.89006184e-03 9.96660638e-01 8.56800671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.25925415399996 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:247.98, Y:16.33, Z:8.57 [[ 9.70775983e-01 -2.26439178e-01 -7.94939595e-02 2.47984452e+02] [ 2.26050757e-01 9.74015336e-01 -1.39707070e-02 1.63341682e+01] [ 8.05918511e-02 -4.40724291e-03 9.96737443e-01 8.57081441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.28925415399996 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:248.02, Y:16.34, Z:8.57 [[ 9.72234582e-01 -2.20478385e-01 -7.84168365e-02 2.48016299e+02] [ 2.20081769e-01 9.75384193e-01 -1.37728670e-02 1.63418726e+01] [ 7.95231623e-02 -3.86765857e-03 9.96825515e-01 8.57334257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.31925415399996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:248.05, Y:16.35, Z:8.58 [[ 9.75144373e-01 -2.07968935e-01 -7.64354239e-02 2.48047184e+02] [ 2.07554402e-01 9.78131475e-01 -1.34159511e-02 1.63515868e+01] [ 7.75539950e-02 -2.78201955e-03 9.96984272e-01 8.57625916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.34925415399996 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:248.08, Y:16.36, Z:8.58 [[ 9.77788129e-01 -1.95874084e-01 -7.45903317e-02 2.48077673e+02] [ 1.95445138e-01 9.80627421e-01 -1.30789243e-02 1.63601747e+01] [ 7.57071470e-02 -1.78990078e-03 9.97128489e-01 8.57878614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.37925415399997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:248.11, Y:16.37, Z:8.58 [[ 9.78946252e-01 -1.90296545e-01 -7.38340069e-02 2.48109607e+02] [ 1.89860924e-01 9.81725725e-01 -1.29394858e-02 1.63672350e+01] [ 7.49470834e-02 -1.35113160e-03 9.97186597e-01 8.58086040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.40925415399997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:248.14, Y:16.37, Z:8.58 [[ 9.78970373e-01 -1.90171866e-01 -7.38354276e-02 2.48142589e+02] [ 1.89736502e-01 9.81749886e-01 -1.29313738e-02 1.63729177e+01] [ 7.49471061e-02 -1.34984394e-03 9.97186597e-01 8.58324995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.43925415399997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:248.17, Y:16.38, Z:8.59 [[ 9.80719401e-01 -1.81005518e-01 -7.36645097e-02 2.48173325e+02] [ 1.80547020e-01 9.83481861e-01 -1.28919420e-02 1.63803868e+01] [ 7.47812217e-02 -6.56530019e-04 9.97199748e-01 8.58559182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.46925415399997 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:248.21, Y:16.39, Z:8.59 [[ 9.81345928e-01 -1.77543812e-01 -7.37452618e-02 2.48205965e+02] [ 1.77075061e-01 9.84112816e-01 -1.28991427e-02 1.63869706e+01] [ 7.48638202e-02 -3.99925500e-04 9.97193687e-01 8.58777315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.49925415399997 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:248.24, Y:16.39, Z:8.59 [[ 9.81854902e-01 -1.74657989e-01 -7.38616127e-02 2.48238540e+02] [ 1.74180208e-01 9.84629144e-01 -1.29113690e-02 1.63931879e+01] [ 7.49813703e-02 -1.88140107e-04 9.97184917e-01 8.58997771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.52925415399997 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:248.27, Y:16.40, Z:8.59 [[ 9.81876438e-01 -1.74536294e-01 -7.38629928e-02 2.48271524e+02] [ 1.74058764e-01 9.84650723e-01 -1.29034691e-02 1.63988530e+01] [ 7.49813730e-02 -1.86888962e-04 9.97184917e-01 8.59236726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.55925415399997 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:248.30, Y:16.41, Z:8.59 [[ 9.82476260e-01 -1.70934039e-01 -7.43098390e-02 2.48303638e+02] [ 1.70441125e-01 9.85282471e-01 -1.29720797e-02 1.64051785e+01] [ 7.54335518e-02 7.93077564e-05 9.97150828e-01 8.59449643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.58925415399997 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:248.34, Y:16.41, Z:8.60 [[ 9.82642777e-01 -1.69968246e-01 -7.43234065e-02 2.48335538e+02] [ 1.69473029e-01 9.85449529e-01 -1.29660385e-02 1.64106155e+01] [ 7.54457807e-02 1.45171294e-04 9.97149895e-01 8.59641888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.61925415399998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:248.37, Y:16.42, Z:8.60 [[ 9.82663293e-01 -1.69774522e-01 -7.44947264e-02 2.48367599e+02] [ 1.69277455e-01 9.85482922e-01 -1.29828145e-02 1.64161757e+01] [ 7.56174318e-02 1.47457546e-04 9.97136892e-01 8.59854476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.64925415399998 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:248.40, Y:16.42, Z:8.60 [[ 9.82455198e-01 -1.71016762e-01 -7.43979271e-02 2.48399820e+02] [ 1.70525159e-01 9.85268118e-01 -1.29578188e-02 1.64213629e+01] [ 7.55179098e-02 4.37581568e-05 9.97144445e-01 8.60035190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.67925415399998 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:248.43, Y:16.43, Z:8.60 [[ 9.82185816e-01 -1.72509167e-01 -7.45091298e-02 2.48432563e+02] [ 1.72021005e-01 9.85007909e-01 -1.29689191e-02 1.64265673e+01] [ 7.56293395e-02 -7.92469592e-05 9.97135997e-01 8.60285511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.70925415399998 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:248.46, Y:16.43, Z:8.60 [[ 9.81863211e-01 -1.74445030e-01 -7.42534005e-02 2.48464793e+02] [ 1.73966360e-01 9.84666886e-01 -1.29162542e-02 1.64313517e+01] [ 7.53680410e-02 -2.35598907e-04 9.97155757e-01 8.60487710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.73925415399998 meters Centerline goodness : 0.999587 Centerline is valid? [True, True] Translation: X:248.50, Y:16.43, Z:8.61 [[ 9.80968253e-01 -1.79611496e-01 -7.37631166e-02 2.48496678e+02] [ 1.79154303e-01 9.83737417e-01 -1.28230028e-02 1.64348998e+01] [ 7.48666965e-02 -6.36021147e-04 9.97193348e-01 8.60702718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.76925415399998 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:248.53, Y:16.44, Z:8.61 [[ 9.80370516e-01 -1.82846120e-01 -7.37627763e-02 2.48529864e+02] [ 1.82398576e-01 9.83141142e-01 -1.28161780e-02 1.64393269e+01] [ 7.48626086e-02 -8.89622322e-04 9.97193461e-01 8.60918471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.79925415399998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:248.56, Y:16.44, Z:8.61 [[ 9.79711147e-01 -1.86295419e-01 -7.38923916e-02 2.48561960e+02] [ 1.85856681e-01 9.82493086e-01 -1.28308115e-02 1.64433058e+01] [ 7.49890852e-02 -1.16290558e-03 9.97183677e-01 8.61116330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.82925415399998 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:248.59, Y:16.45, Z:8.61 [[ 9.78984195e-01 -1.90071567e-01 -7.39103822e-02 2.48594609e+02] [ 1.89643851e-01 9.81769154e-01 -1.28272644e-02 1.64473667e+01] [ 7.50010316e-02 -1.45896038e-03 9.97182389e-01 8.61337258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.85925415399998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:248.63, Y:16.45, Z:8.62 [[ 9.78255777e-01 -1.93885290e-01 -7.36486812e-02 2.48627371e+02] [ 1.93472002e-01 9.81022640e-01 -1.27735584e-02 1.64512243e+01] [ 7.47276288e-02 -1.75315047e-03 9.97202441e-01 8.61562417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.88925415399999 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:248.66, Y:16.45, Z:8.62 [[ 9.76839008e-01 -2.01178819e-01 -7.28878259e-02 2.48659127e+02] [ 2.00794886e-01 9.79551845e-01 -1.26332030e-02 1.64528674e+01] [ 7.39389372e-02 -2.29489720e-03 9.97260130e-01 8.61791414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.91925415399996 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:248.69, Y:16.46, Z:8.62 [[ 9.76166912e-01 -2.04482729e-01 -7.26978269e-02 2.48691504e+02] [ 2.04110932e-01 9.78866846e-01 -1.25867000e-02 1.64563755e+01] [ 7.37352553e-02 -2.55170115e-03 9.97274587e-01 8.62005700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.94925415399996 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:248.72, Y:16.46, Z:8.62 [[ 9.75620952e-01 -2.07173560e-01 -7.24077011e-02 2.48724204e+02] [ 2.06813077e-01 9.78300320e-01 -1.25233740e-02 1.64593803e+01] [ 7.34309891e-02 -2.75679341e-03 9.97296490e-01 8.62220216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.97925415399996 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:248.76, Y:16.46, Z:8.62 [[ 9.74767136e-01 -2.11272991e-01 -7.20607599e-02 2.48756952e+02] [ 2.10927700e-01 9.77422308e-01 -1.24553743e-02 1.64610394e+01] [ 7.30652785e-02 -3.05852080e-03 9.97322471e-01 8.62454184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.00925415399996 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:248.79, Y:16.47, Z:8.63 [[ 9.74613993e-01 -2.11955080e-01 -7.21291092e-02 2.48788960e+02] [ 2.11611602e-01 9.77274427e-01 -1.24589163e-02 1.64650371e+01] [ 7.31306645e-02 -3.12072221e-03 9.97317486e-01 8.62688161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.03925415399996 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:248.82, Y:16.47, Z:8.63 [[ 9.74568035e-01 -2.12050155e-01 -7.24698343e-02 2.48821587e+02] [ 2.11704199e-01 9.77253709e-01 -1.25107919e-02 1.64693186e+01] [ 7.34743297e-02 -3.14955034e-03 9.97292135e-01 8.62911136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.06925415399996 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:248.85, Y:16.47, Z:8.63 [[ 9.74780439e-01 -2.10936124e-01 -7.28632164e-02 2.48854057e+02] [ 2.10583912e-01 9.77494962e-01 -1.25704160e-02 1.64732618e+01] [ 7.38749817e-02 -3.09042545e-03 9.97262722e-01 8.63103020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.09925415399996 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:248.89, Y:16.48, Z:8.63 [[ 9.75486633e-01 -2.07376991e-01 -7.36248149e-02 2.48887177e+02] [ 2.07007888e-01 9.78256925e-01 -1.26934091e-02 1.64759252e+01] [ 7.46563060e-02 -2.85866657e-03 9.97205227e-01 8.63208696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.12925415399997 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:248.92, Y:16.48, Z:8.63 [[ 9.75949337e-01 -2.05055467e-01 -7.39942393e-02 2.48920092e+02] [ 2.04676629e-01 9.78746622e-01 -1.27486274e-02 1.64804062e+01] [ 7.50357875e-02 -2.70287698e-03 9.97177178e-01 8.63391911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.15925415399997 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:248.95, Y:16.49, Z:8.64 [[ 9.76448600e-01 -2.02290269e-01 -7.50118585e-02 2.48953202e+02] [ 2.01893448e-01 9.79322332e-01 -1.29153467e-02 1.64851251e+01] [ 7.60734371e-02 -2.53323054e-03 9.97099000e-01 8.63629115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.18925415399997 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:248.99, Y:16.49, Z:8.64 [[ 9.77523056e-01 -1.96643684e-01 -7.60258945e-02 2.48985700e+02] [ 1.96219677e-01 9.80472703e-01 -1.30811572e-02 1.64895806e+01] [ 7.71136413e-02 -2.13064367e-03 9.97020033e-01 8.63827850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.21925415399997 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:249.02, Y:16.49, Z:8.64 [[ 9.78055855e-01 -1.93731818e-01 -7.66467707e-02 2.49017322e+02] [ 1.93292602e-01 9.81052637e-01 -1.31792851e-02 1.64945390e+01] [ 7.77477634e-02 -1.92517675e-03 9.96971203e-01 8.64048894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.24925415399997 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:249.05, Y:16.50, Z:8.64 [[ 9.78610106e-01 -1.90938525e-01 -7.65815964e-02 2.49050308e+02] [ 1.90492091e-01 9.81600509e-01 -1.31607170e-02 1.64997574e+01] [ 7.76854219e-02 -1.70897778e-03 9.96976456e-01 8.64266135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.27925415399997 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:249.08, Y:16.50, Z:8.65 [[ 9.78993456e-01 -1.88680937e-01 -7.72742997e-02 2.49082186e+02] [ 1.88220049e-01 9.82037216e-01 -1.32709849e-02 1.65048368e+01] [ 7.83902200e-02 -1.55236507e-03 9.96921543e-01 8.64517650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.30925415399997 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:249.12, Y:16.51, Z:8.65 [[ 9.79631074e-01 -1.85163489e-01 -7.77009726e-02 2.49115439e+02] [ 1.84687036e-01 9.82706889e-01 -1.33367272e-02 1.65087017e+01] [ 7.88267560e-02 -1.28528997e-03 9.96887501e-01 8.64700202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.33925415399997 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:249.15, Y:16.51, Z:8.65 [[ 9.79690454e-01 -1.84679424e-01 -7.81032940e-02 2.49145832e+02] [ 1.84197201e-01 9.82798005e-01 -1.33967478e-02 1.65132301e+01] [ 7.92338652e-02 -1.26174222e-03 9.96855257e-01 8.64958615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.36925415399998 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:249.18, Y:16.52, Z:8.65 [[ 9.79741637e-01 -1.84452443e-01 -7.79975740e-02 2.49177915e+02] [ 1.83971559e-01 9.82840644e-01 -1.33691521e-02 1.65167707e+01] [ 7.91251587e-02 -1.25102032e-03 9.96863905e-01 8.65217650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.39925415399998 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:249.21, Y:16.52, Z:8.65 [[ 9.79631810e-01 -1.85223797e-01 -7.75478089e-02 2.49209340e+02] [ 1.84751314e-01 9.82695490e-01 -1.32863300e-02 1.65213294e+01] [ 7.86668265e-02 -1.31134815e-03 9.96900101e-01 8.65479297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.42925415399998 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:249.24, Y:16.53, Z:8.66 [[ 9.79464472e-01 -1.86309662e-01 -7.70587925e-02 2.49240718e+02] [ 1.85846924e-01 9.82490083e-01 -1.31968889e-02 1.65255062e+01] [ 7.81682074e-02 -1.39525567e-03 9.96939208e-01 8.65748915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.45925415399998 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:249.27, Y:16.53, Z:8.66 [[ 9.79182658e-01 -1.88189338e-01 -7.60663879e-02 2.49271196e+02] [ 1.87744533e-01 9.82131575e-01 -1.30215231e-02 1.65294846e+01] [ 7.71577132e-02 -1.53059893e-03 9.97017725e-01 8.66002633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.48925415399998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:249.30, Y:16.53, Z:8.66 [[ 9.78742286e-01 -1.90727807e-01 -7.54084996e-02 2.49303495e+02] [ 1.90298509e-01 9.81641455e-01 -1.29047108e-02 1.65333573e+01] [ 7.64853964e-02 -1.71973890e-03 9.97069219e-01 8.66232860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.51925415399998 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:249.34, Y:16.53, Z:8.66 [[ 9.77410302e-01 -1.97539318e-01 -7.51486477e-02 2.49335352e+02] [ 1.97133454e-01 9.80292383e-01 -1.28547768e-02 1.65345200e+01] [ 7.62069707e-02 -2.24992127e-03 9.97089482e-01 8.66422279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.54925415399998 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:249.37, Y:16.54, Z:8.67 [[ 9.76397371e-01 -2.02355626e-01 -7.55008222e-02 2.49366804e+02] [ 2.01960623e-01 9.79308542e-01 -1.29107364e-02 1.65382434e+01] [ 7.65511603e-02 -2.64218407e-03 9.97062154e-01 8.66706815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.57925415399998 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:249.40, Y:16.54, Z:8.67 [[ 9.75407030e-01 -2.06966097e-01 -7.58034355e-02 2.49398934e+02] [ 2.06582213e-01 9.78343450e-01 -1.29569655e-02 1.65417601e+01] [ 7.68434472e-02 -3.02132621e-03 9.97038593e-01 8.66948631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.60925415399998 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:249.43, Y:16.54, Z:8.67 [[ 9.73268530e-01 -2.16386293e-01 -7.69762381e-02 2.49431892e+02] [ 2.16020193e-01 9.76300320e-01 -1.31514871e-02 1.65443334e+01] [ 7.79977274e-02 -3.82849331e-03 9.96946186e-01 8.67183690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.63925415399999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:249.46, Y:16.55, Z:8.67 [[ 9.72273508e-01 -2.20666741e-01 -7.73977787e-02 2.49464309e+02] [ 2.20310812e-01 9.75340208e-01 -1.32145770e-02 1.65483711e+01] [ 7.84051832e-02 -4.20338438e-03 9.96912714e-01 8.67433038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.66925415399996 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:249.50, Y:16.55, Z:8.68 [[ 9.71332440e-01 -2.24823695e-01 -7.72502211e-02 2.49495747e+02] [ 2.24482885e-01 9.74388889e-01 -1.31805680e-02 1.65520769e+01] [ 7.82350611e-02 -4.53863922e-03 9.96924609e-01 8.67632719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.69925415399996 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:249.53, Y:16.56, Z:8.68 [[ 9.70590794e-01 -2.27957252e-01 -7.73886447e-02 2.49527840e+02] [ 2.27625706e-01 9.73659275e-01 -1.31967433e-02 1.65557954e+01] [ 7.83584651e-02 -4.80700737e-03 9.96913659e-01 8.67862520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.72925415399996 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:249.56, Y:16.56, Z:8.68 [[ 9.69519224e-01 -2.32314972e-01 -7.78603070e-02 2.49560271e+02] [ 2.31993908e-01 9.72626720e-01 -1.32698677e-02 1.65590114e+01] [ 7.88118040e-02 -5.19772504e-03 9.96875962e-01 8.68092577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.75925415399996 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:249.59, Y:16.56, Z:8.68 [[ 9.69312010e-01 -2.33218624e-01 -7.77386736e-02 2.49592478e+02] [ 2.32901934e-01 9.72410054e-01 -1.32429968e-02 1.65637246e+01] [ 7.86823812e-02 -5.26889153e-03 9.96885812e-01 8.68308444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.78925415399996 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:249.62, Y:16.57, Z:8.69 [[ 9.69288528e-01 -2.33216404e-01 -7.80375456e-02 2.49624247e+02] [ 2.32898020e-01 9.72410426e-01 -1.32844261e-02 1.65692962e+01] [ 7.89826691e-02 -5.29834798e-03 9.96861909e-01 8.68571559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.81925415399996 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:249.65, Y:16.58, Z:8.69 [[ 9.69477853e-01 -2.32344430e-01 -7.82863927e-02 2.49654721e+02] [ 2.32022274e-01 9.72619363e-01 -1.33131133e-02 1.65751206e+01] [ 7.92360892e-02 -5.25741836e-03 9.96842014e-01 8.68832811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.84925415399996 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:249.68, Y:16.58, Z:8.69 [[ 9.69727740e-01 -2.31194696e-01 -7.85946700e-02 2.49684823e+02] [ 2.30866594e-01 9.72893671e-01 -1.33611517e-02 1.65811004e+01] [ 7.95532844e-02 -5.18820437e-03 9.96817113e-01 8.69072806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.87925415399997 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:249.72, Y:16.59, Z:8.69 [[ 9.70036701e-01 -2.29834755e-01 -7.87704555e-02 2.49716650e+02] [ 2.29501085e-01 9.73216344e-01 -1.33865532e-02 1.65872638e+01] [ 7.97373898e-02 -5.09245712e-03 9.96802897e-01 8.69311647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.90925415399997 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:249.75, Y:16.59, Z:8.70 [[ 9.70786808e-01 -2.26663161e-01 -7.87196572e-02 2.49747683e+02] [ 2.26320014e-01 9.73961211e-01 -1.33720398e-02 1.65940656e+01] [ 7.97008415e-02 -4.83443411e-03 9.96807105e-01 8.69580968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.93925415399997 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:249.78, Y:16.60, Z:8.70 [[ 9.71186205e-01 -2.25130153e-01 -7.81905991e-02 2.49779028e+02] [ 2.24787118e-01 9.74317448e-01 -1.32763847e-02 1.66002216e+01] [ 7.91713795e-02 -4.68239772e-03 9.96850023e-01 8.69813704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.96925415399997 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:249.81, Y:16.61, Z:8.70 [[ 9.71873014e-01 -2.22252965e-01 -7.78875092e-02 2.49807829e+02] [ 2.22060232e-01 9.74968195e-01 -1.12370500e-02 1.66053133e+01] [ 7.84353119e-02 -6.37473266e-03 9.96898824e-01 8.69976991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.99925415399997 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:249.84, Y:16.62, Z:8.71 [[ 9.72796706e-01 -2.21481808e-01 -6.79144915e-02 2.49842078e+02] [ 2.19111655e-01 9.74852471e-01 -4.06539321e-02 1.66232804e+01] [ 7.52107163e-02 2.46671545e-02 9.96862518e-01 8.70547402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.02925415399997 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:249.87, Y:16.61, Z:8.70 [[ 9.71859460e-01 -2.19960164e-01 -8.43013469e-02 2.49870131e+02] [ 2.21973610e-01 9.74934367e-01 1.51887227e-02 1.66068348e+01] [ 7.88473663e-02 -3.34739781e-02 9.96324538e-01 8.69948967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.05925415399997 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:249.90, Y:16.63, Z:8.71 [[ 9.72442438e-01 -2.19250452e-01 -7.92776345e-02 2.49898650e+02] [ 2.18868685e-01 9.75659807e-01 -1.35808400e-02 1.66280764e+01] [ 8.03256069e-02 -4.14480646e-03 9.96760060e-01 8.71117678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.08925415399997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:249.93, Y:16.63, Z:8.71 [[ 9.72822757e-01 -2.17500013e-01 -7.94331623e-02 2.49930737e+02] [ 2.17111400e-01 9.76052065e-01 -1.36017001e-02 1.66340137e+01] [ 8.04892721e-02 -4.01380169e-03 9.96747394e-01 8.71277230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.11925415399998 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:249.96, Y:16.64, Z:8.72 [[ 9.73131508e-01 -2.16073950e-01 -7.95431697e-02 2.49962531e+02] [ 2.15680007e-01 9.76369183e-01 -1.36144327e-02 1.66406558e+01] [ 8.06052239e-02 -3.90723799e-03 9.96738447e-01 8.71560274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.14925415399998 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:249.99, Y:16.65, Z:8.72 [[ 9.73519687e-01 -2.14226577e-01 -7.97896816e-02 2.49994719e+02] [ 2.13824741e-01 9.76776701e-01 -1.36475653e-02 1.66471292e+01] [ 8.08603732e-02 -3.77483446e-03 9.96718291e-01 8.71797938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.17925415399998 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:250.03, Y:16.65, Z:8.72 [[ 9.74276421e-01 -2.10383945e-01 -8.07716001e-02 2.50026598e+02] [ 2.09959763e-01 9.77612546e-01 -1.38060630e-02 1.66544943e+01] [ 8.18679036e-02 -3.50786438e-03 9.96637016e-01 8.72046064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.20925415399998 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:250.06, Y:16.66, Z:8.72 [[ 9.74702981e-01 -2.08139497e-01 -8.14373855e-02 2.50057925e+02] [ 2.07701245e-01 9.78093394e-01 -1.39106210e-02 1.66607509e+01] [ 8.25487185e-02 -3.35592256e-03 9.96581380e-01 8.72291391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.23925415399998 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:250.09, Y:16.67, Z:8.73 [[ 9.75139794e-01 -2.05858070e-01 -8.20051058e-02 2.50089431e+02] [ 2.05406278e-01 9.78576652e-01 -1.39999321e-02 1.66675807e+01] [ 8.31302808e-02 -3.19247265e-03 9.96533574e-01 8.72546658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.26925415399998 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:250.12, Y:16.68, Z:8.73 [[ 9.76178219e-01 -2.00975728e-01 -8.17608777e-02 2.50121382e+02] [ 2.00510075e-01 9.79592292e-01 -1.39517376e-02 1.66752387e+01] [ 8.28962862e-02 -2.77449737e-03 9.96554318e-01 8.72752315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.29925415399998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:250.15, Y:16.68, Z:8.73 [[ 9.76633521e-01 -1.98976413e-01 -8.12117806e-02 2.50153321e+02] [ 1.98510867e-01 9.80000840e-01 -1.38487962e-02 1.66821531e+01] [ 8.23431970e-02 -2.59622238e-03 9.96600651e-01 8.73073452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.32925415399998 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:250.19, Y:16.69, Z:8.73 [[ 9.77094030e-01 -1.96816988e-01 -8.09341038e-02 2.50185054e+02] [ 1.96347976e-01 9.80437271e-01 -1.37924056e-02 1.66885317e+01] [ 8.20653916e-02 -2.41477021e-03 9.96624022e-01 8.73338908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.35925415399998 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:250.22, Y:16.69, Z:8.74 [[ 9.77612756e-01 -1.94453568e-01 -8.03810202e-02 2.50217068e+02] [ 1.93983608e-01 9.80909237e-01 -1.36904357e-02 1.66948227e+01] [ 8.15086393e-02 -2.20865575e-03 9.96670188e-01 8.73576015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.38925415399999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:250.25, Y:16.70, Z:8.74 [[ 9.78417440e-01 -1.90501459e-01 -8.00531468e-02 2.50249239e+02] [ 1.90022873e-01 9.81685111e-01 -1.36253582e-02 1.67024193e+01] [ 8.11826330e-02 -1.88064090e-03 9.96697468e-01 8.73826202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.41925415399996 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:250.28, Y:16.71, Z:8.74 [[ 9.78779220e-01 -1.88750441e-01 -7.97778783e-02 2.50281432e+02] [ 1.88270083e-01 9.82023548e-01 -1.35693387e-02 1.67088912e+01] [ 8.09049737e-02 -1.73840096e-03 9.96720303e-01 8.74032104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.44925415399996 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:250.31, Y:16.71, Z:8.74 [[ 9.78796659e-01 -1.88659355e-01 -7.97793708e-02 2.50313595e+02] [ 1.88179410e-01 9.82041048e-01 -1.35605583e-02 1.67142976e+01] [ 8.09049431e-02 -1.73980575e-03 9.96720303e-01 8.74272001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.47925415399996 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:250.35, Y:16.72, Z:8.75 [[ 9.78985210e-01 -1.87653124e-01 -7.98389920e-02 2.50345151e+02] [ 1.87169739e-01 9.82233950e-01 -1.35630782e-02 1.67206711e+01] [ 8.09657224e-02 -1.66539033e-03 9.96715495e-01 8.74509755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.50925415399996 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:250.38, Y:16.73, Z:8.75 [[ 9.78946366e-01 -1.87676204e-01 -8.02599228e-02 2.50375442e+02] [ 1.87188425e-01 9.82229508e-01 -1.36266868e-02 1.67266048e+01] [ 8.13910693e-02 -1.68393306e-03 9.96680821e-01 8.74706265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.53925415399996 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:250.41, Y:16.73, Z:8.75 [[ 9.78718100e-01 -1.88788235e-01 -8.04355853e-02 2.50408460e+02] [ 1.88302875e-01 9.82016190e-01 -1.36465870e-02 1.67320948e+01] [ 8.15653621e-02 -1.79009027e-03 9.96666387e-01 8.74902378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.56925415399996 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:250.44, Y:16.74, Z:8.75 [[ 9.78307537e-01 -1.90678221e-01 -8.09702369e-02 2.50439703e+02] [ 1.90193594e-01 9.81650618e-01 -1.37280934e-02 1.67370889e+01] [ 8.21021315e-02 -1.96972305e-03 9.96621975e-01 8.75139930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.59925415399996 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:250.47, Y:16.74, Z:8.75 [[ 9.77816683e-01 -1.93167645e-01 -8.09987306e-02 2.50470937e+02] [ 1.92691829e-01 9.81163329e-01 -1.37252122e-02 1.67419907e+01] [ 8.21242511e-02 -2.18705204e-03 9.96619699e-01 8.75346982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.62925415399997 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:250.50, Y:16.75, Z:8.76 [[ 9.76658393e-01 -1.98920944e-01 -8.10483906e-02 2.50502423e+02] [ 1.98464894e-01 9.80011877e-01 -1.37261588e-02 1.67460612e+01] [ 8.21588058e-02 -2.67949209e-03 9.96615649e-01 8.75544311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.65925415399997 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:250.54, Y:16.75, Z:8.76 [[ 9.76122803e-01 -2.01650027e-01 -8.07560486e-02 2.50535441e+02] [ 2.01207091e-01 9.79453332e-01 -1.36703145e-02 1.67512273e+01] [ 8.18534001e-02 -2.90478395e-03 9.96640147e-01 8.75789629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.68925415399997 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:250.57, Y:16.76, Z:8.76 [[ 9.75665794e-01 -2.03903439e-01 -8.06203846e-02 2.50568167e+02] [ 2.03470398e-01 9.78986105e-01 -1.36383149e-02 1.67562109e+01] [ 8.17071356e-02 -3.09742445e-03 9.96651569e-01 8.75989664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.71925415399997 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:250.60, Y:16.76, Z:8.76 [[ 9.75209552e-01 -2.06094585e-01 -8.05689234e-02 2.50599970e+02] [ 2.05670275e-01 9.78526552e-01 -1.36207274e-02 1.67616544e+01] [ 8.16459891e-02 -3.28756910e-03 9.96655971e-01 8.76307911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.74925415399997 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:250.63, Y:16.77, Z:8.77 [[ 9.74589701e-01 -2.08722216e-01 -8.13016028e-02 2.50632043e+02] [ 2.08299896e-01 9.77968534e-01 -1.37368305e-02 1.67670701e+01] [ 8.23775909e-02 -3.54734193e-03 9.96594877e-01 8.76611044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.77925415399997 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:250.66, Y:16.77, Z:8.77 [[ 9.74474539e-01 -2.09126566e-01 -8.16422172e-02 2.50664287e+02] [ 2.08702859e-01 9.77881936e-01 -1.37853687e-02 1.67725890e+01] [ 8.27193362e-02 -3.60547341e-03 9.96566361e-01 8.76888017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.80925415399997 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:250.69, Y:16.78, Z:8.77 [[ 9.74475703e-01 -2.09158095e-01 -8.15475021e-02 2.50694820e+02] [ 2.08736187e-01 9.77875167e-01 -1.37608584e-02 1.67778013e+01] [ 8.26214721e-02 -3.61229253e-03 9.96574455e-01 8.77123582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.83925415399997 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:250.73, Y:16.78, Z:8.77 [[ 9.74755775e-01 -2.07625314e-01 -8.21152145e-02 2.50727386e+02] [ 2.07192513e-01 9.78202125e-01 -1.38515665e-02 1.67830768e+01] [ 8.32012132e-02 -3.51176320e-03 9.96526581e-01 8.77402062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.86925415399998 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:250.76, Y:16.79, Z:8.78 [[ 9.74989526e-01 -2.06886006e-01 -8.12010149e-02 2.50759596e+02] [ 2.06460986e-01 9.78359081e-01 -1.36882974e-02 1.67893124e+01] [ 8.22756675e-02 -3.41889504e-03 9.96603746e-01 8.77709789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.89925415399998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:250.79, Y:16.80, Z:8.78 [[ 9.75273118e-01 -2.05585415e-01 -8.10985959e-02 2.50791447e+02] [ 2.05157741e-01 9.78633565e-01 -1.36618665e-02 1.67954542e+01] [ 8.21744885e-02 -3.31395354e-03 9.96612448e-01 8.77965079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.92925415399998 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:250.82, Y:16.80, Z:8.78 [[ 9.75587580e-01 -2.03860364e-01 -8.16690009e-02 2.50823702e+02] [ 2.03421288e-01 9.78994749e-01 -1.37499395e-02 1.68016907e+01] [ 8.27565907e-02 -3.19894319e-03 9.96564656e-01 8.78252770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.95925415399998 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:250.86, Y:16.81, Z:8.78 [[ 9.76178868e-01 -2.00524216e-01 -8.28544313e-02 2.50856245e+02] [ 2.00061112e-01 9.79684250e-01 -1.39399453e-02 1.68086111e+01] [ 8.39664780e-02 -2.96806964e-03 9.96464159e-01 8.78498631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.98925415399998 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:250.89, Y:16.81, Z:8.79 [[ 9.76534244e-01 -1.98461846e-01 -8.36287370e-02 2.50887503e+02] [ 1.97983374e-01 9.80104537e-01 -1.40598966e-02 1.68143791e+01] [ 8.47552576e-02 -2.82712897e-03 9.96397789e-01 8.78733509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.01925415399998 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:250.92, Y:16.82, Z:8.79 [[ 9.76789522e-01 -1.96817483e-01 -8.45287442e-02 2.50919167e+02] [ 1.96323700e-01 9.80436352e-01 -1.41973270e-02 1.68204342e+01] [ 8.56693358e-02 -2.72719549e-03 9.96319892e-01 8.78961295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.04925415399998 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:250.95, Y:16.83, Z:8.79 [[ 9.77338206e-01 -1.93531693e-01 -8.57642993e-02 2.50950975e+02] [ 1.93011327e-01 9.81090885e-01 -1.43980244e-02 1.68273255e+01] [ 8.69290463e-02 -2.48174180e-03 9.96211414e-01 8.79186264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.07925415399998 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:250.98, Y:16.83, Z:8.79 [[ 9.77490443e-01 -1.92292245e-01 -8.68108691e-02 2.50981886e+02] [ 1.91755014e-01 9.81334747e-01 -1.45646218e-02 1.68333299e+01] [ 8.79911861e-02 -2.40964087e-03 9.96118339e-01 8.79459222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.10925415399998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:251.01, Y:16.84, Z:8.80 [[ 9.77775468e-01 -1.90196567e-01 -8.82065750e-02 2.51013615e+02] [ 1.89633870e-01 9.81743423e-01 -1.47934926e-02 1.68405348e+01] [ 8.94098963e-02 -2.26223996e-03 9.95992346e-01 8.79776227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.13925415399999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:251.04, Y:16.85, Z:8.80 [[ 9.77902151e-01 -1.89196093e-01 -8.89506667e-02 2.51044822e+02] [ 1.88620326e-01 9.81936870e-01 -1.49116021e-02 1.68468215e+01] [ 9.01651561e-02 -2.19581598e-03 9.95924406e-01 8.80036081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.16925415399996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:251.08, Y:16.85, Z:8.80 [[ 9.77943959e-01 -1.88533790e-01 -8.98922886e-02 2.51076028e+02] [ 1.87943586e-01 9.82064319e-01 -1.50626187e-02 1.68531279e+01] [ 9.11198217e-02 -2.16428215e-03 9.95837584e-01 8.80304619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.19925415399996 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:251.11, Y:16.86, Z:8.81 [[ 9.78103180e-01 -1.87271782e-01 -9.07934375e-02 2.51106191e+02] [ 1.86664848e-01 9.82305950e-01 -1.52070927e-02 1.68587899e+01] [ 9.20347932e-02 -2.07383741e-03 9.95753632e-01 8.80545154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.22925415399996 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:251.14, Y:16.87, Z:8.81 [[ 9.78162341e-01 -1.87244674e-01 -9.02101280e-02 2.51137340e+02] [ 1.86645902e-01 9.82311140e-01 -1.51040263e-02 1.68651814e+01] [ 9.14425622e-02 -2.06316099e-03 9.95808215e-01 8.80824404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.25925415399996 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:251.16, Y:16.87, Z:8.81 [[ 9.77537328e-01 -1.88517793e-01 -9.42433792e-02 2.51164690e+02] [ 1.89111726e-01 9.81951947e-01 -2.67013447e-03 1.68693563e+01] [ 9.30458375e-02 -1.52123720e-02 9.95545607e-01 8.81168217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.28925415399996 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:251.20, Y:16.88, Z:8.82 [[ 9.78257047e-01 -1.88165889e-01 -8.72166683e-02 2.51196001e+02] [ 1.86308751e-01 9.82061995e-01 -2.90394050e-02 1.68838374e+01] [ 9.11164008e-02 1.21587741e-02 9.95766020e-01 8.81884551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.31925415399996 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:251.23, Y:16.88, Z:8.82 [[ 9.78265939e-01 -1.87682238e-01 -8.81540118e-02 2.51228651e+02] [ 1.87112570e-01 9.82227640e-01 -1.47563097e-02 1.68835054e+01] [ 8.93568042e-02 -2.05912852e-03 9.95997551e-01 8.81617488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.34925415399996 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:251.26, Y:16.89, Z:8.82 [[ 9.77879748e-01 -1.90509001e-01 -8.63569266e-02 2.51259491e+02] [ 1.89973872e-01 9.81682811e-01 -1.44494496e-02 1.68900073e+01] [ 8.75278606e-02 -2.27573556e-03 9.96159472e-01 8.81924506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.37925415399997 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:251.29, Y:16.90, Z:8.82 [[ 9.77585995e-01 -1.92496335e-01 -8.52688930e-02 2.51290782e+02] [ 1.91982583e-01 9.81294690e-01 -1.42625017e-02 1.68954218e+01] [ 8.64193912e-02 -2.42732036e-03 9.96255889e-01 8.82151388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.40925415399997 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:251.32, Y:16.90, Z:8.82 [[ 9.77198305e-01 -1.94841936e-01 -8.43806401e-02 2.51323057e+02] [ 1.94348124e-01 9.80831173e-01 -1.41073538e-02 1.69008414e+01] [ 8.55118664e-02 -2.61353688e-03 9.96333724e-01 8.82387963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.43925415399997 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:251.36, Y:16.91, Z:8.83 [[ 9.76708001e-01 -1.97649828e-01 -8.35226124e-02 2.51355524e+02] [ 1.97177022e-01 9.80268578e-01 -1.39547934e-02 1.69061836e+01] [ 8.46327550e-02 -2.83898162e-03 9.96408168e-01 8.82568911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.46925415399997 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:251.39, Y:16.91, Z:8.83 [[ 9.75594227e-01 -2.03369696e-01 -8.28050194e-02 2.51387396e+02] [ 2.02926314e-01 9.79096407e-01 -1.38252260e-02 1.69113593e+01] [ 8.38857290e-02 -3.31550669e-03 9.96469865e-01 8.82830210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.49925415399997 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:251.42, Y:16.92, Z:8.83 [[ 9.75064905e-01 -2.06025745e-01 -8.24731661e-02 2.51419305e+02] [ 2.05596490e-01 9.78540158e-01 -1.37565133e-02 1.69168838e+01] [ 8.35375010e-02 -3.54270010e-03 9.96498337e-01 8.83062484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.52925415399997 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:251.45, Y:16.92, Z:8.83 [[ 9.74121974e-01 -2.10406434e-01 -8.25561186e-02 2.51451160e+02] [ 2.09992590e-01 9.77606103e-01 -1.37629643e-02 1.69224701e+01] [ 8.36031816e-02 -3.92936719e-03 9.96491379e-01 8.83291760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.55925415399997 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:251.48, Y:16.93, Z:8.83 [[ 9.73776932e-01 -2.12054460e-01 -8.24099013e-02 2.51483584e+02] [ 2.11648588e-01 9.77249371e-01 -1.37310630e-02 1.69278359e+01] [ 8.34467574e-02 -4.07094682e-03 9.96503922e-01 8.83495113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.58925415399997 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:251.52, Y:16.93, Z:8.84 [[ 9.73482322e-01 -2.13453961e-01 -8.22774293e-02 2.51515714e+02] [ 2.13055142e-01 9.76944125e-01 -1.36997398e-02 1.69331709e+01] [ 8.33047149e-02 -4.19317490e-03 9.96515299e-01 8.83715048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.61925415399998 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:251.55, Y:16.94, Z:8.84 [[ 9.73278135e-01 -2.14431420e-01 -8.21513159e-02 2.51548022e+02] [ 2.14038066e-01 9.76729672e-01 -1.36694229e-02 1.69386302e+01] [ 8.31707816e-02 -4.27935840e-03 9.96526120e-01 8.83930202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.64925415399998 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:251.58, Y:16.94, Z:8.84 [[ 9.73200199e-01 -2.14854829e-01 -8.19681346e-02 2.51580997e+02] [ 2.14465506e-01 9.76636464e-01 -1.36295314e-02 1.69443821e+01] [ 8.29814397e-02 -4.31507481e-03 9.96541751e-01 8.84103706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.67925415399998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:251.61, Y:16.95, Z:8.84 [[ 9.73482683e-01 -2.13843623e-01 -8.12549731e-02 2.51613507e+02] [ 2.13458298e-01 9.76858873e-01 -1.35017399e-02 1.69499642e+01] [ 8.22619024e-02 -4.20083832e-03 9.96601893e-01 8.84306097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.70925415399998 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:251.65, Y:16.96, Z:8.85 [[ 9.73878519e-01 -2.11996080e-01 -8.13528887e-02 2.51645916e+02] [ 2.11604173e-01 9.77262088e-01 -1.35087152e-02 1.69556996e+01] [ 8.23668885e-02 -4.05876320e-03 9.96593810e-01 8.84542466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.73925415399998 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:251.68, Y:16.96, Z:8.85 [[ 9.74399489e-01 -2.09819067e-01 -8.07563973e-02 2.51677475e+02] [ 2.09426241e-01 9.77732629e-01 -1.33998786e-02 1.69622006e+01] [ 8.17697146e-02 -3.85567384e-03 9.96643792e-01 8.84811050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.76925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:251.71, Y:16.97, Z:8.85 [[ 9.75044841e-01 -2.06925934e-01 -8.04314365e-02 2.51710073e+02] [ 2.06527638e-01 9.78349941e-01 -1.33314530e-02 1.69688409e+01] [ 8.14487145e-02 -3.61255005e-03 9.96670987e-01 8.85063389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.79925415399998 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:251.74, Y:16.98, Z:8.85 [[ 9.76582334e-01 -1.99921941e-01 -7.94868713e-02 2.51741622e+02] [ 1.99510559e-01 9.79807231e-01 -1.31653999e-02 1.69766053e+01] [ 8.05138635e-02 -3.00137312e-03 9.96748970e-01 8.85296594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.82925415399998 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:251.77, Y:16.98, Z:8.86 [[ 9.77379747e-01 -1.96280084e-01 -7.87588627e-02 2.51773557e+02] [ 1.95865549e-01 9.80544181e-01 -1.30305729e-02 1.69830044e+01] [ 7.97841864e-02 -2.69032979e-03 9.96808530e-01 8.85535009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.85925415399998 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:251.81, Y:16.99, Z:8.86 [[ 9.78206397e-01 -1.92282767e-01 -7.83554916e-02 2.51805751e+02] [ 1.91860382e-01 9.81336723e-01 -1.29548996e-02 1.69891410e+01] [ 7.93841253e-02 -2.36074890e-03 9.96841305e-01 8.85765725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.88925415399996 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:251.84, Y:17.00, Z:8.86 [[ 9.78967932e-01 -1.88607015e-01 -7.77764951e-02 2.51838245e+02] [ 1.88179967e-01 9.82050491e-01 -1.28503883e-02 1.69951626e+01] [ 7.88041186e-02 -2.05586027e-03 9.96888000e-01 8.85978600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.91925415399996 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:251.87, Y:17.00, Z:8.86 [[ 9.79689876e-01 -1.84823374e-01 -7.77693212e-02 2.51869818e+02] [ 1.84385196e-01 9.82770178e-01 -1.28404126e-02 1.70009161e+01] [ 7.88025780e-02 -1.75988933e-03 9.96888688e-01 8.86166340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.94925415399996 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:251.90, Y:17.01, Z:8.86 [[ 9.80947241e-01 -1.78044520e-01 -7.77345490e-02 2.51900921e+02] [ 1.77586044e-01 9.84021675e-01 -1.28273240e-02 1.70079932e+01] [ 7.87763159e-02 -1.22164300e-03 9.96891569e-01 8.86336163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.97925415399996 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:251.93, Y:17.01, Z:8.87 [[ 9.81575449e-01 -1.74488670e-01 -7.78674584e-02 2.51933229e+02] [ 1.74018032e-01 9.84658728e-01 -1.28418800e-02 1.70142792e+01] [ 7.89136351e-02 -9.45067708e-04 9.96881008e-01 8.86551537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.00925415399996 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:251.97, Y:17.02, Z:8.87 [[ 9.82106302e-01 -1.71375079e-01 -7.80883756e-02 2.51965599e+02] [ 1.70892621e-01 9.85205605e-01 -1.28696281e-02 1.70205865e+01] [ 7.91386389e-02 -7.05384391e-04 9.96863370e-01 8.86774804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.03925415399996 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:252.00, Y:17.03, Z:8.87 [[ 9.83015368e-01 -1.65728990e-01 -7.88332970e-02 2.51996759e+02] [ 1.65219844e-01 9.86171300e-01 -1.29834348e-02 1.70273723e+01] [ 7.98948665e-02 -2.61909089e-04 9.96803261e-01 8.86916020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.06925415399996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:252.03, Y:17.03, Z:8.87 [[ 9.83361031e-01 -1.63487786e-01 -7.92011818e-02 2.52028500e+02] [ 1.62967216e-01 9.86545354e-01 -1.30365121e-02 1.70330982e+01] [ 8.02668685e-02 -8.75981311e-05 9.96773406e-01 8.87100478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.09925415399996 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:252.06, Y:17.04, Z:8.87 [[ 9.83929220e-01 -1.60032155e-01 -7.92022751e-02 2.52060980e+02] [ 1.59500987e-01 9.87111784e-01 -1.30292237e-02 1.70386781e+01] [ 8.02665938e-02 1.86992834e-04 9.96773414e-01 8.87311182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.12925415399997 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:252.09, Y:17.04, Z:8.88 [[ 9.84117471e-01 -1.59250382e-01 -7.84354502e-02 2.52093657e+02] [ 1.58727693e-01 9.87238197e-01 -1.28942239e-02 1.70442218e+01] [ 7.94878825e-02 2.39552955e-04 9.96835804e-01 8.87533380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.15925415399997 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:252.13, Y:17.05, Z:8.88 [[ 9.84210063e-01 -1.58761554e-01 -7.82644318e-02 2.52126408e+02] [ 1.58240307e-01 9.87316918e-01 -1.28572593e-02 1.70494681e+01] [ 7.93130360e-02 2.69656294e-04 9.96849723e-01 8.87790983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.18925415399997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:252.16, Y:17.05, Z:8.88 [[ 9.84174709e-01 -1.59180610e-01 -7.78567673e-02 2.52158284e+02] [ 1.58666784e-01 9.87249453e-01 -1.27816079e-02 1.70545444e+01] [ 7.88986350e-02 2.26052352e-04 9.96882618e-01 8.88050741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.21925415399997 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:252.19, Y:17.06, Z:8.89 [[ 9.84103932e-01 -1.59421250e-01 -7.82580112e-02 2.52188330e+02] [ 1.58464123e-01 9.87194541e-01 -1.83319482e-02 1.70616147e+01] [ 8.01783835e-02 5.63945526e-03 9.96764578e-01 8.88507863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.24925415399997 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:252.22, Y:17.06, Z:8.88 [[ 9.83894773e-01 -1.60747255e-01 -7.81754206e-02 2.52221876e+02] [ 1.60630658e-01 9.86983615e-01 -7.81885440e-03 1.70613575e+01] [ 7.84147187e-02 -4.86443928e-03 9.96908957e-01 8.88367179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.27925415399997 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:252.25, Y:17.07, Z:8.89 [[ 9.83338841e-01 -1.65060974e-01 -7.61551008e-02 2.52254371e+02] [ 1.64589760e-01 9.86283326e-01 -1.24664275e-02 1.70672362e+01] [ 7.71682268e-02 -2.75627390e-04 9.97018048e-01 8.88864770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.30925415399997 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:252.29, Y:17.07, Z:8.89 [[ 9.83034774e-01 -1.67226300e-01 -7.53524964e-02 2.52286070e+02] [ 1.66771980e-01 9.85918436e-01 -1.23265592e-02 1.70713905e+01] [ 7.63527403e-02 -4.49248627e-04 9.97080768e-01 8.89116052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.33925415399997 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:252.32, Y:17.08, Z:8.89 [[ 9.83056232e-01 -1.67099591e-01 -7.53536484e-02 2.52319109e+02] [ 1.66645439e-01 9.85939921e-01 -1.23195127e-02 1.70767026e+01] [ 7.63527557e-02 -4.46568123e-04 9.97080768e-01 8.89362897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.36925415399998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:252.35, Y:17.08, Z:8.90 [[ 9.82254795e-01 -1.72344944e-01 -7.39779518e-02 2.52351494e+02] [ 1.71922805e-01 9.85036294e-01 -1.20850244e-02 1.70795253e+01] [ 7.49537604e-02 -8.47923871e-04 9.97186650e-01 8.89683589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.39925415399998 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:252.38, Y:17.08, Z:8.90 [[ 9.82276978e-01 -1.72217896e-01 -7.39792918e-02 2.52384534e+02] [ 1.71796015e-01 9.85058516e-01 -1.20768164e-02 1.70848287e+01] [ 7.49537753e-02 -8.46568878e-04 9.97186650e-01 8.89930386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.42925415399998 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:252.42, Y:17.09, Z:8.90 [[ 9.81857834e-01 -1.74756773e-01 -7.35884833e-02 2.52417681e+02] [ 1.74347183e-01 9.84611080e-01 -1.20033347e-02 1.70888621e+01] [ 7.45537001e-02 -1.04437659e-03 9.97216453e-01 8.90170460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.45925415399998 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:252.45, Y:17.09, Z:8.90 [[ 9.81379592e-01 -1.77593824e-01 -7.31746500e-02 2.52449142e+02] [ 1.77197320e-01 9.84103066e-01 -1.19275318e-02 1.70927899e+01] [ 7.41296533e-02 -1.26091559e-03 9.97247815e-01 8.90454284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.48925415399998 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:252.48, Y:17.10, Z:8.91 [[ 9.80328242e-01 -1.83142637e-01 -7.35888011e-02 2.52481483e+02] [ 1.82757740e-01 9.83084887e-01 -1.19880305e-02 1.70954199e+01] [ 7.45395578e-02 -1.69671809e-03 9.97216614e-01 8.90687491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.51925415399998 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:252.51, Y:17.10, Z:8.91 [[ 9.79785825e-01 -1.85753033e-01 -7.42667307e-02 2.52514088e+02] [ 1.85369018e-01 9.82594588e-01 -1.20913978e-02 1.70990045e+01] [ 7.52201014e-02 -1.91977077e-03 9.97165107e-01 8.90896422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.54925415399998 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:252.55, Y:17.10, Z:8.91 [[ 9.78659408e-01 -1.90894024e-01 -7.60607298e-02 2.52547067e+02] [ 1.90507369e-01 9.81607768e-01 -1.23746823e-02 1.71013669e+01] [ 7.70240561e-02 -2.37953027e-03 9.97026395e-01 8.91050339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.57925415399998 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:252.58, Y:17.11, Z:8.91 [[ 9.78162261e-01 -1.93050734e-01 -7.70065310e-02 2.52580148e+02] [ 1.92661745e-01 9.81185358e-01 -1.25197849e-02 1.71055110e+01] [ 7.79746344e-02 -2.58983152e-03 9.96951979e-01 8.91268989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.60925415399998 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:252.61, Y:17.11, Z:8.91 [[ 9.77675504e-01 -1.95262935e-01 -7.76079632e-02 2.52612645e+02] [ 1.94875502e-01 9.80746942e-01 -1.26085274e-02 1.71099139e+01] [ 7.85757506e-02 -2.79684236e-03 9.96904223e-01 8.91476528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.63925415399996 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:252.65, Y:17.11, Z:8.92 [[ 9.77216011e-01 -1.97401579e-01 -7.79838742e-02 2.52645263e+02] [ 1.97017886e-01 9.80318144e-01 -1.26605257e-02 1.71145791e+01] [ 7.89482146e-02 -2.99214963e-03 9.96874228e-01 8.91683079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.66925415399996 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:252.68, Y:17.12, Z:8.92 [[ 9.76266850e-01 -2.01669267e-01 -7.89464606e-02 2.52676740e+02] [ 2.01290664e-01 9.79447820e-01 -1.28076771e-02 1.71184445e+01] [ 7.99068536e-02 -3.38747492e-03 9.96796579e-01 8.91937026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.69925415399996 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:252.71, Y:17.12, Z:8.92 [[ 9.75865132e-01 -2.03537576e-01 -7.91182578e-02 2.52708979e+02] [ 2.03164060e-01 9.79060678e-01 -1.28278238e-02 1.71228274e+01] [ 8.00725193e-02 -3.55576052e-03 9.96782699e-01 8.92142500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.72925415399996 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:252.74, Y:17.13, Z:8.92 [[ 9.75452257e-01 -2.05520978e-01 -7.90823691e-02 2.52741773e+02] [ 2.05155020e-01 9.78645618e-01 -1.28129359e-02 1.71271345e+01] [ 8.00269412e-02 -3.72573776e-03 9.96785738e-01 8.92374279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.75925415399996 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:252.77, Y:17.13, Z:8.93 [[ 9.75035689e-01 -2.07486074e-01 -7.90881455e-02 2.52773149e+02] [ 2.07127214e-01 9.78230213e-01 -1.28049619e-02 1.71312832e+01] [ 8.00232647e-02 -3.89601234e-03 9.96785382e-01 8.92600757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.78925415399996 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:252.81, Y:17.14, Z:8.93 [[ 9.74263874e-01 -2.11024259e-01 -7.92380340e-02 2.52805904e+02] [ 2.10676296e-01 9.77471793e-01 -1.28215806e-02 1.71351299e+01] [ 8.01586077e-02 -4.20197271e-03 9.96773265e-01 8.92830364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.81925415399996 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:252.84, Y:17.14, Z:8.93 [[ 9.73900556e-01 -2.12622958e-01 -7.94303808e-02 2.52837222e+02] [ 2.12279323e-01 9.77124623e-01 -1.28436718e-02 1.71399369e+01] [ 8.03442404e-02 -4.35296832e-03 9.96757671e-01 8.93089066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.84925415399996 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:252.87, Y:17.14, Z:8.93 [[ 9.73641618e-01 -2.13734049e-01 -7.96225882e-02 2.52869667e+02] [ 2.13393070e-01 9.76881691e-01 -1.28670157e-02 1.71447449e+01] [ 8.05319680e-02 -4.46304656e-03 9.96742035e-01 8.93358082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.87925415399997 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:252.90, Y:17.15, Z:8.94 [[ 9.73488701e-01 -2.14215553e-01 -8.01962914e-02 2.52901827e+02] [ 2.13872015e-01 9.76775841e-01 -1.29505625e-02 1.71497429e+01] [ 8.11080119e-02 -4.54451616e-03 9.96694957e-01 8.93646654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.90925415399997 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:252.93, Y:17.15, Z:8.94 [[ 9.73339455e-01 -2.14595964e-01 -8.09868974e-02 2.52934038e+02] [ 2.14247711e-01 9.76691930e-01 -1.30687315e-02 1.71546732e+01] [ 8.19037462e-02 -4.63094545e-03 9.96629485e-01 8.93965015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.93925415399997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:252.97, Y:17.16, Z:8.94 [[ 9.73280272e-01 -2.14640195e-01 -8.15787855e-02 2.52965280e+02] [ 2.14287766e-01 9.76681987e-01 -1.31548561e-02 1.71593524e+01] [ 8.25000912e-02 -4.67797378e-03 9.96580078e-01 8.94211600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.96925415399997 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:253.00, Y:17.16, Z:8.94 [[ 9.73364607e-01 -2.13843375e-01 -8.26580450e-02 2.52998339e+02] [ 2.13479394e-01 9.76856750e-01 -1.33206256e-02 1.71636182e+01] [ 8.35935967e-02 -4.67996385e-03 9.96488941e-01 8.94472603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.99925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:253.03, Y:17.17, Z:8.95 [[ 9.73374761e-01 -2.13748066e-01 -8.27848901e-02 2.53030366e+02] [ 2.13383421e-01 9.76877569e-01 -1.33315994e-02 1.71686990e+01] [ 8.37203057e-02 -4.68828065e-03 9.96478264e-01 8.94715533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.02925415399997 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:253.06, Y:17.17, Z:8.95 [[ 9.73478634e-01 -2.12872426e-01 -8.38133630e-02 2.53063349e+02] [ 2.12496148e-01 9.77068799e-01 -1.34888526e-02 1.71738229e+01] [ 8.47628267e-02 -4.67890695e-03 9.96390170e-01 8.95011871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.05925415399997 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:253.10, Y:17.18, Z:8.95 [[ 9.73728781e-01 -2.10381126e-01 -8.71323331e-02 2.53095948e+02] [ 2.09965436e-01 9.77608387e-01 -1.40127672e-02 1.71790423e+01] [ 8.81293213e-02 -4.65014363e-03 9.96098187e-01 8.95303793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.08925415399997 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:253.13, Y:17.18, Z:8.96 [[ 9.74080086e-01 -2.08143451e-01 -8.85680009e-02 2.53128651e+02] [ 2.07705657e-01 9.78087812e-01 -1.42334552e-02 1.71843783e+01] [ 8.95898827e-02 -4.53154951e-03 9.95968432e-01 8.95555620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.11925415399998 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:253.16, Y:17.19, Z:8.96 [[ 9.74531305e-01 -2.05563963e-01 -8.96225046e-02 2.53160592e+02] [ 2.05105880e-01 9.78633982e-01 -1.43912386e-02 1.71897262e+01] [ 9.06659486e-02 -4.35739014e-03 9.95871829e-01 8.95797283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.14925415399998 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:253.19, Y:17.20, Z:8.96 [[ 9.75755942e-01 -1.98894660e-01 -9.13304739e-02 2.53192453e+02] [ 1.98391249e-01 9.80013413e-01 -1.46500329e-02 1.71952141e+01] [ 9.24189027e-02 -3.82431013e-03 9.95712871e-01 8.96073469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.17925415399998 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:253.22, Y:17.20, Z:8.96 [[ 9.76627987e-01 -1.94741410e-01 -9.09591075e-02 2.53222686e+02] [ 1.94224845e-01 9.80848640e-01 -1.45826831e-02 1.72004548e+01] [ 9.20569691e-02 -3.42466208e-03 9.95747853e-01 8.96288061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.20925415399998 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:253.25, Y:17.21, Z:8.97 [[ 9.77473019e-01 -1.90235500e-01 -9.14163661e-02 2.53253790e+02] [ 1.89695051e-01 9.81733823e-01 -1.46454133e-02 1.72062138e+01] [ 9.25326161e-02 -3.02573594e-03 9.95705057e-01 8.96617559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.23925415399998 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:253.29, Y:17.21, Z:8.97 [[ 9.79427209e-01 -1.80206967e-01 -9.08173509e-02 2.53285030e+02] [ 1.79631139e-01 9.83626537e-01 -1.45427019e-02 1.72125915e+01] [ 9.19510525e-02 -2.07010623e-03 9.95761376e-01 8.96952595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.26925415399998 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:253.32, Y:17.22, Z:8.97 [[ 9.80315061e-01 -1.75288535e-01 -9.08642445e-02 2.53316405e+02] [ 1.74691657e-01 9.84515778e-01 -1.45433087e-02 1.72183585e+01] [ 9.20065577e-02 -1.61620087e-03 9.95757089e-01 8.97254368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.29925415399998 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:253.35, Y:17.22, Z:8.98 [[ 9.81243450e-01 -1.70161579e-01 -9.05887899e-02 2.53347426e+02] [ 1.69547105e-01 9.85415517e-01 -1.44926785e-02 1.72238517e+01] [ 9.17336963e-02 -1.13822117e-03 9.95782925e-01 8.97549018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.32925415399998 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:253.38, Y:17.23, Z:8.98 [[ 9.82083598e-01 -1.65356371e-01 -9.03829460e-02 2.53377903e+02] [ 1.64724809e-01 9.86233639e-01 -1.44549742e-02 1.72290742e+01] [ 9.15289238e-02 -6.92320448e-04 9.95802178e-01 8.97791127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.35925415399998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:253.41, Y:17.23, Z:8.98 [[ 9.82789020e-01 -1.61148834e-01 -9.03149769e-02 2.53407924e+02] [ 1.60500761e-01 9.86930069e-01 -1.44410653e-02 1.72339633e+01] [ 9.14617272e-02 -3.03102087e-04 9.95808546e-01 8.98038567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.38925415399996 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:253.44, Y:17.24, Z:8.98 [[ 9.83395223e-01 -1.57598879e-01 -8.99801570e-02 2.53438478e+02] [ 1.56940955e-01 9.87503211e-01 -1.43855465e-02 1.72385179e+01] [ 9.11228401e-02 2.51059324e-05 9.95839659e-01 8.98277151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.41925415399996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:253.47, Y:17.24, Z:8.98 [[ 9.84135689e-01 -1.52969662e-01 -8.98734026e-02 2.53468905e+02] [ 1.52294270e-01 9.88230783e-01 -1.43657854e-02 1.72410581e+01] [ 9.10131923e-02 4.50677887e-04 9.95849585e-01 8.98476529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.44925415399996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:253.50, Y:17.24, Z:8.99 [[ 9.84189314e-01 -1.52383679e-01 -9.02807167e-02 2.53498878e+02] [ 1.51699677e-01 9.88321282e-01 -1.44308924e-02 1.72442802e+01] [ 9.14253862e-02 5.07174520e-04 9.95811800e-01 8.98683795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.47925415399996 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:253.53, Y:17.25, Z:8.99 [[ 9.84095710e-01 -1.52693553e-01 -9.07761659e-02 2.53527023e+02] [ 1.52003227e-01 9.88273467e-01 -1.45111135e-02 1.72469439e+01] [ 9.19274297e-02 4.82054352e-04 9.95765593e-01 8.98863885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.50925415399996 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:253.56, Y:17.25, Z:8.99 [[ 9.83453924e-01 -1.56330712e-01 -9.15373626e-02 2.53556558e+02] [ 1.55643993e-01 9.87704757e-01 -1.46376624e-02 1.72475458e+01] [ 9.27002046e-02 1.48225966e-04 9.95694054e-01 8.99014204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.53925415399996 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:253.59, Y:17.25, Z:8.99 [[ 9.82972875e-01 -1.59143298e-01 -9.18571577e-02 2.53585170e+02] [ 1.58463654e-01 9.87255488e-01 -1.46925932e-02 1.72498077e+01] [ 9.30247108e-02 -1.13600269e-04 9.95663794e-01 8.99210941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.56925415399996 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:253.61, Y:17.25, Z:8.99 [[ 9.82395518e-01 -1.62443599e-01 -9.22557497e-02 2.53614485e+02] [ 1.61772093e-01 9.86717740e-01 -1.47611509e-02 1.72523206e+01] [ 9.34282394e-02 -4.23117296e-04 9.95625926e-01 8.99457420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.59925415399996 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:253.64, Y:17.25, Z:9.00 [[ 9.81785452e-01 -1.65951132e-01 -9.25070182e-02 2.53644431e+02] [ 1.65291153e-01 9.86133688e-01 -1.48048515e-02 1.72544081e+01] [ 9.36811690e-02 -7.55403925e-04 9.95601963e-01 8.99683369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.62925415399997 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:253.67, Y:17.26, Z:9.00 [[ 9.81227809e-01 -1.69207815e-01 -9.25240586e-02 2.53673746e+02] [ 1.68561701e-01 9.85579822e-01 -1.48110700e-02 1.72560778e+01] [ 9.36959940e-02 -1.06297895e-03 9.95600287e-01 8.99901820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.65925415399997 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:253.70, Y:17.26, Z:9.00 [[ 9.80206466e-01 -1.75085650e-01 -9.24137401e-02 2.53702651e+02] [ 1.74466747e-01 9.84551875e-01 -1.47972814e-02 1.72559183e+01] [ 9.35769127e-02 -1.61873368e-03 9.95610738e-01 9.00207441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.68925415399997 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:253.73, Y:17.26, Z:9.00 [[ 9.79806709e-01 -1.77258052e-01 -9.25116044e-02 2.53733260e+02] [ 1.76647102e-01 9.84162718e-01 -1.48170654e-02 1.72592223e+01] [ 9.36729162e-02 -1.82404680e-03 9.95601355e-01 9.00488151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.71925415399997 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:253.76, Y:17.26, Z:9.01 [[ 9.79495578e-01 -1.78809121e-01 -9.28208563e-02 2.53762963e+02] [ 1.78201017e-01 9.83881793e-01 -1.48665965e-02 1.72627256e+01] [ 9.39830335e-02 -1.97900544e-03 9.95571832e-01 9.00791734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.74925415399997 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:253.79, Y:17.27, Z:9.01 [[ 9.79345659e-01 -1.79663699e-01 -9.27525440e-02 2.53791641e+02] [ 1.79060208e-01 9.83725937e-01 -1.48567723e-02 1.72661005e+01] [ 9.39123059e-02 -2.05837435e-03 9.95578345e-01 9.01039476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.77925415399997 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:253.82, Y:17.27, Z:9.01 [[ 9.79328805e-01 -1.79985029e-01 -9.23064481e-02 2.53820976e+02] [ 1.79388313e-01 9.83667162e-01 -1.47900878e-02 1.72684629e+01] [ 9.34608163e-02 -2.07433905e-03 9.95620798e-01 9.01331127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.80925415399997 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:253.85, Y:17.27, Z:9.02 [[ 9.79459154e-01 -1.79485806e-01 -9.18945683e-02 2.53850137e+02] [ 1.78891897e-01 9.83758501e-01 -1.47275457e-02 1.72721743e+01] [ 9.30454482e-02 -2.01416424e-03 9.95659825e-01 9.01602887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.83925415399997 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:253.88, Y:17.28, Z:9.02 [[ 9.79668469e-01 -1.78743401e-01 -9.11070132e-02 2.53879855e+02] [ 1.78156125e-01 9.83893844e-01 -1.46047341e-02 1.72759347e+01] [ 9.22501293e-02 -1.92347489e-03 9.95734008e-01 9.01838374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.86925415399998 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:253.91, Y:17.28, Z:9.02 [[ 9.79954492e-01 -1.77675463e-01 -9.01145039e-02 2.53908757e+02] [ 1.77096149e-01 9.84087491e-01 -1.44486628e-02 1.72793925e+01] [ 9.12477289e-02 -1.79989963e-03 9.95826598e-01 9.02071002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.89925415399998 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:253.94, Y:17.28, Z:9.02 [[ 9.80558274e-01 -1.74824881e-01 -8.91164023e-02 2.53937737e+02] [ 1.74246421e-01 9.84598377e-01 -1.42905758e-02 1.72822620e+01] [ 9.02422133e-02 -1.51547177e-03 9.95918695e-01 9.02304463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.92925415399998 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:253.97, Y:17.29, Z:9.03 [[ 9.80763179e-01 -1.73616000e-01 -8.92248323e-02 2.53965958e+02] [ 1.73030508e-01 9.84812432e-01 -1.43148902e-02 1.72863325e+01] [ 9.03550182e-02 -1.39910083e-03 9.95908637e-01 9.02536356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.95925415399998 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:253.99, Y:17.29, Z:9.03 [[ 9.81258462e-01 -1.70502996e-01 -8.97806176e-02 2.53994044e+02] [ 1.69895052e-01 9.85356548e-01 -1.44272273e-02 1.72899220e+01] [ 9.09258049e-02 -1.09644388e-03 9.95857066e-01 9.02702788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.98925415399998 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:254.02, Y:17.29, Z:9.03 [[ 9.81506191e-01 -1.68780931e-01 -9.03249377e-02 2.54022159e+02] [ 1.68156165e-01 9.85653160e-01 -1.45379678e-02 1.72940479e+01] [ 9.14827920e-02 -9.19589726e-04 9.95806233e-01 9.02905524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.01925415399998 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:254.05, Y:17.30, Z:9.03 [[ 9.81797336e-01 -1.66875508e-01 -9.07003683e-02 2.54049779e+02] [ 1.66235197e-01 9.85977710e-01 -1.46224028e-02 1.72978285e+01] [ 9.18686623e-02 -7.21357504e-04 9.95770872e-01 9.03094226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.04925415399998 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:254.08, Y:17.30, Z:9.03 [[ 9.82210232e-01 -1.64448958e-01 -9.06620162e-02 2.54078389e+02] [ 1.63796458e-01 9.86385483e-01 -1.46423761e-02 1.73013903e+01] [ 9.18356201e-02 -4.68225479e-04 9.95774071e-01 9.03271019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.07925415399998 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:254.11, Y:17.31, Z:9.03 [[ 9.82587147e-01 -1.61904433e-01 -9.11562030e-02 2.54105823e+02] [ 1.61231917e-01 9.86806420e-01 -1.47430951e-02 1.73051083e+01] [ 9.23404988e-02 -2.10913649e-04 9.95727467e-01 9.03478973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.10925415399998 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:254.13, Y:17.31, Z:9.04 [[ 9.83440898e-01 -1.56615967e-01 -9.11890292e-02 2.54132304e+02] [ 1.55919416e-01 9.87659532e-01 -1.47574992e-02 1.73081630e+01] [ 9.23749740e-02 2.94988093e-04 9.95724248e-01 9.03639295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.13925415399996 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:254.16, Y:17.31, Z:9.04 [[ 9.83771781e-01 -1.54679627e-01 -9.09246690e-02 2.54160164e+02] [ 1.53977506e-01 9.87964561e-01 -1.47293761e-02 1.73123344e+01] [ 9.21086851e-02 4.89990793e-04 9.95748839e-01 9.03834929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.16925415399996 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:254.19, Y:17.32, Z:9.04 [[ 9.84036923e-01 -1.53012267e-01 -9.08767308e-02 2.54186906e+02] [ 1.52301557e-01 9.88224062e-01 -1.47457822e-02 1.73162789e+01] [ 9.20628576e-02 6.69726499e-04 9.95752972e-01 9.04069705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.19925415399996 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:254.21, Y:17.32, Z:9.04 [[ 9.84136471e-01 -1.52542285e-01 -9.05883935e-02 2.54214090e+02] [ 1.51832741e-01 9.88296678e-01 -1.47137576e-02 1.73205141e+01] [ 9.17726786e-02 7.26061340e-04 9.95779719e-01 9.04287926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.22925415399996 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:254.24, Y:17.32, Z:9.04 [[ 9.84076842e-01 -1.53233257e-01 -9.00685142e-02 2.54241435e+02] [ 1.52532558e-01 9.88189812e-01 -1.46531241e-02 1.73227399e+01] [ 9.12501340e-02 6.81419282e-04 9.95827771e-01 9.04417361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.25925415399996 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:254.27, Y:17.33, Z:9.05 [[ 9.84049675e-01 -1.53408800e-01 -9.00665190e-02 2.54269411e+02] [ 1.52707714e-01 9.88162578e-01 -1.46653780e-02 1.73273843e+01] [ 9.12501617e-02 6.77608220e-04 9.95827771e-01 9.04627050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.28925415399996 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:254.30, Y:17.33, Z:9.05 [[ 9.83838299e-01 -1.54932229e-01 -8.97675077e-02 2.54296128e+02] [ 1.54240604e-01 9.87924947e-01 -1.46333641e-02 1.73303433e+01] [ 9.09507400e-02 5.51069421e-04 9.95855240e-01 9.04802779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.31925415399996 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:254.32, Y:17.33, Z:9.05 [[ 9.83423226e-01 -1.57508091e-01 -8.98329534e-02 2.54323562e+02] [ 1.56824371e-01 9.87517641e-01 -1.46637660e-02 1.73337344e+01] [ 9.10212879e-02 3.32691650e-04 9.95848891e-01 9.05030899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.34925415399996 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:254.35, Y:17.34, Z:9.05 [[ 9.82611677e-01 -1.63154395e-01 -8.86280710e-02 2.54350238e+02] [ 1.62509732e-01 9.86600535e-01 -1.44903654e-02 1.73360505e+01] [ 8.98046691e-02 -1.64521847e-04 9.95959384e-01 9.05275345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.37925415399997 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:254.38, Y:17.34, Z:9.05 [[ 9.82112288e-01 -1.66493296e-01 -8.79513325e-02 2.54376625e+02] [ 1.65870815e-01 9.86042481e-01 -1.43908777e-02 1.73392016e+01] [ 8.91197349e-02 -4.55101379e-04 9.96020816e-01 9.05493072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.40925415399997 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:254.40, Y:17.34, Z:9.06 [[ 9.81628679e-01 -1.69648986e-01 -8.73175705e-02 2.54404134e+02] [ 1.69046721e-01 9.85504287e-01 -1.43005926e-02 1.73422661e+01] [ 8.84779211e-02 -7.22877132e-04 9.96077876e-01 9.05695712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.43925415399997 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:254.43, Y:17.35, Z:9.06 [[ 9.81158375e-01 -1.72513416e-01 -8.69905973e-02 2.54432255e+02] [ 1.71924618e-01 9.85006708e-01 -1.42727312e-02 1.73453255e+01] [ 8.81485595e-02 -9.52015460e-04 9.96106884e-01 9.05900852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.46925415399997 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:254.46, Y:17.35, Z:9.06 [[ 9.80794898e-01 -1.74696054e-01 -8.67332551e-02 2.54460259e+02] [ 1.74117451e-01 9.84621767e-01 -1.42509325e-02 1.73485480e+01] [ 8.78890326e-02 -1.12453137e-03 9.96129637e-01 9.06121421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.49925415399997 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:254.49, Y:17.35, Z:9.06 [[ 9.80477858e-01 -1.76751999e-01 -8.61504501e-02 2.54488452e+02] [ 1.76188375e-01 9.84254571e-01 -1.41631546e-02 1.73506552e+01] [ 8.72973402e-02 -1.29204839e-03 9.96181462e-01 9.06315822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.52925415399997 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:254.52, Y:17.35, Z:9.07 [[ 9.80477078e-01 -1.77009459e-01 -8.56291458e-02 2.54515978e+02] [ 1.76452711e-01 9.84208296e-01 -1.40879489e-02 1.73544130e+01] [ 8.67706159e-02 -1.29658393e-03 9.96227474e-01 9.06526804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.55925415399997 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:254.54, Y:17.36, Z:9.07 [[ 9.80710105e-01 -1.76070173e-01 -8.48939571e-02 2.54543427e+02] [ 1.75517502e-01 9.84376910e-01 -1.39895046e-02 1.73580674e+01] [ 8.60307856e-02 -1.18072678e-03 9.96291779e-01 9.06730763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.58925415399997 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:254.57, Y:17.36, Z:9.07 [[ 9.80976775e-01 -1.74821307e-01 -8.43924030e-02 2.54571897e+02] [ 1.74269710e-01 9.84599613e-01 -1.39165634e-02 1.73618734e+01] [ 8.55256391e-02 -1.05521416e-03 9.96335411e-01 9.06989736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.61925415399998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:254.60, Y:17.36, Z:9.07 [[ 9.81963277e-01 -1.69986372e-01 -8.27813689e-02 2.54601757e+02] [ 1.69436900e-01 9.85446229e-01 -1.36699313e-02 1.73643960e+01] [ 8.39002898e-02 -6.02848011e-04 9.96473973e-01 9.07244406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.64925415399998 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:254.63, Y:17.37, Z:9.07 [[ 9.82433433e-01 -1.67584499e-01 -8.20974134e-02 2.54629939e+02] [ 1.67035267e-01 9.85857639e-01 -1.35622772e-02 1.73681864e+01] [ 8.32091896e-02 -3.89128838e-04 9.96532026e-01 9.07465208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.67925415399998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:254.66, Y:17.37, Z:9.08 [[ 9.83403586e-01 -1.62221422e-01 -8.12502150e-02 2.54658229e+02] [ 1.61663420e-01 9.86754378e-01 -1.34438000e-02 1.73711510e+01] [ 8.23548778e-02 8.54935654e-05 9.96603064e-01 9.07696806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.70925415399998 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:254.69, Y:17.38, Z:9.08 [[ 9.83358604e-01 -1.62495633e-01 -8.12466924e-02 2.54686164e+02] [ 1.61936809e-01 9.86709259e-01 -1.34650570e-02 1.73758542e+01] [ 8.23548766e-02 8.41495109e-05 9.96603064e-01 9.07906531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.73925415399998 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:254.71, Y:17.38, Z:9.08 [[ 9.84237007e-01 -1.57186055e-01 -8.10558944e-02 2.54713796e+02] [ 1.56610095e-01 9.87568855e-01 -1.34549314e-02 1.73787197e+01] [ 8.21632044e-02 5.48670075e-04 9.96618737e-01 9.08095096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.76925415399998 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:254.74, Y:17.38, Z:9.08 [[ 9.84510950e-01 -1.55352203e-01 -8.12642736e-02 2.54741138e+02] [ 1.54766253e-01 9.87858889e-01 -1.34989701e-02 1.73822145e+01] [ 8.23747298e-02 7.12916688e-04 9.96601172e-01 9.08277803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.79925415399998 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:254.77, Y:17.39, Z:9.08 [[ 9.84730857e-01 -1.53714728e-01 -8.17124366e-02 2.54768762e+02] [ 1.53114610e-01 9.88114877e-01 -1.35980378e-02 1.73852610e+01] [ 8.28314929e-02 8.79039556e-04 9.96563180e-01 9.08446640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.82925415399998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:254.80, Y:17.39, Z:9.09 [[ 9.84995286e-01 -1.51589963e-01 -8.24910331e-02 2.54796411e+02] [ 1.50968929e-01 9.88442863e-01 -1.37509869e-02 1.73860315e+01] [ 8.36221845e-02 1.09107436e-03 9.96496934e-01 9.08560357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.85925415399998 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:254.82, Y:17.39, Z:9.09 [[ 9.84963268e-01 -1.51561262e-01 -8.29249354e-02 2.54824118e+02] [ 1.50932494e-01 9.88447241e-01 -1.38359846e-02 1.73882709e+01] [ 8.40639229e-02 1.11186931e-03 9.96459744e-01 9.08752871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.88925415399996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:254.85, Y:17.39, Z:9.09 [[ 9.84778977e-01 -1.52267276e-01 -8.38155291e-02 2.54852073e+02] [ 1.51625253e-01 9.88338754e-01 -1.40103812e-02 1.73907567e+01] [ 8.49714581e-02 1.08857799e-03 9.96382791e-01 9.08968754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.91925415399996 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:254.88, Y:17.39, Z:9.09 [[ 9.84402061e-01 -1.54231391e-01 -8.46478554e-02 2.54880069e+02] [ 1.53581537e-01 9.88034295e-01 -1.41754621e-02 1.73906858e+01] [ 8.58212854e-02 9.54006407e-04 9.96310091e-01 9.09160318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.94925415399996 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:254.91, Y:17.39, Z:9.09 [[ 9.84114207e-01 -1.55802918e-01 -8.51156745e-02 2.54908264e+02] [ 1.55149470e-01 9.87787798e-01 -1.42796594e-02 1.73929890e+01] [ 8.63010373e-02 8.47163885e-04 9.96268746e-01 9.09379681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.97925415399996 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:254.94, Y:17.39, Z:9.10 [[ 9.83813345e-01 -1.57501049e-01 -8.54676641e-02 2.54936114e+02] [ 1.56846309e-01 9.87518552e-01 -1.43646825e-02 1.73948834e+01] [ 8.66633565e-02 7.26878670e-04 9.96237389e-01 9.09592629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.00925415399996 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:254.96, Y:17.40, Z:9.10 [[ 9.83476442e-01 -1.59452348e-01 -8.57265261e-02 2.54963892e+02] [ 1.58798755e-01 9.87205455e-01 -1.44341976e-02 1.73967796e+01] [ 8.69312609e-02 5.82427680e-04 9.96214142e-01 9.09806053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.03925415399996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:254.99, Y:17.40, Z:9.10 [[ 9.82824477e-01 -1.63481317e-01 -8.56148788e-02 2.54991645e+02] [ 1.62842625e-01 9.86546399e-01 -1.44389211e-02 1.73954957e+01] [ 8.68235441e-02 2.49173435e-04 9.96223675e-01 9.10060681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.06925415399996 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:255.02, Y:17.40, Z:9.10 [[ 9.82364619e-01 -1.66344701e-01 -8.53767915e-02 2.55019361e+02] [ 1.65719197e-01 9.86067665e-01 -1.44120525e-02 1.73969786e+01] [ 8.65846620e-02 9.31713672e-06 9.96244496e-01 9.10284412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.09925415399996 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:255.05, Y:17.40, Z:9.11 [[ 9.81860642e-01 -1.69536854e-01 -8.48936640e-02 2.55047713e+02] [ 1.68928126e-01 9.85523818e-01 -1.43559502e-02 1.73986699e+01] [ 8.60985905e-02 -2.45385063e-04 9.96286592e-01 9.10514499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.12925415399997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:255.08, Y:17.40, Z:9.11 [[ 9.81322297e-01 -1.72844545e-01 -8.44471041e-02 2.55075738e+02] [ 1.72252260e-01 9.84948986e-01 -1.43057124e-02 1.74000055e+01] [ 8.56487539e-02 -5.07689902e-04 9.96325265e-01 9.10774692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.15925415399997 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:255.10, Y:17.40, Z:9.11 [[ 9.80209435e-01 -1.79414941e-01 -8.36644579e-02 2.55103258e+02] [ 1.78855432e-01 9.83772932e-01 -1.41969604e-02 1.73985778e+01] [ 8.48539758e-02 -1.04784816e-03 9.96392847e-01 9.11030662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.18925415399997 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:255.13, Y:17.40, Z:9.11 [[ 9.79678534e-01 -1.82604165e-01 -8.29800568e-02 2.55131102e+02] [ 1.82063699e-01 9.83185659e-01 -1.40985568e-02 1.74004568e+01] [ 8.41592570e-02 -1.29560264e-03 9.96451474e-01 9.11237184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.21925415399997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:255.16, Y:17.40, Z:9.11 [[ 9.79107424e-01 -1.85839598e-01 -8.25366322e-02 2.55158727e+02] [ 1.85314323e-01 9.82578887e-01 -1.40475416e-02 1.74025010e+01] [ 8.37093417e-02 -1.54116786e-03 9.96489022e-01 9.11437609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.24925415399997 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:255.19, Y:17.40, Z:9.12 [[ 9.78591522e-01 -1.88646728e-01 -8.22863560e-02 2.55185574e+02] [ 1.88132598e-01 9.82043451e-01 -1.40280712e-02 1.74040820e+01] [ 8.34551267e-02 -1.75299431e-03 9.96509994e-01 9.11637212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.27925415399997 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:255.21, Y:17.40, Z:9.12 [[ 9.77473699e-01 -1.94574588e-01 -8.17673406e-02 2.55214240e+02] [ 1.94086582e-01 9.80885185e-01 -1.39518002e-02 1.74029160e+01] [ 8.29190388e-02 -2.23242589e-03 9.96553786e-01 9.11807866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.30925415399997 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:255.24, Y:17.40, Z:9.12 [[ 9.76882095e-01 -1.97587844e-01 -8.16113736e-02 2.55242056e+02] [ 1.97110138e-01 9.80282101e-01 -1.39497979e-02 1.74046596e+01] [ 8.27584792e-02 -2.45912133e-03 9.96566599e-01 9.11977500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.33925415399997 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:255.27, Y:17.41, Z:9.12 [[ 9.76239426e-01 -2.00753260e-01 -8.15764183e-02 2.55269021e+02] [ 2.00285065e-01 9.79638106e-01 -1.39668644e-02 1.74066049e+01] [ 8.27192615e-02 -2.70353458e-03 9.96569222e-01 9.12157907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.36925415399998 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:255.30, Y:17.41, Z:9.12 [[ 9.75523832e-01 -2.04192382e-01 -8.16010084e-02 2.55296532e+02] [ 2.03734879e-01 9.78926232e-01 -1.39832723e-02 1.74086906e+01] [ 8.27366453e-02 -2.98395624e-03 9.96566979e-01 9.12354256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.39925415399998 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:255.32, Y:17.41, Z:9.13 [[ 9.74196440e-01 -2.10372057e-01 -8.17611986e-02 2.55324386e+02] [ 2.09932358e-01 9.77615165e-01 -1.40354862e-02 1.74088645e+01] [ 8.28836618e-02 -3.49100050e-03 9.96553115e-01 9.12529056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.42925415399998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:255.35, Y:17.41, Z:9.13 [[ 9.73728332e-01 -2.12587090e-01 -8.16079987e-02 2.55354364e+02] [ 2.11921454e-01 9.77141706e-01 -1.68339878e-02 1.74122059e+01] [ 8.33212675e-02 -9.02754829e-04 9.96522329e-01 9.12800598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.45925415399998 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:255.38, Y:17.41, Z:9.13 [[ 9.72749629e-01 -2.16245826e-01 -8.36415099e-02 2.55380585e+02] [ 2.16096682e-01 9.76310665e-01 -1.09412056e-02 1.74132752e+01] [ 8.40260882e-02 -7.43159902e-03 9.96435842e-01 9.12899786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.48925415399998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:255.41, Y:17.42, Z:9.13 [[ 9.72116873e-01 -2.19117385e-01 -8.35245927e-02 2.55406783e+02] [ 2.18684357e-01 9.75689223e-01 -1.44115414e-02 1.74176424e+01] [ 8.46518642e-02 -4.25581929e-03 9.96401500e-01 9.13160380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.51925415399998 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:255.43, Y:17.42, Z:9.13 [[ 9.71547073e-01 -2.21370563e-01 -8.42102031e-02 2.55433405e+02] [ 2.20937785e-01 9.75179486e-01 -1.45418660e-02 1.74209256e+01] [ 8.53392036e-02 -4.47710840e-03 9.96341897e-01 9.13355653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.54925415399998 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:255.46, Y:17.42, Z:9.14 [[ 9.70728372e-01 -2.24455241e-01 -8.54767380e-02 2.55461015e+02] [ 2.24019608e-01 9.74472569e-01 -1.47792982e-02 1.74244858e+01] [ 8.66120274e-02 -4.80178122e-03 9.96230545e-01 9.13619641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.57925415399998 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:255.49, Y:17.43, Z:9.14 [[ 9.70394978e-01 -2.25732341e-01 -8.58981772e-02 2.55488397e+02] [ 2.25295151e-01 9.74176961e-01 -1.48776449e-02 1.74294201e+01] [ 8.70383908e-02 -4.91525093e-03 9.96192832e-01 9.13853420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.60925415399998 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:255.51, Y:17.43, Z:9.14 [[ 9.70303174e-01 -2.25958848e-01 -8.63385765e-02 2.55514743e+02] [ 2.25515967e-01 9.74124334e-01 -1.49777042e-02 1.74342100e+01] [ 8.74888531e-02 -4.93781364e-03 9.96153261e-01 9.14094087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.63925415399996 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:255.54, Y:17.44, Z:9.14 [[ 9.70234838e-01 -2.26153892e-01 -8.65954734e-02 2.55542550e+02] [ 2.25707933e-01 9.74078974e-01 -1.50360220e-02 1.74397610e+01] [ 8.77512847e-02 -4.95681288e-03 9.96130083e-01 9.14304281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.66925415399996 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:255.57, Y:17.45, Z:9.14 [[ 9.70390722e-01 -2.25240085e-01 -8.72281499e-02 2.55569146e+02] [ 2.24781771e-01 9.74291038e-01 -1.51700001e-02 1.74458078e+01] [ 8.84024968e-02 -4.88647063e-03 9.96072849e-01 9.14499727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.69925415399996 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:255.60, Y:17.45, Z:9.15 [[ 9.70477801e-01 -2.24894010e-01 -8.71522970e-02 2.55596944e+02] [ 2.24433867e-01 9.74371227e-01 -1.51707669e-02 1.74514270e+01] [ 8.83305051e-02 -4.83703456e-03 9.96079477e-01 9.14694700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.72925415399996 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:255.62, Y:17.46, Z:9.15 [[ 9.70441254e-01 -2.24838365e-01 -8.77010916e-02 2.55622932e+02] [ 2.24370026e-01 9.74384059e-01 -1.52904407e-02 1.74581288e+01] [ 8.88924233e-02 -4.83902178e-03 9.96029478e-01 9.14901983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.75925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:255.65, Y:17.46, Z:9.15 [[ 9.70235869e-01 -2.25578869e-01 -8.80711777e-02 2.55649030e+02] [ 2.25108565e-01 9.74212504e-01 -1.53665539e-02 1.74640979e+01] [ 8.92664124e-02 -4.91639467e-03 9.95995651e-01 9.15109127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.78925415399996 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:255.68, Y:17.47, Z:9.15 [[ 9.70068140e-01 -2.26211143e-01 -8.82967835e-02 2.55675525e+02] [ 2.25739998e-01 9.74065581e-01 -1.54174198e-02 1.74696524e+01] [ 8.94944499e-02 -4.97616797e-03 9.95974890e-01 9.15309994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.81925415399996 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:255.70, Y:17.48, Z:9.16 [[ 9.69732459e-01 -2.27679200e-01 -8.82107717e-02 2.55702460e+02] [ 2.27213770e-01 9.73722878e-01 -1.54162264e-02 1.74752648e+01] [ 8.94028005e-02 -5.09308685e-03 9.95982530e-01 9.15512059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.84925415399996 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:255.73, Y:17.48, Z:9.16 [[ 9.69317961e-01 -2.29687842e-01 -8.75567581e-02 2.55728665e+02] [ 2.29235412e-01 9.73250369e-01 -1.53246255e-02 1.74824546e+01] [ 8.87345273e-02 -5.21667481e-03 9.96041651e-01 9.15812066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.87925415399997 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:255.76, Y:17.49, Z:9.16 [[ 9.69094489e-01 -2.30809574e-01 -8.70793456e-02 2.55755653e+02] [ 2.30365368e-01 9.72984632e-01 -1.52545945e-02 1.74888197e+01] [ 8.82477715e-02 -5.27692208e-03 9.96084577e-01 9.16061362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.90925415399997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:255.78, Y:17.50, Z:9.16 [[ 9.68918468e-01 -2.31607985e-01 -8.69180261e-02 2.55782976e+02] [ 2.31166246e-01 9.72794690e-01 -1.52531425e-02 1.74955468e+01] [ 8.80861438e-02 -5.31346235e-03 9.96098689e-01 9.16317620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.93925415399997 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:255.81, Y:17.50, Z:9.17 [[ 9.68988159e-01 -2.31912104e-01 -8.53154402e-02 2.55808264e+02] [ 2.31151254e-01 9.72735625e-01 -1.88282161e-02 1.75041789e+01] [ 8.73558593e-02 -1.47645253e-03 9.96176076e-01 9.16506240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.96925415399997 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:255.84, Y:17.51, Z:9.17 [[ 9.68854156e-01 -2.31833485e-01 -8.70336665e-02 2.55837299e+02] [ 2.31678822e-01 9.72718140e-01 -1.20142836e-02 1.75071921e+01] [ 8.74445395e-02 -8.52376867e-03 9.96132922e-01 9.16694532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.99925415399997 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:255.86, Y:17.52, Z:9.17 [[ 9.69309095e-01 -2.30811040e-01 -8.46530682e-02 2.55860533e+02] [ 2.29954384e-01 9.72998572e-01 -1.98685903e-02 1.75198949e+01] [ 8.69532045e-02 -2.07538820e-04 9.96212376e-01 9.16962313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.02925415399997 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:255.89, Y:17.52, Z:9.17 [[ 9.69547562e-01 -2.29088290e-01 -8.65799055e-02 2.55891085e+02] [ 2.29005097e-01 9.73362769e-01 -1.10265540e-02 1.75220164e+01] [ 8.67997109e-02 -9.13647118e-03 9.96183886e-01 9.17080163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.05925415399997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:255.92, Y:17.53, Z:9.17 [[ 9.70012204e-01 -2.27282530e-01 -8.61334750e-02 2.55917449e+02] [ 2.26822454e-01 9.73817170e-01 -1.52215159e-02 1.75306113e+01] [ 8.73378415e-02 -4.77194993e-03 9.96167320e-01 9.17376507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.08925415399997 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:255.94, Y:17.54, Z:9.18 [[ 9.70572510e-01 -2.24723540e-01 -8.65351617e-02 2.55944434e+02] [ 2.24246657e-01 9.74412002e-01 -1.53194766e-02 1.75375488e+01] [ 8.77635472e-02 -4.53655795e-03 9.96131005e-01 9.17576128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.11925415399998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:255.97, Y:17.54, Z:9.18 [[ 9.71287134e-01 -2.21593498e-01 -8.65888300e-02 2.55970648e+02] [ 2.21101390e-01 9.75129949e-01 -1.53544125e-02 1.75448438e+01] [ 8.78377993e-02 -4.23136742e-03 9.96125804e-01 9.17761075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.14925415399998 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:256.00, Y:17.55, Z:9.18 [[ 9.71225636e-01 -2.21864189e-01 -8.65854859e-02 2.55998541e+02] [ 2.21371478e-01 9.75068373e-01 -1.53732491e-02 1.75498768e+01] [ 8.78375423e-02 -4.23666333e-03 9.96125804e-01 9.17971038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.17925415399998 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:256.03, Y:17.56, Z:9.18 [[ 9.72854056e-01 -2.14538874e-01 -8.67643803e-02 2.56025034e+02] [ 2.14012832e-01 9.76708972e-01 -1.54301957e-02 1.75603759e+01] [ 8.80539255e-02 -3.55736231e-03 9.96109357e-01 9.18293701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.20925415399998 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:256.05, Y:17.57, Z:9.18 [[ 9.73738310e-01 -2.10698851e-01 -8.62536820e-02 2.56051505e+02] [ 2.10161662e-01 9.77545895e-01 -1.53655448e-02 1.75679274e+01] [ 8.75544353e-02 -3.16519752e-03 9.96154708e-01 9.18485997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.23925415399998 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:256.08, Y:17.58, Z:9.19 [[ 9.74481509e-01 -2.07126509e-01 -8.65124169e-02 2.56078714e+02] [ 2.06569714e-01 9.78310083e-01 -1.54380742e-02 1.75753200e+01] [ 8.78336042e-02 -2.82672739e-03 9.96131150e-01 9.18770371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.26925415399998 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:256.10, Y:17.58, Z:9.19 [[ 9.76023946e-01 -1.99958421e-01 -8.59877090e-02 2.56104767e+02] [ 1.99378403e-01 9.79802039e-01 -1.53693227e-02 1.75840224e+01] [ 8.73241581e-02 -2.14326510e-03 9.96177644e-01 9.18997960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.29925415399998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:256.13, Y:17.59, Z:9.19 [[ 9.76410317e-01 -1.98103879e-01 -8.58938066e-02 2.56131267e+02] [ 1.97516498e-01 9.80179074e-01 -1.53693340e-02 1.75911044e+01] [ 8.72360364e-02 -1.95866759e-03 9.96185745e-01 9.19207319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.32925415399998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:256.16, Y:17.60, Z:9.19 [[ 9.76894280e-01 -1.95672260e-01 -8.59647176e-02 2.56156632e+02] [ 1.94861626e-01 9.80669136e-01 -1.78042618e-02 1.75985160e+01] [ 8.77867455e-02 6.41656932e-04 9.96139084e-01 9.19461893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.35925415399998 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:256.19, Y:17.60, Z:9.20 [[ 9.77074566e-01 -1.94746072e-01 -8.60189486e-02 2.56185206e+02] [ 1.94330540e-01 9.80846484e-01 -1.32595389e-02 1.76030329e+01] [ 8.69536264e-02 -3.76055051e-03 9.96205263e-01 9.19530300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.38925415399996 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:256.21, Y:17.61, Z:9.20 [[ 9.77245571e-01 -1.93960665e-01 -8.58507667e-02 2.56212519e+02] [ 1.93354090e-01 9.81008091e-01 -1.54052676e-02 1.76109759e+01] [ 8.72083127e-02 -1.54486731e-03 9.96188900e-01 9.19786258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.41925415399996 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:256.24, Y:17.62, Z:9.20 [[ 9.77124719e-01 -1.94679465e-01 -8.55990030e-02 2.56238934e+02] [ 1.94077101e-01 9.80865642e-01 -1.53841217e-02 1.76166463e+01] [ 8.69560936e-02 -1.58060079e-03 9.96210891e-01 9.19994774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.44925415399996 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:256.26, Y:17.62, Z:9.20 [[ 9.76970153e-01 -1.95642366e-01 -8.51668055e-02 2.56264772e+02] [ 1.95048663e-01 9.80673930e-01 -1.53187112e-02 1.76218752e+01] [ 8.65178547e-02 -1.64574791e-03 9.96248941e-01 9.20209632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.47925415399996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:256.29, Y:17.63, Z:9.20 [[ 9.76732523e-01 -1.96999838e-01 -8.47622674e-02 2.56291192e+02] [ 1.96415431e-01 9.80401975e-01 -1.52625774e-02 1.76269429e+01] [ 8.61078196e-02 -1.74116159e-03 9.96284303e-01 9.20422559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.50925415399996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:256.32, Y:17.64, Z:9.21 [[ 9.76487424e-01 -1.99418194e-01 -8.18822041e-02 2.56317093e+02] [ 1.98180835e-01 9.79894329e-01 -2.30534232e-02 1.76368141e+01] [ 8.48331795e-02 6.28389424e-03 9.96375353e-01 9.20635507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.53925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:256.35, Y:17.63, Z:9.21 [[ 9.75662684e-01 -2.02041942e-01 -8.52137401e-02 2.56348212e+02] [ 2.02136109e-01 9.79327857e-01 -7.61196049e-03 1.76339810e+01] [ 8.49901248e-02 -9.79806808e-03 9.96333617e-01 9.20700193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.56925415399996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:256.37, Y:17.64, Z:9.21 [[ 9.75290151e-01 -2.04519385e-01 -8.35520386e-02 2.56374064e+02] [ 2.03975882e-01 9.78859733e-01 -1.50818769e-02 1.76423358e+01] [ 8.48702623e-02 -2.33339477e-03 9.96389278e-01 9.21048452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.59925415399996 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:256.40, Y:17.65, Z:9.21 [[ 9.74846574e-01 -2.06550322e-01 -8.37324455e-02 2.56401350e+02] [ 2.06010837e-01 9.78432777e-01 -1.51273100e-02 1.76472792e+01] [ 8.50511199e-02 -2.50298482e-03 9.96373445e-01 9.21243809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.62925415399997 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:256.43, Y:17.65, Z:9.21 [[ 9.74195907e-01 -2.09729320e-01 -8.34023241e-02 2.56427771e+02] [ 2.09203708e-01 9.77755629e-01 -1.50910271e-02 1.76521899e+01] [ 8.47121226e-02 -2.74645864e-03 9.96401683e-01 9.21361339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.65925415399997 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:256.46, Y:17.66, Z:9.22 [[ 9.73963438e-01 -2.11053261e-01 -8.27752551e-02 2.56455339e+02] [ 2.10539239e-01 9.77470473e-01 -1.49901089e-02 1.76571136e+01] [ 8.40740791e-02 -2.82762120e-03 9.96455495e-01 9.21528158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.68925415399997 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:256.48, Y:17.66, Z:9.22 [[ 9.73849986e-01 -2.11730951e-01 -8.23784548e-02 2.56481818e+02] [ 2.11222321e-01 9.77323838e-01 -1.49414305e-02 1.76615857e+01] [ 8.36739910e-02 -2.84945651e-03 9.96489109e-01 9.21686719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.71925415399997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:256.51, Y:17.67, Z:9.22 [[ 9.73894060e-01 -2.11742314e-01 -8.18263595e-02 2.56508380e+02] [ 2.11041724e-01 9.77325402e-01 -1.72176852e-02 1.76671993e+01] [ 8.36166922e-02 -5.00574630e-04 9.96497867e-01 9.21897715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.74925415399997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:256.54, Y:17.67, Z:9.22 [[ 9.74025419e-01 -2.11498437e-01 -8.08881613e-02 2.56538247e+02] [ 2.11174007e-01 9.77366712e-01 -1.26431553e-02 1.76703621e+01] [ 8.17314039e-02 -4.76672254e-03 9.96642993e-01 9.21993802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.77925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:256.57, Y:17.68, Z:9.22 [[ 9.74304703e-01 -2.10488829e-01 -8.01548352e-02 2.56567148e+02] [ 2.09999238e-01 9.77592747e-01 -1.45856113e-02 1.76769548e+01] [ 8.14288938e-02 -2.62162464e-03 9.96675706e-01 9.22250219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.80925415399997 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:256.60, Y:17.68, Z:9.22 [[ 9.74659360e-01 -2.08777581e-01 -8.03184490e-02 2.56596601e+02] [ 2.08279938e-01 9.77960003e-01 -1.46184614e-02 1.76827822e+01] [ 8.16002376e-02 -2.48070136e-03 9.96662053e-01 9.22461126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.83925415399997 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:256.62, Y:17.69, Z:9.23 [[ 9.75649521e-01 -2.04355398e-01 -7.96673367e-02 2.56624844e+02] [ 2.03850812e-01 9.78894531e-01 -1.45032343e-02 1.76889521e+01] [ 8.09497344e-02 -2.09017766e-03 9.96715993e-01 9.22602136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.86925415399998 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:256.65, Y:17.69, Z:9.23 [[ 9.76127874e-01 -2.01980641e-01 -7.98636009e-02 2.56652646e+02] [ 2.01465043e-01 9.79387689e-01 -1.45461557e-02 1.76944953e+01] [ 8.11554694e-02 -1.89081583e-03 9.96699661e-01 9.22781505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.89925415399998 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:256.68, Y:17.70, Z:9.23 [[ 9.76706344e-01 -1.99198718e-01 -7.97783639e-02 2.56681160e+02] [ 1.98673233e-01 9.79957750e-01 -1.45518206e-02 1.76998363e+01] [ 8.10781300e-02 -1.63696993e-03 9.96706405e-01 9.22970975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.92925415399998 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:256.71, Y:17.71, Z:9.23 [[ 9.77247615e-01 -1.96495854e-01 -7.98528542e-02 2.56708308e+02] [ 1.95958713e-01 9.80503665e-01 -1.45858375e-02 1.77050969e+01] [ 8.11620727e-02 -1.39388760e-03 9.96699942e-01 9.23157857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.95925415399998 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:256.73, Y:17.71, Z:9.23 [[ 9.78379753e-01 -1.91125525e-01 -7.90195648e-02 2.56734279e+02] [ 1.90581113e-01 9.81565166e-01 -1.44452231e-02 1.77102404e+01] [ 8.03237031e-02 -9.26722791e-04 9.96768400e-01 9.23341149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.98925415399998 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:256.76, Y:17.72, Z:9.24 [[ 9.78736902e-01 -1.89427563e-01 -7.86846553e-02 2.56762423e+02] [ 1.88880906e-01 9.81894399e-01 -1.44011605e-02 1.77156399e+01] [ 7.99879991e-02 -7.67081814e-04 9.96795531e-01 9.23544059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.01925415399998 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:256.79, Y:17.72, Z:9.24 [[ 9.78988278e-01 -1.88049921e-01 -7.88617678e-02 2.56790560e+02] [ 1.87494644e-01 9.82159266e-01 -1.44545813e-02 1.77206397e+01] [ 8.01729989e-02 -6.35293371e-04 9.96780762e-01 9.23711063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.04925415399998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:256.82, Y:17.73, Z:9.24 [[ 9.79107638e-01 -1.87048779e-01 -7.97558024e-02 2.56818203e+02] [ 1.86475726e-01 9.82350480e-01 -1.46403153e-02 1.77252312e+01] [ 8.10866038e-02 -5.38076647e-04 9.96706914e-01 9.23796537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.07925415399998 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:256.85, Y:17.73, Z:9.24 [[ 9.79055992e-01 -1.87320749e-01 -7.97514957e-02 2.56846059e+02] [ 1.86746689e-01 9.82298656e-01 -1.46637400e-02 1.77304300e+01] [ 8.10866098e-02 -5.36705263e-04 9.96706915e-01 9.24006945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.10925415399998 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:256.87, Y:17.73, Z:9.24 [[ 9.78618202e-01 -1.88713416e-01 -8.18147938e-02 2.56872765e+02] [ 1.88112195e-01 9.82031989e-01 -1.50656491e-02 1.77343751e+01] [ 8.31878348e-02 -6.46842029e-04 9.96533675e-01 9.24093111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.13925415399996 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:256.90, Y:17.74, Z:9.24 [[ 9.78239982e-01 -1.90543884e-01 -8.20948621e-02 2.56900749e+02] [ 1.89943914e-01 9.81678359e-01 -1.51297699e-02 1.77387445e+01] [ 8.34736346e-02 -7.92873563e-04 9.96509671e-01 9.24233010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.16925415399996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:256.93, Y:17.74, Z:9.24 [[ 9.77720075e-01 -1.93018678e-01 -8.25060292e-02 2.56927374e+02] [ 1.92419460e-01 9.81194587e-01 -1.52293427e-02 1.77426769e+01] [ 8.38940169e-02 -9.85731534e-04 9.96474195e-01 9.24401530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.19925415399996 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:256.95, Y:17.75, Z:9.25 [[ 9.76470043e-01 -1.99573296e-01 -8.17114160e-02 2.56954885e+02] [ 1.99007425e-01 9.79881720e-01 -1.50950246e-02 1.77457628e+01] [ 8.30800867e-02 -1.52133916e-03 9.96541712e-01 9.24610727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.22925415399996 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:256.98, Y:17.75, Z:9.25 [[ 9.75738923e-01 -2.03374313e-01 -8.10706043e-02 2.56981566e+02] [ 2.02828475e-01 9.79099393e-01 -1.49996280e-02 1.77497290e+01] [ 8.24267185e-02 -1.80770613e-03 9.96595489e-01 9.24847031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.25925415399996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:257.01, Y:17.75, Z:9.25 [[ 9.75025350e-01 -2.07099388e-01 -8.02210104e-02 2.57009093e+02] [ 2.06576547e-01 9.78317679e-01 -1.48542471e-02 1.77538179e+01] [ 8.15579382e-02 -2.08851182e-03 9.96666414e-01 9.25089534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.28925415399996 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:257.04, Y:17.76, Z:9.25 [[ 9.73626103e-01 -2.13902518e-01 -7.93594602e-02 2.57035833e+02] [ 2.13411504e-01 9.76851533e-01 -1.47177338e-02 1.77573212e+01] [ 8.06705707e-02 -2.60665198e-03 9.96737410e-01 9.25346948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.31925415399996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:257.06, Y:17.76, Z:9.26 [[ 9.72894795e-01 -2.17285129e-01 -7.91384251e-02 2.57063955e+02] [ 2.16807080e-01 9.76103964e-01 -1.46881413e-02 1.77618039e+01] [ 8.04388451e-02 -2.86775463e-03 9.96755420e-01 9.25568060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.34925415399996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:257.09, Y:17.77, Z:9.26 [[ 9.72247028e-01 -2.20289359e-01 -7.87928659e-02 2.57091412e+02] [ 2.19823705e-01 9.75429697e-01 -1.46439561e-02 1.77662939e+01] [ 8.00828090e-02 -3.08299692e-03 9.96783446e-01 9.25746011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.37925415399997 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:257.12, Y:17.77, Z:9.26 [[ 9.71487640e-01 -2.23521870e-01 -7.90552927e-02 2.57119646e+02] [ 2.23063069e-01 9.74693150e-01 -1.47013805e-02 1.77709364e+01] [ 8.03407324e-02 -3.35210674e-03 9.96761822e-01 9.25987106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.40925415399997 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:257.15, Y:17.78, Z:9.26 [[ 9.70286872e-01 -2.28845987e-01 -7.85678095e-02 2.57146818e+02] [ 2.28408598e-01 9.73455420e-01 -1.46307018e-02 1.77755430e+01] [ 7.98304374e-02 -3.74958533e-03 9.96801405e-01 9.26159245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.43925415399997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:257.17, Y:17.78, Z:9.26 [[ 9.69666786e-01 -2.31555979e-01 -7.82825257e-02 2.57174766e+02] [ 2.31129882e-01 9.72813562e-01 -1.45859671e-02 1.77807623e+01] [ 7.95317706e-02 -3.94990312e-03 9.96824506e-01 9.26383247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.46925415399997 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:257.20, Y:17.79, Z:9.27 [[ 9.69088814e-01 -2.34119908e-01 -7.78122043e-02 2.57201907e+02] [ 2.33705505e-01 9.72199021e-01 -1.45189836e-02 1.77858628e+01] [ 7.90481319e-02 -4.11495598e-03 9.96862307e-01 9.26589234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.49925415399997 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:257.23, Y:17.79, Z:9.27 [[ 9.68053169e-01 -2.38449483e-01 -7.75558256e-02 2.57228816e+02] [ 2.37552374e-01 9.71153511e-01 -2.07298973e-02 1.77941504e+01] [ 8.02616456e-02 1.64407227e-03 9.96772474e-01 9.26992213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.52925415399997 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:257.26, Y:17.79, Z:9.27 [[ 9.67635314e-01 -2.40050289e-01 -7.78316003e-02 2.57258224e+02] [ 2.40122049e-01 9.70704833e-01 -8.57494017e-03 1.77946408e+01] [ 7.76099274e-02 -1.03916684e-02 9.96929643e-01 9.26939345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.55925415399997 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:257.29, Y:17.80, Z:9.27 [[ 9.67315201e-01 -2.41555394e-01 -7.71511030e-02 2.57286189e+02] [ 2.40982836e-01 9.70384178e-01 -1.67874765e-02 1.78047472e+01] [ 7.89213152e-02 -2.35331033e-03 9.96878071e-01 9.27362271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.58925415399997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:257.31, Y:17.81, Z:9.28 [[ 9.66926853e-01 -2.42814612e-01 -7.80610350e-02 2.57314794e+02] [ 2.42587796e-01 9.70048662e-01 -1.25201380e-02 1.78088163e+01] [ 7.87630750e-02 -6.83059678e-03 9.96869962e-01 9.27500803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.61925415399998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:257.34, Y:17.82, Z:9.28 [[ 9.66698943e-01 -2.43364886e-01 -7.91623995e-02 2.57341722e+02] [ 2.42960423e-01 9.69922539e-01 -1.48492687e-02 1.78175061e+01] [ 8.03951861e-02 -4.87855773e-03 9.96751129e-01 9.27716893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.64925415399998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:257.37, Y:17.82, Z:9.28 [[ 9.66844557e-01 -2.42713619e-01 -7.93832622e-02 2.57371144e+02] [ 2.42304299e-01 9.70085945e-01 -1.48958148e-02 1.78244493e+01] [ 8.06240041e-02 -4.83296824e-03 9.96732869e-01 9.27901757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.67925415399998 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:257.40, Y:17.83, Z:9.28 [[ 9.67064642e-01 -2.41674282e-01 -7.98718905e-02 2.57401192e+02] [ 2.41256380e-01 9.70345677e-01 -1.49875031e-02 1.78315477e+01] [ 8.11254378e-02 -4.77571889e-03 9.96692458e-01 9.28159101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.70925415399998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:257.43, Y:17.84, Z:9.28 [[ 9.67887931e-01 -2.38403475e-01 -7.97291398e-02 2.57429338e+02] [ 2.37976004e-01 9.71155803e-01 -1.49608529e-02 1.78399246e+01] [ 8.09961362e-02 -4.49319312e-03 9.96704288e-01 9.28355355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.73925415399998 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:257.46, Y:17.85, Z:9.29 [[ 9.68397048e-01 -2.36361647e-01 -7.96261834e-02 2.57458224e+02] [ 2.35928282e-01 9.71655572e-01 -1.49430648e-02 1.78473223e+01] [ 8.09011921e-02 -4.31524886e-03 9.96712785e-01 9.28596789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.76925415399998 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:257.49, Y:17.86, Z:9.29 [[ 9.68883409e-01 -2.34212117e-01 -8.00601278e-02 2.57487255e+02] [ 2.33367132e-01 9.72185344e-01 -1.98856279e-02 1.78572617e+01] [ 8.24907380e-02 5.83452541e-04 9.96591660e-01 9.28949581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.79925415399998 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:257.52, Y:17.86, Z:9.29 [[ 9.70386605e-01 -2.27602649e-01 -8.09127354e-02 2.57516066e+02] [ 2.27515429e-01 9.73718733e-01 -1.04191019e-02 1.78620024e+01] [ 8.11576614e-02 -8.29833884e-03 9.96666730e-01 9.28866906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.82925415399998 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:257.54, Y:17.87, Z:9.29 [[ 9.70892300e-01 -2.25482032e-01 -8.07836369e-02 2.57544749e+02] [ 2.24996946e-01 9.74241252e-01 -1.51775191e-02 1.78722683e+01] [ 8.21250094e-02 -3.44033514e-03 9.96616098e-01 9.29306964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.85925415399998 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:257.57, Y:17.88, Z:9.29 [[ 9.71722375e-01 -2.22048800e-01 -8.03116159e-02 2.57572983e+02] [ 2.21557663e-01 9.75030525e-01 -1.50889800e-02 1.78796403e+01] [ 8.16567669e-02 -3.13135442e-03 9.96655591e-01 9.29469067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.88925415399996 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:257.60, Y:17.89, Z:9.30 [[ 9.73018357e-01 -2.16528068e-01 -7.96923684e-02 2.57602104e+02] [ 2.16025886e-01 9.76272808e-01 -1.49739873e-02 1.78900087e+01] [ 8.10437809e-02 -2.64564994e-03 9.96707031e-01 9.29839479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.91925415399996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:257.63, Y:17.90, Z:9.30 [[ 9.73589588e-01 -2.13958994e-01 -7.96546488e-02 2.57631634e+02] [ 2.13448707e-01 9.76839619e-01 -1.49668999e-02 1.78975352e+01] [ 8.10121196e-02 -2.43056391e-03 9.96710153e-01 9.30104837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.94925415399996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:257.66, Y:17.91, Z:9.30 [[ 9.74147570e-01 -2.11694304e-01 -7.88798638e-02 2.57661901e+02] [ 2.11186515e-01 9.77333409e-01 -1.48210841e-02 1.79050900e+01] [ 8.02294652e-02 -2.22044048e-03 9.96773948e-01 9.30330060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.97925415399996 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:257.69, Y:17.91, Z:9.31 [[ 9.74919026e-01 -2.08511128e-01 -7.78203225e-02 2.57691772e+02] [ 2.08007017e-01 9.78018081e-01 -1.46189945e-02 1.79143796e+01] [ 7.91579055e-02 -1.93483723e-03 9.96860212e-01 9.30597509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.00925415399996 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:257.72, Y:17.92, Z:9.31 [[ 9.75116549e-01 -2.07693928e-01 -7.75303096e-02 2.57722878e+02] [ 2.07191347e-01 9.78192083e-01 -1.45600452e-02 1.79219830e+01] [ 7.88635680e-02 -1.86586833e-03 9.96883672e-01 9.30818415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.039254154 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:257.75, Y:17.93, Z:9.31 [[ 9.75255784e-01 -2.07082344e-01 -7.74148514e-02 2.57753984e+02] [ 2.06579802e-01 9.78321825e-01 -1.45324863e-02 1.79293045e+01] [ 7.87460600e-02 -1.81945335e-03 9.96893047e-01 9.30993995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.06925415399996 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:257.79, Y:17.94, Z:9.31 [[ 9.75274929e-01 -2.06991749e-01 -7.74159467e-02 2.57786044e+02] [ 2.06489385e-01 9.78340999e-01 -1.45266490e-02 1.79352610e+01] [ 7.87460911e-02 -1.81809465e-03 9.96893047e-01 9.31235572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.099254154 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:257.82, Y:17.94, Z:9.31 [[ 9.75305558e-01 -2.06746665e-01 -7.76845182e-02 2.57817513e+02] [ 2.06240614e-01 9.78392832e-01 -1.45696649e-02 1.79423769e+01] [ 7.90182054e-02 -1.81182754e-03 9.96871527e-01 9.31417174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.12925415399997 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:257.85, Y:17.95, Z:9.32 [[ 9.75388331e-01 -2.06212173e-01 -7.80649932e-02 2.57848007e+02] [ 2.05699907e-01 9.78505677e-01 -1.46351496e-02 1.79509379e+01] [ 7.94049850e-02 -1.78300771e-03 9.96840844e-01 9.31588177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.159254154 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:257.88, Y:17.96, Z:9.32 [[ 9.75426225e-01 -2.05970149e-01 -7.82302812e-02 2.57878807e+02] [ 2.05455296e-01 9.78556671e-01 -1.46615861e-02 1.79582935e+01] [ 7.95726126e-02 -1.77152996e-03 9.96827498e-01 9.31814878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.18925415399997 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:257.91, Y:17.97, Z:9.32 [[ 9.75643934e-01 -2.04878125e-01 -7.83828312e-02 2.57907873e+02] [ 2.04133586e-01 9.78786922e-01 -1.74825809e-02 1.79664194e+01] [ 8.03018885e-02 1.05620557e-03 9.96770029e-01 9.32058528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.219254154 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:257.94, Y:17.97, Z:9.32 [[ 9.75781003e-01 -2.04423096e-01 -7.78629086e-02 2.57939033e+02] [ 2.04108854e-01 9.78873931e-01 -1.20583484e-02 1.79711284e+01] [ 7.86829763e-02 -4.12620167e-03 9.96891149e-01 9.32115872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.24925415399997 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:257.97, Y:17.98, Z:9.32 [[ 9.75946222e-01 -2.03974940e-01 -7.69622968e-02 2.57970161e+02] [ 2.03471366e-01 9.78974812e-01 -1.44124822e-02 1.79794837e+01] [ 7.82839353e-02 -1.59381612e-03 9.96929830e-01 9.32423200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.27925415399994 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:258.00, Y:17.99, Z:9.33 [[ 9.76177433e-01 -2.02932367e-01 -7.67858983e-02 2.58000914e+02] [ 2.02428320e-01 9.79191589e-01 -1.43738615e-02 1.79865285e+01] [ 7.81050274e-02 -1.51220118e-03 9.96943989e-01 9.32684235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.309254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:258.03, Y:17.99, Z:9.33 [[ 9.76670826e-01 -2.00731352e-01 -7.62956161e-02 2.58030418e+02] [ 2.00371103e-01 9.79641260e-01 -1.24267138e-02 1.79926364e+01] [ 7.72367645e-02 -3.15062789e-03 9.97007801e-01 9.32797105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.33925415399995 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:258.06, Y:18.00, Z:9.33 [[ 9.77079023e-01 -1.99147773e-01 -7.52113512e-02 2.58062240e+02] [ 1.98493190e-01 9.79969096e-01 -1.61562252e-02 1.80022023e+01] [ 7.69222761e-02 8.56967734e-04 9.97036724e-01 9.33164763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.369254154 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:258.10, Y:18.02, Z:9.33 [[ 9.78725353e-01 -1.94879480e-01 -6.41768844e-02 2.58099424e+02] [ 1.92637277e-01 9.80474458e-01 -3.95059017e-02 1.80159941e+01] [ 7.06226855e-02 2.63025673e-02 9.97156262e-01 9.33404855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.39925415399995 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:258.13, Y:18.00, Z:9.33 [[ 9.77488121e-01 -1.95015107e-01 -8.05362118e-02 2.58126054e+02] [ 1.96773998e-01 9.80342589e-01 1.44361245e-02 1.80003087e+01] [ 7.61378160e-02 -2.99585726e-02 9.96647138e-01 9.32679617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.429254154 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:258.15, Y:18.02, Z:9.34 [[ 9.77552799e-01 -1.96816888e-01 -7.51906781e-02 2.58154422e+02] [ 1.96314571e-01 9.80439765e-01 -1.40874535e-02 1.80193130e+01] [ 7.64925795e-02 -9.89796120e-04 9.97069659e-01 9.33712586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.45925415399995 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:258.19, Y:18.02, Z:9.34 [[ 9.77410940e-01 -1.97480188e-01 -7.52956112e-02 2.58185779e+02] [ 1.96978860e-01 9.80306317e-01 -1.41015304e-02 1.80248948e+01] [ 7.65975362e-02 -1.04865358e-03 9.97061542e-01 9.33942604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.489254154 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:258.22, Y:18.03, Z:9.34 [[ 9.77148453e-01 -1.98676630e-01 -7.55546032e-02 2.58216290e+02] [ 1.98175860e-01 9.80064421e-01 -1.41442378e-02 1.80302055e+01] [ 7.68585080e-02 -1.15207835e-03 9.97041344e-01 9.34191134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.51925415399995 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:258.25, Y:18.03, Z:9.34 [[ 9.76443588e-01 -2.01847212e-01 -7.62602318e-02 2.58248186e+02] [ 2.01347027e-01 9.79415994e-01 -1.42718465e-02 1.80346259e+01] [ 7.75712231e-02 -1.41911796e-03 9.96985803e-01 9.34395741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.549254154 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:258.28, Y:18.04, Z:9.35 [[ 9.76100492e-01 -2.03260195e-01 -7.68968303e-02 2.58280308e+02] [ 2.02756457e-01 9.79123532e-01 -1.43850143e-02 1.80401844e+01] [ 7.82153969e-02 -1.55010932e-03 9.96935278e-01 9.34634839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.57925415399995 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:258.31, Y:18.05, Z:9.35 [[ 9.75776277e-01 -2.04590099e-01 -7.74825733e-02 2.58310860e+02] [ 2.04083332e-01 9.78846302e-01 -1.44882666e-02 1.80455915e+01] [ 7.88076863e-02 -1.67559487e-03 9.96888430e-01 9.34883990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.609254154 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:258.34, Y:18.05, Z:9.35 [[ 9.75509120e-01 -2.05708687e-01 -7.78838373e-02 2.58342129e+02] [ 2.05200998e-01 9.78611644e-01 -1.45533506e-02 1.80509240e+01] [ 7.92117807e-02 -1.78491490e-03 9.96856212e-01 9.35125501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.63925415399996 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:258.37, Y:18.06, Z:9.35 [[ 9.75320010e-01 -2.06412071e-01 -7.83896367e-02 2.58373709e+02] [ 2.05900507e-01 9.78463386e-01 -1.46418527e-02 1.80560145e+01] [ 7.97236445e-02 -1.85997397e-03 9.96815269e-01 9.35319264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.669254154 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:258.41, Y:18.06, Z:9.36 [[ 9.75334787e-01 -2.06080976e-01 -7.90739231e-02 2.58405563e+02] [ 2.05559839e-01 9.78533183e-01 -1.47635378e-02 1.80608108e+01] [ 8.04189419e-02 -1.85503099e-03 9.96759426e-01 9.35556792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.69925415399996 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:258.44, Y:18.07, Z:9.36 [[ 9.75520563e-01 -2.05158261e-01 -7.91815582e-02 2.58436356e+02] [ 2.04633184e-01 9.78727180e-01 -1.47772659e-02 1.80660936e+01] [ 8.05288213e-02 -1.78764762e-03 9.96750678e-01 9.35785252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.729254154 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:258.47, Y:18.07, Z:9.36 [[ 9.75878079e-01 -2.03494174e-01 -7.90702006e-02 2.58467895e+02] [ 2.02965906e-01 9.79074754e-01 -1.47467673e-02 1.80714639e+01] [ 8.04165184e-02 -1.65750799e-03 9.96759969e-01 9.36015829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.75925415399996 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:258.50, Y:18.08, Z:9.36 [[ 9.76933600e-01 -1.98737921e-01 -7.81279663e-02 2.58499601e+02] [ 1.98207448e-01 9.80051866e-01 -1.45652679e-02 1.80764503e+01] [ 7.94641303e-02 -1.25624516e-03 9.96836934e-01 9.36262915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.789254154 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:258.53, Y:18.08, Z:9.37 [[ 9.77527696e-01 -1.96028554e-01 -7.75397328e-02 2.58529724e+02] [ 1.95497991e-01 9.80597643e-01 -1.44498492e-02 1.80817760e+01] [ 7.88678622e-02 -1.03373425e-03 9.96884543e-01 9.36533545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.81925415399996 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:258.56, Y:18.09, Z:9.37 [[ 9.78184830e-01 -1.92879783e-01 -7.71480860e-02 2.58560479e+02] [ 1.92345125e-01 9.81222086e-01 -1.43726042e-02 1.80867997e+01] [ 7.84715906e-02 -7.79994850e-04 9.96916045e-01 9.36791946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.849254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:258.59, Y:18.09, Z:9.37 [[ 9.79415554e-01 -1.86748814e-01 -7.66162708e-02 2.58590435e+02] [ 1.86202978e-01 9.82407653e-01 -1.42707329e-02 1.80908155e+01] [ 7.79334532e-02 -2.89200038e-04 9.96958521e-01 9.37055175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.87925415399997 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:258.62, Y:18.10, Z:9.38 [[ 9.80485496e-01 -1.82399367e-01 -7.33393686e-02 2.58624414e+02] [ 1.81026901e-01 9.83160315e-01 -2.50011332e-02 1.80984805e+01] [ 7.66645476e-02 1.12368499e-02 9.96993621e-01 9.37587735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.909254154 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:258.65, Y:18.09, Z:9.37 [[ 9.80271931e-01 -1.81201696e-01 -7.89486325e-02 2.58651240e+02] [ 1.81618373e-01 9.83367195e-01 -1.93050969e-03 1.80944987e+01] [ 7.79853069e-02 -1.24460977e-02 9.96876816e-01 9.37242130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.93925415399997 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:258.68, Y:18.10, Z:9.38 [[ 9.80504472e-01 -1.80730218e-01 -7.71204762e-02 2.58681028e+02] [ 1.80157257e-01 9.83532687e-01 -1.43811512e-02 1.81046050e+01] [ 7.84496177e-02 2.06969661e-04 9.96918058e-01 9.37847676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.969254154 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:258.71, Y:18.11, Z:9.38 [[ 9.80456583e-01 -1.80190332e-01 -7.89704591e-02 2.58710694e+02] [ 1.79587975e-01 9.83631730e-01 -1.47234248e-02 1.81058417e+01] [ 8.03308681e-02 2.53533952e-04 9.96768221e-01 9.38019491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.99925415399997 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:258.74, Y:18.11, Z:9.38 [[ 9.80195913e-01 -1.81288977e-01 -7.96886384e-02 2.58739480e+02] [ 1.80679077e-01 9.83429855e-01 -1.48590665e-02 1.81087212e+01] [ 8.10619711e-02 1.66726630e-04 9.96709049e-01 9.38182842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.02925415399994 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:258.77, Y:18.11, Z:9.38 [[ 9.79732826e-01 -1.83095958e-01 -8.12370650e-02 2.58768307e+02] [ 1.82467767e-01 9.83095046e-01 -1.51540179e-02 1.81110688e+01] [ 8.26383956e-02 2.37429223e-05 9.96579598e-01 9.38372405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.059254154 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:258.80, Y:18.11, Z:9.39 [[ 9.78617159e-01 -1.88446468e-01 -8.24401850e-02 2.58797080e+02] [ 1.87816604e-01 9.82083376e-01 -1.54001656e-02 1.81106654e+01] [ 8.38652420e-02 -4.12769312e-04 9.96477020e-01 9.38576048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.08925415399995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:258.82, Y:18.11, Z:9.39 [[ 9.78186237e-01 -1.90675085e-01 -8.24299588e-02 2.58824168e+02] [ 1.90168988e-01 9.81651246e-01 -1.40209699e-02 1.81124990e+01] [ 8.35909214e-02 -1.96050214e-03 9.96498226e-01 9.38779233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.119254154 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:258.85, Y:18.12, Z:9.39 [[ 9.77354909e-01 -1.95075002e-01 -8.19946656e-02 2.58852489e+02] [ 1.94329892e-01 9.80788057e-01 -1.70493734e-02 1.81168091e+01] [ 8.37452953e-02 7.29274287e-04 9.96486926e-01 9.39129671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.14925415399995 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:258.88, Y:18.12, Z:9.39 [[ 9.76177697e-01 -2.00935029e-01 -8.18670754e-02 2.58879798e+02] [ 2.00353732e-01 9.79603529e-01 -1.53397287e-02 1.81165103e+01] [ 8.32795648e-02 -1.42807312e-03 9.96525200e-01 9.39424433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.179254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:258.91, Y:18.11, Z:9.40 [[ 9.74538316e-01 -2.03003027e-01 -9.52094647e-02 2.58907854e+02] [ 2.05246532e-01 9.78605962e-01 1.42909825e-02 1.81079888e+01] [ 9.02714371e-02 -3.34685225e-02 9.95354673e-01 9.40132818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.20925415399995 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:258.93, Y:18.14, Z:9.41 [[ 9.75233682e-01 -2.07835253e-01 -7.56556253e-02 2.58934976e+02] [ 2.04707064e-01 9.77690702e-01 -4.70734419e-02 1.81375429e+01] [ 8.37513221e-02 3.04203651e-02 9.96022247e-01 9.40827587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.239254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:258.97, Y:18.12, Z:9.40 [[ 9.74490582e-01 -2.08942720e-01 -8.19209733e-02 2.58966683e+02] [ 2.08346049e-01 9.77926553e-01 -1.58612830e-02 1.81240479e+01] [ 8.34267947e-02 -1.61124019e-03 9.96512606e-01 9.40285194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.26925415399995 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:258.99, Y:18.13, Z:9.41 [[ 9.74044490e-01 -2.11089599e-01 -8.17221715e-02 2.58994155e+02] [ 2.10566691e-01 9.77463428e-01 -1.50636998e-02 1.81262863e+01] [ 8.30602243e-02 -2.53525346e-03 9.96541305e-01 9.40512641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.299254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:259.02, Y:18.13, Z:9.41 [[ 9.73670828e-01 -2.13049293e-01 -8.10870949e-02 2.59023101e+02] [ 2.12515982e-01 9.77038549e-01 -1.52522400e-02 1.81294945e+01] [ 8.24746965e-02 -2.38164251e-03 9.96590313e-01 9.40774067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.32925415399995 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:259.05, Y:18.13, Z:9.41 [[ 9.72893463e-01 -2.16651136e-01 -8.08739502e-02 2.59050257e+02] [ 2.16131314e-01 9.76245468e-01 -1.52329342e-02 1.81300177e+01] [ 8.22530599e-02 -2.65937097e-03 9.96607928e-01 9.40998886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.359254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:259.08, Y:18.13, Z:9.41 [[ 9.72392481e-01 -2.18816112e-01 -8.10701664e-02 2.59077640e+02] [ 2.18300242e-01 9.75761989e-01 -1.52822028e-02 1.81328794e+01] [ 8.24491790e-02 -2.83733789e-03 9.96591231e-01 9.41212557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.38925415399996 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:259.11, Y:18.14, Z:9.41 [[ 9.71906877e-01 -2.20983433e-01 -8.10144748e-02 2.59105152e+02] [ 2.20473707e-01 9.75272964e-01 -1.52967152e-02 1.81360436e+01] [ 8.23915476e-02 -2.99457887e-03 9.96595538e-01 9.41422362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.419254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:259.13, Y:18.14, Z:9.42 [[ 9.71163385e-01 -2.23945988e-01 -8.17916513e-02 2.59131754e+02] [ 2.23434828e-01 9.74596128e-01 -1.54681844e-02 1.81372865e+01] [ 8.31778645e-02 -3.25296929e-03 9.96529408e-01 9.41629392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.44925415399996 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:259.16, Y:18.14, Z:9.42 [[ 9.70919932e-01 -2.24910097e-01 -8.20361696e-02 2.59158460e+02] [ 2.24397854e-01 9.74373834e-01 -1.55317426e-02 1.81406999e+01] [ 8.34271428e-02 -3.32866188e-03 9.96508320e-01 9.41820150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.479254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:259.19, Y:18.14, Z:9.42 [[ 9.70635912e-01 -2.25706218e-01 -8.32023447e-02 2.59186496e+02] [ 2.25181117e-01 9.74189364e-01 -1.57653974e-02 1.81446416e+01] [ 8.46131875e-02 -3.43313602e-03 9.96407960e-01 9.42048255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.50925415399996 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:259.21, Y:18.15, Z:9.42 [[ 9.70505001e-01 -2.25956000e-01 -8.40471827e-02 2.59212830e+02] [ 2.25419026e-01 9.74131341e-01 -1.59497255e-02 1.81484806e+01] [ 8.54769310e-02 -3.46654572e-03 9.96334119e-01 9.42227310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.539254154 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:259.24, Y:18.15, Z:9.42 [[ 9.70603111e-01 -2.25015148e-01 -8.54270703e-02 2.59240381e+02] [ 2.24455558e-01 9.74349241e-01 -1.62252602e-02 1.81522531e+01] [ 8.68867304e-02 -3.42629267e-03 9.96212305e-01 9.42450500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.56925415399996 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:259.27, Y:18.16, Z:9.43 [[ 9.70807736e-01 -2.23870940e-01 -8.61054096e-02 2.59267488e+02] [ 2.23295631e-01 9.74613127e-01 -1.63802801e-02 1.81573355e+01] [ 8.75865312e-02 -3.32485919e-03 9.96151366e-01 9.42699887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.599254154 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:259.30, Y:18.16, Z:9.43 [[ 9.71182311e-01 -2.22352941e-01 -8.58142677e-02 2.59295068e+02] [ 2.21773337e-01 9.74961146e-01 -1.63508527e-02 1.81631051e+01] [ 8.73012370e-02 -3.15165763e-03 9.96176973e-01 9.42940565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.62925415399997 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:259.32, Y:18.17, Z:9.43 [[ 9.71632025e-01 -2.20293161e-01 -8.60356435e-02 2.59322201e+02] [ 2.19700222e-01 9.75429253e-01 -1.64190352e-02 1.81689449e+01] [ 8.75386846e-02 -2.94878956e-03 9.96156756e-01 9.43215440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.659254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:259.35, Y:18.18, Z:9.44 [[ 9.72748742e-01 -2.15371346e-01 -8.58782195e-02 2.59349650e+02] [ 2.14759168e-01 9.76529085e-01 -1.64147838e-02 1.81757758e+01] [ 8.73978532e-02 -2.47567471e-03 9.96170410e-01 9.43522586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.68925415399997 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:259.38, Y:18.18, Z:9.44 [[ 9.73258969e-01 -2.12899455e-01 -8.62600767e-02 2.59376301e+02] [ 2.12269988e-01 9.77071545e-01 -1.65120430e-02 1.81817725e+01] [ 8.77976714e-02 -2.23993152e-03 9.96135810e-01 9.43753773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.719254154 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:259.40, Y:18.19, Z:9.44 [[ 9.74080403e-01 -2.08850047e-01 -8.68851330e-02 2.59403877e+02] [ 2.08194082e-01 9.77945880e-01 -1.66457494e-02 1.81882229e+01] [ 8.84454233e-02 -1.87467220e-03 9.96079260e-01 9.43972259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.74925415399997 meters Centerline goodness : 0.997742 Centerline is valid? [True, True] Translation: X:259.43, Y:18.19, Z:9.44 [[ 9.74400561e-01 -2.07445778e-01 -8.66590772e-02 2.59431610e+02] [ 2.06785317e-01 9.78245012e-01 -1.66291619e-02 1.81940645e+01] [ 8.82234594e-02 -1.71636014e-03 9.96099230e-01 9.44155241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.77925415399994 meters Centerline goodness : 0.997354 Centerline is valid? [True, True] Translation: X:259.46, Y:18.20, Z:9.44 [[ 9.74686042e-01 -2.06142397e-01 -8.65588341e-02 2.59457884e+02] [ 2.05476178e-01 9.78520740e-01 -1.66343340e-02 1.81994019e+01] [ 8.81286560e-02 -1.57252521e-03 9.96107859e-01 9.44395919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.809254154 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:259.49, Y:18.20, Z:9.45 [[ 9.74921983e-01 -2.05185524e-01 -8.61744098e-02 2.59485210e+02] [ 2.04520275e-01 9.78721999e-01 -1.65742288e-02 1.82046434e+01] [ 8.77415825e-02 -1.46583393e-03 9.96142192e-01 9.44664528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.83925415399995 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:259.51, Y:18.21, Z:9.45 [[ 9.75162012e-01 -2.04205229e-01 -8.57862138e-02 2.59512150e+02] [ 2.03539890e-01 9.78927175e-01 -1.65257308e-02 1.82096890e+01] [ 8.73530965e-02 -1.34565162e-03 9.96176503e-01 9.44997568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.869254154 meters Centerline goodness : 0.997479 Centerline is valid? [True, True] Translation: X:259.54, Y:18.21, Z:9.45 [[ 9.75200396e-01 -2.04186688e-01 -8.53931193e-02 2.59538590e+02] [ 2.03525272e-01 9.78931085e-01 -1.64740446e-02 1.82144364e+01] [ 8.69577595e-02 -1.31416302e-03 9.96211133e-01 9.45213428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.89925415399995 meters Centerline goodness : 0.997480 Centerline is valid? [True, True] Translation: X:259.57, Y:18.22, Z:9.45 [[ 9.75063755e-01 -2.04825021e-01 -8.54247294e-02 2.59566314e+02] [ 2.04164379e-01 9.78797663e-01 -1.64936465e-02 1.82191666e+01] [ 8.69918370e-02 -1.35832999e-03 9.96208098e-01 9.45459206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.929254154 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:259.59, Y:18.22, Z:9.46 [[ 9.74884556e-01 -2.05677529e-01 -8.54216410e-02 2.59593895e+02] [ 2.05017942e-01 9.78618807e-01 -1.65189052e-02 1.82237341e+01] [ 8.69927920e-02 -1.40894350e-03 9.96207945e-01 9.45639377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.95925415399995 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:259.62, Y:18.23, Z:9.46 [[ 9.74827684e-01 -2.05948921e-01 -8.54167973e-02 2.59621705e+02] [ 2.05288183e-01 9.78561731e-01 -1.65439161e-02 1.82292003e+01] [ 8.69928107e-02 -1.40759178e-03 9.96207945e-01 9.45851123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.989254154 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:259.65, Y:18.23, Z:9.46 [[ 9.74158798e-01 -2.08841615e-01 -8.60221798e-02 2.59649214e+02] [ 2.08180499e-01 9.77948080e-01 -1.66863007e-02 1.82329265e+01] [ 8.76100196e-02 -1.65303368e-03 9.96153478e-01 9.46063739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.01925415399995 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:259.68, Y:18.24, Z:9.46 [[ 9.73699867e-01 -2.10760361e-01 -8.65369248e-02 2.59676448e+02] [ 2.10096501e-01 9.77536082e-01 -1.68127368e-02 1.82374338e+01] [ 8.81364250e-02 -1.81054554e-03 9.96106768e-01 9.46279057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.049254154 meters Centerline goodness : 0.997580 Centerline is valid? [True, True] Translation: X:259.70, Y:18.24, Z:9.46 [[ 9.73190430e-01 -2.13039203e-01 -8.66872781e-02 2.59704231e+02] [ 2.12379700e-01 9.77041616e-01 -1.68683956e-02 1.82420244e+01] [ 8.82907078e-02 -1.99445694e-03 9.96092753e-01 9.46442611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.07925415399995 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:259.73, Y:18.25, Z:9.47 [[ 9.71957227e-01 -2.18416937e-01 -8.71389181e-02 2.59731636e+02] [ 2.17769688e-01 9.75852419e-01 -1.69829213e-02 1.82459155e+01] [ 8.87440816e-02 -2.46954196e-03 9.96051399e-01 9.46607113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.109254154 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:259.76, Y:18.25, Z:9.47 [[ 9.71274288e-01 -2.21514341e-01 -8.69347726e-02 2.59758515e+02] [ 2.20880339e-01 9.75153314e-01 -1.69673152e-02 1.82505538e+01] [ 8.85332353e-02 -2.72226505e-03 9.96069503e-01 9.46810195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.13925415399996 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:259.79, Y:18.26, Z:9.47 [[ 9.70487308e-01 -2.25076578e-01 -8.65731943e-02 2.59785922e+02] [ 2.24460742e-01 9.74336394e-01 -1.69105545e-02 1.82553697e+01] [ 8.81575837e-02 -3.02080492e-03 9.96101960e-01 9.47002521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.169254154 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:259.81, Y:18.26, Z:9.47 [[ 9.69737566e-01 -2.28449586e-01 -8.61384872e-02 2.59813078e+02] [ 2.27850878e-01 9.73550202e-01 -1.68517463e-02 1.82601236e+01] [ 8.77099161e-02 -3.28495856e-03 9.96140643e-01 9.47226441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.19925415399996 meters Centerline goodness : 0.997563 Centerline is valid? [True, True] Translation: X:259.84, Y:18.27, Z:9.47 [[ 9.68204353e-01 -2.35127228e-01 -8.54137989e-02 2.59839937e+02] [ 2.34562267e-01 9.71957046e-01 -1.67345091e-02 1.82651268e+01] [ 8.69532824e-02 -3.83242971e-03 9.96205019e-01 9.47489734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.229254154 meters Centerline goodness : 0.997771 Centerline is valid? [True, True] Translation: X:259.87, Y:18.27, Z:9.48 [[ 9.67362474e-01 -2.38637949e-01 -8.52160356e-02 2.59867367e+02] [ 2.38087502e-01 9.71099870e-01 -1.67147689e-02 1.82704366e+01] [ 8.67420593e-02 -4.11963285e-03 9.96222286e-01 9.47738347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.25925415399996 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:259.89, Y:18.28, Z:9.48 [[ 9.66517891e-01 -2.42158057e-01 -8.48683735e-02 2.59893944e+02] [ 2.41623506e-01 9.70226866e-01 -1.66706562e-02 1.82759420e+01] [ 8.63785097e-02 -4.39370647e-03 9.96252703e-01 9.47952045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.289254154 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:259.92, Y:18.28, Z:9.48 [[ 9.65661072e-01 -2.45570998e-01 -8.48149656e-02 2.59921121e+02] [ 2.45049050e-01 9.69367297e-01 -1.66735458e-02 1.82812727e+01] [ 8.63113932e-02 -4.68283262e-03 9.96257203e-01 9.48176410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.31925415399996 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:259.95, Y:18.29, Z:9.48 [[ 9.64137088e-01 -2.51612919e-01 -8.44429656e-02 2.59946905e+02] [ 2.51116529e-01 9.67814101e-01 -1.66239066e-02 1.82869039e+01] [ 8.59078825e-02 -5.17729951e-03 9.96289632e-01 9.48409294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.349254154 meters Centerline goodness : 0.997871 Centerline is valid? [True, True] Translation: X:259.97, Y:18.29, Z:9.49 [[ 9.63444162e-01 -2.54269740e-01 -8.43933972e-02 2.59974148e+02] [ 2.53782941e-01 9.67118275e-01 -1.66271234e-02 1.82926959e+01] [ 8.58461711e-02 -5.39829951e-03 9.96293779e-01 9.48641389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.37925415399997 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:260.00, Y:18.30, Z:9.49 [[ 9.62965102e-01 -2.56175110e-01 -8.40983091e-02 2.60000105e+02] [ 2.55696941e-01 9.66614595e-01 -1.65921270e-02 1.82984070e+01] [ 8.55411430e-02 -5.52604114e-03 9.96319314e-01 9.48826477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.409254154 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:260.03, Y:18.31, Z:9.49 [[ 9.62283744e-01 -2.58347428e-01 -8.52443658e-02 2.60027336e+02] [ 2.57863443e-01 9.66034753e-01 -1.68315506e-02 1.83056171e+01] [ 8.66974077e-02 -5.78467805e-03 9.96217896e-01 9.49033457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.43925415399997 meters Centerline goodness : 0.997874 Centerline is valid? [True, True] Translation: X:260.05, Y:18.31, Z:9.49 [[ 9.62322627e-01 -2.58039582e-01 -8.57364292e-02 2.60051863e+02] [ 2.57082733e-01 9.66134116e-01 -2.22112353e-02 1.83143341e+01] [ 8.85642671e-02 -6.66981228e-04 9.96070241e-01 9.49346592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.469254154 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:260.08, Y:18.32, Z:9.49 [[ 9.62294009e-01 -2.58074304e-01 -8.59528565e-02 2.60081821e+02] [ 2.57992724e-01 9.66069216e-01 -1.22484384e-02 1.83167938e+01] [ 8.61974159e-02 -1.03886127e-02 9.96223912e-01 9.49301672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.49925415399997 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:260.11, Y:18.33, Z:9.50 [[ 9.62761826e-01 -2.56427005e-01 -8.56437776e-02 2.60106938e+02] [ 2.55926414e-01 9.66547445e-01 -1.69619429e-02 1.83268891e+01] [ 8.71282746e-02 -5.58819381e-03 9.96181427e-01 9.49555111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.52925415399994 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:260.13, Y:18.33, Z:9.50 [[ 9.63150502e-01 -2.54831227e-01 -8.60357834e-02 2.60133546e+02] [ 2.54318530e-01 9.66970154e-01 -1.70530341e-02 1.83338811e+01] [ 8.75396804e-02 -5.45585558e-03 9.96146093e-01 9.49708957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.559254154 meters Centerline goodness : 0.997666 Centerline is valid? [True, True] Translation: X:260.16, Y:18.34, Z:9.50 [[ 9.63585777e-01 -2.53191604e-01 -8.60026917e-02 2.60160669e+02] [ 2.52670571e-01 9.67401743e-01 -1.70719182e-02 1.83414165e+01] [ 8.75216202e-02 -5.28009164e-03 9.96148627e-01 9.49877628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.58925415399995 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:260.19, Y:18.35, Z:9.50 [[ 9.64222775e-01 -2.50648623e-01 -8.63116879e-02 2.60186438e+02] [ 2.50111639e-01 9.68064987e-01 -1.71566208e-02 1.83485691e+01] [ 8.78556063e-02 -5.04475320e-03 9.96120446e-01 9.50036521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.619254154 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:260.21, Y:18.36, Z:9.50 [[ 9.65586112e-01 -2.45119026e-01 -8.69489706e-02 2.60211637e+02] [ 2.44550748e-01 9.69482249e-01 -1.72944968e-02 1.83589528e+01] [ 8.85346938e-02 -4.56410989e-03 9.96062637e-01 9.50244432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.64925415399995 meters Centerline goodness : 0.997732 Centerline is valid? [True, True] Translation: X:260.24, Y:18.37, Z:9.50 [[ 9.66276055e-01 -2.42191935e-01 -8.74851550e-02 2.60238431e+02] [ 2.41603465e-01 9.70218788e-01 -1.74146384e-02 1.83672515e+01] [ 8.90974260e-02 -4.30936845e-03 9.96013593e-01 9.50485079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.679254154 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:260.26, Y:18.38, Z:9.51 [[ 9.67022168e-01 -2.39283811e-01 -8.72432540e-02 2.60264093e+02] [ 2.38684677e-01 9.70941401e-01 -1.73902797e-02 1.83754826e+01] [ 8.88692997e-02 -4.00684192e-03 9.96035237e-01 9.50669374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.70925415399995 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:260.29, Y:18.38, Z:9.51 [[ 9.67801903e-01 -2.36265857e-01 -8.68212049e-02 2.60290861e+02] [ 2.35658777e-01 9.71681431e-01 -1.73244881e-02 1.83835830e+01] [ 8.84557376e-02 -3.69350636e-03 9.96073261e-01 9.50913871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.739254154 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:260.32, Y:18.39, Z:9.51 [[ 9.69325663e-01 -2.30453225e-01 -8.54345915e-02 2.60316763e+02] [ 2.29840758e-01 9.73078504e-01 -1.70719417e-02 1.83936889e+01] [ 8.70688485e-02 -3.08808003e-03 9.96197510e-01 9.51174215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.76925415399995 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:260.34, Y:18.40, Z:9.51 [[ 9.70119794e-01 -2.27621913e-01 -8.39991065e-02 2.60344261e+02] [ 2.27017203e-01 9.73745673e-01 -1.68093536e-02 1.84014347e+01] [ 8.56199437e-02 -2.76215556e-03 9.96324042e-01 9.51406590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.799254154 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:260.37, Y:18.41, Z:9.52 [[ 9.70859181e-01 -2.24869207e-01 -8.28630841e-02 2.60371961e+02] [ 2.24268926e-01 9.74385842e-01 -1.66036044e-02 1.84093936e+01] [ 8.44742553e-02 -2.46385313e-03 9.96422616e-01 9.51649160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.82925415399995 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:260.40, Y:18.42, Z:9.52 [[ 9.72214049e-01 -2.19432286e-01 -8.15433344e-02 2.60398870e+02] [ 2.18830281e-01 9.75625803e-01 -1.63584996e-02 1.84193507e+01] [ 8.31453641e-02 -1.94018763e-03 9.96535541e-01 9.51912439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.859254154 meters Centerline goodness : 0.997619 Centerline is valid? [True, True] Translation: X:260.43, Y:18.43, Z:9.52 [[ 9.72836886e-01 -2.16891224e-01 -8.09110000e-02 2.60426671e+02] [ 2.16289252e-01 9.76194292e-01 -1.62377395e-02 1.84271312e+01] [ 8.25066795e-02 -1.70350776e-03 9.96589056e-01 9.52146825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.88925415399996 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:260.45, Y:18.43, Z:9.52 [[ 9.73450775e-01 -2.14164259e-01 -8.07914502e-02 2.60454099e+02] [ 2.13553102e-01 9.76796583e-01 -1.62329447e-02 1.84343529e+01] [ 8.23933291e-02 -1.45129219e-03 9.96598833e-01 9.52367788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.919254154 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:260.48, Y:18.44, Z:9.53 [[ 9.74016892e-01 -2.11760045e-01 -8.03042825e-02 2.60481702e+02] [ 2.11147608e-01 9.77320909e-01 -1.61408993e-02 1.84413461e+01] [ 8.19010520e-02 -1.23454855e-03 9.96639701e-01 9.52563430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.94925415399996 meters Centerline goodness : 0.998058 Centerline is valid? [True, True] Translation: X:260.51, Y:18.45, Z:9.53 [[ 9.74876794e-01 -2.07719841e-01 -8.04220419e-02 2.60508780e+02] [ 2.07090302e-01 9.78187966e-01 -1.61836121e-02 1.84492159e+01] [ 8.20295310e-02 -8.77597064e-04 9.96629513e-01 9.52750665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.979254154 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:260.54, Y:18.46, Z:9.53 [[ 9.75166110e-01 -2.06377751e-01 -8.03696600e-02 2.60535573e+02] [ 2.05744019e-01 9.78472099e-01 -1.61787008e-02 1.84556531e+01] [ 8.19783938e-02 -7.58656090e-04 9.96633818e-01 9.52914642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.00925415399996 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:260.56, Y:18.46, Z:9.53 [[ 9.75328962e-01 -2.05499522e-01 -8.06434224e-02 2.60562270e+02] [ 2.04857869e-01 9.78656980e-01 -1.62409882e-02 1.84620627e+01] [ 8.22597635e-02 -6.80133473e-04 9.96610691e-01 9.53111497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.039254154 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:260.59, Y:18.47, Z:9.53 [[ 9.75362901e-01 -2.05308009e-01 -8.07207124e-02 2.60588997e+02] [ 2.04663756e-01 9.78697191e-01 -1.62651844e-02 1.84683221e+01] [ 8.23405071e-02 -6.56146723e-04 9.96604039e-01 9.53286320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.06925415399996 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:260.62, Y:18.47, Z:9.53 [[ 9.75180197e-01 -2.06097679e-01 -8.09155743e-02 2.60615120e+02] [ 2.05451233e-01 9.78531171e-01 -1.63260183e-02 1.84739852e+01] [ 8.25431661e-02 -7.03394787e-04 9.96587242e-01 9.53449151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.099254154 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:260.64, Y:18.48, Z:9.54 [[ 9.74891537e-01 -2.07438016e-01 -8.09688816e-02 2.60642061e+02] [ 2.06794406e-01 9.78247831e-01 -1.63479236e-02 1.84794139e+01] [ 8.25988137e-02 -8.06459373e-04 9.96582553e-01 9.53637714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.12925415399997 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:260.67, Y:18.48, Z:9.54 [[ 9.74533359e-01 -2.09250684e-01 -8.06156541e-02 2.60669598e+02] [ 2.08617046e-01 9.77861585e-01 -1.62987551e-02 1.84849176e+01] [ 8.22414769e-02 -9.34119098e-04 9.96611994e-01 9.53829595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.159254154 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:260.70, Y:18.49, Z:9.54 [[ 9.74090696e-01 -2.11357365e-01 -8.04697422e-02 2.60696445e+02] [ 2.10731376e-01 9.77408246e-01 -1.62913218e-02 1.84904120e+01] [ 8.20950805e-02 -1.08827455e-03 9.96623908e-01 9.54058891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.18925415399997 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:260.72, Y:18.50, Z:9.54 [[ 9.73172252e-01 -2.15838890e-01 -7.96827536e-02 2.60723264e+02] [ 2.15238406e-01 9.76427941e-01 -1.61525308e-02 1.84955805e+01] [ 8.12908113e-02 -1.43159405e-03 9.96689397e-01 9.54252358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.219254154 meters Centerline goodness : 0.998539 Centerline is valid? [True, True] Translation: X:260.75, Y:18.50, Z:9.54 [[ 9.72582238e-01 -2.18626349e-01 -7.92862573e-02 2.60750818e+02] [ 2.18040235e-01 9.75807261e-01 -1.60824739e-02 1.85010500e+01] [ 8.08841581e-02 -1.64606567e-03 9.96722150e-01 9.54455620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.24925415399997 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:260.78, Y:18.51, Z:9.55 [[ 9.71863482e-01 -2.21959539e-01 -7.88374033e-02 2.60778111e+02] [ 2.21389284e-01 9.75054042e-01 -1.60125141e-02 1.85063242e+01] [ 8.04248590e-02 -1.89177853e-03 9.96758879e-01 9.54698466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.27925415399994 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:260.81, Y:18.51, Z:9.55 [[ 9.70359418e-01 -2.28934264e-01 -7.74060881e-02 2.60806032e+02] [ 2.28405035e-01 9.73438915e-01 -1.57422397e-02 1.85107713e+01] [ 7.89540365e-02 -2.40430972e-03 9.96875358e-01 9.54866324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.309254154 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:260.83, Y:18.52, Z:9.55 [[ 9.69426907e-01 -2.32847839e-01 -7.74167724e-02 2.60833280e+02] [ 2.32329212e-01 9.72509424e-01 -1.57656867e-02 1.85158795e+01] [ 7.89595468e-02 -2.70249677e-03 9.96874158e-01 9.55085580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.33925415399995 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:260.86, Y:18.52, Z:9.55 [[ 9.68649400e-01 -2.36147544e-01 -7.71535983e-02 2.60860079e+02] [ 2.35641255e-01 9.71712759e-01 -1.57325315e-02 1.85210417e+01] [ 7.86863345e-02 -2.94126355e-03 9.96895085e-01 9.55282536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.369254154 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:260.89, Y:18.53, Z:9.55 [[ 9.67759665e-01 -2.39705206e-01 -7.73475663e-02 2.60887604e+02] [ 2.39206898e-01 9.70840352e-01 -1.57819951e-02 1.85266585e+01] [ 7.88751649e-02 -3.22889312e-03 9.96879272e-01 9.55472216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.39925415399995 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:260.91, Y:18.53, Z:9.56 [[ 9.66419797e-01 -2.44920030e-01 -7.77621669e-02 2.60913699e+02] [ 2.44431536e-01 9.69536398e-01 -1.58870077e-02 1.85313310e+01] [ 7.92842976e-02 -3.65400715e-03 9.96845348e-01 9.55609975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.429254154 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:260.94, Y:18.54, Z:9.56 [[ 9.65715189e-01 -2.47581320e-01 -7.80875394e-02 2.60941394e+02] [ 2.47096588e-01 9.68859352e-01 -1.59634877e-02 1.85368825e+01] [ 7.96081042e-02 -3.87898202e-03 9.96818691e-01 9.55783030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.45925415399995 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:260.97, Y:18.54, Z:9.56 [[ 9.64457495e-01 -2.52177976e-01 -7.89177341e-02 2.60968095e+02] [ 2.51696530e-01 9.67671389e-01 -1.61536315e-02 1.85420749e+01] [ 8.04400235e-02 -4.28382886e-03 9.96750245e-01 9.55933138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.489254154 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:261.00, Y:18.55, Z:9.56 [[ 9.63866250e-01 -2.54435438e-01 -7.88952524e-02 2.60996340e+02] [ 2.53960985e-01 9.67079472e-01 -1.61589852e-02 1.85478107e+01] [ 8.04093975e-02 -4.46121554e-03 9.96751938e-01 9.56121019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.51925415399995 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:261.02, Y:18.55, Z:9.56 [[ 9.63315872e-01 -2.56466829e-01 -7.90398339e-02 2.61022265e+02] [ 2.55995914e-01 9.66541987e-01 -1.62074167e-02 1.85532359e+01] [ 8.05519828e-02 -4.62101276e-03 9.96739697e-01 9.56294326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.549254154 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:261.05, Y:18.56, Z:9.57 [[ 9.62718744e-01 -2.58626367e-01 -7.92781336e-02 2.61049674e+02] [ 2.58159014e-01 9.65965479e-01 -1.62670444e-02 1.85593043e+01] [ 8.07870269e-02 -4.80577628e-03 9.96719801e-01 9.56536265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.57925415399995 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:261.08, Y:18.57, Z:9.57 [[ 9.61594496e-01 -2.62653686e-01 -7.96810325e-02 2.61075885e+02] [ 2.62193523e-01 9.64876432e-01 -1.63715706e-02 1.85660597e+01] [ 8.11824037e-02 -5.14903839e-03 9.96685961e-01 9.56729623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.609254154 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:261.10, Y:18.57, Z:9.57 [[ 9.61146705e-01 -2.64242841e-01 -7.98293999e-02 2.61102152e+02] [ 2.63785191e-01 9.64441733e-01 -1.64169739e-02 1.85719730e+01] [ 8.13288726e-02 -5.27869314e-03 9.96673342e-01 9.56912774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.63925415399996 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:261.13, Y:18.58, Z:9.57 [[ 9.60681198e-01 -2.65874963e-01 -8.00133760e-02 2.61129298e+02] [ 2.65419942e-01 9.63992292e-01 -1.64655839e-02 1.85786092e+01] [ 8.15100642e-02 -5.41896875e-03 9.96657787e-01 9.57124885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.669254154 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:261.16, Y:18.59, Z:9.57 [[ 9.60404189e-01 -2.66774399e-01 -8.03443513e-02 2.61155837e+02] [ 2.66317011e-01 9.63743323e-01 -1.65546448e-02 1.85853274e+01] [ 8.18476875e-02 -5.49791730e-03 9.96629685e-01 9.57318829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.69925415399996 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:261.18, Y:18.59, Z:9.58 [[ 9.59741562e-01 -2.68912472e-01 -8.11308567e-02 2.61182799e+02] [ 2.68452759e-01 9.63147601e-01 -1.67276861e-02 1.85938856e+01] [ 8.26392734e-02 -5.72554675e-03 9.96563078e-01 9.57556439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.729254154 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:261.21, Y:18.60, Z:9.58 [[ 9.59522003e-01 -2.69480246e-01 -8.18408342e-02 2.61209893e+02] [ 2.69012643e-01 9.62988428e-01 -1.68963136e-02 1.86010878e+01] [ 8.33649990e-02 -5.80383439e-03 9.96502179e-01 9.57783590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.75925415399996 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:261.24, Y:18.61, Z:9.58 [[ 9.59401069e-01 -2.69705861e-01 -8.25126498e-02 2.61237004e+02] [ 2.69229500e-01 9.62924984e-01 -1.70572832e-02 1.86084769e+01] [ 8.40539413e-02 -5.85006377e-03 9.96444033e-01 9.58014450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.789254154 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:261.26, Y:18.62, Z:9.58 [[ 9.59579601e-01 -2.69127103e-01 -8.23261337e-02 2.61262173e+02] [ 2.68649052e-01 9.63087406e-01 -1.70392203e-02 1.86175728e+01] [ 8.38729786e-02 -5.76634957e-03 9.96459770e-01 9.58270820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.81925415399996 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:261.29, Y:18.62, Z:9.59 [[ 9.59726261e-01 -2.68653967e-01 -8.21617290e-02 2.61288697e+02] [ 2.68175189e-01 9.63219872e-01 -1.70160514e-02 1.86249710e+01] [ 8.37112398e-02 -5.70298582e-03 9.96473735e-01 9.58513545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.849254154 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:261.31, Y:18.63, Z:9.59 [[ 9.59912490e-01 -2.67999915e-01 -8.21222144e-02 2.61314273e+02] [ 2.67517476e-01 9.63402525e-01 -1.70286254e-02 1.86322883e+01] [ 8.36804189e-02 -5.62313733e-03 9.96476777e-01 9.58749005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.87925415399997 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:261.34, Y:18.64, Z:9.59 [[ 9.59849889e-01 -2.68224967e-01 -8.21191658e-02 2.61341993e+02] [ 2.67742096e-01 9.63339865e-01 -1.70433150e-02 1.86381828e+01] [ 8.36801087e-02 -5.62773359e-03 9.96476777e-01 9.58960732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.909254154 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:261.37, Y:18.65, Z:9.59 [[ 9.60266615e-01 -2.66784757e-01 -8.19385184e-02 2.61369256e+02] [ 2.66297110e-01 9.63740612e-01 -1.70259343e-02 1.86459144e+01] [ 8.35097376e-02 -5.47055440e-03 9.96491945e-01 9.59221922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.93925415399997 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:261.39, Y:18.66, Z:9.60 [[ 9.61156525e-01 -2.63584639e-01 -8.18613018e-02 2.61394387e+02] [ 2.63084689e-01 9.64622428e-01 -1.70298853e-02 1.86559276e+01] [ 8.34540639e-02 -5.16806982e-03 9.96498224e-01 9.59556631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.969254154 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:261.42, Y:18.66, Z:9.60 [[ 9.61494571e-01 -2.62343677e-01 -8.18778664e-02 2.61420671e+02] [ 2.61838166e-01 9.64961285e-01 -1.70438722e-02 1.86643497e+01] [ 8.34803232e-02 -5.05115980e-03 9.96496624e-01 9.59778326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.99925415399997 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:261.45, Y:18.67, Z:9.60 [[ 9.62203823e-01 -2.59879154e-01 -8.14041058e-02 2.61451369e+02] [ 2.59369205e-01 9.65629259e-01 -1.69632012e-02 1.86728925e+01] [ 8.30145687e-02 -4.79166116e-03 9.96536814e-01 9.60033360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.02925415399994 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:261.48, Y:18.68, Z:9.60 [[ 9.63062413e-01 -2.56825221e-01 -8.09419246e-02 2.61482585e+02] [ 2.56310806e-01 9.66447351e-01 -1.68608762e-02 1.86811289e+01] [ 8.25564068e-02 -4.50821379e-03 9.96576197e-01 9.60313817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.059254154 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:261.51, Y:18.69, Z:9.61 [[ 9.64473260e-01 -2.51521909e-01 -8.07964093e-02 2.61512545e+02] [ 2.50991282e-01 9.67843122e-01 -1.68246335e-02 1.86910307e+01] [ 8.24300130e-02 -4.05228518e-03 9.96588617e-01 9.60559153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.08925415399995 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:261.54, Y:18.70, Z:9.61 [[ 9.65334863e-01 -2.48240968e-01 -8.06537343e-02 2.61542843e+02] [ 2.47701172e-01 9.68690978e-01 -1.67904108e-02 1.86992902e+01] [ 8.22966126e-02 -3.76965564e-03 9.96600751e-01 9.60804648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.119254154 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:261.57, Y:18.71, Z:9.61 [[ 9.67234259e-01 -2.40763336e-01 -8.05661462e-02 2.61573450e+02] [ 2.40199192e-01 9.70578794e-01 -1.67676002e-02 1.87097547e+01] [ 8.22328164e-02 -3.13372590e-03 9.96608220e-01 9.61049277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.14925415399995 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:261.60, Y:18.72, Z:9.61 [[ 9.68337338e-01 -2.36337344e-01 -8.04205167e-02 2.61604731e+02] [ 2.35760484e-01 9.71667151e-01 -1.67314762e-02 1.87180115e+01] [ 8.20962470e-02 -2.75826680e-03 9.96620589e-01 9.61259761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.179254154 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:261.64, Y:18.73, Z:9.61 [[ 9.69391573e-01 -2.31951535e-01 -8.04889011e-02 2.61636490e+02] [ 2.31359121e-01 9.72724396e-01 -1.67393760e-02 1.87264300e+01] [ 8.21762417e-02 -2.39483141e-03 9.96614936e-01 9.61450763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.20925415399995 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:261.67, Y:18.73, Z:9.62 [[ 9.70465266e-01 -2.27296490e-01 -8.08299048e-02 2.61668100e+02] [ 2.26683678e-01 9.73823512e-01 -1.68010898e-02 1.87345754e+01] [ 8.25328905e-02 -2.01794603e-03 9.96586298e-01 9.61678279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.239254154 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:261.70, Y:18.74, Z:9.62 [[ 9.72451737e-01 -2.18315239e-01 -8.17072560e-02 2.61699119e+02] [ 2.17658120e-01 9.75877463e-01 -1.69740745e-02 1.87437325e+01] [ 8.34419688e-02 -1.27777949e-03 9.96511819e-01 9.61813557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.26925415399995 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:261.73, Y:18.75, Z:9.62 [[ 9.73419209e-01 -2.13900055e-01 -8.18645865e-02 2.61731625e+02] [ 2.13225473e-01 9.76855128e-01 -1.69987286e-02 1.87516521e+01] [ 8.36058701e-02 -9.08726227e-04 9.96498486e-01 9.62002200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.299254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:261.76, Y:18.76, Z:9.62 [[ 9.74319888e-01 -2.09760963e-01 -8.18602109e-02 2.61762434e+02] [ 2.09072632e-01 9.77752536e-01 -1.69886040e-02 1.87593312e+01] [ 8.36025748e-02 -5.62394990e-04 9.96499018e-01 9.62193612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.32925415399995 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:261.79, Y:18.77, Z:9.62 [[ 9.75100341e-01 -2.06020964e-01 -8.20651388e-02 2.61793540e+02] [ 2.05316586e-01 9.78547546e-01 -1.70235082e-02 1.87668515e+01] [ 8.38118398e-02 -2.49705469e-04 9.96481567e-01 9.62411057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.359254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:261.82, Y:18.78, Z:9.63 [[ 9.76395827e-01 -2.00032099e-01 -8.14760573e-02 2.61823180e+02] [ 1.99317510e-01 9.79789311e-01 -1.68948725e-02 1.87752882e+01] [ 8.32088869e-02 2.56478078e-04 9.96532095e-01 9.62605419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.38925415399996 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:261.85, Y:18.78, Z:9.63 [[ 9.76861477e-01 -1.97884032e-01 -8.11391637e-02 2.61854092e+02] [ 1.97168746e-01 9.80225345e-01 -1.68154408e-02 1.87824836e+01] [ 8.28621719e-02 4.28249190e-04 9.96560925e-01 9.62829064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.419254154 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:261.88, Y:18.79, Z:9.63 [[ 9.77245017e-01 -1.96125803e-01 -8.07888946e-02 2.61884719e+02] [ 1.95411226e-01 9.80578577e-01 -1.67363856e-02 1.87891773e+01] [ 8.25022964e-02 5.68492479e-04 9.96590712e-01 9.63036170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.44925415399996 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:261.92, Y:18.80, Z:9.63 [[ 9.77507290e-01 -1.95120034e-01 -8.00479225e-02 2.61916762e+02] [ 1.94415946e-01 9.80779162e-01 -1.65733072e-02 1.87953684e+01] [ 8.17431186e-02 6.37936061e-04 9.96653227e-01 9.63202712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.479254154 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:261.95, Y:18.80, Z:9.63 [[ 9.77452643e-01 -1.95682897e-01 -7.93381031e-02 2.61948058e+02] [ 1.94993585e-01 9.80667052e-01 -1.64205493e-02 1.88010414e+01] [ 8.10174844e-02 5.79888120e-04 9.96712512e-01 9.63387499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.50925415399996 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:261.98, Y:18.81, Z:9.64 [[ 9.77221601e-01 -1.96877877e-01 -7.92278018e-02 2.61978727e+02] [ 1.96194898e-01 9.80427905e-01 -1.63916222e-02 1.88065191e+01] [ 8.09042955e-02 4.74156741e-04 9.96721762e-01 9.63602539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.539254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:262.01, Y:18.81, Z:9.64 [[ 9.76899179e-01 -1.98669535e-01 -7.87299822e-02 2.62010805e+02] [ 1.98001678e-01 9.80066486e-01 -1.62793890e-02 1.88120937e+01] [ 8.03948357e-02 3.14653120e-04 9.96763047e-01 9.63826471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.56925415399996 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:262.04, Y:18.82, Z:9.64 [[ 9.75878506e-01 -2.03920254e-01 -7.79594261e-02 2.62041479e+02] [ 2.03282574e-01 9.78987495e-01 -1.61145863e-02 1.88159639e+01] [ 7.96073937e-02 -1.21914473e-04 9.96826288e-01 9.64040283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.599254154 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:262.07, Y:18.81, Z:9.64 [[ 9.74594596e-01 -2.06387644e-01 -8.70029516e-02 2.62070325e+02] [ 2.07754140e-01 9.78157046e-01 6.85648003e-03 1.88117328e+01] [ 8.36874573e-02 -2.47575118e-02 9.96184458e-01 9.64311957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.62925415399997 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:262.10, Y:18.83, Z:9.65 [[ 9.74001377e-01 -2.15059520e-01 -7.12089862e-02 2.62098024e+02] [ 2.12613904e-01 9.76300915e-01 -4.03961752e-02 1.88338255e+01] [ 7.82089805e-02 2.42059097e-02 9.96643080e-01 9.65217963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.659254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:262.13, Y:18.82, Z:9.65 [[ 9.72210782e-01 -2.16736921e-01 -8.84946501e-02 2.62129469e+02] [ 2.18336721e-01 9.75834712e-01 8.70000242e-03 1.88188699e+01] [ 8.44705397e-02 -2.77798679e-02 9.96038657e-01 9.64904813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.68925415399997 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:262.16, Y:18.84, Z:9.66 [[ 9.73089284e-01 -2.19780966e-01 -6.92356288e-02 2.62159325e+02] [ 2.17311500e-01 9.75220805e-01 -4.14739983e-02 1.88430998e+01] [ 7.66352211e-02 2.53122049e-02 9.96737847e-01 9.65644045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.71925415399994 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:262.20, Y:18.84, Z:9.65 [[ 9.72750733e-01 -2.19724840e-01 -7.40068016e-02 2.62195206e+02] [ 2.19196816e-01 9.75560946e-01 -1.52838576e-02 1.88362841e+01] [ 7.55563885e-02 -1.35467160e-03 9.97140610e-01 9.64994841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.74925415399997 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:262.23, Y:18.84, Z:9.65 [[ 9.72478208e-01 -2.20945289e-01 -7.39548066e-02 2.62227448e+02] [ 2.20422166e-01 9.75285116e-01 -1.52647139e-02 1.88413913e+01] [ 7.54996887e-02 -1.45667700e-03 9.97144761e-01 9.65197016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.77925415399994 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:262.26, Y:18.85, Z:9.65 [[ 9.72224744e-01 -2.21769295e-01 -7.48159603e-02 2.62259077e+02] [ 2.21236990e-01 9.75097937e-01 -1.54339549e-02 1.88459357e+01] [ 7.63756658e-02 -1.54678505e-03 9.97077913e-01 9.65430903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.809254154 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:262.29, Y:18.85, Z:9.66 [[ 9.71644731e-01 -2.21935068e-01 -8.15557667e-02 2.62290398e+02] [ 2.22507813e-01 9.74928618e-01 -2.11273346e-03 1.88471812e+01] [ 7.99799405e-02 -1.60939689e-02 9.96666541e-01 9.65876194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.83925415399995 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:262.32, Y:18.86, Z:9.66 [[ 9.72616051e-01 -2.20855768e-01 -7.23930102e-02 2.62320017e+02] [ 2.19203630e-01 9.75214023e-01 -3.01226993e-02 1.88627862e+01] [ 7.72514506e-02 1.34290102e-02 9.96921198e-01 9.66265330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.869254154 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:262.35, Y:18.86, Z:9.66 [[ 9.72763557e-01 -2.19026208e-01 -7.58853195e-02 2.62353393e+02] [ 2.18471618e-01 9.75718017e-01 -1.56366114e-02 1.88619230e+01] [ 7.74675012e-02 -1.36806281e-03 9.96993939e-01 9.66031953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.89925415399995 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:262.39, Y:18.87, Z:9.66 [[ 9.72971622e-01 -2.18073405e-01 -7.59619190e-02 2.62385368e+02] [ 2.17515222e-01 9.75931505e-01 -1.56468986e-02 1.88678398e+01] [ 7.75458024e-02 -1.29888537e-03 9.96987944e-01 9.66247621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.929254154 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:262.42, Y:18.87, Z:9.66 [[ 9.73205735e-01 -2.16620342e-01 -7.71117688e-02 2.62415538e+02] [ 2.16040994e-01 9.76255178e-01 -1.58782086e-02 1.88734335e+01] [ 7.87203065e-02 -1.20653944e-03 9.96896011e-01 9.66462847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.95925415399995 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:262.45, Y:18.88, Z:9.67 [[ 9.73242717e-01 -2.16318505e-01 -7.74914078e-02 2.62447367e+02] [ 2.15732815e-01 9.76322121e-01 -1.59520964e-02 1.88797656e+01] [ 7.91073093e-02 -1.19217788e-03 9.96865393e-01 9.66705398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.989254154 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:262.48, Y:18.89, Z:9.67 [[ 9.73322502e-01 -2.15914708e-01 -7.76153695e-02 2.62478738e+02] [ 2.15326304e-01 9.76411531e-01 -1.59720131e-02 1.88853976e+01] [ 7.92331343e-02 -1.16671082e-03 9.96855430e-01 9.66898809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.01925415399995 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:262.51, Y:18.89, Z:9.67 [[ 9.72871975e-01 -2.17898714e-01 -7.77191751e-02 2.62511322e+02] [ 2.17315535e-01 9.75970474e-01 -1.59872664e-02 1.88902272e+01] [ 7.93352250e-02 -1.33602074e-03 9.96847098e-01 9.67093436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.049254154 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:262.54, Y:18.90, Z:9.67 [[ 9.72602774e-01 -2.19157405e-01 -7.75491896e-02 2.62544204e+02] [ 2.18581484e-01 9.75688447e-01 -1.59433121e-02 1.88957348e+01] [ 7.91579433e-02 -1.44430737e-03 9.96861040e-01 9.67308761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.07925415399995 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:262.58, Y:18.90, Z:9.68 [[ 9.72203607e-01 -2.20944710e-01 -7.74827898e-02 2.62575978e+02] [ 2.20376156e-01 9.75285027e-01 -1.59206117e-02 1.89013558e+01] [ 7.90853797e-02 -1.59728325e-03 9.96866567e-01 9.67526428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.109254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:262.61, Y:18.91, Z:9.68 [[ 9.71762684e-01 -2.22856932e-01 -7.75375622e-02 2.62608075e+02] [ 2.22294257e-01 9.74849570e-01 -1.59241497e-02 1.89071185e+01] [ 7.91362663e-02 -1.76166030e-03 9.96862251e-01 9.67770158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.13925415399996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:262.64, Y:18.91, Z:9.68 [[ 9.70716117e-01 -2.27334370e-01 -7.76485899e-02 2.62640543e+02] [ 2.26785081e-01 9.73814413e-01 -1.59378625e-02 1.89121083e+01] [ 7.92385399e-02 -2.13840173e-03 9.96853390e-01 9.68048563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.169254154 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:262.67, Y:18.92, Z:9.68 [[ 9.70146453e-01 -2.29930910e-01 -7.71209232e-02 2.62672024e+02] [ 2.29397945e-01 9.73204134e-01 -1.58207257e-02 1.89175199e+01] [ 7.86920751e-02 -2.34296042e-03 9.96896217e-01 9.68252479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.19925415399996 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:262.70, Y:18.92, Z:9.68 [[ 9.69510080e-01 -2.32726509e-01 -7.67370647e-02 2.62704303e+02] [ 2.32208158e-01 9.72538841e-01 -1.57344936e-02 1.89226798e+01] [ 7.82916097e-02 -2.56422236e-03 9.96927203e-01 9.68481448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.229254154 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:262.74, Y:18.93, Z:9.69 [[ 9.68890010e-01 -2.35408649e-01 -7.63866249e-02 2.62735719e+02] [ 2.34904031e-01 9.71892513e-01 -1.56537216e-02 1.89276021e+01] [ 7.79246103e-02 -2.77679159e-03 9.96955387e-01 9.68710937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.25925415399996 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:262.77, Y:18.93, Z:9.69 [[ 9.67400116e-01 -2.41718130e-01 -7.55603208e-02 2.62768785e+02] [ 2.41244107e-01 9.70341045e-01 -1.54769794e-02 1.89314158e+01] [ 7.70603472e-02 -3.25605047e-03 9.97021114e-01 9.68975990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.289254154 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:262.80, Y:18.94, Z:9.69 [[ 9.66752877e-01 -2.44505921e-01 -7.48714238e-02 2.62799166e+02] [ 2.44049486e-01 9.69641645e-01 -1.53273574e-02 1.89362151e+01] [ 7.63460802e-02 -3.45456565e-03 9.97075394e-01 9.69181304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.31925415399996 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:262.83, Y:18.94, Z:9.69 [[ 9.66165259e-01 -2.46702107e-01 -7.52513307e-02 2.62830501e+02] [ 2.46248000e-01 9.69084486e-01 -1.54006832e-02 1.89414649e+01] [ 7.67242781e-02 -3.65088469e-03 9.97045664e-01 9.69468831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.349254154 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:262.86, Y:18.95, Z:9.70 [[ 9.65068863e-01 -2.51013455e-01 -7.50622045e-02 2.62860981e+02] [ 2.50575055e-01 9.67975378e-01 -1.53560729e-02 1.89462836e+01] [ 7.65129467e-02 -3.98904825e-03 9.97060608e-01 9.69655311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.37925415399997 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:262.89, Y:18.95, Z:9.70 [[ 9.64701799e-01 -2.52355472e-01 -7.52805047e-02 2.62893145e+02] [ 2.51919323e-01 9.67625841e-01 -1.53911175e-02 1.89517677e+01] [ 7.67273944e-02 -4.11677509e-03 9.97043609e-01 9.69870896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.409254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:262.92, Y:18.96, Z:9.70 [[ 9.64392433e-01 -2.53508335e-01 -7.53708111e-02 2.62923322e+02] [ 2.53075309e-01 9.67323989e-01 -1.54009402e-02 1.89570453e+01] [ 7.68122604e-02 -4.22194112e-03 9.97036635e-01 9.70108801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.43925415399997 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:262.95, Y:18.96, Z:9.70 [[ 9.64280857e-01 -2.53817166e-01 -7.57580059e-02 2.62954709e+02] [ 2.53380974e-01 9.67242777e-01 -1.54755579e-02 1.89625365e+01] [ 7.72043462e-02 -4.27285316e-03 9.97006134e-01 9.70346435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.46925415399994 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:262.99, Y:18.97, Z:9.71 [[ 9.64041952e-01 -2.54663490e-01 -7.59580188e-02 2.62985183e+02] [ 2.54228057e-01 9.67019915e-01 -1.55106057e-02 1.89681905e+01] [ 7.74029019e-02 -4.35778485e-03 9.96990371e-01 9.70545142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.49925415399997 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:263.02, Y:18.97, Z:9.71 [[ 9.64099322e-01 -2.54087765e-01 -7.71485952e-02 2.63016965e+02] [ 2.53637099e-01 9.67171230e-01 -1.57491063e-02 1.89741692e+01] [ 7.86175569e-02 -4.38404315e-03 9.96895210e-01 9.70784986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.52925415399994 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:263.05, Y:18.98, Z:9.71 [[ 9.64126937e-01 -2.54003382e-01 -7.70813332e-02 2.63047891e+02] [ 2.53553698e-01 9.67193417e-01 -1.57294722e-02 1.89807099e+01] [ 7.85478972e-02 -4.37904924e-03 9.96900723e-01 9.70945406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.559254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:263.08, Y:18.99, Z:9.71 [[ 9.64220220e-01 -2.53335542e-01 -7.81055044e-02 2.63079473e+02] [ 2.52872020e-01 9.67368522e-01 -1.59337542e-02 1.89872111e+01] [ 7.95933926e-02 -4.38704867e-03 9.96817760e-01 9.71176448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.58925415399995 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:263.11, Y:18.99, Z:9.71 [[ 9.64736743e-01 -2.51226146e-01 -7.85394150e-02 2.63110195e+02] [ 2.50751013e-01 9.67919120e-01 -1.60158299e-02 1.89940408e+01] [ 8.00433966e-02 -4.24277830e-03 9.96782350e-01 9.71367083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.619254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:263.14, Y:19.00, Z:9.72 [[ 9.65164266e-01 -2.49560626e-01 -7.85966551e-02 2.63141082e+02] [ 2.49080074e-01 9.68350424e-01 -1.60178842e-02 1.90008658e+01] [ 8.01065376e-02 -4.11697125e-03 9.96777805e-01 9.71616557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.64925415399995 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:263.17, Y:19.01, Z:9.72 [[ 9.66162565e-01 -2.45722475e-01 -7.84242500e-02 2.63172201e+02] [ 2.45231906e-01 9.69332789e-01 -1.59767474e-02 1.90089080e+01] [ 7.99450429e-02 -3.79599309e-03 9.96792045e-01 9.71913287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.679254154 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:263.20, Y:19.02, Z:9.72 [[ 9.66752255e-01 -2.43353424e-01 -7.85441809e-02 2.63203334e+02] [ 2.42854045e-01 9.69930961e-01 -1.59951373e-02 1.90160892e+01] [ 8.00749043e-02 -3.61143703e-03 9.96782307e-01 9.72171023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.70925415399995 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:263.23, Y:19.02, Z:9.72 [[ 9.67410190e-01 -2.40664559e-01 -7.87279795e-02 2.63233922e+02] [ 2.40154443e-01 9.70602386e-01 -1.60265853e-02 1.90234074e+01] [ 8.02705959e-02 -3.40259212e-03 9.96767302e-01 9.72423812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.739254154 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:263.27, Y:19.03, Z:9.73 [[ 9.68118775e-01 -2.37778778e-01 -7.87863531e-02 2.63265280e+02] [ 2.37258751e-01 9.71314163e-01 -1.60337852e-02 1.90310138e+01] [ 8.03387945e-02 -3.17014329e-03 9.96762574e-01 9.72645089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.76925415399995 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:263.30, Y:19.04, Z:9.73 [[ 9.68140627e-01 -2.37689389e-01 -7.87875613e-02 2.63297247e+02] [ 2.37169549e-01 9.71336045e-01 -1.60278462e-02 1.90374556e+01] [ 8.03388472e-02 -3.16880132e-03 9.96762574e-01 9.72884864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.799254154 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:263.33, Y:19.05, Z:9.73 [[ 9.69680280e-01 -2.30980018e-01 -7.98021724e-02 2.63326843e+02] [ 2.30424610e-01 9.72954876e-01 -1.62268104e-02 1.90456574e+01] [ 8.13919817e-02 -2.65356636e-03 9.96678636e-01 9.73109080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.82925415399995 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:263.36, Y:19.05, Z:9.73 [[ 9.70385520e-01 -2.28492125e-01 -7.83791555e-02 2.63358063e+02] [ 2.27948632e-01 9.73542790e-01 -1.59329263e-02 1.90534623e+01] [ 7.99460099e-02 -2.40534024e-03 9.96796293e-01 9.73320542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.859254154 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:263.39, Y:19.06, Z:9.74 [[ 9.71105208e-01 -2.25594995e-01 -7.78561049e-02 2.63389223e+02] [ 2.25049909e-01 9.74218785e-01 -1.58207655e-02 1.90607924e+01] [ 7.94179655e-02 -2.15788164e-03 9.96839069e-01 9.73561415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.88925415399996 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:263.42, Y:19.07, Z:9.74 [[ 9.71752879e-01 -2.22982655e-01 -7.72986287e-02 2.63419355e+02] [ 2.22437586e-01 9.74820489e-01 -1.57013930e-02 1.90676731e+01] [ 7.88534253e-02 -1.93624654e-03 9.96884340e-01 9.73749985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.919254154 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:263.45, Y:19.08, Z:9.74 [[ 9.72743376e-01 -2.18863760e-01 -7.66092632e-02 2.63450925e+02] [ 2.18316346e-01 9.75754121e-01 -1.55521145e-02 1.90751448e+01] [ 7.81555986e-02 -1.59683807e-03 9.96939894e-01 9.73937875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.94925415399996 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:263.48, Y:19.08, Z:9.74 [[ 9.73050807e-01 -2.17360250e-01 -7.69847279e-02 2.63481756e+02] [ 2.16803217e-01 9.76090316e-01 -1.56224508e-02 1.90820050e+01] [ 7.85397472e-02 -1.48909827e-03 9.96909871e-01 9.74145660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.979254154 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:263.51, Y:19.09, Z:9.74 [[ 9.73276644e-01 -2.16302801e-01 -7.71081874e-02 2.63511739e+02] [ 2.15741014e-01 9.76325309e-01 -1.56430698e-02 1.90886903e+01] [ 7.86663148e-02 -1.41036405e-03 9.96900006e-01 9.74321352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.00925415399996 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:263.54, Y:19.10, Z:9.74 [[ 9.73455298e-01 -2.15089934e-01 -7.82374799e-02 2.63542715e+02] [ 2.14508005e-01 9.76593331e-01 -1.58676082e-02 1.90953365e+01] [ 7.98191639e-02 -1.33615841e-03 9.96808465e-01 9.74484507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.039254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:263.57, Y:19.10, Z:9.75 [[ 9.73370944e-01 -2.15604389e-01 -7.78701068e-02 2.63574237e+02] [ 2.15030033e-01 9.76479825e-01 -1.57871934e-02 1.91016044e+01] [ 7.94423765e-02 -1.37761629e-03 9.96838508e-01 9.74661070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.06925415399996 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:263.61, Y:19.11, Z:9.75 [[ 9.73174480e-01 -2.16412217e-01 -7.80844634e-02 2.63605711e+02] [ 2.15837760e-01 9.76300999e-01 -1.58247028e-02 1.91078546e+01] [ 7.96585986e-02 -1.45337876e-03 9.96821145e-01 9.74884118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.099254154 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:263.64, Y:19.11, Z:9.75 [[ 9.73304718e-01 -2.15775894e-01 -7.82220541e-02 2.63635395e+02] [ 2.15380059e-01 9.76436106e-01 -1.35632616e-02 1.91124923e+01] [ 7.93054627e-02 -3.64628410e-03 9.96843693e-01 9.75010519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.12925415399997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:263.67, Y:19.12, Z:9.75 [[ 9.72260510e-01 -2.21035641e-01 -7.65032397e-02 2.63665375e+02] [ 2.20273063e-01 9.75265206e-01 -1.83726750e-02 1.91204477e+01] [ 7.86719638e-02 1.01142345e-03 9.96900045e-01 9.75388394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.159254154 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:263.70, Y:19.13, Z:9.76 [[ 9.71878948e-01 -2.22588559e-01 -7.68481863e-02 2.63697168e+02] [ 2.22050121e-01 9.74910600e-01 -1.55905839e-02 1.91252227e+01] [ 7.83903970e-02 -1.91198880e-03 9.96920905e-01 9.75563966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.18925415399997 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:263.73, Y:19.13, Z:9.76 [[ 9.71514816e-01 -2.24368548e-01 -7.62739566e-02 2.63729523e+02] [ 2.23844070e-01 9.74502216e-01 -1.54681497e-02 1.91313951e+01] [ 7.77997060e-02 -2.04593620e-03 9.96966910e-01 9.75806964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.21925415399994 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:263.76, Y:19.14, Z:9.76 [[ 9.71202780e-01 -2.25858863e-01 -7.58480995e-02 2.63761463e+02] [ 2.25345450e-01 9.74157637e-01 -1.53729427e-02 1.91375085e+01] [ 7.73601207e-02 -2.16177945e-03 9.97000872e-01 9.76052817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.24925415399997 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:263.79, Y:19.14, Z:9.76 [[ 9.70389626e-01 -2.29728982e-01 -7.46228401e-02 2.63792902e+02] [ 2.29244116e-01 9.73251585e-01 -1.51157960e-02 1.91427447e+01] [ 7.60993338e-02 -2.43863538e-03 9.97097259e-01 9.76285517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.27925415399994 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:263.82, Y:19.15, Z:9.76 [[ 9.69938763e-01 -2.31623743e-01 -7.46273271e-02 2.63824901e+02] [ 2.31145439e-01 9.72801973e-01 -1.51032263e-02 1.91483496e+01] [ 7.60958769e-02 -2.60056160e-03 9.97097114e-01 9.76491732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.309254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:263.86, Y:19.15, Z:9.77 [[ 9.69543752e-01 -2.33301427e-01 -7.45342645e-02 2.63855460e+02] [ 2.32829688e-01 9.72400621e-01 -1.50787421e-02 1.91536010e+01] [ 7.59950572e-02 -2.73428936e-03 9.97104445e-01 9.76676366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.33925415399995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:263.89, Y:19.16, Z:9.77 [[ 9.68921200e-01 -2.35617552e-01 -7.53397504e-02 2.63886450e+02] [ 2.35142882e-01 9.71841373e-01 -1.52371288e-02 1.91585240e+01] [ 7.68084215e-02 -2.95202896e-03 9.97041500e-01 9.76805717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.369254154 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:263.92, Y:19.16, Z:9.77 [[ 9.68609303e-01 -2.36846029e-01 -7.54981959e-02 2.63917887e+02] [ 2.36373800e-01 9.71542364e-01 -1.52598305e-02 1.91645869e+01] [ 7.69639259e-02 -3.06498167e-03 9.97029167e-01 9.77048462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.39925415399995 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:263.95, Y:19.17, Z:9.77 [[ 9.68512248e-01 -2.37291779e-01 -7.53434597e-02 2.63948502e+02] [ 2.36823263e-01 9.71433479e-01 -1.52229261e-02 1.91705385e+01] [ 7.68034344e-02 -3.09949359e-03 9.97041436e-01 9.77250118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.429254154 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:263.98, Y:19.18, Z:9.77 [[ 9.68639780e-01 -2.36926518e-01 -7.48518667e-02 2.63980381e+02] [ 2.36463339e-01 9.71522771e-01 -1.51193383e-02 1.91769002e+01] [ 7.63024652e-02 -3.05452982e-03 9.97080039e-01 9.77420959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.45925415399995 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:264.01, Y:19.18, Z:9.78 [[ 9.68999475e-01 -2.35634454e-01 -7.42726189e-02 2.64010331e+02] [ 2.35175057e-01 9.71837326e-01 -1.49967865e-02 1.91833332e+01] [ 7.57146629e-02 -2.93518919e-03 9.97125205e-01 9.77702258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.489254154 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:264.04, Y:19.19, Z:9.78 [[ 9.69436955e-01 -2.34011491e-01 -7.36926892e-02 2.64041516e+02] [ 2.33554882e-01 9.72229827e-01 -1.48755279e-02 1.91900197e+01] [ 7.51272749e-02 -2.79040091e-03 9.97170049e-01 9.77913975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.51925415399995 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:264.07, Y:19.20, Z:9.78 [[ 9.69882726e-01 -2.32192125e-01 -7.35820337e-02 2.64071752e+02] [ 2.31732074e-01 9.72666331e-01 -1.48477360e-02 1.91965648e+01] [ 7.50182941e-02 -2.65075467e-03 9.97178634e-01 9.78160679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.549254154 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:264.10, Y:19.20, Z:9.79 [[ 9.70114000e-01 -2.27862149e-01 -8.34126364e-02 2.64104576e+02] [ 2.29077967e-01 9.73394298e-01 5.17938391e-03 1.91956921e+01] [ 8.00131991e-02 -2.41325900e-02 9.96501634e-01 9.78597911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.57925415399995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:264.13, Y:19.22, Z:9.79 [[ 9.71235667e-01 -2.27971240e-01 -6.87778594e-02 2.64130936e+02] [ 2.25932823e-01 9.73470331e-01 -3.61921933e-02 1.92212968e+01] [ 7.52039846e-02 1.96119730e-02 9.96975291e-01 9.79205400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.609254154 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:264.16, Y:19.22, Z:9.79 [[ 9.71595017e-01 -2.25015377e-01 -7.32884973e-02 2.64164842e+02] [ 2.24540669e-01 9.74352918e-01 -1.47607628e-02 1.92185250e+01] [ 7.47302598e-02 -2.11476465e-03 9.97201542e-01 9.78775524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.63925415399996 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:264.20, Y:19.23, Z:9.79 [[ 9.71900990e-01 -2.23515748e-01 -7.38185356e-02 2.64196613e+02] [ 2.23030250e-01 9.74698226e-01 -1.48618763e-02 1.92253137e+01] [ 7.52726591e-02 -2.01949417e-03 9.97160944e-01 9.79016048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.669254154 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:264.23, Y:19.23, Z:9.79 [[ 9.72168152e-01 -2.22018727e-01 -7.48115528e-02 2.64227577e+02] [ 2.21516080e-01 9.75040482e-01 -1.50560689e-02 1.92321141e+01] [ 7.62870218e-02 -1.93493120e-03 9.97084022e-01 9.79180065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.69925415399996 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:264.26, Y:19.24, Z:9.79 [[ 9.72147157e-01 -2.21751605e-01 -7.58691639e-02 2.64257544e+02] [ 2.21234270e-01 9.75101244e-01 -1.52631081e-02 1.92384924e+01] [ 7.73647348e-02 -1.94687191e-03 9.97000957e-01 9.79375952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.729254154 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:264.29, Y:19.25, Z:9.80 [[ 9.72122704e-01 -2.21569716e-01 -7.67092566e-02 2.64289843e+02] [ 2.21040653e-01 9.75142567e-01 -1.54273977e-02 1.92453394e+01] [ 7.82207055e-02 -1.95854066e-03 9.96934143e-01 9.79578824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.75925415399996 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:264.32, Y:19.25, Z:9.80 [[ 9.71922784e-01 -2.21706075e-01 -7.88195252e-02 2.64321161e+02] [ 2.21148654e-01 9.75111421e-01 -1.58426483e-02 1.92524048e+01] [ 8.03702306e-02 -2.03300112e-03 9.96763007e-01 9.79783381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.789254154 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:264.35, Y:19.26, Z:9.80 [[ 9.71901548e-01 -2.21592879e-01 -7.93975942e-02 2.64351081e+02] [ 2.21027353e-01 9.75137127e-01 -1.59528336e-02 1.92590685e+01] [ 8.09585762e-02 -2.04445641e-03 9.96715370e-01 9.80024779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.81925415399996 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:264.38, Y:19.27, Z:9.80 [[ 9.72080691e-01 -2.20907391e-01 -7.91141831e-02 2.64380880e+02] [ 2.19997776e-01 9.75292359e-01 -2.01443014e-02 1.92677422e+01] [ 8.16094834e-02 2.17694211e-03 9.96662005e-01 9.80360119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.849254154 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:264.41, Y:19.27, Z:9.80 [[ 9.72599067e-01 -2.18508208e-01 -7.94054054e-02 2.64412161e+02] [ 2.18257874e-01 9.75818271e-01 -1.19248482e-02 1.92714158e+01] [ 8.00909227e-02 -5.73275872e-03 9.96771077e-01 9.80468993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.87925415399997 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:264.44, Y:19.28, Z:9.81 [[ 9.73071231e-01 -2.16766300e-01 -7.83884619e-02 2.64442933e+02] [ 2.16200548e-01 9.76222156e-01 -1.57361390e-02 1.92804060e+01] [ 7.99356179e-02 -1.63524424e-03 9.96798687e-01 9.80876367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.909254154 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:264.47, Y:19.29, Z:9.81 [[ 9.73866018e-01 -2.13375179e-01 -7.78203848e-02 2.64471502e+02] [ 2.12478167e-01 9.76966668e-01 -1.97271061e-02 1.92887165e+01] [ 8.02371968e-02 2.67642560e-03 9.96772205e-01 9.81140132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.93925415399997 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:264.50, Y:19.29, Z:9.81 [[ 9.74358322e-01 -2.11076038e-01 -7.79279518e-02 2.64501523e+02] [ 2.10798573e-01 9.77457525e-01 -1.18637465e-02 1.92927169e+01] [ 7.86754155e-02 -4.86756093e-03 9.96888402e-01 9.81245526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.96925415399994 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:264.53, Y:19.30, Z:9.82 [[ 9.75023496e-01 -2.08213906e-01 -7.73055755e-02 2.64532322e+02] [ 2.07636290e-01 9.78082887e-01 -1.55253676e-02 1.93018472e+01] [ 7.88438579e-02 -9.13844721e-04 9.96886559e-01 9.81618043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.99925415399997 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:264.56, Y:19.31, Z:9.82 [[ 9.76330558e-01 -2.02103149e-01 -7.70256957e-02 2.64564564e+02] [ 2.01511181e-01 9.79364149e-01 -1.54630834e-02 1.93101174e+01] [ 7.85613428e-02 -4.24458048e-04 9.96909191e-01 9.81876284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.02925415399994 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:264.60, Y:19.32, Z:9.82 [[ 9.76952419e-01 -1.99037651e-01 -7.71231765e-02 2.64595063e+02] [ 1.98435322e-01 9.79991826e-01 -1.54739887e-02 1.93162714e+01] [ 7.86599889e-02 -1.86611713e-04 9.96901485e-01 9.82008014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.059254154 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:264.63, Y:19.32, Z:9.82 [[ 9.77180162e-01 -1.97862732e-01 -7.72610492e-02 2.64625583e+02] [ 1.97254928e-01 9.80229733e-01 -1.54972186e-02 1.93230158e+01] [ 7.87998997e-02 -9.65480397e-05 9.96890449e-01 9.82319888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.08925415399995 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:264.66, Y:19.33, Z:9.83 [[ 9.77543422e-01 -1.95720991e-01 -7.81162654e-02 2.64656850e+02] [ 1.95093164e-01 9.80659619e-01 -1.56642588e-02 1.93292351e+01] [ 7.96712914e-02 7.25437492e-05 9.96821188e-01 9.82550053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.119254154 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:264.69, Y:19.34, Z:9.83 [[ 9.77630390e-01 -1.95315025e-01 -7.80439711e-02 2.64688476e+02] [ 1.94687549e-01 9.80740552e-01 -1.56437657e-02 1.93354924e+01] [ 7.95963498e-02 9.96313897e-05 9.96827172e-01 9.82772680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.14925415399995 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:264.72, Y:19.34, Z:9.83 [[ 9.77635566e-01 -1.95115169e-01 -7.84778386e-02 2.64720119e+02] [ 1.94480528e-01 9.80780331e-01 -1.57246919e-02 1.93415115e+01] [ 8.00376465e-02 1.10606639e-04 9.96791835e-01 9.82990290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.179254154 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:264.75, Y:19.35, Z:9.83 [[ 9.77522802e-01 -1.95449433e-01 -7.90486564e-02 2.64751313e+02] [ 1.94807083e-01 9.80713777e-01 -1.58331139e-02 1.93456824e+01] [ 8.06186796e-02 7.79917095e-05 9.96745014e-01 9.83150558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.20925415399995 meters Centerline goodness : 0.996232 Centerline is valid? [True, True] Translation: X:264.78, Y:19.34, Z:9.83 [[ 9.76604927e-01 -1.95180121e-01 -9.02637115e-02 2.64780007e+02] [ 1.97288076e-01 9.80231325e-01 1.49654572e-02 1.93369780e+01] [ 8.55583578e-02 -3.24232932e-02 9.95805452e-01 9.83201301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.239254154 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:264.81, Y:19.37, Z:9.85 [[ 9.77577057e-01 -1.97321958e-01 -7.35332796e-02 2.64806375e+02] [ 1.94084728e-01 9.79764849e-01 -4.89076663e-02 1.93690160e+01] [ 8.16958790e-02 3.35393259e-02 9.96092815e-01 9.84620915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.26925415399995 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:264.84, Y:19.36, Z:9.84 [[ 9.77674770e-01 -1.94358319e-01 -7.98554152e-02 2.64840227e+02] [ 1.93698535e-01 9.80930585e-01 -1.60020351e-02 1.93586274e+01] [ 8.14427478e-02 1.76909110e-04 9.96678006e-01 9.83794776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.299254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:264.87, Y:19.36, Z:9.84 [[ 9.77889533e-01 -1.93330442e-01 -7.97207766e-02 2.64871814e+02] [ 1.92669523e-01 9.81133667e-01 -1.59744577e-02 1.93635891e+01] [ 8.13050868e-02 2.61491009e-04 9.96689227e-01 9.84056086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.32925415399995 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:264.90, Y:19.37, Z:9.84 [[ 9.78111215e-01 -1.92233838e-01 -7.96530108e-02 2.64903225e+02] [ 1.91570906e-01 9.81349087e-01 -1.59548271e-02 1.93684260e+01] [ 8.12344671e-02 3.46395906e-04 9.96694959e-01 9.84344278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.359254154 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:264.93, Y:19.37, Z:9.85 [[ 9.78543617e-01 -1.90151528e-01 -7.93396848e-02 2.64934131e+02] [ 1.89487461e-01 9.81754621e-01 -1.58860711e-02 1.93713842e+01] [ 8.09128628e-02 5.11338101e-04 9.96721048e-01 9.84529756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.38925415399996 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:264.97, Y:19.38, Z:9.85 [[ 9.78756685e-01 -1.89125709e-01 -7.91632356e-02 2.64965560e+02] [ 1.88461606e-01 9.81952706e-01 -1.58463156e-02 1.93755508e+01] [ 8.07314991e-02 5.90456804e-04 9.96735710e-01 9.84770201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.419254154 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:265.00, Y:19.38, Z:9.85 [[ 9.78902984e-01 -1.87855807e-01 -8.03688022e-02 2.64996370e+02] [ 1.87167263e-01 9.82196366e-01 -1.60845803e-02 1.93792571e+01] [ 8.19595272e-02 7.02834891e-04 9.96635411e-01 9.84916358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.44925415399996 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:265.03, Y:19.38, Z:9.85 [[ 9.78927372e-01 -1.88611136e-01 -7.82754053e-02 2.65026125e+02] [ 1.87960668e-01 9.82051656e-01 -1.56631079e-02 1.93815917e+01] [ 7.98247279e-02 6.20347616e-04 9.96808722e-01 9.85224177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.479254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:265.06, Y:19.39, Z:9.85 [[ 9.78764170e-01 -1.89570351e-01 -7.79986041e-02 2.65057121e+02] [ 1.88927435e-01 9.81866992e-01 -1.56088214e-02 1.93853829e+01] [ 7.95432245e-02 5.41278963e-04 9.96831271e-01 9.85470436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.50925415399996 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:265.09, Y:19.39, Z:9.86 [[ 9.78469363e-01 -1.91097528e-01 -7.79707729e-02 2.65088166e+02] [ 1.90460147e-01 9.81570967e-01 -1.56002871e-02 1.93888620e+01] [ 7.95150233e-02 4.14078045e-04 9.96833582e-01 9.85667507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.539254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:265.12, Y:19.39, Z:9.86 [[ 9.77269811e-01 -1.97054496e-01 -7.81872311e-02 2.65119000e+02] [ 1.96432796e-01 9.80392534e-01 -1.56408565e-02 1.93892717e+01] [ 7.97362787e-02 -7.31995031e-05 9.96815991e-01 9.85854971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.56925415399996 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:265.15, Y:19.39, Z:9.86 [[ 9.76433650e-01 -2.01016668e-01 -7.85469627e-02 2.65148819e+02] [ 2.00402015e-01 9.79587740e-01 -1.57127958e-02 1.93920218e+01] [ 8.01021755e-02 -3.98467073e-04 9.96786578e-01 9.86063872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.599254154 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:265.18, Y:19.39, Z:9.86 [[ 9.75531730e-01 -2.05345030e-01 -7.85573847e-02 2.65179539e+02] [ 2.04744231e-01 9.78689353e-01 -1.57146366e-02 1.93949381e+01] [ 8.01101985e-02 -7.54044723e-04 9.96785728e-01 9.86267948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.62925415399997 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:265.21, Y:19.40, Z:9.86 [[ 9.74520177e-01 -2.10060766e-01 -7.86441280e-02 2.65210037e+02] [ 2.09473950e-01 9.77687664e-01 -1.57319887e-02 1.93978492e+01] [ 8.01940674e-02 -1.14275572e-03 9.96778614e-01 9.86446225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.659254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:265.24, Y:19.40, Z:9.87 [[ 9.72492007e-01 -2.19229200e-01 -7.87264565e-02 2.65240494e+02] [ 2.18671051e-01 9.75671538e-01 -1.57487196e-02 1.93989162e+01] [ 8.02637420e-02 -1.89969313e-03 9.96771851e-01 9.86653281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.68925415399997 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:265.27, Y:19.40, Z:9.87 [[ 9.72487996e-01 -2.19247188e-01 -7.87259051e-02 2.65269983e+02] [ 2.18688876e-01 9.75667498e-01 -1.57514757e-02 1.94048497e+01] [ 8.02637736e-02 -1.89835868e-03 9.96771851e-01 9.86874352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.71925415399994 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:265.30, Y:19.41, Z:9.87 [[ 9.71480523e-01 -2.23374215e-01 -7.95584913e-02 2.65298857e+02] [ 2.22817661e-01 9.74730141e-01 -1.59198822e-02 1.94084255e+01] [ 8.11041506e-02 -2.26118146e-03 9.96703067e-01 9.87099796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.74925415399997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:265.33, Y:19.41, Z:9.87 [[ 9.70700751e-01 -2.26600813e-01 -7.99507618e-02 2.65325264e+02] [ 2.26139930e-01 9.73980975e-01 -1.48926762e-02 1.94114787e+01] [ 8.12452135e-02 -3.62372770e-03 9.96687556e-01 9.87263926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.77925415399994 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:265.36, Y:19.42, Z:9.88 [[ 9.68883452e-01 -2.34363483e-01 -7.96154094e-02 2.65355232e+02] [ 2.33730172e-01 9.72147314e-01 -1.73149212e-02 1.94150295e+01] [ 8.14558916e-02 -1.83238267e-03 9.96675263e-01 9.87531580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.809254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:265.38, Y:19.42, Z:9.88 [[ 9.68212123e-01 -2.37175780e-01 -7.94539772e-02 2.65383805e+02] [ 2.36663578e-01 9.71460903e-01 -1.59394453e-02 1.94185417e+01] [ 8.09668828e-02 -3.37109836e-03 9.96711091e-01 9.87747937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.83925415399995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:265.41, Y:19.42, Z:9.88 [[ 9.67667626e-01 -2.39526792e-01 -7.90334245e-02 2.65411960e+02] [ 2.39026136e-01 9.70883343e-01 -1.58758004e-02 1.94227328e+01] [ 8.05349150e-02 -3.52855598e-03 9.96745543e-01 9.87981806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.869254154 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:265.44, Y:19.43, Z:9.88 [[ 9.67208822e-01 -2.41490471e-01 -7.86730442e-02 2.65440075e+02] [ 2.40999179e-01 9.70396308e-01 -1.58240951e-02 1.94273724e+01] [ 8.01653998e-02 -3.65493471e-03 9.96774874e-01 9.88204786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.89925415399995 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:265.47, Y:19.43, Z:9.88 [[ 9.66797118e-01 -2.43371995e-01 -7.79320484e-02 2.65469956e+02] [ 2.42894521e-01 9.69925750e-01 -1.56936976e-02 1.94324782e+01] [ 7.94077070e-02 -3.75664597e-03 9.96835144e-01 9.88497092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.929254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:265.50, Y:19.44, Z:9.89 [[ 9.66759559e-01 -2.43579229e-01 -7.77503338e-02 2.65499364e+02] [ 2.43104648e-01 9.69873696e-01 -1.56571045e-02 1.94383542e+01] [ 7.92217491e-02 -3.76481207e-03 9.96849909e-01 9.88747216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.95925415399995 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:265.53, Y:19.44, Z:9.89 [[ 9.66723317e-01 -2.43420269e-01 -7.86930774e-02 2.65527872e+02] [ 2.42933566e-01 9.69913477e-01 -1.58470838e-02 1.94438481e+01] [ 8.01829777e-02 -3.79744456e-03 9.96772928e-01 9.88923197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.989254154 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:265.56, Y:19.45, Z:9.89 [[ 9.66648315e-01 -2.43739670e-01 -7.86257453e-02 2.65557059e+02] [ 2.43254721e-01 9.69833175e-01 -1.58351696e-02 1.94500276e+01] [ 8.01135152e-02 -3.81904371e-03 9.96778431e-01 9.89146882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.01925415399995 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:265.58, Y:19.46, Z:9.89 [[ 9.66615995e-01 -2.43744415e-01 -7.90074652e-02 2.65584656e+02] [ 2.43254500e-01 9.69831920e-01 -1.59152474e-02 1.94557049e+01] [ 8.05032144e-02 -3.83498878e-03 9.96746972e-01 9.89332609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.049254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:265.61, Y:19.46, Z:9.90 [[ 9.66560284e-01 -2.43745529e-01 -7.96827169e-02 2.65613322e+02] [ 2.43246839e-01 9.69831526e-01 -1.60557326e-02 1.94617760e+01] [ 8.11923239e-02 -3.86373558e-03 9.96690964e-01 9.89527460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.07925415399995 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:265.64, Y:19.47, Z:9.90 [[ 9.66477351e-01 -2.43680404e-01 -8.08788612e-02 2.65641090e+02] [ 2.43165963e-01 9.69847700e-01 -1.63019613e-02 1.94682378e+01] [ 8.24126460e-02 -3.91150979e-03 9.96590616e-01 9.89681062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.109254154 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:265.68, Y:19.50, Z:9.90 [[ 9.69489756e-01 -2.39671302e-01 -5.14517187e-02 2.65678338e+02] [ 2.34977712e-01 9.68413786e-01 -8.34278977e-02 1.95014611e+01] [ 6.98218266e-02 6.87924851e-02 9.95184660e-01 9.89741740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.13925415399996 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:265.71, Y:19.45, Z:9.88 [[ 9.66553308e-01 -2.37496039e-01 -9.68004839e-02 2.65708364e+02] [ 2.43597198e-01 9.68208344e-01 5.68595379e-02 1.94463994e+01] [ 8.02191212e-02 -7.85381011e-02 9.93678348e-01 9.88442945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.169254154 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:265.73, Y:19.49, Z:9.90 [[ 9.66543764e-01 -2.43051332e-01 -8.19707359e-02 2.65728866e+02] [ 2.42514896e-01 9.70005813e-01 -1.65906123e-02 1.94885521e+01] [ 8.35444608e-02 -3.84357159e-03 9.96496638e-01 9.90392945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.19925415399996 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:265.77, Y:19.52, Z:9.90 [[ 9.69773757e-01 -2.37478389e-01 -5.60613600e-02 2.65765613e+02] [ 2.33329255e-01 9.69752118e-01 -7.16818491e-02 1.95182047e+01] [ 7.13885126e-02 5.64344207e-02 9.95850810e-01 9.90366623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.229254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:265.79, Y:19.48, Z:9.90 [[ 9.67229386e-01 -2.35620596e-01 -9.46057552e-02 2.65792429e+02] [ 2.40567001e-01 9.69604794e-01 4.46549220e-02 1.94750999e+01] [ 8.12085744e-02 -6.59505756e-02 9.94512790e-01 9.89515029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.25925415399996 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:265.81, Y:19.51, Z:9.91 [[ 9.67523275e-01 -2.39044821e-01 -8.21966271e-02 2.65814878e+02] [ 2.38485346e-01 9.71002435e-01 -1.67036133e-02 1.95117979e+01] [ 8.38060373e-02 -3.44155641e-03 9.96476143e-01 9.91268162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.289254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:265.84, Y:19.52, Z:9.92 [[ 9.68429963e-01 -2.35612724e-01 -8.14251300e-02 2.65841959e+02] [ 2.35051429e-01 9.71842043e-01 -1.65490023e-02 1.95208673e+01] [ 8.30315202e-02 -3.11254350e-03 9.96542061e-01 9.91532698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.31925415399996 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:265.87, Y:19.53, Z:9.92 [[ 9.69694263e-01 -2.31503621e-01 -7.80968020e-02 2.65874337e+02] [ 2.30583457e-01 9.72831797e-01 -2.07259139e-02 1.95279450e+01] [ 8.07731764e-02 2.08996917e-03 9.96730318e-01 9.91652374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.349254154 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:265.90, Y:19.53, Z:9.92 [[ 9.69299719e-01 -2.31777862e-01 -8.20797019e-02 2.65899738e+02] [ 2.31693897e-01 9.72730132e-01 -1.06784182e-02 1.95336745e+01] [ 8.23164202e-02 -8.66677817e-03 9.96568560e-01 9.91876527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.37925415399997 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:265.93, Y:19.54, Z:9.92 [[ 9.69748277e-01 -2.30425959e-01 -8.05739148e-02 2.65928751e+02] [ 2.29854003e-01 9.73086422e-01 -1.64302355e-02 1.95438059e+01] [ 8.21913353e-02 -2.58704433e-03 9.96613211e-01 9.92255109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.409254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:265.96, Y:19.55, Z:9.92 [[ 9.71121313e-01 -2.24791269e-01 -7.99517453e-02 2.65963062e+02] [ 2.24350693e-01 9.74399572e-01 -1.45685018e-02 1.95492844e+01] [ 8.11798184e-02 -3.78944684e-03 9.96692268e-01 9.92385595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.43925415399997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:265.99, Y:19.56, Z:9.93 [[ 9.71391115e-01 -2.23361861e-01 -8.06770207e-02 2.65993200e+02] [ 2.23048918e-01 9.74720747e-01 -1.29863889e-02 1.95559086e+01] [ 8.15382299e-02 -5.38005938e-03 9.96655694e-01 9.92660325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.46925415399994 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:266.02, Y:19.56, Z:9.93 [[ 9.71776550e-01 -2.21742136e-01 -8.05031815e-02 2.66022034e+02] [ 2.21235540e-01 9.75100819e-01 -1.52718063e-02 1.95644480e+01] [ 8.18851212e-02 -2.96938157e-03 9.96637351e-01 9.92974180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.49925415399997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:266.05, Y:19.58, Z:9.93 [[ 9.72526683e-01 -2.19218549e-01 -7.83267384e-02 2.66046799e+02] [ 2.18313781e-01 9.75672855e-01 -2.00392643e-02 1.95767144e+01] [ 8.08142510e-02 2.38891281e-03 9.96726316e-01 9.93180000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.52925415399994 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:266.07, Y:19.58, Z:9.93 [[ 9.73099225e-01 -2.16498697e-01 -7.87795237e-02 2.66074912e+02] [ 2.15907035e-01 9.76281923e-01 -1.60548806e-02 1.95818101e+01] [ 8.03868857e-02 -1.38606150e-03 9.96762774e-01 9.93301600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.559254154 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:266.11, Y:19.59, Z:9.94 [[ 9.74339368e-01 -2.10849310e-01 -7.87741395e-02 2.66105384e+02] [ 2.10237804e-01 9.77518161e-01 -1.60720363e-02 1.95901991e+01] [ 8.03919298e-02 -9.01684345e-04 9.96762923e-01 9.93600827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.58925415399995 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:266.13, Y:19.60, Z:9.94 [[ 9.74984233e-01 -2.07931430e-01 -7.85510425e-02 2.66134246e+02] [ 2.07314150e-01 9.78143181e-01 -1.60237613e-02 1.95966665e+01] [ 8.01660102e-02 -6.61827987e-04 9.96781306e-01 9.93820000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.619254154 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:266.16, Y:19.60, Z:9.94 [[ 9.75549761e-01 -2.05388997e-01 -7.82177912e-02 2.66164378e+02] [ 2.04768790e-01 9.78680314e-01 -1.59557515e-02 1.96032026e+01] [ 7.98273482e-02 -4.50932942e-04 9.96808603e-01 9.94038872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.64925415399995 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:266.19, Y:19.61, Z:9.94 [[ 9.76023935e-01 -2.03127332e-01 -7.82084789e-02 2.66194513e+02] [ 2.02500020e-01 9.79152295e-01 -1.59538518e-02 1.96092816e+01] [ 7.98186749e-02 -2.65877338e-04 9.96809364e-01 9.94294985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.679254154 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:266.23, Y:19.62, Z:9.95 [[ 9.76433857e-01 -2.01102541e-01 -7.83242647e-02 2.66225476e+02] [ 2.00466876e-01 9.79570190e-01 -1.59772829e-02 1.96153829e+01] [ 7.99371871e-02 -1.00660671e-04 9.96799898e-01 9.94538471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.70925415399995 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:266.26, Y:19.62, Z:9.95 [[ 9.76801234e-01 -1.99402313e-01 -7.80901188e-02 2.66256756e+02] [ 1.98765262e-01 9.79917709e-01 -1.59265290e-02 1.96210331e+01] [ 7.96976771e-02 3.54502227e-05 9.96819080e-01 9.94717080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.739254154 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:266.29, Y:19.63, Z:9.95 [[ 9.76747006e-01 -1.99511420e-01 -7.84887264e-02 2.66285563e+02] [ 1.98868409e-01 9.79895501e-01 -1.60051002e-02 1.96262025e+01] [ 8.01039501e-02 2.40055890e-05 9.96786515e-01 9.94921902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.76925415399995 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:266.31, Y:19.63, Z:9.95 [[ 9.76553621e-01 -2.00329253e-01 -7.88112616e-02 2.66314651e+02] [ 1.99683475e-01 9.79728630e-01 -1.60723689e-02 1.96312566e+01] [ 8.04334151e-02 -4.17765836e-05 9.96759983e-01 9.95130027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.799254154 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:266.34, Y:19.63, Z:9.95 [[ 9.75792596e-01 -2.03885948e-01 -7.91159283e-02 2.66343828e+02] [ 2.03246694e-01 9.78994590e-01 -1.61360901e-02 1.96346120e+01] [ 8.07439879e-02 -3.34573634e-04 9.96734818e-01 9.95328832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.82925415399995 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:266.37, Y:19.64, Z:9.96 [[ 9.75575678e-01 -2.04962768e-01 -7.90086063e-02 2.66369477e+02] [ 2.04142300e-01 9.78768053e-01 -1.84125035e-02 1.96394939e+01] [ 8.11049774e-02 1.83379200e-03 9.96703878e-01 9.95563779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.859254154 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:266.40, Y:19.64, Z:9.96 [[ 9.74575205e-01 -2.09535907e-01 -7.93591455e-02 2.66400127e+02] [ 2.09037165e-01 9.77798185e-01 -1.46346235e-02 1.96418741e+01] [ 8.06637076e-02 -2.32646962e-03 9.96738659e-01 9.95674895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.88925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:266.43, Y:19.64, Z:9.96 [[ 9.72969929e-01 -2.14115557e-01 -8.65103804e-02 2.66431455e+02] [ 2.14873055e-01 9.76641821e-01 -5.68552605e-04 1.96371628e+01] [ 8.46113914e-02 -1.80355652e-02 9.96250787e-01 9.96098189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.919254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:266.46, Y:19.66, Z:9.97 [[ 9.72487394e-01 -2.20104641e-01 -7.63034420e-02 2.66456832e+02] [ 2.18181280e-01 9.75357191e-01 -3.27914420e-02 1.96559931e+01] [ 8.16406594e-02 1.52412813e-02 9.96545286e-01 9.96619779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.94925415399996 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:266.49, Y:19.65, Z:9.96 [[ 9.71747326e-01 -2.22244143e-01 -7.94649253e-02 2.66487561e+02] [ 2.21656674e-01 9.74989344e-01 -1.62510785e-02 1.96518604e+01] [ 8.10891624e-02 -1.82198894e-03 9.96705186e-01 9.96379181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.979254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:266.52, Y:19.66, Z:9.97 [[ 9.70990408e-01 -2.25449561e-01 -7.96876532e-02 2.66516666e+02] [ 2.24867938e-01 9.74252629e-01 -1.63164171e-02 1.96553857e+01] [ 8.13144347e-02 -2.07611373e-03 9.96686336e-01 9.96581419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.00925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:266.54, Y:19.66, Z:9.97 [[ 9.69697547e-01 -2.30917793e-01 -7.97724244e-02 2.66544340e+02] [ 2.30353085e-01 9.72969965e-01 -1.63371662e-02 1.96563205e+01] [ 8.13887154e-02 -2.53371409e-03 9.96679215e-01 9.96759291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.039254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:266.57, Y:19.66, Z:9.97 [[ 9.69216706e-01 -2.33099635e-01 -7.92687661e-02 2.66571131e+02] [ 2.32548699e-01 9.72449131e-01 -1.62416192e-02 1.96600295e+01] [ 8.08707582e-02 -2.69219981e-03 9.96720960e-01 9.96922864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.06925415399996 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:266.60, Y:19.66, Z:9.97 [[ 9.68750803e-01 -2.35028375e-01 -7.92688185e-02 2.66598391e+02] [ 2.34483008e-01 9.71984353e-01 -1.62522977e-02 1.96644215e+01] [ 8.08678023e-02 -2.84276453e-03 9.96720782e-01 9.97155687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.099254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:266.63, Y:19.67, Z:9.97 [[ 9.67998861e-01 -2.38051818e-01 -7.94325970e-02 2.66625976e+02] [ 2.37512514e-01 9.71247572e-01 -1.63082517e-02 1.96681478e+01] [ 8.10309260e-02 -3.07986677e-03 9.96706829e-01 9.97395680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.12925415399997 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:266.65, Y:19.67, Z:9.98 [[ 9.67643277e-01 -2.39576126e-01 -7.91818675e-02 2.66653420e+02] [ 2.39043364e-01 9.70872394e-01 -1.62807894e-02 1.96730185e+01] [ 8.07759777e-02 -3.17390353e-03 9.96727228e-01 9.97594543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.159254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:266.68, Y:19.68, Z:9.98 [[ 9.67298495e-01 -2.40907506e-01 -7.93548671e-02 2.66680055e+02] [ 2.40374999e-01 9.70542571e-01 -1.63394666e-02 1.96776161e+01] [ 8.09535768e-02 -3.26978464e-03 9.96712510e-01 9.97779016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.18925415399997 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:266.71, Y:19.68, Z:9.98 [[ 9.66929273e-01 -2.42293705e-01 -7.96337970e-02 2.66707799e+02] [ 2.41761183e-01 9.70197038e-01 -1.64084733e-02 1.96823028e+01] [ 8.12361437e-02 -3.38652780e-03 9.96689129e-01 9.97969073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.21925415399994 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:266.73, Y:19.69, Z:9.98 [[ 9.66272094e-01 -2.44781921e-01 -8.00003206e-02 2.66734553e+02] [ 2.44251078e-01 9.69571516e-01 -1.65071528e-02 1.96866987e+01] [ 8.16066847e-02 -3.58976344e-03 9.96658147e-01 9.98189320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.24925415399997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:266.76, Y:19.69, Z:9.98 [[ 9.65984907e-01 -2.45884825e-01 -8.00862807e-02 2.66760773e+02] [ 2.45355755e-01 9.69292079e-01 -1.65353768e-02 1.96921480e+01] [ 8.16927958e-02 -3.67670551e-03 9.96650776e-01 9.98389091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.27925415399994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:266.79, Y:19.70, Z:9.99 [[ 9.65634622e-01 -2.47210060e-01 -8.02306888e-02 2.66788237e+02] [ 2.46682695e-01 9.68954521e-01 -1.65766260e-02 1.96979090e+01] [ 8.18377973e-02 -3.78455859e-03 9.96638476e-01 9.98576743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.309254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:266.81, Y:19.70, Z:9.99 [[ 9.65032757e-01 -2.49391979e-01 -8.07181430e-02 2.66814240e+02] [ 2.48863925e-01 9.68394478e-01 -1.66997799e-02 1.97029886e+01] [ 8.23317950e-02 -3.97199927e-03 9.96597059e-01 9.98746796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.33925415399995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:266.85, Y:19.72, Z:9.99 [[ 9.66659275e-01 -2.47986740e-01 -6.38155402e-02 2.66849545e+02] [ 2.44784143e-01 9.68072478e-01 -5.40037055e-02 1.97236729e+01] [ 7.51702710e-02 3.65821505e-02 9.96499461e-01 9.98899497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.369254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:266.88, Y:19.69, Z:9.98 [[ 9.64534047e-01 -2.48140957e-01 -9.00007618e-02 2.66876454e+02] [ 2.51263640e-01 9.67595102e-01 2.50260233e-02 1.96949308e+01] [ 8.08743149e-02 -4.67523706e-02 9.95627220e-01 9.98282494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.39925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:266.90, Y:19.72, Z:9.99 [[ 9.64138927e-01 -2.52512105e-01 -8.16931237e-02 2.66898429e+02] [ 2.51976851e-01 9.67584507e-01 -1.69672721e-02 1.97209325e+01] [ 8.33294424e-02 -4.22596850e-03 9.96513093e-01 9.99449077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.429254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:266.93, Y:19.73, Z:10.00 [[ 9.63827165e-01 -2.53404560e-01 -8.26034195e-02 2.66925292e+02] [ 2.52858533e-01 9.67350710e-01 -1.71803752e-02 1.97275464e+01] [ 8.42600619e-02 -4.32806718e-03 9.96434398e-01 9.99628631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.45925415399995 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:266.95, Y:19.73, Z:10.00 [[ 9.63813489e-01 -2.53354982e-01 -8.29144866e-02 2.66952424e+02] [ 2.52802524e-01 9.67363751e-01 -1.72701204e-02 1.97339363e+01] [ 8.45839398e-02 -4.31581656e-03 9.96407011e-01 9.99862597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.489254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:266.98, Y:19.74, Z:10.00 [[ 9.63937101e-01 -2.52799655e-01 -8.31721151e-02 2.66978142e+02] [ 2.52239707e-01 9.67509280e-01 -1.73471631e-02 1.97402496e+01] [ 8.48551500e-02 -4.25773585e-03 9.96384201e-01 1.00006864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.51925415399995 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:267.01, Y:19.77, Z:10.00 [[ 9.66526809e-01 -2.49237230e-01 -6.08829314e-02 2.67012439e+02] [ 2.45205007e-01 9.67176091e-01 -6.66701936e-02 1.97664790e+01] [ 7.55012099e-02 4.95097299e-02 9.95915837e-01 1.00001155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.549254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:267.04, Y:19.73, Z:9.99 [[ 9.65136274e-01 -2.44080612e-01 -9.45337385e-02 2.67040959e+02] [ 2.48418610e-01 9.67944407e-01 3.70380839e-02 1.97290794e+01] [ 8.24631253e-02 -5.92307382e-02 9.94832424e-01 9.99353295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.57925415399995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:267.06, Y:19.76, Z:10.01 [[ 9.64976426e-01 -2.48773271e-01 -8.32607774e-02 2.67062233e+02] [ 2.48192473e-01 9.68554081e-01 -1.74209404e-02 1.97610028e+01] [ 8.49764300e-02 -3.85390142e-03 9.96375508e-01 1.00085795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.609254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:267.09, Y:19.77, Z:10.01 [[ 9.65667562e-01 -2.46016165e-01 -8.34398382e-02 2.67089429e+02] [ 2.45420740e-01 9.69259048e-01 -1.74802164e-02 1.97675494e+01] [ 8.51752340e-02 -3.59778890e-03 9.96359491e-01 1.00102513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.63925415399996 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:267.12, Y:19.80, Z:10.01 [[ 9.69784501e-01 -2.36979939e-01 -5.79528183e-02 2.67123277e+02] [ 2.33044351e-01 9.70135106e-01 -6.72919532e-02 1.97968320e+01] [ 7.21689065e-02 5.17531163e-02 9.96048826e-01 1.00105478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.669254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:267.15, Y:19.76, Z:10.00 [[ 9.68205785e-01 -2.31941783e-01 -9.37046833e-02 2.67151311e+02] [ 2.36306600e-01 9.70920243e-01 3.83806314e-02 1.97589258e+01] [ 8.20777017e-02 -5.93033844e-02 9.94859970e-01 1.00030369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.69925415399996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:267.17, Y:19.79, Z:10.02 [[ 9.69152897e-01 -2.32731557e-01 -8.11090938e-02 2.67174500e+02] [ 2.32116432e-01 9.72538319e-01 -1.70639834e-02 1.97935161e+01] [ 8.28530292e-02 -2.28914460e-03 9.96559148e-01 1.00186552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.729254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:267.20, Y:19.81, Z:10.02 [[ 9.70641822e-01 -2.28804715e-01 -7.41812340e-02 2.67201044e+02] [ 2.27184867e-01 9.73398700e-01 -2.96986059e-02 1.98067877e+01] [ 7.90030978e-02 1.19738552e-02 9.96802457e-01 1.00200872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.75925415399996 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:267.23, Y:19.80, Z:10.02 [[ 9.70965031e-01 -2.24502544e-01 -8.26166863e-02 2.67230775e+02] [ 2.25002085e-01 9.74352577e-01 -3.33438260e-03 1.98018267e+01] [ 8.12463585e-02 -1.53513578e-02 9.96575820e-01 1.00193622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.789254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:267.26, Y:19.82, Z:10.02 [[ 9.72502544e-01 -2.18826740e-01 -7.97098472e-02 2.67258088e+02] [ 2.18184673e-01 9.75763146e-01 -1.67848590e-02 1.98166469e+01] [ 8.14509072e-02 -1.06814882e-03 9.96676783e-01 1.00246669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.81925415399996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:267.29, Y:19.82, Z:10.03 [[ 9.73177138e-01 -2.15658189e-01 -8.01111974e-02 2.67287642e+02] [ 2.14998907e-01 9.76468583e-01 -1.68693732e-02 1.98238250e+01] [ 8.18640859e-02 -8.06931605e-04 9.96643176e-01 1.00266637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.849254154 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:267.32, Y:19.83, Z:10.03 [[ 9.73729664e-01 -2.12999388e-01 -8.05096354e-02 2.67316788e+02] [ 2.12324426e-01 9.77052157e-01 -1.69534840e-02 1.98310092e+01] [ 8.22731947e-02 -5.86051841e-04 9.96609642e-01 1.00289719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.87925415399997 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:267.34, Y:19.84, Z:10.03 [[ 9.74716195e-01 -2.08564172e-01 -8.01830710e-02 2.67344831e+02] [ 2.07879443e-01 9.78008662e-01 -1.68876919e-02 1.98391293e+01] [ 8.19419055e-02 -2.07705291e-04 9.96637086e-01 1.00313334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.909254154 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:267.37, Y:19.85, Z:10.03 [[ 9.75160463e-01 -2.06558155e-01 -7.99737512e-02 2.67372814e+02] [ 2.05870125e-01 9.78434324e-01 -1.68453111e-02 1.98457607e+01] [ 8.17285996e-02 -3.73247961e-05 9.96654622e-01 1.00336805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.93925415399997 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:267.40, Y:19.86, Z:10.04 [[ 9.75467023e-01 -2.05232727e-01 -7.96468148e-02 2.67398839e+02] [ 2.03957862e-01 9.78687582e-01 -2.39124803e-02 1.98550641e+01] [ 8.28569722e-02 7.08124191e-03 9.96536290e-01 1.00378315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.96925415399994 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:267.43, Y:19.86, Z:10.04 [[ 9.75921063e-01 -2.02993819e-01 -7.98222230e-02 2.67428670e+02] [ 2.02839461e-01 9.79159677e-01 -1.01232538e-02 1.98550157e+01] [ 8.02136600e-02 -6.31160002e-03 9.96757710e-01 1.00353161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.99925415399997 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:267.46, Y:19.86, Z:10.04 [[ 9.76063324e-01 -2.03106865e-01 -7.77688164e-02 2.67457526e+02] [ 2.02441288e-01 9.79156532e-01 -1.64319987e-02 1.98639773e+01] [ 7.94852963e-02 2.95051978e-04 9.96835995e-01 1.00387951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.02925415399994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:267.49, Y:19.87, Z:10.04 [[ 9.76028732e-01 -2.03499422e-01 -7.71744792e-02 2.67487812e+02] [ 2.02845221e-01 9.79075031e-01 -1.63064195e-02 1.98685446e+01] [ 7.88779526e-02 2.61059691e-04 9.96884246e-01 1.00404879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.059254154 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:267.52, Y:19.87, Z:10.04 [[ 9.75820867e-01 -2.04560905e-01 -7.69965746e-02 2.67516897e+02] [ 2.03913017e-01 9.78853822e-01 -1.62688643e-02 1.98734935e+01] [ 7.86963650e-02 1.74893476e-04 9.96898616e-01 1.00421749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.08925415399995 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:267.55, Y:19.88, Z:10.04 [[ 9.75551560e-01 -2.05966331e-01 -7.66617567e-02 2.67545773e+02] [ 2.05328288e-01 9.78559077e-01 -1.61996179e-02 1.98784566e+01] [ 7.83546338e-02 6.27352278e-05 9.96925548e-01 1.00438012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.119254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:267.57, Y:19.89, Z:10.05 [[ 9.75040695e-01 -2.08246328e-01 -7.70007089e-02 2.67572745e+02] [ 2.07142705e-01 9.78060160e-01 -2.21409636e-02 1.98860064e+01] [ 7.99221001e-02 5.63820535e-03 9.96785167e-01 1.00475609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.14925415399995 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:267.60, Y:19.88, Z:10.05 [[ 9.74565885e-01 -2.10114031e-01 -7.79322133e-02 2.67601432e+02] [ 2.09920681e-01 9.77659233e-01 -1.07579089e-02 1.98849686e+01] [ 7.84515355e-02 -5.87529225e-03 9.96900616e-01 1.00469093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.179254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:267.63, Y:19.89, Z:10.05 [[ 9.73340088e-01 -2.16403603e-01 -7.60167985e-02 2.67630872e+02] [ 2.15805255e-01 9.76303713e-01 -1.60982241e-02 1.98898837e+01] [ 7.76991963e-02 -7.35777745e-04 9.96976576e-01 1.00508320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.20925415399995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:267.66, Y:19.89, Z:10.05 [[ 9.72556562e-01 -2.20072184e-01 -7.55113802e-02 2.67659007e+02] [ 2.19492583e-01 9.75483058e-01 -1.59940743e-02 1.98932482e+01] [ 7.71799229e-02 -1.01904601e-03 9.97016660e-01 1.00527286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.239254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:267.69, Y:19.90, Z:10.05 [[ 9.71758866e-01 -2.23659264e-01 -7.52412102e-02 2.67687917e+02] [ 2.23094122e-01 9.74666538e-01 -1.59421919e-02 1.98965664e+01] [ 7.69007087e-02 -1.29390541e-03 9.97037916e-01 1.00548712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.26925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:267.72, Y:19.90, Z:10.06 [[ 9.70102388e-01 -2.30700385e-01 -7.53570806e-02 2.67717192e+02] [ 2.30154334e-01 9.73023077e-01 -1.59710319e-02 1.98970926e+01] [ 7.70087017e-02 -1.85022251e-03 9.97028704e-01 1.00564003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.299254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:267.74, Y:19.90, Z:10.06 [[ 9.69313103e-01 -2.33829895e-01 -7.58662599e-02 2.67744804e+02] [ 2.33284414e-01 9.72275269e-01 -1.60991806e-02 1.99003570e+01] [ 7.75273580e-02 -2.09326930e-03 9.96988028e-01 1.00579852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.32925415399995 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:267.77, Y:19.90, Z:10.06 [[ 9.68522680e-01 -2.36900992e-01 -7.64312687e-02 2.67772112e+02] [ 2.36356006e-01 9.71530966e-01 -1.62302255e-02 1.99038871e+01] [ 7.81003008e-02 -2.34564797e-03 9.96942747e-01 1.00596593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.359254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:267.80, Y:19.91, Z:10.06 [[ 9.67909438e-01 -2.39253341e-01 -7.68710505e-02 2.67800175e+02] [ 2.38707654e-01 9.70953886e-01 -1.63464701e-02 1.99076217e+01] [ 7.85491928e-02 -2.52780546e-03 9.96907034e-01 1.00615592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.38925415399996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:267.83, Y:19.91, Z:10.06 [[ 9.67229881e-01 -2.41959520e-01 -7.69541938e-02 2.67827081e+02] [ 2.41419546e-01 9.70282503e-01 -1.63849454e-02 1.99089589e+01] [ 7.86318013e-02 -2.73023772e-03 9.96899988e-01 1.00627541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.419254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:267.85, Y:19.91, Z:10.06 [[ 9.67067127e-01 -2.42671799e-01 -7.67565636e-02 2.67854522e+02] [ 2.42135486e-01 9.70104508e-01 -1.63600012e-02 1.99127304e+01] [ 7.84319993e-02 -2.76426852e-03 9.96915633e-01 1.00647542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.44925415399996 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:267.88, Y:19.92, Z:10.07 [[ 9.67165797e-01 -2.42444231e-01 -7.62306758e-02 2.67881684e+02] [ 2.41912724e-01 9.70161575e-01 -1.62711987e-02 1.99166148e+01] [ 7.79009308e-02 -2.70422353e-03 9.96957437e-01 1.00667761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.479254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:267.91, Y:19.92, Z:10.07 [[ 9.67590889e-01 -2.41023524e-01 -7.53361252e-02 2.67908949e+02] [ 2.40499359e-01 9.70515925e-01 -1.60902876e-02 1.99201605e+01] [ 7.69930471e-02 -2.54947407e-03 9.97028370e-01 1.00695394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.50925415399996 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:267.94, Y:19.93, Z:10.07 [[ 9.67808705e-01 -2.40240227e-01 -7.50396094e-02 2.67936579e+02] [ 2.39716106e-01 9.70710361e-01 -1.60494384e-02 1.99256108e+01] [ 7.66974471e-02 -2.45541674e-03 9.97051389e-01 1.00714468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.539254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:267.96, Y:19.93, Z:10.07 [[ 9.67985358e-01 -2.38448965e-01 -7.83992252e-02 2.67964675e+02] [ 2.38601475e-01 9.71088189e-01 -7.55415121e-03 1.99272799e+01] [ 7.79338412e-02 -1.13938630e-02 9.96893423e-01 1.00744281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.56925415399996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:267.99, Y:19.94, Z:10.08 [[ 9.68263558e-01 -2.38865644e-01 -7.35451251e-02 2.67991489e+02] [ 2.37629494e-01 9.71027583e-01 -2.52518505e-02 1.99391543e+01] [ 7.74461446e-02 6.97395575e-03 9.96972145e-01 1.00772718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.599254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:268.02, Y:19.94, Z:10.08 [[ 9.68188468e-01 -2.38485749e-01 -7.57339928e-02 2.68020526e+02] [ 2.37943316e-01 9.71143279e-01 -1.62391724e-02 1.99395228e+01] [ 7.74213692e-02 -2.29781797e-03 9.96995813e-01 1.00769697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.62925415399997 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:268.05, Y:19.94, Z:10.08 [[ 9.67943641e-01 -2.39317526e-01 -7.62379780e-02 2.68047054e+02] [ 2.38768588e-01 9.70938497e-01 -1.63706180e-02 1.99440356e+01] [ 7.79401636e-02 -2.35739878e-03 9.96955252e-01 1.00785933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.659254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:268.07, Y:19.95, Z:10.08 [[ 9.67131811e-01 -2.42210348e-01 -7.73964348e-02 2.68074485e+02] [ 2.41652952e-01 9.70220225e-01 -1.66302357e-02 1.99472249e+01] [ 7.91196016e-02 -2.61944698e-03 9.96861689e-01 1.00800420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.68925415399997 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:268.10, Y:19.95, Z:10.08 [[ 9.66513868e-01 -2.44449803e-01 -7.80720018e-02 2.68100617e+02] [ 2.43887990e-01 9.69657894e-01 -1.67993253e-02 1.99517594e+01] [ 7.98097246e-02 -2.80404272e-03 9.96806172e-01 1.00819776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.71925415399994 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:268.13, Y:19.96, Z:10.08 [[ 9.65819739e-01 -2.47076052e-01 -7.83942436e-02 2.68128190e+02] [ 2.46517307e-01 9.68991377e-01 -1.68798458e-02 1.99568062e+01] [ 8.01339517e-02 -3.02264949e-03 9.96779521e-01 1.00839189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.74925415399997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:268.16, Y:19.96, Z:10.09 [[ 9.65040377e-01 -2.49870799e-01 -7.91306201e-02 2.68155542e+02] [ 2.49308842e-01 9.68273695e-01 -1.70632225e-02 1.99620696e+01] [ 8.08836989e-02 -3.26126458e-03 9.96718211e-01 1.00862102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.77925415399994 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:268.18, Y:19.97, Z:10.09 [[ 9.63725585e-01 -2.54876474e-01 -7.91895206e-02 2.68182383e+02] [ 2.54328539e-01 9.66966692e-01 -1.71000053e-02 1.99657658e+01] [ 8.09320179e-02 -3.66044244e-03 9.96712902e-01 1.00880683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.809254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:268.21, Y:19.97, Z:10.09 [[ 9.63051593e-01 -2.57433007e-01 -7.91193745e-02 2.68210143e+02] [ 2.56893703e-01 9.66288436e-01 -1.70962861e-02 1.99709367e+01] [ 8.08532850e-02 -3.86066360e-03 9.96718537e-01 1.00907619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.83925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:268.24, Y:19.98, Z:10.09 [[ 9.62450306e-01 -2.59679313e-01 -7.90952833e-02 2.68236954e+02] [ 2.59145933e-01 9.65686521e-01 -1.71151730e-02 1.99761202e+01] [ 8.08257053e-02 -4.02471751e-03 9.96720125e-01 1.00928034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.869254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:268.26, Y:19.98, Z:10.10 [[ 9.61785648e-01 -2.62117625e-01 -7.91373341e-02 2.68264428e+02] [ 2.61590492e-01 9.65026727e-01 -1.71415058e-02 1.99809953e+01] [ 8.08627333e-02 -4.21511983e-03 9.96716334e-01 1.00950177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.89925415399995 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:268.29, Y:19.99, Z:10.10 [[ 9.61563535e-01 -2.62836942e-01 -7.94500526e-02 2.68290944e+02] [ 2.62306089e-01 9.64830823e-01 -1.72336247e-02 1.99867354e+01] [ 8.11854929e-02 -4.26900757e-03 9.96689867e-01 1.00974049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.929254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:268.32, Y:19.99, Z:10.10 [[ 9.61549812e-01 -2.62892952e-01 -7.94308255e-02 2.68317322e+02] [ 2.62361191e-01 9.64815618e-01 -1.72460953e-02 1.99927159e+01] [ 8.11699779e-02 -4.25658631e-03 9.96691184e-01 1.01001508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.95925415399995 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:268.34, Y:20.00, Z:10.10 [[ 9.61993020e-01 -2.61520917e-01 -7.85890484e-02 2.68344627e+02] [ 2.60994927e-01 9.65189160e-01 -1.70743470e-02 1.99999267e+01] [ 8.03185965e-02 -4.08594025e-03 9.96760868e-01 1.01036205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.989254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:268.37, Y:20.01, Z:10.11 [[ 9.62440528e-01 -2.59926108e-01 -7.84005672e-02 2.68370559e+02] [ 2.59395420e-01 9.65620554e-01 -1.70576266e-02 2.00062079e+01] [ 8.01389216e-02 -3.91979691e-03 9.96775997e-01 1.01060428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.01925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:268.40, Y:20.00, Z:10.11 [[ 9.63119774e-01 -2.53883929e-01 -8.91249244e-02 2.68398713e+02] [ 2.55499401e-01 9.66783726e-01 7.02019541e-03 2.00022162e+01] [ 8.43822117e-02 -2.95326538e-02 9.95995715e-01 1.01116663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.049254154 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:268.42, Y:20.03, Z:10.12 [[ 9.64084853e-01 -2.55334322e-01 -7.31080021e-02 2.68421857e+02] [ 2.52783207e-01 9.66593321e-01 -4.24028660e-02 2.00328108e+01] [ 8.14926135e-02 2.23994856e-02 9.96422208e-01 1.01168703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.07925415399995 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:268.45, Y:20.03, Z:10.11 [[ 9.64639739e-01 -2.51481148e-01 -7.89139113e-02 2.68451444e+02] [ 2.50911650e-01 9.67856923e-01 -1.72139694e-02 2.00280913e+01] [ 8.07063641e-02 -3.19514071e-03 9.96732800e-01 1.01135082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.109254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:268.48, Y:20.04, Z:10.12 [[ 9.65573577e-01 -2.47637514e-01 -7.96450209e-02 2.68477796e+02] [ 2.47042314e-01 9.68848486e-01 -1.73984587e-02 2.00361143e+01] [ 8.14724690e-02 -2.87619826e-03 9.96671442e-01 1.01160911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.13925415399996 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:268.50, Y:20.04, Z:10.12 [[ 9.65960580e-01 -2.45719337e-01 -8.08836493e-02 2.68503895e+02] [ 2.45096727e-01 9.69337164e-01 -1.76934165e-02 2.00418370e+01] [ 8.27511418e-02 -2.73317492e-03 9.96566495e-01 1.01163685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.169254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:268.53, Y:20.05, Z:10.12 [[ 9.66417736e-01 -2.43821106e-01 -8.11666695e-02 2.68529829e+02] [ 2.43186538e-01 9.69816822e-01 -1.77662399e-02 2.00492871e+01] [ 8.30485857e-02 -2.56903207e-03 9.96542188e-01 1.01201044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.19925415399996 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:268.56, Y:20.06, Z:10.12 [[ 9.66632422e-01 -2.42767215e-01 -8.17669900e-02 2.68557506e+02] [ 2.42118436e-01 9.70081390e-01 -1.79097578e-02 2.00555100e+01] [ 8.36685374e-02 -2.48514321e-03 9.96490542e-01 1.01214661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.229254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:268.59, Y:20.06, Z:10.12 [[ 9.66587861e-01 -2.42946303e-01 -8.17618587e-02 2.68585193e+02] [ 2.42296186e-01 9.70036577e-01 -1.79331541e-02 2.00616770e+01] [ 8.36687870e-02 -2.47661741e-03 9.96490542e-01 1.01236569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.25925415399996 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:268.61, Y:20.04, Z:10.13 [[ 9.64921397e-01 -2.39232846e-01 -1.08140388e-01 2.68614573e+02] [ 2.44443655e-01 9.68933467e-01 3.76196334e-02 2.00443444e+01] [ 9.57809892e-02 -6.27342210e-02 9.93423585e-01 1.01328100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.289254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:268.63, Y:20.10, Z:10.14 [[ 9.67138443e-01 -2.44853739e-01 -6.84826857e-02 2.68634551e+02] [ 2.39494026e-01 9.67765042e-01 -7.79322424e-02 2.01046529e+01] [ 8.53571501e-02 5.89700735e-02 9.94603784e-01 1.01426563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.31925415399996 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] Translation: X:268.67, Y:20.09, Z:10.13 [[ 9.67169150e-01 -2.40300363e-01 -8.27016935e-02 2.68666801e+02] [ 2.39251070e-01 9.70696532e-01 -2.25203971e-02 2.00857102e+01] [ 8.56899067e-02 1.99456472e-03 9.96319859e-01 1.01314839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.349254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:268.70, Y:20.09, Z:10.13 [[ 9.66944015e-01 -2.40793021e-01 -8.38927414e-02 2.68695664e+02] [ 2.40432812e-01 9.70557142e-01 -1.45223182e-02 2.00885086e+01] [ 8.49195721e-02 -6.12829910e-03 9.96368963e-01 1.01318828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.37925415399997 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:268.72, Y:20.10, Z:10.13 [[ 9.66702127e-01 -2.42065915e-01 -8.30125940e-02 2.68722463e+02] [ 2.41386703e-01 9.70256909e-01 -1.82753847e-02 2.00965728e+01] [ 8.49673906e-02 -2.37128310e-03 9.96380911e-01 1.01343807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.409254154 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:268.75, Y:20.10, Z:10.14 [[ 9.66079444e-01 -2.44312989e-01 -8.36759918e-02 2.68748648e+02] [ 2.43415606e-01 9.69696416e-01 -2.09213766e-02 2.01040669e+01] [ 8.62516734e-02 -1.56330313e-04 9.96273368e-01 1.01372649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.43925415399997 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:268.78, Y:20.11, Z:10.14 [[ 9.65300660e-01 -2.47426457e-01 -8.35151756e-02 2.68777955e+02] [ 2.46918908e-01 9.68895383e-01 -1.65163649e-02 2.01091992e+01] [ 8.50040537e-02 -4.67821799e-03 9.96369623e-01 1.01389914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.46925415399994 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:268.80, Y:20.12, Z:10.14 [[ 9.64579036e-01 -2.50511724e-01 -8.26508266e-02 2.68804237e+02] [ 2.49862530e-01 9.68108844e-01 -1.82751596e-02 2.01163249e+01] [ 8.45931380e-02 -3.02350886e-03 9.96410989e-01 1.01417635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.49925415399997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:268.83, Y:20.12, Z:10.14 [[ 9.64533573e-01 -2.50687516e-01 -8.26483890e-02 2.68831916e+02] [ 2.50038023e-01 9.68063326e-01 -1.82861770e-02 2.01225400e+01] [ 8.45929907e-02 -3.02760814e-03 9.96410989e-01 1.01439287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.52925415399994 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:268.86, Y:20.13, Z:10.15 [[ 9.63612872e-01 -2.54360037e-01 -8.21657200e-02 2.68859221e+02] [ 2.53730016e-01 9.67103918e-01 -1.81958949e-02 2.01288471e+01] [ 8.40910982e-02 -3.31411094e-03 9.96452560e-01 1.01462096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.559254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:268.89, Y:20.13, Z:10.15 [[ 9.61464773e-01 -2.62550768e-01 -8.15633794e-02 2.68886044e+02] [ 2.61957176e-01 9.64909989e-01 -1.80873084e-02 2.01346725e+01] [ 8.34501563e-02 -3.97580271e-03 9.96504021e-01 1.01484562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.58925415399995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:268.91, Y:20.14, Z:10.15 [[ 9.60231267e-01 -2.66970641e-01 -8.17471150e-02 2.68912294e+02] [ 2.66388286e-01 9.63694861e-01 -1.81520060e-02 2.01405043e+01] [ 8.36253273e-02 -4.34635014e-03 9.96487789e-01 1.01506188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.619254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:268.94, Y:20.15, Z:10.15 [[ 9.59020940e-01 -2.71352573e-01 -8.15267967e-02 2.68938690e+02] [ 2.70788181e-01 9.62468517e-01 -1.81139551e-02 2.01464325e+01] [ 8.33822434e-02 -4.70483077e-03 9.96506531e-01 1.01528058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.64925415399995 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:268.97, Y:20.15, Z:10.16 [[ 9.56633962e-01 -2.77820591e-01 -8.75624445e-02 2.68970786e+02] [ 2.78571636e-01 9.60408057e-01 -3.76926499e-03 2.01457330e+01] [ 8.51428566e-02 -2.07866066e-02 9.96151902e-01 1.01570954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.679254154 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:268.99, Y:20.17, Z:10.16 [[ 9.55586966e-01 -2.84187336e-01 -7.80455575e-02 2.68991646e+02] [ 2.82469074e-01 9.58726685e-01 -3.24710010e-02 2.01664997e+01] [ 8.40522059e-02 8.98340900e-03 9.96420857e-01 1.01606451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.70925415399995 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:269.02, Y:20.17, Z:10.16 [[ 9.54795362e-01 -2.85871017e-01 -8.15081453e-02 2.69020508e+02] [ 2.85353559e-01 9.58249925e-01 -1.81776409e-02 2.01665968e+01] [ 8.33016348e-02 -5.90271214e-03 9.96506897e-01 1.01594664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.739254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:269.05, Y:20.17, Z:10.16 [[ 9.54324222e-01 -2.85861840e-01 -8.68808859e-02 2.69051954e+02] [ 2.86255842e-01 9.58118503e-01 -8.15639662e-03 2.01678517e+01] [ 8.55737869e-02 -1.70863143e-02 9.96185317e-01 1.01623213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.76925415399995 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:269.07, Y:20.19, Z:10.17 [[ 9.53884040e-01 -2.89430390e-01 -7.95945227e-02 2.69073383e+02] [ 2.88071598e-01 9.57190400e-01 -2.83071174e-02 2.01868496e+01] [ 8.43800531e-02 4.07278610e-03 9.96425320e-01 1.01660527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.799254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:269.10, Y:20.19, Z:10.17 [[ 9.54010201e-01 -2.88121127e-01 -8.27692707e-02 2.69101657e+02] [ 2.87590288e-01 9.57574350e-01 -1.85253785e-02 2.01895848e+01] [ 8.45952836e-02 -6.13023835e-03 9.96396537e-01 1.01657685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.82925415399995 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:269.13, Y:20.20, Z:10.17 [[ 9.54929653e-01 -2.85217362e-01 -8.22217398e-02 2.69127548e+02] [ 2.84680673e-01 9.58445257e-01 -1.84283560e-02 2.01996168e+01] [ 8.40611236e-02 -5.80915665e-03 9.96443667e-01 1.01682580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.859254154 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:269.15, Y:20.21, Z:10.17 [[ 9.55505089e-01 -2.82604713e-01 -8.45257394e-02 2.69153697e+02] [ 2.82025170e-01 9.59219445e-01 -1.89699734e-02 2.02076231e+01] [ 8.64397367e-02 -5.71247987e-03 9.96240704e-01 1.01701369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.88925415399996 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:269.18, Y:20.22, Z:10.17 [[ 9.56291364e-01 -2.80296268e-01 -8.33116422e-02 2.69179776e+02] [ 2.79723447e-01 9.59898284e-01 -1.87103465e-02 2.02168150e+01] [ 8.52151427e-02 -5.41167693e-03 9.96347878e-01 1.01725335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.919254154 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:269.21, Y:20.23, Z:10.17 [[ 9.58108705e-01 -2.73373181e-01 -8.54096825e-02 2.69205920e+02] [ 2.72741493e-01 9.61895612e-01 -1.92070138e-02 2.02281931e+01] [ 8.74058813e-02 -4.89235717e-03 9.96160769e-01 1.01744923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.94925415399996 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:269.23, Y:20.24, Z:10.18 [[ 9.58983489e-01 -2.70542944e-01 -8.46001358e-02 2.69231605e+02] [ 2.69911184e-01 9.62697020e-01 -1.90368180e-02 2.02378609e+01] [ 8.65945754e-02 -4.57852865e-03 9.96233114e-01 1.01770435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.979254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:269.26, Y:20.24, Z:10.18 [[ 9.60090577e-01 -2.66036054e-01 -8.63186049e-02 2.69262435e+02] [ 2.65765435e-01 9.63923745e-01 -1.48239085e-02 2.02443156e+01] [ 8.71482470e-02 -8.70820674e-03 9.96157292e-01 1.01797226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.00925415399996 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:269.29, Y:20.26, Z:10.18 [[ 9.60963963e-01 -2.63113801e-01 -8.55534287e-02 2.69290515e+02] [ 2.62497510e-01 9.64753814e-01 -1.85778151e-02 2.02554748e+01] [ 8.74260762e-02 -4.60495121e-03 9.96160366e-01 1.01831361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.039254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:269.32, Y:20.27, Z:10.19 [[ 9.61445520e-01 -2.61572869e-01 -8.48654666e-02 2.69315587e+02] [ 2.60548994e-01 9.65183724e-01 -2.31214526e-02 2.02677361e+01] [ 8.79587117e-02 1.18405063e-04 9.96124114e-01 1.01852276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.06925415399996 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:269.34, Y:20.28, Z:10.19 [[ 9.62856112e-01 -2.55924833e-01 -8.60847648e-02 2.69342383e+02] [ 2.55207655e-01 9.66691161e-01 -1.94229914e-02 2.02773598e+01] [ 8.81882070e-02 -3.26794499e-03 9.96098469e-01 1.01864846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.099254154 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:269.37, Y:20.29, Z:10.19 [[ 9.63475235e-01 -2.53550093e-01 -8.61848082e-02 2.69370388e+02] [ 2.52821354e-01 9.67317451e-01 -1.94502499e-02 2.02866850e+01] [ 8.82996816e-02 -3.04952581e-03 9.96089286e-01 1.01888827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.12925415399997 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:269.40, Y:20.30, Z:10.19 [[ 9.64667528e-01 -2.48942423e-01 -8.62799536e-02 2.69396720e+02] [ 2.48193364e-01 9.68514723e-01 -1.94752353e-02 2.02977929e+01] [ 8.84116176e-02 -2.62698488e-03 9.96080561e-01 1.01919535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.159254154 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:269.42, Y:20.31, Z:10.19 [[ 9.65216116e-01 -2.46743414e-01 -8.64611934e-02 2.69423446e+02] [ 2.45981923e-01 9.69077812e-01 -1.95214960e-02 2.03061136e+01] [ 8.86044247e-02 -2.42542807e-03 9.96063940e-01 1.01941955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.18925415399997 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:269.45, Y:20.31, Z:10.20 [[ 9.65713166e-01 -2.44678771e-01 -8.67777581e-02 2.69451589e+02] [ 2.43902715e-01 9.69601616e-01 -1.96002904e-02 2.03144839e+01] [ 8.89356295e-02 -2.23707222e-03 9.96034864e-01 1.01967953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.21925415399994 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:269.48, Y:20.32, Z:10.20 [[ 9.66697130e-01 -2.40765941e-01 -8.67664670e-02 2.69480582e+02] [ 2.39974102e-01 9.70581398e-01 -1.96005125e-02 2.03241264e+01] [ 8.89330546e-02 -1.87394584e-03 9.96035843e-01 1.01993273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.24925415399997 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:269.51, Y:20.33, Z:10.20 [[ 9.67150097e-01 -2.39001306e-01 -8.65971485e-02 2.69509678e+02] [ 2.38205501e-01 9.71017743e-01 -1.95622635e-02 2.03319928e+01] [ 8.87627742e-02 -1.70827207e-03 9.96051330e-01 1.02015705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.27925415399994 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:269.54, Y:20.34, Z:10.20 [[ 9.67475496e-01 -2.37825695e-01 -8.61980466e-02 2.69539434e+02] [ 2.37032606e-01 9.71306543e-01 -1.94716192e-02 2.03403757e+01] [ 8.83555780e-02 -1.59343318e-03 9.96087723e-01 1.02041477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.309254154 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:269.57, Y:20.35, Z:10.21 [[ 9.67855938e-01 -2.36446593e-01 -8.57198516e-02 2.69568744e+02] [ 2.35657210e-01 9.71643386e-01 -1.93600252e-02 2.03485899e+01] [ 8.78667388e-02 -1.46278571e-03 9.96131164e-01 1.02067047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.33925415399995 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:269.60, Y:20.36, Z:10.21 [[ 9.68303797e-01 -2.34790126e-01 -8.52135775e-02 2.69597983e+02] [ 2.34004100e-01 9.72045205e-01 -1.92405699e-02 2.03570872e+01] [ 8.73489453e-02 -1.30960967e-03 9.96176915e-01 1.02092907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.369254154 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:269.63, Y:20.36, Z:10.21 [[ 9.68305245e-01 -2.34813761e-01 -8.51319576e-02 2.69628368e+02] [ 2.34029797e-01 9.72039488e-01 -1.92168455e-02 2.03639965e+01] [ 8.72640042e-02 -1.31564247e-03 9.96184352e-01 1.02114775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.39925415399995 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:269.66, Y:20.37, Z:10.21 [[ 9.68322494e-01 -2.34996179e-01 -8.44295179e-02 2.69658524e+02] [ 2.34226091e-01 9.71995392e-01 -1.90550736e-02 2.03705367e+01] [ 8.65429718e-02 -1.32413953e-03 9.96247239e-01 1.02133280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.429254154 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:269.69, Y:20.37, Z:10.22 [[ 9.67947859e-01 -2.35311317e-01 -8.77811296e-02 2.69689847e+02] [ 2.35520398e-01 9.71835517e-01 -8.11599338e-03 2.03721077e+01] [ 8.72186046e-02 -1.28183881e-02 9.96106723e-01 1.02153886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.45925415399995 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:269.72, Y:20.39, Z:10.22 [[ 9.67877469e-01 -2.37788439e-01 -8.16692257e-02 2.69717897e+02] [ 2.36062184e-01 9.71264794e-01 -3.03207222e-02 2.03882546e+01] [ 8.65323609e-02 1.00677281e-02 9.96198169e-01 1.02204504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.489254154 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:269.75, Y:20.39, Z:10.22 [[ 9.67613974e-01 -2.38314053e-01 -8.32442730e-02 2.69748855e+02] [ 2.37578746e-01 9.71186811e-01 -1.87754643e-02 2.03900269e+01] [ 8.53201970e-02 -1.60966842e-03 9.96352284e-01 1.02196462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.51925415399995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:269.78, Y:20.40, Z:10.22 [[ 9.67368410e-01 -2.39261555e-01 -8.33802551e-02 2.69777729e+02] [ 2.38527337e-01 9.70953672e-01 -1.88063123e-02 2.03961393e+01] [ 8.54579923e-02 -1.69583778e-03 9.96340331e-01 1.02216829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.549254154 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:269.81, Y:20.40, Z:10.22 [[ 9.67326500e-01 -2.39332339e-01 -8.36628623e-02 2.69806806e+02] [ 2.38593243e-01 9.70936208e-01 -1.88717751e-02 2.04024879e+01] [ 8.57479284e-02 -1.70622555e-03 9.96315403e-01 1.02234190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.57925415399995 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:269.84, Y:20.41, Z:10.23 [[ 9.67259734e-01 -2.39509390e-01 -8.39277078e-02 2.69835399e+02] [ 2.38766001e-01 9.70892516e-01 -1.89345794e-02 2.04084161e+01] [ 8.60197929e-02 -1.72442695e-03 9.96291936e-01 1.02255852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.609254154 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:269.86, Y:20.41, Z:10.23 [[ 9.67314953e-01 -2.39411283e-01 -8.35704425e-02 2.69863273e+02] [ 2.38673567e-01 9.70916747e-01 -1.88573162e-02 2.04141632e+01] [ 8.56545965e-02 -1.70509165e-03 9.96323433e-01 1.02271910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.63925415399996 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:269.89, Y:20.42, Z:10.23 [[ 9.67354392e-01 -2.39343092e-01 -8.33088483e-02 2.69890228e+02] [ 2.38609234e-01 9.70933590e-01 -1.88042083e-02 2.04195893e+01] [ 8.53880165e-02 -1.68792696e-03 9.96346344e-01 1.02290308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.669254154 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:269.93, Y:20.45, Z:10.23 [[ 9.70185894e-01 -2.35553484e-01 -5.70428484e-02 2.69925908e+02] [ 2.31322635e-01 9.70206077e-01 -7.20416996e-02 2.04467736e+01] [ 7.23129915e-02 5.66985387e-02 9.95769103e-01 1.02307254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.69925415399996 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:269.95, Y:20.40, Z:10.22 [[ 9.67183521e-01 -2.34784351e-01 -9.71202663e-02 2.69954804e+02] [ 2.39563427e-01 9.70026396e-01 4.07204488e-02 2.04039244e+01] [ 8.46486977e-02 -6.26506109e-02 9.94439289e-01 1.02182150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.729254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:269.98, Y:20.44, Z:10.24 [[ 9.67485593e-01 -2.38721171e-01 -8.35693130e-02 2.69978659e+02] [ 2.37974837e-01 9.71086876e-01 -1.89276404e-02 2.04392792e+01] [ 8.56714916e-02 -1.57517427e-03 9.96322194e-01 1.02367682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.75925415399996 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:270.01, Y:20.45, Z:10.24 [[ 9.67695506e-01 -2.37922962e-01 -8.34150613e-02 2.70007840e+02] [ 2.37176937e-01 9.71282859e-01 -1.88867446e-02 2.04455266e+01] [ 8.55132094e-02 -1.50751087e-03 9.96335896e-01 1.02387957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.789254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:270.04, Y:20.45, Z:10.24 [[ 9.67990975e-01 -2.36801434e-01 -8.31778425e-02 2.70037530e+02] [ 2.36055642e-01 9.71557052e-01 -1.88316046e-02 2.04517928e+01] [ 8.52713704e-02 -1.40577571e-03 9.96356772e-01 1.02406611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.81925415399996 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:270.07, Y:20.46, Z:10.24 [[ 9.68601238e-01 -2.34250042e-01 -8.32980141e-02 2.70068152e+02] [ 2.33492698e-01 9.72175662e-01 -1.88584696e-02 2.04583497e+01] [ 8.53978993e-02 -1.18314102e-03 9.96346224e-01 1.02434291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.849254154 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:270.10, Y:20.46, Z:10.25 [[ 9.69035352e-01 -2.32467370e-01 -8.32430729e-02 2.70098618e+02] [ 2.31704735e-01 9.72603652e-01 -1.88428139e-02 2.04646262e+01] [ 8.53428561e-02 -1.02846139e-03 9.96351112e-01 1.02453561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.87925415399997 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:270.13, Y:20.47, Z:10.25 [[ 9.69302855e-01 -2.31468129e-01 -8.29124909e-02 2.70127695e+02] [ 2.30529220e-01 9.72841863e-01 -2.08563865e-02 2.04723881e+01] [ 8.54883308e-02 1.10240309e-03 9.96338562e-01 1.02486374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.909254154 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:270.16, Y:20.48, Z:10.25 [[ 9.69615369e-01 -2.30102274e-01 -8.30601004e-02 2.70157220e+02] [ 2.29502437e-01 9.73162582e-01 -1.68291751e-02 2.04764997e+01] [ 8.47034132e-02 -2.74466856e-03 9.96402428e-01 1.02498596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.93925415399997 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:270.19, Y:20.48, Z:10.25 [[ 9.69846981e-01 -2.29255558e-01 -8.26965710e-02 2.70187442e+02] [ 2.28491240e-01 9.73365985e-01 -1.87193186e-02 2.04835578e+01] [ 8.47855371e-02 -7.40567387e-04 9.96398948e-01 1.02529579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.96925415399994 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:270.22, Y:20.49, Z:10.25 [[ 9.70093125e-01 -2.28156359e-01 -8.28492914e-02 2.70217891e+02] [ 2.27385456e-01 9.73624288e-01 -1.87509827e-02 2.04881955e+01] [ 8.49422383e-02 -6.48524457e-04 9.96385666e-01 1.02549769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.99925415399997 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:270.25, Y:20.49, Z:10.26 [[ 9.70021090e-01 -2.28586778e-01 -8.25055731e-02 2.70247936e+02] [ 2.27823822e-01 9.73523301e-01 -1.86731902e-02 2.04939859e+01] [ 8.45895423e-02 -6.83346688e-04 9.96415647e-01 1.02570916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.02925415399994 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:270.28, Y:20.50, Z:10.26 [[ 9.69647159e-01 -2.30123991e-01 -8.26276950e-02 2.70278057e+02] [ 2.29364340e-01 9.73160973e-01 -1.87008296e-02 2.04978380e+01] [ 8.47135576e-02 -8.18640407e-04 9.96405010e-01 1.02587151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.059254154 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:270.31, Y:20.50, Z:10.26 [[ 9.69280279e-01 -2.31599532e-01 -8.28094104e-02 2.70308475e+02] [ 2.30841903e-01 9.72810750e-01 -1.87419566e-02 2.05031609e+01] [ 8.48985130e-02 -9.49672918e-04 9.96389151e-01 1.02608807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.08925415399995 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:270.34, Y:20.51, Z:10.26 [[ 9.68878352e-01 -2.33181689e-01 -8.30724889e-02 2.70338926e+02] [ 2.32425033e-01 9.72432572e-01 -1.88014982e-02 2.05080937e+01] [ 8.51665592e-02 -1.09176133e-03 9.96366130e-01 1.02627052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.119254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:270.37, Y:20.51, Z:10.26 [[ 9.68407012e-01 -2.34977490e-01 -8.35071169e-02 2.70368466e+02] [ 2.34219527e-01 9.72000001e-01 -1.89000415e-02 2.05126304e+01] [ 8.56100020e-02 -1.25606475e-03 9.96327933e-01 1.02648643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.14925415399995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:270.40, Y:20.52, Z:10.27 [[ 9.67349792e-01 -2.38969543e-01 -8.44271150e-02 2.70397396e+02] [ 2.37806951e-01 9.71022835e-01 -2.37172480e-02 2.05166122e+01] [ 8.76483565e-02 2.86552010e-03 9.96147356e-01 1.02672141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.179254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:270.43, Y:20.52, Z:10.27 [[ 9.66703605e-01 -2.41238565e-01 -8.53703414e-02 2.70427800e+02] [ 2.40841098e-01 9.70447402e-01 -1.50799665e-02 2.05167883e+01] [ 8.64852955e-02 -5.98282878e-03 9.96235163e-01 1.02668367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.20925415399995 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:270.46, Y:20.52, Z:10.27 [[ 9.66082862e-01 -2.44031866e-01 -8.44532602e-02 2.70455228e+02] [ 2.43289363e-01 9.69765021e-01 -1.91334667e-02 2.05230390e+01] [ 8.65689933e-02 -2.06206565e-03 9.96243724e-01 1.02703707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.239254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:270.48, Y:20.53, Z:10.27 [[ 9.65160438e-01 -2.48026420e-01 -8.33560024e-02 2.70483440e+02] [ 2.47317385e-01 9.68750340e-01 -1.88915401e-02 2.05259710e+01] [ 8.54367567e-02 -2.38202134e-03 9.96340748e-01 1.02728625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.26925415399995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:270.51, Y:20.53, Z:10.28 [[ 9.64769545e-01 -2.49612711e-01 -8.31457792e-02 2.70507779e+02] [ 2.48204686e-01 9.68330478e-01 -2.70281119e-02 2.05340875e+01] [ 8.72591524e-02 5.43872714e-03 9.96170799e-01 1.02768607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.299254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:270.54, Y:20.53, Z:10.28 [[ 9.64643903e-01 -2.49831654e-01 -8.39421470e-02 2.70539290e+02] [ 2.49776467e-01 9.68237251e-01 -1.13288546e-02 2.05320082e+01] [ 8.41062202e-02 -1.00384623e-02 9.96406229e-01 1.02758722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.32925415399995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:270.57, Y:20.54, Z:10.28 [[ 9.64659928e-01 -2.50692049e-01 -8.11462853e-02 2.70565338e+02] [ 2.50025610e-01 9.68063652e-01 -1.84379844e-02 2.05401832e+01] [ 8.31770255e-02 -2.50226475e-03 9.96531646e-01 1.02797835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.359254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:270.59, Y:20.54, Z:10.28 [[ 9.64968637e-01 -2.49747930e-01 -8.03834606e-02 2.70592499e+02] [ 2.49089977e-01 9.68307938e-01 -1.82734928e-02 2.05442094e+01] [ 8.23997100e-02 -2.38936690e-03 9.96596497e-01 1.02817780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.38925415399996 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:270.62, Y:20.55, Z:10.28 [[ 9.64901534e-01 -2.50008738e-01 -8.03782320e-02 2.70620107e+02] [ 2.49349777e-01 9.68240635e-01 -1.82964636e-02 2.05505877e+01] [ 8.23997463e-02 -2.38800841e-03 9.96596498e-01 1.02839608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.419254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:270.65, Y:20.56, Z:10.29 [[ 9.65192459e-01 -2.48939807e-01 -8.02028005e-02 2.70648026e+02] [ 2.48278175e-01 9.68516299e-01 -1.82791357e-02 2.05561480e+01] [ 8.22281240e-02 -2.26972096e-03 9.96610949e-01 1.02860980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.44925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:270.68, Y:20.56, Z:10.29 [[ 9.65523386e-01 -2.47733392e-01 -7.99547253e-02 2.70675173e+02] [ 2.47070020e-01 9.68825880e-01 -1.82433230e-02 2.05617812e+01] [ 8.19816874e-02 -2.14006050e-03 9.96631538e-01 1.02883992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.479254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:270.70, Y:20.57, Z:10.29 [[ 9.66256124e-01 -2.44986897e-01 -7.95645838e-02 2.70702973e+02] [ 2.44319989e-01 9.69524549e-01 -1.81629248e-02 2.05669023e+01] [ 8.15894958e-02 -1.88918092e-03 9.96664229e-01 1.02906466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.50925415399996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:270.74, Y:20.57, Z:10.30 [[ 9.66471301e-01 -2.41616296e-01 -8.69182913e-02 2.70736413e+02] [ 2.42130003e-01 9.70232225e-01 -4.74258195e-03 2.05653704e+01] [ 8.54768122e-02 -1.64619567e-02 9.96204155e-01 1.02954989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.539254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:270.76, Y:20.59, Z:10.30 [[ 9.66751866e-01 -2.43942188e-01 -7.67009690e-02 2.70759540e+02] [ 2.42130816e-01 9.69708057e-01 -3.22327902e-02 2.05858751e+01] [ 8.22404849e-02 1.25894419e-02 9.96532994e-01 1.02987959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.56925415399996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:270.79, Y:20.57, Z:10.30 [[ 9.65887882e-01 -2.40983243e-01 -9.48033511e-02 2.70791928e+02] [ 2.42865602e-01 9.70021187e-01 8.67153366e-03 2.05717220e+01] [ 8.98715649e-02 -3.14002022e-02 9.95458251e-01 1.03027686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.599254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:270.81, Y:20.60, Z:10.31 [[ 9.66486343e-01 -2.45370705e-01 -7.54808945e-02 2.70814015e+02] [ 2.42289085e-01 9.69029548e-01 -4.77256073e-02 2.06037761e+01] [ 8.48536830e-02 2.78379508e-02 9.96004468e-01 1.03071391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.62925415399997 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:270.84, Y:20.59, Z:10.30 [[ 9.65808349e-01 -2.45229208e-01 -8.41241285e-02 2.70843785e+02] [ 2.44478938e-01 9.69463152e-01 -1.92677364e-02 2.05944417e+01] [ 8.62802545e-02 -1.95763688e-03 9.96268982e-01 1.03017382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.659254154 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:270.87, Y:20.59, Z:10.31 [[ 9.64597083e-01 -2.44768583e-01 -9.81876228e-02 2.70874174e+02] [ 2.46668482e-01 9.69070806e-01 7.51225516e-03 2.05873068e+01] [ 9.33119946e-02 -3.14660912e-02 9.95139566e-01 1.03082441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.68925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:270.90, Y:20.61, Z:10.32 [[ 9.63873650e-01 -2.48939738e-01 -9.47448886e-02 2.70897188e+02] [ 2.48286630e-01 9.68503960e-01 -1.88103292e-02 2.06054989e+01] [ 9.64434383e-02 -5.39310841e-03 9.95323856e-01 1.03184050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.71925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:270.92, Y:20.63, Z:10.32 [[ 9.64481405e-01 -2.51899627e-01 -7.95122471e-02 2.70922933e+02] [ 2.48259859e-01 9.67247272e-01 -5.29127314e-02 2.06270099e+01] [ 9.02367014e-02 3.12936463e-02 9.95428574e-01 1.03160256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.74925415399997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:270.95, Y:20.62, Z:10.31 [[ 9.63783684e-01 -2.51880967e-01 -8.76184317e-02 2.70954300e+02] [ 2.51087893e-01 9.67754758e-01 -2.01394785e-02 2.06166112e+01] [ 8.98659055e-02 -2.58982660e-03 9.95950507e-01 1.03105788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.77925415399994 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:270.98, Y:20.62, Z:10.31 [[ 9.63645334e-01 -2.52489929e-01 -8.73871061e-02 2.70980312e+02] [ 2.51701350e-01 9.67595986e-01 -2.01106322e-02 2.06225052e+01] [ 8.96331452e-02 -2.61593574e-03 9.95971413e-01 1.03129931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.809254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:271.01, Y:20.63, Z:10.32 [[ 9.63393937e-01 -2.53430089e-01 -8.74374756e-02 2.71007550e+02] [ 2.52299638e-01 9.67353193e-01 -2.39309864e-02 2.06307626e+01] [ 9.06477533e-02 9.94523810e-04 9.95882521e-01 1.03165739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.83925415399995 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:271.04, Y:20.63, Z:10.32 [[ 9.63637627e-01 -2.52027378e-01 -8.87959757e-02 2.71035860e+02] [ 2.51551801e-01 9.67699904e-01 -1.66909409e-02 2.06338790e+01] [ 9.01344312e-02 -6.25276895e-03 9.95909979e-01 1.03182634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.869254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:271.06, Y:20.64, Z:10.32 [[ 9.63640964e-01 -2.52456770e-01 -8.75309817e-02 2.71061501e+02] [ 2.51660924e-01 9.67604766e-01 -2.01939773e-02 2.06422514e+01] [ 8.97935013e-02 -2.56838395e-03 9.95957093e-01 1.03219273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.89925415399995 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:271.09, Y:20.65, Z:10.32 [[ 9.63629081e-01 -2.52735617e-01 -8.68544924e-02 2.71088148e+02] [ 2.51951950e-01 9.67531989e-01 -2.00515604e-02 2.06487887e+01] [ 8.91022433e-02 -2.56089203e-03 9.96019193e-01 1.03242924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.929254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:271.11, Y:20.66, Z:10.33 [[ 9.63726670e-01 -2.52610671e-01 -8.61321967e-02 2.71114579e+02] [ 2.51837306e-01 9.67564768e-01 -1.99095873e-02 2.06550820e+01] [ 8.83678531e-02 -2.50390017e-03 9.96084762e-01 1.03266231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.95925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:271.14, Y:20.66, Z:10.33 [[ 9.63640300e-01 -2.53016016e-01 -8.59084840e-02 2.71141740e+02] [ 2.52247102e-01 9.67458804e-01 -1.98711334e-02 2.06620573e+01] [ 8.81406342e-02 -2.52154116e-03 9.96104849e-01 1.03291755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.989254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:271.17, Y:20.67, Z:10.33 [[ 9.63695081e-01 -2.52896081e-01 -8.56467327e-02 2.71168456e+02] [ 2.52129075e-01 9.67490276e-01 -1.98367137e-02 2.06683789e+01] [ 8.78790082e-02 -2.47748804e-03 9.96128075e-01 1.03314517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.01925415399995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:271.19, Y:20.67, Z:10.33 [[ 9.63680735e-01 -2.52955955e-01 -8.56313423e-02 2.71194173e+02] [ 2.52187284e-01 9.67474672e-01 -1.98578244e-02 2.06747715e+01] [ 8.78693097e-02 -2.45853290e-03 9.96128978e-01 1.03337175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.049254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:271.23, Y:20.70, Z:10.34 [[ 9.65353389e-01 -2.52322334e-01 -6.65302481e-02 2.71225141e+02] [ 2.48287846e-01 9.66614382e-01 -6.33228320e-02 2.07009633e+01] [ 8.02868595e-02 4.46102585e-02 9.95773039e-01 1.03365961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.07925415399995 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:271.26, Y:20.67, Z:10.33 [[ 9.63641680e-01 -2.48573396e-01 -9.80101038e-02 2.71257488e+02] [ 2.52262449e-01 9.67280950e-01 2.70410844e-02 2.06673320e+01] [ 8.80816121e-02 -5.07821847e-02 9.94817973e-01 1.03276629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.109254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:271.28, Y:20.70, Z:10.34 [[ 9.63680061e-01 -2.51986559e-01 -8.84506352e-02 2.71277776e+02] [ 2.51157592e-01 9.67727761e-01 -2.05631634e-02 2.06962152e+01] [ 9.07777760e-02 -2.39873803e-03 9.95868285e-01 1.03406217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.13925415399996 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:271.30, Y:20.70, Z:10.35 [[ 9.62575293e-01 -2.52323053e-01 -9.89034006e-02 2.71303515e+02] [ 2.53446646e-01 9.67348569e-01 -1.24226935e-03 2.06966671e+01] [ 9.59875163e-02 -2.38709574e-02 9.95096264e-01 1.03464143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.169254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:271.33, Y:20.72, Z:10.35 [[ 9.64168464e-01 -2.51538685e-01 -8.43057751e-02 2.71331916e+02] [ 2.48723114e-01 9.67639285e-01 -4.25561685e-02 2.07205500e+01] [ 9.22821026e-02 2.00625207e-02 9.95530767e-01 1.03505654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.19925415399996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:271.36, Y:20.72, Z:10.35 [[ 9.64329633e-01 -2.49126978e-01 -8.94656747e-02 2.71361739e+02] [ 2.48264085e-01 9.68468492e-01 -2.08260259e-02 2.07171320e+01] [ 9.18330120e-02 -2.12796004e-03 9.95772147e-01 1.03471113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.229254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:271.39, Y:20.72, Z:10.35 [[ 9.64519598e-01 -2.48420189e-01 -8.93831971e-02 2.71388498e+02] [ 2.47553299e-01 9.68650237e-01 -2.08346389e-02 2.07239363e+01] [ 9.17568000e-02 -2.03168777e-03 9.95779374e-01 1.03493297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.25925415399996 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:271.41, Y:20.73, Z:10.35 [[ 9.64684218e-01 -2.47619630e-01 -8.98269306e-02 2.71414924e+02] [ 2.46738250e-01 9.68855383e-01 -2.09638230e-02 2.07304086e+01] [ 9.22203594e-02 -1.94027042e-03 9.95736733e-01 1.03518429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.289254154 meters Centerline goodness : 0.997039 Centerline is valid? [True, True] Translation: X:271.44, Y:20.73, Z:10.36 [[ 9.64752110e-01 -2.44958968e-01 -9.61689661e-02 2.71440183e+02] [ 2.45647127e-01 9.69347427e-01 -4.80156332e-03 2.07303713e+01] [ 9.43973259e-02 -1.89913119e-02 9.95353442e-01 1.03551964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.31925415399996 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:271.47, Y:20.75, Z:10.36 [[ 9.65319225e-01 -2.46308758e-01 -8.65493484e-02 2.71466294e+02] [ 2.43779095e-01 9.69052757e-01 -3.88395101e-02 2.07518684e+01] [ 9.34373962e-02 1.63936040e-02 9.95490182e-01 1.03608838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.349254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:271.50, Y:20.75, Z:10.36 [[ 9.65345392e-01 -2.45054591e-01 -8.97581229e-02 2.71495924e+02] [ 2.44159067e-01 9.69507882e-01 -2.09956156e-02 2.07503403e+01] [ 9.21662796e-02 -1.64723874e-03 9.95742268e-01 1.03584132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.37925415399997 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:271.52, Y:20.76, Z:10.36 [[ 9.65370642e-01 -2.44945067e-01 -8.97855105e-02 2.71522830e+02] [ 2.44045944e-01 9.69535622e-01 -2.10298769e-02 2.07561614e+01] [ 9.22014153e-02 -1.61016392e-03 9.95739075e-01 1.03608626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.409254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:271.55, Y:20.76, Z:10.36 [[ 9.65247792e-01 -2.45440993e-01 -8.97519831e-02 2.71549719e+02] [ 2.44542112e-01 9.69410162e-01 -2.10497699e-02 2.07620307e+01] [ 9.21729610e-02 -1.62989562e-03 9.95741678e-01 1.03633540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.43925415399997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:271.58, Y:20.77, Z:10.37 [[ 9.65025031e-01 -2.46181880e-01 -9.01175419e-02 2.71576900e+02] [ 2.45276281e-01 9.69222192e-01 -2.11633642e-02 2.07682166e+01] [ 9.25539583e-02 -1.68051937e-03 9.95706252e-01 1.03661937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.46925415399994 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:271.60, Y:20.77, Z:10.37 [[ 9.64904804e-01 -2.46846185e-01 -8.95861606e-02 2.71602743e+02] [ 2.45951800e-01 9.69053166e-01 -2.10635686e-02 2.07740601e+01] [ 9.20132141e-02 -1.70953887e-03 9.95756319e-01 1.03685481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.49925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:271.63, Y:20.78, Z:10.37 [[ 9.64567868e-01 -2.48454376e-01 -8.87651405e-02 2.71629478e+02] [ 2.47582059e-01 9.68641863e-01 -2.08821981e-02 2.07792991e+01] [ 9.11699046e-02 -1.83435887e-03 9.95833663e-01 1.03714585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.52925415399994 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:271.66, Y:20.78, Z:10.37 [[ 9.64371864e-01 -2.49506349e-01 -8.79402629e-02 2.71656227e+02] [ 2.48653434e-01 9.68371291e-01 -2.07005232e-02 2.07848960e+01] [ 9.03237379e-02 -1.90364625e-03 9.95910638e-01 1.03736952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.559254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:271.68, Y:20.79, Z:10.38 [[ 9.64059637e-01 -2.50874346e-01 -8.74704423e-02 2.71683236e+02] [ 2.50034413e-01 9.68017590e-01 -2.06091862e-02 2.07901751e+01] [ 8.98432428e-02 -2.00213612e-03 9.95953906e-01 1.03758205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.58925415399995 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:271.71, Y:20.79, Z:10.38 [[ 9.63376701e-01 -2.53461952e-01 -8.75349739e-02 2.71709798e+02] [ 2.52629234e-01 9.67342806e-01 -2.06486397e-02 2.07943653e+01] [ 8.99099717e-02 -2.22147499e-03 9.95947419e-01 1.03777621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.619254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:271.74, Y:20.80, Z:10.38 [[ 9.62923108e-01 -2.55098526e-01 -8.77714663e-02 2.71737047e+02] [ 2.54266870e-01 9.66912165e-01 -2.07176991e-02 2.08001333e+01] [ 9.01523530e-02 -2.36782482e-03 9.95925171e-01 1.03799873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.64925415399995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:271.76, Y:20.81, Z:10.38 [[ 9.62479963e-01 -2.56725248e-01 -8.78889512e-02 2.71764361e+02] [ 2.55895786e-01 9.66481197e-01 -2.07711935e-02 2.08058618e+01] [ 9.02755086e-02 -2.49855468e-03 9.95913696e-01 1.03823675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.679254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:271.79, Y:20.81, Z:10.38 [[ 9.61556003e-01 -2.60059995e-01 -8.81978068e-02 2.71791708e+02] [ 2.59236298e-01 9.65588411e-01 -2.08701187e-02 2.08103149e+01] [ 9.05902631e-02 -2.79628505e-03 9.95884323e-01 1.03841925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.70925415399995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:271.82, Y:20.82, Z:10.39 [[ 9.61143545e-01 -2.61715775e-01 -8.77948672e-02 2.71818193e+02] [ 2.60904249e-01 9.65140589e-01 -2.07994266e-02 2.08157034e+01] [ 9.01779280e-02 -2.91481925e-03 9.95921405e-01 1.03861826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.739254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:271.85, Y:20.82, Z:10.39 [[ 9.60742261e-01 -2.63202508e-01 -8.77425127e-02 2.71845122e+02] [ 2.62396906e-01 9.64735820e-01 -2.08005305e-02 2.08208386e+01] [ 9.01230967e-02 -3.03941517e-03 9.95925996e-01 1.03884279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.76925415399995 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:271.87, Y:20.83, Z:10.39 [[ 9.60151295e-01 -2.65324663e-01 -8.78197827e-02 2.71872400e+02] [ 2.64524095e-01 9.64153764e-01 -2.08451941e-02 2.08254856e+01] [ 9.02025182e-02 -3.21590841e-03 9.95918251e-01 1.03906593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.799254154 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:271.90, Y:20.83, Z:10.39 [[ 9.60077755e-01 -2.65627735e-01 -8.77075264e-02 2.71899828e+02] [ 2.64828004e-01 9.64070318e-01 -2.08458595e-02 2.08314166e+01] [ 9.00934613e-02 -3.21376318e-03 9.95928130e-01 1.03931152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.82925415399995 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:271.93, Y:20.84, Z:10.39 [[ 9.60081524e-01 -2.65882296e-01 -8.68911515e-02 2.71926462e+02] [ 2.65096203e-01 9.64000245e-01 -2.06768066e-02 2.08373643e+01] [ 8.92606882e-02 -3.18309441e-03 9.96003212e-01 1.03949101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.859254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:271.95, Y:20.84, Z:10.40 [[ 9.60144335e-01 -2.65654527e-01 -8.68937759e-02 2.71953403e+02] [ 2.64866236e-01 9.64063150e-01 -2.06910635e-02 2.08430366e+01] [ 8.92677620e-02 -3.14881991e-03 9.96002687e-01 1.03972067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.88925415399996 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:271.98, Y:20.85, Z:10.40 [[ 9.60225020e-01 -2.65269513e-01 -8.71779621e-02 2.71979574e+02] [ 2.64472178e-01 9.64169323e-01 -2.07842038e-02 2.08488064e+01] [ 8.95677323e-02 -3.09863307e-03 9.95975913e-01 1.03994020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.919254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:272.01, Y:20.85, Z:10.40 [[ 9.60200359e-01 -2.65268663e-01 -8.74517422e-02 2.72006397e+02] [ 2.64465044e-01 9.64169569e-01 -2.08634171e-02 2.08549723e+01] [ 8.98527193e-02 -3.09486825e-03 9.95950255e-01 1.04018243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.94925415399996 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:272.03, Y:20.86, Z:10.40 [[ 9.60240290e-01 -2.64800689e-01 -8.84261354e-02 2.72032237e+02] [ 2.63974679e-01 9.64298310e-01 -2.11219671e-02 2.08605483e+01] [ 9.08622844e-02 -3.06009689e-03 9.95858766e-01 1.04041413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.979254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:272.06, Y:20.87, Z:10.41 [[ 9.59988502e-01 -2.65678462e-01 -8.85270076e-02 2.72059331e+02] [ 2.64852972e-01 9.64056606e-01 -2.11604177e-02 2.08667854e+01] [ 9.09669137e-02 -3.13288333e-03 9.95848987e-01 1.04059226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.00925415399996 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:272.09, Y:20.87, Z:10.41 [[ 9.59807875e-01 -2.66232935e-01 -8.88192954e-02 2.72085203e+02] [ 2.65401968e-01 9.63903506e-01 -2.12561986e-02 2.08729139e+01] [ 9.12723304e-02 -3.17094891e-03 9.95820921e-01 1.04083773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.039254154 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:272.11, Y:20.88, Z:10.41 [[ 9.59474576e-01 -2.67157789e-01 -8.96395717e-02 2.72111853e+02] [ 2.66314033e-01 9.63647233e-01 -2.14673060e-02 2.08790747e+01] [ 9.21160832e-02 -3.27494158e-03 9.95742889e-01 1.04111070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.06925415399996 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:272.14, Y:20.89, Z:10.41 [[ 9.59162208e-01 -2.68528511e-01 -8.88836229e-02 2.72138379e+02] [ 2.67702455e-01 9.63265902e-01 -2.13119228e-02 2.08857989e+01] [ 9.13414221e-02 -3.35277314e-03 9.95813990e-01 1.04128485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.099254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:272.16, Y:20.89, Z:10.41 [[ 9.58956083e-01 -2.69308958e-01 -8.87463605e-02 2.72164886e+02] [ 2.68487672e-01 9.63047796e-01 -2.12911550e-02 2.08918919e+01] [ 9.12008856e-02 -3.41002115e-03 9.95826677e-01 1.04148113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.12925415399997 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:272.19, Y:20.90, Z:10.42 [[ 9.58665255e-01 -2.70323709e-01 -8.88032796e-02 2.72192055e+02] [ 2.69504395e-01 9.62763147e-01 -2.13190908e-02 2.08981584e+01] [ 9.12595806e-02 -3.49500249e-03 9.95821005e-01 1.04167900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.159254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:272.22, Y:20.90, Z:10.42 [[ 9.58426238e-01 -2.71076868e-01 -8.90869103e-02 2.72217822e+02] [ 2.70253168e-01 9.62551145e-01 -2.14130559e-02 2.09043400e+01] [ 9.15552916e-02 -3.55318510e-03 9.95793655e-01 1.04190298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.18925415399997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:272.24, Y:20.91, Z:10.42 [[ 9.58044777e-01 -2.72357579e-01 -8.92835648e-02 2.72244448e+02] [ 2.71534442e-01 9.62189109e-01 -2.14747532e-02 2.09119208e+01] [ 9.17564855e-02 -3.66978775e-03 9.95774713e-01 1.04215051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.21925415399994 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:272.27, Y:20.92, Z:10.42 [[ 9.57908300e-01 -2.72844668e-01 -8.92607157e-02 2.72271226e+02] [ 2.72021549e-01 9.62051026e-01 -2.14964955e-02 2.09189831e+01] [ 9.17385673e-02 -3.68916670e-03 9.95776293e-01 1.04240251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.24925415399997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:272.30, Y:20.93, Z:10.43 [[ 9.57824721e-01 -2.73399480e-01 -8.84563682e-02 2.72297279e+02] [ 2.72591193e-01 9.61893525e-01 -2.13280989e-02 2.09259798e+01] [ 9.09166990e-02 -3.68384662e-03 9.95851687e-01 1.04261337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.27925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:272.32, Y:20.93, Z:10.43 [[ 9.57577019e-01 -2.74598067e-01 -8.74194183e-02 2.72323676e+02] [ 2.73812373e-01 9.61551828e-01 -2.10918527e-02 2.09335201e+01] [ 8.98500834e-02 -3.73944501e-03 9.95948281e-01 1.04291509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.309254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:272.35, Y:20.94, Z:10.43 [[ 9.57500383e-01 -2.74867160e-01 -8.74131663e-02 2.72351199e+02] [ 2.74080224e-01 9.61474946e-01 -2.11177341e-02 2.09402519e+01] [ 8.98501409e-02 -3.73798170e-03 9.95948282e-01 1.04313827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.33925415399995 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:272.38, Y:20.95, Z:10.43 [[ 9.57435589e-01 -2.75354823e-01 -8.65841481e-02 2.72378118e+02] [ 2.74582457e-01 9.61335458e-01 -2.09430725e-02 2.09472093e+01] [ 8.90031876e-02 -3.72284516e-03 9.96024384e-01 1.04332709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.369254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:272.41, Y:20.95, Z:10.44 [[ 9.57243222e-01 -2.76129167e-01 -8.62443988e-02 2.72405150e+02] [ 2.75363583e-01 9.61113205e-01 -2.08879109e-02 2.09543401e+01] [ 8.86583919e-02 -3.75375552e-03 9.96055018e-01 1.04353561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.39925415399995 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:272.43, Y:20.96, Z:10.44 [[ 9.56954993e-01 -2.77214759e-01 -8.59599881e-02 2.72431583e+02] [ 2.76456208e-01 9.60800405e-01 -2.08457998e-02 2.09624166e+01] [ 8.83691548e-02 -3.81568011e-03 9.96080485e-01 1.04376596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.429254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:272.46, Y:20.97, Z:10.44 [[ 9.56851405e-01 -2.77726542e-01 -8.54596778e-02 2.72458198e+02] [ 2.76976514e-01 9.60652598e-01 -2.07508120e-02 2.09701459e+01] [ 8.78601128e-02 -3.81487999e-03 9.96125518e-01 1.04391448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.45925415399995 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:272.48, Y:20.98, Z:10.44 [[ 9.56781798e-01 -2.77913783e-01 -8.56301403e-02 2.72484931e+02] [ 2.77159147e-01 9.60598450e-01 -2.08188700e-02 2.09777502e+01] [ 8.80420309e-02 -3.81406077e-03 9.96109459e-01 1.04413555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.489254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:272.51, Y:20.99, Z:10.44 [[ 9.56988111e-01 -2.77287888e-01 -8.53532795e-02 2.72510344e+02] [ 2.76533430e-01 9.60779678e-01 -2.07767393e-02 2.09861291e+01] [ 8.77668345e-02 -3.71994258e-03 9.96134100e-01 1.04425857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.51925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:272.54, Y:20.99, Z:10.44 [[ 9.57184805e-01 -2.76707463e-01 -8.50307559e-02 2.72537443e+02] [ 2.75955264e-01 9.60947309e-01 -2.07114012e-02 2.09941790e+01] [ 8.74410753e-02 -3.64004625e-03 9.96163043e-01 1.04445203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.549254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:272.56, Y:21.00, Z:10.45 [[ 9.57555348e-01 -2.75645873e-01 -8.43036613e-02 2.72563035e+02] [ 2.74900226e-01 9.61252924e-01 -2.05592477e-02 2.10018785e+01] [ 8.67042127e-02 -3.48847792e-03 9.96227991e-01 1.04461479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.57925415399995 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:272.59, Y:21.01, Z:10.45 [[ 9.58486544e-01 -2.72665104e-01 -8.34103505e-02 2.72589670e+02] [ 2.71922854e-01 9.62103777e-01 -2.03539490e-02 2.10110976e+01] [ 8.57992249e-02 -3.17219436e-03 9.96307397e-01 1.04477205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.609254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:272.62, Y:21.02, Z:10.45 [[ 9.59054267e-01 -2.70799723e-01 -8.29603741e-02 2.72617434e+02] [ 2.70056339e-01 9.62631145e-01 -2.02694796e-02 2.10194161e+01] [ 8.53492094e-02 -2.96444395e-03 9.96346689e-01 1.04494169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.63925415399996 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:272.64, Y:21.03, Z:10.45 [[ 9.59734141e-01 -2.68294416e-01 -8.32375259e-02 2.72643570e+02] [ 2.67534762e-01 9.63333097e-01 -2.03591645e-02 2.10272338e+01] [ 8.56477138e-02 -2.72954637e-03 9.96321745e-01 1.04512819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.669254154 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:272.67, Y:21.04, Z:10.45 [[ 9.61109352e-01 -2.63271114e-01 -8.34094392e-02 2.72671354e+02] [ 2.62488751e-01 9.64719196e-01 -2.04090103e-02 2.10369433e+01] [ 8.58397900e-02 -2.27874887e-03 9.96306347e-01 1.04524782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.69925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:272.70, Y:21.05, Z:10.45 [[ 9.61585787e-01 -2.61593094e-01 -8.31975195e-02 2.72698410e+02] [ 2.60808132e-01 9.65175921e-01 -2.03607369e-02 2.10455482e+01] [ 8.56264707e-02 -2.11999437e-03 9.96325054e-01 1.04544453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.729254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:272.73, Y:21.05, Z:10.46 [[ 9.62132448e-01 -2.59658791e-01 -8.29365090e-02 2.72725645e+02] [ 2.58870931e-01 9.65698489e-01 -2.03044398e-02 2.10535452e+01] [ 8.53638877e-02 -1.93429092e-03 9.96347964e-01 1.04562051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.75925415399996 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:272.75, Y:21.06, Z:10.46 [[ 9.63091305e-01 -2.56075737e-01 -8.29479082e-02 2.72753470e+02] [ 2.55272590e-01 9.66655403e-01 -2.03282223e-02 2.10630919e+01] [ 8.53876081e-02 -1.59639317e-03 9.96346530e-01 1.04581539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.789254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:272.78, Y:21.07, Z:10.46 [[ 9.63519652e-01 -2.54489896e-01 -8.28539225e-02 2.72780818e+02] [ 2.53682418e-01 9.67074345e-01 -2.03086826e-02 2.10709116e+01] [ 8.52942573e-02 -1.45076859e-03 9.96354749e-01 1.04602058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.81925415399996 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:272.81, Y:21.08, Z:10.46 [[ 9.63742343e-01 -2.53878970e-01 -8.21350373e-02 2.72807860e+02] [ 2.53082620e-01 9.67235014e-01 -2.01399040e-02 2.10790385e+01] [ 8.45569820e-02 -1.37727213e-03 9.96417694e-01 1.04622611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.849254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:272.84, Y:21.09, Z:10.46 [[ 9.63900863e-01 -2.53341813e-01 -8.19332188e-02 2.72836419e+02] [ 2.52545468e-01 9.67375948e-01 -2.01137273e-02 2.10871006e+01] [ 8.43558733e-02 -1.30422398e-03 9.96434838e-01 1.04646688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.87925415399997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:272.86, Y:21.10, Z:10.47 [[ 9.63873042e-01 -2.53785086e-01 -8.08819520e-02 2.72864012e+02] [ 2.53010365e-01 9.67259728e-01 -1.98588594e-02 2.10953477e+01] [ 8.32737372e-02 -1.32255296e-03 9.96525833e-01 1.04667835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.909254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:272.89, Y:21.10, Z:10.47 [[ 9.63651335e-01 -2.54869370e-01 -8.01106090e-02 2.72892081e+02] [ 2.54112734e-01 9.66974482e-01 -1.96740744e-02 2.11028786e+01] [ 8.24792336e-02 -1.39817781e-03 9.96591803e-01 1.04686495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.93925415399997 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:272.92, Y:21.11, Z:10.47 [[ 9.63244686e-01 -2.56399860e-01 -8.01173297e-02 2.72919356e+02] [ 2.55647985e-01 9.66569598e-01 -1.96804690e-02 2.11097300e+01] [ 8.24850447e-02 -1.52472667e-03 9.96591136e-01 1.04709011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.96925415399994 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:272.95, Y:21.12, Z:10.47 [[ 9.62067253e-01 -2.60936896e-01 -7.96149260e-02 2.72947040e+02] [ 2.60209255e-01 9.65354003e-01 -1.95651022e-02 2.11162172e+01] [ 8.19618445e-02 -1.89359650e-03 9.96633669e-01 1.04718234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.99925415399997 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:272.98, Y:21.12, Z:10.47 [[ 9.61452273e-01 -2.63241109e-01 -7.94584484e-02 2.72976371e+02] [ 2.62522505e-01 9.64727863e-01 -1.95469807e-02 2.11233487e+01] [ 8.18013480e-02 -2.06614189e-03 9.96646512e-01 1.04738851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.02925415399994 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:273.00, Y:21.13, Z:10.48 [[ 9.60712990e-01 -2.65979172e-01 -7.92819732e-02 2.73004995e+02] [ 2.65273049e-01 9.63976046e-01 -1.95036298e-02 2.11304436e+01] [ 8.16134824e-02 -2.29398032e-03 9.96661416e-01 1.04758735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.059254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:273.03, Y:21.14, Z:10.48 [[ 9.59012535e-01 -2.72227067e-01 -7.86599143e-02 2.73033337e+02] [ 2.71552785e-01 9.62228963e-01 -1.93522157e-02 2.11370744e+01] [ 8.09570447e-02 -2.80130137e-03 9.96713655e-01 1.04771534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.08925415399995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:273.06, Y:21.14, Z:10.48 [[ 9.58161780e-01 -2.75196128e-01 -7.86962211e-02 2.73062301e+02] [ 2.74530834e-01 9.61383271e-01 -1.93656247e-02 2.11438963e+01] [ 8.09865754e-02 -3.04913776e-03 9.96710528e-01 1.04791635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.119254154 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:273.09, Y:21.15, Z:10.48 [[ 9.57231782e-01 -2.78372515e-01 -7.88419884e-02 2.73091175e+02] [ 2.77715234e-01 9.60467446e-01 -1.94045079e-02 2.11510526e+01] [ 8.11268449e-02 -3.32100956e-03 9.96698252e-01 1.04814290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.14925415399995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:273.12, Y:21.16, Z:10.48 [[ 9.56311356e-01 -2.81417642e-01 -7.92003835e-02 2.73120947e+02] [ 2.80764523e-01 9.59578659e-01 -1.94956346e-02 2.11581309e+01] [ 8.14854133e-02 -3.59276122e-03 9.96668059e-01 1.04838281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.179254154 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:273.15, Y:21.16, Z:10.49 [[ 9.54735806e-01 -2.86717281e-01 -7.92006429e-02 2.73149630e+02] [ 2.86082285e-01 9.58006702e-01 -1.94957595e-02 2.11643573e+01] [ 8.14645179e-02 -4.04460123e-03 9.96668036e-01 1.04858771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.20925415399995 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:273.18, Y:21.17, Z:10.49 [[ 9.53882758e-01 -2.89767897e-01 -7.83725075e-02 2.73177450e+02] [ 2.89156233e-01 9.57087474e-01 -1.92935071e-02 2.11720056e+01] [ 8.05999843e-02 -4.25815524e-03 9.96737433e-01 1.04888119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.239254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:273.21, Y:21.18, Z:10.49 [[ 9.53267139e-01 -2.91852396e-01 -7.81277241e-02 2.73207197e+02] [ 2.91251168e-01 9.56453175e-01 -1.92375089e-02 2.11799451e+01] [ 8.03400228e-02 -4.41630579e-03 9.96757732e-01 1.04919908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.26925415399995 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:273.24, Y:21.19, Z:10.49 [[ 9.52558006e-01 -2.94321912e-01 -7.75103675e-02 2.73235355e+02] [ 2.93738521e-01 9.55695317e-01 -1.90825213e-02 2.11880327e+01] [ 7.96926994e-02 -4.59057223e-03 9.96808909e-01 1.04949302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.299254154 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:273.27, Y:21.20, Z:10.50 [[ 9.52279279e-01 -2.95330433e-01 -7.70980632e-02 2.73266567e+02] [ 2.94756556e-01 9.55383855e-01 -1.89805895e-02 2.11965848e+01] [ 7.92637906e-02 -4.65033748e-03 9.96842829e-01 1.04976912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.32925415399995 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:273.30, Y:21.21, Z:10.50 [[ 9.52141671e-01 -2.95680776e-01 -7.74539697e-02 2.73297024e+02] [ 2.95103231e-01 9.55275207e-01 -1.90620492e-02 2.12052000e+01] [ 7.96261385e-02 -4.70714531e-03 9.96813684e-01 1.05003982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.359254154 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:273.33, Y:21.21, Z:10.50 [[ 9.52017856e-01 -2.95755697e-01 -7.86801697e-02 2.73327141e+02] [ 2.95160221e-01 9.55251594e-01 -1.93606561e-02 2.12147719e+01] [ 8.08853819e-02 -4.79156603e-03 9.96711892e-01 1.05025678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.38925415399996 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:273.36, Y:21.22, Z:10.50 [[ 9.52051780e-01 -2.95289947e-01 -8.00078387e-02 2.73356153e+02] [ 2.94672816e-01 9.55395448e-01 -1.96842273e-02 2.12228284e+01] [ 8.22516794e-02 -4.83573150e-03 9.96599858e-01 1.05049969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.419254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:273.39, Y:21.23, Z:10.51 [[ 9.52122891e-01 -2.94852172e-01 -8.07725017e-02 2.73385941e+02] [ 2.94221754e-01 9.55530594e-01 -1.98706701e-02 2.12317304e+01] [ 8.30395068e-02 -4.84570730e-03 9.96534475e-01 1.05073631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.44925415399996 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:273.41, Y:21.24, Z:10.51 [[ 9.52567468e-01 -2.92977318e-01 -8.23377807e-02 2.73414647e+02] [ 2.92315513e-01 9.56107460e-01 -2.02525732e-02 2.12424111e+01] [ 8.46573109e-02 -4.77666821e-03 9.96398677e-01 1.05098123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.479254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:273.44, Y:21.25, Z:10.51 [[ 9.52889848e-01 -2.91621808e-01 -8.34125792e-02 2.73444424e+02] [ 2.90937585e-01 9.56522060e-01 -2.05151488e-02 2.12511743e+01] [ 8.57686368e-02 -4.71917735e-03 9.96303905e-01 1.05125864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.50925415399996 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:273.47, Y:21.26, Z:10.52 [[ 9.53241705e-01 -2.90450406e-01 -8.34794194e-02 2.73473844e+02] [ 2.89760896e-01 9.56878891e-01 -2.05283123e-02 2.12604809e+01] [ 8.58421509e-02 -4.62062796e-03 9.96298035e-01 1.05155818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.539254154 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:273.50, Y:21.27, Z:10.52 [[ 9.54280668e-01 -2.86985874e-01 -8.35913617e-02 2.73503297e+02] [ 2.86281550e-01 9.57925083e-01 -2.05525849e-02 2.12723111e+01] [ 8.59725637e-02 -4.31773011e-03 9.96288149e-01 1.05189035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.56925415399996 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:273.53, Y:21.28, Z:10.52 [[ 9.54939808e-01 -2.84902791e-01 -8.31887233e-02 2.73534212e+02] [ 2.84197667e-01 9.58547589e-01 -2.04500993e-02 2.12822147e+01] [ 8.55666405e-02 -4.11342722e-03 9.96323958e-01 1.05217011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.599254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:273.56, Y:21.29, Z:10.52 [[ 9.55723407e-01 -2.82331290e-01 -8.29566878e-02 2.73564489e+02] [ 2.81620998e-01 9.59309127e-01 -2.03865897e-02 2.12918750e+01] [ 8.53368799e-02 -3.87840421e-03 9.96344607e-01 1.05244667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.62925415399997 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:273.59, Y:21.30, Z:10.53 [[ 9.57645321e-01 -2.75909713e-01 -8.23970250e-02 2.73593445e+02] [ 2.75185796e-01 9.61177929e-01 -2.02426868e-02 2.13037466e+01] [ 8.47833558e-02 -3.28917655e-03 9.96393980e-01 1.05270698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.659254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:273.62, Y:21.31, Z:10.53 [[ 9.58650318e-01 -2.72391075e-01 -8.24176608e-02 2.73624392e+02] [ 2.71654244e-01 9.62182000e-01 -2.02427646e-02 2.13138646e+01] [ 8.48147382e-02 -2.98337472e-03 9.96392272e-01 1.05298735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.68925415399997 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:273.65, Y:21.32, Z:10.53 [[ 9.59688632e-01 -2.68642506e-01 -8.26373647e-02 2.73654835e+02] [ 2.67888420e-01 9.63236264e-01 -2.02902473e-02 2.13235930e+01] [ 8.50501294e-02 -2.66527341e-03 9.96373109e-01 1.05327434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.71925415399994 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:273.68, Y:21.33, Z:10.54 [[ 9.61810677e-01 -2.60987552e-01 -8.24967893e-02 2.73684613e+02] [ 2.60208433e-01 9.65340114e-01 -2.02493219e-02 2.13346082e+01] [ 8.49222810e-02 -1.99034627e-03 9.96385590e-01 1.05360351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.74925415399997 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:273.71, Y:21.34, Z:10.54 [[ 9.62686816e-01 -2.57825639e-01 -8.22194223e-02 2.73714971e+02] [ 2.57040790e-01 9.66189945e-01 -2.01747918e-02 2.13439245e+01] [ 8.46411577e-02 -1.71173917e-03 9.96410028e-01 1.05388060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.77925415399994 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:273.75, Y:21.35, Z:10.54 [[ 9.63410986e-01 -2.55050625e-01 -8.23920534e-02 2.73745972e+02] [ 2.54252887e-01 9.66926573e-01 -2.02107069e-02 2.13532687e+01] [ 8.48218192e-02 -1.47720034e-03 9.96395041e-01 1.05419417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.809254154 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:273.78, Y:21.34, Z:10.55 [[ 9.62146559e-01 -2.50310697e-01 -1.07789394e-01 2.73777201e+02] [ 2.54915626e-01 9.66463719e-01 3.10789832e-02 2.13404448e+01] [ 9.63951367e-02 -5.73797376e-02 9.93687850e-01 1.05478065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.83925415399995 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:273.80, Y:21.40, Z:10.56 [[ 9.64467397e-01 -2.54843319e-01 -6.96959364e-02 2.73797478e+02] [ 2.49608837e-01 9.65378134e-01 -7.57660045e-02 2.13952252e+01] [ 8.65913930e-02 5.56771195e-02 9.94686880e-01 1.05640890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.869254154 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:273.84, Y:21.38, Z:10.55 [[ 9.64517504e-01 -2.50417005e-01 -8.36499133e-02 2.73836465e+02] [ 2.49577625e-01 9.68137457e-01 -2.05151954e-02 2.13772243e+01] [ 8.61219682e-02 -1.08988170e-03 9.96284005e-01 1.05490569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.89925415399995 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:273.87, Y:21.38, Z:10.55 [[ 9.64215000e-01 -2.51419945e-01 -8.41275463e-02 2.73866453e+02] [ 2.50575315e-01 9.67877363e-01 -2.06257788e-02 2.13841726e+01] [ 8.66108798e-02 -1.19260109e-03 9.96241503e-01 1.05511956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.929254154 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:273.90, Y:21.39, Z:10.55 [[ 9.63936949e-01 -2.52443965e-01 -8.42472733e-02 2.73897882e+02] [ 2.51601275e-01 9.67610653e-01 -2.06499788e-02 2.13912736e+01] [ 8.67315216e-02 -1.29144389e-03 9.96230885e-01 1.05535599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.95925415399995 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:273.93, Y:21.40, Z:10.56 [[ 9.63609943e-01 -2.53665338e-01 -8.43194796e-02 2.73929202e+02] [ 2.52826443e-01 9.67291017e-01 -2.06610429e-02 2.13982153e+01] [ 8.68024656e-02 -1.40900776e-03 9.96224546e-01 1.05561092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.989254154 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:273.96, Y:21.41, Z:10.56 [[ 9.63212600e-01 -2.55110375e-01 -8.44996087e-02 2.73959988e+02] [ 2.54273997e-01 9.66910698e-01 -2.06987100e-02 2.14050847e+01] [ 8.69840313e-02 -1.54879499e-03 9.96208502e-01 1.05585946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.01925415399995 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:273.99, Y:21.41, Z:10.56 [[ 9.62488833e-01 -2.57679342e-01 -8.49505956e-02 2.73991467e+02] [ 2.56844428e-01 9.66228820e-01 -2.08040119e-02 2.14110005e+01] [ 8.74424779e-02 -1.79545803e-03 9.96167952e-01 1.05609772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.049254154 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:274.02, Y:21.40, Z:10.56 [[ 9.60430743e-01 -2.59132870e-01 -1.02092819e-01 2.74019763e+02] [ 2.62374631e-01 9.64769358e-01 1.94843256e-02 2.14010194e+01] [ 9.34469942e-02 -4.54999110e-02 9.94584042e-01 1.05635356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.07925415399995 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:274.04, Y:21.44, Z:10.58 [[ 9.61668433e-01 -2.63986503e-01 -7.41953640e-02 2.74042734e+02] [ 2.59582847e-01 9.63600938e-01 -6.39529402e-02 2.14431046e+01] [ 8.83774354e-02 4.22416799e-02 9.95190971e-01 1.05785329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.109254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:274.08, Y:21.43, Z:10.57 [[ 9.60731984e-01 -2.64058652e-01 -8.52471937e-02 2.74080383e+02] [ 2.63242771e-01 9.64503682e-01 -2.08780185e-02 2.14283027e+01] [ 8.77342536e-02 -2.38252732e-03 9.96141066e-01 1.05676473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.13925415399996 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:274.11, Y:21.43, Z:10.57 [[ 9.60340637e-01 -2.65551686e-01 -8.50186034e-02 2.74112367e+02] [ 2.64746598e-01 9.64093335e-01 -2.08153797e-02 2.14345521e+01] [ 8.74934281e-02 -2.51853098e-03 9.96161913e-01 1.05697936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.169254154 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:274.14, Y:21.44, Z:10.57 [[ 9.59854340e-01 -2.67207755e-01 -8.53209317e-02 2.74142515e+02] [ 2.66404017e-01 9.63635203e-01 -2.08828932e-02 2.14403994e+01] [ 8.77983243e-02 -2.68530321e-03 9.96134651e-01 1.05722102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.19925415399996 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:274.17, Y:21.45, Z:10.57 [[ 9.59864600e-01 -2.67170543e-01 -8.53220414e-02 2.74173361e+02] [ 2.66367061e-01 9.63645517e-01 -2.08783581e-02 2.14479142e+01] [ 8.77982850e-02 -2.68658457e-03 9.96134651e-01 1.05747020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.229254154 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:274.20, Y:21.45, Z:10.58 [[ 9.58901000e-01 -2.70468088e-01 -8.57664638e-02 2.74204885e+02] [ 2.69669681e-01 9.62724242e-01 -2.09832328e-02 2.14531377e+01] [ 8.82447487e-02 -3.00777209e-03 9.96094282e-01 1.05774742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.25925415399996 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:274.24, Y:21.46, Z:10.58 [[ 9.58471498e-01 -2.71930643e-01 -8.59424951e-02 2.74236029e+02] [ 2.71135405e-01 9.62311680e-01 -2.10195947e-02 2.14594303e+01] [ 8.84193387e-02 -3.15537076e-03 9.96078342e-01 1.05798434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.289254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:274.27, Y:21.47, Z:10.58 [[ 9.58110053e-01 -2.73097060e-01 -8.62735369e-02 2.74267125e+02] [ 2.72300999e-01 9.61980885e-01 -2.10936844e-02 2.14655206e+01] [ 8.87541166e-02 -3.28229921e-03 9.96048158e-01 1.05818650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.31925415399996 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:274.30, Y:21.47, Z:10.58 [[ 9.57686337e-01 -2.74499779e-01 -8.65260112e-02 2.74298001e+02] [ 2.73705344e-01 9.61581050e-01 -2.11487469e-02 2.14720657e+01] [ 8.90070991e-02 -3.42876573e-03 9.96025090e-01 1.05843930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.349254154 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:274.33, Y:21.48, Z:10.59 [[ 9.56949835e-01 -2.76985835e-01 -8.67517155e-02 2.74328548e+02] [ 2.76197855e-01 9.60866977e-01 -2.11989951e-02 2.14775747e+01] [ 8.92286800e-02 -3.67426290e-03 9.96004389e-01 1.05867151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.37925415399997 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:274.36, Y:21.48, Z:10.59 [[ 9.56552257e-01 -2.78245071e-01 -8.71060297e-02 2.74357631e+02] [ 2.77456079e-01 9.60502558e-01 -2.12828470e-02 2.14838936e+01] [ 8.95874117e-02 -3.80994213e-03 9.95971676e-01 1.05891950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.409254154 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:274.39, Y:21.49, Z:10.59 [[ 9.55831116e-01 -2.80783452e-01 -8.68765253e-02 2.74388067e+02] [ 2.80008959e-01 9.59762660e-01 -2.12277949e-02 2.14893035e+01] [ 8.93412586e-02 -4.03601848e-03 9.95992897e-01 1.05909805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.43925415399997 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:274.42, Y:21.50, Z:10.59 [[ 9.55568457e-01 -2.81785718e-01 -8.65201345e-02 2.74419107e+02] [ 2.81021965e-01 9.59468534e-01 -2.11373261e-02 2.14959914e+01] [ 8.89695432e-02 -4.11589616e-03 9.96025843e-01 1.05929528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.46925415399994 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:274.45, Y:21.50, Z:10.60 [[ 9.55248508e-01 -2.82857749e-01 -8.65550782e-02 2.74448681e+02] [ 2.82098043e-01 9.59152585e-01 -2.11426884e-02 2.15028571e+01] [ 8.89999002e-02 -4.22049660e-03 9.96022693e-01 1.05954221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.49925415399997 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:274.48, Y:21.51, Z:10.60 [[ 9.54823146e-01 -2.84392410e-01 -8.62190107e-02 2.74477175e+02] [ 2.83644918e-01 9.58698105e-01 -2.10595213e-02 2.15094094e+01] [ 8.86471702e-02 -4.34746588e-03 9.96053602e-01 1.05979179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.52925415399994 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:274.51, Y:21.52, Z:10.60 [[ 9.54667428e-01 -2.85008585e-01 -8.59081382e-02 2.74506294e+02] [ 2.84268673e-01 9.58514931e-01 -2.09868600e-02 2.15164723e+01] [ 8.83256685e-02 -4.38552074e-03 9.96081996e-01 1.06001626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.559254154 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:274.53, Y:21.52, Z:10.60 [[ 9.54552085e-01 -2.85452791e-01 -8.57147705e-02 2.74534841e+02] [ 2.84717704e-01 9.58382609e-01 -2.09428669e-02 2.15238823e+01] [ 8.81257452e-02 -4.41345540e-03 9.96099581e-01 1.06027504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.58925415399995 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:274.57, Y:21.55, Z:10.61 [[ 9.55861150e-01 -2.85262260e-01 -7.03910902e-02 2.74565642e+02] [ 2.81902604e-01 9.57923374e-01 -5.39789869e-02 2.15457210e+01] [ 8.28274384e-02 3.17529849e-02 9.96057912e-01 1.06055815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.619254154 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:274.60, Y:21.52, Z:10.60 [[ 9.54510240e-01 -2.82840305e-01 -9.44010773e-02 2.74598825e+02] [ 2.85454895e-01 9.58272150e-01 1.51654343e-02 2.15217132e+01] [ 8.61725272e-02 -4.14228120e-02 9.95418729e-01 1.05975235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.64925415399995 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:274.63, Y:21.56, Z:10.61 [[ 9.55323823e-01 -2.85759863e-01 -7.54830646e-02 2.74625246e+02] [ 2.83199041e-01 9.58100252e-01 -4.29209680e-02 2.15563561e+01] [ 8.45854332e-02 1.96266917e-02 9.96222916e-01 1.06101747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.679254154 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:274.66, Y:21.54, Z:10.61 [[ 9.54448223e-01 -2.83960279e-01 -9.16250442e-02 2.74657638e+02] [ 2.85418187e-01 9.58398555e-01 2.94417226e-03 2.15432294e+01] [ 8.69772820e-02 -2.89615140e-02 9.95789226e-01 1.06057393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.70925415399995 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:274.68, Y:21.56, Z:10.61 [[ 9.54419191e-01 -2.85795275e-01 -8.60527045e-02 2.74683127e+02] [ 2.85055905e-01 9.58280299e-01 -2.10238057e-02 2.15623326e+01] [ 8.84711156e-02 -4.46430792e-03 9.96068738e-01 1.06147283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.739254154 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:274.71, Y:21.58, Z:10.62 [[ 9.55782385e-01 -2.84847871e-01 -7.30870885e-02 2.74711783e+02] [ 2.81958184e-01 9.58253998e-01 -4.74221322e-02 2.15806066e+01] [ 8.35440881e-02 2.47177359e-02 9.96197480e-01 1.06159225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.76925415399995 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:274.75, Y:21.58, Z:10.61 [[ 9.55355188e-01 -2.83366622e-01 -8.36649381e-02 2.74748107e+02] [ 2.82783592e-01 9.58995777e-01 -1.89879026e-02 2.15760541e+01] [ 8.56148601e-02 -5.51888048e-03 9.96313022e-01 1.06128501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.799254154 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:274.78, Y:21.59, Z:10.62 [[ 9.56706023e-01 -2.79938223e-01 -7.96754459e-02 2.74778140e+02] [ 2.78899474e-01 9.60017646e-01 -2.41081506e-02 2.15866607e+01] [ 8.32386268e-02 8.42972887e-04 9.96529287e-01 1.06152005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.82925415399995 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:274.81, Y:21.58, Z:10.62 [[ 9.55831955e-01 -2.78284328e-01 -9.45679979e-02 2.74805481e+02] [ 2.80482855e-01 9.59801152e-01 1.05411636e-02 2.15801363e+01] [ 8.78330327e-02 -3.66002831e-02 9.95462595e-01 1.06168234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.859254154 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:274.83, Y:21.60, Z:10.63 [[ 9.56640777e-01 -2.78053586e-01 -8.67446028e-02 2.74830813e+02] [ 2.77259051e-01 9.60558612e-01 -2.13206643e-02 2.16036885e+01] [ 8.92515624e-02 -3.65450939e-03 9.96002411e-01 1.06284897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.88925415399996 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:274.86, Y:21.62, Z:10.63 [[ 9.59872737e-01 -2.69992675e-01 -7.58174341e-02 2.74863635e+02] [ 2.67481130e-01 9.62659456e-01 -4.17207091e-02 2.16224114e+01] [ 8.42506557e-02 1.97668383e-02 9.96248513e-01 1.06315384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.919254154 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:274.89, Y:21.61, Z:10.63 [[ 9.60179100e-01 -2.64424053e-01 -9.01998668e-02 2.74894331e+02] [ 2.65636230e-01 9.64072181e-01 1.49093712e-03 2.16112609e+01] [ 8.65649427e-02 -2.53919192e-02 9.95922568e-01 1.06263684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.94925415399996 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:274.92, Y:21.64, Z:10.64 [[ 9.62039996e-01 -2.62489180e-01 -7.46892032e-02 2.74923352e+02] [ 2.59903243e-01 9.64693099e-01 -4.26324770e-02 2.16396059e+01] [ 8.32427229e-02 2.16021819e-02 9.96295134e-01 1.06361959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.979254154 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:274.95, Y:21.63, Z:10.63 [[ 9.62654582e-01 -2.54839679e-01 -9.13941687e-02 2.74952777e+02] [ 2.56311242e-01 9.66583620e-01 4.54440849e-03 2.16276788e+01] [ 8.71820109e-02 -2.78000486e-02 9.95804426e-01 1.06320997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.00925415399996 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:274.98, Y:21.65, Z:10.64 [[ 9.63445605e-01 -2.54243466e-01 -8.44560674e-02 2.74979203e+02] [ 2.53394945e-01 9.67139289e-01 -2.07989694e-02 2.16474445e+01] [ 8.69687831e-02 -1.36206489e-03 9.96210106e-01 1.06415384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.039254154 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:275.01, Y:21.66, Z:10.64 [[ 9.64039030e-01 -2.51974473e-01 -8.44843988e-02 2.75009828e+02] [ 2.51117124e-01 9.67733183e-01 -2.08008932e-02 2.16552391e+01] [ 8.69996502e-02 -1.16260630e-03 9.96207664e-01 1.06440854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.06925415399996 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:275.04, Y:21.66, Z:10.65 [[ 9.64828970e-01 -2.48888074e-01 -8.46155185e-02 2.75040006e+02] [ 2.48016780e-01 9.68531843e-01 -2.08265734e-02 2.16628224e+01] [ 8.71363098e-02 -8.91987047e-04 9.96195999e-01 1.06464735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.099254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:275.07, Y:21.67, Z:10.65 [[ 9.65202672e-01 -2.47405516e-01 -8.47013114e-02 2.75070974e+02] [ 2.46527194e-01 9.68911723e-01 -2.08426275e-02 2.16702192e+01] [ 8.72246746e-02 -7.63816853e-04 9.96188372e-01 1.06488630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.12925415399997 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:275.10, Y:21.68, Z:10.65 [[ 9.65291840e-01 -2.46978499e-01 -8.49310586e-02 2.75102284e+02] [ 2.46094323e-01 9.69020682e-01 -2.08926068e-02 2.16777487e+01] [ 8.74599771e-02 -7.33588526e-04 9.96167764e-01 1.06516835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.159254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:275.13, Y:21.68, Z:10.65 [[ 9.65366868e-01 -2.46763637e-01 -8.47025276e-02 2.75133048e+02] [ 2.45883961e-01 9.69075431e-01 -2.08299333e-02 2.16845531e+01] [ 8.72232086e-02 -7.18465570e-04 9.96188534e-01 1.06540102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.18925415399997 meters Centerline goodness : 0.995598 Centerline is valid? [True, True] Translation: X:275.16, Y:21.68, Z:10.66 [[ 9.64721592e-01 -2.47305556e-01 -9.02896024e-02 2.75158236e+02] [ 2.47471814e-01 9.68848257e-01 -9.52662661e-03 2.16847705e+01] [ 8.98329116e-02 -1.31535893e-02 9.95869987e-01 1.06560809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.21925415399994 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:275.19, Y:21.70, Z:10.66 [[ 9.64618411e-01 -2.50251232e-01 -8.29797663e-02 2.75185380e+02] [ 2.48217021e-01 9.68102186e-01 -3.41535821e-02 2.17010300e+01] [ 8.88798692e-02 1.23481836e-02 9.95965808e-01 1.06618920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.24925415399997 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:275.22, Y:21.70, Z:10.66 [[ 9.64201531e-01 -2.50666330e-01 -8.64973926e-02 2.75218253e+02] [ 2.49761343e-01 9.68072967e-01 -2.13073311e-02 2.17012691e+01] [ 8.90768180e-02 -1.05914370e-03 9.96024196e-01 1.06603853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.27925415399994 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:275.25, Y:21.71, Z:10.66 [[ 9.63281606e-01 -2.54010277e-01 -8.69903793e-02 2.75249199e+02] [ 2.53108826e-01 9.67200536e-01 -2.14253594e-02 2.17060271e+01] [ 8.95794029e-02 -1.37937813e-03 9.95978729e-01 1.06628026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.309254154 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:275.28, Y:21.71, Z:10.67 [[ 9.62785531e-01 -2.55849273e-01 -8.70928893e-02 2.75278609e+02] [ 2.54953478e-01 9.66715434e-01 -2.14474629e-02 2.17115099e+01] [ 8.96813581e-02 -1.55532810e-03 9.95969294e-01 1.06650420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.33925415399995 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:275.31, Y:21.72, Z:10.67 [[ 9.62161224e-01 -2.58236618e-01 -8.69461195e-02 2.75308804e+02] [ 2.57353593e-01 9.66080068e-01 -2.14109718e-02 2.17173466e+01] [ 8.95260100e-02 -1.77508947e-03 9.95982903e-01 1.06675374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.369254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:275.34, Y:21.72, Z:10.67 [[ 9.61511764e-01 -2.60657287e-01 -8.69074561e-02 2.75338109e+02] [ 2.59784894e-01 9.65429325e-01 -2.14015760e-02 2.17230183e+01] [ 8.94814834e-02 -1.99937723e-03 9.95986479e-01 1.06702809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.39925415399995 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:275.37, Y:21.73, Z:10.67 [[ 9.60115028e-01 -2.65830912e-01 -8.66779060e-02 2.75367105e+02] [ 2.64983966e-01 9.64016499e-01 -2.13468252e-02 2.17271459e+01] [ 8.92335776e-02 -2.47284761e-03 9.96007657e-01 1.06728446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.429254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:275.40, Y:21.73, Z:10.67 [[ 9.59630302e-01 -2.67569132e-01 -8.66974175e-02 2.75395186e+02] [ 2.66728567e-01 9.63535071e-01 -2.13550456e-02 2.17318905e+01] [ 8.92499533e-02 -2.63172911e-03 9.96005783e-01 1.06745006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.45925415399995 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:275.42, Y:21.74, Z:10.68 [[ 9.58844301e-01 -2.70417581e-01 -8.65559876e-02 2.75422182e+02] [ 2.69590748e-01 9.62738804e-01 -2.13266170e-02 2.17372746e+01] [ 8.90979001e-02 -2.88578824e-03 9.96018693e-01 1.06773274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.489254154 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:275.45, Y:21.74, Z:10.68 [[ 9.57697059e-01 -2.74425384e-01 -8.66432486e-02 2.75448673e+02] [ 2.73610969e-01 9.61602947e-01 -2.13731286e-02 2.17408575e+01] [ 8.91817322e-02 -3.23756089e-03 9.96010109e-01 1.06793971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.51925415399995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:275.48, Y:21.75, Z:10.68 [[ 9.57171726e-01 -2.76290363e-01 -8.65212275e-02 2.75475579e+02] [ 2.75484734e-01 9.61068214e-01 -2.13553055e-02 2.17460435e+01] [ 8.90530668e-02 -3.39458272e-03 9.96021098e-01 1.06814160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.549254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:275.50, Y:21.75, Z:10.68 [[ 9.56721548e-01 -2.77742557e-01 -8.68501627e-02 2.75502692e+02] [ 2.76934423e-01 9.60649100e-01 -2.14623424e-02 2.17512627e+01] [ 8.93935365e-02 -3.51831418e-03 9.95990169e-01 1.06836022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.57925415399995 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:275.53, Y:21.76, Z:10.69 [[ 9.56112021e-01 -2.79551116e-01 -8.77552104e-02 2.75530341e+02] [ 2.78731246e-01 9.60123678e-01 -2.17121093e-02 2.17560538e+01] [ 9.03254998e-02 -3.70091038e-03 9.95905421e-01 1.06858279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.609254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:275.56, Y:21.76, Z:10.69 [[ 9.56057802e-01 -2.79575289e-01 -8.82674118e-02 2.75557837e+02] [ 2.78743543e-01 9.60116643e-01 -2.18647997e-02 2.17621224e+01] [ 9.08598688e-02 -3.69995869e-03 9.95856814e-01 1.06881105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.63925415399996 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:275.58, Y:21.77, Z:10.69 [[ 9.56195310e-01 -2.79060538e-01 -8.84067079e-02 2.75583708e+02] [ 2.78221729e-01 9.60266638e-01 -2.19238174e-02 2.17678658e+01] [ 9.10120844e-02 -3.63321576e-03 9.95843160e-01 1.06903440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.669254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:275.61, Y:21.77, Z:10.69 [[ 9.56915068e-01 -2.76653292e-01 -8.81845176e-02 2.75610779e+02] [ 2.75807378e-01 9.60963843e-01 -2.18811023e-02 2.17739911e+01] [ 9.07956119e-02 -3.38358407e-03 9.95863800e-01 1.06928549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.69925415399996 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:275.64, Y:21.78, Z:10.70 [[ 9.57430835e-01 -2.74827339e-01 -8.82956990e-02 2.75637200e+02] [ 2.73969304e-01 9.61488301e-01 -2.19332468e-02 2.17805214e+01] [ 9.09231374e-02 -3.19074443e-03 9.95852801e-01 1.06955086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.729254154 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:275.66, Y:21.79, Z:10.70 [[ 9.58039794e-01 -2.72813427e-01 -8.79351353e-02 2.75663809e+02] [ 2.71952312e-01 9.62062375e-01 -2.18615279e-02 2.17872479e+01] [ 9.05632034e-02 -2.96994968e-03 9.95886281e-01 1.06977476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.75925415399996 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:275.69, Y:21.79, Z:10.70 [[ 9.59467739e-01 -2.67949708e-01 -8.73190184e-02 2.75689458e+02] [ 2.67078424e-01 9.63429734e-01 -2.17316219e-02 2.17934991e+01] [ 8.99487204e-02 -2.47023573e-03 9.95943335e-01 1.07003165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.789254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:275.72, Y:21.80, Z:10.70 [[ 9.60112391e-01 -2.65831775e-01 -8.67044639e-02 2.75716743e+02] [ 2.64963065e-01 9.64016821e-01 -2.15903629e-02 2.18002098e+01] [ 8.93239661e-02 -2.24430559e-03 9.96000096e-01 1.07028005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.81925415399996 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:275.75, Y:21.81, Z:10.71 [[ 9.60710312e-01 -2.63680097e-01 -8.66516210e-02 2.75745807e+02] [ 2.62801458e-01 9.64608072e-01 -2.16023585e-02 2.18073611e+01] [ 8.92809651e-02 -2.01856372e-03 9.96004435e-01 1.07055443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.849254154 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:275.77, Y:21.81, Z:10.71 [[ 9.61289382e-01 -2.61556492e-01 -8.66655958e-02 2.75773757e+02] [ 2.60668636e-01 9.65186457e-01 -2.16094035e-02 2.18141242e+01] [ 8.93005391e-02 -1.81811246e-03 9.96003066e-01 1.07071201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.87925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:275.80, Y:21.82, Z:10.71 [[ 9.61642194e-01 -2.60192895e-01 -8.68559058e-02 2.75800797e+02] [ 2.59294971e-01 9.65555180e-01 -2.16636151e-02 2.18206887e+01] [ 8.95008885e-02 -1.68865323e-03 9.95985311e-01 1.07095862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.909254154 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:275.83, Y:21.83, Z:10.71 [[ 9.61524000e-01 -2.60527319e-01 -8.71614223e-02 2.75827813e+02] [ 2.59622004e-01 9.65464979e-01 -2.17666812e-02 2.18272411e+01] [ 8.98221159e-02 -1.69983682e-03 9.95956374e-01 1.07118414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.93925415399997 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:275.85, Y:21.83, Z:10.71 [[ 9.61066661e-01 -2.61745660e-01 -8.85442445e-02 2.75854182e+02] [ 2.60814097e-01 9.65135175e-01 -2.21382011e-02 2.18325516e+01] [ 9.12517430e-02 -1.81730023e-03 9.95826198e-01 1.07133918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.96925415399994 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:275.88, Y:21.84, Z:10.72 [[ 9.60472344e-01 -2.63678994e-01 -8.92539295e-02 2.75881198e+02] [ 2.62739478e-01 9.64608404e-01 -2.23292239e-02 2.18387061e+01] [ 9.19828377e-02 -2.00392877e-03 9.95758576e-01 1.07154769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.99925415399997 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:275.91, Y:21.84, Z:10.72 [[ 9.59907962e-01 -2.65490546e-01 -8.99526265e-02 2.75907887e+02] [ 2.64541685e-01 9.64111024e-01 -2.25306624e-02 2.18445179e+01] [ 9.27059967e-02 -2.16885724e-03 9.95691164e-01 1.07175044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.02925415399994 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:275.94, Y:21.85, Z:10.72 [[ 9.58634532e-01 -2.70004950e-01 -9.00952844e-02 2.75935198e+02] [ 2.69071621e-01 9.62855435e-01 -2.25803868e-02 2.18495577e+01] [ 9.28455505e-02 -2.59574566e-03 9.95677139e-01 1.07198580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.059254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:275.96, Y:21.86, Z:10.72 [[ 9.57990085e-01 -2.72479193e-01 -8.94990887e-02 2.75962578e+02] [ 2.71566358e-01 9.62157632e-01 -2.24589626e-02 2.18556342e+01] [ 9.22318312e-02 -2.78947813e-03 9.95733653e-01 1.07219510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.08925415399995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:275.99, Y:21.86, Z:10.72 [[ 9.57263356e-01 -2.75168366e-01 -8.90462678e-02 2.75989695e+02] [ 2.74273741e-01 9.61391354e-01 -2.23736127e-02 2.18618672e+01] [ 9.17648225e-02 -3.00561340e-03 9.95776171e-01 1.07244661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.119254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:276.02, Y:21.87, Z:10.73 [[ 9.57186402e-01 -2.75438087e-01 -8.90396109e-02 2.76017137e+02] [ 2.74542166e-01 9.61314119e-01 -2.24000755e-02 2.18688520e+01] [ 9.17648690e-02 -3.00408000e-03 9.95776172e-01 1.07268245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.14925415399995 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:276.04, Y:21.87, Z:10.73 [[ 9.56075654e-01 -2.79777711e-01 -8.74286918e-02 2.76043534e+02] [ 2.78929804e-01 9.60059016e-01 -2.20193009e-02 2.18740032e+01] [ 9.00972134e-02 -3.33435036e-03 9.95927394e-01 1.07285284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.179254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:276.07, Y:21.88, Z:10.73 [[ 9.55408388e-01 -2.82289917e-01 -8.66441904e-02 2.76070405e+02] [ 2.81466302e-01 9.59322661e-01 -2.18346823e-02 2.18804140e+01] [ 8.92834459e-02 -3.52638127e-03 9.96000016e-01 1.07313487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.20925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:276.10, Y:21.89, Z:10.73 [[ 9.54890713e-01 -2.84178388e-01 -8.61763851e-02 2.76098740e+02] [ 2.83368923e-01 9.58764450e-01 -2.17435718e-02 2.18868532e+01] [ 8.88019077e-02 -3.65697474e-03 9.96042593e-01 1.07339178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.239254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:276.13, Y:21.89, Z:10.74 [[ 9.54550945e-01 -2.85477055e-01 -8.56466242e-02 2.76125154e+02] [ 2.84680690e-01 9.58378277e-01 -2.16329176e-02 2.18930106e+01] [ 8.82575657e-02 -3.73221805e-03 9.96090695e-01 1.07362150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.26925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:276.15, Y:21.90, Z:10.74 [[ 9.53875835e-01 -2.87938087e-01 -8.49267292e-02 2.76151346e+02] [ 2.87163723e-01 9.57641025e-01 -2.14630812e-02 2.18987285e+01] [ 8.75093586e-02 -3.91476121e-03 9.96156005e-01 1.07389110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.299254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:276.18, Y:21.91, Z:10.74 [[ 9.53359285e-01 -2.89733779e-01 -8.46192114e-02 2.76177924e+02] [ 2.88970452e-01 9.57098719e-01 -2.14037128e-02 2.19052378e+01] [ 8.71903175e-02 -4.04702342e-03 9.96183452e-01 1.07411475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.32925415399995 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:276.21, Y:21.91, Z:10.74 [[ 9.52911291e-01 -2.91382192e-01 -8.40029159e-02 2.76205427e+02] [ 2.90634102e-01 9.56597752e-01 -2.12734478e-02 2.19116572e+01] [ 8.65557043e-02 -4.14240350e-03 9.96238400e-01 1.07435281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.359254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:276.23, Y:21.92, Z:10.75 [[ 9.51778702e-01 -2.95239819e-01 -8.33711658e-02 2.76233818e+02] [ 2.94515685e-01 9.55412876e-01 -2.11364244e-02 2.19181754e+01] [ 8.58941994e-02 -4.43691747e-03 9.96294384e-01 1.07462860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.38925415399996 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:276.26, Y:21.92, Z:10.75 [[ 9.51163944e-01 -2.97145507e-01 -8.36163775e-02 2.76261528e+02] [ 2.96422410e-01 9.54821127e-01 -2.12219185e-02 2.19246465e+01] [ 8.61446816e-02 -4.60024442e-03 9.96272017e-01 1.07488465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.419254154 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:276.29, Y:21.93, Z:10.75 [[ 9.50531602e-01 -2.99027929e-01 -8.40950108e-02 2.76287950e+02] [ 2.98301859e-01 9.54232406e-01 -2.13662550e-02 2.19307112e+01] [ 8.66352914e-02 -4.77639753e-03 9.96228645e-01 1.07508865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.44925415399996 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:276.32, Y:21.94, Z:10.75 [[ 9.49332552e-01 -3.02516456e-01 -8.51557375e-02 2.76315212e+02] [ 3.01784765e-01 9.53130264e-01 -2.16484452e-02 2.19365702e+01] [ 8.77135215e-02 -5.14713049e-03 9.96132444e-01 1.07525771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.479254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:276.34, Y:21.94, Z:10.75 [[ 9.48872877e-01 -3.03847836e-01 -8.55380355e-02 2.76342674e+02] [ 3.03112539e-01 9.52706009e-01 -2.17726729e-02 2.19432227e+01] [ 8.81081800e-02 -5.26815235e-03 9.96096981e-01 1.07539258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.50925415399996 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:276.37, Y:21.95, Z:10.76 [[ 9.48310255e-01 -3.05440206e-01 -8.61042396e-02 2.76369702e+02] [ 3.04699234e-01 9.52195798e-01 -2.19440140e-02 2.19507475e+01] [ 8.86906793e-02 -5.42616228e-03 9.96044437e-01 1.07567639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.539254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:276.40, Y:21.96, Z:10.76 [[ 9.48006822e-01 -3.06242120e-01 -8.65957779e-02 2.76397023e+02] [ 3.05493539e-01 9.51937729e-01 -2.20965680e-02 2.19580563e+01] [ 8.92006880e-02 -5.50675347e-03 9.95998450e-01 1.07591673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.56925415399996 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:276.42, Y:21.97, Z:10.76 [[ 9.48038192e-01 -3.05784059e-01 -8.78617987e-02 2.76424022e+02] [ 3.05008917e-01 9.52084905e-01 -2.24475824e-02 2.19651876e+01] [ 9.05160051e-02 -5.51746667e-03 9.95879717e-01 1.07602121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.599254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:276.45, Y:21.97, Z:10.76 [[ 9.48124395e-01 -3.05581388e-01 -8.76364474e-02 2.76450319e+02] [ 3.04806879e-01 9.52150318e-01 -2.24173689e-02 2.19729525e+01] [ 9.02934020e-02 -5.45773764e-03 9.95900253e-01 1.07631831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.62925415399997 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:276.48, Y:21.98, Z:10.77 [[ 9.48474484e-01 -3.04508568e-01 -8.75824519e-02 2.76476918e+02] [ 3.03727984e-01 9.52494706e-01 -2.24309396e-02 2.19807376e+01] [ 9.02522351e-02 -5.32606770e-03 9.95904698e-01 1.07654157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.65925415399994 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:276.50, Y:21.99, Z:10.77 [[ 9.49108252e-01 -3.02459973e-01 -8.78150911e-02 2.76502594e+02] [ 3.01664032e-01 9.53148342e-01 -2.25177675e-02 2.19883370e+01] [ 9.05115318e-02 -5.11885551e-03 9.95882252e-01 1.07679390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.68925415399997 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:276.53, Y:22.00, Z:10.77 [[ 9.50744638e-01 -2.97784360e-01 -8.60761723e-02 2.76527691e+02] [ 2.96998961e-01 9.54622258e-01 -2.20898428e-02 2.19979718e+01] [ 8.87482397e-02 -4.56273410e-03 9.96043639e-01 1.07708124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.71925415399994 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:276.55, Y:22.01, Z:10.77 [[ 9.51642885e-01 -2.95029034e-01 -8.56369550e-02 2.76552847e+02] [ 2.94239458e-01 9.55478738e-01 -2.19891332e-02 2.20060607e+01] [ 8.83117224e-02 -4.27196903e-03 9.96083726e-01 1.07735460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.74925415399997 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:276.58, Y:22.01, Z:10.78 [[ 9.52537628e-01 -2.92234605e-01 -8.52701737e-02 2.76580802e+02] [ 2.91439104e-01 9.56338384e-01 -2.19122065e-02 2.20149788e+01] [ 8.79506451e-02 -3.97886184e-03 9.96116887e-01 1.07763192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.77925415399994 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:276.61, Y:22.03, Z:10.78 [[ 9.54531016e-01 -2.85816106e-01 -8.47330744e-02 2.76608509e+02] [ 2.85005068e-01 9.58278587e-01 -2.17775264e-02 2.20250290e+01] [ 8.74222586e-02 -3.36203122e-03 9.96165672e-01 1.07789250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.809254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:276.64, Y:22.03, Z:10.78 [[ 9.55521964e-01 -2.82617904e-01 -8.42905502e-02 2.76636313e+02] [ 2.81802618e-01 9.59227720e-01 -2.16671481e-02 2.20337219e+01] [ 8.69773562e-02 -3.04986184e-03 9.96205620e-01 1.07813717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.83925415399995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:276.66, Y:22.04, Z:10.78 [[ 9.57345394e-01 -2.76502417e-01 -8.38821131e-02 2.76663130e+02] [ 2.75671276e-01 9.61010027e-01 -2.15656057e-02 2.20434225e+01] [ 8.65744939e-02 -2.47815589e-03 9.96242298e-01 1.07843317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.869254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:276.69, Y:22.05, Z:10.79 [[ 9.58077060e-01 -2.74030195e-01 -8.36408968e-02 2.76692846e+02] [ 2.73193900e-01 9.61718475e-01 -2.15097262e-02 2.20519792e+01] [ 8.63333101e-02 -2.24220748e-03 9.96263786e-01 1.07865948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.89925415399995 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:276.72, Y:22.06, Z:10.79 [[ 9.58628925e-01 -2.72092385e-01 -8.36439955e-02 2.76721441e+02] [ 2.71248660e-01 9.62268912e-01 -2.15105912e-02 2.20602088e+01] [ 8.63408846e-02 -2.06764682e-03 9.96263508e-01 1.07886709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.929254154 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:276.75, Y:22.07, Z:10.79 [[ 9.59409414e-01 -2.69249765e-01 -8.38936276e-02 2.76748662e+02] [ 2.68389983e-01 9.63068673e-01 -2.15765799e-02 2.20683332e+01] [ 8.66048137e-02 -1.81543543e-03 9.96241091e-01 1.07905115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.95925415399995 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:276.78, Y:22.08, Z:10.79 [[ 9.59653320e-01 -2.68243233e-01 -8.43271815e-02 2.76776847e+02] [ 2.67370228e-01 9.63349666e-01 -2.16929041e-02 2.20756404e+01] [ 8.70555369e-02 -1.72891035e-03 9.96201960e-01 1.07927506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.989254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:276.80, Y:22.08, Z:10.79 [[ 9.59808007e-01 -2.67727307e-01 -8.42061713e-02 2.76804207e+02] [ 2.66854540e-01 9.63493268e-01 -2.16650891e-02 2.20827385e+01] [ 8.69324152e-02 -1.67647309e-03 9.96212801e-01 1.07947508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.01925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:276.83, Y:22.09, Z:10.80 [[ 9.60017864e-01 -2.66926619e-01 -8.43556777e-02 2.76833168e+02] [ 2.66047244e-01 9.63715525e-01 -2.17083182e-02 2.20903115e+01] [ 8.70894042e-02 -1.60222226e-03 9.96199211e-01 1.07967688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.049254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:276.86, Y:22.10, Z:10.80 [[ 9.60045957e-01 -2.66848897e-01 -8.42818228e-02 2.76862268e+02] [ 2.65970479e-01 9.63737068e-01 -2.16925838e-02 2.20977548e+01] [ 8.70141589e-02 -1.59059939e-03 9.96205805e-01 1.07990618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.07925415399995 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:276.89, Y:22.11, Z:10.80 [[ 9.60100892e-01 -2.66662252e-01 -8.42467860e-02 2.76892245e+02] [ 2.65783577e-01 9.63788762e-01 -2.16866654e-02 2.21051059e+01] [ 8.69791207e-02 -1.57002535e-03 9.96208898e-01 1.08015955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.109254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:276.92, Y:22.11, Z:10.80 [[ 9.60231899e-01 -2.66112260e-01 -8.44923955e-02 2.76920760e+02] [ 2.65226314e-01 9.63940839e-01 -2.17499747e-02 2.21117167e+01] [ 8.72336055e-02 -1.52458708e-03 9.96186716e-01 1.08034120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.13925415399996 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:276.95, Y:22.12, Z:10.81 [[ 9.60047998e-01 -2.67054514e-01 -8.36045969e-02 2.76949763e+02] [ 2.66190547e-01 9.63680109e-01 -2.15229963e-02 2.21196332e+01] [ 8.63159004e-02 -1.59164393e-03 9.96266547e-01 1.08070178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.169254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:276.98, Y:22.13, Z:10.81 [[ 9.59915081e-01 -2.67556324e-01 -8.35263538e-02 2.76977946e+02] [ 2.66695865e-01 9.63540835e-01 -2.15029194e-02 2.21262297e+01] [ 8.62342947e-02 -1.63515659e-03 9.96273543e-01 1.08092399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.19925415399996 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:277.01, Y:22.13, Z:10.81 [[ 9.59305339e-01 -2.69786433e-01 -8.33579445e-02 2.77005257e+02] [ 2.68937678e-01 9.62918445e-01 -2.14614395e-02 2.21313127e+01] [ 8.60569075e-02 -1.83001862e-03 9.96288542e-01 1.08108884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.229254154 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:277.03, Y:22.14, Z:10.81 [[ 9.58658570e-01 -2.72267957e-01 -8.27279089e-02 2.77034393e+02] [ 2.71440552e-01 9.62219331e-01 -2.13069573e-02 2.21385261e+01] [ 8.54035949e-02 -2.02961206e-03 9.96344372e-01 1.08136359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.25925415399996 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:277.06, Y:22.15, Z:10.82 [[ 9.57983776e-01 -2.74671987e-01 -8.25977249e-02 2.77063387e+02] [ 2.73855821e-01 9.61535384e-01 -2.12766345e-02 2.21453435e+01] [ 8.52647306e-02 -2.23719714e-03 9.96355820e-01 1.08159516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.289254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:277.09, Y:22.15, Z:10.82 [[ 9.56140407e-01 -2.80914578e-01 -8.29609635e-02 2.77093055e+02] [ 2.80114326e-01 9.59728683e-01 -2.13733301e-02 2.21513049e+01] [ 8.56240963e-02 -2.80264981e-03 9.96323572e-01 1.08182519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.31925415399996 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:277.12, Y:22.16, Z:10.82 [[ 9.55190507e-01 -2.83992184e-01 -8.34238275e-02 2.77120851e+02] [ 2.83194639e-01 9.58821598e-01 -2.14927699e-02 2.21572587e+01] [ 8.60923463e-02 -3.09549098e-03 9.96282352e-01 1.08195463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.349254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:277.16, Y:22.18, Z:10.82 [[ 9.56709770e-01 -2.85035757e-01 -5.88305532e-02 2.77156241e+02] [ 2.80881438e-01 9.57193488e-01 -6.99016732e-02 2.21840819e+01] [ 7.62366987e-02 5.03512032e-02 9.95817615e-01 1.08211198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.37925415399997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:277.19, Y:22.14, Z:10.81 [[ 9.52773384e-01 -2.87124163e-01 -9.89069929e-02 2.77185102e+02] [ 2.91490775e-01 9.56016281e-01 3.26496418e-02 2.21445805e+01] [ 8.51821944e-02 -5.99381857e-02 9.94560912e-01 1.08119005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.40925415399994 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:277.21, Y:22.19, Z:10.83 [[ 9.52966712e-01 -2.96152989e-01 -6.44038322e-02 2.77211349e+02] [ 2.92176510e-01 9.54189487e-01 -6.44616993e-02 2.21936123e+01] [ 8.05439845e-02 4.26125667e-02 9.95839764e-01 1.08252439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.43925415399997 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:277.24, Y:22.16, Z:10.82 [[ 9.49478505e-01 -2.97787726e-01 -9.90607834e-02 2.77240879e+02] [ 3.01553340e-01 9.53117453e-01 2.51536123e-02 2.21611409e+01] [ 8.69261245e-02 -5.37549243e-02 9.94763418e-01 1.08181705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.46925415399994 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:277.27, Y:22.21, Z:10.83 [[ 9.50018921e-01 -3.04767741e-01 -6.76806753e-02 2.77267231e+02] [ 3.01051311e-01 9.51727334e-01 -5.98597512e-02 2.22064666e+01] [ 8.26568698e-02 3.64925402e-02 9.95909703e-01 1.08303648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.49925415399997 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:277.30, Y:22.18, Z:10.83 [[ 9.47059913e-01 -3.05734661e-01 -9.79991771e-02 2.77296913e+02] [ 3.08979330e-01 9.50869408e-01 1.94716061e-02 2.21798061e+01] [ 8.72312746e-02 -4.87204976e-02 9.94995989e-01 1.08253109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.52925415399994 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:277.32, Y:22.21, Z:10.84 [[ 9.46301575e-01 -3.11386375e-01 -8.69014083e-02 2.77317611e+02] [ 3.10621679e-01 9.50266481e-01 -2.25341598e-02 2.22077718e+01] [ 8.95963258e-02 -5.66935047e-03 9.95962026e-01 1.08383053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.559254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:277.34, Y:22.22, Z:10.84 [[ 9.45777502e-01 -3.13066978e-01 -8.65678041e-02 2.77344605e+02] [ 3.12312745e-01 9.49713459e-01 -2.24743437e-02 2.22153981e+01] [ 8.92505835e-02 -5.78049986e-03 9.95992429e-01 1.08410739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.58925415399995 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:277.37, Y:22.22, Z:10.84 [[ 9.45101900e-01 -3.15323694e-01 -8.57517767e-02 2.77370914e+02] [ 3.14590519e-01 9.48965764e-01 -2.22886678e-02 2.22238173e+01] [ 8.84036453e-02 -5.91163362e-03 9.96067191e-01 1.08437711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.619254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:277.40, Y:22.23, Z:10.85 [[ 9.44798200e-01 -3.16302953e-01 -8.54915435e-02 2.77398774e+02] [ 3.15575872e-01 9.48639512e-01 -2.22473856e-02 2.22319544e+01] [ 8.81375698e-02 -5.95977850e-03 9.96090483e-01 1.08460023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.64925415399995 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:277.43, Y:22.24, Z:10.85 [[ 9.44521849e-01 -3.17102471e-01 -8.55832875e-02 2.77426572e+02] [ 3.16374998e-01 9.48372185e-01 -2.22948317e-02 2.22406320e+01] [ 8.82345556e-02 -6.01845675e-03 9.96081544e-01 1.08483996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.679254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:277.45, Y:22.25, Z:10.85 [[ 9.44245180e-01 -3.17677069e-01 -8.65003997e-02 2.77454728e+02] [ 3.16934271e-01 9.48179241e-01 -2.25564746e-02 2.22510272e+01] [ 8.91835581e-02 -6.11609869e-03 9.95996429e-01 1.08512735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.70925415399995 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:277.48, Y:22.26, Z:10.85 [[ 9.44172773e-01 -3.17695215e-01 -8.72211324e-02 2.77482595e+02] [ 3.16940047e-01 9.48172818e-01 -2.27445342e-02 2.22595624e+01] [ 8.99265366e-02 -6.16909988e-03 9.95929295e-01 1.08534508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.739254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:277.51, Y:22.27, Z:10.86 [[ 9.44215924e-01 -3.17346784e-01 -8.80187964e-02 2.77510894e+02] [ 3.16576080e-01 9.48289350e-01 -2.29541840e-02 2.22697172e+01] [ 9.07517237e-02 -6.19093942e-03 9.95854305e-01 1.08559584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.76925415399995 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:277.54, Y:22.28, Z:10.86 [[ 9.44321838e-01 -3.16943202e-01 -8.83361399e-02 2.77539808e+02] [ 3.16165174e-01 9.48424421e-01 -2.30369432e-02 2.22790681e+01] [ 9.10815549e-02 -6.17452253e-03 9.95824295e-01 1.08588863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.799254154 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:277.57, Y:22.29, Z:10.86 [[ 9.44449287e-01 -3.16476229e-01 -8.86472873e-02 2.77568100e+02] [ 3.15690651e-01 9.48580497e-01 -2.31182297e-02 2.22886476e+01] [ 9.14054580e-02 -6.15112429e-03 9.95794761e-01 1.08619374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.82925415399995 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:277.60, Y:22.30, Z:10.86 [[ 9.44721742e-01 -3.15542168e-01 -8.90728330e-02 2.77597116e+02] [ 3.14744752e-01 9.48892022e-01 -2.32308283e-02 2.22981434e+01] [ 9.18508066e-02 -6.08853808e-03 9.95754166e-01 1.08649638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.859254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:277.63, Y:22.31, Z:10.87 [[ 9.45710785e-01 -3.12419196e-01 -8.95843612e-02 2.77626471e+02] [ 3.11598686e-01 9.49926516e-01 -2.33639155e-02 2.23099466e+01] [ 9.23978958e-02 -5.81886233e-03 9.95705162e-01 1.08680437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.88925415399996 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:277.66, Y:22.32, Z:10.87 [[ 9.46534741e-01 -3.09880410e-01 -8.97001403e-02 2.77656084e+02] [ 3.09046767e-01 9.50759159e-01 -2.33905583e-02 2.23195692e+01] [ 9.25315057e-02 -5.58156226e-03 9.95694113e-01 1.08707939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.919254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:277.69, Y:22.33, Z:10.87 [[ 9.47597410e-01 -3.06623121e-01 -8.96739127e-02 2.77685047e+02] [ 3.05775766e-01 9.51816443e-01 -2.33803283e-02 2.23290106e+01] [ 9.25220539e-02 -5.26497074e-03 9.95696716e-01 1.08732591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.94925415399996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:277.71, Y:22.34, Z:10.88 [[ 9.50338216e-01 -2.98025636e-01 -8.96548664e-02 2.77713803e+02] [ 2.97140646e-01 9.54547599e-01 -2.33734424e-02 2.23414021e+01] [ 9.25457224e-02 -4.42742937e-03 9.95698593e-01 1.08763147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.979254154 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:277.74, Y:22.35, Z:10.88 [[ 9.51974779e-01 -2.92878554e-01 -8.92534222e-02 2.77743859e+02] [ 2.91979270e-01 9.56141645e-01 -2.32650082e-02 2.23521307e+01] [ 9.21527358e-02 -3.91244800e-03 9.95737197e-01 1.08791809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.00925415399996 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:277.78, Y:22.36, Z:10.88 [[ 9.52004204e-01 -2.92782349e-01 -8.92552088e-02 2.77775405e+02] [ 2.91883285e-01 9.56171118e-01 -2.32581520e-02 2.23602900e+01] [ 9.21528291e-02 -3.91024507e-03 9.95737197e-01 1.08819306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.039254154 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:277.81, Y:22.37, Z:10.88 [[ 9.53666946e-01 -2.87342734e-01 -8.91824453e-02 2.77805038e+02] [ 2.86422302e-01 9.57821829e-01 -2.32294763e-02 2.23706656e+01] [ 9.20957141e-02 -3.39065752e-03 9.95744386e-01 1.08848420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.06925415399996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:277.84, Y:22.38, Z:10.89 [[ 9.55198182e-01 -2.82379458e-01 -8.86469087e-02 2.77835180e+02] [ 2.81449699e-01 9.59298393e-01 -2.30794267e-02 2.23809333e+01] [ 9.15559931e-02 -2.90421932e-03 9.95795695e-01 1.08879864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.099254154 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:277.87, Y:22.39, Z:10.89 [[ 9.57903654e-01 -2.73411129e-01 -8.75610873e-02 2.77865605e+02] [ 2.72467202e-01 9.61895132e-01 -2.27898760e-02 2.23922881e+01] [ 9.04555894e-02 -2.02701888e-03 9.95898427e-01 1.08915748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.12925415399997 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:277.89, Y:22.40, Z:10.89 [[ 9.58824304e-01 -2.70297819e-01 -8.71495463e-02 2.77894941e+02] [ 2.69350530e-01 9.62775203e-01 -2.26759963e-02 2.24011751e+01] [ 9.00346945e-02 -1.73148018e-03 9.95937124e-01 1.08942228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.15925415399994 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:277.93, Y:22.41, Z:10.90 [[ 9.59986173e-01 -2.66277258e-01 -8.67350568e-02 2.77925823e+02] [ 2.65323051e-01 9.63895530e-01 -2.25629547e-02 2.24105449e+01] [ 8.96115352e-02 -1.35268535e-03 9.95975875e-01 1.08964024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.18925415399997 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:277.96, Y:22.42, Z:10.90 [[ 9.60265182e-01 -2.65272247e-01 -8.67260943e-02 2.77957117e+02] [ 2.64314758e-01 9.64172720e-01 -2.25538183e-02 2.24189969e+01] [ 8.96018363e-02 -1.26534024e-03 9.95976862e-01 1.08991526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.21925415399994 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:277.99, Y:22.43, Z:10.90 [[ 9.60370605e-01 -2.64918125e-01 -8.66411435e-02 2.77986931e+02] [ 2.63961678e-01 9.64270115e-01 -2.25250329e-02 2.24269068e+01] [ 8.95127549e-02 -1.23756221e-03 9.95984907e-01 1.09016719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.24925415399997 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:278.02, Y:22.43, Z:10.90 [[ 9.60152002e-01 -2.65443637e-01 -8.74517483e-02 2.78017658e+02] [ 2.64471818e-01 9.64125498e-01 -2.27306253e-02 2.24339270e+01] [ 9.03481602e-02 -1.30366748e-03 9.95909389e-01 1.09036237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.27925415399994 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:278.05, Y:22.44, Z:10.91 [[ 9.59936157e-01 -2.66102844e-01 -8.78171444e-02 2.78048590e+02] [ 2.65126097e-01 9.63943661e-01 -2.28204029e-02 2.24412052e+01] [ 9.07233538e-02 -1.37648686e-03 9.95875182e-01 1.09057960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.309254154 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:278.08, Y:22.45, Z:10.91 [[ 9.59638552e-01 -2.67026867e-01 -8.82638223e-02 2.78079611e+02] [ 2.66044678e-01 9.63687951e-01 -2.29294903e-02 2.24481995e+01] [ 9.11815720e-02 -1.47809738e-03 9.95833187e-01 1.09081609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.33925415399995 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:278.11, Y:22.46, Z:10.91 [[ 9.59433317e-01 -2.67717421e-01 -8.84030128e-02 2.78109684e+02] [ 2.66735727e-01 9.63496222e-01 -2.29582799e-02 2.24551677e+01] [ 9.13223003e-02 -1.55330322e-03 9.95820177e-01 1.09106009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.369254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:278.14, Y:22.46, Z:10.91 [[ 9.59149846e-01 -2.68738069e-01 -8.83822616e-02 2.78139664e+02] [ 2.67762193e-01 9.63211862e-01 -2.29415901e-02 2.24618124e+01] [ 9.12961214e-02 -1.66100556e-03 9.95822403e-01 1.09135263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.39925415399995 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:278.17, Y:22.47, Z:10.92 [[ 9.58984185e-01 -2.69272152e-01 -8.85541667e-02 2.78170600e+02] [ 2.68295728e-01 9.63062579e-01 -2.29754629e-02 2.24692945e+01] [ 9.14698564e-02 -1.72559911e-03 9.95806350e-01 1.09163490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.429254154 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:278.20, Y:22.48, Z:10.92 [[ 9.58886804e-01 -2.69601660e-01 -8.86061110e-02 2.78201677e+02] [ 2.68626131e-01 9.62970317e-01 -2.29819725e-02 2.24763966e+01] [ 9.15210327e-02 -1.76480661e-03 9.95801580e-01 1.09189199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.45925415399995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:278.23, Y:22.48, Z:10.92 [[ 9.58644202e-01 -2.70398795e-01 -8.88019442e-02 2.78233055e+02] [ 2.69423000e-01 9.62746624e-01 -2.30257355e-02 2.24821120e+01] [ 9.17199032e-02 -1.85179834e-03 9.95783124e-01 1.09214287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.489254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:278.26, Y:22.49, Z:10.92 [[ 9.58531434e-01 -2.70771021e-01 -8.88850018e-02 2.78262819e+02] [ 2.69795631e-01 9.62641917e-01 -2.30403471e-02 2.24881022e+01] [ 9.18030868e-02 -1.89588822e-03 9.95775376e-01 1.09232588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.51925415399995 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:278.29, Y:22.49, Z:10.93 [[ 9.58072808e-01 -2.72400491e-01 -8.88508144e-02 2.78291422e+02] [ 2.71433312e-01 9.62181763e-01 -2.30263420e-02 2.24947641e+01] [ 9.17630201e-02 -2.05615870e-03 9.95778751e-01 1.09264556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.549254154 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:278.32, Y:22.50, Z:10.93 [[ 9.57267132e-01 -2.75263889e-01 -8.87098015e-02 2.78322936e+02] [ 2.74311808e-01 9.61365897e-01 -2.29922523e-02 2.25002709e+01] [ 9.16115147e-02 -2.32441856e-03 9.95792111e-01 1.09293712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.57925415399995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:278.35, Y:22.51, Z:10.93 [[ 9.56672506e-01 -2.77440678e-01 -8.83424442e-02 2.78351911e+02] [ 2.76506329e-01 9.60739443e-01 -2.28904613e-02 2.25070683e+01] [ 9.12248157e-02 -2.52857004e-03 9.95827113e-01 1.09317533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.609254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:278.38, Y:22.51, Z:10.93 [[ 9.55288310e-01 -2.81996334e-01 -8.88949556e-02 2.78382093e+02] [ 2.81070054e-01 9.59410842e-01 -2.30317250e-02 2.25134953e+01] [ 9.17816462e-02 -2.98377235e-03 9.95774687e-01 1.09347379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.63925415399996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:278.41, Y:22.52, Z:10.94 [[ 9.54528732e-01 -2.84439133e-01 -8.92708194e-02 2.78411266e+02] [ 2.83515910e-01 9.58688643e-01 -2.31260794e-02 2.25200465e+01] [ 9.21608826e-02 -3.23519032e-03 9.95738874e-01 1.09369034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.669254154 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:278.44, Y:22.53, Z:10.94 [[ 9.53685426e-01 -2.87122492e-01 -8.96927105e-02 2.78439857e+02] [ 2.86202148e-01 9.57887446e-01 -2.32372692e-02 2.25266577e+01] [ 9.25874641e-02 -3.50920142e-03 9.95698371e-01 1.09393623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.69925415399996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:278.47, Y:22.54, Z:10.94 [[ 9.53106190e-01 -2.91336096e-01 -8.19260022e-02 2.78472969e+02] [ 2.88995510e-01 9.56520511e-01 -3.93714165e-02 2.25391748e+01] [ 8.98342162e-02 1.38488940e-02 9.95860443e-01 1.09425236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.729254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:278.50, Y:22.53, Z:10.94 [[ 9.51175329e-01 -2.93535880e-01 -9.54053511e-02 2.78502425e+02] [ 2.94417663e-01 9.55663674e-01 -5.01816961e-03 2.25309802e+01] [ 9.26484412e-02 -2.33158614e-02 9.95425857e-01 1.09399361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.75925415399996 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:278.53, Y:22.55, Z:10.95 [[ 9.50426325e-01 -2.97462297e-01 -9.05868752e-02 2.78529136e+02] [ 2.96568778e-01 9.54722741e-01 -2.34829339e-02 2.25468432e+01] [ 9.34706373e-02 -4.54644028e-03 9.95611656e-01 1.09475958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.789254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:278.56, Y:22.55, Z:10.95 [[ 9.49795393e-01 -2.99496684e-01 -9.05010959e-02 2.78558768e+02] [ 2.98614193e-01 9.54085549e-01 -2.34590937e-02 2.25544899e+01] [ 9.33717085e-02 -4.74357258e-03 9.95620019e-01 1.09503102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.81925415399996 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:278.59, Y:22.56, Z:10.95 [[ 9.49027778e-01 -3.01894735e-01 -9.05861240e-02 2.78586797e+02] [ 3.01021394e-01 9.53328240e-01 -2.34816520e-02 2.25615996e+01] [ 9.34472972e-02 -4.98362130e-03 9.95611755e-01 1.09532501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.849254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:278.62, Y:22.57, Z:10.96 [[ 9.48949536e-01 -3.02157835e-01 -9.05285602e-02 2.78615018e+02] [ 3.01286319e-01 9.53244789e-01 -2.34718101e-02 2.25695456e+01] [ 9.33880696e-02 -5.00145332e-03 9.95617223e-01 1.09557627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.87925415399997 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:278.64, Y:22.58, Z:10.96 [[ 9.49134622e-01 -3.01511149e-01 -9.07441290e-02 2.78644994e+02] [ 3.00632267e-01 9.53449818e-01 -2.35305201e-02 2.25784873e+01] [ 9.36146873e-02 -4.94698195e-03 9.95596212e-01 1.09590127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.90925415399994 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:278.67, Y:22.59, Z:10.96 [[ 9.49954303e-01 -2.98821167e-01 -9.10644406e-02 2.78673946e+02] [ 2.97924116e-01 9.54297543e-01 -2.36097622e-02 2.25888416e+01] [ 9.39576686e-02 -4.70209775e-03 9.95565089e-01 1.09620825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.93925415399997 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:278.70, Y:22.60, Z:10.97 [[ 9.50486815e-01 -2.97092656e-01 -9.11634100e-02 2.78703437e+02] [ 2.96186269e-01 9.54837854e-01 -2.36297687e-02 2.25978714e+01] [ 9.40665055e-02 -4.54156673e-03 9.95555557e-01 1.09650887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.96925415399994 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:278.73, Y:22.61, Z:10.97 [[ 9.51492609e-01 -2.93793117e-01 -9.13642081e-02 2.78731779e+02] [ 2.92867889e-01 9.55859681e-01 -2.36784494e-02 2.26077629e+01] [ 9.42879283e-02 -4.22777319e-03 9.95535993e-01 1.09676351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.99925415399997 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:278.76, Y:22.62, Z:10.97 [[ 9.51895478e-01 -2.92428970e-01 -9.15439621e-02 2.78761598e+02] [ 2.91493996e-01 9.56278446e-01 -2.37230768e-02 2.26169394e+01] [ 9.44788327e-02 -4.10262582e-03 9.95518417e-01 1.09705116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.02925415399994 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:278.79, Y:22.63, Z:10.97 [[ 9.52233394e-01 -2.91227873e-01 -9.18579856e-02 2.78792433e+02] [ 2.90281276e-01 9.56645346e-01 -2.38004877e-02 2.26264072e+01] [ 9.48068798e-02 -4.00103408e-03 9.95487643e-01 1.09734045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.059254154 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:278.82, Y:22.64, Z:10.98 [[ 9.52571896e-01 -2.90108574e-01 -9.18901463e-02 2.78823555e+02] [ 2.89156816e-01 9.56985800e-01 -2.38015608e-02 2.26358101e+01] [ 9.48426020e-02 -3.89796428e-03 9.95484649e-01 1.09760870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.08925415399995 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:278.85, Y:22.65, Z:10.98 [[ 9.53015568e-01 -2.88559147e-01 -9.21680286e-02 2.78852478e+02] [ 2.87595075e-01 9.57454681e-01 -2.38664275e-02 2.26463065e+01] [ 9.51335864e-02 -3.76199422e-03 9.95457406e-01 1.09785765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.119254154 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:278.88, Y:22.66, Z:10.98 [[ 9.53290979e-01 -2.87618312e-01 -9.22605912e-02 2.78882443e+02] [ 2.86648411e-01 9.57738058e-01 -2.38851548e-02 2.26552337e+01] [ 9.52312873e-02 -3.67684927e-03 9.95448383e-01 1.09811530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.14925415399995 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:278.91, Y:22.67, Z:10.98 [[ 9.53819684e-01 -2.85695770e-01 -9.27681939e-02 2.78912337e+02] [ 2.84706438e-01 9.58313948e-01 -2.40129417e-02 2.26656418e+01] [ 9.57614501e-02 -3.50768558e-03 9.95398132e-01 1.09837419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.179254154 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:278.94, Y:22.67, Z:10.99 [[ 9.54200746e-01 -2.84387442e-01 -9.28693669e-02 2.78941470e+02] [ 2.83390097e-01 9.58703466e-01 -2.40357472e-02 2.26745794e+01] [ 9.58696486e-02 -3.38333098e-03 9.95388147e-01 1.09863457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.20925415399995 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:278.97, Y:22.68, Z:10.99 [[ 9.54576254e-01 -2.83103569e-01 -9.29330085e-02 2.78972262e+02] [ 2.82099025e-01 9.59083807e-01 -2.40497745e-02 2.26840796e+01] [ 9.59391206e-02 -3.25896741e-03 9.95381869e-01 1.09891738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.239254154 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:279.00, Y:22.69, Z:10.99 [[ 9.54944013e-01 -2.81760495e-01 -9.32360228e-02 2.79003180e+02] [ 2.80743701e-01 9.59479628e-01 -2.41209140e-02 2.26939185e+01] [ 9.62543851e-02 -3.14130374e-03 9.95351810e-01 1.09921969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.26925415399995 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:279.03, Y:22.71, Z:11.00 [[ 9.55828429e-01 -2.78901852e-01 -9.27673002e-02 2.79033649e+02] [ 2.77882543e-01 9.60315395e-01 -2.39923756e-02 2.27057247e+01] [ 9.57773845e-02 -2.84581859e-03 9.95398711e-01 1.09951488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.299254154 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:279.06, Y:22.72, Z:11.00 [[ 9.56389577e-01 -2.77180693e-01 -9.21403272e-02 2.79064620e+02] [ 2.76167864e-01 9.60814122e-01 -2.38229805e-02 2.27152480e+01] [ 9.51329978e-02 -2.66214710e-03 9.95461012e-01 1.09980111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.32925415399995 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:279.10, Y:22.72, Z:11.00 [[ 9.56922712e-01 -2.75508518e-01 -9.16186644e-02 2.79095421e+02] [ 2.74500182e-01 9.61295409e-01 -2.36809249e-02 2.27244981e+01] [ 9.45968980e-02 -2.48852517e-03 9.95512548e-01 1.10008636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.359254154 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:279.13, Y:22.73, Z:11.00 [[ 9.57554187e-01 -2.73623791e-01 -9.06642202e-02 2.79125663e+02] [ 2.72628614e-01 9.61834082e-01 -2.34272984e-02 2.27335309e+01] [ 9.36142032e-02 -2.28475297e-03 9.95605926e-01 1.10035962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.38925415399996 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:279.16, Y:22.74, Z:11.01 [[ 9.58741205e-01 -2.69881485e-01 -8.93268516e-02 2.79155313e+02] [ 2.68899808e-01 9.62891681e-01 -2.30760398e-02 2.27442788e+01] [ 9.22398782e-02 -1.89602310e-03 9.95735010e-01 1.10067445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.419254154 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:279.19, Y:22.75, Z:11.01 [[ 9.59316344e-01 -2.68055321e-01 -8.86481673e-02 2.79187330e+02] [ 2.67081749e-01 9.63401990e-01 -2.28898418e-02 2.27536654e+01] [ 9.15395647e-02 -1.71770818e-03 9.95799959e-01 1.10095557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.44925415399996 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:279.22, Y:22.76, Z:11.01 [[ 9.59709446e-01 -2.66685481e-01 -8.85247671e-02 2.79218605e+02] [ 2.65709784e-01 9.63782294e-01 -2.28473333e-02 2.27627672e+01] [ 9.14116552e-02 -1.59509519e-03 9.95811912e-01 1.10126997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.479254154 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:279.25, Y:22.77, Z:11.01 [[ 9.60129178e-01 -2.65348567e-01 -8.79892045e-02 2.79248827e+02] [ 2.64380001e-01 9.64151430e-01 -2.26987788e-02 2.27716957e+01] [ 9.08580058e-02 -1.46882608e-03 9.95862774e-01 1.10149154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.50925415399996 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:279.28, Y:22.78, Z:11.02 [[ 9.60086116e-01 -2.65377787e-01 -8.83701323e-02 2.79278706e+02] [ 2.64401706e-01 9.64143361e-01 -2.27885244e-02 2.27791164e+01] [ 9.12490446e-02 -1.48626785e-03 9.95826994e-01 1.10172150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.539254154 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:279.31, Y:22.79, Z:11.02 [[ 9.59879761e-01 -2.66011002e-01 -8.87073294e-02 2.79310258e+02] [ 2.65030631e-01 9.63968734e-01 -2.28701585e-02 2.27867916e+01] [ 9.15948058e-02 -1.55755721e-03 9.95795142e-01 1.10193513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.56925415399996 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:279.34, Y:22.79, Z:11.02 [[ 9.59065772e-01 -2.68547252e-01 -8.98622204e-02 2.79341531e+02] [ 2.67552876e-01 9.63264774e-01 -2.31610339e-02 2.27938988e+01] [ 9.27809434e-02 -1.82994064e-03 9.95684864e-01 1.10212715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.599254154 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:279.37, Y:22.80, Z:11.02 [[ 9.58580659e-01 -2.70234027e-01 -8.99816148e-02 2.79371418e+02] [ 2.69245098e-01 9.62792584e-01 -2.31844326e-02 2.28009199e+01] [ 9.28988540e-02 -2.00296011e-03 9.95673536e-01 1.10236193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.62925415399997 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:279.40, Y:22.81, Z:11.02 [[ 9.57447437e-01 -2.73909569e-01 -9.09282850e-02 2.79402902e+02] [ 2.72917243e-01 9.61752469e-01 -2.34172299e-02 2.28068557e+01] [ 9.38647059e-02 -2.39513017e-03 9.95582081e-01 1.10247525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.65925415399994 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:279.43, Y:22.81, Z:11.03 [[ 9.56781010e-01 -2.76343670e-01 -9.05774492e-02 2.79433425e+02] [ 2.75370522e-01 9.61055283e-01 -2.33199040e-02 2.28145182e+01] [ 9.34942439e-02 -2.63031818e-03 9.95616346e-01 1.10281140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.68925415399997 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:279.46, Y:22.82, Z:11.03 [[ 9.56205258e-01 -2.78354932e-01 -9.04988213e-02 2.79464664e+02] [ 2.77392965e-01 9.60474114e-01 -2.32941659e-02 2.28215167e+01] [ 9.34058212e-02 -2.82973244e-03 9.95624098e-01 1.10306180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.71925415399994 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:279.50, Y:22.83, Z:11.03 [[ 9.55660441e-01 -2.80215126e-01 -9.05130071e-02 2.79495847e+02] [ 2.79261824e-01 9.59932482e-01 -2.32908359e-02 2.28285636e+01] [ 9.34128202e-02 -3.01869689e-03 9.95622887e-01 1.10332789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.74925415399997 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:279.53, Y:22.83, Z:11.03 [[ 9.54823100e-01 -2.83111056e-01 -9.03381292e-02 2.79527325e+02] [ 2.82174995e-01 9.59081449e-01 -2.32389008e-02 2.28349919e+01] [ 9.32208136e-02 -3.30212184e-03 9.95639983e-01 1.10347520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.77925415399994 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:279.56, Y:22.84, Z:11.04 [[ 9.54492368e-01 -2.84411698e-01 -8.97457846e-02 2.79558276e+02] [ 2.83494256e-01 9.58696165e-01 -2.30796435e-02 2.28431192e+01] [ 9.26030601e-02 -3.41307086e-03 9.95697255e-01 1.10382581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.809254154 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:279.59, Y:22.85, Z:11.04 [[ 9.54222224e-01 -2.85448630e-01 -8.93253967e-02 2.79588684e+02] [ 2.84544925e-01 9.58387607e-01 -2.29647702e-02 2.28508397e+01] [ 9.21636154e-02 -3.50359421e-03 9.95737713e-01 1.10412377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.83925415399995 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:279.62, Y:22.86, Z:11.04 [[ 9.53891622e-01 -2.86647481e-01 -8.90168278e-02 2.79620137e+02] [ 2.85755702e-01 9.58029319e-01 -2.28801692e-02 2.28586441e+01] [ 9.18392738e-02 -3.61186448e-03 9.95767293e-01 1.10441770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.869254154 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:279.65, Y:22.87, Z:11.05 [[ 9.53823161e-01 -2.87045544e-01 -8.84660008e-02 2.79650910e+02] [ 2.86167098e-01 9.57910043e-01 -2.27319291e-02 2.28662978e+01] [ 9.12675696e-02 -3.63381833e-03 9.95819776e-01 1.10469129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.89925415399995 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:279.68, Y:22.87, Z:11.05 [[ 9.53725702e-01 -2.87430300e-01 -8.82672539e-02 2.79680911e+02] [ 2.86558062e-01 9.57794530e-01 -2.26740935e-02 2.28737003e+01] [ 9.10591145e-02 -3.66882747e-03 9.95838731e-01 1.10492731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.929254154 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:279.71, Y:22.88, Z:11.05 [[ 9.53740647e-01 -2.87380325e-01 -8.82684890e-02 2.79711661e+02] [ 2.86508319e-01 9.57809525e-01 -2.26692844e-02 2.28815625e+01] [ 9.10591059e-02 -3.66903840e-03 9.95838731e-01 1.10519589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.95925415399995 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:279.74, Y:22.89, Z:11.05 [[ 9.53652814e-01 -2.87647527e-01 -8.83470980e-02 2.79742806e+02] [ 2.86775571e-01 9.57729184e-01 -2.26844090e-02 2.28892995e+01] [ 9.11377082e-02 -3.70273891e-03 9.95831415e-01 1.10546031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.989254154 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:279.78, Y:22.93, Z:11.06 [[ 9.57406977e-01 -2.83902822e-01 -5.26409300e-02 2.79781671e+02] [ 2.78456374e-01 9.56054973e-01 -9.17656638e-02 2.29261220e+01] [ 7.63801538e-02 7.31988843e-02 9.94388252e-01 1.10581360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.01925415399995 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:279.81, Y:22.87, Z:11.04 [[ 9.53700713e-01 -2.80323402e-01 -1.08966692e-01 2.79811884e+02] [ 2.87349528e-01 9.56248908e-01 5.49388240e-02 2.28669953e+01] [ 8.87986418e-02 -8.37067229e-02 9.92526063e-01 1.10373812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.049254154 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:279.83, Y:22.91, Z:11.06 [[ 9.54088769e-01 -2.85751558e-01 -8.97812218e-02 2.79831511e+02] [ 2.84836017e-01 9.58297304e-01 -2.31240176e-02 2.29132148e+01] [ 9.26448269e-02 -3.51056016e-03 9.95693031e-01 1.10632908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.07925415399995 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:279.86, Y:22.92, Z:11.07 [[ 9.54614941e-01 -2.84052718e-01 -8.95788384e-02 2.79861082e+02] [ 2.83134438e-01 9.58802832e-01 -2.30655533e-02 2.29207764e+01] [ 9.24402770e-02 -3.34413229e-03 9.95712615e-01 1.10656332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.109254154 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:279.89, Y:22.93, Z:11.07 [[ 9.55773746e-01 -2.80105197e-01 -8.96528075e-02 2.79892143e+02] [ 2.79168264e-01 9.59964728e-01 -2.30825032e-02 2.29290373e+01] [ 9.25290620e-02 -2.96656813e-03 9.95705565e-01 1.10684849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.13925415399996 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:279.92, Y:22.94, Z:11.07 [[ 9.56447255e-01 -2.77721220e-01 -8.98864380e-02 2.79922474e+02] [ 2.76769529e-01 9.60657776e-01 -2.31357826e-02 2.29369935e+01] [ 9.27754034e-02 -2.74967136e-03 9.95683265e-01 1.10713225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.169254154 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:279.95, Y:22.94, Z:11.07 [[ 9.57245006e-01 -2.75056441e-01 -8.95876821e-02 2.79952297e+02] [ 2.74099874e-01 9.61424863e-01 -2.30541185e-02 2.29448674e+01] [ 9.24730088e-02 -2.48753257e-03 9.95712084e-01 1.10735990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.19925415399996 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:279.98, Y:22.95, Z:11.08 [[ 9.57889527e-01 -2.72726845e-01 -8.98204944e-02 2.79983285e+02] [ 2.71755125e-01 9.62088831e-01 -2.31134658e-02 2.29534251e+01] [ 9.27189571e-02 -2.26903289e-03 9.95689734e-01 1.10769239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.229254154 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:280.01, Y:22.96, Z:11.08 [[ 9.59060529e-01 -2.68425331e-01 -9.02814677e-02 2.80014346e+02] [ 2.67425220e-01 9.63298680e-01 -2.32250834e-02 2.29620470e+01] [ 9.32022194e-02 -1.86928055e-03 9.95645445e-01 1.10797075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.25925415399996 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:280.04, Y:22.97, Z:11.08 [[ 9.59503396e-01 -2.66792874e-01 -9.04145789e-02 2.80044565e+02] [ 2.65783221e-01 9.63752356e-01 -2.32524217e-02 2.29701215e+01] [ 9.33408439e-02 -1.71990044e-03 9.95632728e-01 1.10819015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.289254154 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:280.08, Y:22.98, Z:11.08 [[ 9.59768666e-01 -2.65668259e-01 -9.09092064e-02 2.80075928e+02] [ 2.64642990e-01 9.64063139e-01 -2.33741588e-02 2.29782364e+01] [ 9.38519870e-02 -1.62469897e-03 9.95584836e-01 1.10846317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.31925415399996 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:280.11, Y:22.99, Z:11.09 [[ 9.59858431e-01 -2.64900388e-01 -9.21931497e-02 2.80106307e+02] [ 2.63843097e-01 9.64274489e-01 -2.36966108e-02 2.29859527e+01] [ 9.51767438e-02 -1.57913451e-03 9.95459137e-01 1.10870720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.349254154 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:280.14, Y:22.99, Z:11.09 [[ 9.59709579e-01 -2.65286380e-01 -9.26318488e-02 2.80136250e+02] [ 2.64221784e-01 9.64168275e-01 -2.37988842e-02 2.29931613e+01] [ 9.56262097e-02 -1.63533514e-03 9.95415970e-01 1.10895213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.37925415399997 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:280.17, Y:23.00, Z:11.09 [[ 9.59442140e-01 -2.66211567e-01 -9.27479459e-02 2.80165609e+02] [ 2.65148923e-01 9.63913066e-01 -2.38254028e-02 2.29999861e+01] [ 9.57435547e-02 -1.73292255e-03 9.95404525e-01 1.10921173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.40925415399994 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:280.20, Y:23.01, Z:11.10 [[ 9.58610285e-01 -2.69189884e-01 -9.27530519e-02 2.80196782e+02] [ 2.68141239e-01 9.63084978e-01 -2.38243787e-02 2.30070738e+01] [ 9.57423527e-02 -2.03262387e-03 9.95404074e-01 1.10954338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.43925415399997 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:280.23, Y:23.01, Z:11.10 [[ 9.58219030e-01 -2.70759866e-01 -9.22246449e-02 2.80228128e+02] [ 2.69731082e-01 9.62644444e-01 -2.36815741e-02 2.30145792e+01] [ 9.51915619e-02 -2.18371831e-03 9.95456578e-01 1.10984001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.46925415399994 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:280.26, Y:23.02, Z:11.10 [[ 9.57285842e-01 -2.74494877e-01 -9.08646212e-02 2.80258380e+02] [ 2.73513667e-01 9.61585251e-01 -2.33255178e-02 2.30212815e+01] [ 9.37768147e-02 -2.52352779e-03 9.95590047e-01 1.11014377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.49925415399997 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:280.29, Y:23.03, Z:11.10 [[ 9.56779062e-01 -2.76478223e-01 -9.01865772e-02 2.80289982e+02] [ 2.75520906e-01 9.61016383e-01 -2.31461110e-02 2.30287569e+01] [ 9.30701738e-02 -2.70257309e-03 9.95655884e-01 1.11041522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.52925415399994 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:280.32, Y:23.04, Z:11.11 [[ 9.56271450e-01 -2.78371602e-01 -8.97450000e-02 2.80320005e+02] [ 2.77432584e-01 9.60469137e-01 -2.30260520e-02 2.30356463e+01] [ 9.26071017e-02 -2.87903111e-03 9.95698567e-01 1.11067353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.559254154 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:280.35, Y:23.04, Z:11.11 [[ 9.55828914e-01 -2.80035537e-01 -8.92814990e-02 2.80350663e+02] [ 2.79113898e-01 9.59984855e-01 -2.29021769e-02 2.30419829e+01] [ 9.21223103e-02 -3.02914434e-03 9.95743091e-01 1.11081140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.58925415399995 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:280.38, Y:23.05, Z:11.11 [[ 9.54597090e-01 -2.84445945e-01 -8.85149739e-02 2.80381442e+02] [ 2.83559277e-01 9.58685952e-01 -2.27020382e-02 2.30490157e+01] [ 9.13155647e-02 -3.42794245e-03 9.95816106e-01 1.11116528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.619254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:280.41, Y:23.06, Z:11.11 [[ 9.53929610e-01 -2.86707279e-01 -8.84151333e-02 2.80412466e+02] [ 2.85832899e-01 9.58011293e-01 -2.26697102e-02 2.30564991e+01] [ 9.12022671e-02 -3.64664607e-03 9.95825712e-01 1.11146098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.64925415399995 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:280.44, Y:23.06, Z:11.12 [[ 9.53190745e-01 -2.89284930e-01 -8.79865488e-02 2.80442980e+02] [ 2.88430548e-01 9.57235170e-01 -2.25532164e-02 2.30636337e+01] [ 9.07481246e-02 -3.88049133e-03 9.95866316e-01 1.11171837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.679254154 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:280.47, Y:23.07, Z:11.12 [[ 9.51579867e-01 -2.94526218e-01 -8.80344447e-02 2.80473880e+02] [ 2.93693648e-01 9.55633330e-01 -2.25605704e-02 2.30701682e+01] [ 9.07733290e-02 -4.38697269e-03 9.95861917e-01 1.11199585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.70925415399995 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:280.50, Y:23.08, Z:11.12 [[ 9.50778753e-01 -2.96939624e-01 -8.85811680e-02 2.80503845e+02] [ 2.96107394e-01 9.54884937e-01 -2.26973165e-02 2.30774856e+01] [ 9.13245556e-02 -4.64941259e-03 9.95810328e-01 1.11226493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.739254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:280.53, Y:23.08, Z:11.12 [[ 9.49506708e-01 -3.00789767e-01 -8.92329937e-02 2.80533900e+02] [ 2.99962450e-01 9.53677048e-01 -2.28608086e-02 2.30838032e+01] [ 9.19757554e-02 -5.06005627e-03 9.95748390e-01 1.11249861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.76925415399995 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:280.56, Y:23.09, Z:11.13 [[ 9.49164181e-01 -3.01894105e-01 -8.91476708e-02 2.80562935e+02] [ 3.01073661e-01 9.53327464e-01 -2.28341067e-02 2.30898337e+01] [ 9.18804052e-02 -5.16669941e-03 9.95756645e-01 1.11262882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.799254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:280.59, Y:23.10, Z:11.13 [[ 9.48603605e-01 -3.03628485e-01 -8.92241224e-02 2.80591079e+02] [ 3.02813951e-01 9.52775561e-01 -2.28569852e-02 2.30971284e+01] [ 9.19505951e-02 -5.33609047e-03 9.95749273e-01 1.11296082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.82925415399995 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:280.62, Y:23.10, Z:11.13 [[ 9.48185667e-01 -3.04902082e-01 -8.93233570e-02 2.80618641e+02] [ 3.04090908e-01 9.52368047e-01 -2.28871806e-02 2.31039850e+01] [ 9.20470601e-02 -5.46112409e-03 9.95739682e-01 1.11317242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.859254154 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:280.65, Y:23.11, Z:11.13 [[ 9.47778227e-01 -3.05817554e-01 -9.05099792e-02 2.80649242e+02] [ 3.04986867e-01 9.52073638e-01 -2.32120237e-02 2.31120673e+01] [ 9.32708096e-02 -5.60450429e-03 9.95625003e-01 1.11345399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.88925415399996 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:280.68, Y:23.12, Z:11.14 [[ 9.47754252e-01 -3.05761308e-01 -9.09499852e-02 2.80678798e+02] [ 3.04922873e-01 9.52091538e-01 -2.33183534e-02 2.31196708e+01] [ 9.37225614e-02 -5.63266219e-03 9.95582420e-01 1.11370488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.919254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:280.71, Y:23.13, Z:11.14 [[ 9.47937087e-01 -3.05112198e-01 -9.12240362e-02 2.80709702e+02] [ 3.04265925e-01 9.52300019e-01 -2.33863547e-02 2.31273151e+01] [ 9.40081135e-02 -5.58757274e-03 9.95555751e-01 1.11395984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.94925415399996 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:280.74, Y:23.15, Z:11.14 [[ 9.50721874e-01 -3.01731361e-01 -7.13169290e-02 2.80744291e+02] [ 2.97747795e-01 9.52671104e-01 -6.13515923e-02 2.31516632e+01] [ 8.64532769e-02 3.70938425e-02 9.95565105e-01 1.11416308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.979254154 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:280.77, Y:23.12, Z:11.13 [[ 9.48773617e-01 -2.98566718e-01 -1.03375715e-01 2.80774653e+02] [ 3.02047295e-01 9.53094177e-01 1.94659286e-02 2.31240763e+01] [ 9.27149133e-02 -4.96931145e-02 9.94451879e-01 1.11333623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.00925415399996 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:280.80, Y:23.15, Z:11.15 [[ 9.49229561e-01 -3.00638687e-01 -9.26262353e-02 2.80798294e+02] [ 2.99742884e-01 9.53723915e-01 -2.37675581e-02 2.31536602e+01] [ 9.54853032e-02 -5.20318618e-03 9.95417241e-01 1.11492340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.039254154 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:280.83, Y:23.16, Z:11.15 [[ 9.49776954e-01 -2.98936657e-01 -9.25235803e-02 2.80825308e+02] [ 2.98035021e-01 9.54259707e-01 -2.37389386e-02 2.31620265e+01] [ 9.53879636e-02 -5.02857044e-03 9.95427471e-01 1.11518523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.06925415399996 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:280.85, Y:23.17, Z:11.15 [[ 9.51464583e-01 -2.93697786e-01 -9.19606360e-02 2.80850613e+02] [ 2.92780361e-01 9.55887962e-01 -2.36191673e-02 2.31710347e+01] [ 9.48409620e-02 -4.45146711e-03 9.95482484e-01 1.11547394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.099254154 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:280.89, Y:23.20, Z:11.16 [[ 9.54779960e-01 -2.88705916e-01 -7.10219868e-02 2.80885564e+02] [ 2.84597663e-01 9.56599339e-01 -6.26248734e-02 2.31960319e+01] [ 8.60197570e-02 3.95802826e-02 9.95506907e-01 1.11581562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.12925415399997 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:280.92, Y:23.17, Z:11.15 [[ 9.54672719e-01 -2.79580679e-01 -1.02150104e-01 2.80915820e+02] [ 2.83047882e-01 9.58878175e-01 2.08935711e-02 2.31689822e+01] [ 9.21080666e-02 -4.88598930e-02 9.94549554e-01 1.11478203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.15925415399994 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:280.94, Y:23.20, Z:11.16 [[ 9.55730370e-01 -2.79918817e-01 -9.06913214e-02 2.80940086e+02] [ 2.78960149e-01 9.60019009e-01 -2.33396002e-02 2.31996520e+01] [ 9.35985858e-02 -2.99289976e-03 9.95605518e-01 1.11641449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.18925415399997 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:280.97, Y:23.21, Z:11.17 [[ 9.56830649e-01 -2.76134202e-01 -9.06918543e-02 2.80971095e+02] [ 2.75159224e-01 9.61115492e-01 -2.33326440e-02 2.32089714e+01] [ 9.36082872e-02 -2.62931136e-03 9.95605632e-01 1.11672609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.21925415399994 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:281.00, Y:23.22, Z:11.17 [[ 9.58822784e-01 -2.69120774e-01 -9.07352104e-02 2.81001781e+02] [ 2.68114154e-01 9.63104460e-01 -2.33366761e-02 2.32191093e+01] [ 9.36678702e-02 -1.95165739e-03 9.95601588e-01 1.11700997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.24925415399997 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:281.03, Y:23.23, Z:11.17 [[ 9.59644946e-01 -2.66116176e-01 -9.09052175e-02 2.81032875e+02] [ 2.65092988e-01 9.63939520e-01 -2.33732761e-02 2.32277124e+01] [ 9.38471385e-02 -1.66828948e-03 9.95585221e-01 1.11726605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.27925415399994 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:281.06, Y:23.24, Z:11.18 [[ 9.60263709e-01 -2.63659377e-01 -9.15278237e-02 2.81064226e+02] [ 2.62611639e-01 9.64614765e-01 -2.35261924e-02 2.32362760e+01] [ 9.44919914e-02 -1.44492306e-03 9.95524573e-01 1.11753230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.309254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:281.10, Y:23.24, Z:11.18 [[ 9.61055706e-01 -2.60607780e-01 -9.19538797e-02 2.81095207e+02] [ 2.59537092e-01 9.65444066e-01 -2.36273983e-02 2.32448160e+01] [ 9.49338112e-02 -1.15819665e-03 9.95482913e-01 1.11779254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.33925415399995 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:281.12, Y:23.25, Z:11.18 [[ 9.61324844e-01 -2.59682976e-01 -9.17567220e-02 2.81124960e+02] [ 2.58614285e-01 9.65693318e-01 -2.35598854e-02 2.32522493e+01] [ 9.47269544e-02 -1.08089589e-03 9.95502705e-01 1.11801269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.369254154 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:281.16, Y:23.26, Z:11.18 [[ 9.61222096e-01 -2.58826738e-01 -9.51882435e-02 2.81155915e+02] [ 2.58576551e-01 9.65871662e-01 -1.51690655e-02 2.32574024e+01] [ 9.58657866e-02 -1.00326068e-02 9.95343708e-01 1.11827366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.39925415399995 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:281.19, Y:23.27, Z:11.19 [[ 9.61288075e-01 -2.60680020e-01 -8.92813743e-02 2.81185778e+02] [ 2.58748574e-01 9.65388724e-01 -3.27686824e-02 2.32721584e+01] [ 9.47333728e-02 8.39871529e-03 9.95467252e-01 1.11885302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.429254154 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:281.22, Y:23.28, Z:11.19 [[ 9.61160955e-01 -2.60361212e-01 -9.15513999e-02 2.81217998e+02] [ 2.59302749e-01 9.65510576e-01 -2.34821693e-02 2.32750561e+01] [ 9.45076909e-02 -1.16938538e-03 9.95523445e-01 1.11877666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.45925415399995 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:281.25, Y:23.29, Z:11.19 [[ 9.61580221e-01 -2.61073888e-01 -8.48758086e-02 2.81248791e+02] [ 2.59196202e-01 9.65273255e-01 -3.26323933e-02 2.32862694e+01] [ 9.04478139e-02 9.37917678e-03 9.95857030e-01 1.11893605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.489254154 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:281.28, Y:23.28, Z:11.19 [[ 9.60461496e-01 -2.62389099e-01 -9.30896074e-02 2.81280977e+02] [ 2.62347238e-01 9.64887220e-01 -1.29065691e-02 2.32840958e+01] [ 9.32075155e-02 -1.20255387e-02 9.95574078e-01 1.11895542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.51925415399995 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:281.31, Y:23.30, Z:11.20 [[ 9.60112857e-01 -2.64783534e-01 -8.98497785e-02 2.81310731e+02] [ 2.63785365e-01 9.64306558e-01 -2.30248555e-02 2.32962250e+01] [ 9.27393333e-02 -1.59459685e-03 9.95689145e-01 1.11954345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.549254154 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:281.34, Y:23.30, Z:11.20 [[ 9.59100443e-01 -2.68872214e-01 -8.85103021e-02 2.81341112e+02] [ 2.67921602e-01 9.63173850e-01 -2.26748599e-02 2.33022164e+01] [ 9.13474482e-02 -1.96635373e-03 9.95817140e-01 1.11978016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.57925415399995 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:281.37, Y:23.31, Z:11.20 [[ 9.58399800e-01 -2.71542818e-01 -8.79449960e-02 2.81372465e+02] [ 2.70616008e-01 9.62423819e-01 -2.25248499e-02 2.33090010e+01] [ 9.07568201e-02 -2.21151209e-03 9.95870629e-01 1.12001855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.609254154 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:281.40, Y:23.32, Z:11.20 [[ 9.57563259e-01 -2.74677351e-01 -8.73210024e-02 2.81403999e+02] [ 2.73777259e-01 9.61533212e-01 -2.23583246e-02 2.33155195e+01] [ 9.01033693e-02 -2.49699451e-03 9.95929289e-01 1.12027195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.63925415399996 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:281.44, Y:23.32, Z:11.21 [[ 9.56540993e-01 -2.78398650e-01 -8.67382260e-02 2.81435680e+02] [ 2.77526385e-01 9.60461429e-01 -2.22024539e-02 2.33220053e+01] [ 8.94898537e-02 -2.83458895e-03 9.95983700e-01 1.12050388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.669254154 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:281.47, Y:23.33, Z:11.21 [[ 9.54270492e-01 -2.86257889e-01 -8.61640818e-02 2.81467490e+02] [ 2.85429601e-01 9.58146020e-01 -2.20487520e-02 2.33265358e+01] [ 8.88694012e-02 -3.55330605e-03 9.96036949e-01 1.12066856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.69925415399996 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:281.50, Y:23.33, Z:11.21 [[ 9.53189094e-01 -2.89842574e-01 -8.61500652e-02 2.81498994e+02] [ 2.89029732e-01 9.57066416e-01 -2.20383498e-02 2.33324863e+01] [ 8.88389862e-02 -3.89321554e-03 9.96038392e-01 1.12070908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.729254154 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:281.53, Y:23.34, Z:11.21 [[ 9.51808092e-01 -2.94193055e-01 -8.66706512e-02 2.81530124e+02] [ 2.93388899e-01 9.55736199e-01 -2.21646404e-02 2.33395148e+01] [ 8.93549621e-02 -4.33172285e-03 9.95990425e-01 1.12117270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.75925415399996 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:281.56, Y:23.34, Z:11.21 [[ 9.49743936e-01 -3.00879199e-01 -8.63606628e-02 2.81562094e+02] [ 3.00108844e-01 9.53649421e-01 -2.20785682e-02 2.33449261e+01] [ 8.90007780e-02 -4.94861241e-03 9.96019263e-01 1.12134303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.789254154 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:281.59, Y:23.35, Z:11.22 [[ 9.48880960e-01 -3.03442906e-01 -8.68753560e-02 2.81592761e+02] [ 3.02674625e-01 9.52835287e-01 -2.22033003e-02 2.33514121e+01] [ 8.95153388e-02 -5.22667690e-03 9.95971730e-01 1.12158715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.81925415399996 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:281.62, Y:23.36, Z:11.22 [[ 9.48908713e-01 -3.03355746e-01 -8.68766176e-02 2.81624338e+02] [ 3.02587552e-01 9.52863057e-01 -2.21983628e-02 2.33594170e+01] [ 8.95155204e-02 -5.22356323e-03 9.95971730e-01 1.12186896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.849254154 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:281.65, Y:23.37, Z:11.22 [[ 9.48257105e-01 -3.05374459e-01 -8.69189447e-02 2.81654918e+02] [ 3.04614694e-01 9.52216894e-01 -2.22008122e-02 2.33659195e+01] [ 8.95452485e-02 -5.42470985e-03 9.95967982e-01 1.12213054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.87925415399997 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:281.69, Y:23.40, Z:11.22 [[ 9.50888577e-01 -3.05011048e-01 -5.27178811e-02 2.81690301e+02] [ 2.99726533e-01 9.49840724e-01 -8.92558362e-02 2.34005801e+01] [ 7.72976065e-02 6.90714073e-02 9.94612598e-01 1.12248869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.90925415399994 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:281.72, Y:23.34, Z:11.21 [[ 9.47651719e-01 -3.01136041e-01 -1.06175818e-01 2.81724756e+02] [ 3.07733672e-01 9.50045173e-01 5.20975652e-02 2.33426064e+01] [ 8.51833688e-02 -8.20442216e-02 9.92981641e-01 1.12061382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.93925415399997 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:281.75, Y:23.39, Z:11.23 [[ 9.47471861e-01 -3.07515279e-01 -8.79285324e-02 2.81745056e+02] [ 3.06743286e-01 9.51526340e-01 -2.24984499e-02 2.33867235e+01] [ 9.05849317e-02 -5.65483884e-03 9.95872679e-01 1.12299906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.96925415399994 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:281.77, Y:23.39, Z:11.23 [[ 9.47683823e-01 -3.06804421e-01 -8.81272849e-02 2.81774759e+02] [ 3.06026818e-01 9.51756051e-01 -2.25389744e-02 2.33941695e+01] [ 9.07907337e-02 -5.60949117e-03 9.95854194e-01 1.12322402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.99925415399997 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:281.81, Y:23.40, Z:11.23 [[ 9.47856090e-01 -3.06114128e-01 -8.86734030e-02 2.81805026e+02] [ 3.05324324e-01 9.51978451e-01 -2.26734646e-02 2.34018637e+01] [ 9.13558367e-02 -5.58296537e-03 9.95802662e-01 1.12345779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.02925415399994 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:281.83, Y:23.41, Z:11.24 [[ 9.48031206e-01 -3.05360807e-01 -8.93958104e-02 2.81834410e+02] [ 3.04555040e-01 9.52220499e-01 -2.28549648e-02 2.34095749e+01] [ 9.21035337e-02 -5.55872479e-03 9.95733920e-01 1.12372102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.059254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:281.86, Y:23.42, Z:11.24 [[ 9.48381070e-01 -3.03723394e-01 -9.12438811e-02 2.81863057e+02] [ 3.02876392e-01 9.52744308e-01 -2.33275768e-02 2.34172517e+01] [ 9.40172191e-02 -5.51218519e-03 9.95555312e-01 1.12393935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.08925415399995 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:281.89, Y:23.42, Z:11.24 [[ 9.48526721e-01 -3.03147541e-01 -9.16440261e-02 2.81891142e+02] [ 3.02290078e-01 9.52927900e-01 -2.34334250e-02 2.34248843e+01] [ 9.44339346e-02 -5.47585001e-03 9.95516071e-01 1.12416062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.119254154 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:281.92, Y:23.44, Z:11.24 [[ 9.50746295e-01 -2.99631935e-01 -7.93863085e-02 2.81924207e+02] [ 2.96586742e-01 9.53799245e-01 -4.79927535e-02 2.34433984e+01] [ 9.00987627e-02 2.20840060e-02 9.95687958e-01 1.12430315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.14925415399995 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:281.95, Y:23.43, Z:11.24 [[ 9.49534817e-01 -2.97245932e-01 -1.00142331e-01 2.81953425e+02] [ 2.99109791e-01 9.54211167e-01 3.79233780e-03 2.34287658e+01] [ 9.44296738e-02 -3.35545086e-02 9.94965895e-01 1.12395988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.179254154 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:281.98, Y:23.45, Z:11.25 [[ 9.50032893e-01 -2.97942622e-01 -9.31004668e-02 2.81978927e+02] [ 2.97029331e-01 9.54570668e-01 -2.38414804e-02 2.34507809e+01] [ 9.59743679e-02 -5.00337876e-03 9.95371231e-01 1.12501040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.20925415399995 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:282.01, Y:23.46, Z:11.25 [[ 9.51664355e-01 -2.92901704e-01 -9.24313157e-02 2.82009754e+02] [ 2.91978177e-01 9.56132130e-01 -2.36662893e-02 2.34609918e+01] [ 9.53084472e-02 -4.46556314e-03 9.95437772e-01 1.12545727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.239254154 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:282.04, Y:23.47, Z:11.26 [[ 9.52719104e-01 -2.89672381e-01 -9.17399600e-02 2.82040289e+02] [ 2.88748396e-01 9.57117001e-01 -2.34821165e-02 2.34700995e+01] [ 9.46079960e-02 -4.11790522e-03 9.95506087e-01 1.12577478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.26925415399995 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:282.07, Y:23.48, Z:11.26 [[ 9.54015951e-01 -2.85477098e-01 -9.14133052e-02 2.82070134e+02] [ 2.84541189e-01 9.58378407e-01 -2.33910532e-02 2.34785752e+01] [ 9.42861478e-02 -3.69541264e-03 9.95538280e-01 1.12593904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.299254154 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:282.10, Y:23.49, Z:11.26 [[ 9.56310081e-01 -2.77976719e-01 -9.05537015e-02 2.82100152e+02] [ 2.77025762e-01 9.60583321e-01 -2.31605282e-02 2.34899254e+01] [ 9.34224630e-02 -2.93706156e-03 9.95622226e-01 1.12642647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.32925415399995 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:282.13, Y:23.50, Z:11.27 [[ 9.57515656e-01 -2.73855157e-01 -9.03721308e-02 2.82129731e+02] [ 2.72890356e-01 9.61767602e-01 -2.31070082e-02 2.34990539e+01] [ 9.32449609e-02 -2.53636086e-03 9.95639967e-01 1.12673652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.359254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:282.16, Y:23.51, Z:11.27 [[ 9.58686349e-01 -2.69803214e-01 -9.01482689e-02 2.82159272e+02] [ 2.68825810e-01 9.62913100e-01 -2.30444314e-02 2.35080072e+01] [ 9.30224107e-02 -2.14179958e-03 9.95661712e-01 1.12703926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.38925415399996 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:282.19, Y:23.52, Z:11.27 [[ 9.59678633e-01 -2.66258841e-01 -9.01285252e-02 2.82189717e+02] [ 2.65266765e-01 9.63899880e-01 -2.30339782e-02 2.35169760e+01] [ 9.30078749e-02 -1.80288566e-03 9.95663741e-01 1.12732933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.419254154 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:282.22, Y:23.53, Z:11.28 [[ 9.60923411e-01 -2.61360375e-01 -9.11973251e-02 2.82218802e+02] [ 2.60323236e-01 9.65240347e-01 -2.32998872e-02 2.35265431e+01] [ 9.41170050e-02 -1.35137572e-03 9.95560226e-01 1.12763104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.44925415399996 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:282.25, Y:23.54, Z:11.28 [[ 9.61231208e-01 -2.60114705e-01 -9.15145073e-02 2.82249407e+02] [ 2.59065222e-01 9.65576928e-01 -2.33753253e-02 2.35352229e+01] [ 9.44445627e-02 -1.23913403e-03 9.95529351e-01 1.12787182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.479254154 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:282.28, Y:23.54, Z:11.28 [[ 9.61298974e-01 -2.59521103e-01 -9.24828659e-02 2.82280351e+02] [ 2.58447202e-01 9.65736691e-01 -2.36154044e-02 2.35436851e+01] [ 9.54427927e-02 -1.20047397e-03 9.95434193e-01 1.12816816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.50925415399996 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:282.31, Y:23.55, Z:11.28 [[ 9.60986854e-01 -2.60423959e-01 -9.31859824e-02 2.82310675e+02] [ 2.59338567e-01 9.65493477e-01 -2.37876957e-02 2.35516652e+01] [ 9.61653440e-02 -1.30705630e-03 9.95364515e-01 1.12840856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.539254154 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:282.34, Y:23.56, Z:11.29 [[ 9.60695485e-01 -2.61518131e-01 -9.31259997e-02 2.82341130e+02] [ 2.60439794e-01 9.65197518e-01 -2.37669022e-02 2.35593228e+01] [ 9.61004596e-02 -1.42096058e-03 9.95370626e-01 1.12866330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.56925415399996 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:282.37, Y:23.57, Z:11.29 [[ 9.59821503e-01 -2.64708110e-01 -9.31251820e-02 2.82372452e+02] [ 2.63645295e-01 9.64327003e-01 -2.37610815e-02 2.35670960e+01] [ 9.60928787e-02 -1.74561916e-03 9.95370841e-01 1.12903353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.599254154 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:282.40, Y:23.57, Z:11.29 [[ 9.59328317e-01 -2.66399115e-01 -9.33846501e-02 2.82402173e+02] [ 2.65339035e-01 9.63860881e-01 -2.38201415e-02 2.35744752e+01] [ 9.63554757e-02 -1.92725671e-03 9.95345120e-01 1.12934551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.62925415399997 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:282.43, Y:23.58, Z:11.30 [[ 9.58775699e-01 -2.68350503e-01 -9.34728164e-02 2.82433540e+02] [ 2.67298205e-01 9.63318985e-01 -2.38369960e-02 2.35824755e+01] [ 9.64408085e-02 -2.13078353e-03 9.95336441e-01 1.12963701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.65925415399994 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:282.46, Y:23.59, Z:11.30 [[ 9.58285408e-01 -2.70193641e-01 -9.31905212e-02 2.82463296e+02] [ 2.69157131e-01 9.62803214e-01 -2.37572910e-02 2.35899448e+01] [ 9.61432024e-02 -2.31662802e-03 9.95364816e-01 1.12990791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.68925415399997 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:282.49, Y:23.60, Z:11.30 [[ 9.57155328e-01 -2.74234187e-01 -9.30015563e-02 2.82493305e+02] [ 2.73222002e-01 9.61659071e-01 -2.36974356e-02 2.35969128e+01] [ 9.59344373e-02 -2.72794466e-03 9.95383917e-01 1.13023599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.71925415399994 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:282.52, Y:23.60, Z:11.31 [[ 9.56552944e-01 -2.76398302e-01 -9.27924776e-02 2.82524584e+02] [ 2.75401873e-01 9.61038648e-01 -2.36331390e-02 2.36044018e+01] [ 9.57093167e-02 -2.94887347e-03 9.95404958e-01 1.13053001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.74925415399997 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:282.55, Y:23.61, Z:11.31 [[ 9.55204784e-01 -2.81076682e-01 -9.26267754e-02 2.82554714e+02] [ 2.80106371e-01 9.59679226e-01 -2.35839721e-02 2.36108656e+01] [ 9.55208968e-02 -3.41782697e-03 9.95421557e-01 1.13080940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.77925415399994 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:282.59, Y:23.62, Z:11.31 [[ 9.54333600e-01 -2.83953879e-01 -9.28308956e-02 2.82585496e+02] [ 2.82993360e-01 9.58830726e-01 -2.36304129e-02 2.36181559e+01] [ 9.57190625e-02 -3.71923004e-03 9.95401441e-01 1.13109735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.809254154 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:282.62, Y:23.63, Z:11.31 [[ 9.53433299e-01 -2.86852733e-01 -9.31689497e-02 2.82615599e+02] [ 2.85899668e-01 9.57966207e-01 -2.37092021e-02 2.36251013e+01] [ 9.60537548e-02 -4.03182896e-03 9.95367982e-01 1.13137060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.83925415399995 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:282.64, Y:23.63, Z:11.32 [[ 9.52401552e-01 -2.90097831e-01 -9.36724726e-02 2.82641189e+02] [ 2.88405781e-01 9.56992569e-01 -3.14217698e-02 2.36346729e+01] [ 9.87592474e-02 2.91045972e-03 9.95107100e-01 1.13186461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.869254154 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:282.67, Y:23.63, Z:11.32 [[ 9.50505025e-01 -2.95699597e-01 -9.54041216e-02 2.82672256e+02] [ 2.95437856e-01 9.55207429e-01 -1.71825445e-02 2.36345440e+01] [ 9.62115972e-02 -1.18538943e-02 9.95290316e-01 1.13165636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.89925415399995 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:282.70, Y:23.64, Z:11.32 [[ 9.49821288e-01 -2.98414777e-01 -9.37450868e-02 2.82701117e+02] [ 2.97500764e-01 9.54422216e-01 -2.39066837e-02 2.36444574e+01] [ 9.66065012e-02 -5.18215783e-03 9.95309163e-01 1.13212661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.929254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:282.73, Y:23.65, Z:11.32 [[ 9.49224767e-01 -3.00197925e-01 -9.40932870e-02 2.82732537e+02] [ 2.99286880e-01 9.53861682e-01 -2.39844790e-02 2.36520851e+01] [ 9.69520718e-02 -5.39422484e-03 9.95274434e-01 1.13240497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.95925415399995 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:282.76, Y:23.66, Z:11.33 [[ 9.48639189e-01 -3.01840180e-01 -9.47427846e-02 2.82763595e+02] [ 3.00925366e-01 9.53342047e-01 -2.41426271e-02 2.36602592e+01] [ 9.76094951e-02 -5.60786496e-03 9.95208992e-01 1.13275321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.989254154 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:282.79, Y:23.67, Z:11.33 [[ 9.48584406e-01 -3.01913601e-01 -9.50568412e-02 2.82794512e+02] [ 3.00993819e-01 9.53318599e-01 -2.42150640e-02 2.36688061e+01] [ 9.79303119e-02 -5.64148957e-03 9.95177285e-01 1.13308744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.01925415399995 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:282.83, Y:23.68, Z:11.33 [[ 9.48748356e-01 -3.01374239e-01 -9.51321436e-02 2.82825244e+02] [ 3.00451045e-01 9.53489505e-01 -2.42267095e-02 2.36771481e+01] [ 9.80088067e-02 -5.59750117e-03 9.95169806e-01 1.13337094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.049254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:282.86, Y:23.69, Z:11.34 [[ 9.49138353e-01 -3.00263172e-01 -9.47544904e-02 2.82855271e+02] [ 2.99342578e-01 9.53840722e-01 -2.41225492e-02 2.36854642e+01] [ 9.76238047e-02 -5.46841681e-03 9.95208365e-01 1.13366112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.07925415399995 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:282.89, Y:23.69, Z:11.34 [[ 9.50142048e-01 -2.97069174e-01 -9.47628306e-02 2.82885823e+02] [ 2.96133729e-01 9.54842064e-01 -2.41132094e-02 2.36949954e+01] [ 9.76468280e-02 -5.15149626e-03 9.95207797e-01 1.13399937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.109254154 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:282.92, Y:23.70, Z:11.34 [[ 9.50835671e-01 -2.94684992e-01 -9.52485321e-02 2.82915962e+02] [ 2.93728806e-01 9.55581684e-01 -2.42287707e-02 2.37035492e+01] [ 9.81576078e-02 -4.93965811e-03 9.95158622e-01 1.13427184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.13925415399996 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:282.95, Y:23.71, Z:11.35 [[ 9.51446941e-01 -2.92552165e-01 -9.57180697e-02 2.82946760e+02] [ 2.91576958e-01 9.56237745e-01 -2.43362395e-02 2.37127402e+01] [ 9.86488507e-02 -4.75454293e-03 9.95110948e-01 1.13458096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.169254154 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:282.98, Y:23.72, Z:11.35 [[ 9.52881280e-01 -2.87146766e-01 -9.77957106e-02 2.82977585e+02] [ 2.86101103e-01 9.57876974e-01 -2.48568166e-02 2.37230968e+01] [ 1.00813814e-01 -4.29386552e-03 9.94896044e-01 1.13479690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.19925415399996 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:283.01, Y:23.73, Z:11.35 [[ 9.53549597e-01 -2.84794687e-01 -9.81588130e-02 2.83008245e+02] [ 2.83729582e-01 9.58579909e-01 -2.49415871e-02 2.37330309e+01] [ 1.01196297e-01 -4.06751871e-03 9.94858163e-01 1.13518157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.229254154 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:283.04, Y:23.74, Z:11.35 [[ 9.54277443e-01 -2.82005443e-01 -9.91337048e-02 2.83038975e+02] [ 2.80904827e-01 9.59405213e-01 -2.51816657e-02 2.37423248e+01] [ 1.02210760e-01 -3.81684056e-03 9.94755443e-01 1.13549134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.25925415399996 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:283.07, Y:23.76, Z:11.36 [[ 9.56310640e-01 -2.76291801e-01 -9.55656851e-02 2.83072125e+02] [ 2.74290615e-01 9.61054725e-01 -3.37412661e-02 2.37568589e+01] [ 1.01166288e-01 6.05436116e-03 9.94851108e-01 1.13590530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.289254154 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:283.10, Y:23.76, Z:11.36 [[ 9.57236901e-01 -2.72758630e-01 -9.64377794e-02 2.83104489e+02] [ 2.71304094e-01 9.62082185e-01 -2.81417564e-02 2.37630061e+01] [ 1.00456976e-01 7.74363296e-04 9.94941102e-01 1.13593487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.31925415399996 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:283.14, Y:23.78, Z:11.36 [[ 9.58648930e-01 -2.69684134e-01 -9.08993834e-02 2.83136243e+02] [ 2.67185978e-01 9.62861736e-01 -3.88449419e-02 2.37764419e+01] [ 9.79994026e-02 1.29516213e-02 9.95102192e-01 1.13622399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.349254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:283.16, Y:23.77, Z:11.36 [[ 9.58664165e-01 -2.63037751e-01 -1.08508805e-01 2.83163188e+02] [ 2.65318054e-01 9.64136392e-01 6.88094185e-03 2.37659182e+01] [ 1.02807340e-01 -3.53858574e-02 9.94071673e-01 1.13577819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.37925415399997 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:283.19, Y:23.79, Z:11.37 [[ 9.59627630e-01 -2.62917312e-01 -9.99464774e-02 2.83187921e+02] [ 2.61688005e-01 9.64816821e-01 -2.54536770e-02 2.37899753e+01] [ 1.03122255e-01 -1.72874252e-03 9.94667187e-01 1.13716502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.40925415399994 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:283.22, Y:23.80, Z:11.37 [[ 9.60470237e-01 -2.60055666e-01 -9.93376798e-02 2.83218173e+02] [ 2.58826676e-01 9.65592584e-01 -2.52925549e-02 2.37990063e+01] [ 1.02497199e-01 -1.41849534e-03 9.94732282e-01 1.13749189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.43925415399997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:283.25, Y:23.82, Z:11.38 [[ 9.63165785e-01 -2.54512177e-01 -8.68056621e-02 2.83252406e+02] [ 2.51028967e-01 9.66733099e-01 -4.91077787e-02 2.38189421e+01] [ 9.64164344e-02 2.55081966e-02 9.95014172e-01 1.13816323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.46925415399994 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:283.28, Y:23.80, Z:11.37 [[ 9.62436066e-01 -2.50444403e-01 -1.04854277e-01 2.83284228e+02] [ 2.52050048e-01 9.67711841e-01 2.13670081e-03 2.38036856e+01] [ 1.00933601e-01 -2.84849636e-02 9.94485302e-01 1.13727371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.49925415399997 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:283.31, Y:23.82, Z:11.38 [[ 9.62959457e-01 -2.51363282e-01 -9.75991003e-02 2.83311243e+02] [ 2.50133336e-01 9.67892689e-01 -2.48406215e-02 2.38237527e+01] [ 1.00709476e-01 -4.92277154e-04 9.94915755e-01 1.13842505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.52925415399994 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:283.34, Y:23.83, Z:11.39 [[ 9.63199867e-01 -2.50487992e-01 -9.74770835e-02 2.83342799e+02] [ 2.49257605e-01 9.68119620e-01 -2.48001630e-02 2.38311680e+01] [ 1.00581620e-01 -4.09390669e-04 9.94928726e-01 1.13873335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.559254154 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:283.37, Y:23.84, Z:11.39 [[ 9.62886962e-01 -2.51233434e-01 -9.86430885e-02 2.83373903e+02] [ 2.49978065e-01 9.67926397e-01 -2.50889709e-02 2.38380552e+01] [ 1.01782438e-01 -5.00765378e-04 9.94806556e-01 1.13903625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.58925415399995 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:283.40, Y:23.85, Z:11.39 [[ 9.62481416e-01 -2.52650548e-01 -9.89809267e-02 2.83404396e+02] [ 2.51394894e-01 9.67557370e-01 -2.51663158e-02 2.38453749e+01] [ 1.02128009e-01 -6.61188363e-04 9.94771045e-01 1.13933877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.619254154 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:283.43, Y:23.85, Z:11.40 [[ 9.61163550e-01 -2.57305127e-01 -9.97932915e-02 2.83434669e+02] [ 2.56054977e-01 9.66329492e-01 -2.53606404e-02 2.38507766e+01] [ 1.02958623e-01 -1.17684585e-03 9.94684944e-01 1.13954492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.64925415399995 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:283.47, Y:23.86, Z:11.40 [[ 9.60356874e-01 -2.60212307e-01 -1.00021145e-01 2.83466325e+02] [ 2.58972767e-01 9.65550264e-01 -2.54124741e-02 2.38569548e+01] [ 1.03188082e-01 -1.49770855e-03 9.94660734e-01 1.13981906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.679254154 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:283.50, Y:23.86, Z:11.40 [[ 9.59421522e-01 -2.63201024e-01 -1.01170965e-01 2.83497630e+02] [ 2.61950141e-01 9.64739243e-01 -2.56966296e-02 2.38626159e+01] [ 1.04366980e-01 -1.84784918e-03 9.94537138e-01 1.14005155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.70925415399995 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:283.53, Y:23.87, Z:11.40 [[ 9.57658960e-01 -2.69862737e-01 -1.00316599e-01 2.83529744e+02] [ 2.68670110e-01 9.62895403e-01 -2.54718662e-02 2.38677725e+01] [ 1.03468300e-01 -2.55871088e-03 9.94629461e-01 1.14036480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.739254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:283.56, Y:23.88, Z:11.41 [[ 9.57686748e-01 -2.69763359e-01 -1.00318602e-01 2.83561334e+02] [ 2.68571014e-01 9.62923256e-01 -2.54639773e-02 2.38757315e+01] [ 1.03468363e-01 -2.55615498e-03 9.94629461e-01 1.14065360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.76925415399995 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:283.59, Y:23.88, Z:11.41 [[ 9.56848780e-01 -2.72852007e-01 -9.99609636e-02 2.83591908e+02] [ 2.71686115e-01 9.62051676e-01 -2.53619332e-02 2.38824668e+01] [ 1.03087667e-01 -2.89047095e-03 9.94668074e-01 1.14095905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.799254154 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:283.62, Y:23.89, Z:11.41 [[ 9.55762581e-01 -2.76832520e-01 -9.94064612e-02 2.83623505e+02] [ 2.75702235e-01 9.60912473e-01 -2.52090419e-02 2.38893460e+01] [ 1.02499591e-01 -3.31272463e-03 9.94727530e-01 1.14128645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.82925415399995 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:283.65, Y:23.90, Z:11.42 [[ 9.55481008e-01 -2.77715364e-01 -9.96504858e-02 2.83654124e+02] [ 2.76585177e-01 9.60657302e-01 -2.52623769e-02 2.38967889e+01] [ 1.02745717e-01 -3.42412592e-03 9.94701761e-01 1.14157305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.859254154 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:283.69, Y:23.90, Z:11.42 [[ 9.55361421e-01 -2.78115170e-01 -9.96820320e-02 2.83685062e+02] [ 2.76987676e-01 9.60541432e-01 -2.52583478e-02 2.39043963e+01] [ 1.02773451e-01 -3.47984334e-03 9.94698702e-01 1.14185465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.88925415399996 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:283.72, Y:23.91, Z:11.42 [[ 9.55417646e-01 -2.77843496e-01 -9.99005212e-02 2.83716121e+02] [ 2.76710378e-01 9.60620102e-01 -2.53058704e-02 2.39121026e+01] [ 1.02997520e-01 -3.46583588e-03 9.94675575e-01 1.14214879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.919254154 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:283.75, Y:23.92, Z:11.42 [[ 9.55531865e-01 -2.77405125e-01 -1.00026258e-01 2.83747002e+02] [ 2.76267566e-01 9.60746912e-01 -2.53298985e-02 2.39200156e+01] [ 1.03126562e-01 -3.43048573e-03 9.94662327e-01 1.14242698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.94925415399996 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:283.78, Y:23.93, Z:11.43 [[ 9.56156025e-01 -2.75213951e-01 -1.00114617e-01 2.83777192e+02] [ 2.74063193e-01 9.61377664e-01 -2.53446738e-02 2.39275409e+01] [ 1.03223165e-01 -3.20426913e-03 9.94653061e-01 1.14274163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.979254154 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:283.81, Y:23.94, Z:11.43 [[ 9.56614884e-01 -2.73689306e-01 -9.99105960e-02 2.83807968e+02] [ 2.72535588e-01 9.61813353e-01 -2.52868898e-02 2.39355889e+01] [ 1.03016097e-01 -3.03937795e-03 9.94675045e-01 1.14306365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.00925415399996 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:283.84, Y:23.94, Z:11.43 [[ 9.57114537e-01 -2.71996790e-01 -9.97472226e-02 2.83838061e+02] [ 2.70838467e-01 9.62293909e-01 -2.52380012e-02 2.39438625e+01] [ 1.02850800e-01 -2.85972704e-03 9.94692684e-01 1.14336795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.039254154 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:283.87, Y:23.95, Z:11.44 [[ 9.58241965e-01 -2.68036027e-01 -9.96444915e-02 2.83869001e+02] [ 2.66859358e-01 9.63405805e-01 -2.52059022e-02 2.39530424e+01] [ 1.02754171e-01 -2.43771182e-03 9.94703794e-01 1.14367275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.06925415399996 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:283.90, Y:23.96, Z:11.44 [[ 9.58761899e-01 -2.66027285e-01 -1.00025521e-01 2.83899883e+02] [ 2.64831494e-01 9.63962900e-01 -2.52944195e-02 2.39614002e+01] [ 1.03149897e-01 -2.23858255e-03 9.94663304e-01 1.14396402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.099254154 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:283.93, Y:23.97, Z:11.44 [[ 9.59259653e-01 -2.63664001e-01 -1.01499816e-01 2.83930604e+02] [ 2.62420270e-01 9.64612465e-01 -2.56592020e-02 2.39690773e+01] [ 1.04673396e-01 -2.02177198e-03 9.94504597e-01 1.14421119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.12925415399997 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:283.96, Y:23.98, Z:11.44 [[ 9.60384132e-01 -2.59819867e-01 -1.00776764e-01 2.83960151e+02] [ 2.58573501e-01 9.65655778e-01 -2.54688520e-02 2.39779489e+01] [ 1.03932978e-01 -1.59831945e-03 9.94583019e-01 1.14443330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.15925415399994 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:283.99, Y:23.99, Z:11.45 [[ 9.60918596e-01 -2.57619421e-01 -1.01329592e-01 2.83990782e+02] [ 2.56347762e-01 9.66245490e-01 -2.56023141e-02 2.39861145e+01] [ 1.04504914e-01 -1.37387439e-03 9.94523421e-01 1.14473390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.18925415399997 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:284.02, Y:23.99, Z:11.45 [[ 9.61410757e-01 -2.55667089e-01 -1.01605585e-01 2.84021295e+02] [ 2.54378431e-01 9.66764172e-01 -2.56641631e-02 2.39945410e+01] [ 1.04790121e-01 -1.17246678e-03 9.94493668e-01 1.14500186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.21925415399994 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:284.05, Y:24.00, Z:11.45 [[ 9.61880924e-01 -2.53844647e-01 -1.01725033e-01 2.84050756e+02] [ 2.52543515e-01 9.67244504e-01 -2.56873843e-02 2.40029177e+01] [ 1.04913584e-01 -9.81792575e-04 9.94480857e-01 1.14529075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.24925415399997 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:284.08, Y:24.01, Z:11.46 [[ 9.62654232e-01 -2.50781310e-01 -1.02007666e-01 2.84080889e+02] [ 2.49455995e-01 9.68043548e-01 -2.57564857e-02 2.40118820e+01] [ 1.05207108e-01 -6.51833892e-04 9.94450119e-01 1.14561626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.27925415399994 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:284.11, Y:24.02, Z:11.46 [[ 9.62925449e-01 -2.49764502e-01 -1.01942495e-01 2.84112376e+02] [ 2.48435682e-01 9.68306458e-01 -2.57354930e-02 2.40201092e+01] [ 1.05139389e-01 -5.44791991e-04 9.94457346e-01 1.14590511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.309254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:284.14, Y:24.03, Z:11.46 [[ 9.63110468e-01 -2.49079999e-01 -1.01869431e-01 2.84142213e+02] [ 2.47750073e-01 9.68482796e-01 -2.57094329e-02 2.40276893e+01] [ 1.05062497e-01 -4.77134939e-04 9.94465507e-01 1.14616530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.33925415399995 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:284.17, Y:24.04, Z:11.46 [[ 9.63119165e-01 -2.48529454e-01 -1.03124120e-01 2.84173223e+02] [ 2.47164009e-01 9.68624244e-01 -2.60197186e-02 2.40352100e+01] [ 1.06355189e-01 -4.28481384e-04 9.94328110e-01 1.14643367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.369254154 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:284.20, Y:24.04, Z:11.47 [[ 9.63117067e-01 -2.49032062e-01 -1.01924223e-01 2.84203876e+02] [ 2.47701921e-01 9.68495119e-01 -2.57091891e-02 2.40434776e+01] [ 1.05115525e-01 -4.85866991e-04 9.94459899e-01 1.14672604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.39925415399995 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:284.23, Y:24.05, Z:11.47 [[ 9.62923159e-01 -2.49576823e-01 -1.02422649e-01 2.84234751e+02] [ 2.48237536e-01 9.68354842e-01 -2.58268336e-02 2.40511096e+01] [ 1.05627247e-01 -5.55889714e-04 9.94405639e-01 1.14700606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.429254154 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:284.27, Y:24.06, Z:11.47 [[ 9.62816761e-01 -2.50324619e-01 -1.01594633e-01 2.84266241e+02] [ 2.49011936e-01 9.68161751e-01 -2.56101634e-02 2.40589631e+01] [ 1.04770893e-01 -6.40381809e-04 9.94496179e-01 1.14730439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.45925415399995 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:284.30, Y:24.07, Z:11.48 [[ 9.62264128e-01 -2.52642569e-01 -1.01091442e-01 2.84296687e+02] [ 2.51356430e-01 9.67559265e-01 -2.54757692e-02 2.40656341e+01] [ 1.04248225e-01 -8.95564944e-04 9.94550907e-01 1.14760164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.489254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:284.33, Y:24.07, Z:11.48 [[ 9.61957719e-01 -2.53917503e-01 -1.00812938e-01 2.84328146e+02] [ 2.52646081e-01 9.67225324e-01 -2.53994358e-02 2.40730093e+01] [ 1.03958188e-01 -1.03681024e-03 9.94581128e-01 1.14789707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.51925415399995 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:284.36, Y:24.08, Z:11.48 [[ 9.61298624e-01 -2.56608499e-01 -1.00284767e-01 2.84358483e+02] [ 2.55365770e-01 9.66514519e-01 -2.52588342e-02 2.40790178e+01] [ 1.03408314e-01 -1.32801412e-03 9.94638103e-01 1.14821877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.549254154 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:284.39, Y:24.09, Z:11.49 [[ 9.61039609e-01 -2.57700038e-01 -9.99677988e-02 2.84389049e+02] [ 2.56471630e-01 9.66223886e-01 -2.51734858e-02 2.40859003e+01] [ 1.03078483e-01 -1.44618733e-03 9.94672175e-01 1.14853457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.57925415399995 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:284.42, Y:24.09, Z:11.49 [[ 9.60780759e-01 -2.58993951e-01 -9.91083561e-02 2.84420601e+02] [ 2.57793918e-01 9.65877659e-01 -2.49528365e-02 2.40931207e+01] [ 1.02189181e-01 -1.57532627e-03 9.94763736e-01 1.14882688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.609254154 meters Centerline goodness : 0.997405 Centerline is valid? [True, True] Translation: X:284.45, Y:24.10, Z:11.49 [[ 9.60384614e-01 -2.60790178e-01 -9.82337843e-02 2.84451735e+02] [ 2.59621428e-01 9.65393905e-01 -2.47249296e-02 2.40991690e+01] [ 1.01282315e-01 -1.75815340e-03 9.94856171e-01 1.14913796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.63925415399996 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:284.48, Y:24.11, Z:11.49 [[ 9.60229855e-01 -2.61327370e-01 -9.83190262e-02 2.84483296e+02] [ 2.60160184e-01 9.65248506e-01 -2.47386247e-02 2.41056980e+01] [ 1.01367173e-01 -1.82393000e-03 9.94847410e-01 1.14937423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.669254154 meters Centerline goodness : 0.995895 Centerline is valid? [True, True] Translation: X:284.51, Y:24.11, Z:11.50 [[ 9.60230174e-01 -2.61564659e-01 -9.76828671e-02 2.84513795e+02] [ 2.60414537e-01 9.65184194e-01 -2.45711222e-02 2.41117682e+01] [ 1.00708897e-01 -1.84410575e-03 9.94914226e-01 1.14961209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.69925415399996 meters Centerline goodness : 0.993859 Centerline is valid? [True, True] Translation: X:284.55, Y:24.12, Z:11.50 [[ 9.60412747e-01 -2.61395775e-01 -9.63307033e-02 2.84545664e+02] [ 2.60277072e-01 9.65230017e-01 -2.42251923e-02 2.41168062e+01] [ 9.93136493e-02 -1.80649000e-03 9.95054539e-01 1.14975819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.729254154 meters Centerline goodness : 0.993053 Centerline is valid? [True, True] Translation: X:284.58, Y:24.12, Z:11.50 [[ 9.60591549e-01 -2.60928467e-01 -9.58134225e-02 2.84577420e+02] [ 2.59820189e-01 9.65356541e-01 -2.40876985e-02 2.41233318e+01] [ 9.87792804e-02 -1.75582199e-03 9.95107819e-01 1.15000467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.75925415399996 meters Centerline goodness : 0.992361 Centerline is valid? [True, True] Translation: X:284.61, Y:24.13, Z:11.50 [[ 9.60879442e-01 -2.60176181e-01 -9.49686991e-02 2.84608993e+02] [ 2.59084451e-01 9.65559715e-01 -2.38680329e-02 2.41298206e+01] [ 9.79078437e-02 -1.67061117e-03 9.95194083e-01 1.15022765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.789254154 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:284.64, Y:24.14, Z:11.50 [[ 9.61217400e-01 -2.59080316e-01 -9.45436420e-02 2.84640701e+02] [ 2.57993791e-01 9.65854523e-01 -2.37538357e-02 2.41366614e+01] [ 9.74695555e-02 -1.55907239e-03 9.95237286e-01 1.15044890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.81925415399996 meters Centerline goodness : 0.991481 Centerline is valid? [True, True] Translation: X:284.67, Y:24.18, Z:11.51 [[ 9.65096955e-01 -2.56404142e-01 -5.33365028e-02 2.84670530e+02] [ 2.50024705e-01 9.62665491e-01 -1.03743913e-01 2.41784964e+01] [ 7.79455797e-02 8.67874912e-02 9.93172904e-01 1.15098249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.849254154 meters Centerline goodness : 0.990800 Centerline is valid? [True, True] Translation: X:284.71, Y:24.14, Z:11.48 [[ 9.65054899e-01 -2.48811005e-01 -8.22321506e-02 2.84710160e+02] [ 2.49682073e-01 9.68327816e-01 3.19713144e-04 2.41359758e+01] [ 7.95481307e-02 -2.08404346e-02 9.96613150e-01 1.14812190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.87925415399997 meters Centerline goodness : 0.990865 Centerline is valid? [True, True] Translation: X:284.74, Y:24.14, Z:11.49 [[ 9.64538512e-01 -2.49564248e-01 -8.59252283e-02 2.84736542e+02] [ 2.50380564e-01 9.68146601e-01 -1.31605140e-03 2.41444211e+01] [ 8.35166571e-02 -2.02446248e-02 9.96300719e-01 1.14891513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.90925415399994 meters Centerline goodness : 0.990841 Centerline is valid? [True, True] Translation: X:284.76, Y:24.14, Z:11.50 [[ 9.63642364e-01 -2.46390692e-01 -1.03368381e-01 2.84764683e+02] [ 2.50232938e-01 9.67841588e-01 2.58096469e-02 2.41354667e+01] [ 9.36849611e-02 -5.07374427e-02 9.94308222e-01 1.14966366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.93925415399997 meters Centerline goodness : 0.990600 Centerline is valid? [True, True] Translation: X:284.79, Y:24.17, Z:11.51 [[ 9.64044851e-01 -2.49697631e-01 -9.09319490e-02 2.84789565e+02] [ 2.48651852e-01 9.68323675e-01 -2.28367434e-02 2.41650230e+01] [ 9.37538397e-02 -5.94752680e-04 9.95595231e-01 1.15135545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.96925415399994 meters Centerline goodness : 0.991212 Centerline is valid? [True, True] Translation: X:284.82, Y:24.17, Z:11.52 [[ 9.64328728e-01 -2.48753412e-01 -9.05088115e-02 2.84820198e+02] [ 2.47713870e-01 9.68566716e-01 -2.27234606e-02 2.41710455e+01] [ 9.33163607e-02 -5.07402129e-04 9.95636379e-01 1.15162677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.99925415399997 meters Centerline goodness : 0.991041 Centerline is valid? [True, True] Translation: X:284.85, Y:24.18, Z:11.52 [[ 9.64579536e-01 -2.47912638e-01 -9.01423427e-02 2.84852421e+02] [ 2.46878358e-01 9.68782297e-01 -2.26260267e-02 2.41760401e+01] [ 9.29375838e-02 -4.29591253e-04 9.95671844e-01 1.15185813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.02925415399994 meters Centerline goodness : 0.991363 Centerline is valid? [True, True] Translation: X:284.88, Y:24.18, Z:11.52 [[ 9.64522476e-01 -2.47926479e-01 -9.07130335e-02 2.84882631e+02] [ 2.46879791e-01 9.68778750e-01 -2.27618570e-02 2.41816557e+01] [ 9.35241263e-02 -4.40892147e-04 9.95616916e-01 1.15211923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.059254154 meters Centerline goodness : 0.990797 Centerline is valid? [True, True] Translation: X:284.91, Y:24.19, Z:11.52 [[ 9.64285837e-01 -2.48699951e-01 -9.11106960e-02 2.84913093e+02] [ 2.47648502e-01 9.68580433e-01 -2.28509225e-02 2.41869295e+01] [ 9.39310607e-02 -5.28606449e-04 9.95578564e-01 1.15234160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.08925415399995 meters Centerline goodness : 0.990946 Centerline is valid? [True, True] Translation: X:284.94, Y:24.19, Z:11.52 [[ 9.63534235e-01 -2.51451374e-01 -9.15094794e-02 2.84944446e+02] [ 2.50403389e-01 9.67869599e-01 -2.29473849e-02 2.41893184e+01] [ 9.43393946e-02 -8.03692786e-04 9.95539770e-01 1.15249735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.119254154 meters Centerline goodness : 0.991455 Centerline is valid? [True, True] Translation: X:284.97, Y:24.19, Z:11.53 [[ 9.63094920e-01 -2.53046012e-01 -9.17381611e-02 2.84974454e+02] [ 2.52000314e-01 9.67453763e-01 -2.30012751e-02 2.41937886e+01] [ 9.45728101e-02 -9.65634212e-04 9.95517479e-01 1.15274614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.14925415399995 meters Centerline goodness : 0.990927 Centerline is valid? [True, True] Translation: X:285.00, Y:24.20, Z:11.53 [[ 9.62301606e-01 -2.56118465e-01 -9.15366081e-02 2.85004771e+02] [ 2.55091375e-01 9.66644572e-01 -2.29491098e-02 2.41962810e+01] [ 9.43610561e-02 -1.26623401e-03 9.95537236e-01 1.15303498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.179254154 meters Centerline goodness : 0.991156 Centerline is valid? [True, True] Translation: X:285.03, Y:24.20, Z:11.53 [[ 9.61943751e-01 -2.57545359e-01 -9.12940687e-02 2.85033266e+02] [ 2.56530110e-01 9.66265192e-01 -2.28884505e-02 2.42016511e+01] [ 9.41090950e-02 -1.40227548e-03 9.95560903e-01 1.15333356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.20925415399995 meters Centerline goodness : 0.991201 Centerline is valid? [True, True] Translation: X:285.06, Y:24.21, Z:11.54 [[ 9.61668411e-01 -2.58686900e-01 -9.09667790e-02 2.85063353e+02] [ 2.57683869e-01 9.65960050e-01 -2.28080322e-02 2.42069816e+01] [ 9.37704135e-02 -1.50690751e-03 9.95592707e-01 1.15364792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.239254154 meters Centerline goodness : 0.991690 Centerline is valid? [True, True] Translation: X:285.09, Y:24.21, Z:11.54 [[ 9.62148876e-01 -2.57411378e-01 -8.94925840e-02 2.85093872e+02] [ 2.56435147e-01 9.66300954e-01 -2.24384084e-02 2.42104309e+01] [ 9.22526708e-02 -1.35995454e-03 9.95734701e-01 1.15379830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.26925415399995 meters Centerline goodness : 0.991184 Centerline is valid? [True, True] Translation: X:285.12, Y:24.22, Z:11.54 [[ 9.61340369e-01 -2.59971651e-01 -9.07713376e-02 2.85122655e+02] [ 2.58978632e-01 9.65614876e-01 -2.27591657e-02 2.42175441e+01] [ 9.35668918e-02 -1.62853207e-03 9.95611664e-01 1.15414691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.299254154 meters Centerline goodness : 0.991537 Centerline is valid? [True, True] Translation: X:285.15, Y:24.22, Z:11.54 [[ 9.61226152e-01 -2.60618944e-01 -9.01224256e-02 2.85153396e+02] [ 2.59642785e-01 9.65440289e-01 -2.25980815e-02 2.42205030e+01] [ 9.28973087e-02 -1.67777059e-03 9.95674282e-01 1.15436671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.32925415399995 meters Centerline goodness : 0.991540 Centerline is valid? [True, True] Translation: X:285.18, Y:24.23, Z:11.55 [[ 9.61256896e-01 -2.60711984e-01 -8.95234102e-02 2.85181263e+02] [ 2.59749143e-01 9.65415173e-01 -2.24483089e-02 2.42250053e+01] [ 9.22798016e-02 -1.67503739e-03 9.95731707e-01 1.15456874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.359254154 meters Centerline goodness : 0.991438 Centerline is valid? [True, True] Translation: X:285.21, Y:24.23, Z:11.55 [[ 9.61201851e-01 -2.60941784e-01 -8.94448818e-02 2.85209463e+02] [ 2.59980906e-01 9.65353063e-01 -2.24364192e-02 2.42298945e+01] [ 9.22004899e-02 -1.68803369e-03 9.95739032e-01 1.15483309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.38925415399996 meters Centerline goodness : 0.991369 Centerline is valid? [True, True] Translation: X:285.24, Y:24.23, Z:11.55 [[ 9.61254646e-01 -2.60884603e-01 -8.90434110e-02 2.85237364e+02] [ 2.59929857e-01 9.65368581e-01 -2.23600638e-02 2.42345711e+01] [ 9.17931077e-02 -1.65132581e-03 9.95776731e-01 1.15507096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.419254154 meters Centerline goodness : 0.991790 Centerline is valid? [True, True] Translation: X:285.26, Y:24.24, Z:11.55 [[ 9.61472001e-01 -2.60222556e-01 -8.86330205e-02 2.85264793e+02] [ 2.59271629e-01 9.65547407e-01 -2.22806550e-02 2.42377434e+01] [ 9.13773121e-02 -1.55780170e-03 9.95815123e-01 1.15531924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.44925415399996 meters Centerline goodness : 0.992049 Centerline is valid? [True, True] Translation: X:285.29, Y:24.24, Z:11.56 [[ 9.61566598e-01 -2.59850054e-01 -8.86996455e-02 2.85292903e+02] [ 2.58895233e-01 9.65647791e-01 -2.23070005e-02 2.42428857e+01] [ 9.14490920e-02 -1.51424873e-03 9.95808601e-01 1.15555284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.479254154 meters Centerline goodness : 0.992312 Centerline is valid? [True, True] Translation: X:285.32, Y:24.25, Z:11.56 [[ 9.61890140e-01 -2.58651790e-01 -8.86939105e-02 2.85320193e+02] [ 2.57689820e-01 9.65969645e-01 -2.23293844e-02 2.42462210e+01] [ 9.14511605e-02 -1.37710317e-03 9.95808611e-01 1.15573886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.50925415399996 meters Centerline goodness : 0.992386 Centerline is valid? [True, True] Translation: X:285.35, Y:24.25, Z:11.56 [[ 9.61897244e-01 -2.58563210e-01 -8.88749575e-02 2.85347498e+02] [ 2.57595720e-01 9.65993385e-01 -2.23880530e-02 2.42514596e+01] [ 9.16413479e-02 -1.35880220e-03 9.95791151e-01 1.15600023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.539254154 meters Centerline goodness : 0.992031 Centerline is valid? [True, True] Translation: X:285.37, Y:24.26, Z:11.56 [[ 9.61938024e-01 -2.58541135e-01 -8.84970009e-02 2.85374564e+02] [ 2.57579257e-01 9.65999342e-01 -2.23203529e-02 2.42566034e+01] [ 9.12587740e-02 -1.32419562e-03 9.95826332e-01 1.15620762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.56925415399996 meters Centerline goodness : 0.992140 Centerline is valid? [True, True] Translation: X:285.40, Y:24.26, Z:11.56 [[ 9.61960377e-01 -2.58485943e-01 -8.84152182e-02 2.85400823e+02] [ 2.57523108e-01 9.66014156e-01 -2.23270841e-02 2.42614643e+01] [ 9.11815898e-02 -1.29119158e-03 9.95833445e-01 1.15641440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.599254154 meters Centerline goodness : 0.992709 Centerline is valid? [True, True] Translation: X:285.43, Y:24.26, Z:11.57 [[ 9.61881758e-01 -2.58736141e-01 -8.85386556e-02 2.85428717e+02] [ 2.57770466e-01 9.65947156e-01 -2.23713666e-02 2.42649070e+01] [ 9.13119437e-02 -1.30404110e-03 9.95821484e-01 1.15663177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.62925415399997 meters Centerline goodness : 0.992709 Centerline is valid? [True, True] Translation: X:285.46, Y:24.27, Z:11.57 [[ 9.61833884e-01 -2.58916283e-01 -8.85321231e-02 2.85456168e+02] [ 2.57948993e-01 9.65898899e-01 -2.23971895e-02 2.42719442e+01] [ 9.13120772e-02 -1.29439624e-03 9.95821485e-01 1.15687804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.65925415399994 meters Centerline goodness : 0.992977 Centerline is valid? [True, True] Translation: X:285.48, Y:24.28, Z:11.57 [[ 9.61612453e-01 -2.59680695e-01 -8.86985115e-02 2.85483727e+02] [ 2.58711335e-01 9.65693589e-01 -2.24574293e-02 2.42773133e+01] [ 9.14873448e-02 -1.35196668e-03 9.95805321e-01 1.15709114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.68925415399997 meters Centerline goodness : 0.992728 Centerline is valid? [True, True] Translation: X:285.51, Y:24.28, Z:11.57 [[ 9.61349617e-01 -2.60502478e-01 -8.91368203e-02 2.85510686e+02] [ 2.59524405e-01 9.65472149e-01 -2.25967218e-02 2.42827291e+01] [ 9.19456195e-02 -1.40983043e-03 9.95763032e-01 1.15730544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.71925415399994 meters Centerline goodness : 0.993124 Centerline is valid? [True, True] Translation: X:285.54, Y:24.29, Z:11.57 [[ 9.60872188e-01 -2.62217310e-01 -8.92564866e-02 2.85537154e+02] [ 2.61241479e-01 9.65007607e-01 -2.26541173e-02 2.42863780e+01] [ 9.20734902e-02 -1.54978530e-03 9.95751008e-01 1.15745305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.74925415399997 meters Centerline goodness : 0.993520 Centerline is valid? [True, True] Translation: X:285.56, Y:24.29, Z:11.58 [[ 9.60464127e-01 -2.63545782e-01 -8.97345117e-02 2.85564757e+02] [ 2.62563996e-01 9.64645438e-01 -2.27887476e-02 2.42921310e+01] [ 9.25678657e-02 -1.67327743e-03 9.95704972e-01 1.15771236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.77925415399994 meters Centerline goodness : 0.993226 Centerline is valid? [True, True] Translation: X:285.59, Y:24.30, Z:11.58 [[ 9.60097099e-01 -2.64893153e-01 -8.96949141e-02 2.85591943e+02] [ 2.63915520e-01 9.64276135e-01 -2.28064275e-02 2.42976836e+01] [ 9.25319317e-02 -1.77549500e-03 9.95708135e-01 1.15793360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.809254154 meters Centerline goodness : 0.993601 Centerline is valid? [True, True] Translation: X:285.62, Y:24.30, Z:11.58 [[ 9.59321791e-01 -2.67569578e-01 -9.00456722e-02 2.85619102e+02] [ 2.66593413e-01 9.63536436e-01 -2.29235588e-02 2.43019778e+01] [ 9.28959330e-02 -2.01451360e-03 9.95673786e-01 1.15817250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.83925415399995 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:285.65, Y:24.31, Z:11.58 [[ 9.58917259e-01 -2.69038981e-01 -8.99762022e-02 2.85645379e+02] [ 2.68068169e-01 9.63126938e-01 -2.29337880e-02 2.43073412e+01] [ 9.28285870e-02 -2.12815070e-03 9.95679830e-01 1.15843717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.869254154 meters Centerline goodness : 0.993685 Centerline is valid? [True, True] Translation: X:285.67, Y:24.31, Z:11.59 [[ 9.58635655e-01 -2.70016698e-01 -9.00481223e-02 2.85672626e+02] [ 2.69046747e-01 9.62853115e-01 -2.29723217e-02 2.43130180e+01] [ 9.29060255e-02 -2.20506775e-03 9.95672440e-01 1.15865648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.89925415399995 meters Centerline goodness : 0.993747 Centerline is valid? [True, True] Translation: X:285.70, Y:24.32, Z:11.59 [[ 9.58335747e-01 -2.71379319e-01 -8.91395645e-02 2.85698623e+02] [ 2.70432388e-01 9.62469754e-01 -2.27661121e-02 2.43175902e+01] [ 9.19723868e-02 -2.28864628e-03 9.95758928e-01 1.15895232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.929254154 meters Centerline goodness : 0.993822 Centerline is valid? [True, True] Translation: X:285.73, Y:24.32, Z:11.59 [[ 9.58284412e-01 -2.71705772e-01 -8.86958752e-02 2.85725117e+02] [ 2.70768566e-01 9.62377627e-01 -2.26646436e-02 2.43233252e+01] [ 9.15170404e-02 -2.29688023e-03 9.95800861e-01 1.15922580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.95925415399995 meters Centerline goodness : 0.993986 Centerline is valid? [True, True] Translation: X:285.75, Y:24.33, Z:11.59 [[ 9.58413207e-01 -2.71584171e-01 -8.76707637e-02 2.85752496e+02] [ 2.70666390e-01 9.62412082e-01 -2.24207598e-02 2.43293100e+01] [ 9.04645257e-02 -2.24117679e-03 9.95897157e-01 1.15944321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.989254154 meters Centerline goodness : 0.994341 Centerline is valid? [True, True] Translation: X:285.78, Y:24.34, Z:11.60 [[ 9.58886847e-01 -2.69964770e-01 -8.74930705e-02 2.85779630e+02] [ 2.69041656e-01 9.62867999e-01 -2.24010006e-02 2.43351956e+01] [ 9.02917586e-02 -2.05925569e-03 9.95913228e-01 1.15963879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.01925415399995 meters Centerline goodness : 0.994303 Centerline is valid? [True, True] Translation: X:285.81, Y:24.34, Z:11.60 [[ 9.59150590e-01 -2.69135750e-01 -8.71555789e-02 2.85806904e+02] [ 2.68213853e-01 9.63100285e-01 -2.23421329e-02 2.43414959e+01] [ 8.99526295e-02 -1.94686368e-03 9.95944142e-01 1.15991652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.049254154 meters Centerline goodness : 0.994655 Centerline is valid? [True, True] Translation: X:285.83, Y:24.35, Z:11.60 [[ 9.59590314e-01 -2.67629649e-01 -8.69528629e-02 2.85833235e+02] [ 2.66703438e-01 9.63520223e-01 -2.23171935e-02 2.43478791e+01] [ 8.97535845e-02 -1.77526476e-03 9.95962420e-01 1.16014037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.07925415399995 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:285.86, Y:24.35, Z:11.60 [[ 9.60749183e-01 -2.63153876e-01 -8.78125570e-02 2.85860511e+02] [ 2.62188744e-01 9.64752928e-01 -2.25577159e-02 2.43537205e+01] [ 9.06535718e-02 -1.35115695e-03 9.95881571e-01 1.16038876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.109254154 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:285.89, Y:24.36, Z:11.61 [[ 9.61491782e-01 -2.60450747e-01 -8.77437308e-02 2.85886391e+02] [ 2.59473428e-01 9.65486543e-01 -2.25671232e-02 2.43598332e+01] [ 9.05930155e-02 -1.06906305e-03 9.95887425e-01 1.16057117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.13925415399996 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:285.91, Y:24.37, Z:11.61 [[ 9.62238742e-01 -2.57527036e-01 -8.81840630e-02 2.85912361e+02] [ 2.56526493e-01 9.66270774e-01 -2.26925173e-02 2.43659851e+01] [ 9.10536195e-02 -7.85929111e-04 9.95845681e-01 1.16081538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.169254154 meters Centerline goodness : 0.994985 Centerline is valid? [True, True] Translation: X:285.94, Y:24.37, Z:11.61 [[ 9.62941773e-01 -2.54908034e-01 -8.81194406e-02 2.85938921e+02] [ 2.53896867e-01 9.66965159e-01 -2.26883856e-02 2.43724164e+01] [ 9.09918806e-02 -5.25655687e-04 9.95851496e-01 1.16105545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.19925415399996 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:285.97, Y:24.38, Z:11.61 [[ 9.64357537e-01 -2.49624651e-01 -8.77614665e-02 2.85966005e+02] [ 2.48597398e-01 9.68342674e-01 -2.26229897e-02 2.43779257e+01] [ 9.06304290e-02 -6.21590222e-07 9.95884594e-01 1.16131426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.229254154 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:285.99, Y:24.38, Z:11.62 [[ 9.64837261e-01 -2.47784357e-01 -8.77038915e-02 2.85993501e+02] [ 2.46748359e-01 9.68815190e-01 -2.26356933e-02 2.43841781e+01] [ 9.05776330e-02 1.98969039e-04 9.95889378e-01 1.16155031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.25925415399996 meters Centerline goodness : 0.995320 Centerline is valid? [True, True] Translation: X:286.02, Y:24.39, Z:11.62 [[ 9.65236559e-01 -2.46301687e-01 -8.74863687e-02 2.86019416e+02] [ 2.45262304e-01 9.69193142e-01 -2.26065332e-02 2.43899540e+01] [ 9.03592159e-02 3.63543956e-04 9.95909173e-01 1.16177590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.289254154 meters Centerline goodness : 0.995761 Centerline is valid? [True, True] Translation: X:286.05, Y:24.40, Z:11.62 [[ 9.65446078e-01 -2.45448227e-01 -8.75730412e-02 2.86046394e+02] [ 2.44402124e-01 9.69409593e-01 -2.26415988e-02 2.43957347e+01] [ 9.04514866e-02 4.56205470e-04 9.95900758e-01 1.16201394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.31925415399996 meters Centerline goodness : 0.995618 Centerline is valid? [True, True] Translation: X:286.07, Y:24.40, Z:11.62 [[ 9.65432458e-01 -2.45645247e-01 -8.71698416e-02 2.86073898e+02] [ 2.44607227e-01 9.69359686e-01 -2.25633364e-02 2.43998663e+01] [ 9.00415066e-02 4.61004063e-04 9.95937907e-01 1.16220001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.349254154 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:286.10, Y:24.40, Z:11.62 [[ 9.65141197e-01 -2.46697889e-01 -8.74220901e-02 2.86100784e+02] [ 2.45655771e-01 9.69092359e-01 -2.26548543e-02 2.44049433e+01] [ 9.03089843e-02 3.89392261e-04 9.95913719e-01 1.16242122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.37925415399997 meters Centerline goodness : 0.995697 Centerline is valid? [True, True] Translation: X:286.13, Y:24.41, Z:11.63 [[ 9.64629078e-01 -2.48634279e-01 -8.75884574e-02 2.86127934e+02] [ 2.47595018e-01 9.68597412e-01 -2.27103646e-02 2.44098762e+01] [ 9.04845283e-02 2.20612419e-04 9.95897837e-01 1.16263808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.40925415399994 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:286.15, Y:24.41, Z:11.63 [[ 9.62995420e-01 -2.54931913e-01 -8.74616572e-02 2.86154967e+02] [ 2.53919079e-01 9.66958945e-01 -2.27046267e-02 2.44128896e+01] [ 9.03599657e-02 -3.43731906e-04 9.95909112e-01 1.16285405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.43925415399997 meters Centerline goodness : 0.996091 Centerline is valid? [True, True] Translation: X:286.18, Y:24.42, Z:11.63 [[ 9.61897170e-01 -2.58988551e-01 -8.76285657e-02 2.86182846e+02] [ 2.57987453e-01 9.65880128e-01 -2.27607802e-02 2.44179580e+01] [ 9.05334718e-02 -7.13540420e-04 9.95893158e-01 1.16308871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.46925415399994 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:286.21, Y:24.42, Z:11.63 [[ 9.60581357e-01 -2.64001392e-01 -8.71017887e-02 2.86209818e+02] [ 2.63030428e-01 9.64521610e-01 -2.26507633e-02 2.44228360e+01] [ 8.99913906e-02 -1.15251979e-03 9.95941876e-01 1.16339099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.49925415399997 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:286.24, Y:24.43, Z:11.64 [[ 9.57921671e-01 -2.73813008e-01 -8.60959334e-02 2.86236933e+02] [ 2.72901460e-01 9.61780818e-01 -2.24154121e-02 2.44254276e+01] [ 8.89430487e-02 -2.02349693e-03 9.96034658e-01 1.16373108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.52925415399994 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:286.26, Y:24.43, Z:11.64 [[ 9.56485003e-01 -2.78999850e-01 -8.54138290e-02 2.86264641e+02] [ 2.78122259e-01 9.60287958e-01 -2.22496268e-02 2.44302040e+01] [ 8.82295140e-02 -2.47405269e-03 9.96097100e-01 1.16395963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.559254154 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:286.29, Y:24.44, Z:11.64 [[ 9.55114251e-01 -2.83649466e-01 -8.54385604e-02 2.86292573e+02] [ 2.82787600e-01 9.58923715e-01 -2.22818919e-02 2.44351392e+01] [ 8.82493085e-02 -2.87921299e-03 9.96094257e-01 1.16412479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.58925415399995 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:286.32, Y:24.44, Z:11.64 [[ 9.52368360e-01 -2.92649804e-01 -8.57356341e-02 2.86320225e+02] [ 2.91815753e-01 9.56212534e-01 -2.23864969e-02 2.44378485e+01] [ 8.85328919e-02 -3.69881735e-03 9.96066386e-01 1.16433611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.619254154 meters Centerline goodness : 0.996583 Centerline is valid? [True, True] Translation: X:286.35, Y:24.44, Z:11.65 [[ 9.50917951e-01 -2.97389604e-01 -8.55246923e-02 2.86347554e+02] [ 2.96576342e-01 9.54747392e-01 -2.23582440e-02 2.44433349e+01] [ 8.83035862e-02 -4.10374479e-03 9.96085155e-01 1.16466706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.64925415399995 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:286.38, Y:24.45, Z:11.65 [[ 9.49599459e-01 -3.01549850e-01 -8.56069795e-02 2.86375020e+02] [ 3.00749426e-01 9.53439939e-01 -2.24068007e-02 2.44493541e+01] [ 8.83778808e-02 -4.46876417e-03 9.96076995e-01 1.16490287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.679254154 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:286.40, Y:24.46, Z:11.65 [[ 9.48501924e-01 -3.04905779e-01 -8.58869362e-02 2.86401509e+02] [ 3.04111382e-01 9.52370569e-01 -2.25070259e-02 2.44554132e+01] [ 8.86587126e-02 -4.77123752e-03 9.96050635e-01 1.16516770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.70925415399995 meters Centerline goodness : 0.996877 Centerline is valid? [True, True] Translation: X:286.43, Y:24.46, Z:11.65 [[ 9.46577403e-01 -3.10766895e-01 -8.61113116e-02 2.86428040e+02] [ 3.09991347e-01 9.50471258e-01 -2.25777165e-02 2.44615345e+01] [ 8.88627334e-02 -5.32220528e-03 9.96029663e-01 1.16537918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.739254154 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:286.46, Y:24.47, Z:11.66 [[ 9.45862323e-01 -3.12833693e-01 -8.64843667e-02 2.86455372e+02] [ 3.12058878e-01 9.49791827e-01 -2.26879153e-02 2.44684711e+01] [ 8.92396890e-02 -5.52857021e-03 9.95994836e-01 1.16558788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.76925415399995 meters Centerline goodness : 0.996881 Centerline is valid? [True, True] Translation: X:286.48, Y:24.48, Z:11.66 [[ 9.45087262e-01 -3.15231426e-01 -8.62508870e-02 2.86481793e+02] [ 3.14468315e-01 9.48997630e-01 -2.26534091e-02 2.44753886e+01] [ 8.89929538e-02 -5.71372275e-03 9.96015867e-01 1.16590025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.799254154 meters Centerline goodness : 0.996967 Centerline is valid? [True, True] Translation: X:286.51, Y:24.48, Z:11.66 [[ 9.44190057e-01 -3.18000848e-01 -8.59104020e-02 2.86508633e+02] [ 3.17252768e-01 9.48071911e-01 -2.25905505e-02 2.44831124e+01] [ 8.86330532e-02 -5.92553966e-03 9.96046721e-01 1.16614075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.82925415399995 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:286.54, Y:24.49, Z:11.66 [[ 9.43886258e-01 -3.18873803e-01 -8.60129636e-02 2.86535464e+02] [ 3.18125086e-01 9.47778262e-01 -2.26449744e-02 2.44909647e+01] [ 8.87421063e-02 -5.98860132e-03 9.96036633e-01 1.16637686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.859254154 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:286.56, Y:24.50, Z:11.67 [[ 9.43754218e-01 -3.19168568e-01 -8.63678276e-02 2.86560385e+02] [ 3.18412424e-01 9.47678871e-01 -2.27658951e-02 2.45005562e+01] [ 8.91151235e-02 -6.01517981e-03 9.96003169e-01 1.16656916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.88925415399996 meters Centerline goodness : 0.996992 Centerline is valid? [True, True] Translation: X:286.59, Y:24.51, Z:11.67 [[ 9.43872353e-01 -3.18727099e-01 -8.67065011e-02 2.86587176e+02] [ 3.17962012e-01 9.47827630e-01 -2.28679273e-02 2.45095815e+01] [ 8.94714456e-02 -5.98496921e-03 9.95971405e-01 1.16677162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.919254154 meters Centerline goodness : 0.997034 Centerline is valid? [True, True] Translation: X:286.61, Y:24.52, Z:11.67 [[ 9.44027843e-01 -3.18033297e-01 -8.75571486e-02 2.86612826e+02] [ 3.17247607e-01 9.48060867e-01 -2.31203150e-02 2.45186110e+01] [ 9.03625362e-02 -5.95107475e-03 9.95891157e-01 1.16699053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.94925415399996 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:286.64, Y:24.53, Z:11.67 [[ 9.44421003e-01 -3.16711448e-01 -8.81069095e-02 2.86638558e+02] [ 3.15908403e-01 9.48503934e-01 -2.32844839e-02 2.45280854e+01] [ 9.09442130e-02 -5.84335744e-03 9.95838845e-01 1.16719456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.979254154 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:286.66, Y:24.54, Z:11.67 [[ 9.45291640e-01 -3.13919030e-01 -8.87612375e-02 2.86663983e+02] [ 3.13090539e-01 9.49433221e-01 -2.34706911e-02 2.45407816e+01] [ 9.16407642e-02 -5.60365554e-03 9.95776365e-01 1.16739445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.00925415399996 meters Centerline goodness : 0.997062 Centerline is valid? [True, True] Translation: X:286.69, Y:24.55, Z:11.68 [[ 9.45770930e-01 -3.12303175e-01 -8.93536534e-02 2.86690085e+02] [ 3.11453756e-01 9.49966817e-01 -2.36559470e-02 2.45506218e+01] [ 9.22708331e-02 -5.45642391e-03 9.95718997e-01 1.16762931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.039254154 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:286.72, Y:24.56, Z:11.68 [[ 9.46124319e-01 -3.11253152e-01 -8.92762497e-02 2.86715790e+02] [ 3.10397931e-01 9.50312132e-01 -2.36638010e-02 2.45604973e+01] [ 9.22057358e-02 -5.32226566e-03 9.95725753e-01 1.16790132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.06925415399996 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:286.74, Y:24.57, Z:11.68 [[ 9.46493761e-01 -3.10086374e-01 -8.94203620e-02 2.86741803e+02] [ 3.09220570e-01 9.50694223e-01 -2.37304282e-02 2.45704441e+01] [ 9.23699040e-02 -5.18991309e-03 9.95711236e-01 1.16819408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.099254154 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:286.77, Y:24.58, Z:11.68 [[ 9.47621909e-01 -3.06502325e-01 -8.98278483e-02 2.86767467e+02] [ 3.05609902e-01 9.51857629e-01 -2.38671762e-02 2.45828629e+01] [ 9.28186677e-02 -4.83522085e-03 9.95671289e-01 1.16833730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.12925415399997 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:286.79, Y:24.59, Z:11.69 [[ 9.47861160e-01 -3.06134666e-01 -8.85482269e-02 2.86792097e+02] [ 3.05263441e-01 9.51976593e-01 -2.35541382e-02 2.45927169e+01] [ 9.15065776e-02 -4.70448369e-03 9.95793359e-01 1.16872347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.15925415399994 meters Centerline goodness : 0.997274 Centerline is valid? [True, True] Translation: X:286.82, Y:24.60, Z:11.69 [[ 9.48346982e-01 -3.04746713e-01 -8.81330924e-02 2.86818677e+02] [ 3.03876493e-01 9.52422627e-01 -2.34566826e-02 2.46025927e+01] [ 9.10882984e-02 -4.53650093e-03 9.95832487e-01 1.16899282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.18925415399997 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:286.84, Y:24.62, Z:11.69 [[ 9.49220513e-01 -3.02330129e-01 -8.70454551e-02 2.86844121e+02] [ 3.01468658e-01 9.53193919e-01 -2.31948502e-02 2.46156738e+01] [ 8.99837005e-02 -4.22444898e-03 9.95934279e-01 1.16930926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.21925415399994 meters Centerline goodness : 0.997551 Centerline is valid? [True, True] Translation: X:286.87, Y:24.63, Z:11.70 [[ 9.49556749e-01 -3.01404636e-01 -8.65865221e-02 2.86869902e+02] [ 3.00545933e-01 9.53487562e-01 -2.31000386e-02 2.46258040e+01] [ 8.95216305e-02 -4.08842950e-03 9.95976487e-01 1.16958194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.24925415399997 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:286.90, Y:24.64, Z:11.70 [[ 9.49866205e-01 -3.00314880e-01 -8.69779599e-02 2.86895161e+02] [ 2.99441374e-01 9.53831825e-01 -2.32317400e-02 2.46352213e+01] [ 8.99391835e-02 -3.97775507e-03 9.95939316e-01 1.16985655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.27925415399994 meters Centerline goodness : 0.997382 Centerline is valid? [True, True] Translation: X:286.92, Y:24.64, Z:11.70 [[ 9.50281785e-01 -2.98707280e-01 -8.79686918e-02 2.86921418e+02] [ 2.97805676e-01 9.54336987e-01 -2.35094619e-02 2.46447085e+01] [ 9.09742237e-02 -3.85696235e-03 9.95845778e-01 1.17000968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.309254154 meters Centerline goodness : 0.997383 Centerline is valid? [True, True] Translation: X:286.95, Y:24.66, Z:11.70 [[ 9.50567536e-01 -2.97747505e-01 -8.81350267e-02 2.86945567e+02] [ 2.96835893e-01 9.54637307e-01 -2.35810113e-02 2.46568024e+01] [ 9.11581719e-02 -3.74629548e-03 9.95829379e-01 1.17034670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.33925415399995 meters Centerline goodness : 0.997465 Centerline is valid? [True, True] Translation: X:286.97, Y:24.67, Z:11.71 [[ 9.50655706e-01 -2.97374921e-01 -8.84414192e-02 2.86972099e+02] [ 2.96454149e-01 9.54753573e-01 -2.36759985e-02 2.46665717e+01] [ 9.14804091e-02 -3.71110265e-03 9.95799961e-01 1.17061720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.369254154 meters Centerline goodness : 0.997575 Centerline is valid? [True, True] Translation: X:287.00, Y:24.68, Z:11.71 [[ 9.50608883e-01 -2.97347806e-01 -8.90338886e-02 2.86998042e+02] [ 2.96411969e-01 9.54762033e-01 -2.38622138e-02 2.46762037e+01] [ 9.21015534e-02 -3.70707777e-03 9.95742718e-01 1.17088909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.39925415399995 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:287.02, Y:24.69, Z:11.71 [[ 9.50885736e-01 -2.96188381e-01 -8.99375334e-02 2.87024714e+02] [ 2.95225608e-01 9.55122742e-01 -2.41327403e-02 2.46851718e+01] [ 9.30492208e-02 -3.60438443e-03 9.95654986e-01 1.17100194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.429254154 meters Centerline goodness : 0.997844 Centerline is valid? [True, True] Translation: X:287.05, Y:24.70, Z:11.71 [[ 9.50726178e-01 -2.97135381e-01 -8.84889780e-02 2.87049503e+02] [ 2.96205088e-01 9.54828529e-01 -2.37702841e-02 2.46964356e+01] [ 9.15547931e-02 -3.61185409e-03 9.95793490e-01 1.17142870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.45925415399995 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:287.08, Y:24.71, Z:11.72 [[ 9.50812024e-01 -2.96917800e-01 -8.82967391e-02 2.87075062e+02] [ 2.95989526e-01 9.54896363e-01 -2.37305127e-02 2.47051000e+01] [ 9.13602466e-02 -3.57165313e-03 9.95811503e-01 1.17165225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.489254154 meters Centerline goodness : 0.997923 Centerline is valid? [True, True] Translation: X:287.10, Y:24.71, Z:11.72 [[ 9.51020905e-01 -2.96381272e-01 -8.78486218e-02 2.87101624e+02] [ 2.95458994e-01 9.55063328e-01 -2.36225057e-02 2.47140009e+01] [ 9.09022653e-02 -3.49016864e-03 9.95853703e-01 1.17189420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.51925415399995 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:287.13, Y:24.73, Z:11.72 [[ 9.51671376e-01 -2.94312448e-01 -8.77597545e-02 2.87127909e+02] [ 2.93380814e-01 9.55703685e-01 -2.36254915e-02 2.47250193e+01] [ 9.08255971e-02 -3.26332424e-03 9.95861467e-01 1.17211537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.549254154 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:287.16, Y:24.73, Z:11.72 [[ 9.51593369e-01 -2.94566559e-01 -8.77530731e-02 2.87155220e+02] [ 2.93633719e-01 9.55625399e-01 -2.36502833e-02 2.47324822e+01] [ 9.08256481e-02 -3.26180849e-03 9.95861467e-01 1.17236139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.57925415399995 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:287.18, Y:24.74, Z:11.73 [[ 9.52103851e-01 -2.92738925e-01 -8.83299447e-02 2.87180789e+02] [ 2.91783663e-01 9.56187434e-01 -2.38303357e-02 2.47415267e+01] [ 9.14360500e-02 -3.08428042e-03 9.95806174e-01 1.17260173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.609254154 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:287.21, Y:24.75, Z:11.73 [[ 9.52612183e-01 -2.90960646e-01 -8.87239007e-02 2.87206839e+02] [ 2.89987977e-01 9.56730583e-01 -2.39492238e-02 2.47509534e+01] [ 9.18531508e-02 -2.91454212e-03 9.95768298e-01 1.17285109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.63925415399996 meters Centerline goodness : 0.997958 Centerline is valid? [True, True] Translation: X:287.23, Y:24.76, Z:11.73 [[ 9.53762192e-01 -2.87129858e-01 -8.88488928e-02 2.87232435e+02] [ 2.86135435e-01 9.57888341e-01 -2.40091304e-02 2.47616258e+01] [ 9.20010568e-02 -2.52381567e-03 9.95755711e-01 1.17307435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.669254154 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:287.26, Y:24.77, Z:11.73 [[ 9.54258583e-01 -2.85508824e-01 -8.87427034e-02 2.87259037e+02] [ 2.84507322e-01 9.58373226e-01 -2.40071463e-02 2.47702705e+01] [ 9.19028831e-02 -2.33892345e-03 9.95765228e-01 1.17334573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.69925415399996 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:287.29, Y:24.78, Z:11.74 [[ 9.54648895e-01 -2.84135729e-01 -8.89515349e-02 2.87285787e+02] [ 2.83121086e-01 9.58781574e-01 -2.40903069e-02 2.47785398e+01] [ 9.21300096e-02 -2.18627033e-03 9.95744587e-01 1.17364633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.729254154 meters Centerline goodness : 0.998206 Centerline is valid? [True, True] Translation: X:287.31, Y:24.79, Z:11.74 [[ 9.55484347e-01 -2.81515629e-01 -8.83097561e-02 2.87310971e+02] [ 2.80502104e-01 9.59554771e-01 -2.39418126e-02 2.47872302e+01] [ 9.14780422e-02 -1.89504521e-03 9.95805291e-01 1.17395316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.75925415399996 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:287.34, Y:24.79, Z:11.74 [[ 9.55683413e-01 -2.80830794e-01 -8.83361750e-02 2.87336259e+02] [ 2.79812660e-01 9.59755572e-01 -2.39607563e-02 2.47946980e+01] [ 9.15100544e-02 -1.81868275e-03 9.95802492e-01 1.17420786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.789254154 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:287.36, Y:24.80, Z:11.74 [[ 9.55639651e-01 -2.80853125e-01 -8.87377029e-02 2.87362962e+02] [ 2.79824087e-01 9.59749051e-01 -2.40881519e-02 2.48024471e+01] [ 9.19311588e-02 -1.81135368e-03 9.95763717e-01 1.17445510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.81925415399996 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:287.39, Y:24.81, Z:11.75 [[ 9.55292885e-01 -2.81858600e-01 -8.92817644e-02 2.87388898e+02] [ 2.80818915e-01 9.59454082e-01 -2.42610987e-02 2.48098685e+01] [ 9.24999526e-02 -1.89555319e-03 9.95710885e-01 1.17468726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.849254154 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:287.42, Y:24.82, Z:11.75 [[ 9.54873005e-01 -2.83042719e-01 -9.00242344e-02 2.87415404e+02] [ 2.81989708e-01 9.59105187e-01 -2.44754151e-02 2.48169823e+01] [ 9.32702982e-02 -2.01499440e-03 9.95638786e-01 1.17490860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.87925415399997 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:287.44, Y:24.82, Z:11.75 [[ 9.54474940e-01 -2.84280432e-01 -9.03450318e-02 2.87441079e+02] [ 2.83223078e-01 9.58738829e-01 -2.45875031e-02 2.48234474e+01] [ 9.36070361e-02 -2.11964241e-03 9.95606966e-01 1.17508375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.90925415399994 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:287.47, Y:24.83, Z:11.75 [[ 9.53419462e-01 -2.87431093e-01 -9.15133686e-02 2.87467110e+02] [ 2.86359468e-01 9.57798189e-01 -2.49175616e-02 2.48291058e+01] [ 9.48134206e-02 -2.44883145e-03 9.95492048e-01 1.17528886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.93925415399997 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:287.49, Y:24.84, Z:11.76 [[ 9.52834624e-01 -2.89233834e-01 -9.19237127e-02 2.87494159e+02] [ 2.88159134e-01 9.57254885e-01 -2.50479453e-02 2.48363206e+01] [ 9.52391362e-02 -2.62210783e-03 9.95450969e-01 1.17551316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.96925415399994 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:287.52, Y:24.84, Z:11.76 [[ 9.52380961e-01 -2.90737751e-01 -9.18807143e-02 2.87521086e+02] [ 2.89668567e-01 9.56798839e-01 -2.50620047e-02 2.48435762e+01] [ 9.51978317e-02 -2.74637867e-03 9.95454585e-01 1.17579103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.99925415399997 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:287.55, Y:24.85, Z:11.76 [[ 9.51937740e-01 -2.92145909e-01 -9.20071037e-02 2.87547906e+02] [ 2.91077866e-01 9.56369464e-01 -2.51221944e-02 2.48508399e+01] [ 9.53321307e-02 -2.86646637e-03 9.95441394e-01 1.17606337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.02925415399994 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:287.57, Y:24.86, Z:11.76 [[ 9.51514858e-01 -2.93660467e-01 -9.15587553e-02 2.87573615e+02] [ 2.92607522e-01 9.55905146e-01 -2.50237892e-02 2.48577202e+01] [ 9.48699829e-02 -2.98027323e-03 9.95485210e-01 1.17634638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.059254154 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:287.60, Y:24.87, Z:11.77 [[ 9.51430229e-01 -2.94215531e-01 -9.06517543e-02 2.87600670e+02] [ 2.93184762e-01 9.55734408e-01 -2.47878386e-02 2.48651699e+01] [ 9.39319678e-02 -2.99381407e-03 9.95574117e-01 1.17659593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.08925415399995 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:287.63, Y:24.87, Z:11.77 [[ 9.51411083e-01 -2.94378510e-01 -9.03229975e-02 2.87627908e+02] [ 2.93353638e-01 9.55684279e-01 -2.47225104e-02 2.48726176e+01] [ 9.35980445e-02 -2.97530955e-03 9.95605622e-01 1.17686261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.119254154 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:287.66, Y:24.88, Z:11.77 [[ 9.52514476e-01 -2.92948403e-01 -8.30506248e-02 2.87659571e+02] [ 2.90971950e-01 9.56081921e-01 -3.52517262e-02 2.48826638e+01] [ 8.97301378e-02 9.41237725e-03 9.95921638e-01 1.17697332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.14925415399995 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:287.69, Y:24.89, Z:11.77 [[ 9.53085640e-01 -2.91330757e-01 -8.21836507e-02 2.87689258e+02] [ 2.89629579e-01 9.56597745e-01 -3.21785686e-02 2.48878506e+01] [ 8.79913018e-02 6.86611548e-03 9.96097579e-01 1.17669897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.179254154 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:287.71, Y:24.88, Z:11.77 [[ 9.51991110e-01 -2.90951216e-01 -9.51856903e-02 2.87712156e+02] [ 2.92190266e-01 9.56359725e-01 -9.61163845e-04 2.48835966e+01] [ 9.13114124e-02 -2.68973128e-02 9.95459070e-01 1.17697761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.20925415399995 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:287.74, Y:24.90, Z:11.78 [[ 9.52054379e-01 -2.92706344e-01 -8.89688461e-02 2.87735462e+02] [ 2.91696850e-01 9.56198608e-01 -2.44370459e-02 2.49023419e+01] [ 9.22247652e-02 -2.68653558e-03 9.95734591e-01 1.17786748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.239254154 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:287.76, Y:24.91, Z:11.78 [[ 9.52198631e-01 -2.92144873e-01 -8.92700394e-02 2.87760993e+02] [ 2.91123941e-01 9.56370489e-01 -2.45425825e-02 2.49090624e+01] [ 9.25452209e-02 -2.61923229e-03 9.95705038e-01 1.17811419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.26925415399995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:287.79, Y:24.92, Z:11.78 [[ 9.52093903e-01 -2.92481537e-01 -8.92846579e-02 2.87786511e+02] [ 2.91460794e-01 9.56267519e-01 -2.45568432e-02 2.49158910e+01] [ 9.25624416e-02 -2.64255654e-03 9.95703375e-01 1.17832109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.299254154 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:287.81, Y:24.92, Z:11.79 [[ 9.51861215e-01 -2.93086992e-01 -8.97788508e-02 2.87813856e+02] [ 2.92056537e-01 9.56081949e-01 -2.47039549e-02 2.49231786e+01] [ 9.30763465e-02 -2.70576365e-03 9.95655298e-01 1.17858320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.32925415399995 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:287.84, Y:24.93, Z:11.79 [[ 9.51605888e-01 -2.94050885e-01 -8.93325835e-02 2.87839600e+02] [ 2.93032826e-01 9.55785768e-01 -2.46034424e-02 2.49299353e+01] [ 9.26174760e-02 -2.76459867e-03 9.95697926e-01 1.17879069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.359254154 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:287.87, Y:24.94, Z:11.79 [[ 9.50658677e-01 -2.96805468e-01 -9.03027909e-02 2.87866433e+02] [ 2.95776450e-01 9.54933076e-01 -2.48819467e-02 2.49370781e+01] [ 9.36182197e-02 -3.05520046e-03 9.95603483e-01 1.17908072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.38925415399996 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:287.89, Y:24.94, Z:11.79 [[ 9.50125118e-01 -2.98416615e-01 -9.06078578e-02 2.87892555e+02] [ 2.97385811e-01 9.54430334e-01 -2.49883463e-02 2.49443411e+01] [ 9.39358257e-02 -3.20343586e-03 9.95573101e-01 1.17930104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.419254154 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:287.92, Y:24.95, Z:11.79 [[ 9.49138177e-01 -3.01335392e-01 -9.12891123e-02 2.87919143e+02] [ 3.00301361e-01 9.53511760e-01 -2.51876035e-02 2.49513995e+01] [ 9.46351586e-02 -3.50772855e-03 9.95505843e-01 1.17946817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.44925415399996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:287.95, Y:24.96, Z:11.80 [[ 9.48572800e-01 -3.02991022e-01 -9.16846995e-02 2.87946180e+02] [ 3.01953468e-01 9.52986357e-01 -2.53200779e-02 2.49589967e+01] [ 9.50460240e-02 -3.66657582e-03 9.95466127e-01 1.17970324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.479254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:287.97, Y:24.97, Z:11.80 [[ 9.48188881e-01 -3.04129384e-01 -9.18866933e-02 2.87972750e+02] [ 3.03090346e-01 9.52623288e-01 -2.53990829e-02 2.49662273e+01] [ 9.52580113e-02 -3.76684170e-03 9.95445489e-01 1.17993654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.50925415399996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:288.00, Y:24.97, Z:11.80 [[ 9.47560421e-01 -3.05878506e-01 -9.25612699e-02 2.87999153e+02] [ 3.04830122e-01 9.52062365e-01 -2.56095867e-02 2.49740121e+01] [ 9.59575236e-02 -3.94883242e-03 9.95377597e-01 1.18017728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.539254154 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:288.03, Y:24.98, Z:11.80 [[ 9.47388990e-01 -3.06356468e-01 -9.27351983e-02 2.88025143e+02] [ 3.05303733e-01 9.51908550e-01 -2.56854556e-02 2.49819424e+01] [ 9.61443336e-02 -3.97828440e-03 9.95359453e-01 1.18044159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.56925415399996 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:288.06, Y:25.01, Z:11.80 [[ 9.50381384e-01 -3.04600361e-01 -6.31968718e-02 2.88057380e+02] [ 2.99419191e-01 9.50776798e-01 -7.98224809e-02 2.50134536e+01] [ 8.44000759e-02 5.69394437e-02 9.94803763e-01 1.18049356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.599254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:288.09, Y:24.97, Z:11.80 [[ 9.47423539e-01 -3.00904083e-01 -1.08836437e-01 2.88090330e+02] [ 3.06186466e-01 9.51320188e-01 3.52100470e-02 2.49714210e+01] [ 9.29434526e-02 -6.66830713e-02 9.93435898e-01 1.17956399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.62925415399997 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:288.11, Y:25.01, Z:11.81 [[ 9.47513904e-01 -3.06470708e-01 -9.10665000e-02 2.88110153e+02] [ 3.05450082e-01 9.51872276e-01 -2.52867007e-02 2.50093368e+01] [ 9.44333097e-02 -3.85676940e-03 9.95523719e-01 1.18140888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.65925415399994 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:288.14, Y:25.02, Z:11.82 [[ 9.47771922e-01 -3.05553462e-01 -9.14629178e-02 2.88136966e+02] [ 3.04519592e-01 9.52167414e-01 -2.53975111e-02 2.50171119e+01] [ 9.48483074e-02 -3.78120253e-03 9.95484556e-01 1.18150579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.68925415399997 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:288.16, Y:25.03, Z:11.82 [[ 9.47831473e-01 -3.06100761e-01 -8.89821481e-02 2.88162049e+02] [ 3.05123888e-01 9.51991841e-01 -2.47173491e-02 2.50265171e+01] [ 9.22762783e-02 -3.72269757e-03 9.95726484e-01 1.18197404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.71925415399994 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:288.19, Y:25.03, Z:11.82 [[ 9.47870852e-01 -3.06176530e-01 -8.82993763e-02 2.88189532e+02] [ 3.05213803e-01 9.51967605e-01 -2.45400501e-02 2.50348919e+01] [ 9.15717331e-02 -3.68939021e-03 9.95791648e-01 1.18222936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.74925415399997 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:288.22, Y:25.04, Z:11.82 [[ 9.47928202e-01 -3.06098130e-01 -8.79548660e-02 2.88216364e+02] [ 3.05140465e-01 9.51992987e-01 -2.44673228e-02 2.50432784e+01] [ 9.12218173e-02 -3.64532345e-03 9.95823926e-01 1.18249606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.77925415399994 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:288.24, Y:25.05, Z:11.83 [[ 9.47973434e-01 -3.05957590e-01 -8.79563625e-02 2.88242415e+02] [ 3.04998811e-01 9.52038234e-01 -2.44729742e-02 2.50518656e+01] [ 9.12255123e-02 -3.62685658e-03 9.95823655e-01 1.18274081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.809254154 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:288.27, Y:25.06, Z:11.83 [[ 9.48188930e-01 -3.05052675e-01 -8.87728505e-02 2.88271950e+02] [ 3.04071308e-01 9.52328805e-01 -2.47080198e-02 2.50625590e+01] [ 9.20781902e-02 -3.56540594e-03 9.95745397e-01 1.18298230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.83925415399995 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:288.30, Y:25.07, Z:11.83 [[ 9.48365289e-01 -3.04399563e-01 -8.91301570e-02 2.88302213e+02] [ 3.03407726e-01 9.52537935e-01 -2.48038974e-02 2.50718620e+01] [ 9.24501513e-02 -3.51962292e-03 9.95711094e-01 1.18326463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.869254154 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:288.33, Y:25.08, Z:11.84 [[ 9.48728701e-01 -3.03270781e-01 -8.91105219e-02 2.88332051e+02] [ 3.02274746e-01 9.52898311e-01 -2.47949046e-02 2.50811123e+01] [ 9.24328358e-02 -3.41222279e-03 9.95713075e-01 1.18351624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.89925415399995 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:288.36, Y:25.09, Z:11.84 [[ 9.49481100e-01 -3.00919005e-01 -8.90695971e-02 2.88361885e+02] [ 2.99913913e-01 9.53644382e-01 -2.47797974e-02 2.50918873e+01] [ 9.23974328e-02 -3.18526203e-03 9.95717113e-01 1.18377494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.929254154 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:288.39, Y:25.10, Z:11.84 [[ 9.49989035e-01 -2.99310930e-01 -8.90718884e-02 2.88391762e+02] [ 2.98299393e-01 9.54150802e-01 -2.47733745e-02 2.51014751e+01] [ 9.24029554e-02 -3.03565610e-03 9.95717068e-01 1.18408036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.95925415399995 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:288.42, Y:25.11, Z:11.84 [[ 9.50414907e-01 -2.97854032e-01 -8.94118629e-02 2.88420648e+02] [ 2.96828788e-01 9.54606991e-01 -2.48628814e-02 2.51111812e+01] [ 9.27586989e-02 -2.90996176e-03 9.95684366e-01 1.18436858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.989254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:288.45, Y:25.12, Z:11.85 [[ 9.50927735e-01 -2.96200667e-01 -8.94517034e-02 2.88450610e+02] [ 2.95167233e-01 9.55121773e-01 -2.48737426e-02 2.51209343e+01] [ 9.28048887e-02 -2.75008000e-03 9.95680516e-01 1.18465127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.01925415399995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:288.48, Y:25.13, Z:11.85 [[ 9.51768578e-01 -2.93228319e-01 -9.02979867e-02 2.88479438e+02] [ 2.92162211e-01 9.56039208e-01 -2.51052951e-02 2.51312117e+01] [ 9.36899991e-02 -2.48722841e-03 9.95598311e-01 1.18491360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.049254154 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:288.51, Y:25.14, Z:11.85 [[ 9.52062089e-01 -2.92227214e-01 -9.04490691e-02 2.88508776e+02] [ 2.91153567e-01 9.56345912e-01 -2.51415351e-02 2.51404593e+01] [ 9.38476382e-02 -2.39826664e-03 9.95583683e-01 1.18516599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.07925415399995 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:288.54, Y:25.15, Z:11.85 [[ 9.52417099e-01 -2.90973927e-01 -9.07515470e-02 2.88538778e+02] [ 2.89887761e-01 9.56728252e-01 -2.52217912e-02 2.51504319e+01] [ 9.41634525e-02 -2.28609759e-03 9.95554126e-01 1.18543694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.109254154 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:288.57, Y:25.16, Z:11.86 [[ 9.52517703e-01 -2.90592655e-01 -9.09171853e-02 2.88568714e+02] [ 2.89501463e-01 9.56844190e-01 -2.52606197e-02 2.51593182e+01] [ 9.43341311e-02 -2.25947079e-03 9.95538029e-01 1.18571180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.13925415399996 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:288.60, Y:25.17, Z:11.86 [[ 9.52483399e-01 -2.90910584e-01 -9.02574429e-02 2.88599961e+02] [ 2.89837142e-01 9.56747530e-01 -2.50718018e-02 2.51683508e+01] [ 9.36472380e-02 -2.27948431e-03 9.95602832e-01 1.18597981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.169254154 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:288.63, Y:25.18, Z:11.86 [[ 9.52122230e-01 -2.92184968e-01 -8.99511138e-02 2.88630443e+02] [ 2.91125152e-01 9.56358807e-01 -2.49795517e-02 2.51778615e+01] [ 9.33241894e-02 -2.40344515e-03 9.95632874e-01 1.18630711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.19925415399996 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:288.66, Y:25.19, Z:11.87 [[ 9.51862963e-01 -2.93082301e-01 -8.97756337e-02 2.88661325e+02] [ 2.92031268e-01 9.56083965e-01 -2.49236946e-02 2.51866476e+01] [ 9.31377376e-02 -2.49335030e-03 9.95650112e-01 1.18659340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.229254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:288.69, Y:25.20, Z:11.87 [[ 9.51439860e-01 -2.94487338e-01 -8.96627025e-02 2.88691070e+02] [ 2.93445824e-01 9.55651751e-01 -2.48853300e-02 2.51951764e+01] [ 9.30147332e-02 -2.63425071e-03 9.95661248e-01 1.18692286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.25925415399996 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:288.72, Y:25.20, Z:11.87 [[ 9.51054552e-01 -2.95793139e-01 -8.94519903e-02 2.88722269e+02] [ 2.94762782e-01 9.55248030e-01 -2.48214428e-02 2.52036130e+01] [ 9.27908500e-02 -2.76057135e-03 9.95681795e-01 1.18717397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.289254154 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:288.75, Y:25.21, Z:11.87 [[ 9.49957238e-01 -2.99337054e-01 -8.93228610e-02 2.88753075e+02] [ 2.98325938e-01 9.54142371e-01 -2.47784511e-02 2.52119541e+01] [ 9.26438349e-02 -3.10885727e-03 9.95694459e-01 1.18745135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.31925415399996 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:288.78, Y:25.22, Z:11.88 [[ 9.49471318e-01 -3.00845101e-01 -8.94228264e-02 2.88783217e+02] [ 2.99839036e-01 9.53667424e-01 -2.47991283e-02 2.52200934e+01] [ 9.27403328e-02 -3.26639300e-03 9.95684971e-01 1.18768930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.349254154 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:288.81, Y:25.23, Z:11.88 [[ 9.48853768e-01 -3.02697232e-01 -8.97268837e-02 2.88813634e+02] [ 3.01693062e-01 9.53080471e-01 -2.48779540e-02 2.52285780e+01] [ 9.30474284e-02 -3.46443798e-03 9.95655650e-01 1.18803140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.37925415399997 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:288.84, Y:25.24, Z:11.88 [[ 9.48039450e-01 -3.05175824e-01 -8.99384137e-02 2.88843118e+02] [ 3.04178685e-01 9.52288745e-01 -2.49293907e-02 2.52369571e+01] [ 9.32551864e-02 -3.72330254e-03 9.95635278e-01 1.18833907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.40925415399994 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:288.87, Y:25.25, Z:11.89 [[ 9.47897117e-01 -3.05456550e-01 -9.04839885e-02 2.88874121e+02] [ 3.04449064e-01 9.52198516e-01 -2.50749769e-02 2.52458613e+01] [ 9.38180355e-02 -3.77926727e-03 9.95582188e-01 1.18864582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.43925415399997 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:288.91, Y:25.25, Z:11.89 [[ 9.47925549e-01 -3.05367739e-01 -9.04858972e-02 2.88905528e+02] [ 3.04360506e-01 9.52227007e-01 -2.50680873e-02 2.52545006e+01] [ 9.38181002e-02 -3.77765311e-03 9.95582188e-01 1.18893061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.46925415399994 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:288.94, Y:25.26, Z:11.89 [[ 9.48023751e-01 -3.05049031e-01 -9.05320717e-02 2.88935748e+02] [ 3.04040155e-01 9.52329238e-01 -2.50720352e-02 2.52634745e+01] [ 9.38645389e-02 -3.75650026e-03 9.95577891e-01 1.18920872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.49925415399997 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:288.97, Y:25.27, Z:11.89 [[ 9.48833650e-01 -3.02117322e-01 -9.18685417e-02 2.88967000e+02] [ 3.01065241e-01 9.53264239e-01 -2.54364186e-02 2.52726251e+01] [ 9.52597781e-02 -3.52349484e-03 9.95446211e-01 1.18937087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.52925415399994 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:289.00, Y:25.28, Z:11.90 [[ 9.49281261e-01 -3.00842132e-01 -9.14281114e-02 2.88997090e+02] [ 2.99794924e-01 9.53667944e-01 -2.53072395e-02 2.52824966e+01] [ 9.48055429e-02 -3.38599557e-03 9.95490052e-01 1.18992375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.559254154 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:289.03, Y:25.29, Z:11.90 [[ 9.49971571e-01 -2.98671149e-01 -9.13759239e-02 2.89027246e+02] [ 2.97615824e-01 9.54350810e-01 -2.52854391e-02 2.52918788e+01] [ 9.47567181e-02 -3.17447256e-03 9.95495398e-01 1.19023487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.58925415399995 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:289.06, Y:25.30, Z:11.91 [[ 9.51448057e-01 -2.93989094e-01 -9.11976237e-02 2.89057612e+02] [ 2.92917117e-01 9.55804934e-01 -2.52287739e-02 2.53017211e+01] [ 9.45841230e-02 -2.70947715e-03 9.95513185e-01 1.19057037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.619254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:289.09, Y:25.31, Z:11.91 [[ 9.52065540e-01 -2.91991442e-01 -9.11712940e-02 2.89088161e+02] [ 2.90911640e-01 9.56417619e-01 -2.52142094e-02 2.53104980e+01] [ 9.45601652e-02 -2.51721076e-03 9.95515966e-01 1.19085978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.64925415399995 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:289.12, Y:25.32, Z:11.91 [[ 9.52585129e-01 -2.90174202e-01 -9.15450975e-02 2.89119434e+02] [ 2.89077839e-01 9.56970947e-01 -2.53102598e-02 2.53193806e+01] [ 9.49503831e-02 -2.35348191e-03 9.95479224e-01 1.19115493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.679254154 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:289.15, Y:25.33, Z:11.91 [[ 9.53224630e-01 -2.87931517e-01 -9.19687271e-02 2.89150279e+02] [ 2.86815255e-01 9.57648595e-01 -2.54200311e-02 2.53283765e+01] [ 9.53929505e-02 -2.14703414e-03 9.95437379e-01 1.19144771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.70925415399995 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:289.18, Y:25.34, Z:11.92 [[ 9.53382567e-01 -2.87201410e-01 -9.26122605e-02 2.89181240e+02] [ 2.86066722e-01 9.57867923e-01 -2.55904847e-02 2.53363575e+01] [ 9.60599369e-02 -2.09576372e-03 9.95373345e-01 1.19163935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.739254154 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:289.21, Y:25.34, Z:11.92 [[ 9.53184365e-01 -2.87623628e-01 -9.33392471e-02 2.89211706e+02] [ 2.86473763e-01 9.57741078e-01 -2.57839265e-02 2.53445370e+01] [ 9.68108976e-02 -2.16240974e-03 9.95300444e-01 1.19195568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.76925415399995 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:289.24, Y:25.35, Z:11.92 [[ 9.52983694e-01 -2.88127778e-01 -9.38320942e-02 2.89242172e+02] [ 2.86968933e-01 9.57589368e-01 -2.59120540e-02 2.53526715e+01] [ 9.73185983e-02 -2.23313097e-03 9.95250774e-01 1.19222381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.799254154 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:289.27, Y:25.36, Z:11.92 [[ 9.52798312e-01 -2.88582079e-01 -9.43173386e-02 2.89273005e+02] [ 2.87414541e-01 9.57452392e-01 -2.60345798e-02 2.53606257e+01] [ 9.78174746e-02 -2.30247087e-03 9.95201708e-01 1.19246924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.82925415399995 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:289.30, Y:25.37, Z:11.93 [[ 9.52572525e-01 -2.88849082e-01 -9.57694793e-02 2.89302099e+02] [ 2.87647289e-01 9.57371703e-01 -2.64283897e-02 2.53678549e+01] [ 9.93208055e-02 -2.37287319e-03 9.95052635e-01 1.19269482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.859254154 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:289.33, Y:25.38, Z:11.93 [[ 9.52268981e-01 -2.89802325e-01 -9.59082908e-02 2.89331763e+02] [ 2.88602068e-01 9.57083315e-01 -2.64645738e-02 2.53756744e+01] [ 9.94617199e-02 -2.47793839e-03 9.95038304e-01 1.19303841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.88925415399996 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:289.36, Y:25.38, Z:11.93 [[ 9.52367548e-01 -2.89569124e-01 -9.56335488e-02 2.89361258e+02] [ 2.88374925e-01 9.57153969e-01 -2.63852570e-02 2.53832796e+01] [ 9.91763866e-02 -2.44985494e-03 9.95066853e-01 1.19327424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.919254154 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:289.39, Y:25.39, Z:11.94 [[ 9.52408560e-01 -2.89457956e-01 -9.55616392e-02 2.89390181e+02] [ 2.88265161e-01 9.57187624e-01 -2.63637843e-02 2.53910367e+01] [ 9.91016255e-02 -2.43799755e-03 9.95074331e-01 1.19355729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.94925415399996 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:289.42, Y:25.40, Z:11.94 [[ 9.52629690e-01 -2.88931504e-01 -9.49487193e-02 2.89419935e+02] [ 2.87751425e-01 9.57346843e-01 -2.61942623e-02 2.53989590e+01] [ 9.84672042e-02 -2.36819731e-03 9.95137479e-01 1.19383286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.979254154 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:289.45, Y:25.41, Z:11.94 [[ 9.53317116e-01 -2.87085164e-01 -9.36407226e-02 2.89449534e+02] [ 2.85928904e-01 9.57902648e-01 -2.58297916e-02 2.54072582e+01] [ 9.71140461e-02 -2.15060677e-03 9.95270936e-01 1.19414988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.00925415399996 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:289.48, Y:25.42, Z:11.94 [[ 9.53782636e-01 -2.85794299e-01 -9.28455793e-02 2.89479795e+02] [ 2.84651954e-01 9.58288889e-01 -2.56060718e-02 2.54154629e+01] [ 9.62909564e-02 -2.00604885e-03 9.95351208e-01 1.19443053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.039254154 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:289.51, Y:25.42, Z:11.95 [[ 9.54949495e-01 -2.82321446e-01 -9.14661882e-02 2.89510227e+02] [ 2.81197982e-01 9.59318460e-01 -2.52148299e-02 2.54239526e+01] [ 9.48638901e-02 -1.64121851e-03 9.95488899e-01 1.19473595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.06925415399996 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:289.54, Y:25.43, Z:11.95 [[ 9.55679321e-01 -2.80018297e-01 -9.09218831e-02 2.89540441e+02] [ 2.78898458e-01 9.59993627e-01 -2.50576772e-02 2.54322406e+01] [ 9.43010364e-02 -1.41086909e-03 9.95542728e-01 1.19503332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.099254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:289.57, Y:25.44, Z:11.95 [[ 9.56404293e-01 -2.77674659e-01 -9.04854302e-02 2.89571738e+02] [ 2.76555614e-01 9.60674447e-01 -2.49318924e-02 2.54407127e+01] [ 9.38499954e-02 -1.17928479e-03 9.95585651e-01 1.19532003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.12925415399997 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:289.60, Y:25.45, Z:11.96 [[ 9.56971479e-01 -2.75707633e-01 -9.05035365e-02 2.89602196e+02] [ 2.74580027e-01 9.61241028e-01 -2.49297839e-02 2.54489213e+01] [ 9.38690442e-02 -9.93371306e-04 9.95584058e-01 1.19557800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.15925415399994 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:289.63, Y:25.46, Z:11.96 [[ 9.57807607e-01 -2.72533210e-01 -9.12701362e-02 2.89633582e+02] [ 2.71372523e-01 9.62146126e-01 -2.51353391e-02 2.54569515e+01] [ 9.46654226e-02 -6.93388121e-04 9.95508904e-01 1.19584439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.18925415399997 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:289.66, Y:25.46, Z:11.96 [[ 9.57886546e-01 -2.71877003e-01 -9.23918843e-02 2.89662496e+02] [ 2.70685163e-01 9.62331794e-01 -2.54373923e-02 2.54642554e+01] [ 9.58274898e-02 -6.42976363e-04 9.95397749e-01 1.19600573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.21925415399994 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:289.69, Y:25.47, Z:11.96 [[ 9.57885795e-01 -2.72032691e-01 -9.19403008e-02 2.89693135e+02] [ 2.70853400e-01 9.62287786e-01 -2.53111225e-02 2.54718290e+01] [ 9.53584813e-02 -6.57178387e-04 9.95442780e-01 1.19629305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.24925415399997 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:289.72, Y:25.48, Z:11.97 [[ 9.57661268e-01 -2.72669622e-01 -9.23914120e-02 2.89724611e+02] [ 2.71482046e-01 9.62107451e-01 -2.54313144e-02 2.54792778e+01] [ 9.58248128e-02 -7.28024756e-04 9.95397948e-01 1.19654819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.27925415399994 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:289.75, Y:25.48, Z:11.97 [[ 9.56954276e-01 -2.75089069e-01 -9.25446783e-02 2.89754867e+02] [ 2.73909526e-01 9.61418247e-01 -2.54661705e-02 2.54849894e+01] [ 9.59796075e-02 -9.78908179e-04 9.95382819e-01 1.19677544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.309254154 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:289.79, Y:25.49, Z:11.97 [[ 9.56471947e-01 -2.76583955e-01 -9.30737906e-02 2.89786522e+02] [ 2.75398478e-01 9.60989081e-01 -2.56059412e-02 2.54926687e+01] [ 9.65250890e-02 -1.14101584e-03 9.95329898e-01 1.19703986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.33925415399995 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:289.82, Y:25.50, Z:11.97 [[ 9.55237188e-01 -2.80260828e-01 -9.47406052e-02 2.89817495e+02] [ 2.79051178e-01 9.59922640e-01 -2.60569535e-02 2.54991876e+01] [ 9.82463952e-02 -1.54690648e-03 9.95160918e-01 1.19718973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.369254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:289.85, Y:25.51, Z:11.97 [[ 9.54630066e-01 -2.82182776e-01 -9.51541767e-02 2.89847706e+02] [ 2.80972582e-01 9.59359053e-01 -2.61651799e-02 2.55066580e+01] [ 9.86703838e-02 -1.75764730e-03 9.95118619e-01 1.19740004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.39925415399995 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:289.88, Y:25.51, Z:11.98 [[ 9.53878761e-01 -2.84464164e-01 -9.58929015e-02 2.89877339e+02] [ 2.83246889e-01 9.58684562e-01 -2.63649363e-02 2.55141474e+01] [ 9.94309239e-02 -2.01241332e-03 9.95042432e-01 1.19765096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.429254154 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:289.91, Y:25.52, Z:11.98 [[ 9.52506181e-01 -2.88921814e-01 -9.62089424e-02 2.89907245e+02] [ 2.87719123e-01 9.57349470e-01 -2.64518290e-02 2.55214653e+01] [ 9.97480904e-02 -2.48562185e-03 9.95009618e-01 1.19789763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.45925415399995 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:289.94, Y:25.53, Z:11.98 [[ 9.51846485e-01 -2.90872854e-01 -9.68568663e-02 2.89936732e+02] [ 2.89663937e-01 9.56757884e-01 -2.66299702e-02 2.55289687e+01] [ 1.00414506e-01 -2.70829774e-03 9.94942004e-01 1.19811615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.489254154 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:289.97, Y:25.54, Z:11.98 [[ 9.51037359e-01 -2.93757234e-01 -9.60969768e-02 2.89966024e+02] [ 2.92581910e-01 9.55875386e-01 -2.64210450e-02 2.55373567e+01] [ 9.96181079e-02 -2.98883613e-03 9.95021256e-01 1.19847558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.51925415399995 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:290.00, Y:25.55, Z:11.99 [[ 9.50340529e-01 -2.96220500e-01 -9.54269011e-02 2.89995037e+02] [ 2.95073905e-01 9.55114140e-01 -2.62368134e-02 2.55452717e+01] [ 9.89154646e-02 -3.22408114e-03 9.95090617e-01 1.19874997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.549254154 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:290.02, Y:25.55, Z:11.99 [[ 9.48804392e-01 -3.01351780e-01 -9.46431752e-02 2.90023307e+02] [ 3.00249341e-01 9.53505749e-01 -2.60215436e-02 2.55530766e+01] [ 9.80844501e-02 -3.72719616e-03 9.95171115e-01 1.19901663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.57925415399995 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:290.05, Y:25.56, Z:11.99 [[ 9.48059814e-01 -3.03900781e-01 -9.39516098e-02 2.90051876e+02] [ 3.02826676e-01 9.52695459e-01 -2.58334311e-02 2.55608252e+01] [ 9.73580719e-02 -3.95941582e-03 9.95241543e-01 1.19926049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.609254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:290.08, Y:25.57, Z:12.00 [[ 9.46445628e-01 -3.09263716e-01 -9.27180023e-02 2.90078842e+02] [ 3.08242872e-01 9.50965918e-01 -2.54981259e-02 2.55690149e+01] [ 9.60573054e-02 -4.44707357e-03 9.95365871e-01 1.19952330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.63925415399996 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:290.11, Y:25.58, Z:12.00 [[ 9.45620013e-01 -3.11650961e-01 -9.31475731e-02 2.90107439e+02] [ 3.10631486e-01 9.50185004e-01 -2.56229976e-02 2.55771909e+01] [ 9.64928589e-02 -4.70494974e-03 9.95322557e-01 1.19968690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.669254154 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:290.14, Y:25.59, Z:12.00 [[ 9.44836355e-01 -3.13990539e-01 -9.32427136e-02 2.90137284e+02] [ 3.12980026e-01 9.49413228e-01 -2.56520263e-02 2.55862014e+01] [ 9.65803592e-02 -4.94613988e-03 9.95312901e-01 1.19997248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.69925415399996 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:290.17, Y:25.60, Z:12.00 [[ 9.44136452e-01 -3.16455281e-01 -9.19913876e-02 2.90167509e+02] [ 3.15483746e-01 9.48593550e-01 -2.53038233e-02 2.55957630e+01] [ 9.52699654e-02 -5.13152556e-03 9.95438246e-01 1.20031715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.729254154 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:290.20, Y:25.61, Z:12.01 [[ 9.43034059e-01 -3.19844399e-01 -9.15768709e-02 2.90198586e+02] [ 3.18898176e-01 9.47454376e-01 -2.51824986e-02 2.56054082e+01] [ 9.48193883e-02 -5.45574320e-03 9.95479542e-01 1.20056643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.75925415399996 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:290.23, Y:25.61, Z:12.01 [[ 9.42582000e-01 -3.21174756e-01 -9.15748326e-02 2.90228398e+02] [ 3.20235499e-01 9.47003410e-01 -2.51747344e-02 2.56144228e+01] [ 9.48071679e-02 -5.59626072e-03 9.95479926e-01 1.20082165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.789254154 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:290.26, Y:25.62, Z:12.01 [[ 9.42285366e-01 -3.22049708e-01 -9.15547583e-02 2.90258132e+02] [ 3.21115475e-01 9.46705673e-01 -2.51638781e-02 2.56233541e+01] [ 9.47794287e-02 -5.68809561e-03 9.95482047e-01 1.20108946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.81925415399996 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:290.29, Y:25.63, Z:12.01 [[ 9.42072314e-01 -3.22804554e-01 -9.10877330e-02 2.90288872e+02] [ 3.21883711e-01 9.46448252e-01 -2.50316241e-02 2.56340673e+01] [ 9.42901479e-02 -5.73805751e-03 9.95528223e-01 1.20134982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.849254154 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:290.32, Y:25.64, Z:12.02 [[ 9.42137275e-01 -3.22596249e-01 -9.11538017e-02 2.90319716e+02] [ 3.21673792e-01 9.46519332e-01 -2.50424639e-02 2.56440068e+01] [ 9.43574405e-02 -5.72835037e-03 9.95521903e-01 1.20166638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.87925415399997 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:290.35, Y:25.67, Z:12.02 [[ 9.45093464e-01 -3.19542298e-01 -6.84913475e-02 2.90353328e+02] [ 3.15316168e-01 9.46701521e-01 -6.58175147e-02 2.56718413e+01] [ 8.58723427e-02 4.06072737e-02 9.95478272e-01 1.20174464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.90925415399994 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:290.38, Y:25.64, Z:12.01 [[ 9.43005848e-01 -3.15609980e-01 -1.05500292e-01 2.90384374e+02] [ 3.19406278e-01 9.47389125e-01 2.08200867e-02 2.56424045e+01] [ 9.33788022e-02 -5.33309191e-02 9.94201294e-01 1.20084501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.93925415399997 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:290.41, Y:25.67, Z:12.02 [[ 9.43485531e-01 -3.17937115e-01 -9.35470129e-02 2.90408165e+02] [ 3.16940987e-01 9.48096514e-01 -2.57179188e-02 2.56745040e+01] [ 9.68682777e-02 -5.38439831e-03 9.95282646e-01 1.20244763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.96925415399994 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:290.44, Y:25.68, Z:12.03 [[ 9.44364898e-01 -3.15210203e-01 -9.39013712e-02 2.90437663e+02] [ 3.14194158e-01 9.49007990e-01 -2.58043836e-02 2.56846660e+01] [ 9.72469565e-02 -5.13450821e-03 9.95247038e-01 1.20268929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.99925415399997 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:290.47, Y:25.70, Z:12.03 [[ 9.46644141e-01 -3.07837551e-01 -9.53987060e-02 2.90466636e+02] [ 3.06752019e-01 9.51428516e-01 -2.62102423e-02 2.56976744e+01] [ 9.88335461e-02 -4.45197340e-03 9.95094021e-01 1.20288031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.02925415399994 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:290.50, Y:25.71, Z:12.03 [[ 9.47941083e-01 -3.04096525e-01 -9.45145889e-02 2.90496400e+02] [ 3.03012905e-01 9.52632712e-01 -2.59633519e-02 2.57091155e+01] [ 9.79330542e-02 -4.02741228e-03 9.95184856e-01 1.20329752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.059254154 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:290.53, Y:25.72, Z:12.04 [[ 9.49378078e-01 -2.99557584e-01 -9.45860431e-02 2.90525439e+02] [ 2.98450573e-01 9.54071549e-01 -2.59756805e-02 2.57199796e+01] [ 9.80230647e-02 -3.56851712e-03 9.95177745e-01 1.20361787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.08925415399995 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:290.55, Y:25.73, Z:12.04 [[ 9.52396030e-01 -2.90133993e-01 -9.36166044e-02 2.90554735e+02] [ 2.89004639e-01 9.56982567e-01 -2.57037976e-02 2.57336287e+01] [ 9.70470038e-02 -2.57543816e-03 9.95276467e-01 1.20400396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.119254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:290.59, Y:25.74, Z:12.04 [[ 9.53926640e-01 -2.85388606e-01 -9.26137595e-02 2.90585997e+02] [ 2.84261756e-01 9.58409636e-01 -2.54209422e-02 2.57444936e+01] [ 9.60167668e-02 -2.07683584e-03 9.95377550e-01 1.20428959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.14925415399995 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:290.62, Y:25.76, Z:12.05 [[ 9.55472263e-01 -2.80594804e-01 -9.13198239e-02 2.90617488e+02] [ 2.79478436e-01 9.59825011e-01 -2.50549853e-02 2.57550439e+01] [ 9.46813496e-02 -1.58257802e-03 9.95506372e-01 1.20456157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.179254154 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:290.65, Y:25.77, Z:12.05 [[ 9.56802753e-01 -2.76239141e-01 -9.06665793e-02 2.90648708e+02] [ 2.75120194e-01 9.61088241e-01 -2.48650704e-02 2.57654182e+01] [ 9.40072889e-02 -1.15323900e-03 9.95570841e-01 1.20488936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.20925415399995 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:290.68, Y:25.78, Z:12.05 [[ 9.59000673e-01 -2.69093487e-01 -8.89179654e-02 2.90679861e+02] [ 2.67987618e-01 9.63113955e-01 -2.43751298e-02 2.57773788e+01] [ 9.21973220e-02 -4.53147796e-04 9.95740653e-01 1.20516853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.239254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:290.71, Y:25.79, Z:12.05 [[ 9.59818606e-01 -2.66406140e-01 -8.81816966e-02 2.90710463e+02] [ 2.65308181e-01 9.63860844e-01 -2.41628182e-02 2.57869377e+01] [ 9.14320076e-02 -2.03403067e-04 9.95811301e-01 1.20542846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.26925415399995 meters Centerline goodness : 0.997053 Centerline is valid? [True, True] Translation: X:290.74, Y:25.80, Z:12.06 [[ 9.60780208e-01 -2.65019352e-01 -8.16464038e-02 2.90736377e+02] [ 2.62964061e-01 9.64164370e-01 -3.51705773e-02 2.58017389e+01] [ 8.80414371e-02 1.23211247e-02 9.96040609e-01 1.20573405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.299254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:290.77, Y:25.80, Z:12.05 [[ 9.60753358e-01 -2.61918281e-01 -9.13881749e-02 2.90769974e+02] [ 2.61848730e-01 9.65021845e-01 -1.29646521e-02 2.57981284e+01] [ 9.15872645e-02 -1.14740445e-02 9.95730947e-01 1.20545411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.32925415399995 meters Centerline goodness : 0.996202 Centerline is valid? [True, True] Translation: X:290.79, Y:25.82, Z:12.06 [[ 9.60812907e-01 -2.64332875e-01 -8.34666972e-02 2.90792870e+02] [ 2.62284461e-01 9.64362178e-01 -3.48202610e-02 2.58165319e+01] [ 8.96962656e-02 1.15637385e-02 9.95902033e-01 1.20613844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.359254154 meters Centerline goodness : 0.996202 Centerline is valid? [True, True] Translation: X:290.82, Y:25.82, Z:12.06 [[ 9.60741538e-01 -2.63630767e-01 -8.64552831e-02 2.90821866e+02] [ 2.62468123e-01 9.64623048e-01 -2.47559855e-02 2.58193639e+01] [ 8.99231982e-02 1.09234768e-03 9.95948104e-01 1.20606475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.38925415399996 meters Centerline goodness : 0.995313 Centerline is valid? [True, True] Translation: X:290.85, Y:25.83, Z:12.06 [[ 9.59502140e-01 -2.67553451e-01 -8.81521125e-02 2.90850245e+02] [ 2.66330677e-01 9.63542438e-01 -2.55722758e-02 2.58255030e+01] [ 9.17802520e-02 1.05904161e-03 9.95778722e-01 1.20629230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.419254154 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:290.88, Y:25.83, Z:12.06 [[ 9.58076809e-01 -2.70622570e-01 -9.40864148e-02 2.90880397e+02] [ 2.70472656e-01 9.62617156e-01 -1.45860587e-02 2.58260428e+01] [ 9.45165138e-02 -1.14732379e-02 9.95457178e-01 1.20634968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.44925415399996 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:290.91, Y:25.84, Z:12.07 [[ 9.57114963e-01 -2.74950503e-01 -9.12861877e-02 2.90911296e+02] [ 2.73807835e-01 9.61457853e-01 -2.50612331e-02 2.58384130e+01] [ 9.46584208e-02 -1.00839226e-03 9.95509300e-01 1.20695502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.479254154 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:290.94, Y:25.85, Z:12.07 [[ 9.56148714e-01 -2.78385968e-01 -9.09993992e-02 2.90942875e+02] [ 2.77267016e-01 9.60468333e-01 -2.49716545e-02 2.58453609e+01] [ 9.43537994e-02 -1.35451654e-03 9.95537807e-01 1.20725567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.50925415399996 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:290.97, Y:25.85, Z:12.08 [[ 9.54259138e-01 -2.85156372e-01 -8.98629026e-02 2.90974165e+02] [ 2.84095962e-01 9.58478909e-01 -2.46508917e-02 2.58502648e+01] [ 9.31610557e-02 -2.00634912e-03 9.95649031e-01 1.20753018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.539254154 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:291.01, Y:25.89, Z:12.08 [[ 9.57999149e-01 -2.83715133e-01 -4.17534919e-02 2.91011798e+02] [ 2.77763475e-01 9.54225282e-01 -1.10912408e-01 2.58943404e+01] [ 7.13097663e-02 9.46563976e-02 9.92952710e-01 1.20822290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.56925415399996 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:291.05, Y:25.82, Z:12.05 [[ 9.52492090e-01 -2.82140406e-01 -1.14697903e-01 2.91049944e+02] [ 2.91283124e-01 9.53886023e-01 7.24954948e-02 2.58156743e+01] [ 8.89548180e-02 -1.02460949e-01 9.90751631e-01 1.20534322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.59925415399994 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:291.07, Y:25.87, Z:12.08 [[ 9.52098194e-01 -2.92955540e-01 -8.76702966e-02 2.91066857e+02] [ 2.91974014e-01 9.56122404e-01 -2.41064948e-02 2.58700960e+01] [ 9.08856660e-02 -2.64569824e-03 9.95857819e-01 1.20847435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.62925415399997 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:291.10, Y:25.88, Z:12.09 [[ 9.52013246e-01 -2.93376120e-01 -8.71850481e-02 2.91097982e+02] [ 2.92408155e-01 9.55993339e-01 -2.39625915e-02 2.58772415e+01] [ 9.03783774e-02 -2.68091454e-03 9.95903892e-01 1.20874093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.65925415399994 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:291.13, Y:25.89, Z:12.09 [[ 9.52463880e-01 -2.93552470e-01 -8.14831496e-02 2.91126110e+02] [ 2.91829877e-01 9.55915523e-01 -3.25704877e-02 2.58889303e+01] [ 8.74521547e-02 7.24299554e-03 9.96142389e-01 1.20900376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.68925415399997 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:291.16, Y:25.89, Z:12.09 [[ 9.52110512e-01 -2.92308481e-01 -8.96734307e-02 2.91157860e+02] [ 2.92186985e-01 9.56247089e-01 -1.47739853e-02 2.58865911e+01] [ 9.00685183e-02 -1.21349426e-02 9.95861640e-01 1.20898375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.71925415399994 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:291.19, Y:25.90, Z:12.10 [[ 9.52423700e-01 -2.91921549e-01 -8.75836976e-02 2.91188531e+02] [ 2.90939382e-01 9.56438832e-01 -2.40631875e-02 2.58978483e+01] [ 9.07930124e-02 -2.56319675e-03 9.95866486e-01 1.20953083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.74925415399997 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:291.22, Y:25.91, Z:12.10 [[ 9.52648913e-01 -2.91116771e-01 -8.78127246e-02 2.91220205e+02] [ 2.90127003e-01 9.56684253e-01 -2.41156064e-02 2.59054699e+01] [ 9.10295083e-02 -2.50313635e-03 9.95845050e-01 1.20979076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.77925415399994 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:291.25, Y:25.91, Z:12.10 [[ 9.52892634e-01 -2.90078708e-01 -8.86000595e-02 2.91250845e+02] [ 2.89067254e-01 9.56999700e-01 -2.43248011e-02 2.59123218e+01] [ 9.18463373e-02 -2.43245209e-03 9.95770221e-01 1.21003378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.809254154 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:291.28, Y:25.92, Z:12.10 [[ 9.53385405e-01 -2.87986993e-01 -9.01097229e-02 2.91282927e+02] [ 2.86931911e-01 9.57631619e-01 -2.47337764e-02 2.59186759e+01] [ 9.34149257e-02 -2.27453362e-03 9.95624667e-01 1.21022598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.83925415399995 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:291.31, Y:25.93, Z:12.10 [[ 9.53738798e-01 -2.86609465e-01 -9.07596802e-02 2.91313814e+02] [ 2.85533539e-01 9.58045062e-01 -2.49049819e-02 2.59262696e+01] [ 9.40898669e-02 -2.16208518e-03 9.95561360e-01 1.21044598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.869254154 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:291.35, Y:25.93, Z:12.11 [[ 9.54116967e-01 -2.85061570e-01 -9.16554112e-02 2.91345288e+02] [ 2.83957839e-01 9.58507044e-01 -2.51434251e-02 2.59342769e+01] [ 9.50197815e-02 -2.03650400e-03 9.95473301e-01 1.21073709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.89925415399995 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:291.38, Y:25.94, Z:12.11 [[ 9.55168719e-01 -2.81126274e-01 -9.28479209e-02 2.91376760e+02] [ 2.79975743e-01 9.59669327e-01 -2.54630424e-02 2.59421618e+01] [ 9.62616320e-02 -1.67366407e-03 9.95354659e-01 1.21099530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.929254154 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:291.40, Y:25.95, Z:12.12 [[ 9.55803455e-01 -2.79119003e-01 -9.23706558e-02 2.91400050e+02] [ 2.77077159e-01 9.60228162e-01 -3.44981989e-02 2.59526583e+01] [ 9.83260079e-02 7.37969882e-03 9.95126895e-01 1.21155380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.95925415399995 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:291.43, Y:25.95, Z:12.11 [[ 9.56430479e-01 -2.76184931e-01 -9.46711306e-02 2.91431553e+02] [ 2.75788714e-01 9.61058869e-01 -1.75052905e-02 2.59524684e+01] [ 9.58192272e-02 -9.36663605e-03 9.95354681e-01 1.21126366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.989254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:291.46, Y:25.96, Z:12.12 [[ 9.57161893e-01 -2.74379834e-01 -9.25030607e-02 2.91459922e+02] [ 2.73203784e-01 9.61620911e-01 -2.53952110e-02 2.59637609e+01] [ 9.59208112e-02 -9.64857956e-04 9.95388501e-01 1.21178457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.01925415399995 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:291.49, Y:25.97, Z:12.12 [[ 9.57901232e-01 -2.71773673e-01 -9.25435074e-02 2.91490297e+02] [ 2.70584980e-01 9.62360934e-01 -2.54008136e-02 2.59716109e+01] [ 9.59635286e-02 -7.09412462e-04 9.95384598e-01 1.21207753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.049254154 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:291.52, Y:25.98, Z:12.12 [[ 9.59315947e-01 -2.66971441e-01 -9.18649187e-02 2.91521682e+02] [ 2.65778680e-01 9.63704413e-01 -2.52090702e-02 2.59800449e+01] [ 9.52607294e-02 -2.32273832e-04 9.95452329e-01 1.21241930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.07925415399995 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:291.55, Y:25.99, Z:12.13 [[ 9.59873515e-01 -2.65103605e-01 -9.14489678e-02 2.91551165e+02] [ 2.63913838e-01 9.64219931e-01 -2.50880547e-02 2.59880417e+01] [ 9.48278512e-02 -5.32888836e-05 9.95493684e-01 1.21272888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.109254154 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:291.58, Y:25.98, Z:12.13 [[ 9.59379329e-01 -2.61651658e-01 -1.05497452e-01 2.91582735e+02] [ 2.63433918e-01 9.64672528e-01 3.07959509e-03 2.59828976e+01] [ 1.00964712e-01 -3.07461069e-02 9.94414805e-01 1.21317953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.13925415399996 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:291.61, Y:26.02, Z:12.14 [[ 9.60427317e-01 -2.65998814e-01 -8.26075022e-02 2.91606050e+02] [ 2.62074470e-01 9.63457199e-01 -5.53822782e-02 2.60158764e+01] [ 9.43204130e-02 3.15413354e-02 9.95042112e-01 1.21415230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.169254154 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:291.64, Y:26.01, Z:12.13 [[ 9.60115933e-01 -2.64285110e-01 -9.12730830e-02 2.91641888e+02] [ 2.63096718e-01 9.64444597e-01 -2.50347124e-02 2.60084760e+01] [ 9.46441334e-02 2.25776977e-05 9.95511169e-01 1.21343345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.19925415399996 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:291.67, Y:26.01, Z:12.14 [[ 9.58961717e-01 -2.68076093e-01 -9.23451914e-02 2.91672820e+02] [ 2.66877783e-01 9.63397673e-01 -2.53213745e-02 2.60136455e+01] [ 9.57531977e-02 -3.62651260e-04 9.95405040e-01 1.21368195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.229254154 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:291.70, Y:26.02, Z:12.14 [[ 9.58266432e-01 -2.70507169e-01 -9.24733272e-02 2.91704245e+02] [ 2.69317358e-01 9.62717766e-01 -2.53508110e-02 2.60207333e+01] [ 9.58832911e-02 -6.11840982e-04 9.95392395e-01 1.21394586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.25925415399996 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:291.73, Y:26.03, Z:12.14 [[ 9.57417538e-01 -2.73333131e-01 -9.29551347e-02 2.91733508e+02] [ 2.72144817e-01 9.61919008e-01 -2.54758775e-02 2.60272847e+01] [ 9.63787123e-02 -9.06206139e-04 9.95344324e-01 1.21420784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.289254154 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:291.76, Y:26.03, Z:12.15 [[ 9.55841927e-01 -2.78545425e-01 -9.36944879e-02 2.91764060e+02] [ 2.77363195e-01 9.60421970e-01 -2.56768048e-02 2.60320827e+01] [ 9.71384011e-02 -1.44443594e-03 9.95269835e-01 1.21451552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.31925415399996 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:291.79, Y:26.04, Z:12.15 [[ 9.55138833e-01 -2.80841203e-01 -9.40107861e-02 2.91794998e+02] [ 2.79662075e-01 9.59752772e-01 -2.57631567e-02 2.60386429e+01] [ 9.74624684e-02 -1.68386008e-03 9.95237777e-01 1.21481568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.34925415399994 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:291.83, Y:26.04, Z:12.15 [[ 9.54629846e-01 -2.82473541e-01 -9.42897456e-02 2.91825463e+02] [ 2.81295699e-01 9.59273288e-01 -2.58358148e-02 2.60447218e+01] [ 9.77475683e-02 -1.85966004e-03 9.95209503e-01 1.21509763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.37925415399997 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:291.85, Y:26.05, Z:12.15 [[ 9.54307195e-01 -2.83678958e-01 -9.39362884e-02 2.91854735e+02] [ 2.82516107e-01 9.58917271e-01 -2.57355186e-02 2.60507060e+01] [ 9.73777544e-02 -1.97892389e-03 9.95245526e-01 1.21536139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.40925415399994 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:291.88, Y:26.06, Z:12.16 [[ 9.54086163e-01 -2.84806507e-01 -9.27623101e-02 2.91883863e+02] [ 2.83677920e-01 9.58582797e-01 -2.54137707e-02 2.60560181e+01] [ 9.61583619e-02 -2.06769221e-03 9.95363900e-01 1.21569065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.43925415399997 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:291.91, Y:26.06, Z:12.16 [[ 9.54246543e-01 -2.84537937e-01 -9.19331196e-02 2.91912122e+02] [ 2.83427887e-01 9.58662656e-01 -2.51901902e-02 2.60626947e+01] [ 9.53004134e-02 -2.01875789e-03 9.95446511e-01 1.21598159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.46925415399994 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:291.94, Y:26.07, Z:12.16 [[ 9.54455916e-01 -2.83947993e-01 -9.15829793e-02 2.91941254e+02] [ 2.82843369e-01 9.58837702e-01 -2.50976073e-02 2.60699860e+01] [ 9.49396286e-02 -1.94907872e-03 9.95481124e-01 1.21633117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.49925415399997 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:291.97, Y:26.08, Z:12.17 [[ 9.54870918e-01 -2.82772306e-01 -9.08919877e-02 2.91970134e+02] [ 2.81678986e-01 9.59185341e-01 -2.49084480e-02 2.60770556e+01] [ 9.42256815e-02 -1.81801032e-03 9.95549203e-01 1.21660776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.52925415399994 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:292.00, Y:26.08, Z:12.17 [[ 9.55791661e-01 -2.79499292e-01 -9.13369978e-02 2.91998641e+02] [ 2.78379953e-01 9.60144728e-01 -2.50340398e-02 2.60829593e+01] [ 9.46937333e-02 -1.49906274e-03 9.95505324e-01 1.21686147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.559254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:292.03, Y:26.09, Z:12.17 [[ 9.56332628e-01 -2.77390645e-01 -9.20995916e-02 2.92027859e+02] [ 2.76242386e-01 9.60756341e-01 -2.52467299e-02 2.60899423e+01] [ 9.54884733e-02 -1.29753941e-03 9.95429690e-01 1.21714108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.58925415399995 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:292.06, Y:26.10, Z:12.17 [[ 9.56872801e-01 -2.75363124e-01 -9.25720984e-02 2.92056117e+02] [ 2.74193051e-01 9.61339664e-01 -2.53815131e-02 2.60966864e+01] [ 9.59823627e-02 -1.09574662e-03 9.95382432e-01 1.21738902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.619254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:292.08, Y:26.10, Z:12.18 [[ 9.58046383e-01 -2.70890683e-01 -9.36235331e-02 2.92082780e+02] [ 2.69670091e-01 9.62609911e-01 -2.56943968e-02 2.61026573e+01] [ 9.70833135e-02 -6.31042812e-04 9.95276058e-01 1.21768287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.64925415399995 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:292.11, Y:26.11, Z:12.18 [[ 9.58532391e-01 -2.69018953e-01 -9.40449856e-02 2.92109691e+02] [ 2.67777263e-01 9.63134786e-01 -2.58209584e-02 2.61092039e+01] [ 9.75243243e-02 -4.32883816e-04 9.95233047e-01 1.21796496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.679254154 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:292.14, Y:26.12, Z:12.18 [[ 9.58943285e-01 -2.67321825e-01 -9.46932850e-02 2.92137095e+02] [ 2.66051764e-01 9.63607279e-01 -2.60282850e-02 2.61157380e+01] [ 9.82050673e-02 -2.33666341e-04 9.95166172e-01 1.21827579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.70925415399995 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:292.16, Y:26.12, Z:12.19 [[ 9.59755383e-01 -2.64075240e-01 -9.55712981e-02 2.92163323e+02] [ 2.62762573e-01 9.64502074e-01 -2.62978803e-02 2.61201195e+01] [ 9.91233343e-02 1.26971918e-04 9.95075147e-01 1.21859716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.739254154 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:292.19, Y:26.13, Z:12.19 [[ 9.59993923e-01 -2.63136138e-01 -9.57655469e-02 2.92190575e+02] [ 2.61811994e-01 9.64758683e-01 -2.63659539e-02 2.61259066e+01] [ 9.93284782e-02 2.38586689e-04 9.95054670e-01 1.21882690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.76925415399995 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:292.22, Y:26.13, Z:12.19 [[ 9.59972394e-01 -2.62672874e-01 -9.72417842e-02 2.92217447e+02] [ 2.61302057e-01 9.64884894e-01 -2.68025434e-02 2.61318326e+01] [ 1.00867430e-01 3.20223530e-04 9.94899824e-01 1.21911140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.799254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:292.24, Y:26.14, Z:12.19 [[ 9.60054113e-01 -2.61825348e-01 -9.87096116e-02 2.92244006e+02] [ 2.60405225e-01 9.65115169e-01 -2.72365331e-02 2.61361139e+01] [ 1.02397358e-01 4.44046985e-04 9.94743476e-01 1.21934060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.82925415399995 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:292.27, Y:26.14, Z:12.20 [[ 9.60030830e-01 -2.61660433e-01 -9.93711352e-02 2.92270763e+02] [ 2.60218607e-01 9.65159876e-01 -2.74351898e-02 2.61422209e+01] [ 1.03087736e-01 4.80409668e-04 9.94672151e-01 1.21960618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.859254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:292.30, Y:26.13, Z:12.20 [[ 9.58263809e-01 -2.60615461e-01 -1.17516184e-01 2.92298489e+02] [ 2.62667361e-01 9.64884271e-01 2.04964165e-03 2.61337945e+01] [ 1.12855349e-01 -3.28317632e-02 9.93068852e-01 1.22044945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.88925415399996 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:292.32, Y:26.16, Z:12.21 [[ 9.58539337e-01 -2.63662931e-01 -1.08093474e-01 2.92321613e+02] [ 2.61925605e-01 9.64614651e-01 -3.02250442e-02 2.61564174e+01] [ 1.12237772e-01 6.59445300e-04 9.93681160e-01 1.22149683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.919254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:292.35, Y:26.17, Z:12.21 [[ 9.60036631e-01 -2.64485221e-01 -9.15272377e-02 2.92347301e+02] [ 2.59529738e-01 9.63705379e-01 -6.25800100e-02 2.61738866e+01] [ 1.04756779e-01 3.63250619e-02 9.93834245e-01 1.22142469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.94925415399996 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:292.38, Y:26.16, Z:12.21 [[ 9.59339517e-01 -2.63636596e-01 -1.00813869e-01 2.92382445e+02] [ 2.62186859e-01 9.64622072e-01 -2.76099326e-02 2.61634744e+01] [ 1.04526271e-01 5.52278497e-05 9.94522124e-01 1.22081886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.979254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:292.41, Y:26.17, Z:12.21 [[ 9.59016692e-01 -2.64994899e-01 -1.00322921e-01 2.92410026e+02] [ 2.63533683e-01 9.64249790e-01 -2.77909993e-02 2.61686753e+01] [ 1.04100829e-01 2.13563181e-04 9.94566726e-01 1.22109637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.00925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:292.44, Y:26.17, Z:12.21 [[ 9.58015512e-01 -2.68565335e-01 -1.00393920e-01 2.92437831e+02] [ 2.67118287e-01 9.63261460e-01 -2.78420648e-02 2.61710481e+01] [ 1.04183008e-01 -1.43921965e-04 9.94558133e-01 1.22143478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.039254154 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:292.46, Y:26.18, Z:12.22 [[ 9.57344823e-01 -2.71236704e-01 -9.96069279e-02 2.92464729e+02] [ 2.69823498e-01 9.62512592e-01 -2.76548417e-02 2.61762292e+01] [ 1.03373930e-01 -4.01070218e-04 9.94642483e-01 1.22170973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.06925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:292.49, Y:26.18, Z:12.22 [[ 9.55853372e-01 -2.76382970e-01 -9.97836923e-02 2.92492612e+02] [ 2.74989394e-01 9.61047133e-01 -2.77352077e-02 2.61786286e+01] [ 1.03562370e-01 -9.28665284e-04 9.94622528e-01 1.22199381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.09925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:292.52, Y:26.18, Z:12.22 [[ 9.55139946e-01 -2.78829648e-01 -9.98083676e-02 2.92518752e+02] [ 2.77445649e-01 9.60339871e-01 -2.77712755e-02 2.61832505e+01] [ 1.03593410e-01 -1.16594272e-03 9.94619046e-01 1.22224283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.12925415399997 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:292.55, Y:26.19, Z:12.23 [[ 9.54457112e-01 -2.81015757e-01 -1.00208609e-01 2.92545655e+02] [ 2.79631162e-01 9.59702140e-01 -2.78965276e-02 2.61880021e+01] [ 1.04009780e-01 -1.39541040e-03 9.94575296e-01 1.22251047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.15925415399994 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:292.57, Y:26.19, Z:12.23 [[ 9.53945264e-01 -2.82723530e-01 -1.00278810e-01 2.92572894e+02] [ 2.81344671e-01 9.59200162e-01 -2.79325190e-02 2.61928631e+01] [ 1.04084631e-01 -1.56681447e-03 9.94567210e-01 1.22275946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.18925415399997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:292.60, Y:26.20, Z:12.23 [[ 9.53557098e-01 -2.84095421e-01 -1.00093224e-01 2.92600686e+02] [ 2.82725885e-01 9.58794535e-01 -2.79126036e-02 2.61963289e+01] [ 1.03898679e-01 -1.68268405e-03 9.94586463e-01 1.22302489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.21925415399994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:292.63, Y:26.20, Z:12.23 [[ 9.53710329e-01 -2.83523899e-01 -1.00253713e-01 2.92626684e+02] [ 2.82143710e-01 9.58963845e-01 -2.79869666e-02 2.62018855e+01] [ 1.04074660e-01 -1.59449557e-03 9.94568209e-01 1.22330781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.24925415399997 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:292.65, Y:26.21, Z:12.24 [[ 9.53633990e-01 -2.83782053e-01 -1.00249482e-01 2.92653935e+02] [ 2.82401695e-01 9.58887462e-01 -2.80021143e-02 2.62095821e+01] [ 1.04074469e-01 -1.60685575e-03 9.94568209e-01 1.22355879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.27925415399994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:292.68, Y:26.22, Z:12.24 [[ 9.54036627e-01 -2.82575913e-01 -9.98246833e-02 2.92680399e+02] [ 2.81197894e-01 9.59243853e-01 -2.79101114e-02 2.62156233e+01] [ 1.03642939e-01 -1.44322214e-03 9.94613522e-01 1.22383834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.309254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:292.71, Y:26.22, Z:12.24 [[ 9.55171736e-01 -2.78702866e-01 -9.98582387e-02 2.92708093e+02] [ 2.77301118e-01 9.60376852e-01 -2.79355062e-02 2.62205767e+01] [ 1.03687247e-01 -1.00759537e-03 9.94609441e-01 1.22412423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.33925415399995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:292.73, Y:26.23, Z:12.24 [[ 9.55914950e-01 -2.76174604e-01 -9.97707246e-02 2.92734101e+02] [ 2.74758664e-01 9.61107221e-01 -2.79389687e-02 2.62264622e+01] [ 1.03606398e-01 -7.05593210e-04 9.94618126e-01 1.22437735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.369254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:292.76, Y:26.23, Z:12.25 [[ 9.56508735e-01 -2.74010483e-01 -1.00046466e-01 2.92760856e+02] [ 2.72573208e-01 9.61726597e-01 -2.80321202e-02 2.62325512e+01] [ 1.03898442e-01 -4.57018445e-04 9.94587806e-01 1.22466106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.39925415399995 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:292.79, Y:26.24, Z:12.25 [[ 9.57086682e-01 -2.71981037e-01 -1.00056982e-01 2.92788044e+02] [ 2.70529163e-01 9.62302589e-01 -2.80659792e-02 2.62386575e+01] [ 1.03918507e-01 -2.06756628e-04 9.94585794e-01 1.22491226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.429254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:292.82, Y:26.24, Z:12.25 [[ 9.57978118e-01 -2.68738087e-01 -1.00288412e-01 2.92815997e+02] [ 2.67258446e-01 9.63213273e-01 -2.81622741e-02 2.62429045e+01] [ 1.04167406e-01 1.75917129e-04 9.94559762e-01 1.22509533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.45925415399995 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:292.84, Y:26.25, Z:12.25 [[ 9.58079556e-01 -2.68027707e-01 -1.01216170e-01 2.92842659e+02] [ 2.66513396e-01 9.63411162e-01 -2.84524548e-02 2.62486907e+01] [ 1.05138834e-01 2.84249979e-04 9.94457513e-01 1.22534997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.489254154 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:292.87, Y:26.25, Z:12.26 [[ 9.57986308e-01 -2.67884197e-01 -1.02470929e-01 2.92870346e+02] [ 2.66329356e-01 9.63451065e-01 -2.88222093e-02 2.62525198e+01] [ 1.06446740e-01 3.20265245e-04 9.94318354e-01 1.22561312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.51925415399995 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:292.90, Y:26.26, Z:12.26 [[ 9.57744310e-01 -2.68607010e-01 -1.02840225e-01 2.92897289e+02] [ 2.67041781e-01 9.63249813e-01 -2.89566203e-02 2.62581040e+01] [ 1.06838778e-01 2.70401524e-04 9.94276321e-01 1.22586939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.549254154 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:292.92, Y:26.26, Z:12.26 [[ 9.57462801e-01 -2.69494307e-01 -1.03139727e-01 2.92924102e+02] [ 2.67921932e-01 9.63001962e-01 -2.90699095e-02 2.62635137e+01] [ 1.07157934e-01 1.99962007e-04 9.94241991e-01 1.22615917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.57925415399995 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:292.95, Y:26.27, Z:12.26 [[ 9.57012364e-01 -2.71151282e-01 -1.02977265e-01 2.92951074e+02] [ 2.69591588e-01 9.62536743e-01 -2.90412488e-02 2.62689670e+01] [ 1.06993973e-01 3.10298609e-05 9.94259669e-01 1.22642215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.609254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:292.98, Y:26.27, Z:12.27 [[ 9.55923969e-01 -2.75062742e-01 -1.02712478e-01 2.92978789e+02] [ 2.73530104e-01 9.61426205e-01 -2.89988647e-02 2.62717199e+01] [ 1.06726975e-01 -3.74245003e-04 9.94288295e-01 1.22680851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.63925415399996 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:293.01, Y:26.28, Z:12.27 [[ 9.55230942e-01 -2.77755467e-01 -1.01910491e-01 2.93005966e+02] [ 2.76258604e-01 9.60651598e-01 -2.88043603e-02 2.62763837e+01] [ 1.05901045e-01 -6.38833788e-04 9.94376468e-01 1.22708734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.669254154 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:293.03, Y:26.28, Z:12.27 [[ 9.53739869e-01 -2.83302665e-01 -1.00597526e-01 2.93033698e+02] [ 2.81871797e-01 9.59029790e-01 -2.84631754e-02 2.62782664e+01] [ 1.04539718e-01 -1.20914026e-03 9.94519977e-01 1.22741086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.69925415399996 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:293.06, Y:26.28, Z:12.28 [[ 9.53019654e-01 -2.86004546e-01 -9.97744359e-02 2.93061321e+02] [ 2.84609430e-01 9.58227132e-01 -2.82530785e-02 2.62834307e+01] [ 1.03687080e-01 -1.47100621e-03 9.94608881e-01 1.22769721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.729254154 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:293.09, Y:26.29, Z:12.28 [[ 9.52443268e-01 -2.88065401e-01 -9.93486118e-02 2.93087875e+02] [ 2.86690295e-01 9.57609300e-01 -2.81620953e-02 2.62882195e+01] [ 1.03249680e-01 -1.65948483e-03 9.94654085e-01 1.22796404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.75925415399996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:293.12, Y:26.29, Z:12.28 [[ 9.51826055e-01 -2.90280576e-01 -9.88147184e-02 2.93116287e+02] [ 2.88929822e-01 9.56939757e-01 -2.80331829e-02 2.62914079e+01] [ 1.02697221e-01 -1.86780517e-03 9.94710909e-01 1.22822730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.789254154 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:293.14, Y:26.30, Z:12.28 [[ 9.51746189e-01 -2.90545113e-01 -9.88065255e-02 2.93143515e+02] [ 2.89192786e-01 9.56859475e-01 -2.80620326e-02 2.62992257e+01] [ 1.02697247e-01 -1.86620183e-03 9.94710909e-01 1.22847857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.81925415399996 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:293.17, Y:26.30, Z:12.29 [[ 9.52160998e-01 -2.89293135e-01 -9.84830752e-02 2.93171696e+02] [ 2.87939946e-01 9.57239052e-01 -2.79997392e-02 2.63025782e+01] [ 1.02371978e-01 -1.69695174e-03 9.94744740e-01 1.22874190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.84925415399994 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:293.20, Y:26.31, Z:12.29 [[ 9.52570243e-01 -2.88043605e-01 -9.81876519e-02 2.93199364e+02] [ 2.86688735e-01 9.57616075e-01 -2.79467751e-02 2.63084268e+01] [ 1.02075964e-01 -1.52802739e-03 9.94775433e-01 1.22900359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.87925415399997 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:293.23, Y:26.31, Z:12.29 [[ 9.53131994e-01 -2.86098097e-01 -9.84239876e-02 2.93225334e+02] [ 2.84723344e-01 9.58199458e-01 -2.80430939e-02 2.63140302e+01] [ 1.02332887e-01 -1.29483691e-03 9.94749367e-01 1.22930703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.90925415399994 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:293.25, Y:26.32, Z:12.30 [[ 9.54297069e-01 -2.82387619e-01 -9.78485427e-02 2.93252537e+02] [ 2.81007850e-01 9.59299987e-01 -2.78948566e-02 2.63184079e+01] [ 1.01743268e-01 -8.76228772e-04 9.94810303e-01 1.22958912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.93925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.28, Y:26.32, Z:12.30 [[ 9.54789839e-01 -2.80902648e-01 -9.73142615e-02 2.93279773e+02] [ 2.79527172e-01 9.59736023e-01 -2.77727696e-02 2.63244884e+01] [ 1.01197447e-01 -6.84822078e-04 9.94866126e-01 1.22983262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.96925415399994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:293.31, Y:26.33, Z:12.30 [[ 9.55219031e-01 -2.79572463e-01 -9.69321443e-02 2.93306802e+02] [ 2.78197878e-01 9.60124458e-01 -2.76941313e-02 2.63300514e+01] [ 1.00809439e-01 -5.12355655e-04 9.94905621e-01 1.23007821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.99925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.33, Y:26.33, Z:12.30 [[ 9.55503606e-01 -2.78658081e-01 -9.67601801e-02 2.93334601e+02] [ 2.77280630e-01 9.60390298e-01 -2.76753912e-02 2.63332663e+01] [ 1.00639510e-01 -3.85787600e-04 9.94922882e-01 1.23030958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.02925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.36, Y:26.34, Z:12.30 [[ 9.55431777e-01 -2.79089663e-01 -9.62241163e-02 2.93361756e+02] [ 2.77726584e-01 9.60264964e-01 -2.75525695e-02 2.63384761e+01] [ 1.00090285e-01 -3.99394617e-04 9.94978279e-01 1.23049077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.059254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.39, Y:26.34, Z:12.31 [[ 9.55128728e-01 -2.80207879e-01 -9.59825858e-02 2.93389092e+02] [ 2.78854225e-01 9.59939221e-01 -2.75138647e-02 2.63441182e+01] [ 9.98470503e-02 -4.85866997e-04 9.95002679e-01 1.23070842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.08925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.42, Y:26.35, Z:12.31 [[ 9.54199039e-01 -2.83314174e-01 -9.61107350e-02 2.93416865e+02] [ 2.81969648e-01 9.59026832e-01 -2.75799393e-02 2.63468442e+01] [ 9.99865615e-02 -7.83558565e-04 9.94988479e-01 1.23083664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.44, Y:26.35, Z:12.31 [[ 9.53363198e-01 -2.86169393e-01 -9.59462894e-02 2.93444349e+02] [ 2.84841703e-01 9.58178456e-01 -2.75544857e-02 2.63522233e+01] [ 9.98189179e-02 -1.06007187e-03 9.95005055e-01 1.23103156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.14925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.47, Y:26.36, Z:12.31 [[ 9.52292079e-01 -2.89734147e-01 -9.58849347e-02 2.93471949e+02] [ 2.88423138e-01 9.57106135e-01 -2.75669978e-02 2.63578409e+01] [ 9.97591599e-02 -1.40360014e-03 9.95010623e-01 1.23128118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.179254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.50, Y:26.36, Z:12.32 [[ 9.49871251e-01 -2.97707206e-01 -9.54726491e-02 2.93499523e+02] [ 2.96444522e-01 9.54654688e-01 -2.74785672e-02 2.63616026e+01] [ 9.93239796e-02 -2.20124286e-03 9.95052713e-01 1.23154096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.20925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.53, Y:26.37, Z:12.32 [[ 9.48488683e-01 -3.02310670e-01 -9.47495460e-02 2.93526665e+02] [ 3.01086980e-01 9.53205813e-01 -2.73003427e-02 2.63674399e+01] [ 9.85690029e-02 -2.63378861e-03 9.95126733e-01 1.23180838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.239254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.55, Y:26.37, Z:12.32 [[ 9.47189024e-01 -3.06601932e-01 -9.39585496e-02 2.93553432e+02] [ 3.05416859e-01 9.51833017e-01 -2.71007354e-02 2.63731500e+01] [ 9.77419876e-02 -3.02700599e-03 9.95207185e-01 1.23207590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.26925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.58, Y:26.38, Z:12.32 [[ 9.45699839e-01 -3.11385139e-01 -9.32261185e-02 2.93580156e+02] [ 3.10240217e-01 9.50277427e-01 -2.69038920e-02 2.63793631e+01] [ 9.69681482e-02 -3.47948491e-03 9.95281403e-01 1.23232602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.299254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.61, Y:26.38, Z:12.33 [[ 9.43236681e-01 -3.19261822e-01 -9.15229603e-02 2.93607139e+02] [ 3.18192517e-01 9.47657322e-01 -2.64409087e-02 2.63846433e+01] [ 9.51739762e-02 -4.18188615e-03 9.95451870e-01 1.23258374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.32925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.63, Y:26.39, Z:12.33 [[ 9.42160187e-01 -3.22641893e-01 -9.07545607e-02 2.93633744e+02] [ 3.21603393e-01 9.46510611e-01 -2.62473014e-02 2.63915042e+01] [ 9.43686337e-02 -4.45781227e-03 9.95527342e-01 1.23280268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.66, Y:26.40, Z:12.33 [[ 9.41184520e-01 -3.25488620e-01 -9.07130514e-02 2.93660255e+02] [ 3.24461516e-01 9.45534208e-01 -2.62637812e-02 2.63982696e+01] [ 9.43208551e-02 -4.71382990e-03 9.95530691e-01 1.23306110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.38925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.69, Y:26.41, Z:12.33 [[ 9.40401729e-01 -3.27898945e-01 -9.01491574e-02 2.93686795e+02] [ 3.26892872e-01 9.44700112e-01 -2.61294538e-02 2.64053944e+01] [ 9.37317394e-02 -4.89693347e-03 9.95585446e-01 1.23326015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.419254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.71, Y:26.41, Z:12.33 [[ 9.39083403e-01 -3.31695805e-01 -9.00014224e-02 2.93713140e+02] [ 3.30707609e-01 9.43371848e-01 -2.61157850e-02 2.64135594e+01] [ 9.35673045e-02 -5.23925494e-03 9.95599171e-01 1.23348630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.44925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.74, Y:26.42, Z:12.34 [[ 9.38486028e-01 -3.33223335e-01 -9.05879947e-02 2.93739222e+02] [ 3.32226470e-01 9.42832467e-01 -2.63156202e-02 2.64220106e+01] [ 9.41782813e-02 -5.39888784e-03 9.95540709e-01 1.23372524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.479254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:293.76, Y:26.43, Z:12.34 [[ 9.37814927e-01 -3.35133858e-01 -9.04901101e-02 2.93764150e+02] [ 3.34145315e-01 9.42154131e-01 -2.63154110e-02 2.64317843e+01] [ 9.40748163e-02 -5.55786111e-03 9.95549617e-01 1.23392118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.50925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.79, Y:26.44, Z:12.34 [[ 9.37448281e-01 -3.36239084e-01 -9.01886841e-02 2.93790764e+02] [ 3.35260920e-01 9.41759792e-01 -2.62413844e-02 2.64411507e+01] [ 9.37594554e-02 -5.63680055e-03 9.95578923e-01 1.23416069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.539254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.82, Y:26.45, Z:12.34 [[ 9.37244307e-01 -3.36840354e-01 -9.00648972e-02 2.93815794e+02] [ 3.35865002e-01 9.41544747e-01 -2.62333558e-02 2.64503802e+01] [ 9.36365837e-02 -5.66258355e-03 9.95590340e-01 1.23436755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.56925415399996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:293.84, Y:26.46, Z:12.35 [[ 9.36949618e-01 -3.37458502e-01 -9.08139412e-02 2.93841831e+02] [ 3.36468409e-01 9.41322788e-01 -2.64654378e-02 2.64601850e+01] [ 9.44162192e-02 -5.75924045e-03 9.95516152e-01 1.23460919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.59925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:293.87, Y:26.47, Z:12.35 [[ 9.37112212e-01 -3.37364903e-01 -8.94741511e-02 2.93866698e+02] [ 3.36400771e-01 9.41357074e-01 -2.61032611e-02 2.64719612e+01] [ 9.30334492e-02 -5.63748874e-03 9.95647024e-01 1.23483210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.62925415399997 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:293.89, Y:26.48, Z:12.35 [[ 9.37085001e-01 -3.37151673e-01 -9.05563386e-02 2.93892824e+02] [ 3.36161090e-01 9.41433299e-01 -2.64398594e-02 2.64827714e+01] [ 9.41669954e-02 -5.66512184e-03 9.95540297e-01 1.23506732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.65925415399994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:293.92, Y:26.50, Z:12.35 [[ 9.38014894e-01 -3.34888862e-01 -8.93169031e-02 2.93917084e+02] [ 3.33912452e-01 9.42242522e-01 -2.61056168e-02 2.64955575e+01] [ 9.29006644e-02 -5.33656879e-03 9.95661081e-01 1.23519946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.68925415399997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:293.94, Y:26.51, Z:12.35 [[ 9.38467339e-01 -3.33559255e-01 -8.95392516e-02 2.93942658e+02] [ 3.32570692e-01 9.42714765e-01 -2.61840799e-02 2.65061941e+01] [ 9.31439168e-02 -5.20522703e-03 9.95639049e-01 1.23543439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.71925415399994 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:293.97, Y:26.52, Z:12.36 [[ 9.38983557e-01 -3.31871821e-01 -9.03934471e-02 2.93967754e+02] [ 3.30853779e-01 9.43310925e-01 -2.64627169e-02 2.65172183e+01] [ 9.40513563e-02 -5.05895750e-03 9.95554493e-01 1.23568545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.74925415399997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:293.99, Y:26.53, Z:12.36 [[ 9.39694699e-01 -3.30041837e-01 -8.97009369e-02 2.93993725e+02] [ 3.29029785e-01 9.43953973e-01 -2.62735142e-02 2.65284590e+01] [ 9.33449147e-02 -4.82519792e-03 9.95622139e-01 1.23589096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.77925415399994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:294.02, Y:26.54, Z:12.36 [[ 9.41516261e-01 -3.24958057e-01 -8.91593565e-02 2.94017433e+02] [ 3.23932904e-01 9.45718798e-01 -2.61424706e-02 2.65437220e+01] [ 9.28148859e-02 -4.26808810e-03 9.95674234e-01 1.23609441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.809254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:294.04, Y:26.56, Z:12.36 [[ 9.42495945e-01 -3.22113347e-01 -8.91312837e-02 2.94043257e+02] [ 3.21074934e-01 9.46692769e-01 -2.61474177e-02 2.65551077e+01] [ 9.28023740e-02 -3.97398589e-03 9.95676618e-01 1.23634761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.83925415399995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:294.07, Y:26.57, Z:12.37 [[ 9.43580425e-01 -3.19046843e-01 -8.86853667e-02 2.94067859e+02] [ 3.18002721e-01 9.47732006e-01 -2.60444597e-02 2.65662154e+01] [ 9.23593632e-02 -3.62714551e-03 9.95719133e-01 1.23659256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.869254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:294.09, Y:26.58, Z:12.37 [[ 9.45563304e-01 -3.13298815e-01 -8.80561832e-02 2.94092222e+02] [ 3.12242807e-01 9.49649780e-01 -2.58790508e-02 2.65812672e+01] [ 9.17304109e-02 -3.02462908e-03 9.95779284e-01 1.23684508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.89925415399995 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:294.12, Y:26.59, Z:12.37 [[ 9.46329800e-01 -3.10845962e-01 -8.85138296e-02 2.94117702e+02] [ 3.09765613e-01 9.50456254e-01 -2.60417899e-02 2.65924930e+01] [ 9.22235081e-02 -2.77441884e-03 9.95734466e-01 1.23710336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.929254154 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:294.14, Y:26.61, Z:12.37 [[ 9.47563813e-01 -3.06871806e-01 -8.91768759e-02 2.94143102e+02] [ 3.05754972e-01 9.51747886e-01 -2.62651711e-02 2.66063160e+01] [ 9.29339436e-02 -2.37834756e-03 9.95669436e-01 1.23736100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.95925415399995 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:294.17, Y:26.62, Z:12.38 [[ 9.47902522e-01 -3.05808563e-01 -8.92296558e-02 2.94168537e+02] [ 3.04683052e-01 9.52090368e-01 -2.63091206e-02 2.66167434e+01] [ 9.30002501e-02 -2.24828209e-03 9.95663547e-01 1.23758703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.989254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:294.19, Y:26.63, Z:12.38 [[ 9.48133006e-01 -3.04870156e-01 -8.99888399e-02 2.94193385e+02] [ 3.03718479e-01 9.52391504e-01 -2.65614264e-02 2.66268158e+01] [ 9.38023927e-02 -2.14750852e-03 9.95588519e-01 1.23784524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.01925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:294.22, Y:26.64, Z:12.38 [[ 9.48186601e-01 -3.04454105e-01 -9.08287876e-02 2.94219296e+02] [ 3.03276932e-01 9.52524677e-01 -2.68298724e-02 2.66368954e+01] [ 9.46851263e-02 -2.10655048e-03 9.95505042e-01 1.23809390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.049254154 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:294.24, Y:26.65, Z:12.38 [[ 9.47878860e-01 -3.05412158e-01 -9.08244455e-02 2.94244707e+02] [ 3.04236734e-01 9.52217772e-01 -2.68574835e-02 2.66492194e+01] [ 9.46872531e-02 -2.17449177e-03 9.95504694e-01 1.23828660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.07925415399995 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:294.27, Y:26.66, Z:12.39 [[ 9.47572209e-01 -3.06255242e-01 -9.11846271e-02 2.94271045e+02] [ 3.05071582e-01 9.51946800e-01 -2.69929749e-02 2.66591040e+01] [ 9.50696540e-02 -2.24004555e-03 9.95468102e-01 1.23857130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.109254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:294.30, Y:26.67, Z:12.39 [[ 9.47250833e-01 -3.07274031e-01 -9.10962665e-02 2.94296730e+02] [ 3.06094563e-01 9.51618266e-01 -2.69961742e-02 2.66687922e+01] [ 9.49840945e-02 -2.31192342e-03 9.95476106e-01 1.23882641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.13925415399996 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:294.32, Y:26.68, Z:12.39 [[ 9.46881122e-01 -3.08484572e-01 -9.08482822e-02 2.94322268e+02] [ 3.07314316e-01 9.51226321e-01 -2.69517472e-02 2.66803128e+01] [ 9.47314755e-02 -2.39887705e-03 9.95499971e-01 1.23911217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.169254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:294.35, Y:26.69, Z:12.39 [[ 9.46796409e-01 -3.08746796e-01 -9.08403816e-02 2.94349392e+02] [ 3.07575193e-01 9.51141246e-01 -2.69783508e-02 2.66884557e+01] [ 9.47315131e-02 -2.39724228e-03 9.95499972e-01 1.23936345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.19925415399996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:294.38, Y:26.70, Z:12.40 [[ 9.46757032e-01 -3.08980858e-01 -9.04541366e-02 2.94375574e+02] [ 3.07817710e-01 9.51065268e-01 -2.68907719e-02 2.66983958e+01] [ 9.43365214e-02 -2.38435778e-03 9.95537511e-01 1.23965839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.229254154 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:294.40, Y:26.71, Z:12.40 [[ 9.46860971e-01 -3.08818246e-01 -8.99199248e-02 2.94401957e+02] [ 3.07665403e-01 9.51118224e-01 -2.67604788e-02 2.67085499e+01] [ 9.37886033e-02 -2.32679693e-03 9.95589415e-01 1.23993527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.25925415399996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:294.43, Y:26.72, Z:12.40 [[ 9.47533305e-01 -3.07000454e-01 -8.90581629e-02 2.94427131e+02] [ 3.05859004e-01 9.51707053e-01 -2.65321477e-02 2.67208079e+01] [ 9.29026631e-02 -2.09914742e-03 9.95672983e-01 1.24023770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.289254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:294.45, Y:26.73, Z:12.41 [[ 9.47866183e-01 -3.06080482e-01 -8.86816598e-02 2.94453074e+02] [ 3.04942018e-01 9.52003595e-01 -2.64484554e-02 2.67307866e+01] [ 9.25206149e-02 -1.97316786e-03 9.95708814e-01 1.24050365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.31925415399996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:294.48, Y:26.74, Z:12.41 [[ 9.48414913e-01 -3.04356834e-01 -8.87472307e-02 2.94478001e+02] [ 3.03206575e-01 9.52556429e-01 -2.64957187e-02 2.67400446e+01] [ 9.26008982e-02 -1.77980917e-03 9.95701715e-01 1.24074812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.34925415399994 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:294.50, Y:26.75, Z:12.41 [[ 9.48801233e-01 -3.03325163e-01 -8.81479744e-02 2.94503891e+02] [ 3.02184784e-01 9.52885673e-01 -2.63296555e-02 2.67495835e+01] [ 9.19813889e-02 -1.65536697e-03 9.95759350e-01 1.24099428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.37925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:294.53, Y:26.76, Z:12.41 [[ 9.49562822e-01 -3.00849720e-01 -8.84301652e-02 2.94530134e+02] [ 2.99688600e-01 9.53670545e-01 -2.64430455e-02 2.67600199e+01] [ 9.22886267e-02 -1.39217951e-03 9.95731325e-01 1.24126115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.40925415399994 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:294.56, Y:26.77, Z:12.41 [[ 9.49560477e-01 -3.01034820e-01 -8.78233355e-02 2.94555670e+02] [ 2.99887816e-01 9.53612159e-01 -2.62896862e-02 2.67691474e+01] [ 9.16635115e-02 -1.37350123e-03 9.95789091e-01 1.24144358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.43925415399997 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:294.58, Y:26.78, Z:12.42 [[ 9.49518355e-01 -3.01116831e-01 -8.79974318e-02 2.94580807e+02] [ 2.99963824e-01 9.53586278e-01 -2.63612344e-02 2.67779345e+01] [ 9.18509548e-02 -1.36557030e-03 9.95771830e-01 1.24165639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.46925415399994 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:294.61, Y:26.79, Z:12.42 [[ 9.48996806e-01 -3.02670443e-01 -8.82930602e-02 2.94607077e+02] [ 3.01515164e-01 9.53094081e-01 -2.64627813e-02 2.67878909e+01] [ 9.21610948e-02 -1.50860160e-03 9.95742967e-01 1.24186321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.49925415399997 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:294.63, Y:26.80, Z:12.42 [[ 9.48408933e-01 -3.04365485e-01 -8.87814613e-02 2.94633549e+02] [ 3.03202148e-01 9.52553888e-01 -2.66373264e-02 2.67965792e+01] [ 9.26766090e-02 -1.65565149e-03 9.95694885e-01 1.24208442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.52925415399994 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:294.66, Y:26.81, Z:12.42 [[ 9.47706484e-01 -3.06448200e-01 -8.91174541e-02 2.94659528e+02] [ 3.05282649e-01 9.51885557e-01 -2.67654607e-02 2.68050342e+01] [ 9.30318447e-02 -1.84021178e-03 9.95661433e-01 1.24226964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.559254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:294.69, Y:26.81, Z:12.42 [[ 9.45842003e-01 -3.11978375e-01 -8.97351584e-02 2.94685628e+02] [ 3.10820101e-01 9.50086203e-01 -2.69642712e-02 2.68136189e+01] [ 9.36684054e-02 -2.38755074e-03 9.95600587e-01 1.24244899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.58925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:294.71, Y:26.82, Z:12.43 [[ 9.44879830e-01 -3.14880889e-01 -8.97336781e-02 2.94711278e+02] [ 3.13733021e-01 9.49127501e-01 -2.69921868e-02 2.68217804e+01] [ 9.36680255e-02 -2.64804499e-03 9.95599964e-01 1.24263014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.619254154 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:294.74, Y:26.83, Z:12.43 [[ 9.43669843e-01 -3.18026541e-01 -9.13583436e-02 2.94737802e+02] [ 3.17049167e-01 9.48068689e-01 -2.54083912e-02 2.68300903e+01] [ 9.46945278e-02 -4.98795412e-03 9.95493881e-01 1.24282980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.64925415399995 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:294.76, Y:26.84, Z:12.43 [[ 9.42408460e-01 -3.22434866e-01 -8.88934831e-02 2.94763741e+02] [ 3.21117509e-01 9.46591030e-01 -2.91370593e-02 2.68406204e+01] [ 9.35405775e-02 -1.08624269e-03 9.95614876e-01 1.24313001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.679254154 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:294.79, Y:26.85, Z:12.43 [[ 9.39850929e-01 -3.29720131e-01 -8.92460977e-02 2.94790455e+02] [ 3.28645724e-01 9.44070052e-01 -2.69021568e-02 2.68493697e+01] [ 9.31247508e-02 -4.04633137e-03 9.95646226e-01 1.24330666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.70925415399995 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:294.82, Y:26.86, Z:12.44 [[ 9.38463930e-01 -3.33650049e-01 -8.92361898e-02 2.94816613e+02] [ 3.32590857e-01 9.42686699e-01 -2.69278757e-02 2.68582082e+01] [ 9.31062562e-02 -4.40830071e-03 9.95646419e-01 1.24353373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.739254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:294.84, Y:26.87, Z:12.44 [[ 9.37237430e-01 -3.37203801e-01 -8.87670925e-02 2.94841927e+02] [ 3.36168936e-01 9.41419896e-01 -2.68146402e-02 2.68665284e+01] [ 9.26091056e-02 -4.70905460e-03 9.95691407e-01 1.24371857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.76925415399995 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:294.87, Y:26.88, Z:12.44 [[ 9.35866236e-01 -3.41118276e-01 -8.82763223e-02 2.94868637e+02] [ 3.40110264e-01 9.40006826e-01 -2.66866073e-02 2.68757017e+01] [ 9.20836350e-02 -5.04858851e-03 9.95738478e-01 1.24391196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.799254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:294.89, Y:26.89, Z:12.44 [[ 9.33619822e-01 -3.47418021e-01 -8.74914147e-02 2.94894061e+02] [ 3.46452763e-01 9.37693685e-01 -2.64770795e-02 2.68857046e+01] [ 9.12387616e-02 -5.59211615e-03 9.95813344e-01 1.24415769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.82925415399995 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:294.92, Y:26.90, Z:12.44 [[ 9.32581124e-01 -3.50381265e-01 -8.67491565e-02 2.94918740e+02] [ 3.49443950e-01 9.36589075e-01 -2.62646210e-02 2.68952752e+01] [ 9.04509434e-02 -5.82007807e-03 9.95883906e-01 1.24437455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.859254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:294.94, Y:26.91, Z:12.45 [[ 9.30973168e-01 -3.54833674e-01 -8.59187070e-02 2.94944711e+02] [ 3.53931958e-01 9.34909013e-01 -2.60251120e-02 2.69069129e+01] [ 8.95607597e-02 -6.18069524e-03 9.95962183e-01 1.24462859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.88925415399996 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:294.97, Y:26.92, Z:12.45 [[ 9.30312426e-01 -3.56600362e-01 -8.57611335e-02 2.94970501e+02] [ 3.55706944e-01 9.34235690e-01 -2.60047303e-02 2.69168522e+01] [ 8.93944079e-02 -6.31330695e-03 9.95976296e-01 1.24487971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.919254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:295.00, Y:26.93, Z:12.45 [[ 9.29847584e-01 -3.57812191e-01 -8.57549225e-02 2.94995146e+02] [ 3.56921551e-01 9.33771616e-01 -2.60302980e-02 2.69266041e+01] [ 8.93894704e-02 -6.40357022e-03 9.95976163e-01 1.24511316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.94925415399996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:295.02, Y:26.94, Z:12.45 [[ 9.29707785e-01 -3.58152387e-01 -8.58504616e-02 2.95019207e+02] [ 3.57260117e-01 9.33640988e-01 -2.60713360e-02 2.69391253e+01] [ 8.94910210e-02 -6.43222195e-03 9.95966859e-01 1.24532431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.979254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:295.04, Y:26.95, Z:12.46 [[ 9.29866824e-01 -3.57817141e-01 -8.55253403e-02 2.95044896e+02] [ 3.56929153e-01 9.33769987e-01 -2.59844472e-02 2.69498950e+01] [ 8.91586765e-02 -6.36441195e-03 9.95997101e-01 1.24554721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.00925415399996 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:295.07, Y:26.96, Z:12.46 [[ 9.30137288e-01 -3.57109556e-01 -8.55417450e-02 2.95070385e+02] [ 3.56215884e-01 9.34041442e-01 -2.60159323e-02 2.69605242e+01] [ 8.91900729e-02 -6.27293957e-03 9.95994870e-01 1.24579496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.039254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:295.10, Y:26.97, Z:12.46 [[ 9.31240654e-01 -3.54240558e-01 -8.54662067e-02 2.95096508e+02] [ 3.53334025e-01 9.35135295e-01 -2.60201049e-02 2.69749760e+01] [ 8.91398429e-02 -5.96713932e-03 9.96001246e-01 1.24606468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.06925415399996 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:295.12, Y:26.99, Z:12.46 [[ 9.31992457e-01 -3.52188520e-01 -8.57514256e-02 2.95124485e+02] [ 3.51266979e-01 9.35911191e-01 -2.61103806e-02 2.69870796e+01] [ 8.94514952e-02 -5.78696652e-03 9.95974368e-01 1.24632989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.09925415399994 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:295.15, Y:27.00, Z:12.47 [[ 9.32935684e-01 -3.49541552e-01 -8.63233051e-02 2.95153246e+02] [ 3.48596405e-01 9.36904304e-01 -2.62844313e-02 2.69996748e+01] [ 9.00641770e-02 -5.57030993e-03 9.95920386e-01 1.24662481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.12925415399997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:295.18, Y:27.02, Z:12.47 [[ 9.35132603e-01 -3.43449495e-01 -8.70026428e-02 2.95180217e+02] [ 3.42463457e-01 9.39157700e-01 -2.64876354e-02 2.70164029e+01] [ 9.08063669e-02 -5.02577435e-03 9.95855886e-01 1.24693968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.15925415399994 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:295.21, Y:27.03, Z:12.47 [[ 9.36387569e-01 -3.39934052e-01 -8.73107196e-02 2.95207561e+02] [ 3.38926267e-01 9.40437500e-01 -2.65761932e-02 2.70290957e+01] [ 9.11444279e-02 -4.70627931e-03 9.95826563e-01 1.24724557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.18925415399997 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:295.24, Y:27.04, Z:12.48 [[ 9.37594435e-01 -3.36580402e-01 -8.73516413e-02 2.95236974e+02] [ 3.35557345e-01 9.41644527e-01 -2.65867218e-02 2.70424378e+01] [ 9.12027644e-02 -4.38392244e-03 9.95822694e-01 1.24757607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.21925415399994 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:295.27, Y:27.06, Z:12.48 [[ 9.38821162e-01 -3.33109211e-01 -8.74818864e-02 2.95266555e+02] [ 3.32068718e-01 9.42879513e-01 -2.66193459e-02 2.70555021e+01] [ 9.13520278e-02 -4.05919262e-03 9.95810389e-01 1.24787465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.24925415399997 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:295.30, Y:27.07, Z:12.48 [[ 9.39985762e-01 -3.29782710e-01 -8.75792902e-02 2.95295855e+02] [ 3.28726144e-01 9.44049431e-01 -2.66419646e-02 2.70682308e+01] [ 9.14652383e-02 -3.74653500e-03 9.95801222e-01 1.24817468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.27925415399994 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:295.32, Y:27.08, Z:12.48 [[ 9.42106860e-01 -3.23670514e-01 -8.75903078e-02 2.95323735e+02] [ 3.22587964e-01 9.46164581e-01 -2.66381354e-02 2.70837232e+01] [ 9.14968259e-02 -3.15960894e-03 9.95800355e-01 1.24841905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.309254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:295.35, Y:27.10, Z:12.49 [[ 9.42752554e-01 -3.21883620e-01 -8.72270413e-02 2.95353682e+02] [ 3.20803460e-01 9.46774539e-01 -2.65162582e-02 2.70967452e+01] [ 9.11194910e-02 -2.98446646e-03 9.95835494e-01 1.24875793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.33925415399995 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:295.38, Y:27.11, Z:12.49 [[ 9.44153906e-01 -3.17872803e-01 -8.67772008e-02 2.95382223e+02] [ 3.16787471e-01 9.48129829e-01 -2.63728077e-02 2.71115897e+01] [ 9.06592509e-02 -2.58994054e-03 9.95878603e-01 1.24906063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.369254154 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:295.41, Y:27.12, Z:12.49 [[ 9.44758497e-01 -3.16098988e-01 -8.66764766e-02 2.95412669e+02] [ 3.15009358e-01 9.48723119e-01 -2.63352846e-02 2.71231481e+01] [ 9.05565341e-02 -2.42341742e-03 9.95888368e-01 1.24932749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.39925415399995 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:295.44, Y:27.13, Z:12.50 [[ 9.45395113e-01 -3.14314522e-01 -8.62233250e-02 2.95436383e+02] [ 3.13135944e-01 9.49318064e-01 -2.72230562e-02 2.71331804e+01] [ 9.04099618e-02 -1.26307790e-03 9.95903832e-01 1.24953894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.429254154 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:295.46, Y:27.14, Z:12.50 [[ 9.45606333e-01 -3.13673128e-01 -8.62428619e-02 2.95464490e+02] [ 3.12642813e-01 9.49526906e-01 -2.55563214e-02 2.71432911e+01] [ 8.99062491e-02 -2.79699164e-03 9.95946305e-01 1.24974745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.45925415399995 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:295.49, Y:27.16, Z:12.50 [[ 9.46580114e-01 -3.11011597e-01 -8.51931584e-02 2.95493451e+02] [ 3.09934574e-01 9.50404293e-01 -2.59275806e-02 2.71564073e+01] [ 8.90317217e-02 -1.86177306e-03 9.96027051e-01 1.24999664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.489254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:295.52, Y:27.17, Z:12.50 [[ 9.47028260e-01 -3.09736103e-01 -8.48588276e-02 2.95523442e+02] [ 3.08663160e-01 9.50820966e-01 -2.58175346e-02 2.71668065e+01] [ 8.86821750e-02 -1.74285895e-03 9.96058449e-01 1.25022664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.51925415399995 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:295.55, Y:27.18, Z:12.51 [[ 9.47375917e-01 -3.08719157e-01 -8.46838469e-02 2.95554249e+02] [ 3.07647314e-01 9.51151803e-01 -2.57561097e-02 2.71770708e+01] [ 8.84985981e-02 -1.65204003e-03 9.96074931e-01 1.25051171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.549254154 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:295.58, Y:27.19, Z:12.51 [[ 9.47876351e-01 -3.07290004e-01 -8.42809364e-02 2.95584321e+02] [ 3.06223575e-01 9.51614702e-01 -2.56238313e-02 2.71874485e+01] [ 8.80769254e-02 -1.52058593e-03 9.96112515e-01 1.25069657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.57925415399995 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:295.61, Y:27.20, Z:12.51 [[ 9.47967791e-01 -3.07042200e-01 -8.41555429e-02 2.95613914e+02] [ 3.05979376e-01 9.51694702e-01 -2.55698241e-02 2.71968847e+01] [ 8.79413994e-02 -1.51049081e-03 9.96124505e-01 1.25091113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.609254154 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:295.65, Y:27.21, Z:12.51 [[ 9.48058125e-01 -3.06824079e-01 -8.39331684e-02 2.95645014e+02] [ 3.05766436e-01 9.51765077e-01 -2.54975350e-02 2.72064771e+01] [ 8.77079162e-02 -1.49080059e-03 9.96145119e-01 1.25111427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.63925415399996 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:295.68, Y:27.22, Z:12.51 [[ 9.48041996e-01 -3.06874021e-01 -8.39327717e-02 2.95676119e+02] [ 3.05817474e-01 9.51748953e-01 -2.54872956e-02 2.72162145e+01] [ 8.77043165e-02 -1.50508163e-03 9.96145415e-01 1.25123088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.669254154 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:295.70, Y:27.23, Z:12.52 [[ 9.47691261e-01 -3.08121962e-01 -8.33194507e-02 2.95701687e+02] [ 3.06303539e-01 9.51322516e-01 -3.41117621e-02 2.72285796e+01] [ 8.97742525e-02 6.80637621e-03 9.95938882e-01 1.25171044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.69925415399996 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:295.73, Y:27.23, Z:12.51 [[ 9.47680663e-01 -3.07494907e-01 -8.57218962e-02 2.95730460e+02] [ 3.07160541e-01 9.51498766e-01 -1.73925183e-02 2.72289577e+01] [ 8.69123892e-02 -9.84783072e-03 9.96167284e-01 1.25132677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.729254154 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:295.77, Y:27.27, Z:12.52 [[ 9.51138153e-01 -3.05924595e-01 -4.17894278e-02 2.95766114e+02] [ 3.01003283e-01 9.48851915e-01 -9.52736402e-02 2.72712149e+01] [ 6.87985284e-02 7.80396392e-02 9.94573566e-01 1.25195340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.75925415399996 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:295.80, Y:27.21, Z:12.50 [[ 9.47533772e-01 -3.01400426e-01 -1.06477860e-01 2.95803918e+02] [ 3.08165746e-01 9.49812906e-01 5.37523604e-02 2.72111440e+01] [ 8.49330610e-02 -8.37450058e-02 9.92861093e-01 1.24955672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.789254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:295.82, Y:27.26, Z:12.52 [[ 9.47199591e-01 -3.09986484e-01 -8.19836289e-02 2.95821057e+02] [ 3.08985543e-01 9.50739443e-01 -2.49488497e-02 2.72583946e+01] [ 8.56788759e-02 -1.70021593e-03 9.96321354e-01 1.25228509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.81925415399996 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:295.85, Y:27.27, Z:12.53 [[ 9.46877523e-01 -3.11199337e-01 -8.11044352e-02 2.95849728e+02] [ 3.09457108e-01 9.50321232e-01 -3.35537502e-02 2.72707389e+01] [ 8.75171717e-02 6.67294793e-03 9.96140661e-01 1.25271829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.84925415399994 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:295.88, Y:27.27, Z:12.53 [[ 9.46885883e-01 -3.10156852e-01 -8.49108439e-02 2.95883509e+02] [ 3.09833271e-01 9.50633545e-01 -1.72976419e-02 2.72721145e+01] [ 8.60840787e-02 -9.92931153e-03 9.96238395e-01 1.25251336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.87925415399997 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:295.92, Y:27.31, Z:12.53 [[ 9.50295626e-01 -3.07906606e-01 -4.61708371e-02 2.95919246e+02] [ 3.03186670e-01 9.48883999e-01 -8.77325434e-02 2.73114140e+01] [ 7.08241982e-02 6.93734698e-02 9.95073492e-01 1.25314948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.90925415399994 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:295.96, Y:27.26, Z:12.51 [[ 9.46735033e-01 -3.04704207e-01 -1.04154328e-01 2.95955359e+02] [ 3.10562299e-01 9.49476398e-01 4.52286127e-02 2.72588713e+01] [ 8.51107281e-02 -7.51659198e-02 9.93532208e-01 1.25110362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.93925415399997 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:295.97, Y:27.30, Z:12.54 [[ 9.45949451e-01 -3.13846150e-01 -8.17326759e-02 2.95972949e+02] [ 3.12096225e-01 9.49452455e-01 -3.37043307e-02 2.73040502e+01] [ 8.81792642e-02 6.37413354e-03 9.96084227e-01 1.25365268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.96925415399994 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:296.00, Y:27.31, Z:12.54 [[ 9.45745158e-01 -3.13581447e-01 -8.50457092e-02 2.96001652e+02] [ 3.12562775e-01 9.49557820e-01 -2.53861676e-02 2.73070711e+01] [ 8.87164494e-02 -2.57327780e-03 9.96053598e-01 1.25361434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.99925415399997 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:296.03, Y:27.31, Z:12.54 [[ 9.45673366e-01 -3.13731730e-01 -8.52894329e-02 2.96029380e+02] [ 3.13481541e-01 9.49448150e-01 -1.66593477e-02 2.73104235e+01] [ 8.62044603e-02 -1.09823615e-02 9.96216934e-01 1.25358580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.02925415399994 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:296.06, Y:27.32, Z:12.54 [[ 9.45633503e-01 -3.14506632e-01 -8.28423577e-02 2.96059918e+02] [ 3.13498785e-01 9.49252957e-01 -2.52454912e-02 2.73233597e+01] [ 8.65782274e-02 -2.09799623e-03 9.96242846e-01 1.25411177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.059254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:296.09, Y:27.33, Z:12.54 [[ 9.45673249e-01 -3.14386383e-01 -8.28450894e-02 2.96091908e+02] [ 3.13378861e-01 9.49292793e-01 -2.52365236e-02 2.73330055e+01] [ 8.65782657e-02 -2.09639451e-03 9.96242846e-01 1.25441163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.08925415399995 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:296.12, Y:27.34, Z:12.55 [[ 9.45461753e-01 -3.14892159e-01 -8.33366813e-02 2.96122975e+02] [ 3.13875609e-01 9.49124983e-01 -2.53745643e-02 2.73415126e+01] [ 8.70871775e-02 -2.16667151e-03 9.96198338e-01 1.25465680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.119254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:296.15, Y:27.35, Z:12.55 [[ 9.45376273e-01 -3.15235826e-01 -8.30064850e-02 2.96152074e+02] [ 3.14229380e-01 9.49010824e-01 -2.52656276e-02 2.73500518e+01] [ 8.67386838e-02 -2.19755150e-03 9.96228674e-01 1.25492447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.14925415399995 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:296.18, Y:27.36, Z:12.55 [[ 9.45261955e-01 -3.15676090e-01 -8.26343965e-02 2.96184227e+02] [ 3.14680307e-01 9.48864397e-01 -2.51527261e-02 2.73589878e+01] [ 8.63489511e-02 -2.22750225e-03 9.96262464e-01 1.25520489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.179254154 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:296.22, Y:27.37, Z:12.56 [[ 9.44506375e-01 -3.18002854e-01 -8.23522511e-02 2.96216194e+02] [ 3.17023533e-01 9.48086613e-01 -2.50570095e-02 2.73672437e+01] [ 8.60452674e-02 -2.44109640e-03 9.96288238e-01 1.25553238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.20925415399995 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:296.25, Y:27.40, Z:12.56 [[ 9.47213521e-01 -3.16574705e-01 -5.06655837e-02 2.96252509e+02] [ 3.12084536e-01 9.46646179e-01 -8.04005821e-02 2.73985105e+01] [ 7.34151718e-02 6.03445733e-02 9.95474131e-01 1.25585300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.239254154 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:296.28, Y:27.35, Z:12.54 [[ 9.42973749e-01 -3.17654024e-01 -9.94807979e-02 2.96284765e+02] [ 3.21959788e-01 9.46268569e-01 3.02933850e-02 2.73547273e+01] [ 8.45127367e-02 -6.05946834e-02 9.94578243e-01 1.25415365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.26925415399995 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:296.31, Y:27.39, Z:12.56 [[ 9.41926064e-01 -3.25114433e-01 -8.41183377e-02 2.96307034e+02] [ 3.24652913e-01 9.45632342e-01 -1.94925659e-02 2.73866925e+01] [ 8.58823351e-02 -8.94870751e-03 9.96265098e-01 1.25585265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.299254154 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:296.33, Y:27.40, Z:12.56 [[ 9.40778474e-01 -3.28797772e-01 -8.26310319e-02 2.96331781e+02] [ 3.27352684e-01 9.44398278e-01 -3.08563327e-02 2.73992641e+01] [ 8.81820976e-02 1.97948347e-03 9.96102404e-01 1.25643892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.32925415399995 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:296.36, Y:27.40, Z:12.56 [[ 9.38832800e-01 -3.33562024e-01 -8.56116177e-02 2.96359887e+02] [ 3.32610149e-01 9.42717581e-01 -2.55744076e-02 2.74031919e+01] [ 8.92382284e-02 -4.46520019e-03 9.96000302e-01 1.25643667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.359254154 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:296.39, Y:27.41, Z:12.57 [[ 9.38009591e-01 -3.35711099e-01 -8.62326209e-02 2.96387112e+02] [ 3.34942447e-01 9.41941294e-01 -2.36675998e-02 2.74096972e+01] [ 8.91715425e-02 -6.68252947e-03 9.95993865e-01 1.25662049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.38925415399996 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:296.41, Y:27.42, Z:12.57 [[ 9.36961984e-01 -3.38638272e-01 -8.61763422e-02 2.96414594e+02] [ 3.37856826e-01 9.40892917e-01 -2.39433413e-02 2.74176468e+01] [ 8.91908417e-02 -6.68126485e-03 9.95992146e-01 1.25688478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.419254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:296.44, Y:27.43, Z:12.57 [[ 9.35689454e-01 -3.42147962e-01 -8.61395209e-02 2.96442391e+02] [ 3.40817551e-01 9.39645406e-01 -3.01646913e-02 2.74286340e+01] [ 9.12613927e-02 -1.13307705e-03 9.95826327e-01 1.25729661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.44925415399996 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:296.47, Y:27.43, Z:12.57 [[ 9.35350948e-01 -3.42719856e-01 -8.75311576e-02 2.96474256e+02] [ 3.42074246e-01 9.39397651e-01 -2.27434184e-02 2.74347302e+01] [ 9.00211850e-02 -8.66907680e-03 9.95902120e-01 1.25742920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.479254154 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:296.50, Y:27.45, Z:12.58 [[ 9.35206668e-01 -3.43453659e-01 -8.61862632e-02 2.96503970e+02] [ 3.42491491e-01 9.39156127e-01 -2.61791383e-02 2.74462153e+01] [ 8.99336780e-02 -5.03515713e-03 9.95935028e-01 1.25786330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.50925415399996 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:296.53, Y:27.46, Z:12.58 [[ 9.35383194e-01 -3.43333089e-01 -8.47388400e-02 2.96534747e+02] [ 3.42403087e-01 9.39200692e-01 -2.57329648e-02 2.74571293e+01] [ 8.84217555e-02 -4.94465757e-03 9.96070853e-01 1.25821868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.539254154 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:296.56, Y:27.47, Z:12.59 [[ 9.35935798e-01 -3.42144797e-01 -8.34333239e-02 2.96561234e+02] [ 3.40614631e-01 9.39645352e-01 -3.23772482e-02 2.74691828e+01] [ 8.94754420e-02 1.88441480e-03 9.95987246e-01 1.25872454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.56925415399996 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:296.60, Y:27.47, Z:12.59 [[ 9.37251059e-01 -3.38501687e-01 -8.35287974e-02 2.96595355e+02] [ 3.38130994e-01 9.40907683e-01 -1.89779515e-02 2.74744738e+01] [ 8.50169558e-02 -1.04565701e-02 9.96324635e-01 1.25869696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.59925415399994 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:296.62, Y:27.49, Z:12.59 [[ 9.38255470e-01 -3.36309747e-01 -8.10705143e-02 2.96624300e+02] [ 3.35435553e-01 9.41742375e-01 -2.45822670e-02 2.74872879e+01] [ 8.46147947e-02 -4.12948634e-03 9.96405181e-01 1.25918197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.62925415399997 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:296.66, Y:27.50, Z:12.59 [[ 9.39360728e-01 -3.33230825e-01 -8.09854300e-02 2.96655678e+02] [ 3.32347756e-01 9.42837394e-01 -2.45482803e-02 2.74981772e+01] [ 8.45363354e-02 -3.85563550e-03 9.96412938e-01 1.25949398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.65925415399994 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:296.69, Y:27.51, Z:12.60 [[ 9.41740545e-01 -3.26328417e-01 -8.14524990e-02 2.96686340e+02] [ 3.25410179e-01 9.45250821e-01 -2.46799717e-02 2.75107568e+01] [ 8.50468176e-02 -3.26334227e-03 9.96371612e-01 1.25979167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.68925415399997 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:296.72, Y:27.52, Z:12.60 [[ 9.41782354e-01 -3.26207062e-01 -8.14552076e-02 2.96718348e+02] [ 3.25289143e-01 9.45292713e-01 -2.46710286e-02 2.75203538e+01] [ 8.50468780e-02 -3.26175528e-03 9.96371612e-01 1.26008747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.71925415399994 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:296.75, Y:27.53, Z:12.60 [[ 9.42716285e-01 -3.23198029e-01 -8.26380031e-02 2.96748936e+02] [ 3.22242711e-01 9.46326456e-01 -2.50174711e-02 2.75313863e+01] [ 8.62881260e-02 -3.04511670e-03 9.96265570e-01 1.26038973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.74925415399997 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:296.78, Y:27.54, Z:12.61 [[ 9.44083375e-01 -3.18749411e-01 -8.42935006e-02 2.96778985e+02] [ 3.17738598e-01 9.47835173e-01 -2.55081908e-02 2.75424958e+01] [ 8.80270656e-02 -2.70143986e-03 9.96114420e-01 1.26063411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.77925415399994 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:296.81, Y:27.55, Z:12.61 [[ 9.44452767e-01 -3.17450253e-01 -8.50547311e-02 2.96810622e+02] [ 3.16416590e-01 9.48271329e-01 -2.57299053e-02 2.75525255e+01] [ 8.88229278e-02 -2.61204769e-03 9.96044007e-01 1.26089039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.809254154 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:296.84, Y:27.56, Z:12.61 [[ 9.44620343e-01 -3.16667736e-01 -8.61043110e-02 2.96841091e+02] [ 3.15606051e-01 9.48533020e-01 -2.60371107e-02 2.75622518e+01] [ 8.99178950e-02 -2.57985715e-03 9.95945840e-01 1.26116044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.83925415399995 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:296.87, Y:27.57, Z:12.61 [[ 9.44400741e-01 -3.16765204e-01 -8.81308414e-02 2.96872330e+02] [ 3.15654118e-01 9.48500256e-01 -2.66409949e-02 2.75729199e+01] [ 9.20310658e-02 -2.65908767e-03 9.95752586e-01 1.26140739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.869254154 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:296.90, Y:27.58, Z:12.62 [[ 9.44357846e-01 -3.16691700e-01 -8.88517081e-02 2.96902645e+02] [ 3.15562971e-01 9.48524731e-01 -2.68485749e-02 2.75822228e+01] [ 9.27807633e-02 -2.68364664e-03 9.95682946e-01 1.26165016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.89925415399995 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:296.93, Y:27.59, Z:12.62 [[ 9.44258147e-01 -3.16696296e-01 -8.98888650e-02 2.96933616e+02] [ 3.15541721e-01 9.48523085e-01 -2.71547267e-02 2.75929264e+01] [ 9.38614649e-02 -2.72261524e-03 9.95581545e-01 1.26196572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.929254154 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:296.96, Y:27.60, Z:12.62 [[ 9.44438257e-01 -3.16165187e-01 -8.98663109e-02 2.96964098e+02] [ 3.15009771e-01 9.48700373e-01 -2.71375602e-02 2.76028332e+01] [ 9.38361545e-02 -2.67901601e-03 9.95584049e-01 1.26226884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.95925415399995 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:296.99, Y:27.61, Z:12.63 [[ 9.44642235e-01 -3.15609767e-01 -8.96745405e-02 2.96994031e+02] [ 3.14457434e-01 9.48885444e-01 -2.70727975e-02 2.76127363e+01] [ 9.36353054e-02 -2.62471803e-03 9.95603104e-01 1.26258817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.989254154 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:297.03, Y:27.62, Z:12.63 [[ 9.45301536e-01 -3.13769880e-01 -8.91822230e-02 2.97025268e+02] [ 3.12622526e-01 9.49495939e-01 -2.69187343e-02 2.76235867e+01] [ 9.31244465e-02 -2.43405096e-03 9.95651502e-01 1.26297061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.01925415399995 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:297.06, Y:27.63, Z:12.63 [[ 9.45646732e-01 -3.12960136e-01 -8.83640856e-02 2.97055086e+02] [ 3.11831225e-01 9.49763374e-01 -2.66612293e-02 2.76333948e+01] [ 9.22688740e-02 -2.34257676e-03 9.95731373e-01 1.26330595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.049254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:297.09, Y:27.64, Z:12.64 [[ 9.45865985e-01 -3.12475401e-01 -8.77306212e-02 2.97085846e+02] [ 3.11361372e-01 9.49923098e-01 -2.64613468e-02 2.76431447e+01] [ 9.16058635e-02 -2.28703877e-03 9.95792717e-01 1.26365107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.07925415399995 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:297.12, Y:27.65, Z:12.64 [[ 9.45846652e-01 -3.12653057e-01 -8.73050818e-02 2.97117266e+02] [ 3.11551373e-01 9.49864606e-01 -2.63243613e-02 2.76529106e+01] [ 9.11583992e-02 -2.30120911e-03 9.95833747e-01 1.26397567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.109254154 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:297.15, Y:27.66, Z:12.64 [[ 9.45161641e-01 -3.14848301e-01 -8.68332883e-02 2.97147399e+02] [ 3.13768690e-01 9.49138689e-01 -2.61716976e-02 2.76617323e+01] [ 9.06569480e-02 -2.50908246e-03 9.95879020e-01 1.26432721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.13925415399996 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:297.18, Y:27.67, Z:12.65 [[ 9.43679028e-01 -3.19367815e-01 -8.64528225e-02 2.97179789e+02] [ 3.18317320e-01 9.47626280e-01 -2.60483701e-02 2.76699432e+01] [ 9.02439776e-02 -2.93813023e-03 9.95915354e-01 1.26459823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.169254154 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:297.21, Y:27.68, Z:12.65 [[ 9.42710219e-01 -3.22177670e-01 -8.65967223e-02 2.97211260e+02] [ 3.21136398e-01 9.46673739e-01 -2.60815266e-02 2.76783258e+01] [ 9.03817284e-02 -3.22203783e-03 9.95901984e-01 1.26485083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.19925415399996 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:297.23, Y:27.69, Z:12.65 [[ 9.40994908e-01 -3.26815541e-01 -8.78645834e-02 2.97233356e+02] [ 3.25249955e-01 9.45086920e-01 -3.19871939e-02 2.76856076e+01] [ 9.34935806e-02 1.52183476e-03 9.95618719e-01 1.26522855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.229254154 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:297.26, Y:27.69, Z:12.65 [[ 9.40957109e-01 -3.26576551e-01 -8.91486166e-02 2.97261199e+02] [ 3.25380730e-01 9.45167127e-01 -2.80442910e-02 2.76919618e+01] [ 9.34189497e-02 -2.61876694e-03 9.95623444e-01 1.26535685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.25925415399996 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:297.29, Y:27.70, Z:12.65 [[ 9.38509901e-01 -3.32835505e-01 -9.17588783e-02 2.97292896e+02] [ 3.32138320e-01 9.42944893e-01 -2.32177883e-02 2.76977663e+01] [ 9.42512700e-02 -8.68651544e-03 9.95510544e-01 1.26541525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.289254154 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:297.32, Y:27.71, Z:12.66 [[ 9.37794767e-01 -3.35027647e-01 -9.10903456e-02 2.97322569e+02] [ 3.33934615e-01 9.42196663e-01 -2.74430497e-02 2.77084116e+01] [ 9.50192000e-02 -4.68227112e-03 9.95464428e-01 1.26581830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.31925415399996 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:297.35, Y:27.72, Z:12.66 [[ 9.37203088e-01 -3.36512194e-01 -9.17055929e-02 2.97354055e+02] [ 3.35413105e-01 9.41666451e-01 -2.76105917e-02 2.77176772e+01] [ 9.56473809e-02 -4.88252586e-03 9.95403305e-01 1.26609385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.34925415399994 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:297.39, Y:27.73, Z:12.66 [[ 9.36357234e-01 -3.38468507e-01 -9.31353864e-02 2.97386097e+02] [ 3.37345545e-01 9.40963502e-01 -2.80298417e-02 2.77265465e+01] [ 9.71242180e-02 -5.17286264e-03 9.95258825e-01 1.26642699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.37925415399997 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:297.42, Y:27.74, Z:12.67 [[ 9.36066659e-01 -3.39122512e-01 -9.36756702e-02 2.97416731e+02] [ 3.37990817e-01 9.40727390e-01 -2.81812872e-02 2.77356538e+01] [ 9.76801777e-02 -5.28195295e-03 9.95203840e-01 1.26673026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.40925415399994 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:297.45, Y:27.74, Z:12.67 [[ 9.36048300e-01 -3.39128994e-01 -9.38355177e-02 2.97447544e+02] [ 3.37994364e-01 9.40724950e-01 -2.82201904e-02 2.77447811e+01] [ 9.78436974e-02 -5.30041492e-03 9.95187679e-01 1.26703443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.43925415399997 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:297.48, Y:27.75, Z:12.67 [[ 9.36178455e-01 -3.38812041e-01 -9.36819179e-02 2.97476907e+02] [ 3.37680256e-01 9.40839347e-01 -2.81667948e-02 2.77535682e+01] [ 9.76828836e-02 -5.26538755e-03 9.95203663e-01 1.26734278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.46925415399994 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:297.51, Y:27.76, Z:12.68 [[ 9.37065761e-01 -3.36315758e-01 -9.38054898e-02 2.97511857e+02] [ 3.35341078e-01 9.41725606e-01 -2.64432236e-02 2.77612983e+01] [ 9.72323046e-02 -6.67779461e-03 9.95239311e-01 1.26757885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.49925415399997 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:297.54, Y:27.77, Z:12.68 [[ 9.36896459e-01 -3.36959321e-01 -9.31849880e-02 2.97538124e+02] [ 3.35744426e-01 9.41509780e-01 -2.88966325e-02 2.77721778e+01] [ 9.74715672e-02 -4.21318761e-03 9.95229392e-01 1.26794662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.52925415399994 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:297.57, Y:27.78, Z:12.68 [[ 9.37256688e-01 -3.35820251e-01 -9.36731552e-02 2.97568269e+02] [ 3.34675090e-01 9.41913002e-01 -2.81510180e-02 2.77807656e+01] [ 9.76856448e-02 -4.96534174e-03 9.95204934e-01 1.26822133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.559254154 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:297.60, Y:27.79, Z:12.68 [[ 9.37840650e-01 -3.34129764e-01 -9.38734035e-02 2.97598156e+02] [ 3.32971813e-01 9.42514835e-01 -2.82056208e-02 2.77899719e+01] [ 9.79014129e-02 -4.80481970e-03 9.95184519e-01 1.26846690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.58925415399995 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:297.63, Y:27.80, Z:12.69 [[ 9.38041177e-01 -3.33456866e-01 -9.42617085e-02 2.97629162e+02] [ 3.32286486e-01 9.42753342e-01 -2.83165752e-02 2.77995590e+01] [ 9.83078971e-02 -4.75977834e-03 9.95144664e-01 1.26874543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.619254154 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:297.66, Y:27.81, Z:12.69 [[ 9.38094688e-01 -3.33171019e-01 -9.47387329e-02 2.97660302e+02] [ 3.31988072e-01 9.42854390e-01 -2.84520462e-02 2.78094214e+01] [ 9.88042274e-02 -4.76141590e-03 9.95095500e-01 1.26904756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.64925415399995 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:297.69, Y:27.82, Z:12.69 [[ 9.37811461e-01 -3.33665635e-01 -9.57961773e-02 2.97691979e+02] [ 3.32459830e-01 9.42678864e-01 -2.87579534e-02 2.78199223e+01] [ 9.99005724e-02 -4.87884256e-03 9.94985463e-01 1.26934674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.679254154 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:297.72, Y:27.83, Z:12.70 [[ 9.37527790e-01 -3.34262141e-01 -9.64907442e-02 2.97722923e+02] [ 3.33043088e-01 9.42466935e-01 -2.89547506e-02 2.78289925e+01] [ 1.00617813e-01 -4.98969208e-03 9.94912639e-01 1.26961126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.70925415399995 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:297.75, Y:27.84, Z:12.70 [[ 9.37087297e-01 -3.35272721e-01 -9.72604797e-02 2.97752480e+02] [ 3.34040485e-01 9.42107053e-01 -2.91762820e-02 2.78377832e+01] [ 1.01411795e-01 -5.14821459e-03 9.94831214e-01 1.26986393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.739254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:297.78, Y:27.85, Z:12.70 [[ 9.36653001e-01 -3.36466740e-01 -9.73205426e-02 2.97783631e+02] [ 3.35240053e-01 9.41680509e-01 -2.91877657e-02 2.78473852e+01] [ 1.01465570e-01 -5.28693547e-03 9.94825003e-01 1.27021302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.76925415399995 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:297.81, Y:27.86, Z:12.71 [[ 9.35890253e-01 -3.38795499e-01 -9.65766234e-02 2.97814301e+02] [ 3.37600994e-01 9.40843919e-01 -2.89532330e-02 2.78573199e+01] [ 1.00672754e-01 -5.50731548e-03 9.94904350e-01 1.27051013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.799254154 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:297.85, Y:27.87, Z:12.71 [[ 9.35636406e-01 -3.39626166e-01 -9.61175473e-02 2.97845817e+02] [ 3.38448355e-01 9.40543960e-01 -2.88057383e-02 2.78672781e+01] [ 1.00185961e-01 -5.57912830e-03 9.94953088e-01 1.27081215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.82925415399995 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:297.88, Y:27.88, Z:12.71 [[ 9.35438730e-01 -3.40274615e-01 -9.57474256e-02 2.97876967e+02] [ 3.39110395e-01 9.40309208e-01 -2.86833459e-02 2.78771615e+01] [ 9.97924004e-02 -5.63743464e-03 9.94992310e-01 1.27111567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.859254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:297.91, Y:27.89, Z:12.71 [[ 9.35212825e-01 -3.41137404e-01 -9.48801586e-02 2.97907224e+02] [ 3.39999720e-01 9.39996236e-01 -2.84124403e-02 2.78873584e+01] [ 9.88795381e-02 -5.68754879e-03 9.95083157e-01 1.27133247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.88925415399996 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:297.94, Y:27.90, Z:12.72 [[ 9.35243549e-01 -3.41052442e-01 -9.48827469e-02 2.97938447e+02] [ 3.39915198e-01 9.40027065e-01 -2.84037943e-02 2.78966378e+01] [ 9.88795335e-02 -5.68762233e-03 9.95083157e-01 1.27162150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.919254154 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:297.97, Y:27.91, Z:12.72 [[ 9.35152771e-01 -3.41303691e-01 -9.48740514e-02 2.97969453e+02] [ 3.40168891e-01 9.39935658e-01 -2.83916154e-02 2.79068148e+01] [ 9.88656670e-02 -5.72270305e-03 9.95084333e-01 1.27199971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.94925415399996 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:298.00, Y:27.92, Z:12.72 [[ 9.35356946e-01 -3.41035175e-01 -9.38210739e-02 2.97999853e+02] [ 3.39925289e-01 9.40033606e-01 -2.80645313e-02 2.79175801e+01] [ 9.77659547e-02 -5.64180146e-03 9.95193443e-01 1.27225123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.979254154 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:298.03, Y:27.93, Z:12.73 [[ 9.35411419e-01 -3.40884356e-01 -9.38260828e-02 2.98031909e+02] [ 3.39775391e-01 9.40088297e-01 -2.80477758e-02 2.79270642e+01] [ 9.77658504e-02 -5.64358422e-03 9.95193443e-01 1.27254761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.00925415399996 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:298.06, Y:27.94, Z:12.73 [[ 9.35370059e-01 -3.41004406e-01 -9.38021759e-02 2.98062912e+02] [ 3.39898166e-01 9.40044600e-01 -2.80247523e-02 2.79373415e+01] [ 9.77347930e-02 -5.66967332e-03 9.95196345e-01 1.27286197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.039254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:298.09, Y:27.95, Z:12.73 [[ 9.35420480e-01 -3.40885658e-01 -9.37309641e-02 2.98094518e+02] [ 3.39781608e-01 9.40087705e-01 -2.79922572e-02 2.79473715e+01] [ 9.76574860e-02 -5.66352708e-03 9.95203969e-01 1.27315998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.06925415399996 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:298.13, Y:27.96, Z:12.73 [[ 9.35157936e-01 -3.41503572e-01 -9.41007177e-02 2.98125375e+02] [ 3.40395004e-01 9.39862817e-01 -2.80913940e-02 2.79575655e+01] [ 9.80350770e-02 -5.76152404e-03 9.95166282e-01 1.27344094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.09925415399994 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:298.16, Y:27.97, Z:12.74 [[ 9.35010265e-01 -3.41867473e-01 -9.42466685e-02 2.98155812e+02] [ 3.40758381e-01 9.39730157e-01 -2.81239654e-02 2.79665510e+01] [ 9.81811056e-02 -5.81914582e-03 9.95151550e-01 1.27370506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.12925415399997 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:298.19, Y:27.98, Z:12.74 [[ 9.34743504e-01 -3.42393971e-01 -9.49786812e-02 2.98186677e+02] [ 3.41271175e-01 9.39537766e-01 -2.83332207e-02 2.79756358e+01] [ 9.89371818e-02 -5.92919210e-03 9.95076017e-01 1.27398275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.15925415399994 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:298.22, Y:27.99, Z:12.74 [[ 9.34202646e-01 -3.43465929e-01 -9.64187285e-02 2.98217058e+02] [ 3.42315215e-01 9.39145051e-01 -2.87552776e-02 2.79851880e+01] [ 1.00427630e-01 -6.14234132e-03 9.94925406e-01 1.27423888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.18925415399997 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:298.25, Y:27.99, Z:12.75 [[ 9.34213408e-01 -3.43247316e-01 -9.70906167e-02 2.98246582e+02] [ 3.42080059e-01 9.39224800e-01 -2.89483643e-02 2.79945499e+01] [ 1.01126363e-01 -6.16881382e-03 9.94854464e-01 1.27453405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.21925415399994 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:298.28, Y:28.00, Z:12.75 [[ 9.34445661e-01 -3.42577675e-01 -9.72205939e-02 2.98276609e+02] [ 3.41404279e-01 9.39469639e-01 -2.89812909e-02 2.80043979e+01] [ 1.01264140e-01 -6.11008525e-03 9.94840812e-01 1.27480704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.24925415399997 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:298.31, Y:28.01, Z:12.75 [[ 9.35661967e-01 -3.39190281e-01 -9.73993723e-02 2.98306189e+02] [ 3.37995033e-01 9.40700148e-01 -2.90273942e-02 2.80148516e+01] [ 1.01469414e-01 -5.76067528e-03 9.94821980e-01 1.27514372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.27925415399994 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:298.34, Y:28.02, Z:12.75 [[ 9.36546589e-01 -3.36784140e-01 -9.72467405e-02 2.98335325e+02] [ 3.35580273e-01 9.41565842e-01 -2.89766340e-02 2.80247280e+01] [ 1.01323080e-01 -5.49611998e-03 9.94838392e-01 1.27544991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.309254154 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:298.36, Y:28.03, Z:12.76 [[ 9.37706919e-01 -3.33722163e-01 -9.66191085e-02 2.98364628e+02] [ 3.32517987e-01 9.42657495e-01 -2.87860339e-02 2.80349257e+01] [ 1.00685264e-01 -5.13472838e-03 9.94905077e-01 1.27574210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.33925415399995 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:298.39, Y:28.04, Z:12.76 [[ 9.38869348e-01 -3.30564759e-01 -9.61836074e-02 2.98393778e+02] [ 3.29355287e-01 9.43771220e-01 -2.86527310e-02 2.80449135e+01] [ 1.00246904e-01 -4.77740867e-03 9.94951122e-01 1.27603553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.369254154 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:298.42, Y:28.06, Z:12.76 [[ 9.41447919e-01 -3.23462607e-01 -9.51196995e-02 2.98423042e+02] [ 3.22243971e-01 9.46232589e-01 -2.83321347e-02 2.80562754e+01] [ 9.91697457e-02 -3.97852041e-03 9.95062577e-01 1.27638705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.39925415399995 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:298.45, Y:28.06, Z:12.76 [[ 9.42831299e-01 -3.19336456e-01 -9.53591557e-02 2.98451793e+02] [ 3.19110721e-01 9.47546095e-01 -1.80206733e-02 2.80615339e+01] [ 9.61118536e-02 -1.34396741e-02 9.95279803e-01 1.27629926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.429254154 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:298.48, Y:28.08, Z:12.77 [[ 9.44168276e-01 -3.16661074e-01 -9.09507047e-02 2.98477907e+02] [ 3.14612671e-01 9.48521187e-01 -3.64201059e-02 2.80798025e+01] [ 9.78015002e-02 5.77246450e-03 9.95189201e-01 1.27724618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.45925415399995 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:298.51, Y:28.09, Z:12.77 [[ 9.46783677e-01 -3.07911421e-01 -9.37615372e-02 2.98510732e+02] [ 3.06648737e-01 9.51412276e-01 -2.79505619e-02 2.80872053e+01] [ 9.78121747e-02 -2.28872109e-03 9.95202261e-01 1.27725200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.489254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:298.54, Y:28.10, Z:12.78 [[ 9.48141069e-01 -3.03713318e-01 -9.37375731e-02 2.98542363e+02] [ 3.02431881e-01 9.52761639e-01 -2.79323574e-02 2.80975899e+01] [ 9.77929928e-02 -1.86541543e-03 9.95205030e-01 1.27752287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.51925415399995 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:298.57, Y:28.11, Z:12.78 [[ 9.49540699e-01 -2.99225397e-01 -9.40033162e-02 2.98573082e+02] [ 2.97915906e-01 9.54181403e-01 -2.79993402e-02 2.81077109e+01] [ 9.80743298e-02 -1.41857006e-03 9.95178081e-01 1.27782205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.549254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:298.60, Y:28.12, Z:12.78 [[ 9.50790399e-01 -2.95109329e-01 -9.43827358e-02 2.98604335e+02] [ 2.93770756e-01 9.55462952e-01 -2.80942963e-02 2.81177425e+01] [ 9.84700964e-02 -1.01510052e-03 9.95139493e-01 1.27805259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.57925415399995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:298.63, Y:28.13, Z:12.78 [[ 9.52181325e-01 -2.90552816e-01 -9.44975382e-02 2.98631418e+02] [ 2.88987341e-01 9.56857927e-01 -3.01533393e-02 2.81278447e+01] [ 9.91818562e-02 1.40285432e-03 9.95068335e-01 1.27842366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.609254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:298.66, Y:28.14, Z:12.79 [[ 9.54078788e-01 -2.84262429e-01 -9.44909423e-02 2.98662429e+02] [ 2.83014883e-01 9.58745589e-01 -2.66359286e-02 2.81372667e+01] [ 9.81643678e-02 -1.32956843e-03 9.95169327e-01 1.27866965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.63925415399996 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:298.69, Y:28.15, Z:12.79 [[ 9.54939058e-01 -2.81441020e-01 -9.42462049e-02 2.98693185e+02] [ 2.80041417e-01 9.59578454e-01 -2.80356206e-02 2.81478701e+01] [ 9.83270012e-02 3.79468332e-04 9.95154087e-01 1.27902781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.669254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:298.72, Y:28.16, Z:12.79 [[ 9.55813858e-01 -2.78214052e-01 -9.49568851e-02 2.98723176e+02] [ 2.76778660e-01 9.60518842e-01 -2.82334484e-02 2.81575487e+01] [ 9.90628194e-02 7.03881750e-04 9.95080933e-01 1.27933813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.69925415399996 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:298.75, Y:28.17, Z:12.80 [[ 9.56025206e-01 -2.77613160e-01 -9.45872015e-02 2.98753556e+02] [ 2.76188611e-01 9.60692661e-01 -2.80973701e-02 2.81662943e+01] [ 9.86694301e-02 7.37886253e-04 9.95119992e-01 1.27955205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.729254154 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:298.79, Y:28.18, Z:12.80 [[ 9.55861943e-01 -2.78024313e-01 -9.50285642e-02 2.98785533e+02] [ 2.76589384e-01 9.60573790e-01 -2.82188995e-02 2.81756653e+01] [ 9.91274882e-02 6.89480102e-04 9.95074503e-01 1.27989855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.75925415399996 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:298.82, Y:28.18, Z:12.80 [[ 9.55635055e-01 -2.78783399e-01 -9.50865776e-02 2.98817200e+02] [ 2.77351584e-01 9.60353818e-01 -2.82248581e-02 2.81843298e+01] [ 9.91853797e-02 6.00250875e-04 9.95068792e-01 1.28019243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.789254154 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:298.84, Y:28.19, Z:12.80 [[ 9.54977083e-01 -2.79986674e-01 -9.81133664e-02 2.98842540e+02] [ 2.79406816e-01 9.59966915e-01 -1.98834999e-02 2.81884677e+01] [ 9.97527007e-02 -8.42525657e-03 9.94976590e-01 1.28035006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.81925415399996 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:298.87, Y:28.20, Z:12.81 [[ 9.53876103e-01 -2.85810856e-01 -9.18288358e-02 2.98870120e+02] [ 2.83489937e-01 9.58234862e-01 -3.76749849e-02 2.82020600e+01] [ 9.87615115e-02 9.90471685e-03 9.95061837e-01 1.28109526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.84925415399994 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:298.90, Y:28.21, Z:12.81 [[ 9.53057308e-01 -2.87703335e-01 -9.43851653e-02 2.98902320e+02] [ 2.86332562e-01 9.57719535e-01 -2.80527479e-02 2.82056170e+01] [ 9.84653857e-02 -2.89669829e-04 9.95140434e-01 1.28109235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.87925415399997 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:298.93, Y:28.21, Z:12.81 [[ 9.52183235e-01 -2.90514119e-01 -9.45972212e-02 2.98934540e+02] [ 2.89151948e-01 9.56870523e-01 -2.81061103e-02 2.82138329e+01] [ 9.86825143e-02 -5.90803743e-04 9.95118793e-01 1.28141935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.90925415399994 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:298.97, Y:28.22, Z:12.82 [[ 9.51163537e-01 -2.93782684e-01 -9.47610678e-02 2.98966952e+02] [ 2.92433046e-01 9.55871773e-01 -2.81436830e-02 2.82219245e+01] [ 9.88475567e-02 -9.42022625e-04 9.95102142e-01 1.28170092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.93925415399997 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:299.00, Y:28.23, Z:12.82 [[ 9.49020261e-01 -3.00593197e-01 -9.48908515e-02 2.98999026e+02] [ 2.99274859e-01 9.53750996e-01 -2.81708511e-02 2.82283219e+01] [ 9.89702103e-02 -1.66373769e-03 9.95089006e-01 1.28192930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.96925415399994 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:299.03, Y:28.24, Z:12.82 [[ 9.47981735e-01 -3.03850807e-01 -9.48963492e-02 2.99031283e+02] [ 3.02549706e-01 9.52717497e-01 -2.81610909e-02 2.82357677e+01] [ 9.89661824e-02 -2.01466276e-03 9.95088758e-01 1.28221167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.99925415399997 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:299.06, Y:28.24, Z:12.82 [[ 9.47022490e-01 -3.06862469e-01 -9.47830610e-02 2.99062667e+02] [ 3.05580624e-01 9.51750998e-01 -2.81161853e-02 2.82430141e+01] [ 9.88376750e-02 -2.33720706e-03 9.95100825e-01 1.28244461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.02925415399994 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:299.09, Y:28.25, Z:12.83 [[ 9.46118219e-01 -3.09600070e-01 -9.49110762e-02 2.99094029e+02] [ 3.08329527e-01 9.50863210e-01 -2.81435368e-02 2.82505419e+01] [ 9.89606915e-02 -2.63677434e-03 9.95087850e-01 1.28270636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.059254154 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:299.13, Y:28.26, Z:12.83 [[ 9.44630304e-01 -3.14130606e-01 -9.48448793e-02 2.99126513e+02] [ 3.12886341e-01 9.49374632e-01 -2.81059901e-02 2.82574985e+01] [ 9.88722741e-02 -3.12589730e-03 9.95095223e-01 1.28301833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.08925415399995 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:299.16, Y:28.29, Z:12.84 [[ 9.47193624e-01 -3.13790872e-01 -6.60267188e-02 2.99161391e+02] [ 3.08521716e-01 9.47925474e-01 -7.90673587e-02 2.82876655e+01] [ 8.73990241e-02 5.45214215e-02 9.94680263e-01 1.28353925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.119254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:299.20, Y:28.25, Z:12.82 [[ 9.43718399e-01 -3.11271732e-01 -1.11827961e-01 2.99197926e+02] [ 3.16221767e-01 9.48235836e-01 2.91992184e-02 2.82463051e+01] [ 9.69503892e-02 -6.29182752e-02 9.93298501e-01 1.28175967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.14925415399995 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:299.22, Y:28.28, Z:12.84 [[ 9.43578274e-01 -3.17461198e-01 -9.42254158e-02 2.99219662e+02] [ 3.16249875e-01 9.48264974e-01 -2.79205229e-02 2.82815914e+01] [ 9.82143441e-02 -3.45357723e-03 9.95159291e-01 1.28388958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.179254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:299.25, Y:28.29, Z:12.84 [[ 9.43821764e-01 -3.16763362e-01 -9.41352749e-02 2.99251465e+02] [ 3.15552029e-01 9.48498545e-01 -2.78823825e-02 2.82902421e+01] [ 9.81192885e-02 -3.38857755e-03 9.95168892e-01 1.28414836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.20925415399995 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:299.28, Y:28.30, Z:12.84 [[ 9.44114942e-01 -3.15901172e-01 -9.40926444e-02 2.99282506e+02] [ 3.14687874e-01 9.48786330e-01 -2.78575441e-02 2.82990780e+01] [ 9.80740456e-02 -3.30909052e-03 9.95173619e-01 1.28442875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.239254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:299.31, Y:28.31, Z:12.85 [[ 9.44886865e-01 -3.13601614e-01 -9.40363755e-02 2.99313148e+02] [ 3.12380172e-01 9.49549634e-01 -2.78230169e-02 2.83079660e+01] [ 9.80175490e-02 -3.08549601e-03 9.95179903e-01 1.28465839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.26925415399995 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:299.34, Y:28.32, Z:12.85 [[ 9.44917134e-01 -3.13509641e-01 -9.40389070e-02 2.99344405e+02] [ 3.12288596e-01 9.49580006e-01 -2.78144584e-02 2.83171440e+01] [ 9.80175667e-02 -3.08492001e-03 9.95179903e-01 1.28494626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.299254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:299.38, Y:28.33, Z:12.85 [[ 9.45513864e-01 -3.11500450e-01 -9.47153770e-02 2.99376289e+02] [ 3.10252703e-01 9.50241557e-01 -2.80043368e-02 2.83269389e+01] [ 9.87258509e-02 -2.90721299e-03 9.95110423e-01 1.28522648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.32925415399995 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:299.41, Y:28.34, Z:12.85 [[ 9.45775479e-01 -3.10572854e-01 -9.51485464e-02 2.99407351e+02] [ 3.09310096e-01 9.50545354e-01 -2.81210749e-02 2.83361321e+01] [ 9.91766512e-02 -2.83418295e-03 9.95065807e-01 1.28541629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.359254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:299.44, Y:28.35, Z:12.86 [[ 9.45739002e-01 -3.10638265e-01 -9.52974759e-02 2.99439166e+02] [ 3.09372850e-01 9.50523918e-01 -2.81553123e-02 2.83457364e+01] [ 9.93286475e-02 -2.85487479e-03 9.95050586e-01 1.28576562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.38925415399996 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:299.47, Y:28.36, Z:12.86 [[ 9.45330841e-01 -3.11593613e-01 -9.62238097e-02 2.99471128e+02] [ 3.10309542e-01 9.50210739e-01 -2.84172567e-02 2.83553245e+01] [ 1.00287533e-01 -2.99545715e-03 9.94953988e-01 1.28603440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.419254154 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:299.50, Y:28.36, Z:12.86 [[ 9.44960227e-01 -3.12605421e-01 -9.65816734e-02 2.99502108e+02] [ 3.11318304e-01 9.49877927e-01 -2.85103096e-02 2.83645100e+01] [ 1.00653277e-01 -3.12653415e-03 9.94916651e-01 1.28628920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.44925415399996 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:299.53, Y:28.37, Z:12.87 [[ 9.43890334e-01 -3.15658144e-01 -9.71132017e-02 2.99533221e+02] [ 3.14374746e-01 9.48866569e-01 -2.86487899e-02 2.83740543e+01] [ 1.01190694e-01 -3.48862227e-03 9.94860931e-01 1.28660916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.479254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:299.56, Y:28.38, Z:12.87 [[ 9.43422664e-01 -3.17030196e-01 -9.71881280e-02 2.99563907e+02] [ 3.15753241e-01 9.48408422e-01 -2.86593071e-02 2.83833302e+01] [ 1.01259905e-01 -3.64962652e-03 9.94853312e-01 1.28694725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.50925415399996 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:299.59, Y:28.39, Z:12.87 [[ 9.42981797e-01 -3.18437030e-01 -9.68668566e-02 2.99594384e+02] [ 3.17176895e-01 9.47936411e-01 -2.85548355e-02 2.83929217e+01] [ 1.00916537e-01 -3.79723864e-03 9.94887649e-01 1.28725707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.539254154 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:299.63, Y:28.40, Z:12.88 [[ 9.42584858e-01 -3.19692656e-01 -9.65939516e-02 2.99625371e+02] [ 3.18447185e-01 9.47513146e-01 -2.84645021e-02 2.84027298e+01] [ 1.00623931e-01 -3.92986332e-03 9.94916771e-01 1.28760044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.56925415399996 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:299.66, Y:28.41, Z:12.88 [[ 9.42212329e-01 -3.21178472e-01 -9.52906927e-02 2.99656458e+02] [ 3.19975128e-01 9.47010052e-01 -2.80691713e-02 2.84129848e+01] [ 9.92564574e-02 -4.04353227e-03 9.95053670e-01 1.28795561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.59925415399994 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:299.69, Y:28.42, Z:12.88 [[ 9.42181042e-01 -3.21498209e-01 -9.45187099e-02 2.99687329e+02] [ 3.20317004e-01 9.46901507e-01 -2.78307899e-02 2.84225911e+01] [ 9.84474579e-02 -4.05430731e-03 9.95133991e-01 1.28827583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.62925415399997 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:299.72, Y:28.43, Z:12.89 [[ 9.42233828e-01 -3.21580297e-01 -9.37097972e-02 2.99718370e+02] [ 3.20420577e-01 9.46873707e-01 -2.75832530e-02 2.84323679e+01] [ 9.76015738e-02 -4.03667323e-03 9.95217382e-01 1.28860151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.65925415399994 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:299.75, Y:28.44, Z:12.89 [[ 9.42311733e-01 -3.21575444e-01 -9.29399312e-02 2.99749528e+02] [ 3.20435772e-01 9.46875456e-01 -2.73457015e-02 2.84423114e+01] [ 9.67962458e-02 -4.01310317e-03 9.95296128e-01 1.28889795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.68925415399997 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:299.78, Y:28.45, Z:12.89 [[ 9.42604335e-01 -3.20974822e-01 -9.20447211e-02 2.99779684e+02] [ 3.19855204e-01 9.47079602e-01 -2.70716752e-02 2.84526586e+01] [ 9.58630040e-02 -3.92310462e-03 9.95386806e-01 1.28924684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.71925415399994 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:299.81, Y:28.46, Z:12.90 [[ 9.42818862e-01 -3.20351309e-01 -9.20197400e-02 2.99811485e+02] [ 3.19230222e-01 9.47290917e-01 -2.70551888e-02 2.84627897e+01] [ 9.58366291e-02 -3.86733973e-03 9.95389564e-01 1.28954949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.74925415399997 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:299.84, Y:28.47, Z:12.90 [[ 9.43179922e-01 -3.19195018e-01 -9.23372900e-02 2.99843312e+02] [ 3.18061682e-01 9.47681542e-01 -2.71378340e-02 2.84725690e+01] [ 9.61686067e-02 -3.77309364e-03 9.95357907e-01 1.28974206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.77925415399994 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:299.87, Y:28.48, Z:12.90 [[ 9.43347592e-01 -3.18649351e-01 -9.25089830e-02 2.99873395e+02] [ 3.17510194e-01 9.47865310e-01 -2.71777783e-02 2.84824402e+01] [ 9.63462373e-02 -3.73445341e-03 9.95340874e-01 1.29016879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.809254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:299.90, Y:28.49, Z:12.90 [[ 9.44079796e-01 -3.16284392e-01 -9.31532224e-02 2.99904929e+02] [ 3.15118698e-01 9.48657867e-01 -2.73579412e-02 2.84932632e+01] [ 9.70234271e-02 -3.52624267e-03 9.95275851e-01 1.29045610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.83925415399995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:299.94, Y:28.50, Z:12.91 [[ 9.44568743e-01 -3.14701202e-01 -9.35577019e-02 2.99935745e+02] [ 3.13518731e-01 9.49184738e-01 -2.74652367e-02 2.85032152e+01] [ 9.74468857e-02 -3.38928787e-03 9.95234956e-01 1.29072730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.869254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:299.97, Y:28.51, Z:12.91 [[ 9.44595403e-01 -3.14619842e-01 -9.35621708e-02 2.99967021e+02] [ 3.13438480e-01 9.49211682e-01 -2.74500049e-02 2.85123147e+01] [ 9.74466217e-02 -3.39683616e-03 9.95234956e-01 1.29101489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.89925415399995 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:300.00, Y:28.52, Z:12.91 [[ 9.45262598e-01 -3.12533380e-01 -9.38163547e-02 2.99997937e+02] [ 3.11336170e-01 9.49901393e-01 -2.75160566e-02 2.85224491e+01] [ 9.77159721e-02 -3.19852543e-03 9.95209203e-01 1.29127485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.929254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:300.03, Y:28.53, Z:12.92 [[ 9.46797595e-01 -3.07736598e-01 -9.41939462e-02 3.00027021e+02] [ 3.06506698e-01 9.51467700e-01 -2.76199151e-02 2.85337008e+01] [ 9.81221561e-02 -2.72060624e-03 9.95170659e-01 1.29154981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.95925415399995 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:300.06, Y:28.54, Z:12.92 [[ 9.47758102e-01 -3.04715785e-01 -9.43550272e-02 3.00058344e+02] [ 3.03467311e-01 9.52440259e-01 -2.76612519e-02 2.85442133e+01] [ 9.82963466e-02 -2.41749079e-03 9.95154251e-01 1.29185949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.989254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:300.09, Y:28.55, Z:12.92 [[ 9.48986500e-01 -3.01040487e-01 -9.38043071e-02 3.00088750e+02] [ 2.99789911e-01 9.53609184e-01 -2.74869624e-02 2.85544228e+01] [ 9.77273373e-02 -2.03682859e-03 9.95211143e-01 1.29214452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.01925415399995 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:300.12, Y:28.56, Z:12.92 [[ 9.50233638e-01 -2.97165383e-01 -9.35348539e-02 3.00118845e+02] [ 2.95905783e-01 9.54824584e-01 -2.73821419e-02 2.85643426e+01] [ 9.74464026e-02 -1.65807190e-03 9.95239393e-01 1.29244910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.049254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:300.15, Y:28.58, Z:12.93 [[ 9.52736922e-01 -2.89134359e-01 -9.32398999e-02 3.00149322e+02] [ 2.87845155e-01 9.57288156e-01 -2.72864969e-02 2.85760451e+01] [ 9.71469157e-02 -8.41800347e-04 9.95269696e-01 1.29280843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.07925415399995 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:300.18, Y:28.59, Z:12.93 [[ 9.54169833e-01 -2.84470072e-01 -9.29338856e-02 3.00176613e+02] [ 2.82373172e-01 9.58656328e-01 -3.52623968e-02 2.85888827e+01] [ 9.91227541e-02 7.40427914e-03 9.95047665e-01 1.29337105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.109254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:300.21, Y:28.59, Z:12.93 [[ 9.55182032e-01 -2.80281704e-01 -9.52336735e-02 3.00211856e+02] [ 2.79635204e-01 9.59890791e-01 -2.03426327e-02 2.85928567e+01] [ 9.71155939e-02 -7.19977049e-03 9.95247067e-01 1.29317608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.13925415399996 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:300.24, Y:28.61, Z:12.94 [[ 9.57113182e-01 -2.74427042e-01 -9.28663300e-02 3.00241826e+02] [ 2.73082067e-01 9.61607724e-01 -2.71435015e-02 2.86064828e+01] [ 9.67498911e-02 6.19273754e-04 9.95308533e-01 1.29373027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.169254154 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:300.27, Y:28.62, Z:12.94 [[ 9.57147351e-01 -2.74306843e-01 -9.28692890e-02 3.00273931e+02] [ 2.72962286e-01 9.61642018e-01 -2.71333742e-02 2.86157651e+01] [ 9.67498807e-02 6.20823874e-04 9.95308533e-01 1.29402573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.19925415399996 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:300.31, Y:28.62, Z:12.94 [[ 9.58578864e-01 -2.69434621e-01 -9.23663762e-02 3.00305395e+02] [ 2.68083219e-01 9.63018061e-01 -2.69740929e-02 2.86242606e+01] [ 9.62182430e-02 1.09491985e-03 9.95359659e-01 1.29428017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.229254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:300.34, Y:28.63, Z:12.95 [[ 9.58977415e-01 -2.67967677e-01 -9.24967112e-02 3.00337241e+02] [ 2.66606701e-01 9.63427114e-01 -2.70011781e-02 2.86326843e+01] [ 9.63492825e-02 1.23327695e-03 9.95346821e-01 1.29460481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.25925415399996 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:300.37, Y:28.64, Z:12.95 [[ 9.59257124e-01 -2.67089162e-01 -9.21365869e-02 3.00367811e+02] [ 2.65735794e-01 9.63670937e-01 -2.68851892e-02 2.86402634e+01] [ 9.59700936e-02 1.30582018e-03 9.95383361e-01 1.29486672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.289254154 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:300.40, Y:28.65, Z:12.95 [[ 9.59248457e-01 -2.67111239e-01 -9.21628070e-02 3.00400254e+02] [ 2.65758096e-01 9.63664832e-01 -2.68835561e-02 2.86481889e+01] [ 9.59949560e-02 1.29499759e-03 9.95380978e-01 1.29516618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.31925415399996 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:300.43, Y:28.65, Z:12.95 [[ 9.58698691e-01 -2.68918708e-01 -9.26258549e-02 3.00432461e+02] [ 2.67561376e-01 9.63162239e-01 -2.70076175e-02 2.86542212e+01] [ 9.64765794e-02 1.10906629e-03 9.95334637e-01 1.29541385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.34925415399994 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:300.46, Y:28.66, Z:12.96 [[ 9.57492105e-01 -2.71561181e-01 -9.72799750e-02 3.00459393e+02] [ 2.71132714e-01 9.62376412e-01 -1.78520009e-02 2.86594368e+01] [ 9.84678637e-02 -9.28263372e-03 9.95096936e-01 1.29558676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.37925415399997 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:300.49, Y:28.67, Z:12.96 [[ 9.57065224e-01 -2.74732598e-01 -9.24562429e-02 3.00488744e+02] [ 2.72851801e-01 9.61501802e-01 -3.26524047e-02 2.86735986e+01] [ 9.78675242e-02 6.02362864e-03 9.95181221e-01 1.29628990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.40925415399994 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:300.52, Y:28.68, Z:12.96 [[ 9.56322704e-01 -2.77481590e-01 -9.19285237e-02 3.00524444e+02] [ 2.75423342e-01 9.60699364e-01 -3.46224656e-02 2.86755589e+01] [ 9.79227710e-02 7.79098869e-03 9.95163520e-01 1.29642505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.43925415399997 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:300.56, Y:28.68, Z:12.96 [[ 9.55544416e-01 -2.79460381e-01 -9.40040675e-02 3.00558165e+02] [ 2.78114612e-01 9.60157224e-01 -2.73928456e-02 2.86788442e+01] [ 9.79138996e-02 3.11759290e-05 9.95194889e-01 1.29645357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.46925415399994 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:300.59, Y:28.69, Z:12.97 [[ 9.54660021e-01 -2.82580534e-01 -9.36615462e-02 3.00586851e+02] [ 2.80573911e-01 9.59222314e-01 -3.42174378e-02 2.86876751e+01] [ 9.95114269e-02 6.38703364e-03 9.95015920e-01 1.29693364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.49925415399997 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:300.62, Y:28.69, Z:12.97 [[ 9.53872369e-01 -2.84551545e-01 -9.56970342e-02 3.00616734e+02] [ 2.83853083e-01 9.58635079e-01 -2.11237479e-02 2.86871678e+01] [ 9.77493291e-02 -7.01453880e-03 9.95186347e-01 1.29672748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.52925415399994 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:300.65, Y:28.69, Z:12.97 [[ 9.52333802e-01 -2.90465459e-01 -9.32209514e-02 3.00647440e+02] [ 2.89195110e-01 9.56884851e-01 -2.71582588e-02 2.86937929e+01] [ 9.70902523e-02 -1.09531544e-03 9.95274979e-01 1.29723172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.559254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:300.68, Y:28.70, Z:12.98 [[ 9.51595854e-01 -2.92888304e-01 -9.31760300e-02 3.00678779e+02] [ 2.91631632e-01 9.56145709e-01 -2.71362036e-02 2.87000668e+01] [ 9.70377380e-02 -1.35037887e-03 9.95279787e-01 1.29750973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.58925415399995 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:300.71, Y:28.71, Z:12.98 [[ 9.50967799e-01 -2.95107872e-01 -9.25828768e-02 3.00708991e+02] [ 2.93878346e-01 9.55462646e-01 -2.69564329e-02 2.87060661e+01] [ 9.64145360e-02 -1.57340308e-03 9.95340023e-01 1.29775597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.619254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:300.74, Y:28.71, Z:12.98 [[ 9.50271452e-01 -2.97300546e-01 -9.27175996e-02 3.00740758e+02] [ 2.96078372e-01 9.54782243e-01 -2.69901084e-02 2.87128933e+01] [ 9.65492916e-02 -1.80374648e-03 9.95326570e-01 1.29806057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.64925415399995 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:300.77, Y:28.72, Z:12.98 [[ 9.49228743e-01 -3.00281301e-01 -9.37866402e-02 3.00773611e+02] [ 2.99045932e-01 9.53848294e-01 -2.72939991e-02 2.87166236e+01] [ 9.76541043e-02 -2.13826480e-03 9.95218119e-01 1.29817457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.679254154 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:300.81, Y:28.72, Z:12.99 [[ 9.48744079e-01 -3.02024890e-01 -9.30894085e-02 3.00805267e+02] [ 3.00816934e-01 9.53297247e-01 -2.70837611e-02 2.87237030e+01] [ 9.69218469e-02 -2.30731253e-03 9.95289321e-01 1.29855059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.70925415399995 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:300.84, Y:28.73, Z:12.99 [[ 9.47969872e-01 -3.04268860e-01 -9.36674003e-02 3.00837012e+02] [ 3.03057470e-01 9.52582757e-01 -2.72444660e-02 2.87284101e+01] [ 9.75155930e-02 -2.55967236e-03 9.95230706e-01 1.29882172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.739254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:300.87, Y:28.74, Z:12.99 [[ 9.47727876e-01 -3.05080081e-01 -9.34773634e-02 3.00868710e+02] [ 3.03878263e-01 9.52323028e-01 -2.71818299e-02 2.87355250e+01] [ 9.73132806e-02 -2.64476085e-03 9.95250285e-01 1.29907190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.76925415399995 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:300.90, Y:28.74, Z:12.99 [[ 9.47473541e-01 -3.05842034e-01 -9.35656981e-02 3.00899250e+02] [ 3.04642360e-01 9.52078349e-01 -2.72001731e-02 2.87422678e+01] [ 9.74008317e-02 -2.73263086e-03 9.95241484e-01 1.29935576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.799254154 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:300.93, Y:28.75, Z:12.99 [[ 9.47292985e-01 -3.06133686e-01 -9.44360446e-02 3.00928829e+02] [ 3.04913515e-01 9.51984434e-01 -2.74478915e-02 2.87482489e+01] [ 9.83043687e-02 -2.79363119e-03 9.95152474e-01 1.29946741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.82925415399995 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:300.96, Y:28.76, Z:13.00 [[ 9.47025582e-01 -3.07266626e-01 -9.34332191e-02 3.00959411e+02] [ 3.06077963e-01 9.51619102e-01 -2.71544760e-02 2.87558599e+01] [ 9.72565002e-02 -2.88186592e-03 9.95255177e-01 1.29985792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.859254154 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:300.99, Y:28.76, Z:13.00 [[ 9.46669734e-01 -3.08122708e-01 -9.42168285e-02 3.00989095e+02] [ 3.06918601e-01 9.51341897e-01 -2.73782428e-02 2.87612757e+01] [ 9.80682746e-02 -2.99874327e-03 9.95175171e-01 1.30011189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.88925415399996 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:301.02, Y:28.77, Z:13.00 [[ 9.46543452e-01 -3.08265314e-01 -9.50157358e-02 3.01018300e+02] [ 3.07041929e-01 9.51295552e-01 -2.76048465e-02 2.87683814e+01] [ 9.88976635e-02 -3.04462816e-03 9.95092952e-01 1.30038338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.919254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:301.05, Y:28.78, Z:13.01 [[ 9.46447636e-01 -3.08367816e-01 -9.56355727e-02 3.01046282e+02] [ 3.07128845e-01 9.51262233e-01 -2.77855595e-02 2.87754206e+01] [ 9.95426807e-02 -3.07486585e-03 9.95028542e-01 1.30061088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.94925415399996 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:301.08, Y:28.78, Z:13.01 [[ 9.46375258e-01 -3.08324217e-01 -9.64885950e-02 3.01075741e+02] [ 3.07062279e-01 9.51276305e-01 -2.80383237e-02 2.87830530e+01] [ 1.00432208e-01 -3.09323210e-03 9.94939095e-01 1.30087009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.979254154 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:301.11, Y:28.79, Z:13.01 [[ 9.46405727e-01 -3.07842367e-01 -9.77204012e-02 3.01106031e+02] [ 3.06545432e-01 9.51432383e-01 -2.83957496e-02 2.87899910e+01] [ 1.01715769e-01 -3.08184256e-03 9.94808728e-01 1.30112127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.00925415399996 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:301.14, Y:28.80, Z:13.01 [[ 9.46582297e-01 -3.07237384e-01 -9.79139653e-02 3.01135467e+02] [ 3.05932444e-01 9.51628095e-01 -2.84483458e-02 2.87978146e+01] [ 1.01918076e-01 -3.02635822e-03 9.94788192e-01 1.30141669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.039254154 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:301.17, Y:28.81, Z:13.02 [[ 9.46860739e-01 -3.06398311e-01 -9.78509888e-02 3.01165037e+02] [ 3.05090758e-01 9.51898869e-01 -2.84283725e-02 2.88056798e+01] [ 1.01854651e-01 -2.93572258e-03 9.94794960e-01 1.30169893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.06925415399996 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:301.19, Y:28.81, Z:13.02 [[ 9.47852779e-01 -3.03506115e-01 -9.72581453e-02 3.01194729e+02] [ 3.02199202e-01 9.52825920e-01 -2.82561354e-02 2.88134002e+01] [ 1.01245992e-01 -2.60867750e-03 9.94858002e-01 1.30206077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.09925415399994 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:301.22, Y:28.82, Z:13.02 [[ 9.48462555e-01 -3.01585431e-01 -9.72882768e-02 3.01223410e+02] [ 3.00267579e-01 9.53436127e-01 -2.82653834e-02 2.88215287e+01] [ 1.01282586e-01 -2.40385758e-03 9.94854793e-01 1.30233615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.12925415399997 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:301.25, Y:28.83, Z:13.03 [[ 9.49068428e-01 -2.99870653e-01 -9.66783837e-02 3.01250387e+02] [ 2.98560028e-01 9.53977326e-01 -2.80921852e-02 2.88295151e+01] [ 1.00653008e-01 -2.20289488e-03 9.94919152e-01 1.30265175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.15925415399994 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:301.28, Y:28.84, Z:13.03 [[ 9.50272355e-01 -2.96208955e-01 -9.61389939e-02 3.01277103e+02] [ 2.94893635e-01 9.55121468e-01 -2.79414566e-02 2.88372670e+01] [ 1.00100927e-01 -1.79878360e-03 9.94975662e-01 1.30295712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.18925415399997 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:301.30, Y:28.84, Z:13.03 [[ 9.51176773e-01 -2.93432101e-01 -9.57097071e-02 3.01304184e+02] [ 2.92113349e-01 9.55978758e-01 -2.78281368e-02 2.88443385e+01] [ 9.96621156e-02 -1.48860576e-03 9.95020224e-01 1.30326060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.21925415399994 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:301.33, Y:28.85, Z:13.04 [[ 9.51100028e-01 -2.93683287e-01 -9.57019479e-02 3.01331329e+02] [ 2.92363121e-01 9.55901624e-01 -2.78547970e-02 2.88523407e+01] [ 9.96621358e-02 -1.48702198e-03 9.95020225e-01 1.30351184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.24925415399997 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:301.36, Y:28.86, Z:13.04 [[ 9.51392730e-01 -2.92850242e-01 -9.53446847e-02 3.01357923e+02] [ 2.91533043e-01 9.56157342e-01 -2.77780740e-02 2.88593666e+01] [ 9.92993360e-02 -1.36826840e-03 9.95056667e-01 1.30376327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.27925415399994 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:301.39, Y:28.87, Z:13.04 [[ 9.51624759e-01 -2.92304528e-01 -9.47015384e-02 3.01385448e+02] [ 2.90999562e-01 9.56324441e-01 -2.76191512e-02 2.88657015e+01] [ 9.86385987e-02 -1.27503810e-03 9.95122506e-01 1.30403049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.309254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:301.41, Y:28.87, Z:13.04 [[ 9.51582754e-01 -2.92290871e-01 -9.51646400e-02 3.01414013e+02] [ 2.90970422e-01 9.56328642e-01 -2.77802364e-02 2.88731203e+01] [ 9.91285804e-02 -1.25490155e-03 9.95073841e-01 1.30432521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.33925415399995 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:301.44, Y:28.88, Z:13.05 [[ 9.51350860e-01 -2.92982869e-01 -9.53550199e-02 3.01441369e+02] [ 2.91660191e-01 9.56116771e-01 -2.78397590e-02 2.88804572e+01] [ 9.93271062e-02 -1.32588464e-03 9.95053952e-01 1.30459259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.369254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:301.47, Y:28.89, Z:13.05 [[ 9.50531414e-01 -2.95496584e-01 -9.57695161e-02 3.01468591e+02] [ 2.94174417e-01 9.55342474e-01 -2.79672830e-02 2.88863891e+01] [ 9.97569231e-02 -1.58916057e-03 9.95010568e-01 1.30485227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.39925415399995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:301.50, Y:28.89, Z:13.05 [[ 9.49879996e-01 -2.97481124e-01 -9.60883657e-02 3.01497505e+02] [ 2.96158995e-01 9.54726019e-01 -2.80727389e-02 2.88935314e+01] [ 1.00089173e-01 -1.79170072e-03 9.94976858e-01 1.30511894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.429254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:301.53, Y:28.90, Z:13.05 [[ 9.49088581e-01 -2.99949515e-01 -9.62348945e-02 3.01525486e+02] [ 2.98635578e-01 9.53952872e-01 -2.81195678e-02 2.89004682e+01] [ 1.00238005e-01 -2.05120264e-03 9.94961374e-01 1.30537729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.45925415399995 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:301.55, Y:28.91, Z:13.06 [[ 9.47108037e-01 -3.05998427e-01 -9.67022691e-02 3.01554364e+02] [ 3.04702480e-01 9.52028193e-01 -2.82616065e-02 2.89060256e+01] [ 1.00711294e-01 -2.69862661e-03 9.94912033e-01 1.30562261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.489254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:301.58, Y:28.91, Z:13.06 [[ 9.46061016e-01 -3.09246310e-01 -9.66192162e-02 3.01582643e+02] [ 3.07969040e-01 9.50977125e-01 -2.82414247e-02 2.89126584e+01] [ 1.00616221e-01 -3.03761633e-03 9.94920675e-01 1.30588695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.51925415399995 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:301.61, Y:28.92, Z:13.06 [[ 9.44958048e-01 -3.12690155e-01 -9.63283703e-02 3.01608528e+02] [ 3.11437623e-01 9.49849145e-01 -2.81639605e-02 2.89189292e+01] [ 1.00304013e-01 -3.38651750e-03 9.94951072e-01 1.30612648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.549254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:301.64, Y:28.92, Z:13.06 [[ 9.42846757e-01 -3.19115329e-01 -9.59447679e-02 3.01635403e+02] [ 3.17903650e-01 9.47707311e-01 -2.80734991e-02 2.89248166e+01] [ 9.98862419e-02 -4.03218428e-03 9.94990694e-01 1.30639573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.57925415399995 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:301.66, Y:28.93, Z:13.07 [[ 9.42762410e-01 -3.19366796e-01 -9.59368922e-02 3.01662537e+02] [ 3.18153682e-01 9.47622606e-01 -2.81003889e-02 2.89328686e+01] [ 9.98862990e-02 -4.03068508e-03 9.94990694e-01 1.30664697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.609254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:301.69, Y:28.94, Z:13.07 [[ 9.40863071e-01 -3.24965189e-01 -9.57826029e-02 3.01690866e+02] [ 3.23782315e-01 9.45714824e-01 -2.80799800e-02 2.89394253e+01] [ 9.97080434e-02 -4.59329661e-03 9.95006135e-01 1.30696679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.63925415399996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:301.72, Y:28.95, Z:13.07 [[ 9.40128123e-01 -3.27085494e-01 -9.57820047e-02 3.01719587e+02] [ 3.25913187e-01 9.44982487e-01 -2.80836791e-02 2.89468704e+01] [ 9.96980811e-02 -4.81436185e-03 9.95006088e-01 1.30722134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.669254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:301.75, Y:28.95, Z:13.08 [[ 9.38719219e-01 -3.31330177e-01 -9.50081118e-02 3.01747069e+02] [ 3.30197933e-01 9.43500444e-01 -2.78610213e-02 2.89541388e+01] [ 9.88713929e-02 -5.21780601e-03 9.95086540e-01 1.30754848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.69925415399996 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:301.78, Y:28.96, Z:13.08 [[ 9.38183958e-01 -3.32694013e-01 -9.55277746e-02 3.01775794e+02] [ 3.31555640e-01 9.43019461e-01 -2.80206008e-02 2.89621490e+01] [ 9.94068366e-02 -5.38429428e-03 9.95032306e-01 1.30782619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.729254154 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:301.80, Y:28.97, Z:13.08 [[ 9.37851777e-01 -3.33763614e-01 -9.50573281e-02 3.01802683e+02] [ 3.32641459e-01 9.42640956e-01 -2.78870495e-02 2.89698585e+01] [ 9.89126131e-02 -5.46608942e-03 9.95081111e-01 1.30809914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.75925415399996 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:301.83, Y:28.98, Z:13.08 [[ 9.37451845e-01 -3.34634834e-01 -9.59352222e-02 3.01831417e+02] [ 3.33495459e-01 9.42331233e-01 -2.81536010e-02 2.89783956e+01] [ 9.98239319e-02 -5.60131575e-03 9.94989351e-01 1.30842464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.789254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:301.86, Y:28.99, Z:13.09 [[ 9.37371356e-01 -3.34860726e-01 -9.59334981e-02 3.01859368e+02] [ 3.33721929e-01 9.42250879e-01 -2.81594740e-02 2.89866463e+01] [ 9.98229248e-02 -5.61922765e-03 9.94989351e-01 1.30868273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.81925415399996 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:301.89, Y:28.99, Z:13.09 [[ 9.36986287e-01 -3.36083920e-01 -9.54164365e-02 3.01885420e+02] [ 3.34961372e-01 9.41814818e-01 -2.80308420e-02 2.89949216e+01] [ 9.92853290e-02 -5.69630589e-03 9.95042700e-01 1.30893906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.84925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:301.91, Y:29.00, Z:13.09 [[ 9.36768125e-01 -3.36560954e-01 -9.58759849e-02 3.01913305e+02] [ 3.35429140e-01 9.41644027e-01 -2.81747946e-02 2.90034454e+01] [ 9.97635843e-02 -5.76634963e-03 9.94994461e-01 1.30921357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.87925415399997 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:301.94, Y:29.01, Z:13.09 [[ 9.36433428e-01 -3.36965656e-01 -9.77066046e-02 3.01940480e+02] [ 3.35791608e-01 9.41498360e-01 -2.87199209e-02 2.90114186e+01] [ 1.01668235e-01 -5.91476393e-03 9.94800777e-01 1.30945946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.90925415399994 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:301.97, Y:29.02, Z:13.10 [[ 9.36166127e-01 -3.37863458e-01 -9.71661755e-02 3.01966794e+02] [ 3.36704372e-01 9.41176313e-01 -2.85887136e-02 2.90198473e+01] [ 1.01109584e-01 -5.95249079e-03 9.94857487e-01 1.30966844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.93925415399997 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:301.99, Y:29.03, Z:13.10 [[ 9.35921111e-01 -3.38297070e-01 -9.80141094e-02 3.01992124e+02] [ 3.37116906e-01 9.41020089e-01 -2.88683951e-02 2.90279950e+01] [ 1.01999339e-01 -6.02367285e-03 9.94766229e-01 1.30988267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.96925415399994 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:302.02, Y:29.04, Z:13.10 [[ 9.35575522e-01 -3.38709820e-01 -9.98704169e-02 3.02018120e+02] [ 3.37484327e-01 9.40870704e-01 -2.94388672e-02 2.90381281e+01] [ 1.03936383e-01 -6.16241686e-03 9.94564856e-01 1.31014925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.99925415399997 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:302.04, Y:29.05, Z:13.10 [[ 9.35469681e-01 -3.38960395e-01 -1.00011633e-01 3.02044728e+02] [ 3.37729567e-01 9.40780415e-01 -2.95118772e-02 2.90476455e+01] [ 1.04092343e-01 -6.16941896e-03 9.94548502e-01 1.31037026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.02925415399994 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:302.07, Y:29.06, Z:13.11 [[ 9.35596184e-01 -3.38246665e-01 -1.01237218e-01 3.02069440e+02] [ 3.36978188e-01 9.41037471e-01 -2.99028291e-02 2.90586425e+01] [ 1.05382548e-01 -6.13776152e-03 9.94412815e-01 1.31070504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.059254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:302.10, Y:29.07, Z:13.11 [[ 9.35769356e-01 -3.37832784e-01 -1.01018427e-01 3.02096922e+02] [ 3.36566106e-01 9.41186597e-01 -2.98504000e-02 2.90689361e+01] [ 1.05161633e-01 -6.06628911e-03 9.94436640e-01 1.31099977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.08925415399995 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:302.12, Y:29.08, Z:13.11 [[ 9.35983858e-01 -3.37298662e-01 -1.00815820e-01 3.02122450e+02] [ 3.36033458e-01 9.41378638e-01 -2.97955510e-02 2.90788055e+01] [ 1.04955859e-01 -5.98933399e-03 9.94458846e-01 1.31124965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.119254154 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:302.15, Y:29.09, Z:13.12 [[ 9.36382866e-01 -3.36346192e-01 -1.00291410e-01 3.02148727e+02] [ 3.35087306e-01 9.41720312e-01 -2.96538714e-02 2.90890840e+01] [ 1.04420425e-01 -5.83900129e-03 9.94516104e-01 1.31156870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.14925415399995 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:302.18, Y:29.10, Z:13.12 [[ 9.37399557e-01 -3.33761794e-01 -9.94240229e-02 3.02176914e+02] [ 3.32507499e-01 9.42641530e-01 -2.94229284e-02 2.91029417e+01] [ 1.03541462e-01 -5.47819316e-03 9.94610052e-01 1.31198411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.179254154 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:302.20, Y:29.11, Z:13.12 [[ 9.37985140e-01 -3.32178111e-01 -9.92047385e-02 3.02204731e+02] [ 3.30920921e-01 9.43201816e-01 -2.93543603e-02 2.91141146e+01] [ 1.03320965e-01 -5.29496970e-03 9.94633974e-01 1.31232423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.20925415399995 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:302.23, Y:29.13, Z:13.13 [[ 9.38650421e-01 -3.30344561e-01 -9.90346344e-02 3.02232683e+02] [ 3.29081702e-01 9.43846707e-01 -2.93023490e-02 2.91252401e+01] [ 1.03153385e-01 -5.08582385e-03 9.94652459e-01 1.31262286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.239254154 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:302.26, Y:29.14, Z:13.13 [[ 9.39346179e-01 -3.28471758e-01 -9.86664068e-02 3.02262244e+02] [ 3.27208121e-01 9.44501274e-01 -2.91922568e-02 2.91368989e+01] [ 1.02779379e-01 -4.86281474e-03 9.94692290e-01 1.31295276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.26925415399995 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:302.29, Y:29.15, Z:13.13 [[ 9.40553489e-01 -3.24907616e-01 -9.89655254e-02 3.02291437e+02] [ 3.23617469e-01 9.45735080e-01 -2.92727236e-02 2.91506850e+01] [ 1.03106100e-01 -4.49441055e-03 9.94660210e-01 1.31326363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.299254154 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:302.32, Y:29.16, Z:13.14 [[ 9.41058420e-01 -3.23273970e-01 -9.95137713e-02 3.02320840e+02] [ 3.21961186e-01 9.46295432e-01 -2.94270425e-02 2.91615504e+01] [ 1.03682424e-01 -4.34700571e-03 9.94600954e-01 1.31356157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.32925415399995 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:302.35, Y:29.17, Z:13.14 [[ 9.41503850e-01 -3.21772190e-01 -1.00165656e-01 3.02350865e+02] [ 3.20434329e-01 9.46807736e-01 -2.96133869e-02 2.91726758e+01] [ 1.04366382e-01 -4.21539688e-03 9.94529984e-01 1.31384841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.359254154 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:302.38, Y:29.19, Z:13.14 [[ 9.42201020e-01 -3.19344098e-01 -1.01373490e-01 3.02379951e+02] [ 3.17960588e-01 9.47630375e-01 -2.99622485e-02 2.91856125e+01] [ 1.05632866e-01 -4.00231342e-03 9.94397144e-01 1.31415476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.38925415399996 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:302.41, Y:29.20, Z:13.14 [[ 9.42554636e-01 -3.18046158e-01 -1.02163593e-01 3.02409916e+02] [ 3.16634243e-01 9.48067228e-01 -3.01875246e-02 2.91961386e+01] [ 1.06458980e-01 -3.89510052e-03 9.94309466e-01 1.31446118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.419254154 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:302.44, Y:29.21, Z:13.15 [[ 9.42893762e-01 -3.16987746e-01 -1.02323619e-01 3.02439115e+02] [ 3.15566033e-01 9.48422064e-01 -3.02269274e-02 2.92065757e+01] [ 1.06627543e-01 -3.78907724e-03 9.94291813e-01 1.31473445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.44925415399996 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:302.47, Y:29.22, Z:13.15 [[ 9.43659810e-01 -3.14778789e-01 -1.02080737e-01 3.02468720e+02] [ 3.13351639e-01 9.49158471e-01 -3.01487384e-02 2.92191039e+01] [ 1.06380980e-01 -3.53701356e-03 9.94319152e-01 1.31508163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.479254154 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:302.50, Y:29.23, Z:13.15 [[ 9.44208423e-01 -3.13227804e-01 -1.01778180e-01 3.02498962e+02] [ 3.11800994e-01 9.49672078e-01 -3.00513729e-02 2.92297870e+01] [ 1.06068821e-01 -3.35977826e-03 9.94353115e-01 1.31539921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.50925415399996 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:302.53, Y:29.24, Z:13.16 [[ 9.44722586e-01 -3.11744772e-01 -1.01559999e-01 3.02529179e+02] [ 3.10316394e-01 9.50160511e-01 -2.99789909e-02 2.92404357e+01] [ 1.05844094e-01 -3.19390270e-03 9.94377608e-01 1.31574107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.539254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:302.56, Y:29.25, Z:13.16 [[ 9.45327158e-01 -3.09941863e-01 -1.01452480e-01 3.02560735e+02] [ 3.08507089e-01 9.50750787e-01 -2.99385563e-02 2.92513400e+01] [ 1.05735237e-01 -2.99707892e-03 9.94389801e-01 1.31608902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.56925415399996 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:302.59, Y:29.26, Z:13.16 [[ 9.46150197e-01 -3.07560619e-01 -1.01026093e-01 3.02590725e+02] [ 3.06125637e-01 9.51524571e-01 -2.98007597e-02 2.92637150e+01] [ 1.05294350e-01 -2.73068239e-03 9.94437350e-01 1.31643947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.59925415399994 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:302.62, Y:29.27, Z:13.17 [[ 9.46430756e-01 -3.06654165e-01 -1.01153582e-01 3.02621786e+02] [ 3.05211512e-01 9.51817333e-01 -2.98277880e-02 2.92742321e+01] [ 1.05426548e-01 -2.64330188e-03 9.94423580e-01 1.31675237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.62925415399997 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:302.65, Y:29.28, Z:13.17 [[ 9.46550161e-01 -3.06198513e-01 -1.01416287e-01 3.02652116e+02] [ 3.04747002e-01 9.51964104e-01 -2.98933142e-02 2.92843568e+01] [ 1.05697953e-01 -2.61078791e-03 9.94394854e-01 1.31703131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.65925415399994 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:302.68, Y:29.29, Z:13.17 [[ 9.46537480e-01 -3.06320821e-01 -1.01164977e-01 3.02683334e+02] [ 3.04878313e-01 9.51924708e-01 -2.98088193e-02 2.92946367e+01] [ 1.05432503e-01 -2.62784284e-03 9.94422989e-01 1.31732326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.68925415399997 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:302.71, Y:29.31, Z:13.18 [[ 9.45930228e-01 -3.08210182e-01 -1.01106317e-01 3.02714475e+02] [ 3.06781370e-01 9.51314024e-01 -2.97795191e-02 2.93057428e+01] [ 1.05362209e-01 -2.84818722e-03 9.94429833e-01 1.31768110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.71925415399994 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:302.75, Y:29.32, Z:13.18 [[ 9.45385712e-01 -3.09884119e-01 -1.01082586e-01 3.02746253e+02] [ 3.08466791e-01 9.50769455e-01 -2.97604083e-02 2.93155752e+01] [ 1.05328513e-01 -3.04555603e-03 9.94432818e-01 1.31801555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.74925415399997 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:302.78, Y:29.32, Z:13.18 [[ 9.44751776e-01 -3.11933841e-01 -1.00704321e-01 3.02776678e+02] [ 3.10539955e-01 9.50098188e-01 -2.96372911e-02 2.93248636e+01] [ 1.04923867e-01 -3.27283202e-03 9.94474872e-01 1.31827419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.77925415399994 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:302.81, Y:29.33, Z:13.19 [[ 9.42952556e-01 -3.17298828e-01 -1.00806405e-01 3.02808364e+02] [ 3.15933678e-01 9.48317656e-01 -2.96569575e-02 2.93349719e+01] [ 1.05006611e-01 -3.88303439e-03 9.94463943e-01 1.31861931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.809254154 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:302.84, Y:29.34, Z:13.19 [[ 9.42102256e-01 -3.20040825e-01 -1.00086013e-01 3.02838612e+02] [ 3.18711753e-01 9.47394579e-01 -2.94334990e-02 2.93440476e+01] [ 1.04240867e-01 -4.16922285e-03 9.94543342e-01 1.31888581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.83925415399995 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:302.87, Y:29.35, Z:13.19 [[ 9.40255546e-01 -3.25688119e-01 -9.92308308e-02 3.02870109e+02] [ 3.24413973e-01 9.45465264e-01 -2.91720385e-02 2.93538610e+01] [ 1.03320290e-01 -4.76269710e-03 9.94636735e-01 1.31920545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.869254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:302.90, Y:29.36, Z:13.20 [[ 9.39261043e-01 -3.28497019e-01 -9.93901480e-02 3.02901994e+02] [ 3.27235604e-01 9.44491288e-01 -2.92073040e-02 2.93636512e+01] [ 1.03467641e-01 -5.09071220e-03 9.94619793e-01 1.31954458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.89925415399995 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:302.93, Y:29.37, Z:13.20 [[ 9.38433457e-01 -3.30766717e-01 -9.96796141e-02 3.02932642e+02] [ 3.29511804e-01 9.43697289e-01 -2.92813456e-02 2.93732732e+01] [ 1.03752676e-01 -5.36701507e-03 9.94588647e-01 1.31987613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.929254154 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:302.96, Y:29.38, Z:13.20 [[ 9.36867326e-01 -3.35044214e-01 -1.00124863e-01 3.02962212e+02] [ 3.33803065e-01 9.42184098e-01 -2.94047353e-02 2.93830762e+01] [ 1.04187940e-01 -5.87365050e-03 9.94540282e-01 1.32019359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.95925415399995 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:302.99, Y:29.39, Z:13.20 [[ 9.36328871e-01 -3.36481552e-01 -1.00341473e-01 3.02992221e+02] [ 3.35243933e-01 9.41670603e-01 -2.94615172e-02 2.93919192e+01] [ 1.04401872e-01 -6.05320088e-03 9.94516771e-01 1.32046388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.989254154 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:303.02, Y:29.40, Z:13.21 [[ 9.35834906e-01 -3.37805417e-01 -1.00501387e-01 3.03022979e+02] [ 3.36572672e-01 9.41195403e-01 -2.94966130e-02 2.94011652e+01] [ 1.04555559e-01 -6.22206035e-03 9.94499583e-01 1.32075639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.01925415399995 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:303.05, Y:29.41, Z:13.21 [[ 9.35421195e-01 -3.38976671e-01 -1.00409190e-01 3.03054231e+02] [ 3.37753747e-01 9.40773317e-01 -2.94613814e-02 2.94103769e+01] [ 1.04449008e-01 -6.35477962e-03 9.94509940e-01 1.32102239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.049254154 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:303.08, Y:29.42, Z:13.21 [[ 9.34647447e-01 -3.40755340e-01 -1.01587144e-01 3.03084425e+02] [ 3.39515191e-01 9.40128543e-01 -2.97952529e-02 2.94206089e+01] [ 1.05657865e-01 -6.64232142e-03 9.94380357e-01 1.32135491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.07925415399995 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:303.12, Y:29.43, Z:13.22 [[ 9.34303310e-01 -3.41351606e-01 -1.02744374e-01 3.03115418e+02] [ 3.40087712e-01 9.39911103e-01 -3.01241789e-02 2.94316639e+01] [ 1.06853515e-01 -6.79697898e-03 9.94251541e-01 1.32162944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.109254154 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:303.15, Y:29.44, Z:13.22 [[ 9.34346250e-01 -3.41233043e-01 -1.02747732e-01 3.03147516e+02] [ 3.39969691e-01 9.39954165e-01 -3.01127234e-02 2.94409694e+01] [ 1.06853614e-01 -6.79540442e-03 9.94251541e-01 1.32192498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.13925415399996 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:303.18, Y:29.45, Z:13.22 [[ 9.34217734e-01 -3.41384603e-01 -1.03410726e-01 3.03179116e+02] [ 3.40107299e-01 9.39898585e-01 -3.02931406e-02 2.94514722e+01] [ 1.07537207e-01 -6.87035344e-03 9.94177322e-01 1.32221817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.169254154 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:303.21, Y:29.46, Z:13.23 [[ 9.34509512e-01 -3.40435007e-01 -1.03903699e-01 3.03209319e+02] [ 3.39140944e-01 9.40243425e-01 -3.04256671e-02 2.94625987e+01] [ 1.08052732e-01 -6.80492343e-03 9.94121874e-01 1.32254794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.19925415399996 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:303.24, Y:29.47, Z:13.23 [[ 9.34874813e-01 -3.39409244e-01 -1.03973305e-01 3.03240883e+02] [ 3.38108285e-01 9.40614939e-01 -3.04355604e-02 2.94733421e+01] [ 1.08128955e-01 -6.70079719e-03 9.94114293e-01 1.32287488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.229254154 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:303.27, Y:29.48, Z:13.23 [[ 9.35509938e-01 -3.37860736e-01 -1.03301880e-01 3.03271678e+02] [ 3.36568452e-01 9.41173734e-01 -3.02271241e-02 2.94839042e+01] [ 1.07437574e-01 -6.49037869e-03 9.94190647e-01 1.32317256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.25925415399996 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:303.30, Y:29.50, Z:13.24 [[ 9.37181562e-01 -3.33480292e-01 -1.02379762e-01 3.03302185e+02] [ 3.32186286e-01 9.42738326e-01 -2.99452761e-02 2.94966266e+01] [ 1.06503485e-01 -5.94499220e-03 9.94294556e-01 1.32361970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.289254154 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:303.33, Y:29.51, Z:13.24 [[ 9.38435014e-01 -3.30256187e-01 -1.01343843e-01 3.03332609e+02] [ 3.28971194e-01 9.43875098e-01 -2.96268964e-02 2.95076410e+01] [ 1.05440396e-01 -5.53628825e-03 9.94410213e-01 1.32394934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.31925415399996 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:303.36, Y:29.52, Z:13.24 [[ 9.39753851e-01 -3.26727269e-01 -1.00558400e-01 3.03363907e+02] [ 3.25445254e-01 9.45104749e-01 -2.93666471e-02 2.95190835e+01] [ 1.04633106e-01 -5.12883432e-03 9.94497666e-01 1.32431674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.34925415399994 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:303.39, Y:29.53, Z:13.25 [[ 9.41132668e-01 -3.23060451e-01 -9.95050032e-02 3.03393676e+02] [ 3.21788097e-01 9.46366654e-01 -2.90271605e-02 2.95300644e+01] [ 1.03545745e-01 -4.70111666e-03 9.94613582e-01 1.32463039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.37925415399997 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:303.42, Y:29.54, Z:13.25 [[ 9.43712506e-01 -3.15805338e-01 -9.83549432e-02 3.03424651e+02] [ 3.14525734e-01 9.48816053e-01 -2.86646067e-02 2.95430151e+01] [ 1.02373185e-01 -3.88401293e-03 9.94738481e-01 1.32494605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.40925415399994 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:303.46, Y:29.55, Z:13.25 [[ 9.44801174e-01 -3.12436572e-01 -9.86616985e-02 3.03455790e+02] [ 3.11132167e-01 9.49932013e-01 -2.87392672e-02 2.95535891e+01] [ 1.02701104e-01 -3.54393469e-03 9.94705948e-01 1.32523662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.43925415399997 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:303.49, Y:29.56, Z:13.26 [[ 9.45736553e-01 -3.09508256e-01 -9.89293282e-02 3.03486360e+02] [ 3.08183896e-01 9.50891155e-01 -2.87870878e-02 2.95639176e+01] [ 1.02980865e-01 -3.26342465e-03 9.94677984e-01 1.32550127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.46925415399994 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:303.52, Y:29.58, Z:13.26 [[ 9.46944247e-01 -3.05461031e-01 -9.99507446e-02 3.03517820e+02] [ 3.04088611e-01 9.52200251e-01 -2.90654158e-02 2.95753423e+01] [ 1.04051476e-01 -2.87055483e-03 9.94567771e-01 1.32576552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.49925415399997 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:303.55, Y:29.59, Z:13.26 [[ 9.47356212e-01 -3.03958746e-01 -1.00624488e-01 3.03549223e+02] [ 3.02560535e-01 9.52681268e-01 -2.92493491e-02 2.95850266e+01] [ 1.04753660e-01 -2.73544640e-03 9.94494438e-01 1.32601938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.52925415399994 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:303.58, Y:29.59, Z:13.26 [[ 9.47571710e-01 -3.03015549e-01 -1.01436835e-01 3.03580230e+02] [ 3.01590839e-01 9.52981880e-01 -2.94703699e-02 2.95947532e+01] [ 1.05597446e-01 -2.66713152e-03 9.94405383e-01 1.32628246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.559254154 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:303.61, Y:29.60, Z:13.27 [[ 9.47576662e-01 -3.02773879e-01 -1.02109984e-01 3.03611742e+02] [ 3.01331654e-01 9.53058642e-01 -2.96388163e-02 2.96045302e+01] [ 1.06290662e-01 -2.68391972e-03 9.94331480e-01 1.32654713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.58925415399995 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:303.64, Y:29.61, Z:13.27 [[ 9.47485546e-01 -3.02851663e-01 -1.02722983e-01 3.03643263e+02] [ 3.01393780e-01 9.53033824e-01 -2.98047032e-02 2.96145671e+01] [ 1.06924881e-01 -2.72054253e-03 9.94263380e-01 1.32681655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.619254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:303.68, Y:29.62, Z:13.27 [[ 9.47434369e-01 -3.03079712e-01 -1.02522213e-01 3.03675131e+02] [ 3.01630144e-01 9.52961234e-01 -2.97345455e-02 2.96240743e+01] [ 1.06711633e-01 -2.75225966e-03 9.94286203e-01 1.32709559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.64925415399995 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:303.71, Y:29.63, Z:13.27 [[ 9.47348183e-01 -3.03465509e-01 -1.02176832e-01 3.03706345e+02] [ 3.02029229e-01 9.52838317e-01 -2.96224081e-02 2.96335972e+01] [ 1.06347380e-01 -2.79765542e-03 9.94325102e-01 1.32736982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.679254154 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:303.74, Y:29.64, Z:13.28 [[ 9.47408193e-01 -3.03276875e-01 -1.02180493e-01 3.03738502e+02] [ 3.01840863e-01 9.52898397e-01 -2.96097756e-02 2.96428223e+01] [ 1.06347588e-01 -2.78970424e-03 9.94325102e-01 1.32766564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.70925415399995 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:303.77, Y:29.65, Z:13.28 [[ 9.47352470e-01 -3.03791562e-01 -1.01163161e-01 3.03768779e+02] [ 3.02389238e-01 9.52734289e-01 -2.92937300e-02 2.96524445e+01] [ 1.05280800e-01 -2.83916373e-03 9.94438481e-01 1.32791296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.739254154 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:303.80, Y:29.66, Z:13.28 [[ 9.47279570e-01 -3.04146490e-01 -1.00778610e-01 3.03800126e+02] [ 3.02758753e-01 9.52620906e-01 -2.91641504e-02 2.96622156e+01] [ 1.04873985e-01 -2.88500252e-03 9.94481334e-01 1.32821782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.76925415399995 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:303.83, Y:29.67, Z:13.29 [[ 9.47163558e-01 -3.04686674e-01 -1.00235851e-01 3.03831084e+02] [ 3.03318125e-01 9.52448102e-01 -2.89953148e-02 2.96718632e+01] [ 1.04303932e-01 -2.94004480e-03 9.94541123e-01 1.32853608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.799254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:303.86, Y:29.68, Z:13.29 [[ 9.47072349e-01 -3.05297301e-01 -9.92346887e-02 3.03861187e+02] [ 3.03960831e-01 9.52252390e-01 -2.86914393e-02 2.96812934e+01] [ 1.03255889e-01 -2.99058964e-03 9.94650329e-01 1.32882413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.82925415399995 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:303.89, Y:29.69, Z:13.29 [[ 9.46508272e-01 -3.07588451e-01 -9.75265957e-02 3.03892724e+02] [ 3.06312715e-01 9.51514073e-01 -2.81689380e-02 2.96909382e+01] [ 1.01462368e-01 -3.21150350e-03 9.94834194e-01 1.32911698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.859254154 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:303.92, Y:29.70, Z:13.29 [[ 9.46080369e-01 -3.09229955e-01 -9.64819670e-02 3.03923996e+02] [ 3.07993014e-01 9.50981289e-01 -2.78368781e-02 2.96997425e+01] [ 1.00360542e-01 -3.37984793e-03 9.94945395e-01 1.32935031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.88925415399996 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:303.96, Y:29.71, Z:13.30 [[ 9.45498305e-01 -3.11197848e-01 -9.58585156e-02 3.03955405e+02] [ 3.09989817e-01 9.50338357e-01 -2.76282743e-02 2.97084854e+01] [ 9.96958837e-02 -3.59267711e-03 9.95011469e-01 1.32958863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.919254154 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:303.99, Y:29.72, Z:13.30 [[ 9.44015690e-01 -3.16147262e-01 -9.42617940e-02 3.03986962e+02] [ 3.15006620e-01 9.48701383e-01 -2.71388137e-02 2.97166420e+01] [ 9.80061560e-02 -4.07362315e-03 9.95177471e-01 1.32970655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.94925415399996 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:304.02, Y:29.73, Z:13.30 [[ 9.43392863e-01 -3.18145138e-01 -9.37740768e-02 3.04019049e+02] [ 3.17028822e-01 9.48032335e-01 -2.69706782e-02 2.97252959e+01] [ 9.74814472e-02 -4.28513976e-03 9.95228117e-01 1.32995984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.979254154 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:304.05, Y:29.73, Z:13.30 [[ 9.42709426e-01 -3.20257295e-01 -9.34569600e-02 3.04049798e+02] [ 3.19161736e-01 9.47319835e-01 -2.68499085e-02 2.97338766e+01] [ 9.71325109e-02 -4.51622370e-03 9.95261211e-01 1.33017941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.00925415399996 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:304.08, Y:29.74, Z:13.30 [[ 9.41832076e-01 -3.23031903e-01 -9.27509013e-02 3.04082344e+02] [ 3.21968896e-01 9.46375945e-01 -2.66195580e-02 2.97420159e+01] [ 9.63761883e-02 -4.79175173e-03 9.95333446e-01 1.33037853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.039254154 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:304.11, Y:29.76, Z:13.31 [[ 9.41718298e-01 -3.25851036e-01 -8.35927555e-02 3.04110194e+02] [ 3.23183050e-01 9.45310311e-01 -4.40582734e-02 2.97598806e+01] [ 9.33775278e-02 1.44747206e-02 9.95525550e-01 1.33071875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.06925415399996 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:304.15, Y:29.75, Z:13.30 [[ 9.41392338e-01 -3.22843214e-01 -9.77380481e-02 3.04148027e+02] [ 3.23603579e-01 9.46155382e-01 -8.40936185e-03 2.97507525e+01] [ 9.51902856e-02 -2.37118733e-02 9.95176646e-01 1.33022074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.09925415399994 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:304.18, Y:29.77, Z:13.31 [[ 9.41494815e-01 -3.24098743e-01 -9.24527906e-02 3.04177053e+02] [ 3.23054037e-01 9.46010320e-01 -2.64681476e-02 2.97677053e+01] [ 9.60395874e-02 -4.94762358e-03 9.95365219e-01 1.33116771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.12925415399997 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:304.21, Y:29.78, Z:13.31 [[ 9.41889975e-01 -3.23130620e-01 -9.18143648e-02 3.04207535e+02] [ 3.22098471e-01 9.46341986e-01 -2.62568123e-02 2.97764779e+01] [ 9.53721684e-02 -4.84223824e-03 9.95429908e-01 1.33135127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.15925415399994 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:304.24, Y:29.79, Z:13.32 [[ 9.42287354e-01 -3.22204807e-01 -9.09868361e-02 3.04238856e+02] [ 3.21189428e-01 9.46658167e-01 -2.59935924e-02 2.97855006e+01] [ 9.45086919e-02 -4.73057646e-03 9.95512797e-01 1.33155328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.18925415399997 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:304.27, Y:29.79, Z:13.32 [[ 9.42854545e-01 -3.20707500e-01 -9.03991544e-02 3.04270356e+02] [ 3.19701019e-01 9.47167222e-01 -2.57975100e-02 2.97941866e+01] [ 9.38965709e-02 -4.57740227e-03 9.95571435e-01 1.33177715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.21925415399994 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:304.30, Y:29.80, Z:13.32 [[ 9.43855971e-01 -3.17909718e-01 -8.98293829e-02 3.04302542e+02] [ 3.16905936e-01 9.48111245e-01 -2.56065259e-02 2.98037311e+01] [ 9.33088115e-02 -4.29859235e-03 9.95627936e-01 1.33197685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.24925415399997 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:304.33, Y:29.81, Z:13.32 [[ 9.44492739e-01 -3.15984757e-01 -8.99283044e-02 3.04333589e+02] [ 3.14972799e-01 9.48755231e-01 -2.56056169e-02 2.98126840e+01] [ 9.34109339e-02 -4.14065055e-03 9.95619030e-01 1.33220340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.27925415399994 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:304.37, Y:29.82, Z:13.32 [[ 9.45662757e-01 -3.12465819e-01 -8.99280883e-02 3.04368719e+02] [ 3.11547760e-01 9.49916309e-01 -2.44335713e-02 2.98207664e+01] [ 9.30588136e-02 -4.91097600e-03 9.95648502e-01 1.33236034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.309254154 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:304.40, Y:29.83, Z:13.33 [[ 9.45897319e-01 -3.11634869e-01 -9.03436209e-02 3.04396074e+02] [ 3.10564927e-01 9.50195716e-01 -2.60293501e-02 2.98316057e+01] [ 9.39557747e-02 -3.43646751e-03 9.95570441e-01 1.33266791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.33925415399995 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:304.43, Y:29.84, Z:13.33 [[ 9.47565749e-01 -3.06537578e-01 -9.02987486e-02 3.04427080e+02] [ 3.05480062e-01 9.51852911e-01 -2.56508726e-02 2.98413732e+01] [ 9.38140831e-02 -3.27857903e-03 9.95584335e-01 1.33284588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.369254154 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:304.46, Y:29.85, Z:13.33 [[ 9.48479071e-01 -3.03742897e-01 -9.01537851e-02 3.04458854e+02] [ 3.02678720e-01 9.52749240e-01 -2.55827638e-02 2.98511226e+01] [ 9.36645330e-02 -3.02291624e-03 9.95599225e-01 1.33309132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.39925415399995 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:304.49, Y:29.86, Z:13.33 [[ 9.49530937e-01 -3.00609144e-01 -8.95831538e-02 3.04490949e+02] [ 2.99547125e-01 9.53743533e-01 -2.53927779e-02 2.98609223e+01] [ 9.30726548e-02 -2.72314799e-03 9.95655596e-01 1.33332136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.429254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:304.52, Y:29.87, Z:13.34 [[ 9.50477426e-01 -2.97749514e-01 -8.90948326e-02 3.04522294e+02] [ 2.96689106e-01 9.54640872e-01 -2.52265713e-02 2.98704164e+01] [ 9.25647680e-02 -2.45617966e-03 9.95703636e-01 1.33357590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.45925415399995 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:304.55, Y:29.88, Z:13.34 [[ 9.52157371e-01 -2.92392017e-01 -8.89002238e-02 3.04552990e+02] [ 2.91315450e-01 9.56296544e-01 -2.51441739e-02 2.98809348e+01] [ 9.23669325e-02 -1.95679815e-03 9.95723114e-01 1.33380915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.489254154 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:304.58, Y:29.89, Z:13.34 [[ 9.53059606e-01 -2.89511196e-01 -8.86603302e-02 3.04584256e+02] [ 2.88429628e-01 9.57173136e-01 -2.50586871e-02 2.98905904e+01] [ 9.21180567e-02 -1.68984363e-03 9.95746659e-01 1.33404594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.51925415399995 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:304.61, Y:29.90, Z:13.34 [[ 9.54740849e-01 -2.84149353e-01 -8.79150535e-02 3.04614485e+02] [ 2.83065684e-01 9.58779294e-01 -2.48210551e-02 2.99009530e+01] [ 9.13440197e-02 -1.18805954e-03 9.95818688e-01 1.33425103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.549254154 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:304.65, Y:29.91, Z:13.34 [[ 9.55652705e-01 -2.81386685e-01 -8.68875127e-02 3.04646340e+02] [ 2.80319092e-01 9.59594006e-01 -2.45061485e-02 2.99106335e+01] [ 9.02724402e-02 -9.36861506e-04 9.95916668e-01 1.33448994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.57925415399995 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:304.68, Y:29.92, Z:13.35 [[ 9.56456072e-01 -2.78950280e-01 -8.58983298e-02 3.04677928e+02] [ 2.77899414e-01 9.60305273e-01 -2.42012027e-02 2.99204684e+01] [ 8.92395513e-02 -7.23708304e-04 9.96009929e-01 1.33474001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.609254154 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:304.71, Y:29.93, Z:13.35 [[ 9.57870667e-01 -2.74490502e-01 -8.44911249e-02 3.04708104e+02] [ 2.73458787e-01 9.61589755e-01 -2.37788730e-02 2.99296360e+01] [ 8.77728749e-02 -3.27755654e-04 9.96140459e-01 1.33500922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.63925415399996 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:304.74, Y:29.94, Z:13.35 [[ 9.58478730e-01 -2.72575097e-01 -8.37934366e-02 3.04740132e+02] [ 2.71554460e-01 9.62134496e-01 -2.35666401e-02 2.99389585e+01] [ 8.70442351e-02 -1.66358128e-04 9.96204434e-01 1.33528703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.669254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:304.77, Y:29.95, Z:13.36 [[ 9.59084588e-01 -2.70712859e-01 -8.28933074e-02 3.04771457e+02] [ 2.69709370e-01 9.62660141e-01 -2.32875091e-02 2.99478661e+01] [ 8.61023111e-02 -2.24106313e-05 9.96286300e-01 1.33554484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.69925415399996 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:304.80, Y:29.96, Z:13.36 [[ 9.59558410e-01 -2.69169985e-01 -8.24328611e-02 3.04802328e+02] [ 2.68174185e-01 9.63092680e-01 -2.31321298e-02 2.99565688e+01] [ 8.56169602e-02 9.02643702e-05 9.96328123e-01 1.33581784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.729254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.83, Y:29.97, Z:13.36 [[ 9.60146335e-01 -2.67253157e-01 -8.18215466e-02 3.04834572e+02] [ 2.66267180e-01 9.63626325e-01 -2.29367631e-02 2.99651093e+01] [ 8.49753186e-02 2.36256552e-04 9.96383028e-01 1.33600653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.75925415399996 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:304.87, Y:29.97, Z:13.36 [[ 9.60324807e-01 -2.66638322e-01 -8.17329194e-02 3.04866779e+02] [ 2.65654462e-01 9.63796625e-01 -2.28860683e-02 2.99736698e+01] [ 8.48762148e-02 2.65344396e-04 9.96391468e-01 1.33628148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.789254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.90, Y:29.98, Z:13.36 [[ 9.60422386e-01 -2.66473551e-01 -8.11214375e-02 3.04898455e+02] [ 2.65505942e-01 9.63842198e-01 -2.26894796e-02 2.99805093e+01] [ 8.42344108e-02 2.53260469e-04 9.96445934e-01 1.33646158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.81925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:304.93, Y:29.99, Z:13.37 [[ 9.60417784e-01 -2.66670744e-01 -8.05257316e-02 3.04930311e+02] [ 2.65719963e-01 9.63787668e-01 -2.24996037e-02 2.99880898e+01] [ 8.36096932e-02 2.11725128e-04 9.96498557e-01 1.33668797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.84925415399994 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:304.96, Y:30.00, Z:13.37 [[ 9.60408275e-01 -2.66883792e-01 -7.99311402e-02 3.04962789e+02] [ 2.65949807e-01 9.63728703e-01 -2.23088974e-02 2.99959252e+01] [ 8.29858172e-02 1.67978322e-04 9.96550714e-01 1.33695996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.87925415399997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:304.99, Y:30.00, Z:13.37 [[ 9.60405736e-01 -2.67054179e-01 -7.93907221e-02 3.04993915e+02] [ 2.66135440e-01 9.63681508e-01 -2.21332055e-02 3.00031792e+01] [ 8.24181358e-02 1.28172805e-04 9.96597830e-01 1.33721091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.90925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.03, Y:30.01, Z:13.38 [[ 9.60006154e-01 -2.68514185e-01 -7.92989118e-02 3.05025246e+02] [ 2.67604457e-01 9.63275730e-01 -2.20844324e-02 3.00096446e+01] [ 8.23167005e-02 -1.95512934e-05 9.96606221e-01 1.33751535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.93925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.07, Y:30.05, Z:13.38 [[ 9.63326264e-01 -2.65158497e-01 -4.11519201e-02 3.05067228e+02] [ 2.60685055e-01 9.61152636e-01 -9.07133581e-02 3.00462165e+01] [ 6.36066942e-02 7.66588698e-02 9.95026435e-01 1.33833045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.96925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.10, Y:29.99, Z:13.35 [[ 9.59180208e-01 -2.64063591e-01 -1.01211402e-01 3.05098176e+02] [ 2.70462866e-01 9.61125207e-01 5.55713534e-02 2.99863000e+01] [ 8.26024585e-02 -8.06768681e-02 9.93311672e-01 1.33534888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.99925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.12, Y:30.03, Z:13.38 [[ 9.58479534e-01 -2.73692668e-01 -8.00581391e-02 3.05116373e+02] [ 2.72781206e-01 9.61817097e-01 -2.23223242e-02 3.00307577e+01] [ 8.31107434e-02 -4.42864877e-04 9.96540219e-01 1.33842982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.02925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.15, Y:30.04, Z:13.39 [[ 9.57578644e-01 -2.76762572e-01 -8.02846171e-02 3.05145613e+02] [ 2.74524590e-01 9.60832495e-01 -3.79099702e-02 3.00440216e+01] [ 8.76321298e-02 1.42616762e-02 9.96050809e-01 1.33921651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.059254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:305.18, Y:30.03, Z:13.38 [[ 9.55857830e-01 -2.80966129e-01 -8.59874612e-02 3.05183330e+02] [ 2.81207736e-01 9.59599496e-01 -9.54022331e-03 3.00345185e+01] [ 8.51940040e-02 -1.50612421e-02 9.96250541e-01 1.33842618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.08925415399995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:305.22, Y:30.04, Z:13.39 [[ 9.55818827e-01 -2.82213693e-01 -8.22544871e-02 3.05220369e+02] [ 2.81517589e-01 9.59343783e-01 -2.01829771e-02 3.00438929e+01] [ 8.46062433e-02 -3.86481538e-03 9.96406968e-01 1.33898949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.119254154 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:305.24, Y:30.05, Z:13.39 [[ 9.52884988e-01 -2.91716366e-01 -8.31370034e-02 3.05242906e+02] [ 2.90723307e-01 9.56504085e-01 -2.40809818e-02 3.00509691e+01] [ 8.65456999e-02 -1.22345847e-03 9.96247130e-01 1.33940510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.14925415399995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:305.28, Y:30.06, Z:13.40 [[ 9.51857216e-01 -2.94836247e-01 -8.39012931e-02 3.05275298e+02] [ 2.93921519e-01 9.55544658e-01 -2.33355407e-02 3.00575673e+01] [ 8.70515956e-02 -2.44829269e-03 9.96200796e-01 1.33966981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.179254154 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:305.31, Y:30.06, Z:13.40 [[ 9.49803561e-01 -3.01300451e-01 -8.42094669e-02 3.05307875e+02] [ 3.00405102e-01 9.53524342e-01 -2.34116057e-02 3.00626543e+01] [ 8.73497039e-02 -3.06052696e-03 9.96173008e-01 1.33998874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.20925415399995 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:305.34, Y:30.07, Z:13.40 [[ 9.48810045e-01 -3.04524122e-01 -8.38126358e-02 3.05339063e+02] [ 3.03650534e-01 9.52498733e-01 -2.32919982e-02 3.00693527e+01] [ 8.69244047e-02 -3.35006973e-03 9.96209278e-01 1.34028057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.239254154 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:305.37, Y:30.07, Z:13.41 [[ 9.46787295e-01 -3.10949899e-01 -8.30901846e-02 3.05372318e+02] [ 3.10118033e-01 9.50418186e-01 -2.30668056e-02 3.00740617e+01] [ 8.61430434e-02 -3.92840610e-03 9.96275034e-01 1.34056229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.26925415399995 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:305.40, Y:30.08, Z:13.41 [[ 9.46013555e-01 -3.13401283e-01 -8.26921381e-02 3.05403933e+02] [ 3.12587464e-01 9.49611761e-01 -2.29473610e-02 3.00805487e+01] [ 8.57171592e-02 -4.14001118e-03 9.96310910e-01 1.34083975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.299254154 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:305.43, Y:30.09, Z:13.41 [[ 9.45289874e-01 -3.15574260e-01 -8.27039370e-02 3.05434781e+02] [ 3.14344471e-01 9.48900831e-01 -2.78346121e-02 3.00896626e+01] [ 8.72617217e-02 3.14251593e-04 9.96185371e-01 1.34131209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.32925415399995 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:305.47, Y:30.09, Z:13.41 [[ 9.44216778e-01 -3.18398352e-01 -8.41258885e-02 3.05467387e+02] [ 3.17602844e-01 9.47943989e-01 -2.30353487e-02 3.00928615e+01] [ 8.70810473e-02 -4.96825878e-03 9.96188841e-01 1.34146139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.359254154 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:305.50, Y:30.10, Z:13.42 [[ 9.43616156e-01 -3.20073294e-01 -8.45082102e-02 3.05497528e+02] [ 3.19008314e-01 9.47390112e-01 -2.61853173e-02 3.01011418e+01] [ 8.84434635e-02 -2.24993324e-03 9.96078657e-01 1.34188571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.38925415399996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:305.53, Y:30.11, Z:13.42 [[ 9.43645180e-01 -3.19773690e-01 -8.53144877e-02 3.05528578e+02] [ 3.18927387e-01 9.47481762e-01 -2.37409536e-02 3.01084040e+01] [ 8.84256535e-02 -4.80609021e-03 9.96071185e-01 1.34209758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.419254154 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:305.56, Y:30.11, Z:13.42 [[ 9.43475383e-01 -3.20105240e-01 -8.59467158e-02 3.05560471e+02] [ 3.19656160e-01 9.47336797e-01 -1.93114418e-02 3.01132652e+01] [ 8.76021802e-02 -9.25352724e-03 9.96112559e-01 1.34222449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.44925415399996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:305.59, Y:30.12, Z:13.43 [[ 9.43336001e-01 -3.20370837e-01 -8.64853490e-02 3.05590725e+02] [ 3.19586737e-01 9.47274395e-01 -2.31416848e-02 3.01197615e+01] [ 8.93392776e-02 -5.80918614e-03 9.95984311e-01 1.34257871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.479254154 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:305.62, Y:30.13, Z:13.43 [[ 9.43359274e-01 -3.20244297e-01 -8.66998892e-02 3.05621888e+02] [ 3.19419508e-01 9.47319440e-01 -2.36020269e-02 3.01265848e+01] [ 8.96909051e-02 -5.42844505e-03 9.95954855e-01 1.34281214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.50925415399996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:305.65, Y:30.13, Z:13.43 [[ 9.43751019e-01 -3.18569550e-01 -8.85858702e-02 3.05650205e+02] [ 3.17549199e-01 9.47891800e-01 -2.57612650e-02 3.01328892e+01] [ 9.21765745e-02 -3.81815205e-03 9.95735357e-01 1.34313483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.53925415399993 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:305.68, Y:30.14, Z:13.43 [[ 9.44334345e-01 -3.16665348e-01 -8.91947487e-02 3.05679967e+02] [ 3.15576594e-01 9.48531963e-01 -2.64296779e-02 3.01407632e+01] [ 9.29734333e-02 -3.18932240e-03 9.95663482e-01 1.34339839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.56925415399996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:305.71, Y:30.15, Z:13.44 [[ 9.45063699e-01 -3.14203770e-01 -9.01698131e-02 3.05709851e+02] [ 3.13224065e-01 9.49345185e-01 -2.51873903e-02 3.01483512e+01] [ 9.35162508e-02 -4.43966718e-03 9.95607855e-01 1.34364908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.59925415399994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:305.74, Y:30.16, Z:13.44 [[ 9.45088086e-01 -3.14126041e-01 -9.01850354e-02 3.05739502e+02] [ 3.13132504e-01 9.49371553e-01 -2.53315687e-02 3.01565240e+01] [ 9.35764125e-02 -4.29930221e-03 9.95602818e-01 1.34393689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.62925415399997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:305.77, Y:30.16, Z:13.44 [[ 9.46858142e-01 -3.08641265e-01 -9.05551136e-02 3.05769487e+02] [ 3.07918748e-01 9.51153723e-01 -2.21954899e-02 3.01634640e+01] [ 9.29822776e-02 -6.86763687e-03 9.95644079e-01 1.34415910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.65925415399994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:305.79, Y:30.18, Z:13.45 [[ 9.49635121e-01 -3.00118977e-01 -9.01206821e-02 3.05793971e+02] [ 2.98572279e-01 9.53899561e-01 -3.04995279e-02 3.01753544e+01] [ 9.51195663e-02 2.05588540e-03 9.95463732e-01 1.34472751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.68925415399997 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:305.82, Y:30.18, Z:13.45 [[ 9.50780224e-01 -2.96367650e-01 -9.04609343e-02 3.05822182e+02] [ 2.95186659e-01 9.55072706e-01 -2.64756892e-02 3.01818682e+01] [ 9.42433071e-02 -1.53029924e-03 9.95548019e-01 1.34485842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.71925415399994 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:305.85, Y:30.19, Z:13.45 [[ 9.52291215e-01 -2.91619289e-01 -8.99979527e-02 3.05846811e+02] [ 2.89972310e-01 9.56527801e-01 -3.11548631e-02 3.01915817e+01] [ 9.51709028e-02 3.57158818e-03 9.95454541e-01 1.34530451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.74925415399997 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:305.88, Y:30.20, Z:13.45 [[ 9.53761400e-01 -2.86327917e-01 -9.14085126e-02 3.05880153e+02] [ 2.85832893e-01 9.58096157e-01 -1.87433053e-02 3.01950619e+01] [ 9.29448762e-02 -8.25091847e-03 9.95637069e-01 1.34521300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.77925415399994 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:305.91, Y:30.21, Z:13.46 [[ 9.54968788e-01 -2.83036588e-01 -8.90219273e-02 3.05910618e+02] [ 2.82325333e-01 9.59094354e-01 -2.07467090e-02 3.02052722e+01] [ 9.12525056e-02 -5.32068572e-03 9.95813572e-01 1.34557420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.809254154 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:305.94, Y:30.22, Z:13.46 [[ 9.56188455e-01 -2.79180400e-01 -8.81018880e-02 3.05941439e+02] [ 2.78119139e-01 9.60237896e-01 -2.43501075e-02 3.02158822e+01] [ 9.13968443e-02 -1.21952954e-03 9.95813803e-01 1.34597662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.83925415399995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:305.97, Y:30.22, Z:13.46 [[ 9.58334260e-01 -2.71340758e-01 -8.92728295e-02 3.05972981e+02] [ 2.70218040e-01 9.62483223e-01 -2.46628419e-02 3.02246154e+01] [ 9.26156349e-02 -4.87882659e-04 9.95701816e-01 1.34619193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.869254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:306.00, Y:30.23, Z:13.46 [[ 9.59242591e-01 -2.67879677e-01 -8.99673902e-02 3.06003612e+02] [ 2.66725199e-01 9.63452361e-01 -2.48438522e-02 3.02330081e+01] [ 9.33344576e-02 -1.65288834e-04 9.95634798e-01 1.34643738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.89925415399995 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:306.03, Y:30.24, Z:13.47 [[ 9.60330008e-01 -2.63739610e-01 -9.05963296e-02 3.06031575e+02] [ 2.62244554e-01 9.64588045e-01 -2.82435277e-02 3.02420549e+01] [ 9.48370734e-02 3.36471311e-03 9.95487121e-01 1.34682208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.929254154 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:306.06, Y:30.25, Z:13.47 [[ 9.60893177e-01 -2.61278548e-01 -9.17486897e-02 3.06063629e+02] [ 2.60300549e-01 9.65261189e-01 -2.26817533e-02 3.02480049e+01] [ 9.44877049e-02 -2.08749232e-03 9.95523840e-01 1.34696143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.95925415399995 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:306.09, Y:30.26, Z:13.47 [[ 9.62328116e-01 -2.56074745e-01 -9.13800991e-02 3.06094280e+02] [ 2.54833077e-01 9.66656498e-01 -2.52055027e-02 3.02570306e+01] [ 9.47876593e-02 9.69292073e-04 9.95497042e-01 1.34741992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.989254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:306.12, Y:30.26, Z:13.48 [[ 9.63033921e-01 -2.53476445e-01 -9.11885908e-02 3.06124206e+02] [ 2.52229208e-01 9.67340797e-01 -2.51437561e-02 3.02643598e+01] [ 9.45837940e-02 1.21386401e-03 9.95516164e-01 1.34773529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.01925415399995 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:306.16, Y:30.27, Z:13.48 [[ 9.63616333e-01 -2.51344753e-01 -9.09361179e-02 3.06155207e+02] [ 2.50095455e-01 9.67896593e-01 -2.50688605e-02 3.02719634e+01] [ 9.43176853e-02 1.41405361e-03 9.95541147e-01 1.34805142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.049254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:306.19, Y:30.28, Z:13.48 [[ 9.64367640e-01 -2.48636649e-01 -9.04149918e-02 3.06186615e+02] [ 2.47390441e-01 9.68595402e-01 -2.49182021e-02 3.02774960e+01] [ 9.37711236e-02 1.66250301e-03 9.95592393e-01 1.34837139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.07925415399995 meters Centerline goodness : 0.995667 Centerline is valid? [True, True] Translation: X:306.21, Y:30.28, Z:13.49 [[ 9.64206912e-01 -2.47538506e-01 -9.50248351e-02 3.06212600e+02] [ 2.47034359e-01 9.68853697e-01 -1.72203341e-02 3.02801299e+01] [ 9.63278585e-02 -6.87043408e-03 9.95325947e-01 1.34859675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.109254154 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:306.24, Y:30.29, Z:13.49 [[ 9.64249845e-01 -2.49845993e-01 -8.83131664e-02 3.06240571e+02] [ 2.47744392e-01 9.68222155e-01 -3.41844204e-02 3.02911829e+01] [ 9.40476048e-02 1.10832304e-02 9.95506007e-01 1.34915573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.13925415399996 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:306.27, Y:30.29, Z:13.49 [[ 9.63929733e-01 -2.50163168e-01 -9.08727620e-02 3.06273703e+02] [ 2.48907292e-01 9.68202435e-01 -2.50839612e-02 3.02934181e+01] [ 9.42583127e-02 1.56028294e-03 9.95546551e-01 1.34910809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.169254154 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:306.30, Y:30.30, Z:13.49 [[ 9.63483550e-01 -2.51767124e-01 -9.11743585e-02 3.06304286e+02] [ 2.50510718e-01 9.67786832e-01 -2.51600530e-02 3.02993751e+01] [ 9.45718178e-02 1.40114325e-03 9.95517056e-01 1.34938658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.19925415399996 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:306.34, Y:30.30, Z:13.50 [[ 9.62112346e-01 -2.56724725e-01 -9.18272832e-02 3.06336292e+02] [ 2.55473234e-01 9.66484132e-01 -2.53347376e-02 3.03023271e+01] [ 9.52536656e-02 9.15450814e-04 9.95452611e-01 1.34971716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.229254154 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:306.37, Y:30.31, Z:13.50 [[ 9.61113778e-01 -2.60543989e-01 -9.15266951e-02 3.06366973e+02] [ 2.59318630e-01 9.65461833e-01 -2.52447613e-02 3.03075312e+01] [ 9.49429016e-02 5.28510755e-04 9.95482580e-01 1.34996694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.25925415399996 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:306.40, Y:30.31, Z:13.50 [[ 9.59984508e-01 -2.64760408e-01 -9.12779835e-02 3.06398376e+02] [ 2.63561217e-01 9.64314220e-01 -2.51708114e-02 3.03124317e+01] [ 9.46848918e-02 1.06252566e-04 9.95507288e-01 1.35025555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.28925415399993 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:306.43, Y:30.31, Z:13.51 [[ 9.57176840e-01 -2.74910563e-01 -9.07561499e-02 3.06430969e+02] [ 2.73771131e-01 9.61469384e-01 -2.50198381e-02 3.03142359e+01] [ 9.41374773e-02 -8.98004230e-04 9.95558802e-01 1.35058696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.31925415399996 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:306.46, Y:30.32, Z:13.51 [[ 9.55672442e-01 -2.80169752e-01 -9.05267586e-02 3.06462254e+02] [ 2.79060260e-01 9.59949424e-01 -2.49494366e-02 3.03189430e+01] [ 9.38911873e-02 -1.41893182e-03 9.95581454e-01 1.35087123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.34925415399994 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:306.49, Y:30.32, Z:13.51 [[ 9.54047942e-01 -2.85530751e-01 -9.09104795e-02 3.06493090e+02] [ 2.84436560e-01 9.58367544e-01 -2.50498067e-02 3.03237154e+01] [ 9.42781431e-02 -1.95954762e-03 9.95543968e-01 1.35113280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.37925415399997 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:306.52, Y:30.33, Z:13.51 [[ 9.52421099e-01 -2.90733722e-01 -9.14765218e-02 3.06524624e+02] [ 2.89650071e-01 9.56800756e-01 -2.52021599e-02 3.03286481e+01] [ 9.48519230e-02 -2.49311229e-03 9.95488271e-01 1.35140286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.40925415399994 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:306.55, Y:30.33, Z:13.52 [[ 9.49463697e-01 -3.00016338e-01 -9.22436135e-02 3.06554471e+02] [ 2.98958245e-01 9.53927821e-01 -2.54102283e-02 3.03294613e+01] [ 9.56172329e-02 -3.45089946e-03 9.95412194e-01 1.35160333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.43925415399997 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:306.58, Y:30.33, Z:13.52 [[ 9.48121116e-01 -3.04179113e-01 -9.24197821e-02 3.06581737e+02] [ 3.03136023e-01 9.52606990e-01 -2.54651658e-02 3.03337704e+01] [ 9.57857019e-02 -3.87170378e-03 9.95394449e-01 1.35182058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.46925415399994 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:306.61, Y:30.34, Z:13.52 [[ 9.45944120e-01 -3.10809912e-01 -9.26656415e-02 3.06609328e+02] [ 3.09790170e-01 9.50461308e-01 -2.55607765e-02 3.03360808e+01] [ 9.60196494e-02 -4.52783858e-03 9.95369140e-01 1.35213153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.49925415399997 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:306.64, Y:30.34, Z:13.52 [[ 9.45018024e-01 -3.13534374e-01 -9.29361640e-02 3.06636290e+02] [ 3.12520481e-01 9.49564689e-01 -2.56486068e-02 3.03415732e+01] [ 9.62906196e-02 -4.80605900e-03 9.95341659e-01 1.35243621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.52925415399994 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:306.66, Y:30.35, Z:13.53 [[ 9.44319256e-01 -3.15418591e-01 -9.36603175e-02 3.06661781e+02] [ 3.13912678e-01 9.48952583e-01 -3.07867856e-02 3.03492648e+01] [ 9.85899248e-02 -3.28606603e-04 9.95128092e-01 1.35286728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.559254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:306.69, Y:30.35, Z:13.53 [[ 9.43648245e-01 -3.17152026e-01 -9.45652312e-02 3.06691927e+02] [ 3.16555102e-01 9.48327062e-01 -2.16483611e-02 3.03514681e+01] [ 9.65445894e-02 -9.50666846e-03 9.95283259e-01 1.35290172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.58925415399995 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:306.72, Y:30.36, Z:13.53 [[ 9.42714554e-01 -3.20095499e-01 -9.39581927e-02 3.06716890e+02] [ 3.18319665e-01 9.47383411e-01 -3.37233396e-02 3.03611435e+01] [ 9.98091223e-02 1.88274260e-03 9.95004821e-01 1.35342958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.619254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:306.75, Y:30.36, Z:13.53 [[ 9.42247991e-01 -3.20768750e-01 -9.63126863e-02 3.06746825e+02] [ 3.20424652e-01 9.47074490e-01 -1.94409999e-02 3.03611254e+01] [ 9.74513535e-02 -1.25427159e-02 9.95161250e-01 1.35327826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.64925415399995 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:306.77, Y:30.37, Z:13.54 [[ 9.41877840e-01 -3.22001838e-01 -9.58172797e-02 3.06773132e+02] [ 3.20955484e-01 9.46721683e-01 -2.65637297e-02 3.03700757e+01] [ 9.92658661e-02 -5.73329304e-03 9.95044430e-01 1.35367430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.679254154 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:306.80, Y:30.38, Z:13.54 [[ 9.41832365e-01 -3.21713365e-01 -9.72229771e-02 3.06799670e+02] [ 3.20631403e-01 9.46819600e-01 -2.69842279e-02 3.03767128e+01] [ 1.00733807e-01 -5.75812033e-03 9.94896751e-01 1.35382095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.70925415399995 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:306.83, Y:30.38, Z:13.54 [[ 9.41936892e-01 -3.21595263e-01 -9.65990635e-02 3.06826158e+02] [ 3.20524339e-01 9.46860148e-01 -2.68329652e-02 3.03844374e+01] [ 1.00095158e-01 -5.68739114e-03 9.94961614e-01 1.35418343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.739254154 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:306.85, Y:30.39, Z:13.54 [[ 9.42185055e-01 -3.20859792e-01 -9.66246092e-02 3.06851991e+02] [ 3.19781644e-01 9.47110242e-01 -2.68679983e-02 3.03918645e+01] [ 1.00135017e-01 -5.58414988e-03 9.94958188e-01 1.35444022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.76925415399995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:306.88, Y:30.40, Z:13.55 [[ 9.42958422e-01 -3.18544130e-01 -9.67421911e-02 3.06878137e+02] [ 3.17449781e-01 9.47893041e-01 -2.69150347e-02 3.04002950e+01] [ 1.00274876e-01 -5.33102869e-03 9.94945491e-01 1.35470549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.799254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:306.90, Y:30.41, Z:13.55 [[ 9.43460036e-01 -3.16662293e-01 -9.80211881e-02 3.06904412e+02] [ 3.15525600e-01 9.48524251e-01 -2.73009413e-02 3.04078967e+01] [ 1.01620653e-01 -5.17084709e-03 9.94809783e-01 1.35486305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.82925415399995 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:306.93, Y:30.41, Z:13.56 [[ 9.43923741e-01 -3.12624351e-01 -1.06179028e-01 3.06932939e+02] [ 3.13163633e-01 9.49623522e-01 -1.19877676e-02 3.04108592e+01] [ 1.04577771e-01 -2.19358716e-02 9.94274765e-01 1.35552310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.859254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:306.96, Y:30.43, Z:13.56 [[ 9.45334914e-01 -3.12605083e-01 -9.28437530e-02 3.06955069e+02] [ 3.09811449e-01 9.49802931e-01 -4.34885964e-02 3.04337612e+01] [ 1.01778025e-01 1.23472309e-02 9.94730506e-01 1.35595696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.88925415399996 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:306.98, Y:30.43, Z:13.56 [[ 9.46036946e-01 -3.09040234e-01 -9.75101524e-02 3.06984007e+02] [ 3.07868857e-01 9.51039378e-01 -2.72188917e-02 3.04345777e+01] [ 1.01147727e-01 -4.27026202e-03 9.94862253e-01 1.35576316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.919254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:307.01, Y:30.45, Z:13.56 [[ 9.47515076e-01 -3.05750688e-01 -9.34435539e-02 3.07014516e+02] [ 3.03463344e-01 9.52079888e-01 -3.81298452e-02 3.04474741e+01] [ 1.00623955e-01 7.77190985e-03 9.94894174e-01 1.35609108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.94925415399996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:307.05, Y:30.46, Z:13.56 [[ 9.48573647e-01 -3.02984000e-01 -9.16991414e-02 3.07045579e+02] [ 3.00911884e-01 9.52973281e-01 -3.59716976e-02 3.04554485e+01] [ 9.82856805e-02 6.52844298e-03 9.95136827e-01 1.35616863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.979254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:307.07, Y:30.45, Z:13.56 [[ 9.48775316e-01 -2.98068190e-01 -1.04789091e-01 3.07071609e+02] [ 2.99337837e-01 9.54139768e-01 -3.76339171e-03 3.04509252e+01] [ 1.01105187e-01 -2.77967268e-02 9.94487347e-01 1.35607524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.00925415399996 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:307.09, Y:30.47, Z:13.57 [[ 9.49509447e-01 -2.98079715e-01 -9.78789717e-02 3.07094727e+02] [ 2.96826300e-01 9.54536354e-01 -2.74680910e-02 3.04708800e+01] [ 1.01616718e-01 -2.97184110e-03 9.94819185e-01 1.35698866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.03925415399993 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:307.12, Y:30.48, Z:13.57 [[ 9.51168899e-01 -2.92931207e-01 -9.73089560e-02 3.07121437e+02] [ 2.91662687e-01 9.56130556e-01 -2.73356282e-02 3.04800966e+01] [ 1.01047525e-01 -2.38059216e-03 9.94878752e-01 1.35726486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.06925415399996 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:307.15, Y:30.49, Z:13.58 [[ 9.52110011e-01 -2.90006920e-01 -9.68633776e-02 3.07147107e+02] [ 2.88731952e-01 9.57022391e-01 -2.72397489e-02 3.04880764e+01] [ 1.00600137e-01 -2.03231451e-03 9.94924863e-01 1.35752669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.09925415399994 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:307.17, Y:30.50, Z:13.58 [[ 9.53775323e-01 -2.84587240e-01 -9.65543169e-02 3.07173002e+02] [ 2.83291202e-01 9.58649063e-01 -2.71674376e-02 3.04973534e+01] [ 1.00293212e-01 -1.44135690e-03 9.94956881e-01 1.35782857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.12925415399997 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:307.20, Y:30.51, Z:13.58 [[ 9.54481555e-01 -2.82239387e-01 -9.64670431e-02 3.07199171e+02] [ 2.80930680e-01 9.59343303e-01 -2.71731467e-02 3.05058843e+01] [ 1.00214344e-01 -1.16428478e-03 9.94965190e-01 1.35810837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.15925415399994 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:307.23, Y:30.51, Z:13.58 [[ 9.55301109e-01 -2.79449721e-01 -9.64761386e-02 3.07225781e+02] [ 2.78123517e-01 9.60159957e-01 -2.72059896e-02 3.05137951e+01] [ 1.00235231e-01 -8.42370944e-04 9.94963411e-01 1.35837539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.18925415399997 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:307.25, Y:30.52, Z:13.59 [[ 9.55950673e-01 -2.77269142e-01 -9.63334480e-02 3.07252019e+02] [ 2.75932786e-01 9.60792112e-01 -2.71958690e-02 3.05217581e+01] [ 1.00096992e-01 -5.83647450e-04 9.94977513e-01 1.35860555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.21925415399994 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:307.28, Y:30.53, Z:13.59 [[ 9.56542841e-01 -2.75211070e-01 -9.63569458e-02 3.07278783e+02] [ 2.73860614e-01 9.61383769e-01 -2.72325589e-02 3.05292885e+01] [ 1.00130705e-01 -3.39263028e-04 9.94974234e-01 1.35883705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.24925415399997 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:307.31, Y:30.54, Z:13.59 [[ 9.57347057e-01 -2.72761975e-01 -9.53284669e-02 3.07305404e+02] [ 2.71425218e-01 9.62081546e-01 -2.69712586e-02 3.05368040e+01] [ 9.90704926e-02 -5.36949157e-05 9.95080416e-01 1.35912344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.27925415399994 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:307.33, Y:30.54, Z:13.59 [[ 9.57511039e-01 -2.72220146e-01 -9.52302565e-02 3.07331111e+02] [ 2.70880623e-01 9.62234998e-01 -2.69721470e-02 3.05439339e+01] [ 9.89762474e-02 3.00972719e-05 9.95089796e-01 1.35939024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.309254154 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:307.36, Y:30.55, Z:13.60 [[ 9.57469996e-01 -2.72487723e-01 -9.48770109e-02 3.07358224e+02] [ 2.71158081e-01 9.62159259e-01 -2.68859598e-02 3.05511998e+01] [ 9.86128885e-02 1.58316260e-05 9.95125870e-01 1.35964477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.33925415399995 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:307.39, Y:30.58, Z:13.60 [[ 9.60196949e-01 -2.72485627e-01 -6.14280240e-02 3.07391907e+02] [ 2.66762202e-01 9.59774041e-01 -8.75883428e-02 3.05847240e+01] [ 8.28235874e-02 6.77153845e-02 9.94260972e-01 1.35954349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.369254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:307.43, Y:30.53, Z:13.59 [[ 9.56333421e-01 -2.68721661e-01 -1.14956765e-01 3.07426139e+02] [ 2.74853705e-01 9.60610899e-01 4.10139185e-02 3.05332761e+01] [ 9.94073929e-02 -7.08192736e-02 9.92523451e-01 1.35850098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.39925415399995 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:307.44, Y:30.57, Z:13.60 [[ 9.56029570e-01 -2.77167728e-01 -9.58410751e-02 3.07441450e+02] [ 2.75825877e-01 9.60821471e-01 -2.72431166e-02 3.05721820e+01] [ 9.96370754e-02 -3.90223504e-04 9.95023769e-01 1.36047511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.429254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:307.47, Y:30.58, Z:13.61 [[ 9.55076997e-01 -2.80517646e-01 -9.55917373e-02 3.07468990e+02] [ 2.79198134e-01 9.59848595e-01 -2.71859654e-02 3.05775026e+01] [ 9.93797378e-02 -7.24344483e-04 9.95049317e-01 1.36071469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.45925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:307.50, Y:30.58, Z:13.61 [[ 9.54615149e-01 -2.82110617e-01 -9.55171049e-02 3.07495003e+02] [ 2.80798324e-01 9.59381497e-01 -2.71927407e-02 3.05836222e+01] [ 9.93087040e-02 -8.62440793e-04 9.95056299e-01 1.36096520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.489254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:307.52, Y:30.59, Z:13.61 [[ 9.54542072e-01 -2.82358980e-01 -9.55135550e-02 3.07522188e+02] [ 2.81046680e-01 9.59308418e-01 -2.72052041e-02 3.05914638e+01] [ 9.93085910e-02 -8.75255638e-04 9.95056299e-01 1.36123016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.51925415399995 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:307.55, Y:30.60, Z:13.61 [[ 9.54123792e-01 -2.83870101e-01 -9.52132083e-02 3.07549452e+02] [ 2.82570886e-01 9.58862221e-01 -2.71465508e-02 3.05978541e+01] [ 9.90024426e-02 -1.00331065e-03 9.95086685e-01 1.36149133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.549254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:307.58, Y:30.60, Z:13.62 [[ 9.53556592e-01 -2.85858285e-01 -9.49466503e-02 3.07575955e+02] [ 2.84573301e-01 9.58271179e-01 -2.70995245e-02 3.06026886e+01] [ 9.87312621e-02 -1.17835145e-03 9.95113435e-01 1.36174212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.57925415399995 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:307.60, Y:30.61, Z:13.62 [[ 9.53332976e-01 -2.86601648e-01 -9.49512081e-02 3.07603568e+02] [ 2.85318830e-01 9.58049035e-01 -2.71147995e-02 3.06089123e+01] [ 9.87390595e-02 -1.24193508e-03 9.95112584e-01 1.36198100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.609254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:307.63, Y:30.61, Z:13.62 [[ 9.52944866e-01 -2.87990389e-01 -9.46446985e-02 3.07630331e+02] [ 2.86719815e-01 9.57632343e-01 -2.70563062e-02 3.06135300e+01] [ 9.84267805e-02 -1.35334239e-03 9.95143375e-01 1.36219758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.63925415399996 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:307.66, Y:30.62, Z:13.62 [[ 9.52872932e-01 -2.88229496e-01 -9.46410761e-02 3.07657508e+02] [ 2.86958840e-01 9.57560387e-01 -2.70689712e-02 3.06214148e+01] [ 9.84266214e-02 -1.36480345e-03 9.95143375e-01 1.36246258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.669254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:307.68, Y:30.63, Z:13.63 [[ 9.52164858e-01 -2.90483443e-01 -9.48759899e-02 3.07684627e+02] [ 2.89215127e-01 9.56878718e-01 -2.71611841e-02 3.06261726e+01] [ 9.86746898e-02 -1.57764645e-03 9.95118494e-01 1.36265433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.69925415399996 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:307.71, Y:30.63, Z:13.63 [[ 9.51756905e-01 -2.91733051e-01 -9.51347447e-02 3.07711565e+02] [ 2.90462724e-01 9.56498269e-01 -2.72482496e-02 3.06325490e+01] [ 9.89454336e-02 -1.69938732e-03 9.95091410e-01 1.36288883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.729254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:307.74, Y:30.64, Z:13.63 [[ 9.51430087e-01 -2.92861919e-01 -9.49351666e-02 3.07737395e+02] [ 2.91599726e-01 9.56153077e-01 -2.72193372e-02 3.06387909e+01] [ 9.87440590e-02 -1.78577224e-03 9.95111261e-01 1.36314071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.75925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:307.77, Y:30.64, Z:13.63 [[ 9.51021087e-01 -2.94005795e-01 -9.54959901e-02 3.07765202e+02] [ 2.92732968e-01 9.55801744e-01 -2.73940928e-02 3.06443758e+01] [ 9.93292559e-02 -1.90246475e-03 9.95052802e-01 1.36341925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.78925415399993 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:307.79, Y:30.65, Z:13.64 [[ 9.51048355e-01 -2.93851654e-01 -9.56986469e-02 3.07791597e+02] [ 2.92569598e-01 9.55849225e-01 -2.74825311e-02 3.06510297e+01] [ 9.95492647e-02 -1.86129859e-03 9.95030894e-01 1.36364724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.81925415399996 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:307.82, Y:30.66, Z:13.64 [[ 9.51627748e-01 -2.91673143e-01 -9.65992120e-02 3.07818000e+02] [ 2.90353410e-01 9.56516663e-01 -2.77627484e-02 3.06571371e+01] [ 1.00496404e-01 -1.62810888e-03 9.94936089e-01 1.36388940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.84925415399994 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:307.84, Y:30.66, Z:13.64 [[ 9.52045415e-01 -2.90300530e-01 -9.66184717e-02 3.07844764e+02] [ 2.88971014e-01 9.56934409e-01 -2.77901016e-02 3.06643451e+01] [ 1.00525021e-01 -1.46249887e-03 9.94933456e-01 1.36412962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.87925415399997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:307.87, Y:30.67, Z:13.64 [[ 9.52529320e-01 -2.88557516e-01 -9.70693289e-02 3.07871886e+02] [ 2.87203396e-01 9.57461741e-01 -2.79503935e-02 3.06717115e+01] [ 1.01005465e-01 -1.25507160e-03 9.94885079e-01 1.36438136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.90925415399994 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:307.90, Y:30.68, Z:13.65 [[ 9.53129198e-01 -2.86656218e-01 -9.68139658e-02 3.07898792e+02] [ 2.85296363e-01 9.58032969e-01 -2.79072691e-02 3.06790402e+01] [ 1.00750763e-01 -1.02143930e-03 9.94911172e-01 1.36462534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.93925415399997 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:307.92, Y:30.69, Z:13.65 [[ 9.54272718e-01 -2.82843685e-01 -9.67627501e-02 3.07924476e+02] [ 2.81462743e-01 9.59165836e-01 -2.79217271e-02 3.06857212e+01] [ 1.00709008e-01 -5.90166725e-04 9.94915749e-01 1.36493396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.96925415399994 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:307.95, Y:30.69, Z:13.65 [[ 9.54736549e-01 -2.81398651e-01 -9.63997944e-02 3.07950882e+02] [ 2.80019279e-01 9.59590861e-01 -2.78313209e-02 3.06928468e+01] [ 1.00336058e-01 -4.22221661e-04 9.94953515e-01 1.36520543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.99925415399997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:307.98, Y:30.70, Z:13.65 [[ 9.55023618e-01 -2.80473471e-01 -9.62523785e-02 3.07977626e+02] [ 2.79090630e-01 9.59861732e-01 -2.78186147e-02 3.06998150e+01] [ 1.00191358e-01 -2.95702875e-04 9.94968142e-01 1.36549612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.02925415399994 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:308.01, Y:30.71, Z:13.66 [[ 9.55317182e-01 -2.79514036e-01 -9.61300463e-02 3.08005490e+02] [ 2.78126848e-01 9.60141592e-01 -2.78133140e-02 3.07054594e+01] [ 1.00072667e-01 -1.65810013e-04 9.94980117e-01 1.36563285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.059254154 meters Centerline goodness : 0.997042 Centerline is valid? [True, True] Translation: X:308.03, Y:30.72, Z:13.66 [[ 9.55061150e-01 -2.80687070e-01 -9.52521324e-02 3.08029387e+02] [ 2.78247991e-01 9.59746822e-01 -3.82634664e-02 3.07164074e+01] [ 1.02157992e-01 1.00402357e-02 9.94717517e-01 1.36629649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.08925415399995 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:308.06, Y:30.71, Z:13.66 [[ 9.54378594e-01 -2.81823470e-01 -9.86763950e-02 3.08060700e+02] [ 2.81418493e-01 9.59410830e-01 -1.82891079e-02 3.07127415e+01] [ 9.98255019e-02 -1.03146293e-02 9.94951495e-01 1.36590586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.119254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:308.09, Y:30.72, Z:13.66 [[ 9.53654198e-01 -2.85244710e-01 -9.58077592e-02 3.08086356e+02] [ 2.83887870e-01 9.58454475e-01 -2.77974259e-02 3.07240421e+01] [ 9.97564442e-02 -6.89528794e-04 9.95011646e-01 1.36644089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.14925415399995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:308.11, Y:30.73, Z:13.67 [[ 9.52850438e-01 -2.87786198e-01 -9.62036711e-02 3.08113368e+02] [ 2.86427962e-01 9.57694230e-01 -2.79425051e-02 3.07302316e+01] [ 1.00175168e-01 -9.30393269e-04 9.94969381e-01 1.36666784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.179254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:308.14, Y:30.73, Z:13.67 [[ 9.50846162e-01 -2.94199764e-01 -9.66337156e-02 3.08141037e+02] [ 2.92859220e-01 9.55742639e-01 -2.80977868e-02 3.07345869e+01] [ 1.00623325e-01 -1.58340180e-03 9.94923333e-01 1.36688526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.20925415399995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:308.17, Y:30.74, Z:13.67 [[ 9.49707814e-01 -2.97631116e-01 -9.73179651e-02 3.08167389e+02] [ 2.96286428e-01 9.54678995e-01 -2.83261031e-02 3.07401550e+01] [ 1.01338147e-01 -1.93247081e-03 9.94850162e-01 1.36711713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.239254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:308.19, Y:30.75, Z:13.67 [[ 9.48519720e-01 -3.01575880e-01 -9.67591339e-02 3.08194049e+02] [ 3.00265599e-01 9.53439341e-01 -2.81778693e-02 3.07463116e+01] [ 1.00751731e-01 -2.32617458e-03 9.94908879e-01 1.36748163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.26925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:308.22, Y:30.75, Z:13.68 [[ 9.47525665e-01 -3.04781538e-01 -9.64537662e-02 3.08220797e+02] [ 3.03493162e-01 9.52418654e-01 -2.81177480e-02 3.07523417e+01] [ 1.00434137e-01 -2.63077066e-03 9.94940231e-01 1.36770056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.299254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:308.25, Y:30.76, Z:13.68 [[ 9.45753085e-01 -3.10154287e-01 -9.67234270e-02 3.08247562e+02] [ 3.08885247e-01 9.50680861e-01 -2.82100146e-02 3.07574491e+01] [ 1.00702568e-01 -3.19673129e-03 9.94911440e-01 1.36794073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.32925415399995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:308.27, Y:30.76, Z:13.68 [[ 9.45075110e-01 -3.12210960e-01 -9.67334115e-02 3.08274132e+02] [ 3.10950289e-01 9.50006727e-01 -2.82336072e-02 3.07643683e+01] [ 1.00712233e-01 -3.39640285e-03 9.94909800e-01 1.36818898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.359254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:308.30, Y:30.77, Z:13.68 [[ 9.44611802e-01 -3.13555034e-01 -9.69112146e-02 3.08300824e+02] [ 3.12293715e-01 9.49563514e-01 -2.83155157e-02 3.07714355e+01] [ 1.00901826e-01 -3.51759295e-03 9.94890169e-01 1.36838657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.38925415399996 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:308.33, Y:30.78, Z:13.69 [[ 9.44261770e-01 -3.14861702e-01 -9.60823507e-02 3.08327809e+02] [ 3.13625623e-01 9.49130745e-01 -2.81033433e-02 3.07787802e+01] [ 1.00043380e-01 -3.59697437e-03 9.94976575e-01 1.36870679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.419254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:308.35, Y:30.79, Z:13.69 [[ 9.44286983e-01 -3.15108376e-01 -9.50200201e-02 3.08353517e+02] [ 3.13897907e-01 9.49049036e-01 -2.78214267e-02 3.07865807e+01] [ 9.89454230e-02 -3.55517434e-03 9.95086511e-01 1.36901427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.44925415399996 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:308.38, Y:30.78, Z:13.70 [[ 9.43528055e-01 -3.12939849e-01 -1.08735737e-01 3.08383056e+02] [ 3.14665501e-01 9.49201658e-01 -1.35461428e-03 3.07818593e+01] [ 1.03636055e-01 -3.29372686e-02 9.94069768e-01 1.36967501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.479254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:308.40, Y:30.82, Z:13.70 [[ 9.45002354e-01 -3.15447961e-01 -8.63894379e-02 3.08403679e+02] [ 3.11536222e-01 9.48589343e-01 -5.58877501e-02 3.08162641e+01] [ 9.95777769e-02 2.59006164e-02 9.94692628e-01 1.37019136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.50925415399996 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:308.43, Y:30.81, Z:13.70 [[ 9.45310722e-01 -3.12125862e-01 -9.46841337e-02 3.08434756e+02] [ 3.10903959e-01 9.50035430e-01 -2.77742642e-02 3.08114232e+01] [ 9.86223479e-02 -3.18236229e-03 9.95119845e-01 1.36977507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.53925415399993 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:308.46, Y:30.82, Z:13.70 [[ 9.45578279e-01 -3.11278976e-01 -9.48004026e-02 3.08460725e+02] [ 3.10046995e-01 9.50313617e-01 -2.78368588e-02 3.08198652e+01] [ 9.87551424e-02 -3.07065096e-03 9.95107026e-01 1.37004421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.56925415399996 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:308.49, Y:30.83, Z:13.70 [[ 9.45791528e-01 -3.10550899e-01 -9.50606351e-02 3.08487128e+02] [ 3.09305633e-01 9.50552094e-01 -2.79417462e-02 3.08283195e+01] [ 9.90374202e-02 -2.97572307e-03 9.95079260e-01 1.37032628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.59925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:308.51, Y:30.84, Z:13.70 [[ 9.46454949e-01 -3.08485187e-01 -9.51836067e-02 3.08513826e+02] [ 3.07223438e-01 9.51225212e-01 -2.80063388e-02 3.08366646e+01] [ 9.91805871e-02 -2.73589694e-03 9.95065689e-01 1.37048604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.62925415399997 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:308.54, Y:30.85, Z:13.71 [[ 9.46412653e-01 -3.08710114e-01 -9.48744175e-02 3.08540407e+02] [ 3.07454833e-01 9.51152275e-01 -2.79441293e-02 3.08452857e+01] [ 9.88666534e-02 -2.72292067e-03 9.95096965e-01 1.37085269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.65925415399994 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:308.57, Y:30.85, Z:13.71 [[ 9.46148187e-01 -3.09284506e-01 -9.56383992e-02 3.08567090e+02] [ 3.08008777e-01 9.50965501e-01 -2.81994393e-02 3.08541020e+01] [ 9.96704679e-02 -2.77661805e-03 9.95016627e-01 1.37107182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.68925415399997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:308.59, Y:30.86, Z:13.71 [[ 9.45996450e-01 -3.09290448e-01 -9.71088881e-02 3.08593496e+02] [ 3.07971917e-01 9.50963529e-01 -2.86646858e-02 3.08622333e+01] [ 1.01212724e-01 -2.79011949e-03 9.94860895e-01 1.37118186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.71925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:308.62, Y:30.87, Z:13.72 [[ 9.45706475e-01 -3.10235263e-01 -9.69192675e-02 3.08618357e+02] [ 3.08923805e-01 9.50655521e-01 -2.86385062e-02 3.08708302e+01] [ 1.01021511e-01 -2.85704811e-03 9.94880139e-01 1.37153373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.74925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:308.64, Y:30.88, Z:13.72 [[ 9.45443669e-01 -3.10831658e-01 -9.75702266e-02 3.08644902e+02] [ 3.09504097e-01 9.50460477e-01 -2.88460648e-02 3.08797056e+01] [ 1.01702914e-01 -2.92605559e-03 9.94810512e-01 1.37174360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.77925415399994 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:308.67, Y:30.89, Z:13.72 [[ 9.44937490e-01 -3.11951707e-01 -9.88902057e-02 3.08671113e+02] [ 3.10590691e-01 9.50093040e-01 -2.92683992e-02 3.08893259e+01] [ 1.03085223e-01 -3.05756961e-03 9.94667828e-01 1.37200017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.809254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:308.70, Y:30.90, Z:13.72 [[ 9.44820111e-01 -3.12165840e-01 -9.93350201e-02 3.08696657e+02] [ 3.10790536e-01 9.50022678e-01 -2.94304920e-02 3.08976684e+01] [ 1.03557716e-01 -3.06586349e-03 9.94618721e-01 1.37220168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.83925415399995 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:308.72, Y:30.91, Z:13.73 [[ 9.44672053e-01 -3.13125646e-01 -9.77089647e-02 3.08722076e+02] [ 3.11798824e-01 9.49706631e-01 -2.89621971e-02 3.09072534e+01] [ 1.01863658e-01 -3.10576215e-03 9.94793521e-01 1.37261086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.869254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:308.75, Y:30.92, Z:13.73 [[ 9.44696533e-01 -3.13234322e-01 -9.71221928e-02 3.08747805e+02] [ 3.11922651e-01 9.49670857e-01 -2.88014535e-02 3.09158394e+01] [ 1.01255720e-01 -3.08597862e-03 9.94855646e-01 1.37291977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.89925415399995 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:308.77, Y:30.92, Z:13.73 [[ 9.44692287e-01 -3.13475934e-01 -9.63811268e-02 3.08774562e+02] [ 3.12184060e-01 9.49591168e-01 -2.85959023e-02 3.09247592e+01] [ 1.00486794e-01 -3.07432314e-03 9.94933642e-01 1.37323140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.929254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:308.80, Y:30.93, Z:13.74 [[ 9.44703572e-01 -3.13562135e-01 -9.59893151e-02 3.08799634e+02] [ 3.12278255e-01 9.49562809e-01 -2.85089904e-02 3.09332403e+01] [ 1.00087224e-01 -3.04283078e-03 9.94974014e-01 1.37350464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.95925415399995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:308.82, Y:30.94, Z:13.74 [[ 9.44880471e-01 -3.13281115e-01 -9.51621701e-02 3.08824556e+02] [ 3.12016587e-01 9.49655778e-01 -2.82763743e-02 3.09427279e+01] [ 9.92297587e-02 -2.97438170e-03 9.95060103e-01 1.37377386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.989254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:308.85, Y:30.95, Z:13.74 [[ 9.44895394e-01 -3.13222957e-01 -9.52054308e-02 3.08851034e+02] [ 3.11955573e-01 9.49675018e-01 -2.83033578e-02 3.09511988e+01] [ 9.92794806e-02 -2.95615230e-03 9.95055197e-01 1.37392355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.01925415399995 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:308.88, Y:30.96, Z:13.74 [[ 9.44878892e-01 -3.13121468e-01 -9.57017515e-02 3.08876524e+02] [ 3.11837286e-01 9.49708559e-01 -2.84808680e-02 3.09600611e+01] [ 9.98067437e-02 -2.93240345e-03 9.95002520e-01 1.37424632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.049254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:308.90, Y:30.97, Z:13.74 [[ 9.44864085e-01 -3.13026446e-01 -9.61577138e-02 3.08903309e+02] [ 3.11727994e-01 9.49739914e-01 -2.86313341e-02 3.09685093e+01] [ 1.00287184e-01 -2.92233201e-03 9.94954241e-01 1.37449479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.07925415399995 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:308.93, Y:30.98, Z:13.75 [[ 9.45436487e-01 -3.11250776e-01 -9.62953976e-02 3.08929738e+02] [ 3.09936298e-01 9.50323955e-01 -2.87031705e-02 3.09768493e+01] [ 1.00445707e-01 -2.70841435e-03 9.94938855e-01 1.37463690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.109254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:308.95, Y:30.99, Z:13.75 [[ 9.46433150e-01 -3.08415421e-01 -9.56254148e-02 3.08954555e+02] [ 3.07101762e-01 9.51248837e-01 -2.85334391e-02 3.09860660e+01] [ 9.97637173e-02 -2.36174072e-03 9.95008353e-01 1.37502936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.13925415399996 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:308.98, Y:30.99, Z:13.75 [[ 9.47243906e-01 -3.05953666e-01 -9.55056866e-02 3.08981595e+02] [ 3.04629348e-01 9.52044119e-01 -2.85123807e-02 3.09945317e+01] [ 9.96490947e-02 -2.08565615e-03 9.95020456e-01 1.37522943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.169254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:309.01, Y:31.00, Z:13.75 [[ 9.47159779e-01 -3.06216618e-01 -9.54973084e-02 3.09008682e+02] [ 3.04890807e-01 9.51959579e-01 -2.85404158e-02 3.10027146e+01] [ 9.96491271e-02 -2.08391751e-03 9.95020456e-01 1.37549470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.19925415399996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:309.03, Y:31.01, Z:13.76 [[ 9.47883820e-01 -3.04038067e-01 -9.52739117e-02 3.09034966e+02] [ 3.02704615e-01 9.52658139e-01 -2.85023748e-02 3.10114724e+01] [ 9.94292744e-02 -1.82291292e-03 9.95042962e-01 1.37583871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.229254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:309.06, Y:31.02, Z:13.76 [[ 9.49817989e-01 -2.97958391e-01 -9.52186163e-02 3.09060712e+02] [ 2.96593005e-01 9.54578158e-01 -2.85154391e-02 3.10198937e+01] [ 9.93900257e-02 -1.15669847e-03 9.95047881e-01 1.37604623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.25925415399996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:309.09, Y:31.03, Z:13.76 [[ 9.50731866e-01 -2.94963333e-01 -9.54230062e-02 3.09086884e+02] [ 2.93575552e-01 9.55508211e-01 -2.85911570e-02 3.10280421e+01] [ 9.96108089e-02 -8.31337663e-04 9.95026128e-01 1.37629248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.28925415399993 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:309.11, Y:31.04, Z:13.77 [[ 9.52553174e-01 -2.89124858e-01 -9.51276384e-02 3.09112128e+02] [ 2.87713611e-01 9.57291377e-01 -2.85324008e-02 3.10359970e+01] [ 9.93142943e-02 -1.90887455e-04 9.95056096e-01 1.37652439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.31925415399996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:309.14, Y:31.04, Z:13.77 [[ 9.53200330e-01 -2.86729216e-01 -9.58931094e-02 3.09138555e+02] [ 2.85281523e-01 9.58011665e-01 -2.87767468e-02 3.10436144e+01] [ 1.00117851e-01 7.34722246e-05 9.94975583e-01 1.37668540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.34925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:309.17, Y:31.05, Z:13.77 [[ 9.53529942e-01 -2.86074459e-01 -9.45624334e-02 3.09165362e+02] [ 2.84660637e-01 9.58207376e-01 -2.84068024e-02 3.10518194e+01] [ 9.87368818e-02 1.68534112e-04 9.95113561e-01 1.37706182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.37925415399997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:309.19, Y:31.06, Z:13.77 [[ 9.53398931e-01 -2.86172047e-01 -9.55826206e-02 3.09192188e+02] [ 2.84724882e-01 9.58178232e-01 -2.87440036e-02 3.10598761e+01] [ 9.98109168e-02 1.89751895e-04 9.95006404e-01 1.37735851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.40925415399994 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:309.22, Y:31.07, Z:13.78 [[ 9.53316223e-01 -2.86450213e-01 -9.55743356e-02 3.09219243e+02] [ 2.85001684e-01 9.58095110e-01 -2.87715262e-02 3.10681524e+01] [ 9.98109134e-02 1.89516175e-04 9.95006405e-01 1.37762374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.43925415399997 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:309.25, Y:31.07, Z:13.78 [[ 9.52866006e-01 -2.88217561e-01 -9.47471005e-02 3.09245434e+02] [ 2.86799906e-01 9.57564952e-01 -2.85513058e-02 3.10742664e+01] [ 9.89554904e-02 3.21092199e-05 9.95091860e-01 1.37778546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.46925415399994 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:309.27, Y:31.08, Z:13.78 [[ 9.51126296e-01 -2.94094156e-01 -9.41668497e-02 3.09271749e+02] [ 2.92721184e-01 9.55776287e-01 -2.83900908e-02 3.10794016e+01] [ 9.83518018e-02 -5.62069799e-04 9.95151550e-01 1.37807694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.49925415399997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:309.30, Y:31.09, Z:13.78 [[ 9.49871580e-01 -2.98165232e-01 -9.40291237e-02 3.09299031e+02] [ 2.96814813e-01 9.54513780e-01 -2.83621385e-02 3.10856868e+01] [ 9.82086979e-02 -9.68847408e-04 9.95165370e-01 1.37831419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.52925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:309.33, Y:31.09, Z:13.79 [[ 9.48470426e-01 -3.02597218e-01 -9.40147602e-02 3.09326338e+02] [ 3.01266026e-01 9.53117498e-01 -2.83869031e-02 3.10920727e+01] [ 9.81969110e-02 -1.39931510e-03 9.95166021e-01 1.37856012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.559254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:309.35, Y:31.10, Z:13.79 [[ 9.45677422e-01 -3.11230192e-01 -9.39679838e-02 3.09352903e+02] [ 3.09939857e-01 9.50331855e-01 -2.84015913e-02 3.10968855e+01] [ 9.81402011e-02 -2.26567987e-03 9.95170019e-01 1.37880063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.58925415399995 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:309.38, Y:31.10, Z:13.79 [[ 9.43285375e-01 -3.18513803e-01 -9.36037271e-02 3.09380830e+02] [ 3.17267794e-01 9.47913483e-01 -2.83050487e-02 3.11020673e+01] [ 9.77437836e-02 -2.99770951e-03 9.95207097e-01 1.37902662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.619254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:309.41, Y:31.11, Z:13.79 [[ 9.42298941e-01 -3.21473345e-01 -9.34215896e-02 3.09407933e+02] [ 3.20243826e-01 9.46912980e-01 -2.82789539e-02 3.11086457e+01] [ 9.75530457e-02 -3.27045903e-03 9.95224953e-01 1.37921163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.64925415399995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:309.43, Y:31.12, Z:13.79 [[ 9.42210523e-01 -3.21734811e-01 -9.34132877e-02 3.09434992e+02] [ 3.20503859e-01 9.46824179e-01 -2.83063514e-02 3.11169360e+01] [ 9.75530981e-02 -3.26877708e-03 9.95224954e-01 1.37947690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.679254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:309.46, Y:31.12, Z:13.80 [[ 9.41423411e-01 -3.24185705e-01 -9.28740534e-02 3.09460858e+02] [ 3.22978167e-01 9.45987074e-01 -2.81701741e-02 3.11236332e+01] [ 9.69900218e-02 -3.47623018e-03 9.95279283e-01 1.37975286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.70925415399995 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:309.49, Y:31.13, Z:13.80 [[ 9.40160367e-01 -3.27979041e-01 -9.23484372e-02 3.09487948e+02] [ 3.26802061e-01 9.44677226e-01 -2.80241324e-02 3.11304123e+01] [ 9.64307935e-02 -3.83248102e-03 9.95332313e-01 1.37996967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.739254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:309.51, Y:31.14, Z:13.80 [[ 9.39748897e-01 -3.29226567e-01 -9.20971166e-02 3.09513530e+02] [ 3.28059132e-01 9.44242811e-01 -2.79771239e-02 3.11376539e+01] [ 9.61728527e-02 -3.92182878e-03 9.95356922e-01 1.38020034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.76925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:309.54, Y:31.15, Z:13.80 [[ 9.39316196e-01 -3.30428993e-01 -9.22050081e-02 3.09539208e+02] [ 3.29263327e-01 9.43822218e-01 -2.80228786e-02 3.11453966e+01] [ 9.62847069e-02 -4.03738399e-03 9.95345646e-01 1.38044967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.799254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:309.57, Y:31.15, Z:13.81 [[ 9.38534236e-01 -3.32720106e-01 -9.19283378e-02 3.09565380e+02] [ 3.31571085e-01 9.43016063e-01 -2.79520957e-02 3.11532949e+01] [ 9.59901235e-02 -4.24678002e-03 9.95373227e-01 1.38071292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.82925415399995 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:309.59, Y:31.16, Z:13.81 [[ 9.38231717e-01 -3.33450218e-01 -9.23698896e-02 3.09591620e+02] [ 3.32290707e-01 9.42757839e-01 -2.81165913e-02 3.11607271e+01] [ 9.64579210e-02 -4.31377819e-03 9.95327715e-01 1.38083051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.859254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:309.62, Y:31.17, Z:13.81 [[ 9.37758491e-01 -3.35107314e-01 -9.11707208e-02 3.09618002e+02] [ 3.33983585e-01 9.42169664e-01 -2.77721005e-02 3.11687444e+01] [ 9.52049214e-02 -4.40600119e-03 9.95447944e-01 1.38118835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.88925415399996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:309.64, Y:31.18, Z:13.81 [[ 9.37229447e-01 -3.36650947e-01 -9.09236137e-02 3.09644076e+02] [ 3.35537748e-01 9.41618652e-01 -2.77260498e-02 3.11770161e+01] [ 9.49493715e-02 -4.52263420e-03 9.95471829e-01 1.38142613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.919254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:309.67, Y:31.19, Z:13.82 [[ 9.36909804e-01 -3.37316099e-01 -9.17489401e-02 3.09670107e+02] [ 3.36184440e-01 9.41380110e-01 -2.79912589e-02 3.11858218e+01] [ 9.58125296e-02 -4.61928123e-03 9.95388679e-01 1.38167950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.94925415399996 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:309.70, Y:31.20, Z:13.82 [[ 9.36670625e-01 -3.37666631e-01 -9.28944903e-02 3.09696710e+02] [ 3.36505304e-01 9.41254106e-01 -2.83705601e-02 3.11953946e+01] [ 9.70171119e-02 -4.68561844e-03 9.95271684e-01 1.38189202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.979254154 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:309.72, Y:31.20, Z:13.82 [[ 9.36711141e-01 -3.37491655e-01 -9.31215439e-02 3.09723003e+02] [ 3.36320809e-01 9.41317033e-01 -2.84702613e-02 3.12044092e+01] [ 9.72653711e-02 -4.65030208e-03 9.95247619e-01 1.38211125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.00925415399996 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:309.75, Y:31.21, Z:13.82 [[ 9.36828177e-01 -3.36943562e-01 -9.39255170e-02 3.09748056e+02] [ 3.35746679e-01 9.41513584e-01 -2.87460938e-02 3.12132915e+01] [ 9.81179614e-02 -4.60502980e-03 9.95164137e-01 1.38234461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.03925415399993 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:309.77, Y:31.22, Z:13.83 [[ 9.36993778e-01 -3.36252252e-01 -9.47474648e-02 3.09774437e+02] [ 3.35029331e-01 9.41760925e-01 -2.90122073e-02 3.12225317e+01] [ 9.89848801e-02 -4.55892206e-03 9.95078494e-01 1.38259023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.06925415399996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:309.80, Y:31.23, Z:13.83 [[ 9.37274559e-01 -3.35427973e-01 -9.48919138e-02 3.09800744e+02] [ 3.34194060e-01 9.42055346e-01 -2.90870412e-02 3.12318224e+01] [ 9.91500419e-02 -4.44977017e-03 9.95062545e-01 1.38281008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.09925415399994 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:309.83, Y:31.24, Z:13.83 [[ 9.38161473e-01 -3.32802998e-01 -9.53688361e-02 3.09826812e+02] [ 3.31540024e-01 9.42987182e-01 -2.92641133e-02 3.12433781e+01] [ 9.96707747e-02 -4.16412250e-03 9.95011757e-01 1.38304417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.12925415399997 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:309.85, Y:31.25, Z:13.83 [[ 9.38696127e-01 -3.31253331e-01 -9.55029370e-02 3.09852618e+02] [ 3.29975670e-01 9.43533479e-01 -2.93365246e-02 3.12534199e+01] [ 9.98280399e-02 -3.97556363e-03 9.94996762e-01 1.38334267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.15925415399994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:309.88, Y:31.26, Z:13.84 [[ 9.39246481e-01 -3.29681702e-01 -9.55302202e-02 3.09878233e+02] [ 3.28392062e-01 9.44084577e-01 -2.93762713e-02 3.12633513e+01] [ 9.98734267e-02 -3.77980658e-03 9.94992971e-01 1.38362908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.18925415399997 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:309.90, Y:31.27, Z:13.84 [[ 9.40505052e-01 -3.26290514e-01 -9.47879107e-02 3.09902578e+02] [ 3.25000721e-01 9.45263552e-01 -2.91778801e-02 3.12747117e+01] [ 9.91200227e-02 -3.36419563e-03 9.95069798e-01 1.38392228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.21925415399994 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:309.93, Y:31.28, Z:13.84 [[ 9.41067923e-01 -3.24810053e-01 -9.42846435e-02 3.09928747e+02] [ 3.23525117e-01 9.45773934e-01 -2.90372945e-02 3.12847067e+01] [ 9.86035633e-02 -3.17738393e-03 9.95121722e-01 1.38419286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.24925415399997 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:309.96, Y:31.29, Z:13.84 [[ 9.41510301e-01 -3.23632306e-01 -9.39174337e-02 3.09955088e+02] [ 3.22348529e-01 9.46178129e-01 -2.89546786e-02 3.12946220e+01] [ 9.82332911e-02 -3.01301840e-03 9.95158853e-01 1.38444432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.27925415399994 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:309.98, Y:31.31, Z:13.85 [[ 9.42320679e-01 -3.21353121e-01 -9.36157565e-02 3.09980408e+02] [ 3.20063362e-01 9.46955479e-01 -2.88922952e-02 3.13053088e+01] [ 9.79345828e-02 -2.73716656e-03 9.95189090e-01 1.38466779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.309254154 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:310.01, Y:31.32, Z:13.85 [[ 9.42514505e-01 -3.20710310e-01 -9.38685477e-02 3.10006761e+02] [ 3.19407349e-01 9.47173629e-01 -2.90010741e-02 3.13154259e+01] [ 9.82107564e-02 -2.64837101e-03 9.95162114e-01 1.38496589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.33925415399995 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:310.03, Y:31.33, Z:13.85 [[ 9.42859791e-01 -3.19530854e-01 -9.44216538e-02 3.10032291e+02] [ 3.18203568e-01 9.47572543e-01 -2.92021399e-02 3.13251830e+01] [ 9.88023513e-02 -2.51178358e-03 9.95103907e-01 1.38520970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.369254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:310.06, Y:31.34, Z:13.85 [[ 9.43317356e-01 -3.18388869e-01 -9.37064204e-02 3.10056983e+02] [ 3.17074696e-01 9.47957253e-01 -2.89945317e-02 3.13361404e+01] [ 9.80612171e-02 -2.36088984e-03 9.95177584e-01 1.38548519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.39925415399995 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:310.08, Y:31.35, Z:13.86 [[ 9.43335018e-01 -3.18066491e-01 -9.46189824e-02 3.10082914e+02] [ 3.16722789e-01 9.48065546e-01 -2.92983833e-02 3.13451964e+01] [ 9.90238312e-02 -2.32979706e-03 9.95082335e-01 1.38576074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.429254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:310.11, Y:31.35, Z:13.86 [[ 9.43560324e-01 -3.17400426e-01 -9.46091143e-02 3.10108548e+02] [ 3.16050740e-01 9.48288980e-01 -2.93247403e-02 3.13539379e+01] [ 9.90244655e-02 -2.23161909e-03 9.95082497e-01 1.38600712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.45925415399995 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:310.13, Y:31.36, Z:13.86 [[ 9.43665717e-01 -3.17149264e-01 -9.43999897e-02 3.10134977e+02] [ 3.15802896e-01 9.48373113e-01 -2.92740358e-02 3.13630168e+01] [ 9.88106510e-02 -2.18688610e-03 9.95103850e-01 1.38625139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.489254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:310.16, Y:31.37, Z:13.87 [[ 9.43980683e-01 -3.16247306e-01 -9.42767871e-02 3.10160559e+02] [ 3.14896983e-01 9.48674546e-01 -2.92659593e-02 3.13730838e+01] [ 9.86932690e-02 -2.06097555e-03 9.95115768e-01 1.38652238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.51925415399995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:310.19, Y:31.38, Z:13.87 [[ 9.44170219e-01 -3.15765412e-01 -9.39936271e-02 3.10186174e+02] [ 3.14417878e-01 9.48835233e-01 -2.92078450e-02 3.13822946e+01] [ 9.84072923e-02 -1.97609937e-03 9.95144261e-01 1.38677706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.549254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:310.21, Y:31.39, Z:13.87 [[ 9.44329146e-01 -3.15191738e-01 -9.43219634e-02 3.10211931e+02] [ 3.13830474e-01 9.49026092e-01 -2.93242316e-02 3.13916823e+01] [ 9.87567598e-02 -1.90937995e-03 9.95109771e-01 1.38704926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.57925415399995 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:310.24, Y:31.40, Z:13.87 [[ 9.44745713e-01 -3.13789801e-01 -9.48235111e-02 3.10238139e+02] [ 3.12403960e-01 9.49490874e-01 -2.95100889e-02 3.14013954e+01] [ 9.92940234e-02 -1.74371046e-03 9.95056610e-01 1.38726577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.609254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:310.26, Y:31.41, Z:13.87 [[ 9.45004343e-01 -3.12909091e-01 -9.51561505e-02 3.10263821e+02] [ 3.11505980e-01 9.49781686e-01 -2.96441152e-02 3.14096402e+01] [ 9.96534821e-02 -1.62789232e-03 9.95020871e-01 1.38749946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.63925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:310.29, Y:31.42, Z:13.88 [[ 9.45459010e-01 -3.11498718e-01 -9.52670401e-02 3.10290439e+02] [ 3.10082980e-01 9.50245451e-01 -2.97006454e-02 3.14185735e+01] [ 9.97787844e-02 -1.45994487e-03 9.95008574e-01 1.38773071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.669254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:310.32, Y:31.43, Z:13.88 [[ 9.45573918e-01 -3.11142846e-01 -9.52895325e-02 3.10317162e+02] [ 3.09721554e-01 9.50362135e-01 -2.97383692e-02 3.14273988e+01] [ 9.98124444e-02 -1.39339587e-03 9.95005294e-01 1.38800701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.69925415399996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:310.34, Y:31.44, Z:13.88 [[ 9.45581294e-01 -3.11154297e-01 -9.51788854e-02 3.10343894e+02] [ 3.09733265e-01 9.50358430e-01 -2.97348235e-02 3.14361627e+01] [ 9.97061741e-02 -1.36337413e-03 9.95015990e-01 1.38826793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.729254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:310.37, Y:31.44, Z:13.89 [[ 9.45453575e-01 -3.11678422e-01 -9.47317208e-02 3.10370458e+02] [ 3.10270315e-01 9.50186639e-01 -2.96257055e-02 3.14448408e+01] [ 9.92465085e-02 -1.38271165e-03 9.95061917e-01 1.38856415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.75925415399996 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:310.40, Y:31.45, Z:13.89 [[ 9.44896750e-01 -3.13447882e-01 -9.44486961e-02 3.10396812e+02] [ 3.12053969e-01 9.49604165e-01 -2.95677245e-02 3.14522927e+01] [ 9.89568158e-02 -1.53464372e-03 9.95090545e-01 1.38884214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.78925415399993 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:310.42, Y:31.46, Z:13.89 [[ 9.44377247e-01 -3.15036038e-01 -9.43605366e-02 3.10423915e+02] [ 3.13649593e-01 9.49078240e-01 -2.95707164e-02 3.14596821e+01] [ 9.88713734e-02 -1.67023218e-03 9.95098820e-01 1.38907917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.81925415399996 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:310.45, Y:31.47, Z:13.89 [[ 9.43689471e-01 -3.16946401e-01 -9.48428273e-02 3.10449425e+02] [ 3.15552287e-01 9.48441645e-01 -2.97523293e-02 3.14666609e+01] [ 9.93827808e-02 -1.85091118e-03 9.95047555e-01 1.38934049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.84925415399994 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:310.48, Y:31.47, Z:13.89 [[ 9.42222382e-01 -3.20697507e-01 -9.67992355e-02 3.10476886e+02] [ 3.19262526e-01 9.47178943e-01 -3.03889631e-02 3.14729863e+01] [ 1.01431862e-01 -2.27120725e-03 9.94839896e-01 1.38944950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.87925415399997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:310.50, Y:31.48, Z:13.90 [[ 9.41191584e-01 -3.23848118e-01 -9.63369009e-02 3.10503669e+02] [ 3.22440127e-01 9.46105596e-01 -3.02748266e-02 3.14810874e+01] [ 1.00949327e-01 -2.56847057e-03 9.94888253e-01 1.38986238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.90925415399994 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:310.53, Y:31.49, Z:13.90 [[ 9.39430534e-01 -3.28609784e-01 -9.73954885e-02 3.10530798e+02] [ 3.27192791e-01 9.44460747e-01 -3.06394470e-02 3.14879078e+01] [ 1.02054638e-01 -3.08346962e-03 9.94774016e-01 1.39008041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.93925415399997 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:310.56, Y:31.50, Z:13.90 [[ 9.39339880e-01 -3.28871501e-01 -9.73864729e-02 3.10557759e+02] [ 3.27452944e-01 9.44369651e-01 -3.06680775e-02 3.14964864e+01] [ 1.02054686e-01 -3.08173900e-03 9.94774017e-01 1.39034569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.96925415399994 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:310.58, Y:31.50, Z:13.91 [[ 9.37753631e-01 -3.33253860e-01 -9.77752165e-02 3.10583973e+02] [ 3.31844696e-01 9.42830469e-01 -3.08189056e-02 3.15036033e+01] [ 1.02455972e-01 -3.54564633e-03 9.94731221e-01 1.39062725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.99925415399997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:310.61, Y:31.51, Z:13.91 [[ 9.37020502e-01 -3.35273549e-01 -9.78990573e-02 3.10609516e+02] [ 3.33870354e-01 9.42113328e-01 -3.08717213e-02 3.15116459e+01] [ 1.02582478e-01 -3.75815713e-03 9.94717403e-01 1.39094016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.02925415399994 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:310.64, Y:31.53, Z:13.91 [[ 9.38311140e-01 -3.35352850e-01 -8.43247870e-02 3.10641097e+02] [ 3.31354948e-01 9.41719306e-01 -5.80400422e-02 3.15314562e+01] [ 9.88741735e-02 2.65181827e-02 9.94746542e-01 1.39143157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.059254154 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:310.67, Y:31.51, Z:13.91 [[ 9.35718212e-01 -3.35652653e-01 -1.08483751e-01 3.10669568e+02] [ 3.37623399e-01 9.41281252e-01 -2.13727395e-04 3.15144270e+01] [ 1.02185459e-01 -3.64266640e-02 9.94098199e-01 1.39081753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.08925415399995 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:310.70, Y:31.55, Z:13.92 [[ 9.36560115e-01 -3.39707281e-01 -8.63372111e-02 3.10695694e+02] [ 3.36183616e-01 9.40306080e-01 -5.29627373e-02 3.15476534e+01] [ 9.91752320e-02 2.05776315e-02 9.94857193e-01 1.39197853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.119254154 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:310.73, Y:31.54, Z:13.92 [[ 9.36186871e-01 -3.38270234e-01 -9.55373802e-02 3.10726937e+02] [ 3.37491351e-01 9.41004749e-01 -2.46911105e-02 3.15433265e+01] [ 9.82533962e-02 -9.12754604e-03 9.95119570e-01 1.39164887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.14925415399995 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:310.75, Y:31.55, Z:13.92 [[ 9.34382273e-01 -3.40747140e-01 -1.04024780e-01 3.10748621e+02] [ 3.41702185e-01 9.39764690e-01 -9.05232393e-03 3.15472609e+01] [ 1.00843369e-01 -2.70871636e-02 9.94533509e-01 1.39206903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.179254154 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:310.77, Y:31.57, Z:13.93 [[ 9.34350514e-01 -3.42956492e-01 -9.67985579e-02 3.10769886e+02] [ 3.41610086e-01 9.39340966e-01 -3.06773489e-02 3.15658968e+01] [ 1.01447847e-01 -4.40396693e-03 9.94831111e-01 1.39287810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.20925415399995 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:310.80, Y:31.57, Z:13.93 [[ 9.34237322e-01 -3.43301546e-01 -9.66678570e-02 3.10796021e+02] [ 3.41959157e-01 9.39214830e-01 -3.06502698e-02 3.15747080e+01] [ 1.01314170e-01 -4.42183289e-03 9.94844654e-01 1.39316584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.239254154 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:310.83, Y:31.60, Z:13.93 [[ 9.36300282e-01 -3.41432334e-01 -8.22541385e-02 3.10825766e+02] [ 3.37464833e-01 9.39517567e-01 -5.85169037e-02 3.15950797e+01] [ 9.72587711e-02 2.70315143e-02 9.94891968e-01 1.39337085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.26925415399995 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:310.86, Y:31.58, Z:13.93 [[ 9.34438920e-01 -3.39815026e-01 -1.06534749e-01 3.10855218e+02] [ 3.41825299e-01 9.39763291e-01 6.49334239e-04 3.15790995e+01] [ 9.98967928e-02 -3.70230357e-02 9.94308768e-01 1.39292488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.299254154 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:310.88, Y:31.60, Z:13.94 [[ 9.34282166e-01 -3.43191747e-01 -9.66243180e-02 3.10876625e+02] [ 3.41842873e-01 9.39255328e-01 -3.07063198e-02 3.16026749e+01] [ 1.01293061e-01 -4.34196748e-03 9.94847156e-01 1.39398260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.32925415399995 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:310.90, Y:31.61, Z:13.94 [[ 9.34243412e-01 -3.43334587e-01 -9.64914897e-02 3.10902957e+02] [ 3.41987124e-01 9.39203212e-01 -3.06942059e-02 3.16119003e+01] [ 1.01163500e-01 -4.32298737e-03 9.94860421e-01 1.39426530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.359254154 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:310.93, Y:31.62, Z:13.95 [[ 9.34247029e-01 -3.43266774e-01 -9.66975251e-02 3.10928749e+02] [ 3.41910061e-01 9.39228122e-01 -3.07903295e-02 3.16209790e+01] [ 1.01390332e-01 -4.29608285e-03 9.94837446e-01 1.39450207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.38925415399996 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:310.95, Y:31.63, Z:13.95 [[ 9.34383175e-01 -3.42543114e-01 -9.79402709e-02 3.10954697e+02] [ 3.41145663e-01 9.39492463e-01 -3.12017266e-02 3.16298148e+01] [ 1.02702083e-01 -4.25753027e-03 9.94703049e-01 1.39464997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.419254154 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:310.98, Y:31.64, Z:13.95 [[ 9.34297697e-01 -3.43016853e-01 -9.70940345e-02 3.10979196e+02] [ 3.41316378e-01 9.39328422e-01 -3.41356989e-02 3.16413175e+01] [ 1.02912306e-01 -1.24687929e-03 9.94689651e-01 1.39505152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.44925415399996 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:311.01, Y:31.65, Z:13.95 [[ 9.34230331e-01 -3.42451740e-01 -9.97020236e-02 3.11007838e+02] [ 3.41290785e-01 9.39509913e-01 -2.90124643e-02 3.16475774e+01] [ 1.03606408e-01 -6.92305779e-03 9.94594281e-01 1.39504896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.479254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:311.03, Y:31.66, Z:13.95 [[ 9.33964316e-01 -3.43770293e-01 -9.76352517e-02 3.11032795e+02] [ 3.42380853e-01 9.39043876e-01 -3.11761286e-02 3.16580091e+01] [ 1.02401212e-01 -4.31104914e-03 9.94733837e-01 1.39549116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.50925415399996 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:311.06, Y:31.69, Z:13.95 [[ 9.37334750e-01 -3.41397550e-01 -6.96511302e-02 3.11064500e+02] [ 3.35908311e-01 9.38518758e-01 -7.96752603e-02 3.16896066e+01] [ 9.25698309e-02 5.12859966e-02 9.94384520e-01 1.39544827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.53925415399993 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:311.10, Y:31.65, Z:13.95 [[ 9.34136259e-01 -3.37423598e-01 -1.16339008e-01 3.11098530e+02] [ 3.42217458e-01 9.39328552e-01 2.34325161e-02 3.16522169e+01] [ 1.01373868e-01 -6.17024025e-02 9.92933106e-01 1.39469899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.56925415399996 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:311.11, Y:31.69, Z:13.96 [[ 9.34691358e-01 -3.41361028e-01 -9.91196917e-02 3.11114538e+02] [ 3.39908515e-01 9.39923547e-01 -3.17163720e-02 3.16896177e+01] [ 1.03991666e-01 -4.04660841e-03 9.94569936e-01 1.39635681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.59925415399994 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:311.14, Y:31.70, Z:13.97 [[ 9.35077175e-01 -3.40332875e-01 -9.90162103e-02 3.11139606e+02] [ 3.38874482e-01 9.40296937e-01 -3.17136621e-02 3.16992314e+01] [ 1.03897841e-01 -3.89934540e-03 9.94580330e-01 1.39662345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.62925415399997 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:311.17, Y:31.71, Z:13.97 [[ 9.35476486e-01 -3.39304667e-01 -9.87729062e-02 3.11166221e+02] [ 3.37846166e-01 9.40669014e-01 -3.16508109e-02 3.17090523e+01] [ 1.03651880e-01 -3.76145836e-03 9.94606525e-01 1.39688586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.65925415399994 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:311.19, Y:31.72, Z:13.97 [[ 9.36178647e-01 -3.37562352e-01 -9.80877151e-02 3.11192182e+02] [ 3.36111758e-01 9.41296596e-01 -3.14579895e-02 3.17194097e+01] [ 1.02948665e-01 -3.51813632e-03 9.94680449e-01 1.39716542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.68925415399997 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:311.22, Y:31.73, Z:13.97 [[ 9.36552107e-01 -3.36522479e-01 -9.80957248e-02 3.11217961e+02] [ 3.35064891e-01 9.41669316e-01 -3.14709176e-02 3.17284259e+01] [ 1.02964405e-01 -3.39427919e-03 9.94679250e-01 1.39732665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.71925415399994 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:311.24, Y:31.74, Z:13.98 [[ 9.36540138e-01 -3.37021283e-01 -9.64843223e-02 3.11244162e+02] [ 3.35612462e-01 9.41490967e-01 -3.09682671e-02 3.17384936e+01] [ 1.01276083e-01 -3.37831585e-03 9.94852623e-01 1.39772249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.74925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:311.27, Y:31.75, Z:13.98 [[ 9.36857376e-01 -3.36647438e-01 -9.46929720e-02 3.11270017e+02] [ 3.35286059e-01 9.41625156e-01 -3.04191403e-02 3.17493264e+01] [ 9.94058102e-02 -3.25083750e-03 9.95041666e-01 1.39807592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.77925415399994 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:311.30, Y:31.76, Z:13.98 [[ 9.37038819e-01 -3.36407466e-01 -9.37457640e-02 3.11299824e+02] [ 3.35071159e-01 9.41711143e-01 -3.01237728e-02 3.17596687e+01] [ 9.84152927e-02 -3.18435734e-03 9.95140337e-01 1.39838653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.809254154 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:311.33, Y:31.79, Z:13.99 [[ 9.39269722e-01 -3.35866935e-01 -7.04683716e-02 3.11329730e+02] [ 3.31478179e-01 9.41073970e-01 -6.70969502e-02 3.17861517e+01] [ 8.88515972e-02 3.96634063e-02 9.95254846e-01 1.39850112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.83925415399995 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:311.37, Y:31.76, Z:13.98 [[ 9.36780321e-01 -3.33164915e-01 -1.06975560e-01 3.11365693e+02] [ 3.36273567e-01 9.41688711e-01 1.19356272e-02 3.17597144e+01] [ 9.67611452e-02 -4.71541139e-02 9.94190007e-01 1.39787298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.869254154 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:311.39, Y:31.79, Z:13.99 [[ 9.36496654e-01 -3.37888633e-01 -9.38365019e-02 3.11386526e+02] [ 3.36556375e-01 9.41180186e-01 -3.01606259e-02 3.17894033e+01] [ 9.85079890e-02 -3.33594764e-03 9.95130669e-01 1.39928192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.89925415399995 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:311.41, Y:31.80, Z:14.00 [[ 9.36183903e-01 -3.38486830e-01 -9.47964479e-02 3.11414041e+02] [ 3.37130356e-01 9.40964857e-01 -3.04673770e-02 3.17997007e+01] [ 9.95129318e-02 -3.43569232e-03 9.95030337e-01 1.39951760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.929254154 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:311.44, Y:31.81, Z:14.00 [[ 9.35863831e-01 -3.39101465e-01 -9.57553511e-02 3.11443101e+02] [ 3.37720372e-01 9.40743164e-01 -3.07774290e-02 3.18101195e+01] [ 1.00517863e-01 -3.53505016e-03 9.94928974e-01 1.39981273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.95925415399995 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:311.47, Y:31.82, Z:14.00 [[ 9.35870119e-01 -3.39084100e-01 -9.57553820e-02 3.11472485e+02] [ 3.37702926e-01 9.40749430e-01 -3.07773328e-02 3.18195662e+01] [ 1.00517925e-01 -3.53328658e-03 9.94928974e-01 1.40010777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.989254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:311.50, Y:31.83, Z:14.00 [[ 9.35468427e-01 -3.39874144e-01 -9.68730559e-02 3.11499585e+02] [ 3.38464874e-01 9.40463796e-01 -3.11348158e-02 3.18298923e+01] [ 1.01687521e-01 -3.66248955e-03 9.94809647e-01 1.40032983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.01925415399995 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:311.53, Y:31.84, Z:14.01 [[ 9.35166406e-01 -3.40523589e-01 -9.75062987e-02 3.11526467e+02] [ 3.39098921e-01 9.40228479e-01 -3.13421486e-02 3.18391093e+01] [ 1.02350940e-01 -3.75415619e-03 9.94741269e-01 1.40060217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.049254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:311.55, Y:31.85, Z:14.01 [[ 9.35027442e-01 -3.40945786e-01 -9.73635182e-02 3.11551296e+02] [ 3.39010545e-01 9.40082508e-01 -3.62867587e-02 3.18501363e+01] [ 1.03901558e-01 9.21855727e-04 9.94587159e-01 1.40101648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.07925415399995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:311.58, Y:31.86, Z:14.01 [[ 9.34771440e-01 -3.41083499e-01 -9.93196979e-02 3.11580617e+02] [ 3.40062070e-01 9.39998898e-01 -2.75655506e-02 3.18574115e+01] [ 1.02762561e-01 -8.00737261e-03 9.94673684e-01 1.40103251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.109254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:311.61, Y:31.87, Z:14.01 [[ 9.35104391e-01 -3.40425156e-01 -9.84402960e-02 3.11609136e+02] [ 3.38963710e-01 9.40264337e-01 -3.17266418e-02 3.18695177e+01] [ 1.03360447e-01 -3.69996587e-03 9.94637084e-01 1.40128519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.13925415399996 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:311.63, Y:31.88, Z:14.02 [[ 9.35549964e-01 -3.40558709e-01 -9.36270834e-02 3.11631284e+02] [ 3.38168875e-01 9.40200746e-01 -4.07966702e-02 3.18844178e+01] [ 1.01921915e-01 6.50555788e-03 9.94771130e-01 1.40177190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.169254154 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:311.66, Y:31.89, Z:14.02 [[ 9.35795128e-01 -3.37721257e-01 -1.01152517e-01 3.11661363e+02] [ 3.37197325e-01 9.41158943e-01 -2.27554169e-02 3.18871789e+01] [ 1.02885584e-01 -1.28139499e-02 9.94610657e-01 1.40179643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.19925415399996 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:311.69, Y:31.92, Z:14.02 [[ 9.39559702e-01 -3.35167787e-01 -6.99294038e-02 3.11693876e+02] [ 3.29865662e-01 9.40848336e-01 -7.74148125e-02 3.19224672e+01] [ 9.17399146e-02 4.96685291e-02 9.94543526e-01 1.40220867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.229254154 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:311.72, Y:31.89, Z:14.01 [[ 9.36607955e-01 -3.30825512e-01 -1.15412390e-01 3.11722742e+02] [ 3.35378378e-01 9.41826877e-01 2.19880962e-02 3.18877868e+01] [ 1.01424268e-01 -5.93010459e-02 9.93074269e-01 1.40117599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.25925415399996 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:311.74, Y:31.93, Z:14.03 [[ 9.36575864e-01 -3.36638465e-01 -9.74689465e-02 3.11737606e+02] [ 3.34327874e-01 9.41623060e-01 -3.96344053e-02 3.19267870e+01] [ 1.05121473e-01 4.53404172e-03 9.94449053e-01 1.40324027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.28925415399993 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:311.77, Y:31.93, Z:14.03 [[ 9.36644205e-01 -3.35717877e-01 -9.99556929e-02 3.11767300e+02] [ 3.34965109e-01 9.41906031e-01 -2.47266040e-02 3.19299721e+01] [ 1.02450033e-01 -1.03216393e-02 9.94684601e-01 1.40309970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.31925415399996 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:311.80, Y:31.94, Z:14.04 [[ 9.36560369e-01 -3.36773771e-01 -9.71498965e-02 3.11796124e+02] [ 3.35314128e-01 9.41580494e-01 -3.14739413e-02 3.19437781e+01] [ 1.02074045e-01 -3.09848668e-03 9.94771978e-01 1.40362453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.34925415399994 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:311.83, Y:31.95, Z:14.04 [[ 9.35951649e-01 -3.38606884e-01 -9.66431021e-02 3.11825501e+02] [ 3.37172984e-01 9.40922189e-01 -3.13019817e-02 3.19546265e+01] [ 1.01532706e-01 -3.28830175e-03 9.94826767e-01 1.40393054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.37925415399997 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:311.85, Y:31.96, Z:14.04 [[ 9.35510712e-01 -3.39714648e-01 -9.70240443e-02 3.11854237e+02] [ 3.38275905e-01 9.40522308e-01 -3.14197542e-02 3.19647169e+01] [ 1.01927029e-01 -3.42737972e-03 9.94785974e-01 1.40420514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.40925415399994 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:311.88, Y:31.97, Z:14.04 [[ 9.35163193e-01 -3.40444284e-01 -9.78135593e-02 3.11882150e+02] [ 3.38985944e-01 9.40258044e-01 -3.16755517e-02 3.19744855e+01] [ 1.02753746e-01 -3.53561175e-03 9.94700541e-01 1.40448117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.43925415399997 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:311.91, Y:31.99, Z:14.05 [[ 9.34802270e-01 -3.41211534e-01 -9.85870380e-02 3.11912505e+02] [ 3.39734111e-01 9.39979459e-01 -3.19272669e-02 3.19857204e+01] [ 1.03563742e-01 -3.64769818e-03 9.94616130e-01 1.40484125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.46925415399994 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:311.94, Y:32.00, Z:14.05 [[ 9.34852280e-01 -3.41092405e-01 -9.85250490e-02 3.11941916e+02] [ 3.39617006e-01 9.40022725e-01 -3.18993003e-02 3.19959422e+01] [ 1.03496394e-01 -3.63964850e-03 9.94623170e-01 1.40514732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.49925415399997 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:311.97, Y:32.01, Z:14.05 [[ 9.35072791e-01 -3.40571185e-01 -9.82351417e-02 3.11969922e+02] [ 3.39102230e-01 9.40211930e-01 -3.17994369e-02 3.20067429e+01] [ 1.03191824e-01 -3.57696736e-03 9.94655042e-01 1.40546532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.52925415399994 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:312.00, Y:32.02, Z:14.06 [[ 9.35242710e-01 -3.40088158e-01 -9.82909848e-02 3.11999013e+02] [ 3.38615533e-01 9.40386927e-01 -3.18111431e-02 3.20169914e+01] [ 1.03250150e-01 -3.53171450e-03 9.94649151e-01 1.40578781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.559254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:312.03, Y:32.03, Z:14.06 [[ 9.35532841e-01 -3.39315074e-01 -9.82017471e-02 3.12029182e+02] [ 3.37841321e-01 9.40666464e-01 -3.17780543e-02 3.20274941e+01] [ 1.03157863e-01 -3.44719454e-03 9.94659023e-01 1.40607793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.58925415399995 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:312.06, Y:32.04, Z:14.06 [[ 9.35679279e-01 -3.38776490e-01 -9.86649705e-02 3.12059499e+02] [ 3.37286638e-01 9.40860696e-01 -3.19197986e-02 3.20384106e+01] [ 1.03643670e-01 -3.41168210e-03 9.94608642e-01 1.40640246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.619254154 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:312.09, Y:32.05, Z:14.07 [[ 9.36049657e-01 -3.37681450e-01 -9.89053980e-02 3.12088108e+02] [ 3.36179059e-01 9.41254646e-01 -3.19895673e-02 3.20496771e+01] [ 1.03897449e-01 -3.30610020e-03 9.94582520e-01 1.40669932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.64925415399995 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:312.12, Y:32.06, Z:14.07 [[ 9.36164913e-01 -3.37342150e-01 -9.89723660e-02 3.12118712e+02] [ 3.35836482e-01 9.41376406e-01 -3.20049952e-02 3.20602897e+01] [ 1.03966884e-01 -3.27657762e-03 9.94575362e-01 1.40701328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.679254154 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:312.15, Y:32.07, Z:14.07 [[ 9.36125206e-01 -3.37415270e-01 -9.90986132e-02 3.12148192e+02] [ 3.35906991e-01 9.41350131e-01 -3.20378627e-02 3.20708491e+01] [ 1.04096557e-01 -3.29646615e-03 9.94561733e-01 1.40729831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.70925415399995 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:312.18, Y:32.08, Z:14.08 [[ 9.36100952e-01 -3.37569533e-01 -9.88019129e-02 3.12178191e+02] [ 3.36071789e-01 9.41294777e-01 -3.19357929e-02 3.20811508e+01] [ 1.03782275e-01 -3.30940948e-03 9.94594534e-01 1.40760499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.739254154 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:312.20, Y:32.09, Z:14.08 [[ 9.35893822e-01 -3.38120152e-01 -9.88813285e-02 3.12202048e+02] [ 3.36037771e-01 9.41101067e-01 -3.75152930e-02 3.20922781e+01] [ 1.05742000e-01 1.88246976e-03 9.94391817e-01 1.40805421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.76925415399995 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:312.23, Y:32.10, Z:14.08 [[ 9.35440759e-01 -3.38770007e-01 -1.00923085e-01 3.12231021e+02] [ 3.37750332e-01 9.40832467e-01 -2.75496452e-02 3.20978532e+01] [ 1.04284709e-01 -8.31574450e-03 9.94512719e-01 1.40802976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.799254154 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:312.26, Y:32.11, Z:14.08 [[ 9.35326029e-01 -3.39640827e-01 -9.90420521e-02 3.12260357e+02] [ 3.38144807e-01 9.40548607e-01 -3.20375793e-02 3.21099915e+01] [ 1.04035134e-01 -3.52497381e-03 9.94567376e-01 1.40847683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.82925415399995 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:312.29, Y:32.12, Z:14.09 [[ 9.35089558e-01 -3.40261365e-01 -9.91449553e-02 3.12291827e+02] [ 3.38766592e-01 9.40323988e-01 -3.20623540e-02 3.21205878e+01] [ 1.04137960e-01 -3.60582624e-03 9.94556325e-01 1.40879518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.859254154 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:312.32, Y:32.13, Z:14.09 [[ 9.34851545e-01 -3.40850372e-01 -9.93660518e-02 3.12322241e+02] [ 3.39353514e-01 9.40110312e-01 -3.21215558e-02 3.21308949e+01] [ 1.04363694e-01 -3.69133280e-03 9.94532349e-01 1.40913001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.88925415399996 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:312.35, Y:32.14, Z:14.09 [[ 9.34660427e-01 -3.41480350e-01 -9.90002912e-02 3.12352418e+02] [ 3.39999085e-01 9.39881404e-01 -3.19932492e-02 3.21407622e+01] [ 1.03973599e-01 -3.75718446e-03 9.94572961e-01 1.40939166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.919254154 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:312.38, Y:32.15, Z:14.10 [[ 9.34287331e-01 -3.42550316e-01 -9.88254210e-02 3.12381856e+02] [ 3.41081079e-01 9.39491485e-01 -3.19287689e-02 3.21502504e+01] [ 1.03782851e-01 -3.87683696e-03 9.94592424e-01 1.40963769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.94925415399996 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:312.41, Y:32.16, Z:14.10 [[ 9.34273176e-01 -3.42576500e-01 -9.88684705e-02 3.12412790e+02] [ 3.41106808e-01 9.39481893e-01 -3.19361533e-02 3.21604444e+01] [ 1.03825713e-01 -3.88761694e-03 9.94587908e-01 1.40997151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.979254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:312.44, Y:32.17, Z:14.10 [[ 9.34421330e-01 -3.42145583e-01 -9.89604895e-02 3.12442671e+02] [ 3.40672021e-01 9.39639048e-01 -3.19536265e-02 3.21702896e+01] [ 1.03919932e-01 -3.85491977e-03 9.94578196e-01 1.41026733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.00925415399996 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:312.47, Y:32.18, Z:14.11 [[ 9.35229687e-01 -3.39970008e-01 -9.88221992e-02 3.12472621e+02] [ 3.38489518e-01 9.40429321e-01 -3.18988821e-02 3.21810082e+01] [ 1.03779957e-01 -3.61749709e-03 9.94593703e-01 1.41057279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.03925415399993 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:312.50, Y:32.19, Z:14.11 [[ 9.35894709e-01 -3.38083928e-01 -9.89967205e-02 3.12502605e+02] [ 3.36588528e-01 9.41109742e-01 -3.19470801e-02 3.21914750e+01] [ 1.03967572e-01 -3.42205722e-03 9.94574800e-01 1.41087995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.06925415399996 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:312.53, Y:32.20, Z:14.11 [[ 9.36773691e-01 -3.35699222e-01 -9.87981972e-02 3.12532383e+02] [ 3.34197441e-01 9.41963936e-01 -3.18749655e-02 3.22021355e+01] [ 1.03764740e-01 -3.15847565e-03 9.94596854e-01 1.41124212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.09925415399994 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:312.56, Y:32.21, Z:14.12 [[ 9.38997891e-01 -3.29731848e-01 -9.77745858e-02 3.12561107e+02] [ 3.28229581e-01 9.44071375e-01 -3.15369760e-02 3.22137387e+01] [ 1.02704933e-01 -2.47935740e-03 9.94708776e-01 1.41157859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.12925415399997 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:312.59, Y:32.22, Z:14.12 [[ 9.40197681e-01 -3.26468242e-01 -9.71946855e-02 3.12591636e+02] [ 3.24966988e-01 9.45205804e-01 -3.13439796e-02 3.22242595e+01] [ 1.02101795e-01 -2.11552726e-03 9.94771707e-01 1.41190714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.15925415399994 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:312.62, Y:32.23, Z:14.12 [[ 9.41146604e-01 -3.23664948e-01 -9.73861948e-02 3.12622415e+02] [ 3.22143581e-01 9.46170006e-01 -3.13979705e-02 3.22348775e+01] [ 1.02306319e-01 -1.82224421e-03 9.94751274e-01 1.41219430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.18925415399997 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:312.65, Y:32.25, Z:14.12 [[ 9.42601284e-01 -3.19230105e-01 -9.79538650e-02 3.12652283e+02] [ 3.17667799e-01 9.47676264e-01 -3.15732096e-02 3.22456641e+01] [ 1.02907672e-01 -1.35584085e-03 9.94689988e-01 1.41248487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.21925415399994 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:312.68, Y:32.26, Z:14.13 [[ 9.42629587e-01 -3.19145817e-01 -9.79561589e-02 3.12683281e+02] [ 3.17583797e-01 9.47704655e-01 -3.15660915e-02 3.22555869e+01] [ 1.02907694e-01 -1.35415705e-03 9.94689988e-01 1.41279959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.24925415399997 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:312.71, Y:32.24, Z:14.13 [[ 9.38849599e-01 -3.18118430e-01 -1.31765300e-01 3.12710602e+02] [ 3.24728416e-01 9.45280206e-01 3.15719539e-02 3.22403823e+01] [ 1.14511509e-01 -7.24292533e-02 9.90778036e-01 1.41274733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.27925415399994 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:312.73, Y:32.31, Z:14.16 [[ 9.43334970e-01 -3.22950134e-01 -7.63042894e-02 3.12729516e+02] [ 3.14757328e-01 9.43621606e-01 -1.02499212e-01 3.23067982e+01] [ 1.05104510e-01 7.26737567e-02 9.91802181e-01 1.41574776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.309254154 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:312.77, Y:32.28, Z:14.14 [[ 9.43009171e-01 -3.17409112e-01 -9.99257673e-02 3.12772877e+02] [ 3.15775362e-01 9.48287936e-01 -3.21855800e-02 3.22842087e+01] [ 1.04974396e-01 -1.20279822e-03 9.94474197e-01 1.41358851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.33925415399995 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:312.80, Y:32.28, Z:14.14 [[ 9.40108884e-01 -3.18228996e-01 -1.22170343e-01 3.12799519e+02] [ 3.21634613e-01 9.46823751e-01 8.71557819e-03 3.22776517e+01] [ 1.12900233e-01 -4.74878035e-02 9.92470879e-01 1.41388113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.369254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:312.82, Y:32.32, Z:14.16 [[ 9.42223236e-01 -3.23693847e-01 -8.62419122e-02 3.12821151e+02] [ 3.17478042e-01 9.45018883e-01 -7.84028272e-02 3.23231007e+01] [ 1.06878748e-01 4.64930521e-02 9.93184439e-01 1.41570950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.39925415399995 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:312.86, Y:32.31, Z:14.15 [[ 9.41124971e-01 -3.22638440e-01 -1.00936747e-01 3.12860359e+02] [ 3.20999991e-01 9.46520589e-01 -3.25235236e-02 3.23109824e+01] [ 1.06032048e-01 -1.79199459e-03 9.94361098e-01 1.41458403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.429254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:312.88, Y:32.31, Z:14.15 [[ 9.39155433e-01 -3.24146579e-01 -1.13648883e-01 3.12884693e+02] [ 3.25512561e-01 9.45512941e-01 -6.84472339e-03 3.23091769e+01] [ 1.09675183e-01 -3.05658797e-02 9.93497399e-01 1.41483214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.45925415399995 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:312.91, Y:32.34, Z:14.16 [[ 9.39684692e-01 -3.29451970e-01 -9.19460651e-02 3.12909269e+02] [ 3.24891735e-01 9.43766899e-01 -6.12323541e-02 3.23405383e+01] [ 1.06948772e-01 2.76665891e-02 9.93879530e-01 1.41612843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.489254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:312.94, Y:32.34, Z:14.15 [[ 9.39057490e-01 -3.28568466e-01 -1.01063312e-01 3.12944923e+02] [ 3.26955359e-01 9.44477049e-01 -3.26082349e-02 3.23358541e+01] [ 1.06166017e-01 -2.42218426e-03 9.94345468e-01 1.41545911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.51925415399995 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:312.97, Y:32.34, Z:14.16 [[ 9.37669989e-01 -3.32239631e-01 -1.01940271e-01 3.12974550e+02] [ 3.30620341e-01 9.43190656e-01 -3.28873320e-02 3.23433070e+01] [ 1.07075586e-01 -2.86606288e-03 9.94246752e-01 1.41571062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.549254154 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:313.00, Y:32.35, Z:14.16 [[ 9.37080962e-01 -3.34016852e-01 -1.01548079e-01 3.13003967e+02] [ 3.32420608e-01 9.42562139e-01 -3.27590178e-02 3.23517375e+01] [ 1.06657438e-01 -3.05882223e-03 9.94291122e-01 1.41601395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.57925415399995 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:313.03, Y:32.36, Z:14.16 [[ 9.36417037e-01 -3.35974681e-01 -1.01213372e-01 3.13032699e+02] [ 3.34400350e-01 9.41865338e-01 -3.26510427e-02 3.23603533e+01] [ 1.06299291e-01 -3.27079439e-03 9.94328800e-01 1.41636403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.609254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:313.07, Y:32.37, Z:14.17 [[ 9.35064966e-01 -3.38493319e-01 -1.05241546e-01 3.13065232e+02] [ 3.37758861e-01 9.40893348e-01 -2.52717152e-02 3.23656016e+01] [ 1.07575377e-01 -1.19155692e-02 9.94125524e-01 1.41673021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.63925415399996 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:313.09, Y:32.38, Z:14.17 [[ 9.34759289e-01 -3.41207922e-01 -9.90061900e-02 3.13091278e+02] [ 3.38842469e-01 9.39978718e-01 -4.03211077e-02 3.23814910e+01] [ 1.06821593e-01 4.14302809e-03 9.94269572e-01 1.41716012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.669254154 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:313.12, Y:32.39, Z:14.17 [[ 9.34252771e-01 -3.42050076e-01 -1.00863793e-01 3.13118392e+02] [ 3.40522563e-01 9.39673406e-01 -3.25311203e-02 3.23857817e+01] [ 1.05906296e-01 -3.95410806e-03 9.94368252e-01 1.41720923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.69925415399996 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:313.15, Y:32.39, Z:14.17 [[ 9.33321269e-01 -3.44741805e-01 -1.00321961e-01 3.13145219e+02] [ 3.43243772e-01 9.38688085e-01 -3.23788756e-02 3.23937031e+01] [ 1.05333381e-01 -4.21499496e-03 9.94428033e-01 1.41744647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.729254154 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:313.17, Y:32.40, Z:14.18 [[ 9.33007410e-01 -3.45649740e-01 -1.00117083e-01 3.13172087e+02] [ 3.44159817e-01 9.38353846e-01 -3.23431597e-02 3.24021052e+01] [ 1.05124655e-01 -4.27986934e-03 9.94449843e-01 1.41772602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.75925415399996 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:313.20, Y:32.43, Z:14.18 [[ 9.35208338e-01 -3.45694037e-01 -7.66876619e-02 3.13204601e+02] [ 3.40711581e-01 9.37482252e-01 -7.10115911e-02 3.24297297e+01] [ 9.64416056e-02 4.02822575e-02 9.94523180e-01 1.41812916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.78925415399993 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:313.24, Y:32.40, Z:14.17 [[ 9.32793184e-01 -3.41703949e-01 -1.14609282e-01 3.13241153e+02] [ 3.45184141e-01 9.38465586e-01 1.14128366e-02 3.24009717e+01] [ 1.03657056e-01 -5.02071227e-02 9.93345086e-01 1.41697674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.81925415399996 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:313.26, Y:32.43, Z:14.19 [[ 9.32883860e-01 -3.45783151e-01 -1.00805335e-01 3.13262596e+02] [ 3.44271476e-01 9.38304565e-01 -3.25836450e-02 3.24315684e+01] [ 1.05852982e-01 -4.30764509e-03 9.94372461e-01 1.41862298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.84925415399994 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:313.29, Y:32.44, Z:14.19 [[ 9.33622238e-01 -3.43650813e-01 -1.01260231e-01 3.13290490e+02] [ 3.42114249e-01 9.39088570e-01 -3.27184722e-02 3.24414410e+01] [ 1.06336055e-01 -4.09587458e-03 9.94321813e-01 1.41884359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.87925415399997 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:313.32, Y:32.45, Z:14.19 [[ 9.34261207e-01 -3.41958534e-01 -1.01095789e-01 3.13318712e+02] [ 3.40416677e-01 9.39706978e-01 -3.26692571e-02 3.24510894e+01] [ 1.06171950e-01 -3.89307307e-03 9.94340164e-01 1.41910954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.90925415399994 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:313.35, Y:32.46, Z:14.19 [[ 9.35142906e-01 -3.39476101e-01 -1.01310033e-01 3.13348702e+02] [ 3.37912832e-01 9.40607730e-01 -3.27416475e-02 3.24613407e+01] [ 1.06408007e-01 -3.61584071e-03 9.94315977e-01 1.41927444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.93925415399997 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:313.38, Y:32.47, Z:14.20 [[ 9.37076098e-01 -3.34219312e-01 -1.00924910e-01 3.13378245e+02] [ 3.32637964e-01 9.42490524e-01 -3.26128518e-02 3.24732543e+01] [ 1.06020616e-01 -3.01073253e-03 9.94359374e-01 1.41964760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.96925415399994 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:313.41, Y:32.48, Z:14.20 [[ 9.38228439e-01 -3.30905659e-01 -1.01137738e-01 3.13407060e+02] [ 3.29299265e-01 9.43660122e-01 -3.26736489e-02 3.24840269e+01] [ 1.06251546e-01 -2.64923638e-03 9.94335753e-01 1.41995053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.99925415399997 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:313.44, Y:32.50, Z:14.20 [[ 9.39532439e-01 -3.27164816e-01 -1.01202661e-01 3.13437591e+02] [ 3.25535370e-01 9.44964653e-01 -3.26883333e-02 3.24951924e+01] [ 1.06327410e-01 -2.23329616e-03 9.94328665e-01 1.42027631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.02925415399994 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:313.47, Y:32.51, Z:14.21 [[ 9.42047084e-01 -3.19894423e-01 -1.01068538e-01 3.13466878e+02] [ 3.18228370e-01 9.47452135e-01 -3.26367236e-02 3.25074757e+01] [ 1.06197908e-01 -1.41754579e-03 9.94344002e-01 1.42054861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.059254154 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:313.50, Y:32.52, Z:14.21 [[ 9.43325326e-01 -3.16101777e-01 -1.01079160e-01 3.13497513e+02] [ 3.14414520e-01 9.48724760e-01 -3.26318807e-02 3.25182101e+01] [ 1.06211297e-01 -9.98275985e-04 9.94343082e-01 1.42086983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.08925415399995 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:313.53, Y:32.53, Z:14.21 [[ 9.44356312e-01 -3.12917434e-01 -1.01359931e-01 3.13526912e+02] [ 3.11203320e-01 9.49780110e-01 -3.27144627e-02 3.25283918e+01] [ 1.06506572e-01 -6.49437728e-04 9.94311786e-01 1.42118365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.119254154 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:313.56, Y:32.54, Z:14.21 [[ 9.46384083e-01 -3.06662049e-01 -1.01565519e-01 3.13557102e+02] [ 3.04905640e-01 9.51818462e-01 -3.27744681e-02 3.25381820e+01] [ 1.06722622e-01 4.93352363e-05 9.94288831e-01 1.42132642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.14925415399995 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:313.59, Y:32.55, Z:14.22 [[ 9.47047811e-01 -3.04814921e-01 -1.00937150e-01 3.13587280e+02] [ 3.03070631e-01 9.52411572e-01 -3.25636312e-02 3.25483349e+01] [ 1.06059591e-01 2.48229758e-04 9.94359745e-01 1.42175761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.179254154 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:313.61, Y:32.57, Z:14.22 [[ 9.48738298e-01 -3.05196722e-01 -8.21620489e-02 3.13609646e+02] [ 3.00533376e-01 9.51591464e-01 -6.44466838e-02 3.25742287e+01] [ 9.78536210e-02 3.64505992e-02 9.94533068e-01 1.42209656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.20925415399995 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:313.65, Y:32.57, Z:14.21 [[ 9.49297607e-01 -2.99984114e-01 -9.40403335e-02 3.13646974e+02] [ 2.98434437e-01 9.53943814e-01 -3.04645115e-02 3.25671616e+01] [ 9.88480639e-02 8.55013928e-04 9.95102170e-01 1.42132157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.239254154 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:313.68, Y:32.56, Z:14.22 [[ 9.48784090e-01 -2.95361785e-01 -1.12116756e-01 3.13682895e+02] [ 2.97294610e-01 9.54785639e-01 5.45904161e-04 3.25592248e+01] [ 1.06886230e-01 -3.38496526e-02 9.93694890e-01 1.42164837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.26925415399995 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:313.71, Y:32.58, Z:14.23 [[ 9.49165682e-01 -2.98071823e-01 -1.01181499e-01 3.13707050e+02] [ 2.96284938e-01 9.54542955e-01 -3.26034270e-02 3.25841453e+01] [ 1.06300250e-01 9.67499775e-04 9.94333606e-01 1.42297787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.299254154 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:313.74, Y:32.59, Z:14.23 [[ 9.49383087e-01 -2.97430507e-01 -1.01028941e-01 3.13738046e+02] [ 2.95646277e-01 9.54742914e-01 -3.25460659e-02 3.25929764e+01] [ 1.06136858e-01 1.02985435e-03 9.94350998e-01 1.42325642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.32925415399995 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:313.77, Y:32.60, Z:14.24 [[ 9.49390867e-01 -2.97543211e-01 -1.00623154e-01 3.13768092e+02] [ 2.95774866e-01 9.54707823e-01 -3.24068015e-02 3.26018214e+01] [ 1.05708136e-01 1.00492134e-03 9.94396691e-01 1.42361622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.359254154 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:313.80, Y:32.61, Z:14.24 [[ 9.49384762e-01 -2.97706178e-01 -1.00197831e-01 3.13798407e+02] [ 2.95955008e-01 9.54657053e-01 -3.22574535e-02 3.26082736e+01] [ 1.05257809e-01 9.70685023e-04 9.94444494e-01 1.42384479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.38925415399996 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:313.83, Y:32.62, Z:14.24 [[ 9.49023409e-01 -2.99085407e-01 -9.95112459e-02 3.13829427e+02] [ 2.97366419e-01 9.54226005e-01 -3.20303534e-02 3.26171759e+01] [ 1.04536030e-01 8.06252325e-04 9.94520773e-01 1.42425404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.419254154 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:313.86, Y:32.63, Z:14.25 [[ 9.48897998e-01 -2.99652313e-01 -9.90004031e-02 3.13860272e+02] [ 2.97954890e-01 9.54048193e-01 -3.18579426e-02 3.26254501e+01] [ 1.03997462e-01 7.32283735e-04 9.94577293e-01 1.42456784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.44925415399996 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:313.89, Y:32.63, Z:14.25 [[ 9.48992979e-01 -2.99462824e-01 -9.86627741e-02 3.13890966e+02] [ 2.97776830e-01 9.54107680e-01 -3.17410494e-02 3.26329382e+01] [ 1.03640175e-01 7.42544978e-04 9.94614580e-01 1.42479838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.479254154 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:313.92, Y:32.64, Z:14.25 [[ 9.48826999e-01 -3.00053036e-01 -9.84657421e-02 3.13921080e+02] [ 2.98378210e-01 9.53922289e-01 -3.16656088e-02 3.26389384e+01] [ 1.03430028e-01 6.65152704e-04 9.94636510e-01 1.42506650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.50925415399996 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:313.95, Y:32.65, Z:14.26 [[ 9.48459332e-01 -3.01505992e-01 -9.75655265e-02 3.13951313e+02] [ 2.99870055e-01 9.53464153e-01 -3.13697196e-02 3.26478082e+01] [ 1.02483391e-01 4.95923533e-04 9.94734592e-01 1.42550205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.53925415399993 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:313.98, Y:32.66, Z:14.26 [[ 9.48397204e-01 -3.01806361e-01 -9.72402340e-02 3.13982684e+02] [ 3.00183734e-01 9.53369138e-01 -3.12571866e-02 3.26557576e+01] [ 1.02139456e-01 4.54291891e-04 9.94769986e-01 1.42580029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.56925415399996 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:314.01, Y:32.66, Z:14.26 [[ 9.47910254e-01 -3.03392800e-01 -9.70513251e-02 3.14014526e+02] [ 3.01785584e-01 9.52865538e-01 -3.11885919e-02 3.26615488e+01] [ 1.01939257e-01 2.75295228e-04 9.94790587e-01 1.42604364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.59925415399994 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:314.05, Y:32.67, Z:14.26 [[ 9.47655566e-01 -3.04091105e-01 -9.73525969e-02 3.14045294e+02] [ 3.02478338e-01 9.52642935e-01 -3.12776665e-02 3.26686668e+01] [ 1.02253524e-01 1.93403008e-04 9.94758352e-01 1.42623840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.62925415399997 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:314.08, Y:32.68, Z:14.26 [[ 9.47322512e-01 -3.05035820e-01 -9.76381389e-02 3.14075096e+02] [ 3.03418952e-01 9.52340874e-01 -3.13655679e-02 3.26754828e+01] [ 1.02552412e-01 8.80468532e-05 9.94727598e-01 1.42643198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.65925415399994 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:314.11, Y:32.68, Z:14.27 [[ 9.46013826e-01 -3.08959204e-01 -9.79900597e-02 3.14106191e+02] [ 3.07351806e-01 9.51075231e-01 -3.14765481e-02 3.26815787e+01] [ 1.02920888e-01 -3.40172106e-04 9.94689487e-01 1.42687180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.68925415399997 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:314.13, Y:32.69, Z:14.27 [[ 9.45473405e-01 -3.10661518e-01 -9.78236291e-02 3.14134621e+02] [ 3.09069061e-01 9.50520459e-01 -3.14193133e-02 3.26882916e+01] [ 1.02744132e-01 -5.28132095e-04 9.94707678e-01 1.42710502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.71925415399994 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:314.16, Y:32.69, Z:14.27 [[ 9.45097194e-01 -3.11736145e-01 -9.80401420e-02 3.14164110e+02] [ 3.10142419e-01 9.50168489e-01 -3.14884454e-02 3.26948329e+01] [ 1.02970740e-01 -6.46765356e-04 9.94684175e-01 1.42729238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.74925415399997 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:314.19, Y:32.70, Z:14.28 [[ 9.43486125e-01 -3.16647270e-01 -9.78183965e-02 3.14192386e+02] [ 3.15087008e-01 9.48542627e-01 -3.14175346e-02 3.27002208e+01] [ 1.02733195e-01 -1.17929785e-03 9.94708249e-01 1.42766242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.77925415399994 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:314.22, Y:32.71, Z:14.28 [[ 9.42606160e-01 -3.19246672e-01 -9.78529010e-02 3.14220541e+02] [ 3.17698533e-01 9.47670534e-01 -3.14356546e-02 3.27069674e+01] [ 1.02768039e-01 -1.45628147e-03 9.94704282e-01 1.42791565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.809254154 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:314.26, Y:32.73, Z:14.28 [[ 9.44970160e-01 -3.18687941e-01 -7.39553430e-02 3.14256851e+02] [ 3.13823778e-01 9.46871706e-01 -7.03463485e-02 3.27301183e+01] [ 9.24447547e-02 4.32662550e-02 9.94777361e-01 1.42807938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.83925415399995 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:314.29, Y:32.70, Z:14.27 [[ 9.40191426e-01 -3.21261068e-01 -1.13275812e-01 3.14286854e+02] [ 3.24845325e-01 9.45659946e-01 1.42401559e-02 3.26959057e+01] [ 1.02545591e-01 -5.01855905e-02 9.93461528e-01 1.42715669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.869254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:314.31, Y:32.73, Z:14.29 [[ 9.40089703e-01 -3.26365742e-01 -9.85735902e-02 3.14305312e+02] [ 3.24823668e-01 9.45241101e-01 -3.17623308e-02 3.27268895e+01] [ 1.03541946e-01 -2.15959500e-03 9.94622743e-01 1.42866271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.89925415399995 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:314.33, Y:32.73, Z:14.29 [[ 9.38053762e-01 -3.32305216e-01 -9.81243249e-02 3.14332529e+02] [ 3.30806523e-01 9.43167826e-01 -3.16464283e-02 3.27319697e+01] [ 1.03063979e-01 -2.77411566e-03 9.94670860e-01 1.42899631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.929254154 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:314.36, Y:32.74, Z:14.29 [[ 9.36936601e-01 -3.35477651e-01 -9.80028096e-02 3.14360191e+02] [ 3.33996699e-01 9.42043100e-01 -3.16386314e-02 3.27388773e+01] [ 1.02936924e-01 -3.08922314e-03 9.94683088e-01 1.42922418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.95925415399995 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:314.39, Y:32.75, Z:14.29 [[ 9.35869342e-01 -3.38361044e-01 -9.82872284e-02 3.14386160e+02] [ 3.36884411e-01 9.41010262e-01 -3.17581672e-02 3.27451800e+01] [ 1.03235017e-01 -3.38993998e-03 9.94651215e-01 1.42946216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.989254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:314.41, Y:32.75, Z:14.30 [[ 9.33125831e-01 -3.45827049e-01 -9.83861568e-02 3.14413599e+02] [ 3.44387071e-01 9.38288854e-01 -3.18052260e-02 3.27501327e+01] [ 1.03313742e-01 -4.20464238e-03 9.94639931e-01 1.42967259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.01925415399995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:314.44, Y:32.76, Z:14.30 [[ 9.31691842e-01 -3.49540548e-01 -9.88519957e-02 3.14439387e+02] [ 3.48104317e-01 9.36909905e-01 -3.19877173e-02 3.27567657e+01] [ 1.03796418e-01 -4.60811116e-03 9.94587889e-01 1.42993588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.049254154 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:314.47, Y:32.76, Z:14.30 [[ 9.30147863e-01 -3.53648372e-01 -9.87814804e-02 3.14466119e+02] [ 3.52235605e-01 9.35364820e-01 -3.19801920e-02 3.27638231e+01] [ 1.03706464e-01 -5.04804723e-03 9.94595137e-01 1.43019062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.07925415399995 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:314.49, Y:32.77, Z:14.30 [[ 9.27442296e-01 -3.60916286e-01 -9.79296777e-02 3.14492811e+02] [ 3.59564712e-01 9.32580314e-01 -3.17360500e-02 3.27692205e+01] [ 1.02781347e-01 -5.77870124e-03 9.94687188e-01 1.43041908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.109254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:314.52, Y:32.78, Z:14.31 [[ 9.27344218e-01 -3.61170051e-01 -9.79229027e-02 3.14519684e+02] [ 3.59817685e-01 9.32482027e-01 -3.17569411e-02 3.27780319e+01] [ 1.02781003e-01 -5.78477637e-03 9.94687188e-01 1.43069759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.13925415399996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:314.55, Y:32.79, Z:14.31 [[ 9.25864092e-01 -3.64976027e-01 -9.78170894e-02 3.14546549e+02] [ 3.63644600e-01 9.30996456e-01 -3.17522331e-02 3.27860693e+01] [ 1.02656167e-01 -6.17240390e-03 9.94697749e-01 1.43098504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.169254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:314.58, Y:32.80, Z:14.31 [[ 9.26797266e-01 -3.65575743e-01 -8.60302461e-02 3.14579408e+02] [ 3.62560668e-01 9.30673598e-01 -4.89532005e-02 3.28006511e+01] [ 9.79621813e-02 1.41785089e-02 9.95089132e-01 1.43116440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.19925415399996 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:314.61, Y:32.79, Z:14.31 [[ 9.23146300e-01 -3.69617315e-01 -1.05754194e-01 3.14605912e+02] [ 3.70601073e-01 9.28727937e-01 -1.09207748e-02 3.27938899e+01] [ 1.02253382e-01 -2.91111450e-02 9.94332332e-01 1.43105245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.229254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:314.63, Y:32.81, Z:14.32 [[ 9.22656270e-01 -3.72639895e-01 -9.92215462e-02 3.14628451e+02] [ 3.71305269e-01 9.27949250e-01 -3.22891189e-02 3.28131426e+01] [ 1.04104773e-01 -7.04972489e-03 9.94541350e-01 1.43188080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.25925415399996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:314.66, Y:32.83, Z:14.32 [[ 9.24314566e-01 -3.70335927e-01 -9.21622726e-02 3.14660573e+02] [ 3.68098941e-01 9.28890096e-01 -4.08210582e-02 3.28254875e+01] [ 1.00726127e-01 3.80666376e-03 9.94906909e-01 1.43202996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.28925415399993 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:314.68, Y:32.83, Z:14.32 [[ 9.23310947e-01 -3.70086533e-01 -1.02629691e-01 3.14684942e+02] [ 3.69968850e-01 9.28809354e-01 -2.08861992e-02 3.28268546e+01] [ 1.03053118e-01 -1.86853323e-02 9.94500333e-01 1.43210016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.31925415399996 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:314.71, Y:32.84, Z:14.33 [[ 9.24679594e-01 -3.68441546e-01 -9.60128941e-02 3.14713577e+02] [ 3.66929855e-01 9.29641606e-01 -3.36000791e-02 3.28411711e+01] [ 1.01637246e-01 -4.16068978e-03 9.94812826e-01 1.43261431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.34925415399994 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:314.74, Y:32.85, Z:14.33 [[ 9.24406624e-01 -3.68221304e-01 -9.94256711e-02 3.14735454e+02] [ 3.67217208e-01 9.29686467e-01 -2.88893627e-02 3.28495644e+01] [ 1.03072380e-01 -9.80529907e-03 9.94625528e-01 1.43287652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.37925415399997 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:314.76, Y:32.86, Z:14.33 [[ 9.25118644e-01 -3.66613878e-01 -9.87408663e-02 3.14761214e+02] [ 3.65244261e-01 9.30352420e-01 -3.22645917e-02 3.28608538e+01] [ 1.03692451e-01 -6.21595935e-03 9.94589985e-01 1.43321382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.40925415399994 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:314.79, Y:32.87, Z:14.34 [[ 9.25743828e-01 -3.65001608e-01 -9.88543878e-02 3.14786842e+02] [ 3.63616263e-01 9.30987480e-01 -3.23345878e-02 3.28712189e+01] [ 1.03834374e-01 -6.01151801e-03 9.94576435e-01 1.43356695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.43925415399997 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:314.81, Y:32.88, Z:14.34 [[ 9.27561708e-01 -3.60384628e-01 -9.87532143e-02 3.14812355e+02] [ 3.58972657e-01 9.32787828e-01 -3.23341727e-02 3.28838200e+01] [ 1.03768535e-01 -5.45776325e-03 9.94586499e-01 1.43392014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.46925415399994 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:314.84, Y:32.89, Z:14.34 [[ 9.28563772e-01 -3.57783565e-01 -9.87939361e-02 3.14837840e+02] [ 3.56352315e-01 9.33790406e-01 -3.23806310e-02 3.28941422e+01] [ 1.03838087e-01 -5.13796699e-03 9.94580943e-01 1.43417311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.49925415399997 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:314.86, Y:32.91, Z:14.35 [[ 9.29350179e-01 -3.55672933e-01 -9.90202482e-02 3.14864734e+02] [ 3.54219741e-01 9.34597735e-01 -3.24876752e-02 3.29052382e+01] [ 1.04099086e-01 -4.88249991e-03 9.94554946e-01 1.43454070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.52925415399994 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:314.89, Y:32.92, Z:14.35 [[ 9.30225083e-01 -3.53253599e-01 -9.94645157e-02 3.14890932e+02] [ 3.51770467e-01 9.35516268e-01 -3.26626695e-02 3.29156452e+01] [ 1.04588878e-01 -4.60504470e-03 9.94504882e-01 1.43482750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.559254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:314.92, Y:32.93, Z:14.35 [[ 9.31995969e-01 -3.48091160e-01 -1.01074514e-01 3.14916514e+02] [ 3.46526167e-01 9.37451881e-01 -3.32202665e-02 3.29273312e+01] [ 1.06316174e-01 -4.06380932e-03 9.94324070e-01 1.43506453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.58925415399995 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:314.94, Y:32.94, Z:14.35 [[ 9.33744139e-01 -3.43309067e-01 -1.01295443e-01 3.14942319e+02] [ 3.41707333e-01 9.39215928e-01 -3.33097392e-02 3.29406135e+01] [ 1.06573829e-01 -3.51062189e-03 9.94298594e-01 1.43545536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.619254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:314.97, Y:32.95, Z:14.36 [[ 9.34840521e-01 -3.40313496e-01 -1.01291290e-01 3.14967812e+02] [ 3.38691384e-01 9.40306785e-01 -3.33361307e-02 3.29511859e+01] [ 1.06589623e-01 -3.14252155e-03 9.94298133e-01 1.43574862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.64925415399995 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:315.00, Y:32.96, Z:14.36 [[ 9.35942874e-01 -3.37233836e-01 -1.01411418e-01 3.14995714e+02] [ 3.35588810e-01 9.41416793e-01 -3.33852057e-02 3.29624902e+01] [ 1.06729032e-01 -2.78589156e-03 9.94284241e-01 1.43608259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.679254154 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:315.02, Y:32.97, Z:14.36 [[ 9.37087170e-01 -3.34056350e-01 -1.01360694e-01 3.15022651e+02] [ 3.32394411e-01 9.42549992e-01 -3.33686750e-02 3.29733355e+01] [ 1.06684539e-01 -2.42237094e-03 9.94289968e-01 1.43638864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.70925415399995 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:315.05, Y:32.98, Z:14.37 [[ 9.38273692e-01 -3.30705817e-01 -1.01371302e-01 3.15049292e+02] [ 3.29023755e-01 9.43731691e-01 -3.33745937e-02 3.29839249e+01] [ 1.06704483e-01 -2.03906334e-03 9.94288688e-01 1.43670835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.739254154 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:315.08, Y:32.99, Z:14.37 [[ 9.39348000e-01 -3.27684364e-01 -1.01233846e-01 3.15075022e+02] [ 3.25988669e-01 9.44785749e-01 -3.33358224e-02 3.29939912e+01] [ 1.06567922e-01 -1.68714836e-03 9.94303993e-01 1.43693021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.76925415399995 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:315.10, Y:33.01, Z:14.37 [[ 9.41218391e-01 -3.22326615e-01 -1.01061835e-01 3.15103323e+02] [ 3.20604838e-01 9.46627915e-01 -3.32885525e-02 3.30063639e+01] [ 1.06397740e-01 -1.06911535e-03 9.94323075e-01 1.43725536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.799254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:315.13, Y:33.02, Z:14.38 [[ 9.41844976e-01 -3.20425235e-01 -1.01270482e-01 3.15130542e+02] [ 3.18685339e-01 9.47273422e-01 -3.33574406e-02 3.30166720e+01] [ 1.06619402e-01 -8.55880058e-04 9.94299538e-01 1.43757872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.82925415399995 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:315.16, Y:33.03, Z:14.38 [[ 9.42357157e-01 -3.19246540e-01 -1.00222929e-01 3.15158227e+02] [ 3.17460748e-01 9.47671697e-01 -3.37198526e-02 3.30274633e+01] [ 1.05743379e-01 -4.07015626e-05 9.94393451e-01 1.43799954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.859254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:315.19, Y:33.04, Z:14.38 [[ 9.42645833e-01 -3.18400555e-01 -1.00199403e-01 3.15187116e+02] [ 3.16745170e-01 9.47955567e-01 -3.24459470e-02 3.30364503e+01] [ 1.05315389e-01 -1.15264021e-03 9.94438203e-01 1.43827548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.88925415399996 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:315.22, Y:33.05, Z:14.39 [[ 9.42854077e-01 -3.18054792e-01 -9.93344756e-02 3.15215987e+02] [ 3.16365753e-01 9.48072169e-01 -3.27394532e-02 3.30461689e+01] [ 1.04589192e-01 -5.57499278e-04 9.94515354e-01 1.43859316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.919254154 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:315.24, Y:33.06, Z:14.39 [[ 9.42733675e-01 -3.18406476e-01 -9.93505592e-02 3.15244374e+02] [ 3.16718823e-01 9.47954092e-01 -3.27448769e-02 3.30550722e+01] [ 1.04605950e-01 -5.96493964e-04 9.94513569e-01 1.43888405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.94925415399996 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:315.27, Y:33.06, Z:14.39 [[ 9.42478024e-01 -3.19004304e-01 -9.98570394e-02 3.15273010e+02] [ 3.17302471e-01 9.47753034e-01 -3.29139613e-02 3.30632442e+01] [ 1.05139507e-01 -6.64200193e-04 9.94457260e-01 1.43907810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.979254154 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:315.30, Y:33.07, Z:14.39 [[ 9.41544240e-01 -3.21804153e-01 -9.96821509e-02 3.15302065e+02] [ 3.20123501e-01 9.46805758e-01 -3.28603183e-02 3.30703937e+01] [ 1.04954221e-01 -9.71155759e-04 9.94476580e-01 1.43944793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.00925415399996 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:315.33, Y:33.08, Z:14.40 [[ 9.40856056e-01 -3.23703790e-01 -1.00028685e-01 3.15330798e+02] [ 3.22021669e-01 9.46157733e-01 -3.29786040e-02 3.30786875e+01] [ 1.05318213e-01 -1.18328482e-03 9.94437868e-01 1.43975498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.03925415399993 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:315.36, Y:33.09, Z:14.40 [[ 9.40231283e-01 -3.25372124e-01 -1.00489384e-01 3.15359568e+02] [ 3.23683526e-01 9.45585055e-01 -3.31342604e-02 3.30867966e+01] [ 1.05802225e-01 -1.37289006e-03 9.94386245e-01 1.44005033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.06925415399996 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:315.39, Y:33.09, Z:14.40 [[ 9.39609325e-01 -3.27062763e-01 -1.00817981e-01 3.15388148e+02] [ 3.25372737e-01 9.45001318e-01 -3.32429174e-02 3.30946089e+01] [ 1.06145646e-01 -1.56806745e-03 9.94349357e-01 1.44029404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.09925415399994 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:315.42, Y:33.10, Z:14.40 [[ 9.38151422e-01 -3.30640455e-01 -1.02707350e-01 3.15417269e+02] [ 3.28907199e-01 9.43754664e-01 -3.38701702e-02 3.31006144e+01] [ 1.08129389e-01 -2.00583839e-03 9.94134806e-01 1.44040618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.12925415399997 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:315.44, Y:33.11, Z:14.41 [[ 9.37358016e-01 -3.32761151e-01 -1.03101729e-01 3.15444056e+02] [ 3.31026526e-01 9.43008453e-01 -3.40072932e-02 3.31081745e+01] [ 1.08542108e-01 -2.25239822e-03 9.94089301e-01 1.44069624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.15925415399994 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:315.47, Y:33.12, Z:14.41 [[ 9.36606825e-01 -3.34893911e-01 -1.03022925e-01 3.15471514e+02] [ 3.33171149e-01 9.42252614e-01 -3.40146624e-02 3.31161885e+01] [ 1.08464924e-01 -2.46590146e-03 9.94097218e-01 1.44103920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.18925415399997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:315.50, Y:33.12, Z:14.41 [[ 9.36079068e-01 -3.36357556e-01 -1.03051310e-01 3.15498456e+02] [ 3.34639614e-01 9.41730739e-01 -3.40520823e-02 3.31239379e+01] [ 1.08500261e-01 -2.60960908e-03 9.94092995e-01 1.44131521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.21925415399994 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:315.53, Y:33.11, Z:14.42 [[ 9.33249580e-01 -3.35757720e-01 -1.27718342e-01 3.15530485e+02] [ 3.39393476e-01 9.40616950e-01 7.19878173e-03 3.31117205e+01] [ 1.17716991e-01 -5.00650320e-02 9.91784353e-01 1.44193858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.24925415399997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:315.55, Y:33.16, Z:14.43 [[ 9.35567247e-01 -3.42340199e-01 -8.67012912e-02 3.15547002e+02] [ 3.36056316e-01 9.38492626e-01 -7.93583271e-02 3.31604924e+01] [ 1.08536068e-01 4.51085351e-02 9.93068549e-01 1.44320486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.27925415399994 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:315.58, Y:33.15, Z:14.42 [[ 9.35478055e-01 -3.38480956e-01 -1.01545314e-01 3.15582082e+02] [ 3.36823484e-01 9.40969087e-01 -3.35725806e-02 3.31475161e+01] [ 1.06914680e-01 -2.79643399e-03 9.94264266e-01 1.44216328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.309254154 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:315.61, Y:33.16, Z:14.42 [[ 9.35597837e-01 -3.38263415e-01 -1.01165955e-01 3.15608288e+02] [ 3.36613510e-01 9.41047507e-01 -3.34803474e-02 3.31554678e+01] [ 1.06527146e-01 -2.72968656e-03 9.94306047e-01 1.44245882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.33925415399995 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:315.63, Y:33.16, Z:14.43 [[ 9.35834507e-01 -3.37597188e-01 -1.01202342e-01 3.15634097e+02] [ 3.35938823e-01 9.41287017e-01 -3.35240011e-02 3.31634775e+01] [ 1.06578059e-01 -2.62487872e-03 9.94300874e-01 1.44266283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.369254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:315.66, Y:33.17, Z:14.43 [[ 9.36035415e-01 -3.37198050e-01 -1.00673615e-01 3.15660282e+02] [ 3.35553040e-01 9.41430278e-01 -3.33645017e-02 3.31716615e+01] [ 1.06027635e-01 -2.55098253e-03 9.94359911e-01 1.44302354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.39925415399995 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:315.69, Y:33.18, Z:14.43 [[ 9.36362306e-01 -3.36316122e-01 -1.00583789e-01 3.15687156e+02] [ 3.34665539e-01 9.41746047e-01 -3.33670352e-02 3.31798946e+01] [ 1.05946258e-01 -2.41829411e-03 9.94368917e-01 1.44331843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.429254154 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:315.71, Y:33.19, Z:14.44 [[ 9.37207326e-01 -3.34007822e-01 -1.00405195e-01 3.15713575e+02] [ 3.32346463e-01 9.42567912e-01 -3.33400620e-02 3.31874124e+01] [ 1.05774556e-01 -2.12276095e-03 9.94387871e-01 1.44357435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.45925415399995 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:315.74, Y:33.20, Z:14.44 [[ 9.37705696e-01 -3.32610546e-01 -1.00390504e-01 3.15740018e+02] [ 3.30938205e-01 9.43062291e-01 -3.33679324e-02 3.31956803e+01] [ 1.05773025e-01 -1.93375297e-03 9.94388419e-01 1.44386231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.489254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:315.77, Y:33.20, Z:14.44 [[ 9.38191200e-01 -3.31354641e-01 -1.00006867e-01 3.15766487e+02] [ 3.29684545e-01 9.43504649e-01 -3.32727716e-02 3.32041215e+01] [ 1.05382032e-01 -1.75449706e-03 9.94430264e-01 1.44416057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.51925415399995 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:315.79, Y:33.21, Z:14.44 [[ 9.39212063e-01 -3.28550268e-01 -9.96765904e-02 3.15793036e+02] [ 3.26872036e-01 9.44485442e-01 -3.31952107e-02 3.32119582e+01] [ 1.05049384e-01 -1.40414778e-03 9.94466015e-01 1.44443873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.549254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:315.82, Y:33.22, Z:14.45 [[ 9.39705907e-01 -3.27164287e-01 -9.95808046e-02 3.15819176e+02] [ 3.25478192e-01 9.44966690e-01 -3.31948905e-02 3.32199191e+01] [ 1.04960726e-01 -1.21794557e-03 9.94475622e-01 1.44471018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.57925415399995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:315.85, Y:33.23, Z:14.45 [[ 9.40049836e-01 -3.26044046e-01 -1.00007928e-01 3.15845909e+02] [ 3.24335429e-01 9.45353959e-01 -3.33529862e-02 3.32281117e+01] [ 1.05417433e-01 -1.08264517e-03 9.94427470e-01 1.44498701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.609254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:315.87, Y:33.24, Z:14.45 [[ 9.40309155e-01 -3.25145507e-01 -1.00494242e-01 3.15871142e+02] [ 3.23411699e-01 9.45663515e-01 -3.35468111e-02 3.32358443e+01] [ 1.05941333e-01 -9.56639792e-04 9.94371922e-01 1.44520037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.63925415399996 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:315.90, Y:33.24, Z:14.45 [[ 9.40826449e-01 -3.23364484e-01 -1.01395288e-01 3.15898081e+02] [ 3.21587308e-01 9.46274195e-01 -3.38637142e-02 3.32429286e+01] [ 1.06898067e-01 -7.47559625e-04 9.94269704e-01 1.44542525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.669254154 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:315.92, Y:33.25, Z:14.45 [[ 9.40927316e-01 -3.22640133e-01 -1.02757627e-01 3.15924749e+02] [ 3.20806728e-01 9.46521491e-01 -3.43527353e-02 3.32507241e+01] [ 1.08345873e-01 -6.41911047e-04 9.94113052e-01 1.44547431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.69925415399996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:315.95, Y:33.26, Z:14.46 [[ 9.40820339e-01 -3.23030115e-01 -1.02511633e-01 3.15950750e+02] [ 3.21204185e-01 9.46388460e-01 -3.43038467e-02 3.32588088e+01] [ 1.08097002e-01 -6.53408952e-04 9.94140137e-01 1.44595001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.729254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:315.98, Y:33.27, Z:14.46 [[ 9.40818113e-01 -3.23070492e-01 -1.02404767e-01 3.15977405e+02] [ 3.21245022e-01 9.46374696e-01 -3.43011675e-02 3.32664582e+01] [ 1.07994975e-01 -6.25861908e-04 9.94151243e-01 1.44627116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.75925415399996 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:316.00, Y:33.27, Z:14.47 [[ 9.40637403e-01 -3.23676804e-01 -1.02149903e-01 3.16004297e+02] [ 3.21860446e-01 9.46167473e-01 -3.42485909e-02 3.32749593e+01] [ 1.07736390e-01 -6.62507737e-04 9.94179275e-01 1.44660363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.78925415399993 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:316.03, Y:33.28, Z:14.47 [[ 9.40331309e-01 -3.24627799e-01 -1.01950096e-01 3.16030363e+02] [ 3.22820554e-01 9.45841555e-01 -3.42146575e-02 3.32831399e+01] [ 1.07535666e-01 -7.38472776e-04 9.94200953e-01 1.44691875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.81925415399996 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:316.06, Y:33.29, Z:14.47 [[ 9.39386796e-01 -3.27485553e-01 -1.01516799e-01 3.16055932e+02] [ 3.25706960e-01 9.44855623e-01 -3.41002575e-02 3.32905628e+01] [ 1.07086060e-01 -1.03139632e-03 9.94249220e-01 1.44727190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.84925415399994 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:316.08, Y:33.30, Z:14.48 [[ 9.38615924e-01 -3.29782025e-01 -1.01212469e-01 3.16082101e+02] [ 3.28025727e-01 9.44056244e-01 -3.40136840e-02 3.32984852e+01] [ 1.06767364e-01 -1.27450815e-03 9.94283212e-01 1.44755604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.87925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:316.11, Y:33.31, Z:14.48 [[ 9.37676055e-01 -3.32539532e-01 -1.00901319e-01 3.16108974e+02] [ 3.30806515e-01 9.43088038e-01 -3.39411579e-02 3.33063214e+01] [ 1.06445603e-01 -1.55300246e-03 9.94317314e-01 1.44782420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.90925415399994 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:316.13, Y:33.31, Z:14.48 [[ 9.36558207e-01 -3.35719363e-01 -1.00753330e-01 3.16134632e+02] [ 3.34006406e-01 9.41960174e-01 -3.39227407e-02 3.33135864e+01] [ 1.06294145e-01 -1.88163649e-03 9.94332949e-01 1.44808217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.93925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:316.16, Y:33.32, Z:14.48 [[ 9.33888925e-01 -3.43291266e-01 -1.00012909e-01 3.16161731e+02] [ 3.41644978e-01 9.39225094e-01 -3.36887519e-02 3.33192591e+01] [ 1.05499688e-01 -2.70735579e-03 9.94415651e-01 1.44834983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.96925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:316.19, Y:33.33, Z:14.49 [[ 9.32273573e-01 -3.47653313e-01 -1.00015791e-01 3.16188232e+02] [ 3.46028590e-01 9.37617788e-01 -3.37208786e-02 3.33265140e+01] [ 1.05499760e-01 -3.17123909e-03 9.94414272e-01 1.44865000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.99925415399997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:316.22, Y:33.33, Z:14.49 [[ 9.30424423e-01 -3.52543398e-01 -1.00117653e-01 3.16215269e+02] [ 3.50939964e-01 9.35788160e-01 -3.37884907e-02 3.33342155e+01] [ 1.05600824e-01 -3.69764868e-03 9.94401726e-01 1.44891297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.02925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:316.24, Y:33.34, Z:14.49 [[ 9.30326322e-01 -3.52805039e-01 -1.00107641e-01 3.16242036e+02] [ 3.51199928e-01 9.35689556e-01 -3.38181306e-02 3.33433475e+01] [ 1.05600881e-01 -3.69589911e-03 9.94401727e-01 1.44919136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.059254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:316.27, Y:33.35, Z:14.49 [[ 9.28474674e-01 -3.57132664e-01 -1.01936449e-01 3.16269289e+02] [ 3.55490648e-01 9.34044073e-01 -3.44683885e-02 3.33508976e+01] [ 1.07522923e-01 -4.23442846e-03 9.94193588e-01 1.44932188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.08925415399995 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:316.29, Y:33.36, Z:14.50 [[ 9.26687617e-01 -3.62235295e-01 -1.00178098e-01 3.16294568e+02] [ 3.60675775e-01 9.32074777e-01 -3.39056888e-02 3.33586558e+01] [ 1.05655316e-01 -4.71183113e-03 9.94391650e-01 1.44976372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.119254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:316.32, Y:33.37, Z:14.50 [[ 9.24926302e-01 -3.66757224e-01 -1.00002378e-01 3.16321244e+02] [ 3.65226932e-01 9.30302174e-01 -3.38696603e-02 3.33666056e+01] [ 1.05454372e-01 -5.19662200e-03 9.94410564e-01 1.45003926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.14925415399995 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:316.35, Y:33.37, Z:14.50 [[ 9.21570990e-01 -3.74931868e-01 -1.00662825e-01 3.16348032e+02] [ 3.73425938e-01 9.27032039e-01 -3.41272213e-02 3.33745619e+01] [ 1.06113047e-01 -6.13945285e-03 9.94335119e-01 1.45033404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.179254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:316.38, Y:33.38, Z:14.51 [[ 9.19987629e-01 -3.76439043e-01 -1.09162304e-01 3.16378871e+02] [ 3.76524221e-01 9.26177127e-01 -2.06262235e-02 3.33768328e+01] [ 1.08868145e-01 -2.21263809e-02 9.93809917e-01 1.45083352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.20925415399995 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:316.40, Y:33.40, Z:14.51 [[ 9.19261811e-01 -3.81699311e-01 -9.62463415e-02 3.16397300e+02] [ 3.78707869e-01 9.24251867e-01 -4.83615202e-02 3.33987005e+01] [ 1.07415420e-01 8.00765174e-03 9.94181978e-01 1.45123950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.239254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:316.43, Y:33.40, Z:14.51 [[ 9.18626696e-01 -3.81934020e-01 -1.01249187e-01 3.16425787e+02] [ 3.80442977e-01 9.24163800e-01 -3.44152888e-02 3.34014511e+01] [ 1.06715203e-01 -6.90473905e-03 9.94265654e-01 1.45117658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.26925415399995 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:316.45, Y:33.41, Z:14.51 [[ 9.18428168e-01 -3.82392448e-01 -1.01319870e-01 3.16450278e+02] [ 3.80898695e-01 9.23973994e-01 -3.44709012e-02 3.34120263e+01] [ 1.06798337e-01 -6.93355943e-03 9.94256527e-01 1.45148499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.299254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:316.48, Y:33.42, Z:14.52 [[ 9.18686815e-01 -3.81801688e-01 -1.01202805e-01 3.16475783e+02] [ 3.80306116e-01 9.24218945e-01 -3.44470586e-02 3.34222316e+01] [ 1.06685495e-01 -6.84198706e-03 9.94269276e-01 1.45176901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.32925415399995 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:316.50, Y:33.44, Z:14.52 [[ 9.19094581e-01 -3.80964082e-01 -1.00655446e-01 3.16499088e+02] [ 3.78499374e-01 9.24588280e-01 -4.32982186e-02 3.34362802e+01] [ 1.09559912e-01 1.69713476e-03 9.93978745e-01 1.45225353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.359254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:316.53, Y:33.44, Z:14.52 [[ 9.20309907e-01 -3.76939290e-01 -1.04625269e-01 3.16527634e+02] [ 3.76234674e-01 9.26126427e-01 -2.71534711e-02 3.34409500e+01] [ 1.07131437e-01 -1.43740456e-02 9.94140957e-01 1.45210320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.38925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:316.55, Y:33.45, Z:14.53 [[ 9.20805020e-01 -3.76409408e-01 -1.02147305e-01 3.16551956e+02] [ 3.74843877e-01 9.26432690e-01 -3.48502312e-02 3.34549176e+01] [ 1.07750558e-01 -6.19902410e-03 9.94158634e-01 1.45254798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.419254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:316.58, Y:33.47, Z:14.53 [[ 9.21251870e-01 -3.75254117e-01 -1.02368649e-01 3.16577933e+02] [ 3.73670972e-01 9.26902262e-01 -3.49600060e-02 3.34654743e+01] [ 1.08004619e-01 -6.04522184e-03 9.94132012e-01 1.45280460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.44925415399996 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:316.60, Y:33.48, Z:14.53 [[ 9.21657597e-01 -3.74171826e-01 -1.02677737e-01 3.16602510e+02] [ 3.72568906e-01 9.27340584e-01 -3.50977482e-02 3.34756296e+01] [ 1.08349822e-01 -5.90642602e-03 9.94095282e-01 1.45307457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.479254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:316.63, Y:33.49, Z:14.53 [[ 9.22829750e-01 -3.71503957e-01 -1.01833507e-01 3.16625954e+02] [ 3.69483518e-01 9.28429473e-01 -3.87381449e-02 3.34883799e+01] [ 1.08936603e-01 -1.87708981e-03 9.94046927e-01 1.45343719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.50925415399996 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:316.66, Y:33.50, Z:14.54 [[ 9.22853962e-01 -3.71063236e-01 -1.03211621e-01 3.16655025e+02] [ 3.69758244e-01 9.28569311e-01 -3.22160703e-02 3.34968915e+01] [ 1.07793343e-01 -8.43261963e-03 9.94137559e-01 1.45356987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.53925415399993 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:316.68, Y:33.51, Z:14.54 [[ 9.23132203e-01 -3.70677044e-01 -1.02105162e-01 3.16680425e+02] [ 3.69066234e-01 9.28745974e-01 -3.49432524e-02 3.35086083e+01] [ 1.07782420e-01 -5.42632619e-03 9.94159698e-01 1.45395006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.56925415399996 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:316.71, Y:33.52, Z:14.54 [[ 9.23899205e-01 -3.68928032e-01 -1.01500573e-01 3.16705944e+02] [ 3.67322118e-01 9.29443646e-01 -3.47702694e-02 3.35207467e+01] [ 1.07166789e-01 -5.15918102e-03 9.94227671e-01 1.45426561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.59925415399994 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:316.74, Y:33.53, Z:14.55 [[ 9.24225061e-01 -3.66880118e-01 -1.05863191e-01 3.16735324e+02] [ 3.66171140e-01 9.30162488e-01 -2.67664232e-02 3.35275401e+01] [ 1.08290038e-01 -1.40258462e-02 9.94020394e-01 1.45463639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.62925415399997 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:316.76, Y:33.55, Z:14.55 [[ 9.24802148e-01 -3.67486257e-01 -9.84623656e-02 3.16757384e+02] [ 3.65012553e-01 9.30022122e-01 -4.27163771e-02 3.35461332e+01] [ 1.07269860e-01 3.56419791e-03 9.94223553e-01 1.45504306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.65925415399994 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:316.78, Y:33.55, Z:14.55 [[ 9.25446331e-01 -3.65121376e-01 -1.01170500e-01 3.16784683e+02] [ 3.63494822e-01 9.30948416e-01 -3.47355932e-02 3.35530034e+01] [ 1.06867225e-01 -4.62902570e-03 9.94262525e-01 1.45510081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.68925415399997 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:316.81, Y:33.56, Z:14.55 [[ 9.27311996e-01 -3.60403272e-01 -1.01004669e-01 3.16808609e+02] [ 3.58750693e-01 9.32787809e-01 -3.47108487e-02 3.35648499e+01] [ 1.06725827e-01 -4.04770853e-03 9.94280249e-01 1.45536931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.71925415399994 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:316.84, Y:33.58, Z:14.56 [[ 9.28374353e-01 -3.57650534e-01 -1.01030474e-01 3.16835696e+02] [ 3.55979380e-01 9.33848095e-01 -3.47335093e-02 3.35765910e+01] [ 1.06769574e-01 -3.71906644e-03 9.94276836e-01 1.45564871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.74925415399997 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:316.86, Y:33.59, Z:14.56 [[ 9.29539277e-01 -3.54495532e-01 -1.01437911e-01 3.16862223e+02] [ 3.52791630e-01 9.35051650e-01 -3.48780448e-02 3.35882135e+01] [ 1.07213797e-01 -3.36593331e-03 9.94230291e-01 1.45598304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.77925415399994 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:316.89, Y:33.60, Z:14.56 [[ 9.32234108e-01 -3.47435780e-01 -1.01133310e-01 3.16889331e+02] [ 3.45699996e-01 9.37700341e-01 -3.47790602e-02 3.36022887e+01] [ 1.06916229e-01 -2.53955867e-03 9.94264789e-01 1.45631283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.809254154 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:316.92, Y:33.61, Z:14.57 [[ 9.33463839e-01 -3.44186639e-01 -1.00900047e-01 3.16916744e+02] [ 3.42439913e-01 9.38898761e-01 -3.46990203e-02 3.36138761e+01] [ 1.06677868e-01 -2.16192268e-03 9.94291285e-01 1.45661105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.83925415399995 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:316.95, Y:33.63, Z:14.57 [[ 9.34567448e-01 -3.41285504e-01 -1.00538002e-01 3.16945049e+02] [ 3.39534368e-01 9.39957916e-01 -3.45764164e-02 3.36257940e+01] [ 1.06301921e-01 -1.82211381e-03 9.94332229e-01 1.45691226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.869254154 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:316.97, Y:33.64, Z:14.57 [[ 9.35623664e-01 -3.38575377e-01 -9.98752922e-02 3.16974093e+02] [ 3.36831932e-01 9.40938070e-01 -3.43481862e-02 3.36376005e+01] [ 1.05605915e-01 -1.50421186e-03 9.94406923e-01 1.45719994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.89925415399995 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:317.00, Y:33.65, Z:14.58 [[ 9.36894588e-01 -3.35245405e-01 -9.91919827e-02 3.17001886e+02] [ 3.33507581e-01 9.42130168e-01 -3.41092293e-02 3.36501949e+01] [ 1.04886722e-01 -1.12452588e-03 9.94483540e-01 1.45750137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.929254154 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:317.03, Y:33.66, Z:14.58 [[ 9.37225209e-01 -3.34474720e-01 -9.86689838e-02 3.17030280e+02] [ 3.32751160e-01 9.42404155e-01 -3.39274891e-02 3.36612296e+01] [ 1.04333948e-01 -1.03452073e-03 9.94541782e-01 1.45780859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.95925415399995 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:317.06, Y:33.67, Z:14.58 [[ 9.37244311e-01 -3.34486611e-01 -9.84469891e-02 3.17057290e+02] [ 3.32770869e-01 9.42399936e-01 -3.38512796e-02 3.36720444e+01] [ 1.04099236e-01 -1.03337087e-03 9.94566378e-01 1.45810577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.989254154 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:317.09, Y:33.68, Z:14.58 [[ 9.36981150e-01 -3.35211881e-01 -9.84851238e-02 3.17086491e+02] [ 3.33498631e-01 9.42142111e-01 -3.38660051e-02 3.36833267e+01] [ 1.04139270e-01 -1.11284554e-03 9.94562102e-01 1.45842183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.01925415399995 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:317.11, Y:33.69, Z:14.59 [[ 9.36560667e-01 -3.36299167e-01 -9.87774630e-02 3.17114014e+02] [ 3.34582114e-01 9.41754390e-01 -3.39628972e-02 3.36932352e+01] [ 1.04445803e-01 -1.24085878e-03 9.94529806e-01 1.45865103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.049254154 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:317.14, Y:33.71, Z:14.59 [[ 9.37080346e-01 -3.37721938e-01 -8.84551754e-02 3.17143308e+02] [ 3.34217381e-01 9.41045678e-01 -5.22663709e-02 3.37104144e+01] [ 1.00891861e-01 1.94145319e-02 9.94707951e-01 1.45898955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.07925415399995 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:317.17, Y:33.70, Z:14.59 [[ 9.33307669e-01 -3.43092385e-01 -1.05945318e-01 3.17174776e+02] [ 3.43666028e-01 9.38996753e-01 -1.33700721e-02 3.37033724e+01] [ 1.04069480e-01 -2.39314159e-02 9.94282068e-01 1.45859246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.109254154 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:317.20, Y:33.74, Z:14.60 [[ 9.34251610e-01 -3.47759475e-01 -7.89764263e-02 3.17203239e+02] [ 3.42989679e-01 9.36876045e-01 -6.79805618e-02 3.37372536e+01] [ 9.76320064e-02 3.64228502e-02 9.94555864e-01 1.45952806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.13925415399996 meters Centerline goodness : 0.996112 Centerline is valid? [True, True] Translation: X:317.24, Y:33.71, Z:14.59 [[ 9.30132051e-01 -3.49134082e-01 -1.13840940e-01 3.17236385e+02] [ 3.51871409e-01 9.36038699e-01 4.25034832e-03 3.37143987e+01] [ 1.05075583e-01 -4.40107570e-02 9.93489897e-01 1.45862470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.169254154 meters Centerline goodness : 0.995726 Centerline is valid? [True, True] Translation: X:317.26, Y:33.74, Z:14.60 [[ 9.28665167e-01 -3.56873764e-01 -1.01104523e-01 3.17256810e+02] [ 3.55186507e-01 9.34145862e-01 -3.48432780e-02 3.37420770e+01] [ 1.06881023e-01 -3.55322365e-03 9.94265468e-01 1.45997365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.19925415399996 meters Centerline goodness : 0.994903 Centerline is valid? [True, True] Translation: X:317.28, Y:33.75, Z:14.60 [[ 9.25456600e-01 -3.64872114e-01 -1.01972653e-01 3.17283049e+02] [ 3.63203350e-01 9.31046725e-01 -3.51471609e-02 3.37506956e+01] [ 1.07765523e-01 -4.50963713e-03 9.94166110e-01 1.46024805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.229254154 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:317.31, Y:33.77, Z:14.61 [[ 9.26543304e-01 -3.66629715e-01 -8.42624395e-02 3.17314417e+02] [ 3.62174025e-01 9.29929439e-01 -6.37276550e-02 3.37715631e+01] [ 1.01722575e-01 2.85287651e-02 9.94403654e-01 1.46050674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.25925415399996 meters Centerline goodness : 0.995456 Centerline is valid? [True, True] Translation: X:317.35, Y:33.76, Z:14.60 [[ 9.24433817e-01 -3.68501573e-01 -9.81259818e-02 3.17351280e+02] [ 3.67573422e-01 9.29571729e-01 -2.80388849e-02 3.37648943e+01] [ 1.01547512e-01 -1.01484096e-02 9.94778927e-01 1.45978393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.28925415399993 meters Centerline goodness : 0.995585 Centerline is valid? [True, True] Translation: X:317.37, Y:33.77, Z:14.60 [[ 9.21328763e-01 -3.71830405e-01 -1.13558180e-01 3.17374860e+02] [ 3.73649642e-01 9.27552888e-01 -5.62005965e-03 3.37656677e+01] [ 1.07420927e-01 -3.72530507e-02 9.93515453e-01 1.46025572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.31925415399996 meters Centerline goodness : 0.995832 Centerline is valid? [True, True] Translation: X:317.40, Y:33.80, Z:14.61 [[ 9.22547737e-01 -3.74893531e-01 -9.14358445e-02 3.17401910e+02] [ 3.71283370e-01 9.26926037e-01 -5.43762918e-02 3.37981157e+01] [ 1.05139585e-01 1.62161164e-02 9.94325251e-01 1.46141081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.34925415399994 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:317.43, Y:33.79, Z:14.61 [[ 9.20236727e-01 -3.75074690e-01 -1.11728881e-01 3.17429892e+02] [ 3.75993368e-01 9.26523453e-01 -1.35380424e-02 3.37903059e+01] [ 1.08597206e-01 -2.95511145e-02 9.93646506e-01 1.46114352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.37925415399997 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:317.45, Y:33.81, Z:14.62 [[ 9.19986477e-01 -3.77998782e-01 -1.03642671e-01 3.17450372e+02] [ 3.76340198e-01 9.25786656e-01 -3.58764930e-02 3.38117830e+01] [ 1.09512272e-01 -5.99901483e-03 9.93967341e-01 1.46210872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.40925415399994 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:317.48, Y:33.85, Z:14.63 [[ 9.23741080e-01 -3.76293365e-01 -7.14543284e-02 3.17482719e+02] [ 3.69890528e-01 9.24843195e-01 -8.85780027e-02 3.38468299e+01] [ 9.94153640e-02 5.53928606e-02 9.93503003e-01 1.46266711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.43925415399997 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:317.52, Y:33.80, Z:14.61 [[ 9.20011783e-01 -3.71260051e-01 -1.25476268e-01 3.17517599e+02] [ 3.77019647e-01 9.25870629e-01 2.48950669e-02 3.38047825e+01] [ 1.06932247e-01 -7.02107731e-02 9.91784221e-01 1.46105626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.46925415399994 meters Centerline goodness : 0.996460 Centerline is valid? [True, True] Translation: X:317.53, Y:33.85, Z:14.63 [[ 9.20219543e-01 -3.77262058e-01 -1.04256087e-01 3.17533361e+02] [ 3.75568800e-01 9.26088005e-01 -3.61812655e-02 3.38451085e+01] [ 1.10200130e-01 -5.86062580e-03 9.93892139e-01 1.46311359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.49925415399997 meters Centerline goodness : 0.996902 Centerline is valid? [True, True] Translation: X:317.57, Y:33.86, Z:14.63 [[ 9.21688047e-01 -3.74180718e-01 -1.02371552e-01 3.17565316e+02] [ 3.72399039e-01 9.27345941e-01 -3.67214056e-02 3.38582173e+01] [ 1.08674285e-01 -4.27738692e-03 9.94068209e-01 1.46340509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.52925415399994 meters Centerline goodness : 0.996985 Centerline is valid? [True, True] Translation: X:317.59, Y:33.87, Z:14.64 [[ 9.21495075e-01 -3.74023240e-01 -1.04658697e-01 3.17591350e+02] [ 3.72540619e-01 9.27388584e-01 -3.41160165e-02 3.38692531e+01] [ 1.09819464e-01 -7.55187449e-03 9.93922862e-01 1.46375821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.559254154 meters Centerline goodness : 0.997214 Centerline is valid? [True, True] Translation: X:317.62, Y:33.88, Z:14.64 [[ 9.22004089e-01 -3.72958493e-01 -1.03973185e-01 3.17620174e+02] [ 3.71247182e-01 9.27832713e-01 -3.60830616e-02 3.38822519e+01] [ 1.09927207e-01 -5.33102173e-03 9.93925344e-01 1.46414682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.58925415399995 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:317.65, Y:33.89, Z:14.64 [[ 9.22473398e-01 -3.71610273e-01 -1.04635726e-01 3.17649261e+02] [ 3.69868887e-01 9.28374216e-01 -3.63087017e-02 3.38941627e+01] [ 1.10633796e-01 -5.20768800e-03 9.93847596e-01 1.46446989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.619254154 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:317.68, Y:33.91, Z:14.65 [[ 9.22927419e-01 -3.70367053e-01 -1.05039160e-01 3.17678185e+02] [ 3.68604653e-01 9.28871582e-01 -3.64443972e-02 3.39060544e+01] [ 1.11065695e-01 -5.08238983e-03 9.93800071e-01 1.46475866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.64925415399995 meters Centerline goodness : 0.997252 Centerline is valid? [True, True] Translation: X:317.71, Y:33.92, Z:14.65 [[ 9.23338990e-01 -3.69178448e-01 -1.05604843e-01 3.17705245e+02] [ 3.67389648e-01 9.29345240e-01 -3.66370224e-02 3.39174283e+01] [ 1.11668957e-01 -4.96973485e-03 9.93733035e-01 1.46504151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.679254154 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:317.73, Y:33.93, Z:14.65 [[ 9.24454316e-01 -3.66112078e-01 -1.06518378e-01 3.17734693e+02] [ 3.64271745e-01 9.30559203e-01 -3.69549068e-02 3.39310584e+01] [ 1.12651295e-01 -4.63851228e-03 9.93623757e-01 1.46537869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.70925415399995 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:317.76, Y:33.94, Z:14.66 [[ 9.25156382e-01 -3.64304082e-01 -1.06621780e-01 3.17762948e+02] [ 3.62449188e-01 9.31269512e-01 -3.69821711e-02 3.39428564e+01] [ 1.12766369e-01 -4.43068606e-03 9.93611652e-01 1.46570695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.739254154 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:317.79, Y:33.95, Z:14.66 [[ 9.25998386e-01 -3.62146247e-01 -1.06663421e-01 3.17790540e+02] [ 3.60276370e-01 9.32111936e-01 -3.69902054e-02 3.39547237e+01] [ 1.12818112e-01 -4.17543979e-03 9.93606884e-01 1.46605161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.76925415399995 meters Centerline goodness : 0.998363 Centerline is valid? [True, True] Translation: X:317.82, Y:33.97, Z:14.66 [[ 9.27993894e-01 -3.57011407e-01 -1.06631087e-01 3.17819361e+02] [ 3.55108964e-01 9.34093277e-01 -3.69780079e-02 3.39699075e+01] [ 1.12804952e-01 -3.55028919e-03 9.93610808e-01 1.46648983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.799254154 meters Centerline goodness : 0.998148 Centerline is valid? [True, True] Translation: X:317.85, Y:33.98, Z:14.67 [[ 9.29186857e-01 -3.53977389e-01 -1.06356913e-01 3.17848926e+02] [ 3.52065922e-01 9.35248568e-01 -3.68741387e-02 3.39823139e+01] [ 1.12522762e-01 -3.18167958e-03 9.93644053e-01 1.46682498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.82925415399995 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:317.88, Y:33.99, Z:14.67 [[ 9.30349361e-01 -3.51062151e-01 -1.05855716e-01 3.17879014e+02] [ 3.49150919e-01 9.36347901e-01 -3.66912071e-02 3.39948556e+01] [ 1.11998672e-01 -2.82397960e-03 9.93704344e-01 1.46718809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.859254154 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:317.91, Y:34.05, Z:14.68 [[ 9.38607372e-01 -3.42127501e-01 -4.43280338e-02 3.17909473e+02] [ 3.33680535e-01 9.32946063e-01 -1.35162655e-01 3.40530399e+01] [ 8.75985258e-02 1.12073262e-01 9.89831340e-01 1.46843658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.88925415399996 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:317.96, Y:33.97, Z:14.64 [[ 9.33561317e-01 -3.28714692e-01 -1.42863287e-01 3.17957192e+02] [ 3.41429895e-01 9.36872319e-01 7.54710786e-02 3.39658864e+01] [ 1.09036207e-01 -1.19234677e-01 9.86860779e-01 1.46446344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.919254154 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:317.97, Y:34.03, Z:14.68 [[ 9.33776086e-01 -3.42176075e-01 -1.04774781e-01 3.17966172e+02] [ 3.40240811e-01 9.39634353e-01 -3.63795726e-02 3.40309245e+01] [ 1.10898203e-01 -1.67828169e-03 9.93830354e-01 1.46830841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.94925415399996 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:318.00, Y:34.04, Z:14.69 [[ 9.35646999e-01 -3.37006013e-01 -1.04841021e-01 3.17995530e+02] [ 3.35037541e-01 9.41501875e-01 -3.63877011e-02 3.40445873e+01] [ 1.10970892e-01 -1.07963455e-03 9.93823071e-01 1.46867793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.979254154 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:318.03, Y:34.06, Z:14.69 [[ 9.36316133e-01 -3.35045606e-01 -1.05150088e-01 3.18026297e+02] [ 3.33054389e-01 9.42201519e-01 -3.64838632e-02 3.40566019e+01] [ 1.11296331e-01 -8.60268647e-04 9.93786892e-01 1.46903608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.00925415399996 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:318.06, Y:34.07, Z:14.69 [[ 9.36773323e-01 -3.33811653e-01 -1.05002484e-01 3.18055636e+02] [ 3.31819744e-01 9.42639515e-01 -3.64198067e-02 3.40679801e+01] [ 1.11136846e-01 -7.24793941e-04 9.93804848e-01 1.46932617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.03925415399993 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:318.09, Y:34.08, Z:14.70 [[ 9.37028812e-01 -3.33042043e-01 -1.05166546e-01 3.18085169e+02] [ 3.31040266e-01 9.42911757e-01 -3.64658834e-02 3.40790160e+01] [ 1.11307445e-01 -6.44778057e-04 9.93785810e-01 1.46965060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.06925415399996 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:318.11, Y:34.09, Z:14.70 [[ 9.37532165e-01 -3.33274721e-01 -9.98068161e-02 3.18111480e+02] [ 3.30500209e-01 9.42796426e-01 -4.36407011e-02 3.40943014e+01] [ 1.08641852e-01 7.92838734e-03 9.94049339e-01 1.46994800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.09925415399994 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:318.14, Y:34.10, Z:14.70 [[ 9.36902625e-01 -3.32497198e-01 -1.07977245e-01 3.18143894e+02] [ 3.31350050e-01 9.43064336e-01 -2.89275592e-02 3.40966854e+01] [ 1.11447821e-01 -8.67595920e-03 9.93732414e-01 1.47001421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.12925415399997 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:318.17, Y:34.12, Z:14.71 [[ 9.37041581e-01 -3.34471592e-01 -1.00408312e-01 3.18168982e+02] [ 3.31648839e-01 9.42371695e-01 -4.40980321e-02 3.41154422e+01] [ 1.09371490e-01 8.02138982e-03 9.93968578e-01 1.47062202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.15925415399994 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:318.20, Y:34.12, Z:14.71 [[ 9.36679537e-01 -3.33058852e-01 -1.08181540e-01 3.18202813e+02] [ 3.31918632e-01 9.42864756e-01 -2.89149451e-02 3.41176855e+01] [ 1.11630940e-01 -8.82343152e-03 9.93710562e-01 1.47065141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.18925415399997 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:318.23, Y:34.13, Z:14.71 [[ 9.36760098e-01 -3.33649581e-01 -1.05633690e-01 3.18232112e+02] [ 3.31634974e-01 9.42696889e-01 -3.66172177e-02 3.41324831e+01] [ 1.11797870e-01 -7.30277620e-04 9.93730699e-01 1.47132189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.21925415399994 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:318.26, Y:34.14, Z:14.72 [[ 9.37130560e-01 -3.32411164e-01 -1.06250323e-01 3.18263413e+02] [ 3.30366460e-01 9.43134380e-01 -3.68176890e-02 3.41427863e+01] [ 1.12446943e-01 -5.98561523e-04 9.93657550e-01 1.47156993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.24925415399997 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:318.29, Y:34.15, Z:14.72 [[ 9.37267416e-01 -3.32147031e-01 -1.05868508e-01 3.18293042e+02] [ 3.30116816e-01 9.43227447e-01 -3.66724786e-02 3.41536666e+01] [ 1.12038737e-01 -5.77055517e-04 9.93703672e-01 1.47201924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.27925415399994 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:318.32, Y:34.16, Z:14.72 [[ 9.37716529e-01 -3.30949215e-01 -1.05642455e-01 3.18323944e+02] [ 3.28921352e-01 9.43648462e-01 -3.65831019e-02 3.41640374e+01] [ 1.11796489e-01 -4.43479909e-04 9.93731024e-01 1.47233682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.309254154 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:318.36, Y:34.19, Z:14.73 [[ 9.41486900e-01 -3.27861470e-01 -7.81618458e-02 3.18358231e+02] [ 3.21822900e-01 9.43362570e-01 -8.06044772e-02 3.41938068e+01] [ 1.00162062e-01 5.07337875e-02 9.93676831e-01 1.47304460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.33925415399995 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:318.39, Y:34.16, Z:14.71 [[ 9.38689309e-01 -3.22185158e-01 -1.22715545e-01 3.18394077e+02] [ 3.26293440e-01 9.45158203e-01 1.44416847e-02 3.41588782e+01] [ 1.11332708e-01 -5.35975324e-02 9.92336804e-01 1.47134386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.369254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:318.42, Y:34.19, Z:14.73 [[ 9.39482494e-01 -3.26304218e-01 -1.04394445e-01 3.18415118e+02] [ 3.24293523e-01 9.45264800e-01 -3.61686199e-02 3.41919065e+01] [ 1.10482367e-01 1.25342892e-04 9.93878076e-01 1.47338631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.39925415399995 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:318.45, Y:34.20, Z:14.74 [[ 9.39523589e-01 -3.26184601e-01 -1.04398430e-01 3.18446686e+02] [ 3.24174448e-01 9.45306083e-01 -3.61571138e-02 3.42027416e+01] [ 1.10482365e-01 1.27157860e-04 9.93878077e-01 1.47372688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.429254154 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:318.48, Y:34.21, Z:14.74 [[ 9.39208618e-01 -3.27006059e-01 -1.04662354e-01 3.18479017e+02] [ 3.24992422e-01 9.45022242e-01 -3.62338035e-02 3.42107984e+01] [ 1.10756926e-01 1.66284650e-05 9.93847525e-01 1.47404356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.45925415399995 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:318.51, Y:34.22, Z:14.74 [[ 9.38534704e-01 -3.28804879e-01 -1.05071216e-01 3.18509183e+02] [ 3.26788039e-01 9.44397855e-01 -3.63630244e-02 3.42193913e+01] [ 1.11185371e-01 -2.08056125e-04 9.93799663e-01 1.47437028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.489254154 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:318.54, Y:34.23, Z:14.75 [[ 9.37708198e-01 -3.31103482e-01 -1.05232214e-01 3.18539895e+02] [ 3.29095588e-01 9.43594323e-01 -3.64121870e-02 3.42276920e+01] [ 1.11352722e-01 -4.87451180e-04 9.93780828e-01 1.47467114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.51925415399995 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:318.57, Y:34.24, Z:14.75 [[ 9.36621606e-01 -3.34069744e-01 -1.05533759e-01 3.18570651e+02] [ 3.32069990e-01 9.42547974e-01 -3.65080641e-02 3.42356348e+01] [ 1.11666870e-01 -8.50352644e-04 9.93745333e-01 1.47495113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.549254154 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:318.60, Y:34.24, Z:14.75 [[ 9.33893779e-01 -3.41470034e-01 -1.06021814e-01 3.18603734e+02] [ 3.39500108e-01 9.39891031e-01 -3.66677767e-02 3.42414153e+01] [ 1.12169899e-01 -1.75060880e-03 9.93687501e-01 1.47527488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.57925415399995 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:318.63, Y:34.25, Z:14.76 [[ 9.32395813e-01 -3.45473858e-01 -1.06234938e-01 3.18633754e+02] [ 3.43523276e-01 9.38425681e-01 -3.67287442e-02 3.42488462e+01] [ 1.12382415e-01 -2.24844662e-03 9.93662487e-01 1.47556806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.609254154 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:318.66, Y:34.26, Z:14.76 [[ 9.30761304e-01 -3.49709862e-01 -1.06707105e-01 3.18664654e+02] [ 3.47770323e-01 9.36853934e-01 -3.68850839e-02 3.42569361e+01] [ 1.12868049e-01 -2.77835564e-03 9.93606101e-01 1.47591275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.63925415399996 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:318.69, Y:34.26, Z:14.76 [[ 9.29093604e-01 -3.54032758e-01 -1.06985429e-01 3.18694766e+02] [ 3.52112545e-01 9.35227130e-01 -3.69725744e-02 3.42646395e+01] [ 1.13145179e-01 -3.31992946e-03 9.93572920e-01 1.47619889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.669254154 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:318.73, Y:34.27, Z:14.77 [[ 9.25508899e-01 -3.63056876e-01 -1.07809939e-01 3.18726434e+02] [ 3.61168386e-01 9.31756297e-01 -3.72505156e-02 3.42711451e+01] [ 1.13976645e-01 -4.46185782e-03 9.93473410e-01 1.47657801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.69925415399996 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:318.76, Y:34.28, Z:14.77 [[ 9.23760356e-01 -3.67464777e-01 -1.07872341e-01 3.18757668e+02] [ 3.65604965e-01 9.30023910e-01 -3.72630755e-02 3.42799910e+01] [ 1.14016724e-01 -5.01651156e-03 9.93466165e-01 1.47692130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.729254154 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:318.79, Y:34.29, Z:14.77 [[ 9.22153843e-01 -3.71339464e-01 -1.08348018e-01 3.18787573e+02] [ 3.69490711e-01 9.28480720e-01 -3.74188134e-02 3.42883330e+01] [ 1.14494128e-01 -5.52768365e-03 9.93408546e-01 1.47729177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.75925415399996 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:318.82, Y:34.30, Z:14.78 [[ 9.19461166e-01 -3.77893093e-01 -1.08572440e-01 3.18816911e+02] [ 3.76082381e-01 9.25827396e-01 -3.74923325e-02 3.42953902e+01] [ 1.14687433e-01 -6.35943800e-03 9.93381271e-01 1.47768147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.78925415399993 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:318.85, Y:34.30, Z:14.78 [[ 9.18385722e-01 -3.80418042e-01 -1.08856694e-01 3.18845157e+02] [ 3.78615348e-01 9.24790427e-01 -3.75910151e-02 3.43039377e+01] [ 1.14969929e-01 -6.69176355e-03 9.93346433e-01 1.47801281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.81925415399996 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:318.87, Y:34.31, Z:14.78 [[ 9.17609980e-01 -3.82135571e-01 -1.09381575e-01 3.18873076e+02] [ 3.80326997e-01 9.24080241e-01 -3.77767649e-02 3.43124917e+01] [ 1.15513198e-01 -6.93642964e-03 9.93281726e-01 1.47835608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.84925415399994 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:318.90, Y:34.32, Z:14.79 [[ 9.16668278e-01 -3.84449537e-01 -1.09168775e-01 3.18900614e+02] [ 3.82663380e-01 9.23117880e-01 -3.77109656e-02 3.43210861e+01] [ 1.15273612e-01 -7.20644663e-03 9.93307637e-01 1.47868230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.87925415399997 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:318.93, Y:34.33, Z:14.79 [[ 9.16542662e-01 -3.84710252e-01 -1.09304944e-01 3.18929674e+02] [ 3.82918268e-01 9.23009130e-01 -3.77855419e-02 3.43307307e+01] [ 1.15425946e-01 -7.22279847e-03 9.93289828e-01 1.47900703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.90925415399994 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:318.96, Y:34.34, Z:14.79 [[ 9.16460415e-01 -3.84852464e-01 -1.09493785e-01 3.18957663e+02] [ 3.83055214e-01 9.22949607e-01 -3.78513778e-02 3.43401650e+01] [ 1.15624442e-01 -7.25287586e-03 9.93266522e-01 1.47928014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.93925415399997 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:318.99, Y:34.35, Z:14.80 [[ 9.16325791e-01 -3.84925779e-01 -1.10359363e-01 3.18985617e+02] [ 3.83099937e-01 9.22918534e-01 -3.81551909e-02 3.43497353e+01] [ 1.16539618e-01 -7.31607973e-03 9.93159097e-01 1.47960834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.96925415399994 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:319.01, Y:34.36, Z:14.80 [[ 9.16424984e-01 -3.84286729e-01 -1.11754011e-01 3.19014536e+02] [ 3.82409167e-01 9.23184744e-01 -3.86413933e-02 3.43603550e+01] [ 1.18018972e-01 -7.32381986e-03 9.92984332e-01 1.47992474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.99925415399997 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:319.04, Y:34.37, Z:14.80 [[ 9.16514683e-01 -3.83790769e-01 -1.12718593e-01 3.19041602e+02] [ 3.81876746e-01 9.23391047e-01 -3.89759525e-02 3.43701405e+01] [ 1.19041950e-01 -7.32257673e-03 9.92862223e-01 1.48025315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.02925415399994 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:319.07, Y:34.38, Z:14.81 [[ 9.16492195e-01 -3.83848493e-01 -1.12704881e-01 3.19067339e+02] [ 3.81934021e-01 9.23367084e-01 -3.89824678e-02 3.43797256e+01] [ 1.19031339e-01 -7.31870091e-03 9.92863524e-01 1.48054621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.059254154 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:319.09, Y:34.39, Z:14.81 [[ 9.16548716e-01 -3.83644481e-01 -1.12939642e-01 3.19093844e+02] [ 3.81716206e-01 9.23452215e-01 -3.90991760e-02 3.43896764e+01] [ 1.19294545e-01 -7.27459193e-03 9.92832258e-01 1.48085538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.08925415399995 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:319.12, Y:34.40, Z:14.81 [[ 9.16991217e-01 -3.82599903e-01 -1.12891196e-01 3.19119183e+02] [ 3.80661898e-01 9.23886783e-01 -3.91117893e-02 3.44000184e+01] [ 1.19262851e-01 -7.10820976e-03 9.92837271e-01 1.48115571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.119254154 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:319.15, Y:34.41, Z:14.81 [[ 9.17366910e-01 -3.81750842e-01 -1.12713122e-01 3.19146985e+02] [ 3.79811341e-01 9.24238940e-01 -3.90605599e-02 3.44105601e+01] [ 1.19085258e-01 -6.97685709e-03 9.92859519e-01 1.48143821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.14925415399995 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:319.18, Y:34.42, Z:14.82 [[ 9.17730319e-01 -3.80692752e-01 -1.13331773e-01 3.19175668e+02] [ 3.78723364e-01 9.24676039e-01 -3.92789496e-02 3.44215402e+01] [ 1.19748386e-01 -6.87390722e-03 9.92780476e-01 1.48178994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.179254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:319.20, Y:34.43, Z:14.82 [[ 9.18714149e-01 -3.78235778e-01 -1.13587013e-01 3.19202795e+02] [ 3.76238832e-01 9.25685990e-01 -3.93673717e-02 3.44334616e+01] [ 1.20036055e-01 -6.56848361e-03 9.92747803e-01 1.48209171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.20925415399995 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:319.23, Y:34.44, Z:14.82 [[ 9.19419981e-01 -3.76720026e-01 -1.12911117e-01 3.19230670e+02] [ 3.74735495e-01 9.26305525e-01 -3.91329010e-02 3.44446895e+01] [ 1.19332339e-01 -6.33223235e-03 9.92834173e-01 1.48238245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.239254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:319.26, Y:34.46, Z:14.83 [[ 9.20156392e-01 -3.75061835e-01 -1.12431465e-01 3.19258344e+02] [ 3.73081867e-01 9.26979785e-01 -3.89666226e-02 3.44560498e+01] [ 1.18836588e-01 -6.09075394e-03 9.92895145e-01 1.48266321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.26925415399995 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:319.28, Y:34.47, Z:14.83 [[ 9.20915850e-01 -3.73314856e-01 -1.12026849e-01 3.19284118e+02] [ 3.71336130e-01 9.27686307e-01 -3.88277600e-02 3.44667320e+01] [ 1.18420754e-01 -5.84251716e-03 9.92946318e-01 1.48297369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.299254154 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:319.31, Y:34.48, Z:14.83 [[ 9.22331671e-01 -3.69980264e-01 -1.11440086e-01 3.19313430e+02] [ 3.67997055e-01 9.29024050e-01 -3.86326470e-02 3.44801022e+01] [ 1.17823837e-01 -5.37750959e-03 9.93019952e-01 1.48333363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.32925415399995 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:319.34, Y:34.49, Z:14.84 [[ 9.22975250e-01 -3.68427538e-01 -1.11255726e-01 3.19342807e+02] [ 3.66440774e-01 9.29642041e-01 -3.85594852e-02 3.44919188e+01] [ 1.17634376e-01 -5.17918379e-03 9.93043468e-01 1.48366963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.359254154 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:319.37, Y:34.50, Z:14.84 [[ 9.23480085e-01 -3.67169016e-01 -1.11227003e-01 3.19372768e+02] [ 3.65175298e-01 9.30140662e-01 -3.85402469e-02 3.45040140e+01] [ 1.17607543e-01 -5.02620347e-03 9.93047433e-01 1.48402424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.38925415399996 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:319.40, Y:34.52, Z:14.84 [[ 9.23906062e-01 -3.66071321e-01 -1.11307577e-01 3.19401374e+02] [ 3.64067852e-01 9.30573905e-01 -3.85591313e-02 3.45155970e+01] [ 1.17695318e-01 -4.89849512e-03 9.93037671e-01 1.48431583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.419254154 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:319.43, Y:34.53, Z:14.85 [[ 9.24572349e-01 -3.64432016e-01 -1.11154294e-01 3.19429503e+02] [ 3.62423104e-01 9.31218188e-01 -3.84990986e-02 3.45279299e+01] [ 1.17539205e-01 -4.68968243e-03 9.93057170e-01 1.48457828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.44925415399996 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:319.46, Y:34.54, Z:14.85 [[ 9.24736880e-01 -3.64045213e-01 -1.11053078e-01 3.19459038e+02] [ 3.62038035e-01 9.31369704e-01 -3.84569209e-02 3.45394374e+01] [ 1.17431530e-01 -4.64290510e-03 9.93070128e-01 1.48490771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.47925415399993 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:319.49, Y:34.55, Z:14.85 [[ 9.24872361e-01 -3.64041166e-01 -1.09932459e-01 3.19488600e+02] [ 3.62075401e-01 9.31371483e-01 -3.80600092e-02 3.45521931e+01] [ 1.16243368e-01 -4.60318856e-03 9.93210094e-01 1.48516851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.50925415399996 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:319.52, Y:34.56, Z:14.85 [[ 9.24949829e-01 -3.64060995e-01 -1.09212667e-01 3.19518900e+02] [ 3.62122110e-01 9.31363830e-01 -3.78020183e-02 3.45636927e+01] [ 1.15478968e-01 -4.58335100e-03 9.93299351e-01 1.48548856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.53925415399993 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:319.55, Y:34.58, Z:14.86 [[ 9.24950119e-01 -3.64281798e-01 -1.08471422e-01 3.19550020e+02] [ 3.62371800e-01 9.31277468e-01 -3.75360784e-02 3.45753773e+01] [ 1.14690701e-01 -4.58798419e-03 9.93390655e-01 1.48580509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.56925415399996 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:319.58, Y:34.59, Z:14.86 [[ 9.24957762e-01 -3.64515111e-01 -1.07619111e-01 3.19579490e+02] [ 3.62638098e-01 9.31186151e-01 -3.72285090e-02 3.45865236e+01] [ 1.13783779e-01 -4.59199123e-03 9.93494925e-01 1.48611908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.59925415399994 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:319.61, Y:34.60, Z:14.86 [[ 9.24938107e-01 -3.64732840e-01 -1.07048835e-01 3.19608822e+02] [ 3.62877914e-01 9.31100851e-01 -3.70246590e-02 3.45975288e+01] [ 1.13177371e-01 -4.60014004e-03 9.93564151e-01 1.48641252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.62925415399997 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:319.64, Y:34.61, Z:14.87 [[ 9.24610750e-01 -3.65774975e-01 -1.06318521e-01 3.19638507e+02] [ 3.63952931e-01 9.30691445e-01 -3.67654418e-02 3.46096852e+01] [ 1.12397616e-01 -4.70121457e-03 9.93652190e-01 1.48672398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.65925415399994 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:319.67, Y:34.62, Z:14.87 [[ 9.24388954e-01 -3.66476634e-01 -1.05829761e-01 3.19668208e+02] [ 3.64676865e-01 9.30415017e-01 -3.65879802e-02 3.46205719e+01] [ 1.11874239e-01 -4.77214093e-03 9.93710914e-01 1.48699521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.68925415399997 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:319.70, Y:34.63, Z:14.87 [[ 9.24100741e-01 -3.67162704e-01 -1.05968721e-01 3.19697014e+02] [ 3.65363701e-01 9.30143984e-01 -3.66269737e-02 3.46312817e+01] [ 1.12014227e-01 -4.87011066e-03 9.93694669e-01 1.48728912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.71925415399994 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:319.73, Y:34.64, Z:14.88 [[ 9.23760482e-01 -3.68084701e-01 -1.05736583e-01 3.19727166e+02] [ 3.66301122e-01 9.29778908e-01 -3.65331406e-02 3.46423099e+01] [ 1.11758934e-01 -4.98355736e-03 9.93722851e-01 1.48759041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.74925415399997 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:319.76, Y:34.65, Z:14.88 [[ 9.22951144e-01 -3.70301060e-01 -1.05063366e-01 3.19756102e+02] [ 3.68555342e-01 9.28897098e-01 -3.62924361e-02 3.46534661e+01] [ 1.11032183e-01 -5.22551918e-03 9.93803073e-01 1.48779041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.77925415399994 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:319.79, Y:34.66, Z:14.88 [[ 9.22560875e-01 -3.71401413e-01 -1.04606030e-01 3.19785878e+02] [ 3.69678587e-01 9.28457040e-01 -3.61284720e-02 3.46639974e+01] [ 1.10540371e-01 -5.33989475e-03 9.93857290e-01 1.48804262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.809254154 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:319.82, Y:34.68, Z:14.88 [[ 9.21800258e-01 -3.73429575e-01 -1.04089560e-01 3.19817028e+02] [ 3.71737117e-01 9.27641873e-01 -3.59453909e-02 3.46751711e+01] [ 1.09980906e-01 -5.55948224e-03 9.93918152e-01 1.48827914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.83925415399995 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:319.85, Y:34.69, Z:14.89 [[ 9.21834040e-01 -3.73345094e-01 -1.04093435e-01 3.19847802e+02] [ 3.71653365e-01 9.27675866e-01 -3.59341656e-02 3.46857245e+01] [ 1.09980812e-01 -5.56133824e-03 9.93918152e-01 1.48861110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.869254154 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:319.88, Y:34.70, Z:14.89 [[ 9.21588469e-01 -3.74003217e-01 -1.03905185e-01 3.19878898e+02] [ 3.72322954e-01 9.27410260e-01 -3.58584486e-02 3.46970134e+01] [ 1.09773910e-01 -5.63955278e-03 9.93940584e-01 1.48891605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.89925415399995 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:319.91, Y:34.71, Z:14.89 [[ 9.21370099e-01 -3.74504446e-01 -1.04036341e-01 3.19909516e+02] [ 3.72824544e-01 9.27207483e-01 -3.58907070e-02 3.47083393e+01] [ 1.09904504e-01 -5.71867731e-03 9.93925700e-01 1.48919371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.929254154 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:319.94, Y:34.72, Z:14.90 [[ 9.21326343e-01 -3.74495920e-01 -1.04453697e-01 3.19939161e+02] [ 3.72803863e-01 9.27210715e-01 -3.60217983e-02 3.47192665e+01] [ 1.10340604e-01 -5.75291008e-03 9.93877183e-01 1.48950325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.95925415399995 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:319.97, Y:34.73, Z:14.90 [[ 9.21973049e-01 -3.72871994e-01 -1.04557032e-01 3.19968232e+02] [ 3.71167331e-01 9.27866052e-01 -3.60472078e-02 3.47307293e+01] [ 1.10455915e-01 -5.57360038e-03 9.93865396e-01 1.48971188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.989254154 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:320.00, Y:34.74, Z:14.90 [[ 9.22444989e-01 -3.71693731e-01 -1.04589739e-01 3.19999388e+02] [ 3.69981002e-01 9.28339481e-01 -3.60536662e-02 3.47426765e+01] [ 1.10495706e-01 -5.43869287e-03 9.93861721e-01 1.49003055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.01925415399995 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:320.03, Y:34.75, Z:14.90 [[ 9.23218827e-01 -3.69889700e-01 -1.04156644e-01 3.20029106e+02] [ 3.68181152e-01 9.29061051e-01 -3.58915438e-02 3.47539929e+01] [ 1.10043794e-01 -5.21276429e-03 9.93913070e-01 1.49032441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.049254154 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:320.06, Y:34.77, Z:14.91 [[ 9.24251691e-01 -3.67354535e-01 -1.03968545e-01 3.20060268e+02] [ 3.65637402e-01 9.30068018e-01 -3.58158014e-02 3.47658933e+01] [ 1.09854915e-01 -4.91197358e-03 9.93935496e-01 1.49069624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.07925415399995 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:320.09, Y:34.78, Z:14.91 [[ 9.26340374e-01 -3.62438288e-01 -1.02625525e-01 3.20088963e+02] [ 3.60736598e-01 9.31997930e-01 -3.53407125e-02 3.47788301e+01] [ 1.08455605e-01 -4.28325409e-03 9.94092066e-01 1.49106620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.109254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:320.12, Y:34.79, Z:14.91 [[ 9.27795600e-01 -3.58983048e-01 -1.01619368e-01 3.20118244e+02] [ 3.57295086e-01 9.33336139e-01 -3.49839058e-02 3.47903065e+01] [ 1.07403657e-01 -3.85018691e-03 9.94208042e-01 1.49137171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.13925415399996 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:320.15, Y:34.80, Z:14.92 [[ 9.28950079e-01 -3.56243096e-01 -1.00710512e-01 3.20147499e+02] [ 3.54570287e-01 9.34386714e-01 -3.46609284e-02 3.48020662e+01] [ 1.06450281e-01 -3.51068312e-03 9.94311829e-01 1.49169496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.169254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:320.18, Y:34.81, Z:14.92 [[ 9.31114463e-01 -3.50595432e-01 -1.00542033e-01 3.20177459e+02] [ 3.48896438e-01 9.36522617e-01 -3.45928159e-02 3.48149532e+01] [ 1.06287971e-01 -2.86888601e-03 9.94331251e-01 1.49198112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.19925415399996 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:320.21, Y:34.83, Z:14.92 [[ 9.31964401e-01 -3.48194533e-01 -1.01009520e-01 3.20208319e+02] [ 3.46466949e-01 9.37418641e-01 -3.47411170e-02 3.48266276e+01] [ 1.06784874e-01 -2.61897601e-03 9.94278699e-01 1.49229461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.22925415399993 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:320.24, Y:34.84, Z:14.93 [[ 9.32704877e-01 -3.46166144e-01 -1.01146497e-01 3.20239371e+02] [ 3.44423305e-01 9.38170151e-01 -3.47757699e-02 3.48381912e+01] [ 1.06930818e-01 -2.40168056e-03 9.94263563e-01 1.49256151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.25925415399996 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:320.27, Y:34.85, Z:14.93 [[ 9.33212236e-01 -3.44582046e-01 -1.01873137e-01 3.20269142e+02] [ 3.42805953e-01 9.38753514e-01 -3.50131222e-02 3.48490905e+01] [ 1.07698658e-01 -2.24804362e-03 9.94181043e-01 1.49284078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.28925415399993 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:320.30, Y:34.86, Z:14.93 [[ 9.33659674e-01 -3.42994645e-01 -1.03122677e-01 3.20299148e+02] [ 3.41166109e-01 9.39335010e-01 -3.54319733e-02 3.48605655e+01] [ 1.09019718e-01 -2.10055777e-03 9.94037368e-01 1.49304313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.31925415399996 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:320.33, Y:34.87, Z:14.93 [[ 9.33747085e-01 -3.42615349e-01 -1.03591046e-01 3.20330319e+02] [ 3.40768963e-01 9.39473477e-01 -3.55822976e-02 3.48715542e+01] [ 1.09512081e-01 -2.07574656e-03 9.93983297e-01 1.49332036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.34925415399994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:320.36, Y:34.88, Z:14.94 [[ 9.33804335e-01 -3.42306490e-01 -1.04094812e-01 3.20360476e+02] [ 3.40441512e-01 9.39586089e-01 -3.57429603e-02 3.48820642e+01] [ 1.10041084e-01 -2.06126375e-03 9.93924902e-01 1.49363127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.37925415399997 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:320.39, Y:34.89, Z:14.94 [[ 9.33811134e-01 -3.42195054e-01 -1.04399769e-01 3.20391160e+02] [ 3.40319579e-01 9.39626673e-01 -3.58371321e-02 3.48928459e+01] [ 1.10360097e-01 -2.06417263e-03 9.93889525e-01 1.49395017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.40925415399994 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:320.42, Y:34.90, Z:14.94 [[ 9.33846860e-01 -3.42099896e-01 -1.04392063e-01 3.20422246e+02] [ 3.40225480e-01 9.39661321e-01 -3.58221189e-02 3.49048201e+01] [ 1.10347927e-01 -2.06446649e-03 9.93890876e-01 1.49428100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.43925415399997 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:320.45, Y:34.92, Z:14.95 [[ 9.33953872e-01 -3.41905944e-01 -1.04069637e-01 3.20453582e+02] [ 3.40043328e-01 9.39731948e-01 -3.56987519e-02 3.49162550e+01] [ 1.10003179e-01 -2.04719830e-03 9.93929127e-01 1.49461487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.46925415399994 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:320.48, Y:34.93, Z:14.95 [[ 9.33981662e-01 -3.41898024e-01 -1.03846017e-01 3.20483782e+02] [ 3.40044890e-01 9.39734813e-01 -3.56083436e-02 3.49274934e+01] [ 1.09762140e-01 -2.05476762e-03 9.93955759e-01 1.49493253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.49925415399997 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:320.51, Y:34.94, Z:14.95 [[ 9.33923721e-01 -3.42257522e-01 -1.03180776e-01 3.20514561e+02] [ 3.40432573e-01 9.39603835e-01 -3.53595425e-02 3.49383384e+01] [ 1.09051122e-01 -2.10298138e-03 9.94033918e-01 1.49523611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.52925415399994 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:320.54, Y:34.95, Z:14.96 [[ 9.33617478e-01 -3.43188529e-01 -1.02859314e-01 3.20544310e+02] [ 3.41382122e-01 9.39263921e-01 -3.52353850e-02 3.49488658e+01] [ 1.08704423e-01 -2.21795974e-03 9.94071642e-01 1.49556707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.559254154 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:320.58, Y:34.96, Z:14.96 [[ 9.33346396e-01 -3.44063744e-01 -1.02394554e-01 3.20575231e+02] [ 3.42282200e-01 9.38943382e-01 -3.50459813e-02 3.49592370e+01] [ 1.08200740e-01 -2.33779272e-03 9.94126317e-01 1.49582721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.58925415399995 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:320.61, Y:34.97, Z:14.96 [[ 9.31665994e-01 -3.48824395e-01 -1.01587486e-01 3.20605110e+02] [ 3.47100489e-01 9.37183679e-01 -3.47563286e-02 3.49695442e+01] [ 1.07329989e-01 -2.87977677e-03 9.94219282e-01 1.49619288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.619254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:320.64, Y:34.98, Z:14.97 [[ 9.30585088e-01 -3.51873980e-01 -1.00975716e-01 3.20636284e+02] [ 3.50191871e-01 9.36041776e-01 -3.45173311e-02 3.49800839e+01] [ 1.06663239e-01 -3.23956116e-03 9.94289927e-01 1.49650900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.64925415399995 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:320.67, Y:34.99, Z:14.97 [[ 9.29347250e-01 -3.55167645e-01 -1.00844599e-01 3.20666135e+02] [ 3.53510645e-01 9.34795593e-01 -3.44589926e-02 3.49900910e+01] [ 1.06507806e-01 -3.62526907e-03 9.94305257e-01 1.49684527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.679254154 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:320.70, Y:35.00, Z:14.97 [[ 9.26337096e-01 -3.62882595e-01 -1.01073272e-01 3.20697041e+02] [ 3.61266983e-01 9.31823758e-01 -3.45058106e-02 3.49997856e+01] [ 1.06704034e-01 -4.55042369e-03 9.94280415e-01 1.49716091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.70925415399995 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:320.73, Y:35.01, Z:14.98 [[ 9.24838244e-01 -3.66522031e-01 -1.01665253e-01 3.20728416e+02] [ 3.64912496e-01 9.30395789e-01 -3.46777495e-02 3.50095276e+01] [ 1.07299083e-01 -5.02761234e-03 9.94214077e-01 1.49751401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.739254154 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:320.76, Y:35.02, Z:14.98 [[ 9.23387747e-01 -3.70079508e-01 -1.01961883e-01 3.20758748e+02] [ 3.68483458e-01 9.28983989e-01 -3.47662043e-02 3.50188923e+01] [ 1.07587216e-01 -5.46858003e-03 9.94180610e-01 1.49781470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.76925415399995 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:320.79, Y:35.03, Z:14.98 [[ 9.21243355e-01 -3.75148022e-01 -1.02833078e-01 3.20789910e+02] [ 3.73558017e-01 9.26944645e-01 -3.50432881e-02 3.50279963e+01] [ 1.08466991e-01 -6.13072430e-03 9.94081147e-01 1.49810967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.799254154 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:320.82, Y:35.04, Z:14.98 [[ 9.20920027e-01 -3.75706233e-01 -1.03687658e-01 3.20821126e+02] [ 3.74094565e-01 9.26717666e-01 -3.53217180e-02 3.50375942e+01] [ 1.09359774e-01 -6.26051182e-03 9.93982518e-01 1.49841871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.82925415399995 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:320.85, Y:35.05, Z:14.99 [[ 9.20871855e-01 -3.75749663e-01 -1.03957767e-01 3.20852168e+02] [ 3.74131252e-01 9.26699830e-01 -3.54009972e-02 3.50476011e+01] [ 1.09639558e-01 -6.29406777e-03 9.93951484e-01 1.49875791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.859254154 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:320.88, Y:35.06, Z:14.99 [[ 9.21712051e-01 -3.73676623e-01 -1.03984016e-01 3.20883130e+02] [ 3.72045678e-01 9.27539244e-01 -3.53972366e-02 3.50580932e+01] [ 1.09676375e-01 -6.06074423e-03 9.93948872e-01 1.49907956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.88925415399996 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:320.91, Y:35.07, Z:14.99 [[ 9.22028218e-01 -3.72906691e-01 -1.03945011e-01 3.20914297e+02] [ 3.71273533e-01 9.27849585e-01 -3.53710506e-02 3.50694983e+01] [ 1.09635437e-01 -5.97892474e-03 9.93953884e-01 1.49949677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.919254154 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:320.95, Y:35.08, Z:15.00 [[ 9.22729225e-01 -3.71213429e-01 -1.03785201e-01 3.20945628e+02] [ 3.69576058e-01 9.28529576e-01 -3.53038685e-02 3.50806413e+01] [ 1.09472899e-01 -5.78061420e-03 9.93972972e-01 1.49988294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.94925415399996 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:320.98, Y:35.09, Z:15.00 [[ 9.23499487e-01 -3.69246890e-01 -1.03949180e-01 3.20975612e+02] [ 3.67593418e-01 9.29314652e-01 -3.53462301e-02 3.50916103e+01] [ 1.09652982e-01 -5.56880907e-03 9.93954331e-01 1.50027560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.97925415399993 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:321.01, Y:35.10, Z:15.01 [[ 9.25525371e-01 -3.64369871e-01 -1.03137698e-01 3.21006074e+02] [ 3.62714198e-01 9.31241053e-01 -3.50501290e-02 3.51038069e+01] [ 1.08817270e-01 -4.96972388e-03 9.94049347e-01 1.50065737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.00925415399996 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:321.04, Y:35.12, Z:15.01 [[ 9.26807299e-01 -3.61228230e-01 -1.02676170e-01 3.21037181e+02] [ 3.59569513e-01 9.32466131e-01 -3.48809356e-02 3.51152531e+01] [ 1.08342029e-01 -4.59131460e-03 9.94103075e-01 1.50096614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.03925415399993 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:321.07, Y:35.13, Z:15.01 [[ 9.27977679e-01 -3.58170576e-01 -1.02816660e-01 3.21067972e+02] [ 3.56489955e-01 9.33646487e-01 -3.49163162e-02 3.51267453e+01] [ 1.08500410e-01 -4.25154424e-03 9.94087313e-01 1.50136372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.06925415399996 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:321.10, Y:35.14, Z:15.02 [[ 9.30691506e-01 -3.51063758e-01 -1.02798632e-01 3.21096997e+02] [ 3.49341842e-01 9.36345263e-01 -3.48973710e-02 3.51395520e+01] [ 1.08506214e-01 -3.43317662e-03 9.94089842e-01 1.50171485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.09925415399994 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:321.13, Y:35.15, Z:15.02 [[ 9.31957812e-01 -3.47575384e-01 -1.03179400e-01 3.21127316e+02] [ 3.45821504e-01 9.37647060e-01 -3.50068376e-02 3.51513098e+01] [ 1.08913377e-01 -3.05675973e-03 9.94046545e-01 1.50208423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.12925415399997 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:321.16, Y:35.16, Z:15.02 [[ 9.33215056e-01 -3.44152659e-01 -1.03288953e-01 3.21157742e+02] [ 3.42375466e-01 9.38909906e-01 -3.50318252e-02 3.51629576e+01] [ 1.09035316e-01 -2.67137663e-03 9.94034287e-01 1.50244347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.15925415399994 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:321.19, Y:35.17, Z:15.03 [[ 9.34456042e-01 -3.40666004e-01 -1.03627122e-01 3.21188646e+02] [ 3.38857318e-01 9.40181605e-01 -3.51321365e-02 3.51744581e+01] [ 1.09396638e-01 -2.28537134e-03 9.93995550e-01 1.50279974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.18925415399997 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:321.22, Y:35.19, Z:15.03 [[ 9.36717721e-01 -3.34183227e-01 -1.04314344e-01 3.21218362e+02] [ 3.32314076e-01 9.42506819e-01 -3.53305818e-02 3.51863687e+01] [ 1.10123869e-01 -1.57034282e-03 9.93916630e-01 1.50308038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.21925415399994 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:321.25, Y:35.20, Z:15.03 [[ 9.37823093e-01 -3.30827449e-01 -1.05076376e-01 3.21249288e+02] [ 3.28913246e-01 9.43690482e-01 -3.55577264e-02 3.51974111e+01] [ 1.10923048e-01 -1.21415502e-03 9.93828256e-01 1.50340305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.24925415399997 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:321.28, Y:35.21, Z:15.04 [[ 9.38948577e-01 -3.27380851e-01 -1.05817525e-01 3.21279585e+02] [ 3.25419197e-01 9.44892108e-01 -3.57945514e-02 3.52085811e+01] [ 1.11704595e-01 -8.25810937e-04 9.93741114e-01 1.50374246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.27925415399994 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:321.31, Y:35.22, Z:15.04 [[ 9.40164971e-01 -3.23670634e-01 -1.06429074e-01 3.21310440e+02] [ 3.21665060e-01 9.46169728e-01 -3.59782650e-02 3.52200849e+01] [ 1.12345076e-01 -4.09010030e-04 9.93669169e-01 1.50411836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.309254154 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:321.34, Y:35.23, Z:15.05 [[ 9.42659760e-01 -3.16208512e-01 -1.06793043e-01 3.21339966e+02] [ 3.14145300e-01 9.48689609e-01 -3.60659865e-02 3.52322709e+01] [ 1.12717822e-01 4.49421481e-04 9.93626937e-01 1.50451792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.33925415399995 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:321.37, Y:35.24, Z:15.05 [[ 9.43762771e-01 -3.12901576e-01 -1.06791552e-01 3.21371302e+02] [ 3.10820812e-01 9.49785207e-01 -3.60344744e-02 3.52436174e+01] [ 1.12704280e-01 8.14958604e-04 9.93628241e-01 1.50490334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.369254154 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:321.40, Y:35.25, Z:15.05 [[ 9.45769997e-01 -3.07061182e-01 -1.05983696e-01 3.21400947e+02] [ 3.04976906e-01 9.51688616e-01 -3.57472410e-02 3.52540096e+01] [ 1.11840067e-01 1.48608830e-03 9.93725108e-01 1.50526921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.39925415399995 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:321.43, Y:35.26, Z:15.06 [[ 9.46471517e-01 -3.04965719e-01 -1.05771342e-01 3.21432458e+02] [ 3.02880156e-01 9.52361809e-01 -3.56454097e-02 3.52640859e+01] [ 1.11603215e-01 1.70132427e-03 9.93751391e-01 1.50562803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.429254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:321.46, Y:35.27, Z:15.06 [[ 9.47153549e-01 -3.02979345e-01 -1.05373957e-01 3.21462674e+02] [ 3.00898838e-01 9.52995201e-01 -3.54969941e-02 3.52732005e+01] [ 1.11175731e-01 1.91420265e-03 9.93798920e-01 1.50592816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.45925415399995 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:321.49, Y:35.28, Z:15.06 [[ 9.47305918e-01 -3.02686336e-01 -1.04845029e-01 3.21494348e+02] [ 3.00628290e-01 9.53088314e-01 -3.52887698e-02 3.52832896e+01] [ 1.10608000e-01 1.90987872e-03 9.93862275e-01 1.50626880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.489254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:321.53, Y:35.29, Z:15.07 [[ 9.47221566e-01 -3.03285730e-01 -1.03870449e-01 3.21525759e+02] [ 3.01271033e-01 9.52897945e-01 -3.49466977e-02 3.52911851e+01] [ 1.09576772e-01 1.80910827e-03 9.93976689e-01 1.50658016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.51925415399995 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:321.56, Y:35.30, Z:15.07 [[ 9.46967233e-01 -3.04164869e-01 -1.03618493e-01 3.21557618e+02] [ 3.02168516e-01 9.52617934e-01 -3.48318688e-02 3.53000057e+01] [ 1.09303465e-01 1.67439231e-03 9.94007017e-01 1.50693640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.549254154 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:321.59, Y:35.31, Z:15.07 [[ 9.46632761e-01 -3.05272536e-01 -1.03417095e-01 3.21588391e+02] [ 3.03291874e-01 9.52263793e-01 -3.47520756e-02 3.53082506e+01] [ 1.09089209e-01 1.53188879e-03 9.94030783e-01 1.50726168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.57925415399995 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:321.62, Y:35.32, Z:15.08 [[ 9.46233530e-01 -3.06556975e-01 -1.03271138e-01 3.21620706e+02] [ 3.04590666e-01 9.51851322e-01 -3.46927612e-02 3.53167325e+01] [ 1.08934077e-01 1.37202917e-03 9.94048029e-01 1.50760954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.609254154 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:321.65, Y:35.32, Z:15.08 [[ 9.45124825e-01 -3.10028960e-01 -1.03058764e-01 3.21652506e+02] [ 3.08092639e-01 9.50726630e-01 -3.46092536e-02 3.53224128e+01] [ 1.08710583e-01 9.58418048e-04 9.94072981e-01 1.50794619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.63925415399996 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:321.68, Y:35.33, Z:15.08 [[ 9.44474277e-01 -3.12002165e-01 -1.03067886e-01 3.21684104e+02] [ 3.10078336e-01 9.50081117e-01 -3.46019815e-02 3.53302455e+01] [ 1.08718745e-01 7.21562979e-04 9.94072288e-01 1.50829955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.669254154 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:321.72, Y:35.33, Z:15.09 [[ 9.43164087e-01 -3.16038569e-01 -1.02767347e-01 3.21717431e+02] [ 3.14151158e-01 9.48746311e-01 -3.44889363e-02 3.53345393e+01] [ 1.08399976e-01 2.44244945e-04 9.94107331e-01 1.50864229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.69925415399996 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:321.75, Y:35.34, Z:15.09 [[ 9.42472239e-01 -3.18187055e-01 -1.02484523e-01 3.21749231e+02] [ 3.16324055e-01 9.48027952e-01 -3.43816027e-02 3.53414211e+01] [ 1.08097973e-01 -1.46137111e-05 9.94140246e-01 1.50894868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.72925415399993 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:321.78, Y:35.35, Z:15.09 [[ 9.42524469e-01 -3.18031246e-01 -1.02487814e-01 3.21780918e+02] [ 3.16168394e-01 9.48080232e-01 -3.43717897e-02 3.53519556e+01] [ 1.08097973e-01 -7.15468304e-06 9.94140246e-01 1.50928947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.75925415399996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:321.81, Y:35.36, Z:15.10 [[ 9.41952598e-01 -3.19775715e-01 -1.02317128e-01 3.21813777e+02] [ 3.17931331e-01 9.47493241e-01 -3.42961608e-02 3.53586677e+01] [ 1.07911867e-01 -2.24462988e-04 9.94160439e-01 1.50959936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.78925415399993 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:321.85, Y:35.36, Z:15.10 [[ 9.40591564e-01 -3.23880392e-01 -1.01926446e-01 3.21845384e+02] [ 3.22075387e-01 9.46097773e-01 -3.41533093e-02 3.53613933e+01] [ 1.07493971e-01 -7.03684929e-04 9.94205487e-01 1.50984038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.81925415399996 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:321.88, Y:35.37, Z:15.10 [[ 9.40137776e-01 -3.25172164e-01 -1.02000124e-01 3.21877727e+02] [ 3.23372816e-01 9.45654444e-01 -3.41715433e-02 3.53676916e+01] [ 1.07568505e-01 -8.58108644e-04 9.94197305e-01 1.51010806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.84925415399994 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:321.91, Y:35.37, Z:15.10 [[ 9.39484802e-01 -3.27078336e-01 -1.01921874e-01 3.21910271e+02] [ 3.25294285e-01 9.44996603e-01 -3.41328135e-02 3.53748613e+01] [ 1.07479928e-01 -1.08734339e-03 9.94206660e-01 1.51040619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.87925415399997 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:321.94, Y:35.38, Z:15.11 [[ 9.38257382e-01 -3.30317555e-01 -1.02778392e-01 3.21943461e+02] [ 3.28524028e-01 9.43868696e-01 -3.44070932e-02 3.53783359e+01] [ 1.08374574e-01 -1.48246218e-03 9.94109025e-01 1.51064584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.90925415399994 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:321.97, Y:35.39, Z:15.11 [[ 9.37491976e-01 -3.32559543e-01 -1.02532656e-01 3.21974806e+02] [ 3.30788872e-01 9.43080646e-01 -3.43164349e-02 3.53853489e+01] [ 1.08108821e-01 -1.74527927e-03 9.94137534e-01 1.51091278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.93925415399997 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:322.01, Y:35.39, Z:15.11 [[ 9.36695871e-01 -3.34611464e-01 -1.03131048e-01 3.22006166e+02] [ 3.32833323e-01 9.42354053e-01 -3.45082303e-02 3.53921047e+01] [ 1.08732810e-01 -2.00173241e-03 9.94068996e-01 1.51118184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.96925415399994 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:322.04, Y:35.40, Z:15.11 [[ 9.35821321e-01 -3.36888643e-01 -1.03655665e-01 3.22037493e+02] [ 3.35107154e-01 9.41541724e-01 -3.46753263e-02 3.53989658e+01] [ 1.09277857e-01 -2.28584531e-03 9.94008614e-01 1.51149016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.99925415399997 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:322.07, Y:35.38, Z:15.12 [[ 9.31207188e-01 -3.39733431e-01 -1.32039274e-01 3.22071029e+02] [ 3.43991838e-01 9.38917295e-01 1.01945323e-02 3.53823429e+01] [ 1.20510535e-01 -5.49136543e-02 9.91192061e-01 1.51193396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.02925415399994 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:322.09, Y:35.43, Z:15.14 [[ 9.33007507e-01 -3.48853351e-01 -8.83081633e-02 3.22088798e+02] [ 3.41829291e-01 9.35864682e-01 -8.54987239e-02 3.54321986e+01] [ 1.12471008e-01 4.95846343e-02 9.92417068e-01 1.51366077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.059254154 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:322.13, Y:35.42, Z:15.12 [[ 9.31802060e-01 -3.47496717e-01 -1.04837748e-01 3.22127983e+02] [ 3.45742438e-01 9.37674361e-01 -3.50565168e-02 3.54159309e+01] [ 1.10485692e-01 -3.58112394e-03 9.93871263e-01 1.51233524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.08925415399995 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:322.16, Y:35.42, Z:15.13 [[ 9.29380917e-01 -3.53842314e-01 -1.05103413e-01 3.22158868e+02] [ 3.52119439e-01 9.35294996e-01 -3.51449904e-02 3.54208203e+01] [ 1.10738481e-01 -4.34587127e-03 9.93840079e-01 1.51262415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.119254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:322.19, Y:35.43, Z:15.13 [[ 9.28241996e-01 -3.56642393e-01 -1.05702413e-01 3.22189687e+02] [ 3.54918313e-01 9.34229100e-01 -3.53409034e-02 3.54285108e+01] [ 1.11354334e-01 -4.71081127e-03 9.93769601e-01 1.51291666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.14925415399995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:322.22, Y:35.44, Z:15.13 [[ 9.27191535e-01 -3.59465588e-01 -1.05358196e-01 3.22218468e+02] [ 3.57771255e-01 9.33144751e-01 -3.52221982e-02 3.54362347e+01] [ 1.10975616e-01 -5.03641007e-03 9.93810368e-01 1.51322067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.179254154 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:322.25, Y:35.44, Z:15.14 [[ 9.25415893e-01 -3.63844982e-01 -1.05935140e-01 3.22245330e+02] [ 3.62159863e-01 9.31442761e-01 -3.54205564e-02 3.54419068e+01] [ 1.11560111e-01 -5.58671011e-03 9.93741984e-01 1.51351524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.20925415399995 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:322.27, Y:35.45, Z:15.14 [[ 9.24599266e-01 -3.66061486e-01 -1.05428581e-01 3.22272897e+02] [ 3.64404840e-01 9.30572533e-01 -3.52685814e-02 3.54499415e+01] [ 1.11019411e-01 -5.80938086e-03 9.93801258e-01 1.51382468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.239254154 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:322.30, Y:35.46, Z:15.14 [[ 9.23674390e-01 -3.68223009e-01 -1.06006775e-01 3.22299260e+02] [ 3.66558836e-01 9.29717655e-01 -3.54922904e-02 3.54569417e+01] [ 1.11625448e-01 -6.07440016e-03 9.93731785e-01 1.51412282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.26925415399995 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:322.32, Y:35.46, Z:15.14 [[ 9.23611246e-01 -3.68252817e-01 -1.06452470e-01 3.22324546e+02] [ 3.66572139e-01 9.29705799e-01 -3.56650178e-02 3.54647771e+01] [ 1.12103222e-01 -6.08189830e-03 9.93677955e-01 1.51438009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.299254154 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:322.35, Y:35.47, Z:15.15 [[ 9.23590248e-01 -3.68329578e-01 -1.06369056e-01 3.22349682e+02] [ 3.66650238e-01 9.29675460e-01 -3.56530859e-02 3.54732223e+01] [ 1.12020787e-01 -6.07139726e-03 9.93687316e-01 1.51466449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.32925415399995 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:322.38, Y:35.48, Z:15.15 [[ 9.24413297e-01 -3.66581445e-01 -1.05252558e-01 3.22377439e+02] [ 3.64923212e-01 9.30368048e-01 -3.53035933e-02 3.54810521e+01] [ 1.10865260e-01 -5.77399061e-03 9.93818673e-01 1.51494001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.359254154 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:322.40, Y:35.49, Z:15.15 [[ 9.24475738e-01 -3.66336592e-01 -1.05556203e-01 3.22404264e+02] [ 3.64663961e-01 9.30464732e-01 -3.54341425e-02 3.54917566e+01] [ 1.11197147e-01 -5.73453821e-03 9.93781822e-01 1.51531881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.38925415399996 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:322.43, Y:35.50, Z:15.16 [[ 9.24895823e-01 -3.65327786e-01 -1.05372316e-01 3.22431663e+02] [ 3.63653745e-01 9.30862117e-01 -3.53789957e-02 3.55009303e+01] [ 1.11012028e-01 -5.59715208e-03 9.93803301e-01 1.51561477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.419254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:322.46, Y:35.51, Z:15.16 [[ 9.25482587e-01 -3.63810227e-01 -1.05470847e-01 3.22458404e+02] [ 3.62119820e-01 9.31457487e-01 -3.54427071e-02 3.55099992e+01] [ 1.11136030e-01 -5.39147584e-03 9.93790579e-01 1.51591490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.44925415399996 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:322.49, Y:35.52, Z:15.16 [[ 9.27224994e-01 -3.59301067e-01 -1.05624587e-01 3.22485015e+02] [ 3.57573138e-01 9.33209208e-01 -3.55250031e-02 3.55200100e+01] [ 1.11334008e-01 -4.82884410e-03 9.93771312e-01 1.51622014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.47925415399993 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:322.51, Y:35.53, Z:15.17 [[ 9.28394848e-01 -3.56212581e-01 -1.05809278e-01 3.22512517e+02] [ 3.54455431e-01 9.34394396e-01 -3.56154350e-02 3.55303775e+01] [ 1.11554263e-01 -4.43948698e-03 9.93748428e-01 1.51652128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.50925415399996 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:322.54, Y:35.54, Z:15.17 [[ 9.29637644e-01 -3.52907816e-01 -1.05971336e-01 3.22539129e+02] [ 3.51123352e-01 9.35649355e-01 -3.56745993e-02 3.55410660e+01] [ 1.11741857e-01 -4.04456032e-03 9.93729037e-01 1.51686612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.53925415399993 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:322.57, Y:35.55, Z:15.17 [[ 9.32306701e-01 -3.45793010e-01 -1.05978341e-01 3.22565566e+02] [ 3.43961696e-01 9.38305415e-01 -3.56833305e-02 3.55536923e+01] [ 1.11779097e-01 -3.18468173e-03 9.93727976e-01 1.51723589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.56925415399996 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:322.59, Y:35.56, Z:15.18 [[ 9.33670743e-01 -3.42195974e-01 -1.05644966e-01 3.22592140e+02] [ 3.40352716e-01 9.39624608e-01 -3.55756183e-02 3.55644541e+01] [ 1.11440444e-01 -2.74063724e-03 9.93767335e-01 1.51756436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.59925415399994 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:322.62, Y:35.58, Z:15.18 [[ 9.34943794e-01 -3.38610686e-01 -1.05938212e-01 3.22620652e+02] [ 3.36733527e-01 9.40923721e-01 -3.56802868e-02 3.55755980e+01] [ 1.11761503e-01 -2.31388500e-03 9.93732365e-01 1.51790599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.62925415399997 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:322.65, Y:35.59, Z:15.18 [[ 9.36075402e-01 -3.35457053e-01 -1.05978333e-01 3.22647985e+02] [ 3.33558282e-01 9.42053507e-01 -3.56939989e-02 3.55861786e+01] [ 1.11811064e-01 -1.93767630e-03 9.93727594e-01 1.51820287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.65925415399994 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:322.68, Y:35.60, Z:15.18 [[ 9.37919458e-01 -3.30257999e-01 -1.06003515e-01 3.22676826e+02] [ 3.28324990e-01 9.43889783e-01 -3.57040523e-02 3.55981419e+01] [ 1.11847183e-01 -1.31607743e-03 9.93724547e-01 1.51848329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.68925415399997 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:322.70, Y:35.60, Z:15.19 [[ 9.35961369e-01 -3.29169556e-01 -1.24994877e-01 3.22698416e+02] [ 3.31508393e-01 9.43449688e-01 -2.20701465e-03 3.55953295e+01] [ 1.18652860e-01 -3.93711704e-02 9.92154932e-01 1.51879509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.71925415399994 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:322.72, Y:35.63, Z:15.20 [[ 9.38182337e-01 -3.29231210e-01 -1.06867738e-01 3.22716747e+02] [ 3.25881306e-01 9.44194865e-01 -4.79315171e-02 3.56273593e+01] [ 1.16684520e-01 1.01423048e-02 9.93117242e-01 1.52026870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.74925415399997 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:322.75, Y:35.64, Z:15.20 [[ 9.40753819e-01 -3.25340183e-01 -9.55825141e-02 3.22749338e+02] [ 3.20301714e-01 9.45120421e-01 -6.44531021e-02 3.56419208e+01] [ 1.11306170e-01 3.00192589e-02 9.93332664e-01 1.52027488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.77925415399994 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:322.78, Y:35.64, Z:15.20 [[ 9.41271903e-01 -3.20639515e-01 -1.05818269e-01 3.22783822e+02] [ 3.18652877e-01 9.47201283e-01 -3.56380773e-02 3.56381387e+01] [ 1.11658176e-01 -1.74175066e-04 9.93746659e-01 1.51966691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.809254154 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:322.81, Y:35.65, Z:15.20 [[ 9.41804985e-01 -3.19144987e-01 -1.05592836e-01 3.22811119e+02] [ 3.17157439e-01 9.47705902e-01 -3.55623604e-02 3.56474379e+01] [ 1.11420503e-01 3.25482401e-06 9.93773350e-01 1.52000574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.83925415399995 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:322.84, Y:35.66, Z:15.20 [[ 9.43017325e-01 -3.15706331e-01 -1.05108696e-01 3.22837410e+02] [ 3.13715138e-01 9.48856861e-01 -3.54043842e-02 3.56563782e+01] [ 1.10910496e-01 4.12758655e-04 9.93830313e-01 1.52033606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.869254154 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:322.86, Y:35.67, Z:15.21 [[ 9.43578715e-01 -3.14285261e-01 -1.04326335e-01 3.22863591e+02] [ 3.12311256e-01 9.49328397e-01 -3.51749104e-02 3.56650226e+01] [ 1.10094908e-01 6.08008139e-04 9.93920893e-01 1.52065501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.89925415399995 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:322.89, Y:35.67, Z:15.21 [[ 9.43173468e-01 -3.13004960e-01 -1.11587208e-01 3.22888128e+02] [ 3.12586887e-01 9.49641787e-01 -2.16775026e-02 3.56692409e+01] [ 1.12753041e-01 -1.44350526e-02 9.93518184e-01 1.52105459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.929254154 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:322.92, Y:35.69, Z:15.22 [[ 9.44538345e-01 -3.13479514e-01 -9.78667972e-02 3.22916239e+02] [ 3.09837933e-01 9.49430460e-01 -5.08159129e-02 3.56889543e+01] [ 1.08847466e-01 1.76747320e-02 9.93901320e-01 1.52179054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.95925415399995 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:322.95, Y:35.68, Z:15.21 [[ 9.43741983e-01 -3.12883631e-01 -1.07027580e-01 3.22945747e+02] [ 3.12000691e-01 9.49744099e-01 -2.53320837e-02 3.56841974e+01] [ 1.09574807e-01 -9.48572799e-03 9.93933289e-01 1.52148956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.989254154 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:322.97, Y:35.70, Z:15.22 [[ 9.42635829e-01 -3.19069491e-01 -9.81445523e-02 3.22973231e+02] [ 3.16075837e-01 9.47661739e-01 -4.50920643e-02 3.56992886e+01] [ 1.07395339e-01 1.14842740e-02 9.94150065e-01 1.52210151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.01925415399995 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:323.00, Y:35.70, Z:15.22 [[ 9.40844373e-01 -3.23091609e-01 -1.02096414e-01 3.23004354e+02] [ 3.21241557e-01 9.46367642e-01 -3.45274860e-02 3.56994184e+01] [ 1.07776284e-01 -3.12620179e-04 9.94175123e-01 1.52197563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.049254154 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:323.03, Y:35.70, Z:15.22 [[ 9.38633273e-01 -3.29445493e-01 -1.02143259e-01 3.23032214e+02] [ 3.27630667e-01 9.44174026e-01 -3.45478695e-02 3.57048723e+01] [ 1.07822652e-01 -1.03748442e-03 9.94169603e-01 1.52218768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.07925415399995 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:323.06, Y:35.71, Z:15.22 [[ 9.36688048e-01 -3.34829484e-01 -1.02492520e-01 3.23060947e+02] [ 3.33032986e-01 9.42277289e-01 -3.46776651e-02 3.57105755e+01] [ 1.08187478e-01 -1.65123536e-03 9.94129138e-01 1.52243188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.109254154 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:323.09, Y:35.72, Z:15.23 [[ 9.36608134e-01 -3.35055688e-01 -1.02483606e-01 3.23088497e+02] [ 3.33257660e-01 9.42196882e-01 -3.47039886e-02 3.57199595e+01] [ 1.08187503e-01 -1.64940866e-03 9.94129138e-01 1.52272709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.13925415399996 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:323.12, Y:35.73, Z:15.23 [[ 9.36528164e-01 -3.35281698e-01 -1.02475275e-01 3.23116045e+02] [ 3.33482329e-01 9.42116480e-01 -3.47285710e-02 3.57293492e+01] [ 1.08187500e-01 -1.64940862e-03 9.94129139e-01 1.52302225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.169254154 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:323.14, Y:35.74, Z:15.23 [[ 9.35861102e-01 -3.37146223e-01 -1.02452047e-01 3.23142762e+02] [ 3.35355947e-01 9.41450498e-01 -3.47469184e-02 3.57364976e+01] [ 1.08168323e-01 -1.83961392e-03 9.94130892e-01 1.52327771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.19925415399996 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:323.17, Y:35.74, Z:15.24 [[ 9.35316150e-01 -3.38664685e-01 -1.02420363e-01 3.23170945e+02] [ 3.36883499e-01 9.40904996e-01 -3.47461802e-02 3.57442538e+01] [ 1.08135135e-01 -2.00506669e-03 9.94134182e-01 1.52354644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.22925415399993 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:323.20, Y:35.75, Z:15.24 [[ 9.34896535e-01 -3.39879193e-01 -1.02228194e-01 3.23198731e+02] [ 3.38111392e-01 9.40466676e-01 -3.46859887e-02 3.57496529e+01] [ 1.07931255e-01 -2.13670620e-03 9.94156064e-01 1.52371837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.25925415399996 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:323.22, Y:35.76, Z:15.24 [[ 9.34757336e-01 -3.40350068e-01 -1.01934064e-01 3.23224250e+02] [ 3.38593575e-01 9.40296295e-01 -3.46015772e-02 3.57572996e+01] [ 1.07624872e-01 -2.17014106e-03 9.94189206e-01 1.52398380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.28925415399993 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:323.25, Y:35.77, Z:15.24 [[ 9.34911250e-01 -3.40122881e-01 -1.01278726e-01 3.23250856e+02] [ 3.38385963e-01 9.40378621e-01 -3.43946119e-02 3.57650893e+01] [ 1.06938743e-01 -2.11538952e-03 9.94263361e-01 1.52421035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.31925415399996 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:323.28, Y:35.77, Z:15.24 [[ 9.35598434e-01 -3.38352313e-01 -1.00862688e-01 3.23276706e+02] [ 3.36615906e-01 9.41017641e-01 -3.42860269e-02 3.57714807e+01] [ 1.06514325e-01 -1.87403196e-03 9.94309402e-01 1.52438715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.34925415399994 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:323.30, Y:35.78, Z:15.25 [[ 9.35792288e-01 -3.37828742e-01 -1.00819320e-01 3.23303240e+02] [ 3.36088286e-01 9.41205892e-01 -3.42947835e-02 3.57794154e+01] [ 1.06477501e-01 -1.79139843e-03 9.94313498e-01 1.52465517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.37925415399997 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:323.33, Y:35.79, Z:15.25 [[ 9.36133976e-01 -3.36873000e-01 -1.00845235e-01 3.23330007e+02] [ 3.35122561e-01 9.41548646e-01 -3.43367941e-02 3.57872628e+01] [ 1.06517833e-01 -1.65167386e-03 9.94309420e-01 1.52492429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.40925415399994 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:323.36, Y:35.79, Z:15.25 [[ 9.36750213e-01 -3.35159713e-01 -1.00831567e-01 3.23356989e+02] [ 3.33396281e-01 9.42160250e-01 -3.43654425e-02 3.57939304e+01] [ 1.06517407e-01 -1.42503398e-03 9.94309817e-01 1.52516772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.43925415399997 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:323.38, Y:35.80, Z:15.25 [[ 9.37052674e-01 -3.34358613e-01 -1.00680703e-01 3.23383614e+02] [ 3.32592331e-01 9.42445026e-01 -3.43469816e-02 3.58013553e+01] [ 1.06370237e-01 -1.30069870e-03 9.94325742e-01 1.52535542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.46925415399994 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:323.41, Y:35.81, Z:15.26 [[ 9.36826321e-01 -3.34876032e-01 -1.01066750e-01 3.23410142e+02] [ 3.33095567e-01 9.42261251e-01 -3.45119915e-02 3.58095513e+01] [ 1.06788521e-01 -1.33314443e-03 9.94280863e-01 1.52572097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.49925415399997 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:323.44, Y:35.81, Z:15.26 [[ 9.36193345e-01 -3.35075021e-01 -1.06144954e-01 3.23435673e+02] [ 3.34159392e-01 9.42134598e-01 -2.68309617e-02 3.58143743e+01] [ 1.08993219e-01 -1.03503656e-02 9.93988606e-01 1.52604751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.52925415399994 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:323.46, Y:35.83, Z:15.26 [[ 9.35726352e-01 -3.38721947e-01 -9.84054661e-02 3.23462444e+02] [ 3.35979843e-01 9.40853764e-01 -4.37234500e-02 3.58275846e+01] [ 1.07395245e-01 7.85093131e-03 9.94185407e-01 1.52643662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.559254154 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:323.49, Y:35.83, Z:15.27 [[ 9.34892517e-01 -3.39966756e-01 -1.01973461e-01 3.23489606e+02] [ 3.38175901e-01 9.40435618e-01 -3.48985549e-02 3.58302407e+01] [ 1.07763823e-01 -1.85856915e-03 9.94174786e-01 1.52650705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.58925415399995 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:323.52, Y:35.84, Z:15.27 [[ 9.33926085e-01 -3.42598987e-01 -1.02019613e-01 3.23516381e+02] [ 3.40820444e-01 9.39479281e-01 -3.49300173e-02 3.58375877e+01] [ 1.07812301e-01 -2.14831556e-03 9.94168946e-01 1.52674345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.619254154 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:323.54, Y:35.84, Z:15.27 [[ 9.31771761e-01 -3.48194986e-01 -1.02769828e-01 3.23543900e+02] [ 3.46420303e-01 9.37417996e-01 -3.52203554e-02 3.58438149e+01] [ 1.08601837e-01 -2.78422235e-03 9.94081430e-01 1.52698610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.64925415399995 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:323.57, Y:35.85, Z:15.27 [[ 9.31676451e-01 -3.48452963e-01 -1.02759540e-01 3.23570614e+02] [ 3.46676538e-01 9.37322138e-01 -3.52503469e-02 3.58530712e+01] [ 1.08601880e-01 -2.78240340e-03 9.94081430e-01 1.52727292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.679254154 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:323.60, Y:35.86, Z:15.28 [[ 9.30656312e-01 -3.51204113e-01 -1.02637709e-01 3.23597655e+02] [ 3.49445099e-01 9.36293890e-01 -3.52402453e-02 3.58607903e+01] [ 1.08475579e-01 -3.06968773e-03 9.94094375e-01 1.52752060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.70925415399995 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:323.63, Y:35.89, Z:15.28 [[ 9.33228203e-01 -3.51828019e-01 -7.28159788e-02 3.23629618e+02] [ 3.45800125e-01 9.34565928e-01 -8.37185728e-02 3.58910908e+01] [ 9.75058725e-02 5.29487587e-02 9.93825454e-01 1.52758477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.739254154 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:323.66, Y:35.85, Z:15.27 [[ 9.27929877e-01 -3.52059946e-01 -1.22474237e-01 3.23662897e+02] [ 3.57002755e-01 9.33881854e-01 2.03400110e-02 3.58501616e+01] [ 1.07215565e-01 -6.25977441e-02 9.92263244e-01 1.52688769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.76925415399995 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:323.68, Y:35.89, Z:15.29 [[ 9.27186322e-01 -3.60031345e-01 -1.03455085e-01 3.23678443e+02] [ 3.58285742e-01 9.32931532e-01 -3.56382189e-02 3.58854434e+01] [ 1.09347387e-01 -4.02321278e-03 9.93995454e-01 1.52854257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.799254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:323.70, Y:35.89, Z:15.29 [[ 9.26646458e-01 -3.61487646e-01 -1.03213489e-01 3.23704465e+02] [ 3.59755572e-01 9.32367645e-01 -3.55879733e-02 3.58934808e+01] [ 1.09097530e-01 -4.15415837e-03 9.94022370e-01 1.52883301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.82925415399995 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:323.73, Y:35.90, Z:15.29 [[ 9.26222246e-01 -3.62833636e-01 -1.02294201e-01 3.23730793e+02] [ 3.61137980e-01 9.31844232e-01 -3.52942810e-02 3.59018374e+01] [ 1.08128213e-01 -4.25197281e-03 9.94127864e-01 1.52913554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.859254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:323.76, Y:35.91, Z:15.29 [[ 9.25986647e-01 -3.63560513e-01 -1.01845392e-01 3.23756345e+02] [ 3.61880633e-01 9.31560718e-01 -3.51715326e-02 3.59103328e+01] [ 1.07662147e-01 -4.28750527e-03 9.94178294e-01 1.52949227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.88925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:323.78, Y:35.92, Z:15.30 [[ 9.25895446e-01 -3.64262499e-01 -1.00152156e-01 3.23782227e+02] [ 3.62640640e-01 9.31286475e-01 -3.46015612e-02 3.59192758e+01] [ 1.05874399e-01 -4.28181399e-03 9.94370292e-01 1.52987176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.919254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:323.81, Y:35.93, Z:15.30 [[ 9.25775337e-01 -3.64716007e-01 -9.96105383e-02 3.23808664e+02] [ 3.63110952e-01 9.31108969e-01 -3.44459645e-02 3.59285970e+01] [ 1.05311260e-01 -4.28045307e-03 9.94430096e-01 1.53019229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.94925415399996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:323.83, Y:35.94, Z:15.31 [[ 9.25564798e-01 -3.65357310e-01 -9.92161340e-02 3.23834852e+02] [ 3.63765273e-01 9.30857397e-01 -3.43414178e-02 3.59378343e+01] [ 1.04902960e-01 -4.30617665e-03 9.94473140e-01 1.53053290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.97925415399993 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:323.86, Y:35.95, Z:15.31 [[ 9.25242630e-01 -3.66117967e-01 -9.94168512e-02 3.23860601e+02] [ 3.64520370e-01 9.30558183e-01 -3.44436952e-02 3.59471850e+01] [ 1.05123620e-01 -4.37069231e-03 9.94449557e-01 1.53083968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.00925415399996 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:323.89, Y:35.96, Z:15.31 [[ 9.24898997e-01 -3.66818472e-01 -1.00030259e-01 3.23885993e+02] [ 3.65201675e-01 9.30281907e-01 -3.46887504e-02 3.59564562e+01] [ 1.05780815e-01 -4.44762785e-03 9.94379524e-01 1.53113857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.03925415399993 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:323.91, Y:35.97, Z:15.31 [[ 9.24237818e-01 -3.68232644e-01 -1.00941443e-01 3.23912486e+02] [ 3.66592907e-01 9.29722117e-01 -3.50203512e-02 3.59663137e+01] [ 1.06743129e-01 -4.63728409e-03 9.94275817e-01 1.53142638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.06925415399996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:323.94, Y:35.98, Z:15.32 [[ 9.23703744e-01 -3.69425863e-01 -1.01468835e-01 3.23938629e+02] [ 3.67772435e-01 9.29247970e-01 -3.52370041e-02 3.59764417e+01] [ 1.07307170e-01 -4.76888806e-03 9.94214478e-01 1.53170298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.09925415399994 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:323.96, Y:35.99, Z:15.32 [[ 9.23298808e-01 -3.70225231e-01 -1.02237910e-01 3.23963652e+02] [ 3.68547813e-01 9.28929268e-01 -3.55376643e-02 3.59859547e+01] [ 1.08128727e-01 -4.86767507e-03 9.94124984e-01 1.53200179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.12925415399997 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:323.99, Y:36.00, Z:15.32 [[ 9.22708988e-01 -3.71435523e-01 -1.03168680e-01 3.23989354e+02] [ 3.69732185e-01 9.28445111e-01 -3.58857454e-02 3.59969020e+01] [ 1.09115697e-01 -5.03268160e-03 9.94016316e-01 1.53235787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.15925415399994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:324.01, Y:36.01, Z:15.33 [[ 9.22603089e-01 -3.71587602e-01 -1.03567339e-01 3.24014478e+02] [ 3.69868364e-01 9.28384218e-01 -3.60574116e-02 3.60066966e+01] [ 1.09548770e-01 -5.03960307e-03 9.93968646e-01 1.53262840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.18925415399997 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:324.04, Y:36.02, Z:15.33 [[ 9.22593776e-01 -3.71620408e-01 -1.03532587e-01 3.24040439e+02] [ 3.69900731e-01 9.28371158e-01 -3.60616501e-02 3.60169805e+01] [ 1.09517913e-01 -5.02652567e-03 9.93972113e-01 1.53291877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.21925415399994 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:324.06, Y:36.03, Z:15.33 [[ 9.23100375e-01 -3.70356288e-01 -1.03546693e-01 3.24064502e+02] [ 3.68624650e-01 9.28877133e-01 -3.60990189e-02 3.60285172e+01] [ 1.09551654e-01 -4.84684564e-03 9.93969287e-01 1.53322067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.24925415399997 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:324.09, Y:36.04, Z:15.33 [[ 9.23564077e-01 -3.69153884e-01 -1.03705382e-01 3.24089874e+02] [ 3.67407590e-01 9.29356419e-01 -3.61705424e-02 3.60390062e+01] [ 1.09731759e-01 -4.69633110e-03 9.93950142e-01 1.53347791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.27925415399994 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:324.11, Y:36.05, Z:15.34 [[ 9.24008277e-01 -3.68102251e-01 -1.03486407e-01 3.24114778e+02] [ 3.66353189e-01 9.29774274e-01 -3.61267172e-02 3.60501902e+01] [ 1.09517325e-01 -4.53118943e-03 9.93974559e-01 1.53383970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.309254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:324.14, Y:36.06, Z:15.34 [[ 9.24812787e-01 -3.66100773e-01 -1.03399873e-01 3.24139747e+02] [ 3.64339757e-01 9.30565416e-01 -3.61185341e-02 3.60607381e+01] [ 1.09443369e-01 -4.26980247e-03 9.93983862e-01 1.53407443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.33925415399995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:324.16, Y:36.07, Z:15.34 [[ 9.26138492e-01 -3.62817323e-01 -1.03107149e-01 3.24164092e+02] [ 3.61044304e-01 9.31852307e-01 -3.60317599e-02 3.60734785e+01] [ 1.09153582e-01 -3.85584919e-03 9.94017418e-01 1.53446584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.369254154 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:324.19, Y:36.08, Z:15.35 [[ 9.26772026e-01 -3.61221392e-01 -1.03018044e-01 3.24190099e+02] [ 3.59438055e-01 9.32473002e-01 -3.60331160e-02 3.60841517e+01] [ 1.09077477e-01 -3.63412159e-03 9.94026608e-01 1.53469554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.39925415399995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:324.21, Y:36.10, Z:15.35 [[ 9.27268667e-01 -3.60108937e-01 -1.02442046e-01 3.24213820e+02] [ 3.58335399e-01 9.32903865e-01 -3.58625322e-02 3.60961440e+01] [ 1.08482999e-01 -3.45440911e-03 9.94092303e-01 1.53510127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.429254154 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:324.24, Y:36.11, Z:15.35 [[ 9.27334978e-01 -3.60014986e-01 -1.02171664e-01 3.24240046e+02] [ 3.58248610e-01 9.32940252e-01 -3.57829627e-02 3.61065917e+01] [ 1.08202461e-01 -3.42006379e-03 9.94122996e-01 1.53538632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.45925415399995 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:324.27, Y:36.12, Z:15.36 [[ 9.27321469e-01 -3.60015904e-01 -1.02290965e-01 3.24266082e+02] [ 3.58241883e-01 9.32939993e-01 -3.58569890e-02 3.61170649e+01] [ 1.08340419e-01 -3.39395220e-03 9.94108060e-01 1.53569770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.489254154 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:324.29, Y:36.13, Z:15.36 [[ 9.27463114e-01 -3.59611840e-01 -1.02428007e-01 3.24291028e+02] [ 3.57827086e-01 9.33096080e-01 -3.59371966e-02 3.61286383e+01] [ 1.08498614e-01 -3.32109107e-03 9.94091053e-01 1.53598231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.51925415399995 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:324.32, Y:36.14, Z:15.36 [[ 9.27798071e-01 -3.58649622e-01 -1.02767636e-01 3.24315860e+02] [ 3.56843563e-01 9.33466807e-01 -3.60886759e-02 3.61383129e+01] [ 1.08873367e-01 -3.18896541e-03 9.94050512e-01 1.53621924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.549254154 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:324.34, Y:36.15, Z:15.37 [[ 9.28015951e-01 -3.58072262e-01 -1.02813662e-01 3.24341592e+02] [ 3.56259310e-01 9.33688705e-01 -3.61207263e-02 3.61491069e+01] [ 1.08929785e-01 -3.10771414e-03 9.94044589e-01 1.53654430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.57925415399995 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:324.37, Y:36.15, Z:15.36 [[ 9.29239144e-01 -3.53903858e-01 -1.06144588e-01 3.24374056e+02] [ 3.54510766e-01 9.34951102e-01 -1.37314699e-02 3.61524110e+01] [ 1.04099620e-01 -2.48695798e-02 9.94255889e-01 1.53618798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.609254154 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:324.39, Y:36.18, Z:15.38 [[ 9.30405476e-01 -3.53322982e-01 -9.75116394e-02 3.24387685e+02] [ 3.49014407e-01 9.35273929e-01 -5.87505052e-02 3.61810205e+01] [ 1.11957998e-01 2.06288248e-02 9.93498796e-01 1.53779741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.63925415399996 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:324.42, Y:36.18, Z:15.37 [[ 9.31271638e-01 -3.48615275e-01 -1.05832536e-01 3.24417573e+02] [ 3.46637807e-01 9.37263560e-01 -3.71382537e-02 3.61813588e+01] [ 1.12139942e-01 -2.09975591e-03 9.93690205e-01 1.53746444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.669254154 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:324.44, Y:36.19, Z:15.38 [[ 9.32190668e-01 -3.46063389e-01 -1.06116395e-01 3.24443398e+02] [ 3.44054961e-01 9.38209472e-01 -3.72715774e-02 3.61919842e+01] [ 1.12457735e-01 -1.76565546e-03 9.93654940e-01 1.53775103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.69925415399996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:324.47, Y:36.20, Z:15.38 [[ 9.34032051e-01 -3.41019718e-01 -1.06252905e-01 3.24467592e+02] [ 3.38969716e-01 9.40055467e-01 -3.73530552e-02 3.62033822e+01] [ 1.12621753e-01 -1.12756636e-03 9.93637293e-01 1.53804295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.72925415399993 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:324.49, Y:36.21, Z:15.38 [[ 9.34637162e-01 -3.39461393e-01 -1.05921376e-01 3.24493877e+02] [ 3.37412347e-01 9.40619538e-01 -3.72531048e-02 3.62134816e+01] [ 1.12277707e-01 -9.21043845e-04 9.93676440e-01 1.53831878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.75925415399996 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:324.52, Y:36.22, Z:15.39 [[ 9.34975265e-01 -3.38398672e-01 -1.06337162e-01 3.24518670e+02] [ 3.36322795e-01 9.41002526e-01 -3.74329288e-02 3.62229520e+01] [ 1.12730792e-01 -7.64748953e-04 9.93625273e-01 1.53860343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.78925415399993 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:324.54, Y:36.23, Z:15.39 [[ 9.35170491e-01 -3.37752137e-01 -1.06675430e-01 3.24544317e+02] [ 3.35655993e-01 9.41234854e-01 -3.75766299e-02 3.62324123e+01] [ 1.13098220e-01 -6.65692083e-04 9.93583590e-01 1.53889048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.81925415399996 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:324.57, Y:36.24, Z:15.39 [[ 9.34985006e-01 -3.38289053e-01 -1.06599983e-01 3.24570946e+02] [ 3.36195502e-01 9.41041991e-01 -3.75839699e-02 3.62416238e+01] [ 1.13029306e-01 -6.97986356e-04 9.93591409e-01 1.53917217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.84925415399994 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:324.60, Y:36.25, Z:15.39 [[ 9.34020488e-01 -3.40898717e-01 -1.06741709e-01 3.24597846e+02] [ 3.38812610e-01 9.40099516e-01 -3.76684896e-02 3.62500049e+01] [ 1.13188968e-01 -9.82295888e-04 9.93572993e-01 1.53947081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.87925415399997 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:324.62, Y:36.26, Z:15.40 [[ 9.32334766e-01 -3.45512905e-01 -1.06642940e-01 3.24623744e+02] [ 3.43457342e-01 9.38412779e-01 -3.76631115e-02 3.62572887e+01] [ 1.13088188e-01 -1.51267240e-03 9.93583803e-01 1.53972779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.90925415399994 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:324.65, Y:36.27, Z:15.40 [[ 9.32274045e-01 -3.45678241e-01 -1.06637976e-01 3.24650385e+02] [ 3.43622150e-01 9.38351880e-01 -3.76771594e-02 3.62668024e+01] [ 1.13088120e-01 -1.51773291e-03 9.93583803e-01 1.54002231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.93925415399997 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:324.68, Y:36.27, Z:15.40 [[ 9.31081747e-01 -3.48857906e-01 -1.06700242e-01 3.24677030e+02] [ 3.46817632e-01 9.37173737e-01 -3.77215659e-02 3.62748902e+01] [ 1.13156131e-01 -1.88366363e-03 9.93575433e-01 1.54030824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.96925415399994 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:324.70, Y:36.28, Z:15.41 [[ 9.28619201e-01 -3.55379098e-01 -1.06639943e-01 3.24704554e+02] [ 3.53379881e-01 9.34718521e-01 -3.77352228e-02 3.62810958e+01] [ 1.13088640e-01 -2.64275798e-03 9.93581388e-01 1.54055560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.99925415399997 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:324.73, Y:36.29, Z:15.41 [[ 9.27413052e-01 -3.58430770e-01 -1.06922466e-01 3.24731603e+02] [ 3.56437001e-01 9.33551525e-01 -3.78710347e-02 3.62887468e+01] [ 1.13391775e-01 -2.98903112e-03 9.93545858e-01 1.54072589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.02925415399994 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:324.76, Y:36.30, Z:15.41 [[ 9.26169307e-01 -3.61828493e-01 -1.06257025e-01 3.24758205e+02] [ 3.59877772e-01 9.32238659e-01 -3.76705678e-02 3.62970850e+01] [ 1.12687191e-01 -3.35021760e-03 9.93624865e-01 1.54107353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.059254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:324.79, Y:36.30, Z:15.41 [[ 9.24301294e-01 -3.66841500e-01 -1.05330112e-01 3.24785169e+02] [ 3.64953188e-01 9.30275312e-01 -3.73766520e-02 3.63047951e+01] [ 1.11697310e-01 -3.89327256e-03 9.93734649e-01 1.54145981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.08925415399995 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:324.81, Y:36.31, Z:15.42 [[ 9.23649774e-01 -3.68626896e-01 -1.04810814e-01 3.24811295e+02] [ 3.66764702e-01 9.29568590e-01 -3.72275448e-02 3.63133060e+01] [ 1.11151915e-01 -4.05569371e-03 9.93795152e-01 1.54172091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.119254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:324.84, Y:36.32, Z:15.42 [[ 9.23075989e-01 -3.70131557e-01 -1.04562658e-01 3.24837791e+02] [ 3.68283891e-01 9.28969882e-01 -3.71743793e-02 3.63221065e+01] [ 1.10894971e-01 -4.19396554e-03 9.93823282e-01 1.54199289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.14925415399995 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:324.86, Y:36.33, Z:15.42 [[ 9.22718487e-01 -3.71214094e-01 -1.03878252e-01 3.24863002e+02] [ 3.69393691e-01 9.28537514e-01 -3.69646561e-02 3.63298810e+01] [ 1.10176656e-01 -4.26399956e-03 9.93902874e-01 1.54223236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.179254154 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:324.89, Y:36.34, Z:15.43 [[ 9.22494304e-01 -3.71884567e-01 -1.03470425e-01 3.24889612e+02] [ 3.70080869e-01 9.28268969e-01 -3.68357390e-02 3.63389681e+01] [ 1.09747028e-01 -4.31166562e-03 9.93950200e-01 1.54251470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.20925415399995 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:324.91, Y:36.35, Z:15.43 [[ 9.22547193e-01 -3.71804240e-01 -1.03287387e-01 3.24914737e+02] [ 3.70002740e-01 9.28301369e-01 -3.68040705e-02 3.63475636e+01] [ 1.09565732e-01 -4.26312418e-03 9.93970410e-01 1.54277375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.239254154 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:324.94, Y:36.36, Z:15.43 [[ 9.22702143e-01 -3.71225864e-01 -1.03981310e-01 3.24940959e+02] [ 3.69394541e-01 9.28533066e-01 -3.70677637e-02 3.63562225e+01] [ 1.10310597e-01 -4.20762311e-03 9.93888257e-01 1.54288545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.26925415399995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:324.97, Y:36.37, Z:15.43 [[ 9.22372567e-01 -3.72092623e-01 -1.03807161e-01 3.24966775e+02] [ 3.70269071e-01 9.28185775e-01 -3.70402830e-02 3.63659101e+01] [ 1.10134746e-01 -4.27164011e-03 9.93907486e-01 1.54329175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.299254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:324.99, Y:36.37, Z:15.44 [[ 9.22360299e-01 -3.72020988e-01 -1.04172281e-01 3.24992183e+02] [ 3.70180337e-01 9.28214604e-01 -3.72044046e-02 3.63747679e+01] [ 1.10535052e-01 -4.24666448e-03 9.93863154e-01 1.54355196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.32925415399995 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:325.02, Y:36.38, Z:15.44 [[ 9.22237078e-01 -3.72139148e-01 -1.04839049e-01 3.25017538e+02] [ 3.70273777e-01 9.28167114e-01 -3.74584946e-02 3.63832697e+01] [ 1.11247930e-01 -4.27353807e-03 9.93783495e-01 1.54381774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.359254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:325.04, Y:36.39, Z:15.44 [[ 9.22156313e-01 -3.72287626e-01 -1.05022182e-01 3.25044011e+02] [ 3.70413927e-01 9.28107557e-01 -3.75484295e-02 3.63928355e+01] [ 1.11450697e-01 -4.27615759e-03 9.93760764e-01 1.54410609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.38925415399996 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:325.07, Y:36.40, Z:15.44 [[ 9.22436184e-01 -3.71332369e-01 -1.05942240e-01 3.25069209e+02] [ 3.69415492e-01 9.28490666e-01 -3.79114323e-02 3.64019258e+01] [ 1.12444123e-01 -4.16582771e-03 9.93649317e-01 1.54432830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.419254154 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:325.10, Y:36.41, Z:15.45 [[ 9.22640987e-01 -3.70837362e-01 -1.05892680e-01 3.25095279e+02] [ 3.68916253e-01 9.28688861e-01 -3.79183087e-02 3.64119761e+01] [ 1.12402878e-01 -4.08054511e-03 9.93654337e-01 1.54468288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.44925415399996 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:325.12, Y:36.42, Z:15.45 [[ 9.23073945e-01 -3.69550917e-01 -1.06614313e-01 3.25121027e+02] [ 3.67590998e-01 9.29202219e-01 -3.82111933e-02 3.64221300e+01] [ 1.13187238e-01 -3.91870478e-03 9.93565948e-01 1.54501844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.47925415399993 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:325.15, Y:36.43, Z:15.45 [[ 9.24349179e-01 -3.66210361e-01 -1.07091391e-01 3.25146040e+02] [ 3.64206460e-01 9.30525537e-01 -3.84171829e-02 3.64328847e+01] [ 1.13720045e-01 -3.49248511e-03 9.93506695e-01 1.54539132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.50925415399996 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:325.17, Y:36.44, Z:15.46 [[ 9.24969192e-01 -3.64632351e-01 -1.07122562e-01 3.25171609e+02] [ 3.62612749e-01 9.31145841e-01 -3.84631955e-02 3.64424925e+01] [ 1.13771653e-01 -3.26673565e-03 9.93501555e-01 1.54563349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.53925415399993 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:325.20, Y:36.45, Z:15.46 [[ 9.24871178e-01 -3.64884124e-01 -1.07111530e-01 3.25198172e+02] [ 3.62862651e-01 9.31047215e-01 -3.84938927e-02 3.64521392e+01] [ 1.13771702e-01 -3.26488190e-03 9.93501555e-01 1.54592814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.56925415399996 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:325.22, Y:36.46, Z:15.46 [[ 9.25330862e-01 -3.63759518e-01 -1.06966396e-01 3.25224280e+02] [ 3.61732299e-01 9.31487765e-01 -3.84745165e-02 3.64620627e+01] [ 1.13633360e-01 -3.09154275e-03 9.93517942e-01 1.54629032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.59925415399994 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:325.25, Y:36.47, Z:15.47 [[ 9.25550100e-01 -3.63234988e-01 -1.06852025e-01 3.25249868e+02] [ 3.61204680e-01 9.31692758e-01 -3.84679628e-02 3.64719034e+01] [ 1.13526168e-01 -2.99142481e-03 9.93530503e-01 1.54659805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.62925415399997 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:325.28, Y:36.45, Z:15.48 [[ 9.21860529e-01 -3.57912664e-01 -1.48565443e-01 3.25282180e+02] [ 3.65320396e-01 9.30544902e-01 2.50438397e-02 3.64526412e+01] [ 1.29283308e-01 -7.73609139e-02 9.88585411e-01 1.54766925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.65925415399994 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:325.29, Y:36.53, Z:15.49 [[ 9.25723202e-01 -3.69481854e-01 -8.07447423e-02 3.25291574e+02] [ 3.60154852e-01 9.26387787e-01 -1.09973406e-01 3.65268393e+01] [ 1.15434121e-01 7.27243229e-02 9.90649351e-01 1.54942177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.68925415399997 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:325.33, Y:36.50, Z:15.48 [[ 9.25376961e-01 -3.63620918e-01 -1.07038814e-01 3.25330750e+02] [ 3.61581209e-01 9.31542163e-01 -3.85775594e-02 3.65037536e+01] [ 1.13738776e-01 -3.00443903e-03 9.93506147e-01 1.54756536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.71925415399994 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:325.36, Y:36.51, Z:15.48 [[ 9.24947130e-01 -3.64635100e-01 -1.07303548e-01 3.25356607e+02] [ 3.62590110e-01 9.31145264e-01 -3.86899110e-02 3.65142607e+01] [ 1.14022890e-01 -3.12108329e-03 9.93473220e-01 1.54789210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.74925415399997 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:325.38, Y:36.53, Z:15.48 [[ 9.24127579e-01 -3.66518648e-01 -1.07945813e-01 3.25382480e+02] [ 3.64457842e-01 9.30404705e-01 -3.89559512e-02 3.65251067e+01] [ 1.14711375e-01 -3.34142914e-03 9.93393243e-01 1.54826894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.77925415399994 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:325.41, Y:36.53, Z:15.49 [[ 9.23598346e-01 -3.67785220e-01 -1.08167127e-01 3.25407114e+02] [ 3.65720660e-01 9.29904275e-01 -3.90696523e-02 3.65346576e+01] [ 1.14954314e-01 -3.47428666e-03 9.93364704e-01 1.54858298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.809254154 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:325.43, Y:36.54, Z:15.49 [[ 9.22852739e-01 -3.69292626e-01 -1.09388206e-01 3.25432477e+02] [ 3.67188852e-01 9.29305870e-01 -3.95341291e-02 3.65437643e+01] [ 1.16254764e-01 -3.68195045e-03 9.93212602e-01 1.54888185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.83925415399995 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:325.46, Y:36.55, Z:15.49 [[ 9.22342925e-01 -3.70777227e-01 -1.08663595e-01 3.25458593e+02] [ 3.68709619e-01 9.28713949e-01 -3.92889151e-02 3.65540815e+01] [ 1.15484831e-01 -3.82745979e-03 9.93301870e-01 1.54923856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.869254154 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:325.48, Y:36.56, Z:15.50 [[ 9.21876501e-01 -3.71782509e-01 -1.09185545e-01 3.25484535e+02] [ 3.69697924e-01 9.28311499e-01 -3.95120996e-02 3.65639885e+01] [ 1.16048104e-01 -3.94039310e-03 9.93235778e-01 1.54956658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.89925415399995 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:325.51, Y:36.57, Z:15.50 [[ 9.21602525e-01 -3.71914232e-01 -1.11034185e-01 3.25509408e+02] [ 3.69755054e-01 9.28258513e-01 -4.02160847e-02 3.65730177e+01] [ 1.18025362e-01 -3.99220596e-03 9.93002556e-01 1.54985322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.929254154 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:325.53, Y:36.58, Z:15.50 [[ 9.20990058e-01 -3.73545334e-01 -1.10639942e-01 3.25534704e+02] [ 3.71411010e-01 9.27602558e-01 -4.00918437e-02 3.65832870e+01] [ 1.17606015e-01 -4.16870340e-03 9.93051583e-01 1.55020166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.95925415399995 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:325.56, Y:36.59, Z:15.51 [[ 9.20698912e-01 -3.74299082e-01 -1.10515658e-01 3.25560455e+02] [ 3.72170642e-01 9.27298408e-01 -4.00833544e-02 3.65929558e+01] [ 1.17484156e-01 -4.22598244e-03 9.93065765e-01 1.55050960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.989254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:325.59, Y:36.60, Z:15.51 [[ 9.20459586e-01 -3.74852837e-01 -1.10632283e-01 3.25585316e+02] [ 3.72719810e-01 9.27074498e-01 -4.01599182e-02 3.66023064e+01] [ 1.17618427e-01 -4.26926173e-03 9.93049686e-01 1.55081335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.01925415399995 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:325.61, Y:36.61, Z:15.51 [[ 9.20224447e-01 -3.75338711e-01 -1.10940611e-01 3.25611254e+02] [ 3.73195049e-01 9.26877627e-01 -4.02904458e-02 3.66122304e+01] [ 1.17950934e-01 -4.32623347e-03 9.93010000e-01 1.55118787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.049254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:325.64, Y:36.62, Z:15.52 [[ 9.20172055e-01 -3.75235532e-01 -1.11721458e-01 3.25637673e+02] [ 3.73056360e-01 9.26919480e-01 -4.06106991e-02 3.66220668e+01] [ 1.18795373e-01 -4.30956999e-03 9.92909405e-01 1.55153861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.07925415399995 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:325.66, Y:36.63, Z:15.52 [[ 9.20501111e-01 -3.74117567e-01 -1.12755265e-01 3.25663175e+02] [ 3.71934515e-01 9.27370106e-01 -4.06128516e-02 3.66313686e+01] [ 1.19759844e-01 -4.55339994e-03 9.92792449e-01 1.55187933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.109254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:325.69, Y:36.64, Z:15.52 [[ 9.20154913e-01 -3.75416067e-01 -1.11255166e-01 3.25690166e+02] [ 3.73131213e-01 9.26850394e-01 -4.14903025e-02 3.66445408e+01] [ 1.18693021e-01 -3.33526937e-03 9.92925396e-01 1.55234055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.13925415399996 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:325.72, Y:36.65, Z:15.53 [[ 9.20103082e-01 -3.75198617e-01 -1.12411372e-01 3.25716140e+02] [ 3.72981858e-01 9.26934687e-01 -4.09465330e-02 3.66543613e+01] [ 1.19561083e-01 -4.25237116e-03 9.92817740e-01 1.55267228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.169254154 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:325.74, Y:36.66, Z:15.53 [[ 9.19913732e-01 -3.75656542e-01 -1.12431705e-01 3.25741500e+02] [ 3.73437920e-01 9.26749082e-01 -4.09909661e-02 3.66649670e+01] [ 1.19594504e-01 -4.27810942e-03 9.92813604e-01 1.55299230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.19925415399996 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:325.77, Y:36.67, Z:15.53 [[ 9.19780993e-01 -3.75856054e-01 -1.12850125e-01 3.25767367e+02] [ 3.73617842e-01 9.26668150e-01 -4.11806824e-02 3.66746363e+01] [ 1.20052625e-01 -4.28561098e-03 9.92758279e-01 1.55328231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.22925415399993 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:325.79, Y:36.68, Z:15.54 [[ 9.19610416e-01 -3.75970691e-01 -1.13853956e-01 3.25792793e+02] [ 3.73689053e-01 9.26621544e-01 -4.15813064e-02 3.66840263e+01] [ 1.21132881e-01 -4.30737452e-03 9.92626955e-01 1.55357636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.25925415399996 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:325.82, Y:36.69, Z:15.54 [[ 9.19511905e-01 -3.76005382e-01 -1.14533000e-01 3.25818361e+02] [ 3.73694243e-01 9.26607409e-01 -4.18487906e-02 3.66937791e+01] [ 1.21862497e-01 -4.31986167e-03 9.92537592e-01 1.55389361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.28925415399993 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:325.84, Y:36.70, Z:15.54 [[ 9.19719894e-01 -3.75426542e-01 -1.14761614e-01 3.25844017e+02] [ 3.73097127e-01 9.26842557e-01 -4.19691381e-02 3.67037062e+01] [ 1.22122277e-01 -4.21737750e-03 9.92506102e-01 1.55418904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.31925415399996 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:325.87, Y:36.71, Z:15.55 [[ 9.20670655e-01 -3.72339806e-01 -1.17169169e-01 3.25869713e+02] [ 3.69881597e-01 9.28088478e-01 -4.28880025e-02 3.67148099e+01] [ 1.24712266e-01 -3.85299389e-03 9.92185469e-01 1.55466662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.34925415399994 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:325.89, Y:36.73, Z:15.55 [[ 9.21425258e-01 -3.70958618e-01 -1.15607943e-01 3.25893793e+02] [ 3.68550522e-01 9.28642483e-01 -4.23515215e-02 3.67257892e+01] [ 1.23069109e-01 -3.58360627e-03 9.92391632e-01 1.55493403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.37925415399997 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:325.92, Y:36.74, Z:15.55 [[ 9.22362708e-01 -3.68549122e-01 -1.15838593e-01 3.25918469e+02] [ 3.66110341e-01 9.29602584e-01 -4.24529563e-02 3.67360951e+01] [ 1.23329855e-01 -3.25268324e-03 9.92360402e-01 1.55525265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.40925415399994 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:325.94, Y:36.75, Z:15.56 [[ 9.24753702e-01 -3.62575455e-01 -1.15627115e-01 3.25944822e+02] [ 3.60096568e-01 9.31951246e-01 -4.23950098e-02 3.67473028e+01] [ 1.23130224e-01 -2.43198510e-03 9.92387542e-01 1.55558271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.43925415399997 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:325.97, Y:36.76, Z:15.56 [[ 9.25902474e-01 -3.59615156e-01 -1.15678638e-01 3.25970666e+02] [ 3.57106675e-01 9.33098556e-01 -4.24488827e-02 3.67575724e+01] [ 1.23204832e-01 -2.00608839e-03 9.92379234e-01 1.55590645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.46925415399994 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:326.00, Y:36.77, Z:15.56 [[ 9.27165846e-01 -3.56381032e-01 -1.15568397e-01 3.25995879e+02] [ 3.53847928e-01 9.34339437e-01 -4.24436088e-02 3.67676847e+01] [ 1.23106208e-01 -1.54137318e-03 9.92392304e-01 1.55622302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.49925415399997 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:326.02, Y:36.78, Z:15.57 [[ 9.29512624e-01 -3.50665668e-01 -1.14192259e-01 3.26021717e+02] [ 3.48147261e-01 9.36500410e-01 -4.19579060e-02 3.67784228e+01] [ 1.21654295e-01 -7.55318927e-04 9.92572245e-01 1.55653205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.52925415399994 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:326.05, Y:36.79, Z:15.57 [[ 9.30295639e-01 -3.48625468e-01 -1.14062736e-01 3.26047441e+02] [ 3.46092887e-01 9.37262012e-01 -4.19480007e-02 3.67883425e+01] [ 1.21530811e-01 -4.52259497e-04 9.92587557e-01 1.55685364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.559254154 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:326.07, Y:36.80, Z:15.57 [[ 9.30970763e-01 -3.46984200e-01 -1.13557931e-01 3.26073520e+02] [ 3.44457356e-01 9.37870953e-01 -4.17995899e-02 3.67982658e+01] [ 1.21006483e-01 -2.01668773e-04 9.92651696e-01 1.55713100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.58925415399995 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:326.10, Y:36.81, Z:15.57 [[ 9.31634255e-01 -3.45124502e-01 -1.13783539e-01 3.26100960e+02] [ 3.42569242e-01 9.38556909e-01 -4.19194689e-02 3.68076548e+01] [ 1.21259762e-01 7.48725190e-05 9.92620806e-01 1.55743875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.619254154 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:326.13, Y:36.82, Z:15.58 [[ 9.31606262e-01 -3.45063409e-01 -1.14197267e-01 3.26129215e+02] [ 3.42485447e-01 9.38579369e-01 -4.21009170e-02 3.68174535e+01] [ 1.21710685e-01 1.10575883e-04 9.92565613e-01 1.55769821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.64925415399995 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:326.16, Y:36.83, Z:15.58 [[ 9.31453195e-01 -3.45235510e-01 -1.14923400e-01 3.26155488e+02] [ 3.42624985e-01 9.38516081e-01 -4.23755377e-02 3.68262671e+01] [ 1.22486999e-01 9.52018345e-05 9.92470113e-01 1.55796556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.679254154 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:326.18, Y:36.84, Z:15.58 [[ 9.31127490e-01 -3.45986162e-01 -1.15304698e-01 3.26181483e+02] [ 3.43361326e-01 9.38239615e-01 -4.25373305e-02 3.68353398e+01] [ 1.22900764e-01 1.65037548e-05 9.92418965e-01 1.55823376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.70925415399995 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:326.21, Y:36.84, Z:15.59 [[ 9.30087060e-01 -3.48565178e-01 -1.15932642e-01 3.26207537e+02] [ 3.45926689e-01 9.37284500e-01 -4.28076236e-02 3.68441825e+01] [ 1.23583115e-01 -2.89378248e-04 9.92334183e-01 1.55857924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.739254154 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:326.23, Y:36.85, Z:15.59 [[ 9.29441356e-01 -3.50295935e-01 -1.15894452e-01 3.26232761e+02] [ 3.47668245e-01 9.36638949e-01 -4.28283782e-02 3.68527600e+01] [ 1.23553864e-01 -4.86354757e-04 9.92337748e-01 1.55889028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.76925415399995 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:326.26, Y:36.86, Z:15.59 [[ 9.27702965e-01 -3.55046905e-01 -1.15364221e-01 3.26258851e+02] [ 3.52477771e-01 9.34847843e-01 -4.26489261e-02 3.68595344e+01] [ 1.22990362e-01 -1.09778812e-03 9.92407258e-01 1.55915986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.799254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:326.29, Y:36.87, Z:15.59 [[ 9.26611763e-01 -3.58034153e-01 -1.14900765e-01 3.26285497e+02] [ 3.55447344e-01 9.33707932e-01 -4.29730648e-02 3.68678422e+01] [ 1.22669580e-01 -1.02182430e-03 9.92447041e-01 1.55941690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.82925415399995 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:326.31, Y:36.88, Z:15.60 [[ 9.25409571e-01 -3.61113246e-01 -1.14953682e-01 3.26312897e+02] [ 3.58646898e-01 9.32519409e-01 -4.21895035e-02 3.68754692e+01] [ 1.22431729e-01 -2.18521122e-03 9.92474532e-01 1.55971369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.859254154 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:326.34, Y:36.88, Z:15.60 [[ 9.24224608e-01 -3.64662180e-01 -1.13271220e-01 3.26338949e+02] [ 3.62249648e-01 9.31137119e-01 -4.19387427e-02 3.68840556e+01] [ 1.20764511e-01 -2.27164148e-03 9.92678585e-01 1.55991651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.88925415399996 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:326.37, Y:36.89, Z:15.60 [[ 9.22373590e-01 -3.69338100e-01 -1.13209223e-01 3.26365965e+02] [ 3.66958583e-01 9.29290734e-01 -4.19538962e-02 3.68909561e+01] [ 1.20699454e-01 -2.84593014e-03 9.92685017e-01 1.56026071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.919254154 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:326.39, Y:36.90, Z:15.60 [[ 9.21641579e-01 -3.71696540e-01 -1.11438245e-01 3.26392162e+02] [ 3.69403824e-01 9.28349211e-01 -4.13347030e-02 3.69004283e+01] [ 1.18817573e-01 -3.06993298e-03 9.92911355e-01 1.56044890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.94925415399996 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:326.42, Y:36.91, Z:15.61 [[ 9.21078748e-01 -3.73216119e-01 -1.11012017e-01 3.26417762e+02] [ 3.70947780e-01 9.27738840e-01 -4.12115092e-02 3.69091640e+01] [ 1.18370960e-01 -3.22061608e-03 9.92964221e-01 1.56073149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.97925415399993 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:326.44, Y:36.92, Z:15.61 [[ 9.20205001e-01 -3.75316253e-01 -1.11177636e-01 3.26444106e+02] [ 3.73054408e-01 9.26890283e-01 -4.12893756e-02 3.69165487e+01] [ 1.18546044e-01 -3.48061741e-03 9.92942456e-01 1.56104628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.00925415399996 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:326.47, Y:36.93, Z:15.61 [[ 9.19699072e-01 -3.77101260e-01 -1.09308080e-01 3.26470365e+02] [ 3.74925490e-01 9.26164919e-01 -4.06130400e-02 3.69259441e+01] [ 1.16552538e-01 -3.63061038e-03 9.93177892e-01 1.56119888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.03925415399993 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:326.50, Y:36.93, Z:15.62 [[ 9.18657565e-01 -3.79691145e-01 -1.09100468e-01 3.26496721e+02] [ 3.77537519e-01 9.25105015e-01 -4.05725541e-02 3.69343456e+01] [ 1.16334430e-01 -3.91723623e-03 9.93202374e-01 1.56152526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.06925415399996 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:326.52, Y:36.94, Z:15.62 [[ 9.18046415e-01 -3.81315238e-01 -1.08579324e-01 3.26522172e+02] [ 3.79189418e-01 9.24436109e-01 -4.04136743e-02 3.69439037e+01] [ 1.15784998e-01 -4.07050193e-03 9.93265959e-01 1.56175802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.09925415399994 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:326.55, Y:36.95, Z:15.62 [[ 9.17284153e-01 -3.83149970e-01 -1.08562810e-01 3.26548770e+02] [ 3.81034545e-01 9.23676245e-01 -4.04335145e-02 3.69533703e+01] [ 1.15768989e-01 -4.27715889e-03 9.93266957e-01 1.56202349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.12925415399997 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:326.58, Y:36.96, Z:15.62 [[ 9.16654421e-01 -3.84450748e-01 -1.09280806e-01 3.26575110e+02] [ 3.82312033e-01 9.23134842e-01 -4.07378525e-02 3.69622919e+01] [ 1.16542617e-01 -4.43683447e-03 9.93175781e-01 1.56233319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.15925415399994 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:326.60, Y:36.97, Z:15.63 [[ 9.15351749e-01 -3.87613571e-01 -1.09027044e-01 3.26599915e+02] [ 3.85503025e-01 9.21809482e-01 -4.06779525e-02 3.69717435e+01] [ 1.16269489e-01 -4.79562027e-03 9.93206126e-01 1.56250043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.18925415399997 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:326.62, Y:36.98, Z:15.63 [[ 9.14826988e-01 -3.88766304e-01 -1.09326770e-01 3.26624856e+02] [ 3.86650397e-01 9.21323151e-01 -4.08059115e-02 3.69809855e+01] [ 1.16589248e-01 -4.94089004e-03 9.93167929e-01 1.56273202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.21925415399994 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:326.65, Y:36.99, Z:15.63 [[ 9.14075404e-01 -3.90323437e-01 -1.10062578e-01 3.26650848e+02] [ 3.88187909e-01 9.20663357e-01 -4.10990352e-02 3.69908276e+01] [ 1.17372499e-01 -5.15734483e-03 9.93074568e-01 1.56293466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.24925415399997 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:326.68, Y:37.00, Z:15.63 [[ 9.13836122e-01 -3.90808311e-01 -1.10328630e-01 3.26676857e+02] [ 3.88661542e-01 9.20457410e-01 -4.12354441e-02 3.70013352e+01] [ 1.17667959e-01 -5.19805706e-03 9.93039391e-01 1.56318898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.27925415399994 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:326.70, Y:37.01, Z:15.63 [[ 9.13818361e-01 -3.90875512e-01 -1.10237637e-01 3.26701503e+02] [ 3.88728632e-01 9.20429034e-01 -4.12364503e-02 3.70117855e+01] [ 1.17584241e-01 -5.16990049e-03 9.93049454e-01 1.56347032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.309254154 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:326.73, Y:37.02, Z:15.64 [[ 9.13870031e-01 -3.90640123e-01 -1.10642946e-01 3.26726664e+02] [ 3.88473397e-01 9.20529122e-01 -4.14071974e-02 3.70225538e+01] [ 1.18025367e-01 -5.14104433e-03 9.92997272e-01 1.56379390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.33925415399995 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:326.75, Y:37.03, Z:15.64 [[ 9.14123550e-01 -3.90080502e-01 -1.10523014e-01 3.26751965e+02] [ 3.87909984e-01 9.20767026e-01 -4.13996292e-02 3.70335760e+01] [ 1.17915135e-01 -5.02860467e-03 9.93010944e-01 1.56411706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.369254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:326.78, Y:37.05, Z:15.64 [[ 9.15058010e-01 -3.87979359e-01 -1.10185551e-01 3.26775850e+02] [ 3.85802858e-01 9.21656023e-01 -4.13077551e-02 3.70453628e+01] [ 1.17579733e-01 -4.71090818e-03 9.93052271e-01 1.56447023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.39925415399995 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:326.80, Y:37.06, Z:15.65 [[ 9.15572806e-01 -3.86850618e-01 -1.09877371e-01 3.26801475e+02] [ 3.84676020e-01 9.22131242e-01 -4.12108309e-02 3.70561675e+01] [ 1.17263792e-01 -4.53567375e-03 9.93090444e-01 1.56475761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.429254154 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:326.83, Y:37.07, Z:15.65 [[ 9.16136769e-01 -3.85512087e-01 -1.09881077e-01 3.26827123e+02] [ 3.83323397e-01 9.22692625e-01 -4.12491524e-02 3.70670942e+01] [ 1.17288507e-01 -4.33012267e-03 9.93088443e-01 1.56509189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.45925415399995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:326.85, Y:37.08, Z:15.65 [[ 9.16030767e-01 -3.85767339e-01 -1.09868985e-01 3.26853544e+02] [ 3.83576621e-01 9.22585946e-01 -4.12813376e-02 3.70771148e+01] [ 1.17288573e-01 -4.32819872e-03 9.93088444e-01 1.56538532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.489254154 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:326.88, Y:37.09, Z:15.66 [[ 9.16816696e-01 -3.84146283e-01 -1.08989810e-01 3.26877811e+02] [ 3.81975422e-01 9.23263326e-01 -4.09830120e-02 3.70876194e+01] [ 1.16369766e-01 -4.05751887e-03 9.93197671e-01 1.56565477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.51925415399995 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:326.90, Y:37.10, Z:15.66 [[ 9.18807922e-01 -3.79761092e-01 -1.07580279e-01 3.26902102e+02] [ 3.77614394e-01 9.25078198e-01 -4.04684754e-02 3.70998244e+01] [ 1.14888523e-01 -3.44110614e-03 9.93372431e-01 1.56597870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.549254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:326.93, Y:37.11, Z:15.66 [[ 9.19818925e-01 -3.77465242e-01 -1.07019330e-01 3.26927582e+02] [ 3.75323452e-01 9.26018492e-01 -4.02747814e-02 3.71107154e+01] [ 1.14304209e-01 -3.12135821e-03 9.93440892e-01 1.56629569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.57925415399995 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:326.96, Y:37.12, Z:15.67 [[ 9.21292080e-01 -3.71411876e-01 -1.15213377e-01 3.26959617e+02] [ 3.70926781e-01 9.28286065e-01 -2.64254370e-02 3.71165315e+01] [ 1.16765693e-01 -1.83901812e-02 9.92989211e-01 1.56682353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.609254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:326.98, Y:37.14, Z:15.67 [[ 9.22308223e-01 -3.73234429e-01 -1.00217775e-01 3.26980544e+02] [ 3.69504598e-01 9.27646477e-01 -5.42066927e-02 3.71415811e+01] [ 1.13198469e-01 1.29643499e-02 9.93487812e-01 1.56736483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.63925415399996 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:327.01, Y:37.15, Z:15.67 [[ 9.22682022e-01 -3.70670795e-01 -1.06118090e-01 3.27008796e+02] [ 3.68512775e-01 9.28761718e-01 -4.00000749e-02 3.71457479e+01] [ 1.13385280e-01 -2.19852205e-03 9.93548663e-01 1.56720201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.669254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:327.03, Y:37.16, Z:15.67 [[ 9.22419166e-01 -3.71256734e-01 -1.06354684e-01 3.27034575e+02] [ 3.69091407e-01 9.28527498e-01 -4.01025951e-02 3.71556630e+01] [ 1.13641607e-01 -2.26319754e-03 9.93519231e-01 1.56745549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.69925415399996 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:327.06, Y:37.17, Z:15.68 [[ 9.22052981e-01 -3.72028390e-01 -1.06832476e-01 3.27060022e+02] [ 3.69844816e-01 9.28218407e-01 -4.03162491e-02 3.71654359e+01] [ 1.14162660e-01 -2.33771991e-03 9.93459321e-01 1.56773968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.72925415399993 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:327.08, Y:37.18, Z:15.68 [[ 9.20963733e-01 -3.74688505e-01 -1.06931416e-01 3.27084830e+02] [ 3.72516953e-01 9.27146953e-01 -4.03688854e-02 3.71750403e+01] [ 1.14266894e-01 -2.65548585e-03 9.93446539e-01 1.56798830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.75925415399996 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:327.11, Y:37.18, Z:15.68 [[ 9.20206677e-01 -3.76448295e-01 -1.07267666e-01 3.27110844e+02] [ 3.74272961e-01 9.26433193e-01 -4.05128420e-02 3.71849470e+01] [ 1.14627316e-01 -2.86719911e-03 9.93404428e-01 1.56830892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.78925415399993 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:327.14, Y:37.19, Z:15.69 [[ 9.19652717e-01 -3.77863480e-01 -1.07042377e-01 3.27136718e+02] [ 3.75702934e-01 9.25856446e-01 -4.04616785e-02 3.71945001e+01] [ 1.14394865e-01 -3.00544237e-03 9.93430814e-01 1.56862730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.81925415399996 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:327.16, Y:37.20, Z:15.69 [[ 9.19279071e-01 -3.78956208e-01 -1.06386941e-01 3.27161696e+02] [ 3.76825784e-01 9.25409438e-01 -4.02454918e-02 3.72042416e+01] [ 1.13702759e-01 -3.09250427e-03 9.93510000e-01 1.56890303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.84925415399994 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:327.19, Y:37.22, Z:15.69 [[ 9.19103378e-01 -3.79542335e-01 -1.05813971e-01 3.27189688e+02] [ 3.77437237e-01 9.25169057e-01 -4.00418258e-02 3.72154728e+01] [ 1.13093380e-01 -3.13555545e-03 9.93579416e-01 1.56926605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.87925415399997 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:327.22, Y:37.23, Z:15.70 [[ 9.19321145e-01 -3.79192965e-01 -1.05172850e-01 3.27218459e+02] [ 3.77111090e-01 9.25312514e-01 -3.97992145e-02 3.72262459e+01] [ 1.12409336e-01 -3.07358856e-03 9.93657232e-01 1.56955266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.90925415399994 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:327.24, Y:37.24, Z:15.70 [[ 9.19509105e-01 -3.78783848e-01 -1.05003822e-01 3.27244808e+02] [ 3.76705957e-01 9.25480247e-01 -3.97358069e-02 3.72364534e+01] [ 1.12230245e-01 -3.01812896e-03 9.93677645e-01 1.56985007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.93925415399997 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:327.27, Y:37.25, Z:15.70 [[ 9.19937215e-01 -3.77979666e-01 -1.04148417e-01 3.27272915e+02] [ 3.75929778e-01 9.25809385e-01 -3.94180640e-02 3.72472933e+01] [ 1.11320808e-01 -2.89034718e-03 9.93780320e-01 1.57013943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.96925415399994 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:327.30, Y:37.26, Z:15.70 [[ 9.20458884e-01 -3.77072860e-01 -1.02817810e-01 3.27299207e+02] [ 3.75069456e-01 9.26179533e-01 -3.89149760e-02 3.72576911e+01] [ 1.09901533e-01 -2.74418481e-03 9.93938692e-01 1.57039397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.99925415399997 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:327.33, Y:37.27, Z:15.71 [[ 9.20597746e-01 -3.76810579e-01 -1.02535738e-01 3.27326948e+02] [ 3.74815711e-01 9.26286407e-01 -3.88159183e-02 3.72679592e+01] [ 1.09603709e-01 -2.69815862e-03 9.93971703e-01 1.57070040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.02925415399994 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:327.36, Y:37.28, Z:15.71 [[ 9.20616297e-01 -3.76833836e-01 -1.02283398e-01 3.27356376e+02] [ 3.74848533e-01 9.26276967e-01 -3.87241150e-02 3.72788944e+01] [ 1.09335313e-01 -2.69073057e-03 9.94001282e-01 1.57102238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.059254154 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:327.39, Y:37.29, Z:15.71 [[ 9.20698214e-01 -3.76747244e-01 -1.01864191e-01 3.27385989e+02] [ 3.74778167e-01 9.26312241e-01 -3.85610940e-02 3.72887189e+01] [ 1.08885833e-01 -2.67334433e-03 9.94050667e-01 1.57131176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.08925415399995 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:327.41, Y:37.30, Z:15.72 [[ 9.20400476e-01 -3.77551510e-01 -1.01576678e-01 3.27414937e+02] [ 3.75598881e-01 9.25984458e-01 -3.84482088e-02 3.72994325e+01] [ 1.08574605e-01 -2.76433709e-03 9.94084460e-01 1.57153489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.119254154 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:327.44, Y:37.31, Z:15.72 [[ 9.20058504e-01 -3.78270216e-01 -1.01999968e-01 3.27444905e+02] [ 3.76305663e-01 9.25690800e-01 -3.86081785e-02 3.73095497e+01] [ 1.09024756e-01 -2.86138278e-03 9.94034916e-01 1.57180836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.14925415399995 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:327.47, Y:37.32, Z:15.72 [[ 9.19933214e-01 -3.78483555e-01 -1.02338067e-01 3.27473420e+02] [ 3.76507707e-01 9.25603472e-01 -3.87318959e-02 3.73200022e+01] [ 1.09383856e-01 -2.90031338e-03 9.93995352e-01 1.57209063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.179254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:327.50, Y:37.33, Z:15.72 [[ 9.19870569e-01 -3.78644680e-01 -1.02305141e-01 3.27498960e+02] [ 3.76671217e-01 9.25537510e-01 -3.87183598e-02 3.73293767e+01] [ 1.09347746e-01 -2.91952223e-03 9.93999269e-01 1.57232166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.20925415399995 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:327.53, Y:37.34, Z:15.73 [[ 9.20447182e-01 -3.77147600e-01 -1.02648298e-01 3.27527573e+02] [ 3.75149903e-01 9.26149122e-01 -3.88632612e-02 3.73392969e+01] [ 1.09724817e-01 -2.73691975e-03 9.93958235e-01 1.57254759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.239254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:327.55, Y:37.35, Z:15.73 [[ 9.21042905e-01 -3.75704883e-01 -1.02595361e-01 3.27554331e+02] [ 3.73700284e-01 9.26735815e-01 -3.88436271e-02 3.73491078e+01] [ 1.09672536e-01 -2.56326850e-03 9.93964468e-01 1.57279594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.26925415399995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:327.58, Y:37.36, Z:15.73 [[ 9.22916842e-01 -3.71310607e-01 -1.01749375e-01 3.27582174e+02] [ 3.69311670e-01 9.28506523e-01 -3.85295677e-02 3.73595415e+01] [ 1.08781395e-01 -2.01764469e-03 9.94063648e-01 1.57304300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.299254154 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:327.61, Y:37.37, Z:15.73 [[ 9.24067384e-01 -3.68602181e-01 -1.01152867e-01 3.27610876e+02] [ 3.66610071e-01 9.29585710e-01 -3.83074815e-02 3.73705945e+01] [ 1.08150481e-01 -1.68496548e-03 9.94133107e-01 1.57335740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.32925415399995 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:327.64, Y:37.38, Z:15.74 [[ 9.25196797e-01 -3.65933403e-01 -1.00516820e-01 3.27639288e+02] [ 3.63951063e-01 9.30640034e-01 -3.80624624e-02 3.73818471e+01] [ 1.07473303e-01 -1.36793507e-03 9.94207030e-01 1.57366414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.359254154 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:327.67, Y:37.39, Z:15.74 [[ 9.26396662e-01 -3.63024844e-01 -1.00010941e-01 3.27668017e+02] [ 3.61045775e-01 9.31778894e-01 -3.78687253e-02 3.73929612e+01] [ 1.06935372e-01 -1.02706697e-03 9.94265443e-01 1.57396651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.38925415399996 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:327.70, Y:37.40, Z:15.74 [[ 9.27440567e-01 -3.60449885e-01 -9.96487634e-02 3.27695882e+02] [ 3.58470790e-01 9.32778294e-01 -3.77272766e-02 3.74034808e+01] [ 1.06548996e-01 -7.31364084e-04 9.94307184e-01 1.57426082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.419254154 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:327.72, Y:37.41, Z:15.74 [[ 9.29057306e-01 -3.56484613e-01 -9.88495987e-02 3.27723085e+02] [ 3.54515514e-01 9.34301152e-01 -3.74180202e-02 3.74134514e+01] [ 1.05694242e-01 -2.80231197e-04 9.94398637e-01 1.57448956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.44925415399996 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:327.75, Y:37.42, Z:15.75 [[ 9.29579371e-01 -3.55138653e-01 -9.87862814e-02 3.27752043e+02] [ 3.53164544e-01 9.34813629e-01 -3.73936350e-02 3.74238105e+01] [ 1.05626687e-01 -1.27460281e-04 9.94405846e-01 1.57479302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.47925415399993 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:327.78, Y:37.43, Z:15.75 [[ 9.29912761e-01 -3.54243017e-01 -9.88642623e-02 3.27782036e+02] [ 3.52261176e-01 9.35153401e-01 -3.74189818e-02 3.74332344e+01] [ 1.05708664e-01 -2.96525743e-05 9.94397143e-01 1.57507682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.50925415399996 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:327.81, Y:37.44, Z:15.75 [[ 9.29685791e-01 -3.54848871e-01 -9.88261545e-02 3.27810236e+02] [ 3.52872413e-01 9.34923670e-01 -3.74004324e-02 3.74431296e+01] [ 1.05666412e-01 -1.02372984e-04 9.94401629e-01 1.57531845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.53925415399993 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:327.84, Y:37.45, Z:15.76 [[ 9.29235636e-01 -3.55965992e-01 -9.90421444e-02 3.27838897e+02] [ 3.53987400e-01 9.34498881e-01 -3.74801515e-02 3.74528625e+01] [ 1.05896432e-01 -2.31778782e-04 9.94377138e-01 1.57559413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.56925415399996 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:327.87, Y:37.46, Z:15.76 [[ 9.27680380e-01 -3.59659057e-01 -1.00272006e-01 3.27867725e+02] [ 3.57652339e-01 9.33083558e-01 -3.79457361e-02 3.74609685e+01] [ 1.07209687e-01 -6.61002453e-04 9.94236212e-01 1.57583983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.59925415399994 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:327.90, Y:37.47, Z:15.76 [[ 9.26693416e-01 -3.62090851e-01 -1.00645562e-01 3.27895961e+02] [ 3.60082939e-01 9.32142333e-01 -3.80913089e-02 3.74702095e+01] [ 1.07608503e-01 -9.41784633e-04 9.94192900e-01 1.57611658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.62925415399997 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:327.92, Y:37.48, Z:15.76 [[ 9.25629296e-01 -3.64806199e-01 -1.00632219e-01 3.27920691e+02] [ 3.62423527e-01 9.31081088e-01 -4.16796712e-02 3.74797177e+01] [ 1.08901758e-01 2.10844102e-03 9.94050281e-01 1.57647157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.65925415399994 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:327.95, Y:37.49, Z:15.77 [[ 9.24794353e-01 -3.66619405e-01 -1.01713401e-01 3.27948397e+02] [ 3.64797600e-01 9.30365450e-01 -3.66448033e-02 3.74859310e+01] [ 1.08065330e-01 -3.21589741e-03 9.94138593e-01 1.57656754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.68925415399997 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:327.97, Y:37.49, Z:15.77 [[ 9.22574266e-01 -3.72530321e-01 -1.00388663e-01 3.27974287e+02] [ 3.70441020e-01 9.28019649e-01 -3.94078961e-02 3.74944577e+01] [ 1.07843288e-01 -8.31367812e-04 9.94167558e-01 1.57689840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.71925415399994 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:328.00, Y:37.50, Z:15.77 [[ 9.21519396e-01 -3.75055834e-01 -1.00673350e-01 3.28002340e+02] [ 3.73324755e-01 9.26992748e-01 -3.62363575e-02 3.75022624e+01] [ 1.06914123e-01 -4.19134743e-03 9.94259424e-01 1.57709346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.74925415399997 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:328.03, Y:37.51, Z:15.77 [[ 9.21099701e-01 -3.76257885e-01 -1.00026717e-01 3.28026644e+02] [ 3.74315720e-01 9.26512331e-01 -3.82445052e-02 3.75110908e+01] [ 1.07065784e-01 -2.21457044e-03 9.94249473e-01 1.57741970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.77925415399994 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:328.05, Y:37.52, Z:15.78 [[ 9.18863586e-01 -3.79684416e-01 -1.07375299e-01 3.28053609e+02] [ 3.78467124e-01 9.25051122e-01 -3.22964050e-02 3.75156899e+01] [ 1.11590083e-01 -1.09620302e-02 9.93693860e-01 1.57802376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.809254154 meters Centerline goodness : 0.996029 Centerline is valid? [True, True] Translation: X:328.08, Y:37.54, Z:15.78 [[ 9.18686541e-01 -3.83339029e-01 -9.52167472e-02 3.28077808e+02] [ 3.79769696e-01 9.23511599e-01 -5.38637537e-02 3.75353415e+01] [ 1.08581849e-01 1.33234704e-02 9.93998223e-01 1.57843767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.83925415399995 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:328.11, Y:37.53, Z:15.78 [[ 9.17820232e-01 -3.83881096e-01 -1.01199434e-01 3.28110199e+02] [ 3.82756111e-01 9.23326187e-01 -3.10887652e-02 3.75347579e+01] [ 1.05374477e-01 -1.02008043e-02 9.94380291e-01 1.57806866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.869254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:328.13, Y:37.55, Z:15.79 [[ 9.16974926e-01 -3.86623093e-01 -9.83847987e-02 3.28133917e+02] [ 3.84818978e-01 9.22231168e-01 -3.74703558e-02 3.75468850e+01] [ 1.05220433e-01 -3.50096087e-03 9.94442760e-01 1.57852917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.89925415399995 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:328.16, Y:37.56, Z:15.79 [[ 9.15339405e-01 -3.90505909e-01 -9.82797484e-02 3.28160249e+02] [ 3.88725506e-01 9.20592068e-01 -3.74529820e-02 3.75551976e+01] [ 1.05101168e-01 -3.92165464e-03 9.94453802e-01 1.57876405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.929254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:328.19, Y:37.56, Z:15.79 [[ 9.14373001e-01 -3.92815648e-01 -9.80708032e-02 3.28186171e+02] [ 3.91052638e-01 9.19607883e-01 -3.74055525e-02 3.75644683e+01] [ 1.04880170e-01 -4.14821894e-03 9.94476215e-01 1.57898476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.95925415399995 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:328.21, Y:37.57, Z:15.79 [[ 9.13393179e-01 -3.95032464e-01 -9.82967539e-02 3.28212393e+02] [ 3.93270665e-01 9.18656704e-01 -3.75239099e-02 3.75738601e+01] [ 1.05124135e-01 -4.38314641e-03 9.94449448e-01 1.57923142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.989254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:328.24, Y:37.58, Z:15.79 [[ 9.11564231e-01 -3.99056221e-01 -9.90191126e-02 3.28238450e+02] [ 3.97288490e-01 9.16913618e-01 -3.78321636e-02 3.75831231e+01] [ 1.05889133e-01 -4.85270655e-03 9.94366101e-01 1.57945373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.01925415399995 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:328.26, Y:37.59, Z:15.80 [[ 9.10685906e-01 -4.00984965e-01 -9.93087985e-02 3.28264655e+02] [ 3.99214666e-01 9.16070655e-01 -3.79763864e-02 3.75931635e+01] [ 1.06201836e-01 -5.06096898e-03 9.94331714e-01 1.57971798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.049254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:328.29, Y:37.60, Z:15.80 [[ 9.10563019e-01 -4.01395108e-01 -9.87773045e-02 3.28292739e+02] [ 3.99642719e-01 9.15891069e-01 -3.78053820e-02 3.76024908e+01] [ 1.05644146e-01 -5.05144771e-03 9.94391169e-01 1.57996043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.07925415399995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:328.32, Y:37.61, Z:15.80 [[ 9.09067520e-01 -4.04508993e-01 -9.98434663e-02 3.28317844e+02] [ 4.02736632e-01 9.14517675e-01 -3.82181531e-02 3.76140997e+01] [ 1.06768201e-01 -5.46773964e-03 9.94268905e-01 1.58026941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.109254154 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:328.34, Y:37.62, Z:15.81 [[ 9.08725015e-01 -4.05333399e-01 -9.96176854e-02 3.28342390e+02] [ 4.03572801e-01 9.14152134e-01 -3.81427537e-02 3.76243993e+01] [ 1.06526252e-01 -5.54171386e-03 9.94294447e-01 1.58055212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.13925415399996 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:328.37, Y:37.64, Z:15.81 [[ 9.08458316e-01 -4.05835738e-01 -1.00004210e-01 3.28367920e+02] [ 4.04062770e-01 9.13928827e-01 -3.83063503e-02 3.76350820e+01] [ 1.06942816e-01 -5.60825557e-03 9.94249356e-01 1.58085674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.169254154 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:328.39, Y:37.65, Z:15.81 [[ 9.07999522e-01 -4.06703395e-01 -1.00644004e-01 3.28393468e+02] [ 4.04909237e-01 9.13542377e-01 -3.85854322e-02 3.76471139e+01] [ 1.07635389e-01 -5.71613276e-03 9.94174003e-01 1.58115964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.19925415399996 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:328.42, Y:37.66, Z:15.81 [[ 9.07974955e-01 -4.06692632e-01 -1.00908788e-01 3.28418972e+02] [ 4.04885247e-01 9.13547276e-01 -3.87209333e-02 3.76578611e+01] [ 1.07932467e-01 -5.69884201e-03 9.94141894e-01 1.58142404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.22925415399993 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:328.44, Y:37.67, Z:15.82 [[ 9.08175256e-01 -4.06136072e-01 -1.01346901e-01 3.28442896e+02] [ 4.04305850e-01 9.13795289e-01 -3.89223600e-02 3.76693720e+01] [ 1.08418096e-01 -5.62682079e-03 9.94089460e-01 1.58169781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.25925415399996 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:328.47, Y:37.68, Z:15.82 [[ 9.08330726e-01 -4.05835729e-01 -1.01156578e-01 3.28468454e+02] [ 4.04008821e-01 9.13929091e-01 -3.88650193e-02 3.76806973e+01] [ 1.08222753e-01 -5.56585877e-03 9.94111089e-01 1.58201190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.28925415399993 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:328.49, Y:37.69, Z:15.82 [[ 9.08448331e-01 -4.05647033e-01 -1.00856901e-01 3.28494060e+02] [ 4.03826161e-01 9.14013282e-01 -3.87834033e-02 3.76924040e+01] [ 1.07916920e-01 -5.49593721e-03 9.94144724e-01 1.58233376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.31925415399996 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:328.52, Y:37.70, Z:15.83 [[ 9.08568073e-01 -4.05423271e-01 -1.00677839e-01 3.28519542e+02] [ 4.03603868e-01 9.14112958e-01 -3.87481276e-02 3.77041173e+01] [ 1.07740310e-01 -5.42865371e-03 9.94164250e-01 1.58265060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.34925415399994 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:328.55, Y:37.71, Z:15.83 [[ 9.08457136e-01 -4.05674606e-01 -1.00666506e-01 3.28545880e+02] [ 4.03853485e-01 9.14001457e-01 -3.87775511e-02 3.77143622e+01] [ 1.07740401e-01 -5.42677602e-03 9.94164250e-01 1.58294306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.37925415399997 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:328.57, Y:37.73, Z:15.83 [[ 9.08775266e-01 -4.04511986e-01 -1.02457644e-01 3.28570032e+02] [ 4.02614495e-01 9.14517019e-01 -3.94992534e-02 3.77273729e+01] [ 1.09677181e-01 -5.35498824e-03 9.93952836e-01 1.58328190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.40925415399994 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:328.60, Y:37.74, Z:15.84 [[ 9.09004567e-01 -4.03864303e-01 -1.02977292e-01 3.28595790e+02] [ 4.01941519e-01 9.14803615e-01 -3.97160101e-02 3.77389662e+01] [ 1.10243878e-01 -5.28881478e-03 9.93890495e-01 1.58357238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.43925415399997 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:328.62, Y:37.75, Z:15.84 [[ 9.09383864e-01 -4.03036197e-01 -1.02872796e-01 3.28620904e+02] [ 4.01108270e-01 9.15169539e-01 -3.97098341e-02 3.77505895e+01] [ 1.10150550e-01 -5.15164683e-03 9.93901563e-01 1.58387346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.46925415399994 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:328.65, Y:37.76, Z:15.84 [[ 9.09829322e-01 -4.01934234e-01 -1.03244734e-01 3.28645096e+02] [ 3.99981437e-01 9.15654859e-01 -3.98877055e-02 3.77615609e+01] [ 1.10568777e-01 -5.00497311e-03 9.93855873e-01 1.58418901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.49925415399997 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:328.67, Y:37.78, Z:15.85 [[ 9.11036082e-01 -3.99148670e-01 -1.03409850e-01 3.28669731e+02] [ 3.97168848e-01 9.16874426e-01 -3.99773981e-02 3.77750687e+01] [ 1.10770772e-01 -4.65031877e-03 9.93835102e-01 1.58463453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.52925415399994 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:328.70, Y:37.79, Z:15.85 [[ 9.11727253e-01 -3.97426702e-01 -1.03949180e-01 3.28695227e+02] [ 3.95411037e-01 9.17623220e-01 -4.02211172e-02 3.77870019e+01] [ 1.11371127e-01 -4.43196429e-03 9.93769002e-01 1.58501192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.559254154 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:328.72, Y:37.80, Z:15.85 [[ 9.12578189e-01 -3.95228401e-01 -1.04859711e-01 3.28718943e+02] [ 3.93158890e-01 9.18573421e-01 -4.06073643e-02 3.77985089e+01] [ 1.12370527e-01 -4.16913250e-03 9.93657629e-01 1.58536589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.58925415399995 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:328.75, Y:37.81, Z:15.86 [[ 9.14586747e-01 -3.90060581e-01 -1.06695010e-01 3.28746288e+02] [ 3.87881083e-01 9.20782225e-01 -4.13323097e-02 3.78129902e+01] [ 1.14364973e-01 -3.58299322e-03 9.93432340e-01 1.58575430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.619254154 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:328.77, Y:37.83, Z:15.86 [[ 9.15729424e-01 -3.87157994e-01 -1.07463061e-01 3.28774693e+02] [ 3.84927052e-01 9.22007680e-01 -4.16293386e-02 3.78258269e+01] [ 1.15198899e-01 -3.24422918e-03 9.93337148e-01 1.58613180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.64925415399995 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:328.80, Y:37.84, Z:15.86 [[ 9.17061262e-01 -3.83956358e-01 -1.07592551e-01 3.28801153e+02] [ 3.81698496e-01 9.23346847e-01 -4.16756361e-02 3.78378409e+01] [ 1.15346869e-01 -2.84880364e-03 9.93321189e-01 1.58648231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.679254154 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:328.83, Y:37.85, Z:15.87 [[ 9.19629468e-01 -3.77582779e-01 -1.08226092e-01 3.28826869e+02] [ 3.75253813e-01 9.25973546e-01 -4.19233540e-02 3.78513288e+01] [ 1.16044034e-01 -2.05830183e-03 9.93241937e-01 1.58698451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.70925415399995 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:328.85, Y:37.86, Z:15.87 [[ 9.20814455e-01 -3.74867127e-01 -1.07588924e-01 3.28854448e+02] [ 3.72546862e-01 9.27076984e-01 -4.16785455e-02 3.78639306e+01] [ 1.15367132e-01 -1.70370880e-03 9.93321460e-01 1.58736478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.739254154 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:328.88, Y:37.88, Z:15.88 [[ 9.21757994e-01 -3.72485790e-01 -1.07780035e-01 3.28880228e+02] [ 3.70140925e-01 9.28036829e-01 -4.17533292e-02 3.78756083e+01] [ 1.15576364e-01 -1.40733686e-03 9.93297601e-01 1.58776528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.76925415399995 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:328.91, Y:37.89, Z:15.88 [[ 9.22585399e-01 -3.70509410e-01 -1.07512601e-01 3.28909416e+02] [ 3.68162247e-01 9.28827998e-01 -4.16546569e-02 3.78885489e+01] [ 1.15294156e-01 -1.15210251e-03 9.93330725e-01 1.58818137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.799254154 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:328.94, Y:37.90, Z:15.89 [[ 9.23259852e-01 -3.68905008e-01 -1.07239639e-01 3.28937715e+02] [ 3.66559990e-01 9.29466610e-01 -4.15402819e-02 3.79018124e+01] [ 1.15000082e-01 -9.57286520e-04 9.93365021e-01 1.58862287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.82925415399995 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:328.97, Y:37.91, Z:15.89 [[ 9.23150754e-01 -3.69170936e-01 -1.07263719e-01 3.28966820e+02] [ 3.66827174e-01 9.29360979e-01 -4.15450920e-02 3.79133945e+01] [ 1.15023955e-01 -9.94863740e-04 9.93362220e-01 1.58895407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.859254154 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:329.00, Y:37.92, Z:15.89 [[ 9.21887383e-01 -3.72226664e-01 -1.07568411e-01 3.28995883e+02] [ 3.69890751e-01 9.28140827e-01 -4.16585850e-02 3.79244203e+01] [ 1.15345070e-01 -1.38403637e-03 9.93324519e-01 1.58929260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.88925415399996 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:329.03, Y:37.95, Z:15.90 [[ 9.23587109e-01 -3.74240938e-01 -8.32500592e-02 3.29025393e+02] [ 3.67973555e-01 9.26255354e-01 -8.15259563e-02 3.79523718e+01] [ 1.07621163e-01 4.46625021e-02 9.93188273e-01 1.58991453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.919254154 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:329.06, Y:37.93, Z:15.89 [[ 9.19058815e-01 -3.73173302e-01 -1.26777684e-01 3.29061740e+02] [ 3.76527478e-01 9.26401509e-01 2.70226611e-03 3.79254113e+01] [ 1.16438624e-01 -5.02188231e-02 9.91927475e-01 1.58862710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.94925415399996 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:329.08, Y:37.96, Z:15.90 [[ 9.16510624e-01 -3.84477483e-01 -1.10387236e-01 3.29080947e+02] [ 3.82095117e-01 9.23129751e-01 -4.28343865e-02 3.79572243e+01] [ 1.18370599e-01 -2.92025361e-03 9.92965192e-01 1.59035321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.97925415399993 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:329.11, Y:37.97, Z:15.91 [[ 9.15113654e-01 -3.87581689e-01 -1.11119011e-01 3.29109922e+02] [ 3.85190850e-01 9.21829281e-01 -4.31136335e-02 3.79683812e+01] [ 1.19142813e-01 -3.34815158e-03 9.92871482e-01 1.59071006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.00925415399996 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:329.14, Y:37.98, Z:15.91 [[ 9.12307326e-01 -3.93861265e-01 -1.12109977e-01 3.29139058e+02] [ 3.91475082e-01 9.19160263e-01 -4.34933472e-02 3.79786716e+01] [ 1.20177381e-01 -4.20896331e-03 9.92743513e-01 1.59103890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.03925415399993 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:329.17, Y:37.99, Z:15.91 [[ 9.10060258e-01 -3.98957528e-01 -1.12353092e-01 3.29165971e+02] [ 3.96599866e-01 9.16956342e-01 -4.35845474e-02 3.79883976e+01] [ 1.20411264e-01 -4.89465685e-03 9.92712028e-01 1.59134500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.06925415399996 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:329.19, Y:38.00, Z:15.92 [[ 9.08202311e-01 -4.02897501e-01 -1.13323283e-01 3.29191926e+02] [ 4.00527831e-01 9.15228860e-01 -4.39725995e-02 3.79985076e+01] [ 1.21433189e-01 -5.45311225e-03 9.92584628e-01 1.59169577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.09925415399994 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:329.22, Y:38.01, Z:15.92 [[ 9.06985327e-01 -4.05664253e-01 -1.13199513e-01 3.29220578e+02] [ 4.03317223e-01 9.14003841e-01 -4.39567509e-02 3.80096608e+01] [ 1.21296472e-01 -5.78718516e-03 9.92599453e-01 1.59198363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.12925415399997 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:329.25, Y:38.02, Z:15.92 [[ 9.06409608e-01 -4.06785980e-01 -1.13783955e-01 3.29249165e+02] [ 4.04423362e-01 9.13503993e-01 -4.41836967e-02 3.80211130e+01] [ 1.21915405e-01 -5.96836235e-03 9.92522550e-01 1.59234001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.15925415399994 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:329.28, Y:38.03, Z:15.93 [[ 9.06323862e-01 -4.06940814e-01 -1.13913264e-01 3.29276156e+02] [ 4.04573978e-01 9.13434850e-01 -4.42342749e-02 3.80323803e+01] [ 1.22053077e-01 -5.99576351e-03 9.92505465e-01 1.59266826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.18925415399997 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:329.30, Y:38.04, Z:15.93 [[ 9.06271196e-01 -4.07148205e-01 -1.13590751e-01 3.29302888e+02] [ 4.04795543e-01 9.13342400e-01 -4.41160743e-02 3.80434885e+01] [ 1.21709029e-01 -5.99990213e-03 9.92547688e-01 1.59297973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.21925415399994 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:329.33, Y:38.05, Z:15.93 [[ 9.06174963e-01 -4.07365464e-01 -1.13579555e-01 3.29329981e+02] [ 4.05010897e-01 9.13245533e-01 -4.41448809e-02 3.80540827e+01] [ 1.21709121e-01 -5.99797171e-03 9.92547689e-01 1.59328395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.24925415399997 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:329.36, Y:38.06, Z:15.94 [[ 9.06233394e-01 -4.07084707e-01 -1.14118698e-01 3.29355725e+02] [ 4.04701465e-01 9.13370971e-01 -4.43868677e-02 3.80647720e+01] [ 1.22301921e-01 -5.95914252e-03 9.92475052e-01 1.59361631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.27925415399994 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:329.38, Y:38.08, Z:15.94 [[ 9.06159806e-01 -4.07251906e-01 -1.14106487e-01 3.29382044e+02] [ 4.04866042e-01 9.13296506e-01 -4.44182391e-02 3.80751249e+01] [ 1.22302468e-01 -5.94781873e-03 9.92475052e-01 1.59391220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.309254154 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:329.41, Y:38.09, Z:15.94 [[ 9.06166167e-01 -4.07020534e-01 -1.14878899e-01 3.29406376e+02] [ 4.04597253e-01 9.13399730e-01 -4.47436764e-02 3.80855145e+01] [ 1.23141951e-01 -5.93448129e-03 9.92371323e-01 1.59420718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.33925415399995 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:329.43, Y:38.10, Z:15.94 [[ 9.06170193e-01 -4.07085881e-01 -1.14615300e-01 3.29432163e+02] [ 4.04670651e-01 9.13370814e-01 -4.46701310e-02 3.80967196e+01] [ 1.22870850e-01 -5.90270702e-03 9.92405115e-01 1.59449993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.369254154 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:329.46, Y:38.11, Z:15.95 [[ 9.06651933e-01 -4.05681149e-01 -1.15780298e-01 3.29456541e+02] [ 4.03200662e-01 9.13996647e-01 -4.51592371e-02 3.81080480e+01] [ 1.24143055e-01 -5.73898295e-03 9.92247734e-01 1.59480453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.39925415399995 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:329.48, Y:38.12, Z:15.95 [[ 9.06993107e-01 -4.04589691e-01 -1.16921711e-01 3.29482442e+02] [ 4.02048302e-01 9.14481013e-01 -4.56249943e-02 3.81191878e+01] [ 1.25382087e-01 -5.62661994e-03 9.92092573e-01 1.59514413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.429254154 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:329.51, Y:38.13, Z:15.95 [[ 9.07381522e-01 -4.03756303e-01 -1.16788788e-01 3.29507453e+02] [ 4.01209075e-01 9.14850220e-01 -4.56108942e-02 3.81304906e+01] [ 1.25259935e-01 -5.47023912e-03 9.92108878e-01 1.59543251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.45925415399995 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:329.53, Y:38.14, Z:15.96 [[ 9.08661685e-01 -4.00801120e-01 -1.17014544e-01 3.29531485e+02] [ 3.98215301e-01 9.16151216e-01 -4.57331783e-02 3.81425328e+01] [ 1.25532926e-01 -5.04099513e-03 9.92076647e-01 1.59578392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.489254154 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:329.56, Y:38.15, Z:15.96 [[ 9.09376694e-01 -3.99118886e-01 -1.17209825e-01 3.29556721e+02] [ 3.96507953e-01 9.16886630e-01 -4.58295893e-02 3.81541515e+01] [ 1.25759576e-01 -4.79826751e-03 9.92049145e-01 1.59612800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.51925415399995 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:329.58, Y:38.17, Z:15.96 [[ 9.10187299e-01 -3.97367266e-01 -1.16868890e-01 3.29581658e+02] [ 3.94752500e-01 9.17648588e-01 -4.57332826e-02 3.81657119e+01] [ 1.25417481e-01 -4.50843359e-03 9.92093811e-01 1.59646750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.549254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:329.61, Y:38.18, Z:15.97 [[ 9.11907345e-01 -3.93619844e-01 -1.16139625e-01 3.29605359e+02] [ 3.91003285e-01 9.19264881e-01 -4.54808678e-02 3.81783400e+01] [ 1.24665251e-01 -3.93663757e-03 9.92191049e-01 1.59686040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.57925415399995 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:329.63, Y:38.19, Z:15.97 [[ 9.12700342e-01 -3.91983292e-01 -1.15443422e-01 3.29630518e+02] [ 3.89382672e-01 9.19965005e-01 -4.52274680e-02 3.81898070e+01] [ 1.23932320e-01 -3.67254255e-03 9.92283877e-01 1.59720472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.609254154 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:329.65, Y:38.20, Z:15.98 [[ 9.13495625e-01 -3.90252622e-01 -1.15015803e-01 3.29654532e+02] [ 3.87653429e-01 9.20701567e-01 -4.50937135e-02 3.82007241e+01] [ 1.23493170e-01 -3.39336040e-03 9.92339620e-01 1.59750925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.63925415399996 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:329.68, Y:38.21, Z:15.98 [[ 9.14777025e-01 -3.87485992e-01 -1.14182313e-01 3.29683874e+02] [ 3.84901493e-01 9.21870755e-01 -4.47789250e-02 3.82148212e+01] [ 1.22612541e-01 -2.98621088e-03 9.92450123e-01 1.59789439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.669254154 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:329.71, Y:38.23, Z:15.98 [[ 9.15120984e-01 -3.86748139e-01 -1.13927437e-01 3.29713068e+02] [ 3.84170684e-01 9.22180854e-01 -4.46694340e-02 3.82273015e+01] [ 1.22337522e-01 -2.88964517e-03 9.92484348e-01 1.59822445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.69925415399996 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:329.74, Y:38.24, Z:15.99 [[ 9.15318662e-01 -3.86345975e-01 -1.13703714e-01 3.29742783e+02] [ 3.83776756e-01 9.22349569e-01 -4.45721307e-02 3.82397761e+01] [ 1.22094835e-01 -2.83913961e-03 9.92514378e-01 1.59856533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.72925415399993 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:329.77, Y:38.25, Z:15.99 [[ 9.14996109e-01 -3.87154161e-01 -1.13550764e-01 3.29771442e+02] [ 3.84599367e-01 9.22010269e-01 -4.45015711e-02 3.82521111e+01] [ 1.21923939e-01 -2.95278748e-03 9.92535054e-01 1.59886516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.75925415399996 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:329.80, Y:38.26, Z:15.99 [[ 9.14448695e-01 -3.88519397e-01 -1.13297228e-01 3.29797202e+02] [ 3.85987495e-01 9.21435210e-01 -4.43937765e-02 3.82625698e+01] [ 1.21643898e-01 -3.13548210e-03 9.92568854e-01 1.59912615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.78925415399993 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:329.83, Y:38.27, Z:15.99 [[ 9.14011624e-01 -3.89604141e-01 -1.13098911e-01 3.29827979e+02] [ 3.87085990e-01 9.20976689e-01 -4.43438176e-02 3.82746280e+01] [ 1.21437995e-01 -3.24823917e-03 9.92593705e-01 1.59947433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.81925415399996 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:329.86, Y:38.29, Z:16.00 [[ 9.13011654e-01 -3.92088272e-01 -1.12589992e-01 3.29857761e+02] [ 3.89613311e-01 9.19920651e-01 -4.41300754e-02 3.82864428e+01] [ 1.20876744e-01 -3.57528639e-03 9.92661085e-01 1.59980351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.84925415399994 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:329.89, Y:38.30, Z:16.00 [[ 9.12482651e-01 -3.93247357e-01 -1.12835848e-01 3.29887871e+02] [ 3.90771883e-01 9.19425072e-01 -4.42139316e-02 3.82987298e+01] [ 1.21131119e-01 -3.74863131e-03 9.92629437e-01 1.60018090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.87925415399997 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:329.92, Y:38.31, Z:16.01 [[ 9.11996424e-01 -3.94326224e-01 -1.13001552e-01 3.29917887e+02] [ 3.91853473e-01 9.18962203e-01 -4.42642525e-02 3.83111518e+01] [ 1.21298710e-01 -3.91121047e-03 9.92608344e-01 1.60056036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.90925415399994 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:329.95, Y:38.32, Z:16.01 [[ 9.11625981e-01 -3.95289335e-01 -1.12625100e-01 3.29948326e+02] [ 3.92842149e-01 9.18547782e-01 -4.41023616e-02 3.83235590e+01] [ 1.20884729e-01 -4.03902760e-03 9.92658334e-01 1.60087817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.93925415399997 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:329.98, Y:38.34, Z:16.01 [[ 9.11225734e-01 -3.96241552e-01 -1.12517972e-01 3.29978437e+02] [ 3.93808006e-01 9.18136811e-01 -4.40459958e-02 3.83357423e+01] [ 1.20759746e-01 -4.17463340e-03 9.92672986e-01 1.60123510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.96925415399994 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:330.01, Y:38.35, Z:16.02 [[ 9.11432650e-01 -3.95924833e-01 -1.11955576e-01 3.30006890e+02] [ 3.93514856e-01 9.18273662e-01 -4.38125445e-02 3.83468876e+01] [ 1.20152331e-01 -4.12399857e-03 9.92746901e-01 1.60154299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.99925415399997 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:330.04, Y:38.36, Z:16.02 [[ 9.11698262e-01 -3.95396615e-01 -1.11659286e-01 3.30036922e+02] [ 3.92996361e-01 9.18501558e-01 -4.36892283e-02 3.83590248e+01] [ 1.19833801e-01 -4.05029968e-03 9.92785705e-01 1.60189904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.02925415399994 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:330.07, Y:38.37, Z:16.02 [[ 9.12819511e-01 -3.93142950e-01 -1.10449812e-01 3.30065527e+02] [ 3.90779180e-01 9.19469833e-01 -4.32071540e-02 3.83713478e+01] [ 1.18541858e-01 -3.72115374e-03 9.92942083e-01 1.60229367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.059254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:330.09, Y:38.38, Z:16.03 [[ 9.13668576e-01 -3.91363003e-01 -1.09748495e-01 3.30094379e+02] [ 3.89017223e-01 9.20229826e-01 -4.29262948e-02 3.83835694e+01] [ 1.17793602e-01 -3.47364811e-03 9.93032024e-01 1.60268924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.08925415399995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:330.12, Y:38.40, Z:16.03 [[ 9.14623156e-01 -3.89276074e-01 -1.09218227e-01 3.30123796e+02] [ 3.86938728e-01 9.21115595e-01 -4.27139507e-02 3.83961694e+01] [ 1.17230131e-01 -3.19359360e-03 9.93099641e-01 1.60308987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.119254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:330.15, Y:38.41, Z:16.03 [[ 9.16584730e-01 -3.84807074e-01 -1.08609158e-01 3.30153831e+02] [ 3.82465601e-01 9.22993324e-01 -4.24663163e-02 3.84097180e+01] [ 1.16586867e-01 -2.61528997e-03 9.93177055e-01 1.60349092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.14925415399995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:330.18, Y:38.42, Z:16.04 [[ 9.17509472e-01 -3.82585608e-01 -1.08649074e-01 3.30184293e+02] [ 3.80228530e-01 9.23917066e-01 -4.24678680e-02 3.84221259e+01] [ 1.16630329e-01 -2.34680667e-03 9.93172623e-01 1.60383426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.179254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:330.21, Y:38.43, Z:16.04 [[ 9.18470280e-01 -3.80301063e-01 -1.08551585e-01 3.30213777e+02] [ 3.77933936e-01 9.24860436e-01 -4.24159556e-02 3.84337959e+01] [ 1.16525900e-01 -2.06753330e-03 9.93185501e-01 1.60416157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.20925415399995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:330.24, Y:38.45, Z:16.04 [[ 9.19236805e-01 -3.78391331e-01 -1.08736829e-01 3.30244196e+02] [ 3.76004178e-01 9.25643893e-01 -4.24763658e-02 3.84458367e+01] [ 1.16724270e-01 -1.83966319e-03 9.93162656e-01 1.60447489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.239254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:330.27, Y:38.46, Z:16.05 [[ 9.20427855e-01 -3.75384249e-01 -1.09083590e-01 3.30273429e+02] [ 3.72962380e-01 9.26868107e-01 -4.25978345e-02 3.84573272e+01] [ 1.17096656e-01 -1.47584171e-03 9.93119426e-01 1.60480009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.26925415399995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:330.30, Y:38.47, Z:16.05 [[ 9.20461348e-01 -3.75300959e-01 -1.09087563e-01 3.30303751e+02] [ 3.72879713e-01 9.26901835e-01 -4.25876574e-02 3.84690962e+01] [ 1.17096651e-01 -1.47624656e-03 9.93119426e-01 1.60513901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.299254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:330.33, Y:38.48, Z:16.05 [[ 9.20852492e-01 -3.74311246e-01 -1.09186903e-01 3.30334550e+02] [ 3.71880012e-01 9.27302127e-01 -4.26148138e-02 3.84811275e+01] [ 1.17200452e-01 -1.36246937e-03 9.93107345e-01 1.60549491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.32925415399995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:330.36, Y:38.49, Z:16.06 [[ 9.21251528e-01 -3.73324651e-01 -1.09198564e-01 3.30364124e+02] [ 3.70887769e-01 9.27699919e-01 -4.26042687e-02 3.84921835e+01] [ 1.17208722e-01 -1.25116399e-03 9.93106515e-01 1.60582709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.359254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:330.39, Y:38.50, Z:16.06 [[ 9.21253662e-01 -3.73318328e-01 -1.09202179e-01 3.30394682e+02] [ 3.70883843e-01 9.27702436e-01 -4.25836189e-02 3.85036777e+01] [ 1.17204373e-01 -1.27100906e-03 9.93107003e-01 1.60614552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.38925415399996 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:330.43, Y:38.52, Z:16.06 [[ 9.21089347e-01 -3.73724883e-01 -1.09197649e-01 3.30425569e+02] [ 3.71295076e-01 9.27538640e-01 -4.25680456e-02 3.85151491e+01] [ 1.17193776e-01 -1.33557591e-03 9.93108169e-01 1.60647914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.419254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:330.46, Y:38.53, Z:16.07 [[ 9.20720995e-01 -3.74519551e-01 -1.09580814e-01 3.30457045e+02] [ 3.72079866e-01 9.27217876e-01 -4.27034365e-02 3.85263919e+01] [ 1.17598561e-01 -1.45486393e-03 9.93060150e-01 1.60676938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.44925415399996 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:330.49, Y:38.54, Z:16.07 [[ 9.19625457e-01 -3.77090837e-01 -1.09961446e-01 3.30488365e+02] [ 3.74654097e-01 9.26174525e-01 -4.28375688e-02 3.85362387e+01] [ 1.17997144e-01 -1.80298746e-03 9.93012298e-01 1.60706760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.47925415399993 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:330.52, Y:38.55, Z:16.07 [[ 9.19000156e-01 -3.78600009e-01 -1.10003395e-01 3.30518689e+02] [ 3.76173810e-01 9.25558206e-01 -4.28400817e-02 3.85469542e+01] [ 1.18033800e-01 -2.01035455e-03 9.93007543e-01 1.60737141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.50925415399996 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:330.55, Y:38.56, Z:16.08 [[ 9.18308623e-01 -3.80235153e-01 -1.10138558e-01 3.30549349e+02] [ 3.77816104e-01 9.24887148e-01 -4.28807170e-02 3.85575877e+01] [ 1.18170493e-01 -2.23438870e-03 9.92990807e-01 1.60771339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.53925415399993 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:330.58, Y:38.57, Z:16.08 [[ 9.16606919e-01 -3.84328161e-01 -1.10107319e-01 3.30580433e+02] [ 3.81941438e-01 9.23192382e-01 -4.28551475e-02 3.85672559e+01] [ 1.18120678e-01 -2.77322311e-03 9.92995375e-01 1.60802946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.56925415399996 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:330.61, Y:38.58, Z:16.08 [[ 9.15792287e-01 -3.86313696e-01 -1.09937326e-01 3.30611003e+02] [ 3.83949690e-01 9.22362472e-01 -4.27797448e-02 3.85776097e+01] [ 1.17928465e-01 -3.03304173e-03 9.93017461e-01 1.60836457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.59925415399994 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:330.64, Y:38.59, Z:16.09 [[ 9.14981730e-01 -3.88335805e-01 -1.09561567e-01 3.30640900e+02] [ 3.86003572e-01 9.21512056e-01 -4.26236171e-02 3.85874782e+01] [ 1.17514581e-01 -3.29132523e-03 9.93065703e-01 1.60868253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.62925415399997 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:330.67, Y:38.60, Z:16.09 [[ 9.14199864e-01 -3.90322363e-01 -1.09027803e-01 3.30670097e+02] [ 3.88028563e-01 9.20671444e-01 -4.24019754e-02 3.85970745e+01] [ 1.16929224e-01 -3.54202173e-03 9.93133934e-01 1.60901194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.65925415399994 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:330.70, Y:38.61, Z:16.09 [[ 9.13077316e-01 -3.93302065e-01 -1.07718616e-01 3.30700975e+02] [ 3.91084350e-01 9.19401126e-01 -4.18879584e-02 3.86054229e+01] [ 1.15511237e-01 -3.88012030e-03 9.93298595e-01 1.60932449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.68925415399997 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:330.73, Y:38.62, Z:16.10 [[ 9.12730504e-01 -3.94303613e-01 -1.06993872e-01 3.30731230e+02] [ 3.92123596e-01 9.18971577e-01 -4.15971962e-02 3.86157423e+01] [ 1.14726252e-01 -3.98779190e-03 9.93389141e-01 1.60966807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.71925415399994 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:330.76, Y:38.63, Z:16.10 [[ 9.12513569e-01 -3.94930487e-01 -1.06531201e-01 3.30762057e+02] [ 3.92774675e-01 9.18702045e-01 -4.14078195e-02 3.86261470e+01] [ 1.14223642e-01 -4.05756053e-03 9.93446776e-01 1.61002623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.74925415399997 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:330.79, Y:38.64, Z:16.10 [[ 9.12419779e-01 -3.95383135e-01 -1.05651896e-01 3.30792684e+02] [ 3.93267373e-01 9.18507176e-01 -4.10529019e-02 3.86365038e+01] [ 1.13273650e-01 -4.09196400e-03 9.93555402e-01 1.61037406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.77925415399994 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:330.82, Y:38.65, Z:16.11 [[ 9.12448839e-01 -3.95704718e-01 -1.04186817e-01 3.30823154e+02] [ 3.93650450e-01 9.18368724e-01 -4.04748055e-02 3.86457407e+01] [ 1.11697986e-01 -4.08199807e-03 9.93733816e-01 1.61070713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.809254154 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:330.85, Y:38.66, Z:16.11 [[ 9.12527764e-01 -3.95704673e-01 -1.03493434e-01 3.30853182e+02] [ 3.93678708e-01 9.18368829e-01 -4.01966198e-02 3.86562303e+01] [ 1.10951134e-01 -4.06262980e-03 9.93817559e-01 1.61101742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.83925415399995 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:330.88, Y:38.67, Z:16.11 [[ 9.12679413e-01 -3.95342811e-01 -1.03539129e-01 3.30883663e+02] [ 3.93313718e-01 9.18524813e-01 -4.02055569e-02 3.86665753e+01] [ 1.10998237e-01 -4.02857578e-03 9.93812438e-01 1.61131478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.869254154 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:330.91, Y:38.68, Z:16.12 [[ 9.12434252e-01 -3.95912618e-01 -1.03522627e-01 3.30913262e+02] [ 3.93888843e-01 9.18279011e-01 -4.01900101e-02 3.86764212e+01] [ 1.10974388e-01 -4.10566612e-03 9.93814786e-01 1.61156808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.89925415399995 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:330.94, Y:38.69, Z:16.12 [[ 9.12281606e-01 -3.96273237e-01 -1.03488134e-01 3.30943224e+02] [ 3.94254709e-01 9.18123197e-01 -4.01624092e-02 3.86872545e+01] [ 1.10930144e-01 -4.16125680e-03 9.93819494e-01 1.61184098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.929254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:330.97, Y:38.70, Z:16.12 [[ 9.11967751e-01 -3.96758707e-01 -1.04390367e-01 3.30973258e+02] [ 3.94708903e-01 9.17913031e-01 -4.05037020e-02 3.86970002e+01] [ 1.11891475e-01 -4.26573726e-03 9.93711277e-01 1.61201634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.95925415399995 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:331.00, Y:38.71, Z:16.12 [[ 9.11844840e-01 -3.96843142e-01 -1.05140418e-01 3.31003228e+02] [ 3.94765048e-01 9.17876306e-01 -4.07877898e-02 3.87077817e+01] [ 1.12692254e-01 -4.31362669e-03 9.93620576e-01 1.61228672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.989254154 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:331.03, Y:38.72, Z:16.13 [[ 9.11836764e-01 -3.96742348e-01 -1.05589892e-01 3.31033180e+02] [ 3.94646753e-01 9.17919810e-01 -4.09531865e-02 3.87187569e+01] [ 1.13170917e-01 -4.32808690e-03 9.93566108e-01 1.61256677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.01925415399995 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:331.06, Y:38.73, Z:16.13 [[ 9.12139558e-01 -3.95910949e-01 -1.06094047e-01 3.31061314e+02] [ 3.93790664e-01 9.18279057e-01 -4.11398338e-02 3.87292943e+01] [ 1.13711653e-01 -4.25357552e-03 9.93504689e-01 1.61282950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.049254154 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:331.09, Y:38.74, Z:16.13 [[ 9.12494626e-01 -3.95009684e-01 -1.06399753e-01 3.31089210e+02] [ 3.92871785e-01 9.18667540e-01 -4.12518040e-02 3.87403014e+01] [ 1.14040861e-01 -4.15941142e-03 9.93467353e-01 1.61315339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.07925415399995 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:331.12, Y:38.75, Z:16.14 [[ 9.13875175e-01 -3.91979155e-01 -1.05756826e-01 3.31117128e+02] [ 3.89846856e-01 9.19966424e-01 -4.10025373e-02 3.87526110e+01] [ 1.13364869e-01 -3.75776496e-03 9.93546318e-01 1.61350318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.109254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:331.15, Y:38.76, Z:16.14 [[ 9.14860463e-01 -3.89890861e-01 -1.04954517e-01 3.31145877e+02] [ 3.87777219e-01 9.20854527e-01 -4.06911352e-02 3.87644702e+01] [ 1.12512944e-01 -3.47225981e-03 9.93644192e-01 1.61389286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.13925415399996 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:331.18, Y:38.78, Z:16.14 [[ 9.16755142e-01 -3.86028138e-01 -1.02675631e-01 3.31175438e+02] [ 3.83981836e-01 9.22482335e-01 -3.98031722e-02 3.87776503e+01] [ 1.10081600e-01 -2.93581448e-03 9.93918217e-01 1.61430154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.169254154 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:331.21, Y:38.79, Z:16.15 [[ 9.17695576e-01 -3.83956485e-01 -1.02040421e-01 3.31205290e+02] [ 3.81923657e-01 9.23347305e-01 -3.95483938e-02 3.87899465e+01] [ 1.09403610e-01 -2.67826469e-03 9.93993801e-01 1.61467176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.19925415399996 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:331.24, Y:38.80, Z:16.15 [[ 9.18571229e-01 -3.82003781e-01 -1.01488953e-01 3.31236148e+02] [ 3.79982002e-01 9.24157538e-01 -3.93258509e-02 3.88022547e+01] [ 1.08814405e-01 -2.44038051e-03 9.94059088e-01 1.61501724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.22925415399993 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:331.27, Y:38.81, Z:16.15 [[ 9.19290004e-01 -3.80428209e-01 -1.00897309e-01 3.31266464e+02] [ 3.78421939e-01 9.24807712e-01 -3.90836536e-02 3.88142365e+01] [ 1.08179134e-01 -2.25254311e-03 9.94128865e-01 1.61533665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.25925415399996 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:331.30, Y:38.83, Z:16.16 [[ 9.20194078e-01 -3.78488702e-01 -9.99457871e-02 3.31296164e+02] [ 3.76510154e-01 9.25603713e-01 -3.87023186e-02 3.88257742e+01] [ 1.07158582e-01 -2.01695935e-03 9.94239896e-01 1.61562415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.28925415399993 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:331.33, Y:38.84, Z:16.16 [[ 9.20501635e-01 -3.77820752e-01 -9.96404512e-02 3.31325719e+02] [ 3.75851540e-01 9.25876722e-01 -3.85735168e-02 3.88371275e+01] [ 1.06828649e-01 -1.94303168e-03 9.94275547e-01 1.61598261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.31925415399996 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:331.36, Y:38.85, Z:16.16 [[ 9.20621714e-01 -3.77630589e-01 -9.92511881e-02 3.31356242e+02] [ 3.75676570e-01 9.25954344e-01 -3.84144170e-02 3.88487895e+01] [ 1.06408528e-01 -1.92119956e-03 9.94320640e-01 1.61629962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.34925415399994 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:331.39, Y:38.86, Z:16.17 [[ 9.20706983e-01 -3.77263069e-01 -9.98560383e-02 3.31387030e+02] [ 3.75284335e-01 9.26104183e-01 -3.86356038e-02 3.88598947e+01] [ 1.07052881e-01 -1.90233681e-03 9.94251508e-01 1.61665087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.37925415399997 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:331.42, Y:38.87, Z:16.17 [[ 9.19814543e-01 -3.79529709e-01 -9.94907366e-02 3.31416869e+02] [ 3.77580005e-01 9.25177006e-01 -3.84817807e-02 3.88702891e+01] [ 1.06651521e-01 -2.16961123e-03 9.94294094e-01 1.61685832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.40925415399994 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:331.45, Y:38.88, Z:16.17 [[ 9.19290761e-01 -3.80678118e-01 -9.99433231e-02 3.31447138e+02] [ 3.78718039e-01 9.24704705e-01 -3.86504247e-02 3.88810097e+01] [ 1.07131432e-01 -2.31936105e-03 9.94242162e-01 1.61714773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.43925415399997 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:331.48, Y:38.89, Z:16.17 [[ 9.18207968e-01 -3.83101794e-01 -1.00633706e-01 3.31478210e+02] [ 3.81129881e-01 9.23702392e-01 -3.89089381e-02 3.88909789e+01] [ 1.07861679e-01 -2.62801544e-03 9.94162437e-01 1.61737306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.46925415399994 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:331.51, Y:38.90, Z:16.18 [[ 9.17774501e-01 -3.84079441e-01 -1.00861033e-01 3.31507480e+02] [ 3.82105394e-01 9.23295934e-01 -3.89882897e-02 3.89012159e+01] [ 1.08099182e-01 -2.75708643e-03 9.94136291e-01 1.61765045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.49925415399997 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:331.54, Y:38.91, Z:16.18 [[ 9.17698741e-01 -3.83902939e-01 -1.02213278e-01 3.31537368e+02] [ 3.81875088e-01 9.23369270e-01 -3.95045459e-02 3.89103720e+01] [ 1.09546511e-01 -2.77943252e-03 9.93977785e-01 1.61801167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.52925415399994 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:331.57, Y:38.92, Z:16.18 [[ 9.17683621e-01 -3.84449561e-01 -1.00276151e-01 3.31567097e+02] [ 3.82501744e-01 9.23141770e-01 -3.87516120e-02 3.89219688e+01] [ 1.07467143e-01 -2.79408282e-03 9.94204710e-01 1.61820196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.559254154 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:331.60, Y:38.93, Z:16.19 [[ 9.18228252e-01 -3.83008920e-01 -1.00802004e-01 3.31596123e+02] [ 3.81032843e-01 9.23740850e-01 -3.89462944e-02 3.89319362e+01] [ 1.08031707e-01 -2.64728628e-03 9.94143924e-01 1.61857942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.58925415399995 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:331.62, Y:38.94, Z:16.19 [[ 9.18595230e-01 -3.82519406e-01 -9.93061354e-02 3.31624314e+02] [ 3.80599481e-01 9.23943921e-01 -3.83623018e-02 3.89428321e+01] [ 1.06427625e-01 -2.55643613e-03 9.94317165e-01 1.61880510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.619254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:331.65, Y:38.95, Z:16.19 [[ 9.20072814e-01 -3.79057400e-01 -9.89014884e-02 3.31654217e+02] [ 3.77133183e-01 9.25370671e-01 -3.82058072e-02 3.89535283e+01] [ 1.06002731e-01 -2.14690861e-03 9.94363521e-01 1.61914491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.64925415399995 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:331.68, Y:38.96, Z:16.19 [[ 9.20981974e-01 -3.76906205e-01 -9.86606155e-02 3.31682641e+02] [ 3.74979920e-01 9.26249478e-01 -3.81046558e-02 3.89642828e+01] [ 1.05746225e-01 -1.90204857e-03 9.94391331e-01 1.61948986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.679254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:331.71, Y:38.98, Z:16.20 [[ 9.21715214e-01 -3.75112067e-01 -9.86509079e-02 3.31711126e+02] [ 3.73176123e-01 9.26977915e-01 -3.80989089e-02 3.89753581e+01] [ 1.05738573e-01 -1.69781937e-03 9.94392514e-01 1.61982931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.70925415399995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:331.74, Y:38.99, Z:16.20 [[ 9.22452959e-01 -3.73370502e-01 -9.83616129e-02 3.31740940e+02] [ 3.71436061e-01 9.27681107e-01 -3.79870488e-02 3.89867409e+01] [ 1.05431453e-01 -1.49378447e-03 9.94425451e-01 1.62016417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.739254154 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:331.77, Y:39.00, Z:16.20 [[ 9.23687788e-01 -3.70270348e-01 -9.84923305e-02 3.31772072e+02] [ 3.68314049e-01 9.28923328e-01 -3.80291057e-02 3.89973586e+01] [ 1.05572874e-01 -1.14908848e-03 9.94410905e-01 1.62049963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.76925415399995 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:331.80, Y:39.01, Z:16.21 [[ 9.24200430e-01 -3.69052918e-01 -9.82522679e-02 3.31802533e+02] [ 3.67100648e-01 9.29407825e-01 -3.79237352e-02 3.90080515e+01] [ 1.05312292e-01 -1.01933886e-03 9.94438677e-01 1.62077829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.799254154 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:331.83, Y:39.02, Z:16.21 [[ 9.24351160e-01 -3.68856951e-01 -9.75678389e-02 3.31828108e+02] [ 3.66369346e-01 9.29477766e-01 -4.29486251e-02 3.90193425e+01] [ 1.06529036e-01 3.95374613e-03 9.94301731e-01 1.62118992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.82925415399995 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:331.86, Y:39.02, Z:16.21 [[ 9.25758965e-01 -3.64590932e-01 -1.00218715e-01 3.31856967e+02] [ 3.63135761e-01 9.31149767e-01 -3.30534565e-02 3.90226283e+01] [ 1.05369624e-01 -5.79346581e-03 9.94416250e-01 1.62112491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.859254154 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:331.89, Y:39.04, Z:16.22 [[ 9.26464743e-01 -3.63321006e-01 -9.82900156e-02 3.31886420e+02] [ 3.61331371e-01 9.31663960e-01 -3.79724372e-02 3.90355625e+01] [ 1.05369449e-01 -3.35141843e-04 9.94433088e-01 1.62160775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.88925415399996 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:331.92, Y:39.05, Z:16.22 [[ 9.27243032e-01 -3.61415818e-01 -9.79743127e-02 3.31916556e+02] [ 3.59429231e-01 9.32404736e-01 -3.78422642e-02 3.90465167e+01] [ 1.05028506e-01 -1.25856069e-04 9.94469204e-01 1.62190977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.919254154 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:331.95, Y:39.06, Z:16.22 [[ 9.27993063e-01 -3.59473576e-01 -9.80184814e-02 3.31946636e+02] [ 3.57475263e-01 9.33155261e-01 -3.78509712e-02 3.90570758e+01] [ 1.05072886e-01 8.62563359e-05 9.94464520e-01 1.62226884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.94925415399996 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:331.98, Y:39.07, Z:16.23 [[ 9.29427706e-01 -3.55870713e-01 -9.75713859e-02 3.31976196e+02] [ 3.53871691e-01 9.34535073e-01 -3.76699387e-02 3.90655639e+01] [ 1.04589510e-01 4.83733345e-04 9.94515360e-01 1.62254925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.97925415399993 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:332.01, Y:39.08, Z:16.23 [[ 9.29914987e-01 -3.54593976e-01 -9.75767839e-02 3.32007037e+02] [ 3.52589180e-01 9.35020179e-01 -3.76581397e-02 3.90752245e+01] [ 1.04589611e-01 6.14350296e-04 9.94515277e-01 1.62284429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.00925415399996 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:332.04, Y:39.08, Z:16.23 [[ 9.30246373e-01 -3.53667546e-01 -9.77801230e-02 3.32036943e+02] [ 3.51650128e-01 9.35370921e-01 -3.77283410e-02 3.90809751e+01] [ 1.04803973e-01 7.12259611e-04 9.94492644e-01 1.62307678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.03925415399993 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:332.07, Y:39.09, Z:16.23 [[ 9.29855860e-01 -3.54616071e-01 -9.80587658e-02 3.32065763e+02] [ 3.52592579e-01 9.35011805e-01 -3.78338127e-02 3.90893653e+01] [ 1.05102582e-01 6.05199231e-04 9.94461201e-01 1.62339835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.06925415399996 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:332.10, Y:39.10, Z:16.24 [[ 9.29276144e-01 -3.56155728e-01 -9.79742147e-02 3.32096540e+02] [ 3.54144273e-01 9.34426515e-01 -3.78010788e-02 3.90983209e+01] [ 1.05012775e-01 4.30633717e-04 9.94470780e-01 1.62369976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.09925415399994 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:332.13, Y:39.10, Z:16.24 [[ 9.27317325e-01 -3.61386557e-01 -9.73772836e-02 3.32126626e+02] [ 3.59429187e-01 9.32416070e-01 -3.75623642e-02 3.91030612e+01] [ 1.04370678e-01 -1.68006800e-04 9.94538452e-01 1.62397441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.12925415399997 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:332.15, Y:39.11, Z:16.24 [[ 9.25759690e-01 -3.65393328e-01 -9.72456321e-02 3.32153659e+02] [ 3.63463468e-01 9.30853013e-01 -3.75096819e-02 3.91097885e+01] [ 1.04227177e-01 -6.20283272e-04 9.94553322e-01 1.62421979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.15925415399994 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:332.18, Y:39.12, Z:16.25 [[ 9.25660354e-01 -3.65647811e-01 -9.72347057e-02 3.32179990e+02] [ 3.63716378e-01 9.30753080e-01 -3.75379848e-02 3.91200470e+01] [ 1.04227184e-01 -6.18430702e-04 9.94553323e-01 1.62451506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.18925415399997 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:332.21, Y:39.13, Z:16.25 [[ 9.24008052e-01 -3.69785492e-01 -9.73026716e-02 3.32207366e+02] [ 3.67870979e-01 9.29116555e-01 -3.75948123e-02 3.91265103e+01] [ 1.04307539e-01 -1.05691979e-03 9.94544529e-01 1.62476594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.21925415399994 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:332.24, Y:39.13, Z:16.25 [[ 9.20579371e-01 -3.77997016e-01 -9.82439703e-02 3.32236523e+02] [ 3.76088075e-01 9.25804710e-01 -3.79920909e-02 3.91294716e+01] [ 1.05315627e-01 -1.97365055e-03 9.94436888e-01 1.62498021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.24925415399997 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:332.26, Y:39.14, Z:16.25 [[ 9.18950032e-01 -3.81939186e-01 -9.82511944e-02 3.32263793e+02] [ 3.80048780e-01 9.24184359e-01 -3.80288807e-02 3.91361377e+01] [ 1.05326937e-01 -2.39360549e-03 9.94434768e-01 1.62525614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.27925415399994 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:332.29, Y:39.14, Z:16.26 [[ 9.17537788e-01 -3.85342170e-01 -9.81622111e-02 3.32290135e+02] [ 3.83471007e-01 9.22769662e-01 -3.80281202e-02 3.91427822e+01] [ 1.05234949e-01 -2.75012468e-03 9.94443584e-01 1.62554509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.309254154 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:332.32, Y:39.14, Z:16.26 [[ 9.16097857e-01 -3.87938401e-01 -1.01333672e-01 3.32323169e+02] [ 3.86763364e-01 9.21630430e-01 -3.18033064e-02 3.91433754e+01] [ 1.05729919e-01 -1.00572110e-02 9.94344023e-01 1.62593777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.33925415399995 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:332.34, Y:39.16, Z:16.26 [[ 9.14894464e-01 -3.92227022e-01 -9.55305366e-02 3.32343115e+02] [ 3.89819810e-01 9.19864988e-01 -4.34616978e-02 3.91573974e+01] [ 1.04922048e-01 2.52317110e-03 9.94477248e-01 1.62627315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.369254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:332.37, Y:39.16, Z:16.26 [[ 9.14599000e-01 -3.92339149e-01 -9.78706335e-02 3.32371159e+02] [ 3.90511630e-01 9.19814049e-01 -3.79839659e-02 3.91624562e+01] [ 1.04925381e-01 -3.47952337e-03 9.94474010e-01 1.62642857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.39925415399995 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:332.40, Y:39.17, Z:16.27 [[ 9.14527388e-01 -3.92534463e-01 -9.77565943e-02 3.32397921e+02] [ 3.90708835e-01 9.19730762e-01 -3.79727837e-02 3.91700554e+01] [ 1.04815373e-01 -3.46721441e-03 9.94485654e-01 1.62669507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.429254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:332.43, Y:39.17, Z:16.27 [[ 9.15782893e-01 -3.89001931e-01 -1.00095906e-01 3.32431054e+02] [ 3.87733510e-01 9.21193695e-01 -3.26328118e-02 3.91737402e+01] [ 1.04901945e-01 -8.92596634e-03 9.94442512e-01 1.62701172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.45925415399995 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:332.45, Y:39.19, Z:16.27 [[ 9.16575852e-01 -3.88187669e-01 -9.59116292e-02 3.32449941e+02] [ 3.85898471e-01 9.21578958e-01 -4.21259404e-02 3.91864744e+01] [ 1.04742910e-01 1.59946872e-03 9.94498047e-01 1.62738594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.489254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:332.48, Y:39.19, Z:16.28 [[ 9.17858237e-01 -3.84798908e-01 -9.72936630e-02 3.32477260e+02] [ 3.82937237e-01 9.22997096e-01 -3.78871204e-02 3.91936541e+01] [ 1.04380691e-01 -2.48236092e-03 9.94534318e-01 1.62757854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.51925415399995 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:332.50, Y:39.20, Z:16.28 [[ 9.20984352e-01 -3.77288075e-01 -9.71675452e-02 3.32504173e+02] [ 3.75385981e-01 9.26094573e-01 -3.78709207e-02 3.92021032e+01] [ 1.04274583e-01 -1.59680897e-03 9.94547265e-01 1.62790059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.549254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:332.53, Y:39.21, Z:16.28 [[ 9.22400358e-01 -3.73752727e-01 -9.73985561e-02 3.32529619e+02] [ 3.71818426e-01 9.27527645e-01 -3.79937608e-02 3.92109537e+01] [ 1.04540125e-01 -1.16911932e-03 9.94519982e-01 1.62820432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.57925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:332.56, Y:39.22, Z:16.28 [[ 9.23887463e-01 -3.70001227e-01 -9.76270827e-02 3.32555565e+02] [ 3.68035380e-01 9.29030977e-01 -3.80972951e-02 3.92194917e+01] [ 1.04794630e-01 -7.32607167e-04 9.94493614e-01 1.62845031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.609254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:332.58, Y:39.23, Z:16.29 [[ 9.26339001e-01 -3.63748288e-01 -9.78940163e-02 3.32582960e+02] [ 3.61734376e-01 9.31497280e-01 -3.82237936e-02 3.92260732e+01] [ 1.05091849e-01 -3.44012913e-06 9.94462520e-01 1.62866045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.63925415399996 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:332.61, Y:39.23, Z:16.29 [[ 9.27062359e-01 -3.61858910e-01 -9.80485179e-02 3.32608347e+02] [ 3.59824673e-01 9.32232842e-01 -3.83162360e-02 3.92343308e+01] [ 1.05269120e-01 2.41264252e-04 9.94443741e-01 1.62889845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.669254154 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:332.64, Y:39.22, Z:16.30 [[ 9.24163695e-01 -3.56910270e-01 -1.36148901e-01 3.32638971e+02] [ 3.62329515e-01 9.31904111e-01 1.64939696e-02 3.92165668e+01] [ 1.20990853e-01 -6.45738932e-02 9.90551072e-01 1.62995739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.69925415399996 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:332.65, Y:39.28, Z:16.31 [[ 9.28076888e-01 -3.65020151e-01 -7.37128189e-02 3.32651867e+02] [ 3.57218556e-01 9.28576564e-01 -1.00699889e-01 3.92780236e+01] [ 1.05205485e-01 6.71256528e-02 9.92182419e-01 1.63080678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.72925415399993 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:332.69, Y:39.24, Z:16.30 [[ 9.25011228e-01 -3.56984848e-01 -1.30061706e-01 3.32694982e+02] [ 3.60742681e-01 9.32647558e-01 5.76636469e-03 3.92362106e+01] [ 1.19243227e-01 -5.22527605e-02 9.91489133e-01 1.63038689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.75925415399996 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:332.71, Y:39.29, Z:16.31 [[ 9.27197737e-01 -3.66050245e-01 -7.94454135e-02 3.32710070e+02] [ 3.59144997e-01 9.29026763e-01 -8.90176687e-02 3.92885880e+01] [ 1.06391855e-01 5.40045582e-02 9.92856627e-01 1.63100148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.78925415399993 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:332.75, Y:39.27, Z:16.30 [[ 9.25473799e-01 -3.65361829e-01 -1.00044895e-01 3.32748196e+02] [ 3.63257254e-01 9.30865578e-01 -3.91592102e-02 3.92696021e+01] [ 1.07435630e-01 -1.01210776e-04 9.94212037e-01 1.63007036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.81925415399996 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:332.77, Y:39.28, Z:16.30 [[ 9.24614504e-01 -3.67500811e-01 -1.00155740e-01 3.32774844e+02] [ 3.65400393e-01 9.30023146e-01 -3.92364680e-02 3.92765281e+01] [ 1.07566590e-01 -3.18339372e-04 9.94197831e-01 1.63035407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.84925415399994 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:332.80, Y:39.28, Z:16.31 [[ 9.23810151e-01 -3.69538535e-01 -1.00080354e-01 3.32801207e+02] [ 3.67449605e-01 9.29215259e-01 -3.92401655e-02 3.92840455e+01] [ 1.07496945e-01 -5.24023295e-04 9.94205277e-01 1.63065164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.87925415399997 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:332.83, Y:39.29, Z:16.31 [[ 9.22872432e-01 -3.71892353e-01 -1.00012760e-01 3.32827938e+02] [ 3.69818342e-01 9.28275533e-01 -3.92291933e-02 3.92922346e+01] [ 1.07428435e-01 -7.83012052e-04 9.94212512e-01 1.63097184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.90925415399994 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:332.86, Y:39.30, Z:16.31 [[ 9.21193774e-01 -3.76189379e-01 -9.94162025e-02 3.32855222e+02] [ 3.74161480e-01 9.26541958e-01 -3.90280192e-02 3.92982376e+01] [ 1.06795209e-01 -1.24534517e-03 9.94280258e-01 1.63126287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.93925415399997 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:332.88, Y:39.31, Z:16.32 [[ 9.20243449e-01 -3.78585825e-01 -9.91199640e-02 3.32881962e+02] [ 3.76580311e-01 9.25564995e-01 -3.89449573e-02 3.93060592e+01] [ 1.06485978e-01 -1.48778506e-03 9.94313091e-01 1.63157454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.96925415399994 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:332.91, Y:39.31, Z:16.32 [[ 9.19436174e-01 -3.80592210e-01 -9.89277106e-02 3.32907439e+02] [ 3.78602503e-01 9.24741438e-01 -3.89026632e-02 3.93132448e+01] [ 1.06288604e-01 -1.68576303e-03 9.94333893e-01 1.63184925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.99925415399997 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:332.94, Y:39.32, Z:16.32 [[ 9.17758161e-01 -3.84729090e-01 -9.85062699e-02 3.32935131e+02] [ 3.82778443e-01 9.23027054e-01 -3.87520354e-02 3.93192446e+01] [ 1.05832987e-01 -2.14107988e-03 9.94381614e-01 1.63216225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.02925415399994 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:332.96, Y:39.33, Z:16.32 [[ 9.16878873e-01 -3.86949634e-01 -9.79954743e-02 3.32961240e+02] [ 3.85028324e-01 9.22097847e-01 -3.85843172e-02 3.93276100e+01] [ 1.05291603e-01 -2.35388802e-03 9.94438604e-01 1.63245385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.059254154 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:332.99, Y:39.33, Z:16.33 [[ 9.15494965e-01 -3.90153920e-01 -9.82287540e-02 3.32987725e+02] [ 3.88238288e-01 9.20745697e-01 -3.87090831e-02 3.93344662e+01] [ 1.05546203e-01 -2.69819266e-03 9.94410739e-01 1.63272889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.08925415399995 meters Centerline goodness : 0.997673 Centerline is valid? [True, True] Translation: X:333.01, Y:39.34, Z:16.33 [[ 9.15124253e-01 -3.90964195e-01 -9.84611590e-02 3.33013174e+02] [ 3.88794760e-01 9.20405667e-01 -4.11344516e-02 3.93440961e+01] [ 1.06706306e-01 -6.38048430e-04 9.94290379e-01 1.63303978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.119254154 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:333.04, Y:39.35, Z:16.33 [[ 9.14599609e-01 -3.91843576e-01 -9.98306955e-02 3.33040591e+02] [ 3.89881210e-01 9.20026977e-01 -3.92810857e-02 3.93529036e+01] [ 1.07238974e-01 -2.99564681e-03 9.94228761e-01 1.63334027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.14925415399995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:333.07, Y:39.36, Z:16.34 [[ 9.14616502e-01 -3.91715161e-01 -1.00179273e-01 3.33068637e+02] [ 3.89953399e-01 9.20073820e-01 -3.74234118e-02 3.93608325e+01] [ 1.06831644e-01 -4.83717816e-03 9.94265358e-01 1.63364448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.179254154 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:333.09, Y:39.37, Z:16.34 [[ 9.14811932e-01 -3.91409984e-01 -9.95859144e-02 3.33093008e+02] [ 3.89439537e-01 9.20212119e-01 -3.93255966e-02 3.93709159e+01] [ 1.07032596e-01 -2.80716749e-03 9.94251549e-01 1.63397816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.20925415399995 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:333.12, Y:39.38, Z:16.34 [[ 9.15225602e-01 -3.90584819e-01 -9.90232099e-02 3.33118164e+02] [ 3.88630249e-01 9.20563039e-01 -3.91180405e-02 3.93797375e+01] [ 1.06436020e-01 -2.68158257e-03 9.94315937e-01 1.63420924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.239254154 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:333.14, Y:39.39, Z:16.35 [[ 9.15736411e-01 -3.89362644e-01 -9.91138568e-02 3.33143833e+02] [ 3.87394915e-01 9.21081091e-01 -3.91765575e-02 3.93904325e+01] [ 1.06545787e-01 -2.52080400e-03 9.94304602e-01 1.63455902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.26925415399995 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:333.17, Y:39.40, Z:16.35 [[ 9.17020580e-01 -3.86332824e-01 -9.90969485e-02 3.33169989e+02] [ 3.84344592e-01 9.22356970e-01 -3.92027466e-02 3.94000449e+01] [ 1.06548069e-01 -2.13765078e-03 9.94305255e-01 1.63478855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.299254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:333.20, Y:39.41, Z:16.35 [[ 9.17511732e-01 -3.84985127e-01 -9.97931539e-02 3.33195796e+02] [ 3.82957266e-01 9.22920686e-01 -3.95112548e-02 3.94110405e+01] [ 1.07312411e-01 -1.96447361e-03 9.94223409e-01 1.63513948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.32925415399995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:333.22, Y:39.42, Z:16.35 [[ 9.18779633e-01 -3.81861650e-01 -1.00128246e-01 3.33221249e+02] [ 3.79798121e-01 9.24218156e-01 -3.96760334e-02 3.94207641e+01] [ 1.07691098e-01 -1.57498827e-03 9.94183156e-01 1.63534366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.25, Y:39.43, Z:16.36 [[ 9.19028223e-01 -3.81138623e-01 -1.00600574e-01 3.33246833e+02] [ 3.79049554e-01 9.24516712e-01 -3.98783877e-02 3.94316084e+01] [ 1.08206106e-01 -1.48323898e-03 9.94127375e-01 1.63565659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.38925415399996 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:333.27, Y:39.44, Z:16.36 [[ 9.19144093e-01 -3.80737483e-01 -1.01059912e-01 3.33273036e+02] [ 3.78623166e-01 9.24682095e-01 -4.00939136e-02 3.94409830e+01] [ 1.08713547e-01 -1.41154019e-03 9.94072116e-01 1.63589173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.41925415399993 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:333.30, Y:39.45, Z:16.36 [[ 9.18685689e-01 -3.81484983e-01 -1.02400256e-01 3.33298351e+02] [ 3.79315032e-01 9.24373836e-01 -4.06585494e-02 3.94505286e+01] [ 1.10166744e-01 -1.48952898e-03 9.93912003e-01 1.63617281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.44925415399996 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:333.32, Y:39.46, Z:16.37 [[ 9.18220694e-01 -3.82435773e-01 -1.03022508e-01 3.33323802e+02] [ 3.80243467e-01 9.23980695e-01 -4.09216514e-02 3.94605084e+01] [ 1.10840712e-01 -1.59852842e-03 9.93836899e-01 1.63652610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.47925415399993 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:333.35, Y:39.47, Z:16.37 [[ 9.17733760e-01 -3.83639780e-01 -1.02884721e-01 3.33349500e+02] [ 3.81457266e-01 9.23481235e-01 -4.08994304e-02 3.94691310e+01] [ 1.10702757e-01 -1.71133630e-03 9.93852087e-01 1.63674937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.50925415399996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:333.38, Y:39.47, Z:16.38 [[ 9.14928776e-01 -3.85664102e-01 -1.19031659e-01 3.33378648e+02] [ 3.86265003e-01 9.22193788e-01 -1.89199511e-02 3.94676848e+01] [ 1.17067003e-01 -2.86673564e-02 9.92710179e-01 1.63768692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.53925415399993 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:333.40, Y:39.50, Z:16.38 [[ 9.14939711e-01 -3.92925664e-01 -9.21669608e-02 3.33396966e+02] [ 3.88175020e-01 9.19251975e-01 -6.55435703e-02 3.94997117e+01] [ 1.10478412e-01 2.41915034e-02 9.93584064e-01 1.63787544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.56925415399996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:333.43, Y:39.50, Z:16.38 [[ 9.13748460e-01 -3.93215396e-01 -1.02202762e-01 3.33428091e+02] [ 3.91114223e-01 9.19442147e-01 -4.06915525e-02 3.94969021e+01] [ 1.09970072e-01 -2.79111042e-03 9.93930980e-01 1.63771651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.59925415399994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:333.46, Y:39.49, Z:16.39 [[ 9.09785139e-01 -3.96219378e-01 -1.23698037e-01 3.33458296e+02] [ 3.98608909e-01 9.17102265e-01 -5.86288722e-03 3.94897114e+01] [ 1.15766739e-01 -4.39731717e-02 9.92302586e-01 1.63876846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.62925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.47, Y:39.53, Z:16.39 [[ 9.10273653e-01 -4.05268616e-01 -8.46122072e-02 3.33474614e+02] [ 3.99454390e-01 9.13449222e-01 -7.77605877e-02 3.95340156e+01] [ 1.08802881e-01 3.69846966e-02 9.93375088e-01 1.63900309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.65925415399994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:333.51, Y:39.53, Z:16.39 [[ 9.09089541e-01 -4.04384915e-01 -1.00145134e-01 3.33507495e+02] [ 4.02428615e-01 9.14580137e-01 -3.99297136e-02 3.95250964e+01] [ 1.07737724e-01 -4.00158241e-03 9.94171298e-01 1.63854992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.68925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.54, Y:39.53, Z:16.39 [[ 9.08131535e-01 -4.04543112e-01 -1.07898031e-01 3.33536576e+02] [ 4.03861198e-01 9.14357845e-01 -2.90837406e-02 3.95291671e+01] [ 1.10423038e-01 -1.71639660e-02 9.93736460e-01 1.63914101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.71925415399994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:333.56, Y:39.55, Z:16.39 [[ 9.06397898e-01 -4.11322250e-01 -9.62125633e-02 3.33557352e+02] [ 4.08066486e-01 9.11453725e-01 -5.22862308e-02 3.95510437e+01] [ 1.09199789e-01 8.13100701e-03 9.93986566e-01 1.63933417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.74925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.59, Y:39.55, Z:16.39 [[ 9.06943865e-01 -4.08771493e-01 -1.01777660e-01 3.33590263e+02] [ 4.07037534e-01 9.12611667e-01 -3.82150593e-02 3.95538065e+01] [ 1.08504707e-01 -6.76841416e-03 9.94072893e-01 1.63943199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.77925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.61, Y:39.57, Z:16.40 [[ 9.05744680e-01 -4.11878624e-01 -9.99128294e-02 3.33610178e+02] [ 4.09845979e-01 9.11230900e-01 -4.10429176e-02 3.95679842e+01] [ 1.07948358e-01 -3.77446704e-03 9.94149338e-01 1.63976677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.809254154 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:333.64, Y:39.57, Z:16.40 [[ 9.06528662e-01 -4.09152029e-01 -1.03924984e-01 3.33641875e+02] [ 4.07816129e-01 9.12401623e-01 -3.47747478e-02 3.95745109e+01] [ 1.09049483e-01 -1.08579791e-02 9.93977019e-01 1.64011763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.83925415399995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:333.66, Y:39.59, Z:16.40 [[ 9.05995371e-01 -4.11831526e-01 -9.78119732e-02 3.33659863e+02] [ 4.09400880e-01 9.11259900e-01 -4.46801399e-02 3.95921397e+01] [ 1.07532819e-01 4.35692046e-04 9.94201440e-01 1.64044910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.869254154 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:333.69, Y:39.59, Z:16.41 [[ 9.05620763e-01 -4.06376901e-01 -1.21280043e-01 3.33691821e+02] [ 4.08531679e-01 9.12711911e-01 -7.67040509e-03 3.95860237e+01] [ 1.13810815e-01 -4.26002613e-02 9.92588694e-01 1.64122238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.89925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.71, Y:39.63, Z:16.42 [[ 9.07432986e-01 -4.11381653e-01 -8.56184074e-02 3.33705682e+02] [ 4.05756698e-01 9.10823551e-01 -7.59075822e-02 3.96308411e+01] [ 1.09210249e-01 3.41408018e-02 9.93432196e-01 1.64152227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.929254154 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:333.74, Y:39.63, Z:16.41 [[ 9.08117994e-01 -4.06107286e-01 -1.01973430e-01 3.33738905e+02] [ 4.04066068e-01 9.13816261e-01 -4.08711882e-02 3.96253608e+01] [ 1.09783066e-01 -4.08814149e-03 9.93947164e-01 1.64116822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.95925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:333.77, Y:39.63, Z:16.42 [[ 9.09194831e-01 -4.00137537e-01 -1.15129105e-01 3.33767821e+02] [ 4.00579170e-01 9.16037380e-01 -2.02940054e-02 3.96287577e+01] [ 1.13582957e-01 -2.76671166e-02 9.93143213e-01 1.64174910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.989254154 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:333.78, Y:39.66, Z:16.42 [[ 9.10656532e-01 -4.02621019e-01 -9.27415503e-02 3.33783636e+02] [ 3.98176455e-01 9.15136569e-01 -6.30917642e-02 3.96611012e+01] [ 1.10273255e-01 2.05274254e-02 9.93689305e-01 1.64206589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.01925415399995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:333.81, Y:39.66, Z:16.42 [[ 9.11443470e-01 -3.98522080e-01 -1.02229904e-01 3.33813010e+02] [ 3.96415607e-01 9.17153431e-01 -4.10396252e-02 3.96620099e+01] [ 1.10115704e-01 -3.12023120e-03 9.93913877e-01 1.64196217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.049254154 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:333.84, Y:39.67, Z:16.42 [[ 9.12162112e-01 -3.96864479e-01 -1.02268604e-01 3.33838347e+02] [ 3.94744239e-01 9.17872616e-01 -4.10712437e-02 3.96733001e+01] [ 1.10169269e-01 -2.90630999e-03 9.93908590e-01 1.64221656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.07925415399995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:333.86, Y:39.68, Z:16.43 [[ 9.12058672e-01 -3.97105085e-01 -1.02257172e-01 3.33864561e+02] [ 3.94983165e-01 9.17768552e-01 -4.10996879e-02 3.96839486e+01] [ 1.10169312e-01 -2.90453470e-03 9.93908591e-01 1.64250523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.109254154 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:333.89, Y:39.70, Z:16.43 [[ 9.13073536e-01 -3.94686227e-01 -1.02564613e-01 3.33889377e+02] [ 3.92532759e-01 9.18812314e-01 -4.12548876e-02 3.96961273e+01] [ 1.10520365e-01 -2.59122425e-03 9.93870482e-01 1.64282284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.13925415399996 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:333.91, Y:39.71, Z:16.43 [[ 9.13177570e-01 -3.94407689e-01 -1.02709789e-01 3.33914816e+02] [ 3.92242419e-01 9.18932087e-01 -4.13485621e-02 3.97076937e+01] [ 1.10691512e-01 -2.52855672e-03 9.93851596e-01 1.64312518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.16925415399993 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:333.94, Y:39.72, Z:16.43 [[ 9.13034406e-01 -3.94719732e-01 -1.02783790e-01 3.33938535e+02] [ 3.92549557e-01 9.18798071e-01 -4.14119465e-02 3.97196028e+01] [ 1.10783660e-01 -2.53719925e-03 9.93841307e-01 1.64345154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.19925415399996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:333.96, Y:39.73, Z:16.44 [[ 9.12740464e-01 -3.95460292e-01 -1.02547560e-01 3.33963843e+02] [ 3.93302896e-01 9.18479379e-01 -4.13335542e-02 3.97304232e+01] [ 1.10533599e-01 -2.60544503e-03 9.93868973e-01 1.64372725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.22925415399993 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:333.99, Y:39.74, Z:16.44 [[ 9.12380092e-01 -3.96379750e-01 -1.02204018e-01 3.33989097e+02] [ 3.94238784e-01 9.18082748e-01 -4.12292204e-02 3.97411228e+01] [ 1.10174173e-01 -2.67606767e-03 9.93908693e-01 1.64399945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.25925415399996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:334.02, Y:39.73, Z:16.45 [[ 9.08365095e-01 -3.95329193e-01 -1.36336658e-01 3.34019110e+02] [ 4.00142984e-01 9.16411024e-01 8.74225221e-03 3.97282803e+01] [ 1.21484349e-01 -6.24953140e-02 9.90623990e-01 1.64523064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.28925415399993 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:334.03, Y:39.79, Z:16.46 [[ 9.11181705e-01 -4.04495042e-01 -7.83049225e-02 3.34029464e+02] [ 3.96831705e-01 9.12732240e-01 -9.71825933e-02 3.97895729e+01] [ 1.10781304e-01 5.74771251e-02 9.92181376e-01 1.64562387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.31925415399996 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:334.07, Y:39.77, Z:16.45 [[ 9.10499013e-01 -4.00877427e-01 -1.01433895e-01 3.34066420e+02] [ 3.98790250e-01 9.16126305e-01 -4.09747408e-02 3.97746446e+01] [ 1.09352108e-01 -3.14338738e-03 9.93998106e-01 1.64479276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.34925415399994 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:334.09, Y:39.79, Z:16.45 [[ 9.09337188e-01 -4.03543144e-01 -1.01285780e-01 3.34090867e+02] [ 4.01474860e-01 9.14954196e-01 -4.09482240e-02 3.97855146e+01] [ 1.09196224e-01 -3.42795141e-03 9.94014303e-01 1.64505462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.37925415399997 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:334.12, Y:39.80, Z:16.45 [[ 9.08557360e-01 -4.05341561e-01 -1.01102636e-01 3.34116014e+02] [ 4.03290034e-01 9.14158137e-01 -4.08907074e-02 3.97962983e+01] [ 1.08998501e-01 -3.62213240e-03 9.94035315e-01 1.64534974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.40925415399994 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:334.14, Y:39.81, Z:16.46 [[ 9.07740304e-01 -4.07410813e-01 -1.00119776e-01 3.34141666e+02] [ 4.05407937e-01 9.13237088e-01 -4.05268622e-02 3.98074706e+01] [ 1.07944174e-01 -3.80148540e-03 9.94149689e-01 1.64562813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.43925415399997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:334.17, Y:39.80, Z:16.47 [[ 9.02435374e-01 -4.08720380e-01 -1.36227919e-01 3.34166162e+02] [ 4.12733228e-01 9.10850978e-01 1.33384348e-03 3.97977518e+01] [ 1.23538164e-01 -5.74294963e-02 9.90676625e-01 1.64731316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.46925415399994 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:334.18, Y:39.85, Z:16.47 [[ 9.05825020e-01 -4.16545283e-01 -7.72726344e-02 3.34182599e+02] [ 4.09849115e-01 9.07791570e-01 -8.90963990e-02 3.98519015e+01] [ 1.07260131e-01 4.90356266e-02 9.93021033e-01 1.64716276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.49925415399997 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:334.22, Y:39.84, Z:16.46 [[ 9.05470185e-01 -4.13044598e-01 -9.75597502e-02 3.34218417e+02] [ 4.11175743e-01 9.10700370e-01 -3.94885414e-02 3.98395513e+01] [ 1.05158229e-01 -4.35850590e-03 9.94445951e-01 1.64639018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.52925415399994 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:334.24, Y:39.85, Z:16.47 [[ 9.05312382e-01 -4.13669264e-01 -9.63702789e-02 3.34241916e+02] [ 4.11846017e-01 9.10416849e-01 -3.90386857e-02 3.98522243e+01] [ 1.03886230e-01 -4.34750995e-03 9.94579685e-01 1.64669390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.559254154 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:334.27, Y:39.86, Z:16.47 [[ 9.05524334e-01 -4.13457580e-01 -9.52812189e-02 3.34267228e+02] [ 4.11672721e-01 9.10513414e-01 -3.86120808e-02 3.98637077e+01] [ 1.02719285e-01 -4.26049987e-03 9.94701260e-01 1.64691600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.58925415399995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:334.29, Y:39.88, Z:16.47 [[ 9.06697741e-01 -4.12305254e-01 -8.89021028e-02 3.34294004e+02] [ 4.09209687e-01 9.10987700e-01 -5.14669109e-02 3.98807211e+01] [ 1.02208800e-01 1.02853303e-02 9.94709793e-01 1.64720654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.619254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:334.32, Y:39.88, Z:16.47 [[ 9.07187095e-01 -4.08448146e-01 -1.00904346e-01 3.34320561e+02] [ 4.08125783e-01 9.12589683e-01 -2.47672309e-02 3.98814919e+01] [ 1.02200395e-01 -1.87131531e-02 9.94587803e-01 1.64706820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.64925415399995 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:334.34, Y:39.90, Z:16.48 [[ 9.07683982e-01 -4.08737366e-01 -9.50976102e-02 3.34342637e+02] [ 4.06925561e-01 9.12644763e-01 -3.86150875e-02 3.99000731e+01] [ 1.02573765e-01 -3.64735203e-03 9.94718714e-01 1.64761445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.679254154 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:334.37, Y:39.91, Z:16.48 [[ 9.08837449e-01 -4.05953000e-01 -9.60033990e-02 3.34367422e+02] [ 4.04087673e-01 9.13887866e-01 -3.90143627e-02 3.99136937e+01] [ 1.03574339e-01 -3.33607622e-03 9.94616120e-01 1.64785732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.70925415399995 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:334.39, Y:39.93, Z:16.48 [[ 9.09348315e-01 -4.04730587e-01 -9.63264956e-02 3.34392858e+02] [ 4.02842394e-01 9.14430454e-01 -3.91784419e-02 3.99259384e+01] [ 1.03940595e-01 -3.17754599e-03 9.94578431e-01 1.64809650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.739254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:334.42, Y:39.94, Z:16.48 [[ 9.09793941e-01 -4.03709015e-01 -9.64054835e-02 3.34418250e+02] [ 4.01808560e-01 9.14882414e-01 -3.92434624e-02 3.99377481e+01] [ 1.04042621e-01 -3.03308417e-03 9.94568215e-01 1.64834955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.76925415399995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:334.44, Y:39.95, Z:16.49 [[ 9.10168763e-01 -4.02836314e-01 -9.65180075e-02 3.34443607e+02] [ 4.00923078e-01 9.15267423e-01 -3.93221291e-02 3.99491273e+01] [ 1.04180170e-01 -2.90652299e-03 9.94554194e-01 1.64861131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.799254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:334.47, Y:39.96, Z:16.49 [[ 9.10934521e-01 -4.01117544e-01 -9.64521357e-02 3.34468845e+02] [ 3.99193902e-01 9.16022677e-01 -3.93279074e-02 3.99606894e+01] [ 1.04127457e-01 -2.67795588e-03 9.94560356e-01 1.64880294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.82925415399995 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:334.49, Y:39.97, Z:16.49 [[ 9.11090935e-01 -4.00682237e-01 -9.67835421e-02 3.34493651e+02] [ 3.98739474e-01 9.16213374e-01 -3.94953971e-02 3.99721620e+01] [ 1.04499480e-01 -2.60752038e-03 9.94521523e-01 1.64909979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.859254154 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:334.52, Y:39.98, Z:16.49 [[ 9.11475186e-01 -3.99777328e-01 -9.69075477e-02 3.34518775e+02] [ 3.97822845e-01 9.16608899e-01 -3.95614680e-02 3.99844208e+01] [ 1.04642099e-01 -2.49273988e-03 9.94506821e-01 1.64929889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.88925415399996 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:334.54, Y:40.00, Z:16.50 [[ 9.11637668e-01 -3.99444678e-01 -9.67507688e-02 3.34542929e+02] [ 3.97491210e-01 9.16754106e-01 -3.95303215e-02 3.99962310e+01] [ 1.04486841e-01 -2.42025004e-03 9.94523324e-01 1.64963065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.91925415399993 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:334.57, Y:40.01, Z:16.50 [[ 9.11860161e-01 -3.99043614e-01 -9.63080549e-02 3.34568444e+02] [ 3.97104180e-01 9.16928937e-01 -3.93648840e-02 4.00078955e+01] [ 1.04015948e-01 -2.34906172e-03 9.94572855e-01 1.64992900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.94925415399996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:334.59, Y:40.02, Z:16.50 [[ 9.12177608e-01 -3.98470294e-01 -9.56735950e-02 3.34593514e+02] [ 3.96549842e-01 9.17178508e-01 -3.91383197e-02 4.00188867e+01] [ 1.03345223e-01 -2.23825019e-03 9.94643029e-01 1.65014043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.97925415399993 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:334.62, Y:40.03, Z:16.50 [[ 9.12389640e-01 -3.98183631e-01 -9.48416628e-02 3.34618885e+02] [ 3.96291639e-01 9.17303191e-01 -3.88303016e-02 4.00304713e+01] [ 1.02460150e-01 -2.15659310e-03 9.94734772e-01 1.65042259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.00925415399996 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:334.64, Y:40.04, Z:16.51 [[ 9.12421065e-01 -3.98146761e-01 -9.46940128e-02 3.34643840e+02] [ 3.96257183e-01 9.17319281e-01 -3.88018145e-02 4.00410083e+01] [ 1.02313461e-01 -2.11958988e-03 9.94749950e-01 1.65064423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.03925415399993 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:334.67, Y:40.06, Z:16.51 [[ 9.11950488e-01 -3.99532079e-01 -9.33832119e-02 3.34667479e+02] [ 3.96764167e-01 9.16698747e-01 -4.73455631e-02 4.00563901e+01] [ 1.04520345e-01 6.12569714e-03 9.94503883e-01 1.65111266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.06925415399996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:334.70, Y:40.06, Z:16.51 [[ 9.11837534e-01 -3.98908722e-01 -9.70780267e-02 3.34695661e+02] [ 3.97844826e-01 9.16931390e-01 -3.09244498e-02 4.00600181e+01] [ 1.01349923e-01 -1.04239165e-02 9.94796228e-01 1.65109762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.09925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:334.72, Y:40.07, Z:16.51 [[ 9.11405968e-01 -4.00880038e-01 -9.29212404e-02 3.34719267e+02] [ 3.99069251e-01 9.16127595e-01 -3.81308733e-02 4.00741801e+01] [ 1.00413618e-01 -2.32930428e-03 9.94943053e-01 1.65140155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.12925415399997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:334.74, Y:40.09, Z:16.52 [[ 9.10884864e-01 -4.02068604e-01 -9.28956527e-02 3.34744344e+02] [ 4.00263555e-01 9.15606276e-01 -3.81344309e-02 4.00854786e+01] [ 1.00388500e-01 -2.44666828e-03 9.94945306e-01 1.65187650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.15925415399994 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:334.77, Y:40.10, Z:16.52 [[ 9.10326311e-01 -4.03267265e-01 -9.31746750e-02 3.34770450e+02] [ 4.01454374e-01 9.15078670e-01 -3.82807090e-02 4.00963605e+01] [ 1.00699515e-01 -2.55744420e-03 9.94913598e-01 1.65214857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.18925415399997 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:334.80, Y:40.11, Z:16.52 [[ 9.10267204e-01 -4.03349841e-01 -9.33944470e-02 3.34796419e+02] [ 4.01525573e-01 9.15042314e-01 -3.84028252e-02 4.01069805e+01] [ 1.00949644e-01 -2.54342653e-03 9.94888285e-01 1.65240316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.21925415399994 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:334.82, Y:40.12, Z:16.53 [[ 9.10271786e-01 -4.03229780e-01 -9.38670376e-02 3.34822420e+02] [ 4.01383011e-01 9.15095311e-01 -3.86296517e-02 4.01178978e+01] [ 1.01473912e-01 -2.51315217e-03 9.94835026e-01 1.65268632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.24925415399997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:334.85, Y:40.13, Z:16.53 [[ 9.10887055e-01 -4.01506182e-01 -9.52762212e-02 3.34847334e+02] [ 3.99590594e-01 9.15853360e-01 -3.92425949e-02 4.01286084e+01] [ 1.03015192e-01 -2.32591005e-03 9.94677063e-01 1.65292430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.27925415399994 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:334.87, Y:40.14, Z:16.53 [[ 9.11065738e-01 -4.00990499e-01 -9.57383960e-02 3.34872771e+02] [ 3.99051808e-01 9.16079413e-01 -3.94482298e-02 4.01400526e+01] [ 1.03522339e-01 -2.26464941e-03 9.94624551e-01 1.65327310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.309254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:334.90, Y:40.15, Z:16.54 [[ 9.11319035e-01 -4.00364621e-01 -9.59467958e-02 3.34898151e+02] [ 3.98410649e-01 9.16353353e-01 -3.95662494e-02 4.01507294e+01] [ 1.03762094e-01 -2.16874898e-03 9.94599781e-01 1.65353232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.33925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:334.92, Y:40.16, Z:16.54 [[ 9.11907833e-01 -3.98850127e-01 -9.66575407e-02 3.34923335e+02] [ 3.96855094e-01 9.17013986e-01 -3.98921436e-02 4.01597668e+01] [ 1.04547303e-01 -1.98107918e-03 9.94517942e-01 1.65369085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.369254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:334.95, Y:40.17, Z:16.54 [[ 9.11879414e-01 -3.98819873e-01 -9.70496983e-02 3.34948932e+02] [ 3.96806747e-01 9.17027166e-01 -4.00697175e-02 4.01700090e+01] [ 1.04977809e-01 -1.97122453e-03 9.94472611e-01 1.65398584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.39925415399995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:334.97, Y:40.18, Z:16.54 [[ 9.11635140e-01 -3.99408928e-01 -9.69220252e-02 3.34972981e+02] [ 3.97401002e-01 9.16770682e-01 -4.00494820e-02 4.01805659e+01] [ 1.04851392e-01 -2.00639475e-03 9.94485877e-01 1.65434218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.429254154 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:335.00, Y:40.19, Z:16.55 [[ 9.11192655e-01 -4.00229207e-01 -9.76961023e-02 3.34999231e+02] [ 3.98192002e-01 9.16412658e-01 -4.03852692e-02 4.01907776e+01] [ 1.05693309e-01 -2.10304594e-03 9.94396551e-01 1.65465162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.45925415399995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:335.03, Y:40.20, Z:16.55 [[ 9.10658132e-01 -4.01308639e-01 -9.82504115e-02 3.35025551e+02] [ 3.99250857e-01 9.15940223e-01 -4.06480185e-02 4.02010040e+01] [ 1.06303905e-01 -2.21011245e-03 9.94331230e-01 1.65498676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.489254154 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:335.05, Y:40.21, Z:16.55 [[ 9.09976491e-01 -4.02833865e-01 -9.83242790e-02 3.35051595e+02] [ 4.00778265e-01 9.15270076e-01 -4.07120488e-02 4.02108155e+01] [ 1.06393462e-01 -2.35922664e-03 9.94321309e-01 1.65526165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.51925415399995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:335.08, Y:40.22, Z:16.56 [[ 9.09256671e-01 -4.04390010e-01 -9.85952678e-02 3.35077041e+02] [ 4.02328699e-01 9.14583171e-01 -4.08563572e-02 4.02203869e+01] [ 1.06695475e-01 -2.51879058e-03 9.94288555e-01 1.65554610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.549254154 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:335.10, Y:40.23, Z:16.56 [[ 9.07343956e-01 -4.08607088e-01 -9.88291089e-02 3.35103267e+02] [ 4.06559125e-01 9.12705433e-01 -4.09691457e-02 4.02291671e+01] [ 1.06942148e-01 -3.00676930e-03 9.94260698e-01 1.65582223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.57925415399995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:335.14, Y:40.20, Z:16.57 [[ 9.00877443e-01 -4.06182658e-01 -1.53086511e-01 3.35136631e+02] [ 4.15863051e-01 9.08706753e-01 3.61933769e-02 4.02027512e+01] [ 1.24409624e-01 -9.62688204e-02 9.87549776e-01 1.65716633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.609254154 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:335.14, Y:40.29, Z:16.58 [[ 9.04202640e-01 -4.22758731e-01 -6.07671022e-02 3.35139216e+02] [ 4.12960387e-01 9.01677076e-01 -1.28227021e-01 4.02894346e+01] [ 1.09001396e-01 9.08488051e-02 9.89881402e-01 1.65843525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.63925415399996 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:335.18, Y:40.26, Z:16.57 [[ 9.02928267e-01 -4.18377365e-01 -9.83916966e-02 3.35183929e+02] [ 4.16400028e-01 9.08264043e-01 -4.08343543e-02 4.02594357e+01] [ 1.06449810e-01 -4.09981247e-03 9.94309625e-01 1.65665127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.66925415399993 meters Centerline goodness : 0.998204 Centerline is valid? [True, True] Translation: X:335.21, Y:40.27, Z:16.57 [[ 9.01506031e-01 -4.21762172e-01 -9.69718839e-02 3.35209067e+02] [ 4.19857735e-01 9.06695797e-01 -4.02767069e-02 4.02702694e+01] [ 1.04911191e-01 -4.40470134e-03 9.94471840e-01 1.65690717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.69925415399996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:335.23, Y:40.28, Z:16.57 [[ 9.00076635e-01 -4.24443326e-01 -9.85388999e-02 3.35234627e+02] [ 4.22489020e-01 9.05441979e-01 -4.09615810e-02 4.02786597e+01] [ 1.06607126e-01 -4.76304126e-03 9.94289814e-01 1.65721368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.72925415399993 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:335.26, Y:40.29, Z:16.58 [[ 8.99249272e-01 -4.26177395e-01 -9.86081863e-02 3.35260693e+02] [ 4.24228811e-01 9.04626036e-01 -4.10079374e-02 4.02894306e+01] [ 1.06680189e-01 -4.95607581e-03 9.94281034e-01 1.65751056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.75925415399996 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:335.29, Y:40.30, Z:16.58 [[ 8.98047843e-01 -4.28617911e-01 -9.89785749e-02 3.35286624e+02] [ 4.26665911e-01 9.03470676e-01 -4.11939000e-02 4.02998112e+01] [ 1.07080683e-01 -5.23669076e-03 9.94236543e-01 1.65779396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.78925415399993 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:335.31, Y:40.31, Z:16.58 [[ 8.97351314e-01 -4.30046723e-01 -9.90981033e-02 3.35311804e+02] [ 4.28094956e-01 9.02790587e-01 -4.12779079e-02 4.03106742e+01] [ 1.07216264e-01 -5.38261326e-03 9.94221153e-01 1.65807704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.81925415399996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:335.34, Y:40.32, Z:16.58 [[ 8.96733098e-01 -4.30910409e-01 -1.00925566e-01 3.35337261e+02] [ 4.28887329e-01 9.02377612e-01 -4.20749930e-02 4.03212072e+01] [ 1.09203524e-01 -5.55565762e-03 9.94003886e-01 1.65835877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.84925415399994 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:335.36, Y:40.33, Z:16.59 [[ 8.96296485e-01 -4.32183576e-01 -9.93477129e-02 3.35362206e+02] [ 4.30227470e-01 9.01768326e-01 -4.14512931e-02 4.03336793e+01] [ 1.07503189e-01 -5.58946689e-03 9.94189027e-01 1.65869322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.87925415399997 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:335.39, Y:40.35, Z:16.59 [[ 8.95715593e-01 -4.33149576e-01 -1.00374408e-01 3.35386357e+02] [ 4.31155137e-01 9.01303809e-01 -4.19129109e-02 4.03456990e+01] [ 1.08622396e-01 -5.73489373e-03 9.94066540e-01 1.65900794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.90925415399994 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:335.41, Y:40.36, Z:16.59 [[ 8.95445213e-01 -4.33184976e-01 -1.02609200e-01 3.35411596e+02] [ 4.31098758e-01 9.01286041e-01 -4.28641236e-02 4.03563038e+01] [ 1.11048334e-01 -5.85222450e-03 9.93797776e-01 1.65929587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.93925415399997 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:335.44, Y:40.35, Z:16.60 [[ 8.92720748e-01 -4.31071564e-01 -1.31251561e-01 3.35441373e+02] [ 4.34879747e-01 9.00488452e-01 3.90153972e-04 4.03489477e+01] [ 1.18022331e-01 -5.74269443e-02 9.91349018e-01 1.66043465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.96925415399994 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:335.46, Y:40.38, Z:16.62 [[ 8.92992723e-01 -4.36177324e-01 -1.10965481e-01 3.35458232e+02] [ 4.33759042e-01 8.99835534e-01 -4.63584459e-02 4.03813868e+01] [ 1.20071186e-01 -6.73452593e-03 9.92742442e-01 1.66163052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.99925415399997 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:335.48, Y:40.42, Z:16.61 [[ 8.95754039e-01 -4.37175971e-01 -8.06341825e-02 3.35478244e+02] [ 4.30290468e-01 8.98211392e-01 -8.98131877e-02 4.04154258e+01] [ 1.11690709e-01 4.57544055e-02 9.92689136e-01 1.66125665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.02925415399994 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:335.51, Y:40.41, Z:16.60 [[ 8.95810073e-01 -4.32857289e-01 -1.00791273e-01 3.35513577e+02] [ 4.30833619e-01 9.01444851e-01 -4.21849895e-02 4.04056804e+01] [ 1.09117854e-01 -5.63453011e-03 9.94012850e-01 1.66045128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.059254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:335.54, Y:40.42, Z:16.61 [[ 8.95808757e-01 -4.32723966e-01 -1.01373765e-01 3.35537670e+02] [ 4.30672170e-01 9.01508948e-01 -4.24629232e-02 4.04195114e+01] [ 1.09764080e-01 -5.62020069e-03 9.93941779e-01 1.66082785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.08925415399995 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:335.57, Y:40.42, Z:16.61 [[ 8.95175556e-01 -4.31759640e-01 -1.10654133e-01 3.35566016e+02] [ 4.32076562e-01 9.01560000e-01 -2.23475043e-02 4.04232113e+01] [ 1.09410091e-01 -2.78061179e-02 9.93607695e-01 1.66108739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.119254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:335.58, Y:40.45, Z:16.62 [[ 8.95763090e-01 -4.34696607e-01 -9.29911153e-02 3.35583799e+02] [ 4.30418473e-01 9.00427256e-01 -6.30134541e-02 4.04532316e+01] [ 1.11123469e-01 1.64200325e-02 9.93670950e-01 1.66186319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.14925415399995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:335.61, Y:40.46, Z:16.62 [[ 8.95584329e-01 -4.33038203e-01 -1.02012864e-01 3.35612309e+02] [ 4.30954246e-01 9.01357997e-01 -4.28041936e-02 4.04553544e+01] [ 1.10485961e-01 -5.62811160e-03 9.93861749e-01 1.66163980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.179254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:335.64, Y:40.47, Z:16.62 [[ 8.95725277e-01 -4.32372167e-01 -1.03588305e-01 3.35636479e+02] [ 4.30216675e-01 9.01677754e-01 -4.34838053e-02 4.04685211e+01] [ 1.12204458e-01 -5.61587284e-03 9.93669272e-01 1.66197314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.20925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:335.66, Y:40.48, Z:16.62 [[ 8.96123334e-01 -4.31646664e-01 -1.03170385e-01 3.35660692e+02] [ 4.29500069e-01 9.02026169e-01 -4.33414360e-02 4.04811810e+01] [ 1.11770573e-01 -5.47241536e-03 9.93718970e-01 1.66228185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.239254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:335.69, Y:40.49, Z:16.63 [[ 8.96526809e-01 -4.30906929e-01 -1.02756505e-01 3.35685131e+02] [ 4.28770724e-01 9.02380563e-01 -4.31854703e-02 4.04940962e+01] [ 1.11334391e-01 -5.34204912e-03 9.93768643e-01 1.66256725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.26925415399995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:335.71, Y:40.51, Z:16.63 [[ 8.97856967e-01 -4.28368432e-01 -1.01751427e-01 3.35709056e+02] [ 4.26253821e-01 9.03590631e-01 -4.27978138e-02 4.05083987e+01] [ 1.10274869e-01 -4.94561930e-03 9.93888824e-01 1.66288581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.299254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:335.73, Y:40.52, Z:16.63 [[ 8.98627451e-01 -4.26835230e-01 -1.01392265e-01 3.35734223e+02] [ 4.24721969e-01 9.04317155e-01 -4.26817642e-02 4.05209181e+01] [ 1.09908846e-01 -4.70851761e-03 9.93930518e-01 1.66317588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.32925415399995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:335.76, Y:40.53, Z:16.63 [[ 9.00481777e-01 -4.23010547e-01 -1.00968539e-01 3.35758395e+02] [ 4.20887146e-01 9.06115064e-01 -4.25382355e-02 4.05341482e+01] [ 1.09483236e-01 -4.19145437e-03 9.93979805e-01 1.66336940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.359254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:335.78, Y:40.55, Z:16.64 [[ 9.01514765e-01 -4.20833626e-01 -1.00847349e-01 3.35782160e+02] [ 4.18698103e-01 9.07129491e-01 -4.25204173e-02 4.05459540e+01] [ 1.09375626e-01 -3.89180969e-03 9.93992870e-01 1.66359118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.38925415399996 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:335.81, Y:40.56, Z:16.64 [[ 9.02390006e-01 -4.18668917e-01 -1.02022620e-01 3.35806893e+02] [ 4.16467404e-01 9.08131584e-01 -4.30340234e-02 4.05580769e+01] [ 1.10666971e-01 -3.65562302e-03 9.93850823e-01 1.66388330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.41925415399993 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:335.83, Y:40.57, Z:16.64 [[ 9.04604379e-01 -4.14219505e-01 -1.00564007e-01 3.35831239e+02] [ 4.12049434e-01 9.10171960e-01 -4.24531230e-02 4.05733004e+01] [ 1.09115451e-01 -3.03406126e-03 9.94024453e-01 1.66407917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.44925415399996 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:335.86, Y:40.59, Z:16.64 [[ 9.05712278e-01 -4.11891336e-01 -1.00153863e-01 3.35855552e+02] [ 4.09721158e-01 9.11228936e-01 -4.23130961e-02 4.05856866e+01] [ 1.08691496e-01 -2.71166605e-03 9.94071831e-01 1.66435144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.47925415399993 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:335.88, Y:40.60, Z:16.65 [[ 9.06605265e-01 -4.09926182e-01 -1.00137003e-01 3.35880191e+02] [ 4.07742114e-01 9.12115402e-01 -4.23303788e-02 4.05976892e+01] [ 1.08688833e-01 -2.45312893e-03 9.94072794e-01 1.66459973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.50925415399996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:335.91, Y:40.61, Z:16.65 [[ 9.08075378e-01 -4.06762149e-01 -9.97179106e-02 3.35905216e+02] [ 4.04573654e-01 9.13531836e-01 -4.21869956e-02 4.06102601e+01] [ 1.08255559e-01 -2.03426758e-03 9.94121017e-01 1.66484768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.53925415399993 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:335.93, Y:40.62, Z:16.65 [[ 9.08544082e-01 -4.05792251e-01 -9.93997019e-02 3.35930187e+02] [ 4.03608458e-01 9.13963404e-01 -4.20845477e-02 4.06213499e+01] [ 1.07925273e-01 -1.88289366e-03 9.94157226e-01 1.66509139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.56925415399996 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:335.95, Y:40.63, Z:16.65 [[ 9.08626392e-01 -4.05572116e-01 -9.95456552e-02 3.35954772e+02] [ 4.03378962e-01 9.14061186e-01 -4.21611413e-02 4.06326352e+01] [ 1.08090203e-01 -1.84589738e-03 9.94139377e-01 1.66536930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.59925415399994 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:335.98, Y:40.64, Z:16.66 [[ 9.08525440e-01 -4.05822778e-01 -9.94454549e-02 3.35980180e+02] [ 4.03633795e-01 9.13949898e-01 -4.21348180e-02 4.06440914e+01] [ 1.07987432e-01 -1.85899233e-03 9.94150521e-01 1.66564672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.62925415399997 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:336.01, Y:40.66, Z:16.66 [[ 9.07588048e-01 -4.07945239e-01 -9.93207800e-02 3.36005218e+02] [ 4.05770868e-01 9.13004031e-01 -4.21146287e-02 4.06558591e+01] [ 1.07860735e-01 -2.07874542e-03 9.94163840e-01 1.66589991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.65925415399994 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:336.03, Y:40.67, Z:16.66 [[ 9.06680847e-01 -4.09713117e-01 -1.00324494e-01 3.36029932e+02] [ 4.07501646e-01 9.12211572e-01 -4.25729530e-02 4.06660554e+01] [ 1.08959861e-01 -2.28231516e-03 9.94043530e-01 1.66621396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.68925415399997 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:336.05, Y:40.67, Z:16.67 [[ 9.01673417e-01 -4.15502054e-01 -1.19762650e-01 3.36051043e+02] [ 4.16465455e-01 9.08971983e-01 -1.80682004e-02 4.06673517e+01] [ 1.16368268e-01 -3.35853907e-02 9.92638125e-01 1.66695397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.71925415399994 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:336.08, Y:40.70, Z:16.67 [[ 9.03127122e-01 -4.20494097e-01 -8.68683823e-02 3.36076623e+02] [ 4.15326435e-01 9.06841813e-01 -7.17068970e-02 4.07015966e+01] [ 1.08928208e-01 2.86817080e-02 9.93635751e-01 1.66742664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.74925415399997 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:336.11, Y:40.70, Z:16.67 [[ 9.01536351e-01 -4.21056204e-01 -9.97190116e-02 3.36109117e+02] [ 4.18937878e-01 9.07027373e-01 -4.23367306e-02 4.06987998e+01] [ 1.08274016e-01 -3.60796950e-03 9.94114541e-01 1.66690548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.77925415399994 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:336.13, Y:40.71, Z:16.67 [[ 8.98726621e-01 -4.27027119e-01 -9.96910238e-02 3.36133892e+02] [ 4.24943007e-01 9.04228612e-01 -4.23563327e-02 4.07090685e+01] [ 1.08230779e-01 -4.29623961e-03 9.94116513e-01 1.66718523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.809254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:336.16, Y:40.72, Z:16.68 [[ 8.97233987e-01 -4.30147617e-01 -9.97206092e-02 3.36159622e+02] [ 4.28079617e-01 9.02746544e-01 -4.23853517e-02 4.07204409e+01] [ 1.08254393e-01 -4.65878208e-03 9.94112309e-01 1.66753110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.83925415399995 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:336.19, Y:40.73, Z:16.68 [[ 8.96576749e-01 -4.31933161e-01 -9.78972815e-02 3.36185048e+02] [ 4.29947402e-01 9.01893084e-01 -4.16424948e-02 4.07313368e+01] [ 1.06279656e-01 -4.75498924e-03 9.94324909e-01 1.66772061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.869254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:336.21, Y:40.74, Z:16.68 [[ 8.94649333e-01 -4.35666269e-01 -9.89821819e-02 3.36209088e+02] [ 4.33654837e-01 9.00093120e-01 -4.21409207e-02 4.07420306e+01] [ 1.07452559e-01 -5.22275541e-03 9.94196495e-01 1.66810063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.89925415399995 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:336.23, Y:40.75, Z:16.68 [[ 8.92709902e-01 -4.39712751e-01 -9.85988201e-02 3.36233746e+02] [ 4.37737746e-01 8.98120650e-01 -4.20114689e-02 4.07520161e+01] [ 1.07026615e-01 -5.65637101e-03 9.94240066e-01 1.66840255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.929254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:336.26, Y:40.76, Z:16.69 [[ 8.91672860e-01 -4.42050786e-01 -9.75223722e-02 3.36257970e+02] [ 4.39543429e-01 8.96989537e-01 -4.70249398e-02 4.07647855e+01] [ 1.08263959e-01 -9.34455287e-04 9.94121744e-01 1.66880558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.95925415399995 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:336.29, Y:40.77, Z:16.69 [[ 8.90405852e-01 -4.44077365e-01 -9.98634714e-02 3.36285571e+02] [ 4.42653131e-01 8.95920131e-01 -3.72199450e-02 4.07721011e+01] [ 1.05998229e-01 -1.10640214e-02 9.94304764e-01 1.66883459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.989254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:336.31, Y:40.79, Z:16.69 [[ 8.89890142e-01 -4.45587693e-01 -9.77094803e-02 3.36310062e+02] [ 4.43676473e-01 8.95216507e-01 -4.16964453e-02 4.07856780e+01] [ 1.06050562e-01 -6.24614199e-03 9.94341121e-01 1.66920262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.01925415399995 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:336.33, Y:40.80, Z:16.69 [[ 8.89422724e-01 -4.46480539e-01 -9.78894621e-02 3.36334712e+02] [ 4.44564116e-01 8.94770919e-01 -4.18060876e-02 4.07970728e+01] [ 1.06254248e-01 -6.33485787e-03 9.94318814e-01 1.66948169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.049254154 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:336.36, Y:40.81, Z:16.70 [[ 8.88800065e-01 -4.47816833e-01 -9.74398689e-02 3.36359884e+02] [ 4.45923465e-01 8.94102102e-01 -4.16376490e-02 4.08101015e+01] [ 1.05767232e-01 -6.44317876e-03 9.94370041e-01 1.66971516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.07925415399995 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:336.38, Y:40.82, Z:16.70 [[ 8.88563538e-01 -4.48170152e-01 -9.79711847e-02 3.36383894e+02] [ 4.46254784e-01 8.93924696e-01 -4.18963717e-02 4.08216036e+01] [ 1.06355565e-01 -6.49252162e-03 9.94306965e-01 1.66999715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.109254154 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:336.41, Y:40.83, Z:16.70 [[ 8.88464567e-01 -4.48424531e-01 -9.77044139e-02 3.36409083e+02] [ 4.46519430e-01 8.93797131e-01 -4.17981845e-02 4.08336065e+01] [ 1.06071256e-01 -6.49071331e-03 9.94337347e-01 1.67023480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.13925415399996 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:336.43, Y:40.85, Z:16.71 [[ 8.88544580e-01 -4.48157301e-01 -9.82016427e-02 3.36433658e+02] [ 4.46227560e-01 8.93931357e-01 -4.20439450e-02 4.08473945e+01] [ 1.06627829e-01 -6.46235992e-03 9.94278001e-01 1.67054464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.16925415399993 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:336.46, Y:40.86, Z:16.71 [[ 8.88769687e-01 -4.47583170e-01 -9.87813227e-02 3.36457533e+02] [ 4.45623460e-01 8.94219392e-01 -4.23250722e-02 4.08598887e+01] [ 1.07276164e-01 -6.40203369e-03 9.94208649e-01 1.67082884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.19925415399996 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:336.48, Y:40.87, Z:16.71 [[ 8.89695109e-01 -4.45526962e-01 -9.97413626e-02 3.36481442e+02] [ 4.43514165e-01 8.95247061e-01 -4.27537745e-02 4.08746973e+01] [ 1.08341121e-01 -6.19888318e-03 9.94094450e-01 1.67109698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.22925415399993 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:336.51, Y:40.89, Z:16.71 [[ 8.90268956e-01 -4.44355225e-01 -9.98479818e-02 3.36506434e+02] [ 4.42327017e-01 8.95830371e-01 -4.28340558e-02 4.08878107e+01] [ 1.08480391e-01 -6.03162977e-03 9.94080291e-01 1.67136351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.25925415399996 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:336.53, Y:40.90, Z:16.72 [[ 8.91868251e-01 -4.41115385e-01 -9.99411865e-02 3.36530501e+02] [ 4.39059302e-01 8.97432859e-01 -4.29091333e-02 4.09026106e+01] [ 1.08618384e-01 -5.61081392e-03 9.94067687e-01 1.67166322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.28925415399993 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:336.55, Y:40.92, Z:16.72 [[ 8.92778011e-01 -4.39361229e-01 -9.95446273e-02 3.36554523e+02] [ 4.37307068e-01 8.98294567e-01 -4.27714750e-02 4.09154865e+01] [ 1.08212526e-01 -5.34613669e-03 9.94113408e-01 1.67191973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.31925415399996 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:336.58, Y:40.93, Z:16.72 [[ 8.93672217e-01 -4.37544763e-01 -9.95215962e-02 3.36578682e+02] [ 4.35478485e-01 8.99182114e-01 -4.27786714e-02 4.09284814e+01] [ 1.08205623e-01 -5.10940390e-03 9.94115404e-01 1.67222085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.34925415399994 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:336.60, Y:40.94, Z:16.72 [[ 8.94694931e-01 -4.35475530e-01 -9.94084717e-02 3.36602358e+02] [ 4.33397712e-01 9.00187643e-01 -4.27624972e-02 4.09415823e+01] [ 1.08108299e-01 -4.82401480e-03 9.94127419e-01 1.67248502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.37925415399997 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:336.63, Y:40.96, Z:16.73 [[ 8.96562416e-01 -4.31501436e-01 -9.99116870e-02 3.36625983e+02] [ 4.29375996e-01 9.02101757e-01 -4.29962050e-02 4.09575102e+01] [ 1.08683433e-01 -4.35089869e-03 9.94066890e-01 1.67282988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.40925415399994 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:336.65, Y:40.97, Z:16.73 [[ 8.97481049e-01 -4.29599340e-01 -9.98607749e-02 3.36649766e+02] [ 4.27460766e-01 9.03010349e-01 -4.30070077e-02 4.09703175e+01] [ 1.08651095e-01 -4.08858904e-03 9.94071538e-01 1.67312656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.43925415399997 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:336.67, Y:40.99, Z:16.73 [[ 8.98982425e-01 -4.26544139e-01 -9.94519797e-02 3.36673387e+02] [ 4.24402594e-01 9.04459228e-01 -4.28479095e-02 4.09851649e+01] [ 1.08226785e-01 -3.68816065e-03 9.94119389e-01 1.67345321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.46925415399994 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:336.70, Y:41.00, Z:16.74 [[ 8.99721610e-01 -4.25111168e-01 -9.89015652e-02 3.36700681e+02] [ 4.22981408e-01 9.05134501e-01 -4.26411070e-02 4.09987156e+01] [ 1.07646430e-01 -3.46839778e-03 9.94183191e-01 1.67374726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.49925415399997 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:336.73, Y:41.01, Z:16.74 [[ 9.00175144e-01 -4.24192676e-01 -9.87182070e-02 3.36726831e+02] [ 4.22065298e-01 9.05565756e-01 -4.25622636e-02 4.10117163e+01] [ 1.07450428e-01 -3.35203773e-03 9.94204792e-01 1.67404162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.52925415399994 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:336.75, Y:41.03, Z:16.74 [[ 9.00654503e-01 -4.23230394e-01 -9.84758891e-02 3.36754825e+02] [ 4.21107577e-01 9.06016344e-01 -4.24593148e-02 4.10265764e+01] [ 1.07190837e-01 -3.22776999e-03 9.94233225e-01 1.67432060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.559254154 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:336.78, Y:41.04, Z:16.75 [[ 9.00845862e-01 -4.22957472e-01 -9.78964271e-02 3.36781107e+02] [ 4.20858416e-01 9.06143955e-01 -4.22057673e-02 4.10393348e+01] [ 1.06559500e-01 -3.17964450e-03 9.94301243e-01 1.67456289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.58925415399995 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:336.80, Y:41.05, Z:16.75 [[ 9.00822677e-01 -4.23029062e-01 -9.78003915e-02 3.36804942e+02] [ 4.20934210e-01 9.06110527e-01 -4.21675620e-02 4.10510312e+01] [ 1.06456068e-01 -3.18203445e-03 9.94312315e-01 1.67481544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.619254154 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:336.83, Y:41.06, Z:16.75 [[ 9.00864709e-01 -4.22967959e-01 -9.76774376e-02 3.36831693e+02] [ 4.20876617e-01 9.06139133e-01 -4.21277280e-02 4.10636326e+01] [ 1.06328028e-01 -3.15876606e-03 9.94326090e-01 1.67508724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.64925415399995 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:336.86, Y:41.08, Z:16.75 [[ 9.01074973e-01 -4.22406554e-01 -9.81661643e-02 3.36856884e+02] [ 4.20290382e-01 9.06401163e-01 -4.23429697e-02 4.10765822e+01] [ 1.06863873e-01 -3.10410435e-03 9.94268815e-01 1.67537644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.679254154 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:336.88, Y:41.09, Z:16.76 [[ 9.01139463e-01 -4.22366417e-01 -9.77459866e-02 3.36882327e+02] [ 4.20267242e-01 9.06419954e-01 -4.21700357e-02 4.10887569e+01] [ 1.06410120e-01 -3.07835289e-03 9.94317560e-01 1.67563923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.70925415399995 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:336.91, Y:41.10, Z:16.76 [[ 9.01635537e-01 -4.21290041e-01 -9.78164599e-02 3.36907026e+02] [ 4.19178564e-01 9.06921235e-01 -4.22280121e-02 4.11015766e+01] [ 1.06502066e-01 -2.92828681e-03 9.94308169e-01 1.67591950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.739254154 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:336.94, Y:41.11, Z:16.76 [[ 9.02025916e-01 -4.20485603e-01 -9.76785781e-02 3.36936524e+02] [ 4.18374463e-01 9.07294824e-01 -4.21771400e-02 4.11148445e+01] [ 1.06358148e-01 -2.82134932e-03 9.94323883e-01 1.67623624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.76925415399995 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:336.96, Y:41.13, Z:16.77 [[ 9.02437665e-01 -4.19672020e-01 -9.73737947e-02 3.36964884e+02] [ 4.17570314e-01 9.07671730e-01 -4.20364568e-02 4.11276115e+01] [ 1.06024965e-01 -2.72512415e-03 9.94359734e-01 1.67652888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.799254154 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:336.99, Y:41.14, Z:16.77 [[ 9.02974256e-01 -4.18530790e-01 -9.73112083e-02 3.36990506e+02] [ 4.16426288e-01 9.08198890e-01 -4.19990769e-02 4.11392286e+01] [ 1.05955838e-01 -2.59886007e-03 9.94367440e-01 1.67682393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.82925415399995 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:337.02, Y:41.15, Z:16.77 [[ 9.03241241e-01 -4.17988936e-01 -9.71622842e-02 3.37019553e+02] [ 4.15884719e-01 9.08448663e-01 -4.19634092e-02 4.11518527e+01] [ 1.05807188e-01 -2.50522744e-03 9.94383509e-01 1.67711511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.859254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:337.05, Y:41.16, Z:16.77 [[ 9.03504801e-01 -4.17372745e-01 -9.73604962e-02 3.37049189e+02] [ 4.15257256e-01 9.08732089e-01 -4.20404841e-02 4.11642792e+01] [ 1.06021159e-01 -2.44587327e-03 9.94360866e-01 1.67740176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.88925415399996 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:337.08, Y:41.18, Z:16.78 [[ 9.03543205e-01 -4.17288859e-01 -9.73636767e-02 3.37079091e+02] [ 4.15173677e-01 9.08770617e-01 -4.20331171e-02 4.11771233e+01] [ 1.06021200e-01 -2.44409831e-03 9.94360866e-01 1.67771870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.91925415399993 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:337.11, Y:41.19, Z:16.78 [[ 9.03163084e-01 -4.17990857e-01 -9.78779170e-02 3.37108418e+02] [ 4.15858458e-01 9.08447655e-01 -4.22445242e-02 4.11893462e+01] [ 1.06574789e-01 -2.54966489e-03 9.94301420e-01 1.67800065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.94925415399996 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:337.14, Y:41.20, Z:16.78 [[ 9.02793542e-01 -4.18780220e-01 -9.79129593e-02 3.37136178e+02] [ 4.16651774e-01 9.08083751e-01 -4.22516331e-02 4.12011029e+01] [ 1.06607316e-01 -2.65110665e-03 9.94297668e-01 1.67826086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.97925415399993 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:337.16, Y:41.21, Z:16.79 [[ 9.02112028e-01 -4.20130081e-01 -9.84103834e-02 3.37164070e+02] [ 4.17988105e-01 9.07459489e-01 -4.24643376e-02 4.12126931e+01] [ 1.07143982e-01 -2.82677987e-03 9.94239497e-01 1.67856068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.00925415399996 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:337.19, Y:41.22, Z:16.79 [[ 9.00628625e-01 -4.23220178e-01 -9.87560719e-02 3.37194429e+02] [ 4.21081656e-01 9.06021192e-01 -4.26126431e-02 4.12236902e+01] [ 1.07509624e-01 -3.20620422e-03 9.94198874e-01 1.67882190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.03925415399993 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:337.22, Y:41.23, Z:16.79 [[ 8.99868357e-01 -4.24825107e-01 -9.87955899e-02 3.37222654e+02] [ 4.22695371e-01 9.05269034e-01 -4.26215850e-02 4.12347355e+01] [ 1.07543308e-01 -3.40662291e-03 9.94194564e-01 1.67909871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.06925415399996 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:337.25, Y:41.25, Z:16.79 [[ 8.98400245e-01 -4.27939470e-01 -9.87158059e-02 3.37252986e+02] [ 4.25832173e-01 9.03799498e-01 -4.25843571e-02 4.12464073e+01] [ 1.07442823e-01 -3.77856935e-03 9.94204085e-01 1.67943241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.09925415399994 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:337.28, Y:41.26, Z:16.80 [[ 8.97751120e-01 -4.29249747e-01 -9.89322107e-02 3.37281263e+02] [ 4.27141976e-01 9.03177192e-01 -4.26695633e-02 4.12582263e+01] [ 1.07669216e-01 -3.95145165e-03 9.94178921e-01 1.67976246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.12925415399997 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:337.31, Y:41.27, Z:16.80 [[ 8.97340367e-01 -4.30121990e-01 -9.88703143e-02 3.37309515e+02] [ 4.28022341e-01 9.02761668e-01 -4.26409117e-02 4.12697757e+01] [ 1.07597124e-01 -4.05529195e-03 9.94186307e-01 1.68008295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.15925415399994 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:337.34, Y:41.28, Z:16.80 [[ 8.96856455e-01 -4.31083642e-01 -9.90726662e-02 3.37336880e+02] [ 4.28981183e-01 9.02302293e-01 -4.27284000e-02 4.12811307e+01] [ 1.07813008e-01 -4.17906819e-03 9.94162407e-01 1.68037487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.18925415399997 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:337.36, Y:41.29, Z:16.81 [[ 8.96432981e-01 -4.32022700e-01 -9.88144596e-02 3.37362815e+02] [ 4.29936357e-01 9.01852594e-01 -4.26219175e-02 4.12922357e+01] [ 1.07529713e-01 -4.27623629e-03 9.94192675e-01 1.68068117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.21925415399994 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:337.39, Y:41.30, Z:16.81 [[ 8.96268191e-01 -4.32302471e-01 -9.90853365e-02 3.37388701e+02] [ 4.30203049e-01 9.01718434e-01 -4.27691813e-02 4.13031557e+01] [ 1.07836297e-01 -4.29415709e-03 9.94159390e-01 1.68097595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.24925415399997 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:337.41, Y:41.31, Z:16.81 [[ 8.96255717e-01 -4.32304004e-01 -9.91914232e-02 3.37412974e+02] [ 4.30196588e-01 9.01717815e-01 -4.28471495e-02 4.13136117e+01] [ 1.07965668e-01 -4.26980918e-03 9.94145454e-01 1.68128103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.27925415399994 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:337.44, Y:41.33, Z:16.82 [[ 8.96672039e-01 -4.31331539e-01 -9.96612173e-02 3.37438512e+02] [ 4.29196242e-01 9.02183917e-01 -4.30669853e-02 4.13251105e+01] [ 1.08488896e-01 -4.15725844e-03 9.94088968e-01 1.68163630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.309254154 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:337.46, Y:41.34, Z:16.82 [[ 8.97280160e-01 -4.30229078e-01 -9.89507642e-02 3.37463801e+02] [ 4.28113934e-01 9.02711039e-01 -4.27929846e-02 4.13364409e+01] [ 1.07734733e-01 -3.96490487e-03 9.94171769e-01 1.68199654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.33925415399995 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:337.49, Y:41.35, Z:16.82 [[ 8.97620729e-01 -4.29560244e-01 -9.87675197e-02 3.37488889e+02] [ 4.27445341e-01 9.03030008e-01 -4.27467656e-02 4.13473636e+01] [ 1.07552345e-01 -3.84733324e-03 9.94191979e-01 1.68231043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.369254154 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:337.51, Y:41.36, Z:16.83 [[ 8.98069891e-01 -4.28585787e-01 -9.89176103e-02 3.37514628e+02] [ 4.26454883e-01 9.03493493e-01 -4.28455545e-02 4.13587288e+01] [ 1.07734413e-01 -3.70559543e-03 9.94172804e-01 1.68266328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.39925415399995 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:337.54, Y:41.37, Z:16.83 [[ 8.98971621e-01 -4.26801395e-01 -9.84408141e-02 3.37539283e+02] [ 4.24676980e-01 9.04338816e-01 -4.26704653e-02 4.13688702e+01] [ 1.07235663e-01 -3.44601024e-03 9.94227659e-01 1.68295630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.429254154 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:337.57, Y:41.38, Z:16.83 [[ 8.99364282e-01 -4.25974725e-01 -9.84348650e-02 3.37568929e+02] [ 4.23844317e-01 9.04728912e-01 -4.26801010e-02 4.13816668e+01] [ 1.07237513e-01 -3.33609966e-03 9.94227834e-01 1.68329262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.45925415399995 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:337.60, Y:41.39, Z:16.84 [[ 8.99876282e-01 -4.24881472e-01 -9.84805149e-02 3.37597208e+02] [ 4.22743489e-01 9.05243281e-01 -4.26912692e-02 4.13938608e+01] [ 1.07287554e-01 -3.21513579e-03 9.94222834e-01 1.68360005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.489254154 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:337.63, Y:41.41, Z:16.84 [[ 9.00389213e-01 -4.23622497e-01 -9.92131288e-02 3.37626443e+02] [ 4.21445640e-01 9.05833541e-01 -4.30019548e-02 4.14066883e+01] [ 1.08087175e-01 -3.09444427e-03 9.94136604e-01 1.68389033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.51925415399995 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:337.66, Y:41.42, Z:16.84 [[ 9.00526545e-01 -4.23094360e-01 -1.00215288e-01 3.37655442e+02] [ 4.20870863e-01 9.06080426e-01 -4.34278442e-02 4.14191704e+01] [ 1.09177187e-01 -3.06976821e-03 9.94017564e-01 1.68418956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.549254154 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:337.68, Y:41.43, Z:16.84 [[ 9.00212984e-01 -4.23543060e-01 -1.01132882e-01 3.37682651e+02] [ 4.21281812e-01 9.05870471e-01 -4.38215036e-02 4.14305442e+01] [ 1.10173585e-01 -3.15675709e-03 9.93907348e-01 1.68444572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.57925415399995 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:337.71, Y:41.44, Z:16.85 [[ 8.99965752e-01 -4.24055364e-01 -1.01186429e-01 3.37711029e+02] [ 4.21794959e-01 9.05630538e-01 -4.38445124e-02 4.14425715e+01] [ 1.10230021e-01 -3.22136629e-03 9.93900883e-01 1.68472287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.609254154 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:337.74, Y:41.45, Z:16.85 [[ 8.99610113e-01 -4.24783654e-01 -1.01294087e-01 3.37737969e+02] [ 4.22522990e-01 9.05288830e-01 -4.38914292e-02 4.14542916e+01] [ 1.10344767e-01 -3.31390689e-03 9.93887846e-01 1.68502729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.63925415399996 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:337.76, Y:41.47, Z:16.85 [[ 8.98997553e-01 -4.26159210e-01 -1.00954087e-01 3.37763700e+02] [ 4.23921699e-01 9.04641542e-01 -4.37501294e-02 4.14657845e+01] [ 1.09971781e-01 -3.46536872e-03 9.93928669e-01 1.68531850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.66925415399993 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:337.79, Y:41.48, Z:16.86 [[ 8.98563522e-01 -4.27023374e-01 -1.01166372e-01 3.37791963e+02] [ 4.24778549e-01 9.04233612e-01 -4.38720776e-02 4.14782888e+01] [ 1.10212436e-01 -3.55145594e-03 9.93901708e-01 1.68568914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.69925415399996 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:337.82, Y:41.49, Z:16.86 [[ 8.97062968e-01 -4.30498003e-01 -9.97471827e-02 3.37820517e+02] [ 4.28337694e-01 9.02582993e-01 -4.32522833e-02 4.14910777e+01] [ 1.08650132e-01 -3.92545657e-03 9.94072301e-01 1.68601835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.72925415399993 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:337.85, Y:41.50, Z:16.86 [[ 8.96230483e-01 -4.32348754e-01 -9.92243699e-02 3.37847746e+02] [ 4.30222766e-01 9.01697005e-01 -4.30218872e-02 4.15027677e+01] [ 1.08070776e-01 -4.13105614e-03 9.94134619e-01 1.68629982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.75925415399996 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:337.88, Y:41.51, Z:16.87 [[ 8.94366974e-01 -4.36186531e-01 -9.92422594e-02 3.37875343e+02] [ 4.34082974e-01 8.99844550e-01 -4.30320412e-02 4.15140601e+01] [ 1.08072603e-01 -4.59293873e-03 9.94132394e-01 1.68661863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.78925415399993 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:337.90, Y:41.53, Z:16.87 [[ 8.93033766e-01 -4.39216848e-01 -9.78736614e-02 3.37904223e+02] [ 4.37188745e-01 8.98367785e-01 -4.24420181e-02 4.15260151e+01] [ 1.06567794e-01 -4.88710790e-03 9.94293428e-01 1.68683997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.81925415399996 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:337.93, Y:41.54, Z:16.87 [[ 8.91780690e-01 -4.41708927e-01 -9.80837648e-02 3.37933992e+02] [ 4.39687568e-01 8.97143345e-01 -4.25283645e-02 4.15385648e+01] [ 1.06780355e-01 -5.20023774e-03 9.94269035e-01 1.68715801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.84925415399994 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:337.96, Y:41.55, Z:16.87 [[ 8.88889936e-01 -4.47707811e-01 -9.71205275e-02 3.37962358e+02] [ 4.45762384e-01 8.94160657e-01 -4.21024629e-02 4.15503835e+01] [ 1.05690956e-01 -5.86822232e-03 9.94381710e-01 1.68744335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.87925415399997 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:337.99, Y:41.56, Z:16.88 [[ 8.87501292e-01 -4.50410688e-01 -9.73224930e-02 3.37989810e+02] [ 4.48473682e-01 8.92799917e-01 -4.21860645e-02 4.15622574e+01] [ 1.05890568e-01 -6.20638999e-03 9.94358420e-01 1.68778347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.90925415399994 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:338.02, Y:41.57, Z:16.88 [[ 8.84766983e-01 -4.55915031e-01 -9.65860834e-02 3.38015391e+02] [ 4.54039644e-01 8.89997246e-01 -4.18676848e-02 4.15727909e+01] [ 1.05049455e-01 -6.81076583e-03 9.94443676e-01 1.68802702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.93925415399997 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:338.04, Y:41.58, Z:16.88 [[ 8.83503994e-01 -4.58464569e-01 -9.60777359e-02 3.38040534e+02] [ 4.56622562e-01 8.88684604e-01 -4.16594675e-02 4.15836694e+01] [ 1.04482194e-01 -7.06495596e-03 9.94501663e-01 1.68828235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.96925415399994 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:338.07, Y:41.59, Z:16.89 [[ 8.81963151e-01 -4.59095204e-01 -1.06642366e-01 3.38071067e+02] [ 4.59030416e-01 8.88021713e-01 -2.66179195e-02 4.15890803e+01] [ 1.06920895e-01 -2.54760652e-02 9.93941091e-01 1.68875074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.99925415399997 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:338.10, Y:41.61, Z:16.90 [[ 8.81379874e-01 -4.61976665e-01 -9.87272896e-02 3.38097332e+02] [ 4.60202985e-01 8.86847119e-01 -4.14173755e-02 4.16101904e+01] [ 1.06689873e-01 -8.93015223e-03 9.94252243e-01 1.68950542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.02925415399994 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:338.13, Y:41.61, Z:16.90 [[ 8.79610991e-01 -4.62015899e-01 -1.13251110e-01 3.38126147e+02] [ 4.62733501e-01 8.86237643e-01 -2.14603525e-02 4.16146386e+01] [ 1.10282420e-01 -3.35283204e-02 9.93334606e-01 1.68982598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.059254154 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:338.15, Y:41.64, Z:16.91 [[ 8.80610033e-01 -4.63494104e-01 -9.84844418e-02 3.38150088e+02] [ 4.60623837e-01 8.86100003e-01 -5.15020942e-02 4.16414741e+01] [ 1.11137981e-01 -1.10205607e-05 9.93804985e-01 1.69085415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.08925415399995 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:338.18, Y:41.66, Z:16.91 [[ 8.82184854e-01 -4.60617404e-01 -9.78850942e-02 3.38179456e+02] [ 4.57975364e-01 8.87597757e-01 -4.92827292e-02 4.16556216e+01] [ 1.09583073e-01 -1.35248447e-03 9.93976721e-01 1.69091408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.119254154 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:338.21, Y:41.66, Z:16.91 [[ 8.82376954e-01 -4.58326793e-01 -1.06524467e-01 3.38206485e+02] [ 4.56787025e-01 8.88681684e-01 -3.98808158e-02 4.16646606e+01] [ 1.12944789e-01 -1.34690816e-02 9.93509969e-01 1.69122047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.14925415399995 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:338.23, Y:41.68, Z:16.92 [[ 8.83337629e-01 -4.57103309e-01 -1.03784386e-01 3.38231581e+02] [ 4.55112003e-01 8.89370146e-01 -4.35179064e-02 4.16788781e+01] [ 1.12194913e-01 -8.79251538e-03 9.93647318e-01 1.69160992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.179254154 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:338.26, Y:41.69, Z:16.92 [[ 8.85300517e-01 -4.53633082e-01 -1.02274251e-01 3.38259260e+02] [ 4.51816157e-01 8.91139415e-01 -4.16257429e-02 4.16928261e+01] [ 1.10023431e-01 -9.35786755e-03 9.93884941e-01 1.69176699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.20925415399995 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:338.28, Y:41.72, Z:16.92 [[ 8.88117628e-01 -4.52332661e-01 -8.14999498e-02 3.38279129e+02] [ 4.46950241e-01 8.91298376e-01 -7.63065321e-02 4.17207501e+01] [ 1.07156710e-01 3.13427541e-02 9.93747992e-01 1.69245738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.239254154 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:338.32, Y:41.71, Z:16.92 [[ 8.87672487e-01 -4.48134732e-01 -1.05890598e-01 3.38315184e+02] [ 4.47865588e-01 8.93673209e-01 -2.76515920e-02 4.17130771e+01] [ 1.07023230e-01 -2.28791976e-02 9.93993245e-01 1.69161298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.26925415399995 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:338.33, Y:41.74, Z:16.92 [[ 8.90477184e-01 -4.46644014e-01 -8.69454359e-02 3.38334471e+02] [ 4.42854983e-01 8.94588370e-01 -5.99258900e-02 4.17425544e+01] [ 1.04545916e-01 1.48584182e-02 9.94409060e-01 1.69229584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.299254154 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:338.37, Y:41.75, Z:16.92 [[ 8.91573431e-01 -4.42779947e-01 -9.50932967e-02 3.38367141e+02] [ 4.40872075e-01 8.96616140e-01 -4.13679913e-02 4.17481873e+01] [ 1.03579102e-01 -5.04137702e-03 9.94608443e-01 1.69200539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.32925415399995 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:338.40, Y:41.76, Z:16.92 [[ 8.92356797e-01 -4.38771441e-01 -1.05730646e-01 3.38397758e+02] [ 4.38603799e-01 8.98301851e-01 -2.60862527e-02 4.17550402e+01] [ 1.06423937e-01 -2.30956180e-02 9.94052583e-01 1.69247558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.359254154 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:338.42, Y:41.79, Z:16.93 [[ 8.95258016e-01 -4.36714180e-01 -8.82825574e-02 3.38420235e+02] [ 4.32983986e-01 8.99485649e-01 -5.87404118e-02 4.17853037e+01] [ 1.05061664e-01 1.43628909e-02 9.94361983e-01 1.69328150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.38925415399996 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:338.45, Y:41.79, Z:16.93 [[ 8.96734218e-01 -4.32115594e-01 -9.56235111e-02 3.38454022e+02] [ 4.30129015e-01 9.01809982e-01 -4.15666671e-02 4.17921035e+01] [ 1.04195842e-01 -3.85619394e-03 9.94549323e-01 1.69302852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.41925415399993 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:338.48, Y:41.80, Z:16.93 [[ 9.00197079e-01 -4.24374274e-01 -9.77327741e-02 3.38477706e+02] [ 4.23269259e-01 9.05409588e-01 -3.28117793e-02 4.18009943e+01] [ 1.02412666e-01 -1.18302110e-02 9.94671650e-01 1.69301464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.44925415399996 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:338.50, Y:41.82, Z:16.94 [[ 9.00697865e-01 -4.24558381e-01 -9.21603832e-02 3.38501103e+02] [ 4.21609560e-01 9.05377107e-01 -5.03753124e-02 4.18221403e+01] [ 1.04827162e-01 6.51723776e-03 9.94469100e-01 1.69392883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.47925415399993 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:338.53, Y:41.83, Z:16.94 [[ 9.01934551e-01 -4.21032302e-01 -9.61554282e-02 3.38533109e+02] [ 4.18958724e-01 9.07041998e-01 -4.18138857e-02 4.18322516e+01] [ 1.04822008e-01 -2.57176723e-03 9.94487673e-01 1.69396172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.50925415399996 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:338.56, Y:41.85, Z:16.94 [[ 9.03121006e-01 -4.18526124e-01 -9.59600543e-02 3.38563428e+02] [ 4.16448200e-01 9.08201878e-01 -4.17162577e-02 4.18460639e+01] [ 1.04610445e-01 -2.28756323e-03 9.94510644e-01 1.69427274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.53925415399993 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:338.59, Y:41.86, Z:16.95 [[ 9.04965391e-01 -4.14477899e-01 -9.61546259e-02 3.38592827e+02] [ 4.12370007e-01 9.10057529e-01 -4.17884040e-02 4.18590787e+01] [ 1.04826611e-01 -1.83422440e-03 9.94488822e-01 1.69458943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.56925415399996 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:338.62, Y:41.87, Z:16.95 [[ 9.05807407e-01 -4.12521147e-01 -9.66397667e-02 3.38622921e+02] [ 4.10381915e-01 9.10946573e-01 -4.19883847e-02 4.18722711e+01] [ 1.05354761e-01 -1.62582267e-03 9.94433372e-01 1.69491454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.59925415399994 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:338.65, Y:41.87, Z:16.95 [[ 9.04931180e-01 -4.09783252e-01 -1.14792183e-01 3.38653360e+02] [ 4.10746379e-01 9.11605141e-01 -1.62320563e-02 4.18749772e+01] [ 1.11296769e-01 -3.24615797e-02 9.93256903e-01 1.69517065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.62925415399997 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:338.67, Y:41.91, Z:16.97 [[ 9.07396962e-01 -4.11502721e-01 -8.54181688e-02 3.38672313e+02] [ 4.06316274e-01 9.10895378e-01 -7.19492562e-02 4.19099683e+01] [ 1.07414330e-01 3.05797444e-02 9.93743951e-01 1.69651013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.65925415399994 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:338.71, Y:41.91, Z:16.96 [[ 9.07489187e-01 -4.08292746e-01 -9.87947849e-02 3.38709445e+02] [ 4.06031671e-01 9.12850310e-01 -4.29254373e-02 4.19099842e+01] [ 1.07710995e-01 -1.15944147e-03 9.94181572e-01 1.69579272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.68925415399997 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:338.74, Y:41.92, Z:16.96 [[ 9.07597053e-01 -4.07870890e-01 -9.95435875e-02 3.38740031e+02] [ 4.05574216e-01 9.13038915e-01 -4.32376583e-02 4.19224316e+01] [ 1.08522551e-01 -1.12994121e-03 9.94093345e-01 1.69609803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.71925415399994 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:338.77, Y:41.93, Z:16.96 [[ 9.07420973e-01 -4.08115855e-01 -1.00143031e-01 3.38769492e+02] [ 4.05794255e-01 9.12929384e-01 -4.34851926e-02 4.19342440e+01] [ 1.09170513e-01 -1.17809111e-03 9.94022339e-01 1.69641430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.74925415399997 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:338.80, Y:41.95, Z:16.97 [[ 9.07062260e-01 -4.08800528e-01 -1.00599127e-01 3.38799113e+02] [ 4.06463034e-01 9.12622869e-01 -4.36726647e-02 4.19463067e+01] [ 1.09662472e-01 -1.27600044e-03 9.93968065e-01 1.69671580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.77925415399994 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:338.83, Y:41.96, Z:16.97 [[ 9.07098814e-01 -4.08718607e-01 -1.00602390e-01 3.38829004e+02] [ 4.06381445e-01 9.12659562e-01 -4.36651478e-02 4.19592132e+01] [ 1.09662491e-01 -1.27434065e-03 9.93968065e-01 1.69701888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.809254154 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:338.86, Y:41.99, Z:16.98 [[ 9.09065968e-01 -4.09537606e-01 -7.66682182e-02 3.38861221e+02] [ 4.03819511e-01 9.11339109e-01 -7.99426761e-02 4.19871011e+01] [ 1.02610278e-01 4.17130438e-02 9.93846645e-01 1.69766133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.83925415399995 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:338.90, Y:41.96, Z:16.96 [[ 9.05187087e-01 -4.07550855e-01 -1.20576272e-01 3.38896558e+02] [ 4.10280437e-01 9.11956281e-01 -2.38859695e-03 4.19632826e+01] [ 1.10933763e-01 -4.73079583e-02 9.92701192e-01 1.69639449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.869254154 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:338.92, Y:41.99, Z:16.98 [[ 9.04292682e-01 -4.14132769e-01 -1.03676397e-01 3.38916648e+02] [ 4.11683960e-01 9.10214338e-01 -4.50130559e-02 4.19931977e+01] [ 1.13009124e-01 -1.97693253e-03 9.93591983e-01 1.69809498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.89925415399995 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:338.95, Y:42.00, Z:16.98 [[ 9.03809435e-01 -4.15144973e-01 -1.03841981e-01 3.38946530e+02] [ 4.12696214e-01 9.09752807e-01 -4.50739877e-02 4.20048525e+01] [ 1.13182773e-01 -2.11689711e-03 9.93571929e-01 1.69837765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.929254154 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:338.98, Y:42.02, Z:16.99 [[ 9.03359788e-01 -4.16151408e-01 -1.03726073e-01 3.38976090e+02] [ 4.13715760e-01 9.09292554e-01 -4.50146754e-02 4.20162364e+01] [ 1.13050266e-01 -2.24866350e-03 9.93586725e-01 1.69863236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.95925415399995 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:339.01, Y:42.03, Z:16.99 [[ 9.02272475e-01 -4.18480363e-01 -1.03819877e-01 3.39006057e+02] [ 4.16056617e-01 9.08222264e-01 -4.50467580e-02 4.20263486e+01] [ 1.13142707e-01 -2.55049703e-03 9.93575474e-01 1.69894823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.989254154 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:339.04, Y:42.04, Z:16.99 [[ 9.01761253e-01 -4.19560250e-01 -1.03903026e-01 3.39035113e+02] [ 4.17140468e-01 9.07723493e-01 -4.50764988e-02 4.20373580e+01] [ 1.13227525e-01 -2.69391673e-03 9.93565433e-01 1.69924067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.01925415399995 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:339.06, Y:42.05, Z:17.00 [[ 9.01430031e-01 -4.20110763e-01 -1.04550687e-01 3.39063143e+02] [ 4.17664745e-01 9.07468565e-01 -4.53537590e-02 4.20476372e+01] [ 1.13930064e-01 -2.78389553e-03 9.93484872e-01 1.69957126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.049254154 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:339.09, Y:42.06, Z:17.00 [[ 9.00240321e-01 -4.22631137e-01 -1.04643617e-01 3.39093686e+02] [ 4.20197891e-01 9.06296457e-01 -4.53923346e-02 4.20586566e+01] [ 1.14022353e-01 -3.10701719e-03 9.93473326e-01 1.69978643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.07925415399995 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:339.12, Y:42.07, Z:17.00 [[ 8.99943291e-01 -4.23140182e-01 -1.05140186e-01 3.39121983e+02] [ 4.20688206e-01 9.06058596e-01 -4.55988412e-02 4.20693801e+01] [ 1.14557871e-01 -3.19486486e-03 9.93411439e-01 1.70002140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.109254154 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:339.15, Y:42.08, Z:17.00 [[ 8.99556974e-01 -4.23897236e-01 -1.05396317e-01 3.39152419e+02] [ 4.21439331e-01 9.05704257e-01 -4.57021773e-02 4.20794656e+01] [ 1.14830919e-01 -3.30644089e-03 9.93379549e-01 1.70023523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.13925415399996 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:339.18, Y:42.09, Z:17.01 [[ 8.99423832e-01 -4.24099819e-01 -1.05717140e-01 3.39180577e+02] [ 4.21629320e-01 9.05609251e-01 -4.58323046e-02 4.20901562e+01] [ 1.15175892e-01 -3.35077859e-03 9.93339462e-01 1.70053549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.16925415399993 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:339.20, Y:42.10, Z:17.01 [[ 8.99979910e-01 -4.22938495e-01 -1.05637076e-01 3.39203868e+02] [ 4.20339180e-01 9.06155670e-01 -4.68708357e-02 4.20995952e+01] [ 1.15547116e-01 -2.22059149e-03 9.93299518e-01 1.70079916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.19925415399996 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:339.23, Y:42.11, Z:17.01 [[ 8.99314583e-01 -4.24504962e-01 -1.05018181e-01 3.39233321e+02] [ 4.22075798e-01 9.05419126e-01 -4.54777612e-02 4.21095180e+01] [ 1.14391005e-01 -3.42681866e-03 9.93429894e-01 1.70108199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.22925415399993 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:339.26, Y:42.12, Z:17.01 [[ 8.99484523e-01 -4.24208015e-01 -1.04762366e-01 3.39258758e+02] [ 4.21779212e-01 9.05558741e-01 -4.54495593e-02 4.21199298e+01] [ 1.14148544e-01 -3.30541292e-03 9.93458195e-01 1.70138058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.25925415399996 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:339.29, Y:42.13, Z:17.02 [[ 8.99830997e-01 -4.23439247e-01 -1.04896998e-01 3.39286694e+02] [ 4.20995604e-01 9.05918902e-01 -4.55372753e-02 4.21314913e+01] [ 1.14310442e-01 -3.18532304e-03 9.93439971e-01 1.70170287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.28925415399993 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:339.31, Y:42.14, Z:17.02 [[ 9.00469728e-01 -4.22186162e-01 -1.04465847e-01 3.39313999e+02] [ 4.19754172e-01 9.06504145e-01 -4.53505187e-02 4.21427285e+01] [ 1.13845085e-01 -3.01320575e-03 9.93493944e-01 1.70197092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.31925415399996 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:339.34, Y:42.15, Z:17.02 [[ 9.02032721e-01 -4.19001862e-01 -1.03799854e-01 3.39339080e+02] [ 4.16579321e-01 9.07981680e-01 -4.50659298e-02 4.21524916e+01] [ 1.13131075e-01 -2.58992957e-03 9.93576697e-01 1.70223890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.34925415399994 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:339.36, Y:42.16, Z:17.02 [[ 9.02674515e-01 -4.17615891e-01 -1.03806011e-01 3.39364304e+02] [ 4.15255559e-01 9.08618740e-01 -4.44387996e-02 4.21629634e+01] [ 1.12878436e-01 -2.99225112e-03 9.93604300e-01 1.70249703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.37925415399997 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:339.39, Y:42.18, Z:17.03 [[ 9.03686583e-01 -4.16904613e-01 -9.76785698e-02 3.39388968e+02] [ 4.13547292e-01 9.08916379e-01 -5.33821442e-02 4.21791049e+01] [ 1.11036914e-01 7.84601950e-03 9.93785311e-01 1.70278843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.40925415399994 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:339.42, Y:42.18, Z:17.03 [[ 9.04709729e-01 -4.12429540e-01 -1.06780996e-01 3.39420504e+02] [ 4.10988331e-01 9.10921478e-01 -3.62029277e-02 4.21815260e+01] [ 1.12200259e-01 -1.11326023e-02 9.93623252e-01 1.70286794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.43925415399997 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:339.45, Y:42.19, Z:17.03 [[ 9.05241490e-01 -4.12105624e-01 -1.03473661e-01 3.39446085e+02] [ 4.10075927e-01 9.11121476e-01 -4.11751244e-02 4.21949064e+01] [ 1.11245575e-01 -5.15862656e-03 9.93779558e-01 1.70330709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.46925415399994 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:339.47, Y:42.21, Z:17.04 [[ 9.06028462e-01 -4.11094019e-01 -1.00569045e-01 3.39473312e+02] [ 4.08353961e-01 9.11590973e-01 -4.74229925e-02 4.22084123e+01] [ 1.11173143e-01 1.89881289e-03 9.93799239e-01 1.70378370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.49925415399997 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:339.50, Y:42.22, Z:17.04 [[ 9.06274978e-01 -4.10398794e-01 -1.01185441e-01 3.39500524e+02] [ 4.08033188e-01 9.11905092e-01 -4.40229492e-02 4.22173403e+01] [ 1.10338484e-01 -1.39012056e-03 9.93893096e-01 1.70394267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.52925415399994 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:339.53, Y:42.23, Z:17.04 [[ 9.06397394e-01 -4.10264785e-01 -1.00630865e-01 3.39529251e+02] [ 4.07923682e-01 9.11965434e-01 -4.37871680e-02 4.22284568e+01] [ 1.09736203e-01 -1.36113788e-03 9.93959815e-01 1.70421529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.559254154 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:339.56, Y:42.24, Z:17.04 [[ 9.06099485e-01 -4.11158537e-01 -9.96613337e-02 3.39555893e+02] [ 4.08867741e-01 9.11562693e-01 -4.33662076e-02 4.22378600e+01] [ 1.08677940e-01 -1.45420601e-03 9.94075948e-01 1.70444806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.58925415399995 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:339.58, Y:42.25, Z:17.05 [[ 9.06156427e-01 -4.12175883e-01 -9.48239001e-02 3.39583108e+02] [ 4.08917363e-01 9.11062141e-01 -5.24629915e-02 4.22536560e+01] [ 1.08014445e-01 8.76453769e-03 9.94110689e-01 1.70476645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.619254154 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:339.62, Y:42.26, Z:17.05 [[ 9.04941583e-01 -4.13015890e-01 -1.02462708e-01 3.39616503e+02] [ 4.11809860e-01 9.10648144e-01 -3.36540669e-02 4.22561957e+01] [ 1.07207139e-01 -1.17401887e-02 9.94167389e-01 1.70469329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.64925415399995 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:339.64, Y:42.27, Z:17.05 [[ 9.04628125e-01 -4.14837746e-01 -9.77629825e-02 3.39642905e+02] [ 4.12655420e-01 9.09893496e-01 -4.25362171e-02 4.22716392e+01] [ 1.06599530e-01 -1.86296637e-03 9.94300291e-01 1.70522259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.679254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:339.67, Y:42.28, Z:17.05 [[ 9.04102698e-01 -4.16097546e-01 -9.72684148e-02 3.39668204e+02] [ 4.13944630e-01 9.09317780e-01 -4.23204156e-02 4.22817463e+01] [ 1.06057320e-01 -2.00173612e-03 9.94358003e-01 1.70545340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.70925415399995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:339.69, Y:42.29, Z:17.06 [[ 9.02948346e-01 -4.18804746e-01 -9.63684009e-02 3.39694939e+02] [ 4.16705621e-01 9.08073431e-01 -4.19412496e-02 4.22912370e+01] [ 1.05074779e-01 -2.28647236e-03 9.94461695e-01 1.70569816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.739254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:339.72, Y:42.30, Z:17.06 [[ 9.02413447e-01 -4.20125299e-01 -9.56279475e-02 3.39720053e+02] [ 4.18062796e-01 9.07462944e-01 -4.16473670e-02 4.23014277e+01] [ 1.04275931e-01 -2.39534317e-03 9.94545521e-01 1.70594973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.76925415399995 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:339.75, Y:42.31, Z:17.06 [[ 9.01792267e-01 -4.21558023e-01 -9.51816236e-02 3.39745269e+02] [ 4.19520160e-01 9.06797910e-01 -4.14775254e-02 4.23119007e+01] [ 1.03795681e-01 -2.52649831e-03 9.94595432e-01 1.70620374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.799254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:339.77, Y:42.32, Z:17.06 [[ 9.01127540e-01 -4.23073220e-01 -9.47534036e-02 3.39769873e+02] [ 4.21058841e-01 9.06091591e-01 -4.13216772e-02 4.23224757e+01] [ 1.03337357e-01 -2.66065696e-03 9.94642806e-01 1.70644961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.82925415399995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:339.80, Y:42.33, Z:17.07 [[ 8.99788862e-01 -4.26096616e-01 -9.39237850e-02 3.39797312e+02] [ 4.24132480e-01 9.04672791e-01 -4.09729329e-02 4.23330310e+01] [ 1.02428721e-01 -2.96913921e-03 9.94735915e-01 1.70672851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.859254154 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:339.82, Y:42.34, Z:17.07 [[ 8.98716908e-01 -4.28468910e-01 -9.33933196e-02 3.39822581e+02] [ 4.26539035e-01 9.03550805e-01 -4.07479474e-02 4.23437374e+01] [ 1.01844838e-01 -3.21502711e-03 9.94795101e-01 1.70691361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.88925415399996 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:339.85, Y:42.35, Z:17.07 [[ 8.96677763e-01 -4.32796828e-01 -9.30370649e-02 3.39849917e+02] [ 4.30901566e-01 9.01484049e-01 -4.06245003e-02 4.23539772e+01] [ 1.01453585e-01 -3.66273087e-03 9.94833531e-01 1.70710550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.91925415399993 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:339.88, Y:42.36, Z:17.07 [[ 8.95613518e-01 -4.35070126e-01 -9.26844779e-02 3.39875132e+02] [ 4.33198570e-01 9.00388210e-01 -4.04977917e-02 4.23640764e+01] [ 1.01071390e-01 -3.88041360e-03 9.94871608e-01 1.70731274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.94925415399996 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:339.90, Y:42.37, Z:17.08 [[ 8.94476335e-01 -4.37461452e-01 -9.24097592e-02 3.39900462e+02] [ 4.35612265e-01 8.99227702e-01 -4.03917723e-02 4.23743867e+01] [ 1.00767259e-01 -4.12533996e-03 9.94901473e-01 1.70750741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.97925415399993 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:339.93, Y:42.38, Z:17.08 [[ 8.92120774e-01 -4.42227775e-01 -9.24938951e-02 3.39926302e+02] [ 4.40399091e-01 8.96890707e-01 -4.04437956e-02 4.23847882e+01] [ 1.00842285e-01 -4.65347704e-03 9.94891541e-01 1.70774716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.00925415399996 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:339.95, Y:42.40, Z:17.08 [[ 8.90779306e-01 -4.44998288e-01 -9.21344182e-02 3.39951734e+02] [ 4.43195368e-01 8.95517909e-01 -4.03179865e-02 4.23954742e+01] [ 1.00449457e-01 -4.91911930e-03 9.94930002e-01 1.70795470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.03925415399993 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:339.98, Y:42.41, Z:17.08 [[ 8.88436573e-01 -4.49777018e-01 -9.15482951e-02 3.39976894e+02] [ 4.48019017e-01 8.93124584e-01 -4.00928563e-02 4.24057090e+01] [ 9.97968784e-02 -5.39541732e-03 9.94993202e-01 1.70816425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.06925415399996 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:340.00, Y:42.42, Z:17.08 [[ 8.87316481e-01 -4.51999605e-01 -9.14648582e-02 3.40002327e+02] [ 4.50254265e-01 8.92000435e-01 -4.00789327e-02 4.24168303e+01] [ 9.97023550e-02 -5.61974507e-03 9.95001437e-01 1.70840394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.09925415399994 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:340.03, Y:42.43, Z:17.09 [[ 8.86428807e-01 -4.53788532e-01 -9.12136963e-02 3.40027628e+02] [ 4.52059015e-01 8.91090681e-01 -4.00005585e-02 4.24278291e+01] [ 9.94314695e-02 -5.77632644e-03 9.95027646e-01 1.70863777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.12925415399997 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:340.05, Y:42.44, Z:17.09 [[ 8.85080768e-01 -4.56450200e-01 -9.10233469e-02 3.40052435e+02] [ 4.54738702e-01 8.89728502e-01 -3.99487986e-02 4.24394078e+01] [ 9.92207032e-02 -6.03392526e-03 9.95047157e-01 1.70890356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.15925415399994 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:340.08, Y:42.45, Z:17.09 [[ 8.84753538e-01 -4.57191680e-01 -9.04817341e-02 3.40077708e+02] [ 4.55501270e-01 8.89347591e-01 -3.97423748e-02 4.24513850e+01] [ 9.86395953e-02 -6.05233802e-03 9.95104818e-01 1.70916864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.18925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:340.10, Y:42.46, Z:17.09 [[ 8.84403630e-01 -4.57892012e-01 -9.03610752e-02 3.40102626e+02] [ 4.56206578e-01 8.88986936e-01 -3.97213468e-02 4.24635841e+01] [ 9.85179028e-02 -6.09361354e-03 9.95116622e-01 1.70943857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.21925415399994 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:340.13, Y:42.48, Z:17.10 [[ 8.84601809e-01 -4.57525460e-01 -9.02778615e-02 3.40127714e+02] [ 4.55838092e-01 8.89176151e-01 -3.97165675e-02 4.24764221e+01] [ 9.84442623e-02 -6.01874063e-03 9.95124365e-01 1.70967877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.24925415399997 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:340.15, Y:42.49, Z:17.10 [[ 8.84678396e-01 -4.57271266e-01 -9.08136885e-02 3.40151697e+02] [ 4.55559315e-01 8.89307039e-01 -3.99837519e-02 4.24881218e+01] [ 9.90446733e-02 -5.99826019e-03 9.95064909e-01 1.70993778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.27925415399994 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:340.18, Y:42.50, Z:17.10 [[ 8.84462589e-01 -4.57712043e-01 -9.06951728e-02 3.40175830e+02] [ 4.56005481e-01 8.89080063e-01 -3.99454952e-02 4.25007303e+01] [ 9.89188042e-02 -6.02719982e-03 9.95077255e-01 1.71016917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.309254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:340.20, Y:42.51, Z:17.10 [[ 8.84433767e-01 -4.57770823e-01 -9.06795764e-02 3.40202561e+02] [ 4.56063870e-01 8.89049841e-01 -3.99515523e-02 4.25139908e+01] [ 9.89073179e-02 -6.02117662e-03 9.95078433e-01 1.71046544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.33925415399995 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:340.23, Y:42.53, Z:17.11 [[ 8.84201000e-01 -4.58289384e-01 -9.03295714e-02 3.40226801e+02] [ 4.56597863e-01 8.88782436e-01 -3.98016757e-02 4.25274332e+01] [ 9.85240220e-02 -6.05160778e-03 9.95116272e-01 1.71074822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.369254154 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:340.25, Y:42.54, Z:17.11 [[ 8.83742154e-01 -4.59166469e-01 -9.03656953e-02 3.40251143e+02] [ 4.57477154e-01 8.88329003e-01 -3.98275731e-02 4.25410775e+01] [ 9.85619541e-02 -6.14293595e-03 9.95111956e-01 1.71095549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.39925415399995 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:340.28, Y:42.55, Z:17.11 [[ 8.83544226e-01 -4.59572371e-01 -9.02376661e-02 3.40275483e+02] [ 4.57888953e-01 8.88118890e-01 -3.97812022e-02 4.25534211e+01] [ 9.84241173e-02 -6.17037896e-03 9.95125429e-01 1.71120840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.429254154 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:340.30, Y:42.57, Z:17.11 [[ 8.83216381e-01 -4.60259053e-01 -8.99468110e-02 3.40300729e+02] [ 4.58588596e-01 8.87762916e-01 -3.96674275e-02 4.25661599e+01] [ 9.81087358e-02 -6.21366004e-03 9.95156302e-01 1.71145410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.45925415399995 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:340.33, Y:42.58, Z:17.12 [[ 8.83130921e-01 -4.60523689e-01 -8.94299103e-02 3.40325219e+02] [ 4.58870724e-01 8.87625906e-01 -3.94703743e-02 4.25786774e+01] [ 9.75573475e-02 -6.17925963e-03 9.95210722e-01 1.71172483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.489254154 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:340.35, Y:42.59, Z:17.12 [[ 8.83456902e-01 -4.60101326e-01 -8.83780071e-02 3.40347921e+02] [ 4.58482100e-01 8.87845915e-01 -3.90358063e-02 4.25928180e+01] [ 9.64264788e-02 -6.03328185e-03 9.95321824e-01 1.71200241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.51925415399995 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:340.37, Y:42.61, Z:17.12 [[ 8.83612534e-01 -4.59912111e-01 -8.78051243e-02 3.40371549e+02] [ 4.58311654e-01 8.87944429e-01 -3.87958604e-02 4.26054625e+01] [ 9.58087570e-02 -5.96160319e-03 9.95381907e-01 1.71223579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.549254154 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:340.40, Y:42.62, Z:17.13 [[ 8.83646880e-01 -4.59897695e-01 -8.75345739e-02 3.40396316e+02] [ 4.58305759e-01 8.87952110e-01 -3.86895559e-02 4.26182698e+01] [ 9.55197472e-02 -5.92969405e-03 9.95409874e-01 1.71250487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.57925415399995 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:340.42, Y:42.63, Z:17.13 [[ 8.83691456e-01 -4.59854582e-01 -8.73107916e-02 3.40424116e+02] [ 4.58267829e-01 8.87974741e-01 -3.86193850e-02 4.26338048e+01] [ 9.52890787e-02 -5.88410637e-03 9.95432252e-01 1.71275934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.609254154 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:340.45, Y:42.65, Z:17.13 [[ 8.83465057e-01 -4.60175489e-01 -8.79091187e-02 3.40451753e+02] [ 4.58569209e-01 8.87807929e-01 -3.88762333e-02 4.26476415e+01] [ 9.59363023e-02 -5.96662139e-03 9.95369592e-01 1.71303954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.63925415399996 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:340.48, Y:42.66, Z:17.13 [[ 8.83465464e-01 -4.60082490e-01 -8.83904714e-02 3.40475420e+02] [ 4.58458592e-01 8.87855941e-01 -3.90838411e-02 4.26594063e+01] [ 9.64597961e-02 -5.99414732e-03 9.95318832e-01 1.71324659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.66925415399993 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:340.50, Y:42.67, Z:17.13 [[ 8.82903713e-01 -4.61003368e-01 -8.92016131e-02 3.40498836e+02] [ 4.59352876e-01 8.87377146e-01 -3.94554880e-02 4.26733258e+01] [ 9.73445858e-02 -6.13962071e-03 9.95231800e-01 1.71347463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.69925415399996 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:340.52, Y:42.68, Z:17.14 [[ 8.82786017e-01 -4.61229662e-01 -8.91966700e-02 3.40524657e+02] [ 4.59579194e-01 8.87259459e-01 -3.94666599e-02 4.26848699e+01] [ 9.73437833e-02 -6.15231818e-03 9.95231801e-01 1.71374045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.72925415399993 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:340.55, Y:42.70, Z:17.14 [[ 8.82874077e-01 -4.61021331e-01 -8.94018827e-02 3.40552124e+02] [ 4.59359613e-01 8.87367948e-01 -3.95837102e-02 4.26985329e+01] [ 9.75813000e-02 -6.12018268e-03 9.95208739e-01 1.71403353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.75925415399996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:340.58, Y:42.71, Z:17.14 [[ 8.83214814e-01 -4.60383562e-01 -8.93228315e-02 3.40580742e+02] [ 4.58721579e-01 8.87699521e-01 -3.95483694e-02 4.27143010e+01] [ 9.74992539e-02 -6.04460463e-03 9.95217242e-01 1.71431167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.78925415399993 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:340.61, Y:42.73, Z:17.15 [[ 8.83706901e-01 -4.59407922e-01 -8.94789065e-02 3.40609313e+02] [ 4.57735921e-01 8.88205441e-01 -3.96096033e-02 4.27283127e+01] [ 9.76726172e-02 -5.95442996e-03 9.95200786e-01 1.71462796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.81925415399996 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:340.64, Y:42.74, Z:17.15 [[ 8.84195364e-01 -4.58483459e-01 -8.93950553e-02 3.40638058e+02] [ 4.56810676e-01 8.88683662e-01 -3.95645729e-02 4.27428442e+01] [ 9.75836273e-02 -5.85380369e-03 9.95210113e-01 1.71493939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.84925415399994 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:340.67, Y:42.76, Z:17.15 [[ 8.85798142e-01 -4.55354721e-01 -8.95194433e-02 3.40665662e+02] [ 4.53662152e-01 8.90292967e-01 -3.96116712e-02 4.27583843e+01] [ 9.77358923e-02 -5.52363853e-03 9.95197058e-01 1.71528406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.87925415399997 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:340.70, Y:42.77, Z:17.16 [[ 8.86943849e-01 -4.53119577e-01 -8.95168063e-02 3.40695178e+02] [ 4.51416574e-01 8.91434084e-01 -3.96024048e-02 4.27732438e+01] [ 9.77429571e-02 -5.28426075e-03 9.95197664e-01 1.71561098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.90925415399994 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:340.72, Y:42.79, Z:17.16 [[ 8.88281985e-01 -4.50460805e-01 -8.96670424e-02 3.40723331e+02] [ 4.48739761e-01 8.92782144e-01 -3.96569039e-02 4.27877147e+01] [ 9.79170153e-02 -5.01065388e-03 9.95181969e-01 1.71593581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.93925415399997 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:340.75, Y:42.80, Z:17.16 [[ 8.90875156e-01 -4.45258151e-01 -8.99257254e-02 3.40748869e+02] [ 4.43501653e-01 8.95391139e-01 -3.97616886e-02 4.28038637e+01] [ 9.82229136e-02 -4.45950731e-03 9.95154446e-01 1.71625847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.96925415399994 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:340.78, Y:42.82, Z:17.17 [[ 8.92253628e-01 -4.42452942e-01 -9.01047042e-02 3.40778508e+02] [ 4.40675416e-01 8.96782069e-01 -3.98383918e-02 4.28187251e+01] [ 9.84308968e-02 -4.16097843e-03 9.95135189e-01 1.71658391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.99925415399997 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:340.81, Y:42.83, Z:17.17 [[ 8.93541383e-01 -4.39833529e-01 -9.01679691e-02 3.40808399e+02] [ 4.38041400e-01 8.98070914e-01 -3.98543025e-02 4.28333376e+01] [ 9.85064890e-02 -3.88583479e-03 9.95128822e-01 1.71690928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.02925415399994 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:340.84, Y:42.85, Z:17.17 [[ 8.95666408e-01 -4.35617161e-01 -8.95509583e-02 3.40836382e+02] [ 4.33829638e-01 9.00125586e-01 -3.95698592e-02 4.28480200e+01] [ 9.78444186e-02 -3.40846618e-03 9.95195886e-01 1.71718336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.059254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:340.87, Y:42.86, Z:17.18 [[ 8.96676738e-01 -4.33569647e-01 -8.93766685e-02 3.40865828e+02] [ 4.31779914e-01 9.01114422e-01 -3.94829694e-02 4.28619898e+01] [ 9.76572221e-02 -3.18759008e-03 9.95215005e-01 1.71750732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.08925415399995 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:340.89, Y:42.88, Z:17.18 [[ 8.97703485e-01 -4.31548245e-01 -8.88513683e-02 3.40894617e+02] [ 4.29770766e-01 9.02085001e-01 -3.92395240e-02 4.28758409e+01] [ 9.70852344e-02 -2.96026321e-03 9.95271669e-01 1.71779115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.119254154 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:340.92, Y:42.89, Z:17.18 [[ 8.99390546e-01 -4.28080378e-01 -8.85654313e-02 3.40923823e+02] [ 4.26298486e-01 9.03736966e-01 -3.91036843e-02 4.28907547e+01] [ 9.67793741e-02 -2.58582524e-03 9.95302500e-01 1.71807223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.14925415399995 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:340.95, Y:42.91, Z:17.18 [[ 9.00299314e-01 -4.26154501e-01 -8.86198971e-02 3.40953678e+02] [ 4.24362224e-01 9.04647238e-01 -3.91162008e-02 4.29050610e+01] [ 9.68392902e-02 -2.39064785e-03 9.95297160e-01 1.71836995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.179254154 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:340.98, Y:42.92, Z:17.19 [[ 9.01271591e-01 -4.24061478e-01 -8.87771467e-02 3.40983412e+02] [ 4.22253832e-01 9.05630780e-01 -3.91738625e-02 4.29192301e+01] [ 9.70114426e-02 -2.18020106e-03 9.95280878e-01 1.71864887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.20925415399995 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:341.01, Y:42.93, Z:17.19 [[ 9.03425629e-01 -4.19585953e-01 -8.81462494e-02 3.41006228e+02] [ 4.17170295e-01 9.07706769e-01 -4.51371888e-02 4.29340089e+01] [ 9.89498777e-02 4.00609630e-03 9.95084355e-01 1.71906264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.239254154 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:341.04, Y:42.94, Z:17.19 [[ 9.04059418e-01 -4.17570604e-01 -9.11666591e-02 3.41035215e+02] [ 4.16197851e-01 9.08619376e-01 -3.44989587e-02 4.29419149e+01] [ 9.72415440e-02 -6.75425914e-03 9.95237892e-01 1.71895766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.26925415399995 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:341.06, Y:42.96, Z:17.19 [[ 9.05039941e-01 -4.15970853e-01 -8.87183945e-02 3.41064323e+02] [ 4.14123684e-01 9.09377042e-01 -3.91786851e-02 4.29578343e+01] [ 9.69756623e-02 -1.28211347e-03 9.95285927e-01 1.71941169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.299254154 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:341.09, Y:42.97, Z:17.20 [[ 9.05911070e-01 -4.14158829e-01 -8.83040106e-02 3.41093326e+02] [ 4.12321408e-01 9.10203971e-01 -3.89844460e-02 4.29708731e+01] [ 9.65204136e-02 -1.09319280e-03 9.95330405e-01 1.71967434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.32925415399995 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:341.12, Y:42.98, Z:17.20 [[ 9.06995909e-01 -4.11915288e-01 -8.76596621e-02 3.41122331e+02] [ 4.10095071e-01 9.11221741e-01 -3.86907059e-02 4.29840638e+01] [ 9.58146832e-02 -8.56483382e-04 9.95398821e-01 1.71991837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.359254154 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:341.15, Y:43.00, Z:17.20 [[ 9.07389848e-01 -4.11067747e-01 -8.75612475e-02 3.41152902e+02] [ 4.09248575e-01 9.11604469e-01 -3.86380104e-02 4.29972027e+01] [ 9.57040644e-02 -7.74577402e-04 9.95409530e-01 1.72017414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.38925415399996 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:341.18, Y:43.01, Z:17.20 [[ 9.07557444e-01 -4.10730793e-01 -8.74053844e-02 3.41183555e+02] [ 4.08917597e-01 9.11756358e-01 -3.85583013e-02 4.30104970e+01] [ 9.55294966e-02 -7.47726350e-04 9.95426319e-01 1.72044029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.41925415399993 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:341.21, Y:43.02, Z:17.21 [[ 9.07492385e-01 -4.10829378e-01 -8.76173172e-02 3.41214624e+02] [ 4.09008877e-01 9.11711922e-01 -3.86407680e-02 4.30230676e+01] [ 9.57565154e-02 -7.70057874e-04 9.95404489e-01 1.72063546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.44925415399996 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:341.25, Y:43.04, Z:17.21 [[ 9.07282256e-01 -4.11231795e-01 -8.79051667e-02 3.41245387e+02] [ 4.09402254e-01 9.11530433e-01 -3.87564793e-02 4.30357686e+01] [ 9.60661312e-02 -8.25507394e-04 9.95374611e-01 1.72088063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.47925415399993 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:341.27, Y:43.05, Z:17.21 [[ 9.06704790e-01 -4.12630830e-01 -8.73053365e-02 3.41268456e+02] [ 4.10210350e-01 9.10885202e-01 -4.48956286e-02 4.30472170e+01] [ 9.80504596e-02 4.89352890e-03 9.95169413e-01 1.72128361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.50925415399996 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:341.30, Y:43.05, Z:17.21 [[ 9.05903513e-01 -4.13821625e-01 -8.99471425e-02 3.41298592e+02] [ 4.12477554e-01 9.10335731e-01 -3.39282185e-02 4.30536097e+01] [ 9.59223282e-02 -6.36548505e-03 9.95368468e-01 1.72111799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.53925415399993 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:341.33, Y:43.07, Z:17.22 [[ 9.04498674e-01 -4.17414122e-01 -8.74505523e-02 3.41327540e+02] [ 4.15630845e-01 9.08715202e-01 -3.85704820e-02 4.30663103e+01] [ 9.55675101e-02 -1.46019711e-03 9.95421880e-01 1.72163714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.56925415399996 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:341.36, Y:43.08, Z:17.22 [[ 9.03857642e-01 -4.18959006e-01 -8.66874507e-02 3.41357679e+02] [ 4.17215615e-01 9.08003693e-01 -3.82154847e-02 4.30777651e+01] [ 9.47232469e-02 -1.62600014e-03 9.95502317e-01 1.72186942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.59925415399994 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:341.39, Y:43.09, Z:17.22 [[ 9.03102645e-01 -4.20560897e-01 -8.67994516e-02 3.41388043e+02] [ 4.18821058e-01 9.07262521e-01 -3.82575472e-02 4.30893484e+01] [ 9.48395176e-02 -1.80294612e-03 9.95490942e-01 1.72213885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.62925415399997 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:341.42, Y:43.10, Z:17.22 [[ 9.02100351e-01 -4.22791076e-01 -8.63867030e-02 3.41418666e+02] [ 4.21079032e-01 9.06224891e-01 -3.80643545e-02 4.31013591e+01] [ 9.43790499e-02 -2.03776172e-03 9.95534250e-01 1.72244942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.65925415399994 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:341.45, Y:43.11, Z:17.23 [[ 9.00445276e-01 -4.26210444e-01 -8.68502353e-02 3.41449906e+02] [ 4.24496852e-01 9.04620808e-01 -3.82572500e-02 4.31121962e+01] [ 9.48721695e-02 -2.41909141e-03 9.95486524e-01 1.72271219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.68925415399997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:341.48, Y:43.12, Z:17.23 [[ 8.99830986e-01 -4.27434398e-01 -8.72010988e-02 3.41480394e+02] [ 4.25713741e-01 9.04042718e-01 -3.84002045e-02 4.31241863e+01] [ 9.52470867e-02 -2.56901205e-03 9.95450347e-01 1.72299643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.71925415399994 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:341.51, Y:43.14, Z:17.23 [[ 8.99515333e-01 -4.28130643e-01 -8.70420457e-02 3.41511327e+02] [ 4.26420614e-01 9.03712974e-01 -3.83186754e-02 4.31362230e+01] [ 9.50664251e-02 -2.64828643e-03 9.95467409e-01 1.72325025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.74925415399997 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:341.54, Y:43.15, Z:17.24 [[ 8.99093478e-01 -4.29047481e-01 -8.68859999e-02 3.41540479e+02] [ 4.27348939e-01 9.03277750e-01 -3.82386085e-02 4.31480186e+01] [ 9.48883691e-02 -2.75055641e-03 9.95484119e-01 1.72354098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.77925415399994 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:341.57, Y:43.16, Z:17.24 [[ 8.98802888e-01 -4.29766224e-01 -8.63386479e-02 3.41571661e+02] [ 4.28093245e-01 9.02935799e-01 -3.79883658e-02 4.31595008e+01] [ 9.42843726e-02 -2.81693910e-03 9.95541321e-01 1.72376458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.809254154 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:341.60, Y:43.17, Z:17.24 [[ 8.98257877e-01 -4.30966948e-01 -8.60248602e-02 3.41600758e+02] [ 4.29312670e-01 9.02362916e-01 -3.78391143e-02 4.31719163e+01] [ 9.39330514e-02 -2.94227997e-03 9.95574168e-01 1.72416688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.83925415399995 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:341.63, Y:43.18, Z:17.24 [[ 8.97906223e-01 -4.31738095e-01 -8.58290860e-02 3.41631867e+02] [ 4.30095734e-01 9.01993941e-01 -3.77437263e-02 4.31839429e+01] [ 9.37127201e-02 -3.02439711e-03 9.95594686e-01 1.72448578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.869254154 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:341.66, Y:43.20, Z:17.25 [[ 8.97756336e-01 -4.32009174e-01 -8.60327477e-02 3.41660822e+02] [ 4.30361296e-01 9.01863985e-01 -3.78220515e-02 4.31958675e+01] [ 9.39293099e-02 -3.07017844e-03 9.95574135e-01 1.72477522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.89925415399995 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:341.69, Y:43.21, Z:17.25 [[ 8.97434229e-01 -4.32642689e-01 -8.62096753e-02 3.41690515e+02] [ 4.30991455e-01 9.01559978e-01 -3.78942333e-02 4.32083700e+01] [ 9.41178560e-02 -3.14805128e-03 9.95556085e-01 1.72507684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.929254154 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:341.72, Y:43.22, Z:17.25 [[ 8.96954480e-01 -4.33608441e-01 -8.63503375e-02 3.41719646e+02] [ 4.31956971e-01 9.01095490e-01 -3.79485592e-02 4.32201579e+01] [ 9.42647153e-02 -3.26150006e-03 9.95541825e-01 1.72534358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.95925415399995 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:341.75, Y:43.23, Z:17.26 [[ 8.96603782e-01 -4.34281853e-01 -8.66079088e-02 3.41746677e+02] [ 4.32624788e-01 9.00770796e-01 -3.80495269e-02 4.32320065e+01] [ 9.45380940e-02 -3.35337842e-03 9.95515597e-01 1.72565229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.989254154 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:341.78, Y:43.25, Z:17.26 [[ 8.96283892e-01 -4.34856303e-01 -8.70355150e-02 3.41777082e+02] [ 4.33185179e-01 9.00493334e-01 -3.82407552e-02 4.32454954e+01] [ 9.50041345e-02 -3.42792226e-03 9.95470976e-01 1.72599958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.01925415399995 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:341.81, Y:43.26, Z:17.26 [[ 8.96065781e-01 -4.35169057e-01 -8.77154926e-02 3.41807487e+02] [ 4.33474284e-01 9.00341963e-01 -3.85278598e-02 4.32585638e+01] [ 9.57400712e-02 -3.49891356e-03 9.95400219e-01 1.72613108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.049254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:341.84, Y:43.27, Z:17.27 [[ 8.95381595e-01 -4.36434200e-01 -8.84137359e-02 3.41837379e+02] [ 4.34719562e-01 8.99728676e-01 -3.88228161e-02 4.32723837e+01] [ 9.64919783e-02 -3.67394558e-03 9.95326982e-01 1.72665835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.07925415399995 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:341.87, Y:43.29, Z:17.27 [[ 8.95174444e-01 -4.36824406e-01 -8.85841555e-02 3.41867166e+02] [ 4.35106195e-01 8.99539046e-01 -3.88857778e-02 4.32856152e+01] [ 9.66711635e-02 -3.73396026e-03 9.95309371e-01 1.72695184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.109254154 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:341.90, Y:43.33, Z:17.28 [[ 8.98570433e-01 -4.36051793e-01 -4.92951349e-02 3.41896528e+02] [ 4.30416829e-01 8.97656204e-01 -9.46292391e-02 4.33256476e+01] [ 8.55133330e-02 6.38135807e-02 9.94291354e-01 1.72759638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.13925415399996 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:341.94, Y:43.28, Z:17.26 [[ 8.94793706e-01 -4.30763460e-01 -1.17418332e-01 3.41938535e+02] [ 4.36295624e-01 8.99454346e-01 2.50600748e-02 4.32819585e+01] [ 9.48174643e-02 -7.36527016e-02 9.92766301e-01 1.72564507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.16925415399993 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:341.95, Y:43.33, Z:17.28 [[ 8.95023077e-01 -4.37029106e-01 -8.91024842e-02 3.41953193e+02] [ 4.35289672e-01 8.99439507e-01 -3.91340654e-02 4.33256527e+01] [ 9.72450201e-02 -3.75949946e-03 9.95253371e-01 1.72787848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.19925415399996 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:341.98, Y:43.36, Z:17.29 [[ 8.98435871e-01 -4.35363159e-01 -5.72005732e-02 3.41981030e+02] [ 4.30416715e-01 8.98940410e-01 -8.15327577e-02 4.33603011e+01] [ 8.69162656e-02 4.86318714e-02 9.95027891e-01 1.72863364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.22925415399993 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:342.02, Y:43.33, Z:17.27 [[ 8.95894019e-01 -4.30460009e-01 -1.09900354e-01 3.42020217e+02] [ 4.34118448e-01 9.00793028e-01 1.06345931e-02 4.33304708e+01] [ 9.44197051e-02 -5.72372392e-02 9.93885717e-01 1.72715217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.25925415399996 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:342.04, Y:43.37, Z:17.29 [[ 8.96351137e-01 -4.34578373e-01 -8.77284274e-02 3.42038027e+02] [ 4.32881387e-01 9.00627425e-01 -3.85220331e-02 4.33672654e+01] [ 9.57514701e-02 -3.44673513e-03 9.95399305e-01 1.72908696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.28925415399993 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:342.07, Y:43.38, Z:17.29 [[ 8.97806961e-01 -4.31742642e-01 -8.68386526e-02 3.42067831e+02] [ 4.30067808e-01 9.01991432e-01 -3.81200281e-02 4.33819977e+01] [ 9.47857623e-02 -3.12208239e-03 9.95492799e-01 1.72920117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.31925415399996 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:342.10, Y:43.40, Z:17.30 [[ 8.97891688e-01 -4.31536721e-01 -8.69860598e-02 3.42095760e+02] [ 4.29856321e-01 9.02089989e-01 -3.81732224e-02 4.33960639e+01] [ 9.49424010e-02 -3.11608855e-03 9.95477891e-01 1.72974502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.34925415399994 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:342.12, Y:43.41, Z:17.30 [[ 8.98448466e-01 -4.30460881e-01 -8.65666433e-02 3.42123547e+02] [ 4.28792591e-01 9.02604261e-01 -3.79797507e-02 4.34092906e+01] [ 9.44842180e-02 -2.99628648e-03 9.95521851e-01 1.72995252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.37925415399997 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:342.15, Y:43.42, Z:17.30 [[ 8.98833359e-01 -4.29532099e-01 -8.71823825e-02 3.42150557e+02] [ 4.27836129e-01 9.03046855e-01 -3.82442727e-02 4.34238813e+01] [ 9.51569190e-02 -2.92454493e-03 9.95457989e-01 1.73031041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.40925415399994 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:342.18, Y:43.44, Z:17.31 [[ 8.99095642e-01 -4.28916886e-01 -8.75061777e-02 3.42179327e+02] [ 4.27205900e-01 9.03339381e-01 -3.83807335e-02 4.34374704e+01] [ 9.55099212e-02 -2.87520519e-03 9.95424326e-01 1.73059233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.43925415399997 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:342.21, Y:43.45, Z:17.31 [[ 8.99183594e-01 -4.28588335e-01 -8.82094262e-02 3.42206922e+02] [ 4.26848827e-01 9.03495325e-01 -3.86817450e-02 4.34516736e+01] [ 9.62753489e-02 -2.87009955e-03 9.95350601e-01 1.73090582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.46925415399994 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:342.24, Y:43.47, Z:17.31 [[ 8.99363129e-01 -4.28211495e-01 -8.82092891e-02 3.42237181e+02] [ 4.26470731e-01 9.03674100e-01 -3.86760460e-02 4.34654805e+01] [ 9.62739774e-02 -2.83487029e-03 9.95350835e-01 1.73120732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.49925415399997 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:342.27, Y:43.48, Z:17.31 [[ 8.99593344e-01 -4.27688862e-01 -8.83971329e-02 3.42267307e+02] [ 4.25939254e-01 9.03921691e-01 -3.87469731e-02 4.34790073e+01] [ 9.64757347e-02 -2.79528973e-03 9.95331412e-01 1.73149807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.52925415399994 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:342.30, Y:43.49, Z:17.32 [[ 9.00064895e-01 -4.26609030e-01 -8.88139656e-02 3.42297217e+02] [ 4.24838728e-01 9.04432104e-01 -3.89181795e-02 4.34935471e+01] [ 9.69290486e-02 -2.70272498e-03 9.95287624e-01 1.73181217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.559254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:342.33, Y:43.51, Z:17.32 [[ 9.00398862e-01 -4.25784776e-01 -8.93824024e-02 3.42326662e+02] [ 4.23988809e-01 9.04820616e-01 -3.91553736e-02 4.35072879e+01] [ 9.75468023e-02 -2.64168447e-03 9.95227433e-01 1.73215959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.58925415399995 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:342.36, Y:43.52, Z:17.32 [[ 9.00454071e-01 -4.25667082e-01 -8.93868014e-02 3.42357292e+02] [ 4.23871534e-01 9.04875995e-01 -3.91453287e-02 4.35206035e+01] [ 9.75468487e-02 -2.63995010e-03 9.95227433e-01 1.73247661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.619254154 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:342.39, Y:43.53, Z:17.33 [[ 9.00818916e-01 -4.24802487e-01 -8.98227511e-02 3.42386321e+02] [ 4.22986493e-01 9.05282404e-01 -3.93216889e-02 4.35342308e+01] [ 9.80189073e-02 -2.57208927e-03 9.95181229e-01 1.73276476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.64925415399995 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:342.42, Y:43.55, Z:17.33 [[ 9.01480235e-01 -4.23212189e-01 -9.06908492e-02 3.42416325e+02] [ 4.21355735e-01 9.06027287e-01 -3.96724049e-02 4.35473530e+01] [ 9.89582294e-02 -2.44922055e-03 9.95088574e-01 1.73285793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.679254154 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:342.45, Y:43.56, Z:17.33 [[ 9.01673188e-01 -4.22525007e-01 -9.19678266e-02 3.42445190e+02] [ 4.20613522e-01 9.06348038e-01 -4.02181449e-02 4.35606376e+01] [ 1.00348031e-01 -2.41928853e-03 9.94949456e-01 1.73331559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.70925415399995 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:342.48, Y:43.57, Z:17.34 [[ 9.01823088e-01 -4.22202031e-01 -9.19813161e-02 3.42475246e+02] [ 4.20290298e-01 9.06498581e-01 -4.02043358e-02 4.35734927e+01] [ 1.00355285e-01 -2.40165652e-03 9.94948767e-01 1.73364766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.739254154 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:342.50, Y:43.59, Z:17.34 [[ 9.01955461e-01 -4.21942419e-01 -9.18745941e-02 3.42504191e+02] [ 4.20034972e-01 9.06619505e-01 -4.01459205e-02 4.35856953e+01] [ 1.00234566e-01 -2.38071036e-03 9.94960986e-01 1.73393496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.76925415399995 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:342.53, Y:43.60, Z:17.34 [[ 9.01767690e-01 -4.22372893e-01 -9.17396992e-02 3.42534777e+02] [ 4.20474277e-01 9.06418896e-01 -4.00770246e-02 4.35987640e+01] [ 1.00082046e-01 -2.43401779e-03 9.94976211e-01 1.73434738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.799254154 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:342.56, Y:43.61, Z:17.35 [[ 9.01874850e-01 -4.22129872e-01 -9.18048311e-02 3.42564394e+02] [ 4.20228637e-01 9.06532134e-01 -4.00921709e-02 4.36110593e+01] [ 1.00148132e-01 -2.42089843e-03 9.94969593e-01 1.73466874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.82925415399995 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:342.60, Y:43.62, Z:17.35 [[ 9.01891587e-01 -4.22116378e-01 -9.17023951e-02 3.42595161e+02] [ 4.20222266e-01 9.06538357e-01 -4.00181733e-02 4.36237315e+01] [ 1.00024065e-01 -2.44333446e-03 9.94982018e-01 1.73503909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.859254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:342.63, Y:43.64, Z:17.35 [[ 9.01654287e-01 -4.22535958e-01 -9.21027200e-02 3.42625015e+02] [ 4.20628645e-01 9.06342680e-01 -4.01807027e-02 4.36352476e+01] [ 1.00454418e-01 -2.51193945e-03 9.94938491e-01 1.73533644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.88925415399996 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:342.66, Y:43.65, Z:17.35 [[ 9.01581139e-01 -4.22517439e-01 -9.29002898e-02 3.42656037e+02] [ 4.20577840e-01 9.06351232e-01 -4.05182047e-02 4.36472858e+01] [ 1.01319940e-01 -2.54135402e-03 9.94850648e-01 1.73544560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.91925415399993 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:342.69, Y:43.66, Z:17.36 [[ 9.00716539e-01 -4.24079198e-01 -9.41623617e-02 3.42687164e+02] [ 4.22096224e-01 9.05620884e-01 -4.10559784e-02 4.36587986e+01] [ 1.02686388e-01 -2.76577850e-03 9.94709936e-01 1.73583844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.94925415399996 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:342.72, Y:43.67, Z:17.36 [[ 9.00856417e-01 -4.23140785e-01 -9.70030476e-02 3.42721947e+02] [ 4.21572132e-01 9.06033515e-01 -3.71511297e-02 4.36694618e+01] [ 1.03608170e-01 -7.42594799e-03 9.94590470e-01 1.73614877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.97925415399993 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:342.75, Y:43.68, Z:17.37 [[ 9.00245717e-01 -4.25180101e-01 -9.36991524e-02 3.42745334e+02] [ 4.22791342e-01 9.05108311e-01 -4.50158601e-02 4.36848652e+01] [ 1.03947729e-01 9.10144884e-04 9.94582345e-01 1.73659075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.00925415399996 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:342.78, Y:43.70, Z:17.37 [[ 9.00354787e-01 -4.24422526e-01 -9.60561119e-02 3.42776522e+02] [ 4.22366202e-01 9.05459583e-01 -4.18298371e-02 4.36950926e+01] [ 1.04728452e-01 -2.90916112e-03 9.94496600e-01 1.73680892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.03925415399993 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:342.81, Y:43.71, Z:17.37 [[ 9.00911806e-01 -4.23258241e-01 -9.59707185e-02 3.42806891e+02] [ 4.21200325e-01 9.06004811e-01 -4.17800049e-02 4.37077059e+01] [ 1.04633664e-01 -2.78279811e-03 9.94506939e-01 1.73715813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.06925415399996 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:342.84, Y:43.72, Z:17.38 [[ 9.01718496e-01 -4.21483016e-01 -9.62071825e-02 3.42837298e+02] [ 4.19406178e-01 9.06832584e-01 -4.18703069e-02 4.37206931e+01] [ 1.04891431e-01 -2.59465656e-03 9.94480294e-01 1.73754768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.09925415399994 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:342.87, Y:43.73, Z:17.38 [[ 9.03976902e-01 -4.16550579e-01 -9.64954679e-02 3.42866948e+02] [ 4.14434488e-01 9.09110256e-01 -4.19833072e-02 4.37327199e+01] [ 1.05213190e-01 -2.03910990e-03 9.94447599e-01 1.73780400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.12925415399997 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:342.90, Y:43.75, Z:17.38 [[ 9.04976609e-01 -4.14599329e-01 -9.55234703e-02 3.42896546e+02] [ 4.12515965e-01 9.10002278e-01 -4.15503566e-02 4.37454481e+01] [ 1.04153326e-01 -1.80285580e-03 9.94559618e-01 1.73828772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.15925415399994 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:342.93, Y:43.76, Z:17.39 [[ 9.06122996e-01 -4.12125879e-01 -9.53591897e-02 3.42926002e+02] [ 4.10036873e-01 9.11125644e-01 -4.14707474e-02 4.37574090e+01] [ 1.03975371e-01 -1.52318609e-03 9.94578706e-01 1.73858955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.18925415399997 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:342.96, Y:43.77, Z:17.39 [[ 9.08084146e-01 -4.07761974e-01 -9.54639040e-02 3.42955490e+02] [ 4.05645105e-01 9.13087678e-01 -4.15083205e-02 4.37681061e+01] [ 1.04092429e-01 -1.03141758e-03 9.94567093e-01 1.73889247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.21925415399994 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:342.99, Y:43.78, Z:17.39 [[ 9.08903128e-01 -4.05940040e-01 -9.54347261e-02 3.42985811e+02] [ 4.03815139e-01 9.13899337e-01 -4.14889845e-02 4.37802703e+01] [ 1.04059773e-01 -8.28519385e-04 9.94570700e-01 1.73922298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.24925415399997 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:343.02, Y:43.79, Z:17.40 [[ 9.09453655e-01 -4.04662187e-01 -9.56167553e-02 3.43016148e+02] [ 4.02523411e-01 9.14465981e-01 -4.15556541e-02 4.37920968e+01] [ 1.04254272e-01 -6.95041002e-04 9.94550433e-01 1.73954788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.27925415399994 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:343.05, Y:43.80, Z:17.40 [[ 9.09709109e-01 -4.03776985e-01 -9.69199808e-02 3.43048210e+02] [ 4.01575691e-01 9.14857240e-01 -4.21093184e-02 4.38024401e+01] [ 1.05670720e-01 -6.13477719e-04 9.94400987e-01 1.73971674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.309254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:343.08, Y:43.81, Z:17.40 [[ 9.09272578e-01 -4.04813600e-01 -9.66919249e-02 3.43078778e+02] [ 4.02629849e-01 9.14398926e-01 -4.19977244e-02 4.38137055e+01] [ 1.05416242e-01 -7.43675947e-04 9.94427907e-01 1.74013877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.33925415399995 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:343.11, Y:43.83, Z:17.40 [[ 9.09491118e-01 -4.04699104e-01 -9.51027910e-02 3.43110139e+02] [ 4.02371961e-01 9.14449169e-01 -4.33534579e-02 4.38251630e+01] [ 1.04511774e-01 1.16288837e-03 9.94522969e-01 1.74032404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.369254154 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:343.14, Y:43.83, Z:17.40 [[ 9.07084100e-01 -4.09193553e-01 -9.87880082e-02 3.43139708e+02] [ 4.07454021e-01 9.12429945e-01 -3.81158326e-02 4.38308897e+01] [ 1.05733890e-01 -5.67730549e-03 9.94378254e-01 1.74049740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.39925415399995 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:343.17, Y:43.85, Z:17.41 [[ 9.06334098e-01 -4.12140677e-01 -9.32660930e-02 3.43170342e+02] [ 4.09417744e-01 9.11106977e-01 -4.75519549e-02 4.38457346e+01] [ 1.04573483e-01 4.91316485e-03 9.94505026e-01 1.74106377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.429254154 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:343.20, Y:43.86, Z:17.41 [[ 9.04109617e-01 -4.16988949e-01 -9.33060360e-02 3.43195643e+02] [ 4.14482760e-01 9.08907639e-01 -4.57268602e-02 4.38552449e+01] [ 1.03874164e-01 2.66835074e-03 9.94586868e-01 1.74110253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.45925415399995 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:343.23, Y:43.86, Z:17.41 [[ 9.00865800e-01 -4.22067262e-01 -1.01489093e-01 3.43225501e+02] [ 4.20922135e-01 9.06477831e-01 -3.35037028e-02 4.38550728e+01] [ 1.06138429e-01 -1.25366655e-02 9.94272330e-01 1.74109991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.489254154 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:343.25, Y:43.87, Z:17.42 [[ 8.99186583e-01 -4.26718562e-01 -9.68233359e-02 3.43251075e+02] [ 4.24522644e-01 9.04381847e-01 -4.32897257e-02 4.38693324e+01] [ 1.06037797e-01 -2.17815801e-03 9.94359714e-01 1.74174429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.51925415399995 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:343.28, Y:43.91, Z:17.42 [[ 9.02794369e-01 -4.26902874e-01 -5.21177880e-02 3.43281787e+02] [ 4.20423514e-01 9.01561135e-01 -1.02135152e-01 4.39063137e+01] [ 9.05891618e-02 7.02954961e-02 9.93404322e-01 1.74194387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.549254154 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:343.32, Y:43.86, Z:17.40 [[ 8.95768921e-01 -4.26092752e-01 -1.26660989e-01 3.43324348e+02] [ 4.32693992e-01 9.01080149e-01 2.88179438e-02 4.38550440e+01] [ 1.01852586e-01 -8.06196672e-02 9.91527367e-01 1.74032453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.57925415399995 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:343.34, Y:43.90, Z:17.43 [[ 8.95177753e-01 -4.35078160e-01 -9.67666558e-02 3.43337586e+02] [ 4.33060257e-01 9.00382678e-01 -4.20695593e-02 4.38988667e+01] [ 1.05430567e-01 -4.24605925e-03 9.94417602e-01 1.74255412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.609254154 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:343.37, Y:43.91, Z:17.43 [[ 8.94281736e-01 -4.37299269e-01 -9.50238226e-02 3.43367457e+02] [ 4.35366676e-01 8.99305127e-01 -4.13055186e-02 4.39104816e+01] [ 1.03518284e-01 -4.43143492e-03 9.94617679e-01 1.74301770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.63925415399996 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:343.40, Y:43.92, Z:17.43 [[ 8.92908091e-01 -4.40298798e-01 -9.40856467e-02 3.43396699e+02] [ 4.38421609e-01 8.97838803e-01 -4.08898045e-02 4.39195251e+01] [ 1.02477476e-01 -4.73834327e-03 9.94724040e-01 1.74331031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.66925415399993 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:343.42, Y:43.93, Z:17.44 [[ 8.91980398e-01 -4.42196492e-01 -9.39852717e-02 3.43423073e+02] [ 4.40333763e-01 8.96904539e-01 -4.08463590e-02 4.39295540e+01] [ 1.02357933e-01 -4.95073672e-03 9.94735313e-01 1.74356501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.69925415399996 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:343.45, Y:43.94, Z:17.44 [[ 8.91185998e-01 -4.43803844e-01 -9.39450142e-02 3.43450287e+02] [ 4.41948820e-01 8.96109395e-01 -4.08557564e-02 4.39398068e+01] [ 1.02316952e-01 -5.10881014e-03 9.94738730e-01 1.74387318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.72925415399993 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:343.48, Y:43.95, Z:17.44 [[ 8.90628290e-01 -4.44698701e-01 -9.49963924e-02 3.43477078e+02] [ 4.42806207e-01 8.95664753e-01 -4.13196476e-02 4.39494267e+01] [ 1.03459714e-01 -5.26454508e-03 9.94619712e-01 1.74392858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.75925415399996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:343.50, Y:43.96, Z:17.44 [[ 8.89115132e-01 -4.48025320e-01 -9.35285773e-02 3.43502090e+02] [ 4.46206052e-01 8.94003733e-01 -4.07122125e-02 4.39586765e+01] [ 1.01854999e-01 -5.53517306e-03 9.94783856e-01 1.74427794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.78925415399993 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:343.53, Y:43.97, Z:17.45 [[ 8.88367003e-01 -4.49546968e-01 -9.33359103e-02 3.43527615e+02] [ 4.47741968e-01 8.93238612e-01 -4.06437343e-02 4.39692510e+01] [ 1.01642507e-01 -5.68385169e-03 9.94804752e-01 1.74459364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.81925415399996 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:343.56, Y:43.98, Z:17.45 [[ 8.87816793e-01 -4.50385286e-01 -9.45221477e-02 3.43556228e+02] [ 4.48535543e-01 8.92815294e-01 -4.11912359e-02 4.39808417e+01] [ 1.02942746e-01 -5.82627187e-03 9.94670220e-01 1.74481764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.84925415399994 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:343.58, Y:43.99, Z:17.45 [[ 8.87685751e-01 -4.50474647e-01 -9.53236565e-02 3.43581346e+02] [ 4.48593758e-01 8.92769819e-01 -4.15414383e-02 4.39917514e+01] [ 1.03815448e-01 -5.88585435e-03 9.94579162e-01 1.74503502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.87925415399997 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:343.61, Y:44.00, Z:17.45 [[ 8.88002834e-01 -4.49483169e-01 -9.70352937e-02 3.43606502e+02] [ 4.47526813e-01 8.93269555e-01 -4.22995786e-02 4.40020206e+01] [ 1.05691622e-01 -5.86375011e-03 9.94381666e-01 1.74512840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.90925415399994 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:343.63, Y:44.01, Z:17.45 [[ 8.87942028e-01 -4.49506910e-01 -9.74807315e-02 3.43631058e+02] [ 4.47530008e-01 8.93257557e-01 -4.25185716e-02 4.40139666e+01] [ 1.06187792e-01 -5.87152581e-03 9.94328758e-01 1.74542258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.93925415399997 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:343.66, Y:44.03, Z:17.46 [[ 8.87903796e-01 -4.49632926e-01 -9.72475238e-02 3.43655354e+02] [ 4.47662794e-01 8.93194317e-01 -4.24492105e-02 4.40255486e+01] [ 1.05947498e-01 -5.84328305e-03 9.94354556e-01 1.74576949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.96925415399994 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:343.68, Y:44.04, Z:17.46 [[ 8.88852405e-01 -4.47583548e-01 -9.80324918e-02 3.43680143e+02] [ 4.45567395e-01 8.94224390e-01 -4.28069777e-02 4.40369413e+01] [ 1.06822744e-01 -5.63099690e-03 9.94262135e-01 1.74592719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.99925415399997 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:343.71, Y:44.05, Z:17.46 [[ 8.89073108e-01 -4.47372208e-01 -9.69902859e-02 3.43705367e+02] [ 4.45395823e-01 8.94330765e-01 -4.23679596e-02 4.40497190e+01] [ 1.05695644e-01 -5.53085468e-03 9.94383146e-01 1.74637818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.02925415399994 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:343.73, Y:44.06, Z:17.47 [[ 8.89814167e-01 -4.45921927e-01 -9.68730296e-02 3.43729607e+02] [ 4.43938758e-01 8.95056012e-01 -4.23451784e-02 4.40614390e+01] [ 1.05589431e-01 -5.32635282e-03 9.94395546e-01 1.74666397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.059254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:343.75, Y:44.07, Z:17.47 [[ 8.90433510e-01 -4.44796922e-01 -9.63528005e-02 3.43753876e+02] [ 4.42826847e-01 8.95616641e-01 -4.21333096e-02 4.40737738e+01] [ 1.05035938e-01 -5.15069608e-03 9.94455088e-01 1.74701308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.08925415399995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:343.78, Y:44.09, Z:17.47 [[ 8.92785969e-01 -4.40400946e-01 -9.47640208e-02 3.43780595e+02] [ 4.38468566e-01 8.97789745e-01 -4.14595043e-02 4.40875752e+01] [ 1.03336971e-01 -4.53658061e-03 9.94636059e-01 1.74730486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.119254154 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:343.81, Y:44.10, Z:17.48 [[ 8.93815246e-01 -4.38542813e-01 -9.36723429e-02 3.43807895e+02] [ 4.36644234e-01 8.98700165e-01 -4.09856820e-02 4.41011198e+01] [ 1.02157326e-01 -4.26786097e-03 9.94759100e-01 1.74765751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.14925415399995 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:343.83, Y:44.11, Z:17.48 [[ 8.94956359e-01 -4.36280124e-01 -9.33422173e-02 3.43834460e+02] [ 4.34382652e-01 8.99802030e-01 -4.08413770e-02 4.41137061e+01] [ 1.01807798e-01 -3.99498993e-03 9.94796066e-01 1.74797037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.179254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:343.86, Y:44.13, Z:17.48 [[ 8.96050728e-01 -4.34078815e-01 -9.31057236e-02 3.43858960e+02] [ 4.32178834e-01 9.00867166e-01 -4.07407014e-02 4.41254965e+01] [ 1.01560565e-01 -3.73258792e-03 9.94822356e-01 1.74820379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.20925415399995 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:343.88, Y:44.14, Z:17.48 [[ 8.98134666e-01 -4.29636117e-01 -9.36318786e-02 3.43884327e+02] [ 4.27688922e-01 9.02996315e-01 -4.09858586e-02 4.41382525e+01] [ 1.02158246e-01 -3.23449682e-03 9.94762902e-01 1.74832616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.239254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:343.91, Y:44.15, Z:17.49 [[ 8.98957284e-01 -4.27884550e-01 -9.37582714e-02 3.43911697e+02] [ 4.25919890e-01 9.03828367e-01 -4.10673777e-02 4.41514700e+01] [ 1.02313482e-01 -3.01569431e-03 9.94747635e-01 1.74865322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.26925415399995 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:343.94, Y:44.17, Z:17.49 [[ 9.00192774e-01 -4.25107275e-01 -9.45345104e-02 3.43940058e+02] [ 4.23094663e-01 9.05138879e-01 -4.14067148e-02 4.41658208e+01] [ 1.03169156e-01 -2.72302138e-03 9.94660098e-01 1.74887246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.299254154 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:343.97, Y:44.18, Z:17.49 [[ 9.00463400e-01 -4.24582621e-01 -9.43146977e-02 3.43967646e+02] [ 4.22577412e-01 9.05385276e-01 -4.13017356e-02 4.41793077e+01] [ 1.02927138e-01 -2.66455952e-03 9.94685329e-01 1.74934289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.32925415399995 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:343.99, Y:44.19, Z:17.50 [[ 9.00609305e-01 -4.24352944e-01 -9.39545555e-02 3.43992098e+02] [ 4.21807571e-01 9.05494164e-01 -4.64617179e-02 4.41935985e+01] [ 1.04791468e-01 2.21311261e-03 9.94491755e-01 1.74974372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.359254154 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:344.02, Y:44.20, Z:17.50 [[ 9.01281949e-01 -4.22102809e-01 -9.75708333e-02 3.44019783e+02] [ 4.20483835e-01 9.06519967e-01 -3.76150807e-02 4.42021098e+01] [ 1.04327340e-01 -7.12516486e-03 9.94517490e-01 1.74966434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.38925415399996 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:344.05, Y:44.22, Z:17.50 [[ 9.01843649e-01 -4.21120180e-01 -9.66220861e-02 3.44047352e+02] [ 4.18992308e-01 9.07001939e-01 -4.23429901e-02 4.42166100e+01] [ 1.05467907e-01 -2.29715414e-03 9.94420054e-01 1.74997677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.41925415399993 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:344.08, Y:44.23, Z:17.50 [[ 9.02049821e-01 -4.20755688e-01 -9.62848453e-02 3.44075950e+02] [ 4.18641096e-01 9.07171200e-01 -4.21906058e-02 4.42304165e+01] [ 1.05098776e-01 -2.25076473e-03 9.94459241e-01 1.75039884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.44925415399996 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:344.10, Y:44.24, Z:17.51 [[ 9.02942003e-01 -4.19071055e-01 -9.52637903e-02 3.44104110e+02] [ 4.16992685e-01 9.07951149e-01 -4.17350195e-02 4.42445173e+01] [ 1.03984807e-01 -2.04000153e-03 9.94576794e-01 1.75072581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.47925415399993 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:344.13, Y:44.26, Z:17.51 [[ 9.03325770e-01 -4.18355116e-01 -9.47710346e-02 3.44131987e+02] [ 4.16294962e-01 9.08281444e-01 -4.15129213e-02 4.42572105e+01] [ 1.03445915e-01 -1.95301257e-03 9.94633163e-01 1.75106057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.50925415399996 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:344.16, Y:44.27, Z:17.51 [[ 9.03333248e-01 -4.18338485e-01 -9.47731798e-02 3.44160261e+02] [ 4.16278752e-01 9.08289097e-01 -4.15080232e-02 4.42695926e+01] [ 1.03445850e-01 -1.95648362e-03 9.94633163e-01 1.75135493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.53925415399993 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:344.19, Y:44.28, Z:17.52 [[ 9.03887186e-01 -4.17387176e-01 -9.36797724e-02 3.44190042e+02] [ 4.15369962e-01 9.08726913e-01 -4.10267160e-02 4.42825330e+01] [ 1.02253355e-01 -1.82824062e-03 9.94756708e-01 1.75165352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.56925415399996 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:344.22, Y:44.29, Z:17.52 [[ 9.04129331e-01 -4.16913416e-01 -9.34524294e-02 3.44218104e+02] [ 4.14904300e-01 9.08944467e-01 -4.09191581e-02 4.42947720e+01] [ 1.02002815e-01 -1.77760383e-03 9.94782522e-01 1.75199787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.59925415399994 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:344.25, Y:44.31, Z:17.52 [[ 9.04208399e-01 -4.16766047e-01 -9.33446992e-02 3.44247242e+02] [ 4.14761426e-01 9.09012073e-01 -4.08657784e-02 4.43073468e+01] [ 1.01882927e-01 -1.76460048e-03 9.94794831e-01 1.75227029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.62925415399997 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:344.28, Y:44.32, Z:17.53 [[ 9.04242882e-01 -4.16684270e-01 -9.33757487e-02 3.44276133e+02] [ 4.14678703e-01 9.09049564e-01 -4.08712997e-02 4.43195781e+01] [ 1.01913611e-01 -1.76335257e-03 9.94791690e-01 1.75256938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.65925415399994 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:344.31, Y:44.33, Z:17.53 [[ 9.04024967e-01 -4.17089478e-01 -9.36761773e-02 3.44306912e+02] [ 4.15073802e-01 9.08863604e-01 -4.09961889e-02 4.43314150e+01] [ 1.02237947e-01 -1.82094872e-03 9.94758305e-01 1.75280300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.68925415399997 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:344.34, Y:44.34, Z:17.53 [[ 9.03845247e-01 -4.17298613e-01 -9.44755938e-02 3.44336367e+02] [ 4.15250712e-01 9.08767497e-01 -4.13337908e-02 4.43430192e+01] [ 1.03104883e-01 -1.87170726e-03 9.94668729e-01 1.75300541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.71925415399994 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:344.37, Y:44.35, Z:17.53 [[ 9.02864607e-01 -4.19497194e-01 -9.41148492e-02 3.44366047e+02] [ 4.17477492e-01 9.07754156e-01 -4.11695934e-02 4.43544424e+01] [ 1.02703675e-01 -2.12026241e-03 9.94709736e-01 1.75341118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.74925415399997 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:344.40, Y:44.37, Z:17.54 [[ 9.02436068e-01 -4.20324496e-01 -9.45328622e-02 3.44395817e+02] [ 4.18292154e-01 9.07371113e-01 -4.13441291e-02 4.43663798e+01] [ 1.03154339e-01 -2.23192127e-03 9.94662858e-01 1.75368743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.77925415399994 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:344.43, Y:44.38, Z:17.54 [[ 9.02242824e-01 -4.20519403e-01 -9.55055880e-02 3.44425448e+02] [ 4.18446894e-01 9.07280667e-01 -4.17610829e-02 4.43776624e+01] [ 1.04211719e-01 -2.28537933e-03 9.94552510e-01 1.75388710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.809254154 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:344.45, Y:44.39, Z:17.54 [[ 9.02318686e-01 -4.20320479e-01 -9.56644339e-02 3.44454933e+02] [ 4.18240822e-01 9.07372870e-01 -4.18221256e-02 4.43893634e+01] [ 1.04382008e-01 -2.27388604e-03 9.94534678e-01 1.75409670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.83925415399995 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:344.48, Y:44.40, Z:17.54 [[ 9.02521634e-01 -4.19715618e-01 -9.64027977e-02 3.44483672e+02] [ 4.17601105e-01 9.07652925e-01 -4.21364973e-02 4.44017300e+01] [ 1.05185627e-01 -2.22881445e-03 9.94450107e-01 1.75446293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.869254154 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:344.51, Y:44.41, Z:17.55 [[ 9.02803289e-01 -4.19072731e-01 -9.65622492e-02 3.44512159e+02] [ 4.16948190e-01 9.07950091e-01 -4.21999975e-02 4.44145019e+01] [ 1.05358571e-01 -2.16315849e-03 9.94431945e-01 1.75489419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.89925415399995 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:344.54, Y:44.43, Z:17.55 [[ 9.03499514e-01 -4.17503089e-01 -9.68493562e-02 3.44540647e+02] [ 4.15357275e-01 9.08673325e-01 -4.23216500e-02 4.44263821e+01] [ 1.05673846e-01 -1.98949444e-03 9.94398854e-01 1.75516201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.929254154 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:344.57, Y:44.44, Z:17.56 [[ 9.05020278e-01 -4.14339960e-01 -9.62324948e-02 3.44569524e+02] [ 4.12203650e-01 9.10120765e-01 -4.20516904e-02 4.44385614e+01] [ 1.05006887e-01 -1.60975311e-03 9.94470192e-01 1.75554581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.95925415399995 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:344.60, Y:44.45, Z:17.56 [[ 9.06065891e-01 -4.12139347e-01 -9.58423732e-02 3.44596197e+02] [ 4.10008457e-01 9.11119822e-01 -4.18776279e-02 4.44497653e+01] [ 1.04583304e-01 -1.35229328e-03 9.94515210e-01 1.75587670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.989254154 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:344.62, Y:44.46, Z:17.56 [[ 9.07219197e-01 -4.09565630e-01 -9.59652247e-02 3.44624972e+02] [ 4.07414726e-01 9.12280045e-01 -4.19328027e-02 4.44614656e+01] [ 1.04721394e-01 -1.05540216e-03 9.94501039e-01 1.75611718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.01925415399995 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:344.65, Y:44.47, Z:17.57 [[ 9.08291294e-01 -4.07412873e-01 -9.49825051e-02 3.44654423e+02] [ 4.05294622e-01 9.13243728e-01 -4.14989526e-02 4.44745585e+01] [ 1.03649385e-01 -8.02761137e-04 9.94613574e-01 1.75658723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.049254154 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:344.68, Y:44.49, Z:17.57 [[ 9.10582391e-01 -4.02385529e-01 -9.44753707e-02 3.44682759e+02] [ 4.00263684e-01 9.15470278e-01 -4.12692759e-02 4.44862562e+01] [ 1.03095553e-01 -2.35984037e-04 9.94671429e-01 1.75693293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.07925415399995 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:344.71, Y:44.50, Z:17.57 [[ 9.11609598e-01 -4.00075570e-01 -9.43794452e-02 3.44712532e+02] [ 3.97946339e-01 9.16482154e-01 -4.12210319e-02 4.44986175e+01] [ 1.02988605e-01 1.95336538e-05 9.94682536e-01 1.75722913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.109254154 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:344.74, Y:44.51, Z:17.57 [[ 9.13226801e-01 -3.96265773e-01 -9.48169165e-02 3.44742330e+02] [ 3.94097057e-01 9.18135742e-01 -4.14037379e-02 4.45095877e+01] [ 1.03461684e-01 4.43935302e-04 9.94633341e-01 1.75749908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.13925415399996 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:344.77, Y:44.52, Z:17.58 [[ 9.13711877e-01 -3.95111618e-01 -9.49600673e-02 3.44771085e+02] [ 3.92930975e-01 9.18632945e-01 -4.14579574e-02 4.45205548e+01] [ 1.03613967e-01 5.67876277e-04 9.94617426e-01 1.75773337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.16925415399993 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:344.80, Y:44.53, Z:17.58 [[ 9.14082713e-01 -3.94237940e-01 -9.50223121e-02 3.44799701e+02] [ 3.92050340e-01 9.19008165e-01 -4.14791857e-02 4.45312645e+01] [ 1.03678949e-01 6.61876831e-04 9.94610596e-01 1.75798688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.19925415399996 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:344.83, Y:44.54, Z:17.58 [[ 9.13913105e-01 -3.94585047e-01 -9.52127987e-02 3.44829814e+02] [ 3.92390794e-01 9.18859214e-01 -4.15597148e-02 4.45412173e+01] [ 1.03885999e-01 6.21342287e-04 9.94589017e-01 1.75827294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.22925415399993 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:344.86, Y:44.55, Z:17.59 [[ 9.13567168e-01 -3.95369283e-01 -9.52793779e-02 3.44859059e+02] [ 3.93177071e-01 9.18522103e-01 -4.15804783e-02 4.45521801e+01] [ 1.03955858e-01 5.24892987e-04 9.94581773e-01 1.75856902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.25925415399996 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:344.88, Y:44.56, Z:17.59 [[ 9.13248999e-01 -3.96430656e-01 -9.39095406e-02 3.44883906e+02] [ 3.93576645e-01 9.18039090e-01 -4.79755531e-02 4.45645259e+01] [ 1.05231609e-01 6.85302396e-03 9.94424127e-01 1.75892323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.28925415399993 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:344.92, Y:44.57, Z:17.59 [[ 9.12463564e-01 -3.97273448e-01 -9.78981755e-02 3.44915174e+02] [ 3.95658681e-01 9.17682731e-01 -3.62300154e-02 4.45695755e+01] [ 1.04232688e-01 -5.67569408e-03 9.94536743e-01 1.75893458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.31925415399996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:344.94, Y:44.58, Z:17.59 [[ 9.10982517e-01 -4.01349206e-01 -9.50245743e-02 3.44941837e+02] [ 3.99199594e-01 9.15925103e-01 -4.14836064e-02 4.45798811e+01] [ 1.03684805e-01 -1.42931268e-04 9.94610195e-01 1.75932450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.34925415399994 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:344.97, Y:44.59, Z:17.59 [[ 9.10793825e-01 -4.01761326e-01 -9.50917750e-02 3.44966590e+02] [ 3.99438726e-01 9.15743459e-01 -4.31581090e-02 4.45888330e+01] [ 1.04418930e-01 1.32480175e-03 9.94532519e-01 1.75937852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.37925415399997 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:344.99, Y:44.60, Z:17.60 [[ 9.09357157e-01 -4.05201676e-01 -9.42399219e-02 3.44994498e+02] [ 4.03220714e-01 9.14225959e-01 -4.00493615e-02 4.45983987e+01] [ 1.02384651e-01 -1.58031507e-03 9.94743628e-01 1.75980294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.40925415399994 meters Centerline goodness : 0.995337 Centerline is valid? [True, True] Translation: X:345.02, Y:44.61, Z:17.61 [[ 9.07736514e-01 -4.09977126e-01 -8.90683825e-02 3.45016174e+02] [ 4.06416385e-01 9.11980916e-01 -5.58258959e-02 4.46124682e+01] [ 1.04116005e-01 1.44763541e-02 9.94459799e-01 1.76060055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.43925415399997 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:345.05, Y:44.61, Z:17.60 [[ 9.06379883e-01 -4.10892481e-01 -9.81981523e-02 3.45051365e+02] [ 4.10371375e-01 9.11536637e-01 -2.63873817e-02 4.46110907e+01] [ 1.00353590e-01 -1.63807188e-02 9.94816983e-01 1.76000033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.46925415399994 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:345.08, Y:44.63, Z:17.61 [[ 9.04380453e-01 -4.16830930e-01 -9.13672358e-02 3.45075276e+02] [ 4.14911070e-01 9.08982377e-01 -3.99980169e-02 4.46261267e+01] [ 9.97236178e-02 -1.73585292e-03 9.95013662e-01 1.76059697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.49925415399997 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:345.10, Y:44.64, Z:17.61 [[ 9.03589562e-01 -4.18653593e-01 -9.08574325e-02 3.45100365e+02] [ 4.16761266e-01 9.08144023e-01 -3.98055346e-02 4.46354696e+01] [ 9.91763644e-02 -1.89799303e-03 9.95068061e-01 1.76083274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.52925415399994 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:345.13, Y:44.65, Z:17.61 [[ 9.02684136e-01 -4.20650608e-01 -9.06334164e-02 3.45125829e+02] [ 4.18776256e-01 9.07220292e-01 -3.97213861e-02 4.46453666e+01] [ 9.89332997e-02 -2.09925771e-03 9.95091853e-01 1.76109570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.559254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:345.15, Y:44.65, Z:17.61 [[ 9.00762010e-01 -4.24938529e-01 -8.97499183e-02 3.45151827e+02] [ 4.23119705e-01 9.05218687e-01 -3.93553655e-02 4.46543848e+01] [ 9.79669143e-02 -2.52514080e-03 9.95186469e-01 1.76131438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.58925415399995 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:345.18, Y:44.66, Z:17.61 [[ 8.99916412e-01 -4.26706379e-01 -8.98449613e-02 3.45176822e+02] [ 4.24889367e-01 9.04386212e-01 -3.94284888e-02 4.46635434e+01] [ 9.80789319e-02 -2.69182460e-03 9.95174998e-01 1.76148479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.619254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:345.20, Y:44.67, Z:17.62 [[ 8.98823045e-01 -4.29063727e-01 -8.95625575e-02 3.45203210e+02] [ 4.27268378e-01 9.03269480e-01 -3.93189469e-02 4.46737332e+01] [ 9.77694586e-02 -2.92647306e-03 9.95204787e-01 1.76174987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.64925415399995 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:345.23, Y:44.68, Z:17.62 [[ 8.96955872e-01 -4.32920874e-01 -8.97200150e-02 3.45229552e+02] [ 4.31135223e-01 9.01425800e-01 -3.94201347e-02 4.46826855e+01] [ 9.79417354e-02 -3.32333745e-03 9.95186602e-01 1.76199293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.679254154 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:345.26, Y:44.70, Z:17.62 [[ 8.98628659e-01 -4.32487986e-01 -7.36252380e-02 3.45259522e+02] [ 4.28826366e-01 9.01347768e-01 -6.06642334e-02 4.47022771e+01] [ 9.25984961e-02 2.29421754e-02 9.95439187e-01 1.76206285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.70925415399995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:345.29, Y:44.69, Z:17.62 [[ 8.95509529e-01 -4.33222760e-01 -1.01885837e-01 3.45288604e+02] [ 4.34144358e-01 9.00732814e-01 -1.41093845e-02 4.46923627e+01] [ 9.78844229e-02 -3.15980729e-02 9.94696035e-01 1.76175105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.739254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:345.31, Y:44.72, Z:17.63 [[ 8.94705794e-01 -4.37380154e-01 -9.05546433e-02 3.45307900e+02] [ 4.35574248e-01 8.99268849e-01 -3.98824783e-02 4.47151722e+01] [ 9.88767744e-02 -3.76018627e-03 9.95092581e-01 1.76278710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.76925415399995 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:345.33, Y:44.73, Z:17.63 [[ 8.93848117e-01 -4.38991872e-01 -9.12232447e-02 3.45333670e+02] [ 4.37164273e-01 8.98482400e-01 -4.02091409e-02 4.47255296e+01] [ 9.96139659e-02 -3.93867860e-03 9.95018364e-01 1.76302373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.799254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:345.36, Y:44.74, Z:17.63 [[ 8.93457188e-01 -4.39697459e-01 -9.16536837e-02 3.45358226e+02] [ 4.37853046e-01 8.98137006e-01 -4.04305384e-02 4.47363890e+01] [ 1.00094770e-01 -4.00788946e-03 9.94969836e-01 1.76327402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.82925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:345.38, Y:44.75, Z:17.64 [[ 8.93121608e-01 -4.40273970e-01 -9.21554411e-02 3.45383279e+02] [ 4.38410837e-01 8.97854203e-01 -4.06665416e-02 4.47472148e+01] [ 1.00646570e-01 -4.08177701e-03 9.94913869e-01 1.76352811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.859254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:345.41, Y:44.76, Z:17.64 [[ 8.92709331e-01 -4.41090197e-01 -9.22468855e-02 3.45409039e+02] [ 4.39225410e-01 8.97453147e-01 -4.07294389e-02 4.47583325e+01] [ 1.00752614e-01 -4.15762598e-03 9.94902822e-01 1.76374947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.88925415399996 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:345.43, Y:44.77, Z:17.64 [[ 8.92651189e-01 -4.41199817e-01 -9.22852964e-02 3.45433371e+02] [ 4.39330922e-01 8.97399326e-01 -4.07773383e-02 4.47695340e+01] [ 1.00807717e-01 -4.14384479e-03 9.94897298e-01 1.76401668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.91925415399993 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:345.46, Y:44.78, Z:17.64 [[ 8.92659285e-01 -4.41209936e-01 -9.21585257e-02 3.45458413e+02] [ 4.39344734e-01 8.97394434e-01 -4.07361572e-02 4.47821482e+01] [ 1.00675745e-01 -4.12585400e-03 9.94910736e-01 1.76435096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.94925415399996 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:345.48, Y:44.79, Z:17.65 [[ 8.92734153e-01 -4.41031543e-01 -9.22871131e-02 3.45482523e+02] [ 4.39157061e-01 8.97482312e-01 -4.08237084e-02 4.47936409e+01] [ 1.00830595e-01 -4.08381865e-03 9.94895227e-01 1.76459627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.97925415399993 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:345.51, Y:44.81, Z:17.65 [[ 8.92789738e-01 -4.41138177e-01 -9.12337287e-02 3.45506594e+02] [ 4.39305536e-01 8.97430117e-01 -4.03711607e-02 4.48055452e+01] [ 9.96851560e-02 -4.03652416e-03 9.95010842e-01 1.76492211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.00925415399996 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:345.53, Y:44.82, Z:17.65 [[ 8.93345314e-01 -4.40209129e-01 -9.02777534e-02 3.45531525e+02] [ 4.38408682e-01 8.97886896e-01 -3.99618549e-02 4.48180785e+01] [ 9.86507851e-02 -3.87881510e-03 9.95114555e-01 1.76523406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.03925415399993 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:345.56, Y:44.83, Z:17.65 [[ 8.93750361e-01 -4.39355628e-01 -9.04263480e-02 3.45557096e+02] [ 4.37541882e-01 8.98305331e-01 -4.00578765e-02 4.48296251e+01] [ 9.88301239e-02 -3.76357297e-03 9.95097202e-01 1.76538606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.06925415399996 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:345.58, Y:44.84, Z:17.66 [[ 8.94207140e-01 -4.38532206e-01 -8.99060341e-02 3.45582677e+02] [ 4.36731993e-01 8.98708175e-01 -3.98595234e-02 4.48414062e+01] [ 9.82789725e-02 -3.62217109e-03 9.95152312e-01 1.76563971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.09925415399994 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:345.61, Y:44.85, Z:17.66 [[ 8.94547235e-01 -4.38026052e-01 -8.89855165e-02 3.45606226e+02] [ 4.36257029e-01 8.98955459e-01 -3.94827419e-02 4.48532423e+01] [ 9.72884854e-02 -3.50137950e-03 9.95250065e-01 1.76600597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.12925415399997 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:345.63, Y:44.87, Z:17.66 [[ 8.95580668e-01 -4.35818262e-01 -8.94299126e-02 3.45631499e+02] [ 4.34019086e-01 9.00028769e-01 -3.96944458e-02 4.48653993e+01] [ 9.77890584e-02 -3.26471060e-03 9.95201810e-01 1.76606553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.15925415399994 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:345.66, Y:44.88, Z:17.66 [[ 8.95706802e-01 -4.35666011e-01 -8.89069864e-02 3.45655719e+02] [ 4.33884064e-01 9.00102706e-01 -3.94935042e-02 4.48775116e+01] [ 9.72313966e-02 -3.20072428e-03 9.95256656e-01 1.76647322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.18925415399997 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:345.68, Y:44.89, Z:17.67 [[ 8.95958803e-01 -4.35117469e-01 -8.90539820e-02 3.45680589e+02] [ 4.33325520e-01 9.00368241e-01 -3.95730382e-02 4.48892013e+01] [ 9.74002973e-02 -3.13355107e-03 9.95240354e-01 1.76667535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.21925415399994 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:345.71, Y:44.90, Z:17.67 [[ 8.96661832e-01 -4.33443731e-01 -9.01337431e-02 3.45705997e+02] [ 4.31596323e-01 9.01175777e-01 -4.00853291e-02 4.49013182e+01] [ 9.86010806e-02 -2.95840746e-03 9.95122643e-01 1.76686669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.24925415399997 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:345.73, Y:44.91, Z:17.67 [[ 8.97110758e-01 -4.32422360e-01 -9.05714625e-02 3.45730285e+02] [ 4.30548558e-01 9.01666727e-01 -4.03119362e-02 4.49126907e+01] [ 9.90970567e-02 -2.83114090e-03 9.95073745e-01 1.76707712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.27925415399994 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:345.76, Y:44.92, Z:17.67 [[ 8.97494268e-01 -4.31557499e-01 -9.08964514e-02 3.45755777e+02] [ 4.29663529e-01 9.02081315e-01 -4.04790470e-02 4.49247196e+01] [ 9.94650267e-02 -2.72517745e-03 9.95037327e-01 1.76730120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.309254154 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:345.78, Y:44.94, Z:17.67 [[ 8.98434864e-01 -4.29450184e-01 -9.15823950e-02 3.45780255e+02] [ 4.27513258e-01 9.03087140e-01 -4.08170475e-02 4.49372025e+01] [ 1.00235772e-01 -2.48122963e-03 9.94960619e-01 1.76745566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.33925415399995 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:345.81, Y:44.95, Z:17.68 [[ 8.98956431e-01 -4.28382259e-01 -9.14657027e-02 3.45806670e+02] [ 4.26441531e-01 9.03594606e-01 -4.07971624e-02 4.49496379e+01] [ 1.00124696e-01 -2.32990285e-03 9.94972169e-01 1.76765228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.369254154 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:345.83, Y:44.96, Z:17.68 [[ 8.99751594e-01 -4.26657204e-01 -9.17098648e-02 3.45831600e+02] [ 4.24694299e-01 9.04410938e-01 -4.09341915e-02 4.49626256e+01] [ 1.00408272e-01 -2.11805271e-03 9.94944065e-01 1.76797280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.39925415399995 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:345.86, Y:44.97, Z:17.68 [[ 8.99639151e-01 -4.26895151e-01 -9.17056628e-02 3.45857395e+02] [ 4.24932520e-01 9.04298609e-01 -4.09436029e-02 4.49742399e+01] [ 1.00407929e-01 -2.13425031e-03 9.94944065e-01 1.76824301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.429254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:345.88, Y:44.99, Z:17.69 [[ 8.99726976e-01 -4.26712942e-01 -9.16920602e-02 3.45882035e+02] [ 4.24747001e-01 9.04384713e-01 -4.09667646e-02 4.49867061e+01] [ 1.00405946e-01 -2.08702429e-03 9.94944365e-01 1.76860542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.45925415399995 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:345.91, Y:45.00, Z:17.69 [[ 8.99942253e-01 -4.26252544e-01 -9.17208294e-02 3.45907783e+02] [ 4.24279819e-01 9.04601977e-01 -4.10109479e-02 4.49995216e+01] [ 1.00451865e-01 -2.00781213e-03 9.94939893e-01 1.76891069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.489254154 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:345.93, Y:45.01, Z:17.69 [[ 9.00500423e-01 -4.25084840e-01 -9.16617001e-02 3.45931826e+02] [ 4.23105761e-01 9.05151620e-01 -4.10129300e-02 4.50124071e+01] [ 1.00401711e-01 -1.85043261e-03 9.94945261e-01 1.76907055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.51925415399995 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:345.96, Y:45.03, Z:17.69 [[ 9.00279865e-01 -4.25744864e-01 -9.07605447e-02 3.45956423e+02] [ 4.23805602e-01 9.04841292e-01 -4.06330968e-02 4.50251262e+01] [ 9.94232208e-02 -1.88366842e-03 9.95043454e-01 1.76947201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.549254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:345.98, Y:45.04, Z:17.70 [[ 8.99946471e-01 -4.26477817e-01 -9.06257233e-02 3.45981051e+02] [ 4.24544848e-01 9.04495957e-01 -4.06046210e-02 4.50371198e+01] [ 9.92875705e-02 -1.93269859e-03 9.95056904e-01 1.76974846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.57925415399995 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:346.00, Y:45.05, Z:17.70 [[ 8.99582783e-01 -4.27290275e-01 -9.04092794e-02 3.46004801e+02] [ 4.25367553e-01 9.04112307e-01 -4.05386323e-02 4.50485376e+01] [ 9.90619055e-02 -1.98931830e-03 9.95079284e-01 1.77000319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.609254154 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:346.03, Y:45.06, Z:17.70 [[ 8.98582865e-01 -4.29442639e-01 -9.01546192e-02 3.46029070e+02] [ 4.27540156e-01 9.03091439e-01 -4.04384457e-02 4.50602194e+01] [ 9.87838576e-02 -2.20742550e-03 9.95106465e-01 1.77008368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.63925415399996 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:346.05, Y:45.07, Z:17.70 [[ 8.97596607e-01 -4.31559420e-01 -8.98710048e-02 3.46054211e+02] [ 4.29677336e-01 9.02081285e-01 -4.03328880e-02 4.50724565e+01] [ 9.84769893e-02 -2.41287043e-03 9.95136403e-01 1.77046943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.66925415399993 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:346.08, Y:45.08, Z:17.71 [[ 8.96907117e-01 -4.33082385e-01 -8.94274640e-02 3.46078004e+02] [ 4.31223462e-01 9.01350762e-01 -4.01637873e-02 4.50838634e+01] [ 9.79997416e-02 -2.54003391e-03 9.95183199e-01 1.77068831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.69925415399996 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:346.11, Y:45.12, Z:17.71 [[ 9.00156982e-01 -4.32110487e-01 -5.47534012e-02 3.46109354e+02] [ 4.26899692e-01 9.00199866e-01 -8.60049645e-02 4.51180999e+01] [ 8.64526515e-02 5.40437591e-02 9.94789028e-01 1.77088370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.72925415399993 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:346.14, Y:45.08, Z:17.70 [[ 8.95083943e-01 -4.30901674e-01 -1.14666832e-01 3.46143871e+02] [ 4.35208013e-01 9.00215884e-01 1.43299817e-02 4.50844895e+01] [ 9.70500902e-02 -6.27304605e-02 9.93300644e-01 1.76983457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.75925415399996 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:346.16, Y:45.12, Z:17.72 [[ 8.94784253e-01 -4.37258693e-01 -9.03657968e-02 3.46156419e+02] [ 4.35373583e-01 8.99330919e-01 -4.06662212e-02 4.51221471e+01] [ 9.90504138e-02 -2.95538638e-03 9.95078028e-01 1.77152194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.78925415399993 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:346.18, Y:45.13, Z:17.72 [[ 8.94773697e-01 -4.37509307e-01 -8.92504209e-02 3.46179992e+02] [ 4.35668945e-01 8.99209142e-01 -4.01931500e-02 4.51349704e+01] [ 9.78396716e-02 -2.91986328e-03 9.95197906e-01 1.77192573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.81925415399996 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:346.20, Y:45.15, Z:17.72 [[ 8.95162353e-01 -4.36819110e-01 -8.87323299e-02 3.46204522e+02] [ 4.34995449e-01 8.99544960e-01 -3.99727978e-02 4.51476305e+01] [ 9.72796020e-02 -2.81601597e-03 9.95253108e-01 1.77224214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.84925415399994 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:346.23, Y:45.16, Z:17.73 [[ 8.95807185e-01 -4.35569396e-01 -8.83673483e-02 3.46230516e+02] [ 4.33751912e-01 9.00151272e-01 -3.98367357e-02 4.51613531e+01] [ 9.68956439e-02 -2.64347220e-03 9.95291036e-01 1.77257055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.87925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:346.25, Y:45.18, Z:17.73 [[ 8.97451119e-01 -4.32251837e-01 -8.79763484e-02 3.46254997e+02] [ 4.30434137e-01 9.01750071e-01 -3.96643712e-02 4.51764275e+01] [ 9.64776758e-02 -2.27118929e-03 9.95332557e-01 1.77287008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.90925415399994 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:346.28, Y:45.19, Z:17.73 [[ 8.98245755e-01 -4.30602781e-01 -8.79534443e-02 3.46283964e+02] [ 4.28777447e-01 9.02539135e-01 -3.96612124e-02 4.51912347e+01] [ 9.64596538e-02 -2.08693756e-03 9.95334707e-01 1.77320620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.93925415399997 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:346.31, Y:45.21, Z:17.73 [[ 8.99362132e-01 -4.28279217e-01 -8.78900926e-02 3.46312551e+02] [ 4.26446204e-01 9.03644573e-01 -3.96247450e-02 4.52069396e+01] [ 9.63918600e-02 -1.84340124e-03 9.95341756e-01 1.77349679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.96925415399994 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:346.34, Y:45.22, Z:17.74 [[ 8.99653308e-01 -4.27607850e-01 -8.81785207e-02 3.46340888e+02] [ 4.25760316e-01 9.03962578e-01 -3.97468394e-02 4.52208862e+01] [ 9.67061434e-02 -1.78453938e-03 9.95311377e-01 1.77382703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.99925415399997 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:346.37, Y:45.24, Z:17.74 [[ 8.99785326e-01 -4.27345487e-01 -8.81033635e-02 3.46369792e+02] [ 4.25500625e-01 9.04086683e-01 -3.97050139e-02 4.52350178e+01] [ 9.66208361e-02 -1.76204733e-03 9.95319702e-01 1.77412649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.02925415399994 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:346.40, Y:45.25, Z:17.74 [[ 8.99617824e-01 -4.27581708e-01 -8.86659662e-02 3.46397206e+02] [ 4.25715088e-01 9.03974901e-01 -3.99505055e-02 4.52493621e+01] [ 9.72339133e-02 -1.80625277e-03 9.95259918e-01 1.77435070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.059254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:346.43, Y:45.26, Z:17.75 [[ 8.99168535e-01 -4.28477698e-01 -8.88977385e-02 3.46425899e+02] [ 4.26606243e-01 9.03550331e-01 -4.00488860e-02 4.52636348e+01] [ 9.74836355e-02 -1.91363208e-03 9.95235288e-01 1.77472294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.08925415399995 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:346.45, Y:45.28, Z:17.75 [[ 8.98817870e-01 -4.29056086e-01 -8.96510575e-02 3.46454542e+02] [ 4.27156373e-01 9.03275635e-01 -4.03801896e-02 4.52772134e+01] [ 9.83049820e-02 -2.00058458e-03 9.95154324e-01 1.77497381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.119254154 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:346.48, Y:45.29, Z:17.75 [[ 8.97778949e-01 -4.31137467e-01 -9.00746572e-02 3.46481856e+02] [ 4.29230947e-01 9.02283458e-01 -4.05629809e-02 4.52917440e+01] [ 9.87610940e-02 -2.24624002e-03 9.95108638e-01 1.77535524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.14925415399995 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:346.51, Y:45.31, Z:17.76 [[ 8.97352690e-01 -4.32038275e-01 -9.00059969e-02 3.46509582e+02] [ 4.30139755e-01 9.01852212e-01 -4.05262739e-02 4.53051812e+01] [ 9.86810088e-02 -2.34879656e-03 9.95116346e-01 1.77562197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.179254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:346.54, Y:45.32, Z:17.76 [[ 8.97056726e-01 -4.32630408e-01 -9.01119349e-02 3.46538664e+02] [ 4.30730410e-01 9.01568127e-01 -4.05737099e-02 4.53190996e+01] [ 9.87954691e-02 -2.41703138e-03 9.95104825e-01 1.77596092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.20925415399995 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:346.57, Y:45.33, Z:17.76 [[ 8.96911972e-01 -4.33001249e-01 -8.97710057e-02 3.46567843e+02] [ 4.31118271e-01 9.01389976e-01 -4.04122299e-02 4.53328564e+01] [ 9.84172307e-02 -2.45570793e-03 9.95142210e-01 1.77623976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.239254154 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:346.60, Y:45.35, Z:17.77 [[ 8.96787793e-01 -4.33341364e-01 -8.93695514e-02 3.46596354e+02] [ 4.31477691e-01 9.01226424e-01 -4.02235668e-02 4.53473839e+01] [ 9.79727366e-02 -2.48896398e-03 9.95185987e-01 1.77658516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.26925415399995 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:346.62, Y:45.36, Z:17.77 [[ 8.96813235e-01 -4.33325425e-01 -8.91913495e-02 3.46624092e+02] [ 4.31469894e-01 9.01234086e-01 -4.01354250e-02 4.53609680e+01] [ 9.77739845e-02 -2.48940173e-03 9.95205532e-01 1.77688231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.299254154 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:346.65, Y:45.38, Z:17.77 [[ 8.96939894e-01 -4.33032222e-01 -8.93416018e-02 3.46652762e+02] [ 4.31169563e-01 9.01375065e-01 -4.01970097e-02 4.53755509e+01] [ 9.79368926e-02 -2.46707770e-03 9.95189569e-01 1.77705436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.32925415399995 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:346.68, Y:45.39, Z:17.77 [[ 8.96715003e-01 -4.33576271e-01 -8.89596599e-02 3.46680721e+02] [ 4.31732988e-01 9.01113341e-01 -4.00171702e-02 4.53894474e+01] [ 9.75132318e-02 -2.52282290e-03 9.95231031e-01 1.77740583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.3592541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:346.71, Y:45.40, Z:17.78 [[ 8.96486735e-01 -4.33939017e-01 -8.94900228e-02 3.46710051e+02] [ 4.32076746e-01 9.00938523e-01 -4.02425505e-02 4.54028879e+01] [ 9.80878219e-02 -2.58964511e-03 9.95174393e-01 1.77763442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.38925415399996 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:346.73, Y:45.42, Z:17.78 [[ 8.94842456e-01 -4.37363731e-01 -8.92745492e-02 3.46733832e+02] [ 4.35125497e-01 8.99284422e-01 -4.41964856e-02 4.54172668e+01] [ 9.96131513e-02 7.03259133e-04 9.95025992e-01 1.77798756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.41925415399993 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:346.76, Y:45.43, Z:17.78 [[ 8.94065695e-01 -4.38438893e-01 -9.17489538e-02 3.46760779e+02] [ 4.36899628e-01 8.98735869e-01 -3.73169311e-02 4.54260981e+01] [ 9.88192697e-02 -6.72129590e-03 9.95082698e-01 1.77804107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.44925415399996 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:346.79, Y:45.44, Z:17.78 [[ 8.93129483e-01 -4.40578794e-01 -9.06093446e-02 3.46788938e+02] [ 4.38699704e-01 8.97707786e-01 -4.07835890e-02 4.54409342e+01] [ 9.93090986e-02 -3.32526687e-03 9.95051077e-01 1.77840627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.47925415399993 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:346.82, Y:45.48, Z:17.79 [[ 8.94734585e-01 -4.43118748e-01 -5.56398928e-02 3.46820525e+02] [ 4.37755868e-01 8.94855239e-01 -8.72003554e-02 4.54765064e+01] [ 8.84297618e-02 5.36644842e-02 9.94635763e-01 1.77867897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.50925415399996 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:346.86, Y:45.44, Z:17.77 [[ 8.89302109e-01 -4.42074837e-01 -1.17096527e-01 3.46858950e+02] [ 4.46452947e-01 8.94715365e-01 1.28133422e-02 4.54424694e+01] [ 9.91036060e-02 -6.36730219e-02 9.93037875e-01 1.77734926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.53925415399993 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:346.87, Y:45.48, Z:17.79 [[ 8.87961679e-01 -4.50367026e-01 -9.32394665e-02 3.46873886e+02] [ 4.48428612e-01 8.92832023e-01 -4.19852207e-02 4.54811976e+01] [ 1.02155940e-01 -4.52997747e-03 9.94758083e-01 1.77930187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.56925415399996 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:346.90, Y:45.49, Z:17.80 [[ 8.86686165e-01 -4.52712499e-01 -9.40161559e-02 3.46900719e+02] [ 4.50755281e-01 8.91643378e-01 -4.23292170e-02 4.54938447e+01] [ 1.02991849e-01 -4.84554768e-03 9.94670398e-01 1.77956804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.59925415399994 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:346.93, Y:45.51, Z:17.80 [[ 8.84679376e-01 -4.56331147e-01 -9.54163858e-02 3.46927797e+02] [ 4.54335752e-01 8.89793981e-01 -4.29615725e-02 4.55069601e+01] [ 1.04505629e-01 -5.34385821e-03 9.94509938e-01 1.77980859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.62925415399997 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:346.96, Y:45.52, Z:17.80 [[ 8.83881947e-01 -4.57791240e-01 -9.58117124e-02 3.46955586e+02] [ 4.55787761e-01 8.89042459e-01 -4.31395698e-02 4.55198388e+01] [ 1.04929598e-01 -5.53951894e-03 9.94464224e-01 1.78009405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.65925415399994 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:346.98, Y:45.53, Z:17.80 [[ 8.82499494e-01 -4.60283929e-01 -9.66092486e-02 3.46984907e+02] [ 4.58261793e-01 8.87752255e-01 -4.34978547e-02 4.55339210e+01] [ 1.05786442e-01 -5.88549274e-03 9.94371455e-01 1.78031047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.68925415399997 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:347.01, Y:45.55, Z:17.80 [[ 8.82038653e-01 -4.61026529e-01 -9.72746349e-02 3.47012836e+02] [ 4.58981738e-01 8.87365910e-01 -4.37893409e-02 4.55467023e+01] [ 1.06506243e-01 -6.02338966e-03 9.94293789e-01 1.78047910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.71925415399994 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:347.04, Y:45.56, Z:17.81 [[ 8.81251365e-01 -4.62485439e-01 -9.74846163e-02 3.47036960e+02] [ 4.60440697e-01 8.86605104e-01 -4.38834194e-02 4.55592377e+01] [ 1.06725801e-01 -6.21356134e-03 9.94269076e-01 1.78086727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.74925415399997 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:347.06, Y:45.57, Z:17.81 [[ 8.80950357e-01 -4.63035167e-01 -9.75956127e-02 3.47062386e+02] [ 4.60987321e-01 8.86317713e-01 -4.39499788e-02 4.55712094e+01] [ 1.06851106e-01 -6.27259062e-03 9.94255247e-01 1.78096597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.77925415399994 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:347.09, Y:45.59, Z:17.81 [[ 8.80181543e-01 -4.64587223e-01 -9.71553597e-02 3.47087927e+02] [ 4.62564025e-01 8.85504201e-01 -4.37816444e-02 4.55858199e+01] [ 1.06371872e-01 -6.40477887e-03 9.94305790e-01 1.78142667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.809254154 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:347.12, Y:45.60, Z:17.82 [[ 8.80078007e-01 -4.64814613e-01 -9.70055476e-02 3.47117180e+02] [ 4.62798714e-01 8.85384755e-01 -4.37171109e-02 4.55998800e+01] [ 1.06207585e-01 -6.41957490e-03 9.94323256e-01 1.78176871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.83925415399995 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:347.15, Y:45.61, Z:17.82 [[ 8.79820843e-01 -4.65277479e-01 -9.71192674e-02 3.47145248e+02] [ 4.63260565e-01 8.85141083e-01 -4.37597043e-02 4.56146549e+01] [ 1.06324658e-01 -6.49082678e-03 9.94310282e-01 1.78207071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.869254154 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:347.17, Y:45.63, Z:17.82 [[ 8.79973192e-01 -4.64900562e-01 -9.75430630e-02 3.47173984e+02] [ 4.62864677e-01 8.85339173e-01 -4.39413287e-02 4.56278712e+01] [ 1.06787043e-01 -6.48204702e-03 9.94260786e-01 1.78219760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.89925415399995 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:347.20, Y:45.64, Z:17.83 [[ 8.79561533e-01 -4.65756170e-01 -9.71735535e-02 3.47202057e+02] [ 4.63742336e-01 8.84888688e-01 -4.37613525e-02 4.56425990e+01] [ 1.06369898e-01 -6.57268838e-03 9.94304905e-01 1.78267967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.929254154 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:347.23, Y:45.66, Z:17.83 [[ 8.79408387e-01 -4.65983171e-01 -9.74708795e-02 3.47231161e+02] [ 4.63959288e-01 8.84768755e-01 -4.38865506e-02 4.56568218e+01] [ 1.06689583e-01 -6.62831916e-03 9.94270284e-01 1.78294737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.95925415399995 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:347.26, Y:45.67, Z:17.83 [[ 8.79094028e-01 -4.66422717e-01 -9.82015202e-02 3.47259549e+02] [ 4.64371997e-01 8.84536273e-01 -4.42066756e-02 4.56717554e+01] [ 1.07481804e-01 -6.74021159e-03 9.94184204e-01 1.78325085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.989254154 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:347.29, Y:45.69, Z:17.84 [[ 8.78941972e-01 -4.66622266e-01 -9.86137502e-02 3.47288579e+02] [ 4.64556460e-01 8.84430554e-01 -4.43834430e-02 4.56858228e+01] [ 1.07927316e-01 -6.80118387e-03 9.94135523e-01 1.78351926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.01925415399995 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:347.32, Y:45.70, Z:17.84 [[ 8.79075899e-01 -4.66134232e-01 -9.97218230e-02 3.47316576e+02] [ 4.64019482e-01 8.84687679e-01 -4.48735105e-02 4.56999632e+01] [ 1.09139747e-01 -6.82564705e-03 9.94002981e-01 1.78378690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.049254154 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:347.34, Y:45.71, Z:17.84 [[ 8.79326679e-01 -4.65492695e-01 -1.00504443e-01 3.47344752e+02] [ 4.63341101e-01 8.85025558e-01 -4.52193008e-02 4.57137429e+01] [ 1.09998255e-01 -6.80530186e-03 9.93908483e-01 1.78411294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.07925415399995 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:347.37, Y:45.73, Z:17.84 [[ 8.79576020e-01 -4.64944853e-01 -1.00857865e-01 3.47370649e+02] [ 4.62774888e-01 8.85313805e-01 -4.53747739e-02 4.57269611e+01] [ 1.10387627e-01 -6.76392392e-03 9.93865595e-01 1.78439908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.1092541539999 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:347.40, Y:45.74, Z:17.85 [[ 8.80564418e-01 -4.62906435e-01 -1.01606784e-01 3.47398886e+02] [ 4.60690498e-01 8.86382899e-01 -4.57123717e-02 4.57428379e+01] [ 1.11223067e-01 -6.55659204e-03 9.93773838e-01 1.78475860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.13925415399996 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:347.43, Y:45.76, Z:17.85 [[ 8.81397342e-01 -4.61327853e-01 -1.01564450e-01 3.47428697e+02] [ 4.59104427e-01 8.87206922e-01 -4.56837348e-02 4.57577302e+01] [ 1.11183862e-01 -6.36316594e-03 9.93779482e-01 1.78507816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.16925415399993 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:347.46, Y:45.77, Z:17.85 [[ 8.82243568e-01 -4.59743114e-01 -1.01402938e-01 3.47456797e+02] [ 4.57517789e-01 8.88030554e-01 -4.55983455e-02 4.57720564e+01] [ 1.11012432e-01 -6.16480071e-03 9.93799897e-01 1.78540692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.19925415399996 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:347.48, Y:45.79, Z:17.86 [[ 8.84870565e-01 -4.54765984e-01 -1.00955356e-01 3.47483280e+02] [ 4.52528708e-01 8.90593863e-01 -4.53909641e-02 4.57866342e+01] [ 1.10552487e-01 -5.52006858e-03 9.93854958e-01 1.78559860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.22925415399993 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:347.51, Y:45.80, Z:17.86 [[ 8.86055052e-01 -4.52596506e-01 -1.00313745e-01 3.47511955e+02] [ 4.50374202e-01 8.91700156e-01 -4.50988851e-02 4.58023757e+01] [ 1.09861380e-01 -5.21862785e-03 9.93933219e-01 1.78613955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.25925415399996 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:347.54, Y:45.82, Z:17.86 [[ 8.87706924e-01 -4.49522757e-01 -9.95274269e-02 3.47540052e+02] [ 4.47317423e-01 8.93255923e-01 -4.47323122e-02 4.58170224e+01] [ 1.09011656e-01 -4.81116883e-03 9.94028828e-01 1.78647695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.28925415399993 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:347.57, Y:45.83, Z:17.87 [[ 8.90807092e-01 -4.43580213e-01 -9.84851239e-02 3.47568274e+02] [ 4.41385885e-01 8.96225529e-01 -4.42527109e-02 4.58344682e+01] [ 1.07894509e-01 -4.04931484e-03 9.94154102e-01 1.78689597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.31925415399996 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:347.60, Y:45.85, Z:17.87 [[ 8.90864250e-01 -4.43464295e-01 -9.84901393e-02 3.47598774e+02] [ 4.41270495e-01 8.96282900e-01 -4.42415460e-02 4.58480685e+01] [ 1.07894574e-01 -4.04758083e-03 9.94154102e-01 1.78721782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.34925415399994 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:347.63, Y:45.86, Z:17.87 [[ 8.92573239e-01 -4.40048200e-01 -9.83391772e-02 3.47627393e+02] [ 4.37842062e-01 8.97966769e-01 -4.41589346e-02 4.58626266e+01] [ 1.07737373e-01 -3.64194480e-03 9.94172719e-01 1.78742443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.37925415399997 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:347.66, Y:45.88, Z:17.88 [[ 8.94703849e-01 -4.35787051e-01 -9.79523805e-02 3.47655489e+02] [ 4.33573976e-01 9.00044374e-01 -4.39742134e-02 4.58798623e+01] [ 1.07324882e-01 -3.12570506e-03 9.94219090e-01 1.78789097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.40925415399994 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:347.69, Y:45.89, Z:17.88 [[ 8.95645268e-01 -4.33882097e-01 -9.78053198e-02 3.47685175e+02] [ 4.31665757e-01 9.00964976e-01 -4.38951686e-02 4.58942742e+01] [ 1.07164495e-01 -2.90470739e-03 9.94237061e-01 1.78819178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.43925415399997 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:347.71, Y:45.91, Z:17.88 [[ 8.96715763e-01 -4.31682342e-01 -9.77302224e-02 3.47714753e+02] [ 4.29457776e-01 9.02021799e-01 -4.38485192e-02 4.59080264e+01] [ 1.07083423e-01 -2.65134559e-03 9.94246504e-01 1.78836584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.46925415399994 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:347.74, Y:45.92, Z:17.89 [[ 8.98071603e-01 -4.28902201e-01 -9.75207599e-02 3.47742092e+02] [ 4.26672181e-01 9.03347935e-01 -4.37419442e-02 4.59238368e+01] [ 1.06856193e-01 -2.32599744e-03 9.94271766e-01 1.78888513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.49925415399997 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:347.77, Y:45.94, Z:17.89 [[ 8.98974708e-01 -4.27042532e-01 -9.73609265e-02 3.47771416e+02] [ 4.24810114e-01 9.04229074e-01 -4.36594524e-02 4.59381839e+01] [ 1.06681024e-01 -2.11116287e-03 9.94291055e-01 1.78917835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.52925415399994 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:347.80, Y:45.95, Z:17.90 [[ 8.99791280e-01 -4.25274826e-01 -9.75549805e-02 3.47800506e+02] [ 4.23024477e-01 9.05062234e-01 -4.37337889e-02 4.59526107e+01] [ 1.06892208e-01 -1.91686269e-03 9.94268767e-01 1.78950517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.559254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:347.83, Y:45.97, Z:17.90 [[ 9.00999087e-01 -4.22632531e-01 -9.78896789e-02 3.47830611e+02] [ 4.20352506e-01 9.06299684e-01 -4.38708641e-02 4.59665666e+01] [ 1.07258639e-01 -1.62056342e-03 9.94229832e-01 1.78970358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.58925415399995 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:347.86, Y:45.98, Z:17.90 [[ 9.02900572e-01 -4.18628640e-01 -9.75736570e-02 3.47859164e+02] [ 4.16341393e-01 9.08156778e-01 -4.37162572e-02 4.59821814e+01] [ 1.06913055e-01 -1.15251855e-03 9.94267706e-01 1.79021084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.619254154 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:347.89, Y:45.99, Z:17.90 [[ 9.04234848e-01 -4.15829908e-01 -9.71845002e-02 3.47888347e+02] [ 4.13546247e-01 9.09442026e-01 -4.35281906e-02 4.59947801e+01] [ 1.06483992e-01 -8.30578561e-04 9.94314070e-01 1.79040254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.64925415399995 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:347.92, Y:46.01, Z:17.91 [[ 9.06205949e-01 -4.11766708e-01 -9.61194833e-02 3.47917390e+02] [ 4.09512251e-01 9.11289220e-01 -4.30310717e-02 4.60089308e+01] [ 1.05311412e-01 -3.67092780e-04 9.94439225e-01 1.79086496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.679254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:347.95, Y:46.02, Z:17.91 [[ 9.07210179e-01 -4.09750974e-01 -9.52566567e-02 3.47947194e+02] [ 4.07527135e-01 9.12197412e-01 -4.26323298e-02 4.60226084e+01] [ 1.04361514e-01 -1.43188851e-04 9.94539418e-01 1.79119857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.70925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:347.98, Y:46.04, Z:17.92 [[ 9.08087425e-01 -4.08031039e-01 -9.42756557e-02 3.47977452e+02] [ 4.05845064e-01 9.12968055e-01 -4.21795552e-02 4.60360625e+01] [ 1.03281230e-01 4.14141963e-05 9.94652193e-01 1.79154565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.739254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:348.01, Y:46.05, Z:17.92 [[ 9.08841673e-01 -4.06668798e-01 -9.28832740e-02 3.48007853e+02] [ 4.04543296e-01 9.13575647e-01 -4.15242020e-02 4.60486648e+01] [ 1.01742494e-01 1.63619420e-04 9.94810755e-01 1.79190423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.76925415399995 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:348.04, Y:46.06, Z:17.92 [[ 9.08812147e-01 -4.06818818e-01 -9.25144872e-02 3.48037493e+02] [ 4.04714236e-01 9.13508859e-01 -4.13273693e-02 4.60606986e+01] [ 1.01325555e-01 1.16885265e-04 9.94853315e-01 1.79222333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.799254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:348.07, Y:46.07, Z:17.92 [[ 9.08384193e-01 -4.07786177e-01 -9.24585957e-02 3.48067965e+02] [ 4.05691268e-01 9.13077452e-01 -4.12814907e-02 4.60728778e+01] [ 1.01255880e-01 -1.01913160e-05 9.94860416e-01 1.79244178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.82925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:348.10, Y:46.08, Z:17.93 [[ 9.06222478e-01 -4.12501493e-01 -9.27541848e-02 3.48099552e+02] [ 4.10421058e-01 9.10956747e-01 -4.13806683e-02 4.60832948e+01] [ 1.01564638e-01 -5.68178941e-04 9.94828780e-01 1.79280156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.8592541539999 meters Centerline goodness : 0.996564 Centerline is valid? [True, True] Translation: X:348.12, Y:46.11, Z:17.93 [[ 9.05446070e-01 -4.17732979e-01 -7.52766375e-02 3.48118429e+02] [ 4.13340504e-01 9.08076414e-01 -6.74303627e-02 4.61062845e+01] [ 9.65248253e-02 2.99396736e-02 9.94880181e-01 1.79335143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.88925415399996 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:348.16, Y:46.09, Z:17.92 [[ 9.03066022e-01 -4.16385017e-01 -1.05334121e-01 3.48159768e+02] [ 4.17292128e-01 9.08659360e-01 -1.43334492e-02 4.60899417e+01] [ 1.01681068e-01 -3.10110485e-02 9.94333583e-01 1.79232235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.91925415399993 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:348.18, Y:46.11, Z:17.94 [[ 9.01449716e-01 -4.22587985e-01 -9.38499017e-02 3.48182932e+02] [ 4.20511930e-01 9.06320274e-01 -4.18721583e-02 4.61133895e+01] [ 1.02752740e-01 -1.71935812e-03 9.94705443e-01 1.79363913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.94925415399996 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:348.21, Y:46.12, Z:17.94 [[ 8.98459868e-01 -4.28705427e-01 -9.47708955e-02 3.48214428e+02] [ 4.26623234e-01 9.03441004e-01 -4.22725436e-02 4.61230734e+01] [ 1.03742382e-01 -2.45128200e-03 9.94601181e-01 1.79391593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.97925415399993 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:348.25, Y:46.13, Z:17.94 [[ 8.97335562e-01 -4.30888010e-01 -9.55217878e-02 3.48245414e+02] [ 4.28786256e-01 9.02401260e-01 -4.25947481e-02 4.61347767e+01] [ 1.04552548e-01 -2.73664756e-03 9.94515598e-01 1.79429942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.00925415399996 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:348.27, Y:46.15, Z:17.95 [[ 8.95927241e-01 -4.33907806e-01 -9.50704727e-02 3.48273168e+02] [ 4.31123247e-01 9.00952048e-01 -4.91747287e-02 4.61465223e+01] [ 1.06991236e-01 3.06988813e-03 9.94255224e-01 1.79476513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.03925415399993 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:348.30, Y:46.15, Z:17.95 [[ 8.95231662e-01 -4.34570176e-01 -9.85344315e-02 3.48304016e+02] [ 4.33017305e-01 9.00594362e-01 -3.77598892e-02 4.61522319e+01] [ 1.05148875e-01 -8.86326563e-03 9.94416993e-01 1.79469480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.06925415399996 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:348.33, Y:46.17, Z:17.95 [[ 8.95030806e-01 -4.35485061e-01 -9.62944344e-02 3.48332218e+02] [ 4.33375430e-01 9.00189913e-01 -4.29401591e-02 4.61663212e+01] [ 1.05383076e-01 -3.29887677e-03 9.94426229e-01 1.79520837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.09925415399994 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:348.36, Y:46.18, Z:17.96 [[ 8.95374509e-01 -4.34714215e-01 -9.65817752e-02 3.48362191e+02] [ 4.32588606e-01 9.00562677e-01 -4.30576768e-02 4.61777735e+01] [ 1.05695726e-01 -3.22742927e-03 9.94393281e-01 1.79560530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.12925415399997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:348.39, Y:46.19, Z:17.96 [[ 8.95833774e-01 -4.33702787e-01 -9.68697129e-02 3.48392029e+02] [ 4.31559661e-01 9.01050562e-01 -4.31757288e-02 4.61904653e+01] [ 1.06009943e-01 -3.12678434e-03 9.94360154e-01 1.79599376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.15925415399994 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:348.42, Y:46.20, Z:17.96 [[ 8.97101185e-01 -4.31056680e-01 -9.69515519e-02 3.48422579e+02] [ 4.28895440e-01 9.02320432e-01 -4.32034595e-02 4.62033997e+01] [ 1.06104506e-01 -2.82420378e-03 9.94350973e-01 1.79637365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.18925415399997 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:348.45, Y:46.22, Z:17.97 [[ 8.97794387e-01 -4.29586180e-01 -9.70615893e-02 3.48452508e+02] [ 4.27412821e-01 9.03021933e-01 -4.32396663e-02 4.62159549e+01] [ 1.06223907e-01 -2.66503800e-03 9.94338664e-01 1.79669195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.21925415399994 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:348.48, Y:46.23, Z:17.97 [[ 8.98520965e-01 -4.27925133e-01 -9.76737280e-02 3.48482013e+02] [ 4.25715775e-01 9.03810739e-01 -4.34997348e-02 4.62273109e+01] [ 1.06893194e-01 -2.49582322e-03 9.94267376e-01 1.79687389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.24925415399997 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:348.51, Y:46.24, Z:17.97 [[ 8.98648665e-01 -4.27735259e-01 -9.73299837e-02 3.48511029e+02] [ 4.25541458e-01 9.03900674e-01 -4.33363488e-02 4.62406644e+01] [ 1.06513122e-01 -2.47379116e-03 9.94308219e-01 1.79736531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.27925415399994 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:348.54, Y:46.25, Z:17.98 [[ 8.99072217e-01 -4.26664883e-01 -9.81133274e-02 3.48540370e+02] [ 4.24430070e-01 9.04406680e-01 -4.36769076e-02 4.62513977e+01] [ 1.07369751e-01 -2.37355221e-03 9.94216326e-01 1.79754730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.309254154 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:348.57, Y:46.30, Z:17.98 [[ 9.05162494e-01 -4.23353503e-01 -3.81139214e-02 3.48571506e+02] [ 4.16258433e-01 9.00995412e-01 -1.22213683e-01 4.63004041e+01] [ 8.60800590e-02 9.47580005e-02 9.91771720e-01 1.79818798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.33925415399995 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:348.62, Y:46.23, Z:17.94 [[ 9.00636627e-01 -4.15505754e-01 -1.27313140e-01 3.48616095e+02] [ 4.23255829e-01 9.05117925e-01 4.02000602e-02 4.62329948e+01] [ 9.85300487e-02 -9.00916751e-02 9.91047587e-01 1.79442934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.369254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:348.63, Y:46.28, Z:17.97 [[ 9.00169129e-01 -4.25429215e-01 -9.33033887e-02 3.48625940e+02] [ 4.23764512e-01 9.04975876e-01 -3.79776643e-02 4.62816569e+01] [ 1.00594124e-01 -5.35234396e-03 9.94913149e-01 1.79721358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.39925415399995 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:348.66, Y:46.29, Z:17.97 [[ 9.00197687e-01 -4.25423511e-01 -9.30535346e-02 3.48655779e+02] [ 4.23440988e-01 9.04991175e-01 -4.10938210e-02 4.62947684e+01] [ 1.01694905e-01 -2.41011808e-03 9.94812715e-01 1.79745779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.429254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:348.69, Y:46.31, Z:17.98 [[ 9.00163004e-01 -4.25378551e-01 -9.35930241e-02 3.48685489e+02] [ 4.23373949e-01 9.05012255e-01 -4.13196997e-02 4.63071692e+01] [ 1.02279348e-01 -2.43038323e-03 9.94752747e-01 1.79775200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.45925415399995 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:348.72, Y:46.32, Z:17.98 [[ 9.00144348e-01 -4.25591061e-01 -9.28030288e-02 3.48715255e+02] [ 4.23622436e-01 9.04912305e-01 -4.09603710e-02 4.63206672e+01] [ 1.01410970e-01 -2.44319871e-03 9.94841618e-01 1.79821932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.489254154 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:348.75, Y:46.33, Z:17.99 [[ 9.00266298e-01 -4.25447150e-01 -9.22784604e-02 3.48745168e+02] [ 4.23501258e-01 9.04980025e-01 -4.07165746e-02 4.63343240e+01] [ 1.00832914e-01 -2.42428410e-03 9.94900420e-01 1.79860052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.51925415399995 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:348.77, Y:46.35, Z:17.99 [[ 9.00764440e-01 -4.24482445e-01 -9.18590113e-02 3.48774489e+02] [ 4.22550584e-01 9.05433201e-01 -4.05181733e-02 4.63469316e+01] [ 1.00371452e-01 -2.31774924e-03 9.94947335e-01 1.79891220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.549254154 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:348.80, Y:46.36, Z:17.99 [[ 9.00950739e-01 -4.24178643e-01 -9.14343794e-02 3.48804352e+02] [ 4.22264999e-01 9.05575636e-01 -4.03117674e-02 4.63604372e+01] [ 9.99001371e-02 -2.29062151e-03 9.94994832e-01 1.79925506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.57925415399995 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:348.84, Y:46.37, Z:18.00 [[ 9.01107834e-01 -4.23832658e-01 -9.14907058e-02 3.48835017e+02] [ 4.21916089e-01 9.05737682e-01 -4.03244952e-02 4.63736889e+01] [ 9.99574178e-02 -2.26468228e-03 9.94989139e-01 1.79952639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.6092541539999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:348.86, Y:46.40, Z:18.00 [[ 9.03155493e-01 -4.23376710e-01 -7.11499645e-02 3.48862234e+02] [ 4.19458630e-01 9.05526586e-01 -6.38440310e-02 4.63979854e+01] [ 9.14582602e-02 2.78166206e-02 9.95420324e-01 1.79967240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.63925415399996 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:348.90, Y:46.39, Z:17.99 [[ 9.01230363e-01 -4.20937963e-01 -1.02932330e-01 3.48899462e+02] [ 4.22004180e-01 9.06510989e-01 -1.22595994e-02 4.63856820e+01] [ 9.84698195e-02 -3.23891505e-02 9.94612808e-01 1.79915809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.66925415399993 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:348.92, Y:46.41, Z:18.00 [[ 9.01232456e-01 -4.23872345e-01 -9.00682827e-02 3.48922866e+02] [ 4.22018546e-01 9.05719112e-01 -3.96640519e-02 4.64110847e+01] [ 9.83890597e-02 -2.26395487e-03 9.95145450e-01 1.80036753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.69925415399996 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:348.94, Y:46.43, Z:18.01 [[ 9.01425236e-01 -4.26499609e-01 -7.43681890e-02 3.48944387e+02] [ 4.22930386e-01 9.04220271e-01 -5.92924079e-02 4.64321867e+01] [ 9.25334128e-02 2.19951059e-02 9.95466616e-01 1.80059185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.72925415399993 meters Centerline goodness : 0.997139 Centerline is valid? [True, True] Translation: X:348.98, Y:46.43, Z:18.00 [[ 9.01086215e-01 -4.25708095e-01 -8.25605898e-02 3.48975435e+02] [ 4.23783047e-01 9.04859349e-01 -4.04658857e-02 4.64349031e+01] [ 9.19323766e-02 1.47547342e-03 9.95764159e-01 1.80015701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.75925415399996 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:349.01, Y:46.43, Z:18.00 [[ 8.99758225e-01 -4.24859478e-01 -9.96471808e-02 3.49006608e+02] [ 4.25535764e-01 9.04810009e-01 -1.54324899e-02 4.64332335e+01] [ 9.67184062e-02 -2.85179295e-02 9.94903150e-01 1.80021787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.78925415399993 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:349.03, Y:46.46, Z:18.01 [[ 8.99245462e-01 -4.28319240e-01 -8.88832277e-02 3.49031628e+02] [ 4.26529590e-01 9.03623576e-01 -3.92038522e-02 4.64563051e+01] [ 9.71087442e-02 -2.65744040e-03 9.95270230e-01 1.80125645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.81925415399996 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:349.06, Y:46.47, Z:18.01 [[ 8.98884560e-01 -4.29026708e-01 -8.91214440e-02 3.49061060e+02] [ 4.27232049e-01 9.03287612e-01 -3.92971509e-02 4.64685591e+01] [ 9.73618237e-02 -2.75193494e-03 9.95245247e-01 1.80148512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.84925415399994 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:349.09, Y:46.48, Z:18.02 [[ 8.97932648e-01 -4.30931581e-01 -8.95261506e-02 3.49091683e+02] [ 4.29130979e-01 9.02379679e-01 -3.94653975e-02 4.64813963e+01] [ 9.77934652e-02 -2.98117578e-03 9.95202266e-01 1.80178024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.87925415399997 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:349.12, Y:46.49, Z:18.02 [[ 8.97437795e-01 -4.31993742e-01 -8.93689576e-02 3.49120945e+02] [ 4.30205867e-01 9.01871268e-01 -3.93843592e-02 4.64941185e+01] [ 9.76130918e-02 -3.10203742e-03 9.95219605e-01 1.80204527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.90925415399994 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:349.15, Y:46.51, Z:18.02 [[ 8.97164620e-01 -4.32544821e-01 -8.94462002e-02 3.49151947e+02] [ 4.30757574e-01 9.01606845e-01 -3.94082342e-02 4.65064487e+01] [ 9.76911340e-02 -3.17395473e-03 9.95211720e-01 1.80219121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.93925415399997 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:349.18, Y:46.52, Z:18.03 [[ 8.96218815e-01 -4.34760028e-01 -8.81791004e-02 3.49182212e+02] [ 4.33034961e-01 9.00540012e-01 -3.88382467e-02 4.65203440e+01] [ 9.62941254e-02 -3.37706585e-03 9.95347194e-01 1.80260316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.96925415399994 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:349.21, Y:46.53, Z:18.03 [[ 8.95791427e-01 -4.35694512e-01 -8.79091124e-02 3.49212671e+02] [ 4.33985629e-01 9.00087884e-01 -3.87075471e-02 4.65336420e+01] [ 9.59905928e-02 -3.47740256e-03 9.95376167e-01 1.80285935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.99925415399997 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:349.24, Y:46.55, Z:18.03 [[ 8.95458689e-01 -4.36336978e-01 -8.81123017e-02 3.49242738e+02] [ 4.34624413e-01 8.99776267e-01 -3.87851616e-02 4.65463340e+01] [ 9.62047582e-02 -3.56524744e-03 9.95355180e-01 1.80303979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.02925415399994 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:349.27, Y:46.56, Z:18.03 [[ 8.94084476e-01 -4.39217307e-01 -8.77559476e-02 3.49271716e+02] [ 4.37533491e-01 8.98372520e-01 -3.86168382e-02 4.65607166e+01] [ 9.57987155e-02 -3.86945048e-03 9.95393205e-01 1.80337955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.059254154 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:349.31, Y:46.59, Z:18.04 [[ 8.97388469e-01 -4.37430164e-01 -5.78687110e-02 3.49308422e+02] [ 4.32773223e-01 8.98134572e-01 -7.78564544e-02 4.65923343e+01] [ 8.60306516e-02 4.48234559e-02 9.95283671e-01 1.80373099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.08925415399995 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:349.34, Y:46.56, Z:18.02 [[ 8.92293047e-01 -4.37921784e-01 -1.09716136e-01 3.49339934e+02] [ 4.41382696e-01 8.97281152e-01 8.23715064e-03 4.65639368e+01] [ 9.48389930e-02 -5.57767561e-02 9.93928830e-01 1.80231534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.119254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:349.36, Y:46.60, Z:18.04 [[ 8.91175044e-01 -4.44832722e-01 -8.90555511e-02 3.49357835e+02] [ 4.43123324e-01 8.95602314e-01 -3.92200930e-02 4.65999352e+01] [ 9.72047383e-02 -4.51062376e-03 9.95254185e-01 1.80427567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.14925415399995 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:349.39, Y:46.61, Z:18.05 [[ 8.89434137e-01 -4.48272307e-01 -8.92124093e-02 3.49387362e+02] [ 4.46575018e-01 8.93883601e-01 -3.92792750e-02 4.66137728e+01] [ 9.73533209e-02 -4.90370519e-03 9.95237803e-01 1.80458610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.179254154 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:349.42, Y:46.63, Z:18.05 [[ 8.88625045e-01 -4.49943378e-01 -8.88621706e-02 3.49417801e+02] [ 4.48268843e-01 8.93042654e-01 -3.91134645e-02 4.66274187e+01] [ 9.69565529e-02 -5.07693825e-03 9.95275666e-01 1.80488599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.20925415399995 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:349.45, Y:46.64, Z:18.05 [[ 8.88665891e-01 -4.49861865e-01 -8.88663951e-02 3.49447642e+02] [ 4.48187882e-01 8.93083709e-01 -3.91038641e-02 4.66404795e+01] [ 9.69564669e-02 -5.07857109e-03 9.95275666e-01 1.80517338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.239254154 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:349.48, Y:46.65, Z:18.05 [[ 8.87509332e-01 -4.52123981e-01 -8.89443172e-02 3.49476616e+02] [ 4.50459242e-01 8.91939126e-01 -3.91288400e-02 4.66524738e+01] [ 9.70240035e-02 -5.33857911e-03 9.95267724e-01 1.80525760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.26925415399995 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:349.51, Y:46.66, Z:18.06 [[ 8.87850483e-01 -4.51296916e-01 -8.97363577e-02 3.49511674e+02] [ 4.49995093e-01 8.92328989e-01 -3.54032638e-02 4.66649155e+01] [ 9.60517372e-02 -8.94811577e-03 9.95336122e-01 1.80564020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.299254154 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:349.53, Y:46.68, Z:18.06 [[ 8.86336638e-01 -4.54571016e-01 -8.81621053e-02 3.49532985e+02] [ 4.52687399e-01 8.90704884e-01 -4.14599500e-02 4.66815401e+01] [ 9.73729094e-02 -3.16240144e-03 9.95242943e-01 1.80607793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.32925415399995 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:349.56, Y:46.70, Z:18.06 [[ 8.85997741e-01 -4.54814488e-01 -9.02872333e-02 3.49563184e+02] [ 4.53113172e-01 8.90567822e-01 -3.97165847e-02 4.66956848e+01] [ 9.84705829e-02 -5.72153036e-03 9.95123514e-01 1.80627827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.3592541539999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:349.59, Y:46.71, Z:18.07 [[ 8.85900980e-01 -4.54906798e-01 -9.07703668e-02 3.49592655e+02] [ 4.53188893e-01 8.90520336e-01 -3.99168822e-02 4.67099732e+01] [ 9.89913186e-02 -5.77371705e-03 9.95071547e-01 1.80656221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.38925415399996 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:349.62, Y:46.72, Z:18.07 [[ 8.86119362e-01 -4.54504073e-01 -9.06560758e-02 3.49622491e+02] [ 4.52789608e-01 8.90726214e-01 -3.98545057e-02 4.67243205e+01] [ 9.88637783e-02 -5.73227983e-03 9.95084466e-01 1.80686902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.41925415399993 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:349.65, Y:46.74, Z:18.07 [[ 8.86944959e-01 -4.52949288e-01 -9.03636091e-02 3.49651393e+02] [ 4.51239062e-01 8.91518997e-01 -3.97138106e-02 4.67395320e+01] [ 9.85492164e-02 -5.55162611e-03 9.95116692e-01 1.80716466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.44925415399996 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:349.68, Y:46.75, Z:18.07 [[ 8.87659415e-01 -4.51482952e-01 -9.06857592e-02 3.49680360e+02] [ 4.49754304e-01 8.92263277e-01 -3.98410588e-02 4.67529972e+01] [ 9.89031315e-02 -5.42101958e-03 9.95082300e-01 1.80741490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.47925415399993 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:349.71, Y:46.77, Z:18.08 [[ 8.88249887e-01 -4.50509614e-01 -8.97397647e-02 3.49709695e+02] [ 4.48814698e-01 8.92755954e-01 -3.93976463e-02 4.67684251e+01] [ 9.78647277e-02 -5.28157051e-03 9.95185711e-01 1.80782072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.50925415399996 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:349.74, Y:46.79, Z:18.08 [[ 8.89569046e-01 -4.48051462e-01 -8.89763999e-02 3.49738069e+02] [ 4.46374199e-01 8.93993906e-01 -3.90508684e-02 4.67855866e+01] [ 9.70411580e-02 -4.97832550e-03 9.95267919e-01 1.80817562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.53925415399993 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:349.77, Y:46.80, Z:18.08 [[ 8.90427140e-01 -4.46373633e-01 -8.88261682e-02 3.49767286e+02] [ 4.44694865e-01 8.94833818e-01 -3.89732663e-02 4.68005296e+01] [ 9.68812977e-02 -4.79768686e-03 9.95284380e-01 1.80849638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.56925415399996 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:349.80, Y:46.81, Z:18.09 [[ 8.91304646e-01 -4.44588466e-01 -8.89782209e-02 3.49796419e+02] [ 4.42896199e-01 8.95723023e-01 -3.90284899e-02 4.68146590e+01] [ 9.70514575e-02 -4.62184149e-03 9.95268634e-01 1.80875234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.59925415399994 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:349.83, Y:46.81, Z:18.08 [[ 8.89751027e-01 -4.38919331e-01 -1.25271430e-01 3.49829005e+02] [ 4.44139775e-01 8.95817792e-01 1.58222404e-02 4.68054041e+01] [ 1.05275689e-01 -6.97158795e-02 9.91996333e-01 1.80849531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.62925415399997 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:349.84, Y:46.85, Z:18.11 [[ 8.89253684e-01 -4.45463640e-01 -1.03875075e-01 3.49844458e+02] [ 4.42531717e-01 8.95299836e-01 -5.10282621e-02 4.68496851e+01] [ 1.15730573e-01 -5.90945166e-04 9.93280467e-01 1.81148719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.65925415399994 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:349.87, Y:46.86, Z:18.11 [[ 8.91318648e-01 -4.40266020e-01 -1.08244627e-01 3.49871082e+02] [ 4.39683804e-01 8.97635116e-01 -3.04852721e-02 4.68557734e+01] [ 1.10585808e-01 -2.04213180e-02 9.93656756e-01 1.81105485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.68925415399997 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:349.89, Y:46.88, Z:18.12 [[ 8.92160465e-01 -4.41173791e-01 -9.70329372e-02 3.49894995e+02] [ 4.37734361e-01 8.97394620e-01 -5.54213443e-02 4.68798265e+01] [ 1.11527280e-01 6.97008155e-03 9.93736929e-01 1.81202737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.71925415399994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:349.92, Y:46.92, Z:18.12 [[ 8.96722381e-01 -4.38651066e-01 -5.89424715e-02 3.49918971e+02] [ 4.31320491e-01 8.95964172e-01 -1.05881236e-01 4.69151863e+01] [ 9.92552598e-02 6.95229785e-02 9.92630318e-01 1.81245177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.74925415399997 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:349.96, Y:46.90, Z:18.10 [[ 8.97603124e-01 -4.31979659e-01 -8.77622137e-02 3.49961723e+02] [ 4.30286558e-01 9.01877178e-01 -3.83540616e-02 4.69011638e+01] [ 9.57189121e-02 -3.33617539e-03 9.95402813e-01 1.81011127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.77925415399994 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:349.99, Y:46.92, Z:18.10 [[ 8.98170348e-01 -4.30715802e-01 -8.81698620e-02 3.49991189e+02] [ 4.29001653e-01 9.02481858e-01 -3.85237416e-02 4.69152346e+01] [ 9.61644851e-02 -3.22413410e-03 9.95360235e-01 1.81038010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.809254154 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:350.02, Y:46.93, Z:18.11 [[ 8.99580853e-01 -4.27678881e-01 -8.85723676e-02 3.50019654e+02] [ 4.25937296e-01 9.03925953e-01 -3.86689898e-02 4.69299773e+01] [ 9.66007721e-02 -2.94039189e-03 9.95318866e-01 1.81067197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.83925415399995 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:350.05, Y:46.93, Z:18.11 [[ 8.97950677e-01 -4.25062039e-01 -1.14047551e-01 3.50049995e+02] [ 4.27783404e-01 9.03881022e-01 -6.76150782e-04 4.69279005e+01] [ 1.03372823e-01 -4.81804993e-02 9.93475062e-01 1.81070443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.869254154 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:350.07, Y:46.98, Z:18.13 [[ 9.01701817e-01 -4.26810404e-01 -6.90413800e-02 3.50067181e+02] [ 4.21337399e-01 9.03266069e-01 -8.11492732e-02 4.69768432e+01] [ 9.69980900e-02 4.40827316e-02 9.94307841e-01 1.81296837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.89925415399995 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:350.11, Y:46.96, Z:18.11 [[ 9.00594286e-01 -4.19863498e-01 -1.12448104e-01 3.50105924e+02] [ 4.22403727e-01 9.06406778e-01 -1.35829152e-03 4.69574122e+01] [ 1.02494020e-01 -4.62752285e-02 9.93656671e-01 1.81128230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.929254154 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:350.12, Y:47.00, Z:18.14 [[ 9.04348271e-01 -4.21170219e-01 -6.90641065e-02 3.50124149e+02] [ 4.15807979e-01 9.05936039e-01 -7.98975501e-02 4.70041254e+01] [ 9.62181317e-02 4.35378048e-02 9.94407628e-01 1.81355623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.95925415399995 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:350.16, Y:47.00, Z:18.12 [[ 9.06467507e-01 -4.13820753e-01 -8.40776048e-02 3.50163183e+02] [ 4.12199601e-01 9.10357213e-01 -3.66228746e-02 4.69979947e+01] [ 9.16959595e-02 -1.45930934e-03 9.95785982e-01 1.81191102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.989254154 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:350.19, Y:47.01, Z:18.12 [[ 9.05678904e-01 -4.14909589e-01 -8.71536293e-02 3.50192404e+02] [ 4.13175051e-01 9.09861144e-01 -3.79351533e-02 4.70115820e+01] [ 9.50373597e-02 -1.65263717e-03 9.95472335e-01 1.81244162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.01925415399995 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:350.22, Y:47.02, Z:18.13 [[ 9.06000700e-01 -4.14243423e-01 -8.69776884e-02 3.50222384e+02] [ 4.12514049e-01 9.10164740e-01 -3.78458010e-02 4.70244863e+01] [ 9.48413993e-02 -1.59119624e-03 9.95491124e-01 1.81271522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.049254154 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:350.25, Y:47.04, Z:18.13 [[ 9.06251483e-01 -4.13514408e-01 -8.78298621e-02 3.50251833e+02] [ 4.11750475e-01 9.10496242e-01 -3.81855994e-02 4.70370466e+01] [ 9.57590549e-02 -1.55823141e-03 9.95403323e-01 1.81300643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.07925415399995 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:350.28, Y:47.05, Z:18.13 [[ 9.06792803e-01 -4.12335744e-01 -8.77840888e-02 3.50281595e+02] [ 4.10570932e-01 9.11030792e-01 -3.81366689e-02 4.70504322e+01] [ 9.56991197e-02 -1.45953825e-03 9.95409237e-01 1.81328036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.1092541539999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:350.31, Y:47.06, Z:18.14 [[ 9.07091071e-01 -4.11511279e-01 -8.85678083e-02 3.50312181e+02] [ 4.09713818e-01 9.11403572e-01 -3.84462842e-02 4.70639301e+01] [ 9.65420964e-02 -1.41317380e-03 9.95327899e-01 1.81352294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.13925415399996 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:350.34, Y:47.06, Z:18.14 [[ 9.04334869e-01 -4.11383437e-01 -1.13763409e-01 3.50341093e+02] [ 4.13864547e-01 9.10336323e-01 -1.97906199e-03 4.70624866e+01] [ 1.04377116e-01 -4.52929068e-02 9.93505898e-01 1.81353649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.16925415399993 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:350.36, Y:47.11, Z:18.16 [[ 9.08178642e-01 -4.12466601e-01 -7.12941599e-02 3.50360937e+02] [ 4.06911459e-01 9.09895964e-01 -8.06994385e-02 4.71078706e+01] [ 9.81560914e-02 4.42790959e-02 9.94185467e-01 1.81574894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.19925415399996 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:350.40, Y:47.10, Z:18.14 [[ 9.09157572e-01 -4.06575584e-01 -9.01598738e-02 3.50400224e+02] [ 4.04694340e-01 9.13616646e-01 -3.90783300e-02 4.71016920e+01] [ 9.82598563e-02 -9.58831049e-04 9.95160329e-01 1.81433285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.22925415399993 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:350.43, Y:47.11, Z:18.15 [[ 9.09942432e-01 -4.04839206e-01 -9.00554717e-02 3.50429477e+02] [ 4.02955859e-01 9.14387552e-01 -3.90125822e-02 4.71142170e+01] [ 9.81394251e-02 -7.89175947e-04 9.95172362e-01 1.81464449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.25925415399996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:350.46, Y:47.11, Z:18.15 [[ 9.07921329e-01 -4.02899972e-01 -1.15544245e-01 3.50457550e+02] [ 4.05430851e-01 9.14124057e-01 -1.74166934e-03 4.71117054e+01] [ 1.06323492e-01 -4.52639028e-02 9.93300807e-01 1.81475681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.28925415399993 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:350.48, Y:47.16, Z:18.17 [[ 9.12138291e-01 -4.03796050e-01 -7.03739155e-02 3.50478482e+02] [ 3.98187384e-01 9.13675151e-01 -8.15139607e-02 4.71577989e+01] [ 9.72139132e-02 4.63299995e-02 9.94184584e-01 1.81700786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.31925415399996 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:350.52, Y:47.15, Z:18.16 [[ 9.12345004e-01 -3.99233025e-01 -9.07721563e-02 3.50519093e+02] [ 3.97298308e-01 9.16849459e-01 -3.92571514e-02 4.71514579e+01] [ 9.88971537e-02 -2.47558204e-04 9.95097629e-01 1.81567548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.34925415399994 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:350.55, Y:47.16, Z:18.16 [[ 9.13028682e-01 -3.97909908e-01 -8.97013437e-02 3.50549079e+02] [ 3.96017241e-01 9.17424486e-01 -3.87641138e-02 4.71629908e+01] [ 9.77188341e-02 -1.30530902e-04 9.95214054e-01 1.81589330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.37925415399997 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:350.58, Y:47.19, Z:18.17 [[ 9.14324246e-01 -3.98023848e-01 -7.47541927e-02 3.50579185e+02] [ 3.93941983e-01 9.16921516e-01 -6.37545941e-02 4.71872620e+01] [ 9.39195765e-02 2.88435563e-02 9.95161877e-01 1.81660264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.40925415399994 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:350.62, Y:47.17, Z:18.15 [[ 9.12646651e-01 -3.95520640e-01 -1.03148021e-01 3.50615021e+02] [ 3.96527275e-01 9.17951713e-01 -1.14355982e-02 4.71739170e+01] [ 9.92079175e-02 -3.04643433e-02 9.94600278e-01 1.81541433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.43925415399997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:350.64, Y:47.20, Z:18.17 [[ 9.12240605e-01 -3.98936660e-01 -9.30946821e-02 3.50639854e+02] [ 3.96908332e-01 9.16978437e-01 -4.01786348e-02 4.71975840e+01] [ 1.01394546e-01 -2.97472906e-04 9.94846248e-01 1.81680990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.46925415399994 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:350.67, Y:47.20, Z:18.17 [[ 9.09457766e-01 -4.00907474e-01 -1.10271339e-01 3.50666575e+02] [ 4.01817731e-01 9.15599695e-01 -1.48225760e-02 4.71998638e+01] [ 1.06906886e-01 -3.08284724e-02 9.93790986e-01 1.81708753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.49925415399997 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:350.69, Y:47.23, Z:18.18 [[ 9.10902248e-01 -4.04688403e-01 -8.05257119e-02 3.50692702e+02] [ 3.99889423e-01 9.13925993e-01 -6.94818613e-02 4.72328992e+01] [ 1.01713045e-01 3.10898032e-02 9.94327854e-01 1.81848086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.52925415399994 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:350.73, Y:47.23, Z:18.18 [[ 9.10245094e-01 -4.03458215e-01 -9.31414911e-02 3.50729568e+02] [ 4.01457877e-01 9.14997667e-01 -4.01353028e-02 4.72314855e+01] [ 1.01417165e-01 -8.59422801e-04 9.94843616e-01 1.81761960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.559254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:350.76, Y:47.24, Z:18.18 [[ 9.09684755e-01 -4.04636573e-01 -9.35034270e-02 3.50760260e+02] [ 4.02629991e-01 9.14477008e-01 -4.02603103e-02 4.72433736e+01] [ 1.01797528e-01 -1.02309357e-03 9.94804612e-01 1.81792742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.58925415399995 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:350.79, Y:47.25, Z:18.18 [[ 9.08279825e-01 -4.07694649e-01 -9.38766837e-02 3.50791387e+02] [ 4.05691606e-01 9.13117249e-01 -4.03882526e-02 4.72546405e+01] [ 1.02186494e-01 -1.40114756e-03 9.94764272e-01 1.81824760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.619254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:350.82, Y:47.27, Z:18.19 [[ 9.07538062e-01 -4.09261428e-01 -9.42324208e-02 3.50822329e+02] [ 4.07254941e-01 9.12415738e-01 -4.05084376e-02 4.72668332e+01] [ 1.02557685e-01 -1.61367002e-03 9.94725750e-01 1.81852891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.64925415399995 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:350.85, Y:47.28, Z:18.19 [[ 9.06802201e-01 -4.10825311e-01 -9.45110132e-02 3.50852063e+02] [ 4.08818748e-01 9.11712252e-01 -4.05955756e-02 4.72784581e+01] [ 1.02844539e-01 -1.82571675e-03 9.94695766e-01 1.81881707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.679254154 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:350.88, Y:47.29, Z:18.19 [[ 9.05311609e-01 -4.14150504e-01 -9.42881299e-02 3.50882895e+02] [ 4.12174555e-01 9.10205693e-01 -4.04689017e-02 4.72896105e+01] [ 1.02581809e-01 -2.22620152e-03 9.94722080e-01 1.81908853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.70925415399995 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:350.91, Y:47.29, Z:18.19 [[ 9.02635677e-01 -4.16591305e-01 -1.08168935e-01 3.50909872e+02] [ 4.16766818e-01 9.08745560e-01 -2.20664071e-02 4.72947917e+01] [ 1.07490713e-01 -2.51632966e-02 9.93887597e-01 1.81941542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.739254154 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:350.94, Y:47.32, Z:18.20 [[ 9.04295840e-01 -4.18662768e-01 -8.34896400e-02 3.50936120e+02] [ 4.14588271e-01 9.07885523e-01 -6.21324658e-02 4.73224052e+01] [ 1.01811586e-01 2.15723049e-02 9.94569775e-01 1.82044188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.76925415399995 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:350.97, Y:47.32, Z:18.20 [[ 9.02902722e-01 -4.19880013e-01 -9.20187391e-02 3.50971833e+02] [ 4.18032414e-01 9.07575156e-01 -3.94491779e-02 4.73241775e+01] [ 1.00077843e-01 -2.84804551e-03 9.94975534e-01 1.81989368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.799254154 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:351.00, Y:47.34, Z:18.20 [[ 9.02273540e-01 -4.21397777e-01 -9.12489621e-02 3.51002607e+02] [ 4.19589936e-01 9.06870941e-01 -3.91073130e-02 4.73362904e+01] [ 9.92307669e-02 -3.00165245e-03 9.95059920e-01 1.82016468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.82925415399995 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:351.03, Y:47.35, Z:18.20 [[ 9.00509855e-01 -4.25271597e-01 -9.06976816e-02 3.51033442e+02] [ 4.23506284e-01 9.05059328e-01 -3.88592349e-02 4.73476085e+01] [ 9.86125116e-02 -3.41791411e-03 9.95120038e-01 1.82041504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.8592541539999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:351.06, Y:47.36, Z:18.21 [[ 8.99636328e-01 -4.27092516e-01 -9.08100166e-02 3.51063637e+02] [ 4.25333476e-01 9.04200624e-01 -3.88929973e-02 4.73594534e+01] [ 9.87213818e-02 -3.63498664e-03 9.95108474e-01 1.82066120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.88925415399996 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:351.09, Y:47.37, Z:18.21 [[ 8.98561195e-01 -4.29318214e-01 -9.09596035e-02 3.51094016e+02] [ 4.27567355e-01 9.03144829e-01 -3.89303746e-02 4.73715592e+01] [ 9.88632144e-02 -3.91003320e-03 9.95093351e-01 1.82092218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.91925415399993 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:351.12, Y:47.38, Z:18.21 [[ 8.97530130e-01 -4.31392540e-01 -9.13243827e-02 3.51124337e+02] [ 4.29639455e-01 9.02154710e-01 -3.90745145e-02 4.73835682e+01] [ 9.92451760e-02 -4.16600395e-03 9.95054290e-01 1.82114665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.94925415399996 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:351.15, Y:47.39, Z:18.21 [[ 8.95636702e-01 -4.35130205e-01 -9.21770168e-02 3.51154187e+02] [ 4.33365021e-01 9.00355615e-01 -3.94274569e-02 4.73944092e+01] [ 1.00148172e-01 -4.63361739e-03 9.94961745e-01 1.82130826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.97925415399993 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:351.18, Y:47.41, Z:18.22 [[ 8.95097284e-01 -4.36188586e-01 -9.24141232e-02 3.51184140e+02] [ 4.34420913e-01 8.99842615e-01 -3.95188391e-02 4.74064621e+01] [ 1.00395833e-01 -4.77342215e-03 9.94936124e-01 1.82154076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.00925415399996 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:351.21, Y:47.42, Z:18.22 [[ 8.94950820e-01 -4.36596086e-01 -9.19069458e-02 3.51214815e+02] [ 4.34850945e-01 8.99644821e-01 -3.92918933e-02 4.74196318e+01] [ 9.98382946e-02 -4.80151009e-03 9.94992091e-01 1.82176208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.03925415399993 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:351.24, Y:47.43, Z:18.22 [[ 8.95368962e-01 -4.35816244e-01 -9.15348207e-02 3.51244683e+02] [ 4.34082333e-01 9.00023365e-01 -3.91212259e-02 4.74331772e+01] [ 9.94331431e-02 -4.70571718e-03 9.95033118e-01 1.82208558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.06925415399996 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:351.27, Y:47.45, Z:18.22 [[ 8.96249687e-01 -4.34195903e-01 -9.06113522e-02 3.51273919e+02] [ 4.32489686e-01 9.00807284e-01 -3.87157533e-02 4.74466086e+01] [ 9.84335875e-02 -4.48949350e-03 9.95133495e-01 1.82235365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.09925415399994 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:351.30, Y:47.46, Z:18.23 [[ 8.98402775e-01 -4.30064294e-01 -8.89784052e-02 3.51302119e+02] [ 4.28399648e-01 9.02789536e-01 -3.80104736e-02 4.74610436e+01] [ 9.66757206e-02 -3.96960251e-03 9.95308016e-01 1.82269361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.12925415399997 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:351.33, Y:47.47, Z:18.23 [[ 8.98440044e-01 -4.29985739e-01 -8.89817487e-02 3.51332112e+02] [ 4.28321484e-01 9.02826952e-01 -3.80026451e-02 4.74737794e+01] [ 9.66757164e-02 -3.96969646e-03 9.95308016e-01 1.82296909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.15925415399994 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:351.36, Y:47.49, Z:18.23 [[ 8.99860500e-01 -4.27197585e-01 -8.80528518e-02 3.51361835e+02] [ 4.25555761e-01 9.04150961e-01 -3.75943237e-02 4.74874160e+01] [ 9.56732749e-02 -3.64175153e-03 9.95406129e-01 1.82321526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.18925415399997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:351.39, Y:47.50, Z:18.23 [[ 9.01334769e-01 -4.24179652e-01 -8.75628729e-02 3.51391030e+02] [ 4.22544792e-01 9.05571936e-01 -3.73546112e-02 4.75008901e+01] [ 9.51395464e-02 -3.33022603e-03 9.95458375e-01 1.82346167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.21925415399994 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:351.41, Y:47.52, Z:18.24 [[ 9.02931556e-01 -4.21168229e-01 -8.56266780e-02 3.51413517e+02] [ 4.18597753e-01 9.06959112e-01 -4.69157884e-02 4.75162368e+01] [ 9.74193354e-02 6.51861085e-03 9.95222076e-01 1.82404360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.24925415399997 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:351.44, Y:47.52, Z:18.24 [[ 9.05429098e-01 -4.14854419e-01 -8.99664385e-02 3.51444019e+02] [ 4.14032063e-01 9.09815880e-01 -2.85046362e-02 4.75228055e+01] [ 9.36781687e-02 -1.14400631e-02 9.95536803e-01 1.82352960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.27925415399994 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:351.47, Y:47.54, Z:18.24 [[ 9.06970514e-01 -4.12349483e-01 -8.58626264e-02 3.51472154e+02] [ 4.10721309e-01 9.11023517e-01 -3.66627489e-02 4.75406926e+01] [ 9.33407375e-02 -2.01357810e-03 9.95632187e-01 1.82407623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.309254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:351.50, Y:47.56, Z:18.24 [[ 9.09718377e-01 -4.06378853e-01 -8.52566820e-02 3.51500408e+02] [ 4.04748545e-01 9.13703597e-01 -3.63916389e-02 4.75560883e+01] [ 9.26881295e-02 -1.40137539e-03 9.95694203e-01 1.82433293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.33925415399995 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:351.53, Y:47.61, Z:18.25 [[ 9.16558529e-01 -3.99245903e-01 -2.28729500e-02 3.51531173e+02] [ 3.93716069e-01 9.10926794e-01 -1.23288410e-01 4.76111558e+01] [ 7.00579759e-02 1.03995596e-01 9.92107250e-01 1.82537418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.369254154 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:351.58, Y:47.54, Z:18.21 [[ 9.11619318e-01 -3.90494210e-01 -1.28314032e-01 3.51581297e+02] [ 4.00500136e-01 9.14088669e-01 6.35731524e-02 4.75361784e+01] [ 9.24654548e-02 -1.09344301e-01 9.89693874e-01 1.82140485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.39925415399995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:351.59, Y:47.60, Z:18.25 [[ 9.13057136e-01 -3.98653455e-01 -8.60353939e-02 3.51587887e+02] [ 3.96956864e-01 9.17101445e-01 -3.67448954e-02 4.75972012e+01] [ 9.35516636e-02 -6.02151193e-04 9.95614244e-01 1.82516894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.429254154 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:351.62, Y:47.65, Z:18.26 [[ 9.20786834e-01 -3.89366672e-01 -2.33495386e-02 3.51618873e+02] [ 3.83889119e-01 9.15191166e-01 -1.22695862e-01 4.76526479e+01] [ 6.91429708e-02 1.04013100e-01 9.92169605e-01 1.82622801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.45925415399995 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:351.68, Y:47.63, Z:18.23 [[ 9.22854534e-01 -3.80413954e-01 -6.02057522e-02 3.51675885e+02] [ 3.78945655e-01 9.24771230e-01 -3.46173637e-02 4.76267920e+01] [ 6.88454758e-02 9.13208281e-03 9.97585538e-01 1.82282953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.489254154 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:351.70, Y:47.59, Z:18.22 [[ 9.16823084e-01 -3.76765683e-01 -1.32223494e-01 3.51698717e+02] [ 3.87846766e-01 9.19017421e-01 7.05823296e-02 4.75885395e+01] [ 9.49226950e-02 -1.15993964e-01 9.88703738e-01 1.82221822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.51925415399995 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:351.70, Y:47.65, Z:18.26 [[ 9.18314843e-01 -3.86271043e-01 -8.65594098e-02 3.51702953e+02] [ 3.84490280e-01 9.22385019e-01 -3.70553801e-02 4.76530710e+01] [ 9.41545232e-02 7.47253778e-04 9.95557315e-01 1.82632206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.549254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:351.73, Y:47.67, Z:18.27 [[ 9.19122937e-01 -3.84444689e-01 -8.61121836e-02 3.51732038e+02] [ 3.82677061e-01 9.23147586e-01 -3.68347710e-02 4.76661428e+01] [ 9.36551866e-02 9.02525532e-04 9.95604285e-01 1.82657283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.57925415399995 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:351.76, Y:47.68, Z:18.27 [[ 9.20860597e-01 -3.80680499e-01 -8.42503367e-02 3.51758848e+02] [ 3.77987747e-01 9.24641344e-01 -4.65150286e-02 4.76831025e+01] [ 9.56087089e-02 1.09882620e-02 9.95358344e-01 1.82717895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.6092541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:351.79, Y:47.69, Z:18.27 [[ 9.21338786e-01 -3.78404120e-01 -8.91356410e-02 3.51791127e+02] [ 3.77447606e-01 9.25607296e-01 -2.80078267e-02 4.76881116e+01] [ 9.31028767e-02 -7.83933725e-03 9.95625632e-01 1.82673674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.63925415399996 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:351.82, Y:47.71, Z:18.27 [[ 9.22172470e-01 -3.77343517e-01 -8.49105707e-02 3.51819684e+02] [ 3.75597520e-01 9.26072021e-01 -3.62920756e-02 4.77054828e+01] [ 9.23278833e-02 1.57535320e-03 9.95727413e-01 1.82731893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.66925415399993 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:351.85, Y:47.72, Z:18.28 [[ 9.22585071e-01 -3.76345794e-01 -8.48565223e-02 3.51850275e+02] [ 3.74600503e-01 9.26477809e-01 -3.62399340e-02 4.77184697e+01] [ 9.22564316e-02 1.64712613e-03 9.95733919e-01 1.82761884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.69925415399996 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:351.88, Y:47.73, Z:18.28 [[ 9.22713353e-01 -3.76120803e-01 -8.44583347e-02 3.51880694e+02] [ 3.74393603e-01 9.26569193e-01 -3.60411113e-02 4.77303419e+01] [ 9.18123027e-02 1.63495445e-03 9.95774989e-01 1.82784277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.72925415399993 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:351.91, Y:47.74, Z:18.28 [[ 9.22414265e-01 -3.76826728e-01 -8.45786029e-02 3.51910915e+02] [ 3.75100299e-01 9.26282488e-01 -3.60627005e-02 4.77420556e+01] [ 9.19330682e-02 1.53929016e-03 9.95763999e-01 1.82809803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.75925415399996 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:351.94, Y:47.75, Z:18.28 [[ 9.21777233e-01 -3.78425308e-01 -8.43861246e-02 3.51941389e+02] [ 3.76715972e-01 9.25630845e-01 -3.59529666e-02 4.77537775e+01] [ 9.17159123e-02 1.35102509e-03 9.95784297e-01 1.82836165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.78925415399993 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:351.97, Y:47.77, Z:18.29 [[ 9.20175294e-01 -3.83104106e-01 -8.06763393e-02 3.51970417e+02] [ 3.80975723e-01 9.23679300e-01 -4.09151479e-02 4.77661546e+01] [ 9.01938258e-02 6.91338150e-03 9.95900235e-01 1.82855055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.81925415399996 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:352.00, Y:47.77, Z:18.29 [[ 9.18662346e-01 -3.85501080e-01 -8.63041763e-02 3.52003645e+02] [ 3.84320676e-01 9.22693375e-01 -3.05704586e-02 4.77717668e+01] [ 9.14172365e-02 -5.08455022e-03 9.95799697e-01 1.82860406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.84925415399994 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:352.03, Y:47.78, Z:18.29 [[ 9.15998189e-01 -3.92385725e-01 -8.35509510e-02 3.52033879e+02] [ 3.90774114e-01 9.19800757e-01 -3.55268932e-02 4.77836613e+01] [ 9.07904737e-02 -1.06979000e-04 9.95870011e-01 1.82905592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.87925415399997 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:352.06, Y:47.79, Z:18.29 [[ 9.14781369e-01 -3.95290797e-01 -8.31879395e-02 3.52063677e+02] [ 3.93707761e-01 9.18555937e-01 -3.53438729e-02 4.77941685e+01] [ 9.03838834e-02 -4.19820946e-04 9.95906912e-01 1.82929073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.90925415399994 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:352.10, Y:47.80, Z:18.30 [[ 9.12178709e-01 -4.01266386e-01 -8.31582239e-02 3.52095748e+02] [ 3.99711631e-01 9.15960815e-01 -3.53043451e-02 4.78041912e+01] [ 9.03361216e-02 -1.03543736e-03 9.95910796e-01 1.82958130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.93925415399997 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:352.13, Y:47.81, Z:18.30 [[ 9.11037376e-01 -4.03789570e-01 -8.34558677e-02 3.52125480e+02] [ 4.02236831e-01 9.14850944e-01 -3.54017354e-02 4.78148425e+01] [ 9.06445308e-02 -1.31671964e-03 9.95882441e-01 1.82988246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.96925415399994 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:352.16, Y:47.83, Z:18.30 [[ 9.09901336e-01 -4.06313173e-01 -8.36012226e-02 3.52156608e+02] [ 4.04768094e-01 9.13732488e-01 -3.54362842e-02 4.78262057e+01] [ 9.07873822e-02 -1.59558518e-03 9.95869020e-01 1.83014159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.99925415399997 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:352.19, Y:47.84, Z:18.30 [[ 9.08743189e-01 -4.08819676e-01 -8.39779044e-02 3.52187780e+02] [ 4.07273872e-01 9.12613246e-01 -3.55676215e-02 4.78372662e+01] [ 9.11800915e-02 -1.88017251e-03 9.95832645e-01 1.83041343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.02925415399994 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:352.22, Y:47.85, Z:18.31 [[ 9.06793638e-01 -4.13113322e-01 -8.40397551e-02 3.52220003e+02] [ 4.11584652e-01 9.10676662e-01 -3.55821714e-02 4.78471930e+01] [ 9.12325127e-02 -2.32378668e-03 9.95826907e-01 1.83062049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.059254154 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:352.25, Y:47.86, Z:18.31 [[ 9.05985174e-01 -4.14832231e-01 -8.42916663e-02 3.52250574e+02] [ 4.13304403e-01 9.09894399e-01 -3.56602452e-02 4.78583360e+01] [ 9.14895341e-02 -2.53046337e-03 9.95802823e-01 1.83092456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.08925415399995 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:352.28, Y:47.87, Z:18.31 [[ 9.04605154e-01 -4.17851634e-01 -8.41993259e-02 3.52280770e+02] [ 4.16341250e-01 9.08510830e-01 -3.56094767e-02 4.78681182e+01] [ 9.13754775e-02 -2.84313648e-03 9.95812452e-01 1.83117532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.119254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:352.31, Y:47.88, Z:18.31 [[ 9.03997604e-01 -4.19184067e-01 -8.41014199e-02 3.52311486e+02] [ 4.17685361e-01 9.07896320e-01 -3.55416886e-02 4.78794387e+01] [ 9.12538793e-02 -2.99833057e-03 9.95823147e-01 1.83147873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.14925415399995 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:352.34, Y:47.89, Z:18.32 [[ 9.03417927e-01 -4.20445608e-01 -8.40329696e-02 3.52341881e+02] [ 4.18955853e-01 9.07312333e-01 -3.55010339e-02 4.78907678e+01] [ 9.11704034e-02 -3.13383403e-03 9.95830375e-01 1.83175221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.179254154 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:352.37, Y:47.90, Z:18.32 [[ 9.01990354e-01 -4.23455977e-01 -8.42522208e-02 3.52373045e+02] [ 4.21973942e-01 9.05910032e-01 -3.55669203e-02 4.79013161e+01] [ 9.13859570e-02 -3.47122273e-03 9.95809499e-01 1.83201163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.20925415399995 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:352.40, Y:47.91, Z:18.32 [[ 9.01284338e-01 -4.24926921e-01 -8.44017432e-02 3.52403772e+02] [ 4.23447037e-01 9.05220352e-01 -3.56191113e-02 4.79131432e+01] [ 9.15376950e-02 -3.63672096e-03 9.95794971e-01 1.83233707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.239254154 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:352.43, Y:47.92, Z:18.33 [[ 9.00582757e-01 -4.26365685e-01 -8.46345092e-02 3.52433929e+02] [ 4.24884941e-01 9.04542889e-01 -3.57064338e-02 4.79246981e+01] [ 9.17795415e-02 -3.80332988e-03 9.95772088e-01 1.83261095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.26925415399995 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:352.46, Y:47.94, Z:18.33 [[ 8.99762617e-01 -4.28053458e-01 -8.48379068e-02 3.52464652e+02] [ 4.26573894e-01 9.03744593e-01 -3.57830075e-02 4.79369336e+01] [ 9.19888397e-02 -3.99342371e-03 9.95752030e-01 1.83290993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.299254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:352.50, Y:47.98, Z:18.34 [[ 9.03442991e-01 -4.27040878e-01 -3.77736832e-02 3.52499822e+02] [ 4.21634349e-01 9.01020095e-01 -1.01917933e-01 4.79790179e+01] [ 7.75579712e-02 7.61503597e-02 9.94075391e-01 1.83363273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.32925415399995 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:352.54, Y:47.92, Z:18.31 [[ 8.97252382e-01 -4.25096197e-01 -1.19295372e-01 3.52541135e+02] [ 4.32213391e-01 9.00852322e-01 4.07023175e-02 4.79237191e+01] [ 9.01651122e-02 -8.80813084e-02 9.92024161e-01 1.83114405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.3592541539999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:352.55, Y:47.97, Z:18.34 [[ 8.96417561e-01 -4.34570783e-01 -8.70849655e-02 3.52552866e+02] [ 4.33038287e-01 9.00625165e-01 -3.67716574e-02 4.79723614e+01] [ 9.44107994e-02 -4.74836486e-03 9.95522001e-01 1.83394098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.38925415399996 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:352.59, Y:48.01, Z:18.34 [[ 9.00508015e-01 -4.32124310e-01 -4.85169660e-02 3.52590724e+02] [ 4.26924822e-01 8.99787994e-01 -9.00930698e-02 4.80086999e+01] [ 8.25863892e-02 6.04164343e-02 9.94750895e-01 1.83449139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.41925415399993 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:352.62, Y:47.97, Z:18.33 [[ 8.94724745e-01 -4.31468262e-01 -1.15337632e-01 3.52624820e+02] [ 4.36950025e-01 8.99106038e-01 2.61344009e-02 4.79657700e+01] [ 9.24245965e-02 -7.37798762e-02 9.92982489e-01 1.83252621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.44925415399996 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:352.64, Y:48.01, Z:18.35 [[ 8.94046358e-01 -4.38984465e-01 -8.92958549e-02 3.52639273e+02] [ 4.37390766e-01 8.98478965e-01 -3.77474084e-02 4.80074791e+01] [ 9.68009732e-02 -5.30924939e-03 9.95289598e-01 1.83492530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.47925415399993 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:352.68, Y:48.02, Z:18.35 [[ 8.95659228e-01 -4.36249139e-01 -8.64941350e-02 3.52677429e+02] [ 4.34593071e-01 8.99819357e-01 -3.81311972e-02 4.80196631e+01] [ 9.44637989e-02 -3.43719305e-03 9.95522364e-01 1.83508185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.50925415399996 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:352.70, Y:48.03, Z:18.35 [[ 8.93971925e-01 -4.38756433e-01 -9.11426916e-02 3.52698201e+02] [ 4.37457700e-01 8.98563695e-01 -3.48431670e-02 4.80310611e+01] [ 9.71851775e-02 -8.72225913e-03 9.95228096e-01 1.83539688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.53925415399993 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:352.73, Y:48.05, Z:18.36 [[ 8.93984134e-01 -4.38918661e-01 -9.02373388e-02 3.52727817e+02] [ 4.37291164e-01 8.98510800e-01 -3.81415747e-02 4.80459679e+01] [ 9.78202723e-02 -5.36202834e-03 9.95189652e-01 1.83586207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.56925415399996 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:352.76, Y:48.06, Z:18.36 [[ 8.95066845e-01 -4.36700240e-01 -9.02676174e-02 3.52757298e+02] [ 4.35061603e-01 8.99592443e-01 -3.81423521e-02 4.80598123e+01] [ 9.78608407e-02 -5.13201954e-03 9.95186876e-01 1.83619431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.59925415399994 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:352.80, Y:48.07, Z:18.36 [[ 8.97644953e-01 -4.31335714e-01 -9.04601627e-02 3.52795880e+02] [ 4.30133125e-01 9.02147334e-01 -3.34018418e-02 4.80703648e+01] [ 9.60158019e-02 -8.92691769e-03 9.95339779e-01 1.83637779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.62925415399997 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:352.81, Y:48.09, Z:18.37 [[ 8.97026008e-01 -4.33048041e-01 -8.83953287e-02 3.52813564e+02] [ 4.31209915e-01 9.01367897e-01 -3.99239810e-02 4.80878730e+01] [ 9.69657133e-02 -2.30409280e-03 9.95285055e-01 1.83691565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.65925415399994 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:352.84, Y:48.10, Z:18.37 [[ 9.00020316e-01 -4.26886035e-01 -8.79303398e-02 3.52843433e+02] [ 4.25286081e-01 9.04296713e-01 -3.71376350e-02 4.81014921e+01] [ 9.53686550e-02 -3.97092366e-03 9.95434102e-01 1.83721271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.68925415399997 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:352.87, Y:48.12, Z:18.37 [[ 9.01733451e-01 -4.23395774e-01 -8.72513705e-02 3.52872959e+02] [ 4.21805379e-01 9.05937728e-01 -3.68382288e-02 4.81150027e+01] [ 9.46414588e-02 -3.58483420e-03 9.95504969e-01 1.83748143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.71925415399994 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:352.90, Y:48.13, Z:18.38 [[ 9.04951276e-01 -4.16661058e-01 -8.63524773e-02 3.52902895e+02] [ 4.15075237e-01 9.09057370e-01 -3.64313864e-02 4.81295888e+01] [ 9.36788959e-02 -2.87414537e-03 9.95598314e-01 1.83774267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.74925415399997 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:352.93, Y:48.14, Z:18.38 [[ 9.06625453e-01 -4.12992102e-01 -8.64165004e-02 3.52931622e+02] [ 4.11611825e-01 9.10722535e-01 -3.40612790e-02 4.81415993e+01] [ 9.27684935e-02 -4.68923087e-03 9.95676663e-01 1.83790304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.77925415399994 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:352.96, Y:48.16, Z:18.38 [[ 9.09672133e-01 -4.06454542e-01 -8.53892027e-02 3.52960418e+02] [ 4.04623173e-01 9.13670862e-01 -3.85440642e-02 4.81577468e+01] [ 9.36840364e-02 5.12010965e-04 9.95601848e-01 1.83829493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.809254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:352.98, Y:48.17, Z:18.38 [[ 9.11254344e-01 -4.02541796e-01 -8.70380543e-02 3.52984389e+02] [ 4.00979267e-01 9.15398113e-01 -3.55235556e-02 4.81671238e+01] [ 9.39741865e-02 -2.52946087e-03 9.95571421e-01 1.83835014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.83925415399995 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:353.01, Y:48.18, Z:18.39 [[ 9.12443183e-01 -3.99801453e-01 -8.72137409e-02 3.53010502e+02] [ 3.98339452e-01 9.16595399e-01 -3.43300862e-02 4.81791176e+01] [ 9.36649320e-02 -3.41642061e-03 9.95597915e-01 1.83852107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.869254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:353.04, Y:48.19, Z:18.39 [[ 9.13698330e-01 -3.97132068e-01 -8.62640307e-02 3.53035071e+02] [ 3.95086633e-01 9.17757242e-01 -4.03509391e-02 4.81933542e+01] [ 9.51940907e-02 2.78682029e-03 9.95454830e-01 1.83899717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.89925415399995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:353.07, Y:48.20, Z:18.39 [[ 9.16684168e-01 -3.89732633e-01 -8.83097471e-02 3.53065101e+02] [ 3.87942984e-01 9.20928049e-01 -3.73064272e-02 4.82046723e+01] [ 9.58664551e-02 -6.09356710e-05 9.95394203e-01 1.83915043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.929254154 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:353.09, Y:48.22, Z:18.39 [[ 9.18241588e-01 -3.86128649e-01 -8.79605169e-02 3.53094693e+02] [ 3.84339261e-01 9.22444894e-01 -3.71315175e-02 4.82170720e+01] [ 9.54762724e-02 2.89023560e-04 9.95431664e-01 1.83940751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.95925415399995 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:353.13, Y:48.20, Z:18.39 [[ 9.15810528e-01 -3.81292619e-01 -1.26123015e-01 3.53128534e+02] [ 3.86771941e-01 9.21929666e-01 2.12874601e-02 4.82033350e+01] [ 1.08159798e-01 -6.82761236e-02 9.91786181e-01 1.83935147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.989254154 meters Centerline goodness : 0.996146 Centerline is valid? [True, True] Translation: X:353.14, Y:48.25, Z:18.42 [[ 9.18199014e-01 -3.86508304e-01 -8.67288948e-02 3.53140538e+02] [ 3.82295027e-01 9.21991101e-01 -6.15054597e-02 4.82538361e+01] [ 1.03735640e-01 2.33182274e-02 9.94331523e-01 1.84226471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.01925415399995 meters Centerline goodness : 0.996146 Centerline is valid? [True, True] Translation: X:353.17, Y:48.26, Z:18.42 [[ 9.18169346e-01 -3.84787655e-01 -9.43584257e-02 3.53170791e+02] [ 3.82546076e-01 9.23002895e-01 -4.15229449e-02 4.82559975e+01] [ 1.03070617e-01 2.02864971e-03 9.94671972e-01 1.84173469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.049254154 meters Centerline goodness : 0.994532 Centerline is valid? [True, True] Translation: X:353.19, Y:48.28, Z:18.42 [[ 9.21275816e-01 -3.81969224e-01 -7.31463152e-02 3.53194889e+02] [ 3.76669607e-01 9.23171314e-01 -7.66467958e-02 4.82816398e+01] [ 9.68032971e-02 4.30608455e-02 9.94371603e-01 1.84247990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.07925415399995 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:353.23, Y:48.25, Z:18.40 [[ 9.18489188e-01 -3.76969813e-01 -1.19462849e-01 3.53233000e+02] [ 3.81273333e-01 9.24347012e-01 1.46029838e-02 4.82477200e+01] [ 1.04920243e-01 -5.89606813e-02 9.92731273e-01 1.84042389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.1092541539999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:353.25, Y:48.31, Z:18.43 [[ 9.22188583e-01 -3.82777592e-01 -5.52225689e-02 3.53245953e+02] [ 3.76112049e-01 9.20900430e-01 -1.02382250e-01 4.83096459e+01] [ 9.00441184e-02 7.36458684e-02 9.93211127e-01 1.84309179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.13925415399996 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:353.29, Y:48.29, Z:18.41 [[ 9.20950486e-01 -3.80615594e-01 -8.35582002e-02 3.53285953e+02] [ 3.79008556e-01 9.24733209e-01 -3.49428955e-02 4.82879956e+01] [ 9.05688536e-02 5.11403782e-04 9.95890065e-01 1.84079571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.16925415399993 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:353.31, Y:48.30, Z:18.41 [[ 9.19472937e-01 -3.84219612e-01 -8.33355085e-02 3.53313664e+02] [ 3.82696208e-01 9.23241614e-01 -3.41838444e-02 4.82971854e+01] [ 9.00729127e-02 -4.61063265e-04 9.95935067e-01 1.84102440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.19925415399996 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:353.34, Y:48.31, Z:18.41 [[ 9.16427231e-01 -3.91596850e-01 -8.25411302e-02 3.53344261e+02] [ 3.90049649e-01 9.20136839e-01 -3.47774278e-02 4.83057173e+01] [ 8.95678658e-02 -3.24157013e-04 9.95980669e-01 1.84135522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.22925415399993 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:353.37, Y:48.32, Z:18.42 [[ 9.14682924e-01 -3.95670601e-01 -8.24616530e-02 3.53374143e+02] [ 3.94145163e-01 9.18392193e-01 -3.47184438e-02 4.83156892e+01] [ 8.94692058e-02 -7.45493963e-04 9.95989310e-01 1.84164247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.25925415399996 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:353.41, Y:48.33, Z:18.42 [[ 9.12813786e-01 -3.99850540e-01 -8.30092667e-02 3.53405238e+02] [ 3.98322749e-01 9.16579607e-01 -3.49401309e-02 4.83261665e+01] [ 9.00554312e-02 -1.17064615e-03 9.95936067e-01 1.84192425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.28925415399993 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:353.44, Y:48.33, Z:18.42 [[ 9.09234997e-01 -4.07632058e-01 -8.44264539e-02 3.53436741e+02] [ 4.06085951e-01 9.13144112e-01 -3.55250668e-02 4.83343776e+01] [ 9.15746754e-02 -1.98376281e-03 9.95796236e-01 1.84218100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.31925415399996 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:353.47, Y:48.34, Z:18.42 [[ 9.07577045e-01 -4.11112749e-01 -8.53827502e-02 3.53465951e+02] [ 4.09548251e-01 9.11581405e-01 -3.59106083e-02 4.83440043e+01] [ 9.25966363e-02 -2.37671220e-03 9.95700866e-01 1.84239636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.34925415399994 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:353.50, Y:48.35, Z:18.43 [[ 9.04730191e-01 -4.17189138e-01 -8.61191346e-02 3.53497205e+02] [ 4.15625055e-01 9.08814650e-01 -3.62180330e-02 4.83519448e+01] [ 9.33761011e-02 -3.02572214e-03 9.95626310e-01 1.84264962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.37925415399997 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:353.53, Y:48.36, Z:18.43 [[ 9.03669316e-01 -4.19459509e-01 -8.62292711e-02 3.53527221e+02] [ 4.17902381e-01 9.07768154e-01 -3.62571152e-02 4.83623436e+01] [ 9.34845780e-02 -3.27097522e-03 9.95615355e-01 1.84290845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.40925415399994 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:353.56, Y:48.37, Z:18.43 [[ 9.02939262e-01 -4.21000866e-01 -8.63652732e-02 3.53558221e+02] [ 4.19446548e-01 9.07053702e-01 -3.63066844e-02 4.83735849e+01] [ 9.36230863e-02 -3.44288497e-03 9.95601760e-01 1.84320546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.43925415399997 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:353.59, Y:48.38, Z:18.43 [[ 9.02141885e-01 -4.22729275e-01 -8.62553128e-02 3.53589191e+02] [ 4.21187837e-01 9.06248752e-01 -3.62492273e-02 4.83837872e+01] [ 9.34923791e-02 -3.62774238e-03 9.95613386e-01 1.84349615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.46925415399994 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:353.62, Y:48.40, Z:18.44 [[ 9.02210266e-01 -4.22631513e-01 -8.60188423e-02 3.53620421e+02] [ 4.21099132e-01 9.06294387e-01 -3.61386849e-02 4.83955977e+01] [ 9.32317410e-02 -3.61776739e-03 9.95637863e-01 1.84379339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.49925415399997 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:353.65, Y:48.40, Z:18.44 [[ 9.02478735e-01 -4.21730827e-01 -8.76084671e-02 3.53647278e+02] [ 4.20927584e-01 9.06650858e-01 -2.83582479e-02 4.84022928e+01] [ 9.13898392e-02 -1.12841047e-02 9.95751257e-01 1.84376455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.52925415399994 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:353.67, Y:48.42, Z:18.44 [[ 9.02850162e-01 -4.21649775e-01 -8.41014393e-02 3.53670916e+02] [ 4.19403475e-01 9.06749279e-01 -4.36631567e-02 4.84188031e+01] [ 9.46694796e-02 4.14885230e-03 9.95500114e-01 1.84447062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.559254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:353.70, Y:48.43, Z:18.45 [[ 9.03251739e-01 -4.20160132e-01 -8.71880676e-02 3.53703376e+02] [ 4.18571617e-01 9.07443671e-01 -3.66576766e-02 4.84278179e+01] [ 9.45203544e-02 -3.38334023e-03 9.95517180e-01 1.84450813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.58925415399995 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:353.73, Y:48.44, Z:18.45 [[ 9.04252870e-01 -4.17856286e-01 -8.78798696e-02 3.53733277e+02] [ 4.16232631e-01 9.08507582e-01 -3.69373969e-02 4.84394841e+01] [ 9.52740513e-02 -3.17772211e-03 9.95446009e-01 1.84474876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.619254154 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:353.76, Y:48.45, Z:18.45 [[ 9.04661119e-01 -4.16866913e-01 -8.83755442e-02 3.53763808e+02] [ 4.15220933e-01 9.08962253e-01 -3.71375889e-02 4.84523588e+01] [ 9.58114658e-02 -3.09844312e-03 9.95394677e-01 1.84500640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.64925415399995 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:353.79, Y:48.46, Z:18.45 [[ 9.05111068e-01 -4.15776076e-01 -8.89056223e-02 3.53793733e+02] [ 4.14106091e-01 9.09462031e-01 -3.73491483e-02 4.84649701e+01] [ 9.63851702e-02 -3.01123220e-03 9.95339556e-01 1.84529068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.679254154 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:353.82, Y:48.48, Z:18.46 [[ 9.05837418e-01 -4.13855435e-01 -9.04557940e-02 3.53822975e+02] [ 4.12117817e-01 9.10338113e-01 -3.79924429e-02 4.84782815e+01] [ 9.80687357e-02 -2.86346797e-03 9.95175524e-01 1.84556999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.70925415399995 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:353.85, Y:48.49, Z:18.46 [[ 9.06163406e-01 -4.12957003e-01 -9.12929113e-02 3.53852411e+02] [ 4.11183249e-01 9.10746220e-01 -3.83361196e-02 4.84911473e+01] [ 9.89758430e-02 -2.79932715e-03 9.95085899e-01 1.84585758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.739254154 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:353.88, Y:48.50, Z:18.46 [[ 9.04853085e-01 -4.12366819e-01 -1.05804072e-01 3.53884001e+02] [ 4.12519431e-01 9.10695833e-01 -2.14666987e-02 4.84976165e+01] [ 1.05207482e-01 -2.42220270e-02 9.94155259e-01 1.84635697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.76925415399995 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:353.91, Y:48.53, Z:18.47 [[ 9.07058668e-01 -4.12598715e-01 -8.37070655e-02 3.53906691e+02] [ 4.08837290e-01 9.10712913e-01 -5.87712655e-02 4.85262071e+01] [ 1.00482054e-01 1.90864161e-02 9.94755782e-01 1.84701464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.799254154 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:353.94, Y:48.53, Z:18.47 [[ 9.07513205e-01 -4.09688764e-01 -9.26007550e-02 3.53939215e+02] [ 4.07851462e-01 9.12221882e-01 -3.88384309e-02 4.85304258e+01] [ 1.00384104e-01 -2.52096444e-03 9.94945565e-01 1.84670893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.82925415399995 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:353.97, Y:48.54, Z:18.47 [[ 9.07776238e-01 -4.09248089e-01 -9.19690384e-02 3.53966693e+02] [ 4.07434067e-01 9.12419833e-01 -3.85685046e-02 4.85428214e+01] [ 9.96984614e-02 -2.45974734e-03 9.95014656e-01 1.84701185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.8592541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:354.00, Y:48.56, Z:18.47 [[ 9.08156303e-01 -4.08623174e-01 -9.09902756e-02 3.53995546e+02] [ 4.06844626e-01 9.12700116e-01 -3.81568986e-02 4.85569020e+01] [ 9.86386280e-02 -2.36647670e-03 9.95120506e-01 1.84740575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.88925415399996 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:354.02, Y:48.56, Z:18.48 [[ 9.06912185e-01 -4.08269121e-01 -1.04051012e-01 3.54019913e+02] [ 4.08792494e-01 9.12464788e-01 -1.72252353e-02 4.85595605e+01] [ 1.01975417e-01 -2.69134970e-02 9.94422786e-01 1.84779447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.91925415399993 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:354.04, Y:48.59, Z:18.49 [[ 9.08335412e-01 -4.10699661e-01 -7.90731852e-02 3.54043064e+02] [ 4.06770010e-01 9.11465109e-01 -6.13963734e-02 4.85910051e+01] [ 9.72879191e-02 2.36038997e-02 9.94976340e-01 1.84876151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.94925415399996 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:354.08, Y:48.59, Z:18.48 [[ 9.08210436e-01 -4.09080998e-01 -8.83546314e-02 3.54075135e+02] [ 4.07402920e-01 9.12495144e-01 -3.70873620e-02 4.85918401e+01] [ 9.57949072e-02 -2.31280559e-03 9.95398406e-01 1.84819648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.97925415399993 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:354.10, Y:48.60, Z:18.48 [[ 9.08361485e-01 -4.08718280e-01 -8.84803997e-02 3.54100710e+02] [ 4.07064910e-01 9.12656966e-01 -3.68160575e-02 4.86031220e+01] [ 9.57996488e-02 -2.57497724e-03 9.95397306e-01 1.84844472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.00925415399996 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:354.12, Y:48.61, Z:18.49 [[ 9.07697860e-01 -4.09495970e-01 -9.16386732e-02 3.54122905e+02] [ 4.08354864e-01 9.12271286e-01 -3.17396526e-02 4.86131850e+01] [ 9.65965901e-02 -8.61108318e-03 9.95286365e-01 1.84884332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.03925415399993 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:354.15, Y:48.63, Z:18.49 [[ 9.08320141e-01 -4.09825090e-01 -8.36535548e-02 3.54147836e+02] [ 4.07312062e-01 9.12131848e-01 -4.59606011e-02 4.86316401e+01] [ 9.51388790e-02 7.67383779e-03 9.95434431e-01 1.84935329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.06925415399996 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:354.18, Y:48.67, Z:18.50 [[ 9.11229116e-01 -4.09200962e-01 -4.70751558e-02 3.54179547e+02] [ 4.02626457e-01 9.08992328e-01 -1.07818755e-01 4.86743528e+01] [ 8.69104937e-02 7.92938856e-02 9.93055409e-01 1.85038877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.09925415399994 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:354.23, Y:48.62, Z:18.48 [[ 9.06092693e-01 -4.01907395e-01 -1.32160803e-01 3.54227028e+02] [ 4.10380380e-01 9.10873907e-01 4.35507690e-02 4.86155150e+01] [ 1.02878451e-01 -9.36972341e-02 9.90271101e-01 1.84797720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.12925415399997 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:354.24, Y:48.67, Z:18.51 [[ 9.06401766e-01 -4.11093785e-01 -9.71480284e-02 3.54237816e+02] [ 4.09040957e-01 9.11589687e-01 -4.11064367e-02 4.86682561e+01] [ 1.05457741e-01 -2.47857565e-03 9.94420696e-01 1.85088650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.15925415399994 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:354.27, Y:48.68, Z:18.51 [[ 9.06994350e-01 -4.09683202e-01 -9.75752164e-02 3.54266687e+02] [ 4.07605570e-01 9.12224868e-01 -4.12733560e-02 4.86810915e+01] [ 1.05919540e-01 -2.33750096e-03 9.94371956e-01 1.85122397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.18925415399997 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:354.29, Y:48.69, Z:18.52 [[ 9.07475373e-01 -4.08863849e-01 -9.65339363e-02 3.54294826e+02] [ 4.06827706e-01 9.12592659e-01 -4.08149032e-02 4.86937046e+01] [ 1.04783900e-01 -2.23416031e-03 9.94492505e-01 1.85151288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.21925415399994 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:354.32, Y:48.71, Z:18.52 [[ 9.08732188e-01 -4.06168391e-01 -9.60887501e-02 3.54321722e+02] [ 4.04136442e-01 9.13796235e-01 -4.06223720e-02 4.87065613e+01] [ 1.04305062e-01 -1.91810859e-03 9.94543501e-01 1.85183161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.24925415399997 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:354.35, Y:48.72, Z:18.52 [[ 9.09389125e-01 -4.04692272e-01 -9.61019483e-02 3.54352358e+02] [ 4.02652331e-01 9.14451246e-01 -4.06204186e-02 4.87198647e+01] [ 1.04319316e-01 -1.75590655e-03 9.94542305e-01 1.85212912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.27925415399994 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:354.38, Y:48.73, Z:18.52 [[ 9.10110519e-01 -4.03063047e-01 -9.61198398e-02 3.54382168e+02] [ 4.01014596e-01 9.15170848e-01 -4.06154292e-02 4.87327456e+01] [ 1.04336654e-01 -1.58092939e-03 9.94540780e-01 1.85239597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.309254154 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:354.41, Y:48.75, Z:18.53 [[ 9.11458153e-01 -4.00019730e-01 -9.60637864e-02 3.54411621e+02] [ 3.97958092e-01 9.16505685e-01 -4.05793791e-02 4.87451632e+01] [ 1.04275559e-01 -1.24295526e-03 9.94547668e-01 1.85268926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.33925415399995 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:354.44, Y:48.76, Z:18.53 [[ 9.12080240e-01 -3.98615211e-01 -9.59976584e-02 3.54442308e+02] [ 3.96549775e-01 9.17117617e-01 -4.05407610e-02 4.87577803e+01] [ 1.04201308e-01 -1.09142282e-03 9.94555628e-01 1.85299999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.369254154 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:354.47, Y:48.77, Z:18.53 [[ 9.13102675e-01 -3.96457000e-01 -9.52121460e-02 3.54471604e+02] [ 3.94414991e-01 9.18052898e-01 -4.01956582e-02 4.87693442e+01] [ 1.03345637e-01 -8.50334646e-04 9.94645141e-01 1.85328600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.39925415399995 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:354.50, Y:48.78, Z:18.53 [[ 9.13423119e-01 -3.95806061e-01 -9.48460213e-02 3.54498749e+02] [ 3.93875781e-01 9.18332617e-01 -3.90777776e-02 4.87809765e+01] [ 1.02567416e-01 -1.66300525e-03 9.94724665e-01 1.85349825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.429254154 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:354.53, Y:48.79, Z:18.54 [[ 9.13216310e-01 -3.96489406e-01 -9.39793728e-02 3.54526153e+02] [ 3.94317543e-01 9.18038952e-01 -4.14506624e-02 4.87922304e+01] [ 1.02711473e-01 7.95705634e-04 9.94710873e-01 1.85388708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.45925415399995 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:354.56, Y:48.80, Z:18.54 [[ 9.12617053e-01 -3.97827139e-01 -9.41471283e-02 3.54557720e+02] [ 3.95839404e-01 9.17459837e-01 -3.97317623e-02 4.88024832e+01] [ 1.02182582e-01 -1.00725939e-03 9.94765151e-01 1.85411255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.489254154 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:354.59, Y:48.81, Z:18.54 [[ 9.11976017e-01 -3.99284706e-01 -9.41884688e-02 3.54587734e+02] [ 3.97304226e-01 9.16826224e-01 -3.97369619e-02 4.88138108e+01] [ 1.02220819e-01 -1.18232043e-03 9.94761030e-01 1.85439939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.51925415399995 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:354.62, Y:48.82, Z:18.55 [[ 9.11291323e-01 -4.00883758e-01 -9.40230698e-02 3.54617355e+02] [ 3.98919757e-01 9.16127906e-01 -3.96571277e-02 4.88248982e+01] [ 1.02035056e-01 -1.36846376e-03 9.94779862e-01 1.85466290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.549254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:354.65, Y:48.84, Z:18.55 [[ 9.10553563e-01 -4.02593257e-01 -9.38662805e-02 3.54647964e+02] [ 4.00645721e-01 9.15377638e-01 -3.95826479e-02 4.88364053e+01] [ 1.01858801e-01 -1.56500263e-03 9.94797635e-01 1.85495949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.57925415399995 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:354.68, Y:48.85, Z:18.55 [[ 9.08603033e-01 -4.06975533e-01 -9.38692912e-02 3.54679175e+02] [ 4.05052391e-01 9.13436721e-01 -3.95716760e-02 4.88469808e+01] [ 1.01848361e-01 -2.06703597e-03 9.94797788e-01 1.85523999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.6092541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:354.71, Y:48.86, Z:18.56 [[ 9.07743442e-01 -4.08868023e-01 -9.39616046e-02 3.54707977e+02] [ 4.06952394e-01 9.12590645e-01 -3.95987982e-02 4.88575723e+01] [ 1.01939164e-01 -2.29235049e-03 9.94787994e-01 1.85551483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.63925415399996 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:354.74, Y:48.87, Z:18.56 [[ 9.06806061e-01 -4.11014430e-01 -9.36477808e-02 3.54738221e+02] [ 4.09123638e-01 9.11625326e-01 -3.94602968e-02 4.88690093e+01] [ 1.01590440e-01 -2.53068444e-03 9.94823089e-01 1.85577854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.66925415399993 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:354.77, Y:48.88, Z:18.56 [[ 9.05111287e-01 -4.14711624e-01 -9.37434140e-02 3.54769024e+02] [ 4.12837512e-01 9.09948093e-01 -3.94924801e-02 4.88792998e+01] [ 1.01679631e-01 -2.95570832e-03 9.94812805e-01 1.85602801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.69925415399996 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:354.80, Y:48.89, Z:18.56 [[ 9.04535738e-01 -4.16002323e-01 -9.35797269e-02 3.54799386e+02] [ 4.14142466e-01 9.09358257e-01 -3.94154511e-02 4.88908826e+01] [ 1.01494417e-01 -3.10265469e-03 9.94831271e-01 1.85630446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.72925415399993 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:354.83, Y:48.90, Z:18.57 [[ 9.04193509e-01 -4.16702964e-01 -9.37695976e-02 3.54829797e+02] [ 4.14840127e-01 9.09037089e-01 -3.94872086e-02 4.89021979e+01] [ 1.01694479e-01 -3.19531404e-03 9.94810546e-01 1.85658084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.75925415399996 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:354.86, Y:48.91, Z:18.57 [[ 9.03242500e-01 -4.18797861e-01 -9.36020203e-02 3.54858726e+02] [ 4.16953698e-01 9.08072999e-01 -3.94086528e-02 4.89129178e+01] [ 1.01501727e-01 -3.43213846e-03 9.94829443e-01 1.85686733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.78925415399993 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:354.89, Y:48.92, Z:18.57 [[ 9.02948265e-01 -4.19473863e-01 -9.34136512e-02 3.54887118e+02] [ 4.17641315e-01 9.07760643e-01 -3.93236218e-02 4.89239163e+01] [ 1.01292468e-01 -3.50620405e-03 9.94850513e-01 1.85712841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.81925415399996 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:354.91, Y:48.93, Z:18.57 [[ 9.02639334e-01 -4.20242213e-01 -9.29446930e-02 3.54913108e+02] [ 4.18432048e-01 9.07404933e-01 -3.91268400e-02 4.89341255e+01] [ 1.00781223e-01 -3.57361342e-03 9.94902193e-01 1.85737619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.84925415399994 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:354.94, Y:48.94, Z:18.58 [[ 9.02423301e-01 -4.20697458e-01 -9.29829825e-02 3.54939323e+02] [ 4.18885079e-01 9.07193863e-01 -3.91737940e-02 4.89445051e+01] [ 1.00833907e-01 -3.59783947e-03 9.94896768e-01 1.85762207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.87925415399997 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:354.97, Y:48.95, Z:18.58 [[ 9.02771322e-01 -4.19995674e-01 -9.27770084e-02 3.54965894e+02] [ 4.18184549e-01 9.07519420e-01 -3.91175821e-02 4.89541637e+01] [ 1.00626152e-01 -3.48368014e-03 9.94918208e-01 1.85785356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.90925415399994 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:354.99, Y:48.96, Z:18.58 [[ 9.03158214e-01 -4.19195813e-01 -9.26288859e-02 3.54990508e+02] [ 4.17383242e-01 9.07889625e-01 -3.90852713e-02 4.89638398e+01] [ 1.00481187e-01 -3.36156091e-03 9.94933280e-01 1.85806596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.93925415399997 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:355.02, Y:48.97, Z:18.58 [[ 9.03085204e-01 -4.19354744e-01 -9.26213432e-02 3.55016556e+02] [ 4.17541176e-01 9.07816232e-01 -3.91031379e-02 4.89749470e+01] [ 1.00481245e-01 -3.35975935e-03 9.94933280e-01 1.85833045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.96925415399994 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:355.05, Y:48.99, Z:18.59 [[ 9.04389928e-01 -4.16501409e-01 -9.27654779e-02 3.55046405e+02] [ 4.14665484e-01 9.09130016e-01 -3.91810060e-02 4.89871762e+01] [ 1.00654825e-01 -3.03173457e-03 9.94916788e-01 1.85860169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.99925415399997 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:355.07, Y:49.00, Z:18.59 [[ 9.05515149e-01 -4.14077610e-01 -9.26393397e-02 3.55068550e+02] [ 4.11928913e-01 9.10241579e-01 -4.21288264e-02 4.89984100e+01] [ 1.01768783e-01 -1.25319020e-05 9.94808079e-01 1.85891534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.02925415399994 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:355.10, Y:49.00, Z:18.59 [[ 9.04960776e-01 -4.10772211e-01 -1.10960289e-01 3.55100358e+02] [ 4.11939540e-01 9.11114678e-01 -1.32611891e-02 4.89972619e+01] [ 1.06544876e-01 -3.37080742e-02 9.93736361e-01 1.85915708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.059254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:355.12, Y:49.03, Z:18.60 [[ 9.08505958e-01 -4.09610717e-01 -8.26800145e-02 3.55117584e+02] [ 4.05090723e-01 9.11867816e-01 -6.63218819e-02 4.90333847e+01] [ 1.02559398e-01 2.67609180e-02 9.94366845e-01 1.86022169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.08925415399995 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:355.15, Y:49.03, Z:18.60 [[ 9.09602173e-01 -4.04724177e-01 -9.39267104e-02 3.55148380e+02] [ 4.02775311e-01 9.14437206e-01 -3.97069886e-02 4.90323675e+01] [ 1.01960457e-01 -1.71379692e-03 9.94786976e-01 1.85965267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.119254154 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:355.17, Y:49.04, Z:18.60 [[ 9.10777967e-01 -4.02201074e-01 -9.33691090e-02 3.55173656e+02] [ 4.00260613e-01 9.15550277e-01 -3.94858388e-02 4.90435088e+01] [ 1.01365360e-01 -1.40914485e-03 9.94848269e-01 1.85987913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.14925415399995 meters Centerline goodness : 0.996012 Centerline is valid? [True, True] Translation: X:355.20, Y:49.05, Z:18.60 [[ 9.12564333e-01 -3.95742657e-01 -1.03024694e-01 3.55200342e+02] [ 3.95620397e-01 9.18138593e-01 -2.24950129e-02 4.90470530e+01] [ 1.03493184e-01 -2.02305241e-02 9.94424400e-01 1.86004100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.179254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:355.22, Y:49.06, Z:18.61 [[ 9.13105264e-01 -3.95132018e-01 -1.00545839e-01 3.55223417e+02] [ 3.94243653e-01 9.18535335e-01 -2.94071503e-02 4.90610331e+01] [ 1.03974612e-01 -1.27877350e-02 9.94497739e-01 1.86075307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.20925415399995 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:355.24, Y:49.09, Z:18.61 [[ 9.14754714e-01 -3.96826586e-01 -7.58450643e-02 3.55242793e+02] [ 3.92063889e-01 9.17237725e-01 -7.04333875e-02 4.90918000e+01] [ 9.75177950e-02 3.46931624e-02 9.94628908e-01 1.86137490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.239254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:355.28, Y:49.09, Z:18.61 [[ 9.15238837e-01 -3.92796275e-01 -8.97159784e-02 3.55279430e+02] [ 3.90956409e-01 9.19625459e-01 -3.79750128e-02 4.90891019e+01] [ 9.74215414e-02 -3.18830138e-04 9.95243157e-01 1.86064471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.26925415399995 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:355.31, Y:49.10, Z:18.61 [[ 9.15319148e-01 -3.92538992e-01 -9.00222086e-02 3.55309984e+02] [ 3.90686076e-01 9.19735315e-01 -3.80964602e-02 4.91014369e+01] [ 9.77509505e-02 -3.00003951e-04 9.95210863e-01 1.86094009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.299254154 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:355.34, Y:49.11, Z:18.61 [[ 9.14721441e-01 -3.93705254e-01 -9.09992207e-02 3.55340658e+02] [ 3.91818765e-01 9.19236628e-01 -3.84977450e-02 4.91131103e+01] [ 9.88065813e-02 -4.40489593e-04 9.95106560e-01 1.86127944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.32925415399995 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:355.37, Y:49.12, Z:18.62 [[ 9.14320165e-01 -3.94618666e-01 -9.10754896e-02 3.55371024e+02] [ 3.92734727e-01 9.18844821e-01 -3.85179041e-02 4.91249547e+01] [ 9.88841259e-02 -5.50811134e-04 9.95098802e-01 1.86157110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.3592541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:355.40, Y:49.14, Z:18.62 [[ 9.13685876e-01 -3.96082357e-01 -9.10872479e-02 3.55401745e+02] [ 3.94206383e-01 9.18214707e-01 -3.85107846e-02 4.91371635e+01] [ 9.88910929e-02 -7.20414562e-04 9.95098002e-01 1.86188610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.38925415399996 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:355.43, Y:49.15, Z:18.62 [[ 9.12101381e-01 -3.99727945e-01 -9.10419777e-02 3.55431368e+02] [ 3.97873061e-01 9.16633135e-01 -3.84801717e-02 4.91480745e+01] [ 9.88336933e-02 -1.12533262e-03 9.95103329e-01 1.86219313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.41925415399993 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:355.46, Y:49.16, Z:18.63 [[ 9.11202308e-01 -4.01749796e-01 -9.11452460e-02 3.55460812e+02] [ 3.99901381e-01 9.15748478e-01 -3.85176774e-02 4.91595599e+01] [ 9.89405893e-02 -1.35171318e-03 9.95092424e-01 1.86251542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.44925415399996 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:355.49, Y:49.17, Z:18.63 [[ 9.10325776e-01 -4.03787903e-01 -9.08972575e-02 3.55490646e+02] [ 4.01960466e-01 9.14851269e-01 -3.84049268e-02 4.91711687e+01] [ 9.86649163e-02 -1.57610927e-03 9.95119465e-01 1.86277186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.47925415399993 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:355.52, Y:49.18, Z:18.63 [[ 9.08664639e-01 -4.07490541e-01 -9.09946879e-02 3.55521095e+02] [ 4.05678453e-01 9.13207265e-01 -3.84380443e-02 4.91816796e+01] [ 9.87601496e-02 -1.98729258e-03 9.95109282e-01 1.86308993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.50925415399996 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:355.55, Y:49.19, Z:18.63 [[ 9.07913363e-01 -4.09172992e-01 -9.09438744e-02 3.55549952e+02] [ 4.07372120e-01 9.12454233e-01 -3.84087134e-02 4.91929855e+01] [ 9.86979313e-02 -2.17621474e-03 9.95115060e-01 1.86334065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.53925415399993 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:355.58, Y:49.21, Z:18.64 [[ 9.06833131e-01 -4.11378875e-01 -9.17665213e-02 3.55579990e+02] [ 4.09557078e-01 9.11461161e-01 -3.87498532e-02 4.92050090e+01] [ 9.95824911e-02 -2.44397764e-03 9.95026308e-01 1.86366081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.56925415399996 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:355.61, Y:49.22, Z:18.64 [[ 9.06476498e-01 -4.12073130e-01 -9.21742560e-02 3.55609326e+02] [ 4.10239466e-01 9.11147238e-01 -3.89138974e-02 4.92176649e+01] [ 1.00019690e-01 -2.53898407e-03 9.94982219e-01 1.86396706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.59925415399994 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:355.64, Y:49.23, Z:18.64 [[ 9.06334991e-01 -4.12308313e-01 -9.25134526e-02 3.55638361e+02] [ 4.10463139e-01 9.11040718e-01 -3.90489815e-02 4.92301381e+01] [ 1.00383742e-01 -2.58190379e-03 9.94945445e-01 1.86427034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.62925415399997 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:355.67, Y:49.24, Z:18.65 [[ 9.06434995e-01 -4.12120346e-01 -9.23711053e-02 3.55668098e+02] [ 4.10280698e-01 9.11125811e-01 -3.89808269e-02 4.92426804e+01] [ 1.00226490e-01 -2.56449597e-03 9.94961343e-01 1.86456000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.65925415399994 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:355.70, Y:49.25, Z:18.65 [[ 9.07047508e-01 -4.10651267e-01 -9.28997062e-02 3.55697702e+02] [ 4.08783603e-01 9.11789265e-01 -3.91957032e-02 4.92546664e+01] [ 1.00800720e-01 -2.42351164e-03 9.94903685e-01 1.86487247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.68925415399997 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:355.73, Y:49.27, Z:18.65 [[ 9.07401957e-01 -4.10055031e-01 -9.20682372e-02 3.55726555e+02] [ 4.08218525e-01 9.12057771e-01 -3.88362942e-02 4.92672945e+01] [ 9.98965690e-02 -2.34383060e-03 9.94995066e-01 1.86515981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.71925415399994 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:355.76, Y:49.28, Z:18.66 [[ 9.08134697e-01 -4.08540437e-01 -9.15755659e-02 3.55755262e+02] [ 4.06717181e-01 9.12737624e-01 -3.86155822e-02 4.92803758e+01] [ 9.93604913e-02 -2.17720598e-03 9.95049121e-01 1.86550707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.74925415399997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:355.78, Y:49.29, Z:18.66 [[ 9.08564533e-01 -4.07624701e-01 -9.13925207e-02 3.55784845e+02] [ 4.05804919e-01 9.13147182e-01 -3.85304025e-02 4.92931994e+01] [ 9.91607666e-02 -2.08017732e-03 9.95069251e-01 1.86579161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.77925415399994 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:355.81, Y:49.31, Z:18.66 [[ 9.08844289e-01 -4.06966890e-01 -9.15423898e-02 3.55813988e+02] [ 4.05138594e-01 9.13440679e-01 -3.85855621e-02 4.93056935e+01] [ 9.93215889e-02 -2.01908734e-03 9.95053338e-01 1.86608443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.809254154 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:355.84, Y:49.32, Z:18.66 [[ 9.09213112e-01 -4.06150905e-01 -9.15038726e-02 3.55843879e+02] [ 4.04320824e-01 9.13803968e-01 -3.85613654e-02 4.93184825e+01] [ 9.92783354e-02 -1.93642210e-03 9.95057819e-01 1.86634833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.83925415399995 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:355.87, Y:49.33, Z:18.67 [[ 9.09601822e-01 -4.05134810e-01 -9.21428876e-02 3.55873353e+02] [ 4.03274632e-01 9.14255095e-01 -3.88225783e-02 4.93313371e+01] [ 9.99704823e-02 -1.84580108e-03 9.94988691e-01 1.86658951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.869254154 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:355.90, Y:49.34, Z:18.67 [[ 9.09770869e-01 -4.04726044e-01 -9.22702332e-02 3.55901616e+02] [ 4.02859413e-01 9.14436193e-01 -3.88682712e-02 4.93430785e+01] [ 1.00106242e-01 -1.81071113e-03 9.94975106e-01 1.86684304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.89925415399995 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:355.93, Y:49.36, Z:18.67 [[ 9.09897530e-01 -4.04363636e-01 -9.26095820e-02 3.55930679e+02] [ 4.02481942e-01 9.14596562e-01 -3.90053257e-02 4.93556497e+01] [ 1.00472741e-01 -1.78283484e-03 9.94938214e-01 1.86712355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.929254154 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:355.96, Y:49.37, Z:18.67 [[ 9.09978407e-01 -4.04065872e-01 -9.31132162e-02 3.55958039e+02] [ 4.02162437e-01 9.14728191e-01 -3.92136615e-02 4.93686555e+01] [ 1.01018186e-01 -1.76305276e-03 9.94883017e-01 1.86740496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.95925415399995 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:355.99, Y:49.38, Z:18.68 [[ 9.09989133e-01 -4.03846093e-01 -9.39580260e-02 3.55985136e+02] [ 4.01906847e-01 9.14825257e-01 -3.95681228e-02 4.93807934e+01] [ 1.01934607e-01 -1.75581227e-03 9.94789552e-01 1.86771674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.989254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:356.01, Y:49.39, Z:18.68 [[ 9.09851257e-01 -4.04260955e-01 -9.35081256e-02 3.56011015e+02] [ 4.02676567e-01 9.14630959e-01 -3.60803400e-02 4.93912445e+01] [ 1.00111299e-01 -4.82578822e-03 9.94964542e-01 1.86786976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.01925415399995 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:356.04, Y:49.41, Z:18.68 [[ 9.09590387e-01 -4.05368607e-01 -9.12229180e-02 3.56037210e+02] [ 4.03218266e-01 9.14152584e-01 -4.17143102e-02 4.94063461e+01] [ 1.00301338e-01 1.16018869e-03 9.94956429e-01 1.86840532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.049254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:356.07, Y:49.42, Z:18.69 [[ 9.09382030e-01 -4.05675273e-01 -9.19341907e-02 3.56066114e+02] [ 4.03824986e-01 9.14015320e-01 -3.87475985e-02 4.94174228e+01] [ 9.97482013e-02 -1.88895344e-03 9.95010919e-01 1.86860013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.07925415399995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:356.10, Y:49.43, Z:18.69 [[ 9.09168250e-01 -4.06293192e-01 -9.13177767e-02 3.56095556e+02] [ 4.04471400e-01 9.13740687e-01 -3.84817182e-02 4.94301562e+01] [ 9.90756282e-02 -1.94907266e-03 9.95077997e-01 1.86889354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.1092541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:356.12, Y:49.44, Z:18.69 [[ 9.08137456e-01 -4.08713511e-01 -9.07723871e-02 3.56124191e+02] [ 4.06926266e-01 9.12660066e-01 -3.82441860e-02 4.94430047e+01] [ 9.84752484e-02 -2.20669068e-03 9.95137054e-01 1.86915498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.13925415399996 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:356.15, Y:49.46, Z:18.69 [[ 9.07376723e-01 -4.10410052e-01 -9.07252583e-02 3.56153631e+02] [ 4.08633711e-01 9.11897940e-01 -3.82182759e-02 4.94558725e+01] [ 9.84173407e-02 -2.39502508e-03 9.95142347e-01 1.86944477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.16925415399993 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:356.18, Y:49.47, Z:18.70 [[ 9.06471795e-01 -4.12310456e-01 -9.11535648e-02 3.56183500e+02] [ 4.10527618e-01 9.11039637e-01 -3.83908251e-02 4.94685667e+01] [ 9.88734492e-02 -2.62085572e-03 9.95096564e-01 1.86974798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.19925415399996 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:356.21, Y:49.48, Z:18.70 [[ 9.03959768e-01 -4.17549114e-01 -9.22468180e-02 3.56212221e+02] [ 4.15751060e-01 9.08648583e-01 -3.88433942e-02 4.94807220e+01] [ 1.00038965e-01 -3.23884672e-03 9.94978249e-01 1.86998826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.22925415399993 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:356.24, Y:49.49, Z:18.70 [[ 9.02224073e-01 -4.21348172e-01 -9.19643464e-02 3.56239690e+02] [ 4.20194189e-01 9.06851258e-01 -3.25213802e-02 4.94899776e+01] [ 9.71008073e-02 -9.30131180e-03 9.95231088e-01 1.86999563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.25925415399996 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:356.26, Y:49.51, Z:18.71 [[ 9.00726028e-01 -4.25227301e-01 -8.87376229e-02 3.56263102e+02] [ 4.23028385e-01 9.05085538e-01 -4.32105832e-02 4.95053850e+01] [ 9.86894588e-02 1.38236365e-03 9.95117320e-01 1.87059194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.28925415399993 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:356.29, Y:49.52, Z:18.71 [[ 8.97570060e-01 -4.31505233e-01 -9.03948089e-02 3.56293816e+02] [ 4.29844833e-01 9.02098421e-01 -3.81032686e-02 4.95159793e+01] [ 9.79867741e-02 -4.65538839e-03 9.95176828e-01 1.87071378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.31925415399996 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:356.32, Y:49.52, Z:18.71 [[ 8.96503038e-01 -4.33526345e-01 -9.13083266e-02 3.56318032e+02] [ 4.32402302e-01 9.01084437e-01 -3.27885187e-02 4.95238647e+01] [ 9.64911987e-02 -1.00869240e-02 9.95282725e-01 1.87072394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.34925415399994 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:356.34, Y:49.54, Z:18.71 [[ 8.94646603e-01 -4.37994027e-01 -8.81401625e-02 3.56342435e+02] [ 4.35851340e-01 8.98977833e-01 -4.32720011e-02 4.95405842e+01] [ 9.81889303e-02 2.97140883e-04 9.95167748e-01 1.87136345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.37925415399997 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:356.37, Y:49.55, Z:18.71 [[ 8.92843276e-01 -4.41141906e-01 -9.06901530e-02 3.56371146e+02] [ 4.39515472e-01 8.97419328e-01 -3.82714051e-02 4.95516503e+01] [ 9.82702167e-02 -5.68935870e-03 9.95143505e-01 1.87145299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.40925415399994 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:356.40, Y:49.56, Z:18.72 [[ 8.92371376e-01 -4.42121912e-01 -9.05623668e-02 3.56397044e+02] [ 4.40505203e-01 8.96936279e-01 -3.82161942e-02 4.95635219e+01] [ 9.81248892e-02 -5.79015590e-03 9.95157264e-01 1.87170742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.43925415399997 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:356.43, Y:49.58, Z:18.72 [[ 8.92483806e-01 -4.41994696e-01 -9.00741102e-02 3.56427641e+02] [ 4.40267658e-01 8.97005971e-01 -3.93023720e-02 4.95771006e+01] [ 9.81684547e-02 -4.57998706e-03 9.95159273e-01 1.87210901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.46925415399994 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:356.46, Y:49.59, Z:18.72 [[ 8.92187023e-01 -4.41311179e-01 -9.61600742e-02 3.56456941e+02] [ 4.40569195e-01 8.97218125e-01 -2.99736691e-02 4.95874018e+01] [ 9.95042767e-02 -1.56230478e-02 9.94914478e-01 1.87231829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.49925415399997 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:356.48, Y:49.61, Z:18.73 [[ 8.92523758e-01 -4.41436819e-01 -9.23843964e-02 3.56484978e+02] [ 4.39782864e-01 8.97271464e-01 -3.86646047e-02 4.96055063e+01] [ 9.99618628e-02 -6.11999612e-03 9.94972448e-01 1.87287957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.52925415399994 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:356.51, Y:49.63, Z:18.73 [[ 8.93644838e-01 -4.40815700e-01 -8.41452430e-02 3.56511319e+02] [ 4.37545432e-01 8.97512963e-01 -5.49952403e-02 4.96261409e+01] [ 9.97642117e-02 1.23288460e-02 9.94934722e-01 1.87327735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.559254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:356.54, Y:49.63, Z:18.73 [[ 8.93776625e-01 -4.38289626e-01 -9.52131734e-02 3.56543332e+02] [ 4.37626549e-01 8.98693604e-01 -2.88584426e-02 4.96299095e+01] [ 9.82158260e-02 -1.58748110e-02 9.95038513e-01 1.87281428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.58925415399995 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:356.57, Y:49.65, Z:18.73 [[ 8.94359947e-01 -4.36928922e-01 -9.59864674e-02 3.56572639e+02] [ 4.35846842e-01 8.99412643e-01 -3.30821447e-02 4.96458871e+01] [ 1.00785988e-01 -1.22480535e-02 9.94832735e-01 1.87348666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.619254154 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:356.60, Y:49.67, Z:18.74 [[ 8.95345407e-01 -4.36455430e-01 -8.86750294e-02 3.56597428e+02] [ 4.34187515e-01 8.99724939e-01 -4.44548749e-02 4.96652273e+01] [ 9.91857069e-02 1.30087735e-03 9.95068090e-01 1.87389644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.64925415399995 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:356.63, Y:49.68, Z:18.74 [[ 8.97890691e-01 -4.30448255e-01 -9.22312661e-02 3.56626978e+02] [ 4.28716428e-01 9.02603253e-01 -3.88534792e-02 4.96789465e+01] [ 9.99726531e-02 -4.65488169e-03 9.94979297e-01 1.87408604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.679254154 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:356.66, Y:49.69, Z:18.74 [[ 8.99447983e-01 -4.27263827e-01 -9.18637475e-02 3.56655528e+02] [ 4.25530418e-01 9.04116798e-01 -3.86869335e-02 4.96940424e+01] [ 9.95850844e-02 -4.29393456e-03 9.95019785e-01 1.87437002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.70925415399995 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:356.68, Y:49.71, Z:18.75 [[ 9.01457501e-01 -4.22916351e-01 -9.22829014e-02 3.56684941e+02] [ 4.21145355e-01 9.06160590e-01 -3.88532455e-02 4.97090048e+01] [ 1.00054801e-01 -3.83996566e-03 9.94974518e-01 1.87471023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.739254154 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:356.71, Y:49.72, Z:18.75 [[ 9.03305610e-01 -4.19132258e-01 -9.14719910e-02 3.56712854e+02] [ 4.17374099e-01 9.07918822e-01 -3.85003253e-02 4.97240012e+01] [ 9.91858706e-02 -3.40048003e-03 9.95063113e-01 1.87501853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.76925415399995 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:356.74, Y:49.74, Z:18.75 [[ 9.07171672e-01 -4.10903207e-01 -9.05434240e-02 3.56741647e+02] [ 4.09140581e-01 9.11675597e-01 -3.80997505e-02 4.97415424e+01] [ 9.82015398e-02 -2.48197467e-03 9.95163453e-01 1.87537279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.799254154 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:356.77, Y:49.76, Z:18.76 [[ 9.09174247e-01 -4.06310070e-01 -9.11828709e-02 3.56769939e+02] [ 4.04500472e-01 9.13733050e-01 -3.83572874e-02 4.97557837e+01] [ 9.89017549e-02 -2.01005638e-03 9.95095173e-01 1.87571153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.82925415399995 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:356.80, Y:49.77, Z:18.76 [[ 9.09238469e-01 -4.06165507e-01 -9.11865523e-02 3.56800787e+02] [ 4.04356061e-01 9.13797333e-01 -3.83485338e-02 4.97686554e+01] [ 9.89018799e-02 -2.00387297e-03 9.95095173e-01 1.87601259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.8592541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:356.83, Y:49.78, Z:18.76 [[ 9.10920938e-01 -4.02363888e-01 -9.12488204e-02 3.56830632e+02] [ 4.00534556e-01 9.15478410e-01 -3.83581848e-02 4.97836954e+01] [ 9.89702734e-02 -1.60703207e-03 9.95089093e-01 1.87628027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.88925415399996 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:356.86, Y:49.81, Z:18.77 [[ 9.15242376e-01 -3.96765819e-01 -7.00591045e-02 3.56860266e+02] [ 3.92241468e-01 9.17186253e-01 -7.01142500e-02 4.98127947e+01] [ 9.20761853e-02 3.66914467e-02 9.95075733e-01 1.87691804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.91925415399993 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:356.90, Y:49.80, Z:18.76 [[ 9.14772405e-01 -3.89073524e-01 -1.08688728e-01 3.56895446e+02] [ 3.91111299e-01 9.20339200e-01 -2.77666331e-03 4.97963529e+01] [ 1.01110824e-01 -3.99693747e-02 9.94071954e-01 1.87559250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.94925415399996 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:356.92, Y:49.83, Z:18.77 [[ 9.15735807e-01 -3.90774317e-01 -9.33989574e-02 3.56917402e+02] [ 3.88799414e-01 9.20486441e-01 -3.92393585e-02 4.98272477e+01] [ 1.01306207e-01 -3.80574245e-04 9.94855219e-01 1.87715370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.97925415399993 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:356.95, Y:49.84, Z:18.77 [[ 9.16462051e-01 -3.88985501e-01 -9.37421443e-02 3.56947968e+02] [ 3.86988097e-01 9.21243855e-01 -3.93696786e-02 4.98408243e+01] [ 1.01673609e-01 -1.96277689e-04 9.94817792e-01 1.87747783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.00925415399996 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:356.98, Y:49.85, Z:18.78 [[ 9.16840426e-01 -3.88032581e-01 -9.39912182e-02 3.56977546e+02] [ 3.86022844e-01 9.21645649e-01 -3.94418877e-02 4.98537921e+01] [ 1.01931335e-01 -1.20840191e-04 9.94791430e-01 1.87778826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.03925415399993 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:357.01, Y:49.89, Z:18.79 [[ 9.21002037e-01 -3.85371867e-01 -5.69541137e-02 3.57005595e+02] [ 3.79503273e-01 9.20592125e-01 -9.21271197e-02 4.98911380e+01] [ 8.79347087e-02 6.32349924e-02 9.94117107e-01 1.87873860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.06925415399996 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:357.05, Y:49.85, Z:18.76 [[ 9.16821623e-01 -3.81318770e-01 -1.18465640e-01 3.57049008e+02] [ 3.86248585e-01 9.22156054e-01 2.09819665e-02 4.98501124e+01] [ 1.01242989e-01 -6.49939064e-02 9.92736445e-01 1.87636198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.09925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:357.07, Y:49.89, Z:18.79 [[ 9.16903443e-01 -3.88228683e-01 -9.25557464e-02 3.57065992e+02] [ 3.86284010e-01 9.21563054e-01 -3.88098212e-02 4.98908702e+01] [ 1.00363042e-01 -1.67946132e-04 9.94950869e-01 1.87882597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.12925415399997 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:357.09, Y:49.91, Z:18.79 [[ 9.16307132e-01 -3.89589707e-01 -9.27421144e-02 3.57088268e+02] [ 3.87174103e-01 9.20980058e-01 -4.34965201e-02 4.99052665e+01] [ 1.02359434e-01 3.94882658e-03 9.94739641e-01 1.87941271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.15925415399994 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:357.12, Y:49.91, Z:18.79 [[ 9.16131177e-01 -3.90012650e-01 -9.27027513e-02 3.57121304e+02] [ 3.88390734e-01 9.20803542e-01 -3.56857688e-02 4.99118042e+01] [ 9.92789230e-02 -3.31204432e-03 9.95054132e-01 1.87932937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.18925415399997 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:357.15, Y:49.92, Z:18.80 [[ 9.15792795e-01 -3.91065797e-01 -9.16029373e-02 3.57151747e+02] [ 3.89178255e-01 9.20362586e-01 -3.83796273e-02 4.99248725e+01] [ 9.93168758e-02 -5.02085097e-04 9.95055730e-01 1.87975844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.21925415399994 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:357.18, Y:49.94, Z:18.80 [[ 9.15094681e-01 -3.92723569e-01 -9.14872851e-02 3.57182932e+02] [ 3.90852244e-01 9.19656291e-01 -3.82992092e-02 4.99369773e+01] [ 9.91778594e-02 -7.10608045e-04 9.95069469e-01 1.88007645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.24925415399997 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:357.21, Y:49.95, Z:18.80 [[ 9.13474478e-01 -3.96538597e-01 -9.12223604e-02 3.57213859e+02] [ 3.94700221e-01 9.18017330e-01 -3.81564928e-02 4.99476908e+01] [ 9.88742299e-02 -1.15050348e-03 9.95099273e-01 1.88035207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.27925415399994 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:357.24, Y:49.96, Z:18.81 [[ 9.12393066e-01 -3.99023079e-01 -9.12111623e-02 3.57243983e+02] [ 3.97200652e-01 9.16939739e-01 -3.81203053e-02 4.99593588e+01] [ 9.88460209e-02 -1.44843090e-03 9.95101686e-01 1.88062174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.309254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:357.27, Y:49.97, Z:18.81 [[ 9.10601697e-01 -4.02911229e-01 -9.20168016e-02 3.57274233e+02] [ 4.01079061e-01 9.15237062e-01 -3.84279391e-02 4.99689978e+01] [ 9.97002354e-02 -1.91346587e-03 9.95015679e-01 1.88088571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.33925415399995 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:357.30, Y:49.98, Z:18.81 [[ 9.09738320e-01 -4.04779999e-01 -9.23544358e-02 3.57304743e+02] [ 4.02945840e-01 9.14411591e-01 -3.85498704e-02 4.99803404e+01] [ 1.00054183e-01 -2.14354141e-03 9.94979681e-01 1.88115804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.369254154 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:357.34, Y:49.99, Z:18.81 [[ 9.08807405e-01 -4.06813682e-01 -9.25836302e-02 3.57335651e+02] [ 4.04982097e-01 9.13508043e-01 -3.86336289e-02 4.99921012e+01] [ 1.00292580e-01 -2.38418464e-03 9.94955132e-01 1.88142406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.39925415399995 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:357.37, Y:50.00, Z:18.82 [[ 9.08250589e-01 -4.07912008e-01 -9.32129892e-02 3.57366172e+02] [ 4.06062355e-01 9.13017730e-01 -3.88843021e-02 5.00036253e+01] [ 1.00966486e-01 -2.53359565e-03 9.94886601e-01 1.88172432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.429254154 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:357.40, Y:50.01, Z:18.82 [[ 9.07323644e-01 -4.09853644e-01 -9.37219106e-02 3.57396839e+02] [ 4.07995226e-01 9.12147075e-01 -3.90846368e-02 5.00148563e+01] [ 1.01507147e-01 -2.77567708e-03 9.94830938e-01 1.88198410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.45925415399995 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:357.43, Y:50.03, Z:18.82 [[ 9.07243872e-01 -4.10049420e-01 -9.36377578e-02 3.57426947e+02] [ 4.08196576e-01 9.12058990e-01 -3.90378550e-02 5.00266376e+01] [ 1.01410609e-01 -2.80575741e-03 9.94840699e-01 1.88227875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.489254154 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:357.46, Y:50.04, Z:18.83 [[ 9.07327124e-01 -4.09808453e-01 -9.38856832e-02 3.57457943e+02] [ 4.07945518e-01 9.12167318e-01 -3.91310421e-02 5.00384765e+01] [ 1.01675684e-01 -2.79558771e-03 9.94813671e-01 1.88259309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.51925415399995 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:357.49, Y:50.05, Z:18.83 [[ 9.07298535e-01 -4.10208779e-01 -9.24019828e-02 3.57488386e+02] [ 4.08407645e-01 9.11987327e-01 -3.85007995e-02 5.00500262e+01] [ 1.00062803e-01 -2.80595716e-03 9.94977167e-01 1.88293672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.549254154 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:357.52, Y:50.06, Z:18.83 [[ 9.07584809e-01 -4.09547038e-01 -9.25258773e-02 3.57519126e+02] [ 4.07738841e-01 9.12284864e-01 -3.85404158e-02 5.00620600e+01] [ 1.00194071e-01 -2.74769812e-03 9.94964119e-01 1.88323688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.57925415399995 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:357.55, Y:50.07, Z:18.84 [[ 9.07750940e-01 -4.09209984e-01 -9.23873409e-02 3.57550126e+02] [ 4.07406668e-01 9.12436193e-01 -3.84707914e-02 5.00742364e+01] [ 1.00040185e-01 -2.71732165e-03 9.94979687e-01 1.88356011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.6092541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:357.58, Y:50.09, Z:18.84 [[ 9.07724041e-01 -4.09501241e-01 -9.13553465e-02 3.57580586e+02] [ 4.07740709e-01 9.12305478e-01 -3.80293189e-02 5.00861024e+01] [ 9.89170363e-02 -2.72916665e-03 9.95091941e-01 1.88382333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.63925415399996 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:357.61, Y:50.10, Z:18.84 [[ 9.07794541e-01 -4.09246287e-01 -9.17962287e-02 3.57611389e+02] [ 4.07468607e-01 9.12419885e-01 -3.82006284e-02 5.00980077e+01] [ 9.93901698e-02 -2.72575944e-03 9.95044805e-01 1.88409042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.66925415399993 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:357.64, Y:50.11, Z:18.84 [[ 9.07133398e-01 -4.10539057e-01 -9.25563670e-02 3.57641939e+02] [ 4.08739698e-01 9.11838394e-01 -3.85045796e-02 5.01095197e+01] [ 1.00204083e-01 -2.90267128e-03 9.94962671e-01 1.88430336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.69925415399996 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:357.67, Y:50.12, Z:18.85 [[ 9.07027772e-01 -4.10737346e-01 -9.27116700e-02 3.57668524e+02] [ 4.08678851e-01 9.11753493e-01 -4.10751045e-02 5.01213036e+01] [ 1.01401268e-01 -6.33038242e-04 9.94845406e-01 1.88460035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.72925415399993 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:357.70, Y:50.13, Z:18.85 [[ 9.05329102e-01 -4.13921087e-01 -9.51238738e-02 3.57700727e+02] [ 4.12235404e-01 9.10298410e-01 -3.76666651e-02 5.01313892e+01] [ 1.02182138e-01 -5.11270042e-03 9.94752568e-01 1.88469842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.75925415399996 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:357.73, Y:50.14, Z:18.85 [[ 9.04671824e-01 -4.15366734e-01 -9.50755850e-02 3.57730930e+02] [ 4.13497878e-01 9.09647067e-01 -3.95185767e-02 5.01444538e+01] [ 1.02899929e-01 -3.56220982e-03 9.94685335e-01 1.88507122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.78925415399993 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:357.76, Y:50.16, Z:18.85 [[ 9.04725905e-01 -4.15247889e-01 -9.50801121e-02 3.57761818e+02] [ 4.13379523e-01 9.09701332e-01 -3.95076819e-02 5.01571911e+01] [ 1.02899986e-01 -3.56054814e-03 9.94685335e-01 1.88537486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.81925415399996 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:357.79, Y:50.17, Z:18.86 [[ 9.03466700e-01 -4.17947668e-01 -9.52243113e-02 3.57791285e+02] [ 4.16089991e-01 9.08462790e-01 -3.95534886e-02 5.01687162e+01] [ 1.03039032e-01 -3.88662304e-03 9.94669720e-01 1.88565048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.84925415399994 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:357.82, Y:50.18, Z:18.86 [[ 9.02994130e-01 -4.19001998e-01 -9.50732712e-02 3.57820204e+02] [ 4.17157053e-01 9.07976459e-01 -3.94809239e-02 5.01807259e+01] [ 1.02866878e-01 -4.00944314e-03 9.94687051e-01 1.88595830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.87925415399997 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:357.85, Y:50.19, Z:18.86 [[ 9.02821513e-01 -4.19413363e-01 -9.48986168e-02 3.57848991e+02] [ 4.17578085e-01 9.07786315e-01 -3.94023996e-02 5.01927077e+01] [ 1.02673559e-01 -4.05424861e-03 9.94706843e-01 1.88629680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.90925415399994 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:357.88, Y:50.21, Z:18.87 [[ 9.03272464e-01 -4.18625876e-01 -9.40809829e-02 3.57878365e+02] [ 4.16818521e-01 9.08150255e-01 -3.90568229e-02 5.02057141e+01] [ 1.01789865e-01 -3.93574348e-03 9.94798137e-01 1.88663652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.93925415399997 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:357.91, Y:50.22, Z:18.87 [[ 9.03887487e-01 -4.17401369e-01 -9.36136076e-02 3.57908791e+02] [ 4.15606262e-01 9.08714345e-01 -3.88545176e-02 5.02188544e+01] [ 1.01285957e-01 -3.78628929e-03 9.94850149e-01 1.88696085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.96925415399994 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:357.94, Y:50.23, Z:18.87 [[ 9.04951509e-01 -4.15048219e-01 -9.37962820e-02 3.57939122e+02] [ 4.13234713e-01 9.09792525e-01 -3.89182851e-02 5.02321743e+01] [ 1.01488121e-01 -3.54071886e-03 9.94830450e-01 1.88731581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.99925415399997 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:357.97, Y:50.25, Z:18.88 [[ 9.06704240e-01 -4.11686103e-01 -9.16622870e-02 3.57968916e+02] [ 4.09938347e-01 9.11320433e-01 -3.80213082e-02 5.02470673e+01] [ 9.91865593e-02 -3.10180504e-03 9.95064021e-01 1.88764278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.02925415399994 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:358.00, Y:50.26, Z:18.88 [[ 9.07649312e-01 -4.09794099e-01 -9.07828312e-02 3.57999435e+02] [ 4.08071496e-01 9.12173512e-01 -3.76448863e-02 5.02606377e+01] [ 9.82363462e-02 -2.87753060e-03 9.95158952e-01 1.88793069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.059254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:358.03, Y:50.27, Z:18.88 [[ 9.08435553e-01 -4.08126811e-01 -9.04287133e-02 3.58030063e+02] [ 4.06410558e-01 9.12921262e-01 -3.74863612e-02 5.02737818e+01] [ 9.78534841e-02 -2.69724059e-03 9.95197177e-01 1.88822438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.08925415399995 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:358.06, Y:50.29, Z:18.88 [[ 9.09747616e-01 -4.05430355e-01 -8.93616326e-02 3.58060262e+02] [ 4.03742574e-01 9.14122815e-01 -3.70325967e-02 5.02870584e+01] [ 9.67016460e-02 -2.38877899e-03 9.95310547e-01 1.88844795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.119254154 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:358.09, Y:50.30, Z:18.89 [[ 9.10247079e-01 -4.04268427e-01 -8.95393505e-02 3.58090446e+02] [ 4.02569439e-01 9.14637545e-01 -3.70945916e-02 5.03002705e+01] [ 9.68922239e-02 -2.28056240e-03 9.95292267e-01 1.88871306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.14925415399995 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:358.12, Y:50.31, Z:18.89 [[ 9.11397044e-01 -4.01496055e-01 -9.03124956e-02 3.58119970e+02] [ 3.99755101e-01 9.15858539e-01 -3.74031597e-02 5.03137329e+01] [ 9.77306913e-02 -2.01375163e-03 9.95210860e-01 1.88893916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.179254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:358.15, Y:50.33, Z:18.89 [[ 9.12010692e-01 -3.99947656e-01 -9.09855467e-02 3.58149888e+02] [ 3.98173904e-01 9.16536072e-01 -3.76718763e-02 5.03268334e+01] [ 9.84583142e-02 -1.87091638e-03 9.95139417e-01 1.88923605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.20925415399995 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:358.18, Y:50.34, Z:18.89 [[ 9.13015669e-01 -3.97809416e-01 -9.02776676e-02 3.58175873e+02] [ 3.96053792e-01 9.17466615e-01 -3.73684997e-02 5.03396956e+01] [ 9.76922871e-02 -1.63678684e-03 9.95215322e-01 1.88945952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.239254154 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:358.20, Y:50.35, Z:18.90 [[ 9.14267108e-01 -3.94611123e-01 -9.16390608e-02 3.58200710e+02] [ 3.92785477e-01 9.18847292e-01 -3.79370964e-02 5.03510347e+01] [ 9.91727031e-02 -1.30985282e-03 9.95069374e-01 1.88973460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.26925415399995 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:358.23, Y:50.36, Z:18.90 [[ 9.14301735e-01 -3.94531901e-01 -9.16346876e-02 3.58230818e+02] [ 3.92704799e-01 9.18881339e-01 -3.79476564e-02 5.03634432e+01] [ 9.91729655e-02 -1.28977346e-03 9.95069374e-01 1.89003128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.299254154 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:358.26, Y:50.38, Z:18.90 [[ 9.14785626e-01 -3.93344864e-01 -9.19079735e-02 3.58261504e+02] [ 3.91501813e-01 9.19390255e-01 -3.80511516e-02 5.03764824e+01] [ 9.94665202e-02 -1.17349166e-03 9.95040217e-01 1.89030203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.32925415399995 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:358.29, Y:50.39, Z:18.91 [[ 9.15199599e-01 -3.92279445e-01 -9.23392148e-02 3.58291464e+02] [ 3.90414760e-01 9.19845468e-01 -3.82181875e-02 5.03891743e+01] [ 9.99300176e-02 -1.07332256e-03 9.94993889e-01 1.89058272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.3592541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:358.32, Y:50.40, Z:18.91 [[ 9.15351888e-01 -3.91663961e-01 -9.34358787e-02 3.58320031e+02] [ 3.89752541e-01 9.20107757e-01 -3.86609973e-02 5.04017872e+01] [ 1.01113196e-01 -1.02845436e-03 9.94874396e-01 1.89088665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.38925415399996 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:358.35, Y:50.41, Z:18.91 [[ 9.15574125e-01 -3.90910993e-01 -9.44066530e-02 3.58348070e+02] [ 3.88956155e-01 9.20427983e-01 -3.90568382e-02 5.04146708e+01] [ 1.02162273e-01 -9.60618346e-04 9.94767283e-01 1.89117058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.41925415399993 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:358.38, Y:50.43, Z:18.91 [[ 9.15426391e-01 -3.91246390e-01 -9.44499089e-02 3.58377061e+02] [ 3.89292148e-01 9.20285420e-01 -3.90687757e-02 5.04272327e+01] [ 1.02206392e-01 -1.00401954e-03 9.94762708e-01 1.89146332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.44925415399996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:358.41, Y:50.44, Z:18.92 [[ 9.15204833e-01 -3.91745483e-01 -9.45282515e-02 3.58407615e+02] [ 3.89791490e-01 9.20073005e-01 -3.90929524e-02 5.04398385e+01] [ 1.02287380e-01 -1.06824904e-03 9.94754317e-01 1.89177910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.47925415399993 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:358.44, Y:50.45, Z:18.92 [[ 9.14465790e-01 -3.93692495e-01 -9.35870640e-02 3.58437113e+02] [ 3.91788675e-01 9.19241302e-01 -3.86919024e-02 5.04512898e+01] [ 1.01261806e-01 -1.28393064e-03 9.94858984e-01 1.89209702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.50925415399996 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:358.47, Y:50.46, Z:18.92 [[ 9.13905491e-01 -3.95056365e-01 -9.33124973e-02 3.58467443e+02] [ 3.93171847e-01 9.18655754e-01 -3.85681773e-02 5.04631812e+01] [ 1.00958667e-01 -1.44017791e-03 9.94889579e-01 1.89243599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.53925415399993 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:358.50, Y:50.48, Z:18.93 [[ 9.13308469e-01 -3.96626781e-01 -9.24923605e-02 3.58498497e+02] [ 3.94784534e-01 9.17978542e-01 -3.82173796e-02 5.04754379e+01] [ 1.00064038e-01 -1.61029699e-03 9.94979696e-01 1.89273825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.56925415399996 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:358.53, Y:50.49, Z:18.93 [[ 9.12568303e-01 -3.98443873e-01 -9.19868011e-02 3.58528924e+02] [ 3.96632131e-01 9.17190930e-01 -3.79967146e-02 5.04877478e+01] [ 9.95090178e-02 -1.81032355e-03 9.95035014e-01 1.89307405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.59925415399994 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:358.56, Y:50.50, Z:18.93 [[ 9.10716625e-01 -4.02790415e-01 -9.14062948e-02 3.58559019e+02] [ 4.01024449e-01 9.15289396e-01 -3.77453626e-02 5.04994955e+01] [ 9.88666827e-02 -2.28082979e-03 9.95098074e-01 1.89338990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.62925415399997 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:358.59, Y:50.51, Z:18.94 [[ 9.09838840e-01 -4.04801186e-01 -9.12649125e-02 3.58589895e+02] [ 4.03051746e-01 9.14401295e-01 -3.76770763e-02 5.05113696e+01] [ 9.87044794e-02 -2.50441498e-03 9.95113639e-01 1.89369220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.65925415399994 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:358.62, Y:50.52, Z:18.94 [[ 9.08913374e-01 -4.06911548e-01 -9.11014252e-02 3.58620386e+02] [ 4.05180100e-01 9.13463457e-01 -3.75978461e-02 5.05230899e+01] [ 9.85168206e-02 -2.73929941e-03 9.95131616e-01 1.89394025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.68925415399997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:358.65, Y:50.53, Z:18.94 [[ 9.08181163e-01 -4.08513733e-01 -9.12332458e-02 3.58651082e+02] [ 4.06786478e-01 9.12747477e-01 -3.76404668e-02 5.05348885e+01] [ 9.86495625e-02 -2.92808786e-03 9.95117928e-01 1.89422682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.71925415399994 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:358.68, Y:50.55, Z:18.94 [[ 9.06908793e-01 -4.11164035e-01 -9.19813979e-02 3.58681305e+02] [ 4.09423008e-01 9.11555567e-01 -3.79374351e-02 5.05458439e+01] [ 9.94446641e-02 -3.25350713e-03 9.95037775e-01 1.89443196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.74925415399997 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:358.71, Y:50.56, Z:18.95 [[ 9.06960220e-01 -4.11049786e-01 -9.19849604e-02 3.58712229e+02] [ 4.09309049e-01 9.11607102e-01 -3.79287952e-02 5.05584922e+01] [ 9.94447664e-02 -3.25036819e-03 9.95037775e-01 1.89473564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.77925415399994 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:358.74, Y:50.57, Z:18.95 [[ 9.06567553e-01 -4.11846835e-01 -9.22900644e-02 3.58742678e+02] [ 4.10099968e-01 9.11246885e-01 -3.80411630e-02 5.05706721e+01] [ 9.97661663e-02 -3.36126839e-03 9.95005233e-01 1.89497805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.809254154 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:358.77, Y:50.58, Z:18.95 [[ 9.06343734e-01 -4.12269789e-01 -9.25994418e-02 3.58771924e+02] [ 4.10514536e-01 9.11055353e-01 -3.81570412e-02 5.05836904e+01] [ 1.00094212e-01 -3.43002169e-03 9.94972052e-01 1.89526096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.83925415399995 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:358.80, Y:50.60, Z:18.96 [[ 9.06533788e-01 -4.11819934e-01 -9.27406792e-02 3.58801509e+02] [ 4.10057933e-01 9.11258921e-01 -3.82056395e-02 5.05963569e+01] [ 1.00244615e-01 -3.39434816e-03 9.94957032e-01 1.89558398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.869254154 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:358.83, Y:50.61, Z:18.96 [[ 9.06703448e-01 -4.11499434e-01 -9.25044546e-02 3.58831344e+02] [ 4.09745559e-01 9.11403831e-01 -3.81003233e-02 5.06094985e+01] [ 9.99871757e-02 -3.35759490e-03 9.94983061e-01 1.89587948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.89925415399995 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:358.86, Y:50.62, Z:18.96 [[ 9.07531304e-01 -4.09724255e-01 -9.22657470e-02 3.58860481e+02] [ 4.07971557e-01 9.12203933e-01 -3.79893792e-02 5.06225904e+01] [ 9.97303474e-02 -3.16524961e-03 9.95009467e-01 1.89620910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.929254154 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:358.89, Y:50.64, Z:18.96 [[ 9.07950948e-01 -4.08847564e-01 -9.20257877e-02 3.58889868e+02] [ 4.07101349e-01 9.12597500e-01 -3.78720871e-02 5.06350472e+01] [ 9.94664143e-02 -3.07782497e-03 9.95036160e-01 1.89648072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.95925415399995 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:358.92, Y:50.65, Z:18.97 [[ 9.08704713e-01 -4.07333503e-01 -9.12971081e-02 3.58919324e+02] [ 4.05608001e-01 9.13274895e-01 -3.75648258e-02 5.06487717e+01] [ 9.86807689e-02 -2.89550322e-03 9.95114929e-01 1.89678517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.989254154 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:358.95, Y:50.66, Z:18.97 [[ 9.09161646e-01 -4.06383610e-01 -9.09805654e-02 3.58949969e+02] [ 4.04666258e-01 9.13698293e-01 -3.74252441e-02 5.06619703e+01] [ 9.83377931e-02 -2.79116838e-03 9.95149179e-01 1.89708324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.01925415399995 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:358.98, Y:50.68, Z:18.97 [[ 9.09342994e-01 -4.06043991e-01 -9.06840436e-02 3.58979339e+02] [ 4.04339186e-01 9.13849323e-01 -3.72724914e-02 5.06750476e+01] [ 9.80058230e-02 -2.77363342e-03 9.95181976e-01 1.89738523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.049254154 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:359.01, Y:50.69, Z:18.98 [[ 9.09497185e-01 -4.05649767e-01 -9.09017965e-02 3.59010039e+02] [ 4.03936681e-01 9.14024438e-01 -3.73427821e-02 5.06882217e+01] [ 9.82345544e-02 -2.75541482e-03 9.95159475e-01 1.89769015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.07925415399995 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:359.04, Y:50.70, Z:18.98 [[ 9.09586347e-01 -4.05267024e-01 -9.17132348e-02 3.59040337e+02] [ 4.03522412e-01 9.14194224e-01 -3.76640983e-02 5.07013913e+01] [ 9.91077266e-02 -2.74959611e-03 9.95072911e-01 1.89795986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.1092541539999 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:359.07, Y:50.71, Z:18.98 [[ 9.09570363e-01 -4.05182904e-01 -9.22419029e-02 3.59070874e+02] [ 4.03419038e-01 9.14231451e-01 -3.78673150e-02 5.07143736e+01] [ 9.96736374e-02 -2.76915228e-03 9.95016330e-01 1.89821933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.13925415399996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:359.10, Y:50.73, Z:18.99 [[ 9.09380292e-01 -4.05345411e-01 -9.33947689e-02 3.59100604e+02] [ 4.03541252e-01 9.14159156e-01 -3.83079044e-02 5.07270566e+01] [ 1.00905616e-01 -2.85218872e-03 9.94891915e-01 1.89853457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.16925415399993 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:359.13, Y:50.74, Z:18.99 [[ 9.09173630e-01 -4.05782700e-01 -9.35078123e-02 3.59130922e+02] [ 4.03979352e-01 9.13964886e-01 -3.83258310e-02 5.07399592e+01] [ 1.01014816e-01 -2.93039058e-03 9.94880606e-01 1.89884259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.19925415399996 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:359.16, Y:50.75, Z:18.99 [[ 9.08994713e-01 -4.06134234e-01 -9.37208412e-02 3.59161086e+02] [ 4.04325717e-01 9.13808547e-01 -3.84012261e-02 5.07528690e+01] [ 1.01238958e-01 -2.98723482e-03 9.94857653e-01 1.89916796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.22925415399993 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:359.19, Y:50.77, Z:18.99 [[ 9.09070540e-01 -4.05955786e-01 -9.37584819e-02 3.59190328e+02] [ 4.04146077e-01 9.13887861e-01 -3.84047636e-02 5.07652193e+01] [ 1.01275374e-01 -2.97948346e-03 9.94853970e-01 1.89947169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.25925415399996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:359.22, Y:50.78, Z:19.00 [[ 9.09670868e-01 -4.04610196e-01 -9.37523455e-02 3.59220205e+02] [ 4.02794641e-01 9.14484844e-01 -3.83920151e-02 5.07781919e+01] [ 1.01268900e-01 -2.83884460e-03 9.94855040e-01 1.89981718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.28925415399993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:359.25, Y:50.79, Z:19.00 [[ 9.10428607e-01 -4.02978879e-01 -9.34225569e-02 3.59250400e+02] [ 4.01168747e-01 9.15205416e-01 -3.82450342e-02 5.07912251e+01] [ 1.00912771e-01 -2.65883687e-03 9.94891724e-01 1.90016065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.31925415399996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:359.28, Y:50.80, Z:19.00 [[ 9.11508055e-01 -4.00681301e-01 -9.27769395e-02 3.59279351e+02] [ 3.98885447e-01 9.16214355e-01 -3.79691524e-02 5.08039970e+01] [ 1.00217093e-01 -2.39818267e-03 9.94962704e-01 1.90046782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.34925415399994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:359.31, Y:50.82, Z:19.01 [[ 9.14307616e-01 -3.94540605e-01 -9.15384903e-02 3.59309020e+02] [ 3.92762673e-01 9.18876917e-01 -3.74525676e-02 5.08183768e+01] [ 9.88891645e-02 -1.70973434e-03 9.95096985e-01 1.90090570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.37925415399997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:359.34, Y:50.83, Z:19.01 [[ 9.15846093e-01 -3.91078801e-01 -9.10126700e-02 3.59337914e+02] [ 3.89305499e-01 9.20356222e-01 -3.72243485e-02 5.08311499e+01] [ 9.83217308e-02 -1.33995884e-03 9.95153778e-01 1.90124970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.40925415399994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:359.37, Y:50.84, Z:19.02 [[ 9.17271900e-01 -3.87822744e-01 -9.05857656e-02 3.59368172e+02] [ 3.86052920e-01 9.21733420e-01 -3.70222412e-02 5.08443930e+01] [ 9.78539947e-02 -1.01143779e-03 9.95200268e-01 1.90160653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.43925415399997 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:359.40, Y:50.86, Z:19.02 [[ 9.19607800e-01 -3.82451967e-01 -8.97328660e-02 3.59398718e+02] [ 3.80691039e-01 9.23975267e-01 -3.66611437e-02 5.08573201e+01] [ 9.69320753e-02 -4.46624283e-04 9.95290899e-01 1.90194472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.46925415399994 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:359.43, Y:50.87, Z:19.02 [[ 9.20506928e-01 -3.80355952e-01 -8.94222886e-02 3.59428554e+02] [ 3.78600346e-01 9.24840141e-01 -3.65033227e-02 5.08689654e+01] [ 9.65855780e-02 -2.53747961e-04 9.95324651e-01 1.90222325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.49925415399997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:359.46, Y:50.88, Z:19.03 [[ 9.21232323e-01 -3.78586866e-01 -8.94594417e-02 3.59459092e+02] [ 3.76824293e-01 9.25565760e-01 -3.64893995e-02 5.08803827e+01] [ 9.66150035e-02 -9.52765577e-05 9.95321823e-01 1.90251985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.52925415399994 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:359.49, Y:50.89, Z:19.03 [[ 9.21476895e-01 -3.78077566e-01 -8.90936916e-02 3.59489530e+02] [ 3.76329992e-01 9.25773919e-01 -3.63096073e-02 5.08921883e+01] [ 9.62084640e-02 -7.01641215e-05 9.95361204e-01 1.90279709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.559254154 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:359.52, Y:50.90, Z:19.03 [[ 9.21359781e-01 -3.78393791e-01 -8.89623073e-02 3.59521583e+02] [ 3.76655804e-01 9.25644706e-01 -3.62254597e-02 5.09024234e+01] [ 9.60549778e-02 -1.31487686e-04 9.95376021e-01 1.90302773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.58925415399995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:359.55, Y:50.91, Z:19.03 [[ 9.21130633e-01 -3.78696970e-01 -9.00386722e-02 3.59553257e+02] [ 3.76921089e-01 9.25520701e-01 -3.66322972e-02 5.09128055e+01] [ 9.72051949e-02 -1.94343255e-04 9.95264343e-01 1.90334509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.619254154 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:359.58, Y:50.92, Z:19.04 [[ 9.20360164e-01 -3.80713438e-01 -8.94116714e-02 3.59584232e+02] [ 3.78974735e-01 9.24692971e-01 -3.63463880e-02 5.09239789e+01] [ 9.65159024e-02 -4.32996865e-04 9.95331348e-01 1.90355531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.64925415399995 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:359.62, Y:50.93, Z:19.04 [[ 9.18437290e-01 -3.85229019e-01 -8.98417910e-02 3.59615188e+02] [ 3.83498068e-01 9.22820523e-01 -3.64899120e-02 5.09318938e+01] [ 9.69648216e-02 -9.40457305e-04 9.95287365e-01 1.90371419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.679254154 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:359.65, Y:50.94, Z:19.04 [[ 9.17324932e-01 -3.87896567e-01 -8.97286091e-02 3.59647090e+02] [ 3.86185537e-01 9.21702065e-01 -3.64147600e-02 5.09424133e+01] [ 9.68282047e-02 -1.24772390e-03 9.95300328e-01 1.90393864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.70925415399995 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:359.68, Y:50.95, Z:19.04 [[ 9.14697293e-01 -3.93915204e-01 -9.03309172e-02 3.59677830e+02] [ 3.92213243e-01 9.19144769e-01 -3.66287419e-02 5.09504969e+01] [ 9.74558084e-02 -1.92477095e-03 9.95237992e-01 1.90420589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.739254154 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:359.71, Y:50.96, Z:19.05 [[ 9.13441091e-01 -3.96782926e-01 -9.04913393e-02 3.59708789e+02] [ 3.95090759e-01 9.17909712e-01 -3.66749691e-02 5.09608749e+01] [ 9.76148808e-02 -2.25186809e-03 9.95221716e-01 1.90450377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.76925415399995 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:359.74, Y:50.97, Z:19.05 [[ 9.12226707e-01 -3.99577373e-01 -9.04453271e-02 3.59740378e+02] [ 3.97901744e-01 9.16695898e-01 -3.66446969e-02 5.09716032e+01] [ 9.75532521e-02 -2.56008216e-03 9.95227014e-01 1.90476319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.799254154 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:359.77, Y:50.98, Z:19.05 [[ 9.10308378e-01 -4.04034730e-01 -8.99699630e-02 3.59772587e+02] [ 4.02399479e-01 9.14738621e-01 -3.64405516e-02 5.09798634e+01] [ 9.70222484e-02 -3.03172687e-03 9.95277595e-01 1.90501263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.82925415399995 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:359.80, Y:50.99, Z:19.05 [[ 9.08656237e-01 -4.08003748e-01 -8.87512556e-02 3.59803828e+02] [ 4.06432485e-01 9.12973854e-01 -3.59357311e-02 5.09884293e+01] [ 9.56894889e-02 -3.41816720e-03 9.95405364e-01 1.90519573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.8592541539999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:359.84, Y:51.00, Z:19.05 [[ 9.08107837e-01 -4.09376802e-01 -8.80385749e-02 3.59835294e+02] [ 4.07838042e-01 9.12358528e-01 -3.56377307e-02 5.09990255e+01] [ 9.49120049e-02 -3.54257748e-03 9.95479363e-01 1.90545977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.88925415399996 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:359.87, Y:51.01, Z:19.06 [[ 9.07490847e-01 -4.10835272e-01 -8.76056056e-02 3.59865108e+02] [ 4.09319499e-01 9.11702135e-01 -3.54508819e-02 5.10095893e+01] [ 9.44346903e-02 -3.68733171e-03 9.95524230e-01 1.90571558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.91925415399993 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:359.90, Y:51.02, Z:19.06 [[ 9.06903164e-01 -4.12288506e-01 -8.68610289e-02 3.59896639e+02] [ 4.10806775e-01 9.11045321e-01 -3.51314097e-02 5.10206302e+01] [ 9.36186104e-02 -3.82231258e-03 9.95600796e-01 1.90601036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.94925415399996 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:359.93, Y:51.03, Z:19.06 [[ 9.06305578e-01 -4.13726818e-01 -8.62572861e-02 3.59927807e+02] [ 4.12273171e-01 9.10392494e-01 -3.48760702e-02 5.10318431e+01] [ 9.29571514e-02 -3.95318789e-03 9.95662262e-01 1.90627900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.97925415399993 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:359.96, Y:51.04, Z:19.07 [[ 9.05241080e-01 -4.16159488e-01 -8.57313642e-02 3.59959058e+02] [ 4.14735415e-01 9.09281996e-01 -3.46523750e-02 5.10423852e+01] [ 9.23749006e-02 -4.18707953e-03 9.95715495e-01 1.90650479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.00925415399996 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:359.99, Y:51.05, Z:19.07 [[ 9.04643116e-01 -4.17510687e-01 -8.54731501e-02 3.59988574e+02] [ 4.16102210e-01 9.08661734e-01 -3.45369832e-02 5.10536086e+01] [ 9.20857404e-02 -4.32192259e-03 9.95741702e-01 1.90676579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.03925415399993 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:360.02, Y:51.06, Z:19.07 [[ 9.04374379e-01 -4.18170852e-01 -8.50889036e-02 3.60019333e+02] [ 4.16778777e-01 9.08357846e-01 -3.43725961e-02 5.10647789e+01] [ 9.16647909e-02 -4.37755391e-03 9.95780299e-01 1.90698550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.06925415399996 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:360.05, Y:51.08, Z:19.07 [[ 9.03579388e-01 -4.19886082e-01 -8.50879987e-02 3.60048320e+02] [ 4.18502593e-01 9.07565354e-01 -3.43614133e-02 5.10756244e+01] [ 9.16507990e-02 -4.56128331e-03 9.95780762e-01 1.90723424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.09925415399994 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:360.08, Y:51.09, Z:19.08 [[ 9.03094766e-01 -4.20859347e-01 -8.54239622e-02 3.60078100e+02] [ 4.19469729e-01 9.07113816e-01 -3.44916274e-02 5.10878045e+01] [ 9.20053801e-02 -4.68355804e-03 9.95747495e-01 1.90751688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.12925415399997 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:360.11, Y:51.10, Z:19.08 [[ 9.03237057e-01 -4.20687561e-01 -8.47631697e-02 3.60108427e+02] [ 4.19319273e-01 9.07193741e-01 -3.42178805e-02 5.10989209e+01] [ 9.12916537e-02 -4.63597299e-03 9.95813407e-01 1.90764580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.15925415399994 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:360.14, Y:51.11, Z:19.08 [[ 9.02440011e-01 -4.22027496e-01 -8.65726234e-02 3.60135634e+02] [ 4.20606876e-01 9.06569893e-01 -3.49411568e-02 5.11110450e+01] [ 9.32302629e-02 -4.88074277e-03 9.95632611e-01 1.90796993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.18925415399997 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:360.17, Y:51.12, Z:19.08 [[ 9.02688070e-01 -4.21426442e-01 -8.69137649e-02 3.60166890e+02] [ 4.19992014e-01 9.06849674e-01 -3.50767347e-02 5.11231250e+01] [ 9.35999828e-02 -4.83973724e-03 9.95598122e-01 1.90815757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.21925415399994 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:360.20, Y:51.14, Z:19.09 [[ 9.02736822e-01 -4.21036151e-01 -8.82881005e-02 3.60196845e+02] [ 4.19555179e-01 9.07030695e-01 -3.56197946e-02 5.11373074e+01] [ 9.50772384e-02 -4.88642965e-03 9.95457905e-01 1.90851488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.24925415399997 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:360.23, Y:51.15, Z:19.09 [[ 9.03033614e-01 -4.20335912e-01 -8.85890103e-02 3.60226131e+02] [ 4.18842547e-01 9.07355663e-01 -3.57298396e-02 5.11501988e+01] [ 9.54002749e-02 -4.83960058e-03 9.95427228e-01 1.90879634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.27925415399994 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:360.25, Y:51.16, Z:19.09 [[ 9.04439287e-01 -4.17285102e-01 -8.86719798e-02 3.60254315e+02] [ 4.15775214e-01 9.08764337e-01 -3.57540407e-02 5.11633603e+01] [ 9.55015615e-02 -4.53025232e-03 9.95418971e-01 1.90904014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.309254154 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:360.28, Y:51.18, Z:19.09 [[ 9.05112752e-01 -4.15800999e-01 -8.87718122e-02 3.60281926e+02] [ 4.14281112e-01 9.09445058e-01 -3.57889128e-02 5.11766153e+01] [ 9.56141517e-02 -4.38348369e-03 9.95408820e-01 1.90942248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.33925415399995 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:360.31, Y:51.19, Z:19.10 [[ 9.06124322e-01 -4.13617566e-01 -8.86522523e-02 3.60312105e+02] [ 4.12091585e-01 9.10441262e-01 -3.57384067e-02 5.11906191e+01] [ 9.54947012e-02 -4.14940764e-03 9.95421290e-01 1.90979640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.369254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:360.34, Y:51.20, Z:19.10 [[ 9.07497166e-01 -4.10860901e-01 -8.74197543e-02 3.60342412e+02] [ 4.09365435e-01 9.11690060e-01 -3.52303250e-02 5.12043506e+01] [ 9.41744840e-02 -3.81520569e-03 9.95548397e-01 1.91001783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.39925415399995 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:360.37, Y:51.22, Z:19.11 [[ 9.09504576e-01 -4.06464799e-01 -8.71079414e-02 3.60371043e+02] [ 4.04960931e-01 9.13660273e-01 -3.50934603e-02 5.12206446e+01] [ 9.38513218e-02 -3.35765031e-03 9.95580562e-01 1.91054301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.429254154 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:360.40, Y:51.23, Z:19.11 [[ 9.10999605e-01 -4.03417182e-01 -8.56405129e-02 3.60401216e+02] [ 4.01951209e-01 9.15011239e-01 -3.44914213e-02 5.12338082e+01] [ 9.22764638e-02 -3.00163654e-03 9.95728901e-01 1.91070083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.45925415399995 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:360.43, Y:51.25, Z:19.11 [[ 9.12024090e-01 -4.01056432e-01 -8.58242242e-02 3.60430578e+02] [ 3.99574794e-01 9.16049133e-01 -3.45538703e-02 5.12479037e+01] [ 9.24772581e-02 -2.77923460e-03 9.95710918e-01 1.91115947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.489254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:360.46, Y:51.26, Z:19.11 [[ 9.13206360e-01 -3.98471921e-01 -8.52893435e-02 3.60460092e+02] [ 3.97000180e-01 9.17177047e-01 -3.43092091e-02 5.12613436e+01] [ 9.18966846e-02 -2.52849677e-03 9.95765337e-01 1.91144463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.51925415399995 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:360.49, Y:51.28, Z:19.12 [[ 9.15572619e-01 -3.93079860e-01 -8.49411705e-02 3.60489086e+02] [ 3.91599438e-01 9.19502153e-01 -3.41419249e-02 5.12756008e+01] [ 9.15240922e-02 -2.00350299e-03 9.95800847e-01 1.91162130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.549254154 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:360.52, Y:51.29, Z:19.12 [[ 9.16150182e-01 -3.91526805e-01 -8.58813369e-02 3.60518765e+02] [ 3.90009095e-01 9.20164753e-01 -3.44925068e-02 5.12898046e+01] [ 9.25297201e-02 -1.89418605e-03 9.95708121e-01 1.91201541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.57925415399995 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:360.55, Y:51.30, Z:19.12 [[ 9.16943227e-01 -3.89548437e-01 -8.64125842e-02 3.60548548e+02] [ 3.88004117e-01 9.21004383e-01 -3.46948380e-02 5.13030084e+01] [ 9.31016887e-02 -1.71524177e-03 9.95655128e-01 1.91230274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.6092541539999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:360.58, Y:51.32, Z:19.13 [[ 9.18253710e-01 -3.85954917e-01 -8.85941653e-02 3.60577547e+02] [ 3.84315862e-01 9.22516588e-01 -3.55593003e-02 5.13167631e+01] [ 9.54538739e-02 -1.39568356e-03 9.95432876e-01 1.91263778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.63925415399996 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:360.61, Y:51.33, Z:19.13 [[ 9.18301591e-01 -3.85840225e-01 -8.85974563e-02 3.60608590e+02] [ 3.84201429e-01 9.22564567e-01 -3.55510988e-02 5.13291170e+01] [ 9.54539179e-02 -1.39263882e-03 9.95432876e-01 1.91294147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.66925415399993 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:360.64, Y:51.34, Z:19.13 [[ 9.19036707e-01 -3.83975151e-01 -8.90764539e-02 3.60639297e+02] [ 3.82311042e-01 9.23342624e-01 -3.57304560e-02 5.13420833e+01] [ 9.59676940e-02 -1.21731129e-03 9.95383705e-01 1.91322231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.69925415399996 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:360.67, Y:51.36, Z:19.14 [[ 9.20302957e-01 -3.80700607e-01 -9.00528488e-02 3.60669721e+02] [ 3.78985176e-01 9.24697921e-01 -3.61108093e-02 5.13557687e+01] [ 9.70190891e-02 -8.95810252e-04 9.95282118e-01 1.91357288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.72925415399993 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:360.71, Y:51.37, Z:19.14 [[ 9.22278410e-01 -3.76183100e-01 -8.88189734e-02 3.60706080e+02] [ 3.74468409e-01 9.26545329e-01 -3.58770746e-02 5.13671141e+01] [ 9.57911540e-02 -1.71248373e-04 9.95401439e-01 1.91381006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.75925415399996 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:360.73, Y:51.38, Z:19.14 [[ 9.21442325e-01 -3.77652250e-01 -9.12294927e-02 3.60727672e+02] [ 3.76078020e-01 9.25944164e-01 -3.45358919e-02 5.13795433e+01] [ 9.75159736e-02 -2.48657453e-03 9.95230854e-01 1.91413738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.78925415399993 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:360.76, Y:51.39, Z:19.15 [[ 9.22037206e-01 -3.76401044e-01 -9.03860875e-02 3.60757944e+02] [ 3.74654791e-01 9.26456709e-01 -3.62181375e-02 5.13927663e+01] [ 9.73713419e-02 -4.69110468e-04 9.95248010e-01 1.91453692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.81925415399996 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:360.79, Y:51.40, Z:19.15 [[ 9.22113626e-01 -3.76234139e-01 -9.03013456e-02 3.60787341e+02] [ 3.74493417e-01 9.26524496e-01 -3.61529872e-02 5.14042088e+01] [ 9.72683968e-02 -4.80097399e-04 9.95258071e-01 1.91482219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.84925415399994 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:360.82, Y:51.42, Z:19.15 [[ 9.21978207e-01 -3.76643078e-01 -8.99787645e-02 3.60818211e+02] [ 3.74919447e-01 9.26358296e-01 -3.59960503e-02 5.14160759e+01] [ 9.69102381e-02 -5.47214729e-04 9.95292975e-01 1.91513958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.87925415399997 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:360.85, Y:51.43, Z:19.15 [[ 9.21760629e-01 -3.77208901e-01 -8.98375694e-02 3.60849083e+02] [ 3.75494603e-01 9.26127995e-01 -3.59268623e-02 5.14275396e+01] [ 9.67530203e-02 -6.17555288e-04 9.95308229e-01 1.91546773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.90925415399994 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:360.88, Y:51.44, Z:19.16 [[ 9.20852991e-01 -3.79361827e-01 -9.00798163e-02 3.60880334e+02] [ 3.77651529e-01 9.25247988e-01 -3.59928232e-02 5.14376784e+01] [ 9.70004719e-02 -8.74681510e-04 9.95283951e-01 1.91581311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.93925415399997 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:360.91, Y:51.45, Z:19.16 [[ 9.20004816e-01 -3.81465584e-01 -8.98618186e-02 3.60908624e+02] [ 3.79363736e-01 9.24378833e-01 -4.00865162e-02 5.14480816e+01] [ 9.83579893e-02 2.78947272e-03 9.95147188e-01 1.91624440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.96925415399994 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:360.94, Y:51.46, Z:19.16 [[ 9.18927896e-01 -3.83501258e-01 -9.21862661e-02 3.60942591e+02] [ 3.82100464e-01 9.23527836e-01 -3.30994180e-02 5.14559883e+01] [ 9.78302513e-02 -4.80843646e-03 9.95191500e-01 1.91631720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.99925415399997 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:360.97, Y:51.47, Z:19.17 [[ 9.18213002e-01 -3.85336544e-01 -9.16549555e-02 3.60972756e+02] [ 3.83602666e-01 9.22774723e-01 -3.65486772e-02 5.14676323e+01] [ 9.86604171e-02 -1.59961466e-03 9.95119874e-01 1.91676436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.02925415399994 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:361.00, Y:51.48, Z:19.17 [[ 9.17728558e-01 -3.86379253e-01 -9.21160546e-02 3.61003141e+02] [ 3.84634333e-01 9.22338372e-01 -3.67199775e-02 5.14767489e+01] [ 9.91500093e-02 -1.73202520e-03 9.95070990e-01 1.91697006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.059254154 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:361.03, Y:51.49, Z:19.17 [[ 9.17065823e-01 -3.88006677e-01 -9.18754374e-02 3.61033924e+02] [ 3.86280869e-01 9.21654562e-01 -3.66054390e-02 5.14854845e+01] [ 9.88805708e-02 -1.92012683e-03 9.95097455e-01 1.91734151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.08925415399995 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:361.06, Y:51.50, Z:19.18 [[ 9.17038218e-01 -3.88080296e-01 -9.18400287e-02 3.61064915e+02] [ 3.86357157e-01 9.21623532e-01 -3.65815838e-02 5.14958793e+01] [ 9.88385235e-02 -1.93634206e-03 9.95101601e-01 1.91761754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.119254154 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:361.10, Y:51.50, Z:19.18 [[ 9.17820612e-01 -3.86244674e-01 -9.17626072e-02 3.61095572e+02] [ 3.84516446e-01 9.22394707e-01 -3.65391058e-02 5.15044770e+01] [ 9.87543782e-02 -1.74788720e-03 9.95110304e-01 1.91786261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.14925415399995 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:361.13, Y:51.51, Z:19.18 [[ 9.18550541e-01 -3.84433883e-01 -9.20624445e-02 3.61126429e+02] [ 3.82686237e-01 9.23151197e-01 -3.66484855e-02 5.15149183e+01] [ 9.90764754e-02 -1.56754427e-03 9.95078587e-01 1.91813865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.179254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:361.16, Y:51.52, Z:19.18 [[ 9.20460653e-01 -3.79825414e-01 -9.21131987e-02 3.61157126e+02] [ 3.78054019e-01 9.25057556e-01 -3.66562031e-02 5.15248103e+01] [ 9.91329679e-02 -1.08317231e-03 9.95073606e-01 1.91843410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.20925415399995 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:361.19, Y:51.54, Z:19.19 [[ 9.21576060e-01 -3.76976267e-01 -9.26631465e-02 3.61188301e+02] [ 3.75171126e-01 9.26222574e-01 -3.68560747e-02 5.15360520e+01] [ 9.97205635e-02 -7.98860914e-04 9.95015161e-01 1.91873436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.239254154 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:361.22, Y:51.55, Z:19.19 [[ 9.22787147e-01 -3.73815412e-01 -9.34126225e-02 3.61217658e+02] [ 3.71965908e-01 9.27503000e-01 -3.71422747e-02 5.15467442e+01] [ 1.00524842e-01 -4.71897230e-04 9.94934437e-01 1.91905889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.26925415399995 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:361.25, Y:51.56, Z:19.19 [[ 9.23967766e-01 -3.70820815e-01 -9.36775871e-02 3.61247921e+02] [ 3.68946667e-01 9.28704419e-01 -3.72351786e-02 5.15579101e+01] [ 1.00806368e-01 -1.57928697e-04 9.94906051e-01 1.91933300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.2992541539999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:361.28, Y:51.57, Z:19.20 [[ 9.25985849e-01 -3.65584512e-01 -9.43301201e-02 3.61278879e+02] [ 3.63657732e-01 9.30778061e-01 -3.74867417e-02 5.15678553e+01] [ 1.01504978e-01 4.08314784e-04 9.94834947e-01 1.91967248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.32925415399995 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:361.31, Y:51.58, Z:19.20 [[ 9.26920257e-01 -3.63230238e-01 -9.42477096e-02 3.61310328e+02] [ 3.61295516e-01 9.31699180e-01 -3.74458062e-02 5.15785649e+01] [ 1.01411963e-01 6.58001419e-04 9.94844300e-01 1.91996436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.3592541539999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:361.34, Y:51.59, Z:19.20 [[ 9.28052569e-01 -3.60365941e-01 -9.41000428e-02 3.61342456e+02] [ 3.58423814e-01 9.32810522e-01 -3.73751207e-02 5.15874882e+01] [ 1.01246231e-01 9.58380520e-04 9.94860936e-01 1.92026703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.38925415399996 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:361.37, Y:51.60, Z:19.21 [[ 9.28309796e-01 -3.59668514e-01 -9.42310033e-02 3.61371576e+02] [ 3.57718539e-01 9.33079583e-01 -3.74157514e-02 5.15970900e+01] [ 1.01382293e-01 1.02523175e-03 9.94847013e-01 1.92053534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.41925415399993 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:361.40, Y:51.61, Z:19.21 [[ 9.28394596e-01 -3.59357916e-01 -9.45799278e-02 3.61402800e+02] [ 3.57392505e-01 9.33199213e-01 -3.75476470e-02 5.16073037e+01] [ 1.01754958e-01 1.05687520e-03 9.94808932e-01 1.92083890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.44925415399996 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:361.43, Y:51.62, Z:19.21 [[ 9.28376892e-01 -3.59393250e-01 -9.46194372e-02 3.61433323e+02] [ 3.57427566e-01 9.33185622e-01 -3.75517002e-02 5.16171022e+01] [ 1.01793326e-01 1.04253564e-03 9.94805022e-01 1.92110674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.47925415399993 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:361.46, Y:51.63, Z:19.21 [[ 9.28207972e-01 -3.59766778e-01 -9.48568775e-02 3.61463917e+02] [ 3.57793958e-01 9.33041731e-01 -3.76378929e-02 5.16267803e+01] [ 1.02046289e-01 9.96574598e-04 9.94779152e-01 1.92139855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.50925415399996 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:361.50, Y:51.63, Z:19.22 [[ 9.27354674e-01 -3.61672781e-01 -9.59484705e-02 3.61495597e+02] [ 3.59665177e-01 9.32304767e-01 -3.80628734e-02 5.16339462e+01] [ 1.03219522e-01 7.88459845e-04 9.94658287e-01 1.92170379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.53925415399993 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:361.53, Y:51.64, Z:19.22 [[ 9.26855628e-01 -3.62908903e-01 -9.61029234e-02 3.61526502e+02] [ 3.60902281e-01 9.31824400e-01 -3.81160202e-02 5.16429685e+01] [ 1.03383692e-01 6.44283604e-04 9.94641341e-01 1.92200499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.56925415399996 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:361.56, Y:51.65, Z:19.22 [[ 9.25388950e-01 -3.66589979e-01 -9.62656612e-02 3.61557956e+02] [ 3.64597159e-01 9.30382575e-01 -3.81729729e-02 5.16491185e+01] [ 1.03557723e-01 2.26660683e-04 9.94623420e-01 1.92236878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.59925415399994 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:361.59, Y:51.66, Z:19.23 [[ 9.24617540e-01 -3.68678553e-01 -9.57002018e-02 3.61587049e+02] [ 3.66720648e-01 9.29556951e-01 -3.79452527e-02 5.16575231e+01] [ 1.02948389e-01 -1.03937578e-05 9.94686699e-01 1.92265205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.62925415399997 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:361.61, Y:51.67, Z:19.23 [[ 9.23669538e-01 -3.71031417e-01 -9.57615357e-02 3.61614200e+02] [ 3.69083519e-01 9.28620274e-01 -3.79702855e-02 5.16651574e+01] [ 1.03014272e-01 -2.72008452e-04 9.94679841e-01 1.92295354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.65925415399994 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:361.64, Y:51.67, Z:19.23 [[ 9.21695406e-01 -3.75937294e-01 -9.56489873e-02 3.61642177e+02] [ 3.74019338e-01 9.26644751e-01 -3.79346888e-02 5.16699103e+01] [ 1.02893696e-01 -8.10342485e-04 9.94692028e-01 1.92321692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.68925415399997 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:361.67, Y:51.68, Z:19.23 [[ 9.20625145e-01 -3.78598460e-01 -9.54596685e-02 3.61668111e+02] [ 3.76699191e-01 9.25560396e-01 -3.78902696e-02 5.16769929e+01] [ 1.02698886e-01 -1.07684501e-03 9.94711908e-01 1.92345679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.71925415399994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:361.70, Y:51.68, Z:19.24 [[ 9.19475609e-01 -3.81450167e-01 -9.51860037e-02 3.61695055e+02] [ 3.79574662e-01 9.24388389e-01 -3.78045251e-02 5.16844640e+01] [ 1.02409379e-01 -1.36985646e-03 9.94741395e-01 1.92369256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.74925415399997 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:361.72, Y:51.69, Z:19.24 [[ 9.17256438e-01 -3.86807072e-01 -9.49785054e-02 3.61724030e+02] [ 3.84965180e-01 9.22158634e-01 -3.77526561e-02 5.16899268e+01] [ 1.02188243e-01 -1.93455060e-03 9.94763198e-01 1.92394171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.77925415399994 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:361.75, Y:51.70, Z:19.24 [[ 9.17123841e-01 -3.89161503e-01 -8.62391190e-02 3.61753793e+02] [ 3.85856940e-01 9.21044453e-01 -5.28350079e-02 5.17044193e+01] [ 9.99914132e-02 1.51802828e-02 9.94872492e-01 1.92444134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.809254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:361.78, Y:51.70, Z:19.24 [[ 9.13224625e-01 -3.94616612e-01 -1.01481595e-01 3.61783050e+02] [ 3.94685940e-01 9.18592896e-01 -2.02509348e-02 5.16954860e+01] [ 1.01211627e-01 -2.15597063e-02 9.94631281e-01 1.92402050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.83925415399995 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:361.81, Y:51.71, Z:19.25 [[ 9.11806290e-01 -3.99584077e-01 -9.45613835e-02 3.61805629e+02] [ 3.97817972e-01 9.16690715e-01 -3.76695406e-02 5.17114089e+01] [ 1.01735691e-01 -3.27089376e-03 9.94806087e-01 1.92476914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.869254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:361.83, Y:51.72, Z:19.25 [[ 9.10510588e-01 -4.02595183e-01 -9.42740017e-02 3.61832438e+02] [ 4.00852624e-01 9.15371180e-01 -3.75869217e-02 5.17195798e+01] [ 1.01428018e-01 -3.56669083e-03 9.94836487e-01 1.92500553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.89925415399995 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:361.86, Y:51.73, Z:19.25 [[ 9.09635677e-01 -4.06996838e-01 -8.31655491e-02 3.61863335e+02] [ 4.03598477e-01 9.13281011e-01 -5.50096753e-02 5.17345765e+01] [ 9.83422807e-02 1.64732743e-02 9.95016295e-01 1.92533116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.929254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:361.89, Y:51.73, Z:19.25 [[ 9.07183427e-01 -4.07999879e-01 -1.02734262e-01 3.61892342e+02] [ 4.08501321e-01 9.12597993e-01 -1.70755302e-02 5.17263221e+01] [ 1.00721895e-01 -2.64764436e-02 9.94562264e-01 1.92507396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.95925415399995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:361.91, Y:51.74, Z:19.26 [[ 9.06427823e-01 -4.11688764e-01 -9.43449105e-02 3.61913257e+02] [ 4.09983822e-01 9.11313358e-01 -3.76991968e-02 5.17448774e+01] [ 1.01498113e-01 -4.50828604e-03 9.94825517e-01 1.92583604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.989254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:361.94, Y:51.75, Z:19.26 [[ 9.05446849e-01 -4.13734795e-01 -9.48130982e-02 3.61939808e+02] [ 4.12022373e-01 9.10385077e-01 -3.79021906e-02 5.17536456e+01] [ 1.01997885e-01 -4.74669871e-03 9.94773291e-01 1.92609119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.01925415399995 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:361.97, Y:51.77, Z:19.26 [[ 9.06204766e-01 -4.14272167e-01 -8.46846739e-02 3.61968191e+02] [ 4.10916114e-01 9.10033984e-01 -5.46451806e-02 5.17724925e+01] [ 9.97039085e-02 1.47214259e-02 9.94908242e-01 1.92638125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0492541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:362.00, Y:51.76, Z:19.26 [[ 9.05160855e-01 -4.12229157e-01 -1.03686781e-01 3.61996867e+02] [ 4.12559833e-01 9.10727220e-01 -1.92435700e-02 5.17648094e+01] [ 1.02363134e-01 -2.53584747e-02 9.94423821e-01 1.92612561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.07925415399995 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:362.02, Y:51.78, Z:19.27 [[ 9.03652974e-01 -4.14663022e-01 -1.07078850e-01 3.62017179e+02] [ 4.14402502e-01 9.09729884e-01 -2.57314094e-02 5.17784120e+01] [ 1.08082694e-01 -2.11214787e-02 9.93917509e-01 1.92704917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.1092541539999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:362.04, Y:51.80, Z:19.27 [[ 9.05341602e-01 -4.15103748e-01 -8.96964989e-02 3.62042025e+02] [ 4.11738097e-01 9.09694143e-01 -5.41138197e-02 5.18022444e+01] [ 1.04059229e-01 1.20600264e-02 9.94497980e-01 1.92749069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.13925415399996 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:362.07, Y:51.81, Z:19.27 [[ 9.05305991e-01 -4.13538472e-01 -9.69896607e-02 3.62071059e+02] [ 4.11731574e-01 9.10474437e-01 -3.89025689e-02 5.18055817e+01] [ 1.04394316e-01 -4.71497694e-03 9.94524809e-01 1.92738382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.16925415399993 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:362.10, Y:51.82, Z:19.28 [[ 9.05690235e-01 -4.12782536e-01 -9.66218178e-02 3.62095534e+02] [ 4.10981917e-01 9.10818082e-01 -3.87851165e-02 5.18164742e+01] [ 1.04014718e-01 -4.58251863e-03 9.94565201e-01 1.92763394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.19925415399996 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:362.12, Y:51.83, Z:19.28 [[ 9.05939354e-01 -4.12210488e-01 -9.67284875e-02 3.62121138e+02] [ 4.10400928e-01 9.11077495e-01 -3.88442692e-02 5.18272877e+01] [ 1.04139163e-01 -4.50690888e-03 9.94552524e-01 1.92789535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.22925415399993 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:362.15, Y:51.84, Z:19.28 [[ 9.06385243e-01 -4.12258365e-01 -9.22433271e-02 3.62146196e+02] [ 4.09755722e-01 9.11060520e-01 -4.54860088e-02 5.18422514e+01] [ 1.02791241e-01 3.43061599e-03 9.94697035e-01 1.92817466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.25925415399996 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:362.17, Y:51.85, Z:19.28 [[ 9.07787659e-01 -4.07477435e-01 -9.94168285e-02 3.62173195e+02] [ 4.06432476e-01 9.13138582e-01 -3.14733551e-02 5.18458382e+01] [ 1.03606024e-01 -1.18351044e-02 9.94547999e-01 1.92823207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.28925415399993 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:362.20, Y:51.86, Z:19.29 [[ 9.08643558e-01 -4.06299593e-01 -9.63718080e-02 3.62197190e+02] [ 4.04462200e-01 9.13732250e-01 -3.87776167e-02 5.18606945e+01] [ 1.03813359e-01 -3.74372189e-03 9.94589750e-01 1.92867591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.31925415399996 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:362.22, Y:51.87, Z:19.29 [[ 9.09568055e-01 -4.04243427e-01 -9.62974800e-02 3.62222117e+02] [ 4.02394249e-01 9.14644823e-01 -3.87777916e-02 5.18722328e+01] [ 1.03753659e-01 -3.47851163e-03 9.94596943e-01 1.92897335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.34925415399994 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:362.25, Y:51.89, Z:19.29 [[ 9.11562023e-01 -3.99857963e-01 -9.57511784e-02 3.62246015e+02] [ 3.98002543e-01 9.16572418e-01 -3.85872825e-02 5.18851470e+01] [ 1.03192321e-01 -2.93451114e-03 9.94657093e-01 1.92926438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.37925415399997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:362.27, Y:51.90, Z:19.30 [[ 9.12267865e-01 -3.98181193e-01 -9.60160451e-02 3.62271230e+02] [ 3.96304601e-01 9.17302698e-01 -3.87094705e-02 5.18968291e+01] [ 1.03489160e-01 -2.73819452e-03 9.94626812e-01 1.92954896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.40925415399994 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:362.30, Y:51.90, Z:19.29 [[ 9.13916718e-01 -3.93814775e-01 -9.83166069e-02 3.62298783e+02] [ 3.93390538e-01 9.19045316e-01 -2.44865601e-02 5.19034108e+01] [ 1.00000586e-01 -1.62981462e-02 9.94853885e-01 1.92939310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.43925415399997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:362.32, Y:51.93, Z:19.30 [[ 9.14505764e-01 -3.94160373e-01 -9.11965369e-02 3.62318755e+02] [ 3.90513681e-01 9.18915032e-01 -5.56257862e-02 5.19279063e+01] [ 1.05727349e-01 1.52566067e-02 9.94278112e-01 1.93049953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.46925415399994 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:362.35, Y:51.93, Z:19.30 [[ 9.14629193e-01 -3.92372322e-01 -9.74546015e-02 3.62348513e+02] [ 3.90717370e-01 9.19793677e-01 -3.63253092e-02 5.19310313e+01] [ 1.03891172e-01 -4.85301729e-03 9.94576831e-01 1.93030329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.49925415399997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:362.37, Y:51.94, Z:19.31 [[ 9.15782422e-01 -3.90064218e-01 -9.58773222e-02 3.62371628e+02] [ 3.88141006e-01 9.20785994e-01 -3.87261374e-02 5.19447739e+01] [ 1.03388176e-01 -1.74920437e-03 9.94639545e-01 1.93073146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.52925415399994 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:362.40, Y:51.96, Z:19.31 [[ 9.16415520e-01 -3.88552364e-01 -9.59669535e-02 3.62396923e+02] [ 3.86615736e-01 9.21425313e-01 -3.87771276e-02 5.19564671e+01] [ 1.03493325e-01 -1.56637284e-03 9.94628915e-01 1.93108522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.559254154 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:362.42, Y:51.97, Z:19.31 [[ 9.16320869e-01 -3.88778009e-01 -9.59568866e-02 3.62423118e+02] [ 3.86840009e-01 9.21330131e-01 -3.88020240e-02 5.19671889e+01] [ 1.03493345e-01 -1.56485850e-03 9.94628915e-01 1.93134540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.58925415399995 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:362.45, Y:51.98, Z:19.32 [[ 9.17329632e-01 -3.86391624e-01 -9.59575929e-02 3.62446982e+02] [ 3.84437898e-01 9.22333939e-01 -3.88279108e-02 5.19789126e+01] [ 1.03507724e-01 -1.27174217e-03 9.94627837e-01 1.93164600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.619254154 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:362.47, Y:51.99, Z:19.32 [[ 9.17587880e-01 -3.85738726e-01 -9.61151344e-02 3.62472562e+02] [ 3.83773428e-01 9.22607299e-01 -3.89066444e-02 5.19894635e+01] [ 1.03684324e-01 -1.18616931e-03 9.94609549e-01 1.93191401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.64925415399995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:362.50, Y:52.00, Z:19.32 [[ 9.17647688e-01 -3.85635337e-01 -9.59588830e-02 3.62498070e+02] [ 3.83672550e-01 9.22650573e-01 -3.88753609e-02 5.19999992e+01] [ 1.03528231e-01 -1.14290429e-03 9.94625859e-01 1.93215009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.679254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:362.52, Y:52.01, Z:19.32 [[ 9.17653729e-01 -3.85663523e-01 -9.57876829e-02 3.62523365e+02] [ 3.83704774e-01 9.22638825e-01 -3.88361282e-02 5.20103002e+01] [ 1.03355113e-01 -1.11607335e-03 9.94643894e-01 1.93236323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.70925415399995 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:362.55, Y:52.02, Z:19.33 [[ 9.17073631e-01 -3.87019042e-01 -9.58760417e-02 3.62549639e+02] [ 3.85062369e-01 9.22070868e-01 -3.88881175e-02 5.20208407e+01] [ 1.03454947e-01 -1.25498863e-03 9.94633349e-01 1.93259995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.739254154 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:362.57, Y:52.03, Z:19.33 [[ 9.16562802e-01 -3.88355671e-01 -9.53546161e-02 3.62574117e+02] [ 3.86424274e-01 9.21508545e-01 -3.87076624e-02 5.20307976e+01] [ 1.02902434e-01 -1.36933475e-03 9.94690512e-01 1.93283054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.76925415399995 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:362.60, Y:52.04, Z:19.33 [[ 9.15898363e-01 -3.89859037e-01 -9.56039731e-02 3.62599737e+02] [ 3.87923145e-01 9.20873293e-01 -3.88331345e-02 5.20410737e+01] [ 1.03178594e-01 -1.51978961e-03 9.94661685e-01 1.93309016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.7992541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:362.63, Y:52.05, Z:19.33 [[ 9.14388503e-01 -3.93547383e-01 -9.49427379e-02 3.62625591e+02] [ 3.91654932e-01 9.19302381e-01 -3.85946281e-02 5.20499977e+01] [ 1.02469900e-01 -1.89430744e-03 9.94734302e-01 1.93329672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.82925415399995 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:362.65, Y:52.06, Z:19.34 [[ 9.13442791e-01 -3.95834948e-01 -9.45355017e-02 3.62650833e+02] [ 3.93969430e-01 9.18319207e-01 -3.84437532e-02 5.20591973e+01] [ 1.02031148e-01 -2.12792848e-03 9.94778929e-01 1.93351583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.8592541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:362.68, Y:52.07, Z:19.34 [[ 9.12331200e-01 -3.98514231e-01 -9.40116424e-02 3.62676523e+02] [ 3.96681257e-01 9.17159027e-01 -3.82531028e-02 5.20689089e+01] [ 1.01468032e-01 -2.39315730e-03 9.94835922e-01 1.93372308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.88925415399996 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:362.70, Y:52.08, Z:19.34 [[ 9.10219207e-01 -4.03293412e-01 -9.41032424e-02 3.62701975e+02] [ 4.01479232e-01 9.15066123e-01 -3.83199416e-02 5.20777654e+01] [ 1.01564869e-01 -2.90095058e-03 9.94824689e-01 1.93398152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.91925415399993 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:362.73, Y:52.09, Z:19.34 [[ 9.08976652e-01 -4.06118200e-01 -9.39651743e-02 3.62727702e+02] [ 4.04322799e-01 9.13814962e-01 -3.82791109e-02 5.20875228e+01] [ 1.01412626e-01 -3.19744424e-03 9.94839311e-01 1.93420625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.94925415399996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:362.75, Y:52.10, Z:19.34 [[ 9.07852169e-01 -4.08611299e-01 -9.40279006e-02 3.62752569e+02] [ 4.06823725e-01 9.12701978e-01 -3.83347968e-02 5.20969353e+01] [ 1.01483482e-01 -3.45045236e-03 9.94831241e-01 1.93442006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.97925415399993 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:362.78, Y:52.11, Z:19.35 [[ 9.05925131e-01 -4.12795374e-01 -9.43378810e-02 3.62778377e+02] [ 4.11016899e-01 9.10815368e-01 -3.84769338e-02 5.21061433e+01] [ 1.01807492e-01 -3.91724202e-03 9.94796406e-01 1.93459553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.00925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:362.80, Y:52.12, Z:19.35 [[ 9.05160214e-01 -4.14399735e-01 -9.46458967e-02 3.62804224e+02] [ 4.12615046e-01 9.10085819e-01 -3.86345163e-02 5.21158470e+01] [ 1.02146022e-01 -4.08189393e-03 9.94761041e-01 1.93481201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.03925415399993 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:362.83, Y:52.13, Z:19.35 [[ 9.04370604e-01 -4.16099553e-01 -9.47363286e-02 3.62829134e+02] [ 4.14317528e-01 9.09309135e-01 -3.87024890e-02 5.21254397e+01] [ 1.02248697e-01 -4.24952807e-03 9.94749790e-01 1.93500340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.06925415399996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:362.85, Y:52.14, Z:19.35 [[ 9.04442324e-01 -4.15986569e-01 -9.45476466e-02 3.62854256e+02] [ 4.14209491e-01 9.09360992e-01 -3.86404552e-02 5.21359678e+01] [ 1.02051852e-01 -4.21446943e-03 9.94770153e-01 1.93521113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.09925415399994 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:362.88, Y:52.15, Z:19.35 [[ 9.04693333e-01 -4.15485835e-01 -9.43477256e-02 3.62879816e+02] [ 4.13711231e-01 9.09590281e-01 -3.85815802e-02 5.21471543e+01] [ 1.01847874e-01 -4.12821533e-03 9.94791420e-01 1.93547661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.12925415399997 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:362.91, Y:52.16, Z:19.36 [[ 9.05189214e-01 -4.14455274e-01 -9.41239212e-02 3.62905599e+02] [ 4.12680235e-01 9.10061010e-01 -3.85224936e-02 5.21584405e+01] [ 1.01624361e-01 -3.97293621e-03 9.94814910e-01 1.93573429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.15925415399994 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:362.93, Y:52.17, Z:19.36 [[ 9.07478922e-01 -4.09578443e-01 -9.34211188e-02 3.62931439e+02] [ 4.07800762e-01 9.12268678e-01 -3.82674628e-02 5.21699143e+01] [ 1.00898688e-01 -3.37028754e-03 9.94890997e-01 1.93595190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.18925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:362.96, Y:52.18, Z:19.36 [[ 9.09139690e-01 -4.05763700e-01 -9.39193521e-02 3.62956195e+02] [ 4.03943481e-01 9.13973311e-01 -3.85026155e-02 5.21802736e+01] [ 1.01462745e-01 -2.93385415e-03 9.94835013e-01 1.93626652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.21925415399994 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:362.98, Y:52.19, Z:19.36 [[ 9.12838749e-01 -3.97746584e-01 -9.23204888e-02 3.62981636e+02] [ 3.95945389e-01 9.17493154e-01 -3.78623885e-02 5.21928093e+01] [ 9.97630522e-02 -1.99161656e-03 9.95009230e-01 1.93648415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.24925415399997 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:363.01, Y:52.20, Z:19.37 [[ 9.14799202e-01 -3.93341227e-01 -9.17883362e-02 3.63007837e+02] [ 3.91535504e-01 9.19391380e-01 -3.76754509e-02 5.22045872e+01] [ 9.92087132e-02 -1.47291998e-03 9.95065557e-01 1.93674985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.27925415399994 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:363.03, Y:52.22, Z:19.37 [[ 9.16614400e-01 -3.89111900e-01 -9.17058951e-02 3.63032795e+02] [ 3.87285575e-01 9.21189965e-01 -3.76687059e-02 5.22159297e+01] [ 9.91358921e-02 -9.88692028e-04 9.95073413e-01 1.93701371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.309254154 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:363.06, Y:52.23, Z:19.37 [[ 9.19647707e-01 -3.82030374e-01 -9.11092130e-02 3.63058552e+02] [ 3.80191428e-01 9.24149745e-01 -3.74396572e-02 5.22276813e+01] [ 9.85016422e-02 -2.07646900e-04 9.95136867e-01 1.93721234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.33925415399995 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:363.09, Y:52.24, Z:19.37 [[ 9.19556278e-01 -3.82253010e-01 -9.10982314e-02 3.63085481e+02] [ 3.80412509e-01 9.24057680e-01 -3.74663596e-02 5.22388093e+01] [ 9.85016490e-02 -2.02480567e-04 9.95136867e-01 1.93748024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.369254154 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:363.11, Y:52.25, Z:19.38 [[ 9.21193632e-01 -3.78143080e-01 -9.17066207e-02 3.63111863e+02] [ 3.76254869e-01 9.25747126e-01 -3.77429741e-02 5.22488834e+01] [ 9.91693851e-02 2.63524852e-04 9.95070532e-01 1.93770827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.39925415399995 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:363.14, Y:52.26, Z:19.38 [[ 9.21558772e-01 -3.77152747e-01 -9.21153352e-02 3.63136936e+02] [ 3.75239652e-01 9.26150984e-01 -3.79415099e-02 5.22589167e+01] [ 9.96224530e-02 4.00005018e-04 9.95025229e-01 1.93792656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.429254154 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:363.16, Y:52.27, Z:19.38 [[ 9.21429603e-01 -3.77370313e-01 -9.25155853e-02 3.63163046e+02] [ 3.75440059e-01 9.26062359e-01 -3.81217719e-02 5.22695513e+01] [ 1.00061226e-01 3.92472350e-04 9.94981204e-01 1.93816815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.45925415399995 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:363.19, Y:52.28, Z:19.38 [[ 9.20626259e-01 -3.79073768e-01 -9.35434153e-02 3.63188339e+02] [ 3.77105905e-01 9.25366426e-01 -3.85760877e-02 5.22786843e+01] [ 1.01185119e-01 2.38384979e-04 9.94867587e-01 1.93839554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.489254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:363.21, Y:52.29, Z:19.39 [[ 9.19836497e-01 -3.81064863e-01 -9.32222573e-02 3.63214788e+02] [ 3.79119136e-01 9.24548305e-01 -3.84592208e-02 5.22884493e+01] [ 1.00843938e-01 3.38531936e-05 9.94902256e-01 1.93862330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.51925415399995 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:363.24, Y:52.30, Z:19.39 [[ 9.18876213e-01 -3.83370470e-01 -9.32394092e-02 3.63241237e+02] [ 3.81432609e-01 9.23594633e-01 -3.84982889e-02 5.22981499e+01] [ 1.00874525e-01 -1.89389121e-04 9.94899138e-01 1.93890247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5492541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:363.27, Y:52.31, Z:19.39 [[ 9.16903987e-01 -3.88332387e-01 -9.21142550e-02 3.63266893e+02] [ 3.86463058e-01 9.21519110e-01 -3.80635660e-02 5.23055912e+01] [ 9.96663618e-02 -6.98121279e-04 9.95020668e-01 1.93913546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.57925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:363.29, Y:52.31, Z:19.39 [[ 9.15815591e-01 -3.90928347e-01 -9.19610264e-02 3.63293269e+02] [ 3.89076772e-01 9.20420609e-01 -3.80153743e-02 5.23148336e+01] [ 9.95041113e-02 -9.64826795e-04 9.95036683e-01 1.93942723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.6092541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:363.32, Y:52.32, Z:19.40 [[ 9.13885122e-01 -3.95761351e-01 -9.04816926e-02 3.63318673e+02] [ 3.93989710e-01 9.18352264e-01 -3.74329641e-02 5.23226655e+01] [ 9.79085877e-02 -1.43942688e-03 9.95194371e-01 1.93965406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.63925415399996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:363.34, Y:52.33, Z:19.40 [[ 9.12938077e-01 -3.98169425e-01 -8.94716488e-02 3.63344504e+02] [ 3.96447360e-01 9.17310381e-01 -3.70291197e-02 5.23321418e+01] [ 9.68171355e-02 -1.66550553e-03 9.95300793e-01 1.93987409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.66925415399993 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:363.37, Y:52.34, Z:19.40 [[ 9.12075761e-01 -4.00197806e-01 -8.92161504e-02 3.63369469e+02] [ 3.98492425e-01 9.16426920e-01 -3.69525102e-02 5.23410397e+01] [ 9.65483954e-02 -1.84847119e-03 9.95326575e-01 1.94015098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.69925415399996 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:363.40, Y:52.35, Z:19.40 [[ 9.10754545e-01 -4.03316802e-01 -8.86663160e-02 3.63396294e+02] [ 4.01645809e-01 9.15057880e-01 -3.67385511e-02 5.23489206e+01] [ 9.59520861e-02 -2.15265178e-03 9.95383626e-01 1.94037159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.72925415399993 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:363.42, Y:52.36, Z:19.41 [[ 9.10222203e-01 -4.04645374e-01 -8.80775965e-02 3.63421607e+02] [ 4.02999889e-01 9.14470918e-01 -3.65243797e-02 5.23580505e+01] [ 9.53238217e-02 -2.24996019e-03 9.95443774e-01 1.94057588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.75925415399996 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:363.45, Y:52.37, Z:19.41 [[ 9.09711451e-01 -4.05782195e-01 -8.81242646e-02 3.63446662e+02] [ 4.04138971e-01 9.13966767e-01 -3.65573681e-02 5.23673668e+01] [ 9.53769782e-02 -2.35779320e-03 9.95438432e-01 1.94080538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.78925415399993 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:363.47, Y:52.38, Z:19.41 [[ 9.09272030e-01 -4.06722835e-01 -8.83227723e-02 3.63472753e+02] [ 4.05074547e-01 9.13548341e-01 -3.66611627e-02 5.23771561e+01] [ 9.55980541e-02 -2.44233711e-03 9.95417022e-01 1.94109508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.81925415399996 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:363.50, Y:52.39, Z:19.41 [[ 9.08711205e-01 -4.08175325e-01 -8.73890678e-02 3.63499347e+02] [ 4.06565619e-01 9.12900023e-01 -3.63035135e-02 5.23861398e+01] [ 9.45956804e-02 -2.53998091e-03 9.95512534e-01 1.94123197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.84925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:363.52, Y:52.40, Z:19.41 [[ 9.08309609e-01 -4.09020039e-01 -8.76142751e-02 3.63524979e+02] [ 4.07403019e-01 9.12521678e-01 -3.64275645e-02 5.23960685e+01] [ 9.48495292e-02 -2.60681330e-03 9.95488208e-01 1.94147316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.87925415399997 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:363.55, Y:52.39, Z:19.42 [[ 9.05965550e-01 -4.09000667e-01 -1.09292620e-01 3.63552422e+02] [ 4.10552569e-01 9.11793067e-01 -8.94377015e-03 5.23940450e+01] [ 1.03310261e-01 -3.67676181e-02 9.93969382e-01 1.94230768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.90925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:363.57, Y:52.43, Z:19.43 [[ 9.08222749e-01 -4.11842012e-01 -7.42805227e-02 3.63572392e+02] [ 4.07313059e-01 9.10678886e-01 -6.89930288e-02 5.24313785e+01] [ 9.60599314e-02 3.24056113e-02 9.94847911e-01 1.94268028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.93925415399997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:363.61, Y:52.43, Z:19.42 [[ 9.08640486e-01 -4.08326974e-01 -8.74159561e-02 3.63605530e+02] [ 4.06708999e-01 9.12832369e-01 -3.63985743e-02 5.24261954e+01] [ 9.46586340e-02 -2.47963780e-03 9.95506702e-01 1.94206785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.96925415399994 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:363.63, Y:52.44, Z:19.42 [[ 9.09098678e-01 -4.07316608e-01 -8.73657456e-02 3.63630754e+02] [ 4.05693011e-01 9.13284007e-01 -3.64074513e-02 5.24366334e+01] [ 9.46190978e-02 -2.34570657e-03 9.95510785e-01 1.94229510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.99925415399997 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:363.66, Y:52.45, Z:19.43 [[ 9.09769969e-01 -4.05815680e-01 -8.73626757e-02 3.63656144e+02] [ 4.04183310e-01 9.13952364e-01 -3.64270208e-02 5.24472040e+01] [ 9.46279802e-02 -2.17032590e-03 9.95510339e-01 1.94255208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.02925415399994 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:363.68, Y:52.46, Z:19.43 [[ 9.11667308e-01 -4.01593903e-01 -8.70922272e-02 3.63680543e+02] [ 3.99949601e-01 9.15816275e-01 -3.63437307e-02 5.24574927e+01] [ 9.43558998e-02 -1.69911032e-03 9.95537080e-01 1.94275858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.059254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:363.71, Y:52.47, Z:19.43 [[ 9.12550787e-01 -3.99669103e-01 -8.66929567e-02 3.63706450e+02] [ 3.98029933e-01 9.16658287e-01 -3.61905631e-02 5.24685685e+01] [ 9.39320671e-02 -1.48066486e-03 9.95577508e-01 1.94298499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.08925415399995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:363.73, Y:52.48, Z:19.43 [[ 9.14091217e-01 -3.96017212e-01 -8.72216452e-02 3.63731783e+02] [ 3.94338522e-01 9.18242447e-01 -3.64408836e-02 5.24786581e+01] [ 9.45218340e-02 -1.08456298e-03 9.95522198e-01 1.94316576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.119254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:363.76, Y:52.49, Z:19.43 [[ 9.14594699e-01 -3.94617495e-01 -8.82811940e-02 3.63757124e+02] [ 3.92889139e-01 9.18845017e-01 -3.69047365e-02 5.24887620e+01] [ 9.56799898e-02 -9.31845971e-04 9.95411709e-01 1.94345391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.14925415399995 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:363.78, Y:52.50, Z:19.44 [[ 9.14778721e-01 -3.94263000e-01 -8.79578227e-02 3.63782487e+02] [ 3.92542771e-01 9.18997248e-01 -3.67998935e-02 5.24990298e+01] [ 9.53418334e-02 -8.63447931e-04 9.95444217e-01 1.94367275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.179254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:363.81, Y:52.51, Z:19.44 [[ 9.14658223e-01 -3.94619371e-01 -8.76121421e-02 3.63807438e+02] [ 3.92911433e-01 9.18844272e-01 -3.66852745e-02 5.25088944e+01] [ 9.49786349e-02 -8.69324353e-04 9.95478932e-01 1.94387106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.20925415399995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:363.83, Y:52.52, Z:19.44 [[ 9.14265531e-01 -3.95514992e-01 -8.76722828e-02 3.63833608e+02] [ 3.93806769e-01 9.18459036e-01 -3.67318323e-02 5.25193423e+01] [ 9.50513907e-02 -9.43290226e-04 9.95471920e-01 1.94412382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.239254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:363.86, Y:52.53, Z:19.44 [[ 9.13046702e-01 -3.98237409e-01 -8.80493431e-02 3.63860449e+02] [ 3.96524119e-01 9.17281591e-01 -3.69202618e-02 5.25283252e+01] [ 9.54690709e-02 -1.20376502e-03 9.95431669e-01 1.94440694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.26925415399995 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:363.89, Y:52.54, Z:19.45 [[ 9.12368551e-01 -3.99585769e-01 -8.89653869e-02 3.63885394e+02] [ 3.97840043e-01 9.16694846e-01 -3.73344165e-02 5.25371446e+01] [ 9.64724132e-02 -1.33124585e-03 9.95334768e-01 1.94468630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.2992541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:363.91, Y:52.55, Z:19.45 [[ 9.10658419e-01 -4.03344187e-01 -8.95249199e-02 3.63910511e+02] [ 4.01593153e-01 9.15046710e-01 -3.75826758e-02 5.25453751e+01] [ 9.70782373e-02 -1.72761469e-03 9.95275254e-01 1.94500360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.32925415399995 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:363.94, Y:52.56, Z:19.45 [[ 9.09661563e-01 -4.05791020e-01 -8.85973435e-02 3.63936415e+02] [ 4.04086390e-01 9.13963799e-01 -3.72070337e-02 5.25553346e+01] [ 9.60730448e-02 -1.95517229e-03 9.95372366e-01 1.94524043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.3592541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:363.96, Y:52.57, Z:19.45 [[ 9.08844595e-01 -4.07619756e-01 -8.85868948e-02 3.63962332e+02] [ 4.05921257e-01 9.13149297e-01 -3.72329650e-02 5.25650512e+01] [ 9.60699528e-02 -2.12032476e-03 9.95372327e-01 1.94549859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.38925415399996 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:363.99, Y:52.57, Z:19.46 [[ 9.07262814e-01 -4.11013077e-01 -8.91203442e-02 3.63987984e+02] [ 4.09307401e-01 9.11626110e-01 -3.74871600e-02 5.25738520e+01] [ 9.66521457e-02 -2.46691015e-03 9.95315165e-01 1.94577493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.41925415399993 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:364.01, Y:52.58, Z:19.46 [[ 9.06361170e-01 -4.12872126e-01 -8.96997009e-02 3.64013376e+02] [ 4.11151793e-01 9.10785092e-01 -3.77454673e-02 5.25838645e+01] [ 9.72812017e-02 -2.66916690e-03 9.95253356e-01 1.94608058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.44925415399996 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:364.04, Y:52.59, Z:19.46 [[ 9.06249201e-01 -4.13120212e-01 -8.96887727e-02 3.64039432e+02] [ 4.11398523e-01 9.10672595e-01 -3.77714172e-02 5.25949345e+01] [ 9.72812433e-02 -2.66751203e-03 9.95253357e-01 1.94634017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.47925415399993 meters Centerline goodness : 0.997584 Centerline is valid? [True, True] Translation: X:364.06, Y:52.60, Z:19.47 [[ 9.06101715e-01 -4.13289201e-01 -9.03975534e-02 3.64064496e+02] [ 4.11470713e-01 9.10597502e-01 -3.87819745e-02 5.26043602e+01] [ 9.83439576e-02 -2.05553212e-03 9.95150361e-01 1.94662326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.50925415399996 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:364.09, Y:52.61, Z:19.47 [[ 9.03871717e-01 -4.15803797e-01 -1.00613723e-01 3.64092269e+02] [ 4.15836631e-01 9.09181617e-01 -2.16491252e-02 5.26073465e+01] [ 1.00477936e-01 -2.22708397e-02 9.94689999e-01 1.94700855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.53925415399993 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:364.11, Y:52.63, Z:19.47 [[ 9.03626556e-01 -4.21040984e-01 -7.86354721e-02 3.64112511e+02] [ 4.17514429e-01 9.06835922e-01 -5.77088593e-02 5.26333128e+01] [ 9.56072657e-02 1.93158135e-02 9.95231707e-01 1.94723716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.56925415399996 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:364.14, Y:52.63, Z:19.47 [[ 9.02893107e-01 -4.20802441e-01 -8.78028647e-02 3.64142746e+02] [ 4.19189624e-01 9.07145823e-01 -3.69663969e-02 5.26340100e+01] [ 9.52055520e-02 -3.42934487e-03 9.95451728e-01 1.94707645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.59925415399994 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:364.17, Y:52.64, Z:19.47 [[ 9.02082203e-01 -4.22532759e-01 -8.78280510e-02 3.64167562e+02] [ 4.20924397e-01 9.06340557e-01 -3.70060391e-02 5.26442523e+01] [ 9.52383885e-02 -3.58648014e-03 9.95448033e-01 1.94736658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.62925415399997 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:364.19, Y:52.65, Z:19.48 [[ 9.01100345e-01 -4.24498134e-01 -8.84279514e-02 3.64192947e+02] [ 4.22875754e-01 9.05420807e-01 -3.72727751e-02 5.26542427e+01] [ 9.58867306e-02 -3.80752607e-03 9.95384970e-01 1.94767736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.65925415399994 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:364.22, Y:52.66, Z:19.48 [[ 9.00543725e-01 -4.25639255e-01 -8.86127771e-02 3.64218567e+02] [ 4.24013495e-01 9.04884455e-01 -3.73721769e-02 5.26649661e+01] [ 9.60913900e-02 -3.91773401e-03 9.95364806e-01 1.94795143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.68925415399997 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:364.24, Y:52.68, Z:19.48 [[ 9.00080149e-01 -4.26525903e-01 -8.90582964e-02 3.64243791e+02] [ 4.24885104e-01 9.04466479e-01 -3.75903687e-02 5.26755011e+01] [ 9.65835097e-02 -4.00519894e-03 9.95316826e-01 1.94823059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.71925415399994 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:364.27, Y:52.69, Z:19.49 [[ 8.99609383e-01 -4.27387783e-01 -8.96807759e-02 3.64269026e+02] [ 4.25725221e-01 9.04059114e-01 -3.78834454e-02 5.26859130e+01] [ 9.72676445e-02 -4.09906518e-03 9.95249819e-01 1.94851706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.74925415399997 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:364.30, Y:52.69, Z:19.49 [[ 8.97486569e-01 -4.29662280e-01 -9.95398628e-02 3.64295065e+02] [ 4.29099611e-01 9.02820121e-01 -2.80954225e-02 5.26927022e+01] [ 1.01938134e-01 -1.74972521e-02 9.94636850e-01 1.94915012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.77925415399994 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:364.32, Y:52.71, Z:19.50 [[ 8.97230426e-01 -4.32859253e-01 -8.72377839e-02 3.64317038e+02] [ 4.29888795e-01 9.01420838e-01 -5.13429344e-02 5.27139649e+01] [ 1.00862220e-01 8.56389709e-03 9.94863544e-01 1.94953045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.809254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:364.35, Y:52.72, Z:19.50 [[ 8.97097489e-01 -4.32058449e-01 -9.24207358e-02 3.64345725e+02] [ 4.30309623e-01 9.01833467e-01 -3.91155440e-02 5.27194663e+01] [ 1.00248314e-01 -4.67907566e-03 9.94951447e-01 1.94950558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.83925415399995 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:364.37, Y:52.73, Z:19.50 [[ 8.96299770e-01 -4.33620708e-01 -9.28429031e-02 3.64371085e+02] [ 4.31861156e-01 9.01082442e-01 -3.93239701e-02 5.27306662e+01] [ 1.00710798e-01 -4.84917811e-03 9.94903925e-01 1.94979066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.869254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:364.40, Y:52.74, Z:19.50 [[ 8.94456500e-01 -4.36490736e-01 -9.70742376e-02 3.64395966e+02] [ 4.35059665e-01 8.99658414e-01 -3.65763117e-02 5.27413145e+01] [ 1.03298876e-01 -9.51716557e-03 9.94604829e-01 1.95025654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.89925415399995 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:364.42, Y:52.76, Z:19.50 [[ 8.94983424e-01 -4.38321649e-01 -8.29385443e-02 3.64420404e+02] [ 4.34635120e-01 8.98658568e-01 -5.92038019e-02 5.27635613e+01] [ 1.00483742e-01 1.69384172e-02 9.94794505e-01 1.95046403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.929254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:364.45, Y:52.77, Z:19.50 [[ 8.94544467e-01 -4.38418351e-01 -8.70605878e-02 3.64452661e+02] [ 4.35915255e-01 8.98761878e-01 -4.69571882e-02 5.27717390e+01] [ 9.88336303e-02 4.05425457e-03 9.95095712e-01 1.95031512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.95925415399995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:364.48, Y:52.77, Z:19.51 [[ 8.92396501e-01 -4.38216165e-01 -1.07680441e-01 3.64479452e+02] [ 4.39292423e-01 8.98222376e-01 -1.47895374e-02 5.27683629e+01] [ 1.03201996e-01 -3.41050705e-02 9.94075547e-01 1.95064517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.989254154 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:364.50, Y:52.79, Z:19.52 [[ 8.92049433e-01 -4.41560853e-01 -9.62903042e-02 3.64498371e+02] [ 4.39698830e-01 8.97212357e-01 -4.09258406e-02 5.27924748e+01] [ 1.04464100e-01 -5.83086124e-03 9.94511565e-01 1.95150320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.01925415399995 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:364.52, Y:52.81, Z:19.52 [[ 8.91641742e-01 -4.42122023e-01 -9.74839491e-02 3.64522108e+02] [ 4.40213503e-01 8.96935227e-01 -4.14640815e-02 5.28057003e+01] [ 1.05768972e-01 -5.94264478e-03 9.94372973e-01 1.95185898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0492541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:364.55, Y:52.82, Z:19.52 [[ 8.91713932e-01 -4.42050117e-01 -9.71491487e-02 3.64547379e+02] [ 4.40152417e-01 8.96970965e-01 -4.13392991e-02 5.28183374e+01] [ 1.05414008e-01 -5.89760361e-03 9.94410934e-01 1.95211703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.07925415399995 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:364.57, Y:52.83, Z:19.52 [[ 8.92789794e-01 -4.39931703e-01 -9.68838551e-02 3.64570792e+02] [ 4.38028777e-01 8.98013745e-01 -4.12565583e-02 5.28325150e+01] [ 1.05153102e-01 -5.60448240e-03 9.94440252e-01 1.95242480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.1092541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:364.60, Y:52.85, Z:19.53 [[ 8.93532539e-01 -4.38419427e-01 -9.68917275e-02 3.64595699e+02] [ 4.36505488e-01 8.98754208e-01 -4.12774978e-02 5.28455517e+01] [ 1.05178705e-01 -5.41098335e-03 9.94438616e-01 1.95272919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.13925415399996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:364.62, Y:52.86, Z:19.53 [[ 8.95562451e-01 -4.34208236e-01 -9.71138735e-02 3.64617927e+02] [ 4.32257387e-01 9.00799211e-01 -4.14045073e-02 5.28604253e+01] [ 1.05458279e-01 -4.89786713e-03 9.94411666e-01 1.95305969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.16925415399993 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:364.64, Y:52.87, Z:19.53 [[ 8.96489381e-01 -4.32421650e-01 -9.65313753e-02 3.64642918e+02] [ 4.30481279e-01 9.01659590e-01 -4.11807262e-02 5.28738848e+01] [ 1.04845878e-01 -4.63686617e-03 9.94477673e-01 1.95333553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.19925415399996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:364.67, Y:52.89, Z:19.54 [[ 8.96370933e-01 -4.32669799e-01 -9.65194042e-02 3.64668919e+02] [ 4.30727847e-01 9.01540548e-01 -4.12087668e-02 5.28850827e+01] [ 1.04845945e-01 -4.63525436e-03 9.94477673e-01 1.95358693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.22925415399993 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:364.69, Y:52.90, Z:19.54 [[ 8.98333613e-01 -4.28557771e-01 -9.66175821e-02 3.64692630e+02] [ 4.26584785e-01 9.03504941e-01 -4.12824742e-02 5.29004324e+01] [ 1.04986388e-01 -4.13015627e-03 9.94465082e-01 1.95386122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.25925415399996 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:364.72, Y:52.91, Z:19.54 [[ 8.99416798e-01 -4.26301950e-01 -9.65197939e-02 3.64716567e+02] [ 4.24316809e-01 9.04572794e-01 -4.12711210e-02 5.29128883e+01] [ 1.04903139e-01 -3.83503149e-03 9.94475049e-01 1.95412757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.28925415399993 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:364.74, Y:52.93, Z:19.54 [[ 9.00383373e-01 -4.24310633e-01 -9.62822350e-02 3.64741461e+02] [ 4.22322089e-01 9.05509627e-01 -4.11869900e-02 5.29255561e+01] [ 1.04660568e-01 -3.57803365e-03 9.94501565e-01 1.95439720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.31925415399996 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:364.77, Y:52.94, Z:19.55 [[ 9.01355623e-01 -4.22293923e-01 -9.60514642e-02 3.64765948e+02] [ 4.20299989e-01 9.06452933e-01 -4.11217713e-02 5.29380326e+01] [ 1.04431606e-01 -3.30508961e-03 9.94526579e-01 1.95464792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.34925415399994 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:364.79, Y:52.95, Z:19.55 [[ 9.03388501e-01 -4.18021375e-01 -9.56417564e-02 3.64789776e+02] [ 4.16017079e-01 9.08432973e-01 -4.09795381e-02 5.29528824e+01] [ 1.04014448e-01 -2.76816063e-03 9.94571934e-01 1.95492039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.37925415399997 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:364.81, Y:52.97, Z:19.55 [[ 9.03967415e-01 -4.16707646e-01 -9.59043860e-02 3.64813910e+02] [ 4.14681361e-01 9.09036860e-01 -4.11260906e-02 5.29660988e+01] [ 1.04318178e-01 -2.59311549e-03 9.94540594e-01 1.95527195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.40925415399994 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:364.84, Y:52.98, Z:19.56 [[ 9.04587919e-01 -4.15307481e-01 -9.61269644e-02 3.64838372e+02] [ 4.13260281e-01 9.09677914e-01 -4.12557037e-02 5.29787404e+01] [ 1.04578379e-01 -2.40604509e-03 9.94513737e-01 1.95551509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.43925415399997 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:364.86, Y:52.99, Z:19.56 [[ 9.05494963e-01 -4.13125001e-01 -9.69876618e-02 3.64862059e+02] [ 4.11025057e-01 9.10671804e-01 -4.16565447e-02 5.29923525e+01] [ 1.05533289e-01 -2.14456787e-03 9.94413458e-01 1.95582707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.46925415399994 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:364.89, Y:53.00, Z:19.56 [[ 9.05867784e-01 -4.12236107e-01 -9.72879756e-02 3.64886785e+02] [ 4.10116062e-01 9.11074787e-01 -4.18036824e-02 5.30044147e+01] [ 1.05869609e-01 -2.03075225e-03 9.94377947e-01 1.95602734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.49925415399997 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:364.91, Y:53.02, Z:19.56 [[ 9.05817494e-01 -4.12219968e-01 -9.78231378e-02 3.64911604e+02] [ 4.10072696e-01 9.11082139e-01 -4.20680451e-02 5.30170353e+01] [ 1.06466202e-01 -2.00862672e-03 9.94314293e-01 1.95635802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.52925415399994 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:364.93, Y:53.03, Z:19.57 [[ 9.05726489e-01 -4.12309348e-01 -9.82879929e-02 3.64934635e+02] [ 4.10138547e-01 9.11041715e-01 -4.23008868e-02 5.30304516e+01] [ 1.06985513e-01 -1.99866099e-03 9.94258571e-01 1.95667767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.559254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:364.96, Y:53.04, Z:19.57 [[ 9.05423786e-01 -4.12974538e-01 -9.82842727e-02 3.64959504e+02] [ 4.10805010e-01 9.10740257e-01 -4.23252744e-02 5.30428716e+01] [ 1.06990704e-01 -2.05336139e-03 9.94257901e-01 1.95697783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.58925415399995 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:364.98, Y:53.06, Z:19.57 [[ 9.05049777e-01 -4.13827061e-01 -9.81430850e-02 3.64984954e+02] [ 4.11665184e-01 9.10353045e-01 -4.22978606e-02 5.30555138e+01] [ 1.06848856e-01 -2.12042185e-03 9.94273014e-01 1.95727300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.619254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:365.01, Y:53.07, Z:19.57 [[ 9.04885700e-01 -4.14267725e-01 -9.77963287e-02 3.65009670e+02] [ 4.12120601e-01 9.10152559e-01 -4.21773650e-02 5.30670621e+01] [ 1.06482300e-01 -2.13818724e-03 9.94312299e-01 1.95743248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.64925415399995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:365.03, Y:53.08, Z:19.58 [[ 9.03651877e-01 -4.17152755e-01 -9.69374260e-02 3.65034894e+02] [ 4.15057106e-01 9.08833132e-01 -4.18322586e-02 5.30794936e+01] [ 1.05550386e-01 -2.43276854e-03 9.94410980e-01 1.95772189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.679254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:365.06, Y:53.09, Z:19.58 [[ 9.02782662e-01 -4.19122389e-01 -9.65395719e-02 3.65059708e+02] [ 4.17051622e-01 9.07925962e-01 -4.16940313e-02 5.30911239e+01] [ 1.05125686e-01 -2.62133650e-03 9.94455489e-01 1.95800062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.70925415399995 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:365.09, Y:53.10, Z:19.58 [[ 9.01908697e-01 -4.21031435e-01 -9.64014148e-02 3.65086800e+02] [ 4.18974434e-01 9.07041683e-01 -4.16630357e-02 5.31037536e+01] [ 1.04981549e-01 -2.81347392e-03 9.94470190e-01 1.95829522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.739254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:365.11, Y:53.12, Z:19.59 [[ 8.99890256e-01 -4.25455653e-01 -9.58384825e-02 3.65112316e+02] [ 4.23447123e-01 9.04973239e-01 -4.14242770e-02 5.31163265e+01] [ 1.04355455e-01 -3.30522650e-03 9.94534572e-01 1.95857223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.76925415399995 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:365.14, Y:53.13, Z:19.59 [[ 8.98938642e-01 -4.27488575e-01 -9.57227068e-02 3.65139387e+02] [ 4.25495748e-01 9.04013854e-01 -4.13801954e-02 5.31283645e+01] [ 1.04224214e-01 -3.53134806e-03 9.94547557e-01 1.95875321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.7992541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:365.17, Y:53.14, Z:19.59 [[ 8.97465088e-01 -4.30547869e-01 -9.58381401e-02 3.65166642e+02] [ 4.28567186e-01 9.02559371e-01 -4.14336732e-02 5.31411272e+01] [ 1.04338791e-01 -3.88780684e-03 9.94534213e-01 1.95909925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.82925415399995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:365.19, Y:53.15, Z:19.59 [[ 8.94654026e-01 -4.36315529e-01 -9.60361008e-02 3.65192801e+02] [ 4.34359117e-01 8.99782153e-01 -4.15239008e-02 5.31530724e+01] [ 1.04529092e-01 -4.56463087e-03 9.94511354e-01 1.95933896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.8592541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:365.22, Y:53.16, Z:19.60 [[ 8.93195487e-01 -4.39307954e-01 -9.59705301e-02 3.65219199e+02] [ 4.37368262e-01 8.98323252e-01 -4.15251619e-02 5.31646509e+01] [ 1.04454893e-01 -4.88437674e-03 9.94517631e-01 1.95959349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.88925415399996 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:365.25, Y:53.18, Z:19.60 [[ 8.92084950e-01 -4.41645905e-01 -9.55684962e-02 3.65246241e+02] [ 4.39733113e-01 8.97174873e-01 -4.13767774e-02 5.31764498e+01] [ 1.04015538e-01 -5.11303193e-03 9.94562529e-01 1.95978817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.91925415399993 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:365.27, Y:53.19, Z:19.60 [[ 8.90781949e-01 -4.44322231e-01 -9.53167033e-02 3.65271422e+02] [ 4.42434197e-01 8.95850729e-01 -4.12729106e-02 5.31880506e+01] [ 1.03728010e-01 -5.40620542e-03 9.94591008e-01 1.96007186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.94925415399996 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:365.30, Y:53.20, Z:19.60 [[ 8.88812718e-01 -4.48337860e-01 -9.48952871e-02 3.65296072e+02] [ 4.46487781e-01 8.93845125e-01 -4.11041822e-02 5.32005128e+01] [ 1.03250251e-01 -5.83566628e-03 9.94638291e-01 1.96034955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.97925415399993 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:365.32, Y:53.21, Z:19.61 [[ 8.88095700e-01 -4.49863217e-01 -9.43881046e-02 3.65321479e+02] [ 4.48038039e-01 8.93077642e-01 -4.09174974e-02 5.32126070e+01] [ 1.02703183e-01 -5.95080784e-03 9.94694247e-01 1.96057329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.00925415399996 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:365.35, Y:53.22, Z:19.61 [[ 8.87628291e-01 -4.50755965e-01 -9.45255381e-02 3.65346017e+02] [ 4.48927339e-01 8.92626815e-01 -4.10074908e-02 5.32245154e+01] [ 1.02860401e-01 -6.03568930e-03 9.94677490e-01 1.96083784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.03925415399993 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:365.37, Y:53.24, Z:19.61 [[ 8.87553779e-01 -4.51046621e-01 -9.38362158e-02 3.65370863e+02] [ 4.49244516e-01 8.92480156e-01 -4.07251182e-02 5.32361983e+01] [ 1.02115888e-01 -6.00967285e-03 9.94754356e-01 1.96104577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.06925415399996 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:365.39, Y:53.25, Z:19.61 [[ 8.88453773e-01 -4.49336845e-01 -9.35216142e-02 3.65394831e+02] [ 4.47534332e-01 8.93343802e-01 -4.06186246e-02 5.32493400e+01] [ 1.01798399e-01 -5.76636286e-03 9.94788337e-01 1.96128360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.09925415399994 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:365.42, Y:53.26, Z:19.61 [[ 8.89232032e-01 -4.47920642e-01 -9.29165828e-02 3.65419432e+02] [ 4.46132074e-01 8.94056074e-01 -4.03721218e-02 5.32616690e+01] [ 1.01156142e-01 -5.55288389e-03 9.94855065e-01 1.96149990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.12925415399997 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:365.44, Y:53.27, Z:19.62 [[ 8.90148979e-01 -4.46208855e-01 -9.23712746e-02 3.65443432e+02] [ 4.44429016e-01 8.94913167e-01 -4.01655635e-02 5.32742882e+01] [ 1.00586500e-01 -5.29913933e-03 9.94914205e-01 1.96173577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.15925415399994 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:365.47, Y:53.29, Z:19.62 [[ 8.92212110e-01 -4.42172771e-01 -9.18737821e-02 3.65466102e+02] [ 4.40388593e-01 8.96917065e-01 -3.99708043e-02 5.32889607e+01] [ 1.00077164e-01 -4.79772997e-03 9.94968112e-01 1.96195120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.18925415399997 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:365.49, Y:53.30, Z:19.62 [[ 8.93461919e-01 -4.39663852e-01 -9.17687066e-02 3.65492144e+02] [ 4.37868362e-01 8.98151170e-01 -3.99471307e-02 5.33021297e+01] [ 9.99854805e-02 -4.49137317e-03 9.94978759e-01 1.96214163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.21925415399994 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:365.52, Y:53.31, Z:19.62 [[ 8.94346066e-01 -4.37876037e-01 -9.17043661e-02 3.65516315e+02] [ 4.36071118e-01 8.99025242e-01 -3.99448987e-02 5.33149268e+01] [ 9.99354539e-02 -4.26506243e-03 9.94984781e-01 1.96240066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.24925415399997 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:365.54, Y:53.33, Z:19.63 [[ 8.95338883e-01 -4.35741814e-01 -9.21811054e-02 3.65542783e+02] [ 4.33905507e-01 9.00062652e-01 -4.01650774e-02 5.33287290e+01] [ 1.00470374e-01 -4.03653372e-03 9.94931862e-01 1.96266734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.27925415399994 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:365.57, Y:53.35, Z:19.63 [[ 8.97584526e-01 -4.30962692e-01 -9.28071987e-02 3.65571191e+02] [ 4.29075613e-01 9.02362868e-01 -4.04397562e-02 5.33451295e+01] [ 1.01173796e-01 -3.52320619e-03 9.94862528e-01 1.96281766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.309254154 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:365.60, Y:53.36, Z:19.63 [[ 8.98212237e-01 -4.29671077e-01 -9.27229335e-02 3.65600279e+02] [ 4.27781833e-01 9.02979126e-01 -4.03906078e-02 5.33599074e+01] [ 1.01081549e-01 -3.38584826e-03 9.94872382e-01 1.96313840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.33925415399995 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:365.63, Y:53.37, Z:19.63 [[ 8.99051745e-01 -4.27959671e-01 -9.25012414e-02 3.65629139e+02] [ 4.26071637e-01 9.03792179e-01 -4.02822180e-02 5.33743899e+01] [ 1.00841063e-01 -3.19635697e-03 9.94897413e-01 1.96339027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.369254154 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:365.66, Y:53.39, Z:19.64 [[ 8.99091139e-01 -4.27876237e-01 -9.25043199e-02 3.65659026e+02] [ 4.25988489e-01 9.03831688e-01 -4.02751475e-02 5.33873373e+01] [ 1.00841114e-01 -3.19474722e-03 9.94897413e-01 1.96367864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.39925415399995 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:365.69, Y:53.40, Z:19.64 [[ 8.99888003e-01 -4.26258975e-01 -9.22218359e-02 3.65688442e+02] [ 4.24375344e-01 9.04596155e-01 -4.01417878e-02 5.34021274e+01] [ 1.00534316e-01 -3.01356007e-03 9.94929028e-01 1.96395976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.429254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:365.72, Y:53.42, Z:19.64 [[ 9.01356414e-01 -4.23376780e-01 -9.11521688e-02 3.65717100e+02] [ 4.21523169e-01 9.05949760e-01 -3.96642254e-02 5.34189150e+01] [ 9.93721974e-02 -2.67114711e-03 9.95046748e-01 1.96426393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.45925415399995 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:365.75, Y:53.43, Z:19.65 [[ 9.02180763e-01 -4.21759140e-01 -9.04936427e-02 3.65745458e+02] [ 4.19925323e-01 9.06704500e-01 -3.93658812e-02 5.34330412e+01] [ 9.86539132e-02 -2.48543142e-03 9.95118700e-01 1.96454846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.489254154 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:365.77, Y:53.45, Z:19.65 [[ 9.03913601e-01 -4.18442664e-01 -8.85773063e-02 3.65773454e+02] [ 4.16670956e-01 9.08240816e-01 -3.85218617e-02 5.34484234e+01] [ 9.65687154e-02 -2.08715618e-03 9.95324132e-01 1.96480392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.51925415399995 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:365.80, Y:53.46, Z:19.65 [[ 9.04596412e-01 -4.17132131e-01 -8.77844914e-02 3.65802872e+02] [ 4.15387642e-01 9.08843770e-01 -3.81589995e-02 5.34628138e+01] [ 9.56997329e-02 -1.94609882e-03 9.95408345e-01 1.96506238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5492541539999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:365.83, Y:53.48, Z:19.65 [[ 9.05171116e-01 -4.15910610e-01 -8.76562330e-02 3.65831899e+02] [ 4.14166599e-01 9.09403670e-01 -3.80919006e-02 5.34767707e+01] [ 9.55577256e-02 -1.82459576e-03 9.95422218e-01 1.96534846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.57925415399995 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:365.86, Y:53.49, Z:19.66 [[ 9.05529751e-01 -4.15242126e-01 -8.71197216e-02 3.65861227e+02] [ 4.13517266e-01 9.09709243e-01 -3.78492198e-02 5.34908528e+01] [ 9.49702066e-02 -1.75191444e-03 9.95478574e-01 1.96561009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.6092541539999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:365.89, Y:53.50, Z:19.66 [[ 9.05738688e-01 -4.14843247e-01 -8.68476283e-02 3.65890073e+02] [ 4.13128384e-01 9.09891279e-01 -3.77199995e-02 5.35045423e+01] [ 9.46697867e-02 -1.71475746e-03 9.95507253e-01 1.96589223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.63925415399996 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:365.92, Y:53.52, Z:19.66 [[ 9.05545874e-01 -4.15453461e-01 -8.59365541e-02 3.65919104e+02] [ 4.13778044e-01 9.09612718e-01 -3.73153361e-02 5.35184791e+01] [ 9.36717681e-02 -1.76791063e-03 9.95601564e-01 1.96612876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.66925415399993 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:365.95, Y:53.53, Z:19.66 [[ 9.05289938e-01 -4.16116907e-01 -8.54215912e-02 3.65949305e+02] [ 4.14465181e-01 9.09309278e-01 -3.70843758e-02 5.35316475e+01] [ 9.31060811e-02 -1.83216303e-03 9.95654509e-01 1.96635691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.69925415399996 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:365.98, Y:53.54, Z:19.67 [[ 9.05088223e-01 -4.16598904e-01 -8.52095237e-02 3.65978346e+02] [ 4.14958530e-01 9.09088441e-01 -3.69814167e-02 5.35441296e+01] [ 9.28694106e-02 -1.88697401e-03 9.95676510e-01 1.96658116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.72925415399993 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:366.01, Y:53.56, Z:19.67 [[ 9.04893273e-01 -4.16970090e-01 -8.54640748e-02 3.66008648e+02] [ 4.15322401e-01 9.08918139e-01 -3.70826150e-02 5.35574912e+01] [ 9.31421891e-02 -1.93933586e-03 9.95650929e-01 1.96683773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.75925415399996 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:366.04, Y:53.57, Z:19.67 [[ 9.04799499e-01 -4.17053768e-01 -8.60466179e-02 3.66037847e+02] [ 4.15384929e-01 9.08879677e-01 -3.73241612e-02 5.35713785e+01] [ 9.37722044e-02 -1.97158593e-03 9.95591727e-01 1.96704807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.78925415399993 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:366.07, Y:53.59, Z:19.67 [[ 9.05148314e-01 -4.16232400e-01 -8.63546103e-02 3.66067915e+02] [ 4.14548740e-01 9.09256274e-01 -3.74482396e-02 5.35850840e+01] [ 9.41056419e-02 -1.90198393e-03 9.95560400e-01 1.96732570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.81925415399996 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:366.10, Y:53.60, Z:19.68 [[ 9.05718698e-01 -4.15025159e-01 -8.61844366e-02 3.66096823e+02] [ 4.13343761e-01 9.09808187e-01 -3.73630619e-02 5.35983534e+01] [ 9.39179167e-02 -1.78337541e-03 9.95578347e-01 1.96759957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.84925415399994 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:366.13, Y:53.61, Z:19.68 [[ 9.07094969e-01 -4.11990472e-01 -8.62703200e-02 3.66126210e+02] [ 4.10293030e-01 9.11186951e-01 -3.73894294e-02 5.36124832e+01] [ 9.40124785e-02 -1.48034770e-03 9.95569918e-01 1.96787598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.87925415399997 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:366.16, Y:53.63, Z:19.68 [[ 9.07958064e-01 -4.10091965e-01 -8.62365076e-02 3.66155446e+02] [ 4.08390211e-01 9.12043234e-01 -3.73440043e-02 5.36253922e+01] [ 9.39658993e-02 -1.31135572e-03 9.95574553e-01 1.96816102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.90925415399994 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:366.19, Y:53.64, Z:19.68 [[ 9.08632752e-01 -4.08687053e-01 -8.57986871e-02 3.66185861e+02] [ 4.06998898e-01 9.12673813e-01 -3.71269309e-02 5.36389150e+01] [ 9.34795108e-02 -1.18522565e-03 9.95620498e-01 1.96842459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.93925415399997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:366.21, Y:53.65, Z:19.69 [[ 9.09646354e-01 -4.06569073e-01 -8.51181474e-02 3.66214485e+02] [ 4.04899420e-01 9.13619531e-01 -3.68213490e-02 5.36519257e+01] [ 9.27360237e-02 -9.69882642e-04 9.95690258e-01 1.96870032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.96925415399994 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:366.24, Y:53.67, Z:19.69 [[ 9.10058072e-01 -4.05740312e-01 -8.46705630e-02 3.66244853e+02] [ 4.04085566e-01 9.13987969e-01 -3.66175988e-02 5.36651304e+01] [ 9.22451118e-02 -8.90011033e-04 9.95735932e-01 1.96893962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.99925415399997 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:366.27, Y:53.68, Z:19.69 [[ 9.10113909e-01 -4.05570409e-01 -8.48841355e-02 3.66274246e+02] [ 4.03909325e-01 9.14063362e-01 -3.66800820e-02 5.36778389e+01] [ 9.24658341e-02 -9.02441039e-04 9.95715449e-01 1.96923485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.02925415399994 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:366.30, Y:53.69, Z:19.69 [[ 9.10077308e-01 -4.05663097e-01 -8.48336348e-02 3.66304826e+02] [ 4.04006905e-01 9.14022196e-01 -3.66312060e-02 5.36906733e+01] [ 9.23997537e-02 -9.36144853e-04 9.95721552e-01 1.96948866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.059254154 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:366.34, Y:53.70, Z:19.70 [[ 9.08975988e-01 -4.08015641e-01 -8.53574243e-02 3.66335099e+02] [ 4.06350304e-01 9.12974158e-01 -3.68458571e-02 5.37024006e+01] [ 9.29628086e-02 -1.19301596e-03 9.95668867e-01 1.96968631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.08925415399995 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:366.37, Y:53.71, Z:19.70 [[ 9.08137625e-01 -4.09766711e-01 -8.58911919e-02 3.66365269e+02] [ 4.08089943e-01 9.12189284e-01 -3.70581747e-02 5.37144993e+01] [ 9.35342312e-02 -1.39740884e-03 9.95615084e-01 1.96995449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.119254154 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:366.40, Y:53.73, Z:19.70 [[ 9.07053767e-01 -4.12077041e-01 -8.62900696e-02 3.66395831e+02] [ 4.10396103e-01 9.11147506e-01 -3.72190796e-02 5.37268119e+01] [ 9.39601099e-02 -1.65340203e-03 9.95574590e-01 1.97022679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.14925415399995 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:366.43, Y:53.74, Z:19.71 [[ 9.05706459e-01 -4.14962734e-01 -8.66125800e-02 3.66425924e+02] [ 4.13283394e-01 9.09836275e-01 -3.73468687e-02 5.37389543e+01] [ 9.43008259e-02 -1.97024078e-03 9.95541798e-01 1.97050407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.179254154 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:366.46, Y:53.75, Z:19.71 [[ 9.02742806e-01 -4.21273202e-01 -8.70879772e-02 3.66456975e+02] [ 4.19605602e-01 9.06929904e-01 -3.75404953e-02 5.37499652e+01] [ 9.47974954e-02 -2.65319105e-03 9.95493041e-01 1.97073518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.20925415399995 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:366.49, Y:53.76, Z:19.71 [[ 9.01118113e-01 -4.24707144e-01 -8.72352421e-02 3.66487980e+02] [ 4.23050996e-01 9.05325722e-01 -3.75924508e-02 5.37620721e+01] [ 9.49420909e-02 -3.02971778e-03 9.95478187e-01 1.97103662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.239254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:366.52, Y:53.77, Z:19.71 [[ 8.99645679e-01 -4.27812466e-01 -8.72590775e-02 3.66518718e+02] [ 4.26171035e-01 9.03861244e-01 -3.75912460e-02 5.37738535e+01] [ 9.49521019e-02 -3.36848927e-03 9.95476143e-01 1.97132601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.26925415399995 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:366.55, Y:53.78, Z:19.72 [[ 8.97045829e-01 -4.33337931e-01 -8.67583928e-02 3.66548721e+02] [ 4.31742040e-01 9.01222901e-01 -3.73643490e-02 5.37842983e+01] [ 9.43800401e-02 -3.93971207e-03 9.95528446e-01 1.97156596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.2992541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:366.58, Y:53.80, Z:19.72 [[ 8.95933568e-01 -4.35663084e-01 -8.66066965e-02 3.66578397e+02] [ 4.34084458e-01 9.00100083e-01 -3.72897364e-02 5.37961422e+01] [ 9.42004562e-02 -4.18549433e-03 9.95544452e-01 1.97186450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.32925415399995 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:366.61, Y:53.81, Z:19.72 [[ 8.95131070e-01 -4.37389374e-01 -8.62026919e-02 3.66608946e+02] [ 4.35834145e-01 8.99261688e-01 -3.71081467e-02 5.38087270e+01] [ 9.37494873e-02 -4.35342145e-03 9.95586300e-01 1.97215745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.3592541539999 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:366.64, Y:53.82, Z:19.72 [[ 8.94431586e-01 -4.38812205e-01 -8.62321701e-02 3.66637803e+02] [ 4.37263517e-01 8.98567456e-01 -3.71098811e-02 5.38209617e+01] [ 9.37696905e-02 -4.51393213e-03 9.95583683e-01 1.97247110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.38925415399996 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:366.67, Y:53.83, Z:19.73 [[ 8.93639339e-01 -4.40392539e-01 -8.63894818e-02 3.66666995e+02] [ 4.38846068e-01 8.97793062e-01 -3.71718467e-02 5.38331641e+01] [ 9.39300814e-02 -4.69345980e-03 9.95567733e-01 1.97276735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.41925415399993 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:366.70, Y:53.85, Z:19.73 [[ 8.93473553e-01 -4.40693969e-01 -8.65669415e-02 3.66697426e+02] [ 4.39143259e-01 8.97644885e-01 -3.72405378e-02 5.38461175e+01] [ 9.41180527e-02 -4.74185321e-03 9.95549751e-01 1.97305454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.44925415399996 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:366.73, Y:53.86, Z:19.73 [[ 8.93415729e-01 -4.40739032e-01 -8.69335429e-02 3.66726067e+02] [ 4.39176396e-01 8.97622575e-01 -3.73872421e-02 5.38584565e+01] [ 9.45115276e-02 -4.77680992e-03 9.95512307e-01 1.97337475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.47925415399993 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:366.75, Y:53.87, Z:19.74 [[ 8.93562795e-01 -4.40397274e-01 -8.71537314e-02 3.66754309e+02] [ 4.38825661e-01 8.97790399e-01 -3.74758525e-02 5.38708159e+01] [ 9.47500465e-02 -4.75826633e-03 9.95489723e-01 1.97370644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.50925415399996 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:366.78, Y:53.88, Z:19.74 [[ 8.93767165e-01 -4.40007637e-01 -8.70260587e-02 3.66781276e+02] [ 4.38439825e-01 8.97981628e-01 -3.74101112e-02 5.38827011e+01] [ 9.46085364e-02 -4.71976094e-03 9.95503364e-01 1.97399364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.53925415399993 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:366.81, Y:53.89, Z:19.74 [[ 8.93999439e-01 -4.39514296e-01 -8.71331547e-02 3.66808389e+02] [ 4.37939944e-01 8.98223454e-01 -3.74597399e-02 5.38948507e+01] [ 9.47291344e-02 -4.67010244e-03 9.95492130e-01 1.97428716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.56925415399996 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:366.84, Y:53.91, Z:19.75 [[ 8.94634281e-01 -4.38000069e-01 -8.82351584e-02 3.66838372e+02] [ 4.36378008e-01 8.98963347e-01 -3.79359356e-02 5.39091591e+01] [ 9.59361157e-02 -4.56509416e-03 9.95377025e-01 1.97460716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.59925415399994 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:366.87, Y:53.92, Z:19.75 [[ 8.95104896e-01 -4.36919306e-01 -8.88186049e-02 3.66868415e+02] [ 4.35271521e-01 8.99489502e-01 -3.81751012e-02 5.39225452e+01] [ 9.65708415e-02 -4.48948925e-03 9.95315989e-01 1.97489953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.62925415399997 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:366.90, Y:53.94, Z:19.75 [[ 8.95574813e-01 -4.35794736e-01 -8.96030253e-02 3.66898108e+02] [ 4.34113217e-01 9.00035239e-01 -3.85004441e-02 5.39359176e+01] [ 9.74241712e-02 -4.41782956e-03 9.95233145e-01 1.97516868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.65925415399994 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:366.93, Y:53.95, Z:19.75 [[ 8.96278201e-01 -4.34189721e-01 -9.03585803e-02 3.66928041e+02] [ 4.32472725e-01 9.00811234e-01 -3.88131662e-02 5.39492577e+01] [ 9.82483021e-02 -4.29022671e-03 9.95152684e-01 1.97544230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.68925415399997 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:366.96, Y:53.96, Z:19.76 [[ 8.97835571e-01 -4.30790629e-01 -9.11631639e-02 3.66958189e+02] [ 4.29026583e-01 9.02443195e-01 -3.91467784e-02 5.39636181e+01] [ 9.91336421e-02 -3.96405063e-03 9.95066233e-01 1.97571817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.71925415399994 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:366.99, Y:53.98, Z:19.76 [[ 8.98698620e-01 -4.28820652e-01 -9.19436722e-02 3.66988510e+02] [ 4.27017162e-01 9.03381693e-01 -3.94697349e-02 5.39775713e+01] [ 9.99856677e-02 -3.79012974e-03 9.94981659e-01 1.97603971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.74925415399997 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:367.02, Y:53.99, Z:19.76 [[ 8.99924524e-01 -4.26201088e-01 -9.21329706e-02 3.67017859e+02] [ 4.24377790e-01 9.04621609e-01 -3.95377844e-02 5.39911326e+01] [ 1.00196523e-01 -3.51816467e-03 9.94961446e-01 1.97633487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.77925415399994 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:367.05, Y:54.00, Z:19.77 [[ 9.01183770e-01 -4.23559390e-01 -9.20068248e-02 3.67047063e+02] [ 4.21729258e-01 9.05862553e-01 -3.94647641e-02 5.40048373e+01] [ 1.00061209e-01 -3.23696507e-03 9.94976018e-01 1.97664912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.809254154 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:367.08, Y:54.02, Z:19.77 [[ 9.03857200e-01 -4.17942840e-01 -9.14655417e-02 3.67076287e+02] [ 4.16106493e-01 9.08469582e-01 -3.92224995e-02 5.40198812e+01] [ 9.94864253e-02 -2.60786724e-03 9.95035502e-01 1.97698723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.83925415399995 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:367.11, Y:54.03, Z:19.77 [[ 9.05133724e-01 -4.15252828e-01 -9.10935259e-02 3.67106450e+02] [ 4.13419004e-01 9.09703104e-01 -3.90511148e-02 5.40336589e+01] [ 9.90841492e-02 -2.31331375e-03 9.95076369e-01 1.97734051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.869254154 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:367.14, Y:54.05, Z:19.78 [[ 9.06264927e-01 -4.12943441e-01 -9.03415522e-02 3.67135867e+02] [ 4.11129533e-01 9.10754355e-01 -3.87170820e-02 5.40469358e+01] [ 9.82669272e-02 -2.05414662e-03 9.95157973e-01 1.97761488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.89925415399995 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:367.17, Y:54.06, Z:19.78 [[ 9.07738832e-01 -4.09936335e-01 -8.92323582e-02 3.67165551e+02] [ 4.08153239e-01 9.12112524e-01 -3.82318805e-02 5.40600192e+01] [ 9.70625885e-02 -1.71591345e-03 9.95276800e-01 1.97791997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.929254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:367.20, Y:54.07, Z:19.78 [[ 9.08221275e-01 -4.08947100e-01 -8.88616081e-02 3.67195587e+02] [ 4.07175384e-01 9.12556661e-01 -3.80597819e-02 5.40729585e+01] [ 9.66556898e-02 -1.61555575e-03 9.95316567e-01 1.97820992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.95925415399995 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:367.22, Y:54.09, Z:19.78 [[ 9.08588321e-01 -4.08212596e-01 -8.84858122e-02 3.67224762e+02] [ 4.06455377e-01 9.12885560e-01 -3.78679368e-02 5.40852909e+01] [ 9.62355890e-02 -1.55916902e-03 9.95357363e-01 1.97845387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.989254154 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:367.26, Y:54.10, Z:19.79 [[ 9.08716917e-01 -4.07864914e-01 -8.87681071e-02 3.67255037e+02] [ 4.06097472e-01 9.13040964e-01 -3.79610644e-02 5.40979611e+01] [ 9.65319043e-02 -1.55264248e-03 9.95328680e-01 1.97868849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.01925415399995 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:367.29, Y:54.11, Z:19.79 [[ 9.08476190e-01 -4.08180642e-01 -8.97751361e-02 3.67285692e+02] [ 4.06375494e-01 9.12899750e-01 -3.83797278e-02 5.41107435e+01] [ 9.76215613e-02 -1.61534646e-03 9.95222298e-01 1.97891879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.0492541539999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:367.32, Y:54.12, Z:19.79 [[ 9.08411319e-01 -4.08144081e-01 -9.05940691e-02 3.67315716e+02] [ 4.06306781e-01 9.12916058e-01 -3.87178389e-02 5.41229777e+01] [ 9.85072372e-02 -1.63726155e-03 9.95134988e-01 1.97924062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.07925415399995 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:367.34, Y:54.14, Z:19.79 [[ 9.07856611e-01 -4.09405513e-01 -9.04626997e-02 3.67344762e+02] [ 4.07580945e-01 9.12350782e-01 -3.86500147e-02 5.41353300e+01] [ 9.83572439e-02 -1.78220125e-03 9.95149575e-01 1.97944555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.1092541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:367.38, Y:54.15, Z:19.80 [[ 9.07448097e-01 -4.10238416e-01 -9.07876268e-02 3.67375644e+02] [ 4.08405852e-01 9.11976357e-01 -3.87786690e-02 5.41477553e+01] [ 9.87046689e-02 -1.88856862e-03 9.95114979e-01 1.97969269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.13925415399996 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:367.41, Y:54.16, Z:19.80 [[ 9.06997411e-01 -4.11179694e-01 -9.10327198e-02 3.67405499e+02] [ 4.09343209e-01 9.11552097e-01 -3.88704372e-02 5.41598296e+01] [ 9.89638012e-02 -2.00823978e-03 9.95089008e-01 1.97994756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.16925415399993 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:367.44, Y:54.17, Z:19.80 [[ 9.06111333e-01 -4.13076782e-01 -9.12678713e-02 3.67435054e+02] [ 4.11242238e-01 9.10693451e-01 -3.89520148e-02 5.41712884e+01] [ 9.92072256e-02 -2.23834163e-03 9.95064277e-01 1.98018242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.19925415399996 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:367.47, Y:54.18, Z:19.80 [[ 9.05860407e-01 -4.13619961e-01 -9.12986895e-02 3.67465056e+02] [ 4.11787935e-01 9.10446704e-01 -3.89550362e-02 5.41836541e+01] [ 9.92351715e-02 -2.30787388e-03 9.95061332e-01 1.98047503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.22925415399993 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:367.50, Y:54.20, Z:19.81 [[ 9.05802874e-01 -4.13946064e-01 -9.03870020e-02 3.67495680e+02] [ 4.12153302e-01 9.10298426e-01 -3.85542688e-02 5.41959514e+01] [ 9.82385334e-02 -2.33073390e-03 9.95160167e-01 1.98071689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.25925415399996 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:367.53, Y:54.21, Z:19.81 [[ 9.05856087e-01 -4.13828654e-01 -9.03913454e-02 3.67526455e+02] [ 4.12036325e-01 9.10351811e-01 -3.85440831e-02 5.42089758e+01] [ 9.82385710e-02 -2.32912555e-03 9.95160167e-01 1.98101264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.28925415399993 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:367.56, Y:54.22, Z:19.81 [[ 9.06025567e-01 -4.13599242e-01 -8.97403984e-02 3.67556331e+02] [ 4.11832863e-01 9.10456138e-01 -3.82532850e-02 5.42214102e+01] [ 9.75262262e-02 -2.29959097e-03 9.95230299e-01 1.98127984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.31925415399996 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:367.59, Y:54.23, Z:19.82 [[ 9.06486677e-01 -4.12682907e-01 -8.93013063e-02 3.67586959e+02] [ 4.10930329e-01 9.10872100e-01 -3.80563074e-02 5.42339432e+01] [ 9.70472560e-02 -2.19907951e-03 9.95277345e-01 1.98161208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.34925415399994 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:367.62, Y:54.25, Z:19.82 [[ 9.06734144e-01 -4.12331709e-01 -8.84067550e-02 3.67616406e+02] [ 4.10613549e-01 9.11031251e-01 -3.76639503e-02 5.42464175e+01] [ 9.60713576e-02 -2.14982174e-03 9.95372128e-01 1.98183418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.37925415399997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:367.65, Y:54.26, Z:19.82 [[ 9.06977066e-01 -4.11932275e-01 -8.77747312e-02 3.67645641e+02] [ 4.10237656e-01 9.11212043e-01 -3.73855266e-02 5.42587158e+01] [ 9.53816972e-02 -2.10068476e-03 9.95438556e-01 1.98209334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.40925415399994 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:367.68, Y:54.27, Z:19.82 [[ 9.07187987e-01 -4.11584974e-01 -8.72225001e-02 3.67675884e+02] [ 4.09910775e-01 9.11369066e-01 -3.71427405e-02 5.42710716e+01] [ 9.47792823e-02 -2.05799459e-03 9.95496184e-01 1.98229281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.43925415399997 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:367.71, Y:54.28, Z:19.83 [[ 9.07060684e-01 -4.11912319e-01 -8.70009074e-02 3.67706727e+02] [ 4.10249192e-01 9.11221073e-01 -3.70372234e-02 5.42838745e+01] [ 9.45331487e-02 -2.09704285e-03 9.95519506e-01 1.98254086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.46925415399994 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:367.74, Y:54.30, Z:19.83 [[ 9.06681078e-01 -4.12693446e-01 -8.72556164e-02 3.67736245e+02] [ 4.11025207e-01 9.10867335e-01 -3.71345940e-02 5.42959094e+01] [ 9.48034943e-02 -2.19502407e-03 9.95493586e-01 1.98277489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.49925415399997 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:367.77, Y:54.31, Z:19.83 [[ 9.05571904e-01 -4.15050472e-01 -8.75935672e-02 3.67766197e+02] [ 4.13381115e-01 9.09795063e-01 -3.72692562e-02 5.43070504e+01] [ 9.51608174e-02 -2.45953522e-03 9.95458874e-01 1.98290780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.52925415399994 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:367.80, Y:54.32, Z:19.83 [[ 9.05038931e-01 -4.16184645e-01 -8.77204311e-02 3.67795986e+02] [ 4.14516449e-01 9.09276436e-01 -3.73158965e-02 5.43186384e+01] [ 9.52924241e-02 -2.58922256e-03 9.95445955e-01 1.98311874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.559254154 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:367.82, Y:54.33, Z:19.83 [[ 9.04468698e-01 -4.17357859e-01 -8.80272182e-02 3.67824627e+02] [ 4.15684180e-01 9.08738120e-01 -3.74391830e-02 5.43302330e+01] [ 9.56192260e-02 -2.72895289e-03 9.95414244e-01 1.98334506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.58925415399995 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:367.85, Y:54.34, Z:19.84 [[ 9.04295909e-01 -4.17767660e-01 -8.78583550e-02 3.67852483e+02] [ 4.16102818e-01 9.08549669e-01 -3.73623314e-02 5.43415856e+01] [ 9.54324531e-02 -2.77150563e-03 9.95432050e-01 1.98353379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.619254154 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:367.88, Y:54.35, Z:19.84 [[ 9.04414943e-01 -4.17453253e-01 -8.81271412e-02 3.67881581e+02] [ 4.15776756e-01 9.08694247e-01 -3.74760580e-02 5.43544173e+01] [ 9.57251285e-02 -2.74731006e-03 9.95404014e-01 1.98381366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.64925415399995 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:367.91, Y:54.37, Z:19.84 [[ 9.04977075e-01 -4.16346053e-01 -8.75925720e-02 3.67911463e+02] [ 4.14685394e-01 9.09202451e-01 -3.72414724e-02 5.43672014e+01] [ 9.51447212e-02 -2.62068150e-03 9.95460001e-01 1.98405165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.679254154 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:367.94, Y:54.38, Z:19.84 [[ 9.05755734e-01 -4.14728402e-01 -8.72175595e-02 3.67941268e+02] [ 4.13075171e-01 9.09941958e-01 -3.70747475e-02 5.43799775e+01] [ 9.47388676e-02 -2.44674318e-03 9.95499151e-01 1.98432373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.70925415399995 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:367.97, Y:54.39, Z:19.85 [[ 9.08041804e-01 -4.09882665e-01 -8.63497735e-02 3.67969892e+02] [ 4.08241000e-01 9.12136221e-01 -3.66987729e-02 5.43931420e+01] [ 9.38049469e-02 -1.92749796e-03 9.95588729e-01 1.98459817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.739254154 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:368.00, Y:54.41, Z:19.85 [[ 9.09337595e-01 -4.07114740e-01 -8.58063355e-02 3.67999207e+02] [ 4.05481916e-01 9.13375558e-01 -3.64623743e-02 5.44064891e+01] [ 9.32177797e-02 -1.63630968e-03 9.95644398e-01 1.98488508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.76925415399995 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:368.03, Y:54.42, Z:19.85 [[ 9.10696732e-01 -4.04225432e-01 -8.50485947e-02 3.68028261e+02] [ 4.02609434e-01 9.14658416e-01 -3.61334278e-02 5.44195329e+01] [ 9.23964634e-02 -1.33477203e-03 9.95721403e-01 1.98516160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.7992541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:368.06, Y:54.43, Z:19.85 [[ 9.13112643e-01 -3.98910177e-01 -8.42375908e-02 3.68056955e+02] [ 3.97302922e-01 9.16989661e-01 -3.57819696e-02 5.44327510e+01] [ 9.15187917e-02 -7.94872053e-04 9.95803032e-01 1.98543568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.82925415399995 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:368.09, Y:54.45, Z:19.86 [[ 9.14135255e-01 -3.96533055e-01 -8.43698467e-02 3.68087184e+02] [ 3.94911288e-01 9.18020271e-01 -3.58309526e-02 5.44456786e+01] [ 9.16613866e-02 -5.64267839e-04 9.95790074e-01 1.98577541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.8592541539999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:368.12, Y:54.46, Z:19.86 [[ 9.15007364e-01 -3.94580554e-01 -8.40696740e-02 3.68117445e+02] [ 3.92963105e-01 9.18861276e-01 -3.56925005e-02 5.44582807e+01] [ 9.13319345e-02 -3.77379278e-04 9.95820433e-01 1.98602056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.88925415399996 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:368.15, Y:54.47, Z:19.86 [[ 9.15752923e-01 -3.92745016e-01 -8.45454681e-02 3.68148250e+02] [ 3.91102382e-01 9.19647384e-01 -3.58833754e-02 5.44702574e+01] [ 9.18450354e-02 -2.05627945e-04 9.95773291e-01 1.98620507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.91925415399993 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:368.18, Y:54.48, Z:19.86 [[ 9.15919910e-01 -3.92333951e-01 -8.46450809e-02 3.68178645e+02] [ 3.90686708e-01 9.19822831e-01 -3.59145724e-02 5.44822453e+01] [ 9.19489840e-02 -1.74836042e-04 9.95763704e-01 1.98644404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.94925415399996 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:368.21, Y:54.49, Z:19.87 [[ 9.15790897e-01 -3.92520328e-01 -8.51752632e-02 3.68209659e+02] [ 3.90854185e-01 9.19743307e-01 -3.61283287e-02 5.44945701e+01] [ 9.25204817e-02 -2.05113512e-04 9.95710760e-01 1.98671922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.97925415399993 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:368.24, Y:54.51, Z:19.87 [[ 9.14997882e-01 -3.94260708e-01 -8.56584486e-02 3.68241166e+02] [ 3.92584214e-01 9.18998552e-01 -3.63221103e-02 5.45057507e+01] [ 9.30403712e-02 -3.93500650e-04 9.95662259e-01 1.98695317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.00925415399996 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:368.27, Y:54.52, Z:19.87 [[ 9.14485368e-01 -3.95331600e-01 -8.61941837e-02 3.68272097e+02] [ 3.93639839e-01 9.18538328e-01 -3.65378942e-02 5.45173366e+01] [ 9.36172455e-02 -5.16094910e-04 9.95608128e-01 1.98733814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.03925415399993 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:368.30, Y:54.53, Z:19.88 [[ 9.13742688e-01 -3.97012097e-01 -8.63463677e-02 3.68302037e+02] [ 3.95322932e-01 9.17813110e-01 -3.65906395e-02 5.45287250e+01] [ 9.37767548e-02 -7.00269934e-04 9.95593004e-01 1.98763534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.06925415399996 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:368.33, Y:54.54, Z:19.88 [[ 9.12758065e-01 -3.99437205e-01 -8.55723942e-02 3.68332878e+02] [ 3.97790547e-01 9.16760058e-01 -3.62446862e-02 5.45407501e+01] [ 9.29268292e-02 -9.57259844e-04 9.95672480e-01 1.98782891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.09925415399994 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:368.36, Y:54.55, Z:19.88 [[ 9.10872622e-01 -4.03766187e-01 -8.53459578e-02 3.68363738e+02] [ 4.02148189e-01 9.14861133e-01 -3.61378013e-02 5.45509812e+01] [ 9.26709219e-02 -1.40478852e-03 9.95695800e-01 1.98821062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.12925415399997 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:368.39, Y:54.56, Z:19.88 [[ 9.09880938e-01 -4.06197569e-01 -8.43813570e-02 3.68394789e+02] [ 4.04627418e-01 9.13783801e-01 -3.57185933e-02 5.45627684e+01] [ 9.16151228e-02 -1.64334347e-03 9.95793135e-01 1.98844645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.15925415399994 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:368.43, Y:54.57, Z:19.89 [[ 9.09085657e-01 -4.08000097e-01 -8.42566892e-02 3.68425152e+02] [ 4.06443304e-01 9.12980046e-01 -3.56549673e-02 5.45741182e+01] [ 9.14719061e-02 -1.83214772e-03 9.95805972e-01 1.98887944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.18925415399997 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:368.46, Y:54.58, Z:19.89 [[ 9.07141702e-01 -4.12736006e-01 -8.21152970e-02 3.68456963e+02] [ 4.11277730e-01 9.10847892e-01 -3.47382512e-02 5.45848850e+01] [ 8.91322723e-02 -2.25967669e-03 9.96017235e-01 1.98905217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.21925415399994 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:368.49, Y:54.60, Z:19.89 [[ 9.06262704e-01 -4.14745909e-01 -8.16929711e-02 3.68488120e+02] [ 4.13311707e-01 9.09933958e-01 -3.45488877e-02 5.45965797e+01] [ 8.86642183e-02 -2.45429293e-03 9.96058549e-01 1.98938037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.24925415399997 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:368.52, Y:54.61, Z:19.90 [[ 9.05359677e-01 -4.16752373e-01 -8.14942615e-02 3.68519152e+02] [ 4.15334192e-01 9.09016180e-01 -3.44542122e-02 5.46082303e+01] [ 8.84384771e-02 -2.65389886e-03 9.96078106e-01 1.98972914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.27925415399994 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:368.55, Y:54.62, Z:19.90 [[ 9.02874659e-01 -4.22114705e-01 -8.14648777e-02 3.68550807e+02] [ 4.20720189e-01 9.06536827e-01 -3.44311417e-02 5.46191094e+01] [ 8.83848030e-02 -3.18691342e-03 9.96081307e-01 1.98987728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.309254154 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:368.58, Y:54.63, Z:19.90 [[ 9.01579362e-01 -4.24831124e-01 -8.16894767e-02 3.68581369e+02] [ 4.23440965e-01 9.05265959e-01 -3.45150978e-02 5.46306551e+01] [ 8.86137903e-02 -3.47257095e-03 9.96060007e-01 1.99009971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.33925415399995 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:368.61, Y:54.64, Z:19.90 [[ 9.00309262e-01 -4.27268851e-01 -8.29732561e-02 3.68611735e+02] [ 4.25845893e-01 9.04116713e-01 -3.50463203e-02 5.46418740e+01] [ 8.99917086e-02 -3.78129357e-03 9.95935336e-01 1.99043623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.369254154 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:368.64, Y:54.65, Z:19.91 [[ 8.97332557e-01 -4.33279679e-01 -8.40416629e-02 3.68643299e+02] [ 4.31846804e-01 9.01248540e-01 -3.54881263e-02 5.46525932e+01] [ 9.11187099e-02 -4.44847234e-03 9.95830102e-01 1.99056717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.39925415399995 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:368.67, Y:54.66, Z:19.91 [[ 8.96017375e-01 -4.35960198e-01 -8.42114555e-02 3.68673797e+02] [ 4.34534310e-01 8.99953461e-01 -3.55485766e-02 5.46645347e+01] [ 9.12841554e-02 -4.74062448e-03 9.95813602e-01 1.99076849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.429254154 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:368.70, Y:54.68, Z:19.91 [[ 8.95085302e-01 -4.37746966e-01 -8.48522047e-02 3.68703980e+02] [ 4.36308290e-01 8.99084471e-01 -3.58076960e-02 5.46766007e+01] [ 9.19640098e-02 -4.97077794e-03 9.95749925e-01 1.99112872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.45925415399995 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:368.73, Y:54.69, Z:19.91 [[ 8.93706478e-01 -4.40711979e-01 -8.40338187e-02 3.68732714e+02] [ 4.39314970e-01 8.97633308e-01 -3.54514135e-02 5.46883326e+01] [ 9.10554172e-02 -5.23415658e-03 9.95832071e-01 1.99123584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.489254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:368.76, Y:54.70, Z:19.92 [[ 8.93587978e-01 -4.40987419e-01 -8.38487992e-02 3.68762074e+02] [ 4.39598277e-01 8.97497897e-01 -3.53677744e-02 5.47006502e+01] [ 9.08508645e-02 -5.25556964e-03 9.95850641e-01 1.99151419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.51925415399995 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:368.79, Y:54.71, Z:19.92 [[ 8.94128093e-01 -4.39949590e-01 -8.35422777e-02 3.68790873e+02] [ 4.38566757e-01 8.98007774e-01 -3.52311920e-02 5.47137725e+01] [ 9.05215633e-02 -5.13766732e-03 9.95881243e-01 1.99184614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.5492541539999 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:368.82, Y:54.73, Z:19.92 [[ 8.94168764e-01 -4.39866421e-01 -8.35449117e-02 3.68820909e+02] [ 4.38483809e-01 8.98048525e-01 -3.52249449e-02 5.47263701e+01] [ 9.05216551e-02 -5.13604567e-03 9.95881243e-01 1.99213451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.57925415399995 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:368.85, Y:54.74, Z:19.92 [[ 8.95596336e-01 -4.37029585e-01 -8.31405147e-02 3.68849774e+02] [ 4.35648985e-01 8.99434144e-01 -3.50454402e-02 5.47400130e+01] [ 9.00953119e-02 -4.83351300e-03 9.95921419e-01 1.99230802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.6092541539999 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:368.87, Y:54.76, Z:19.93 [[ 8.96387740e-01 -4.35522772e-01 -8.25162711e-02 3.68873519e+02] [ 4.33481588e-01 9.00175430e-01 -4.21652395e-02 5.47550153e+01] [ 9.26430418e-02 2.02711957e-03 9.95697322e-01 1.99279634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.63925415399996 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:368.90, Y:54.76, Z:19.93 [[ 8.98232649e-01 -4.30856366e-01 -8.68383520e-02 3.68901579e+02] [ 4.29986001e-01 9.02354915e-01 -2.94558219e-02 5.47628073e+01] [ 9.10502422e-02 -1.08810948e-02 9.95786852e-01 1.99256030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.66925415399993 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:368.93, Y:54.78, Z:19.93 [[ 8.99306939e-01 -4.29048302e-01 -8.46438637e-02 3.68928976e+02] [ 4.27579572e-01 9.03272322e-01 -3.57046553e-02 5.47789743e+01] [ 9.17754810e-02 -4.08254269e-03 9.95771356e-01 1.99311738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.69925415399996 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:368.96, Y:54.79, Z:19.93 [[ 9.01144382e-01 -4.25293075e-01 -8.40512008e-02 3.68956595e+02] [ 4.23829254e-01 9.05048207e-01 -3.54472461e-02 5.47926936e+01] [ 9.11458569e-02 -3.68027106e-03 9.95830753e-01 1.99326846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.72925415399993 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:368.99, Y:54.81, Z:19.94 [[ 9.02337341e-01 -4.22745383e-01 -8.41050764e-02 3.68986356e+02] [ 4.21269752e-01 9.06241985e-01 -3.54578749e-02 5.48062470e+01] [ 9.12092043e-02 -3.43596010e-03 9.95825826e-01 1.99363913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.75925415399996 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:369.02, Y:54.82, Z:19.94 [[ 9.03386659e-01 -4.20589621e-01 -8.36475669e-02 3.69016216e+02] [ 4.19121809e-01 9.07245316e-01 -3.52540170e-02 5.48199964e+01] [ 9.07163369e-02 -3.21051101e-03 9.95871598e-01 1.99385976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.78925415399993 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:369.05, Y:54.83, Z:19.94 [[ 9.04634913e-01 -4.17906630e-01 -8.36045599e-02 3.69045441e+02] [ 4.16429897e-01 9.08485194e-01 -3.52248989e-02 5.48336714e+01] [ 9.06742236e-02 -2.94976492e-03 9.95876239e-01 1.99421567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.81925415399996 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:369.07, Y:54.85, Z:19.94 [[ 9.05597938e-01 -4.15809424e-01 -8.36355065e-02 3.69074693e+02] [ 4.14323504e-01 9.09447616e-01 -3.52287996e-02 5.48475066e+01] [ 9.07105788e-02 -2.74902782e-03 9.95873503e-01 1.99441764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.84925415399994 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:369.10, Y:54.86, Z:19.95 [[ 9.08184373e-01 -4.10106446e-01 -8.37487109e-02 3.69102663e+02] [ 4.08593074e-01 9.12035036e-01 -3.52674371e-02 5.48623528e+01] [ 9.08451619e-02 -2.18980804e-03 9.95862622e-01 1.99472503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.87925415399997 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:369.13, Y:54.88, Z:19.95 [[ 9.09351859e-01 -4.07487838e-01 -8.38621353e-02 3.69132486e+02] [ 4.05960246e-01 9.13208572e-01 -3.53041528e-02 5.48761991e+01] [ 9.09696336e-02 -1.94079615e-03 9.95851776e-01 1.99498799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.90925415399994 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:369.16, Y:54.89, Z:19.95 [[ 9.11769591e-01 -4.02079987e-01 -8.37131783e-02 3.69162094e+02] [ 4.00536004e-01 9.15603463e-01 -3.52307809e-02 5.48904941e+01] [ 9.08136679e-02 -1.40778725e-03 9.95866907e-01 1.99519569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.93925415399997 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:369.19, Y:54.90, Z:19.95 [[ 9.12912719e-01 -3.99478217e-01 -8.37109425e-02 3.69192412e+02] [ 3.97924358e-01 9.16741955e-01 -3.52192230e-02 5.49041354e+01] [ 9.08106455e-02 -1.15854637e-03 9.95867503e-01 1.99548124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.96925415399994 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:369.22, Y:54.90, Z:19.96 [[ 9.12864835e-01 -3.94284176e-01 -1.05914027e-01 3.69219996e+02] [ 3.96191816e-01 9.18161915e-01 -3.27753999e-03 5.49043594e+01] [ 9.85385078e-02 -3.89703195e-02 9.94369889e-01 1.99577445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.99925415399997 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:369.24, Y:54.95, Z:19.97 [[ 9.15958974e-01 -3.95411894e-01 -6.83270961e-02 3.69239234e+02] [ 3.90786162e-01 9.17668727e-01 -7.19046805e-02 5.49473795e+01] [ 9.11336052e-02 3.91604538e-02 9.95068402e-01 1.99731497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.02925415399994 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:369.28, Y:54.94, Z:19.96 [[ 9.16825153e-01 -3.90412334e-01 -8.37248320e-02 3.69276427e+02] [ 3.88819849e-01 9.20640073e-01 -3.52275744e-02 5.49431936e+01] [ 9.08337150e-02 -2.56350157e-04 9.95866040e-01 1.99629074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.059254154 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:369.31, Y:54.96, Z:19.97 [[ 9.18041074e-01 -3.87494942e-01 -8.39538936e-02 3.69307023e+02] [ 3.85882349e-01 9.21871829e-01 -3.53149168e-02 5.49560583e+01] [ 9.10790811e-02 2.42185241e-05 9.95843663e-01 1.99657929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.08925415399995 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:369.34, Y:54.97, Z:19.97 [[ 9.18425057e-01 -3.86630365e-01 -8.37399291e-02 3.69338075e+02] [ 3.85023372e-01 9.22234759e-01 -3.52143752e-02 5.49684324e+01] [ 9.08428200e-02 9.99346466e-05 9.95865238e-01 1.99685862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.119254154 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:369.37, Y:54.96, Z:19.97 [[ 9.16450262e-01 -3.85804078e-01 -1.06179710e-01 3.69365546e+02] [ 3.87829782e-01 9.21729449e-01 -1.69783725e-03 5.49643706e+01] [ 9.85239980e-02 -3.96236703e-02 9.94345507e-01 1.99706481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.14925415399995 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:369.39, Y:55.01, Z:19.99 [[ 9.18449482e-01 -3.89778392e-01 -6.72558821e-02 3.69385821e+02] [ 3.85074397e-01 9.19983619e-01 -7.31289978e-02 5.50079191e+01] [ 9.03784129e-02 4.12667719e-02 9.95052157e-01 1.99872776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.179254154 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:369.43, Y:55.00, Z:19.98 [[ 9.18460530e-01 -3.86630235e-01 -8.33505599e-02 3.69425323e+02] [ 3.85038139e-01 9.22234814e-01 -3.50511047e-02 5.50032156e+01] [ 9.04206049e-02 9.99117713e-05 9.95903662e-01 1.99769823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.20925415399995 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:369.46, Y:55.01, Z:19.98 [[ 9.17449356e-01 -3.88993616e-01 -8.34903941e-02 3.69455912e+02] [ 3.87407117e-01 9.21240439e-01 -3.50967181e-02 5.50134207e+01] [ 9.05671265e-02 -1.45311463e-04 9.95890343e-01 1.99796245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.239254154 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:369.49, Y:55.01, Z:19.98 [[ 9.13782240e-01 -3.89961299e-01 -1.13719841e-01 3.69486386e+02] [ 3.93222652e-01 9.19417524e-01 6.88203338e-03 5.50053994e+01] [ 1.01872288e-01 -5.10058973e-02 9.93489021e-01 1.99821451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.26925415399995 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:369.50, Y:55.06, Z:20.00 [[ 9.15747894e-01 -3.96697420e-01 -6.35370108e-02 3.69504221e+02] [ 3.91215240e-01 9.16489958e-01 -8.36468309e-02 5.50569327e+01] [ 9.14135144e-02 5.17427623e-02 9.94467826e-01 2.00017599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.2992541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:369.55, Y:55.04, Z:19.99 [[ 9.13704938e-01 -3.97579022e-01 -8.41083114e-02 3.69546789e+02] [ 3.96009070e-01 9.17567346e-01 -3.53126276e-02 5.50434712e+01] [ 9.12146000e-02 -1.04233196e-03 9.95830714e-01 1.99879827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.32925415399995 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:369.58, Y:55.05, Z:19.99 [[ 9.12564779e-01 -4.00191031e-01 -8.40991266e-02 3.69578399e+02] [ 3.98633479e-01 9.16430802e-01 -3.52978061e-02 5.50544535e+01] [ 9.11968954e-02 -1.31319273e-03 9.95832015e-01 1.99909641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.3592541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:369.61, Y:55.06, Z:19.99 [[ 9.10628098e-01 -4.04671680e-01 -8.36498566e-02 3.69610072e+02] [ 4.03150563e-01 9.14460348e-01 -3.50983800e-02 5.50633057e+01] [ 9.06977973e-02 -1.76191572e-03 9.95876903e-01 1.99939134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.38925415399996 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:369.64, Y:55.07, Z:20.00 [[ 9.09261328e-01 -4.07674022e-01 -8.39388386e-02 3.69640765e+02] [ 4.06156101e-01 9.13125168e-01 -3.52086564e-02 5.50742750e+01] [ 9.10003207e-02 -2.07840171e-03 9.95848694e-01 1.99969927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.41925415399993 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:369.68, Y:55.09, Z:20.00 [[ 9.09912966e-01 -4.08045431e-01 -7.45474409e-02 3.69676608e+02] [ 4.05246913e-01 9.12831607e-01 -5.01337916e-02 5.50914602e+01] [ 8.85061248e-02 1.54072667e-02 9.95956466e-01 2.00022936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.44925415399996 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:369.70, Y:55.09, Z:20.00 [[ 9.06976437e-01 -4.11062554e-01 -9.17677438e-02 3.69704321e+02] [ 4.11286770e-01 9.11341146e-01 -1.73351706e-02 5.50862989e+01] [ 9.07575603e-02 -2.20202677e-02 9.95629536e-01 1.99972251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.47925415399993 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:369.73, Y:55.10, Z:20.00 [[ 9.04707307e-01 -4.17645357e-01 -8.41251664e-02 3.69730399e+02] [ 4.16163522e-01 9.08604881e-01 -3.52858841e-02 5.51027275e+01] [ 9.11735224e-02 -3.08642828e-03 9.95830238e-01 2.00047686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.50925415399996 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:369.77, Y:55.11, Z:20.01 [[ 9.03875012e-01 -4.17460890e-01 -9.34685455e-02 3.69765319e+02] [ 4.17269621e-01 9.08503606e-01 -2.25224527e-02 5.51063537e+01] [ 9.43187538e-02 -1.86441023e-02 9.95367455e-01 2.00084091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.53925415399993 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:369.79, Y:55.13, Z:20.01 [[ 9.02052515e-01 -4.24344907e-01 -7.89471983e-02 3.69788464e+02] [ 4.21592202e-01 9.05428172e-01 -4.95967878e-02 5.51288324e+01] [ 9.25271617e-02 1.14553840e-02 9.95644263e-01 2.00145596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.56925415399996 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:369.82, Y:55.13, Z:20.01 [[ 9.01426312e-01 -4.24482122e-01 -8.51206870e-02 3.69821487e+02] [ 4.22998066e-01 9.05428135e-01 -3.56725228e-02 5.51333121e+01] [ 9.22130130e-02 -3.84973529e-03 9.95731861e-01 2.00127405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.59925415399994 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:369.85, Y:55.14, Z:20.02 [[ 9.00906541e-01 -4.25510032e-01 -8.54904502e-02 3.69850299e+02] [ 4.24018328e-01 9.04944960e-01 -3.58200705e-02 5.51438457e+01] [ 9.26059513e-02 -3.97898193e-03 9.95694886e-01 2.00152227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.62925415399997 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:369.88, Y:55.17, Z:20.02 [[ 9.03242110e-01 -4.25568168e-01 -5.51853743e-02 3.69880627e+02] [ 4.20667981e-01 9.03490452e-01 -8.21185331e-02 5.51742362e+01] [ 8.48064924e-02 5.09581971e-02 9.95093524e-01 2.00191020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.65925415399994 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:369.92, Y:55.16, Z:20.01 [[ 9.02911719e-01 -4.23052235e-01 -7.60081153e-02 3.69923230e+02] [ 4.21810941e-01 9.06101218e-01 -3.24978985e-02 5.51619992e+01] [ 8.26193544e-02 -2.71832117e-03 9.96577470e-01 2.00062666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.68925415399997 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:369.95, Y:55.17, Z:20.01 [[ 9.01509095e-01 -4.25693117e-01 -7.78891615e-02 3.69953505e+02] [ 4.24802151e-01 9.04837404e-01 -2.85027141e-02 5.51705270e+01] [ 8.26104360e-02 -7.39202734e-03 9.96554501e-01 2.00066347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.71925415399994 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:369.98, Y:55.18, Z:20.01 [[ 8.99501346e-01 -4.28683321e-01 -8.44271227e-02 3.69982737e+02] [ 4.28529225e-01 9.03287004e-01 -2.08636533e-02 5.51787940e+01] [ 8.52058230e-02 -1.74126052e-02 9.96211207e-01 2.00108156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.74925415399997 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:370.00, Y:55.18, Z:20.02 [[ 8.95188745e-01 -4.32760445e-01 -1.06562226e-01 3.70004629e+02] [ 4.35787404e-01 9.00031183e-01 5.76268608e-03 5.51780504e+01] [ 9.34154637e-02 -5.15971675e-02 9.94289336e-01 2.00177537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.77925415399994 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:370.02, Y:55.23, Z:20.03 [[ 8.97631004e-01 -4.36959264e-01 -5.76643978e-02 3.70023889e+02] [ 4.31973779e-01 8.98175251e-01 -8.17304922e-02 5.52297109e+01] [ 8.75056306e-02 4.84543159e-02 9.94984896e-01 2.00324490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.809254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:370.07, Y:55.21, Z:20.02 [[ 8.95283000e-01 -4.36779276e-01 -8.77052634e-02 3.70066808e+02] [ 4.36453569e-01 8.99409900e-01 -2.38770616e-02 5.52147574e+01] [ 8.93119878e-02 -1.69025479e-02 9.95860268e-01 2.00212830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.83925415399995 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:370.09, Y:55.21, Z:20.03 [[ 8.91129599e-01 -4.40319446e-01 -1.09575654e-01 3.70088997e+02] [ 4.43092179e-01 8.96475421e-01 1.06770707e-03 5.52145392e+01] [ 9.77617481e-02 -4.95035805e-02 9.93977885e-01 2.00275616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.869254154 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:370.11, Y:55.25, Z:20.04 [[ 8.90311648e-01 -4.45710728e-01 -9.32047034e-02 3.70107578e+02] [ 4.44007741e-01 8.95155020e-01 -3.94286084e-02 5.52451167e+01] [ 1.01006412e-01 -6.27986059e-03 9.94865955e-01 2.00407687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.89925415399995 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:370.13, Y:55.26, Z:20.04 [[ 8.89526096e-01 -4.47254478e-01 -9.33100040e-02 3.70133282e+02] [ 4.45555824e-01 8.94383416e-01 -3.94754638e-02 5.52567076e+01] [ 1.01110498e-01 -6.46036056e-03 9.94854226e-01 2.00441519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.929254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:370.16, Y:55.27, Z:20.05 [[ 8.89214133e-01 -4.47845930e-01 -9.34465015e-02 3.70157386e+02] [ 4.46142315e-01 8.94087053e-01 -3.95648389e-02 5.52673755e+01] [ 1.01268259e-01 -6.50882458e-03 9.94837864e-01 2.00465518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.95925415399995 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:370.19, Y:55.29, Z:20.05 [[ 8.91292289e-01 -4.47108760e-01 -7.54441017e-02 3.70185834e+02] [ 4.43079352e-01 8.94154379e-01 -6.45649572e-02 5.52900553e+01] [ 9.63262318e-02 2.41185247e-02 9.95057563e-01 2.00483365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.989254154 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:370.22, Y:55.28, Z:20.04 [[ 8.88713610e-01 -4.45958190e-01 -1.06345715e-01 3.70217046e+02] [ 4.47493457e-01 8.94227954e-01 -1.02942990e-02 5.52775953e+01] [ 9.96881385e-02 -3.84403282e-02 9.94275926e-01 2.00443375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.01925415399995 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:370.24, Y:55.30, Z:20.06 [[ 8.88615324e-01 -4.48909227e-01 -9.40388864e-02 3.70236886e+02] [ 4.47184432e-01 8.93552803e-01 -3.98681798e-02 5.53034861e+01] [ 1.01925904e-01 -6.62525057e-03 9.94769931e-01 2.00556752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.0492541539999 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:370.27, Y:55.35, Z:20.06 [[ 8.93681123e-01 -4.45983759e-01 -4.93207492e-02 3.70265904e+02] [ 4.39598425e-01 8.92272927e-01 -1.02967220e-01 5.53457919e+01] [ 8.99292772e-02 7.03385373e-02 9.93461230e-01 2.00597817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.07925415399995 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:370.31, Y:55.31, Z:20.04 [[ 8.92099432e-01 -4.39901483e-01 -1.03176007e-01 3.70311988e+02] [ 4.42620825e-01 8.96700412e-01 3.89573045e-03 5.53086827e+01] [ 9.08042306e-02 -4.91432284e-02 9.94655485e-01 2.00414041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.1092541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:370.33, Y:55.33, Z:20.06 [[ 8.89347036e-01 -4.44533322e-01 -1.07013901e-01 3.70325109e+02] [ 4.46393597e-01 8.94807569e-01 -7.22297967e-03 5.53282386e+01] [ 9.89677040e-02 -4.13465847e-02 9.94231288e-01 2.00574948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.13925415399996 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:370.34, Y:55.36, Z:20.07 [[ 8.90372312e-01 -4.45678014e-01 -9.27806749e-02 3.70341998e+02] [ 4.43970931e-01 8.95172725e-01 -3.94411613e-02 5.53578237e+01] [ 1.00632788e-01 -6.07460467e-03 9.94905092e-01 2.00705309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.16925415399993 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:370.37, Y:55.37, Z:20.07 [[ 8.91171679e-01 -4.44108389e-01 -9.26324899e-02 3.70365603e+02] [ 4.42395242e-01 8.95953904e-01 -3.94087846e-02 5.53696674e+01] [ 1.00496213e-01 -5.86018014e-03 9.94920182e-01 2.00735860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.19925415399996 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:370.39, Y:55.38, Z:20.08 [[ 8.91953091e-01 -4.42541761e-01 -9.26092516e-02 3.70390625e+02] [ 4.40819614e-01 8.96729977e-01 -3.94134056e-02 5.53821877e+01] [ 1.00487570e-01 -5.66906562e-03 9.94922163e-01 2.00766553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.22925415399993 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:370.41, Y:55.40, Z:20.08 [[ 8.93812886e-01 -4.38759655e-01 -9.26741046e-02 3.70414464e+02] [ 4.37011782e-01 8.98589294e-01 -3.94712908e-02 5.53959750e+01] [ 1.00594368e-01 -5.21972731e-03 9.94913829e-01 2.00791722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.25925415399996 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:370.44, Y:55.44, Z:20.08 [[ 8.99542311e-01 -4.34135134e-01 -4.84800636e-02 3.70443179e+02] [ 4.27916713e-01 8.98046050e-01 -1.01983229e-01 5.54382789e+01] [ 8.78118324e-02 7.09928001e-02 9.93604098e-01 2.00832727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.28925415399993 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:370.48, Y:55.39, Z:20.06 [[ 8.95722969e-01 -4.26750948e-01 -1.24755724e-01 3.70483449e+02] [ 4.33593393e-01 9.00513666e-01 3.27399931e-02 5.53880861e+01] [ 9.83724113e-02 -8.34192216e-02 9.91647166e-01 2.00648545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.31925415399996 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:370.49, Y:55.44, Z:20.09 [[ 8.97715375e-01 -4.30222316e-01 -9.49519041e-02 3.70494168e+02] [ 4.28329616e-01 9.02712825e-01 -4.05375808e-02 5.54386518e+01] [ 1.03154473e-01 -4.27950307e-03 9.94656142e-01 2.00894549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.34925415399994 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:370.52, Y:55.45, Z:20.09 [[ 8.98856934e-01 -4.27624014e-01 -9.58849031e-02 3.70523025e+02] [ 4.25680007e-01 9.03947717e-01 -4.09274516e-02 5.54520926e+01] [ 1.04176500e-01 -4.02836255e-03 9.94550667e-01 2.00918082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.37925415399997 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:370.55, Y:55.47, Z:20.10 [[ 8.99746492e-01 -4.25535401e-01 -9.68290868e-02 3.70551410e+02] [ 4.23541677e-01 9.04933666e-01 -4.13220082e-02 5.54656729e+01] [ 1.05207878e-01 -3.83182188e-03 9.94442869e-01 2.00953201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.40925415399994 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:370.58, Y:55.48, Z:20.10 [[ 9.02001249e-01 -4.20591758e-01 -9.74490601e-02 3.70578970e+02] [ 4.18544247e-01 9.07244072e-01 -4.15801397e-02 5.54803520e+01] [ 1.05898346e-01 -3.28140554e-03 9.94371547e-01 2.00980685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.43925415399997 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:370.61, Y:55.53, Z:20.10 [[ 9.08238471e-01 -4.15936588e-01 -4.58217692e-02 3.70608152e+02] [ 4.09065592e-01 9.05588569e-01 -1.12136905e-01 5.55268558e+01] [ 8.81375123e-02 8.31029424e-02 9.92635724e-01 2.01040386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.46925415399994 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:370.65, Y:55.47, Z:20.08 [[ 9.03537443e-01 -4.08020774e-01 -1.30916526e-01 3.70649047e+02] [ 4.15262478e-01 9.09117770e-01 3.25876505e-02 5.54707574e+01] [ 1.05722102e-01 -8.38088833e-02 9.90857663e-01 2.00825431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.49925415399997 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:370.66, Y:55.52, Z:20.11 [[ 9.04654011e-01 -4.14324154e-01 -9.96825720e-02 3.70664263e+02] [ 4.13312900e-01 9.10041613e-01 -3.15706972e-02 5.55178446e+01] [ 1.03795791e-01 -1.26395351e-02 9.94518314e-01 2.01064057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.52925415399994 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:370.69, Y:55.54, Z:20.11 [[ 9.05127976e-01 -4.14337680e-01 -9.52241293e-02 3.70692027e+02] [ 4.12339676e-01 9.10120024e-01 -4.07128190e-02 5.55360083e+01] [ 1.03534242e-01 -2.41437520e-03 9.94622960e-01 2.01126970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.559254154 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:370.72, Y:55.55, Z:20.12 [[ 9.05535918e-01 -4.13563594e-01 -9.47093207e-02 3.70720830e+02] [ 4.11584236e-01 9.10472268e-01 -4.04804354e-02 5.55499454e+01] [ 1.02971444e-01 -2.32437516e-03 9.94681597e-01 2.01163476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.58925415399995 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:370.75, Y:55.56, Z:20.12 [[ 9.05487359e-01 -4.13742545e-01 -9.43914629e-02 3.70749731e+02] [ 4.11778496e-01 9.10390906e-01 -4.03344519e-02 5.55630557e+01] [ 1.02621208e-01 -2.34603830e-03 9.94717741e-01 2.01196184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.619254154 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:370.78, Y:55.61, Z:20.12 [[ 9.09959702e-01 -4.11957215e-01 -4.75877394e-02 3.70781806e+02] [ 4.05792451e-01 9.08191296e-01 -1.02572206e-01 5.56056569e+01] [ 8.54741310e-02 7.40258286e-02 9.93586609e-01 2.01240257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.64925415399995 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:370.83, Y:55.55, Z:20.10 [[ 9.04243960e-01 -4.07843031e-01 -1.26518469e-01 3.70825625e+02] [ 4.14713129e-01 9.09368723e-01 3.25813742e-02 5.55536613e+01] [ 1.01763852e-01 -8.19303810e-02 9.91429035e-01 2.01019623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.679254154 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:370.84, Y:55.60, Z:20.13 [[ 9.03137036e-01 -4.18686036e-01 -9.51078224e-02 3.70838010e+02] [ 4.16716126e-01 9.08126413e-01 -4.06704847e-02 5.56021436e+01] [ 1.03398090e-01 -2.90194223e-03 9.94635820e-01 2.01296405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.70925415399995 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:370.87, Y:55.61, Z:20.13 [[ 9.02241944e-01 -4.20485810e-01 -9.56616880e-02 3.70867665e+02] [ 4.18504173e-01 9.07293690e-01 -4.08952032e-02 5.56144487e+01] [ 1.03989099e-01 -3.13744793e-03 9.94573488e-01 2.01328116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.739254154 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:370.90, Y:55.63, Z:20.14 [[ 9.01082822e-01 -4.22864536e-01 -9.61006314e-02 3.70896672e+02] [ 4.20879004e-01 9.06186394e-01 -4.10741164e-02 5.56268145e+01] [ 1.04453872e-01 -3.43555723e-03 9.94523798e-01 2.01360515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.76925415399995 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:370.92, Y:55.64, Z:20.14 [[ 8.98871036e-01 -4.27237149e-01 -9.74642505e-02 3.70923632e+02] [ 4.25221617e-01 9.04130704e-01 -4.16442884e-02 5.56375473e+01] [ 1.05912408e-01 -4.01106154e-03 9.94367373e-01 2.01383221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.7992541539999 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:370.95, Y:55.65, Z:20.14 [[ 8.97795495e-01 -4.29353387e-01 -9.80760815e-02 3.70949404e+02] [ 4.27324071e-01 9.03126431e-01 -4.19140570e-02 5.56481097e+01] [ 1.06571044e-01 -4.28001885e-03 9.94295879e-01 2.01401005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.82925415399995 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:370.98, Y:55.66, Z:20.14 [[ 8.96588494e-01 -4.31882767e-01 -9.80119737e-02 3.70977463e+02] [ 4.29867969e-01 9.01918270e-01 -4.19161415e-02 5.56605292e+01] [ 1.06501649e-01 -4.55067786e-03 9.94302112e-01 2.01441817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.8592541539999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:371.01, Y:55.67, Z:20.15 [[ 8.95367358e-01 -4.34378859e-01 -9.81442907e-02 3.71007604e+02] [ 4.32373621e-01 9.00717179e-01 -4.19716093e-02 5.56736946e+01] [ 1.06631828e-01 -4.85499345e-03 9.94286720e-01 2.01478599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.88925415399996 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:371.04, Y:55.69, Z:20.15 [[ 8.95111728e-01 -4.34927535e-01 -9.80460812e-02 3.71037614e+02] [ 4.32930993e-01 9.00451976e-01 -4.19165057e-02 5.56868124e+01] [ 1.06516430e-01 -4.92723141e-03 9.94298734e-01 2.01514134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.91925415399993 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:371.07, Y:55.70, Z:20.15 [[ 8.94993333e-01 -4.35221471e-01 -9.78223119e-02 3.71067766e+02] [ 4.33237195e-01 9.00309749e-01 -4.18077605e-02 5.56999004e+01] [ 1.06266016e-01 -4.96259710e-03 9.94325352e-01 2.01549636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.94925415399996 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:371.10, Y:55.71, Z:20.16 [[ 8.95116794e-01 -4.35165048e-01 -9.69397049e-02 3.71097009e+02] [ 4.33217501e-01 9.00337245e-01 -4.14179072e-02 5.57128816e+01] [ 1.05302052e-01 -4.92211244e-03 9.94428102e-01 2.01582547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.97925415399993 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:371.13, Y:55.73, Z:20.16 [[ 8.95153958e-01 -4.35030356e-01 -9.72007266e-02 3.71127092e+02] [ 4.33072653e-01 9.00402293e-01 -4.15185225e-02 5.57261537e+01] [ 1.05581575e-01 -4.92950687e-03 9.94398427e-01 2.01615729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.00925415399996 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:371.16, Y:55.74, Z:20.17 [[ 8.95245585e-01 -4.34719888e-01 -9.77443709e-02 3.71155902e+02] [ 4.32739714e-01 9.00552215e-01 -4.17378433e-02 5.57392585e+01] [ 1.06168180e-01 -4.93225120e-03 9.94335955e-01 2.01651261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.03925415399993 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:371.19, Y:55.75, Z:20.17 [[ 8.95196470e-01 -4.34737922e-01 -9.81132947e-02 3.71186296e+02] [ 4.32744031e-01 9.00543339e-01 -4.18843407e-02 5.57525319e+01] [ 1.06563985e-01 -4.96322875e-03 9.94293459e-01 2.01687011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.06925415399996 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:371.22, Y:55.77, Z:20.17 [[ 8.95236492e-01 -4.34654462e-01 -9.81178961e-02 3.71216253e+02] [ 4.32661251e-01 9.00583615e-01 -4.18735591e-02 5.57652483e+01] [ 1.06563899e-01 -4.96507353e-03 9.94293459e-01 2.01718907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.09925415399994 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:371.24, Y:55.78, Z:20.17 [[ 8.94893978e-01 -4.35101242e-01 -9.92556148e-02 3.71244345e+02] [ 4.33065314e-01 9.00367166e-01 -4.23485520e-02 5.57775629e+01] [ 1.07792404e-01 -5.08669975e-03 9.94160411e-01 2.01748468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.12925415399997 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:371.27, Y:55.79, Z:20.18 [[ 8.94724873e-01 -4.35086639e-01 -1.00831632e-01 3.71272904e+02] [ 4.32986038e-01 9.00373733e-01 -4.30143152e-02 5.57893132e+01] [ 1.09501107e-01 -5.17271120e-03 9.93973214e-01 2.01768762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.15925415399994 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:371.30, Y:55.80, Z:20.18 [[ 8.94184532e-01 -4.36216108e-01 -1.00744873e-01 3.71300375e+02] [ 4.34126888e-01 8.99826258e-01 -4.29715150e-02 5.58021570e+01] [ 1.09397749e-01 -5.31159411e-03 9.93983863e-01 2.01809949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.18925415399997 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:371.33, Y:55.81, Z:20.18 [[ 8.94024988e-01 -4.36261371e-01 -1.01957530e-01 3.71326734e+02] [ 4.34121702e-01 8.99803897e-01 -4.34890150e-02 5.58145929e+01] [ 1.10714360e-01 -5.38171010e-03 9.93837697e-01 2.01845596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.21925415399994 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:371.35, Y:55.83, Z:20.19 [[ 8.94172787e-01 -4.35801226e-01 -1.02627088e-01 3.71352688e+02] [ 4.33629650e-01 9.00027008e-01 -4.37802596e-02 5.58264396e+01] [ 1.11446642e-01 -5.35503143e-03 9.93755991e-01 2.01872754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.24925415399997 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:371.38, Y:55.84, Z:20.19 [[ 8.94621567e-01 -4.34915129e-01 -1.02474787e-01 3.71380723e+02] [ 4.32741353e-01 9.00456356e-01 -4.37409564e-02 5.58394516e+01] [ 1.11297677e-01 -5.21347479e-03 9.93773438e-01 2.01908454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.27925415399994 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:371.41, Y:55.85, Z:20.19 [[ 8.95519196e-01 -4.32988508e-01 -1.02792613e-01 3.71407965e+02] [ 4.30788994e-01 9.01385612e-01 -4.38727789e-02 5.58522444e+01] [ 1.11652191e-01 -4.99301054e-03 9.93734803e-01 2.01940545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.309254154 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:371.44, Y:55.87, Z:20.20 [[ 8.97652249e-01 -4.28652076e-01 -1.02361305e-01 3.71435751e+02] [ 4.26443039e-01 9.03458759e-01 -4.36876019e-02 5.58677832e+01] [ 1.11205999e-01 -4.43499188e-03 9.93787481e-01 2.01979688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.33925415399995 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:371.47, Y:55.88, Z:20.20 [[ 8.99269104e-01 -4.25200735e-01 -1.02564189e-01 3.71465440e+02] [ 4.22961597e-01 9.05090127e-01 -4.37646983e-02 5.58813234e+01] [ 1.11438617e-01 -4.02447224e-03 9.93763170e-01 2.02003658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.369254154 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:371.49, Y:55.90, Z:20.20 [[ 9.01961552e-01 -4.19772579e-01 -1.01273592e-01 3.71493396e+02] [ 4.17556845e-01 9.07623241e-01 -4.32010833e-02 5.58973323e+01] [ 1.10052896e-01 -3.32176550e-03 9.93920181e-01 2.02049098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.39925415399995 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:371.52, Y:55.95, Z:20.21 [[ 9.09387683e-01 -4.13438652e-01 -4.56346631e-02 3.71521958e+02] [ 4.05934403e-01 9.06064464e-01 -1.19433865e-01 5.59454927e+01] [ 9.07265229e-02 9.00870064e-02 9.91792836e-01 2.02105797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.429254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:371.57, Y:55.88, Z:20.18 [[ 9.04706471e-01 -4.03068474e-01 -1.37992773e-01 3.71568911e+02] [ 4.12336617e-01 9.09888231e-01 4.56280739e-02 5.58825991e+01] [ 1.07166762e-01 -9.81794869e-02 9.89381662e-01 2.01832415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.45925415399995 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:371.58, Y:55.94, Z:20.22 [[ 9.08053403e-01 -4.06803325e-01 -9.97500454e-02 3.71576929e+02] [ 4.04569871e-01 9.13514238e-01 -4.26022991e-02 5.59403155e+01] [ 1.08453844e-01 -1.67070033e-03 9.94100082e-01 2.02166240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.489254154 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:371.60, Y:55.97, Z:20.22 [[ 9.13145626e-01 -4.00133398e-01 -7.78352715e-02 3.71604315e+02] [ 3.95546387e-01 9.15919700e-01 -6.80746491e-02 5.59678179e+01] [ 9.85297992e-02 3.13746076e-02 9.94639388e-01 2.02193302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.51925415399995 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:371.64, Y:55.95, Z:20.21 [[ 9.11864781e-01 -3.94986801e-01 -1.11749931e-01 3.71641941e+02] [ 3.96206225e-01 9.18082767e-01 -1.20275026e-02 5.59537228e+01] [ 1.07346391e-01 -3.33085624e-02 9.93663571e-01 2.02121317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.5492541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:371.67, Y:55.98, Z:20.23 [[ 9.12710771e-01 -3.96351732e-01 -9.93194488e-02 3.71665395e+02] [ 3.94080866e-01 9.18098625e-01 -4.23696379e-02 5.59806459e+01] [ 1.07978329e-01 -4.68669489e-04 9.94153138e-01 2.02254366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.57925415399995 meters Centerline goodness : 0.995672 Centerline is valid? [True, True] Translation: X:371.68, Y:56.00, Z:20.23 [[ 9.13738234e-01 -3.97820298e-01 -8.25920665e-02 3.71684335e+02] [ 3.93187457e-01 9.17012211e-01 -6.70240907e-02 5.60045110e+01] [ 1.02401477e-01 2.87683097e-02 9.94327070e-01 2.02301046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.6092541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:371.72, Y:55.99, Z:20.22 [[ 9.12083251e-01 -3.94692243e-01 -1.11005296e-01 3.71723728e+02] [ 3.95387653e-01 9.18364004e-01 -1.66180563e-02 5.59903759e+01] [ 1.08502286e-01 -2.87330726e-02 9.93680867e-01 2.02209575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.63925415399996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:371.75, Y:56.01, Z:20.23 [[ 9.11575638e-01 -3.98713069e-01 -1.00288309e-01 3.71747982e+02] [ 3.96407006e-01 9.17075448e-01 -4.28264962e-02 5.60145113e+01] [ 1.09047430e-01 -7.15397720e-04 9.94036290e-01 2.02329988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.66925415399993 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:371.78, Y:56.03, Z:20.24 [[ 9.10626625e-01 -4.00861975e-01 -1.00343545e-01 3.71778613e+02] [ 3.98567798e-01 9.16137930e-01 -4.28369473e-02 5.60268224e+01] [ 1.09100231e-01 -9.85241150e-04 9.94030266e-01 2.02358230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.69925415399996 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:371.80, Y:56.05, Z:20.24 [[ 9.09137119e-01 -4.08060158e-01 -8.34062731e-02 3.71797395e+02] [ 4.03195238e-01 9.12479941e-01 -6.93826843e-02 5.60495765e+01] [ 1.04418860e-01 2.94493615e-02 9.94097297e-01 2.02402280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.72925415399993 meters Centerline goodness : 0.997245 Centerline is valid? [True, True] Translation: X:371.83, Y:56.05, Z:20.23 [[ 9.07793096e-01 -4.07956429e-01 -9.73819604e-02 3.71830346e+02] [ 4.06000138e-01 9.12995802e-01 -4.00318991e-02 5.60455329e+01] [ 1.05240592e-01 -3.19640767e-03 9.94441653e-01 2.02324014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.75925415399996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:371.86, Y:56.06, Z:20.24 [[ 9.07289186e-01 -4.09537297e-01 -9.54229301e-02 3.71860646e+02] [ 4.07297435e-01 9.12293373e-01 -4.27738355e-02 5.60568383e+01] [ 1.04571188e-01 -5.72762130e-05 9.94517402e-01 2.02372481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.78925415399993 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:371.89, Y:56.05, Z:20.24 [[ 9.03827959e-01 -4.11574641e-01 -1.17052705e-01 3.71892498e+02] [ 4.12979909e-01 9.10645613e-01 -1.31210355e-02 5.60536403e+01] [ 1.11993818e-01 -3.64812566e-02 9.93039024e-01 2.02412695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.81925415399996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:371.92, Y:56.08, Z:20.26 [[ 9.01721272e-01 -4.19862047e-01 -1.03027225e-01 3.71916041e+02] [ 4.17552271e-01 9.07582106e-01 -4.41001406e-02 5.60793839e+01] [ 1.12021641e-01 -3.25321672e-03 9.93700442e-01 2.02553796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.84925415399994 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:371.95, Y:56.09, Z:20.26 [[ 9.00782707e-01 -4.22013701e-01 -1.02444863e-01 3.71946754e+02] [ 4.19745391e-01 9.06582647e-01 -4.38373209e-02 5.60914481e+01] [ 1.11374685e-01 -3.51285862e-03 9.93772277e-01 2.02583639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.87925415399997 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:371.98, Y:56.10, Z:20.26 [[ 8.99866503e-01 -4.24014939e-01 -1.02233105e-01 3.71977400e+02] [ 4.21770374e-01 9.05647369e-01 -4.37332162e-02 5.61035492e+01] [ 1.11130680e-01 -3.76483871e-03 9.93798671e-01 2.02619238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.90925415399994 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:372.01, Y:56.11, Z:20.27 [[ 8.98225452e-01 -4.27600743e-01 -1.01728276e-01 3.72007204e+02] [ 4.25402670e-01 9.03957948e-01 -4.35039794e-02 5.61146495e+01] [ 1.10560418e-01 -4.19909875e-03 9.93860534e-01 2.02652390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.93925415399997 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:372.04, Y:56.13, Z:20.27 [[ 8.97490614e-01 -4.29261931e-01 -1.01216564e-01 3.72037274e+02] [ 4.27097679e-01 9.03169371e-01 -4.32742415e-02 5.61268003e+01] [ 1.09991685e-01 -4.39113418e-03 9.93922807e-01 2.02681645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.96925415399994 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:372.07, Y:56.14, Z:20.27 [[ 8.96911475e-01 -4.30679656e-01 -1.00323680e-01 3.72067656e+02] [ 4.28563288e-01 9.02493487e-01 -4.28837350e-02 5.61392687e+01] [ 1.09010620e-01 -4.53213219e-03 9.94030253e-01 2.02712020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.99925415399997 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:372.10, Y:56.15, Z:20.27 [[ 8.95332620e-01 -4.33961960e-01 -1.00282185e-01 3.72098301e+02] [ 4.31869241e-01 9.00917644e-01 -4.28527458e-02 5.61519346e+01] [ 1.08942452e-01 -4.94133009e-03 9.94035777e-01 2.02744849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.02925415399994 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:372.13, Y:56.16, Z:20.28 [[ 8.94426904e-01 -4.35810867e-01 -1.00346407e-01 3.72128400e+02] [ 4.33728492e-01 9.00023353e-01 -4.28667573e-02 5.61647471e+01] [ 1.08995909e-01 -5.18191492e-03 9.94028692e-01 2.02779694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.059254154 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:372.16, Y:56.18, Z:20.28 [[ 8.92453480e-01 -4.39902017e-01 -1.00064986e-01 3.72159161e+02] [ 4.37858285e-01 8.98027833e-01 -4.27332777e-02 5.61772358e+01] [ 1.08659597e-01 -5.67682058e-03 9.94062808e-01 2.02803075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.08925415399995 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:372.19, Y:56.19, Z:20.28 [[ 8.91399573e-01 -4.42032431e-01 -1.00070632e-01 3.72188471e+02] [ 4.40003235e-01 8.96979344e-01 -4.27224671e-02 5.61895594e+01] [ 1.08646006e-01 -5.94861300e-03 9.94062704e-01 2.02833447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.119254154 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:372.22, Y:56.20, Z:20.29 [[ 8.90396930e-01 -4.44039913e-01 -1.00109252e-01 3.72218721e+02] [ 4.42022962e-01 8.95985514e-01 -4.27277312e-02 5.62019635e+01] [ 1.08669258e-01 -6.20594747e-03 9.94058589e-01 2.02862457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.14925415399995 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:372.25, Y:56.22, Z:20.29 [[ 8.88635017e-01 -4.47375272e-01 -1.00911707e-01 3.72248909e+02] [ 4.45348593e-01 8.94321393e-01 -4.30566658e-02 5.62150233e+01] [ 1.09509986e-01 -6.67922562e-03 9.93963254e-01 2.02893694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.179254154 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:372.28, Y:56.23, Z:20.29 [[ 8.87959153e-01 -4.48642933e-01 -1.01232710e-01 3.72278748e+02] [ 4.46612985e-01 8.93684690e-01 -4.31800371e-02 5.62284776e+01] [ 1.09842541e-01 -6.86973361e-03 9.93925260e-01 2.02922426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.20925415399995 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:372.31, Y:56.24, Z:20.29 [[ 8.87808930e-01 -4.48692012e-01 -1.02326842e-01 3.72309301e+02] [ 4.46619720e-01 8.93659325e-01 -4.36329804e-02 5.62414984e+01] [ 1.11023107e-01 -6.96343608e-03 9.93793429e-01 2.02936994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.239254154 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:372.34, Y:56.26, Z:20.30 [[ 8.87336428e-01 -4.49305262e-01 -1.03724853e-01 3.72337727e+02] [ 4.47181568e-01 8.93349684e-01 -4.42152374e-02 5.62566035e+01] [ 1.12528704e-01 -7.15005165e-03 9.93622749e-01 2.02981472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.26925415399995 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:372.36, Y:56.27, Z:20.30 [[ 8.87482156e-01 -4.48859175e-01 -1.04407203e-01 3.72363942e+02] [ 4.46705470e-01 8.93573904e-01 -4.44960838e-02 5.62693709e+01] [ 1.13268027e-01 -7.14978817e-03 9.93538743e-01 2.03011147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.2992541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:372.39, Y:56.28, Z:20.30 [[ 8.88072339e-01 -4.47519734e-01 -1.05136137e-01 3.72392908e+02] [ 4.45326132e-01 8.94246458e-01 -4.48096847e-02 5.62829865e+01] [ 1.14070837e-01 -7.02562789e-03 9.93447777e-01 2.03036052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.32925415399995 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:372.42, Y:56.30, Z:20.31 [[ 8.89620313e-01 -4.44468200e-01 -1.04993896e-01 3.72420122e+02] [ 4.42260440e-01 8.95770073e-01 -4.47401353e-02 5.62988261e+01] [ 1.13935957e-01 -6.63291340e-03 9.93465954e-01 2.03080494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.3592541539999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:372.45, Y:56.31, Z:20.31 [[ 8.90716918e-01 -4.42331415e-01 -1.04720066e-01 3.72449128e+02] [ 4.40121307e-01 8.96829198e-01 -4.46164141e-02 5.63134189e+01] [ 1.13651255e-01 -6.34893765e-03 9.93500419e-01 2.03119539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.38925415399996 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:372.48, Y:56.33, Z:20.31 [[ 8.92116380e-01 -4.39380431e-01 -1.05229277e-01 3.72476739e+02] [ 4.37129437e-01 8.98280972e-01 -4.48235468e-02 5.63267895e+01] [ 1.14220046e-01 -6.01099420e-03 9.93437290e-01 2.03143557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.41925415399993 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:372.50, Y:56.34, Z:20.32 [[ 8.94588056e-01 -4.34767044e-01 -1.03391627e-01 3.72503421e+02] [ 4.32565052e-01 9.00527137e-01 -4.40267044e-02 5.63441846e+01] [ 1.12248326e-01 -5.33784079e-03 9.93665850e-01 2.03204017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.44925415399996 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:372.54, Y:56.35, Z:20.32 [[ 8.95509911e-01 -4.30436416e-01 -1.13077363e-01 3.72535564e+02] [ 4.30240240e-01 9.02298637e-01 -2.73953367e-02 5.63512008e+01] [ 1.13821502e-01 -2.41176365e-02 9.93208440e-01 2.03218203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.47925415399993 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:372.55, Y:56.38, Z:20.33 [[ 8.97546756e-01 -4.30563759e-01 -9.49982692e-02 3.72554758e+02] [ 4.26434013e-01 9.02444727e-01 -6.12172083e-02 5.63809442e+01] [ 1.12088598e-01 1.44348135e-02 9.93593369e-01 2.03345838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.50925415399996 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:372.59, Y:56.39, Z:20.33 [[ 9.00412949e-01 -4.22915562e-01 -1.01975239e-01 3.72587364e+02] [ 4.20702173e-01 9.06160960e-01 -4.33819808e-02 5.63885558e+01] [ 1.10752895e-01 -3.83950742e-03 9.93840558e-01 2.03313062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.53925415399993 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:372.62, Y:56.40, Z:20.33 [[ 9.01801664e-01 -4.19941431e-01 -1.01994868e-01 3.72617071e+02] [ 4.17709227e-01 9.07544525e-01 -4.33813022e-02 5.64024402e+01] [ 1.10782490e-01 -3.48286679e-03 9.93838573e-01 2.03345208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.56925415399996 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:372.65, Y:56.42, Z:20.34 [[ 9.03813450e-01 -4.15567376e-01 -1.02102912e-01 3.72646016e+02] [ 4.13304069e-01 9.09557577e-01 -4.34138343e-02 5.64188048e+01] [ 1.10909850e-01 -2.96154139e-03 9.93826058e-01 2.03392800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.59925415399994 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:372.68, Y:56.43, Z:20.34 [[ 9.04868019e-01 -4.13207857e-01 -1.02338337e-01 3.72675087e+02] [ 4.10920716e-01 9.10632757e-01 -4.34988098e-02 5.64326792e+01] [ 1.11166692e-01 -2.69226089e-03 9.93798128e-01 2.03426372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.62925415399997 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:372.71, Y:56.45, Z:20.35 [[ 9.05807410e-01 -4.11093486e-01 -1.02543069e-01 3.72705303e+02] [ 4.08787165e-01 9.11589855e-01 -4.35544610e-02 5.64465281e+01] [ 1.11382177e-01 -2.46633708e-03 9.93774586e-01 2.03458951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.65925415399994 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:372.73, Y:56.46, Z:20.35 [[ 9.07666786e-01 -4.06840901e-01 -1.03060597e-01 3.72734150e+02] [ 4.04485279e-01 9.13496916e-01 -4.37612050e-02 5.64604094e+01] [ 1.11949386e-01 -1.96590201e-03 9.93711965e-01 2.03488005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.68925415399997 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:372.76, Y:56.47, Z:20.35 [[ 9.08659486e-01 -4.04529051e-01 -1.03412695e-01 3.72764627e+02] [ 4.02143592e-01 9.14523574e-01 -4.38994846e-02 5.64738761e+01] [ 1.12331965e-01 -1.69706970e-03 9.93669286e-01 2.03521967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.71925415399994 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:372.79, Y:56.49, Z:20.36 [[ 9.09197444e-01 -4.03109650e-01 -1.04223883e-01 3.72790593e+02] [ 4.00678165e-01 9.15150389e-01 -4.42354439e-02 5.64866870e+01] [ 1.13212262e-01 -1.54148181e-03 9.93569629e-01 2.03557410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.74925415399997 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:372.82, Y:56.50, Z:20.36 [[ 9.11615297e-01 -3.97948975e-01 -1.02927957e-01 3.72816555e+02] [ 3.95360422e-01 9.17407340e-01 -4.53200690e-02 5.64967993e+01] [ 1.12461938e-01 6.20827750e-04 9.93655839e-01 2.03567181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.77925415399994 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:372.85, Y:56.51, Z:20.36 [[ 9.12859386e-01 -3.95238618e-01 -1.02343419e-01 3.72847761e+02] [ 3.92938161e-01 9.18577530e-01 -4.26019084e-02 5.65099988e+01] [ 1.10848284e-01 -1.32508279e-03 9.93836456e-01 2.03587813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.809254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:372.87, Y:56.52, Z:20.36 [[ 9.12472990e-01 -3.95394738e-01 -1.05147723e-01 3.72872500e+02] [ 3.93120888e-01 9.18507547e-01 -4.24246874e-02 5.65220462e+01] [ 1.13353476e-01 -2.62438500e-03 9.93551258e-01 2.03639025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.83925415399995 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:372.90, Y:56.54, Z:20.37 [[ 9.12454109e-01 -3.94995997e-01 -1.06797292e-01 3.72901401e+02] [ 3.92372873e-01 9.18682738e-01 -4.54483774e-02 5.65370219e+01] [ 1.16064756e-01 -4.34801741e-04 9.93241553e-01 2.03724684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.869254154 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:372.93, Y:56.55, Z:20.37 [[ 9.14146634e-01 -3.92228666e-01 -1.02433421e-01 3.72931490e+02] [ 3.89800756e-01 9.19867743e-01 -4.35741497e-02 5.65464852e+01] [ 1.11316230e-01 -9.54625186e-05 9.93785031e-01 2.03702911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.89925415399995 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:372.96, Y:56.56, Z:20.37 [[ 9.14462872e-01 -3.91605143e-01 -1.01995430e-01 3.72961936e+02] [ 3.89195285e-01 9.20133366e-01 -4.33776304e-02 5.65585794e+01] [ 1.10836301e-01 -2.89079421e-05 9.93838676e-01 2.03735312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.929254154 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:372.99, Y:56.57, Z:20.38 [[ 9.14746246e-01 -3.91167579e-01 -1.01129773e-01 3.72993218e+02] [ 3.88799764e-01 9.20319469e-01 -4.29746297e-02 5.65705917e+01] [ 1.09881981e-01 -8.35086952e-06 9.93944641e-01 2.03764104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.95925415399995 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:373.02, Y:56.58, Z:20.38 [[ 9.14003627e-01 -3.93198843e-01 -9.99601862e-02 3.73018968e+02] [ 3.90900996e-01 9.19453421e-01 -4.24478352e-02 5.65807358e+01] [ 1.08599175e-01 -2.77060902e-04 9.94085581e-01 2.03804635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.989254154 meters Centerline goodness : 0.997483 Centerline is valid? [True, True] Translation: X:373.04, Y:56.59, Z:20.38 [[ 9.13864311e-01 -3.93526336e-01 -9.99452041e-02 3.73044850e+02] [ 3.91226587e-01 9.19313301e-01 -4.24830831e-02 5.65919582e+01] [ 1.08599168e-01 -2.77447543e-04 9.94085582e-01 2.03833640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.01925415399995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:373.07, Y:56.60, Z:20.38 [[ 9.13733336e-01 -3.94017866e-01 -9.92033920e-02 3.73070998e+02] [ 3.91750755e-01 9.19102733e-01 -4.22079630e-02 5.66001811e+01] [ 1.07808800e-01 -2.96180909e-04 9.94171602e-01 2.03844072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.0492541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:373.10, Y:56.61, Z:20.39 [[ 9.12049733e-01 -3.97983161e-01 -9.88670190e-02 3.73103166e+02] [ 3.95752869e-01 9.17392416e-01 -4.20811285e-02 5.66098255e+01] [ 1.07447434e-01 -7.46824378e-04 9.94210486e-01 2.03872176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.07925415399995 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:373.13, Y:56.62, Z:20.39 [[ 9.10930173e-01 -4.00398350e-01 -9.94353108e-02 3.73134626e+02] [ 3.98160432e-01 9.16340557e-01 -4.22877559e-02 5.66202115e+01] [ 1.08048556e-01 -1.07001350e-03 9.94145042e-01 2.03899418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.1092541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:373.17, Y:56.63, Z:20.39 [[ 9.09756869e-01 -4.02909110e-01 -1.00033431e-01 3.73165712e+02] [ 4.00663016e-01 9.15238912e-01 -4.25074360e-02 5.66298257e+01] [ 1.08681122e-01 -1.40826424e-03 9.94075666e-01 2.03920257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.13925415399996 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:373.20, Y:56.64, Z:20.40 [[ 9.08155656e-01 -4.06703526e-01 -9.92247242e-02 3.73197290e+02] [ 4.04518656e-01 9.13558293e-01 -4.21414457e-02 5.66410286e+01] [ 1.07786644e-01 -1.86725980e-03 9.94172295e-01 2.03953777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.16925415399993 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:373.23, Y:56.67, Z:20.40 [[ 9.08563332e-01 -4.11285418e-01 -7.31913662e-02 3.73232167e+02] [ 4.05974643e-01 9.10602263e-01 -7.73828639e-02 5.66652273e+01] [ 9.84746672e-02 4.05933939e-02 9.94311277e-01 2.03997777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.19925415399996 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:373.27, Y:56.64, Z:20.39 [[ 9.04087787e-01 -4.10967727e-01 -1.17178497e-01 3.73267989e+02] [ 4.13815215e-01 9.10360899e-01 -3.12954499e-05 5.66388536e+01] [ 1.06687583e-01 -4.84619509e-02 9.93110869e-01 2.03862788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.22925415399993 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:373.29, Y:56.67, Z:20.40 [[ 9.02325697e-01 -4.19203861e-01 -1.00381572e-01 3.73290128e+02] [ 4.17046557e-01 9.07885710e-01 -4.26111053e-02 5.66678949e+01] [ 1.08997735e-01 -3.41469366e-03 9.94036133e-01 2.04036343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.25925415399996 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:373.32, Y:56.68, Z:20.41 [[ 9.01810884e-01 -4.20321954e-01 -1.00332372e-01 3.73321382e+02] [ 4.18175075e-01 9.07368053e-01 -4.25772726e-02 5.66796167e+01] [ 1.08934551e-01 -3.55984930e-03 9.94042550e-01 2.04072299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.28925415399993 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:373.36, Y:56.69, Z:20.41 [[ 9.01877590e-01 -4.19985093e-01 -1.01140174e-01 3.73355006e+02] [ 4.18050340e-01 9.07513634e-01 -4.06560933e-02 5.66903354e+01] [ 1.08861040e-01 -5.61486470e-03 9.94041120e-01 2.04101709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.31925415399996 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:373.38, Y:56.70, Z:20.41 [[ 9.01286083e-01 -4.21469909e-01 -1.00232298e-01 3.73382023e+02] [ 4.19171731e-01 9.06839360e-01 -4.40162954e-02 5.67016367e+01] [ 1.09446137e-01 -2.34327164e-03 9.93989966e-01 2.04137786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.34925415399994 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:373.41, Y:56.71, Z:20.42 [[ 9.01225461e-01 -4.21321997e-01 -1.01392522e-01 3.73412618e+02] [ 4.19141051e-01 9.06903306e-01 -4.29787589e-02 5.67125909e+01] [ 1.10061110e-01 -3.76421634e-03 9.93917694e-01 2.04169236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.37925415399997 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:373.44, Y:56.72, Z:20.42 [[ 9.01379732e-01 -4.21053792e-01 -1.01134971e-01 3.73442751e+02] [ 4.18883197e-01 9.07028001e-01 -4.28610881e-02 5.67240648e+01] [ 1.09779074e-01 -3.72962397e-03 9.93949015e-01 2.04199980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.40925415399994 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:373.47, Y:56.73, Z:20.42 [[ 9.01647588e-01 -4.20347409e-01 -1.01684229e-01 3.73472323e+02] [ 4.18149593e-01 9.07355816e-01 -4.30852882e-02 5.67343077e+01] [ 1.10374566e-01 -3.67147265e-03 9.93883281e-01 2.04233386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.43925415399997 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:373.50, Y:56.74, Z:20.43 [[ 9.01706975e-01 -4.20178107e-01 -1.01857199e-01 3.73498560e+02] [ 4.17972136e-01 9.07434272e-01 -4.31547782e-02 5.67445941e+01] [ 1.10561407e-01 -3.66050662e-03 9.93862554e-01 2.04260676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.46925415399994 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:373.53, Y:56.75, Z:20.43 [[ 9.02291313e-01 -4.18720088e-01 -1.02683370e-01 3.73525876e+02] [ 4.16465363e-01 9.08108669e-01 -4.35344407e-02 5.67537319e+01] [ 1.11476404e-01 -3.48331943e-03 9.93760976e-01 2.04282736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.49925415399997 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:373.56, Y:56.77, Z:20.43 [[ 9.02625210e-01 -4.18047266e-01 -1.02490071e-01 3.73556239e+02] [ 4.15793827e-01 9.08419026e-01 -4.34783557e-02 5.67662531e+01] [ 1.11279938e-01 -3.37007891e-03 9.93783386e-01 2.04318117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.52925415399994 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:373.59, Y:56.78, Z:20.44 [[ 9.03122779e-01 -4.16852256e-01 -1.02973021e-01 3.73585660e+02] [ 4.14571365e-01 9.08968440e-01 -4.36687299e-02 5.67778355e+01] [ 1.11802635e-01 -3.25144122e-03 9.93725112e-01 2.04350696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.559254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:373.62, Y:56.79, Z:20.44 [[ 9.04295320e-01 -4.14104565e-01 -1.03766003e-01 3.73616406e+02] [ 4.11772685e-01 9.10224525e-01 -4.39837608e-02 5.67893910e+01] [ 1.12664237e-01 -2.95369641e-03 9.93628726e-01 2.04384334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.58925415399995 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:373.65, Y:56.80, Z:20.44 [[ 9.04774598e-01 -4.12851709e-01 -1.04577213e-01 3.73645656e+02] [ 4.10476317e-01 9.10793855e-01 -4.43141898e-02 5.68014431e+01] [ 1.13543472e-01 -2.83211579e-03 9.93528993e-01 2.04421453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.619254154 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:373.68, Y:56.81, Z:20.45 [[ 9.05544765e-01 -4.11002560e-01 -1.05193032e-01 3.73675911e+02] [ 4.08587708e-01 9.11630412e-01 -4.45654282e-02 5.68135188e+01] [ 1.14213672e-01 -2.62458972e-03 9.93452741e-01 2.04456563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.64925415399995 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:373.70, Y:56.83, Z:20.45 [[ 9.06757245e-01 -4.08338792e-01 -1.05122453e-01 3.73704994e+02] [ 4.05910880e-01 9.12827554e-01 -4.45220722e-02 5.68260881e+01] [ 1.14138760e-01 -2.29963571e-03 9.93462156e-01 2.04496862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.679254154 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:373.73, Y:56.84, Z:20.45 [[ 9.07363652e-01 -4.06827446e-01 -1.05747961e-01 3.73734813e+02] [ 4.04361309e-01 9.13502539e-01 -4.47777056e-02 5.68387185e+01] [ 1.14817831e-01 -2.13072163e-03 9.93384279e-01 2.04533800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.70925415399995 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:373.76, Y:56.85, Z:20.46 [[ 9.08961171e-01 -4.03065765e-01 -1.06431095e-01 3.73764758e+02] [ 4.00542972e-01 9.15169483e-01 -4.50571286e-02 5.68511990e+01] [ 1.15563476e-01 -1.67504657e-03 9.93298685e-01 2.04564509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.739254154 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:373.79, Y:56.86, Z:20.46 [[ 9.09669766e-01 -4.01401128e-01 -1.06667951e-01 3.73793307e+02] [ 3.98857200e-01 9.15901166e-01 -4.51440743e-02 5.68635345e+01] [ 1.15818183e-01 -1.47908073e-03 9.93269329e-01 2.04596511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.76925415399995 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:373.82, Y:56.88, Z:20.46 [[ 9.10469107e-01 -3.99483883e-01 -1.07045003e-01 3.73822448e+02] [ 3.96909521e-01 9.16739371e-01 -4.52963366e-02 5.68760842e+01] [ 1.16227525e-01 -1.24626564e-03 9.93221833e-01 2.04634089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.7992541539999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:373.85, Y:56.89, Z:20.47 [[ 9.11424312e-01 -3.97384436e-01 -1.06730188e-01 3.73852697e+02] [ 3.94812027e-01 9.17651699e-01 -4.51533270e-02 5.68889948e+01] [ 1.15884367e-01 -9.84521732e-04 9.93262223e-01 2.04670427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.82925415399995 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:373.88, Y:56.90, Z:20.47 [[ 9.13086706e-01 -3.93627657e-01 -1.06442167e-01 3.73882135e+02] [ 3.91045420e-01 9.19269817e-01 -4.50164709e-02 5.69018988e+01] [ 1.15568799e-01 -5.19780732e-04 9.93299342e-01 2.04710369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.8592541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:373.91, Y:56.91, Z:20.47 [[ 9.13775240e-01 -3.92037781e-01 -1.06401073e-01 3.73911663e+02] [ 3.89449199e-01 9.19949055e-01 -4.49784056e-02 5.69145377e+01] [ 1.15516801e-01 -3.37659148e-04 9.93305469e-01 2.04746682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.88925415399996 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:373.94, Y:56.93, Z:20.48 [[ 9.14377310e-01 -3.90684495e-01 -1.06206216e-01 3.73939785e+02] [ 3.88097346e-01 9.20524630e-01 -4.48871395e-02 5.69264559e+01] [ 1.15302147e-01 -1.74568679e-04 9.93330451e-01 2.04779750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.91925415399993 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:373.97, Y:56.94, Z:20.48 [[ 9.15407996e-01 -3.88282777e-01 -1.06135226e-01 3.73969072e+02] [ 3.85683813e-01 9.21540271e-01 -4.48500379e-02 5.69387799e+01] [ 1.15222382e-01 1.21444715e-04 9.93339714e-01 2.04816030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.94925415399996 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:374.00, Y:56.95, Z:20.48 [[ 9.15725693e-01 -3.87544546e-01 -1.06092789e-01 3.73997972e+02] [ 3.84943870e-01 9.21850955e-01 -4.48222467e-02 5.69510134e+01] [ 1.15172356e-01 2.05114025e-04 9.93345502e-01 2.04849351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.97925415399993 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:374.03, Y:56.96, Z:20.49 [[ 9.16038737e-01 -3.86806174e-01 -1.06084953e-01 3.74026178e+02] [ 3.84202614e-01 9.22160996e-01 -4.48045592e-02 5.69627641e+01] [ 1.15158086e-01 2.84595601e-04 9.93347137e-01 2.04886789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.00925415399996 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:374.06, Y:56.97, Z:20.49 [[ 9.16540104e-01 -3.85707529e-01 -1.05754146e-01 3.74056218e+02] [ 3.83113747e-01 9.22621011e-01 -4.46578856e-02 5.69748625e+01] [ 1.14795880e-01 4.14876025e-04 9.93389014e-01 2.04924863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.03925415399993 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:374.09, Y:56.99, Z:20.50 [[ 9.16622442e-01 -3.85523606e-01 -1.05711154e-01 3.74085758e+02] [ 3.82931754e-01 9.22697873e-01 -4.46307840e-02 5.69868055e+01] [ 1.14745678e-01 4.29420392e-04 9.93394808e-01 2.04957867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.06925415399996 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:374.12, Y:57.00, Z:20.50 [[ 9.16596721e-01 -3.85660830e-01 -1.05433273e-01 3.74115622e+02] [ 3.83084572e-01 9.22640538e-01 -4.45044786e-02 5.69973621e+01] [ 1.14440646e-01 4.02798729e-04 9.93430006e-01 2.04987405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.09925415399994 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:374.15, Y:57.01, Z:20.50 [[ 9.16552459e-01 -3.85869916e-01 -1.05052358e-01 3.74145205e+02] [ 3.83314674e-01 9.22553128e-01 -4.43349450e-02 5.70083270e+01] [ 1.14023903e-01 3.67192637e-04 9.93477939e-01 2.05014967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.12925415399997 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:374.18, Y:57.02, Z:20.50 [[ 9.16421208e-01 -3.86025142e-01 -1.05625564e-01 3.74175356e+02] [ 3.83443685e-01 9.22488196e-01 -4.45698139e-02 5.70192952e+01] [ 1.14643405e-01 3.43267010e-04 9.93406650e-01 2.05045886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.15925415399994 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:374.21, Y:57.03, Z:20.51 [[ 9.16265616e-01 -3.86830874e-01 -1.04015368e-01 3.74206283e+02] [ 3.84333956e-01 9.22150650e-01 -4.38815224e-02 5.70296767e+01] [ 1.12892567e-01 2.30492163e-04 9.93607173e-01 2.05070709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.18925415399997 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:374.24, Y:57.04, Z:20.51 [[ 9.16088817e-01 -3.87365955e-01 -1.03580386e-01 3.74235256e+02] [ 3.84894335e-01 9.21926023e-01 -4.36893417e-02 5.70404047e+01] [ 1.12417217e-01 1.55813500e-04 9.93661082e-01 2.05099312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.21925415399994 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:374.27, Y:57.05, Z:20.51 [[ 9.15852559e-01 -3.88016397e-01 -1.03234522e-01 3.74266355e+02] [ 3.85566238e-01 9.21652467e-01 -4.35362508e-02 5.70519408e+01] [ 1.12039131e-01 6.90402676e-05 9.93703793e-01 2.05129407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.24925415399997 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:374.30, Y:57.06, Z:20.52 [[ 9.15581597e-01 -3.88717663e-01 -1.02999602e-01 3.74297023e+02] [ 3.86284584e-01 9.21356922e-01 -4.34239858e-02 5.70630308e+01] [ 1.11779067e-01 -2.89561644e-05 9.93733083e-01 2.05155649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.27925415399994 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:374.33, Y:57.07, Z:20.52 [[ 9.14757943e-01 -3.90681377e-01 -1.02888136e-01 3.74328142e+02] [ 3.88266959e-01 9.20525929e-01 -4.33680012e-02 5.70718907e+01] [ 1.11654267e-01 -2.76840094e-04 9.93747074e-01 2.05177388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.309254154 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:374.36, Y:57.08, Z:20.52 [[ 9.14372618e-01 -3.91810290e-01 -1.02016726e-01 3.74357775e+02] [ 3.89444694e-01 9.20045934e-01 -4.29919752e-02 5.70824472e+01] [ 1.10704772e-01 -4.19187474e-04 9.93853248e-01 2.05204045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.33925415399995 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:374.39, Y:57.09, Z:20.52 [[ 9.13860709e-01 -3.93118226e-01 -1.01570984e-01 3.74386580e+02] [ 3.90782101e-01 9.19487750e-01 -4.27975110e-02 5.70930764e+01] [ 1.10217757e-01 -5.81158615e-04 9.93907294e-01 2.05234821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.369254154 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:374.42, Y:57.10, Z:20.53 [[ 9.12616484e-01 -3.96105419e-01 -1.01151616e-01 3.74416255e+02] [ 3.93807573e-01 9.18204556e-01 -4.26144203e-02 5.71029605e+01] [ 1.09757678e-01 -9.43650178e-04 9.93957928e-01 2.05265985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.39925415399995 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:374.45, Y:57.11, Z:20.53 [[ 9.11955679e-01 -3.97583256e-01 -1.01313349e-01 3.74446828e+02] [ 3.95287637e-01 9.17565411e-01 -4.26778793e-02 5.71141384e+01] [ 1.09929635e-01 -1.12757986e-03 9.93938733e-01 2.05294594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.429254154 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:374.48, Y:57.12, Z:20.53 [[ 9.10132930e-01 -4.01764025e-01 -1.01211254e-01 3.74476824e+02] [ 3.99499702e-01 9.15741767e-01 -4.26263212e-02 5.71234326e+01] [ 1.09809095e-01 -1.63824728e-03 9.93951346e-01 2.05318777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.45925415399995 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:374.51, Y:57.13, Z:20.53 [[ 9.09133816e-01 -4.04108269e-01 -1.00857385e-01 3.74506407e+02] [ 4.01874636e-01 9.14709149e-01 -4.24729321e-02 5.71340633e+01] [ 1.09418836e-01 -1.91844612e-03 9.93993882e-01 2.05344179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.489254154 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:374.53, Y:57.14, Z:20.54 [[ 9.08117580e-01 -4.06372733e-01 -1.00914139e-01 3.74534413e+02] [ 4.04150932e-01 9.13704755e-01 -4.24928812e-02 5.71440573e+01] [ 1.09473677e-01 -2.19601068e-03 9.93987269e-01 2.05370571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.51925415399995 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:374.56, Y:57.15, Z:20.54 [[ 9.05880076e-01 -4.11382221e-01 -1.00727139e-01 3.74561060e+02] [ 4.09198980e-01 9.11458653e-01 -4.24183787e-02 5.71525196e+01] [ 1.09258789e-01 -2.79147823e-03 9.94009419e-01 2.05391785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.5492541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:374.59, Y:57.16, Z:20.54 [[ 9.04970008e-01 -4.13488525e-01 -1.00282222e-01 3.74589010e+02] [ 4.11333910e-01 9.10504380e-01 -4.22633290e-02 5.71632583e+01] [ 1.08782804e-01 -3.00243316e-03 9.94061008e-01 2.05417839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.57925415399995 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:374.62, Y:57.17, Z:20.55 [[ 9.04002139e-01 -4.15717100e-01 -9.97969210e-02 3.74616536e+02] [ 4.13596383e-01 9.09488168e-01 -4.20631076e-02 5.71742606e+01] [ 1.08250472e-01 -3.25050637e-03 9.94118338e-01 2.05450475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.6092541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:374.64, Y:57.18, Z:20.55 [[ 9.03107595e-01 -4.17743051e-01 -9.94354854e-02 3.74642159e+02] [ 4.15649419e-01 9.08558562e-01 -4.19154000e-02 5.71844954e+01] [ 1.07852829e-01 -3.47618571e-03 9.94160794e-01 2.05479210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.63925415399996 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:374.67, Y:57.20, Z:20.55 [[ 9.01869629e-01 -4.20541095e-01 -9.88754780e-02 3.74670596e+02] [ 4.18486666e-01 9.07265618e-01 -4.16894318e-02 5.71952305e+01] [ 1.07238441e-01 -3.77963681e-03 9.94226147e-01 2.05503826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.66925415399993 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:374.70, Y:57.21, Z:20.55 [[ 9.01435861e-01 -4.21463268e-01 -9.89045151e-02 3.74697146e+02] [ 4.19413120e-01 9.06837130e-01 -4.17019796e-02 5.72059067e+01] [ 1.07266139e-01 -3.89019135e-03 9.94222732e-01 2.05531588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.69925415399996 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:374.72, Y:57.22, Z:20.56 [[ 9.01055156e-01 -4.22300872e-01 -9.88007046e-02 3.74721751e+02] [ 4.20259309e-01 9.06446986e-01 -4.16650407e-02 5.72170491e+01] [ 1.07152784e-01 -3.97941603e-03 9.94234603e-01 2.05557826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.72925415399993 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:374.75, Y:57.23, Z:20.56 [[ 9.01108848e-01 -4.22248706e-01 -9.85336205e-02 3.74747285e+02] [ 4.20216218e-01 9.06471423e-01 -4.15678781e-02 5.72285928e+01] [ 1.06869894e-01 -3.94824265e-03 9.94265174e-01 2.05588735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.75925415399996 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:374.78, Y:57.24, Z:20.56 [[ 9.01526743e-01 -4.21354795e-01 -9.85376485e-02 3.74775786e+02] [ 4.19313366e-01 9.06887864e-01 -4.16017268e-02 5.72413006e+01] [ 1.06891685e-01 -3.81308381e-03 9.94263360e-01 2.05619306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.78925415399993 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:374.80, Y:57.25, Z:20.57 [[ 9.02478833e-01 -4.19079090e-01 -9.95222217e-02 3.74802103e+02] [ 4.16983215e-01 9.07942663e-01 -4.20133335e-02 5.72544618e+01] [ 1.07967381e-01 -3.58295173e-03 9.94147981e-01 2.05652742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.81925415399996 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:374.83, Y:57.27, Z:20.57 [[ 9.03011652e-01 -4.17939846e-01 -9.94798551e-02 3.74826350e+02] [ 4.15838563e-01 9.08468180e-01 -4.19982886e-02 5.72657565e+01] [ 1.07927041e-01 -3.44261606e-03 9.94152857e-01 2.05676621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.84925415399994 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:374.85, Y:57.28, Z:20.57 [[ 9.03515202e-01 -4.16700269e-01 -1.00105770e-01 3.74851190e+02] [ 4.14563046e-01 9.09037948e-01 -4.22787085e-02 5.72771998e+01] [ 1.08617493e-01 -3.30069717e-03 9.94078139e-01 2.05708376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.87925415399997 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:374.88, Y:57.29, Z:20.57 [[ 9.03402208e-01 -4.16948124e-01 -1.00093519e-01 3.74877182e+02] [ 4.14809209e-01 9.08924298e-01 -4.23076950e-02 5.72882859e+01] [ 1.08617545e-01 -3.29884809e-03 9.94078139e-01 2.05737514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.90925415399994 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:374.90, Y:57.30, Z:20.58 [[ 9.03952299e-01 -4.15752559e-01 -1.00100202e-01 3.74903131e+02] [ 4.13602552e-01 9.09472395e-01 -4.23425496e-02 5.73002946e+01] [ 1.08642394e-01 -3.12605411e-03 9.94075982e-01 2.05763944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.93925415399997 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:374.93, Y:57.31, Z:20.58 [[ 9.05242192e-01 -4.12898186e-01 -1.00257977e-01 3.74926987e+02] [ 4.10720659e-01 9.10773006e-01 -4.24390387e-02 5.73127975e+01] [ 1.08835261e-01 -2.76041399e-03 9.94055967e-01 2.05789236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.96925415399994 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:374.96, Y:57.33, Z:20.58 [[ 9.05847481e-01 -4.11501123e-01 -1.00534406e-01 3.74955211e+02] [ 4.09300452e-01 9.11405604e-01 -4.25789169e-02 5.73260540e+01] [ 1.09148894e-01 -2.57877332e-03 9.94022067e-01 2.05821107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.99925415399997 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:374.98, Y:57.34, Z:20.59 [[ 9.06865828e-01 -4.09078950e-01 -1.01236272e-01 3.74981637e+02] [ 4.06832747e-01 9.12496077e-01 -4.28721963e-02 5.73400880e+01] [ 1.09915814e-01 -2.30690077e-03 9.93938223e-01 2.05854162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.02925415399994 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:375.01, Y:57.35, Z:20.59 [[ 9.07344412e-01 -4.07954671e-01 -1.01484503e-01 3.75008797e+02] [ 4.05690172e-01 9.12999594e-01 -4.29793591e-02 5.73528828e+01] [ 1.10188941e-01 -2.17418432e-03 9.93908281e-01 2.05885533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.059254154 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:375.04, Y:57.37, Z:20.59 [[ 9.07900201e-01 -4.06779179e-01 -1.01232035e-01 3.75037818e+02] [ 4.04518746e-01 9.13524270e-01 -4.28718183e-02 5.73662273e+01] [ 1.09917284e-01 -2.02692322e-03 9.93938671e-01 2.05918819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.08925415399995 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:375.07, Y:57.38, Z:20.60 [[ 9.08325574e-01 -4.05835805e-01 -1.01202520e-01 3.75065612e+02] [ 4.03571882e-01 9.13943986e-01 -4.28500399e-02 5.73799402e+01] [ 1.09883515e-01 -1.92070423e-03 9.93942616e-01 2.05957865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.119254154 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:375.10, Y:57.39, Z:20.60 [[ 9.08266707e-01 -4.05983058e-01 -1.01140226e-01 3.75095244e+02] [ 4.03724421e-01 9.13878521e-01 -4.28093421e-02 5.73931732e+01] [ 1.09809747e-01 -1.95047884e-03 9.93950711e-01 2.05992501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.14925415399995 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:375.12, Y:57.41, Z:20.60 [[ 9.07542081e-01 -4.07661166e-01 -1.00894720e-01 3.75122930e+02] [ 4.05424753e-01 9.13130728e-01 -4.26971077e-02 5.74059463e+01] [ 1.09536022e-01 -2.15579487e-03 9.93980489e-01 2.06027163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.179254154 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:375.15, Y:57.42, Z:20.61 [[ 9.06892701e-01 -4.09180440e-01 -1.00583284e-01 3.75151079e+02] [ 4.06967406e-01 9.12450503e-01 -4.25630206e-02 5.74182044e+01] [ 1.09193223e-01 -2.33402526e-03 9.94017803e-01 2.06060934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.20925415399995 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:375.18, Y:57.43, Z:20.61 [[ 9.06288540e-01 -4.10551529e-01 -1.00441642e-01 3.75178121e+02] [ 4.08353552e-01 9.11833974e-01 -4.24991872e-02 5.74296740e+01] [ 1.09034208e-01 -2.49917478e-03 9.94034856e-01 2.06093411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2392541539999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:375.20, Y:57.44, Z:20.61 [[ 9.05589051e-01 -4.12053206e-01 -1.00601327e-01 3.75204030e+02] [ 4.09857012e-01 9.11155843e-01 -4.25706461e-02 5.74408448e+01] [ 1.09204858e-01 -2.68064846e-03 9.94015650e-01 2.06126804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.26925415399995 meters Centerline goodness : 0.997045 Centerline is valid? [True, True] Translation: X:375.23, Y:57.44, Z:20.62 [[ 9.03338339e-01 -4.13357900e-01 -1.14521140e-01 3.75229528e+02] [ 4.13932733e-01 9.10091241e-01 -1.98399790e-02 5.74426421e+01] [ 1.12425698e-01 -2.94818346e-02 9.93222676e-01 2.06164517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2992541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:375.25, Y:57.48, Z:20.63 [[ 9.04336151e-01 -4.17158910e-01 -9.03026614e-02 3.75247872e+02] [ 4.12280144e-01 9.08506581e-01 -6.81239726e-02 5.74757743e+01] [ 1.10459084e-01 2.43769769e-02 9.93581679e-01 2.06284855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.32925415399995 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:375.28, Y:57.48, Z:20.62 [[ 9.04185313e-01 -4.14985829e-01 -1.01171548e-01 3.75281855e+02] [ 4.12775083e-01 9.09822970e-01 -4.28823316e-02 5.74770799e+01] [ 1.09843758e-01 -2.98751960e-03 9.93944377e-01 2.06241867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.3592541539999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:375.31, Y:57.49, Z:20.63 [[ 9.03732122e-01 -4.14954974e-01 -1.05264529e-01 3.75313350e+02] [ 4.13142303e-01 9.09808710e-01 -3.95164369e-02 5.74886626e+01] [ 1.12168127e-01 -7.77695652e-03 9.93658810e-01 2.06308654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.38925415399996 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:375.34, Y:57.49, Z:20.63 [[ 9.02314849e-01 -4.15131044e-01 -1.16164236e-01 3.75337099e+02] [ 4.15614890e-01 9.09293987e-01 -2.11827276e-02 5.74923187e+01] [ 1.14421049e-01 -2.91660965e-02 9.93004110e-01 2.06342361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.41925415399993 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:375.36, Y:57.53, Z:20.65 [[ 9.03726264e-01 -4.18597115e-01 -8.97512996e-02 3.75356797e+02] [ 4.13308051e-01 9.07741568e-01 -7.19840383e-02 5.75259244e+01] [ 1.11603296e-01 2.79589313e-02 9.93359453e-01 2.06451209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.44925415399996 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:375.39, Y:57.52, Z:20.64 [[ 9.03507651e-01 -4.16181502e-01 -1.02307777e-01 3.75389447e+02] [ 4.13928687e-01 9.09276030e-01 -4.33606179e-02 5.75240717e+01] [ 1.11071896e-01 -3.17147356e-03 9.93807313e-01 2.06386813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.47925415399993 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:375.42, Y:57.54, Z:20.64 [[ 9.03453140e-01 -4.16197220e-01 -1.02724374e-01 3.75418193e+02] [ 4.13922967e-01 9.09268872e-01 -4.35648565e-02 5.75366904e+01] [ 1.11535648e-01 -3.16117126e-03 9.93755406e-01 2.06424131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.50925415399996 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:375.45, Y:57.55, Z:20.65 [[ 9.03501622e-01 -4.16013944e-01 -1.03039881e-01 3.75447075e+02] [ 4.13725016e-01 9.09352769e-01 -4.36938473e-02 5.75494185e+01] [ 1.11876851e-01 -3.15271459e-03 9.93717078e-01 2.06456172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.53925415399993 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:375.48, Y:57.56, Z:20.65 [[ 9.04134143e-01 -4.14250625e-01 -1.04584277e-01 3.75475723e+02] [ 4.11881688e-01 9.10157950e-01 -4.43393912e-02 5.75626139e+01] [ 1.13555831e-01 -2.98759083e-03 9.93527125e-01 2.06495338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.56925415399996 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:375.50, Y:57.58, Z:20.65 [[ 9.04771990e-01 -4.12667028e-01 -1.05326020e-01 3.75503653e+02] [ 4.10254621e-01 9.10877592e-01 -4.46448027e-02 5.75751682e+01] [ 1.14362549e-01 -2.81711919e-03 9.93435087e-01 2.06530345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.59925415399994 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:375.53, Y:57.60, Z:20.66 [[ 9.06429805e-01 -4.11064809e-01 -9.70089310e-02 3.75533597e+02] [ 4.06881948e-01 9.11477025e-01 -6.04707663e-02 5.75965581e+01] [ 1.13278816e-01 1.53413221e-02 9.93444791e-01 2.06593024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.62925415399997 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:375.57, Y:57.59, Z:20.65 [[ 9.06470252e-01 -4.06134910e-01 -1.15611925e-01 3.75565101e+02] [ 4.05711306e-01 9.13564788e-01 -2.82438233e-02 5.75942807e+01] [ 1.17089786e-01 -2.13028793e-02 9.92892829e-01 2.06549747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.65925415399994 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:375.59, Y:57.61, Z:20.66 [[ 9.06851980e-01 -4.07241637e-01 -1.08506845e-01 3.75588778e+02] [ 4.04645336e-01 9.13317748e-01 -4.59656790e-02 5.76147887e+01] [ 1.17820366e-01 -2.22272159e-03 9.93032437e-01 2.06641014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.68925415399997 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:375.62, Y:57.63, Z:20.67 [[ 9.06899332e-01 -4.06955565e-01 -1.09182277e-01 3.75617256e+02] [ 4.04324746e-01 9.13445307e-01 -4.62511804e-02 5.76276557e+01] [ 1.18554214e-01 -2.19993197e-03 9.92945144e-01 2.06680474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.71925415399994 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:375.65, Y:57.64, Z:20.67 [[ 9.06615582e-01 -4.07391189e-01 -1.09911805e-01 3.75645898e+02] [ 4.04728738e-01 9.13250916e-01 -4.65554753e-02 5.76401411e+01] [ 1.19343347e-01 -2.27654669e-03 9.92850433e-01 2.06716459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.74925415399997 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:375.67, Y:57.65, Z:20.68 [[ 9.06390164e-01 -4.07749549e-01 -1.10440821e-01 3.75673602e+02] [ 4.05064465e-01 9.13090814e-01 -4.67754629e-02 5.76520497e+01] [ 1.19915173e-01 -2.33883256e-03 9.92781386e-01 2.06750565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.77925415399994 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:375.70, Y:57.66, Z:20.68 [[ 9.06199895e-01 -4.07788380e-01 -1.11849842e-01 3.75700851e+02] [ 4.05034364e-01 9.13073382e-01 -4.73725969e-02 5.76637771e+01] [ 1.21445108e-01 -2.37398742e-03 9.92595310e-01 2.06792462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.809254154 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:375.73, Y:57.68, Z:20.68 [[ 9.06031672e-01 -4.08193397e-01 -1.11735227e-01 3.75725885e+02] [ 4.05447177e-01 9.12892272e-01 -4.73316657e-02 5.76750353e+01] [ 1.21322699e-01 -2.41874402e-03 9.92610171e-01 2.06823184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.83925415399995 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:375.75, Y:57.69, Z:20.69 [[ 9.06190446e-01 -4.07836851e-01 -1.11749623e-01 3.75754846e+02] [ 4.05083523e-01 9.13051812e-01 -4.73680126e-02 5.76875019e+01] [ 1.21351617e-01 -2.34349054e-03 9.92606817e-01 2.06864218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.869254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:375.78, Y:57.70, Z:20.69 [[ 9.06631478e-01 -4.06985639e-01 -1.11274675e-01 3.75783845e+02] [ 4.04250025e-01 9.13431847e-01 -4.71611868e-02 5.77002951e+01] [ 1.20835758e-01 -2.22497383e-03 9.92670020e-01 2.06914686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.89925415399995 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:375.81, Y:57.71, Z:20.70 [[ 9.06783917e-01 -4.06682990e-01 -1.11138981e-01 3.75812096e+02] [ 4.03952947e-01 9.13566717e-01 -4.70942650e-02 5.77119820e+01] [ 1.20685311e-01 -2.19059680e-03 9.92688399e-01 2.06953822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.929254154 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:375.84, Y:57.72, Z:20.70 [[ 9.06849296e-01 -4.06529383e-01 -1.11167510e-01 3.75841365e+02] [ 4.03797717e-01 9.13635112e-01 -4.70986821e-02 5.77240760e+01] [ 1.20713538e-01 -2.17777990e-03 9.92684995e-01 2.06994503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.95925415399995 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:375.87, Y:57.74, Z:20.70 [[ 9.06796924e-01 -4.06591855e-01 -1.11366068e-01 3.75870508e+02] [ 4.03852177e-01 9.13607259e-01 -4.71719841e-02 5.77359348e+01] [ 1.20924593e-01 -2.20001903e-03 9.92659258e-01 2.07030922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.9892541539999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:375.90, Y:57.75, Z:20.71 [[ 9.06268767e-01 -4.07548593e-01 -1.12165355e-01 3.75900336e+02] [ 4.04778512e-01 9.13180475e-01 -4.74950179e-02 5.77471873e+01] [ 1.21783740e-01 -2.35887418e-03 9.92553856e-01 2.07071054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.01925415399995 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:375.93, Y:57.76, Z:20.71 [[ 9.06020941e-01 -4.08082989e-01 -1.12224453e-01 3.75930192e+02] [ 4.05315270e-01 9.12941573e-01 -4.75101738e-02 5.77586555e+01] [ 1.21842463e-01 -2.44107219e-03 9.92546450e-01 2.07104662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.0492541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:375.96, Y:57.77, Z:20.71 [[ 9.05253670e-01 -4.09597803e-01 -1.12895676e-01 3.75959920e+02] [ 4.06809710e-01 9.12262304e-01 -4.77844077e-02 5.77692957e+01] [ 1.22562857e-01 -2.67004655e-03 9.92457161e-01 2.07142173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.07925415399995 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:375.99, Y:57.78, Z:20.72 [[ 9.04853719e-01 -4.10284443e-01 -1.13606440e-01 3.75987837e+02] [ 4.07467599e-01 9.11953340e-01 -4.80755772e-02 5.77801288e+01] [ 1.23328434e-01 -2.78957872e-03 9.92361988e-01 2.07177656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.1092541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:376.02, Y:57.79, Z:20.72 [[ 9.04492282e-01 -4.10901463e-01 -1.14252790e-01 3.76016797e+02] [ 4.08058211e-01 9.11675158e-01 -4.83415173e-02 5.77919333e+01] [ 1.24025031e-01 -2.89725992e-03 9.92274860e-01 2.07215153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.13925415399996 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:376.04, Y:57.80, Z:20.73 [[ 9.04303658e-01 -4.10924602e-01 -1.15654081e-01 3.76043924e+02] [ 4.08011590e-01 9.11664592e-01 -4.89307124e-02 5.78026103e+01] [ 1.25544564e-01 -2.93998311e-03 9.92083625e-01 2.07257770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.16925415399993 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:376.07, Y:57.81, Z:20.73 [[ 9.04289960e-01 -4.10772207e-01 -1.16300741e-01 3.76071617e+02] [ 4.07824898e-01 9.11733288e-01 -4.92063453e-02 5.78139767e+01] [ 1.26247856e-01 -2.93353378e-03 9.91994392e-01 2.07290238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.19925415399996 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:376.10, Y:57.82, Z:20.73 [[ 9.04322953e-01 -4.10604620e-01 -1.16635514e-01 3.76096722e+02] [ 4.07638571e-01 9.11808829e-01 -4.93503320e-02 5.78242650e+01] [ 1.26612766e-01 -2.91649639e-03 9.91947933e-01 2.07321498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.22925415399993 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:376.12, Y:57.83, Z:20.74 [[ 9.04271897e-01 -4.10437588e-01 -1.17615151e-01 3.76121987e+02] [ 4.07418173e-01 9.11884064e-01 -4.97783783e-02 5.78336856e+01] [ 1.27682300e-01 -2.90536147e-03 9.91810864e-01 2.07353430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.25925415399996 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:376.15, Y:57.84, Z:20.74 [[ 9.04243855e-01 -4.10508042e-01 -1.17584850e-01 3.76147924e+02] [ 4.07487995e-01 9.11852383e-01 -4.97872070e-02 5.78441232e+01] [ 1.27658074e-01 -2.89463871e-03 9.91814013e-01 2.07383457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.28925415399993 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:376.17, Y:57.85, Z:20.74 [[ 9.04525108e-01 -4.09908342e-01 -1.17513743e-01 3.76174103e+02] [ 4.06881954e-01 9.12122504e-01 -4.97957138e-02 5.78548186e+01] [ 1.27598608e-01 -2.77274790e-03 9.91822014e-01 2.07425058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.31925415399996 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:376.20, Y:57.87, Z:20.75 [[ 9.05110669e-01 -4.08774883e-01 -1.16952004e-01 3.76201584e+02] [ 4.05764309e-01 9.12631619e-01 -4.95868235e-02 5.78663727e+01] [ 1.27003945e-01 -2.57338607e-03 9.91898874e-01 2.07460557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.34925415399994 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:376.23, Y:57.88, Z:20.75 [[ 9.05868099e-01 -4.07320580e-01 -1.16159085e-01 3.76227700e+02] [ 4.04337583e-01 9.13282242e-01 -4.92611968e-02 5.78775123e+01] [ 1.26151129e-01 -2.34333693e-03 9.92008267e-01 2.07492151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.37925415399997 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:376.26, Y:57.89, Z:20.75 [[ 9.06922985e-01 -4.05018791e-01 -1.15976198e-01 3.76255249e+02] [ 4.02022728e-01 9.14306190e-01 -4.92129817e-02 5.78890660e+01] [ 1.25969938e-01 -1.99268318e-03 9.92032058e-01 2.07529795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.40925415399994 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:376.28, Y:57.90, Z:20.76 [[ 9.09341391e-01 -3.99828516e-01 -1.15045177e-01 3.76280375e+02] [ 3.96838288e-01 9.16589101e-01 -4.88241135e-02 5.78996748e+01] [ 1.24970428e-01 -1.25654364e-03 9.92159671e-01 2.07570697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.43925415399997 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:376.31, Y:57.91, Z:20.76 [[ 9.10544554e-01 -3.97245323e-01 -1.14476058e-01 3.76305834e+02] [ 3.94262272e-01 9.17712033e-01 -4.85992335e-02 5.79102278e+01] [ 1.24361874e-01 -8.81823289e-04 9.92236538e-01 2.07598775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.46925415399994 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:376.33, Y:57.92, Z:20.76 [[ 9.12267073e-01 -3.93444644e-01 -1.13886350e-01 3.76332448e+02] [ 3.90458169e-01 9.19348250e-01 -4.83860827e-02 5.79205197e+01] [ 1.23738462e-01 -3.26825684e-04 9.92314812e-01 2.07626634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.49925415399997 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:376.36, Y:57.93, Z:20.77 [[ 9.12774684e-01 -3.92231533e-01 -1.14003507e-01 3.76361765e+02] [ 3.89226036e-01 9.19866515e-01 -4.84632589e-02 5.79319720e+01] [ 1.23876827e-01 -1.37097262e-04 9.92297593e-01 2.07656850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.52925415399994 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:376.39, Y:57.94, Z:20.77 [[ 9.13054301e-01 -3.91570467e-01 -1.14036891e-01 3.76389682e+02] [ 3.88558523e-01 9.20148122e-01 -4.84737779e-02 5.79427112e+01] [ 1.23911731e-01 -5.08143897e-05 9.92293243e-01 2.07681321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.559254154 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:376.42, Y:57.95, Z:20.77 [[ 9.12716457e-01 -3.92335799e-01 -1.14110868e-01 3.76415651e+02] [ 3.89325270e-01 9.19822047e-01 -4.85101580e-02 5.79508483e+01] [ 1.23993964e-01 -1.50224887e-04 9.92282961e-01 2.07700664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.58925415399995 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:376.44, Y:57.96, Z:20.77 [[ 9.12101863e-01 -3.93715262e-01 -1.14273726e-01 3.76442519e+02] [ 3.90704380e-01 9.19232392e-01 -4.85993585e-02 5.79606123e+01] [ 1.24178419e-01 -3.19679727e-04 9.92259854e-01 2.07725955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.619254154 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:376.47, Y:57.97, Z:20.77 [[ 9.10949760e-01 -3.96604575e-01 -1.13469584e-01 3.76468746e+02] [ 3.93654320e-01 9.17989298e-01 -4.82900122e-02 5.79685066e+01] [ 1.23315903e-01 -6.78016749e-04 9.92367235e-01 2.07742356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.64925415399995 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:376.49, Y:57.98, Z:20.78 [[ 9.10162830e-01 -3.98472293e-01 -1.13240694e-01 3.76493526e+02] [ 3.95545188e-01 9.17179923e-01 -4.82181765e-02 5.79779370e+01] [ 1.23075698e-01 -9.05419613e-04 9.92396873e-01 2.07767409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.679254154 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:376.52, Y:57.99, Z:20.78 [[ 9.09317451e-01 -4.00512907e-01 -1.12832555e-01 3.76519143e+02] [ 3.97620096e-01 9.16290385e-01 -4.80644335e-02 5.79877072e+01] [ 1.22637811e-01 -1.15866305e-03 9.92450817e-01 2.07791953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.70925415399995 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:376.54, Y:58.00, Z:20.78 [[ 9.08564208e-01 -4.02313958e-01 -1.12492484e-01 3.76544523e+02] [ 3.99448105e-01 9.15500745e-01 -4.79541135e-02 5.79974011e+01] [ 1.22279562e-01 -1.36551842e-03 9.92494758e-01 2.07815497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7392541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:376.57, Y:58.01, Z:20.78 [[ 9.06569343e-01 -4.06981384e-01 -1.11795253e-01 3.76570798e+02] [ 4.04183945e-01 9.13434342e-01 -4.76764348e-02 5.80064410e+01] [ 1.21521045e-01 -1.96385214e-03 9.92586913e-01 2.07838487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.76925415399995 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:376.60, Y:58.02, Z:20.79 [[ 9.05645234e-01 -4.09127504e-01 -1.11451313e-01 3.76596369e+02] [ 4.06359350e-01 9.12474540e-01 -4.75635742e-02 5.80159924e+01] [ 1.21156052e-01 -2.21355882e-03 9.92631005e-01 2.07863054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7992541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:376.62, Y:58.03, Z:20.79 [[ 9.05538747e-01 -4.09365001e-01 -1.11444483e-01 3.76622322e+02] [ 4.06596670e-01 9.12367981e-01 -4.75795724e-02 5.80271758e+01] [ 1.21155790e-01 -2.22780915e-03 9.92631005e-01 2.07892282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.82925415399995 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:376.65, Y:58.04, Z:20.79 [[ 9.03319349e-01 -4.14625304e-01 -1.10000047e-01 3.76648293e+02] [ 4.11963107e-01 9.09987727e-01 -4.69971825e-02 5.80362320e+01] [ 1.19584914e-01 -2.86249675e-03 9.92819850e-01 2.07912632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.8592541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:376.67, Y:58.05, Z:20.79 [[ 9.02309462e-01 -4.17081395e-01 -1.08998830e-01 3.76673634e+02] [ 4.14481243e-01 9.08863760e-01 -4.66043321e-02 5.80460481e+01] [ 1.18502886e-01 -3.12644083e-03 9.92948786e-01 2.07934722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.88925415399996 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:376.70, Y:58.06, Z:20.80 [[ 9.01167532e-01 -4.19794656e-01 -1.08025585e-01 3.76699606e+02] [ 4.17258033e-01 9.07612611e-01 -4.62069442e-02 5.80565397e+01] [ 1.17442812e-01 -3.43434540e-03 9.93073709e-01 2.07960913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.91925415399993 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:376.73, Y:58.07, Z:20.80 [[ 8.99230747e-01 -4.24605251e-01 -1.05330165e-01 3.76725721e+02] [ 4.22222742e-01 9.05370065e-01 -4.50888111e-02 5.80668387e+01] [ 1.14507724e-01 -3.92754584e-03 9.93414594e-01 2.07983572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.94925415399996 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:376.75, Y:58.08, Z:20.80 [[ 8.98291368e-01 -4.26832113e-01 -1.04340627e-01 3.76751345e+02] [ 4.24505081e-01 9.04321415e-01 -4.47013851e-02 5.80773038e+01] [ 1.13437450e-01 -4.13825802e-03 9.93536522e-01 2.08008989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.97925415399993 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:376.78, Y:58.09, Z:20.80 [[ 8.97133058e-01 -4.29467245e-01 -1.03489916e-01 3.76775878e+02] [ 4.27191673e-01 9.03071700e-01 -4.43709264e-02 5.80875021e+01] [ 1.12514673e-01 -4.40340529e-03 9.93640306e-01 2.08028921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.00925415399996 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:376.80, Y:58.10, Z:20.80 [[ 8.94799039e-01 -4.34604049e-01 -1.02244804e-01 3.76802101e+02] [ 4.32414429e-01 9.00607907e-01 -4.38538410e-02 5.80976245e+01] [ 1.11141536e-01 -4.97175366e-03 9.93792152e-01 2.08042248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.03925415399993 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:376.83, Y:58.11, Z:20.81 [[ 8.93448235e-01 -4.37413941e-01 -1.02074952e-01 3.76827759e+02] [ 4.35245903e-01 8.99244773e-01 -4.38159987e-02 5.81081682e+01] [ 1.10956096e-01 -5.28037818e-03 9.93811281e-01 2.08062563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.06925415399996 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:376.85, Y:58.12, Z:20.81 [[ 8.90957836e-01 -4.42473880e-01 -1.02034306e-01 3.76852290e+02] [ 4.40336653e-01 8.96762138e-01 -4.38326228e-02 5.81189901e+01] [ 1.10895293e-01 -5.87642611e-03 9.93814722e-01 2.08075003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.09925415399994 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:376.88, Y:58.13, Z:20.81 [[ 8.89750200e-01 -4.44946724e-01 -1.01818440e-01 3.76877210e+02] [ 4.42832734e-01 8.95535882e-01 -4.37567472e-02 5.81301306e+01] [ 1.10651488e-01 -6.15596377e-03 9.93840205e-01 2.08100258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.12925415399997 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:376.90, Y:58.14, Z:20.81 [[ 8.88790040e-01 -4.46960064e-01 -1.01385233e-01 3.76901396e+02] [ 4.44873264e-01 8.94531388e-01 -4.36047650e-02 5.81410460e+01] [ 1.10181862e-01 -6.34809880e-03 9.93891171e-01 2.08121832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.15925415399994 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:376.93, Y:58.15, Z:20.81 [[ 8.88069408e-01 -4.48507849e-01 -1.00863453e-01 3.76927353e+02] [ 4.46450617e-01 8.93755320e-01 -4.33967087e-02 5.81526183e+01] [ 1.09611012e-01 -6.49126135e-03 9.93953364e-01 2.08147965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.18925415399997 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:376.95, Y:58.16, Z:20.82 [[ 8.87541349e-01 -4.49756246e-01 -9.99483552e-02 3.76951997e+02] [ 4.47740845e-01 8.93127268e-01 -4.30327589e-02 5.81643399e+01] [ 1.08620854e-01 -6.55760820e-03 9.94061622e-01 2.08167385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.21925415399994 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:376.98, Y:58.18, Z:20.82 [[ 8.87145581e-01 -4.50620846e-01 -9.95669168e-02 3.76977129e+02] [ 4.48624903e-01 8.92690842e-01 -4.28807309e-02 5.81763111e+01] [ 1.08205426e-01 -6.62674751e-03 9.94106469e-01 2.08187901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.24925415399997 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:377.00, Y:58.19, Z:20.82 [[ 8.86968910e-01 -4.50980137e-01 -9.95141684e-02 3.77002424e+02] [ 4.48984747e-01 8.92509320e-01 -4.28930204e-02 5.81885183e+01] [ 1.08161223e-01 -6.63556816e-03 9.94111221e-01 2.08211188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.27925415399994 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:377.03, Y:58.20, Z:20.82 [[ 8.87470145e-01 -4.49874561e-01 -1.00048093e-01 3.77026633e+02] [ 4.47846832e-01 8.93068067e-01 -4.31583555e-02 5.82022787e+01] [ 1.08765603e-01 -6.50446931e-03 9.94046144e-01 2.08239465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.309254154 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:377.05, Y:58.22, Z:20.83 [[ 8.87501064e-01 -4.49902788e-01 -9.96460835e-02 3.77051324e+02] [ 4.47887763e-01 8.93054239e-01 -4.30195096e-02 5.82153490e+01] [ 1.08343955e-01 -6.45040088e-03 9.94092541e-01 2.08258982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.33925415399995 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:377.07, Y:58.23, Z:20.83 [[ 8.88438365e-01 -4.48090526e-01 -9.94592996e-02 3.77074116e+02] [ 4.46068148e-01 8.93966776e-01 -4.29722217e-02 5.82296430e+01] [ 1.08168755e-01 -6.18745517e-03 9.94113291e-01 2.08287666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.369254154 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:377.10, Y:58.24, Z:20.83 [[ 8.88793755e-01 -4.47402742e-01 -9.93803159e-02 3.77098678e+02] [ 4.45377586e-01 8.94311894e-01 -4.29539499e-02 5.82426936e+01] [ 1.08094714e-01 -6.08456273e-03 9.94121980e-01 2.08317527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.39925415399995 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:377.13, Y:58.26, Z:20.84 [[ 8.89332529e-01 -4.46480541e-01 -9.87055174e-02 3.77126007e+02] [ 4.44473761e-01 8.94773873e-01 -4.26941620e-02 5.82567317e+01] [ 1.07381231e-01 -5.90270546e-03 9.94200397e-01 2.08350027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.429254154 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:377.15, Y:58.27, Z:20.84 [[ 8.90317124e-01 -4.44856163e-01 -9.71514981e-02 3.77151626e+02] [ 4.42902573e-01 8.95584423e-01 -4.20220471e-02 5.82719629e+01] [ 1.05701135e-01 -5.61570041e-03 9.94382087e-01 2.08383305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.45925415399995 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:377.18, Y:58.29, Z:20.84 [[ 8.90713842e-01 -4.44218361e-01 -9.64307992e-02 3.77179986e+02] [ 4.42289795e-01 8.95901687e-01 -4.17121609e-02 5.82867053e+01] [ 1.04921823e-01 -5.49675928e-03 9.94465282e-01 2.08417765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.4892541539999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:377.21, Y:58.30, Z:20.85 [[ 8.91349567e-01 -4.43156586e-01 -9.54368377e-02 3.77207844e+02] [ 4.41262463e-01 8.96428415e-01 -4.12739011e-02 5.83008919e+01] [ 1.03843094e-01 -5.32322021e-03 9.94579446e-01 2.08451343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.51925415399995 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:377.23, Y:58.32, Z:20.85 [[ 8.91853599e-01 -4.42344104e-01 -9.44925995e-02 3.77232655e+02] [ 4.40483446e-01 8.96830442e-01 -4.08594096e-02 5.83165214e+01] [ 1.02817759e-01 -5.18181435e-03 9.94686713e-01 2.08478409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.5492541539999 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:377.26, Y:58.33, Z:20.85 [[ 8.92175369e-01 -4.41701310e-01 -9.44619710e-02 3.77262441e+02] [ 4.39838071e-01 8.97147646e-01 -4.08481597e-02 5.83314279e+01] [ 1.02789021e-01 -5.10424921e-03 9.94690084e-01 2.08510998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.57925415399995 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:377.29, Y:58.35, Z:20.85 [[ 8.92361776e-01 -4.41393130e-01 -9.41411994e-02 3.77291336e+02] [ 4.39542134e-01 8.97299545e-01 -4.06969110e-02 5.83460454e+01] [ 1.02436192e-01 -5.06265588e-03 9.94726694e-01 2.08541508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.6092541539999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:377.32, Y:58.36, Z:20.86 [[ 8.92131043e-01 -4.41867101e-01 -9.41045553e-02 3.77317955e+02] [ 4.40021243e-01 8.97065887e-01 -4.06706413e-02 5.83619843e+01] [ 1.02389005e-01 -5.12446169e-03 9.94731236e-01 2.08566966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.63925415399996 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:377.35, Y:58.38, Z:20.86 [[ 8.91785031e-01 -4.42505605e-01 -9.43835164e-02 3.77347426e+02] [ 4.40652320e-01 8.96750585e-01 -4.07911958e-02 5.83765063e+01] [ 1.02688806e-01 -5.21333770e-03 9.94699869e-01 2.08598485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.66925415399993 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:377.38, Y:58.39, Z:20.86 [[ 8.90731382e-01 -4.44387723e-01 -9.54838047e-02 3.77375488e+02] [ 4.42502973e-01 8.95817637e-01 -4.12538583e-02 5.83919281e+01] [ 1.03868784e-01 -5.50576123e-03 9.94575770e-01 2.08625641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.69925415399996 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:377.41, Y:58.41, Z:20.87 [[ 8.89541662e-01 -4.46627769e-01 -9.61211139e-02 3.77405274e+02] [ 4.44731830e-01 8.94700963e-01 -4.15184900e-02 5.84070837e+01] [ 1.04542964e-01 -5.81569230e-03 9.94503367e-01 2.08659368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.72925415399993 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:377.43, Y:58.42, Z:20.87 [[ 8.89045071e-01 -4.47656350e-01 -9.59304692e-02 3.77434045e+02] [ 4.45775210e-01 8.94185974e-01 -4.14234967e-02 5.84211060e+01] [ 1.04323171e-01 -5.93606948e-03 9.94525736e-01 2.08688407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.75925415399996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:377.46, Y:58.44, Z:20.87 [[ 8.88295392e-01 -4.48499781e-01 -9.88900536e-02 3.77462271e+02] [ 4.46506953e-01 8.93761203e-01 -4.26901910e-02 5.84372682e+01] [ 1.07530635e-01 -6.23359654e-03 9.94182229e-01 2.08749991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.78925415399993 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:377.49, Y:58.45, Z:20.88 [[ 8.88154790e-01 -4.49364557e-01 -9.61902516e-02 3.77491405e+02] [ 4.47485618e-01 8.93327134e-01 -4.15120774e-02 5.84512165e+01] [ 1.04583418e-01 -6.17460381e-03 9.94496950e-01 2.08758043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.81925415399996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:377.52, Y:58.47, Z:20.88 [[ 8.88296637e-01 -4.49032748e-01 -9.64296421e-02 3.77519363e+02] [ 4.47143839e-01 8.93494048e-01 -4.16025546e-02 5.84653115e+01] [ 1.04840221e-01 -6.16251106e-03 9.94469985e-01 2.08795184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.84925415399994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:377.55, Y:58.48, Z:20.88 [[ 8.89092232e-01 -4.47629100e-01 -9.56200423e-02 3.77547725e+02] [ 4.45765100e-01 8.94199473e-01 -4.12404969e-02 5.84817135e+01] [ 1.03963838e-01 -5.95747223e-03 9.94563235e-01 2.08830318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.87925415399997 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:377.58, Y:58.50, Z:20.89 [[ 8.89753611e-01 -4.46419627e-01 -9.51211226e-02 3.77576807e+02] [ 4.44569487e-01 8.94804960e-01 -4.10128680e-02 5.84959257e+01] [ 1.03423801e-01 -5.79660126e-03 9.94620489e-01 2.08864292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.90925415399994 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:377.61, Y:58.51, Z:20.89 [[ 8.91401710e-01 -4.43290534e-01 -9.43212260e-02 3.77605800e+02] [ 4.41456075e-01 8.96361694e-01 -4.06478413e-02 5.85115430e+01] [ 1.02564737e-01 -5.40512299e-03 9.94711646e-01 2.08899619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.93925415399997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:377.63, Y:58.53, Z:20.89 [[ 8.92140797e-01 -4.41830738e-01 -9.41827856e-02 3.77634443e+02] [ 4.39994849e-01 8.97083126e-01 -4.05758253e-02 5.85253644e+01] [ 1.02417435e-01 -5.24059138e-03 9.94727704e-01 2.08932483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.96925415399994 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:377.66, Y:58.54, Z:20.90 [[ 8.93046442e-01 -4.40095412e-01 -9.37234277e-02 3.77664519e+02] [ 4.38268947e-01 8.97936952e-01 -4.03678005e-02 5.85396326e+01] [ 1.01923413e-01 -5.02574737e-03 9.94779553e-01 2.08963012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.99925415399997 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:377.69, Y:58.55, Z:20.90 [[ 8.93843957e-01 -4.38525706e-01 -9.34782613e-02 3.77694533e+02] [ 4.36701479e-01 8.98705589e-01 -4.02502607e-02 5.85540660e+01] [ 1.01660210e-01 -4.84464263e-03 9.94807384e-01 2.08996747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.02925415399994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:377.72, Y:58.57, Z:20.90 [[ 8.95011600e-01 -4.36099878e-01 -9.36543218e-02 3.77723734e+02] [ 4.34256765e-01 8.99886572e-01 -4.03140170e-02 5.85696245e+01] [ 1.01859205e-01 -4.58851000e-03 9.94788243e-01 2.09036219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.059254154 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:377.75, Y:58.58, Z:20.91 [[ 8.95486961e-01 -4.35194502e-01 -9.33212106e-02 3.77753333e+02] [ 4.33360830e-01 9.00325315e-01 -4.01586576e-02 5.85835834e+01] [ 1.01496275e-01 -4.48020304e-03 9.94825831e-01 2.09068171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.08925415399995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:377.78, Y:58.60, Z:20.91 [[ 8.95837355e-01 -4.34450493e-01 -9.34248487e-02 3.77782024e+02] [ 4.32609951e-01 9.00684909e-01 -4.01911099e-02 5.85965806e+01] [ 1.01607399e-01 -4.41182165e-03 9.94814793e-01 2.09099689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.119254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:377.81, Y:58.61, Z:20.91 [[ 8.95818900e-01 -4.34183237e-01 -9.48336179e-02 3.77811821e+02] [ 4.32286236e-01 9.00813547e-01 -4.07868095e-02 5.86103339e+01] [ 1.03136357e-01 -4.45767293e-03 9.94657238e-01 2.09130052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.14925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.84, Y:58.62, Z:20.92 [[ 8.95826910e-01 -4.34025644e-01 -9.54771564e-02 3.77840927e+02] [ 4.32103206e-01 9.00889369e-01 -4.10507488e-02 5.86232081e+01] [ 1.03831433e-01 -4.48161986e-03 9.94584812e-01 2.09157276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.179254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:377.87, Y:58.64, Z:20.92 [[ 8.95627567e-01 -4.34080850e-01 -9.70828352e-02 3.77870958e+02] [ 4.32095656e-01 9.00862256e-01 -4.17197640e-02 5.86369734e+01] [ 1.05568013e-01 -4.58370064e-03 9.94401521e-01 2.09186246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.20925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:377.90, Y:58.65, Z:20.92 [[ 8.95639355e-01 -4.33935694e-01 -9.76215069e-02 3.77900315e+02] [ 4.31928926e-01 9.00932081e-01 -4.19379215e-02 5.86501827e+01] [ 1.06148708e-01 -4.60429962e-03 9.94339606e-01 2.09216935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:377.93, Y:58.66, Z:20.93 [[ 8.95751136e-01 -4.33516301e-01 -9.84556666e-02 3.77929925e+02] [ 4.31474806e-01 9.01133915e-01 -4.22748033e-02 5.86635692e+01] [ 1.07048557e-01 -4.61343658e-03 9.94243090e-01 2.09251265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.26925415399995 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:377.96, Y:58.68, Z:20.93 [[ 8.96334203e-01 -4.32079809e-01 -9.94587055e-02 3.77958704e+02] [ 4.29989148e-01 9.01824143e-01 -4.26913202e-02 5.86778266e+01] [ 1.08140319e-01 -4.50047354e-03 9.94125453e-01 2.09282095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2992541539999 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:377.99, Y:58.69, Z:20.93 [[ 8.96922096e-01 -4.30794880e-01 -9.97322636e-02 3.77988258e+02] [ 4.28688188e-01 9.02439213e-01 -4.27773703e-02 5.86912003e+01] [ 1.08430578e-01 -4.38607479e-03 9.94094348e-01 2.09315487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.32925415399995 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:378.02, Y:58.70, Z:20.93 [[ 8.97582237e-01 -4.29437487e-01 -9.96472405e-02 3.78017957e+02] [ 4.27327469e-01 9.03086680e-01 -4.27280105e-02 5.87045884e+01] [ 1.08339105e-01 -4.23009987e-03 9.94104997e-01 2.09349955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.3592541539999 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:378.05, Y:58.72, Z:20.94 [[ 8.99171031e-01 -4.26313246e-01 -9.87343619e-02 3.78046279e+02] [ 4.24224487e-01 9.04567492e-01 -4.23230033e-02 5.87185186e+01] [ 1.07354751e-01 -3.82991544e-03 9.94213402e-01 2.09385305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.38925415399996 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:378.08, Y:58.73, Z:20.94 [[ 8.99942940e-01 -4.24819154e-01 -9.81396525e-02 3.78075851e+02] [ 4.22749980e-01 9.05270850e-01 -4.20374090e-02 5.87322409e+01] [ 1.06701263e-01 -3.65726669e-03 9.94284398e-01 2.09422209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.41925415399993 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:378.11, Y:58.75, Z:20.95 [[ 9.00786701e-01 -4.23142159e-01 -9.76423722e-02 3.78105570e+02] [ 4.21085449e-01 9.06056729e-01 -4.18120563e-02 5.87454562e+01] [ 1.06161972e-01 -3.45203792e-03 9.94342858e-01 2.09461576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.44925415399996 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:378.14, Y:58.76, Z:20.95 [[ 9.01767428e-01 -4.21489687e-01 -9.57180704e-02 3.78135109e+02] [ 4.19505418e-01 9.06827536e-01 -4.09758841e-02 5.87597009e+01] [ 1.04070695e-01 -3.20353154e-03 9.94564743e-01 2.09500281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.47925415399993 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:378.17, Y:58.77, Z:20.95 [[ 9.02378715e-01 -4.20287708e-01 -9.52412583e-02 3.78165070e+02] [ 4.18317836e-01 9.07385736e-01 -4.07592290e-02 5.87728083e+01] [ 1.03551162e-01 -3.06085637e-03 9.94619419e-01 2.09534600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.50925415399996 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:378.19, Y:58.81, Z:20.96 [[ 9.06604850e-01 -4.18557231e-01 -5.36422507e-02 3.78194229e+02] [ 4.12421915e-01 9.05783579e-01 -9.72844896e-02 5.88130486e+01] [ 8.93073964e-02 6.60753503e-02 9.93809960e-01 2.09624332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.53925415399993 meters Centerline goodness : 0.999546 Centerline is valid? [True, True] Translation: X:378.24, Y:58.77, Z:20.94 [[ 9.03197819e-01 -4.11061080e-01 -1.23541447e-01 3.78239116e+02] [ 4.16921520e-01 9.08602394e-01 2.48623156e-02 5.87669440e+01] [ 1.02030125e-01 -7.39626773e-02 9.92027911e-01 2.09356290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.56925415399996 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:378.25, Y:58.81, Z:20.96 [[ 9.03100338e-01 -4.18572490e-01 -9.59523329e-02 3.78253208e+02] [ 4.16565395e-01 9.08178750e-01 -4.10442484e-02 5.88110805e+01] [ 1.04321863e-01 -2.90334689e-03 9.94539350e-01 2.09632707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.59925415399994 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:378.28, Y:58.86, Z:20.97 [[ 9.07907943e-01 -4.16542399e-01 -4.68572058e-02 3.78283961e+02] [ 4.09861445e-01 9.05609512e-01 -1.09018383e-01 5.88557655e+01] [ 8.78451100e-02 7.97736935e-02 9.92934738e-01 2.09727579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.62925415399997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:378.34, Y:58.83, Z:20.94 [[ 9.08523269e-01 -4.09693235e-01 -8.20787543e-02 3.78336952e+02] [ 4.08660203e-01 9.12200350e-01 -2.97885682e-02 5.88313880e+01] [ 8.70764433e-02 -6.47871303e-03 9.96180566e-01 2.09447279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.65925415399994 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:378.36, Y:58.81, Z:20.95 [[ 9.02236061e-01 -4.11129417e-01 -1.30164096e-01 3.78360864e+02] [ 4.18522744e-01 9.07552523e-01 3.44547550e-02 5.88100772e+01] [ 1.03965390e-01 -8.55629572e-02 9.90893626e-01 2.09455865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.68925415399997 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:378.37, Y:58.86, Z:20.98 [[ 9.02075326e-01 -4.20329175e-01 -9.78953069e-02 3.78372754e+02] [ 4.18249271e-01 9.07366177e-01 -4.18827918e-02 5.88596612e+01] [ 1.06431450e-01 -3.16320772e-03 9.94315011e-01 2.09770074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.71925415399994 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:378.40, Y:58.87, Z:20.98 [[ 9.02153503e-01 -4.20182913e-01 -9.78027424e-02 3.78402515e+02] [ 4.18107715e-01 9.07433939e-01 -4.18280356e-02 5.88708523e+01] [ 1.06324954e-01 -3.15677224e-03 9.94326425e-01 2.09795648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.74925415399997 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:378.43, Y:58.88, Z:20.98 [[ 9.01182117e-01 -4.22072828e-01 -9.86170400e-02 3.78432852e+02] [ 4.19977507e-01 9.06555412e-01 -4.21447259e-02 5.88826787e+01] [ 1.07189955e-01 -3.43686528e-03 9.94232619e-01 2.09831808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.77925415399994 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:378.46, Y:58.89, Z:20.99 [[ 9.01044471e-01 -4.22355111e-01 -9.86662087e-02 3.78462209e+02] [ 4.20260829e-01 9.06423752e-01 -4.21523005e-02 5.88942275e+01] [ 1.07236635e-01 -3.48444540e-03 9.94227420e-01 2.09864152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.809254154 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:378.49, Y:58.91, Z:20.99 [[ 9.00844605e-01 -4.22852091e-01 -9.83621171e-02 3.78493398e+02] [ 4.20777036e-01 9.06191717e-01 -4.19911630e-02 5.89056272e+01] [ 1.06890987e-01 -3.56100744e-03 9.94264369e-01 2.09893096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.83925415399995 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:378.52, Y:58.92, Z:20.99 [[ 9.00771934e-01 -4.23039669e-01 -9.82209780e-02 3.78523644e+02] [ 4.20973038e-01 9.06104052e-01 -4.19183473e-02 5.89176010e+01] [ 1.06731550e-01 -3.58951267e-03 9.94281395e-01 2.09925877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.869254154 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:378.55, Y:58.93, Z:21.00 [[ 9.00749565e-01 -4.23125857e-01 -9.80547303e-02 3.78552975e+02] [ 4.21068082e-01 9.06063747e-01 -4.18348836e-02 5.89294426e+01] [ 1.06545257e-01 -3.60496402e-03 9.94301319e-01 2.09956657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.89925415399995 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:378.58, Y:58.94, Z:21.00 [[ 9.01047662e-01 -4.22493382e-01 -9.80431171e-02 3.78583450e+02] [ 4.20433485e-01 9.06359099e-01 -4.18194794e-02 5.89410824e+01] [ 1.06530725e-01 -3.53926526e-03 9.94303112e-01 2.09989343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.929254154 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:378.61, Y:58.95, Z:21.00 [[ 9.01150520e-01 -4.22178624e-01 -9.84527836e-02 3.78612317e+02] [ 4.20100889e-01 9.06505798e-01 -4.19819078e-02 5.89527221e+01] [ 1.06971883e-01 -3.52808392e-03 9.94255786e-01 2.10021210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.95925415399995 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:378.64, Y:58.96, Z:21.00 [[ 9.01467450e-01 -4.21487505e-01 -9.85125388e-02 3.78642215e+02] [ 4.19403799e-01 9.06827632e-01 -4.20011839e-02 5.89647546e+01] [ 1.07036867e-01 -3.45383282e-03 9.94249053e-01 2.10049261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.9892541539999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:378.67, Y:58.98, Z:21.01 [[ 9.01684339e-01 -4.20807810e-01 -9.94290700e-02 3.78671696e+02] [ 4.18681835e-01 9.07143397e-01 -4.23837068e-02 5.89768011e+01] [ 1.08031819e-01 -3.41242090e-03 9.94141580e-01 2.10084470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.01925415399995 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:378.70, Y:58.99, Z:21.01 [[ 9.02566216e-01 -4.18703702e-01 -1.00306709e-01 3.78702446e+02] [ 4.16527907e-01 9.08117279e-01 -4.27493878e-02 5.89891743e+01] [ 1.08989582e-01 -3.19639020e-03 9.94037753e-01 2.10116267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.0492541539999 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:378.73, Y:59.00, Z:21.02 [[ 9.03235487e-01 -4.17186934e-01 -1.00601780e-01 3.78732280e+02] [ 4.14990309e-01 9.08815635e-01 -4.28624033e-02 5.90022022e+01] [ 1.09310105e-01 -3.03392022e-03 9.94003067e-01 2.10150085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.07925415399995 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:378.76, Y:59.01, Z:21.02 [[ 9.04089632e-01 -4.15231274e-01 -1.01019432e-01 3.78761281e+02] [ 4.13005639e-01 9.09711508e-01 -4.30268994e-02 5.90149069e+01] [ 1.09764654e-01 -2.82142139e-03 9.93953601e-01 2.10185773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.1092541539999 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:378.79, Y:59.03, Z:21.02 [[ 9.06277301e-01 -4.10404462e-01 -1.01141641e-01 3.78791456e+02] [ 4.08145734e-01 9.11900805e-01 -4.30578922e-02 5.90284891e+01] [ 1.09902295e-01 -2.25813898e-03 9.93939830e-01 2.10224629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.13925415399996 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:378.82, Y:59.04, Z:21.03 [[ 9.07554578e-01 -4.07632213e-01 -1.00899294e-01 3.78821985e+02] [ 4.05368636e-01 9.13144160e-01 -4.29419579e-02 5.90416048e+01] [ 1.09640126e-01 -1.92923867e-03 9.93969477e-01 2.10261578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.16925415399993 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:378.85, Y:59.05, Z:21.03 [[ 9.08915716e-01 -4.04679296e-01 -1.00533025e-01 3.78851160e+02] [ 4.02415565e-01 9.14457311e-01 -4.27731040e-02 5.90537600e+01] [ 1.09242549e-01 -1.57890771e-03 9.94013869e-01 2.10293305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.19925415399996 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:378.88, Y:59.07, Z:21.03 [[ 9.10161013e-01 -4.02010381e-01 -9.99729208e-02 3.78881283e+02] [ 3.99756987e-01 9.15634241e-01 -4.25239682e-02 5.90660509e+01] [ 1.08633706e-01 -1.26121570e-03 9.94081047e-01 2.10327980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.22925415399993 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:378.91, Y:59.08, Z:21.04 [[ 9.11619920e-01 -3.99009270e-01 -9.86951058e-02 3.78911076e+02] [ 3.96797093e-01 9.16946447e-01 -4.19676177e-02 5.90787323e+01] [ 1.07243595e-01 -9.03414689e-04 9.94232365e-01 2.10379367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.25925415399996 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:378.94, Y:59.09, Z:21.04 [[ 9.11991895e-01 -3.98313735e-01 -9.80660554e-02 3.78941355e+02] [ 3.96127104e-01 9.17248866e-01 -4.16873482e-02 5.90913167e+01] [ 1.06555622e-01 -8.28098860e-04 9.94306398e-01 2.10417610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.28925415399993 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:378.97, Y:59.10, Z:21.05 [[ 9.11982811e-01 -3.98380293e-01 -9.78800024e-02 3.78972163e+02] [ 3.96203723e-01 9.17219944e-01 -4.15954747e-02 5.91038224e+01] [ 1.06348308e-01 -8.46063491e-04 9.94328578e-01 2.10454866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.31925415399996 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:379.00, Y:59.12, Z:21.05 [[ 9.11581164e-01 -3.99191523e-01 -9.83153554e-02 3.79002245e+02] [ 3.97001574e-01 9.16867064e-01 -4.17676602e-02 5.91152455e+01] [ 1.06815407e-01 -9.56738553e-04 9.94278408e-01 2.10489670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.34925415399994 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:379.04, Y:59.13, Z:21.05 [[ 9.12227774e-01 -4.00461348e-01 -8.64360895e-02 3.79036676e+02] [ 3.96836782e-01 9.16152548e-01 -5.64364970e-02 5.91309608e+01] [ 1.01789279e-01 1.71819205e-02 9.94657591e-01 2.10496593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.37925415399997 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:379.07, Y:59.13, Z:21.05 [[ 9.08349354e-01 -4.04119044e-01 -1.07653380e-01 3.79066000e+02] [ 4.03974819e-01 9.14451921e-01 -2.41252961e-02 5.91276140e+01] [ 1.08193332e-01 -2.15750575e-02 9.93895729e-01 2.10482705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.40925415399994 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:379.09, Y:59.15, Z:21.06 [[ 9.06966789e-01 -4.09086469e-01 -1.00297082e-01 3.79091194e+02] [ 4.06869883e-01 9.12493006e-01 -4.25841935e-02 5.91469873e+01] [ 1.08941003e-01 -2.18541276e-03 9.94045815e-01 2.10579460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.43925415399997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:379.12, Y:59.16, Z:21.06 [[ 9.03899061e-01 -4.15530266e-01 -1.01494266e-01 3.79123082e+02] [ 4.13301857e-01 9.09574384e-01 -4.30815001e-02 5.91568788e+01] [ 1.10218251e-01 -3.00644100e-03 9.93902862e-01 2.10607973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.46925415399994 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:379.15, Y:59.17, Z:21.06 [[ 9.02307093e-01 -4.18815360e-01 -1.02154803e-01 3.79152760e+02] [ 4.16580126e-01 9.08064894e-01 -4.33491387e-02 5.91681219e+01] [ 1.10918476e-01 -3.44142541e-03 9.93823550e-01 2.10638073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.49925415399997 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:379.18, Y:59.18, Z:21.07 [[ 9.00804574e-01 -4.21849914e-01 -1.02926035e-01 3.79183489e+02] [ 4.19601417e-01 9.06657494e-01 -4.36673793e-02 5.91798066e+01] [ 1.11739741e-01 -3.85213500e-03 9.93730039e-01 2.10673584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.52925415399994 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:379.21, Y:59.19, Z:21.07 [[ 8.98169987e-01 -4.27249077e-01 -1.03676904e-01 3.79213237e+02] [ 4.25004787e-01 9.04122423e-01 -4.39724413e-02 5.91900419e+01] [ 1.12523799e-01 -4.56845351e-03 9.93638528e-01 2.10704861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.559254154 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:379.24, Y:59.20, Z:21.07 [[ 8.97084953e-01 -4.29554314e-01 -1.03545533e-01 3.79243685e+02] [ 4.27332265e-01 9.03027938e-01 -4.39053413e-02 5.92019198e+01] [ 1.12364238e-01 -4.86152611e-03 9.93655193e-01 2.10734796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.58925415399995 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:379.27, Y:59.21, Z:21.08 [[ 8.96145077e-01 -4.31593094e-01 -1.03205634e-01 3.79273339e+02] [ 4.29400577e-01 9.02053916e-01 -4.37478779e-02 5.92133714e+01] [ 1.11978328e-01 -5.11211324e-03 9.93697499e-01 2.10764749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.619254154 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:379.30, Y:59.23, Z:21.08 [[ 8.95184161e-01 -4.33618337e-01 -1.03055597e-01 3.79304102e+02] [ 4.31446807e-01 9.01080643e-01 -4.36729505e-02 5.92252517e+01] [ 1.11798796e-01 -5.36767467e-03 9.93716367e-01 2.10796218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.64925415399995 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:379.33, Y:59.24, Z:21.08 [[ 8.93509745e-01 -4.37247070e-01 -1.02251339e-01 3.79333340e+02] [ 4.35134381e-01 8.99322807e-01 -4.33192605e-02 5.92356057e+01] [ 1.10898181e-01 -5.78689160e-03 9.93814925e-01 2.10827867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.679254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:379.36, Y:59.25, Z:21.09 [[ 8.92845435e-01 -4.38724361e-01 -1.01724946e-01 3.79363082e+02] [ 4.36643673e-01 8.98602020e-01 -4.30895973e-02 5.92474694e+01] [ 1.10314698e-01 -5.94520386e-03 9.93878927e-01 2.10860099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.70925415399995 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:379.39, Y:59.26, Z:21.09 [[ 8.92295011e-01 -4.39969340e-01 -1.01176049e-01 3.79391928e+02] [ 4.37919980e-01 8.97992257e-01 -4.28485535e-02 5.92586926e+01] [ 1.09707358e-01 -6.07346287e-03 9.93945375e-01 2.10885556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7392541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:379.42, Y:59.27, Z:21.09 [[ 8.91550516e-01 -4.41567236e-01 -1.00777247e-01 3.79419581e+02] [ 4.39544847e-01 8.97206390e-01 -4.26734276e-02 5.92702249e+01] [ 1.09261177e-01 -6.25060295e-03 9.93993423e-01 2.10917801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.76925415399995 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:379.45, Y:59.28, Z:21.10 [[ 8.90639054e-01 -4.43430549e-01 -1.00654976e-01 3.79449528e+02] [ 4.41425137e-01 8.96285359e-01 -4.26192816e-02 5.92818431e+01] [ 1.09114272e-01 -6.47323980e-03 9.94008135e-01 2.10952431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7992541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:379.47, Y:59.29, Z:21.10 [[ 8.90034431e-01 -4.44817850e-01 -9.98788922e-02 3.79473667e+02] [ 4.42286280e-01 8.95618913e-01 -4.74300521e-02 5.92945750e+01] [ 1.10551159e-01 -1.96068427e-03 9.93868501e-01 2.10995672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.82925415399995 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:379.50, Y:59.30, Z:21.10 [[ 8.89914890e-01 -4.44564193e-01 -1.02049823e-01 3.79501311e+02] [ 4.43068942e-01 8.95676009e-01 -3.81365967e-02 5.93007915e+01] [ 1.08357743e-01 -1.12767819e-02 9.94048004e-01 2.10988590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.8592541539999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:379.53, Y:59.33, Z:21.10 [[ 8.93175874e-01 -4.44256522e-01 -6.98068804e-02 3.79530688e+02] [ 4.38377875e-01 8.94743839e-01 -8.51956673e-02 5.93330898e+01] [ 1.00308007e-01 4.54929227e-02 9.93915840e-01 2.11035352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.88925415399996 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:379.57, Y:59.30, Z:21.09 [[ 8.90255620e-01 -4.38886257e-01 -1.21752964e-01 3.79566530e+02] [ 4.42941010e-01 8.96522991e-01 7.05612360e-03 5.93006631e+01] [ 1.06057496e-01 -6.02111347e-02 9.92535353e-01 2.10895636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.91925415399993 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:379.58, Y:59.34, Z:21.11 [[ 8.90254369e-01 -4.44056243e-01 -1.01297638e-01 3.79580482e+02] [ 4.42018359e-01 8.95975303e-01 -4.29886800e-02 5.93351947e+01] [ 1.09849574e-01 -6.50455559e-03 9.93926940e-01 2.11089964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.94925415399996 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:379.61, Y:59.35, Z:21.11 [[ 8.90571268e-01 -4.43223287e-01 -1.02156423e-01 3.79610372e+02] [ 4.41141717e-01 8.96388192e-01 -4.33842732e-02 5.93478938e+01] [ 1.10800731e-01 -6.42867261e-03 9.93821850e-01 2.11122206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.97925415399993 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:379.64, Y:59.36, Z:21.12 [[ 8.91809012e-01 -4.40379934e-01 -1.03644582e-01 3.79638770e+02] [ 4.38219051e-01 8.97790293e-01 -4.40074229e-02 5.93606095e+01] [ 1.12431086e-01 -6.17281400e-03 9.93640351e-01 2.11151733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.00925415399996 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:379.67, Y:59.37, Z:21.12 [[ 8.92637638e-01 -4.38654895e-01 -1.03826443e-01 3.79666343e+02] [ 4.36475505e-01 8.98635756e-01 -4.40784593e-02 5.93728741e+01] [ 1.12637386e-01 -5.97160727e-03 9.93618216e-01 2.11181217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.03925415399993 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:379.69, Y:59.38, Z:21.12 [[ 8.93790112e-01 -4.36201701e-01 -1.04246401e-01 3.79693264e+02] [ 4.33987987e-01 8.99830958e-01 -4.42569060e-02 5.93847909e+01] [ 1.13109077e-01 -5.68530077e-03 9.93566311e-01 2.11216237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.06925415399996 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:379.72, Y:59.40, Z:21.13 [[ 8.96776080e-01 -4.30087106e-01 -1.04008382e-01 3.79721014e+02] [ 4.27842302e-01 9.02774099e-01 -4.41575631e-02 5.93981819e+01] [ 1.12887672e-01 -4.89973937e-03 9.93595675e-01 2.11251533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.09925415399994 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:379.75, Y:59.41, Z:21.13 [[ 8.98619923e-01 -4.26265195e-01 -1.03827830e-01 3.79748142e+02] [ 4.24003288e-01 9.04587468e-01 -4.40763488e-02 5.94107055e+01] [ 1.12709567e-01 -4.41545606e-03 9.93618165e-01 2.11285755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.12925415399997 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:379.77, Y:59.42, Z:21.13 [[ 9.00532955e-01 -4.22327779e-01 -1.03342363e-01 3.79774987e+02] [ 4.20061932e-01 9.06434753e-01 -4.38635576e-02 5.94234592e+01] [ 1.12197908e-01 -3.90961338e-03 9.93678190e-01 2.11321987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.15925415399994 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:379.80, Y:59.44, Z:21.14 [[ 9.04664028e-01 -4.13608716e-01 -1.02522323e-01 3.79803072e+02] [ 4.11322584e-01 9.10450429e-01 -4.35172280e-02 5.94379650e+01] [ 1.11340597e-01 -2.80127581e-03 9.93778358e-01 2.11363880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.18925415399997 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:379.83, Y:59.45, Z:21.14 [[ 9.06662810e-01 -4.09425564e-01 -1.01652629e-01 3.79832557e+02] [ 4.07152423e-01 9.12340697e-01 -4.31434507e-02 5.94515453e+01] [ 1.10405862e-01 -2.27155180e-03 9.93883990e-01 2.11395819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.21925415399994 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:379.86, Y:59.46, Z:21.14 [[ 9.08633464e-01 -4.05147399e-01 -1.01196904e-01 3.79861939e+02] [ 4.02869605e-01 9.14249694e-01 -4.29368999e-02 5.94643973e+01] [ 1.09915011e-01 -1.75525250e-03 9.93939439e-01 2.11428960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.24925415399997 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:379.89, Y:59.48, Z:21.15 [[ 9.12082850e-01 -3.97456501e-01 -1.00663820e-01 3.79891809e+02] [ 3.95157049e-01 9.17620639e-01 -4.26997623e-02 5.94776542e+01] [ 1.09342497e-01 -8.32297181e-04 9.94003786e-01 2.11462879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.27925415399994 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:379.92, Y:59.49, Z:21.15 [[ 9.13627086e-01 -3.93894728e-01 -1.00660278e-01 3.79922189e+02] [ 3.91575268e-01 9.19155465e-01 -4.26853661e-02 5.94905990e+01] [ 1.09335985e-01 -4.17568670e-04 9.94004763e-01 2.11497880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.309254154 meters Centerline goodness : 0.996562 Centerline is valid? [True, True] Translation: X:379.94, Y:59.51, Z:21.15 [[ 9.15295946e-01 -3.91427365e-01 -9.49628823e-02 3.79943190e+02] [ 3.88148274e-01 9.20150425e-01 -5.16150518e-02 5.95063876e+01] [ 1.07583680e-01 1.03833689e-02 9.94141810e-01 2.11533667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.33925415399995 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:379.97, Y:59.51, Z:21.15 [[ 9.17124906e-01 -3.84553433e-01 -1.04883572e-01 3.79974899e+02] [ 3.83138093e-01 9.23060051e-01 -3.41371281e-02 5.95083957e+01] [ 1.09941385e-01 -8.87688142e-03 9.93898432e-01 2.11523560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.369254154 meters Centerline goodness : 0.996745 Centerline is valid? [True, True] Translation: X:379.99, Y:59.53, Z:21.16 [[ 9.18558584e-01 -3.83378118e-01 -9.62878317e-02 3.79994421e+02] [ 3.80073137e-01 9.23531211e-01 -5.13275066e-02 5.95278219e+01] [ 1.08602661e-01 1.05509035e-02 9.94029245e-01 2.11592678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.39925415399995 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:380.02, Y:59.54, Z:21.16 [[ 9.19421282e-01 -3.80542078e-01 -9.92584110e-02 3.80022104e+02] [ 3.78002238e-01 9.24758978e-01 -4.39902313e-02 5.95352108e+01] [ 1.08530241e-01 2.92565337e-03 9.94088843e-01 2.11593720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.429254154 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:380.05, Y:59.54, Z:21.16 [[ 9.20385295e-01 -3.76531832e-01 -1.05426218e-01 3.80053755e+02] [ 3.75022697e-01 9.26371398e-01 -3.45544429e-02 5.95394915e+01] [ 1.10674681e-01 -7.73382353e-03 9.93826596e-01 2.11616325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.45925415399995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:380.08, Y:59.55, Z:21.17 [[ 9.20890889e-01 -3.76261573e-01 -1.01917613e-01 3.80081207e+02] [ 3.73765898e-01 9.26511765e-01 -4.33012923e-02 5.95546374e+01] [ 1.10720480e-01 1.78243745e-03 9.93849988e-01 2.11683065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.4892541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:380.11, Y:59.57, Z:21.17 [[ 9.21164014e-01 -3.75568904e-01 -1.02004205e-01 3.80110162e+02] [ 3.73065173e-01 9.26792601e-01 -4.33341816e-02 5.95651142e+01] [ 1.10811713e-01 1.86367231e-03 9.93839671e-01 2.11712166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.51925415399995 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:380.13, Y:59.58, Z:21.17 [[ 9.21484464e-01 -3.76089470e-01 -9.70726120e-02 3.80132395e+02] [ 3.72953755e-01 9.26537040e-01 -4.93417609e-02 5.95784504e+01] [ 1.08498287e-01 9.26407095e-03 9.94053469e-01 2.11737829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.5492541539999 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:380.16, Y:59.58, Z:21.17 [[ 9.20278072e-01 -3.78349711e-01 -9.96983762e-02 3.80161148e+02] [ 3.75729458e-01 9.25655811e-01 -4.45947815e-02 5.95841806e+01] [ 1.09158804e-01 3.57998275e-03 9.94017877e-01 2.11746118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.57925415399995 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:380.19, Y:59.59, Z:21.18 [[ 9.19886726e-01 -3.77961278e-01 -1.04659849e-01 3.80189882e+02] [ 3.76369982e-01 9.25795727e-01 -3.53257386e-02 5.95867217e+01] [ 1.10245402e-01 -6.89514732e-03 9.93880480e-01 2.11754533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.6092541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:380.21, Y:59.60, Z:21.18 [[ 9.19825785e-01 -3.79020277e-01 -1.01312164e-01 3.80213941e+02] [ 3.76554897e-01 9.25387024e-01 -4.31887242e-02 5.96016009e+01] [ 1.10122364e-01 1.57651086e-03 9.93916787e-01 2.11811280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.63925415399996 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:380.24, Y:59.61, Z:21.18 [[ 9.19065093e-01 -3.80868943e-01 -1.01282791e-01 3.80239797e+02] [ 3.78412976e-01 9.24628001e-01 -4.32050894e-02 5.96101140e+01] [ 1.10104381e-01 1.38156728e-03 9.93919069e-01 2.11840157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.66925415399993 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:380.27, Y:59.62, Z:21.19 [[ 9.16754003e-01 -3.86360321e-01 -1.01428794e-01 3.80266357e+02] [ 3.83929134e-01 9.22347635e-01 -4.32811766e-02 5.96156272e+01] [ 1.10274737e-01 7.36722995e-04 9.93900870e-01 2.11868166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.69925415399996 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:380.30, Y:59.64, Z:21.19 [[ 9.19844085e-01 -3.85924364e-01 -7.03508640e-02 3.80303527e+02] [ 3.80118734e-01 9.21183142e-01 -8.32548322e-02 5.96428434e+01] [ 9.69360982e-02 4.98397836e-02 9.94041945e-01 2.11897444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.72925415399993 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:380.34, Y:59.61, Z:21.18 [[ 9.13244237e-01 -3.88609082e-01 -1.22343552e-01 3.80336106e+02] [ 3.92227271e-01 9.19848575e-01 6.03043232e-03 5.96095129e+01] [ 1.10194062e-01 -5.34937353e-02 9.92469490e-01 2.11778601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.75925415399996 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:380.35, Y:59.64, Z:21.20 [[ 9.11612318e-01 -3.98360349e-01 -1.01350946e-01 3.80354241e+02] [ 3.95996999e-01 9.17228779e-01 -4.33329341e-02 5.96415674e+01] [ 1.10224127e-01 -6.31833895e-04 9.93906556e-01 2.11966811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.78925415399993 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:380.38, Y:59.65, Z:21.20 [[ 9.08163220e-01 -4.06409502e-01 -1.00353788e-01 3.80382006e+02] [ 4.04141730e-01 9.13689650e-01 -4.29032164e-02 5.96451371e+01] [ 1.09128492e-01 -1.59403024e-03 9.94026374e-01 2.11993898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.81925415399996 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:380.41, Y:59.65, Z:21.20 [[ 9.06485345e-01 -4.10195103e-01 -1.00121408e-01 3.80409728e+02] [ 4.07959150e-01 9.11995534e-01 -4.28191252e-02 5.96533940e+01] [ 1.08874472e-01 -2.03053502e-03 9.94053432e-01 2.12021061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.84925415399994 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:380.44, Y:59.66, Z:21.21 [[ 9.04891775e-01 -4.13676764e-01 -1.00211833e-01 3.80436236e+02] [ 4.11454698e-01 9.10420596e-01 -4.28878824e-02 5.96611376e+01] [ 1.08976637e-01 -2.42373735e-03 9.94041356e-01 2.12050457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.87925415399997 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:380.46, Y:59.67, Z:21.21 [[ 9.03516948e-01 -4.16574992e-01 -1.00610143e-01 3.80463125e+02] [ 4.14349272e-01 9.09097189e-01 -4.30927166e-02 5.96689896e+01] [ 1.09415746e-01 -2.75273982e-03 9.93992262e-01 2.12080703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.90925415399994 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:380.49, Y:59.67, Z:21.21 [[ 9.01400465e-01 -4.20994997e-01 -1.01194931e-01 3.80490474e+02] [ 4.18767212e-01 9.07057039e-01 -4.33768352e-02 5.96736418e+01] [ 1.10051005e-01 -3.27721948e-03 9.93920538e-01 2.12103670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.93925415399997 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:380.52, Y:59.68, Z:21.21 [[ 9.00493068e-01 -4.22856386e-01 -1.01512122e-01 3.80516636e+02] [ 4.20624675e-01 9.06189943e-01 -4.35278050e-02 5.96818115e+01] [ 1.10395274e-01 -3.50201649e-03 9.93881592e-01 2.12132870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.96925415399994 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:380.55, Y:59.68, Z:21.22 [[ 8.99852619e-01 -4.22514453e-01 -1.08382662e-01 3.80549644e+02] [ 4.21420777e-01 9.06229847e-01 -3.39410206e-02 5.96848321e+01] [ 1.12560175e-01 -1.51327894e-02 9.93529670e-01 2.12178514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.99925415399997 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:380.57, Y:59.70, Z:21.22 [[ 8.98143831e-01 -4.28581893e-01 -9.82609767e-02 3.80567416e+02] [ 4.25265130e-01 9.03480638e-01 -5.35939053e-02 5.97026196e+01] [ 1.11746267e-01 6.34806841e-03 9.93716496e-01 2.12217194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.02925415399994 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:380.60, Y:59.71, Z:21.22 [[ 8.97396538e-01 -4.29061054e-01 -1.02888604e-01 3.80595061e+02] [ 4.26800466e-01 9.03265464e-01 -4.41912078e-02 5.97076673e+01] [ 1.11896449e-01 -4.25586728e-03 9.93710759e-01 2.12219327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.059254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:380.62, Y:59.72, Z:21.22 [[ 8.96819513e-01 -4.30189821e-01 -1.03206000e-01 3.80621479e+02] [ 4.27920838e-01 9.02727753e-01 -4.43436737e-02 5.97177340e+01] [ 1.12243117e-01 -4.39572593e-03 9.93671052e-01 2.12248986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.08925415399995 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:380.65, Y:59.73, Z:21.23 [[ 8.96358024e-01 -4.31086562e-01 -1.03473037e-01 3.80647084e+02] [ 4.28807910e-01 9.02299409e-01 -4.44921629e-02 5.97277312e+01] [ 1.12543634e-01 -4.48914961e-03 9.93636643e-01 2.12274951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.119254154 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:380.67, Y:59.74, Z:21.23 [[ 8.95559741e-01 -4.32418586e-01 -1.04818491e-01 3.80671748e+02] [ 4.30085364e-01 9.01660798e-01 -4.51041593e-02 5.97372749e+01] [ 1.14014601e-01 -4.68742954e-03 9.93468016e-01 2.12302244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.14925415399995 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:380.70, Y:59.75, Z:21.23 [[ 8.95311423e-01 -4.32860012e-01 -1.05117395e-01 3.80697825e+02] [ 4.30513646e-01 9.01448716e-01 -4.52571825e-02 5.97480256e+01] [ 1.14347966e-01 -4.73520070e-03 9.93429474e-01 2.12328820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.179254154 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:380.72, Y:59.76, Z:21.24 [[ 8.95165885e-01 -4.33037009e-01 -1.05626639e-01 3.80722869e+02] [ 4.30664994e-01 9.01363628e-01 -4.55112396e-02 5.97585216e+01] [ 1.14916062e-01 -4.74958667e-03 9.93363851e-01 2.12359214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.20925415399995 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:380.75, Y:59.77, Z:21.24 [[ 8.94901778e-01 -4.33478554e-01 -1.06052590e-01 3.80748204e+02] [ 4.31088351e-01 9.01151046e-01 -4.57124192e-02 5.97698033e+01] [ 1.15384755e-01 -4.80991072e-03 9.93309228e-01 2.12388781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2392541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:380.77, Y:59.78, Z:21.24 [[ 8.94903810e-01 -4.33369062e-01 -1.06482046e-01 3.80773396e+02] [ 4.30954724e-01 9.01203839e-01 -4.59311017e-02 5.97808388e+01] [ 1.15867147e-01 -4.78502300e-03 9.93253194e-01 2.12419719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.26925415399995 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:380.80, Y:59.79, Z:21.25 [[ 8.95147655e-01 -4.32826209e-01 -1.06640274e-01 3.80798922e+02] [ 4.30396892e-01 9.01465177e-01 -4.60331415e-02 5.97928030e+01] [ 1.16056843e-01 -4.69118367e-03 9.93231495e-01 2.12454010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2992541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:380.82, Y:59.80, Z:21.25 [[ 8.95463137e-01 -4.32146446e-01 -1.06748396e-01 3.80823152e+02] [ 4.29703313e-01 9.01791832e-01 -4.61145875e-02 5.98038152e+01] [ 1.16193087e-01 -4.57622642e-03 9.93216102e-01 2.12483907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.32925415399995 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:380.85, Y:59.82, Z:21.25 [[ 8.95868498e-01 -4.31388024e-01 -1.06414321e-01 3.80848228e+02] [ 4.28952786e-01 9.02155526e-01 -4.59881924e-02 5.98156672e+01] [ 1.15841023e-01 -4.44734660e-03 9.93257811e-01 2.12516291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.3592541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:380.87, Y:59.83, Z:21.25 [[ 8.96391262e-01 -4.30332581e-01 -1.06285345e-01 3.80873308e+02] [ 4.27891657e-01 9.02660298e-01 -4.59686464e-02 5.98278329e+01] [ 1.15721368e-01 -4.27271949e-03 9.93272525e-01 2.12549668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.38925415399996 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:380.90, Y:59.87, Z:21.26 [[ 9.02642032e-01 -4.25400086e-01 -6.53615242e-02 3.80900963e+02] [ 4.18079262e-01 9.02714295e-01 -1.01570827e-01 5.98679127e+01] [ 1.02211021e-01 6.43557995e-02 9.92678819e-01 2.12579230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.41925415399993 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:380.94, Y:59.82, Z:21.25 [[ 8.98521005e-01 -4.17737043e-01 -1.34743339e-01 3.80941310e+02] [ 4.23855507e-01 9.05528958e-01 1.90739386e-02 5.98240724e+01] [ 1.14046105e-01 -7.42500406e-02 9.90696935e-01 2.12459330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.44925415399996 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:380.95, Y:59.87, Z:21.27 [[ 8.99401507e-01 -4.23877320e-01 -1.06793946e-01 3.80949856e+02] [ 4.21351467e-01 9.05713481e-01 -4.63252725e-02 5.98676414e+01] [ 1.16360949e-01 -3.33276580e-03 9.93201401e-01 2.12675344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.47925415399993 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:380.97, Y:59.88, Z:21.27 [[ 9.00280201e-01 -4.22089373e-01 -1.06471219e-01 3.80974334e+02] [ 4.19563251e-01 9.06549033e-01 -4.62117842e-02 5.98796935e+01] [ 1.16026883e-01 -3.06785624e-03 9.93241336e-01 2.12704602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.50925415399996 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:381.00, Y:59.89, Z:21.27 [[ 9.01081859e-01 -4.20395681e-01 -1.06390577e-01 3.80999723e+02] [ 4.17857541e-01 9.07336511e-01 -4.62118102e-02 5.98917296e+01] [ 1.15959300e-01 -2.81548093e-03 9.93249975e-01 2.12733256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.53925415399993 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:381.02, Y:59.90, Z:21.28 [[ 9.02388414e-01 -4.17674660e-01 -1.06033145e-01 3.81023628e+02] [ 4.15130762e-01 9.08593417e-01 -4.60917886e-02 5.99041313e+01] [ 1.15592390e-01 -2.42492423e-03 9.93293773e-01 2.12766157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.56925415399996 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:381.05, Y:59.92, Z:21.28 [[ 9.02938911e-01 -4.16550845e-01 -1.05767275e-01 3.81048665e+02] [ 4.14009972e-01 9.09109614e-01 -4.59940469e-02 5.99160690e+01] [ 1.15312906e-01 -2.25889203e-03 9.93326649e-01 2.12792649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.59925415399994 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:381.07, Y:59.93, Z:21.28 [[ 9.03311122e-01 -4.15648558e-01 -1.06138086e-01 3.81073272e+02] [ 4.13079280e-01 9.09522838e-01 -4.61921676e-02 5.99280711e+01] [ 1.15734721e-01 -2.11754554e-03 9.93277902e-01 2.12823526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.62925415399997 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:381.10, Y:59.94, Z:21.29 [[ 9.03803174e-01 -4.14578235e-01 -1.06135335e-01 3.81098203e+02] [ 4.11997475e-01 9.10011592e-01 -4.62275186e-02 5.99401475e+01] [ 1.15749308e-01 -1.94691200e-03 9.93276551e-01 2.12850354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.65925415399994 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:381.12, Y:59.95, Z:21.29 [[ 9.04814894e-01 -4.12182142e-01 -1.06845162e-01 3.81123004e+02] [ 4.09545610e-01 9.11100031e-01 -4.65738818e-02 5.99535801e+01] [ 1.16543553e-01 -1.61722526e-03 9.93184265e-01 2.12881457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.68925415399997 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:381.15, Y:59.97, Z:21.29 [[ 9.05372023e-01 -4.10868138e-01 -1.07186163e-01 3.81146601e+02] [ 4.08201315e-01 9.11693675e-01 -4.67582056e-02 5.99655514e+01] [ 1.16932404e-01 -1.41996146e-03 9.93138861e-01 2.12911260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.71925415399994 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:381.17, Y:59.98, Z:21.29 [[ 9.06044639e-01 -4.09283577e-01 -1.07564241e-01 3.81172639e+02] [ 4.06584566e-01 9.12406437e-01 -4.69412850e-02 5.99778173e+01] [ 1.17354603e-01 -1.20306056e-03 9.93089346e-01 2.12940896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.74925415399997 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:381.20, Y:59.99, Z:21.30 [[ 9.06791798e-01 -4.07610415e-01 -1.07621487e-01 3.81197721e+02] [ 4.04892796e-01 9.13155428e-01 -4.69998788e-02 5.99896913e+01] [ 1.17432785e-01 -9.56060073e-04 9.93080373e-01 2.12970126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.77925415399994 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:381.22, Y:60.00, Z:21.30 [[ 9.08856571e-01 -4.03117747e-01 -1.07125233e-01 3.81223663e+02] [ 4.00390050e-01 9.15148056e-01 -4.68171205e-02 6.00028058e+01] [ 1.16908261e-01 -3.41829840e-04 9.93142659e-01 2.13007251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.809254154 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:381.25, Y:60.01, Z:21.30 [[ 9.09933415e-01 -4.00802857e-01 -1.06668880e-01 3.81248698e+02] [ 3.98081933e-01 9.16164324e-01 -4.66230168e-02 6.00143407e+01] [ 1.16412861e-01 -3.91129515e-05 9.93200908e-01 2.13040926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.83925415399995 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:381.28, Y:60.03, Z:21.31 [[ 9.11050132e-01 -3.98502530e-01 -1.05751549e-01 3.81275120e+02] [ 3.95811359e-01 9.17167195e-01 -4.62353171e-02 6.00263781e+01] [ 1.15416743e-01 2.65027257e-04 9.93317122e-01 2.13071228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.869254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:381.30, Y:60.04, Z:21.31 [[ 9.11994131e-01 -3.96482743e-01 -1.05205229e-01 3.81301101e+02] [ 3.93802325e-01 9.18042012e-01 -4.60281797e-02 6.00384227e+01] [ 1.14832199e-01 5.47365894e-04 9.93384752e-01 2.13105888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.89925415399995 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:381.32, Y:60.05, Z:21.31 [[ 9.13045988e-01 -3.94423203e-01 -1.03814070e-01 3.81324996e+02] [ 3.91405063e-01 9.18920285e-01 -4.88629365e-02 6.00510578e+01] [ 1.14669531e-01 3.98075543e-03 9.93395718e-01 2.13142553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.929254154 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:381.35, Y:60.06, Z:21.32 [[ 9.13770855e-01 -3.92343771e-01 -1.05305224e-01 3.81354007e+02] [ 3.89963080e-01 9.19817262e-01 -4.31856623e-02 6.00599989e+01] [ 1.13805188e-01 -1.60334977e-03 9.93501791e-01 2.13155550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.95925415399995 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:381.38, Y:60.07, Z:21.32 [[ 9.13933033e-01 -3.92276529e-01 -1.04141901e-01 3.81381800e+02] [ 3.89612141e-01 9.19846616e-01 -4.56572336e-02 6.00728290e+01] [ 1.13704837e-01 1.15270486e-03 9.93513906e-01 2.13196934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.9892541539999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:381.41, Y:60.08, Z:21.32 [[ 9.13753862e-01 -3.92772369e-01 -1.03844816e-01 3.81409957e+02] [ 3.90126403e-01 9.19635081e-01 -4.55269875e-02 6.00840440e+01] [ 1.13381079e-01 1.08785599e-03 9.93550979e-01 2.13226937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.01925415399995 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:381.44, Y:60.10, Z:21.33 [[ 9.13311710e-01 -3.93872023e-01 -1.03569061e-01 3.81439318e+02] [ 3.91247219e-01 9.19164800e-01 -4.54057769e-02 6.00955430e+01] [ 1.13081100e-01 9.48520756e-04 9.93585308e-01 2.13258235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.0492541539999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:381.47, Y:60.10, Z:21.33 [[ 9.11195646e-01 -3.98755697e-01 -1.03519992e-01 3.81466339e+02] [ 3.96165159e-01 9.17057130e-01 -4.53804819e-02 6.01046500e+01] [ 1.13029473e-01 3.39483373e-04 9.93591578e-01 2.13292559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.07925415399995 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:381.49, Y:60.11, Z:21.33 [[ 9.09609603e-01 -4.02400874e-01 -1.03362984e-01 3.81493353e+02] [ 3.99840673e-01 9.15463558e-01 -4.53200901e-02 6.01149530e+01] [ 1.12861889e-01 -1.05136004e-04 9.93610680e-01 2.13323307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.1092541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:381.52, Y:60.12, Z:21.34 [[ 9.07873145e-01 -4.06274735e-01 -1.03475560e-01 3.81518298e+02] [ 4.03730502e-01 9.13750802e-01 -4.53999435e-02 6.01240128e+01] [ 1.12995726e-01 -5.58850098e-04 9.93595317e-01 2.13352001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.13925415399996 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:381.54, Y:60.13, Z:21.34 [[ 9.05866052e-01 -4.10626779e-01 -1.03886213e-01 3.81544195e+02] [ 4.08088741e-01 9.11802863e-01 -4.55973545e-02 6.01333105e+01] [ 1.13447241e-01 -1.08969822e-03 9.93543424e-01 2.13378579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.16925415399993 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:381.57, Y:60.14, Z:21.34 [[ 9.02064919e-01 -4.18697657e-01 -1.04743279e-01 3.81571779e+02] [ 4.16167203e-01 9.08123295e-01 -4.60102249e-02 6.01408289e+01] [ 1.14384185e-01 -2.08650768e-03 9.93434399e-01 2.13400870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.19925415399996 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:381.60, Y:60.15, Z:21.34 [[ 9.00247484e-01 -4.22548869e-01 -1.04913871e-01 3.81597230e+02] [ 4.20032004e-01 9.06336564e-01 -4.61210231e-02 6.01500899e+01] [ 1.14575663e-01 -2.54684846e-03 9.93411260e-01 2.13423460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.22925415399993 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:381.62, Y:60.16, Z:21.35 [[ 8.98552549e-01 -4.26042808e-01 -1.05313072e-01 3.81623433e+02] [ 4.23527502e-01 9.04698098e-01 -4.63228521e-02 6.01599019e+01] [ 1.15012054e-01 -2.97946551e-03 9.93359628e-01 2.13450869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.25925415399996 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:381.65, Y:60.17, Z:21.35 [[ 8.97102974e-01 -4.29072572e-01 -1.05370693e-01 3.81648568e+02] [ 4.26571181e-01 9.03263854e-01 -4.63835783e-02 6.01699272e+01] [ 1.15079459e-01 -3.33725481e-03 9.93350684e-01 2.13475998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.28925415399993 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:381.67, Y:60.18, Z:21.35 [[ 8.94750075e-01 -4.33908071e-01 -1.05575039e-01 3.81674502e+02] [ 4.31428267e-01 9.00948492e-01 -4.64915608e-02 6.01801107e+01] [ 1.15290736e-01 -3.94972849e-03 9.93323938e-01 2.13509148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.31925415399996 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:381.70, Y:60.19, Z:21.35 [[ 8.93730578e-01 -4.36073365e-01 -1.05288526e-01 3.81699799e+02] [ 4.33617669e-01 8.99901394e-01 -4.64025796e-02 6.01909653e+01] [ 1.14984221e-01 -4.18356101e-03 9.93358509e-01 2.13537820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.34925415399994 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:381.72, Y:60.20, Z:21.36 [[ 8.92791024e-01 -4.38049413e-01 -1.05056647e-01 3.81724549e+02] [ 4.35614069e-01 8.98940146e-01 -4.63356910e-02 6.02016201e+01] [ 1.14736960e-01 -4.39606435e-03 9.93386181e-01 2.13563342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.37925415399997 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:381.75, Y:60.21, Z:21.36 [[ 8.91877584e-01 -4.39895497e-01 -1.05101505e-01 3.81750176e+02] [ 4.37468747e-01 8.98037089e-01 -4.63732903e-02 6.02125776e+01] [ 1.14784451e-01 -4.61932542e-03 9.93379682e-01 2.13595291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.40925415399994 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:381.78, Y:60.22, Z:21.36 [[ 8.90316221e-01 -4.43121223e-01 -1.04788397e-01 3.81775063e+02] [ 4.40727134e-01 8.96447822e-01 -4.62698136e-02 6.02221485e+01] [ 1.14440467e-01 -4.98832417e-03 9.93417584e-01 2.13619967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.43925415399997 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:381.80, Y:60.23, Z:21.37 [[ 8.89140931e-01 -4.45705122e-01 -1.03804380e-01 3.81800762e+02] [ 4.43371444e-01 8.95164416e-01 -4.58522748e-02 6.02335403e+01] [ 1.13358581e-01 -5.25476365e-03 9.93540246e-01 2.13659461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.46925415399994 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:381.83, Y:60.24, Z:21.37 [[ 8.88063898e-01 -4.47995370e-01 -1.03163272e-01 3.81826058e+02] [ 4.45701818e-01 8.94019080e-01 -4.56045471e-02 6.02444747e+01] [ 1.12660560e-01 -5.48030619e-03 9.93618420e-01 2.13689043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.49925415399997 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:381.85, Y:60.26, Z:21.37 [[ 8.87943378e-01 -4.48237211e-01 -1.03150182e-01 3.81851858e+02] [ 4.45941853e-01 8.93897863e-01 -4.56341370e-02 6.02559963e+01] [ 1.12660646e-01 -5.47845357e-03 9.93618420e-01 2.13719034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.52925415399994 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:381.88, Y:60.27, Z:21.37 [[ 8.86944991e-01 -4.50298584e-01 -1.02760735e-01 3.81876980e+02] [ 4.48030545e-01 8.92859915e-01 -4.54950787e-02 6.02668524e+01] [ 1.12237311e-01 -5.68831615e-03 9.93665149e-01 2.13748514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.559254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:381.90, Y:60.28, Z:21.38 [[ 8.85853579e-01 -4.52485134e-01 -1.02570171e-01 3.81902457e+02] [ 4.50236103e-01 8.91752280e-01 -4.54458304e-02 6.02781273e+01] [ 1.12030747e-01 -5.92244260e-03 9.93687092e-01 2.13778851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.58925415399995 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:381.93, Y:60.29, Z:21.38 [[ 8.83880080e-01 -4.56284037e-01 -1.02766152e-01 3.81928116e+02] [ 4.54047869e-01 8.89811282e-01 -4.55676997e-02 6.02891620e+01] [ 1.12234296e-01 -6.38437027e-03 9.93661262e-01 2.13800274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.619254154 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:381.95, Y:60.30, Z:21.38 [[ 8.83046984e-01 -4.57804472e-01 -1.03165352e-01 3.81952943e+02] [ 4.55557304e-01 8.89028605e-01 -4.57786232e-02 6.02999727e+01] [ 1.12674607e-01 -6.57305435e-03 9.93610199e-01 2.13823985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.64925415399995 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:381.98, Y:60.31, Z:21.38 [[ 8.82198997e-01 -4.59358796e-01 -1.03510512e-01 3.81978028e+02] [ 4.57105242e-01 8.88224935e-01 -4.59484751e-02 6.03113446e+01] [ 1.13047454e-01 -6.77949913e-03 9.93566461e-01 2.13846919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.679254154 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:382.00, Y:60.32, Z:21.39 [[ 8.81585617e-01 -4.60352095e-01 -1.04320410e-01 3.82003669e+02] [ 4.58065920e-01 8.87709368e-01 -4.63431933e-02 6.03231334e+01] [ 1.13940391e-01 -6.93013177e-03 9.93463417e-01 2.13873811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.70925415399995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:382.03, Y:60.34, Z:21.39 [[ 8.81391227e-01 -4.60244610e-01 -1.06416185e-01 3.82027556e+02] [ 4.57860652e-01 8.87764343e-01 -4.73085185e-02 6.03351725e+01] [ 1.16245985e-01 -7.02647052e-03 9.93195600e-01 2.13893763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7392541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:382.05, Y:60.35, Z:21.39 [[ 8.81431884e-01 -4.60236789e-01 -1.06112825e-01 3.82052293e+02] [ 4.57864364e-01 8.87768687e-01 -4.71909148e-02 6.03479584e+01] [ 1.15922639e-01 -6.98970426e-03 9.93233651e-01 2.13933421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.76925415399995 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:382.08, Y:60.36, Z:21.40 [[ 8.81686860e-01 -4.59696658e-01 -1.06335613e-01 3.82076830e+02] [ 4.57306136e-01 8.88049185e-01 -4.73259301e-02 6.03605623e+01] [ 1.16186827e-01 -6.90127761e-03 9.93203400e-01 2.13963361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7992541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:382.10, Y:60.37, Z:21.40 [[ 8.82412125e-01 -4.58382925e-01 -1.05990260e-01 3.82100853e+02] [ 4.55994602e-01 8.88729726e-01 -4.72058976e-02 6.03728336e+01] [ 1.15835072e-01 -6.67592989e-03 9.93246026e-01 2.13993250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.82925415399995 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:382.13, Y:60.41, Z:21.40 [[ 8.87748778e-01 -4.53924435e-01 -7.65161087e-02 3.82127756e+02] [ 4.48079953e-01 8.90195210e-01 -8.23215875e-02 6.04052173e+01] [ 1.05482054e-01 3.87955543e-02 9.93664149e-01 2.14010900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.8592541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:382.16, Y:60.38, Z:21.39 [[ 8.85826439e-01 -4.47297090e-01 -1.23437564e-01 3.82161821e+02] [ 4.50396569e-01 8.92823192e-01 -3.11110124e-03 6.03796783e+01] [ 1.11599506e-01 -5.28399594e-02 9.92347464e-01 2.13946887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.88925415399996 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:382.18, Y:60.41, Z:21.41 [[ 8.87133671e-01 -4.49798328e-01 -1.03321411e-01 3.82175700e+02] [ 4.47460394e-01 8.93114265e-01 -4.61097183e-02 6.04131031e+01] [ 1.13017900e-01 -5.32675568e-03 9.93578673e-01 2.14099584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.91925415399993 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:382.20, Y:60.45, Z:21.41 [[ 8.92114860e-01 -4.45964892e-01 -7.24319812e-02 3.82204439e+02] [ 4.39870279e-01 8.93918011e-01 -8.61668583e-02 6.04473813e+01] [ 1.03175646e-01 4.50100589e-02 9.93644243e-01 2.14126842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.94925415399996 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:382.24, Y:60.42, Z:21.40 [[ 8.91834234e-01 -4.34800793e-01 -1.24819749e-01 3.82239353e+02] [ 4.38487860e-01 8.98734147e-01 2.30864133e-03 6.04198872e+01] [ 1.11175971e-01 -5.67908698e-02 9.92176749e-01 2.14034805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.97925415399993 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:382.25, Y:60.46, Z:21.42 [[ 8.93317120e-01 -4.37416392e-01 -1.03205734e-01 3.82254862e+02] [ 4.34986533e-01 8.99251735e-01 -4.61847683e-02 6.04577056e+01] [ 1.13009910e-01 -3.63546022e-03 9.93587210e-01 2.14206145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.00925415399996 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:382.28, Y:60.47, Z:21.42 [[ 8.94890157e-01 -4.34124419e-01 -1.03477517e-01 3.82279453e+02] [ 4.31660181e-01 9.00847128e-01 -4.63027018e-02 6.04707559e+01] [ 1.13318558e-01 -3.23129176e-03 9.93553453e-01 2.14233602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.03925415399993 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:382.30, Y:60.48, Z:21.43 [[ 8.96274816e-01 -4.31151544e-01 -1.03922086e-01 3.82304282e+02] [ 4.28644591e-01 9.02275009e-01 -4.65147566e-02 6.04834782e+01] [ 1.13821210e-01 -2.85563515e-03 9.93497145e-01 2.14253257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.06925415399996 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:382.33, Y:60.50, Z:21.43 [[ 8.98440103e-01 -4.26526957e-01 -1.04307888e-01 3.82328632e+02] [ 4.23966004e-01 9.04472065e-01 -4.67237642e-02 6.04980262e+01] [ 1.14272516e-01 -2.24449509e-03 9.93446906e-01 2.14292599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.09925415399994 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:382.35, Y:60.51, Z:21.43 [[ 8.99429479e-01 -4.24466684e-01 -1.04185637e-01 3.82354517e+02] [ 4.21894472e-01 9.05441451e-01 -4.66993908e-02 6.05116263e+01] [ 1.14156330e-01 -1.95253541e-03 9.93460880e-01 2.14322709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.12925415399997 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:382.38, Y:60.53, Z:21.44 [[ 9.00336449e-01 -4.22578999e-01 -1.04025323e-01 3.82381170e+02] [ 4.20001663e-01 9.06324488e-01 -4.66318069e-02 6.05253973e+01] [ 1.13986320e-01 -1.70649317e-03 9.93480854e-01 2.14356188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.15925415399994 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:382.41, Y:60.54, Z:21.44 [[ 9.01032109e-01 -4.21055813e-01 -1.04178406e-01 3.82406446e+02] [ 4.18460659e-01 9.07033464e-01 -4.67008745e-02 6.05384545e+01] [ 1.14156975e-01 -1.51557681e-03 9.93461569e-01 2.14389661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.18925415399997 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:382.43, Y:60.55, Z:21.44 [[ 9.02625668e-01 -4.17716701e-01 -1.03825142e-01 3.82432689e+02] [ 4.15116392e-01 9.08576680e-01 -4.65488718e-02 6.05531644e+01] [ 1.13777344e-01 -1.08331172e-03 9.93505683e-01 2.14422761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.21925415399994 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:382.46, Y:60.55, Z:21.45 [[ 9.01487537e-01 -4.14947144e-01 -1.23041002e-01 3.82457780e+02] [ 4.15902987e-01 9.09209666e-01 -1.90391377e-02 6.05534187e+01] [ 1.19770304e-01 -3.40095748e-02 9.92218939e-01 2.14457823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.24925415399997 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:382.48, Y:60.59, Z:21.46 [[ 9.04071306e-01 -4.17833364e-01 -8.98351495e-02 3.82475436e+02] [ 4.11840835e-01 9.07901116e-01 -7.81197148e-02 6.05932736e+01] [ 1.14202456e-01 3.36280096e-02 9.92888189e-01 2.14584874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.27925415399994 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:382.51, Y:60.59, Z:21.45 [[ 9.05537313e-01 -4.11335313e-01 -1.03949200e-01 3.82507417e+02] [ 4.08680160e-01 9.11484069e-01 -4.66617383e-02 6.05919227e+01] [ 1.13941661e-01 -2.28030700e-04 9.93487416e-01 2.14506983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.309254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:382.53, Y:60.60, Z:21.45 [[ 9.05964131e-01 -4.10441957e-01 -1.03761238e-01 3.82532764e+02] [ 4.07788559e-01 9.11886720e-01 -4.65950738e-02 6.06046666e+01] [ 1.13743068e-01 -9.91800369e-05 9.93510194e-01 2.14539560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.33925415399995 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:382.56, Y:60.62, Z:21.46 [[ 9.06340273e-01 -4.09710142e-01 -1.03367829e-01 3.82558174e+02] [ 4.07068633e-01 9.12215763e-01 -4.64492080e-02 6.06170508e+01] [ 1.13324474e-01 2.09871924e-05 9.93558032e-01 2.14569107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.369254154 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:382.58, Y:60.63, Z:21.46 [[ 9.06617949e-01 -4.09155711e-01 -1.03128551e-01 3.82583565e+02] [ 4.06519371e-01 9.12464569e-01 -4.63725284e-02 6.06285601e+01] [ 1.13074733e-01 1.18413114e-04 9.93586479e-01 2.14597549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.39925415399995 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:382.61, Y:60.64, Z:21.46 [[ 9.06530375e-01 -4.09510384e-01 -1.02488655e-01 3.82608248e+02] [ 4.06905241e-01 9.12305450e-01 -4.61182227e-02 6.06397954e+01] [ 1.12386849e-01 1.04399011e-04 9.93664523e-01 2.14627912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.429254154 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:382.63, Y:60.65, Z:21.47 [[ 9.06140629e-01 -4.10411775e-01 -1.02329544e-01 3.82633716e+02] [ 4.07818672e-01 9.11900310e-01 -4.60625216e-02 6.06511453e+01] [ 1.12218944e-01 7.22379053e-06 9.93683505e-01 2.14658567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.45925415399995 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:382.66, Y:60.66, Z:21.47 [[ 9.04825790e-01 -4.13451850e-01 -1.01724422e-01 3.82658716e+02] [ 4.10904851e-01 9.10525922e-01 -4.58230212e-02 6.06610520e+01] [ 1.11568336e-01 -3.37206934e-04 9.93756707e-01 2.14681538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.4892541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:382.69, Y:60.67, Z:21.47 [[ 9.03724168e-01 -4.15813500e-01 -1.01890925e-01 3.82688366e+02] [ 4.13271536e-01 9.09449698e-01 -4.59117104e-02 6.06732782e+01] [ 1.11755380e-01 -6.17096882e-04 9.93735555e-01 2.14714450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.51925415399995 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:382.72, Y:60.68, Z:21.47 [[ 9.02378010e-01 -4.18703070e-01 -1.01988555e-01 3.82716163e+02] [ 4.16175595e-01 9.08122663e-01 -4.59467401e-02 6.06842973e+01] [ 1.11856159e-01 -9.83819765e-04 9.93723921e-01 2.14744369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.5492541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:382.74, Y:60.69, Z:21.48 [[ 8.98988527e-01 -4.25931170e-01 -1.01991502e-01 3.82743015e+02] [ 4.23450338e-01 9.04753602e-01 -4.59426960e-02 6.06927010e+01] [ 1.11845605e-01 -1.88637936e-03 9.93723806e-01 2.14764871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.57925415399995 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:382.77, Y:60.70, Z:21.48 [[ 8.97186212e-01 -4.29629096e-01 -1.02351069e-01 3.82771009e+02] [ 4.27151032e-01 9.03002451e-01 -4.61364157e-02 6.07033816e+01] [ 1.12244813e-01 -2.32640887e-03 9.93677860e-01 2.14793771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.6092541539999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:382.80, Y:60.71, Z:21.48 [[ 8.95522809e-01 -4.32992709e-01 -1.02743430e-01 3.82796549e+02] [ 4.30517498e-01 9.01393204e-01 -4.63138740e-02 6.07129226e+01] [ 1.12665799e-01 -2.75771375e-03 9.93629112e-01 2.14819138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.63925415399996 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:382.83, Y:60.72, Z:21.49 [[ 8.93922916e-01 -4.36253064e-01 -1.02883842e-01 3.82825928e+02] [ 4.33791350e-01 8.99818459e-01 -4.63875599e-02 6.07244200e+01] [ 1.12813495e-01 -3.16321773e-03 9.93611146e-01 2.14851241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.66925415399993 meters Centerline goodness : 0.996505 Centerline is valid? [True, True] Translation: X:382.85, Y:60.73, Z:21.49 [[ 8.91697806e-01 -4.40599455e-01 -1.03668430e-01 3.82850272e+02] [ 4.38388858e-01 8.97685057e-01 -4.44606348e-02 6.07320762e+01] [ 1.12650932e-01 -5.80163429e-03 9.93617687e-01 2.14869696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.69925415399996 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:382.88, Y:60.75, Z:21.49 [[ 8.90393197e-01 -4.43611691e-01 -1.02022656e-01 3.82875640e+02] [ 4.40699560e-01 8.96219068e-01 -5.07472135e-02 6.07465206e+01] [ 1.13946707e-01 2.23634048e-04 9.93486838e-01 2.14927954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.72925415399993 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:382.90, Y:60.76, Z:21.49 [[ 8.89255456e-01 -4.45495702e-01 -1.03722295e-01 3.82904177e+02] [ 4.43191772e-01 8.95267544e-01 -4.55749747e-02 6.07561854e+01] [ 1.13162659e-01 -5.44107280e-03 9.93561577e-01 2.14944413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.75925415399996 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:382.93, Y:60.77, Z:21.50 [[ 8.88431288e-01 -4.47209499e-01 -1.03409427e-01 3.82929080e+02] [ 4.44789681e-01 8.94417797e-01 -4.66791660e-02 6.07675144e+01] [ 1.13366598e-01 -4.52421430e-03 9.93542926e-01 2.14980238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.78925415399993 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:382.95, Y:60.78, Z:21.50 [[ 8.87689184e-01 -4.48671483e-01 -1.03449570e-01 3.82953483e+02] [ 4.46255529e-01 8.93684506e-01 -4.67333585e-02 6.07782083e+01] [ 1.13419204e-01 -4.68024591e-03 9.93536199e-01 2.15007107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.81925415399996 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:382.98, Y:60.79, Z:21.50 [[ 8.86977694e-01 -4.50313414e-01 -1.02412891e-01 3.82979998e+02] [ 4.47953796e-01 8.92857557e-01 -4.62901691e-02 6.07894729e+01] [ 1.12285208e-01 -4.81789580e-03 9.93664340e-01 2.15032559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.84925415399994 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:383.01, Y:60.80, Z:21.51 [[ 8.86638194e-01 -4.51052583e-01 -1.02099366e-01 3.83006255e+02] [ 4.48708697e-01 8.92484103e-01 -4.61804208e-02 6.08015382e+01] [ 1.11951859e-01 -4.86754846e-03 9.93701710e-01 2.15065628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.87925415399997 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:383.03, Y:60.81, Z:21.51 [[ 8.86589558e-01 -4.51255530e-01 -1.01623828e-01 3.83030908e+02] [ 4.48931322e-01 8.92381645e-01 -4.59963997e-02 6.08130889e+01] [ 1.11443368e-01 -4.84219182e-03 9.93758989e-01 2.15094841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.90925415399994 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:383.06, Y:60.83, Z:21.51 [[ 8.86566882e-01 -4.51329896e-01 -1.01491326e-01 3.83057058e+02] [ 4.49010406e-01 8.92344100e-01 -4.59528396e-02 6.08254512e+01] [ 1.11305076e-01 -4.83039588e-03 9.93774545e-01 2.15128543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.93925415399997 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:383.08, Y:60.84, Z:21.52 [[ 8.86564666e-01 -4.51341626e-01 -1.01458514e-01 3.83081091e+02] [ 4.49020224e-01 8.92338318e-01 -4.59691678e-02 6.08372870e+01] [ 1.11283118e-01 -4.80228463e-03 9.93777141e-01 2.15157710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.96925415399994 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:383.11, Y:60.85, Z:21.52 [[ 8.86619200e-01 -4.51149045e-01 -1.01837784e-01 3.83106208e+02] [ 4.48807058e-01 8.92435813e-01 -4.61578186e-02 6.08497206e+01] [ 1.11707741e-01 -4.78110811e-03 9.93729602e-01 2.15186857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.99925415399997 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:383.13, Y:60.86, Z:21.52 [[ 8.86525040e-01 -4.51297008e-01 -1.02001789e-01 3.83131777e+02] [ 4.48944388e-01 8.92361029e-01 -4.62680269e-02 6.08618298e+01] [ 1.11903043e-01 -4.77536620e-03 9.93707656e-01 2.15214898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.02925415399994 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:383.16, Y:60.87, Z:21.52 [[ 8.86634704e-01 -4.50992930e-01 -1.02392768e-01 3.83158043e+02] [ 4.48616561e-01 8.92515006e-01 -4.64773683e-02 6.08738113e+01] [ 1.12348046e-01 -4.72664370e-03 9.93657675e-01 2.15235345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.059254154 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:383.18, Y:60.89, Z:21.53 [[ 8.86466893e-01 -4.51289649e-01 -1.02538293e-01 3.83181781e+02] [ 4.48904943e-01 8.92364923e-01 -4.65746287e-02 6.08863484e+01] [ 1.12520224e-01 -4.74308026e-03 9.93638114e-01 2.15271381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.08925415399995 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:383.21, Y:60.90, Z:21.53 [[ 8.86382707e-01 -4.51478645e-01 -1.02434023e-01 3.83206921e+02] [ 4.49098149e-01 8.92269297e-01 -4.65441113e-02 6.08985830e+01] [ 1.12412406e-01 -4.74703483e-03 9.93650299e-01 2.15297507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.119254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:383.23, Y:60.91, Z:21.53 [[ 8.86406127e-01 -4.51389593e-01 -1.02623645e-01 3.83232020e+02] [ 4.48995530e-01 8.92314537e-01 -4.66667055e-02 6.09107444e+01] [ 1.12637435e-01 -4.71190415e-03 9.93624983e-01 2.15325434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.14925415399995 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:383.26, Y:60.92, Z:21.54 [[ 8.86485797e-01 -4.51231343e-01 -1.02631414e-01 3.83256453e+02] [ 4.48831888e-01 8.92394841e-01 -4.67052876e-02 6.09227687e+01] [ 1.12662634e-01 -4.66067705e-03 9.93622367e-01 2.15351304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.179254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:383.28, Y:60.94, Z:21.54 [[ 8.87054158e-01 -4.49868933e-01 -1.03696020e-01 3.83281716e+02] [ 4.47408097e-01 8.93083153e-01 -4.72067536e-02 6.09363098e+01] [ 1.13846020e-01 -4.51949176e-03 9.93488127e-01 2.15380359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.20925415399995 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:383.31, Y:60.95, Z:21.54 [[ 8.87721311e-01 -4.48491748e-01 -1.03952035e-01 3.83305799e+02] [ 4.46005705e-01 8.93776506e-01 -4.73547075e-02 6.09486961e+01] [ 1.14148082e-01 -4.32541759e-03 9.93454330e-01 2.15407766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2392541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:383.33, Y:60.96, Z:21.54 [[ 8.88477580e-01 -4.46958102e-01 -1.04096328e-01 3.83332136e+02] [ 4.44452887e-01 8.94545403e-01 -4.74357762e-02 6.09625040e+01] [ 1.14320696e-01 -4.12028998e-03 9.93435354e-01 2.15440674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.26925415399995 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:383.36, Y:60.98, Z:21.55 [[ 8.89440975e-01 -4.45064728e-01 -1.03981438e-01 3.83359040e+02] [ 4.42551667e-01 8.95490046e-01 -4.73877569e-02 6.09765660e+01] [ 1.14204962e-01 -3.86854613e-03 9.93449677e-01 2.15473876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2992541539999 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:383.38, Y:60.99, Z:21.55 [[ 8.91757665e-01 -4.40404809e-01 -1.03980146e-01 3.83383753e+02] [ 4.37860178e-01 8.97793354e-01 -4.73873175e-02 6.09919608e+01] [ 1.14222287e-01 -3.27076181e-03 9.93449833e-01 2.15511680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.32925415399995 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:383.41, Y:61.01, Z:21.55 [[ 8.93161149e-01 -4.37669017e-01 -1.03484269e-01 3.83407922e+02] [ 4.35129992e-01 8.99131470e-01 -4.71644964e-02 6.10053254e+01] [ 1.13688401e-01 -2.90361319e-03 9.93512213e-01 2.15546887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.3592541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:383.43, Y:61.02, Z:21.56 [[ 8.94531836e-01 -4.34914116e-01 -1.03259410e-01 3.83432588e+02] [ 4.32365946e-01 9.00468377e-01 -4.70785547e-02 6.10187905e+01] [ 1.13456961e-01 -2.53258641e-03 9.93539684e-01 2.15578884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.38925415399996 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:383.46, Y:61.03, Z:21.56 [[ 8.96051787e-01 -4.31954938e-01 -1.02499399e-01 3.83460950e+02] [ 4.29423808e-01 9.01892668e-01 -4.67419453e-02 6.10335528e+01] [ 1.12633871e-01 -2.13247883e-03 9.93634271e-01 2.15615046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.41925415399993 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:383.49, Y:61.05, Z:21.56 [[ 8.96091484e-01 -4.31871748e-01 -1.02502910e-01 3.83490558e+02] [ 4.29340955e-01 9.01932511e-01 -4.67342464e-02 6.10469859e+01] [ 1.12633907e-01 -2.13053688e-03 9.93634271e-01 2.15649967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.44925415399996 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:383.52, Y:61.06, Z:21.57 [[ 8.98971638e-01 -4.26153400e-01 -1.01209063e-01 3.83518954e+02] [ 4.23651311e-01 9.04649825e-01 -4.61330827e-02 6.10634223e+01] [ 1.11218531e-01 -1.40501940e-03 9.93794981e-01 2.15692794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.47925415399993 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:383.55, Y:61.08, Z:21.57 [[ 9.00387761e-01 -4.23330564e-01 -1.00464484e-01 3.83547604e+02] [ 4.20849207e-01 9.05974674e-01 -4.57802983e-02 6.10780917e+01] [ 1.10398477e-01 -1.06037806e-03 9.93886841e-01 2.15727495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.50925415399996 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:383.58, Y:61.09, Z:21.58 [[ 9.01482027e-01 -4.21013182e-01 -1.00389518e-01 3.83576740e+02] [ 4.18522210e-01 9.07054180e-01 -4.57370125e-02 6.10929340e+01] [ 1.10314617e-01 -7.84148022e-04 9.93896408e-01 2.15766972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.53925415399993 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:383.61, Y:61.11, Z:21.58 [[ 9.02344938e-01 -4.19198634e-01 -1.00230321e-01 3.83605538e+02] [ 4.16705916e-01 9.07894364e-01 -4.56508940e-02 6.11073683e+01] [ 1.10135336e-01 -5.73714544e-04 9.93916434e-01 2.15798300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.56925415399996 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:383.64, Y:61.12, Z:21.58 [[ 9.03494834e-01 -4.16671662e-01 -1.00408227e-01 3.83635052e+02] [ 4.14155752e-01 9.09057011e-01 -4.57204876e-02 6.11221746e+01] [ 1.10327234e-01 -2.76420285e-04 9.93895279e-01 2.15830669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.59925415399994 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:383.66, Y:61.14, Z:21.59 [[ 9.03882524e-01 -4.15765871e-01 -1.00673347e-01 3.83664664e+02] [ 4.13232535e-01 9.09471664e-01 -4.58275466e-02 6.11359896e+01] [ 1.10613087e-01 -1.78784004e-04 9.93863528e-01 2.15859954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.62925415399997 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:383.69, Y:61.15, Z:21.59 [[ 9.03882175e-01 -4.15757642e-01 -1.00710457e-01 3.83693032e+02] [ 4.13223898e-01 9.09475424e-01 -4.58308123e-02 6.11492925e+01] [ 1.10648196e-01 -1.90313097e-04 9.93859618e-01 2.15897411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.65925415399994 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:383.72, Y:61.16, Z:21.59 [[ 9.03922582e-01 -4.15647502e-01 -1.00802381e-01 3.83722590e+02] [ 4.13109709e-01 9.09525766e-01 -4.58611975e-02 6.11627804e+01] [ 1.10744455e-01 -1.87470501e-04 9.93848897e-01 2.15932302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.68925415399997 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:383.75, Y:61.18, Z:21.60 [[ 9.03664971e-01 -4.16193249e-01 -1.00860295e-01 3.83751209e+02] [ 4.13657441e-01 9.09276145e-01 -4.58738839e-02 6.11759399e+01] [ 1.10802261e-01 -2.66989548e-04 9.93842436e-01 2.15965526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.71925415399994 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:383.78, Y:61.19, Z:21.60 [[ 9.03527564e-01 -4.16594154e-01 -1.00435316e-01 3.83780964e+02] [ 4.14083463e-01 9.09092518e-01 -4.56692488e-02 6.11896896e+01] [ 1.10330537e-01 -3.25178590e-04 9.93894897e-01 2.16000072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.74925415399997 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:383.81, Y:61.20, Z:21.60 [[ 9.03274790e-01 -4.17062381e-01 -1.00765191e-01 3.83811197e+02] [ 4.14539521e-01 9.08877777e-01 -4.58058148e-02 6.12036039e+01] [ 1.10687125e-01 -3.95916105e-04 9.93855223e-01 2.16038804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.77925415399994 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:383.84, Y:61.22, Z:21.61 [[ 9.03052552e-01 -4.17502306e-01 -1.00935189e-01 3.83841219e+02] [ 4.14975153e-01 9.08675745e-01 -4.58695151e-02 6.12171483e+01] [ 1.10867986e-01 -4.63012856e-04 9.93835034e-01 2.16076029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.809254154 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:383.87, Y:61.23, Z:21.61 [[ 9.02370691e-01 -4.18965537e-01 -1.00970369e-01 3.83871538e+02] [ 4.16447251e-01 9.08001900e-01 -4.58719695e-02 6.12301186e+01] [ 1.10900061e-01 -6.55311667e-04 9.93831347e-01 2.16106535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.83925415399995 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:383.90, Y:61.24, Z:21.61 [[ 9.02105717e-01 -4.19518602e-01 -1.01041663e-01 3.83900600e+02] [ 4.17001722e-01 9.07746441e-01 -4.58907765e-02 6.12423644e+01] [ 1.10972244e-01 -7.36215619e-04 9.93823233e-01 2.16129508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.869254154 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:383.93, Y:61.26, Z:21.62 [[ 9.01598671e-01 -4.20731676e-01 -1.00522100e-01 3.83930708e+02] [ 4.18249454e-01 9.07184690e-01 -4.56435277e-02 6.12558344e+01] [ 1.10395788e-01 -8.91169645e-04 9.93887305e-01 2.16172147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.89925415399995 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:383.96, Y:61.27, Z:21.62 [[ 9.01336020e-01 -4.21352086e-01 -1.00278603e-01 3.83960996e+02] [ 4.18887232e-01 9.06896612e-01 -4.55194607e-02 6.12688088e+01] [ 1.10122045e-01 -9.77096996e-04 9.93917592e-01 2.16208077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.929254154 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:383.99, Y:61.28, Z:21.62 [[ 9.01080141e-01 -4.21897529e-01 -1.00284867e-01 3.83991020e+02] [ 4.19437233e-01 9.06642906e-01 -4.55087682e-02 6.12813636e+01] [ 1.10122600e-01 -1.05615997e-03 9.93917450e-01 2.16243516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.95925415399995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:384.02, Y:61.29, Z:21.63 [[ 9.01190397e-01 -4.21656124e-01 -1.00309429e-01 3.84020936e+02] [ 4.19194629e-01 9.06755222e-01 -4.55063691e-02 6.12944789e+01] [ 1.10144138e-01 -1.03927111e-03 9.93915081e-01 2.16280874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.9892541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:384.05, Y:61.31, Z:21.63 [[ 9.01411896e-01 -4.21199167e-01 -1.00238993e-01 3.84050928e+02] [ 4.18739816e-01 9.06967624e-01 -4.54609207e-02 6.13074868e+01] [ 1.10061624e-01 -9.95042864e-04 9.93924267e-01 2.16313725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.01925415399995 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:384.08, Y:61.32, Z:21.63 [[ 9.01719004e-01 -4.20478773e-01 -1.00500941e-01 3.84081540e+02] [ 4.18003546e-01 9.07301908e-01 -4.55662550e-02 6.13204189e+01] [ 1.10344339e-01 -9.21791714e-04 9.93892991e-01 2.16349566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.0492541539999 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:384.11, Y:61.33, Z:21.64 [[ 9.01965602e-01 -4.19921313e-01 -1.00618807e-01 3.84111506e+02] [ 4.17438295e-01 9.07560102e-01 -4.56062569e-02 6.13330684e+01] [ 1.10468654e-01 -8.66868190e-04 9.93879231e-01 2.16382259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.07925415399995 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:384.14, Y:61.34, Z:21.64 [[ 9.02557310e-01 -4.18597394e-01 -1.00829180e-01 3.84141025e+02] [ 4.16097189e-01 9.08171628e-01 -4.56883316e-02 6.13441667e+01] [ 1.10695217e-01 -7.18400748e-04 9.93854141e-01 2.16417106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.1092541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:384.17, Y:61.36, Z:21.65 [[ 9.02830142e-01 -4.17936789e-01 -1.01126528e-01 3.84171203e+02] [ 4.15418420e-01 9.08475879e-01 -4.58160847e-02 6.13565625e+01] [ 1.11019239e-01 -6.45680136e-04 9.93818048e-01 2.16452513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.13925415399996 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:384.20, Y:61.37, Z:21.65 [[ 9.03348995e-01 -4.16797131e-01 -1.01196569e-01 3.84201620e+02] [ 4.14269651e-01 9.08999386e-01 -4.58341964e-02 6.13687628e+01] [ 1.11091181e-01 -5.18392045e-04 9.93810083e-01 2.16487671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.16925415399993 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:384.23, Y:61.38, Z:21.65 [[ 9.04430545e-01 -4.14352170e-01 -1.01575925e-01 3.84230733e+02] [ 4.11791767e-01 9.10116600e-01 -4.59925569e-02 6.13791005e+01] [ 1.11503052e-01 -2.31056414e-04 9.93764065e-01 2.16522501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.19925415399996 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:384.26, Y:61.39, Z:21.66 [[ 9.05077965e-01 -4.12957187e-01 -1.01490094e-01 3.84260492e+02] [ 4.10393142e-01 9.10750436e-01 -4.59468411e-02 6.13915134e+01] [ 1.11406226e-01 -6.53652307e-05 9.93774949e-01 2.16558368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.22925415399993 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:384.29, Y:61.40, Z:21.66 [[ 9.05831809e-01 -4.11286688e-01 -1.01547988e-01 3.84290347e+02] [ 4.08710240e-01 9.11506030e-01 -4.59640785e-02 6.14037195e+01] [ 1.11466017e-01 1.32021895e-04 9.93768237e-01 2.16586886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.25925415399996 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:384.32, Y:61.42, Z:21.66 [[ 9.06260816e-01 -4.10273814e-01 -1.01817149e-01 3.84318388e+02] [ 4.07678289e-01 9.11962354e-01 -4.60768552e-02 6.14155745e+01] [ 1.11757534e-01 2.49007121e-04 9.93735474e-01 2.16630042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.28925415399993 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:384.35, Y:61.43, Z:21.67 [[ 9.07450369e-01 -4.07517918e-01 -1.02288682e-01 3.84348296e+02] [ 4.04881507e-01 9.13197024e-01 -4.62834954e-02 6.14263768e+01] [ 1.12271074e-01 5.85179318e-04 9.93677444e-01 2.16658067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.31925415399996 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:384.38, Y:61.44, Z:21.67 [[ 9.07804491e-01 -4.06617102e-01 -1.02730414e-01 3.84377558e+02] [ 4.03952556e-01 9.13598407e-01 -4.64788608e-02 6.14382846e+01] [ 1.12753442e-01 6.95505422e-04 9.93622754e-01 2.16694305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.34925415399994 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:384.40, Y:61.45, Z:21.67 [[ 9.08185806e-01 -4.05758429e-01 -1.02755240e-01 3.84404866e+02] [ 4.03087595e-01 9.13980011e-01 -4.64858106e-02 6.14489295e+01] [ 1.12778245e-01 7.98390640e-04 9.93619862e-01 2.16724613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.37925415399997 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:384.43, Y:61.46, Z:21.68 [[ 9.08378260e-01 -4.05375134e-01 -1.02566751e-01 3.84433009e+02] [ 4.02711712e-01 9.14150036e-01 -4.64003081e-02 6.14600651e+01] [ 1.12570930e-01 8.44199358e-04 9.93643333e-01 2.16759818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.40925415399994 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:384.46, Y:61.47, Z:21.68 [[ 9.08547390e-01 -4.05232163e-01 -1.01629401e-01 3.84459311e+02] [ 4.02616414e-01 9.14213413e-01 -4.59767201e-02 6.14684613e+01] [ 1.11542208e-01 8.54363879e-04 9.93759330e-01 2.16791514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.43925415399997 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:384.49, Y:61.48, Z:21.68 [[ 9.08466417e-01 -4.05453976e-01 -1.01468431e-01 3.84487890e+02] [ 4.02846736e-01 9.14115078e-01 -4.59143987e-02 6.14793787e+01] [ 1.11369998e-01 8.35463025e-04 9.93778660e-01 2.16826306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.46925415399994 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:384.51, Y:61.49, Z:21.69 [[ 9.08323765e-01 -4.05739625e-01 -1.01603619e-01 3.84514652e+02] [ 4.03127161e-01 9.13988356e-01 -4.59758466e-02 6.14891338e+01] [ 1.11518748e-01 8.01775620e-04 9.93762007e-01 2.16861231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.49925415399997 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:384.54, Y:61.50, Z:21.69 [[ 9.08341079e-01 -4.05835981e-01 -1.01062563e-01 3.84540028e+02] [ 4.02472234e-01 9.13918115e-01 -5.26287035e-02 6.14985026e+01] [ 1.13721529e-01 7.12993763e-03 9.93487080e-01 2.16898253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.52925415399994 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:384.57, Y:61.50, Z:21.69 [[ 9.08403405e-01 -4.04657995e-01 -1.05143524e-01 3.84567419e+02] [ 4.02039041e-01 9.14467956e-01 -4.59670230e-02 6.15045532e+01] [ 1.14751307e-01 -5.15201423e-04 9.93394117e-01 2.16937130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.559254154 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:384.60, Y:61.51, Z:21.69 [[ 9.07981139e-01 -4.06011843e-01 -1.03559813e-01 3.84596579e+02] [ 4.03752130e-01 9.13863264e-01 -4.28736664e-02 6.15140772e+01] [ 1.12046725e-01 -2.88401465e-03 9.93698754e-01 2.16935769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.58925415399995 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:384.62, Y:61.53, Z:21.70 [[ 9.07862732e-01 -4.06650714e-01 -1.02080633e-01 3.84621014e+02] [ 4.03587980e-01 9.13574120e-01 -4.99906936e-02 6.15262976e+01] [ 1.13586976e-01 4.18617125e-03 9.93519237e-01 2.16984881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.619254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:384.65, Y:61.53, Z:21.70 [[ 9.07981771e-01 -4.05842838e-01 -1.04214658e-01 3.84651223e+02] [ 4.03504619e-01 9.13939496e-01 -4.35731518e-02 6.15299936e+01] [ 1.12929744e-01 -2.48746832e-03 9.93599862e-01 2.16990615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.64925415399995 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:384.68, Y:61.54, Z:21.70 [[ 9.08000935e-01 -4.06168352e-01 -1.02769508e-01 3.84678780e+02] [ 4.03492377e-01 9.13797911e-01 -4.65540513e-02 6.15410663e+01] [ 1.12819344e-01 8.04408993e-04 9.93615191e-01 2.17031521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.679254154 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:384.70, Y:61.55, Z:21.71 [[ 9.07873964e-01 -4.06493073e-01 -1.02607241e-01 3.84704063e+02] [ 4.03827052e-01 9.13653541e-01 -4.64856942e-02 6.15493659e+01] [ 1.12643582e-01 7.67571728e-04 9.93635162e-01 2.17060662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.70925415399995 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:384.73, Y:61.56, Z:21.71 [[ 9.07727877e-01 -4.06933407e-01 -1.02153336e-01 3.84730769e+02] [ 4.04291880e-01 9.13457539e-01 -4.62968664e-02 6.15582493e+01] [ 1.12152477e-01 7.25191915e-04 9.93690745e-01 2.17091939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7392541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:384.76, Y:61.56, Z:21.71 [[ 9.07417709e-01 -4.07734268e-01 -1.01714637e-01 3.84757692e+02] [ 4.05116460e-01 9.13100397e-01 -4.61337027e-02 6.15638650e+01] [ 1.11685967e-01 6.56265255e-04 9.93743334e-01 2.17118231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.76925415399995 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:384.78, Y:61.57, Z:21.71 [[ 9.07024732e-01 -4.08642451e-01 -1.01575011e-01 3.84783839e+02] [ 4.06035662e-01 9.12694382e-01 -4.60869479e-02 6.15723877e+01] [ 1.11540025e-01 5.58924778e-04 9.93759785e-01 2.17147312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7992541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:384.81, Y:61.58, Z:21.72 [[ 9.06349053e-01 -4.10052242e-01 -1.01924251e-01 3.84810698e+02] [ 4.07432268e-01 9.12061940e-01 -4.62813608e-02 6.15779330e+01] [ 1.11939006e-01 4.19838826e-04 9.93714991e-01 2.17172693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.82925415399995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:384.84, Y:61.59, Z:21.72 [[ 9.06022711e-01 -4.10823853e-01 -1.01718283e-01 3.84837053e+02] [ 4.08217471e-01 9.11714674e-01 -4.62044358e-02 6.15866853e+01] [ 1.11719936e-01 3.39087893e-04 9.93739675e-01 2.17196570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.8592541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:384.86, Y:61.60, Z:21.72 [[ 9.05687460e-01 -4.11538173e-01 -1.01816291e-01 3.84862333e+02] [ 4.08927165e-01 9.11392479e-01 -4.62852303e-02 6.15951018e+01] [ 1.11842741e-01 2.84505534e-04 9.93725878e-01 2.17224620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.88925415399996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:384.89, Y:61.60, Z:21.73 [[ 9.05527682e-01 -4.11933970e-01 -1.01636712e-01 3.84887951e+02] [ 4.09331899e-01 9.11213662e-01 -4.62283308e-02 6.16035869e+01] [ 1.11655780e-01 2.57884963e-04 9.93746910e-01 2.17255030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.91925415399993 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:384.92, Y:61.61, Z:21.73 [[ 9.05160153e-01 -4.12739883e-01 -1.01640968e-01 3.84915852e+02] [ 4.10140828e-01 9.10848922e-01 -4.62465416e-02 6.16099226e+01] [ 1.11667358e-01 1.73416078e-04 9.93745627e-01 2.17283072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.94925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:384.94, Y:61.62, Z:21.73 [[ 9.04936439e-01 -4.13256950e-01 -1.01531939e-01 3.84941939e+02] [ 4.10662653e-01 9.10614448e-01 -4.62332406e-02 6.16190846e+01] [ 1.11562659e-01 1.42768699e-04 9.93757391e-01 2.17316977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.97925415399993 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:384.97, Y:61.63, Z:21.73 [[ 9.04774297e-01 -4.13646872e-01 -1.01389038e-01 3.84968070e+02] [ 4.11058295e-01 9.10437394e-01 -4.62042149e-02 6.16283425e+01] [ 1.11420600e-01 1.27581100e-04 9.93773331e-01 2.17349373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.00925415399996 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:384.99, Y:61.64, Z:21.74 [[ 9.04755041e-01 -4.13726573e-01 -1.01235561e-01 3.84994848e+02] [ 4.11142291e-01 9.10401175e-01 -4.61705111e-02 6.16377489e+01] [ 1.11266941e-01 1.50782182e-04 9.93790544e-01 2.17378391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.03925415399993 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:385.02, Y:61.65, Z:21.74 [[ 9.04851547e-01 -4.13592538e-01 -1.00920224e-01 3.85021288e+02] [ 4.11019535e-01 9.10462066e-01 -4.60626664e-02 6.16471171e+01] [ 1.10935210e-01 1.99691498e-04 9.93827620e-01 2.17412712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.06925415399996 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:385.05, Y:61.66, Z:21.74 [[ 9.05036155e-01 -4.13196989e-01 -1.00885113e-01 3.85048155e+02] [ 4.10619307e-01 9.10641625e-01 -4.60827008e-02 6.16564699e+01] [ 1.10911416e-01 2.81135320e-04 9.93830257e-01 2.17436153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.09925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:385.07, Y:61.66, Z:21.75 [[ 9.05758109e-01 -4.11714410e-01 -1.00466377e-01 3.85074709e+02] [ 4.09145150e-01 9.11312790e-01 -4.59265105e-02 6.16633282e+01] [ 1.10464900e-01 4.92978523e-04 9.93879904e-01 2.17476058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.12925415399997 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:385.10, Y:61.67, Z:21.75 [[ 9.05998684e-01 -4.11160072e-01 -1.00567294e-01 3.85100847e+02] [ 4.08580437e-01 9.11562979e-01 -4.59887197e-02 6.16726031e+01] [ 1.10582147e-01 5.75890681e-04 9.93866821e-01 2.17505745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.15925415399994 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:385.13, Y:61.68, Z:21.75 [[ 9.06103472e-01 -4.10854352e-01 -1.00872194e-01 3.85126987e+02] [ 4.08253129e-01 9.11700763e-01 -4.61638488e-02 6.16816207e+01] [ 1.10931874e-01 6.47835032e-04 9.93827802e-01 2.17534715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.18925415399997 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:385.15, Y:61.69, Z:21.76 [[ 9.06242021e-01 -4.10547339e-01 -1.00877556e-01 3.85152888e+02] [ 4.07651543e-01 9.11834093e-01 -4.87730134e-02 6.16919232e+01] [ 1.12007225e-01 3.07726302e-03 9.93702628e-01 2.17568920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.21925415399994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:385.18, Y:61.70, Z:21.76 [[ 9.05926205e-01 -4.10544137e-01 -1.03688098e-01 3.85182872e+02] [ 4.08059769e-01 9.11839596e-01 -4.51195659e-02 6.16960392e+01] [ 1.13070487e-01 -1.43594420e-03 9.93585931e-01 2.17577583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.24925415399997 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:385.21, Y:61.71, Z:21.76 [[ 9.05334828e-01 -4.12219853e-01 -1.02194135e-01 3.85208341e+02] [ 4.09549452e-01 9.11084233e-01 -4.68483430e-02 6.17064149e+01] [ 1.12419282e-01 5.59884728e-04 9.93660702e-01 2.17625660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.27925415399994 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:385.24, Y:61.72, Z:21.77 [[ 9.04493394e-01 -4.13915838e-01 -1.02788030e-01 3.85235038e+02] [ 4.11220936e-01 9.10315072e-01 -4.71573017e-02 6.17156749e+01] [ 1.13088647e-01 3.84877877e-04 9.93584828e-01 2.17654387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.309254154 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:385.26, Y:61.73, Z:21.77 [[ 9.04380002e-01 -4.14166967e-01 -1.02774201e-01 3.85260691e+02] [ 4.11470258e-01 9.10200843e-01 -4.71874234e-02 6.17275437e+01] [ 1.13088636e-01 3.86835270e-04 9.93584828e-01 2.17685004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.33925415399995 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:385.29, Y:61.73, Z:21.77 [[ 9.02293090e-01 -4.18413122e-01 -1.03911691e-01 3.85287387e+02] [ 4.15680287e-01 9.08256817e-01 -4.77436175e-02 6.17335511e+01] [ 1.14355058e-01 -1.15305566e-04 9.93439936e-01 2.17716400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.369254154 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:385.31, Y:61.74, Z:21.77 [[ 9.01033604e-01 -4.21107540e-01 -1.03956166e-01 3.85314180e+02] [ 4.18388209e-01 9.07010609e-01 -4.77813903e-02 6.17428174e+01] [ 1.14410449e-01 -4.41395735e-04 9.93433468e-01 2.17744977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.39925415399995 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:385.34, Y:61.75, Z:21.78 [[ 8.99773735e-01 -4.23759323e-01 -1.04092563e-01 3.85339780e+02] [ 4.21046250e-01 9.05774519e-01 -4.78808467e-02 6.17511605e+01] [ 1.14574347e-01 -7.45855112e-04 9.93414396e-01 2.17774599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.429254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:385.37, Y:61.76, Z:21.78 [[ 8.98424346e-01 -4.26548107e-01 -1.04357115e-01 3.85366618e+02] [ 4.23836858e-01 9.04464231e-01 -4.80288703e-02 6.17603574e+01] [ 1.14873901e-01 -1.08008515e-03 9.93379495e-01 2.17806908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.45925415399995 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:385.39, Y:61.77, Z:21.78 [[ 8.96412529e-01 -4.30613013e-01 -1.04961951e-01 3.85393342e+02] [ 4.27893582e-01 9.02535289e-01 -4.83439208e-02 6.17659893e+01] [ 1.15549386e-01 -1.57644892e-03 9.93300485e-01 2.17826880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.4892541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:385.42, Y:61.78, Z:21.79 [[ 8.95650610e-01 -4.32449287e-01 -1.03911497e-01 3.85418781e+02] [ 4.29793538e-01 9.01656518e-01 -4.78856840e-02 6.17759620e+01] [ 1.14400608e-01 -1.77164773e-03 9.93433119e-01 2.17873567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.51925415399995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:385.44, Y:61.79, Z:21.79 [[ 8.95069768e-01 -4.33696270e-01 -1.03719123e-01 3.85444105e+02] [ 4.31054634e-01 9.01057131e-01 -4.78325094e-02 6.17855794e+01] [ 1.14201636e-01 -1.89517528e-03 9.93455784e-01 2.17904281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.5492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:385.47, Y:61.80, Z:21.79 [[ 8.94610753e-01 -4.34665310e-01 -1.03622722e-01 3.85469702e+02] [ 4.32033099e-01 9.00589842e-01 -4.78052188e-02 6.17952551e+01] [ 1.14100841e-01 -2.00138283e-03 9.93467157e-01 2.17939056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.57925415399995 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:385.50, Y:61.80, Z:21.80 [[ 8.94448892e-01 -4.34910722e-01 -1.03989634e-01 3.85496191e+02] [ 4.32257231e-01 9.00471341e-01 -4.80109407e-02 6.18022416e+01] [ 1.14520158e-01 -2.00693851e-03 9.93418897e-01 2.17952128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.6092541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:385.52, Y:61.81, Z:21.80 [[ 8.94360833e-01 -4.35088420e-01 -1.04003688e-01 3.85521302e+02] [ 4.32433530e-01 9.00385476e-01 -4.80337063e-02 6.18119733e+01] [ 1.14542320e-01 -2.01521639e-03 9.93416326e-01 2.17982595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.63925415399996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:385.55, Y:61.82, Z:21.80 [[ 8.94386860e-01 -4.35252214e-01 -1.03090515e-01 3.85547077e+02] [ 4.32643052e-01 9.00306336e-01 -4.76286784e-02 6.18227017e+01] [ 1.13543532e-01 -2.00293107e-03 9.93531003e-01 2.18019945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.66925415399993 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:385.57, Y:61.83, Z:21.80 [[ 8.94812751e-01 -4.34263726e-01 -1.03562337e-01 3.85573412e+02] [ 4.31619710e-01 9.00783872e-01 -4.78836300e-02 6.18312442e+01] [ 1.14081406e-01 -1.85266310e-03 9.93469678e-01 2.18039737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.69925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.60, Y:61.84, Z:21.81 [[ 8.95394976e-01 -4.33237800e-01 -1.02824346e-01 3.85597495e+02] [ 4.30620689e-01 9.01278089e-01 -4.75775957e-02 6.18417868e+01] [ 1.13285743e-01 -1.67755071e-03 9.93561033e-01 2.18076369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.72925415399993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.62, Y:61.85, Z:21.81 [[ 8.96054152e-01 -4.31920816e-01 -1.02622445e-01 3.85623164e+02] [ 4.29303481e-01 9.01910295e-01 -4.75009503e-02 6.18526866e+01] [ 1.13072889e-01 -1.49274909e-03 9.93585574e-01 2.18108843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.75925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.65, Y:61.86, Z:21.81 [[ 8.96872354e-01 -4.30260889e-01 -1.02447780e-01 3.85647485e+02] [ 4.27637670e-01 9.02703721e-01 -4.74554080e-02 6.18630382e+01] [ 1.12898198e-01 -1.24908654e-03 9.93605775e-01 2.18136422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.78925415399993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:385.67, Y:61.87, Z:21.82 [[ 8.97834685e-01 -4.28169966e-01 -1.02778198e-01 3.85673115e+02] [ 4.25514150e-01 9.03697699e-01 -4.76253733e-02 6.18733062e+01] [ 1.13272176e-01 -9.73865517e-04 9.93563519e-01 2.18156663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.81925415399996 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:385.70, Y:61.88, Z:21.82 [[ 8.99865320e-01 -4.23854825e-01 -1.02905265e-01 3.85699271e+02] [ 4.21160058e-01 9.05730053e-01 -4.77208118e-02 6.18830577e+01] [ 1.13431087e-01 -3.97283720e-04 9.93545787e-01 2.18186462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.84925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.72, Y:61.89, Z:21.82 [[ 9.00803893e-01 -4.22056518e-01 -1.02081548e-01 3.85723882e+02] [ 4.19389318e-01 9.06569510e-01 -4.73742807e-02 6.18940303e+01] [ 1.12538643e-01 -1.36974372e-04 9.93647339e-01 2.18221406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.87925415399997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:385.75, Y:61.90, Z:21.82 [[ 9.01402536e-01 -4.20629580e-01 -1.02685075e-01 3.85749178e+02] [ 4.17918511e-01 9.07232469e-01 -4.76798255e-02 6.19045310e+01] [ 1.13214779e-01 6.47217905e-05 9.93570536e-01 2.18245118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.90925415399994 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:385.77, Y:61.91, Z:21.83 [[ 9.01978426e-01 -4.19233211e-01 -1.03336509e-01 3.85774656e+02] [ 4.16474288e-01 9.07878538e-01 -4.80179883e-02 6.19147712e+01] [ 1.13947734e-01 2.74190369e-04 9.93486708e-01 2.18262575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.93925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.80, Y:61.92, Z:21.83 [[ 9.02244959e-01 -4.18862336e-01 -1.02510376e-01 3.85799932e+02] [ 4.16143329e-01 9.08049686e-01 -4.76497347e-02 6.19242402e+01] [ 1.13043194e-01 3.32723810e-04 9.93590019e-01 2.18296441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.96925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.83, Y:61.93, Z:21.83 [[ 9.01708299e-01 -4.19956980e-01 -1.02753484e-01 3.85825756e+02] [ 4.17230215e-01 9.07543988e-01 -4.77792547e-02 6.19344099e+01] [ 1.13318538e-01 2.11092145e-04 9.93558687e-01 2.18323138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.99925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.85, Y:61.94, Z:21.83 [[ 9.00859139e-01 -4.21741841e-01 -1.02891354e-01 3.85851129e+02] [ 4.19015461e-01 9.06715953e-01 -4.78771774e-02 6.19444007e+01] [ 1.13485041e-01 1.75247610e-05 9.93539705e-01 2.18347606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.02925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.88, Y:61.95, Z:21.84 [[ 8.98604940e-01 -4.26571246e-01 -1.02694371e-01 3.85876887e+02] [ 4.23884970e-01 9.04453780e-01 -4.78005560e-02 6.19523372e+01] [ 1.13272655e-01 -5.76784477e-04 9.93563774e-01 2.18377374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.059254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.90, Y:61.96, Z:21.84 [[ 8.96972106e-01 -4.30092846e-01 -1.02279937e-01 3.85902936e+02] [ 4.27449266e-01 9.02784104e-01 -4.76233771e-02 6.19623380e+01] [ 1.12819175e-01 -1.00264339e-03 9.93615030e-01 2.18406989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.08925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:385.93, Y:61.97, Z:21.84 [[ 8.95177385e-01 -4.33888861e-01 -1.01970127e-01 3.85928801e+02] [ 4.31282021e-01 9.00965242e-01 -4.75126449e-02 6.19720920e+01] [ 1.12486747e-01 -1.44563722e-03 9.93652173e-01 2.18436236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.119254154 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:385.96, Y:61.98, Z:21.84 [[ 8.93215406e-01 -4.37708110e-01 -1.02848665e-01 3.85955158e+02] [ 4.35077024e-01 8.99115100e-01 -4.79585255e-02 6.19806165e+01] [ 1.13464623e-01 -1.90979720e-03 9.93540201e-01 2.18447136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.14925415399995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:385.98, Y:61.99, Z:21.85 [[ 8.89110628e-01 -4.46094556e-01 -1.02381340e-01 3.85981679e+02] [ 4.43538437e-01 8.94981035e-01 -4.77765793e-02 6.19885493e+01] [ 1.12942230e-01 -2.93139510e-03 9.93597232e-01 2.18481620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.179254154 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:386.01, Y:62.00, Z:21.85 [[ 8.87131035e-01 -4.50016716e-01 -1.02388876e-01 3.86007269e+02] [ 4.47482097e-01 8.93013666e-01 -4.78159492e-02 6.19980550e+01] [ 1.12952642e-01 -3.39817643e-03 9.93594562e-01 2.18510363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.20925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.03, Y:62.01, Z:21.86 [[ 8.85050911e-01 -4.54204964e-01 -1.01895715e-01 3.86032674e+02] [ 4.51720431e-01 8.90888690e-01 -4.76024577e-02 6.20085841e+01] [ 1.12399013e-01 -3.89777780e-03 9.93655508e-01 2.18551201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2392541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:386.07, Y:61.99, Z:21.87 [[ 8.81474951e-01 -4.52329503e-01 -1.35646350e-01 3.86067363e+02] [ 4.56160270e-01 8.89891979e-01 -3.17402684e-03 6.19938375e+01] [ 1.22146305e-01 -5.90786504e-02 9.90752236e-01 2.18657783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.26925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.07, Y:62.05, Z:21.87 [[ 8.80395307e-01 -4.68110579e-01 -7.60038836e-02 3.86073726e+02] [ 4.60724047e-01 8.82237196e-01 -9.69065701e-02 6.20526949e+01] [ 1.12416444e-01 5.02992727e-02 9.92387286e-01 2.18682145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.11, Y:62.04, Z:21.86 [[ 8.79071638e-01 -4.66295560e-01 -9.90025561e-02 3.86111681e+02] [ 4.64019287e-01 8.84613554e-01 -4.63137348e-02 6.20398819e+01] [ 1.09174892e-01 -5.22600473e-03 9.94008819e-01 2.18638662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.32925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.14, Y:62.05, Z:21.87 [[ 8.77966248e-01 -4.68433793e-01 -9.87170145e-02 3.86135914e+02] [ 4.66180099e-01 8.83481834e-01 -4.62164999e-02 6.20504193e+01] [ 1.08864059e-01 -5.44338054e-03 9.94041743e-01 2.18670843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.16, Y:62.06, Z:21.87 [[ 8.76200616e-01 -4.71723733e-01 -9.87380369e-02 3.86160152e+02] [ 4.69488041e-01 8.81727071e-01 -4.62423118e-02 6.20613204e+01] [ 1.08873596e-01 -5.83878540e-03 9.94038454e-01 2.18700339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.38925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.19, Y:62.07, Z:21.87 [[ 8.75954785e-01 -4.72170217e-01 -9.87851253e-02 3.86185356e+02] [ 4.69933435e-01 8.81487765e-01 -4.62805319e-02 6.20731280e+01] [ 1.08930168e-01 -5.88277987e-03 9.94031997e-01 2.18731749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.41925415399993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:386.21, Y:62.09, Z:21.88 [[ 8.75860914e-01 -4.72289775e-01 -9.90455854e-02 3.86210232e+02] [ 4.70037992e-01 8.81423720e-01 -4.64382596e-02 6.20852839e+01] [ 1.09233443e-01 -5.88173161e-03 9.93998722e-01 2.18755434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.44925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.23, Y:62.10, Z:21.88 [[ 8.76091380e-01 -4.72001888e-01 -9.83773961e-02 3.86234112e+02] [ 4.69774777e-01 8.81578626e-01 -4.61604319e-02 6.20987625e+01] [ 1.08515221e-01 -5.77446288e-03 9.94078016e-01 2.18790895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.47925415399993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.26, Y:62.11, Z:21.88 [[ 8.76645411e-01 -4.70891648e-01 -9.87617333e-02 3.86258061e+02] [ 4.68636146e-01 8.82173104e-01 -4.63764628e-02 6.21117240e+01] [ 1.08963234e-01 -5.62760479e-03 9.94029851e-01 2.18824438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.50925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.28, Y:62.13, Z:21.89 [[ 8.78561086e-01 -4.67395530e-01 -9.83454958e-02 3.86280888e+02] [ 4.65134610e-01 8.84033312e-01 -4.62049589e-02 6.21256985e+01] [ 1.08536686e-01 -5.15001496e-03 9.94079104e-01 2.18850419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.53925415399993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.31, Y:62.14, Z:21.89 [[ 8.79548696e-01 -4.65509938e-01 -9.84611013e-02 3.86305718e+02] [ 4.63230213e-01 8.85029038e-01 -4.62749514e-02 6.21392930e+01] [ 1.08682384e-01 -4.90908376e-03 9.94064405e-01 2.18881262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.56925415399996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.33, Y:62.15, Z:21.89 [[ 8.80419926e-01 -4.63809187e-01 -9.87005187e-02 3.86329239e+02] [ 4.61503790e-01 8.85922766e-01 -4.64231068e-02 6.21526052e+01] [ 1.08972500e-01 -4.67883518e-03 9.94033753e-01 2.18907482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.59925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.35, Y:62.17, Z:21.89 [[ 8.81069602e-01 -4.62497062e-01 -9.90597045e-02 3.86353257e+02] [ 4.60164779e-01 8.86609299e-01 -4.66082254e-02 6.21661390e+01] [ 1.09383423e-01 -4.51869652e-03 9.93989360e-01 2.18933856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.62925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.38, Y:62.18, Z:21.90 [[ 8.81659408e-01 -4.61273349e-01 -9.95167670e-02 3.86376353e+02] [ 4.58907710e-01 8.87247390e-01 -4.68591858e-02 6.21793815e+01] [ 1.09910885e-01 -4.35516968e-03 9.93931904e-01 2.18958941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.65925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.41, Y:62.16, Z:21.91 [[ 8.77646900e-01 -4.55380814e-01 -1.49546762e-01 3.86405923e+02] [ 4.62677231e-01 8.86378171e-01 1.62332177e-02 6.21634513e+01] [ 1.25162689e-01 -8.34389149e-02 9.88621388e-01 2.19135866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.68925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.42, Y:62.21, Z:21.93 [[ 8.78705816e-01 -4.63449783e-01 -1.14413234e-01 3.86415278e+02] [ 4.59955499e-01 8.86119202e-01 -5.68656255e-02 6.22119061e+01] [ 1.27738125e-01 -2.65684027e-03 9.91804372e-01 2.19256796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.71925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.43, Y:62.26, Z:21.92 [[ 8.82914058e-01 -4.64881707e-01 -6.59375912e-02 3.86433115e+02] [ 4.55727299e-01 8.82263961e-01 -1.17995470e-01 6.22569131e+01] [ 1.13028296e-01 7.41302988e-02 9.90822539e-01 2.19154695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.74925415399997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.47, Y:62.24, Z:21.91 [[ 8.83061285e-01 -4.58330201e-01 -1.00678667e-01 3.86473750e+02] [ 4.55887406e-01 8.88772914e-01 -4.74276258e-02 6.22387375e+01] [ 1.11217986e-01 -4.01663640e-03 9.93787918e-01 2.19058233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.77925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:386.50, Y:62.25, Z:21.91 [[ 8.83017061e-01 -4.58308365e-01 -1.01164779e-01 3.86497367e+02] [ 4.55837739e-01 8.88784242e-01 -4.76920119e-02 6.22524698e+01] [ 1.11771310e-01 -4.00186401e-03 9.93725898e-01 2.19087992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.809254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:386.52, Y:62.27, Z:21.91 [[ 8.82812609e-01 -4.58667067e-01 -1.01323342e-01 3.86521316e+02] [ 4.56189091e-01 8.88599017e-01 -4.77838842e-02 6.22663003e+01] [ 1.11952716e-01 -4.03838772e-03 9.93705329e-01 2.19120278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.83925415399995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:386.54, Y:62.28, Z:21.92 [[ 8.82570690e-01 -4.59051677e-01 -1.01688420e-01 3.86544991e+02] [ 4.56554356e-01 8.88400240e-01 -4.79909822e-02 6.22799958e+01] [ 1.12370358e-01 -4.07085702e-03 9.93658055e-01 2.19153633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.869254154 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:386.57, Y:62.30, Z:21.92 [[ 8.81791882e-01 -4.60515178e-01 -1.01827538e-01 3.86568231e+02] [ 4.58018769e-01 8.87641665e-01 -4.80737112e-02 6.22963379e+01] [ 1.12525039e-01 -4.24791532e-03 9.93639809e-01 2.19188188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.89925415399995 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:386.59, Y:62.31, Z:21.92 [[ 8.81390256e-01 -4.61356231e-01 -1.01497022e-01 3.86592884e+02] [ 4.58877561e-01 8.87204520e-01 -4.79533503e-02 6.23100087e+01] [ 1.12172194e-01 -4.30909023e-03 9.93679441e-01 2.19220393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.929254154 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:386.62, Y:62.32, Z:21.93 [[ 8.80966741e-01 -4.62200220e-01 -1.01333896e-01 3.86617449e+02] [ 4.59730983e-01 8.86764794e-01 -4.79126685e-02 6.23235884e+01] [ 1.12004577e-01 -4.37686413e-03 9.93698052e-01 2.19251543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.95925415399995 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:386.64, Y:62.34, Z:21.93 [[ 8.80660508e-01 -4.62876084e-01 -1.00909861e-01 3.86641536e+02] [ 4.60427788e-01 8.86412023e-01 -4.77491118e-02 6.23371073e+01] [ 1.11549636e-01 -4.41094712e-03 9.93749074e-01 2.19281267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.9892541539999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:386.66, Y:62.35, Z:21.93 [[ 8.80733902e-01 -4.62486051e-01 -1.02051195e-01 3.86663724e+02] [ 4.59975091e-01 8.86615747e-01 -4.83263203e-02 6.23521968e+01] [ 1.12830445e-01 -4.37837898e-03 9.93604610e-01 2.19316603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.01925415399995 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:386.69, Y:62.37, Z:21.94 [[ 8.80957425e-01 -4.62220763e-01 -1.01321177e-01 3.86686283e+02] [ 4.59741173e-01 8.86754506e-01 -4.80052108e-02 6.23669291e+01] [ 1.12036016e-01 -4.29097002e-03 9.93694882e-01 2.19352994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.0492541539999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:386.71, Y:62.38, Z:21.94 [[ 8.81531692e-01 -4.61059113e-01 -1.01618751e-01 3.86709851e+02] [ 4.58555243e-01 8.87359766e-01 -4.81636289e-02 6.23808243e+01] [ 1.12378671e-01 -4.14004580e-03 9.93656829e-01 2.19388388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.07925415399995 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:386.73, Y:62.40, Z:21.94 [[ 8.81952968e-01 -4.60212193e-01 -1.01802259e-01 3.86733844e+02] [ 4.57689475e-01 8.87799912e-01 -4.82872754e-02 6.23951648e+01] [ 1.12602429e-01 -4.00671642e-03 9.93632044e-01 2.19420360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.1092541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:386.76, Y:62.41, Z:21.95 [[ 8.82343980e-01 -4.59365772e-01 -1.02235943e-01 3.86756940e+02] [ 4.56811771e-01 8.88238709e-01 -4.85283628e-02 6.24089337e+01] [ 1.13102191e-01 -3.88387351e-03 9.93575770e-01 2.19451922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.13925415399996 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:386.78, Y:62.42, Z:21.95 [[ 8.82689017e-01 -4.58653485e-01 -1.02455253e-01 3.86781226e+02] [ 4.56081711e-01 8.88607142e-01 -4.86499760e-02 6.24228035e+01] [ 1.13355951e-01 -3.78516764e-03 9.93547231e-01 2.19482404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.16925415399993 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:386.80, Y:62.44, Z:21.95 [[ 8.82976345e-01 -4.57533796e-01 -1.04955229e-01 3.86804080e+02] [ 4.54822498e-01 8.89184538e-01 -4.98733672e-02 6.24376619e+01] [ 1.16143318e-01 -3.69899589e-03 9.93225577e-01 2.19517057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.19925415399996 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:386.83, Y:62.45, Z:21.96 [[ 8.83096197e-01 -4.57514580e-01 -1.04026515e-01 3.86827720e+02] [ 4.54849000e-01 8.89194639e-01 -4.94497893e-02 6.24527236e+01] [ 1.15123819e-01 -3.64743566e-03 9.93344453e-01 2.19552192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.22925415399993 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:386.85, Y:62.46, Z:21.96 [[ 8.83016553e-01 -4.57671330e-01 -1.04013078e-01 3.86853230e+02] [ 4.55003509e-01 8.89114014e-01 -4.94780382e-02 6.24649774e+01] [ 1.15124165e-01 -3.63638875e-03 9.93344454e-01 2.19582120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.25925415399996 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:386.88, Y:62.47, Z:21.97 [[ 8.83009356e-01 -4.55101884e-01 -1.14790033e-01 3.86880869e+02] [ 4.54007850e-01 8.90227702e-01 -3.70339226e-02 6.24722144e+01] [ 1.19043475e-01 -1.94142757e-02 9.92699218e-01 2.19666055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.28925415399993 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:386.90, Y:62.50, Z:21.97 [[ 8.83245044e-01 -4.58473851e-01 -9.83865913e-02 3.86897225e+02] [ 4.54101635e-01 8.88625061e-01 -6.43211181e-02 6.25015385e+01] [ 1.16918341e-01 1.21337968e-02 9.93067406e-01 2.19670862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.31925415399996 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:386.93, Y:62.51, Z:21.97 [[ 8.83070502e-01 -4.57154137e-01 -1.05813909e-01 3.86925215e+02] [ 4.54379694e-01 8.89380359e-01 -5.04149790e-02 6.25085939e+01] [ 1.17156228e-01 -3.55971057e-03 9.93107117e-01 2.19672503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.34925415399994 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:386.95, Y:62.52, Z:21.97 [[ 8.83275091e-01 -4.56708396e-01 -1.06030916e-01 3.86948707e+02] [ 4.53915022e-01 8.89609669e-01 -5.05548144e-02 6.25218481e+01] [ 1.17414936e-01 -3.47521706e-03 9.93076863e-01 2.19701530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.37925415399997 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:386.97, Y:62.54, Z:21.97 [[ 8.83330762e-01 -4.56488875e-01 -1.06511366e-01 3.86973281e+02] [ 4.53666175e-01 8.89722452e-01 -5.08031500e-02 6.25356562e+01] [ 1.17956627e-01 -3.44461890e-03 9.93012774e-01 2.19734182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.40925415399994 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:387.00, Y:62.55, Z:21.98 [[ 8.84086263e-01 -4.54881935e-01 -1.07116311e-01 3.86995912e+02] [ 4.52010967e-01 8.90545944e-01 -5.11273694e-02 6.25508436e+01] [ 1.18648913e-01 -3.21674234e-03 9.92931059e-01 2.19766602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.43925415399997 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:387.02, Y:62.56, Z:21.98 [[ 8.84476482e-01 -4.53962716e-01 -1.07792418e-01 3.87020288e+02] [ 4.51046157e-01 8.91015302e-01 -5.14693703e-02 6.25645993e+01] [ 1.19409869e-01 -3.09590843e-03 9.92840218e-01 2.19801968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.46925415399994 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:387.04, Y:62.58, Z:21.98 [[ 8.85041839e-01 -4.52915858e-01 -1.07555423e-01 3.87043869e+02] [ 4.50000203e-01 8.91548496e-01 -5.13916023e-02 6.25779013e+01] [ 1.19166947e-01 -2.91624382e-03 9.92869948e-01 2.19834784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.49925415399997 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:387.07, Y:62.59, Z:21.99 [[ 8.86150265e-01 -4.50795036e-01 -1.07338452e-01 3.87067702e+02] [ 4.47873372e-01 8.92623679e-01 -5.13070217e-02 6.25927179e+01] [ 1.18941795e-01 -2.60830349e-03 9.92897803e-01 2.19869735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.52925415399994 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:387.09, Y:62.61, Z:21.99 [[ 8.86532604e-01 -4.50121136e-01 -1.07008898e-01 3.87092184e+02] [ 4.47207942e-01 8.92964073e-01 -5.11881004e-02 6.26057121e+01] [ 1.18595947e-01 -2.47530901e-03 9.92939512e-01 2.19901778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.559254154 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:387.12, Y:62.62, Z:21.99 [[ 8.88975881e-01 -4.47371849e-01 -9.78790644e-02 3.87121294e+02] [ 4.43317078e-01 8.94281562e-01 -6.10774639e-02 6.26233339e+01] [ 1.14855780e-01 1.09049315e-02 9.93322320e-01 2.19931849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.58925415399995 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:387.15, Y:62.63, Z:21.99 [[ 8.87026935e-01 -4.47763674e-01 -1.12653937e-01 3.87146042e+02] [ 4.46479192e-01 8.93994854e-01 -3.78091621e-02 6.26263834e+01] [ 1.17641610e-01 -1.67598938e-02 9.92914678e-01 2.19940843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.619254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:387.17, Y:62.65, Z:22.00 [[ 8.87493832e-01 -4.48354887e-01 -1.06454658e-01 3.87167416e+02] [ 4.45444650e-01 8.93853128e-01 -5.10455709e-02 6.26461448e+01] [ 1.18041360e-01 -2.11702848e-03 9.93006423e-01 2.19999981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.64925415399995 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:387.19, Y:62.66, Z:22.00 [[ 8.87552570e-01 -4.47743785e-01 -1.08516994e-01 3.87191832e+02] [ 4.44710208e-01 8.94159568e-01 -5.20720407e-02 6.26570758e+01] [ 1.20346441e-01 -2.04194126e-03 9.92729855e-01 2.20034781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.679254154 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:387.22, Y:62.67, Z:22.01 [[ 8.87993760e-01 -4.47293336e-01 -1.06750895e-01 3.87216483e+02] [ 4.44352486e-01 8.94385232e-01 -5.12437855e-02 6.26707068e+01] [ 1.18397428e-01 -1.93086385e-03 9.92964411e-01 2.20053223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.70925415399995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:387.24, Y:62.68, Z:22.01 [[ 8.88530801e-01 -4.46158544e-01 -1.07030692e-01 3.87240770e+02] [ 4.43189588e-01 8.94952226e-01 -5.14149910e-02 6.26829091e+01] [ 1.18726594e-01 -1.75108526e-03 9.92925440e-01 2.20079971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7392541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:387.27, Y:62.70, Z:22.01 [[ 8.89033497e-01 -4.45077977e-01 -1.07354722e-01 3.87265409e+02] [ 4.42080743e-01 8.95490399e-01 -5.15903340e-02 6.26953116e+01] [ 1.19096844e-01 -1.59392035e-03 9.92881363e-01 2.20110594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.76925415399995 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:387.29, Y:62.71, Z:22.01 [[ 8.90427978e-01 -4.42355014e-01 -1.07051664e-01 3.87290239e+02] [ 4.39350457e-01 8.96839241e-01 -5.14835144e-02 6.27085232e+01] [ 1.18782123e-01 -1.19083574e-03 9.92919629e-01 2.20140067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7992541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:387.31, Y:62.72, Z:22.02 [[ 8.91124672e-01 -4.40997990e-01 -1.06853130e-01 3.87313822e+02] [ 4.37990507e-01 8.97507561e-01 -5.14246376e-02 6.27202260e+01] [ 1.18579654e-01 -9.74893241e-04 9.92944065e-01 2.20167996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.82925415399995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:387.34, Y:62.73, Z:22.02 [[ 8.91662036e-01 -4.39969325e-01 -1.06610542e-01 3.87338884e+02] [ 4.36965898e-01 8.98012429e-01 -5.13271992e-02 6.27326570e+01] [ 1.18319985e-01 -8.18656113e-04 9.92975181e-01 2.20198172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.8592541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:387.36, Y:62.74, Z:22.02 [[ 8.92217485e-01 -4.38894131e-01 -1.06395026e-01 3.87364424e+02] [ 4.35890669e-01 8.98538554e-01 -5.12620001e-02 6.27446879e+01] [ 1.18098623e-01 -6.39746059e-04 9.93001665e-01 2.20230611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.88925415399996 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:387.39, Y:62.76, Z:22.03 [[ 8.92990868e-01 -4.37663513e-01 -1.04966470e-01 3.87388576e+02] [ 4.34727780e-01 8.99138731e-01 -5.06092881e-02 6.27553557e+01] [ 1.16529258e-01 -4.38208569e-04 9.93187163e-01 2.20257488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.91925415399993 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:387.41, Y:62.77, Z:22.03 [[ 8.93069457e-01 -4.37597258e-01 -1.04573345e-01 3.87413828e+02] [ 4.34680942e-01 8.99170991e-01 -5.04381602e-02 6.27672559e+01] [ 1.16100919e-01 -4.11259693e-04 9.93237337e-01 2.20285090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.94925415399996 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:387.44, Y:62.78, Z:22.03 [[ 8.92827715e-01 -4.38185509e-01 -1.04173562e-01 3.87438866e+02] [ 4.35291143e-01 8.98884451e-01 -5.02828483e-02 6.27789946e+01] [ 1.15673211e-01 -4.51908455e-04 9.93287221e-01 2.20314921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.97925415399993 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:387.46, Y:62.79, Z:22.03 [[ 8.92536573e-01 -4.38857292e-01 -1.03839983e-01 3.87463011e+02] [ 4.35981877e-01 8.98556633e-01 -5.01575591e-02 6.27901023e+01] [ 1.15318116e-01 -5.04894987e-04 9.93328484e-01 2.20338866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.00925415399996 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:387.49, Y:62.80, Z:22.04 [[ 8.91030943e-01 -4.41894448e-01 -1.03890110e-01 3.87488316e+02] [ 4.39034890e-01 8.97066618e-01 -5.01980980e-02 6.27997427e+01] [ 1.15378610e-01 -8.83324369e-04 9.93321195e-01 2.20359599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.03925415399993 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:387.51, Y:62.81, Z:22.04 [[ 8.89888025e-01 -4.44134357e-01 -1.04134416e-01 3.87513892e+02] [ 4.41274469e-01 8.95959445e-01 -5.03340472e-02 6.28108040e+01] [ 1.15655293e-01 -1.16019328e-03 9.93288733e-01 2.20386969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.06925415399996 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:387.54, Y:62.82, Z:22.04 [[ 8.88672465e-01 -4.46588077e-01 -1.04020860e-01 3.87538068e+02] [ 4.43747094e-01 8.94738509e-01 -5.03141969e-02 6.28213914e+01] [ 1.15541189e-01 -1.44611280e-03 9.93301637e-01 2.20412972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.09925415399994 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:387.56, Y:62.83, Z:22.04 [[ 8.87220486e-01 -4.49456827e-01 -1.04059454e-01 3.87563943e+02] [ 4.46631271e-01 8.93300233e-01 -5.03507802e-02 6.28326557e+01] [ 1.15586837e-01 -1.80396258e-03 9.93295741e-01 2.20443659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.12925415399997 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:387.59, Y:62.84, Z:22.05 [[ 8.84178584e-01 -4.55462132e-01 -1.03838711e-01 3.87589283e+02] [ 4.52685596e-01 8.90251505e-01 -5.02793120e-02 6.28423339e+01] [ 1.15342892e-01 -2.55039796e-03 9.93322462e-01 2.20470178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.15925415399994 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:387.61, Y:62.85, Z:22.05 [[ 8.82597373e-01 -4.58543879e-01 -1.03727475e-01 3.87614568e+02] [ 4.55791483e-01 8.88666949e-01 -5.02511475e-02 6.28536901e+01] [ 1.15221535e-01 -2.92656882e-03 9.93335509e-01 2.20499089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.18925415399997 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:387.64, Y:62.86, Z:22.05 [[ 8.81172499e-01 -4.61273377e-01 -1.03739569e-01 3.87639296e+02] [ 4.58535198e-01 8.87252099e-01 -5.02909923e-02 6.28649496e+01] [ 1.15241046e-01 -3.25320448e-03 9.93332229e-01 2.20527329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.21925415399994 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:387.66, Y:62.88, Z:22.06 [[ 8.78682641e-01 -4.66116526e-01 -1.03209504e-01 3.87663597e+02] [ 4.63437643e-01 8.84714948e-01 -5.00500943e-02 6.28754881e+01] [ 1.14640167e-01 -3.85302030e-03 9.93399611e-01 2.20553229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.24925415399997 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:387.69, Y:62.89, Z:22.06 [[ 8.77538083e-01 -4.68448913e-01 -1.02384220e-01 3.87688587e+02] [ 4.65825796e-01 8.83481063e-01 -4.96743292e-02 6.28870676e+01] [ 1.13724405e-01 -4.10209507e-03 9.93503866e-01 2.20578813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.27925415399994 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:387.71, Y:62.90, Z:22.06 [[ 8.76332251e-01 -4.70788898e-01 -1.01978426e-01 3.87714107e+02] [ 4.68198432e-01 8.82235131e-01 -4.95116379e-02 6.28992945e+01] [ 1.13278479e-01 -4.35749399e-03 9.93553722e-01 2.20605141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.309254154 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:387.74, Y:62.91, Z:22.06 [[ 8.75202979e-01 -4.72982980e-01 -1.01522641e-01 3.87737969e+02] [ 4.70426645e-01 8.81059601e-01 -4.93229329e-02 6.29111555e+01] [ 1.12776405e-01 -4.59137742e-03 9.93609783e-01 2.20631868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.33925415399995 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:387.76, Y:62.92, Z:22.07 [[ 8.73835582e-01 -4.75316917e-01 -1.02397288e-01 3.87762643e+02] [ 4.72730254e-01 8.79800897e-01 -4.97643400e-02 6.29233618e+01] [ 1.13743059e-01 -4.92044500e-03 9.93498015e-01 2.20661852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.369254154 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:387.79, Y:62.94, Z:22.07 [[ 8.71676222e-01 -4.79382676e-01 -1.01847015e-01 3.87785843e+02] [ 4.76847665e-01 8.77589411e-01 -4.95290863e-02 6.29370562e+01] [ 1.13123247e-01 -5.39218421e-03 9.93566332e-01 2.20683765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.39925415399995 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:387.82, Y:62.94, Z:22.08 [[ 8.70338720e-01 -4.78712669e-01 -1.15519233e-01 3.87817537e+02] [ 4.78262908e-01 8.77581284e-01 -3.34018078e-02 6.29424044e+01] [ 1.17367386e-01 -2.61776778e-02 9.92743485e-01 2.20752957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.429254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:387.83, Y:62.97, Z:22.08 [[ 8.69609918e-01 -4.84831808e-01 -9.33633178e-02 3.87830421e+02] [ 4.80328985e-01 8.74499955e-01 -6.73342086e-02 6.29730306e+01] [ 1.14291983e-01 1.37093879e-02 9.93352604e-01 2.20783890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.45925415399995 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:387.86, Y:62.98, Z:22.08 [[ 8.68768340e-01 -4.84653015e-01 -1.01749825e-01 3.87858629e+02] [ 4.82150143e-01 8.74685880e-01 -4.95565464e-02 6.29782257e+01] [ 1.13016865e-01 -6.00553387e-03 9.93574920e-01 2.20775445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.4892541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:387.88, Y:62.99, Z:22.08 [[ 8.67405613e-01 -4.87081654e-01 -1.01779006e-01 3.87881909e+02] [ 4.84591901e-01 8.73333655e-01 -4.95884808e-02 6.29929913e+01] [ 1.13040671e-01 -6.30795545e-03 9.93570338e-01 2.20807129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.51925415399995 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:387.91, Y:63.00, Z:22.09 [[ 8.66657543e-01 -4.85572790e-01 -1.14559020e-01 3.87913889e+02] [ 4.85244338e-01 8.73769547e-01 -3.26299148e-02 6.29984763e+01] [ 1.15942382e-01 -2.73101542e-02 9.92880416e-01 2.20874186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.5492541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:387.93, Y:63.02, Z:22.10 [[ 8.65259767e-01 -4.88699678e-01 -1.11795172e-01 3.87933704e+02] [ 4.87230696e-01 8.72263432e-01 -4.19851777e-02 6.30166451e+01] [ 1.18032983e-01 -1.81419545e-02 9.92843938e-01 2.20952052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.57925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:387.95, Y:63.05, Z:22.10 [[ 8.65579161e-01 -4.93239498e-01 -8.65304240e-02 3.87947852e+02] [ 4.87814348e-01 8.69552236e-01 -7.69159999e-02 6.30483798e+01] [ 1.13180733e-01 2.43661042e-02 9.93275599e-01 2.20963217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.6092541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:387.98, Y:63.05, Z:22.09 [[ 8.64660764e-01 -4.92211005e-01 -1.00449433e-01 3.87977010e+02] [ 4.89805658e-01 8.70449584e-01 -4.90707606e-02 6.30510223e+01] [ 1.11589336e-01 -6.77113944e-03 9.93731338e-01 2.20917815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.63925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:388.01, Y:63.06, Z:22.10 [[ 8.64506315e-01 -4.90019624e-01 -1.11846321e-01 3.88009008e+02] [ 4.89355715e-01 8.71372962e-01 -3.52156875e-02 6.30579654e+01] [ 1.14716238e-01 -2.42884520e-02 9.93101332e-01 2.20969483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.66925415399993 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:388.03, Y:63.07, Z:22.11 [[ 8.61786900e-01 -4.92107042e-01 -1.23101574e-01 3.88028754e+02] [ 4.92740104e-01 8.69745558e-01 -2.73834604e-02 6.30680111e+01] [ 1.20542641e-01 -3.70583751e-02 9.92016204e-01 2.21054999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.69925415399996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:388.05, Y:63.10, Z:22.11 [[ 8.62170703e-01 -4.94889184e-01 -1.08380692e-01 3.88046898e+02] [ 4.91646310e-01 8.68945089e-01 -5.67304078e-02 6.30965617e+01] [ 1.22252136e-01 -4.37367190e-03 9.92489439e-01 2.21142816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.72925415399993 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:388.06, Y:63.13, Z:22.11 [[ 8.64206463e-01 -4.96359169e-01 -8.23089648e-02 3.88063965e+02] [ 4.89662490e-01 8.67337789e-01 -8.91953254e-02 6.31277054e+01] [ 1.15662593e-01 3.67795640e-02 9.92607389e-01 2.21126907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.75925415399996 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:388.10, Y:63.12, Z:22.11 [[ 8.64577342e-01 -4.92005895e-01 -1.02157818e-01 3.88097379e+02] [ 4.89502884e-01 8.70565644e-01 -5.00238478e-02 6.31240683e+01] [ 1.13547114e-01 -6.75706099e-03 9.93509635e-01 2.21051638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.78925415399993 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:388.12, Y:63.14, Z:22.11 [[ 8.66271107e-01 -4.88964696e-01 -1.02410422e-01 3.88119019e+02] [ 4.86423897e-01 8.72280523e-01 -5.01844716e-02 6.31420480e+01] [ 1.13869051e-01 -6.34151867e-03 9.93475528e-01 2.21091402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.81925415399996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:388.15, Y:63.14, Z:22.12 [[ 8.65417993e-01 -4.84229982e-01 -1.28736248e-01 3.88149526e+02] [ 4.86448038e-01 8.73567654e-01 -1.57435439e-02 6.31403367e+01] [ 1.20083318e-01 -4.89987490e-02 9.91553891e-01 2.21152343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.84925415399994 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:388.16, Y:63.19, Z:22.13 [[ 8.69314448e-01 -4.86291276e-01 -8.83922182e-02 3.88164024e+02] [ 4.80513699e-01 8.73396526e-01 -7.92785869e-02 6.31868112e+01] [ 1.15753941e-01 2.64443493e-02 9.92925839e-01 2.21266114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.87925415399997 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:388.19, Y:63.20, Z:22.12 [[ 8.71933181e-01 -4.79878858e-01 -9.72049813e-02 3.88187761e+02] [ 4.76460744e-01 8.77327215e-01 -5.72897586e-02 6.31955258e+01] [ 1.12772720e-01 3.63848375e-03 9.93614148e-01 2.21203508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.90925415399994 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:388.21, Y:63.21, Z:22.12 [[ 8.73604219e-01 -4.76189251e-01 -1.00296884e-01 3.88212487e+02] [ 4.73657684e-01 8.79331365e-01 -4.92417389e-02 6.32075716e+01] [ 1.11642583e-01 -4.48859915e-03 9.93738289e-01 2.21209637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.93925415399997 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:388.24, Y:63.22, Z:22.12 [[ 8.75371816e-01 -4.73033559e-01 -9.98170140e-02 3.88235932e+02] [ 4.70501952e-01 8.81035167e-01 -4.90402613e-02 6.32231889e+01] [ 1.11139989e-01 -4.03563738e-03 9.93796567e-01 2.21238610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.96925415399994 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:388.26, Y:63.26, Z:22.13 [[ 8.80960279e-01 -4.68031285e-01 -6.96828709e-02 3.88262569e+02] [ 4.62110331e-01 8.82633517e-01 -8.60936535e-02 6.32571017e+01] [ 1.01798961e-01 4.36439145e-02 9.93847161e-01 2.21266714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.99925415399997 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:388.30, Y:63.23, Z:22.12 [[ 8.78754382e-01 -4.61544531e-01 -1.21521118e-01 3.88296254e+02] [ 4.64532717e-01 8.85546061e-01 -4.18677279e-03 6.32338273e+01] [ 1.09544929e-01 -5.27713900e-02 9.92580016e-01 2.21179327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.02925415399994 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:388.31, Y:63.28, Z:22.13 [[ 8.84588499e-01 -4.59598744e-01 -7.91971096e-02 3.88309502e+02] [ 4.54811290e-01 8.87707237e-01 -7.15719962e-02 6.32835499e+01] [ 1.03198247e-01 2.72920251e-02 9.94286310e-01 2.21317364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.059254154 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:388.34, Y:63.30, Z:22.13 [[ 8.87794415e-01 -4.54635254e-01 -7.16090869e-02 3.88341386e+02] [ 4.50121341e-01 8.90147919e-01 -7.09045906e-02 6.32990738e+01] [ 9.59784062e-02 3.07159214e-02 9.94909382e-01 2.21256242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.08925415399995 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:388.37, Y:63.27, Z:22.12 [[ 8.83006075e-01 -4.50896377e-01 -1.30356159e-01 3.88373224e+02] [ 4.56122714e-01 8.89839090e-01 1.17670327e-02 6.32739772e+01] [ 1.10690294e-01 -6.98487665e-02 9.91397402e-01 2.21228449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.119254154 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:388.38, Y:63.32, Z:22.14 [[ 8.83137049e-01 -4.58252296e-01 -1.00368246e-01 3.88384427e+02] [ 4.55571219e-01 8.88819962e-01 -4.95372468e-02 6.33168171e+01] [ 1.11909858e-01 -1.97670627e-03 9.93716396e-01 2.21436614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.14925415399995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:388.41, Y:63.33, Z:22.15 [[ 8.83602049e-01 -4.57354674e-01 -1.00369925e-01 3.88410057e+02] [ 4.54667936e-01 8.89282422e-01 -4.95362765e-02 6.33316608e+01] [ 1.11912857e-01 -1.86463101e-03 9.93716275e-01 2.21461859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1792541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:388.43, Y:63.35, Z:22.15 [[ 8.83515242e-01 -4.57396995e-01 -1.00939620e-01 3.88434211e+02] [ 4.54679259e-01 8.89260631e-01 -4.98227000e-02 6.33457171e+01] [ 1.12550384e-01 -1.87603703e-03 9.93644248e-01 2.21489843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.20925415399995 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:388.46, Y:63.36, Z:22.15 [[ 8.83435160e-01 -4.57528874e-01 -1.01042800e-01 3.88457899e+02] [ 4.54804838e-01 8.89192772e-01 -4.98876093e-02 6.33609238e+01] [ 1.12671549e-01 -1.88228595e-03 9.93630504e-01 2.21512129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2392541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:388.48, Y:63.37, Z:22.15 [[ 8.82259877e-01 -4.59807921e-01 -1.00966260e-01 3.88482088e+02] [ 4.57098248e-01 8.88015832e-01 -4.98906150e-02 6.33746780e+01] [ 1.12599737e-01 -2.13501256e-03 9.93638134e-01 2.21544119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.26925415399995 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:388.51, Y:63.39, Z:22.16 [[ 8.81405408e-01 -4.61522462e-01 -1.00605780e-01 3.88508559e+02] [ 4.58838691e-01 8.87125518e-01 -4.97531017e-02 6.33901871e+01] [ 1.12212129e-01 -2.30917156e-03 9.93681592e-01 2.21574650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2992541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:388.53, Y:63.40, Z:22.16 [[ 8.81085356e-01 -4.62259489e-01 -1.00023800e-01 3.88534643e+02] [ 4.59611477e-01 8.86741483e-01 -4.94654583e-02 6.34039231e+01] [ 1.11561130e-01 -2.38879557e-03 9.93754702e-01 2.21602287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.32925415399995 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:388.56, Y:63.42, Z:22.16 [[ 8.80671517e-01 -4.63126264e-01 -9.96581310e-02 3.88558719e+02] [ 4.60502646e-01 8.86288828e-01 -4.92892072e-02 6.34169728e+01] [ 1.11153015e-01 -2.48523213e-03 9.93800197e-01 2.21629598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.3592541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:388.59, Y:63.44, Z:22.16 [[ 8.83498951e-01 -4.61550357e-01 -8.00054420e-02 3.88587378e+02] [ 4.57037247e-01 8.86783642e-01 -6.87875446e-02 6.34413289e+01] [ 1.02696433e-01 2.42082565e-02 9.94418123e-01 2.21633180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.38925415399996 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:388.62, Y:63.44, Z:22.16 [[ 8.79882269e-01 -4.61913116e-01 -1.11550288e-01 3.88620209e+02] [ 4.62229318e-01 8.86419788e-01 -2.45767636e-02 6.34355266e+01] [ 1.10232712e-01 -2.99371550e-02 9.93454838e-01 2.21615840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.41925415399993 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:388.64, Y:63.50, Z:22.17 [[ 8.86199579e-01 -4.61408823e-01 -4.18593318e-02 3.88641581e+02] [ 4.54173734e-01 8.83031051e-01 -1.18247122e-01 6.34951188e+01] [ 9.15233552e-02 8.57791409e-02 9.92101514e-01 2.21709690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.44925415399996 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:388.69, Y:63.44, Z:22.15 [[ 8.79363977e-01 -4.54873725e-01 -1.40744058e-01 3.88688975e+02] [ 4.63381611e-01 8.85536389e-01 3.32082314e-02 6.34362997e+01] [ 1.09528433e-01 -9.44203306e-02 9.89488920e-01 2.21520523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.47925415399993 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:388.69, Y:63.49, Z:22.18 [[ 8.79612703e-01 -4.65002065e-01 -1.00272489e-01 3.88694751e+02] [ 4.62345678e-01 8.85305655e-01 -4.97028226e-02 6.34912168e+01] [ 1.11883717e-01 -2.64131796e-03 9.93717796e-01 2.21801995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.50925415399996 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:388.72, Y:63.51, Z:22.18 [[ 8.79756602e-01 -4.64693917e-01 -1.00438464e-01 3.88721539e+02] [ 4.62027724e-01 8.85467519e-01 -4.97760469e-02 6.35061862e+01] [ 1.12065624e-01 -2.61454907e-03 9.93697368e-01 2.21837489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.53925415399993 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:388.75, Y:63.52, Z:22.19 [[ 8.79782525e-01 -4.64660529e-01 -1.00365842e-01 3.88750252e+02] [ 4.61998545e-01 8.85485046e-01 -4.97350807e-02 6.35207980e+01] [ 1.11982381e-01 -2.61281825e-03 9.93706757e-01 2.21869196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.56925415399996 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:388.78, Y:63.57, Z:22.19 [[ 8.85639712e-01 -4.61993109e-01 -4.69538810e-02 3.88777382e+02] [ 4.54831441e-01 8.83388349e-01 -1.12930888e-01 6.35653789e+01] [ 9.36518035e-02 7.86599778e-02 9.92492795e-01 2.21895183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.59925415399994 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:388.83, Y:63.51, Z:22.17 [[ 8.79372253e-01 -4.55724210e-01 -1.37912602e-01 3.88825137e+02] [ 4.63162823e-01 8.85895400e-01 2.58754700e-02 6.35122153e+01] [ 1.10384062e-01 -8.66301606e-02 9.90106345e-01 2.21708612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.62925415399997 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:388.83, Y:63.56, Z:22.20 [[ 8.79519320e-01 -4.65086011e-01 -1.00701376e-01 3.88832594e+02] [ 4.62402819e-01 8.85261598e-01 -4.99553461e-02 6.35626481e+01] [ 1.12380594e-01 -2.62790836e-03 9.93661761e-01 2.21972582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.65925415399994 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:388.86, Y:63.58, Z:22.20 [[ 8.80011497e-01 -4.64153551e-01 -1.00703761e-01 3.88860868e+02] [ 4.61465201e-01 8.85751176e-01 -4.99472054e-02 6.35773521e+01] [ 1.12381647e-01 -2.51716610e-03 9.93661929e-01 2.22005755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.68925415399997 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:388.89, Y:63.60, Z:22.20 [[ 8.82611390e-01 -4.62597312e-01 -8.36711488e-02 3.88885567e+02] [ 4.58057852e-01 8.86297387e-01 -6.82638045e-02 6.36005948e+01] [ 1.05736173e-01 2.19241848e-02 9.94152499e-01 2.22017378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.71925415399994 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:388.92, Y:63.60, Z:22.20 [[ 8.81109058e-01 -4.59633044e-01 -1.11284733e-01 3.88921249e+02] [ 4.59552549e-01 8.87711971e-01 -2.79089688e-02 6.35950335e+01] [ 1.11616674e-01 -2.65503374e-02 9.93396596e-01 2.21996757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.74925415399997 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:388.94, Y:63.62, Z:22.21 [[ 8.82650812e-01 -4.58992820e-01 -1.01257763e-01 3.88941180e+02] [ 4.56242924e-01 8.88437974e-01 -5.02031996e-02 6.36190811e+01] [ 1.13004150e-01 -1.88624302e-03 9.93592725e-01 2.22097926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.77925415399994 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:388.97, Y:63.63, Z:22.21 [[ 8.83598030e-01 -4.57163030e-01 -1.01274309e-01 3.88967980e+02] [ 4.54399757e-01 8.89381384e-01 -5.02156859e-02 6.36325590e+01] [ 1.13028240e-01 -1.64854011e-03 9.93590408e-01 2.22124539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.809254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:388.99, Y:63.65, Z:22.22 [[ 8.84629454e-01 -4.55069012e-01 -1.01700160e-01 3.88993929e+02] [ 4.52268500e-01 8.90455093e-01 -5.04274848e-02 6.36453476e+01] [ 1.13507411e-01 -1.38614049e-03 9.93536183e-01 2.22157066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.83925415399995 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:389.02, Y:63.66, Z:22.22 [[ 8.85679855e-01 -4.53092223e-01 -1.01383591e-01 3.89018312e+02] [ 4.50295207e-01 8.91462945e-01 -5.02796690e-02 6.36575213e+01] [ 1.13161042e-01 -1.12085532e-03 9.93576027e-01 2.22180839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.869254154 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:389.04, Y:63.67, Z:22.22 [[ 8.86672657e-01 -4.51215762e-01 -1.01073909e-01 3.89042815e+02] [ 4.48421766e-01 8.92414473e-01 -5.01430824e-02 6.36699525e+01] [ 1.12825169e-01 -8.63240920e-04 9.93614481e-01 2.22212085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.89925415399995 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:389.07, Y:63.68, Z:22.22 [[ 8.88580046e-01 -4.47380973e-01 -1.01369459e-01 3.89066863e+02] [ 4.44541720e-01 8.94343416e-01 -5.03240843e-02 6.36821605e+01] [ 1.13173146e-01 -3.45976368e-04 9.93575221e-01 2.22246510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9292541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:389.09, Y:63.70, Z:22.23 [[ 8.89262762e-01 -4.46032590e-01 -1.01324573e-01 3.89094810e+02] [ 4.43185531e-01 8.95016705e-01 -5.03158299e-02 6.36959820e+01] [ 1.13129686e-01 -1.61590794e-04 9.93580217e-01 2.22277135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.95925415399995 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:389.11, Y:63.72, Z:22.23 [[ 8.90772603e-01 -4.47008147e-01 -8.19016838e-02 3.89112742e+02] [ 4.41752388e-01 8.94010456e-01 -7.48340261e-02 6.37214639e+01] [ 1.06672381e-01 3.04798358e-02 9.93826938e-01 2.22306825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.9892541539999 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:389.15, Y:63.72, Z:22.22 [[ 8.90759355e-01 -4.43622545e-01 -9.87259310e-02 3.89146272e+02] [ 4.41285144e-01 8.96208806e-01 -4.55762829e-02 6.37189020e+01] [ 1.08697715e-01 -2.96878632e-03 9.94070417e-01 2.22241878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.01925415399995 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:389.18, Y:63.72, Z:22.23 [[ 8.89561361e-01 -4.42615685e-01 -1.13013008e-01 3.89177215e+02] [ 4.42340080e-01 8.96382183e-01 -2.88831346e-02 6.37213288e+01] [ 1.14086975e-01 -2.42968623e-02 9.93173613e-01 2.22277816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.0492541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:389.20, Y:63.74, Z:22.24 [[ 8.89334827e-01 -4.45715748e-01 -1.02083489e-01 3.89200438e+02] [ 4.42813273e-01 8.95174548e-01 -5.07832093e-02 6.37446377e+01] [ 1.14017417e-01 -4.06471248e-05 9.93478750e-01 2.22378849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.07925415399995 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:389.23, Y:63.76, Z:22.24 [[ 8.88744868e-01 -4.46975805e-01 -1.01711309e-01 3.89228307e+02] [ 4.44103736e-01 8.94546022e-01 -5.05893787e-02 6.37570457e+01] [ 1.13597675e-01 -2.09321764e-04 9.93526811e-01 2.22410474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.1092541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:389.26, Y:63.77, Z:22.24 [[ 8.87783041e-01 -4.48875657e-01 -1.01744372e-01 3.89255309e+02] [ 4.46014096e-01 8.93594114e-01 -5.06061806e-02 6.37689714e+01] [ 1.13634055e-01 -4.52115237e-04 9.93522570e-01 2.22443716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.13925415399996 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:389.28, Y:63.78, Z:22.25 [[ 8.85454339e-01 -4.53587013e-01 -1.01140669e-01 3.89283844e+02] [ 4.50789485e-01 8.91211383e-01 -5.03101582e-02 6.37792844e+01] [ 1.12957750e-01 -1.04580223e-03 9.93599242e-01 2.22476078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.16925415399993 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:389.31, Y:63.79, Z:22.25 [[ 8.84130813e-01 -4.56195022e-01 -1.00989142e-01 3.89310531e+02] [ 4.53422771e-01 8.89878760e-01 -5.02352732e-02 6.37905567e+01] [ 1.12785174e-01 -1.37622371e-03 9.93618443e-01 2.22507423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.19925415399996 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:389.34, Y:63.80, Z:22.25 [[ 8.82565128e-01 -4.59265033e-01 -1.00769166e-01 3.89337408e+02] [ 4.56524020e-01 8.88297551e-01 -5.01326286e-02 6.38020613e+01] [ 1.12537166e-01 -1.75823486e-03 9.93645960e-01 2.22537820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.22925415399993 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:389.36, Y:63.81, Z:22.26 [[ 8.80932503e-01 -4.62449527e-01 -1.00490597e-01 3.89363190e+02] [ 4.59743539e-01 8.86642996e-01 -5.00007666e-02 6.38127006e+01] [ 1.12222115e-01 -2.15260241e-03 9.93680816e-01 2.22562939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.25925415399996 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:389.39, Y:63.82, Z:22.26 [[ 8.77300467e-01 -4.69493627e-01 -9.95973108e-02 3.89389442e+02] [ 4.66876710e-01 8.82930789e-01 -4.95919264e-02 6.38212325e+01] [ 1.11220626e-01 -2.99264464e-03 9.93791234e-01 2.22585384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.28925415399993 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:389.42, Y:63.83, Z:22.26 [[ 8.75218800e-01 -4.73403496e-01 -9.94041354e-02 3.89415309e+02] [ 4.70818928e-01 8.80838898e-01 -4.95214399e-02 6.38319300e+01] [ 1.11002652e-01 -3.45925332e-03 9.93814090e-01 2.22614082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.31925415399996 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:389.44, Y:63.84, Z:22.26 [[ 8.73091827e-01 -4.77384594e-01 -9.90687208e-02 3.89441051e+02] [ 4.74838924e-01 8.78685716e-01 -4.93903658e-02 6.38428731e+01] [ 1.10628470e-01 -3.91936014e-03 9.93854104e-01 2.22641650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.34925415399994 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:389.47, Y:63.87, Z:22.26 [[ 8.74936420e-01 -4.79219490e-01 -6.95337417e-02 3.89470585e+02] [ 4.73718810e-01 8.76827274e-01 -8.22460931e-02 6.38705599e+01] [ 1.00383012e-01 3.90206609e-02 9.94183403e-01 2.22635037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.37925415399997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:389.51, Y:63.85, Z:22.26 [[ 8.66991742e-01 -4.83703298e-01 -1.19818358e-01 3.89507107e+02] [ 4.86283323e-01 8.73758399e-01 -8.64804285e-03 6.38453838e+01] [ 1.08875384e-01 -5.07678876e-02 9.92758164e-01 2.22588787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.40925415399994 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:389.53, Y:63.91, Z:22.27 [[ 8.70682256e-01 -4.89309321e-01 -4.98878510e-02 3.89525550e+02] [ 4.82327649e-01 8.69287140e-01 -1.08166108e-01 6.39070003e+01] [ 9.62935520e-02 7.01160207e-02 9.92880303e-01 2.22713019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.43925415399997 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:389.57, Y:63.86, Z:22.26 [[ 8.63312993e-01 -4.86251740e-01 -1.35092266e-01 3.89568555e+02] [ 4.93113710e-01 8.69716071e-01 2.08044464e-02 6.38556472e+01] [ 1.07375717e-01 -8.45765976e-02 9.90614584e-01 2.22583248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.46925415399994 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:389.58, Y:63.93, Z:22.28 [[ 8.67559433e-01 -4.94821085e-01 -4.99271760e-02 3.89579609e+02] [ 4.87648072e-01 8.66082383e-01 -1.10003012e-01 6.39334511e+01] [ 9.76728575e-02 7.10872597e-02 9.92676490e-01 2.22789196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.49925415399997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:389.63, Y:63.91, Z:22.26 [[ 8.66380355e-01 -4.91221050e-01 -8.99275323e-02 3.89628357e+02] [ 4.90129630e-01 8.70931436e-01 -3.53748457e-02 6.39104335e+01] [ 9.56975838e-02 -1.34280767e-02 9.95319878e-01 2.22615072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.52925415399994 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:389.65, Y:63.90, Z:22.27 [[ 8.59732998e-01 -4.92701092e-01 -1.34554102e-01 3.89647870e+02] [ 4.98943912e-01 8.66502727e-01 1.50995446e-02 6.38973602e+01] [ 1.09151934e-01 -8.01165267e-02 9.90791198e-01 2.22709749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.559254154 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:389.65, Y:63.94, Z:22.29 [[ 8.59549868e-01 -5.00875647e-01 -1.01477143e-01 3.89653448e+02] [ 4.98317434e-01 8.65493113e-01 -5.10039832e-02 6.39416297e+01] [ 1.13374421e-01 -6.72736224e-03 9.93529558e-01 2.22920936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.58925415399995 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:389.68, Y:63.96, Z:22.30 [[ 8.60718286e-01 -4.98852673e-01 -1.01538383e-01 3.89677361e+02] [ 4.96275356e-01 8.66662805e-01 -5.10524593e-02 6.39550458e+01] [ 1.13467195e-01 -6.44921167e-03 9.93520812e-01 2.22950987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.619254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:389.70, Y:63.97, Z:22.30 [[ 8.61828735e-01 -4.96896211e-01 -1.01712276e-01 3.89701172e+02] [ 4.94292234e-01 8.67788045e-01 -5.11771122e-02 6.39680619e+01] [ 1.13694411e-01 -6.16968246e-03 9.93496611e-01 2.22979347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.64925415399995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:389.73, Y:63.98, Z:22.30 [[ 8.63003571e-01 -4.94835707e-01 -1.01796167e-01 3.89725472e+02] [ 4.92211143e-01 8.68966605e-01 -5.12369980e-02 6.39815295e+01] [ 1.13811366e-01 -5.88749546e-03 9.93484932e-01 2.23005891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6792541539999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:389.75, Y:64.00, Z:22.30 [[ 8.65823598e-01 -4.89852817e-01 -1.01949568e-01 3.89748905e+02] [ 4.87181541e-01 8.71789604e-01 -5.13520421e-02 6.39962188e+01] [ 1.14033516e-01 -5.20613762e-03 9.93463262e-01 2.23031055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.70925415399995 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:389.77, Y:64.01, Z:22.31 [[ 8.67262888e-01 -4.87205727e-01 -1.02399526e-01 3.89772847e+02] [ 4.84488006e-01 8.73273780e-01 -5.16166358e-02 6.40100011e+01] [ 1.14570742e-01 -4.84614981e-03 9.93403272e-01 2.23063472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7392541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:389.80, Y:64.02, Z:22.31 [[ 8.68898935e-01 -4.84284766e-01 -1.02386060e-01 3.89797208e+02] [ 4.81543129e-01 8.74899236e-01 -5.16482454e-02 6.40238751e+01] [ 1.14589944e-01 -4.42619810e-03 9.93403017e-01 2.23094561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.76925415399995 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:389.82, Y:64.04, Z:22.31 [[ 8.70488426e-01 -4.81427987e-01 -1.02357187e-01 3.89820345e+02] [ 4.78663894e-01 8.76476451e-01 -5.16711528e-02 6.40376899e+01] [ 1.14589603e-01 -4.01554919e-03 9.93404801e-01 2.23127605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7992541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:389.84, Y:64.05, Z:22.32 [[ 8.72155234e-01 -4.78451482e-01 -1.02124564e-01 3.89843077e+02] [ 4.75677648e-01 8.78106608e-01 -5.15709216e-02 6.40511233e+01] [ 1.14350439e-01 -3.60052342e-03 9.93433950e-01 2.23158379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.82925415399995 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:389.87, Y:64.06, Z:22.32 [[ 8.73798799e-01 -4.75423220e-01 -1.02217518e-01 3.89866262e+02] [ 4.72620687e-01 8.79751456e-01 -5.16436039e-02 6.40646891e+01] [ 1.14478579e-01 -3.18399440e-03 9.93420614e-01 2.23192479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.8592541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:389.89, Y:64.08, Z:22.32 [[ 8.77013245e-01 -4.69468900e-01 -1.02209198e-01 3.89889333e+02] [ 4.66624396e-01 8.82945775e-01 -5.16568604e-02 6.40796156e+01] [ 1.14496469e-01 -2.38955444e-03 9.93420781e-01 2.23231979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.88925415399996 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:389.91, Y:64.09, Z:22.33 [[ 8.78653670e-01 -4.66483185e-01 -1.01789817e-01 3.89913046e+02] [ 4.63637813e-01 8.84527897e-01 -5.14818239e-02 6.40931260e+01] [ 1.14051338e-01 -1.95891478e-03 9.93472926e-01 2.23263120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.91925415399993 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:389.94, Y:64.11, Z:22.33 [[ 8.80256364e-01 -4.63476458e-01 -1.01677464e-01 3.89937806e+02] [ 4.60615344e-01 8.86107875e-01 -5.14425783e-02 6.41067470e+01] [ 1.13939626e-01 -1.55154324e-03 9.93486464e-01 2.23291916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.94925415399996 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:389.96, Y:64.12, Z:22.33 [[ 8.81695579e-01 -4.60805982e-01 -1.01344721e-01 3.89962513e+02] [ 4.57941749e-01 8.87500130e-01 -5.13115370e-02 6.41210481e+01] [ 1.13588117e-01 -1.16882356e-03 9.93527239e-01 2.23329149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.97925415399993 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:389.99, Y:64.14, Z:22.34 [[ 8.84559513e-01 -4.55264484e-01 -1.01433311e-01 3.89988931e+02] [ 4.52355210e-01 8.90356145e-01 -5.13877215e-02 6.41361279e+01] [ 1.13706776e-01 -4.28388897e-04 9.93514260e-01 2.23369306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.00925415399996 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:390.01, Y:64.15, Z:22.34 [[ 8.85935587e-01 -4.52674728e-01 -1.01013500e-01 3.90014972e+02] [ 4.49772734e-01 8.91675716e-01 -5.11752513e-02 6.41495509e+01] [ 1.13237028e-01 -9.51416698e-05 9.93567998e-01 2.23394291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.03925415399993 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:390.04, Y:64.16, Z:22.34 [[ 8.85927332e-01 -4.52691294e-01 -1.01011661e-01 3.90041704e+02] [ 4.49788993e-01 8.91667306e-01 -5.11788806e-02 6.41631319e+01] [ 1.13237029e-01 -9.31641995e-05 9.93567998e-01 2.23426898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.06925415399996 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:390.07, Y:64.18, Z:22.35 [[ 8.86821371e-01 -4.50861496e-01 -1.01349730e-01 3.90067764e+02] [ 4.47927468e-01 8.92593911e-01 -5.13526281e-02 6.41765715e+01] [ 1.13617075e-01 1.43279958e-04 9.93524605e-01 2.23458478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.09925415399994 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:390.09, Y:64.19, Z:22.35 [[ 8.87505726e-01 -4.49446495e-01 -1.01643666e-01 3.90093388e+02] [ 4.46485407e-01 8.93307191e-01 -5.15077030e-02 6.41895534e+01] [ 1.13948975e-01 3.30967653e-04 9.93486548e-01 2.23489963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.12925415399997 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:390.12, Y:64.20, Z:22.35 [[ 8.88183743e-01 -4.48042445e-01 -1.01919610e-01 3.90118840e+02] [ 4.45052207e-01 8.94012122e-01 -5.16803566e-02 6.42014547e+01] [ 1.14272360e-01 5.42105121e-04 9.93449311e-01 2.23521801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.15925415399994 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:390.14, Y:64.21, Z:22.36 [[ 8.88150052e-01 -4.48119665e-01 -1.01873702e-01 3.90143321e+02] [ 4.45128982e-01 8.93973406e-01 -5.16888538e-02 6.42129668e+01] [ 1.14235172e-01 5.60520795e-04 9.93453578e-01 2.23553658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.18925415399997 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:390.17, Y:64.22, Z:22.36 [[ 8.87734836e-01 -4.49026743e-01 -1.01498008e-01 3.90169328e+02] [ 4.46062118e-01 8.93518201e-01 -5.15151563e-02 6.42249980e+01] [ 1.13822001e-01 4.57382202e-04 9.93501053e-01 2.23584959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.21925415399994 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:390.19, Y:64.23, Z:22.36 [[ 8.86198899e-01 -4.52087533e-01 -1.01332985e-01 3.90194946e+02] [ 4.49148832e-01 8.91973572e-01 -5.14633125e-02 6.42342560e+01] [ 1.13652267e-01 9.31388611e-05 9.93520585e-01 2.23612745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.24925415399997 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:390.22, Y:64.25, Z:22.36 [[ 8.85005287e-01 -4.54447926e-01 -1.01206348e-01 3.90222191e+02] [ 4.51530163e-01 8.90773285e-01 -5.14146566e-02 6.42457005e+01] [ 1.13517195e-01 -1.95476047e-04 9.93536013e-01 2.23643953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.27925415399994 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:390.26, Y:64.25, Z:22.37 [[ 8.82637818e-01 -4.55448454e-01 -1.16263442e-01 3.90255841e+02] [ 4.54622523e-01 8.89992992e-01 -3.50832600e-02 6.42493761e+01] [ 1.19452265e-01 -2.18901674e-02 9.92598598e-01 2.23707859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.309254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:390.27, Y:64.28, Z:22.38 [[ 8.82326949e-01 -4.61697996e-01 -9.12913817e-02 3.90274916e+02] [ 4.56754123e-01 8.86801874e-01 -7.04138334e-02 6.42785148e+01] [ 1.13467294e-01 2.04303078e-02 9.93331654e-01 2.23765943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.33925415399995 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:390.31, Y:64.28, Z:22.37 [[ 8.80674629e-01 -4.62742136e-01 -1.01399770e-01 3.90305860e+02] [ 4.59868227e-01 8.86492023e-01 -5.15083238e-02 6.42800402e+01] [ 1.13725159e-01 -1.26845837e-03 9.93511439e-01 2.23737539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.369254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:390.33, Y:64.29, Z:22.38 [[ 8.77794059e-01 -4.68143154e-01 -1.01585319e-01 3.90331823e+02] [ 4.65290435e-01 8.83650514e-01 -5.16389407e-02 6.42883901e+01] [ 1.13940336e-01 -1.93832210e-03 9.93485703e-01 2.23766583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.39925415399995 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:390.36, Y:64.30, Z:22.38 [[ 8.76309925e-01 -4.70838535e-01 -1.01941106e-01 3.90358002e+02] [ 4.67981857e-01 8.82216454e-01 -5.18373434e-02 6.42984525e+01] [ 1.14341140e-01 -2.28100979e-03 9.93438926e-01 2.23790021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4292541539999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:390.38, Y:64.31, Z:22.38 [[ 8.74753630e-01 -4.73792533e-01 -1.01620481e-01 3.90383366e+02] [ 4.70969354e-01 8.80632583e-01 -5.17119155e-02 6.43089153e+01] [ 1.13991026e-01 -2.62494622e-03 9.93478312e-01 2.23820964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.45925415399995 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:390.41, Y:64.32, Z:22.39 [[ 8.73578138e-01 -4.75949819e-01 -1.01651394e-01 3.90409680e+02] [ 4.73135054e-01 8.79467745e-01 -5.17658887e-02 6.43193673e+01] [ 1.14037087e-01 -2.87328909e-03 9.93472338e-01 2.23850044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.4892541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:390.43, Y:64.33, Z:22.39 [[ 8.72678305e-01 -4.77668152e-01 -1.01319852e-01 3.90434878e+02] [ 4.74879039e-01 8.78535034e-01 -5.16342167e-02 6.43295117e+01] [ 1.13677061e-01 -3.05461336e-03 9.93513057e-01 2.23875215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.51925415399995 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:390.46, Y:64.34, Z:22.39 [[ 8.71751224e-01 -4.79456411e-01 -1.00853129e-01 3.90461108e+02] [ 4.76702053e-01 8.77559677e-01 -5.14214573e-02 6.43378478e+01] [ 1.13158987e-01 -3.25017544e-03 9.93571578e-01 2.23899499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.5492541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:390.49, Y:64.35, Z:22.39 [[ 8.71483289e-01 -4.79884014e-01 -1.01134609e-01 3.90486209e+02] [ 4.77115108e-01 8.77325734e-01 -5.15822633e-02 6.43486543e+01] [ 1.13481498e-01 -3.29976921e-03 9.93534630e-01 2.23931508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.57925415399995 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:390.51, Y:64.36, Z:22.40 [[ 8.71677891e-01 -4.79611314e-01 -1.00750396e-01 3.90511097e+02] [ 4.76857428e-01 8.77475143e-01 -5.14234153e-02 6.43599096e+01] [ 1.13069220e-01 -3.21892067e-03 9.93581899e-01 2.23957346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.6092541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:390.54, Y:64.37, Z:22.40 [[ 8.71890350e-01 -4.77869588e-01 -1.06994740e-01 3.90539934e+02] [ 4.75656728e-01 8.78374785e-01 -4.69937665e-02 6.43688661e+01] [ 1.16438374e-01 -9.91935655e-03 9.93148383e-01 2.24026442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.63925415399996 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:390.56, Y:64.38, Z:22.40 [[ 8.73863834e-01 -4.75941388e-01 -9.92058236e-02 3.90561011e+02] [ 4.72492758e-01 8.79471251e-01 -5.72792515e-02 6.43835552e+01] [ 1.14510236e-01 3.18023309e-03 9.93416978e-01 2.24025189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.66925415399993 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:390.59, Y:64.39, Z:22.40 [[ 8.74974724e-01 -4.73293277e-01 -1.02042667e-01 3.90587620e+02] [ 4.70415788e-01 8.80901756e-01 -5.21640027e-02 6.43924471e+01] [ 1.14578436e-01 -2.36029759e-03 9.93411401e-01 2.24040296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.69925415399996 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:390.61, Y:64.41, Z:22.41 [[ 8.77886257e-01 -4.68291789e-01 -1.00092558e-01 3.90611691e+02] [ 4.64418750e-01 8.83549260e-01 -6.04642884e-02 6.44066602e+01] [ 1.16751635e-01 6.59590711e-03 9.93139240e-01 2.24094719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.72925415399993 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:390.64, Y:64.41, Z:22.41 [[ 8.79134115e-01 -4.64790062e-01 -1.05325240e-01 3.90641108e+02] [ 4.62680699e-01 8.85374738e-01 -4.51458092e-02 6.44120566e+01] [ 1.14235630e-01 -9.04273438e-03 9.93412528e-01 2.24077702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.75925415399996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:390.66, Y:64.43, Z:22.41 [[ 8.80358592e-01 -4.63201520e-01 -1.02044607e-01 3.90663692e+02] [ 4.60245722e-01 8.86252460e-01 -5.22537218e-02 6.44264666e+01] [ 1.14641287e-01 -9.63580913e-04 9.93406486e-01 2.24125368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.78925415399993 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:390.69, Y:64.44, Z:22.42 [[ 8.81273849e-01 -4.61444057e-01 -1.02106735e-01 3.90689111e+02] [ 4.58470824e-01 8.87169017e-01 -5.23033342e-02 6.44382118e+01] [ 1.14720995e-01 -7.19398393e-04 9.93397491e-01 2.24152159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.81925415399996 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:390.72, Y:64.45, Z:22.42 [[ 8.82149746e-01 -4.59521184e-01 -1.03209045e-01 3.90715260e+02] [ 4.56465552e-01 8.88166701e-01 -5.29066304e-02 6.44490323e+01] [ 1.15978554e-01 -4.39803092e-04 9.93251620e-01 2.24180248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.84925415399994 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:390.74, Y:64.46, Z:22.42 [[ 8.82028129e-01 -4.59579800e-01 -1.03984552e-01 3.90740364e+02] [ 4.56473704e-01 8.88136383e-01 -5.33434413e-02 6.44603554e+01] [ 1.16868032e-01 -4.15798019e-04 9.93147366e-01 2.24207421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.87925415399997 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:390.77, Y:64.47, Z:22.42 [[ 8.81497315e-01 -4.60348438e-01 -1.05079969e-01 3.90765556e+02] [ 4.57177028e-01 8.87738181e-01 -5.39452268e-02 6.44712942e+01] [ 1.18117101e-01 -4.87575361e-04 9.92999553e-01 2.24234056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.90925415399994 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:390.79, Y:64.48, Z:22.43 [[ 8.80694383e-01 -4.61623334e-01 -1.06213470e-01 3.90791307e+02] [ 4.58387293e-01 8.87075814e-01 -5.45672920e-02 6.44824699e+01] [ 1.19408935e-01 -6.29797228e-04 9.92844957e-01 2.24265030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.93925415399997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:390.82, Y:64.49, Z:22.43 [[ 8.79741029e-01 -4.63335376e-01 -1.06658572e-01 3.90817196e+02] [ 4.60079725e-01 8.86182623e-01 -5.48361735e-02 6.44936081e+01] [ 1.19926512e-01 -8.29814608e-04 9.92782425e-01 2.24294073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.96925415399994 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:390.84, Y:64.50, Z:22.43 [[ 8.78130101e-01 -4.66330169e-01 -1.06881708e-01 3.90843219e+02] [ 4.63078306e-01 8.84609923e-01 -5.49887851e-02 6.45022573e+01] [ 1.20191549e-01 -1.20729287e-03 9.92749986e-01 2.24326619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.99925415399997 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:390.87, Y:64.51, Z:22.44 [[ 8.77209647e-01 -4.68044234e-01 -1.06947791e-01 3.90869043e+02] [ 4.64798622e-01 8.83703889e-01 -5.50425040e-02 6.45133742e+01] [ 1.20272505e-01 -1.42537020e-03 9.92739892e-01 2.24361883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.02925415399994 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:390.89, Y:64.52, Z:22.44 [[ 8.76519177e-01 -4.69402118e-01 -1.06657325e-01 3.90893741e+02] [ 4.66179676e-01 8.82983111e-01 -5.49302747e-02 6.45240098e+01] [ 1.19961004e-01 -1.57403820e-03 9.92777357e-01 2.24393442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.059254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:390.92, Y:64.54, Z:22.44 [[ 8.75667881e-01 -4.70936289e-01 -1.06886730e-01 3.90919162e+02] [ 4.67708929e-01 8.82165447e-01 -5.50679745e-02 6.45357266e+01] [ 1.20225288e-01 -1.77062142e-03 9.92745055e-01 2.24430482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.08925415399995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:390.94, Y:64.55, Z:22.45 [[ 8.75127300e-01 -4.71970699e-01 -1.06751431e-01 3.90944482e+02] [ 4.68754413e-01 8.81612241e-01 -5.50377849e-02 6.45470119e+01] [ 1.20089590e-01 -1.87513617e-03 9.92761288e-01 2.24464319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.119254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:390.97, Y:64.56, Z:22.45 [[ 8.74528013e-01 -4.73070364e-01 -1.06795063e-01 3.90970829e+02] [ 4.69854838e-01 8.81022396e-01 -5.50996252e-02 6.45571304e+01] [ 1.20154842e-01 -1.99201151e-03 9.92753165e-01 2.24502813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.14925415399995 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:391.00, Y:64.57, Z:22.45 [[ 8.74351250e-01 -4.73491722e-01 -1.06374253e-01 3.90996113e+02] [ 4.70299954e-01 8.80795982e-01 -5.49216829e-02 6.45688690e+01] [ 1.19698977e-01 -2.00696410e-03 9.92808203e-01 2.24534749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1792541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:391.02, Y:64.58, Z:22.46 [[ 8.74666638e-01 -4.73030550e-01 -1.05831804e-01 3.91020258e+02] [ 4.69863570e-01 8.81043974e-01 -5.46785184e-02 6.45797246e+01] [ 1.19107083e-01 -1.90103353e-03 9.92879594e-01 2.24565841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.20925415399995 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:391.04, Y:64.59, Z:22.46 [[ 8.75787050e-01 -4.71127592e-01 -1.05051582e-01 3.91044733e+02] [ 4.67991545e-01 8.82063596e-01 -5.42929748e-02 6.45899265e+01] [ 1.18241095e-01 -1.61416800e-03 9.92983604e-01 2.24603828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2392541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:391.07, Y:64.60, Z:22.46 [[ 8.76506451e-01 -4.69872461e-01 -1.04672402e-01 3.91069756e+02] [ 4.66746953e-01 8.82733180e-01 -5.41240769e-02 6.46020824e+01] [ 1.17829216e-01 -1.41542226e-03 9.93032866e-01 2.24636968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.26925415399995 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:391.09, Y:64.61, Z:22.47 [[ 8.77344630e-01 -4.68321271e-01 -1.04602045e-01 3.91094036e+02] [ 4.65184574e-01 8.83557475e-01 -5.41248673e-02 6.46138796e+01] [ 1.17769745e-01 -1.17309596e-03 9.93040236e-01 2.24671301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2992541539999 meters Centerline goodness : 0.997181 Centerline is valid? [True, True] Translation: X:391.12, Y:64.62, Z:22.47 [[ 8.78428850e-01 -4.63695409e-01 -1.15539273e-01 3.91120017e+02] [ 4.62484263e-01 8.85781721e-01 -3.87175551e-02 6.46172935e+01] [ 1.20295729e-01 -1.94244782e-02 9.92548048e-01 2.24719663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.32925415399995 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:391.14, Y:64.64, Z:22.48 [[ 8.80921626e-01 -4.63518698e-01 -9.55379842e-02 3.91140095e+02] [ 4.58722033e-01 8.85932519e-01 -6.85395314e-02 6.46424650e+01] [ 1.16409561e-01 1.65525771e-02 9.93063355e-01 2.24760620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.3592541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:391.17, Y:64.65, Z:22.48 [[ 8.80926732e-01 -4.62135478e-01 -1.01974958e-01 3.91170475e+02] [ 4.58580352e-01 8.86801433e-01 -5.73347907e-02 6.46495695e+01] [ 1.16927980e-01 3.74403755e-03 9.93133339e-01 2.24765397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.38925415399996 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:391.20, Y:64.66, Z:22.48 [[ 8.81564698e-01 -4.60500302e-01 -1.03841973e-01 3.91195634e+02] [ 4.57354339e-01 8.87659539e-01 -5.37359404e-02 6.46584128e+01] [ 1.16921735e-01 -1.20868997e-04 9.93141125e-01 2.24788193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.41925415399993 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:391.22, Y:64.67, Z:22.48 [[ 8.82397390e-01 -4.58847097e-01 -1.04087407e-01 3.91221043e+02] [ 4.55672703e-01 8.88515238e-01 -5.38800487e-02 6.46674360e+01] [ 1.17205951e-01 1.13824117e-04 9.93107624e-01 2.24815122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.44925415399996 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:391.25, Y:64.68, Z:22.48 [[ 8.82420194e-01 -4.58715554e-01 -1.04473167e-01 3.91246716e+02] [ 4.55514332e-01 8.88583152e-01 -5.40987500e-02 6.46789506e+01] [ 1.17649034e-01 1.48804516e-04 9.93055226e-01 2.24846159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.47925415399993 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:391.27, Y:64.69, Z:22.49 [[ 8.82341046e-01 -4.58780592e-01 -1.04855361e-01 3.91272046e+02] [ 4.55551544e-01 8.88549570e-01 -5.43364808e-02 6.46901144e+01] [ 1.18097709e-01 1.76285532e-04 9.93001964e-01 2.24873587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.50925415399996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:391.30, Y:64.70, Z:22.49 [[ 8.82053054e-01 -4.59184881e-01 -1.05506658e-01 3.91296857e+02] [ 4.55913799e-01 8.88340712e-01 -5.47118568e-02 6.47008294e+01] [ 1.18848717e-01 1.56818959e-04 9.92912362e-01 2.24899782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.53925415399993 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:391.32, Y:64.71, Z:22.49 [[ 8.81537993e-01 -4.59968268e-01 -1.06395301e-01 3.91322656e+02] [ 4.56644932e-01 8.87935351e-01 -5.51925585e-02 6.47119002e+01] [ 1.19858974e-01 6.94624409e-05 9.92790925e-01 2.24929136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.56925415399996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:391.35, Y:64.72, Z:22.50 [[ 8.79798090e-01 -4.63114371e-01 -1.07146628e-01 3.91349478e+02] [ 4.59762080e-01 8.86298467e-01 -5.56224425e-02 6.47207158e+01] [ 1.20723444e-01 -3.25437708e-04 9.92686126e-01 2.24958144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.59925415399994 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:391.38, Y:64.73, Z:22.50 [[ 8.78423435e-01 -4.65619118e-01 -1.07569070e-01 3.91375095e+02] [ 4.62254028e-01 8.84984990e-01 -5.58818530e-02 6.47315079e+01] [ 1.21216671e-01 -6.36306533e-04 9.92625868e-01 2.24987883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.62925415399997 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:391.40, Y:64.74, Z:22.50 [[ 8.76852957e-01 -4.68562317e-01 -1.07602263e-01 3.91399627e+02] [ 4.65212511e-01 8.83429871e-01 -5.59373104e-02 6.47419112e+01] [ 1.21269169e-01 -1.00912275e-03 9.92619147e-01 2.25019648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.65925415399994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:391.43, Y:64.75, Z:22.51 [[ 8.75000597e-01 -4.72043646e-01 -1.07465121e-01 3.91425566e+02] [ 4.68726031e-01 8.81573952e-01 -5.58862749e-02 6.47528870e+01] [ 1.21119212e-01 -1.47117581e-03 9.92636878e-01 2.25051498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.68925415399997 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:391.45, Y:64.76, Z:22.51 [[ 8.73076193e-01 -4.75679414e-01 -1.07084344e-01 3.91450092e+02] [ 4.72407989e-01 8.79616594e-01 -5.57255761e-02 6.47630790e+01] [ 1.20700675e-01 -1.93482568e-03 9.92687062e-01 2.25083263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.71925415399994 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:391.48, Y:64.77, Z:22.51 [[ 8.68745886e-01 -4.83779162e-01 -1.06010886e-01 3.91476599e+02] [ 4.80630633e-01 8.75184933e-01 -5.51863028e-02 6.47710232e+01] [ 1.19477113e-01 -3.00920562e-03 9.92832395e-01 2.25122014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.74925415399997 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:391.50, Y:64.78, Z:22.52 [[ 8.66562227e-01 -4.87805377e-01 -1.05431597e-01 3.91500954e+02] [ 4.84716388e-01 8.72945352e-01 -5.49220867e-02 6.47812170e+01] [ 1.18827312e-01 -3.51101716e-03 9.92908728e-01 2.25153674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.77925415399994 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:391.53, Y:64.79, Z:22.52 [[ 8.64428033e-01 -4.91618131e-01 -1.05241575e-01 3.91526642e+02] [ 4.88566034e-01 8.70801661e-01 -5.48424841e-02 6.47923975e+01] [ 1.18606097e-01 -4.01007805e-03 9.92933287e-01 2.25182732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.809254154 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:391.55, Y:64.80, Z:22.52 [[ 8.60460228e-01 -4.98691417e-01 -1.04475197e-01 3.91552660e+02] [ 4.95730676e-01 8.66765682e-01 -5.44825588e-02 6.48030144e+01] [ 1.17725499e-01 -4.91148484e-03 9.93034030e-01 2.25214910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.83925415399995 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:391.58, Y:64.81, Z:22.52 [[ 8.58805836e-01 -5.01543706e-01 -1.04433935e-01 3.91576933e+02] [ 4.98601768e-01 8.65116274e-01 -5.44986994e-02 6.48141495e+01] [ 1.17680976e-01 -5.26714340e-03 9.93037484e-01 2.25243352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.869254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:391.60, Y:64.83, Z:22.53 [[ 8.56849432e-01 -5.04920113e-01 -1.04234016e-01 3.91602163e+02] [ 5.02011958e-01 8.63147242e-01 -5.44135328e-02 6.48261831e+01] [ 1.17443791e-01 -5.70251802e-03 9.93063159e-01 2.25272465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.89925415399995 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:391.63, Y:64.84, Z:22.53 [[ 8.55140539e-01 -5.07780468e-01 -1.04372678e-01 3.91626060e+02] [ 5.04881144e-01 8.61465119e-01 -5.45241127e-02 6.48373980e+01] [ 1.17599701e-01 -6.07001807e-03 9.93042529e-01 2.25302727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9292541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:391.65, Y:64.85, Z:22.53 [[ 8.54999555e-01 -5.08019440e-01 -1.04364794e-01 3.91651083e+02] [ 5.05120048e-01 8.61324104e-01 -5.45392005e-02 6.48505664e+01] [ 1.17598886e-01 -6.08575751e-03 9.93042530e-01 2.25333244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.95925415399995 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:391.68, Y:64.86, Z:22.54 [[ 8.51501745e-01 -5.13738061e-01 -1.04966582e-01 3.91676908e+02] [ 5.10843494e-01 8.57919490e-01 -5.48914671e-02 6.48622521e+01] [ 1.18252712e-01 -6.88131527e-03 9.92959689e-01 2.25358088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.9892541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:391.71, Y:64.86, Z:22.54 [[ 8.48149184e-01 -5.14631464e-01 -1.25687780e-01 3.91705578e+02] [ 5.15152390e-01 8.56543087e-01 -3.08537877e-02 6.48625803e+01] [ 1.23535329e-01 -3.85797453e-02 9.91589948e-01 2.25444793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.01925415399995 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:391.72, Y:64.90, Z:22.55 [[ 8.48858174e-01 -5.20914953e-01 -8.99300409e-02 3.91719457e+02] [ 5.14833861e-01 8.53268060e-01 -8.29440379e-02 6.49007578e+01] [ 1.19941221e-01 2.41086944e-02 9.92488224e-01 2.25464776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.0492541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:391.75, Y:64.90, Z:22.54 [[ 8.47686714e-01 -5.20061818e-01 -1.04704061e-01 3.91751395e+02] [ 5.17221235e-01 8.54094070e-01 -5.48225672e-02 6.49005916e+01] [ 1.17938242e-01 -7.68280220e-03 9.92991211e-01 2.25441236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.07925415399995 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:391.77, Y:64.91, Z:22.55 [[ 8.46054463e-01 -5.22592022e-01 -1.05306332e-01 3.91774411e+02] [ 5.19733360e-01 8.52544892e-01 -5.51764583e-02 6.49140768e+01] [ 1.18613152e-01 -8.04892483e-03 9.92907919e-01 2.25468326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.1092541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:391.80, Y:64.93, Z:22.55 [[ 8.45490875e-01 -5.23352042e-01 -1.06055742e-01 3.91798431e+02] [ 5.20455917e-01 8.52077138e-01 -5.55894676e-02 6.49283328e+01] [ 1.19460534e-01 -8.19695070e-03 9.92805112e-01 2.25502456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.13925415399996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:391.82, Y:64.94, Z:22.55 [[ 8.45328021e-01 -5.23811295e-01 -1.05082173e-01 3.91821960e+02] [ 5.20966943e-01 8.51795338e-01 -5.51193823e-02 6.49428621e+01] [ 1.18380660e-01 -8.15038015e-03 9.92934837e-01 2.25532381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.16925415399993 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:391.84, Y:64.96, Z:22.56 [[ 8.45462935e-01 -5.23569644e-01 -1.05201014e-01 3.91844390e+02] [ 5.20712424e-01 8.51944441e-01 -5.52199333e-02 6.49570086e+01] [ 1.18536900e-01 -8.09306801e-03 9.92916666e-01 2.25557950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.19925415399996 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:391.87, Y:64.97, Z:22.56 [[ 8.45681337e-01 -5.23149642e-01 -1.05534494e-01 3.91867976e+02] [ 5.20268603e-01 8.52202889e-01 -5.54149517e-02 6.49715118e+01] [ 1.18927113e-01 -8.04289336e-03 9.92870411e-01 2.25587872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.22925415399993 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:391.89, Y:64.99, Z:22.56 [[ 8.46170529e-01 -5.22248491e-01 -1.06075205e-01 3.91890976e+02] [ 5.19325878e-01 8.52756558e-01 -5.57394405e-02 6.49883664e+01] [ 1.19566165e-01 -7.92252707e-03 9.92794624e-01 2.25620612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.25925415399996 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:391.91, Y:65.00, Z:22.56 [[ 8.46286448e-01 -5.22056420e-01 -1.06095915e-01 3.91914662e+02] [ 5.19126284e-01 8.52874716e-01 -5.57908567e-02 6.50036915e+01] [ 1.19612498e-01 -7.86213205e-03 9.92789523e-01 2.25648813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.28925415399993 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:391.94, Y:65.02, Z:22.57 [[ 8.46387284e-01 -5.21804994e-01 -1.06527526e-01 3.91937209e+02] [ 5.18844312e-01 8.53028898e-01 -5.60560322e-02 6.50189518e+01] [ 1.20121376e-01 -7.82608825e-03 9.92728365e-01 2.25680975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.31925415399996 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:391.96, Y:65.04, Z:22.57 [[ 8.46613797e-01 -5.21364129e-01 -1.06885564e-01 3.91959178e+02] [ 5.18377504e-01 8.53298912e-01 -5.62648271e-02 6.50369773e+01] [ 1.20539798e-01 -7.77249275e-03 9.92678067e-01 2.25714798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.34925415399994 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:391.98, Y:65.05, Z:22.57 [[ 8.46590385e-01 -5.21342362e-01 -1.07176776e-01 3.91982591e+02] [ 5.18334233e-01 8.53312364e-01 -5.64591167e-02 6.50525095e+01] [ 1.20889797e-01 -7.75564635e-03 9.92635637e-01 2.25746837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.37925415399997 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:392.01, Y:65.07, Z:22.58 [[ 8.46551812e-01 -5.21389120e-01 -1.07253981e-01 3.92006237e+02] [ 5.18372017e-01 8.53284003e-01 -5.65407965e-02 6.50679707e+01] [ 1.20997862e-01 -7.73274844e-03 9.92622648e-01 2.25778228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.40925415399994 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:392.03, Y:65.08, Z:22.58 [[ 8.46597011e-01 -5.21400143e-01 -1.06842838e-01 3.92029637e+02] [ 5.18401343e-01 8.53277840e-01 -5.63646646e-02 6.50837004e+01] [ 1.20555170e-01 -7.66931389e-03 9.92677003e-01 2.25813457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.43925415399997 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:392.05, Y:65.10, Z:22.59 [[ 8.46996309e-01 -5.20877362e-01 -1.06226297e-01 3.92051210e+02] [ 5.17904194e-01 8.53598436e-01 -5.60799084e-02 6.51022238e+01] [ 1.19885356e-01 -7.51556940e-03 9.92759295e-01 2.25854378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.46925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:392.07, Y:65.12, Z:22.59 [[ 8.47022024e-01 -5.20857719e-01 -1.06117516e-01 3.92073763e+02] [ 5.17885637e-01 8.53610819e-01 -5.60627809e-02 6.51179785e+01] [ 1.19783792e-01 -7.47032738e-03 9.92771896e-01 2.25887050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.49925415399997 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:392.10, Y:65.13, Z:22.59 [[ 8.47261146e-01 -5.20470136e-01 -1.06110263e-01 3.92096696e+02] [ 5.17490593e-01 8.53847977e-01 -5.60991858e-02 6.51335127e+01] [ 1.19799985e-01 -7.38040258e-03 9.92770615e-01 2.25921996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.52925415399994 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:392.12, Y:65.15, Z:22.60 [[ 8.47484198e-01 -5.20046706e-01 -1.06404689e-01 3.92119176e+02] [ 5.17042652e-01 8.54106556e-01 -5.62928609e-02 6.51490686e+01] [ 1.20155859e-01 -7.30845238e-03 9.92728138e-01 2.25953667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.559254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:392.14, Y:65.17, Z:22.60 [[ 8.48467581e-01 -5.18306606e-01 -1.07056179e-01 3.92140741e+02] [ 5.15249306e-01 8.55165493e-01 -5.66580315e-02 6.51675523e+01] [ 1.20916982e-01 -7.08811888e-03 9.92637316e-01 2.25993659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.58925415399995 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:392.16, Y:65.18, Z:22.60 [[ 8.49048241e-01 -5.17442956e-01 -1.06629596e-01 3.92163209e+02] [ 5.14398644e-01 8.55689852e-01 -5.64704612e-02 6.51834171e+01] [ 1.20462106e-01 -6.90397391e-03 9.92693919e-01 2.26024951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.619254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:392.19, Y:65.20, Z:22.61 [[ 8.49959992e-01 -5.15995312e-01 -1.06380685e-01 3.92185171e+02] [ 5.12951723e-01 8.56565463e-01 -5.63572330e-02 6.51985127e+01] [ 1.20202089e-01 -6.66676263e-03 9.92727058e-01 2.26056913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.64925415399995 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:392.21, Y:65.21, Z:22.61 [[ 8.50873726e-01 -5.14478039e-01 -1.06424854e-01 3.92208512e+02] [ 5.11416749e-01 8.57479440e-01 -5.64084983e-02 6.52143880e+01] [ 1.20278058e-01 -6.43094374e-03 9.92719412e-01 2.26090849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6792541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:392.23, Y:65.23, Z:22.61 [[ 8.53261941e-01 -5.10487899e-01 -1.06518383e-01 3.92230584e+02] [ 5.07385426e-01 8.59865116e-01 -5.64978860e-02 6.52329101e+01] [ 1.20432929e-01 -5.83837935e-03 9.92704298e-01 2.26123350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.70925415399995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:392.25, Y:65.25, Z:22.62 [[ 8.54558405e-01 -5.08412868e-01 -1.06048514e-01 3.92253528e+02] [ 5.05317125e-01 8.61095960e-01 -5.62881100e-02 6.52486827e+01] [ 1.19935546e-01 -5.48665261e-03 9.92766519e-01 2.26152768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7392541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:392.28, Y:65.26, Z:22.62 [[ 8.56143564e-01 -5.05859744e-01 -1.05470935e-01 3.92275757e+02] [ 5.02773913e-01 8.62600858e-01 -5.60192218e-02 6.52639341e+01] [ 1.19317189e-01 -5.06753870e-03 9.92843255e-01 2.26180971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.76925415399995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:392.30, Y:65.28, Z:22.62 [[ 8.57672276e-01 -5.03234012e-01 -1.05611537e-01 3.92298914e+02] [ 5.00117698e-01 8.64137445e-01 -5.61138412e-02 6.52797333e+01] [ 1.19501277e-01 -4.69091281e-03 9.92822965e-01 2.26209828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7992541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:392.32, Y:65.30, Z:22.62 [[ 8.60938040e-01 -4.97662584e-01 -1.05440244e-01 3.92321207e+02] [ 4.94509828e-01 8.67362060e-01 -5.60632417e-02 6.52977075e+01] [ 1.19355445e-01 -3.87425930e-03 9.92844030e-01 2.26236165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.82925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:392.34, Y:65.31, Z:22.63 [[ 8.62610224e-01 -4.94877456e-01 -1.04880435e-01 3.92344624e+02] [ 4.91732899e-01 8.68955986e-01 -5.58054660e-02 6.53130036e+01] [ 1.18753348e-01 -3.43479461e-03 9.92917844e-01 2.26260021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.8592541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:392.37, Y:65.33, Z:22.63 [[ 8.64030702e-01 -4.92394796e-01 -1.04872837e-01 3.92367827e+02] [ 4.89227674e-01 8.70366598e-01 -5.58414580e-02 6.53280501e+01] [ 1.18773858e-01 -3.05796001e-03 9.92916623e-01 2.26289537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.88925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:392.39, Y:65.34, Z:22.63 [[ 8.65337384e-01 -4.90075764e-01 -1.04961692e-01 3.92391371e+02] [ 4.86881448e-01 8.71675639e-01 -5.59288462e-02 6.53430711e+01] [ 1.18901922e-01 -2.70657933e-03 9.92902315e-01 2.26318728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.91925415399993 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:392.41, Y:65.36, Z:22.63 [[ 8.67575279e-01 -4.86232158e-01 -1.04361990e-01 3.92412971e+02] [ 4.83042163e-01 8.73827063e-01 -5.56464999e-02 6.53595186e+01] [ 1.18251449e-01 -2.13371364e-03 9.92981391e-01 2.26342601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.94925415399996 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:392.44, Y:65.37, Z:22.64 [[ 8.68176083e-01 -4.85195695e-01 -1.04189378e-01 3.92436417e+02] [ 4.82006550e-01 8.74403367e-01 -5.55737096e-02 6.53741741e+01] [ 1.18067668e-01 -1.97219713e-03 9.93003593e-01 2.26371364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.97925415399993 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:392.46, Y:65.39, Z:22.64 [[ 8.68739888e-01 -4.84098774e-01 -1.04591508e-01 3.92459241e+02] [ 4.80872415e-01 8.75011513e-01 -5.58262678e-02 6.53879786e+01] [ 1.18544202e-01 -1.79666551e-03 9.92947151e-01 2.26399182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.00925415399996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:392.48, Y:65.40, Z:22.64 [[ 8.68786256e-01 -4.84198333e-01 -1.03742060e-01 3.92483503e+02] [ 4.81022780e-01 8.74956462e-01 -5.53919998e-02 6.54022672e+01] [ 1.17590499e-01 -1.77848581e-03 9.93060578e-01 2.26420211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.03925415399993 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:392.51, Y:65.42, Z:22.64 [[ 8.68566770e-01 -4.84546907e-01 -1.03952203e-01 3.92507734e+02] [ 4.81356245e-01 8.74763439e-01 -5.55435996e-02 6.54160418e+01] [ 1.17847066e-01 -1.79471738e-03 9.93030134e-01 2.26449576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.06925415399996 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:392.53, Y:65.43, Z:22.65 [[ 8.67524572e-01 -4.86462643e-01 -1.03707348e-01 3.92530478e+02] [ 4.83296090e-01 8.73699052e-01 -5.54513846e-02 6.54296583e+01] [ 1.17584038e-01 -2.01591702e-03 9.93060889e-01 2.26476262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.09925415399994 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:392.55, Y:65.44, Z:22.65 [[ 8.66452629e-01 -4.88395217e-01 -1.03585491e-01 3.92554782e+02] [ 4.85246539e-01 8.72619646e-01 -5.54143496e-02 6.54432785e+01] [ 1.17454838e-01 -2.25059226e-03 9.93075675e-01 2.26504995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.12925415399997 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:392.58, Y:65.46, Z:22.65 [[ 8.65234735e-01 -4.90516096e-01 -1.03743982e-01 3.92578450e+02] [ 4.87368419e-01 8.71428520e-01 -5.55370094e-02 6.54568067e+01] [ 1.17647262e-01 -2.50899093e-03 9.93052278e-01 2.26536808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.15925415399994 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:392.60, Y:65.47, Z:22.66 [[ 8.62355370e-01 -4.95621990e-01 -1.03450754e-01 3.92602914e+02] [ 4.92526331e-01 8.68532521e-01 -5.53992139e-02 6.54706950e+01] [ 1.17307413e-01 -3.17841075e-03 9.93090564e-01 2.26569987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.18925415399997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:392.63, Y:65.48, Z:22.66 [[ 8.60704636e-01 -4.98536446e-01 -1.03193712e-01 3.92626302e+02] [ 4.95472566e-01 8.66861539e-01 -5.52992673e-02 6.54833971e+01] [ 1.17023360e-01 -3.53331747e-03 9.93122877e-01 2.26595720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.21925415399994 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:392.65, Y:65.50, Z:22.66 [[ 8.59155439e-01 -5.01267174e-01 -1.02874452e-01 3.92650579e+02] [ 4.98239499e-01 8.65283882e-01 -5.51471293e-02 6.54960624e+01] [ 1.16659050e-01 -3.87615918e-03 9.93164458e-01 2.26621405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.24925415399997 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:392.68, Y:65.51, Z:22.67 [[ 8.57577123e-01 -5.03914409e-01 -1.03110365e-01 3.92675624e+02] [ 5.00887170e-01 8.63743325e-01 -5.53128578e-02 6.55090979e+01] [ 1.16933835e-01 -4.21161721e-03 9.93130777e-01 2.26650930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.27925415399994 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:392.70, Y:65.52, Z:22.67 [[ 8.56582540e-01 -5.06032963e-01 -1.00980162e-01 3.92701088e+02] [ 5.03140141e-01 8.62503050e-01 -5.42078112e-02 6.55203245e+01] [ 1.14526637e-01 -4.37370862e-03 9.93410550e-01 2.26668415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.309254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:392.72, Y:65.53, Z:22.67 [[ 8.54577454e-01 -5.09162319e-01 -1.02230661e-01 3.92724270e+02] [ 5.06214732e-01 8.60657028e-01 -5.49192601e-02 6.55346513e+01] [ 1.15948355e-01 -4.81790525e-03 9.93243559e-01 2.26715882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.33925415399995 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:392.75, Y:65.55, Z:22.67 [[ 8.52898029e-01 -5.11916047e-01 -1.02503234e-01 3.92747031e+02] [ 5.08967786e-01 8.59019915e-01 -5.51051623e-02 6.55485520e+01] [ 1.16261536e-01 -5.17175995e-03 9.93205169e-01 2.26736064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.369254154 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:392.77, Y:65.56, Z:22.68 [[ 8.52029914e-01 -5.13413078e-01 -1.02235202e-01 3.92771625e+02] [ 5.10486384e-01 8.58125064e-01 -5.50002415e-02 6.55621063e+01] [ 1.15968433e-01 -5.32782750e-03 9.93238610e-01 2.26763682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.39925415399995 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:392.80, Y:65.57, Z:22.68 [[ 8.49804682e-01 -5.13789823e-01 -1.17694605e-01 3.92800264e+02] [ 5.13098533e-01 8.57468238e-01 -3.84462657e-02 6.55681265e+01] [ 1.20672685e-01 -2.77171124e-02 9.92305328e-01 2.26827948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4292541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:392.82, Y:65.58, Z:22.69 [[ 8.46796014e-01 -5.17719622e-01 -1.22077452e-01 3.92820404e+02] [ 5.16846332e-01 8.55085587e-01 -4.12129581e-02 6.55821424e+01] [ 1.25723427e-01 -2.81963147e-02 9.91664554e-01 2.26927461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.45925415399995 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:392.83, Y:65.62, Z:22.70 [[ 8.49355476e-01 -5.21780738e-01 -7.96249825e-02 3.92834893e+02] [ 5.14548864e-01 8.52139268e-01 -9.53841396e-02 6.56221175e+01] [ 1.17621181e-01 4.00440969e-02 9.92250839e-01 2.26969368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.4892541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:392.87, Y:65.62, Z:22.69 [[ 8.48827158e-01 -5.18850002e-01 -1.01425493e-01 3.92870830e+02] [ 5.15995541e-01 8.54844745e-01 -5.46723404e-02 6.56171206e+01] [ 1.15069793e-01 -5.92773461e-03 9.93339723e-01 2.26874219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.51925415399995 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:392.89, Y:65.63, Z:22.69 [[ 8.48478141e-01 -5.19402278e-01 -1.01519053e-01 3.92894109e+02] [ 5.16542057e-01 8.54508962e-01 -5.47607244e-02 6.56309296e+01] [ 1.15191786e-01 -5.97558312e-03 9.93325297e-01 2.26903193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.5492541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:392.92, Y:65.65, Z:22.69 [[ 8.48242161e-01 -5.19631174e-01 -1.02316564e-01 3.92917543e+02] [ 5.16725145e-01 8.54369349e-01 -5.52099605e-02 6.56461850e+01] [ 1.16104952e-01 -6.03812502e-03 9.93218597e-01 2.26935337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.57925415399995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:392.94, Y:65.66, Z:22.70 [[ 8.48415554e-01 -5.19327462e-01 -1.02420870e-01 3.92940331e+02] [ 5.16408899e-01 8.54554469e-01 -5.53037800e-02 6.56596240e+01] [ 1.16244984e-01 -5.97046186e-03 9.93202626e-01 2.26961327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.6092541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:392.96, Y:65.67, Z:22.70 [[ 8.48755105e-01 -5.18789530e-01 -1.02333747e-01 3.92963948e+02] [ 5.15869878e-01 8.54881805e-01 -5.52753848e-02 6.56734303e+01] [ 1.16159549e-01 -5.87563269e-03 9.93213188e-01 2.26990285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.63925415399996 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:392.99, Y:65.69, Z:22.70 [[ 8.49367094e-01 -5.17645505e-01 -1.03046940e-01 3.92986845e+02] [ 5.14672078e-01 8.55576025e-01 -5.56984594e-02 6.56870877e+01] [ 1.16996549e-01 -5.72694426e-03 9.93115809e-01 2.27021164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.66925415399993 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:393.01, Y:65.70, Z:22.70 [[ 8.50613350e-01 -5.15557883e-01 -1.03232739e-01 3.93009887e+02] [ 5.12556150e-01 8.56837529e-01 -5.58179366e-02 6.57023220e+01] [ 1.17231063e-01 -5.43309346e-03 9.93089804e-01 2.27048934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.69925415399996 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:393.03, Y:65.72, Z:22.71 [[ 8.51356654e-01 -5.14312320e-01 -1.03318366e-01 3.93033744e+02] [ 5.11291792e-01 8.57587002e-01 -5.59038160e-02 6.57170230e+01] [ 1.17356509e-01 -5.23174655e-03 9.93076069e-01 2.27078574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.72925415399993 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:393.06, Y:65.73, Z:22.71 [[ 8.53047239e-01 -5.11191078e-01 -1.04852705e-01 3.93055312e+02] [ 5.08051783e-01 8.59453459e-01 -5.67726797e-02 6.57331078e+01] [ 1.19137707e-01 -4.84082586e-03 9.92865939e-01 2.27119585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.75925415399996 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:393.08, Y:65.73, Z:22.72 [[ 8.51454073e-01 -5.07472891e-01 -1.32277086e-01 3.93084077e+02] [ 5.09510987e-01 8.60219685e-01 -2.05097099e-02 6.57303191e+01] [ 1.24195475e-01 -4.99335528e-02 9.91000567e-01 2.27152571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.78925415399993 meters Centerline goodness : 0.997017 Centerline is valid? [True, True] Translation: X:393.09, Y:65.78, Z:22.74 [[ 8.52817873e-01 -5.12752813e-01 -9.89253684e-02 3.93091511e+02] [ 5.05896326e-01 8.58196844e-01 -8.69889865e-02 6.57754534e+01] [ 1.29501287e-01 2.41397821e-02 9.91285371e-01 2.27379082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.81925415399996 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:393.12, Y:65.79, Z:22.73 [[ 8.54723976e-01 -5.09645766e-01 -9.85297807e-02 3.93123552e+02] [ 5.04386460e-01 8.60273145e-01 -7.43264145e-02 6.57865125e+01] [ 1.22642667e-01 1.38314813e-02 9.92354506e-01 2.27286262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.84925415399994 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:393.15, Y:65.79, Z:22.73 [[ 8.54546108e-01 -5.08181964e-01 -1.07247564e-01 3.93152981e+02] [ 5.04840704e-01 8.61239035e-01 -5.83368552e-02 6.57926917e+01] [ 1.22011527e-01 -4.29140340e-03 9.92519406e-01 2.27266559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.87925415399997 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:393.18, Y:65.81, Z:22.73 [[ 8.56482159e-01 -5.04826023e-01 -1.07652209e-01 3.93175315e+02] [ 5.01428331e-01 8.63212771e-01 -5.85947174e-02 6.58085195e+01] [ 1.22506900e-01 -3.79453725e-03 9.92460408e-01 2.27303735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.90925415399994 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:393.20, Y:65.81, Z:22.73 [[ 8.55750436e-01 -5.01459389e-01 -1.27395733e-01 3.93202107e+02] [ 5.01839798e-01 8.64388742e-01 -3.14470921e-02 6.58103030e+01] [ 1.25888877e-01 -3.70213863e-02 9.91353321e-01 2.27338771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.93925415399997 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:393.21, Y:65.85, Z:22.75 [[ 8.58428829e-01 -5.04859515e-01 -9.06466495e-02 3.93214254e+02] [ 4.97953500e-01 8.62639780e-01 -8.88533750e-02 6.58518798e+01] [ 1.23053878e-01 3.11364823e-02 9.91911419e-01 2.27479540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.96925415399994 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:393.25, Y:65.83, Z:22.75 [[ 8.55073873e-01 -4.98635465e-01 -1.42166611e-01 3.93251069e+02] [ 5.01663251e-01 8.64909655e-01 -1.62871469e-02 6.58320242e+01] [ 1.31082623e-01 -5.73930505e-02 9.89708737e-01 2.27451214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.99925415399997 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:393.26, Y:65.89, Z:22.76 [[ 8.59295374e-01 -5.05433570e-01 -7.84115217e-02 3.93257087e+02] [ 4.96932161e-01 8.61289102e-01 -1.06016555e-01 6.58896575e+01] [ 1.21119315e-01 5.21343281e-02 9.91267937e-01 2.27610316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.02925415399994 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:393.29, Y:65.88, Z:22.75 [[ 8.59091605e-01 -5.00966833e-01 -1.04851539e-01 3.93294904e+02] [ 4.97700339e-01 8.65461116e-01 -5.71964111e-02 6.58811083e+01] [ 1.19398435e-01 -3.04768999e-03 9.92841742e-01 2.27472841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.059254154 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:393.32, Y:65.89, Z:22.75 [[ 8.58699338e-01 -5.01615609e-01 -1.04962984e-01 3.93319255e+02] [ 4.98343544e-01 8.65085006e-01 -5.72856369e-02 6.58947388e+01] [ 1.19537273e-01 -3.11648690e-03 9.92824822e-01 2.27503695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.08925415399995 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:393.34, Y:65.91, Z:22.75 [[ 8.57951277e-01 -5.02859772e-01 -1.05126855e-01 3.93343342e+02] [ 4.99581936e-01 8.64361857e-01 -5.74148836e-02 6.59085087e+01] [ 1.19739279e-01 -3.26030531e-03 9.92800018e-01 2.27530619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.119254154 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:393.37, Y:65.92, Z:22.76 [[ 8.57693894e-01 -5.03243162e-01 -1.05392139e-01 3.93366369e+02] [ 4.99946825e-01 8.64138593e-01 -5.75991639e-02 6.59215100e+01] [ 1.20059800e-01 -3.28801388e-03 9.92761217e-01 2.27558999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.14925415399995 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:393.39, Y:65.93, Z:22.76 [[ 8.57448725e-01 -5.03648366e-01 -1.05451442e-01 3.93389433e+02] [ 5.00348099e-01 8.63902355e-01 -5.76584796e-02 6.59348546e+01] [ 1.20139348e-01 -3.32323862e-03 9.92751476e-01 2.27590124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1792541539999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:393.42, Y:65.93, Z:22.76 [[ 8.54284406e-01 -5.01936386e-01 -1.35122237e-01 3.93418250e+02] [ 5.03692353e-01 8.63566694e-01 -2.33790001e-02 6.59318032e+01] [ 1.28421834e-01 -4.80877222e-02 9.90553080e-01 2.27649575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.20925415399995 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:393.43, Y:65.98, Z:22.78 [[ 8.57098225e-01 -5.08429091e-01 -8.29607878e-02 3.93427718e+02] [ 5.00744625e-01 8.60072721e-01 -9.76203585e-02 6.59806298e+01] [ 1.20985341e-01 4.21280674e-02 9.91759937e-01 2.27798377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2392541539999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:393.46, Y:65.98, Z:22.77 [[ 8.56608118e-01 -5.05214611e-01 -1.04788978e-01 3.93463672e+02] [ 5.01959608e-01 8.62986791e-01 -5.73615695e-02 6.59758524e+01] [ 1.19411406e-01 -3.46344801e-03 9.92838819e-01 2.27693259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.26925415399995 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:393.49, Y:65.99, Z:22.77 [[ 8.56279458e-01 -5.05816952e-01 -1.04569118e-01 3.93488075e+02] [ 5.02575563e-01 8.62633707e-01 -5.72790648e-02 6.59891099e+01] [ 1.19177568e-01 -3.50699697e-03 9.92866763e-01 2.27722514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2992541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:393.51, Y:66.00, Z:22.77 [[ 8.55797550e-01 -5.06632784e-01 -1.04564696e-01 3.93511381e+02] [ 5.03393055e-01 8.62154486e-01 -5.73155690e-02 6.60018893e+01] [ 1.19188868e-01 -3.58661831e-03 9.92865122e-01 2.27748269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.32925415399995 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:393.54, Y:66.02, Z:22.78 [[ 8.55335558e-01 -5.07320534e-01 -1.05009326e-01 3.93535904e+02] [ 5.04054823e-01 8.61749604e-01 -5.75878018e-02 6.60150203e+01] [ 1.19707220e-01 -3.67356282e-03 9.92802441e-01 2.27774381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.3592541539999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:393.57, Y:66.03, Z:22.78 [[ 8.53790572e-01 -5.07775969e-01 -1.14913987e-01 3.93566724e+02] [ 5.05720995e-01 8.61328423e-01 -4.85759549e-02 6.60250928e+01] [ 1.23644386e-01 -1.66407234e-02 9.92187055e-01 2.27816084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.38925415399996 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:393.59, Y:66.05, Z:22.79 [[ 8.54420940e-01 -5.09845398e-01 -1.00112578e-01 3.93587149e+02] [ 5.05159640e-01 8.60220697e-01 -6.95276243e-02 6.60490787e+01] [ 1.21567251e-01 8.83302412e-03 9.92543894e-01 2.27865763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.41925415399993 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:393.61, Y:66.06, Z:22.79 [[ 8.54099784e-01 -5.09092019e-01 -1.06484155e-01 3.93614572e+02] [ 5.05743147e-01 8.60703044e-01 -5.84306417e-02 6.60568807e+01] [ 1.21397810e-01 -3.94803329e-03 9.92596083e-01 2.27854945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.44925415399996 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:393.64, Y:66.07, Z:22.79 [[ 8.53749866e-01 -5.09652947e-01 -1.06606946e-01 3.93639193e+02] [ 5.06295754e-01 8.60370788e-01 -5.85381689e-02 6.60703822e+01] [ 1.21555653e-01 -3.99769049e-03 9.92576567e-01 2.27883708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.47925415399993 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:393.66, Y:66.08, Z:22.79 [[ 8.53584345e-01 -5.10005025e-01 -1.06248016e-01 3.93663372e+02] [ 5.06668341e-01 8.60162123e-01 -5.83807741e-02 6.60839440e+01] [ 1.21165007e-01 -3.99959120e-03 9.92624322e-01 2.27915018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.50925415399996 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:393.69, Y:66.10, Z:22.79 [[ 8.53322066e-01 -5.10523831e-01 -1.05862509e-01 3.93687109e+02] [ 5.07210450e-01 8.59854192e-01 -5.82093461e-02 6.60974750e+01] [ 1.20743580e-01 -4.02325133e-03 9.92675577e-01 2.27942189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.53925415399993 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:393.71, Y:66.11, Z:22.80 [[ 8.52953452e-01 -5.11178912e-01 -1.05671798e-01 3.93711626e+02] [ 5.07877528e-01 8.59464677e-01 -5.81453847e-02 6.61113075e+01] [ 1.20543872e-01 -4.07302508e-03 9.92699645e-01 2.27972833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.56925415399996 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:393.74, Y:66.12, Z:22.80 [[ 8.52101491e-01 -5.12531405e-01 -1.05993439e-01 3.93735562e+02] [ 5.09215168e-01 8.58658005e-01 -5.83638954e-02 6.61249115e+01] [ 1.20925444e-01 -4.24150463e-03 9.92652531e-01 2.28000613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.59925415399994 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:393.76, Y:66.14, Z:22.80 [[ 8.51623738e-01 -5.13310671e-01 -1.06062082e-01 3.93758691e+02] [ 5.09991203e-01 8.58191991e-01 -5.84421093e-02 6.61380596e+01] [ 1.21020588e-01 -4.32004125e-03 9.92640597e-01 2.28030986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.62925415399997 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:393.78, Y:66.15, Z:22.81 [[ 8.51535633e-01 -5.13527000e-01 -1.05721739e-01 3.93782552e+02] [ 5.10227190e-01 8.58062596e-01 -5.82820364e-02 6.61511926e+01] [ 1.20645269e-01 -4.31287504e-03 9.92686314e-01 2.28058998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.65925415399994 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:393.81, Y:66.16, Z:22.81 [[ 8.51377030e-01 -5.13778757e-01 -1.05775904e-01 3.93806484e+02] [ 5.10475093e-01 8.57911771e-01 -5.83315710e-02 6.61644913e+01] [ 1.20715915e-01 -4.33380486e-03 9.92677634e-01 2.28086913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.68925415399997 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:393.83, Y:66.18, Z:22.81 [[ 8.52184528e-01 -5.12435904e-01 -1.05787401e-01 3.93830612e+02] [ 5.09116286e-01 8.58715646e-01 -5.83784774e-02 6.61785296e+01] [ 1.20756524e-01 -4.10885359e-03 9.92673652e-01 2.28117127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.71925415399994 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:393.85, Y:66.19, Z:22.82 [[ 8.52914971e-01 -5.11184192e-01 -1.05956478e-01 3.93853838e+02] [ 5.07839443e-01 8.59462324e-01 -5.85116566e-02 6.61921642e+01] [ 1.20975835e-01 -3.90341094e-03 9.92647778e-01 2.28150547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.74925415399997 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:393.88, Y:66.21, Z:22.82 [[ 8.53988618e-01 -5.09456704e-01 -1.05628151e-01 3.93877578e+02] [ 5.06115948e-01 8.60488671e-01 -5.83600394e-02 6.62062870e+01] [ 1.20623740e-01 -3.62128229e-03 9.92691694e-01 2.28183195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.77925415399994 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:393.90, Y:66.22, Z:22.82 [[ 8.55266539e-01 -5.07345188e-01 -1.05451446e-01 3.93899925e+02] [ 5.03911728e-01 8.61738723e-01 -5.89859655e-02 6.62201916e+01] [ 1.20797840e-01 -2.68949776e-03 9.92673485e-01 2.28218483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.809254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:393.92, Y:66.23, Z:22.83 [[ 8.58450645e-01 -5.01975945e-01 -1.05274124e-01 3.93923927e+02] [ 4.98667477e-01 8.64876257e-01 -5.76177616e-02 6.62349583e+01] [ 1.19971821e-01 -3.03477725e-03 9.92772659e-01 2.28255041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.83925415399995 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:393.95, Y:66.25, Z:22.83 [[ 8.59897780e-01 -4.99546241e-01 -1.05020769e-01 3.93947788e+02] [ 4.96158278e-01 8.66284606e-01 -5.81200861e-02 6.62491726e+01] [ 1.20011546e-01 -2.12959082e-03 9.92770212e-01 2.28292580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.869254154 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:393.97, Y:66.26, Z:22.83 [[ 8.61326856e-01 -4.97079349e-01 -1.05015085e-01 3.93971559e+02] [ 4.93668541e-01 8.67703324e-01 -5.81576544e-02 6.62625767e+01] [ 1.20030907e-01 -1.74989416e-03 9.92768613e-01 2.28324544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.89925415399995 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:393.99, Y:66.28, Z:22.84 [[ 8.63735138e-01 -4.92880764e-01 -1.05024585e-01 3.93994976e+02] [ 4.89433635e-01 8.70096128e-01 -5.82017583e-02 6.62755645e+01] [ 1.20068012e-01 -1.13166083e-03 9.92765023e-01 2.28351050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9292541539999 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:394.02, Y:66.29, Z:22.84 [[ 8.64513466e-01 -4.91433409e-01 -1.05402429e-01 3.94019565e+02] [ 4.87948227e-01 8.70914671e-01 -5.84308387e-02 6.62891159e+01] [ 1.20511388e-01 -9.16681724e-04 9.92711522e-01 2.28382591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.95925415399995 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:394.04, Y:66.30, Z:22.84 [[ 8.65167176e-01 -4.90150576e-01 -1.06010237e-01 3.94044054e+02] [ 4.86610332e-01 8.71637490e-01 -5.88087673e-02 6.63021747e+01] [ 1.21227648e-01 -7.06261281e-04 9.92624480e-01 2.28412108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.9892541539999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:394.07, Y:66.32, Z:22.84 [[ 8.65289189e-01 -4.89930161e-01 -1.06033283e-01 3.94067846e+02] [ 4.86381993e-01 8.71761450e-01 -5.88602640e-02 6.63153275e+01] [ 1.21273147e-01 -6.41529201e-04 9.92618966e-01 2.28440020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.01925415399995 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:394.09, Y:66.33, Z:22.85 [[ 8.65047915e-01 -4.90220373e-01 -1.06658761e-01 3.94092464e+02] [ 4.86629804e-01 8.71598267e-01 -5.92274844e-02 6.63276936e+01] [ 1.21998111e-01 -6.68720313e-04 9.92530107e-01 2.28465394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.0492541539999 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:394.12, Y:66.34, Z:22.85 [[ 8.64595219e-01 -4.90864565e-01 -1.07364268e-01 3.94117041e+02] [ 4.87226078e-01 8.71235587e-01 -5.96598793e-02 6.63401473e+01] [ 1.22824492e-01 -7.29024861e-04 9.92428140e-01 2.28495331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.07925415399995 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:394.14, Y:66.35, Z:22.85 [[ 8.63621455e-01 -4.92646931e-01 -1.07037306e-01 3.94141189e+02] [ 4.89039596e-01 8.70228767e-01 -5.95161068e-02 6.63527452e+01] [ 1.22467370e-01 -9.46094165e-04 9.92472089e-01 2.28524396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.1092541539999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:394.17, Y:66.36, Z:22.86 [[ 8.60903078e-01 -4.97386825e-01 -1.07015126e-01 3.94166353e+02] [ 4.93814926e-01 8.67527395e-01 -5.95234250e-02 6.63644802e+01] [ 1.22444721e-01 -1.60176664e-03 9.92474042e-01 2.28559148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.13925415399996 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:394.19, Y:66.38, Z:22.86 [[ 8.59279503e-01 -5.00255375e-01 -1.06692525e-01 3.94190282e+02] [ 4.96722485e-01 8.65875668e-01 -5.93809798e-02 6.63763944e+01] [ 1.22088115e-01 -1.97171720e-03 9.92517307e-01 2.28589564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.16925415399993 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:394.21, Y:66.39, Z:22.86 [[ 8.57150566e-01 -5.04024930e-01 -1.06074398e-01 3.94214663e+02] [ 5.00559361e-01 8.63685554e-01 -5.90558297e-02 6.63887156e+01] [ 1.21380535e-01 -2.47679494e-03 9.92602957e-01 2.28621304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.19925415399996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:394.24, Y:66.40, Z:22.86 [[ 8.55245758e-01 -5.07344904e-01 -1.05621214e-01 3.94239031e+02] [ 5.03929607e-01 8.61738199e-01 -5.88406923e-02 6.64002261e+01] [ 1.20870360e-01 -2.90240409e-03 9.92664058e-01 2.28646534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.22925415399993 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:394.26, Y:66.44, Z:22.87 [[ 8.55231467e-01 -5.14664810e-01 -6.08216288e-02 3.94262555e+02] [ 5.07163634e-01 8.55299724e-01 -1.06053904e-01 6.64368233e+01] [ 1.06602935e-01 5.98541173e-02 9.92498513e-01 2.28677018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.25925415399996 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:394.31, Y:66.40, Z:22.85 [[ 8.48504461e-01 -5.11677036e-01 -1.35006633e-01 3.94309789e+02] [ 5.16395429e-01 8.56350252e-01 -8.09851301e-05 6.63978435e+01] [ 1.15654402e-01 -6.96480918e-02 9.90844691e-01 2.28543938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.28925415399993 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:394.32, Y:66.44, Z:22.87 [[ 8.46320681e-01 -5.22687524e-01 -1.02659905e-01 3.94316219e+02] [ 5.19564002e-01 8.52510408e-01 -5.72647563e-02 6.64370885e+01] [ 1.17450211e-01 -4.87404362e-03 9.93066811e-01 2.28744637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.31925415399996 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:394.34, Y:66.45, Z:22.88 [[ 8.42575793e-01 -5.28835768e-01 -1.01974326e-01 3.94341200e+02] [ 5.25796372e-01 8.48705206e-01 -5.69003417e-02 6.64484286e+01] [ 1.16637077e-01 -5.67488009e-03 9.93158390e-01 2.28776268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.34925415399994 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:394.37, Y:66.46, Z:22.88 [[ 8.40844677e-01 -5.31634272e-01 -1.01711502e-01 3.94365175e+02] [ 5.28626400e-01 8.46952672e-01 -5.67917335e-02 6.64608610e+01] [ 1.16337260e-01 -6.01435832e-03 9.93191557e-01 2.28807178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.37925415399997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:394.39, Y:66.47, Z:22.88 [[ 8.39145415e-01 -5.34328732e-01 -1.01625678e-01 3.94389213e+02] [ 5.31343401e-01 8.45252786e-01 -5.67619382e-02 6.64737899e+01] [ 1.16228922e-01 -6.36661330e-03 9.93202046e-01 2.28839070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.40925415399994 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:394.41, Y:66.49, Z:22.89 [[ 8.37910556e-01 -5.36323188e-01 -1.01308132e-01 3.94413796e+02] [ 5.33366415e-01 8.43986982e-01 -5.66236775e-02 6.64868233e+01] [ 1.15871336e-01 -6.58877806e-03 9.93242378e-01 2.28872056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.43925415399997 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:394.44, Y:66.50, Z:22.89 [[ 8.35925537e-01 -5.39506618e-01 -1.00802309e-01 3.94437953e+02] [ 5.36597772e-01 8.41952584e-01 -5.63797670e-02 6.64998001e+01] [ 1.15288022e-01 -6.96100767e-03 9.93307715e-01 2.28904656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.46925415399994 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:394.46, Y:66.51, Z:22.89 [[ 8.35187014e-01 -5.40659963e-01 -1.00744512e-01 3.94461362e+02] [ 5.37758312e-01 8.41211406e-01 -5.63858911e-02 6.65125394e+01] [ 1.15233026e-01 -7.08343476e-03 9.93313231e-01 2.28933953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.49925415399997 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:394.49, Y:66.53, Z:22.90 [[ 8.34433399e-01 -5.41811977e-01 -1.00800219e-01 3.94485558e+02] [ 5.38913343e-01 8.40468613e-01 -5.64350836e-02 6.65258844e+01] [ 1.15296624e-01 -7.23126432e-03 9.93304786e-01 2.28962502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.52925415399994 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:394.51, Y:66.54, Z:22.90 [[ 8.33974683e-01 -5.42539848e-01 -1.00681383e-01 3.94509613e+02] [ 5.39648854e-01 8.39998429e-01 -5.64070344e-02 6.65390722e+01] [ 1.15175268e-01 -7.29055450e-03 9.93318431e-01 2.28986556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.559254154 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:394.53, Y:66.55, Z:22.90 [[ 8.33605994e-01 -5.42878517e-01 -1.01901732e-01 3.94533788e+02] [ 5.39914714e-01 8.39778686e-01 -5.71301997e-02 6.65527048e+01] [ 1.16589660e-01 -7.39416741e-03 9.93152646e-01 2.29007993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.58925415399995 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:394.56, Y:66.59, Z:22.90 [[ 8.38659130e-01 -5.40998130e-01 -6.30229107e-02 3.94558571e+02] [ 5.33960457e-01 8.39485697e-01 -1.00747186e-01 6.65888849e+01] [ 1.07410871e-01 5.08408052e-02 9.92913953e-01 2.29014062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.619254154 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:394.60, Y:66.56, Z:22.89 [[ 8.34335300e-01 -5.35089317e-01 -1.32529355e-01 3.94599064e+02] [ 5.39248203e-01 8.42130269e-01 -5.29013575e-03 6.65565647e+01] [ 1.14437676e-01 -6.70524694e-02 9.91164963e-01 2.28914597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.64925415399995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:394.61, Y:66.60, Z:22.91 [[ 8.35062421e-01 -5.40278571e-01 -1.03777732e-01 3.94606697e+02] [ 5.37171029e-01 8.41456545e-01 -5.82938105e-02 6.65961426e+01] [ 1.18819349e-01 -7.06742068e-03 9.92890736e-01 2.29096738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6792541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:394.63, Y:66.61, Z:22.91 [[ 8.37819980e-01 -5.35846055e-01 -1.04530792e-01 3.94629533e+02] [ 5.32653924e-01 8.44291059e-01 -5.87571724e-02 6.66129215e+01] [ 1.19739212e-01 -6.45080366e-03 9.92784422e-01 2.29134619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.70925415399995 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:394.65, Y:66.63, Z:22.92 [[ 8.39403332e-01 -5.33326454e-01 -1.04713608e-01 3.94652736e+02] [ 5.30098662e-01 8.45887750e-01 -5.89009550e-02 6.66280762e+01] [ 1.19989396e-01 -6.06688562e-03 9.92756636e-01 2.29168801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7392541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:394.68, Y:66.64, Z:22.92 [[ 8.39257072e-01 -5.33559974e-01 -1.04696332e-01 3.94677293e+02] [ 5.30330169e-01 8.45740488e-01 -5.89316488e-02 6.66420054e+01] [ 1.19989496e-01 -6.06482030e-03 9.92756636e-01 2.29200422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.76925415399995 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:394.70, Y:66.66, Z:22.92 [[ 8.41086481e-01 -5.30680898e-01 -1.04648536e-01 3.94700726e+02] [ 5.27427257e-01 8.47553077e-01 -5.89429383e-02 6.66568735e+01] [ 1.19975080e-01 -5.61838159e-03 9.92761005e-01 2.29234186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7992541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:394.72, Y:66.67, Z:22.93 [[ 8.43005532e-01 -5.27723781e-01 -1.04159899e-01 3.94724401e+02] [ 5.24473245e-01 8.49400501e-01 -5.87077873e-02 6.66716403e+01] [ 1.19454966e-01 -5.13809051e-03 9.92826325e-01 2.29264296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.82925415399995 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:394.75, Y:66.69, Z:22.93 [[ 8.47087346e-01 -5.21374595e-01 -1.03012423e-01 3.94747773e+02] [ 5.18143946e-01 8.53317778e-01 -5.81000937e-02 6.66874522e+01] [ 1.18194245e-01 -4.15940905e-03 9.92981782e-01 2.29290378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.8592541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:394.77, Y:66.70, Z:22.93 [[ 8.48990168e-01 -5.18420075e-01 -1.02256149e-01 3.94770021e+02] [ 5.15211008e-01 8.55118138e-01 -5.77112384e-02 6.67019867e+01] [ 1.17359752e-01 -3.68721936e-03 9.93082621e-01 2.29324478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.88925415399996 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:394.79, Y:66.72, Z:22.94 [[ 8.50905008e-01 -5.15420641e-01 -1.01499906e-01 3.94793189e+02] [ 5.12235643e-01 8.56931217e-01 -5.73021451e-02 6.67167035e+01] [ 1.16513146e-01 -3.23318733e-03 9.93183887e-01 2.29357622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.91925415399993 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:394.82, Y:66.73, Z:22.94 [[ 8.52881588e-01 -5.12182143e-01 -1.01303745e-01 3.94816740e+02] [ 5.08982251e-01 8.58872446e-01 -5.72292709e-02 6.67318853e+01] [ 1.16318805e-01 -2.75201649e-03 9.93208116e-01 2.29393764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.94925415399996 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:394.84, Y:66.75, Z:22.94 [[ 8.56685554e-01 -5.05860524e-01 -1.00970250e-01 3.94839363e+02] [ 5.02633433e-01 8.62613295e-01 -5.70783260e-02 6.67476475e+01] [ 1.15971952e-01 -1.85284585e-03 9.93250761e-01 2.29421524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.97925415399993 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:394.86, Y:66.76, Z:22.95 [[ 8.58319514e-01 -5.03022434e-01 -1.01272125e-01 3.94862918e+02] [ 4.99751643e-01 8.64272156e-01 -5.72881884e-02 6.67620956e+01] [ 1.16343922e-01 -1.43934074e-03 9.93207944e-01 2.29452761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.00925415399996 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:394.89, Y:66.78, Z:22.95 [[ 8.59743501e-01 -5.00559911e-01 -1.01394710e-01 3.94886567e+02] [ 4.97259495e-01 8.65701232e-01 -5.73966106e-02 6.67761140e+01] [ 1.16507968e-01 -1.07311932e-03 9.93189177e-01 2.29483988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.03925415399993 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:394.92, Y:66.79, Z:22.95 [[ 8.63250895e-01 -4.95436801e-01 -9.66450630e-02 3.94915832e+02] [ 4.91766485e-01 8.68631878e-01 -6.03687330e-02 6.67916184e+01] [ 1.13857875e-01 4.58655986e-03 9.93486461e-01 2.29504066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.06925415399996 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:394.94, Y:66.80, Z:22.95 [[ 8.62923295e-01 -4.94321929e-01 -1.04924822e-01 3.94941473e+02] [ 4.91564084e-01 8.69256383e-01 -5.25175331e-02 6.68038375e+01] [ 1.17167139e-01 -6.25867122e-03 9.93092488e-01 2.29533595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.09925415399994 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:394.97, Y:66.82, Z:22.96 [[ 8.63490067e-01 -4.93881481e-01 -1.02303409e-01 3.94965179e+02] [ 4.90469296e-01 8.69529220e-01 -5.79552004e-02 6.68202144e+01] [ 1.17578804e-01 -1.32940999e-04 9.93063546e-01 2.29583516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.12925415399997 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:394.99, Y:66.83, Z:22.96 [[ 8.63642806e-01 -4.93620118e-01 -1.02275523e-01 3.94988842e+02] [ 4.90207022e-01 8.69677625e-01 -5.79474275e-02 6.68332865e+01] [ 1.17550750e-01 -9.03008879e-05 9.93066872e-01 2.29617839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.15925415399994 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:395.01, Y:66.85, Z:22.96 [[ 8.63651033e-01 -4.93740482e-01 -1.01622975e-01 3.95014300e+02] [ 4.90369692e-01 8.69609296e-01 -5.75954564e-02 6.68456042e+01] [ 1.16809492e-01 -9.04514972e-05 9.93154336e-01 2.29647962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.18925415399997 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:395.04, Y:66.86, Z:22.97 [[ 8.63316305e-01 -4.94406863e-01 -1.01226539e-01 3.95039394e+02] [ 4.91062358e-01 8.69230598e-01 -5.74101722e-02 6.68582707e+01] [ 1.16373188e-01 -1.45405394e-04 9.93205548e-01 2.29678835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.21925415399994 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:395.06, Y:66.87, Z:22.97 [[ 8.62841180e-01 -4.95368844e-01 -1.00572394e-01 3.95064599e+02] [ 4.92069551e-01 8.68682710e-01 -5.70780688e-02 6.68707642e+01] [ 1.15640197e-01 -2.39304692e-04 9.93291139e-01 2.29708704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.24925415399997 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:395.09, Y:66.90, Z:22.97 [[ 8.67813291e-01 -4.93150050e-01 -6.08532634e-02 3.95094897e+02] [ 4.86519320e-01 8.68195114e-01 -9.76534460e-02 6.69043912e+01] [ 1.00990308e-01 5.51386700e-02 9.93358286e-01 2.29723711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.27925415399994 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:395.13, Y:66.87, Z:22.96 [[ 8.61279780e-01 -4.91333917e-01 -1.29568989e-01 3.95132207e+02] [ 4.94924110e-01 8.68921168e-01 -5.11166512e-03 6.68716457e+01] [ 1.15096772e-01 -5.97242426e-02 9.91557234e-01 2.29615711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.309254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:395.14, Y:66.91, Z:22.98 [[ 8.59272109e-01 -5.01582601e-01 -1.00331134e-01 3.95140827e+02] [ 4.98326014e-01 8.65109229e-01 -5.70719374e-02 6.69065688e+01] [ 1.15423681e-01 -9.57290285e-04 9.93315890e-01 2.29803664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.33925415399995 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:395.17, Y:66.92, Z:22.98 [[ 8.57995621e-01 -5.03654579e-01 -1.00874079e-01 3.95165651e+02] [ 5.00374681e-01 8.63904254e-01 -5.73987731e-02 6.69186713e+01] [ 1.16054701e-01 -1.22693928e-03 9.93242066e-01 2.29836255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.369254154 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:395.19, Y:66.93, Z:22.99 [[ 8.56879902e-01 -5.05482779e-01 -1.01212618e-01 3.95191058e+02] [ 5.02188833e-01 8.62835483e-01 -5.76307655e-02 6.69307452e+01] [ 1.16461198e-01 -1.44520193e-03 9.93194191e-01 2.29862856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.39925415399995 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:395.22, Y:66.96, Z:22.99 [[ 8.59280243e-01 -5.07667842e-01 -6.25365948e-02 3.95220966e+02] [ 5.00653053e-01 8.59790749e-01 -1.00530537e-01 6.69630840e+01] [ 1.04804506e-01 5.50747669e-02 9.92966659e-01 2.29889020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4292541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:395.26, Y:66.93, Z:22.98 [[ 8.52344801e-01 -5.06021612e-01 -1.32100222e-01 3.95260148e+02] [ 5.09845903e-01 8.60247540e-01 -5.59682824e-03 6.69284522e+01] [ 1.16471007e-01 -6.25803295e-02 9.91220564e-01 2.29780180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.45925415399995 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:395.27, Y:66.96, Z:23.00 [[ 8.50935825e-01 -5.15205330e-01 -1.02331273e-01 3.95268127e+02] [ 5.11891851e-01 8.57062565e-01 -5.83994230e-02 6.69642928e+01] [ 1.17791998e-01 -2.68838380e-03 9.93034651e-01 2.29960582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.4892541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:395.29, Y:66.97, Z:23.00 [[ 8.48352578e-01 -5.19472899e-01 -1.02204746e-01 3.95293999e+02] [ 5.16196259e-01 8.54480706e-01 -5.83450575e-02 6.69728359e+01] [ 1.17640659e-01 -3.26052747e-03 9.93050877e-01 2.29988804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.51925415399995 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:395.32, Y:66.98, Z:23.00 [[ 8.47095603e-01 -5.21578429e-01 -1.01906728e-01 3.95319452e+02] [ 5.18332870e-01 8.53196085e-01 -5.82020301e-02 6.69845926e+01] [ 1.17303345e-01 -3.51892316e-03 9.93089896e-01 2.30019451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.5492541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:395.34, Y:67.00, Z:23.00 [[ 8.46014661e-01 -5.23369415e-01 -1.01703733e-01 3.95344988e+02] [ 5.20145012e-01 8.52097750e-01 -5.81256522e-02 6.69965040e+01] [ 1.17082710e-01 -3.72553519e-03 9.93115179e-01 2.30047219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.57925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:395.37, Y:67.01, Z:23.01 [[ 8.45209776e-01 -5.24635765e-01 -1.01871239e-01 3.95370746e+02] [ 5.21405164e-01 8.51317985e-01 -5.82610034e-02 6.70082977e+01] [ 1.17290624e-01 -3.87342060e-03 9.93090080e-01 2.30070261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.6092541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:395.40, Y:67.04, Z:23.01 [[ 8.49585279e-01 -5.24332524e-01 -5.72735336e-02 3.95400088e+02] [ 5.16971074e-01 8.49319083e-01 -1.06761434e-01 6.70448933e+01] [ 1.04621997e-01 6.10941828e-02 9.92633738e-01 2.30078729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.63925415399996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:395.45, Y:67.03, Z:23.00 [[ 8.48172283e-01 -5.20312970e-01 -9.93890955e-02 3.95446658e+02] [ 5.18689381e-01 8.53851099e-01 -4.35847055e-02 6.70284199e+01] [ 1.07541176e-01 -1.45847293e-02 9.94093648e-01 2.29966117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.66925415399993 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:395.47, Y:67.02, Z:23.01 [[ 8.42344029e-01 -5.22261885e-01 -1.33037817e-01 3.95466380e+02] [ 5.25591376e-01 8.50658621e-01 -1.15592501e-02 6.70240067e+01] [ 1.19206721e-01 -6.01866638e-02 9.91043553e-01 2.30059071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.69925415399996 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:395.48, Y:67.06, Z:23.02 [[ 8.42332168e-01 -5.28650991e-01 -1.04903040e-01 3.95475657e+02] [ 5.25203672e-01 8.48828886e-01 -6.04203988e-02 6.70601271e+01] [ 1.20986035e-01 -4.20141651e-03 9.92645318e-01 2.30218597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.72925415399993 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:395.50, Y:67.07, Z:23.03 [[ 8.43025440e-01 -5.27513738e-01 -1.05058862e-01 3.95500095e+02] [ 5.24042491e-01 8.49537035e-01 -6.05499223e-02 6.70721953e+01] [ 1.21192310e-01 -4.01018287e-03 9.92620946e-01 2.30253255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.75925415399996 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:395.52, Y:67.08, Z:23.03 [[ 8.43381902e-01 -5.26970251e-01 -1.04925319e-01 3.95524327e+02] [ 5.23501417e-01 8.49874730e-01 -6.04913946e-02 6.70848107e+01] [ 1.21050542e-01 -3.91120551e-03 9.92638640e-01 2.30284168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.78925415399993 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:395.55, Y:67.11, Z:23.03 [[ 8.48077514e-01 -5.24375622e-01 -7.61231751e-02 3.95552986e+02] [ 5.17856508e-01 8.50669087e-01 -9.04806134e-02 6.71138457e+01] [ 1.12201460e-01 3.73136920e-02 9.92984653e-01 2.30293690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.81925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:395.59, Y:67.09, Z:23.02 [[ 8.44635115e-01 -5.20012962e-01 -1.27192931e-01 3.95586471e+02] [ 5.21633866e-01 8.52862762e-01 -2.28739996e-02 6.70923675e+01] [ 1.20372891e-01 -4.70279571e-02 9.91614208e-01 2.30247204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.84925415399994 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:395.60, Y:67.12, Z:23.04 [[ 8.44684167e-01 -5.24818153e-01 -1.05235758e-01 3.95597985e+02] [ 5.21296005e-01 8.51207172e-01 -6.08015240e-02 6.71231937e+01] [ 1.21487175e-01 -3.50089532e-03 9.92586827e-01 2.30390868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.87925415399997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:395.62, Y:67.14, Z:23.04 [[ 8.45653094e-01 -5.23186500e-01 -1.05578080e-01 3.95622864e+02] [ 5.19626388e-01 8.52211975e-01 -6.10177568e-02 6.71352155e+01] [ 1.21898571e-01 -3.26130168e-03 9.92537205e-01 2.30421321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.90925415399994 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:395.65, Y:67.15, Z:23.05 [[ 8.45841341e-01 -5.22758368e-01 -1.06189051e-01 3.95646835e+02] [ 5.19148334e-01 8.52474960e-01 -6.14121342e-02 6.71486305e+01] [ 1.22627214e-01 -3.18294689e-03 9.92447699e-01 2.30456474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.93925415399997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:395.67, Y:67.17, Z:23.05 [[ 8.48617865e-01 -5.20233026e-01 -9.59443474e-02 3.95673620e+02] [ 5.15363881e-01 8.53945364e-01 -7.19540460e-02 6.71662341e+01] [ 1.19364102e-01 1.16152376e-02 9.92782603e-01 2.30465898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.96925415399994 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:395.70, Y:67.17, Z:23.05 [[ 8.46855452e-01 -5.19342585e-01 -1.14538738e-01 3.95699581e+02] [ 5.17507896e-01 8.54355119e-01 -4.75700417e-02 6.71688149e+01] [ 1.22561906e-01 -1.89897523e-02 9.92279179e-01 2.30482951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.99925415399997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:395.72, Y:67.19, Z:23.06 [[ 8.47922535e-01 -5.19175134e-01 -1.07166016e-01 3.95719430e+02] [ 5.15457044e-01 8.54663915e-01 -6.20776043e-02 6.71880147e+01] [ 1.23820075e-01 -2.60247838e-03 9.92301273e-01 2.30555036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.02925415399994 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:395.74, Y:67.20, Z:23.06 [[ 8.48481905e-01 -5.18298049e-01 -1.06984060e-01 3.95742704e+02] [ 5.14580518e-01 8.55196589e-01 -6.20135851e-02 6.72010575e+01] [ 1.23633924e-01 -2.43450838e-03 9.92324910e-01 2.30587629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.059254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:395.77, Y:67.21, Z:23.06 [[ 8.48866425e-01 -5.17698853e-01 -1.06834876e-01 3.95766901e+02] [ 5.13984540e-01 8.55559749e-01 -6.19468217e-02 6.72145826e+01] [ 1.23473418e-01 -2.32689740e-03 9.92345152e-01 2.30624190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.08925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:395.79, Y:67.23, Z:23.07 [[ 8.50222431e-01 -5.15659644e-01 -1.05910098e-01 3.95791950e+02] [ 5.11988799e-01 8.56791235e-01 -6.14511918e-02 6.72272481e+01] [ 1.22430743e-01 -1.97760197e-03 9.92475089e-01 2.30653619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.119254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:395.82, Y:67.24, Z:23.07 [[ 8.50173269e-01 -5.15914809e-01 -1.05058666e-01 3.95815762e+02] [ 5.12299879e-01 8.56637647e-01 -6.09981562e-02 6.72409436e+01] [ 1.21467061e-01 -1.96254016e-03 9.92593523e-01 2.30699781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.14925415399995 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:395.84, Y:67.25, Z:23.07 [[ 8.50440549e-01 -5.15524896e-01 -1.04809133e-01 3.95839438e+02] [ 5.11919265e-01 8.56872567e-01 -6.08939317e-02 6.72540050e+01] [ 1.21200409e-01 -1.86714576e-03 9.92626302e-01 2.30737064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1792541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:395.86, Y:67.27, Z:23.08 [[ 8.50108893e-01 -5.16026623e-01 -1.05030446e-01 3.95864120e+02] [ 5.12407178e-01 8.56570378e-01 -6.10415490e-02 6.72662611e+01] [ 1.21465033e-01 -1.92639078e-03 9.92593842e-01 2.30770354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.20925415399995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:395.89, Y:67.28, Z:23.08 [[ 8.49859249e-01 -5.16344745e-01 -1.05486305e-01 3.95889207e+02] [ 5.12690964e-01 8.56378611e-01 -6.13486030e-02 6.72790170e+01] [ 1.22013244e-01 -1.94419766e-03 9.92526568e-01 2.30782663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2392541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:395.91, Y:67.29, Z:23.08 [[ 8.48668057e-01 -5.18293164e-01 -1.05521208e-01 3.95913055e+02] [ 5.14646799e-01 8.55200214e-01 -6.14106390e-02 6.72922690e+01] [ 1.22070474e-01 -2.18890434e-03 9.92519022e-01 2.30832612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.26925415399995 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:395.94, Y:67.31, Z:23.09 [[ 8.47872359e-01 -5.19552075e-01 -1.05726556e-01 3.95938090e+02] [ 5.15896023e-01 8.54435587e-01 -6.15720795e-02 6.73053861e+01] [ 1.22326434e-01 -2.33864554e-03 9.92487166e-01 2.30861385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2992541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:395.96, Y:67.32, Z:23.09 [[ 8.46599242e-01 -5.21549625e-01 -1.06092940e-01 3.95962341e+02] [ 5.17878503e-01 8.53216987e-01 -6.18274110e-02 6.73183417e+01] [ 1.22766362e-01 -2.60021371e-03 9.92432194e-01 2.30898179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.32925415399995 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:395.99, Y:67.33, Z:23.09 [[ 8.44194530e-01 -5.25232383e-01 -1.07081928e-01 3.95987326e+02] [ 5.21516312e-01 8.50953089e-01 -6.24465915e-02 6.73296573e+01] [ 1.23920670e-01 -3.12790124e-03 9.92287198e-01 2.30929253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.3592541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:396.01, Y:67.34, Z:23.10 [[ 8.42839040e-01 -5.27398267e-01 -1.07114052e-01 3.96012230e+02] [ 5.23691972e-01 8.49611345e-01 -6.25082499e-02 6.73428207e+01] [ 1.23972056e-01 -3.41037569e-03 9.92279849e-01 2.30960761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.38925415399996 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:396.04, Y:67.36, Z:23.10 [[ 8.41732042e-01 -5.29081068e-01 -1.07519263e-01 3.96037052e+02] [ 5.25354829e-01 8.48563496e-01 -6.27877061e-02 6.73551494e+01] [ 1.24456709e-01 -3.63534011e-03 9.92218379e-01 2.30976908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.41925415399993 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:396.06, Y:67.37, Z:23.10 [[ 8.39533654e-01 -5.32611624e-01 -1.07275822e-01 3.96060843e+02] [ 5.28925717e-01 8.46349774e-01 -6.26868913e-02 6.73665646e+01] [ 1.24180635e-01 -4.11318637e-03 9.92251103e-01 2.31025576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.44925415399996 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:396.09, Y:67.38, Z:23.11 [[ 8.38792288e-01 -5.33776713e-01 -1.07284293e-01 3.96085267e+02] [ 5.30097186e-01 8.45614686e-01 -6.27118466e-02 6.73799132e+01] [ 1.24195297e-01 -4.26888862e-03 9.92248610e-01 2.31062976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.47925415399993 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:396.11, Y:67.39, Z:23.11 [[ 8.38322098e-01 -5.34511683e-01 -1.07300140e-01 3.96108721e+02] [ 5.30831986e-01 8.45149922e-01 -6.27615528e-02 6.73932132e+01] [ 1.24231488e-01 -4.34394982e-03 9.92243754e-01 2.31096911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.50925415399996 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:396.13, Y:67.41, Z:23.11 [[ 8.38515666e-01 -5.34214432e-01 -1.07267976e-01 3.96133073e+02] [ 5.30532081e-01 8.45338161e-01 -6.27622928e-02 6.74069157e+01] [ 1.24206236e-01 -4.28193651e-03 9.92247185e-01 2.31123664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.53925415399993 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:396.16, Y:67.42, Z:23.12 [[ 8.38819542e-01 -5.33776986e-01 -1.07069630e-01 3.96156080e+02] [ 5.29949854e-01 8.45619401e-01 -6.38825547e-02 6.74207815e+01] [ 1.24639194e-01 -3.15559942e-03 9.92197114e-01 2.31150415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.56925415399996 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:396.18, Y:67.43, Z:23.12 [[ 8.38850841e-01 -5.33685069e-01 -1.07282401e-01 3.96181161e+02] [ 5.30124742e-01 8.45668088e-01 -6.17514658e-02 6.74347814e+01] [ 1.23681138e-01 -5.07278592e-03 9.92309046e-01 2.31200236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.59925415399994 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:396.20, Y:67.45, Z:23.12 [[ 8.39044944e-01 -5.33539036e-01 -1.06487925e-01 3.96204192e+02] [ 5.29892605e-01 8.45765661e-01 -6.24041080e-02 6.74487793e+01] [ 1.23358858e-01 -4.06731295e-03 9.92353792e-01 2.31236056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.62925415399997 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:396.23, Y:67.46, Z:23.13 [[ 8.39095028e-01 -5.33489015e-01 -1.06343804e-01 3.96228363e+02] [ 5.29849712e-01 8.45797354e-01 -6.23387351e-02 6.74627802e+01] [ 1.23202338e-01 -4.03811108e-03 9.92373356e-01 2.31274326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.65925415399994 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:396.25, Y:67.48, Z:23.13 [[ 8.38950192e-01 -5.33720362e-01 -1.06325682e-01 3.96252667e+02] [ 5.30078997e-01 8.45651397e-01 -6.23696297e-02 6.74771468e+01] [ 1.23202402e-01 -4.03599789e-03 9.92373357e-01 2.31307582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.68925415399997 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:396.28, Y:67.49, Z:23.13 [[ 8.38730414e-01 -5.33949354e-01 -1.06908277e-01 3.96276936e+02] [ 5.30264741e-01 8.45506721e-01 -6.27510044e-02 6.74910216e+01] [ 1.23897525e-01 -4.05851413e-03 9.92286719e-01 2.31327361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.71925415399994 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:396.30, Y:67.50, Z:23.14 [[ 8.38198817e-01 -5.34681519e-01 -1.07417024e-01 3.96300559e+02] [ 5.30962324e-01 8.45043456e-01 -6.30917437e-02 6.75048742e+01] [ 1.24506043e-01 -4.15096784e-03 9.92210167e-01 2.31352886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.74925415399997 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:396.33, Y:67.53, Z:23.14 [[ 8.41270356e-01 -5.34831626e-01 -7.88626673e-02 3.96326828e+02] [ 5.28133312e-01 8.44221076e-01 -9.14657311e-02 6.75349395e+01] [ 1.15496291e-01 3.52974064e-02 9.92680563e-01 2.31365469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.77925415399994 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:396.36, Y:67.52, Z:23.14 [[ 8.36222486e-01 -5.33026691e-01 -1.28897246e-01 3.96359437e+02] [ 5.34326292e-01 8.44840362e-01 -2.72061868e-02 6.75168337e+01] [ 1.23399219e-01 -4.61227620e-02 9.91284683e-01 2.31362227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.809254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:396.37, Y:67.55, Z:23.15 [[ 8.34337428e-01 -5.40552616e-01 -1.08092211e-01 3.96371583e+02] [ 5.36819368e-01 8.41295640e-01 -6.36129863e-02 6.75464294e+01] [ 1.25323672e-01 -4.95129687e-03 9.92103554e-01 2.31475540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.83925415399995 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:396.40, Y:67.56, Z:23.15 [[ 8.33134872e-01 -5.42378397e-01 -1.08221805e-01 3.96395477e+02] [ 5.38647727e-01 8.40118182e-01 -6.37186497e-02 6.75601889e+01] [ 1.25478725e-01 -5.20720029e-03 9.92082645e-01 2.31510371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.869254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:396.42, Y:67.57, Z:23.15 [[ 8.32293097e-01 -5.43646887e-01 -1.08334036e-01 3.96419878e+02] [ 5.39913932e-01 8.39296867e-01 -6.38256610e-02 6.75739902e+01] [ 1.25623039e-01 -5.36939831e-03 9.92063517e-01 2.31532982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.89925415399995 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:396.44, Y:67.59, Z:23.16 [[ 8.31200989e-01 -5.45128597e-01 -1.09269064e-01 3.96443663e+02] [ 5.41337832e-01 8.38333700e-01 -6.44201738e-02 6.75878268e+01] [ 1.26721218e-01 -5.60536611e-03 9.91922534e-01 2.31553460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9292541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:396.47, Y:67.60, Z:23.16 [[ 8.30820400e-01 -5.45810723e-01 -1.08757151e-01 3.96465694e+02] [ 5.42055997e-01 8.37889472e-01 -6.41601792e-02 6.76018559e+01] [ 1.26145786e-01 -5.64688029e-03 9.91995642e-01 2.31600488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.95925415399995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:396.49, Y:67.62, Z:23.16 [[ 8.30877829e-01 -5.45563468e-01 -1.09556088e-01 3.96489196e+02] [ 5.41747119e-01 8.38050630e-01 -6.46621988e-02 6.76161307e+01] [ 1.27090882e-01 -5.62530785e-03 9.91875125e-01 2.31611880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.9892541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:396.51, Y:67.63, Z:23.17 [[ 8.30906237e-01 -5.45500631e-01 -1.09653486e-01 3.96512595e+02] [ 5.41671429e-01 8.38091805e-01 -6.47625585e-02 6.76310850e+01] [ 1.27227705e-01 -5.58454691e-03 9.91857814e-01 2.31654749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.01925415399995 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:396.54, Y:67.65, Z:23.17 [[ 8.31184149e-01 -5.45196508e-01 -1.09058143e-01 3.96535768e+02] [ 5.41400827e-01 8.38290424e-01 -6.44539312e-02 6.76463746e+01] [ 1.26562455e-01 -5.47108280e-03 9.91943553e-01 2.31702045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.0492541539999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:396.56, Y:67.66, Z:23.17 [[ 8.32627269e-01 -5.43013250e-01 -1.08942380e-01 3.96557709e+02] [ 5.39201793e-01 8.39708650e-01 -6.44267768e-02 6.76619862e+01] [ 1.26464452e-01 -5.09843534e-03 9.91958038e-01 2.31740577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.07925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:396.58, Y:67.68, Z:23.18 [[ 8.33423704e-01 -5.41889244e-01 -1.08448040e-01 3.96580986e+02] [ 5.38100402e-01 8.40435693e-01 -6.41545224e-02 6.76772020e+01] [ 1.25908249e-01 -4.88803410e-03 9.92029848e-01 2.31775222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.1092541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:396.60, Y:67.69, Z:23.18 [[ 8.34479603e-01 -5.40399791e-01 -1.07758333e-01 3.96603793e+02] [ 5.36641666e-01 8.41395816e-01 -6.37871687e-02 6.76923252e+01] [ 1.25137983e-01 -4.59852026e-03 9.92128691e-01 2.31803134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.13925415399996 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:396.63, Y:67.71, Z:23.19 [[ 8.36629733e-01 -5.37368943e-01 -1.06232333e-01 3.96626028e+02] [ 5.33687554e-01 8.43337541e-01 -6.29236601e-02 6.77093006e+01] [ 1.23402935e-01 -4.05106906e-03 9.92348379e-01 2.31853569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.16925415399993 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:396.65, Y:67.72, Z:23.19 [[ 8.37836831e-01 -5.35582617e-01 -1.05738851e-01 3.96648023e+02] [ 5.31916436e-01 8.44474570e-01 -6.26706172e-02 6.77244273e+01] [ 1.22859064e-01 -3.73648136e-03 9.92417094e-01 2.31885742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.19925415399996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:396.67, Y:67.74, Z:23.19 [[ 8.39029958e-01 -5.33788765e-01 -1.05348396e-01 3.96670797e+02] [ 5.30132205e-01 8.45610868e-01 -6.24668242e-02 6.77396816e+01] [ 1.22427838e-01 -3.43704056e-03 9.92471466e-01 2.31917986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.22925415399993 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:396.69, Y:67.75, Z:23.19 [[ 8.40110933e-01 -5.32065405e-01 -1.05451527e-01 3.96693841e+02] [ 5.28382903e-01 8.46697387e-01 -6.25703046e-02 6.77549299e+01] [ 1.22577026e-01 -3.15278671e-03 9.92453995e-01 2.31939800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.25925415399996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:396.71, Y:67.77, Z:23.20 [[ 8.42009247e-01 -5.29124143e-01 -1.05109800e-01 3.96714778e+02] [ 5.25437670e-01 8.48540192e-01 -6.24083151e-02 6.77710476e+01] [ 1.22211636e-01 -2.68026978e-03 9.92500444e-01 2.31978652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.28925415399993 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:396.74, Y:67.79, Z:23.20 [[ 8.42703131e-01 -5.27887812e-01 -1.05763376e-01 3.96738087e+02] [ 5.24143075e-01 8.49310431e-01 -6.28158349e-02 6.77864598e+01] [ 1.22985652e-01 -2.50004015e-03 9.92405300e-01 2.32011294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.31925415399996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:396.76, Y:67.80, Z:23.20 [[ 8.43370774e-01 -5.26805501e-01 -1.05838088e-01 3.96761260e+02] [ 5.23041838e-01 8.49982726e-01 -6.29015157e-02 6.78015133e+01] [ 1.23097411e-01 -2.30844828e-03 9.92391908e-01 2.32042558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.34925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:396.79, Y:67.82, Z:23.21 [[ 8.43985913e-01 -5.25749145e-01 -1.06186704e-01 3.96785061e+02] [ 5.21946983e-01 8.50637008e-01 -6.31508276e-02 6.78165804e+01] [ 1.23527834e-01 -2.12542103e-03 9.92338832e-01 2.32077018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.37925415399997 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:396.81, Y:67.83, Z:23.21 [[ 8.45092848e-01 -5.23985487e-01 -1.06100368e-01 3.96808498e+02] [ 5.20170368e-01 8.51725227e-01 -6.31421035e-02 6.78319960e+01] [ 1.23453906e-01 -1.82932754e-03 9.92348622e-01 2.32109491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.40925415399994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:396.83, Y:67.85, Z:23.21 [[ 8.45372275e-01 -5.23484785e-01 -1.06345649e-01 3.96831983e+02] [ 5.19642651e-01 8.52033280e-01 -6.33309254e-02 6.78467970e+01] [ 1.23762808e-01 -1.72352673e-03 9.92310333e-01 2.32142940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.43925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:396.86, Y:67.86, Z:23.22 [[ 8.46029579e-01 -5.22293720e-01 -1.06972993e-01 3.96855342e+02] [ 5.18391035e-01 8.52764303e-01 -6.37477810e-02 6.78621386e+01] [ 1.24517815e-01 -1.52133223e-03 9.92216206e-01 2.32173527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.46925415399994 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:396.88, Y:67.88, Z:23.22 [[ 8.46555004e-01 -5.21434227e-01 -1.07009212e-01 3.96878611e+02] [ 5.17516830e-01 8.53290395e-01 -6.38109110e-02 6.78764624e+01] [ 1.24583125e-01 -1.35962192e-03 9.92208242e-01 2.32192065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.49925415399997 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:396.90, Y:67.89, Z:23.22 [[ 8.46672168e-01 -5.21318791e-01 -1.06644069e-01 3.96901581e+02] [ 5.17424786e-01 8.53360986e-01 -6.36130302e-02 6.78909893e+01] [ 1.24168556e-01 -1.32090249e-03 9.92260261e-01 2.32241367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.52925415399994 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:396.93, Y:67.91, Z:23.23 [[ 8.46910864e-01 -5.20948007e-01 -1.06560606e-01 3.96925501e+02] [ 5.17051851e-01 8.53587526e-01 -6.36059678e-02 6.79053801e+01] [ 1.24094206e-01 -1.22877342e-03 9.92269680e-01 2.32268427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.559254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:396.95, Y:67.92, Z:23.23 [[ 8.46903820e-01 -5.21024914e-01 -1.06240103e-01 3.96949300e+02] [ 5.17147513e-01 8.53540626e-01 -6.34574573e-02 6.79198623e+01] [ 1.23743160e-01 -1.19944200e-03 9.92313555e-01 2.32307353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.58925415399995 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:396.97, Y:67.93, Z:23.23 [[ 8.46513072e-01 -5.21712947e-01 -1.05977450e-01 3.96973556e+02] [ 5.17854852e-01 8.53120163e-01 -6.33430308e-02 6.79340941e+01] [ 1.23458379e-01 -1.26023328e-03 9.92348951e-01 2.32343725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.619254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:397.00, Y:67.95, Z:23.24 [[ 8.45879253e-01 -5.22728652e-01 -1.06033228e-01 3.96996980e+02] [ 5.18869246e-01 8.52498018e-01 -6.34179396e-02 6.79476914e+01] [ 1.23543491e-01 -1.37346169e-03 9.92338208e-01 2.32376320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.64925415399995 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:397.02, Y:67.96, Z:23.24 [[ 8.45215229e-01 -5.23732070e-01 -1.06376387e-01 3.97021279e+02] [ 5.19852964e-01 8.51881709e-01 -6.36431532e-02 6.79608419e+01] [ 1.23952059e-01 -1.50791788e-03 9.92287062e-01 2.32391970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6792541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:397.04, Y:67.98, Z:23.25 [[ 8.44044891e-01 -5.26357161e-01 -1.02646776e-01 3.97040871e+02] [ 5.21257414e-01 8.50219921e-01 -7.35988699e-02 6.79783170e+01] [ 1.26011626e-01 8.61535722e-03 9.91991354e-01 2.32464011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.70925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:397.07, Y:67.98, Z:23.24 [[ 8.41197337e-01 -5.29163307e-01 -1.11235041e-01 3.97071979e+02] [ 5.26454417e-01 8.48429592e-01 -5.48905764e-02 6.79825591e+01] [ 1.23421179e-01 -1.23863718e-02 9.92277073e-01 2.32443109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7392541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:397.09, Y:68.00, Z:23.25 [[ 8.39413176e-01 -5.33128149e-01 -1.05640414e-01 3.97092134e+02] [ 5.29366646e-01 8.46029854e-01 -6.32806368e-02 6.79995639e+01] [ 1.23111633e-01 -2.80391132e-03 9.92388867e-01 2.32513054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.76925415399995 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:397.12, Y:68.01, Z:23.25 [[ 8.36244961e-01 -5.38052454e-01 -1.05801331e-01 3.97116923e+02] [ 5.34316136e-01 8.42904022e-01 -6.33961927e-02 6.80117201e+01] [ 1.23290844e-01 -3.51661142e-03 9.92364349e-01 2.32540601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7992541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:397.14, Y:68.03, Z:23.26 [[ 8.34792837e-01 -5.40319924e-01 -1.05713285e-01 3.97140643e+02] [ 5.36602803e-01 8.41451032e-01 -6.33844785e-02 6.80250899e+01] [ 1.23200449e-01 -3.81313633e-03 9.92374480e-01 2.32577582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.82925415399995 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:397.17, Y:68.04, Z:23.26 [[ 8.33271360e-01 -5.42657666e-01 -1.05742605e-01 3.97165021e+02] [ 5.38954735e-01 8.39943744e-01 -6.34216128e-02 6.80389068e+01] [ 1.23234064e-01 -4.14306414e-03 9.92368984e-01 2.32611650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.8592541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:397.19, Y:68.05, Z:23.26 [[ 8.32061182e-01 -5.44552333e-01 -1.05531730e-01 3.97188847e+02] [ 5.40874100e-01 8.38715436e-01 -6.33373923e-02 6.80527078e+01] [ 1.23001616e-01 -4.37879393e-03 9.92396810e-01 2.32645172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.88925415399996 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:397.21, Y:68.07, Z:23.27 [[ 8.31043440e-01 -5.45918841e-01 -1.06486717e-01 3.97213281e+02] [ 5.42179210e-01 8.37825510e-01 -6.39540380e-02 6.80668530e+01] [ 1.24131002e-01 -4.58630033e-03 9.92255239e-01 2.32664654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.91925415399993 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:397.24, Y:68.08, Z:23.27 [[ 8.29490615e-01 -5.48407251e-01 -1.05805511e-01 3.97236239e+02] [ 5.44730272e-01 8.36197089e-01 -6.35874081e-02 6.80818245e+01] [ 1.23346056e-01 -4.89030643e-03 9.92351669e-01 2.32715513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.94925415399996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:397.26, Y:68.10, Z:23.28 [[ 8.28988581e-01 -5.49154966e-01 -1.05861967e-01 3.97258537e+02] [ 5.45474927e-01 8.35705768e-01 -6.36629630e-02 6.80962288e+01] [ 1.23430289e-01 -4.96917958e-03 9.92340804e-01 2.32750432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.97925415399993 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:397.28, Y:68.11, Z:23.28 [[ 8.28592637e-01 -5.49721294e-01 -1.06022358e-01 3.97281748e+02] [ 5.46032189e-01 8.35332898e-01 -6.37792852e-02 6.81112040e+01] [ 1.23624795e-01 -5.04457426e-03 9.92316211e-01 2.32785321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.00925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:397.31, Y:68.13, Z:23.28 [[ 8.28426759e-01 -5.49763771e-01 -1.07092958e-01 3.97305449e+02] [ 5.45994611e-01 8.35304805e-01 -6.44652410e-02 6.81257444e+01] [ 1.24895916e-01 -5.06744726e-03 9.92156908e-01 2.32798398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.03925415399993 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:397.33, Y:68.14, Z:23.29 [[ 8.27610887e-01 -5.51050512e-01 -1.06787417e-01 3.97328175e+02] [ 5.47308226e-01 8.34455620e-01 -6.43235874e-02 6.81421966e+01] [ 1.24554906e-01 -5.21073080e-03 9.92199034e-01 2.32851410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.06925415399996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:397.35, Y:68.16, Z:23.29 [[ 8.27080219e-01 -5.51712387e-01 -1.07479083e-01 3.97351193e+02] [ 5.47921331e-01 8.34017542e-01 -6.47839040e-02 6.81572940e+01] [ 1.25381523e-01 -5.30859664e-03 9.92094397e-01 2.32885403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.09925415399994 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:397.37, Y:68.17, Z:23.29 [[ 8.26609608e-01 -5.52419583e-01 -1.07467016e-01 3.97374291e+02] [ 5.48629826e-01 8.33548843e-01 -6.48200581e-02 6.81726852e+01] [ 1.25386876e-01 -5.37872747e-03 9.92093343e-01 2.32917003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.12925415399997 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:397.40, Y:68.19, Z:23.30 [[ 8.26073449e-01 -5.53192652e-01 -1.07612954e-01 3.97397276e+02] [ 5.49393567e-01 8.33035414e-01 -6.49515781e-02 6.81877982e+01] [ 1.25576138e-01 -5.46709071e-03 9.92068921e-01 2.32951306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.15925415399994 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:397.42, Y:68.20, Z:23.30 [[ 8.24901794e-01 -5.54863961e-01 -1.07995442e-01 3.97418799e+02] [ 5.51046559e-01 8.31921523e-01 -6.52247535e-02 6.82032743e+01] [ 1.26034598e-01 -5.70650080e-03 9.92009433e-01 2.32978476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.18925415399997 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:397.44, Y:68.22, Z:23.30 [[ 8.24161053e-01 -5.55851698e-01 -1.08570017e-01 3.97442247e+02] [ 5.51999233e-01 8.31260739e-01 -6.55929206e-02 6.82185345e+01] [ 1.26709929e-01 -5.87143563e-03 9.91922437e-01 2.33012161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.21925415399994 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:397.46, Y:68.23, Z:23.30 [[ 8.23642565e-01 -5.56645141e-01 -1.08439440e-01 3.97464457e+02] [ 5.52803411e-01 8.30729062e-01 -6.55561924e-02 6.82333700e+01] [ 1.26575330e-01 -5.95082173e-03 9.91939148e-01 2.33041877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.24925415399997 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:397.49, Y:68.25, Z:23.31 [[ 8.22993611e-01 -5.57567132e-01 -1.08629694e-01 3.97487599e+02] [ 5.53717129e-01 8.30109545e-01 -6.56923420e-02 6.82491022e+01] [ 1.26802437e-01 -6.08574465e-03 9.91909323e-01 2.33075522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.27925415399994 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:397.51, Y:68.27, Z:23.31 [[ 8.22377689e-01 -5.58434083e-01 -1.08840759e-01 3.97509095e+02] [ 5.54571150e-01 8.29525757e-01 -6.58624148e-02 6.82660069e+01] [ 1.27066030e-01 -6.19616407e-03 9.91874907e-01 2.33110219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.309254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:397.53, Y:68.28, Z:23.31 [[ 8.22139770e-01 -5.58777624e-01 -1.08875001e-01 3.97531853e+02] [ 5.54912517e-01 8.29294104e-01 -6.59043845e-02 6.82819199e+01] [ 1.27115291e-01 -6.23348514e-03 9.91868361e-01 2.33143819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.33925415399995 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:397.55, Y:68.30, Z:23.32 [[ 8.22120712e-01 -5.58862743e-01 -1.08581621e-01 3.97554183e+02] [ 5.55013583e-01 8.29237051e-01 -6.57710868e-02 6.82976111e+01] [ 1.26796913e-01 -6.19250176e-03 9.91909369e-01 2.33179481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.369254154 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:397.58, Y:68.31, Z:23.32 [[ 8.22758302e-01 -5.57879142e-01 -1.08810104e-01 3.97578072e+02] [ 5.53999449e-01 8.29900395e-01 -6.59541143e-02 6.83131149e+01] [ 1.27095973e-01 -6.01644276e-03 9.91872177e-01 2.33190176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.39925415399995 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:397.60, Y:68.33, Z:23.33 [[ 8.24275591e-01 -5.55945978e-01 -1.07209232e-01 3.97598633e+02] [ 5.52158478e-01 8.31199576e-01 -6.50252251e-02 6.83309196e+01] [ 1.25262781e-01 -5.59778068e-03 9.92107807e-01 2.33254441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4292541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:397.62, Y:68.35, Z:23.33 [[ 8.25695532e-01 -5.53944578e-01 -1.06640956e-01 3.97621049e+02] [ 5.50178105e-01 8.32537002e-01 -6.47007999e-02 6.83465595e+01] [ 1.24623199e-01 -5.24835750e-03 9.92190261e-01 2.33285505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.45925415399995 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:397.64, Y:68.36, Z:23.33 [[ 8.27149441e-01 -5.51808089e-01 -1.06450155e-01 3.97643508e+02] [ 5.48032134e-01 8.33956838e-01 -6.46279591e-02 6.83624489e+01] [ 1.24437065e-01 -4.88112522e-03 9.92215496e-01 2.33318272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.4892541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:397.67, Y:68.38, Z:23.34 [[ 8.30517740e-01 -5.46719647e-01 -1.06479630e-01 3.97665336e+02] [ 5.42894480e-01 8.37305777e-01 -6.46886337e-02 6.83805443e+01] [ 1.24522556e-01 -4.08214527e-03 9.92208380e-01 2.33358907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.51925415399995 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:397.69, Y:68.40, Z:23.34 [[ 8.32042023e-01 -5.44359677e-01 -1.06670591e-01 3.97687740e+02] [ 5.40496030e-01 8.38843763e-01 -6.48473889e-02 6.83966767e+01] [ 1.24780264e-01 -3.69927835e-03 9.92177505e-01 2.33395894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.5492541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:397.71, Y:68.41, Z:23.34 [[ 8.31890540e-01 -5.44594929e-01 -1.06651265e-01 3.97711802e+02] [ 5.40729137e-01 8.38691060e-01 -6.48791589e-02 6.84114144e+01] [ 1.24780323e-01 -3.69708787e-03 9.92177506e-01 2.33429242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.57925415399995 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:397.74, Y:68.43, Z:23.35 [[ 8.33568213e-01 -5.41960376e-01 -1.06971890e-01 3.97735038e+02] [ 5.38044377e-01 8.40397650e-01 -6.51155784e-02 6.84272871e+01] [ 1.25188988e-01 -3.27734751e-03 9.92127500e-01 2.33452311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.6092541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:397.76, Y:68.44, Z:23.35 [[ 8.34749276e-01 -5.40203394e-01 -1.06648668e-01 3.97757671e+02] [ 5.36291342e-01 8.41529255e-01 -6.49623741e-02 6.84433987e+01] [ 1.24840869e-01 -2.96746245e-03 9.92172340e-01 2.33494321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.63925415399996 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:397.78, Y:68.46, Z:23.35 [[ 8.36893820e-01 -5.36744547e-01 -1.07303428e-01 3.97779444e+02] [ 5.32750395e-01 8.43741303e-01 -6.54035987e-02 6.84592207e+01] [ 1.25641359e-01 -2.43007583e-03 9.92072751e-01 2.33525367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.66925415399993 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:397.80, Y:68.47, Z:23.36 [[ 8.37564647e-01 -5.35661808e-01 -1.07479716e-01 3.97802210e+02] [ 5.31642962e-01 8.44429599e-01 -6.55317685e-02 6.84743686e+01] [ 1.25861919e-01 -2.25374194e-03 9.92045210e-01 2.33555562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.69925415399996 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:397.82, Y:68.52, Z:23.36 [[ 8.43938006e-01 -5.33646516e-01 -5.46812434e-02 3.97823917e+02] [ 5.25153397e-01 8.42677504e-01 -1.18779351e-01 6.85192433e+01] [ 1.09464840e-01 7.15263676e-02 9.91413853e-01 2.33576050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.72925415399993 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:397.87, Y:68.48, Z:23.35 [[ 8.37901465e-01 -5.25326117e-01 -1.48167494e-01 3.97872302e+02] [ 5.31162361e-01 8.47270029e-01 -2.11612398e-04 6.84762760e+01] [ 1.25649042e-01 -7.85236855e-02 9.88962259e-01 2.33452013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.75925415399996 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:397.87, Y:68.52, Z:23.37 [[ 8.38417657e-01 -5.34113125e-01 -1.08531112e-01 3.97873148e+02] [ 5.29984015e-01 8.45410834e-01 -6.63133957e-02 6.85221739e+01] [ 1.27172233e-01 -1.92143281e-03 9.91878789e-01 2.33674413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.78925415399993 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:397.90, Y:68.54, Z:23.37 [[ 8.38234298e-01 -5.34464400e-01 -1.08217680e-01 3.97896065e+02] [ 5.30359510e-01 8.45188734e-01 -6.61422187e-02 6.85368533e+01] [ 1.26815025e-01 -1.95159959e-03 9.91924463e-01 2.33708225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.81925415399996 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:397.92, Y:68.55, Z:23.37 [[ 8.37885442e-01 -5.35045994e-01 -1.08045224e-01 3.97918918e+02] [ 5.30953574e-01 8.44820564e-01 -6.60796246e-02 6.85512169e+01] [ 1.26634465e-01 -1.99984210e-03 9.91947435e-01 2.33744237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.84925415399994 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:397.94, Y:68.60, Z:23.38 [[ 8.43970127e-01 -5.34922782e-01 -3.96489817e-02 3.97936569e+02] [ 5.25836923e-01 8.39692519e-01 -1.35690839e-01 6.86034597e+01] [ 1.05877074e-01 9.36701157e-02 9.89957552e-01 2.33775427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.87925415399997 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:398.00, Y:68.54, Z:23.36 [[ 8.36678091e-01 -5.24219024e-01 -1.58632238e-01 3.97997013e+02] [ 5.33348942e-01 8.45696213e-01 1.83527076e-02 6.85418541e+01] [ 1.24533844e-01 -9.99616446e-02 9.87167155e-01 2.33574514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.90925415399994 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:397.99, Y:68.59, Z:23.38 [[ 8.35271148e-01 -5.39264546e-01 -1.07311971e-01 3.97993767e+02] [ 5.35250296e-01 8.42132588e-01 -6.57253664e-02 6.85944592e+01] [ 1.25814268e-01 -2.54026211e-03 9.92050562e-01 2.33839063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.93925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:398.02, Y:68.61, Z:23.39 [[ 8.34271652e-01 -5.40941979e-01 -1.06642324e-01 3.98017702e+02] [ 5.36986070e-01 8.41055452e-01 -6.53581474e-02 6.86085332e+01] [ 1.25047073e-01 -2.73899259e-03 9.92147029e-01 2.33875436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.96925415399994 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:398.04, Y:68.62, Z:23.39 [[ 8.33253874e-01 -5.42577128e-01 -1.06292248e-01 3.98041651e+02] [ 5.38655054e-01 8.40000851e-01 -6.51866763e-02 6.86222434e+01] [ 1.24654379e-01 -2.93780621e-03 9.92195875e-01 2.33906776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.99925415399997 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:398.07, Y:68.64, Z:23.39 [[ 8.32387375e-01 -5.43880569e-01 -1.06419852e-01 3.98065977e+02] [ 5.39954183e-01 8.39156908e-01 -6.53082265e-02 6.86352951e+01] [ 1.24822829e-01 -3.10010079e-03 9.92174204e-01 2.33925863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.02925415399994 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:398.09, Y:68.65, Z:23.40 [[ 8.30441446e-01 -5.46982149e-01 -1.05723854e-01 3.98089428e+02] [ 5.43126808e-01 8.37136927e-01 -6.49233169e-02 6.86475411e+01] [ 1.24017237e-01 -3.50644587e-03 9.92273868e-01 2.33966396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.059254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:398.11, Y:68.66, Z:23.40 [[ 8.29734540e-01 -5.48114433e-01 -1.05409493e-01 3.98113776e+02] [ 5.44288664e-01 8.36395398e-01 -6.47501953e-02 6.86614193e+01] [ 1.23654531e-01 -3.64771857e-03 9.92318624e-01 2.33998253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.08925415399995 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:398.14, Y:68.67, Z:23.40 [[ 8.29302991e-01 -5.48774941e-01 -1.05368934e-01 3.98136855e+02] [ 5.44952126e-01 8.35961906e-01 -6.47678371e-02 6.86745715e+01] [ 1.23627381e-01 -3.70886348e-03 9.92321780e-01 2.34029526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.119254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:398.16, Y:68.69, Z:23.41 [[ 8.29290958e-01 -5.48815172e-01 -1.05254047e-01 3.98160476e+02] [ 5.44997397e-01 8.35935596e-01 -6.47264773e-02 6.86877916e+01] [ 1.23508477e-01 -3.68609911e-03 9.92336671e-01 2.34061574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.14925415399995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:398.19, Y:68.70, Z:23.41 [[ 8.30013121e-01 -5.47773690e-01 -1.04986684e-01 3.98185379e+02] [ 5.43963439e-01 8.36619240e-01 -6.45912087e-02 6.87004562e+01] [ 1.23215245e-01 -3.49736720e-03 9.92373807e-01 2.34092923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1792541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:398.21, Y:68.71, Z:23.41 [[ 8.30762784e-01 -5.46660566e-01 -1.04859058e-01 3.98208685e+02] [ 5.42845635e-01 8.37347826e-01 -6.45541267e-02 6.87140294e+01] [ 1.23092700e-01 -3.29311584e-03 9.92389713e-01 2.34127628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.20925415399995 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:398.23, Y:68.73, Z:23.42 [[ 8.32969789e-01 -5.43351792e-01 -1.04547403e-01 3.98233304e+02] [ 5.39531200e-01 8.39500511e-01 -6.43814924e-02 6.87272060e+01] [ 1.22749398e-01 -2.77874774e-03 9.92433808e-01 2.34160416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2392541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:398.26, Y:68.74, Z:23.42 [[ 8.34139878e-01 -5.41614280e-01 -1.04233562e-01 3.98257428e+02] [ 5.37797869e-01 8.40623475e-01 -6.42310298e-02 6.87409619e+01] [ 1.22409622e-01 -2.47892397e-03 9.92476569e-01 2.34188483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.26925415399995 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:398.28, Y:68.75, Z:23.42 [[ 8.35172849e-01 -5.40006717e-01 -1.04302717e-01 3.98280396e+02] [ 5.36167570e-01 8.41657807e-01 -6.43154164e-02 6.87540870e+01] [ 1.22517953e-01 -2.20924491e-03 9.92463838e-01 2.34218736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2992541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:398.30, Y:68.81, Z:23.43 [[ 8.43185507e-01 -5.36943906e-01 -2.70081751e-02 3.98301238e+02] [ 5.28263817e-01 8.36793984e-01 -1.43920700e-01 6.88135745e+01] [ 9.98776213e-02 1.07084407e-01 9.89220598e-01 2.34250777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.32925415399995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:398.36, Y:68.74, Z:23.40 [[ 8.36538292e-01 -5.22528133e-01 -1.64827294e-01 3.98364720e+02] [ 5.34005970e-01 8.44882448e-01 3.18005260e-02 6.87367874e+01] [ 1.22643018e-01 -1.14621117e-01 9.85809662e-01 2.34044155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.3592541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:398.36, Y:68.80, Z:23.43 [[ 8.36485120e-01 -5.37681893e-01 -1.05786702e-01 3.98357379e+02] [ 5.33695223e-01 8.43145925e-01 -6.53785786e-02 6.87961577e+01] [ 1.24346504e-01 -1.76964925e-03 9.92237278e-01 2.34322714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.38925415399996 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:398.38, Y:68.81, Z:23.43 [[ 8.36259564e-01 -5.37915957e-01 -1.06378401e-01 3.98381903e+02] [ 5.33880829e-01 8.42996597e-01 -6.57875215e-02 6.88086573e+01] [ 1.25064787e-01 -1.77794464e-03 9.92146984e-01 2.34338002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.41925415399993 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:398.41, Y:68.82, Z:23.44 [[ 8.35515148e-01 -5.39141890e-01 -1.06021034e-01 3.98406281e+02] [ 5.35141219e-01 8.42212721e-01 -6.55866421e-02 6.88221969e+01] [ 1.24652770e-01 -1.93759268e-03 9.92198535e-01 2.34384944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.44925415399996 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:398.43, Y:68.83, Z:23.44 [[ 8.33509442e-01 -5.42268382e-01 -1.05863181e-01 3.98430447e+02] [ 5.38299365e-01 8.40202005e-01 -6.55315534e-02 6.88332348e+01] [ 1.24482146e-01 -2.36491459e-03 9.92219029e-01 2.34415918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.47925415399993 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:398.45, Y:68.85, Z:23.44 [[ 8.32371995e-01 -5.44045616e-01 -1.05694033e-01 3.98454071e+02] [ 5.40099955e-01 8.39051606e-01 -6.54556389e-02 6.88462249e+01] [ 1.24293602e-01 -2.60190174e-03 9.92242073e-01 2.34446312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.50925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:398.48, Y:68.86, Z:23.45 [[ 8.30803505e-01 -5.46383102e-01 -1.05976615e-01 3.98478600e+02] [ 5.42432648e-01 8.37530207e-01 -6.56504032e-02 6.88597083e+01] [ 1.24628887e-01 -2.94259073e-03 9.92199064e-01 2.34480954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.53925415399993 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:398.50, Y:68.87, Z:23.45 [[ 8.29252093e-01 -5.48735890e-01 -1.05971175e-01 3.98501860e+02] [ 5.44799564e-01 8.35989412e-01 -6.56897066e-02 6.88726942e+01] [ 1.24637080e-01 -3.25972309e-03 9.92197043e-01 2.34512183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.56925415399996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:398.53, Y:68.88, Z:23.45 [[ 8.26176133e-01 -5.53455493e-01 -1.05451481e-01 3.98526641e+02] [ 5.49593443e-01 8.32869462e-01 -6.53873578e-02 6.88844792e+01] [ 1.24016311e-01 -3.93396809e-03 9.92272381e-01 2.34543527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.59925415399994 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:398.55, Y:68.90, Z:23.46 [[ 8.24674127e-01 -5.55706767e-01 -1.05368754e-01 3.98550345e+02] [ 5.51863694e-01 8.31367591e-01 -6.53788290e-02 6.88979000e+01] [ 1.23931625e-01 -4.23296136e-03 9.92281731e-01 2.34574432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.62925415399997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:398.57, Y:68.91, Z:23.46 [[ 8.23296316e-01 -5.57726821e-01 -1.05470232e-01 3.98573976e+02] [ 5.53890269e-01 8.30012242e-01 -6.54618024e-02 6.89115704e+01] [ 1.24051387e-01 -4.52447463e-03 9.92265480e-01 2.34609353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.65925415399994 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:398.60, Y:68.93, Z:23.46 [[ 8.22064369e-01 -5.59575690e-01 -1.05286373e-01 3.98596979e+02] [ 5.55762385e-01 8.28765583e-01 -6.53894540e-02 6.89250484e+01] [ 1.23848071e-01 -4.75986532e-03 9.92289776e-01 2.34638847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.68925415399997 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:398.62, Y:68.94, Z:23.47 [[ 8.19570978e-01 -5.63164681e-01 -1.05588611e-01 3.98621882e+02] [ 5.59356423e-01 8.26327688e-01 -6.55968327e-02 6.89386928e+01] [ 1.24192613e-01 -5.30040762e-03 9.92243972e-01 2.34656073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.71925415399994 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:398.65, Y:68.95, Z:23.47 [[ 8.18027893e-01 -5.65555583e-01 -1.04772371e-01 3.98645196e+02] [ 5.61820449e-01 8.24691276e-01 -6.51312706e-02 6.89532030e+01] [ 1.23240214e-01 -5.58406461e-03 9.92361158e-01 2.34702294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.74925415399997 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:398.67, Y:68.97, Z:23.47 [[ 8.16523334e-01 -5.67807300e-01 -1.04328883e-01 3.98667848e+02] [ 5.64116844e-01 8.23140627e-01 -6.48975666e-02 6.89669821e+01] [ 1.22726654e-01 -5.86330290e-03 9.92423191e-01 2.34730743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.77925415399994 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:398.69, Y:68.98, Z:23.48 [[ 8.14933320e-01 -5.70122351e-01 -1.04135440e-01 3.98690602e+02] [ 5.66462054e-01 8.21536521e-01 -6.47957210e-02 6.89807866e+01] [ 1.22492556e-01 -6.18458340e-03 9.92450162e-01 2.34764191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.809254154 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:398.71, Y:68.99, Z:23.48 [[ 8.11814990e-01 -5.74561352e-01 -1.04094546e-01 3.98714667e+02] [ 5.70937717e-01 8.18432976e-01 -6.47887972e-02 6.89948657e+01] [ 1.22419548e-01 -6.83498594e-03 9.92454904e-01 2.34781997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.83925415399995 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:398.74, Y:69.01, Z:23.48 [[ 8.10047206e-01 -5.77159730e-01 -1.03489952e-01 3.98737382e+02] [ 5.73594002e-01 8.16599978e-01 -6.44546058e-02 6.90097470e+01] [ 1.21710495e-01 -7.14994220e-03 9.92539890e-01 2.34824786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.869254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:398.76, Y:69.02, Z:23.49 [[ 8.08490416e-01 -5.79264701e-01 -1.03902138e-01 3.98760050e+02] [ 5.75682328e-01 8.15105352e-01 -6.47543222e-02 6.90247466e+01] [ 1.22201082e-01 -7.46137609e-03 9.92477316e-01 2.34863603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.89925415399995 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:398.78, Y:69.04, Z:23.49 [[ 8.07178999e-01 -5.81124408e-01 -1.03713479e-01 3.98783094e+02] [ 5.77567864e-01 8.13778189e-01 -6.46561846e-02 6.90400963e+01] [ 1.21973054e-01 -7.71245831e-03 9.92503447e-01 2.34892404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9292541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:398.81, Y:69.06, Z:23.49 [[ 8.05502258e-01 -5.83355601e-01 -1.04222625e-01 3.98806057e+02] [ 5.79777059e-01 8.12176930e-01 -6.50168911e-02 6.90566883e+01] [ 1.22575179e-01 -8.05463432e-03 9.92426546e-01 2.34920093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.95925415399995 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:398.83, Y:69.07, Z:23.50 [[ 8.05038845e-01 -5.83948084e-01 -1.04484899e-01 3.98828835e+02] [ 5.80351060e-01 8.11750289e-01 -6.52235758e-02 6.90723141e+01] [ 1.22902829e-01 -8.13040989e-03 9.92385404e-01 2.34951286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.9892541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:398.85, Y:69.09, Z:23.50 [[ 8.04878464e-01 -5.84086958e-01 -1.04943238e-01 3.98851978e+02] [ 5.80453957e-01 8.11650150e-01 -6.55533200e-02 6.90884348e+01] [ 1.23466034e-01 -8.15226243e-03 9.92315312e-01 2.34978620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.01925415399995 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:398.87, Y:69.10, Z:23.50 [[ 8.05197387e-01 -5.83533513e-01 -1.05573704e-01 3.98874369e+02] [ 5.79846477e-01 8.12048848e-01 -6.59903878e-02 6.91038151e+01] [ 1.24238607e-01 -8.08125239e-03 9.92219463e-01 2.34999937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.0492541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:398.89, Y:69.12, Z:23.50 [[ 8.06405392e-01 -5.81790448e-01 -1.05972727e-01 3.98894825e+02] [ 5.78057915e-01 8.13301071e-01 -6.62602124e-02 6.91222223e+01] [ 1.24737291e-01 -7.82578095e-03 9.92158942e-01 2.35045716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.07925415399995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:398.92, Y:69.14, Z:23.51 [[ 8.07355615e-01 -5.80498306e-01 -1.05823571e-01 3.98917039e+02] [ 5.76759794e-01 8.14226181e-01 -6.62107679e-02 6.91388512e+01] [ 1.24599560e-01 -7.57914556e-03 9.92178162e-01 2.35078712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.1092541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:398.94, Y:69.16, Z:23.51 [[ 8.08522777e-01 -5.78848265e-01 -1.05950953e-01 3.98938688e+02] [ 5.75081270e-01 8.15402612e-01 -6.63333507e-02 6.91553866e+01] [ 1.24789629e-01 -7.29838380e-03 9.92156380e-01 2.35113985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.13925415399996 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:398.96, Y:69.17, Z:23.52 [[ 8.11413580e-01 -5.74863920e-01 -1.05543709e-01 3.98959667e+02] [ 5.71089873e-01 8.18222072e-01 -6.60983920e-02 6.91742541e+01] [ 1.24355773e-01 -6.64181045e-03 9.92215465e-01 2.35152062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.16925415399993 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:398.98, Y:69.19, Z:23.52 [[ 8.13081686e-01 -5.72609187e-01 -1.04961382e-01 3.98981692e+02] [ 5.68852757e-01 8.19804830e-01 -6.57767477e-02 6.91910165e+01] [ 1.23712218e-01 -6.22570247e-03 9.92298608e-01 2.35183782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.19925415399996 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:399.00, Y:69.21, Z:23.52 [[ 8.14852536e-01 -5.70117022e-01 -1.04794678e-01 3.99002655e+02] [ 5.66346789e-01 8.21543007e-01 -6.57145489e-02 6.92072530e+01] [ 1.23558318e-01 -5.80246269e-03 9.92320348e-01 2.35221394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.22925415399993 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:399.02, Y:69.22, Z:23.53 [[ 8.16655130e-01 -5.67580972e-01 -1.04528652e-01 3.99024602e+02] [ 5.63806823e-01 8.23299950e-01 -6.55672109e-02 6.92237841e+01] [ 1.23273135e-01 -5.38816779e-03 9.92358152e-01 2.35253278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.25925415399996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:399.04, Y:69.24, Z:23.53 [[ 8.20302469e-01 -5.62324928e-01 -1.04376889e-01 3.99044605e+02] [ 5.58514098e-01 8.26903821e-01 -6.55139173e-02 6.92419698e+01] [ 1.23149757e-01 -4.55473584e-03 9.92377646e-01 2.35288658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.28925415399993 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:399.07, Y:69.26, Z:23.53 [[ 8.21917502e-01 -5.59971348e-01 -1.04325013e-01 3.99067050e+02] [ 5.56143037e-01 8.28501411e-01 -6.55006459e-02 6.92589133e+01] [ 1.23111906e-01 -4.18350250e-03 9.92383977e-01 2.35324333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.31925415399996 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:399.09, Y:69.27, Z:23.54 [[ 8.23399702e-01 -5.57812913e-01 -1.04200218e-01 3.99088277e+02] [ 5.53971511e-01 8.29957920e-01 -6.54630878e-02 6.92748534e+01] [ 1.22997952e-01 -3.82166507e-03 9.92399566e-01 2.35358819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.34925415399994 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:399.11, Y:69.29, Z:23.54 [[ 8.24560617e-01 -5.56114252e-01 -1.04099602e-01 3.99110515e+02] [ 5.52264487e-01 8.31098275e-01 -6.54185989e-02 6.92908301e+01] [ 1.22897215e-01 -3.54891308e-03 9.92413059e-01 2.35391947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.37925415399997 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:399.13, Y:69.31, Z:23.54 [[ 8.26343268e-01 -5.53523954e-01 -1.03769145e-01 3.99132521e+02] [ 5.49673242e-01 8.32827417e-01 -6.52519802e-02 6.93071992e+01] [ 1.22540323e-01 -3.11858766e-03 9.92458636e-01 2.35418513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.40925415399994 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:399.16, Y:69.32, Z:23.55 [[ 8.26800239e-01 -5.52854912e-01 -1.03695765e-01 3.99155344e+02] [ 5.48999077e-01 8.33272201e-01 -6.52491598e-02 6.93226222e+01] [ 1.22480117e-01 -2.98085861e-03 9.92466491e-01 2.35451505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.43925415399997 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:399.18, Y:69.34, Z:23.55 [[ 8.27258870e-01 -5.52164528e-01 -1.03716427e-01 3.99178198e+02] [ 5.48296384e-01 8.33730324e-01 -6.53056052e-02 6.93378862e+01] [ 1.22530969e-01 -2.84270050e-03 9.92460619e-01 2.35483178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.46925415399994 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:399.20, Y:69.35, Z:23.55 [[ 8.27104867e-01 -5.52398857e-01 -1.03696873e-01 3.99202019e+02] [ 5.48528658e-01 8.33575093e-01 -6.53366390e-02 6.93529936e+01] [ 1.22531015e-01 -2.84045456e-03 9.92460620e-01 2.35517084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.49925415399997 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:399.22, Y:69.37, Z:23.55 [[ 8.27620526e-01 -5.51555060e-01 -1.04073439e-01 3.99224729e+02] [ 5.47644865e-01 8.34134147e-01 -6.56149893e-02 6.93691366e+01] [ 1.23001489e-01 -2.69097251e-03 9.92402838e-01 2.35543966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.52925415399994 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:399.25, Y:69.38, Z:23.56 [[ 8.27705180e-01 -5.51430821e-01 -1.04058567e-01 3.99247860e+02] [ 5.47515325e-01 8.34216462e-01 -6.56495480e-02 6.93844950e+01] [ 1.23008554e-01 -2.63518910e-03 9.92402112e-01 2.35580721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.559254154 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:399.27, Y:69.40, Z:23.56 [[ 8.27901498e-01 -5.51120284e-01 -1.04141931e-01 3.99270679e+02] [ 5.47190638e-01 8.34421900e-01 -6.57457122e-02 6.93988706e+01] [ 1.23132103e-01 -2.55451594e-03 9.92387001e-01 2.35611140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.58925415399995 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:399.29, Y:69.41, Z:23.56 [[ 8.28105903e-01 -5.50855075e-01 -1.03919680e-01 3.99294396e+02] [ 5.46936398e-01 8.34597218e-01 -6.56358187e-02 6.94136572e+01] [ 1.22886900e-01 -2.48404669e-03 9.92417573e-01 2.35640669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.619254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:399.32, Y:69.43, Z:23.56 [[ 8.28793120e-01 -5.49780999e-01 -1.04128852e-01 3.99318306e+02] [ 5.45832674e-01 8.35305690e-01 -6.58110719e-02 6.94274393e+01] [ 1.23161099e-01 -2.29316611e-03 9.92384041e-01 2.35646433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.64925415399995 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:399.34, Y:69.44, Z:23.57 [[ 8.28671447e-01 -5.50068660e-01 -1.03576556e-01 3.99341688e+02] [ 5.46159138e-01 8.35116303e-01 -6.55053913e-02 6.94427263e+01] [ 1.22530933e-01 -2.28683519e-03 9.92462060e-01 2.35690808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6792541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:399.37, Y:69.46, Z:23.57 [[ 8.28399340e-01 -5.50510018e-01 -1.03408188e-01 3.99365232e+02] [ 5.46611334e-01 8.34825356e-01 -6.54421465e-02 6.94576706e+01] [ 1.22354335e-01 -2.31185661e-03 9.92483789e-01 2.35739861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.70925415399995 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:399.39, Y:69.47, Z:23.58 [[ 8.28281933e-01 -5.50757452e-01 -1.03030426e-01 3.99389382e+02] [ 5.46883941e-01 8.34662160e-01 -6.52459471e-02 6.94722410e+01] [ 1.21930290e-01 -2.30364638e-03 9.92535993e-01 2.35771811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7392541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:399.41, Y:69.49, Z:23.58 [[ 8.27444757e-01 -5.52088757e-01 -1.02631274e-01 3.99413979e+02] [ 5.48250248e-01 8.33781736e-01 -6.50360137e-02 6.94860494e+01] [ 1.21477734e-01 -2.45391286e-03 9.92591124e-01 2.35802863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.76925415399995 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:399.44, Y:69.50, Z:23.58 [[ 8.27092021e-01 -5.52615169e-01 -1.02641430e-01 3.99437356e+02] [ 5.48774756e-01 8.33432808e-01 -6.50847326e-02 6.94996528e+01] [ 1.21511546e-01 -2.49596285e-03 9.92586880e-01 2.35837325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7992541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:399.46, Y:69.51, Z:23.59 [[ 8.26113268e-01 -5.54073405e-01 -1.02662215e-01 3.99462386e+02] [ 5.50240292e-01 8.32463452e-01 -6.51169844e-02 6.95126626e+01] [ 1.21542131e-01 -2.69488259e-03 9.92582615e-01 2.35869084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.82925415399995 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:399.49, Y:69.53, Z:23.59 [[ 8.27888001e-01 -5.52947807e-01 -9.40754015e-02 3.99487887e+02] [ 5.48297053e-01 8.33177105e-01 -7.20156487e-02 6.95304591e+01] [ 1.18202366e-01 8.03962595e-03 9.92956981e-01 2.35883315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.8592541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:399.51, Y:69.54, Z:23.59 [[ 8.25643360e-01 -5.53549575e-01 -1.09068372e-01 3.99514161e+02] [ 5.50866511e-01 8.32703038e-01 -5.61403398e-02 6.95367492e+01] [ 1.21898026e-01 -1.37302149e-02 9.92447657e-01 2.35907761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.88925415399996 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:399.53, Y:69.55, Z:23.59 [[ 8.25680905e-01 -5.54490132e-01 -1.03883285e-01 3.99534741e+02] [ 5.50556594e-01 8.32185884e-01 -6.59855375e-02 6.95544903e+01] [ 1.23038533e-01 -2.71062924e-03 9.92398192e-01 2.35948829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.91925415399993 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:399.56, Y:69.57, Z:23.60 [[ 8.25362877e-01 -5.54784116e-01 -1.04836562e-01 3.99559111e+02] [ 5.50777614e-01 8.31989753e-01 -6.66113384e-02 6.95684038e+01] [ 1.24177857e-01 -2.76310531e-03 9.92256129e-01 2.35996456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.94925415399996 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:399.58, Y:69.58, Z:23.60 [[ 8.25307431e-01 -5.54746371e-01 -1.05470893e-01 3.99582601e+02] [ 5.50685318e-01 8.32015004e-01 -6.70575386e-02 6.95820090e+01] [ 1.24953292e-01 -2.73818742e-03 9.92158847e-01 2.36028620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.97925415399993 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:399.61, Y:69.60, Z:23.61 [[ 8.25336738e-01 -5.54670680e-01 -1.05639508e-01 3.99605844e+02] [ 5.50593487e-01 8.32065542e-01 -6.71844088e-02 6.95951293e+01] [ 1.25164216e-01 -2.71466422e-03 9.92132325e-01 2.36055829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.00925415399996 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:399.63, Y:69.61, Z:23.61 [[ 8.25218287e-01 -5.54757265e-01 -1.06109164e-01 3.99630127e+02] [ 5.50640438e-01 8.32007817e-01 -6.75137005e-02 6.96090486e+01] [ 1.25737370e-01 -2.71445653e-03 9.92059850e-01 2.36090159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.03925415399993 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:399.65, Y:69.62, Z:23.61 [[ 8.25278294e-01 -5.54625359e-01 -1.06331782e-01 3.99654656e+02] [ 5.50484414e-01 8.32095921e-01 -6.76999936e-02 6.96229306e+01] [ 1.26026376e-01 -2.66265362e-03 9.92023318e-01 2.36123967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.06925415399996 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:399.68, Y:69.64, Z:23.62 [[ 8.25716784e-01 -5.54020575e-01 -1.06080132e-01 3.99678210e+02] [ 5.49888861e-01 8.32499136e-01 -6.75827549e-02 6.96359223e+01] [ 1.25753855e-01 -2.52806768e-03 9.92058253e-01 2.36156926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.09925415399994 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:399.70, Y:69.65, Z:23.62 [[ 8.26008427e-01 -5.53601528e-01 -1.05997297e-01 3.99702043e+02] [ 5.49470251e-01 8.32778104e-01 -6.75505232e-02 6.96507348e+01] [ 1.25668301e-01 -2.44506014e-03 9.92069302e-01 2.36192860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.12925415399997 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:399.73, Y:69.66, Z:23.62 [[ 8.27519795e-01 -5.51273758e-01 -1.06340174e-01 3.99726216e+02] [ 5.47090811e-01 8.34321878e-01 -6.78133329e-02 6.96645454e+01] [ 1.26105645e-01 -2.06085685e-03 9.92014677e-01 2.36228247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.15925415399994 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:399.75, Y:69.68, Z:23.63 [[ 8.28275411e-01 -5.50186264e-01 -1.06089198e-01 3.99748992e+02] [ 5.46008773e-01 8.35039901e-01 -6.76962647e-02 6.96786268e+01] [ 1.25834268e-01 -1.85448115e-03 9.92049544e-01 2.36266890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.18925415399997 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:399.77, Y:69.69, Z:23.63 [[ 8.29101629e-01 -5.48923230e-01 -1.06178036e-01 3.99772815e+02] [ 5.44725764e-01 8.35871148e-01 -6.77736385e-02 6.96924124e+01] [ 1.25953681e-01 -1.64667746e-03 9.92034757e-01 2.36291229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.21925415399994 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:399.80, Y:69.71, Z:23.63 [[ 8.29453659e-01 -5.48500294e-01 -1.05612757e-01 3.99795251e+02] [ 5.44338707e-01 8.36148948e-01 -6.74559726e-02 6.97065064e+01] [ 1.25307617e-01 -1.53750831e-03 9.92116746e-01 2.36336217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.24925415399997 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:399.82, Y:69.72, Z:23.64 [[ 8.29251476e-01 -5.48830405e-01 -1.05485432e-01 3.99819685e+02] [ 5.44678957e-01 8.35932250e-01 -6.73951563e-02 6.97199791e+01] [ 1.25167185e-01 -1.56816214e-03 9.92134425e-01 2.36377822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.27925415399994 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:399.84, Y:69.73, Z:23.64 [[ 8.28356448e-01 -5.50154702e-01 -1.05619123e-01 3.99843793e+02] [ 5.45997834e-01 8.35060956e-01 -6.75245577e-02 6.97340037e+01] [ 1.25347359e-01 -1.73340959e-03 9.92111402e-01 2.36414162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.309254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:399.87, Y:69.75, Z:23.64 [[ 8.26750082e-01 -5.52496105e-01 -1.05982808e-01 3.99867474e+02] [ 5.48323962e-01 8.33512938e-01 -6.78012880e-02 6.97475663e+01] [ 1.25797989e-01 -2.05819290e-03 9.92053743e-01 2.36446933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.33925415399995 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:399.89, Y:69.76, Z:23.65 [[ 8.25093642e-01 -5.54854362e-01 -1.06569783e-01 3.99891718e+02] [ 5.50649536e-01 8.31944054e-01 -6.82215558e-02 6.97607141e+01] [ 1.26513125e-01 -2.39342966e-03 9.91962046e-01 2.36480349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.369254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:399.92, Y:69.77, Z:23.65 [[ 8.21247359e-01 -5.60472306e-01 -1.06881101e-01 3.99916968e+02] [ 5.56284410e-01 8.28166866e-01 -6.84638390e-02 6.97717187e+01] [ 1.26887473e-01 -3.23054347e-03 9.91911857e-01 2.36502189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.39925415399995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:399.94, Y:69.79, Z:23.65 [[ 8.19098140e-01 -5.63578605e-01 -1.07039214e-01 3.99941601e+02] [ 5.59401907e-01 8.26054157e-01 -6.85859718e-02 6.97854791e+01] [ 1.27073774e-01 -3.69929836e-03 9.91886370e-01 2.36538950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4292541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:399.97, Y:69.80, Z:23.66 [[ 8.17148368e-01 -5.66405429e-01 -1.07020720e-01 3.99965638e+02] [ 5.62248619e-01 8.24116539e-01 -6.86179317e-02 6.97990502e+01] [ 1.27063114e-01 -4.10122102e-03 9.91886155e-01 2.36573473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.45925415399995 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:399.99, Y:69.81, Z:23.66 [[ 8.13831958e-01 -5.71063172e-01 -1.07537888e-01 3.99990039e+02] [ 5.66900705e-01 8.20891995e-01 -6.89922021e-02 6.98105761e+01] [ 1.27675897e-01 -4.81524535e-03 9.91804254e-01 2.36597751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.4892541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:400.01, Y:69.83, Z:23.66 [[ 8.11853282e-01 -5.74035914e-01 -1.06663111e-01 4.00013040e+02] [ 5.69963960e-01 8.18813473e-01 -6.84513059e-02 6.98252352e+01] [ 1.26630700e-01 -5.22171153e-03 9.91936187e-01 2.36644999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.51925415399995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:400.04, Y:69.84, Z:23.67 [[ 8.10439282e-01 -5.76053011e-01 -1.06541538e-01 4.00036836e+02] [ 5.72002127e-01 8.17393870e-01 -6.84165757e-02 6.98393312e+01] [ 1.26497975e-01 -5.49450600e-03 9.91951648e-01 2.36681922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.5492541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:400.06, Y:69.85, Z:23.67 [[ 8.08948016e-01 -5.78158254e-01 -1.06471315e-01 4.00060311e+02] [ 5.74125196e-01 8.15904153e-01 -6.84154476e-02 6.98534830e+01] [ 1.26425344e-01 -5.78332414e-03 9.91959266e-01 2.36718418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.57925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:400.08, Y:69.87, Z:23.68 [[ 8.07065572e-01 -5.80981545e-01 -1.05383142e-01 4.00083975e+02] [ 5.77049336e-01 8.13893676e-01 -6.77580147e-02 6.98664219e+01] [ 1.25136829e-01 -6.12611131e-03 9.92120580e-01 2.36752637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.6092541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:400.11, Y:69.91, Z:23.67 [[ 8.12474101e-01 -5.79946810e-01 -5.95611687e-02 4.00111466e+02] [ 5.72092649e-01 8.12772805e-01 -1.10047119e-01 6.99050914e+01] [ 1.12231174e-01 5.53359274e-02 9.92140161e-01 2.36732786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.63925415399996 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:400.15, Y:69.87, Z:23.67 [[ 8.05512107e-01 -5.75901544e-01 -1.39598201e-01 4.00150891e+02] [ 5.80112297e-01 8.14440057e-01 -1.25345975e-02 6.98715085e+01] [ 1.20913061e-01 -7.08858628e-02 9.90128894e-01 2.36697704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.66925415399993 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:400.16, Y:69.91, Z:23.69 [[ 8.04786951e-01 -5.84273560e-01 -1.04605782e-01 4.00155828e+02] [ 5.80410529e-01 8.11530902e-01 -6.73885240e-02 6.99119039e+01] [ 1.24264158e-01 -6.48089271e-03 9.92228007e-01 2.36867385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.69925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:400.17, Y:69.93, Z:23.69 [[ 8.04890425e-01 -5.84881058e-01 -1.00327226e-01 4.00173731e+02] [ 5.79513503e-01 8.11099369e-01 -7.92585204e-02 6.99301203e+01] [ 1.27732157e-01 5.65344206e-03 9.91792587e-01 2.36921402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.72925415399993 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:400.21, Y:69.94, Z:23.69 [[ 8.04594397e-01 -5.83385041e-01 -1.10859149e-01 4.00205924e+02] [ 5.80668951e-01 8.12015943e-01 -5.87679974e-02 6.99376136e+01] [ 1.24303767e-01 -1.70880642e-02 9.92097058e-01 2.36910292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.75925415399996 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:400.23, Y:69.96, Z:23.70 [[ 8.04908348e-01 -5.83948606e-01 -1.05482595e-01 4.00225836e+02] [ 5.80009980e-01 8.11765113e-01 -6.80134131e-02 6.99556979e+01] [ 1.25343428e-01 -6.43639363e-03 9.92092535e-01 2.36951986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.78925415399993 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:400.25, Y:69.97, Z:23.70 [[ 8.04886005e-01 -5.83964407e-01 -1.05565571e-01 4.00247233e+02] [ 5.80017233e-01 8.11753812e-01 -6.80863996e-02 6.99722091e+01] [ 1.25453289e-01 -6.42806010e-03 9.92078703e-01 2.37002580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.81925415399996 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:400.27, Y:69.99, Z:23.70 [[ 8.04913697e-01 -5.83808332e-01 -1.06215685e-01 4.00270092e+02] [ 5.79808265e-01 8.11866076e-01 -6.85262739e-02 6.99874060e+01] [ 1.26239121e-01 -6.42699583e-03 9.91979021e-01 2.37031139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.84925415399994 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:400.29, Y:70.00, Z:23.71 [[ 8.04636007e-01 -5.84071618e-01 -1.06870212e-01 4.00293050e+02] [ 5.80018475e-01 8.11676326e-01 -6.89935524e-02 7.00033228e+01] [ 1.27041197e-01 -6.47200085e-03 9.91876327e-01 2.37066305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.87925415399997 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:400.32, Y:70.02, Z:23.71 [[ 8.04420822e-01 -5.84267626e-01 -1.07417325e-01 4.00315762e+02] [ 5.80168643e-01 8.11535023e-01 -6.93920148e-02 7.00186842e+01] [ 1.27716429e-01 -6.49978208e-03 9.91789427e-01 2.37097782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.90925415399994 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:400.35, Y:70.02, Z:23.71 [[ 8.04768499e-01 -5.80098986e-01 -1.25828576e-01 4.00350352e+02] [ 5.79061904e-01 8.13841886e-01 -4.84633424e-02 7.00242441e+01] [ 1.30518101e-01 -3.38607634e-02 9.90867536e-01 2.37129867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.93925415399997 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:400.35, Y:70.06, Z:23.72 [[ 8.04247448e-01 -5.86928131e-01 -9.32813583e-02 4.00353959e+02] [ 5.80064128e-01 8.09402439e-01 -9.16149455e-02 7.00598457e+01] [ 1.29273548e-01 1.95719162e-02 9.91415801e-01 2.37219171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.96925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:400.38, Y:70.07, Z:23.72 [[ 8.04381167e-01 -5.84290025e-01 -1.07592312e-01 4.00384550e+02] [ 5.80160189e-01 8.11519672e-01 -6.96417764e-02 7.00654238e+01] [ 1.28004273e-01 -6.40224268e-03 9.91752952e-01 2.37196867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.99925415399997 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:400.41, Y:70.08, Z:23.72 [[ 8.04899814e-01 -5.83632152e-01 -1.07283735e-01 4.00406852e+02] [ 5.79514518e-01 8.11994174e-01 -6.94865783e-02 7.00801970e+01] [ 1.27668369e-01 -6.24274776e-03 9.91797265e-01 2.37220175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.02925415399994 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:400.43, Y:70.10, Z:23.73 [[ 8.05514191e-01 -5.82696364e-01 -1.07758227e-01 4.00430090e+02] [ 5.78530951e-01 8.12667023e-01 -6.98158152e-02 7.00956858e+01] [ 1.28252979e-01 -6.10383980e-03 9.91722701e-01 2.37250698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.059254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:400.45, Y:70.11, Z:23.73 [[ 8.07570870e-01 -5.79949468e-01 -1.07181642e-01 4.00450327e+02] [ 5.75798892e-01 8.14633204e-01 -6.94865383e-02 7.01135581e+01] [ 1.27612406e-01 -5.59976669e-03 9.91808306e-01 2.37297243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.08925415399995 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:400.47, Y:70.13, Z:23.73 [[ 8.08825873e-01 -5.78161289e-01 -1.07378912e-01 4.00472320e+02] [ 5.73976906e-01 8.15905223e-01 -6.96360480e-02 7.01297174e+01] [ 1.27871882e-01 -5.30957826e-03 9.91776482e-01 2.37333226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1192541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:400.49, Y:70.15, Z:23.74 [[ 8.10233983e-01 -5.76184079e-01 -1.07390869e-01 4.00494414e+02] [ 5.71975621e-01 8.17304901e-01 -6.96892234e-02 7.01458286e+01] [ 1.27924905e-01 -4.96038204e-03 9.91771452e-01 2.37366831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.14925415399995 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:400.52, Y:70.16, Z:23.74 [[ 8.12752995e-01 -5.72560583e-01 -1.07735546e-01 4.00516293e+02] [ 5.68287548e-01 8.19850783e-01 -6.99568166e-02 7.01619865e+01] [ 1.28381588e-01 -4.36715707e-03 9.91715229e-01 2.37393721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1792541539999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:400.54, Y:70.18, Z:23.74 [[ 8.13508543e-01 -5.71662809e-01 -1.06796456e-01 4.00538613e+02] [ 5.67453846e-01 8.20478054e-01 -6.93678266e-02 7.01786669e+01] [ 1.27279155e-01 -4.17074007e-03 9.91858166e-01 2.37438510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.20925415399995 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:400.57, Y:70.19, Z:23.75 [[ 8.14453757e-01 -5.68055809e-01 -1.18227219e-01 4.00569410e+02] [ 5.65445242e-01 8.22753639e-01 -5.78630113e-02 7.01879046e+01] [ 1.30141295e-01 -1.97242716e-02 9.91299247e-01 2.37491246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2392541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:400.58, Y:70.22, Z:23.75 [[ 8.14582853e-01 -5.71762973e-01 -9.76825377e-02 4.00580054e+02] [ 5.66084335e-01 8.20348206e-01 -8.11008445e-02 7.02158279e+01] [ 1.26504155e-01 1.07668029e-02 9.91907644e-01 2.37541985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.26925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:400.61, Y:70.22, Z:23.76 [[ 8.15765088e-01 -5.66046232e-01 -1.18823334e-01 4.00614257e+02] [ 5.63741950e-01 8.24086746e-01 -5.54621373e-02 7.02191391e+01] [ 1.29314869e-01 -2.17416229e-02 9.91365203e-01 2.37566365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2992541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:400.62, Y:70.25, Z:23.76 [[ 8.16425015e-01 -5.69668318e-01 -9.44891592e-02 4.00624133e+02] [ 5.63851562e-01 8.21755564e-01 -8.23966542e-02 7.02488053e+01] [ 1.24585756e-01 1.39928298e-02 9.92110170e-01 2.37618783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.32925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:400.65, Y:70.26, Z:23.76 [[ 8.16938576e-01 -5.67277759e-01 -1.03958200e-01 4.00652059e+02] [ 5.63231713e-01 8.23520163e-01 -6.77095123e-02 7.02580464e+01] [ 1.24021774e-01 -3.23804254e-03 9.92274213e-01 2.37607498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.3592541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:400.68, Y:70.27, Z:23.76 [[ 8.16779918e-01 -5.67509895e-01 -1.03937889e-01 4.00675649e+02] [ 5.63461757e-01 8.23360218e-01 -6.77406765e-02 7.02735207e+01] [ 1.24021827e-01 -3.23580149e-03 9.92274214e-01 2.37641578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.38925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:400.70, Y:70.29, Z:23.77 [[ 8.18108848e-01 -5.65330382e-01 -1.05354030e-01 4.00698503e+02] [ 5.61147473e-01 8.24859435e-01 -6.87053595e-02 7.02882616e+01] [ 1.25743493e-01 -2.91068519e-03 9.92058517e-01 2.37658306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.41925415399993 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:400.72, Y:70.30, Z:23.77 [[ 8.18433400e-01 -5.64888573e-01 -1.05202996e-01 4.00720814e+02] [ 5.60711460e-01 8.25162371e-01 -6.86273968e-02 7.03038423e+01] [ 1.25576386e-01 -2.82157166e-03 9.92079941e-01 2.37695065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.44925415399996 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:400.74, Y:70.32, Z:23.77 [[ 8.18635372e-01 -5.64493218e-01 -1.05752236e-01 4.00743965e+02] [ 5.60263570e-01 8.25433157e-01 -6.90277929e-02 7.03188660e+01] [ 1.26257123e-01 -2.74053263e-03 9.91993764e-01 2.37724018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.47925415399993 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:400.77, Y:70.33, Z:23.78 [[ 8.18801797e-01 -5.64193725e-01 -1.06061574e-01 4.00767436e+02] [ 5.59930948e-01 8.25638140e-01 -6.92747746e-02 7.03337993e+01] [ 1.26652874e-01 -2.66484795e-03 9.91943521e-01 2.37753131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.50925415399996 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:400.79, Y:70.35, Z:23.78 [[ 8.18870597e-01 -5.63893303e-01 -1.07122773e-01 4.00789816e+02] [ 5.59536216e-01 8.25843532e-01 -7.00120208e-02 7.03478745e+01] [ 1.27945959e-01 -2.60828576e-03 9.91777711e-01 2.37783544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.53925415399993 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:400.81, Y:70.36, Z:23.78 [[ 8.18665641e-01 -5.64000688e-01 -1.08119341e-01 4.00813109e+02] [ 5.59559909e-01 8.25770124e-01 -7.06852900e-02 7.03621731e+01] [ 1.29148273e-01 -2.63163004e-03 9.91621802e-01 2.37810224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.56925415399996 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:400.84, Y:70.38, Z:23.79 [[ 8.18352271e-01 -5.64561751e-01 -1.07562031e-01 4.00835936e+02] [ 5.60165727e-01 8.25386522e-01 -7.03665197e-02 7.03778363e+01] [ 1.28506496e-01 -2.66796186e-03 9.91705078e-01 2.37853349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.59925415399994 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:400.86, Y:70.39, Z:23.79 [[ 8.17948912e-01 -5.65060917e-01 -1.08008046e-01 4.00858993e+02] [ 5.60626808e-01 8.25044699e-01 -7.07023804e-02 7.03923164e+01] [ 1.29062618e-01 -2.72127118e-03 9.91632712e-01 2.37881808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.62925415399997 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:400.88, Y:70.41, Z:23.79 [[ 8.16956916e-01 -5.66889399e-01 -1.05914152e-01 4.00879767e+02] [ 5.61833348e-01 8.23790875e-01 -7.55770081e-02 7.04082630e+01] [ 1.30094917e-01 2.23705688e-03 9.91499021e-01 2.37931842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.65925415399994 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:400.91, Y:70.42, Z:23.79 [[ 8.15863603e-01 -5.67444248e-01 -1.11236713e-01 4.00908340e+02] [ 5.63443350e-01 8.23378025e-01 -6.76773213e-02 7.04201428e+01] [ 1.29992972e-01 -7.46012316e-03 9.91486850e-01 2.37944361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.68925415399997 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:400.93, Y:70.44, Z:23.80 [[ 8.14858375e-01 -5.69588863e-01 -1.07584179e-01 4.00930242e+02] [ 5.65220714e-01 8.21922841e-01 -7.04867896e-02 7.04372879e+01] [ 1.28574384e-01 -3.37205568e-03 9.91694135e-01 2.37991834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.71925415399994 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:400.96, Y:70.44, Z:23.81 [[ 8.10958751e-01 -5.69900877e-01 -1.32509982e-01 4.00961868e+02] [ 5.69069311e-01 8.20897175e-01 -4.78324896e-02 7.04394847e+01] [ 1.36036847e-01 -3.66171879e-02 9.90026847e-01 2.38070936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.74925415399997 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:400.98, Y:70.46, Z:23.82 [[ 8.07435515e-01 -5.74862617e-01 -1.32592840e-01 4.00977222e+02] [ 5.72404106e-01 8.17785078e-01 -5.98423435e-02 7.04588492e+01] [ 1.42833572e-01 -2.75778528e-02 9.89362437e-01 2.38204628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.77925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:400.99, Y:70.51, Z:23.82 [[ 8.09590518e-01 -5.81932949e-01 -7.69235686e-02 4.00986356e+02] [ 5.71761493e-01 8.11440792e-01 -1.21048075e-01 7.05051574e+01] [ 1.32860785e-01 5.40174395e-02 9.89661623e-01 2.38241217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.809254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:401.03, Y:70.50, Z:23.81 [[ 8.08229683e-01 -5.78588528e-01 -1.09544947e-01 4.01026053e+02] [ 5.74116808e-01 8.15605827e-01 -7.19515545e-02 7.04974635e+01] [ 1.30975841e-01 -4.73821325e-03 9.91374237e-01 2.38128681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.83925415399995 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:401.05, Y:70.51, Z:23.82 [[ 8.05580080e-01 -5.82185917e-01 -1.10001334e-01 4.01049549e+02] [ 5.77707013e-01 8.13038243e-01 -7.22732445e-02 7.05115939e+01] [ 1.31511756e-01 -5.32665577e-03 9.91300300e-01 2.38165208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.8692541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:401.07, Y:70.53, Z:23.82 [[ 8.04181017e-01 -5.84167528e-01 -1.09732360e-01 4.01072958e+02] [ 5.79722892e-01 8.11613791e-01 -7.21416852e-02 7.05262543e+01] [ 1.31203127e-01 -5.59938738e-03 9.91339693e-01 2.38197022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.89925415399995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:401.10, Y:70.54, Z:23.82 [[ 8.02323539e-01 -5.86696149e-01 -1.09838827e-01 4.01095234e+02] [ 5.82260089e-01 8.09785076e-01 -7.22586964e-02 7.05406670e+01] [ 1.31339742e-01 -5.97991204e-03 9.91319380e-01 2.38228127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9292541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:401.12, Y:70.56, Z:23.83 [[ 8.01070972e-01 -5.88428066e-01 -1.09716493e-01 4.01118851e+02] [ 5.84011836e-01 8.08525659e-01 -7.22248847e-02 7.05558672e+01] [ 1.31207749e-01 -6.21847185e-03 9.91335391e-01 2.38264384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.95925415399995 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:401.14, Y:70.57, Z:23.83 [[ 7.98229597e-01 -5.92292630e-01 -1.09630977e-01 4.01141649e+02] [ 5.87913219e-01 8.05694155e-01 -7.22147886e-02 7.05708047e+01] [ 1.31101325e-01 -6.80951914e-03 9.91345587e-01 2.38295105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.9892541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:401.16, Y:70.59, Z:23.83 [[ 7.96803305e-01 -5.94190896e-01 -1.09734549e-01 4.01164368e+02] [ 5.89816624e-01 8.04292699e-01 -7.23160080e-02 7.05859187e+01] [ 1.31228210e-01 -7.10162708e-03 9.91326749e-01 2.38330038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.01925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:401.19, Y:70.60, Z:23.84 [[ 7.95893650e-01 -5.95541788e-01 -1.09010443e-01 4.01186482e+02] [ 5.91232072e-01 8.03291706e-01 -7.18823491e-02 7.06008665e+01] [ 1.30376128e-01 -7.23976505e-03 9.91438173e-01 2.38360011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.0492541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:401.21, Y:70.61, Z:23.84 [[ 7.93988728e-01 -5.96642456e-01 -1.16617667e-01 4.01211972e+02] [ 5.93438647e-01 8.02302756e-01 -6.43495126e-02 7.06128331e+01] [ 1.31956327e-01 -1.81126430e-02 9.91090036e-01 2.38415040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.07925415399995 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:401.23, Y:70.64, Z:23.85 [[ 7.93632807e-01 -5.99668778e-01 -1.02685567e-01 4.01228274e+02] [ 5.94315409e-01 8.00244552e-01 -7.99865675e-02 7.06369032e+01] [ 1.30139013e-01 2.45234906e-03 9.91492725e-01 2.38452278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.1092541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:401.25, Y:70.65, Z:23.85 [[ 7.92976121e-01 -5.99421818e-01 -1.09006221e-01 4.01252935e+02] [ 5.95139205e-01 8.00395126e-01 -7.19511514e-02 7.06483898e+01] [ 1.30377138e-01 -7.81833076e-03 9.91433647e-01 2.38460601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.13925415399996 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:401.27, Y:70.66, Z:23.85 [[ 7.92763717e-01 -5.99886095e-01 -1.07992414e-01 4.01274804e+02] [ 5.95683125e-01 8.00047452e-01 -7.13140266e-02 7.06648101e+01] [ 1.29179349e-01 -7.79408593e-03 9.91590615e-01 2.38495164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.16925415399993 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:401.30, Y:70.68, Z:23.85 [[ 7.92347840e-01 -6.00369361e-01 -1.08358343e-01 4.01295634e+02] [ 5.96136433e-01 7.99684178e-01 -7.16000618e-02 7.06817223e+01] [ 1.29638936e-01 -7.86420171e-03 9.91530081e-01 2.38521062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.19925415399996 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:401.32, Y:70.70, Z:23.86 [[ 7.91742041e-01 -6.00923922e-01 -1.09704059e-01 4.01318534e+02] [ 5.96587139e-01 7.99265812e-01 -7.25117040e-02 7.06974797e+01] [ 1.31256721e-01 -8.03746590e-03 9.91315829e-01 2.38551128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.22925415399993 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:401.34, Y:70.71, Z:23.86 [[ 7.91602373e-01 -6.01290431e-01 -1.08699130e-01 4.01339806e+02] [ 5.97030662e-01 7.98990626e-01 -7.18913655e-02 7.07137974e+01] [ 1.30077176e-01 -7.98733833e-03 9.91471699e-01 2.38583799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.25925415399996 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:401.36, Y:70.73, Z:23.86 [[ 7.91132687e-01 -6.01802080e-01 -1.09285531e-01 4.01362124e+02] [ 5.97497995e-01 7.98604206e-01 -7.23012252e-02 7.07299051e+01] [ 1.30786913e-01 -8.09802334e-03 9.91377428e-01 2.38613591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.28925415399993 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:401.38, Y:70.75, Z:23.86 [[ 7.90459919e-01 -6.02642216e-01 -1.09523859e-01 4.01382381e+02] [ 5.98321471e-01 7.97969166e-01 -7.25026059e-02 7.07475128e+01] [ 1.31089793e-01 -8.22007231e-03 9.91336419e-01 2.38643374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.31925415399996 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:401.40, Y:70.76, Z:23.87 [[ 7.90160078e-01 -6.02996103e-01 -1.09739472e-01 4.01404918e+02] [ 5.98658743e-01 7.97701184e-01 -7.26672526e-02 7.07644618e+01] [ 1.31357377e-01 -8.27773274e-03 9.91300519e-01 2.38675405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.34925415399994 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:401.43, Y:70.78, Z:23.87 [[ 7.90233391e-01 -6.02839159e-01 -1.10073322e-01 4.01425253e+02] [ 5.98467810e-01 7.97820175e-01 -7.29331733e-02 7.07826751e+01] [ 1.31785690e-01 -8.24111093e-03 9.91243974e-01 2.38708966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.37925415399997 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:401.45, Y:70.80, Z:23.87 [[ 7.90339439e-01 -6.02675568e-01 -1.10207674e-01 4.01447113e+02] [ 5.98288944e-01 7.97944122e-01 -7.30446298e-02 7.07999371e+01] [ 1.31961779e-01 -8.20598110e-03 9.91220839e-01 2.38743122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.40925415399994 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:401.47, Y:70.82, Z:23.88 [[ 7.90828968e-01 -6.02012954e-01 -1.10317485e-01 4.01468964e+02] [ 5.97604980e-01 7.98445578e-01 -7.31638410e-02 7.08169002e+01] [ 1.32128088e-01 -8.06619337e-03 9.91199831e-01 2.38775461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.43925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:401.49, Y:70.83, Z:23.88 [[ 7.91578255e-01 -6.01067248e-01 -1.10100094e-01 4.01489944e+02] [ 5.96661384e-01 7.99159852e-01 -7.30665682e-02 7.08344149e+01] [ 1.31905496e-01 -7.85456762e-03 9.91231177e-01 2.38816251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.46925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:401.51, Y:70.85, Z:23.89 [[ 7.94224789e-01 -5.97730476e-01 -1.09202852e-01 4.01510160e+02] [ 5.93358823e-01 8.01664785e-01 -7.25181374e-02 7.08546142e+01] [ 1.30890382e-01 -7.20077343e-03 9.91370696e-01 2.38861159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.49925415399997 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:401.53, Y:70.88, Z:23.89 [[ 7.98733483e-01 -5.95511862e-01 -8.59676970e-02 4.01531369e+02] [ 5.88798837e-01 8.03019619e-01 -9.20620488e-02 7.08843339e+01] [ 1.23857789e-01 2.29153609e-02 9.92035349e-01 2.38881705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.52925415399994 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:401.56, Y:70.88, Z:23.89 [[ 7.97467596e-01 -5.90185908e-01 -1.25403456e-01 4.01562533e+02] [ 5.89619766e-01 8.06392496e-01 -4.56034441e-02 7.08787541e+01] [ 1.28038916e-01 -3.75730874e-02 9.91057162e-01 2.38864809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.559254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:401.57, Y:70.91, Z:23.90 [[ 7.99331326e-01 -5.91205889e-01 -1.07447794e-01 4.01574603e+02] [ 5.86896716e-01 8.06499003e-01 -7.14954671e-02 7.09088765e+01] [ 1.28925080e-01 -5.91219092e-03 9.91636713e-01 2.38983881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.58925415399995 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:401.59, Y:70.93, Z:23.90 [[ 8.02882006e-01 -5.86517983e-01 -1.06663678e-01 4.01594539e+02] [ 5.82224606e-01 8.09920258e-01 -7.10189002e-02 7.09287610e+01] [ 1.28042936e-01 -5.08242112e-03 9.91755603e-01 2.39026299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6192541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:401.62, Y:70.95, Z:23.91 [[ 8.04107246e-01 -5.84848194e-01 -1.06602657e-01 4.01615768e+02] [ 5.80539245e-01 8.11128706e-01 -7.10239881e-02 7.09461424e+01] [ 1.28006726e-01 -4.77612245e-03 9.91761799e-01 2.39061948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.64925415399995 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:401.64, Y:70.96, Z:23.91 [[ 8.05014309e-01 -5.83663416e-01 -1.06249612e-01 4.01637142e+02] [ 5.79366869e-01 8.11983039e-01 -7.08348449e-02 7.09633682e+01] [ 1.27616590e-01 -4.53444138e-03 9.91813211e-01 2.39093797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6792541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:401.66, Y:70.98, Z:23.91 [[ 8.05735478e-01 -5.82568612e-01 -1.06790221e-01 4.01657507e+02] [ 5.78212488e-01 8.12769912e-01 -7.12417652e-02 7.09819125e+01] [ 1.28299095e-01 -4.34542175e-03 9.91726000e-01 2.39128574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.70925415399995 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:401.68, Y:71.00, Z:23.92 [[ 8.05605994e-01 -5.82568755e-01 -1.07761903e-01 4.01679530e+02] [ 5.78126786e-01 8.12769792e-01 -7.19352712e-02 7.09980275e+01] [ 1.29492861e-01 -4.34855678e-03 9.91570819e-01 2.39155565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7392541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:401.70, Y:71.01, Z:23.92 [[ 8.05077695e-01 -5.83208956e-01 -1.08246105e-01 4.01700468e+02] [ 5.78729915e-01 8.12309956e-01 -7.22787697e-02 7.10146485e+01] [ 1.30083015e-01 -4.45523405e-03 9.91493096e-01 2.39191325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.76925415399995 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:401.72, Y:71.03, Z:23.92 [[ 8.04385719e-01 -5.84086256e-01 -1.08659382e-01 4.01722241e+02] [ 5.79577875e-01 8.11678578e-01 -7.25766706e-02 7.10310874e+01] [ 1.30587528e-01 -4.59693616e-03 9.91426127e-01 2.39224999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7992541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:401.75, Y:71.05, Z:23.92 [[ 8.04578642e-01 -5.84582966e-01 -1.04479490e-01 4.01747895e+02] [ 5.79632425e-01 8.11333767e-01 -7.59194999e-02 7.10501810e+01] [ 1.29148985e-01 5.23507764e-04 9.91625063e-01 2.39246298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.82925415399995 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:401.77, Y:71.07, Z:23.93 [[ 8.06141805e-01 -5.85211491e-01 -8.75379985e-02 4.01771020e+02] [ 5.78654932e-01 8.10583372e-01 -9.00725626e-02 7.10748021e+01] [ 1.23668345e-01 2.19569636e-02 9.92080658e-01 2.39258112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.8592541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:401.80, Y:71.09, Z:23.92 [[ 8.06779026e-01 -5.83833302e-01 -9.08090273e-02 4.01802180e+02] [ 5.78602560e-01 8.11799179e-01 -7.87475100e-02 7.10886163e+01] [ 1.19694113e-01 1.09895037e-02 9.92749994e-01 2.39222316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.88925415399996 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:401.83, Y:71.08, Z:23.92 [[ 8.01017207e-01 -5.82220657e-01 -1.39249922e-01 4.01829414e+02] [ 5.84564404e-01 8.10873376e-01 -2.77277263e-02 7.10782722e+01] [ 1.29057709e-01 -5.91901618e-02 9.89868998e-01 2.39220666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.91925415399993 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:401.84, Y:71.12, Z:23.94 [[ 8.00972108e-01 -5.88825713e-01 -1.08295720e-01 4.01835281e+02] [ 5.84351216e-01 8.08243903e-01 -7.26322995e-02 7.11162841e+01] [ 1.30297121e-01 -5.10628945e-03 9.91461843e-01 2.39415486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.94925415399996 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:401.86, Y:71.16, Z:23.95 [[ 8.07078423e-01 -5.87347206e-01 -6.03960134e-02 4.01857012e+02] [ 5.78738505e-01 8.07195485e-01 -1.16177413e-01 7.11568788e+01] [ 1.16987868e-01 5.88107847e-02 9.91390503e-01 2.39455313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.97925415399993 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:401.90, Y:71.12, Z:23.93 [[ 8.00869165e-01 -5.80826759e-01 -1.45769875e-01 4.01901923e+02] [ 5.85017246e-01 8.10848098e-01 -1.67387091e-02 7.11243778e+01] [ 1.27919516e-01 -7.18723749e-02 9.89176910e-01 2.39308746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.00925415399996 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:401.90, Y:71.17, Z:23.95 [[ 8.00931076e-01 -5.88914815e-01 -1.08114532e-01 4.01903846e+02] [ 5.84437466e-01 8.08179670e-01 -7.26530713e-02 7.11659512e+01] [ 1.30162437e-01 -4.99608031e-03 9.91480095e-01 2.39531740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.03925415399993 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:401.93, Y:71.18, Z:23.96 [[ 8.00775424e-01 -5.89162144e-01 -1.07919821e-01 4.01926988e+02] [ 5.84700348e-01 8.07999304e-01 -7.25439728e-02 7.11819290e+01] [ 1.29939303e-01 -5.00932649e-03 9.91509296e-01 2.39565008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.06925415399996 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:401.95, Y:71.20, Z:23.96 [[ 8.00475562e-01 -5.89685733e-01 -1.07282859e-01 4.01949953e+02] [ 5.85275339e-01 8.07617157e-01 -7.21616638e-02 7.11974973e+01] [ 1.29196181e-01 -5.02636299e-03 9.91606314e-01 2.39600896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.09925415399994 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:401.97, Y:71.21, Z:23.96 [[ 8.00400361e-01 -5.89892964e-01 -1.06703108e-01 4.01971704e+02] [ 5.85526284e-01 8.07465998e-01 -7.18166634e-02 7.12124629e+01] [ 1.28523276e-01 -4.99539085e-03 9.91693911e-01 2.39631993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.12925415399997 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:401.99, Y:71.23, Z:23.97 [[ 8.00213062e-01 -5.90216291e-01 -1.06319260e-01 4.01994767e+02] [ 5.85881220e-01 8.07229590e-01 -7.15792196e-02 7.12285083e+01] [ 1.28071274e-01 -5.01183142e-03 9.91752303e-01 2.39667291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.15925415399994 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:402.02, Y:71.24, Z:23.97 [[ 8.00544519e-01 -5.89791627e-01 -1.06180549e-01 4.02017395e+02] [ 5.85458334e-01 8.07540602e-01 -7.15312240e-02 7.12427864e+01] [ 1.27933621e-01 -4.90035781e-03 9.91770626e-01 2.39693765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.18925415399997 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:402.04, Y:71.26, Z:23.97 [[ 8.00852338e-01 -5.89452952e-01 -1.05739061e-01 4.02039570e+02] [ 5.85150257e-01 8.07788391e-01 -7.12537092e-02 7.12572924e+01] [ 1.27415495e-01 -4.80953887e-03 9.91837769e-01 2.39720769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.21925415399994 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:402.06, Y:71.27, Z:23.97 [[ 8.01396236e-01 -5.88690888e-01 -1.05863650e-01 4.02063590e+02] [ 5.84368756e-01 8.08344705e-01 -7.13582134e-02 7.12718583e+01] [ 1.27582251e-01 -4.67720586e-03 9.91816965e-01 2.39742014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.24925415399997 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:402.09, Y:71.29, Z:23.98 [[ 8.01228695e-01 -5.89013740e-01 -1.05334672e-01 4.02085623e+02] [ 5.84732106e-01 8.08109529e-01 -7.10447308e-02 7.12879033e+01] [ 1.26968275e-01 -4.66948765e-03 9.91895787e-01 2.39783118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.27925415399994 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:402.11, Y:71.30, Z:23.98 [[ 8.01121040e-01 -5.89163863e-01 -1.05313917e-01 4.02108956e+02] [ 5.84879484e-01 8.08000164e-01 -7.10754848e-02 7.13037715e+01] [ 1.26968769e-01 -4.65588280e-03 9.91895788e-01 2.39818304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.309254154 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:402.13, Y:71.32, Z:23.98 [[ 8.02103093e-01 -5.87923837e-01 -1.04767312e-01 4.02132013e+02] [ 5.83669884e-01 8.08904251e-01 -7.07345761e-02 7.13180439e+01] [ 1.26333268e-01 -4.41310276e-03 9.91978039e-01 2.39847824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.33925415399995 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:402.16, Y:71.35, Z:23.99 [[ 8.08476986e-01 -5.84892573e-01 -6.53118846e-02 4.02159810e+02] [ 5.77337768e-01 8.09743719e-01 -1.04862818e-01 7.13539070e+01] [ 1.14219372e-01 4.70721573e-02 9.92339734e-01 2.39874270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.3692541539999 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:402.20, Y:71.35, Z:23.97 [[ 8.10225924e-01 -5.79271400e-01 -8.93229960e-02 4.02199407e+02] [ 5.75585945e-01 8.15133435e-01 -6.52556730e-02 7.13517385e+01] [ 1.10610906e-01 1.45877691e-03 9.93862717e-01 2.39737992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.39925415399995 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:402.22, Y:71.34, Z:23.98 [[ 8.03119503e-01 -5.78608757e-01 -1.42165291e-01 4.02221607e+02] [ 5.82523761e-01 8.12643232e-01 -1.66446867e-02 7.13399726e+01] [ 1.25160423e-01 -6.94469871e-02 9.89702978e-01 2.39779410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4292541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:402.22, Y:71.38, Z:24.00 [[ 8.03275240e-01 -5.86059338e-01 -1.06223072e-01 4.02224564e+02] [ 5.81656064e-01 8.10257804e-01 -7.18227951e-02 7.13798026e+01] [ 1.28160492e-01 -4.09182080e-03 9.91745000e-01 2.39991044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.45925415399995 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:402.25, Y:71.39, Z:24.00 [[ 8.03375210e-01 -5.85859633e-01 -1.06568112e-01 4.02247593e+02] [ 5.81423140e-01 8.10402392e-01 -7.20770108e-02 7.13944403e+01] [ 1.28590064e-01 -4.05628263e-03 9.91689539e-01 2.40020303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.4892541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:402.27, Y:71.41, Z:24.00 [[ 8.03514582e-01 -5.85589573e-01 -1.07000785e-01 4.02270952e+02] [ 5.81108524e-01 8.10597874e-01 -7.24152652e-02 7.14088929e+01] [ 1.29140233e-01 -3.99234662e-03 9.91618304e-01 2.40042874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.51925415399995 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:402.29, Y:71.42, Z:24.01 [[ 8.03211384e-01 -5.85970019e-01 -1.07194261e-01 4.02293669e+02] [ 5.81470109e-01 8.10322742e-01 -7.25917724e-02 7.14242225e+01] [ 1.29398550e-01 -4.02372050e-03 9.91584502e-01 2.40077895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.5492541539999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:402.32, Y:71.44, Z:24.01 [[ 8.02879105e-01 -5.86285423e-01 -1.07956223e-01 4.02317317e+02] [ 5.81717858e-01 8.10094357e-01 -7.31537220e-02 7.14388618e+01] [ 1.30343688e-01 -4.06646767e-03 9.91460532e-01 2.40111645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.57925415399995 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:402.34, Y:71.45, Z:24.01 [[ 8.02539074e-01 -5.86778552e-01 -1.07805223e-01 4.02339483e+02] [ 5.82222231e-01 8.09737052e-01 -7.30970577e-02 7.14534285e+01] [ 1.30185669e-01 -4.10335224e-03 9.91481142e-01 2.40146503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.6092541539999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:402.36, Y:71.47, Z:24.02 [[ 8.02088027e-01 -5.87472154e-01 -1.07383728e-01 4.02362792e+02] [ 5.82954882e-01 8.09233578e-01 -7.28328340e-02 7.14684893e+01] [ 1.29685780e-01 -4.18152434e-03 9.91546324e-01 2.40178445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.63925415399996 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:402.39, Y:71.48, Z:24.02 [[ 8.01396624e-01 -5.88451663e-01 -1.07182512e-01 4.02385790e+02] [ 5.83954078e-01 8.08520995e-01 -7.27422504e-02 7.14832140e+01] [ 1.29464609e-01 -4.29427098e-03 9.91574745e-01 2.40216123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.66925415399993 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:402.41, Y:71.50, Z:24.03 [[ 8.00538755e-01 -5.89678383e-01 -1.06850861e-01 4.02409161e+02] [ 5.85213636e-01 8.07625952e-01 -7.25625412e-02 7.14983213e+01] [ 1.29084090e-01 -4.44145441e-03 9.91623704e-01 2.40250209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.69925415399996 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:402.43, Y:71.51, Z:24.03 [[ 7.99025503e-01 -5.91818228e-01 -1.06345805e-01 4.02432002e+02] [ 5.87408680e-01 8.06057591e-01 -7.22648042e-02 7.15117394e+01] [ 1.28488471e-01 -4.72702726e-03 9.91699737e-01 2.40278480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.72925415399993 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:402.45, Y:71.53, Z:24.03 [[ 7.98456291e-01 -5.92588823e-01 -1.06329856e-01 4.02454433e+02] [ 5.88184777e-01 8.05490609e-01 -7.22741111e-02 7.15262820e+01] [ 1.28476531e-01 -4.83388383e-03 9.91700769e-01 2.40311464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.75925415399996 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:402.48, Y:71.56, Z:24.03 [[ 8.01891054e-01 -5.92326711e-01 -7.82291788e-02 4.02479832e+02] [ 5.85248591e-01 8.05073282e-01 -9.66493569e-02 7.15560829e+01] [ 1.20228217e-01 3.17187381e-02 9.92239436e-01 2.40342990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.78925415399993 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:402.51, Y:71.54, Z:24.03 [[ 7.97096067e-01 -5.90219527e-01 -1.27588284e-01 4.02513930e+02] [ 5.90540512e-01 8.06045819e-01 -3.93959619e-02 7.15433036e+01] [ 1.26094269e-01 -4.39436843e-02 9.91044493e-01 2.40282835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.81925415399996 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:402.52, Y:71.57, Z:24.04 [[ 7.96927175e-01 -5.94832218e-01 -1.05269700e-01 4.02524830e+02] [ 5.90520074e-01 8.03834041e-01 -7.16720128e-02 7.15732696e+01] [ 1.27252191e-01 -5.04649668e-03 9.91857557e-01 2.40425623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.84925415399994 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:402.55, Y:71.59, Z:24.05 [[ 7.96806847e-01 -5.95097827e-01 -1.04677721e-01 4.02547521e+02] [ 5.90833895e-01 8.03637444e-01 -7.12893186e-02 7.15883543e+01] [ 1.26547055e-01 -5.04332841e-03 9.91947785e-01 2.40457034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.87925415399997 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:402.57, Y:71.60, Z:24.05 [[ 7.96756986e-01 -5.95126402e-01 -1.04894569e-01 4.02569489e+02] [ 5.90839367e-01 8.03616410e-01 -7.14808144e-02 7.16028575e+01] [ 1.26835117e-01 -5.02300250e-03 9.91911096e-01 2.40491332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.90925415399994 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:402.59, Y:71.62, Z:24.05 [[ 7.96681138e-01 -5.95222517e-01 -1.04925305e-01 4.02592573e+02] [ 5.90931243e-01 8.03545218e-01 -7.15216641e-02 7.16180872e+01] [ 1.26883532e-01 -5.02368033e-03 9.91904901e-01 2.40526353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.93925415399997 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:402.62, Y:71.63, Z:24.06 [[ 7.96666800e-01 -5.95210245e-01 -1.05103633e-01 4.02615138e+02] [ 5.90898667e-01 8.03554485e-01 -7.16865033e-02 7.16328462e+01] [ 1.27125037e-01 -4.99533939e-03 9.91874121e-01 2.40555853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.96925415399994 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:402.64, Y:71.65, Z:24.06 [[ 7.96422220e-01 -5.95538745e-01 -1.05096390e-01 4.02637705e+02] [ 5.91228070e-01 8.03310829e-01 -7.17013313e-02 7.16481282e+01] [ 1.27125989e-01 -5.03140262e-03 9.91873816e-01 2.40589538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.99925415399997 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:402.66, Y:71.66, Z:24.06 [[ 7.96391345e-01 -5.95659314e-01 -1.04646108e-01 4.02660991e+02] [ 5.91380957e-01 8.03221674e-01 -7.14388330e-02 7.16636417e+01] [ 1.26607228e-01 -4.99244719e-03 9.91940364e-01 2.40620822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.02925415399994 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:402.68, Y:71.68, Z:24.07 [[ 7.96466550e-01 -5.95516067e-01 -1.04888743e-01 4.02684128e+02] [ 5.91210686e-01 8.03328182e-01 -7.16502471e-02 7.16790330e+01] [ 1.26928956e-01 -4.94432031e-03 9.91899488e-01 2.40652830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.059254154 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:402.71, Y:71.69, Z:24.07 [[ 7.96594308e-01 -5.95301178e-01 -1.05138075e-01 4.02706244e+02] [ 5.90967509e-01 8.03487800e-01 -7.18662589e-02 7.16942230e+01] [ 1.27259229e-01 -4.88493337e-03 9.91857463e-01 2.40683626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.08925415399995 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:402.73, Y:71.71, Z:24.07 [[ 7.96659790e-01 -5.95151902e-01 -1.05486453e-01 4.02729532e+02] [ 5.90783951e-01 8.03598578e-01 -7.21363171e-02 7.17100700e+01] [ 1.27700830e-01 -4.85160048e-03 9.91800867e-01 2.40716970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1192541539999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:402.75, Y:71.73, Z:24.07 [[ 7.97661200e-01 -5.93795019e-01 -1.05565548e-01 4.02753038e+02] [ 5.89402728e-01 8.04603201e-01 -7.22365035e-02 7.17257589e+01] [ 1.27832054e-01 -4.60036593e-03 9.91785160e-01 2.40744950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.14925415399995 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:402.78, Y:71.74, Z:24.08 [[ 7.98286682e-01 -5.92966083e-01 -1.05496908e-01 4.02775299e+02] [ 5.88566457e-01 8.05215263e-01 -7.22350674e-02 7.17406297e+01] [ 1.27780665e-01 -4.42764903e-03 9.91792568e-01 2.40769565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1792541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:402.80, Y:71.76, Z:24.08 [[ 7.98740635e-01 -5.92312533e-01 -1.05732024e-01 4.02796705e+02] [ 5.87884906e-01 8.05696736e-01 -7.24162015e-02 7.17558964e+01] [ 1.28080970e-01 -4.31649788e-03 9.91754321e-01 2.40807434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.20925415399995 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:402.82, Y:71.77, Z:24.08 [[ 7.99430767e-01 -5.91471415e-01 -1.05223639e-01 4.02819270e+02] [ 5.87076553e-01 8.06315315e-01 -7.20883808e-02 7.17717619e+01] [ 1.27481648e-01 -4.14466154e-03 9.91832270e-01 2.40834855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2392541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:402.84, Y:71.79, Z:24.09 [[ 7.99203994e-01 -5.91783775e-01 -1.05190018e-01 4.02841485e+02] [ 5.87388671e-01 8.06086028e-01 -7.21100848e-02 7.17881685e+01] [ 1.27465782e-01 -4.15675738e-03 9.91834258e-01 2.40882871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.26925415399995 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:402.86, Y:71.80, Z:24.09 [[ 7.99833823e-01 -5.91003479e-01 -1.04789040e-01 4.02863384e+02] [ 5.86629406e-01 8.06659192e-01 -7.18810747e-02 7.18032975e+01] [ 1.27011008e-01 -3.97941748e-03 9.91893325e-01 2.40912817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2992541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:402.89, Y:71.82, Z:24.09 [[ 7.99969551e-01 -5.90811147e-01 -1.04837523e-01 4.02885852e+02] [ 5.86428680e-01 8.06800294e-01 -7.19353085e-02 7.18188467e+01] [ 1.27083127e-01 -3.93367404e-03 9.91884270e-01 2.40948491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.32925415399995 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:402.91, Y:71.83, Z:24.10 [[ 8.00540991e-01 -5.90156124e-01 -1.04162718e-01 4.02907848e+02] [ 5.85818848e-01 8.07280343e-01 -7.15173090e-02 7.18339859e+01] [ 1.26294892e-01 -3.76794573e-03 9.91985586e-01 2.40975832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.3592541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:402.93, Y:71.85, Z:24.10 [[ 8.00970483e-01 -5.89563299e-01 -1.04218053e-01 4.02930541e+02] [ 5.85213795e-01 8.07713887e-01 -7.15757717e-02 7.18500056e+01] [ 1.26376816e-01 -3.65976177e-03 9.91975557e-01 2.41012883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.38925415399996 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:402.95, Y:71.87, Z:24.10 [[ 8.01347705e-01 -5.89107202e-01 -1.03896871e-01 4.02953377e+02] [ 5.84774969e-01 8.08047137e-01 -7.14006946e-02 7.18660493e+01] [ 1.26016232e-01 -3.53950652e-03 9.92021865e-01 2.41041250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.41925415399993 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:402.97, Y:71.88, Z:24.11 [[ 8.01768573e-01 -5.88555986e-01 -1.03773830e-01 4.02974740e+02] [ 5.84223704e-01 8.08449263e-01 -7.13614213e-02 7.18820333e+01] [ 1.25896068e-01 -3.41178664e-03 9.92037570e-01 2.41082768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.44925415399996 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:403.00, Y:71.90, Z:24.11 [[ 8.02761132e-01 -5.87246803e-01 -1.03516938e-01 4.02996634e+02] [ 5.82922631e-01 8.09401673e-01 -7.12049066e-02 7.18983134e+01] [ 1.25601636e-01 -3.18183424e-03 9.92075655e-01 2.41118880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.47925415399993 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:403.02, Y:71.91, Z:24.11 [[ 8.03071492e-01 -5.86885244e-01 -1.03159538e-01 4.03019875e+02] [ 5.82582295e-01 8.09664277e-01 -7.10044223e-02 7.19143152e+01] [ 1.25196040e-01 -3.07729297e-03 9.92127251e-01 2.41149997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.50925415399996 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:403.04, Y:71.93, Z:24.12 [[ 8.03238944e-01 -5.86698831e-01 -1.02915890e-01 4.03042835e+02] [ 5.82409067e-01 8.09799640e-01 -7.08817500e-02 7.19301379e+01] [ 1.24927491e-01 -3.00416564e-03 9.92161326e-01 2.41187260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.53925415399993 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:403.06, Y:71.95, Z:24.12 [[ 8.03290127e-01 -5.86656051e-01 -1.02760158e-01 4.03064948e+02] [ 5.82373323e-01 8.09830809e-01 -7.08193056e-02 7.19452335e+01] [ 1.24764916e-01 -2.95632549e-03 9.92181927e-01 2.41217190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.56925415399996 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:403.09, Y:71.96, Z:24.12 [[ 8.03203715e-01 -5.86799288e-01 -1.02617678e-01 4.03086758e+02] [ 5.82527187e-01 8.09727018e-01 -7.07406044e-02 7.19601250e+01] [ 1.24602843e-01 -2.95847119e-03 9.92202287e-01 2.41248082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.59925415399994 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:403.11, Y:71.97, Z:24.13 [[ 8.02849548e-01 -5.87310094e-01 -1.02466859e-01 4.03109416e+02] [ 5.83052317e-01 8.09356379e-01 -7.06558349e-02 7.19748090e+01] [ 1.24429091e-01 -3.01753456e-03 9.92223914e-01 2.41281542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.62925415399997 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:403.13, Y:71.99, Z:24.13 [[ 8.02295938e-01 -5.88089336e-01 -1.02333575e-01 4.03132159e+02] [ 5.83846578e-01 8.08789965e-01 -7.05830513e-02 7.19898908e+01] [ 1.24275508e-01 -3.11861223e-03 9.92242849e-01 2.41308298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.65925415399994 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:403.16, Y:72.00, Z:24.13 [[ 8.01675350e-01 -5.88913618e-01 -1.02456736e-01 4.03155041e+02] [ 5.84661825e-01 8.08189591e-01 -7.07116306e-02 7.20049773e+01] [ 1.24447510e-01 -3.21477081e-03 9.92220985e-01 2.41340861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.68925415399997 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:403.18, Y:72.02, Z:24.14 [[ 8.00952389e-01 -5.89884393e-01 -1.02526457e-01 4.03178598e+02] [ 5.85629243e-01 8.07480834e-01 -7.08031912e-02 7.20201830e+01] [ 1.24553846e-01 -3.33250619e-03 9.92207253e-01 2.41368274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.71925415399994 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:403.20, Y:72.03, Z:24.14 [[ 8.00217325e-01 -5.90834713e-01 -1.02793846e-01 4.03200614e+02] [ 5.86559584e-01 8.06785232e-01 -7.10312904e-02 7.20346919e+01] [ 1.24900309e-01 -3.45424616e-03 9.92163283e-01 2.41404807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.74925415399997 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:403.23, Y:72.05, Z:24.14 [[ 7.99395792e-01 -5.91867108e-01 -1.03245796e-01 4.03225421e+02] [ 5.87560267e-01 8.06027452e-01 -7.13630125e-02 7.20486624e+01] [ 1.25456366e-01 -3.61583547e-03 9.92092549e-01 2.41418455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.77925415399994 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:403.25, Y:72.06, Z:24.15 [[ 7.98764344e-01 -5.92743856e-01 -1.03103075e-01 4.03248359e+02] [ 5.88450758e-01 8.05382477e-01 -7.13075808e-02 7.20645554e+01] [ 1.25304540e-01 -3.71312974e-03 9.92111377e-01 2.41469511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.809254154 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:403.27, Y:72.08, Z:24.15 [[ 7.98253063e-01 -5.93397124e-01 -1.03304887e-01 4.03271971e+02] [ 5.89087086e-01 8.04900928e-01 -7.14905676e-02 7.20798237e+01] [ 1.25572497e-01 -3.78801044e-03 9.92077214e-01 2.41501829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.83925415399995 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:403.30, Y:72.10, Z:24.15 [[ 7.98133866e-01 -5.93578417e-01 -1.03184279e-01 4.03295362e+02] [ 5.89274449e-01 8.04767296e-01 -7.14508413e-02 7.20953270e+01] [ 1.25451011e-01 -3.77652325e-03 9.92092628e-01 2.41533865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.8692541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:403.32, Y:72.11, Z:24.16 [[ 7.97993008e-01 -5.93758975e-01 -1.03234871e-01 4.03317286e+02] [ 5.89446573e-01 8.04634118e-01 -7.15309293e-02 7.21100749e+01] [ 1.25538431e-01 -3.77025945e-03 9.92081593e-01 2.41565391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.89925415399995 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:403.34, Y:72.13, Z:24.16 [[ 7.97906005e-01 -5.93895128e-01 -1.03124120e-01 4.03339959e+02] [ 5.89589232e-01 8.04533667e-01 -7.14850820e-02 7.21252225e+01] [ 1.25421468e-01 -3.76249451e-03 9.92096416e-01 2.41594937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9292541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:403.36, Y:72.14, Z:24.16 [[ 7.98296090e-01 -5.93374814e-01 -1.03100354e-01 4.03362529e+02] [ 5.89061016e-01 8.04918040e-01 -7.15127223e-02 7.21399621e+01] [ 1.25421183e-01 -3.64407284e-03 9.92096894e-01 2.41616962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.95925415399995 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:403.39, Y:72.16, Z:24.17 [[ 7.99581098e-01 -5.91612773e-01 -1.03268554e-01 4.03385397e+02] [ 5.87267691e-01 8.06215267e-01 -7.16491626e-02 7.21553660e+01] [ 1.25645244e-01 -3.35696888e-03 9.92069556e-01 2.41654381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.9892541539999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:403.41, Y:72.17, Z:24.17 [[ 8.00516508e-01 -5.90374899e-01 -1.03105772e-01 4.03407467e+02] [ 5.86027575e-01 8.07123127e-01 -7.15817020e-02 7.21713774e+01] [ 1.25479093e-01 -3.12049116e-03 9.92091357e-01 2.41689896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.01925415399995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:403.43, Y:72.19, Z:24.17 [[ 8.01924787e-01 -5.88427004e-01 -1.03297135e-01 4.03430212e+02] [ 5.84041571e-01 8.08545554e-01 -7.17602274e-02 7.21877343e+01] [ 1.25746095e-01 -2.78351595e-03 9.92058553e-01 2.41729279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.0492541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:403.45, Y:72.20, Z:24.18 [[ 8.03364755e-01 -5.86414128e-01 -1.03554534e-01 4.03453110e+02] [ 5.81984257e-01 8.10007735e-01 -7.19846773e-02 7.22042328e+01] [ 1.26092805e-01 -2.43715570e-03 9.92015456e-01 2.41758828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.07925415399995 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:403.48, Y:72.22, Z:24.18 [[ 8.04683739e-01 -5.84642577e-01 -1.03330232e-01 4.03475561e+02] [ 5.80211598e-01 8.11288219e-01 -7.18743895e-02 7.22210121e+01] [ 1.25851428e-01 -2.11724656e-03 9.92046841e-01 2.41801614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.1092541539999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:403.50, Y:72.24, Z:24.18 [[ 8.07041079e-01 -5.81404029e-01 -1.03218461e-01 4.03497702e+02] [ 5.76950533e-01 8.13613471e-01 -7.18415067e-02 7.22366582e+01] [ 1.25748872e-01 -1.57289911e-03 9.92060859e-01 2.41837970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.13925415399996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:403.52, Y:72.25, Z:24.19 [[ 8.07574495e-01 -5.80666115e-01 -1.03200279e-01 4.03520261e+02] [ 5.76205704e-01 8.14140519e-01 -7.18484635e-02 7.22519344e+01] [ 1.25739497e-01 -1.44160277e-03 9.92062246e-01 2.41868921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.16925415399993 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:403.54, Y:72.27, Z:24.19 [[ 8.07418933e-01 -5.80884046e-01 -1.03191045e-01 4.03543348e+02] [ 5.76423713e-01 8.13985010e-01 -7.18617224e-02 7.22681154e+01] [ 1.25739292e-01 -1.45925038e-03 9.92062247e-01 2.41904090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.19925415399996 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:403.57, Y:72.28, Z:24.19 [[ 8.07748596e-01 -5.80395727e-01 -1.03358628e-01 4.03566672e+02] [ 5.75911580e-01 8.14333454e-01 -7.20199900e-02 7.22828039e+01] [ 1.25968483e-01 -1.35138511e-03 9.92033324e-01 2.41922008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.22925415399993 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:403.59, Y:72.30, Z:24.20 [[ 8.07428321e-01 -5.80866809e-01 -1.03214615e-01 4.03590193e+02] [ 5.76393423e-01 8.13997437e-01 -7.19638412e-02 7.22981447e+01] [ 1.25817839e-01 -1.38658164e-03 9.92052392e-01 2.41958451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.25925415399996 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:403.61, Y:72.31, Z:24.20 [[ 8.05932107e-01 -5.82926246e-01 -1.03297777e-01 4.03613177e+02] [ 5.78456877e-01 8.12523348e-01 -7.20655917e-02 7.23121104e+01] [ 1.25940781e-01 -1.67333542e-03 9.92036350e-01 2.41997685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.28925415399993 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:403.64, Y:72.33, Z:24.20 [[ 8.04835880e-01 -5.84393719e-01 -1.03552822e-01 4.03635750e+02] [ 5.79910447e-01 8.11468074e-01 -7.22733656e-02 7.23263584e+01] [ 1.26265910e-01 -1.88316542e-03 9.91994644e-01 2.42020091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.31925415399996 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:403.66, Y:72.34, Z:24.21 [[ 8.03443349e-01 -5.86259316e-01 -1.03820994e-01 4.03658959e+02] [ 5.81765687e-01 8.10120561e-01 -7.24800864e-02 7.23409867e+01] [ 1.26599648e-01 -2.16584870e-03 9.91951530e-01 2.42052155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.34925415399994 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:403.68, Y:72.35, Z:24.21 [[ 8.00834137e-01 -5.89607473e-01 -1.05012918e-01 4.03682427e+02] [ 5.85032230e-01 8.07685461e-01 -7.33586157e-02 7.23538776e+01] [ 1.28070195e-01 -2.68785790e-03 9.91761464e-01 2.42070815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.37925415399997 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:403.70, Y:72.37, Z:24.21 [[ 7.99339456e-01 -5.91654885e-01 -1.04885319e-01 4.03704395e+02] [ 5.87105694e-01 8.06185788e-01 -7.32897023e-02 7.23685657e+01] [ 1.27919264e-01 -2.99541732e-03 9.91780061e-01 2.42119571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.40925415399994 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:403.73, Y:72.38, Z:24.22 [[ 7.98019266e-01 -5.93403397e-01 -1.05060270e-01 4.03727686e+02] [ 5.88851285e-01 8.04898600e-01 -7.34330191e-02 7.23836184e+01] [ 1.28138267e-01 -3.26391124e-03 9.91750942e-01 2.42153956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.43925415399997 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:403.75, Y:72.40, Z:24.22 [[ 7.97150431e-01 -5.94611055e-01 -1.04827877e-01 4.03750006e+02] [ 5.90083752e-01 8.04006243e-01 -7.33152553e-02 7.23979647e+01] [ 1.27876329e-01 -3.41393972e-03 9.91784245e-01 2.42186185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.46925415399994 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:403.77, Y:72.41, Z:24.22 [[ 7.96269174e-01 -5.95808015e-01 -1.04729226e-01 4.03772946e+02] [ 5.91296891e-01 8.03118889e-01 -7.32668871e-02 7.24130382e+01] [ 1.27763018e-01 -3.58590179e-03 9.91798242e-01 2.42223908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.49925415399997 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:403.80, Y:72.43, Z:24.23 [[ 7.95541964e-01 -5.96975748e-01 -1.03599902e-01 4.03795599e+02] [ 5.92565830e-01 8.02250771e-01 -7.25219729e-02 7.24275053e+01] [ 1.26406960e-01 -3.69548928e-03 9.91971584e-01 2.42262299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.52925415399994 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:403.82, Y:72.44, Z:24.23 [[ 7.95386337e-01 -5.97238252e-01 -1.03281387e-01 4.03818915e+02] [ 5.92855119e-01 8.02055306e-01 -7.23193947e-02 7.24429484e+01] [ 1.26029293e-01 -3.70904026e-03 9.92019587e-01 2.42301673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.559254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:403.84, Y:72.46, Z:24.23 [[ 7.95568675e-01 -5.97095884e-01 -1.02698537e-01 4.03840898e+02] [ 5.92755649e-01 8.02161657e-01 -7.19542633e-02 7.24576550e+01] [ 1.25344423e-01 -3.63057991e-03 9.92106645e-01 2.42334764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.58925415399995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:403.86, Y:72.47, Z:24.24 [[ 7.95965769e-01 -5.96641887e-01 -1.02259248e-01 4.03864229e+02] [ 5.92332722e-01 8.02499850e-01 -7.16654464e-02 7.24731747e+01] [ 1.24821638e-01 -3.52825643e-03 9.92172923e-01 2.42369925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6192541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:403.89, Y:72.49, Z:24.24 [[ 7.96674263e-01 -5.95723206e-01 -1.02097897e-01 4.03886516e+02] [ 5.91414797e-01 8.03182842e-01 -7.15951121e-02 7.24878969e+01] [ 1.24654149e-01 -3.34422362e-03 9.92194618e-01 2.42394263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.64925415399995 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:403.91, Y:72.50, Z:24.24 [[ 7.98660431e-01 -5.93070103e-01 -1.02026318e-01 4.03910206e+02] [ 5.88742486e-01 8.05145590e-01 -7.15741865e-02 7.25031648e+01] [ 1.24594550e-01 -2.90375747e-03 9.92203490e-01 2.42418486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6792541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:403.94, Y:72.52, Z:24.25 [[ 8.00988682e-01 -5.90526072e-01 -9.84687238e-02 4.03936447e+02] [ 5.86032094e-01 8.07018381e-01 -7.27166923e-02 7.25201268e+01] [ 1.22407173e-01 5.39415088e-04 9.92479820e-01 2.42455808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.70925415399995 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:403.96, Y:72.53, Z:24.25 [[ 8.00283957e-01 -5.90463145e-01 -1.04397616e-01 4.03956626e+02] [ 5.86574579e-01 8.07035783e-01 -6.79963892e-02 7.25330740e+01] [ 1.24401974e-01 -6.82056836e-03 9.92208460e-01 2.42489846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7392541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:403.98, Y:72.55, Z:24.25 [[ 8.01675680e-01 -5.88996969e-01 -1.01973895e-01 4.03979111e+02] [ 5.84625516e-01 8.08132333e-01 -7.16598789e-02 7.25494294e+01] [ 1.24615853e-01 -2.16855871e-03 9.92202694e-01 2.42525965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.76925415399995 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:404.00, Y:72.56, Z:24.25 [[ 8.02195671e-01 -5.88188895e-01 -1.02547206e-01 4.04002455e+02] [ 5.83755658e-01 8.08721060e-01 -7.21081062e-02 7.25640683e+01] [ 1.25345272e-01 -2.01770106e-03 9.92111129e-01 2.42547689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7992541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:404.03, Y:72.58, Z:24.26 [[ 8.02262466e-01 -5.88058061e-01 -1.02774765e-01 4.04025315e+02] [ 5.83598186e-01 8.08816331e-01 -7.23138934e-02 7.25792868e+01] [ 1.25650677e-01 -1.96444422e-03 9.92072602e-01 2.42589368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.82925415399995 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:404.05, Y:72.59, Z:24.26 [[ 8.02366132e-01 -5.87934378e-01 -1.02673059e-01 4.04048576e+02] [ 5.83476604e-01 8.08906381e-01 -7.22877536e-02 7.25946288e+01] [ 1.25553348e-01 -1.90608252e-03 9.92085039e-01 2.42621922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.8592541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:404.07, Y:72.61, Z:24.27 [[ 8.02279813e-01 -5.87988030e-01 -1.03039693e-01 4.04072019e+02] [ 5.83492895e-01 8.08867434e-01 -7.25914279e-02 7.26103097e+01] [ 1.26028343e-01 -1.88429172e-03 9.92024852e-01 2.42655314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.88925415399996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:404.09, Y:72.63, Z:24.27 [[ 8.02521906e-01 -5.87992840e-01 -1.01108907e-01 4.04091710e+02] [ 5.82613219e-01 8.08851297e-01 -7.95073415e-02 7.26269558e+01] [ 1.28531818e-01 4.89899718e-03 9.91693285e-01 2.42697088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.91925415399993 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:404.12, Y:72.64, Z:24.27 [[ 8.02587895e-01 -5.86630060e-01 -1.08248993e-01 4.04120566e+02] [ 5.82667042e-01 8.09814952e-01 -6.85482484e-02 7.26376485e+01] [ 1.27874116e-01 -8.05712597e-03 9.91757679e-01 2.42686664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.94925415399996 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:404.14, Y:72.66, Z:24.28 [[ 8.02340892e-01 -5.87787859e-01 -1.03704033e-01 4.04140867e+02] [ 5.83218735e-01 8.09013151e-01 -7.31684907e-02 7.26558405e+01] [ 1.26905477e-01 -1.77606305e-03 9.91913225e-01 2.42752101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.97925415399993 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:404.16, Y:72.67, Z:24.28 [[ 8.02368042e-01 -5.87819747e-01 -1.03312487e-01 4.04163389e+02] [ 5.83279887e-01 8.08990063e-01 -7.29359428e-02 7.26710114e+01] [ 1.26451963e-01 -1.73862635e-03 9.91971208e-01 2.42781072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.00925415399996 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:404.19, Y:72.69, Z:24.28 [[ 8.02115204e-01 -5.88138279e-01 -1.03462860e-01 4.04185649e+02] [ 5.83585313e-01 8.08758438e-01 -7.30614202e-02 7.26859010e+01] [ 1.26646679e-01 -1.77572976e-03 9.91946302e-01 2.42815372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.03925415399993 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:404.21, Y:72.70, Z:24.28 [[ 8.00709483e-01 -5.90054851e-01 -1.03438850e-01 4.04209099e+02] [ 5.85517385e-01 8.07360527e-01 -7.30641633e-02 7.27009772e+01] [ 1.26624309e-01 -2.06207676e-03 9.91948604e-01 2.42849322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.06925415399996 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:404.23, Y:72.72, Z:24.29 [[ 7.99540016e-01 -5.91641174e-01 -1.03423808e-01 4.04231380e+02] [ 5.87112647e-01 8.06198199e-01 -7.30972250e-02 7.27164284e+01] [ 1.26627415e-01 -2.27726900e-03 9.91947736e-01 2.42884592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.09925415399994 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:404.25, Y:72.73, Z:24.29 [[ 7.98260630e-01 -5.93402913e-01 -1.03213128e-01 4.04254299e+02] [ 5.88903685e-01 8.04901608e-01 -7.29784300e-02 7.27324701e+01] [ 1.26382026e-01 -2.52678416e-03 9.91978427e-01 2.42919193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.12925415399997 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:404.28, Y:72.75, Z:24.29 [[ 7.95735474e-01 -5.96808468e-01 -1.03076230e-01 4.04276697e+02] [ 5.92344107e-01 8.02378018e-01 -7.29244451e-02 7.27464483e+01] [ 1.26228027e-01 -3.02802953e-03 9.91996631e-01 2.42949491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.15925415399994 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:404.30, Y:72.76, Z:24.30 [[ 7.94252670e-01 -5.98887967e-01 -1.02449495e-01 4.04299150e+02] [ 5.94491466e-01 8.00825960e-01 -7.25098455e-02 7.27614393e+01] [ 1.25469489e-01 -3.31421224e-03 9.92091943e-01 2.42984026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.18925415399997 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:404.32, Y:72.78, Z:24.30 [[ 7.92606229e-01 -6.01109693e-01 -1.02188562e-01 4.04322169e+02] [ 5.96751618e-01 7.99158232e-01 -7.23438092e-02 7.27767385e+01] [ 1.25151396e-01 -3.64103605e-03 9.92130975e-01 2.43016302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.21925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:404.34, Y:72.79, Z:24.30 [[ 7.91091808e-01 -6.03092740e-01 -1.02239418e-01 4.04344448e+02] [ 5.98741111e-01 7.97661443e-01 -7.24244770e-02 7.27917906e+01] [ 1.25231118e-01 -3.92053235e-03 9.92119850e-01 2.43049500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.24925415399997 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:404.37, Y:72.81, Z:24.31 [[ 7.88614176e-01 -6.06312993e-01 -1.02333943e-01 4.04367213e+02] [ 6.01977651e-01 7.95213823e-01 -7.25112675e-02 7.28067451e+01] [ 1.25341890e-01 -4.41933329e-03 9.92103765e-01 2.43084080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.27925415399994 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:404.39, Y:72.83, Z:24.31 [[ 7.87639750e-01 -6.07960680e-01 -1.00037174e-01 4.04387840e+02] [ 6.02828970e-01 7.93965103e-01 -7.88457295e-02 7.28253363e+01] [ 1.27361129e-01 1.79672385e-03 9.91854785e-01 2.43133048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.309254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:404.41, Y:72.84, Z:24.31 [[ 7.87025718e-01 -6.07752569e-01 -1.05959118e-01 4.04414478e+02] [ 6.04068835e-01 7.94053726e-01 -6.76721723e-02 7.28366622e+01] [ 1.25265169e-01 -1.07468607e-02 9.92065090e-01 2.43137195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.33925415399995 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:404.43, Y:72.86, Z:24.32 [[ 7.86600790e-01 -6.08909436e-01 -1.02413359e-01 4.04434631e+02] [ 6.04576275e-01 7.93225498e-01 -7.26693763e-02 7.28550025e+01] [ 1.25485956e-01 -4.75489805e-03 9.92084001e-01 2.43185795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.3692541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:404.46, Y:72.87, Z:24.32 [[ 7.86166751e-01 -6.09409609e-01 -1.02770462e-01 4.04456910e+02] [ 6.05045185e-01 7.92840905e-01 -7.29631663e-02 7.28714120e+01] [ 1.25945080e-01 -4.81955759e-03 9.92025508e-01 2.43216980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.39925415399995 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:404.48, Y:72.91, Z:24.32 [[ 7.90972288e-01 -6.08763040e-01 -6.14035887e-02 4.04478939e+02] [ 6.00753531e-01 7.91731915e-01 -1.10705782e-01 7.29097558e+01] [ 1.16008769e-01 5.06767833e-02 9.91954550e-01 2.43231384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4292541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:404.52, Y:72.88, Z:24.32 [[ 7.85390044e-01 -6.03495571e-01 -1.37679243e-01 4.04521296e+02] [ 6.06219296e-01 7.94871646e-01 -2.60236616e-02 7.28818509e+01] [ 1.25142491e-01 -6.30250888e-02 9.90134938e-01 2.43160774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.45925415399995 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:404.52, Y:72.92, Z:24.33 [[ 7.85561128e-01 -6.10134943e-01 -1.03097359e-01 4.04524459e+02] [ 6.05329049e-01 7.92294058e-01 -7.64648105e-02 7.29213989e+01] [ 1.28337278e-01 -2.34004365e-03 9.91727819e-01 2.43330267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.4892541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:404.55, Y:72.94, Z:24.34 [[ 7.84754938e-01 -6.10848403e-01 -1.04994834e-01 4.04549613e+02] [ 6.06583867e-01 7.91717635e-01 -7.23823028e-02 7.29376447e+01] [ 1.27340875e-01 -6.88580270e-03 9.91835111e-01 2.43355666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.51925415399995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:404.57, Y:72.95, Z:24.34 [[ 7.84624904e-01 -6.11184280e-01 -1.04007382e-01 4.04570677e+02] [ 6.06707645e-01 7.91472330e-01 -7.40093515e-02 7.29544866e+01] [ 1.27552317e-01 -5.03249342e-03 9.91819076e-01 2.43394290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.5492541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:404.59, Y:73.00, Z:24.34 [[ 7.90586187e-01 -6.10224712e-01 -5.09831485e-02 4.04590608e+02] [ 6.01552496e-01 7.89515039e-01 -1.21657704e-01 7.29989771e+01] [ 1.14490500e-01 6.55118601e-02 9.91261883e-01 2.43404386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.57925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:404.64, Y:72.96, Z:24.33 [[ 7.84352124e-01 -6.02736227e-01 -1.46631466e-01 4.04640293e+02] [ 6.07554330e-01 7.94146021e-01 -1.44856210e-02 7.29608565e+01] [ 1.25177804e-01 -7.77247547e-02 9.89085123e-01 2.43305755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.6092541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:404.64, Y:73.01, Z:24.35 [[ 7.83335640e-01 -6.12677507e-01 -1.04935921e-01 4.04638493e+02] [ 6.08120731e-01 7.90315613e-01 -7.47690288e-02 7.30068566e+01] [ 1.28741799e-01 -5.24446408e-03 9.91664280e-01 2.43501916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.63925415399996 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:404.66, Y:73.02, Z:24.35 [[ 7.83146938e-01 -6.12930557e-01 -1.04866612e-01 4.04660139e+02] [ 6.08376130e-01 7.90119366e-01 -7.47654461e-02 7.30232733e+01] [ 1.28683168e-01 -5.24601368e-03 9.91671882e-01 2.43532449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.66925415399993 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:404.68, Y:73.04, Z:24.36 [[ 7.82755630e-01 -6.13436796e-01 -1.04828055e-01 4.04682107e+02] [ 6.08887493e-01 7.89725963e-01 -7.47591067e-02 7.30401043e+01] [ 1.28645424e-01 -5.31038021e-03 9.91676437e-01 2.43565903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.69925415399996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:404.70, Y:73.06, Z:24.36 [[ 7.82579959e-01 -6.13696237e-01 -1.04620919e-01 4.04704213e+02] [ 6.09161250e-01 7.89524403e-01 -7.46578137e-02 7.30570293e+01] [ 1.28417988e-01 -5.30530123e-03 9.91705941e-01 2.43601099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.72925415399993 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:404.73, Y:73.07, Z:24.36 [[ 7.82408305e-01 -6.13896583e-01 -1.04729317e-01 4.04725489e+02] [ 6.09348041e-01 7.89368618e-01 -7.47806805e-02 7.30740464e+01] [ 1.28577640e-01 -5.30757858e-03 9.91685242e-01 2.43638315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.75925415399996 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:404.75, Y:73.09, Z:24.37 [[ 7.82429118e-01 -6.13871002e-01 -1.04723772e-01 4.04746785e+02] [ 6.09320001e-01 7.89388654e-01 -7.47976568e-02 7.30924061e+01] [ 1.28583870e-01 -5.28642422e-03 9.91684548e-01 2.43674380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.78925415399993 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:404.77, Y:73.11, Z:24.37 [[ 7.82775762e-01 -6.13472042e-01 -1.04470858e-01 4.04767958e+02] [ 6.08933798e-01 7.89699498e-01 -7.46614474e-02 7.31088917e+01] [ 1.28303295e-01 -5.17266497e-03 9.91721487e-01 2.43697797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.81925415399996 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:404.79, Y:73.13, Z:24.37 [[ 7.82903284e-01 -6.13402627e-01 -1.03921436e-01 4.04789413e+02] [ 6.08908969e-01 7.89753776e-01 -7.42888991e-02 7.31264213e+01] [ 1.27641352e-01 -5.11767129e-03 9.91807186e-01 2.43739715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.84925415399994 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:404.81, Y:73.14, Z:24.38 [[ 7.83916255e-01 -6.12117988e-01 -1.03859873e-01 4.04809644e+02] [ 6.07612812e-01 7.90751445e-01 -7.42887834e-02 7.31440567e+01] [ 1.27600846e-01 -4.87040480e-03 9.91813643e-01 2.43771064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.87925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:404.83, Y:73.16, Z:24.38 [[ 7.84330290e-01 -6.11563143e-01 -1.04002494e-01 4.04831696e+02] [ 6.07036756e-01 7.91181295e-01 -7.44213405e-02 7.31610613e+01] [ 1.27798176e-01 -4.76242467e-03 9.91788760e-01 2.43805480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.90925415399994 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:404.85, Y:73.18, Z:24.38 [[ 7.84838256e-01 -6.10916383e-01 -1.03971556e-01 4.04853253e+02] [ 6.06381516e-01 7.91681638e-01 -7.44421945e-02 7.31777264e+01] [ 1.27790328e-01 -4.62134786e-03 9.91790439e-01 2.43837943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.93925415399997 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:404.87, Y:73.20, Z:24.39 [[ 7.85316003e-01 -6.10712868e-01 -1.01531116e-01 4.04871918e+02] [ 6.05181799e-01 7.91846445e-01 -8.20621591e-02 7.31971428e+01] [ 1.30513470e-01 2.99994350e-03 9.91441998e-01 2.43893021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.96925415399994 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:404.90, Y:73.21, Z:24.39 [[ 7.85849680e-01 -6.08802243e-01 -1.08628307e-01 4.04899906e+02] [ 6.04902988e-01 7.93246230e-01 -6.96619910e-02 7.32102631e+01] [ 1.28579371e-01 -1.09657340e-02 9.91638592e-01 2.43895704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.99925415399997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:404.92, Y:73.23, Z:24.39 [[ 7.85901864e-01 -6.09377496e-01 -1.04963460e-01 4.04919586e+02] [ 6.04734295e-01 7.92868204e-01 -7.52093284e-02 7.32291715e+01] [ 1.29053062e-01 -4.36785244e-03 9.91628070e-01 2.43947859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.02925415399994 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:404.94, Y:73.25, Z:24.40 [[ 7.85882426e-01 -6.09390094e-01 -1.05035832e-01 4.04941667e+02] [ 6.04737814e-01 7.92858587e-01 -7.52823831e-02 7.32456133e+01] [ 1.29154900e-01 -4.35603793e-03 9.91614863e-01 2.43980809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.059254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:404.96, Y:73.26, Z:24.40 [[ 7.85742709e-01 -6.09539456e-01 -1.05214293e-01 4.04963727e+02] [ 6.04866438e-01 7.92743796e-01 -7.54577057e-02 7.32623917e+01] [ 1.29402427e-01 -4.35025231e-03 9.91582617e-01 2.44013574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.08925415399995 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:404.99, Y:73.28, Z:24.40 [[ 7.85575161e-01 -6.09759215e-01 -1.05192041e-01 4.04986575e+02] [ 6.05084010e-01 7.92574788e-01 -7.54887132e-02 7.32789013e+01] [ 1.29402498e-01 -4.34796401e-03 9.91582618e-01 2.44049154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1192541539999 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:405.01, Y:73.30, Z:24.41 [[ 7.85553051e-01 -6.09614535e-01 -1.06190976e-01 4.05009320e+02] [ 6.04842511e-01 7.92686175e-01 -7.62506714e-02 7.32952694e+01] [ 1.30659636e-01 -4.32986884e-03 9.91417829e-01 2.44074396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.14925415399995 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:405.03, Y:73.31, Z:24.41 [[ 7.85574795e-01 -6.09452273e-01 -1.06958722e-01 4.05030372e+02] [ 6.04603056e-01 7.92811112e-01 -7.68484595e-02 7.33112799e+01] [ 1.31633532e-01 -4.29735727e-03 9.91289133e-01 2.44112501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1792541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:405.05, Y:73.33, Z:24.41 [[ 7.85696229e-01 -6.09205248e-01 -1.07472797e-01 4.05051891e+02] [ 6.04304050e-01 7.93001146e-01 -7.72385837e-02 7.33271191e+01] [ 1.32280201e-01 -4.26018229e-03 9.91203208e-01 2.44142798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.20925415399995 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:405.07, Y:73.34, Z:24.42 [[ 7.85929057e-01 -6.08879884e-01 -1.07614146e-01 4.05074450e+02] [ 6.03959768e-01 7.93251349e-01 -7.73621148e-02 7.33439585e+01] [ 1.32469302e-01 -4.19348078e-03 9.91178238e-01 2.44178506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2392541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:405.10, Y:73.36, Z:24.42 [[ 7.86653085e-01 -6.07995447e-01 -1.07324090e-01 4.05095677e+02] [ 6.03087530e-01 7.93930455e-01 -7.72001501e-02 7.33610483e+01] [ 1.32145204e-01 -3.99608425e-03 9.91222314e-01 2.44220022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.26925415399995 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:405.12, Y:73.38, Z:24.43 [[ 7.86842513e-01 -6.07844712e-01 -1.06787946e-01 4.05117545e+02] [ 6.02978393e-01 7.94046277e-01 -7.68606984e-02 7.33778504e+01] [ 1.31513940e-01 -3.91355883e-03 9.91306596e-01 2.44257167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2992541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:405.14, Y:73.39, Z:24.43 [[ 7.86926940e-01 -6.07871054e-01 -1.06013081e-01 4.05139338e+02] [ 6.03069537e-01 7.94026412e-01 -7.63491355e-02 7.33942553e+01] [ 1.30587616e-01 -3.85206786e-03 9.91429290e-01 2.44294670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.32925415399995 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:405.16, Y:73.41, Z:24.43 [[ 7.87004205e-01 -6.07809427e-01 -1.05792637e-01 4.05162096e+02] [ 6.03021250e-01 7.94073856e-01 -7.62370276e-02 7.34104425e+01] [ 1.30344752e-01 -3.79634717e-03 9.91461463e-01 2.44319720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.3592541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:405.18, Y:73.43, Z:24.44 [[ 7.87218576e-01 -6.07778308e-01 -1.04366858e-01 4.05183273e+02] [ 6.03112492e-01 7.94098120e-01 -7.52562160e-02 7.34257706e+01] [ 1.28616621e-01 -3.70186441e-03 9.91687482e-01 2.44363801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.38925415399996 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:405.21, Y:73.44, Z:24.44 [[ 7.87244625e-01 -6.07779168e-01 -1.04165171e-01 4.05206244e+02] [ 6.03128666e-01 7.94097575e-01 -7.51322422e-02 7.34420238e+01] [ 1.28381121e-01 -3.67754660e-03 9.91718087e-01 2.44398475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.41925415399993 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:405.23, Y:73.46, Z:24.44 [[ 7.87435132e-01 -6.07605526e-01 -1.03737349e-01 4.05229009e+02] [ 6.02985731e-01 7.94230817e-01 -7.48706746e-02 7.34583362e+01] [ 1.27883235e-01 -3.59634159e-03 9.91782710e-01 2.44432848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.44925415399996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:405.25, Y:73.47, Z:24.45 [[ 7.87748192e-01 -6.07293764e-01 -1.03184643e-01 4.05251686e+02] [ 6.02714615e-01 7.94469703e-01 -7.45183395e-02 7.34742049e+01] [ 1.27231596e-01 -3.48920522e-03 9.91866900e-01 2.44463203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.47925415399993 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:405.27, Y:73.49, Z:24.45 [[ 7.88316514e-01 -6.06675819e-01 -1.02476943e-01 4.05274873e+02] [ 6.02148462e-01 7.94942368e-01 -7.40530982e-02 7.34893024e+01] [ 1.26389488e-01 -3.32905339e-03 9.91975108e-01 2.44498312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.50925415399996 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:405.30, Y:73.51, Z:24.45 [[ 7.88353567e-01 -6.06698114e-01 -1.02059067e-01 4.05297728e+02] [ 6.02202095e-01 7.94925548e-01 -7.37970838e-02 7.35050464e+01] [ 1.25901912e-01 -3.28198996e-03 9.92037266e-01 2.44529455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.53925415399993 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:405.32, Y:73.52, Z:24.46 [[ 7.88266574e-01 -6.06814934e-01 -1.02036490e-01 4.05320756e+02] [ 6.02316054e-01 7.94836454e-01 -7.38267085e-02 7.35205137e+01] [ 1.25901471e-01 -3.26308963e-03 9.92037384e-01 2.44562255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.56925415399996 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:405.34, Y:73.53, Z:24.46 [[ 7.87991374e-01 -6.07046605e-01 -1.02781388e-01 4.05344171e+02] [ 6.02477596e-01 7.94659431e-01 -7.44119285e-02 7.35348001e+01] [ 1.26847708e-01 -3.28752564e-03 9.91916756e-01 2.44584495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.59925415399994 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:405.37, Y:73.55, Z:24.46 [[ 7.87481203e-01 -6.07584409e-01 -1.03511060e-01 4.05367118e+02] [ 6.02951968e-01 7.94247914e-01 -7.49611547e-02 7.35501493e+01] [ 1.27758673e-01 -3.38169715e-03 9.91799519e-01 2.44614868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.62925415399997 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:405.39, Y:73.57, Z:24.46 [[ 7.87260037e-01 -6.07696377e-01 -1.04531084e-01 4.05389939e+02] [ 6.02966618e-01 7.94162189e-01 -7.57474497e-02 7.35651797e+01] [ 1.29046085e-01 -3.39581420e-03 9.91632783e-01 2.44634745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.65925415399994 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:405.41, Y:73.58, Z:24.47 [[ 7.86558782e-01 -6.08549546e-01 -1.04846232e-01 4.05412791e+02] [ 6.03795792e-01 7.93508031e-01 -7.59976723e-02 7.35810440e+01] [ 1.29444676e-01 -3.52907714e-03 9.91580366e-01 2.44678170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.68925415399997 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:405.44, Y:73.60, Z:24.47 [[ 7.85865501e-01 -6.09318508e-01 -1.05576367e-01 4.05436876e+02] [ 6.04498672e-01 7.92917197e-01 -7.65746375e-02 7.35958591e+01] [ 1.30371661e-01 -3.64340784e-03 9.91458499e-01 2.44704471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.71925415399994 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:405.46, Y:73.61, Z:24.47 [[ 7.85668472e-01 -6.09569766e-01 -1.05592391e-01 4.05460227e+02] [ 6.04744472e-01 7.92724034e-01 -7.66337279e-02 7.36115552e+01] [ 1.30419230e-01 -3.64771095e-03 9.91452227e-01 2.44740824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.74925415399997 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:405.48, Y:73.63, Z:24.48 [[ 7.85752238e-01 -6.09500539e-01 -1.05368466e-01 4.05482225e+02] [ 6.04689090e-01 7.92777519e-01 -7.65173876e-02 7.36264279e+01] [ 1.30171140e-01 -3.59145338e-03 9.91485036e-01 2.44772710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.77925415399994 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:405.51, Y:73.64, Z:24.48 [[ 7.85722814e-01 -6.09586083e-01 -1.05092659e-01 4.05505047e+02] [ 6.04797843e-01 7.92711801e-01 -7.63385228e-02 7.36421879e+01] [ 1.29843092e-01 -3.57889442e-03 9.91528095e-01 2.44810482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.809254154 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:405.53, Y:73.66, Z:24.48 [[ 7.85998133e-01 -6.09372486e-01 -1.04269406e-01 4.05527457e+02] [ 6.04651445e-01 7.92876454e-01 -7.57862646e-02 7.36576158e+01] [ 1.28854822e-01 -3.47878486e-03 9.91657367e-01 2.44847130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.83925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:405.55, Y:73.67, Z:24.49 [[ 7.86459772e-01 -6.08878692e-01 -1.03671432e-01 4.05548839e+02] [ 6.04201626e-01 7.93256311e-01 -7.53977475e-02 7.36728705e+01] [ 1.28146100e-01 -3.34115239e-03 9.91749673e-01 2.44883261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.8692541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:405.57, Y:73.69, Z:24.49 [[ 7.86550990e-01 -6.08833689e-01 -1.03242815e-01 4.05571150e+02] [ 6.04192305e-01 7.93291011e-01 -7.51067916e-02 7.36887634e+01] [ 1.27629142e-01 -3.30319292e-03 9.91816460e-01 2.44916006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.89925415399995 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:405.59, Y:73.70, Z:24.49 [[ 7.86631437e-01 -6.08738719e-01 -1.03189891e-01 4.05593618e+02] [ 6.04095328e-01 7.93364113e-01 -7.51147027e-02 7.37044200e+01] [ 1.27592384e-01 -3.24894458e-03 9.91821369e-01 2.44945652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9292541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:405.62, Y:73.72, Z:24.50 [[ 7.86703368e-01 -6.08871357e-01 -1.01850289e-01 4.05617542e+02] [ 6.04343590e-01 7.93262558e-01 -7.41845013e-02 7.37191768e+01] [ 1.25962839e-01 -3.19137206e-03 9.92029827e-01 2.44978386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.95925415399995 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:405.64, Y:73.73, Z:24.50 [[ 7.86611451e-01 -6.09050293e-01 -1.01489737e-01 4.05641060e+02] [ 6.04550352e-01 7.93125261e-01 -7.39675113e-02 7.37346711e+01] [ 1.25544008e-01 -3.17196460e-03 9.92082981e-01 2.45014360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.9892541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:405.66, Y:73.75, Z:24.50 [[ 7.86420161e-01 -6.09346295e-01 -1.01194976e-01 4.05664218e+02] [ 6.04869116e-01 7.92897867e-01 -7.37992179e-02 7.37502687e+01] [ 1.25206561e-01 -3.17252291e-03 9.92125623e-01 2.45047085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.01925415399995 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:405.69, Y:73.77, Z:24.51 [[ 7.86246836e-01 -6.09640388e-01 -1.00769588e-01 4.05686711e+02] [ 6.05197481e-01 7.92671784e-01 -7.35353791e-02 7.37659291e+01] [ 1.24707346e-01 -3.16854175e-03 9.92188509e-01 2.45077672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.0492541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:405.71, Y:73.78, Z:24.51 [[ 7.86171023e-01 -6.09771959e-01 -1.00564812e-01 4.05708979e+02] [ 6.05342382e-01 7.92570668e-01 -7.34325347e-02 7.37807003e+01] [ 1.24481821e-01 -3.14561193e-03 9.92216902e-01 2.45113302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.07925415399995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:405.73, Y:73.80, Z:24.51 [[ 7.86234225e-01 -6.09710947e-01 -1.00440549e-01 4.05732046e+02] [ 6.05289343e-01 7.92617721e-01 -7.33618390e-02 7.37958475e+01] [ 1.24340476e-01 -3.11600549e-03 9.92234719e-01 2.45144804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.1092541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:405.75, Y:73.81, Z:24.52 [[ 7.86174798e-01 -6.09759354e-01 -1.00611716e-01 4.05754316e+02] [ 6.05317133e-01 7.92580577e-01 -7.35336410e-02 7.38110677e+01] [ 1.24580718e-01 -3.09170034e-03 9.92204659e-01 2.45175485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.13925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:405.78, Y:73.83, Z:24.52 [[ 7.86368873e-01 -6.09428494e-01 -1.01098494e-01 4.05777739e+02] [ 6.04937722e-01 7.92835217e-01 -7.39098822e-02 7.38265773e+01] [ 1.25197235e-01 -3.03786210e-03 9.92127222e-01 2.45207432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.16925415399993 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:405.80, Y:73.84, Z:24.52 [[ 7.86736375e-01 -6.08806063e-01 -1.01985555e-01 4.05800584e+02] [ 6.04224629e-01 7.93313689e-01 -7.46055603e-02 7.38408701e+01] [ 1.26326854e-01 -2.92727604e-03 9.91984353e-01 2.45228258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.19925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:405.82, Y:73.86, Z:24.53 [[ 7.87024600e-01 -6.08300516e-01 -1.02775297e-01 4.05823075e+02] [ 6.03640632e-01 7.93701675e-01 -7.52039809e-02 7.38560533e+01] [ 1.27319546e-01 -2.85196233e-03 9.91857651e-01 2.45263198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.22925415399993 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:405.85, Y:73.87, Z:24.53 [[ 7.87272399e-01 -6.07961397e-01 -1.02883964e-01 4.05845965e+02] [ 6.03286072e-01 7.93961707e-01 -7.53042066e-02 7.38720069e+01] [ 1.27467978e-01 -2.78353884e-03 9.91838781e-01 2.45289644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.25925415399996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:405.87, Y:73.89, Z:24.53 [[ 7.87510688e-01 -6.07544275e-01 -1.03522314e-01 4.05867978e+02] [ 6.02800800e-01 7.94281241e-01 -7.58189024e-02 7.38872660e+01] [ 1.28289172e-01 -2.69513780e-03 9.91733142e-01 2.45325562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.28925415399993 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:405.89, Y:73.90, Z:24.54 [[ 7.87751815e-01 -6.07188370e-01 -1.03775535e-01 4.05891185e+02] [ 6.02414229e-01 7.94553606e-01 -7.60372510e-02 7.39024748e+01] [ 1.28624160e-01 -2.61737653e-03 9.91689959e-01 2.45355999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.31925415399996 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:405.91, Y:73.92, Z:24.54 [[ 7.87850580e-01 -6.07438887e-01 -1.01535520e-01 4.05911309e+02] [ 6.01905187e-01 7.94359175e-01 -8.18758019e-02 7.39201018e+01] [ 1.30390218e-01 3.39114207e-03 9.91456954e-01 2.45402071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.34925415399994 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:405.94, Y:73.93, Z:24.54 [[ 7.87529519e-01 -6.06874492e-01 -1.07240890e-01 4.05938342e+02] [ 6.02683453e-01 7.94755470e-01 -7.16686742e-02 7.39318884e+01] [ 1.28724174e-01 -8.19111341e-03 9.91646607e-01 2.45416449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.37925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:405.96, Y:73.95, Z:24.55 [[ 7.86575417e-01 -6.08643521e-01 -1.04173786e-01 4.05958663e+02] [ 6.03831757e-01 7.93438917e-01 -7.64322779e-02 7.39490600e+01] [ 1.29175547e-01 -2.78368963e-03 9.91617834e-01 2.45463720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.40925415399994 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:405.98, Y:73.96, Z:24.55 [[ 7.85577994e-01 -6.09887509e-01 -1.04424336e-01 4.05980954e+02] [ 6.05060604e-01 7.92482401e-01 -7.66375173e-02 7.39647640e+01] [ 1.29494713e-01 -2.97830471e-03 9.91575640e-01 2.45499457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.43925415399997 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:406.00, Y:73.98, Z:24.55 [[ 7.84530847e-01 -6.11086145e-01 -1.05285673e-01 4.06003754e+02] [ 6.06183285e-01 7.91557776e-01 -7.73182492e-02 7.39802908e+01] [ 1.30587804e-01 -3.16386378e-03 9.91431700e-01 2.45525607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.46925415399994 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:406.03, Y:74.00, Z:24.56 [[ 7.82814598e-01 -6.13352475e-01 -1.04881108e-01 4.06026075e+02] [ 6.08501320e-01 7.89801597e-01 -7.70686722e-02 7.39961259e+01] [ 1.30105527e-01 -3.48981079e-03 9.91494011e-01 2.45574089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.49925415399997 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:406.04, Y:74.02, Z:24.56 [[ 7.81305857e-01 -6.16523347e-01 -9.72631557e-02 4.06040664e+02] [ 6.10424993e-01 7.87290307e-01 -8.69212313e-02 7.40156803e+01] [ 1.30163308e-01 8.54020597e-03 9.91455787e-01 2.45616034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.52925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:406.07, Y:74.02, Z:24.56 [[ 7.79248057e-01 -6.16818814e-01 -1.10936994e-01 4.06074008e+02] [ 6.13214979e-01 7.86964729e-01 -6.82195384e-02 7.40229492e+01] [ 1.29382596e-01 -1.48682834e-02 9.91483272e-01 2.45618462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.559254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:406.09, Y:74.04, Z:24.57 [[ 7.75013890e-01 -6.23302526e-01 -1.04151005e-01 4.06093004e+02] [ 6.18595483e-01 7.81964530e-01 -7.66231194e-02 7.40416240e+01] [ 1.29201776e-01 -5.04335960e-03 9.91605499e-01 2.45677636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.58925415399995 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:406.11, Y:74.06, Z:24.57 [[ 7.72733393e-01 -6.26179962e-01 -1.03835253e-01 4.06114928e+02] [ 6.21524547e-01 7.79659228e-01 -7.64115583e-02 7.40576562e+01] [ 1.28803500e-01 -5.49039596e-03 9.91654937e-01 2.45713394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6192541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:406.14, Y:74.07, Z:24.58 [[ 7.70097542e-01 -6.29414621e-01 -1.03860530e-01 4.06136952e+02] [ 6.24783331e-01 7.77046361e-01 -7.64509209e-02 7.40740330e+01] [ 1.28823774e-01 -6.01566159e-03 9.91649256e-01 2.45750258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.64925415399995 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:406.15, Y:74.09, Z:24.58 [[ 7.68932138e-01 -6.31430828e-01 -1.00192193e-01 4.06154382e+02] [ 6.25643761e-01 7.75426641e-01 -8.53428908e-02 7.40923120e+01] [ 1.31579828e-01 2.93827121e-03 9.91301223e-01 2.45810715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6792541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:406.18, Y:74.11, Z:24.58 [[ 7.63095016e-01 -6.37063753e-01 -1.08792336e-01 4.06183340e+02] [ 6.33343391e-01 7.70661669e-01 -7.04041275e-02 7.41050568e+01] [ 1.28694001e-01 -1.51778680e-02 9.91568196e-01 2.45807045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.70925415399995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:406.20, Y:74.13, Z:24.59 [[ 7.61056121e-01 -6.40262085e-01 -1.04201936e-01 4.06203136e+02] [ 6.35684596e-01 7.68117173e-01 -7.68186300e-02 7.41252207e+01] [ 1.29223353e-01 -7.77627706e-03 9.91585021e-01 2.45859088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7392541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:406.22, Y:74.14, Z:24.59 [[ 7.59351291e-01 -6.42230505e-01 -1.04525570e-01 4.06224374e+02] [ 6.37637017e-01 7.66468745e-01 -7.71018648e-02 7.41415432e+01] [ 1.29632752e-01 -8.10197235e-03 9.91528975e-01 2.45894230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.76925415399995 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:406.25, Y:74.16, Z:24.59 [[ 7.58035800e-01 -6.43720159e-01 -1.04909876e-01 4.06246093e+02] [ 6.39102689e-01 7.65215269e-01 -7.74166968e-02 7.41584522e+01] [ 1.30113327e-01 -8.36355613e-03 9.91463854e-01 2.45932042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7992541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:406.27, Y:74.20, Z:24.59 [[ 7.62348975e-01 -6.44360635e-01 -6.01947902e-02 4.06266649e+02] [ 6.35925029e-01 7.63120500e-01 -1.15093267e-01 7.42008126e+01] [ 1.20097449e-01 4.94618601e-02 9.91529186e-01 2.45930641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.82925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:406.31, Y:74.20, Z:24.58 [[ 7.62875028e-01 -6.40292900e-01 -8.97033627e-02 4.06309868e+02] [ 6.35866135e-01 7.68130791e-01 -7.51621371e-02 7.42019335e+01] [ 1.17029698e-01 2.99986948e-04 9.93128370e-01 2.45843758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.8592541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:406.34, Y:74.22, Z:24.59 [[ 7.62807215e-01 -6.39088965e-01 -9.84400725e-02 4.06336528e+02] [ 6.35924160e-01 7.69020882e-01 -6.48640532e-02 7.42152555e+01] [ 1.17156372e-01 -1.31216526e-02 9.93026791e-01 2.45857575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.88925415399996 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:406.36, Y:74.23, Z:24.59 [[ 7.62675736e-01 -6.37189237e-01 -1.10975660e-01 4.06357761e+02] [ 6.35371867e-01 7.70196772e-01 -5.56733590e-02 7.42284612e+01] [ 1.20947560e-01 -2.80500923e-02 9.92262506e-01 2.45898829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.91925415399993 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:406.37, Y:74.23, Z:24.60 [[ 7.56985955e-01 -6.38582193e-01 -1.38510099e-01 4.06371138e+02] [ 6.40068124e-01 7.67304601e-01 -3.94518150e-02 7.42341517e+01] [ 1.31472663e-01 -5.87914291e-02 9.89574912e-01 2.46036536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.94925415399996 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:406.37, Y:74.27, Z:24.62 [[ 7.57548333e-01 -6.43689157e-01 -1.08557784e-01 4.06374724e+02] [ 6.38684499e-01 7.65241827e-01 -8.05422619e-02 7.42710818e+01] [ 1.34917137e-01 -8.31951751e-03 9.90821958e-01 2.46183818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.97925415399993 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:406.40, Y:74.29, Z:24.62 [[ 7.57436178e-01 -6.43823737e-01 -1.08542307e-01 4.06397315e+02] [ 6.38817475e-01 7.65128628e-01 -8.05631141e-02 7.42879851e+01] [ 1.34917271e-01 -8.31730520e-03 9.90821958e-01 2.46220252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.00925415399996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:406.42, Y:74.31, Z:24.63 [[ 7.58045673e-01 -6.43041890e-01 -1.08921461e-01 4.06418756e+02] [ 6.37988262e-01 7.65787281e-01 -8.08753297e-02 7.43061025e+01] [ 1.35416894e-01 -8.18341953e-03 9.90754912e-01 2.46255826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.03925415399993 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:406.44, Y:74.33, Z:24.63 [[ 7.59897392e-01 -6.40927141e-01 -1.08482040e-01 4.06438545e+02] [ 6.35886528e-01 7.67562724e-01 -8.05964518e-02 7.43251842e+01] [ 1.34923224e-01 -7.73723439e-03 9.90825847e-01 2.46291199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.06925415399996 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:406.46, Y:74.34, Z:24.63 [[ 7.60738810e-01 -6.39977850e-01 -1.08188790e-01 4.06458872e+02] [ 6.34948464e-01 7.68356653e-01 -8.04269984e-02 7.43422785e+01] [ 1.34599074e-01 -7.51036718e-03 9.90871679e-01 2.46326216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.09925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:406.48, Y:74.36, Z:24.64 [[ 7.61509250e-01 -6.39054898e-01 -1.08224298e-01 4.06480501e+02] [ 6.34009819e-01 7.69126182e-01 -8.04764900e-02 7.43603026e+01] [ 1.34667036e-01 -7.33167583e-03 9.90863783e-01 2.46365335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.12925415399997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:406.50, Y:74.38, Z:24.64 [[ 7.62388337e-01 -6.38076298e-01 -1.07808448e-01 4.06501505e+02] [ 6.33053733e-01 7.69940473e-01 -8.02162003e-02 7.43784247e+01] [ 1.34190144e-01 -7.09264483e-03 9.90930219e-01 2.46401064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.15925415399994 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:406.52, Y:74.40, Z:24.64 [[ 7.64485198e-01 -6.35548997e-01 -1.07888158e-01 4.06521917e+02] [ 6.30487299e-01 7.72032197e-01 -8.03246706e-02 7.43978658e+01] [ 1.34343395e-01 -6.61509152e-03 9.90912757e-01 2.46435627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.18925415399997 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:406.54, Y:74.42, Z:24.65 [[ 7.65648760e-01 -6.34174708e-01 -1.07723794e-01 4.06542331e+02] [ 6.29108351e-01 7.73163906e-01 -8.02512139e-02 7.44151204e+01] [ 1.34181440e-01 -6.32569616e-03 9.90936591e-01 2.46466579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.21925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:406.56, Y:74.43, Z:24.65 [[ 7.66844392e-01 -6.32735869e-01 -1.07680073e-01 4.06563738e+02] [ 6.27656415e-01 7.74344032e-01 -8.02417926e-02 7.44330937e+01] [ 1.34153282e-01 -6.05311966e-03 9.90942106e-01 2.46504731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.24925415399997 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:406.58, Y:74.45, Z:24.65 [[ 7.68355525e-01 -6.30997322e-01 -1.07108198e-01 4.06584829e+02] [ 6.25948408e-01 7.75764220e-01 -7.98652936e-02 7.44506573e+01] [ 1.33485494e-01 -5.67926641e-03 9.91034494e-01 2.46535741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.27925415399994 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:406.61, Y:74.47, Z:24.66 [[ 7.71485739e-01 -6.27255048e-01 -1.06587330e-01 4.06605307e+02] [ 6.22213081e-01 7.78798073e-01 -7.95263725e-02 7.44696990e+01] [ 1.32893326e-01 -4.96656870e-03 9.91117903e-01 2.46571022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.309254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:406.63, Y:74.49, Z:24.66 [[ 7.72994591e-01 -6.25409148e-01 -1.06502391e-01 4.06626455e+02] [ 6.20351170e-01 7.80283398e-01 -7.95125425e-02 7.44871590e+01] [ 1.32829919e-01 -4.60611780e-03 9.91128143e-01 2.46606314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.33925415399995 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:406.65, Y:74.50, Z:24.66 [[ 7.74229652e-01 -6.23900769e-01 -1.06377983e-01 4.06648154e+02] [ 6.18833912e-01 7.81491722e-01 -7.94687219e-02 7.45048710e+01] [ 1.32714110e-01 -4.30326273e-03 9.91145018e-01 2.46640455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.3692541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:406.67, Y:74.52, Z:24.67 [[ 7.75165204e-01 -6.22707190e-01 -1.06558258e-01 4.06669734e+02] [ 6.17605195e-01 7.82444386e-01 -7.96530287e-02 7.45225800e+01] [ 1.32976424e-01 -4.06667757e-03 9.91110858e-01 2.46674861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.39925415399995 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:406.69, Y:74.54, Z:24.67 [[ 7.76799199e-01 -6.20637218e-01 -1.06735410e-01 4.06691201e+02] [ 6.15492032e-01 7.84089223e-01 -7.98351409e-02 7.45408054e+01] [ 1.33238744e-01 -3.67892085e-03 9.91077143e-01 2.46709770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4292541539999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:406.71, Y:74.56, Z:24.67 [[ 7.77093844e-01 -6.20250539e-01 -1.06838321e-01 4.06713281e+02] [ 6.15085092e-01 7.84395611e-01 -7.99615840e-02 7.45579430e+01] [ 1.33399726e-01 -3.57700377e-03 9.91055860e-01 2.46743801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.45925415399995 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:406.74, Y:74.59, Z:24.68 [[ 7.82653438e-01 -6.18116544e-01 -7.33861990e-02 4.06738608e+02] [ 6.10016104e-01 7.85114821e-01 -1.07121759e-01 7.45927247e+01] [ 1.23830324e-01 3.90724496e-02 9.91533860e-01 2.46760004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.4892541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:406.77, Y:74.58, Z:24.67 [[ 7.76823806e-01 -6.15073554e-01 -1.35015916e-01 4.06773289e+02] [ 6.15523049e-01 7.86922064e-01 -4.34170531e-02 7.45751171e+01] [ 1.32951684e-01 -4.93780076e-02 9.89891743e-01 2.46698913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.51925415399995 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:406.78, Y:74.61, Z:24.68 [[ 7.75981214e-01 -6.21467086e-01 -1.07850905e-01 4.06780958e+02] [ 6.16191284e-01 7.83431595e-01 -8.08902786e-02 7.46092436e+01] [ 1.34764452e-01 -3.68745087e-03 9.90870801e-01 2.46848739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.5492541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:406.81, Y:74.64, Z:24.69 [[ 7.80295709e-01 -6.20940099e-01 -7.46458240e-02 4.06805798e+02] [ 6.12711090e-01 7.82916925e-01 -1.07824897e-01 7.46428214e+01] [ 1.25394281e-01 3.83989805e-02 9.91363603e-01 2.46867754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.57925415399995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:406.84, Y:74.63, Z:24.68 [[ 7.73801968e-01 -6.18802734e-01 -1.35328081e-01 4.06841795e+02] [ 6.19157564e-01 7.83999245e-01 -4.45992770e-02 7.46252298e+01] [ 1.33695268e-01 -4.92783969e-02 9.89796552e-01 2.46806514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.6092541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:406.85, Y:74.66, Z:24.70 [[ 7.71599958e-01 -6.26880828e-01 -1.07953382e-01 4.06849703e+02] [ 6.21624705e-01 7.79102137e-01 -8.11331401e-02 7.46588172e+01] [ 1.34967521e-01 -4.50416172e-03 9.90839786e-01 2.46955895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.63925415399996 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:406.87, Y:74.67, Z:24.70 [[ 7.70712691e-01 -6.28033416e-01 -1.07591717e-01 4.06871139e+02] [ 6.22817085e-01 7.78172471e-01 -8.09103474e-02 7.46746185e+01] [ 1.34539314e-01 -4.65132806e-03 9.90897340e-01 2.46989049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.66925415399993 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:406.90, Y:74.68, Z:24.70 [[ 7.70222642e-01 -6.26878986e-01 -1.17387472e-01 4.06898302e+02] [ 6.23163415e-01 7.78891801e-01 -7.06747457e-02 7.46849874e+01] [ 1.35736653e-01 -1.87162889e-02 9.90568151e-01 2.47028140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.69925415399996 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:406.91, Y:74.71, Z:24.71 [[ 7.69012479e-01 -6.31349817e-01 -1.00086042e-01 4.06910989e+02] [ 6.24590600e-01 7.75449888e-01 -9.25421691e-02 7.47122074e+01] [ 1.36038192e-01 8.65328179e-03 9.90665802e-01 2.47087834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.72925415399993 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:406.94, Y:74.72, Z:24.71 [[ 7.67835440e-01 -6.31577152e-01 -1.07419919e-01 4.06937485e+02] [ 6.26401612e-01 7.75295573e-01 -8.08566296e-02 7.47242390e+01] [ 1.34349387e-01 -5.20342443e-03 9.90920363e-01 2.47094636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.75925415399996 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:406.96, Y:74.74, Z:24.71 [[ 7.66242582e-01 -6.33551208e-01 -1.07168896e-01 4.06959555e+02] [ 6.28412531e-01 7.73681223e-01 -8.07158971e-02 7.47411050e+01] [ 1.34052217e-01 -5.49831988e-03 9.90959016e-01 2.47131172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.78925415399993 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:406.98, Y:74.76, Z:24.72 [[ 7.66824469e-01 -6.32762650e-01 -1.07664580e-01 4.06984642e+02] [ 6.27605750e-01 7.74325554e-01 -8.08143559e-02 7.47569192e+01] [ 1.34503742e-01 -5.60048397e-03 9.90897259e-01 2.47169186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.81925415399996 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:407.00, Y:74.77, Z:24.72 [[ 7.64430793e-01 -6.35697410e-01 -1.07398164e-01 4.07003444e+02] [ 6.30669304e-01 7.71910720e-01 -8.00629138e-02 7.47737857e+01] [ 1.33797581e-01 -6.53016891e-03 9.90987166e-01 2.47198852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.84925415399994 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:407.03, Y:74.79, Z:24.72 [[ 7.62682851e-01 -6.37925591e-01 -1.06610544e-01 4.07025725e+02] [ 6.32865637e-01 7.70073582e-01 -8.04224115e-02 7.47906515e+01] [ 1.33401478e-01 -6.13335595e-03 9.91043101e-01 2.47232093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.87925415399997 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:407.05, Y:74.81, Z:24.73 [[ 7.61713277e-01 -6.39072482e-01 -1.06673551e-01 4.07047409e+02] [ 6.34010911e-01 7.69120722e-01 -8.05200602e-02 7.48073770e+01] [ 1.33502993e-01 -6.29899631e-03 9.91028392e-01 2.47266229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.90925415399994 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:407.07, Y:74.82, Z:24.73 [[ 7.60743807e-01 -6.40160122e-01 -1.07069507e-01 4.07069200e+02] [ 6.35064606e-01 7.68214222e-01 -8.08693729e-02 7.48245811e+01] [ 1.34021666e-01 -6.47518003e-03 9.90957247e-01 2.47297584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.93925415399997 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:407.09, Y:74.84, Z:24.73 [[ 7.59662430e-01 -6.41313461e-01 -1.07842653e-01 4.07090404e+02] [ 6.36148319e-01 7.67249840e-01 -8.15045991e-02 7.48424197e+01] [ 1.35012254e-01 -6.68794040e-03 9.90821358e-01 2.47331180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.96925415399994 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:407.11, Y:74.86, Z:24.74 [[ 7.59430808e-01 -6.41628199e-01 -1.07601591e-01 4.07110770e+02] [ 6.36482617e-01 7.66986633e-01 -8.13718782e-02 7.48590678e+01] [ 1.34739474e-01 -6.69023135e-03 9.90858474e-01 2.47361706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.99925415399997 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:407.13, Y:74.88, Z:24.74 [[ 7.59287490e-01 -6.41770046e-01 -1.07766953e-01 4.07132054e+02] [ 6.36606798e-01 7.66867794e-01 -8.15203719e-02 7.48762339e+01] [ 1.34960338e-01 -6.70777607e-03 9.90828296e-01 2.47397718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.02925415399994 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:407.16, Y:74.89, Z:24.74 [[ 7.60542599e-01 -6.39728613e-01 -1.11005657e-01 4.07159246e+02] [ 6.35027661e-01 7.68521826e-01 -7.81925358e-02 7.48921102e+01] [ 1.35332273e-01 -1.10229087e-02 9.90738952e-01 2.47427184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.059254154 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:407.17, Y:74.91, Z:24.75 [[ 7.59547110e-01 -6.41793510e-01 -1.05779387e-01 4.07174212e+02] [ 6.36255120e-01 7.66870180e-01 -8.41994593e-02 7.49131187e+01] [ 1.35157724e-01 -3.34922046e-03 9.90818436e-01 2.47478464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.08925415399995 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:407.20, Y:74.93, Z:24.75 [[ 7.60455153e-01 -6.40431520e-01 -1.07496181e-01 4.07195555e+02] [ 6.35257275e-01 7.67989290e-01 -8.14901578e-02 7.49310191e+01] [ 1.34744781e-01 -6.31812045e-03 9.90860195e-01 2.47510439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1192541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:407.22, Y:74.95, Z:24.75 [[ 7.62299579e-01 -6.38035754e-01 -1.08672577e-01 4.07221760e+02] [ 6.33147299e-01 7.69961184e-01 -7.92734020e-02 7.49479086e+01] [ 1.34252931e-01 -8.37566777e-03 9.90911701e-01 2.47545009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.14925415399995 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:407.24, Y:74.97, Z:24.76 [[ 7.61820173e-01 -6.38925804e-01 -1.06788765e-01 4.07237298e+02] [ 6.33611261e-01 7.69252749e-01 -8.23831141e-02 7.49669244e+01] [ 1.34784249e-01 -4.90144610e-03 9.90862847e-01 2.47583707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1792541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:407.26, Y:74.99, Z:24.76 [[ 7.63695163e-01 -6.36491530e-01 -1.07926971e-01 4.07257526e+02] [ 6.31213223e-01 7.71263992e-01 -8.19861137e-02 7.49856930e+01] [ 1.35423653e-01 -5.51253279e-03 9.90772449e-01 2.47618856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.20925415399995 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:407.28, Y:75.00, Z:24.77 [[ 7.64609948e-01 -6.35399402e-01 -1.07885253e-01 4.07278518e+02] [ 6.30107398e-01 7.72165626e-01 -8.20055691e-02 7.50032459e+01] [ 1.35411574e-01 -5.27702238e-03 9.90775383e-01 2.47651418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2392541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:407.30, Y:75.02, Z:24.77 [[ 7.65285096e-01 -6.35039823e-01 -1.05181489e-01 4.07296492e+02] [ 6.28773013e-01 7.72476842e-01 -8.90170045e-02 7.50233282e+01] [ 1.37779607e-01 1.98810488e-03 9.90460917e-01 2.47708034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.26925415399995 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:407.32, Y:75.04, Z:24.77 [[ 7.66381055e-01 -6.32497814e-01 -1.12279090e-01 4.07322876e+02] [ 6.27926776e-01 7.74474523e-01 -7.67930809e-02 7.50358093e+01] [ 1.35528750e-01 -1.16502844e-02 9.90704915e-01 2.47703371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2992541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:407.34, Y:75.06, Z:24.78 [[ 7.68104400e-01 -6.31125257e-01 -1.08150547e-01 4.07341414e+02] [ 6.25742628e-01 7.75668418e-01 -8.23691037e-02 7.50572328e+01] [ 1.35874185e-01 -4.40633645e-03 9.90716301e-01 2.47760638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.32925415399995 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:407.36, Y:75.07, Z:24.78 [[ 7.68609842e-01 -6.30494654e-01 -1.08237710e-01 4.07362911e+02] [ 6.25090141e-01 7.76181908e-01 -8.24861251e-02 7.50746295e+01] [ 1.36019213e-01 -4.25867754e-03 9.90697046e-01 2.47797221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.3592541539999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:407.38, Y:75.09, Z:24.78 [[ 7.69080027e-01 -6.29937745e-01 -1.08140410e-01 4.07384644e+02] [ 6.24530515e-01 7.76634723e-01 -8.24629808e-02 7.50922307e+01] [ 1.35932142e-01 -4.11635466e-03 9.90709598e-01 2.47835368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.38925415399996 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:407.41, Y:75.11, Z:24.79 [[ 7.69496519e-01 -6.29483060e-01 -1.07824788e-01 4.07406371e+02] [ 6.24096121e-01 7.77003992e-01 -8.22728937e-02 7.51096150e+01] [ 1.35569684e-01 -3.98432680e-03 9.90759802e-01 2.47870755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.41925415399993 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:407.43, Y:75.13, Z:24.79 [[ 7.70942562e-01 -6.27783796e-01 -1.07401452e-01 4.07426829e+02] [ 6.22416128e-01 7.78379287e-01 -8.19990763e-02 7.51269491e+01] [ 1.35076757e-01 -3.63181814e-03 9.90828481e-01 2.47903998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.44925415399996 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:407.45, Y:75.14, Z:24.79 [[ 7.71816206e-01 -6.26706086e-01 -1.07420785e-01 4.07448359e+02] [ 6.21322898e-01 7.79248194e-01 -8.20372354e-02 7.51443606e+01] [ 1.35120687e-01 -3.42532546e-03 9.90823227e-01 2.47936271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.47925415399993 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:407.47, Y:75.16, Z:24.80 [[ 7.72801505e-01 -6.25593835e-01 -1.06818478e-01 4.07469523e+02] [ 6.20253744e-01 7.80142478e-01 -8.16272445e-02 7.51622025e+01] [ 1.34399133e-01 -3.17290342e-03 9.90922200e-01 2.47978374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.50925415399996 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:407.49, Y:75.18, Z:24.80 [[ 7.74175500e-01 -6.23950747e-01 -1.06478920e-01 4.07490217e+02] [ 6.18622568e-01 7.81458511e-01 -8.14169191e-02 7.51793074e+01] [ 1.34009006e-01 -2.83927907e-03 9.90976047e-01 2.48016826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.53925415399993 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:407.51, Y:75.20, Z:24.81 [[ 7.75545460e-01 -6.22352823e-01 -1.05859355e-01 4.07511800e+02] [ 6.17068862e-01 7.82732753e-01 -8.09657746e-02 7.51970418e+01] [ 1.33248863e-01 -2.52987270e-03 9.91079381e-01 2.48054134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.56925415399996 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:407.53, Y:75.21, Z:24.81 [[ 7.78783880e-01 -6.18446554e-01 -1.04973941e-01 4.07531967e+02] [ 6.13209083e-01 7.85824789e-01 -8.03369273e-02 7.52141414e+01] [ 1.32175221e-01 -1.80587030e-03 9.91224722e-01 2.48079593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.59925415399994 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:407.55, Y:75.23, Z:24.81 [[ 7.79768941e-01 -6.17261505e-01 -1.04635714e-01 4.07553817e+02] [ 6.12044320e-01 7.86756462e-01 -8.01000567e-02 7.52315088e+01] [ 1.31765506e-01 -1.58215809e-03 9.91279652e-01 2.48117686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.62925415399997 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:407.58, Y:75.25, Z:24.82 [[ 7.80813209e-01 -6.16153971e-01 -1.03368350e-01 4.07575180e+02] [ 6.11046884e-01 7.87624587e-01 -7.91783794e-02 7.52482294e+01] [ 1.30201527e-01 -1.33938353e-03 9.91486646e-01 2.48162119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.65925415399994 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:407.60, Y:75.26, Z:24.82 [[ 7.80698678e-01 -6.16342693e-01 -1.03107997e-01 4.07596897e+02] [ 6.11256678e-01 7.87476933e-01 -7.90275516e-02 7.52644007e+01] [ 1.29903223e-01 -1.32874648e-03 9.91525787e-01 2.48195106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.68925415399997 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:407.62, Y:75.28, Z:24.82 [[ 7.79996753e-01 -6.17217376e-01 -1.03188056e-01 4.07619027e+02] [ 6.12126661e-01 7.86791339e-01 -7.91223121e-02 7.52805896e+01] [ 1.30023135e-01 -1.44901380e-03 9.91509901e-01 2.48226956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.71925415399994 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:407.64, Y:75.30, Z:24.83 [[ 7.78733296e-01 -6.18748835e-01 -1.03558355e-01 4.07641970e+02] [ 6.13628392e-01 7.85587095e-01 -7.94551026e-02 7.52969568e+01] [ 1.30516859e-01 -1.67201305e-03 9.91444680e-01 2.48259233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.74925415399997 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:407.67, Y:75.31, Z:24.83 [[ 7.75673220e-01 -6.22450539e-01 -1.04337828e-01 4.07666227e+02] [ 6.17278992e-01 7.82655841e-01 -8.01029412e-02 7.53112692e+01] [ 1.31520730e-01 -2.27184321e-03 9.91310817e-01 2.48277481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.77925415399994 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:407.69, Y:75.33, Z:24.83 [[ 7.73424684e-01 -6.25160415e-01 -1.04827069e-01 4.07687984e+02] [ 6.19958224e-01 7.80491596e-01 -8.05274479e-02 7.53260871e+01] [ 1.32159219e-01 -2.70648751e-03 9.91224806e-01 2.48314828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.809254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:407.71, Y:75.37, Z:24.83 [[ 7.76787147e-01 -6.27370369e-01 -5.48465839e-02 4.07705655e+02] [ 6.18482174e-01 7.76384224e-01 -1.21273808e-01 7.53669433e+01] [ 1.18665617e-01 6.02823012e-02 9.91102677e-01 2.48329053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.83925415399995 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:407.76, Y:75.33, Z:24.82 [[ 7.69092219e-01 -6.22410268e-01 -1.45267397e-01 4.07758017e+02] [ 6.25531001e-01 7.79667931e-01 -2.87903565e-02 7.53330106e+01] [ 1.31179744e-01 -6.87268209e-02 9.88973457e-01 2.48214615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.8692541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:407.76, Y:75.37, Z:24.84 [[ 7.65222688e-01 -6.35028660e-01 -1.05701652e-01 4.07759592e+02] [ 6.29818943e-01 7.72476241e-01 -8.12930264e-02 7.53730752e+01] [ 1.33275416e-01 -4.36563430e-03 9.91069425e-01 2.48416246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.89925415399995 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:407.78, Y:75.39, Z:24.85 [[ 7.65045784e-01 -6.35245824e-01 -1.05677301e-01 4.07781863e+02] [ 6.30033802e-01 7.72297680e-01 -8.13246694e-02 7.53903254e+01] [ 1.33275491e-01 -4.36317620e-03 9.91069426e-01 2.48452949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9292541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:407.80, Y:75.41, Z:24.85 [[ 7.63386982e-01 -6.37152330e-01 -1.06194277e-01 4.07803712e+02] [ 6.31900949e-01 7.70723674e-01 -8.17692476e-02 7.54053095e+01] [ 1.33945910e-01 -4.68268530e-03 9.90977581e-01 2.48486386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.95925415399995 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:407.83, Y:75.42, Z:24.85 [[ 7.61745636e-01 -6.39083281e-01 -1.06377371e-01 4.07826332e+02] [ 6.33829222e-01 7.69121208e-01 -8.19334162e-02 7.54209043e+01] [ 1.34179368e-01 -5.01266377e-03 9.90944383e-01 2.48521182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.9892541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:407.85, Y:75.44, Z:24.86 [[ 7.59399031e-01 -6.41933716e-01 -1.05991584e-01 4.07848491e+02] [ 6.36738695e-01 7.66740715e-01 -8.16854346e-02 7.54353045e+01] [ 1.33704697e-01 -5.45710297e-03 9.91006193e-01 2.48552807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.01925415399995 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:407.87, Y:75.45, Z:24.86 [[ 7.59193868e-01 -6.42265512e-01 -1.05449905e-01 4.07870429e+02] [ 6.37123939e-01 7.66462713e-01 -8.12895830e-02 7.54504796e+01] [ 1.33032916e-01 -5.47010595e-03 9.91096525e-01 2.48569359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.0492541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:407.89, Y:75.47, Z:24.86 [[ 7.58456832e-01 -6.43207143e-01 -1.05013355e-01 4.07891550e+02] [ 6.38114435e-01 7.65671770e-01 -8.09735009e-02 7.54668743e+01] [ 1.32488495e-01 -5.59563250e-03 9.91168748e-01 2.48624073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.07925415399995 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:407.91, Y:75.48, Z:24.87 [[ 7.58284614e-01 -6.43505848e-01 -1.04425418e-01 4.07913841e+02] [ 6.38470275e-01 7.65420713e-01 -8.05409173e-02 7.54838065e+01] [ 1.31757929e-01 -5.59958724e-03 9.91266106e-01 2.48662623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.1092541539999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:407.94, Y:75.50, Z:24.87 [[ 7.58111521e-01 -6.43856570e-01 -1.03516370e-01 4.07935803e+02] [ 6.38905496e-01 7.65125910e-01 -7.98881034e-02 7.55009716e+01] [ 1.30639537e-01 -5.57308635e-03 9.91414269e-01 2.48697999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.13925415399996 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:407.96, Y:75.52, Z:24.87 [[ 7.57941788e-01 -6.44046395e-01 -1.03578411e-01 4.07957350e+02] [ 6.39084585e-01 7.64966147e-01 -7.99855463e-02 7.55176366e+01] [ 1.30748381e-01 -5.57097792e-03 9.91399932e-01 2.48735534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.16925415399993 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:407.98, Y:75.53, Z:24.88 [[ 7.57714793e-01 -6.44297844e-01 -1.03675358e-01 4.07979290e+02] [ 6.39322483e-01 7.64754298e-01 -8.01100911e-02 7.55344132e+01] [ 1.30900935e-01 -5.58138642e-03 9.91379742e-01 2.48772729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.19925415399996 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:408.00, Y:75.55, Z:24.88 [[ 7.57455294e-01 -6.44559821e-01 -1.03942845e-01 4.08000577e+02] [ 6.39554569e-01 7.64533348e-01 -8.03661203e-02 7.55511342e+01] [ 1.31268543e-01 -5.60337804e-03 9.91331010e-01 2.48807411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.22925415399993 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:408.02, Y:75.57, Z:24.88 [[ 7.56955887e-01 -6.45010610e-01 -1.04781196e-01 4.08022492e+02] [ 6.39925238e-01 7.64152276e-01 -8.10369562e-02 7.55686718e+01] [ 1.32338486e-01 -5.71073066e-03 9.91188132e-01 2.48842084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.25925415399996 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:408.04, Y:75.59, Z:24.89 [[ 7.56514520e-01 -6.45400500e-01 -1.05565027e-01 4.08043916e+02] [ 6.40235460e-01 7.63822451e-01 -8.16934409e-02 7.55862870e+01] [ 1.33357926e-01 -5.78419959e-03 9.91051062e-01 2.48875858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.28925415399993 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:408.06, Y:75.60, Z:24.89 [[ 7.56084558e-01 -6.45811447e-01 -1.06130658e-01 4.08064503e+02] [ 6.40587977e-01 7.63474524e-01 -8.21808728e-02 7.56030826e+01] [ 1.34101402e-01 -5.85033450e-03 9.90950346e-01 2.48913288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.31925415399996 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:408.09, Y:75.62, Z:24.89 [[ 7.55786966e-01 -6.46052121e-01 -1.06783516e-01 4.08085889e+02] [ 6.40763114e-01 7.63270402e-01 -8.27098825e-02 7.56208326e+01] [ 1.34939592e-01 -5.91188733e-03 9.90836190e-01 2.48947237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.34925415399994 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:408.11, Y:75.65, Z:24.90 [[ 7.59144108e-01 -6.44097017e-01 -9.40173208e-02 4.08112760e+02] [ 6.37493132e-01 7.64873872e-01 -9.25768146e-02 7.56453800e+01] [ 1.31539842e-01 1.03437470e-02 9.91256918e-01 2.48972261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.37925415399997 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:408.14, Y:75.65, Z:24.90 [[ 7.56012149e-01 -6.43634571e-01 -1.19080512e-01 4.08135732e+02] [ 6.40421516e-01 7.64946018e-01 -6.86867670e-02 7.56486091e+01] [ 1.35299341e-01 -2.43336919e-02 9.90505911e-01 2.48971276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.40925415399994 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:408.15, Y:75.67, Z:24.91 [[ 7.56304740e-01 -6.45249209e-01 -1.07965727e-01 4.08151235e+02] [ 6.39810895e-01 7.63950854e-01 -8.37920725e-02 7.56735042e+01] [ 1.36547278e-01 -5.70530648e-03 9.90617126e-01 2.49056740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.43925415399997 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:408.17, Y:75.69, Z:24.91 [[ 7.56763872e-01 -6.44675323e-01 -1.08176567e-01 4.08172785e+02] [ 6.39202854e-01 7.64436171e-01 -8.40062641e-02 7.56912527e+01] [ 1.36850846e-01 -5.57386451e-03 9.90575983e-01 2.49094875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.46925415399994 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:408.19, Y:75.71, Z:24.91 [[ 7.57461827e-01 -6.43847257e-01 -1.08223335e-01 4.08192954e+02] [ 6.38354697e-01 7.65135074e-01 -8.40928038e-02 7.57084634e+01] [ 1.36948390e-01 -5.38778516e-03 9.90563532e-01 2.49130238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.49925415399997 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:408.21, Y:75.73, Z:24.92 [[ 7.58829181e-01 -6.42224792e-01 -1.08284762e-01 4.08213776e+02] [ 6.36706195e-01 7.66499524e-01 -8.41647188e-02 7.57272350e+01] [ 1.37052888e-01 -5.07893440e-03 9.90550711e-01 2.49170056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.52925415399994 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:408.24, Y:75.74, Z:24.92 [[ 7.61390761e-01 -6.39071566e-01 -1.08957069e-01 4.08242471e+02] [ 6.33771725e-01 7.69121206e-01 -8.23770110e-02 7.57448257e+01] [ 1.36445998e-01 -6.33281463e-03 9.90627269e-01 2.49203288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.559254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:408.26, Y:75.76, Z:24.92 [[ 7.60238811e-01 -6.40532141e-01 -1.08422911e-01 4.08256184e+02] [ 6.34998230e-01 7.67915926e-01 -8.41568710e-02 7.57623743e+01] [ 1.37164861e-01 -4.86903726e-03 9.90536266e-01 2.49244155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.58925415399995 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:408.28, Y:75.78, Z:24.93 [[ 7.62712633e-01 -6.37702081e-01 -1.07728807e-01 4.08277147e+02] [ 6.32175387e-01 7.70272031e-01 -8.38765667e-02 7.57804685e+01] [ 1.36468748e-01 -4.12978327e-03 9.90635768e-01 2.49277013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6192541539999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:408.30, Y:75.80, Z:24.93 [[ 7.64026556e-01 -6.36222606e-01 -1.07164440e-01 4.08298083e+02] [ 6.30732374e-01 7.71496157e-01 -8.34886338e-02 7.57983684e+01] [ 1.35794310e-01 -3.80454834e-03 9.90729747e-01 2.49320616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.64925415399995 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:408.32, Y:75.82, Z:24.94 [[ 7.65754975e-01 -6.34176949e-01 -1.06952863e-01 4.08319407e+02] [ 6.28681569e-01 7.73180493e-01 -8.33751123e-02 7.58160758e+01] [ 1.35568442e-01 -3.39438663e-03 9.90762169e-01 2.49353749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6792541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:408.34, Y:75.83, Z:24.94 [[ 7.67315115e-01 -6.32365112e-01 -1.06498259e-01 4.08339550e+02] [ 6.26892205e-01 7.74664599e-01 -8.30717929e-02 7.58335487e+01] [ 1.35032135e-01 -3.02068601e-03 9.90836615e-01 2.49393572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.70925415399995 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:408.36, Y:75.85, Z:24.94 [[ 7.70477152e-01 -6.28580144e-01 -1.06075263e-01 4.08360084e+02] [ 6.23110145e-01 7.77741363e-01 -8.27775285e-02 7.58524611e+01] [ 1.34531430e-01 -2.31837790e-03 9.90906615e-01 2.49436933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7392541539999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:408.38, Y:75.87, Z:24.95 [[ 7.71947811e-01 -6.26829395e-01 -1.05742547e-01 4.08380347e+02] [ 6.21370710e-01 7.79154053e-01 -8.25675603e-02 7.58692574e+01] [ 1.34145508e-01 -1.96747412e-03 9.90959692e-01 2.49469206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.76925415399995 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:408.40, Y:75.89, Z:24.95 [[ 7.72946248e-01 -6.25595020e-01 -1.05759016e-01 4.08401817e+02] [ 6.20119981e-01 7.80146051e-01 -8.26035612e-02 7.58866868e+01] [ 1.34183855e-01 -1.73516608e-03 9.90954935e-01 2.49504297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7992541539999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:408.42, Y:75.90, Z:24.95 [[ 7.73702849e-01 -6.24684179e-01 -1.05610502e-01 4.08423214e+02] [ 6.19209295e-01 7.80875995e-01 -8.25380417e-02 7.59036033e+01] [ 1.34028915e-01 -1.53508661e-03 9.90976233e-01 2.49538282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.82925415399995 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:408.45, Y:75.92, Z:24.96 [[ 7.74145203e-01 -6.24107282e-01 -1.05779517e-01 4.08445214e+02] [ 6.18602552e-01 7.81337410e-01 -8.27208222e-02 7.59206995e+01] [ 1.34276161e-01 -1.39755163e-03 9.90942965e-01 2.49567873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.8592541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:408.47, Y:75.94, Z:24.96 [[ 7.73872357e-01 -6.24423623e-01 -1.05908989e-01 4.08466978e+02] [ 6.18901455e-01 7.81084591e-01 -8.28724980e-02 7.59374599e+01] [ 1.34471424e-01 -1.41449174e-03 9.90916462e-01 2.49600410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.88925415399996 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:408.49, Y:75.95, Z:24.96 [[ 7.73487052e-01 -6.24853417e-01 -1.06188455e-01 4.08488542e+02] [ 6.19299245e-01 7.80740733e-01 -8.31405617e-02 7.59537171e+01] [ 1.34856317e-01 -1.45428237e-03 9.90864097e-01 2.49630157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.91925415399993 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:408.51, Y:75.97, Z:24.97 [[ 7.71672828e-01 -6.27009095e-01 -1.06680085e-01 4.08510958e+02] [ 6.21420384e-01 7.79009807e-01 -8.35489493e-02 7.59701653e+01] [ 1.35490784e-01 -1.82072545e-03 9.90776934e-01 2.49666998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.94925415399996 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:408.53, Y:75.99, Z:24.97 [[ 7.70689782e-01 -6.28089744e-01 -1.07426878e-01 4.08532436e+02] [ 6.22425646e-01 7.78138376e-01 -8.41842232e-02 7.59857674e+01] [ 1.36468224e-01 -1.98532340e-03 9.90642459e-01 2.49695309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.97925415399993 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:408.55, Y:76.00, Z:24.97 [[ 7.69299980e-01 -6.29861281e-01 -1.07015454e-01 4.08554091e+02] [ 6.24254653e-01 7.76704320e-01 -8.38840145e-02 7.60021855e+01] [ 1.35954658e-01 -2.27292427e-03 9.90712453e-01 2.49734384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.00925415399996 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:408.58, Y:76.02, Z:24.98 [[ 7.67624932e-01 -6.31859612e-01 -1.07263201e-01 4.08576791e+02] [ 6.26242980e-01 7.75078446e-01 -8.41019153e-02 7.60189075e+01] [ 1.36277999e-01 -2.61409993e-03 9.90667186e-01 2.49767866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.03925415399993 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:408.60, Y:76.03, Z:24.98 [[ 7.64334301e-01 -6.35760180e-01 -1.07712900e-01 4.08599916e+02] [ 6.30127325e-01 7.71879669e-01 -8.45063967e-02 7.60345523e+01] [ 1.36867200e-01 -3.28170410e-03 9.90583969e-01 2.49803739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.06925415399996 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:408.62, Y:76.05, Z:24.98 [[ 7.62734114e-01 -6.37643189e-01 -1.07925135e-01 4.08622353e+02] [ 6.31999583e-01 7.70323504e-01 -8.47244105e-02 7.60508832e+01] [ 1.37161211e-01 -3.58644188e-03 9.90542245e-01 2.49835759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.09925415399994 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:408.64, Y:76.07, Z:24.99 [[ 7.61252098e-01 -6.39404939e-01 -1.07965585e-01 4.08644883e+02] [ 6.33767568e-01 7.68860445e-01 -8.48073501e-02 7.60675435e+01] [ 1.37236706e-01 -3.86531316e-03 9.90530739e-01 2.49875056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.12925415399997 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:408.67, Y:76.08, Z:24.99 [[ 7.59068148e-01 -6.41993791e-01 -1.07979248e-01 4.08666870e+02] [ 6.36373810e-01 7.66697814e-01 -8.48695214e-02 7.60836723e+01] [ 1.37273159e-01 -4.29341496e-03 9.90523925e-01 2.49910967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.15925415399994 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:408.69, Y:76.10, Z:25.00 [[ 7.58555181e-01 -6.42595940e-01 -1.08002292e-01 4.08688674e+02] [ 6.36972396e-01 7.66192809e-01 -8.49396583e-02 7.61005205e+01] [ 1.37332459e-01 -4.36306065e-03 9.90515401e-01 2.49950790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.18925415399997 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:408.71, Y:76.12, Z:25.00 [[ 7.58210127e-01 -6.43010665e-01 -1.07956878e-01 4.08710066e+02] [ 6.37388833e-01 7.65844605e-01 -8.49559676e-02 7.61174837e+01] [ 1.37305786e-01 -4.39603342e-03 9.90518953e-01 2.49991414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.21925415399994 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:408.73, Y:76.13, Z:25.00 [[ 7.58644780e-01 -6.42439812e-01 -1.08301362e-01 4.08731933e+02] [ 6.36768822e-01 7.66324271e-01 -8.52794219e-02 7.61347564e+01] [ 1.37780858e-01 -4.26614244e-03 9.90453550e-01 2.50027435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.24925415399997 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:408.75, Y:76.15, Z:25.01 [[ 7.58958283e-01 -6.42050919e-01 -1.08410989e-01 4.08753819e+02] [ 6.36357151e-01 7.66650715e-01 -8.54181370e-02 7.61521553e+01] [ 1.37956156e-01 -4.15930549e-03 9.90429603e-01 2.50068339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.27925415399994 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:408.77, Y:76.17, Z:25.01 [[ 7.59524245e-01 -6.41339701e-01 -1.08656841e-01 4.08774543e+02] [ 6.35605641e-01 7.67246627e-01 -8.56626081e-02 7.61685340e+01] [ 1.38305426e-01 -4.00007332e-03 9.90381547e-01 2.50104330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.309254154 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:408.80, Y:76.19, Z:25.01 [[ 7.60143077e-01 -6.40585978e-01 -1.08775492e-01 4.08796400e+02] [ 6.34828176e-01 7.67876812e-01 -8.57810507e-02 7.61857277e+01] [ 1.38476316e-01 -3.84787524e-03 9.90358270e-01 2.50148393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.33925415399995 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:408.82, Y:76.20, Z:25.02 [[ 7.61807912e-01 -6.38661351e-01 -1.08445305e-01 4.08817695e+02] [ 6.32911925e-01 7.69480215e-01 -8.55727382e-02 7.62032634e+01] [ 1.38098517e-01 -3.44633773e-03 9.90412501e-01 2.50194545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.3692541539999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:408.84, Y:76.22, Z:25.02 [[ 7.62726503e-01 -6.37570911e-01 -1.08404863e-01 4.08839072e+02] [ 6.31807532e-01 7.70385001e-01 -8.55931830e-02 7.62206993e+01] [ 1.38085204e-01 -3.20681973e-03 9.90415162e-01 2.50235420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.39925415399995 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:408.86, Y:76.24, Z:25.03 [[ 7.63628532e-01 -6.36390238e-01 -1.08990506e-01 4.08860611e+02] [ 6.30544753e-01 7.71361557e-01 -8.61084342e-02 7.62379773e+01] [ 1.38869653e-01 -2.96853430e-03 9.90306219e-01 2.50273113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4292541539999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:408.88, Y:76.26, Z:25.03 [[ 7.64464133e-01 -6.35404389e-01 -1.08884579e-01 4.08882352e+02] [ 6.29552960e-01 7.72174673e-01 -8.60775553e-02 7.62557594e+01] [ 1.38771971e-01 -2.74540531e-03 9.90320556e-01 2.50312352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.45925415399995 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:408.90, Y:76.27, Z:25.03 [[ 7.65058267e-01 -6.34646950e-01 -1.09128811e-01 4.08903195e+02] [ 6.28754320e-01 7.72797918e-01 -8.63213914e-02 7.62728104e+01] [ 1.39118126e-01 -2.57431758e-03 9.90272447e-01 2.50348726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.4892541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:408.92, Y:76.29, Z:25.04 [[ 7.65800074e-01 -6.33608943e-01 -1.09954322e-01 4.08924854e+02] [ 6.27612137e-01 7.73649806e-01 -8.69998998e-02 7.62896843e+01] [ 1.40190055e-01 -2.38413754e-03 9.90121742e-01 2.50384537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.51925415399995 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:408.95, Y:76.31, Z:25.04 [[ 7.65525130e-01 -6.33754164e-01 -1.11026726e-01 4.08946207e+02] [ 6.27633339e-01 7.73530818e-01 -8.79003081e-02 7.63062413e+01] [ 1.41589780e-01 -2.39417981e-03 9.89922523e-01 2.50419397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.5492541539999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:408.97, Y:76.32, Z:25.05 [[ 7.64059892e-01 -6.35403338e-01 -1.11691898e-01 4.08967982e+02] [ 6.29220599e-01 7.72175745e-01 -8.84649952e-02 7.63225356e+01] [ 1.42456728e-01 -2.68628807e-03 9.89797386e-01 2.50457689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.57925415399995 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:408.99, Y:76.34, Z:25.05 [[ 7.62775968e-01 -6.36891690e-01 -1.11990169e-01 4.08989016e+02] [ 6.30684052e-01 7.70947718e-01 -8.87538313e-02 7.63385338e+01] [ 1.42865143e-01 -2.93112378e-03 9.89737824e-01 2.50490165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.6092541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:409.01, Y:76.36, Z:25.05 [[ 7.61148457e-01 -6.38671256e-01 -1.12924990e-01 4.09011158e+02] [ 6.32372759e-01 7.69472797e-01 -8.95338415e-02 7.63554045e+01] [ 1.44075399e-01 -3.26214209e-03 9.89561336e-01 2.50527783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.63925415399996 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:409.03, Y:76.37, Z:25.06 [[ 7.59174190e-01 -6.41020546e-01 -1.12903539e-01 4.09033146e+02] [ 6.34742364e-01 7.67514969e-01 -8.95706624e-02 7.63726901e+01] [ 1.44071791e-01 -3.66492397e-03 9.89560452e-01 2.50564098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.66925415399993 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:409.06, Y:76.39, Z:25.06 [[ 7.57420868e-01 -6.43052253e-01 -1.13125724e-01 4.09055258e+02] [ 6.36763740e-01 7.65811768e-01 -8.98013098e-02 7.63897736e+01] [ 1.44379945e-01 -4.01697308e-03 9.89514171e-01 2.50603115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.69925415399996 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:409.08, Y:76.41, Z:25.06 [[ 7.54474591e-01 -6.46607294e-01 -1.12548207e-01 4.09076133e+02] [ 6.40414918e-01 7.62808985e-01 -8.93934345e-02 7.64059223e+01] [ 1.43655230e-01 -4.63247558e-03 9.89616954e-01 2.50636359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.72925415399993 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:409.10, Y:76.42, Z:25.07 [[ 7.53228221e-01 -6.48059895e-01 -1.12541635e-01 4.09097289e+02] [ 6.41880929e-01 7.61573667e-01 -8.94115380e-02 7.64225815e+01] [ 1.43652777e-01 -4.89103523e-03 9.89616066e-01 2.50674832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.75925415399996 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:409.12, Y:76.44, Z:25.07 [[ 7.52007092e-01 -6.49538213e-01 -1.12184865e-01 4.09118590e+02] [ 6.43411104e-01 7.60311598e-01 -8.91539430e-02 7.64400127e+01] [ 1.43204347e-01 -5.13659029e-03 9.89679812e-01 2.50717961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.78925415399993 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:409.14, Y:76.46, Z:25.08 [[ 7.51832373e-01 -6.49744870e-01 -1.12159200e-01 4.09140579e+02] [ 6.43615239e-01 7.60135016e-01 -8.91862201e-02 7.64576244e+01] [ 1.43204424e-01 -5.13428256e-03 9.89679813e-01 2.50754717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.81925415399996 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:409.16, Y:76.48, Z:25.08 [[ 7.51635420e-01 -6.49986954e-01 -1.12076556e-01 4.09161463e+02] [ 6.43861824e-01 7.59927996e-01 -8.91705768e-02 7.64750445e+01] [ 1.43129824e-01 -5.13805188e-03 9.89690585e-01 2.50795729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.84925415399994 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:409.18, Y:76.49, Z:25.08 [[ 7.51838690e-01 -6.49847068e-01 -1.11522972e-01 4.09182656e+02] [ 6.43773358e-01 7.60048249e-01 -8.87835741e-02 7.64923913e+01] [ 1.42458585e-01 -5.04459204e-03 9.89787908e-01 2.50834743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.87925415399997 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:409.20, Y:76.51, Z:25.09 [[ 7.52437398e-01 -6.49254323e-01 -1.10935961e-01 4.09202872e+02] [ 6.43230948e-01 7.60555811e-01 -8.83674457e-02 7.65090624e+01] [ 1.41745936e-01 -4.86647241e-03 9.89891109e-01 2.50875222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.90925415399994 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:409.22, Y:76.53, Z:25.09 [[ 7.52916443e-01 -6.48765640e-01 -1.10543992e-01 4.09223350e+02] [ 6.42776391e-01 7.60973510e-01 -8.80785365e-02 7.65265057e+01] [ 1.41263377e-01 -4.73928953e-03 9.89960705e-01 2.50916945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.93925415399997 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:409.24, Y:76.54, Z:25.10 [[ 7.53946497e-01 -6.47653387e-01 -1.10044400e-01 4.09243965e+02] [ 6.41703005e-01 7.61921865e-01 -8.77059033e-02 7.65445105e+01] [ 1.40648259e-01 -4.49026333e-03 9.90049446e-01 2.50967060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.96925415399994 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:409.27, Y:76.56, Z:25.10 [[ 7.54194757e-01 -6.47334969e-01 -1.10216635e-01 4.09265290e+02] [ 6.41354915e-01 7.62192957e-01 -8.78963576e-02 7.65620365e+01] [ 1.40904729e-01 -4.39700877e-03 9.90013396e-01 2.51009048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.99925415399997 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:409.29, Y:76.58, Z:25.10 [[ 7.54079839e-01 -6.47367555e-01 -1.10809950e-01 4.09285961e+02] [ 6.41315712e-01 7.62165332e-01 -8.84203836e-02 7.65792334e+01] [ 1.41695990e-01 -4.38813338e-03 9.89900495e-01 2.51048553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.02925415399994 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:409.31, Y:76.60, Z:25.11 [[ 7.53364991e-01 -6.48021566e-01 -1.11844720e-01 4.09307064e+02] [ 6.41859383e-01 7.61608479e-01 -8.92695781e-02 7.65958755e+01] [ 1.43030499e-01 -4.53600825e-03 9.89707887e-01 2.51086091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.059254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:409.33, Y:76.61, Z:25.11 [[ 7.52383912e-01 -6.49089734e-01 -1.12254023e-01 4.09328550e+02] [ 6.42890120e-01 7.60697104e-01 -8.96225964e-02 7.66127541e+01] [ 1.43564418e-01 -4.73640295e-03 9.89629640e-01 2.51118938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.08925415399995 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:409.35, Y:76.63, Z:25.12 [[ 7.51532824e-01 -6.50072572e-01 -1.12267831e-01 4.09350798e+02] [ 6.43874497e-01 7.59856436e-01 -8.96873905e-02 7.66300009e+01] [ 1.43610747e-01 -4.88337555e-03 9.89622204e-01 2.51152715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1192541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:409.37, Y:76.65, Z:25.12 [[ 7.49921022e-01 -6.51850650e-01 -1.12735046e-01 4.09372172e+02] [ 6.45613074e-01 7.58329494e-01 -9.01118035e-02 7.66464549e+01] [ 1.44229748e-01 -5.20648354e-03 9.89530531e-01 2.51184057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.14925415399995 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:409.39, Y:76.66, Z:25.12 [[ 7.49054197e-01 -6.52758824e-01 -1.13241903e-01 4.09393803e+02] [ 6.46471085e-01 7.57546644e-01 -9.05440137e-02 7.66641009e+01] [ 1.44889428e-01 -5.38524266e-03 9.89433198e-01 2.51224494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1792541539999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:409.41, Y:76.68, Z:25.13 [[ 7.48567134e-01 -6.53224204e-01 -1.13777791e-01 4.09414267e+02] [ 6.46874096e-01 7.57144843e-01 -9.10252220e-02 7.66808590e+01] [ 1.45606146e-01 -5.46141650e-03 9.89327561e-01 2.51263488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.20925415399995 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:409.44, Y:76.70, Z:25.13 [[ 7.48299970e-01 -6.53528653e-01 -1.13786880e-01 4.09435986e+02] [ 6.47175282e-01 7.56881857e-01 -9.10714518e-02 7.66987163e+01] [ 1.45641028e-01 -5.49129152e-03 9.89322261e-01 2.51297899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2392541539999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:409.46, Y:76.72, Z:25.13 [[ 7.48435841e-01 -6.53278059e-01 -1.14330960e-01 4.09456539e+02] [ 6.46852526e-01 7.57098620e-01 -9.15613985e-02 7.67173033e+01] [ 1.46374865e-01 -5.42743800e-03 9.89214305e-01 2.51334096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.26925415399995 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:409.48, Y:76.74, Z:25.14 [[ 7.48688976e-01 -6.52903606e-01 -1.14811575e-01 4.09477349e+02] [ 6.46410982e-01 7.57422224e-01 -9.20022684e-02 7.67351126e+01] [ 1.47029452e-01 -5.33437890e-03 9.89117731e-01 2.51372333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2992541539999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:409.50, Y:76.75, Z:25.14 [[ 7.49549245e-01 -6.51992486e-01 -1.14375383e-01 4.09497475e+02] [ 6.45531167e-01 7.58208302e-01 -9.17043195e-02 7.67520558e+01] [ 1.46510892e-01 -5.09597088e-03 9.89195931e-01 2.51402713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.32925415399995 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:409.52, Y:76.77, Z:25.14 [[ 7.51785912e-01 -6.49626424e-01 -1.13152341e-01 4.09518185e+02] [ 6.43272592e-01 7.60239890e-01 -9.07506584e-02 7.67708179e+01] [ 1.44976949e-01 -4.56273333e-03 9.89424512e-01 2.51441253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.3592541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:409.54, Y:76.79, Z:25.15 [[ 7.52718960e-01 -6.48597114e-01 -1.12853671e-01 4.09538958e+02] [ 6.42257547e-01 7.61119701e-01 -9.05651390e-02 7.67896373e+01] [ 1.44635440e-01 -4.31102469e-03 9.89475621e-01 2.51479265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.38925415399996 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:409.56, Y:76.81, Z:25.15 [[ 7.54128466e-01 -6.47048916e-01 -1.12329683e-01 4.09559900e+02] [ 6.40743423e-01 7.62438242e-01 -9.01986249e-02 7.68079955e+01] [ 1.44007369e-01 -3.95315518e-03 9.89568719e-01 2.51512925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.41925415399993 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:409.58, Y:76.83, Z:25.15 [[ 7.55306594e-01 -6.45759624e-01 -1.11832274e-01 4.09580638e+02] [ 6.39488299e-01 7.63532051e-01 -8.98527844e-02 7.68261811e+01] [ 1.43410825e-01 -3.64902992e-03 9.89656516e-01 2.51546597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.44925415399996 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:409.60, Y:76.84, Z:25.16 [[ 7.57271443e-01 -6.43540159e-01 -1.11337441e-01 4.09601076e+02] [ 6.37292810e-01 7.65405777e-01 -8.95090525e-02 7.68447245e+01] [ 1.42820990e-01 -3.17190112e-03 9.89743454e-01 2.51583588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.47925415399993 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:409.62, Y:76.86, Z:25.16 [[ 7.57858573e-01 -6.42933040e-01 -1.10848947e-01 4.09622123e+02] [ 6.36726484e-01 7.65916505e-01 -8.91700166e-02 7.68622614e+01] [ 1.42231388e-01 -3.00219897e-03 9.89828884e-01 2.51615976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.50925415399996 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:409.64, Y:76.88, Z:25.16 [[ 7.58315004e-01 -6.42453207e-01 -1.10508967e-01 4.09643449e+02] [ 6.36272144e-01 7.66319573e-01 -8.89498251e-02 7.68793289e+01] [ 1.41831285e-01 -2.86179057e-03 9.89886709e-01 2.51648779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.53925415399993 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:409.67, Y:76.90, Z:25.17 [[ 7.58410415e-01 -6.42351675e-01 -1.10444413e-01 4.09665225e+02] [ 6.36169153e-01 7.66404911e-01 -8.89512324e-02 7.68967287e+01] [ 1.41783113e-01 -2.79978742e-03 9.89893787e-01 2.51683096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.56925415399996 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:409.69, Y:76.91, Z:25.17 [[ 7.58113823e-01 -6.42720696e-01 -1.10333758e-01 4.09686651e+02] [ 6.36547261e-01 7.66095371e-01 -8.89126951e-02 7.69136310e+01] [ 1.41672210e-01 -2.82670802e-03 9.89909589e-01 2.51713222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.59925415399994 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:409.71, Y:76.93, Z:25.17 [[ 7.57566053e-01 -6.43395633e-01 -1.10162312e-01 4.09708517e+02] [ 6.37244886e-01 7.65528239e-01 -8.88001755e-02 7.69309556e+01] [ 1.41466006e-01 -2.92837128e-03 9.89938783e-01 2.51747731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.62925415399997 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:409.73, Y:76.95, Z:25.18 [[ 7.56905288e-01 -6.44167133e-01 -1.10195693e-01 4.09729992e+02] [ 6.38013216e-01 7.64878754e-01 -8.88798482e-02 7.69478091e+01] [ 1.41539821e-01 -3.03268161e-03 9.89927917e-01 2.51782178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.65925415399994 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:409.75, Y:76.96, Z:25.18 [[ 7.56316909e-01 -6.44882678e-01 -1.10050285e-01 4.09751505e+02] [ 6.38745318e-01 7.64275198e-01 -8.88135114e-02 7.69642465e+01] [ 1.41382999e-01 -3.12294423e-03 9.89950047e-01 2.51812246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.68925415399997 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:409.77, Y:76.98, Z:25.18 [[ 7.55205957e-01 -6.46180016e-01 -1.10069748e-01 4.09773708e+02] [ 6.40050837e-01 7.63177683e-01 -8.88524075e-02 7.69794688e+01] [ 1.41417426e-01 -3.34836706e-03 9.89944392e-01 2.51840987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.71925415399994 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:409.80, Y:77.00, Z:25.19 [[ 7.54547336e-01 -6.46962646e-01 -1.09989330e-01 4.09795624e+02] [ 6.40847130e-01 7.62513785e-01 -8.88126299e-02 7.69963357e+01] [ 1.41326835e-01 -3.47301334e-03 9.89956900e-01 2.51872730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.74925415399997 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:409.82, Y:77.01, Z:25.19 [[ 7.54090052e-01 -6.47470960e-01 -1.10134240e-01 4.09818033e+02] [ 6.41337009e-01 7.62081939e-01 -8.89829163e-02 7.70131235e+01] [ 1.41545169e-01 -3.53203194e-03 9.89925497e-01 2.51906017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.77925415399994 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:409.84, Y:77.03, Z:25.19 [[ 7.53784847e-01 -6.47784263e-01 -1.10380943e-01 4.09840964e+02] [ 6.41618348e-01 7.61815522e-01 -8.92356768e-02 7.70288164e+01] [ 1.41895383e-01 -3.55793752e-03 9.89875266e-01 2.51934839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.809254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:409.86, Y:77.05, Z:25.20 [[ 7.53030371e-01 -6.48748411e-01 -1.09867008e-01 4.09862438e+02] [ 6.42642624e-01 7.60994055e-01 -8.88735405e-02 7.70457105e+01] [ 1.41264708e-01 -3.68074691e-03 9.89965017e-01 2.51970009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.83925415399995 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:409.88, Y:77.06, Z:25.20 [[ 7.52561032e-01 -6.49356952e-01 -1.09487175e-01 4.09884550e+02] [ 6.43292361e-01 7.60474559e-01 -8.86193132e-02 7.70624270e+01] [ 1.40807778e-01 -3.74082145e-03 9.90029886e-01 2.52005011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.8692541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:409.91, Y:77.08, Z:25.20 [[ 7.51282913e-01 -6.50998463e-01 -1.08512607e-01 4.09907571e+02] [ 6.45051381e-01 7.59068662e-01 -8.78833507e-02 7.70780496e+01] [ 1.39580446e-01 -3.97094739e-03 9.90202773e-01 2.52036709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.89925415399995 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:409.93, Y:77.09, Z:25.21 [[ 7.50597557e-01 -6.51873555e-01 -1.08000815e-01 4.09929161e+02] [ 6.45984584e-01 7.58316730e-01 -8.75194482e-02 7.70936855e+01] [ 1.38950438e-01 -4.07497736e-03 9.90290952e-01 2.52067662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9292541539999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:409.95, Y:77.11, Z:25.21 [[ 7.49945918e-01 -6.52732890e-01 -1.07335433e-01 4.09951855e+02] [ 6.46921884e-01 7.57576550e-01 -8.70048660e-02 7.71097328e+01] [ 1.38105745e-01 -4.18869659e-03 9.90408632e-01 2.52096471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.95925415399995 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:409.97, Y:77.13, Z:25.21 [[ 7.48368853e-01 -6.54639309e-01 -1.06730664e-01 4.09974544e+02] [ 6.48905967e-01 7.55928139e-01 -8.65661266e-02 7.71251906e+01] [ 1.37350302e-01 -4.47477185e-03 9.90512429e-01 2.52127543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.9892541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:410.00, Y:77.14, Z:25.22 [[ 7.47767712e-01 -6.55435669e-01 -1.06054387e-01 4.09996672e+02] [ 6.49775901e-01 7.55237291e-01 -8.60692358e-02 7.71423269e+01] [ 1.36509075e-01 -4.55178950e-03 9.90628363e-01 2.52164490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.01925415399995 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:410.02, Y:77.16, Z:25.22 [[ 7.47289883e-01 -6.56076960e-01 -1.05455451e-01 4.10018327e+02] [ 6.50480551e-01 7.54679954e-01 -8.56342170e-02 7.71592902e+01] [ 1.35767752e-01 -4.60313598e-03 9.90729998e-01 2.52200154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.0492541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:410.04, Y:77.18, Z:25.22 [[ 7.47061094e-01 -6.56433835e-01 -1.04853908e-01 4.10040240e+02] [ 6.50897973e-01 7.54369564e-01 -8.51961882e-02 7.71760941e+01] [ 1.35024258e-01 -4.60243885e-03 9.90831604e-01 2.52235884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.07925415399995 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:410.06, Y:77.19, Z:25.23 [[ 7.47033127e-01 -6.56596265e-01 -1.04032936e-01 4.10062590e+02] [ 6.51142061e-01 7.54228462e-01 -8.45780397e-02 7.71915608e+01] [ 1.33998226e-01 -4.55762296e-03 9.90971091e-01 2.52266658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.1092541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:410.08, Y:77.21, Z:25.23 [[ 7.47082102e-01 -6.56592230e-01 -1.03706199e-01 4.10084083e+02] [ 6.51169417e-01 7.54232166e-01 -8.43340447e-02 7.72074007e+01] [ 1.33591630e-01 -4.52584996e-03 9.91026131e-01 2.52296454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.13925415399996 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:410.11, Y:77.22, Z:25.23 [[ 7.47019969e-01 -6.56652433e-01 -1.03772577e-01 4.10106253e+02] [ 6.51220205e-01 7.54179772e-01 -8.44104006e-02 7.72237983e+01] [ 1.33691474e-01 -4.52254433e-03 9.91012682e-01 2.52330363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.16925415399993 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:410.13, Y:77.24, Z:25.24 [[ 7.47499996e-01 -6.56153086e-01 -1.03474078e-01 4.10129468e+02] [ 6.50740882e-01 7.54615078e-01 -8.42163195e-02 7.72399867e+01] [ 1.33341897e-01 -4.38311405e-03 9.91060405e-01 2.52361711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.19925415399996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:410.15, Y:77.26, Z:25.24 [[ 7.47694284e-01 -6.55941949e-01 -1.03408981e-01 4.10150749e+02] [ 6.50527816e-01 7.54799067e-01 -8.42135942e-02 7.72565949e+01] [ 1.33292232e-01 -4.30439562e-03 9.91067431e-01 2.52397405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.22925415399993 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:410.17, Y:77.27, Z:25.24 [[ 7.47619094e-01 -6.56063435e-01 -1.03181680e-01 4.10172072e+02] [ 6.50671241e-01 7.54693506e-01 -8.40514569e-02 7.72737237e+01] [ 1.33013632e-01 -4.29887791e-03 9.91104885e-01 2.52432302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.25925415399996 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:410.19, Y:77.29, Z:25.25 [[ 7.47809568e-01 -6.55850874e-01 -1.03152703e-01 4.10193116e+02] [ 6.50452965e-01 7.54878672e-01 -8.40781278e-02 7.72897104e+01] [ 1.33010489e-01 -4.22155307e-03 9.91105639e-01 2.52464762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.28925415399993 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:410.22, Y:77.31, Z:25.25 [[ 7.47110926e-01 -6.56564555e-01 -1.03673762e-01 4.10215442e+02] [ 6.51115410e-01 7.54257274e-01 -8.45262500e-02 7.73056139e+01] [ 1.33693629e-01 -4.35309893e-03 9.91013150e-01 2.52492683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.31925415399996 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:410.24, Y:77.32, Z:25.25 [[ 7.46410000e-01 -6.57317287e-01 -1.03952375e-01 4.10236943e+02] [ 6.51838946e-01 7.53600747e-01 -8.48050895e-02 7.73223864e+01] [ 1.34082439e-01 -4.46083959e-03 9.90960141e-01 2.52524598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.34925415399994 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:410.26, Y:77.34, Z:25.26 [[ 7.45532083e-01 -6.58249857e-01 -1.04350562e-01 4.10258608e+02] [ 6.52731338e-01 7.52785427e-01 -8.51815806e-02 7.73393924e+01] [ 1.34624346e-01 -4.60728069e-03 9.90885997e-01 2.52556585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.37925415399997 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:410.28, Y:77.36, Z:25.26 [[ 7.45034602e-01 -6.58825366e-01 -1.04271658e-01 4.10280791e+02] [ 6.53313811e-01 7.52281425e-01 -8.51687802e-02 7.73567116e+01] [ 1.34552985e-01 -4.66842620e-03 9.90895403e-01 2.52580902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.40925415399994 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:410.30, Y:77.38, Z:25.26 [[ 7.43097218e-01 -6.60941016e-01 -1.04706728e-01 4.10301663e+02] [ 6.55396889e-01 7.50420977e-01 -8.55761382e-02 7.73751623e+01] [ 1.35134905e-01 -5.03307361e-03 9.90814425e-01 2.52628420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.43925415399997 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:410.32, Y:77.39, Z:25.27 [[ 7.42508340e-01 -6.61599133e-01 -1.04727987e-01 4.10321868e+02] [ 6.56052242e-01 7.49840265e-01 -8.56448086e-02 7.73922818e+01] [ 1.35191792e-01 -5.11504562e-03 9.90806245e-01 2.52665737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.46925415399994 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:410.34, Y:77.41, Z:25.27 [[ 7.41102669e-01 -6.63256775e-01 -1.04198292e-01 4.10342972e+02] [ 6.57779087e-01 7.48372634e-01 -8.52354016e-02 7.74099372e+01] [ 1.34512108e-01 -5.37127404e-03 9.90897392e-01 2.52705398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.49925415399997 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:410.36, Y:77.43, Z:25.27 [[ 7.40342605e-01 -6.64196588e-01 -1.03613322e-01 4.10363852e+02] [ 6.58782869e-01 7.47537921e-01 -8.48067726e-02 7.74273640e+01] [ 1.33783256e-01 -5.47261474e-03 9.90995505e-01 2.52742178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.52925415399994 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:410.38, Y:77.44, Z:25.28 [[ 7.39668056e-01 -6.65040145e-01 -1.03018314e-01 4.10384248e+02] [ 6.59690024e-01 7.46786955e-01 -8.43701154e-02 7.74444806e+01] [ 1.33042247e-01 -5.55427469e-03 9.91094804e-01 2.52778197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.559254154 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:410.41, Y:77.46, Z:25.28 [[ 7.38622812e-01 -6.66289145e-01 -1.02445675e-01 4.10405123e+02] [ 6.61007425e-01 7.45671477e-01 -8.39239684e-02 7.74621470e+01] [ 1.32308447e-01 -5.72919412e-03 9.91192036e-01 2.52817607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.58925415399995 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:410.43, Y:77.48, Z:25.29 [[ 7.37731802e-01 -6.67342798e-01 -1.02006755e-01 4.10425340e+02] [ 6.62109723e-01 7.44727678e-01 -8.36145903e-02 7.74792257e+01] [ 1.31766848e-01 -5.85452175e-03 9.91263447e-01 2.52853679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6192541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:410.45, Y:77.50, Z:25.29 [[ 7.35255462e-01 -6.70163157e-01 -1.01394027e-01 4.10445691e+02] [ 6.65016560e-01 7.42187044e-01 -8.31346289e-02 7.74974326e+01] [ 1.30967098e-01 -6.30351693e-03 9.91366675e-01 2.52897572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.64925415399995 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:410.47, Y:77.52, Z:25.29 [[ 7.33870445e-01 -6.71728914e-01 -1.01066491e-01 4.10466836e+02] [ 6.66623795e-01 7.40768320e-01 -8.29156948e-02 7.75155270e+01] [ 1.30563724e-01 -6.52394988e-03 9.91418455e-01 2.52934509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6792541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:410.49, Y:77.53, Z:25.30 [[ 7.32367689e-01 -6.73329533e-01 -1.01315884e-01 4.10487031e+02] [ 6.68207636e-01 7.39311337e-01 -8.31703227e-02 7.75329732e+01] [ 1.30905016e-01 -6.78879004e-03 9.91371671e-01 2.52971165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.70925415399995 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:410.51, Y:77.55, Z:25.30 [[ 7.32188063e-01 -6.73526494e-01 -1.01304996e-01 4.10508748e+02] [ 6.68404638e-01 7.39131741e-01 -8.31835822e-02 7.75509291e+01] [ 1.30904084e-01 -6.80670312e-03 9.91371671e-01 2.53007868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7392541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:410.53, Y:77.57, Z:25.30 [[ 7.29111151e-01 -6.76831528e-01 -1.01469267e-01 4.10530361e+02] [ 6.71718488e-01 7.36100987e-01 -8.33643154e-02 7.75688481e+01] [ 1.31115225e-01 -7.37693097e-03 9.91339689e-01 2.53038665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.76925415399995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:410.55, Y:77.59, Z:25.31 [[ 7.27415336e-01 -6.78614783e-01 -1.01729566e-01 4.10551311e+02] [ 6.73485939e-01 7.34454206e-01 -8.36284026e-02 7.75862478e+01] [ 1.31467178e-01 -7.68084952e-03 9.91290768e-01 2.53073008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7992541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:410.57, Y:77.63, Z:25.31 [[ 7.32671545e-01 -6.78726785e-01 -5.02230867e-02 4.10570397e+02] [ 6.69849888e-01 7.32205032e-01 -1.23194636e-01 7.76308348e+01] [ 1.20389096e-01 5.66192750e-02 9.91110853e-01 2.53097358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.82925415399995 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:410.62, Y:77.60, Z:25.30 [[ 7.23270573e-01 -6.74972757e-01 -1.45915918e-01 4.10617232e+02] [ 6.78536345e-01 7.33892400e-01 -3.14702108e-02 7.75983374e+01] [ 1.28328118e-01 -7.62477763e-02 9.88796324e-01 2.52995055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.8592541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:410.61, Y:77.64, Z:25.32 [[ 7.21634745e-01 -6.84588715e-01 -1.02866834e-01 4.10614130e+02] [ 6.79377594e-01 7.28877376e-01 -8.47576322e-02 7.76428357e+01] [ 1.33001427e-01 -8.72136990e-03 9.91077473e-01 2.53197935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.88925415399996 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:410.64, Y:77.68, Z:25.32 [[ 7.25478229e-01 -6.84102411e-01 -7.54004646e-02 4.10637622e+02] [ 6.76491559e-01 7.28956869e-01 -1.04790518e-01 7.76760103e+01] [ 1.26651133e-01 2.50154615e-02 9.91631846e-01 2.53217426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.91925415399993 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:410.67, Y:77.67, Z:25.32 [[ 7.19832943e-01 -6.82291313e-01 -1.27746230e-01 4.10668786e+02] [ 6.81391565e-01 7.29654747e-01 -5.75281186e-02 7.76654841e+01] [ 1.32461578e-01 -4.56345685e-02 9.90137070e-01 2.53180560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.94925415399996 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:410.68, Y:77.71, Z:25.33 [[ 7.23972916e-01 -6.85301879e-01 -7.88958282e-02 4.10680445e+02] [ 6.77490887e-01 7.27892929e-01 -1.05725976e-01 7.77110155e+01] [ 1.29881925e-01 2.30915383e-02 9.91260544e-01 2.53283626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.97925415399993 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:410.71, Y:77.70, Z:25.33 [[ 7.19161850e-01 -6.82794618e-01 -1.28832229e-01 4.10710340e+02] [ 6.81553320e-01 7.29265220e-01 -6.04757096e-02 7.77023739e+01] [ 1.35245352e-01 -4.43142098e-02 9.89820663e-01 2.53253576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.00925415399996 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:410.72, Y:77.73, Z:25.34 [[ 7.19675853e-01 -6.86090383e-01 -1.06520674e-01 4.10718496e+02] [ 6.80470967e-01 7.27459645e-01 -8.81006715e-02 7.77342308e+01] [ 1.37934515e-01 -9.08030025e-03 9.90399726e-01 2.53382145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.03925415399993 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:410.74, Y:77.77, Z:25.34 [[ 7.25922283e-01 -6.83173285e-01 -7.94424416e-02 4.10741895e+02] [ 6.75114055e-01 7.29850299e-01 -1.07422315e-01 7.77674337e+01] [ 1.31369146e-01 2.43475434e-02 9.91034482e-01 2.53409529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.06925415399996 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:410.77, Y:77.76, Z:25.34 [[ 7.24891914e-01 -6.76417533e-01 -1.30349661e-01 4.10769993e+02] [ 6.75192785e-01 7.35180579e-01 -6.02014844e-02 7.77603429e+01] [ 1.36551879e-01 -4.43715816e-02 9.89638695e-01 2.53376725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.09925415399994 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:410.78, Y:77.79, Z:25.35 [[ 7.27165499e-01 -6.78069419e-01 -1.07014957e-01 4.10777237e+02] [ 6.72279048e-01 7.34960429e-01 -8.87358335e-02 7.77936643e+01] [ 1.38820814e-01 -7.41827686e-03 9.90289731e-01 2.53510975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.12925415399997 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:410.80, Y:77.83, Z:25.35 [[ 7.34340335e-01 -6.73732155e-01 -8.26393119e-02 4.10800817e+02] [ 6.65771970e-01 7.38629811e-01 -1.05705657e-01 7.78254036e+01] [ 1.32257159e-01 2.26049899e-02 9.90957647e-01 2.53533118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.15925415399994 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:410.83, Y:77.84, Z:25.35 [[ 7.39619762e-01 -6.65492724e-01 -1.00409371e-01 4.10831930e+02] [ 6.60026789e-01 7.46397170e-01 -8.51815857e-02 7.78369880e+01] [ 1.31632996e-01 -3.27089045e-03 9.91293123e-01 2.53491378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.18925415399997 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:410.85, Y:77.84, Z:25.35 [[ 7.37009149e-01 -6.62962157e-01 -1.31524497e-01 4.10850875e+02] [ 6.61331740e-01 7.47517943e-01 -6.21067982e-02 7.78406473e+01] [ 1.39491378e-01 -4.12080457e-02 9.89365480e-01 2.53531103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.21925415399994 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:410.86, Y:77.87, Z:25.37 [[ 7.39913419e-01 -6.63973101e-01 -1.08017836e-01 4.10856606e+02] [ 6.57859514e-01 7.47743133e-01 -9.00059228e-02 7.78727130e+01] [ 1.40531107e-01 -4.46397133e-03 9.90066200e-01 2.53666960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.24925415399997 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:410.88, Y:77.89, Z:25.37 [[ 7.42494649e-01 -6.61114277e-01 -1.07840659e-01 4.10876362e+02] [ 6.54985576e-01 7.50275149e-01 -8.98949176e-02 7.78925945e+01] [ 1.40340980e-01 -3.88758076e-03 9.90095599e-01 2.53710184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.27925415399994 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:410.89, Y:77.91, Z:25.38 [[ 7.47354036e-01 -6.55696315e-01 -1.07351228e-01 4.10893922e+02] [ 6.49560242e-01 7.55019484e-01 -8.95380987e-02 7.79128171e+01] [ 1.39762070e-01 -2.81443029e-03 9.90181116e-01 2.53761630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.309254154 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:410.91, Y:77.93, Z:25.38 [[ 7.48984509e-01 -6.53883983e-01 -1.07041779e-01 4.10914208e+02] [ 6.47761541e-01 7.56590863e-01 -8.93042694e-02 7.79320755e+01] [ 1.39381463e-01 -2.45003346e-03 9.90235732e-01 2.53802668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.33925415399995 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:410.93, Y:77.95, Z:25.38 [[ 7.50204069e-01 -6.52443195e-01 -1.07292741e-01 4.10934621e+02] [ 6.46269818e-01 7.57834590e-01 -8.95659351e-02 7.79507377e+01] [ 1.39746835e-01 -2.14733135e-03 9.90184938e-01 2.53841520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.3692541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:410.96, Y:77.97, Z:25.39 [[ 7.51251680e-01 -6.51110711e-01 -1.08054405e-01 4.10955358e+02] [ 6.44827714e-01 7.58980458e-01 -9.02545510e-02 7.79695892e+01] [ 1.40776886e-01 -1.87259171e-03 9.90039576e-01 2.53879763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.39925415399995 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:410.98, Y:77.99, Z:25.39 [[ 7.51204533e-01 -6.51118985e-01 -1.08331973e-01 4.10975995e+02] [ 6.44796171e-01 7.58973441e-01 -9.05384633e-02 7.79871994e+01] [ 1.41172402e-01 -1.83913723e-03 9.89983318e-01 2.53914941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4292541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:411.00, Y:78.00, Z:25.40 [[ 7.50608085e-01 -6.51772169e-01 -1.08538204e-01 4.10996462e+02] [ 6.45428584e-01 7.58412319e-01 -9.07342175e-02 7.80046652e+01] [ 1.41454749e-01 -1.94782222e-03 9.89942806e-01 2.53950614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.45925415399995 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:411.02, Y:78.02, Z:25.40 [[ 7.49623787e-01 -6.52808499e-01 -1.09111144e-01 4.11017345e+02] [ 6.46404684e-01 7.57519969e-01 -9.12385924e-02 7.80223521e+01] [ 1.42215199e-01 -2.13533567e-03 9.89833459e-01 2.53989354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.4892541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:411.04, Y:78.04, Z:25.40 [[ 7.47266467e-01 -6.55458379e-01 -1.09394429e-01 4.11038672e+02] [ 6.49041889e-01 7.55226799e-01 -9.15265485e-02 7.80391196e+01] [ 1.42609448e-01 -2.60684634e-03 9.89775606e-01 2.54021466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.51925415399995 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:411.06, Y:78.05, Z:25.41 [[ 7.44880275e-01 -6.56467126e-01 -1.19181745e-01 4.11062752e+02] [ 6.51598987e-01 7.54165306e-01 -8.15686878e-02 7.80516399e+01] [ 1.43429899e-01 -1.68997980e-02 9.89516175e-01 2.54064918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.5492541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:411.08, Y:78.08, Z:25.41 [[ 7.44005275e-01 -6.60620233e-01 -1.00185120e-01 4.11077435e+02] [ 6.52673402e-01 7.50638736e-01 -1.02756600e-01 7.80789150e+01] [ 1.43085921e-01 1.10632891e-02 9.89648434e-01 2.54140970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.57925415399995 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:411.11, Y:78.09, Z:25.41 [[ 7.40368051e-01 -6.63320811e-01 -1.08906615e-01 4.11105452e+02] [ 6.57030581e-01 7.48324371e-01 -9.12219898e-02 7.80901038e+01] [ 1.42006918e-01 -4.01712972e-03 9.89857514e-01 2.54135964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.6092541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:411.13, Y:78.11, Z:25.42 [[ 7.38407062e-01 -6.65486617e-01 -1.09007219e-01 4.11126544e+02] [ 6.59200908e-01 7.46396816e-01 -9.13562087e-02 7.81063863e+01] [ 1.42158976e-01 -4.39958840e-03 9.89834061e-01 2.54175274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.63925415399996 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:411.15, Y:78.12, Z:25.42 [[ 7.36360679e-01 -6.67765707e-01 -1.08912405e-01 4.11148405e+02] [ 6.61512158e-01 7.44355939e-01 -9.13011542e-02 7.81237658e+01] [ 1.42037375e-01 -4.81630040e-03 9.89849578e-01 2.54215644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.66925415399993 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:411.17, Y:78.14, Z:25.43 [[ 7.34418034e-01 -6.69939881e-01 -1.08677082e-01 4.11169195e+02] [ 6.63729865e-01 7.42397231e-01 -9.11538111e-02 7.81407262e+01] [ 1.41749138e-01 -5.18722215e-03 9.89889021e-01 2.54254659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.69925415399996 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:411.19, Y:78.16, Z:25.43 [[ 7.30859362e-01 -6.73728993e-01 -1.09242099e-01 4.11190532e+02] [ 6.67490800e-01 7.38954752e-01 -9.16619160e-02 7.81569211e+01] [ 1.42480258e-01 -5.92612661e-03 9.89779903e-01 2.54297355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.72925415399993 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:411.21, Y:78.17, Z:25.43 [[ 7.29103966e-01 -6.75617094e-01 -1.09311248e-01 4.11212230e+02] [ 6.69388498e-01 7.37225944e-01 -9.17439116e-02 7.81735347e+01] [ 1.42570843e-01 -6.28084261e-03 9.89764672e-01 2.54333677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.75925415399996 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:411.23, Y:78.19, Z:25.44 [[ 7.27712685e-01 -6.77130534e-01 -1.09217619e-01 4.11233223e+02] [ 6.70922643e-01 7.35833897e-01 -9.17130476e-02 7.81894015e+01] [ 1.42467731e-01 -6.53582524e-03 9.89777868e-01 2.54369395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.78925415399993 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:411.26, Y:78.21, Z:25.44 [[ 7.26306048e-01 -6.78667267e-01 -1.09042491e-01 4.11255381e+02] [ 6.72493114e-01 7.34414315e-01 -9.15894356e-02 7.82066001e+01] [ 1.42241118e-01 -6.80836314e-03 9.89808623e-01 2.54404283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.81925415399996 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:411.28, Y:78.22, Z:25.44 [[ 7.24688917e-01 -6.80405687e-01 -1.08968223e-01 4.11276818e+02] [ 6.74252648e-01 7.32801171e-01 -9.15740682e-02 7.82228458e+01] [ 1.42159558e-01 -7.10940044e-03 9.89818224e-01 2.54442263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.84925415399994 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:411.30, Y:78.24, Z:25.45 [[ 7.24270790e-01 -6.80856607e-01 -1.08931646e-01 4.11297319e+02] [ 6.74709714e-01 7.32381549e-01 -9.15645605e-02 7.82397080e+01] [ 1.42121864e-01 -7.17970312e-03 9.89823130e-01 2.54477093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.87925415399997 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:411.32, Y:78.28, Z:25.45 [[ 7.29184506e-01 -6.80601974e-01 -7.12103140e-02 4.11319535e+02] [ 6.71021492e-01 7.31548278e-01 -1.20694963e-01 7.82766080e+01] [ 1.34239013e-01 4.02252458e-02 9.90132222e-01 2.54473065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.90925415399994 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:411.36, Y:78.26, Z:25.44 [[ 7.24661509e-01 -6.74416600e-01 -1.41520131e-01 4.11358682e+02] [ 6.74686744e-01 7.36166715e-01 -5.34449731e-02 7.82580964e+01] [ 1.40226587e-01 -5.67522416e-02 9.88491622e-01 2.54422099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.93925415399997 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:411.36, Y:78.29, Z:25.46 [[ 7.25744704e-01 -6.79245317e-01 -1.09180690e-01 4.11361390e+02] [ 6.73035645e-01 7.33879842e-01 -9.18879635e-02 7.82936922e+01] [ 1.42539976e-01 -6.79529309e-03 9.89765719e-01 2.54586641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.96925415399994 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:411.38, Y:78.31, Z:25.46 [[ 7.26850811e-01 -6.78059861e-01 -1.09191224e-01 4.11382720e+02] [ 6.71832397e-01 7.34977531e-01 -9.19198476e-02 7.83116543e+01] [ 1.42580256e-01 -6.54618634e-03 9.89761597e-01 2.54622400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.99925415399997 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:411.40, Y:78.33, Z:25.47 [[ 7.28141295e-01 -6.76680640e-01 -1.09149286e-01 4.11403258e+02] [ 6.70435859e-01 7.36250223e-01 -9.19313196e-02 7.83293165e+01] [ 1.42569330e-01 -6.23860502e-03 9.89765157e-01 2.54656947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.02925415399994 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:411.42, Y:78.35, Z:25.47 [[ 7.31157386e-01 -6.73408969e-01 -1.09221050e-01 4.11422701e+02] [ 6.67116548e-01 7.39249040e-01 -9.20128715e-02 7.83477014e+01] [ 1.42703849e-01 -5.58727932e-03 9.89749662e-01 2.54691529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0592541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:411.44, Y:78.37, Z:25.47 [[ 7.32453327e-01 -6.71964537e-01 -1.09433929e-01 4.11442947e+02] [ 6.65628162e-01 7.40564365e-01 -9.22148115e-02 7.83659710e+01] [ 1.43007951e-01 -5.29925960e-03 9.89707353e-01 2.54726862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.08925415399995 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:411.46, Y:78.38, Z:25.48 [[ 7.33551690e-01 -6.70724101e-01 -1.09686365e-01 4.11463793e+02] [ 6.64337733e-01 7.41689854e-01 -9.24745223e-02 7.83848007e+01] [ 1.43378155e-01 -5.03394864e-03 9.89655174e-01 2.54767026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1192541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:411.48, Y:78.40, Z:25.48 [[ 7.34519113e-01 -6.69685135e-01 -1.09560454e-01 4.11484598e+02] [ 6.63295194e-01 7.42629703e-01 -9.24154208e-02 7.84031053e+01] [ 1.43252081e-01 -4.79002953e-03 9.89674642e-01 2.54800144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.14925415399995 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:411.50, Y:78.42, Z:25.48 [[ 7.35982168e-01 -6.68003114e-01 -1.10009489e-01 4.11504342e+02] [ 6.61535047e-01 7.44145194e-01 -9.28402537e-02 7.84206046e+01] [ 1.43880611e-01 -4.44636118e-03 9.89585064e-01 2.54828958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1792541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:411.53, Y:78.44, Z:25.49 [[ 7.36485066e-01 -6.67379255e-01 -1.10429516e-01 4.11525130e+02] [ 6.60851033e-01 7.44705471e-01 -9.32184230e-02 7.84385261e+01] [ 1.44449506e-01 -4.32348337e-03 9.89502727e-01 2.54856951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.20925415399995 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:411.55, Y:78.46, Z:25.49 [[ 7.37931414e-01 -6.65634290e-01 -1.11302378e-01 4.11545602e+02] [ 6.58974476e-01 7.46267511e-01 -9.40076735e-02 7.84564856e+01] [ 1.45636080e-01 -3.97421091e-03 9.89330247e-01 2.54890218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2392541539999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:411.57, Y:78.47, Z:25.49 [[ 7.38574142e-01 -6.64846477e-01 -1.11747034e-01 4.11566152e+02] [ 6.58120136e-01 7.46970291e-01 -9.44101211e-02 7.84745093e+01] [ 1.46239951e-01 -3.81409895e-03 9.89241795e-01 2.54928541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.26925415399995 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:411.59, Y:78.49, Z:25.50 [[ 7.39037819e-01 -6.64359326e-01 -1.11578621e-01 4.11586980e+02] [ 6.57639561e-01 7.47404321e-01 -9.43238474e-02 7.84929931e+01] [ 1.46059271e-01 -3.66962484e-03 9.89269035e-01 2.54965804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2992541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:411.61, Y:78.51, Z:25.50 [[ 7.39425704e-01 -6.63950839e-01 -1.11440169e-01 4.11607849e+02] [ 6.57234936e-01 7.47767837e-01 -9.42629300e-02 7.85114299e+01] [ 1.45917326e-01 -3.54193921e-03 9.89290447e-01 2.55003462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.32925415399995 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:411.63, Y:78.53, Z:25.50 [[ 7.39650302e-01 -6.63779250e-01 -1.10970891e-01 4.11629049e+02] [ 6.57110015e-01 7.47920582e-01 -9.39214040e-02 7.85297793e+01] [ 1.45340492e-01 -3.45108895e-03 9.89375678e-01 2.55043554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.3592541539999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:411.65, Y:78.55, Z:25.51 [[ 7.40060577e-01 -6.63469952e-01 -1.10081627e-01 4.11650423e+02] [ 6.56896343e-01 7.48195557e-01 -9.32234037e-02 7.85476130e+01] [ 1.44213512e-01 -3.32125246e-03 9.89541021e-01 2.55085002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.38925415399996 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:411.67, Y:78.57, Z:25.51 [[ 7.40312146e-01 -6.63295664e-01 -1.09438515e-01 4.11670368e+02] [ 6.56789379e-01 7.48350484e-01 -9.27322157e-02 7.85650346e+01] [ 1.43407242e-01 -3.22726841e-03 9.89658501e-01 2.55125589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.41925415399993 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:411.69, Y:78.58, Z:25.52 [[ 7.40908029e-01 -6.62751536e-01 -1.08700022e-01 4.11691717e+02] [ 6.56321863e-01 7.48833071e-01 -9.21446940e-02 7.85832785e+01] [ 1.42467209e-01 -3.07145734e-03 9.89794757e-01 2.55163373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.44925415399996 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:411.71, Y:78.60, Z:25.52 [[ 7.42668871e-01 -6.60870191e-01 -1.08136671e-01 4.11711520e+02] [ 6.54479830e-01 7.50495529e-01 -9.17202936e-02 7.86006041e+01] [ 1.41771296e-01 -2.65546328e-03 9.89895877e-01 2.55201782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.47925415399993 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:411.73, Y:78.62, Z:25.52 [[ 7.43592642e-01 -6.59831879e-01 -1.08128969e-01 4.11732717e+02] [ 6.53427802e-01 7.51409309e-01 -9.17396205e-02 7.86189627e+01] [ 1.41781840e-01 -2.43756804e-03 9.89894928e-01 2.55243734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.50925415399996 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:411.75, Y:78.64, Z:25.53 [[ 7.44523608e-01 -6.58842356e-01 -1.07755965e-01 4.11753705e+02] [ 6.52464684e-01 7.52277813e-01 -9.14763831e-02 7.86369704e+01] [ 1.41330938e-01 -2.20063496e-03 9.89959960e-01 2.55276651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.53925415399993 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:411.77, Y:78.66, Z:25.53 [[ 7.46019238e-01 -6.57201763e-01 -1.07429696e-01 4.11774439e+02] [ 6.50838147e-01 7.53712444e-01 -9.12538088e-02 7.86550448e+01] [ 1.40943263e-01 -1.84224774e-03 9.90015961e-01 2.55321904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.56925415399996 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:411.80, Y:78.67, Z:25.54 [[ 7.46758620e-01 -6.56340271e-01 -1.07559338e-01 4.11795807e+02] [ 6.49944686e-01 7.54463224e-01 -9.14174492e-02 7.86717957e+01] [ 1.41150518e-01 -1.64085194e-03 9.89986787e-01 2.55352592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.59925415399994 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:411.82, Y:78.69, Z:25.54 [[ 7.46587014e-01 -6.56538516e-01 -1.07540730e-01 4.11817195e+02] [ 6.50141824e-01 7.54290698e-01 -9.14393348e-02 7.86901109e+01] [ 1.41150417e-01 -1.64930608e-03 9.89986788e-01 2.55390395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.62925415399997 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:411.84, Y:78.71, Z:25.54 [[ 7.46393933e-01 -6.56778897e-01 -1.07413113e-01 4.11838671e+02] [ 6.50392926e-01 7.54081389e-01 -9.13799807e-02 7.87078042e+01] [ 1.41014673e-01 -1.65526585e-03 9.90006122e-01 2.55433791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.65925415399994 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:411.86, Y:78.73, Z:25.55 [[ 7.46020294e-01 -6.57160496e-01 -1.07674524e-01 4.11860497e+02] [ 6.50739346e-01 7.53748783e-01 -9.16573894e-02 7.87251530e+01] [ 1.41393157e-01 -1.68977652e-03 9.89952080e-01 2.55469661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.68925415399997 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:411.88, Y:78.74, Z:25.55 [[ 7.44989243e-01 -6.58281228e-01 -1.07966905e-01 4.11881863e+02] [ 6.51829027e-01 7.52769778e-01 -9.19596708e-02 7.87405424e+01] [ 1.41809548e-01 -1.86699670e-03 9.89892199e-01 2.55503523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.71925415399994 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:411.90, Y:78.76, Z:25.55 [[ 7.44181612e-01 -6.59159909e-01 -1.08175517e-01 4.11903593e+02] [ 6.52688116e-01 7.52000093e-01 -9.21633566e-02 7.87579675e+01] [ 1.42098389e-01 -2.01859926e-03 9.89850480e-01 2.55542889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.74925415399997 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:411.93, Y:78.78, Z:25.56 [[ 7.43550897e-01 -6.59878272e-01 -1.08132929e-01 4.11925520e+02] [ 6.53411391e-01 7.51369548e-01 -9.21811047e-02 7.87753774e+01] [ 1.42076098e-01 -2.11394428e-03 9.89853481e-01 2.55579398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.77925415399994 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:411.95, Y:78.79, Z:25.56 [[ 7.43036122e-01 -6.60472539e-01 -1.08043259e-01 4.11947379e+02] [ 6.54014802e-01 7.50847025e-01 -9.21595591e-02 7.87925936e+01] [ 1.41992817e-01 -2.18400894e-03 9.89865279e-01 2.55618051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8092541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:411.97, Y:78.81, Z:25.57 [[ 7.43179546e-01 -6.60804036e-01 -1.04986616e-01 4.11966689e+02] [ 6.53474819e-01 7.50545535e-01 -9.82448978e-02 7.88109771e+01] [ 1.43717861e-01 4.40748856e-03 9.89608888e-01 2.55669867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.83925415399995 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:411.99, Y:78.83, Z:25.57 [[ 7.43469292e-01 -6.59964720e-01 -1.08166449e-01 4.11988537e+02] [ 6.53097915e-01 7.51296590e-01 -9.49554993e-02 7.88256767e+01] [ 1.43932364e-01 -4.67843953e-05 9.89587526e-01 2.55691000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.8692541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:412.02, Y:78.84, Z:25.57 [[ 7.43075054e-01 -6.59670888e-01 -1.12577906e-01 4.12015511e+02] [ 6.53913316e-01 7.51504552e-01 -8.73972761e-02 7.88409653e+01] [ 1.42256247e-01 -8.67345599e-03 9.89791863e-01 2.55695402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.89925415399995 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:412.04, Y:78.86, Z:25.58 [[ 7.42652322e-01 -6.60964548e-01 -1.07672630e-01 4.12035073e+02] [ 6.54532262e-01 7.50414071e-01 -9.20121720e-02 7.88594144e+01] [ 1.41615840e-01 -2.14215709e-03 9.89919373e-01 2.55755748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9292541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:412.06, Y:78.88, Z:25.58 [[ 7.41773481e-01 -6.61972221e-01 -1.07540137e-01 4.12056640e+02] [ 6.55562713e-01 7.49524804e-01 -9.19244120e-02 7.88770823e+01] [ 1.41455407e-01 -2.31221257e-03 9.89941928e-01 2.55801038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.95925415399995 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:412.08, Y:78.89, Z:25.58 [[ 7.41019054e-01 -6.62843217e-01 -1.07376123e-01 4.12077201e+02] [ 6.56454692e-01 7.48754264e-01 -9.18383882e-02 7.88934446e+01] [ 1.41272783e-01 -2.43356443e-03 9.89967716e-01 2.55835468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.9892541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:412.10, Y:78.91, Z:25.59 [[ 7.38791155e-01 -6.65260552e-01 -1.07777673e-01 4.12099436e+02] [ 6.58843834e-01 7.46605734e-01 -9.22208242e-02 7.89093706e+01] [ 1.41818305e-01 -2.87672620e-03 9.89888525e-01 2.55873726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.01925415399995 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:412.12, Y:78.93, Z:25.59 [[ 7.37646906e-01 -6.67111255e-01 -1.04113472e-01 4.12117190e+02] [ 6.59494328e-01 7.44937034e-01 -1.00677938e-01 7.89288538e+01] [ 1.44721367e-01 5.60252536e-03 9.89456587e-01 2.55935842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.0492541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:412.15, Y:78.94, Z:25.59 [[ 7.35562515e-01 -6.67836983e-01 -1.13760938e-01 4.12145958e+02] [ 6.62274886e-01 7.44218584e-01 -8.67794568e-02 7.89411861e+01] [ 1.42617535e-01 -1.15092968e-02 9.89710955e-01 2.55928362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.07925415399995 meters Centerline goodness : 0.996165 Centerline is valid? [True, True] Translation: X:412.16, Y:78.96, Z:25.60 [[ 7.34810303e-01 -6.69788679e-01 -1.06943651e-01 4.12162508e+02] [ 6.62747539e-01 7.42551706e-01 -9.68641506e-02 7.89614503e+01] [ 1.44289702e-01 3.00134655e-04 9.89535442e-01 2.55998643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.1092541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:412.19, Y:78.98, Z:25.60 [[ 7.32234622e-01 -6.71976514e-01 -1.10815266e-01 4.12187795e+02] [ 6.65864286e-01 7.40535934e-01 -9.07264169e-02 7.89760083e+01] [ 1.43028708e-01 -7.35490438e-03 9.89691212e-01 2.56022900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.13925415399996 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:412.21, Y:79.00, Z:25.61 [[ 7.31195392e-01 -6.73414488e-01 -1.08932210e-01 4.12208221e+02] [ 6.66911606e-01 7.39252554e-01 -9.34589232e-02 7.89950379e+01] [ 1.43465008e-01 -4.31142147e-03 9.89645999e-01 2.56075635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.16925415399993 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:412.23, Y:79.01, Z:25.61 [[ 7.30250291e-01 -6.74450146e-01 -1.08864649e-01 4.12229220e+02] [ 6.67958981e-01 7.38306849e-01 -9.34547787e-02 7.90127758e+01] [ 1.43406105e-01 -4.47174077e-03 9.89653825e-01 2.56116848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.19925415399996 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:412.25, Y:79.03, Z:25.62 [[ 7.29662262e-01 -6.75153192e-01 -1.08448838e-01 4.12250585e+02] [ 6.68711737e-01 7.37663505e-01 -9.31513080e-02 7.90306951e+01] [ 1.42890153e-01 -4.55201703e-03 9.89728086e-01 2.56156076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.22925415399993 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:412.27, Y:79.05, Z:25.62 [[ 7.28182486e-01 -6.76686279e-01 -1.08839087e-01 4.12271931e+02] [ 6.70207330e-01 7.36255626e-01 -9.35403016e-02 7.90478706e+01] [ 1.43430829e-01 -4.83034478e-03 9.89648556e-01 2.56202965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.25925415399996 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:412.29, Y:79.07, Z:25.63 [[ 7.28177959e-01 -6.77141210e-01 -1.06003031e-01 4.12290037e+02] [ 6.69771801e-01 7.35851447e-01 -9.96412671e-02 7.90664882e+01] [ 1.45473692e-01 1.55873323e-03 9.89360892e-01 2.56255010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.28925415399993 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:412.32, Y:79.08, Z:25.63 [[ 7.26631022e-01 -6.77757280e-01 -1.12483009e-01 4.12318095e+02] [ 6.71867164e-01 7.35212827e-01 -8.97586392e-02 7.90819891e+01] [ 1.43533522e-01 -1.03522282e-02 9.89591309e-01 2.56265345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.31925415399996 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:412.34, Y:79.10, Z:25.63 [[ 7.24807941e-01 -6.80245210e-01 -1.09178308e-01 4.12337311e+02] [ 6.73752354e-01 7.32964109e-01 -9.39222069e-02 7.90999610e+01] [ 1.43913912e-01 -5.48358029e-03 9.89575018e-01 2.56313923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.34925415399994 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:412.36, Y:79.12, Z:25.63 [[ 7.23783294e-01 -6.81369886e-01 -1.08962476e-01 4.12358862e+02] [ 6.74911535e-01 7.31917252e-01 -9.37632959e-02 7.91173772e+01] [ 1.43639003e-01 -5.67572507e-03 9.89613876e-01 2.56349615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.37925415399997 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:412.38, Y:79.13, Z:25.64 [[ 7.22622186e-01 -6.82613208e-01 -1.08887026e-01 4.12380102e+02] [ 6.76169599e-01 7.30756233e-01 -9.37550038e-02 7.91348240e+01] [ 1.43568277e-01 -5.87665080e-03 9.89622966e-01 2.56382622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.40925415399994 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:412.40, Y:79.16, Z:25.64 [[ 7.23076474e-01 -6.83155230e-01 -1.02270936e-01 4.12404390e+02] [ 6.75843858e-01 7.30267070e-01 -9.97250485e-02 7.91566360e+01] [ 1.42812786e-01 2.98965220e-03 9.89745205e-01 2.56440940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.43925415399997 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:412.43, Y:79.17, Z:25.64 [[ 7.18421651e-01 -6.85703370e-01 -1.16966748e-01 4.12427243e+02] [ 6.80433578e-01 7.27673873e-01 -8.66076248e-02 7.91661075e+01] [ 1.44500787e-01 -1.73673103e-02 9.89352262e-01 2.56430686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.46925415399994 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:412.44, Y:79.19, Z:25.65 [[ 7.16723723e-01 -6.88548505e-01 -1.10490096e-01 4.12444713e+02] [ 6.81959414e-01 7.25155988e-01 -9.52898214e-02 7.91879912e+01] [ 1.45734219e-01 -7.05328558e-03 9.89298635e-01 2.56494106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.49925415399997 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:412.46, Y:79.21, Z:25.66 [[ 7.16230050e-01 -6.89751988e-01 -1.06097643e-01 4.12459282e+02] [ 6.81707953e-01 7.24039785e-01 -1.05074530e-01 7.92069572e+01] [ 1.49294281e-01 2.92992859e-03 9.88788467e-01 2.56559694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.52925415399994 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:412.49, Y:79.22, Z:25.66 [[ 7.13349307e-01 -6.90721362e-01 -1.18476862e-01 4.12489588e+02] [ 6.84823714e-01 7.22946355e-01 -9.14606358e-02 7.92209400e+01] [ 1.48826230e-01 -1.58923832e-02 9.88735650e-01 2.56557847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5592541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:412.51, Y:79.24, Z:25.66 [[ 7.10059262e-01 -6.95201780e-01 -1.11849583e-01 4.12506481e+02] [ 6.88516395e-01 7.18764933e-01 -9.65512537e-02 7.92423548e+01] [ 1.47516162e-01 -8.45315992e-03 9.89023522e-01 2.56611797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.58925415399995 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:412.53, Y:79.26, Z:25.67 [[ 7.08485303e-01 -6.96820374e-01 -1.11758407e-01 4.12526944e+02] [ 6.90161541e-01 7.17192162e-01 -9.65010337e-02 7.92605902e+01] [ 1.47396140e-01 -8.76179026e-03 9.89038730e-01 2.56651477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6192541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:412.54, Y:79.28, Z:25.67 [[ 7.08301195e-01 -6.98203901e-01 -1.04022737e-01 4.12539504e+02] [ 6.90023174e-01 7.15889128e-01 -1.06633836e-01 7.92805991e+01] [ 1.48920907e-01 3.75077449e-03 9.88841997e-01 2.56722044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.64925415399995 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:412.57, Y:79.29, Z:25.67 [[ 7.05697333e-01 -6.98904381e-01 -1.16292479e-01 4.12570729e+02] [ 6.93835149e-01 7.14941761e-01 -8.63195519e-02 7.92943600e+01] [ 1.43471463e-01 -1.97723320e-02 9.89456919e-01 2.56702152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6792541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:412.59, Y:79.32, Z:25.68 [[ 7.05132470e-01 -7.00560228e-01 -1.09560788e-01 4.12587269e+02] [ 6.94174260e-01 7.13534071e-01 -9.48220758e-02 7.93175122e+01] [ 1.44603930e-01 -9.19215428e-03 9.89446920e-01 2.56770307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.70925415399995 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:412.61, Y:79.34, Z:25.68 [[ 7.04795932e-01 -7.01033253e-01 -1.08697163e-01 4.12606837e+02] [ 6.94745691e-01 7.13069557e-01 -9.41288061e-02 7.93374036e+01] [ 1.43496061e-01 -9.17528601e-03 9.89608354e-01 2.56807935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7392541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:412.62, Y:79.36, Z:25.68 [[ 7.04868055e-01 -7.00936694e-01 -1.08852088e-01 4.12624054e+02] [ 6.94622172e-01 7.13165052e-01 -9.43167429e-02 7.93582297e+01] [ 1.43739571e-01 -9.13021489e-03 9.89573431e-01 2.56844092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.76925415399995 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:412.64, Y:79.38, Z:25.69 [[ 7.04846096e-01 -7.00901927e-01 -1.09217531e-01 4.12643368e+02] [ 6.94540377e-01 7.13199161e-01 -9.46605633e-02 7.93780290e+01] [ 1.44241623e-01 -9.13485692e-03 9.89500333e-01 2.56881167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7992541539999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:412.66, Y:79.40, Z:25.69 [[ 7.04964271e-01 -7.00732406e-01 -1.09542096e-01 4.12662289e+02] [ 6.94322687e-01 7.13366320e-01 -9.49973672e-02 7.93974354e+01] [ 1.44711376e-01 -9.08781282e-03 9.89432175e-01 2.56918599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.82925415399995 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:412.68, Y:79.42, Z:25.70 [[ 7.04918725e-01 -7.00766762e-01 -1.09615401e-01 4.12681456e+02] [ 6.94345151e-01 7.13332633e-01 -9.50860970e-02 7.94168579e+01] [ 1.44825419e-01 -9.08295194e-03 9.89415534e-01 2.56955093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.8592541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:412.70, Y:79.44, Z:25.70 [[ 7.03861576e-01 -7.01718903e-01 -1.10315290e-01 4.12700723e+02] [ 6.95222069e-01 7.12392963e-01 -9.57211616e-02 7.94372922e+01] [ 1.45757185e-01 -9.31917646e-03 9.89276501e-01 2.56984135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.88925415399996 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:412.72, Y:79.46, Z:25.70 [[ 7.03981991e-01 -7.01747930e-01 -1.09358127e-01 4.12717824e+02] [ 6.94805217e-01 7.12395564e-01 -9.86826729e-02 7.94555031e+01] [ 1.47156606e-01 -6.51177279e-03 9.89091770e-01 2.57022013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.91925415399993 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:412.74, Y:79.48, Z:25.71 [[ 7.01824905e-01 -7.03459757e-01 -1.12188113e-01 4.12741223e+02] [ 6.97048199e-01 7.10646362e-01 -9.54230419e-02 7.94751237e+01] [ 1.46852344e-01 -1.12302548e-02 9.89094672e-01 2.57054197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.94925415399996 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:412.76, Y:79.50, Z:25.71 [[ 6.99383647e-01 -7.05985006e-01 -1.11569198e-01 4.12758701e+02] [ 6.99379715e-01 7.08152399e-01 -9.68926971e-02 7.94959278e+01] [ 1.47412787e-01 -1.02640660e-02 9.89021799e-01 2.57092487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.97925415399993 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:412.78, Y:79.52, Z:25.71 [[ 6.98053703e-01 -7.07291091e-01 -1.11625894e-01 4.12778136e+02] [ 7.00689237e-01 7.06844214e-01 -9.69837591e-02 7.95154039e+01] [ 1.47497866e-01 -1.05151903e-02 9.89006476e-01 2.57126334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.00925415399996 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:412.80, Y:79.53, Z:25.72 [[ 6.97158701e-01 -7.08147197e-01 -1.11791295e-01 4.12797326e+02] [ 7.01528236e-01 7.05984162e-01 -9.71828024e-02 7.95343458e+01] [ 1.47742613e-01 -1.06729138e-02 9.88968255e-01 2.57161107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.03925415399993 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:412.82, Y:79.55, Z:25.72 [[ 6.96743087e-01 -7.08592186e-01 -1.11562475e-01 4.12817337e+02] [ 7.02001756e-01 7.05536750e-01 -9.70125224e-02 7.95538049e+01] [ 1.47453741e-01 -1.07242490e-02 9.89010811e-01 2.57194068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.06925415399996 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:412.84, Y:79.57, Z:25.72 [[ 6.97117849e-01 -7.08244706e-01 -1.11427734e-01 4.12835434e+02] [ 7.01657268e-01 7.05887495e-01 -9.69532044e-02 7.95743489e+01] [ 1.47322038e-01 -1.05962701e-02 9.89031818e-01 2.57233745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.09925415399994 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:412.85, Y:79.60, Z:25.73 [[ 7.00681091e-01 -7.07727530e-01 -9.03756114e-02 4.12853350e+02] [ 6.98864472e-01 7.06307464e-01 -1.12775071e-01 7.96048708e+01] [ 1.43646991e-01 1.58590556e-02 9.89501911e-01 2.57293918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.12925415399997 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:412.88, Y:79.60, Z:25.72 [[ 6.98640665e-01 -7.03714194e-01 -1.29180317e-01 4.12884407e+02] [ 7.00740723e-01 7.09460423e-01 -7.50223064e-02 7.96043415e+01] [ 1.44442584e-01 -3.81082749e-02 9.88779095e-01 2.57242749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.15925415399994 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:412.89, Y:79.63, Z:25.74 [[ 6.99930345e-01 -7.05730268e-01 -1.09737417e-01 4.12893701e+02] [ 6.99286727e-01 7.08412991e-01 -9.56509682e-02 7.96339947e+01] [ 1.45243195e-01 -9.78890361e-03 9.89347559e-01 2.57360174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.18925415399997 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:412.91, Y:79.66, Z:25.74 [[ 7.02782050e-01 -7.02970662e-01 -1.09222888e-01 4.12911743e+02] [ 6.96546404e-01 7.11160211e-01 -9.52589202e-02 7.96553676e+01] [ 1.44639198e-01 -9.13255044e-03 9.89442317e-01 2.57408530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.21925415399994 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:412.93, Y:79.67, Z:25.74 [[ 7.04659738e-01 -7.00732476e-01 -1.11483856e-01 4.12932071e+02] [ 6.94956641e-01 7.13296435e-01 -9.07935193e-02 7.96725920e+01] [ 1.43143004e-01 -1.34979083e-02 9.89609967e-01 2.57428681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.24925415399997 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:412.95, Y:79.70, Z:25.75 [[ 7.05984009e-01 -7.00277377e-01 -1.05821429e-01 4.12949173e+02] [ 6.93259166e-01 7.13862274e-01 -9.89564673e-02 7.96961735e+01] [ 1.44838901e-01 -3.49999207e-03 9.89449060e-01 2.57495899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.27925415399994 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:412.97, Y:79.71, Z:25.75 [[ 7.07512774e-01 -6.97426642e-01 -1.14112894e-01 4.12973416e+02] [ 6.91440120e-01 7.16525833e-01 -9.22024489e-02 7.97127892e+01] [ 1.46069281e-01 -1.36678226e-02 9.89179941e-01 2.57525819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3092541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:412.99, Y:79.74, Z:25.76 [[ 7.11347954e-01 -6.94584914e-01 -1.07405238e-01 4.12986231e+02] [ 6.87245120e-01 7.19407492e-01 -1.00732340e-01 7.97368242e+01] [ 1.47235297e-01 -2.15798225e-03 9.89099141e-01 2.57566710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.33925415399995 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:413.01, Y:79.75, Z:25.76 [[ 7.13293141e-01 -6.91918143e-01 -1.11634126e-01 4.13007319e+02] [ 6.85037916e-01 7.21943237e-01 -9.75756892e-02 7.97543651e+01] [ 1.48107892e-01 -6.87353885e-03 9.88947323e-01 2.57584912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.3692541539999 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:413.03, Y:79.77, Z:25.76 [[ 7.15222429e-01 -6.89813691e-01 -1.12311837e-01 4.13026929e+02] [ 6.82819266e-01 7.23958137e-01 -9.81960573e-02 7.97734173e+01] [ 1.49046053e-01 -6.45666380e-03 9.88809175e-01 2.57617870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.39925415399995 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:413.05, Y:79.79, Z:25.77 [[ 7.17407491e-01 -6.87440892e-01 -1.12922592e-01 4.13046031e+02] [ 6.80332562e-01 7.26215898e-01 -9.87829639e-02 7.97921745e+01] [ 1.49913631e-01 -5.95727818e-03 9.88681149e-01 2.57653483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4292541539999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:413.07, Y:79.81, Z:25.77 [[ 7.19666873e-01 -6.85062121e-01 -1.13002135e-01 4.13065660e+02] [ 6.77910316e-01 7.28464309e-01 -9.88805055e-02 7.98114498e+01] [ 1.50057311e-01 -5.44428858e-03 9.88662310e-01 2.57690472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.45925415399995 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:413.08, Y:79.83, Z:25.77 [[ 7.24668938e-01 -6.79852373e-01 -1.12497474e-01 4.13084453e+02] [ 6.72693525e-01 7.33336388e-01 -9.84944838e-02 7.98324432e+01] [ 1.49460200e-01 -4.30042944e-03 9.88758391e-01 2.57733080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.4892541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:413.10, Y:79.85, Z:25.78 [[ 7.27178289e-01 -6.77228216e-01 -1.12132418e-01 4.13103836e+02] [ 6.70076069e-01 7.35763701e-01 -9.82335870e-02 7.98516843e+01] [ 1.49029520e-01 -3.70391812e-03 9.88825810e-01 2.57777929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.51925415399995 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:413.12, Y:79.87, Z:25.78 [[ 7.27054743e-01 -6.77365478e-01 -1.12104456e-01 4.13124960e+02] [ 6.70210038e-01 7.35637410e-01 -9.82654881e-02 7.98703341e+01] [ 1.49029881e-01 -3.68914234e-03 9.88825811e-01 2.57815899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.5492541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:413.14, Y:79.89, Z:25.79 [[ 7.29786183e-01 -6.74479986e-01 -1.11753637e-01 4.13143780e+02] [ 6.67330250e-01 7.38286785e-01 -9.79946988e-02 7.98886990e+01] [ 1.48601696e-01 -3.06140533e-03 9.88892392e-01 2.57858839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.57925415399995 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:413.16, Y:79.91, Z:25.79 [[ 7.34740190e-01 -6.69266994e-01 -1.10627953e-01 4.13162553e+02] [ 6.62196151e-01 7.43019435e-01 -9.70483284e-02 7.99091947e+01] [ 1.47149962e-01 -1.95209761e-03 9.89112268e-01 2.57906850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.6092541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:413.19, Y:79.92, Z:25.79 [[ 7.35789385e-01 -6.65619732e-01 -1.24757179e-01 4.13185794e+02] [ 6.60303350e-01 7.46048313e-01 -8.60894978e-02 7.99215577e+01] [ 1.50377751e-01 -1.90338444e-02 9.88445368e-01 2.57946031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.63925415399996 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:413.20, Y:79.95, Z:25.80 [[ 7.38750799e-01 -6.66820716e-01 -9.79662686e-02 4.13196704e+02] [ 6.57794401e-01 7.45016239e-01 -1.10712822e-01 7.99528339e+01] [ 1.46812064e-01 1.73475229e-02 9.89012276e-01 2.58042877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.66925415399993 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:413.22, Y:79.96, Z:25.80 [[ 7.40026718e-01 -6.63540666e-01 -1.09882854e-01 4.13223994e+02] [ 6.56481399e-01 7.48139891e-01 -9.65343247e-02 7.99647511e+01] [ 1.46262197e-01 -6.98070414e-04 9.89245613e-01 2.58018395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.69925415399996 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:413.24, Y:79.98, Z:25.81 [[ 7.41978714e-01 -6.61382175e-01 -1.09732433e-01 4.13244560e+02] [ 6.54310781e-01 7.50049042e-01 -9.64563953e-02 7.99823547e+01] [ 1.46099247e-01 -2.30521707e-04 9.89269911e-01 2.58053980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.72925415399993 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:413.27, Y:80.00, Z:25.81 [[ 7.41798708e-01 -6.61539509e-01 -1.10000706e-01 4.13265830e+02] [ 6.54430922e-01 7.49910275e-01 -9.67199492e-02 8.00006744e+01] [ 1.46474728e-01 -2.41130297e-04 9.89214383e-01 2.58095629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.75925415399996 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:413.29, Y:80.02, Z:25.81 [[ 7.41417765e-01 -6.61942634e-01 -1.10143758e-01 4.13287280e+02] [ 6.54811518e-01 7.49554449e-01 -9.69020336e-02 8.00185432e+01] [ 1.46702331e-01 -2.78511974e-04 9.89180645e-01 2.58134596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.78925415399993 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:413.31, Y:80.04, Z:25.82 [[ 7.40472140e-01 -6.62965917e-01 -1.10350364e-01 4.13308713e+02] [ 6.55810809e-01 7.48649450e-01 -9.71400204e-02 8.00363419e+01] [ 1.47014262e-01 -4.39482385e-04 9.89134275e-01 2.58174588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.81925415399996 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:413.33, Y:80.07, Z:25.82 [[ 7.41778016e-01 -6.65433983e-01 -8.34445303e-02 4.13331417e+02] [ 6.55783199e-01 7.45752154e-01 -1.17482433e-01 8.00669327e+01] [ 1.40405741e-01 3.24243649e-02 9.89562978e-01 2.58233465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.84925415399994 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:413.37, Y:80.06, Z:25.81 [[ 7.35074644e-01 -6.64331204e-01 -1.35385812e-01 4.13366593e+02] [ 6.61624064e-01 7.46492725e-01 -7.07263019e-02 8.00575923e+01] [ 1.48050213e-01 -3.75853997e-02 9.88265386e-01 2.58148954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.87925415399997 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:413.37, Y:80.09, Z:25.83 [[ 7.33050648e-01 -6.70936073e-01 -1.11720785e-01 4.13374859e+02] [ 6.63667536e-01 7.41512679e-01 -9.85106567e-02 8.00865570e+01] [ 1.48936732e-01 -1.93215737e-03 9.88844840e-01 2.58294659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.90925415399994 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:413.40, Y:80.10, Z:25.83 [[ 7.30773700e-01 -6.73458868e-01 -1.11458297e-01 4.13396093e+02] [ 6.66249859e-01 7.39220734e-01 -9.83047884e-02 8.01023558e+01] [ 1.48596515e-01 -2.42052056e-03 9.88894947e-01 2.58325825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.93925415399997 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:413.42, Y:80.12, Z:25.84 [[ 7.26206860e-01 -6.78412798e-01 -1.11263973e-01 4.13419816e+02] [ 6.71282145e-01 7.34673050e-01 -9.81620657e-02 8.01173664e+01] [ 1.48337044e-01 -3.40355262e-03 9.88931007e-01 2.58361486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.96925415399994 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:413.44, Y:80.13, Z:25.84 [[ 7.23971308e-01 -6.80838144e-01 -1.11017868e-01 4.13442085e+02] [ 6.73758737e-01 7.32423794e-01 -9.80028045e-02 8.01345725e+01] [ 1.48036175e-01 -3.84803981e-03 9.88974460e-01 2.58400441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.99925415399997 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:413.46, Y:80.15, Z:25.84 [[ 7.21819892e-01 -6.83166307e-01 -1.10724161e-01 4.13463950e+02] [ 6.76142870e-01 7.30250344e-01 -9.78021164e-02 8.01512795e+01] [ 1.47671468e-01 -4.26983906e-03 9.89027252e-01 2.58440346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.02925415399994 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:413.49, Y:80.17, Z:25.85 [[ 7.19760026e-01 -6.85396019e-01 -1.10353075e-01 4.13485125e+02] [ 6.78437347e-01 7.28155546e-01 -9.75308555e-02 8.01677133e+01] [ 1.47201464e-01 -4.66883643e-03 9.89095512e-01 2.58473983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0592541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:413.51, Y:80.18, Z:25.85 [[ 7.16066117e-01 -6.89306252e-01 -1.10028211e-01 4.13507812e+02] [ 6.82428595e-01 7.24449755e-01 -9.72818853e-02 8.01830622e+01] [ 1.46766922e-01 -5.42613527e-03 9.89156220e-01 2.58510849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.08925415399995 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:413.53, Y:80.20, Z:25.85 [[ 7.13960677e-01 -6.91517733e-01 -1.09833401e-01 4.13529860e+02] [ 6.84686280e-01 7.22335803e-01 -9.71374540e-02 8.02004342e+01] [ 1.46508870e-01 -5.84910046e-03 9.89192064e-01 2.58546825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1192541539999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:413.55, Y:80.22, Z:25.86 [[ 7.11755711e-01 -6.93807067e-01 -1.09706705e-01 4.13551217e+02] [ 6.87009924e-01 7.20133619e-01 -9.70821021e-02 8.02175063e+01] [ 1.46359735e-01 -6.27085465e-03 9.89211557e-01 2.58578980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.14925415399995 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:413.57, Y:80.23, Z:25.86 [[ 7.09349466e-01 -6.96259955e-01 -1.09751583e-01 4.13572924e+02] [ 6.89477711e-01 7.17758096e-01 -9.71792294e-02 8.02346530e+01] [ 1.46437093e-01 -6.73723599e-03 9.89197042e-01 2.58611224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1792541539999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:413.59, Y:80.25, Z:25.86 [[ 7.04333986e-01 -7.01352335e-01 -1.09629093e-01 4.13594977e+02] [ 6.94637804e-01 7.12772711e-01 -9.71256079e-02 8.02497629e+01] [ 1.46259898e-01 -7.74364580e-03 9.89215891e-01 2.58638753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.20925415399995 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:413.62, Y:80.27, Z:25.87 [[ 7.01575031e-01 -7.04192237e-01 -1.09113560e-01 4.13616655e+02] [ 6.97570760e-01 7.09961143e-01 -9.66964869e-02 8.02668321e+01] [ 1.45559303e-01 -8.27458823e-03 9.89314925e-01 2.58672354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2392541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:413.64, Y:80.28, Z:25.87 [[ 6.99020940e-01 -7.06789641e-01 -1.08711213e-01 4.13637482e+02] [ 7.00240052e-01 7.07369760e-01 -9.63944639e-02 8.02836141e+01] [ 1.45029633e-01 -8.74219632e-03 9.89388690e-01 2.58705037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.26925415399995 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:413.66, Y:80.30, Z:25.87 [[ 6.96542197e-01 -7.09234208e-01 -1.08700535e-01 4.13658537e+02] [ 7.02711156e-01 7.04912513e-01 -9.64125539e-02 8.03010497e+01] [ 1.45003449e-01 -9.22966665e-03 9.89388100e-01 2.58740946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2992541539999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:413.68, Y:80.32, Z:25.88 [[ 6.94412742e-01 -7.11395116e-01 -1.08203203e-01 4.13679501e+02] [ 7.04949352e-01 7.02726787e-01 -9.60285049e-02 8.03188104e+01] [ 1.44351499e-01 -9.59436057e-03 9.89479961e-01 2.58772573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.32925415399995 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:413.70, Y:80.34, Z:25.88 [[ 6.91705813e-01 -7.13927113e-01 -1.08862968e-01 4.13700727e+02] [ 7.07424289e-01 7.00146554e-01 -9.66730509e-02 8.03366990e+01] [ 1.45237544e-01 -1.01429968e-02 9.89344821e-01 2.58807574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.3592541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:413.72, Y:80.36, Z:25.88 [[ 6.91170574e-01 -7.14448064e-01 -1.08844852e-01 4.13721033e+02] [ 7.07945153e-01 6.99613992e-01 -9.67156787e-02 8.03550884e+01] [ 1.45247710e-01 -1.02091540e-02 9.89342648e-01 2.58840098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.38925415399996 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:413.74, Y:80.37, Z:25.89 [[ 6.91791902e-01 -7.13813139e-01 -1.09063134e-01 4.13741001e+02] [ 7.07267597e-01 7.00264022e-01 -9.69682720e-02 8.03749190e+01] [ 1.45590215e-01 -1.00549551e-02 9.89293883e-01 2.58876293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.41925415399993 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:413.76, Y:80.39, Z:25.89 [[ 6.92458259e-01 -7.13162233e-01 -1.09092570e-01 4.13761095e+02] [ 7.06596529e-01 7.00929405e-01 -9.70531487e-02 8.03943767e+01] [ 1.45680831e-01 -9.87917696e-03 9.89282314e-01 2.58913772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.44925415399996 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:413.78, Y:80.41, Z:25.90 [[ 6.93683111e-01 -7.11961050e-01 -1.09156791e-01 4.13780264e+02] [ 7.05364619e-01 7.02153433e-01 -9.71664019e-02 8.04131934e+01] [ 1.45823509e-01 -9.59264614e-03 9.89264113e-01 2.58950413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.47925415399993 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:413.80, Y:80.43, Z:25.90 [[ 6.95012575e-01 -7.10681818e-01 -1.09036112e-01 4.13799884e+02] [ 7.04080308e-01 7.03452193e-01 -9.70872399e-02 8.04330274e+01] [ 1.45699829e-01 -9.29332702e-03 9.89285193e-01 2.58989979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.50925415399996 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:413.82, Y:80.45, Z:25.90 [[ 6.98341485e-01 -7.07483472e-01 -1.08564762e-01 4.13817409e+02] [ 7.00892874e-01 7.06678200e-01 -9.67217702e-02 8.04528285e+01] [ 1.45149404e-01 -8.54744355e-03 9.89372827e-01 2.59027850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.53925415399993 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:413.84, Y:80.47, Z:25.91 [[ 6.99936933e-01 -7.05888687e-01 -1.08671305e-01 4.13837012e+02] [ 6.99261997e-01 7.08275259e-01 -9.68442876e-02 8.04722888e+01] [ 1.45330484e-01 -8.20482009e-03 9.89349145e-01 2.59065208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.56925415399996 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:413.86, Y:80.49, Z:25.91 [[ 7.01755924e-01 -7.04091044e-01 -1.08602143e-01 4.13856286e+02] [ 6.97442935e-01 7.10067035e-01 -9.68408950e-02 8.04915120e+01] [ 1.45299609e-01 -7.78512565e-03 9.89357072e-01 2.59100413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.59925415399994 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:413.88, Y:80.51, Z:25.91 [[ 7.03598174e-01 -7.02259099e-01 -1.08543851e-01 4.13875787e+02] [ 6.95587980e-01 7.11883406e-01 -9.68471874e-02 8.05113857e+01] [ 1.45282385e-01 -7.36029425e-03 9.89362853e-01 2.59138643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.62925415399997 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:413.89, Y:80.56, Z:25.92 [[ 7.15648975e-01 -6.96702174e-01 -4.95239914e-02 4.13887584e+02] [ 6.85959267e-01 7.14426263e-01 -1.38039842e-01 8.05594064e+01] [ 1.31553898e-01 6.48166307e-02 9.89187736e-01 2.59180053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.65925415399994 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:413.94, Y:80.53, Z:25.90 [[ 7.10057307e-01 -6.86282080e-01 -1.57592918e-01 4.13941362e+02] [ 6.89608550e-01 7.22999549e-01 -4.13726952e-02 8.05271150e+01] [ 1.42332948e-01 -7.93004391e-02 9.86637103e-01 2.59018275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.68925415399997 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:413.93, Y:80.57, Z:25.93 [[ 7.12346475e-01 -6.93423218e-01 -1.08290076e-01 4.13933911e+02] [ 6.86657580e-01 7.20510164e-01 -9.67805277e-02 8.05730009e+01] [ 1.45133965e-01 -5.41693359e-03 9.89397185e-01 2.59260184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.71925415399994 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:413.95, Y:80.59, Z:25.93 [[ 7.16821665e-01 -6.88913177e-01 -1.07542252e-01 4.13951511e+02] [ 6.82182449e-01 7.24830339e-01 -9.61669685e-02 8.05932303e+01] [ 1.44200578e-01 -4.42887006e-03 9.89538568e-01 2.59296467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.74925415399997 meters Centerline goodness : 0.996448 Centerline is valid? [True, True] Translation: X:413.96, Y:80.62, Z:25.93 [[ 7.20162894e-01 -6.88270326e-01 -8.74606493e-02 4.13961929e+02] [ 6.79434847e-01 7.25144429e-01 -1.11954657e-01 8.06216662e+01] [ 1.40476671e-01 2.12017770e-02 9.89856954e-01 2.59344155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.77925415399994 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:414.00, Y:80.62, Z:25.93 [[ 7.20897219e-01 -6.82009118e-01 -1.23169651e-01 4.13999737e+02] [ 6.78137825e-01 7.30823930e-01 -7.76239239e-02 8.06244911e+01] [ 1.42955552e-01 -2.75671282e-02 9.89345119e-01 2.59305986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8092541539999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:414.01, Y:80.65, Z:25.94 [[ 7.22866943e-01 -6.82725313e-01 -1.06534169e-01 4.14010467e+02] [ 6.76040457e-01 7.30668589e-01 -9.53557246e-02 8.06519820e+01] [ 1.42942938e-01 -3.09190697e-03 9.89726102e-01 2.59414404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.83925415399995 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:414.03, Y:80.67, Z:25.95 [[ 7.25859852e-01 -6.79694402e-01 -1.05560387e-01 4.14029276e+02] [ 6.73092177e-01 7.33491384e-01 -9.45373539e-02 8.06713830e+01] [ 1.41684144e-01 -2.43100072e-03 9.89908932e-01 2.59451100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.8692541539999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:414.05, Y:80.69, Z:25.95 [[ 7.26661798e-01 -6.78889483e-01 -1.05222154e-01 4.14049320e+02] [ 6.72315906e-01 7.34237060e-01 -9.42722769e-02 8.06904298e+01] [ 1.41258462e-01 -2.23846532e-03 9.89970220e-01 2.59486866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.89925415399995 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:414.07, Y:80.71, Z:25.95 [[ 7.27250797e-01 -6.78331499e-01 -1.04750443e-01 4.14069172e+02] [ 6.71803823e-01 7.34753050e-01 -9.39019584e-02 8.07089255e+01] [ 1.40662364e-01 -2.08147395e-03 9.90055436e-01 2.59521352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9292541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:414.09, Y:80.73, Z:25.96 [[ 7.27300269e-01 -6.78326538e-01 -1.04438630e-01 4.14089581e+02] [ 6.71832578e-01 7.34757728e-01 -9.36593191e-02 8.07273202e+01] [ 1.40268692e-01 -2.04682634e-03 9.90111360e-01 2.59556089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.95925415399995 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:414.11, Y:80.75, Z:25.96 [[ 7.29080296e-01 -6.78495236e-01 -8.99229507e-02 4.14107387e+02] [ 6.70869452e-01 7.34464253e-01 -1.02452130e-01 8.07514151e+01] [ 1.35558475e-01 1.43692688e-02 9.90665142e-01 2.59576404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.9892541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:414.14, Y:80.76, Z:25.96 [[ 7.26079019e-01 -6.78039976e-01 -1.14328691e-01 4.14136897e+02] [ 6.73499482e-01 7.34790944e-01 -8.05028954e-02 8.07581914e+01] [ 1.38591868e-01 -1.85488509e-02 9.90175860e-01 2.59574610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.01925415399995 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:414.15, Y:80.78, Z:25.97 [[ 7.25270583e-01 -6.80656670e-01 -1.03388003e-01 4.14151646e+02] [ 6.74298828e-01 7.32598697e-01 -9.28452464e-02 8.07817920e+01] [ 1.38937652e-01 -2.37648299e-03 9.90298279e-01 2.59660984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.0492541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:414.17, Y:80.80, Z:25.97 [[ 7.24210314e-01 -6.81837619e-01 -1.03038256e-01 4.14172349e+02] [ 6.75527128e-01 7.31499106e-01 -9.25859466e-02 8.07997701e+01] [ 1.38500973e-01 -2.55343958e-03 9.90359006e-01 2.59697581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.07925415399995 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:414.19, Y:80.86, Z:25.98 [[ 7.31657014e-01 -6.81211326e-01 -2.50827286e-02 4.14187792e+02] [ 6.71484557e-01 7.26571443e-01 -1.45610532e-01 8.08556332e+01] [ 1.17415938e-01 8.96943018e-02 9.89023978e-01 2.59766595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.1092541539999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:414.25, Y:80.80, Z:25.95 [[ 7.21396158e-01 -6.72119134e-01 -1.66863575e-01 4.14253398e+02] [ 6.79220370e-01 7.33692802e-01 -1.88297896e-02 8.08037166e+01] [ 1.35082466e-01 -9.97534013e-02 9.85800176e-01 2.59518667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.13925415399996 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:414.24, Y:80.86, Z:25.98 [[ 7.20186124e-01 -6.86282802e-01 -1.01724446e-01 4.14237999e+02] [ 6.80149132e-01 7.27327699e-01 -9.16055490e-02 8.08555782e+01] [ 1.36854320e-01 -3.21474858e-03 9.90585968e-01 2.59830657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.16925415399993 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:414.26, Y:80.87, Z:25.99 [[ 7.19021947e-01 -6.87597138e-01 -1.01082224e-01 4.14259403e+02] [ 6.81550612e-01 7.26084325e-01 -9.10511746e-02 8.08730188e+01] [ 1.36000746e-01 -3.42485916e-03 9.90702815e-01 2.59864551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.19925415399996 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:414.28, Y:80.89, Z:25.99 [[ 7.15816011e-01 -6.90971893e-01 -1.00823023e-01 4.14282406e+02] [ 6.84982616e-01 7.22870465e-01 -9.08686277e-02 8.08893212e+01] [ 1.35669653e-01 -4.01679945e-03 9.90745987e-01 2.59901640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.22925415399993 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:414.30, Y:80.93, Z:25.99 [[ 7.20538212e-01 -6.91373446e-01 -5.31737028e-02 4.14303641e+02] [ 6.82372038e-01 7.20606371e-01 -1.22861137e-01 8.09300587e+01] [ 1.23260237e-01 5.22418963e-02 9.90998334e-01 2.59928933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.25925415399996 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:414.35, Y:80.93, Z:25.98 [[ 7.18385497e-01 -6.89267848e-01 -9.39793163e-02 4.14349404e+02] [ 6.84476903e-01 7.24482648e-01 -8.13404038e-02 8.09297697e+01] [ 1.24151709e-01 -5.89290502e-03 9.92245749e-01 2.59807659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.28925415399993 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:414.37, Y:80.92, Z:25.99 [[ 7.08674284e-01 -6.90725019e-01 -1.43804407e-01 4.14371717e+02] [ 6.92009860e-01 7.20215946e-01 -4.91054545e-02 8.09227813e+01] [ 1.37488593e-01 -6.47142944e-02 9.88387043e-01 2.59854045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.31925415399996 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:414.37, Y:80.96, Z:26.01 [[ 7.05542908e-01 -7.00882463e-01 -1.04751988e-01 4.14372011e+02] [ 6.94444451e-01 7.13253605e-01 -9.49536750e-02 8.09602358e+01] [ 1.41266099e-01 -5.75054508e-03 9.89954959e-01 2.60053562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.34925415399994 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:414.39, Y:81.01, Z:26.01 [[ 7.12146449e-01 -7.00135372e-01 -5.15547786e-02 4.14392537e+02] [ 6.90119163e-01 7.11643413e-01 -1.31526396e-01 8.10050193e+01] [ 1.28774901e-01 5.80871153e-02 9.89971167e-01 2.60098951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.37925415399997 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:414.44, Y:80.97, Z:25.99 [[ 7.03049854e-01 -6.94638854e-01 -1.52308125e-01 4.14440806e+02] [ 6.97225675e-01 7.15459420e-01 -4.46562041e-02 8.09720644e+01] [ 1.39990217e-01 -7.47975975e-02 9.87323685e-01 2.59947100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.40925415399994 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:414.44, Y:81.02, Z:26.02 [[ 7.02795274e-01 -7.03467908e-01 -1.05885340e-01 4.14435961e+02] [ 6.96882086e-01 7.10700337e-01 -9.62309171e-02 8.10154266e+01] [ 1.42948109e-01 -6.15896324e-03 9.89711021e-01 2.60172284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.43925415399997 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:414.46, Y:81.03, Z:26.02 [[ 7.02169537e-01 -7.04023482e-01 -1.06343212e-01 4.14456185e+02] [ 6.97381347e-01 7.10148983e-01 -9.66833943e-02 8.10326020e+01] [ 1.43586904e-01 -6.27363825e-03 9.89617827e-01 2.60211841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.46925415399994 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:414.48, Y:81.05, Z:26.03 [[ 7.02403548e-01 -7.03775143e-01 -1.06441553e-01 4.14478097e+02] [ 6.97111997e-01 7.10395741e-01 -9.68129867e-02 8.10497273e+01] [ 1.43750200e-01 -6.19989858e-03 9.89594584e-01 2.60252159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.49925415399997 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:414.50, Y:81.07, Z:26.03 [[ 7.03325983e-01 -7.02883833e-01 -1.06239725e-01 4.14498726e+02] [ 6.96227684e-01 7.11279647e-01 -9.66864822e-02 8.10671694e+01] [ 1.43525520e-01 -5.96492274e-03 9.89628640e-01 2.60291470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.52925415399994 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:414.52, Y:81.09, Z:26.03 [[ 7.04478597e-01 -7.01715709e-01 -1.06324831e-01 4.14519744e+02] [ 6.95029795e-01 7.12434239e-01 -9.68041254e-02 8.10855664e+01] [ 1.43678426e-01 -5.70249131e-03 9.89607999e-01 2.60336126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5592541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:414.54, Y:81.10, Z:26.04 [[ 7.08429194e-01 -6.97808877e-01 -1.05786807e-01 4.14539866e+02] [ 6.91139262e-01 7.16267636e-01 -9.63700933e-02 8.11033854e+01] [ 1.43019573e-01 -4.84202808e-03 9.89708016e-01 2.60376388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.58925415399995 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:414.56, Y:81.12, Z:26.04 [[ 7.10584415e-01 -6.95613086e-01 -1.05793302e-01 4.14560546e+02] [ 6.88914657e-01 7.18403259e-01 -9.64020374e-02 8.11218064e+01] [ 1.43060772e-01 -4.38077129e-03 9.89704211e-01 2.60415883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6192541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:414.58, Y:81.14, Z:26.05 [[ 7.12768106e-01 -6.93367458e-01 -1.05845151e-01 4.14580826e+02] [ 6.86629451e-01 7.20573688e-01 -9.65067671e-02 8.11400638e+01] [ 1.43183882e-01 -3.88945212e-03 9.89688460e-01 2.60455738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.64925415399995 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:414.60, Y:81.16, Z:26.05 [[ 7.15013944e-01 -6.91035675e-01 -1.05946945e-01 4.14600493e+02] [ 6.84250974e-01 7.22812731e-01 -9.66558853e-02 8.11575430e+01] [ 1.43372465e-01 -3.38399430e-03 9.89663016e-01 2.60491745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6792541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:414.62, Y:81.17, Z:26.05 [[ 7.18892366e-01 -6.87033029e-01 -1.05732606e-01 4.14621492e+02] [ 6.80229042e-01 7.26621679e-01 -9.64851596e-02 8.11740419e+01] [ 1.43116095e-01 -2.55994441e-03 9.89702597e-01 2.60526372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.70925415399995 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:414.64, Y:81.19, Z:26.06 [[ 7.19902865e-01 -6.85932517e-01 -1.06002111e-01 4.14642982e+02] [ 6.79078054e-01 7.27661433e-01 -9.67565799e-02 8.11920024e+01] [ 1.43502132e-01 -2.32836813e-03 9.89647269e-01 2.60566708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7392541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:414.66, Y:81.21, Z:26.06 [[ 7.20644720e-01 -6.85113828e-01 -1.06255491e-01 4.14663845e+02] [ 6.78209344e-01 7.28432913e-01 -9.70441982e-02 8.12094884e+01] [ 1.43886319e-01 -2.12907791e-03 9.89591933e-01 2.60603957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.76925415399995 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:414.69, Y:81.23, Z:26.06 [[ 7.20242010e-01 -6.85264846e-01 -1.07997858e-01 4.14686128e+02] [ 6.78128461e-01 7.28290711e-01 -9.86632216e-02 8.12264923e+01] [ 1.46264274e-01 -2.17502421e-03 9.89243161e-01 2.60640654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7992541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:414.71, Y:81.26, Z:26.07 [[ 7.24344427e-01 -6.85399074e-01 -7.45202002e-02 4.14707244e+02] [ 6.75428721e-01 7.27147150e-01 -1.22690933e-01 8.12613309e+01] [ 1.38279403e-01 3.85374103e-02 9.89643206e-01 2.60682525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.82925415399995 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:414.75, Y:81.25, Z:26.06 [[ 7.17735553e-01 -6.82153306e-01 -1.39723094e-01 4.14746148e+02] [ 6.80397915e-01 7.29723516e-01 -6.75445558e-02 8.12469657e+01] [ 1.48034969e-01 -4.65881726e-02 9.87884199e-01 2.60606588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.8592541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:414.75, Y:81.28, Z:26.08 [[ 7.16451601e-01 -6.88906680e-01 -1.10021319e-01 4.14750992e+02] [ 6.81511113e-01 7.24844539e-01 -1.00712453e-01 8.12794408e+01] [ 1.49129834e-01 -2.82515361e-03 9.88813588e-01 2.60759088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.88925415399996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:414.77, Y:81.29, Z:26.08 [[ 7.13342013e-01 -6.92031296e-01 -1.10615813e-01 4.14773817e+02] [ 6.84585885e-01 7.21859181e-01 -1.01299007e-01 8.12948900e+01] [ 1.49951123e-01 -3.46518680e-03 9.88687338e-01 2.60796982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.91925415399993 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:414.80, Y:81.31, Z:26.08 [[ 7.11899820e-01 -6.93532602e-01 -1.10504191e-01 4.14795548e+02] [ 6.86111247e-01 7.20415565e-01 -1.01255963e-01 8.13121001e+01] [ 1.49833251e-01 -3.73406681e-03 9.88704230e-01 2.60837637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.94925415399996 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:414.82, Y:81.33, Z:26.09 [[ 7.10307182e-01 -6.95203321e-01 -1.10254477e-01 4.14817042e+02] [ 6.87826710e-01 7.18801829e-01 -1.01085840e-01 8.13299823e+01] [ 1.49526332e-01 -4.03397637e-03 9.88749515e-01 2.60877928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.97925415399993 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:414.84, Y:81.35, Z:26.09 [[ 7.08111506e-01 -6.97543511e-01 -1.09595375e-01 4.14838147e+02] [ 6.90274508e-01 7.16528556e-01 -1.00538212e-01 8.13465104e+01] [ 1.48657993e-01 -4.45862873e-03 9.88878618e-01 2.60927012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.00925415399996 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:414.86, Y:81.36, Z:26.10 [[ 7.07244273e-01 -6.98518529e-01 -1.08983498e-01 4.14859231e+02] [ 6.91338217e-01 7.15577075e-01 -1.00004599e-01 8.13643513e+01] [ 1.47841158e-01 -4.61677757e-03 9.89000342e-01 2.60970452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.03925415399993 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:414.88, Y:81.38, Z:26.10 [[ 7.06798296e-01 -6.99027518e-01 -1.08612600e-01 4.14879392e+02] [ 6.91893628e-01 7.15079551e-01 -9.97218272e-02 8.13816992e+01] [ 1.47374950e-01 -4.66514801e-03 9.89069694e-01 2.61012133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.06925415399996 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:414.90, Y:81.40, Z:26.11 [[ 7.06621790e-01 -6.99301316e-01 -1.07996831e-01 4.14899834e+02] [ 6.92247868e-01 7.14811725e-01 -9.91820926e-02 8.13991209e+01] [ 1.46555569e-01 -4.67634841e-03 9.89191385e-01 2.61052538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.09925415399994 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:414.92, Y:81.42, Z:26.11 [[ 7.06971190e-01 -6.99056883e-01 -1.07290313e-01 4.14921399e+02] [ 6.92089136e-01 7.15051425e-01 -9.85600683e-02 8.14167126e+01] [ 1.45617185e-01 -4.57533105e-03 9.89330431e-01 2.61097507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.12925415399997 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:414.94, Y:81.43, Z:26.11 [[ 7.07351684e-01 -6.98762526e-01 -1.06698297e-01 4.14942059e+02] [ 6.91860215e-01 7.15339881e-01 -9.80729195e-02 8.14347779e+01] [ 1.44855228e-01 -4.44826195e-03 9.89442861e-01 2.61138296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.15925415399994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:414.96, Y:81.45, Z:26.12 [[ 7.07895028e-01 -6.98252761e-01 -1.06431718e-01 4.14961779e+02] [ 6.91371066e-01 7.15838433e-01 -9.78845587e-02 8.14520531e+01] [ 1.44536078e-01 -4.29181811e-03 9.89490224e-01 2.61178760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.18925415399997 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:414.98, Y:81.47, Z:26.12 [[ 7.08368253e-01 -6.97821444e-01 -1.06111496e-01 4.14982912e+02] [ 6.90970706e-01 7.16259666e-01 -9.76297854e-02 8.14706215e+01] [ 1.44131543e-01 -4.16209475e-03 9.89549784e-01 2.61218807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.21925415399994 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:415.01, Y:81.48, Z:26.13 [[ 7.08139621e-01 -6.94642918e-01 -1.26528630e-01 4.15011396e+02] [ 6.90230605e-01 7.18792656e-01 -8.31795074e-02 8.14797637e+01] [ 1.48727906e-01 -2.84312281e-02 9.88469360e-01 2.61279544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.24925415399997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:415.02, Y:81.52, Z:26.14 [[ 7.09537296e-01 -6.99042658e-01 -8.88605004e-02 4.15018040e+02] [ 6.89709651e-01 7.14776454e-01 -1.15737715e-01 8.15152651e+01] [ 1.44420993e-01 2.08322807e-02 9.89297020e-01 2.61356236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.27925415399994 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:415.05, Y:81.52, Z:26.13 [[ 7.09638585e-01 -6.96568504e-01 -1.05855553e-01 4.15047919e+02] [ 6.89722520e-01 7.17480096e-01 -9.74944013e-02 8.15239420e+01] [ 1.43860782e-01 -3.82516963e-03 9.89590543e-01 2.61324737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3092541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:415.07, Y:81.54, Z:26.14 [[ 7.09564163e-01 -6.96537768e-01 -1.06554381e-01 4.15069364e+02] [ 6.89596533e-01 7.17509929e-01 -9.81637539e-02 8.15407272e+01] [ 1.44828588e-01 -3.82604955e-03 9.89449363e-01 2.61360496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.33925415399995 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:415.09, Y:81.56, Z:26.14 [[ 7.09545522e-01 -6.96518006e-01 -1.06807396e-01 4.15089729e+02] [ 6.89539641e-01 7.17529184e-01 -9.84223256e-02 8.15586529e+01] [ 1.45190345e-01 -3.81281275e-03 9.89396395e-01 2.61394379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.3692541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:415.11, Y:81.58, Z:26.14 [[ 7.09346704e-01 -6.96627903e-01 -1.07409578e-01 4.15110710e+02] [ 6.89567450e-01 7.17422356e-01 -9.90045235e-02 8.15769731e+01] [ 1.46027346e-01 -3.83761635e-03 9.89273110e-01 2.61427878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.39925415399995 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:415.13, Y:81.59, Z:26.15 [[ 7.09052685e-01 -6.96814538e-01 -1.08137823e-01 4.15131387e+02] [ 6.89650780e-01 7.17240966e-01 -9.97356456e-02 8.15949341e+01] [ 1.47058125e-01 -3.85950685e-03 9.89120322e-01 2.61463972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4292541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:415.15, Y:81.61, Z:26.15 [[ 7.08229555e-01 -6.97793772e-01 -1.07213568e-01 4.15150216e+02] [ 6.89771096e-01 7.16298299e-01 -1.05511049e-01 8.16134769e+01] [ 1.50421849e-01 7.73222989e-04 9.88621601e-01 2.61502393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.45925415399995 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:415.18, Y:81.63, Z:26.15 [[ 7.07261769e-01 -6.97831742e-01 -1.13188555e-01 4.15175223e+02] [ 6.90932255e-01 7.16208871e-01 -9.82724372e-02 8.16292250e+01] [ 1.49644273e-01 -8.70128550e-03 9.88701613e-01 2.61518516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.4892541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:415.19, Y:81.65, Z:26.16 [[ 7.06358689e-01 -6.99227731e-01 -1.10172514e-01 4.15194153e+02] [ 6.91792261e-01 7.14885977e-01 -1.01791492e-01 8.16490310e+01] [ 1.49936220e-01 -4.31518738e-03 9.88686254e-01 2.61566716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.51925415399995 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:415.21, Y:81.67, Z:26.16 [[ 7.05261411e-01 -7.00355495e-01 -1.10038736e-01 4.15214270e+02] [ 6.92943125e-01 7.13779980e-01 -1.01724950e-01 8.16671982e+01] [ 1.49787075e-01 -4.50790378e-03 9.88708001e-01 2.61605427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.5492541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:415.23, Y:81.68, Z:26.16 [[ 7.02902605e-01 -7.02867255e-01 -1.09112560e-01 4.15234378e+02] [ 6.95605884e-01 7.11303604e-01 -1.00894188e-01 8.16849315e+01] [ 1.48527378e-01 -4.98055109e-03 9.88895754e-01 2.61646050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.57925415399995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:415.25, Y:81.70, Z:26.17 [[ 7.01447475e-01 -7.04373895e-01 -1.08760540e-01 4.15254948e+02] [ 6.97173364e-01 7.09809641e-01 -1.00596096e-01 8.17035002e+01] [ 1.48056544e-01 -5.26207429e-03 9.88964899e-01 2.61685936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.6092541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:415.28, Y:81.72, Z:26.17 [[ 6.98135508e-01 -7.07796338e-01 -1.07847844e-01 4.15275553e+02] [ 7.00748424e-01 7.06391969e-01 -9.98099821e-02 8.17206213e+01] [ 1.46827990e-01 -5.89331398e-03 9.89144484e-01 2.61721176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.63925415399996 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:415.30, Y:81.74, Z:26.18 [[ 6.96108568e-01 -7.09798609e-01 -1.07790517e-01 4.15296413e+02] [ 7.02775761e-01 7.04376655e-01 -9.97985846e-02 8.17391766e+01] [ 1.46762020e-01 -6.28191291e-03 9.89151883e-01 2.61758809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.66925415399993 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:415.33, Y:81.75, Z:26.18 [[ 6.94759568e-01 -7.09428625e-01 -1.18406798e-01 4.15325188e+02] [ 7.03771891e-01 7.04501343e-01 -9.15586288e-02 8.17537633e+01] [ 1.48372060e-01 -1.97201426e-02 9.88734973e-01 2.61811877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.69925415399996 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:415.33, Y:81.78, Z:26.19 [[ 6.92259958e-01 -7.14814339e-01 -9.90788091e-02 4.15332657e+02] [ 7.06608864e-01 6.99297619e-01 -1.08105288e-01 8.17801794e+01] [ 1.46560785e-01 4.82699756e-03 9.89189889e-01 2.61859014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.72925415399993 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:415.36, Y:81.79, Z:26.19 [[ 6.88993765e-01 -7.16875859e-01 -1.06661115e-01 4.15357111e+02] [ 7.10059739e-01 6.97159567e-01 -9.89126209e-02 8.17943549e+01] [ 1.45267887e-01 -7.58558436e-03 9.89363280e-01 2.61869605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.75925415399996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:415.38, Y:81.81, Z:26.19 [[ 6.87462395e-01 -7.18407406e-01 -1.06236786e-01 4.15376952e+02] [ 7.11655352e-01 6.95578456e-01 -9.85762257e-02 8.18127545e+01] [ 1.44713910e-01 -7.83652896e-03 9.89442506e-01 2.61907589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.78925415399993 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:415.40, Y:81.83, Z:26.19 [[ 6.86212749e-01 -7.19658615e-01 -1.05846777e-01 4.15397152e+02] [ 7.12967049e-01 6.94281398e-01 -9.82411694e-02 8.18314277e+01] [ 1.44187552e-01 -8.05092094e-03 9.89517626e-01 2.61944654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.81925415399996 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:415.42, Y:81.85, Z:26.20 [[ 6.84971271e-01 -7.20838958e-01 -1.05856291e-01 4.15417360e+02] [ 7.14151667e-01 6.93053374e-01 -9.83077717e-02 8.18506598e+01] [ 1.44228131e-01 -8.25944716e-03 9.89509994e-01 2.61987133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.84925415399994 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:415.44, Y:81.87, Z:26.20 [[ 6.83804519e-01 -7.21966508e-01 -1.05715383e-01 4.15436738e+02] [ 7.15302123e-01 6.91876455e-01 -9.82336161e-02 8.18693202e+01] [ 1.44063365e-01 -8.44584705e-03 9.89532422e-01 2.62026158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.87925415399997 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:415.46, Y:81.89, Z:26.21 [[ 6.83442872e-01 -7.22298301e-01 -1.05787544e-01 4.15456923e+02] [ 7.15624801e-01 6.91529365e-01 -9.83274162e-02 8.18886652e+01] [ 1.44176919e-01 -8.50301854e-03 9.89515394e-01 2.62063887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.90925415399994 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:415.48, Y:81.91, Z:26.21 [[ 6.83384492e-01 -7.22327811e-01 -1.05963056e-01 4.15476327e+02] [ 7.15623917e-01 6.91498786e-01 -9.85486648e-02 8.19076202e+01] [ 1.44457766e-01 -8.48306775e-03 9.89474604e-01 2.62101711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.93925415399997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:415.50, Y:81.93, Z:26.21 [[ 6.83679349e-01 -7.21986154e-01 -1.06388634e-01 4.15495626e+02] [ 7.15217926e-01 6.91856311e-01 -9.89856772e-02 8.19276710e+01] [ 1.45071936e-01 -8.41659470e-03 9.89385311e-01 2.62135577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.96925415399994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:415.53, Y:81.93, Z:26.22 [[ 6.81623887e-01 -7.17754182e-01 -1.42189349e-01 4.15527532e+02] [ 7.15708892e-01 6.94423087e-01 -7.44134321e-02 8.19328923e+01] [ 1.52150119e-01 -5.10442083e-02 9.87038414e-01 2.62207062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.99925415399997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:415.52, Y:81.98, Z:26.23 [[ 6.85087321e-01 -7.24322415e-01 -7.75396719e-02 4.15520361e+02] [ 7.13167528e-01 6.88590615e-01 -1.31282299e-01 8.19825353e+01] [ 1.48483803e-01 3.46410628e-02 9.88307926e-01 2.62309824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.02925415399994 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:415.56, Y:81.99, Z:26.22 [[ 6.85798085e-01 -7.19797403e-01 -1.07576416e-01 4.15555033e+02] [ 7.12832428e-01 6.94138539e-01 -1.00207871e-01 8.19876209e+01] [ 1.46802302e-01 -7.96159229e-03 9.89133812e-01 2.62237103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0592541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:415.57, Y:82.01, Z:26.23 [[ 6.88088850e-01 -7.17465622e-01 -1.08521039e-01 4.15572891e+02] [ 7.10339345e-01 6.96553670e-01 -1.01148402e-01 8.20087683e+01] [ 1.48161229e-01 -7.48767621e-03 9.88934874e-01 2.62275683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.08925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:415.60, Y:82.02, Z:26.24 [[ 6.87357280e-01 -7.12946000e-01 -1.38737056e-01 4.15599775e+02] [ 7.09521116e-01 6.99940244e-01 -8.16299037e-02 8.20162051e+01] [ 1.55305362e-01 -4.23279621e-02 9.86959264e-01 2.62359449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1192541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:415.60, Y:82.06, Z:26.25 [[ 6.90807405e-01 -7.17748995e-01 -8.73012600e-02 4.15597500e+02] [ 7.06503168e-01 6.95745206e-01 -1.29583496e-01 8.20630155e+01] [ 1.53747857e-01 2.78386216e-02 9.87717879e-01 2.62494870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.14925415399995 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:415.63, Y:82.07, Z:26.24 [[ 6.94185198e-01 -7.08264209e-01 -1.28330515e-01 4.15632865e+02] [ 7.03353381e-01 7.05349598e-01 -8.81814395e-02 8.20655321e+01] [ 1.52973634e-01 -2.90474514e-02 9.87803276e-01 2.62448946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1792541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:415.64, Y:82.10, Z:26.25 [[ 6.97940004e-01 -7.10052697e-01 -9.33001515e-02 4.15635704e+02] [ 7.00568376e-01 7.03963353e-01 -1.16788477e-01 8.21012419e+01] [ 1.48605861e-01 1.61482147e-02 9.88764650e-01 2.62513083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.20925415399995 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:415.66, Y:82.11, Z:26.25 [[ 7.00173161e-01 -7.05799001e-01 -1.07727968e-01 4.15662139e+02] [ 6.98588042e-01 7.08396426e-01 -1.00743493e-01 8.21147154e+01] [ 1.47418764e-01 -4.71958024e-03 9.89062907e-01 2.62494634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2392541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:415.68, Y:82.14, Z:26.25 [[ 7.02458574e-01 -7.03534753e-01 -1.07660589e-01 4.15680686e+02] [ 6.96297583e-01 7.10648453e-01 -1.00739524e-01 8.21353865e+01] [ 1.47382587e-01 -4.19846562e-03 9.89070648e-01 2.62541628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.26925415399995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:415.70, Y:82.17, Z:26.26 [[ 7.09358124e-01 -6.98420987e-01 -9.49693464e-02 4.15698731e+02] [ 6.89822319e-01 7.15578080e-01 -1.09968994e-01 8.21652294e+01] [ 1.44762636e-01 1.24954247e-02 9.89387509e-01 2.62626881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2992541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:415.72, Y:82.17, Z:26.26 [[ 7.09330526e-01 -6.94847703e-01 -1.18477316e-01 4.15722640e+02] [ 6.89742751e-01 7.18868664e-01 -8.65030721e-02 8.21726129e+01] [ 1.45276091e-01 -2.03596004e-02 9.89181654e-01 2.62584972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.32925415399995 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:415.74, Y:82.20, Z:26.27 [[ 7.09272067e-01 -6.96884394e-01 -1.06232182e-01 4.15736566e+02] [ 6.89735669e-01 7.17178652e-01 -9.95966243e-02 8.21980003e+01] [ 1.45594786e-01 -2.63102130e-03 9.89340809e-01 2.62670866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.3592541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:415.76, Y:82.22, Z:26.27 [[ 7.11395549e-01 -6.94756157e-01 -1.05972896e-01 4.15755367e+02] [ 6.87613548e-01 7.19242105e-01 -9.93901555e-02 8.22185279e+01] [ 1.45272091e-01 -2.16268488e-03 9.89389379e-01 2.62710740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.38925415399996 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:415.77, Y:82.24, Z:26.28 [[ 7.12797060e-01 -6.93290628e-01 -1.06152980e-01 4.15774326e+02] [ 6.86098640e-01 7.20655798e-01 -9.96186548e-02 8.22391624e+01] [ 1.45564440e-01 -1.82353089e-03 9.89347092e-01 2.62754649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.41925415399993 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:415.79, Y:82.26, Z:26.28 [[ 7.14251602e-01 -6.91605457e-01 -1.07361734e-01 4.15792432e+02] [ 6.84219889e-01 7.22274035e-01 -1.00813502e-01 8.22598599e+01] [ 1.47267761e-01 -1.45282861e-03 9.89095595e-01 2.62790344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.44925415399996 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:415.81, Y:82.28, Z:26.28 [[ 7.14085916e-01 -6.91833575e-01 -1.06993500e-01 4.15812116e+02] [ 6.84492620e-01 7.22055537e-01 -1.00526887e-01 8.22796935e+01] [ 1.46803125e-01 -1.45142678e-03 9.89164666e-01 2.62828525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.47925415399993 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:415.83, Y:82.30, Z:26.29 [[ 7.13635573e-01 -6.92238452e-01 -1.07378746e-01 4.15831496e+02] [ 6.84840111e-01 7.21667293e-01 -1.00947213e-01 8.22982954e+01] [ 1.47371272e-01 -1.49775072e-03 9.89080111e-01 2.62864148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.50925415399996 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:415.86, Y:82.30, Z:26.29 [[ 7.09411530e-01 -6.89784586e-01 -1.44680706e-01 4.15858927e+02] [ 6.87066202e-01 7.22591617e-01 -7.61668491e-02 8.22999882e+01] [ 1.57083783e-01 -4.53715820e-02 9.86542500e-01 2.62939239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.53925415399993 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:415.87, Y:82.33, Z:26.31 [[ 7.09644053e-01 -6.94962888e-01 -1.15896090e-01 4.15866575e+02] [ 6.87137387e-01 7.19022830e-01 -1.04155564e-01 8.23326893e+01] [ 1.55716186e-01 -5.72315995e-03 9.87785258e-01 2.63071633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.56925415399996 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:415.87, Y:82.37, Z:26.31 [[ 7.11853737e-01 -6.98346190e-01 -7.46783510e-02 4.15874595e+02] [ 6.86503796e-01 7.14314376e-01 -1.35895217e-01 8.23700894e+01] [ 1.48245727e-01 4.54705467e-02 9.87904668e-01 2.63104072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.59925415399994 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:415.91, Y:82.37, Z:26.30 [[ 7.10796773e-01 -6.95018177e-01 -1.08248240e-01 4.15912084e+02] [ 6.87532417e-01 7.18989104e-01 -1.01753839e-01 8.23730665e+01] [ 1.48550073e-01 -2.09787329e-03 9.88902662e-01 2.63005121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.62925415399997 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:415.93, Y:82.39, Z:26.30 [[ 7.10680774e-01 -6.95161100e-01 -1.08092009e-01 4.15931696e+02] [ 6.87690296e-01 7.18850959e-01 -1.01662951e-01 8.23909583e+01] [ 1.48374173e-01 -2.08392127e-03 9.88929099e-01 2.63043949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.65925415399994 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:415.97, Y:82.39, Z:26.31 [[ 7.04836217e-01 -6.91001590e-01 -1.60383010e-01 4.15965174e+02] [ 6.90747949e-01 7.20025863e-01 -6.65584506e-02 8.23876999e+01] [ 1.61471910e-01 -6.38714284e-02 9.84808237e-01 2.63129974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.68925415399997 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:415.95, Y:82.45, Z:26.33 [[ 7.10760332e-01 -7.00494004e-01 -6.42487463e-02 4.15951673e+02] [ 6.87392107e-01 7.11042791e-01 -1.48021084e-01 8.24498371e+01] [ 1.49371489e-01 6.10434334e-02 9.86895059e-01 2.63300274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.71925415399994 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:416.00, Y:82.45, Z:26.32 [[ 7.09882700e-01 -6.95712977e-01 -1.09772517e-01 4.15995573e+02] [ 6.87998037e-01 7.18316631e-01 -1.03343690e-01 8.24463262e+01] [ 1.50748971e-01 -2.16137856e-03 9.88569712e-01 2.63157873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.74925415399997 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:416.02, Y:82.45, Z:26.32 [[ 7.06464938e-01 -6.94094403e-01 -1.38348300e-01 4.16022535e+02] [ 6.90757094e-01 7.18778356e-01 -7.88182208e-02 8.24517598e+01] [ 1.54149050e-01 -3.98827603e-02 9.87242339e-01 2.63220207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.77925415399994 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:416.02, Y:82.50, Z:26.33 [[ 7.09420491e-01 -7.00081828e-01 -8.12896071e-02 4.16022544e+02] [ 6.88799847e-01 7.13128564e-01 -1.30393336e-01 8.24968981e+01] [ 1.49255946e-01 3.65114355e-02 9.88124272e-01 2.63349172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8092541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:416.07, Y:82.49, Z:26.33 [[ 7.03989303e-01 -6.93895589e-01 -1.51353801e-01 4.16067719e+02] [ 6.91874623e-01 7.18171931e-01 -7.44216595e-02 8.24850547e+01] [ 1.60338913e-01 -5.23258016e-02 9.85674106e-01 2.63308562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.83925415399995 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:416.06, Y:82.54, Z:26.35 [[ 7.09405896e-01 -7.01004468e-01 -7.30480023e-02 4.16061578e+02] [ 6.88637733e-01 7.11473489e-01 -1.39941229e-01 8.25377192e+01] [ 1.50071144e-01 4.89715223e-02 9.87461615e-01 2.63462380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.8692541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:416.10, Y:82.54, Z:26.34 [[ 7.08840964e-01 -6.97090048e-01 -1.07749490e-01 4.16100862e+02] [ 6.89652250e-01 7.16979893e-01 -1.01585469e-01 8.25388133e+01] [ 1.48068437e-01 -2.30173673e-03 9.88974439e-01 2.63357937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.89925415399995 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:416.12, Y:82.56, Z:26.34 [[ 7.09077484e-01 -6.96851058e-01 -1.07739151e-01 4.16121527e+02] [ 6.89403382e-01 7.17212464e-01 -1.01632958e-01 8.25564221e+01] [ 1.48094897e-01 -2.21009301e-03 9.88970686e-01 2.63393593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9292541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:416.14, Y:82.57, Z:26.34 [[ 7.09191286e-01 -6.96732632e-01 -1.07756016e-01 4.16142510e+02] [ 6.89276927e-01 7.17327647e-01 -1.01677746e-01 8.25739447e+01] [ 1.48138573e-01 -2.16476350e-03 9.88964245e-01 2.63427813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.95925415399995 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:416.16, Y:82.59, Z:26.35 [[ 7.09561803e-01 -6.96314285e-01 -1.08020666e-01 4.16163931e+02] [ 6.88808231e-01 7.17734110e-01 -1.01985141e-01 8.25907285e+01] [ 1.48543827e-01 -2.04076346e-03 9.88903720e-01 2.63466049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.9892541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:416.18, Y:82.61, Z:26.35 [[ 7.09835786e-01 -6.96042262e-01 -1.07973731e-01 4.16184504e+02] [ 6.88535293e-01 7.17998134e-01 -1.01969756e-01 8.26086223e+01] [ 1.48500197e-01 -1.96194270e-03 9.88910432e-01 2.63500836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.01925415399995 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:416.21, Y:82.63, Z:26.35 [[ 7.10045521e-01 -6.95787560e-01 -1.08235988e-01 4.16205449e+02] [ 6.88232109e-01 7.18245203e-01 -1.02276061e-01 8.26269708e+01] [ 1.48902390e-01 -1.87082337e-03 9.88850129e-01 2.63538743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.0492541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:416.23, Y:82.64, Z:26.36 [[ 7.10988293e-01 -6.94770618e-01 -1.08579170e-01 4.16227359e+02] [ 6.87145837e-01 7.19229567e-01 -1.02661720e-01 8.26445087e+01] [ 1.49419696e-01 -1.61844390e-03 9.88772540e-01 2.63570960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.07925415399995 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:416.25, Y:82.66, Z:26.36 [[ 7.11182769e-01 -6.94498882e-01 -1.09042981e-01 4.16247098e+02] [ 6.86796417e-01 7.19492164e-01 -1.03158649e-01 8.26618191e+01] [ 1.50099137e-01 -1.52567509e-03 9.88669774e-01 2.63607957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.1092541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:416.27, Y:82.68, Z:26.36 [[ 7.11347408e-01 -6.94292354e-01 -1.09283995e-01 4.16268008e+02] [ 6.86548602e-01 7.19691590e-01 -1.03416790e-01 8.26799705e+01] [ 1.50452259e-01 -1.46350879e-03 9.88616192e-01 2.63644489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.13925415399996 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:416.29, Y:82.70, Z:26.37 [[ 7.11384185e-01 -6.94269608e-01 -1.09189067e-01 4.16288594e+02] [ 6.86529775e-01 7.19713634e-01 -1.03388358e-01 8.26979037e+01] [ 1.50364255e-01 -1.41270280e-03 9.88629655e-01 2.63679045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.16925415399993 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:416.31, Y:82.72, Z:26.37 [[ 7.10985884e-01 -6.94689583e-01 -1.09112130e-01 4.16309993e+02] [ 6.86956301e-01 7.19308185e-01 -1.03376865e-01 8.27158189e+01] [ 1.50300080e-01 -1.45577310e-03 9.88639351e-01 2.63719267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.19925415399996 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:416.33, Y:82.73, Z:26.38 [[ 7.10482683e-01 -6.95129329e-01 -1.09588200e-01 4.16329737e+02] [ 6.87323788e-01 7.18883116e-01 -1.03889730e-01 8.27332963e+01] [ 1.50997904e-01 -1.51072268e-03 9.88532928e-01 2.63756607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.22925415399993 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:416.36, Y:82.73, Z:26.38 [[ 7.04913137e-01 -6.92887843e-01 -1.51670387e-01 4.16359796e+02] [ 6.90708433e-01 7.19194601e-01 -7.53723138e-02 8.27333557e+01] [ 1.61305083e-01 -5.16290810e-02 9.85553199e-01 2.63843431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.25925415399996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:416.35, Y:82.79, Z:26.40 [[ 7.08237754e-01 -7.02283760e-01 -7.20888685e-02 4.16354243e+02] [ 6.89894222e-01 7.10158374e-01 -1.40431642e-01 8.27868600e+01] [ 1.49817375e-01 4.97252967e-02 9.87462480e-01 2.63966144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.28925415399993 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:416.39, Y:82.79, Z:26.39 [[ 7.06100576e-01 -7.00361886e-01 -1.04475861e-01 4.16390776e+02] [ 6.91860301e-01 7.13773086e-01 -1.08891254e-01 8.27900911e+01] [ 1.50835341e-01 4.60547665e-03 9.88548173e-01 2.63884357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.31925415399996 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:416.42, Y:82.80, Z:26.39 [[ 7.04336873e-01 -7.00829552e-01 -1.12904865e-01 4.16416706e+02] [ 6.94070615e-01 7.13263659e-01 -9.75752768e-02 8.28040928e+01] [ 1.48914575e-01 -9.63808400e-03 9.88803093e-01 2.63890548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.34925415399994 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:416.44, Y:82.82, Z:26.39 [[ 7.01043106e-01 -7.04921641e-01 -1.07814862e-01 4.16435283e+02] [ 6.97447558e-01 7.09277117e-01 -1.02434740e-01 8.28237626e+01] [ 1.48679079e-01 -3.38404373e-03 9.88879709e-01 2.63949157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.37925415399997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:416.46, Y:82.84, Z:26.40 [[ 6.99095177e-01 -7.06804157e-01 -1.08137954e-01 4.16456444e+02] [ 6.99298013e-01 7.07399328e-01 -1.02803110e-01 8.28422486e+01] [ 1.49158381e-01 -3.75149771e-03 9.88806201e-01 2.63987650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.40925415399994 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:416.48, Y:82.86, Z:26.40 [[ 6.97308140e-01 -7.08725147e-01 -1.07098193e-01 4.16476009e+02] [ 7.01377322e-01 7.05472903e-01 -1.01871665e-01 8.28597737e+01] [ 1.47753884e-01 -4.08030304e-03 9.89015744e-01 2.64028566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.43925415399997 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:416.50, Y:82.88, Z:26.41 [[ 6.95178936e-01 -7.10898222e-01 -1.06536217e-01 4.16496296e+02] [ 7.03648709e-01 7.03280525e-01 -1.01365660e-01 8.28780891e+01] [ 1.46985514e-01 -4.49679973e-03 9.89128423e-01 2.64067295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.46925415399994 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:416.52, Y:82.90, Z:26.41 [[ 6.91347853e-01 -7.14727126e-01 -1.05845552e-01 4.16517587e+02] [ 7.07607364e-01 6.99383846e-01 -1.00767335e-01 8.28960997e+01] [ 1.46047817e-01 -5.23181151e-03 9.89263698e-01 2.64107800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.49925415399997 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:416.54, Y:82.91, Z:26.41 [[ 6.89367023e-01 -7.16693709e-01 -1.05466745e-01 4.16537679e+02] [ 7.09639173e-01 6.97365705e-01 -1.00465503e-01 8.29145184e+01] [ 1.45551886e-01 -5.58572891e-03 9.89334851e-01 2.64146341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.52925415399994 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:416.56, Y:82.93, Z:26.42 [[ 6.87654104e-01 -7.18333571e-01 -1.05492724e-01 4.16557166e+02] [ 7.11286313e-01 6.95673875e-01 -1.00546714e-01 8.29327095e+01] [ 1.45614612e-01 -5.89417018e-03 9.89323832e-01 2.64183123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5592541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:416.58, Y:82.95, Z:26.42 [[ 6.85146357e-01 -7.20803722e-01 -1.04959347e-01 4.16576212e+02] [ 7.13852673e-01 6.93109991e-01 -1.00064486e-01 8.29507651e+01] [ 1.44875226e-01 -6.36669267e-03 9.89429449e-01 2.64225651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.58925415399995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:416.60, Y:82.97, Z:26.43 [[ 6.84170138e-01 -7.21742148e-01 -1.04878474e-01 4.16595116e+02] [ 7.14807165e-01 6.92131193e-01 -1.00025641e-01 8.29690890e+01] [ 1.44782384e-01 -6.53332754e-03 9.89441952e-01 2.64263918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6192541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:416.61, Y:82.99, Z:26.43 [[ 6.83385429e-01 -7.22496846e-01 -1.04798204e-01 4.16614814e+02] [ 7.15577380e-01 6.91342050e-01 -9.99759099e-02 8.29881107e+01] [ 1.44683685e-01 -6.66914394e-03 9.89455484e-01 2.64298919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.64925415399995 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:416.63, Y:83.01, Z:26.43 [[ 6.82729905e-01 -7.23101141e-01 -1.04902892e-01 4.16634536e+02] [ 7.16166593e-01 6.90709039e-01 -1.00132080e-01 8.30076522e+01] [ 1.44862997e-01 -6.76478153e-03 9.89428598e-01 2.64337726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6792541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:416.65, Y:83.03, Z:26.44 [[ 6.82682531e-01 -7.23031510e-01 -1.05688212e-01 4.16651832e+02] [ 7.15983233e-01 6.90781947e-01 -1.00937163e-01 8.30275656e+01] [ 1.45988259e-01 -6.76294958e-03 9.89263206e-01 2.64377802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.70925415399995 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:416.67, Y:83.05, Z:26.44 [[ 6.82874573e-01 -7.22763107e-01 -1.06281741e-01 4.16670465e+02] [ 7.15625825e-01 6.91063231e-01 -1.01544519e-01 8.30474449e+01] [ 1.46840036e-01 -6.71578861e-03 9.89137454e-01 2.64418194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7392541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:416.69, Y:83.07, Z:26.45 [[ 6.83325393e-01 -7.22257212e-01 -1.06821940e-01 4.16688837e+02] [ 7.15032011e-01 6.91593053e-01 -1.02118915e-01 8.30673954e+01] [ 1.47633435e-01 -6.60065855e-03 9.89020121e-01 2.64457243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.76925415399995 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:416.71, Y:83.09, Z:26.45 [[ 6.84131243e-01 -7.21449537e-01 -1.07121462e-01 4.16708130e+02] [ 7.14169336e-01 6.92437215e-01 -1.02434673e-01 8.30876516e+01] [ 1.48076334e-01 -6.42410313e-03 9.88955070e-01 2.64499300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7992541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:416.73, Y:83.11, Z:26.45 [[ 6.86213594e-01 -7.19407852e-01 -1.07532533e-01 4.16725880e+02] [ 7.12037265e-01 6.94562294e-01 -1.02889031e-01 8.31085214e+01] [ 1.48707220e-01 -5.96331852e-03 9.88863288e-01 2.64540130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.82925415399995 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:416.74, Y:83.13, Z:26.46 [[ 6.87249200e-01 -7.18448211e-01 -1.07334552e-01 4.16744850e+02] [ 7.11084080e-01 6.95557086e-01 -1.02760750e-01 8.31289168e+01] [ 1.48485585e-01 -5.70164828e-03 9.88898135e-01 2.64578264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.8592541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:416.76, Y:83.16, Z:26.46 [[ 6.93608442e-01 -7.15826576e-01 -8.06203574e-02 4.16760819e+02] [ 7.06128810e-01 6.97771927e-01 -1.20401171e-01 8.31641952e+01] [ 1.42440980e-01 2.65829117e-02 9.89446267e-01 2.64630878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.88925415399996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:416.79, Y:83.16, Z:26.46 [[ 6.91115365e-01 -7.10804440e-01 -1.30830429e-01 4.16793828e+02] [ 7.07669924e-01 7.02299513e-01 -7.73218800e-02 8.31599648e+01] [ 1.46842882e-01 -3.91464206e-02 9.88384908e-01 2.64591465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.91925415399993 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:416.80, Y:83.19, Z:26.47 [[ 6.92931446e-01 -7.13022512e-01 -1.06980878e-01 4.16799976e+02] [ 7.05613979e-01 7.01127432e-01 -1.02612067e-01 8.31914944e+01] [ 1.48171942e-01 -4.38407549e-03 9.88951897e-01 2.64712443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.94925415399996 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:416.82, Y:83.21, Z:26.48 [[ 6.94361919e-01 -7.11718467e-01 -1.06387732e-01 4.16819029e+02] [ 7.04368103e-01 7.02453206e-01 -1.02103230e-01 8.32121024e+01] [ 1.47401158e-01 -4.03953040e-03 9.89068542e-01 2.64758251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.97925415399993 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:416.84, Y:83.23, Z:26.48 [[ 6.98134942e-01 -7.08053104e-01 -1.06152748e-01 4.16836236e+02] [ 7.00684193e-01 7.06151878e-01 -1.01937171e-01 8.32320752e+01] [ 1.47136893e-01 -3.21365206e-03 9.89110918e-01 2.64795784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.00925415399996 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:416.86, Y:83.25, Z:26.48 [[ 6.99736156e-01 -7.06515162e-01 -1.05856684e-01 4.16855345e+02] [ 6.99163692e-01 7.07692162e-01 -1.01695305e-01 8.32521043e+01] [ 1.46763220e-01 -2.85126864e-03 9.89167543e-01 2.64835091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.03925415399993 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:416.87, Y:83.27, Z:26.49 [[ 7.01233156e-01 -7.05048300e-01 -1.05730578e-01 4.16874436e+02] [ 6.97689203e-01 7.09154884e-01 -1.01632312e-01 8.32718447e+01] [ 1.46635044e-01 -2.49913587e-03 9.89187504e-01 2.64873879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.06925415399996 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:416.89, Y:83.32, Z:26.49 [[ 7.09743721e-01 -7.02151213e-01 -5.69870569e-02 4.16889750e+02] [ 6.91517204e-01 7.09855884e-01 -1.33822948e-01 8.33152904e+01] [ 1.34416543e-01 5.55724668e-02 9.89365400e-01 2.64901694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.09925415399994 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:416.94, Y:83.29, Z:26.48 [[ 7.03376417e-01 -6.95138094e-01 -1.48474396e-01 4.16936621e+02] [ 6.95633223e-01 7.16110444e-01 -5.72734769e-02 8.32919492e+01] [ 1.46137042e-01 -6.29989099e-02 9.87256351e-01 2.64805501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.12925415399997 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:416.93, Y:83.33, Z:26.50 [[ 7.04149633e-01 -7.02191532e-01 -1.05358186e-01 4.16933980e+02] [ 6.94823248e-01 7.11985939e-01 -1.01472538e-01 8.33322363e+01] [ 1.46266704e-01 -1.75346605e-03 9.89243639e-01 2.64989233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.15925415399994 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:416.95, Y:83.35, Z:26.50 [[ 7.04567773e-01 -7.01803313e-01 -1.05149240e-01 4.16953363e+02] [ 6.94451515e-01 7.12368907e-01 -1.01329333e-01 8.33510303e+01] [ 1.46018311e-01 -1.62766642e-03 9.89280548e-01 2.65027125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.18925415399997 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:416.97, Y:83.37, Z:26.51 [[ 7.05390856e-01 -7.00979066e-01 -1.05128922e-01 4.16973546e+02] [ 6.93616833e-01 7.13180403e-01 -1.01338057e-01 8.33696192e+01] [ 1.46011743e-01 -1.43625115e-03 9.89281814e-01 2.65065458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.21925415399994 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:416.99, Y:83.39, Z:26.51 [[ 7.05199208e-01 -7.01176327e-01 -1.05099168e-01 4.16993742e+02] [ 6.93811677e-01 7.12986467e-01 -1.01368906e-01 8.33892233e+01] [ 1.46011762e-01 -1.43375758e-03 9.89281815e-01 2.65104358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.24925415399997 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:417.01, Y:83.41, Z:26.51 [[ 7.05368669e-01 -7.01008632e-01 -1.05080635e-01 4.17013561e+02] [ 6.93636434e-01 7.13151494e-01 -1.01407313e-01 8.34085249e+01] [ 1.46025813e-01 -1.35821600e-03 9.89279848e-01 2.65143600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.27925415399994 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:417.03, Y:83.43, Z:26.52 [[ 7.05723437e-01 -7.00623824e-01 -1.05264845e-01 4.17032992e+02] [ 6.93212864e-01 7.13529761e-01 -1.01642535e-01 8.34271840e+01] [ 1.46322781e-01 -1.23942509e-03 9.89236123e-01 2.65181405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3092541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:417.05, Y:83.45, Z:26.52 [[ 7.06461877e-01 -6.99840660e-01 -1.05520930e-01 4.17053155e+02] [ 6.92380505e-01 7.14298207e-01 -1.01918146e-01 8.34456914e+01] [ 1.46699874e-01 -1.05935036e-03 9.89180481e-01 2.65216385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.33925415399995 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:417.07, Y:83.46, Z:26.53 [[ 7.06760682e-01 -6.99531265e-01 -1.05571525e-01 4.17073735e+02] [ 6.92051526e-01 7.14601359e-01 -1.02027367e-01 8.34647623e+01] [ 1.46812888e-01 -9.52003236e-04 9.89163823e-01 2.65253243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.3692541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:417.09, Y:83.48, Z:26.53 [[ 7.07265332e-01 -6.99034084e-01 -1.05485069e-01 4.17093346e+02] [ 6.91552493e-01 7.15087897e-01 -1.02002204e-01 8.34826516e+01] [ 1.46734113e-01 -8.05840046e-04 9.89175642e-01 2.65286746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.39925415399995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:417.11, Y:83.50, Z:26.53 [[ 7.07697249e-01 -6.98559161e-01 -1.05734113e-01 4.17114601e+02] [ 6.91032439e-01 7.15551972e-01 -1.02271910e-01 8.35004956e+01] [ 1.47101233e-01 -6.88152780e-04 9.89121203e-01 2.65325059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4292541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:417.13, Y:83.52, Z:26.54 [[ 7.07652033e-01 -6.98599405e-01 -1.05770843e-01 4.17134836e+02] [ 6.91059248e-01 7.15512713e-01 -1.02365391e-01 8.35183149e+01] [ 1.47192784e-01 -6.54842209e-04 9.89107606e-01 2.65360080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.45925415399995 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:417.16, Y:83.54, Z:26.54 [[ 7.07124517e-01 -6.99093876e-01 -1.06031461e-01 4.17155209e+02] [ 6.91517546e-01 7.15029515e-01 -1.02646369e-01 8.35364599e+01] [ 1.47575072e-01 -7.38851393e-04 9.89050581e-01 2.65399429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.4892541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:417.18, Y:83.55, Z:26.54 [[ 7.06260739e-01 -6.99942359e-01 -1.06190685e-01 4.17176191e+02] [ 6.92344148e-01 7.14198800e-01 -1.02857449e-01 8.35530716e+01] [ 1.47835546e-01 -8.76321615e-04 9.89011569e-01 2.65434459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.51925415399995 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:417.20, Y:83.57, Z:26.55 [[ 7.04868322e-01 -7.01398421e-01 -1.05834326e-01 4.17196790e+02] [ 6.93863487e-01 7.12768487e-01 -1.02540454e-01 8.35712114e+01] [ 1.47357085e-01 -1.15705641e-03 9.89082681e-01 2.65476846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.5492541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:417.22, Y:83.59, Z:26.55 [[ 7.03843972e-01 -7.02385839e-01 -1.06102766e-01 4.17217734e+02] [ 6.94814431e-01 7.11795183e-01 -1.02861671e-01 8.35891993e+01] [ 1.47772019e-01 -1.32316575e-03 9.89020566e-01 2.65517011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.57925415399995 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:417.24, Y:83.61, Z:26.56 [[ 7.02876123e-01 -7.03357670e-01 -1.06080839e-01 4.17237518e+02] [ 6.95791525e-01 7.10834570e-01 -1.02899796e-01 8.36064508e+01] [ 1.47781288e-01 -1.48433918e-03 9.89018952e-01 2.65553005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.6092541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:417.26, Y:83.62, Z:26.56 [[ 7.01283296e-01 -7.04899455e-01 -1.06388430e-01 4.17258726e+02] [ 6.97300271e-01 7.09304997e-01 -1.03241241e-01 8.36238119e+01] [ 1.48236539e-01 -1.78332374e-03 9.88950326e-01 2.65593383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.63925415399996 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:417.28, Y:83.64, Z:26.56 [[ 7.00398630e-01 -7.05776702e-01 -1.06400215e-01 4.17278966e+02] [ 6.98177237e-01 7.08431740e-01 -1.03310285e-01 8.36418758e+01] [ 1.48291281e-01 -1.92782581e-03 9.88941848e-01 2.65630832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.66925415399993 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:417.30, Y:83.66, Z:26.57 [[ 6.99407767e-01 -7.06725984e-01 -1.06616881e-01 4.17299410e+02] [ 6.99101951e-01 7.07484219e-01 -1.03549703e-01 8.36598295e+01] [ 1.48611026e-01 -2.11260324e-03 9.88893472e-01 2.65669893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.69925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:417.32, Y:83.68, Z:26.57 [[ 6.97302592e-01 -7.08802623e-01 -1.06620524e-01 4.17320161e+02] [ 7.01193397e-01 7.05402385e-01 -1.03611270e-01 8.36764968e+01] [ 1.48650312e-01 -2.51320039e-03 9.88886631e-01 2.65708973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.72925415399993 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:417.34, Y:83.70, Z:26.58 [[ 6.95858017e-01 -7.10221293e-01 -1.06617710e-01 4.17340709e+02] [ 7.02624609e-01 7.03972941e-01 -1.03637625e-01 8.36950410e+01] [ 1.48661630e-01 -2.79515446e-03 9.88884173e-01 2.65750019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.75925415399996 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:417.36, Y:83.71, Z:26.58 [[ 6.94736188e-01 -7.11361593e-01 -1.06331149e-01 4.17361128e+02] [ 7.03810650e-01 7.02819851e-01 -1.03415794e-01 8.37127941e+01] [ 1.48297667e-01 -2.99030040e-03 9.88938249e-01 2.65788192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.78925415399993 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:417.38, Y:83.73, Z:26.58 [[ 6.91883927e-01 -7.14174609e-01 -1.06071954e-01 4.17382874e+02] [ 7.06689111e-01 6.99958521e-01 -1.03191901e-01 8.37298443e+01] [ 1.47943004e-01 -3.56307664e-03 9.88989470e-01 2.65827927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.81925415399996 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:417.42, Y:83.73, Z:26.59 [[ 6.85073200e-01 -7.09679756e-01 -1.64406070e-01 4.17419838e+02] [ 7.10072792e-01 7.00945246e-01 -6.68759444e-02 8.37254863e+01] [ 1.62700157e-01 -7.09253598e-02 9.84123088e-01 2.65947949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.84925415399994 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:417.40, Y:83.79, Z:26.61 [[ 6.89699688e-01 -7.21783752e-01 -5.78148332e-02 4.17401845e+02] [ 7.08418258e-01 6.89137469e-01 -1.52424149e-01 8.37912041e+01] [ 1.49859642e-01 6.41698046e-02 9.86622686e-01 2.66081129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.87925415399997 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:417.45, Y:83.79, Z:26.59 [[ 6.88011893e-01 -7.17950261e-01 -1.05768891e-01 4.17447043e+02] [ 7.10537044e-01 6.96081184e-01 -1.02995607e-01 8.37875131e+01] [ 1.47569457e-01 -4.29051234e-03 9.89042389e-01 2.65949131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.90925415399994 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:417.47, Y:83.80, Z:26.60 [[ 6.86810580e-01 -7.19110373e-01 -1.05695313e-01 4.17468047e+02] [ 7.11712373e-01 6.94881333e-01 -1.02982678e-01 8.38044750e+01] [ 1.47501612e-01 -4.49506946e-03 9.89051601e-01 2.65995813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.93925415399997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:417.49, Y:83.82, Z:26.60 [[ 6.86667842e-01 -7.19274871e-01 -1.05503246e-01 4.17487481e+02] [ 7.11901867e-01 6.94711004e-01 -1.02821948e-01 8.38223268e+01] [ 1.47251509e-01 -4.50343284e-03 9.89088829e-01 2.66035402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.96925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:417.51, Y:83.84, Z:26.61 [[ 6.86881814e-01 -7.18993947e-01 -1.06023944e-01 4.17507867e+02] [ 7.11540108e-01 6.95002113e-01 -1.03357331e-01 8.38405463e+01] [ 1.48000161e-01 -4.44601768e-03 9.88977343e-01 2.66071670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.99925415399997 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:417.53, Y:83.86, Z:26.61 [[ 6.86719306e-01 -7.19223744e-01 -1.05516830e-01 4.17528213e+02] [ 7.11835350e-01 6.94764392e-01 -1.02921687e-01 8.38594973e+01] [ 1.47333057e-01 -4.43230030e-03 9.89077007e-01 2.66116178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.02925415399994 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:417.55, Y:83.88, Z:26.62 [[ 6.87635707e-01 -7.18375347e-01 -1.05328039e-01 4.17549488e+02] [ 7.10994663e-01 6.95643025e-01 -1.02797721e-01 8.38776172e+01] [ 1.47118064e-01 -4.20029011e-03 9.89110021e-01 2.66164259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.0592541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:417.57, Y:83.90, Z:26.62 [[ 6.88342342e-01 -7.17712235e-01 -1.05232927e-01 4.17568608e+02] [ 7.10328406e-01 6.96328260e-01 -1.02764346e-01 8.38958607e+01] [ 1.47031890e-01 -4.01288669e-03 9.89123612e-01 2.66208792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.08925415399995 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:417.59, Y:83.91, Z:26.62 [[ 6.88907560e-01 -7.17150838e-01 -1.05361515e-01 4.17587456e+02] [ 7.09738332e-01 6.96907188e-01 -1.02916817e-01 8.39141238e+01] [ 1.47234078e-01 -3.87893244e-03 9.89094070e-01 2.66246478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1192541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:417.61, Y:83.93, Z:26.63 [[ 6.90599097e-01 -7.15380745e-01 -1.06316866e-01 4.17608113e+02] [ 7.07807144e-01 6.98726020e-01 -1.03879723e-01 8.39328858e+01] [ 1.48599914e-01 -3.51259413e-03 9.88891160e-01 2.66281003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.14925415399995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:417.63, Y:83.95, Z:26.63 [[ 6.91105512e-01 -7.14911866e-01 -1.06180016e-01 4.17627985e+02] [ 7.07343190e-01 6.99206484e-01 -1.03807055e-01 8.39523839e+01] [ 1.48454651e-01 -3.36408284e-03 9.88913494e-01 2.66329934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.1792541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:417.65, Y:83.97, Z:26.64 [[ 6.91853178e-01 -7.14168846e-01 -1.06311049e-01 4.17647412e+02] [ 7.06563812e-01 6.99966306e-01 -1.03993991e-01 8.39710866e+01] [ 1.48683421e-01 -3.16696722e-03 9.88879776e-01 2.66366750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.20925415399995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:417.67, Y:83.99, Z:26.64 [[ 6.92643261e-01 -7.13343834e-01 -1.06704676e-01 4.17666963e+02] [ 7.05668282e-01 7.00807878e-01 -1.04405911e-01 8.39899722e+01] [ 1.49256791e-01 -2.98205431e-03 9.88793971e-01 2.66403959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2392541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:417.69, Y:84.01, Z:26.64 [[ 6.94276573e-01 -7.11696578e-01 -1.07088848e-01 4.17686454e+02] [ 7.03941794e-01 7.02482118e-01 -1.04808511e-01 8.40086412e+01] [ 1.49819860e-01 -2.61822197e-03 9.88709843e-01 2.66444860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.26925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:417.71, Y:84.03, Z:26.65 [[ 6.94918767e-01 -7.11083838e-01 -1.06993841e-01 4.17706428e+02] [ 7.03331220e-01 7.03102915e-01 -1.04744863e-01 8.40284187e+01] [ 1.49710061e-01 -2.46293724e-03 9.88726874e-01 2.66485053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.2992541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:417.73, Y:84.05, Z:26.65 [[ 6.95283315e-01 -7.10717573e-01 -1.07059067e-01 4.17726559e+02] [ 7.02941765e-01 7.03473560e-01 -1.04870520e-01 8.40480017e+01] [ 1.49846544e-01 -2.34156675e-03 9.88706494e-01 2.66526647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.32925415399995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:417.75, Y:84.07, Z:26.66 [[ 6.95121285e-01 -7.10875004e-01 -1.07065996e-01 4.17745968e+02] [ 7.03090702e-01 7.03314504e-01 -1.04938904e-01 8.40670291e+01] [ 1.49899512e-01 -2.33183992e-03 9.88698487e-01 2.66565910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.3592541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:417.77, Y:84.08, Z:26.66 [[ 6.94166212e-01 -7.11796217e-01 -1.07142035e-01 4.17765832e+02] [ 7.04002845e-01 7.02381620e-01 -1.05071666e-01 8.40842893e+01] [ 1.50044211e-01 -2.49109692e-03 9.88676150e-01 2.66601752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.38925415399996 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:417.79, Y:84.10, Z:26.66 [[ 6.92606755e-01 -7.13472116e-01 -1.06082155e-01 4.17785838e+02] [ 7.05848148e-01 7.00678011e-01 -1.04061118e-01 8.41032459e+01] [ 1.48574139e-01 -2.80445915e-03 9.88897295e-01 2.66644338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.41925415399993 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:417.81, Y:84.12, Z:26.67 [[ 6.89381502e-01 -7.16624716e-01 -1.05840266e-01 4.17807175e+02] [ 7.09063500e-01 6.97450526e-01 -1.03883190e-01 8.41214567e+01] [ 1.48263610e-01 -3.43231999e-03 9.88941920e-01 2.66683803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.44925415399996 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:417.83, Y:84.14, Z:26.67 [[ 6.87597133e-01 -7.18449264e-01 -1.05075391e-01 4.17826437e+02] [ 7.11010253e-01 6.95569218e-01 -1.03188579e-01 8.41398400e+01] [ 1.47222966e-01 -3.75750976e-03 9.89096193e-01 2.66722067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.47925415399993 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:417.85, Y:84.16, Z:26.68 [[ 6.85636871e-01 -7.20321273e-01 -1.05068283e-01 4.17846636e+02] [ 7.12900861e-01 6.93628238e-01 -1.03209639e-01 8.41591564e+01] [ 1.47222426e-01 -4.13893534e-03 9.89094751e-01 2.66763585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.50925415399996 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:417.87, Y:84.18, Z:26.68 [[ 6.83813392e-01 -7.21998205e-01 -1.05441149e-01 4.17866962e+02] [ 7.14535768e-01 6.91880457e-01 -1.03634309e-01 8.41784960e+01] [ 1.47776456e-01 -4.47494411e-03 9.89010664e-01 2.66803431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.53925415399993 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:417.89, Y:84.20, Z:26.68 [[ 6.82266356e-01 -7.23506098e-01 -1.05126328e-01 4.17886934e+02] [ 7.16097469e-01 6.90301674e-01 -1.03382849e-01 8.41972893e+01] [ 1.47367002e-01 -4.74605760e-03 9.89070494e-01 2.66842898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.56925415399996 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:417.91, Y:84.21, Z:26.69 [[ 6.79525019e-01 -7.26153515e-01 -1.04627054e-01 4.17907060e+02] [ 7.18838023e-01 6.87512524e-01 -1.02948655e-01 8.42148731e+01] [ 1.46688938e-01 -5.25371811e-03 9.89168719e-01 2.66881047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.59925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:417.93, Y:84.23, Z:26.69 [[ 6.78824801e-01 -7.25263146e-01 -1.14848853e-01 4.17934611e+02] [ 7.19120563e-01 6.88248053e-01 -9.58135359e-02 8.42312423e+01] [ 1.48534526e-01 -1.75495676e-02 9.88751489e-01 2.66937572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.62925415399997 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:417.94, Y:84.26, Z:26.70 [[ 6.77209307e-01 -7.29289551e-01 -9.75925438e-02 4.17943129e+02] [ 7.20791168e-01 6.84187600e-01 -1.11118944e-01 8.42561161e+01] [ 1.47809493e-01 4.90693978e-03 9.89003678e-01 2.66978046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.65925415399994 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:417.97, Y:84.27, Z:26.70 [[ 6.76043750e-01 -7.29443306e-01 -1.04294350e-01 4.17965916e+02] [ 7.22193602e-01 6.84016215e-01 -1.02753193e-01 8.42716025e+01] [ 1.46291656e-01 -5.85505850e-03 9.89224176e-01 2.66996215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.68925415399997 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:417.99, Y:84.29, Z:26.71 [[ 6.73956215e-01 -7.28691876e-01 -1.21618956e-01 4.17993921e+02] [ 7.23225093e-01 6.84366695e-01 -9.26698006e-02 8.42856060e+01] [ 1.50759694e-01 -2.55024926e-02 9.88241437e-01 2.67068325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.71925415399994 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:418.00, Y:84.32, Z:26.71 [[ 6.73636119e-01 -7.33310490e-01 -9.20331748e-02 4.17998965e+02] [ 7.24084711e-01 6.79790096e-01 -1.16562245e-01 8.43166591e+01] [ 1.48039557e-01 1.18807232e-02 9.88910076e-01 2.67104066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.74925415399997 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:418.02, Y:84.33, Z:26.71 [[ 6.72314539e-01 -7.32713603e-01 -1.05470073e-01 4.18024868e+02] [ 7.25318374e-01 6.80505616e-01 -1.04045006e-01 8.43310351e+01] [ 1.48008168e-01 -6.54841173e-03 9.88964459e-01 2.67099871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.77925415399994 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:418.04, Y:84.35, Z:26.71 [[ 6.71967147e-01 -7.32963878e-01 -1.05943889e-01 4.18044198e+02] [ 7.25495471e-01 6.80235628e-01 -1.04574433e-01 8.43507747e+01] [ 1.48716090e-01 -6.59122877e-03 9.88857968e-01 2.67136739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8092541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:418.06, Y:84.37, Z:26.72 [[ 6.71820415e-01 -7.33080432e-01 -1.06067952e-01 4.18062994e+02] [ 7.25586599e-01 6.80110101e-01 -1.04758471e-01 8.43705172e+01] [ 1.48934271e-01 -6.58260534e-03 9.88825188e-01 2.67172203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.83925415399995 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:418.08, Y:84.39, Z:26.72 [[ 6.71826751e-01 -7.32879946e-01 -1.07404845e-01 4.18081982e+02] [ 7.25182835e-01 6.80326173e-01 -1.06142147e-01 8.43907250e+01] [ 1.50859779e-01 -6.57901603e-03 9.88533279e-01 2.67207929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.8692541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:418.10, Y:84.41, Z:26.73 [[ 6.72554106e-01 -7.32262683e-01 -1.07062306e-01 4.18098910e+02] [ 7.24598150e-01 6.80992417e-01 -1.05862410e-01 8.44120599e+01] [ 1.50427711e-01 -6.37895003e-03 9.88600431e-01 2.67251063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.89925415399995 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:418.12, Y:84.43, Z:26.73 [[ 6.72777610e-01 -7.32026142e-01 -1.07275418e-01 4.18117452e+02] [ 7.24323276e-01 6.81247247e-01 -1.06103631e-01 8.44327594e+01] [ 1.50751715e-01 -6.31793455e-03 9.88551468e-01 2.67293288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9292541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:418.14, Y:84.45, Z:26.73 [[ 6.72664687e-01 -7.32127594e-01 -1.07291220e-01 4.18135972e+02] [ 7.24414435e-01 6.81138386e-01 -1.06180158e-01 8.44533591e+01] [ 1.50817592e-01 -6.29966574e-03 9.88541536e-01 2.67329714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.95925415399995 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:418.15, Y:84.47, Z:26.74 [[ 6.72144071e-01 -7.32687095e-01 -1.06733165e-01 4.18153280e+02] [ 7.25052519e-01 6.80536030e-01 -1.05686123e-01 8.44742274e+01] [ 1.50070623e-01 -6.35084932e-03 9.88654882e-01 2.67368999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.9892541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:418.17, Y:84.49, Z:26.74 [[ 6.71490466e-01 -7.33387180e-01 -1.06036775e-01 4.18171042e+02] [ 7.25855134e-01 6.79780708e-01 -1.05035770e-01 8.44939808e+01] [ 1.49113641e-01 -6.43681934e-03 9.88799115e-01 2.67406411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.01925415399995 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:418.19, Y:84.51, Z:26.74 [[ 6.70478147e-01 -7.34309882e-01 -1.06056837e-01 4.18189651e+02] [ 7.26782026e-01 6.78782093e-01 -1.05084522e-01 8.45145664e+01] [ 1.49154085e-01 -6.62332746e-03 9.88791783e-01 2.67446680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.0492541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:418.21, Y:84.54, Z:26.75 [[ 6.68688968e-01 -7.35989168e-01 -1.05711914e-01 4.18206151e+02] [ 7.28522608e-01 6.76957789e-01 -1.04799626e-01 8.45359523e+01] [ 1.48693894e-01 -6.93516548e-03 9.88858953e-01 2.67482657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.07925415399995 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:418.22, Y:84.56, Z:26.75 [[ 6.67650822e-01 -7.37048103e-01 -1.04892675e-01 4.18224261e+02] [ 7.29706050e-01 6.75803050e-01 -1.04015956e-01 8.45569734e+01] [ 1.47551553e-01 -7.09448108e-03 9.89028922e-01 2.67525604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.1092541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:418.24, Y:84.58, Z:26.76 [[ 6.66874292e-01 -7.37722024e-01 -1.05094689e-01 4.18243063e+02] [ 7.30350565e-01 6.75066033e-01 -1.04278007e-01 8.45776983e+01] [ 1.47874037e-01 -7.21564337e-03 9.88979880e-01 2.67560391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.13925415399996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:418.26, Y:84.60, Z:26.76 [[ 6.66671280e-01 -7.37909873e-01 -1.05063904e-01 4.18262978e+02] [ 7.30535857e-01 6.74860719e-01 -1.04309016e-01 8.45976040e+01] [ 1.47874155e-01 -7.21312345e-03 9.88979881e-01 2.67599098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.16925415399993 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:418.28, Y:84.62, Z:26.76 [[ 6.65851626e-01 -7.38695833e-01 -1.04738144e-01 4.18281669e+02] [ 7.31368666e-01 6.73999121e-01 -1.04043542e-01 8.46181797e+01] [ 1.47449949e-01 -7.32463501e-03 9.89042397e-01 2.67634776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.19925415399996 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:418.30, Y:84.64, Z:26.77 [[ 6.64522507e-01 -7.39882850e-01 -1.04800790e-01 4.18299370e+02] [ 7.32552273e-01 6.72693360e-01 -1.04167224e-01 8.46395738e+01] [ 1.47570338e-01 -7.55059251e-03 9.89022742e-01 2.67672307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.22925415399993 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:418.32, Y:84.66, Z:26.77 [[ 6.63947868e-01 -7.40420259e-01 -1.04647357e-01 4.18316844e+02] [ 7.33108986e-01 6.72101037e-01 -1.04074064e-01 8.46596624e+01] [ 1.47392142e-01 -7.61816444e-03 9.89048796e-01 2.67709276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.25925415399996 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:418.34, Y:84.68, Z:26.77 [[ 6.63534300e-01 -7.40780370e-01 -1.04721902e-01 4.18335130e+02] [ 7.33458615e-01 6.71703363e-01 -1.04177987e-01 8.46807431e+01] [ 1.47515062e-01 -7.68351324e-03 9.89029964e-01 2.67749129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.28925415399993 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:418.35, Y:84.70, Z:26.78 [[ 6.64210512e-01 -7.40097167e-01 -1.05264328e-01 4.18351492e+02] [ 7.32681049e-01 6.72457806e-01 -1.04780629e-01 8.47029322e+01] [ 1.48333665e-01 -7.52878310e-03 9.88908712e-01 2.67783949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.31925415399996 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:418.37, Y:84.72, Z:26.78 [[ 6.64598754e-01 -7.39805884e-01 -1.04860625e-01 4.18369353e+02] [ 7.32433886e-01 6.72779766e-01 -1.04441316e-01 8.47245044e+01] [ 1.47814407e-01 -7.39190651e-03 9.88987493e-01 2.67829034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.34925415399994 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:418.39, Y:84.75, Z:26.79 [[ 6.65522379e-01 -7.39001104e-01 -1.04677274e-01 4.18387257e+02] [ 7.31635742e-01 6.73666195e-01 -1.04321614e-01 8.47451535e+01] [ 1.47611329e-01 -7.15726638e-03 9.89019549e-01 2.67867368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.37925415399997 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:418.40, Y:84.77, Z:26.79 [[ 6.67918268e-01 -7.36867748e-01 -1.04456259e-01 4.18403666e+02] [ 7.29498817e-01 6.76004415e-01 -1.04160965e-01 8.47669928e+01] [ 1.47365748e-01 -6.62970638e-03 9.89059848e-01 2.67900195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.40925415399994 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:418.42, Y:84.79, Z:26.79 [[ 6.69128535e-01 -7.35775827e-01 -1.04407553e-01 4.18421254e+02] [ 7.28396593e-01 6.77195237e-01 -1.04139400e-01 8.47874398e+01] [ 1.47327551e-01 -6.36746226e-03 9.89067262e-01 2.67935662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.43925415399997 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:418.44, Y:84.81, Z:26.80 [[ 6.70324778e-01 -7.34688766e-01 -1.04389222e-01 4.18438419e+02] [ 7.27294929e-01 6.78376818e-01 -1.04148828e-01 8.48075848e+01] [ 1.47332202e-01 -6.10821163e-03 9.89068204e-01 2.67972847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.46925415399994 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:418.45, Y:84.83, Z:26.80 [[ 6.72443557e-01 -7.32740487e-01 -1.04455930e-01 4.18454754e+02] [ 7.25307386e-01 6.80484681e-01 -1.04258310e-01 8.48301599e+01] [ 1.47474945e-01 -5.65482891e-03 9.89049626e-01 2.68010010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.49925415399997 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:418.47, Y:84.85, Z:26.80 [[ 6.73280149e-01 -7.32024071e-01 -1.04089391e-01 4.18473065e+02] [ 7.24625813e-01 6.81257078e-01 -1.03952998e-01 8.48515110e+01] [ 1.47007731e-01 -5.43636988e-03 9.89120404e-01 2.68048341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.52925415399994 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:418.49, Y:84.87, Z:26.81 [[ 6.74021665e-01 -7.31429812e-01 -1.03466058e-01 4.18491190e+02] [ 7.24104535e-01 6.81896654e-01 -1.03390399e-01 8.48726047e+01] [ 1.46175979e-01 -5.23287240e-03 9.89244763e-01 2.68087562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.5592541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:418.51, Y:84.89, Z:26.81 [[ 6.74449742e-01 -7.31115299e-01 -1.02897838e-01 4.18509496e+02] [ 7.23858249e-01 6.82234905e-01 -1.02882310e-01 8.48933166e+01] [ 1.45419327e-01 -5.09450168e-03 9.89356996e-01 2.68127598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.58925415399995 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:418.53, Y:84.91, Z:26.82 [[ 6.74197003e-01 -7.31539831e-01 -1.01527718e-01 4.18526796e+02] [ 7.24471991e-01 6.81779816e-01 -1.01570749e-01 8.49147084e+01] [ 1.43522598e-01 -5.07529321e-03 9.89634026e-01 2.68167918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6192541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:418.54, Y:84.93, Z:26.82 [[ 6.73667039e-01 -7.32119091e-01 -1.00868015e-01 4.18544917e+02] [ 7.25141460e-01 6.81157376e-01 -1.00967774e-01 8.49344430e+01] [ 1.42627427e-01 -5.12491837e-03 9.89763180e-01 2.68203616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.64925415399995 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:418.56, Y:84.96, Z:26.82 [[ 6.72568624e-01 -7.33174626e-01 -1.00530664e-01 4.18563889e+02] [ 7.26251628e-01 6.80019670e-01 -1.00656948e-01 8.49553220e+01] [ 1.42161949e-01 -5.31185338e-03 9.89829159e-01 2.68233343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.6792541539999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:418.58, Y:84.98, Z:26.83 [[ 6.69479438e-01 -7.36094562e-01 -9.98102143e-02 4.18581061e+02] [ 7.29294717e-01 6.76853455e-01 -9.99930773e-02 8.49767851e+01] [ 1.41161249e-01 -5.84775287e-03 9.89969346e-01 2.68274610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.70925415399995 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:418.60, Y:85.00, Z:26.83 [[ 6.69661303e-01 -7.37223954e-01 -8.97473167e-02 4.18599710e+02] [ 7.29608762e-01 6.75626981e-01 -1.05826448e-01 8.50015879e+01] [ 1.38653501e-01 5.38744874e-03 9.90326301e-01 2.68292042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7392541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:418.62, Y:85.01, Z:26.83 [[ 6.66318908e-01 -7.37685705e-01 -1.08806770e-01 4.18623567e+02] [ 7.32154038e-01 6.74894871e-01 -9.20183570e-02 8.50139984e+01] [ 1.41313757e-01 -1.83497447e-02 9.89794781e-01 2.68312869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.76925415399995 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:418.64, Y:85.04, Z:26.84 [[ 6.63622463e-01 -7.41273568e-01 -1.00591869e-01 4.18636814e+02] [ 7.34403084e-01 6.71167579e-01 -1.00926665e-01 8.50388650e+01] [ 1.42328270e-01 -6.89777692e-03 9.89795476e-01 2.68380255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.7992541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:418.66, Y:85.06, Z:26.84 [[ 6.62550808e-01 -7.42203011e-01 -1.00802371e-01 4.18655592e+02] [ 7.35305718e-01 6.70137801e-01 -1.01196983e-01 8.50595622e+01] [ 1.42660185e-01 -7.07241729e-03 9.89746459e-01 2.68407782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.82925415399995 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:418.67, Y:85.08, Z:26.85 [[ 6.61572702e-01 -7.43086962e-01 -1.00714084e-01 4.18673941e+02] [ 7.36203360e-01 6.69155956e-01 -1.01167779e-01 8.50805952e+01] [ 1.42569887e-01 -7.21620623e-03 9.89758432e-01 2.68453106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.8592541539999 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:418.69, Y:85.10, Z:26.85 [[ 6.60765480e-01 -7.43874379e-01 -1.00199246e-01 4.18690574e+02] [ 7.37062033e-01 6.68279500e-01 -1.00707844e-01 8.51022726e+01] [ 1.41875086e-01 -7.30879294e-03 9.89857586e-01 2.68498037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.88925415399996 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:418.71, Y:85.12, Z:26.85 [[ 6.60679442e-01 -7.43989854e-01 -9.99088187e-02 4.18709330e+02] [ 7.37214606e-01 6.68151103e-01 -1.00442662e-01 8.51230064e+01] [ 1.41482509e-01 -7.29383860e-03 9.89913885e-01 2.68533012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.91925415399993 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:418.73, Y:85.14, Z:26.86 [[ 6.60988523e-01 -7.43766612e-01 -9.95258765e-02 4.18728078e+02] [ 7.37032750e-01 6.68400846e-01 -1.00115106e-01 8.51435891e+01] [ 1.40985453e-01 -7.17889449e-03 9.89985639e-01 2.68561715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.94925415399996 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:418.75, Y:85.16, Z:26.86 [[ 6.60871373e-01 -7.43907668e-01 -9.92492367e-02 4.18746062e+02] [ 7.37204819e-01 6.68244162e-01 -9.98939226e-02 8.51643840e+01] [ 1.40634578e-01 -7.14998181e-03 9.90035754e-01 2.68615095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.97925415399993 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:418.76, Y:85.19, Z:26.87 [[ 6.62183190e-01 -7.42718513e-01 -9.94114397e-02 4.18762423e+02] [ 7.35972332e-01 6.69568523e-01 -1.00113536e-01 8.51860237e+01] [ 1.40918947e-01 -6.87056840e-03 9.89997296e-01 2.68651188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.00925415399996 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:418.78, Y:85.22, Z:26.87 [[ 6.65453709e-01 -7.42295100e-01 -7.85451833e-02 4.18776928e+02] [ 7.33788892e-01 6.69834709e-01 -1.13469488e-01 8.52162185e+01] [ 1.36840135e-01 1.78731083e-02 9.90431890e-01 2.68673427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.03925415399993 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:418.81, Y:85.22, Z:26.87 [[ 6.63431904e-01 -7.38907241e-01 -1.17788787e-01 4.18808050e+02] [ 7.34965540e-01 6.73057137e-01 -8.25817508e-02 8.52207626e+01] [ 1.40298837e-01 -3.17833313e-02 9.89598937e-01 2.68658182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.06925415399996 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:418.81, Y:85.25, Z:26.88 [[ 6.64770217e-01 -7.40322114e-01 -1.00018633e-01 4.18814878e+02] [ 7.33448232e-01 6.72222626e-01 -1.00848561e-01 8.52507491e+01] [ 1.41895208e-01 -6.31736977e-03 9.89861526e-01 2.68770086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.09925415399994 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:418.83, Y:85.27, Z:26.88 [[ 6.65254708e-01 -7.39919249e-01 -9.97781417e-02 4.18833249e+02] [ 7.33070148e-01 6.72667150e-01 -1.00633312e-01 8.52717510e+01] [ 1.41578003e-01 -6.19759270e-03 9.89907702e-01 2.68800533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.12925415399997 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:418.85, Y:85.29, Z:26.88 [[ 6.65263534e-01 -7.39909422e-01 -9.97921655e-02 4.18849908e+02] [ 7.33049687e-01 6.72678345e-01 -1.00707500e-01 8.52939537e+01] [ 1.41642457e-01 -6.15558858e-03 9.89898744e-01 2.68849520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.15925415399994 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:418.87, Y:85.31, Z:26.89 [[ 6.65184145e-01 -7.40026733e-01 -9.94509281e-02 4.18867286e+02] [ 7.33207041e-01 6.72549617e-01 -1.00421351e-01 8.53141352e+01] [ 1.41200168e-01 -6.11943038e-03 9.89962153e-01 2.68886989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.18925415399997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:418.89, Y:85.34, Z:26.89 [[ 6.65045847e-01 -7.40189341e-01 -9.91653203e-02 4.18885588e+02] [ 7.33406910e-01 6.72370667e-01 -1.00159826e-01 8.53352444e+01] [ 1.40813088e-01 -6.11765490e-03 9.90017297e-01 2.68925978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.21925415399994 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:418.90, Y:85.36, Z:26.90 [[ 6.65012497e-01 -7.40255310e-01 -9.88961795e-02 4.18903475e+02] [ 7.33502069e-01 6.72298431e-01 -9.99476567e-02 8.53558519e+01] [ 1.40474530e-01 -6.07411149e-03 9.90065660e-01 2.68966848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.24925415399997 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:418.92, Y:85.38, Z:26.90 [[ 6.65709506e-01 -7.39695072e-01 -9.83974279e-02 4.18920539e+02] [ 7.32995652e-01 6.72916465e-01 -9.95027955e-02 8.53778613e+01] [ 1.39814977e-01 -5.88492997e-03 9.90160159e-01 2.69001442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.27925415399994 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:418.94, Y:85.40, Z:26.90 [[ 6.66337356e-01 -7.39151669e-01 -9.82310451e-02 4.18939000e+02] [ 7.32460819e-01 6.73514723e-01 -9.93934892e-02 8.53987112e+01] [ 1.39626919e-01 -5.72079697e-03 9.90187657e-01 2.69039670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3092541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:418.96, Y:85.42, Z:26.91 [[ 6.66849568e-01 -7.38727031e-01 -9.79491084e-02 4.18957238e+02] [ 7.32061903e-01 6.73981668e-01 -9.91669326e-02 8.54193015e+01] [ 1.39273197e-01 -5.57538456e-03 9.90238300e-01 2.69078130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.33925415399995 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:418.98, Y:85.44, Z:26.91 [[ 6.67696876e-01 -7.38054257e-01 -9.72460535e-02 4.18975839e+02] [ 7.31469682e-01 6.74720114e-01 -9.85133102e-02 8.54400272e+01] [ 1.38322036e-01 -5.35551030e-03 9.90372825e-01 2.69117836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.3692541539999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:418.99, Y:85.46, Z:26.92 [[ 6.69120183e-01 -7.36888132e-01 -9.63019281e-02 4.18993392e+02] [ 7.30411400e-01 6.75996033e-01 -9.76142890e-02 8.54619261e+01] [ 1.37030532e-01 -5.02433516e-03 9.90554082e-01 2.69160811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.39925415399995 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:419.01, Y:85.48, Z:26.92 [[ 6.69354496e-01 -7.36689175e-01 -9.61957243e-02 4.19011985e+02] [ 7.30216596e-01 6.76213485e-01 -9.75655928e-02 8.54824802e+01] [ 1.36924362e-01 -4.93774614e-03 9.90569199e-01 2.69200505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4292541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:419.03, Y:85.50, Z:26.92 [[ 6.69498763e-01 -7.36527418e-01 -9.64301269e-02 4.19030098e+02] [ 7.30013343e-01 6.76390108e-01 -9.78618453e-02 8.55023979e+01] [ 1.37302316e-01 -4.87689493e-03 9.90517183e-01 2.69235538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.45925415399995 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:419.05, Y:85.52, Z:26.93 [[ 6.69005737e-01 -7.36957736e-01 -9.65640670e-02 4.19048549e+02] [ 7.30426333e-01 6.75920666e-01 -9.80235905e-02 8.55233727e+01] [ 1.37508892e-01 -4.95459299e-03 9.90488141e-01 2.69273905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.4892541539999 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:419.07, Y:85.54, Z:26.93 [[ 6.68431721e-01 -7.37454601e-01 -9.67457754e-02 4.19066788e+02] [ 7.30895470e-01 6.75378003e-01 -9.82668117e-02 8.55425525e+01] [ 1.37807281e-01 -5.02639483e-03 9.90446308e-01 2.69308722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.51925415399995 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:419.09, Y:85.56, Z:26.93 [[ 6.67817194e-01 -7.38015574e-01 -9.67119841e-02 4.19086436e+02] [ 7.31463264e-01 6.74764234e-01 -9.82584467e-02 8.55623817e+01] [ 1.37774052e-01 -5.12258350e-03 9.90450438e-01 2.69340528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.5492541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:419.11, Y:85.58, Z:26.94 [[ 6.66919918e-01 -7.38841499e-01 -9.65974235e-02 4.19106099e+02] [ 7.32305581e-01 6.73858806e-01 -9.81979898e-02 8.55816941e+01] [ 1.37645774e-01 -5.24863706e-03 9.90467613e-01 2.69366633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.57925415399995 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:419.13, Y:85.60, Z:26.94 [[ 6.66348920e-01 -7.39330470e-01 -9.67965616e-02 4.19125246e+02] [ 7.32764456e-01 6.73321722e-01 -9.84586727e-02 8.56014847e+01] [ 1.37968724e-01 -5.32124962e-03 9.90422291e-01 2.69413553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.6092541539999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:419.14, Y:85.62, Z:26.95 [[ 6.66430343e-01 -7.39252988e-01 -9.68277731e-02 4.19144307e+02] [ 7.32673745e-01 6.73407215e-01 -9.85490032e-02 8.56213441e+01] [ 1.38057166e-01 -5.26712123e-03 9.90410257e-01 2.69451100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.63925415399996 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:419.16, Y:85.64, Z:26.95 [[ 6.67505482e-01 -7.38218015e-01 -9.73169756e-02 4.19163015e+02] [ 7.31552649e-01 6.74543381e-01 -9.91057496e-02 8.56417139e+01] [ 1.38806171e-01 -5.03886007e-03 9.90306749e-01 2.69473476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.66925415399993 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:419.18, Y:85.66, Z:26.95 [[ 6.67887986e-01 -7.37847241e-01 -9.75042982e-02 4.19180949e+02] [ 7.31143936e-01 6.74949723e-01 -9.93550018e-02 8.56615813e+01] [ 1.39119313e-01 -4.93166431e-03 9.90263347e-01 2.69521664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.69925415399996 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:419.20, Y:85.68, Z:26.96 [[ 6.68466451e-01 -7.37235444e-01 -9.81656964e-02 4.19198913e+02] [ 7.30430200e-01 6.75618733e-01 -1.00055242e-01 8.56808651e+01] [ 1.40086854e-01 -4.81961664e-03 9.90127489e-01 2.69554746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.72925415399993 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:419.22, Y:85.70, Z:26.96 [[ 6.69687948e-01 -7.36072761e-01 -9.85644115e-02 4.19217245e+02] [ 7.29193532e-01 6.76887015e-01 -1.00502547e-01 8.57013226e+01] [ 1.40694157e-01 -4.56718694e-03 9.90042572e-01 2.69581561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.75925415399996 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:419.24, Y:85.72, Z:26.96 [[ 6.70136317e-01 -7.35652447e-01 -9.86549238e-02 4.19236239e+02] [ 7.28747685e-01 6.77344621e-01 -1.00653242e-01 8.57217221e+01] [ 1.40869186e-01 -4.44315427e-03 9.90018248e-01 2.69623479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.78925415399993 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:419.25, Y:85.74, Z:26.96 [[ 6.71116911e-01 -7.34797530e-01 -9.83599633e-02 4.19254319e+02] [ 7.27916625e-01 6.78273446e-01 -1.00411746e-01 8.57411609e+01] [ 1.40497254e-01 -4.20983171e-03 9.90072118e-01 2.69640529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.81925415399996 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:419.27, Y:85.76, Z:26.97 [[ 6.71749296e-01 -7.34225674e-01 -9.83134950e-02 4.19271685e+02] [ 7.27339481e-01 6.78893344e-01 -1.00404717e-01 8.57607201e+01] [ 1.40464098e-01 -4.06048873e-03 9.90077446e-01 2.69701244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.84925415399994 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:419.29, Y:85.78, Z:26.97 [[ 6.74248694e-01 -7.32071329e-01 -9.72639065e-02 4.19290202e+02] [ 7.25306071e-01 6.81218718e-01 -9.93587580e-02 8.57820313e+01] [ 1.38995692e-01 -3.55358899e-03 9.90286610e-01 2.69723069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.87925415399997 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:419.31, Y:85.80, Z:26.98 [[ 6.75134234e-01 -7.31326994e-01 -9.67191500e-02 4.19308891e+02] [ 7.24621997e-01 6.82018815e-01 -9.88599856e-02 8.58026471e+01] [ 1.38263256e-01 -3.34106306e-03 9.90389877e-01 2.69775128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.90925415399994 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:419.33, Y:85.82, Z:26.98 [[ 6.75755887e-01 -7.30786461e-01 -9.64631003e-02 4.19326377e+02] [ 7.24103514e-01 6.82598730e-01 -9.86563450e-02 8.58220138e+01] [ 1.37942311e-01 -3.18166398e-03 9.90435155e-01 2.69823276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.93925415399997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:419.34, Y:85.84, Z:26.99 [[ 6.76822286e-01 -7.29868528e-01 -9.59350099e-02 4.19343958e+02] [ 7.23246227e-01 6.83581135e-01 -9.81413640e-02 8.58416110e+01] [ 1.37209656e-01 -2.96037162e-03 9.90537605e-01 2.69853072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.96925415399994 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:419.36, Y:85.86, Z:26.99 [[ 6.76714759e-01 -7.29922931e-01 -9.62790207e-02 4.19362600e+02] [ 7.23249822e-01 6.83523025e-01 -9.85188773e-02 8.58614389e+01] [ 1.37720115e-01 -2.96460632e-03 9.90466749e-01 2.69892877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.99925415399997 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:419.38, Y:85.88, Z:26.99 [[ 6.76590523e-01 -7.30047284e-01 -9.62092868e-02 4.19381795e+02] [ 7.23377176e-01 6.83390277e-01 -9.85047723e-02 8.58812704e+01] [ 1.37661633e-01 -2.94820673e-03 9.90474928e-01 2.69912536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.02925415399994 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:419.40, Y:85.90, Z:27.00 [[ 6.76392853e-01 -7.30234207e-01 -9.61806211e-02 4.19401373e+02] [ 7.23562002e-01 6.83190549e-01 -9.85327539e-02 8.59014666e+01] [ 1.37661679e-01 -2.94579221e-03 9.90474929e-01 2.69951328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.0592541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:419.42, Y:85.92, Z:27.00 [[ 6.75055979e-01 -7.31390382e-01 -9.67860257e-02 4.19420022e+02] [ 7.24637668e-01 6.81951683e-01 -9.92076236e-02 8.59214091e+01] [ 1.38562895e-01 -3.16410051e-03 9.90348581e-01 2.69997750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.08925415399995 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:419.44, Y:85.94, Z:27.00 [[ 6.74380515e-01 -7.32009741e-01 -9.68124999e-02 4.19439032e+02] [ 7.25251371e-01 6.81286406e-01 -9.92939150e-02 8.59403758e+01] [ 1.38641153e-01 -3.25151677e-03 9.90337346e-01 2.70014663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1192541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:419.46, Y:85.96, Z:27.01 [[ 6.72815790e-01 -7.33380325e-01 -9.73252895e-02 4.19458604e+02] [ 7.26560264e-01 6.79809392e-01 -9.98467491e-02 8.59603343e+01] [ 1.39388287e-01 -3.53421861e-03 9.90231496e-01 2.70064834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.14925415399995 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:419.48, Y:85.98, Z:27.01 [[ 6.70202515e-01 -7.35641762e-01 -9.82842150e-02 4.19478194e+02] [ 7.28701615e-01 6.77358969e-01 -1.00889959e-01 8.59789584e+01] [ 1.40792562e-01 -4.00316197e-03 9.90031024e-01 2.70096232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.1792541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:419.50, Y:86.00, Z:27.01 [[ 6.69127145e-01 -7.36563040e-01 -9.87104408e-02 4.19497522e+02] [ 7.29568479e-01 6.76355874e-01 -1.01353673e-01 8.59981438e+01] [ 1.41416756e-01 -4.19753233e-03 9.89941252e-01 2.70111768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.20925415399995 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:419.52, Y:86.02, Z:27.02 [[ 6.67179589e-01 -7.38212100e-01 -9.95705347e-02 4.19516600e+02] [ 7.31108715e-01 6.74553206e-01 -1.02264460e-01 8.60178667e+01] [ 1.42658485e-01 -4.56812532e-03 9.89761430e-01 2.70164262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2392541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:419.54, Y:86.04, Z:27.02 [[ 6.66570895e-01 -7.38734757e-01 -9.97707453e-02 4.19536119e+02] [ 7.31599776e-01 6.73980229e-01 -1.02530087e-01 8.60379774e+01] [ 1.42986048e-01 -4.64868332e-03 9.89713787e-01 2.70201161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.26925415399995 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:419.55, Y:86.06, Z:27.02 [[ 6.66107003e-01 -7.39126376e-01 -9.99683023e-02 4.19554708e+02] [ 7.31958929e-01 6.73550358e-01 -1.02791250e-01 8.60573824e+01] [ 1.43309410e-01 -4.70271982e-03 9.89666761e-01 2.70236694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.2992541539999 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:419.57, Y:86.08, Z:27.03 [[ 6.66027153e-01 -7.39216701e-01 -9.98323609e-02 4.19572851e+02] [ 7.32066105e-01 6.73451259e-01 -1.02677264e-01 8.60763958e+01] [ 1.43132977e-01 -4.69804193e-03 9.89692315e-01 2.70279019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.32925415399995 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:419.59, Y:86.10, Z:27.03 [[ 6.66027530e-01 -7.39258959e-01 -9.95164366e-02 4.19592125e+02] [ 7.32150339e-01 6.73405041e-01 -1.02379350e-01 8.60964426e+01] [ 1.42699722e-01 -4.67352726e-03 9.89754994e-01 2.70313802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.3592541539999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:419.61, Y:86.12, Z:27.04 [[ 6.67343742e-01 -7.38179717e-01 -9.87068108e-02 4.19611269e+02] [ 7.31166829e-01 6.74589980e-01 -1.01604263e-01 8.61167018e+01] [ 1.41588831e-01 -4.36617709e-03 9.89915925e-01 2.70361923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.38925415399996 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:419.63, Y:86.14, Z:27.04 [[ 6.68555482e-01 -7.37164867e-01 -9.80893778e-02 4.19629801e+02] [ 7.30220672e-01 6.75700581e-01 -1.01027204e-01 8.61365373e+01] [ 1.40752755e-01 -4.08460032e-03 9.90036352e-01 2.70400174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.41925415399993 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:419.65, Y:86.16, Z:27.04 [[ 6.69771664e-01 -7.36089299e-01 -9.78696234e-02 4.19648707e+02] [ 7.29156496e-01 6.76873722e-01 -1.00860142e-01 8.61571259e+01] [ 1.40487448e-01 -3.80900646e-03 9.90075133e-01 2.70444822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.44925415399996 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:419.67, Y:86.18, Z:27.05 [[ 6.72726239e-01 -7.33408925e-01 -9.77279770e-02 4.19665922e+02] [ 7.26459675e-01 6.79780180e-01 -1.00773250e-01 8.61770858e+01] [ 1.40341543e-01 -3.20262468e-03 9.90097972e-01 2.70484511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.47925415399993 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:419.68, Y:86.20, Z:27.05 [[ 6.73796694e-01 -7.32458683e-01 -9.74797016e-02 4.19684788e+02] [ 7.25531184e-01 6.80804970e-01 -1.00543993e-01 8.61970963e+01] [ 1.40008986e-01 -2.97835322e-03 9.90145754e-01 2.70523730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.50925415399996 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:419.70, Y:86.22, Z:27.06 [[ 6.74478689e-01 -7.31872612e-01 -9.71646915e-02 4.19703532e+02] [ 7.24976003e-01 6.81435685e-01 -1.00275631e-01 8.62168780e+01] [ 1.39600476e-01 -2.80829371e-03 9.90203929e-01 2.70563143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.53925415399993 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:419.72, Y:86.24, Z:27.06 [[ 6.75223200e-01 -7.31235630e-01 -9.67888626e-02 4.19723127e+02] [ 7.24377839e-01 6.82119900e-01 -9.99459217e-02 8.62357613e+01] [ 1.39105628e-01 -2.62590209e-03 9.90274068e-01 2.70597462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.56925415399996 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:419.74, Y:86.26, Z:27.06 [[ 6.74970657e-01 -7.31456077e-01 -9.68845672e-02 4.19743093e+02] [ 7.24578557e-01 6.81883476e-01 -1.00104146e-01 8.62551376e+01] [ 1.39285772e-01 -2.63311856e-03 9.90248727e-01 2.70638212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.59925415399994 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:419.76, Y:86.27, Z:27.07 [[ 6.74344729e-01 -7.32046759e-01 -9.67818600e-02 4.19762736e+02] [ 7.25181647e-01 6.81248992e-01 -1.00056928e-01 8.62745905e+01] [ 1.39178894e-01 -2.71156677e-03 9.90263542e-01 2.70674041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.62925415399997 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:419.78, Y:86.29, Z:27.07 [[ 6.73164077e-01 -7.33057264e-01 -9.73507719e-02 4.19782302e+02] [ 7.26112945e-01 6.80160755e-01 -1.00704211e-01 8.62930841e+01] [ 1.40036128e-01 -2.89719839e-03 9.90142156e-01 2.70709782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.65925415399994 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:419.80, Y:86.31, Z:27.07 [[ 6.72478514e-01 -7.33606197e-01 -9.79520051e-02 4.19801759e+02] [ 7.26577319e-01 6.79568155e-01 -1.01353455e-01 8.63126674e+01] [ 1.40918586e-01 -3.01168449e-03 9.90016607e-01 2.70745832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.68925415399997 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:419.82, Y:86.33, Z:27.08 [[ 6.72360523e-01 -7.33624523e-01 -9.86224400e-02 4.19820866e+02] [ 7.26490426e-01 6.79548439e-01 -1.02105733e-01 8.63318062e+01] [ 1.41925995e-01 -2.99639431e-03 9.89872736e-01 2.70781525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.71925415399994 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:419.84, Y:86.35, Z:27.08 [[ 6.72360170e-01 -7.33526013e-01 -9.93548685e-02 4.19840186e+02] [ 7.26277966e-01 6.79654890e-01 -1.02905528e-01 8.63512077e+01] [ 1.43010904e-01 -2.96967376e-03 9.89716658e-01 2.70818848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.74925415399997 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:419.86, Y:86.37, Z:27.09 [[ 6.72655295e-01 -7.33198589e-01 -9.97731549e-02 4.19859625e+02] [ 7.25876935e-01 6.80008515e-01 -1.03397751e-01 8.63708149e+01] [ 1.43657680e-01 -2.87198743e-03 9.89623273e-01 2.70854452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.77925415399994 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:419.88, Y:86.39, Z:27.09 [[ 6.73437068e-01 -7.32467306e-01 -9.98707233e-02 4.19879681e+02] [ 7.25114712e-01 6.80796940e-01 -1.03557622e-01 8.63904328e+01] [ 1.43844255e-01 -2.67818940e-03 9.89596715e-01 2.70894116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8092541539999 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:419.90, Y:86.41, Z:27.09 [[ 6.73470530e-01 -7.32477107e-01 -9.95727518e-02 4.19898494e+02] [ 7.25160076e-01 6.80786577e-01 -1.03307795e-01 8.64097370e+01] [ 1.43458388e-01 -2.63142894e-03 9.89652852e-01 2.70929271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.83925415399995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:419.92, Y:86.43, Z:27.10 [[ 6.74166879e-01 -7.32007719e-01 -9.83042120e-02 4.19917331e+02] [ 7.24868192e-01 6.81291821e-01 -1.02017449e-01 8.64286126e+01] [ 1.41651416e-01 -2.48081115e-03 9.89913492e-01 2.70969463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.8692541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:419.94, Y:86.45, Z:27.10 [[ 6.74738069e-01 -7.31560930e-01 -9.77094903e-02 4.19936801e+02] [ 7.24499560e-01 6.81772003e-01 -1.01426445e-01 8.64483024e+01] [ 1.40815219e-01 -2.35419924e-03 9.90033096e-01 2.70993019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.89925415399995 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:419.95, Y:86.47, Z:27.10 [[ 6.75219993e-01 -7.31196837e-01 -9.71037932e-02 4.19954831e+02] [ 7.24211142e-01 6.82162915e-01 -1.00856236e-01 8.64676324e+01] [ 1.39986367e-01 -2.22350219e-03 9.90150935e-01 2.71045868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9292541539999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:419.97, Y:86.49, Z:27.11 [[ 6.76028934e-01 -7.30475191e-01 -9.69065316e-02 4.19974023e+02] [ 7.23506843e-01 6.82936152e-01 -1.00678006e-01 8.64875181e+01] [ 1.39723760e-01 -2.05129330e-03 9.90188398e-01 2.71082919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.95925415399995 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:419.99, Y:86.51, Z:27.11 [[ 6.77826209e-01 -7.28805188e-01 -9.69258892e-02 4.19992558e+02] [ 7.21808872e-01 6.84719080e-01 -1.00755810e-01 8.65061511e+01] [ 1.39798362e-01 -1.66703834e-03 9.90178589e-01 2.71120215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.9892541539999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:420.01, Y:86.53, Z:27.11 [[ 6.78498809e-01 -7.28173395e-01 -9.69684120e-02 4.20011652e+02] [ 7.21160903e-01 6.85391273e-01 -1.00825372e-01 8.65255604e+01] [ 1.39879656e-01 -1.51993293e-03 9.90167345e-01 2.71147337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.01925415399995 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:420.03, Y:86.55, Z:27.12 [[ 6.78603743e-01 -7.28066245e-01 -9.70386678e-02 4.20031326e+02] [ 7.21038785e-01 6.85505179e-01 -1.00924335e-01 8.65451181e+01] [ 1.40000111e-01 -1.48101155e-03 9.90150380e-01 2.71190017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.0492541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:420.05, Y:86.56, Z:27.12 [[ 6.78007983e-01 -7.28581860e-01 -9.73326635e-02 4.20051418e+02] [ 7.21508572e-01 6.84956980e-01 -1.01288284e-01 8.65630261e+01] [ 1.40465494e-01 -1.55208563e-03 9.90084358e-01 2.71221006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.07925415399995 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:420.07, Y:86.58, Z:27.13 [[ 6.77036300e-01 -7.29456052e-01 -9.75485326e-02 4.20071460e+02] [ 7.22356399e-01 6.84025521e-01 -1.01539744e-01 8.65824832e+01] [ 1.40794467e-01 -1.71871391e-03 9.90037355e-01 2.71257869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.1092541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:420.09, Y:86.60, Z:27.13 [[ 6.74991998e-01 -7.31295890e-01 -9.79393867e-02 4.20091779e+02] [ 7.24149474e-01 6.82057213e-01 -1.02007341e-01 8.66008658e+01] [ 1.41397814e-01 -2.06861661e-03 9.89950695e-01 2.71291656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.13925415399996 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:420.11, Y:86.62, Z:27.13 [[ 6.73803396e-01 -7.32383375e-01 -9.79978372e-02 4.20111424e+02] [ 7.25231111e-01 6.80888759e-01 -1.02129001e-01 8.66199001e+01] [ 1.41523208e-01 -2.25621297e-03 9.89932367e-01 2.71325943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.16925415399993 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:420.13, Y:86.64, Z:27.14 [[ 6.72697141e-01 -7.33399111e-01 -9.80015362e-02 4.20130970e+02] [ 7.26248529e-01 6.79793972e-01 -1.02192125e-01 8.66386141e+01] [ 1.41568467e-01 -2.42912121e-03 9.89925486e-01 2.71363443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.19925415399996 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:420.15, Y:86.66, Z:27.14 [[ 6.71518304e-01 -7.34445482e-01 -9.82496911e-02 4.20150935e+02] [ 7.27265593e-01 6.78662567e-01 -1.02478667e-01 8.66575635e+01] [ 1.41943382e-01 -2.63731891e-03 9.89871265e-01 2.71398761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.22925415399993 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:420.17, Y:86.68, Z:27.14 [[ 6.69761892e-01 -7.36012512e-01 -9.85118770e-02 4.20170957e+02] [ 7.28802329e-01 6.76961564e-01 -1.02811509e-01 8.66759063e+01] [ 1.42359311e-01 -2.93645465e-03 9.89810691e-01 2.71433328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.25925415399996 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:420.19, Y:86.70, Z:27.15 [[ 6.68751240e-01 -7.36905871e-01 -9.86991206e-02 4.20190126e+02] [ 7.29673741e-01 6.75988198e-01 -1.03034882e-01 8.66951371e+01] [ 1.42646450e-01 -3.11345129e-03 9.89768810e-01 2.71471781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.28925415399993 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:420.21, Y:86.71, Z:27.15 [[ 6.67997729e-01 -7.37579531e-01 -9.87697796e-02 4.20209487e+02] [ 7.30335591e-01 6.75252602e-01 -1.03169022e-01 8.67147759e+01] [ 1.42789910e-01 -3.21841276e-03 9.89747788e-01 2.71506907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.31925415399996 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:420.23, Y:86.73, Z:27.15 [[ 6.66769180e-01 -7.38685964e-01 -9.88023641e-02 4.20228571e+02] [ 7.31440505e-01 6.74041085e-01 -1.03263755e-01 8.67345000e+01] [ 1.42876339e-01 -3.41496171e-03 9.89734656e-01 2.71546104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.34925415399994 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:420.25, Y:86.75, Z:27.16 [[ 6.66012168e-01 -7.39405811e-01 -9.85232879e-02 4.20247452e+02] [ 7.32200477e-01 6.73250824e-01 -1.03032948e-01 8.67543878e+01] [ 1.42514046e-01 -3.51760101e-03 9.89786529e-01 2.71585982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.37925415399997 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:420.27, Y:86.77, Z:27.16 [[ 6.65466097e-01 -7.39923004e-01 -9.83301675e-02 4.20266570e+02] [ 7.32742864e-01 6.72682046e-01 -1.02891988e-01 8.67740677e+01] [ 1.42277087e-01 -3.57959871e-03 9.89820396e-01 2.71624466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.40925415399994 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:420.29, Y:86.79, Z:27.17 [[ 6.65047621e-01 -7.40350242e-01 -9.79447858e-02 4.20285857e+02] [ 7.33222466e-01 6.72211611e-01 -1.02549331e-01 8.67944119e+01] [ 1.41762044e-01 -3.61512898e-03 9.89894163e-01 2.71662071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.43925415399997 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:420.30, Y:86.81, Z:27.17 [[ 6.64399818e-01 -7.40965320e-01 -9.76896962e-02 4.20304982e+02] [ 7.33872797e-01 6.71533125e-01 -1.02342465e-01 8.68147820e+01] [ 1.41434084e-01 -3.69549572e-03 9.89940778e-01 2.71704204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.46925415399994 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:420.32, Y:86.83, Z:27.17 [[ 6.63984219e-01 -7.41365858e-01 -9.74762627e-02 4.20323625e+02] [ 7.34300216e-01 6.71090707e-01 -1.02178545e-01 8.68346458e+01] [ 1.41167099e-01 -3.73189933e-03 9.89978749e-01 2.71742419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.49925415399997 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:420.34, Y:86.85, Z:27.18 [[ 6.64015516e-01 -7.41323920e-01 -9.75819693e-02 4.20342253e+02] [ 7.34233986e-01 6.71137282e-01 -1.02348438e-01 8.68539575e+01] [ 1.41364243e-01 -3.68704765e-03 9.89950785e-01 2.71765752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.52925415399994 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:420.36, Y:86.87, Z:27.18 [[ 6.63175863e-01 -7.42159250e-01 -9.69403011e-02 4.20360522e+02] [ 7.35167887e-01 6.70212685e-01 -1.01701207e-01 8.68736264e+01] [ 1.40449111e-01 -3.82161089e-03 9.90080523e-01 2.71814300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.5592541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:420.38, Y:86.89, Z:27.19 [[ 6.62660926e-01 -7.42600308e-01 -9.70838849e-02 4.20379773e+02] [ 7.35588996e-01 6.69723489e-01 -1.01878740e-01 8.68938120e+01] [ 1.40674542e-01 -3.90277714e-03 9.90048202e-01 2.71855821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.58925415399995 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:420.40, Y:86.91, Z:27.19 [[ 6.61793799e-01 -7.43413652e-01 -9.67734948e-02 4.20398591e+02] [ 7.36447634e-01 6.68819826e-01 -1.01611623e-01 8.69132011e+01] [ 1.40263500e-01 -4.02266900e-03 9.90106039e-01 2.71894796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6192541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:420.42, Y:86.93, Z:27.19 [[ 6.61205363e-01 -7.43946457e-01 -9.67012847e-02 4.20417887e+02] [ 7.36992738e-01 6.68226565e-01 -1.01562607e-01 8.69331613e+01] [ 1.40175509e-01 -4.11440426e-03 9.90118123e-01 2.71934493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.64925415399995 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:420.44, Y:86.95, Z:27.20 [[ 6.60715481e-01 -7.44416178e-01 -9.64344639e-02 4.20436355e+02] [ 7.37497810e-01 6.67702942e-01 -1.01339831e-01 8.69528940e+01] [ 1.39828585e-01 -4.16341070e-03 9.90166972e-01 2.71972505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.6792541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:420.46, Y:86.97, Z:27.20 [[ 6.60031555e-01 -7.45020157e-01 -9.64536756e-02 4.20455150e+02] [ 7.38101700e-01 6.67028256e-01 -1.01386322e-01 8.69726983e+01] [ 1.39872181e-01 -4.27445008e-03 9.90160342e-01 2.72014156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.70925415399995 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:420.47, Y:86.99, Z:27.21 [[ 6.59804894e-01 -7.45193577e-01 -9.66645430e-02 4.20474646e+02] [ 7.38238250e-01 6.66834464e-01 -1.01666537e-01 8.69929784e+01] [ 1.40220499e-01 -4.28138440e-03 9.90111045e-01 2.72050744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7392541539999 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:420.49, Y:87.01, Z:27.21 [[ 6.59835135e-01 -7.45125896e-01 -9.69793457e-02 4.20494213e+02] [ 7.38115941e-01 6.66910343e-01 -1.02056124e-01 8.70131083e+01] [ 1.40721190e-01 -4.24178456e-03 9.90040178e-01 2.72084558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.76925415399995 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:420.51, Y:87.03, Z:27.21 [[ 6.60430527e-01 -7.44431583e-01 -9.82503772e-02 4.20513807e+02] [ 7.37219452e-01 6.67686111e-01 -1.03454034e-01 8.70333061e+01] [ 1.42614863e-01 -4.10788692e-03 9.89769734e-01 2.72114105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.7992541539999 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:420.53, Y:87.05, Z:27.22 [[ 6.60451853e-01 -7.44402404e-01 -9.83280768e-02 4.20532584e+02] [ 7.37169847e-01 6.67718909e-01 -1.03595730e-01 8.70532572e+01] [ 1.42772426e-01 -4.06450181e-03 9.89747197e-01 2.72157280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.82925415399995 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:420.55, Y:87.07, Z:27.22 [[ 6.60572996e-01 -7.44288138e-01 -9.83792842e-02 4.20551027e+02] [ 7.37038064e-01 6.67846656e-01 -1.03709862e-01 8.70725098e+01] [ 1.42892296e-01 -4.00134292e-03 9.89730156e-01 2.72191757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.8592541539999 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:420.57, Y:87.09, Z:27.22 [[ 6.60567044e-01 -7.44276688e-01 -9.85057949e-02 4.20570295e+02] [ 7.37003611e-01 6.67859516e-01 -1.03871774e-01 8.70928330e+01] [ 1.43097373e-01 -3.98485543e-03 9.89700593e-01 2.72232410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.88925415399996 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:420.59, Y:87.11, Z:27.23 [[ 6.60948434e-01 -7.43999564e-01 -9.80398682e-02 4.20588750e+02] [ 7.36783702e-01 6.68168924e-01 -1.03441127e-01 8.71126596e+01] [ 1.42467346e-01 -3.86492635e-03 9.89791957e-01 2.72274344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.91925415399993 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:420.61, Y:87.13, Z:27.23 [[ 6.61261780e-01 -7.43772992e-01 -9.76452516e-02 4.20606528e+02] [ 7.36604361e-01 6.68421722e-01 -1.03084511e-01 8.71320233e+01] [ 1.41939682e-01 -3.76007099e-03 9.89868167e-01 2.72315657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.94925415399996 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:420.63, Y:87.15, Z:27.24 [[ 6.61061859e-01 -7.43953429e-01 -9.76243491e-02 4.20625805e+02] [ 7.36783834e-01 6.68220835e-01 -1.03104303e-01 8.71525175e+01] [ 1.41939424e-01 -3.76972016e-03 9.89868168e-01 2.72354411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.97925415399993 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:420.64, Y:87.17, Z:27.24 [[ 6.61873127e-01 -7.43293385e-01 -9.71540417e-02 4.20644318e+02] [ 7.36178016e-01 6.68956038e-01 -1.02663277e-01 8.71723898e+01] [ 1.41300717e-01 -3.57260565e-03 9.89960274e-01 2.72396354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.00925415399996 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:420.66, Y:87.19, Z:27.24 [[ 6.65104708e-01 -7.40482957e-01 -9.65438646e-02 4.20663142e+02] [ 7.33419187e-01 6.72068816e-01 -1.02077438e-01 8.71926611e+01] [ 1.40470724e-01 -2.91493827e-03 9.90080542e-01 2.72423900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.03925415399993 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:420.68, Y:87.21, Z:27.25 [[ 6.66383622e-01 -7.39479244e-01 -9.54112975e-02 4.20680576e+02] [ 7.32562649e-01 6.73174214e-01 -1.00937817e-01 8.72126514e+01] [ 1.38869846e-01 -2.63144466e-03 9.90307145e-01 2.72481651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.06925415399996 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:420.70, Y:87.23, Z:27.25 [[ 6.68127229e-01 -7.37972221e-01 -9.48841743e-02 4.20699983e+02] [ 7.31113448e-01 6.74827215e-01 -1.00405957e-01 8.72330661e+01] [ 1.38127230e-01 -2.28714213e-03 9.90411852e-01 2.72512271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.09925415399994 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:420.72, Y:87.25, Z:27.25 [[ 6.70270551e-01 -7.36032601e-01 -9.48335314e-02 4.20719815e+02] [ 7.29153558e-01 6.76943576e-01 -1.00411570e-01 8.72528531e+01] [ 1.38103139e-01 -1.84528827e-03 9.90416134e-01 2.72542408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.12925415399997 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:420.74, Y:87.27, Z:27.26 [[ 6.69955734e-01 -7.36386330e-01 -9.43105860e-02 4.20738751e+02] [ 7.29578583e-01 6.76558709e-01 -9.99169866e-02 8.72726990e+01] [ 1.37384151e-01 -1.86702563e-03 9.90516082e-01 2.72599719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.15925415399994 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:420.76, Y:87.29, Z:27.26 [[ 6.69486808e-01 -7.36782208e-01 -9.45483562e-02 4.20758456e+02] [ 7.29935604e-01 6.76127443e-01 -1.00228210e-01 8.72920951e+01] [ 1.37773100e-01 -1.91274727e-03 9.90461970e-01 2.72631549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.18925415399997 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:420.77, Y:87.31, Z:27.27 [[ 6.68872346e-01 -7.37837939e-01 -9.05812359e-02 4.20774988e+02] [ 7.30022824e-01 6.74954581e-01 -1.07251992e-01 8.73136131e+01] [ 1.40272809e-01 5.61152165e-03 9.90096990e-01 2.72692246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.21925415399994 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:420.80, Y:87.33, Z:27.27 [[ 6.66162532e-01 -7.38943245e-01 -1.00947325e-01 4.20802026e+02] [ 7.32632971e-01 6.73701333e-01 -9.68268762e-02 8.73281842e+01] [ 1.39557914e-01 -9.45490179e-03 9.90168770e-01 2.72667518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.24925415399997 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:420.82, Y:87.35, Z:27.27 [[ 6.64491521e-01 -7.41074194e-01 -9.62291957e-02 4.20819406e+02] [ 7.34004431e-01 6.71417512e-01 -1.02156841e-01 8.73496528e+01] [ 1.40315766e-01 -2.75030150e-03 9.90102985e-01 2.72725736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.27925415399994 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:420.84, Y:87.37, Z:27.28 [[ 6.61260737e-01 -7.43869335e-01 -9.69156830e-02 4.20840826e+02] [ 7.36718760e-01 6.68316810e-01 -1.02947125e-01 8.73679714e+01] [ 1.41349589e-01 -3.32471024e-03 9.89954161e-01 2.72755565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3092541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:420.86, Y:87.39, Z:27.28 [[ 6.59802430e-01 -7.45105081e-01 -9.73610343e-02 4.20861175e+02] [ 7.37892752e-01 6.66937564e-01 -1.03482229e-01 8.73872170e+01] [ 1.42038866e-01 -3.56417551e-03 9.89854665e-01 2.72778475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.33925415399995 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:420.88, Y:87.41, Z:27.28 [[ 6.57973136e-01 -7.46735276e-01 -9.72511185e-02 4.20880387e+02] [ 7.39548148e-01 6.65110105e-01 -1.03426713e-01 8.74067559e+01] [ 1.41915077e-01 -3.86988587e-03 9.89871272e-01 2.72826044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.3692541539999 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:420.90, Y:87.43, Z:27.29 [[ 6.55419469e-01 -7.49010332e-01 -9.69991892e-02 4.20900626e+02] [ 7.41876429e-01 6.62544305e-01 -1.03220190e-01 8.74254225e+01] [ 1.41579249e-01 -4.30888979e-03 9.89917547e-01 2.72862006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.39925415399995 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:420.92, Y:87.45, Z:27.29 [[ 6.54109014e-01 -7.50201173e-01 -9.66415929e-02 4.20920269e+02] [ 7.43124176e-01 6.61194279e-01 -1.02900848e-01 8.74454772e+01] [ 1.41095205e-01 -4.50833191e-03 9.89985767e-01 2.72903536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4292541539999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:420.94, Y:87.46, Z:27.29 [[ 6.53134633e-01 -7.51060284e-01 -9.65588012e-02 4.20939085e+02] [ 7.43996042e-01 6.60217266e-01 -1.02873959e-01 8.74646630e+01] [ 1.41014332e-01 -4.64882049e-03 9.89996640e-01 2.72936722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.45925415399995 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:420.96, Y:87.48, Z:27.30 [[ 6.52265076e-01 -7.51870214e-01 -9.61324653e-02 4.20957907e+02] [ 7.44871230e-01 6.59293857e-01 -1.02461995e-01 8.74844004e+01] [ 1.40417666e-01 -4.77392667e-03 9.90080850e-01 2.72970206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.4892541539999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:420.98, Y:87.50, Z:27.30 [[ 6.50947926e-01 -7.53088326e-01 -9.55236685e-02 4.20976226e+02] [ 7.46182623e-01 6.57900701e-01 -1.01873254e-01 8.75044088e+01] [ 1.39564647e-01 -4.96391835e-03 9.90200520e-01 2.73019122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.51925415399995 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:421.00, Y:87.52, Z:27.31 [[ 6.50467000e-01 -7.53570672e-01 -9.49943345e-02 4.20995001e+02] [ 7.46738305e-01 6.57347894e-01 -1.01368878e-01 8.75244368e+01] [ 1.38832939e-01 -4.99879822e-03 9.90303200e-01 2.73056778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.5492541539999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:421.01, Y:87.54, Z:27.31 [[ 6.50106684e-01 -7.53904027e-01 -9.48157047e-02 4.21013563e+02] [ 7.47092576e-01 6.56965382e-01 -1.01238181e-01 8.75445985e+01] [ 1.38614508e-01 -5.02049062e-03 9.90333688e-01 2.73095572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.57925415399995 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:421.03, Y:87.57, Z:27.31 [[ 6.49438252e-01 -7.54511727e-01 -9.45622049e-02 4.21032345e+02] [ 7.47734887e-01 6.56266773e-01 -1.01027029e-01 8.75654310e+01] [ 1.38284111e-01 -5.09664268e-03 9.90379487e-01 2.73130317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.6092541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:421.05, Y:87.59, Z:27.32 [[ 6.49156013e-01 -7.54742929e-01 -9.46550666e-02 4.21050356e+02] [ 7.47946709e-01 6.56000753e-01 -1.01186626e-01 8.75852424e+01] [ 1.38463685e-01 -5.11103899e-03 9.90354323e-01 2.73163015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.63925415399996 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:421.07, Y:87.61, Z:27.32 [[ 6.48603439e-01 -7.55152662e-01 -9.51737145e-02 4.21068444e+02] [ 7.48279885e-01 6.55528352e-01 -1.01783067e-01 8.76065749e+01] [ 1.39250822e-01 -5.19972884e-03 9.90243491e-01 2.73199076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.66925415399993 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:421.09, Y:87.63, Z:27.32 [[ 6.48087187e-01 -7.55587891e-01 -9.52362187e-02 4.21087133e+02] [ 7.48702311e-01 6.55026182e-01 -1.01909519e-01 8.76273438e+01] [ 1.39383816e-01 -5.25732336e-03 9.90224476e-01 2.73237165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.69925415399996 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:421.11, Y:87.65, Z:27.33 [[ 6.47881740e-01 -7.55781463e-01 -9.50980074e-02 4.21105210e+02] [ 7.48909504e-01 6.54802875e-01 -1.01822143e-01 8.76471484e+01] [ 1.39225737e-01 -5.25109417e-03 9.90246747e-01 2.73272184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.72925415399993 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:421.12, Y:87.67, Z:27.33 [[ 6.47626780e-01 -7.55994845e-01 -9.51385765e-02 4.21123753e+02] [ 7.49115420e-01 6.54556265e-01 -1.01892997e-01 8.76674164e+01] [ 1.39304132e-01 -5.28114100e-03 9.90235562e-01 2.73312090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.75925415399996 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:421.14, Y:87.69, Z:27.33 [[ 6.47880769e-01 -7.55861703e-01 -9.44647854e-02 4.21142078e+02] [ 7.49070069e-01 6.54710856e-01 -1.01231062e-01 8.76886128e+01] [ 1.38363803e-01 -5.17508505e-03 9.90367950e-01 2.73349114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.78925415399993 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:421.16, Y:87.71, Z:27.34 [[ 6.48183022e-01 -7.55615866e-01 -9.43580069e-02 4.21160299e+02] [ 7.48828650e-01 6.54995335e-01 -1.01176895e-01 8.77090213e+01] [ 1.38254922e-01 -5.07683312e-03 9.90383664e-01 2.73376792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.81925415399996 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:421.18, Y:87.73, Z:27.34 [[ 6.48182309e-01 -7.55586967e-01 -9.45940221e-02 4.21177327e+02] [ 7.48756784e-01 6.55028930e-01 -1.01490780e-01 8.77290975e+01] [ 1.38646932e-01 -5.04338769e-03 9.90329032e-01 2.73426088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.84925415399994 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:421.20, Y:87.75, Z:27.35 [[ 6.48842234e-01 -7.54979500e-01 -9.49194860e-02 4.21195003e+02] [ 7.48091718e-01 6.55729990e-01 -1.01867369e-01 8.77507847e+01] [ 1.39149329e-01 -4.91263007e-03 9.90259224e-01 2.73466218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.87925415399997 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:421.21, Y:87.77, Z:27.35 [[ 6.48874423e-01 -7.54912875e-01 -9.52288497e-02 4.21213112e+02] [ 7.47970903e-01 6.55806968e-01 -1.02258248e-01 8.77715771e+01] [ 1.39647811e-01 -4.87564714e-03 9.90189233e-01 2.73498740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.90925415399994 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:421.23, Y:87.79, Z:27.35 [[ 6.48895123e-01 -7.54834837e-01 -9.57052126e-02 4.21231134e+02] [ 7.47813349e-01 6.55897031e-01 -1.02831323e-01 8.77921438e+01] [ 1.40393429e-01 -4.84289178e-03 9.90083952e-01 2.73534538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.93925415399997 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:421.25, Y:87.81, Z:27.36 [[ 6.48594286e-01 -7.54985546e-01 -9.65519457e-02 4.21248954e+02] [ 7.47831464e-01 6.55723285e-01 -1.03803064e-01 8.78133815e+01] [ 1.41681172e-01 -4.87850872e-03 9.89900321e-01 2.73570697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.96925415399994 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:421.27, Y:87.83, Z:27.36 [[ 6.48090781e-01 -7.55404481e-01 -9.66561424e-02 4.21267609e+02] [ 7.48230684e-01 6.55240198e-01 -1.03976567e-01 8.78342076e+01] [ 1.41877355e-01 -4.93483692e-03 9.89871943e-01 2.73606671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.9992541539999 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:421.29, Y:87.85, Z:27.36 [[ 6.47678066e-01 -7.55742505e-01 -9.67801114e-02 4.21285415e+02] [ 7.48545233e-01 6.54849993e-01 -1.04170634e-01 8.78544780e+01] [ 1.42102631e-01 -4.97525658e-03 9.89839426e-01 2.73643381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.02925415399994 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:421.30, Y:87.88, Z:27.37 [[ 6.46977696e-01 -7.56347536e-01 -9.67381292e-02 4.21302682e+02] [ 7.49159178e-01 6.54150232e-01 -1.04153730e-01 8.78758002e+01] [ 1.42057687e-01 -5.08711678e-03 9.89845309e-01 2.73681884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.0592541539999 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:421.32, Y:87.90, Z:27.37 [[ 6.47281850e-01 -7.56125407e-01 -9.64394880e-02 4.21319805e+02] [ 7.48970419e-01 6.54407782e-01 -1.03893052e-01 8.78956884e+01] [ 1.41666928e-01 -4.98223656e-03 9.89901843e-01 2.73722107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.08925415399995 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:421.34, Y:87.92, Z:27.38 [[ 6.48625713e-01 -7.55046340e-01 -9.58629661e-02 4.21337069e+02] [ 7.47961374e-01 6.55654592e-01 -1.03299751e-01 8.79177420e+01] [ 1.40849093e-01 -4.69892119e-03 9.90019926e-01 2.73761616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1192541539999 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:421.36, Y:87.94, Z:27.38 [[ 6.49783568e-01 -7.54080308e-01 -9.56253302e-02 4.21355148e+02] [ 7.47011855e-01 6.56767222e-01 -1.03102397e-01 8.79386728e+01] [ 1.40551070e-01 -4.43901176e-03 9.90063479e-01 2.73784598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.14925415399995 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:421.37, Y:87.96, Z:27.38 [[ 6.50621235e-01 -7.53370842e-01 -9.55216348e-02 4.21371881e+02] [ 7.46301717e-01 6.57582227e-01 -1.03050287e-01 8.79593826e+01] [ 1.40448411e-01 -4.24125530e-03 9.90078914e-01 2.73842950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.1792541539999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:421.39, Y:87.98, Z:27.39 [[ 6.51917006e-01 -7.52287001e-01 -9.52286000e-02 4.21389702e+02] [ 7.45244036e-01 6.58823594e-01 -1.02775479e-01 8.79807682e+01] [ 1.40055506e-01 -3.96746338e-03 9.90135705e-01 2.73886898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.20925415399995 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:421.41, Y:88.00, Z:27.39 [[ 6.54704667e-01 -7.49919685e-01 -9.47748108e-02 4.21406546e+02] [ 7.42910788e-01 6.61520133e-01 -1.02345857e-01 8.80021796e+01] [ 1.39446619e-01 -3.40291900e-03 9.90223743e-01 2.73924422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2392541539999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:421.42, Y:88.02, Z:27.40 [[ 6.55575961e-01 -7.49165677e-01 -9.47150890e-02 4.21424741e+02] [ 7.42153991e-01 6.62374823e-01 -1.02308590e-01 8.80230137e+01] [ 1.39382974e-01 -3.22212934e-03 9.90233308e-01 2.73968793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.26925415399995 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:421.44, Y:88.04, Z:27.40 [[ 6.56388685e-01 -7.48451077e-01 -9.47358375e-02 4.21442252e+02] [ 7.41420487e-01 6.63183080e-01 -1.02390739e-01 8.80427361e+01] [ 1.39461663e-01 -3.03096847e-03 9.90222832e-01 2.74006686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.2992541539999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:421.46, Y:88.06, Z:27.40 [[ 6.56902757e-01 -7.47972873e-01 -9.49491986e-02 4.21460432e+02] [ 7.40901618e-01 6.63722885e-01 -1.02648550e-01 8.80633560e+01] [ 1.39798287e-01 -2.91789923e-03 9.90175704e-01 2.74039507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.32925415399995 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:421.48, Y:88.08, Z:27.41 [[ 6.56862261e-01 -7.47959150e-01 -9.53366649e-02 4.21478749e+02] [ 7.40821072e-01 6.63738486e-01 -1.03127891e-01 8.80831527e+01] [ 1.40414063e-01 -2.88659056e-03 9.90088662e-01 2.74056432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.3592541539999 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:421.50, Y:88.10, Z:27.41 [[ 6.55255650e-01 -7.49334484e-01 -9.55921777e-02 4.21496744e+02] [ 7.42168466e-01 6.62184095e-01 -1.03432068e-01 8.81041815e+01] [ 1.40804835e-01 -3.17105315e-03 9.90032294e-01 2.74113024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.38925415399996 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:421.52, Y:88.12, Z:27.42 [[ 6.55052056e-01 -7.49516323e-01 -9.55619452e-02 4.21515762e+02] [ 7.42348159e-01 6.61978279e-01 -1.03459993e-01 8.81249097e+01] [ 1.40804885e-01 -3.16855320e-03 9.90032295e-01 2.74151848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.41925415399993 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:421.53, Y:88.14, Z:27.42 [[ 6.53735025e-01 -7.50617109e-01 -9.59399403e-02 4.21534218e+02] [ 7.43395565e-01 6.60728780e-01 -1.03925516e-01 8.81449052e+01] [ 1.41398550e-01 -3.38157634e-03 9.89946976e-01 2.74187280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.44925415399996 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:421.55, Y:88.16, Z:27.42 [[ 6.52919696e-01 -7.51291632e-01 -9.62120256e-02 4.21553127e+02] [ 7.44032136e-01 6.59960983e-01 -1.04248177e-01 8.81649604e+01] [ 1.41816966e-01 -3.51915059e-03 9.89886642e-01 2.74220758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.47925415399993 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:421.57, Y:88.18, Z:27.43 [[ 6.51920504e-01 -7.52128018e-01 -9.64525815e-02 4.21571970e+02] [ 7.44832281e-01 6.59006812e-01 -1.04570054e-01 8.81848882e+01] [ 1.42212976e-01 -3.66963398e-03 9.89829280e-01 2.74258486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.50925415399996 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:421.59, Y:88.21, Z:27.43 [[ 6.51741913e-01 -7.52286119e-01 -9.64265176e-02 4.21590854e+02] [ 7.44987288e-01 6.58826366e-01 -1.04602869e-01 8.82051917e+01] [ 1.42219618e-01 -3.66245617e-03 9.89828352e-01 2.74293944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.53925415399993 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:421.61, Y:88.22, Z:27.43 [[ 6.51512291e-01 -7.52482859e-01 -9.64431530e-02 4.21608244e+02] [ 7.45174854e-01 6.58601634e-01 -1.04682016e-01 8.82246363e+01] [ 1.42289041e-01 -3.66539212e-03 9.89818364e-01 2.74343344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.56925415399996 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:421.63, Y:88.25, Z:27.44 [[ 6.52606969e-01 -7.51520902e-01 -9.65426284e-02 4.21627180e+02] [ 7.44183156e-01 6.59700311e-01 -1.04818556e-01 8.82454890e+01] [ 1.42462537e-01 -3.44007812e-03 9.89794217e-01 2.74359651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.59925415399994 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:421.64, Y:88.27, Z:27.44 [[ 6.52730403e-01 -7.51478356e-01 -9.60380271e-02 4.21644962e+02] [ 7.44208535e-01 6.59749122e-01 -1.04330013e-01 8.82657806e+01] [ 1.41762751e-01 -3.37294806e-03 9.89894917e-01 2.74421446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.62925415399997 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:421.66, Y:88.29, Z:27.45 [[ 6.53555316e-01 -7.50778385e-01 -9.59023784e-02 4.21662788e+02] [ 7.43513049e-01 6.60546538e-01 -1.04243065e-01 8.82851145e+01] [ 1.41611424e-01 -3.17606021e-03 9.89917227e-01 2.74457761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.65925415399994 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:421.68, Y:88.31, Z:27.45 [[ 6.55781348e-01 -7.48868647e-01 -9.56377230e-02 4.21681366e+02] [ 7.41617301e-01 6.62712844e-01 -1.03997432e-01 8.83052352e+01] [ 1.41260764e-01 -2.72701363e-03 9.89968666e-01 2.74479099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.68925415399997 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:421.70, Y:88.33, Z:27.45 [[ 6.56765957e-01 -7.48045874e-01 -9.53197149e-02 4.21699134e+02] [ 7.40825602e-01 6.63642312e-01 -1.03712630e-01 8.83257930e+01] [ 1.40840001e-01 -2.50036060e-03 9.90029213e-01 2.74531870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.71925415399994 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:421.72, Y:88.35, Z:27.46 [[ 6.59368345e-01 -7.45732009e-01 -9.54838056e-02 4.21716202e+02] [ 7.38453759e-01 6.66243124e-01 -1.03952610e-01 8.83460926e+01] [ 1.41136218e-01 -1.96731469e-03 9.89988231e-01 2.74572811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.7492541539999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:421.73, Y:88.37, Z:27.46 [[ 6.60546236e-01 -7.44658762e-01 -9.57183258e-02 4.21734473e+02] [ 7.37327162e-01 6.67443176e-01 -1.04250963e-01 8.83666160e+01] [ 1.41517937e-01 -1.71314012e-03 9.89934209e-01 2.74613793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.77925415399994 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:421.75, Y:88.39, Z:27.47 [[ 6.63362529e-01 -7.42057438e-01 -9.64412485e-02 4.21753459e+02] [ 7.34577713e-01 6.70335360e-01 -1.05100373e-01 8.83872345e+01] [ 1.42638493e-01 -1.12394256e-03 9.89774215e-01 2.74651150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8092541539999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:421.77, Y:88.41, Z:27.47 [[ 6.64524572e-01 -7.40974425e-01 -9.67677325e-02 4.21772519e+02] [ 7.33423267e-01 6.71532706e-01 -1.05518418e-01 8.84077266e+01] [ 1.43169147e-01 -8.52124900e-04 9.89697868e-01 2.74687790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.83925415399995 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:421.79, Y:88.43, Z:27.47 [[ 6.64389227e-01 -7.41099793e-01 -9.67370217e-02 4.21791477e+02] [ 7.33545858e-01 6.71394367e-01 -1.05546566e-01 8.84285558e+01] [ 1.43169230e-01 -8.37040057e-04 9.89697869e-01 2.74726663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.8692541539999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:421.81, Y:88.45, Z:27.48 [[ 6.65493382e-01 -7.40065848e-01 -9.70623505e-02 4.21810049e+02] [ 7.32444053e-01 6.72534158e-01 -1.05941097e-01 8.84481937e+01] [ 1.43681134e-01 -5.89642307e-04 9.89623860e-01 2.74753517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.89925415399995 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:421.83, Y:88.47, Z:27.48 [[ 6.65941743e-01 -7.39614161e-01 -9.74293994e-02 4.21828425e+02] [ 7.31923047e-01 6.73030964e-01 -1.06385969e-01 8.84683123e+01] [ 1.44257572e-01 -4.63964967e-04 9.89540064e-01 2.74801474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9292541539999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:421.85, Y:88.49, Z:27.48 [[ 6.66502122e-01 -7.39116060e-01 -9.73774672e-02 4.21847150e+02] [ 7.31418749e-01 6.73578022e-01 -1.06392018e-01 8.84883733e+01] [ 1.44227371e-01 -3.13199564e-04 9.89544525e-01 2.74839832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.95925415399995 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:421.87, Y:88.51, Z:27.49 [[ 6.66532133e-01 -7.39060782e-01 -9.75913762e-02 4.21866504e+02] [ 7.31319651e-01 6.73638696e-01 -1.06688683e-01 8.85085199e+01] [ 1.44590749e-01 -2.59055541e-04 9.89491510e-01 2.74880792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.9892541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:421.88, Y:88.53, Z:27.49 [[ 6.64253718e-01 -7.41726637e-01 -9.27825114e-02 4.21875922e+02] [ 7.33576259e-01 6.70684801e-01 -1.09762336e-01 8.85288785e+01] [ 1.43641469e-01 4.84699224e-03 9.89617924e-01 2.74915914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.01925415399995 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:421.91, Y:88.55, Z:27.49 [[ 6.65498847e-01 -7.39678754e-01 -9.99331104e-02 4.21906286e+02] [ 7.32159132e-01 6.72952884e-01 -1.05249326e-01 8.85471723e+01] [ 1.45100965e-01 -3.12363421e-03 9.89411923e-01 2.74945201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.0492541539999 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:421.92, Y:88.57, Z:27.50 [[ 6.61242257e-01 -7.43855524e-01 -9.71474965e-02 4.21917175e+02] [ 7.35958407e-01 6.68340451e-01 -1.08103029e-01 8.85663482e+01] [ 1.45340637e-01 -1.42256748e-05 9.89381675e-01 2.74977250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.07925415399995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:421.94, Y:88.59, Z:27.50 [[ 6.61495521e-01 -7.43661753e-01 -9.69065171e-02 4.21944144e+02] [ 7.35666432e-01 6.68555736e-01 -1.08757198e-01 8.85868726e+01] [ 1.45665976e-01 6.51527660e-04 9.89333614e-01 2.75034631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.1092541539999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:421.96, Y:88.61, Z:27.51 [[ 6.59186011e-01 -7.45523001e-01 -9.83323834e-02 4.21964213e+02] [ 7.37691183e-01 6.66478242e-01 -1.07789018e-01 8.86057354e+01] [ 1.45895586e-01 -1.48591931e-03 9.89298878e-01 2.75067775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.13925415399996 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:421.98, Y:88.62, Z:27.51 [[ 6.54134220e-01 -7.50020332e-01 -9.78668671e-02 4.21984389e+02] [ 7.42303472e-01 6.61410302e-01 -1.07340432e-01 8.86239252e+01] [ 1.45237661e-01 -2.43186519e-03 9.89393808e-01 2.75110239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.16925415399993 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:422.00, Y:88.64, Z:27.52 [[ 6.51314816e-01 -7.52544488e-01 -9.72923649e-02 4.22004037e+02] [ 7.44941973e-01 6.58534780e-01 -1.06739871e-01 8.86432985e+01] [ 1.44396908e-01 -2.95590695e-03 9.89515435e-01 2.75150139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.19925415399996 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:422.02, Y:88.66, Z:27.52 [[ 6.45905547e-01 -7.57308978e-01 -9.63801680e-02 4.22024295e+02] [ 7.49892444e-01 6.53044873e-01 -1.05800359e-01 8.86606911e+01] [ 1.43064137e-01 -3.93772083e-03 9.89705586e-01 2.75189829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.22925415399993 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:422.04, Y:88.68, Z:27.52 [[ 6.43175092e-01 -7.59698426e-01 -9.58337255e-02 4.22043967e+02] [ 7.52386190e-01 6.50260578e-01 -1.05243539e-01 8.86801548e+01] [ 1.42270245e-01 -4.41394850e-03 9.89818011e-01 2.75229695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.25925415399996 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:422.06, Y:88.70, Z:27.53 [[ 6.40735466e-01 -7.61765982e-01 -9.57635147e-02 4.22062844e+02] [ 7.54478460e-01 6.47834299e-01 -1.05228207e-01 8.86985654e+01] [ 1.42198158e-01 -4.82806477e-03 9.89826436e-01 2.75258285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.28925415399993 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:422.08, Y:88.72, Z:27.53 [[ 6.35690506e-01 -7.66097077e-01 -9.48306359e-02 4.22083272e+02] [ 7.58992863e-01 6.42699532e-01 -1.04245596e-01 8.87177791e+01] [ 1.40809852e-01 -5.70784043e-03 9.90020205e-01 2.75302206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.31925415399996 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:422.10, Y:88.74, Z:27.53 [[ 6.33269980e-01 -7.68097660e-01 -9.48425867e-02 4.22102889e+02] [ 7.61004959e-01 6.40303539e-01 -1.04320807e-01 8.87375774e+01] [ 1.40856611e-01 -6.11244367e-03 9.90011138e-01 2.75338740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.34925415399994 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:422.12, Y:88.76, Z:27.54 [[ 6.31247725e-01 -7.69770316e-01 -9.47627021e-02 4.22122000e+02] [ 7.62699366e-01 6.38288489e-01 -1.04295169e-01 8.87571118e+01] [ 1.40769267e-01 -6.43936441e-03 9.90021489e-01 2.75372980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.37925415399997 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:422.14, Y:88.78, Z:27.54 [[ 6.29313495e-01 -7.71348049e-01 -9.47982737e-02 4.22141425e+02] [ 7.64280532e-01 6.36377694e-01 -1.04396832e-01 8.87770859e+01] [ 1.40853800e-01 -6.75413953e-03 9.90007368e-01 2.75407478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.40925415399994 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:422.16, Y:88.81, Z:27.54 [[ 6.30004571e-01 -7.73104509e-01 -7.35095917e-02 4.22161394e+02] [ 7.64577824e-01 6.34058835e-01 -1.15715794e-01 8.88072522e+01] [ 1.36069808e-01 1.66976755e-02 9.90558527e-01 2.75439924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.43925415399997 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:422.19, Y:88.81, Z:27.54 [[ 6.25461927e-01 -7.71817460e-01 -1.14434204e-01 4.22190438e+02] [ 7.67643887e-01 6.34960747e-01 -8.68775718e-02 8.88088897e+01] [ 1.39714854e-01 -3.35061038e-02 9.89624727e-01 2.75406753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.46925415399994 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:422.20, Y:88.84, Z:27.55 [[ 6.24432403e-01 -7.75292791e-01 -9.48960638e-02 4.22199159e+02] [ 7.68228449e-01 6.31557136e-01 -1.04693044e-01 8.88372359e+01] [ 1.41100049e-01 -7.52812673e-03 9.89966718e-01 2.75521136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.4992541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:422.22, Y:88.86, Z:27.56 [[ 6.23982692e-01 -7.75607355e-01 -9.52829035e-02 4.22217558e+02] [ 7.68479757e-01 6.31170028e-01 -1.05182026e-01 8.88571467e+01] [ 1.41719666e-01 -7.59121860e-03 9.89877725e-01 2.75555277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.52925415399994 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:422.24, Y:88.88, Z:27.56 [[ 6.24241049e-01 -7.75339777e-01 -9.57671237e-02 4.22236255e+02] [ 7.68131903e-01 6.31499179e-01 -1.05745765e-01 8.88780247e+01] [ 1.42465758e-01 -7.55093539e-03 9.89770929e-01 2.75591995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.5592541539999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:422.25, Y:88.90, Z:27.56 [[ 6.25749670e-01 -7.74003123e-01 -9.67290863e-02 4.22254401e+02] [ 7.66623960e-01 6.33139928e-01 -1.06871585e-01 8.88986714e+01] [ 1.43961987e-01 -7.27997611e-03 9.89556440e-01 2.75619994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.58925415399995 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:422.27, Y:88.92, Z:27.57 [[ 6.26880279e-01 -7.73004942e-01 -9.73882669e-02 4.22272037e+02] [ 7.65503411e-01 6.34360712e-01 -1.07661572e-01 8.89191646e+01] [ 1.45002217e-01 -7.06013438e-03 9.89406141e-01 2.75656428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6192541539999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:422.29, Y:88.94, Z:27.57 [[ 6.28315597e-01 -7.71810050e-01 -9.76153571e-02 4.22290234e+02] [ 7.64254641e-01 6.35817005e-01 -1.07942482e-01 8.89403452e+01] [ 1.45376596e-01 -6.78104475e-03 9.89353154e-01 2.75692138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.64925415399995 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:422.31, Y:88.96, Z:27.57 [[ 6.31711380e-01 -7.68981638e-01 -9.80202717e-02 4.22306513e+02] [ 7.61319597e-01 6.39241646e-01 -1.08455470e-01 8.89621782e+01] [ 1.46058904e-01 -6.11219945e-03 9.89257013e-01 2.75731468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.6792541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:422.32, Y:88.98, Z:27.58 [[ 6.33942603e-01 -7.67168539e-01 -9.78223360e-02 4.22323639e+02] [ 7.59506937e-01 6.41420771e-01 -1.08298695e-01 8.89828676e+01] [ 1.45828630e-01 -5.64158637e-03 9.89293780e-01 2.75770248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.70925415399995 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:422.34, Y:89.00, Z:27.58 [[ 6.36327512e-01 -7.65190692e-01 -9.78289505e-02 4.22341405e+02] [ 7.57500328e-01 6.43782958e-01 -1.08336314e-01 8.90044142e+01] [ 1.45878550e-01 -5.16808512e-03 9.89289007e-01 2.75811252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7392541539999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:422.36, Y:89.03, Z:27.59 [[ 6.41675524e-01 -7.60738293e-01 -9.76205478e-02 4.22357171e+02] [ 7.53019992e-01 6.49045785e-01 -1.08168667e-01 8.90267688e+01] [ 1.45648252e-01 -4.10103795e-03 9.89327938e-01 2.75855060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.76925415399995 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:422.37, Y:89.05, Z:27.59 [[ 6.44436147e-01 -7.58426792e-01 -9.74210148e-02 4.22374479e+02] [ 7.50704234e-01 6.51748696e-01 -1.08012920e-01 8.90483556e+01] [ 1.45413911e-01 -3.52693857e-03 9.89364622e-01 2.75899232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.7992541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:422.39, Y:89.07, Z:27.59 [[ 6.50070562e-01 -7.53727459e-01 -9.64530014e-02 4.22389901e+02] [ 7.46097533e-01 6.57182725e-01 -1.07001573e-01 8.90701380e+01] [ 1.44037270e-01 -2.40477373e-03 9.89569342e-01 2.75941966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.82925415399995 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:422.41, Y:89.09, Z:27.60 [[ 6.52471501e-01 -7.51669923e-01 -9.62978042e-02 4.22407767e+02] [ 7.44037996e-01 6.59536666e-01 -1.06859002e-01 8.90916009e+01] [ 1.43834630e-01 -1.92677210e-03 9.89599862e-01 2.75982046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.8592541539999 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:422.43, Y:89.11, Z:27.60 [[ 6.54967425e-01 -7.49487457e-01 -9.63650550e-02 4.22426036e+02] [ 7.41811963e-01 6.62017052e-01 -1.06997354e-01 8.91128081e+01] [ 1.43988484e-01 -1.40496939e-03 9.89578366e-01 2.76011821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.88925415399996 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:422.44, Y:89.13, Z:27.61 [[ 6.56817992e-01 -7.47963411e-01 -9.56078518e-02 4.22443980e+02] [ 7.40383552e-01 6.63739178e-01 -1.06219114e-01 8.91342004e+01] [ 1.42906688e-01 -1.01985566e-03 9.89735641e-01 2.76057409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.91925415399993 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:422.46, Y:89.16, Z:27.61 [[ 6.59527081e-01 -7.45600472e-01 -9.54147075e-02 4.22461840e+02] [ 7.38017688e-01 6.66393068e-01 -1.06066821e-01 8.91550541e+01] [ 1.42667172e-01 -4.63800876e-04 9.89770611e-01 2.76088730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.94925415399996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:422.48, Y:89.18, Z:27.61 [[ 6.60109707e-01 -7.45076960e-01 -9.54751238e-02 4.22480395e+02] [ 7.37470069e-01 6.66978432e-01 -1.06196372e-01 8.91758450e+01] [ 1.42804318e-01 -3.08790184e-04 9.89750894e-01 2.76123658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.97925415399993 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:422.50, Y:89.20, Z:27.62 [[ 6.59632666e-01 -7.45427992e-01 -9.60304866e-02 4.22499307e+02] [ 7.37726168e-01 6.66586072e-01 -1.06878954e-01 8.91961155e+01] [ 1.43683149e-01 -3.43353417e-04 9.89623683e-01 2.76151786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.00925415399996 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:422.52, Y:89.22, Z:27.62 [[ 6.58433005e-01 -7.46467616e-01 -9.61877078e-02 4.22517466e+02] [ 7.38742208e-01 6.65421535e-01 -1.07117370e-01 8.92158703e+01] [ 1.43965020e-01 -5.28308134e-04 9.89582636e-01 2.76186084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.03925415399993 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:422.54, Y:89.24, Z:27.62 [[ 6.56797673e-01 -7.47895564e-01 -9.62758655e-02 4.22536322e+02] [ 7.40164600e-01 6.63815914e-01 -1.07260418e-01 8.92354813e+01] [ 1.44129042e-01 -8.11594684e-04 9.89558569e-01 2.76220498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.06925415399996 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:422.56, Y:89.25, Z:27.63 [[ 6.52049199e-01 -7.52012019e-01 -9.64871228e-02 4.22556961e+02] [ 7.44282021e-01 6.59147255e-01 -1.07560076e-01 8.92546409e+01] [ 1.44485692e-01 -1.67916959e-03 9.89505465e-01 2.76253695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.09925415399994 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:422.58, Y:89.27, Z:27.63 [[ 6.49126762e-01 -7.54532718e-01 -9.65133366e-02 4.22576630e+02] [ 7.46816729e-01 6.56258752e-01 -1.07653257e-01 8.92742226e+01] [ 1.44565626e-01 -2.19716457e-03 9.89492775e-01 2.76290491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.12925415399997 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:422.60, Y:89.29, Z:27.63 [[ 6.43468014e-01 -7.59367639e-01 -9.64868080e-02 4.22597378e+02] [ 7.51700101e-01 6.50653764e-01 -1.07687683e-01 8.92929477e+01] [ 1.44554046e-01 -3.23556383e-03 9.89491616e-01 2.76330563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.15925415399994 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:422.62, Y:89.31, Z:27.64 [[ 6.40903222e-01 -7.61539535e-01 -9.64395948e-02 4.22616372e+02] [ 7.53894813e-01 6.48107999e-01 -1.07696948e-01 8.93121479e+01] [ 1.44518756e-01 -3.68198952e-03 9.89495211e-01 2.76366273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.18925415399997 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:422.64, Y:89.33, Z:27.64 [[ 6.38586765e-01 -7.63519129e-01 -9.61534358e-02 4.22636140e+02] [ 7.55937840e-01 6.45772212e-01 -1.07406851e-01 8.93321874e+01] [ 1.44100402e-01 -4.09742713e-03 9.89554589e-01 2.76405297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.21925415399994 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:422.65, Y:89.35, Z:27.64 [[ 6.34976707e-01 -7.66574386e-01 -9.57511968e-02 4.22654739e+02] [ 7.59082105e-01 6.42138109e-01 -1.07018725e-01 8.93507207e+01] [ 1.43523305e-01 -4.72862270e-03 9.89635640e-01 2.76441382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.2492541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:422.67, Y:89.37, Z:27.65 [[ 6.33668259e-01 -7.67683026e-01 -9.55369528e-02 4.22673066e+02] [ 7.60232937e-01 6.40810630e-01 -1.06806448e-01 8.93705492e+01] [ 1.43214592e-01 -4.95048214e-03 9.89679278e-01 2.76478245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.27925415399994 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:422.69, Y:89.39, Z:27.65 [[ 6.31428592e-01 -7.69535563e-01 -9.54617735e-02 4.22693121e+02] [ 7.62114155e-01 6.38581568e-01 -1.06750154e-01 8.93902708e+01] [ 1.43108169e-01 -5.34766915e-03 9.89692606e-01 2.76513107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3092541539999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:422.71, Y:89.41, Z:27.65 [[ 6.30118221e-01 -7.70623722e-01 -9.53420512e-02 4.22711090e+02] [ 7.63224557e-01 6.37266267e-01 -1.06676988e-01 8.94095033e+01] [ 1.42966091e-01 -5.54828095e-03 9.89712036e-01 2.76543463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.33925415399995 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:422.73, Y:89.43, Z:27.66 [[ 6.28670653e-01 -7.71772568e-01 -9.56049911e-02 4.22730032e+02] [ 7.64341275e-01 6.35872143e-01 -1.07000154e-01 8.94296863e+01] [ 1.43372334e-01 -5.80698404e-03 9.89651784e-01 2.76580168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.3692541539999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:422.75, Y:89.45, Z:27.66 [[ 6.26950670e-01 -7.73172971e-01 -9.55845891e-02 4.22748431e+02] [ 7.65751681e-01 6.34166016e-01 -1.07041239e-01 8.94499968e+01] [ 1.43377890e-01 -6.08448359e-03 9.89649311e-01 2.76619084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.39925415399995 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:422.77, Y:89.47, Z:27.67 [[ 6.25518277e-01 -7.74372946e-01 -9.52545357e-02 4.22766589e+02] [ 7.67007747e-01 6.32698106e-01 -1.06734356e-01 8.94700716e+01] [ 1.42919562e-01 -6.29667653e-03 9.89714277e-01 2.76651354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4292541539999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:422.78, Y:89.49, Z:27.67 [[ 6.22973106e-01 -7.76391788e-01 -9.55002592e-02 4.22784356e+02] [ 7.69007668e-01 6.30214337e-01 -1.07037825e-01 8.94902238e+01] [ 1.43288921e-01 -6.75874558e-03 9.89657822e-01 2.76688757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.45925415399995 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:422.80, Y:89.51, Z:27.67 [[ 6.21519116e-01 -7.77566992e-01 -9.54125816e-02 4.22801561e+02] [ 7.70206158e-01 6.28761083e-01 -1.06967168e-01 8.95103175e+01] [ 1.43165857e-01 -7.00521826e-03 9.89673918e-01 2.76718373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.4892541539999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:422.82, Y:89.53, Z:27.68 [[ 6.19421011e-01 -7.79160646e-01 -9.60536260e-02 4.22819507e+02] [ 7.71714689e-01 6.26780548e-01 -1.07715287e-01 8.95320325e+01] [ 1.44132057e-01 -7.40488201e-03 9.89530756e-01 2.76754041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.51925415399995 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:422.84, Y:89.55, Z:27.68 [[ 6.18393292e-01 -7.79976050e-01 -9.60577874e-02 4.22837166e+02] [ 7.72529938e-01 6.25763759e-01 -1.07783172e-01 8.95530682e+01] [ 1.44177775e-01 -7.55512576e-03 9.89522960e-01 2.76789516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.5492541539999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:422.85, Y:89.57, Z:27.68 [[ 6.17899152e-01 -7.80347687e-01 -9.62191498e-02 4.22854343e+02] [ 7.72871799e-01 6.25299519e-01 -1.08026353e-01 8.95740025e+01] [ 1.44463903e-01 -7.61567579e-03 9.89480764e-01 2.76825568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.57925415399995 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:422.87, Y:89.60, Z:27.69 [[ 6.19089594e-01 -7.79519234e-01 -9.52776869e-02 4.22873902e+02] [ 7.71949306e-01 6.26346177e-01 -1.08557521e-01 8.95972824e+01] [ 1.44299491e-01 -6.34271264e-03 9.89513733e-01 2.76860307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.6092541539999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:422.89, Y:89.62, Z:27.69 [[ 6.17923604e-01 -7.80077133e-01 -9.82348513e-02 4.22888284e+02] [ 7.72725902e-01 6.25609373e-01 -1.07273449e-01 8.96171542e+01] [ 1.45138208e-01 -9.62181755e-03 9.89364605e-01 2.76900089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.63925415399996 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:422.91, Y:89.64, Z:27.69 [[ 6.18368849e-01 -7.79858458e-01 -9.71635306e-02 4.22905091e+02] [ 7.72203520e-01 6.25911324e-01 -1.09255382e-01 8.96392567e+01] [ 1.46019488e-01 -7.46989517e-03 9.89253511e-01 2.76935904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.66925415399993 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:422.92, Y:89.66, Z:27.70 [[ 6.18854887e-01 -7.79528255e-01 -9.67177807e-02 4.22920115e+02] [ 7.71930528e-01 6.26324320e-01 -1.08816847e-01 8.96621201e+01] [ 1.45402505e-01 -7.31757000e-03 9.89345523e-01 2.76980241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.69925415399996 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:422.94, Y:89.68, Z:27.70 [[ 6.19332317e-01 -7.79124852e-01 -9.69120522e-02 4.22937036e+02] [ 7.71487022e-01 6.26827218e-01 -1.09066096e-01 8.96842018e+01] [ 1.45723218e-01 -7.21823253e-03 9.89299065e-01 2.77018468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.72925415399993 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:422.95, Y:89.71, Z:27.71 [[ 6.19958101e-01 -7.78559082e-01 -9.74561864e-02 4.22953359e+02] [ 7.70818555e-01 6.27531311e-01 -1.09741556e-01 8.97056419e+01] [ 1.46597094e-01 -7.08586989e-03 9.89170907e-01 2.77058082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.75925415399996 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:422.97, Y:89.73, Z:27.71 [[ 6.19748451e-01 -7.78727875e-01 -9.74410270e-02 4.22971970e+02] [ 7.70987306e-01 6.27321617e-01 -1.09755015e-01 8.97267420e+01] [ 1.46596152e-01 -7.10529427e-03 9.89170907e-01 2.77096915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.78925415399993 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:422.99, Y:89.75, Z:27.71 [[ 6.22247947e-01 -7.76648728e-01 -9.81032419e-02 4.22986812e+02] [ 7.68767678e-01 6.29899107e-01 -1.10559357e-01 8.97494870e+01] [ 1.47660929e-01 -6.62326832e-03 9.89015866e-01 2.77127277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.81925415399996 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:423.00, Y:89.77, Z:27.72 [[ 6.24274057e-01 -7.74909068e-01 -9.89840302e-02 4.23003859e+02] [ 7.66858654e-01 6.32041849e-01 -1.11583628e-01 8.97714958e+01] [ 1.49029214e-01 -6.24799617e-03 9.88813054e-01 2.77161544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.84925415399994 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:423.02, Y:89.80, Z:27.72 [[ 6.29218142e-01 -7.70990149e-01 -9.82787896e-02 4.23016892e+02] [ 7.62997634e-01 6.36825534e-01 -1.10850570e-01 8.97955877e+01] [ 1.48051140e-01 -5.23729436e-03 9.88965839e-01 2.77218702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.87925415399997 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:423.03, Y:89.82, Z:27.73 [[ 6.32441921e-01 -7.68423897e-01 -9.76828083e-02 4.23033125e+02] [ 7.60493472e-01 6.39924745e-01 -1.10208887e-01 8.98178377e+01] [ 1.47196789e-01 -4.58641751e-03 9.89096593e-01 2.77262311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.90925415399994 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:423.05, Y:89.84, Z:27.73 [[ 6.35930001e-01 -7.65579799e-01 -9.73684032e-02 4.23049256e+02] [ 7.57658329e-01 6.43329283e-01 -1.09914926e-01 8.98396392e+01] [ 1.46788592e-01 -3.87378299e-03 9.89160302e-01 2.77306945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.93925415399997 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:423.06, Y:89.86, Z:27.74 [[ 6.43278551e-01 -7.59543164e-01 -9.63685006e-02 4.23063596e+02] [ 7.51712061e-01 6.50452316e-01 -1.08815269e-01 8.98633280e+01] [ 1.45333008e-01 -2.44283583e-03 9.89379780e-01 2.77352606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.96925415399994 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:423.08, Y:89.89, Z:27.74 [[ 6.46728291e-01 -7.56653596e-01 -9.60096553e-02 4.23080051e+02] [ 7.48840043e-01 6.53813655e-01 -1.08472549e-01 8.98856404e+01] [ 1.44848568e-01 -1.74360853e-03 9.89452299e-01 2.77395974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.9992541539999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:423.10, Y:89.91, Z:27.74 [[ 6.49758870e-01 -7.54118644e-01 -9.54907424e-02 4.23096994e+02] [ 7.46353109e-01 6.56737237e-01 -1.07950168e-01 8.99079257e+01] [ 1.44119560e-01 -1.12823364e-03 9.89559639e-01 2.77435094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.02925415399994 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:423.11, Y:89.93, Z:27.75 [[ 6.54715482e-01 -7.49910465e-01 -9.47730530e-02 4.23112535e+02] [ 7.42208703e-01 6.61539318e-01 -1.07200612e-01 8.99294279e+01] [ 1.43086962e-01 -1.55484181e-04 9.89710108e-01 2.77472103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.0592541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:423.13, Y:89.95, Z:27.75 [[ 6.56520469e-01 -7.48355645e-01 -9.45764344e-02 4.23130676e+02] [ 7.40665673e-01 6.63297661e-01 -1.07007351e-01 8.99507175e+01] [ 1.42811883e-01 2.02997906e-04 9.89749829e-01 2.77511291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.08925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:423.15, Y:89.97, Z:27.75 [[ 6.57446713e-01 -7.47557709e-01 -9.44525872e-02 4.23147565e+02] [ 7.39870760e-01 6.64196731e-01 -1.06929704e-01 8.99709081e+01] [ 1.42671224e-01 4.17875027e-04 9.89770048e-01 2.77543827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1192541539999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:423.17, Y:89.98, Z:27.76 [[ 6.54922285e-01 -7.45915402e-01 -1.21189988e-01 4.23169309e+02] [ 7.40847160e-01 6.65378304e-01 -9.17452863e-02 8.99811542e+01] [ 1.49071411e-01 -2.96972262e-02 9.88380387e-01 2.77551705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.14925415399995 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:423.17, Y:90.02, Z:27.77 [[ 6.57514068e-01 -7.50081961e-01 -7.10795470e-02 4.23171138e+02] [ 7.39535429e-01 6.60541537e-01 -1.29507634e-01 9.00219932e+01] [ 1.44092333e-01 3.25872476e-02 9.89027538e-01 2.77726754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.1792541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:423.20, Y:90.03, Z:27.76 [[ 6.55278138e-01 -7.49227678e-01 -9.62727816e-02 4.23203431e+02] [ 7.41238407e-01 6.62312514e-01 -1.09122674e-01 9.00329997e+01] [ 1.45520395e-01 1.44619143e-04 9.89355241e-01 2.77649337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.20925415399995 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:423.22, Y:90.05, Z:27.77 [[ 6.55224382e-01 -7.50031663e-01 -9.01859993e-02 4.23216896e+02] [ 7.40643518e-01 6.61309537e-01 -1.18814459e-01 9.00542855e+01] [ 1.48755468e-01 1.10544548e-02 9.88812222e-01 2.77727427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2392541539999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:423.25, Y:90.07, Z:27.77 [[ 6.51680398e-01 -7.51309646e-01 -1.04146408e-01 4.23245898e+02] [ 7.44227484e-01 6.59872304e-01 -1.03411770e-01 9.00689721e+01] [ 1.46417591e-01 -1.01171960e-02 9.89171134e-01 2.77685609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.26925415399995 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:423.26, Y:90.09, Z:27.78 [[ 6.50714154e-01 -7.53147071e-01 -9.66466745e-02 4.23261205e+02] [ 7.45115088e-01 6.57851879e-01 -1.09701464e-01 9.00916992e+01] [ 1.46200532e-01 -6.28600249e-04 9.89254775e-01 2.77751311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.2992541539999 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:423.28, Y:90.11, Z:27.78 [[ 6.49793485e-01 -7.53980923e-01 -9.63389566e-02 4.23280289e+02] [ 7.46000217e-01 6.56895860e-01 -1.09414373e-01 9.01114978e+01] [ 1.45781012e-01 -7.72135724e-04 9.89316583e-01 2.77787496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.32925415399995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:423.30, Y:90.13, Z:27.78 [[ 6.48780213e-01 -7.54964579e-01 -9.54605632e-02 4.23300209e+02] [ 7.47131167e-01 6.55764892e-01 -1.08477762e-01 9.01305186e+01] [ 1.44496554e-01 -9.43336317e-04 9.89504854e-01 2.77823446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.3592541539999 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:423.32, Y:90.15, Z:27.79 [[ 6.48575139e-01 -7.55213839e-01 -9.48806963e-02 4.23319103e+02] [ 7.47469490e-01 6.55477804e-01 -1.07880533e-01 9.01502023e+01] [ 1.43665062e-01 -9.51793892e-04 9.89625911e-01 2.77858841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.38925415399996 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:423.34, Y:90.17, Z:27.79 [[ 6.48462997e-01 -7.55349435e-01 -9.45672931e-02 4.23338584e+02] [ 7.47648962e-01 6.55321563e-01 -1.07585681e-01 9.01702956e+01] [ 1.43236770e-01 -9.37805201e-04 9.89688006e-01 2.77898550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.41925415399993 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:423.36, Y:90.19, Z:27.79 [[ 6.48698338e-01 -7.55198606e-01 -9.41569501e-02 4.23357974e+02] [ 7.47554575e-01 6.55495482e-01 -1.07181294e-01 9.01899925e+01] [ 1.42662619e-01 -8.59131770e-04 9.89771003e-01 2.77931266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.44925415399996 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:423.38, Y:90.21, Z:27.80 [[ 6.49466794e-01 -7.54631522e-01 -9.34031511e-02 4.23378977e+02] [ 7.47095403e-01 6.56148453e-01 -1.06384524e-01 9.02080256e+01] [ 1.41567448e-01 -6.87848978e-04 9.89928373e-01 2.77963281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.47925415399993 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:423.40, Y:90.23, Z:27.80 [[ 6.49822308e-01 -7.54413826e-01 -9.26862854e-02 4.23398244e+02] [ 7.46982542e-01 6.56398831e-01 -1.05629809e-01 9.02269266e+01] [ 1.40527758e-01 -5.94430456e-04 9.90076561e-01 2.77997602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.50925415399996 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:423.42, Y:90.24, Z:27.80 [[ 6.49842865e-01 -7.54474837e-01 -9.20433079e-02 4.23419407e+02] [ 7.47141408e-01 6.56328721e-01 -1.04939636e-01 9.02447310e+01] [ 1.39584981e-01 -5.75093040e-04 9.90209928e-01 2.78036191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.53925415399993 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:423.44, Y:90.26, Z:27.81 [[ 6.49336947e-01 -7.54956206e-01 -9.16660046e-02 4.23438360e+02] [ 7.47679193e-01 6.55774903e-01 -1.04571034e-01 9.02632969e+01] [ 1.39058816e-01 -6.34928446e-04 9.90283920e-01 2.78066627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.56925415399996 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:423.46, Y:90.28, Z:27.81 [[ 6.48536075e-01 -7.55596965e-01 -9.20553446e-02 4.23457748e+02] [ 7.48254315e-01 6.55036407e-01 -1.05084659e-01 9.02815410e+01] [ 1.39701251e-01 -7.29616882e-04 9.90193430e-01 2.78101564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.59925415399994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:423.48, Y:90.30, Z:27.81 [[ 6.46682515e-01 -7.57100049e-01 -9.27428749e-02 4.23480341e+02] [ 7.49655308e-01 6.53298136e-01 -1.05917257e-01 9.02985056e+01] [ 1.40778708e-01 -1.03035020e-03 9.90040552e-01 2.78125531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.62925415399997 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:423.50, Y:90.32, Z:27.82 [[ 6.45507862e-01 -7.58208142e-01 -9.18695438e-02 4.23499619e+02] [ 7.50339512e-01 6.52011082e-01 -1.08959471e-01 9.03187040e+01] [ 1.42513919e-01 1.40084651e-03 9.89791807e-01 2.78164364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.65925415399994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:423.52, Y:90.33, Z:27.82 [[ 6.43727456e-01 -7.59189131e-01 -9.61604218e-02 4.23523136e+02] [ 7.51745535e-01 6.50857960e-01 -1.06125242e-01 9.03344919e+01] [ 1.43155906e-01 -3.97243547e-03 9.89692178e-01 2.78178935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.68925415399997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:423.54, Y:90.35, Z:27.82 [[ 6.43089642e-01 -7.59946803e-01 -9.44275853e-02 4.23541855e+02] [ 7.52236373e-01 6.49983344e-01 -1.07991164e-01 9.03546304e+01] [ 1.43443898e-01 -1.58386502e-03 9.89657183e-01 2.78220970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.71925415399994 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:423.56, Y:90.37, Z:27.83 [[ 6.42556661e-01 -7.60362552e-01 -9.47086408e-02 4.23561253e+02] [ 7.52601500e-01 6.49496801e-01 -1.08373831e-01 9.03741888e+01] [ 1.43916362e-01 -1.64153843e-03 9.89588493e-01 2.78256499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.7492541539999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:423.58, Y:90.39, Z:27.83 [[ 6.42934885e-01 -7.59971647e-01 -9.52776444e-02 4.23581063e+02] [ 7.52103592e-01 6.49954438e-01 -1.09084438e-01 9.03924184e+01] [ 1.44827208e-01 -1.52446796e-03 9.89455788e-01 2.78295974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.77925415399994 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:423.60, Y:90.41, Z:27.83 [[ 6.43278291e-01 -7.59675512e-01 -9.53213339e-02 4.23600624e+02] [ 7.51792795e-01 6.50300733e-01 -1.09162949e-01 9.04123937e+01] [ 1.44915952e-01 -1.43973676e-03 9.89442921e-01 2.78335444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8092541539999 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:423.62, Y:90.43, Z:27.84 [[ 6.43399166e-01 -7.59566443e-01 -9.53746915e-02 4.23620041e+02] [ 7.51664827e-01 6.50428263e-01 -1.09284323e-01 9.04325919e+01] [ 1.45043099e-01 -1.37635870e-03 9.89424381e-01 2.78374346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.83925415399995 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:423.64, Y:90.45, Z:27.84 [[ 6.43455456e-01 -7.59547653e-01 -9.51443066e-02 4.23638956e+02] [ 7.51675433e-01 6.50450302e-01 -1.09080005e-01 9.04525073e+01] [ 1.44738105e-01 -1.32951352e-03 9.89469107e-01 2.78412068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.8692541539999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:423.66, Y:90.47, Z:27.85 [[ 6.43276147e-01 -7.59776443e-01 -9.45280703e-02 4.23658921e+02] [ 7.52000559e-01 6.50183033e-01 -1.08430542e-01 9.04709360e+01] [ 1.43843519e-01 -1.33438065e-03 9.89599546e-01 2.78452110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.89925415399995 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:423.68, Y:90.49, Z:27.85 [[ 6.42496881e-01 -7.60486361e-01 -9.41182909e-02 4.23677995e+02] [ 7.52781758e-01 6.49352245e-01 -1.07987442e-01 9.04904827e+01] [ 1.43238901e-01 -1.46893750e-03 9.89687051e-01 2.78488379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9292541539999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:423.70, Y:90.51, Z:27.85 [[ 6.41674430e-01 -7.61230839e-01 -9.37098509e-02 4.23698954e+02] [ 7.53592896e-01 6.48479053e-01 -1.07576322e-01 9.05083566e+01] [ 1.42659289e-01 -1.59010302e-03 9.89770579e-01 2.78526713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.95925415399995 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:423.72, Y:90.53, Z:27.86 [[ 6.41347349e-01 -7.61512252e-01 -9.36625242e-02 4.23718104e+02] [ 7.53876731e-01 6.48148505e-01 -1.07579691e-01 9.05281300e+01] [ 1.42630478e-01 -1.61404791e-03 9.89774692e-01 2.78563239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.9892541539999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:423.74, Y:90.55, Z:27.86 [[ 6.41424289e-01 -7.61469176e-01 -9.34856954e-02 4.23737528e+02] [ 7.53853780e-01 6.48199236e-01 -1.07434762e-01 9.05482669e+01] [ 1.42405616e-01 -1.56327923e-03 9.89807151e-01 2.78601733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.01925415399995 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:423.76, Y:90.57, Z:27.86 [[ 6.42165539e-01 -7.60863439e-01 -9.33287103e-02 4.23757308e+02] [ 7.53258283e-01 6.48910556e-01 -1.07317519e-01 9.05671280e+01] [ 1.42215962e-01 -1.38501200e-03 9.89834684e-01 2.78642873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.0492541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:423.78, Y:90.59, Z:27.87 [[ 6.42883454e-01 -7.60305569e-01 -9.29317312e-02 4.23776792e+02] [ 7.52750573e-01 6.49564443e-01 -1.06923383e-01 9.05872106e+01] [ 1.41659592e-01 -1.21514019e-03 9.89914685e-01 2.78682646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.07925415399995 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:423.80, Y:90.61, Z:27.87 [[ 6.44393248e-01 -7.59195068e-01 -9.15433804e-02 4.23797174e+02] [ 7.51845368e-01 6.50862513e-01 -1.05387534e-01 9.06054729e+01] [ 1.39591851e-01 -9.15450908e-04 9.90208704e-01 2.78722241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.1092541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:423.82, Y:90.62, Z:27.88 [[ 6.44743590e-01 -7.58976002e-01 -9.08907697e-02 4.23816029e+02] [ 7.51725277e-01 6.51118051e-01 -1.04663228e-01 9.06247597e+01] [ 1.38617499e-01 -8.43943845e-04 9.90345635e-01 2.78759125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.13925415399996 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:423.84, Y:90.64, Z:27.88 [[ 6.45145601e-01 -7.58741168e-01 -8.99944130e-02 4.23836815e+02] [ 7.51627484e-01 6.51391780e-01 -1.03657488e-01 9.06433554e+01] [ 1.37270825e-01 -7.68101576e-04 9.90533256e-01 2.78794665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.16925415399993 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:423.86, Y:90.66, Z:27.88 [[ 6.44815407e-01 -7.59043673e-01 -8.98097623e-02 4.23855894e+02] [ 7.51953774e-01 6.51039228e-01 -1.03505774e-01 9.06628636e+01] [ 1.37035081e-01 -7.90672220e-04 9.90565879e-01 2.78828210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.19925415399996 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:423.88, Y:90.68, Z:27.89 [[ 6.44001312e-01 -7.59709176e-01 -9.00237632e-02 4.23875720e+02] [ 7.52588023e-01 6.50262352e-01 -1.03779291e-01 9.06830037e+01] [ 1.37381144e-01 -9.16806108e-04 9.90517835e-01 2.78861574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.22925415399993 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:423.90, Y:90.70, Z:27.89 [[ 6.41869235e-01 -7.61431853e-01 -9.06940879e-02 4.23896281e+02] [ 7.54211930e-01 6.48243752e-01 -1.04615500e-01 9.07002119e+01] [ 1.38449450e-01 -1.25309211e-03 9.90368709e-01 2.78884798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.25925415399996 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:423.92, Y:90.72, Z:27.89 [[ 6.40293509e-01 -7.62723663e-01 -9.09771195e-02 4.23915806e+02] [ 7.55465218e-01 6.46722767e-01 -1.04985557e-01 9.07204823e+01] [ 1.38911943e-01 -1.50847877e-03 9.90303588e-01 2.78921655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.28925415399993 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:423.94, Y:90.74, Z:27.90 [[ 6.39176606e-01 -7.63576819e-01 -9.16717386e-02 4.23935026e+02] [ 7.56206653e-01 6.45714846e-01 -1.05848169e-01 9.07392171e+01] [ 1.40017011e-01 -1.66710532e-03 9.90147695e-01 2.78952821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.31925415399996 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:423.95, Y:90.76, Z:27.90 [[ 6.36263198e-01 -7.65985976e-01 -9.18402272e-02 4.23954171e+02] [ 7.58609620e-01 6.42853576e-01 -1.06069431e-01 9.07575116e+01] [ 1.40287515e-01 -2.18280419e-03 9.90108402e-01 2.78987141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.34925415399994 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:423.97, Y:90.78, Z:27.90 [[ 6.35195113e-01 -7.66813958e-01 -9.23229294e-02 4.23973070e+02] [ 7.59364382e-01 6.41865079e-01 -1.06653439e-01 9.07761495e+01] [ 1.41042210e-01 -2.36100080e-03 9.90000768e-01 2.79017529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.37925415399997 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:423.99, Y:90.80, Z:27.91 [[ 6.32962855e-01 -7.68762564e-01 -9.14447593e-02 4.23993048e+02] [ 7.61471112e-01 6.39528386e-01 -1.05665458e-01 9.07954094e+01] [ 1.39713168e-01 -2.75023250e-03 9.90188198e-01 2.79059689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.40925415399994 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:424.01, Y:90.82, Z:27.91 [[ 6.32092004e-01 -7.69515033e-01 -9.11389718e-02 4.24011286e+02] [ 7.62271920e-01 6.38622257e-01 -1.05371408e-01 9.08150057e+01] [ 1.39288258e-01 -2.86825478e-03 9.90247724e-01 2.79098263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.43925415399997 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:424.03, Y:90.83, Z:27.91 [[ 6.31239973e-01 -7.70251074e-01 -9.08260928e-02 4.24029407e+02] [ 7.63059732e-01 6.37733737e-01 -1.05050114e-01 9.08344931e+01] [ 1.38837827e-01 -2.99390274e-03 9.90310605e-01 2.79135316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.46925415399994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:424.05, Y:90.85, Z:27.92 [[ 6.30003457e-01 -7.71334187e-01 -9.02176000e-02 4.24049033e+02] [ 7.64244842e-01 6.36422366e-01 -1.04385794e-01 9.08543324e+01] [ 1.37932830e-01 -3.18492407e-03 9.90436465e-01 2.79168400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.4992541539999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:424.07, Y:90.87, Z:27.92 [[ 6.29367207e-01 -7.71844668e-01 -9.02924521e-02 4.24067396e+02] [ 7.64740081e-01 6.35802785e-01 -1.04534331e-01 9.08745211e+01] [ 1.38092459e-01 -3.25977699e-03 9.90413977e-01 2.79203899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.52925415399994 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:424.09, Y:90.89, Z:27.92 [[ 6.28536307e-01 -7.72557704e-01 -8.99816906e-02 4.24085462e+02] [ 7.65500903e-01 6.34935642e-01 -1.04235784e-01 9.08942845e+01] [ 1.37660740e-01 -3.36509080e-03 9.90473723e-01 2.79236228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.5592541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:424.10, Y:90.92, Z:27.93 [[ 6.28092600e-01 -7.72942654e-01 -8.97738184e-02 4.24104399e+02] [ 7.65918746e-01 6.34466649e-01 -1.04021855e-01 9.09150067e+01] [ 1.37361423e-01 -3.42409265e-03 9.90515076e-01 2.79277158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.58925415399995 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:424.12, Y:90.94, Z:27.93 [[ 6.27324873e-01 -7.73590103e-01 -8.95648145e-02 4.24123212e+02] [ 7.66597058e-01 6.33676554e-01 -1.03841106e-01 9.09357778e+01] [ 1.37085575e-01 -3.51801502e-03 9.90552961e-01 2.79315197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6192541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:424.14, Y:90.96, Z:27.94 [[ 6.25743057e-01 -7.74930727e-01 -8.90392905e-02 4.24142311e+02] [ 7.68024906e-01 6.32035054e-01 -1.03292956e-01 9.09556155e+01] [ 1.36320838e-01 -3.74954267e-03 9.90657645e-01 2.79352045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.64925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:424.16, Y:90.98, Z:27.94 [[ 6.25528335e-01 -7.75107599e-01 -8.90084952e-02 4.24160618e+02] [ 7.68199788e-01 6.31818147e-01 -1.03319486e-01 9.09770048e+01] [ 1.36320901e-01 -3.74704102e-03 9.90657646e-01 2.79390934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.6792541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:424.18, Y:91.00, Z:27.94 [[ 6.24436871e-01 -7.75971945e-01 -8.91410931e-02 4.24178109e+02] [ 7.69044101e-01 6.30755338e-01 -1.03531995e-01 9.09971353e+01] [ 1.36564144e-01 -3.90423684e-03 9.90623537e-01 2.79429368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.70925415399995 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:424.20, Y:91.02, Z:27.95 [[ 6.23594394e-01 -7.76609968e-01 -8.94817842e-02 4.24195430e+02] [ 7.69631569e-01 6.29968744e-01 -1.03954946e-01 9.10172401e+01] [ 1.37103175e-01 -4.04228422e-03 9.90548525e-01 2.79466782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7392541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:424.21, Y:91.04, Z:27.95 [[ 6.21743169e-01 -7.78003755e-01 -9.02529107e-02 4.24213405e+02] [ 7.70914663e-01 6.28244428e-01 -1.04878598e-01 9.10387656e+01] [ 1.38296831e-01 -4.36974044e-03 9.90381185e-01 2.79500802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.76925415399995 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:424.23, Y:91.06, Z:27.95 [[ 6.20624656e-01 -7.78872178e-01 -9.04608528e-02 4.24230343e+02] [ 7.71750459e-01 6.27166307e-01 -1.05183894e-01 9.10590581e+01] [ 1.38658807e-01 -4.53348698e-03 9.90329835e-01 2.79532897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.7992541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:424.25, Y:91.08, Z:27.96 [[ 6.18635053e-01 -7.80387053e-01 -9.10314115e-02 4.24248642e+02] [ 7.73186943e-01 6.25277681e-01 -1.05876218e-01 9.10799889e+01] [ 1.39544339e-01 -4.88555930e-03 9.90203771e-01 2.79562250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.82925415399995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:424.27, Y:91.10, Z:27.96 [[ 6.17658253e-01 -7.81138355e-01 -9.12203522e-02 4.24266912e+02] [ 7.73907302e-01 6.24337739e-01 -1.06159673e-01 9.11013288e+01] [ 1.39877701e-01 -5.02569843e-03 9.90156034e-01 2.79599885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.8592541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:424.28, Y:91.12, Z:27.96 [[ 6.16957685e-01 -7.81671906e-01 -9.13906219e-02 4.24284632e+02] [ 7.74410476e-01 6.23668867e-01 -1.06421610e-01 9.11224933e+01] [ 1.40184269e-01 -5.11622463e-03 9.90112213e-01 2.79636187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.88925415399996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:424.30, Y:91.14, Z:27.97 [[ 6.16569528e-01 -7.81958810e-01 -9.15556482e-02 4.24301402e+02] [ 7.74665141e-01 6.23308821e-01 -1.06677240e-01 9.11433912e+01] [ 1.40484651e-01 -5.15103360e-03 9.90069457e-01 2.79674989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.91925415399993 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:424.32, Y:91.17, Z:27.97 [[ 6.16397872e-01 -7.82031369e-01 -9.20901786e-02 4.24318163e+02] [ 7.74648477e-01 6.23217544e-01 -1.07329540e-01 9.11659112e+01] [ 1.41327282e-01 -5.17981680e-03 9.89949377e-01 2.79712691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.94925415399996 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:424.33, Y:91.19, Z:27.98 [[ 6.16194786e-01 -7.82137903e-01 -9.25434324e-02 4.24334922e+02] [ 7.74673728e-01 6.23083756e-01 -1.07922418e-01 9.11873753e+01] [ 1.42072523e-01 -5.18973486e-03 9.89842647e-01 2.79753004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.97925415399993 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:424.35, Y:91.21, Z:27.98 [[ 6.16467516e-01 -7.81847599e-01 -9.31779683e-02 4.24350854e+02] [ 7.74267508e-01 6.23448588e-01 -1.08727573e-01 9.12086627e+01] [ 1.43100065e-01 -5.11765649e-03 9.89694994e-01 2.79787213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.00925415399996 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:424.37, Y:91.23, Z:27.98 [[ 6.16199487e-01 -7.82055372e-01 -9.32072286e-02 4.24368217e+02] [ 7.74466249e-01 6.23187763e-01 -1.08807359e-01 9.12306091e+01] [ 1.43178984e-01 -5.13881382e-03 9.89683470e-01 2.79826242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.03925415399993 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:424.39, Y:91.25, Z:27.99 [[ 6.17882042e-01 -7.80745543e-01 -9.30493395e-02 4.24386658e+02] [ 7.73158086e-01 6.24830774e-01 -1.08687983e-01 9.12516205e+01] [ 1.42997749e-01 -4.78549637e-03 9.89711444e-01 2.79865874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.06925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:424.40, Y:91.27, Z:27.99 [[ 6.17322477e-01 -7.81256748e-01 -9.24708188e-02 4.24400868e+02] [ 7.73759913e-01 6.24191122e-01 -1.08078857e-01 9.12747623e+01] [ 1.42156801e-01 -4.83070499e-03 9.89832364e-01 2.79907877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.09925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:424.42, Y:91.30, Z:28.00 [[ 6.18401644e-01 -7.80449573e-01 -9.20753561e-02 4.24417870e+02] [ 7.73001485e-01 6.25201845e-01 -1.07663161e-01 9.12970466e+01] [ 1.41591351e-01 -4.59531108e-03 9.89914528e-01 2.79950189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.12925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:424.43, Y:91.32, Z:28.00 [[ 6.19532083e-01 -7.79604422e-01 -9.16348334e-02 4.24434581e+02] [ 7.72209442e-01 6.26257224e-01 -1.07212255e-01 9.13189109e+01] [ 1.40970125e-01 -4.33985167e-03 9.90004338e-01 2.79988326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.15925415399994 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:424.45, Y:91.34, Z:28.00 [[ 6.21730868e-01 -7.77913690e-01 -9.11099260e-02 4.24450321e+02] [ 7.70576552e-01 6.28359084e-01 -1.06661328e-01 9.13422949e+01] [ 1.40223057e-01 -3.89253274e-03 9.90112288e-01 2.80027461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.18925415399997 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:424.47, Y:91.36, Z:28.01 [[ 6.22369099e-01 -7.77390123e-01 -9.12211696e-02 4.24466499e+02] [ 7.70020326e-01 6.29007646e-01 -1.06855411e-01 9.13632389e+01] [ 1.40447154e-01 -3.73864918e-03 9.90081118e-01 2.80065239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.21925415399994 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:424.48, Y:91.39, Z:28.01 [[ 6.22790883e-01 -7.77007586e-01 -9.16009156e-02 4.24483288e+02] [ 7.69565518e-01 6.29480712e-01 -1.07344990e-01 9.13853837e+01] [ 1.41068881e-01 -3.63942482e-03 9.89993094e-01 2.80102671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.2492541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:424.50, Y:91.41, Z:28.01 [[ 6.22473051e-01 -7.77234996e-01 -9.18317017e-02 4.24499999e+02] [ 7.69748703e-01 6.29199778e-01 -1.07678106e-01 9.14060690e+01] [ 1.41471679e-01 -3.66061403e-03 9.89935535e-01 2.80136021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.27925415399994 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:424.52, Y:91.43, Z:28.02 [[ 6.21760270e-01 -7.77730352e-01 -9.24644022e-02 4.24517336e+02] [ 7.70141218e-01 6.28586671e-01 -1.08449534e-01 9.14272382e+01] [ 1.42466385e-01 -3.78103585e-03 9.89792419e-01 2.80174701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3092541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:424.53, Y:91.45, Z:28.02 [[ 6.20971646e-01 -7.78384355e-01 -9.22605612e-02 4.24534950e+02] [ 7.70826731e-01 6.27776020e-01 -1.08274741e-01 9.14488849e+01] [ 1.42198332e-01 -3.88136260e-03 9.89830576e-01 2.80210609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.33925415399995 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:424.55, Y:91.47, Z:28.03 [[ 6.19521470e-01 -7.79496012e-01 -9.26235171e-02 4.24551631e+02] [ 7.71881375e-01 6.26393698e-01 -1.08766166e-01 9.14708122e+01] [ 1.42801580e-01 -4.11139253e-03 9.89742797e-01 2.80251120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.3692541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:424.57, Y:91.49, Z:28.03 [[ 6.18866173e-01 -7.79989275e-01 -9.28514396e-02 4.24569285e+02] [ 7.72332963e-01 6.25778825e-01 -1.09099296e-01 9.14923057e+01] [ 1.43200746e-01 -4.19436355e-03 9.89684775e-01 2.80286150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.39925415399995 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:424.59, Y:91.51, Z:28.03 [[ 6.17977386e-01 -7.80627853e-01 -9.34029218e-02 4.24585424e+02] [ 7.72877452e-01 6.24981147e-01 -1.09813521e-01 9.15142824e+01] [ 1.44098558e-01 -4.32673971e-03 9.89553882e-01 2.80330378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4292541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:424.60, Y:91.54, Z:28.04 [[ 6.17632336e-01 -7.80856260e-01 -9.37752598e-02 4.24602296e+02] [ 7.73036523e-01 6.24695548e-01 -1.10317754e-01 9.15364741e+01] [ 1.44723296e-01 -4.35588888e-03 9.89462578e-01 2.80370202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.45925415399995 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:424.62, Y:91.56, Z:28.04 [[ 6.17619686e-01 -7.80829137e-01 -9.40839095e-02 4.24618882e+02] [ 7.72947697e-01 6.24729678e-01 -1.10746049e-01 9.15577657e+01] [ 1.45250752e-01 -4.32300104e-03 9.89385431e-01 2.80406189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.4892541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:424.64, Y:91.58, Z:28.04 [[ 6.17470534e-01 -7.80928826e-01 -9.42353898e-02 4.24636166e+02] [ 7.73018366e-01 6.24604986e-01 -1.10955926e-01 9.15798320e+01] [ 1.45508575e-01 -4.33367226e-03 9.89347499e-01 2.80441768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.51925415399995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:424.65, Y:91.60, Z:28.05 [[ 6.16831009e-01 -7.81448452e-01 -9.41160052e-02 4.24653619e+02] [ 7.73554309e-01 6.23954232e-01 -1.10882137e-01 9.16015204e+01] [ 1.45372754e-01 -4.40830081e-03 9.89367136e-01 2.80479864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.5492541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:424.67, Y:91.62, Z:28.05 [[ 6.15488477e-01 -7.82603766e-01 -9.33020901e-02 4.24670476e+02] [ 7.74849869e-01 6.22503172e-01 -1.09988550e-01 9.16237498e+01] [ 1.44158300e-01 -4.59842732e-03 9.89543955e-01 2.80521037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.57925415399995 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:424.69, Y:91.65, Z:28.06 [[ 6.14452361e-01 -7.83462276e-01 -9.29255502e-02 4.24687760e+02] [ 7.75771346e-01 6.21421280e-01 -1.09610275e-01 9.16450684e+01] [ 1.43621430e-01 -4.73868691e-03 9.89621357e-01 2.80561562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.6092541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:424.70, Y:91.67, Z:28.06 [[ 6.13607165e-01 -7.84168745e-01 -9.25506747e-02 4.24704164e+02] [ 7.76538641e-01 6.20528746e-01 -1.09232846e-01 9.16656262e+01] [ 1.43087338e-01 -4.84311806e-03 9.89698216e-01 2.80599684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.63925415399996 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:424.73, Y:91.69, Z:28.06 [[ 6.13625986e-01 -7.83735903e-01 -9.60269987e-02 4.24728708e+02] [ 7.76685047e-01 6.21014830e-01 -1.05360896e-01 9.16872943e+01] [ 1.42209307e-01 -9.93055054e-03 9.89786794e-01 2.80640018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.66925415399993 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:424.74, Y:91.71, Z:28.07 [[ 6.10693361e-01 -7.86795239e-01 -8.94811208e-02 4.24736973e+02] [ 7.78947781e-01 6.17210877e-01 -1.10865181e-01 9.17103372e+01] [ 1.42456918e-01 -1.99649039e-03 9.89798990e-01 2.80681128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.69925415399996 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:424.76, Y:91.73, Z:28.07 [[ 6.08144651e-01 -7.88498774e-01 -9.18137630e-02 4.24755593e+02] [ 7.81018109e-01 6.15009725e-01 -1.08506921e-01 9.17311650e+01] [ 1.42023931e-01 -5.72030790e-03 9.89846696e-01 2.80710752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.72925415399993 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:424.77, Y:91.75, Z:28.07 [[ 6.06795134e-01 -7.89550878e-01 -9.17010114e-02 4.24772995e+02] [ 7.82091327e-01 6.13656562e-01 -1.08437909e-01 9.17523251e+01] [ 1.41890173e-01 -5.91897034e-03 9.89864710e-01 2.80747088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.75925415399996 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:424.79, Y:91.77, Z:28.08 [[ 6.05342682e-01 -7.90615488e-01 -9.21270131e-02 4.24790869e+02] [ 7.83089008e-01 6.12281990e-01 -1.09006285e-01 9.17739584e+01] [ 1.42589769e-01 -6.15749413e-03 9.89762721e-01 2.80786074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.78925415399993 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:424.81, Y:91.79, Z:28.08 [[ 6.03166334e-01 -7.92255865e-01 -9.23093606e-02 4.24806941e+02] [ 7.84709329e-01 6.10154197e-01 -1.09284602e-01 9.17949773e+01] [ 1.42904311e-01 -6.51922362e-03 9.89715039e-01 2.80821876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.81925415399996 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:424.82, Y:91.82, Z:28.09 [[ 6.02331037e-01 -7.92898602e-01 -9.22449421e-02 4.24823752e+02] [ 7.85366088e-01 6.09317313e-01 -1.09236075e-01 9.18163563e+01] [ 1.42819571e-01 -6.64977117e-03 9.89726402e-01 2.80857425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.84925415399994 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:424.84, Y:91.84, Z:28.09 [[ 6.01741354e-01 -7.93380517e-01 -9.19494322e-02 4.24839859e+02] [ 7.85898049e-01 6.08688859e-01 -1.08913402e-01 9.18375493e+01] [ 1.42378366e-01 -6.72518146e-03 9.89789459e-01 2.80893793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.87925415399997 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:424.86, Y:91.86, Z:28.09 [[ 6.01748078e-01 -7.93386814e-01 -9.18510410e-02 4.24857124e+02] [ 7.85916454e-01 6.08680906e-01 -1.08825006e-01 9.18593556e+01] [ 1.42248299e-01 -6.70200646e-03 9.89808317e-01 2.80932304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.90925415399994 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:424.87, Y:91.88, Z:28.10 [[ 6.02273475e-01 -7.92991689e-01 -9.18196161e-02 4.24874505e+02] [ 7.85513033e-01 6.09197044e-01 -1.08849604e-01 9.18813314e+01] [ 1.42253070e-01 -6.56827609e-03 9.89808528e-01 2.80970274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.93925415399997 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:424.89, Y:91.90, Z:28.10 [[ 6.04077714e-01 -7.91619848e-01 -9.18048601e-02 4.24890097e+02] [ 7.84119233e-01 6.10982402e-01 -1.08892300e-01 9.19033500e+01] [ 1.42292460e-01 -6.20654503e-03 9.89805200e-01 2.81007547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.96925415399994 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:424.90, Y:91.95, Z:28.10 [[ 6.11970413e-01 -7.90242237e-01 -3.17714002e-02 4.24899208e+02] [ 7.80031297e-01 6.09719338e-01 -1.40689388e-01 9.19515753e+01] [ 1.30550334e-01 6.13150564e-02 9.89543872e-01 2.81020106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.9992541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:424.95, Y:91.93, Z:28.09 [[ 6.05347424e-01 -7.82589020e-01 -1.45289095e-01 4.24954703e+02] [ 7.83407251e-01 6.18081317e-01 -6.51810157e-02 9.19301595e+01] [ 1.40810422e-01 -7.43633704e-02 9.87239846e-01 2.80921232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.02925415399994 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:424.94, Y:91.97, Z:28.11 [[ 6.06841389e-01 -7.89435312e-01 -9.23873200e-02 4.24942428e+02] [ 7.81776576e-01 6.13808476e-01 -1.09838698e-01 9.19727524e+01] [ 1.43418667e-01 -5.57157473e-03 9.89646424e-01 2.81131341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.0592541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:424.95, Y:92.02, Z:28.12 [[ 6.14731719e-01 -7.88185420e-01 -2.94729802e-02 4.24950703e+02] [ 7.77954829e-01 6.12062630e-01 -1.42005712e-01 9.20214733e+01] [ 1.29966142e-01 6.43667683e-02 9.89426966e-01 2.81161853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.08925415399995 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:425.01, Y:92.00, Z:28.10 [[ 6.07914551e-01 -7.79988495e-01 -1.48518843e-01 4.25008429e+02] [ 7.81356359e-01 6.20924706e-01 -6.27275806e-02 9.19955759e+01] [ 1.41145810e-01 -7.79131331e-02 9.86918134e-01 2.81027310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1192541539999 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:424.99, Y:92.06, Z:28.12 [[ 6.15813718e-01 -7.87103011e-01 -3.52464756e-02 4.24986145e+02] [ 7.76958048e-01 6.14086822e-01 -1.38685133e-01 9.20633562e+01] [ 1.30803882e-01 5.80191747e-02 9.89709109e-01 2.81249482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.14925415399995 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:425.04, Y:92.04, Z:28.11 [[ 6.09468203e-01 -7.79742497e-01 -1.43353226e-01 4.25040495e+02] [ 7.79982247e-01 6.22118924e-01 -6.77918809e-02 9.20423867e+01] [ 1.42042965e-01 -7.04959755e-02 9.87347008e-01 2.81129913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.1792541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:425.03, Y:92.08, Z:28.13 [[ 6.12922729e-01 -7.84658353e-01 -9.29354482e-02 4.25029136e+02] [ 7.76812022e-01 6.19913532e-01 -1.10771366e-01 9.20840960e+01] [ 1.44529619e-01 -4.29908573e-03 9.89491135e-01 2.81337362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.20925415399995 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:425.05, Y:92.11, Z:28.14 [[ 6.14971778e-01 -7.83047917e-01 -9.29821033e-02 4.25046921e+02] [ 7.75171338e-01 6.21949124e-01 -1.10854336e-01 9.21058912e+01] [ 1.44634395e-01 -3.90477308e-03 9.89477460e-01 2.81368552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2392541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:425.06, Y:92.13, Z:28.14 [[ 6.18712967e-01 -7.80153172e-01 -9.24948256e-02 4.25063086e+02] [ 7.72317616e-01 6.25580525e-01 -1.10338144e-01 9.21269053e+01] [ 1.43943614e-01 -3.16774287e-03 9.89580821e-01 2.81412709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.26925415399995 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:425.07, Y:92.17, Z:28.14 [[ 6.27011450e-01 -7.77945525e-01 -4.07112036e-02 4.25073471e+02] [ 7.67852136e-01 6.25999543e-01 -1.36116381e-01 9.21706900e+01] [ 1.31376324e-01 5.40863447e-02 9.89856014e-01 2.81437829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.2992541539999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:425.12, Y:92.18, Z:28.13 [[ 6.28925324e-01 -7.73323194e-01 -8.01509481e-02 4.25115938e+02] [ 7.66234385e-01 6.33997127e-01 -1.04558648e-01 9.21808049e+01] [ 1.31673098e-01 4.34516903e-03 9.91283670e-01 2.81333412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.32925415399995 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:425.15, Y:92.17, Z:28.14 [[ 6.21414213e-01 -7.69605636e-01 -1.46804430e-01 4.25145169e+02] [ 7.69546158e-01 6.34734179e-01 -7.00801833e-02 9.21738821e+01] [ 1.47115893e-01 -6.94239632e-02 9.86679901e-01 2.81373277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.3592541539999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:425.13, Y:92.22, Z:28.16 [[ 6.24366317e-01 -7.75933642e-01 -8.99649178e-02 4.25130232e+02] [ 7.66434539e-01 6.30778540e-01 -1.21229252e-01 9.22173458e+01] [ 1.50813795e-01 6.73924128e-03 9.88539216e-01 2.81601686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.38925415399996 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:425.16, Y:92.23, Z:28.16 [[ 6.24676344e-01 -7.74275829e-01 -1.01372613e-01 4.25155230e+02] [ 7.66605572e-01 6.32776364e-01 -1.09132811e-01 9.22346813e+01] [ 1.48645091e-01 -9.54012403e-03 9.88844590e-01 2.81608759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.41925415399993 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:425.17, Y:92.26, Z:28.17 [[ 6.24936673e-01 -7.74772023e-01 -9.58251873e-02 4.25171010e+02] [ 7.66181360e-01 6.32238902e-01 -1.15065610e-01 9.22578669e+01] [ 1.49734027e-01 -1.51075260e-03 9.88725158e-01 2.81655802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.44925415399996 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:425.19, Y:92.28, Z:28.17 [[ 6.23944657e-01 -7.75565601e-01 -9.58700343e-02 4.25189461e+02] [ 7.66965859e-01 6.31264800e-01 -1.15187342e-01 9.22789123e+01] [ 1.49854718e-01 -1.65851632e-03 9.88706636e-01 2.81700905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.47925415399993 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:425.21, Y:92.30, Z:28.17 [[ 6.22754129e-01 -7.76517559e-01 -9.59050298e-02 4.25207036e+02] [ 7.67912573e-01 6.30092909e-01 -1.15296167e-01 9.22985336e+01] [ 1.49958577e-01 -1.84551420e-03 9.88690558e-01 2.81739443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.50925415399996 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:425.23, Y:92.32, Z:28.18 [[ 6.19044186e-01 -7.79451971e-01 -9.61193053e-02 4.25226396e+02] [ 7.70838371e-01 6.26456841e-01 -1.15585607e-01 9.23177592e+01] [ 1.50308025e-01 -2.53985103e-03 9.88635953e-01 2.81783180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.53925415399993 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:425.25, Y:92.34, Z:28.18 [[ 6.16661018e-01 -7.81377806e-01 -9.58014263e-02 4.25245406e+02] [ 7.72834147e-01 6.24051272e-01 -1.15270948e-01 9.23383203e+01] [ 1.49855162e-01 -2.95551356e-03 9.88703543e-01 2.81824492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.56925415399996 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:425.26, Y:92.36, Z:28.19 [[ 6.16449604e-01 -7.81548728e-01 -9.57677958e-02 4.25263297e+02] [ 7.73002782e-01 6.23837211e-01 -1.15298882e-01 9.23600122e+01] [ 1.49855209e-01 -2.95282252e-03 9.88703544e-01 2.81865132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.59925415399994 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:425.28, Y:92.38, Z:28.19 [[ 6.11859958e-01 -7.85168425e-01 -9.55925483e-02 4.25282632e+02] [ 7.76687992e-01 6.19270685e-01 -1.15150257e-01 9.23786110e+01] [ 1.49610009e-01 -3.78975261e-03 9.88737823e-01 2.81894778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.62925415399997 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:425.30, Y:92.40, Z:28.19 [[ 6.09429709e-01 -7.87056392e-01 -9.55911386e-02 4.25300237e+02] [ 7.78594683e-01 6.16866527e-01 -1.15178158e-01 9.23981907e+01] [ 1.49618679e-01 -4.23376109e-03 9.88734710e-01 2.81943563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.65925415399994 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:425.32, Y:92.42, Z:28.20 [[ 6.05552137e-01 -7.90005327e-01 -9.59072065e-02 4.25319752e+02] [ 7.81518980e-01 6.13079935e-01 -1.15590121e-01 9.24176810e+01] [ 1.50115596e-01 -4.95745718e-03 9.88656023e-01 2.81983604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.68925415399997 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:425.34, Y:92.44, Z:28.20 [[ 6.03690930e-01 -7.91413003e-01 -9.60349914e-02 4.25338538e+02] [ 7.82911424e-01 6.11259071e-01 -1.15810410e-01 9.24383471e+01] [ 1.50356124e-01 -5.27319772e-03 9.88617838e-01 2.82023559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.71925415399994 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:425.36, Y:92.46, Z:28.21 [[ 6.02100281e-01 -7.92637612e-01 -9.59211537e-02 4.25357071e+02] [ 7.84161610e-01 6.09667961e-01 -1.15739137e-01 9.24591417e+01] [ 1.50219248e-01 -5.53111925e-03 9.88637236e-01 2.82064942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.7492541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:425.37, Y:92.48, Z:28.21 [[ 6.00785303e-01 -7.93635751e-01 -9.59130526e-02 4.25374391e+02] [ 7.85163953e-01 6.08366127e-01 -1.15793877e-01 9.24790842e+01] [ 1.50248413e-01 -5.74021188e-03 9.88631612e-01 2.82107990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.77925415399994 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:425.39, Y:92.50, Z:28.21 [[ 5.98647747e-01 -7.95259842e-01 -9.58261884e-02 4.25392728e+02] [ 7.86819630e-01 6.06237810e-01 -1.15717707e-01 9.24983906e+01] [ 1.50119104e-01 -6.12378152e-03 9.88648954e-01 2.82142666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8092541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:425.42, Y:92.52, Z:28.22 [[ 5.98387303e-01 -7.95150411e-01 -9.83283253e-02 4.25415683e+02] [ 7.86960805e-01 6.06344690e-01 -1.14187600e-01 9.25201623e+01] [ 1.50417175e-01 -9.05212805e-03 9.88581171e-01 2.82188315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.83925415399995 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:425.43, Y:92.54, Z:28.22 [[ 5.95901209e-01 -7.97385228e-01 -9.52814152e-02 4.25428342e+02] [ 7.88695742e-01 6.03448874e-01 -1.17509502e-01 9.25400567e+01] [ 1.51197804e-01 -5.12399235e-03 9.88490247e-01 2.82226395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.8692541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:425.45, Y:92.56, Z:28.23 [[ 5.96550250e-01 -7.96409920e-01 -9.92926924e-02 4.25451475e+02] [ 7.88170119e-01 6.04677083e-01 -1.14688660e-01 9.25613125e+01] [ 1.51379202e-01 -9.84198454e-03 9.88426766e-01 2.82264488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.89925415399995 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:425.46, Y:92.58, Z:28.23 [[ 5.94697057e-01 -7.98280841e-01 -9.53053501e-02 4.25463323e+02] [ 7.89524263e-01 6.02264156e-01 -1.18022557e-01 9.25820003e+01] [ 1.51614142e-01 -5.05821909e-03 9.88426814e-01 2.82302790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9292541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:425.48, Y:92.61, Z:28.23 [[ 5.97255215e-01 -7.97437763e-01 -8.59024014e-02 4.25484957e+02] [ 7.87976957e-01 6.03375843e-01 -1.22596520e-01 9.26092450e+01] [ 1.49594529e-01 5.53229824e-03 9.88731951e-01 2.82342441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.95925415399995 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:425.51, Y:92.62, Z:28.23 [[ 5.94178822e-01 -7.96959569e-01 -1.08659891e-01 4.25505551e+02] [ 7.89846550e-01 6.03652462e-01 -1.08379576e-01 9.26190555e+01] [ 1.51966951e-01 -2.14277908e-02 9.88153275e-01 2.82342001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.9892541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:425.52, Y:92.66, Z:28.24 [[ 5.97422566e-01 -7.98339282e-01 -7.57672009e-02 4.25516730e+02] [ 7.87980861e-01 6.01950788e-01 -1.29388603e-01 9.26564674e+01] [ 1.48904131e-01 1.75965672e-02 9.88695059e-01 2.82426574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.01925415399995 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:425.55, Y:92.66, Z:28.24 [[ 5.93267375e-01 -7.96164160e-01 -1.18980887e-01 4.25546316e+02] [ 7.90396427e-01 6.04133492e-01 -1.01470253e-01 9.26593921e+01] [ 1.52667318e-01 -3.38430775e-02 9.87697998e-01 2.82396062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.0492541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:425.55, Y:92.69, Z:28.25 [[ 5.92641888e-01 -7.99464483e-01 -9.81434372e-02 4.25552289e+02] [ 7.90576085e-01 6.00672423e-01 -1.19088600e-01 9.26888028e+01] [ 1.54159162e-01 -7.01296140e-03 9.88021139e-01 2.82505888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.07925415399995 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:425.57, Y:92.73, Z:28.26 [[ 5.97795865e-01 -7.99804931e-01 -5.43339247e-02 4.25565762e+02] [ 7.88183742e-01 5.98773786e-01 -1.42254497e-01 9.27323500e+01] [ 1.46309578e-01 4.22140342e-02 9.88337737e-01 2.82553505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.1092541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:425.61, Y:92.72, Z:28.25 [[ 5.88949552e-01 -7.95763584e-01 -1.41062907e-01 4.25610374e+02] [ 7.93409907e-01 6.02524038e-01 -8.64031415e-02 9.27170002e+01] [ 1.53750266e-01 -6.10336163e-02 9.86222974e-01 2.82461537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.13925415399996 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:425.61, Y:92.75, Z:28.26 [[ 5.87772669e-01 -8.02861531e-01 -9.96827595e-02 4.25605323e+02] [ 7.93698295e-01 5.96113540e-01 -1.21209170e-01 9.27547177e+01] [ 1.56736423e-01 -7.87459886e-03 9.87609075e-01 2.82628362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.16925415399993 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:425.62, Y:92.78, Z:28.27 [[ 5.86024383e-01 -8.04082818e-01 -1.00131138e-01 4.25622149e+02] [ 7.94842791e-01 5.94460802e-01 -1.21824843e-01 9.27769592e+01] [ 1.57481299e-01 -8.19618504e-03 9.87487956e-01 2.82671252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.19925415399996 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:425.64, Y:92.80, Z:28.27 [[ 5.85579023e-01 -8.04426290e-01 -9.99777601e-02 4.25639019e+02] [ 7.95208204e-01 5.93995433e-01 -1.21710059e-01 9.27990681e+01] [ 1.57293104e-01 -8.23227779e-03 9.87517650e-01 2.82713193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.22925415399993 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:425.65, Y:92.82, Z:28.28 [[ 5.86576282e-01 -8.03759195e-01 -9.94958347e-02 4.25654553e+02] [ 7.94609805e-01 5.94901344e-01 -1.21192615e-01 9.28207219e+01] [ 1.56599885e-01 -7.97165206e-03 9.87629955e-01 2.82760825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.25925415399996 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:425.67, Y:92.84, Z:28.28 [[ 5.87428535e-01 -8.03197037e-01 -9.90062423e-02 4.25671335e+02] [ 7.94122171e-01 5.95663015e-01 -1.20646387e-01 9.28430266e+01] [ 1.55877177e-01 -7.75192166e-03 9.87746027e-01 2.82805267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.28925415399993 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:425.69, Y:92.86, Z:28.28 [[ 5.88777261e-01 -8.02263107e-01 -9.85659407e-02 4.25687226e+02] [ 7.93245394e-01 5.96924391e-01 -1.20179103e-01 9.28646575e+01] [ 1.55251675e-01 -7.42825516e-03 9.87847022e-01 2.82846963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.31925415399996 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:425.70, Y:92.89, Z:28.29 [[ 5.91665560e-01 -8.00125251e-01 -9.86480978e-02 4.25703165e+02] [ 7.91057455e-01 5.99793840e-01 -1.20313978e-01 9.28877890e+01] [ 1.55434773e-01 -6.85067620e-03 9.87822403e-01 2.82889559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.34925415399994 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:425.72, Y:92.91, Z:28.29 [[ 5.92833204e-01 -7.99337091e-01 -9.80255424e-02 4.25719349e+02] [ 7.90362198e-01 6.00847081e-01 -1.19626008e-01 9.29104460e+01] [ 1.54519866e-01 -6.55741370e-03 9.87967920e-01 2.82936792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.37925415399997 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:425.74, Y:92.93, Z:28.30 [[ 5.94003131e-01 -7.98470454e-01 -9.80061973e-02 4.25735678e+02] [ 7.89476286e-01 6.02001169e-01 -1.19673670e-01 9.29329140e+01] [ 1.54555735e-01 -6.28703423e-03 9.87964067e-01 2.82978692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.40925415399994 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:425.75, Y:92.96, Z:28.30 [[ 5.95874954e-01 -7.97065486e-01 -9.80798201e-02 4.25750434e+02] [ 7.88027408e-01 6.03864235e-01 -1.19836514e-01 9.29561727e+01] [ 1.54744445e-01 -5.88200911e-03 9.87937022e-01 2.83021877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.43925415399997 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:425.77, Y:92.98, Z:28.31 [[ 5.96491106e-01 -7.96655033e-01 -9.76684181e-02 4.25766562e+02] [ 7.87676562e-01 6.04407301e-01 -1.19404559e-01 9.29778992e+01] [ 1.54155748e-01 -5.70736629e-03 9.88030076e-01 2.83063156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.46925415399994 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:425.78, Y:93.00, Z:28.31 [[ 5.96916115e-01 -7.96360727e-01 -9.74717675e-02 4.25782441e+02] [ 7.87406805e-01 6.04796131e-01 -1.19214778e-01 9.30000726e+01] [ 1.53888515e-01 -5.58871117e-03 9.88072412e-01 2.83102276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.4992541539999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:425.80, Y:93.02, Z:28.31 [[ 5.96736005e-01 -7.96527484e-01 -9.72116649e-02 4.25799197e+02] [ 7.87612688e-01 6.04576639e-01 -1.18967817e-01 9.30220924e+01] [ 1.53533037e-01 -5.57276103e-03 9.88127801e-01 2.83139430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.52925415399994 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:425.82, Y:93.04, Z:28.32 [[ 5.96169107e-01 -7.96921816e-01 -9.74577580e-02 4.25815731e+02] [ 7.87955493e-01 6.04056087e-01 -1.19341464e-01 9.30440506e+01] [ 1.53975769e-01 -5.64468151e-03 9.88058500e-01 2.83183603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.5592541539999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:425.83, Y:93.07, Z:28.32 [[ 5.95767374e-01 -7.97219566e-01 -9.74792290e-02 4.25831577e+02] [ 7.88242453e-01 6.03662731e-01 -1.19436774e-01 9.30650224e+01] [ 1.54061911e-01 -5.68073334e-03 9.88044866e-01 2.83221147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.58925415399995 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:425.84, Y:93.11, Z:28.33 [[ 6.02714317e-01 -7.97181435e-01 -3.51740296e-02 4.25837988e+02] [ 7.85221701e-01 6.00362468e-01 -1.51630430e-01 9.31141548e+01] [ 1.41994131e-01 6.37704199e-02 9.87811217e-01 2.83274682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6192541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:425.90, Y:93.09, Z:28.31 [[ 5.93094341e-01 -7.89993916e-01 -1.55398565e-01 4.25896483e+02] [ 7.90474318e-01 6.08009632e-01 -7.39908093e-02 9.30900238e+01] [ 1.52936114e-01 -7.89550445e-02 9.85076975e-01 2.83115954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.64925415399995 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:425.88, Y:93.13, Z:28.33 [[ 5.92282170e-01 -7.99626156e-01 -9.89941505e-02 4.25881348e+02] [ 7.90370191e-01 6.00465154e-01 -1.21476581e-01 9.31328943e+01] [ 1.56578390e-01 -6.29361241e-03 9.87645482e-01 2.83339357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.6792541539999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:425.89, Y:93.18, Z:28.34 [[ 6.00665115e-01 -7.98900895e-01 -3.09641683e-02 4.25887797e+02] [ 7.86585169e-01 5.97451599e-01 -1.55997942e-01 9.31839140e+01] [ 1.43126487e-01 6.93465662e-02 9.87271929e-01 2.83390216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.70925415399995 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:425.95, Y:93.16, Z:28.32 [[ 5.91262456e-01 -7.90315174e-01 -1.60656883e-01 4.25949200e+02] [ 7.91721180e-01 6.06744335e-01 -7.09851041e-02 9.31555788e+01] [ 1.53578259e-01 -8.52246304e-02 9.84454408e-01 2.83220425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7392541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:425.93, Y:93.20, Z:28.35 [[ 5.93165093e-01 -7.99043293e-01 -9.84123343e-02 4.25930876e+02] [ 7.89857448e-01 6.01243729e-01 -1.20959458e-01 9.32015595e+01] [ 1.55821643e-01 -5.98278690e-03 9.87767089e-01 2.83470841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.76925415399995 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:425.95, Y:93.22, Z:28.35 [[ 5.94719865e-01 -7.97929967e-01 -9.80614647e-02 4.25947198e+02] [ 7.88783521e-01 6.02723915e-01 -1.20600328e-01 9.32236352e+01] [ 1.55334606e-01 -5.62585637e-03 9.87845894e-01 2.83513975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.7992541539999 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:425.95, Y:93.26, Z:28.36 [[ 5.98477634e-01 -7.97938897e-01 -7.15404666e-02 4.25953943e+02] [ 7.87104159e-01 6.02285691e-01 -1.33112697e-01 9.32556087e+01] [ 1.49303598e-01 2.33551732e-02 9.88515539e-01 2.83563034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.82925415399995 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:425.99, Y:93.26, Z:28.35 [[ 6.00511649e-01 -7.90701860e-01 -1.19064389e-01 4.25991190e+02] [ 7.84787839e-01 6.11348050e-01 -1.01791989e-01 9.32621914e+01] [ 1.53276897e-01 -3.23130092e-02 9.87654830e-01 2.83523085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.8592541539999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:426.00, Y:93.29, Z:28.36 [[ 6.03571594e-01 -7.91343673e-01 -9.73474346e-02 4.25995060e+02] [ 7.82215851e-01 6.11359912e-01 -1.19905883e-01 9.32934322e+01] [ 1.54401081e-01 -3.77492149e-03 9.88001041e-01 2.83642011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.88925415399996 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:426.01, Y:93.31, Z:28.37 [[ 6.04532676e-01 -7.90601531e-01 -9.74138708e-02 4.26011240e+02] [ 7.81440812e-01 6.12320710e-01 -1.20056678e-01 9.33147728e+01] [ 1.54565524e-01 -3.54498958e-03 9.87976180e-01 2.83676880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.91925415399993 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:426.02, Y:93.37, Z:28.37 [[ 6.13748976e-01 -7.89009062e-01 -2.78728305e-02 4.26015986e+02] [ 7.77428623e-01 6.10137480e-01 -1.52764497e-01 9.33655697e+01] [ 1.37538831e-01 7.20899173e-02 9.87869482e-01 2.83716670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.94925415399996 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:426.08, Y:93.34, Z:28.35 [[ 6.04700225e-01 -7.80545651e-01 -1.58385998e-01 4.26078496e+02] [ 7.81712465e-01 6.19737408e-01 -6.96503203e-02 9.33378126e+01] [ 1.52522983e-01 -8.16947447e-02 9.84917615e-01 2.83548595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.97925415399993 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:426.06, Y:93.38, Z:28.38 [[ 6.04713078e-01 -7.90501116e-01 -9.71085959e-02 4.26061751e+02] [ 7.81370996e-01 6.12451131e-01 -1.19845647e-01 9.33830319e+01] [ 1.54212387e-01 -3.40561048e-03 9.88031853e-01 2.83803616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.00925415399996 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:426.08, Y:93.40, Z:28.38 [[ 6.04360159e-01 -7.90760710e-01 -9.71920664e-02 4.26077693e+02] [ 7.81607194e-01 6.12115777e-01 -1.20018627e-01 9.34039669e+01] [ 1.54398812e-01 -3.43154173e-03 9.88002647e-01 2.83843089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.03925415399993 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:426.09, Y:93.43, Z:28.39 [[ 6.03175727e-01 -7.91601380e-01 -9.77051595e-02 4.26094395e+02] [ 7.82355869e-01 6.11026981e-01 -1.20686878e-01 9.34259373e+01] [ 1.55236388e-01 -3.64480935e-03 9.87870629e-01 2.83875896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.06925415399996 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:426.11, Y:93.45, Z:28.39 [[ 6.02249657e-01 -7.92257679e-01 -9.80975121e-02 4.26111390e+02] [ 7.82934222e-01 6.10174938e-01 -1.21245819e-01 9.34483500e+01] [ 1.55914574e-01 -3.78364663e-03 9.87763296e-01 2.83914035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.09925415399994 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:426.13, Y:93.47, Z:28.39 [[ 6.00871678e-01 -7.93195684e-01 -9.89637952e-02 4.26127010e+02] [ 7.83706971e-01 6.08953574e-01 -1.22388432e-01 9.34707342e+01] [ 1.57342333e-01 -4.01887396e-03 9.87535943e-01 2.83949097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.12925415399997 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:426.14, Y:93.49, Z:28.40 [[ 5.99840405e-01 -7.93948527e-01 -9.91827925e-02 4.26143627e+02] [ 7.84421954e-01 6.07970449e-01 -1.22695276e-01 9.34924850e+01] [ 1.57713941e-01 -4.20357593e-03 9.87475895e-01 2.83983410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.15925415399994 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:426.16, Y:93.51, Z:28.40 [[ 5.98904274e-01 -7.94643671e-01 -9.92728896e-02 4.26160376e+02] [ 7.85097226e-01 6.07060589e-01 -1.22881193e-01 9.35148386e+01] [ 1.57911421e-01 -4.34479866e-03 9.87443723e-01 2.84025375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.18925415399997 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:426.18, Y:93.54, Z:28.41 [[ 5.97811883e-01 -7.95470776e-01 -9.92330486e-02 4.26176233e+02] [ 7.85931281e-01 6.05975131e-01 -1.22907126e-01 9.35369087e+01] [ 1.57901787e-01 -4.51501652e-03 9.87444500e-01 2.84066155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.21925415399994 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:426.19, Y:93.56, Z:28.41 [[ 5.95898182e-01 -7.96968485e-01 -9.87248206e-02 4.26191756e+02] [ 7.87534362e-01 6.04001532e-01 -1.22359214e-01 9.35594398e+01] [ 1.57146381e-01 -4.83555536e-03 9.87563483e-01 2.84108523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.2492541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:426.20, Y:93.61, Z:28.42 [[ 6.03168792e-01 -7.96705033e-01 -3.80591594e-02 4.26198827e+02] [ 7.84823905e-01 6.01331730e-01 -1.49838543e-01 9.36066007e+01] [ 1.42263301e-01 6.05081945e-02 9.87977688e-01 2.84163840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.27925415399994 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:426.26, Y:93.59, Z:28.40 [[ 5.93852786e-01 -7.90104635e-01 -1.51899751e-01 4.26255950e+02] [ 7.89631786e-01 6.08558997e-01 -7.83427743e-02 9.35858096e+01] [ 1.54338949e-01 -7.34207965e-02 9.85286190e-01 2.84001793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3092541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:426.24, Y:93.63, Z:28.42 [[ 5.93710658e-01 -7.98731582e-01 -9.76499615e-02 4.26241658e+02] [ 7.89492601e-01 6.01665802e-01 -1.21242300e-01 9.36283424e+01] [ 1.55592697e-01 -5.11107622e-03 9.87808073e-01 2.84246646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.33925415399995 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:426.25, Y:93.67, Z:28.43 [[ 6.00664788e-01 -7.98335403e-01 -4.31555004e-02 4.26250118e+02] [ 7.86657178e-01 5.99790093e-01 -1.46363689e-01 9.36729268e+01] [ 1.42731556e-01 5.39669300e-02 9.88289064e-01 2.84293437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.3692541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:426.30, Y:93.66, Z:28.42 [[ 5.93430915e-01 -7.91672227e-01 -1.45240606e-01 4.26301473e+02] [ 7.90326536e-01 6.07297242e-01 -8.10803649e-02 9.36578464e+01] [ 1.52393293e-01 -6.66719099e-02 9.86068527e-01 2.84157107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.39925415399995 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:426.29, Y:93.70, Z:28.44 [[ 5.93750641e-01 -7.98854752e-01 -9.63911944e-02 4.26291641e+02] [ 7.89826221e-01 6.01503510e-01 -1.19866878e-01 9.36981427e+01] [ 1.53735867e-01 -4.96125694e-03 9.88099524e-01 2.84385733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4292541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:426.31, Y:93.72, Z:28.44 [[ 5.94083544e-01 -7.98628164e-01 -9.62174499e-02 4.26308657e+02] [ 7.89618460e-01 6.01805223e-01 -1.19721186e-01 9.37201798e+01] [ 1.53516875e-01 -4.85068795e-03 9.88134120e-01 2.84420729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.45925415399995 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:426.33, Y:93.74, Z:28.45 [[ 5.93872220e-01 -7.98789421e-01 -9.61834013e-02 4.26326169e+02] [ 7.89777394e-01 6.01591187e-01 -1.19748535e-01 9.37421524e+01] [ 1.53516950e-01 -4.84814758e-03 9.88134121e-01 2.84462122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.4892541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:426.34, Y:93.76, Z:28.45 [[ 5.92966060e-01 -7.99504859e-01 -9.58291804e-02 4.26342265e+02] [ 7.90558579e-01 6.00639022e-01 -1.19372936e-01 9.37646489e+01] [ 1.52997988e-01 -4.97448114e-03 9.88213980e-01 2.84507570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.51925415399995 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:426.36, Y:93.79, Z:28.45 [[ 5.92319729e-01 -7.99983525e-01 -9.58316195e-02 4.26359247e+02] [ 7.91032218e-01 6.00000665e-01 -1.19445519e-01 9.37866726e+01] [ 1.53053483e-01 -5.05596127e-03 9.88204973e-01 2.84548525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.5492541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:426.37, Y:93.81, Z:28.46 [[ 5.91291984e-01 -8.00755701e-01 -9.57292903e-02 4.26374859e+02] [ 7.91822679e-01 5.98968441e-01 -1.19388660e-01 9.38085762e+01] [ 1.52939974e-01 -5.20706564e-03 9.88221762e-01 2.84588279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.57925415399995 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:426.39, Y:93.83, Z:28.46 [[ 5.90861501e-01 -8.01092171e-01 -9.55720707e-02 4.26391256e+02] [ 7.92187826e-01 5.98517847e-01 -1.19225980e-01 9.38304602e+01] [ 1.52712589e-01 -5.26498921e-03 9.88256619e-01 2.84630825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.6092541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:426.41, Y:93.85, Z:28.47 [[ 5.90224827e-01 -8.01547637e-01 -9.56871975e-02 4.26407832e+02] [ 7.92616490e-01 5.97907022e-01 -1.19441588e-01 9.38529564e+01] [ 1.52950170e-01 -5.34586024e-03 9.88219443e-01 2.84673455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.63925415399996 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:426.41, Y:93.91, Z:28.47 [[ 5.98543604e-01 -8.00729777e-01 -2.40286885e-02 4.26412343e+02] [ 7.89106572e-01 5.94493365e-01 -1.54558911e-01 9.39061631e+01] [ 1.38044818e-01 7.35490516e-02 9.87691331e-01 2.84749850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.66925415399993 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:426.48, Y:93.88, Z:28.45 [[ 5.88426546e-01 -7.92124732e-01 -1.62149957e-01 4.26477733e+02] [ 7.94055407e-01 6.03941022e-01 -6.87841028e-02 9.38761923e+01] [ 1.52414600e-01 -8.82816579e-02 9.84365856e-01 2.84511267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.69925415399996 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:426.46, Y:93.92, Z:28.48 [[ 5.88292415e-01 -8.02756566e-01 -9.74368000e-02 4.26457837e+02] [ 7.93468280e-01 5.96280538e-01 -1.21891790e-01 9.39215251e+01] [ 1.55949102e-01 -5.60499459e-03 9.87749190e-01 2.84800838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.72925415399993 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:426.47, Y:93.94, Z:28.48 [[ 5.87594532e-01 -8.03247814e-01 -9.75992591e-02 4.26474026e+02] [ 7.93929500e-01 5.95617483e-01 -1.22130109e-01 9.39433198e+01] [ 1.56232568e-01 -5.72394698e-03 9.87703711e-01 2.84839363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.75925415399996 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:426.49, Y:93.96, Z:28.49 [[ 5.86408672e-01 -8.04095588e-01 -9.77504755e-02 4.26489506e+02] [ 7.94748296e-01 5.94470602e-01 -1.22392199e-01 9.39649418e+01] [ 1.56524811e-01 -5.91517695e-03 9.87656314e-01 2.84869110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.78925415399993 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:426.51, Y:93.99, Z:28.49 [[ 5.84140477e-01 -8.05781759e-01 -9.74456779e-02 4.26505269e+02] [ 7.96507944e-01 5.92178927e-01 -1.22062337e-01 9.39871972e+01] [ 1.56060881e-01 -6.31470496e-03 9.87727253e-01 2.84915861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.81925415399996 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:426.52, Y:94.01, Z:28.50 [[ 5.83041258e-01 -8.06616656e-01 -9.71208628e-02 4.26521424e+02] [ 7.97404910e-01 5.91039492e-01 -1.21728090e-01 9.40082117e+01] [ 1.55590170e-01 -6.47215433e-03 9.87800491e-01 2.84954089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.84925415399994 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:426.54, Y:94.03, Z:28.50 [[ 5.81911777e-01 -8.07503274e-01 -9.65253665e-02 4.26537747e+02] [ 7.98409170e-01 5.89825741e-01 -1.21030548e-01 9.40296898e+01] [ 1.54665709e-01 -6.63763657e-03 9.87944563e-01 2.84993764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.87925415399997 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:426.55, Y:94.05, Z:28.51 [[ 5.80572568e-01 -8.09208610e-01 -9.00939439e-02 4.26549471e+02] [ 7.99148459e-01 5.87518483e-01 -1.27215457e-01 9.40542452e+01] [ 1.55875700e-01 1.85936814e-03 9.87774928e-01 2.85071942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.90925415399994 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:426.57, Y:94.07, Z:28.51 [[ 5.79401753e-01 -8.08670679e-01 -1.01712056e-01 4.26573836e+02] [ 8.00565159e-01 5.88077728e-01 -1.15152121e-01 9.40734247e+01] [ 1.52934739e-01 -1.47077877e-02 9.88126837e-01 2.85060084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.93925415399997 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:426.59, Y:94.10, Z:28.51 [[ 5.78597297e-01 -8.10032005e-01 -9.52539721e-02 4.26585291e+02] [ 8.01199704e-01 5.86341829e-01 -1.19508553e-01 9.40976599e+01] [ 1.52657141e-01 -7.17012875e-03 9.88253200e-01 2.85130890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.96925415399994 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:426.60, Y:94.12, Z:28.52 [[ 5.78235801e-01 -8.10316139e-01 -9.50321715e-02 4.26601276e+02] [ 8.01523818e-01 5.85948631e-01 -1.19263452e-01 9.41195567e+01] [ 1.52325071e-01 -7.20815137e-03 9.88304161e-01 2.85172417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.9992541539999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:426.62, Y:94.14, Z:28.52 [[ 5.77729458e-01 -8.10706722e-01 -9.47801923e-02 4.26617635e+02] [ 8.01955486e-01 5.85407602e-01 -1.19018224e-01 9.41417670e+01] [ 1.51973920e-01 -7.24916097e-03 9.88357920e-01 2.85215789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.02925415399994 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:426.63, Y:94.16, Z:28.53 [[ 5.77241138e-01 -8.11092897e-01 -9.44509442e-02 4.26633929e+02] [ 8.02396875e-01 5.84872018e-01 -1.18675935e-01 9.41632619e+01] [ 1.51498922e-01 -7.28251081e-03 9.88430595e-01 2.85255523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.0592541539999 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:426.65, Y:94.19, Z:28.53 [[ 5.75896458e-01 -8.12073500e-01 -9.42332246e-02 4.26650999e+02] [ 8.03425684e-01 5.83506927e-01 -1.18434946e-01 9.41853571e+01] [ 1.51163620e-01 -7.50312733e-03 9.88480280e-01 2.85299839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.08925415399995 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:426.67, Y:94.21, Z:28.53 [[ 5.75308875e-01 -8.12506778e-01 -9.40873763e-02 4.26668156e+02] [ 8.03880929e-01 5.82902673e-01 -1.18321286e-01 9.42071211e+01] [ 1.50980630e-01 -7.56376160e-03 9.88507784e-01 2.85344240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1192541539999 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:426.68, Y:94.23, Z:28.54 [[ 5.74629232e-01 -8.12956238e-01 -9.43578317e-02 4.26684589e+02] [ 8.04275922e-01 5.82274349e-01 -1.18730046e-01 9.42283179e+01] [ 1.51464476e-01 -7.66397717e-03 9.88432990e-01 2.85382125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.14925415399995 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:426.70, Y:94.25, Z:28.54 [[ 5.74009836e-01 -8.13240006e-01 -9.56734093e-02 4.26701320e+02] [ 8.04313387e-01 5.81875745e-01 -1.20418403e-01 9.42499115e+01] [ 1.53599099e-01 -7.83005609e-03 9.88102225e-01 2.85416999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.1792541539999 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:426.72, Y:94.27, Z:28.55 [[ 5.74329343e-01 -8.12977090e-01 -9.59898780e-02 4.26718077e+02] [ 8.03976472e-01 5.82244165e-01 -1.20886578e-01 9.42718128e+01] [ 1.54167565e-01 -7.74489430e-03 9.88014361e-01 2.85453020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.20925415399995 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:426.73, Y:94.29, Z:28.55 [[ 5.75087502e-01 -8.12387990e-01 -9.64371248e-02 4.26733794e+02] [ 8.03283853e-01 5.83067971e-01 -1.21518690e-01 9.42930474e+01] [ 1.54949723e-01 -7.58250553e-03 9.87893258e-01 2.85487365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2392541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:426.75, Y:94.32, Z:28.55 [[ 5.78511670e-01 -8.09875864e-01 -9.70841511e-02 4.26749330e+02] [ 8.00607993e-01 5.86560302e-01 -1.22367698e-01 9.43154401e+01] [ 1.56048354e-01 -6.93520596e-03 9.87725070e-01 2.85525279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.26925415399995 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:426.77, Y:94.34, Z:28.56 [[ 5.80869866e-01 -8.08183569e-01 -9.71057069e-02 4.26765212e+02] [ 7.98876597e-01 5.88895470e-01 -1.22467582e-01 9.43376347e+01] [ 1.56161398e-01 -6.43774902e-03 9.87710572e-01 2.85568874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.2992541539999 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:426.78, Y:94.36, Z:28.56 [[ 5.87560361e-01 -8.03454076e-01 -9.60956275e-02 4.26779656e+02] [ 7.94266335e-01 5.95345103e-01 -1.21264990e-01 9.43610311e+01] [ 1.54640911e-01 -5.07502070e-03 9.87957708e-01 2.85621168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.32925415399995 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:426.79, Y:94.38, Z:28.57 [[ 5.91241949e-01 -8.00819739e-01 -9.55023767e-02 4.26794906e+02] [ 7.91700142e-01 5.98889935e-01 -1.20589100e-01 9.43834212e+01] [ 1.53765544e-01 -4.31191061e-03 9.88097953e-01 2.85666812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.3592541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:426.81, Y:94.41, Z:28.57 [[ 5.95362603e-01 -7.97813477e-01 -9.50632753e-02 4.26809999e+02] [ 7.88728638e-01 6.02894351e-01 -1.20106354e-01 9.44051466e+01] [ 1.53135580e-01 -3.47229615e-03 9.88199088e-01 2.85709969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.38925415399996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:426.83, Y:94.43, Z:28.58 [[ 6.02965758e-01 -7.92174059e-01 -9.43003463e-02 4.26825128e+02] [ 7.83160865e-01 6.10291968e-01 -1.19175389e-01 9.44287807e+01] [ 1.51958395e-01 -1.99366214e-03 9.88384880e-01 2.85753271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.41925415399993 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:426.84, Y:94.45, Z:28.58 [[ 6.05929951e-01 -7.89928765e-01 -9.41352232e-02 4.26841270e+02] [ 7.80909358e-01 6.13197060e-01 -1.19037558e-01 9.44508507e+01] [ 1.51754633e-01 -1.38265528e-03 9.88417230e-01 2.85791247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.44925415399996 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:426.86, Y:94.47, Z:28.58 [[ 6.08550974e-01 -7.87925763e-01 -9.40143791e-02 4.26857625e+02] [ 7.78894716e-01 6.15769675e-01 -1.18956836e-01 9.44725576e+01] [ 1.51620360e-01 -8.36004631e-04 9.88438449e-01 2.85826460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.47925415399993 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:426.87, Y:94.49, Z:28.59 [[ 6.11384846e-01 -7.85649152e-01 -9.46783047e-02 4.26873993e+02] [ 7.76450720e-01 6.18672255e-01 -1.19870426e-01 9.44945762e+01] [ 1.52750939e-01 -2.26075885e-04 9.88264691e-01 2.85863486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.50925415399996 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:426.88, Y:94.52, Z:28.59 [[ 6.12431611e-01 -7.87407231e-01 -7.01239916e-02 4.26880065e+02] [ 7.76707970e-01 6.15867921e-01 -1.32028149e-01 9.45243087e+01] [ 1.47147036e-01 2.63923487e-02 9.88762456e-01 2.85908393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.53925415399993 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:426.91, Y:94.54, Z:28.59 [[ 6.11848288e-01 -7.85009145e-01 -9.69655383e-02 4.26914904e+02] [ 7.76809517e-01 6.19455243e-01 -1.13323328e-01 9.45366769e+01] [ 1.49025660e-01 -5.98706889e-03 9.88815204e-01 2.85850047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.56925415399996 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:426.94, Y:94.55, Z:28.59 [[ 6.07207345e-01 -7.86399974e-01 -1.13465064e-01 4.26936436e+02] [ 7.79291515e-01 6.17293941e-01 -1.07948714e-01 9.45525732e+01] [ 1.54932163e-01 -2.28751093e-02 9.87660242e-01 2.85914268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.59925415399994 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:426.94, Y:94.58, Z:28.60 [[ 6.04607413e-01 -7.90714202e-01 -9.60256528e-02 4.26944572e+02] [ 7.81273360e-01 6.12183954e-01 -1.21830796e-01 9.45793894e+01] [ 1.55118705e-01 -1.36248183e-03 9.87894899e-01 2.86028367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.62925415399997 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:426.96, Y:94.60, Z:28.61 [[ 6.02147075e-01 -7.93147346e-01 -9.13027220e-02 4.26958930e+02] [ 7.82835513e-01 6.09006252e-01 -1.27592888e-01 9.46015689e+01] [ 1.56803889e-01 5.35467118e-03 9.87615243e-01 2.86091110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.65925415399994 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:426.99, Y:94.62, Z:28.61 [[ 5.94661032e-01 -7.97633786e-01 -1.00789883e-01 4.26985449e+02] [ 7.88917731e-01 6.03069354e-01 -1.17966805e-01 9.46192466e+01] [ 1.54877599e-01 -9.36466426e-03 9.87889281e-01 2.86084165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.68925415399997 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:427.00, Y:94.64, Z:28.61 [[ 5.90925053e-01 -8.00979871e-01 -9.61188241e-02 4.27000651e+02] [ 7.91625808e-01 5.98678395e-01 -1.22117810e-01 9.46411987e+01] [ 1.55358171e-01 -3.92766834e-03 9.87850400e-01 2.86146084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.71925415399994 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:427.02, Y:94.66, Z:28.62 [[ 5.84025660e-01 -8.06001984e-01 -9.63059163e-02 4.27019056e+02] [ 7.96673046e-01 5.91889579e-01 -1.22387844e-01 9.46607235e+01] [ 1.55647313e-01 -5.24668647e-03 9.87798758e-01 2.86188193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.7492541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:427.04, Y:94.68, Z:28.62 [[ 5.80752994e-01 -8.08391976e-01 -9.60644196e-02 4.27036483e+02] [ 7.99136947e-01 5.88615483e-01 -1.22114506e-01 9.46815740e+01] [ 1.55261392e-01 -5.85026193e-03 9.87856100e-01 2.86230390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.77925415399994 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:427.05, Y:94.70, Z:28.63 [[ 5.77921057e-01 -8.10456684e-01 -9.57455758e-02 4.27053296e+02] [ 8.01280130e-01 5.85764262e-01 -1.21780063e-01 9.47019677e+01] [ 1.54781802e-01 -6.33976495e-03 9.87928338e-01 2.86269306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8092541539999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:427.07, Y:94.72, Z:28.63 [[ 5.72998752e-01 -8.14000251e-01 -9.52681597e-02 4.27071585e+02] [ 8.04955728e-01 5.80819570e-01 -1.21222537e-01 9.47230566e+01] [ 1.54008787e-01 -7.22628870e-03 9.88043053e-01 2.86311565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.83925415399995 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:427.09, Y:94.74, Z:28.64 [[ 5.70864449e-01 -8.15528862e-01 -9.50076650e-02 4.27089449e+02] [ 8.06543569e-01 5.78666838e-01 -1.20963473e-01 9.47446020e+01] [ 1.53626989e-01 -7.57407483e-03 9.88099885e-01 2.86351746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.8692541539999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:427.11, Y:94.77, Z:28.64 [[ 5.67903705e-01 -8.17641421e-01 -9.45932783e-02 4.27106218e+02] [ 8.08752563e-01 5.75671295e-01 -1.20506649e-01 9.47650210e+01] [ 1.52985863e-01 -8.06638389e-03 9.88195456e-01 2.86389558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.89925415399995 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:427.12, Y:94.79, Z:28.64 [[ 5.66673179e-01 -8.18496845e-01 -9.45749530e-02 4.27123022e+02] [ 8.09618035e-01 5.74451407e-01 -1.20516461e-01 9.47869892e+01] [ 1.52971058e-01 -8.27614154e-03 9.88196013e-01 2.86430681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9292541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:427.14, Y:94.81, Z:28.65 [[ 5.66012960e-01 -8.18965509e-01 -9.44712914e-02 4.27138957e+02] [ 8.10101273e-01 5.73781984e-01 -1.20458131e-01 9.48078360e+01] [ 1.52856980e-01 -8.35045004e-03 9.88213041e-01 2.86468521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.95925415399995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:427.15, Y:94.83, Z:28.65 [[ 5.65754271e-01 -8.19129955e-01 -9.45950430e-02 4.27154875e+02] [ 8.10239303e-01 5.73546675e-01 -1.20650250e-01 9.48306982e+01] [ 1.53082906e-01 -8.38622733e-03 9.88177765e-01 2.86513011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.9892541539999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:427.17, Y:94.85, Z:28.66 [[ 5.65871331e-01 -8.19011171e-01 -9.49228020e-02 4.27170850e+02] [ 8.10045390e-01 5.73716940e-01 -1.21141814e-01 9.48523155e+01] [ 1.53675319e-01 -8.34109864e-03 9.88086192e-01 2.86553960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.01925415399995 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:427.19, Y:94.87, Z:28.66 [[ 5.66600882e-01 -8.18479030e-01 -9.51604906e-02 4.27186424e+02] [ 8.09455549e-01 5.74477901e-01 -1.21477796e-01 9.48739428e+01] [ 1.54094628e-01 -8.19876069e-03 9.88022078e-01 2.86583579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.0492541539999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:427.20, Y:94.90, Z:28.66 [[ 5.66900183e-01 -8.18229072e-01 -9.55267970e-02 4.27203071e+02] [ 8.09126728e-01 5.74834653e-01 -1.21979750e-01 9.48959349e+01] [ 1.54719491e-01 -8.14294227e-03 9.87924882e-01 2.86622571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.07925415399995 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:427.22, Y:94.92, Z:28.67 [[ 5.66934761e-01 -8.18192486e-01 -9.56348955e-02 4.27219218e+02] [ 8.09057257e-01 5.74887345e-01 -1.22192043e-01 9.49178544e+01] [ 1.54955903e-01 -8.09918951e-03 9.87888188e-01 2.86659528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.1092541539999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:427.23, Y:94.94, Z:28.67 [[ 5.67139880e-01 -8.18004499e-01 -9.60260145e-02 4.27234747e+02] [ 8.08779631e-01 5.75155651e-01 -1.22765976e-01 9.49392743e+01] [ 1.55653026e-01 -8.03840360e-03 9.87779084e-01 2.86697198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.13925415399996 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:427.25, Y:94.96, Z:28.67 [[ 5.67394053e-01 -8.17738267e-01 -9.67890239e-02 4.27250115e+02] [ 8.08353086e-01 5.75534654e-01 -1.23794791e-01 9.49628204e+01] [ 1.56937175e-01 -7.99927817e-03 9.87576192e-01 2.86742039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.16925415399993 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:427.27, Y:94.99, Z:28.68 [[ 5.67351275e-01 -8.17765932e-01 -9.68060494e-02 4.27265953e+02] [ 8.08366074e-01 5.75495816e-01 -1.23890502e-01 9.49854289e+01] [ 1.57024908e-01 -7.96529163e-03 9.87562521e-01 2.86776398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.19925415399996 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:427.28, Y:95.01, Z:28.68 [[ 5.67784309e-01 -8.17427457e-01 -9.71253336e-02 4.27280260e+02] [ 8.07948530e-01 5.75977989e-01 -1.24372546e-01 9.50080200e+01] [ 1.57607589e-01 -7.85549022e-03 9.87470576e-01 2.86809644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.22925415399993 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:427.30, Y:95.03, Z:28.69 [[ 5.67974058e-01 -8.17266898e-01 -9.73667678e-02 4.27295735e+02] [ 8.07730179e-01 5.76206518e-01 -1.24731739e-01 9.50298222e+01] [ 1.58042488e-01 -7.80168448e-03 9.87401492e-01 2.86851147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.25925415399996 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:427.31, Y:95.05, Z:28.69 [[ 5.67910441e-01 -8.17307206e-01 -9.73994996e-02 4.27311341e+02] [ 8.07758993e-01 5.76149432e-01 -1.24808817e-01 9.50527970e+01] [ 1.58123812e-01 -7.79509130e-03 9.87388524e-01 2.86896942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.28925415399993 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:427.33, Y:95.08, Z:28.69 [[ 5.68480678e-01 -8.16924479e-01 -9.72836820e-02 4.27326071e+02] [ 8.07381808e-01 5.76694098e-01 -1.24733848e-01 9.50768133e+01] [ 1.58001059e-01 -7.63629231e-03 9.87409415e-01 2.86938750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.31925415399996 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:427.34, Y:95.10, Z:28.70 [[ 5.69129097e-01 -8.16509056e-01 -9.69795497e-02 4.27341155e+02] [ 8.07008954e-01 5.77284492e-01 -1.24415290e-01 9.50984174e+01] [ 1.57571001e-01 -7.45500348e-03 9.87479520e-01 2.86980913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.34925415399994 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:427.36, Y:95.12, Z:28.70 [[ 5.69322113e-01 -8.16404728e-01 -9.67246122e-02 4.27356471e+02] [ 8.06947797e-01 5.77432913e-01 -1.24122855e-01 9.51208019e+01] [ 1.57186461e-01 -7.38582643e-03 9.87541324e-01 2.87024116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.37925415399997 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:427.37, Y:95.14, Z:28.71 [[ 5.69177982e-01 -8.16509336e-01 -9.66898651e-02 4.27373657e+02] [ 8.07049324e-01 5.77285187e-01 -1.24149918e-01 9.51430520e+01] [ 1.57187194e-01 -7.37009070e-03 9.87541325e-01 2.87066171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.40925415399994 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:427.39, Y:95.17, Z:28.71 [[ 5.69957026e-01 -8.16648419e-01 -9.07433098e-02 4.27385156e+02] [ 8.06078696e-01 5.77133521e-01 -1.30973411e-01 9.51678610e+01] [ 1.59330235e-01 1.50296704e-03 9.87224198e-01 2.87146615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.43925415399997 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:427.41, Y:95.19, Z:28.71 [[ 5.71498157e-01 -8.14241433e-01 -1.01984044e-01 4.27408157e+02] [ 8.05808009e-01 5.80336617e-01 -1.17825564e-01 9.51886332e+01] [ 1.55123532e-01 -1.48424669e-02 9.87783575e-01 2.87134972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.46925415399994 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:427.42, Y:95.21, Z:28.72 [[ 5.72556373e-01 -8.14325570e-01 -9.51475990e-02 4.27420445e+02] [ 8.05114240e-01 5.80371133e-01 -1.22312748e-01 9.52133075e+01] [ 1.54823318e-01 -6.57374362e-03 9.87920304e-01 2.87206781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.4992541539999 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:427.44, Y:95.24, Z:28.73 [[ 5.75699503e-01 -8.12127660e-01 -9.49670836e-02 4.27435951e+02] [ 8.02910267e-01 5.83449694e-01 -1.22153826e-01 9.52366361e+01] [ 1.54613017e-01 -5.92614940e-03 9.87957335e-01 2.87250950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.52925415399994 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:427.45, Y:95.26, Z:28.73 [[ 5.77394676e-01 -8.10937758e-01 -9.48437708e-02 4.27451917e+02] [ 8.01716983e-01 5.85106045e-01 -1.22068813e-01 9.52590876e+01] [ 1.54483873e-01 -5.55597918e-03 9.87979688e-01 2.87293758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.5592541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:427.46, Y:95.28, Z:28.74 [[ 5.81484836e-01 -8.08433253e-01 -9.11650201e-02 4.27463930e+02] [ 7.98385622e-01 5.88586833e-01 -1.27066672e-01 9.52831144e+01] [ 1.56383454e-01 1.10250182e-03 9.87695803e-01 2.87365358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.58925415399995 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:427.48, Y:95.30, Z:28.74 [[ 5.82895600e-01 -8.06500309e-01 -9.89442879e-02 4.27484457e+02] [ 7.97824574e-01 5.91150300e-01 -1.18394564e-01 9.53025969e+01] [ 1.53976198e-01 -9.92851383e-03 9.88024673e-01 2.87370583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6192541539999 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:427.50, Y:95.33, Z:28.74 [[ 5.84407592e-01 -8.05957948e-01 -9.43374378e-02 4.27497749e+02] [ 7.96741486e-01 5.91958626e-01 -1.21605875e-01 9.53261516e+01] [ 1.53853082e-01 -4.09515363e-03 9.88085249e-01 2.87435286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.64925415399995 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:427.51, Y:95.35, Z:28.75 [[ 5.87147630e-01 -8.04036314e-01 -9.37190870e-02 4.27512633e+02] [ 7.94905591e-01 5.94569753e-01 -1.20879737e-01 9.53481608e+01] [ 1.52914232e-01 -3.52357526e-03 9.88233182e-01 2.87483029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.6792541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:427.53, Y:95.37, Z:28.75 [[ 5.88520826e-01 -8.03046064e-01 -9.35962407e-02 4.27529090e+02] [ 7.93922087e-01 5.95908134e-01 -1.20752704e-01 9.53696717e+01] [ 1.52744745e-01 -3.24264163e-03 9.88260354e-01 2.87524893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.70925415399995 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:427.54, Y:95.39, Z:28.76 [[ 5.90311944e-01 -8.02423507e-01 -8.74546984e-02 4.27541724e+02] [ 7.92087459e-01 5.96718359e-01 -1.28548273e-01 9.53934948e+01] [ 1.55335980e-01 6.61181103e-03 9.87839571e-01 2.87604832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7392541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:427.57, Y:95.41, Z:28.76 [[ 5.92284368e-01 -7.99463620e-01 -1.00285331e-01 4.27568052e+02] [ 7.91180809e-01 6.00612944e-01 -1.15312701e-01 9.54122200e+01] [ 1.52420977e-01 -1.10459191e-02 9.88253932e-01 2.87577812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.76925415399995 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:427.58, Y:95.44, Z:28.77 [[ 5.93261223e-01 -7.99584768e-01 -9.33023024e-02 4.27581314e+02] [ 7.90458056e-01 6.00548947e-01 -1.20486609e-01 9.54366063e+01] [ 1.52371857e-01 -2.27152371e-03 9.88320625e-01 2.87651865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.7992541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:427.60, Y:95.46, Z:28.77 [[ 5.94208518e-01 -7.98885919e-01 -9.32605245e-02 4.27598319e+02] [ 7.89747734e-01 6.01479091e-01 -1.20504852e-01 9.54583701e+01] [ 1.52363885e-01 -2.04727838e-03 9.88322344e-01 2.87695592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.82925415399995 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:427.61, Y:95.48, Z:28.77 [[ 5.95654012e-01 -7.97764945e-01 -9.36343486e-02 4.27614886e+02] [ 7.88528063e-01 6.02966103e-01 -1.21059377e-01 9.54789115e+01] [ 1.53035266e-01 -1.72380782e-03 9.88219225e-01 2.87738838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.8592541539999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:427.63, Y:95.50, Z:28.78 [[ 5.95634897e-01 -7.97751645e-01 -9.38689617e-02 4.27631991e+02] [ 7.88462815e-01 6.02983754e-01 -1.21395974e-01 9.54999719e+01] [ 1.53445297e-01 -1.70450748e-03 9.88155674e-01 2.87778670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.88925415399996 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:427.65, Y:95.53, Z:28.78 [[ 5.98242754e-01 -7.96403835e-01 -8.85806909e-02 4.27654438e+02] [ 7.87008183e-01 6.04756284e-01 -1.22016214e-01 9.55257281e+01] [ 1.50743910e-01 3.28158731e-03 9.88567400e-01 2.87808650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.91925415399993 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:427.67, Y:95.54, Z:28.78 [[ 5.94815245e-01 -7.97579044e-01 -1.00311975e-01 4.27672089e+02] [ 7.88874237e-01 6.03146886e-01 -1.17861243e-01 9.55399213e+01] [ 1.54506513e-01 -9.02786888e-03 9.87950523e-01 2.87830872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.94925415399996 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:427.69, Y:95.56, Z:28.79 [[ 5.94588070e-01 -7.98475855e-01 -9.43468975e-02 4.27686109e+02] [ 7.89055919e-01 6.02024359e-01 -1.22300562e-01 9.55619453e+01] [ 1.54453176e-01 -1.72652287e-03 9.87998601e-01 2.87898338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.97925415399993 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:427.70, Y:95.58, Z:28.79 [[ 5.94386556e-01 -7.98664177e-01 -9.40220932e-02 4.27704528e+02] [ 7.89306649e-01 6.01774436e-01 -1.21912031e-01 9.55832019e+01] [ 1.53946864e-01 -1.74939096e-03 9.88077579e-01 2.87938610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.00925415399996 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:427.72, Y:95.60, Z:28.80 [[ 5.94147506e-01 -7.98838544e-01 -9.40516964e-02 4.27722354e+02] [ 7.89465827e-01 6.01542946e-01 -1.22023733e-01 9.56037599e+01] [ 1.54053396e-01 -1.75050363e-03 9.88060973e-01 2.87982982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.03925415399993 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:427.74, Y:95.62, Z:28.80 [[ 5.94138801e-01 -7.98822055e-01 -9.42465352e-02 4.27741733e+02] [ 7.89398422e-01 6.01564974e-01 -1.22350779e-01 9.56226020e+01] [ 1.54431915e-01 -1.70472113e-03 9.88001962e-01 2.88013432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.06925415399996 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:427.75, Y:95.67, Z:28.81 [[ 6.02149328e-01 -7.98177458e-01 -1.81364669e-02 4.27747207e+02] [ 7.86744589e-01 5.97082746e-01 -1.56605064e-01 9.56744583e+01] [ 1.35827604e-01 8.00308672e-02 9.87494771e-01 2.88132115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.09925415399994 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:427.82, Y:95.64, Z:28.78 [[ 5.90680101e-01 -7.90277885e-01 -1.62965898e-01 4.27819417e+02] [ 7.92244350e-01 6.06321650e-01 -6.87236959e-02 9.56397724e+01] [ 1.53120569e-01 -8.85150920e-02 9.84235322e-01 2.87827249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.12925415399997 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:427.80, Y:95.68, Z:28.81 [[ 5.89480212e-01 -8.02281347e-01 -9.41154612e-02 4.27799645e+02] [ 7.92893452e-01 5.96940977e-01 -1.22398712e-01 9.56828513e+01] [ 1.54379579e-01 -2.47191418e-03 9.88008520e-01 2.88144593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.15925415399994 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:427.80, Y:95.73, Z:28.82 [[ 5.97170978e-01 -8.01935300e-01 -1.69292130e-02 4.27804960e+02] [ 7.90468153e-01 5.91953062e-01 -1.57326641e-01 9.57333931e+01] [ 1.36187087e-01 8.05689004e-02 9.87401504e-01 2.88246891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.18925415399997 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:427.88, Y:95.70, Z:28.79 [[ 5.83792892e-01 -7.95246073e-01 -1.63614003e-01 4.27879213e+02] [ 7.97390633e-01 5.99526392e-01 -6.88206677e-02 9.56987655e+01] [ 1.52820278e-01 -9.02872564e-02 9.84121016e-01 2.87949855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.21925415399994 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:427.86, Y:95.74, Z:28.83 [[ 5.81766929e-01 -8.07850777e-01 -9.44688439e-02 4.27858958e+02] [ 7.98432851e-01 5.89374580e-01 -1.23055217e-01 9.57432757e+01] [ 1.55087788e-01 -3.83757285e-03 9.87893239e-01 2.88268058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.2492541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:427.86, Y:95.80, Z:28.84 [[ 5.90314101e-01 -8.07173536e-01 -3.81614042e-04 4.27860418e+02] [ 7.95907587e-01 5.82153505e-01 -1.66217958e-01 9.58024001e+01] [ 1.34388895e-01 9.78170747e-02 9.86088964e-01 2.88391800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.27925415399994 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:427.95, Y:95.76, Z:28.80 [[ 5.73798253e-01 -7.99034289e-01 -1.79721366e-01 4.27946721e+02] [ 8.04677800e-01 5.90879388e-01 -5.79239772e-02 9.57553035e+01] [ 1.52476895e-01 -1.11381116e-01 9.82010715e-01 2.88038056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3092541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:427.91, Y:95.84, Z:28.84 [[ 5.80708851e-01 -8.13960050e-01 -1.56929273e-02 4.27905595e+02] [ 8.02129981e-01 5.75351108e-01 -1.59870561e-01 9.58379378e+01] [ 1.39157193e-01 8.02504824e-02 9.87013240e-01 2.88439300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.33925415399995 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:427.97, Y:95.84, Z:28.82 [[ 5.74211201e-01 -8.13882372e-01 -8.87523633e-02 4.27968668e+02] [ 8.06321526e-01 5.80976652e-01 -1.10958219e-01 9.58384664e+01] [ 1.41869989e-01 -7.84948892e-03 9.89854177e-01 2.88216916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.3692541539999 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:427.99, Y:95.86, Z:28.83 [[ 5.71912775e-01 -8.15767320e-01 -8.62522850e-02 4.27987286e+02] [ 8.07998549e-01 5.78355165e-01 -1.12443977e-01 9.58604459e+01] [ 1.41612576e-01 -5.38357415e-03 9.89907519e-01 2.88253711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.39925415399995 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:428.01, Y:95.88, Z:28.83 [[ 5.70563298e-01 -8.16601863e-01 -8.72864328e-02 4.28008106e+02] [ 8.09251966e-01 5.77144588e-01 -1.09614691e-01 9.58809963e+01] [ 1.39888453e-01 -8.09459787e-03 9.90134182e-01 2.88274456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4292541539999 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:428.03, Y:95.89, Z:28.83 [[ 5.62458742e-01 -8.18943300e-01 -1.13894840e-01 4.28033028e+02] [ 8.13695475e-01 5.72701308e-01 -9.95634792e-02 9.58928431e+01] [ 1.46764568e-01 -3.66753669e-02 9.88491315e-01 2.88311242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.45925415399995 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:428.05, Y:95.89, Z:28.84 [[ 5.51248242e-01 -8.19447782e-01 -1.56941736e-01 4.28048386e+02] [ 8.18727224e-01 5.67496575e-01 -8.73691550e-02 9.58946192e+01] [ 1.60658358e-01 -8.03303787e-02 9.83735697e-01 2.88433862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.4892541539999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:428.03, Y:95.94, Z:28.87 [[ 5.50536378e-01 -8.28789389e-01 -1.00089183e-01 4.28033911e+02] [ 8.18295305e-01 5.59482712e-01 -1.31802465e-01 9.59351340e+01] [ 1.65234652e-01 -9.34045676e-03 9.86210051e-01 2.88684666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.51925415399995 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:428.05, Y:95.96, Z:28.87 [[ 5.50378168e-01 -8.28846962e-01 -1.00481766e-01 4.28052095e+02] [ 8.18264421e-01 5.59396855e-01 -1.32357456e-01 9.59565874e+01] [ 1.65913259e-01 -9.37399964e-03 9.86095796e-01 2.88725637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.5492541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:428.07, Y:95.98, Z:28.88 [[ 5.50832696e-01 -8.28547711e-01 -1.00459108e-01 4.28068705e+02] [ 8.17951632e-01 5.59842283e-01 -1.32407500e-01 9.59782304e+01] [ 1.65947188e-01 -9.23631107e-03 9.86091386e-01 2.88768181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.57925415399995 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:428.08, Y:96.00, Z:28.88 [[ 5.52751612e-01 -8.27294413e-01 -1.00247741e-01 4.28084604e+02] [ 8.16709662e-01 5.61699735e-01 -1.32207173e-01 9.59992809e+01] [ 1.65683385e-01 -8.79557077e-03 9.86139774e-01 2.88812331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.6092541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:428.10, Y:96.02, Z:28.89 [[ 5.54069592e-01 -8.26449286e-01 -9.99423055e-02 4.28100680e+02] [ 8.15909431e-01 5.62947092e-01 -1.31842223e-01 9.60210569e+01] [ 1.65223142e-01 -8.49410270e-03 9.86219633e-01 2.88858628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.63925415399996 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:428.12, Y:96.04, Z:28.89 [[ 5.55433177e-01 -8.25551756e-01 -9.97912028e-02 4.28116107e+02] [ 8.15016467e-01 5.64267283e-01 -1.31721643e-01 9.60423852e+01] [ 1.65051945e-01 -8.16890275e-03 9.86251045e-01 2.88900392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.66925415399993 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:428.13, Y:96.07, Z:28.90 [[ 5.59622127e-01 -8.23220303e-01 -9.55583991e-02 4.28128328e+02] [ 8.11620078e-01 5.67721845e-01 -1.37712587e-01 9.60652881e+01] [ 1.67618388e-01 -4.90104628e-04 9.85851833e-01 2.88969916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.69925415399996 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:428.15, Y:96.09, Z:28.90 [[ 5.61117221e-01 -8.21080814e-01 -1.04755719e-01 4.28151057e+02] [ 8.11025538e-01 5.70670148e-01 -1.28736780e-01 9.60859752e+01] [ 1.65484262e-01 -1.27231398e-02 9.86130357e-01 2.88973917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.72925415399993 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:428.16, Y:96.11, Z:28.90 [[ 5.63508921e-01 -8.19983433e-01 -1.00423431e-01 4.28164194e+02] [ 8.09207746e-01 5.72350237e-01 -1.32657569e-01 9.61091152e+01] [ 1.66254384e-01 -6.50969417e-03 9.86061410e-01 2.89033111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.75925415399996 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:428.18, Y:96.13, Z:28.91 [[ 5.68300514e-01 -8.16632824e-01 -1.00724162e-01 4.28178044e+02] [ 8.05733316e-01 5.77131142e-01 -1.33091956e-01 9.61313802e+01] [ 1.66818311e-01 -5.52058599e-03 9.85972198e-01 2.89074539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.78925415399993 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:428.19, Y:96.15, Z:28.91 [[ 5.70658474e-01 -8.14984297e-01 -1.00744736e-01 4.28193534e+02] [ 8.04045303e-01 5.79461420e-01 -1.33175126e-01 9.61543143e+01] [ 1.66913324e-01 -5.00581785e-03 9.85958865e-01 2.89123006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.81925415399996 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:428.19, Y:96.22, Z:28.92 [[ 5.86505008e-01 -8.09862313e-01 -1.16150365e-02 4.28191981e+02] [ 7.95693597e-01 5.78803844e-01 -1.78487563e-01 9.62162445e+01] [ 1.51273179e-01 9.54418396e-02 9.83873610e-01 2.89235530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.84925415399994 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:428.27, Y:96.17, Z:28.89 [[ 5.76701284e-01 -7.95513663e-01 -1.85939888e-01 4.28271815e+02] [ 7.99777757e-01 5.96185222e-01 -7.01335826e-02 9.61732621e+01] [ 1.66646837e-01 -1.08264459e-01 9.80054916e-01 2.88931960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.87925415399997 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:428.22, Y:96.26, Z:28.93 [[ 5.92022702e-01 -8.05871883e-01 -8.92352803e-03 4.28224391e+02] [ 7.92456414e-01 5.84111383e-01 -1.75575409e-01 9.62639638e+01] [ 1.46703619e-01 9.68731209e-02 9.84425541e-01 2.89348938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.90925415399994 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:428.31, Y:96.22, Z:28.90 [[ 5.80570946e-01 -7.92516041e-01 -1.86696819e-01 4.28305413e+02] [ 7.96680680e-01 6.00259729e-01 -7.06268504e-02 9.62210709e+01] [ 1.68039494e-01 -1.07733851e-01 9.79875577e-01 2.89040711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.93925415399997 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:428.27, Y:96.27, Z:28.94 [[ 5.86232135e-01 -8.03755271e-01 -1.01534960e-01 4.28273689e+02] [ 7.92358148e-01 5.94958452e-01 -1.34881450e-01 9.62733369e+01] [ 1.68820759e-01 -1.38021228e-03 9.85645802e-01 2.89400484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.96925415399994 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:428.29, Y:96.29, Z:28.94 [[ 5.90697148e-01 -7.99780689e-01 -1.06900550e-01 4.28288876e+02] [ 7.88993485e-01 6.00252578e-01 -1.31095855e-01 9.62933957e+01] [ 1.69015265e-01 -6.90588978e-03 9.85589240e-01 2.89448315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.9992541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:428.30, Y:96.32, Z:28.95 [[ 5.92927743e-01 -7.99659426e-01 -9.47707446e-02 4.28301257e+02] [ 7.87448281e-01 6.00399805e-01 -1.39446329e-01 9.63202882e+01] [ 1.68409908e-01 8.05453732e-03 9.85684142e-01 2.89523956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.02925415399994 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:428.32, Y:96.34, Z:28.95 [[ 5.94579347e-01 -7.97658610e-01 -1.01074933e-01 4.28321095e+02] [ 7.86241454e-01 6.03109032e-01 -1.34476287e-01 9.63398401e+01] [ 1.68225373e-01 4.87520256e-04 9.85748440e-01 2.89539441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.0592541539999 meters Centerline goodness : 0.994902 Centerline is valid? [True, True] Translation: X:428.33, Y:96.36, Z:28.96 [[ 5.96988931e-01 -7.95256729e-01 -1.05692722e-01 4.28334618e+02] [ 7.83690015e-01 6.06269038e-01 -1.35158481e-01 9.63579925e+01] [ 1.71563916e-01 -2.14221358e-03 9.85170662e-01 2.89607312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.08925415399995 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:428.35, Y:96.39, Z:28.96 [[ 5.98354004e-01 -7.95459176e-01 -9.60061706e-02 4.28352505e+02] [ 7.83575613e-01 6.05968589e-01 -1.37154397e-01 9.63857056e+01] [ 1.67277448e-01 6.83878891e-03 9.85886143e-01 2.89649874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1192541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:428.38, Y:96.40, Z:28.97 [[ 5.97005580e-01 -7.92468860e-01 -1.24809630e-01 4.28377629e+02] [ 7.83656289e-01 6.09367131e-01 -1.20642119e-01 9.63970876e+01] [ 1.71660009e-01 -2.57838334e-02 9.84818783e-01 2.89674317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.14925415399995 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:428.38, Y:96.44, Z:28.98 [[ 5.99075793e-01 -7.97089475e-01 -7.58720234e-02 4.28376216e+02] [ 7.83409769e-01 6.03089074e-01 -1.50175572e-01 9.64355162e+01] [ 1.65460956e-01 3.05276653e-02 9.85743746e-01 2.89823264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.1792541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:428.41, Y:96.45, Z:28.98 [[ 5.96922765e-01 -7.96211617e-01 -9.86421484e-02 4.28407436e+02] [ 7.85275501e-01 6.05017332e-01 -1.31515842e-01 9.64484860e+01] [ 1.64394650e-01 1.04353728e-03 9.86394095e-01 2.89772757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.20925415399995 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:428.42, Y:96.47, Z:28.98 [[ 5.94595061e-01 -7.97977305e-01 -9.84323854e-02 4.28424958e+02] [ 7.87098440e-01 6.02687195e-01 -1.31317134e-01 9.64692119e+01] [ 1.64112031e-01 6.04542258e-04 9.86441522e-01 2.89814892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2392541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:428.44, Y:96.49, Z:28.99 [[ 5.91792966e-01 -8.00094949e-01 -9.81282764e-02 4.28443200e+02] [ 7.89298960e-01 5.99873377e-01 -1.30992686e-01 9.64901262e+01] [ 1.63671127e-01 6.80036790e-05 9.86514956e-01 2.89855717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.26925415399995 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:428.46, Y:96.51, Z:28.99 [[ 5.91572541e-01 -8.00262713e-01 -9.80893415e-02 4.28459933e+02] [ 7.89464182e-01 5.99649552e-01 -1.31021835e-01 9.65126253e+01] [ 1.63671119e-01 7.08981354e-05 9.86514957e-01 2.89900703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.2992541539999 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:428.47, Y:96.53, Z:29.00 [[ 5.84640114e-01 -8.06457051e-01 -8.84475136e-02 4.28472665e+02] [ 7.94067701e-01 5.91162360e-01 -1.41363183e-01 9.65334521e+01] [ 1.66290177e-01 1.24132737e-02 9.85998726e-01 2.89987806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.32925415399995 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:428.50, Y:96.55, Z:29.00 [[ 5.80521017e-01 -8.07643080e-01 -1.03479487e-01 4.28500455e+02] [ 7.97031041e-01 5.89634445e-01 -1.30662698e-01 9.65504974e+01] [ 1.66543894e-01 -6.62392085e-03 9.86011793e-01 2.89979873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.3592541539999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:428.52, Y:96.57, Z:29.00 [[ 5.72176612e-01 -8.13250837e-01 -1.06004722e-01 4.28523962e+02] [ 8.03398947e-01 5.81776964e-01 -1.26829402e-01 9.65694445e+01] [ 1.64815222e-01 -1.25952645e-02 9.86244038e-01 2.90000158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.38925415399996 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:428.54, Y:96.59, Z:29.01 [[ 5.68617103e-01 -8.16632615e-01 -9.89230115e-02 4.28537753e+02] [ 8.05844911e-01 5.77140707e-01 -1.32372898e-01 9.65915655e+01] [ 1.65192523e-01 -4.44711128e-03 9.86251314e-01 2.90066722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.41925415399993 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:428.56, Y:96.61, Z:29.01 [[ 5.65596178e-01 -8.18617350e-01 -9.98328559e-02 4.28556114e+02] [ 8.07653049e-01 5.74317094e-01 -1.33627948e-01 9.66122548e+01] [ 1.66725873e-01 -5.05085365e-03 9.85990351e-01 2.90107173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.44925415399996 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:428.58, Y:96.63, Z:29.02 [[ 5.63397196e-01 -8.18861633e-01 -1.09768961e-01 4.28581892e+02] [ 8.09163014e-01 5.73728551e-01 -1.26849384e-01 9.66325833e+01] [ 1.66849681e-01 -1.73543957e-02 9.85829604e-01 2.90162583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.47925415399993 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:428.60, Y:96.66, Z:29.02 [[ 5.59225826e-01 -8.22637604e-01 -1.02634540e-01 4.28596025e+02] [ 8.11901198e-01 5.68493666e-01 -1.32783270e-01 9.66553778e+01] [ 1.67579597e-01 -9.07327255e-03 9.85816796e-01 2.90236920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.50925415399996 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:428.61, Y:96.68, Z:29.03 [[ 5.56802725e-01 -8.25762909e-01 -8.99241023e-02 4.28605026e+02] [ 8.13943602e-01 5.64000548e-01 -1.39280992e-01 9.66781824e+01] [ 1.65730320e-01 4.35888801e-03 9.86161478e-01 2.90266343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.53925415399993 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:428.63, Y:96.70, Z:29.03 [[ 5.56311783e-01 -8.25097028e-01 -9.86513792e-02 4.28626696e+02] [ 8.14432055e-01 5.64951470e-01 -1.32401904e-01 9.66970238e+01] [ 1.64977659e-01 -6.68810657e-03 9.86274628e-01 2.90278829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.56925415399996 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:428.66, Y:96.70, Z:29.03 [[ 5.49393204e-01 -8.19964970e-01 -1.60700206e-01 4.28661439e+02] [ 8.16755481e-01 5.67577851e-01 -1.03758703e-01 9.66975786e+01] [ 1.76288379e-01 -7.42484477e-02 9.81534297e-01 2.90338650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.59925415399994 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:428.63, Y:96.76, Z:29.06 [[ 5.56418044e-01 -8.29845700e-01 -4.18936130e-02 4.28631448e+02] [ 8.13858065e-01 5.54470901e-01 -1.73773040e-01 9.67602237e+01] [ 1.67433599e-01 6.25950002e-02 9.83894230e-01 2.90575280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.62925415399997 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:428.68, Y:96.76, Z:29.04 [[ 5.55367492e-01 -8.23123196e-01 -1.18470052e-01 4.28684711e+02] [ 8.14228386e-01 5.67186996e-01 -1.23818604e-01 9.67587736e+01] [ 1.69112638e-01 -2.76968513e-02 9.85207491e-01 2.90429365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.65925415399994 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:428.69, Y:96.79, Z:29.05 [[ 5.57952757e-01 -8.25865880e-01 -8.14510220e-02 4.28685041e+02] [ 8.13197784e-01 5.63678245e-01 -1.44831627e-01 9.67926477e+01] [ 1.65523668e-01 1.45734149e-02 9.86098134e-01 2.90511352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.68925415399997 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:428.71, Y:96.81, Z:29.05 [[ 5.59778355e-01 -8.22747905e-01 -9.86614363e-02 4.28709865e+02] [ 8.12007308e-01 5.68376171e-01 -1.32637322e-01 9.68094342e+01] [ 1.65203888e-01 -5.86630528e-03 9.86241989e-01 2.90492595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.71925415399994 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:428.73, Y:96.83, Z:29.05 [[ 5.60637476e-01 -8.22122659e-01 -9.89947124e-02 4.28725976e+02] [ 8.11285137e-01 5.69282332e-01 -1.33169263e-01 9.68318475e+01] [ 1.65837410e-01 -5.65325911e-03 9.86136904e-01 2.90535010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.7492541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:428.74, Y:96.85, Z:29.06 [[ 5.61813535e-01 -8.21294469e-01 -9.92015514e-02 4.28741546e+02] [ 8.10384843e-01 5.70479205e-01 -1.33528582e-01 9.68538078e+01] [ 1.66258708e-01 -5.37326900e-03 9.86067528e-01 2.90578214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.77925415399994 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:428.76, Y:96.88, Z:29.06 [[ 5.63870115e-01 -8.19861650e-01 -9.93849549e-02 4.28756622e+02] [ 8.08882704e-01 5.72540394e-01 -1.33814308e-01 9.68770622e+01] [ 1.66611120e-01 -4.93688193e-03 9.86010325e-01 2.90621926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8092541539999 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:428.77, Y:96.90, Z:29.07 [[ 5.65604294e-01 -8.18550731e-01 -1.00331868e-01 4.28771812e+02] [ 8.07325154e-01 5.74416261e-01 -1.35174167e-01 9.68999473e+01] [ 1.68279170e-01 -4.54535124e-03 9.85728898e-01 2.90669980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.83925415399995 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:428.79, Y:96.92, Z:29.07 [[ 5.66187990e-01 -8.18095101e-01 -1.00754979e-01 4.28786823e+02] [ 8.06752817e-01 5.75066265e-01 -1.35825928e-01 9.69215625e+01] [ 1.69059316e-01 -4.38135448e-03 9.85596140e-01 2.90709479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.8692541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:428.80, Y:96.94, Z:29.08 [[ 5.66715071e-01 -8.17681208e-01 -1.01150733e-01 4.28802972e+02] [ 8.06235513e-01 5.75655598e-01 -1.36399887e-01 9.69445141e+01] [ 1.69759610e-01 -4.25144144e-03 9.85476332e-01 2.90752536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.89925415399995 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:428.82, Y:96.97, Z:29.08 [[ 5.67379085e-01 -8.17195379e-01 -1.01354268e-01 4.28818636e+02] [ 8.05681421e-01 5.76346403e-01 -1.36756251e-01 9.69666647e+01] [ 1.70171743e-01 -4.06661408e-03 9.85406028e-01 2.90791873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9292541539999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:428.83, Y:96.99, Z:29.08 [[ 5.67723850e-01 -8.16905708e-01 -1.01758016e-01 4.28834579e+02] [ 8.05287462e-01 5.76757562e-01 -1.37341975e-01 9.69893074e+01] [ 1.70885149e-01 -3.97214014e-03 9.85282948e-01 2.90835130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.95925415399995 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:428.85, Y:97.01, Z:29.09 [[ 5.69101131e-01 -8.16358587e-01 -9.84000021e-02 4.28847429e+02] [ 8.03787894e-01 5.77541433e-01 -1.42726712e-01 9.70137586e+01] [ 1.73346255e-01 2.13320261e-03 9.84858632e-01 2.90898575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.9892541539999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:428.87, Y:97.03, Z:29.09 [[ 5.69485143e-01 -8.15027055e-01 -1.06853038e-01 4.28868562e+02] [ 8.03846904e-01 5.79351384e-01 -1.34841125e-01 9.70344779e+01] [ 1.71804621e-01 -9.10346614e-03 9.85088980e-01 2.90907018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.01925415399995 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:428.88, Y:97.06, Z:29.10 [[ 5.71206142e-01 -8.14423130e-01 -1.02169016e-01 4.28880712e+02] [ 8.02635742e-01 5.80263054e-01 -1.38096535e-01 9.70594834e+01] [ 1.71753918e-01 -3.12291471e-03 9.85134935e-01 2.90973009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.0492541539999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:428.90, Y:97.08, Z:29.10 [[ 5.72096889e-01 -8.13845598e-01 -1.01786504e-01 4.28896343e+02] [ 8.02123280e-01 5.81074005e-01 -1.37663517e-01 9.70825120e+01] [ 1.71182339e-01 -2.88845461e-03 9.85235131e-01 2.91018685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.07925415399995 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:428.91, Y:97.11, Z:29.11 [[ 5.73149797e-01 -8.13154740e-01 -1.01383815e-01 4.28911901e+02] [ 8.01500481e-01 5.82041661e-01 -1.37202346e-01 9.71050122e+01] [ 1.70576342e-01 -2.62168002e-03 9.85340976e-01 2.91067071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.1092541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:428.93, Y:97.13, Z:29.11 [[ 5.75308614e-01 -8.11719541e-01 -1.00654784e-01 4.28926304e+02] [ 8.00198043e-01 5.84043526e-01 -1.36294727e-01 9.71272756e+01] [ 1.69419868e-01 -2.13223079e-03 9.85541659e-01 2.91115974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.13925415399996 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:428.94, Y:97.15, Z:29.12 [[ 5.75957286e-01 -8.11315587e-01 -1.00200917e-01 4.28942073e+02] [ 7.99885825e-01 5.84605075e-01 -1.35718726e-01 9.71496248e+01] [ 1.68688683e-01 -1.98110398e-03 9.85667390e-01 2.91162862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.16925415399993 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:428.96, Y:97.17, Z:29.12 [[ 5.76680718e-01 -8.10948663e-01 -9.90031112e-02 4.28957914e+02] [ 7.99773683e-01 5.85114530e-01 -1.34175418e-01 9.71715104e+01] [ 1.66737535e-01 -1.80370656e-03 9.85999666e-01 2.91209517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.19925415399996 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:428.97, Y:97.19, Z:29.13 [[ 5.76899756e-01 -8.11428576e-01 -9.36500832e-02 4.28970793e+02] [ 7.99531884e-01 5.84429849e-01 -1.38529843e-01 9.71942344e+01] [ 1.67138978e-01 5.04160544e-03 9.85920455e-01 2.91273889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.22925415399993 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:428.99, Y:97.21, Z:29.13 [[ 5.75631559e-01 -8.11222660e-01 -1.02791563e-01 4.28993273e+02] [ 8.00931295e-01 5.84682107e-01 -1.29057719e-01 9.72132968e+01] [ 1.64794933e-01 -8.03928383e-03 9.86295088e-01 2.91274579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.25925415399996 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:429.01, Y:97.24, Z:29.13 [[ 5.73581757e-01 -8.13329785e-01 -9.74609059e-02 4.29007284e+02] [ 8.02505166e-01 5.81798221e-01 -1.32273538e-01 9.72357069e+01] [ 1.64284590e-01 -2.34319196e-03 9.86410200e-01 2.91332051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.28925415399993 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:429.02, Y:97.26, Z:29.14 [[ 5.72051103e-01 -8.14408663e-01 -9.74477590e-02 4.29023585e+02] [ 8.03593484e-01 5.80285846e-01 -1.32309669e-01 9.72574626e+01] [ 1.64301696e-01 -2.62049200e-03 9.86406653e-01 2.91373629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.31925415399996 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:429.04, Y:97.28, Z:29.14 [[ 5.70551294e-01 -8.15470009e-01 -9.73647032e-02 4.29040363e+02] [ 8.04674999e-01 5.78792190e-01 -1.32279047e-01 9.72796386e+01] [ 1.64223526e-01 -2.87496077e-03 9.86418962e-01 2.91413587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.34925415399994 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:429.06, Y:97.30, Z:29.15 [[ 5.68189965e-01 -8.17112650e-01 -9.74016480e-02 4.29057782e+02] [ 8.06319497e-01 5.76468573e-01 -1.32411678e-01 9.73016185e+01] [ 1.64344246e-01 -3.30186114e-03 9.86397520e-01 2.91453580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.37925415399997 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:429.07, Y:97.32, Z:29.15 [[ 5.67195768e-01 -8.17797936e-01 -9.74448429e-02 4.29073423e+02] [ 8.06991780e-01 5.75495090e-01 -1.32550623e-01 9.73225823e+01] [ 1.64478654e-01 -3.45503504e-03 9.86374592e-01 2.91496410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.40925415399994 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:429.09, Y:97.34, Z:29.15 [[ 5.65508376e-01 -8.18840099e-01 -9.84945177e-02 4.29090308e+02] [ 8.07807442e-01 5.74009257e-01 -1.34016822e-01 9.73449814e+01] [ 1.66275113e-01 -3.77696917e-03 9.86072168e-01 2.91540089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.43925415399997 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:429.11, Y:97.37, Z:29.16 [[ 5.64074556e-01 -8.19898511e-01 -9.79097886e-02 4.29106861e+02] [ 8.09000811e-01 5.72494771e-01 -1.33294505e-01 9.73676178e+01] [ 1.65340808e-01 -4.02105982e-03 9.86228294e-01 2.91582422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.46925415399994 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:429.12, Y:97.39, Z:29.16 [[ 5.62907782e-01 -8.20691518e-01 -9.79809175e-02 4.29123675e+02] [ 8.09777351e-01 5.71355995e-01 -1.33465235e-01 9.73894587e+01] [ 1.65515771e-01 -4.21410864e-03 9.86198140e-01 2.91621254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.4992541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:429.14, Y:97.41, Z:29.17 [[ 5.63114361e-01 -8.20394969e-01 -9.92688839e-02 4.29144478e+02] [ 8.09783054e-01 5.71763218e-01 -1.31674708e-01 9.74126404e+01] [ 1.64783564e-01 -6.23834102e-03 9.86310022e-01 2.91659824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.52925415399994 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:429.16, Y:97.43, Z:29.17 [[ 5.60564633e-01 -8.22437955e-01 -9.67631265e-02 4.29156347e+02] [ 8.11685808e-01 5.68839323e-01 -1.32619660e-01 9.74329086e+01] [ 1.64114113e-01 -4.19936557e-03 9.86432422e-01 2.91700447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.5592541539999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:429.17, Y:97.45, Z:29.17 [[ 5.60331406e-01 -8.22568671e-01 -9.70025553e-02 4.29172328e+02] [ 8.11857009e-01 5.68647447e-01 -1.32394404e-01 9.74540887e+01] [ 1.64063744e-01 -4.56746207e-03 9.86439165e-01 2.91736631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.58925415399995 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:429.19, Y:97.48, Z:29.18 [[ 5.60460226e-01 -8.22517673e-01 -9.66902932e-02 4.29188844e+02] [ 8.11868315e-01 5.68721625e-01 -1.32005880e-01 9.74763092e+01] [ 1.63567030e-01 -4.51573985e-03 9.86521888e-01 2.91772788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6192541539999 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:429.20, Y:97.50, Z:29.18 [[ 5.60960158e-01 -8.22610803e-01 -9.29255972e-02 4.29201570e+02] [ 8.11288182e-01 5.68604112e-01 -1.36017831e-01 9.74993809e+01] [ 1.64727614e-01 9.11145180e-04 9.86338676e-01 2.91832121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.64925415399995 meters Centerline goodness : 0.997225 Centerline is valid? [True, True] Translation: X:429.22, Y:97.52, Z:29.19 [[ 5.61747837e-01 -8.21776343e-01 -9.55144472e-02 4.29218569e+02] [ 8.10631412e-01 5.69807787e-01 -1.34891808e-01 9.75217240e+01] [ 1.65275772e-01 -1.65182993e-03 9.86246009e-01 2.91873725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.6792541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:429.24, Y:97.54, Z:29.19 [[ 5.61856457e-01 -8.21407523e-01 -9.80153153e-02 4.29236248e+02] [ 8.10660244e-01 5.70319874e-01 -1.32533806e-01 9.75435829e+01] [ 1.64764348e-01 -4.99214459e-03 9.86320327e-01 2.91910732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.70925415399995 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:429.25, Y:97.56, Z:29.19 [[ 5.61801567e-01 -8.21032437e-01 -1.01413693e-01 4.29254922e+02] [ 8.11097431e-01 5.70785426e-01 -1.27769145e-01 9.75649005e+01] [ 1.62788071e-01 -1.04754798e-02 9.86605447e-01 2.91936592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7392541539999 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:429.26, Y:97.61, Z:29.20 [[ 5.68085668e-01 -8.22134926e-01 -3.70518095e-02 4.29255523e+02] [ 8.08558326e-01 5.65960475e-01 -1.61003644e-01 9.76127150e+01] [ 1.53336579e-01 6.15053139e-02 9.86258075e-01 2.92028878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.76925415399995 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:429.32, Y:97.60, Z:29.19 [[ 5.59962632e-01 -8.14378729e-01 -1.52411077e-01 4.29316768e+02] [ 8.12518202e-01 5.75754735e-01 -9.12176348e-02 9.75955387e+01] [ 1.62037101e-01 -7.27583076e-02 9.84098677e-01 2.91853331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.7992541539999 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:429.29, Y:97.66, Z:29.21 [[ 5.65511485e-01 -8.23712082e-01 -4.11723884e-02 4.29291381e+02] [ 8.10585352e-01 5.64321929e-01 -1.56499669e-01 9.76579602e+01] [ 1.52145150e-01 5.51286253e-02 9.86819481e-01 2.92116192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.82925415399995 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:429.34, Y:97.66, Z:29.20 [[ 5.61445027e-01 -8.20492608e-01 -1.07570264e-01 4.29340308e+02] [ 8.12923595e-01 5.71168733e-01 -1.13672811e-01 9.76604050e+01] [ 1.54708472e-01 -2.36253709e-02 9.87677645e-01 2.91967165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.8592541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:429.35, Y:97.67, Z:29.20 [[ 5.56364291e-01 -8.21036833e-01 -1.27895639e-01 4.29353741e+02] [ 8.14933203e-01 5.69209769e-01 -1.09014285e-01 9.76714104e+01] [ 1.62304191e-01 -4.35747471e-02 9.85778165e-01 2.92029943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.88925415399996 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:429.36, Y:97.71, Z:29.22 [[ 5.54794016e-01 -8.26074633e-01 -9.90166676e-02 4.29355647e+02] [ 8.15854900e-01 5.63492763e-01 -1.29833305e-01 9.77052553e+01] [ 1.63047176e-01 -8.75249266e-03 9.86579451e-01 2.92176785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.91925415399993 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:429.37, Y:97.74, Z:29.22 [[ 5.56914083e-01 -8.27506877e-01 -7.12676130e-02 4.29365551e+02] [ 8.15383583e-01 5.61048247e-01 -1.42739195e-01 9.77388599e+01] [ 1.58102234e-01 2.13830261e-02 9.87191192e-01 2.92224431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.94925415399996 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:429.40, Y:97.74, Z:29.22 [[ 5.53056426e-01 -8.24456778e-01 -1.19998377e-01 4.29398293e+02] [ 8.17056327e-01 5.64889462e-01 -1.15407342e-01 9.77445897e+01] [ 1.62934184e-01 -3.42186609e-02 9.86043374e-01 2.92189223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.97925415399993 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:429.40, Y:97.78, Z:29.23 [[ 5.52869418e-01 -8.27671910e-01 -9.64085855e-02 4.29399861e+02] [ 8.17081839e-01 5.61182928e-01 -1.32102194e-01 9.77753655e+01] [ 1.63440127e-01 -5.73844135e-03 9.86536566e-01 2.92318159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.00925415399996 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:429.42, Y:97.80, Z:29.24 [[ 5.53220110e-01 -8.27478663e-01 -9.60550504e-02 4.29415290e+02] [ 8.16950342e-01 5.61469099e-01 -1.31698862e-01 9.77982888e+01] [ 1.62909941e-01 -5.61374749e-03 9.86624973e-01 2.92363852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.03925415399993 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:429.43, Y:97.82, Z:29.24 [[ 5.55041257e-01 -8.26453797e-01 -9.43574244e-02 4.29432620e+02] [ 8.15950479e-01 5.62989937e-01 -1.31404516e-01 9.78228045e+01] [ 1.61722041e-01 -4.05605806e-03 9.86828014e-01 2.92408817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.06925415399996 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:429.44, Y:97.84, Z:29.24 [[ 5.57019535e-01 -8.24818469e-01 -9.69728364e-02 4.29444949e+02] [ 8.14641216e-01 5.65355007e-01 -1.29357663e-01 9.78437702e+01] [ 1.61520668e-01 -6.94332412e-03 9.86844904e-01 2.92447754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.09925415399994 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:429.46, Y:97.87, Z:29.25 [[ 5.60160348e-01 -8.22959134e-01 -9.46501381e-02 4.29457910e+02] [ 8.12640277e-01 5.68085724e-01 -1.29978419e-01 9.78676590e+01] [ 1.60736320e-01 -4.10775800e-03 9.86988836e-01 2.92494845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.12925415399997 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:429.47, Y:97.89, Z:29.25 [[ 5.61368324e-01 -8.22168908e-01 -9.43604323e-02 4.29472610e+02] [ 8.11896628e-01 5.69230600e-01 -1.29616314e-01 9.78902673e+01] [ 1.60279349e-01 -3.84842372e-03 9.87064192e-01 2.92539597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.15925415399994 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:429.48, Y:97.92, Z:29.26 [[ 5.63321835e-01 -8.21610257e-01 -8.73217906e-02 4.29482763e+02] [ 8.10098527e-01 5.70011951e-01 -1.37210615e-01 9.79153025e+01] [ 1.62508113e-01 6.55448152e-03 9.86685437e-01 2.92617670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.18925415399997 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:429.50, Y:97.94, Z:29.26 [[ 5.63193612e-01 -8.20876228e-01 -9.47373957e-02 4.29503237e+02] [ 8.10192285e-01 5.71101106e-01 -1.32030254e-01 9.79358012e+01] [ 1.62485129e-01 -2.39691125e-03 9.86708081e-01 2.92635479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.21925415399994 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:429.52, Y:97.97, Z:29.27 [[ 5.65200844e-01 -8.20981944e-01 -8.08495693e-02 4.29520561e+02] [ 8.09804674e-01 5.70846390e-01 -1.35465080e-01 9.79688062e+01] [ 1.57367070e-01 1.10926188e-02 9.87477878e-01 2.92688564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.2492541539999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:429.55, Y:97.98, Z:29.27 [[ 5.61536331e-01 -8.18858677e-01 -1.18942914e-01 4.29545445e+02] [ 8.11279644e-01 5.73124378e-01 -1.15558589e-01 9.79772791e+01] [ 1.62795237e-01 -3.16056190e-02 9.86153535e-01 2.92668792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.27925415399994 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:429.55, Y:98.01, Z:29.28 [[ 5.60958209e-01 -8.22258719e-01 -9.60025325e-02 4.29548207e+02] [ 8.11488712e-01 5.69103295e-01 -1.32693293e-01 9.80069960e+01] [ 1.63743575e-01 -3.46957911e-03 9.86496834e-01 2.92798931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3092541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:429.56, Y:98.03, Z:29.28 [[ 5.58709015e-01 -8.23682343e-01 -9.69104417e-02 4.29562411e+02] [ 8.12713347e-01 5.67038252e-01 -1.34032227e-01 9.80290724e+01] [ 1.65351906e-01 -3.87539608e-03 9.86227017e-01 2.92837389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.33925415399995 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:429.58, Y:98.05, Z:29.29 [[ 5.57028122e-01 -8.24765002e-01 -9.73774273e-02 4.29577814e+02] [ 8.13695792e-01 5.65460158e-01 -1.34736660e-01 9.80513736e+01] [ 1.66189137e-01 -4.18349433e-03 9.86085021e-01 2.92884172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.3692541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:429.59, Y:98.07, Z:29.29 [[ 5.55364746e-01 -8.25858203e-01 -9.76126401e-02 4.29594074e+02] [ 8.14737816e-01 5.63860099e-01 -1.35144664e-01 9.80739589e+01] [ 1.66650203e-01 -4.47412693e-03 9.86005929e-01 2.92926103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.39925415399995 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:429.61, Y:98.10, Z:29.30 [[ 5.53883993e-01 -8.26850351e-01 -9.76269412e-02 4.29609922e+02] [ 8.15728032e-01 5.62402134e-01 -1.35246505e-01 9.80961810e+01] [ 1.66734220e-01 -4.72615845e-03 9.85990549e-01 2.92968175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4292541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:429.62, Y:98.12, Z:29.30 [[ 5.52572291e-01 -8.27699831e-01 -9.78613993e-02 4.29624841e+02] [ 8.16523158e-01 5.61149268e-01 -1.35651875e-01 9.81178686e+01] [ 1.67193887e-01 -4.94863143e-03 9.85911616e-01 2.93006154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.45925415399995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:429.64, Y:98.14, Z:29.31 [[ 5.51835453e-01 -8.28174334e-01 -9.80046187e-02 4.29640573e+02] [ 8.16965673e-01 5.60447573e-01 -1.35888215e-01 9.81405861e+01] [ 1.67465582e-01 -5.07847484e-03 9.85864843e-01 2.93051862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.4892541539999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:429.66, Y:98.16, Z:29.31 [[ 5.51480137e-01 -8.28356854e-01 -9.84610643e-02 4.29655526e+02] [ 8.17031994e-01 5.60177455e-01 -1.36601388e-01 9.81630367e+01] [ 1.68310365e-01 -5.11288733e-03 9.85720792e-01 2.93093634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.51925415399995 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:429.67, Y:98.19, Z:29.31 [[ 5.50494275e-01 -8.29067932e-01 -9.79919220e-02 4.29670408e+02] [ 8.17856281e-01 5.59122934e-01 -1.35987676e-01 9.81859285e+01] [ 1.67532553e-01 -5.28287153e-03 9.85852390e-01 2.93141807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.5492541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:429.69, Y:98.21, Z:29.32 [[ 5.50012257e-01 -8.29403300e-01 -9.78605336e-02 4.29685989e+02] [ 8.18213582e-01 5.58624859e-01 -1.35885251e-01 9.82086748e+01] [ 1.67371002e-01 -5.33226423e-03 9.85879564e-01 2.93184621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.57925415399995 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:429.70, Y:98.23, Z:29.32 [[ 5.49882759e-01 -8.29531086e-01 -9.75045037e-02 4.29700556e+02] [ 8.18412059e-01 5.58435325e-01 -1.35468409e-01 9.82306515e+01] [ 1.66825216e-01 -5.30711884e-03 9.85972201e-01 2.93222457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.6092541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:429.72, Y:98.25, Z:29.33 [[ 5.49809637e-01 -8.29555833e-01 -9.77061074e-02 4.29716072e+02] [ 8.18384677e-01 5.58398579e-01 -1.35784927e-01 9.82538346e+01] [ 1.67200130e-01 -5.30531957e-03 9.85908703e-01 2.93272348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.63925415399996 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:429.73, Y:98.28, Z:29.33 [[ 5.49699976e-01 -8.29623217e-01 -9.77509800e-02 4.29731209e+02] [ 8.18429421e-01 5.58298665e-01 -1.35926023e-01 9.82772601e+01] [ 1.67341626e-01 -5.28374671e-03 9.85884812e-01 2.93319802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.66925415399993 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:429.74, Y:98.30, Z:29.34 [[ 5.49894109e-01 -8.29434400e-01 -9.82600859e-02 4.29744464e+02] [ 8.18105609e-01 5.58579864e-01 -1.36717768e-01 9.82998931e+01] [ 1.68284525e-01 -5.20683225e-03 9.85724712e-01 2.93365440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.69925415399996 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:429.76, Y:98.32, Z:29.34 [[ 5.49597252e-01 -8.29578159e-01 -9.87063248e-02 4.29759616e+02] [ 8.18141022e-01 5.58365905e-01 -1.37378252e-01 9.83230824e+01] [ 1.69080244e-01 -5.25298347e-03 9.85588290e-01 2.93413093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.72925415399993 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:429.77, Y:98.35, Z:29.35 [[ 5.48907083e-01 -8.30014501e-01 -9.88784196e-02 4.29773957e+02] [ 8.18531042e-01 5.57716115e-01 -1.37694112e-01 9.83456003e+01] [ 1.69434198e-01 -5.35378222e-03 9.85526960e-01 2.93454814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.75925415399996 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:429.79, Y:98.37, Z:29.35 [[ 5.48358953e-01 -8.30362382e-01 -9.89988578e-02 4.29789862e+02] [ 8.18846891e-01 5.57197230e-01 -1.37916701e-01 9.83683588e+01] [ 1.69682730e-01 -5.43704910e-03 9.85483744e-01 2.93499282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.78925415399993 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:429.80, Y:98.39, Z:29.35 [[ 5.47630688e-01 -8.30835899e-01 -9.90572530e-02 4.29804757e+02] [ 8.19299817e-01 5.56489915e-01 -1.38082532e-01 9.83904233e+01] [ 1.69848287e-01 -5.53935741e-03 9.85454654e-01 2.93542513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.81925415399996 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:429.82, Y:98.41, Z:29.36 [[ 5.46706547e-01 -8.31472842e-01 -9.88173317e-02 4.29819655e+02] [ 8.19996305e-01 5.55536158e-01 -1.37788376e-01 9.84130832e+01] [ 1.69463894e-01 -5.70003951e-03 9.85519913e-01 2.93586987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.84925415399994 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:429.83, Y:98.44, Z:29.36 [[ 5.45254151e-01 -8.32410208e-01 -9.89502764e-02 4.29833915e+02] [ 8.20902891e-01 5.54127996e-01 -1.38060159e-01 9.84370338e+01] [ 1.69753804e-01 -5.95069335e-03 9.85468536e-01 2.93636174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.87925415399997 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:429.85, Y:98.46, Z:29.37 [[ 5.44440112e-01 -8.32939270e-01 -9.89804871e-02 4.29848787e+02] [ 8.21418508e-01 5.53331135e-01 -1.38189327e-01 9.84602240e+01] [ 1.69872303e-01 -6.06859117e-03 9.85447397e-01 2.93682550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.90925415399994 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:429.86, Y:98.48, Z:29.37 [[ 5.43533035e-01 -8.33499904e-01 -9.92459077e-02 4.29862721e+02] [ 8.21911377e-01 5.52484665e-01 -1.38644809e-01 9.84831994e+01] [ 1.70392277e-01 -6.21330658e-03 9.85356721e-01 2.93731026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9392541539999 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:429.88, Y:98.51, Z:29.38 [[ 5.42965897e-01 -8.33882131e-01 -9.91394306e-02 4.29878449e+02] [ 8.22317864e-01 5.51906568e-01 -1.38536889e-01 9.85062621e+01] [ 1.70239139e-01 -6.30331873e-03 9.85382618e-01 2.93774684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.96925415399994 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:429.89, Y:98.53, Z:29.38 [[ 5.42296795e-01 -8.34343306e-01 -9.89213508e-02 4.29894275e+02] [ 8.22822867e-01 5.51208200e-01 -1.38318654e-01 9.85294124e+01] [ 1.69931503e-01 -6.38498695e-03 9.85435191e-01 2.93818502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.9992541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:429.91, Y:98.55, Z:29.39 [[ 5.40653737e-01 -8.35418896e-01 -9.88372669e-02 4.29908204e+02] [ 8.23921469e-01 5.49573270e-01 -1.38284616e-01 9.85518404e+01] [ 1.69843901e-01 -6.67005169e-03 9.85448405e-01 2.93861898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.02925415399994 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:429.92, Y:98.57, Z:29.39 [[ 5.39806725e-01 -8.35943191e-01 -9.90337398e-02 4.29924093e+02] [ 8.24401412e-01 5.48773525e-01 -1.38599891e-01 9.85742668e+01] [ 1.70208730e-01 -6.82640155e-03 9.85384386e-01 2.93901527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.0592541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:429.94, Y:98.60, Z:29.39 [[ 5.37018118e-01 -8.37789129e-01 -9.85947088e-02 4.29937818e+02] [ 8.26366625e-01 5.45944719e-01 -1.38067250e-01 9.85966096e+01] [ 1.69498501e-01 -7.33076220e-03 9.85503180e-01 2.93944344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.08925415399995 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:429.95, Y:98.62, Z:29.40 [[ 5.36028660e-01 -8.38424871e-01 -9.85749055e-02 4.29953691e+02] [ 8.27010770e-01 5.44965470e-01 -1.38079046e-01 9.86196687e+01] [ 1.69488826e-01 -7.50818230e-03 9.85503508e-01 2.93989493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1192541539999 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:429.97, Y:98.64, Z:29.40 [[ 5.34878283e-01 -8.39188685e-01 -9.83238175e-02 4.29968300e+02] [ 8.27831306e-01 5.43786097e-01 -1.37811500e-01 9.86419962e+01] [ 1.69116976e-01 -7.68315590e-03 9.85566039e-01 2.94034343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.14925415399995 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:429.98, Y:98.66, Z:29.41 [[ 5.34709638e-01 -8.39279909e-01 -9.84623610e-02 4.29983394e+02] [ 8.27885328e-01 5.43645019e-01 -1.38043388e-01 9.86640882e+01] [ 1.69385614e-01 -7.70241399e-03 9.85519755e-01 2.94065077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.1792541539999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:430.00, Y:98.69, Z:29.41 [[ 5.34633026e-01 -8.39303910e-01 -9.86735766e-02 4.29998679e+02] [ 8.27853713e-01 5.43607922e-01 -1.38378676e-01 9.86870877e+01] [ 1.69781502e-01 -7.70547631e-03 9.85451606e-01 2.94108390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.20925415399995 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:430.01, Y:98.71, Z:29.42 [[ 5.35770737e-01 -8.38531139e-01 -9.90719243e-02 4.30012456e+02] [ 8.26959836e-01 5.44802820e-01 -1.39022722e-01 9.87105654e+01] [ 1.70549545e-01 -7.44419586e-03 9.85320981e-01 2.94150277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2392541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:430.03, Y:98.73, Z:29.42 [[ 5.35877164e-01 -8.38506447e-01 -9.87046262e-02 4.30026572e+02] [ 8.27013929e-01 5.44841624e-01 -1.38548069e-01 9.87337362e+01] [ 1.69951838e-01 -7.38535455e-03 9.85424695e-01 2.94206568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.26925415399995 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:430.04, Y:98.76, Z:29.42 [[ 5.37863173e-01 -8.37262871e-01 -9.84585824e-02 4.30041625e+02] [ 8.25792443e-01 5.46756729e-01 -1.38289260e-01 9.87568952e+01] [ 1.69617355e-01 -6.92565314e-03 9.85485661e-01 2.94243135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.2992541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:430.06, Y:98.78, Z:29.43 [[ 5.38576585e-01 -8.36818063e-01 -9.83401812e-02 4.30056747e+02] [ 8.25353259e-01 5.47439720e-01 -1.38209086e-01 9.87798767e+01] [ 1.69491181e-01 -6.72921130e-03 9.85508730e-01 2.94289279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.32925415399995 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:430.07, Y:98.80, Z:29.43 [[ 5.39523196e-01 -8.36215622e-01 -9.82759144e-02 4.30071175e+02] [ 8.24741532e-01 5.48362411e-01 -1.38203008e-01 9.88025085e+01] [ 1.69458332e-01 -6.48849972e-03 9.85515993e-01 2.94336679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.3592541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:430.09, Y:98.83, Z:29.44 [[ 5.41650397e-01 -8.34885758e-01 -9.78806325e-02 4.30085143e+02] [ 8.23476062e-01 5.50390298e-01 -1.37686944e-01 9.88265705e+01] [ 1.68825419e-01 -6.02416996e-03 9.85627560e-01 2.94393188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.38925415399996 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:430.10, Y:98.85, Z:29.44 [[ 5.42743207e-01 -8.34183414e-01 -9.78153500e-02 4.30100485e+02] [ 8.22762987e-01 5.51457098e-01 -1.37681282e-01 9.88493738e+01] [ 1.68792411e-01 -5.75326894e-03 9.85634832e-01 2.94435767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.41925415399993 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:430.12, Y:98.87, Z:29.45 [[ 5.43829664e-01 -8.33496014e-01 -9.76406238e-02 4.30116045e+02] [ 8.22090965e-01 5.52498280e-01 -1.37521258e-01 9.88721135e+01] [ 1.68569697e-01 -5.48133523e-03 9.85674496e-01 2.94477015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.44925415399996 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:430.13, Y:98.90, Z:29.45 [[ 5.46028456e-01 -8.32053637e-01 -9.76712407e-02 4.30131066e+02] [ 8.20603680e-01 5.54672754e-01 -1.37650774e-01 9.88952434e+01] [ 1.68708403e-01 -4.98813980e-03 9.85653384e-01 2.94517622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.47925415399993 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:430.15, Y:98.92, Z:29.46 [[ 5.47258987e-01 -8.31245298e-01 -9.76670670e-02 4.30146665e+02] [ 8.19768757e-01 5.55886015e-01 -1.37731346e-01 9.89177470e+01] [ 1.68780290e-01 -4.68969329e-03 9.85642542e-01 2.94552127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.50925415399996 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:430.16, Y:98.94, Z:29.46 [[ 5.47541520e-01 -8.31067591e-01 -9.75958205e-02 4.30161228e+02] [ 8.19590391e-01 5.56152548e-01 -1.37716863e-01 9.89407678e+01] [ 1.68730185e-01 -4.58289652e-03 9.85651623e-01 2.94602894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.53925415399993 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:430.18, Y:98.96, Z:29.47 [[ 5.49762464e-01 -8.29601682e-01 -9.75821780e-02 4.30175939e+02] [ 8.18090445e-01 5.58340728e-01 -1.37781187e-01 9.89633034e+01] [ 1.68787609e-01 -4.08412237e-03 9.85643984e-01 2.94650574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.56925415399996 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:430.19, Y:98.99, Z:29.47 [[ 5.50925160e-01 -8.28826524e-01 -9.76117894e-02 4.30191979e+02] [ 8.17289356e-01 5.59492594e-01 -1.37862780e-01 9.89854194e+01] [ 1.68877402e-01 -3.82500248e-03 9.85629643e-01 2.94693362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.59925415399994 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:430.21, Y:99.01, Z:29.47 [[ 5.52106352e-01 -8.28043854e-01 -9.75804902e-02 4.30208772e+02] [ 8.16487405e-01 5.60652187e-01 -1.37903747e-01 9.90076000e+01] [ 1.68899066e-01 -3.53570630e-03 9.85627011e-01 2.94733189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.62925415399997 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:430.23, Y:99.03, Z:29.48 [[ 5.55121125e-01 -8.26020421e-01 -9.76258219e-02 4.30225986e+02] [ 8.14407414e-01 5.63632877e-01 -1.38052682e-01 9.90277528e+01] [ 1.69059457e-01 -2.87123312e-03 9.85601672e-01 2.94758995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.65925415399994 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:430.24, Y:99.05, Z:29.48 [[ 5.55827928e-01 -8.25527662e-01 -9.77721560e-02 4.30241702e+02] [ 8.13861644e-01 5.64355241e-01 -1.38319867e-01 9.90500360e+01] [ 1.69365105e-01 -2.69096282e-03 9.85549704e-01 2.94815513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.6892541539999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:430.26, Y:99.07, Z:29.49 [[ 5.58045401e-01 -8.24006521e-01 -9.79723648e-02 4.30257926e+02] [ 8.12254098e-01 5.66576108e-01 -1.38689560e-01 9.90717861e+01] [ 1.69789903e-01 -2.18338355e-03 9.85477865e-01 2.94865387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.71925415399994 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:430.27, Y:99.09, Z:29.49 [[ 5.58868992e-01 -8.23414106e-01 -9.82581357e-02 4.30274274e+02] [ 8.11568361e-01 5.67437550e-01 -1.39181260e-01 9.90944667e+01] [ 1.70359169e-01 -1.95910361e-03 9.85380087e-01 2.94913291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.7492541539999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:430.29, Y:99.12, Z:29.50 [[ 5.60107940e-01 -8.22489331e-01 -9.89464291e-02 4.30290460e+02] [ 8.10446589e-01 5.68778172e-01 -1.40241639e-01 9.91156010e+01] [ 1.71625821e-01 -1.64034033e-03 9.85160843e-01 2.94958145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.77925415399994 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:430.31, Y:99.14, Z:29.50 [[ 5.59948471e-01 -8.22563921e-01 -9.92285520e-02 4.30306497e+02] [ 8.10445753e-01 5.68670285e-01 -1.40683293e-01 9.91374104e+01] [ 1.72149330e-01 -1.64396373e-03 9.85069493e-01 2.95005350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8092541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:430.32, Y:99.16, Z:29.51 [[ 5.59706972e-01 -8.22713950e-01 -9.93471815e-02 4.30322674e+02] [ 8.10553583e-01 5.68453219e-01 -1.40939091e-01 9.91590630e+01] [ 1.72426781e-01 -1.64162223e-03 9.85020969e-01 2.95055022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.83925415399995 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:430.34, Y:99.18, Z:29.51 [[ 5.59116816e-01 -8.23117849e-01 -9.93246846e-02 4.30339078e+02] [ 8.10954076e-01 5.67867999e-01 -1.40994407e-01 9.91806987e+01] [ 1.72458323e-01 -1.71541381e-03 9.85015322e-01 2.95106039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.8692541539999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:430.36, Y:99.20, Z:29.52 [[ 5.57068322e-01 -8.24595211e-01 -9.85780014e-02 4.30356175e+02] [ 8.12623098e-01 5.65719277e-01 -1.40019284e-01 9.92010609e+01] [ 1.71226707e-01 -2.10645314e-03 9.85229404e-01 2.95157582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.89925415399995 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:430.37, Y:99.22, Z:29.52 [[ 5.55578551e-01 -8.25605088e-01 -9.85328017e-02 4.30372709e+02] [ 8.13652521e-01 5.64243313e-01 -1.39996637e-01 9.92226377e+01] [ 1.71178410e-01 -2.39233372e-03 9.85237143e-01 2.95209287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9292541539999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:430.39, Y:99.24, Z:29.53 [[ 5.51636510e-01 -8.28253131e-01 -9.84576659e-02 4.30389128e+02] [ 8.16345432e-01 5.60345224e-01 -1.39976308e-01 9.92432244e+01] [ 1.71106098e-01 -3.15942346e-03 9.85247543e-01 2.95260119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.95925415399995 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:430.41, Y:99.27, Z:29.53 [[ 5.49044318e-01 -8.29954082e-01 -9.86233167e-02 4.30405744e+02] [ 8.18022281e-01 5.57819711e-01 -1.40273729e-01 9.92652811e+01] [ 1.71434784e-01 -3.65957651e-03 9.85188673e-01 2.95303819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.9892541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:430.42, Y:99.29, Z:29.53 [[ 5.42976900e-01 -8.33871407e-01 -9.91693578e-02 4.30423553e+02] [ 8.21854577e-01 5.51937300e-01 -1.41139191e-01 9.92861011e+01] [ 1.72427203e-01 -4.86747026e-03 9.85010237e-01 2.95345524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.01925415399995 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:430.44, Y:99.31, Z:29.54 [[ 5.39480766e-01 -8.36097505e-01 -9.95061045e-02 4.30440716e+02] [ 8.24019753e-01 5.48552826e-01 -1.41708305e-01 9.93079479e+01] [ 1.73066315e-01 -5.54609047e-03 9.84894558e-01 2.95391519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.0492541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:430.46, Y:99.33, Z:29.54 [[ 5.35817945e-01 -8.38466124e-01 -9.93664356e-02 4.30457824e+02] [ 8.26446838e-01 5.44917879e-01 -1.41598477e-01 9.93297509e+01] [ 1.72872074e-01 -6.25007147e-03 9.84924455e-01 2.95432114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.07925415399995 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:430.47, Y:99.35, Z:29.55 [[ 5.35587769e-01 -8.38618133e-01 -9.93245620e-02 4.30473834e+02] [ 8.26596004e-01 5.44683946e-01 -1.41627844e-01 9.93527493e+01] [ 1.72872173e-01 -6.24714481e-03 9.84924457e-01 2.95477774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.1092541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:430.49, Y:99.37, Z:29.55 [[ 5.31958170e-01 -8.40915375e-01 -9.94074328e-02 4.30489997e+02] [ 8.28898176e-01 5.41121974e-01 -1.41826737e-01 9.93734210e+01] [ 1.73055830e-01 -6.95274820e-03 9.84887475e-01 2.95520539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.13925415399996 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:430.51, Y:99.39, Z:29.56 [[ 5.25314074e-01 -8.45077048e-01 -9.94480076e-02 4.30507903e+02] [ 8.33115030e-01 5.34580183e-01 -1.41927357e-01 9.93940460e+01] [ 1.73102486e-01 -8.29519181e-03 9.84868884e-01 2.95558191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.16925415399993 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:430.52, Y:99.42, Z:29.56 [[ 5.22237436e-01 -8.46986032e-01 -9.94118790e-02 4.30524728e+02] [ 8.35050766e-01 5.31541073e-01 -1.41965861e-01 9.94161224e+01] [ 1.73084598e-01 -8.87407849e-03 9.84866982e-01 2.95600532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.19925415399996 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:430.54, Y:99.44, Z:29.56 [[ 5.16896542e-01 -8.50283642e-01 -9.91750582e-02 4.30541846e+02] [ 8.38448851e-01 5.26231619e-01 -1.41717350e-01 9.94376444e+01] [ 1.72688996e-01 -9.90000514e-03 9.84926647e-01 2.95638686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.22925415399993 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:430.55, Y:99.49, Z:29.57 [[ 5.23898564e-01 -8.51008814e-01 -3.62531698e-02 4.30549583e+02] [ 8.36685242e-01 5.22124973e-01 -1.65358155e-01 9.94850078e+01] [ 1.59649933e-01 5.62984079e-02 9.85567039e-01 2.95689539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.25925415399996 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:430.61, Y:99.47, Z:29.55 [[ 5.12327734e-01 -8.44210897e-01 -1.57569839e-01 4.30607496e+02] [ 8.42039328e-01 5.29868646e-01 -1.01039537e-01 9.94657594e+01] [ 1.68789996e-01 -8.09146444e-02 9.82325179e-01 2.95519643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.28925415399993 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:430.58, Y:99.53, Z:29.58 [[ 5.19123098e-01 -8.53889550e-01 -3.72000837e-02 4.30582664e+02] [ 8.39529952e-01 5.17590041e-01 -1.65196878e-01 9.95298791e+01] [ 1.60314280e-01 5.45269304e-02 9.85558799e-01 2.95796282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.31925415399996 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:430.64, Y:99.51, Z:29.56 [[ 5.09092054e-01 -8.46449966e-01 -1.56037612e-01 4.30640771e+02] [ 8.44109878e-01 5.26434493e-01 -1.01711551e-01 9.95116565e+01] [ 1.68237319e-01 -7.99323471e-02 9.82500394e-01 2.95622596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.34925415399994 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:430.63, Y:99.55, Z:29.59 [[ 5.09068040e-01 -8.55063375e-01 -9.85715762e-02 4.30625996e+02] [ 8.43381179e-01 5.18402538e-01 -1.41304619e-01 9.95512138e+01] [ 1.71924159e-01 -1.11997468e-02 9.85046521e-01 2.95875311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.37925415399997 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:430.64, Y:99.57, Z:29.59 [[ 5.09153275e-01 -8.54985606e-01 -9.88056483e-02 4.30641968e+02] [ 8.43230186e-01 5.18531793e-01 -1.41730847e-01 9.95737332e+01] [ 1.72411704e-01 -1.11531804e-02 9.84961832e-01 2.95919519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.40925415399994 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:430.66, Y:99.60, Z:29.60 [[ 5.11375960e-01 -8.53639223e-01 -9.89681993e-02 4.30657386e+02] [ 8.41804740e-01 5.20755433e-01 -1.42051251e-01 9.95960115e+01] [ 1.72798747e-01 -1.06703047e-02 9.84899354e-01 2.95957144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4392541539999 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:430.67, Y:99.62, Z:29.60 [[ 5.12723467e-01 -8.52781719e-01 -9.93880605e-02 4.30672400e+02] [ 8.40822441e-01 5.22163871e-01 -1.42697283e-01 9.96187100e+01] [ 1.73586489e-01 -1.04034657e-02 9.84763677e-01 2.96001763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.46925415399994 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:430.69, Y:99.64, Z:29.60 [[ 5.14514561e-01 -8.51635036e-01 -9.99626591e-02 4.30686938e+02] [ 8.39499351e-01 5.24039289e-01 -1.43609412e-01 9.96408980e+01] [ 1.74687168e-01 -1.00294539e-02 9.84572904e-01 2.96042112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.4992541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:430.70, Y:99.66, Z:29.61 [[ 5.19559097e-01 -8.48473773e-01 -1.00750191e-01 4.30701536e+02] [ 8.36078658e-01 5.29160678e-01 -1.44780713e-01 9.96638728e+01] [ 1.76155678e-01 -9.01294813e-03 9.84321057e-01 2.96074434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.52925415399994 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:430.72, Y:99.69, Z:29.61 [[ 5.22232020e-01 -8.46763911e-01 -1.01314342e-01 4.30716240e+02] [ 8.34188824e-01 5.31901599e-01 -1.45635486e-01 9.96870074e+01] [ 1.77208134e-01 -8.45977797e-03 9.84137038e-01 2.96123141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.5592541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:430.72, Y:99.74, Z:29.62 [[ 5.38696157e-01 -8.41868149e-01 -3.26262274e-02 4.30716951e+02] [ 8.26374069e-01 5.35529326e-01 -1.74109848e-01 9.97382415e+01] [ 1.64049837e-01 6.68308377e-02 9.84185597e-01 2.96195208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.58925415399995 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:430.78, Y:99.72, Z:29.60 [[ 5.32166151e-01 -8.30021250e-01 -1.66924870e-01 4.30781359e+02] [ 8.27870342e-01 5.51439231e-01 -1.02691149e-01 9.97164006e+01] [ 1.77284758e-01 -8.35433956e-02 9.80607269e-01 2.95988508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6192541539999 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:430.76, Y:99.76, Z:29.63 [[ 5.42464380e-01 -8.33731486e-01 -1.03073794e-01 4.30758163e+02] [ 8.20418385e-01 5.52155360e-01 -1.48452459e-01 9.97600950e+01] [ 1.80682237e-01 -4.03346419e-03 9.83533253e-01 2.96281210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.64925415399995 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:430.77, Y:99.78, Z:29.63 [[ 5.47424260e-01 -8.30506288e-01 -1.02888215e-01 4.30772670e+02] [ 8.17176538e-01 5.57001524e-01 -1.48228902e-01 9.97832933e+01] [ 1.80413928e-01 -2.93373822e-03 9.83586401e-01 2.96324364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.6792541539999 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:430.78, Y:99.81, Z:29.64 [[ 5.53110955e-01 -8.28972500e-01 -8.29027503e-02 4.30776585e+02] [ 8.14088900e-01 5.58942731e-01 -1.57614360e-01 9.98128233e+01] [ 1.76995860e-01 1.96880203e-02 9.84014658e-01 2.96393992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.70925415399995 meters Centerline goodness : 0.997468 Centerline is valid? [True, True] Translation: X:430.80, Y:99.83, Z:29.64 [[ 5.62870600e-01 -8.20163264e-01 -1.02512968e-01 4.30800257e+02] [ 8.07603944e-01 5.72124928e-01 -1.42999780e-01 9.98307648e+01] [ 1.75933390e-01 -2.29950528e-03 9.84399388e-01 2.96378222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7392541539999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:430.82, Y:99.85, Z:29.64 [[ 5.67147521e-01 -8.15339550e-01 -1.16469341e-01 4.30823150e+02] [ 8.03994188e-01 5.78755865e-01 -1.36510052e-01 9.98504951e+01] [ 1.78709359e-01 -1.62193358e-02 9.83768214e-01 2.96434776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.76925415399995 meters Centerline goodness : 0.996684 Centerline is valid? [True, True] Translation: X:430.82, Y:99.88, Z:29.66 [[ 5.76512342e-01 -8.12772822e-01 -8.38681084e-02 4.30819671e+02] [ 7.98773748e-01 5.82223640e-01 -1.51578801e-01 9.98831639e+01] [ 1.72029125e-01 2.03954060e-02 9.84880707e-01 2.96561310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.7992541539999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:430.85, Y:99.90, Z:29.65 [[ 5.79355905e-01 -8.07291587e-01 -1.12370055e-01 4.30850934e+02] [ 7.96112648e-01 5.90038694e-01 -1.34383747e-01 9.98978523e+01] [ 1.74789549e-01 -1.16032044e-02 9.84537444e-01 2.96545793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.82925415399995 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:430.86, Y:99.93, Z:29.66 [[ 5.82690663e-01 -8.07287115e-01 -9.35900887e-02 4.30855715e+02] [ 7.94376100e-01 5.90080243e-01 -1.44124667e-01 9.99262301e+01] [ 1.71575649e-01 9.63436823e-03 9.85123838e-01 2.96644575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.8592541539999 meters Centerline goodness : 0.994381 Centerline is valid? [True, True] Translation: X:430.87, Y:99.95, Z:29.67 [[ 5.84446546e-01 -8.07431354e-01 -8.04788376e-02 4.30865492e+02] [ 7.93783583e-01 5.89488930e-01 -1.49701118e-01 9.99527541e+01] [ 1.68314760e-01 2.36095211e-02 9.85450522e-01 2.96703245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.88925415399996 meters Centerline goodness : 0.994850 Centerline is valid? [True, True] Translation: X:430.89, Y:99.97, Z:29.67 [[ 5.85282520e-01 -8.05471048e-01 -9.30632179e-02 4.30891045e+02] [ 7.93078943e-01 5.92570852e-01 -1.41016221e-01 9.99717218e+01] [ 1.68731033e-01 8.72785048e-03 9.85623489e-01 2.96699900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.91925415399993 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:430.92, Y:99.99, Z:29.67 [[ 5.83070584e-01 -8.03877313e-01 -1.17515789e-01 4.30920072e+02] [ 7.93545939e-01 5.94533335e-01 -1.29672494e-01 9.99868861e+01] [ 1.74107830e-01 -1.76459603e-02 9.84568476e-01 2.96720225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.94925415399996 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:430.93, Y:100.01, Z:29.68 [[ 5.81904401e-01 -8.07245132e-01 -9.87044348e-02 4.30926911e+02] [ 7.94530401e-01 5.90197884e-01 -1.42786205e-01 1.00014129e+02] [ 1.73518618e-01 4.66424710e-03 9.84819544e-01 2.96838330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.97925415399993 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:430.95, Y:100.03, Z:29.69 [[ 5.78182515e-01 -8.09896017e-01 -9.88606143e-02 4.30945967e+02] [ 7.97163026e-01 5.86560303e-01 -1.43101787e-01 1.00034434e+02] [ 1.73885279e-01 3.93092451e-03 9.84758071e-01 2.96876013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.00925415399996 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:430.96, Y:100.06, Z:29.69 [[ 5.75986745e-01 -8.11414012e-01 -9.92298883e-02 4.30963749e+02] [ 7.98591190e-01 5.84461091e-01 -1.43726631e-01 1.00056059e+02] [ 1.74617811e-01 3.54051996e-03 9.84629923e-01 2.96923349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.03925415399993 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:430.98, Y:100.08, Z:29.70 [[ 5.74409199e-01 -8.13663840e-01 -8.94719329e-02 4.30983492e+02] [ 8.00567665e-01 5.81208021e-01 -1.45906307e-01 1.00079083e+02] [ 1.70720491e-01 1.21815888e-02 9.85244194e-01 2.96959331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.06925415399996 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:431.01, Y:100.09, Z:29.70 [[ 5.68875546e-01 -8.15397099e-01 -1.07276206e-01 4.31007020e+02] [ 8.03710663e-01 5.78848950e-01 -1.37779036e-01 1.00094538e+02] [ 1.74441346e-01 -7.83990599e-03 9.84636356e-01 2.96982458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.09925415399994 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:431.02, Y:100.12, Z:29.71 [[ 5.66191580e-01 -8.18334180e-01 -9.87738056e-02 4.31020886e+02] [ 8.05694649e-01 5.74740628e-01 -1.43280647e-01 1.00117927e+02] [ 1.74020770e-01 1.54276928e-03 9.84740774e-01 2.97062124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.12925415399997 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:431.04, Y:100.14, Z:29.71 [[ 5.64417567e-01 -8.20566897e-01 -9.00154283e-02 4.31042783e+02] [ 8.07819792e-01 5.71483492e-01 -1.44339193e-01 1.00139448e+02] [ 1.69882295e-01 8.75133141e-03 9.85425502e-01 2.97105319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.15925415399994 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:431.06, Y:100.18, Z:29.71 [[ 5.65850850e-01 -8.22697844e-01 -5.45992042e-02 4.31058080e+02] [ 8.08843641e-01 5.66728981e-01 -1.56812710e-01 1.00178048e+02] [ 1.59952430e-01 4.45703862e-02 9.86117995e-01 2.97149072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.1892541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:431.11, Y:100.16, Z:29.71 [[ 5.50431964e-01 -8.20852420e-01 -1.52400650e-01 4.31108003e+02] [ 8.16011852e-01 5.67541910e-01 -1.09639583e-01 1.00161783e+02] [ 1.76491674e-01 -6.40116056e-02 9.82218511e-01 2.97071514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.21925415399994 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:431.09, Y:100.22, Z:29.73 [[ 5.58674056e-01 -8.28504368e-01 -3.82597943e-02 4.31089692e+02] [ 8.13728147e-01 5.56464225e-01 -1.67910898e-01 1.00223518e+02] [ 1.60405119e-01 6.26743910e-02 9.85059449e-01 2.97291309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.2492541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:431.15, Y:100.21, Z:29.72 [[ 5.49255647e-01 -8.22633392e-01 -1.46943996e-01 4.31153980e+02] [ 8.17403662e-01 5.65438007e-01 -1.10141339e-01 1.00209736e+02] [ 1.73693664e-01 -5.96168076e-02 9.82993564e-01 2.97157013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.27925415399994 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:431.14, Y:100.24, Z:29.74 [[ 5.43124585e-01 -8.32576435e-01 -1.08775754e-01 4.31141475e+02] [ 8.20620932e-01 5.53766821e-01 -1.41150963e-01 1.00238784e+02] [ 1.77755369e-01 -1.26011022e-02 9.83994025e-01 2.97371805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3092541539999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:431.16, Y:100.26, Z:29.74 [[ 5.41780454e-01 -8.35254003e-01 -9.39398239e-02 4.31164819e+02] [ 8.22049615e-01 5.49856448e-01 -1.47960523e-01 1.00264207e+02] [ 1.75238037e-01 2.93892300e-03 9.84521708e-01 2.97430372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.33925415399995 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:431.18, Y:100.28, Z:29.75 [[ 5.36239075e-01 -8.37676359e-01 -1.03662786e-01 4.31180580e+02] [ 8.24688324e-01 5.46126864e-01 -1.47087108e-01 1.00279252e+02] [ 1.79824426e-01 -6.61563457e-03 9.83676476e-01 2.97469922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.3692541539999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:431.20, Y:100.30, Z:29.75 [[ 5.31386076e-01 -8.40474127e-01 -1.05981509e-01 4.31203359e+02] [ 8.28047712e-01 5.41739635e-01 -1.44413141e-01 1.00296434e+02] [ 1.78789892e-01 -1.10186141e-02 9.83825576e-01 2.97506038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.39925415399995 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:431.22, Y:100.32, Z:29.76 [[ 5.29374397e-01 -8.42350764e-01 -1.01034345e-01 4.31218643e+02] [ 8.29241572e-01 5.38902952e-01 -1.48128401e-01 1.00318842e+02] [ 1.79223778e-01 -5.36649609e-03 9.83793697e-01 2.97565791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4292541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:431.24, Y:100.34, Z:29.76 [[ 5.27617119e-01 -8.43438643e-01 -1.01150538e-01 4.31236354e+02] [ 8.30302113e-01 5.37195356e-01 -1.48389860e-01 1.00340114e+02] [ 1.79495342e-01 -5.69247508e-03 9.83742353e-01 2.97613218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.45925415399995 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:431.25, Y:100.36, Z:29.77 [[ 5.26265513e-01 -8.44228445e-01 -1.01601882e-01 4.31254949e+02] [ 8.30971966e-01 5.35950588e-01 -1.49139395e-01 1.00359513e+02] [ 1.80361308e-01 -5.94139500e-03 9.83582482e-01 2.97655841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.4892541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:431.27, Y:100.38, Z:29.77 [[ 5.25926634e-01 -8.44394352e-01 -1.01977224e-01 4.31271518e+02] [ 8.31033952e-01 5.35688540e-01 -1.49734295e-01 1.00380922e+02] [ 1.81062823e-01 -5.99728212e-03 9.83453246e-01 2.97703148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.51925415399995 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:431.28, Y:100.40, Z:29.78 [[ 5.25902405e-01 -8.45062759e-01 -9.64136607e-02 4.31284606e+02] [ 8.30291292e-01 5.34660346e-01 -1.57336218e-01 1.00404312e+02] [ 1.84507539e-01 2.69207229e-03 9.82827411e-01 2.97779972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.5492541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:431.31, Y:100.42, Z:29.78 [[ 5.26370678e-01 -8.43655671e-01 -1.05730873e-01 4.31305854e+02] [ 8.30241991e-01 5.36812937e-01 -1.50100326e-01 1.00424349e+02] [ 1.83390692e-01 -8.77379988e-03 9.83000953e-01 2.97798766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.57925415399995 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:431.32, Y:100.45, Z:29.78 [[ 5.27013202e-01 -8.43090880e-01 -1.07027346e-01 4.31323051e+02] [ 8.30089415e-01 5.37660630e-01 -1.47893912e-01 1.00446762e+02] [ 1.82232399e-01 -1.09002234e-02 9.83195066e-01 2.97836215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.6092541539999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:431.34, Y:100.47, Z:29.79 [[ 5.26887248e-01 -8.43719695e-01 -1.02600707e-01 4.31336102e+02] [ 8.30133989e-01 5.36754151e-01 -1.50905738e-01 1.00471041e+02] [ 1.82393498e-01 -5.66202529e-03 9.83209313e-01 2.97903469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.63925415399996 meters Centerline goodness : 0.997377 Centerline is valid? [True, True] Translation: X:431.35, Y:100.49, Z:29.80 [[ 5.27247464e-01 -8.44087181e-01 -9.76060590e-02 4.31346949e+02] [ 8.29239735e-01 5.36201549e-01 -1.57636798e-01 1.00493399e+02] [ 1.85395720e-01 2.17477922e-03 9.82661538e-01 2.97975282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.66925415399993 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:431.37, Y:100.51, Z:29.80 [[ 5.25628637e-01 -8.43695340e-01 -1.09053701e-01 4.31369588e+02] [ 8.30626529e-01 5.36675559e-01 -1.48455090e-01 1.00514514e+02] [ 1.83777323e-01 -1.25506502e-02 9.82887774e-01 2.97982329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.69925415399996 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:431.37, Y:100.56, Z:29.81 [[ 5.31396647e-01 -8.45205418e-01 -5.69684542e-02 4.31374936e+02] [ 8.28757768e-01 5.32626403e-01 -1.71667342e-01 1.00559491e+02] [ 1.75437070e-01 4.40104009e-02 9.83506441e-01 2.98050846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.72925415399993 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:431.41, Y:100.57, Z:29.80 [[ 5.29815724e-01 -8.42882637e-01 -9.40433911e-02 4.31414431e+02] [ 8.30172215e-01 5.38096836e-01 -1.45828288e-01 1.00574638e+02] [ 1.73520583e-01 -8.10090015e-04 9.84829910e-01 2.97964181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.75925415399996 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:431.44, Y:100.57, Z:29.80 [[ 5.19826688e-01 -8.39350738e-01 -1.58967144e-01 4.31443355e+02] [ 8.33845930e-01 5.38984007e-01 -1.19152023e-01 1.00570731e+02] [ 1.85691086e-01 -7.06157045e-02 9.80067468e-01 2.98003018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.78925415399993 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:431.43, Y:100.61, Z:29.82 [[ 5.18435968e-01 -8.48660460e-01 -1.04878843e-01 4.31428020e+02] [ 8.34419269e-01 5.28889510e-01 -1.54985060e-01 1.00610334e+02] [ 1.86999012e-01 -7.16309781e-03 9.82333986e-01 2.98225267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.81925415399996 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:431.44, Y:100.63, Z:29.83 [[ 5.17822372e-01 -8.49042922e-01 -1.04814629e-01 4.31442630e+02] [ 8.34808669e-01 5.28274201e-01 -1.54986626e-01 1.00633538e+02] [ 1.86961162e-01 -7.24461866e-03 9.82340592e-01 2.98274468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.84925415399994 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:431.46, Y:100.66, Z:29.83 [[ 5.18625399e-01 -8.48935836e-01 -1.01664356e-01 4.31455413e+02] [ 8.33958471e-01 5.28490313e-01 -1.58780533e-01 1.00657584e+02] [ 1.88523112e-01 -2.43623375e-03 9.82065731e-01 2.98337930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.87925415399997 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:431.47, Y:100.68, Z:29.84 [[ 5.19645539e-01 -8.47549273e-01 -1.07836653e-01 4.31473456e+02] [ 8.33804640e-01 5.30608380e-01 -1.52396093e-01 1.00679985e+02] [ 1.86382230e-01 -1.07227518e-02 9.82418794e-01 2.98372085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.90925415399994 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:431.48, Y:100.71, Z:29.85 [[ 5.21047320e-01 -8.47898324e-01 -9.78678856e-02 4.31482012e+02] [ 8.32314992e-01 5.30151115e-01 -1.61838033e-01 1.00707414e+02] [ 1.89106965e-01 2.86836482e-03 9.81952304e-01 2.98458174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9392541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:431.50, Y:100.73, Z:29.85 [[ 5.22908749e-01 -8.45046483e-01 -1.11637276e-01 4.31504473e+02] [ 8.31977484e-01 5.34480539e-01 -1.48808670e-01 1.00726911e+02] [ 1.85418195e-01 -1.50663442e-02 9.82544197e-01 2.98464667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.96925415399994 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:431.51, Y:100.75, Z:29.85 [[ 5.27260252e-01 -8.43396027e-01 -1.03342964e-01 4.31512377e+02] [ 8.29394418e-01 5.37269369e-01 -1.53122579e-01 1.00753229e+02] [ 1.84665984e-01 -4.97662838e-03 9.82788740e-01 2.98544250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.9992541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:431.53, Y:100.78, Z:29.86 [[ 5.27037724e-01 -8.43537694e-01 -1.03321812e-01 4.31527960e+02] [ 8.29535984e-01 5.37046698e-01 -1.53136850e-01 1.00776500e+02] [ 1.84665344e-01 -5.00026412e-03 9.82788740e-01 2.98592226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.02925415399994 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:431.54, Y:100.80, Z:29.86 [[ 5.28873895e-01 -8.42397430e-01 -1.03242297e-01 4.31541831e+02] [ 8.28379148e-01 5.38837524e-01 -1.53108167e-01 1.00799718e+02] [ 1.84608750e-01 -4.54885340e-03 9.82801566e-01 2.98642548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.0592541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:431.55, Y:100.82, Z:29.87 [[ 5.33307044e-01 -8.40561180e-01 -9.50815455e-02 4.31548267e+02] [ 8.25004751e-01 5.41664776e-01 -1.61141029e-01 1.00823732e+02] [ 1.86951217e-01 7.49491877e-03 9.82340607e-01 2.98724903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.08925415399995 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:431.57, Y:100.84, Z:29.87 [[ 5.33041386e-01 -8.38791001e-01 -1.10889759e-01 4.31573118e+02] [ 8.25936654e-01 5.44291280e-01 -1.46886505e-01 1.00844925e+02] [ 1.83563407e-01 -1.32913302e-02 9.82918011e-01 2.98721379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1192541539999 meters Centerline goodness : 0.997858 Centerline is valid? [True, True] Translation: X:431.58, Y:100.87, Z:29.88 [[ 5.34588079e-01 -8.39806177e-01 -9.45577689e-02 4.31577743e+02] [ 8.24125068e-01 5.42819079e-01 -1.61756980e-01 1.00872448e+02] [ 1.87172272e-01 8.54592558e-03 9.82289931e-01 2.98837457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.14925415399995 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:431.60, Y:100.90, Z:29.88 [[ 5.36808434e-01 -8.38639858e-01 -9.23032698e-02 4.31595387e+02] [ 8.24027662e-01 5.44631696e-01 -1.56060017e-01 1.00900040e+02] [ 1.81149437e-01 7.71388572e-03 9.83425329e-01 2.98838623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.1792541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:431.61, Y:100.92, Z:29.88 [[ 5.35792204e-01 -8.38616200e-01 -9.82322938e-02 4.31610639e+02] [ 8.24800301e-01 5.44722708e-01 -1.51596953e-01 1.00919863e+02] [ 1.80641022e-01 2.02440061e-04 9.83549074e-01 2.98849745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.20925415399995 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:431.64, Y:100.94, Z:29.89 [[ 5.33200905e-01 -8.36818055e-01 -1.24226960e-01 4.31636937e+02] [ 8.25460268e-01 5.46774998e-01 -1.40187185e-01 1.00935570e+02] [ 1.85235364e-01 -2.77964857e-02 9.82300980e-01 2.98897732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2392541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:431.64, Y:100.96, Z:29.90 [[ 5.31016606e-01 -8.40968550e-01 -1.03890623e-01 4.31640070e+02] [ 8.26649414e-01 5.41070662e-01 -1.54574529e-01 1.00964202e+02] [ 1.86204486e-01 -3.79948076e-03 9.82503666e-01 2.99011647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.26925415399995 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:431.65, Y:100.99, Z:29.91 [[ 5.29203651e-01 -8.42102664e-01 -1.03954793e-01 4.31654721e+02] [ 8.27778567e-01 5.39301094e-01 -1.54715787e-01 1.00986989e+02] [ 1.86349509e-01 -4.17538993e-03 9.82474644e-01 2.99060307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.2992541539999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:431.67, Y:101.01, Z:29.91 [[ 5.25661548e-01 -8.44333389e-01 -1.03831912e-01 4.31668400e+02] [ 8.30068911e-01 5.35795710e-01 -1.54623930e-01 1.01009251e+02] [ 1.86186840e-01 -4.90778809e-03 9.82502099e-01 2.99110101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.32925415399995 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:431.68, Y:101.03, Z:29.92 [[ 5.23576677e-01 -8.45660538e-01 -1.03565039e-01 4.31683522e+02] [ 8.31486818e-01 5.33694429e-01 -1.54272256e-01 1.01032363e+02] [ 1.85734044e-01 -5.33960926e-03 9.82585545e-01 2.99157275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.3592541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:431.70, Y:101.05, Z:29.92 [[ 5.21774816e-01 -8.46826432e-01 -1.03131158e-01 4.31698176e+02] [ 8.32777606e-01 5.31839009e-01 -1.53716383e-01 1.01054643e+02] [ 1.85020269e-01 -5.67998120e-03 9.82718290e-01 2.99206765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.38925415399996 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:431.71, Y:101.08, Z:29.93 [[ 5.18800162e-01 -8.48750016e-01 -1.02322052e-01 4.31712330e+02] [ 8.34951404e-01 5.28756892e-01 -1.52552620e-01 1.01076755e+02] [ 1.83582529e-01 -6.28961724e-03 9.82984179e-01 2.99255472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.41925415399993 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:431.73, Y:101.10, Z:29.93 [[ 5.17360802e-01 -8.49678061e-01 -1.01906789e-01 4.31726962e+02] [ 8.35997913e-01 5.27261045e-01 -1.51997630e-01 1.01099655e+02] [ 1.82880532e-01 -6.55624689e-03 9.83113283e-01 2.99304310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.44925415399996 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:431.74, Y:101.12, Z:29.94 [[ 5.15749580e-01 -8.50720738e-01 -1.01373548e-01 4.31741762e+02] [ 8.37188308e-01 5.25573418e-01 -1.51288860e-01 1.01123081e+02] [ 1.81983813e-01 -6.84158296e-03 9.83277725e-01 2.99350453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.47925415399993 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:431.76, Y:101.15, Z:29.94 [[ 5.14994934e-01 -8.51163833e-01 -1.01490630e-01 4.31756285e+02] [ 8.37590655e-01 5.24854028e-01 -1.51559043e-01 1.01146230e+02] [ 1.82269342e-01 -6.95546338e-03 9.83224038e-01 2.99399337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.50925415399996 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:431.77, Y:101.17, Z:29.94 [[ 5.14664168e-01 -8.51376630e-01 -1.01383565e-01 4.31770693e+02] [ 8.37818657e-01 5.24508554e-01 -1.51494803e-01 1.01169224e+02] [ 1.82155682e-01 -6.97209555e-03 9.83244983e-01 2.99448454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.53925415399993 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:431.79, Y:101.19, Z:29.95 [[ 5.14301954e-01 -8.51567639e-01 -1.01617207e-01 4.31785263e+02] [ 8.37932510e-01 5.24197938e-01 -1.51939558e-01 1.01192436e+02] [ 1.82654341e-01 -7.00554936e-03 9.83152233e-01 2.99493973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.56925415399996 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:431.80, Y:101.22, Z:29.95 [[ 5.13863299e-01 -8.51774919e-01 -1.02097981e-01 4.31799745e+02] [ 8.37995576e-01 5.23860290e-01 -1.52754089e-01 1.01216378e+02] [ 1.83597179e-01 -7.06293594e-03 9.82976190e-01 2.99538870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.59925415399994 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:431.80, Y:101.27, Z:29.96 [[ 5.22106578e-01 -8.52249518e-01 -3.27945219e-02 4.31801806e+02] [ 8.35752466e-01 5.18910441e-01 -1.79582209e-01 1.01266705e+02] [ 1.70066271e-01 6.63529502e-02 9.83196191e-01 2.99557391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.62925415399997 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:431.86, Y:101.25, Z:29.94 [[ 5.13138502e-01 -8.41847622e-01 -1.67276595e-01 4.31864505e+02] [ 8.38792513e-01 5.33177544e-01 -1.10221714e-01 1.01246266e+02] [ 1.81978012e-01 -8.37513501e-02 9.79729409e-01 2.99448257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.65925415399994 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:431.84, Y:101.29, Z:29.97 [[ 5.14126113e-01 -8.51542965e-01 -1.02707933e-01 4.31844489e+02] [ 8.37536091e-01 5.24239903e-01 -1.53966944e-01 1.01288656e+02] [ 1.84953065e-01 -6.86317424e-03 9.82723390e-01 2.99701399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.6892541539999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:431.86, Y:101.31, Z:29.97 [[ 5.14991229e-01 -8.51015597e-01 -1.02744765e-01 4.31859336e+02] [ 8.36970594e-01 5.25098608e-01 -1.54115792e-01 1.01312397e+02] [ 1.85106076e-01 -6.62606591e-03 9.82696207e-01 2.99749777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.71925415399994 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:431.87, Y:101.34, Z:29.98 [[ 5.18313651e-01 -8.48914375e-01 -1.03418289e-01 4.31872109e+02] [ 8.34623632e-01 5.28497885e-01 -1.55220420e-01 1.01336682e+02] [ 1.86425192e-01 -5.86248546e-03 9.82451667e-01 2.99803864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.7492541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:431.89, Y:101.36, Z:29.99 [[ 5.20809434e-01 -8.47362462e-01 -1.03606907e-01 4.31885532e+02] [ 8.32971687e-01 5.30988805e-01 -1.55592601e-01 1.01359802e+02] [ 1.86857437e-01 -5.26752566e-03 9.82372919e-01 2.99852018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.77925415399994 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:431.90, Y:101.38, Z:29.99 [[ 5.25519802e-01 -8.44444869e-01 -1.03642662e-01 4.31898077e+02] [ 8.29978849e-01 5.35625994e-01 -1.55691698e-01 1.01384065e+02] [ 1.86986760e-01 -4.20214725e-03 9.82353446e-01 2.99905987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8092541539999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:431.91, Y:101.41, Z:30.00 [[ 5.27419647e-01 -8.43275265e-01 -1.03514943e-01 4.31911383e+02] [ 8.28805099e-01 5.37468983e-01 -1.55593058e-01 1.01406503e+02] [ 1.86843849e-01 -3.73087690e-03 9.82382541e-01 2.99953501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.83925415399995 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:431.92, Y:101.43, Z:30.00 [[ 5.30074078e-01 -8.41686038e-01 -1.02888702e-01 4.31924783e+02] [ 8.27353946e-01 5.39958188e-01 -1.54695195e-01 1.01429392e+02] [ 1.85760383e-01 -3.12546061e-03 9.82590104e-01 3.00000433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.8692541539999 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:431.94, Y:101.45, Z:30.00 [[ 5.30486428e-01 -8.41452014e-01 -1.02677442e-01 4.31939394e+02] [ 8.27163007e-01 5.40323508e-01 -1.54440496e-01 1.01452727e+02] [ 1.85433302e-01 -3.00239400e-03 9.82652266e-01 3.00046745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.89925415399995 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:431.95, Y:101.48, Z:30.01 [[ 5.31026545e-01 -8.41148276e-01 -1.02373753e-01 4.31954376e+02] [ 8.26922236e-01 5.40797113e-01 -1.54071728e-01 1.01476117e+02] [ 1.84960599e-01 -2.83895478e-03 9.82741837e-01 3.00092207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9292541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:431.97, Y:101.50, Z:30.01 [[ 5.31359692e-01 -8.40957786e-01 -1.02209978e-01 4.31968127e+02] [ 8.26758078e-01 5.41093890e-01 -1.53910630e-01 1.01498589e+02] [ 1.84737537e-01 -2.72101938e-03 9.82784126e-01 3.00141376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.95925415399995 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:431.97, Y:101.53, Z:30.02 [[ 5.32175699e-01 -8.42999715e-01 -7.83613780e-02 4.31970906e+02] [ 8.27403912e-01 5.37470388e-01 -1.62875256e-01 1.01528476e+02] [ 1.79420715e-01 2.18417426e-02 9.83529941e-01 3.00187225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.9892541539999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:432.01, Y:101.54, Z:30.02 [[ 5.30681122e-01 -8.38864977e-01 -1.21173826e-01 4.32008354e+02] [ 8.27383376e-01 5.43736852e-01 -1.40666220e-01 1.01540140e+02] [ 1.83886640e-01 -2.56083021e-02 9.82613820e-01 3.00172327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.01925415399995 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:432.00, Y:101.57, Z:30.03 [[ 5.31366831e-01 -8.43440547e-01 -7.91033129e-02 4.32001631e+02] [ 8.27966536e-01 5.36825024e-01 -1.62142865e-01 1.01574610e+02] [ 1.79222505e-01 2.06624443e-02 9.83591560e-01 3.00297360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.0492541539999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:432.03, Y:101.61, Z:30.04 [[ 5.34199440e-01 -8.42251558e-01 -7.24104418e-02 4.32026978e+02] [ 8.26801663e-01 5.38401617e-01 -1.62857937e-01 1.01607663e+02] [ 1.76153250e-01 2.71295452e-02 9.83988831e-01 3.00350705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.07925415399995 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:432.06, Y:101.61, Z:30.03 [[ 5.26459949e-01 -8.38452913e-01 -1.40842586e-01 4.32063699e+02] [ 8.30098383e-01 5.42720321e-01 -1.28028621e-01 1.01606436e+02] [ 1.83784104e-01 -4.95112616e-02 9.81718920e-01 3.00303504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.1092541539999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:432.06, Y:101.63, Z:30.05 [[ 5.20342621e-01 -8.45784965e-01 -1.17861568e-01 4.32063911e+02] [ 8.32762437e-01 5.33130550e-01 -1.49259976e-01 1.01634836e+02] [ 1.89077446e-01 -2.04843596e-02 9.81748496e-01 3.00496320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.13925415399996 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:432.07, Y:101.66, Z:30.06 [[ 5.18118850e-01 -8.48936737e-01 -1.04207843e-01 4.32072859e+02] [ 8.33995287e-01 5.28473468e-01 -1.58643172e-01 1.01661298e+02] [ 1.89749097e-01 -4.71283223e-03 9.81821302e-01 3.00590178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.16925415399993 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:432.09, Y:101.68, Z:30.06 [[ 5.15830198e-01 -8.50322252e-01 -1.04265406e-01 4.32087965e+02] [ 8.35372474e-01 5.26236958e-01 -1.58831651e-01 1.01682635e+02] [ 1.89926398e-01 -5.17028835e-03 9.81784718e-01 3.00635230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.19925415399996 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:432.10, Y:101.70, Z:30.07 [[ 5.11851937e-01 -8.52703384e-01 -1.04424775e-01 4.32104423e+02] [ 8.37746483e-01 5.22360539e-01 -1.59123528e-01 1.01704767e+02] [ 1.90232552e-01 -6.03380149e-03 9.81720515e-01 3.00682503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.22925415399993 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:432.12, Y:101.73, Z:30.07 [[ 5.10507116e-01 -8.53532572e-01 -1.04233552e-01 4.32120509e+02] [ 8.38628588e-01 5.21001673e-01 -1.58931898e-01 1.01727262e+02] [ 1.89959407e-01 -6.27737158e-03 9.81771877e-01 3.00727658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.25925415399996 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:432.14, Y:101.75, Z:30.08 [[ 5.09152816e-01 -8.54331523e-01 -1.04312314e-01 4.32136258e+02] [ 8.39401177e-01 5.19687474e-01 -1.59155878e-01 1.01750149e+02] [ 1.90181687e-01 -6.52521531e-03 9.81727227e-01 3.00781173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.28925415399993 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:432.15, Y:101.77, Z:30.08 [[ 5.08275748e-01 -8.54894176e-01 -1.03979380e-01 4.32152220e+02] [ 8.40052058e-01 5.18759663e-01 -1.58748079e-01 1.01771964e+02] [ 1.89653116e-01 -6.66029370e-03 9.81828568e-01 3.00830956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.31925415399996 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:432.16, Y:101.80, Z:30.09 [[ 5.10050461e-01 -8.55369317e-01 -9.05088841e-02 4.32162245e+02] [ 8.39726383e-01 5.17969552e-01 -1.62994310e-01 1.01798185e+02] [ 1.86301177e-01 7.13262487e-03 9.82466792e-01 3.00876385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.34925415399994 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:432.19, Y:101.81, Z:30.09 [[ 5.09083021e-01 -8.53054347e-01 -1.14598249e-01 4.32188664e+02] [ 8.39835849e-01 5.21459524e-01 -1.50849966e-01 1.01814202e+02] [ 1.88441568e-01 -1.94485614e-02 9.81891811e-01 3.00890399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.37925415399997 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:432.20, Y:101.84, Z:30.10 [[ 5.13003843e-01 -8.53604416e-01 -9.04796012e-02 4.32195560e+02] [ 8.38075802e-01 5.20869148e-01 -1.62247593e-01 1.01844822e+02] [ 1.85623294e-01 7.40487436e-03 9.82593080e-01 3.00974610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.40925415399994 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:432.21, Y:101.88, Z:30.10 [[ 5.16731030e-01 -8.52695472e-01 -7.68080407e-02 4.32213125e+02] [ 8.37116731e-01 5.22018042e-01 -1.63501507e-01 1.01875101e+02] [ 1.79512178e-01 2.01890063e-02 9.83548566e-01 3.00971722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4392541539999 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:432.25, Y:101.88, Z:30.10 [[ 5.14536360e-01 -8.45980902e-01 -1.39887979e-01 4.32246975e+02] [ 8.36406152e-01 5.31110285e-01 -1.35449675e-01 1.01877594e+02] [ 1.88883783e-01 -4.73093839e-02 9.80859184e-01 3.00962838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.46925415399994 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:432.24, Y:101.91, Z:30.12 [[ 5.17699888e-01 -8.50148908e-01 -9.60919416e-02 4.32236309e+02] [ 8.33452481e-01 5.26498675e-01 -1.67797818e-01 1.01911964e+02] [ 1.93245411e-01 6.78084418e-03 9.81127021e-01 3.01162589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.4992541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:432.26, Y:101.93, Z:30.12 [[ 5.20296719e-01 -8.46514020e-01 -1.12717960e-01 4.32261193e+02] [ 8.32562359e-01 5.32185361e-01 -1.53683636e-01 1.01931680e+02] [ 1.90082201e-01 -1.38836390e-02 9.81670006e-01 3.01152516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.52925415399994 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:432.27, Y:101.96, Z:30.12 [[ 5.23148715e-01 -8.45853540e-01 -1.04149945e-01 4.32271110e+02] [ 8.30647704e-01 5.33406948e-01 -1.59691641e-01 1.01957649e+02] [ 1.90630045e-01 -2.96943602e-03 9.81657460e-01 3.01234531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.5592541539999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:432.28, Y:101.98, Z:30.13 [[ 5.28858820e-01 -8.42322725e-01 -1.03926776e-01 4.32284596e+02] [ 8.27094999e-01 5.38971025e-01 -1.59449354e-01 1.01980857e+02] [ 1.90321336e-01 -1.63111928e-03 9.81720494e-01 3.01288574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.58925415399995 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:432.30, Y:102.00, Z:30.13 [[ 5.33012733e-01 -8.39688796e-01 -1.04019962e-01 4.32299008e+02] [ 8.24373982e-01 5.43067481e-01 -1.59640998e-01 1.02004232e+02] [ 1.90538616e-01 -6.60665292e-04 9.81679479e-01 3.01341812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6192541539999 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:432.31, Y:102.03, Z:30.14 [[ 5.36585646e-01 -8.38264041e-01 -9.68981037e-02 4.32312564e+02] [ 8.22615060e-01 5.45221167e-01 -1.61364001e-01 1.02029655e+02] [ 1.88096537e-01 6.87576740e-03 9.82126477e-01 3.01386843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.64925415399995 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:432.33, Y:102.05, Z:30.14 [[ 5.35702771e-01 -8.37243801e-01 -1.09751346e-01 4.32332093e+02] [ 8.22641293e-01 5.46787452e-01 -1.55835761e-01 1.02048952e+02] [ 1.90483184e-01 -6.80434060e-03 9.81666877e-01 3.01420777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.6792541539999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:432.34, Y:102.07, Z:30.15 [[ 5.36608751e-01 -8.37420011e-01 -1.03820873e-01 4.32343300e+02] [ 8.22082306e-01 5.46559838e-01 -1.59540044e-01 1.02073057e+02] [ 1.90346345e-01 2.61281224e-04 9.81716966e-01 3.01487896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.70925415399995 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:432.36, Y:102.10, Z:30.15 [[ 5.36504406e-01 -8.37499021e-01 -1.03722766e-01 4.32357703e+02] [ 8.22182596e-01 5.46438764e-01 -1.59437936e-01 1.02096041e+02] [ 1.90207256e-01 2.60102337e-04 9.81743924e-01 3.01539413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7392541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:432.37, Y:102.12, Z:30.16 [[ 5.35841535e-01 -8.37940276e-01 -1.03585436e-01 4.32372444e+02] [ 8.22654195e-01 5.45761916e-01 -1.59323591e-01 1.02118118e+02] [ 1.90036640e-01 1.57204045e-04 9.81776986e-01 3.01589708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.76925415399995 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:432.39, Y:102.14, Z:30.16 [[ 5.32497843e-01 -8.40091641e-01 -1.03402518e-01 4.32388582e+02] [ 8.24891263e-01 5.42444186e-01 -1.59087113e-01 1.02139402e+02] [ 1.89737848e-01 -5.82289043e-04 9.81834614e-01 3.01636151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.7992541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:432.40, Y:102.16, Z:30.17 [[ 5.29859010e-01 -8.41753680e-01 -1.03441638e-01 4.32404837e+02] [ 8.26559427e-01 5.39860582e-01 -1.59217040e-01 1.02162167e+02] [ 1.89865592e-01 -1.13807785e-03 9.81809433e-01 3.01681212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.82925415399995 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:432.42, Y:102.18, Z:30.17 [[ 5.26630513e-01 -8.43785177e-01 -1.03377353e-01 4.32420023e+02] [ 8.28628414e-01 5.36678021e-01 -1.59222029e-01 1.02184421e+02] [ 1.89829541e-01 -1.81023274e-03 9.81815394e-01 3.01735107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.8592541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:432.44, Y:102.21, Z:30.18 [[ 5.19456491e-01 -8.48203127e-01 -1.03520094e-01 4.32436174e+02] [ 8.33069657e-01 5.29660410e-01 -1.59545593e-01 1.02206761e+02] [ 1.90157566e-01 -3.36245538e-03 9.81747826e-01 3.01788290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.88925415399996 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:432.45, Y:102.23, Z:30.18 [[ 5.19224073e-01 -8.48351189e-01 -1.03472810e-01 4.32451298e+02] [ 8.33214524e-01 5.29423249e-01 -1.59576254e-01 1.02230264e+02] [ 1.90157616e-01 -3.35921577e-03 9.81747827e-01 3.01839087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.91925415399993 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:432.47, Y:102.25, Z:30.19 [[ 5.15703640e-01 -8.50498148e-01 -1.03453641e-01 4.32466195e+02] [ 8.35391312e-01 5.25962086e-01 -1.59640969e-01 1.02252153e+02] [ 1.90187041e-01 -4.09684386e-03 9.81739327e-01 3.01888555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.94925415399996 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:432.48, Y:102.27, Z:30.19 [[ 5.08642157e-01 -8.54750442e-01 -1.03367493e-01 4.32481749e+02] [ 8.39745511e-01 5.19008480e-01 -1.59554613e-01 1.02273831e+02] [ 1.90027981e-01 -5.64618555e-03 9.81762439e-01 3.01938658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.97925415399993 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:432.50, Y:102.30, Z:30.20 [[ 5.05236123e-01 -8.56813173e-01 -1.02993435e-01 4.32497299e+02] [ 8.41945839e-01 5.15587786e-01 -1.59048542e-01 1.02296027e+02] [ 1.89377043e-01 -6.35782516e-03 9.81883860e-01 3.01986583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.00925415399996 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:432.51, Y:102.32, Z:30.20 [[ 5.02246072e-01 -8.58628880e-01 -1.02495508e-01 4.32513435e+02] [ 8.43923961e-01 5.12550590e-01 -1.58380051e-01 1.02318746e+02] [ 1.88523819e-01 -6.95265656e-03 9.82044006e-01 3.02035291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.03925415399993 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:432.53, Y:102.34, Z:30.21 [[ 4.97705764e-01 -8.61339166e-01 -1.01900998e-01 4.32530484e+02] [ 8.46841912e-01 5.07969326e-01 -1.57562496e-01 1.02341151e+02] [ 1.87477331e-01 -7.87427360e-03 9.82237368e-01 3.02077963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.06925415399996 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:432.54, Y:102.36, Z:30.21 [[ 4.95612870e-01 -8.62586331e-01 -1.01551484e-01 4.32544737e+02] [ 8.48195910e-01 5.05842392e-01 -1.57121523e-01 1.02363006e+02] [ 1.86899923e-01 -8.26410405e-03 9.82344198e-01 3.02136584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.09925415399994 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:432.56, Y:102.39, Z:30.22 [[ 4.93773633e-01 -8.63649360e-01 -1.01476019e-01 4.32559542e+02] [ 8.49293513e-01 5.04019070e-01 -1.57051922e-01 1.02385919e+02] [ 1.86783640e-01 -8.63482615e-03 9.82363126e-01 3.02187553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.12925415399997 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:432.56, Y:102.43, Z:30.22 [[ 4.99209414e-01 -8.65597553e-01 -3.91259183e-02 4.32562687e+02] [ 8.48856848e-01 4.97617562e-01 -1.78378287e-01 1.02432001e+02] [ 1.73873553e-01 5.58358164e-02 9.83183782e-01 3.02227020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.15925415399994 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:432.62, Y:102.42, Z:30.21 [[ 4.90427558e-01 -8.56840664e-01 -1.59075099e-01 4.32620874e+02] [ 8.51888288e-01 5.09835678e-01 -1.19807867e-01 1.02418184e+02] [ 1.83758414e-01 -7.67571339e-02 9.79969993e-01 3.02123569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.1892541539999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:432.61, Y:102.46, Z:30.23 [[ 4.89799102e-01 -8.65893674e-01 -1.01611939e-01 4.32605099e+02] [ 8.51493770e-01 5.00140506e-01 -1.57536771e-01 1.02457493e+02] [ 1.87230340e-01 -9.36056414e-03 9.82271439e-01 3.02349205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.21925415399994 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:432.61, Y:102.50, Z:30.24 [[ 4.97668223e-01 -8.66659289e-01 -3.50430645e-02 4.32606171e+02] [ 8.49737362e-01 4.95258957e-01 -1.80734561e-01 1.02504554e+02] [ 1.73990678e-01 6.01684469e-02 9.82907423e-01 3.02399843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.2492541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:432.67, Y:102.49, Z:30.23 [[ 4.87953448e-01 -8.57304612e-01 -1.64104341e-01 4.32668160e+02] [ 8.53159591e-01 5.08157692e-01 -1.17874817e-01 1.02488605e+02] [ 1.84445507e-01 -8.24897695e-02 9.79374950e-01 3.02272603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.27925415399994 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:432.64, Y:102.55, Z:30.25 [[ 4.95659830e-01 -8.67463139e-01 -4.27672217e-02 4.32639177e+02] [ 8.50488620e-01 4.94763301e-01 -1.78545184e-01 1.02551851e+02] [ 1.76041018e-01 5.21246403e-02 9.83001822e-01 3.02500587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3092541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:432.69, Y:102.54, Z:30.24 [[ 4.86786565e-01 -8.59202477e-01 -1.57511725e-01 4.32692177e+02] [ 8.53759293e-01 5.06113387e-01 -1.22246916e-01 1.02540119e+02] [ 1.84753646e-01 -7.49689428e-02 9.79921297e-01 3.02412426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.33925415399995 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:432.67, Y:102.60, Z:30.26 [[ 4.94060394e-01 -8.67952505e-01 -5.06238726e-02 4.32668519e+02] [ 8.50870230e-01 4.94660648e-01 -1.77004788e-01 1.02598989e+02] [ 1.78673387e-01 4.43767094e-02 9.82907182e-01 3.02618063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.3692541539999 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:432.70, Y:102.62, Z:30.25 [[ 4.95166778e-01 -8.65292913e-01 -7.79617641e-02 4.32703152e+02] [ 8.50921477e-01 5.01131416e-01 -1.57479980e-01 1.02620494e+02] [ 1.75335400e-01 1.16395150e-02 9.84439952e-01 3.02540634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.39925415399995 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:432.73, Y:102.64, Z:30.25 [[ 4.94215848e-01 -8.62621729e-01 -1.07863104e-01 4.32729891e+02] [ 8.50951425e-01 5.05408366e-01 -1.42982711e-01 1.02638770e+02] [ 1.77854909e-01 -2.11219398e-02 9.83830013e-01 3.02526336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4292541539999 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:432.75, Y:102.64, Z:30.26 [[ 4.84471165e-01 -8.58723912e-01 -1.66975846e-01 4.32751588e+02] [ 8.53559224e-01 5.05825773e-01 -1.24807603e-01 1.02640818e+02] [ 1.91635960e-01 -8.20580887e-02 9.78029718e-01 3.02615621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.45925415399995 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:432.72, Y:102.70, Z:30.29 [[ 4.93497997e-01 -8.68685577e-01 -4.29545868e-02 4.32719673e+02] [ 8.50237228e-01 4.92241267e-01 -1.86534692e-01 1.02703976e+02] [ 1.83184017e-01 5.55329080e-02 9.81508896e-01 3.02865273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.4892541539999 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:432.76, Y:102.72, Z:30.28 [[ 4.96402195e-01 -8.63269059e-01 -9.13859580e-02 4.32760933e+02] [ 8.49061146e-01 5.04743999e-01 -1.55976492e-01 1.02721110e+02] [ 1.80776194e-01 -1.65193136e-04 9.83524245e-01 3.02756606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.51925415399995 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:432.78, Y:102.74, Z:30.28 [[ 4.97352323e-01 -8.60705940e-01 -1.08747187e-01 4.32781707e+02] [ 8.48626619e-01 5.08704598e-01 -1.45094773e-01 1.02739837e+02] [ 1.80204128e-01 -2.01225353e-02 9.83423386e-01 3.02771930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.5492541539999 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:432.80, Y:102.74, Z:30.29 [[ 4.90862816e-01 -8.55283227e-01 -1.65964747e-01 4.32801556e+02] [ 8.49442076e-01 5.12161688e-01 -1.27037650e-01 1.02743392e+02] [ 1.93653956e-01 -7.86193804e-02 9.77914689e-01 3.02875074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.57925415399995 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:432.77, Y:102.81, Z:30.31 [[ 5.00432050e-01 -8.64774665e-01 -4.16238118e-02 4.32769685e+02] [ 8.46073895e-01 4.98676589e-01 -1.88363011e-01 1.02806017e+02] [ 1.83648381e-01 5.90460675e-02 9.81217017e-01 3.03134149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.6092541539999 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:432.83, Y:102.79, Z:30.30 [[ 4.92961079e-01 -8.54175832e-01 -1.65447943e-01 4.32829042e+02] [ 8.48116779e-01 5.14194689e-01 -1.27678310e-01 1.02793117e+02] [ 1.94132180e-01 -7.73787392e-02 9.77918825e-01 3.02992745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.63925415399996 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:432.81, Y:102.83, Z:30.32 [[ 4.95185360e-01 -8.62306925e-01 -1.05916125e-01 4.32810045e+02] [ 8.46065244e-01 5.06336864e-01 -1.66723070e-01 1.02833292e+02] [ 1.97395696e-01 -7.05312843e-03 9.80298522e-01 3.03242679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.66925415399993 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:432.82, Y:102.86, Z:30.33 [[ 4.96850084e-01 -8.61650105e-01 -1.03436407e-01 4.32821269e+02] [ 8.44711690e-01 5.07494560e-01 -1.70033621e-01 1.02856515e+02] [ 1.99002901e-01 -2.89272365e-03 9.79994631e-01 3.03306134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.69925415399996 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:432.84, Y:102.88, Z:30.33 [[ 4.97106563e-01 -8.60841011e-01 -1.08801742e-01 4.32838201e+02] [ 8.44717714e-01 5.08788258e-01 -1.66091820e-01 1.02880405e+02] [ 1.98335699e-01 -9.34142507e-03 9.80089633e-01 3.03341027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.72925415399993 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:432.85, Y:102.90, Z:30.34 [[ 4.99232759e-01 -8.59870903e-01 -1.06717769e-01 4.32850054e+02] [ 8.43256734e-01 5.10476750e-01 -1.68319841e-01 1.02904901e+02] [ 1.99210274e-01 -5.95969899e-03 9.79938645e-01 3.03403657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.75925415399996 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:432.86, Y:102.93, Z:30.35 [[ 4.99799941e-01 -8.59542877e-01 -1.06705489e-01 4.32863730e+02] [ 8.42903285e-01 5.11031042e-01 -1.68408212e-01 1.02927244e+02] [ 1.99283896e-01 -5.77199269e-03 9.79924800e-01 3.03451880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.78925415399993 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:432.88, Y:102.95, Z:30.35 [[ 5.01510101e-01 -8.58553254e-01 -1.06648627e-01 4.32877417e+02] [ 8.41893818e-01 5.12696645e-01 -1.68395221e-01 1.02950886e+02] [ 1.99254658e-01 -5.33491485e-03 9.79933222e-01 3.03511995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.81925415399996 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:432.89, Y:102.97, Z:30.36 [[ 5.02276128e-01 -8.58119418e-01 -1.06535230e-01 4.32890958e+02] [ 8.41463983e-01 5.13424829e-01 -1.68325012e-01 1.02973433e+02] [ 1.99140794e-01 -5.09992411e-03 9.79957619e-01 3.03562460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.84925415399994 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:432.91, Y:103.00, Z:30.36 [[ 5.03243557e-01 -8.57564627e-01 -1.06436992e-01 4.32905463e+02] [ 8.40912255e-01 5.14353510e-01 -1.68246978e-01 1.02997024e+02] [ 1.99028897e-01 -4.83496335e-03 9.79981694e-01 3.03615625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.87925415399997 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:432.92, Y:103.02, Z:30.37 [[ 5.06215400e-01 -8.55808697e-01 -1.06477428e-01 4.32919824e+02] [ 8.39082911e-01 5.17276301e-01 -1.68419408e-01 1.03020293e+02] [ 1.99213045e-01 -4.08689218e-03 9.79947682e-01 3.03667741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.90925415399994 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:432.93, Y:103.06, Z:30.37 [[ 5.14527220e-01 -8.54501073e-01 -7.13418216e-02 4.32932148e+02] [ 8.36235125e-01 5.18446030e-01 -1.78674368e-01 1.03058838e+02] [ 1.89664323e-01 3.22742886e-02 9.81318406e-01 3.03717082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9392541539999 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:432.97, Y:103.06, Z:30.37 [[ 5.08673025e-01 -8.49290259e-01 -1.41272115e-01 4.32966905e+02] [ 8.37663970e-01 5.26113461e-01 -1.46709575e-01 1.03059038e+02] [ 1.98924174e-01 -4.37113578e-02 9.79039575e-01 3.03659809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.96925415399994 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:432.96, Y:103.11, Z:30.38 [[ 5.20012546e-01 -8.51752795e-01 -6.40634779e-02 4.32959150e+02] [ 8.33096711e-01 5.22314330e-01 -1.82037388e-01 1.03109509e+02] [ 1.88512127e-01 4.12906529e-02 9.81202456e-01 3.03841786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.9992541539999 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:433.00, Y:103.10, Z:30.38 [[ 5.12775059e-01 -8.45634274e-01 -1.48203957e-01 4.32998845e+02] [ 8.35068558e-01 5.31353407e-01 -1.42562480e-01 1.03104951e+02] [ 1.99304396e-01 -5.06579808e-02 9.78627369e-01 3.03757030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.02925415399994 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:432.99, Y:103.14, Z:30.40 [[ 5.14197267e-01 -8.51095044e-01 -1.06011303e-01 4.32991013e+02] [ 8.34270530e-01 5.25008381e-01 -1.68400960e-01 1.03138316e+02] [ 1.98982045e-01 -1.85079255e-03 9.80001388e-01 3.03953650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.0592541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:433.01, Y:103.16, Z:30.40 [[ 5.14480486e-01 -8.50963994e-01 -1.05688746e-01 4.33006183e+02] [ 8.34229608e-01 5.25221058e-01 -1.67939877e-01 1.03160977e+02] [ 1.98420743e-01 -1.76689144e-03 9.80115344e-01 3.04008656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.08925415399995 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:433.02, Y:103.18, Z:30.41 [[ 5.13736042e-01 -8.51413441e-01 -1.05690266e-01 4.33021220e+02] [ 8.34665721e-01 5.24491766e-01 -1.68052139e-01 1.03184047e+02] [ 1.98515524e-01 -1.88160135e-03 9.80095937e-01 3.04061704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1192541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:433.04, Y:103.21, Z:30.41 [[ 5.10732328e-01 -8.53213629e-01 -1.05730754e-01 4.33036883e+02] [ 8.36469212e-01 5.21555496e-01 -1.68223427e-01 1.03205641e+02] [ 1.98674976e-01 -2.52337760e-03 9.80062185e-01 3.04109823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.14925415399995 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:433.05, Y:103.23, Z:30.42 [[ 5.08376927e-01 -8.54583937e-01 -1.06015067e-01 4.33052613e+02] [ 8.37767321e-01 5.19304399e-01 -1.68727167e-01 1.03227643e+02] [ 1.99245617e-01 -3.03896058e-03 9.79944870e-01 3.04160615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.1792541539999 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:433.05, Y:103.28, Z:30.43 [[ 5.16143201e-01 -8.56189416e-01 -2.31490669e-02 4.33052636e+02] [ 8.37162692e-01 5.10015545e-01 -1.97592434e-01 1.03280931e+02] [ 1.80982935e-01 8.26064564e-02 9.80010893e-01 3.04260963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.20925415399995 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:433.13, Y:103.25, Z:30.40 [[ 4.98593987e-01 -8.46892396e-01 -1.84871051e-01 4.33129218e+02] [ 8.43896691e-01 5.22970811e-01 -1.19749347e-01 1.03254799e+02] [ 1.98096975e-01 -9.63057640e-02 9.75439792e-01 3.04021611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2392541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:433.10, Y:103.30, Z:30.43 [[ 4.96127630e-01 -8.61670585e-01 -1.06682604e-01 4.33102456e+02] [ 8.44723447e-01 5.07436006e-01 -1.70149931e-01 1.03297193e+02] [ 2.00747784e-01 -5.70121481e-03 9.79626369e-01 3.04328962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.26925415399995 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:433.11, Y:103.34, Z:30.44 [[ 5.01297809e-01 -8.64040620e-01 -4.61986298e-02 4.33107003e+02] [ 8.44613330e-01 5.00227665e-01 -1.90789429e-01 1.03342475e+02] [ 1.87959649e-01 5.66223441e-02 9.80543258e-01 3.04411912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.2992541539999 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:433.16, Y:103.35, Z:30.42 [[ 4.94938238e-01 -8.61258576e-01 -1.15194646e-01 4.33158583e+02] [ 8.48197609e-01 5.07651170e-01 -1.51165823e-01 1.03348141e+02] [ 1.88671559e-01 -2.28900774e-02 9.81773440e-01 3.04246382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.32925415399995 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:433.18, Y:103.36, Z:30.43 [[ 4.84246023e-01 -8.61211928e-01 -1.54336663e-01 4.33176109e+02] [ 8.51644425e-01 5.04393033e-01 -1.42441010e-01 1.03355137e+02] [ 2.00518234e-01 -6.24634657e-02 9.77696657e-01 3.04348798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.3592541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:433.17, Y:103.39, Z:30.45 [[ 4.82613684e-01 -8.69159345e-01 -1.07916936e-01 4.33166550e+02] [ 8.51877964e-01 4.94457388e-01 -1.72672596e-01 1.03389555e+02] [ 2.03440327e-01 -8.59790203e-03 9.79049595e-01 3.04548760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.38925415399996 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:433.18, Y:103.41, Z:30.46 [[ 4.79894708e-01 -8.70561049e-01 -1.08740652e-01 4.33181570e+02] [ 8.53024796e-01 4.91974226e-01 -1.74097840e-01 1.03410988e+02] [ 2.05060396e-01 -9.20984045e-03 9.78705989e-01 3.04592256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.41925415399993 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:433.20, Y:103.43, Z:30.47 [[ 4.77955076e-01 -8.71677747e-01 -1.08336751e-01 4.33195636e+02] [ 8.54284942e-01 4.89985216e-01 -1.73527306e-01 1.03434567e+02] [ 2.04343298e-01 -9.61219831e-03 9.78852094e-01 3.04656759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.44925415399996 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:433.20, Y:103.48, Z:30.47 [[ 4.84793714e-01 -8.73178310e-01 -5.03457495e-02 4.33199785e+02] [ 8.53088835e-01 4.84766682e-01 -1.92978506e-01 1.03480004e+02] [ 1.92910588e-01 5.06053700e-02 9.79910507e-01 3.04717367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.47925415399993 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:433.25, Y:103.47, Z:30.46 [[ 4.75172096e-01 -8.64579719e-01 -1.63442311e-01 4.33254368e+02] [ 8.56778230e-01 4.96933796e-01 -1.37796469e-01 1.03468610e+02] [ 2.00356041e-01 -7.45567768e-02 9.76882155e-01 3.04600882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.50925415399996 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:433.23, Y:103.53, Z:30.48 [[ 4.82315270e-01 -8.74309295e-01 -5.43620809e-02 4.33229562e+02] [ 8.54482392e-01 4.83231704e-01 -1.90648793e-01 1.03526195e+02] [ 1.92955493e-01 4.55013833e-02 9.80151928e-01 3.04844374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.53925415399993 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:433.27, Y:103.54, Z:30.47 [[ 4.82514878e-01 -8.70861116e-01 -9.37033011e-02 4.33269090e+02] [ 8.55019261e-01 4.91529048e-01 -1.65351925e-01 1.03544535e+02] [ 1.90056457e-01 -3.33363232e-04 9.81773106e-01 3.04746392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.56925415399996 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:433.30, Y:103.54, Z:30.48 [[ 4.72980377e-01 -8.64729355e-01 -1.68916267e-01 4.33300538e+02] [ 8.57763267e-01 4.95732868e-01 -1.35981990e-01 1.03542068e+02] [ 2.01324964e-01 -8.05733564e-02 9.76204995e-01 3.04776235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.59925415399994 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:433.27, Y:103.61, Z:30.50 [[ 4.81732861e-01 -8.75382344e-01 -4.04870578e-02 4.33268097e+02] [ 8.54777742e-01 4.79570581e-01 -1.98411367e-01 1.03606328e+02] [ 1.93102209e-01 6.09738395e-02 9.79282251e-01 3.05043524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.62925415399997 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:433.32, Y:103.61, Z:30.49 [[ 4.80373567e-01 -8.69061987e-01 -1.18205323e-01 4.33321070e+02] [ 8.55720172e-01 4.93959051e-01 -1.54102057e-01 1.03612364e+02] [ 1.92312829e-01 -2.71241246e-02 9.80958744e-01 3.04882140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.65925415399994 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:433.34, Y:103.62, Z:30.50 [[ 4.72057723e-01 -8.66806411e-01 -1.60649161e-01 4.33337329e+02] [ 8.57602697e-01 4.93737046e-01 -1.44018557e-01 1.03619604e+02] [ 2.04154650e-01 -6.97880815e-02 9.76447901e-01 3.04987605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.6892541539999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:433.32, Y:103.66, Z:30.52 [[ 4.72198053e-01 -8.74709597e-01 -1.09142657e-01 4.33323309e+02] [ 8.56795389e-01 4.84539874e-01 -1.76416476e-01 1.03655241e+02] [ 2.07197154e-01 -1.02094086e-02 9.78245934e-01 3.05208943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.71925415399994 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:433.34, Y:103.68, Z:30.53 [[ 4.72065414e-01 -8.74737304e-01 -1.09493811e-01 4.33335633e+02] [ 8.56696052e-01 4.84489415e-01 -1.77036383e-01 1.03678401e+02] [ 2.07908921e-01 -1.02301624e-02 9.78094691e-01 3.05264650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.7492541539999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:433.35, Y:103.70, Z:30.53 [[ 4.71898188e-01 -8.74828257e-01 -1.09487997e-01 4.33348913e+02] [ 8.56774248e-01 4.84325171e-01 -1.77107361e-01 1.03701776e+02] [ 2.07966317e-01 -1.02298532e-02 9.78082492e-01 3.05319709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.77925415399994 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:433.36, Y:103.73, Z:30.54 [[ 4.71989545e-01 -8.74712773e-01 -1.10015607e-01 4.33362565e+02] [ 8.56454958e-01 4.84534891e-01 -1.78075393e-01 1.03725310e+02] [ 2.09071221e-01 -1.01736887e-02 9.77847494e-01 3.05368083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8092541539999 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:433.38, Y:103.75, Z:30.54 [[ 4.71837428e-01 -8.74801058e-01 -1.09966132e-01 4.33377112e+02] [ 8.56538529e-01 4.84375910e-01 -1.78105941e-01 1.03749104e+02] [ 2.09072211e-01 -1.01531802e-02 9.77847495e-01 3.05423721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.83925415399995 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:433.38, Y:103.79, Z:30.55 [[ 4.78419828e-01 -8.75247241e-01 -7.11107319e-02 4.33383073e+02] [ 8.54791427e-01 4.82720628e-01 -1.90558161e-01 1.03787759e+02] [ 2.01112122e-01 3.03819585e-02 9.79096957e-01 3.05478614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.8692541539999 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:433.42, Y:103.81, Z:30.54 [[ 4.80494122e-01 -8.71277295e-01 -1.00006368e-01 4.33415810e+02] [ 8.54207720e-01 4.90782193e-01 -1.71645012e-01 1.03808148e+02] [ 1.98631746e-01 -2.95179214e-03 9.80069751e-01 3.05412214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.89925415399995 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:433.44, Y:103.81, Z:30.55 [[ 4.77424152e-01 -8.64670418e-01 -1.56240992e-01 4.33440034e+02] [ 8.53610031e-01 4.98581395e-01 -1.50885744e-01 1.03812719e+02] [ 2.08365291e-01 -6.13323792e-02 9.76126142e-01 3.05451218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9292541539999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:433.43, Y:103.85, Z:30.57 [[ 4.81084024e-01 -8.69715059e-01 -1.10244625e-01 4.33428144e+02] [ 8.51097090e-01 4.93495025e-01 -1.79154694e-01 1.03847611e+02] [ 2.10218709e-01 -7.64041782e-03 9.77624528e-01 3.05665093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.95925415399995 meters Centerline goodness : 0.998156 Centerline is valid? [True, True] Translation: X:433.43, Y:103.87, Z:30.57 [[ 4.85655696e-01 -8.68505811e-01 -9.91776236e-02 4.33434350e+02] [ 8.48973773e-01 4.95655922e-01 -1.83217738e-01 1.03873634e+02] [ 2.08283647e-01 4.78153675e-03 9.78056777e-01 3.05723584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.9892541539999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:433.46, Y:103.89, Z:30.58 [[ 4.88369284e-01 -8.64647704e-01 -1.17812520e-01 4.33457502e+02] [ 8.47367203e-01 5.02139819e-01 -1.72697498e-01 1.03894199e+02] [ 2.08480852e-01 -1.54903124e-02 9.77903771e-01 3.05752774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.01925415399995 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:433.46, Y:103.92, Z:30.58 [[ 4.96717442e-01 -8.61089880e-01 -1.08609401e-01 4.33464352e+02] [ 8.42766762e-01 5.08438964e-01 -1.76731448e-01 1.03920858e+02] [ 2.07402913e-01 -3.74680004e-03 9.78248431e-01 3.05842266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.0492541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:433.48, Y:103.94, Z:30.59 [[ 5.00117224e-01 -8.59232322e-01 -1.07715268e-01 4.33476662e+02] [ 8.41145968e-01 5.11577438e-01 -1.75390951e-01 1.03944013e+02] [ 2.05806275e-01 -2.88822779e-03 9.78588491e-01 3.05902186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.07925415399995 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:433.49, Y:103.97, Z:30.60 [[ 5.05952528e-01 -8.55899205e-01 -1.06998082e-01 4.33489339e+02] [ 8.37969812e-01 5.17140545e-01 -1.74276365e-01 1.03968277e+02] [ 2.04496049e-01 -1.48559533e-03 9.78866262e-01 3.05952442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.1092541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:433.49, Y:104.02, Z:30.60 [[ 5.17548101e-01 -8.54561404e-01 -4.32292838e-02 4.33494089e+02] [ 8.34995959e-01 5.15442440e-01 -1.92615781e-01 1.04016341e+02] [ 1.86884219e-01 6.35916541e-02 9.80321575e-01 3.06034342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.13925415399996 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:433.55, Y:104.00, Z:30.59 [[ 5.08055059e-01 -8.44662944e-01 -1.68595874e-01 4.33549596e+02] [ 8.36702543e-01 5.30452004e-01 -1.36196642e-01 1.04001124e+02] [ 2.04472276e-01 -7.18692031e-02 9.76230457e-01 3.05853490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.16925415399993 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:433.53, Y:104.04, Z:30.61 [[ 5.10777395e-01 -8.53063333e-01 -1.06721139e-01 4.33532042e+02] [ 8.35062375e-01 5.21807381e-01 -1.74321218e-01 1.04038785e+02] [ 2.04394918e-01 -7.94703459e-05 9.78888508e-01 3.06121040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.19925415399996 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:433.55, Y:104.06, Z:30.62 [[ 5.07722759e-01 -8.54804564e-01 -1.07362739e-01 4.33545187e+02] [ 8.36598625e-01 5.18949550e-01 -1.75482493e-01 1.04062363e+02] [ 2.05719081e-01 -7.23064385e-04 9.78610820e-01 3.06171132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.22925415399993 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:433.56, Y:104.09, Z:30.62 [[ 5.06306924e-01 -8.55608641e-01 -1.07643632e-01 4.33560393e+02] [ 8.37312214e-01 5.17622264e-01 -1.75998431e-01 1.04085487e+02] [ 2.06304519e-01 -1.02210381e-03 9.78487302e-01 3.06217043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.25925415399996 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:433.58, Y:104.11, Z:30.63 [[ 5.04410878e-01 -8.56691562e-01 -1.07931612e-01 4.33575118e+02] [ 8.38295784e-01 5.15827091e-01 -1.76585928e-01 1.04108134e+02] [ 2.06953725e-01 -1.40675248e-03 9.78349721e-01 3.06265054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.28925415399993 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:433.59, Y:104.13, Z:30.63 [[ 5.00489988e-01 -8.58919997e-01 -1.08472166e-01 4.33590559e+02] [ 8.40363874e-01 5.12104737e-01 -1.77587435e-01 1.04130355e+02] [ 2.08082509e-01 -2.27535661e-03 9.78108630e-01 3.06316224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.31925415399996 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:433.61, Y:104.15, Z:30.64 [[ 4.98839482e-01 -8.59865094e-01 -1.08587253e-01 4.33605067e+02] [ 8.41266063e-01 5.10514648e-01 -1.77893801e-01 1.04152962e+02] [ 2.08400053e-01 -2.61031989e-03 9.78040185e-01 3.06372447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.34925415399994 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:433.62, Y:104.18, Z:30.64 [[ 4.97362092e-01 -8.60737203e-01 -1.08454680e-01 4.33619803e+02] [ 8.42192525e-01 5.09041071e-01 -1.77732776e-01 1.04176055e+02] [ 2.08189099e-01 -2.94217558e-03 9.78084169e-01 3.06430452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.37925415399997 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:433.64, Y:104.20, Z:30.65 [[ 4.94967543e-01 -8.62108965e-01 -1.08513891e-01 4.33635357e+02] [ 8.43550768e-01 5.06711137e-01 -1.77949222e-01 1.04198736e+02] [ 2.08396817e-01 -3.45788629e-03 9.78038246e-01 3.06489221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.40925415399994 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:433.65, Y:104.22, Z:30.65 [[ 4.94063752e-01 -8.62648983e-01 -1.08340859e-01 4.33650337e+02] [ 8.44137983e-01 5.05790120e-01 -1.77784759e-01 1.04221648e+02] [ 2.08163577e-01 -3.61762901e-03 9.78087337e-01 3.06542738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4392541539999 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:433.67, Y:104.24, Z:30.66 [[ 4.93215508e-01 -8.63169685e-01 -1.08058122e-01 4.33665060e+02] [ 8.44743334e-01 5.04899907e-01 -1.77439522e-01 1.04243977e+02] [ 2.07718952e-01 -3.76545453e-03 9.78181301e-01 3.06594329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.46925415399994 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:433.68, Y:104.27, Z:30.66 [[ 4.92419430e-01 -8.63646719e-01 -1.07877012e-01 4.33679794e+02] [ 8.45276267e-01 5.04082341e-01 -1.77225917e-01 1.04266605e+02] [ 2.07439479e-01 -3.91639282e-03 9.78240014e-01 3.06649197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.4992541539999 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:433.68, Y:104.32, Z:30.68 [[ 5.03103175e-01 -8.64120369e-01 -1.35345126e-02 4.33675103e+02] [ 8.43851459e-01 4.94562394e-01 -2.08141186e-01 1.04322328e+02] [ 1.86552700e-01 9.32953735e-02 9.78005145e-01 3.06780738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.52925415399994 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:433.76, Y:104.29, Z:30.65 [[ 4.90495458e-01 -8.49035682e-01 -1.96348203e-01 4.33759334e+02] [ 8.47017244e-01 5.17460252e-01 -1.21641590e-01 1.04292332e+02] [ 2.04880441e-01 -1.06645666e-01 9.72959766e-01 3.06474260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.5592541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:433.73, Y:104.34, Z:30.68 [[ 4.90185914e-01 -8.65025511e-01 -1.06998300e-01 4.33725840e+02] [ 8.46907184e-01 5.01709777e-01 -1.76169014e-01 1.04337915e+02] [ 2.06072785e-01 -4.26205947e-03 9.78527385e-01 3.06827438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.58925415399995 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:433.74, Y:104.36, Z:30.69 [[ 4.88718814e-01 -8.65841396e-01 -1.07110218e-01 4.33740858e+02] [ 8.47678863e-01 5.00297890e-01 -1.76472564e-01 1.04360540e+02] [ 2.06384268e-01 -4.54960586e-03 9.78460441e-01 3.06883385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6192541539999 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:433.75, Y:104.38, Z:30.70 [[ 4.87730812e-01 -8.66941352e-01 -1.02622350e-01 4.33751531e+02] [ 8.47777311e-01 4.98408154e-01 -1.81281393e-01 1.04383049e+02] [ 2.08308152e-01 1.41562112e-03 9.78062222e-01 3.06952488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.64925415399995 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:433.77, Y:104.40, Z:30.70 [[ 4.85963203e-01 -8.66797071e-01 -1.11815042e-01 4.33772238e+02] [ 8.49246341e-01 4.98551143e-01 -1.73860316e-01 1.04404688e+02] [ 2.06447129e-01 -1.04687992e-02 9.78401751e-01 3.06975737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.6792541539999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:433.78, Y:104.43, Z:30.70 [[ 4.84376761e-01 -8.68301782e-01 -1.06916646e-01 4.33784426e+02] [ 8.50190384e-01 4.96006854e-01 -1.76503573e-01 1.04428841e+02] [ 2.06289756e-01 -5.40527522e-03 9.78476019e-01 3.07045922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.70925415399995 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:433.80, Y:104.45, Z:30.71 [[ 4.81466056e-01 -8.69926201e-01 -1.06858983e-01 4.33799461e+02] [ 8.51848305e-01 4.93144994e-01 -1.76528976e-01 1.04451270e+02] [ 2.06264154e-01 -6.03493415e-03 9.78477735e-01 3.07102213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7392541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:433.81, Y:104.47, Z:30.72 [[ 4.80591195e-01 -8.70391949e-01 -1.07004479e-01 4.33813374e+02] [ 8.52250566e-01 4.92320643e-01 -1.76887977e-01 1.04473367e+02] [ 2.06642385e-01 -6.18382402e-03 9.78396998e-01 3.07152112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.76925415399995 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:433.81, Y:104.52, Z:30.72 [[ 4.90123269e-01 -8.71229774e-01 -2.71636222e-02 4.33811994e+02] [ 8.50728810e-01 4.84912564e-01 -2.02781405e-01 1.04524909e+02] [ 1.89841180e-01 7.62790094e-02 9.78847199e-01 3.07238304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.7992541539999 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:433.88, Y:104.50, Z:30.69 [[ 4.85779376e-01 -8.59742139e-01 -1.57676417e-01 4.33876668e+02] [ 8.51666070e-01 5.06147479e-01 -1.35939823e-01 1.04503447e+02] [ 1.96680715e-01 -6.82508917e-02 9.78089215e-01 3.06927924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.82925415399995 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:433.87, Y:104.54, Z:30.71 [[ 4.85584957e-01 -8.66954212e-01 -1.12239230e-01 4.33868344e+02] [ 8.52040742e-01 4.98083094e-01 -1.61058389e-01 1.04540670e+02] [ 1.95534712e-01 -1.74248658e-02 9.80541968e-01 3.07124720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.8592541539999 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:433.86, Y:104.60, Z:30.72 [[ 4.98133219e-01 -8.67060676e-01 -8.31150832e-03 4.33858013e+02] [ 8.48906130e-01 4.89611779e-01 -1.99094673e-01 1.04600255e+02] [ 1.76696574e-01 9.21199800e-02 9.79945014e-01 3.07237763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.88925415399996 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:433.94, Y:104.57, Z:30.70 [[ 4.86328198e-01 -8.52675100e-01 -1.90866597e-01 4.33938972e+02] [ 8.51987336e-01 5.11226467e-01 -1.12982647e-01 1.04570079e+02] [ 1.93913546e-01 -1.07669276e-01 9.75092233e-01 3.06990900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.91925415399993 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:433.90, Y:104.62, Z:30.73 [[ 4.89251987e-01 -8.66092317e-01 -1.02550434e-01 4.33904763e+02] [ 8.49629398e-01 4.99860368e-01 -1.68135355e-01 1.04615745e+02] [ 1.96881637e-01 -4.86930702e-03 9.80415173e-01 3.07335960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.94925415399996 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:433.92, Y:104.64, Z:30.74 [[ 4.90155329e-01 -8.65587156e-01 -1.02501848e-01 4.33918351e+02] [ 8.49118701e-01 5.00736826e-01 -1.68107296e-01 1.04639201e+02] [ 1.96837966e-01 -4.63754948e-03 9.80425065e-01 3.07390403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.97925415399993 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:433.93, Y:104.66, Z:30.74 [[ 4.91189856e-01 -8.65013276e-01 -1.02394132e-01 4.33931495e+02] [ 8.48546546e-01 5.01730123e-01 -1.68034645e-01 1.04662017e+02] [ 1.96726419e-01 -4.34927377e-03 9.80448775e-01 3.07443931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.00925415399996 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:433.95, Y:104.69, Z:30.75 [[ 4.93382862e-01 -8.63717174e-01 -1.02791027e-01 4.33945245e+02] [ 8.47083119e-01 5.03962346e-01 -1.68736904e-01 1.04685488e+02] [ 1.97543769e-01 -3.82064681e-03 9.80286622e-01 3.07492717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.03925415399993 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:433.96, Y:104.71, Z:30.76 [[ 4.93146975e-01 -8.63874214e-01 -1.02603138e-01 4.33959008e+02] [ 8.47283351e-01 5.03693102e-01 -1.68535406e-01 1.04709589e+02] [ 1.97273884e-01 -3.82120539e-03 9.80340968e-01 3.07551217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.06925415399996 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:433.97, Y:104.73, Z:30.76 [[ 4.94001207e-01 -8.63354449e-01 -1.02868378e-01 4.33972825e+02] [ 8.46643203e-01 5.04585355e-01 -1.69082542e-01 1.04732019e+02] [ 1.97884042e-01 -3.56583342e-03 9.80218950e-01 3.07599982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.09925415399994 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:433.99, Y:104.76, Z:30.76 [[ 4.94605947e-01 -8.62936616e-01 -1.03466684e-01 4.33987804e+02] [ 8.46003043e-01 5.05300890e-01 -1.70146591e-01 1.04755370e+02] [ 1.99107531e-01 -3.37761342e-03 9.79971828e-01 3.07646643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.12925415399997 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:434.00, Y:104.78, Z:30.77 [[ 4.93693607e-01 -8.63515738e-01 -1.02991228e-01 4.34001220e+02] [ 8.46728495e-01 5.04309500e-01 -1.69477977e-01 1.04779348e+02] [ 1.98286355e-01 -3.53541365e-03 9.80137757e-01 3.07710213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.15925415399994 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:434.02, Y:104.80, Z:30.78 [[ 4.93571492e-01 -8.63620529e-01 -1.02697442e-01 4.34015452e+02] [ 8.46909313e-01 5.04130212e-01 -1.69107493e-01 1.04802904e+02] [ 1.97817586e-01 -3.50878275e-03 9.80232570e-01 3.07762859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.1892541539999 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:434.01, Y:104.86, Z:30.79 [[ 5.06206562e-01 -8.62402577e-01 4.08802065e-03 4.34007567e+02] [ 8.44995534e-01 4.95030122e-01 -2.02306020e-01 1.04864258e+02] [ 1.72445539e-01 1.05862994e-01 9.79313822e-01 3.07875684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.21925415399994 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:434.08, Y:104.86, Z:30.76 [[ 5.04958552e-01 -8.55065114e-01 -1.17815580e-01 4.34083112e+02] [ 8.45070662e-01 5.17544091e-01 -1.34177830e-01 1.04859967e+02] [ 1.75705538e-01 -3.18082473e-02 9.83928757e-01 3.07562746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.2492541539999 meters Centerline goodness : 0.998606 Centerline is valid? [True, True] Translation: X:434.09, Y:104.89, Z:30.77 [[ 5.04760853e-01 -8.57974317e-01 -9.53758480e-02 4.34086513e+02] [ 8.45902159e-01 5.13627639e-01 -1.43653003e-01 1.04887014e+02] [ 1.72238259e-01 -8.16822358e-03 9.85021453e-01 3.07668197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.27925415399994 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:434.11, Y:104.88, Z:30.78 [[ 4.88910189e-01 -8.53802714e-01 -1.78851204e-01 4.34114158e+02] [ 8.50623615e-01 5.12071367e-01 -1.19257628e-01 1.04880612e+02] [ 1.93407067e-01 -9.38287885e-02 9.76621659e-01 3.07759882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3092541539999 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:434.09, Y:104.92, Z:30.81 [[ 4.87677313e-01 -8.67175645e-01 -1.00882300e-01 4.34087032e+02] [ 8.51023588e-01 4.97981349e-01 -1.66653620e-01 1.04921995e+02] [ 1.94755464e-01 -4.58002727e-03 9.80841135e-01 3.08063362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.33925415399995 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:434.10, Y:104.95, Z:30.81 [[ 4.84466591e-01 -8.69050995e-01 -1.00212224e-01 4.34100783e+02] [ 8.53143953e-01 4.94694460e-01 -1.65598269e-01 1.04945268e+02] [ 1.93487772e-01 -5.26862465e-03 9.81088540e-01 3.08118630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.3692541539999 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:434.11, Y:104.97, Z:30.82 [[ 4.78601113e-01 -8.72386503e-01 -9.94120944e-02 4.34114916e+02] [ 8.56783491e-01 4.88773510e-01 -1.64385238e-01 1.04967930e+02] [ 1.91997461e-01 -6.49968351e-03 9.81373899e-01 3.08167423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.39925415399995 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:434.13, Y:104.99, Z:30.82 [[ 4.74893013e-01 -8.74439561e-01 -9.91568534e-02 4.34128959e+02] [ 8.58951177e-01 4.85079815e-01 -1.64013562e-01 1.04991189e+02] [ 1.91518935e-01 -7.28200126e-03 9.81461904e-01 3.08219298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4292541539999 meters Centerline goodness : 0.998546 Centerline is valid? [True, True] Translation: X:434.14, Y:105.01, Z:30.83 [[ 4.72410021e-01 -8.75769400e-01 -9.92810673e-02 4.34143789e+02] [ 8.60249385e-01 4.82667053e-01 -1.64327451e-01 1.05013133e+02] [ 1.91832653e-01 -7.77654265e-03 9.81396841e-01 3.08254975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.45925415399995 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:434.13, Y:105.08, Z:30.84 [[ 4.81449157e-01 -8.76113943e-01 2.51210536e-02 4.34132754e+02] [ 8.60250549e-01 4.66854388e-01 -2.04977982e-01 1.05081602e+02] [ 1.67856194e-01 1.20296877e-01 9.78444153e-01 3.08393683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.4892541539999 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:434.22, Y:105.07, Z:30.80 [[ 4.74426114e-01 -8.70222315e-01 -1.32789252e-01 4.34222191e+02] [ 8.62738507e-01 4.89620144e-01 -1.26310661e-01 1.05071294e+02] [ 1.74934648e-01 -5.46373253e-02 9.83062883e-01 3.08041336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.51925415399995 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:434.23, Y:105.07, Z:30.82 [[ 4.56312072e-01 -8.72841650e-01 -1.72993487e-01 4.34229487e+02] [ 8.68734456e-01 4.79070960e-01 -1.25664081e-01 1.05073988e+02] [ 1.92561000e-01 -9.29433654e-02 9.76873478e-01 3.08208223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.5492541539999 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:434.20, Y:105.11, Z:30.85 [[ 4.53261738e-01 -8.85537821e-01 -1.01865423e-01 4.34204761e+02] [ 8.69174747e-01 4.64423534e-01 -1.69841222e-01 1.05113954e+02] [ 1.97709526e-01 -1.15563251e-02 9.80192530e-01 3.08492645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.57925415399995 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:434.22, Y:105.14, Z:30.85 [[ 4.49898234e-01 -8.87175416e-01 -1.02524925e-01 4.34218056e+02] [ 8.70628847e-01 4.61267473e-01 -1.70990435e-01 1.05136821e+02] [ 1.98989923e-01 -1.23328623e-02 9.79923931e-01 3.08542351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.6092541539999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:434.23, Y:105.16, Z:30.86 [[ 4.49026616e-01 -8.87583004e-01 -1.02817846e-01 4.34231596e+02] [ 8.70940656e-01 4.60477474e-01 -1.71530957e-01 1.05160311e+02] [ 1.99593265e-01 -1.25262774e-02 9.79798766e-01 3.08592417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.63925415399996 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:434.25, Y:105.18, Z:30.86 [[ 4.48542545e-01 -8.87832252e-01 -1.02778777e-01 4.34245198e+02] [ 8.71186379e-01 4.59995259e-01 -1.71576964e-01 1.05184146e+02] [ 1.99609312e-01 -1.25799022e-02 9.79794809e-01 3.08642101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.66925415399993 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:434.25, Y:105.23, Z:30.87 [[ 4.56512754e-01 -8.88466204e-01 -4.71583511e-02 4.34250198e+02] [ 8.69381558e-01 4.56719126e-01 -1.88635485e-01 1.05229061e+02] [ 1.89134375e-01 4.51159042e-02 9.80914239e-01 3.08700839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.69925415399996 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:434.29, Y:105.24, Z:30.86 [[ 4.56427878e-01 -8.83973813e-01 -1.01310855e-01 4.34293742e+02] [ 8.69973926e-01 4.67254536e-01 -1.57539096e-01 1.05242186e+02] [ 1.86598392e-01 -1.62325670e-02 9.82302165e-01 3.08575339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.72925415399993 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:434.31, Y:105.25, Z:30.86 [[ 4.49738745e-01 -8.79504197e-01 -1.55587364e-01 4.34314458e+02] [ 8.71161707e-01 4.70378635e-01 -1.40787854e-01 1.05246673e+02] [ 1.97008480e-01 -7.22240004e-02 9.77737875e-01 3.08643775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.75925415399996 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:434.30, Y:105.28, Z:30.89 [[ 4.51004354e-01 -8.86585908e-01 -1.02764299e-01 4.34299021e+02] [ 8.69777821e-01 4.62415675e-01 -1.72215811e-01 1.05283282e+02] [ 2.00203934e-01 -1.17120279e-02 9.79684242e-01 3.08874959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.78925415399993 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:434.31, Y:105.31, Z:30.89 [[ 4.52595255e-01 -8.85812122e-01 -1.02442273e-01 4.34311541e+02] [ 8.69068413e-01 4.63906942e-01 -1.71786041e-01 1.05308024e+02] [ 1.99693839e-01 -1.12797965e-02 9.79793415e-01 3.08927735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.81925415399996 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:434.30, Y:105.37, Z:30.91 [[ 4.66146909e-01 -8.84704946e-01 2.05362264e-03 4.34302271e+02] [ 8.65867076e-01 4.55742373e-01 -2.06332492e-01 1.05371114e+02] [ 1.81607453e-01 9.79594174e-02 9.78479783e-01 3.09059148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.84925415399994 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:434.39, Y:105.34, Z:30.87 [[ 4.58121961e-01 -8.65578162e-01 -2.02234303e-01 4.34389126e+02] [ 8.67498682e-01 4.84983765e-01 -1.10620000e-01 1.05337060e+02] [ 1.93830610e-01 -1.24760540e-01 9.73069629e-01 3.08721455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.87925415399997 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:434.35, Y:105.39, Z:30.91 [[ 4.60563119e-01 -8.82161353e-01 -9.83512092e-02 4.34345840e+02] [ 8.64474620e-01 4.70929862e-01 -1.75808695e-01 1.05387467e+02] [ 2.01408157e-01 -4.05112348e-03 9.79499026e-01 3.09118211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.90925415399994 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:434.36, Y:105.41, Z:30.91 [[ 4.63944955e-01 -8.79535271e-01 -1.05701396e-01 4.34360687e+02] [ 8.63483585e-01 4.75644438e-01 -1.67804851e-01 1.05410862e+02] [ 1.97866566e-01 -1.34192066e-02 9.80137106e-01 3.09143287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9392541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:434.35, Y:105.47, Z:30.93 [[ 4.76963560e-01 -8.78897851e-01 -6.65802916e-03 4.34352316e+02] [ 8.60507420e-01 4.68499131e-01 -2.00088843e-01 1.05471663e+02] [ 1.78976935e-01 8.97058034e-02 9.79755136e-01 3.09292580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.96925415399994 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:434.42, Y:105.47, Z:30.90 [[ 4.78436230e-01 -8.68681139e-01 -1.28420613e-01 4.34423471e+02] [ 8.59580760e-01 4.93192841e-01 -1.33722621e-01 1.05466139e+02] [ 1.79498446e-01 -4.64101412e-02 9.82662916e-01 3.08973414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.9992541539999 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:434.43, Y:105.47, Z:30.91 [[ 4.70680085e-01 -8.67420763e-01 -1.61373721e-01 4.34426111e+02] [ 8.60465878e-01 4.91728173e-01 -1.33423672e-01 1.05473541e+02] [ 1.95086469e-01 -7.60567152e-02 9.77832627e-01 3.09130932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.02925415399994 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:434.41, Y:105.51, Z:30.94 [[ 4.71874594e-01 -8.75860506e-01 -1.01008623e-01 4.34406761e+02] [ 8.59237739e-01 4.82519350e-01 -1.69957595e-01 1.05512547e+02] [ 1.97597760e-01 -6.59174941e-03 9.80261023e-01 3.09397926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.0592541539999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:434.42, Y:105.54, Z:30.95 [[ 4.72680979e-01 -8.75395630e-01 -1.01267874e-01 4.34419215e+02] [ 8.58653192e-01 4.83365347e-01 -1.70506999e-01 1.05536610e+02] [ 1.98210463e-01 -6.35856846e-03 9.80138858e-01 3.09452901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.08925415399995 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:434.44, Y:105.57, Z:30.95 [[ 4.78126214e-01 -8.72855815e-01 -9.75604949e-02 4.34436784e+02] [ 8.55942309e-01 4.87975088e-01 -1.71006076e-01 1.05566197e+02] [ 1.96870739e-01 -1.74366746e-03 9.80427902e-01 3.09485368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1192541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:434.45, Y:105.59, Z:30.95 [[ 4.77452437e-01 -8.72682748e-01 -1.02293652e-01 4.34447245e+02] [ 8.55328398e-01 4.88264227e-01 -1.73237918e-01 1.05585902e+02] [ 2.01128073e-01 -4.78179932e-03 9.79553282e-01 3.09547063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.14925415399995 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:434.46, Y:105.61, Z:30.96 [[ 4.79719829e-01 -8.70581269e-01 -1.09348708e-01 4.34464228e+02] [ 8.54290089e-01 4.91858991e-01 -1.68116559e-01 1.05607993e+02] [ 2.00143272e-01 -1.27666701e-02 9.79683461e-01 3.09582146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.1792541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:434.47, Y:105.63, Z:30.97 [[ 4.81607047e-01 -8.70438373e-01 -1.01939646e-01 4.34472567e+02] [ 8.53462138e-01 4.92256067e-01 -1.71132533e-01 1.05633003e+02] [ 1.99140733e-01 -4.58299449e-03 9.79960185e-01 3.09651216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.20925415399995 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:434.49, Y:105.66, Z:30.97 [[ 4.80869707e-01 -8.70991414e-01 -1.00689033e-01 4.34486083e+02] [ 8.54048952e-01 4.91283808e-01 -1.70998854e-01 1.05659320e+02] [ 1.98405425e-01 -3.76519420e-03 9.80112805e-01 3.09713002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2392541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:434.50, Y:105.68, Z:30.97 [[ 4.81736260e-01 -8.68661247e-01 -1.15576009e-01 4.34503632e+02] [ 8.53424191e-01 4.95002351e-01 -1.63217106e-01 1.05676878e+02] [ 1.98990771e-01 -2.00077635e-02 9.79797103e-01 3.09736562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.26925415399995 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:434.51, Y:105.71, Z:30.99 [[ 4.84003355e-01 -8.70740582e-01 -8.68998859e-02 4.34506126e+02] [ 8.52646096e-01 4.91606808e-01 -1.76967176e-01 1.05707694e+02] [ 1.96813077e-01 1.15578583e-02 9.80372903e-01 3.09866541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.2992541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:434.53, Y:105.73, Z:30.99 [[ 4.84081560e-01 -8.69269728e-01 -1.00175760e-01 4.34526715e+02] [ 8.52734492e-01 4.94324095e-01 -1.68782629e-01 1.05727107e+02] [ 1.96236922e-01 -3.71876764e-03 9.80549459e-01 3.09861416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.32925415399995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:434.55, Y:105.75, Z:30.99 [[ 4.83804867e-01 -8.68197149e-01 -1.10302135e-01 4.34548519e+02] [ 8.52542011e-01 4.96012500e-01 -1.64753513e-01 1.05750530e+02] [ 1.97749768e-01 -1.43286527e-02 9.80147805e-01 3.09915860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.3592541539999 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:434.56, Y:105.77, Z:31.00 [[ 4.81719238e-01 -8.69673452e-01 -1.07771341e-01 4.34557721e+02] [ 8.53480074e-01 4.93497489e-01 -1.67427571e-01 1.05773019e+02] [ 1.98792200e-01 -1.13276105e-02 9.79976197e-01 3.09993755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.38925415399996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:434.57, Y:105.80, Z:31.01 [[ 4.79538029e-01 -8.72343318e-01 -9.51862072e-02 4.34568452e+02] [ 8.54481831e-01 4.88885218e-01 -1.75647502e-01 1.05801131e+02] [ 1.99760054e-01 2.89477250e-03 9.79840569e-01 3.10080407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.41925415399993 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:434.58, Y:105.82, Z:31.01 [[ 4.77002706e-01 -8.73826270e-01 -9.43189723e-02 4.34580580e+02] [ 8.56107595e-01 4.86230342e-01 -1.75099516e-01 1.05823527e+02] [ 1.98867303e-01 2.77575462e-03 9.80022495e-01 3.10101355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.44925415399996 meters Centerline goodness : 0.997003 Centerline is valid? [True, True] Translation: X:434.60, Y:105.85, Z:31.01 [[ 4.74837235e-01 -8.74725708e-01 -9.68738136e-02 4.34595867e+02] [ 8.56816268e-01 4.84617949e-01 -1.76100331e-01 1.05846844e+02] [ 2.00986276e-01 6.15935078e-04 9.79593864e-01 3.10143500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.47925415399993 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:434.62, Y:105.87, Z:31.02 [[ 4.72428230e-01 -8.74368036e-01 -1.10869766e-01 4.34617280e+02] [ 8.58503488e-01 4.84983929e-01 -1.66620379e-01 1.05867715e+02] [ 1.99457588e-01 -1.64659099e-02 9.79768108e-01 3.10156456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.50925415399996 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:434.62, Y:105.89, Z:31.02 [[ 4.72060333e-01 -8.76147618e-01 -9.75929960e-02 4.34622577e+02] [ 8.58533176e-01 4.82041226e-01 -1.74805729e-01 1.05891374e+02] [ 2.00199471e-01 -1.26797401e-03 9.79754339e-01 3.10249716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.53925415399993 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:434.64, Y:105.92, Z:31.03 [[ 4.69168707e-01 -8.77366630e-01 -1.00541141e-01 4.34639520e+02] [ 8.60311255e-01 4.79786923e-01 -1.72247071e-01 1.05915356e+02] [ 1.99362157e-01 -5.68373974e-03 9.79909397e-01 3.10272279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.56925415399996 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:434.65, Y:105.94, Z:31.03 [[ 4.68426543e-01 -8.77755850e-01 -1.00604385e-01 4.34653453e+02] [ 8.60990977e-01 4.79062959e-01 -1.70860229e-01 1.05938759e+02] [ 1.98169400e-01 -6.58400140e-03 9.80145673e-01 3.10328816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.59925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:434.67, Y:105.96, Z:31.04 [[ 4.68915179e-01 -8.77510686e-01 -1.00466666e-01 4.34667247e+02] [ 8.60763010e-01 4.79514189e-01 -1.70743031e-01 1.05962876e+02] [ 1.98004026e-01 -6.41399075e-03 9.80180221e-01 3.10383451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.62925415399997 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:434.68, Y:105.99, Z:31.04 [[ 4.70157843e-01 -8.76848885e-01 -1.00437225e-01 4.34680240e+02] [ 8.60073177e-01 4.80727680e-01 -1.70806991e-01 1.05985940e+02] [ 1.98054874e-01 -6.07711617e-03 9.80172095e-01 3.10436559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.65925415399994 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:434.69, Y:106.01, Z:31.05 [[ 4.73963553e-01 -8.74851304e-01 -9.99687263e-02 4.34693735e+02] [ 8.58178592e-01 4.84363794e-01 -1.70062399e-01 1.06009895e+02] [ 1.97200543e-01 -5.18764183e-03 9.80349445e-01 3.10488279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.6892541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:434.71, Y:106.03, Z:31.05 [[ 4.77110340e-01 -8.73548336e-01 -9.63277099e-02 4.34706191e+02] [ 8.56934325e-01 4.86734631e-01 -1.69566983e-01 1.06034526e+02] [ 1.95010988e-01 -1.64436003e-03 9.80799679e-01 3.10541336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.71925415399994 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:434.72, Y:106.06, Z:31.06 [[ 4.78670517e-01 -8.72121331e-01 -1.01385005e-01 4.34721987e+02] [ 8.55928794e-01 4.89244551e-01 -1.67408690e-01 1.06056521e+02] [ 1.95602751e-01 -6.64474048e-03 9.80660701e-01 3.10584671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.7492541539999 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:434.73, Y:106.08, Z:31.06 [[ 4.80301732e-01 -8.71449261e-01 -9.94305370e-02 4.34734445e+02] [ 8.54830302e-01 4.90472267e-01 -1.69416970e-01 1.06080365e+02] [ 1.96406215e-01 -3.62497167e-03 9.80515914e-01 3.10646834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.77925415399994 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:434.75, Y:106.10, Z:31.07 [[ 4.83060409e-01 -8.69833567e-01 -1.00210814e-01 4.34748707e+02] [ 8.52891607e-01 4.93336576e-01 -1.70865240e-01 1.06102975e+02] [ 1.98061982e-01 -2.93072955e-03 9.80185116e-01 3.10690880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8092541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:434.76, Y:106.13, Z:31.07 [[ 4.83135177e-01 -8.69748465e-01 -1.00588315e-01 4.34762529e+02] [ 8.52664584e-01 4.93486893e-01 -1.71562799e-01 1.06126117e+02] [ 1.98855496e-01 -2.88007102e-03 9.80024590e-01 3.10742812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.83925415399995 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:434.78, Y:106.15, Z:31.08 [[ 4.82482580e-01 -8.70101405e-01 -1.00668298e-01 4.34776179e+02] [ 8.52974158e-01 4.92863801e-01 -1.71814899e-01 1.06150001e+02] [ 1.99112145e-01 -2.96976091e-03 9.79972211e-01 3.10800571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.8692541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:434.79, Y:106.17, Z:31.08 [[ 4.81603347e-01 -8.70525594e-01 -1.01209716e-01 4.34790552e+02] [ 8.53197276e-01 4.92113354e-01 -1.72855012e-01 1.06173362e+02] [ 2.00281365e-01 -3.10430182e-03 9.79733504e-01 3.10848386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.89925415399995 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:434.81, Y:106.20, Z:31.09 [[ 4.79161676e-01 -8.71746244e-01 -1.02286731e-01 4.34805847e+02] [ 8.54046100e-01 4.89944458e-01 -1.74813292e-01 1.06196035e+02] [ 2.02507647e-01 -3.59375355e-03 9.79274087e-01 3.10891140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9292541539999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:434.82, Y:106.22, Z:31.09 [[ 4.77855052e-01 -8.72411538e-01 -1.02726128e-01 4.34819664e+02] [ 8.54548520e-01 4.88756996e-01 -1.75679894e-01 1.06218710e+02] [ 2.03473281e-01 -3.83493570e-03 9.79072989e-01 3.10944005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.95925415399995 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:434.83, Y:106.24, Z:31.10 [[ 4.75491812e-01 -8.73661754e-01 -1.03066366e-01 4.34833801e+02] [ 8.55696019e-01 4.86514304e-01 -1.76318334e-01 1.06241984e+02] [ 2.04185846e-01 -4.35555538e-03 9.78922453e-01 3.10996812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.9892541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:434.85, Y:106.27, Z:31.11 [[ 4.74363871e-01 -8.74276402e-01 -1.03051886e-01 4.34847287e+02] [ 8.56305556e-01 4.85407016e-01 -1.76410951e-01 1.06265069e+02] [ 2.04254040e-01 -4.56092128e-03 9.78907291e-01 3.11054786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.01925415399995 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:434.86, Y:106.29, Z:31.11 [[ 4.73110754e-01 -8.74983166e-01 -1.02813785e-01 4.34861207e+02] [ 8.57095145e-01 4.84129424e-01 -1.76086947e-01 1.06289164e+02] [ 2.03848293e-01 -4.81256773e-03 9.78990660e-01 3.11110067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.0492541539999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:434.87, Y:106.31, Z:31.12 [[ 4.72047475e-01 -8.75578322e-01 -1.02634225e-01 4.34874986e+02] [ 8.57742787e-01 4.83050289e-01 -1.75896927e-01 1.06312886e+02] [ 2.03589028e-01 -5.00206610e-03 9.79043659e-01 3.11166012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.07925415399995 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:434.89, Y:106.34, Z:31.12 [[ 4.70074484e-01 -8.76705652e-01 -1.02064580e-01 4.34888037e+02] [ 8.59071566e-01 4.80996919e-01 -1.75037161e-01 1.06336184e+02] [ 2.02548817e-01 -5.40027547e-03 9.79257277e-01 3.11229644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.1092541539999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:434.90, Y:106.36, Z:31.13 [[ 4.69453215e-01 -8.77547019e-01 -9.75956368e-02 4.34897807e+02] [ 8.59057068e-01 4.79490510e-01 -1.79192087e-01 1.06358907e+02] [ 2.04045663e-01 2.82079578e-04 9.78961331e-01 3.11301225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.13925415399996 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:434.92, Y:106.38, Z:31.13 [[ 4.67391111e-01 -8.77677677e-01 -1.05959637e-01 4.34917268e+02] [ 8.60742366e-01 4.79128612e-01 -1.71925430e-01 1.06381916e+02] [ 2.01663406e-01 -1.08475309e-02 9.79394814e-01 3.11320953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.16925415399993 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:434.93, Y:106.41, Z:31.14 [[ 4.63642659e-01 -8.80180045e-01 -1.01580379e-01 4.34928577e+02] [ 8.62729317e-01 4.74592418e-01 -1.74528401e-01 1.06405317e+02] [ 2.01825693e-01 -6.71755853e-03 9.79398419e-01 3.11375547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.19925415399996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:434.94, Y:106.43, Z:31.14 [[ 4.60436604e-01 -8.81921563e-01 -1.01056869e-01 4.34941289e+02] [ 8.64676805e-01 4.71338091e-01 -1.73707875e-01 1.06427956e+02] [ 2.00828673e-01 -7.40006682e-03 9.79598430e-01 3.11433373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.22925415399993 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:434.96, Y:106.45, Z:31.15 [[ 4.57356814e-01 -8.83532794e-01 -1.00968045e-01 4.34955105e+02] [ 8.66341664e-01 4.68299909e-01 -1.73629828e-01 1.06450442e+02] [ 2.00690974e-01 -8.06203942e-03 9.79621425e-01 3.11485307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.25925415399996 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:434.97, Y:106.47, Z:31.15 [[ 4.53956490e-01 -8.85269960e-01 -1.01097002e-01 4.34969784e+02] [ 8.68066045e-01 4.64993974e-01 -1.73902112e-01 1.06473441e+02] [ 2.00959813e-01 -8.81488211e-03 9.79559825e-01 3.11528283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.28925415399993 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:434.98, Y:106.50, Z:31.16 [[ 4.47178532e-01 -8.88779428e-01 -1.00511139e-01 4.34983829e+02] [ 8.71837814e-01 4.58220267e-01 -1.73011599e-01 1.06496516e+02] [ 1.99825391e-01 -1.02623392e-02 9.79777780e-01 3.11591459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.31925415399996 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:435.00, Y:106.52, Z:31.16 [[ 4.44221484e-01 -8.90301750e-01 -1.00150228e-01 4.34997669e+02] [ 8.73496391e-01 4.55241793e-01 -1.72507866e-01 1.06520097e+02] [ 1.99176624e-01 -1.08491626e-02 9.79903550e-01 3.11646765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.34925415399994 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:435.01, Y:106.54, Z:31.17 [[ 4.39319932e-01 -8.92781356e-01 -9.96967835e-02 4.35011279e+02] [ 8.76167437e-01 4.50334159e-01 -1.71842277e-01 1.06542390e+02] [ 1.98314448e-01 -1.18573380e-02 9.80066724e-01 3.11700222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.37925415399997 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:435.03, Y:106.57, Z:31.18 [[ 4.37046566e-01 -8.93883933e-01 -9.98088880e-02 4.35025290e+02] [ 8.77249137e-01 4.48128430e-01 -1.72089691e-01 1.06565917e+02] [ 1.98555410e-01 -1.23460523e-02 9.80011900e-01 3.11751915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.40925415399994 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:435.04, Y:106.59, Z:31.18 [[ 4.34904812e-01 -8.94891286e-01 -1.00136860e-01 4.35039398e+02] [ 8.78148157e-01 4.46100719e-01 -1.72771420e-01 1.06589706e+02] [ 1.99282763e-01 -1.27958770e-02 9.79858483e-01 3.11801329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4392541539999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:435.05, Y:106.61, Z:31.18 [[ 4.32084480e-01 -8.96153510e-01 -1.01053892e-01 4.35053638e+02] [ 8.79108486e-01 4.43540258e-01 -1.74471517e-01 1.06613395e+02] [ 2.01174731e-01 -1.34508990e-02 9.79463017e-01 3.11844262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.46925415399994 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:435.06, Y:106.65, Z:31.19 [[ 4.35521819e-01 -8.97731608e-01 -6.63227415e-02 4.35058999e+02] [ 8.78528051e-01 4.39953454e-01 -1.86089822e-01 1.06648305e+02] [ 1.96237635e-01 2.27797891e-02 9.80291728e-01 3.11894485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.4992541539999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:435.09, Y:106.67, Z:31.18 [[ 4.35232685e-01 -8.95737565e-01 -9.07012921e-02 4.35087913e+02] [ 8.79149386e-01 4.44554764e-01 -1.71660770e-01 1.06669283e+02] [ 1.94084692e-01 -5.02760734e-03 9.80971893e-01 3.11847793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.52925415399994 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:435.12, Y:106.68, Z:31.19 [[ 4.29774093e-01 -8.91540057e-01 -1.43005441e-01 4.35117261e+02] [ 8.80337211e-01 4.48941104e-01 -1.53160960e-01 1.06676714e+02] [ 2.00750151e-01 -6.00683982e-02 9.77799143e-01 3.11856297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.5592541539999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:435.11, Y:106.71, Z:31.21 [[ 4.31462960e-01 -8.96358305e-01 -1.01889666e-01 4.35107271e+02] [ 8.78889841e-01 4.43129243e-01 -1.76604422e-01 1.06710425e+02] [ 2.03451131e-01 -1.33515252e-02 9.78994062e-01 3.12069731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.58925415399995 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:435.12, Y:106.73, Z:31.21 [[ 4.33422298e-01 -8.95447438e-01 -1.01582469e-01 4.35119855e+02] [ 8.78036049e-01 4.44982396e-01 -1.76191270e-01 1.06734371e+02] [ 2.02972431e-01 -1.28278445e-02 9.79100423e-01 3.12115857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6192541539999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:435.13, Y:106.76, Z:31.22 [[ 4.33188738e-01 -8.95563207e-01 -1.01558161e-01 4.35133676e+02] [ 8.78151675e-01 4.44748620e-01 -1.76205280e-01 1.06758566e+02] [ 2.02970817e-01 -1.28533268e-02 9.79100424e-01 3.12170656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.64925415399995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:435.14, Y:106.78, Z:31.22 [[ 4.38055496e-01 -8.93211654e-01 -1.01391925e-01 4.35144161e+02] [ 8.75773173e-01 4.49484534e-01 -1.76025575e-01 1.06783345e+02] [ 2.02802197e-01 -1.16873571e-02 9.79149976e-01 3.12240275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.6792541539999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:435.16, Y:106.81, Z:31.23 [[ 4.41314943e-01 -8.91654852e-01 -1.00959130e-01 4.35156200e+02] [ 8.74302184e-01 4.52585413e-01 -1.75391378e-01 1.06807233e+02] [ 2.02081202e-01 -1.08659517e-02 9.79308490e-01 3.12293671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.70925415399995 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:435.17, Y:106.83, Z:31.23 [[ 4.48647955e-01 -8.88066246e-01 -1.00266421e-01 4.35168003e+02] [ 8.70852958e-01 4.59624556e-01 -1.74242340e-01 1.06831660e+02] [ 2.00823650e-01 -9.14383932e-03 9.79584734e-01 3.12345756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7392541539999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:435.18, Y:106.86, Z:31.24 [[ 4.52540329e-01 -8.86117423e-01 -1.00015818e-01 4.35180257e+02] [ 8.68920503e-01 4.63388260e-01 -1.73920899e-01 1.06855196e+02] [ 2.00460495e-01 -8.19957446e-03 9.79667473e-01 3.12399271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.76925415399995 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:435.19, Y:106.88, Z:31.25 [[ 4.56355095e-01 -8.84195012e-01 -9.96955787e-02 4.35192744e+02] [ 8.67052917e-01 4.67060881e-01 -1.73416763e-01 1.06879805e+02] [ 1.99898141e-01 -7.30171914e-03 9.79789476e-01 3.12454516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.7992541539999 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:435.20, Y:106.90, Z:31.25 [[ 4.60122076e-01 -8.82255084e-01 -9.95672745e-02 4.35204511e+02] [ 8.65088746e-01 4.70728292e-01 -1.73309944e-01 1.06903585e+02] [ 1.99772712e-01 -6.39079731e-03 9.79821423e-01 3.12506846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.82925415399995 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:435.22, Y:106.93, Z:31.26 [[ 4.67369847e-01 -8.78478249e-01 -9.92037974e-02 4.35216087e+02] [ 8.61342240e-01 4.77759034e-01 -1.72730574e-01 1.06928188e+02] [ 1.99135563e-01 -4.71935914e-03 9.79960589e-01 3.12561993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.8592541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:435.23, Y:106.95, Z:31.26 [[ 4.70692593e-01 -8.76706509e-01 -9.91674345e-02 4.35228541e+02] [ 8.59520087e-01 4.81009800e-01 -1.72785394e-01 1.06951396e+02] [ 1.99182587e-01 -3.90759676e-03 9.79954605e-01 3.12611668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.88925415399996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:435.24, Y:106.97, Z:31.27 [[ 4.73436295e-01 -8.75221533e-01 -9.92237021e-02 4.35241270e+02] [ 8.57972197e-01 4.83711342e-01 -1.72936539e-01 1.06974781e+02] [ 1.99353413e-01 -3.25674351e-03 9.79922247e-01 3.12659381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.91925415399993 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:435.25, Y:107.00, Z:31.27 [[ 4.78309462e-01 -8.72512211e-01 -9.97120856e-02 4.35254631e+02] [ 8.55015319e-01 4.88587828e-01 -1.73869888e-01 1.06998978e+02] [ 2.00421712e-01 -2.09174807e-03 9.79707488e-01 3.12699179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.94925415399996 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:435.27, Y:107.02, Z:31.28 [[ 4.79497367e-01 -8.71825689e-01 -1.00011214e-01 4.35267568e+02] [ 8.54183151e-01 4.89813133e-01 -1.74511430e-01 1.07023067e+02] [ 2.01130354e-01 -1.75012305e-03 9.79562922e-01 3.12756024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.97925415399993 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:435.28, Y:107.05, Z:31.28 [[ 4.80591017e-01 -8.71222964e-01 -1.00014104e-01 4.35281042e+02] [ 8.53541785e-01 4.90885404e-01 -1.74636595e-01 1.07047288e+02] [ 2.01242876e-01 -1.43743792e-03 9.79540320e-01 3.12804546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.00925415399996 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:435.29, Y:107.07, Z:31.29 [[ 4.81115929e-01 -8.70939499e-01 -9.99592504e-02 4.35293778e+02] [ 8.53247772e-01 4.91388648e-01 -1.74658058e-01 1.07070510e+02] [ 2.01235442e-01 -1.25923396e-03 9.79542093e-01 3.12860886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.03925415399993 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:435.31, Y:107.09, Z:31.29 [[ 4.81134092e-01 -8.70932997e-01 -9.99284745e-02 4.35308004e+02] [ 8.53240831e-01 4.91400250e-01 -1.74659324e-01 1.07093403e+02] [ 2.01221446e-01 -1.22849915e-03 9.79545007e-01 3.12914309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.06925415399996 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:435.32, Y:107.12, Z:31.30 [[ 4.80567771e-01 -8.71298503e-01 -9.94662551e-02 4.35322776e+02] [ 8.53754417e-01 4.90751658e-01 -1.73971854e-01 1.07116906e+02] [ 2.00394645e-01 -1.31448881e-03 9.79714376e-01 3.12958131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.09925415399994 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:435.34, Y:107.14, Z:31.30 [[ 4.78409581e-01 -8.72543200e-01 -9.89577533e-02 4.35336900e+02] [ 8.55182234e-01 4.88533769e-01 -1.73199603e-01 1.07139011e+02] [ 1.99468340e-01 -1.76656298e-03 9.79902679e-01 3.13012290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.12925415399997 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:435.35, Y:107.16, Z:31.31 [[ 4.77195773e-01 -8.73224595e-01 -9.88079041e-02 4.35351208e+02] [ 8.55920159e-01 4.87313783e-01 -1.72991210e-01 1.07162217e+02] [ 1.99210633e-01 -2.02100278e-03 9.79954611e-01 3.13052723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.15925415399994 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:435.36, Y:107.19, Z:31.31 [[ 4.75010724e-01 -8.74438143e-01 -9.86039835e-02 4.35364782e+02] [ 8.57208218e-01 4.85130756e-01 -1.72749010e-01 1.07185178e+02] [ 1.98894148e-01 -2.46651281e-03 9.80017874e-01 3.13116091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.1892541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:435.38, Y:107.21, Z:31.32 [[ 4.70355203e-01 -8.76977123e-01 -9.83722978e-02 4.35379383e+02] [ 8.59859563e-01 4.80519606e-01 -1.72459966e-01 1.07207923e+02] [ 1.98513262e-01 -3.46891884e-03 9.80092063e-01 3.13165722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.21925415399994 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:435.39, Y:107.23, Z:31.32 [[ 4.68018375e-01 -8.78227879e-01 -9.83595124e-02 4.35393892e+02] [ 8.61117437e-01 4.78226182e-01 -1.72558623e-01 1.07230819e+02] [ 1.98583887e-01 -3.93848496e-03 9.80075981e-01 3.13202183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.2492541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:435.41, Y:107.25, Z:31.32 [[ 4.65048347e-01 -8.79806034e-01 -9.83431629e-02 4.35408332e+02] [ 8.62725148e-01 4.75310776e-01 -1.72583271e-01 1.07253593e+02] [ 1.98583368e-01 -4.58355483e-03 9.80073281e-01 3.13245462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.27925415399994 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:435.42, Y:107.28, Z:31.33 [[ 4.57689956e-01 -8.83658675e-01 -9.83221776e-02 4.35424129e+02] [ 8.66660367e-01 4.68090514e-01 -1.72600923e-01 1.07276122e+02] [ 1.98543981e-01 -6.21422590e-03 9.80072278e-01 3.13321399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3092541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:435.44, Y:107.30, Z:31.34 [[ 4.54188229e-01 -8.85500060e-01 -9.79933504e-02 4.35439138e+02] [ 8.68634265e-01 4.64587499e-01 -1.72142295e-01 1.07299352e+02] [ 1.97958498e-01 -6.93537768e-03 9.80185867e-01 3.13372996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.33925415399995 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:435.46, Y:107.32, Z:31.34 [[ 4.47859219e-01 -8.88745177e-01 -9.77452310e-02 4.35455885e+02] [ 8.72016417e-01 4.58326762e-01 -1.71825339e-01 1.07321289e+02] [ 1.97508196e-01 -8.28188415e-03 9.80266251e-01 3.13406585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.3692541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:435.47, Y:107.35, Z:31.35 [[ 4.47615579e-01 -8.88873523e-01 -9.76941776e-02 4.35469563e+02] [ 8.72141475e-01 4.58077861e-01 -1.71854362e-01 1.07345559e+02] [ 1.97508332e-01 -8.27845450e-03 9.80266253e-01 3.13461480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.39925415399995 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:435.48, Y:107.37, Z:31.35 [[ 4.41444825e-01 -8.91950382e-01 -9.77291311e-02 4.35484498e+02] [ 8.75256500e-01 4.52031427e-01 -1.72028047e-01 1.07367574e+02] [ 1.97617120e-01 -9.59716625e-03 9.80232303e-01 3.13535454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4292541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:435.50, Y:107.39, Z:31.36 [[ 4.37136536e-01 -8.94079251e-01 -9.76419036e-02 4.35499540e+02] [ 8.77442700e-01 4.47785941e-01 -1.71994358e-01 1.07389604e+02] [ 1.97499258e-01 -1.04901577e-02 9.80246907e-01 3.13580843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.45925415399995 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:435.51, Y:107.41, Z:31.36 [[ 4.35681128e-01 -8.94761343e-01 -9.78983889e-02 4.35513801e+02] [ 8.78042495e-01 4.46413941e-01 -1.72499188e-01 1.07412462e+02] [ 1.98048811e-01 -1.08043048e-02 9.80132611e-01 3.13631529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.4892541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:435.53, Y:107.44, Z:31.37 [[ 4.34526350e-01 -8.95323075e-01 -9.78950620e-02 4.35528658e+02] [ 8.78608262e-01 4.45280611e-01 -1.72547674e-01 1.07435883e+02] [ 1.98076687e-01 -1.10348994e-02 9.80124409e-01 3.13667687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.51925415399995 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:435.54, Y:107.46, Z:31.37 [[ 4.33544205e-01 -8.95812834e-01 -9.77690631e-02 4.35543055e+02] [ 8.79129025e-01 4.44290660e-01 -1.72446999e-01 1.07459508e+02] [ 1.97918116e-01 -1.11882241e-02 9.80154704e-01 3.13713953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.5492541539999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:435.56, Y:107.48, Z:31.38 [[ 4.32391154e-01 -8.96356123e-01 -9.78958184e-02 4.35556143e+02] [ 8.79618113e-01 4.43188199e-01 -1.72789456e-01 1.07482152e+02] [ 1.98267158e-01 -1.13983030e-02 9.80081738e-01 3.13793344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.57925415399995 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:435.57, Y:107.51, Z:31.38 [[ 4.32500066e-01 -8.96328082e-01 -9.76712006e-02 4.35569674e+02] [ 8.79655924e-01 4.43246564e-01 -1.72446915e-01 1.07506051e+02] [ 1.97861437e-01 -1.13337482e-02 9.80164475e-01 3.13837839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.6092541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:435.58, Y:107.53, Z:31.39 [[ 4.32168387e-01 -8.96465066e-01 -9.78819208e-02 4.35582516e+02] [ 8.79699745e-01 4.42968550e-01 -1.72937048e-01 1.07530084e+02] [ 1.98390634e-01 -1.13687759e-02 9.80057094e-01 3.13904497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.63925415399996 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:435.60, Y:107.55, Z:31.40 [[ 4.33261840e-01 -8.95887274e-01 -9.83370190e-02 4.35595298e+02] [ 8.78925308e-01 4.44142659e-01 -1.73860868e-01 1.07554330e+02] [ 1.99435404e-01 -1.11036152e-02 9.79848064e-01 3.13960619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.66925415399993 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:435.61, Y:107.58, Z:31.40 [[ 4.33848054e-01 -8.95560812e-01 -9.87253684e-02 4.35607852e+02] [ 8.78430455e-01 4.44804519e-01 -1.74667899e-01 1.07577304e+02] [ 2.00339215e-01 -1.09440423e-02 9.79665467e-01 3.14005030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.69925415399996 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:435.62, Y:107.60, Z:31.40 [[ 4.35663630e-01 -8.94560980e-01 -9.97890556e-02 4.35620424e+02] [ 8.77018934e-01 4.46820750e-01 -1.76604098e-01 1.07600262e+02] [ 2.02570955e-01 -1.05769089e-02 9.79210466e-01 3.14048450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.72925415399993 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:435.63, Y:107.62, Z:31.41 [[ 4.36637903e-01 -8.94057661e-01 -1.00041193e-01 4.35633825e+02] [ 8.76401330e-01 4.47832431e-01 -1.77106812e-01 1.07624534e+02] [ 2.03145393e-01 -1.03446879e-02 9.79093937e-01 3.14098039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.75925415399996 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:435.65, Y:107.65, Z:31.41 [[ 4.38039640e-01 -8.93330174e-01 -1.00411525e-01 4.35647021e+02] [ 8.75497541e-01 4.49289887e-01 -1.77883820e-01 1.07648387e+02] [ 2.04022866e-01 -9.98987892e-03 9.78915151e-01 3.14141210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.78925415399993 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:435.66, Y:107.67, Z:31.42 [[ 4.41972247e-01 -8.91355010e-01 -1.00731225e-01 4.35657776e+02] [ 8.73331542e-01 4.53215595e-01 -1.78571113e-01 1.07672331e+02] [ 2.04823218e-01 -9.04828033e-03 9.78757160e-01 3.14209936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.81925415399996 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:435.67, Y:107.70, Z:31.43 [[ 4.44543705e-01 -8.90104173e-01 -1.00476144e-01 4.35669418e+02] [ 8.72129214e-01 4.55679330e-01 -1.78176832e-01 1.07696473e+02] [ 2.04380843e-01 -8.42079122e-03 9.78855230e-01 3.14270142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.84925415399994 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:435.68, Y:107.72, Z:31.43 [[ 4.47933213e-01 -8.88439219e-01 -1.00157830e-01 4.35680860e+02] [ 8.70512963e-01 4.58931751e-01 -1.77732464e-01 1.07720727e+02] [ 2.03870100e-01 -7.57641581e-03 9.78968631e-01 3.14332626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.87925415399997 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:435.69, Y:107.75, Z:31.44 [[ 4.51234303e-01 -8.86805713e-01 -9.98159864e-02 4.35692810e+02] [ 8.68951376e-01 4.62092635e-01 -1.77183246e-01 1.07745668e+02] [ 2.03251347e-01 -6.78408025e-03 9.79103093e-01 3.14396230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.90925415399994 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:435.70, Y:107.77, Z:31.45 [[ 4.58155134e-01 -8.83354923e-01 -9.88835308e-02 4.35703628e+02] [ 8.65730269e-01 4.68676597e-01 -1.75651216e-01 1.07770686e+02] [ 2.01506763e-01 -5.13095931e-03 9.79473684e-01 3.14469016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9392541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:435.72, Y:107.80, Z:31.45 [[ 4.60801106e-01 -8.82031468e-01 -9.84013741e-02 4.35716208e+02] [ 8.64524913e-01 4.71169316e-01 -1.74917553e-01 1.07795226e+02] [ 2.00646494e-01 -4.46823778e-03 9.79653520e-01 3.14526474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.96925415399994 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:435.73, Y:107.82, Z:31.46 [[ 4.63005140e-01 -8.80900795e-01 -9.81836473e-02 4.35729115e+02] [ 8.63422096e-01 4.73284810e-01 -1.74653294e-01 1.07819808e+02] [ 2.00321054e-01 -3.90855768e-03 9.79722511e-01 3.14584189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.9992541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:435.74, Y:107.84, Z:31.46 [[ 4.66616956e-01 -8.79038427e-01 -9.77755572e-02 4.35741641e+02] [ 8.61640687e-01 4.76741275e-01 -1.74049082e-01 1.07844640e+02] [ 1.99609475e-01 -3.03314529e-03 9.79870837e-01 3.14638694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.02925415399994 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:435.75, Y:107.87, Z:31.47 [[ 4.67948672e-01 -8.78332038e-01 -9.77592543e-02 4.35754020e+02] [ 8.60900170e-01 4.78043611e-01 -1.74141333e-01 1.07868094e+02] [ 1.99687099e-01 -2.67175281e-03 9.79856073e-01 3.14695137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.0592541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:435.77, Y:107.89, Z:31.48 [[ 4.69991641e-01 -8.77233725e-01 -9.78204966e-02 4.35766609e+02] [ 8.59744750e-01 4.80058588e-01 -1.74306388e-01 1.07892227e+02] [ 1.99867011e-01 -2.17811323e-03 9.79820613e-01 3.14752207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.08925415399995 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:435.78, Y:107.92, Z:31.48 [[ 4.71402472e-01 -8.76844872e-01 -9.44604718e-02 4.35776776e+02] [ 8.58540992e-01 4.80764487e-01 -1.78249470e-01 1.07916239e+02] [ 2.01710374e-01 2.92905348e-03 9.79440833e-01 3.14818173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1192541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:435.79, Y:107.94, Z:31.49 [[ 4.71669575e-01 -8.75901799e-01 -1.01606352e-01 4.35794782e+02] [ 8.58580119e-01 4.82458736e-01 -1.73417843e-01 1.07940251e+02] [ 2.00917873e-01 -5.44127377e-03 9.79592977e-01 3.14850472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.14925415399995 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:435.81, Y:107.96, Z:31.49 [[ 4.73174669e-01 -8.75440682e-01 -9.85360065e-02 4.35806015e+02] [ 8.57602598e-01 4.83323808e-01 -1.75829121e-01 1.07964357e+02] [ 2.01552764e-01 -1.30684904e-03 9.79476787e-01 3.14920698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.1792541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:435.82, Y:107.99, Z:31.50 [[ 4.73520083e-01 -8.75251699e-01 -9.85555417e-02 4.35819527e+02] [ 8.57391370e-01 4.83666231e-01 -1.75917639e-01 1.07987889e+02] [ 2.01640200e-01 -1.20013584e-03 9.79458927e-01 3.14958349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.20925415399995 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:435.83, Y:108.01, Z:31.50 [[ 4.72596700e-01 -8.75755500e-01 -9.85122480e-02 4.35832699e+02] [ 8.57904708e-01 4.82752957e-01 -1.75923545e-01 1.08011457e+02] [ 2.01623091e-01 -1.37323447e-03 9.79462221e-01 3.15027732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2392541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:435.85, Y:108.03, Z:31.51 [[ 4.70846288e-01 -8.76688517e-01 -9.85952185e-02 4.35847515e+02] [ 8.58802866e-01 4.81055406e-01 -1.76191187e-01 1.08033035e+02] [ 2.01894553e-01 -1.71488971e-03 9.79405763e-01 3.15074453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.26925415399995 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:435.86, Y:108.06, Z:31.51 [[ 4.69155330e-01 -8.77576128e-01 -9.87593869e-02 4.35862376e+02] [ 8.59637938e-01 4.79432838e-01 -1.76541129e-01 1.08056642e+02] [ 2.02276773e-01 -2.07210421e-03 9.79326204e-01 3.15127050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.2992541539999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:435.88, Y:108.08, Z:31.52 [[ 4.67264356e-01 -8.78587126e-01 -9.87354205e-02 4.35876702e+02] [ 8.60655352e-01 4.77575815e-01 -1.76617402e-01 1.08079480e+02] [ 2.02327424e-01 -2.45015145e-03 9.79314868e-01 3.15176999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.32925415399995 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:435.89, Y:108.10, Z:31.52 [[ 4.62245598e-01 -8.81213241e-01 -9.89557002e-02 4.35892050e+02] [ 8.63247563e-01 4.72705457e-01 -1.77068337e-01 1.08101874e+02] [ 2.02811863e-01 -3.57420757e-03 9.79211200e-01 3.15225323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.3592541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:435.90, Y:108.12, Z:31.53 [[ 4.60129258e-01 -8.82858661e-01 -9.40300579e-02 4.35902616e+02] [ 8.64003175e-01 4.69633285e-01 -1.81502319e-01 1.08124644e+02] [ 2.04400539e-01 2.27225883e-03 9.78884700e-01 3.15282585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.38925415399996 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:435.92, Y:108.15, Z:31.53 [[ 4.53713727e-01 -8.85068162e-01 -1.03914397e-01 4.35923688e+02] [ 8.67897761e-01 4.65324132e-01 -1.73858936e-01 1.08145277e+02] [ 2.02230886e-01 -1.13048867e-02 9.79272622e-01 3.15312100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.41925415399993 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:435.94, Y:108.17, Z:31.54 [[ 4.50458085e-01 -8.87320072e-01 -9.87451409e-02 4.35935586e+02] [ 8.69503519e-01 4.61113516e-01 -1.77025296e-01 1.08169754e+02] [ 2.02610818e-01 -6.11677168e-03 9.79240237e-01 3.15387172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.44925415399996 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:435.95, Y:108.19, Z:31.54 [[ 4.47157950e-01 -8.89001236e-01 -9.86233758e-02 4.35949818e+02] [ 8.71244122e-01 4.57854146e-01 -1.76927275e-01 1.08192073e+02] [ 2.02443688e-01 -6.81059872e-03 9.79270223e-01 3.15443130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.47925415399993 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:435.97, Y:108.21, Z:31.55 [[ 4.39830624e-01 -8.92645974e-01 -9.86518505e-02 4.35965707e+02] [ 8.74955240e-01 4.50679218e-01 -1.77035506e-01 1.08214023e+02] [ 2.02490370e-01 -8.45031664e-03 9.79247794e-01 3.15503809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.50925415399996 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:435.98, Y:108.24, Z:31.56 [[ 4.39673159e-01 -8.92729083e-01 -9.86017144e-02 4.35979179e+02] [ 8.75034183e-01 4.50514953e-01 -1.77063426e-01 1.08238456e+02] [ 2.02491216e-01 -8.42983486e-03 9.79247796e-01 3.15558688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.53925415399993 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:435.99, Y:108.26, Z:31.56 [[ 4.36116033e-01 -8.94482155e-01 -9.85113180e-02 4.35993941e+02] [ 8.76847473e-01 4.47009064e-01 -1.76978547e-01 1.08261152e+02] [ 2.02339605e-01 -9.19621818e-03 9.79272237e-01 3.15615619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.56925415399996 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:436.01, Y:108.28, Z:31.57 [[ 4.33236161e-01 -8.95889336e-01 -9.84313261e-02 4.36008605e+02] [ 8.78293759e-01 4.44169448e-01 -1.76956420e-01 1.08283780e+02] [ 2.02253557e-01 -9.78769948e-03 9.79284279e-01 3.15668373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.59925415399994 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:436.02, Y:108.31, Z:31.57 [[ 4.30794317e-01 -8.97057630e-01 -9.85081950e-02 4.36023309e+02] [ 8.79452004e-01 4.41793129e-01 -1.77152489e-01 1.08306956e+02] [ 2.02436236e-01 -1.03169440e-02 9.79241100e-01 3.15723834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.62925415399997 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:436.04, Y:108.33, Z:31.58 [[ 4.29646762e-01 -8.97576341e-01 -9.87945979e-02 4.36038623e+02] [ 8.79855614e-01 4.40733072e-01 -1.77787675e-01 1.08329092e+02] [ 2.03120058e-01 -1.05390826e-02 9.79097120e-01 3.15774364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.65925415399994 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:436.05, Y:108.35, Z:31.58 [[ 4.30684995e-01 -8.97065964e-01 -9.89095089e-02 4.36052473e+02] [ 8.79278465e-01 4.41776959e-01 -1.78051959e-01 1.08352211e+02] [ 2.03420294e-01 -1.02846941e-02 9.79037491e-01 3.15825810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.6892541539999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:436.07, Y:108.37, Z:31.59 [[ 4.35919788e-01 -8.94536133e-01 -9.88890611e-02 4.36065011e+02] [ 8.76667063e-01 4.46904206e-01 -1.78133355e-01 1.08374916e+02] [ 2.03540660e-01 -9.04092837e-03 9.79024750e-01 3.15886942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.71925415399994 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:436.08, Y:108.40, Z:31.59 [[ 4.39639854e-01 -8.92723987e-01 -9.87961655e-02 4.36077349e+02] [ 8.74826145e-01 4.50530170e-01 -1.78049939e-01 1.08398670e+02] [ 2.03460105e-01 -8.15161953e-03 9.79049303e-01 3.15948032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.7492541539999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:436.09, Y:108.42, Z:31.60 [[ 4.48633655e-01 -8.88276288e-01 -9.84534407e-02 4.36086850e+02] [ 8.70087709e-01 4.59277836e-01 -1.78916877e-01 1.08420460e+02] [ 2.04145103e-01 -5.39499617e-03 9.78925774e-01 3.16010401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.77925415399994 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:436.10, Y:108.45, Z:31.61 [[ 4.51786441e-01 -8.86707885e-01 -9.81740190e-02 4.36100692e+02] [ 8.68602208e-01 4.62306164e-01 -1.78334558e-01 1.08447046e+02] [ 2.03517113e-01 -4.70503419e-03 9.79060084e-01 3.16070750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8092541539999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:436.11, Y:108.47, Z:31.61 [[ 4.54881974e-01 -8.85051402e-01 -9.88251302e-02 4.36113788e+02] [ 8.66899310e-01 4.65471298e-01 -1.78387376e-01 1.08471544e+02] [ 2.03882259e-01 -4.52623562e-03 9.78984953e-01 3.16124593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.83925415399995 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:436.13, Y:108.50, Z:31.62 [[ 4.57630450e-01 -8.83635117e-01 -9.88096699e-02 4.36126526e+02] [ 8.65431227e-01 4.68160513e-01 -1.78478362e-01 1.08495284e+02] [ 2.03968534e-01 -3.83584077e-03 9.78969930e-01 3.16175057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.8692541539999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:436.14, Y:108.52, Z:31.62 [[ 4.60669959e-01 -8.82066985e-01 -9.86966195e-02 4.36139423e+02] [ 8.63858338e-01 4.71113747e-01 -1.78327252e-01 1.08518364e+02] [ 2.03793916e-01 -3.10988960e-03 9.79008870e-01 3.16228533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.89925415399995 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:436.15, Y:108.54, Z:31.63 [[ 4.60965370e-01 -8.81933177e-01 -9.85129362e-02 4.36153131e+02] [ 8.63778174e-01 4.71364791e-01 -1.78051959e-01 1.08542375e+02] [ 2.03465460e-01 -3.01753685e-03 9.79077475e-01 3.16282646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9292541539999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:436.17, Y:108.57, Z:31.63 [[ 4.60847591e-01 -8.82018888e-01 -9.82963791e-02 4.36166589e+02] [ 8.63921006e-01 4.71204567e-01 -1.77782877e-01 1.08565331e+02] [ 2.03125558e-01 -2.98949623e-03 9.79148135e-01 3.16327497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.95925415399995 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:436.18, Y:108.59, Z:31.64 [[ 4.58359393e-01 -8.83320916e-01 -9.82386230e-02 4.36180547e+02] [ 8.65262571e-01 4.68755429e-01 -1.77733035e-01 1.08588282e+02] [ 2.03045195e-01 -3.53659767e-03 9.79162980e-01 3.16382857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.9892541539999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:436.19, Y:108.61, Z:31.64 [[ 4.56213567e-01 -8.84427356e-01 -9.82722357e-02 4.36194344e+02] [ 8.66369865e-01 4.66660728e-01 -1.77851123e-01 1.08612148e+02] [ 2.03156192e-01 -4.00200820e-03 9.79138165e-01 3.16437606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.01925415399995 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:436.21, Y:108.64, Z:31.65 [[ 4.53726798e-01 -8.85693031e-01 -9.83862196e-02 4.36208075e+02] [ 8.67596540e-01 4.64249375e-01 -1.78181821e-01 1.08635769e+02] [ 2.03490138e-01 -4.51367672e-03 9.79066592e-01 3.16489763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.0492541539999 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:436.21, Y:108.66, Z:31.65 [[ 4.47878171e-01 -8.90161044e-01 -8.37762467e-02 4.36213309e+02] [ 8.71035757e-01 4.55550441e-01 -1.83767532e-01 1.08661548e+02] [ 2.01747004e-01 9.33335948e-03 9.79393197e-01 3.16548818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.07925415399995 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:436.24, Y:108.68, Z:31.66 [[ 4.44512184e-01 -8.88954131e-01 -1.10315328e-01 4.36242642e+02] [ 8.72342551e-01 4.57572499e-01 -1.72179794e-01 1.08680836e+02] [ 2.03537199e-01 -1.96967387e-02 9.78869065e-01 3.16558832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.1092541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:436.25, Y:108.71, Z:31.67 [[ 4.41324066e-01 -8.91934244e-01 -9.84193724e-02 4.36250257e+02] [ 8.73910840e-01 4.52107590e-01 -1.78545712e-01 1.08706624e+02] [ 2.03747180e-01 -7.21323667e-03 9.78996964e-01 3.16652746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.13925415399996 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:436.26, Y:108.73, Z:31.67 [[ 4.35090059e-01 -8.95012674e-01 -9.82290854e-02 4.36264483e+02] [ 8.77110488e-01 4.45958330e-01 -1.78320947e-01 1.08728912e+02] [ 2.03405587e-01 -8.57208945e-03 9.79057039e-01 3.16709379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.16925415399993 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:436.28, Y:108.75, Z:31.68 [[ 4.32074845e-01 -8.96501668e-01 -9.79596229e-02 4.36277586e+02] [ 8.78724647e-01 4.42944417e-01 -1.77885463e-01 1.08751565e+02] [ 2.02865282e-01 -9.21970140e-03 9.79163252e-01 3.16762552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.19925415399996 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:436.29, Y:108.77, Z:31.68 [[ 4.29141835e-01 -8.97937700e-01 -9.76994001e-02 4.36290419e+02] [ 8.80280782e-01 4.40012478e-01 -1.77467641e-01 1.08774223e+02] [ 2.02343841e-01 -9.84411520e-03 9.79265063e-01 3.16817841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.22925415399993 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:436.30, Y:108.80, Z:31.69 [[ 4.23980826e-01 -9.00463207e-01 -9.69859380e-02 4.36304464e+02] [ 8.83112307e-01 4.34795069e-01 -1.76255215e-01 1.08798183e+02] [ 2.00880344e-01 -1.09206438e-02 9.79554913e-01 3.16877628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.25925415399996 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:436.32, Y:108.82, Z:31.69 [[ 4.22020751e-01 -9.01415353e-01 -9.66894369e-02 4.36318340e+02] [ 8.84170887e-01 4.32808337e-01 -1.75837386e-01 1.08821829e+02] [ 2.00350514e-01 -1.12829591e-02 9.79659311e-01 3.16917431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.28925415399993 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:436.33, Y:108.85, Z:31.70 [[ 4.19791189e-01 -9.02477150e-01 -9.64901601e-02 4.36331706e+02] [ 8.85306811e-01 4.30578537e-01 -1.75596052e-01 1.08845962e+02] [ 2.00018017e-01 -1.17097203e-02 9.79722244e-01 3.16970756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.31925415399996 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:436.34, Y:108.87, Z:31.70 [[ 4.15616972e-01 -9.04400006e-01 -9.65565230e-02 4.36343669e+02] [ 8.87230863e-01 4.26499954e-01 -1.75838522e-01 1.08869934e+02] [ 2.00209713e-01 -1.25864533e-02 9.79672217e-01 3.17042628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.34925415399994 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:436.36, Y:108.89, Z:31.71 [[ 4.13778358e-01 -9.05234106e-01 -9.66368657e-02 4.36356398e+02] [ 8.88032991e-01 4.24715883e-01 -1.76107427e-01 1.08894301e+02] [ 2.00461661e-01 -1.29472828e-02 9.79615991e-01 3.17097509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.37925415399997 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:436.37, Y:108.92, Z:31.72 [[ 4.12061858e-01 -9.06425081e-01 -9.27286263e-02 4.36366685e+02] [ 8.88392754e-01 4.22287565e-01 -1.80087555e-01 1.08919326e+02] [ 2.02394022e-01 -8.17222733e-03 9.79270072e-01 3.17170561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.40925415399994 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:436.38, Y:108.94, Z:31.72 [[ 4.09853035e-01 -9.06527871e-01 -1.01132139e-01 4.36384251e+02] [ 8.89903082e-01 4.21729234e-01 -1.73830253e-01 1.08941076e+02] [ 2.00232349e-01 -1.87529456e-02 9.79568953e-01 3.17189339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4392541539999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:436.39, Y:108.97, Z:31.73 [[ 4.08975871e-01 -9.07411735e-01 -9.66575418e-02 4.36394943e+02] [ 8.90178503e-01 4.20014827e-01 -1.76549648e-01 1.08965514e+02] [ 2.00800823e-01 -1.38379199e-02 9.79534349e-01 3.17260473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.46925415399994 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:436.41, Y:108.99, Z:31.73 [[ 4.08548902e-01 -9.07629720e-01 -9.64162098e-02 4.36408323e+02] [ 8.90463351e-01 4.19543014e-01 -1.76234729e-01 1.08989669e+02] [ 2.00406625e-01 -1.38545964e-02 9.79614840e-01 3.17310640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.4992541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:436.42, Y:109.01, Z:31.74 [[ 4.08934333e-01 -9.07480592e-01 -9.61856895e-02 4.36421105e+02] [ 8.90367225e-01 4.19870791e-01 -1.75939544e-01 1.09014129e+02] [ 2.00047283e-01 -1.36928654e-02 9.79690558e-01 3.17365126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.52925415399994 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:436.43, Y:109.04, Z:31.74 [[ 4.09927532e-01 -9.07033403e-01 -9.61760067e-02 4.36432805e+02] [ 8.89886019e-01 4.20844783e-01 -1.76046986e-01 1.09037376e+02] [ 2.00155667e-01 -1.34191774e-02 9.79672208e-01 3.17415621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.5592541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:436.44, Y:109.06, Z:31.75 [[ 4.11301078e-01 -9.06413104e-01 -9.61598017e-02 4.36444215e+02] [ 8.89243750e-01 4.22189437e-01 -1.76072804e-01 1.09060817e+02] [ 2.00192350e-01 -1.30905684e-02 9.79669158e-01 3.17463554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.58925415399995 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:436.46, Y:109.09, Z:31.75 [[ 4.15772666e-01 -9.04293618e-01 -9.68821038e-02 4.36455067e+02] [ 8.86794266e-01 4.26738589e-01 -1.77454519e-01 1.09086611e+02] [ 2.01814321e-01 -1.21337557e-02 9.79348636e-01 3.17511394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6192541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:436.47, Y:109.11, Z:31.76 [[ 4.18272698e-01 -9.03143165e-01 -9.68523282e-02 4.36466412e+02] [ 8.85598760e-01 4.29184981e-01 -1.77524896e-01 1.09111897e+02] [ 2.01897961e-01 -1.15184845e-02 9.79338827e-01 3.17575671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.64925415399995 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:436.48, Y:109.14, Z:31.76 [[ 4.24921876e-01 -9.00015448e-01 -9.70236711e-02 4.36475918e+02] [ 8.82302246e-01 4.35743620e-01 -1.77961355e-01 1.09136538e+02] [ 2.02445414e-01 -9.98453034e-03 9.79242648e-01 3.17626411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.6792541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:436.49, Y:109.16, Z:31.77 [[ 4.28452687e-01 -8.98327355e-01 -9.71404089e-02 4.36487417e+02] [ 8.80516252e-01 4.39231024e-01 -1.78233659e-01 1.09161878e+02] [ 2.02779253e-01 -9.16901864e-03 9.79181548e-01 3.17682071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.70925415399995 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:436.50, Y:109.19, Z:31.77 [[ 4.32175239e-01 -8.96535878e-01 -9.72007315e-02 4.36497826e+02] [ 8.78632367e-01 4.42893829e-01 -1.78466299e-01 1.09185769e+02] [ 2.03051045e-01 -8.27499330e-03 9.79133187e-01 3.17740055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7392541539999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:436.51, Y:109.21, Z:31.78 [[ 4.39938295e-01 -8.92762543e-01 -9.71047838e-02 4.36506611e+02] [ 8.74790819e-01 4.50480851e-01 -1.78348046e-01 1.09211507e+02] [ 2.02966301e-01 -6.48423809e-03 9.79164254e-01 3.17800110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.76925415399995 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:436.52, Y:109.24, Z:31.79 [[ 4.43722209e-01 -8.90922786e-01 -9.67842481e-02 4.36517933e+02] [ 8.73001836e-01 4.54120742e-01 -1.77882393e-01 1.09236556e+02] [ 2.02431212e-01 -5.56245802e-03 9.79280687e-01 3.17855970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.7992541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:436.53, Y:109.26, Z:31.79 [[ 4.47247892e-01 -8.89180017e-01 -9.65827136e-02 4.36529594e+02] [ 8.71267550e-01 4.57533393e-01 -1.77640227e-01 1.09261572e+02] [ 2.02143956e-01 -4.70016746e-03 9.79344541e-01 3.17908550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.82925415399995 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:436.54, Y:109.29, Z:31.80 [[ 4.54016898e-01 -8.85762382e-01 -9.64036236e-02 4.36539917e+02] [ 8.67814263e-01 4.64128624e-01 -1.77434567e-01 1.09286489e+02] [ 2.01908546e-01 -3.10214766e-03 9.79399467e-01 3.17963919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.8592541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:436.55, Y:109.31, Z:31.80 [[ 4.56727601e-01 -8.84393537e-01 -9.61663717e-02 4.36551887e+02] [ 8.66492461e-01 4.66735488e-01 -1.77055924e-01 1.09311467e+02] [ 2.01471373e-01 -2.46110851e-03 9.79491311e-01 3.18016964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.88925415399996 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:436.56, Y:109.34, Z:31.81 [[ 4.61736450e-01 -8.81816337e-01 -9.59134967e-02 4.36562559e+02] [ 8.63928969e-01 4.71591289e-01 -1.76715571e-01 1.09336412e+02] [ 2.01062647e-01 -1.26642799e-03 9.79577566e-01 3.18071345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.91925415399993 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:436.57, Y:109.36, Z:31.81 [[ 4.63603682e-01 -8.80833050e-01 -9.59414615e-02 4.36574286e+02] [ 8.62889202e-01 4.73426371e-01 -1.76888941e-01 1.09360049e+02] [ 2.01230843e-01 -7.80486953e-04 9.79543536e-01 3.18123312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.94925415399996 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:436.59, Y:109.38, Z:31.82 [[ 4.65104260e-01 -8.80030026e-01 -9.60478078e-02 4.36587280e+02] [ 8.62017145e-01 4.74917877e-01 -1.77142461e-01 1.09384021e+02] [ 2.01505506e-01 -4.05143669e-04 9.79487298e-01 3.18162385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.97925415399993 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:436.59, Y:109.41, Z:31.82 [[ 4.65659754e-01 -8.81793940e-01 -7.48360899e-02 4.36587961e+02] [ 8.62855897e-01 4.71184218e-01 -1.82934781e-01 1.09411916e+02] [ 1.96572366e-01 2.06126037e-02 9.80272628e-01 3.18245732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.00925415399996 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:436.62, Y:109.43, Z:31.82 [[ 4.65060494e-01 -8.77984825e-01 -1.13408041e-01 4.36621716e+02] [ 8.61846383e-01 4.78299346e-01 -1.68672901e-01 1.09428560e+02] [ 2.02335239e-01 -1.92972069e-02 9.79126176e-01 3.18218152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.03925415399993 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:436.63, Y:109.46, Z:31.83 [[ 4.63950875e-01 -8.80570116e-01 -9.66739677e-02 4.36626018e+02] [ 8.62262844e-01 4.73915641e-01 -1.78624613e-01 1.09456095e+02] [ 2.03106802e-01 -4.85324781e-04 9.79156469e-01 3.18334925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.06925415399996 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:436.64, Y:109.48, Z:31.84 [[ 4.62549942e-01 -8.81278185e-01 -9.69345774e-02 4.36638569e+02] [ 8.62860473e-01 4.72597309e-01 -1.79230545e-01 1.09478920e+02] [ 2.03762990e-01 -7.37936833e-04 9.79019969e-01 3.18388212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.09925415399994 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:436.65, Y:109.50, Z:31.84 [[ 4.58673087e-01 -8.83297775e-01 -9.69744299e-02 4.36652577e+02] [ 8.64890643e-01 4.68809677e-01 -1.79392481e-01 1.09502215e+02] [ 2.03919531e-01 -1.58977384e-03 9.78986362e-01 3.18440897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.12925415399997 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:436.67, Y:109.52, Z:31.85 [[ 4.56562621e-01 -8.84385216e-01 -9.70224857e-02 4.36665957e+02] [ 8.65957994e-01 4.66753386e-01 -1.79605202e-01 1.09524727e+02] [ 2.04125759e-01 -2.01637537e-03 9.78942597e-01 3.18494012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.15925415399994 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:436.68, Y:109.55, Z:31.85 [[ 4.54277783e-01 -8.85579030e-01 -9.68580291e-02 4.36679796e+02] [ 8.67229208e-01 4.64481903e-01 -1.79360151e-01 1.09548240e+02] [ 2.03826390e-01 -2.51878007e-03 9.79003809e-01 3.18546277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.1892541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:436.69, Y:109.57, Z:31.86 [[ 4.52533315e-01 -8.86469348e-01 -9.68797878e-02 4.36693458e+02] [ 8.68105332e-01 4.62778468e-01 -1.79524991e-01 1.09570883e+02] [ 2.03977281e-01 -2.86082119e-03 9.78971442e-01 3.18589523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.21925415399994 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:436.71, Y:109.59, Z:31.87 [[ 4.49066264e-01 -8.88261928e-01 -9.65931622e-02 4.36708319e+02] [ 8.70035844e-01 4.59322927e-01 -1.79053282e-01 1.09594297e+02] [ 2.03413668e-01 -3.63272499e-03 9.79086147e-01 3.18651557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.2492541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:436.72, Y:109.62, Z:31.87 [[ 4.47563345e-01 -8.89040875e-01 -9.64021534e-02 4.36721761e+02] [ 8.70878789e-01 4.57811065e-01 -1.78827188e-01 1.09617710e+02] [ 2.03118652e-01 -3.91809608e-03 9.79146292e-01 3.18710949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.27925415399994 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:436.73, Y:109.64, Z:31.88 [[ 4.46594862e-01 -8.89559307e-01 -9.61107120e-02 4.36734674e+02] [ 8.71493845e-01 4.56801464e-01 -1.78412166e-01 1.09640843e+02] [ 2.02611716e-01 -4.08193751e-03 9.79250647e-01 3.18770127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3092541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:436.75, Y:109.66, Z:31.88 [[ 4.45871062e-01 -8.89919776e-01 -9.61342228e-02 4.36749586e+02] [ 8.71841231e-01 4.56097572e-01 -1.78515751e-01 1.09664294e+02] [ 2.02711282e-01 -4.21877187e-03 9.79229461e-01 3.18813650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.33925415399995 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:436.76, Y:109.69, Z:31.89 [[ 4.44866219e-01 -8.90446867e-01 -9.59084167e-02 4.36762209e+02] [ 8.72440128e-01 4.55066050e-01 -1.78222087e-01 1.09687616e+02] [ 2.02341964e-01 -4.38936532e-03 9.79305092e-01 3.18886050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.3692541539999 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:436.78, Y:109.71, Z:31.89 [[ 4.44651477e-01 -8.90579300e-01 -9.56743165e-02 4.36777186e+02] [ 8.72646035e-01 4.54806745e-01 -1.77875578e-01 1.09710284e+02] [ 2.01925633e-01 -4.39717439e-03 9.79390986e-01 3.18935851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.39925415399995 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:436.79, Y:109.74, Z:31.90 [[ 4.45145322e-01 -8.90849228e-01 -9.07375125e-02 4.36788682e+02] [ 8.71962579e-01 4.54294183e-01 -1.82477552e-01 1.09735433e+02] [ 2.03781510e-01 2.10931336e-03 9.79014120e-01 3.19003762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4292541539999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:436.80, Y:109.76, Z:31.90 [[ 4.44938337e-01 -8.90408018e-01 -9.59345504e-02 4.36804426e+02] [ 8.72070654e-01 4.55148541e-01 -1.79812624e-01 1.09759100e+02] [ 2.03771073e-01 -3.65617612e-03 9.79011738e-01 3.19041243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.45925415399995 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:436.82, Y:109.78, Z:31.91 [[ 4.44332709e-01 -8.90178235e-01 -1.00752933e-01 4.36821542e+02] [ 8.72833974e-01 4.55500226e-01 -1.75158210e-01 1.09782704e+02] [ 2.01815010e-01 -1.01120610e-02 9.79371456e-01 3.19077359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.4892541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:436.83, Y:109.81, Z:31.92 [[ 4.45054707e-01 -8.91052354e-01 -8.91740513e-02 4.36828564e+02] [ 8.71579761e-01 4.53875607e-01 -1.85325802e-01 1.09807397e+02] [ 2.05608919e-01 4.75782221e-03 9.78622673e-01 3.19175693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.51925415399995 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:436.85, Y:109.83, Z:31.92 [[ 4.45022974e-01 -8.89488708e-01 -1.03751584e-01 4.36850494e+02] [ 8.72093382e-01 4.56789309e-01 -1.75489772e-01 1.09828748e+02] [ 2.03488785e-01 -1.23840893e-02 9.78998952e-01 3.19172724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.5492541539999 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:436.86, Y:109.85, Z:31.92 [[ 4.46381988e-01 -8.89590938e-01 -9.68043616e-02 4.36860543e+02] [ 8.71095230e-01 4.56742666e-01 -1.80497194e-01 1.09853503e+02] [ 2.04783350e-01 -3.75512140e-03 9.78800122e-01 3.19248894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.57925415399995 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:436.87, Y:109.88, Z:31.93 [[ 4.47416535e-01 -8.89043157e-01 -9.70603401e-02 4.36873702e+02] [ 8.70408793e-01 4.57810372e-01 -1.81102723e-01 1.09876958e+02] [ 2.05443367e-01 -3.45382070e-03 9.78662911e-01 3.19303688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.6092541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:436.89, Y:109.90, Z:31.94 [[ 4.48899855e-01 -8.88286778e-01 -9.71366072e-02 4.36886439e+02] [ 8.69579229e-01 4.59279097e-01 -1.81368892e-01 1.09899983e+02] [ 2.05720402e-01 -3.05150685e-03 9.78606052e-01 3.19354992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.63925415399996 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:436.90, Y:109.92, Z:31.94 [[ 4.52633189e-01 -8.86368797e-01 -9.73321722e-02 4.36900393e+02] [ 8.67528068e-01 4.62974864e-01 -1.81794740e-01 1.09924046e+02] [ 2.06199534e-01 -2.15205834e-03 9.78507599e-01 3.19408233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.66925415399993 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:436.91, Y:109.95, Z:31.95 [[ 4.54551147e-01 -8.85380949e-01 -9.73849531e-02 4.36913525e+02] [ 8.66469938e-01 4.64863287e-01 -1.82021898e-01 1.09947510e+02] [ 2.06429410e-01 -1.64287161e-03 9.78460116e-01 3.19463961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.69925415399996 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:436.93, Y:109.97, Z:31.95 [[ 4.56775047e-01 -8.84255394e-01 -9.72057376e-02 4.36926261e+02] [ 8.65362627e-01 4.67002413e-01 -1.81813833e-01 1.09970243e+02] [ 2.06165177e-01 -1.07019023e-03 9.78516619e-01 3.19514099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.72925415399993 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:436.94, Y:109.99, Z:31.96 [[ 4.60301706e-01 -8.82437343e-01 -9.70910707e-02 4.36939501e+02] [ 8.63531232e-01 4.70429901e-01 -1.81685222e-01 1.09993297e+02] [ 2.06000367e-01 -2.11154575e-04 9.78551891e-01 3.19570815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.75925415399996 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:436.95, Y:110.02, Z:31.96 [[ 4.61684984e-01 -8.81732646e-01 -9.69253196e-02 4.36952260e+02] [ 8.62864516e-01 4.71749430e-01 -1.81431260e-01 1.10016743e+02] [ 2.05698329e-01 1.30669253e-04 9.78615440e-01 3.19629089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.78925415399993 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:436.97, Y:110.04, Z:31.97 [[ 4.63917415e-01 -8.80631996e-01 -9.62700381e-02 4.36966239e+02] [ 8.61979410e-01 4.73800440e-01 -1.80290434e-01 1.10039755e+02] [ 2.04382311e-01 6.57081409e-04 9.78890923e-01 3.19684360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.81925415399996 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:436.98, Y:110.06, Z:31.97 [[ 4.64690880e-01 -8.80247475e-01 -9.60560698e-02 4.36979261e+02] [ 8.61645397e-01 4.74514071e-01 -1.80010018e-01 1.10062286e+02] [ 2.04033320e-01 8.82743198e-04 9.78963546e-01 3.19734776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.84925415399994 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:436.99, Y:110.09, Z:31.98 [[ 4.65266090e-01 -8.79985467e-01 -9.56715434e-02 4.36994016e+02] [ 8.61516199e-01 4.74999511e-01 -1.79346880e-01 1.10085443e+02] [ 2.03266584e-01 1.02143686e-03 9.79122900e-01 3.19789876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.8792541539999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:437.01, Y:110.11, Z:31.98 [[ 4.65008006e-01 -8.80151818e-01 -9.53956585e-02 4.37007733e+02] [ 8.61767031e-01 4.74691227e-01 -1.78957603e-01 1.10108588e+02] [ 2.02793342e-01 1.00788477e-03 9.79221040e-01 3.19844095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.90925415399994 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:437.02, Y:110.13, Z:31.99 [[ 4.63563249e-01 -8.80969132e-01 -9.48815183e-02 4.37022839e+02] [ 8.62774399e-01 4.73173208e-01 -1.78122012e-01 1.10131635e+02] [ 2.01815387e-01 7.09473661e-04 9.79423323e-01 3.19905090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9392541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:437.04, Y:110.15, Z:32.00 [[ 4.62314148e-01 -8.81658620e-01 -9.45711686e-02 4.37036274e+02] [ 8.63572142e-01 4.71887548e-01 -1.77666254e-01 1.10154526e+02] [ 2.01267941e-01 4.68596023e-04 9.79536113e-01 3.19959563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.96925415399994 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:437.05, Y:110.18, Z:32.00 [[ 4.60927349e-01 -8.82404092e-01 -9.43874898e-02 4.37050101e+02] [ 8.64386052e-01 4.70492279e-01 -1.77408481e-01 1.10177522e+02] [ 2.00954555e-01 1.85191150e-04 9.79600548e-01 3.20015207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.9992541539999 meters Centerline goodness : 0.997531 Centerline is valid? [True, True] Translation: X:437.06, Y:110.20, Z:32.01 [[ 4.60725065e-01 -8.83782470e-01 -8.16147034e-02 4.37056968e+02] [ 8.63736165e-01 4.67622464e-01 -1.87853848e-01 1.10201937e+02] [ 2.04186807e-01 1.60554053e-02 9.78800272e-01 3.20117443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.02925415399994 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:437.09, Y:110.22, Z:32.01 [[ 4.56001890e-01 -8.83581577e-01 -1.06517008e-01 4.37087998e+02] [ 8.67039766e-01 4.68053475e-01 -1.70786386e-01 1.10222146e+02] [ 2.00759360e-01 -1.44755668e-02 9.79533632e-01 3.20082213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.0592541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:437.10, Y:110.25, Z:32.02 [[ 4.54719948e-01 -8.85651795e-01 -9.40779829e-02 4.37096325e+02] [ 8.67792914e-01 4.64348496e-01 -1.76963083e-01 1.10247698e+02] [ 2.00412642e-01 -1.17156322e-03 9.79710876e-01 3.20157757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.08925415399995 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:437.11, Y:110.27, Z:32.02 [[ 4.53042180e-01 -8.86510575e-01 -9.40839193e-02 4.37109808e+02] [ 8.68655878e-01 4.62705823e-01 -1.77031882e-01 1.10270792e+02] [ 2.00473812e-01 -1.52364011e-03 9.79697876e-01 3.20223036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1192541539999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:437.12, Y:110.29, Z:32.03 [[ 4.52105671e-01 -8.87578343e-01 -8.83467493e-02 4.37120865e+02] [ 8.68776031e-01 4.60624657e-01 -1.81805208e-01 1.10293657e+02] [ 2.02061056e-01 5.44162708e-03 9.79357809e-01 3.20282750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.14925415399995 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:437.13, Y:110.33, Z:32.03 [[ 4.54294744e-01 -8.88301779e-01 -6.73515806e-02 4.37133983e+02] [ 8.69681235e-01 4.58613634e-01 -1.82559810e-01 1.10327444e+02] [ 1.93056557e-01 2.43615563e-02 9.80885152e-01 3.20310935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.1792541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:437.17, Y:110.33, Z:32.03 [[ 4.49185166e-01 -8.84601750e-01 -1.25349234e-01 4.37169169e+02] [ 8.70561213e-01 4.64900282e-01 -1.61216942e-01 1.10334049e+02] [ 2.00887683e-01 -3.67079223e-02 9.78926283e-01 3.20304963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.20925415399995 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:437.17, Y:110.36, Z:32.04 [[ 4.49099674e-01 -8.88496764e-01 -9.42495837e-02 4.37167512e+02] [ 8.70519998e-01 4.58877709e-01 -1.77837513e-01 1.10362713e+02] [ 2.01257088e-01 -2.17937832e-03 9.79536030e-01 3.20446751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2392541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:437.18, Y:110.38, Z:32.05 [[ 4.47943937e-01 -8.89136791e-01 -9.37123054e-02 4.37184526e+02] [ 8.71368662e-01 4.57635100e-01 -1.76880665e-01 1.10384596e+02] [ 2.00157148e-01 -2.42534445e-03 9.79760804e-01 3.20505400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.26925415399995 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:437.20, Y:110.41, Z:32.06 [[ 4.47672985e-01 -8.89284545e-01 -9.36050014e-02 4.37198556e+02] [ 8.71535040e-01 4.57347891e-01 -1.76803792e-01 1.10408321e+02] [ 2.00038930e-01 -2.42975747e-03 9.79784937e-01 3.20556003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.2992541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:437.21, Y:110.43, Z:32.06 [[ 4.47941831e-01 -8.89181450e-01 -9.32977283e-02 4.37213787e+02] [ 8.71521747e-01 4.57548884e-01 -1.76348699e-01 1.10430045e+02] [ 1.99494263e-01 -2.31704009e-03 9.79896255e-01 3.20604886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.32925415399995 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:437.23, Y:110.45, Z:32.07 [[ 4.47924266e-01 -8.89187017e-01 -9.33289893e-02 4.37228142e+02] [ 8.71503829e-01 4.57538182e-01 -1.76464980e-01 1.10453030e+02] [ 1.99611945e-01 -2.29362490e-03 9.79872344e-01 3.20654685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.3592541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:437.24, Y:110.48, Z:32.07 [[ 4.47676483e-01 -8.89317396e-01 -9.32755888e-02 4.37241080e+02] [ 8.71631129e-01 4.57284730e-01 -1.76493202e-01 1.10477710e+02] [ 1.99611978e-01 -2.29005069e-03 9.79872346e-01 3.20710076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.38925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:437.26, Y:110.50, Z:32.08 [[ 4.48768065e-01 -8.88779395e-01 -9.31579928e-02 4.37257424e+02] [ 8.71102309e-01 4.58330907e-01 -1.76390327e-01 1.10498786e+02] [ 1.99469275e-01 -1.99179690e-03 9.79902057e-01 3.20754522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.41925415399993 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:437.27, Y:110.52, Z:32.08 [[ 4.49364876e-01 -8.88478348e-01 -9.31527388e-02 4.37272379e+02] [ 8.70785058e-01 4.58914886e-01 -1.76438403e-01 1.10521987e+02] [ 1.99510879e-01 -1.83079221e-03 9.79893901e-01 3.20793779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.44925415399996 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:437.29, Y:110.54, Z:32.09 [[ 4.50637945e-01 -8.87869322e-01 -9.28089933e-02 4.37287249e+02] [ 8.70268971e-01 4.60093287e-01 -1.75914994e-01 1.10543540e+02] [ 1.98890321e-01 -1.49481584e-03 9.80020615e-01 3.20858168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.47925415399993 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:437.30, Y:110.57, Z:32.09 [[ 4.51170241e-01 -8.87596128e-01 -9.28360281e-02 4.37301484e+02] [ 8.69967933e-01 4.60620558e-01 -1.76024140e-01 1.10566702e+02] [ 1.99000528e-01 -1.34751401e-03 9.79998456e-01 3.20912232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.50925415399996 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:437.32, Y:110.59, Z:32.10 [[ 4.52103090e-01 -8.87126343e-01 -9.27881846e-02 4.37317757e+02] [ 8.69480633e-01 4.61525390e-01 -1.76061760e-01 1.10588876e+02] [ 1.99013128e-01 -1.07946396e-03 9.79996229e-01 3.20964412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.53925415399993 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:437.33, Y:110.61, Z:32.10 [[ 4.52677356e-01 -8.86855245e-01 -9.25796198e-02 4.37334792e+02] [ 8.69258198e-01 4.62046500e-01 -1.75793109e-01 1.10610280e+02] [ 1.98679130e-01 -8.98033485e-04 9.80064180e-01 3.21014899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.56925415399996 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:437.35, Y:110.63, Z:32.11 [[ 4.52440254e-01 -8.86980004e-01 -9.25434374e-02 4.37347691e+02] [ 8.69381645e-01 4.61806931e-01 -1.75812155e-01 1.10634991e+02] [ 1.98679067e-01 -9.11069688e-04 9.80064181e-01 3.21070248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.59925415399994 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:437.36, Y:110.66, Z:32.11 [[ 4.52440488e-01 -8.86983597e-01 -9.25078587e-02 4.37362835e+02] [ 8.69375347e-01 4.61800134e-01 -1.75861145e-01 1.10657995e+02] [ 1.98706092e-01 -8.57349708e-04 9.80058750e-01 3.21123689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.6292541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:437.38, Y:110.68, Z:32.12 [[ 4.52066854e-01 -8.87207107e-01 -9.21906167e-02 4.37380073e+02] [ 8.69699662e-01 4.61370516e-01 -1.75384564e-01 1.10680395e+02] [ 1.98136464e-01 -8.92599954e-04 9.80174038e-01 3.21172271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.65925415399994 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:437.39, Y:110.70, Z:32.12 [[ 4.51620695e-01 -8.87440905e-01 -9.21270281e-02 4.37394999e+02] [ 8.69937215e-01 4.60920564e-01 -1.75389497e-01 1.10703692e+02] [ 1.98111056e-01 -9.35203808e-04 9.80179134e-01 3.21225454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.6892541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:437.41, Y:110.73, Z:32.13 [[ 4.50649954e-01 -8.87963747e-01 -9.18422737e-02 4.37409521e+02] [ 8.70554614e-01 4.59912133e-01 -1.74972837e-01 1.10726382e+02] [ 1.97608912e-01 -1.10221423e-03 9.80280319e-01 3.21281688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.71925415399994 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:437.43, Y:110.75, Z:32.13 [[ 4.48719153e-01 -8.88945933e-01 -9.17946053e-02 4.37427179e+02] [ 8.71549904e-01 4.58009776e-01 -1.75008028e-01 1.10746717e+02] [ 1.97615501e-01 -1.47412537e-03 9.80278502e-01 3.21321909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.7492541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:437.44, Y:110.77, Z:32.14 [[ 4.46866118e-01 -8.89896261e-01 -9.16259616e-02 4.37441904e+02] [ 8.72567214e-01 4.56159206e-01 -1.74771954e-01 1.10769090e+02] [ 1.97324935e-01 -1.85014518e-03 9.80336395e-01 3.21382359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.77925415399994 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:437.46, Y:110.79, Z:32.14 [[ 4.42294364e-01 -8.92178265e-01 -9.16168039e-02 4.37459564e+02] [ 8.74889783e-01 4.51674540e-01 -1.74808404e-01 1.10789596e+02] [ 1.97341237e-01 -2.83783367e-03 9.80330752e-01 3.21437202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8092541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:437.47, Y:110.81, Z:32.15 [[ 4.39501022e-01 -8.93551630e-01 -9.16751639e-02 4.37474924e+02] [ 8.76259231e-01 4.48947347e-01 -1.74974397e-01 1.10812033e+02] [ 1.97505979e-01 -3.42978244e-03 9.80295682e-01 3.21493538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.83925415399995 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:437.49, Y:110.83, Z:32.15 [[ 4.36269961e-01 -8.95149033e-01 -9.15244772e-02 4.37489816e+02] [ 8.77923619e-01 4.45748252e-01 -1.74810226e-01 1.10834206e+02] [ 1.97278081e-01 -4.08704969e-03 9.80339051e-01 3.21545606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.8692541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:437.50, Y:110.86, Z:32.16 [[ 4.33175690e-01 -8.96643805e-01 -9.15898927e-02 4.37504938e+02] [ 8.79415141e-01 4.42727209e-01 -1.74990368e-01 1.10856668e+02] [ 1.97453367e-01 -4.74396498e-03 9.80300802e-01 3.21599383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.89925415399995 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:437.52, Y:110.88, Z:32.17 [[ 4.27110085e-01 -8.99540219e-01 -9.16753498e-02 4.37522157e+02] [ 8.82319673e-01 4.36796388e-01 -1.75273816e-01 1.10877711e+02] [ 1.97709308e-01 -6.02575028e-03 9.80242174e-01 3.21655110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9292541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:437.54, Y:110.90, Z:32.17 [[ 4.24257139e-01 -9.00896719e-01 -9.16023031e-02 4.37537028e+02] [ 8.83718102e-01 4.33983136e-01 -1.75216878e-01 1.10901037e+02] [ 1.97606165e-01 -6.61360210e-03 9.80259182e-01 3.21703933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.95925415399995 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:437.55, Y:110.92, Z:32.18 [[ 4.19562104e-01 -9.03109502e-01 -9.14377897e-02 4.37552472e+02] [ 8.86019782e-01 4.29343376e-01 -1.75023459e-01 1.10922412e+02] [ 1.97323558e-01 -7.58247989e-03 9.80309094e-01 3.21759842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.9892541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:437.57, Y:110.95, Z:32.18 [[ 4.17282289e-01 -9.04169933e-01 -9.13904995e-02 4.37566626e+02] [ 8.87111987e-01 4.27097010e-01 -1.74987046e-01 1.10946382e+02] [ 1.97250635e-01 -8.05461235e-03 9.80320004e-01 3.21817805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.01925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:437.58, Y:110.97, Z:32.19 [[ 4.15155851e-01 -9.05130461e-01 -9.15667444e-02 4.37580364e+02] [ 8.88004568e-01 4.25049441e-01 -1.75444749e-01 1.10969563e+02] [ 1.97720780e-01 -8.47477303e-03 9.80221746e-01 3.21858392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.0492541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:437.59, Y:110.99, Z:32.19 [[ 4.11359153e-01 -9.06861044e-01 -9.15788949e-02 4.37593468e+02] [ 8.89758601e-01 4.21327687e-01 -1.75535215e-01 1.10992447e+02] [ 1.97770772e-01 -9.27509219e-03 9.80204415e-01 3.21921471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.07925415399995 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:437.61, Y:111.02, Z:32.20 [[ 4.09785609e-01 -9.07491127e-01 -9.23883588e-02 4.37607242e+02] [ 8.90083593e-01 4.19960682e-01 -1.77155928e-01 1.11016612e+02] [ 1.99566911e-01 -9.63741271e-03 9.79836807e-01 3.21959649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.1092541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:437.62, Y:111.04, Z:32.20 [[ 4.06633749e-01 -9.08922792e-01 -9.22407337e-02 4.37619829e+02] [ 8.91583110e-01 4.16837963e-01 -1.76990593e-01 1.11039555e+02] [ 1.99320224e-01 -1.02699317e-02 9.79880593e-01 3.22027807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.13925415399996 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:437.63, Y:111.06, Z:32.21 [[ 4.05005197e-01 -9.09649724e-01 -9.22397445e-02 4.37632517e+02] [ 8.92315010e-01 4.15240962e-01 -1.77056113e-01 1.11063594e+02] [ 1.99360764e-01 -1.05982627e-02 9.79868850e-01 3.22078469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.16925415399993 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:437.65, Y:111.09, Z:32.21 [[ 4.03688553e-01 -9.10236850e-01 -9.22194620e-02 4.37645503e+02] [ 8.92898496e-01 4.13946338e-01 -1.77146001e-01 1.11088286e+02] [ 1.99418726e-01 -1.08308062e-02 9.79854512e-01 3.22132246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.19925415399996 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:437.66, Y:111.11, Z:32.22 [[ 4.02139488e-01 -9.10918019e-01 -9.22615551e-02 4.37657909e+02] [ 8.93554945e-01 4.12437539e-01 -1.77355112e-01 1.11113190e+02] [ 1.99608097e-01 -1.11192747e-02 9.79812722e-01 3.22188315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.22925415399993 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:437.67, Y:111.14, Z:32.22 [[ 4.00025112e-01 -9.11879637e-01 -9.19534552e-02 4.37669224e+02] [ 8.94631229e-01 4.10296514e-01 -1.76894699e-01 1.11138214e+02] [ 1.99034856e-01 -1.15021107e-02 9.79924909e-01 3.22240743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.25925415399996 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:437.68, Y:111.16, Z:32.23 [[ 3.99161230e-01 -9.12251797e-01 -9.20161426e-02 4.37680458e+02] [ 8.94962886e-01 4.09464443e-01 -1.77144865e-01 1.11161693e+02] [ 1.99278060e-01 -1.16416704e-02 9.79873832e-01 3.22293912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.28925415399993 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:437.69, Y:111.19, Z:32.23 [[ 3.98034526e-01 -9.12723364e-01 -9.22202621e-02 4.37691499e+02] [ 8.95357103e-01 4.08405337e-01 -1.77597126e-01 1.11186819e+02] [ 1.99760294e-01 -1.18802788e-02 9.79772772e-01 3.22348560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.31925415399996 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:437.70, Y:111.21, Z:32.24 [[ 3.97782641e-01 -9.12838539e-01 -9.21670896e-02 4.37704247e+02] [ 8.95468991e-01 4.08147945e-01 -1.77624717e-01 1.11211621e+02] [ 1.99760496e-01 -1.18767416e-02 9.79772773e-01 3.22403947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.34925415399994 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:437.72, Y:111.24, Z:32.24 [[ 3.97333562e-01 -9.13011913e-01 -9.23866230e-02 4.37716384e+02] [ 8.95538082e-01 4.07758049e-01 -1.78171036e-01 1.11236568e+02] [ 2.00343667e-01 -1.19424069e-02 9.79652895e-01 3.22447565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.3792541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:437.73, Y:111.26, Z:32.25 [[ 3.96955508e-01 -9.13215576e-01 -9.19980240e-02 4.37727582e+02] [ 8.95868364e-01 4.07301864e-01 -1.77552994e-01 1.11261821e+02] [ 1.99615126e-01 -1.19374803e-02 9.79801663e-01 3.22518432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.40925415399994 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:437.74, Y:111.29, Z:32.26 [[ 3.96551618e-01 -9.13389052e-01 -9.20176839e-02 4.37736760e+02] [ 8.96012096e-01 4.06911650e-01 -1.77722351e-01 1.11287288e+02] [ 1.99772717e-01 -1.19728720e-02 9.79769112e-01 3.22580682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4392541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:437.75, Y:111.31, Z:32.26 [[ 3.96650414e-01 -9.13291612e-01 -9.25574393e-02 4.37747428e+02] [ 8.95678633e-01 4.07131197e-01 -1.78896548e-01 1.11311379e+02] [ 2.01067738e-01 -1.19423310e-02 9.79504541e-01 3.22620805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.46925415399994 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:437.76, Y:111.34, Z:32.27 [[ 3.96302341e-01 -9.13477179e-01 -9.22165842e-02 4.37756851e+02] [ 8.95987581e-01 4.06714000e-01 -1.78297442e-01 1.11337514e+02] [ 2.00376420e-01 -1.19652203e-02 9.79645918e-01 3.22691363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.4992541539999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:437.77, Y:111.36, Z:32.27 [[ 3.96483881e-01 -9.13333549e-01 -9.28566605e-02 4.37768408e+02] [ 8.95567266e-01 4.07037619e-01 -1.79665382e-01 1.11361686e+02] [ 2.01890575e-01 -1.19249577e-02 9.79335485e-01 3.22732899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.52925415399994 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:437.78, Y:111.39, Z:32.28 [[ 3.96522621e-01 -9.13314326e-01 -9.28803183e-02 4.37779065e+02] [ 8.95526309e-01 4.07081657e-01 -1.79769728e-01 1.11386016e+02] [ 2.01996142e-01 -1.18940048e-02 9.79314092e-01 3.22785861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.5592541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:437.79, Y:111.41, Z:32.29 [[ 3.96994529e-01 -9.13152115e-01 -9.24584169e-02 4.37787149e+02] [ 8.95504177e-01 4.07450497e-01 -1.79042905e-01 1.11411849e+02] [ 2.01165635e-01 -1.17178446e-02 9.79487151e-01 3.22853172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.58925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:437.80, Y:111.44, Z:32.29 [[ 3.97874530e-01 -9.12778850e-01 -9.23614083e-02 4.37796999e+02] [ 8.95131876e-01 4.08293265e-01 -1.78984732e-01 1.11436479e+02] [ 2.01084018e-01 -1.14621747e-02 9.79506935e-01 3.22907550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6192541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:437.81, Y:111.46, Z:32.30 [[ 3.99037032e-01 -9.12277389e-01 -9.23006702e-02 4.37807099e+02] [ 8.94628499e-01 4.09420389e-01 -1.78926784e-01 1.11461799e+02] [ 2.01020635e-01 -1.11763973e-02 9.79523247e-01 3.22962480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.64925415399995 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:437.81, Y:111.49, Z:32.30 [[ 4.02983698e-01 -9.10493335e-01 -9.27686753e-02 4.37814985e+02] [ 8.92590235e-01 4.13395886e-01 -1.79962533e-01 1.11488165e+02] [ 2.02204875e-01 -1.02824469e-02 9.79289263e-01 3.23003828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.6792541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:437.82, Y:111.51, Z:32.31 [[ 4.05223836e-01 -9.09511494e-01 -9.26417027e-02 4.37824953e+02] [ 8.91614261e-01 4.15564665e-01 -1.79805503e-01 1.11513864e+02] [ 2.02033789e-01 -9.73918776e-03 9.79330126e-01 3.23064544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.70925415399995 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:437.83, Y:111.54, Z:32.31 [[ 4.11444463e-01 -9.06766052e-01 -9.21345828e-02 4.37831888e+02] [ 8.88972062e-01 4.21552837e-01 -1.78946581e-01 1.11540529e+02] [ 2.01102280e-01 -8.27848988e-03 9.79535267e-01 3.23134691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7392541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:437.84, Y:111.57, Z:32.32 [[ 4.14693825e-01 -9.05312433e-01 -9.18609309e-02 4.37841953e+02] [ 8.87564004e-01 4.24680186e-01 -1.78540971e-01 1.11565731e+02] [ 2.00646878e-01 -7.49261732e-03 9.79634978e-01 3.23189914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.76925415399995 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:437.85, Y:111.59, Z:32.32 [[ 4.17729569e-01 -9.03924553e-01 -9.17736872e-02 4.37852098e+02] [ 8.86151438e-01 4.27638487e-01 -1.78496367e-01 1.11591146e+02] [ 2.00593210e-01 -6.76217432e-03 9.79651284e-01 3.23245117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.7992541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:437.86, Y:111.62, Z:32.33 [[ 4.23934433e-01 -9.01057806e-01 -9.15118904e-02 4.37860047e+02] [ 8.83295351e-01 4.33666311e-01 -1.78109104e-01 1.11617058e+02] [ 2.00172223e-01 -5.32544532e-03 9.79746253e-01 3.23303147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.82925415399995 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:437.87, Y:111.64, Z:32.34 [[ 4.26305974e-01 -8.99940248e-01 -9.14918928e-02 4.37870278e+02] [ 8.82149049e-01 4.35987109e-01 -1.78124384e-01 1.11641972e+02] [ 2.00190588e-01 -4.77399715e-03 9.79745343e-01 3.23355397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.8592541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:437.88, Y:111.67, Z:32.34 [[ 4.28381719e-01 -8.98923841e-01 -9.17879668e-02 4.37881121e+02] [ 8.80978743e-01 4.38084008e-01 -1.78770400e-01 1.11667492e+02] [ 2.00911815e-01 -4.28127651e-03 9.79599976e-01 3.23411153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.88925415399996 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:437.89, Y:111.69, Z:32.35 [[ 4.30872718e-01 -8.97688367e-01 -9.22187455e-02 4.37890620e+02] [ 8.79519779e-01 4.40615643e-01 -1.79729832e-01 1.11692767e+02] [ 2.01974401e-01 -3.66752961e-03 9.79383934e-01 3.23463534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.91925415399993 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:437.90, Y:111.72, Z:32.35 [[ 4.30982978e-01 -8.97621042e-01 -9.23587412e-02 4.37902077e+02] [ 8.79380827e-01 4.40753251e-01 -1.80072020e-01 1.11717793e+02] [ 2.02343850e-01 -3.61053076e-03 9.79307883e-01 3.23515608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.94925415399996 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:437.91, Y:111.74, Z:32.36 [[ 4.30844649e-01 -8.97662165e-01 -9.26041400e-02 4.37913564e+02] [ 8.79299878e-01 4.40669695e-01 -1.80670818e-01 1.11742486e+02] [ 2.02989196e-01 -3.58575395e-03 9.79174412e-01 3.23569617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.97925415399993 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:437.92, Y:111.77, Z:32.36 [[ 4.30365988e-01 -8.97853983e-01 -9.29695715e-02 4.37924021e+02] [ 8.79324126e-01 4.40278320e-01 -1.81505051e-01 1.11768125e+02] [ 2.03897519e-01 -3.63678667e-03 9.78985483e-01 3.23627417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.00925415399996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:437.94, Y:111.79, Z:32.37 [[ 4.30351494e-01 -8.97854513e-01 -9.30315261e-02 4.37935040e+02] [ 8.79272396e-01 4.40277699e-01 -1.81756983e-01 1.11792596e+02] [ 2.04151034e-01 -3.58066365e-03 9.78932855e-01 3.23684299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.03925415399993 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:437.95, Y:111.82, Z:32.37 [[ 4.30540499e-01 -8.97793293e-01 -9.27474046e-02 4.37945383e+02] [ 8.79312265e-01 4.40403057e-01 -1.81259727e-01 1.11817052e+02] [ 2.03580008e-01 -3.51427698e-03 9.79052006e-01 3.23738032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.06925415399996 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:437.96, Y:111.84, Z:32.38 [[ 4.30577373e-01 -8.97781345e-01 -9.26918706e-02 4.37957527e+02] [ 8.79310212e-01 4.40427686e-01 -1.81209834e-01 1.11842164e+02] [ 2.03510875e-01 -3.48005394e-03 9.79066501e-01 3.23790209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.09925415399994 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:437.97, Y:111.87, Z:32.38 [[ 4.30789082e-01 -8.97707601e-01 -9.24220200e-02 4.37968874e+02] [ 8.79315954e-01 4.40578790e-01 -1.80814224e-01 1.11866492e+02] [ 2.03037485e-01 -3.37536291e-03 9.79165148e-01 3.23846636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.1292541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:437.98, Y:111.89, Z:32.39 [[ 4.30816490e-01 -8.97729016e-01 -9.20856413e-02 4.37980507e+02] [ 8.79460226e-01 4.40535384e-01 -1.80217330e-01 1.11890962e+02] [ 2.02353310e-01 -3.34506149e-03 9.79306872e-01 3.23897804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.15925415399994 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:437.99, Y:111.92, Z:32.40 [[ 4.30511542e-01 -8.97899749e-01 -9.18468956e-02 4.37991977e+02] [ 8.79703029e-01 4.40187205e-01 -1.79882754e-01 1.11916248e+02] [ 2.01946508e-01 -3.35639021e-03 9.79390802e-01 3.23951394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.1892541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:438.00, Y:111.94, Z:32.40 [[ 4.29619921e-01 -8.98331977e-01 -9.17953277e-02 4.38004022e+02] [ 8.80138413e-01 4.39303337e-01 -1.79913736e-01 1.11940629e+02] [ 2.01948256e-01 -3.49806874e-03 9.79389945e-01 3.24005255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.21925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:438.02, Y:111.96, Z:32.41 [[ 4.28730992e-01 -8.98772220e-01 -9.16418707e-02 4.38016568e+02] [ 8.80622860e-01 4.38400784e-01 -1.79744627e-01 1.11964964e+02] [ 2.01725345e-01 -3.63983396e-03 9.79435366e-01 3.24056985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.2492541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:438.03, Y:111.99, Z:32.41 [[ 4.26261938e-01 -8.99965046e-01 -9.14531324e-02 4.38030330e+02] [ 8.81890870e-01 4.35942449e-01 -1.79506756e-01 1.11989169e+02] [ 2.01418109e-01 -4.13478452e-03 9.79496630e-01 3.24100678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.27925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:438.04, Y:112.01, Z:32.42 [[ 4.24728993e-01 -9.00685215e-01 -9.14954958e-02 4.38043445e+02] [ 8.82583346e-01 4.34449783e-01 -1.79722074e-01 1.12013552e+02] [ 2.01623213e-01 -4.41922505e-03 9.79453189e-01 3.24151042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3092541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:438.05, Y:112.05, Z:32.42 [[ 4.28746858e-01 -9.01980673e-01 -5.10587664e-02 4.38049969e+02] [ 8.82470033e-01 4.30234745e-01 -1.90117608e-01 1.12053724e+02] [ 1.93449663e-01 3.64544957e-02 9.80432709e-01 3.24202632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.33925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:438.09, Y:112.05, Z:32.42 [[ 4.21498481e-01 -8.96943918e-01 -1.33531411e-01 4.38090758e+02] [ 8.84037281e-01 4.39231561e-01 -1.59855316e-01 1.12054706e+02] [ 2.02032464e-01 -5.06679726e-02 9.78067298e-01 3.24151894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.3692541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:438.08, Y:112.09, Z:32.43 [[ 4.21552301e-01 -9.02081159e-01 -9.24296448e-02 4.38081846e+02] [ 8.83536549e-01 4.31538309e-01 -1.82038056e-01 1.12086228e+02] [ 2.04100033e-01 -4.92640792e-03 9.78937642e-01 3.24313501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.39925415399995 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:438.09, Y:112.11, Z:32.44 [[ 4.21773025e-01 -9.01946182e-01 -9.27394173e-02 4.38094951e+02] [ 8.83259271e-01 4.31821214e-01 -1.82711518e-01 1.12110400e+02] [ 2.04842804e-01 -4.85016037e-03 9.78782867e-01 3.24361043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4292541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:438.11, Y:112.13, Z:32.44 [[ 4.24043260e-01 -9.00908068e-01 -9.24768418e-02 4.38107992e+02] [ 8.82275322e-01 4.33988917e-01 -1.82329034e-01 1.12134171e+02] [ 2.04395622e-01 -4.27463749e-03 9.78879031e-01 3.24419208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.45925415399995 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:438.12, Y:112.16, Z:32.45 [[ 4.26049438e-01 -8.99967730e-01 -9.24119084e-02 4.38120814e+02] [ 8.81311290e-01 4.35940307e-01 -1.82336118e-01 1.12158812e+02] [ 2.04382698e-01 -3.75945766e-03 9.78883844e-01 3.24474465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.4892541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:438.13, Y:112.18, Z:32.45 [[ 4.30948814e-01 -8.97677890e-01 -9.19648016e-02 4.38133356e+02] [ 8.79123477e-01 4.40644619e-01 -1.81588083e-01 1.12183082e+02] [ 2.03531403e-01 -2.59324684e-03 9.79064984e-01 3.24529757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.51925415399995 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:438.15, Y:112.21, Z:32.46 [[ 4.33551907e-01 -8.96425095e-01 -9.19499526e-02 4.38145157e+02] [ 8.77821358e-01 4.43191012e-01 -1.81690370e-01 1.12206298e+02] [ 2.03623200e-01 -1.94342576e-03 9.79047402e-01 3.24583182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.5492541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:438.16, Y:112.23, Z:32.46 [[ 4.35767570e-01 -8.95421860e-01 -9.12486565e-02 4.38157453e+02] [ 8.77069516e-01 4.45216391e-01 -1.80364711e-01 1.12230809e+02] [ 2.02127902e-01 -1.43432329e-03 9.79358083e-01 3.24638684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.57925415399995 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:438.17, Y:112.25, Z:32.47 [[ 4.39933160e-01 -8.93434417e-01 -9.07400490e-02 4.38170932e+02] [ 8.75219535e-01 4.49193427e-01 -1.79488244e-01 1.12254218e+02] [ 2.01120809e-01 -4.54632951e-04 9.79566340e-01 3.24689390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.6092541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:438.18, Y:112.28, Z:32.47 [[ 4.41404708e-01 -8.92738023e-01 -9.04472559e-02 4.38183806e+02] [ 8.74600494e-01 4.50576094e-01 -1.79039544e-01 1.12276958e+02] [ 2.00588780e-01 -7.63168860e-05 9.79675526e-01 3.24738332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.63925415399996 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:438.20, Y:112.30, Z:32.48 [[ 4.42722698e-01 -8.92071305e-01 -9.05836564e-02 4.38198586e+02] [ 8.73852287e-01 4.51894591e-01 -1.79369615e-01 1.12299993e+02] [ 2.00944751e-01 2.54264584e-04 9.79602543e-01 3.24792193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.66925415399993 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:438.21, Y:112.32, Z:32.48 [[ 4.42640461e-01 -8.92131561e-01 -9.03919273e-02 4.38212051e+02] [ 8.73964367e-01 4.51775603e-01 -1.79123114e-01 1.12322819e+02] [ 2.00638251e-01 2.87814334e-04 9.79665356e-01 3.24837717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.69925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:438.23, Y:112.35, Z:32.49 [[ 4.41736457e-01 -8.92574978e-01 -9.04367773e-02 4.38225979e+02] [ 8.74379729e-01 4.50898981e-01 -1.79304764e-01 1.12346400e+02] [ 2.00820797e-01 1.29366516e-04 9.79627986e-01 3.24893569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.72925415399993 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:438.24, Y:112.37, Z:32.49 [[ 4.40604052e-01 -8.93113136e-01 -9.06476484e-02 4.38240223e+02] [ 8.74816061e-01 4.49832106e-01 -1.79855318e-01 1.12369242e+02] [ 2.01407369e-01 -5.50371199e-05 9.79507564e-01 3.24938793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.75925415399996 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:438.26, Y:112.39, Z:32.50 [[ 4.35769936e-01 -8.95508861e-01 -9.03794388e-02 4.38256575e+02] [ 8.77359561e-01 4.45042258e-01 -1.79381132e-01 1.12390974e+02] [ 2.00860062e-01 -1.12636063e-03 9.79619297e-01 3.24987351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.78925415399993 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:438.27, Y:112.41, Z:32.50 [[ 4.29349459e-01 -8.98607871e-01 -9.03489701e-02 4.38273981e+02] [ 8.80525562e-01 4.38745318e-01 -1.79380266e-01 1.12412642e+02] [ 2.00832707e-01 -2.53775734e-03 9.79622266e-01 3.25035036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.81925415399996 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:438.29, Y:112.44, Z:32.51 [[ 4.26086476e-01 -9.00159732e-01 -9.03480636e-02 4.38289140e+02] [ 8.82084710e-01 4.35548128e-01 -1.79511538e-01 1.12436306e+02] [ 2.00939988e-01 -3.20720705e-03 9.79598303e-01 3.25080048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.84925415399994 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:438.30, Y:112.46, Z:32.51 [[ 4.22561283e-01 -9.01850218e-01 -9.00452495e-02 4.38302483e+02] [ 8.83908253e-01 4.32030892e-01 -1.79040522e-01 1.12458808e+02] [ 2.00370063e-01 -3.93614660e-03 9.79712379e-01 3.25138737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.8792541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:438.32, Y:112.48, Z:32.52 [[ 4.19199259e-01 -9.03438245e-01 -8.98405189e-02 4.38316786e+02] [ 8.85602180e-01 4.28692976e-01 -1.78692784e-01 1.12482830e+02] [ 1.99951895e-01 -4.65507679e-03 9.79794657e-01 3.25192715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.90925415399994 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:438.33, Y:112.51, Z:32.52 [[ 4.16072266e-01 -9.04906113e-01 -8.96035536e-02 4.38330514e+02] [ 8.87171739e-01 4.25578406e-01 -1.78351691e-01 1.12506626e+02] [ 1.99524873e-01 -5.28654842e-03 9.79878501e-01 3.25249362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9392541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:438.35, Y:112.53, Z:32.53 [[ 4.10669511e-01 -9.07386906e-01 -8.94402347e-02 4.38345660e+02] [ 8.89748078e-01 4.20247369e-01 -1.78158657e-01 1.12529644e+02] [ 1.99245856e-01 -6.41494818e-03 9.79928537e-01 3.25305164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.96925415399994 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:438.36, Y:112.55, Z:32.54 [[ 4.08315893e-01 -9.08454708e-01 -8.93765904e-02 4.38359498e+02] [ 8.90839431e-01 4.17926792e-01 -1.78163701e-01 1.12553561e+02] [ 1.99206525e-01 -6.87312021e-03 9.79933427e-01 3.25361210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.9992541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:438.37, Y:112.58, Z:32.54 [[ 4.06097697e-01 -9.09499818e-01 -8.88523526e-02 4.38373108e+02] [ 8.92089975e-01 4.15640525e-01 -1.77252449e-01 1.12577604e+02] [ 1.98141708e-01 -7.28248171e-03 9.80146330e-01 3.25416357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.02925415399994 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:438.39, Y:112.60, Z:32.55 [[ 4.02280025e-01 -9.11276185e-01 -8.80141843e-02 4.38387266e+02] [ 8.94211383e-01 4.11717654e-01 -1.75711628e-01 1.12600071e+02] [ 1.96358815e-01 -8.01800743e-03 9.80499325e-01 3.25472606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.0592541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:438.40, Y:112.62, Z:32.55 [[ 4.00119447e-01 -9.12255057e-01 -8.77219486e-02 4.38400388e+02] [ 8.95309441e-01 4.09535889e-01 -1.75218038e-01 1.12624132e+02] [ 1.95768827e-01 -8.43014435e-03 9.80613838e-01 3.25523765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.08925415399995 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:438.41, Y:112.65, Z:32.56 [[ 3.98119499e-01 -9.13143629e-01 -8.75761244e-02 4.38412688e+02] [ 8.96249470e-01 4.07543062e-01 -1.75058679e-01 1.12647343e+02] [ 1.95544760e-01 -8.79578139e-03 9.80655333e-01 3.25575756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1192541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:438.43, Y:112.67, Z:32.56 [[ 3.95354945e-01 -9.14322961e-01 -8.77951590e-02 4.38426697e+02] [ 8.97359998e-01 4.04877248e-01 -1.75554686e-01 1.12671008e+02] [ 1.96059943e-01 -9.37745037e-03 9.80547073e-01 3.25610358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.14925415399995 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:438.44, Y:112.70, Z:32.57 [[ 3.93716320e-01 -9.15044484e-01 -8.76416101e-02 4.38438883e+02] [ 8.98132709e-01 4.03237136e-01 -1.75378018e-01 1.12695212e+02] [ 1.95819040e-01 -9.66460855e-03 9.80592422e-01 3.25669456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.1792541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:438.45, Y:112.72, Z:32.57 [[ 3.92495576e-01 -9.15534801e-01 -8.79957451e-02 4.38451120e+02] [ 8.98470072e-01 4.02117019e-01 -1.76219842e-01 1.12719515e+02] [ 1.96719985e-01 -9.89603494e-03 9.80409770e-01 3.25715996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.20925415399995 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:438.46, Y:112.74, Z:32.58 [[ 3.92943132e-01 -9.15147024e-01 -9.00089926e-02 4.38463656e+02] [ 8.98251168e-01 4.02944230e-01 -1.75444539e-01 1.12743259e+02] [ 1.96826152e-01 -1.19109560e-02 9.80366052e-01 3.25758233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2392541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:438.47, Y:112.77, Z:32.58 [[ 3.92720352e-01 -9.15476286e-01 -8.76007687e-02 4.38474831e+02] [ 8.98327912e-01 4.02263606e-01 -1.76609608e-01 1.12768721e+02] [ 1.96920509e-01 -9.33602831e-03 9.80375006e-01 3.25818773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.26925415399995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:438.49, Y:112.79, Z:32.59 [[ 3.92947493e-01 -9.15508856e-01 -8.62310990e-02 4.38486331e+02] [ 8.97903462e-01 4.02234101e-01 -1.78821420e-01 1.12794320e+02] [ 1.98397682e-01 -7.15977370e-03 9.80095453e-01 3.25871957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.2992541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:438.50, Y:112.82, Z:32.59 [[ 3.95016367e-01 -9.14368680e-01 -8.88368503e-02 4.38497674e+02] [ 8.96864438e-01 4.04777045e-01 -1.78296728e-01 1.12818456e+02] [ 1.98988061e-01 -9.24448612e-03 9.79958311e-01 3.25921519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.32925415399995 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:438.51, Y:112.84, Z:32.60 [[ 3.95976740e-01 -9.14000179e-01 -8.83521080e-02 4.38508066e+02] [ 8.96660803e-01 4.05614621e-01 -1.77415284e-01 1.12844205e+02] [ 1.97994508e-01 -8.96954640e-03 9.80162090e-01 3.25984363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.3592541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:438.52, Y:112.87, Z:32.60 [[ 3.97864862e-01 -9.13201330e-01 -8.81299213e-02 4.38519040e+02] [ 8.95903657e-01 4.07420179e-01 -1.77102893e-01 1.12869553e+02] [ 1.97636506e-01 -8.49290072e-03 9.80238584e-01 3.26041921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.38925415399996 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:438.53, Y:112.89, Z:32.61 [[ 4.02580740e-01 -9.11098016e-01 -8.84825003e-02 4.38529226e+02] [ 8.93582607e-01 4.12122822e-01 -1.77946353e-01 1.12894975e+02] [ 1.98592227e-01 -7.42864910e-03 9.80054051e-01 3.26087912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.41925415399993 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:438.54, Y:112.92, Z:32.61 [[ 4.04646732e-01 -9.10202775e-01 -8.82719148e-02 4.38538971e+02] [ 8.92723549e-01 4.14105177e-01 -1.77655755e-01 1.12919073e+02] [ 1.98256618e-01 -6.91459618e-03 9.80125758e-01 3.26145957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.44925415399996 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:438.55, Y:112.94, Z:32.62 [[ 4.07097422e-01 -9.09088748e-01 -8.84835455e-02 4.38550250e+02] [ 8.91486591e-01 4.16553944e-01 -1.78141711e-01 1.12944554e+02] [ 1.98804795e-01 -6.36086315e-03 9.80018466e-01 3.26195631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.47925415399993 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:438.56, Y:112.97, Z:32.63 [[ 4.09296612e-01 -9.08124239e-01 -8.82419980e-02 4.38560370e+02] [ 8.90569636e-01 4.18660400e-01 -1.77789742e-01 1.12969946e+02] [ 1.98398605e-01 -5.81690487e-03 9.80104156e-01 3.26252414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.50925415399996 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:438.57, Y:113.00, Z:32.63 [[ 4.13222568e-01 -9.06313077e-01 -8.85647548e-02 4.38569118e+02] [ 8.88559463e-01 4.22578471e-01 -1.78576360e-01 1.12996213e+02] [ 1.99271649e-01 -4.90326910e-03 9.79932022e-01 3.26310395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.53925415399993 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:438.58, Y:113.02, Z:32.64 [[ 4.14583387e-01 -9.05691268e-01 -8.85660368e-02 4.38580223e+02] [ 8.87895489e-01 4.23913515e-01 -1.78714668e-01 1.13021270e+02] [ 1.99404654e-01 -4.54525206e-03 9.79906692e-01 3.26364613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.56925415399996 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:438.59, Y:113.05, Z:32.64 [[ 4.15814383e-01 -9.05113230e-01 -8.87042275e-02 4.38590492e+02] [ 8.87220343e-01 4.25149708e-01 -1.79130647e-01 1.13047130e+02] [ 1.99846095e-01 -4.21509566e-03 9.79818234e-01 3.26422464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.59925415399994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:438.60, Y:113.07, Z:32.65 [[ 4.15869281e-01 -9.05074135e-01 -8.88456587e-02 4.38601271e+02] [ 8.87095204e-01 4.25233618e-01 -1.79550746e-01 1.13071579e+02] [ 2.00286897e-01 -4.14491818e-03 9.79728523e-01 3.26478206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.6292541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:438.61, Y:113.10, Z:32.65 [[ 4.15309121e-01 -9.05327616e-01 -8.88833044e-02 4.38611732e+02] [ 8.87326482e-01 4.24692724e-01 -1.79688074e-01 1.13097255e+02] [ 2.00424669e-01 -4.24241363e-03 9.79699931e-01 3.26534342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.65925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:438.62, Y:113.12, Z:32.66 [[ 4.14644233e-01 -9.05648124e-01 -8.87222444e-02 4.38622967e+02] [ 8.87692732e-01 4.24007923e-01 -1.79496226e-01 1.13122051e+02] [ 2.00179355e-01 -4.33101664e-03 9.79749697e-01 3.26593000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.6892541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:438.63, Y:113.15, Z:32.67 [[ 4.14073747e-01 -9.05925626e-01 -8.85533243e-02 4.38633887e+02] [ 8.88018765e-01 4.23413985e-01 -1.79285445e-01 1.13146137e+02] [ 1.99913995e-01 -4.39961750e-03 9.79803571e-01 3.26651017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.71925415399994 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:438.64, Y:113.17, Z:32.67 [[ 4.13210553e-01 -9.06350314e-01 -8.82391497e-02 4.38644905e+02] [ 8.88569077e-01 4.22502418e-01 -1.78708431e-01 1.13170930e+02] [ 1.99253696e-01 -4.56237040e-03 9.79937319e-01 3.26708173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.7492541539999 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:438.66, Y:113.20, Z:32.68 [[ 4.12541396e-01 -9.06688978e-01 -8.78902346e-02 4.38655783e+02] [ 8.89030123e-01 4.21774208e-01 -1.78134664e-01 1.13195180e+02] [ 1.98582570e-01 -4.64914311e-03 9.80073134e-01 3.26758283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.77925415399994 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:438.67, Y:113.22, Z:32.68 [[ 4.11128311e-01 -9.07360894e-01 -8.75769390e-02 4.38665777e+02] [ 8.89832222e-01 4.20323572e-01 -1.77557627e-01 1.13219666e+02] [ 1.97919499e-01 -4.92981473e-03 9.80205881e-01 3.26809556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8092541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:438.68, Y:113.24, Z:32.69 [[ 4.11023642e-01 -9.07400390e-01 -8.76589896e-02 4.38677208e+02] [ 8.89827707e-01 4.20238313e-01 -1.77781923e-01 1.13244525e+02] [ 1.98157052e-01 -4.92882426e-03 9.80157890e-01 3.26857480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.83925415399995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:438.69, Y:113.27, Z:32.69 [[ 4.11427252e-01 -9.07262292e-01 -8.71937442e-02 4.38685935e+02] [ 8.89848925e-01 4.20538078e-01 -1.76965015e-01 1.13270255e+02] [ 1.97221975e-01 -4.78102968e-03 9.80347201e-01 3.26922412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.8692541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:438.70, Y:113.29, Z:32.70 [[ 4.12070346e-01 -9.06976408e-01 -8.71310856e-02 4.38696203e+02] [ 8.89555850e-01 4.21156474e-01 -1.76967833e-01 1.13294724e+02] [ 1.97201470e-01 -4.58477078e-03 9.80352263e-01 3.26974619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.89925415399995 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:438.71, Y:113.32, Z:32.70 [[ 4.12863312e-01 -9.06610516e-01 -8.71851935e-02 4.38707276e+02] [ 8.89148407e-01 4.21945636e-01 -1.77135515e-01 1.13320252e+02] [ 1.97380333e-01 -4.38782031e-03 9.80317169e-01 3.27030521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9292541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:438.72, Y:113.35, Z:32.71 [[ 4.19797330e-01 -9.05010797e-01 -6.87434280e-02 4.38718384e+02] [ 8.86739470e-01 4.25114483e-01 -1.81578603e-01 1.13354785e+02] [ 1.93554423e-01 1.52687018e-02 9.80970719e-01 3.27073063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.95925415399995 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:438.74, Y:113.37, Z:32.71 [[ 4.15364723e-01 -9.03155472e-01 -1.08546487e-01 4.38738055e+02] [ 8.87647249e-01 4.28508804e-01 -1.68708525e-01 1.13366921e+02] [ 1.98883153e-01 -2.62754210e-02 9.79670911e-01 3.27088695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 473.9892541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:438.74, Y:113.40, Z:32.72 [[ 4.17277682e-01 -9.04548054e-01 -8.75908358e-02 4.38737466e+02] [ 8.86788564e-01 4.26359414e-01 -1.78391964e-01 1.13396075e+02] [ 1.98709281e-01 -3.23556623e-03 9.80053138e-01 3.27192431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.01925415399995 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:438.75, Y:113.42, Z:32.72 [[ 4.17763195e-01 -9.04321179e-01 -8.76191666e-02 4.38748464e+02] [ 8.86517487e-01 4.26841640e-01 -1.78586001e-01 1.13420072e+02] [ 1.98898611e-01 -3.06926513e-03 9.80015266e-01 3.27244044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.0492541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:438.76, Y:113.45, Z:32.73 [[ 4.18025035e-01 -9.04182960e-01 -8.77966133e-02 4.38760764e+02] [ 8.86290819e-01 4.27134963e-01 -1.79009238e-01 1.13445223e+02] [ 1.99358105e-01 -2.98298952e-03 9.79922164e-01 3.27291466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.07925415399995 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:438.77, Y:113.47, Z:32.73 [[ 4.17654839e-01 -9.04350370e-01 -8.78341823e-02 4.38772486e+02] [ 8.86418172e-01 4.26780254e-01 -1.79224552e-01 1.13470368e+02] [ 1.99567684e-01 -3.00381408e-03 9.79879440e-01 3.27349063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.1092541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:438.78, Y:113.50, Z:32.74 [[ 4.16820659e-01 -9.04687612e-01 -8.83224967e-02 4.38783010e+02] [ 8.86532357e-01 4.26064048e-01 -1.80360217e-01 1.13495484e+02] [ 2.00800695e-01 -3.12288663e-03 9.79627138e-01 3.27398655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.13925415399996 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:438.79, Y:113.52, Z:32.75 [[ 4.15745081e-01 -9.05141526e-01 -8.87403290e-02 4.38794576e+02] [ 8.86793844e-01 4.25097568e-01 -1.81352519e-01 1.13520424e+02] [ 2.01872994e-01 -3.29795964e-03 9.79406156e-01 3.27452015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.16925415399993 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:438.81, Y:113.55, Z:32.75 [[ 4.14665507e-01 -9.05605360e-01 -8.90586828e-02 4.38806442e+02] [ 8.87106149e-01 4.24107117e-01 -1.82142344e-01 1.13545087e+02] [ 2.02719504e-01 -3.47635779e-03 9.79230676e-01 3.27504900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.19925415399996 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:438.82, Y:113.57, Z:32.76 [[ 4.11853341e-01 -9.06847066e-01 -8.94719185e-02 4.38818148e+02] [ 8.88173561e-01 4.21440431e-01 -1.83127520e-01 1.13570240e+02] [ 2.03775738e-01 -4.04491157e-03 9.79009238e-01 3.27559080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.22925415399993 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:438.83, Y:113.59, Z:32.76 [[ 4.10187364e-01 -9.07601701e-01 -8.94733358e-02 4.38829804e+02] [ 8.88917046e-01 4.19809639e-01 -1.83265800e-01 1.13594273e+02] [ 2.03894120e-01 -4.36105791e-03 9.78983232e-01 3.27612533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.25925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:438.84, Y:113.62, Z:32.77 [[ 4.06011565e-01 -9.09446347e-01 -8.97883641e-02 4.38842066e+02] [ 8.90659009e-01 4.15787830e-01 -1.83975572e-01 1.13618301e+02] [ 2.04648821e-01 -5.27460559e-03 9.78821250e-01 3.27669340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.28925415399993 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:438.85, Y:113.64, Z:32.77 [[ 4.04025787e-01 -9.10339572e-01 -8.96940700e-02 4.38853516e+02] [ 8.91584729e-01 4.13823410e-01 -1.83920788e-01 1.13641941e+02] [ 2.04547877e-01 -5.66112202e-03 9.78840190e-01 3.27720044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.31925415399996 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:438.87, Y:113.67, Z:32.78 [[ 4.01758379e-01 -9.11367772e-01 -8.94370647e-02 4.38865053e+02] [ 8.92732814e-01 4.11547222e-01 -1.83458463e-01 1.13666418e+02] [ 2.04005706e-01 -6.13742778e-03 9.78950460e-01 3.27777499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.34925415399994 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:438.88, Y:113.69, Z:32.78 [[ 3.99639755e-01 -9.12317536e-01 -8.92456120e-02 4.38877066e+02] [ 8.93757887e-01 4.09431096e-01 -1.83202121e-01 1.13690807e+02] [ 2.03678437e-01 -6.54911864e-03 9.79015936e-01 3.27826988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.3792541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:438.89, Y:113.72, Z:32.79 [[ 3.94838649e-01 -9.14460939e-01 -8.86771219e-02 4.38888904e+02] [ 8.96163941e-01 4.04603900e-01 -1.82169904e-01 1.13715146e+02] [ 2.02466371e-01 -7.54152013e-03 9.79260177e-01 3.27890427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.40925415399994 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:438.90, Y:113.74, Z:32.79 [[ 3.92351098e-01 -9.15540981e-01 -8.85738568e-02 4.38900977e+02] [ 8.97285406e-01 4.02144525e-01 -1.82095253e-01 1.13739872e+02] [ 2.02335158e-01 -8.03075660e-03 9.79283407e-01 3.27939272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4392541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:438.91, Y:113.76, Z:32.80 [[ 3.89444062e-01 -9.16826522e-01 -8.81047773e-02 4.38912315e+02] [ 8.98769300e-01 3.99193326e-01 -1.81268953e-01 1.13764870e+02] [ 2.01363023e-01 -8.59175163e-03 9.79479002e-01 3.28001626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.46925415399994 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:438.92, Y:113.79, Z:32.81 [[ 3.84049350e-01 -9.19109425e-01 -8.79997800e-02 4.38923256e+02] [ 9.01125297e-01 3.93882623e-01 -1.81189618e-01 1.13788944e+02] [ 2.01194670e-01 -9.71307289e-03 9.79503119e-01 3.28059079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.4992541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:438.93, Y:113.81, Z:32.81 [[ 3.81325862e-01 -9.20252395e-01 -8.78983308e-02 4.38934818e+02] [ 9.02319956e-01 3.91190734e-01 -1.81075967e-01 1.13813803e+02] [ 2.01020605e-01 -1.02634688e-02 9.79533245e-01 3.28115427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.52925415399994 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:438.95, Y:113.84, Z:32.82 [[ 3.78652164e-01 -9.21350374e-01 -8.79546920e-02 4.38946355e+02] [ 9.03394775e-01 3.88583230e-01 -1.81331062e-01 1.13838736e+02] [ 2.01247160e-01 -1.07964099e-02 9.79480994e-01 3.28166968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.5592541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:438.96, Y:113.86, Z:32.82 [[ 3.76409993e-01 -9.22266592e-01 -8.79764160e-02 4.38957800e+02] [ 9.04297532e-01 3.86391200e-01 -1.81515330e-01 1.13863799e+02] [ 2.01398837e-01 -1.12326719e-02 9.79444912e-01 3.28224510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.58925415399995 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:438.97, Y:113.89, Z:32.83 [[ 3.72701346e-01 -9.23787452e-01 -8.78091652e-02 4.38967172e+02] [ 9.05899840e-01 3.82718419e-01 -1.81306625e-01 1.13888173e+02] [ 2.01094970e-01 -1.19730857e-02 9.79498575e-01 3.28284213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6192541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:438.98, Y:113.91, Z:32.83 [[ 3.71554445e-01 -9.24250854e-01 -8.77932376e-02 4.38977628e+02] [ 9.06369918e-01 3.81590846e-01 -1.81333938e-01 1.13912573e+02] [ 2.01099143e-01 -1.21977189e-02 9.79494947e-01 3.28334120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.64925415399995 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:438.99, Y:113.94, Z:32.84 [[ 3.71241271e-01 -9.24329161e-01 -8.82922475e-02 4.38989028e+02] [ 9.06231459e-01 3.81398212e-01 -1.82427920e-01 1.13937601e+02] [ 2.02297951e-01 -1.22884395e-02 9.79246921e-01 3.28381468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.6792541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:439.00, Y:113.96, Z:32.84 [[ 3.71681909e-01 -9.24195680e-01 -8.78345195e-02 4.38997358e+02] [ 9.06254872e-01 3.81727713e-01 -1.81620649e-01 1.13962660e+02] [ 2.01381889e-01 -1.20953517e-02 9.79438123e-01 3.28439086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.70925415399995 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:439.01, Y:113.99, Z:32.85 [[ 3.72451333e-01 -9.23868166e-01 -8.80205450e-02 4.39007551e+02] [ 9.05821566e-01 3.82525617e-01 -1.82102838e-01 1.13987695e+02] [ 2.01909128e-01 -1.19064633e-02 9.79331885e-01 3.28491553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7392541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:439.02, Y:114.01, Z:32.85 [[ 3.73825314e-01 -9.23293839e-01 -8.82220039e-02 4.39017136e+02] [ 9.05119088e-01 3.83920122e-01 -1.82660276e-01 1.14012215e+02] [ 2.02519310e-01 -1.15683846e-02 9.79209937e-01 3.28539872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.76925415399995 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:439.02, Y:114.04, Z:32.86 [[ 3.78244041e-01 -9.21432867e-01 -8.88420961e-02 4.39024544e+02] [ 9.02927883e-01 3.88392866e-01 -1.84044071e-01 1.14038797e+02] [ 2.04089893e-01 -1.06044324e-02 9.78894714e-01 3.28598089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.7992541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:439.03, Y:114.06, Z:32.87 [[ 3.81004012e-01 -9.20280345e-01 -8.89945411e-02 4.39033442e+02] [ 9.01651640e-01 3.91133129e-01 -1.84497143e-01 1.14063871e+02] [ 2.04597808e-01 -9.94792200e-03 9.78795574e-01 3.28652947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.82925415399995 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:439.04, Y:114.09, Z:32.87 [[ 3.87610677e-01 -9.17497030e-01 -8.92029325e-02 4.39040040e+02] [ 8.98694028e-01 3.97652608e-01 -1.84990398e-01 1.14089762e+02] [ 2.05199919e-01 -8.46188947e-03 9.78683498e-01 3.28713944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.8592541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:439.05, Y:114.12, Z:32.88 [[ 3.91054791e-01 -9.16038436e-01 -8.91612855e-02 4.39049045e+02] [ 8.97203263e-01 4.01017247e-01 -1.84963435e-01 1.14115103e+02] [ 2.05188829e-01 -7.66495914e-03 9.78692389e-01 3.28770364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.88925415399996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:439.06, Y:114.14, Z:32.88 [[ 3.94836550e-01 -9.14432018e-01 -8.89841735e-02 4.39058297e+02] [ 8.95618942e-01 4.04682633e-01 -1.84658273e-01 1.14140641e+02] [ 2.04867786e-01 -6.78607605e-03 9.78766131e-01 3.28833395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.91925415399993 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:439.07, Y:114.17, Z:32.89 [[ 4.01878743e-01 -9.11414464e-01 -8.84146485e-02 4.39065533e+02] [ 8.92742063e-01 4.11457468e-01 -1.83614710e-01 1.14167467e+02] [ 2.03727970e-01 -5.14062678e-03 9.79014039e-01 3.28898870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.94925415399996 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:439.08, Y:114.19, Z:32.90 [[ 4.04986146e-01 -9.10069026e-01 -8.80942108e-02 4.39075367e+02] [ 8.91472668e-01 4.14433514e-01 -1.83088351e-01 1.14193362e+02] [ 2.03132231e-01 -4.38533548e-03 9.79141494e-01 3.28957166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 474.97925415399993 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:439.09, Y:114.22, Z:32.90 [[ 4.07853955e-01 -9.08807819e-01 -8.78834411e-02 4.39085525e+02] [ 8.90243634e-01 4.17198700e-01 -1.82788175e-01 1.14219236e+02] [ 2.02784180e-01 -3.68679388e-03 9.79216515e-01 3.29016584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.00925415399996 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:439.09, Y:114.24, Z:32.91 [[ 4.12898897e-01 -9.06576661e-01 -8.73685271e-02 4.39094291e+02] [ 8.88153297e-01 4.22033724e-01 -1.81855046e-01 1.14244619e+02] [ 2.01738005e-01 -2.50889752e-03 9.79436309e-01 3.29066066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.03925415399993 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:439.10, Y:114.27, Z:32.91 [[ 4.14499695e-01 -9.05835157e-01 -8.74795523e-02 4.39104960e+02] [ 8.87328071e-01 4.23625099e-01 -1.82183065e-01 1.14269864e+02] [ 2.02086360e-01 -2.10823746e-03 9.79365437e-01 3.29119716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.06925415399996 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:439.11, Y:114.30, Z:32.92 [[ 4.16992611e-01 -9.05031232e-01 -8.38786688e-02 4.39113250e+02] [ 8.85827060e-01 4.25334254e-01 -1.85475583e-01 1.14296243e+02] [ 2.03537666e-01 3.03995297e-03 9.79062397e-01 3.29188623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.09925415399994 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:439.13, Y:114.32, Z:32.92 [[ 4.17463710e-01 -9.04073654e-01 -9.15143668e-02 4.39129330e+02] [ 8.85843139e-01 4.27339730e-01 -1.80728215e-01 1.14320381e+02] [ 2.02499343e-01 -5.61990270e-03 9.79266273e-01 3.29220248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.1292541539999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:439.14, Y:114.35, Z:32.93 [[ 4.17244181e-01 -9.04568043e-01 -8.75439810e-02 4.39139302e+02] [ 8.85940278e-01 4.26327124e-01 -1.82633535e-01 1.14346216e+02] [ 2.02526833e-01 -1.35595903e-03 9.79275775e-01 3.29288290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.15925415399994 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:439.15, Y:114.37, Z:32.93 [[ 4.17597915e-01 -9.04419052e-01 -8.73965658e-02 4.39150787e+02] [ 8.85825012e-01 4.26643499e-01 -1.82453755e-01 1.14369645e+02] [ 2.02301828e-01 -1.22575653e-03 9.79322453e-01 3.29337759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.1892541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:439.16, Y:114.39, Z:32.94 [[ 4.17543798e-01 -9.04450618e-01 -8.73284414e-02 4.39162518e+02] [ 8.85874121e-01 4.26576613e-01 -1.82371695e-01 1.14393306e+02] [ 2.02198463e-01 -1.21383623e-03 9.79343815e-01 3.29391324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.21925415399994 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:439.18, Y:114.42, Z:32.94 [[ 4.16586798e-01 -9.04910899e-01 -8.71303858e-02 4.39176201e+02] [ 8.86416697e-01 4.25598737e-01 -1.82019655e-01 1.14417612e+02] [ 2.01794152e-01 -1.40684338e-03 9.79426945e-01 3.29446180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.2492541539999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:439.19, Y:114.44, Z:32.95 [[ 4.15724353e-01 -9.05319414e-01 -8.70058684e-02 4.39188393e+02] [ 8.86859100e-01 4.24728594e-01 -1.81897109e-01 1.14440927e+02] [ 2.01628864e-01 -1.54288812e-03 9.79460781e-01 3.29497254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.27925415399994 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:439.20, Y:114.46, Z:32.95 [[ 4.14831643e-01 -9.05727375e-01 -8.70208610e-02 4.39200541e+02] [ 8.87256955e-01 4.23857265e-01 -1.81989325e-01 1.14463982e+02] [ 2.01717137e-01 -1.71493365e-03 9.79442319e-01 3.29549641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3092541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:439.21, Y:114.49, Z:32.96 [[ 4.12636837e-01 -9.06736635e-01 -8.69454766e-02 4.39214289e+02] [ 8.88307736e-01 4.21691748e-01 -1.81894021e-01 1.14488200e+02] [ 2.01594162e-01 -2.17816602e-03 9.79466717e-01 3.29599247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.33925415399995 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:439.23, Y:114.51, Z:32.96 [[ 4.11329643e-01 -9.07346420e-01 -8.67778764e-02 4.39227444e+02] [ 8.88973947e-01 4.20376805e-01 -1.81682863e-01 1.14512729e+02] [ 2.01328701e-01 -2.41172426e-03 9.79520769e-01 3.29647056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.3692541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:439.24, Y:114.54, Z:32.97 [[ 4.09649993e-01 -9.08116175e-01 -8.66711940e-02 4.39240596e+02] [ 8.89777757e-01 4.18709421e-01 -1.81598356e-01 1.14536619e+02] [ 2.01202450e-01 -2.72633550e-03 9.79545885e-01 3.29693695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.39925415399995 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:439.25, Y:114.56, Z:32.97 [[ 4.07822341e-01 -9.08937580e-01 -8.66799528e-02 4.39254077e+02] [ 8.90585137e-01 4.16920903e-01 -1.81755535e-01 1.14560156e+02] [ 2.01343120e-01 -3.07191012e-03 9.79515958e-01 3.29742329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4292541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:439.27, Y:114.58, Z:32.98 [[ 4.04343356e-01 -9.10518279e-01 -8.63881591e-02 4.39268554e+02] [ 8.92297705e-01 4.13451499e-01 -1.81280622e-01 1.14583011e+02] [ 2.00776634e-01 -3.78434117e-03 9.79629737e-01 3.29787012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.45925415399995 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:439.28, Y:114.61, Z:32.98 [[ 4.02565418e-01 -9.11326221e-01 -8.61719395e-02 4.39280859e+02] [ 8.93203550e-01 4.11664055e-01 -1.80887050e-01 1.14606133e+02] [ 2.00321002e-01 -4.15021158e-03 9.79721528e-01 3.29837746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.4892541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:439.29, Y:114.63, Z:32.99 [[ 4.00786065e-01 -9.12115350e-01 -8.61168912e-02 4.39293525e+02] [ 8.94021490e-01 4.09908772e-01 -1.80832445e-01 1.14629875e+02] [ 2.00240118e-01 -4.51522722e-03 9.79736448e-01 3.29894275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.51925415399995 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:439.31, Y:114.65, Z:32.99 [[ 3.97790944e-01 -9.13444010e-01 -8.59209274e-02 4.39307313e+02] [ 8.95436662e-01 4.06932282e-01 -1.80552765e-01 1.14652941e+02] [ 1.99888841e-01 -5.11449357e-03 9.79805232e-01 3.29946205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.5492541539999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:439.32, Y:114.68, Z:33.00 [[ 3.96132743e-01 -9.14163238e-01 -8.59326676e-02 4.39320350e+02] [ 8.96155293e-01 4.05309563e-01 -1.80637342e-01 1.14677382e+02] [ 1.99961349e-01 -5.45264933e-03 9.79788614e-01 3.29999071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.57925415399995 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:439.33, Y:114.70, Z:33.00 [[ 3.94177359e-01 -9.14986890e-01 -8.61580010e-02 4.39334213e+02] [ 8.96875964e-01 4.03441424e-01 -1.81241613e-01 1.14699703e+02] [ 2.00593406e-01 -5.83170009e-03 9.79657224e-01 3.30049278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.6092541539999 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:439.35, Y:114.72, Z:33.01 [[ 3.93489446e-01 -9.15273479e-01 -8.62584173e-02 4.39347310e+02] [ 8.97114419e-01 4.02788942e-01 -1.81512499e-01 1.14723887e+02] [ 2.00877513e-01 -5.96041715e-03 9.79598233e-01 3.30097678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.63925415399996 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:439.36, Y:114.75, Z:33.02 [[ 3.92575485e-01 -9.15677120e-01 -8.61388405e-02 4.39359626e+02] [ 8.97551778e-01 4.01868321e-01 -1.81390900e-01 1.14748079e+02] [ 2.00711969e-01 -6.10444877e-03 9.79631278e-01 3.30157465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.66925415399993 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:439.37, Y:114.77, Z:33.02 [[ 3.91964987e-01 -9.15941691e-01 -8.61061461e-02 4.39372120e+02] [ 8.97807671e-01 4.01263792e-01 -1.81462821e-01 1.14772487e+02] [ 2.00760641e-01 -6.17968636e-03 9.79620833e-01 3.30217323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.69925415399996 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:439.38, Y:114.80, Z:33.03 [[ 3.92005917e-01 -9.15950135e-01 -8.58295490e-02 4.39384395e+02] [ 8.97905142e-01 4.01245647e-01 -1.81020130e-01 1.14796224e+02] [ 2.00244146e-01 -6.10583131e-03 9.79727003e-01 3.30269145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.72925415399993 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:439.40, Y:114.82, Z:33.03 [[ 3.91836316e-01 -9.16022416e-01 -8.58325949e-02 4.39396619e+02] [ 8.97964762e-01 4.01080438e-01 -1.81090501e-01 1.14820530e+02] [ 2.00308733e-01 -6.11681094e-03 9.79713732e-01 3.30326739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.75925415399996 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:439.41, Y:114.84, Z:33.04 [[ 3.93062245e-01 -9.15523817e-01 -8.55465486e-02 4.39409532e+02] [ 8.97547290e-01 4.02222179e-01 -1.80627189e-01 1.14844911e+02] [ 1.99777213e-01 -5.78434435e-03 9.79824273e-01 3.30379581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.78925415399993 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:439.42, Y:114.87, Z:33.04 [[ 3.93721650e-01 -9.15233185e-01 -8.56240540e-02 4.39421437e+02] [ 8.97188039e-01 4.02885886e-01 -1.80932544e-01 1.14869010e+02] [ 2.00092192e-01 -5.58381712e-03 9.79761163e-01 3.30433529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.81925415399996 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:439.42, Y:114.92, Z:33.05 [[ 4.04435304e-01 -9.14557755e-01 -4.02470743e-03 4.39416583e+02] [ 8.95936872e-01 3.97076817e-01 -1.99065622e-01 1.14923448e+02] [ 1.83655127e-01 7.69032818e-02 9.79977898e-01 3.30487915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.84925415399994 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:439.49, Y:114.91, Z:33.03 [[ 3.94708213e-01 -9.03482149e-01 -1.67109045e-01 4.39488219e+02] [ 8.96914691e-01 4.18342918e-01 -1.43294242e-01 1.14905877e+02] [ 1.99372676e-01 -9.33231436e-02 9.75469798e-01 3.30349548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.8792541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:439.46, Y:114.94, Z:33.06 [[ 3.95021563e-01 -9.14622099e-01 -8.61648523e-02 4.39457939e+02] [ 8.96211761e-01 4.04278034e-01 -1.82657466e-01 1.14944844e+02] [ 2.01897112e-01 -5.06831649e-03 9.79393623e-01 3.30614807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.90925415399994 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:439.47, Y:114.97, Z:33.07 [[ 3.94661960e-01 -9.14812233e-01 -8.57934517e-02 4.39469947e+02] [ 8.96553426e-01 4.03847002e-01 -1.81932830e-01 1.14969362e+02] [ 2.01081806e-01 -5.11644590e-03 9.79561090e-01 3.30663504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9392541539999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:439.48, Y:114.99, Z:33.07 [[ 3.92475110e-01 -9.15714132e-01 -8.62027691e-02 4.39481611e+02] [ 8.97270778e-01 4.01792068e-01 -1.82943394e-01 1.14992853e+02] [ 2.02159440e-01 -5.54649685e-03 9.79336917e-01 3.30714321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.96925415399994 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:439.49, Y:115.02, Z:33.08 [[ 3.90637953e-01 -9.16480168e-01 -8.64065466e-02 4.39493935e+02] [ 8.97953421e-01 4.00036171e-01 -1.83441314e-01 1.15017904e+02] [ 2.02686071e-01 -5.92991455e-03 9.79225813e-01 3.30765737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 475.9992541539999 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:439.51, Y:115.04, Z:33.08 [[ 3.88440598e-01 -9.17396156e-01 -8.65921232e-02 4.39505941e+02] [ 8.98781395e-01 3.97924379e-01 -1.83978785e-01 1.15042533e+02] [ 2.03238547e-01 -6.36256011e-03 9.79108580e-01 3.30817572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.02925415399994 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:439.52, Y:115.07, Z:33.09 [[ 3.84973981e-01 -9.18825403e-01 -8.69189969e-02 4.39517959e+02] [ 9.00073911e-01 3.94600681e-01 -1.84816823e-01 1.15065989e+02] [ 2.04112688e-01 -7.08385311e-03 9.78921769e-01 3.30865108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.0592541539999 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:439.53, Y:115.09, Z:33.09 [[ 3.83412048e-01 -9.19487003e-01 -8.68265647e-02 4.39529006e+02] [ 9.00771505e-01 3.93050995e-01 -1.84720360e-01 1.15090537e+02] [ 2.03975238e-01 -7.38688374e-03 9.78948179e-01 3.30918663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.08925415399995 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:439.54, Y:115.11, Z:33.10 [[ 3.83124658e-01 -9.19603051e-01 -8.68661371e-02 4.39540352e+02] [ 9.00844284e-01 3.92779227e-01 -1.84943381e-01 1.15114804e+02] [ 2.04193712e-01 -7.39649344e-03 9.78902559e-01 3.30957092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1192541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:439.55, Y:115.14, Z:33.10 [[ 3.82147145e-01 -9.20013047e-01 -8.68305935e-02 4.39550855e+02] [ 9.01266631e-01 3.91814297e-01 -1.84932466e-01 1.15140167e+02] [ 2.04161750e-01 -7.58610255e-03 9.78907775e-01 3.31033268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.14925415399995 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:439.56, Y:115.17, Z:33.11 [[ 3.82039549e-01 -9.20074343e-01 -8.66544070e-02 4.39561619e+02] [ 9.01376876e-01 3.91671109e-01 -1.84698322e-01 1.15165329e+02] [ 2.03876215e-01 -7.54621517e-03 9.78967591e-01 3.31094016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.1792541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:439.57, Y:115.19, Z:33.12 [[ 3.83441670e-01 -9.19553878e-01 -8.59834407e-02 4.39571816e+02] [ 9.01105736e-01 3.92898835e-01 -1.83409261e-01 1.15190619e+02] [ 2.02437491e-01 -7.15341823e-03 9.79269059e-01 3.31151288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.20925415399995 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:439.58, Y:115.21, Z:33.12 [[ 3.84416826e-01 -9.19171302e-01 -8.57194371e-02 4.39582350e+02] [ 9.00799541e-01 3.93798007e-01 -1.82984474e-01 1.15214502e+02] [ 2.01950220e-01 -6.87371893e-03 9.79371666e-01 3.31205159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2392541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:439.59, Y:115.24, Z:33.12 [[ 3.86630436e-01 -9.18315448e-01 -8.49331679e-02 4.39593702e+02] [ 9.00249509e-01 3.95798633e-01 -1.81367760e-01 1.15239707e+02] [ 2.00169247e-01 -6.33874664e-03 9.79740829e-01 3.31249859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.26925415399995 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:439.58, Y:115.30, Z:33.13 [[ 3.98097259e-01 -9.17255831e-01 1.26614949e-02 4.39583463e+02] [ 8.99314539e-01 3.87513271e-01 -2.02649514e-01 1.15300532e+02] [ 1.80974951e-01 9.20608823e-02 9.79169475e-01 3.31342527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.2992541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:439.67, Y:115.27, Z:33.11 [[ 3.87225380e-01 -9.03956735e-01 -1.81435185e-01 4.39667031e+02] [ 9.00750286e-01 4.12900931e-01 -1.34765513e-01 1.15274926e+02] [ 1.96736950e-01 -1.11243167e-01 9.74125007e-01 3.31136906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.32925415399995 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:439.63, Y:115.32, Z:33.14 [[ 3.88502222e-01 -9.17567629e-01 -8.44728936e-02 4.39627610e+02] [ 8.99553150e-01 3.97539403e-01 -1.81015343e-01 1.15318461e+02] [ 1.99675123e-01 -5.66299447e-03 9.79845792e-01 3.31438039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.3592541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:439.62, Y:115.37, Z:33.15 [[ 3.99511410e-01 -9.16702487e-01 -6.86910065e-03 4.39624257e+02] [ 8.98147869e-01 3.92904039e-01 -1.97374824e-01 1.15371672e+02] [ 1.83632890e-01 7.26840263e-02 9.80304032e-01 3.31493558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.38925415399996 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:439.69, Y:115.36, Z:33.14 [[ 3.91531963e-01 -9.05738472e-01 -1.62297694e-01 4.39690929e+02] [ 8.98419824e-01 4.14403824e-01 -1.45297251e-01 1.15356748e+02] [ 1.98858095e-01 -8.89229476e-02 9.75985741e-01 3.31355706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.41925415399993 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:439.66, Y:115.40, Z:33.16 [[ 3.93178166e-01 -9.15526809e-01 -8.49799507e-02 4.39661705e+02] [ 8.97127719e-01 4.02232747e-01 -1.82676414e-01 1.15395523e+02] [ 2.01426874e-01 -4.41349191e-03 9.79493612e-01 3.31616254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.44925415399996 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:439.67, Y:115.42, Z:33.17 [[ 3.95167992e-01 -9.14668179e-01 -8.49963523e-02 4.39672230e+02] [ 8.96212736e-01 4.04186571e-01 -1.82854991e-01 1.15419361e+02] [ 2.01606026e-01 -3.91637367e-03 9.79458867e-01 3.31666299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.47925415399993 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:439.68, Y:115.44, Z:33.17 [[ 3.97059389e-01 -9.13828978e-01 -8.52082175e-02 4.39683476e+02] [ 8.95247887e-01 4.06084410e-01 -1.83375770e-01 1.15444755e+02] [ 2.02175822e-01 -3.47140520e-03 9.79343089e-01 3.31722372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.50925415399996 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:439.69, Y:115.47, Z:33.18 [[ 4.01113835e-01 -9.12038981e-01 -8.53966573e-02 4.39694242e+02] [ 8.93304316e-01 4.10095840e-01 -1.83926077e-01 1.15470127e+02] [ 2.02768566e-01 -2.50990852e-03 9.79223473e-01 3.31778370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.53925415399993 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:439.70, Y:115.49, Z:33.18 [[ 4.02643497e-01 -9.11359333e-01 -8.54539684e-02 4.39704799e+02] [ 8.92554305e-01 4.11606271e-01 -1.84193081e-01 1.15494132e+02] [ 2.03039473e-01 -2.10816118e-03 9.79168284e-01 3.31824808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.56925415399996 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:439.72, Y:115.52, Z:33.19 [[ 4.03741791e-01 -9.10850696e-01 -8.56946657e-02 4.39715826e+02] [ 8.91906232e-01 4.12732013e-01 -1.84812228e-01 1.15518751e+02] [ 2.03705278e-01 -1.81518644e-03 9.79030574e-01 3.31876271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.59925415399994 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:439.73, Y:115.54, Z:33.19 [[ 4.04431863e-01 -9.10516156e-01 -8.59953371e-02 4.39727355e+02] [ 8.91398972e-01 4.13470434e-01 -1.85607306e-01 1.15543980e+02] [ 2.04554980e-01 -1.59064650e-03 9.78853784e-01 3.31931194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.6292541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:439.74, Y:115.57, Z:33.20 [[ 4.05052506e-01 -9.10195895e-01 -8.64632899e-02 4.39738882e+02] [ 8.90829506e-01 4.14175741e-01 -1.86765216e-01 1.15568850e+02] [ 2.05803930e-01 -1.37433092e-03 9.78592282e-01 3.31987678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.65925415399994 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:439.75, Y:115.59, Z:33.20 [[ 4.04471295e-01 -9.10462863e-01 -8.63732970e-02 4.39750501e+02] [ 8.91112461e-01 4.13588301e-01 -1.86717166e-01 1.15593538e+02] [ 2.05722030e-01 -1.44658742e-03 9.78609398e-01 3.32041352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.6892541539999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:439.76, Y:115.62, Z:33.21 [[ 4.03474828e-01 -9.10924756e-01 -8.61635232e-02 4.39762340e+02] [ 8.91649141e-01 4.12569360e-01 -1.86409046e-01 1.15618074e+02] [ 2.05353045e-01 -1.61627372e-03 9.78686627e-01 3.32097501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.71925415399994 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:439.78, Y:115.64, Z:33.22 [[ 4.03612620e-01 -9.10944432e-01 -8.53058832e-02 4.39777720e+02] [ 8.91761244e-01 4.12527830e-01 -1.85964171e-01 1.15644486e+02] [ 2.04594077e-01 -1.01499434e-03 9.78846379e-01 3.32156857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.7492541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:439.79, Y:115.67, Z:33.22 [[ 3.97793577e-01 -9.13295069e-01 -8.74779270e-02 4.39788566e+02] [ 8.94433954e-01 4.07270675e-01 -1.84711938e-01 1.15666652e+02] [ 2.04323697e-01 -4.76600552e-03 9.78891778e-01 3.32213610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.77925415399994 meters Centerline goodness : 0.997014 Centerline is valid? [True, True] Translation: X:439.79, Y:115.70, Z:33.23 [[ 3.96799943e-01 -9.15504334e-01 -6.63447042e-02 4.39793947e+02] [ 8.95820289e-01 4.01999599e-01 -1.89479108e-01 1.15696277e+02] [ 2.00139489e-01 1.57523671e-02 9.79640775e-01 3.32275418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8092541539999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:439.82, Y:115.71, Z:33.23 [[ 3.89275687e-01 -9.15267867e-01 -1.03678209e-01 4.39823275e+02] [ 8.98348098e-01 4.02112504e-01 -1.76850865e-01 1.15711925e+02] [ 2.03556219e-01 -2.42953802e-02 9.78761769e-01 3.32268120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.83925415399995 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:439.83, Y:115.74, Z:33.24 [[ 3.87223616e-01 -9.17980136e-01 -8.58506889e-02 4.39830369e+02] [ 8.99458073e-01 3.96578926e-01 -1.83576499e-01 1.15741715e+02] [ 2.02566154e-01 -6.13393943e-03 9.79249370e-01 3.32392056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.8692541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:439.84, Y:115.76, Z:33.24 [[ 3.81977408e-01 -9.20202033e-01 -8.55656398e-02 4.39839577e+02] [ 9.01699065e-01 3.91381683e-01 -1.83736697e-01 1.15764798e+02] [ 2.02563706e-01 -6.97119007e-03 9.79244274e-01 3.32442645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.89925415399995 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:439.86, Y:115.79, Z:33.25 [[ 3.79802361e-01 -9.20764583e-01 -8.91221027e-02 4.39856143e+02] [ 9.02507149e-01 3.89963226e-01 -1.82782736e-01 1.15789704e+02] [ 2.03054213e-01 -1.10120201e-02 9.79105573e-01 3.32508171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9292541539999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:439.87, Y:115.82, Z:33.26 [[ 3.77081498e-01 -9.22060207e-01 -8.72612110e-02 4.39868742e+02] [ 9.03766536e-01 3.86921157e-01 -1.83024771e-01 1.15816113e+02] [ 2.02523067e-01 -9.84850773e-03 9.79227969e-01 3.32570621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.95925415399995 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:439.88, Y:115.84, Z:33.26 [[ 3.70764079e-01 -9.25173783e-01 -8.11632255e-02 4.39875624e+02] [ 9.06397622e-01 3.79513580e-01 -1.85506855e-01 1.15838801e+02] [ 2.02428625e-01 -4.78687641e-03 9.79285320e-01 3.32629621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 476.9892541539999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:439.92, Y:115.84, Z:33.27 [[ 3.59636332e-01 -9.17039979e-01 -1.72335099e-01 4.39917715e+02] [ 9.07539654e-01 3.86696753e-01 -1.63821239e-01 1.15840745e+02] [ 2.16872049e-01 -9.74848669e-02 9.71320346e-01 3.32707946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.01925415399995 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:439.89, Y:115.88, Z:33.30 [[ 3.60180402e-01 -9.28564618e-01 -8.96539390e-02 4.39890843e+02] [ 9.06209339e-01 3.71079333e-01 -2.02693768e-01 1.15881936e+02] [ 2.21482985e-01 -8.23891400e-03 9.75129431e-01 3.32980643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.0492541539999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:439.90, Y:115.91, Z:33.30 [[ 3.60358267e-01 -9.28582237e-01 -8.87521804e-02 4.39902564e+02] [ 9.06468005e-01 3.71044651e-01 -2.01597675e-01 1.15907672e+02] [ 2.20131041e-01 -7.80362338e-03 9.75439095e-01 3.33030473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.07925415399995 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:439.88, Y:115.95, Z:33.31 [[ 3.65767676e-01 -9.30703981e-01 2.02661246e-03 4.39884485e+02] [ 9.07840299e-01 3.56300824e-01 -2.21078526e-01 1.15953457e+02] [ 2.05036581e-01 8.27032191e-02 9.75253904e-01 3.33074423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.1092541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:439.94, Y:115.96, Z:33.29 [[ 3.64924904e-01 -9.27258099e-01 -8.37987567e-02 4.39938025e+02] [ 9.09099276e-01 3.74303417e-01 -1.82853654e-01 1.15964126e+02] [ 2.00918692e-01 -9.45353703e-03 9.79562305e-01 3.32880407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.13925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:439.95, Y:115.99, Z:33.29 [[ 3.64447926e-01 -9.27435623e-01 -8.39099174e-02 4.39949262e+02] [ 9.09203369e-01 3.73861903e-01 -1.83238947e-01 1.15989502e+02] [ 2.01313049e-01 -9.51012516e-03 9.79480788e-01 3.32934009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.16925415399993 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:439.96, Y:116.01, Z:33.30 [[ 3.64951322e-01 -9.27195653e-01 -8.43727069e-02 4.39959690e+02] [ 9.08723099e-01 3.74460034e-01 -1.84396348e-01 1.16014446e+02] [ 2.02565699e-01 -9.37573662e-03 9.79223791e-01 3.32985983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.19925415399996 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:439.98, Y:116.03, Z:33.31 [[ 3.61560208e-01 -9.23314102e-01 -1.29480832e-01 4.39982904e+02] [ 9.07880943e-01 3.80266990e-01 -1.76491388e-01 1.16026554e+02] [ 2.12194274e-01 -5.37409169e-02 9.75748689e-01 3.33083454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.22925415399993 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:439.96, Y:116.07, Z:33.32 [[ 3.68535899e-01 -9.28732817e-01 -4.04554803e-02 4.39959553e+02] [ 9.06795271e-01 3.68732190e-01 -2.04349967e-01 1.16073066e+02] [ 2.04703758e-01 3.86254605e-02 9.78061575e-01 3.33214452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.25925415399996 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:439.99, Y:116.09, Z:33.31 [[ 3.69756995e-01 -9.25286548e-01 -8.44071597e-02 4.39991718e+02] [ 9.06693740e-01 3.79179642e-01 -1.84741063e-01 1.16090063e+02] [ 2.02943897e-01 -8.22214299e-03 9.79155846e-01 3.33139712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.28925415399993 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:440.00, Y:116.11, Z:33.32 [[ 3.72703583e-01 -9.24035901e-01 -8.51451301e-02 4.40002996e+02] [ 9.05066902e-01 3.82230529e-01 -1.86423510e-01 1.16114318e+02] [ 2.04807084e-01 -7.58132902e-03 9.78772998e-01 3.33206278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.31925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:440.01, Y:116.14, Z:33.33 [[ 3.73837451e-01 -9.23616792e-01 -8.47206063e-02 4.40010887e+02] [ 9.04798552e-01 3.83248411e-01 -1.85634685e-01 1.16140331e+02] [ 2.03924350e-01 -7.25788430e-03 9.78959745e-01 3.33252265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.34925415399994 meters Centerline goodness : 0.997576 Centerline is valid? [True, True] Translation: X:440.02, Y:116.16, Z:33.33 [[ 3.76406916e-01 -9.22477259e-01 -8.57527892e-02 4.40021377e+02] [ 9.03503521e-01 3.85981242e-01 -1.86279004e-01 1.16163601e+02] [ 2.04937113e-01 -7.36124141e-03 9.78747461e-01 3.33303573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.3792541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:440.02, Y:116.21, Z:33.34 [[ 3.78843916e-01 -9.24400829e-01 -4.42763433e-02 4.40019623e+02] [ 9.03202328e-01 3.79738572e-01 -2.00060420e-01 1.16205408e+02] [ 2.01749453e-01 3.58011765e-02 9.78782629e-01 3.33437470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.40925415399994 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:440.06, Y:116.21, Z:33.34 [[ 3.73104455e-01 -9.17771186e-01 -1.35974690e-01 4.40064109e+02] [ 9.03627267e-01 3.92693225e-01 -1.71025709e-01 1.16208406e+02] [ 2.10358807e-01 -5.90599837e-02 9.75838660e-01 3.33390508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4392541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:440.05, Y:116.24, Z:33.36 [[ 3.73326856e-01 -9.23593610e-01 -8.71888936e-02 4.40049844e+02] [ 9.03257231e-01 3.83313518e-01 -1.92865552e-01 1.16240977e+02] [ 2.11550073e-01 -6.75210840e-03 9.77343837e-01 3.33576995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.46925415399994 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:440.04, Y:116.29, Z:33.36 [[ 3.81355177e-01 -9.24239708e-01 -1.86866370e-02 4.40044338e+02] [ 9.03086100e-01 3.76793164e-01 -2.06064084e-01 1.16288951e+02] [ 1.97493606e-01 6.17079631e-02 9.78360058e-01 3.33635713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.4992541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:440.08, Y:116.31, Z:33.35 [[ 3.84773675e-01 -9.21136876e-01 -5.87883853e-02 4.40084201e+02] [ 9.03048680e-01 3.88862383e-01 -1.82453086e-01 1.16314335e+02] [ 1.90924857e-01 1.71143704e-02 9.81455448e-01 3.33519215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.52925415399994 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:440.13, Y:116.30, Z:33.35 [[ 3.71663853e-01 -9.10593349e-01 -1.80791963e-01 4.40130381e+02] [ 9.04873769e-01 3.98856328e-01 -1.48718163e-01 1.16301942e+02] [ 2.07531788e-01 -1.08320739e-01 9.72212515e-01 3.33538011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.5592541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:440.09, Y:116.36, Z:33.38 [[ 3.77825979e-01 -9.25010443e-01 -4.00400930e-02 4.40087493e+02] [ 9.04839456e-01 3.78062103e-01 -1.95792250e-01 1.16363252e+02] [ 1.96247518e-01 3.77455426e-02 9.79827631e-01 3.33763661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.58925415399995 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:440.12, Y:116.37, Z:33.38 [[ 3.67861748e-01 -9.21211037e-01 -1.26680545e-01 4.40124956e+02] [ 9.04808224e-01 3.86027946e-01 -1.79734536e-01 1.16366935e+02] [ 2.14475669e-01 -4.85041380e-02 9.75524237e-01 3.33799541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6192541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:440.09, Y:116.43, Z:33.40 [[ 3.75646142e-01 -9.26749112e-01 5.10493976e-03 4.40093333e+02] [ 9.05628943e-01 3.65904559e-01 -2.14359678e-01 1.16430067e+02] [ 1.96789720e-01 8.51465671e-02 9.76741454e-01 3.33988374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.64925415399995 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:440.16, Y:116.44, Z:33.38 [[ 3.74753549e-01 -9.21397924e-01 -1.02886557e-01 4.40158613e+02] [ 9.06026933e-01 3.87503164e-01 -1.70166078e-01 1.16436570e+02] [ 1.96659538e-01 -2.94476505e-02 9.80029521e-01 3.33766510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.6792541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:440.18, Y:116.44, Z:33.39 [[ 3.59739830e-01 -9.17669772e-01 -1.68728908e-01 4.40178685e+02] [ 9.08607905e-01 3.85661662e-01 -1.60302084e-01 1.16435772e+02] [ 2.12176648e-01 -9.56413754e-02 9.72539869e-01 3.33914915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.70925415399995 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:440.12, Y:116.51, Z:33.42 [[ 3.66307187e-01 -9.29990688e-01 3.06000726e-02 4.40116816e+02] [ 9.09717433e-01 3.51023784e-01 -2.21802829e-01 1.16513059e+02] [ 1.95533212e-01 1.09085390e-01 9.74611277e-01 3.34222621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7392541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:440.20, Y:116.51, Z:33.39 [[ 3.63185572e-01 -9.24399929e-01 -1.16537598e-01 4.40198789e+02] [ 9.11174531e-01 3.78508834e-01 -1.62763746e-01 1.16513023e+02] [ 1.94569305e-01 -4.70726470e-02 9.79758619e-01 3.33940360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.76925415399995 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:440.21, Y:116.51, Z:33.41 [[ 3.48465295e-01 -9.21606340e-01 -1.70920137e-01 4.40211718e+02] [ 9.13273926e-01 3.74872730e-01 -1.59377453e-01 1.16514037e+02] [ 2.10956570e-01 -1.00559394e-01 9.72309176e-01 3.34118640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.7992541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:440.18, Y:116.55, Z:33.44 [[ 3.46074649e-01 -9.34079748e-01 -8.79054126e-02 4.40179158e+02] [ 9.13012884e-01 3.56867173e-01 -1.97619065e-01 1.16552754e+02] [ 2.15962523e-01 -1.18678256e-02 9.76329526e-01 3.34394925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.82925415399995 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:440.16, Y:116.61, Z:33.45 [[ 3.54659314e-01 -9.34722398e-01 2.26010929e-02 4.40160589e+02] [ 9.13770566e-01 3.41385786e-01 -2.20179696e-01 1.16613101e+02] [ 1.98091202e-01 9.87409935e-02 9.75197463e-01 3.34478478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.8592541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:440.23, Y:116.62, Z:33.42 [[ 3.56674247e-01 -9.30455898e-01 -8.38767147e-02 4.40227976e+02] [ 9.14320498e-01 3.66099852e-01 -1.73173110e-01 1.16623987e+02] [ 1.91837195e-01 -1.49238108e-02 9.81313289e-01 3.34228690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.88925415399996 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:440.24, Y:116.65, Z:33.43 [[ 3.52052229e-01 -9.30985201e-01 -9.65700958e-02 4.40239914e+02] [ 9.14498264e-01 3.64114477e-01 -1.76390400e-01 1.16650410e+02] [ 1.99379422e-01 -2.62145513e-02 9.79571663e-01 3.34315599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.91925415399993 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:440.27, Y:116.65, Z:33.44 [[ 3.39254089e-01 -9.22653403e-01 -1.83350377e-01 4.40268013e+02] [ 9.15384811e-01 3.68703321e-01 -1.61643154e-01 1.16645959e+02] [ 2.16742499e-01 -1.12998050e-01 9.69667020e-01 3.34425455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.94925415399996 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:440.23, Y:116.69, Z:33.47 [[ 3.39886328e-01 -9.36181305e-01 -8.96763560e-02 4.40228392e+02] [ 9.13723038e-01 3.51294113e-01 -2.04212282e-01 1.16685669e+02] [ 2.22682497e-01 -1.25303897e-02 9.74810492e-01 3.34727994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 477.97925415399993 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:440.23, Y:116.71, Z:33.48 [[ 3.42559686e-01 -9.35716113e-01 -8.41915528e-02 4.40233965e+02] [ 9.12211341e-01 3.52712877e-01 -2.08480445e-01 1.16709864e+02] [ 2.24773957e-01 -5.38349358e-03 9.74396062e-01 3.34804300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.00925415399996 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:440.25, Y:116.73, Z:33.48 [[ 3.42764627e-01 -9.33796857e-01 -1.02644241e-01 4.40254369e+02] [ 9.13393546e-01 3.56814214e-01 -1.95948582e-01 1.16734379e+02] [ 2.19601094e-01 -2.65903441e-02 9.75227314e-01 3.34799234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.03925415399993 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:440.23, Y:116.79, Z:33.50 [[ 3.50727246e-01 -9.36477430e-01 6.49015331e-04 4.40227857e+02] [ 9.11781093e-01 3.41319759e-01 -2.28377016e-01 1.16791912e+02] [ 2.13648399e-01 8.06898016e-02 9.73572554e-01 3.35033216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.06925415399996 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:440.29, Y:116.80, Z:33.48 [[ 3.57665669e-01 -9.27968042e-01 -1.04645029e-01 4.40291890e+02] [ 9.11010407e-01 3.71351920e-01 -1.79325932e-01 1.16797486e+02] [ 2.05268866e-01 -3.11939815e-02 9.78208377e-01 3.34769956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.09925415399994 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:440.29, Y:116.84, Z:33.50 [[ 3.54338820e-01 -9.31782292e-01 -7.89034860e-02 4.40287886e+02] [ 9.10622459e-01 3.63012680e-01 -1.97455140e-01 1.16835154e+02] [ 2.12628169e-01 -1.88526488e-03 9.77131367e-01 3.34950697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.1292541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:440.32, Y:116.83, Z:33.50 [[ 3.46560325e-01 -9.20368192e-01 -1.81158309e-01 4.40323015e+02] [ 9.09561219e-01 3.76933575e-01 -1.74984198e-01 1.16830548e+02] [ 2.29334539e-01 -1.04131992e-01 9.67761436e-01 3.35006861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.15925415399994 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:440.29, Y:116.87, Z:33.53 [[ 3.48845002e-01 -9.32585729e-01 -9.26877662e-02 4.40285513e+02] [ 9.07606049e-01 3.60829705e-01 -2.14600057e-01 1.16868861e+02] [ 2.33577450e-01 -9.26182006e-03 9.72294088e-01 3.35311711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.1892541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:440.30, Y:116.90, Z:33.54 [[ 3.50800599e-01 -9.31877782e-01 -9.24269415e-02 4.40295119e+02] [ 9.06997469e-01 3.62667240e-01 -2.14074901e-01 1.16895071e+02] [ 2.33011868e-01 -8.73339854e-03 9.72434675e-01 3.35366707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.21925415399994 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:440.29, Y:116.93, Z:33.54 [[ 3.57721897e-01 -9.31787529e-01 -6.17012595e-02 4.40292725e+02] [ 9.05847751e-01 3.62298204e-01 -2.19499121e-01 1.16927405e+02] [ 2.26880799e-01 2.26276949e-02 9.73659638e-01 3.35423065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.2492541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:440.31, Y:116.96, Z:33.55 [[ 3.66770955e-01 -9.29003381e-01 -4.93131315e-02 4.40307451e+02] [ 9.03831326e-01 3.68387265e-01 -2.17668917e-01 1.16962047e+02] [ 2.20381489e-01 3.52638834e-02 9.74776106e-01 3.35467252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.27925415399994 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:440.34, Y:116.98, Z:33.54 [[ 3.69625867e-01 -9.24276536e-01 -9.53394101e-02 4.40340825e+02] [ 9.02469307e-01 3.81530762e-01 -1.99958563e-01 1.16982390e+02] [ 2.21191926e-01 -1.21310341e-02 9.75154844e-01 3.35408933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3092541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:440.37, Y:116.98, Z:33.55 [[ 3.61742593e-01 -9.15411384e-01 -1.76534117e-01 4.40368665e+02] [ 9.02419990e-01 3.91361152e-01 -1.80207130e-01 1.16981869e+02] [ 2.34052254e-01 -9.41193212e-02 9.67657530e-01 3.35502650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.33925415399995 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:440.33, Y:117.02, Z:33.58 [[ 3.64203200e-01 -9.27161077e-01 -8.79111279e-02 4.40331131e+02] [ 9.00548943e-01 3.74661183e-01 -2.20546140e-01 1.17019932e+02] [ 2.37418684e-01 1.15533659e-03 9.71406729e-01 3.35823290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.3692541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:440.35, Y:117.04, Z:33.59 [[ 3.67124016e-01 -9.25055956e-01 -9.74240001e-02 4.40346083e+02] [ 8.99714357e-01 3.79732500e-01 -2.15214556e-01 1.17044332e+02] [ 2.36080566e-01 -8.64333960e-03 9.71695044e-01 3.35857390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.39925415399995 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:440.35, Y:117.07, Z:33.59 [[ 3.66904628e-01 -9.25621180e-01 -9.27708213e-02 4.40354481e+02] [ 8.99783722e-01 3.78432481e-01 -2.17205227e-01 1.17070430e+02] [ 2.36157251e-01 -3.78007175e-03 9.71707499e-01 3.35937441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4292541539999 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:440.37, Y:117.10, Z:33.60 [[ 3.68771172e-01 -9.24891422e-01 -9.26481520e-02 4.40365183e+02] [ 8.99061955e-01 3.80217475e-01 -2.17076650e-01 1.17095596e+02] [ 2.35998778e-01 -3.24481799e-03 9.71747934e-01 3.35998346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.45925415399995 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:440.37, Y:117.12, Z:33.61 [[ 3.70850536e-01 -9.25891602e-01 -7.20737160e-02 4.40367665e+02] [ 8.99429797e-01 3.77410202e-01 -2.20425907e-01 1.17124592e+02] [ 2.31291852e-01 1.69198181e-02 9.72737271e-01 3.36057658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.4892541539999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:440.40, Y:117.14, Z:33.61 [[ 3.69504259e-01 -9.22589180e-01 -1.10886462e-01 4.40395975e+02] [ 8.98725898e-01 3.85145270e-01 -2.09654194e-01 1.17143230e+02] [ 2.36132087e-01 -2.21884176e-02 9.71467607e-01 3.36069708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.51925415399995 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:440.40, Y:117.17, Z:33.62 [[ 3.69872400e-01 -9.24451991e-01 -9.26440756e-02 4.40396841e+02] [ 8.98498275e-01 3.81288316e-01 -2.17531770e-01 1.17171319e+02] [ 2.36421781e-01 -2.78154435e-03 9.71646543e-01 3.36192601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.5492541539999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:440.41, Y:117.20, Z:33.63 [[ 3.69492034e-01 -9.24616143e-01 -9.25236434e-02 4.40406958e+02] [ 8.98693371e-01 3.80889839e-01 -2.17423909e-01 1.17196019e+02] [ 2.36274972e-01 -2.81398255e-03 9.71682160e-01 3.36256304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.57925415399995 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:440.42, Y:117.23, Z:33.63 [[ 3.72948661e-01 -9.24565289e-01 -7.80277097e-02 4.40416005e+02] [ 8.98406662e-01 3.80851489e-01 -2.18672387e-01 1.17225327e+02] [ 2.31893868e-01 1.14529598e-02 9.72673668e-01 3.36305025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.6092541539999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:440.44, Y:117.24, Z:33.63 [[ 3.67307557e-01 -9.23956209e-01 -1.06724329e-01 4.40436556e+02] [ 8.99698845e-01 3.82052158e-01 -2.11135353e-01 1.17243671e+02] [ 2.35854080e-01 -1.84681447e-02 9.71612979e-01 3.36335400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.63925415399996 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:440.44, Y:117.27, Z:33.64 [[ 3.65543121e-01 -9.26211502e-01 -9.22522597e-02 4.40440092e+02] [ 9.00391154e-01 3.76986488e-01 -2.17202574e-01 1.17270214e+02] [ 2.35953378e-01 -3.66621171e-03 9.71757461e-01 3.36441599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.66925415399993 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:440.45, Y:117.29, Z:33.65 [[ 3.61210663e-01 -9.27924200e-01 -9.21061161e-02 4.40451365e+02] [ 9.02197802e-01 3.72739276e-01 -2.17035844e-01 1.17293896e+02] [ 2.35724379e-01 -4.70227434e-03 9.71808575e-01 3.36501011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.69925415399996 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:440.46, Y:117.32, Z:33.66 [[ 3.58197644e-01 -9.29093634e-01 -9.20840240e-02 4.40462057e+02] [ 9.03387554e-01 3.69804865e-01 -2.17106631e-01 1.17318389e+02] [ 2.35765509e-01 -5.42047747e-03 9.71794857e-01 3.36565345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.72925415399993 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:440.47, Y:117.34, Z:33.66 [[ 3.55303245e-01 -9.30207308e-01 -9.20541597e-02 4.40472532e+02] [ 9.04511507e-01 3.66984069e-01 -2.17213321e-01 1.17342278e+02] [ 2.35835829e-01 -6.08744894e-03 9.71773845e-01 3.36626105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.75925415399996 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:440.48, Y:117.37, Z:33.67 [[ 3.52340375e-01 -9.31322911e-01 -9.21623383e-02 4.40483655e+02] [ 9.05583346e-01 3.64130839e-01 -2.17548925e-01 1.17366938e+02] [ 2.36167448e-01 -6.80940896e-03 9.71688514e-01 3.36690215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.78925415399993 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:440.48, Y:117.42, Z:33.67 [[ 3.55578742e-01 -9.34352688e-01 -2.34267371e-02 4.40482285e+02] [ 9.07678315e-01 3.51188058e-01 -2.29754270e-01 1.17415680e+02] [ 2.22898710e-01 6.04317930e-02 9.72966682e-01 3.36741460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.81925415399996 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:440.54, Y:117.41, Z:33.66 [[ 3.43005192e-01 -9.25195452e-01 -1.62360137e-01 4.40543324e+02] [ 9.09751959e-01 3.70238894e-01 -1.87815164e-01 1.17407821e+02] [ 2.33877773e-01 -8.32858763e-02 9.68692237e-01 3.36619828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.84925415399994 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:440.50, Y:117.47, Z:33.69 [[ 3.49756582e-01 -9.36606871e-01 -2.09261106e-02 4.40504938e+02] [ 9.09802093e-01 3.44905079e-01 -2.30869307e-01 1.17467952e+02] [ 2.23451301e-01 6.17094406e-02 9.72759714e-01 3.36871945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.8792541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:440.57, Y:117.46, Z:33.67 [[ 3.34429514e-01 -9.27854351e-01 -1.65055153e-01 4.40567816e+02] [ 9.13043898e-01 3.62384718e-01 -1.87158107e-01 1.17457835e+02] [ 2.33468929e-01 -8.81114053e-02 9.68363898e-01 3.36747593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.90925415399994 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:440.54, Y:117.49, Z:33.70 [[ 3.31252521e-01 -9.39029102e-01 -9.21743590e-02 4.40540813e+02] [ 9.13283610e-01 3.43637229e-01 -2.18692714e-01 1.17493376e+02] [ 2.37033365e-01 -1.17388184e-02 9.71430586e-01 3.37010942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9392541539999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:440.55, Y:117.52, Z:33.71 [[ 3.31011038e-01 -9.39120300e-01 -9.21127321e-02 4.40551418e+02] [ 9.13371111e-01 3.43388056e-01 -2.18718669e-01 1.17518893e+02] [ 2.37033554e-01 -1.17348148e-02 9.71430589e-01 3.37076972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.96925415399994 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:440.56, Y:117.54, Z:33.71 [[ 3.28070171e-01 -9.40142567e-01 -9.22058354e-02 4.40562055e+02] [ 9.14339485e-01 3.40554745e-01 -2.19102195e-01 1.17543782e+02] [ 2.37388435e-01 -1.24265414e-02 9.71335324e-01 3.37143214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 478.9992541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:440.57, Y:117.57, Z:33.72 [[ 3.25062464e-01 -9.41172587e-01 -9.23501802e-02 4.40572578e+02] [ 9.15284676e-01 3.37670821e-01 -2.19618714e-01 1.17568341e+02] [ 2.37883074e-01 -1.31369045e-02 9.71204955e-01 3.37206589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.02925415399994 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:440.58, Y:117.59, Z:33.73 [[ 3.20881311e-01 -9.42624647e-01 -9.21626798e-02 4.40583315e+02] [ 9.16855536e-01 3.33555984e-01 -2.19354353e-01 1.17592250e+02] [ 2.37510233e-01 -1.41131508e-02 9.71282507e-01 3.37259247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.0592541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:440.59, Y:117.62, Z:33.73 [[ 3.18765062e-01 -9.43343548e-01 -9.21508907e-02 4.40593889e+02] [ 9.17589440e-01 3.31495553e-01 -2.19409018e-01 1.17617254e+02] [ 2.37525692e-01 -1.46167550e-02 9.71271278e-01 3.37327920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.08925415399995 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:440.60, Y:117.64, Z:33.74 [[ 3.17681166e-01 -9.43731520e-01 -9.19211371e-02 4.40603579e+02] [ 9.18078801e-01 3.30381033e-01 -2.19042663e-01 1.17641363e+02] [ 2.37086466e-01 -1.48051187e-02 9.71375734e-01 3.37388639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1192541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:440.61, Y:117.67, Z:33.74 [[ 3.17245968e-01 -9.43902023e-01 -9.16731556e-02 4.40613922e+02] [ 9.18365928e-01 3.29891701e-01 -2.18576048e-01 1.17667108e+02] [ 2.36556587e-01 -1.48471326e-02 9.71504269e-01 3.37445618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.14925415399995 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:440.61, Y:117.72, Z:33.75 [[ 3.29173755e-01 -9.44206361e-01 -1.09081304e-02 4.40605677e+02] [ 9.17575668e-01 3.22574258e-01 -2.32380597e-01 1.17720452e+02] [ 2.22933919e-01 6.64845586e-02 9.72563762e-01 3.37543149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.1792541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:440.67, Y:117.71, Z:33.74 [[ 3.18530650e-01 -9.31787243e-01 -1.74099851e-01 4.40674015e+02] [ 9.18949856e-01 3.48599550e-01 -1.84416691e-01 1.17709250e+02] [ 2.32528250e-01 -1.01246664e-01 9.67305394e-01 3.37368041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.20925415399995 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:440.64, Y:117.75, Z:33.77 [[ 3.19686705e-01 -9.43029512e-01 -9.21723925e-02 4.40638969e+02] [ 9.17009328e-01 3.32412315e-01 -2.20444881e-01 1.17745912e+02] [ 2.38525267e-01 -1.40496459e-02 9.71034657e-01 3.37663349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2392541539999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:440.65, Y:117.77, Z:33.77 [[ 3.23203623e-01 -9.41790072e-01 -9.25790448e-02 4.40646053e+02] [ 9.15466674e-01 3.35943733e-01 -2.21500737e-01 1.17772912e+02] [ 2.39708545e-01 -1.31631897e-02 9.70755656e-01 3.37723579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.26925415399995 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:440.64, Y:117.82, Z:33.78 [[ 3.35728702e-01 -9.41724220e-01 -2.10174288e-02 4.40641312e+02] [ 9.14412659e-01 3.31186182e-01 -2.32734188e-01 1.17823275e+02] [ 2.26132104e-01 5.89169440e-02 9.72313255e-01 3.37798865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.2992541539999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:440.70, Y:117.82, Z:33.77 [[ 3.26287983e-01 -9.30483215e-01 -1.66544703e-01 4.40701562e+02] [ 9.15012848e-01 3.55123498e-01 -1.91412615e-01 1.17815912e+02] [ 2.37250163e-01 -8.99349064e-02 9.67276627e-01 3.37650372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.32925415399995 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:440.66, Y:117.88, Z:33.80 [[ 3.40230315e-01 -9.39950838e-01 -2.71248111e-02 4.40656456e+02] [ 9.12412186e-01 3.36965583e-01 -2.32289043e-01 1.17876349e+02] [ 2.27480408e-01 5.42827660e-02 9.72268505e-01 3.37954568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.3592541539999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:440.70, Y:117.90, Z:33.78 [[ 3.44466028e-01 -9.34923500e-01 -8.52127046e-02 4.40699126e+02] [ 9.12176308e-01 3.54778723e-01 -2.05101052e-01 1.17897511e+02] [ 2.21985448e-01 -7.07866553e-03 9.75024284e-01 3.37805523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.38925415399996 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:440.71, Y:117.93, Z:33.79 [[ 3.47234863e-01 -9.34667549e-01 -7.63185650e-02 4.40708008e+02] [ 9.11734529e-01 3.55518023e-01 -2.05784070e-01 1.17929858e+02] [ 2.19472318e-01 1.87313242e-03 9.75616929e-01 3.37862258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.41925415399993 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:440.73, Y:117.95, Z:33.78 [[ 3.52245026e-01 -9.29950167e-01 -1.05433055e-01 4.40727866e+02] [ 9.10333229e-01 3.66593865e-01 -1.92099845e-01 1.17948138e+02] [ 2.17294394e-01 -2.83129987e-02 9.75695404e-01 3.37848752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.44925415399996 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:440.75, Y:117.96, Z:33.80 [[ 3.39645610e-01 -9.26089237e-01 -1.64315506e-01 4.40747453e+02] [ 9.10309712e-01 3.67614671e-01 -1.90251630e-01 1.17959073e+02] [ 2.36594778e-01 -8.49598699e-02 9.67886735e-01 3.37993923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.47925415399993 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:440.71, Y:117.99, Z:33.83 [[ 3.35940686e-01 -9.35869802e-01 -1.06261798e-01 4.40714197e+02] [ 9.09844272e-01 3.51616549e-01 -2.20338837e-01 1.17987156e+02] [ 2.43571870e-01 -2.26609080e-02 9.69618083e-01 3.38292221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.50925415399996 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:440.71, Y:118.02, Z:33.84 [[ 3.40591353e-01 -9.35609699e-01 -9.29086683e-02 4.40713703e+02] [ 9.08060314e-01 3.52955060e-01 -2.25497655e-01 1.18015039e+02] [ 2.43770378e-01 -7.56412298e-03 9.69803479e-01 3.38406914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.53925415399993 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:440.72, Y:118.04, Z:33.85 [[ 3.43160856e-01 -9.34694534e-01 -9.26647475e-02 4.40721988e+02] [ 9.07212511e-01 3.55386491e-01 -2.25090876e-01 1.18040472e+02] [ 2.43323011e-01 -6.82424052e-03 9.69921307e-01 3.38470603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.56925415399996 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:440.73, Y:118.07, Z:33.85 [[ 3.44913380e-01 -9.34052212e-01 -9.26349090e-02 4.40730664e+02] [ 9.06536605e-01 3.57080459e-01 -2.25133137e-01 1.18065966e+02] [ 2.43364221e-01 -6.32550456e-03 9.69914349e-01 3.38541802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.59925415399994 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:440.72, Y:118.13, Z:33.87 [[ 3.62584241e-01 -9.31923633e-01 7.14218067e-03 4.40717027e+02] [ 9.05115619e-01 3.50307511e-01 -2.40936431e-01 1.18125185e+02] [ 2.22032394e-01 9.38242521e-02 9.70514619e-01 3.38701058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.6292541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:440.80, Y:118.11, Z:33.84 [[ 3.49261970e-01 -9.16322557e-01 -1.95880189e-01 4.40802929e+02] [ 9.04996245e-01 3.84059273e-01 -1.82976153e-01 1.18105098e+02] [ 2.42894779e-01 -1.13364224e-01 9.63405771e-01 3.38359588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.65925415399994 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:440.74, Y:118.17, Z:33.88 [[ 3.64019709e-01 -9.31246378e-01 -1.64266891e-02 4.40741318e+02] [ 9.02532707e-01 3.57042193e-01 -2.40739664e-01 1.18170202e+02] [ 2.30052961e-01 7.28083583e-02 9.70450709e-01 3.38804465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.6892541539999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:440.81, Y:118.16, Z:33.86 [[ 3.53216038e-01 -9.19349448e-01 -1.73306156e-01 4.40808427e+02] [ 9.02709183e-01 3.83566604e-01 -1.94917397e-01 1.18161138e+02] [ 2.45671655e-01 -8.75971079e-02 9.65387065e-01 3.38573406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.71925415399994 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:440.79, Y:118.20, Z:33.88 [[ 3.54361687e-01 -9.28175568e-01 -1.13656981e-01 4.40787292e+02] [ 9.03103040e-01 3.71222770e-01 -2.15866980e-01 1.18196313e+02] [ 2.42554516e-01 -2.61489777e-02 9.69785305e-01 3.38811143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.7492541539999 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:440.77, Y:118.23, Z:33.90 [[ 3.57276312e-01 -9.31911318e-01 -6.24093927e-02 4.40772708e+02] [ 9.02205632e-01 3.61628998e-01 -2.35052048e-01 1.18227772e+02] [ 2.41616710e-01 2.76724233e-02 9.69977114e-01 3.39041929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.77925415399994 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:440.80, Y:118.24, Z:33.90 [[ 3.53670915e-01 -9.29093450e-01 -1.08176916e-01 4.40799741e+02] [ 9.02370676e-01 3.69352394e-01 -2.22049482e-01 1.18244206e+02] [ 2.46260122e-01 -1.90832334e-02 9.69015884e-01 3.39005295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8092541539999 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:440.80, Y:118.27, Z:33.91 [[ 3.53167913e-01 -9.30974057e-01 -9.25188112e-02 4.40802438e+02] [ 9.02488304e-01 3.65074751e-01 -2.28550404e-01 1.18271386e+02] [ 2.46550779e-01 -2.78047595e-03 9.69125886e-01 3.39122243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.83925415399995 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:440.80, Y:118.32, Z:33.92 [[ 3.63181497e-01 -9.31664688e-01 -1.00054422e-02 4.40795105e+02] [ 9.03322284e-01 3.54723445e-01 -2.41205572e-01 1.18323551e+02] [ 2.28271879e-01 7.85632617e-02 9.70422466e-01 3.39242005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.8692541539999 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:440.85, Y:118.34, Z:33.89 [[ 3.69044414e-01 -9.25644810e-01 -8.35937006e-02 4.40850410e+02] [ 9.03609563e-01 3.78390814e-01 -2.00773877e-01 1.18335600e+02] [ 2.17476385e-01 -1.44158968e-03 9.76064518e-01 3.38942000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.89925415399995 meters Centerline goodness : 0.995267 Centerline is valid? [True, True] Translation: X:440.88, Y:118.35, Z:33.89 [[ 3.53605811e-01 -9.23414365e-01 -1.49227483e-01 4.40877549e+02] [ 9.05996071e-01 3.77787925e-01 -1.90912030e-01 1.18345107e+02] [ 2.32667252e-01 -6.76919100e-02 9.70197792e-01 3.38918969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9292541539999 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:440.86, Y:118.38, Z:33.92 [[ 3.51226381e-01 -9.31090831e-01 -9.85387900e-02 4.40861446e+02] [ 9.06034143e-01 3.64527494e-01 -2.14992644e-01 1.18376090e+02] [ 2.36097778e-01 -1.37684200e-02 9.71631756e-01 3.39179965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.95925415399995 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:440.87, Y:118.40, Z:33.93 [[ 3.48969341e-01 -9.32873069e-01 -8.92649793e-02 4.40868171e+02] [ 9.07013727e-01 3.60172924e-01 -2.18177825e-01 1.18402404e+02] [ 2.35683046e-01 -4.82718968e-03 9.71817987e-01 3.39274313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 479.9892541539999 meters Centerline goodness : 0.996787 Centerline is valid? [True, True] Translation: X:440.87, Y:118.43, Z:33.93 [[ 3.45168175e-01 -9.36112908e-01 -6.74652125e-02 4.40870952e+02] [ 9.09685385e-01 3.51377942e-01 -2.21373082e-01 1.18430231e+02] [ 2.30935987e-01 1.50388251e-02 9.72852714e-01 3.39344437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.01925415399995 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:440.88, Y:118.47, Z:33.95 [[ 3.46183879e-01 -9.37289849e-01 -4.05519595e-02 4.40879015e+02] [ 9.09695739e-01 3.45932230e-01 -2.29748897e-01 1.18472556e+02] [ 2.29369539e-01 4.26454196e-02 9.72404742e-01 3.39519442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.0492541539999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:440.93, Y:118.49, Z:33.94 [[ 3.41752839e-01 -9.33487163e-01 -1.08658699e-01 4.40925301e+02] [ 9.10944563e-01 3.57467473e-01 -2.05905341e-01 1.18487700e+02] [ 2.31051943e-01 -2.86133164e-02 9.72520580e-01 3.39391662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.07925415399995 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:440.93, Y:118.52, Z:33.95 [[ 3.37538837e-01 -9.36243783e-01 -9.75454366e-02 4.40929843e+02] [ 9.11473105e-01 3.50964189e-01 -2.14571471e-01 1.18515253e+02] [ 2.35126161e-01 -1.64838371e-02 9.71825072e-01 3.39522665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.1092541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:440.95, Y:118.52, Z:33.96 [[ 3.25394153e-01 -9.32868044e-01 -1.54518149e-01 4.40951181e+02] [ 9.12062465e-01 3.52762916e-01 -2.09046370e-01 1.18520682e+02] [ 2.49520951e-01 -7.29077377e-02 9.65620918e-01 3.39597905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.13925415399996 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:440.92, Y:118.57, Z:33.98 [[ 3.33471317e-01 -9.41313902e-01 -5.22017098e-02 4.40923906e+02] [ 9.10940308e-01 3.35986039e-01 -2.39376560e-01 1.18567324e+02] [ 2.42867529e-01 3.22725750e-02 9.69522483e-01 3.39841348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.16925415399993 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:440.96, Y:118.58, Z:33.98 [[ 3.30722016e-01 -9.36295021e-01 -1.18214133e-01 4.40960710e+02] [ 9.10252974e-01 3.49545018e-01 -2.21940990e-01 1.18579082e+02] [ 2.49123405e-01 -3.42039947e-02 9.67867561e-01 3.39789693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.19925415399996 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:440.95, Y:118.62, Z:34.00 [[ 3.35123287e-01 -9.39895465e-01 -6.54896738e-02 4.40952724e+02] [ 9.10364509e-01 3.40934755e-01 -2.34520687e-01 1.18619307e+02] [ 2.42752636e-01 1.89738689e-02 9.69902650e-01 3.39953748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.22925415399993 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:440.98, Y:118.64, Z:33.99 [[ 3.36018674e-01 -9.36045042e-01 -1.04456354e-01 4.40981818e+02] [ 9.09337501e-01 3.51306575e-01 -2.22910293e-01 1.18640563e+02] [ 2.45350278e-01 -2.00840584e-02 9.69226429e-01 3.39942011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.25925415399996 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:440.98, Y:118.67, Z:34.00 [[ 3.41289199e-01 -9.35871722e-01 -8.75545682e-02 4.40982604e+02] [ 9.07582714e-01 3.52337620e-01 -2.28367729e-01 1.18665182e+02] [ 2.44571668e-01 -1.52357331e-03 9.69630021e-01 3.40028470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.28925415399993 meters Centerline goodness : 0.995863 Centerline is valid? [True, True] Translation: X:441.00, Y:118.68, Z:34.00 [[ 3.41831950e-01 -9.32159027e-01 -1.19291518e-01 4.41001039e+02] [ 9.07695229e-01 3.60373672e-01 -2.14988809e-01 1.18675945e+02] [ 2.43393281e-01 -3.47902982e-02 9.69303537e-01 3.39988182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.31925415399996 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:440.99, Y:118.72, Z:34.03 [[ 3.53880508e-01 -9.33680207e-01 -5.48621605e-02 4.40985788e+02] [ 9.01893596e-01 3.56191647e-01 -2.44367454e-01 1.18719349e+02] [ 2.47702498e-01 3.69970475e-02 9.68129480e-01 3.40304923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.34925415399994 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:441.02, Y:118.74, Z:34.02 [[ 3.56745777e-01 -9.28300114e-01 -1.04839640e-01 4.41020527e+02] [ 9.00886014e-01 3.71552996e-01 -2.24394207e-01 1.18737210e+02] [ 2.47258650e-01 -1.43968794e-02 9.68842552e-01 3.40228879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.3792541539999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:441.04, Y:118.75, Z:34.03 [[ 3.51983516e-01 -9.23840205e-01 -1.50422337e-01 4.41040264e+02] [ 8.99955641e-01 3.78199529e-01 -2.16898503e-01 1.18749837e+02] [ 2.57269215e-01 -5.90287332e-02 9.64535204e-01 3.40321620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.40925415399994 meters Centerline goodness : 0.994022 Centerline is valid? [True, True] Translation: X:441.02, Y:118.78, Z:34.06 [[ 3.54223306e-01 -9.30732701e-01 -9.08982285e-02 4.41019839e+02] [ 8.98580521e-01 3.65675619e-01 -2.42558013e-01 1.18782021e+02] [ 2.58995940e-01 4.24032370e-03 9.65869102e-01 3.40577910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4392541539999 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:441.03, Y:118.81, Z:34.06 [[ 3.56264012e-01 -9.30548548e-01 -8.45893268e-02 4.41027744e+02] [ 8.98832659e-01 3.66035899e-01 -2.41075861e-01 1.18807623e+02] [ 2.55295523e-01 9.85500411e-03 9.66812844e-01 3.40644221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.46925415399994 meters Centerline goodness : 0.993754 Centerline is valid? [True, True] Translation: X:441.04, Y:118.83, Z:34.07 [[ 3.56668315e-01 -9.29631949e-01 -9.25859258e-02 4.41043260e+02] [ 8.98723213e-01 3.68486012e-01 -2.37728093e-01 1.18831563e+02] [ 2.55116249e-01 1.58095770e-03 9.66909096e-01 3.40687182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.4992541539999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:441.06, Y:118.85, Z:34.07 [[ 3.53419097e-01 -9.29503027e-01 -1.05446975e-01 4.41062268e+02] [ 8.99366797e-01 3.68626928e-01 -2.35060744e-01 1.18854124e+02] [ 2.57360268e-01 -1.17605527e-02 9.66243956e-01 3.40737565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.52925415399994 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:441.04, Y:118.91, Z:34.09 [[ 3.64049899e-01 -9.31376226e-01 2.44888589e-03 4.41042564e+02] [ 9.01206108e-01 3.51590943e-01 -2.53399605e-01 1.18906519e+02] [ 2.35149361e-01 9.44570514e-02 9.67358591e-01 3.40909841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.5592541539999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:441.13, Y:118.89, Z:34.06 [[ 3.47144777e-01 -9.18370149e-01 -1.89965189e-01 4.41131628e+02] [ 9.01765855e-01 3.82501711e-01 -2.01272911e-01 1.18894832e+02] [ 2.57505043e-01 -1.01433281e-01 9.60938313e-01 3.40639517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.58925415399995 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:441.10, Y:118.93, Z:34.10 [[ 3.39284568e-01 -9.35883155e-01 -9.49141789e-02 4.41095424e+02] [ 9.04188951e-01 3.52289240e-01 -2.41525637e-01 1.18929672e+02] [ 2.59477019e-01 -3.87443041e-03 9.65741511e-01 3.40981902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6192541539999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:441.11, Y:118.95, Z:34.10 [[ 3.34297240e-01 -9.37659153e-01 -9.50824242e-02 4.41107420e+02] [ 9.05879989e-01 3.47517307e-01 -2.42101565e-01 1.18953560e+02] [ 2.60051536e-01 -5.19938054e-03 9.65580740e-01 3.41049189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.64925415399995 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:441.12, Y:118.98, Z:34.11 [[ 3.24529932e-01 -9.41091677e-01 -9.50093639e-02 4.41121268e+02] [ 9.09446164e-01 3.38060853e-01 -2.42120908e-01 1.18976504e+02] [ 2.59976918e-01 -7.83041985e-03 9.65583081e-01 3.41115479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.6792541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:441.13, Y:119.00, Z:34.12 [[ 3.18422818e-01 -9.43290352e-01 -9.38627737e-02 4.41132727e+02] [ 9.12484000e-01 3.31834214e-01 -2.39288536e-01 1.18999638e+02] [ 2.56865447e-01 -9.45334919e-03 9.66400940e-01 3.41180072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.70925415399995 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:441.14, Y:119.02, Z:34.13 [[ 3.15705026e-01 -9.44134059e-01 -9.45579965e-02 4.41144313e+02] [ 9.12866429e-01 3.29404466e-01 -2.41179560e-01 1.19024151e+02] [ 2.58853664e-01 -1.01772214e-02 9.65862933e-01 3.41255420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7392541539999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:441.16, Y:119.05, Z:34.13 [[ 3.11926839e-01 -9.45431100e-01 -9.41365055e-02 4.41155707e+02] [ 9.14448077e-01 3.25632137e-01 -2.40309023e-01 1.19048406e+02] [ 2.57849496e-01 -1.11241125e-02 9.66121054e-01 3.41317204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.76925415399995 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:441.17, Y:119.07, Z:34.14 [[ 3.05489349e-01 -9.47579136e-01 -9.36484806e-02 4.41167372e+02] [ 9.16963927e-01 3.19265487e-01 -2.39262838e-01 1.19071997e+02] [ 2.56619202e-01 -1.27800297e-02 9.66428092e-01 3.41398156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.7992541539999 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:441.16, Y:119.12, Z:34.15 [[ 3.09390079e-01 -9.50392999e-01 -3.21080422e-02 4.41163324e+02] [ 9.17871048e-01 3.07288443e-01 -2.51170365e-01 1.19116819e+02] [ 2.48576987e-01 4.82385767e-02 9.67410214e-01 3.41472632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.82925415399995 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:441.22, Y:119.12, Z:34.13 [[ 3.02473142e-01 -9.41471662e-01 -1.48798887e-01 4.41221671e+02] [ 9.20370239e-01 3.29080844e-01 -2.11244932e-01 1.19116350e+02] [ 2.47847980e-01 -7.30541485e-02 9.66040615e-01 3.41302812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.8592541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:441.20, Y:119.15, Z:34.15 [[ 3.02129572e-01 -9.48761618e-01 -9.25695086e-02 4.41202271e+02] [ 9.19601074e-01 3.15661223e-01 -2.33862901e-01 1.19149276e+02] [ 2.51100749e-01 -1.44701212e-02 9.67852793e-01 3.41530093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.88925415399996 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:441.21, Y:119.17, Z:34.16 [[ 2.99683282e-01 -9.49542098e-01 -9.25188383e-02 4.41212635e+02] [ 9.20686515e-01 3.13260845e-01 -2.32817491e-01 1.19171965e+02] [ 2.50052539e-01 -1.54093368e-02 9.68109643e-01 3.41590090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.91925415399993 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:441.22, Y:119.20, Z:34.17 [[ 2.98758543e-01 -9.49923001e-01 -9.15949009e-02 4.41222345e+02] [ 9.20956378e-01 3.12139630e-01 -2.33255657e-01 1.19196883e+02] [ 2.50165312e-01 -1.46677881e-02 9.68092027e-01 3.41663134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.94925415399996 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:441.23, Y:119.22, Z:34.17 [[ 2.98375737e-01 -9.50052694e-01 -9.14975295e-02 4.41232783e+02] [ 9.21105049e-01 3.11743239e-01 -2.33198718e-01 1.19221245e+02] [ 2.50074806e-01 -1.46979971e-02 9.68114952e-01 3.41716864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 480.97925415399993 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:441.23, Y:119.27, Z:34.18 [[ 3.06902796e-01 -9.51417663e-01 -2.48012998e-02 4.41226695e+02] [ 9.21556498e-01 3.03579244e-01 -2.42019140e-01 1.19267154e+02] [ 2.37790444e-01 5.14205516e-02 9.69954448e-01 3.41806552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.00925415399996 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:441.29, Y:119.26, Z:34.17 [[ 2.98141917e-01 -9.41068272e-01 -1.59693157e-01 4.41287947e+02] [ 9.22105129e-01 3.27187468e-01 -2.06568369e-01 1.19264313e+02] [ 2.46644538e-01 -8.56671893e-02 9.65312180e-01 3.41690530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.03925415399993 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:441.26, Y:119.30, Z:34.19 [[ 2.98656870e-01 -9.49953789e-01 -9.16071694e-02 4.41261396e+02] [ 9.20748741e-01 3.12058072e-01 -2.34182656e-01 1.19297668e+02] [ 2.51049458e-01 -1.44069267e-02 9.67867042e-01 3.41943153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.06925415399996 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:441.27, Y:119.32, Z:34.20 [[ 3.00400484e-01 -9.49374668e-01 -9.19091359e-02 4.41270478e+02] [ 9.19923269e-01 3.13836578e-01 -2.35048468e-01 1.19323718e+02] [ 2.51993510e-01 -1.39406792e-02 9.67628508e-01 3.42009216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.09925415399994 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:441.28, Y:119.35, Z:34.21 [[ 3.01802032e-01 -9.48915931e-01 -9.20548153e-02 4.41279417e+02] [ 9.19295048e-01 3.15239541e-01 -2.35628193e-01 1.19348393e+02] [ 2.52610664e-01 -1.35124685e-02 9.67473651e-01 3.42071878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.1292541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:441.29, Y:119.37, Z:34.21 [[ 3.04529982e-01 -9.47963972e-01 -9.28751726e-02 4.41287828e+02] [ 9.17735845e-01 3.18119805e-01 -2.37824952e-01 1.19374767e+02] [ 2.54994918e-01 -1.28100466e-02 9.66857536e-01 3.42134863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.15925415399994 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:441.30, Y:119.40, Z:34.22 [[ 3.06180881e-01 -9.47415022e-01 -9.30486123e-02 4.41296651e+02] [ 9.16993105e-01 3.19770666e-01 -2.38475088e-01 1.19400544e+02] [ 2.55689097e-01 -1.23084233e-02 9.66680706e-01 3.42200990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.1892541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:441.31, Y:119.43, Z:34.23 [[ 3.08313237e-01 -9.46709155e-01 -9.31918638e-02 4.41305022e+02] [ 9.16106200e-01 3.21878144e-01 -2.39047884e-01 1.19425744e+02] [ 2.56305244e-01 -1.16720174e-02 9.66525419e-01 3.42271623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.21925415399994 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:441.31, Y:119.45, Z:34.23 [[ 3.10534184e-01 -9.45992116e-01 -9.30990708e-02 4.41312591e+02] [ 9.15366785e-01 3.24002989e-01 -2.39009858e-01 1.19451220e+02] [ 2.56265819e-01 -1.09990659e-02 9.66543766e-01 3.42338828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.2492541539999 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:441.32, Y:119.48, Z:34.24 [[ 3.16120742e-01 -9.44172600e-01 -9.27673287e-02 4.41318368e+02] [ 9.13660934e-01 3.29316097e-01 -2.38274223e-01 1.19477559e+02] [ 2.55521767e-01 -9.43446010e-03 9.66757269e-01 3.42415948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.27925415399994 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:441.33, Y:119.50, Z:34.25 [[ 3.19187054e-01 -9.43155908e-01 -9.26097028e-02 4.41326438e+02] [ 9.12652612e-01 3.32241157e-01 -2.38077768e-01 1.19503699e+02] [ 2.55313208e-01 -8.52914572e-03 9.66820779e-01 3.42490455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3092541539999 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:441.33, Y:119.53, Z:34.26 [[ 3.22642647e-01 -9.42003614e-01 -9.23629408e-02 4.41334030e+02] [ 9.11563671e-01 3.35518517e-01 -2.37653107e-01 1.19528425e+02] [ 2.54859563e-01 -7.51767375e-03 9.66948855e-01 3.42558009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.33925415399995 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:441.34, Y:119.55, Z:34.26 [[ 3.26277651e-01 -9.40769654e-01 -9.21702364e-02 4.41342365e+02] [ 9.10384740e-01 3.38984087e-01 -2.37253900e-01 1.19554352e+02] [ 2.54445513e-01 -6.49973142e-03 9.67065269e-01 3.42632471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.3692541539999 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:441.35, Y:119.58, Z:34.27 [[ 3.33292086e-01 -9.38353791e-01 -9.16981352e-02 4.41348794e+02] [ 9.08137658e-01 3.45646648e-01 -2.36250691e-01 1.19580818e+02] [ 2.53381885e-01 -4.53404394e-03 9.67355707e-01 3.42704878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.39925415399995 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:441.36, Y:119.61, Z:34.28 [[ 3.36460867e-01 -9.37255878e-01 -9.13537353e-02 4.41357289e+02] [ 9.07174721e-01 3.48623541e-01 -2.35575152e-01 1.19606601e+02] [ 2.52642259e-01 -3.61197935e-03 9.67553018e-01 3.42774237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4292541539999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:441.37, Y:119.63, Z:34.28 [[ 3.39707457e-01 -9.36099644e-01 -9.11937508e-02 4.41366251e+02] [ 9.06029326e-01 3.51724818e-01 -2.35373135e-01 1.19631590e+02] [ 2.52407814e-01 -2.66620348e-03 9.67617273e-01 3.42832835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.45925415399995 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:441.37, Y:119.66, Z:34.29 [[ 3.44572153e-01 -9.34343302e-01 -9.09539793e-02 4.41374191e+02] [ 9.04348563e-01 3.56371743e-01 -2.34846455e-01 1.19656938e+02] [ 2.51840640e-01 -1.33255189e-03 9.67767801e-01 3.42902639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.4892541539999 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:441.38, Y:119.68, Z:34.30 [[ 3.46108517e-01 -9.33782676e-01 -9.08779871e-02 4.41382289e+02] [ 9.03796072e-01 3.57839522e-01 -2.34741427e-01 1.19681168e+02] [ 2.51717214e-01 -8.89160536e-04 9.67800420e-01 3.42978523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.51925415399995 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:441.39, Y:119.71, Z:34.30 [[ 3.48037641e-01 -9.33033057e-01 -9.12091786e-02 4.41391384e+02] [ 9.02773745e-01 3.59790518e-01 -2.35691216e-01 1.19706371e+02] [ 2.52723893e-01 -3.11836915e-04 9.67538390e-01 3.43048315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.5492541539999 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:441.40, Y:119.73, Z:34.31 [[ 3.48372556e-01 -9.32903124e-01 -9.12596510e-02 4.41401080e+02] [ 9.02551453e-01 3.60127396e-01 -2.36027821e-01 1.19731166e+02] [ 2.53056192e-01 -1.40915315e-04 9.67451572e-01 3.43112305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.57925415399995 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:441.41, Y:119.76, Z:34.32 [[ 3.48063287e-01 -9.33013248e-01 -9.13138941e-02 4.41410932e+02] [ 9.02603862e-01 3.59841972e-01 -2.36262618e-01 1.19756123e+02] [ 2.53294724e-01 -1.85930008e-04 9.67389140e-01 3.43179373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.6092541539999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:441.42, Y:119.78, Z:34.32 [[ 3.47193353e-01 -9.33330765e-01 -9.13808472e-02 4.41421708e+02] [ 9.02831143e-01 3.59017505e-01 -2.36648176e-01 1.19780013e+02] [ 2.53678347e-01 -3.38800946e-04 9.67288572e-01 3.43241156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.63925415399996 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:441.43, Y:119.80, Z:34.33 [[ 3.45847407e-01 -9.33824717e-01 -9.14383393e-02 4.41431953e+02] [ 9.03277404e-01 3.57730285e-01 -2.36894438e-01 1.19804803e+02] [ 2.53928144e-01 -6.64858848e-04 9.67222857e-01 3.43311334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.66925415399993 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:441.44, Y:119.83, Z:34.34 [[ 3.44934634e-01 -9.34178872e-01 -9.12684712e-02 4.41442365e+02] [ 9.03704174e-01 3.56804035e-01 -2.36663572e-01 1.19829986e+02] [ 2.53651067e-01 -8.46235955e-04 9.67295415e-01 3.43378339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.69925415399996 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:441.45, Y:119.85, Z:34.34 [[ 3.43144238e-01 -9.34848444e-01 -9.11614954e-02 4.41452837e+02] [ 9.04413848e-01 3.55044783e-01 -2.36598381e-01 1.19854427e+02] [ 2.53550042e-01 -1.26034760e-03 9.67321450e-01 3.43446584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.72925415399993 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:441.46, Y:119.88, Z:34.35 [[ 3.42885341e-01 -9.34950461e-01 -9.10893991e-02 4.41462632e+02] [ 9.04512031e-01 3.54776068e-01 -2.36626136e-01 1.19880150e+02] [ 2.53550053e-01 -1.25582419e-03 9.67321453e-01 3.43516618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.75925415399996 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:441.47, Y:119.90, Z:34.36 [[ 3.41626980e-01 -9.35416449e-01 -9.10333678e-02 4.41474097e+02] [ 9.04980194e-01 3.53544531e-01 -2.36679347e-01 1.19903458e+02] [ 2.53578103e-01 -1.52734438e-03 9.67313710e-01 3.43582107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.78925415399993 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:441.48, Y:119.93, Z:34.36 [[ 3.40907099e-01 -9.35688952e-01 -9.09314902e-02 4.41484938e+02] [ 9.05306087e-01 3.52821940e-01 -2.36511240e-01 1.19927795e+02] [ 2.53383579e-01 -1.69247081e-03 9.67364408e-01 3.43648525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.81925415399996 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:441.50, Y:119.95, Z:34.37 [[ 3.39488424e-01 -9.36211373e-01 -9.08618438e-02 4.41495550e+02] [ 9.05838821e-01 3.51431717e-01 -2.36541282e-01 1.19952504e+02] [ 2.53384372e-01 -2.00315863e-03 9.67363607e-01 3.43716776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.84925415399994 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:441.51, Y:119.98, Z:34.38 [[ 3.36748961e-01 -9.37206354e-01 -9.07986056e-02 4.41507402e+02] [ 9.06856652e-01 3.48765133e-01 -2.36588026e-01 1.19975944e+02] [ 2.53399189e-01 -2.67054746e-03 9.67358113e-01 3.43785337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.8792541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:441.52, Y:120.00, Z:34.39 [[ 3.34819917e-01 -9.37905749e-01 -9.07106872e-02 4.41518293e+02] [ 9.07615568e-01 3.46875795e-01 -2.36455416e-01 1.20000425e+02] [ 2.53238235e-01 -3.16044921e-03 9.67398784e-01 3.43854251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.90925415399994 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:441.53, Y:120.02, Z:34.39 [[ 3.31305426e-01 -9.39179426e-01 -9.04362754e-02 4.41530774e+02] [ 9.09067188e-01 3.43403069e-01 -2.35947409e-01 1.20023767e+02] [ 2.52653047e-01 -4.04199344e-03 9.67548500e-01 3.43915438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9392541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:441.54, Y:120.05, Z:34.40 [[ 3.29392174e-01 -9.39861746e-01 -9.03365611e-02 4.41542056e+02] [ 9.09817332e-01 3.41525141e-01 -2.35781679e-01 1.20048096e+02] [ 2.52454387e-01 -4.52512930e-03 9.67598215e-01 3.43983022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.96925415399994 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:441.55, Y:120.07, Z:34.41 [[ 3.27548393e-01 -9.40495046e-01 -9.04495333e-02 4.41553021e+02] [ 9.10343379e-01 3.39771407e-01 -2.36284413e-01 1.20072670e+02] [ 2.52956485e-01 -4.94555407e-03 9.67465017e-01 3.44051543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 481.9992541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:441.56, Y:120.10, Z:34.41 [[ 3.26062305e-01 -9.41012044e-01 -9.04417280e-02 4.41564129e+02] [ 9.10830961e-01 3.38331981e-01 -2.36470782e-01 1.20097454e+02] [ 2.53121183e-01 -5.27291775e-03 9.67420210e-01 3.44118458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.02925415399994 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:441.58, Y:120.12, Z:34.42 [[ 3.25220355e-01 -9.41294913e-01 -9.05295895e-02 4.41576058e+02] [ 9.11009425e-01 3.37541789e-01 -2.36912153e-01 1.20122046e+02] [ 2.53561724e-01 -5.42465467e-03 9.67303998e-01 3.44182257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.0592541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:441.59, Y:120.15, Z:34.43 [[ 3.25244326e-01 -9.41268252e-01 -9.07204809e-02 4.41586333e+02] [ 9.10795096e-01 3.37617465e-01 -2.37627313e-01 1.20147212e+02] [ 2.54299864e-01 -5.34083387e-03 9.67110673e-01 3.44256503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.08925415399995 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:441.60, Y:120.17, Z:34.43 [[ 3.25897827e-01 -9.41042553e-01 -9.07167052e-02 4.41596071e+02] [ 9.10508124e-01 3.38249904e-01 -2.37827581e-01 1.20171266e+02] [ 2.54490791e-01 -5.09080531e-03 9.67061798e-01 3.44323157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1192541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:441.61, Y:120.20, Z:34.44 [[ 3.26839791e-01 -9.40699959e-01 -9.08809004e-02 4.41606300e+02] [ 9.10014234e-01 3.39205777e-01 -2.38355900e-01 1.20195838e+02] [ 2.55048712e-01 -4.79872058e-03 9.66916298e-01 3.44392832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.14925415399995 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:441.62, Y:120.22, Z:34.45 [[ 3.28710633e-01 -9.40032854e-01 -9.10360019e-02 4.41616382e+02] [ 9.09158277e-01 3.41057911e-01 -2.38978511e-01 1.20219478e+02] [ 2.55696200e-01 -4.21135709e-03 9.66748012e-01 3.44460932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.1792541539999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:441.63, Y:120.24, Z:34.45 [[ 3.29249249e-01 -9.39834096e-01 -9.11416687e-02 4.41626638e+02] [ 9.08852505e-01 3.41607464e-01 -2.39356356e-01 1.20244635e+02] [ 2.56089939e-01 -4.02643350e-03 9.66644573e-01 3.44528630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.20925415399995 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:441.64, Y:120.27, Z:34.46 [[ 3.29882596e-01 -9.39597527e-01 -9.12905232e-02 4.41636775e+02] [ 9.08447816e-01 3.42260487e-01 -2.39959006e-01 1.20269094e+02] [ 2.56710028e-01 -3.77437647e-03 9.66481099e-01 3.44598238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2392541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:441.63, Y:120.32, Z:34.47 [[ 3.39430127e-01 -9.40372318e-01 -2.20701585e-02 4.41632099e+02] [ 9.08751104e-01 3.33892537e-01 -2.50374128e-01 1.20316987e+02] [ 2.42813961e-01 6.49282411e-02 9.67897569e-01 3.44688364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.26925415399995 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:441.68, Y:120.34, Z:34.46 [[ 3.39049929e-01 -9.35972426e-01 -9.48723588e-02 4.41681388e+02] [ 9.08782186e-01 3.51925386e-01 -2.24195143e-01 1.20336310e+02] [ 2.43228463e-01 -1.02049625e-02 9.69915344e-01 3.44558886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.2992541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:441.71, Y:120.34, Z:34.46 [[ 3.27140293e-01 -9.30852996e-01 -1.62763411e-01 4.41705146e+02] [ 9.09084671e-01 3.57030445e-01 -2.14695882e-01 1.20338070e+02] [ 2.57961799e-01 -7.77300485e-02 9.63023234e-01 3.44643121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.32925415399995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:441.68, Y:120.37, Z:34.49 [[ 3.26669912e-01 -9.40677679e-01 -9.17184399e-02 4.41678721e+02] [ 9.08908951e-01 3.39275913e-01 -2.42438390e-01 1.20372183e+02] [ 2.59174240e-01 -4.16638332e-03 9.65821596e-01 3.44905884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.3592541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:441.69, Y:120.40, Z:34.50 [[ 3.25815985e-01 -9.40983035e-01 -9.16235289e-02 4.41688558e+02] [ 9.09234974e-01 3.38426053e-01 -2.42403732e-01 1.20396952e+02] [ 2.59105588e-01 -4.32830629e-03 9.65839303e-01 3.44976220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.38925415399996 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:441.69, Y:120.44, Z:34.50 [[ 3.33763544e-01 -9.42125310e-01 -3.16511773e-02 4.41685096e+02] [ 9.10114766e-01 3.30805916e-01 -2.49516651e-01 1.20441953e+02] [ 2.45546349e-01 5.44733579e-02 9.67853111e-01 3.45049701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.41925415399993 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:441.74, Y:120.44, Z:34.50 [[ 3.21929414e-01 -9.34096126e-01 -1.54356342e-01 4.41740582e+02] [ 9.10754479e-01 3.50077960e-01 -2.19024429e-01 1.20440667e+02] [ 2.58626624e-01 -7.00703237e-02 9.63432623e-01 3.44963782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.44925415399996 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:441.72, Y:120.47, Z:34.52 [[ 3.21214179e-01 -9.42553477e-01 -9.17300089e-02 4.41717456e+02] [ 9.10567646e-01 3.34013182e-01 -2.43519521e-01 1.20472148e+02] [ 2.60169203e-01 -5.30445542e-03 9.65548470e-01 3.45197717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.47925415399993 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:441.72, Y:120.50, Z:34.53 [[ 3.21460762e-01 -9.44358187e-01 -6.96461976e-02 4.41717941e+02] [ 9.11787197e-01 3.28543999e-01 -2.46379682e-01 1.20500845e+02] [ 2.55552510e-01 1.56988892e-02 9.66667709e-01 3.45273687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.50925415399996 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:441.75, Y:120.52, Z:34.53 [[ 3.17759764e-01 -9.41695087e-01 -1.10630444e-01 4.41748053e+02] [ 9.12353325e-01 3.35434244e-01 -2.34723835e-01 1.20519903e+02] [ 2.58147522e-01 -2.63482631e-02 9.65746150e-01 3.45284888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.53925415399993 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:441.75, Y:120.55, Z:34.54 [[ 3.17086844e-01 -9.44038231e-01 -9.08171382e-02 4.41747718e+02] [ 9.12605190e-01 3.29776766e-01 -2.41658959e-01 1.20546327e+02] [ 2.58084679e-01 -6.25331477e-03 9.66102062e-01 3.45404714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.56925415399996 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:441.76, Y:120.57, Z:34.55 [[ 3.16030881e-01 -9.44405699e-01 -9.06772184e-02 4.41757711e+02] [ 9.13059116e-01 3.28717997e-01 -2.41386680e-01 1.20571713e+02] [ 2.57774190e-01 -6.50801550e-03 9.66183271e-01 3.45476854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.59925415399994 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:441.77, Y:120.60, Z:34.55 [[ 3.15245138e-01 -9.44721195e-01 -9.01241782e-02 4.41766943e+02] [ 9.13718711e-01 3.27807332e-01 -2.40125946e-01 1.20595490e+02] [ 2.56395437e-01 -6.64961111e-03 9.66549100e-01 3.45548050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.6292541539999 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:441.78, Y:120.62, Z:34.56 [[ 3.14411743e-01 -9.45021093e-01 -8.98909936e-02 4.41776345e+02] [ 9.14154376e-01 3.26938155e-01 -2.39652289e-01 1.20621004e+02] [ 2.55865264e-01 -6.82475124e-03 9.66688362e-01 3.45620604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.65925415399994 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:441.79, Y:120.65, Z:34.57 [[ 3.13823988e-01 -9.45229331e-01 -8.97553188e-02 4.41785814e+02] [ 9.14408373e-01 3.26333824e-01 -2.39506917e-01 1.20646581e+02] [ 2.55679159e-01 -6.90999917e-03 9.66736996e-01 3.45693939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.6892541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:441.79, Y:120.67, Z:34.58 [[ 3.12918660e-01 -9.46260712e-01 -8.16858477e-02 4.41789932e+02] [ 9.13964225e-01 3.23398341e-01 -2.45118153e-01 1.20670565e+02] [ 2.58362745e-01 2.04410140e-03 9.66045813e-01 3.45781127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.71925415399994 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:441.81, Y:120.70, Z:34.58 [[ 3.11474753e-01 -9.45232799e-01 -9.75624642e-02 4.41809340e+02] [ 9.15064193e-01 3.26036608e-01 -2.37397668e-01 1.20696257e+02] [ 2.56204997e-01 -1.53325377e-02 9.66500860e-01 3.45805094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.7492541539999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:441.82, Y:120.72, Z:34.59 [[ 3.11259754e-01 -9.46067328e-01 -8.98553027e-02 4.41815003e+02] [ 9.15073726e-01 3.23884818e-01 -2.40288787e-01 1.20722949e+02] [ 2.56432139e-01 -7.43199776e-03 9.66533664e-01 3.45896620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.77925415399994 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:441.81, Y:120.77, Z:34.60 [[ 3.20064747e-01 -9.47315049e-01 -1.23594281e-02 4.41807159e+02] [ 9.16456313e-01 3.12892674e-01 -2.49411310e-01 1.20773552e+02] [ 2.40138262e-01 6.85008918e-02 9.68318771e-01 3.45959447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8092541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:441.88, Y:120.77, Z:34.58 [[ 3.07073594e-01 -9.36452957e-01 -1.69592653e-01 4.41875398e+02] [ 9.16936131e-01 3.38840673e-01 -2.10748974e-01 1.20765458e+02] [ 2.54821388e-01 -9.07901861e-02 9.62716574e-01 3.45847243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.83925415399995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:441.84, Y:120.80, Z:34.61 [[ 3.04094159e-01 -9.48369323e-01 -9.01241898e-02 4.41843546e+02] [ 9.17056095e-01 3.17037526e-01 -2.41858071e-01 1.20800013e+02] [ 2.57943525e-01 -9.10131095e-03 9.66117127e-01 3.46112107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.8692541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:441.84, Y:120.84, Z:34.62 [[ 3.10753496e-01 -9.49572603e-01 -4.17628544e-02 4.41844493e+02] [ 9.17857919e-01 3.11209082e-01 -2.46344773e-01 1.20843065e+02] [ 2.46919227e-01 3.82201329e-02 9.68282044e-01 3.46169013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.89925415399995 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:441.89, Y:120.85, Z:34.61 [[ 2.97840299e-01 -9.43974543e-01 -1.42138028e-01 4.41888814e+02] [ 9.19531003e-01 3.23691588e-01 -2.22904668e-01 1.20845356e+02] [ 2.56425216e-01 -6.43103308e-02 9.64422257e-01 3.46118253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9292541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:441.87, Y:120.88, Z:34.63 [[ 2.96605158e-01 -9.50731011e-01 -9.01993593e-02 4.41870682e+02] [ 9.19285383e-01 3.09824597e-01 -2.42740814e-01 1.20876316e+02] [ 2.58727200e-01 -1.09207750e-02 9.65888696e-01 3.46322735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.95925415399995 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:441.88, Y:120.90, Z:34.64 [[ 2.95261132e-01 -9.51153515e-01 -9.01546110e-02 4.41879774e+02] [ 9.19730894e-01 3.08513211e-01 -2.42723468e-01 1.20902201e+02] [ 2.58681169e-01 -1.12511748e-02 9.65897233e-01 3.46391562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 482.9892541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:441.88, Y:120.93, Z:34.65 [[ 2.94899605e-01 -9.51791986e-01 -8.44170533e-02 4.41883873e+02] [ 9.19308644e-01 3.06705273e-01 -2.46583642e-01 1.20926710e+02] [ 2.60587490e-01 -4.88790813e-03 9.65437864e-01 3.46475906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.01925415399995 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:441.90, Y:120.95, Z:34.65 [[ 2.94581094e-01 -9.50866595e-01 -9.52612065e-02 4.41898548e+02] [ 9.20158069e-01 3.09140972e-01 -2.40293545e-01 1.20951798e+02] [ 2.57936247e-01 -1.68694324e-02 9.66014656e-01 3.46518136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.0492541539999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:441.90, Y:120.98, Z:34.66 [[ 2.95104165e-01 -9.51266514e-01 -8.94737444e-02 4.41903704e+02] [ 9.20183929e-01 3.08170712e-01 -2.41438086e-01 1.20977605e+02] [ 2.57245154e-01 -1.10829169e-02 9.66282619e-01 3.46603450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.07925415399995 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:441.91, Y:121.00, Z:34.67 [[ 2.97138097e-01 -9.50698772e-01 -8.87738497e-02 4.41911008e+02] [ 9.20057836e-01 3.09939118e-01 -2.39648329e-01 1.21004027e+02] [ 2.55347861e-01 -1.04684278e-02 9.66792575e-01 3.46680483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.1092541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:441.92, Y:121.03, Z:34.67 [[ 2.98846959e-01 -9.50187763e-01 -8.85082462e-02 4.41919148e+02] [ 9.19652067e-01 3.11519970e-01 -2.39155566e-01 1.21028791e+02] [ 2.54814778e-01 -9.92587780e-03 9.66938936e-01 3.46743970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.13925415399996 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:441.93, Y:121.05, Z:34.68 [[ 3.00480578e-01 -9.49674367e-01 -8.84873951e-02 4.41927035e+02] [ 9.19105673e-01 3.13096151e-01 -2.39197747e-01 1.21053731e+02] [ 2.54865032e-01 -9.45498963e-03 9.66930411e-01 3.46818640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.16925415399993 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:441.94, Y:121.08, Z:34.69 [[ 3.02120256e-01 -9.49168415e-01 -8.83327243e-02 4.41935038e+02] [ 9.18661187e-01 3.14640617e-01 -2.38878432e-01 1.21079175e+02] [ 2.54528926e-01 -8.97783239e-03 9.67023487e-01 3.46884902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.19925415399996 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:441.94, Y:121.10, Z:34.69 [[ 3.06194713e-01 -9.48006686e-01 -8.67647465e-02 4.41941566e+02] [ 9.17082329e-01 3.18193624e-01 -2.40234926e-01 1.21101056e+02] [ 2.55352305e-01 -6.01175156e-03 9.66829385e-01 3.46945663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.22925415399993 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:441.94, Y:121.14, Z:34.71 [[ 3.12628606e-01 -9.48435291e-01 -5.22862724e-02 4.41939890e+02] [ 9.15870496e-01 3.15576274e-01 -2.48179070e-01 1.21141696e+02] [ 2.51882095e-01 2.97004225e-02 9.67302070e-01 3.47061456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.25925415399996 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:441.98, Y:121.15, Z:34.70 [[ 3.09195715e-01 -9.41700887e-01 -1.32655377e-01 4.41978225e+02] [ 9.14660779e-01 3.32664860e-01 -2.29629594e-01 1.21152068e+02] [ 2.60372175e-01 -5.03341839e-02 9.64195416e-01 3.47044299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.28925415399993 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:441.96, Y:121.18, Z:34.72 [[ 3.14905619e-01 -9.45313766e-01 -8.49490122e-02 4.41959741e+02] [ 9.11561139e-01 3.26159348e-01 -2.50352491e-01 1.21182571e+02] [ 2.64368570e-01 1.40118773e-03 9.64420705e-01 3.47243383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.31925415399996 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:441.97, Y:121.21, Z:34.73 [[ 3.16374547e-01 -9.43838860e-01 -9.52646454e-02 4.41974430e+02] [ 9.11370234e-01 3.30280237e-01 -2.45599799e-01 1.21208887e+02] [ 2.63270664e-01 -9.11983693e-03 9.64678903e-01 3.47285885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.34925415399994 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:441.98, Y:121.23, Z:34.74 [[ 3.18226240e-01 -9.43665196e-01 -9.07086460e-02 4.41979901e+02] [ 9.10614484e-01 3.30879842e-01 -2.47587949e-01 1.21234374e+02] [ 2.63653792e-01 -3.81162479e-03 9.64609843e-01 3.47373898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.3792541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:441.99, Y:121.26, Z:34.74 [[ 3.21538360e-01 -9.42539983e-01 -9.07274136e-02 4.41986956e+02] [ 9.09403237e-01 3.34081218e-01 -2.47740777e-01 1.21259453e+02] [ 2.63815912e-01 -2.84964073e-03 9.64568838e-01 3.47440645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.40925415399994 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:442.00, Y:121.28, Z:34.75 [[ 3.22338844e-01 -9.42256690e-01 -9.08295148e-02 4.41995401e+02] [ 9.09004190e-01 3.34881550e-01 -2.48124426e-01 1.21284550e+02] [ 2.64214029e-01 -2.58426878e-03 9.64460610e-01 3.47511516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4392541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:442.00, Y:121.31, Z:34.76 [[ 3.23132698e-01 -9.42001907e-01 -9.06513412e-02 4.42004265e+02] [ 9.08809533e-01 3.35599700e-01 -2.47867051e-01 1.21309587e+02] [ 2.63913798e-01 -2.29085405e-03 9.64543550e-01 3.47581493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.46925415399994 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:442.00, Y:121.35, Z:34.77 [[ 3.29329362e-01 -9.42965474e-01 -4.85621951e-02 4.42002881e+02] [ 9.09614904e-01 3.30636684e-01 -2.51555381e-01 1.21348009e+02] [ 2.53264482e-01 3.86716766e-02 9.66623817e-01 3.47651682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.4992541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:442.04, Y:121.36, Z:34.76 [[ 3.21958347e-01 -9.37288221e-01 -1.33542550e-01 4.42044273e+02] [ 9.09461736e-01 3.45382834e-01 -2.31495244e-01 1.21357097e+02] [ 2.63101070e-01 -4.69200131e-02 9.63626660e-01 3.47611094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.52925415399994 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:442.03, Y:121.39, Z:34.78 [[ 3.19175736e-01 -9.43373145e-01 -9.04099448e-02 4.42031184e+02] [ 9.10237328e-01 3.31718192e-01 -2.47852877e-01 1.21385846e+02] [ 2.63808371e-01 -3.18588202e-03 9.64569849e-01 3.47801482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.5592541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:442.03, Y:121.41, Z:34.79 [[ 3.17908658e-01 -9.44994162e-01 -7.69423121e-02 4.42032375e+02] [ 9.09500556e-01 3.26879030e-01 -2.56824530e-01 1.21410387e+02] [ 2.67848509e-01 1.16676660e-02 9.63390389e-01 3.47909018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.58925415399995 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:442.05, Y:121.44, Z:34.79 [[ 3.16463465e-01 -9.44361362e-01 -8.96241828e-02 4.42052736e+02] [ 9.11770417e-01 3.28886954e-01 -2.45983900e-01 1.21438376e+02] [ 2.61773915e-01 -3.87176113e-03 9.65121457e-01 3.47905426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6192541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:442.07, Y:121.46, Z:34.80 [[ 3.10739843e-01 -9.44940440e-01 -1.02607581e-01 4.42067152e+02] [ 9.12679129e-01 3.26780207e-01 -2.45421077e-01 1.21460505e+02] [ 2.65438427e-01 -1.73856907e-02 9.63971047e-01 3.47981489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.64925415399995 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:442.07, Y:121.49, Z:34.81 [[ 3.04664916e-01 -9.48124855e-01 -9.07664528e-02 4.42071275e+02] [ 9.14928478e-01 3.17815609e-01 -2.48795335e-01 1.21485782e+02] [ 2.64736036e-01 -7.24560282e-03 9.64293696e-01 3.48094967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.6792541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:442.08, Y:121.51, Z:34.82 [[ 3.02064865e-01 -9.48958242e-01 -9.07473039e-02 4.42080936e+02] [ 9.15783412e-01 3.15301866e-01 -2.48848297e-01 1.21510530e+02] [ 2.64759436e-01 -7.93654854e-03 9.64281832e-01 3.48172390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.70925415399995 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:442.08, Y:121.54, Z:34.82 [[ 3.01860790e-01 -9.50437236e-01 -7.44924440e-02 4.42084013e+02] [ 9.16861015e-01 3.10830376e-01 -2.50500213e-01 1.21539050e+02] [ 2.61239244e-01 7.31697432e-03 9.65246352e-01 3.48234398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7392541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:442.11, Y:121.56, Z:34.83 [[ 2.99054623e-01 -9.48482258e-01 -1.04631445e-01 4.42108482e+02] [ 9.16978722e-01 3.15985677e-01 -2.43522229e-01 1.21560246e+02] [ 2.64038552e-01 -2.31183602e-02 9.64235026e-01 3.48280825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.76925415399995 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:442.11, Y:121.59, Z:34.84 [[ 3.00016027e-01 -9.49634792e-01 -9.04662659e-02 4.42110414e+02] [ 9.16555871e-01 3.13247996e-01 -2.48598125e-01 1.21586445e+02] [ 2.64415806e-01 -8.33396521e-03 9.64372763e-01 3.48392426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.7992541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:442.11, Y:121.61, Z:34.84 [[ 3.02424487e-01 -9.50563206e-01 -7.04912796e-02 4.42109774e+02] [ 9.16620787e-01 3.10314347e-01 -2.52014563e-01 1.21614740e+02] [ 2.61430226e-01 1.16016027e-02 9.65152651e-01 3.48434811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.82925415399995 meters Centerline goodness : 0.997712 Centerline is valid? [True, True] Translation: X:442.12, Y:121.64, Z:34.85 [[ 3.07606701e-01 -9.47701482e-01 -8.50882942e-02 4.42124989e+02] [ 9.15204501e-01 3.19150634e-01 -2.46056078e-01 1.21638354e+02] [ 2.60343693e-01 -2.18469147e-03 9.65513536e-01 3.48482960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.8592541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:442.15, Y:121.66, Z:34.86 [[ 3.10007353e-01 -9.44631562e-01 -1.07548374e-01 4.42145282e+02] [ 9.13385980e-01 3.27312233e-01 -2.42059403e-01 1.21661559e+02] [ 2.63858850e-01 -2.31929826e-02 9.64282424e-01 3.48557848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.88925415399996 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:442.14, Y:121.69, Z:34.87 [[ 3.13715632e-01 -9.45241474e-01 -9.00058774e-02 4.42144651e+02] [ 9.12063223e-01 3.26344733e-01 -2.48273626e-01 1.21688095e+02] [ 2.64051472e-01 -4.20373301e-03 9.64499429e-01 3.48677953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.91925415399993 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:442.15, Y:121.71, Z:34.88 [[ 3.20867614e-01 -9.42829668e-01 -9.00899122e-02 4.42153243e+02] [ 9.09448793e-01 3.33268099e-01 -2.48666981e-01 1.21713619e+02] [ 2.64474701e-01 -2.14298114e-03 9.64390243e-01 3.48752388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.94925415399996 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:442.16, Y:121.74, Z:34.88 [[ 3.23791661e-01 -9.41825809e-01 -9.01282718e-02 4.42161770e+02] [ 9.08315524e-01 3.36099099e-01 -2.48998603e-01 1.21737701e+02] [ 2.64805342e-01 -1.24123712e-03 9.64301089e-01 3.48821048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 483.97925415399993 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:442.17, Y:121.77, Z:34.89 [[ 3.28051279e-01 -9.41606911e-01 -7.58866474e-02 4.42165346e+02] [ 9.07747629e-01 3.36450580e-01 -2.50589803e-01 1.21765980e+02] [ 2.61489197e-01 1.33203814e-02 9.65114484e-01 3.48884231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.00925415399996 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:442.19, Y:121.79, Z:34.89 [[ 3.29848427e-01 -9.38809245e-01 -9.91827457e-02 4.42185558e+02] [ 9.05304699e-01 3.44350072e-01 -2.48689426e-01 1.21787549e+02] [ 2.67625518e-01 -7.76078991e-03 9.63491750e-01 3.48943902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.03925415399993 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:442.19, Y:121.81, Z:34.90 [[ 3.30416216e-01 -9.39044053e-01 -9.49809999e-02 4.42194028e+02] [ 9.05372965e-01 3.43777539e-01 -2.49232418e-01 1.21813580e+02] [ 2.66692554e-01 -3.64279706e-03 9.63774772e-01 3.49026993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.06925415399996 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:442.20, Y:121.84, Z:34.91 [[ 3.30682376e-01 -9.39362467e-01 -9.08147638e-02 4.42202715e+02] [ 9.05107701e-01 3.42924630e-01 -2.51361789e-01 1.21837815e+02] [ 2.67262449e-01 9.23771344e-04 9.63623334e-01 3.49107218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.09925415399994 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:442.21, Y:121.86, Z:34.92 [[ 3.30131634e-01 -9.39552004e-01 -9.08577819e-02 4.42212973e+02] [ 9.05225901e-01 3.42405235e-01 -2.51644039e-01 1.21861932e+02] [ 2.67542841e-01 8.28840204e-04 9.63545609e-01 3.49176931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.1292541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:442.22, Y:121.89, Z:34.92 [[ 3.29146619e-01 -9.39896519e-01 -9.08682364e-02 4.42223531e+02] [ 9.05529637e-01 3.41458876e-01 -2.51837075e-01 1.21886793e+02] [ 2.67728556e-01 6.07440624e-04 9.63494188e-01 3.49249485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.15925415399994 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:442.23, Y:121.91, Z:34.93 [[ 3.28413859e-01 -9.40645201e-01 -8.56209236e-02 4.42231241e+02] [ 9.05393197e-01 3.39333350e-01 -2.55178439e-01 1.21911875e+02] [ 2.69086409e-01 6.28353398e-03 9.63095541e-01 3.49333681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.1892541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:442.25, Y:121.93, Z:34.94 [[ 3.26387590e-01 -9.40373254e-01 -9.57563792e-02 4.42249594e+02] [ 9.06683794e-01 3.40101689e-01 -2.49510198e-01 1.21934942e+02] [ 2.67199623e-01 -5.38372516e-03 9.63626161e-01 3.49380976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.21925415399994 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:442.26, Y:121.96, Z:34.95 [[ 3.25292969e-01 -9.41289792e-01 -9.03217158e-02 4.42257600e+02] [ 9.07234237e-01 3.37599499e-01 -2.50903600e-01 1.21959916e+02] [ 2.66665564e-01 -3.25775904e-04 9.63789070e-01 3.49467075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.2492541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:442.27, Y:121.98, Z:34.95 [[ 3.22976358e-01 -9.42110210e-01 -9.00812075e-02 4.42270659e+02] [ 9.08207430e-01 3.35302114e-01 -2.50463085e-01 1.21984028e+02] [ 2.66168249e-01 -9.18767181e-04 9.63926148e-01 3.49545195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.27925415399994 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:442.28, Y:122.01, Z:34.96 [[ 3.21378353e-01 -9.42692380e-01 -8.97052410e-02 4.42281566e+02] [ 9.09038311e-01 3.33660520e-01 -2.49639753e-01 1.22007467e+02] [ 2.65264590e-01 -1.31668815e-03 9.64174758e-01 3.49611826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3092541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:442.29, Y:122.03, Z:34.97 [[ 3.19593927e-01 -9.43295509e-01 -8.97402019e-02 4.42292960e+02] [ 9.09602572e-01 3.31949455e-01 -2.49865405e-01 1.22031374e+02] [ 2.65486125e-01 -1.77245240e-03 9.64113051e-01 3.49688795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.33925415399995 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:442.31, Y:122.06, Z:34.98 [[ 3.15856963e-01 -9.44590053e-01 -8.93532888e-02 4.42307019e+02] [ 9.11181385e-01 3.28240742e-01 -2.49011041e-01 1.22055444e+02] [ 2.64542742e-01 -2.76518238e-03 9.64369997e-01 3.49763278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.3692541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:442.32, Y:122.08, Z:34.98 [[ 3.14168723e-01 -9.45168067e-01 -8.91927044e-02 4.42318763e+02] [ 9.11843438e-01 3.26568954e-01 -2.48785578e-01 1.22080209e+02] [ 2.64271752e-01 -3.16913489e-03 9.64443051e-01 3.49828092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.39925415399995 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:442.33, Y:122.10, Z:34.99 [[ 3.11409477e-01 -9.46056202e-01 -8.94527868e-02 4.42332722e+02] [ 9.12507169e-01 3.23979618e-01 -2.49735609e-01 1.22104491e+02] [ 2.65244801e-01 -3.85627393e-03 9.64173389e-01 3.49896457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4292541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:442.34, Y:122.13, Z:35.00 [[ 3.09188645e-01 -9.46842553e-01 -8.88344633e-02 4.42342274e+02] [ 9.13731834e-01 3.21667017e-01 -2.48242757e-01 1.22128071e+02] [ 2.63621923e-01 -4.41703548e-03 9.64615971e-01 3.49973021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.45925415399995 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:442.35, Y:122.15, Z:35.00 [[ 3.07873139e-01 -9.47263701e-01 -8.89134986e-02 4.42353716e+02] [ 9.14065361e-01 3.20420246e-01 -2.48626995e-01 1.22152308e+02] [ 2.64005012e-01 -4.72717583e-03 9.64509724e-01 3.50038090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.4892541539999 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:442.36, Y:122.18, Z:35.01 [[ 3.06593099e-01 -9.48452918e-01 -8.02354955e-02 4.42361100e+02] [ 9.15136432e-01 3.16904111e-01 -2.49192886e-01 1.22178876e+02] [ 2.61774678e-01 2.97439382e-03 9.65124433e-01 3.50116933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.51925415399995 meters Centerline goodness : 0.997413 Centerline is valid? [True, True] Translation: X:442.38, Y:122.20, Z:35.02 [[ 3.04295965e-01 -9.48002373e-01 -9.32494827e-02 4.42379671e+02] [ 9.14865450e-01 3.18116926e-01 -2.48641971e-01 1.22199247e+02] [ 2.65377417e-01 -9.64998144e-03 9.64096315e-01 3.50177574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.5492541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:442.39, Y:122.22, Z:35.02 [[ 3.02850161e-01 -9.48523741e-01 -9.26525373e-02 4.42390409e+02] [ 9.15573918e-01 3.16556964e-01 -2.48024373e-01 1.22224752e+02] [ 2.64586812e-01 -9.71602525e-03 9.64312925e-01 3.50247633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.57925415399995 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:442.40, Y:122.25, Z:35.03 [[ 3.02013527e-01 -9.49142252e-01 -8.89764891e-02 4.42398696e+02] [ 9.15787289e-01 3.14787764e-01 -2.49484077e-01 1.22249199e+02] [ 2.64804588e-01 -6.13597174e-03 9.64282573e-01 3.50326278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.6092541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:442.41, Y:122.27, Z:35.04 [[ 3.01407050e-01 -9.49330060e-01 -8.90293668e-02 4.42409088e+02] [ 9.15912681e-01 3.14218291e-01 -2.49741519e-01 1.22274193e+02] [ 2.65061787e-01 -6.26927146e-03 9.64211048e-01 3.50402547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.63925415399996 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:442.43, Y:122.30, Z:35.05 [[ 3.01352270e-01 -9.47247901e-01 -1.09124808e-01 4.42431089e+02] [ 9.15037128e-01 3.19474357e-01 -2.46258379e-01 1.22295709e+02] [ 2.68130310e-01 -2.56427297e-02 9.63041322e-01 3.50494123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.66925415399993 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:442.43, Y:122.32, Z:35.06 [[ 3.01381966e-01 -9.49134093e-01 -9.11777646e-02 4.42431584e+02] [ 9.14999933e-01 3.14785862e-01 -2.52358839e-01 1.22324347e+02] [ 2.68223849e-01 -7.37124548e-03 9.63328413e-01 3.50607501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.69925415399996 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:442.43, Y:122.35, Z:35.07 [[ 3.00767338e-01 -9.51024585e-01 -7.13529776e-02 4.42431925e+02] [ 9.15991422e-01 3.08895948e-01 -2.56013687e-01 1.22352078e+02] [ 2.65515957e-01 1.16418398e-02 9.64036174e-01 3.50661243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.72925415399993 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:442.45, Y:122.37, Z:35.07 [[ 3.00600303e-01 -9.49588009e-01 -8.90060221e-02 4.42451108e+02] [ 9.16005280e-01 3.13437971e-01 -2.50381640e-01 1.22374934e+02] [ 2.65657270e-01 -6.26518939e-03 9.64047178e-01 3.50692556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.75925415399996 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:442.46, Y:122.40, Z:35.08 [[ 3.02257037e-01 -9.49061863e-01 -8.90070979e-02 4.42462177e+02] [ 9.15390930e-01 3.15037792e-01 -2.50620498e-01 1.22398356e+02] [ 2.65894957e-01 -5.72448087e-03 9.63985012e-01 3.50764957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.78925415399993 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:442.47, Y:122.42, Z:35.08 [[ 3.03140092e-01 -9.48781350e-01 -8.89945765e-02 4.42471594e+02] [ 9.15063158e-01 3.15886900e-01 -2.50748647e-01 1.22422904e+02] [ 2.66017860e-01 -5.42369029e-03 9.63952842e-01 3.50839300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8192541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:442.48, Y:122.45, Z:35.09 [[ 3.03874946e-01 -9.48554670e-01 -8.89047508e-02 4.42480788e+02] [ 9.14839232e-01 3.16571478e-01 -2.50702370e-01 1.22447816e+02] [ 2.65949613e-01 -5.15138468e-03 9.63973167e-01 3.50916814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.84925415399994 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:442.49, Y:122.47, Z:35.10 [[ 3.05211610e-01 -9.48126095e-01 -8.88975872e-02 4.42491325e+02] [ 9.14336209e-01 3.17859709e-01 -2.50907356e-01 1.22472349e+02] [ 2.66148773e-01 -4.70244477e-03 9.63920493e-01 3.50996091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.8792541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:442.50, Y:122.50, Z:35.11 [[ 3.05548201e-01 -9.48031176e-01 -8.87535196e-02 4.42501192e+02] [ 9.14283357e-01 3.18145155e-01 -2.50738119e-01 1.22496273e+02] [ 2.65944056e-01 -4.53328470e-03 9.63977805e-01 3.51063599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.90925415399994 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:442.51, Y:122.52, Z:35.11 [[ 3.05323633e-01 -9.48094313e-01 -8.88518550e-02 4.42511303e+02] [ 9.14234950e-01 3.17956734e-01 -2.51153282e-01 1.22521322e+02] [ 2.66368044e-01 -4.54843862e-03 9.63860662e-01 3.51138383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9392541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:442.52, Y:122.55, Z:35.12 [[ 3.04731891e-01 -9.48229234e-01 -8.94415660e-02 4.42522796e+02] [ 9.13848826e-01 3.17553105e-01 -2.53061947e-01 1.22545892e+02] [ 2.68363183e-01 -4.62002452e-03 9.63306731e-01 3.51214611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.96925415399994 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:442.53, Y:122.57, Z:35.13 [[ 3.03904121e-01 -9.48544457e-01 -8.89139938e-02 4.42532165e+02] [ 9.14522795e-01 3.16607779e-01 -2.51808602e-01 1.22570731e+02] [ 2.67002516e-01 -4.78820247e-03 9.63683937e-01 3.51285415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 484.9992541539999 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:442.55, Y:122.59, Z:35.14 [[ 3.01972614e-01 -9.47606319e-01 -1.04186397e-01 4.42547668e+02] [ 9.14914719e-01 3.18778862e-01 -2.47610772e-01 1.22593401e+02] [ 2.67849953e-01 -2.05499963e-02 9.63241455e-01 3.51368826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.02925415399994 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:442.55, Y:122.61, Z:35.14 [[ 2.99504684e-01 -9.48714688e-01 -1.01179965e-01 4.42554961e+02] [ 9.15838105e-01 3.15603004e-01 -2.48264597e-01 1.22614874e+02] [ 2.67464970e-01 -1.83080580e-02 9.63393640e-01 3.51438237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.0592541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:442.55, Y:122.65, Z:35.15 [[ 3.01945324e-01 -9.51862579e-01 -5.27887463e-02 4.42547499e+02] [ 9.16368889e-01 3.05063124e-01 -2.59238404e-01 1.22649663e+02] [ 2.62863236e-01 2.99018592e-02 9.64369638e-01 3.51498403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.08925415399995 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:442.57, Y:122.67, Z:35.15 [[ 3.00010683e-01 -9.49907858e-01 -8.75708367e-02 4.42574456e+02] [ 9.17080745e-01 3.12472193e-01 -2.47636905e-01 1.22670686e+02] [ 2.62595693e-01 -6.01581116e-03 9.64887202e-01 3.51493169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1192541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:442.58, Y:122.69, Z:35.16 [[ 2.96589507e-01 -9.50980287e-01 -8.75851418e-02 4.42584886e+02] [ 9.18123448e-01 3.09174832e-01 -2.47911794e-01 1.22694633e+02] [ 2.62838351e-01 -6.88593548e-03 9.64815312e-01 3.51558285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.14925415399995 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:442.59, Y:122.72, Z:35.16 [[ 2.94017179e-01 -9.51802619e-01 -8.73250953e-02 4.42594083e+02] [ 9.19149149e-01 3.06618072e-01 -2.47285665e-01 1.22719757e+02] [ 2.62142596e-01 -7.55855342e-03 9.64999548e-01 3.51627431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.1792541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:442.60, Y:122.74, Z:35.17 [[ 2.91628669e-01 -9.52536945e-01 -8.73274722e-02 4.42603454e+02] [ 9.19849357e-01 3.04314110e-01 -2.47527944e-01 1.22744052e+02] [ 2.62354494e-01 -8.14187434e-03 9.64937215e-01 3.51696320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.20925415399995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:442.61, Y:122.77, Z:35.18 [[ 2.85940736e-01 -9.54250231e-01 -8.74322191e-02 4.42613161e+02] [ 9.21520924e-01 2.98852864e-01 -2.47964014e-01 1.22769152e+02] [ 2.62749087e-01 -9.66760668e-03 9.64815762e-01 3.51773967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2392541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:442.62, Y:122.79, Z:35.18 [[ 2.82652242e-01 -9.55223228e-01 -8.75002534e-02 4.42622585e+02] [ 9.22421145e-01 2.95699659e-01 -2.48396747e-01 1.22794780e+02] [ 2.63148138e-01 -1.05021865e-02 9.64698275e-01 3.51848033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.26925415399995 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:442.63, Y:122.82, Z:35.19 [[ 2.76073449e-01 -9.57119352e-01 -8.77838135e-02 4.42632088e+02] [ 9.24125631e-01 2.89434347e-01 -2.49438524e-01 1.22818667e+02] [ 2.64150089e-01 -1.22599184e-02 9.64403663e-01 3.51919696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.2992541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:442.64, Y:122.84, Z:35.20 [[ 2.72391299e-01 -9.58175508e-01 -8.77648962e-02 4.42641309e+02] [ 9.25202100e-01 2.85875516e-01 -2.49552124e-01 1.22844116e+02] [ 2.64204568e-01 -1.32244392e-02 9.64375995e-01 3.51990268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.32925415399995 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:442.65, Y:122.87, Z:35.21 [[ 2.68664796e-01 -9.59212675e-01 -8.79219640e-02 4.42649601e+02] [ 9.26106227e-01 2.82328759e-01 -2.50235347e-01 1.22868649e+02] [ 2.64851816e-01 -1.41956497e-02 9.64184629e-01 3.52065400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.3592541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:442.66, Y:122.89, Z:35.21 [[ 2.65056434e-01 -9.60215448e-01 -8.79282640e-02 4.42658326e+02] [ 9.27117095e-01 2.78848942e-01 -2.50394010e-01 1.22894480e+02] [ 2.64950900e-01 -1.51512533e-02 9.64142863e-01 3.52136535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.38925415399996 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:442.67, Y:122.92, Z:35.22 [[ 2.58723874e-01 -9.61926100e-01 -8.80916276e-02 4.42666086e+02] [ 9.28725501e-01 2.72790032e-01 -2.51106634e-01 1.22920143e+02] [ 2.65576543e-01 -1.68456599e-02 9.63942594e-01 3.52216865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.41925415399993 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:442.67, Y:122.96, Z:35.23 [[ 2.60171830e-01 -9.63869625e-01 -5.71486183e-02 4.42667022e+02] [ 9.29762009e-01 2.66053460e-01 -2.54476253e-01 1.22956040e+02] [ 2.60486519e-01 1.30729382e-02 9.65388974e-01 3.52262183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.44925415399996 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:442.70, Y:122.97, Z:35.23 [[ 2.51406481e-01 -9.60365481e-01 -1.20386564e-01 4.42697233e+02] [ 9.31172235e-01 2.73923522e-01 -2.40591299e-01 1.22968894e+02] [ 2.64032290e-01 -5.16144143e-02 9.63131820e-01 3.52302427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.47925415399993 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:442.68, Y:123.01, Z:35.24 [[ 2.54869454e-01 -9.65551281e-01 -5.24622298e-02 4.42679747e+02] [ 9.31198250e-01 2.59699361e-01 -2.55785187e-01 1.23009932e+02] [ 2.60598122e-01 1.63390942e-02 9.65309097e-01 3.52412674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.50925415399996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:442.70, Y:123.03, Z:35.24 [[ 2.53876788e-01 -9.63442171e-01 -8.55906529e-02 4.42704589e+02] [ 9.32169045e-01 2.67323991e-01 -2.44128562e-01 1.23034128e+02] [ 2.58084187e-01 -1.78063819e-02 9.65958325e-01 3.52416414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.53925415399993 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:442.72, Y:123.05, Z:35.25 [[ 2.48227501e-01 -9.60166505e-01 -1.28309743e-01 4.42721169e+02] [ 9.32057168e-01 2.72819772e-01 -2.38408908e-01 1.23047954e+02] [ 2.63917683e-01 -6.04123679e-02 9.62651444e-01 3.52521406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.5692541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:442.71, Y:123.08, Z:35.27 [[ 2.48736354e-01 -9.64559098e-01 -8.80680059e-02 4.42707957e+02] [ 9.31109247e-01 2.63168592e-01 -2.52542794e-01 1.23078457e+02] [ 2.66769183e-01 -1.91843609e-02 9.63569491e-01 3.52671915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.59925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:442.71, Y:123.10, Z:35.27 [[ 2.50028925e-01 -9.64208859e-01 -8.82429190e-02 4.42712054e+02] [ 9.30537835e-01 2.64477531e-01 -2.53280426e-01 1.23104223e+02] [ 2.67553500e-01 -1.87859422e-02 9.63359856e-01 3.52740227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.6292541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:442.72, Y:123.13, Z:35.28 [[ 2.51128703e-01 -9.63925028e-01 -8.82208352e-02 4.42718528e+02] [ 9.30208165e-01 2.65534971e-01 -2.53384983e-01 1.23130613e+02] [ 2.67669843e-01 -1.84314992e-02 9.63334384e-01 3.52810388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.65925415399994 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:442.72, Y:123.16, Z:35.29 [[ 2.52145100e-01 -9.63668860e-01 -8.81202389e-02 4.42724782e+02] [ 9.29949629e-01 2.66487866e-01 -2.53333585e-01 1.23156949e+02] [ 2.67612662e-01 -1.80705613e-02 9.63357108e-01 3.52879576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.6892541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:442.73, Y:123.18, Z:35.29 [[ 2.53750298e-01 -9.63259142e-01 -8.79921089e-02 4.42730785e+02] [ 9.29548693e-01 2.68000262e-01 -2.53209573e-01 1.23182774e+02] [ 2.67488344e-01 -1.75409453e-02 9.63401423e-01 3.52948003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.71925415399994 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:442.73, Y:123.21, Z:35.30 [[ 2.57483597e-01 -9.62256104e-01 -8.81214401e-02 4.42733934e+02] [ 9.28347961e-01 2.71646316e-01 -2.53728876e-01 1.23209816e+02] [ 2.68090024e-01 -1.64763357e-02 9.63252962e-01 3.53020581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.7492541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:442.74, Y:123.24, Z:35.31 [[ 2.59948102e-01 -9.61605434e-01 -8.79884856e-02 4.42739521e+02] [ 9.27697874e-01 2.73985954e-01 -2.53590914e-01 1.23235472e+02] [ 2.67962010e-01 -1.57062542e-02 9.63301446e-01 3.53087019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.77925415399994 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:442.74, Y:123.26, Z:35.32 [[ 2.65183984e-01 -9.60189387e-01 -8.78282219e-02 4.42743045e+02] [ 9.26291961e-01 2.78989217e-01 -2.53274988e-01 1.23262802e+02] [ 2.67695082e-01 -1.41901056e-02 9.63399182e-01 3.53158849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8092541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:442.75, Y:123.29, Z:35.32 [[ 2.64924848e-01 -9.60267813e-01 -8.77527917e-02 4.42751936e+02] [ 9.26366041e-01 2.78719394e-01 -2.53301121e-01 1.23288827e+02] [ 2.67695319e-01 -1.41854452e-02 9.63399185e-01 3.53230519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.83925415399995 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:442.76, Y:123.32, Z:35.33 [[ 2.71096039e-01 -9.58547396e-01 -8.77144689e-02 4.42755815e+02] [ 9.24523958e-01 2.84663504e-01 -2.53420875e-01 1.23315731e+02] [ 2.67885028e-01 -1.23927326e-02 9.63371181e-01 3.53304134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.8692541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:442.76, Y:123.34, Z:35.34 [[ 2.74393848e-01 -9.57627745e-01 -8.75049641e-02 4.42761768e+02] [ 9.23657856e-01 2.87783629e-01 -2.53054831e-01 1.23341397e+02] [ 2.67514823e-01 -1.13879587e-02 9.63486447e-01 3.53373222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.89925415399995 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:442.76, Y:123.37, Z:35.34 [[ 2.81140623e-01 -9.55706235e-01 -8.70950229e-02 4.42764942e+02] [ 9.21931299e-01 2.94170613e-01 -2.52004624e-01 1.23367533e+02] [ 2.66463186e-01 -9.44689061e-03 9.63798800e-01 3.53442194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9292541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:442.77, Y:123.39, Z:35.35 [[ 2.84354709e-01 -9.54771897e-01 -8.69081331e-02 4.42771892e+02] [ 9.21063391e-01 2.97217622e-01 -2.51602694e-01 1.23394245e+02] [ 2.66053810e-01 -8.50348888e-03 9.63920671e-01 3.53511946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.95925415399995 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:442.78, Y:123.42, Z:35.36 [[ 2.87646373e-01 -9.53809937e-01 -8.66381455e-02 4.42778275e+02] [ 9.20206518e-01 3.00316857e-01 -2.51057264e-01 1.23419355e+02] [ 2.65479808e-01 -7.50927495e-03 9.64087176e-01 3.53580860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 485.9892541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:442.78, Y:123.45, Z:35.36 [[ 2.94477494e-01 -9.51790350e-01 -8.58960749e-02 4.42784042e+02] [ 9.18639829e-01 3.06698873e-01 -2.49071608e-01 1.23445796e+02] [ 2.63408182e-01 -5.56157273e-03 9.64668440e-01 3.53644317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.01925415399995 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:442.79, Y:123.47, Z:35.37 [[ 2.97526678e-01 -9.50852466e-01 -8.57756644e-02 4.42791061e+02] [ 9.17692630e-01 3.09609485e-01 -2.48962255e-01 1.23470882e+02] [ 2.63283333e-01 -4.64278227e-03 9.64707381e-01 3.53710773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.0492541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:442.80, Y:123.50, Z:35.38 [[ 3.00207283e-01 -9.50033135e-01 -8.55139151e-02 4.42799150e+02] [ 9.17015801e-01 3.12125057e-01 -2.48314254e-01 1.23497380e+02] [ 2.62597805e-01 -3.87186362e-03 9.64897612e-01 3.53774452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.07925415399995 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:442.80, Y:123.52, Z:35.38 [[ 3.04083268e-01 -9.48815220e-01 -8.53407523e-02 4.42804725e+02] [ 9.15821800e-01 3.15819930e-01 -2.48048790e-01 1.23522808e+02] [ 2.62304778e-01 -2.72943483e-03 9.64981219e-01 3.53838673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.1092541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:442.81, Y:123.55, Z:35.39 [[ 3.04781717e-01 -9.48599154e-01 -8.52511018e-02 4.42812353e+02] [ 9.15637933e-01 3.16470180e-01 -2.47898771e-01 1.23548626e+02] [ 2.62135996e-01 -2.50412973e-03 9.65027693e-01 3.53904148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.13925415399996 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:442.82, Y:123.57, Z:35.40 [[ 3.04676809e-01 -9.48644010e-01 -8.51268713e-02 4.42820488e+02] [ 9.15717670e-01 3.16336035e-01 -2.47775425e-01 1.23574419e+02] [ 2.61979370e-01 -2.46075433e-03 9.65070337e-01 3.53970765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.16925415399993 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:442.83, Y:123.60, Z:35.40 [[ 3.02720328e-01 -9.49295009e-01 -8.48492164e-02 4.42829090e+02] [ 9.16546012e-01 3.14373005e-01 -2.47210481e-01 1.23599773e+02] [ 2.61349979e-01 -2.93257298e-03 9.65239653e-01 3.54032912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.19925415399996 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:442.84, Y:123.63, Z:35.41 [[ 3.00858445e-01 -9.49920346e-01 -8.44720833e-02 4.42838213e+02] [ 9.17425813e-01 3.12473866e-01 -2.46353326e-01 1.23625516e+02] [ 2.60411355e-01 -3.37939088e-03 9.65491847e-01 3.54095491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.22925415399993 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:442.85, Y:123.65, Z:35.42 [[ 2.96268117e-01 -9.51408156e-01 -8.39507244e-02 4.42846852e+02] [ 9.19314035e-01 3.07898741e-01 -2.45071564e-01 1.23651561e+02] [ 2.59011407e-01 -4.57018860e-03 9.65863450e-01 3.54161494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.25925415399996 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:442.86, Y:123.68, Z:35.42 [[ 2.94084470e-01 -9.52115988e-01 -8.36030491e-02 4.42856089e+02] [ 9.20254877e-01 3.05694651e-01 -2.44298468e-01 1.23677528e+02] [ 2.58157482e-01 -5.09172834e-03 9.66089431e-01 3.54229376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.28925415399993 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:442.86, Y:123.70, Z:35.43 [[ 2.91491805e-01 -9.52935230e-01 -8.33485153e-02 4.42864450e+02] [ 9.21239484e-01 3.03119997e-01 -2.43795160e-01 1.23702422e+02] [ 2.57585599e-01 -5.71965202e-03 9.66238555e-01 3.54296318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3192541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:442.87, Y:123.73, Z:35.44 [[ 2.89170078e-01 -9.53657419e-01 -8.31756723e-02 4.42873129e+02] [ 9.22095278e-01 3.00828322e-01 -2.43398067e-01 1.23727644e+02] [ 2.57139971e-01 -6.31245654e-03 9.66353553e-01 3.54362669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.34925415399994 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:442.88, Y:123.75, Z:35.44 [[ 2.84881655e-01 -9.54980865e-01 -8.27888301e-02 4.42882174e+02] [ 9.23707205e-01 2.96575400e-01 -2.42503673e-01 1.23753624e+02] [ 2.56139498e-01 -7.38779128e-03 9.66611596e-01 3.54424136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.3792541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:442.89, Y:123.78, Z:35.45 [[ 2.82839348e-01 -9.55599551e-01 -8.26522960e-02 4.42890648e+02] [ 9.24393573e-01 2.94563611e-01 -2.42340259e-01 1.23778276e+02] [ 2.55926601e-01 -7.85989053e-03 9.66664263e-01 3.54486990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.40925415399994 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:442.90, Y:123.80, Z:35.46 [[ 2.81072526e-01 -9.56139864e-01 -8.24305532e-02 4.42899450e+02] [ 9.25098518e-01 2.92793041e-01 -2.41795302e-01 1.23804075e+02] [ 2.55325220e-01 -8.29436607e-03 9.66819650e-01 3.54552282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4392541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:442.91, Y:123.83, Z:35.46 [[ 2.78373567e-01 -9.56980062e-01 -8.18371433e-02 4.42907520e+02] [ 9.26366860e-01 2.90016438e-01 -2.40280889e-01 1.23829756e+02] [ 2.53678137e-01 -8.92336920e-03 9.67247526e-01 3.54614841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.46925415399994 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:442.92, Y:123.85, Z:35.47 [[ 2.77531461e-01 -9.57259215e-01 -8.14314688e-02 4.42915857e+02] [ 9.26903599e-01 2.89089498e-01 -2.39326097e-01 1.23854575e+02] [ 2.52638094e-01 -9.05860020e-03 9.67518442e-01 3.54673548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.4992541539999 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:442.92, Y:123.88, Z:35.47 [[ 2.76101037e-01 -9.57670504e-01 -8.14581127e-02 4.42924053e+02] [ 9.27284749e-01 2.87712925e-01 -2.39508386e-01 1.23880296e+02] [ 2.52806669e-01 -9.40635188e-03 9.67471089e-01 3.54743264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.52925415399994 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:442.93, Y:123.91, Z:35.48 [[ 2.73987767e-01 -9.58299815e-01 -8.11921716e-02 4.42931976e+02] [ 9.28080567e-01 2.85593844e-01 -2.38961540e-01 1.23906623e+02] [ 2.52184784e-01 -9.88033799e-03 9.67628655e-01 3.54810086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.5592541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:442.94, Y:123.93, Z:35.49 [[ 2.73721581e-01 -9.58382072e-01 -8.11190554e-02 4.42940710e+02] [ 9.28159062e-01 2.85317851e-01 -2.38986359e-01 1.23932691e+02] [ 2.52184956e-01 -9.87566244e-03 9.67628658e-01 3.54881757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.58925415399995 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:442.95, Y:123.96, Z:35.49 [[ 2.72675501e-01 -9.58680907e-01 -8.11109652e-02 4.42948666e+02] [ 9.28418054e-01 2.84304809e-01 -2.39187569e-01 1.23957786e+02] [ 2.52364793e-01 -1.00842942e-02 9.67579619e-01 3.54945976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6192541539999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:442.96, Y:123.98, Z:35.50 [[ 2.71493638e-01 -9.59024277e-01 -8.10163020e-02 4.42956785e+02] [ 9.28820616e-01 2.83134464e-01 -2.39012842e-01 1.23983434e+02] [ 2.52157625e-01 -1.03591456e-02 9.67630725e-01 3.55008772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.64925415399995 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:442.96, Y:124.01, Z:35.51 [[ 2.69469668e-01 -9.59594111e-01 -8.10261740e-02 4.42964331e+02] [ 9.29346798e-01 2.81179627e-01 -2.39275043e-01 1.24008439e+02] [ 2.52389831e-01 -1.08240491e-02 9.67565095e-01 3.55066902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.6792541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:442.97, Y:124.03, Z:35.51 [[ 2.68565515e-01 -9.59854754e-01 -8.09408148e-02 4.42972410e+02] [ 9.29649731e-01 2.80281010e-01 -2.39152532e-01 1.24034734e+02] [ 2.52237868e-01 -1.10184838e-02 9.67602527e-01 3.55134896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.70925415399995 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:442.98, Y:124.06, Z:35.52 [[ 2.68311124e-01 -9.59930730e-01 -8.08834690e-02 4.42978443e+02] [ 9.29710004e-01 2.80020946e-01 -2.39222863e-01 1.24060058e+02] [ 2.52286443e-01 -1.10120151e-02 9.67589937e-01 3.55197970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7392541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:442.99, Y:124.09, Z:35.53 [[ 2.68641277e-01 -9.59848879e-01 -8.07588607e-02 4.42985961e+02] [ 9.29692003e-01 2.80306275e-01 -2.38958514e-01 1.24086553e+02] [ 2.52001278e-01 -1.08867467e-02 9.67665663e-01 3.55267512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.76925415399995 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:442.99, Y:124.11, Z:35.53 [[ 2.69363098e-01 -9.59651116e-01 -8.07047566e-02 4.42993363e+02] [ 9.29466762e-01 2.80992537e-01 -2.39028726e-01 1.24112759e+02] [ 2.52061618e-01 -1.06268707e-02 9.67652836e-01 3.55337682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.7992541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:443.00, Y:124.14, Z:35.54 [[ 2.70450505e-01 -9.59355368e-01 -8.05841262e-02 4.43000761e+02] [ 9.29190235e-01 2.82013942e-01 -2.38900908e-01 1.24139270e+02] [ 2.51916715e-01 -1.02671119e-02 9.67694453e-01 3.55407091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.82925415399995 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:443.01, Y:124.16, Z:35.55 [[ 2.72334159e-01 -9.58839156e-01 -8.03839449e-02 4.43006311e+02] [ 9.28745132e-01 2.83784215e-01 -2.38535110e-01 1.24164798e+02] [ 2.51528498e-01 -9.69493915e-03 9.67801334e-01 3.55473684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.8592541539999 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:443.01, Y:124.19, Z:35.55 [[ 2.72771558e-01 -9.58714778e-01 -8.03843992e-02 4.43013622e+02] [ 9.28582304e-01 2.84209261e-01 -2.38662945e-01 1.24191265e+02] [ 2.51655683e-01 -9.54306741e-03 9.67769780e-01 3.55544754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.88925415399996 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:443.02, Y:124.22, Z:35.56 [[ 2.73226336e-01 -9.58584517e-01 -8.03933699e-02 4.43021111e+02] [ 9.28379684e-01 2.84654502e-01 -2.38920441e-01 1.24217668e+02] [ 2.51909770e-01 -9.35621465e-03 9.67705497e-01 3.55610068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.91925415399993 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:443.03, Y:124.24, Z:35.57 [[ 2.72903580e-01 -9.58678184e-01 -8.03727309e-02 4.43028101e+02] [ 9.28433221e-01 2.84338348e-01 -2.39088809e-01 1.24243301e+02] [ 2.52062275e-01 -9.37252147e-03 9.67665627e-01 3.55682311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.94925415399996 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:443.03, Y:124.27, Z:35.57 [[ 2.72785473e-01 -9.58696162e-01 -8.05590176e-02 4.43033825e+02] [ 9.28249482e-01 2.84278623e-01 -2.39871975e-01 1.24268895e+02] [ 2.52865549e-01 -9.34527594e-03 9.67456294e-01 3.55747502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 486.97925415399993 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:443.04, Y:124.29, Z:35.58 [[ 2.72257797e-01 -9.58837863e-01 -8.06575745e-02 4.43040705e+02] [ 9.28288061e-01 2.83796785e-01 -2.40292867e-01 1.24294270e+02] [ 2.53292259e-01 -9.45185672e-03 9.67343628e-01 3.55815756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.00925415399996 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:443.05, Y:124.32, Z:35.59 [[ 2.71555538e-01 -9.59034803e-01 -8.06835630e-02 4.43048060e+02] [ 9.28419709e-01 2.83126289e-01 -2.40575037e-01 1.24320379e+02] [ 2.53563471e-01 -9.57872654e-03 9.67271324e-01 3.55887647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.03925415399993 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:443.05, Y:124.35, Z:35.60 [[ 2.70951785e-01 -9.59210817e-01 -8.06209599e-02 4.43054516e+02] [ 9.28590581e-01 2.82526377e-01 -2.40620820e-01 1.24345367e+02] [ 2.53583641e-01 -9.66722316e-03 9.67265156e-01 3.55956148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.0692541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:443.06, Y:124.37, Z:35.60 [[ 2.70567396e-01 -9.59327737e-01 -8.05206607e-02 4.43061879e+02] [ 9.28755860e-01 2.82127104e-01 -2.40451345e-01 1.24371226e+02] [ 2.53388706e-01 -9.72574101e-03 9.67315654e-01 3.56028739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.09925415399994 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:443.07, Y:124.40, Z:35.61 [[ 2.70246344e-01 -9.59445609e-01 -8.01937493e-02 4.43068801e+02] [ 9.29067843e-01 2.81726076e-01 -2.39715167e-01 1.24396921e+02] [ 2.52586334e-01 -9.72328624e-03 9.67525504e-01 3.56098841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.1292541539999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:443.07, Y:124.42, Z:35.62 [[ 2.70332758e-01 -9.59436121e-01 -8.00158098e-02 4.43074438e+02] [ 9.29132115e-01 2.81761891e-01 -2.39423786e-01 1.24422967e+02] [ 2.52257235e-01 -9.62116605e-03 9.67612381e-01 3.56179818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.15925415399994 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:443.08, Y:124.45, Z:35.62 [[ 2.70558181e-01 -9.59398524e-01 -7.97040983e-02 4.43081691e+02] [ 9.29269712e-01 2.81894812e-01 -2.38732314e-01 1.24449190e+02] [ 2.51507602e-01 -9.47562385e-03 9.67808937e-01 3.56249616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.1892541539999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:443.09, Y:124.47, Z:35.63 [[ 2.71557269e-01 -9.59145970e-01 -7.93451798e-02 4.43087586e+02] [ 9.29218665e-01 2.82764457e-01 -2.37901103e-01 1.24474471e+02] [ 2.50617881e-01 -9.12524822e-03 9.68043082e-01 3.56322135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.21925415399994 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:443.10, Y:124.50, Z:35.64 [[ 2.71995836e-01 -9.59042445e-01 -7.90939567e-02 4.43095020e+02] [ 9.29276159e-01 2.83120390e-01 -2.37252326e-01 1.24500381e+02] [ 2.49928162e-01 -8.96848352e-03 9.68222846e-01 3.56394490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.2492541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:443.10, Y:124.53, Z:35.65 [[ 2.72825332e-01 -9.58820975e-01 -7.89219656e-02 4.43102103e+02] [ 9.29115622e-01 2.83878645e-01 -2.36974842e-01 1.24525252e+02] [ 2.49620709e-01 -8.67489127e-03 9.68304832e-01 3.56463442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.27925415399994 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:443.11, Y:124.55, Z:35.65 [[ 2.76040134e-01 -9.57915173e-01 -7.87423992e-02 4.43108202e+02] [ 9.28269185e-01 2.86945874e-01 -2.36597519e-01 1.24550430e+02] [ 2.49235160e-01 -7.78373169e-03 9.68411714e-01 3.56531942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3092541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:443.12, Y:124.58, Z:35.66 [[ 2.77874060e-01 -9.57374748e-01 -7.88644382e-02 4.43115424e+02] [ 9.27587883e-01 2.88756999e-01 -2.37065634e-01 1.24575969e+02] [ 2.49733310e-01 -7.27930726e-03 9.68287295e-01 3.56601102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.33925415399995 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:443.12, Y:124.60, Z:35.67 [[ 2.79860865e-01 -9.56791046e-01 -7.89226889e-02 4.43122738e+02] [ 9.26876274e-01 2.90699357e-01 -2.37474750e-01 1.24601972e+02] [ 2.50156489e-01 -6.69167889e-03 9.68182293e-01 3.56668369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.3692541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:443.13, Y:124.63, Z:35.67 [[ 2.82139324e-01 -9.56118163e-01 -7.89649350e-02 4.43129488e+02] [ 9.26082392e-01 2.92919413e-01 -2.37843690e-01 1.24626780e+02] [ 2.50537035e-01 -6.02297797e-03 9.68088280e-01 3.56734504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.39925415399995 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:443.14, Y:124.65, Z:35.68 [[ 2.86608570e-01 -9.54763247e-01 -7.92632939e-02 4.43135522e+02] [ 9.24401902e-01 2.97328305e-01 -2.38907939e-01 1.24652935e+02] [ 2.51667740e-01 -4.79807681e-03 9.67801801e-01 3.56802669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4292541539999 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:443.14, Y:124.68, Z:35.69 [[ 2.88298498e-01 -9.54247718e-01 -7.93427364e-02 4.43143308e+02] [ 9.23741399e-01 2.98986642e-01 -2.39392597e-01 1.24679147e+02] [ 2.52162258e-01 -4.27564426e-03 9.67675521e-01 3.56874909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.45925415399995 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:443.15, Y:124.70, Z:35.69 [[ 2.90049076e-01 -9.53712513e-01 -7.93975762e-02 4.43150973e+02] [ 9.23078911e-01 3.00696680e-01 -2.39805819e-01 1.24704303e+02] [ 2.52580398e-01 -3.73477183e-03 9.67568703e-01 3.56941685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.4892541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:443.16, Y:124.73, Z:35.70 [[ 2.91324000e-01 -9.53323831e-01 -7.93977403e-02 4.43159178e+02] [ 9.22647660e-01 3.01931056e-01 -2.39914431e-01 1.24730404e+02] [ 2.52688788e-01 -3.36330762e-03 9.67541764e-01 3.57008777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.51925415399995 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:443.17, Y:124.76, Z:35.71 [[ 2.92674702e-01 -9.52901316e-01 -7.95022095e-02 4.43167065e+02] [ 9.22063316e-01 3.03266430e-01 -2.40476013e-01 1.24756137e+02] [ 2.53260261e-01 -2.92482554e-03 9.67393759e-01 3.57073331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.5492541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:443.18, Y:124.78, Z:35.71 [[ 2.92140705e-01 -9.53057915e-01 -7.95890636e-02 4.43175106e+02] [ 9.22092254e-01 3.02773332e-01 -2.40985859e-01 1.24781697e+02] [ 2.53770927e-01 -2.98668020e-03 9.67259736e-01 3.57144274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.57925415399995 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:443.18, Y:124.81, Z:35.72 [[ 2.91716610e-01 -9.53189824e-01 -7.95649362e-02 4.43183944e+02] [ 9.22183512e-01 3.02357435e-01 -2.41158770e-01 1.24807333e+02] [ 2.53927135e-01 -3.02345338e-03 9.67218625e-01 3.57199362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.6092541539999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:443.19, Y:124.83, Z:35.73 [[ 2.87970933e-01 -9.54329185e-01 -7.95521775e-02 4.43191996e+02] [ 9.23310868e-01 2.98731051e-01 -2.41364455e-01 1.24833257e+02] [ 2.54105849e-01 -3.94544261e-03 9.67168367e-01 3.57278092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.63925415399996 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:443.20, Y:124.86, Z:35.73 [[ 2.85814680e-01 -9.54977790e-01 -7.95448903e-02 4.43200673e+02] [ 9.23925717e-01 2.96644002e-01 -2.41585606e-01 1.24858399e+02] [ 2.54305402e-01 -4.44485719e-03 9.67113750e-01 3.57345075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.66925415399993 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:443.21, Y:124.88, Z:35.74 [[ 2.80292871e-01 -9.56612101e-01 -7.95562383e-02 4.43209924e+02] [ 9.25550200e-01 2.91305979e-01 -2.41862884e-01 1.24883375e+02] [ 2.54544169e-01 -5.84084997e-03 9.67043510e-01 3.57417670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.69925415399996 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:443.22, Y:124.91, Z:35.75 [[ 2.77411492e-01 -9.57457063e-01 -7.94911159e-02 4.43218838e+02] [ 9.26416049e-01 2.88501797e-01 -2.41909109e-01 1.24909039e+02] [ 2.54550915e-01 -6.53347861e-03 9.67037303e-01 3.57489471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.72925415399993 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:443.23, Y:124.93, Z:35.76 [[ 2.74133264e-01 -9.58407408e-01 -7.94115441e-02 4.43226933e+02] [ 9.27403780e-01 2.85309479e-01 -2.41910582e-01 1.24934192e+02] [ 2.54505760e-01 -7.33082850e-03 9.67043472e-01 3.57562532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.75925415399996 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:443.24, Y:124.96, Z:35.76 [[ 2.68212174e-01 -9.60104255e-01 -7.91331158e-02 4.43235714e+02] [ 9.29328131e-01 2.79503175e-01 -2.41303128e-01 1.24958579e+02] [ 2.53794117e-01 -8.82019402e-03 9.67218047e-01 3.57629157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.78925415399993 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:443.24, Y:124.98, Z:35.77 [[ 2.65420254e-01 -9.60894851e-01 -7.89504533e-02 4.43244431e+02] [ 9.30268714e-01 2.76749868e-01 -2.40851883e-01 1.24983849e+02] [ 2.53282862e-01 -9.51816892e-03 9.67345438e-01 3.57697245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8192541539999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:443.25, Y:125.01, Z:35.78 [[ 2.62974151e-01 -9.61566317e-01 -7.89608428e-02 4.43253191e+02] [ 9.30898240e-01 2.74387136e-01 -2.41122721e-01 1.25009687e+02] [ 2.53521326e-01 -1.00954666e-02 9.67277116e-01 3.57768456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.84925415399994 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:443.26, Y:125.03, Z:35.78 [[ 2.59266341e-01 -9.62585069e-01 -7.88095830e-02 4.43261724e+02] [ 9.32018839e-01 2.70756513e-01 -2.40897893e-01 1.25034333e+02] [ 2.53222923e-01 -1.09953007e-02 9.67345468e-01 3.57831002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.8792541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:443.27, Y:125.06, Z:35.79 [[ 2.57735561e-01 -9.62999254e-01 -7.87706608e-02 4.43270078e+02] [ 9.32447425e-01 2.69264612e-01 -2.40911535e-01 1.25059920e+02] [ 2.53207780e-01 -1.13580304e-02 9.67345241e-01 3.57901512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.90925415399994 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:443.28, Y:125.09, Z:35.80 [[ 2.56363293e-01 -9.63376701e-01 -7.86332869e-02 4.43278307e+02] [ 9.32888887e-01 2.67898808e-01 -2.40725059e-01 1.25086062e+02] [ 2.52974677e-01 -1.16430506e-02 9.67402839e-01 3.57970091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9392541539999 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:443.29, Y:125.11, Z:35.80 [[ 2.55149982e-01 -9.63703934e-01 -7.85698067e-02 4.43286540e+02] [ 9.33219703e-01 2.66708294e-01 -2.40764766e-01 1.25112520e+02] [ 2.52981171e-01 -1.18917658e-02 9.67398115e-01 3.58027808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.96925415399994 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:443.29, Y:125.14, Z:35.81 [[ 2.54112779e-01 -9.63984878e-01 -7.84847194e-02 4.43294264e+02] [ 9.33519552e-01 2.65681996e-01 -2.40737039e-01 1.25138317e+02] [ 2.52918842e-01 -1.20926621e-02 9.67411922e-01 3.58115438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 487.9992541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:443.30, Y:125.16, Z:35.82 [[ 2.53987960e-01 -9.64028272e-01 -7.83556395e-02 4.43302286e+02] [ 9.33604130e-01 2.65526499e-01 -2.40580561e-01 1.25163245e+02] [ 2.52731961e-01 -1.20485828e-02 9.67461311e-01 3.58182907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.02925415399994 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:443.31, Y:125.19, Z:35.83 [[ 2.54268094e-01 -9.63959230e-01 -7.82964876e-02 4.43310473e+02] [ 9.33535917e-01 2.65782604e-01 -2.40562465e-01 1.25189079e+02] [ 2.52702253e-01 -1.19252238e-02 9.67470599e-01 3.58251041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.0592541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:443.32, Y:125.21, Z:35.83 [[ 2.55599730e-01 -9.63618336e-01 -7.81567747e-02 4.43318181e+02] [ 9.33230900e-01 2.67034447e-01 -2.40359506e-01 1.25214588e+02] [ 2.52485378e-01 -1.15024924e-02 9.67532339e-01 3.58320546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.08925415399995 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:443.33, Y:125.24, Z:35.84 [[ 2.56683644e-01 -9.63335478e-01 -7.80913834e-02 4.43326452e+02] [ 9.32928111e-01 2.68067931e-01 -2.40384535e-01 1.25240669e+02] [ 2.52504746e-01 -1.11508684e-02 9.67531401e-01 3.58393171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1192541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:443.33, Y:125.27, Z:35.85 [[ 2.59482250e-01 -9.62587089e-01 -7.80708509e-02 4.43333327e+02] [ 9.32104282e-01 2.70774666e-01 -2.40546645e-01 1.25265665e+02] [ 2.52686703e-01 -1.03525896e-02 9.67492767e-01 3.58461265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.14925415399995 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:443.34, Y:125.29, Z:35.85 [[ 2.61081592e-01 -9.62152774e-01 -7.80925240e-02 4.43340704e+02] [ 9.31580906e-01 2.72331580e-01 -2.40816376e-01 1.25291437e+02] [ 2.52969204e-01 -9.87678137e-03 9.67423915e-01 3.58529222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.1792541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:443.35, Y:125.32, Z:35.86 [[ 2.62736480e-01 -9.61695202e-01 -7.81785144e-02 4.43348185e+02] [ 9.30974582e-01 2.73960480e-01 -2.41313040e-01 1.25317949e+02] [ 2.53487416e-01 -9.38047105e-03 9.67293201e-01 3.58598257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.20925415399995 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:443.35, Y:125.35, Z:35.87 [[ 2.71057517e-01 -9.61276681e-01 -4.97490110e-02 4.43348100e+02] [ 9.29791631e-01 2.74850490e-01 -2.44836133e-01 1.25354180e+02] [ 2.49028805e-01 2.01084603e-02 9.68287305e-01 3.58666620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2392541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:443.38, Y:125.37, Z:35.86 [[ 2.67930636e-01 -9.57135193e-01 -1.10024528e-01 4.43377268e+02] [ 9.28941883e-01 2.86932501e-01 -2.33958793e-01 1.25368749e+02] [ 2.55499808e-01 -3.95216636e-02 9.66000976e-01 3.58641433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.26925415399995 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:443.37, Y:125.40, Z:35.88 [[ 2.69532993e-01 -9.59744499e-01 -7.90092576e-02 4.43368142e+02] [ 9.28074958e-01 2.80777229e-01 -2.44624243e-01 1.25396468e+02] [ 2.56960772e-01 -7.39220890e-03 9.66393562e-01 3.58804998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.2992541539999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:443.37, Y:125.42, Z:35.89 [[ 2.72138248e-01 -9.59007562e-01 -7.90270172e-02 4.43374186e+02] [ 9.27248556e-01 2.83302544e-01 -2.44846451e-01 1.25422841e+02] [ 2.57198153e-01 -6.64560345e-03 9.66335835e-01 3.58877144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.32925415399995 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:443.38, Y:125.45, Z:35.90 [[ 2.73099503e-01 -9.58748922e-01 -7.88490036e-02 4.43381434e+02] [ 9.27059887e-01 2.84184155e-01 -2.44539019e-01 1.25448883e+02] [ 2.56859158e-01 -6.31426384e-03 9.66428219e-01 3.58950227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.3592541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:443.39, Y:125.47, Z:35.90 [[ 2.73992755e-01 -9.58503916e-01 -7.87287247e-02 4.43388451e+02] [ 9.26836789e-01 2.85016206e-01 -2.44416302e-01 1.25473495e+02] [ 2.56712945e-01 -6.00038225e-03 9.66469068e-01 3.59018415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.38925415399996 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:443.40, Y:125.50, Z:35.91 [[ 2.74870633e-01 -9.58254667e-01 -7.87027811e-02 4.43396050e+02] [ 9.26568947e-01 2.85858597e-01 -2.44448052e-01 1.25499526e+02] [ 2.56741353e-01 -5.73196219e-03 9.66463151e-01 3.59094667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.41925415399993 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:443.40, Y:125.53, Z:35.92 [[ 2.75783640e-01 -9.58007243e-01 -7.85207372e-02 4.43403511e+02] [ 9.26397066e-01 2.86692840e-01 -2.44122290e-01 1.25525908e+02] [ 2.56382256e-01 -5.41644668e-03 9.66560294e-01 3.59167442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.44925415399996 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:443.41, Y:125.55, Z:35.92 [[ 2.77343602e-01 -9.57583121e-01 -7.81990588e-02 4.43409982e+02] [ 9.26152390e-01 2.88115088e-01 -2.43375114e-01 1.25552407e+02] [ 2.55582230e-01 -4.92571446e-03 9.66774773e-01 3.59243727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.47925415399993 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:443.42, Y:125.58, Z:35.93 [[ 2.77078785e-01 -9.57665842e-01 -7.81247851e-02 4.43418278e+02] [ 9.26231629e-01 2.87840093e-01 -2.43398955e-01 1.25578598e+02] [ 2.55582310e-01 -4.92096038e-03 9.66774776e-01 3.59315487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.50925415399996 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:443.43, Y:125.60, Z:35.94 [[ 2.77330329e-01 -9.57601714e-01 -7.80182393e-02 4.43426206e+02] [ 9.26188988e-01 2.88055681e-01 -2.43306150e-01 1.25604587e+02] [ 2.55463983e-01 -4.78345968e-03 9.66806740e-01 3.59386680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.53925415399993 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:443.43, Y:125.63, Z:35.95 [[ 2.77283211e-01 -9.57629530e-01 -7.78441011e-02 4.43433973e+02] [ 9.26293688e-01 2.87964204e-01 -2.43015679e-01 1.25630147e+02] [ 2.55135305e-01 -4.72233162e-03 9.66893829e-01 3.59454439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.5692541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:443.44, Y:125.66, Z:35.95 [[ 2.77124204e-01 -9.57695451e-01 -7.75989575e-02 4.43441362e+02] [ 9.26496090e-01 2.87745391e-01 -2.42502753e-01 1.25655513e+02] [ 2.54572526e-01 -4.69174832e-03 9.67042303e-01 3.59523028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.59925415399994 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:443.45, Y:125.68, Z:35.96 [[ 2.76820248e-01 -9.57784627e-01 -7.75832348e-02 4.43449382e+02] [ 9.26572074e-01 2.87447641e-01 -2.42565547e-01 1.25680867e+02] [ 2.54626670e-01 -4.73940373e-03 9.67027816e-01 3.59593453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.6292541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:443.46, Y:125.71, Z:35.96 [[ 2.76874554e-01 -9.57767282e-01 -7.76035715e-02 4.43457511e+02] [ 9.26471172e-01 2.87506887e-01 -2.42880540e-01 1.25705575e+02] [ 2.54934596e-01 -4.65003060e-03 9.66947118e-01 3.59647354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.65925415399994 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:443.47, Y:125.73, Z:35.97 [[ 2.75638295e-01 -9.58120295e-01 -7.76468303e-02 4.43465228e+02] [ 9.26772873e-01 2.86323313e-01 -2.43127542e-01 1.25731069e+02] [ 2.55177530e-01 -4.94571509e-03 9.66881569e-01 3.59730774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.6892541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:443.47, Y:125.76, Z:35.98 [[ 2.75119143e-01 -9.58268911e-01 -7.76540483e-02 4.43473169e+02] [ 9.26854955e-01 2.85824417e-01 -2.43401510e-01 1.25756588e+02] [ 2.55439523e-01 -5.00962465e-03 9.66812057e-01 3.59801698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.71925415399994 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:443.48, Y:125.78, Z:35.99 [[ 2.74355828e-01 -9.58487405e-01 -7.76580578e-02 4.43481471e+02] [ 9.27011782e-01 2.85088566e-01 -2.43667120e-01 1.25781849e+02] [ 2.55691290e-01 -5.13844016e-03 9.66744827e-01 3.59869880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.7492541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:443.49, Y:125.81, Z:35.99 [[ 2.74002747e-01 -9.58583343e-01 -7.77204533e-02 4.43489574e+02] [ 9.26992179e-01 2.84765483e-01 -2.44119070e-01 1.25807084e+02] [ 2.56140577e-01 -5.15695646e-03 9.66625786e-01 3.59940650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.77925415399994 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:443.50, Y:125.83, Z:36.00 [[ 2.73838473e-01 -9.58638421e-01 -7.76200203e-02 4.43497740e+02] [ 9.27102830e-01 2.84579805e-01 -2.43915308e-01 1.25832226e+02] [ 2.55915676e-01 -5.16834475e-03 9.66685293e-01 3.60005346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8092541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:443.51, Y:125.86, Z:36.01 [[ 2.73603148e-01 -9.58702316e-01 -7.76607224e-02 4.43505922e+02] [ 9.27105776e-01 2.84363943e-01 -2.44155745e-01 1.25857649e+02] [ 2.56156587e-01 -5.19792401e-03 9.66621324e-01 3.60071953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.83925415399995 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:443.51, Y:125.88, Z:36.01 [[ 2.73711693e-01 -9.58657941e-01 -7.78258416e-02 4.43513670e+02] [ 9.26855443e-01 2.84515393e-01 -2.44928520e-01 1.25882281e+02] [ 2.56945320e-01 -5.09350500e-03 9.66412520e-01 3.60136215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.8692541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:443.52, Y:125.91, Z:36.02 [[ 2.73359461e-01 -9.58739191e-01 -7.80625878e-02 4.43521581e+02] [ 9.26712148e-01 2.84240409e-01 -2.45788498e-01 1.25908018e+02] [ 2.57835607e-01 -5.15293701e-03 9.66175060e-01 3.60207790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.89925415399995 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:443.53, Y:125.93, Z:36.03 [[ 2.73136644e-01 -9.58804093e-01 -7.80454053e-02 4.43529672e+02] [ 9.26725574e-01 2.84021684e-01 -2.45990638e-01 1.25933477e+02] [ 2.58023418e-01 -5.13761560e-03 9.66125003e-01 3.60273812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9292541539999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:443.54, Y:125.96, Z:36.03 [[ 2.72739333e-01 -9.58903242e-01 -7.82165544e-02 4.43537829e+02] [ 9.26617543e-01 2.83686185e-01 -2.46783462e-01 1.25958156e+02] [ 2.58830417e-01 -5.16927470e-03 9.65908947e-01 3.60340755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.95925415399995 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:443.55, Y:125.98, Z:36.04 [[ 2.71895181e-01 -9.59141202e-01 -7.82378790e-02 4.43546032e+02] [ 9.26816245e-01 2.82876989e-01 -2.46966106e-01 1.25984129e+02] [ 2.59007063e-01 -5.36324319e-03 9.65860537e-01 3.60412652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 488.9892541539999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:443.55, Y:126.01, Z:36.05 [[ 2.71011273e-01 -9.59393282e-01 -7.82139429e-02 4.43554404e+02] [ 9.27031194e-01 2.82017671e-01 -2.47142061e-01 1.26009369e+02] [ 2.59164147e-01 -5.52848033e-03 9.65817468e-01 3.60485027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.01925415399995 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:443.56, Y:126.03, Z:36.06 [[ 2.69922525e-01 -9.59697656e-01 -7.82447440e-02 4.43562337e+02] [ 9.27254386e-01 2.80975719e-01 -2.47491311e-01 1.26033651e+02] [ 2.59501704e-01 -5.74930265e-03 9.65725536e-01 3.60560219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.0492541539999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:443.57, Y:126.06, Z:36.06 [[ 2.67237037e-01 -9.60450253e-01 -7.82283677e-02 4.43570703e+02] [ 9.28021864e-01 2.78377086e-01 -2.47551242e-01 1.26058445e+02] [ 2.59537638e-01 -6.44277543e-03 9.65711502e-01 3.60636049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.07925415399995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:443.58, Y:126.08, Z:36.07 [[ 2.65872732e-01 -9.60831343e-01 -7.81973180e-02 4.43579171e+02] [ 9.28408265e-01 2.77051034e-01 -2.47590019e-01 1.26083132e+02] [ 2.59556898e-01 -6.77160185e-03 9.65704076e-01 3.60706563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.1092541539999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:443.59, Y:126.11, Z:36.08 [[ 2.64280901e-01 -9.61273878e-01 -7.81545712e-02 4.43587959e+02] [ 9.28868178e-01 2.75501818e-01 -2.47593734e-01 1.26108814e+02] [ 2.59537115e-01 -7.16099913e-03 9.65706584e-01 3.60776007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.13925415399996 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:443.60, Y:126.13, Z:36.08 [[ 2.62131193e-01 -9.61871396e-01 -7.80426538e-02 4.43596983e+02] [ 9.29520693e-01 2.73394571e-01 -2.47480687e-01 1.26132899e+02] [ 2.59381032e-01 -7.66985402e-03 9.65744611e-01 3.60846506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.16925415399993 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:443.61, Y:126.16, Z:36.09 [[ 2.61188189e-01 -9.62142807e-01 -7.78585124e-02 4.43605568e+02] [ 9.29913860e-01 2.72432120e-01 -2.47064674e-01 1.26158665e+02] [ 2.58922659e-01 -7.87133489e-03 9.65865984e-01 3.60917858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.19925415399996 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:443.61, Y:126.18, Z:36.10 [[ 2.59800161e-01 -9.62499706e-01 -7.80909296e-02 4.43614552e+02] [ 9.30019941e-01 2.71159395e-01 -2.48063482e-01 1.26184204e+02] [ 2.59936118e-01 -8.17918924e-03 9.65591174e-01 3.60990276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.22925415399993 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:443.62, Y:126.21, Z:36.11 [[ 2.59580536e-01 -9.62551953e-01 -7.81772534e-02 4.43622742e+02] [ 9.29931750e-01 2.70974182e-01 -2.48595922e-01 1.26209274e+02] [ 2.60470508e-01 -8.16884740e-03 9.65447246e-01 3.61060331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.25925415399996 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:443.63, Y:126.24, Z:36.11 [[ 2.59405587e-01 -9.62583697e-01 -7.83668810e-02 4.43630737e+02] [ 9.29754643e-01 2.70861321e-01 -2.49380128e-01 1.26235186e+02] [ 2.61275803e-01 -8.17137284e-03 9.65229602e-01 3.61133275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.28925415399993 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:443.64, Y:126.26, Z:36.12 [[ 2.60781360e-01 -9.62193006e-01 -7.85983517e-02 4.43638230e+02] [ 9.29078508e-01 2.72258805e-01 -2.50376255e-01 1.26260538e+02] [ 2.62309375e-01 -7.73057903e-03 9.64952864e-01 3.61212041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3192541539999 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:443.65, Y:126.29, Z:36.13 [[ 2.61891401e-01 -9.61895934e-01 -7.85436537e-02 4.43645800e+02] [ 9.28745874e-01 2.73316893e-01 -2.50457535e-01 1.26285760e+02] [ 2.62381393e-01 -7.35441948e-03 9.64936225e-01 3.61288610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.34925415399994 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:443.65, Y:126.31, Z:36.14 [[ 2.62891629e-01 -9.61631904e-01 -7.84351531e-02 4.43653476e+02] [ 9.28523316e-01 2.74252717e-01 -2.50259662e-01 1.26311347e+02] [ 2.62168729e-01 -7.03769826e-03 9.64996388e-01 3.61361448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.3792541539999 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:443.66, Y:126.34, Z:36.14 [[ 2.65817602e-01 -9.60854074e-01 -7.81053802e-02 4.43660528e+02] [ 9.27927026e-01 2.76986346e-01 -2.49459414e-01 1.26336859e+02] [ 2.61328218e-01 -6.16538988e-03 9.65230310e-01 3.61442010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.40925415399994 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:443.67, Y:126.36, Z:36.15 [[ 2.67218225e-01 -9.60481201e-01 -7.79120198e-02 4.43667978e+02] [ 9.27636324e-01 2.78286254e-01 -2.49093579e-01 1.26362038e+02] [ 2.60931544e-01 -5.71167564e-03 9.65340409e-01 3.61514682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4392541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:443.66, Y:126.40, Z:36.16 [[ 2.72118261e-01 -9.61640491e-01 -3.46297215e-02 4.43660153e+02] [ 9.28217749e-01 2.71808477e-01 -2.54031421e-01 1.26399995e+02] [ 2.53699552e-01 3.69826664e-02 9.66575822e-01 3.61636235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.46925415399994 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:443.71, Y:126.41, Z:36.15 [[ 2.69826853e-01 -9.54979763e-01 -1.23317160e-01 4.43707537e+02] [ 9.26808936e-01 2.92310313e-01 -2.35753847e-01 1.26411197e+02] [ 2.61187031e-01 -5.06787277e-02 9.63956950e-01 3.61531168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.4992541539999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:443.68, Y:126.45, Z:36.18 [[ 2.73939956e-01 -9.60846623e-01 -4.16013005e-02 4.43678726e+02] [ 9.27107535e-01 2.75330818e-01 -2.54292272e-01 1.26450017e+02] [ 2.55789991e-01 3.10919347e-02 9.66232256e-01 3.61770278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.52925415399994 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:443.72, Y:126.46, Z:36.17 [[ 2.72763414e-01 -9.55027806e-01 -1.16284179e-01 4.43720088e+02] [ 9.25393201e-01 2.93498149e-01 -2.39804630e-01 1.26463896e+02] [ 2.63149281e-01 -4.21986592e-02 9.63831795e-01 3.61706299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.5592541539999 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:443.71, Y:126.49, Z:36.19 [[ 2.73400566e-01 -9.58675009e-01 -7.87042393e-02 4.43709385e+02] [ 9.24784521e-01 2.84479378e-01 -2.52675828e-01 1.26492603e+02] [ 2.64623735e-01 -3.70274781e-03 9.64344632e-01 3.61896975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.58925415399995 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:443.72, Y:126.52, Z:36.20 [[ 2.72970726e-01 -9.58763696e-01 -7.91148412e-02 4.43718307e+02] [ 9.24442064e-01 2.84179966e-01 -2.54260924e-01 1.26516953e+02] [ 2.66258996e-01 -3.73129793e-03 9.63894301e-01 3.61974570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6192541539999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:443.73, Y:126.54, Z:36.20 [[ 2.71996909e-01 -9.59040995e-01 -7.91078428e-02 4.43726946e+02] [ 9.24685081e-01 2.83239815e-01 -2.54426232e-01 1.26542168e+02] [ 2.66411678e-01 -3.94669335e-03 9.63851255e-01 3.62047118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.64925415399995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:443.74, Y:126.57, Z:36.21 [[ 2.69204848e-01 -9.59818535e-01 -7.92283393e-02 4.43736717e+02] [ 9.25316535e-01 2.80582983e-01 -2.55073517e-01 1.26566377e+02] [ 2.67054413e-01 -4.64426513e-03 9.63670261e-01 3.62122337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.6792541539999 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:443.75, Y:126.59, Z:36.22 [[ 2.67473963e-01 -9.60308403e-01 -7.91545981e-02 4.43745669e+02] [ 9.25860080e-01 2.78893951e-01 -2.54953479e-01 1.26590895e+02] [ 2.66909707e-01 -5.09266535e-03 9.63708085e-01 3.62194277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.70925415399995 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:443.75, Y:126.62, Z:36.23 [[ 2.65036890e-01 -9.60993579e-01 -7.90366236e-02 4.43754809e+02] [ 9.26637095e-01 2.76511388e-01 -2.54725631e-01 1.26616379e+02] [ 2.66644222e-01 -5.72657824e-03 9.63778017e-01 3.62267423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7392541539999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:443.77, Y:126.64, Z:36.23 [[ 2.60110489e-01 -9.62356525e-01 -7.88191086e-02 4.43765562e+02] [ 9.28176296e-01 2.71699738e-01 -2.54299067e-01 1.26641037e+02] [ 2.66141497e-01 -7.01217365e-03 9.63908467e-01 3.62343072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.76925415399995 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:443.78, Y:126.67, Z:36.24 [[ 2.57544180e-01 -9.63063554e-01 -7.86103430e-02 4.43775006e+02] [ 9.29023942e-01 2.69165762e-01 -2.53898222e-01 1.26666063e+02] [ 2.65679337e-01 -7.64088125e-03 9.64031175e-01 3.62414245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.7992541539999 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:443.78, Y:126.69, Z:36.25 [[ 2.54656386e-01 -9.63838663e-01 -7.85185157e-02 4.43783926e+02] [ 9.29841073e-01 2.66355297e-01 -2.53870901e-01 1.26689964e+02] [ 2.65604412e-01 -8.35989482e-03 9.64045854e-01 3.62485649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.82925415399995 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:443.79, Y:126.72, Z:36.26 [[ 2.51415940e-01 -9.64691626e-01 -7.84862547e-02 4.43793242e+02] [ 9.30709614e-01 2.63221284e-01 -2.53957026e-01 1.26715203e+02] [ 2.65649469e-01 -9.19906752e-03 9.64025797e-01 3.62557230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.8592541539999 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:443.80, Y:126.74, Z:36.26 [[ 2.44738984e-01 -9.66420607e-01 -7.83201126e-02 4.43804194e+02] [ 9.32593788e-01 2.56731827e-01 -2.53687987e-01 1.26740040e+02] [ 2.65276564e-01 -1.09535102e-02 9.64110142e-01 3.62626246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.88925415399996 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:443.81, Y:126.77, Z:36.27 [[ 2.41117516e-01 -9.67332422e-01 -7.82964177e-02 4.43813667e+02] [ 9.33495925e-01 2.53233133e-01 -2.53886468e-01 1.26765657e+02] [ 2.65419859e-01 -1.18729124e-02 9.64059818e-01 3.62698799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.91925415399993 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:443.82, Y:126.79, Z:36.28 [[ 2.34418360e-01 -9.68985240e-01 -7.82025427e-02 4.43823893e+02] [ 9.35242583e-01 2.46742356e-01 -2.53849405e-01 1.26789815e+02] [ 2.65272206e-01 -1.36313869e-02 9.64077197e-01 3.62767202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.94925415399996 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:443.83, Y:126.82, Z:36.28 [[ 2.31147938e-01 -9.69760991e-01 -7.83214627e-02 4.43832935e+02] [ 9.35920024e-01 2.43625048e-01 -2.54363019e-01 1.26815221e+02] [ 2.65752404e-01 -1.45071377e-02 9.63932157e-01 3.62836647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 489.97925415399993 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:443.84, Y:126.84, Z:36.29 [[ 2.28084265e-01 -9.70497298e-01 -7.81828833e-02 4.43841755e+02] [ 9.36742629e-01 2.40628537e-01 -2.54187243e-01 1.26840995e+02] [ 2.65501066e-01 -1.52611291e-02 9.63989773e-01 3.62909245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.00925415399996 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:443.85, Y:126.87, Z:36.30 [[ 2.24237898e-01 -9.72217669e-01 -6.71577974e-02 4.43846568e+02] [ 9.38198648e-01 2.34006093e-01 -2.54998914e-01 1.26868100e+02] [ 2.63629784e-01 -5.82693414e-03 9.64606336e-01 3.62964399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.03925415399993 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:443.87, Y:126.89, Z:36.30 [[ 2.22582495e-01 -9.70915689e-01 -8.82029376e-02 4.43865692e+02] [ 9.38087627e-01 2.37927633e-01 -2.51757911e-01 1.26890574e+02] [ 2.65421622e-01 -2.67051804e-02 9.63762521e-01 3.63020191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.0692541539999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:443.87, Y:126.92, Z:36.31 [[ 2.21892321e-01 -9.71941328e-01 -7.80631347e-02 4.43869160e+02] [ 9.38196277e-01 2.34624107e-01 -2.54439136e-01 1.26916168e+02] [ 2.65615405e-01 -1.67804521e-02 9.63933023e-01 3.63113122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.09925415399994 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:443.88, Y:126.94, Z:36.32 [[ 2.21988376e-01 -9.71911235e-01 -7.81646476e-02 4.43878042e+02] [ 9.38030903e-01 2.34752381e-01 -2.54930080e-01 1.26942012e+02] [ 2.66118746e-01 -1.67293406e-02 9.63795073e-01 3.63184620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.1292541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:443.89, Y:126.97, Z:36.32 [[ 2.23215027e-01 -9.71619773e-01 -7.82947513e-02 4.43885706e+02] [ 9.37532457e-01 2.35982807e-01 -2.55626693e-01 1.26966530e+02] [ 2.66848165e-01 -1.63441513e-02 9.63599982e-01 3.63248372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.15925415399994 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:443.89, Y:127.00, Z:36.33 [[ 2.25263366e-01 -9.71552672e-01 -7.30877655e-02 4.43891878e+02] [ 9.37515985e-01 2.36565852e-01 -2.55147754e-01 1.26996202e+02] [ 2.65179552e-01 -1.10455064e-02 9.64135780e-01 3.63312274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.1892541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:443.90, Y:127.02, Z:36.34 [[ 2.26503840e-01 -9.70321553e-01 -8.46882193e-02 4.43903720e+02] [ 9.36653216e-01 2.40840869e-01 -2.54315608e-01 1.27018360e+02] [ 2.67164300e-01 -2.17200310e-02 9.63406185e-01 3.63369042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.21925415399994 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:443.90, Y:127.04, Z:36.35 [[ 2.32687981e-01 -9.69712751e-01 -7.42528378e-02 4.43903815e+02] [ 9.34466009e-01 2.44079810e-01 -2.59226395e-01 1.27043723e+02] [ 2.69498759e-01 -9.06788669e-03 9.62958043e-01 3.63462878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.2492541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:443.90, Y:127.08, Z:36.35 [[ 2.38634844e-01 -9.70145333e-01 -4.32602023e-02 4.43902750e+02] [ 9.35163629e-01 2.41581555e-01 -2.59050841e-01 1.27082446e+02] [ 2.61767832e-01 2.13631893e-02 9.64894407e-01 3.63534642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.27925415399994 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:443.92, Y:127.11, Z:36.35 [[ 2.46676336e-01 -9.66923793e-01 -6.48780622e-02 4.43923785e+02] [ 9.34933451e-01 2.55065368e-01 -2.46659888e-01 1.27110634e+02] [ 2.55049461e-01 1.88486788e-04 9.66927989e-01 3.63495728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3092541539999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:443.96, Y:127.12, Z:36.35 [[ 2.43695473e-01 -9.60455675e-01 -1.34675214e-01 4.43956157e+02] [ 9.33423042e-01 2.69970436e-01 -2.36299362e-01 1.27119299e+02] [ 2.63313389e-01 -6.81238627e-02 9.62302031e-01 3.63518878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.33925415399995 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:443.93, Y:127.15, Z:36.38 [[ 2.48993589e-01 -9.65750285e-01 -7.29971242e-02 4.43931138e+02] [ 9.31078886e-01 2.59440832e-01 -2.56481115e-01 1.27148057e+02] [ 2.66635144e-01 -4.10392778e-03 9.63788804e-01 3.63760377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.3692541539999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:443.94, Y:127.17, Z:36.38 [[ 2.48793432e-01 -9.65575259e-01 -7.59358088e-02 4.43940589e+02] [ 9.31140652e-01 2.60026942e-01 -2.55662033e-01 1.27174197e+02] [ 2.66606290e-01 -7.09988370e-03 9.63779372e-01 3.63824227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.39925415399995 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:443.93, Y:127.21, Z:36.39 [[ 2.58100779e-01 -9.65365871e-01 -3.81146104e-02 4.43934599e+02] [ 9.31354780e-01 2.59107665e-01 -2.55815345e-01 1.27212716e+02] [ 2.56831191e-01 3.05279154e-02 9.65974009e-01 3.63908993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4292541539999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:443.97, Y:127.23, Z:36.38 [[ 2.57371693e-01 -9.59871946e-01 -1.11380690e-01 4.43970058e+02] [ 9.29919484e-01 2.77362813e-01 -2.41494561e-01 1.27225792e+02] [ 2.62696716e-01 -4.14212100e-02 9.63988962e-01 3.63843633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.45925415399995 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:443.97, Y:127.26, Z:36.40 [[ 2.61193368e-01 -9.61543341e-01 -8.49260142e-02 4.43965015e+02] [ 9.28375166e-01 2.74328345e-01 -2.50725968e-01 1.27255531e+02] [ 2.64381498e-01 -1.33552425e-02 9.64325703e-01 3.64026817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.4892541539999 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:443.97, Y:127.28, Z:36.41 [[ 2.68271244e-01 -9.60274581e-01 -7.68327377e-02 4.43967607e+02] [ 9.26448978e-01 2.79036104e-01 -2.52648261e-01 1.27282712e+02] [ 2.64050811e-01 -3.40334791e-03 9.64502767e-01 3.64114714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.51925415399995 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:443.95, Y:127.33, Z:36.42 [[ 2.78862455e-01 -9.60323409e-01 -3.83171474e-03 4.43951325e+02] [ 9.27283631e-01 2.70301661e-01 -2.59002086e-01 1.27325828e+02] [ 2.49761485e-01 6.86728715e-02 9.65869162e-01 3.64209053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.5492541539999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:444.02, Y:127.33, Z:36.41 [[ 2.73678582e-01 -9.50172055e-01 -1.49241750e-01 4.44020782e+02] [ 9.24870548e-01 3.02572683e-01 -2.30356770e-01 1.27331429e+02] [ 2.64035042e-01 -7.49855853e-02 9.61593812e-01 3.64062332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.57925415399995 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:443.96, Y:127.38, Z:36.44 [[ 2.85932322e-01 -9.58226418e-01 6.69625159e-03 4.43963206e+02] [ 9.25477499e-01 2.74334732e-01 -2.61212278e-01 1.27382521e+02] [ 2.48463491e-01 8.08862635e-02 9.65258155e-01 3.64369918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.6092541539999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:444.04, Y:127.38, Z:36.42 [[ 2.78322313e-01 -9.47241253e-01 -1.58967602e-01 4.44041778e+02] [ 9.23602190e-01 3.09368808e-01 -2.26384485e-01 1.27384793e+02] [ 2.63620341e-01 -8.38149715e-02 9.60978338e-01 3.64179054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.63925415399996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:444.01, Y:127.42, Z:36.45 [[ 2.79527618e-01 -9.57113886e-01 -7.61401377e-02 4.44007869e+02] [ 9.23485319e-01 2.89711942e-01 -2.51479336e-01 1.27416630e+02] [ 2.62753071e-01 -1.88797823e-05 9.64863111e-01 3.64477611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.66925415399993 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:444.02, Y:127.44, Z:36.45 [[ 2.78715169e-01 -9.57377258e-01 -7.58065942e-02 4.44016655e+02] [ 9.23983927e-01 2.88840356e-01 -2.50649061e-01 1.27442662e+02] [ 2.61861714e-01 -1.84379353e-04 9.65105387e-01 3.64546775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.69925415399996 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:444.03, Y:127.47, Z:36.46 [[ 2.77379731e-01 -9.57786786e-01 -7.55311737e-02 4.44025660e+02] [ 9.24581239e-01 2.87479106e-01 -2.50010591e-01 1.27468058e+02] [ 2.61170475e-01 -4.86835700e-04 9.65292570e-01 3.64614925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.72925415399993 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:444.04, Y:127.49, Z:36.47 [[ 2.74096559e-01 -9.58761467e-01 -7.51500227e-02 4.44036892e+02] [ 9.25859184e-01 2.84208899e-01 -2.49018217e-01 1.27492595e+02] [ 2.60107376e-01 -1.32330242e-03 9.65578791e-01 3.64675170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.75925415399996 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:444.05, Y:127.52, Z:36.47 [[ 2.71416776e-01 -9.59530273e-01 -7.50639020e-02 4.44046187e+02] [ 9.26700642e-01 2.81598261e-01 -2.48854054e-01 1.27518363e+02] [ 2.59920863e-01 -2.01860119e-03 9.65627812e-01 3.64749223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.78925415399993 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:444.05, Y:127.54, Z:36.48 [[ 2.69925046e-01 -9.60670511e-01 -6.52122665e-02 4.44049105e+02] [ 9.26574948e-01 2.77573157e-01 -2.53795209e-01 1.27542210e+02] [ 2.61914748e-01 8.08163113e-03 9.65057176e-01 3.64840441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8192541539999 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:444.07, Y:127.57, Z:36.49 [[ 2.65586760e-01 -9.60494205e-01 -8.31538037e-02 4.44068426e+02] [ 9.28470488e-01 2.78049313e-01 -2.46233897e-01 1.27568781e+02] [ 2.59627089e-01 -1.18093897e-02 9.65636740e-01 3.64867922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.84925415399994 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:444.07, Y:127.59, Z:36.50 [[ 2.62185113e-01 -9.62116800e-01 -7.47678391e-02 4.44073158e+02] [ 9.29496748e-01 2.72602761e-01 -2.48442208e-01 1.27593523e+02] [ 2.59412342e-01 -4.35861488e-03 9.65756822e-01 3.64960257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.8792541539999 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:444.08, Y:127.62, Z:36.50 [[ 2.54452909e-01 -9.64200163e-01 -7.46442408e-02 4.44084164e+02] [ 9.31742393e-01 2.65098102e-01 -2.48151385e-01 1.27617333e+02] [ 2.59055653e-01 -6.40636175e-03 9.65841150e-01 3.65024470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.90925415399994 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:444.09, Y:127.64, Z:36.51 [[ 2.50045987e-01 -9.65361784e-01 -7.45226813e-02 4.44093597e+02] [ 9.33010845e-01 2.60806132e-01 -2.47933308e-01 1.27642315e+02] [ 2.58781313e-01 -7.53574105e-03 9.65906540e-01 3.65089911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9392541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:444.10, Y:127.67, Z:36.52 [[ 2.42575293e-01 -9.67279490e-01 -7.43479323e-02 4.44104530e+02] [ 9.35093903e-01 2.53536982e-01 -2.47625508e-01 1.27666047e+02] [ 2.58373025e-01 -9.45446794e-03 9.65998961e-01 3.65158960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.96925415399994 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:444.11, Y:127.69, Z:36.52 [[ 2.39140021e-01 -9.68133905e-01 -7.43558440e-02 4.44113755e+02] [ 9.35947840e-01 2.50219531e-01 -2.47773741e-01 1.27691645e+02] [ 2.58483444e-01 -1.03405739e-02 9.65960342e-01 3.65233576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 490.9992541539999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:444.12, Y:127.72, Z:36.53 [[ 2.36836490e-01 -9.68703235e-01 -7.43136515e-02 4.44122502e+02] [ 9.36507964e-01 2.47983102e-01 -2.47905656e-01 1.27716023e+02] [ 2.58575541e-01 -1.08822209e-02 9.65929742e-01 3.65292339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.02925415399994 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:444.12, Y:127.75, Z:36.54 [[ 2.33954459e-01 -9.71218177e-01 -4.47276630e-02 4.44121869e+02] [ 9.38271215e-01 2.37595131e-01 -2.51387511e-01 1.27748805e+02] [ 2.54779195e-01 1.68465503e-02 9.66852499e-01 3.65396202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.0592541539999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:444.16, Y:127.77, Z:36.54 [[ 2.29468510e-01 -9.67628299e-01 -1.05069872e-01 4.44156205e+02] [ 9.38635348e-01 2.48558684e-01 -2.39128133e-01 1.27765048e+02] [ 2.57503178e-01 -4.37499198e-02 9.65286516e-01 3.65358160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.08925415399995 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:444.15, Y:127.79, Z:36.55 [[ 2.26580199e-01 -9.71139267e-01 -7.44979078e-02 4.44149443e+02] [ 9.38743454e-01 2.38131261e-01 -2.49106863e-01 1.27792086e+02] [ 2.59657737e-01 -1.34917408e-02 9.65606458e-01 3.65502864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1192541539999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:444.15, Y:127.83, Z:36.56 [[ 2.28989810e-01 -9.72675778e-01 -3.82818108e-02 4.44146288e+02] [ 9.39721082e-01 2.31148809e-01 -2.51981183e-01 1.27827930e+02] [ 2.53944789e-01 2.17268988e-02 9.66974656e-01 3.65577654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.14925415399995 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:444.18, Y:127.85, Z:36.55 [[ 2.28465811e-01 -9.69905464e-01 -8.41829151e-02 4.44175179e+02] [ 9.39772694e-01 2.42292773e-01 -2.41084003e-01 1.27847598e+02] [ 2.54225604e-01 -2.40333525e-02 9.66846286e-01 3.65538438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.1792541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:444.18, Y:127.87, Z:36.56 [[ 2.24510401e-01 -9.70898091e-01 -8.33785113e-02 4.44181301e+02] [ 9.40040449e-01 2.38326970e-01 -2.43975837e-01 1.27874144e+02] [ 2.56747023e-01 -2.36040600e-02 9.66190361e-01 3.65641685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.20925415399995 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:444.19, Y:127.89, Z:36.57 [[ 2.19762181e-01 -9.70841137e-01 -9.57709259e-02 4.44190068e+02] [ 9.39942106e-01 2.36999727e-01 -2.45641948e-01 1.27894542e+02] [ 2.61176991e-01 -3.60363155e-02 9.64618040e-01 3.65732331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2392541539999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:444.19, Y:127.92, Z:36.58 [[ 2.18899856e-01 -9.72888598e-01 -7.46366397e-02 4.44187208e+02] [ 9.39967039e-01 2.30779192e-01 -2.51401930e-01 1.27922339e+02] [ 2.61810655e-01 -1.51241347e-02 9.65000747e-01 3.65849587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.26925415399995 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:444.19, Y:127.95, Z:36.59 [[ 2.17146185e-01 -9.73271509e-01 -7.47670005e-02 4.44194208e+02] [ 9.40175810e-01 2.29130766e-01 -2.52128019e-01 1.27947623e+02] [ 2.62520437e-01 -1.55454879e-02 9.64801201e-01 3.65924723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.2992541539999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:444.20, Y:127.97, Z:36.60 [[ 2.14126633e-01 -9.73943812e-01 -7.47210558e-02 4.44201274e+02] [ 9.40891962e-01 2.26201280e-01 -2.52101760e-01 1.27974293e+02] [ 2.62434947e-01 -1.63227398e-02 9.64811622e-01 3.65991934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.32925415399995 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:444.21, Y:128.00, Z:36.61 [[ 2.12239476e-01 -9.74359514e-01 -7.46856293e-02 4.44208560e+02] [ 9.41284097e-01 2.24371795e-01 -2.52272762e-01 1.28000459e+02] [ 2.62561714e-01 -1.67581564e-02 9.64769667e-01 3.66059924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.3592541539999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:444.21, Y:128.03, Z:36.61 [[ 2.08602154e-01 -9.75128361e-01 -7.48987313e-02 4.44213838e+02] [ 9.41826176e-01 2.20932499e-01 -2.53283013e-01 1.28026075e+02] [ 2.63531013e-01 -1.77062037e-02 9.64488411e-01 3.66134408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.38925415399996 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:444.21, Y:128.06, Z:36.62 [[ 2.09732929e-01 -9.76168629e-01 -5.57396215e-02 4.44214677e+02] [ 9.42286958e-01 2.17011303e-01 -2.54953690e-01 1.28057574e+02] [ 2.60973922e-01 9.49465907e-04 9.65345384e-01 3.66206555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.41925415399993 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:444.22, Y:128.09, Z:36.62 [[ 2.09624599e-01 -9.76274398e-01 -5.42754691e-02 4.44222576e+02] [ 9.43381313e-01 2.16532047e-01 -2.51287826e-01 1.28088019e+02] [ 2.57078250e-01 1.47364650e-03 9.66389467e-01 3.66225970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.44925415399996 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:444.25, Y:128.10, Z:36.62 [[ 2.03530069e-01 -9.71887908e-01 -1.18361334e-01 4.44252566e+02] [ 9.43502095e-01 2.26986265e-01 -2.41414646e-01 1.28101968e+02] [ 2.61494372e-01 -6.25390269e-02 9.63176808e-01 3.66241865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.47925415399993 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:444.23, Y:128.14, Z:36.64 [[ 2.05960627e-01 -9.77561346e-01 -4.42044691e-02 4.44227381e+02] [ 9.43441510e-01 2.10359636e-01 -2.56255616e-01 1.28138861e+02] [ 2.59804421e-01 1.10742365e-02 9.65597755e-01 3.66429503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.50925415399996 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:444.26, Y:128.16, Z:36.64 [[ 2.00910096e-01 -9.73865534e-01 -1.05929478e-01 4.44258914e+02] [ 9.43968508e-01 2.21368073e-01 -2.44784868e-01 1.28156414e+02] [ 2.61836951e-01 -5.08143400e-02 9.63773477e-01 3.66429504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.53925415399993 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:444.25, Y:128.19, Z:36.66 [[ 1.99130251e-01 -9.77148923e-01 -7.43446420e-02 4.44247989e+02] [ 9.44163733e-01 2.11621559e-01 -2.52529527e-01 1.28185284e+02] [ 2.62491884e-01 -1.99072466e-02 9.64728828e-01 3.66593726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.5692541539999 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:444.25, Y:128.21, Z:36.67 [[ 1.98480178e-01 -9.77301793e-01 -7.40730965e-02 4.44253463e+02] [ 9.44494241e-01 2.10908839e-01 -2.51889044e-01 1.28210607e+02] [ 2.61794285e-01 -1.99666308e-02 9.64917139e-01 3.66668398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.59925415399994 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:444.24, Y:128.25, Z:36.68 [[ 2.02567448e-01 -9.78744780e-01 -3.20169509e-02 4.44244617e+02] [ 9.45612906e-01 2.03998843e-01 -2.53378578e-01 1.28246976e+02] [ 2.54524382e-01 2.10506100e-02 9.66837221e-01 3.66750446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.6292541539999 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:444.29, Y:128.26, Z:36.67 [[ 1.98639740e-01 -9.73282396e-01 -1.15167838e-01 4.44285205e+02] [ 9.45949425e-01 2.21132997e-01 -2.37233815e-01 1.28261086e+02] [ 2.56362906e-01 -6.18188871e-02 9.64601724e-01 3.66697131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.65925415399994 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:444.27, Y:128.29, Z:36.69 [[ 1.97734452e-01 -9.77518567e-01 -7.32020294e-02 4.44269427e+02] [ 9.45361964e-01 2.09910414e-01 -2.49456158e-01 1.28289996e+02] [ 2.59213894e-01 -1.98763376e-02 9.65615394e-01 3.66896875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.6892541539999 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:444.27, Y:128.32, Z:36.70 [[ 1.97728129e-01 -9.77535835e-01 -7.29882104e-02 4.44274091e+02] [ 9.45496497e-01 2.09839588e-01 -2.49005465e-01 1.28316314e+02] [ 2.58727581e-01 -1.97747125e-02 9.65747897e-01 3.66967115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.71925415399994 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:444.28, Y:128.34, Z:36.70 [[ 1.97567845e-01 -9.77574976e-01 -7.28979674e-02 4.44280046e+02] [ 9.45543156e-01 2.09660634e-01 -2.48979033e-01 1.28341828e+02] [ 2.58679506e-01 -1.97379232e-02 9.65761527e-01 3.67036853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.7492541539999 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:444.29, Y:128.37, Z:36.71 [[ 1.96402106e-01 -9.77801453e-01 -7.30104823e-02 4.44285037e+02] [ 9.45640783e-01 2.08573500e-01 -2.49520750e-01 1.28367656e+02] [ 2.59209804e-01 -2.00352888e-02 9.65613207e-01 3.67103900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.77925415399994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:444.27, Y:128.41, Z:36.72 [[ 2.00737957e-01 -9.79416365e-01 -2.11626019e-02 4.44274414e+02] [ 9.45828826e-01 1.99390315e-01 -2.56225162e-01 1.28405322e+02] [ 2.55170735e-01 3.14179166e-02 9.66385436e-01 3.67185209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8092541539999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:444.32, Y:128.42, Z:36.71 [[ 1.95858106e-01 -9.74344608e-01 -1.10870138e-01 4.44318826e+02] [ 9.46032532e-01 2.17503579e-01 -2.40238719e-01 1.28418343e+02] [ 2.58189952e-01 -5.78340571e-02 9.64361535e-01 3.67084937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.83925415399995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:444.30, Y:128.46, Z:36.73 [[ 1.96014478e-01 -9.79270980e-01 -5.10555694e-02 4.44300206e+02] [ 9.46481833e-01 2.02552406e-01 -2.51286017e-01 1.28456226e+02] [ 2.56418533e-01 9.32528695e-04 9.66565397e-01 3.67281165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.8692541539999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:444.33, Y:128.47, Z:36.73 [[ 1.89412171e-01 -9.75671714e-01 -1.10398084e-01 4.44330023e+02] [ 9.46623139e-01 2.11315342e-01 -2.43414172e-01 1.28472154e+02] [ 2.60821132e-01 -5.83997740e-02 9.63619118e-01 3.67277466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.89925415399995 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:444.32, Y:128.50, Z:36.75 [[ 1.88114806e-01 -9.79334429e-01 -7.42758073e-02 4.44318017e+02] [ 9.45858726e-01 2.01012770e-01 -2.54843356e-01 1.28500054e+02] [ 2.64507258e-01 -2.23146121e-02 9.64125494e-01 3.67453837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9292541539999 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:444.32, Y:128.53, Z:36.75 [[ 1.87128499e-01 -9.79518113e-01 -7.43450873e-02 4.44324753e+02] [ 9.45947644e-01 2.00087846e-01 -2.55240883e-01 1.28526551e+02] [ 2.64888616e-01 -2.25637169e-02 9.64014989e-01 3.67525957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.95925415399995 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:444.33, Y:128.55, Z:36.76 [[ 1.87121029e-01 -9.79519523e-01 -7.43453044e-02 4.44329950e+02] [ 9.45871394e-01 2.00087301e-01 -2.55523734e-01 1.28551559e+02] [ 2.65166037e-01 -2.25072327e-02 9.63940038e-01 3.67596604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 491.9892541539999 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:444.34, Y:128.58, Z:36.77 [[ 1.87835241e-01 -9.79386315e-01 -7.42991807e-02 4.44336311e+02] [ 9.45701479e-01 2.00766934e-01 -2.55619542e-01 1.28578061e+02] [ 2.65267100e-01 -2.22504870e-02 9.63918192e-01 3.67676388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.01925415399995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:444.34, Y:128.60, Z:36.78 [[ 1.90776509e-01 -9.78827357e-01 -7.41709395e-02 4.44341249e+02] [ 9.45146299e-01 2.03569260e-01 -2.55456514e-01 1.28604167e+02] [ 2.65146748e-01 -2.13672871e-02 9.63971287e-01 3.67753744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.0492541539999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:444.35, Y:128.63, Z:36.78 [[ 1.92362870e-01 -9.78542610e-01 -7.38301195e-02 4.44347062e+02] [ 9.45080511e-01 2.04991262e-01 -2.54561211e-01 1.28629286e+02] [ 2.64233521e-01 -2.08072818e-02 9.64234258e-01 3.67828647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.07925415399995 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:444.35, Y:128.66, Z:36.79 [[ 1.94207711e-01 -9.78197482e-01 -7.35734410e-02 4.44353074e+02] [ 9.44863364e-01 2.06693136e-01 -2.53990494e-01 1.28655534e+02] [ 2.63659987e-01 -2.01899366e-02 9.64404364e-01 3.67904189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.1092541539999 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:444.36, Y:128.68, Z:36.80 [[ 1.98587614e-01 -9.77190899e-01 -7.52389965e-02 4.44359651e+02] [ 9.44458879e-01 2.11314017e-01 -2.51681968e-01 1.28681518e+02] [ 2.61840383e-01 -2.10792167e-02 9.64880967e-01 3.67978179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.13925415399996 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:444.36, Y:128.71, Z:36.81 [[ 1.99564406e-01 -9.77357942e-01 -7.03242649e-02 4.44363507e+02] [ 9.44061677e-01 2.11000802e-01 -2.53428910e-01 1.28707599e+02] [ 2.62529234e-01 -1.58150536e-02 9.64794426e-01 3.68066084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.16925415399993 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:444.35, Y:128.75, Z:36.82 [[ 2.06467069e-01 -9.78396093e-01 -1.06035513e-02 4.44351334e+02] [ 9.45068085e-01 2.02217283e-01 -2.56816052e-01 1.28748454e+02] [ 2.53412043e-01 4.30029796e-02 9.66402132e-01 3.68165279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.19925415399996 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:444.41, Y:128.76, Z:36.80 [[ 2.04452826e-01 -9.70118223e-01 -1.30650970e-01 4.44408028e+02] [ 9.44275517e-01 2.30634135e-01 -2.34843870e-01 1.28755960e+02] [ 2.57958891e-01 -7.53560192e-02 9.63212687e-01 3.68004242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.22925415399993 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:444.38, Y:128.78, Z:36.82 [[ 2.06009397e-01 -9.75899747e-01 -7.19709146e-02 4.44384606e+02] [ 9.42719898e-01 2.17648845e-01 -2.52800663e-01 1.28784609e+02] [ 2.62372489e-01 -1.57691012e-02 9.64837817e-01 3.68249091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.25925415399996 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:444.40, Y:128.81, Z:36.83 [[ 2.06748231e-01 -9.75170482e-01 -7.93580516e-02 4.44395025e+02] [ 9.43148330e-01 2.20218200e-01 -2.48948133e-01 1.28810126e+02] [ 2.60242958e-01 -2.33768277e-02 9.65260134e-01 3.68283838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.28925415399993 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:444.40, Y:128.84, Z:36.84 [[ 2.06507591e-01 -9.75833264e-01 -7.14426709e-02 4.44398236e+02] [ 9.43083138e-01 2.17965438e-01 -2.51167798e-01 1.28836051e+02] [ 2.60669926e-01 -1.55083213e-02 9.65303414e-01 3.68378799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3192541539999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:444.40, Y:128.86, Z:36.85 [[ 2.08602026e-01 -9.75652123e-01 -6.77357280e-02 4.44402138e+02] [ 9.42079620e-01 2.19056067e-01 -2.53969348e-01 1.28863352e+02] [ 2.62623655e-01 -1.08339283e-02 9.64837521e-01 3.68465282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.34925415399994 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:444.41, Y:128.89, Z:36.85 [[ 2.10668740e-01 -9.74850244e-01 -7.27027067e-02 4.44410995e+02] [ 9.41671588e-01 2.22339140e-01 -2.52626063e-01 1.28888528e+02] [ 2.62437237e-01 -1.52416589e-02 9.64828684e-01 3.68515833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.3792541539999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:444.39, Y:128.93, Z:36.86 [[ 2.22609069e-01 -9.74907534e-01 7.09524432e-04 4.44393188e+02] [ 9.42028226e-01 2.14913922e-01 -2.57671939e-01 1.28931831e+02] [ 2.51053828e-01 5.80285024e-02 9.66232202e-01 3.68621084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.40925415399994 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:444.46, Y:128.94, Z:36.84 [[ 2.18069547e-01 -9.64817173e-01 -1.46879183e-01 4.44461591e+02] [ 9.40622907e-01 2.47902867e-01 -2.31889448e-01 1.28937590e+02] [ 2.60142692e-01 -8.75898978e-02 9.61589200e-01 3.68440751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4392541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:444.43, Y:128.97, Z:36.87 [[ 2.20860552e-01 -9.72577132e-01 -7.28995154e-02 4.44429460e+02] [ 9.38918741e-01 2.32251961e-01 -2.53950042e-01 1.28968508e+02] [ 2.63917058e-01 -1.23591750e-02 9.64466193e-01 3.68738995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.46925415399994 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:444.43, Y:128.99, Z:36.88 [[ 2.27393786e-01 -9.71081729e-01 -7.27484851e-02 4.44434623e+02] [ 9.37415909e-01 2.38516004e-01 -2.53695743e-01 1.28994169e+02] [ 2.63710979e-01 -1.05067518e-02 9.64544518e-01 3.68813276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.4992541539999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:444.44, Y:129.02, Z:36.89 [[ 2.32962849e-01 -9.69880249e-01 -7.11379851e-02 4.44440124e+02] [ 9.35893742e-01 2.43473885e-01 -2.54604343e-01 1.29017337e+02] [ 2.64255965e-01 -7.26424197e-03 9.64425226e-01 3.68884292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.52925415399994 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:444.45, Y:129.05, Z:36.90 [[ 2.37162784e-01 -9.68821590e-01 -7.16836183e-02 4.44446817e+02] [ 9.35265733e-01 2.47658466e-01 -2.52870110e-01 1.29046797e+02] [ 2.62739077e-01 -7.07185261e-03 9.64841006e-01 3.68956243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.5592541539999 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:444.45, Y:129.07, Z:36.90 [[ 2.40042902e-01 -9.68059661e-01 -7.23871450e-02 4.44453685e+02] [ 9.34453421e-01 2.50624343e-01 -2.52951069e-01 1.29072612e+02] [ 2.63013707e-01 -6.92330660e-03 9.64767256e-01 3.69026788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.58925415399995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:444.46, Y:129.10, Z:36.91 [[ 2.44640362e-01 -9.67129500e-01 -6.93658704e-02 4.44458755e+02] [ 9.32913618e-01 2.54273648e-01 -2.54984494e-01 1.29097192e+02] [ 2.64240939e-01 -2.33286627e-03 9.64453879e-01 3.69104517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6192541539999 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:444.47, Y:129.13, Z:36.92 [[ 2.44737558e-01 -9.66795236e-01 -7.35561024e-02 4.44468067e+02] [ 9.33008869e-01 2.55466981e-01 -2.53438496e-01 1.29125905e+02] [ 2.63814286e-01 -6.60257734e-03 9.64550895e-01 3.69168714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.64925415399995 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:444.47, Y:129.15, Z:36.92 [[ 2.47102174e-01 -9.66263066e-01 -7.26374778e-02 4.44474043e+02] [ 9.32179508e-01 2.57511605e-01 -2.54419217e-01 1.29151038e+02] [ 2.64540886e-01 -4.84362671e-03 9.64362307e-01 3.69239003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.6792541539999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:444.48, Y:129.18, Z:36.93 [[ 2.46799977e-01 -9.66327323e-01 -7.28098645e-02 4.44482079e+02] [ 9.32037966e-01 2.57269632e-01 -2.55181438e-01 1.29176844e+02] [ 2.65320563e-01 -4.88278490e-03 9.64147892e-01 3.69316051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.70925415399995 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:444.49, Y:129.20, Z:36.94 [[ 2.45884305e-01 -9.66562374e-01 -7.27879565e-02 4.44490149e+02] [ 9.32224955e-01 2.56381739e-01 -2.55391929e-01 1.29202737e+02] [ 2.65513732e-01 -5.05788233e-03 9.64093811e-01 3.69394358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7392541539999 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:444.50, Y:129.23, Z:36.95 [[ 2.44474483e-01 -9.66923774e-01 -7.27368036e-02 4.44497598e+02] [ 9.32572872e-01 2.55008975e-01 -2.55496107e-01 1.29227166e+02] [ 2.65593798e-01 -5.37009123e-03 9.64070068e-01 3.69464840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.76925415399995 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:444.51, Y:129.25, Z:36.95 [[ 2.41234920e-01 -9.67740342e-01 -7.26934977e-02 4.44506994e+02] [ 9.33421655e-01 2.51872960e-01 -2.55507392e-01 1.29252658e+02] [ 2.65574337e-01 -6.21637976e-03 9.64070344e-01 3.69546800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.7992541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:444.49, Y:129.30, Z:36.97 [[ 2.50776525e-01 -9.67905758e-01 1.64188259e-02 4.44492608e+02] [ 9.36273129e-01 2.38201333e-01 -2.58171944e-01 1.29303576e+02] [ 2.45975125e-01 8.01159686e-02 9.65959455e-01 3.69662921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.82925415399995 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:444.57, Y:129.30, Z:36.94 [[ 2.35889206e-01 -9.57470252e-01 -1.66153540e-01 4.44574657e+02] [ 9.35280560e-01 2.70105626e-01 -2.28677120e-01 1.29299067e+02] [ 2.63830546e-01 -1.01457711e-01 9.59218315e-01 3.69422183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.8592541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:444.51, Y:129.35, Z:36.98 [[ 2.47288440e-01 -9.68726282e-01 2.04405886e-02 4.44508736e+02] [ 9.36293796e-01 2.33472958e-01 -2.62381983e-01 1.29354056e+02] [ 2.49403999e-01 8.40224277e-02 9.64747572e-01 3.69830743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.88925415399996 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:444.59, Y:129.35, Z:36.96 [[ 2.33419703e-01 -9.57251402e-01 -1.70836168e-01 4.44592448e+02] [ 9.36255617e-01 2.68693604e-01 -2.26338609e-01 1.29348721e+02] [ 2.62565537e-01 -1.07114431e-01 9.58950383e-01 3.69590212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.91925415399993 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:444.53, Y:129.41, Z:37.00 [[ 2.45020377e-01 -9.69361771e-01 1.74003697e-02 4.44527087e+02] [ 9.37622483e-01 2.32355819e-01 -2.58601726e-01 1.29407875e+02] [ 2.46635550e-01 7.96776702e-02 9.65827301e-01 3.70024112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.94925415399996 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:444.59, Y:129.43, Z:36.98 [[ 2.45201459e-01 -9.65132564e-01 -9.16262984e-02 4.44590690e+02] [ 9.37727952e-01 2.60098205e-01 -2.30250325e-01 1.29426830e+02] [ 2.46053922e-01 -2.94628255e-02 9.68808242e-01 3.69802306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 492.97925415399993 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:444.61, Y:129.44, Z:36.99 [[ 2.35927030e-01 -9.61453121e-01 -1.41231489e-01 4.44609714e+02] [ 9.36706135e-01 2.63687989e-01 -2.30326422e-01 1.29435358e+02] [ 2.58689105e-01 -7.79521739e-02 9.62810161e-01 3.69908048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.00925415399996 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:444.58, Y:129.46, Z:37.02 [[ 2.31056698e-01 -9.69232752e-01 -8.48567949e-02 4.44581285e+02] [ 9.36195080e-01 2.45225972e-01 -2.51799513e-01 1.29457732e+02] [ 2.64861425e-01 -2.12625498e-02 9.64052037e-01 3.70190971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.03925415399993 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:444.59, Y:129.49, Z:37.03 [[ 2.33735424e-01 -9.70085189e-01 -6.55932762e-02 4.44586151e+02] [ 9.35408506e-01 2.42761415e-01 -2.57056069e-01 1.29487105e+02] [ 2.65289801e-01 -1.27339924e-03 9.64167879e-01 3.70311562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.0692541539999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:444.60, Y:129.51, Z:37.03 [[ 2.33154572e-01 -9.69291709e-01 -7.81826610e-02 4.44600434e+02] [ 9.35763868e-01 2.45506728e-01 -2.53125326e-01 1.29511044e+02] [ 2.64546649e-01 -1.41431822e-02 9.64269174e-01 3.70344292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.09925415399994 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:444.60, Y:129.53, Z:37.04 [[ 2.30265438e-01 -9.70258772e-01 -7.46709055e-02 4.44603021e+02] [ 9.35514282e-01 2.41839914e-01 -2.57539289e-01 1.29532660e+02] [ 2.67938159e-01 -1.05533014e-02 9.63378311e-01 3.70441670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.1292541539999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:444.61, Y:129.56, Z:37.05 [[ 2.29162432e-01 -9.70488570e-01 -7.50767243e-02 4.44613180e+02] [ 9.35599547e-01 2.40891937e-01 -2.58117340e-01 1.29558544e+02] [ 2.68585306e-01 -1.10909518e-02 9.63192049e-01 3.70510756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.15925415399994 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:444.62, Y:129.58, Z:37.06 [[ 2.29203664e-01 -9.70633692e-01 -7.30473535e-02 4.44620270e+02] [ 9.35285986e-01 2.40401520e-01 -2.59706053e-01 1.29584098e+02] [ 2.69640140e-01 -8.79458723e-03 9.62920999e-01 3.70589653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.1892541539999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:444.63, Y:129.61, Z:37.07 [[ 2.31138896e-01 -9.70149574e-01 -7.33799311e-02 4.44628846e+02] [ 9.34366403e-01 2.42368852e-01 -2.61183392e-01 1.29609675e+02] [ 2.71171967e-01 -8.19410118e-03 9.62496037e-01 3.70661703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.21925415399994 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:444.64, Y:129.64, Z:37.07 [[ 2.32446004e-01 -9.69829075e-01 -7.34875550e-02 4.44636441e+02] [ 9.33839568e-01 2.43662474e-01 -2.61863056e-01 1.29635600e+02] [ 2.71868565e-01 -7.75656554e-03 9.62303133e-01 3.70738687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.2492541539999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:444.64, Y:129.66, Z:37.08 [[ 2.34325048e-01 -9.69378732e-01 -7.34618607e-02 4.44643582e+02] [ 9.33312044e-01 2.45466224e-01 -2.62059079e-01 1.29660740e+02] [ 2.72066903e-01 -7.15583317e-03 9.62251731e-01 3.70814551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.27925415399994 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:444.65, Y:129.70, Z:37.09 [[ 2.40468744e-01 -9.68958092e-01 -5.74020865e-02 4.44650147e+02] [ 9.32428715e-01 2.47026897e-01 -2.63731690e-01 1.29695858e+02] [ 2.69724814e-01 9.89587446e-03 9.62886596e-01 3.70931278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3092541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:444.67, Y:129.71, Z:37.09 [[ 2.39948670e-01 -9.66070271e-01 -9.55660367e-02 4.44669672e+02] [ 9.31691836e-01 2.56822127e-01 -2.56890477e-01 1.29711683e+02] [ 2.72717725e-01 -2.73975680e-02 9.61703913e-01 3.70906496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.33925415399995 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:444.67, Y:129.74, Z:37.10 [[ 2.42267035e-01 -9.67429319e-01 -7.33975204e-02 4.44665977e+02] [ 9.31029827e-01 2.53098769e-01 -2.62915338e-01 1.29737917e+02] [ 2.72928828e-01 -4.63956129e-03 9.62023040e-01 3.71040599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.3692541539999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:444.68, Y:129.76, Z:37.11 [[ 2.45169104e-01 -9.65524403e-01 -8.74913609e-02 4.44681197e+02] [ 9.29268632e-01 2.59762725e-01 -2.62646410e-01 1.29762496e+02] [ 2.76318513e-01 -1.69101921e-02 9.60917335e-01 3.71135172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.39925415399995 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:444.68, Y:129.79, Z:37.12 [[ 2.46470583e-01 -9.67214270e-01 -6.12275133e-02 4.44675568e+02] [ 9.29919199e-01 2.53814090e-01 -2.66136603e-01 1.29789569e+02] [ 2.72951526e-01 8.65820365e-03 9.61988825e-01 3.71226665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4292541539999 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:444.69, Y:129.81, Z:37.13 [[ 2.48063187e-01 -9.65990984e-01 -7.29799520e-02 4.44690483e+02] [ 9.29743663e-01 2.58560343e-01 -2.62151237e-01 1.29814848e+02] [ 2.72105453e-01 -2.82257663e-03 9.62263299e-01 3.71260654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.45925415399995 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:444.70, Y:129.84, Z:37.13 [[ 2.47824037e-01 -9.66048143e-01 -7.30358209e-02 4.44698585e+02] [ 9.29658576e-01 2.58346901e-01 -2.62662922e-01 1.29840541e+02] [ 2.72613607e-01 -2.80419147e-03 9.62119513e-01 3.71334456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.4892541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:444.71, Y:129.86, Z:37.14 [[ 2.47518535e-01 -9.66126171e-01 -7.30396922e-02 4.44706592e+02] [ 9.29650404e-01 2.58054896e-01 -2.62978701e-01 1.29864992e+02] [ 2.72918856e-01 -2.80927667e-03 9.62032955e-01 3.71399244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.51925415399995 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:444.72, Y:129.89, Z:37.15 [[ 2.45198033e-01 -9.66714802e-01 -7.30781556e-02 4.44716632e+02] [ 9.30184014e-01 2.55833468e-01 -2.63262108e-01 1.29890276e+02] [ 2.73195215e-01 -3.42478097e-03 9.61952517e-01 3.71465629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.5492541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:444.73, Y:129.92, Z:37.15 [[ 2.43324723e-01 -9.67194142e-01 -7.29970621e-02 4.44725124e+02] [ 9.30679757e-01 2.54008809e-01 -2.63276878e-01 1.29915565e+02] [ 2.73181751e-01 -3.87511474e-03 9.61954632e-01 3.71536000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.57925415399995 meters Centerline goodness : 0.997263 Centerline is valid? [True, True] Translation: X:444.73, Y:129.94, Z:37.16 [[ 2.41372732e-01 -9.67662699e-01 -7.32673505e-02 4.44733248e+02] [ 9.30803616e-01 2.52210379e-01 -2.64564838e-01 1.29940141e+02] [ 2.74488311e-01 -4.33877724e-03 9.61580648e-01 3.71610016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.6092541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:444.74, Y:129.97, Z:37.17 [[ 2.36181470e-01 -9.69130881e-01 -7.07364721e-02 4.44742044e+02] [ 9.32471880e-01 2.46520604e-01 -2.64052618e-01 1.29965609e+02] [ 2.73339545e-01 -3.59543563e-03 9.61910893e-01 3.71688246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.63925415399996 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:444.76, Y:129.99, Z:37.17 [[ 2.31146331e-01 -9.67876072e-01 -9.89306924e-02 4.44761733e+02] [ 9.33401416e-01 2.49294353e-01 -2.58097119e-01 1.29986553e+02] [ 2.74468889e-01 -3.26838460e-02 9.61040371e-01 3.71727401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.66925415399993 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:444.75, Y:130.02, Z:37.19 [[ 2.30236010e-01 -9.72089985e-01 -4.50825984e-02 4.44746457e+02] [ 9.34373804e-01 2.33772858e-01 -2.68878869e-01 1.30018199e+02] [ 2.71913543e-01 1.97815990e-02 9.62118347e-01 3.71892615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.69925415399996 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:444.77, Y:130.04, Z:37.19 [[ 2.24094787e-01 -9.71275219e-01 -8.00373387e-02 4.44774189e+02] [ 9.36569035e-01 2.37338803e-01 -2.57892875e-01 1.30042719e+02] [ 2.69480925e-01 -1.71680442e-02 9.62852683e-01 3.71881902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.72925415399993 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:444.78, Y:130.07, Z:37.20 [[ 2.21341558e-01 -9.72507404e-01 -7.23689472e-02 4.44779350e+02] [ 9.37371544e-01 2.32637278e-01 -2.59257567e-01 1.30069163e+02] [ 2.68965618e-01 -1.04521181e-02 9.63093064e-01 3.71968797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.75925415399996 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:444.78, Y:130.09, Z:37.20 [[ 2.18769336e-01 -9.73736500e-01 -6.30651004e-02 4.44782378e+02] [ 9.37501743e-01 2.27672622e-01 -2.63164701e-01 1.30093179e+02] [ 2.70611271e-01 -1.55127464e-03 9.62687454e-01 3.72049357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.78925415399993 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:444.80, Y:130.12, Z:37.21 [[ 2.12886513e-01 -9.74115245e-01 -7.60185661e-02 4.44798250e+02] [ 9.39674706e-01 2.25437008e-01 -2.57273401e-01 1.30119324e+02] [ 2.67751341e-01 -1.66626865e-02 9.63343954e-01 3.72081776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8192541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:444.81, Y:130.14, Z:37.22 [[ 2.09191541e-01 -9.73307743e-01 -9.43977567e-02 4.44812804e+02] [ 9.39810200e-01 2.26780936e-01 -2.55591854e-01 1.30141747e+02] [ 2.70177142e-01 -3.52483208e-02 9.62165198e-01 3.72169452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.84925415399994 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:444.80, Y:130.17, Z:37.23 [[ 2.09039193e-01 -9.76746402e-01 -4.76348865e-02 4.44801655e+02] [ 9.40639250e-01 2.14153408e-01 -2.63317528e-01 1.30173052e+02] [ 2.67395621e-01 1.02364396e-02 9.63532458e-01 3.72313384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.8792541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:444.82, Y:130.21, Z:37.23 [[ 2.05743278e-01 -9.77641381e-01 -4.34399923e-02 4.44815730e+02] [ 9.42832095e-01 2.09919165e-01 -2.58846643e-01 1.30209086e+02] [ 2.62178076e-01 1.22993377e-02 9.64941129e-01 3.72325182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.90925415399994 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:444.84, Y:130.23, Z:37.23 [[ 2.00784040e-01 -9.75829894e-01 -8.62657920e-02 4.44842713e+02] [ 9.43759266e-01 2.16292281e-01 -2.50072184e-01 1.30230362e+02] [ 2.62686538e-01 -3.12036371e-02 9.64376543e-01 3.72307446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9392541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:444.84, Y:130.26, Z:37.24 [[ 1.97319345e-01 -9.78551431e-01 -5.91791597e-02 4.44841059e+02] [ 9.45145378e-01 2.05918196e-01 -2.53570328e-01 1.30260034e+02] [ 2.60317674e-01 -5.89857822e-03 9.65505006e-01 3.72391218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.96925415399994 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:444.86, Y:130.27, Z:37.24 [[ 1.89747894e-01 -9.75983567e-01 -1.07013151e-01 4.44863452e+02] [ 9.45102444e-01 2.11094342e-01 -2.49440473e-01 1.30274125e+02] [ 2.66039673e-01 -5.38075867e-02 9.62459161e-01 3.72430385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 493.9992541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:444.85, Y:130.30, Z:37.26 [[ 1.88191677e-01 -9.79580543e-01 -7.07520480e-02 4.44852232e+02] [ 9.45027451e-01 2.00225649e-01 -2.58520418e-01 1.30302265e+02] [ 2.67407946e-01 -1.82112365e-02 9.63411304e-01 3.72592155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.02925415399994 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:444.86, Y:130.33, Z:37.27 [[ 1.89163491e-01 -9.79987720e-01 -6.19777641e-02 4.44858971e+02] [ 9.45670369e-01 1.98809300e-01 -2.57259432e-01 1.30333151e+02] [ 2.64432840e-01 -9.94644288e-03 9.64352810e-01 3.72654231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.0592541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:444.87, Y:130.35, Z:37.27 [[ 1.86294796e-01 -9.79126031e-01 -8.12801573e-02 4.44870180e+02] [ 9.45739844e-01 2.01126956e-01 -2.55194230e-01 1.30354317e+02] [ 2.66214944e-01 -2.93285265e-02 9.63467405e-01 3.72708639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.08925415399995 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:444.87, Y:130.38, Z:37.28 [[ 1.88599940e-01 -9.79530949e-01 -7.03504331e-02 4.44870558e+02] [ 9.45106969e-01 2.00502652e-01 -2.58014540e-01 1.30381934e+02] [ 2.66838676e-01 -1.78271577e-02 9.63576314e-01 3.72806646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1192541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:444.88, Y:130.41, Z:37.29 [[ 1.90367157e-01 -9.79200590e-01 -7.01893907e-02 4.44876485e+02] [ 9.44832756e-01 2.02159541e-01 -2.57725792e-01 1.30408185e+02] [ 2.66554703e-01 -1.72547092e-02 9.63665329e-01 3.72876181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.14925415399995 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:444.88, Y:130.44, Z:37.30 [[ 1.91829509e-01 -9.79236363e-01 -6.55559752e-02 4.44879529e+02] [ 9.44098172e-01 2.02368189e-01 -2.60241730e-01 1.30435887e+02] [ 2.68104609e-01 -1.19692331e-02 9.63315450e-01 3.72963033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.1792541539999 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:444.89, Y:130.46, Z:37.30 [[ 1.91425273e-01 -9.78944278e-01 -7.08834641e-02 4.44889130e+02] [ 9.44252466e-01 2.03386857e-01 -2.58884274e-01 1.30462133e+02] [ 2.67850044e-01 -1.73748929e-02 9.63303933e-01 3.73022057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.20925415399995 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:444.89, Y:130.49, Z:37.31 [[ 1.96923041e-01 -9.77874750e-01 -7.05853343e-02 4.44892248e+02] [ 9.43081067e-01 2.08611354e-01 -2.58996919e-01 1.30487053e+02] [ 2.67991450e-01 -1.55652315e-02 9.63295545e-01 3.73097583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2392541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:444.90, Y:130.51, Z:37.32 [[ 1.98764453e-01 -9.77179491e-01 -7.49195240e-02 4.44900187e+02] [ 9.43079732e-01 2.11505040e-01 -2.56644183e-01 1.30514678e+02] [ 2.66633289e-01 -1.96433439e-02 9.63597856e-01 3.73157517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.26925415399995 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:444.90, Y:130.54, Z:37.32 [[ 2.00954638e-01 -9.77100323e-01 -6.99442047e-02 4.44902974e+02] [ 9.42488242e-01 2.12314996e-01 -2.58143868e-01 1.30541127e+02] [ 2.67082660e-01 -1.40463830e-02 9.63571249e-01 3.73240409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.2992541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:444.91, Y:130.57, Z:37.33 [[ 2.03216579e-01 -9.76636679e-01 -6.98843270e-02 4.44907914e+02] [ 9.41975516e-01 2.14481864e-01 -2.58224045e-01 1.30566988e+02] [ 2.67179994e-01 -1.33539180e-02 9.63554110e-01 3.73309059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.32925415399995 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:444.91, Y:130.59, Z:37.34 [[ 2.08923683e-01 -9.75438479e-01 -6.97901692e-02 4.44910900e+02] [ 9.40759491e-01 2.19958800e-01 -2.58049812e-01 1.30592874e+02] [ 2.67062678e-01 -1.17430471e-02 9.63607610e-01 3.73374419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.3592541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:444.92, Y:130.62, Z:37.34 [[ 2.12088469e-01 -9.74764568e-01 -6.96600256e-02 4.44915992e+02] [ 9.40107674e-01 2.22973813e-01 -2.57837623e-01 1.30619453e+02] [ 2.66863341e-01 -1.08035379e-02 9.63673825e-01 3.73442882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.38925415399996 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:444.91, Y:130.65, Z:37.36 [[ 2.20132747e-01 -9.73795075e-01 -5.71377771e-02 4.44911257e+02] [ 9.36952110e-01 2.27374854e-01 -2.65370344e-01 1.30645297e+02] [ 2.71408028e-01 4.88134186e-03 9.62452001e-01 3.73556406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.41925415399993 meters Centerline goodness : 0.997052 Centerline is valid? [True, True] Translation: X:444.92, Y:130.67, Z:37.36 [[ 2.24748772e-01 -9.71590765e-01 -7.41577660e-02 4.44924294e+02] [ 9.36683767e-01 2.36392538e-01 -2.58344901e-01 1.30670080e+02] [ 2.68535863e-01 -1.13996764e-02 9.63202231e-01 3.73564262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.44925415399996 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:444.93, Y:130.70, Z:37.36 [[ 2.27394623e-01 -9.70921650e-01 -7.48520828e-02 4.44929737e+02] [ 9.36807609e-01 2.39094160e-01 -2.55392808e-01 1.30699155e+02] [ 2.65863103e-01 -1.20470494e-02 9.63935516e-01 3.73634688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.47925415399993 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:444.90, Y:130.75, Z:37.38 [[ 2.47203571e-01 -9.68110271e-01 4.06558505e-02 4.44898888e+02] [ 9.38462344e-01 2.28766636e-01 -2.58755205e-01 1.30754869e+02] [ 2.41202869e-01 1.02119195e-01 9.65086963e-01 3.73800212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.50925415399996 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:444.97, Y:130.77, Z:37.35 [[ 2.53270157e-01 -9.62094031e-01 -1.01140017e-01 4.44974681e+02] [ 9.36957653e-01 2.69976341e-01 -2.21862869e-01 1.30770575e+02] [ 2.40758353e-01 -3.85726698e-02 9.69818315e-01 3.73490213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.53925415399993 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:444.98, Y:130.77, Z:37.37 [[ 2.41763984e-01 -9.58617799e-01 -1.50339919e-01 4.44983056e+02] [ 9.34916354e-01 2.71604909e-01 -2.28390422e-01 1.30774976e+02] [ 2.59772184e-01 -8.53386704e-02 9.61891742e-01 3.73672935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.5692541539999 meters Centerline goodness : 0.997819 Centerline is valid? [True, True] Translation: X:444.94, Y:130.80, Z:37.40 [[ 2.47029044e-01 -9.66971912e-01 -6.27851275e-02 4.44943164e+02] [ 9.33137944e-01 2.54850691e-01 -2.53583720e-01 1.30804173e+02] [ 2.61209168e-01 4.05535898e-03 9.65273705e-01 3.73990886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.59925415399994 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:444.93, Y:130.86, Z:37.42 [[ 2.52721893e-01 -9.67456589e-01 1.26250796e-02 4.44925830e+02] [ 9.33656244e-01 2.40427996e-01 -2.65481444e-01 1.30855813e+02] [ 2.53806349e-01 7.88804574e-02 9.64033304e-01 3.74222951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.6292541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:445.00, Y:130.85, Z:37.40 [[ 2.38227639e-01 -9.55600560e-01 -1.73421917e-01 4.45003705e+02] [ 9.31095742e-01 2.75506007e-01 -2.39075634e-01 1.30853054e+02] [ 2.76239590e-01 -1.04517985e-01 9.55388759e-01 3.74042743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.65925415399994 meters Centerline goodness : 0.996127 Centerline is valid? [True, True] Translation: X:444.95, Y:130.89, Z:37.44 [[ 2.38140403e-01 -9.69687183e-01 -5.47349639e-02 4.44952143e+02] [ 9.31955269e-01 2.44011423e-01 -2.68174947e-01 1.30885204e+02] [ 2.73401765e-01 1.28527518e-02 9.61814058e-01 3.74395626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.6892541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:444.95, Y:130.93, Z:37.46 [[ 2.37606942e-01 -9.71257964e-01 -1.41742428e-02 4.44949302e+02] [ 9.33016553e-01 2.32262484e-01 -2.74834951e-01 1.30931394e+02] [ 2.70227780e-01 5.20778892e-02 9.61386936e-01 3.74575598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.71925415399994 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:445.00, Y:130.95, Z:37.45 [[ 2.29946547e-01 -9.67733356e-01 -1.03037558e-01 4.45000809e+02] [ 9.33285720e-01 2.49286986e-01 -2.58522271e-01 1.30949822e+02] [ 2.75866547e-01 -3.67171778e-02 9.60494403e-01 3.74454966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.7492541539999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:445.00, Y:130.95, Z:37.46 [[ 2.18243948e-01 -9.67907281e-01 -1.24599659e-01 4.45002837e+02] [ 9.32084723e-01 2.44565934e-01 -2.67218214e-01 1.30954255e+02] [ 2.89115287e-01 -5.78186801e-02 9.55546624e-01 3.74588791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.77925415399994 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:444.99, Y:130.98, Z:37.48 [[ 2.14111752e-01 -9.73800423e-01 -7.66087090e-02 4.44987094e+02] [ 9.33188839e-01 2.27095332e-01 -2.78543176e-01 1.30983349e+02] [ 2.88642943e-01 -1.18510246e-02 9.57363465e-01 3.74806299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8092541539999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:444.99, Y:131.01, Z:37.49 [[ 2.09133792e-01 -9.75315582e-01 -7.08701065e-02 4.44993586e+02] [ 9.34142308e-01 2.20686714e-01 -2.80491573e-01 1.31008884e+02] [ 2.89207892e-01 -7.54249870e-03 9.57236599e-01 3.74895159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.83925415399995 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:445.01, Y:131.04, Z:37.50 [[ 2.13277488e-01 -9.75009987e-01 -6.21951589e-02 4.45006238e+02] [ 9.34543222e-01 2.22157986e-01 -2.77983444e-01 1.31043162e+02] [ 2.84853786e-01 1.16354649e-03 9.58570272e-01 3.74964591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.8692541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:445.02, Y:131.06, Z:37.50 [[ 2.07257385e-01 -9.74562318e-01 -8.52799219e-02 4.45017374e+02] [ 9.34983064e-01 2.22977777e-01 -2.75839775e-01 1.31059347e+02] [ 2.87838578e-01 -2.25654521e-02 9.57413053e-01 3.75007245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.89925415399995 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:445.02, Y:131.08, Z:37.51 [[ 2.07824798e-01 -9.75651656e-01 -7.00906495e-02 4.45017083e+02] [ 9.35000565e-01 2.19194387e-01 -2.78796994e-01 1.31084773e+02] [ 2.87372226e-01 -7.59386772e-03 9.57788879e-01 3.75125561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9292541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:445.02, Y:131.11, Z:37.52 [[ 2.08425534e-01 -9.75539645e-01 -6.98655684e-02 4.45024548e+02] [ 9.35087596e-01 2.19700120e-01 -2.78106175e-01 1.31110901e+02] [ 2.86653073e-01 -7.36599839e-03 9.58006137e-01 3.75205016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.95925415399995 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:445.03, Y:131.14, Z:37.53 [[ 2.10401297e-01 -9.75160237e-01 -6.92373249e-02 4.45033820e+02] [ 9.35322964e-01 2.21399325e-01 -2.75958859e-01 1.31136780e+02] [ 2.84433203e-01 -6.69715802e-03 9.58672468e-01 3.75273487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 494.9892541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:445.04, Y:131.16, Z:37.53 [[ 2.11248130e-01 -9.74982526e-01 -6.91614172e-02 4.45042156e+02] [ 9.35119322e-01 2.22190316e-01 -2.76013255e-01 1.31162247e+02] [ 2.84475098e-01 -6.36689368e-03 9.58662287e-01 3.75349477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.01925415399995 meters Centerline goodness : 0.997377 Centerline is valid? [True, True] Translation: X:445.05, Y:131.19, Z:37.54 [[ 2.10570997e-01 -9.75217879e-01 -6.78965661e-02 4.45048771e+02] [ 9.36739605e-01 2.21152024e-01 -2.71312910e-01 1.31187875e+02] [ 2.79604663e-01 -6.47077253e-03 9.60093413e-01 3.75401992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.0492541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:445.06, Y:131.21, Z:37.55 [[ 2.10289830e-01 -9.75212719e-01 -6.88355952e-02 4.45058099e+02] [ 9.35515093e-01 2.21174955e-01 -2.75487113e-01 1.31212665e+02] [ 2.83883246e-01 -6.46460001e-03 9.58837062e-01 3.75481793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.07925415399995 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:445.07, Y:131.24, Z:37.56 [[ 2.09677880e-01 -9.75326019e-01 -6.90966254e-02 4.45066326e+02] [ 9.35206777e-01 2.20672194e-01 -2.76933325e-01 1.31238398e+02] [ 2.85347981e-01 -6.55283996e-03 9.58401581e-01 3.75564225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.1092541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:445.08, Y:131.26, Z:37.56 [[ 2.08349732e-01 -9.75592523e-01 -6.93514102e-02 4.45075591e+02] [ 9.35066598e-01 2.19481772e-01 -2.78349078e-01 1.31262780e+02] [ 2.86776650e-01 -6.85423135e-03 9.57972950e-01 3.75625133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.13925415399996 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:445.10, Y:131.28, Z:37.57 [[ 2.05530005e-01 -9.71460614e-01 -1.18413231e-01 4.45104239e+02] [ 9.32778149e-01 2.31066950e-01 -2.76645966e-01 1.31281703e+02] [ 2.96112044e-01 -5.35942277e-02 9.53648424e-01 3.75723106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.16925415399993 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:445.07, Y:131.32, Z:37.59 [[ 2.07676792e-01 -9.77951264e-01 -2.19471099e-02 4.45068022e+02] [ 9.34460461e-01 2.04975113e-01 -2.91150906e-01 1.31316708e+02] [ 2.89230008e-01 3.99565795e-02 9.56425363e-01 3.75914932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.19925415399996 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:445.10, Y:131.34, Z:37.59 [[ 2.06790304e-01 -9.75932107e-01 -6.92408350e-02 4.45099557e+02] [ 9.35379621e-01 2.17956475e-01 -2.78495854e-01 1.31340429e+02] [ 2.86884533e-01 -7.17622378e-03 9.57938289e-01 3.75858628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.22925415399993 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:445.13, Y:131.36, Z:37.60 [[ 2.03609490e-01 -9.70738339e-01 -1.27319496e-01 4.45131573e+02] [ 9.32264084e-01 2.31953519e-01 -2.77635091e-01 1.31357616e+02] [ 2.99043232e-01 -6.21662538e-02 9.52212425e-01 3.75978689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.25925415399996 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:445.09, Y:131.40, Z:37.62 [[ 2.07564305e-01 -9.78137317e-01 -1.28237810e-02 4.45087397e+02] [ 9.34236265e-01 2.02101057e-01 -2.93866915e-01 1.31395228e+02] [ 2.90033895e-01 4.90158406e-02 9.55760319e-01 3.76187544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.28925415399993 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:445.15, Y:131.41, Z:37.62 [[ 2.04032214e-01 -9.69441787e-01 -1.36211148e-01 4.45149723e+02] [ 9.31197664e-01 2.35120585e-01 -2.78548418e-01 1.31408565e+02] [ 3.02062521e-01 -7.00066528e-02 9.50714101e-01 3.76154521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3192541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:445.13, Y:131.44, Z:37.64 [[ 2.06496483e-01 -9.75852028e-01 -7.12181351e-02 4.45126073e+02] [ 9.30266838e-01 2.18366570e-01 -2.94821388e-01 1.31439296e+02] [ 3.03253709e-01 -5.37228954e-03 9.52894709e-01 3.76394144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.34925415399994 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:445.11, Y:131.47, Z:37.64 [[ 2.10635937e-01 -9.77550854e-01 -5.17975220e-03 4.45106466e+02] [ 9.33160317e-01 2.02644133e-01 -2.96895904e-01 1.31474146e+02] [ 2.91280491e-01 5.77034078e-02 9.54895802e-01 3.76442077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.3792541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:445.15, Y:131.50, Z:37.63 [[ 2.10973153e-01 -9.75016872e-01 -6.95156717e-02 4.45146557e+02] [ 9.33362806e-01 2.22065411e-01 -2.81994371e-01 1.31496731e+02] [ 2.90386295e-01 -5.39010080e-03 9.56894324e-01 3.76343017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.40925415399994 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:445.18, Y:131.51, Z:37.65 [[ 2.06449033e-01 -9.69320927e-01 -1.33400665e-01 4.45179451e+02] [ 9.30364196e-01 2.36686745e-01 -2.80003299e-01 1.31512199e+02] [ 3.02987226e-01 -6.63047925e-02 9.50685235e-01 3.76474069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4392541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:445.13, Y:131.55, Z:37.67 [[ 2.10686963e-01 -9.77536921e-01 -5.70724409e-03 4.45130562e+02] [ 9.33384745e-01 2.02899167e-01 -2.96014943e-01 1.31552422e+02] [ 2.90523531e-01 5.70394348e-02 9.55166258e-01 3.76671894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.46925415399994 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:445.18, Y:131.57, Z:37.66 [[ 2.05943803e-01 -9.72130637e-01 -1.12023101e-01 4.45184375e+02] [ 9.31933465e-01 2.29757818e-01 -2.80555451e-01 1.31567032e+02] [ 2.98474733e-01 -4.66194201e-02 9.53278272e-01 3.76628457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.4992541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:445.15, Y:131.60, Z:37.68 [[ 2.07391410e-01 -9.77898433e-01 -2.65227662e-02 4.45154976e+02] [ 9.34378753e-01 2.06045087e-01 -2.90657477e-01 1.31603339e+02] [ 2.89698377e-01 3.54975548e-02 9.56459499e-01 3.76771953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.52925415399994 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:445.18, Y:131.63, Z:37.67 [[ 2.03198932e-01 -9.76708653e-01 -6.89231523e-02 4.45184520e+02] [ 9.35813200e-01 2.14433405e-01 -2.79771280e-01 1.31627045e+02] [ 2.88034456e-01 -7.64997039e-03 9.57589489e-01 3.76740444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.5592541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:445.19, Y:131.65, Z:37.68 [[ 2.01057385e-01 -9.77165210e-01 -6.87319493e-02 4.45192004e+02] [ 9.36419338e-01 2.12322816e-01 -2.79352547e-01 1.31652908e+02] [ 2.87566951e-01 -8.19603380e-03 9.57725469e-01 3.76820845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.58925415399995 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:445.21, Y:131.68, Z:37.69 [[ 1.99564352e-01 -9.76748934e-01 -7.83299997e-02 4.45208406e+02] [ 9.36631805e-01 2.13632758e-01 -2.77636284e-01 1.31680724e+02] [ 2.87914799e-01 -1.79600639e-02 9.57487600e-01 3.76925879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6192541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:445.20, Y:131.70, Z:37.70 [[ 1.95767655e-01 -9.78688487e-01 -6.19989510e-02 4.45203464e+02] [ 9.38043868e-01 2.05320510e-01 -2.79136510e-01 1.31704674e+02] [ 2.85917345e-01 -3.51183591e-03 9.58247848e-01 3.76996274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.64925415399995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:445.21, Y:131.73, Z:37.71 [[ 1.94358502e-01 -9.78574595e-01 -6.79450880e-02 4.45212886e+02] [ 9.38528413e-01 2.05655336e-01 -2.77254939e-01 1.31729058e+02] [ 2.85287909e-01 -9.88154098e-03 9.58390924e-01 3.77054435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.6792541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:445.23, Y:131.76, Z:37.71 [[ 1.93923929e-01 -9.78037002e-01 -7.64011249e-02 4.45227789e+02] [ 9.38542005e-01 2.07632165e-01 -2.75731372e-01 1.31758020e+02] [ 2.85538815e-01 -1.82347539e-02 9.58193654e-01 3.77147802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.70925415399995 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:445.23, Y:131.78, Z:37.72 [[ 1.91800901e-01 -9.78537212e-01 -7.53481232e-02 4.45232808e+02] [ 9.38709376e-01 2.05315390e-01 -2.76894019e-01 1.31784395e+02] [ 2.86421231e-01 -1.76214672e-02 9.57941732e-01 3.77245507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7392541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:445.24, Y:131.81, Z:37.73 [[ 1.90237509e-01 -9.79199712e-01 -7.05522042e-02 4.45236365e+02] [ 9.38898862e-01 2.02463137e-01 -2.78347993e-01 1.31810667e+02] [ 2.86842495e-01 -1.32891553e-02 9.57885578e-01 3.77324852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.76925415399995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:445.23, Y:131.83, Z:37.74 [[ 1.86763602e-01 -9.80521109e-01 -6.08088145e-02 4.45233659e+02] [ 9.39931536e-01 1.96349978e-01 -2.79240747e-01 1.31834633e+02] [ 2.85741256e-01 -5.00411464e-03 9.58293741e-01 3.77378299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.7992541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:445.24, Y:131.86, Z:37.74 [[ 1.85612872e-01 -9.80291030e-01 -6.76561768e-02 4.45242621e+02] [ 9.40157512e-01 1.97192305e-01 -2.77883153e-01 1.31859435e+02] [ 2.85747640e-01 -1.20287728e-02 9.58229406e-01 3.77433971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.82925415399995 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:445.26, Y:131.89, Z:37.75 [[ 1.86398118e-01 -9.79149290e-01 -8.07614328e-02 4.45258386e+02] [ 9.39284035e-01 2.01705649e-01 -2.77597430e-01 1.31888322e+02] [ 2.88099364e-01 -2.41142858e-02 9.57296849e-01 3.77530779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.8592541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:445.26, Y:131.91, Z:37.76 [[ 1.84067085e-01 -9.80254087e-01 -7.22581052e-02 4.45259691e+02] [ 9.39539554e-01 1.97065756e-01 -2.80054485e-01 1.31913760e+02] [ 2.88764152e-01 -1.63405353e-02 9.57260806e-01 3.77624818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.88925415399996 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:445.26, Y:131.94, Z:37.77 [[ 1.82245363e-01 -9.81424131e-01 -5.99441664e-02 4.45256462e+02] [ 9.40067128e-01 1.91786306e-01 -2.81942916e-01 1.31935738e+02] [ 2.88202052e-01 -4.96875128e-03 9.57556729e-01 3.77683145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.91925415399993 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:445.27, Y:131.96, Z:37.78 [[ 1.79800657e-01 -9.81405130e-01 -6.71989253e-02 4.45266092e+02] [ 9.40511740e-01 1.91524379e-01 -2.80635137e-01 1.31963431e+02] [ 2.88286995e-01 -1.27429962e-02 9.57459255e-01 3.77752795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.94925415399996 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:445.27, Y:131.99, Z:37.78 [[ 1.79245524e-01 -9.81436756e-01 -6.82124336e-02 4.45272052e+02] [ 9.40595680e-01 1.91283236e-01 -2.80518255e-01 1.31989482e+02] [ 2.88358821e-01 -1.38786788e-02 9.57421836e-01 3.77827116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 495.97925415399993 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:445.28, Y:132.01, Z:37.79 [[ 1.79036715e-01 -9.81475093e-01 -6.82092157e-02 4.45277333e+02] [ 9.40528170e-01 1.91087408e-01 -2.80877845e-01 1.32014798e+02] [ 2.88708531e-01 -1.38652420e-02 9.57316635e-01 3.77902274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.00925415399996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:445.28, Y:132.04, Z:37.80 [[ 1.80086466e-01 -9.81276432e-01 -6.83039371e-02 4.45281283e+02] [ 9.40134715e-01 1.92129326e-01 -2.81483640e-01 1.32041610e+02] [ 2.89336452e-01 -1.35235084e-02 9.57131931e-01 3.77986118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.03925415399993 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:445.29, Y:132.07, Z:37.81 [[ 1.81360435e-01 -9.81052930e-01 -6.81435302e-02 4.45285791e+02] [ 9.39980997e-01 1.93299491e-01 -2.81195719e-01 1.32067146e+02] [ 2.89039994e-01 -1.30558454e-02 9.57227991e-01 3.78065084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.0692541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:445.29, Y:132.09, Z:37.81 [[ 1.85423859e-01 -9.80321814e-01 -6.77283828e-02 4.45289404e+02] [ 9.39635810e-01 1.97054852e-01 -2.79739038e-01 1.32093949e+02] [ 2.87580488e-01 -1.17697220e-02 9.57684153e-01 3.78144661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.09925415399994 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:445.30, Y:132.12, Z:37.82 [[ 1.85155025e-01 -9.80378519e-01 -6.76430054e-02 4.45295697e+02] [ 9.39688758e-01 1.96772856e-01 -2.79759683e-01 1.32120475e+02] [ 2.87580691e-01 -1.17644607e-02 9.57684156e-01 3.78224705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.1292541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:445.30, Y:132.15, Z:37.83 [[ 1.87751986e-01 -9.79895460e-01 -6.74839192e-02 4.45300382e+02] [ 9.39266185e-01 1.99212678e-01 -2.79451860e-01 1.32146893e+02] [ 2.87277261e-01 -1.09177216e-02 9.57785247e-01 3.78304991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.15925415399994 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:445.30, Y:132.17, Z:37.84 [[ 1.94293426e-01 -9.78647439e-01 -6.70764840e-02 4.45302293e+02] [ 9.38335026e-01 2.05353263e-01 -2.78132011e-01 1.32173040e+02] [ 2.85967555e-01 -8.90099301e-03 9.58197960e-01 3.78384585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.1892541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:445.31, Y:132.20, Z:37.85 [[ 1.97574962e-01 -9.77998843e-01 -6.69507171e-02 4.45306109e+02] [ 9.37743145e-01 2.08460940e-01 -2.77816180e-01 1.32198902e+02] [ 2.85660512e-01 -7.89305496e-03 9.58298373e-01 3.78464490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.21925415399994 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:445.31, Y:132.23, Z:37.85 [[ 2.00285920e-01 -9.77451963e-01 -6.68820575e-02 4.45309754e+02] [ 9.37176092e-01 2.11040365e-01 -2.77782176e-01 1.32225083e+02] [ 2.85633548e-01 -7.04440662e-03 9.58313024e-01 3.78542851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.2492541539999 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:445.31, Y:132.25, Z:37.86 [[ 2.05141401e-01 -9.76435860e-01 -6.70075916e-02 4.45312970e+02] [ 9.35843210e-01 2.15736627e-01 -2.78666816e-01 1.32251604e+02] [ 2.86556264e-01 -5.54249878e-03 9.58047383e-01 3.78610509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.27925415399994 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:445.31, Y:132.28, Z:37.87 [[ 2.05600662e-01 -9.77009561e-01 -5.63975685e-02 4.45311407e+02] [ 9.34803149e-01 2.13119434e-01 -2.84118248e-01 1.32279076e+02] [ 2.89605663e-01 5.69427547e-03 9.57129111e-01 3.78728586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3092541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:445.33, Y:132.31, Z:37.87 [[ 2.06509297e-01 -9.75302039e-01 -7.83571511e-02 4.45326022e+02] [ 9.34680802e-01 2.20321887e-01 -2.78980403e-01 1.32305354e+02] [ 2.89353951e-01 -1.56268779e-02 9.57094610e-01 3.78737332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.33925415399995 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:445.33, Y:132.33, Z:37.88 [[ 2.05699761e-01 -9.76272213e-01 -6.76769799e-02 4.45325722e+02] [ 9.34547415e-01 2.16485527e-01 -2.82409534e-01 1.32332066e+02] [ 2.90359667e-01 -5.15577290e-03 9.56903695e-01 3.78838347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.3692541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:445.33, Y:132.36, Z:37.89 [[ 2.04562587e-01 -9.76503490e-01 -6.77870371e-02 4.45330613e+02] [ 9.34535403e-01 2.15433756e-01 -2.83252321e-01 1.32357584e+02] [ 2.91200496e-01 -5.40655853e-03 9.56646769e-01 3.78913673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.39925415399995 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:445.33, Y:132.38, Z:37.90 [[ 2.01827852e-01 -9.77065159e-01 -6.78910389e-02 4.45334742e+02] [ 9.34941403e-01 2.12850778e-01 -2.83864614e-01 1.32383672e+02] [ 2.91804885e-01 -6.18235778e-03 9.56457886e-01 3.78992574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4292541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:445.34, Y:132.41, Z:37.91 [[ 2.00266430e-01 -9.77389085e-01 -6.78522879e-02 4.45340279e+02] [ 9.35214564e-01 2.11346876e-01 -2.84088399e-01 1.32409652e+02] [ 2.92005269e-01 -6.56307841e-03 9.56394191e-01 3.79070807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.45925415399995 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:445.35, Y:132.44, Z:37.92 [[ 1.97611515e-01 -9.77933507e-01 -6.77919190e-02 4.45345122e+02] [ 9.35750309e-01 2.08789777e-01 -2.84215038e-01 1.32435311e+02] [ 2.92097669e-01 -7.27214476e-03 9.56360846e-01 3.79153372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.4892541539999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:445.35, Y:132.46, Z:37.92 [[ 1.96313390e-01 -9.78192176e-01 -6.78315538e-02 4.45350955e+02] [ 9.35905923e-01 2.07562306e-01 -2.84601464e-01 1.32461343e+02] [ 2.92474199e-01 -7.61287490e-03 9.56243111e-01 3.79238003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.51925415399995 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:445.36, Y:132.49, Z:37.93 [[ 1.94738432e-01 -9.78526822e-01 -6.75440789e-02 4.45356366e+02] [ 9.36509054e-01 2.05964477e-01 -2.83777070e-01 1.32487637e+02] [ 2.91595155e-01 -7.99333994e-03 9.56508428e-01 3.79319903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.5492541539999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:445.37, Y:132.51, Z:37.94 [[ 1.92435926e-01 -9.77339192e-01 -8.81845663e-02 4.45371221e+02] [ 9.35732065e-01 2.09824655e-01 -2.83512109e-01 1.32512796e+02] [ 2.95590792e-01 -2.79592110e-02 9.54905423e-01 3.79427513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.57925415399995 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:445.36, Y:132.54, Z:37.95 [[ 1.91676818e-01 -9.80260058e-01 -4.84790276e-02 4.45358299e+02] [ 9.37348483e-01 1.97480576e-01 -2.87017845e-01 1.32541017e+02] [ 2.90925796e-01 9.57292419e-03 9.56697727e-01 3.79528241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.6092541539999 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:445.37, Y:132.57, Z:37.95 [[ 1.90244066e-01 -9.79460329e-01 -6.68181114e-02 4.45373072e+02] [ 9.38155540e-01 2.01430790e-01 -2.81584480e-01 1.32566422e+02] [ 2.89260052e-01 -9.11600522e-03 9.57207146e-01 3.79549478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.63925415399996 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:445.38, Y:132.59, Z:37.96 [[ 1.89008718e-01 -9.79703698e-01 -6.67560452e-02 4.45378461e+02] [ 9.38378093e-01 2.00230683e-01 -2.81698824e-01 1.32592591e+02] [ 2.89347988e-01 -9.39887667e-03 9.57177832e-01 3.79626580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.66925415399993 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:445.38, Y:132.62, Z:37.97 [[ 1.89283598e-01 -9.79643037e-01 -6.68673346e-02 4.45383870e+02] [ 9.38056755e-01 2.00534507e-01 -2.82551652e-01 1.32618248e+02] [ 2.90208966e-01 -9.24296166e-03 9.56918661e-01 3.79703772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.69925415399996 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:445.39, Y:132.64, Z:37.98 [[ 1.90817129e-01 -9.79346431e-01 -6.68535132e-02 4.45387532e+02] [ 9.37693416e-01 2.02000383e-01 -2.82713463e-01 1.32644740e+02] [ 2.90378856e-01 -8.74152780e-03 9.56871833e-01 3.79786952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.72925415399993 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:445.39, Y:132.67, Z:37.99 [[ 1.92516690e-01 -9.79016518e-01 -6.68130365e-02 4.45392728e+02] [ 9.37278128e-01 2.03617722e-01 -2.82930262e-01 1.32670676e+02] [ 2.90597718e-01 -8.15360013e-03 9.56810579e-01 3.79864727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.75925415399996 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:445.40, Y:132.70, Z:37.99 [[ 1.94287631e-01 -9.78664459e-01 -6.68445440e-02 4.45397888e+02] [ 9.36747761e-01 2.05326433e-01 -2.83451386e-01 1.32697075e+02] [ 2.91128749e-01 -7.54537852e-03 9.56654127e-01 3.79943770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.78925415399993 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:445.40, Y:132.72, Z:38.00 [[ 1.96804985e-01 -9.78170868e-01 -6.67049569e-02 4.45403323e+02] [ 9.36287727e-01 2.07693812e-01 -2.83246488e-01 1.32723262e+02] [ 2.90917670e-01 -6.71071172e-03 9.56724556e-01 3.80021791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8192541539999 meters Centerline goodness : 0.995570 Centerline is valid? [True, True] Translation: X:445.40, Y:132.75, Z:38.01 [[ 2.03938981e-01 -9.77119429e-01 -6.03863647e-02 4.45402155e+02] [ 9.33692790e-01 2.12678205e-01 -2.88072481e-01 1.32745364e+02] [ 2.94324082e-01 2.36689480e-03 9.55702743e-01 3.80134469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.84925415399994 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:445.41, Y:132.78, Z:38.02 [[ 2.05621070e-01 -9.76175769e-01 -6.92881165e-02 4.45414670e+02] [ 9.34329799e-01 2.16881375e-01 -2.82825558e-01 1.32775347e+02] [ 2.91114759e-01 -6.58305801e-03 9.56665490e-01 3.80172267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.8792541539999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:445.42, Y:132.80, Z:38.03 [[ 2.11278775e-01 -9.75159625e-01 -6.65205572e-02 4.45418232e+02] [ 9.33010046e-01 2.21492907e-01 -2.83607381e-01 1.32801872e+02] [ 2.91296299e-01 -2.14412825e-03 9.56630477e-01 3.80257757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.90925415399994 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:445.42, Y:132.83, Z:38.03 [[ 2.13579260e-01 -9.74656092e-01 -6.65537455e-02 4.45423550e+02] [ 9.32322955e-01 2.23704354e-01 -2.84130727e-01 1.32827009e+02] [ 2.91818106e-01 -1.36515420e-03 9.56472859e-01 3.80336481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9392541539999 meters Centerline goodness : 0.995643 Centerline is valid? [True, True] Translation: X:445.43, Y:132.85, Z:38.04 [[ 2.16228048e-01 -9.74525119e-01 -5.95501804e-02 4.45425518e+02] [ 9.31034449e-01 2.24174616e-01 -2.87959367e-01 1.32851744e+02] [ 2.93973275e-01 6.82162241e-03 9.55789296e-01 3.80436703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.96925415399994 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:445.44, Y:132.88, Z:38.05 [[ 2.14971657e-01 -9.73992173e-01 -7.15991231e-02 4.45437937e+02] [ 9.31749973e-01 2.26509794e-01 -2.83787422e-01 1.32879805e+02] [ 2.92624631e-01 -5.70622873e-03 9.56210366e-01 3.80480813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 496.9992541539999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:445.44, Y:132.90, Z:38.06 [[ 2.13311007e-01 -9.74803288e-01 -6.52454123e-02 4.45440779e+02] [ 9.31776329e-01 2.23066041e-01 -2.86416504e-01 1.32902582e+02] [ 2.93753786e-01 3.01662009e-04 9.55881071e-01 3.80571530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.02925415399994 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:445.45, Y:132.93, Z:38.07 [[ 2.09978058e-01 -9.75455584e-01 -6.62994584e-02 4.45448295e+02] [ 9.32613754e-01 2.20188962e-01 -2.85916782e-01 1.32930154e+02] [ 2.93497531e-01 -1.79553620e-03 9.55958145e-01 3.80654202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.0592541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:445.46, Y:132.96, Z:38.07 [[ 2.07094154e-01 -9.76050281e-01 -6.66172615e-02 4.45455079e+02] [ 9.33310001e-01 2.17524211e-01 -2.85684547e-01 1.32955675e+02] [ 2.93333349e-01 -3.01095682e-03 9.56005481e-01 3.80728049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.08925415399995 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:445.45, Y:132.99, Z:38.08 [[ 2.06563167e-01 -9.78133889e-01 -2.42023298e-02 4.45452731e+02] [ 9.36345264e-01 2.04794060e-01 -2.85161252e-01 1.32994861e+02] [ 2.83882378e-01 3.62420745e-02 9.58173944e-01 3.80829950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1192541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:445.49, Y:133.01, Z:38.08 [[ 1.95043249e-01 -9.74147620e-01 -1.13993619e-01 4.45494076e+02] [ 9.36353001e-01 2.19533258e-01 -2.73949275e-01 1.33006300e+02] [ 2.91892425e-01 -5.33063111e-02 9.54964528e-01 3.80771393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.14925415399995 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:445.48, Y:133.03, Z:38.10 [[ 1.87768989e-01 -9.79980009e-01 -6.61965943e-02 4.45478754e+02] [ 9.37679265e-01 1.98911469e-01 -2.84941791e-01 1.33033673e+02] [ 2.92404520e-01 -8.56794191e-03 9.56256340e-01 3.80979506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.1792541539999 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:445.49, Y:133.06, Z:38.11 [[ 1.86754882e-01 -9.80412464e-01 -6.25620795e-02 4.45487705e+02] [ 9.38486449e-01 1.96871907e-01 -2.83698144e-01 1.33063154e+02] [ 2.90457913e-01 -5.73165049e-03 9.56870602e-01 3.81055186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.20925415399995 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:445.49, Y:133.08, Z:38.11 [[ 1.84343525e-01 -9.80638642e-01 -6.60705513e-02 4.45492900e+02] [ 9.38105919e-01 1.95605536e-01 -2.85824699e-01 1.33082980e+02] [ 2.93214511e-01 -9.29124266e-03 9.56001529e-01 3.81132257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2392541539999 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:445.50, Y:133.11, Z:38.12 [[ 1.82124783e-01 -9.81023819e-01 -6.65043634e-02 4.45501867e+02] [ 9.39790585e-01 1.93563226e-01 -2.81650377e-01 1.33114358e+02] [ 2.89178528e-01 -1.12046609e-02 9.57209609e-01 3.81205134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.26925415399995 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:445.51, Y:133.14, Z:38.13 [[ 1.79509969e-01 -9.81170002e-01 -7.12853352e-02 4.45510148e+02] [ 9.40443167e-01 1.92420050e-01 -2.80251983e-01 1.33140207e+02] [ 2.88691566e-01 -1.67317816e-02 9.57275941e-01 3.81294289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.2992541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:445.51, Y:133.16, Z:38.14 [[ 1.76605517e-01 -9.81848494e-01 -6.91666541e-02 4.45511684e+02] [ 9.40783911e-01 1.89042842e-01 -2.81404402e-01 1.33162237e+02] [ 2.89371949e-01 -1.53733056e-02 9.57093275e-01 3.81381420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.32925415399995 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:445.51, Y:133.20, Z:38.15 [[ 1.81779829e-01 -9.82839082e-01 -3.13597211e-02 4.45508690e+02] [ 9.42106542e-01 1.83206995e-01 -2.80838851e-01 1.33200244e+02] [ 2.81764719e-01 2.15066401e-02 9.59242465e-01 3.81482151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.3592541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:445.54, Y:133.21, Z:38.15 [[ 1.75855678e-01 -9.78984554e-01 -1.03266758e-01 4.45541109e+02] [ 9.41398417e-01 1.97914552e-01 -2.73127902e-01 1.33213914e+02] [ 2.87825991e-01 -4.91840701e-02 9.56418907e-01 3.81451545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.38925415399996 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:445.53, Y:133.24, Z:38.16 [[ 1.75991812e-01 -9.82264503e-01 -6.46786476e-02 4.45527556e+02] [ 9.40851445e-01 1.87168836e-01 -2.82429435e-01 1.33240820e+02] [ 2.89526236e-01 -1.11477311e-02 9.57105160e-01 3.81635257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.41925415399993 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:445.53, Y:133.27, Z:38.17 [[ 1.76672005e-01 -9.82147839e-01 -6.45958569e-02 4.45533168e+02] [ 9.40713863e-01 1.87796830e-01 -2.82470846e-01 1.33265734e+02] [ 2.89559028e-01 -1.08615274e-02 9.57098530e-01 3.81707176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.44925415399996 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:445.54, Y:133.29, Z:38.18 [[ 1.76555653e-01 -9.82171227e-01 -6.45583718e-02 4.45538689e+02] [ 9.40703403e-01 1.87675830e-01 -2.82586078e-01 1.33291842e+02] [ 2.89663961e-01 -1.08381106e-02 9.57067043e-01 3.81784131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.47925415399993 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:445.54, Y:133.32, Z:38.19 [[ 1.78028562e-01 -9.82354614e-01 -5.73170357e-02 4.45540129e+02] [ 9.39422317e-01 1.87008261e-01 -2.87251842e-01 1.33316346e+02] [ 2.92901931e-01 -2.70587009e-03 9.56138660e-01 3.81876479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.50925415399996 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:445.55, Y:133.34, Z:38.19 [[ 1.77042605e-01 -9.81675153e-01 -7.04968796e-02 4.45553504e+02] [ 9.40021537e-01 1.89880873e-01 -2.83380952e-01 1.33344842e+02] [ 2.91574048e-01 -1.60980832e-02 9.56412791e-01 3.81922769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.53925415399993 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:445.55, Y:133.38, Z:38.20 [[ 1.82977000e-01 -9.82466283e-01 -3.57689839e-02 4.45551762e+02] [ 9.40550066e-01 1.85528592e-01 -2.84507847e-01 1.33383285e+02] [ 2.86155536e-01 1.84158721e-02 9.58006193e-01 3.82031789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.5692541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:445.58, Y:133.40, Z:38.20 [[ 1.77265734e-01 -9.78996515e-01 -1.00710892e-01 4.45579431e+02] [ 9.39805649e-01 1.98763079e-01 -2.77954279e-01 1.33396795e+02] [ 2.92133878e-01 -4.53768959e-02 9.55300338e-01 3.81999236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.59925415399994 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:445.57, Y:133.42, Z:38.22 [[ 1.77878497e-01 -9.81895034e-01 -6.51258974e-02 4.45566883e+02] [ 9.39133351e-01 1.89153808e-01 -2.86791537e-01 1.33423114e+02] [ 2.93917998e-01 -1.01478547e-02 9.55776769e-01 3.82171749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.6292541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:445.57, Y:133.45, Z:38.23 [[ 1.78311812e-01 -9.81815155e-01 -6.51452167e-02 4.45571356e+02] [ 9.38949957e-01 1.89577290e-01 -2.87112225e-01 1.33449656e+02] [ 2.94241187e-01 -9.97259723e-03 9.55679167e-01 3.82254880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.65925415399994 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:445.58, Y:133.48, Z:38.23 [[ 1.78379257e-01 -9.81808658e-01 -6.50584277e-02 4.45576420e+02] [ 9.38935922e-01 1.89616444e-01 -2.87132266e-01 1.33475764e+02] [ 2.94245092e-01 -9.86725453e-03 9.55679059e-01 3.82335252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.6892541539999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:445.58, Y:133.50, Z:38.24 [[ 1.79099497e-01 -9.81696197e-01 -6.47761298e-02 4.45580830e+02] [ 9.39075033e-01 1.90213678e-01 -2.86281049e-01 1.33501298e+02] [ 2.93362323e-01 -9.55685453e-03 9.55953563e-01 3.82415803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.71925415399994 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:445.59, Y:133.53, Z:38.25 [[ 1.79270174e-01 -9.81674982e-01 -6.46253329e-02 4.45585655e+02] [ 9.39185233e-01 1.90328369e-01 -2.85842982e-01 1.33527338e+02] [ 2.92904939e-01 -9.45203710e-03 9.56094847e-01 3.82495183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.7492541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:445.59, Y:133.55, Z:38.26 [[ 1.79751763e-01 -9.81598249e-01 -6.44529368e-02 4.45590892e+02] [ 9.39212733e-01 1.90735112e-01 -2.85481278e-01 1.33553761e+02] [ 2.92521360e-01 -9.21925583e-03 9.56214547e-01 3.82576403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.77925415399994 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:445.59, Y:133.58, Z:38.27 [[ 1.81149245e-01 -9.81596302e-01 -6.04454371e-02 4.45593291e+02] [ 9.38709214e-01 1.90908771e-01 -2.87017165e-01 1.33577741e+02] [ 2.93274552e-01 -4.74774606e-03 9.56016473e-01 3.82659642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8092541539999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:445.60, Y:133.61, Z:38.27 [[ 1.81810673e-01 -9.81077553e-01 -6.65711149e-02 4.45601331e+02] [ 9.39002501e-01 1.93313894e-01 -2.84436358e-01 1.33605902e+02] [ 2.91923248e-01 -1.07968777e-02 9.56380805e-01 3.82725442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.83925415399995 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:445.60, Y:133.63, Z:38.28 [[ 1.82438072e-01 -9.81127942e-01 -6.40649032e-02 4.45604899e+02] [ 9.38900354e-01 1.93186512e-01 -2.84859785e-01 1.33632315e+02] [ 2.91860370e-01 -8.18129020e-03 9.56425946e-01 3.82811996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.8692541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:445.61, Y:133.66, Z:38.29 [[ 1.82757900e-01 -9.81074378e-01 -6.39735523e-02 4.45609390e+02] [ 9.38845316e-01 1.93465829e-01 -2.84851620e-01 1.33657319e+02] [ 2.91837322e-01 -8.00238615e-03 9.56434493e-01 3.82889949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.89925415399995 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:445.61, Y:133.68, Z:38.30 [[ 1.83268090e-01 -9.80984408e-01 -6.38936488e-02 4.45614230e+02] [ 9.38773380e-01 1.93930085e-01 -2.84773002e-01 1.33683737e+02] [ 2.91748776e-01 -7.79185257e-03 9.56463245e-01 3.82966204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9292541539999 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:445.62, Y:133.71, Z:38.30 [[ 1.82769145e-01 -9.81094904e-01 -6.36256877e-02 4.45619404e+02] [ 9.39127694e-01 1.93368005e-01 -2.83985896e-01 1.33709707e+02] [ 2.90920288e-01 -7.84878588e-03 9.56715100e-01 3.83046500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.95925415399995 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:445.62, Y:133.74, Z:38.31 [[ 1.81229800e-01 -9.81384334e-01 -6.35653019e-02 4.45624175e+02] [ 9.39391813e-01 1.91878087e-01 -2.84122898e-01 1.33736215e+02] [ 2.91030550e-01 -8.22118815e-03 9.56678437e-01 3.83133924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 497.9892541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:445.63, Y:133.76, Z:38.32 [[ 1.80958979e-01 -9.81439956e-01 -6.34780380e-02 4.45630004e+02] [ 9.39443978e-01 1.91593611e-01 -2.84142395e-01 1.33762817e+02] [ 2.91030686e-01 -8.21594284e-03 9.56678440e-01 3.83214576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.01925415399995 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:445.64, Y:133.79, Z:38.33 [[ 1.79643991e-01 -9.81686788e-01 -6.33962639e-02 4.45635461e+02] [ 9.39698669e-01 1.90311238e-01 -2.84162004e-01 1.33789083e+02] [ 2.91023106e-01 -8.52538839e-03 9.56678038e-01 3.83295548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.0492541539999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:445.64, Y:133.82, Z:38.34 [[ 1.78247291e-01 -9.81951684e-01 -6.32360119e-02 4.45640964e+02] [ 9.40072362e-01 1.88924732e-01 -2.83851017e-01 1.33815088e+02] [ 2.90674831e-01 -8.85075220e-03 9.56780961e-01 3.83371195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.07925415399995 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:445.65, Y:133.84, Z:38.34 [[ 1.75601017e-01 -9.82438494e-01 -6.30784258e-02 4.45646111e+02] [ 9.40678617e-01 1.86342423e-01 -2.83549364e-01 1.33839988e+02] [ 2.90323997e-01 -9.54496958e-03 9.56880803e-01 3.83444358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.1092541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:445.65, Y:133.87, Z:38.35 [[ 1.73878466e-01 -9.82743836e-01 -6.30938344e-02 4.45651770e+02] [ 9.40911576e-01 1.84700698e-01 -2.83850415e-01 1.33866604e+02] [ 2.90605721e-01 -1.00102444e-02 9.56790526e-01 3.83522693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.13925415399996 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:445.66, Y:133.89, Z:38.36 [[ 1.72273061e-01 -9.83029223e-01 -6.30518707e-02 4.45657717e+02] [ 9.41147115e-01 1.83153815e-01 -2.84071802e-01 1.33893175e+02] [ 2.90799074e-01 -1.04031673e-02 9.56727585e-01 3.83599859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.16925415399993 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:445.66, Y:133.92, Z:38.37 [[ 1.69293890e-01 -9.83543124e-01 -6.31070619e-02 4.45663022e+02] [ 9.41491303e-01 1.80325423e-01 -2.84740000e-01 1.33919138e+02] [ 2.91433877e-01 -1.12100078e-02 9.56525290e-01 3.83670347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.19925415399996 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:445.66, Y:133.96, Z:38.38 [[ 1.73525432e-01 -9.84385457e-01 -2.95668249e-02 4.45661444e+02] [ 9.42657526e-01 1.74711345e-01 -2.84381321e-01 1.33957006e+02] [ 2.85106496e-01 2.14760015e-02 9.58255220e-01 3.83758232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.22925415399993 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:445.69, Y:133.97, Z:38.37 [[ 1.65234458e-01 -9.80956779e-01 -1.02085124e-01 4.45693287e+02] [ 9.42237893e-01 1.87589565e-01 -2.77484969e-01 1.33971306e+02] [ 2.91350865e-01 -5.03383940e-02 9.55290908e-01 3.83718671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.25925415399996 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:445.68, Y:134.00, Z:38.39 [[ 1.61880233e-01 -9.84789459e-01 -6.31229857e-02 4.45678760e+02] [ 9.42434498e-01 1.73250528e-01 -2.86009564e-01 1.33998756e+02] [ 2.92595295e-01 -1.31899845e-02 9.56145396e-01 3.83907385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.28925415399993 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:445.68, Y:134.03, Z:38.40 [[ 1.60141645e-01 -9.85081515e-01 -6.30004957e-02 4.45684037e+02] [ 9.42786108e-01 1.71548923e-01 -2.85876409e-01 1.34025179e+02] [ 2.92419233e-01 -1.36152739e-02 9.56193294e-01 3.83988864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3192541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:445.69, Y:134.05, Z:38.41 [[ 1.57607004e-01 -9.85513644e-01 -6.26329770e-02 4.45688658e+02] [ 9.43626187e-01 1.68996965e-01 -2.84621934e-01 1.34050968e+02] [ 2.91083582e-01 -1.42437071e-02 9.56591587e-01 3.84067954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.34925415399994 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:445.69, Y:134.08, Z:38.41 [[ 1.56661271e-01 -9.85671457e-01 -6.25221999e-02 4.45693689e+02] [ 9.43874362e-01 1.68055141e-01 -2.84356570e-01 1.34076744e+02] [ 2.90789331e-01 -1.44654399e-02 9.56677749e-01 3.84147751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.3792541539999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:445.70, Y:134.10, Z:38.42 [[ 1.56266901e-01 -9.85741937e-01 -6.23978324e-02 4.45698491e+02] [ 9.43993866e-01 1.67639008e-01 -2.84205461e-01 1.34102737e+02] [ 2.90613553e-01 -1.44912644e-02 9.56730770e-01 3.84230520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.40925415399994 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:445.70, Y:134.13, Z:38.43 [[ 1.56299625e-01 -9.85744029e-01 -6.22827179e-02 4.45703017e+02] [ 9.44026892e-01 1.67635245e-01 -2.84097961e-01 1.34128740e+02] [ 2.90488647e-01 -1.43921560e-02 9.56770198e-01 3.84308239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4392541539999 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:445.71, Y:134.16, Z:38.44 [[ 1.57690534e-01 -9.85527591e-01 -6.22017975e-02 4.45706744e+02] [ 9.43778571e-01 1.68944463e-01 -2.84147458e-01 1.34155672e+02] [ 2.90543809e-01 -1.38973593e-02 9.56760764e-01 3.84391885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.46925415399994 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:445.71, Y:134.18, Z:38.45 [[ 1.58696865e-01 -9.85366304e-01 -6.21976806e-02 4.45711049e+02] [ 9.43484738e-01 1.69912603e-01 -2.84545701e-01 1.34180675e+02] [ 2.90949915e-01 -1.35260516e-02 9.56642667e-01 3.84471918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.4992541539999 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:445.71, Y:134.21, Z:38.46 [[ 1.61116923e-01 -9.84970685e-01 -6.22421567e-02 4.45714292e+02] [ 9.42927374e-01 1.72248627e-01 -2.84988382e-01 1.34206763e+02] [ 2.91426328e-01 -1.27733823e-02 9.56507991e-01 3.84555336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.52925415399994 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:445.72, Y:134.23, Z:38.46 [[ 1.62250634e-01 -9.84786568e-01 -6.22105136e-02 4.45718899e+02] [ 9.42647215e-01 1.73328228e-01 -2.85260503e-01 1.34233206e+02] [ 2.91703549e-01 -1.23588700e-02 9.56428930e-01 3.84637119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.5592541539999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:445.72, Y:134.26, Z:38.47 [[ 1.63448066e-01 -9.84584821e-01 -6.22692502e-02 4.45723459e+02] [ 9.42222674e-01 1.74500178e-01 -2.85947759e-01 1.34259589e+02] [ 2.92405818e-01 -1.19338912e-02 9.56219859e-01 3.84716434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.58925415399995 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:445.73, Y:134.29, Z:38.48 [[ 1.64936081e-01 -9.84335761e-01 -6.22832201e-02 4.45728113e+02] [ 9.41809195e-01 1.75934029e-01 -2.86430897e-01 1.34285919e+02] [ 2.92901912e-01 -1.14161200e-02 9.56074339e-01 3.84796637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6192541539999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:445.73, Y:134.31, Z:38.49 [[ 1.68085213e-01 -9.83795832e-01 -6.23948814e-02 4.45731363e+02] [ 9.40948135e-01 1.78990016e-01 -2.87365937e-01 1.34312519e+02] [ 2.93877472e-01 -1.04083823e-02 9.55786428e-01 3.84878439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.64925415399995 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:445.74, Y:134.34, Z:38.50 [[ 1.69569349e-01 -9.83535380e-01 -6.24851407e-02 4.45735454e+02] [ 9.40413115e-01 1.80444803e-01 -2.88206258e-01 1.34337898e+02] [ 2.94736170e-01 -9.89089831e-03 9.55527478e-01 3.84956191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.6792541539999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:445.74, Y:134.37, Z:38.50 [[ 1.72585863e-01 -9.82998020e-01 -6.26818326e-02 4.45738946e+02] [ 9.39486428e-01 1.83397953e-01 -2.89362130e-01 1.34365044e+02] [ 2.95938120e-01 -8.94891815e-03 9.55165193e-01 3.85035265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.70925415399995 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:445.74, Y:134.39, Z:38.51 [[ 1.74053137e-01 -9.82739307e-01 -6.26814146e-02 4.45743862e+02] [ 9.39084330e-01 1.84803774e-01 -2.89772645e-01 1.34391734e+02] [ 2.96354730e-01 -8.42729655e-03 9.55040761e-01 3.85115237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7392541539999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:445.75, Y:134.42, Z:38.52 [[ 1.76918838e-01 -9.82231029e-01 -6.26253173e-02 4.45747415e+02] [ 9.38497097e-01 1.87526665e-01 -2.89925765e-01 1.34418405e+02] [ 2.96517999e-01 -7.48034890e-03 9.54997969e-01 3.85197075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.76925415399995 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:445.75, Y:134.44, Z:38.53 [[ 1.78493096e-01 -9.81954327e-01 -6.24973220e-02 4.45751775e+02] [ 9.38254866e-01 1.88991625e-01 -2.89758472e-01 1.34443897e+02] [ 2.96341055e-01 -6.91852991e-03 9.55057125e-01 3.85275167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.7992541539999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:445.76, Y:134.47, Z:38.54 [[ 1.79764721e-01 -9.81730087e-01 -6.23753333e-02 4.45756288e+02] [ 9.38115037e-01 1.90168335e-01 -2.89441153e-01 1.34470083e+02] [ 2.96014902e-01 -6.48393004e-03 9.55161315e-01 3.85357361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.82925415399995 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:445.76, Y:134.50, Z:38.54 [[ 1.81933494e-01 -9.81349174e-01 -6.20806073e-02 4.45759381e+02] [ 9.38000494e-01 1.92147896e-01 -2.88503483e-01 1.34496251e+02] [ 2.95051313e-01 -5.74319346e-03 9.55464148e-01 3.85444160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.8592541539999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:445.76, Y:134.52, Z:38.55 [[ 1.82542456e-01 -9.81247740e-01 -6.18960772e-02 4.45764143e+02] [ 9.38024491e-01 1.92673056e-01 -2.88074900e-01 1.34522954e+02] [ 2.94598551e-01 -5.47413638e-03 9.55605425e-01 3.85526688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.88925415399996 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:445.77, Y:134.55, Z:38.56 [[ 1.82582578e-01 -9.81249879e-01 -6.17436479e-02 4.45769388e+02] [ 9.38113028e-01 1.92664907e-01 -2.87791903e-01 1.34549126e+02] [ 2.94291604e-01 -5.37673286e-03 9.55700551e-01 3.85604865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.91925415399993 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:445.78, Y:134.57, Z:38.57 [[ 1.82247596e-01 -9.81324147e-01 -6.15526798e-02 4.45775138e+02] [ 9.38331590e-01 1.92285865e-01 -2.87332513e-01 1.34574948e+02] [ 2.93802043e-01 -5.39116431e-03 9.55851084e-01 3.85681174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.94925415399996 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:445.78, Y:134.60, Z:38.58 [[ 1.80946046e-01 -9.81583704e-01 -6.12532470e-02 4.45781198e+02] [ 9.38901524e-01 1.90947640e-01 -2.86361534e-01 1.34600950e+02] [ 2.92783978e-01 -5.69477974e-03 9.56161656e-01 3.85759015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 498.97925415399993 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:445.79, Y:134.63, Z:38.58 [[ 1.80330237e-01 -9.81707072e-01 -6.10919802e-02 4.45786686e+02] [ 9.39131394e-01 1.90309391e-01 -2.86032446e-01 1.34626694e+02] [ 2.92426453e-01 -5.79309769e-03 9.56270469e-01 3.85840911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.0092541539999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:445.79, Y:134.65, Z:38.59 [[ 1.79979162e-01 -9.81785014e-01 -6.08743586e-02 4.45791541e+02] [ 9.39395429e-01 1.89906275e-01 -2.85432715e-01 1.34651672e+02] [ 2.91793984e-01 -5.81315355e-03 9.56463527e-01 3.85920701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.03925415399993 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:445.80, Y:134.68, Z:38.60 [[ 1.80293804e-01 -9.81729602e-01 -6.08369302e-02 4.45796914e+02] [ 9.39316868e-01 1.90196793e-01 -2.85497814e-01 1.34677542e+02] [ 2.91852645e-01 -5.67166769e-03 9.56446478e-01 3.86000222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.0692541539999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:445.80, Y:134.70, Z:38.61 [[ 1.81118909e-01 -9.81581410e-01 -6.07772758e-02 4.45802693e+02] [ 9.39119041e-01 1.90969585e-01 -2.85632708e-01 1.34704057e+02] [ 2.91978368e-01 -5.34361251e-03 9.56409995e-01 3.86082029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.09925415399994 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:445.81, Y:134.73, Z:38.62 [[ 1.83598944e-01 -9.81122069e-01 -6.07528935e-02 4.45808939e+02] [ 9.38541259e-01 1.93336616e-01 -2.85939255e-01 1.34729591e+02] [ 2.92287072e-01 -4.52095199e-03 9.56319940e-01 3.86152696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.1292541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:445.81, Y:134.76, Z:38.62 [[ 1.84558751e-01 -9.80941617e-01 -6.07586305e-02 4.45814956e+02] [ 9.38268691e-01 1.94257627e-01 -2.86209430e-01 1.34756009e+02] [ 2.92557568e-01 -4.18546589e-03 9.56238752e-01 3.86229161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.15925415399994 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:445.82, Y:134.78, Z:38.63 [[ 1.85530145e-01 -9.80755187e-01 -6.08097743e-02 4.45820998e+02] [ 9.37869326e-01 1.95204413e-01 -2.86873430e-01 1.34781838e+02] [ 2.93222941e-01 -3.80795300e-03 9.56036509e-01 3.86308881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.1892541539999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:445.83, Y:134.81, Z:38.64 [[ 1.86954057e-01 -9.80490568e-01 -6.07159578e-02 4.45827439e+02] [ 9.37597713e-01 1.96538448e-01 -2.86850427e-01 1.34808381e+02] [ 2.93187158e-01 -3.29929219e-03 9.56049374e-01 3.86378647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.21925415399994 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:445.83, Y:134.83, Z:38.65 [[ 1.86797730e-01 -9.80518982e-01 -6.07382406e-02 4.45833682e+02] [ 9.37468204e-01 1.96397294e-01 -2.87369916e-01 1.34833542e+02] [ 2.93700483e-01 -3.26012152e-03 9.55891938e-01 3.86454024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.2492541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:445.81, Y:134.89, Z:38.66 [[ 1.98779732e-01 -9.78686828e-01 5.15626947e-02 4.45808102e+02] [ 9.42031478e-01 1.76294196e-01 -2.85476884e-01 1.34887121e+02] [ 2.70302262e-01 1.05320700e-01 9.56997512e-01 3.86587341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.27925415399994 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:445.88, Y:134.92, Z:38.63 [[ 2.01458165e-01 -9.77516035e-01 -6.22656423e-02 4.45876094e+02] [ 9.42296647e-01 2.10767777e-01 -2.60103772e-01 1.34915623e+02] [ 2.67379199e-01 -6.27267743e-03 9.63570972e-01 3.86285701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3092541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:445.91, Y:134.91, Z:38.64 [[ 1.79945565e-01 -9.67542184e-01 -1.77430877e-01 4.45913013e+02] [ 9.38544094e-01 2.22882909e-01 -2.63549222e-01 1.34912714e+02] [ 2.94541300e-01 -1.19102188e-01 9.48187793e-01 3.86374037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.33925415399995 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:445.86, Y:134.94, Z:38.68 [[ 1.76928855e-01 -9.82366686e-01 -6.04307471e-02 4.45859504e+02] [ 9.38714030e-01 1.86884040e-01 -2.89638267e-01 1.34940555e+02] [ 2.95824526e-01 -5.48182328e-03 9.55226570e-01 3.86782456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.3692541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:445.83, Y:134.99, Z:38.69 [[ 1.87388505e-01 -9.81208927e-01 4.59846686e-02 4.45834880e+02] [ 9.43670151e-01 1.66827513e-01 -2.85753786e-01 1.34993795e+02] [ 2.72712658e-01 9.69413339e-02 9.57199135e-01 3.86930996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.39925415399995 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:445.93, Y:134.99, Z:38.66 [[ 1.68219500e-01 -9.70402458e-01 -1.73266471e-01 4.45930517e+02] [ 9.41536647e-01 2.10223963e-01 -2.63276714e-01 1.34992448e+02] [ 2.91909135e-01 -1.18848455e-01 9.49033246e-01 3.86642130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4292541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:445.88, Y:135.02, Z:38.70 [[ 1.65731571e-01 -9.84357477e-01 -5.97779616e-02 4.45877916e+02] [ 9.41275419e-01 1.75977031e-01 -2.88153901e-01 1.35021102e+02] [ 2.94165995e-01 -8.51132716e-03 9.55716446e-01 3.87042392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.45925415399995 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:445.88, Y:135.05, Z:38.71 [[ 1.59111155e-01 -9.85465181e-01 -5.95148504e-02 4.45884514e+02] [ 9.42712464e-01 1.69559360e-01 -2.87302686e-01 1.35045940e+02] [ 2.93218093e-01 -1.03923291e-02 9.55989095e-01 3.87122247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.4892541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:445.89, Y:135.07, Z:38.72 [[ 1.55386470e-01 -9.86068624e-01 -5.93608747e-02 4.45890479e+02] [ 9.43493801e-01 1.65945543e-01 -2.86847562e-01 1.35071580e+02] [ 2.92702054e-01 -1.14343873e-02 9.56135327e-01 3.87198983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.51925415399995 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:445.90, Y:135.10, Z:38.73 [[ 1.51804865e-01 -9.86637265e-01 -5.91793044e-02 4.45896583e+02] [ 9.44241049e-01 1.62459294e-01 -2.86384041e-01 1.35097310e+02] [ 2.92171395e-01 -1.24050376e-02 9.56285517e-01 3.87275176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.5492541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:445.88, Y:135.15, Z:38.74 [[ 1.60459862e-01 -9.86269624e-01 3.90494732e-02 4.45875346e+02] [ 9.48140082e-01 1.43017537e-01 -2.83859769e-01 1.35148795e+02] [ 2.74377509e-01 8.25724700e-02 9.58070337e-01 3.87408885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.57925415399995 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:445.96, Y:135.15, Z:38.71 [[ 1.43573217e-01 -9.75903433e-01 -1.64314398e-01 4.45963734e+02] [ 9.47173113e-01 1.83620963e-01 -2.62957097e-01 1.35148650e+02] [ 2.86792302e-01 -1.17880584e-01 9.50712545e-01 3.87147527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.6092541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:445.91, Y:135.18, Z:38.75 [[ 1.41745777e-01 -9.88157673e-01 -5.87583846e-02 4.45914804e+02] [ 9.45934876e-01 1.52705042e-01 -2.86161459e-01 1.35177262e+02] [ 2.91745343e-01 -1.50194268e-02 9.56378101e-01 3.87520741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.63925415399996 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:445.90, Y:135.22, Z:38.76 [[ 1.50639392e-01 -9.88385620e-01 2.00409360e-02 4.45898150e+02] [ 9.48861813e-01 1.38867040e-01 -2.83508738e-01 1.35224194e+02] [ 2.77432935e-01 6.17236627e-02 9.58760218e-01 3.87649963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.66925415399993 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:445.94, Y:135.26, Z:38.75 [[ 1.53246773e-01 -9.87289516e-01 -4.21288241e-02 4.45939309e+02] [ 9.49742636e-01 1.58926638e-01 -2.69687316e-01 1.35259566e+02] [ 2.72954852e-01 1.31717041e-03 9.62025942e-01 3.87521711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.69925415399996 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:445.96, Y:135.29, Z:38.75 [[ 1.54373204e-01 -9.85864983e-01 -6.51087529e-02 4.45956753e+02] [ 9.49918584e-01 1.66220783e-01 -2.64623005e-01 1.35286587e+02] [ 2.71704982e-01 -2.09973132e-02 9.62151503e-01 3.87537879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.72925415399993 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:445.99, Y:135.28, Z:38.76 [[ 1.41367186e-01 -9.75109122e-01 -1.70814285e-01 4.45991227e+02] [ 9.47004487e-01 1.83479593e-01 -2.63662173e-01 1.35282283e+02] [ 2.88440325e-01 -1.24488714e-01 9.49370707e-01 3.87567542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.7592541539999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:445.91, Y:135.34, Z:38.81 [[ 1.55530953e-01 -9.86557161e-01 5.01506889e-02 4.45905416e+02] [ 9.48568016e-01 1.34985512e-01 -2.86352285e-01 1.35338248e+02] [ 2.75733281e-01 9.21079833e-02 9.56810994e-01 3.88068958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.78925415399993 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:446.00, Y:135.34, Z:38.77 [[ 1.47538680e-01 -9.73279195e-01 -1.75954388e-01 4.46002295e+02] [ 9.45373547e-01 1.91059424e-01 -2.64130939e-01 1.35337679e+02] [ 2.90690891e-01 -1.27373094e-01 9.48301060e-01 3.87731307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8192541539999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:445.91, Y:135.40, Z:38.82 [[ 1.63486474e-01 -9.84854385e-01 5.77409195e-02 4.45910555e+02] [ 9.47540550e-01 1.40458791e-01 -2.87120593e-01 1.35395150e+02] [ 2.74661755e-01 1.01652196e-01 9.56152577e-01 3.88240584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.84925415399994 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:446.01, Y:135.39, Z:38.79 [[ 1.53062647e-01 -9.71147393e-01 -1.82878558e-01 4.46013723e+02] [ 9.43936692e-01 1.98453890e-01 -2.63817314e-01 1.35393205e+02] [ 2.92498458e-01 -1.32245205e-01 9.47077535e-01 3.87887502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.8792541539999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:445.95, Y:135.42, Z:38.83 [[ 1.56771593e-01 -9.85915467e-01 -5.82525478e-02 4.45952213e+02] [ 9.41933233e-01 1.66991334e-01 -2.91334309e-01 1.35422137e+02] [ 2.96958672e-01 -9.19706692e-03 9.54846041e-01 3.88315441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.90925415399994 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:445.96, Y:135.45, Z:38.84 [[ 1.56499807e-01 -9.85963941e-01 -5.81628557e-02 4.45957418e+02] [ 9.41978378e-01 1.66705196e-01 -2.91352215e-01 1.35448794e+02] [ 2.96958829e-01 -9.19158682e-03 9.54846045e-01 3.88398349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9392541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:445.96, Y:135.48, Z:38.85 [[ 1.63787790e-01 -9.84780670e-01 -5.81428514e-02 4.45958549e+02] [ 9.40616542e-01 1.73664070e-01 -2.91687009e-01 1.35475145e+02] [ 2.97345052e-01 -6.91535728e-03 9.54745043e-01 3.88480273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.96925415399994 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:445.96, Y:135.50, Z:38.86 [[ 1.67040205e-01 -9.84236157e-01 -5.81098702e-02 4.45962138e+02] [ 9.40008743e-01 1.76761330e-01 -2.91785874e-01 1.35501364e+02] [ 2.97457785e-01 -5.88381390e-03 9.54716841e-01 3.88565970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 499.9992541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:445.96, Y:135.53, Z:38.86 [[ 1.72855319e-01 -9.83239840e-01 -5.79694303e-02 4.45964733e+02] [ 9.39031225e-01 1.82272026e-01 -2.91542908e-01 1.35527200e+02] [ 2.97222807e-01 -4.04036291e-03 9.54799601e-01 3.88649472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.02925415399994 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:445.97, Y:135.55, Z:38.87 [[ 1.75659247e-01 -9.82751882e-01 -5.78149353e-02 4.45967874e+02] [ 9.38910727e-01 1.84899671e-01 -2.90273591e-01 1.35553317e+02] [ 2.95956881e-01 -3.29382256e-03 9.55195622e-01 3.88724267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.0592541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:445.97, Y:135.58, Z:38.88 [[ 1.79173229e-01 -9.81906244e-01 -6.12950480e-02 4.45971352e+02] [ 9.37725798e-01 1.89293801e-01 -2.91269951e-01 1.35579011e+02] [ 2.97602556e-01 -5.29017007e-03 9.54675197e-01 3.88812360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.08925415399995 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:445.97, Y:135.61, Z:38.89 [[ 1.81537744e-01 -9.81962310e-01 -5.28589465e-02 4.45972501e+02] [ 9.37484150e-01 1.89044503e-01 -2.92208220e-01 1.35606874e+02] [ 2.96930152e-01 3.49239667e-03 9.54892815e-01 3.88917717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1192541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:445.98, Y:135.63, Z:38.90 [[ 1.82209885e-01 -9.81706669e-01 -5.52410492e-02 4.45978699e+02] [ 9.37146306e-01 1.90393617e-01 -2.92415921e-01 1.35633613e+02] [ 2.97584203e-01 1.51212629e-03 9.54694378e-01 3.88989973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.14925415399995 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:445.98, Y:135.66, Z:38.91 [[ 1.84617707e-01 -9.81119683e-01 -5.76235169e-02 4.45984946e+02] [ 9.36783516e-01 1.93401516e-01 -2.91603323e-01 1.35659998e+02] [ 2.97242236e-01 -1.45623966e-04 9.54802091e-01 3.89065038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.1792541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:445.99, Y:135.69, Z:38.91 [[ 1.84969402e-01 -9.81058519e-01 -5.75369689e-02 4.45989901e+02] [ 9.36709820e-01 1.93711590e-01 -2.91634246e-01 1.35686038e+02] [ 2.97255839e-01 4.79682616e-05 9.54797865e-01 3.89146225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.20925415399995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:445.99, Y:135.71, Z:38.92 [[ 1.86113405e-01 -9.81243146e-01 -5.02363374e-02 4.45991090e+02] [ 9.35768629e-01 1.92609732e-01 -2.95361752e-01 1.35710248e+02] [ 2.99497703e-01 7.96119300e-03 9.54063806e-01 3.89249325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2392541539999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:446.00, Y:135.74, Z:38.93 [[ 1.84736748e-01 -9.80717583e-01 -6.37601560e-02 4.46003418e+02] [ 9.36452521e-01 1.95341845e-01 -2.91373025e-01 1.35737760e+02] [ 2.98209675e-01 -5.88105395e-03 9.54482270e-01 3.89292232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.26925415399995 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:446.01, Y:135.76, Z:38.94 [[ 1.83372578e-01 -9.80310426e-01 -7.32527609e-02 4.46011621e+02] [ 9.36221539e-01 1.96876354e-01 -2.91082343e-01 1.35761487e+02] [ 2.99772792e-01 -1.52042929e-02 9.53889460e-01 3.89377583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.2992541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:446.00, Y:135.79, Z:38.95 [[ 1.80705913e-01 -9.82696589e-01 -4.06544795e-02 4.46004032e+02] [ 9.37099484e-01 1.84577923e-01 -2.96269382e-01 1.35789253e+02] [ 2.98646831e-01 1.54403373e-02 9.54238789e-01 3.89532488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.32925415399995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:446.02, Y:135.81, Z:38.96 [[ 1.78705468e-01 -9.82225086e-01 -5.74302710e-02 4.46018368e+02] [ 9.37533966e-01 1.87700926e-01 -2.92913681e-01 1.35814205e+02] [ 2.98486880e-01 -1.49755350e-03 9.54412563e-01 3.89554760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.3592541539999 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:446.02, Y:135.84, Z:38.96 [[ 1.77121681e-01 -9.82569091e-01 -5.64436939e-02 4.46023225e+02] [ 9.38218029e-01 1.85893504e-01 -2.91874177e-01 1.35839485e+02] [ 2.97279061e-01 -1.25924622e-03 9.54789806e-01 3.89636417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.38925415399996 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:446.03, Y:135.87, Z:38.97 [[ 1.73516477e-01 -9.83414267e-01 -5.28054124e-02 4.46029558e+02] [ 9.38165638e-01 1.81366306e-01 -2.94875394e-01 1.35865253e+02] [ 2.99561792e-01 1.62551614e-03 9.54075516e-01 3.89738109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.41925415399993 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:446.04, Y:135.89, Z:38.98 [[ 1.71725597e-01 -9.83210689e-01 -6.17013837e-02 4.46040396e+02] [ 9.38891544e-01 1.82307498e-01 -2.91970282e-01 1.35892440e+02] [ 2.98316927e-01 -7.79213647e-03 9.54435065e-01 3.89797079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.44925415399996 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:446.05, Y:135.92, Z:38.99 [[ 1.70051035e-01 -9.83778926e-01 -5.71110424e-02 4.46045636e+02] [ 9.39322776e-01 1.79342308e-01 -2.92419321e-01 1.35918450e+02] [ 2.97918392e-01 -3.91949457e-03 9.54583296e-01 3.89892541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.47925415399993 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:446.05, Y:135.95, Z:39.00 [[ 1.70684402e-01 -9.84455175e-01 -4.14106574e-02 4.46045214e+02] [ 9.40589209e-01 1.75310833e-01 -2.90788671e-01 1.35946157e+02] [ 2.93528149e-01 1.06826729e-02 9.55890740e-01 3.89975746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.5092541539999 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:446.07, Y:135.97, Z:39.00 [[ 1.68070410e-01 -9.83174141e-01 -7.15607832e-02 4.46065461e+02] [ 9.39712077e-01 1.81725524e-01 -2.89684389e-01 1.35970211e+02] [ 2.97814622e-01 -1.85591580e-02 9.54443298e-01 3.90004491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.53925415399993 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:446.06, Y:136.00, Z:39.01 [[ 1.68251052e-01 -9.85184280e-01 -3.32192438e-02 4.46055014e+02] [ 9.40821124e-01 1.70549630e-01 -2.92862486e-01 1.35998529e+02] [ 2.94189047e-01 1.80210551e-02 9.55577337e-01 3.90141958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.5692541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:446.08, Y:136.02, Z:39.01 [[ 1.65706008e-01 -9.83019678e-01 -7.88278548e-02 4.46083056e+02] [ 9.39944599e-01 1.81619340e-01 -2.88995788e-01 1.36022253e+02] [ 2.98405210e-01 -2.62054780e-02 9.54079454e-01 3.90141271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.59925415399994 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:446.08, Y:136.05, Z:39.03 [[ 1.64366981e-01 -9.84755011e-01 -5.69303501e-02 4.46079550e+02] [ 9.39967465e-01 1.73867903e-01 -2.93651352e-01 1.36048070e+02] [ 2.99073000e-01 -5.24609082e-03 9.54215814e-01 3.90281593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.6292541539999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:446.09, Y:136.07, Z:39.04 [[ 1.63462639e-01 -9.84903394e-01 -5.69672827e-02 4.46085504e+02] [ 9.39914852e-01 1.73019584e-01 -2.94320054e-01 1.36072783e+02] [ 2.99733276e-01 -5.43406252e-03 9.54007565e-01 3.90359572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.65925415399994 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:446.09, Y:136.10, Z:39.04 [[ 1.62645679e-01 -9.85043371e-01 -5.68853337e-02 4.46091837e+02] [ 9.40109781e-01 1.72214480e-01 -2.94169631e-01 1.36098571e+02] [ 2.99566323e-01 -5.63303918e-03 9.54058849e-01 3.90436330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.6892541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:446.07, Y:136.15, Z:39.06 [[ 1.74101023e-01 -9.83451145e-01 5.01266359e-02 4.46065949e+02] [ 9.44969721e-01 1.52536782e-01 -2.89421417e-01 1.36149689e+02] [ 2.76985668e-01 9.77567179e-02 9.55888364e-01 3.90589531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.71925415399994 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:446.16, Y:136.15, Z:39.03 [[ 1.61432023e-01 -9.72123659e-01 -1.70044972e-01 4.46164230e+02] [ 9.40989557e-01 2.03556416e-01 -2.70376476e-01 1.36151220e+02] [ 2.97453115e-01 -1.16363121e-01 9.47618736e-01 3.90307826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.7492541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:446.11, Y:136.18, Z:39.07 [[ 1.62835575e-01 -9.85037074e-01 -5.64494363e-02 4.46111520e+02] [ 9.40199791e-01 1.72263383e-01 -2.93853160e-01 1.36178775e+02] [ 2.99180427e-01 -5.22400001e-03 9.54182258e-01 3.90696642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.77925415399994 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:446.12, Y:136.20, Z:39.08 [[ 1.65439341e-01 -9.84609183e-01 -5.63434182e-02 4.46117345e+02] [ 9.39767413e-01 1.74716547e-01 -2.93787911e-01 1.36203571e+02] [ 2.99110403e-01 -4.34562990e-03 9.54208616e-01 3.90774671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8092541539999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:446.12, Y:136.23, Z:39.09 [[ 1.66823309e-01 -9.84378664e-01 -5.62905882e-02 4.46122778e+02] [ 9.39523251e-01 1.76021671e-01 -2.93789776e-01 1.36229999e+02] [ 2.99108750e-01 -3.87533390e-03 9.54211160e-01 3.90857706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.83925415399995 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:446.13, Y:136.25, Z:39.09 [[ 1.69740237e-01 -9.83888903e-01 -5.61326822e-02 4.46128738e+02] [ 9.39115209e-01 1.78757323e-01 -2.93442403e-01 1.36254714e+02] [ 2.98748852e-01 -2.90607263e-03 9.54327343e-01 3.90938788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.8692541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:446.13, Y:136.28, Z:39.10 [[ 1.70655035e-01 -9.83734698e-01 -5.60615957e-02 4.46134841e+02] [ 9.38984507e-01 1.79608971e-01 -2.93340611e-01 1.36280691e+02] [ 2.98638503e-01 -2.58091756e-03 9.54362816e-01 3.91012626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.89925415399995 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:446.14, Y:136.31, Z:39.11 [[ 1.70744470e-01 -9.83726896e-01 -5.59260179e-02 4.46140559e+02] [ 9.39048868e-01 1.79653245e-01 -2.93107378e-01 1.36306978e+02] [ 2.98384902e-01 -2.47080003e-03 9.54442427e-01 3.91098101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9292541539999 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:446.15, Y:136.33, Z:39.12 [[ 1.69870651e-01 -9.83879490e-01 -5.59026993e-02 4.46147839e+02] [ 9.39097199e-01 1.78813154e-01 -2.93466024e-01 1.36333295e+02] [ 2.98731340e-01 -2.64680388e-03 9.54333580e-01 3.91176403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.95925415399995 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:446.15, Y:136.36, Z:39.13 [[ 1.68668378e-01 -9.84084499e-01 -5.59345775e-02 4.46153679e+02] [ 9.39110545e-01 1.77677137e-01 -2.94112597e-01 1.36358658e+02] [ 2.99369943e-01 -2.92125686e-03 9.54132645e-01 3.91255781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 500.9892541539999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:446.16, Y:136.38, Z:39.13 [[ 1.65974771e-01 -9.84538824e-01 -5.59971357e-02 4.46161049e+02] [ 9.39400397e-01 1.75127667e-01 -2.94715448e-01 1.36384023e+02] [ 2.99965448e-01 -3.68840245e-03 9.53942936e-01 3.91333789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.01925415399995 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:446.17, Y:136.41, Z:39.14 [[ 1.64493351e-01 -9.84792527e-01 -5.59072111e-02 4.46167449e+02] [ 9.39667422e-01 1.73687172e-01 -2.94716647e-01 1.36410011e+02] [ 2.99945117e-01 -4.05525600e-03 9.53947840e-01 3.91410416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.0492541539999 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:446.17, Y:136.44, Z:39.15 [[ 1.62864555e-01 -9.85062739e-01 -5.59154402e-02 4.46173510e+02] [ 9.39782693e-01 1.72138013e-01 -2.95257504e-01 1.36435594e+02] [ 3.00472339e-01 -4.46138106e-03 9.53780095e-01 3.91492431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.07925415399995 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:446.18, Y:136.46, Z:39.16 [[ 1.61721618e-01 -9.85759313e-01 -4.60944248e-02 4.46175558e+02] [ 9.39140758e-01 1.68083068e-01 -2.99604271e-01 1.36458329e+02] [ 3.03085393e-01 5.16333437e-03 9.52949414e-01 3.91591973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.1092541539999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:446.19, Y:136.49, Z:39.16 [[ 1.59467703e-01 -9.85142454e-01 -6.37526280e-02 4.46191101e+02] [ 9.40538538e-01 1.71232796e-01 -2.93371077e-01 1.36485926e+02] [ 2.99928843e-01 -1.31785919e-02 9.53870544e-01 3.91625039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.13925415399996 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:446.19, Y:136.51, Z:39.17 [[ 1.58242044e-01 -9.85838566e-01 -5.55137583e-02 4.46192808e+02] [ 9.40815612e-01 1.67603122e-01 -2.94576269e-01 1.36511446e+02] [ 2.99708926e-01 -5.61385957e-03 9.54014174e-01 3.91729032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.16925415399993 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:446.20, Y:136.54, Z:39.18 [[ 1.55702922e-01 -9.86260044e-01 -5.52062168e-02 4.46200095e+02] [ 9.41685209e-01 1.65078878e-01 -2.93219936e-01 1.36537220e+02] [ 2.98304487e-01 -6.33167709e-03 9.54449759e-01 3.91811666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.19925415399996 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:446.21, Y:136.56, Z:39.19 [[ 1.54163331e-01 -9.86519910e-01 -5.48829260e-02 4.46206372e+02] [ 9.42339275e-01 1.63503944e-01 -2.91998546e-01 1.36563188e+02] [ 2.97035954e-01 -6.70286831e-03 9.54842769e-01 3.91891808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.22925415399993 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:446.21, Y:136.59, Z:39.20 [[ 1.51447165e-01 -9.86961606e-01 -5.45026928e-02 4.46214273e+02] [ 9.43278450e-01 1.60784733e-01 -2.90472091e-01 1.36588520e+02] [ 2.95448003e-01 -7.42004072e-03 9.55330006e-01 3.91967048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.2592541539999 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:446.20, Y:136.64, Z:39.21 [[ 1.60339222e-01 -9.86699449e-01 2.67494218e-02 4.46197047e+02] [ 9.47044657e-01 1.46144096e-01 -2.85916633e-01 1.36636017e+02] [ 2.78204514e-01 7.11765476e-02 9.57881072e-01 3.92076120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.28925415399993 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:446.27, Y:136.64, Z:39.19 [[ 1.47821168e-01 -9.78599465e-01 -1.43150234e-01 4.46271841e+02] [ 9.44613689e-01 1.82579430e-01 -2.72708141e-01 1.36640001e+02] [ 2.93008329e-01 -9.49096352e-02 9.51387555e-01 3.91919158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3192541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:446.23, Y:136.67, Z:39.22 [[ 1.46107513e-01 -9.87789956e-01 -5.40702931e-02 4.46232563e+02] [ 9.44247004e-01 1.55550714e-01 -2.90175068e-01 1.36667434e+02] [ 2.95042691e-01 -8.65895460e-03 9.55444835e-01 3.92216355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.34925415399994 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:446.21, Y:136.72, Z:39.23 [[ 1.52813400e-01 -9.87602416e-01 3.59100594e-02 4.46213382e+02] [ 9.48046001e-01 1.36239575e-01 -2.87484882e-01 1.36715532e+02] [ 2.79028393e-01 7.79759306e-02 9.57111754e-01 3.92313508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.3792541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:446.30, Y:136.72, Z:39.22 [[ 1.37087199e-01 -9.79097518e-01 -1.50250290e-01 4.46296234e+02] [ 9.45832050e-01 1.74447318e-01 -2.73806257e-01 1.36719418e+02] [ 2.94293787e-01 -1.04576206e-01 9.49976307e-01 3.92154183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.40925415399994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:446.25, Y:136.75, Z:39.25 [[ 1.35128961e-01 -9.89344182e-01 -5.42056590e-02 4.46252908e+02] [ 9.44906744e-01 1.45135063e-01 -2.93405961e-01 1.36747751e+02] [ 2.98146622e-01 -1.15716502e-02 9.54449940e-01 3.92463305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4392541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:446.24, Y:136.80, Z:39.26 [[ 1.43987757e-01 -9.89289085e-01 2.39715041e-02 4.46236618e+02] [ 9.47961087e-01 1.30940407e-01 -2.90214382e-01 1.36795556e+02] [ 2.83967081e-01 6.45113711e-02 9.56661371e-01 3.92568520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.46925415399994 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:446.31, Y:136.80, Z:39.24 [[ 1.31654723e-01 -9.81208871e-01 -1.41053842e-01 4.46308561e+02] [ 9.45866247e-01 1.66925354e-01 -2.78339666e-01 1.36798991e+02] [ 2.96654812e-01 -9.67733360e-02 9.50068863e-01 3.92430141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.4992541539999 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:446.27, Y:136.83, Z:39.27 [[ 1.30857692e-01 -9.89911647e-01 -5.43249005e-02 4.46270006e+02] [ 9.44640163e-01 1.41128520e-01 -2.96205507e-01 1.36827581e+02] [ 3.00884075e-01 -1.25567140e-02 9.53578053e-01 3.92700589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.52925415399994 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:446.27, Y:136.85, Z:39.28 [[ 1.31438190e-01 -9.89837877e-01 -5.42676646e-02 4.46274887e+02] [ 9.44496777e-01 1.41667813e-01 -2.96405244e-01 1.36853614e+02] [ 3.01081118e-01 -1.22966657e-02 9.53519246e-01 3.92791810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.5592541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:446.28, Y:136.88, Z:39.29 [[ 1.31881013e-01 -9.89785561e-01 -5.41474077e-02 4.46279219e+02] [ 9.44482424e-01 1.42052368e-01 -2.96266899e-01 1.36879469e+02] [ 3.00932466e-01 -1.20692963e-02 9.53569076e-01 3.92879367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.58925415399995 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:446.28, Y:136.91, Z:39.30 [[ 1.32929520e-01 -9.89703195e-01 -5.30785152e-02 4.46283003e+02] [ 9.44033279e-01 1.42743344e-01 -2.97364265e-01 1.36905864e+02] [ 3.01878968e-01 -1.05793959e-02 9.53287556e-01 3.92967754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6192541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:446.29, Y:136.93, Z:39.30 [[ 1.34721080e-01 -9.89352835e-01 -5.50563229e-02 4.46288039e+02] [ 9.43993691e-01 1.45037580e-01 -2.96378158e-01 1.36930841e+02] [ 3.01207806e-01 -1.20444359e-02 9.53482453e-01 3.93039633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.64925415399995 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:446.29, Y:136.96, Z:39.31 [[ 1.38539262e-01 -9.88891541e-01 -5.38552884e-02 4.46290812e+02] [ 9.43534987e-01 1.48317001e-01 -2.96215793e-01 1.36956495e+02] [ 3.00912947e-01 -9.77683142e-03 9.53601495e-01 3.93129836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.6792541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:446.29, Y:136.98, Z:39.32 [[ 1.40495689e-01 -9.88623546e-01 -5.37070335e-02 4.46294998e+02] [ 9.43393230e-01 1.50134605e-01 -2.95751271e-01 1.36982654e+02] [ 3.00449955e-01 -9.11507326e-03 9.53754025e-01 3.93214631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.70925415399995 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:446.30, Y:137.01, Z:39.33 [[ 1.43449890e-01 -9.88207911e-01 -5.35467401e-02 4.46298244e+02] [ 9.43068287e-01 1.52902152e-01 -2.95369493e-01 1.37007541e+02] [ 3.00073882e-01 -8.12751108e-03 9.53881339e-01 3.93298703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7392541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:446.30, Y:137.03, Z:39.34 [[ 1.44600699e-01 -9.88046422e-01 -5.34313225e-02 4.46302232e+02] [ 9.42953498e-01 1.53964241e-01 -2.95184203e-01 1.37034163e+02] [ 2.99882208e-01 -7.69941043e-03 9.53945166e-01 3.93385375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.76925415399995 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:446.31, Y:137.06, Z:39.35 [[ 1.47169719e-01 -9.87673822e-01 -5.33056838e-02 4.46305592e+02] [ 9.42618179e-01 1.56376858e-01 -2.94986860e-01 1.37059093e+02] [ 2.99686574e-01 -6.83377326e-03 9.54013237e-01 3.93467123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.7992541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:446.31, Y:137.09, Z:39.36 [[ 1.46912212e-01 -9.87716386e-01 -5.32272663e-02 4.46310286e+02] [ 9.42658365e-01 1.56107690e-01 -2.95001010e-01 1.37085829e+02] [ 2.99686517e-01 -6.83587692e-03 9.54013240e-01 3.93551103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.82925415399995 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:446.31, Y:137.11, Z:39.36 [[ 1.48268987e-01 -9.87524604e-01 -5.30232468e-02 4.46314508e+02] [ 9.42663832e-01 1.57336970e-01 -2.94329711e-01 1.37111747e+02] [ 2.99000348e-01 -6.34312878e-03 9.54231920e-01 3.93630197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.8592541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:446.32, Y:137.14, Z:39.37 [[ 1.49585617e-01 -9.87327804e-01 -5.29900965e-02 4.46318357e+02] [ 9.42359679e-01 1.58585732e-01 -2.94633333e-01 1.37137170e+02] [ 2.99303155e-01 -5.86282146e-03 9.54140057e-01 3.93711205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.88925415399996 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:446.32, Y:137.16, Z:39.38 [[ 1.52786938e-01 -9.86839621e-01 -5.29501077e-02 4.46321608e+02] [ 9.41807602e-01 1.61629756e-01 -2.94744403e-01 1.37162552e+02] [ 2.99423768e-01 -4.83571914e-03 9.54107972e-01 3.93793705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.91925415399993 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:446.33, Y:137.19, Z:39.39 [[ 1.54201585e-01 -9.86619064e-01 -5.29593511e-02 4.46325782e+02] [ 9.41445470e-01 1.62984487e-01 -2.95155016e-01 1.37188990e+02] [ 2.99837118e-01 -4.34496983e-03 9.53980515e-01 3.93879503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.94925415399996 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:446.33, Y:137.21, Z:39.40 [[ 1.57208155e-01 -9.86143202e-01 -5.29828421e-02 4.46329302e+02] [ 9.40740041e-01 1.65862666e-01 -2.95800187e-01 1.37214682e+02] [ 3.00489219e-01 -3.34087955e-03 9.53779360e-01 3.93963128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 501.97925415399993 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:446.34, Y:137.25, Z:39.41 [[ 1.62164979e-01 -9.85295844e-01 -5.38016739e-02 4.46339735e+02] [ 9.40085055e-01 1.70835129e-01 -2.95051602e-01 1.37246458e+02] [ 2.99904333e-01 -2.73111285e-03 9.53965373e-01 3.94050796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.0092541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:446.34, Y:137.27, Z:39.41 [[ 1.58855234e-01 -9.85598809e-01 -5.79655301e-02 4.46340008e+02] [ 9.40035438e-01 1.68937616e-01 -2.96299607e-01 1.37266053e+02] [ 3.01825098e-01 -7.42090907e-03 9.53334433e-01 3.94113533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.03925415399993 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:446.34, Y:137.29, Z:39.42 [[ 1.59513254e-01 -9.85769298e-01 -5.30510457e-02 4.46342211e+02] [ 9.39628342e-01 1.68088045e-01 -2.98068764e-01 1.37292078e+02] [ 3.02744282e-01 -2.30234782e-03 9.53069042e-01 3.94210061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.0692541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:446.35, Y:137.32, Z:39.43 [[ 1.59183334e-01 -9.85831614e-01 -5.28837896e-02 4.46347300e+02] [ 9.39821780e-01 1.67721959e-01 -2.97664857e-01 1.37318743e+02] [ 3.02317199e-01 -2.31805306e-03 9.53204562e-01 3.94292126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.09925415399994 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:446.37, Y:137.34, Z:39.44 [[ 1.57344672e-01 -9.83925000e-01 -8.44644777e-02 4.46367382e+02] [ 9.38307919e-01 1.75621548e-01 -2.97884743e-01 1.37341690e+02] [ 3.07930029e-01 -3.23831110e-02 9.50857735e-01 3.94397067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.1292541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:446.34, Y:137.37, Z:39.45 [[ 1.56276529e-01 -9.87471037e-01 -2.18768921e-02 4.46343305e+02] [ 9.40409001e-01 1.55527893e-01 -3.02393758e-01 1.37372071e+02] [ 3.02007545e-01 2.66838207e-02 9.52932010e-01 3.94534267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.15925415399994 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:446.36, Y:137.40, Z:39.45 [[ 1.54218253e-01 -9.86634195e-01 -5.26278982e-02 4.46363472e+02] [ 9.40727601e-01 1.62910317e-01 -2.97475728e-01 1.37397377e+02] [ 3.02073353e-01 -3.63232918e-03 9.53277764e-01 3.94531646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.1892541539999 meters Centerline goodness : 0.996235 Centerline is valid? [True, True] Translation: X:446.38, Y:137.42, Z:39.46 [[ 1.49660207e-01 -9.86103786e-01 -7.21189734e-02 4.46377567e+02] [ 9.40838686e-01 1.64458167e-01 -2.96270279e-01 1.37421143e+02] [ 3.04013798e-01 -2.35124491e-02 9.52377433e-01 3.94605136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.21925415399994 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:446.36, Y:137.45, Z:39.47 [[ 1.47546516e-01 -9.88530242e-01 -3.22177985e-02 4.46364515e+02] [ 9.41336645e-01 1.50349263e-01 -3.02126497e-01 1.37449602e+02] [ 3.03505101e-01 1.42499177e-02 9.52723251e-01 3.94744442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.2492541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:446.40, Y:137.47, Z:39.48 [[ 1.41622398e-01 -9.84340134e-01 -1.04964746e-01 4.46401126e+02] [ 9.39270939e-01 1.67101280e-01 -2.99745335e-01 1.37468745e+02] [ 3.12591106e-01 -5.61396820e-02 9.48227365e-01 3.94812128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.27925415399994 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:446.38, Y:137.49, Z:39.50 [[ 1.38323433e-01 -9.88407783e-01 -6.25834101e-02 4.46383992e+02] [ 9.38609164e-01 1.50994317e-01 -3.10183097e-01 1.37493695e+02] [ 3.16037126e-01 -1.58357713e-02 9.48614655e-01 3.95039167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3092541539999 meters Centerline goodness : 0.997382 Centerline is valid? [True, True] Translation: X:446.38, Y:137.52, Z:39.52 [[ 1.33648859e-01 -9.90339094e-01 -3.69656713e-02 4.46380174e+02] [ 9.40787560e-01 1.38510811e-01 -3.09408343e-01 1.37524258e+02] [ 3.11539323e-01 6.57522822e-03 9.50210512e-01 3.95165126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.33925415399995 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:446.39, Y:137.55, Z:39.52 [[ 1.31515562e-01 -9.90615012e-01 -3.72230382e-02 4.46386060e+02] [ 9.41691612e-01 1.36575418e-01 -3.07512703e-01 1.37551441e+02] [ 3.09710452e-01 5.39008316e-03 9.50815641e-01 3.95216984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.3692541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:446.40, Y:137.58, Z:39.52 [[ 1.25436614e-01 -9.90685384e-01 -5.29917506e-02 4.46399662e+02] [ 9.43287567e-01 1.35642811e-01 -3.03000980e-01 1.37577098e+02] [ 3.07366593e-01 -1.19790425e-02 9.51515780e-01 3.95239917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.39925415399995 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:446.40, Y:137.60, Z:39.53 [[ 1.22426095e-01 -9.91861275e-01 -3.49723010e-02 4.46395086e+02] [ 9.44205610e-01 1.27254964e-01 -3.03779426e-01 1.37602640e+02] [ 3.05757448e-01 4.16948603e-03 9.52100309e-01 3.95294808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4292541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:446.43, Y:137.62, Z:39.54 [[ 1.14431417e-01 -9.87539069e-01 -1.08037207e-01 4.46430871e+02] [ 9.42864234e-01 1.42216998e-01 -3.01299456e-01 1.37621781e+02] [ 3.12909711e-01 -6.73862950e-02 9.47389360e-01 3.95357869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.45925415399995 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:446.41, Y:137.65, Z:39.56 [[ 1.12730776e-01 -9.92680650e-01 -4.33231981e-02 4.46406794e+02] [ 9.43550795e-01 1.20614662e-01 -3.08486629e-01 1.37650847e+02] [ 3.11454120e-01 -6.10170078e-03 9.50241601e-01 3.95551924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.4892541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:446.40, Y:137.68, Z:39.56 [[ 1.13580395e-01 -9.93517658e-01 -4.70723075e-03 4.46395975e+02] [ 9.46436426e-01 1.09636945e-01 -3.03706820e-01 1.37681898e+02] [ 3.02254175e-01 3.00400459e-02 9.52753908e-01 3.95574986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.51925415399995 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:446.42, Y:137.71, Z:39.55 [[ 1.10728170e-01 -9.92538665e-01 -5.10516449e-02 4.46423041e+02] [ 9.47363627e-01 1.20935932e-01 -2.96439974e-01 1.37707920e+02] [ 3.00402115e-01 -1.55402157e-02 9.53686044e-01 3.95535988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.5492541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:446.43, Y:137.73, Z:39.56 [[ 1.07118794e-01 -9.92943318e-01 -5.08835120e-02 4.46426746e+02] [ 9.47945751e-01 1.17432363e-01 -2.95987318e-01 1.37733496e+02] [ 2.99874001e-01 -1.65290043e-02 9.53835612e-01 3.95618509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.57925415399995 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:446.43, Y:137.76, Z:39.57 [[ 1.05507941e-01 -9.93122006e-01 -5.07617611e-02 4.46430377e+02] [ 9.48213115e-01 1.15853794e-01 -2.95752916e-01 1.37759780e+02] [ 2.99599671e-01 -1.69286863e-02 9.53914806e-01 3.95703705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.6092541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:446.43, Y:137.79, Z:39.58 [[ 1.04313659e-01 -9.93251131e-01 -5.07035658e-02 4.46434083e+02] [ 9.48290953e-01 1.14699671e-01 -2.95953127e-01 1.37786484e+02] [ 2.99771461e-01 -1.72097791e-02 9.53855804e-01 3.95788046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.63925415399996 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:446.44, Y:137.81, Z:39.59 [[ 1.03017043e-01 -9.93394697e-01 -5.05417210e-02 4.46436103e+02] [ 9.48570970e-01 1.13405869e-01 -2.95554097e-01 1.37812032e+02] [ 2.99333600e-01 -1.74953003e-02 9.53988108e-01 3.95864472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.66925415399993 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:446.44, Y:137.84, Z:39.59 [[ 1.02436370e-01 -9.93456148e-01 -5.05140725e-02 4.46439016e+02] [ 9.48569945e-01 1.12847123e-01 -2.95771171e-01 1.37837847e+02] [ 2.99536056e-01 -1.76184060e-02 9.53922294e-01 3.95944885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.69925415399996 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:446.44, Y:137.86, Z:39.60 [[ 1.02426538e-01 -9.93451575e-01 -5.06238335e-02 4.46440802e+02] [ 9.48211497e-01 1.12891571e-01 -2.96901414e-01 1.37864737e+02] [ 3.00672181e-01 -1.75915169e-02 9.53565298e-01 3.96022503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.72925415399993 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:446.45, Y:137.89, Z:39.61 [[ 1.00619621e-01 -9.91836068e-01 -7.83384036e-02 4.46454039e+02] [ 9.47786841e-01 1.19503654e-01 -2.95667010e-01 1.37886725e+02] [ 3.02614930e-01 -4.44982056e-02 9.52073586e-01 3.96114935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.7592541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:446.43, Y:137.92, Z:39.63 [[ 1.03304333e-01 -9.94425259e-01 -2.11333620e-02 4.46431685e+02] [ 9.47405431e-01 1.04845763e-01 -3.02374462e-01 1.37917937e+02] [ 3.02904546e-01 1.12147301e-02 9.52954913e-01 3.96263847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.78925415399993 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:446.47, Y:137.94, Z:39.63 [[ 1.00228522e-01 -9.90684952e-01 -9.21822596e-02 4.46465481e+02] [ 9.46093506e-01 1.23575393e-01 -2.99393054e-01 1.37940458e+02] [ 3.07995652e-01 -5.72053138e-02 9.49666379e-01 3.96304638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8192541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:446.43, Y:137.97, Z:39.65 [[ 1.06464102e-01 -9.94264777e-01 -1.01463640e-02 4.46429403e+02] [ 9.46833825e-01 1.04490443e-01 -3.04281869e-01 1.37973158e+02] [ 3.03596942e-01 2.27881752e-02 9.52528003e-01 3.96459017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.84925415399994 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:446.45, Y:138.00, Z:39.64 [[ 1.07288614e-01 -9.92944321e-01 -5.05047435e-02 4.46450983e+02] [ 9.47217646e-01 1.17519149e-01 -2.98275007e-01 1.37999481e+02] [ 3.02105749e-01 -1.58374721e-02 9.53142849e-01 3.96428138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.8792541539999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:446.45, Y:138.03, Z:39.65 [[ 1.09022364e-01 -9.92754163e-01 -5.05301422e-02 4.46452450e+02] [ 9.46860089e-01 1.19188302e-01 -2.98747585e-01 1.38025429e+02] [ 3.02605511e-01 -1.52748070e-02 9.52993486e-01 3.96511547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.90925415399994 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:446.46, Y:138.05, Z:39.66 [[ 1.11811060e-01 -9.90828714e-01 -7.58732265e-02 4.46460161e+02] [ 9.46370763e-01 1.29461308e-01 -2.96010388e-01 1.38048611e+02] [ 3.03118239e-01 -3.87069681e-02 9.52166532e-01 3.96588283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9392541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:446.44, Y:138.08, Z:39.68 [[ 1.17112662e-01 -9.92864054e-01 -2.24854220e-02 4.46438468e+02] [ 9.45567733e-01 1.18398684e-01 -3.03122770e-01 1.38078771e+02] [ 3.03621946e-01 1.42380250e-02 9.52686198e-01 3.96756959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.96925415399994 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:446.45, Y:138.10, Z:39.68 [[ 1.19960262e-01 -9.91508745e-01 -5.01990540e-02 4.46453404e+02] [ 9.45718231e-01 1.29510998e-01 -2.98066987e-01 1.38104314e+02] [ 3.02037354e-01 -1.17179667e-02 9.53224069e-01 3.96755154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 502.9992541539999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:446.45, Y:138.13, Z:39.68 [[ 1.27403465e-01 -9.90587068e-01 -5.00561454e-02 4.46452122e+02] [ 9.44834932e-01 1.36563437e-01 -2.97720303e-01 1.38131265e+02] [ 3.01753722e-01 -9.36419661e-03 9.53339920e-01 3.96839669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.02925415399994 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:446.45, Y:138.16, Z:39.69 [[ 1.31214441e-01 -9.90098876e-01 -4.98696888e-02 4.46453756e+02] [ 9.44489706e-01 1.40137204e-01 -2.97154436e-01 1.38158392e+02] [ 3.01200872e-01 -8.11045448e-03 9.53526222e-01 3.96920052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.0592541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:446.48, Y:138.17, Z:39.70 [[ 1.30915479e-01 -9.83743583e-01 -1.22921519e-01 4.46478519e+02] [ 9.40485395e-01 1.62455700e-01 -2.98488472e-01 1.38174260e+02] [ 3.13605421e-01 -7.65291319e-02 9.46464438e-01 3.97024799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.08925415399995 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:446.42, Y:138.21, Z:39.73 [[ 1.42763108e-01 -9.89370944e-01 2.76374935e-02 4.46417894e+02] [ 9.42707616e-01 1.27416724e-01 -3.08329903e-01 1.38212412e+02] [ 3.01531168e-01 7.00722110e-02 9.50877931e-01 3.97338337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1192541539999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:446.46, Y:138.24, Z:39.72 [[ 1.46050124e-01 -9.88085205e-01 -4.85488274e-02 4.46458780e+02] [ 9.41969134e-01 1.53892727e-01 -2.98347415e-01 1.38242602e+02] [ 3.02263978e-01 -2.15781976e-03 9.53221816e-01 3.97219382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.14925415399995 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:446.46, Y:138.27, Z:39.72 [[ 1.46938596e-01 -9.87667552e-01 -5.40541864e-02 4.46462301e+02] [ 9.42572965e-01 1.56381859e-01 -2.95128651e-01 1.38268021e+02] [ 2.99942087e-01 -7.58422502e-03 9.53927264e-01 3.97240851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.1792541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:446.46, Y:138.29, Z:39.73 [[ 1.50486774e-01 -9.87383196e-01 -4.92763173e-02 4.46461777e+02] [ 9.41980958e-01 1.58337933e-01 -2.95974617e-01 1.38294010e+02] [ 3.00042673e-01 -1.87708733e-03 9.53923933e-01 3.97326127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.20925415399995 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:446.46, Y:138.32, Z:39.74 [[ 1.52085494e-01 -9.87374797e-01 -4.42833172e-02 4.46462553e+02] [ 9.41039369e-01 1.58356003e-01 -2.98945283e-01 1.38318796e+02] [ 3.02183568e-01 3.79289631e-03 9.53242207e-01 3.97422182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2392541539999 meters Centerline goodness : 0.996778 Centerline is valid? [True, True] Translation: X:446.48, Y:138.34, Z:39.74 [[ 1.48534899e-01 -9.84568393e-01 -9.25335841e-02 4.46484637e+02] [ 9.40732015e-01 1.69528476e-01 -2.93740313e-01 1.38340294e+02] [ 3.04894505e-01 -4.34186173e-02 9.51395903e-01 3.97423318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.26925415399995 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:446.45, Y:138.37, Z:39.77 [[ 1.54966478e-01 -9.87901335e-01 -6.02856921e-03 4.46453659e+02] [ 9.41177835e-01 1.49486548e-01 -3.03047940e-01 1.38372100e+02] [ 3.00282655e-01 4.12883163e-02 9.52956244e-01 3.97708331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.2992541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:446.51, Y:138.39, Z:39.76 [[ 1.42556806e-01 -9.81286089e-01 -1.29441760e-01 4.46505103e+02] [ 9.39354620e-01 1.75343517e-01 -2.94733014e-01 1.38387748e+02] [ 3.11914180e-01 -7.95755179e-02 9.46772032e-01 3.97578133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.32925415399995 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:446.44, Y:138.42, Z:39.80 [[ 1.52105466e-01 -9.88051120e-01 2.48779311e-02 4.46444701e+02] [ 9.43024595e-01 1.37545651e-01 -3.02961727e-01 1.38424025e+02] [ 2.95919822e-01 6.95426357e-02 9.52677952e-01 3.97954364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.3592541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:446.50, Y:138.44, Z:39.78 [[ 1.43319200e-01 -9.84606710e-01 -1.00046154e-01 4.46501176e+02] [ 9.40718476e-01 1.66932918e-01 -2.95266237e-01 1.38443089e+02] [ 3.07422114e-01 -5.17979448e-02 9.50162416e-01 3.97782379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.38925415399996 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:446.46, Y:138.48, Z:39.81 [[ 1.50909301e-01 -9.88298178e-01 2.22057189e-02 4.46455893e+02] [ 9.42551386e-01 1.37079071e-01 -3.04641121e-01 1.38478767e+02] [ 2.98032325e-01 6.69032098e-02 9.52208325e-01 3.98094241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.41925415399993 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:446.51, Y:138.50, Z:39.79 [[ 1.41944674e-01 -9.84710071e-01 -1.00984086e-01 4.46510196e+02] [ 9.41032934e-01 1.65886533e-01 -2.94853652e-01 1.38495487e+02] [ 3.07097261e-01 -5.31764452e-02 9.50191317e-01 3.97921015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.44925415399996 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:446.49, Y:138.52, Z:39.81 [[ 1.42626213e-01 -9.88118922e-01 -5.72604597e-02 4.46493422e+02] [ 9.40852384e-01 1.53312733e-01 -3.02145657e-01 1.38520188e+02] [ 3.07334598e-01 -1.07797491e-02 9.51540457e-01 3.98133490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.47925415399993 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:446.49, Y:138.55, Z:39.83 [[ 1.42423496e-01 -9.89302325e-01 -3.15667135e-02 4.46487047e+02] [ 9.40843080e-01 1.45215722e-01 -3.06148155e-01 1.38547703e+02] [ 3.07457065e-01 1.39033666e-02 9.51460377e-01 3.98280398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.5092541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:446.48, Y:138.59, Z:39.83 [[ 1.47304278e-01 -9.88941160e-01 1.72288197e-02 4.46479775e+02] [ 9.44090302e-01 1.35386674e-01 -3.00605973e-01 1.38586667e+02] [ 2.94949067e-01 6.05461075e-02 9.53592794e-01 3.98330318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.53925415399993 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:446.52, Y:138.61, Z:39.82 [[ 1.43323776e-01 -9.88477822e-01 -4.86815228e-02 4.46517808e+02] [ 9.44923069e-01 1.51301665e-01 -2.90220949e-01 1.38613959e+02] [ 2.94242567e-01 -4.40473157e-03 9.55720624e-01 3.98194889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.5692541539999 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:446.52, Y:138.64, Z:39.83 [[ 1.41666504e-01 -9.88719633e-01 -4.86219084e-02 4.46522719e+02] [ 9.45123622e-01 1.49700746e-01 -2.90398046e-01 1.38639367e+02] [ 2.94400985e-01 -4.81403828e-03 9.55669862e-01 3.98275106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.59925415399994 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:446.53, Y:138.67, Z:39.84 [[ 1.40071107e-01 -9.88943541e-01 -4.86904288e-02 4.46527274e+02] [ 9.45138685e-01 1.48199846e-01 -2.91117969e-01 1.38665530e+02] [ 2.95115149e-01 -5.24199186e-03 9.55447314e-01 3.98356313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.6292541539999 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:446.53, Y:138.69, Z:39.84 [[ 1.41041774e-01 -9.88836620e-01 -4.80557669e-02 4.46532899e+02] [ 9.46026405e-01 1.48924422e-01 -2.87846412e-01 1.38691872e+02] [ 2.91789750e-01 -4.86365588e-03 9.56470118e-01 3.98415688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.65925415399994 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:446.54, Y:138.72, Z:39.85 [[ 1.39391559e-01 -9.88736902e-01 -5.44915818e-02 4.46539399e+02] [ 9.45631618e-01 1.49240823e-01 -2.88977541e-01 1.38716399e+02] [ 2.93855127e-01 -1.12479326e-02 9.55783787e-01 3.98492657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.6892541539999 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:446.55, Y:138.74, Z:39.86 [[ 1.38728344e-01 -9.87706150e-01 -7.20486455e-02 4.46547495e+02] [ 9.43474267e-01 1.53927757e-01 -2.93534586e-01 1.38737353e+02] [ 3.01016203e-01 -2.72544758e-02 9.53229479e-01 3.98600776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.71925415399994 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:446.54, Y:138.76, Z:39.88 [[ 1.39542349e-01 -9.89235848e-01 -4.40496235e-02 4.46538571e+02] [ 9.43377320e-01 1.46329889e-01 -2.97702529e-01 1.38764784e+02] [ 3.00943790e-01 -1.33054387e-05 9.53641880e-01 3.98764585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.7492541539999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:446.54, Y:138.79, Z:39.88 [[ 1.43861189e-01 -9.88912263e-01 -3.68306324e-02 4.46541530e+02] [ 9.43457771e-01 1.48290520e-01 -2.96474882e-01 1.38792334e+02] [ 2.98649280e-01 7.90308254e-03 9.54330210e-01 3.98836577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.77925415399994 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:446.55, Y:138.82, Z:39.89 [[ 1.45963411e-01 -9.88128055e-01 -4.79336032e-02 4.46550951e+02] [ 9.43229843e-01 1.53616339e-01 -2.94481721e-01 1.38818273e+02] [ 2.98349035e-01 -2.22884862e-03 9.54454234e-01 3.98889301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8092541539999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:446.55, Y:138.85, Z:39.90 [[ 1.51773898e-01 -9.87732103e-01 -3.67420258e-02 4.46549996e+02] [ 9.42859921e-01 1.55833851e-01 -2.94501240e-01 1.38845098e+02] [ 2.96613980e-01 1.00550175e-02 9.54944524e-01 3.98985508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.83925415399995 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:446.55, Y:138.88, Z:39.90 [[ 1.58769152e-01 -9.87145952e-01 -1.83091862e-02 4.46553791e+02] [ 9.43880265e-01 1.57198159e-01 -2.90480266e-01 1.38879920e+02] [ 2.89624589e-01 2.88376258e-02 9.56705801e-01 3.99029715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.8692541539999 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:446.57, Y:138.91, Z:39.90 [[ 1.60102296e-01 -9.85925481e-01 -4.81477059e-02 4.46573083e+02] [ 9.43618655e-01 1.67185079e-01 -2.85714865e-01 1.38906282e+02] [ 2.89743144e-01 3.10532604e-04 9.57104390e-01 3.99017132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.89925415399995 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:446.59, Y:138.92, Z:39.91 [[ 1.54522117e-01 -9.83986238e-01 -8.88481770e-02 4.46586523e+02] [ 9.41148208e-01 1.73961194e-01 -2.89788808e-01 1.38920816e+02] [ 3.00604334e-01 -3.88405224e-02 9.52957737e-01 3.99089903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9292541539999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:446.56, Y:138.95, Z:39.93 [[ 1.52809952e-01 -9.87675293e-01 -3.38619924e-02 4.46561482e+02] [ 9.41219554e-01 1.55896513e-01 -2.99669865e-01 1.38946936e+02] [ 3.01255488e-01 1.39209684e-02 9.53441838e-01 3.99322787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.95925415399995 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:446.57, Y:138.97, Z:39.94 [[ 1.53463734e-01 -9.87212738e-01 -4.31264709e-02 4.46570228e+02] [ 9.41542717e-01 1.59331504e-01 -2.96834608e-01 1.38971607e+02] [ 2.99910312e-01 4.94793278e-03 9.53954571e-01 3.99355275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 503.9892541539999 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:446.57, Y:139.00, Z:39.94 [[ 1.52492509e-01 -9.87500591e-01 -3.98574592e-02 4.46572625e+02] [ 9.41353638e-01 1.57412549e-01 -2.98453713e-01 1.38996971e+02] [ 3.00997282e-01 7.99199126e-03 9.53591508e-01 3.99447069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.01925415399995 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:446.58, Y:139.02, Z:39.95 [[ 1.51629872e-01 -9.87439567e-01 -4.44013982e-02 4.46582118e+02] [ 9.41227729e-01 1.57958849e-01 -2.98562161e-01 1.39023039e+02] [ 3.01825684e-01 3.47911515e-03 9.53356781e-01 3.99511066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.0492541539999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:446.58, Y:139.06, Z:39.96 [[ 1.59147278e-01 -9.87225840e-01 7.56867966e-03 4.46577643e+02] [ 9.42994787e-01 1.49738277e-01 -2.97219245e-01 1.39063075e+02] [ 2.92289198e-01 5.44388594e-02 9.54779260e-01 3.99643642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.07925415399995 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:446.61, Y:139.09, Z:39.95 [[ 1.56021169e-01 -9.86566143e-01 -4.84214902e-02 4.46610957e+02] [ 9.43652370e-01 1.63360410e-01 -2.87808238e-01 1.39089409e+02] [ 2.91852018e-01 -7.88876266e-04 9.56463160e-01 3.99544434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.1092541539999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:446.62, Y:139.11, Z:39.96 [[ 1.50702880e-01 -9.87404860e-01 -4.81693221e-02 4.46618691e+02] [ 9.44829854e-01 1.58197395e-01 -2.86827704e-01 1.39114744e+02] [ 2.90835331e-01 -2.28605230e-03 9.56770393e-01 3.99622880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.13925415399996 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:446.62, Y:139.14, Z:39.97 [[ 1.47729345e-01 -9.87864010e-01 -4.79660180e-02 4.46624556e+02] [ 9.45518685e-01 1.55290720e-01 -2.86145433e-01 1.39141324e+02] [ 2.90121452e-01 -3.08068884e-03 9.56984876e-01 3.99703996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.16925415399993 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:446.63, Y:139.16, Z:39.98 [[ 1.39318342e-01 -9.87971268e-01 -6.71056809e-02 4.46632725e+02] [ 9.45926398e-01 1.52823858e-01 -2.86126053e-01 1.39157949e+02] [ 2.92939668e-01 -2.36144278e-02 9.55839270e-01 3.99786273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.19925415399996 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:446.62, Y:139.19, Z:39.99 [[ 1.41635252e-01 -9.89700677e-01 -2.07852196e-02 4.46624880e+02] [ 9.46912441e-01 1.41573766e-01 -2.88641123e-01 1.39192653e+02] [ 2.88610957e-01 2.11999753e-02 9.57211720e-01 3.99946271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.22925415399993 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:446.63, Y:139.23, Z:40.00 [[ 1.45678215e-01 -9.89331209e-01 -1.27172501e-03 4.46629164e+02] [ 9.49287945e-01 1.40143660e-01 -2.81446534e-01 1.39231090e+02] [ 2.78622064e-01 3.97933955e-02 9.59576069e-01 3.99970743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.2592541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:446.68, Y:139.24, Z:39.99 [[ 1.39166889e-01 -9.85352531e-01 -9.85543855e-02 4.46676024e+02] [ 9.47979517e-01 1.61335688e-01 -2.74418716e-01 1.39244907e+02] [ 2.86299516e-01 -5.52375397e-02 9.56546602e-01 3.99891844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.28925415399993 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:446.66, Y:139.27, Z:40.01 [[ 1.40972627e-01 -9.88900928e-01 -4.69219857e-02 4.46658131e+02] [ 9.47699916e-01 1.48503896e-01 -2.82509224e-01 1.39269544e+02] [ 2.86341732e-01 -4.64189446e-03 9.58116311e-01 4.00112050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3192541539999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:446.66, Y:139.30, Z:40.02 [[ 1.41580439e-01 -9.88818995e-01 -4.68185186e-02 4.46663974e+02] [ 9.47688978e-01 1.49055586e-01 -2.82255261e-01 1.39296109e+02] [ 2.86077926e-01 -4.40757010e-03 9.58196219e-01 4.00193718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.34925415399994 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:446.67, Y:139.32, Z:40.03 [[ 1.44305805e-01 -9.88431060e-01 -4.66891221e-02 4.46671547e+02] [ 9.47353417e-01 1.51629617e-01 -2.82010570e-01 1.39322104e+02] [ 2.85827461e-01 -3.53533709e-03 9.58274577e-01 4.00278328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.3792541539999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:446.68, Y:139.35, Z:40.04 [[ 1.45374561e-01 -9.88276957e-01 -4.66357571e-02 4.46677455e+02] [ 9.47128364e-01 1.52639390e-01 -2.82221683e-01 1.39348373e+02] [ 2.86031640e-01 -3.14219501e-03 9.58215022e-01 4.00357501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.40925415399994 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:446.68, Y:139.37, Z:40.04 [[ 1.46209145e-01 -9.88156069e-01 -4.65882868e-02 4.46683237e+02] [ 9.46928708e-01 1.53426360e-01 -2.82464818e-01 1.39373291e+02] [ 2.86267196e-01 -2.81684682e-03 9.58145687e-01 4.00429879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4392541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:446.69, Y:139.40, Z:40.05 [[ 1.46728944e-01 -9.88078747e-01 -4.65940715e-02 4.46689625e+02] [ 9.46745736e-01 1.53927067e-01 -2.82805534e-01 1.39399806e+02] [ 2.86606226e-01 -2.61698124e-03 9.58044896e-01 4.00506176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.46925415399994 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:446.70, Y:139.42, Z:40.06 [[ 1.47159326e-01 -9.88005981e-01 -4.67794164e-02 4.46698451e+02] [ 9.46170638e-01 1.54396974e-01 -2.84469152e-01 1.39424900e+02] [ 2.88279824e-01 -2.39902162e-03 9.57543204e-01 4.00572219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.4992541539999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:446.70, Y:139.45, Z:40.06 [[ 1.46890321e-01 -9.88040481e-01 -4.68960781e-02 4.46704973e+02] [ 9.45898561e-01 1.54175673e-01 -2.85492160e-01 1.39451113e+02] [ 2.89308045e-01 -2.42289779e-03 9.57232983e-01 4.00648194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.52925415399994 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:446.73, Y:139.47, Z:40.08 [[ 1.42710099e-01 -9.85549980e-01 -9.12417938e-02 4.46726768e+02] [ 9.43278902e-01 1.63348053e-01 -2.89036896e-01 1.39469624e+02] [ 2.99764477e-01 -4.48179749e-02 9.52959919e-01 4.00753156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.5592541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:446.70, Y:139.51, Z:40.09 [[ 1.45362431e-01 -9.89378320e-01 -5.50756524e-04 4.46696083e+02] [ 9.45883041e-01 1.39135171e-01 -2.93166638e-01 1.39505308e+02] [ 2.90129346e-01 4.20944639e-02 9.56061200e-01 4.00926239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.58925415399995 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:446.72, Y:139.53, Z:40.09 [[ 1.43217960e-01 -9.88586645e-01 -4.67446356e-02 4.46724439e+02] [ 9.46429334e-01 1.50616527e-01 -2.85632944e-01 1.39530552e+02] [ 2.89413428e-01 -3.33272666e-03 9.57198391e-01 4.00884024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6192541539999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:446.73, Y:139.56, Z:40.10 [[ 1.40899425e-01 -9.88924817e-01 -4.66375262e-02 4.46730033e+02] [ 9.46889059e-01 1.48364403e-01 -2.85287776e-01 1.39555850e+02] [ 2.89047510e-01 -3.96367973e-03 9.57306548e-01 4.00962922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.64925415399995 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:446.74, Y:139.58, Z:40.10 [[ 1.35268146e-01 -9.89722604e-01 -4.63863798e-02 4.46737883e+02] [ 9.48047059e-01 1.42893665e-01 -2.84232606e-01 1.39581863e+02] [ 2.87939755e-01 -5.52885316e-03 9.57632565e-01 4.01039658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.6792541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:446.74, Y:139.61, Z:40.11 [[ 1.31831974e-01 -9.90192961e-01 -4.62409990e-02 4.46744097e+02] [ 9.48646629e-01 1.39557934e-01 -2.83889339e-01 1.39608192e+02] [ 2.87558524e-01 -6.44067585e-03 9.57741412e-01 4.01114188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.70925415399995 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:446.75, Y:139.63, Z:40.12 [[ 1.29902911e-01 -9.90645951e-01 -4.17831662e-02 4.46747279e+02] [ 9.48615048e-01 1.36433532e-01 -2.85508988e-01 1.39632113e+02] [ 2.88538948e-01 -2.54769134e-03 9.57464769e-01 4.01194243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7392541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:446.76, Y:139.66, Z:40.13 [[ 1.21321056e-01 -9.91430037e-01 -4.84529069e-02 4.46758768e+02] [ 9.50508406e-01 1.30102514e-01 -2.82147312e-01 1.39661010e+02] [ 2.86033165e-01 -1.18244855e-02 9.58146758e-01 4.01266589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.76925415399995 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:446.74, Y:139.70, Z:40.14 [[ 1.27460963e-01 -9.91569350e-01 2.33222483e-02 4.46741355e+02] [ 9.52374586e-01 1.15787730e-01 -2.82091918e-01 1.39701775e+02] [ 2.77013270e-01 5.81672242e-02 9.59103864e-01 4.01388345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.7992541539999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:446.81, Y:139.71, Z:40.13 [[ 1.12537610e-01 -9.86428017e-01 -1.19561926e-01 4.46805739e+02] [ 9.52190309e-01 1.41452645e-01 -2.70785460e-01 1.39713925e+02] [ 2.84022715e-01 -8.33721588e-02 9.55185940e-01 4.01280474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.82925415399995 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:446.78, Y:139.74, Z:40.15 [[ 1.05610527e-01 -9.93360033e-01 -4.56318078e-02 4.46775655e+02] [ 9.52202962e-01 1.14248585e-01 -2.83296277e-01 1.39740114e+02] [ 2.86628569e-01 -1.35316733e-02 9.57946218e-01 4.01518561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.8592541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:446.78, Y:139.76, Z:40.16 [[ 1.02755894e-01 -9.93779489e-01 -4.29366280e-02 4.46779086e+02] [ 9.52366737e-01 1.10749966e-01 -2.84133846e-01 1.39763669e+02] [ 2.87121618e-01 -1.16949889e-02 9.57822741e-01 4.01592900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.88925415399996 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:446.79, Y:139.79, Z:40.17 [[ 9.80069702e-02 -9.94098988e-01 -4.64955551e-02 4.46786850e+02] [ 9.53153088e-01 1.07199771e-01 -2.82855793e-01 1.39792267e+02] [ 2.86170970e-01 -1.65955427e-02 9.58034845e-01 4.01666389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.91925415399993 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:446.79, Y:139.82, Z:40.17 [[ 9.21558819e-02 -9.94706631e-01 -4.54534098e-02 4.46791824e+02] [ 9.53646615e-01 1.01300323e-01 -2.83366155e-01 1.39817764e+02] [ 2.86470638e-01 -1.72326325e-02 9.57934032e-01 4.01746913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.94925415399996 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:446.79, Y:139.85, Z:40.18 [[ 9.37435588e-02 -9.95313628e-01 -2.37260903e-02 4.46790996e+02] [ 9.54378756e-01 9.66230877e-02 -2.82533482e-01 1.39851627e+02] [ 2.83501914e-01 3.84201761e-03 9.58963974e-01 4.01839540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 504.97925415399993 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:446.81, Y:139.87, Z:40.19 [[ 8.85302372e-02 -9.93524316e-01 -7.12167837e-02 4.46812423e+02] [ 9.54064898e-01 1.05124307e-01 -2.80551332e-01 1.39870547e+02] [ 2.86221185e-01 -4.31081576e-02 9.57193356e-01 4.01850094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.0092541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:446.80, Y:139.90, Z:40.20 [[ 8.76700086e-02 -9.95108036e-01 -4.55408302e-02 4.46802675e+02] [ 9.53455016e-01 9.70654854e-02 -2.85485244e-01 1.39897759e+02] [ 2.88509103e-01 -1.83926392e-02 9.57300480e-01 4.01989856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.03925415399993 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:446.81, Y:139.92, Z:40.21 [[ 8.80877695e-02 -9.95072002e-01 -4.55220281e-02 4.46805983e+02] [ 9.53287783e-01 9.74683459e-02 -2.85906145e-01 1.39923922e+02] [ 2.88934157e-01 -1.82107587e-02 9.57175753e-01 4.02066608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.0692541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:446.80, Y:139.96, Z:40.22 [[ 9.52077207e-02 -9.95455345e-01 -2.03609058e-03 4.46797507e+02] [ 9.54448460e-01 9.18663718e-02 -2.83881503e-01 1.39962947e+02] [ 2.82778407e-01 2.50843673e-02 9.58857209e-01 4.02157287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.09925415399994 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:446.82, Y:139.99, Z:40.21 [[ 9.74102030e-02 -9.93926269e-01 -5.12037485e-02 4.46824310e+02] [ 9.54807351e-01 1.07844903e-01 -2.76970034e-01 1.39990399e+02] [ 2.80809856e-01 -2.19100082e-02 9.59513302e-01 4.02117014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.1292541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:446.83, Y:140.01, Z:40.22 [[ 9.72525239e-02 -9.93167250e-01 -6.45039544e-02 4.46831402e+02] [ 9.53970824e-01 1.11495998e-01 -2.78403143e-01 1.40014525e+02] [ 2.83692816e-01 -3.44594822e-02 9.58295847e-01 4.02204645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.15925415399994 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:446.83, Y:140.03, Z:40.23 [[ 9.39700862e-02 -9.92485599e-01 -7.83706436e-02 4.46832440e+02] [ 9.52498865e-01 1.12530044e-01 -2.82989225e-01 1.40031233e+02] [ 2.89681783e-01 -4.80554272e-02 9.55915865e-01 4.02313369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.1892541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:446.81, Y:140.07, Z:40.25 [[ 1.02180242e-01 -9.94516765e-01 -2.22621343e-02 4.46810792e+02] [ 9.52224009e-01 1.04260567e-01 -2.87052558e-01 1.40066439e+02] [ 2.87799644e-01 8.13256096e-03 9.57656111e-01 4.02482751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.21925415399994 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:446.83, Y:140.09, Z:40.25 [[ 9.91402031e-02 -9.92402008e-01 -7.28661465e-02 4.46831481e+02] [ 9.51430945e-01 1.15986126e-01 -2.85177796e-01 1.40085514e+02] [ 2.91462479e-01 -4.10545220e-02 9.55700868e-01 4.02493110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.2492541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:446.82, Y:140.11, Z:40.26 [[ 1.01167082e-01 -9.93839086e-01 -4.52669009e-02 4.46820216e+02] [ 9.50767770e-01 1.09979289e-01 -2.89732985e-01 1.40112758e+02] [ 2.92926387e-01 -1.37268696e-02 9.56036456e-01 4.02636569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.27925415399994 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:446.82, Y:140.14, Z:40.27 [[ 1.03568320e-01 -9.93595461e-01 -4.51847576e-02 4.46823046e+02] [ 9.50482789e-01 1.12253195e-01 -2.89795941e-01 1.40139462e+02] [ 2.93012066e-01 -1.29336556e-02 9.56021260e-01 4.02709660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3092541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:446.82, Y:140.17, Z:40.28 [[ 1.06995049e-01 -9.93250344e-01 -4.47863014e-02 4.46822930e+02] [ 9.50707521e-01 1.15390232e-01 -2.87819917e-01 1.40165834e+02] [ 2.91045134e-01 -1.17833673e-02 9.56636756e-01 4.02803091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.33925415399995 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:446.82, Y:140.19, Z:40.29 [[ 1.08923761e-01 -9.93048816e-01 -4.46056436e-02 4.46824840e+02] [ 9.50665076e-01 1.17176955e-01 -2.87237663e-01 1.40192368e+02] [ 2.90467775e-01 -1.11180209e-02 9.56820182e-01 4.02885608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.3692541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:446.83, Y:140.22, Z:40.30 [[ 1.11347948e-01 -9.92785013e-01 -4.44921623e-02 4.46827078e+02] [ 9.50426877e-01 1.19463004e-01 -2.87084207e-01 1.40218886e+02] [ 2.90328066e-01 -1.03203094e-02 9.56871520e-01 4.02963227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.39925415399995 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:446.83, Y:140.24, Z:40.30 [[ 1.15182230e-01 -9.92353993e-01 -4.43464381e-02 4.46826747e+02] [ 9.50076398e-01 1.23087741e-01 -2.86712827e-01 1.40244464e+02] [ 2.89979122e-01 -9.10828138e-03 9.56989628e-01 4.03045137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4292541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:446.83, Y:140.27, Z:40.31 [[ 1.16898637e-01 -9.92155157e-01 -4.43041013e-02 4.46828814e+02] [ 9.49826229e-01 1.24719827e-01 -2.86836364e-01 1.40271585e+02] [ 2.90111778e-01 -8.55041729e-03 9.56954569e-01 4.03127234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.45925415399995 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:446.83, Y:140.30, Z:40.32 [[ 1.18546487e-01 -9.91964623e-01 -4.41918144e-02 4.46831005e+02] [ 9.49670791e-01 1.26263428e-01 -2.86675661e-01 1.40297881e+02] [ 2.89951924e-01 -7.98328277e-03 9.57007915e-01 4.03206392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.4892541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:446.83, Y:140.33, Z:40.33 [[ 1.24056285e-01 -9.92074509e-01 -1.99551187e-02 4.46827337e+02] [ 9.50307600e-01 1.24572162e-01 -2.85302020e-01 1.40331709e+02] [ 2.85526714e-01 1.64300078e-02 9.58229905e-01 4.03303846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.51925415399995 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:446.84, Y:140.36, Z:40.33 [[ 1.27329300e-01 -9.90655648e-01 -4.88736835e-02 4.46843010e+02] [ 9.50303359e-01 1.35959903e-01 -2.80068617e-01 1.40358125e+02] [ 2.84096418e-01 -1.07838848e-02 9.58735069e-01 4.03305269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.5492541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:446.85, Y:140.38, Z:40.34 [[ 1.24517382e-01 -9.89673083e-01 -7.10113431e-02 4.46849942e+02] [ 9.49426217e-01 1.39632844e-01 -2.81233937e-01 1.40377320e+02] [ 2.88245173e-01 -3.24015172e-02 9.57008287e-01 4.03376228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.57925415399995 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:446.84, Y:140.40, Z:40.35 [[ 1.25856703e-01 -9.91084296e-01 -4.37265274e-02 4.46838423e+02] [ 9.49066429e-01 1.33120345e-01 -2.85572911e-01 1.40402904e+02] [ 2.88847718e-01 -5.55811421e-03 9.57358921e-01 4.03527724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.6092541539999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:446.84, Y:140.43, Z:40.36 [[ 1.25604027e-01 -9.91119616e-01 -4.36524415e-02 4.46842413e+02] [ 9.49099916e-01 1.32857042e-01 -2.85584236e-01 1.40429870e+02] [ 2.88847673e-01 -5.55999844e-03 9.57358923e-01 4.03607829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.63925415399996 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:446.84, Y:140.46, Z:40.37 [[ 1.26884238e-01 -9.90960855e-01 -4.35542637e-02 4.46844556e+02] [ 9.48971599e-01 1.34053893e-01 -2.85451323e-01 1.40456302e+02] [ 2.88709706e-01 -5.11248573e-03 9.57403033e-01 4.03684862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.66925415399993 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:446.85, Y:140.48, Z:40.38 [[ 1.29189647e-01 -9.90664016e-01 -4.35297937e-02 4.46846162e+02] [ 9.48541729e-01 1.36256285e-01 -2.85837040e-01 1.40483384e+02] [ 2.89099678e-01 -4.36263948e-03 9.57289060e-01 4.03760554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.69925415399996 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:446.85, Y:140.51, Z:40.38 [[ 1.29874063e-01 -9.90579364e-01 -4.34194732e-02 4.46849224e+02] [ 9.48496053e-01 1.36879077e-01 -2.85691013e-01 1.40509671e+02] [ 2.88942840e-01 -4.07934633e-03 9.57337660e-01 4.03835870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.72925415399993 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:446.85, Y:140.54, Z:40.39 [[ 1.31058924e-01 -9.90428296e-01 -4.33052989e-02 4.46851974e+02] [ 9.48390397e-01 1.37979917e-01 -2.85512168e-01 1.40535304e+02] [ 2.88754591e-01 -3.65141227e-03 9.57396184e-01 4.03904864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.7592541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:446.86, Y:140.56, Z:40.40 [[ 1.30964944e-01 -9.90442433e-01 -4.32662671e-02 4.46855183e+02] [ 9.48363183e-01 1.37879182e-01 -2.85651195e-01 1.40560854e+02] [ 2.88886582e-01 -3.62184195e-03 9.57356478e-01 4.03982624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.78925415399993 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:446.86, Y:140.59, Z:40.41 [[ 1.30576849e-01 -9.90499360e-01 -4.31358724e-02 4.46858233e+02] [ 9.48526723e-01 1.37468588e-01 -2.85305875e-01 1.40587345e+02] [ 2.88525114e-01 -3.66118549e-03 9.57465328e-01 4.04061940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8192541539999 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:446.86, Y:140.61, Z:40.41 [[ 1.29991740e-01 -9.90582467e-01 -4.29944681e-02 4.46861486e+02] [ 9.48726011e-01 1.36866015e-01 -2.84932711e-01 1.40613565e+02] [ 2.88133829e-01 -3.75107139e-03 9.57582804e-01 4.04139887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.84925415399994 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:446.87, Y:140.64, Z:40.42 [[ 1.28197792e-01 -9.90820106e-01 -4.29050513e-02 4.46865006e+02] [ 9.48985340e-01 1.35121945e-01 -2.84901535e-01 1.40639806e+02] [ 2.88083583e-01 -4.19251711e-03 9.57596090e-01 4.04216287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.8792541539999 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:446.87, Y:140.67, Z:40.43 [[ 1.26894288e-01 -9.90992135e-01 -4.28068627e-02 4.46868832e+02] [ 9.49193957e-01 1.33844745e-01 -2.84809438e-01 1.40665602e+02] [ 2.87973387e-01 -4.49132462e-03 9.57627880e-01 4.04287333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.90925415399994 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:446.87, Y:140.69, Z:40.44 [[ 1.25719228e-01 -9.91144063e-01 -4.27565473e-02 4.46873019e+02] [ 9.49302114e-01 1.32705606e-01 -2.84981963e-01 1.40691801e+02] [ 2.88132214e-01 -4.76116854e-03 9.57578800e-01 4.04362032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9392541539999 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:446.87, Y:140.73, Z:40.44 [[ 1.28920387e-01 -9.91561338e-01 -1.36252537e-02 4.46870895e+02] [ 9.50603831e-01 1.27484225e-01 -2.83019662e-01 1.40726743e+02] [ 2.82368360e-01 2.35347862e-02 9.59017322e-01 4.04443585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.96925415399994 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:446.90, Y:140.74, Z:40.44 [[ 1.22166500e-01 -9.89541549e-01 -7.66998650e-02 4.46897897e+02] [ 9.49679846e-01 1.39001670e-01 -2.80689734e-01 1.40744735e+02] [ 2.88415563e-01 -3.85494336e-02 9.56729013e-01 4.04422055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 505.9992541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:446.88, Y:140.77, Z:40.46 [[ 1.21705909e-01 -9.91649386e-01 -4.26516882e-02 4.46884328e+02] [ 9.49478571e-01 1.28838504e-01 -2.86166180e-01 1.40770011e+02] [ 2.89271696e-01 -5.66874880e-03 9.57230250e-01 4.04593649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.02925415399994 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:446.89, Y:140.80, Z:40.47 [[ 1.21553709e-01 -9.91670926e-01 -4.25848655e-02 4.46887747e+02] [ 9.49514361e-01 1.28673179e-01 -2.86121813e-01 1.40796011e+02] [ 2.89218213e-01 -5.65577387e-03 9.57246487e-01 4.04670457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.0592541539999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:446.89, Y:140.82, Z:40.47 [[ 1.22034968e-01 -9.91613305e-01 -4.25502112e-02 4.46891775e+02] [ 9.49400490e-01 1.29124949e-01 -2.86296100e-01 1.40822973e+02] [ 2.89389316e-01 -5.45905603e-03 9.57195916e-01 4.04739368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.08925415399995 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:446.90, Y:140.85, Z:40.48 [[ 1.22259495e-01 -9.91592293e-01 -4.23950606e-02 4.46895633e+02] [ 9.49513325e-01 1.29292528e-01 -2.85845916e-01 1.40848179e+02] [ 2.88923972e-01 -5.30729772e-03 9.57337334e-01 4.04822005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1192541539999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:446.90, Y:140.87, Z:40.49 [[ 1.23019851e-01 -9.91500549e-01 -4.23411993e-02 4.46899414e+02] [ 9.49422941e-01 1.30004929e-01 -2.85823019e-01 1.40874290e+02] [ 2.88898245e-01 -5.03780057e-03 9.57346554e-01 4.04896849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.14925415399995 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:446.90, Y:140.90, Z:40.50 [[ 1.25308148e-01 -9.91215045e-01 -4.23155053e-02 4.46902894e+02] [ 9.49010710e-01 1.32190311e-01 -2.86189436e-01 1.40900538e+02] [ 2.89268975e-01 -4.29599960e-03 9.57238217e-01 4.04977543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.1792541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:446.91, Y:140.93, Z:40.51 [[ 1.26467444e-01 -9.91073390e-01 -4.21843673e-02 4.46906596e+02] [ 9.48950999e-01 1.33261095e-01 -2.85890683e-01 1.40927462e+02] [ 2.88960184e-01 -3.87503353e-03 9.57333273e-01 4.05055258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.20925415399995 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:446.91, Y:140.95, Z:40.51 [[ 1.29317583e-01 -9.90710582e-01 -4.20654871e-02 4.46910017e+02] [ 9.48634366e-01 1.35955021e-01 -2.85673016e-01 1.40954150e+02] [ 2.88738294e-01 -2.96222291e-03 9.57403480e-01 4.05136669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2392541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:446.91, Y:140.98, Z:40.52 [[ 1.30645570e-01 -9.90537294e-01 -4.20428981e-02 4.46913666e+02] [ 9.48315946e-01 1.37221262e-01 -2.86124434e-01 1.40979694e+02] [ 2.89186102e-01 -2.48906100e-03 9.57269661e-01 4.05217178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.26925415399995 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:446.92, Y:141.01, Z:40.53 [[ 1.32005556e-01 -9.90357542e-01 -4.20294118e-02 4.46917892e+02] [ 9.48049730e-01 1.38519919e-01 -2.86380762e-01 1.41006465e+02] [ 2.89441258e-01 -2.04212085e-03 9.57193600e-01 4.05296074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.2992541539999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:446.92, Y:141.03, Z:40.54 [[ 1.33327654e-01 -9.90185156e-01 -4.19177030e-02 4.46921900e+02] [ 9.47918042e-01 1.39752925e-01 -2.86217584e-01 1.41032100e+02] [ 2.89266524e-01 -1.57382800e-03 9.57247304e-01 4.05371042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.32925415399995 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:446.93, Y:141.06, Z:40.55 [[ 1.35231930e-01 -9.89927333e-01 -4.19070361e-02 4.46926116e+02] [ 9.47566490e-01 1.41573085e-01 -2.86487012e-01 1.41057353e+02] [ 2.89534232e-01 -9.67511636e-04 9.57167170e-01 4.05452127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.3592541539999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:446.93, Y:141.08, Z:40.55 [[ 1.35659780e-01 -9.89870894e-01 -4.18573544e-02 4.46930113e+02] [ 9.47448778e-01 1.41968399e-01 -2.86680636e-01 1.41083613e+02] [ 2.89719239e-01 -7.66667325e-04 9.57111370e-01 4.05526797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.38925415399996 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:446.93, Y:141.11, Z:40.56 [[ 1.35393846e-01 -9.89910187e-01 -4.17890943e-02 4.46934138e+02] [ 9.47450685e-01 1.41694189e-01 -2.86809965e-01 1.41109403e+02] [ 2.89837378e-01 -7.60801781e-04 9.57075606e-01 4.05608088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.41925415399993 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:446.94, Y:141.14, Z:40.57 [[ 1.34850108e-01 -9.89983525e-01 -4.18099065e-02 4.46938492e+02] [ 9.47357673e-01 1.41180329e-01 -2.87370064e-01 1.41136037e+02] [ 2.90394365e-01 -8.57051766e-04 9.56906672e-01 4.05692413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.44925415399996 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:446.94, Y:141.16, Z:40.58 [[ 1.33419257e-01 -9.90172283e-01 -4.19303288e-02 4.46944012e+02] [ 9.47122620e-01 1.39847961e-01 -2.88792815e-01 1.41161287e+02] [ 2.91818512e-01 -1.18263996e-03 9.56472978e-01 4.05758391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.47925415399993 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:446.95, Y:141.19, Z:40.58 [[ 1.31589403e-01 -9.90417567e-01 -4.19198265e-02 4.46948964e+02] [ 9.47274893e-01 1.38095183e-01 -2.89136641e-01 1.41187715e+02] [ 2.92154934e-01 -1.66228121e-03 9.56369558e-01 4.05843488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5092541539999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:446.95, Y:141.21, Z:40.59 [[ 1.30225069e-01 -9.90597952e-01 -4.19181121e-02 4.46953857e+02] [ 9.47282486e-01 1.36791023e-01 -2.89731096e-01 1.41212897e+02] [ 2.92741052e-01 -1.97804143e-03 9.56189711e-01 4.05920129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.53925415399993 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:446.96, Y:141.24, Z:40.60 [[ 1.27107582e-01 -9.91004537e-01 -4.18768385e-02 4.46959780e+02] [ 9.47689259e-01 1.33797911e-01 -2.89798530e-01 1.41238957e+02] [ 2.92794692e-01 -2.85063953e-03 9.56171084e-01 4.05999780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.5692541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:446.96, Y:141.26, Z:40.61 [[ 1.25268684e-01 -9.91241912e-01 -4.17998555e-02 4.46964582e+02] [ 9.47913683e-01 1.32017111e-01 -2.89881239e-01 1.41264706e+02] [ 2.92860730e-01 -3.30961361e-03 9.56149381e-01 4.06080162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.59925415399994 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:446.97, Y:141.29, Z:40.62 [[ 1.23623385e-01 -9.91450646e-01 -4.17477460e-02 4.46969590e+02] [ 9.48073357e-01 1.30429217e-01 -2.90077798e-01 1.41290865e+02] [ 2.93042946e-01 -3.71952646e-03 9.56092044e-01 4.06159039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.6292541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:446.98, Y:141.32, Z:40.62 [[ 1.19875881e-01 -9.91913565e-01 -4.16803616e-02 4.46975721e+02] [ 9.48523260e-01 1.26826465e-01 -2.90204536e-01 1.41316479e+02] [ 2.93143989e-01 -4.74626804e-03 9.56056523e-01 4.06247291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.65925415399994 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:446.98, Y:141.34, Z:40.63 [[ 1.18535704e-01 -9.92159549e-01 -3.96070170e-02 4.46979426e+02] [ 9.48430976e-01 1.24940918e-01 -2.91321903e-01 1.41341749e+02] [ 2.93986345e-01 -3.03247496e-03 9.55804809e-01 4.06329262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.6892541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:446.99, Y:141.37, Z:40.64 [[ 1.13605485e-01 -9.92611965e-01 -4.26061055e-02 4.46987253e+02] [ 9.49223258e-01 1.21102818e-01 -2.90360664e-01 1.41369030e+02] [ 2.93375188e-01 -7.45614217e-03 9.55968307e-01 4.06409621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.71925415399994 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:446.99, Y:141.39, Z:40.65 [[ 1.11390862e-01 -9.92912228e-01 -4.14413129e-02 4.46991680e+02] [ 9.49622982e-01 1.18641097e-01 -2.90069790e-01 1.41394979e+02] [ 2.92930485e-01 -7.04249910e-03 9.56107805e-01 4.06493749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.7492541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:447.00, Y:141.42, Z:40.66 [[ 1.09065254e-01 -9.93177517e-01 -4.12697134e-02 4.46996481e+02] [ 9.50090086e-01 1.16361744e-01 -2.89462905e-01 1.41420834e+02] [ 2.92290265e-01 -7.63960041e-03 9.56299136e-01 4.06572541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.77925415399994 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:447.00, Y:141.45, Z:40.67 [[ 1.04528407e-01 -9.93672053e-01 -4.11055184e-02 4.47002538e+02] [ 9.50786940e-01 1.11968448e-01 -2.88907012e-01 1.41446201e+02] [ 2.91681344e-01 -8.88360026e-03 9.56474294e-01 4.06654110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8092541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.01, Y:141.47, Z:40.67 [[ 1.02102907e-01 -9.93929024e-01 -4.09889281e-02 4.47007605e+02] [ 9.51119460e-01 1.09611679e-01 -2.88716216e-01 1.41472719e+02] [ 2.91456292e-01 -9.50660226e-03 9.56536907e-01 4.06735301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.83925415399995 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.01, Y:141.50, Z:40.68 [[ 9.98387650e-02 -9.94163083e-01 -4.08899092e-02 4.47012765e+02] [ 9.51401971e-01 1.07415047e-01 -2.88610979e-01 1.41499648e+02] [ 2.91318572e-01 -1.00881765e-02 9.56572903e-01 4.06809462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.8692541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.02, Y:141.53, Z:40.69 [[ 9.79784854e-02 -9.94346329e-01 -4.09340139e-02 4.47017561e+02] [ 9.51323423e-01 1.05657682e-01 -2.89517182e-01 1.41525213e+02] [ 2.92205340e-01 -1.05750313e-02 9.56297134e-01 4.06877036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.89925415399995 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.02, Y:141.55, Z:40.70 [[ 9.42428118e-02 -9.94711740e-01 -4.08270313e-02 4.47022925e+02] [ 9.51812394e-01 1.02048498e-01 -2.89204547e-01 1.41549905e+02] [ 2.91841496e-01 -1.16042247e-02 9.56396300e-01 4.06958894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9292541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.03, Y:141.58, Z:40.70 [[ 9.30159524e-02 -9.94828439e-01 -4.07971868e-02 4.47027195e+02] [ 9.51812724e-01 1.00870957e-01 -2.89616279e-01 1.41575218e+02] [ 2.92233762e-01 -1.18923475e-02 9.56272974e-01 4.07036501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.95925415399995 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:447.03, Y:141.60, Z:40.71 [[ 9.20724517e-02 -9.94919602e-01 -4.07142410e-02 4.47031444e+02] [ 9.51902732e-01 9.99443178e-02 -2.89641713e-01 1.41601766e+02] [ 2.92239375e-01 -1.20879746e-02 9.56268806e-01 4.07116494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 506.9892541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.04, Y:141.63, Z:40.72 [[ 9.15846685e-02 -9.94967466e-01 -4.06446769e-02 4.47035430e+02] [ 9.51928381e-01 9.94583391e-02 -2.89724691e-01 1.41626868e+02] [ 2.92309094e-01 -1.21564818e-02 9.56246628e-01 4.07192634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.01925415399995 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:447.04, Y:141.65, Z:40.73 [[ 9.16844687e-02 -9.94963902e-01 -4.05066989e-02 4.47039229e+02] [ 9.52036975e-01 9.95087662e-02 -2.89350314e-01 1.41652856e+02] [ 2.91923889e-01 -1.20349453e-02 9.56365831e-01 4.07274939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.0492541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.04, Y:141.68, Z:40.74 [[ 9.20520827e-02 -9.94932850e-01 -4.04355953e-02 4.47042415e+02] [ 9.51961173e-01 9.98414219e-02 -2.89485086e-01 1.41678570e+02] [ 2.92055369e-01 -1.18454116e-02 9.56328054e-01 4.07351754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.07925415399995 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.05, Y:141.70, Z:40.74 [[ 9.25217506e-02 -9.94893776e-01 -4.03249239e-02 4.47045415e+02] [ 9.51963340e-01 1.00256636e-01 -2.89334419e-01 1.41703610e+02] [ 2.91899854e-01 -1.16181223e-02 9.56378322e-01 4.07431655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.1092541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:447.05, Y:141.73, Z:40.75 [[ 9.42402920e-02 -9.94734978e-01 -4.02627647e-02 4.47048224e+02] [ 9.51721387e-01 1.01885469e-01 -2.89561310e-01 1.41730655e+02] [ 2.92138954e-01 -1.10305919e-02 9.56312270e-01 4.07509425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.13925415399996 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.05, Y:141.76, Z:40.76 [[ 9.49389911e-02 -9.94669423e-01 -4.02408541e-02 4.47051241e+02] [ 9.51504867e-01 1.02552910e-01 -2.90036873e-01 1.41756007e+02] [ 2.92617626e-01 -1.07535604e-02 9.56169068e-01 4.07584069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.16925415399993 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.05, Y:141.78, Z:40.77 [[ 9.55094531e-02 -9.94616227e-01 -4.02057828e-02 4.47054389e+02] [ 9.51348559e-01 1.03091889e-01 -2.90358367e-01 1.41782120e+02] [ 2.92940033e-01 -1.05177447e-02 9.56072965e-01 4.07659561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.19925415399996 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.06, Y:141.81, Z:40.77 [[ 9.66986097e-02 -9.94504848e-01 -4.01183950e-02 4.47057384e+02] [ 9.51227695e-01 1.04203687e-01 -2.90357475e-01 1.41808713e+02] [ 2.92942401e-01 -1.00845643e-02 9.56076906e-01 4.07741980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.22925415399993 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.03, Y:141.85, Z:40.79 [[ 1.05943579e-01 -9.93452052e-01 4.27665622e-02 4.47033357e+02] [ 9.54212781e-01 8.94715228e-02 -2.85434432e-01 1.41852936e+02] [ 2.79739032e-01 7.10483456e-02 9.57443579e-01 4.07865666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.2592541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.11, Y:141.86, Z:40.77 [[ 9.69081041e-02 -9.86931682e-01 -1.28742666e-01 4.47108435e+02] [ 9.51813310e-01 1.29710682e-01 -2.77896674e-01 1.41864030e+02] [ 2.90964331e-01 -9.56085431e-02 9.51944728e-01 4.07708698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.28925415399993 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:447.04, Y:141.91, Z:40.80 [[ 1.08930303e-01 -9.92930660e-01 4.71475652e-02 4.47038936e+02] [ 9.54282368e-01 9.11736794e-02 -2.84662119e-01 1.41908249e+02] [ 2.78351128e-01 7.60004210e-02 9.57467799e-01 4.08017523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3192541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.12, Y:141.92, Z:40.79 [[ 9.81575360e-02 -9.86132932e-01 -1.33816810e-01 4.47116779e+02] [ 9.52029056e-01 1.32211944e-01 -2.75972244e-01 1.41917226e+02] [ 2.89837498e-01 -1.00308736e-01 9.51804803e-01 4.07873964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.34925415399994 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:447.07, Y:141.94, Z:40.82 [[ 9.95997238e-02 -9.94237591e-01 -3.96422503e-02 4.47073018e+02] [ 9.51006460e-01 1.06836832e-01 -2.90125152e-01 1.41943939e+02] [ 2.92688585e-01 -8.80365105e-03 9.56167291e-01 4.08173564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.3792541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:447.08, Y:141.97, Z:40.83 [[ 1.00254701e-01 -9.94176929e-01 -3.95123848e-02 4.47076097e+02] [ 9.51033042e-01 1.07422604e-01 -2.89821562e-01 1.41970213e+02] [ 2.92378433e-01 -8.52160946e-03 9.56264730e-01 4.08252696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.40925415399994 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.08, Y:142.00, Z:40.83 [[ 1.01397564e-01 -9.94068923e-01 -3.93129856e-02 4.47079159e+02] [ 9.51163514e-01 1.08450714e-01 -2.89009363e-01 1.41996577e+02] [ 2.91558748e-01 -8.08823202e-03 9.56518728e-01 4.08330517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4392541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.08, Y:142.02, Z:40.84 [[ 1.01874629e-01 -9.94025873e-01 -3.91678913e-02 4.47082463e+02] [ 9.51240024e-01 1.08861541e-01 -2.88602811e-01 1.42023647e+02] [ 2.91142538e-01 -7.85676154e-03 9.56647424e-01 4.08410091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.46925415399994 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.08, Y:142.05, Z:40.85 [[ 1.02594467e-01 -9.94175858e-01 -3.29960415e-02 4.47082681e+02] [ 9.50578730e-01 1.07759634e-01 -2.91183687e-01 1.42050119e+02] [ 2.93043433e-01 -1.49150019e-03 9.56097967e-01 4.08508857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.4992541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.09, Y:142.08, Z:40.86 [[ 1.02334182e-01 -9.93884747e-01 -4.14828204e-02 4.47089743e+02] [ 9.50906144e-01 1.09982808e-01 -2.89277181e-01 1.42075840e+02] [ 2.92070575e-01 -9.84332509e-03 9.56346113e-01 4.08563078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.52925415399994 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.09, Y:142.10, Z:40.87 [[ 1.02113756e-01 -9.94039099e-01 -3.81975123e-02 4.47091673e+02] [ 9.50890049e-01 1.08816124e-01 -2.89770885e-01 1.42102857e+02] [ 2.92200094e-01 -6.73204092e-03 9.56333511e-01 4.08652002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.5592541539999 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:447.09, Y:142.13, Z:40.87 [[ 1.02939341e-01 -9.94066860e-01 -3.51364521e-02 4.47093556e+02] [ 9.50276363e-01 1.08719151e-01 -2.91813261e-01 1.42127815e+02] [ 2.93901897e-01 -3.35027511e-03 9.55829718e-01 4.08739007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.58925415399995 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:447.10, Y:142.16, Z:40.88 [[ 1.01617687e-01 -9.93834421e-01 -4.43507574e-02 4.47101489e+02] [ 9.50871102e-01 1.10136554e-01 -2.89333869e-01 1.42155895e+02] [ 2.92434598e-01 -1.27704150e-02 9.56200252e-01 4.08799242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6192541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.10, Y:142.18, Z:40.89 [[ 1.01233522e-01 -9.94092340e-01 -3.91432570e-02 4.47101530e+02] [ 9.50584311e-01 1.08260454e-01 -2.90979626e-01 1.42182369e+02] [ 2.93498284e-01 -7.75207371e-03 9.55928168e-01 4.08892539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.64925415399995 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.11, Y:142.21, Z:40.90 [[ 1.01418230e-01 -9.94075439e-01 -3.90942993e-02 4.47105033e+02] [ 9.50472252e-01 1.08425137e-01 -2.91284204e-01 1.42208375e+02] [ 2.93797277e-01 -7.61651833e-03 9.55837407e-01 4.08970633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.6792541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.11, Y:142.23, Z:40.91 [[ 1.01467737e-01 -9.94070784e-01 -3.90842030e-02 4.47108181e+02] [ 9.50302956e-01 1.08473728e-01 -2.91817995e-01 1.42234840e+02] [ 2.94327352e-01 -7.53172226e-03 9.55674988e-01 4.09050842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.70925415399995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.11, Y:142.26, Z:40.91 [[ 1.03241010e-01 -9.93891347e-01 -3.90036493e-02 4.47111629e+02] [ 9.50092374e-01 1.10145621e-01 -2.91877411e-01 1.42261705e+02] [ 2.94390514e-01 -6.92335123e-03 9.55660134e-01 4.09131000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7392541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.12, Y:142.29, Z:40.92 [[ 1.05279444e-01 -9.93675374e-01 -3.90575291e-02 4.47115193e+02] [ 9.49530572e-01 1.12117169e-01 -2.92952955e-01 1.42287659e+02] [ 2.95479157e-01 -6.24439362e-03 9.55328779e-01 4.09202759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.76925415399995 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.12, Y:142.31, Z:40.93 [[ 1.06490652e-01 -9.93554896e-01 -3.88382397e-02 4.47118013e+02] [ 9.49722191e-01 1.13203499e-01 -2.91912193e-01 1.42314426e+02] [ 2.94427414e-01 -5.79961843e-03 9.55656247e-01 4.09292027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.7992541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:447.12, Y:142.34, Z:40.94 [[ 1.07798421e-01 -9.93419307e-01 -3.86985965e-02 4.47120172e+02] [ 9.49696099e-01 1.14410299e-01 -2.91526335e-01 1.42340287e+02] [ 2.94035408e-01 -5.32582764e-03 9.55779689e-01 4.09376099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.82925415399995 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.12, Y:142.37, Z:40.95 [[ 1.11444319e-01 -9.93024314e-01 -3.85081164e-02 4.47122256e+02] [ 9.49533225e-01 1.17836038e-01 -2.90691113e-01 1.42366573e+02] [ 2.93200987e-01 -4.16886289e-03 9.56041736e-01 4.09455106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.8592541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.13, Y:142.39, Z:40.95 [[ 1.12772070e-01 -9.92879244e-01 -3.83831530e-02 4.47125954e+02] [ 9.49459713e-01 1.19067976e-01 -2.90429114e-01 1.42393410e+02] [ 2.92931243e-01 -3.69096524e-03 9.56126385e-01 4.09529303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.88925415399996 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.13, Y:142.42, Z:40.96 [[ 1.13688609e-01 -9.92777130e-01 -3.83206282e-02 4.47129735e+02] [ 9.49290954e-01 1.19926806e-01 -2.90627331e-01 1.42418995e+02] [ 2.93123838e-01 -3.33640869e-03 9.56068661e-01 4.09603916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.91925415399993 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.13, Y:142.45, Z:40.97 [[ 1.14185885e-01 -9.92722395e-01 -3.82600309e-02 4.47133985e+02] [ 9.49229758e-01 1.20384568e-01 -2.90637957e-01 1.42445366e+02] [ 2.93128726e-01 -3.13080756e-03 9.56067857e-01 4.09676998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.94925415399996 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.14, Y:142.47, Z:40.98 [[ 1.13685969e-01 -9.92784041e-01 -3.81490322e-02 4.47137678e+02] [ 9.49343589e-01 1.19873479e-01 -2.90477365e-01 1.42471896e+02] [ 2.92954350e-01 -3.19333825e-03 9.56121097e-01 4.09755870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 507.97925415399993 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.14, Y:142.50, Z:40.98 [[ 1.13311760e-01 -9.92831937e-01 -3.80156419e-02 4.47141322e+02] [ 9.49496874e-01 1.19475433e-01 -2.90140150e-01 1.42498711e+02] [ 2.92602343e-01 -3.21944201e-03 9.56228793e-01 4.09837453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0092541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.14, Y:142.53, Z:40.99 [[ 1.12558435e-01 -9.92921113e-01 -3.79244248e-02 4.47144718e+02] [ 9.49589984e-01 1.18728300e-01 -2.90142126e-01 1.42525191e+02] [ 2.92590945e-01 -3.35471040e-03 9.56231815e-01 4.09918264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.03925415399993 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:447.15, Y:142.55, Z:41.00 [[ 1.12398646e-01 -9.92936634e-01 -3.79919249e-02 4.47149100e+02] [ 9.49235840e-01 1.18599524e-01 -2.91351117e-01 1.42551276e+02] [ 2.93799022e-01 -3.31582572e-03 9.55861465e-01 4.09991480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.0692541539999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:447.16, Y:142.58, Z:41.01 [[ 1.11313456e-01 -9.92182485e-01 -5.64201341e-02 4.47160820e+02] [ 9.48430488e-01 1.23017397e-01 -2.92140942e-01 1.42576055e+02] [ 2.96797783e-01 -2.09913575e-02 9.54709610e-01 4.10087880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.09925415399994 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:447.15, Y:142.60, Z:41.02 [[ 1.11489050e-01 -9.93581324e-01 -1.91401196e-02 4.47148255e+02] [ 9.49323080e-01 1.12178728e-01 -2.93601130e-01 1.42604315e+02] [ 2.93863713e-01 1.45631536e-02 9.55736382e-01 4.10202380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.1292541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.16, Y:142.63, Z:41.02 [[ 1.11294131e-01 -9.93072010e-01 -3.77040985e-02 4.47162314e+02] [ 9.49626031e-01 1.17456150e-01 -2.90541657e-01 1.42630079e+02] [ 2.92957366e-01 -3.46921211e-03 9.56119211e-01 4.10227152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.15925415399994 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.17, Y:142.66, Z:41.03 [[ 1.11440840e-01 -9.93059266e-01 -3.76062920e-02 4.47166037e+02] [ 9.49697348e-01 1.17566811e-01 -2.90263661e-01 1.42655310e+02] [ 2.92670270e-01 -3.36736948e-03 9.56207495e-01 4.10303275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.1892541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.17, Y:142.68, Z:41.04 [[ 1.11960293e-01 -9.93005151e-01 -3.74921821e-02 4.47169708e+02] [ 9.49720140e-01 1.18029323e-01 -2.90001266e-01 1.42681329e+02] [ 2.92397928e-01 -3.13845373e-03 9.56291588e-01 4.10382680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.21925415399994 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.17, Y:142.71, Z:41.05 [[ 1.13691636e-01 -9.93108450e-01 -2.84572995e-02 4.47168787e+02] [ 9.48807690e-01 1.17026646e-01 -2.93374728e-01 1.42706063e+02] [ 2.94683184e-01 6.35374810e-03 9.55573886e-01 4.10477580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.2492541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:447.18, Y:142.73, Z:41.05 [[ 1.16875098e-01 -9.92100601e-01 -4.55698223e-02 4.47181353e+02] [ 9.49174253e-01 1.25084802e-01 -2.88828719e-01 1.42733619e+02] [ 2.92247238e-01 -9.49681712e-03 9.56295646e-01 4.10508352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.27925415399994 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.18, Y:142.76, Z:41.06 [[ 1.18631170e-01 -9.92240935e-01 -3.72098491e-02 4.47180715e+02] [ 9.49118311e-01 1.24325958e-01 -2.89339745e-01 1.42759375e+02] [ 2.91720889e-01 -9.91836555e-04 9.56502974e-01 4.10614678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3092541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.18, Y:142.79, Z:41.07 [[ 1.20682985e-01 -9.91998108e-01 -3.70859915e-02 4.47184474e+02] [ 9.48952227e-01 1.26252358e-01 -2.89050190e-01 1.42785349e+02] [ 2.91419435e-01 -3.09394604e-04 9.56595326e-01 4.10690663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.33925415399995 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.19, Y:142.81, Z:41.08 [[ 1.27029139e-01 -9.91261115e-01 -3.55668323e-02 4.47189965e+02] [ 9.47524688e-01 1.31873280e-01 -2.91215392e-01 1.42811566e+02] [ 2.93360809e-01 3.29238891e-03 9.55996128e-01 4.10786197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.3692541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:447.20, Y:142.84, Z:41.08 [[ 1.26492180e-01 -9.91245476e-01 -3.78435515e-02 4.47195163e+02] [ 9.48621530e-01 1.32030987e-01 -2.87550015e-01 1.42839760e+02] [ 2.90029173e-01 4.73620442e-04 9.57017688e-01 4.10846760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.39925415399995 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.20, Y:142.87, Z:41.09 [[ 1.27739337e-01 -9.91130743e-01 -3.66403129e-02 4.47199173e+02] [ 9.48604479e-01 1.32876330e-01 -2.87216683e-01 1.42866320e+02] [ 2.89537915e-01 1.93170365e-03 9.57164596e-01 4.10928362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4292541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.20, Y:142.89, Z:41.10 [[ 1.29549424e-01 -9.91050175e-01 -3.21946644e-02 4.47201435e+02] [ 9.48133975e-01 1.33313580e-01 -2.88564472e-01 1.42892227e+02] [ 2.90273857e-01 6.85850608e-03 9.56919040e-01 4.11013430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.45925415399995 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.21, Y:142.92, Z:41.11 [[ 1.29434714e-01 -9.90801873e-01 -3.94753444e-02 4.47212212e+02] [ 9.48437571e-01 1.35320110e-01 -2.86626309e-01 1.42920583e+02] [ 2.89331692e-01 -3.40505359e-04 9.57228842e-01 4.11072371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.4892541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.22, Y:142.95, Z:41.12 [[ 1.28999972e-01 -9.90973664e-01 -3.64719607e-02 4.47215834e+02] [ 9.48365228e-01 1.34033477e-01 -2.87468992e-01 1.42946062e+02] [ 2.89762664e-01 2.49475261e-03 9.57095280e-01 4.11155114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.51925415399995 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.22, Y:142.97, Z:41.12 [[ 1.28229328e-01 -9.91074312e-01 -3.64547371e-02 4.47221399e+02] [ 9.48391003e-01 1.33290347e-01 -2.87729368e-01 1.42972398e+02] [ 2.90020250e-01 2.32199878e-03 9.57017692e-01 4.11228430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.5492541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.23, Y:143.00, Z:41.13 [[ 1.26924328e-01 -9.91242979e-01 -3.64358692e-02 4.47226971e+02] [ 9.48402679e-01 1.32034944e-01 -2.88269201e-01 1.42999097e+02] [ 2.90555629e-01 2.03249859e-03 9.56855943e-01 4.11301837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.57925415399995 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.23, Y:143.02, Z:41.14 [[ 1.24471417e-01 -9.91555254e-01 -3.64011643e-02 4.47234579e+02] [ 9.48601503e-01 1.29677332e-01 -2.88684912e-01 1.43024357e+02] [ 2.90967448e-01 1.40282095e-03 9.56731925e-01 4.11372302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.6092541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.24, Y:143.05, Z:41.15 [[ 1.22577982e-01 -9.91794298e-01 -3.63140244e-02 4.47239349e+02] [ 9.48871285e-01 1.27840612e-01 -2.88617503e-01 1.43050620e+02] [ 2.90891601e-01 9.20816010e-04 9.56755574e-01 4.11452132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.63925415399996 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.24, Y:143.08, Z:41.15 [[ 1.20790206e-01 -9.92019022e-01 -3.61660912e-02 4.47244211e+02] [ 9.49258277e-01 1.26087425e-01 -2.88115748e-01 1.43075762e+02] [ 2.90376392e-01 4.70599259e-04 9.56912394e-01 4.11531547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.66925415399993 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.25, Y:143.10, Z:41.16 [[ 1.18702956e-01 -9.92277260e-01 -3.59923246e-02 4.47249263e+02] [ 9.49763355e-01 1.24039644e-01 -2.87339062e-01 1.43101616e+02] [ 2.89584492e-01 -7.61949559e-05 9.57152452e-01 4.11613578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.69925415399996 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.26, Y:143.13, Z:41.17 [[ 1.13628055e-01 -9.92881786e-01 -3.56990714e-02 4.47256817e+02] [ 9.50902508e-01 1.19094694e-01 -2.85658668e-01 1.43126343e+02] [ 2.87876858e-01 -1.48749764e-03 9.57666279e-01 4.11694427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.72925415399993 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.26, Y:143.15, Z:41.18 [[ 1.10507641e-01 -9.93238502e-01 -3.55716141e-02 4.47262191e+02] [ 9.51372621e-01 1.16068701e-01 -2.85338732e-01 1.43151789e+02] [ 2.87538165e-01 -2.30974965e-03 9.57766396e-01 4.11774052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.7592541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.27, Y:143.18, Z:41.19 [[ 1.07057661e-01 -9.93624033e-01 -3.53544696e-02 4.47267815e+02] [ 9.52092344e-01 1.12698167e-01 -2.84287341e-01 1.43178140e+02] [ 2.86459118e-01 -3.22558199e-03 9.58087036e-01 4.11853588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.78925415399993 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.27, Y:143.20, Z:41.19 [[ 1.03778967e-01 -9.93978231e-01 -3.51738963e-02 4.47273410e+02] [ 9.52705957e-01 1.09501323e-01 -2.83479840e-01 1.43203886e+02] [ 2.85624378e-01 -4.09113548e-03 9.58332916e-01 4.11935132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8192541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.28, Y:143.23, Z:41.20 [[ 9.80129393e-02 -9.94570578e-01 -3.49689833e-02 4.47281196e+02] [ 9.53631991e-01 1.03910099e-01 -2.82468968e-01 1.43228996e+02] [ 2.84568955e-01 -5.66192741e-03 9.58638854e-01 4.12010815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.84925415399994 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.29, Y:143.25, Z:41.21 [[ 9.50505802e-02 -9.94859517e-01 -3.49274914e-02 4.47286421e+02] [ 9.53897443e-01 1.01058755e-01 -2.82607141e-01 1.43254577e+02] [ 2.84684133e-01 -6.45527200e-03 9.58599642e-01 4.12088877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.8792541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.29, Y:143.28, Z:41.22 [[ 9.21083544e-02 -9.95139661e-01 -3.48296789e-02 4.47291656e+02] [ 9.54228829e-01 9.82089197e-02 -2.82493099e-01 1.43280870e+02] [ 2.84540672e-01 -7.21550928e-03 9.58636815e-01 4.12166156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.90925415399994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.30, Y:143.31, Z:41.22 [[ 8.73938903e-02 -9.95565826e-01 -3.47993312e-02 4.47299292e+02] [ 9.54543051e-01 9.36837397e-02 -2.82968055e-01 1.43306173e+02] [ 2.84973457e-01 -8.48778070e-03 9.58497828e-01 4.12234896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9392541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.30, Y:143.33, Z:41.23 [[ 8.47342706e-02 -9.95798158e-01 -3.47294210e-02 4.47304588e+02] [ 9.54768146e-01 9.11145099e-02 -2.83047583e-01 1.43331687e+02] [ 2.85022615e-01 -9.17471441e-03 9.58476882e-01 4.12305307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.96925415399994 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.31, Y:143.36, Z:41.24 [[ 8.27633153e-02 -9.95963480e-01 -3.47416083e-02 4.47310347e+02] [ 9.54769885e-01 8.92342308e-02 -2.83640120e-01 1.43358521e+02] [ 2.85595342e-01 -9.69524468e-03 9.58301259e-01 4.12375376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 508.9992541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.31, Y:143.38, Z:41.25 [[ 8.01599515e-02 -9.96177850e-01 -3.46997597e-02 4.47314701e+02] [ 9.54887274e-01 8.67306851e-02 -2.84021271e-01 1.43384454e+02] [ 2.85945233e-01 -1.03672277e-02 9.58189879e-01 4.12467775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.02925415399994 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.32, Y:143.41, Z:41.25 [[ 7.77885770e-02 -9.96367044e-01 -3.46648346e-02 4.47319805e+02] [ 9.54962511e-01 8.44525558e-02 -2.84454510e-01 1.43409568e+02] [ 2.86348633e-01 -1.09763060e-02 9.58062619e-01 4.12545128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.0592541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:447.32, Y:143.44, Z:41.26 [[ 7.75817048e-02 -9.96384813e-01 -3.46176666e-02 4.47323754e+02] [ 9.54948987e-01 8.42420047e-02 -2.84562326e-01 1.43435752e+02] [ 2.86449842e-01 -1.09812752e-02 9.58032306e-01 4.12625088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.08925415399995 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:447.33, Y:143.46, Z:41.27 [[ 7.97360176e-02 -9.96217475e-01 -3.45385284e-02 4.47327967e+02] [ 9.54744688e-01 8.62848137e-02 -2.84635753e-01 1.43461389e+02] [ 2.86539262e-01 -1.02797550e-02 9.58013350e-01 4.12706038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1192541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.33, Y:143.49, Z:41.28 [[ 8.12940288e-02 -9.96094362e-01 -3.44572694e-02 4.47331195e+02] [ 9.54615869e-01 8.77544837e-02 -2.84618504e-01 1.43488161e+02] [ 2.86530667e-01 -9.75567136e-03 9.58021401e-01 4.12785754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.14925415399995 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:447.33, Y:143.51, Z:41.29 [[ 8.35437042e-02 -9.95910674e-01 -3.43857505e-02 4.47334389e+02] [ 9.54383397e-01 8.98910187e-02 -2.84731339e-01 1.43514382e+02] [ 2.86657950e-01 -9.02967856e-03 9.57990441e-01 4.12866350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.1792541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.34, Y:143.54, Z:41.29 [[ 8.59240156e-02 -9.95708494e-01 -3.43752530e-02 4.47337124e+02] [ 9.53969486e-01 9.21747257e-02 -2.85387526e-01 1.43539938e+02] [ 2.87331314e-01 -8.27130022e-03 9.57795543e-01 4.12943796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.20925415399995 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.34, Y:143.57, Z:41.30 [[ 8.89867609e-02 -9.95634349e-01 -2.81708934e-02 4.47336707e+02] [ 9.53008874e-01 9.33316755e-02 -2.88207016e-01 1.43566551e+02] [ 2.89578042e-01 -1.20050256e-03 9.57153654e-01 4.13033590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2392541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.34, Y:143.59, Z:41.31 [[ 9.39656035e-02 -9.94767138e-01 -4.01099378e-02 4.47344952e+02] [ 9.52682645e-01 1.01542441e-01 -2.86504644e-01 1.43593214e+02] [ 2.89078266e-01 -1.12904598e-02 9.57238884e-01 4.13095466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.26925415399995 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:447.34, Y:143.62, Z:41.32 [[ 9.61466216e-02 -9.94772047e-01 -3.44151479e-02 4.47344865e+02] [ 9.52436464e-01 1.01989522e-01 -2.87163578e-01 1.43619913e+02] [ 2.89172285e-01 -5.16843389e-03 9.57263118e-01 4.13188864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.2992541539999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:447.35, Y:143.65, Z:41.33 [[ 9.77533257e-02 -9.94618065e-01 -3.43393624e-02 4.47347819e+02] [ 9.52243396e-01 1.03506387e-01 -2.87261105e-01 1.43646648e+02] [ 2.89269427e-01 -4.61870282e-03 9.57236578e-01 4.13271119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.32925415399995 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.35, Y:143.67, Z:41.34 [[ 9.88894827e-02 -9.94509155e-01 -3.42404797e-02 4.47350820e+02] [ 9.52156912e-01 1.04565100e-01 -2.87164336e-01 1.43672235e+02] [ 2.89167920e-01 -4.20477680e-03 9.57269154e-01 4.13350108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.3592541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.35, Y:143.70, Z:41.34 [[ 9.95464200e-02 -9.94447027e-01 -3.41411910e-02 4.47354068e+02] [ 9.52143509e-01 1.05164627e-01 -2.86989789e-01 1.43697576e+02] [ 2.88986588e-01 -3.93850738e-03 9.57325044e-01 4.13426063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.38925415399996 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.36, Y:143.72, Z:41.35 [[ 1.00234467e-01 -9.94381136e-01 -3.40471463e-02 4.47358573e+02] [ 9.52114773e-01 1.05795700e-01 -2.86853150e-01 1.43723991e+02] [ 2.88843403e-01 -3.66421824e-03 9.57369345e-01 4.13498861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.41925415399993 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.36, Y:143.75, Z:41.36 [[ 1.00059952e-01 -9.94401577e-01 -3.39633512e-02 4.47361654e+02] [ 9.52133017e-01 1.05604433e-01 -2.86863072e-01 1.43751108e+02] [ 2.88843772e-01 -3.63412282e-03 9.57369348e-01 4.13579438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.44925415399996 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.37, Y:143.78, Z:41.37 [[ 9.94594340e-02 -9.94465301e-01 -3.38612865e-02 4.47365064e+02] [ 9.52323763e-01 1.04998353e-01 -2.86452084e-01 1.43776702e+02] [ 2.88422037e-01 -3.75654564e-03 9.57496014e-01 4.13673272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.47925415399993 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.37, Y:143.80, Z:41.37 [[ 9.89964136e-02 -9.94514048e-01 -3.37863795e-02 4.47369094e+02] [ 9.52405510e-01 1.04532939e-01 -2.86350502e-01 1.43802183e+02] [ 2.88311386e-01 -3.83066123e-03 9.57529044e-01 4.13737621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5092541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.37, Y:143.83, Z:41.38 [[ 9.76855837e-02 -9.94645337e-01 -3.37369366e-02 4.47373461e+02] [ 9.52443197e-01 1.03264794e-01 -2.86685086e-01 1.43828166e+02] [ 2.88633822e-01 -4.12751578e-03 9.57430666e-01 4.13826210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.53925415399993 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:447.38, Y:143.85, Z:41.39 [[ 9.73330010e-02 -9.94681778e-01 -3.36815536e-02 4.47376971e+02] [ 9.52409808e-01 1.02912217e-01 -2.86922696e-01 1.43854586e+02] [ 2.88863021e-01 -4.15159499e-03 9.57361436e-01 4.13905377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.5692541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:447.38, Y:143.88, Z:41.40 [[ 9.72565647e-02 -9.94690105e-01 -3.36564339e-02 4.47380655e+02] [ 9.52270843e-01 1.02833878e-01 -2.87411613e-01 1.43880352e+02] [ 2.89346509e-01 -4.09737449e-03 9.57215654e-01 4.13983172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.59925415399994 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.38, Y:143.91, Z:41.41 [[ 9.71216400e-02 -9.94703965e-01 -3.36364126e-02 4.47384338e+02] [ 9.52179375e-01 1.02700414e-01 -2.87762162e-01 1.43907093e+02] [ 2.89692638e-01 -4.07996515e-03 9.57111033e-01 4.14060251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.6292541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.39, Y:143.93, Z:41.41 [[ 9.77954612e-02 -9.94637052e-01 -3.36627789e-02 4.47389381e+02] [ 9.51826534e-01 1.03356819e-01 -2.88692947e-01 1.43933531e+02] [ 2.90623980e-01 -3.80826629e-03 9.56829765e-01 4.14141601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.65925415399994 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:447.39, Y:143.96, Z:41.42 [[ 9.85029613e-02 -9.94568434e-01 -3.36273264e-02 4.47393557e+02] [ 9.51618592e-01 1.04025209e-01 -2.89138048e-01 1.43959509e+02] [ 2.91065665e-01 -3.51943503e-03 9.56696604e-01 4.14208140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.6892541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:447.40, Y:143.99, Z:41.43 [[ 9.89772742e-02 -9.94525792e-01 -3.34954861e-02 4.47397323e+02] [ 9.51712837e-01 1.04439083e-01 -2.88678289e-01 1.43985211e+02] [ 2.90596242e-01 -3.30549394e-03 9.56840059e-01 4.14302098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.71925415399994 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:447.40, Y:144.01, Z:41.44 [[ 1.01036011e-01 -9.94325041e-01 -3.33082112e-02 4.47401888e+02] [ 9.51764806e-01 1.06352404e-01 -2.87807090e-01 1.44010265e+02] [ 2.89716205e-01 -2.62270283e-03 9.57109002e-01 4.14381074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.7492541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.41, Y:144.04, Z:41.45 [[ 1.02022001e-01 -9.94226678e-01 -3.32388825e-02 4.47405393e+02] [ 9.51638469e-01 1.07276276e-01 -2.87881964e-01 1.44036476e+02] [ 2.89785673e-01 -2.26110530e-03 9.57088894e-01 4.14466383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.77925415399994 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.41, Y:144.06, Z:41.45 [[ 1.03415905e-01 -9.94085794e-01 -3.31449158e-02 4.47408729e+02] [ 9.51511721e-01 1.08583099e-01 -2.87810973e-01 1.44061770e+02] [ 2.89707777e-01 -1.77354380e-03 9.57113504e-01 4.14546530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8092541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.41, Y:144.09, Z:41.46 [[ 1.04799680e-01 -9.93942929e-01 -3.30829276e-02 4.47412410e+02] [ 9.51368395e-01 1.09889612e-01 -2.87788898e-01 1.44088694e+02] [ 2.89681210e-01 -1.31386737e-03 9.57122286e-01 4.14628936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.83925415399995 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:447.42, Y:144.11, Z:41.47 [[ 1.08432725e-01 -9.93549336e-01 -3.31973116e-02 4.47417654e+02] [ 9.50415935e-01 1.13400591e-01 -2.89568396e-01 1.44114113e+02] [ 2.91465082e-01 -1.52563877e-04 9.56581456e-01 4.14694485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.8692541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.42, Y:144.14, Z:41.48 [[ 1.09821488e-01 -9.93400729e-01 -3.30791962e-02 4.47421240e+02] [ 9.50360043e-01 1.14694747e-01 -2.89241947e-01 1.44139885e+02] [ 2.91127171e-01 3.27834492e-04 9.56684307e-01 4.14783424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.89925415399995 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:447.43, Y:144.17, Z:41.49 [[ 1.11612914e-01 -9.93203172e-01 -3.30154098e-02 4.47425224e+02] [ 9.50088423e-01 1.16389763e-01 -2.89457097e-01 1.44166102e+02] [ 2.91332363e-01 9.39591395e-04 9.56621436e-01 4.14862889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9292541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.43, Y:144.19, Z:41.50 [[ 1.14852856e-01 -9.92834064e-01 -3.30051963e-02 4.47430884e+02] [ 9.49494216e-01 1.19484636e-01 -2.90145058e-01 1.44192394e+02] [ 2.92009511e-01 1.98574553e-03 9.56413353e-01 4.14950918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.95925415399995 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.43, Y:144.22, Z:41.50 [[ 1.15660136e-01 -9.92743118e-01 -3.29216544e-02 4.47434939e+02] [ 9.49386431e-01 1.20232175e-01 -2.90188952e-01 1.44218318e+02] [ 2.92041327e-01 2.30792172e-03 9.56402915e-01 4.15030862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 509.9892541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:447.44, Y:144.24, Z:41.51 [[ 1.15973398e-01 -9.92707598e-01 -3.28906698e-02 4.47439107e+02] [ 9.49217072e-01 1.20521593e-01 -2.90622602e-01 1.44244243e+02] [ 2.92467301e-01 2.48410547e-03 9.56272298e-01 4.15113473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.01925415399995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.44, Y:144.27, Z:41.52 [[ 1.15123886e-01 -9.92807263e-01 -3.28668509e-02 4.47444694e+02] [ 9.49145664e-01 1.19700959e-01 -2.91194419e-01 1.44269287e+02] [ 2.93034127e-01 2.32800418e-03 9.56099148e-01 4.15194660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.0492541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.45, Y:144.30, Z:41.53 [[ 1.13625716e-01 -9.92981712e-01 -3.28103187e-02 4.47449615e+02] [ 9.49313457e-01 1.18252007e-01 -2.91239461e-01 1.44295717e+02] [ 2.93075345e-01 1.94501513e-03 9.56087370e-01 4.15272781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.07925415399995 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.45, Y:144.32, Z:41.54 [[ 1.11614607e-01 -9.93210715e-01 -3.27819447e-02 4.47454459e+02] [ 9.49394512e-01 1.16320248e-01 -2.91752738e-01 1.44321591e+02] [ 2.93585149e-01 1.44086861e-03 9.55931841e-01 4.15354736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.1092541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.46, Y:144.35, Z:41.54 [[ 1.07380038e-01 -9.93681868e-01 -3.26476995e-02 4.47461977e+02] [ 9.50017239e-01 1.12233122e-01 -2.91326229e-01 1.44347023e+02] [ 2.93149745e-01 2.66744076e-04 9.56066502e-01 4.15418316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.13925415399996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.47, Y:144.37, Z:41.55 [[ 1.04744235e-01 -9.93966537e-01 -3.25448672e-02 4.47466562e+02] [ 9.50382247e-01 1.09682866e-01 -2.91106944e-01 1.44371800e+02] [ 2.92920175e-01 -4.38289829e-04 9.56136799e-01 4.15501679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.16925415399993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.47, Y:144.40, Z:41.56 [[ 1.02183060e-01 -9.94236076e-01 -3.24537896e-02 4.47471384e+02] [ 9.50670793e-01 1.07207261e-01 -2.91087007e-01 1.44398030e+02] [ 2.92888486e-01 -1.10870896e-03 9.56145965e-01 4.15582551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.19925415399996 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.48, Y:144.42, Z:41.57 [[ 9.96950875e-02 -9.94493358e-01 -3.23086712e-02 4.47476114e+02] [ 9.51102062e-01 1.04784817e-01 -2.90559821e-01 1.44424135e+02] [ 2.92345270e-01 -1.76145706e-03 9.56311215e-01 4.15658968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.22925415399993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.48, Y:144.45, Z:41.57 [[ 9.47690965e-02 -9.94978544e-01 -3.21949653e-02 4.47482767e+02] [ 9.51684697e-01 1.00039630e-01 -2.90324491e-01 1.44449155e+02] [ 2.92087412e-01 -3.12566603e-03 9.56386519e-01 4.15731952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.2592541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.49, Y:144.48, Z:41.58 [[ 9.19053734e-02 -9.95248119e-01 -3.21649544e-02 4.47487916e+02] [ 9.51883527e-01 9.72928640e-02 -2.90606004e-01 1.44475193e+02] [ 2.92354499e-01 -3.90903700e-03 9.56302027e-01 4.15807395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.28925415399993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.49, Y:144.50, Z:41.59 [[ 8.88197995e-02 -9.95535290e-01 -3.19457141e-02 4.47492464e+02] [ 9.52544874e-01 9.42718640e-02 -2.89432340e-01 1.44501296e+02] [ 2.91151690e-01 -4.72240379e-03 9.56665246e-01 4.15903956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.50, Y:144.53, Z:41.60 [[ 8.57286172e-02 -9.95809870e-01 -3.18324750e-02 4.47496810e+02] [ 9.52901739e-01 9.12799039e-02 -2.89216623e-01 1.44526431e+02] [ 2.90910433e-01 -5.53907964e-03 9.56734257e-01 4.15980909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.34925415399994 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.50, Y:144.55, Z:41.60 [[ 7.91190228e-02 -9.96356389e-01 -3.18453575e-02 4.47503108e+02] [ 9.53278023e-01 8.49639773e-02 -2.89900213e-01 1.44552798e+02] [ 2.91549637e-01 -7.42085785e-03 9.56526915e-01 4.16039849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.3792541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.51, Y:144.58, Z:41.61 [[ 7.51617527e-02 -9.96665123e-01 -3.17701558e-02 4.47507202e+02] [ 9.53573525e-01 8.11568586e-02 -2.90019130e-01 1.44579524e+02] [ 2.91630318e-01 -8.49683327e-03 9.56493367e-01 4.16123775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.40925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.51, Y:144.61, Z:41.62 [[ 7.07519090e-02 -9.96994415e-01 -3.15642732e-02 4.47510668e+02] [ 9.54254350e-01 7.68667360e-02 -2.88946605e-01 1.44605390e+02] [ 2.90504394e-01 -9.67682116e-03 9.56824726e-01 4.16220058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.52, Y:144.63, Z:41.63 [[ 6.12732059e-02 -9.97622346e-01 -3.15475620e-02 4.47516088e+02] [ 9.54741882e-01 6.77976466e-02 -2.89605624e-01 1.44631375e+02] [ 2.91055893e-01 -1.23747137e-02 9.56626016e-01 4.16296128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.46925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.52, Y:144.66, Z:41.64 [[ 5.60809942e-02 -9.97929769e-01 -3.14817153e-02 4.47519905e+02] [ 9.55014506e-01 6.28125693e-02 -2.89830770e-01 1.44657683e+02] [ 2.91208201e-01 -1.38114970e-02 9.56559996e-01 4.16373283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.52, Y:144.68, Z:41.65 [[ 5.11499190e-02 -9.98196819e-01 -3.14133182e-02 4.47523476e+02] [ 9.55251841e-01 5.80767772e-02 -2.90036219e-01 1.44683727e+02] [ 2.91337615e-01 -1.51723009e-02 9.56499971e-01 4.16452255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.52925415399994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.53, Y:144.71, Z:41.65 [[ 4.22930679e-02 -9.98614792e-01 -3.13016697e-02 4.47526054e+02] [ 9.55814835e-01 4.95630038e-02 -2.89761124e-01 1.44710163e+02] [ 2.90911150e-01 -1.76637134e-02 9.56587004e-01 4.16534097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.53, Y:144.74, Z:41.66 [[ 3.83380959e-02 -9.98777430e-01 -3.12063556e-02 4.47528022e+02] [ 9.56018835e-01 4.57488357e-02 -2.89715430e-01 1.44736466e+02] [ 2.90788887e-01 -1.87267258e-02 9.56603958e-01 4.16615953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.58925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.53, Y:144.76, Z:41.67 [[ 3.50344047e-02 -9.98901352e-01 -3.11236167e-02 4.47529678e+02] [ 9.56141372e-01 4.25641199e-02 -2.89796433e-01 1.44763037e+02] [ 2.90802798e-01 -1.96057320e-02 9.56582118e-01 4.16695588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.53, Y:144.79, Z:41.68 [[ 3.14664450e-02 -9.99022419e-01 -3.10494529e-02 4.47529803e+02] [ 9.56239530e-01 3.91307015e-02 -2.89956460e-01 1.44789244e+02] [ 2.90887991e-01 -2.05668153e-02 9.56536033e-01 4.16765667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.64925415399995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.53, Y:144.82, Z:41.69 [[ 3.05231457e-02 -9.99055419e-01 -3.09290773e-02 4.47530179e+02] [ 9.56385278e-01 3.81850671e-02 -2.89601625e-01 1.44815983e+02] [ 2.90509101e-01 -2.07405616e-02 9.56647423e-01 4.16854023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.53, Y:144.84, Z:41.69 [[ 3.07035358e-02 -9.99052681e-01 -3.08388317e-02 4.47530846e+02] [ 9.56378551e-01 3.83315792e-02 -2.89604483e-01 1.44843334e+02] [ 2.90512236e-01 -2.06017156e-02 9.56649471e-01 4.16933369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.70925415399995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:447.53, Y:144.87, Z:41.70 [[ 3.14155140e-02 -9.99034819e-01 -3.07000838e-02 4.47531168e+02] [ 9.56491479e-01 3.89631118e-02 -2.89146893e-01 1.44870296e+02] [ 2.90063985e-01 -2.02806703e-02 9.56792339e-01 4.17014186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7392541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:447.53, Y:144.90, Z:41.71 [[ 3.43828611e-02 -9.98938742e-01 -3.06465219e-02 4.47528270e+02] [ 9.56262675e-01 4.17958122e-02 -2.89507870e-01 1.44896914e+02] [ 2.90481523e-01 -1.93520161e-02 9.56684893e-01 4.17088648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.76925415399995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:447.53, Y:144.92, Z:41.72 [[ 3.62547476e-02 -9.98877106e-01 -3.04978699e-02 4.47527571e+02] [ 9.56374502e-01 4.35322809e-02 -2.88881902e-01 1.44923893e+02] [ 2.89885160e-01 -1.86940446e-02 9.56878846e-01 4.17171628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.7992541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:447.53, Y:144.95, Z:41.72 [[ 3.82119579e-02 -9.98807260e-01 -3.03957869e-02 4.47527243e+02] [ 9.56321308e-01 4.53745574e-02 -2.88774489e-01 1.44949612e+02] [ 2.89809251e-01 -1.80335000e-02 9.56914516e-01 4.17246757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.82925415399995 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.53, Y:144.98, Z:41.73 [[ 4.00714686e-02 -9.98737043e-01 -3.03083541e-02 4.47526664e+02] [ 9.56252343e-01 4.71286434e-02 -2.88721921e-01 1.44977058e+02] [ 2.89785669e-01 -1.74129232e-02 9.56933151e-01 4.17325971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.8592541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.52, Y:145.00, Z:41.74 [[ 4.39878942e-02 -9.98573325e-01 -3.02717561e-02 4.47523234e+02] [ 9.55906688e-01 5.08764064e-02 -2.89230005e-01 1.45003262e+02] [ 2.90357486e-01 -1.62143552e-02 9.56780866e-01 4.17398400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.88925415399996 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:447.52, Y:145.03, Z:41.75 [[ 4.53787549e-02 -9.98512644e-01 -3.02203212e-02 4.47522748e+02] [ 9.55710629e-01 5.21996670e-02 -2.89641829e-01 1.45030568e+02] [ 2.90788519e-01 -1.57382967e-02 9.56657903e-01 4.17478948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.91925415399993 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:447.52, Y:145.06, Z:41.76 [[ 4.65893457e-02 -9.98458115e-01 -3.01798881e-02 4.47521886e+02] [ 9.55502025e-01 5.33542481e-02 -2.90119293e-01 1.45056087e+02] [ 2.91282187e-01 -1.53204762e-02 9.56514490e-01 4.17556551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.94925415399996 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.52, Y:145.08, Z:41.76 [[ 4.75812336e-02 -9.98414906e-01 -3.00616393e-02 4.47521504e+02] [ 9.55558980e-01 5.42634343e-02 -2.89762861e-01 1.45083144e+02] [ 2.90934807e-01 -1.49383950e-02 9.56626250e-01 4.17635045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 510.97925415399993 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.52, Y:145.11, Z:41.77 [[ 4.92007339e-02 -9.98335616e-01 -3.00879745e-02 4.47518717e+02] [ 9.55131595e-01 5.58378217e-02 -2.90870715e-01 1.45111005e+02] [ 2.92066642e-01 -1.44269224e-02 9.56289151e-01 4.17702559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0092541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.52, Y:145.14, Z:41.78 [[ 4.88984745e-02 -9.98357384e-01 -2.98575394e-02 4.47517895e+02] [ 9.55567747e-01 5.54608762e-02 -2.89507118e-01 1.45138204e+02] [ 2.90687494e-01 -1.43744452e-02 9.56710069e-01 4.17789851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.03925415399993 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.52, Y:145.16, Z:41.79 [[ 4.85930633e-02 -9.98373099e-01 -2.98306785e-02 4.47517888e+02] [ 9.55398153e-01 5.51700082e-02 -2.90121767e-01 1.45164108e+02] [ 2.91295526e-01 -1.44022698e-02 9.56524694e-01 4.17870117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.0692541539999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:447.51, Y:145.19, Z:41.79 [[ 4.76346768e-02 -9.98421762e-01 -2.97476388e-02 4.47514857e+02] [ 9.55456355e-01 5.42284566e-02 -2.90107615e-01 1.45190308e+02] [ 2.91262925e-01 -1.46033881e-02 9.56531573e-01 4.17946814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.09925415399994 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.52, Y:145.22, Z:41.80 [[ 4.71875408e-02 -9.98443859e-01 -2.97186161e-02 4.47515310e+02] [ 9.55288965e-01 5.38017798e-02 -2.90737618e-01 1.45217858e+02] [ 2.91884104e-01 -1.46706727e-02 9.56341174e-01 4.18015216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.1292541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.51, Y:145.24, Z:41.81 [[ 4.59682316e-02 -9.98507763e-01 -2.94816584e-02 4.47514639e+02] [ 9.55802206e-01 5.25433181e-02 -2.89277276e-01 1.45243633e+02] [ 2.90394670e-01 -1.48810694e-02 9.56791247e-01 4.18106573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.15925415399994 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.51, Y:145.27, Z:41.82 [[ 4.50734572e-02 -9.98551373e-01 -2.93860278e-02 4.47514778e+02] [ 9.55859362e-01 5.16585631e-02 -2.89247772e-01 1.45270944e+02] [ 2.90346800e-01 -1.50515127e-02 9.56803108e-01 4.18186570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.1892541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.51, Y:145.30, Z:41.83 [[ 4.31848921e-02 -9.98636178e-01 -2.93402168e-02 4.47512426e+02] [ 9.55824649e-01 4.98444509e-02 -2.89680465e-01 1.45298216e+02] [ 2.90747839e-01 -1.55342828e-02 9.56673602e-01 4.18269108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.21925415399994 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:447.51, Y:145.32, Z:41.84 [[ 4.23446455e-02 -9.98918629e-01 -1.91964744e-02 4.47507221e+02] [ 9.54932703e-01 4.61149110e-02 -2.93218261e-01 1.45322754e+02] [ 2.93786427e-01 -5.91511787e-03 9.55852785e-01 4.18365283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.2492541539999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:447.51, Y:145.35, Z:41.84 [[ 3.81163914e-02 -9.98535945e-01 -3.83810679e-02 4.47514578e+02] [ 9.56365900e-01 4.75870073e-02 -2.88270258e-01 1.45350629e+02] [ 2.89674655e-01 -2.57185225e-02 9.56779573e-01 4.18409291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.27925415399994 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:447.53, Y:145.38, Z:41.85 [[ 3.72667962e-02 -9.97796326e-01 -5.48969709e-02 4.47525081e+02] [ 9.55765794e-01 5.16281892e-02 -2.89562215e-01 1.45379991e+02] [ 2.91758345e-01 -4.16775909e-02 9.55583616e-01 4.18515691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3092541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.50, Y:145.40, Z:41.86 [[ 3.36639874e-02 -9.99408535e-01 -7.02248087e-03 4.47500830e+02] [ 9.56284908e-01 3.42521174e-02 -2.90423771e-01 1.45403537e+02] [ 2.90492530e-01 3.06132970e-03 9.56872362e-01 4.18632086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.33925415399995 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.51, Y:145.43, Z:41.87 [[ 3.33368052e-02 -9.99029472e-01 -2.87883821e-02 4.47513646e+02] [ 9.56689086e-01 4.02322175e-02 -2.88318162e-01 1.45431089e+02] [ 2.89196561e-01 -1.79299245e-02 9.57101806e-01 4.18664969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.3692541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.51, Y:145.46, Z:41.87 [[ 3.11314676e-02 -9.99102122e-01 -2.87364238e-02 4.47514138e+02] [ 9.56769438e-01 3.81057235e-02 -2.88340417e-01 1.45457075e+02] [ 2.89176544e-01 -1.85176717e-02 9.57096663e-01 4.18742599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.39925415399995 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.52, Y:145.49, Z:41.88 [[ 3.01837528e-02 -9.99208492e-01 -2.59100390e-02 4.47516390e+02] [ 9.57383358e-01 3.63500320e-02 -2.86523614e-01 1.45490619e+02] [ 2.87238659e-01 -1.61574822e-02 9.57722762e-01 4.18824236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4292541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.52, Y:145.51, Z:41.89 [[ 2.55073809e-02 -9.99016253e-01 -3.62753446e-02 4.47515655e+02] [ 9.57147716e-01 3.48775235e-02 -2.87492277e-01 1.45510908e+02] [ 2.88474651e-01 -2.73876882e-02 9.57095758e-01 4.18886836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.45925415399995 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.51, Y:145.54, Z:41.90 [[ 2.45099312e-02 -9.99292013e-01 -2.85435656e-02 4.47512244e+02] [ 9.56867249e-01 3.17182711e-02 -2.88788885e-01 1.45537795e+02] [ 2.89489779e-01 -2.02342074e-02 9.56967212e-01 4.18983390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.4892541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.51, Y:145.56, Z:41.91 [[ 2.38732489e-02 -9.99308625e-01 -2.85015627e-02 4.47512327e+02] [ 9.56755899e-01 3.11057164e-02 -2.89224107e-01 1.45563411e+02] [ 2.89910706e-01 -2.03643192e-02 9.56837017e-01 4.19058396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.51925415399995 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.51, Y:145.60, Z:41.91 [[ 2.63578659e-02 -9.99343999e-01 -2.48361546e-02 4.47513706e+02] [ 9.57019081e-01 3.24042418e-02 -2.88209028e-01 1.45595776e+02] [ 2.88824759e-01 -1.61720989e-02 9.57245382e-01 4.19134238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.5492541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.51, Y:145.62, Z:41.92 [[ 2.34283375e-02 -9.99085155e-01 -3.57766167e-02 4.47513921e+02] [ 9.56683797e-01 3.27928364e-02 -2.89276239e-01 1.45617421e+02] [ 2.90184813e-01 -2.74496481e-02 9.56576861e-01 4.19195973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.57925415399995 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.51, Y:145.64, Z:41.93 [[ 2.44579116e-02 -9.99302177e-01 -2.82306341e-02 4.47507848e+02] [ 9.56328668e-01 3.16150840e-02 -2.90578675e-01 1.45644646e+02] [ 2.91268416e-01 -1.98908172e-02 9.56434559e-01 4.19300173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.6092541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.51, Y:145.68, Z:41.94 [[ 2.90423782e-02 -9.99413055e-01 -1.81682594e-02 4.47508960e+02] [ 9.57072594e-01 3.30467613e-02 -2.87958263e-01 1.45679105e+02] [ 2.88389649e-01 -9.02535037e-03 9.57470602e-01 4.19374809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.63925415399996 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.52, Y:145.70, Z:41.94 [[ 2.55680562e-02 -9.98725708e-01 -4.35113063e-02 4.47515172e+02] [ 9.56359591e-01 3.71102568e-02 -2.89826090e-01 1.45698798e+02] [ 2.91071483e-01 -3.42021653e-02 9.56089747e-01 4.19426859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.66925415399993 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.51, Y:145.73, Z:41.95 [[ 2.66883595e-02 -9.99251233e-01 -2.80125791e-02 4.47508279e+02] [ 9.56050724e-01 3.36995526e-02 -2.91258223e-01 1.45725374e+02] [ 2.91984150e-01 -1.90082424e-02 9.56234251e-01 4.19543797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.69925415399996 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.51, Y:145.75, Z:41.96 [[ 2.96326084e-02 -9.99171120e-01 -2.79102375e-02 4.47506647e+02] [ 9.55989391e-01 3.64840409e-02 -2.91124027e-01 1.45751608e+02] [ 2.91900998e-01 -1.80551267e-02 9.56278108e-01 4.19625754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.72925415399993 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.51, Y:145.78, Z:41.97 [[ 3.11972680e-02 -9.99125806e-01 -2.78272157e-02 4.47507004e+02] [ 9.55997854e-01 3.79528695e-02 -2.90908375e-01 1.45778551e+02] [ 2.91710187e-01 -1.75272120e-02 9.56346153e-01 4.19704906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.7592541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.51, Y:145.80, Z:41.98 [[ 3.29461618e-02 -9.99072316e-01 -2.77318987e-02 4.47507210e+02] [ 9.55948034e-01 3.95974552e-02 -2.90852881e-01 1.45804134e+02] [ 2.91681174e-01 -1.69277679e-02 9.56365800e-01 4.19780568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.78925415399993 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:447.51, Y:145.83, Z:41.99 [[ 3.48515230e-02 -9.99008922e-01 -2.76865653e-02 4.47507849e+02] [ 9.55755051e-01 4.14138295e-02 -2.91233889e-01 1.45831084e+02] [ 2.92091860e-01 -1.63116300e-02 9.56251157e-01 4.19857207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8192541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.51, Y:145.86, Z:41.99 [[ 3.91808734e-02 -9.98850879e-01 -2.76003830e-02 4.47505793e+02] [ 9.55553839e-01 4.55311818e-02 -2.91279544e-01 1.45858260e+02] [ 2.92201507e-01 -1.49610650e-02 9.56239743e-01 4.19939412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.84925415399994 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.51, Y:145.88, Z:42.00 [[ 4.15982876e-02 -9.98754861e-01 -2.75374376e-02 4.47506189e+02] [ 9.55352751e-01 4.78297016e-02 -2.91570646e-01 1.45884565e+02] [ 2.92524708e-01 -1.41791272e-02 9.56152837e-01 4.20017110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.8792541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:447.53, Y:145.91, Z:42.01 [[ 4.31174841e-02 -9.96315083e-01 -7.41426846e-02 4.47527701e+02] [ 9.53516557e-01 6.31915260e-02 -2.94640471e-01 1.45909959e+02] [ 2.98239935e-01 -5.79921215e-02 9.52727587e-01 4.20084623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.90925415399994 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.51, Y:145.93, Z:42.03 [[ 4.85524147e-02 -9.97767891e-01 -4.58464627e-02 4.47511494e+02] [ 9.52113928e-01 6.01053199e-02 -2.99777283e-01 1.45933529e+02] [ 3.01863764e-01 -2.90961447e-02 9.52906964e-01 4.20272419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9392541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:447.50, Y:145.96, Z:42.04 [[ 5.28219929e-02 -9.98430045e-01 -1.86355239e-02 4.47500125e+02] [ 9.51647158e-01 5.59846283e-02 -3.02048685e-01 1.45960962e+02] [ 3.02617785e-01 -1.77962982e-03 9.53110334e-01 4.20416070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.96925415399994 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:447.48, Y:145.99, Z:42.05 [[ 5.83060211e-02 -9.97917744e-01 2.75786946e-02 4.47481278e+02] [ 9.53953533e-01 4.75525139e-02 -2.96161132e-01 1.45990137e+02] [ 2.94233012e-01 4.35767704e-02 9.54739755e-01 4.20487069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 511.9992541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.51, Y:146.02, Z:42.04 [[ 6.09295016e-02 -9.97772760e-01 -2.71498531e-02 4.47507402e+02] [ 9.54271914e-01 6.62054018e-02 -2.91516652e-01 1.46018008e+02] [ 2.92664842e-01 -8.14637798e-03 9.56180384e-01 4.20411859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.0292541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:447.51, Y:146.04, Z:42.05 [[ 6.65894014e-02 -9.97413357e-01 -2.70637651e-02 4.47507246e+02] [ 9.53897679e-01 7.15928860e-02 -2.91468140e-01 1.46044993e+02] [ 2.92651789e-01 -6.40737370e-03 9.56197614e-01 4.20495871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.059254154 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:447.51, Y:146.07, Z:42.06 [[ 6.86113056e-02 -9.97278653e-01 -2.69773406e-02 4.47508429e+02] [ 9.53755242e-01 7.35012108e-02 -2.91459278e-01 1.46071393e+02] [ 2.92648984e-01 -5.73237837e-03 9.56202757e-01 4.20575473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.089254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.51, Y:146.10, Z:42.07 [[ 7.05247386e-02 -9.97147261e-01 -2.68998492e-02 4.47510047e+02] [ 9.53577810e-01 7.53090751e-02 -2.91578296e-01 1.46098440e+02] [ 2.92772302e-01 -5.08761622e-03 9.56168654e-01 4.20656535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1192541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.51, Y:146.12, Z:42.07 [[ 7.20310010e-02 -9.97041351e-01 -2.68342963e-02 4.47512172e+02] [ 9.53386971e-01 7.67315293e-02 -2.91831382e-01 1.46124805e+02] [ 2.93026992e-01 -4.56256190e-03 9.56093282e-01 4.20724374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.1492541539999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:447.53, Y:146.15, Z:42.08 [[ 6.95369424e-02 -9.94720549e-01 -7.54694810e-02 4.47532600e+02] [ 9.51066428e-01 8.89359984e-02 -2.95910525e-01 1.46147607e+02] [ 3.01060233e-01 -5.11997766e-02 9.52229657e-01 4.20822476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.179254154 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:447.49, Y:146.18, Z:42.10 [[ 7.17790839e-02 -9.97150061e-01 2.32275385e-02 4.47492969e+02] [ 9.53409983e-01 6.17520284e-02 -2.95289843e-01 1.46176767e+02] [ 2.93013938e-01 4.33410015e-02 9.55125327e-01 4.21031806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.209254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:447.51, Y:146.20, Z:42.10 [[ 7.10885731e-02 -9.97282213e-01 -1.93546247e-02 4.47514731e+02] [ 9.53061068e-01 7.36360892e-02 -2.93687464e-01 1.46200897e+02] [ 2.94314483e-01 2.43168347e-03 9.55705536e-01 4.20982531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2392541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.52, Y:146.23, Z:42.10 [[ 6.45452050e-02 -9.97424284e-01 -3.12844163e-02 4.47524654e+02] [ 9.54077580e-01 7.08691855e-02 -2.91055887e-01 1.46230253e+02] [ 2.92523310e-01 -1.10614983e-02 9.56194413e-01 4.21034590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.2692541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.53, Y:146.26, Z:42.11 [[ 6.07913665e-02 -9.97800987e-01 -2.64121225e-02 4.47525736e+02] [ 9.54474340e-01 6.58527748e-02 -2.90933234e-01 1.46256918e+02] [ 2.92032779e-01 -7.52346439e-03 9.56378719e-01 4.21126506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.299254154 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.53, Y:146.28, Z:42.12 [[ 5.74262043e-02 -9.98002446e-01 -2.63315101e-02 4.47530054e+02] [ 9.54674346e-01 6.26106715e-02 -2.90992779e-01 1.46283415e+02] [ 2.92060139e-01 -8.42740636e-03 9.56362826e-01 4.21203221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.329254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.53, Y:146.32, Z:42.13 [[ 5.47529736e-02 -9.98469415e-01 7.80634688e-03 4.47526423e+02] [ 9.56821968e-01 5.02307610e-02 -2.86301575e-01 1.46319999e+02] [ 2.85471247e-01 2.31451468e-02 9.58107754e-01 4.21322460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3592541539999 meters Centerline goodness : 0.997119 Centerline is valid? [True, True] Translation: X:447.56, Y:146.34, Z:42.12 [[ 4.84364464e-02 -9.97353355e-01 -5.42235730e-02 4.47555959e+02] [ 9.56694992e-01 6.19255632e-02 -2.84429109e-01 1.46338965e+02] [ 2.87034151e-01 -3.80986854e-02 9.57162414e-01 4.21235303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.3892541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.54, Y:146.37, Z:42.14 [[ 4.63788654e-02 -9.98895837e-01 -7.49053421e-03 4.47540730e+02] [ 9.57220478e-01 4.65854213e-02 -2.85584934e-01 1.46371836e+02] [ 2.85618551e-01 6.07501246e-03 9.58324130e-01 4.21426789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.419254154 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:447.56, Y:146.39, Z:42.14 [[ 3.71001792e-02 -9.97310900e-01 -6.32024094e-02 4.47563268e+02] [ 9.56370617e-01 5.37756149e-02 -2.87164459e-01 1.46389300e+02] [ 2.89790994e-01 -4.97910744e-02 9.55793926e-01 4.21411966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.449254154 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:447.55, Y:146.42, Z:42.16 [[ 3.45089334e-02 -9.99261822e-01 -1.68803256e-02 4.47550083e+02] [ 9.56260961e-01 3.79236138e-02 -2.90046159e-01 1.46419442e+02] [ 2.90472216e-01 -6.13281281e-03 9.56863773e-01 4.21599794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.4792541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.56, Y:146.44, Z:42.17 [[ 3.00815297e-02 -9.98477676e-01 -4.62323807e-02 4.47564745e+02] [ 9.55741319e-01 4.22753140e-02 -2.91155163e-01 1.46444416e+02] [ 2.92666419e-01 -3.54278038e-02 9.55558077e-01 4.21650744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5092541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:447.56, Y:146.47, Z:42.18 [[ 2.82898732e-02 -9.99245737e-01 -2.66015026e-02 4.47559055e+02] [ 9.55603766e-01 3.48434546e-02 -2.92587382e-01 1.46471575e+02] [ 2.93293583e-01 -1.71432361e-02 9.55868706e-01 4.21776347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5392541539999 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:447.56, Y:146.50, Z:42.19 [[ 2.62349244e-02 -9.99182062e-01 -3.07723174e-02 4.47563449e+02] [ 9.55622138e-01 3.41029986e-02 -2.92614618e-01 1.46497897e+02] [ 2.93424706e-01 -2.17299853e-02 9.55735188e-01 4.21851578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.569254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.56, Y:146.52, Z:42.19 [[ 2.36958871e-02 -9.99578286e-01 -1.67855384e-02 4.47559775e+02] [ 9.56457335e-01 2.75530773e-02 -2.90568743e-01 1.46522889e+02] [ 2.90908700e-01 -9.16936721e-03 9.56706878e-01 4.21928786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.5992541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.57, Y:146.55, Z:42.20 [[ 2.23817651e-02 -9.99431137e-01 -2.52281212e-02 4.47566663e+02] [ 9.56589923e-01 2.87430925e-02 -2.90016471e-01 1.46549220e+02] [ 2.90576625e-01 -1.76418860e-02 9.56689076e-01 4.21984539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6292541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:447.57, Y:146.58, Z:42.21 [[ 2.10997128e-02 -9.99461063e-01 -2.51472679e-02 4.47569548e+02] [ 9.56632456e-01 2.74921305e-02 -2.89997461e-01 1.46575978e+02] [ 2.90532523e-01 -1.79378295e-02 9.56696967e-01 4.22062331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.6592541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.57, Y:146.60, Z:42.21 [[ 1.89330733e-02 -9.99505240e-01 -2.51160000e-02 4.47572475e+02] [ 9.56483347e-01 2.54223991e-02 -2.90677326e-01 1.46601587e+02] [ 2.91172020e-01 -1.85196206e-02 9.56491442e-01 4.22136855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.689254154 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:447.57, Y:146.63, Z:42.22 [[ 1.74829965e-02 -9.99532245e-01 -2.50925652e-02 4.47574944e+02] [ 9.56313527e-01 2.40412606e-02 -2.91352802e-01 1.46628340e+02] [ 2.91819777e-01 -1.89026396e-02 9.56286520e-01 4.22218093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7192541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:447.58, Y:146.65, Z:42.23 [[ 1.62852590e-02 -9.99554341e-01 -2.50181937e-02 4.47577283e+02] [ 9.56293412e-01 2.28767984e-02 -2.91512542e-01 1.46654191e+02] [ 2.91954963e-01 -1.91773765e-02 9.56239786e-01 4.22291611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7492541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:447.58, Y:146.68, Z:42.24 [[ 1.50385372e-02 -9.99574032e-01 -2.50119567e-02 4.47579699e+02] [ 9.56057334e-01 2.16998331e-02 -2.92375601e-01 1.46681215e+02] [ 2.92793814e-01 -1.95159633e-02 9.55976417e-01 4.22372956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.7792541539999 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:447.58, Y:146.71, Z:42.24 [[ 1.31721801e-02 -9.99598743e-01 -2.50768097e-02 4.47582161e+02] [ 9.55542365e-01 1.99716026e-02 -2.94176687e-01 1.46706844e+02] [ 2.94559470e-01 -2.00870057e-02 9.55422017e-01 4.22447173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.809254154 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:447.58, Y:146.73, Z:42.25 [[ 1.24534827e-02 -9.99609072e-01 -2.50322631e-02 4.47584190e+02] [ 9.55379200e-01 1.92836458e-02 -2.94751974e-01 1.46733749e+02] [ 2.95119460e-01 -2.02446149e-02 9.55245864e-01 4.22526563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.839254154 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:447.59, Y:146.76, Z:42.26 [[ 1.18255216e-02 -9.99618041e-01 -2.49785901e-02 4.47585634e+02] [ 9.55263622e-01 1.86764394e-02 -2.95165383e-01 1.46759900e+02] [ 2.95519153e-01 -2.03706538e-02 9.55119609e-01 4.22605152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8692541539999 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:447.59, Y:146.79, Z:42.27 [[ 1.14861269e-02 -9.99624096e-01 -2.48944824e-02 4.47587016e+02] [ 9.55238033e-01 1.83294675e-02 -2.95269930e-01 1.46786607e+02] [ 2.95615239e-01 -2.03886485e-02 9.55089490e-01 4.22684813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.8992541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:447.58, Y:146.82, Z:42.28 [[ 1.45513436e-02 -9.99872922e-01 -6.51145506e-03 4.47581942e+02] [ 9.56044711e-01 1.58202594e-02 -2.92793837e-01 1.46817634e+02] [ 2.92859642e-01 -1.96469845e-03 9.56153424e-01 4.22768265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.929254154 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:447.60, Y:146.84, Z:42.28 [[ 1.27199281e-02 -9.98932600e-01 -4.44056838e-02 4.47597661e+02] [ 9.55735187e-01 2.52011748e-02 -2.93146981e-01 1.46841779e+02] [ 2.93953151e-01 -3.87112660e-02 9.55035592e-01 4.22801675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.959254154 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:447.59, Y:146.87, Z:42.29 [[ 1.56193310e-02 -9.99576869e-01 -2.45381340e-02 4.47587990e+02] [ 9.55589248e-01 2.21460221e-02 -2.93868582e-01 1.46868123e+02] [ 2.94287659e-01 -1.88583463e-02 9.55530814e-01 4.22940497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 512.9892541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:447.59, Y:146.89, Z:42.30 [[ 1.69277370e-02 -9.99559189e-01 -2.43901413e-02 4.47588629e+02] [ 9.55773665e-01 2.33399687e-02 -2.93175625e-01 1.46894923e+02] [ 2.93615655e-01 -1.83486549e-02 9.55747443e-01 4.23023911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.0192541539999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:447.59, Y:146.92, Z:42.31 [[ 1.84338257e-02 -9.99536274e-01 -2.42369808e-02 4.47589321e+02] [ 9.55971622e-01 2.47209596e-02 -2.92416025e-01 1.46921270e+02] [ 2.92879585e-01 -1.77795198e-02 9.55984015e-01 4.23104162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.049254154 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:447.59, Y:146.95, Z:42.32 [[ 1.96687625e-02 -9.99516495e-01 -2.40814387e-02 4.47590096e+02] [ 9.56179861e-01 2.58424123e-02 -2.91637176e-01 1.46947413e+02] [ 2.92118491e-01 -1.72900443e-02 9.56225832e-01 4.23183206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.079254154 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:447.59, Y:146.97, Z:42.33 [[ 2.05879291e-02 -9.99501818e-01 -2.39218192e-02 4.47591227e+02] [ 9.56444335e-01 2.66584413e-02 -2.90694965e-01 1.46974223e+02] [ 2.91187864e-01 -1.68950811e-02 9.56516693e-01 4.23259836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1092541539999 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:447.59, Y:147.00, Z:42.33 [[ 2.23085937e-02 -9.99467727e-01 -2.38031433e-02 4.47591293e+02] [ 9.56507277e-01 2.82642846e-02 -2.90335943e-01 1.47000309e+02] [ 2.90854183e-01 -1.62908932e-02 9.56628690e-01 4.23333766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.1392541539999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:447.59, Y:147.03, Z:42.34 [[ 2.28633237e-02 -9.99455994e-01 -2.37694012e-02 4.47592255e+02] [ 9.56316556e-01 2.87950315e-02 -2.90911484e-01 1.47027348e+02] [ 2.91437667e-01 -1.60798684e-02 9.56454664e-01 4.23417825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.169254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.59, Y:147.05, Z:42.35 [[ 2.31661107e-02 -9.99450003e-01 -2.37281123e-02 4.47593061e+02] [ 9.56127596e-01 2.90825781e-02 -2.91503387e-01 1.47054116e+02] [ 2.92033136e-01 -1.59341033e-02 9.56275458e-01 4.23495452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.199254154 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:447.59, Y:147.08, Z:42.36 [[ 2.33269321e-02 -9.99446666e-01 -2.37111080e-02 4.47593874e+02] [ 9.55855096e-01 2.92459890e-02 -2.92379391e-01 1.47080442e+02] [ 2.92911062e-01 -1.58440692e-02 9.56008408e-01 4.23571885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2292541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:447.60, Y:147.11, Z:42.37 [[ 2.30663290e-02 -9.99454159e-01 -2.36501355e-02 4.47595952e+02] [ 9.55861720e-01 2.89789677e-02 -2.92384323e-01 1.47107625e+02] [ 2.92910085e-01 -1.58620262e-02 9.56008409e-01 4.23651882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2592541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:447.60, Y:147.13, Z:42.37 [[ 2.46741169e-02 -9.99415613e-01 -2.36563011e-02 4.47596098e+02] [ 9.55483036e-01 3.05357618e-02 -2.93461641e-01 1.47134439e+02] [ 2.94012509e-01 -1.53622875e-02 9.55678107e-01 4.23733319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.2892541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.60, Y:147.16, Z:42.38 [[ 2.58497305e-02 -9.99388256e-01 -2.35564180e-02 4.47597129e+02] [ 9.55501716e-01 3.16275570e-02 -2.93285133e-01 1.47161246e+02] [ 2.93850749e-01 -1.49268561e-02 9.55734757e-01 4.23812469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.319254154 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:447.60, Y:147.19, Z:42.39 [[ 3.03053313e-02 -9.99264790e-01 -2.34833080e-02 4.47596953e+02] [ 9.55283960e-01 3.58690677e-02 -2.93506329e-01 1.47187456e+02] [ 2.94132864e-01 -1.35384210e-02 9.55668650e-01 4.23894823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3492541539999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:447.60, Y:147.21, Z:42.40 [[ 3.31242503e-02 -9.99177448e-01 -2.33925731e-02 4.47597476e+02] [ 9.55214513e-01 3.85357106e-02 -2.93394331e-01 1.47212985e+02] [ 2.94054448e-01 -1.26264581e-02 9.55705265e-01 4.23972827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.3792541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:447.60, Y:147.24, Z:42.41 [[ 3.67761036e-02 -9.99051278e-01 -2.33251613e-02 4.47598086e+02] [ 9.55014383e-01 4.20091074e-02 -2.93569010e-01 1.47239801e+02] [ 2.94270364e-01 -1.14795402e-02 9.55653270e-01 4.24061854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4092541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.60, Y:147.27, Z:42.41 [[ 4.07320780e-02 -9.98900281e-01 -2.32191183e-02 4.47598499e+02] [ 9.54909584e-01 4.57570902e-02 -2.93349580e-01 1.47265208e+02] [ 2.94089417e-01 -1.02234207e-02 9.55723232e-01 4.24138487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.439254154 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:447.60, Y:147.29, Z:42.42 [[ 4.88715551e-02 -9.98537181e-01 -2.31315810e-02 4.47598331e+02] [ 9.54534438e-01 5.35113922e-02 -2.93258481e-01 1.47291963e+02] [ 2.94067300e-01 -7.74789266e-03 9.55753312e-01 4.24222538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4692541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.60, Y:147.32, Z:42.43 [[ 5.26851096e-02 -9.98345681e-01 -2.30256652e-02 4.47599683e+02] [ 9.54398426e-01 5.71240583e-02 -2.93019600e-01 1.47319108e+02] [ 2.93850171e-01 -6.53788889e-03 9.55829134e-01 4.24303363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.4992541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:447.60, Y:147.34, Z:42.44 [[ 5.60874169e-02 -9.98162580e-01 -2.29273963e-02 4.47601291e+02] [ 9.54247233e-01 6.03467992e-02 -2.92865979e-01 1.47344928e+02] [ 2.93711456e-01 -5.45230817e-03 9.55878576e-01 4.24378518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.5292541539999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:447.60, Y:147.37, Z:42.45 [[ 5.90727551e-02 -9.97991862e-01 -2.28615880e-02 4.47603350e+02] [ 9.54014884e-01 6.31821815e-02 -2.93024935e-01 1.47371118e+02] [ 2.93880946e-01 -4.50050495e-03 9.55831437e-01 4.24459873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.559254154 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:447.61, Y:147.40, Z:42.45 [[ 6.32900375e-02 -9.97735735e-01 -2.27546330e-02 4.47606456e+02] [ 9.53826550e-01 6.71812154e-02 -2.92748352e-01 1.47397467e+02] [ 2.93614176e-01 -3.17591889e-03 9.55918736e-01 4.24531936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.589254154 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:447.61, Y:147.42, Z:42.46 [[ 6.40910811e-02 -9.97685985e-01 -2.26937988e-02 4.47609115e+02] [ 9.53658910e-01 6.79302606e-02 -2.93121413e-01 1.47423712e+02] [ 2.93984721e-01 -2.85567515e-03 9.55805853e-01 4.24611641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6192541539999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:447.61, Y:147.45, Z:42.47 [[ 6.48800569e-02 -9.97636923e-01 -2.26085828e-02 4.47612327e+02] [ 9.53591570e-01 6.86594945e-02 -2.93170584e-01 1.47450137e+02] [ 2.94030093e-01 -2.53842979e-03 9.55792792e-01 4.24683593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.6492541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:447.62, Y:147.48, Z:42.48 [[ 6.55794727e-02 -9.97594020e-01 -2.24834359e-02 4.47617089e+02] [ 9.53693371e-01 6.92901112e-02 -2.92690680e-01 1.47476829e+02] [ 2.93544352e-01 -2.24780331e-03 9.55942813e-01 4.24763945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.679254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:447.62, Y:147.50, Z:42.48 [[ 6.57450727e-02 -9.97585284e-01 -2.23872192e-02 4.47620472e+02] [ 9.53710397e-01 6.94199882e-02 -2.92604415e-01 1.47502125e+02] [ 2.93451979e-01 -2.11362522e-03 9.55971479e-01 4.24839778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.709254154 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:447.62, Y:147.53, Z:42.49 [[ 6.54852190e-02 -9.97603942e-01 -2.23172993e-02 4.47624216e+02] [ 9.53800793e-01 6.91505289e-02 -2.92373478e-01 1.47528315e+02] [ 2.93216188e-01 -2.14011654e-03 9.56043769e-01 4.24914983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7392541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:447.63, Y:147.55, Z:42.50 [[ 6.54346612e-02 -9.97610718e-01 -2.21621501e-02 4.47628269e+02] [ 9.54070826e-01 6.90548650e-02 -2.91513781e-01 1.47554987e+02] [ 2.92347677e-01 -2.06915535e-03 9.56309863e-01 4.24991697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.7692541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.63, Y:147.58, Z:42.51 [[ 6.53517424e-02 -9.97619186e-01 -2.20251942e-02 4.47633773e+02] [ 9.54272033e-01 6.89342157e-02 -2.90883071e-01 1.47581704e+02] [ 2.91708822e-01 -2.00831134e-03 9.56505060e-01 4.25077956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.799254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:447.64, Y:147.61, Z:42.52 [[ 6.54693680e-02 -9.97614373e-01 -2.18934826e-02 4.47637276e+02] [ 9.54439900e-01 6.90071970e-02 -2.90314457e-01 1.47607800e+02] [ 2.91132683e-01 -1.88930928e-03 9.56680820e-01 4.25153818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.829254154 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:447.64, Y:147.63, Z:42.52 [[ 6.54868130e-02 -9.97614475e-01 -2.18366101e-02 4.47640791e+02] [ 9.54462169e-01 6.90071887e-02 -2.90241237e-01 1.47634624e+02] [ 2.91055742e-01 -1.83524463e-03 9.56704336e-01 4.25237984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8592541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.64, Y:147.66, Z:42.53 [[ 6.54604197e-02 -9.97618217e-01 -2.17445755e-02 4.47644583e+02] [ 9.54476473e-01 6.89550854e-02 -2.90206581e-01 1.47660580e+02] [ 2.91014771e-01 -1.75764111e-03 9.56716946e-01 4.25322470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.8892541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.65, Y:147.69, Z:42.54 [[ 6.57392774e-02 -9.97602783e-01 -2.16109687e-02 4.47650656e+02] [ 9.54643335e-01 6.91820107e-02 -2.89603095e-01 1.47686194e+02] [ 2.90403944e-01 -1.59246898e-03 9.56902823e-01 4.25398266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.919254154 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:447.65, Y:147.71, Z:42.55 [[ 6.58930540e-02 -9.97594333e-01 -2.15326025e-02 4.47654842e+02] [ 9.54627628e-01 6.93064406e-02 -2.89625118e-01 1.47712879e+02] [ 2.90420725e-01 -1.47133367e-03 9.56897925e-01 4.25477702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.949254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.66, Y:147.74, Z:42.56 [[ 6.69456867e-02 -9.97526083e-01 -2.14473469e-02 4.47661584e+02] [ 9.54545799e-01 7.02890094e-02 -2.89658029e-01 1.47737772e+02] [ 2.90448951e-01 -1.08111922e-03 9.56889878e-01 4.25553598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 513.9792541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.67, Y:147.76, Z:42.56 [[ 6.71832810e-02 -9.97511109e-01 -2.14007951e-02 4.47665668e+02] [ 9.54395603e-01 7.05032851e-02 -2.90100535e-01 1.47764674e+02] [ 2.90887332e-01 -9.34918984e-04 9.56756858e-01 4.25633207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0092541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.67, Y:147.79, Z:42.57 [[ 6.74678357e-02 -9.97493817e-01 -2.13113989e-02 4.47669673e+02] [ 9.54398299e-01 7.07494804e-02 -2.90031720e-01 1.47790274e+02] [ 2.90812618e-01 -7.71750429e-04 9.56779716e-01 4.25705311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0392541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.67, Y:147.82, Z:42.58 [[ 6.79524447e-02 -9.97460564e-01 -2.13280990e-02 4.47673812e+02] [ 9.54048545e-01 7.12186655e-02 -2.91065757e-01 1.47816931e+02] [ 2.91845573e-01 -5.69412066e-04 9.56465283e-01 4.25783136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.069254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.68, Y:147.84, Z:42.59 [[ 6.89614594e-02 -9.97392863e-01 -2.12554682e-02 4.47680352e+02] [ 9.53927279e-01 7.21625994e-02 -2.91230676e-01 1.47843162e+02] [ 2.92005247e-01 -1.92478478e-04 9.56416697e-01 4.25863524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.0992541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.68, Y:147.87, Z:42.59 [[ 6.93328244e-02 -9.97368561e-01 -2.11875597e-02 4.47684414e+02] [ 9.53812040e-01 7.24979532e-02 -2.91524680e-01 1.47869150e+02] [ 2.92293605e-01 3.27986237e-06 9.56328630e-01 4.25942359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1292541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.69, Y:147.89, Z:42.60 [[ 6.92088059e-02 -9.97378148e-01 -2.11417099e-02 4.47688052e+02] [ 9.53675439e-01 7.23659347e-02 -2.92003988e-01 1.47894374e+02] [ 2.92768336e-01 4.69178410e-05 9.56183403e-01 4.26019220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.1592541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:447.69, Y:147.92, Z:42.61 [[ 6.90733300e-02 -9.97389304e-01 -2.10582694e-02 4.47692024e+02] [ 9.53702730e-01 7.22119711e-02 -2.91952967e-01 1.47920790e+02] [ 2.92711425e-01 8.28346204e-05 9.56200823e-01 4.26100219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.189254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.70, Y:147.95, Z:42.62 [[ 6.90015408e-02 -9.97394791e-01 -2.10337589e-02 4.47697627e+02] [ 9.53432079e-01 7.21360395e-02 -2.92854336e-01 1.47946122e+02] [ 2.93608681e-01 1.53139954e-04 9.55925687e-01 4.26185814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2192541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.70, Y:147.97, Z:42.63 [[ 6.86574445e-02 -9.97420573e-01 -2.09369379e-02 4.47701555e+02] [ 9.53527966e-01 7.17787145e-02 -2.92629860e-01 1.47972813e+02] [ 2.93377869e-01 1.27262540e-04 9.55996553e-01 4.26266939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2492541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.71, Y:148.00, Z:42.64 [[ 6.82317339e-02 -9.97451130e-01 -2.08727833e-02 4.47705342e+02] [ 9.53454067e-01 7.13528884e-02 -2.92974585e-01 1.47999399e+02] [ 2.93717165e-01 8.89237706e-05 9.55892368e-01 4.26351848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.2792541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.71, Y:148.02, Z:42.64 [[ 6.78728306e-02 -9.97477185e-01 -2.07976925e-02 4.47711055e+02] [ 9.53419892e-01 7.09877475e-02 -2.93174436e-01 1.48024419e+02] [ 2.93911192e-01 6.96450750e-05 9.55832729e-01 4.26434379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.309254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.71, Y:148.05, Z:42.65 [[ 6.77421150e-02 -9.97486852e-01 -2.07602155e-02 4.47714967e+02] [ 9.53366288e-01 7.08517744e-02 -2.93381571e-01 1.48050815e+02] [ 2.94115158e-01 8.21985161e-05 9.55769986e-01 4.26520674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.339254154 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:447.72, Y:148.08, Z:42.66 [[ 6.75755914e-02 -9.97499465e-01 -2.06967627e-02 4.47718462e+02] [ 9.53268672e-01 7.06739138e-02 -2.93741447e-01 1.48076241e+02] [ 2.94469657e-01 1.20176545e-04 9.55660822e-01 4.26604690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3692541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.72, Y:148.10, Z:42.67 [[ 6.75489644e-02 -9.97502087e-01 -2.06572788e-02 4.47721872e+02] [ 9.53090922e-01 7.06367357e-02 -2.94326598e-01 1.48102705e+02] [ 2.95050558e-01 1.93191972e-04 9.55481622e-01 4.26689304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.3992541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.74, Y:148.13, Z:42.67 [[ 6.74843641e-02 -9.96898869e-01 -4.04784625e-02 4.47736724e+02] [ 9.54400741e-01 7.63261601e-02 -2.88606208e-01 1.48128940e+02] [ 2.90800767e-01 -1.91562682e-02 9.56591841e-01 4.26732405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.429254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.72, Y:148.15, Z:42.69 [[ 6.81208074e-02 -9.97674767e-01 -2.14828225e-03 4.47723673e+02] [ 9.53403787e-01 6.57320387e-02 -2.94449516e-01 1.48153975e+02] [ 2.93906064e-01 1.80099583e-02 9.55664621e-01 4.26900669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.459254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.74, Y:148.18, Z:42.69 [[ 6.78909999e-02 -9.97485143e-01 -2.03519419e-02 4.47735999e+02] [ 9.53363678e-01 7.08739994e-02 -2.93384687e-01 1.48179578e+02] [ 2.94089290e-01 5.15377575e-04 9.55777811e-01 4.26943417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.4892541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.74, Y:148.21, Z:42.70 [[ 6.79172771e-02 -9.97485722e-01 -2.02355774e-02 4.47740198e+02] [ 9.53520689e-01 7.08652209e-02 -2.92876111e-01 1.48206122e+02] [ 2.93573738e-01 5.96306285e-04 9.55936245e-01 4.27023743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.5192541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.75, Y:148.23, Z:42.71 [[ 6.84173053e-02 -9.97453743e-01 -2.01271593e-02 4.47747068e+02] [ 9.53602003e-01 7.13117068e-02 -2.92502753e-01 1.48232768e+02] [ 2.93193268e-01 8.18950690e-04 9.56052842e-01 4.27108925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.549254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.75, Y:148.26, Z:42.72 [[ 6.82547163e-02 -9.97465709e-01 -2.00861558e-02 4.47750894e+02] [ 9.53395500e-01 7.11436197e-02 -2.93215973e-01 1.48258981e+02] [ 2.93901880e-01 8.63322498e-04 9.55835205e-01 4.27193997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.579254154 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:447.76, Y:148.29, Z:42.73 [[ 6.78285453e-02 -9.97496844e-01 -1.99833605e-02 4.47755206e+02] [ 9.53487379e-01 7.07062337e-02 -2.93022946e-01 1.48285245e+02] [ 2.93702412e-01 8.21438124e-04 9.55896552e-01 4.27271605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6092541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:447.76, Y:148.31, Z:42.74 [[ 6.61568916e-02 -9.97610014e-01 -1.99380393e-02 4.47761615e+02] [ 9.53407352e-01 6.90947475e-02 -2.93667052e-01 1.48311932e+02] [ 2.94342806e-01 4.19026026e-04 9.55699815e-01 4.27358277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.6392541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:447.77, Y:148.34, Z:42.74 [[ 6.39461061e-02 -9.97755596e-01 -1.98661887e-02 4.47765590e+02] [ 9.53481285e-01 6.69607972e-02 -2.93921232e-01 1.48338336e+02] [ 2.94591810e-01 -1.46920915e-04 9.55623171e-01 4.27438854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.669254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.77, Y:148.36, Z:42.75 [[ 6.18929807e-02 -9.97887154e-01 -1.97607580e-02 4.47769950e+02] [ 9.53697103e-01 6.49675305e-02 -2.93668274e-01 1.48364088e+02] [ 2.94331606e-01 -6.69772854e-04 9.55703122e-01 4.27516601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.699254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.78, Y:148.39, Z:42.76 [[ 5.58582797e-02 -9.98244546e-01 -1.96895630e-02 4.47776642e+02] [ 9.54116411e-01 5.91786609e-02 -2.93529830e-01 1.48389748e+02] [ 2.94179754e-01 -2.39006386e-03 9.55747121e-01 4.27599212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7292541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:447.78, Y:148.42, Z:42.77 [[ 5.21912478e-02 -9.98445155e-01 -1.95792409e-02 4.47780823e+02] [ 9.54472326e-01 5.56395936e-02 -2.93064523e-01 1.48416203e+02] [ 2.93698234e-01 -3.39244048e-03 9.55892169e-01 4.27677855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7592541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.78, Y:148.44, Z:42.78 [[ 4.82558747e-02 -9.98644783e-01 -1.94927597e-02 4.47784859e+02] [ 9.54689302e-01 5.18520379e-02 -2.93052390e-01 1.48442117e+02] [ 2.93665980e-01 -4.46802969e-03 9.55897656e-01 4.27752771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.7892541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.79, Y:148.47, Z:42.78 [[ 4.46849318e-02 -9.98811637e-01 -1.94569075e-02 4.47788902e+02] [ 9.54736025e-01 4.84301838e-02 -2.93485330e-01 1.48468805e+02] [ 2.94078865e-01 -5.46183854e-03 9.55765552e-01 4.27833373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.819254154 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:447.79, Y:148.49, Z:42.79 [[ 3.80857121e-02 -9.99085738e-01 -1.94207666e-02 4.47794979e+02] [ 9.54803342e-01 4.21172226e-02 -2.94239217e-01 1.48494903e+02] [ 2.94788154e-01 -7.33670275e-03 9.55534467e-01 4.27908837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8492541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:447.80, Y:148.52, Z:42.80 [[ 3.49279816e-02 -9.99202968e-01 -1.93252532e-02 4.47798850e+02] [ 9.54979065e-01 3.90699817e-02 -2.94089310e-01 1.48521949e+02] [ 2.94609949e-01 -8.18326619e-03 9.55582551e-01 4.27985779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.8792541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.80, Y:148.55, Z:42.81 [[ 3.25839687e-02 -9.99283837e-01 -1.92379397e-02 4.47802251e+02] [ 9.55059158e-01 3.68042671e-02 -2.94121491e-01 1.48548026e+02] [ 2.94618890e-01 -8.78972508e-03 9.55574409e-01 4.28060543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9092541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.81, Y:148.57, Z:42.81 [[ 3.04033183e-02 -9.99354324e-01 -1.91460866e-02 4.47805685e+02] [ 9.55188662e-01 3.46914437e-02 -2.93957691e-01 1.48574785e+02] [ 2.94432095e-01 -9.35083554e-03 9.55626655e-01 4.28137265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.939254154 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.81, Y:148.60, Z:42.82 [[ 2.69439610e-02 -9.99455826e-01 -1.90282887e-02 4.47810205e+02] [ 9.55435551e-01 3.13456654e-02 -2.93530846e-01 1.48601567e+02] [ 2.93967568e-01 -1.02714199e-02 9.55760204e-01 4.28222531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9692541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:447.81, Y:148.63, Z:42.83 [[ 2.51416648e-02 -9.99505224e-01 -1.88998636e-02 4.47812806e+02] [ 9.55669013e-01 2.95785290e-02 -2.92953664e-01 1.48628666e+02] [ 2.93367747e-01 -1.06966712e-02 9.55939824e-01 4.28304527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 514.9992541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:447.82, Y:148.66, Z:42.84 [[ 2.34890935e-02 -9.99547332e-01 -1.87987586e-02 4.47815421e+02] [ 9.55764740e-01 2.79669763e-02 -2.92799608e-01 1.48655587e+02] [ 2.93192812e-01 -1.10895932e-02 9.55989015e-01 4.28386634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.0292541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.82, Y:148.68, Z:42.85 [[ 2.18935894e-02 -9.99584080e-01 -1.87706584e-02 4.47818598e+02] [ 9.55505310e-01 2.64449982e-02 -2.93786087e-01 1.48681149e+02] [ 2.94160286e-01 -1.15034318e-02 9.55686872e-01 4.28467456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.059254154 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.82, Y:148.71, Z:42.85 [[ 2.09317022e-02 -9.99607918e-01 -1.85976930e-02 4.47821574e+02] [ 9.55969921e-01 2.54572510e-02 -2.92358408e-01 1.48708411e+02] [ 2.92717226e-01 -1.16592760e-02 9.56127966e-01 4.28536136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.089254154 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:447.82, Y:148.73, Z:42.86 [[ 2.10753245e-02 -9.99606255e-01 -1.85247395e-02 4.47823778e+02] [ 9.55885200e-01 2.55764614e-02 -2.92624895e-01 1.48734849e+02] [ 2.92983473e-01 -1.15403596e-02 9.56047857e-01 4.28611136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1192541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.83, Y:148.76, Z:42.87 [[ 2.16738626e-02 -9.99595204e-01 -1.84301801e-02 4.47825795e+02] [ 9.55894767e-01 2.61201734e-02 -2.92545607e-01 1.48760405e+02] [ 2.92908585e-01 -1.12767194e-02 9.56073949e-01 4.28681348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.1492541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.83, Y:148.79, Z:42.88 [[ 2.14017799e-02 -9.99602551e-01 -1.83495142e-02 4.47827393e+02] [ 9.55900929e-01 2.58364126e-02 -2.92550668e-01 1.48787660e+02] [ 2.92908479e-01 -1.12792127e-02 9.56073952e-01 4.28760983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.179254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.83, Y:148.81, Z:42.88 [[ 2.29212416e-02 -9.99570315e-01 -1.82702411e-02 4.47829408e+02] [ 9.55838797e-01 2.72670361e-02 -2.92623825e-01 1.48814193e+02] [ 2.92996264e-01 -1.07561039e-02 9.56053082e-01 4.28836625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.209254154 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:447.83, Y:148.84, Z:42.89 [[ 2.77290685e-02 -9.99449231e-01 -1.82300357e-02 4.47831048e+02] [ 9.55456274e-01 3.18602976e-02 -2.93407957e-01 1.48841278e+02] [ 2.93827171e-01 -9.28207265e-03 9.55813495e-01 4.28918384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2392541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.83, Y:148.87, Z:42.90 [[ 2.96789555e-02 -9.99396533e-01 -1.80479982e-02 4.47832879e+02] [ 9.55857057e-01 3.36573256e-02 -2.91898049e-01 1.48867824e+02] [ 2.92329345e-01 -8.58807727e-03 9.56279143e-01 4.28986119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.2692541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.84, Y:148.90, Z:42.91 [[ 3.44129642e-02 -9.99191443e-01 -2.07896234e-02 4.47837448e+02] [ 9.55281655e-01 3.89993432e-02 -2.93114332e-01 1.48896160e+02] [ 2.93688114e-01 -9.77301276e-03 9.55851338e-01 4.29082423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.299254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.84, Y:148.92, Z:42.91 [[ 3.53081960e-02 -9.99241674e-01 -1.64136718e-02 4.47835463e+02] [ 9.56023309e-01 3.85568942e-02 -2.90745248e-01 1.48921326e+02] [ 2.91157629e-01 -5.42616260e-03 9.56659705e-01 4.29141141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.329254154 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.84, Y:148.95, Z:42.92 [[ 4.07773368e-02 -9.99025276e-01 -1.69028588e-02 4.47837297e+02] [ 9.55480181e-01 4.39364372e-02 -2.91765682e-01 1.48948936e+02] [ 2.92223942e-01 -4.25291914e-03 9.56340463e-01 4.29227221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3592541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.84, Y:148.98, Z:42.93 [[ 4.14350863e-02 -9.98966167e-01 -1.87010921e-02 4.47840016e+02] [ 9.56061328e-01 4.50784251e-02 -2.89680294e-01 1.48975206e+02] [ 2.90223828e-01 -5.87646294e-03 9.56940749e-01 4.29291942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.3892541539999 meters Centerline goodness : 0.997383 Centerline is valid? [True, True] Translation: X:447.84, Y:149.00, Z:42.94 [[ 4.29618525e-02 -9.99020006e-01 -1.06445609e-02 4.47838404e+02] [ 9.55605068e-01 4.41988169e-02 -2.91316700e-01 1.48999677e+02] [ 2.91501688e-01 2.34350876e-03 9.56567443e-01 4.29382145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.419254154 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.85, Y:149.03, Z:42.94 [[ 4.26154096e-02 -9.98808729e-01 -2.37707909e-02 4.47845910e+02] [ 9.56148634e-01 4.76726440e-02 -2.88975966e-01 1.49025424e+02] [ 2.89764934e-01 -1.04135801e-02 9.57041191e-01 4.29432953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.449254154 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.85, Y:149.05, Z:42.95 [[ 4.14914505e-02 -9.98989627e-01 -1.72680467e-02 4.47845870e+02] [ 9.56405102e-01 4.47113748e-02 -2.88600370e-01 1.49050976e+02] [ 2.89080854e-01 -4.54080002e-03 9.57293916e-01 4.29515383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.85, Y:149.08, Z:42.96 [[ 3.94432287e-02 -9.99074869e-01 -1.71358591e-02 4.47848377e+02] [ 9.56724609e-01 4.27082684e-02 -2.87843755e-01 1.49077484e+02] [ 2.88309305e-01 -5.04081104e-03 9.57524065e-01 4.29586593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5092541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:447.85, Y:149.10, Z:42.97 [[ 3.81635906e-02 -9.99240926e-01 -7.81741952e-03 4.47846255e+02] [ 9.56163045e-01 3.87890995e-02 -2.90254435e-01 1.49101833e+02] [ 2.90337341e-01 3.60242380e-03 9.56917578e-01 4.29668186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.86, Y:149.13, Z:42.97 [[ 3.31360857e-02 -9.99137917e-01 -2.50084355e-02 4.47857119e+02] [ 9.57380801e-01 3.89146923e-02 -2.86195125e-01 1.49128482e+02] [ 2.86921597e-01 -1.44592098e-02 9.57844940e-01 4.29716959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.569254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.85, Y:149.16, Z:42.98 [[ 3.17511938e-02 -9.99433296e-01 -1.11779959e-02 4.47852923e+02] [ 9.56976303e-01 3.36258188e-02 -2.88211136e-01 1.49155097e+02] [ 2.88423675e-01 -1.54602951e-03 9.57501641e-01 4.29812548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.5992541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:447.86, Y:149.18, Z:42.99 [[ 3.08072191e-02 -9.99148434e-01 -2.74467304e-02 4.47863835e+02] [ 9.56931176e-01 3.74139961e-02 -2.87893933e-01 1.49183676e+02] [ 2.88675664e-01 -1.73954205e-02 9.57268907e-01 4.29901085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.85, Y:149.22, Z:43.00 [[ 3.02771975e-02 -9.99453455e-01 1.32696149e-02 4.47850673e+02] [ 9.57995346e-01 2.52284464e-02 -2.85671915e-01 1.49215113e+02] [ 2.85181011e-01 2.13615743e-02 9.58235605e-01 4.29954711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.88, Y:149.24, Z:43.00 [[ 2.38780736e-02 -9.98705398e-01 -4.49151007e-02 4.47875626e+02] [ 9.58738420e-01 3.56072727e-02 -2.82050996e-01 1.49236853e+02] [ 2.83285156e-01 -3.63269982e-02 9.58347468e-01 4.29997009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.689254154 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.86, Y:149.26, Z:43.01 [[ 2.24310829e-02 -9.99614061e-01 -1.63883019e-02 4.47864682e+02] [ 9.58633116e-01 2.61583763e-02 -2.83440097e-01 1.49263085e+02] [ 2.83759398e-01 -9.35250056e-03 9.58849902e-01 4.30115316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7192541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.87, Y:149.29, Z:43.02 [[ 2.31779492e-02 -9.99597161e-01 -1.63798178e-02 4.47867276e+02] [ 9.58202594e-01 2.68853741e-02 -2.84824447e-01 1.49289750e+02] [ 2.85150086e-01 -9.09353736e-03 9.58439740e-01 4.30204515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7492541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:447.87, Y:149.32, Z:43.03 [[ 2.18338641e-02 -9.99629867e-01 -1.62299317e-02 4.47868973e+02] [ 9.58560476e-01 2.55436416e-02 -2.83741672e-01 1.49316507e+02] [ 2.84051222e-01 -9.36219391e-03 9.58763398e-01 4.30274776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.7792541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:447.87, Y:149.34, Z:43.03 [[ 2.12866259e-02 -9.99643308e-01 -1.61287241e-02 4.47870598e+02] [ 9.58647643e-01 2.49877247e-02 -2.83496577e-01 1.49342226e+02] [ 2.83798477e-01 -9.42707775e-03 9.58837606e-01 4.30335926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.809254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.87, Y:149.37, Z:43.04 [[ 2.05161454e-02 -9.99661686e-01 -1.59875192e-02 4.47871331e+02] [ 9.58995647e-01 2.41977312e-02 -2.82385939e-01 1.49369207e+02] [ 2.82677266e-01 -9.53849033e-03 9.59167650e-01 4.30400033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.839254154 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.87, Y:149.40, Z:43.05 [[ 2.25950536e-02 -9.99741733e-01 2.43534733e-03 4.47866233e+02] [ 9.59170721e-01 2.09910510e-02 -2.82047698e-01 1.49398946e+02] [ 2.81923734e-01 8.70879670e-03 9.59397293e-01 4.30460899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.88, Y:149.42, Z:43.05 [[ 2.46884764e-02 -9.99058804e-01 -3.56648936e-02 4.47881728e+02] [ 9.58929431e-01 3.37505632e-02 -2.81629627e-01 1.49423084e+02] [ 2.82568269e-01 -2.72471097e-02 9.58860140e-01 4.30523997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.8992541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:447.87, Y:149.45, Z:43.06 [[ 2.80377128e-02 -9.99481996e-01 -1.57995644e-02 4.47874163e+02] [ 9.58627429e-01 3.13641480e-02 -2.82930632e-01 1.49448456e+02] [ 2.83279612e-01 -7.21316800e-03 9.59010235e-01 4.30631322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.929254154 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.88, Y:149.47, Z:43.07 [[ 3.01206205e-02 -9.99423504e-01 -1.56654776e-02 4.47875008e+02] [ 9.58797337e-01 3.33184857e-02 -2.82130370e-01 1.49474963e+02] [ 2.82489673e-01 -6.52207644e-03 9.59248168e-01 4.30704646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.959254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.88, Y:149.50, Z:43.08 [[ 3.17786061e-02 -9.99374694e-01 -1.55029294e-02 4.47875728e+02] [ 9.59160156e-01 3.48543634e-02 -2.80707977e-01 1.49502222e+02] [ 2.81072793e-01 -5.94928397e-03 9.59668011e-01 4.30774875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 515.9892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.88, Y:149.53, Z:43.08 [[ 3.67827231e-02 -9.99205623e-01 -1.53347382e-02 4.47876461e+02] [ 9.59415850e-01 3.96028515e-02 -2.79200362e-01 1.49527708e+02] [ 2.79585871e-01 -4.44264126e-03 9.60110412e-01 4.30846212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.0192541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.88, Y:149.55, Z:43.09 [[ 3.92267624e-02 -9.99114124e-01 -1.52390317e-02 4.47878048e+02] [ 9.59419213e-01 4.19214519e-02 -2.78850078e-01 1.49554488e+02] [ 2.79241893e-01 -3.68223404e-03 9.60213729e-01 4.30921715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.049254154 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:447.88, Y:149.58, Z:43.10 [[ 4.16819124e-02 -9.99015523e-01 -1.51856300e-02 4.47879745e+02] [ 9.59155696e-01 4.42657931e-02 -2.79393789e-01 1.49580185e+02] [ 2.79790937e-01 -2.91971609e-03 9.60056512e-01 4.30997414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.079254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.88, Y:149.61, Z:43.11 [[ 4.25892425e-02 -9.98979109e-01 -1.50630561e-02 4.47881221e+02] [ 9.59307433e-01 4.51008739e-02 -2.78738517e-01 1.49607250e+02] [ 2.79133312e-01 -2.57883936e-03 9.60248897e-01 4.31063912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1092541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.88, Y:149.63, Z:43.11 [[ 4.35544418e-02 -9.98939392e-01 -1.49365885e-02 4.47883622e+02] [ 9.59487479e-01 4.59906785e-02 -2.77972365e-01 1.49633648e+02] [ 2.78364489e-01 -2.22453840e-03 9.60472937e-01 4.31124584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.89, Y:149.66, Z:43.12 [[ 4.27439705e-02 -9.98975733e-01 -1.48471818e-02 4.47885521e+02] [ 9.59595794e-01 4.51867286e-02 -2.77730215e-01 1.49660546e+02] [ 2.78116640e-01 -2.37600113e-03 9.60544371e-01 4.31199567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.169254154 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.89, Y:149.69, Z:43.13 [[ 4.18898125e-02 -9.99012681e-01 -1.47955208e-02 4.47888029e+02] [ 9.59463423e-01 4.43534415e-02 -2.78321240e-01 1.49686033e+02] [ 2.78702680e-01 -2.53693645e-03 9.60374083e-01 4.31281010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.199254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.90, Y:149.71, Z:43.14 [[ 3.46792750e-02 -9.98645272e-01 -3.87939241e-02 4.47899341e+02] [ 9.56712464e-01 4.43964820e-02 -2.87628604e-01 1.49707311e+02] [ 2.88961259e-01 -2.71398792e-02 9.56956017e-01 4.31440238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.88, Y:149.74, Z:43.15 [[ 3.42788041e-02 -9.99349545e-01 1.12004760e-02 4.47883071e+02] [ 9.59999045e-01 2.98086607e-02 -2.78412064e-01 1.49738693e+02] [ 2.77897098e-01 2.02960789e-02 9.60396414e-01 4.31467451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2592541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.90, Y:149.77, Z:43.15 [[ 3.05538030e-02 -9.99427318e-01 -1.45430859e-02 4.47897600e+02] [ 9.60325332e-01 3.33873486e-02 -2.76876400e-01 1.49765523e+02] [ 2.77203393e-01 -5.50646681e-03 9.60795482e-01 4.31506711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.2892541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.91, Y:149.79, Z:43.17 [[ 2.37092257e-02 -9.98631673e-01 -4.66117298e-02 4.47911058e+02] [ 9.58063578e-01 3.60151702e-02 -2.84283465e-01 1.49786189e+02] [ 2.85573202e-01 -3.79168598e-02 9.57606526e-01 4.31675167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.319254154 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.91, Y:149.81, Z:43.18 [[ 1.23754010e-02 -9.98853974e-01 -4.62340485e-02 4.47910356e+02] [ 9.56325341e-01 2.53275222e-02 -2.91205011e-01 1.49806416e+02] [ 2.92042276e-01 -4.06110134e-02 9.55542806e-01 4.31838881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.90, Y:149.83, Z:43.20 [[ 7.95499982e-03 -9.99857984e-01 -1.48569915e-02 4.47898012e+02] [ 9.54648085e-01 1.20157970e-02 -2.97493956e-01 1.49831442e+02] [ 2.97630226e-01 -1.18166342e-02 9.54608095e-01 4.31978223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.89, Y:149.87, Z:43.20 [[ 9.27539315e-03 -9.99495853e-01 3.03645773e-02 4.47885717e+02] [ 9.58019370e-01 1.80468889e-04 -2.86703427e-01 1.49866046e+02] [ 2.86553407e-01 3.17491402e-02 9.57538061e-01 4.31991776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.91, Y:149.89, Z:43.20 [[ 2.29782693e-03 -9.99376968e-01 -3.52192414e-02 4.47912845e+02] [ 9.56434878e-01 1.24782080e-02 -2.91678965e-01 1.49887588e+02] [ 2.91936713e-01 -3.30146830e-02 9.55867661e-01 4.32047997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.439254154 meters Centerline goodness : 0.997831 Centerline is valid? [True, True] Translation: X:447.88, Y:149.92, Z:43.21 [[-7.69674682e-04 -9.99211459e-01 3.96971939e-02 4.47883806e+02] [ 9.57645515e-01 -1.21672584e-02 -2.87692590e-01 1.49923729e+02] [ 2.87948738e-01 3.77944100e-02 9.56899737e-01 4.32137809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.91, Y:149.95, Z:43.21 [[-2.04477412e-03 -9.99824403e-01 -1.86274443e-02 4.47911829e+02] [ 9.58865297e-01 3.32717208e-03 -2.83841986e-01 1.49948032e+02] [ 2.83854121e-01 -1.84416026e-02 9.58690120e-01 4.32121520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.93, Y:149.96, Z:43.24 [[-1.20879998e-02 -9.95974560e-01 -8.88175395e-02 4.47934176e+02] [ 9.54343168e-01 1.50217041e-02 -2.98334487e-01 1.49958649e+02] [ 2.98467750e-01 -8.83686792e-02 9.50319935e-01 4.32386276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.90, Y:149.99, Z:43.25 [[-1.32339843e-02 -9.99912002e-01 9.21715459e-04 4.47897959e+02] [ 9.53604159e-01 -1.28983574e-02 -3.00786870e-01 1.49986810e+02] [ 3.00772290e-01 -3.10165703e-03 9.53690940e-01 4.32531277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.559254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.88, Y:150.03, Z:43.25 [[-1.02438462e-02 -9.98209099e-01 5.89377458e-02 4.47879341e+02] [ 9.57429350e-01 -2.67957137e-02 -2.87421346e-01 1.50025905e+02] [ 2.88485882e-01 5.34844275e-02 9.55989180e-01 4.32474421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.589254154 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.91, Y:150.05, Z:43.24 [[-1.21440682e-02 -9.99838295e-01 -1.32629336e-02 4.47912329e+02] [ 9.58397261e-01 -7.85580455e-03 -2.85329593e-01 1.50052034e+02] [ 2.85179263e-01 -1.61762213e-02 9.58337685e-01 4.32445151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6192541539999 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:447.91, Y:150.08, Z:43.25 [[-1.43211720e-02 -9.99841029e-01 -1.06216804e-02 4.47910118e+02] [ 9.57589306e-01 -1.06570941e-02 -2.87939484e-01 1.50075541e+02] [ 2.87780514e-01 -1.42948384e-02 9.57589700e-01 4.32533711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.6492541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:447.91, Y:150.10, Z:43.26 [[-1.69963093e-02 -9.99746289e-01 -1.47811670e-02 4.47911608e+02] [ 9.58094978e-01 -1.20568139e-02 -2.86196868e-01 1.50100505e+02] [ 2.85946043e-01 -1.90260524e-02 9.58056820e-01 4.32602076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.679254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.91, Y:150.13, Z:43.27 [[-1.94082592e-02 -9.99608876e-01 -2.01349203e-02 4.47912550e+02] [ 9.57676412e-01 -1.28017977e-02 -2.87562175e-01 1.50125721e+02] [ 2.87191939e-01 -2.48638195e-02 9.57550302e-01 4.32718128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.709254154 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.91, Y:150.15, Z:43.28 [[-1.92485950e-02 -9.99778583e-01 -8.50155325e-03 4.47907162e+02] [ 9.57700392e-01 -1.59952427e-02 -2.87322311e-01 1.50150001e+02] [ 2.87122709e-01 -1.36724917e-02 9.57796227e-01 4.32757029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7392541539999 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:447.91, Y:150.17, Z:43.29 [[-2.41460547e-02 -9.99304771e-01 -2.84067238e-02 4.47910725e+02] [ 9.56080872e-01 -1.47803539e-02 -2.92730094e-01 1.50172925e+02] [ 2.92106718e-01 -3.42274022e-02 9.55773064e-01 4.32882098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.7692541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:447.90, Y:150.20, Z:43.30 [[-2.49880886e-02 -9.99593996e-01 -1.36908267e-02 4.47902695e+02] [ 9.55905820e-01 -1.98829259e-02 -2.92999545e-01 1.50199145e+02] [ 2.92608372e-01 -2.04086395e-02 9.56014554e-01 4.32978652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.799254154 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.89, Y:150.23, Z:43.30 [[-2.41082039e-02 -9.99683955e-01 7.12639952e-03 4.47893606e+02] [ 9.56715329e-01 -2.51388445e-02 -2.89937611e-01 1.50228306e+02] [ 2.90025127e-01 -1.71939374e-04 9.57019016e-01 4.33007870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.829254154 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:447.90, Y:150.25, Z:43.31 [[-2.41249201e-02 -9.99627730e-01 -1.27432041e-02 4.47900913e+02] [ 9.56788458e-01 -1.93923826e-02 -2.90137522e-01 1.50254804e+02] [ 2.89782391e-01 -1.91920952e-02 9.56900115e-01 4.33063772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8592541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:447.90, Y:150.28, Z:43.32 [[-2.46783674e-02 -9.99214131e-01 -3.10177252e-02 4.47901649e+02] [ 9.56448579e-01 -1.45722297e-02 -2.91536904e-01 1.50277769e+02] [ 2.90855797e-01 -3.68615140e-02 9.56056554e-01 4.33185498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.8892541539999 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:447.89, Y:150.30, Z:43.33 [[-2.35520193e-02 -9.99636136e-01 -1.31490552e-02 4.47891098e+02] [ 9.56195290e-01 -1.86858625e-02 -2.92132514e-01 1.50302965e+02] [ 2.91780516e-01 -1.94533753e-02 9.56287455e-01 4.33293781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.919254154 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:447.88, Y:150.33, Z:43.33 [[-2.17311994e-02 -9.99746644e-01 5.86530817e-03 4.47880932e+02] [ 9.57208714e-01 -2.24992674e-02 -2.88522550e-01 1.50329887e+02] [ 2.88581416e-01 -6.55616981e-04 9.57455136e-01 4.33318177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.949254154 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:447.89, Y:150.35, Z:43.34 [[-2.16733300e-02 -9.99251205e-01 -3.20514565e-02 4.47893568e+02] [ 9.56647489e-01 -1.14145230e-02 -2.91024553e-01 1.50353256e+02] [ 2.90440783e-01 -3.69694165e-02 9.56178547e-01 4.33417446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 516.9792541539999 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:447.87, Y:150.38, Z:43.35 [[-1.76554244e-02 -9.99816781e-01 7.39536600e-03 4.47871019e+02] [ 9.57310737e-01 -1.90382844e-02 -2.88433176e-01 1.50379448e+02] [ 2.88521125e-01 1.98725313e-03 9.57471468e-01 4.33465612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0092541539999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:447.88, Y:150.40, Z:43.36 [[-1.76224567e-02 -9.99362265e-01 -3.10566048e-02 4.47884525e+02] [ 9.56521710e-01 -7.80648149e-03 -2.91556643e-01 1.50404343e+02] [ 2.91128265e-01 -3.48442611e-02 9.56049272e-01 4.33560464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0392541539999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:447.88, Y:150.43, Z:43.37 [[-1.77970636e-02 -9.99761256e-01 -1.26765674e-02 4.47877240e+02] [ 9.56276668e-01 -1.33185086e-02 -2.92160147e-01 1.50430153e+02] [ 2.91921563e-01 -1.73218984e-02 9.56285393e-01 4.33668811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.069254154 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:447.87, Y:150.46, Z:43.37 [[-1.56282278e-02 -9.99875995e-01 -1.93707468e-03 4.47871575e+02] [ 9.56757652e-01 -1.43914328e-02 -2.90530001e-01 1.50457952e+02] [ 2.90466097e-01 -6.39378007e-03 9.56863922e-01 4.33723401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.0992541539999 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:447.88, Y:150.48, Z:43.38 [[-1.59125196e-02 -9.99590959e-01 -2.37635597e-02 4.47877336e+02] [ 9.56300989e-01 -8.27524130e-03 -2.92266895e-01 1.50481673e+02] [ 2.91950697e-01 -2.73758184e-02 9.56041503e-01 4.33795715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1292541539999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:447.86, Y:150.51, Z:43.39 [[-1.27564676e-02 -9.99918293e-01 -8.24444371e-04 4.47863684e+02] [ 9.56410675e-01 -1.19608427e-02 -2.91779986e-01 1.50508442e+02] [ 2.91746284e-01 -4.51058934e-03 9.56485107e-01 4.33869054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.1592541539999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:447.87, Y:150.53, Z:43.39 [[-1.29157111e-02 -9.99670477e-01 -2.21837978e-02 4.47869486e+02] [ 9.56162925e-01 -5.85655617e-03 -2.92776640e-01 1.50532362e+02] [ 2.92550243e-01 -2.49927435e-02 9.55923490e-01 4.33932211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.189254154 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:447.86, Y:150.56, Z:43.40 [[-1.16110065e-02 -9.99869213e-01 -1.12579463e-02 4.47862780e+02] [ 9.56623865e-01 -7.82984331e-03 -2.91220665e-01 1.50559678e+02] [ 2.91094429e-01 -1.41509851e-02 9.56589663e-01 4.34017734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2192541539999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:447.86, Y:150.59, Z:43.41 [[-9.37381339e-03 -9.99924417e-01 -7.95558448e-03 4.47859413e+02] [ 9.56818965e-01 -6.65758728e-03 -2.90608232e-01 1.50586253e+02] [ 2.90533302e-01 -1.03361614e-02 9.56809053e-01 4.34092958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2492541539999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:447.85, Y:150.61, Z:43.41 [[-5.13142669e-03 -9.99973775e-01 -5.11050090e-03 4.47852035e+02] [ 9.57100589e-01 -3.43068766e-03 -2.89735556e-01 1.50611083e+02] [ 2.89710425e-01 -6.37802019e-03 9.57093094e-01 4.34127468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.2792541539999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:447.85, Y:150.64, Z:43.42 [[-2.80232130e-03 -9.99929581e-01 -1.15316681e-02 4.47852618e+02] [ 9.56971417e-01 6.64581422e-04 -2.90181435e-01 1.50636883e+02] [ 2.90168664e-01 -1.18486584e-02 9.56902166e-01 4.34191892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.309254154 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:447.85, Y:150.66, Z:43.43 [[-4.02356196e-04 -9.99934471e-01 -1.14407690e-02 4.47850285e+02] [ 9.56972333e-01 2.93485171e-03 -2.90164335e-01 1.50662061e+02] [ 2.90178898e-01 -1.10652489e-02 9.56908443e-01 4.34265262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.339254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:447.85, Y:150.69, Z:43.44 [[ 2.78780752e-03 -9.99931179e-01 -1.13958538e-02 4.47849252e+02] [ 9.56607952e-01 5.98705264e-03 -2.91316634e-01 1.50687972e+02] [ 2.91364813e-01 -1.00892296e-02 9.56558808e-01 4.34360556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3692541539999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:447.84, Y:150.71, Z:43.44 [[ 6.66070791e-03 -9.99914208e-01 -1.12787728e-02 4.47843880e+02] [ 9.56793587e-01 9.65144976e-03 -2.90607780e-01 1.50714346e+02] [ 2.90691705e-01 -8.85580397e-03 9.56775788e-01 4.34418888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.3992541539999 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:447.84, Y:150.74, Z:43.45 [[ 8.27076956e-03 -9.99903098e-01 -1.11977341e-02 4.47842468e+02] [ 9.56779998e-01 1.11684303e-02 -2.90598179e-01 1.50739830e+02] [ 2.90695081e-01 -8.31029748e-03 9.56779655e-01 4.34493194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.429254154 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:447.84, Y:150.77, Z:43.46 [[ 9.37295258e-03 -9.99894170e-01 -1.11263616e-02 4.47841527e+02] [ 9.56574420e-01 1.22075764e-02 -2.91232473e-01 1.50766282e+02] [ 2.91337478e-01 -7.91348477e-03 9.56587607e-01 4.34570576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.459254154 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:447.84, Y:150.79, Z:43.47 [[ 1.04327235e-02 -9.99884244e-01 -1.10750705e-02 4.47839303e+02] [ 9.56247307e-01 1.32146040e-02 -2.92260949e-01 1.50793322e+02] [ 2.92373471e-01 -7.54142866e-03 9.56274480e-01 4.34655802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.4892541539999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:447.84, Y:150.82, Z:43.47 [[ 1.03464196e-02 -9.99885929e-01 -1.10036571e-02 4.47838634e+02] [ 9.56132958e-01 1.31141517e-02 -2.92639343e-01 1.50820037e+02] [ 2.92750265e-01 -7.49318974e-03 9.56159576e-01 4.34740506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.5192541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:447.84, Y:150.85, Z:43.48 [[ 1.01681341e-02 -9.99888372e-01 -1.09476788e-02 4.47837956e+02] [ 9.55895108e-01 1.29334181e-02 -2.93423360e-01 1.50846659e+02] [ 2.93532197e-01 -7.48126454e-03 9.55919913e-01 4.34827331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.549254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:447.84, Y:150.87, Z:43.49 [[ 1.00765655e-02 -9.99890383e-01 -1.08482539e-02 4.47837749e+02] [ 9.56025182e-01 1.28134427e-02 -2.93004550e-01 1.50872774e+02] [ 2.93111435e-01 -7.41872442e-03 9.56049501e-01 4.34905663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.579254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:447.84, Y:150.90, Z:43.50 [[ 9.79669530e-03 -9.99893132e-01 -1.08512830e-02 4.47837158e+02] [ 9.55474785e-01 1.25608534e-02 -2.94805292e-01 1.50897736e+02] [ 2.94910088e-01 -7.48000971e-03 9.55495730e-01 4.35004026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6092541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:447.84, Y:150.92, Z:43.51 [[ 9.39628729e-03 -9.99732414e-01 -2.11379031e-02 4.47842220e+02] [ 9.55248475e-01 1.52242647e-02 -2.95412547e-01 1.50923669e+02] [ 2.95655308e-01 -1.74161686e-02 9.55135915e-01 4.35096676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.6392541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:447.83, Y:150.95, Z:43.52 [[ 9.42972558e-03 -9.99955313e-01 -6.72649741e-04 4.47833854e+02] [ 9.55746543e-01 9.21062994e-03 -2.94047122e-01 1.50949358e+02] [ 2.94040177e-01 2.12990100e-03 9.55790687e-01 4.35180512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.669254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:447.84, Y:150.97, Z:43.52 [[ 8.74547942e-03 -9.99906062e-01 -1.05538368e-02 4.47838702e+02] [ 9.55719277e-01 1.14627251e-02 -2.94056574e-01 1.50974221e+02] [ 2.94149927e-01 -7.51483954e-03 9.55729746e-01 4.35237042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.699254154 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.84, Y:151.00, Z:43.53 [[ 9.63312013e-03 -9.99951036e-01 -2.26483834e-03 4.47838302e+02] [ 9.55928329e-01 9.87363657e-03 -2.93434050e-01 1.51004131e+02] [ 2.93442044e-01 6.61662326e-04 9.55976636e-01 4.35332511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7292541539999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:447.84, Y:151.03, Z:43.54 [[ 7.35279966e-03 -9.99748048e-01 -2.12079344e-02 4.47844626e+02] [ 9.55599210e-01 1.32726637e-02 -2.94370491e-01 1.51026596e+02] [ 2.94577810e-01 -1.81018381e-02 9.55456036e-01 4.35377820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7592541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:447.84, Y:151.05, Z:43.55 [[ 6.01899511e-03 -9.99971548e-01 -4.54693440e-03 4.47839835e+02] [ 9.55347521e-01 7.09359550e-03 -2.95399383e-01 1.51054688e+02] [ 2.95423233e-01 -2.56589506e-03 9.55363036e-01 4.35499877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.7892541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:447.85, Y:151.08, Z:43.56 [[ 2.72768300e-03 -9.99838436e-01 -1.77668828e-02 4.47845007e+02] [ 9.54900212e-01 7.87954577e-03 -2.96822334e-01 1.51079075e+02] [ 2.96914374e-01 -1.61559629e-02 9.54767427e-01 4.35559079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.819254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.84, Y:151.10, Z:43.57 [[ 7.03343972e-04 -9.99947242e-01 -1.02478303e-02 4.47842988e+02] [ 9.54667460e-01 3.72193411e-03 -2.97651117e-01 1.51104259e+02] [ 2.97673555e-01 -9.57391902e-03 9.54619712e-01 4.35657712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8492541539999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:447.84, Y:151.13, Z:43.57 [[-1.66257671e-03 -9.99946823e-01 -1.01777437e-02 4.47844224e+02] [ 9.54482881e-01 1.44881211e-03 -2.98262185e-01 1.51129979e+02] [ 2.98261070e-01 -1.02103659e-02 9.54429716e-01 4.35739032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.8792541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.85, Y:151.15, Z:43.58 [[-3.66526489e-03 -9.99941640e-01 -1.01628156e-02 4.47845445e+02] [ 9.53787378e-01 -4.42165885e-04 -3.00482015e-01 1.51154298e+02] [ 3.00459985e-01 -1.07945114e-02 9.53733336e-01 4.35832346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9092541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.85, Y:151.18, Z:43.59 [[-8.09344293e-03 -9.99916099e-01 -1.01139231e-02 4.47847077e+02] [ 9.53559916e-01 -4.67199323e-03 -3.01167162e-01 1.51179785e+02] [ 3.01094641e-01 -1.20817109e-02 9.53517724e-01 4.35921413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.939254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.85, Y:151.21, Z:43.60 [[-1.03044001e-02 -9.99896852e-01 -1.00052722e-02 4.47848305e+02] [ 9.53727136e-01 -6.82074352e-03 -3.00596122e-01 1.51205992e+02] [ 3.00496873e-01 -1.26397623e-02 9.53699044e-01 4.35995009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9692541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.85, Y:151.23, Z:43.61 [[-1.33245910e-02 -9.99861985e-01 -9.92299734e-03 4.47850032e+02] [ 9.53619087e-01 -9.72250353e-03 -3.00858954e-01 1.51232583e+02] [ 3.00720954e-01 -1.34715822e-02 9.53617022e-01 4.36077643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 517.9992541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.85, Y:151.26, Z:43.62 [[-1.41864103e-02 -9.99850622e-01 -9.87321678e-03 4.47851323e+02] [ 9.53241451e-01 -1.05426829e-02 -3.02025808e-01 1.51259444e+02] [ 3.01876601e-01 -1.36962215e-02 9.53248620e-01 4.36168383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.0292541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.85, Y:151.29, Z:43.62 [[-1.48170100e-02 -9.99842526e-01 -9.76627596e-03 4.47852376e+02] [ 9.53426374e-01 -1.11849543e-02 -3.01418389e-01 1.51286430e+02] [ 3.01261688e-01 -1.37775444e-02 9.53441962e-01 4.36243147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.059254154 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:447.85, Y:151.31, Z:43.63 [[-1.40694838e-02 -9.99854123e-01 -9.68407964e-03 4.47853199e+02] [ 9.53387609e-01 -1.04948154e-02 -3.01565790e-01 1.51313002e+02] [ 3.01420166e-01 -1.34755565e-02 9.53396189e-01 4.36328742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.089254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.85, Y:151.34, Z:43.64 [[-1.27394711e-02 -9.99872824e-01 -9.59380978e-03 4.47853585e+02] [ 9.53453832e-01 -9.25612981e-03 -3.01396939e-01 1.51338519e+02] [ 3.01269807e-01 -1.29868923e-02 9.53450494e-01 4.36407350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1192541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.85, Y:151.36, Z:43.65 [[-8.16801195e-03 -9.99921162e-01 -9.53699115e-03 4.47853598e+02] [ 9.53400261e-01 -4.91076297e-03 -3.01668405e-01 1.51363779e+02] [ 3.01597788e-01 -1.15566010e-02 9.53365208e-01 4.36489286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.1492541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.85, Y:151.39, Z:43.66 [[-5.25176850e-03 -9.99941378e-01 -9.46884632e-03 4.47853761e+02] [ 9.53080544e-01 -2.13917625e-03 -3.02709267e-01 1.51389535e+02] [ 3.02671266e-01 -1.06143322e-02 9.53035907e-01 4.36576360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.179254154 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.85, Y:151.42, Z:43.66 [[-2.65753345e-03 -9.99952767e-01 -9.34890249e-03 4.47854130e+02] [ 9.53343427e-01 2.88790947e-04 -3.01887773e-01 1.51415772e+02] [ 3.01876213e-01 -9.71499159e-03 9.53297630e-01 4.36645687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.209254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.85, Y:151.44, Z:43.67 [[ 3.77936201e-03 -9.99950128e-01 -9.24436599e-03 4.47854858e+02] [ 9.53435351e-01 6.39114736e-03 -3.01529740e-01 1.51441954e+02] [ 3.01573784e-01 -7.67431529e-03 9.53411956e-01 4.36728347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2392541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.86, Y:151.47, Z:43.68 [[ 6.73252707e-03 -9.99935437e-01 -9.15398039e-03 4.47855574e+02] [ 9.53444789e-01 9.17895060e-03 -3.01427904e-01 1.51467701e+02] [ 3.01492467e-01 -6.69844337e-03 9.53445029e-01 4.36807582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.2692541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.86, Y:151.49, Z:43.69 [[ 9.39652066e-03 -9.99914866e-01 -9.05350294e-03 4.47856054e+02] [ 9.53508472e-01 1.16870245e-02 -3.01139514e-01 1.51492736e+02] [ 3.01219686e-01 -5.80292809e-03 9.53537114e-01 4.36881168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.299254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.86, Y:151.52, Z:43.70 [[ 1.46492660e-02 -9.99852685e-01 -8.94465795e-03 4.47856536e+02] [ 9.53576974e-01 1.66612098e-02 -3.00688143e-01 1.51519836e+02] [ 3.00792876e-01 -4.12455928e-03 9.53680572e-01 4.36956660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.329254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:447.86, Y:151.55, Z:43.70 [[ 1.68479070e-02 -9.99818859e-01 -8.85417449e-03 4.47857502e+02] [ 9.53603216e-01 1.87301408e-02 -3.00483090e-01 1.51546368e+02] [ 3.00594500e-01 -3.38085812e-03 9.53746044e-01 4.37030964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3592541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.86, Y:151.57, Z:43.71 [[ 1.93446180e-02 -9.99774552e-01 -8.75395351e-03 4.47859086e+02] [ 9.53676995e-01 2.10802699e-02 -3.00093005e-01 1.51572109e+02] [ 3.00209886e-01 -2.54325951e-03 9.53869780e-01 4.37106206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.3892541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.86, Y:151.60, Z:43.72 [[ 2.02846580e-02 -9.99756893e-01 -8.64222437e-03 4.47860449e+02] [ 9.53860715e-01 2.19419577e-02 -2.99446636e-01 1.51598282e+02] [ 2.99563466e-01 -2.16930569e-03 9.54073909e-01 4.37175427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.419254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.86, Y:151.62, Z:43.73 [[ 2.15397065e-02 -9.99731650e-01 -8.52461260e-03 4.47862019e+02] [ 9.54113978e-01 2.31025675e-02 -2.98551147e-01 1.51624218e+02] [ 2.98667972e-01 -1.70274795e-03 9.54355564e-01 4.37250648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.449254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.86, Y:151.65, Z:43.73 [[ 2.39859697e-02 -9.99677113e-01 -8.38704323e-03 4.47864796e+02] [ 9.54579306e-01 2.53945950e-02 -2.96872806e-01 1.51649704e+02] [ 2.96989935e-01 -8.85315759e-04 9.54880199e-01 4.37322530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.4792541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.87, Y:151.68, Z:43.74 [[ 2.45360587e-02 -9.99664510e-01 -8.29750133e-03 4.47866190e+02] [ 9.54770206e-01 2.58928302e-02 -2.96215150e-01 1.51675476e+02] [ 2.96330619e-01 -6.54254759e-04 9.55085198e-01 4.37399043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5092541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.87, Y:151.70, Z:43.75 [[ 2.52082355e-02 -9.99648683e-01 -8.18870005e-03 4.47867955e+02] [ 9.54975721e-01 2.65023071e-02 -2.95497887e-01 1.51701788e+02] [ 2.95611093e-01 -3.71029423e-04 9.55308298e-01 4.37476569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5392541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.87, Y:151.73, Z:43.76 [[ 2.58192877e-02 -9.99634106e-01 -8.06343994e-03 4.47871642e+02] [ 9.55378244e-01 2.70488963e-02 -2.94144129e-01 1.51728407e+02] [ 2.94254610e-01 -1.09043201e-04 9.55727060e-01 4.37554865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.569254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.87, Y:151.75, Z:43.76 [[ 2.59925526e-02 -9.99630546e-01 -7.94722025e-03 4.47874395e+02] [ 9.55668732e-01 2.71803318e-02 -2.93186809e-01 1.51753857e+02] [ 2.93294498e-01 2.57636451e-05 9.56022142e-01 4.37625778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.5992541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.88, Y:151.78, Z:43.77 [[ 2.53339898e-02 -9.99648041e-01 -7.87288294e-03 4.47877192e+02] [ 9.55941336e-01 2.65288344e-02 -2.92356604e-01 1.51779682e+02] [ 2.92462565e-01 -1.19455014e-04 9.56276965e-01 4.37699966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6292541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.88, Y:151.81, Z:43.78 [[ 2.35211792e-02 -9.99693253e-01 -7.75585969e-03 4.47882338e+02] [ 9.56314580e-01 2.47604392e-02 -2.91289108e-01 1.51806467e+02] [ 2.91391795e-01 -5.65578392e-04 9.56603628e-01 4.37774566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.6592541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.89, Y:151.83, Z:43.78 [[ 2.26304542e-02 -9.99714538e-01 -7.66195844e-03 4.47885476e+02] [ 9.56384813e-01 2.38808805e-02 -2.91131916e-01 1.51831820e+02] [ 2.91231783e-01 -7.39333200e-04 9.56652237e-01 4.37848380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.689254154 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.89, Y:151.86, Z:43.79 [[ 2.03183549e-02 -9.99764838e-01 -7.57848097e-03 4.47888219e+02] [ 9.56464725e-01 2.16445528e-02 -2.91044230e-01 1.51859081e+02] [ 2.91139820e-01 -1.33500976e-03 9.56679582e-01 4.37923731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7192541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.89, Y:151.89, Z:43.80 [[ 1.85448598e-02 -9.99799964e-01 -7.49140148e-03 4.47891297e+02] [ 9.56486883e-01 1.99226052e-02 -2.91094371e-01 1.51885350e+02] [ 2.91185390e-01 -1.76712294e-03 9.56665012e-01 4.37999080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7492541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:447.90, Y:151.91, Z:43.81 [[ 1.45554609e-02 -9.99866542e-01 -7.41872256e-03 4.47896747e+02] [ 9.56472394e-01 1.60857044e-02 -2.91379152e-01 1.51911819e+02] [ 2.91459600e-01 -2.85464547e-03 9.56578879e-01 4.38072194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.7792541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.90, Y:151.94, Z:43.81 [[ 1.26436106e-02 -9.99893169e-01 -7.33415456e-03 4.47900247e+02] [ 9.56465953e-01 1.42325853e-02 -2.91496680e-01 1.51937384e+02] [ 2.91569923e-01 -3.32929860e-03 9.56543724e-01 4.38144245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.809254154 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:447.90, Y:151.96, Z:43.82 [[ 1.06398090e-02 -9.99917130e-01 -7.24765594e-03 4.47903559e+02] [ 9.56583815e-01 1.22893917e-02 -2.91198174e-01 1.51964468e+02] [ 2.91263111e-01 -3.83469741e-03 9.56635299e-01 4.38222346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.839254154 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:447.91, Y:151.99, Z:43.83 [[ 7.62677718e-03 -9.99945320e-01 -7.15461252e-03 4.47909197e+02] [ 9.56694137e-01 9.37859691e-03 -2.90943930e-01 1.51990254e+02] [ 2.90995121e-01 -4.62581133e-03 9.56713354e-01 4.38301081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8692541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.91, Y:152.02, Z:43.84 [[ 5.81186634e-03 -9.99958213e-01 -7.05650425e-03 4.47911929e+02] [ 9.56798087e-01 7.61209858e-03 -2.90653535e-01 1.52016690e+02] [ 2.90695105e-01 -5.06241027e-03 9.56802345e-01 4.38377353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.8992541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:447.91, Y:152.04, Z:43.84 [[ 2.80667183e-03 -9.99971905e-01 -6.95067507e-03 4.47913926e+02] [ 9.57082335e-01 4.70050105e-03 -2.89778033e-01 1.52042424e+02] [ 2.89802564e-01 -5.83905648e-03 9.57068639e-01 4.38447334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.929254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.92, Y:152.07, Z:43.85 [[ 1.99431071e-03 -9.99974490e-01 -6.85872545e-03 4.47916793e+02] [ 9.57122151e-01 3.89558605e-03 -2.89658440e-01 1.52069175e+02] [ 2.89677770e-01 -5.98696913e-03 9.57105504e-01 4.38530940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.959254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.92, Y:152.10, Z:43.86 [[ 1.73499191e-03 -9.99975544e-01 -6.77503658e-03 4.47917305e+02] [ 9.57122629e-01 3.62314843e-03 -2.89660399e-01 1.52096442e+02] [ 2.89677862e-01 -5.98198237e-03 9.57105507e-01 4.38611454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 518.9892541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:447.92, Y:152.12, Z:43.87 [[-3.16249702e-03 -9.99972722e-01 -6.67482835e-03 4.47921375e+02] [ 9.57412597e-01 -1.10068033e-03 -2.88721158e-01 1.52122217e+02] [ 2.88705936e-01 -7.30364455e-03 9.57389962e-01 4.38669556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.0192541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.92, Y:152.15, Z:43.87 [[-5.41104000e-03 -9.99963766e-01 -6.57165689e-03 4.47924005e+02] [ 9.57607994e-01 -3.28877078e-03 -2.88055749e-01 1.52147915e+02] [ 2.88023699e-01 -7.85175235e-03 9.57591092e-01 4.38739301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.049254154 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.93, Y:152.17, Z:43.88 [[-7.37173700e-03 -9.99951897e-01 -6.47005417e-03 4.47926733e+02] [ 9.57732415e-01 -5.19952599e-03 -2.87613605e-01 1.52173601e+02] [ 2.87566128e-01 -8.31679246e-03 9.57724675e-01 4.38809469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.079254154 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:447.93, Y:152.20, Z:43.89 [[-1.15729046e-02 -9.99912783e-01 -6.36352371e-03 4.47931060e+02] [ 9.57912542e-01 -9.26087460e-03 -2.86910786e-01 1.52198395e+02] [ 2.86826831e-01 -9.41609033e-03 9.57936170e-01 4.38876125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1092541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:447.93, Y:152.22, Z:43.90 [[-1.31309685e-02 -9.99894078e-01 -6.27780250e-03 4.47933318e+02] [ 9.57764416e-01 -1.07735756e-02 -2.87352141e-01 1.52223421e+02] [ 2.87254069e-01 -9.78586777e-03 9.57804435e-01 4.38954070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.1392541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:447.93, Y:152.25, Z:43.90 [[-1.56267998e-02 -9.99858864e-01 -6.16882856e-03 4.47934893e+02] [ 9.57939694e-01 -1.32030037e-02 -2.86665700e-01 1.52248814e+02] [ 2.86543794e-01 -1.03890333e-02 9.58010815e-01 4.39020264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.169254154 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:447.94, Y:152.27, Z:43.91 [[-1.65322251e-02 -9.99844817e-01 -6.08498187e-03 4.47937389e+02] [ 9.57792506e-01 -1.40895384e-02 -2.87114960e-01 1.52274716e+02] [ 2.86984670e-01 -1.05747992e-02 9.57876805e-01 4.39102332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.199254154 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:447.94, Y:152.30, Z:43.92 [[-1.94389422e-02 -9.99793125e-01 -5.98614763e-03 4.47940232e+02] [ 9.57904539e-01 -1.69085876e-02 -2.86588544e-01 1.52300428e+02] [ 2.86428038e-01 -1.13051361e-02 9.58035058e-01 4.39168331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2292541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:447.94, Y:152.33, Z:43.92 [[-1.95144905e-02 -9.99792151e-01 -5.90247874e-03 4.47942025e+02] [ 9.57780689e-01 -1.70001433e-02 -2.86996772e-01 1.52325444e+02] [ 2.86836777e-01 -1.12538759e-02 9.57913364e-01 4.39246123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2592541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.94, Y:152.35, Z:43.93 [[-1.89795180e-02 -9.99802944e-01 -5.81810044e-03 4.47943534e+02] [ 9.57684883e-01 -1.65078483e-02 -2.87345013e-01 1.52351156e+02] [ 2.87192346e-01 -1.10255767e-02 9.57809476e-01 4.39328420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.2892541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.94, Y:152.38, Z:43.94 [[-1.91575423e-02 -9.99800199e-01 -5.70537663e-03 4.47944151e+02] [ 9.58074335e-01 -1.67257760e-02 -2.86031147e-01 1.52377122e+02] [ 2.85878571e-01 -1.09458287e-02 9.58203335e-01 4.39387909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.319254154 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:447.94, Y:152.40, Z:43.95 [[-1.81919342e-02 -9.99818790e-01 -5.60722754e-03 4.47944862e+02] [ 9.58206034e-01 -1.58328387e-02 -2.85640539e-01 1.52402378e+02] [ 2.85499999e-01 -1.05692331e-02 9.58320427e-01 4.39455249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3492541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.95, Y:152.43, Z:43.95 [[-1.69779875e-02 -9.99840705e-01 -5.50565530e-03 4.47945628e+02] [ 9.58327856e-01 -1.47021005e-02 -2.85292076e-01 1.52429376e+02] [ 2.85165686e-01 -1.01199081e-02 9.58424811e-01 4.39527091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.3792541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.95, Y:152.46, Z:43.96 [[-1.40014916e-02 -9.99887265e-01 -5.42352606e-03 4.47946518e+02] [ 9.58258793e-01 -1.18691291e-02 -2.85655752e-01 1.52455292e+02] [ 2.85559176e-01 -9.19674814e-03 9.58316950e-01 4.39598187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4092541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:447.95, Y:152.48, Z:43.97 [[-1.27550445e-02 -9.99904340e-01 -5.34967341e-03 4.47947291e+02] [ 9.58172309e-01 -1.06925888e-02 -2.85992125e-01 1.52481787e+02] [ 2.85907565e-01 -8.77375121e-03 9.58217035e-01 4.39680939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.439254154 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:447.95, Y:152.51, Z:43.97 [[-1.24358454e-02 -9.99908999e-01 -5.22917563e-03 4.47947704e+02] [ 9.58718312e-01 -1.04374691e-02 -2.84165897e-01 1.52507697e+02] [ 2.84085458e-01 -8.54714959e-03 9.58760866e-01 4.39741013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4692541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:447.95, Y:152.53, Z:43.98 [[-1.15563995e-02 -9.99919956e-01 -5.15081735e-03 4.47948634e+02] [ 9.58507629e-01 -9.61017357e-03 -2.84904842e-01 1.52534046e+02] [ 2.84832537e-01 -8.22957191e-03 9.58541966e-01 4.39825772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.4992541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.95, Y:152.56, Z:43.99 [[-1.23649256e-02 -9.99910977e-01 -5.01473834e-03 4.47949318e+02] [ 9.59333641e-01 -1.04484559e-02 -2.82081187e-01 1.52560067e+02] [ 2.82003679e-01 -8.29872008e-03 9.59377432e-01 4.39878970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.5292541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.95, Y:152.59, Z:44.00 [[-1.32720599e-02 -9.99899694e-01 -4.94522790e-03 4.47950176e+02] [ 9.59442063e-01 -1.13419501e-02 -2.81677631e-01 1.52586291e+02] [ 2.81593288e-01 -8.48310204e-03 9.59496356e-01 4.39954608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.559254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.95, Y:152.61, Z:44.00 [[-1.53371350e-02 -9.99870625e-01 -4.84830652e-03 4.47950924e+02] [ 9.59555267e-01 -1.33551964e-02 -2.81203358e-01 1.52611911e+02] [ 2.81102227e-01 -8.96507191e-03 9.59635955e-01 4.40029796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.589254154 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.95, Y:152.64, Z:44.01 [[-1.69704591e-02 -9.99844758e-01 -4.73952607e-03 4.47951374e+02] [ 9.59890900e-01 -1.49651679e-02 -2.79974113e-01 1.52638503e+02] [ 2.79859722e-01 -9.30071718e-03 9.59995850e-01 4.40097428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6192541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.95, Y:152.66, Z:44.02 [[-1.82223522e-02 -9.99822993e-01 -4.68275821e-03 4.47952191e+02] [ 9.59826635e-01 -1.61813975e-02 -2.80126744e-01 1.52662655e+02] [ 2.80001386e-01 -9.59920425e-03 9.59951603e-01 4.40164543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.6492541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.95, Y:152.69, Z:44.02 [[-1.93660552e-02 -9.99801962e-01 -4.58169251e-03 4.47952897e+02] [ 9.59993054e-01 -1.73141792e-02 -2.79488025e-01 1.52688953e+02] [ 2.79353347e-01 -9.81097350e-03 9.60138246e-01 4.40231655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.679254154 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.95, Y:152.71, Z:44.03 [[-2.01551128e-02 -9.99786786e-01 -4.48938945e-03 4.47953181e+02] [ 9.60018850e-01 -1.80990377e-02 -2.79349662e-01 1.52714312e+02] [ 2.79208847e-01 -9.94022243e-03 9.60178948e-01 4.40296277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.709254154 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:447.95, Y:152.74, Z:44.04 [[-2.04098127e-02 -9.99781972e-01 -4.40989790e-03 4.47952848e+02] [ 9.59729432e-01 -1.83556924e-02 -2.80325679e-01 1.52737612e+02] [ 2.80183613e-01 -9.95370339e-03 9.59894821e-01 4.40363024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7392541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.95, Y:152.76, Z:44.04 [[-2.10735254e-02 -9.99768620e-01 -4.31420377e-03 4.47952149e+02] [ 9.60020669e-01 -1.90305460e-02 -2.79281495e-01 1.52761840e+02] [ 2.79134774e-01 -1.00271705e-02 9.60199580e-01 4.40423572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.7692541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:447.95, Y:152.79, Z:44.05 [[-2.10711625e-02 -9.99769077e-01 -4.21876723e-03 4.47951324e+02] [ 9.60087659e-01 -1.90573198e-02 -2.79049289e-01 1.52786783e+02] [ 2.78904451e-01 -9.93027925e-03 9.60267513e-01 4.40491187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.799254154 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.95, Y:152.81, Z:44.06 [[-1.94826292e-02 -9.99801705e-01 -4.12053994e-03 4.47949877e+02] [ 9.60254780e-01 -1.75639043e-02 -2.78571834e-01 1.52810386e+02] [ 2.78444221e-01 -9.38407992e-03 9.60406557e-01 4.40558775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.829254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.95, Y:152.84, Z:44.06 [[-1.81797055e-02 -9.99826656e-01 -4.01945180e-03 4.47949439e+02] [ 9.60403790e-01 -1.63447532e-02 -2.78132000e-01 1.52836959e+02] [ 2.78018091e-01 -8.91665460e-03 9.60534453e-01 4.40638069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8592541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.95, Y:152.86, Z:44.07 [[-1.57320052e-02 -9.99875113e-01 -1.50387715e-03 4.47948001e+02] [ 9.60312203e-01 -1.46905809e-02 -2.78540229e-01 1.52863427e+02] [ 2.78483350e-01 -5.82618790e-03 9.60423385e-01 4.40723421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.8892541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.95, Y:152.89, Z:44.08 [[-1.26624367e-02 -9.99903861e-01 -5.65083354e-03 4.47947513e+02] [ 9.61111100e-01 -1.06116357e-02 -2.75958054e-01 1.52890981e+02] [ 2.75871559e-01 -8.92538024e-03 9.61153068e-01 4.40800475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.919254154 meters Centerline goodness : 0.996543 Centerline is valid? [True, True] Translation: X:447.94, Y:152.91, Z:44.09 [[-1.04263542e-02 -9.99943071e-01 2.26868504e-03 4.47942348e+02] [ 9.60688215e-01 -1.06464724e-02 -2.77425317e-01 1.52914430e+02] [ 2.77433677e-01 -7.13035650e-04 9.60744527e-01 4.40890074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.949254154 meters Centerline goodness : 0.997101 Centerline is valid? [True, True] Translation: X:447.94, Y:152.94, Z:44.10 [[-8.57313065e-03 -9.99946502e-01 -5.78751394e-03 4.47944477e+02] [ 9.60826871e-01 -6.63410346e-03 -2.77069871e-01 1.52941406e+02] [ 2.77016654e-01 -7.93615512e-03 9.60832343e-01 4.40954755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 519.9792541539999 meters Centerline goodness : 0.996480 Centerline is valid? [True, True] Translation: X:447.94, Y:152.97, Z:44.10 [[-6.49154435e-03 -9.99975178e-01 -2.73923800e-03 4.47941798e+02] [ 9.60751127e-01 -5.47714585e-03 -2.77357662e-01 1.52966007e+02] [ 2.77335774e-01 -4.43220556e-03 9.60762834e-01 4.41032049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0092541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:447.95, Y:152.99, Z:44.11 [[-7.06435900e-03 -9.99833434e-01 -1.68284979e-02 4.47945602e+02] [ 9.60739682e-01 -2.11840915e-03 -2.77443285e-01 1.52992561e+02] [ 2.77361423e-01 -1.81277646e-02 9.60594621e-01 4.41094106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0392541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.93, Y:153.02, Z:44.12 [[-4.03427081e-03 -9.99905379e-01 1.31513691e-02 4.47930889e+02] [ 9.61862526e-01 -7.47711492e-03 -2.73431115e-01 1.53019919e+02] [ 2.73503577e-01 1.15467139e-02 9.61801678e-01 4.41153793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.069254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.94, Y:153.05, Z:44.12 [[-3.66939779e-03 -9.99988375e-01 -3.12830811e-03 4.47937445e+02] [ 9.61860578e-01 -2.67380309e-03 -2.73527110e-01 1.53046948e+02] [ 2.73515566e-01 -4.01267602e-03 9.61859207e-01 4.41199858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.0992541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:447.94, Y:153.08, Z:44.13 [[-2.30991469e-03 -9.99966300e-01 -7.87802728e-03 4.47940991e+02] [ 9.61524294e-01 -5.67900684e-05 -2.74719909e-01 1.53075018e+02] [ 2.74710203e-01 -8.20949417e-03 9.61492022e-01 4.41287656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1292541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:447.94, Y:153.10, Z:44.14 [[-4.15798176e-03 -9.99991295e-01 3.47308792e-04 4.47935113e+02] [ 9.61810184e-01 -4.09427863e-03 -2.73686695e-01 1.53099381e+02] [ 2.73685735e-01 -8.03939151e-04 9.61818835e-01 4.41353516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.1592541539999 meters Centerline goodness : 0.995457 Centerline is valid? [True, True] Translation: X:447.94, Y:153.12, Z:44.14 [[-4.30884697e-03 -9.99974378e-01 -5.71634437e-03 4.47937635e+02] [ 9.61933088e-01 -2.58276679e-03 -2.73272875e-01 1.53123023e+02] [ 2.73251109e-01 -6.67623179e-03 9.61919570e-01 4.41405317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.189254154 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:447.93, Y:153.15, Z:44.15 [[-7.23767660e-03 -9.99973019e-01 1.25568807e-03 4.47933156e+02] [ 9.61667250e-01 -7.30464506e-03 -2.74121765e-01 1.53149407e+02] [ 2.74123541e-01 -7.76450593e-04 9.61694172e-01 4.41502314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2192541539999 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:447.94, Y:153.17, Z:44.16 [[-7.58950236e-03 -9.99961971e-01 -4.29603147e-03 4.47935636e+02] [ 9.61827566e-01 -6.12468419e-03 -2.73587686e-01 1.53173672e+02] [ 2.73550970e-01 -6.20843587e-03 9.61837472e-01 4.41560762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2492541539999 meters Centerline goodness : 0.998215 Centerline is valid? [True, True] Translation: X:447.94, Y:153.20, Z:44.16 [[-8.12593138e-03 -9.99948677e-01 -6.05082107e-03 4.47937609e+02] [ 9.62075487e-01 -6.16793469e-03 -2.72713611e-01 1.53200160e+02] [ 2.72662293e-01 -8.03739871e-03 9.62076231e-01 4.41632517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.2792541539999 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:447.94, Y:153.23, Z:44.17 [[-1.22810025e-02 -9.99875664e-01 -9.89112540e-03 4.47937801e+02] [ 9.62744637e-01 -9.15145817e-03 -2.70257311e-01 1.53226087e+02] [ 2.70133190e-01 -1.28416586e-02 9.62737322e-01 4.41682256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.309254154 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.93, Y:153.25, Z:44.18 [[-1.46179825e-02 -9.99891314e-01 1.91712419e-03 4.47932775e+02] [ 9.62868685e-01 -1.45935933e-02 -2.69575448e-01 1.53252986e+02] [ 2.69574127e-01 -2.09471033e-03 9.62977363e-01 4.41766003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.339254154 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:447.93, Y:153.28, Z:44.19 [[-1.57699002e-02 -9.99873742e-01 1.95186448e-03 4.47931660e+02] [ 9.61872922e-01 -1.57035706e-02 -2.73045562e-01 1.53275820e+02] [ 2.73041740e-01 -2.42845568e-03 9.61999122e-01 4.41854613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3692541539999 meters Centerline goodness : 0.997499 Centerline is valid? [True, True] Translation: X:447.93, Y:153.30, Z:44.19 [[-1.71231896e-02 -9.99844925e-01 4.11363747e-03 4.47930565e+02] [ 9.61344737e-01 -1.75943821e-02 -2.74784889e-01 1.53302848e+02] [ 2.74814653e-01 -7.50570026e-04 9.61496928e-01 4.41939310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.3992541539999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:447.94, Y:153.33, Z:44.20 [[-1.93930650e-02 -9.99795458e-01 -5.74027437e-03 4.47935172e+02] [ 9.61811486e-01 -1.70878464e-02 -2.73178827e-01 1.53329428e+02] [ 2.73024861e-01 -1.08188366e-02 9.61946141e-01 4.41996607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.429254154 meters Centerline goodness : 0.996633 Centerline is valid? [True, True] Translation: X:447.93, Y:153.36, Z:44.21 [[-2.07530589e-02 -9.99782602e-01 2.01482244e-03 4.47931337e+02] [ 9.61604086e-01 -2.05120877e-02 -2.73672864e-01 1.53355141e+02] [ 2.73654697e-01 -3.74208757e-03 9.61820723e-01 4.42087863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.459254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:447.93, Y:153.38, Z:44.21 [[-2.11689600e-02 -9.99762307e-01 -5.21576213e-03 4.47934956e+02] [ 9.62081871e-01 -1.89515598e-02 -2.72101658e-01 1.53380256e+02] [ 2.71938135e-01 -1.07780993e-02 9.62254376e-01 4.42140019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.4892541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.93, Y:153.41, Z:44.22 [[-2.16109108e-02 -9.99765283e-01 -1.53187543e-03 4.47933345e+02] [ 9.62355019e-01 -2.03869696e-02 -2.71029866e-01 1.53406821e+02] [ 2.70935021e-01 -7.33141027e-03 9.62569720e-01 4.42212996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.5192541539999 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:447.93, Y:153.43, Z:44.23 [[-2.22001780e-02 -9.99752492e-01 -1.45122176e-03 4.47932493e+02] [ 9.62149113e-01 -2.09707525e-02 -2.71715500e-01 1.53431836e+02] [ 2.71617815e-01 -7.42842418e-03 9.62376528e-01 4.42300003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.549254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.92, Y:153.47, Z:44.23 [[-1.58876663e-02 -9.98629926e-01 4.98583301e-02 4.47915312e+02] [ 9.65350987e-01 -2.83099479e-02 -2.59414761e-01 1.53470554e+02] [ 2.60470830e-01 4.40092930e-02 9.64478164e-01 4.42330172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.579254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.96, Y:153.49, Z:44.23 [[-1.93579838e-02 -9.98082769e-01 -5.87882196e-02 4.47958298e+02] [ 9.62715430e-01 -2.73913230e-03 -2.70502306e-01 1.53489065e+02] [ 2.69822662e-01 -6.18327054e-02 9.60922706e-01 4.42345024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6092541539999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:447.93, Y:153.51, Z:44.25 [[-1.60751722e-02 -9.99870064e-01 -1.20125900e-03 4.47930742e+02] [ 9.62456827e-01 -1.51480722e-02 -2.71011794e-01 1.53513114e+02] [ 2.70958383e-01 -5.51272119e-03 9.62575277e-01 4.42498594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.6392541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.93, Y:153.54, Z:44.26 [[-1.38828454e-02 -9.99838765e-01 1.13890742e-02 4.47925302e+02] [ 9.63095712e-01 -1.64329135e-02 -2.68657048e-01 1.53542152e+02] [ 2.68800887e-01 7.23904429e-03 9.63168562e-01 4.42570141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.669254154 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:447.93, Y:153.57, Z:44.26 [[-1.37116669e-02 -9.99788938e-01 -1.52993483e-02 4.47934821e+02] [ 9.62069054e-01 -9.02200302e-03 -2.72656815e-01 1.53565830e+02] [ 2.72461237e-01 -1.84576089e-02 9.61989704e-01 4.42642249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.699254154 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:447.93, Y:153.59, Z:44.27 [[-1.20131174e-02 -9.99927320e-01 -1.01923983e-03 4.47927841e+02] [ 9.62077075e-01 -1.12805767e-02 -2.72544400e-01 1.53592154e+02] [ 2.72513094e-01 -4.25469515e-03 9.62142667e-01 4.42731625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7292541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.93, Y:153.62, Z:44.28 [[-1.07993888e-02 -9.99941247e-01 -9.35609052e-04 4.47927629e+02] [ 9.62113502e-01 -1.01359165e-02 -2.72460772e-01 1.53618096e+02] [ 2.72435281e-01 -3.84257190e-03 9.62166437e-01 4.42792881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7592541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:447.93, Y:153.64, Z:44.29 [[-1.11561395e-02 -9.99937395e-01 -8.64021955e-04 4.47926939e+02] [ 9.61829673e-01 -1.04946984e-02 -2.73447511e-01 1.53643634e+02] [ 2.73421324e-01 -3.88166053e-03 9.61886538e-01 4.42867233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.7892541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.93, Y:153.67, Z:44.30 [[-1.34309193e-02 -9.99909498e-01 -7.78803829e-04 4.47926327e+02] [ 9.61586629e-01 -1.27025881e-02 -2.74207584e-01 1.53668735e+02] [ 2.74172875e-01 -4.43174728e-03 9.61670211e-01 4.42959760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.819254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.93, Y:153.70, Z:44.30 [[-1.40289593e-02 -9.99901350e-01 -6.91954691e-04 4.47927221e+02] [ 9.61681653e-01 -1.33032164e-02 -2.73845620e-01 1.53696224e+02] [ 2.73809400e-01 -4.50720918e-03 9.61773413e-01 4.43021218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8492541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.93, Y:153.72, Z:44.31 [[-1.43120503e-02 -9.99897394e-01 -6.05856610e-04 4.47927180e+02] [ 9.61677460e-01 -1.35990602e-02 -2.73845811e-01 1.53723525e+02] [ 2.73809474e-01 -4.50193367e-03 9.61773417e-01 4.43100577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.8792541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.93, Y:153.75, Z:44.32 [[-1.65456530e-02 -9.99862973e-01 -5.25411869e-04 4.47927274e+02] [ 9.61606109e-01 -1.57686094e-02 -2.73980004e-01 1.53748978e+02] [ 2.73934177e-01 -5.03841734e-03 9.61735245e-01 4.43180906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9092541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.93, Y:153.78, Z:44.33 [[-1.85614096e-02 -9.99827622e-01 -4.47974728e-04 4.47927521e+02] [ 9.61636991e-01 -1.77297605e-02 -2.73751625e-01 1.53775977e+02] [ 2.73696494e-01 -5.51200512e-03 9.61800316e-01 4.43256083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.939254154 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:447.93, Y:153.80, Z:44.34 [[-2.34338451e-02 -9.99725323e-01 -3.65259156e-04 4.47927346e+02] [ 9.61358815e-01 -2.24342749e-02 -2.74382820e-01 1.53801633e+02] [ 2.74299259e-01 -6.78098960e-03 9.61620473e-01 4.43362777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9692541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:447.93, Y:153.83, Z:44.34 [[-2.51569626e-02 -9.99683474e-01 -2.81698292e-04 4.47927976e+02] [ 9.61444827e-01 -2.41174975e-02 -2.73938296e-01 1.53828184e+02] [ 2.73844794e-01 -7.16229285e-03 9.61747228e-01 4.43432488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 520.9992541539999 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:447.93, Y:153.85, Z:44.35 [[-2.82565491e-02 -9.99584885e-01 5.62361108e-03 4.47925605e+02] [ 9.61130692e-01 -2.87143807e-02 -2.74596571e-01 1.53853485e+02] [ 2.74644060e-01 -2.35412627e-03 9.61543082e-01 4.43518259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.0292541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:447.93, Y:153.88, Z:44.36 [[-3.02042811e-02 -9.99531745e-01 -4.89827821e-03 4.47931039e+02] [ 9.61381787e-01 -2.77095758e-02 -2.73819719e-01 1.53881408e+02] [ 2.73555772e-01 -1.29796432e-02 9.61768563e-01 4.43570118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.059254154 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:447.93, Y:153.91, Z:44.37 [[-3.22399929e-02 -9.99469169e-01 4.68648549e-03 4.47926588e+02] [ 9.60516758e-01 -3.22792670e-02 -2.76343278e-01 1.53906302e+02] [ 2.76347863e-01 -4.40785747e-03 9.61047569e-01 4.43688122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.089254154 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:447.93, Y:153.81, Z:44.34 [[-3.27306734e-02 -9.99459464e-01 -3.07942464e-03 4.47931004e+02] [ 9.60598037e-01 -3.06068705e-02 -2.76251030e-01 1.53809794e+02] [ 2.76007455e-01 -1.19999715e-02 9.61080582e-01 4.43369311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1192541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.93, Y:153.83, Z:44.35 [[-3.48902230e-02 -9.99391134e-01 -1.84936595e-04 4.47929190e+02] [ 9.60133018e-01 -3.34683068e-02 -2.77532808e-01 1.53834759e+02] [ 2.77357638e-01 -9.86074528e-03 9.60716142e-01 4.43459528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.1492541539999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:447.93, Y:153.86, Z:44.35 [[-3.54613535e-02 -9.99371044e-01 -9.49580311e-05 4.47928417e+02] [ 9.59975161e-01 -3.40370271e-02 -2.78009301e-01 1.53861535e+02] [ 2.77831214e-01 -9.94974347e-03 9.60578378e-01 4.43549089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.179254154 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:447.93, Y:153.89, Z:44.36 [[-3.48535076e-02 -9.99392432e-01 -9.68103847e-06 4.47928062e+02] [ 9.59870106e-01 -3.34724812e-02 -2.78440250e-01 1.53887711e+02] [ 2.78270755e-01 -9.71391192e-03 9.60453553e-01 4.43628269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.209254154 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:447.93, Y:153.89, Z:44.36 [[-3.33219822e-02 -9.99444665e-01 8.09905263e-05 4.47927734e+02] [ 9.59923552e-01 -3.20268910e-02 -2.78426028e-01 1.53888499e+02] [ 2.78274002e-01 -9.19996241e-03 9.60457673e-01 4.43632089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2392541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.93, Y:153.89, Z:44.36 [[-3.08343827e-02 -9.99524507e-01 3.73055654e-05 4.47927592e+02] [ 9.59900756e-01 -2.96224322e-02 -2.78770606e-01 1.53892833e+02] [ 2.78639158e-01 -8.55990992e-03 9.60357719e-01 4.43632661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.2692541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.93, Y:153.92, Z:44.37 [[-2.60753751e-02 -9.99659980e-01 -6.63057625e-06 4.47925550e+02] [ 9.59726769e-01 -2.50318915e-02 -2.79817677e-01 1.53918651e+02] [ 2.79722367e-01 -7.30271444e-03 9.60053159e-01 4.43723945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.299254154 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:447.93, Y:153.92, Z:44.37 [[-2.28423727e-02 -9.99739076e-01 8.13062459e-05 4.47925186e+02] [ 9.59638053e-01 -2.19489338e-02 -2.80380190e-01 1.53918799e+02] [ 2.80308816e-01 -6.32652424e-03 9.59889026e-01 4.43713723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.329254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.92, Y:153.92, Z:44.37 [[-1.78265772e-02 -9.99841093e-01 3.75262551e-05 4.47923349e+02] [ 9.59767104e-01 -1.71226009e-02 -2.80274727e-01 1.53915976e+02] [ 2.80230832e-01 -4.96032259e-03 9.59919828e-01 4.43726353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3592541539999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:447.92, Y:153.94, Z:44.38 [[-1.60651780e-02 -9.99870947e-01 -5.93234275e-06 4.47922425e+02] [ 9.59810999e-01 -1.54198622e-02 -2.80223259e-01 1.53941858e+02] [ 2.80187004e-01 -4.50753046e-03 9.59934855e-01 4.43804066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.3892541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.92, Y:153.94, Z:44.38 [[-1.36954416e-02 -9.99906212e-01 5.55030001e-05 4.47922559e+02] [ 9.59638904e-01 -1.31595051e-02 -2.80927038e-01 1.53944216e+02] [ 2.80901421e-01 -3.79415701e-03 9.59729126e-01 4.43786495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4192541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:447.92, Y:153.95, Z:44.38 [[-1.30850384e-02 -9.99914387e-01 1.19868737e-05 4.47921743e+02] [ 9.59716930e-01 -1.25623729e-02 -2.80687729e-01 1.53945844e+02] [ 2.80663849e-01 -3.66130570e-03 9.59799145e-01 4.43817457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.449254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.92, Y:153.97, Z:44.39 [[-1.36241919e-02 -9.99907186e-01 -3.08948485e-05 4.47922470e+02] [ 9.59351285e-01 -1.30628888e-02 -2.81912173e-01 1.53971591e+02] [ 2.81885604e-01 -3.87046456e-03 9.59440215e-01 4.43884722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.4792541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:447.92, Y:153.98, Z:44.39 [[-1.49086249e-02 -9.99888859e-01 5.69735959e-05 4.47923066e+02] [ 9.59215317e-01 -1.43182572e-02 -2.82313589e-01 1.53977192e+02] [ 2.82283028e-01 -4.15425747e-03 9.59322174e-01 4.43891217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5092541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:447.92, Y:153.98, Z:44.39 [[-1.75221409e-02 -9.99846475e-01 1.32111114e-05 4.47922864e+02] [ 9.59164417e-01 -1.68129254e-02 -2.82348982e-01 1.53981668e+02] [ 2.82305856e-01 -4.93468701e-03 9.59311760e-01 4.43933683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5392541539999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:447.92, Y:154.01, Z:44.40 [[-2.06615163e-02 -9.99786528e-01 -2.95321737e-05 4.47923180e+02] [ 9.59008919e-01 -1.98104592e-02 -2.82682576e-01 1.54007461e+02] [ 2.82621646e-01 -5.86897226e-03 9.59213512e-01 4.44012057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.569254154 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:447.92, Y:154.02, Z:44.40 [[-2.75878429e-02 -9.99619382e-01 4.67172067e-05 4.47924862e+02] [ 9.58785784e-01 -2.64741241e-02 -2.82893871e-01 1.54018619e+02] [ 2.82787433e-01 -7.75963988e-03 9.59151216e-01 4.44049061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.5992541539999 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:447.93, Y:154.02, Z:44.41 [[-3.11439312e-02 -9.99514910e-01 2.53086906e-06 4.47926020e+02] [ 9.58666281e-01 -2.98718434e-02 -2.82960483e-01 1.54021655e+02] [ 2.82823297e-01 -8.81007556e-03 9.59131568e-01 4.44059260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6292541539999 meters Centerline goodness : 0.997809 Centerline is valid? [True, True] Translation: X:447.94, Y:154.05, Z:44.41 [[-3.63010372e-02 -9.99107195e-01 -2.16112641e-02 4.47935492e+02] [ 9.57820808e-01 -2.86159599e-02 -2.85937802e-01 1.54046851e+02] [ 2.85064089e-01 -3.10795573e-02 9.58004450e-01 4.44149160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.6592541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.64, Y:153.41, Z:44.90 [[ 7.28552403e-03 -6.71929086e-02 9.97713403e-01 4.47643922e+02] [ 9.68760845e-01 -2.46861822e-01 -2.36994855e-02 1.53409086e+02] [ 2.47889786e-01 9.66718343e-01 6.32953412e-02 4.49043638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.689254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.93, Y:153.56, Z:44.32 [[-4.00359818e-02 -9.99197732e-01 -1.00675769e-03 4.47925940e+02] [ 9.76549175e-01 -3.89151462e-02 -2.11748247e-01 1.53560683e+02] [ 2.11539190e-01 -9.46069734e-03 9.77323727e-01 4.43152198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7192541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:447.93, Y:153.59, Z:44.32 [[-4.29133132e-02 -9.99078356e-01 -9.41732581e-04 4.47925934e+02] [ 9.76402430e-01 -4.17395915e-02 -2.11887000e-01 1.53586656e+02] [ 2.11652408e-01 -1.00122832e-02 9.77293719e-01 4.43207082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7492541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.93, Y:153.61, Z:44.33 [[-4.55000313e-02 -9.98963952e-01 -8.76956924e-04 4.47926037e+02] [ 9.76280984e-01 -4.42808383e-02 -2.11930761e-01 1.53613698e+02] [ 2.11672358e-01 -1.04990126e-02 9.77284290e-01 4.43263439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.7792541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.93, Y:153.64, Z:44.33 [[-4.84335865e-02 -9.98826073e-01 -8.14955030e-04 4.47925766e+02] [ 9.76225202e-01 -4.71650400e-02 -2.11565154e-01 1.53641018e+02] [ 2.11278355e-01 -1.10424388e-02 9.77363556e-01 4.43319631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.809254154 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.93, Y:153.67, Z:44.34 [[-5.36312438e-02 -9.98560526e-01 -7.52295457e-04 4.47925307e+02] [ 9.76107492e-01 -5.22664296e-02 -2.10908475e-01 1.53667293e+02] [ 2.10565558e-01 -1.20456051e-02 9.77505524e-01 4.43376178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.839254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.94, Y:153.69, Z:44.35 [[-5.74563360e-02 -9.97824473e-01 -3.23278574e-02 4.47937763e+02] [ 9.75005313e-01 -4.91221930e-02 -2.16683293e-01 1.53694294e+02] [ 2.14623877e-01 -4.39696608e-02 9.75706544e-01 4.43468885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8692541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.91, Y:153.72, Z:44.35 [[-5.77659815e-02 -9.97841860e-01 3.12204004e-02 4.47909888e+02] [ 9.75392428e-01 -6.30762655e-02 -2.11260495e-01 1.53720850e+02] [ 2.12773831e-01 1.82484723e-02 9.76931057e-01 4.43541982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.8992541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.94, Y:153.75, Z:44.36 [[-6.24208161e-02 -9.97399129e-01 -3.60363536e-02 4.47936588e+02] [ 9.74502067e-01 -5.31113501e-02 -2.18002077e-01 1.53747269e+02] [ 2.15521142e-01 -4.87253686e-02 9.75282767e-01 4.43573195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.929254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.90, Y:153.77, Z:44.37 [[-6.30581229e-02 -9.97369571e-01 3.57436932e-02 4.47903085e+02] [ 9.75063531e-01 -6.92046198e-02 -2.10859745e-01 1.53774357e+02] [ 2.12778722e-01 2.15559520e-02 9.76862609e-01 4.43670058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.959254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:447.94, Y:153.80, Z:44.37 [[-6.98407532e-02 -9.95312533e-01 -6.68971681e-02 4.47942027e+02] [ 9.72962725e-01 -5.31658748e-02 -2.24759708e-01 1.53795165e+02] [ 2.20149508e-01 -8.07858382e-02 9.72115139e-01 4.43724730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 521.9892541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.91, Y:153.82, Z:44.39 [[-6.89689614e-02 -9.97616174e-01 2.29175536e-03 4.47909697e+02] [ 9.71990872e-01 -6.77143849e-02 -2.25052232e-01 1.53821868e+02] [ 2.24670931e-01 -1.32940534e-02 9.74344005e-01 4.43907283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.0192541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.91, Y:153.85, Z:44.40 [[-6.94648859e-02 -9.97565523e-01 -6.13645079e-03 4.47910896e+02] [ 9.71814105e-01 -6.62800055e-02 -2.26239491e-01 1.53847896e+02] [ 2.25281992e-01 -2.16791898e-02 9.74052379e-01 4.43963524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.049254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.87, Y:153.88, Z:44.40 [[-6.26345474e-02 -9.94997729e-01 7.78230805e-02 4.47874763e+02] [ 9.74285908e-01 -7.78677782e-02 -2.11432206e-01 1.53881553e+02] [ 2.16434476e-01 6.25789702e-02 9.74289480e-01 4.43971425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.079254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.91, Y:153.91, Z:44.39 [[-6.26008791e-02 -9.98038545e-01 -4.38180510e-04 4.47906621e+02] [ 9.75446564e-01 -6.10909233e-02 -2.11593716e-01 1.53912674e+02] [ 2.11151915e-01 -1.36733743e-02 9.77357615e-01 4.43867068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1092541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.90, Y:153.94, Z:44.39 [[-6.15335923e-02 -9.98104942e-01 -3.76008904e-04 4.47903546e+02] [ 9.75627803e-01 -6.00683597e-02 -2.11050189e-01 1.53938888e+02] [ 2.10627651e-01 -1.33535210e-02 9.77475154e-01 4.43922866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1392541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.90, Y:153.97, Z:44.40 [[-6.05504807e-02 -9.98165082e-01 -3.30469805e-04 4.47900382e+02] [ 9.75713891e-01 -5.91187204e-02 -2.10920317e-01 1.53965956e+02] [ 2.10513759e-01 -1.30937706e-02 9.77503202e-01 4.43982216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.1692541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:447.89, Y:153.99, Z:44.40 [[-5.79281676e-02 -9.98320718e-01 -2.68461844e-04 4.47894038e+02] [ 9.76001207e-01 -5.65765153e-02 -2.10287286e-01 1.53992511e+02] [ 2.09918966e-01 -1.24435763e-02 9.77639599e-01 4.44039334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.199254154 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:447.89, Y:154.02, Z:44.41 [[-5.71433830e-02 -9.98365961e-01 -2.04189815e-04 4.47890920e+02] [ 9.75955961e-01 -5.58176107e-02 -2.10699682e-01 1.54020032e+02] [ 2.10343993e-01 -1.22393729e-02 9.77550818e-01 4.44099721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2292541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.89, Y:154.05, Z:44.42 [[-5.64730735e-02 -9.98404113e-01 -1.39694654e-04 4.47887858e+02] [ 9.75936849e-01 -5.51727332e-02 -2.10957901e-01 1.54047320e+02] [ 2.10613529e-01 -1.20497742e-02 9.77495138e-01 4.44156486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2592541539999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:447.88, Y:154.07, Z:44.42 [[-5.53111855e-02 -9.98469162e-01 -7.49245117e-05 4.47881754e+02] [ 9.76058079e-01 -5.40538917e-02 -2.10686506e-01 1.54073499e+02] [ 2.10359929e-01 -1.17264511e-02 9.77553677e-01 4.44211205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.2892541539999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:447.88, Y:154.10, Z:44.43 [[-5.57783256e-02 -9.98443177e-01 -1.64812238e-05 4.47878421e+02] [ 9.75983694e-01 -5.45201384e-02 -2.10910843e-01 1.54100950e+02] [ 2.10581594e-01 -1.17803391e-02 9.77505302e-01 4.44269213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.319254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.88, Y:154.10, Z:44.43 [[-5.55451807e-02 -9.98456174e-01 4.28941758e-05 4.47875040e+02] [ 9.76027271e-01 -5.43064915e-02 -2.10764256e-01 1.54102595e+02] [ 2.10441202e-01 -1.16650728e-02 9.77536918e-01 4.44273046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3492541539999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:447.87, Y:154.13, Z:44.43 [[-5.61856485e-02 -9.98420338e-01 -4.04228262e-05 4.47872373e+02] [ 9.75946843e-01 -5.49124209e-02 -2.10979585e-01 1.54129381e+02] [ 2.10644089e-01 -1.18934753e-02 9.77490467e-01 4.44329608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.3792541539999 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:447.87, Y:154.13, Z:44.43 [[-5.69184957e-02 -9.98378828e-01 1.28535897e-05 4.47867042e+02] [ 9.75879698e-01 -5.56385174e-02 -2.11099908e-01 1.54133008e+02] [ 2.10758394e-01 -1.20029457e-02 9.77464490e-01 4.44337738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4092541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:447.86, Y:154.16, Z:44.44 [[-5.72121967e-02 -9.98362038e-01 -7.04514532e-05 4.47864866e+02] [ 9.75515139e-01 -5.58879203e-02 -2.12712843e-01 1.54159789e+02] [ 2.12360491e-01 -1.22384955e-02 9.77114753e-01 4.44383197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.439254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:447.86, Y:154.19, Z:44.44 [[-5.77790120e-02 -9.98329397e-01 -1.36650399e-05 4.47861605e+02] [ 9.75892809e-01 -5.64775931e-02 -2.10816286e-01 1.54186181e+02] [ 2.10463324e-01 -1.21940923e-02 9.77525700e-01 4.44449307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4692541539999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:447.86, Y:154.19, Z:44.45 [[-5.68803851e-02 -9.98380999e-01 4.79603562e-05 4.47858444e+02] [ 9.75850658e-01 -5.56069201e-02 -2.11242431e-01 1.54189969e+02] [ 2.10903096e-01 -1.19687487e-02 9.77433697e-01 4.44460027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.4992541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:447.85, Y:154.22, Z:44.45 [[-5.42637540e-02 -9.98526637e-01 -3.49346421e-05 4.47852654e+02] [ 9.76049382e-01 -5.30348725e-02 -2.10985562e-01 1.54216144e+02] [ 2.10672850e-01 -1.14829666e-02 9.77489177e-01 4.44516247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.5292541539999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:447.85, Y:154.22, Z:44.45 [[-5.17084961e-02 -9.98662221e-01 2.66563072e-05 4.47849690e+02] [ 9.76174479e-01 -5.05497636e-02 -2.11016845e-01 1.54216649e+02] [ 2.10735898e-01 -1.08853425e-02 9.77482425e-01 4.44520585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.559254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.85, Y:154.24, Z:44.46 [[-4.96857336e-02 -9.98764900e-01 -5.61221384e-05 4.47846456e+02] [ 9.76251920e-01 -4.85539129e-02 -2.11127229e-01 1.54244054e+02] [ 2.10863741e-01 -1.05448006e-02 9.77458587e-01 4.44581619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.589254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.84, Y:154.24, Z:44.46 [[-4.41011291e-02 -9.99027072e-01 1.08896836e-06 4.47840471e+02] [ 9.76424450e-01 -4.31035877e-02 -2.11512112e-01 1.54244015e+02] [ 2.11306373e-01 -9.32685967e-03 9.77375376e-01 4.44578770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6192541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.84, Y:154.27, Z:44.46 [[-4.16720560e-02 -9.99131339e-01 -8.13287020e-05 4.47837695e+02] [ 9.76541203e-01 -4.07126485e-02 -2.11446824e-01 1.54270981e+02] [ 2.11259837e-01 -8.89084472e-03 9.77389500e-01 4.44632904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.6492541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.83, Y:154.30, Z:44.47 [[-3.96582124e-02 -9.99213303e-01 -2.20821174e-05 4.47834931e+02] [ 9.76553884e-01 -3.87541931e-02 -2.11756050e-01 1.54297911e+02] [ 2.11588606e-01 -8.41943078e-03 9.77322554e-01 4.44690524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.679254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.83, Y:154.30, Z:44.47 [[-3.72983129e-02 -9.99304175e-01 3.34226121e-05 4.47832263e+02] [ 9.76587538e-01 -3.64575215e-02 -2.12008562e-01 1.54301221e+02] [ 2.11862259e-01 -7.87492156e-03 9.77267808e-01 4.44693007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.709254154 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:447.83, Y:154.33, Z:44.47 [[-3.39267360e-02 -9.99424321e-01 -4.84701956e-05 4.47827510e+02] [ 9.76564418e-01 -3.31404138e-02 -2.12658530e-01 1.54328237e+02] [ 2.12534501e-01 -7.26214409e-03 9.77126577e-01 4.44747275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7392541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.83, Y:154.33, Z:44.48 [[-3.17034714e-02 -9.99497319e-01 8.90297291e-06 4.47825361e+02] [ 9.76663609e-01 -3.09810926e-02 -2.12528509e-01 1.54330251e+02] [ 2.12421950e-01 -6.72919629e-03 9.77154866e-01 4.44754597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.7692541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.83, Y:154.36, Z:44.48 [[-3.19699214e-02 -9.99488829e-01 -7.27130170e-05 4.47825324e+02] [ 9.76655876e-01 -3.12241189e-02 -2.12528480e-01 1.54358060e+02] [ 2.12417571e-01 -6.86553441e-03 9.77154870e-01 4.44812692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.799254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.82, Y:154.38, Z:44.49 [[-3.10316884e-02 -9.99518401e-01 -1.50314572e-05 4.47823382e+02] [ 9.76677819e-01 -3.03193685e-02 -2.12558637e-01 1.54383981e+02] [ 2.12455813e-01 -6.61073430e-03 9.77148313e-01 4.44865237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.829254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:447.82, Y:154.39, Z:44.49 [[-2.95445224e-02 -9.99563465e-01 3.55524338e-05 4.47821603e+02] [ 9.76778660e-01 -2.88786131e-02 -2.12295727e-01 1.54389858e+02] [ 2.12204080e-01 -6.23744900e-03 9.77205466e-01 4.44882670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8592541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:447.82, Y:154.42, Z:44.49 [[-2.71478769e-02 -9.99631427e-01 -4.64468349e-05 4.47818865e+02] [ 9.76919864e-01 -2.65212307e-02 -2.11953303e-01 1.54416108e+02] [ 2.11873951e-01 -5.79945703e-03 9.77279794e-01 4.44933979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.8892541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:447.82, Y:154.44, Z:44.50 [[-2.57425994e-02 -9.99668604e-01 -2.90423765e-06 4.47817430e+02] [ 9.76825212e-01 -2.51537387e-02 -2.12555392e-01 1.54443774e+02] [ 2.12484879e-01 -5.47456524e-03 9.77149019e-01 4.44988592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9192541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:447.82, Y:154.45, Z:44.50 [[-2.15621802e-02 -9.99767508e-01 5.19576802e-05 4.47815069e+02] [ 9.76658403e-01 -2.10748908e-02 -2.13762048e-01 1.54447993e+02] [ 2.13713445e-01 -4.55843089e-03 9.76885758e-01 4.44987447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.949254154 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:447.81, Y:154.48, Z:44.50 [[-1.93911468e-02 -9.99811974e-01 -2.88890287e-05 4.47814723e+02] [ 9.76397124e-01 -1.89308039e-02 -2.15151764e-01 1.54475448e+02] [ 2.15110763e-01 -4.20024660e-03 9.76580625e-01 4.45032147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 522.9792541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.81, Y:154.48, Z:44.50 [[-1.75632508e-02 -9.99845754e-01 2.39145365e-05 4.47812947e+02] [ 9.76524567e-01 -1.71587275e-02 -2.14721560e-01 1.54477935e+02] [ 2.14688850e-01 -3.74785549e-03 9.76675305e-01 4.45044046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0092541539999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:447.82, Y:154.50, Z:44.51 [[-1.90428247e-02 -9.99258217e-01 -3.34721705e-02 4.47823680e+02] [ 9.75159935e-01 -1.11733768e-02 -2.21219928e-01 1.54501284e+02] [ 2.20681833e-01 -3.68533719e-02 9.74649351e-01 4.45118549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0392541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:447.80, Y:154.53, Z:44.53 [[-1.17718305e-02 -9.99304126e-01 3.53933245e-02 4.47795610e+02] [ 9.76822526e-01 -1.90581330e-02 -2.13200704e-01 1.54529813e+02] [ 2.13726874e-01 3.20632340e-02 9.76367130e-01 4.45255293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.069254154 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:447.81, Y:154.53, Z:44.52 [[-1.04255034e-02 -9.99945653e-01 4.92129551e-06 4.47811322e+02] [ 9.77068143e-01 -1.01880276e-02 -2.12682977e-01 1.54534843e+02] [ 2.12671469e-01 -2.21251866e-03 9.77121257e-01 4.45157771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.0992541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:447.82, Y:154.56, Z:44.52 [[-9.95038044e-03 -9.99895156e-01 -1.05198668e-02 4.47815519e+02] [ 9.76690430e-01 -7.46247040e-03 -2.14522997e-01 1.54561478e+02] [ 2.14422001e-01 -1.24092386e-02 9.76662284e-01 4.45225308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1292541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:447.81, Y:154.59, Z:44.53 [[-7.57528797e-03 -9.99915499e-01 1.05645424e-02 4.47807460e+02] [ 9.77126817e-01 -9.64714773e-03 -2.12438498e-01 1.54589288e+02] [ 2.12522464e-01 8.71361490e-03 9.77117329e-01 4.45288712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.1592541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:447.81, Y:154.59, Z:44.53 [[-6.25111422e-03 -9.99980462e-01 -1.38792658e-06 4.47812290e+02] [ 9.77494618e-01 -6.11025722e-03 -2.10871848e-01 1.54591144e+02] [ 2.10867720e-01 -1.31954070e-03 9.77513715e-01 4.45268125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.189254154 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:447.81, Y:154.62, Z:44.53 [[-5.64050752e-03 -9.99984089e-01 -8.19827499e-05 4.47812934e+02] [ 9.77430753e-01 -5.49597947e-03 -2.11184559e-01 1.54616544e+02] [ 2.11180748e-01 -1.27132056e-03 9.77446201e-01 4.45316908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2192541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:447.81, Y:154.64, Z:44.54 [[-5.37289539e-03 -9.99985566e-01 -1.69990946e-05 4.47813758e+02] [ 9.77390293e-01 -5.24789831e-03 -2.11378038e-01 1.54643544e+02] [ 2.11374897e-01 -1.15232683e-03 9.77404382e-01 4.45368249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2492541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:447.82, Y:154.64, Z:44.54 [[-4.85606779e-03 -9.99988208e-01 4.01721027e-05 4.47815871e+02] [ 9.77621710e-01 -4.75590225e-03 -2.10316839e-01 1.54644527e+02] [ 2.10314550e-01 -9.82039710e-04 9.77633278e-01 4.45369825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.2792541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:447.82, Y:154.67, Z:44.54 [[-5.17596589e-03 -9.99986604e-01 -4.04453074e-05 4.47817097e+02] [ 9.77610054e-01 -5.05163573e-03 -2.10364121e-01 1.54671368e+02] [ 2.10361098e-01 -1.12837725e-03 9.77623105e-01 4.45425132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.309254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:447.82, Y:154.67, Z:44.54 [[-4.89755310e-03 -9.99988007e-01 1.69576855e-05 4.47818461e+02] [ 9.77626915e-01 -4.79160326e-03 -2.10291833e-01 1.54673432e+02] [ 2.10289392e-01 -1.01333713e-03 9.77638658e-01 4.45430455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.339254154 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:447.83, Y:154.70, Z:44.56 [[-1.02519897e-02 -9.99579862e-01 -2.71107996e-02 4.47827092e+02] [ 9.75119219e-01 -3.98960989e-03 -2.21645195e-01 1.54696531e+02] [ 2.21443912e-01 -2.87085659e-02 9.74750436e-01 4.45554376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3692541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:447.81, Y:154.68, Z:44.55 [[-2.22584220e-03 -9.99785811e-01 2.05761657e-02 4.47813283e+02] [ 9.79120022e-01 -6.36146556e-03 -2.03183450e-01 1.54675927e+02] [ 2.03270825e-01 1.96942815e-02 9.78924464e-01 4.45506966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.3992541539999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:447.82, Y:154.70, Z:44.55 [[-2.70894574e-03 -9.99996178e-01 -5.52086072e-04 4.47824373e+02] [ 9.79349285e-01 -2.54140427e-03 -2.02159636e-01 1.54704502e+02] [ 2.02157460e-01 -1.08832458e-03 9.79352427e-01 4.45504085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.429254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:447.83, Y:154.73, Z:44.56 [[-2.87295487e-03 -9.99995752e-01 -4.91768111e-04 4.47826112e+02] [ 9.79444853e-01 -2.71472578e-03 -2.01693852e-01 1.54732130e+02] [ 2.01691661e-01 -1.06111708e-03 9.79448492e-01 4.45556846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.459254154 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:447.83, Y:154.76, Z:44.57 [[-7.08103834e-03 -9.99665333e-01 -2.48813491e-02 4.47834612e+02] [ 9.77156812e-01 -1.63221357e-03 -2.12513297e-01 1.54755733e+02] [ 2.12401564e-01 -2.58177946e-02 9.76841347e-01 4.45677832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.4892541539999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:447.82, Y:154.78, Z:44.57 [[-1.65887201e-03 -9.99700510e-01 2.44159631e-02 4.47820876e+02] [ 9.79604598e-01 -6.53042167e-03 -2.00828744e-01 1.54784538e+02] [ 2.00928045e-01 2.35848406e-02 9.79322049e-01 4.45722191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.5192541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:447.83, Y:154.81, Z:44.57 [[-1.63488888e-03 -9.99998567e-01 -4.38633172e-04 4.47834128e+02] [ 9.79582348e-01 -1.51332867e-03 -2.01037642e-01 1.54812302e+02] [ 2.01036691e-01 -7.58351517e-04 9.79583419e-01 4.45703485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.549254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.84, Y:154.84, Z:44.58 [[-2.08136905e-03 -9.99997753e-01 -4.03300223e-04 4.47835694e+02] [ 9.79732154e-01 -1.95840655e-03 -2.00302451e-01 1.54838199e+02] [ 2.00301211e-01 -8.12029518e-04 9.79734028e-01 4.45757159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.579254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.84, Y:154.87, Z:44.58 [[-2.54467502e-03 -9.99996703e-01 -3.43400684e-04 4.47837641e+02] [ 9.79712869e-01 -2.42424422e-03 -2.00391659e-01 1.54865431e+02] [ 2.00390166e-01 -8.46365720e-04 9.79715808e-01 4.45810130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6092541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:447.84, Y:154.89, Z:44.59 [[-4.29171361e-03 -9.99990751e-01 -2.83064400e-04 4.47842042e+02] [ 9.79804418e-01 -4.14848944e-03 -1.99915216e-01 1.54891758e+02] [ 1.99912192e-01 -1.13532660e-03 9.79813159e-01 4.45857464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6392541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.84, Y:154.92, Z:44.59 [[-6.78992442e-03 -9.99976922e-01 -2.28950195e-04 4.47843774e+02] [ 9.79871272e-01 -6.60772400e-03 -1.99520997e-01 1.54919040e+02] [ 1.99514880e-01 -1.57907421e-03 9.79893524e-01 4.45914895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.6692541539999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:447.85, Y:154.95, Z:44.60 [[-9.30910549e-03 -9.99956655e-01 -1.70042074e-04 4.47846130e+02] [ 9.79889298e-01 -9.08839147e-03 -1.99334807e-01 1.54946437e+02] [ 1.99324621e-01 -2.02225115e-03 9.79931429e-01 4.45966134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.699254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:447.85, Y:154.97, Z:44.60 [[-1.54812649e-02 -9.99880152e-01 -1.11086516e-04 4.47851498e+02] [ 9.79787750e-01 -1.51480112e-02 -1.99465542e-01 1.54974076e+02] [ 1.99439954e-01 -3.19682010e-03 9.79904835e-01 4.46006789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7292541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.86, Y:155.00, Z:44.61 [[-2.14888904e-02 -9.99489530e-01 -2.36412066e-02 4.47862160e+02] [ 9.78548065e-01 -1.61806876e-02 -2.05382252e-01 1.55000364e+02] [ 2.04894880e-01 -2.75474937e-02 9.78396251e-01 4.46102322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7592541539999 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:447.84, Y:155.03, Z:44.62 [[-2.38733881e-02 -9.99373029e-01 2.61459325e-02 4.47843085e+02] [ 9.78786703e-01 -2.86889930e-02 -2.02863334e-01 1.55027490e+02] [ 2.03486245e-01 2.07482560e-02 9.78857936e-01 4.46234760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.7892541539999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:448.60, Y:154.47, Z:44.74 [[-6.58044373e-03 1.26384802e-01 -9.91959465e-01 4.48601041e+02] [ 9.70949139e-01 2.38090016e-01 2.38938023e-02 1.54468039e+02] [ 2.39195458e-01 -9.62984956e-01 -1.24279953e-01 4.47398375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.819254154 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:447.87, Y:154.54, Z:44.47 [[-4.17397956e-02 -9.99124963e-01 2.66411972e-03 4.47867658e+02] [ 9.62439931e-01 -4.09228856e-02 -2.68392802e-01 1.54542445e+02] [ 2.68266972e-01 -8.63860548e-03 9.63305874e-01 4.44723815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8492541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:447.87, Y:154.55, Z:44.47 [[-4.46977501e-02 -9.98997382e-01 2.51820455e-03 4.47869164e+02] [ 9.62519747e-01 -4.37403476e-02 -2.67661202e-01 1.54546499e+02] [ 2.67502987e-01 -9.54003190e-03 9.63509803e-01 4.44739916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.8792541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:447.87, Y:154.55, Z:44.48 [[-4.72120810e-02 -9.98881996e-01 2.40384431e-03 4.47870601e+02] [ 9.62525323e-01 -4.61368044e-02 -2.67238465e-01 1.54551385e+02] [ 2.67050597e-01 -1.03031230e-02 9.63627430e-01 4.44750709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9092541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:447.87, Y:154.56, Z:44.48 [[-5.16435356e-02 -9.98662951e-01 2.29250644e-03 4.47873638e+02] [ 9.62332046e-01 -5.03780730e-02 -2.67168642e-01 1.54559239e+02] [ 2.66926916e-01 -1.15913808e-02 9.63647063e-01 4.44765460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.939254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:447.87, Y:154.56, Z:44.48 [[-5.35098344e-02 -9.98564941e-01 2.18098446e-03 4.47874941e+02] [ 9.62254853e-01 -5.21474891e-02 -2.67107166e-01 1.54560475e+02] [ 2.66837584e-01 -1.21941973e-02 9.63664363e-01 4.44767987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9692541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:447.88, Y:154.57, Z:44.48 [[-5.48033230e-02 -9.98495039e-01 2.06234297e-03 4.47876266e+02] [ 9.62469675e-01 -5.33756308e-02 -2.66088646e-01 1.54568638e+02] [ 2.65798272e-01 -1.25975995e-02 9.63946357e-01 4.44783654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 523.9992541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.90, Y:154.57, Z:44.48 [[-6.64196666e-02 -9.96690646e-01 -4.68634670e-02 4.47895883e+02] [ 9.53846764e-01 -4.96392508e-02 -2.96162618e-01 1.54565348e+02] [ 2.92856244e-01 -6.43715887e-02 9.53987169e-01 4.44836030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.0292541539999 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:447.85, Y:154.57, Z:44.49 [[-5.81958440e-02 -9.96816346e-01 5.45015155e-02 4.47854446e+02] [ 9.61511168e-01 -7.06525017e-02 -2.65526832e-01 1.54567626e+02] [ 2.68532155e-01 3.69512577e-02 9.62561731e-01 4.44907714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.059254154 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:447.88, Y:154.58, Z:44.48 [[-5.83530560e-02 -9.98294257e-01 1.87032644e-03 4.47878952e+02] [ 9.62056099e-01 -5.67348563e-02 -2.66888027e-01 1.54575192e+02] [ 2.66538897e-01 -1.37743730e-02 9.63725730e-01 4.44788004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.089254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:447.88, Y:154.58, Z:44.48 [[-5.86536452e-02 -9.98276846e-01 1.75731266e-03 4.47878637e+02] [ 9.62103943e-01 -5.69977232e-02 -2.66659450e-01 1.54575431e+02] [ 2.66300118e-01 -1.39498313e-02 9.63789214e-01 4.44789828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1192541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.90, Y:154.57, Z:44.48 [[-6.99498431e-02 -9.96144239e-01 -5.29497328e-02 4.47898313e+02] [ 9.52047627e-01 -5.08165755e-02 -3.01700167e-01 1.54570341e+02] [ 2.97846160e-01 -7.15145469e-02 9.51931371e-01 4.44842983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.1492541539999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:447.85, Y:154.57, Z:44.49 [[-5.77661726e-02 -9.96468664e-01 6.09366101e-02 4.47850842e+02] [ 9.60889227e-01 -7.20554690e-02 -2.67394659e-01 1.54573189e+02] [ 2.70841214e-01 4.31069661e-02 9.61658373e-01 4.44912083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.179254154 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:447.88, Y:154.59, Z:44.48 [[-5.69035502e-02 -9.98378359e-01 1.62415278e-03 4.47876748e+02] [ 9.61848876e-01 -5.52574035e-02 -2.67942828e-01 1.54587498e+02] [ 2.67598067e-01 -1.36847086e-02 9.63433445e-01 4.44804182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.209254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:447.89, Y:154.59, Z:44.49 [[-6.47867001e-02 -9.96777167e-01 -4.73071142e-02 4.47892489e+02] [ 9.52839270e-01 -4.77070210e-02 -2.99702127e-01 1.54587216e+02] [ 2.96479356e-01 -6.44927880e-02 9.52859209e-01 4.44860728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2392541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:447.85, Y:154.58, Z:44.49 [[-5.25064535e-02 -9.97103496e-01 5.50244641e-02 4.47848340e+02] [ 9.61568912e-01 -6.53513961e-02 -2.66672877e-01 1.54577713e+02] [ 2.69496384e-01 3.89077670e-02 9.62215093e-01 4.44914598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.2692541539999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:447.87, Y:154.58, Z:44.48 [[-4.97510161e-02 -9.98760586e-01 1.45918620e-03 4.47872224e+02] [ 9.62241837e-01 -4.83232771e-02 -2.67872185e-01 1.54582836e+02] [ 2.67610693e-01 -1.19228234e-02 9.63453353e-01 4.44778504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.299254154 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:447.87, Y:154.58, Z:44.48 [[-4.76891700e-02 -9.98861317e-01 1.34620223e-03 4.47870383e+02] [ 9.62422976e-01 -4.63100980e-02 -2.67576887e-01 1.54583081e+02] [ 2.67334544e-01 -1.14649037e-02 9.63535571e-01 4.44786302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.329254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.87, Y:154.58, Z:44.48 [[-4.40229668e-02 -9.99029764e-01 1.22856388e-03 4.47867293e+02] [ 9.63001281e-01 -4.27625625e-02 -2.66082500e-01 1.54582372e+02] [ 2.65876874e-01 -1.05306325e-02 9.63949477e-01 4.44790022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3592541539999 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:447.87, Y:154.58, Z:44.48 [[-4.33315285e-02 -9.98929286e-01 -1.62068012e-02 4.47872521e+02] [ 9.60046733e-01 -3.71448883e-02 -2.77363532e-01 1.54575767e+02] [ 2.76464555e-01 -2.75778723e-02 9.60628342e-01 4.44806021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.3892541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:447.86, Y:154.57, Z:44.48 [[-4.05883678e-02 -9.99173793e-01 2.07731321e-03 4.47862736e+02] [ 9.60123526e-01 -3.95774645e-02 -2.76760615e-01 1.54565553e+02] [ 2.76614169e-01 -9.23878436e-03 9.60936651e-01 4.44817431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4192541539999 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:447.86, Y:154.59, Z:44.48 [[-3.76626115e-02 -9.99149587e-01 1.67818748e-02 4.47856452e+02] [ 9.62985989e-01 -4.07747668e-02 -2.66449625e-01 1.54585362e+02] [ 2.66907310e-01 6.12552161e-03 9.63702737e-01 4.44813489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.449254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.86, Y:154.58, Z:44.48 [[-3.44781223e-02 -9.99405053e-01 8.94299666e-04 4.47860224e+02] [ 9.63293063e-01 -3.34706525e-02 -2.66357262e-01 1.54583456e+02] [ 2.66228726e-01 -8.32202559e-03 9.63873959e-01 4.44780484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.4792541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.86, Y:154.59, Z:44.48 [[-3.24561645e-02 -9.99472851e-01 7.85318809e-04 4.47859011e+02] [ 9.63240768e-01 -3.14892137e-02 -2.66787655e-01 1.54587535e+02] [ 2.66671747e-01 -7.90245292e-03 9.63755016e-01 4.44789119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5092541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.86, Y:154.59, Z:44.48 [[-3.01712888e-02 -9.99544514e-01 6.76603759e-04 4.47858081e+02] [ 9.63133094e-01 -2.92532354e-02 -2.67430164e-01 1.54590850e+02] [ 2.67328146e-01 -7.41705322e-03 9.63577008e-01 4.44795601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5392541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.87, Y:154.95, Z:44.59 [[-3.94003141e-02 -9.98546930e-01 -3.67647153e-02 4.47867579e+02] [ 9.55729275e-01 -2.69226077e-02 -2.93013186e-01 1.54952477e+02] [ 2.91597615e-01 -4.66819263e-02 9.55401292e-01 4.45884791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.569254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.84, Y:154.59, Z:44.49 [[-2.70923782e-02 -9.98722955e-01 4.26434336e-02 4.47837242e+02] [ 9.62706108e-01 -3.75554175e-02 -2.67930104e-01 1.54585585e+02] [ 2.69189437e-01 3.37942303e-02 9.62494154e-01 4.44893802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.5992541539999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:447.86, Y:154.59, Z:44.48 [[-2.33130697e-02 -9.99728054e-01 5.65438504e-04 4.47856261e+02] [ 9.62784466e-01 -2.26038942e-02 -2.69323480e-01 1.54588444e+02] [ 2.69263020e-01 -5.73436165e-03 9.63049606e-01 4.44773865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6292541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.85, Y:154.59, Z:44.48 [[-2.19391808e-02 -9.99759205e-01 4.53058109e-04 4.47854969e+02] [ 9.63173607e-01 -2.12577958e-02 -2.68038632e-01 1.54589736e+02] [ 2.67983721e-01 -5.44417439e-03 9.63408058e-01 4.44788949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.6592541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.85, Y:154.59, Z:44.48 [[-2.15439038e-02 -9.99767844e-01 3.43020169e-04 4.47854943e+02] [ 9.63182536e-01 -2.08474944e-02 -2.68038774e-01 1.54592267e+02] [ 2.67983699e-01 -5.44421052e-03 9.63408064e-01 4.44795691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.689254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.85, Y:154.59, Z:44.48 [[-1.97560134e-02 -9.99804804e-01 2.33196385e-04 4.47854670e+02] [ 9.63112042e-01 -1.90935766e-02 -2.68422486e-01 1.54594553e+02] [ 2.68374543e-01 -5.07836399e-03 9.63301259e-01 4.44803810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7192541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.85, Y:154.60, Z:44.48 [[-1.82185911e-02 -9.99834020e-01 1.23016587e-04 4.47854345e+02] [ 9.63267935e-01 -1.75852677e-02 -2.67965751e-01 1.54596214e+02] [ 2.67923437e-01 -4.76346051e-03 9.63428431e-01 4.44806767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7492541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.85, Y:154.60, Z:44.48 [[-1.58009127e-02 -9.99875158e-01 1.29886505e-05 4.47854405e+02] [ 9.63204700e-01 -1.52248994e-02 -2.68337302e-01 1.54597009e+02] [ 2.68304000e-01 -4.22746355e-03 9.63325019e-01 4.44810022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.7792541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:447.86, Y:154.62, Z:44.49 [[-1.52777624e-02 -9.99883284e-01 -9.65857427e-05 4.47855403e+02] [ 9.62775569e-01 -1.46847015e-02 -2.69902878e-01 1.54624504e+02] [ 2.69869957e-01 -4.21650242e-03 9.62887547e-01 4.44877246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.809254154 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:447.86, Y:154.65, Z:44.50 [[-1.62274988e-02 -9.99868325e-01 -1.56114623e-05 4.47855373e+02] [ 9.62993434e-01 -1.56248316e-02 -2.69071572e-01 1.54650048e+02] [ 2.69035898e-01 -4.38139236e-03 9.63120184e-01 4.44954026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.839254154 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:447.86, Y:154.65, Z:44.50 [[-1.78405927e-02 -9.99840843e-01 3.84574209e-05 4.47856957e+02] [ 9.62888855e-01 -1.71916025e-02 -2.69350146e-01 1.54654605e+02] [ 2.69307938e-01 -4.76833601e-03 9.63042313e-01 4.44964995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8692541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:447.86, Y:154.68, Z:44.50 [[-1.98663267e-02 -9.99802643e-01 -7.05783821e-05 4.47858208e+02] [ 9.62574967e-01 -1.91075195e-02 -2.70341146e-01 1.54681010e+02] [ 2.70286443e-01 -5.43862250e-03 9.62764592e-01 4.45035266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.8992541539999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:447.86, Y:154.69, Z:44.50 [[-2.14003893e-02 -9.99770985e-01 1.13056767e-05 4.47859217e+02] [ 9.62154995e-01 -2.05982808e-02 -2.71723161e-01 1.54685572e+02] [ 2.71661165e-01 -5.80410362e-03 9.62375459e-01 4.45047732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.929254154 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:447.86, Y:154.71, Z:44.51 [[-2.42395325e-02 -9.99706175e-01 -9.74302413e-05 4.47859930e+02] [ 9.62446243e-01 -2.33097441e-02 -2.70469749e-01 1.54712221e+02] [ 2.70388007e-01 -6.64983165e-03 9.62728469e-01 4.45127184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.959254154 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:447.86, Y:154.74, Z:44.52 [[-2.89650302e-02 -9.99580425e-01 -1.71214224e-05 4.47862381e+02] [ 9.62171502e-01 -2.78763826e-02 -2.71014589e-01 1.54737997e+02] [ 2.70900401e-01 -7.86641948e-03 9.62575240e-01 4.45201623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 524.9892541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:447.86, Y:154.74, Z:44.52 [[-3.07313980e-02 -9.99527677e-01 6.49794107e-05 4.47863514e+02] [ 9.61892873e-01 -2.95919524e-02 -2.71820560e-01 1.54744170e+02] [ 2.71694096e-01 -8.29092259e-03 9.62347951e-01 4.45219797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.0192541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.86, Y:154.77, Z:44.53 [[-3.25495975e-02 -9.99470121e-01 -4.42882765e-05 4.47864820e+02] [ 9.61725999e-01 -3.13083277e-02 -2.72218464e-01 1.54771462e+02] [ 2.72072835e-01 -8.90319462e-03 9.62235473e-01 4.45295369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.049254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.87, Y:154.77, Z:44.53 [[-3.31908520e-02 -9.99449031e-01 3.65758398e-05 4.47865959e+02] [ 9.61563587e-01 -3.19426890e-02 -2.72718048e-01 1.54772461e+02] [ 2.72568957e-01 -9.01657436e-03 9.62094000e-01 4.45296917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.079254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.87, Y:154.80, Z:44.54 [[-3.32524335e-02 -9.99446982e-01 -7.27996210e-05 4.47867594e+02] [ 9.61395946e-01 -3.19665363e-02 -2.73305646e-01 1.54799202e+02] [ 2.73152176e-01 -9.15806708e-03 9.61927242e-01 4.45372039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1092541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.87, Y:154.80, Z:44.54 [[-3.13861634e-02 -9.99507333e-01 6.55287504e-06 4.47867986e+02] [ 9.61460605e-01 -3.01932256e-02 -2.73279846e-01 1.54800287e+02] [ 2.73145408e-01 -8.57090558e-03 9.61934574e-01 4.45377180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1392541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.87, Y:154.83, Z:44.55 [[-2.70415465e-02 -9.99634305e-01 -1.02688599e-04 4.47868614e+02] [ 9.61594409e-01 -2.59844436e-02 -2.73241653e-01 1.54827400e+02] [ 2.73139061e-01 -7.48762165e-03 9.61945419e-01 4.45461339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.1692541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.87, Y:154.85, Z:44.55 [[-2.41907726e-02 -9.99707360e-01 -2.04196631e-05 4.47868779e+02] [ 9.61715636e-01 -2.32658770e-02 -2.73059948e-01 1.54854147e+02] [ 2.72979565e-01 -6.62516903e-03 9.61997019e-01 4.45539483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.199254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.87, Y:154.86, Z:44.55 [[-2.03437881e-02 -9.99793042e-01 5.76854656e-05 4.47869018e+02] [ 9.61896008e-01 -1.95883941e-02 -2.72712970e-01 1.54855491e+02] [ 2.72657660e-01 -5.49252746e-03 9.62095438e-01 4.45543218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2292541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.87, Y:154.88, Z:44.56 [[-1.67001579e-02 -9.99860541e-01 -5.10550226e-05 4.47869550e+02] [ 9.62002907e-01 -1.60539234e-02 -2.72566833e-01 1.54881312e+02] [ 2.72528001e-01 -4.60102421e-03 9.62136851e-01 4.45617207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2592541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.87, Y:154.88, Z:44.56 [[-1.23925200e-02 -9.99923210e-01 1.95396053e-05 4.47869919e+02] [ 9.62119696e-01 -1.19293256e-02 -2.72366262e-01 1.54881659e+02] [ 2.72345580e-01 -3.35650492e-03 9.62193649e-01 4.45619328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.2892541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.87, Y:154.91, Z:44.57 [[-5.93406642e-03 -9.99982389e-01 -8.86691753e-05 4.47871315e+02] [ 9.61954083e-01 -5.68417935e-03 -2.73152033e-01 1.54907356e+02] [ 2.73146719e-01 -1.70619798e-03 9.61970872e-01 4.45687362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.319254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.87, Y:154.93, Z:44.58 [[-3.64303187e-03 -9.99993364e-01 -4.16464077e-06 4.47872379e+02] [ 9.61833765e-01 -3.50287481e-03 -2.73612021e-01 1.54934002e+02] [ 2.73610191e-01 -1.00078300e-03 9.61840144e-01 4.45759480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3492541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.87, Y:154.93, Z:44.58 [[-1.30719072e-03 -9.99999143e-01 7.50870490e-05 4.47873632e+02] [ 9.61668032e-01 -1.27767449e-03 -2.74213355e-01 1.54934975e+02] [ 2.74213216e-01 -2.86240338e-04 9.61668878e-01 4.45758315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.3792541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.88, Y:154.96, Z:44.58 [[-3.70417089e-04 -9.99999931e-01 -3.15520811e-05 4.47875387e+02] [ 9.61449283e-01 -3.47461010e-04 -2.74982100e-01 1.54962338e+02] [ 2.74982070e-01 -1.32193794e-04 9.61449345e-01 4.45830457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4092541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.88, Y:154.96, Z:44.58 [[ 7.12357146e-05 -9.99999996e-01 4.70560049e-05 4.47879543e+02] [ 9.60996289e-01 5.54433910e-05 -2.76561259e-01 1.54964321e+02] [ 2.76561255e-01 6.49216854e-05 9.60996289e-01 4.45830850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.439254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.88, Y:154.99, Z:44.59 [[-1.14367642e-03 -9.99999344e-01 -5.87441295e-05 4.47881920e+02] [ 9.60943926e-01 -1.08275271e-03 -2.76741031e-01 1.54991717e+02] [ 2.76740786e-01 -3.72952005e-04 9.60944535e-01 4.45901865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4692541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.88, Y:154.99, Z:44.59 [[-2.03467938e-03 -9.99997930e-01 2.04432800e-05 4.47884364e+02] [ 9.60744982e-01 -1.96048356e-03 -2.77426092e-01 1.54994684e+02] [ 2.77425558e-01 -5.44832369e-04 9.60746982e-01 4.45908427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.4992541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.89, Y:155.02, Z:44.60 [[-4.06761266e-03 -9.99991724e-01 -8.54083794e-05 4.47887114e+02] [ 9.60730982e-01 -3.88421672e-03 -2.77454308e-01 1.55021299e+02] [ 2.77451680e-01 -1.21063113e-03 9.60738830e-01 4.45980773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.5292541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.89, Y:155.05, Z:44.61 [[-6.50995189e-03 -9.99978810e-01 -9.28085662e-07 4.47889709e+02] [ 9.60521961e-01 -6.25282611e-03 -2.78133898e-01 1.55048233e+02] [ 2.78127998e-01 -1.81152974e-03 9.60542313e-01 4.46057754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.559254154 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:447.90, Y:155.05, Z:44.61 [[-1.03252203e-02 -9.99946691e-01 7.59940340e-05 4.47895144e+02] [ 9.60438524e-01 -9.93841940e-03 -2.78314697e-01 1.55050660e+02] [ 2.78300615e-01 -2.80067295e-03 9.60489940e-01 4.46068102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.589254154 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.90, Y:155.08, Z:44.61 [[-1.29516172e-02 -9.99916124e-01 -3.00770996e-05 4.47897906e+02] [ 9.60496701e-01 -1.24326666e-02 -2.78013519e-01 1.55077388e+02] [ 2.77989827e-01 -3.62961365e-03 9.60577161e-01 4.46141200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6192541539999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:447.90, Y:155.08, Z:44.61 [[-1.47436701e-02 -9.99891305e-01 4.64329357e-05 4.47900573e+02] [ 9.60649003e-01 -1.41779136e-02 -2.77403101e-01 1.55079568e+02] [ 2.77373607e-01 -4.04533403e-03 9.60753620e-01 4.46148027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.6492541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.91, Y:155.11, Z:44.62 [[-1.99801855e-02 -9.99800374e-01 -6.01922396e-05 4.47905980e+02] [ 9.61011034e-01 -1.91884056e-02 -2.75843431e-01 1.55105928e+02] [ 2.75787210e-01 -5.56924832e-03 9.61202579e-01 4.46228457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.679254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.91, Y:155.11, Z:44.62 [[-2.23441533e-02 -9.99750338e-01 1.79739729e-05 4.47908204e+02] [ 9.60997084e-01 -2.14829855e-02 -2.75722842e-01 1.55109527e+02] [ 2.75654390e-01 -6.14352052e-03 9.61237179e-01 4.46242811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.709254154 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.91, Y:155.14, Z:44.63 [[-2.58038043e-02 -9.99667022e-01 -8.97109165e-05 4.47910650e+02] [ 9.61015425e-01 -2.47814008e-02 -2.75381982e-01 1.55136802e+02] [ 2.75288063e-01 -7.19211634e-03 9.61334882e-01 4.46319280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7392541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:447.91, Y:155.16, Z:44.64 [[-2.94449708e-02 -9.99566403e-01 -7.92532154e-06 4.47913097e+02] [ 9.61037419e-01 -2.83078138e-02 -2.74964992e-01 1.55163617e+02] [ 2.74845543e-01 -8.10395268e-03 9.61454239e-01 4.46393700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.7692541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:447.92, Y:155.17, Z:44.64 [[-3.72721617e-02 -9.99305149e-01 7.14090411e-05 4.47918397e+02] [ 9.60816902e-01 -3.58562648e-02 -2.74854887e-01 1.55174367e+02] [ 2.74666464e-01 -1.01758248e-02 9.61485718e-01 4.46422366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.799254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.92, Y:155.18, Z:44.64 [[-4.18407679e-02 -9.99124291e-01 2.84467314e-05 4.47920898e+02] [ 9.60519190e-01 -4.02319230e-02 -2.75289445e-01 1.55178059e+02] [ 2.75049516e-01 -1.14909981e-02 9.61361389e-01 4.46431413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.829254154 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:447.92, Y:155.21, Z:44.65 [[-4.67065670e-02 -9.98908653e-01 -1.12450771e-05 4.47923072e+02] [ 9.60230863e-01 -4.48949843e-02 -2.75574181e-01 1.55205309e+02] [ 2.75272929e-01 -1.28819218e-02 9.61279809e-01 4.46501106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8592541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.93, Y:155.21, Z:44.65 [[-5.57374751e-02 -9.98445457e-01 6.52762254e-05 4.47927104e+02] [ 9.59643676e-01 -5.35894431e-02 -2.76065549e-01 1.55212887e+02] [ 2.75639891e-01 -1.53245548e-02 9.61138808e-01 4.46518298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.8892541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:447.93, Y:155.20, Z:44.65 [[-5.59397122e-02 -9.98423700e-01 -4.56773773e-03 4.47932222e+02] [ 9.58962489e-01 -5.24540204e-02 -2.78638693e-01 1.55197155e+02] [ 2.77959879e-01 -1.99672574e-02 9.60385139e-01 4.46477387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9192541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.93, Y:155.22, Z:44.65 [[-6.10933567e-02 -9.98127317e-01 3.07599441e-03 4.47927943e+02] [ 9.58833483e-01 -5.95439313e-02 -2.77656034e-01 1.55220373e+02] [ 2.77319229e-01 -1.40135727e-02 9.60675630e-01 4.46537784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.949254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.93, Y:155.25, Z:44.66 [[-6.44885972e-02 -9.97918249e-01 -6.24519197e-04 4.47930315e+02] [ 9.58725371e-01 -6.17821401e-02 -2.77540322e-01 1.55247913e+02] [ 2.76923968e-01 -1.84969285e-02 9.60713786e-01 4.46604526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 525.9792541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.93, Y:155.27, Z:44.67 [[-6.80338181e-02 -9.97682870e-01 -5.39284782e-04 4.47930466e+02] [ 9.58576262e-01 -6.52171926e-02 -2.77269306e-01 1.55274927e+02] [ 2.76591666e-01 -1.93806351e-02 9.60792090e-01 4.46675589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0092541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.93, Y:155.30, Z:44.67 [[-6.88918651e-02 -9.97624029e-01 -4.54997866e-04 4.47929831e+02] [ 9.58554243e-01 -6.60674640e-02 -2.77144102e-01 1.55302324e+02] [ 2.76455555e-01 -1.95291142e-02 9.60828257e-01 4.46747677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0392541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.93, Y:155.33, Z:44.68 [[-6.90987802e-02 -9.97609754e-01 -3.71434792e-04 4.47928771e+02] [ 9.58514770e-01 -6.62876732e-02 -2.77228030e-01 1.55329590e+02] [ 2.76540765e-01 -1.95121444e-02 9.60804081e-01 4.46824408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.069254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.93, Y:155.36, Z:44.69 [[-6.77916203e-02 -9.97699461e-01 -2.87154817e-04 4.47925692e+02] [ 9.58741486e-01 -6.50648577e-02 -2.76733314e-01 1.55355395e+02] [ 2.76077995e-01 -1.90355070e-02 9.60946716e-01 4.46890415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.0992541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.92, Y:155.38, Z:44.70 [[-6.69258013e-02 -9.97757935e-01 -1.99165130e-04 4.47923336e+02] [ 9.58784853e-01 -6.42563882e-02 -2.76771969e-01 1.55381911e+02] [ 2.76138631e-01 -1.87141423e-02 9.60935605e-01 4.46963751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1292541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:447.92, Y:155.41, Z:44.70 [[-6.52430382e-02 -9.97869396e-01 -1.17334224e-04 4.47921283e+02] [ 9.58877555e-01 -6.26611109e-02 -2.76816581e-01 1.55408361e+02] [ 2.76219442e-01 -1.81728639e-02 9.60922768e-01 4.47037574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.1592541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:447.92, Y:155.44, Z:44.71 [[-6.35357573e-02 -9.97979562e-01 -3.53883833e-05 4.47918944e+02] [ 9.59145013e-01 -6.10535837e-02 -2.76248628e-01 1.55435693e+02] [ 2.75688324e-01 -1.75856084e-02 9.61086206e-01 4.47113009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.189254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.92, Y:155.44, Z:44.71 [[-6.14792036e-02 -9.98108364e-01 4.29165608e-05 4.47916706e+02] [ 9.59089479e-01 -5.90877120e-02 -2.76868224e-01 1.55437471e+02] [ 2.76347026e-01 -1.69804771e-02 9.60907896e-01 4.47118552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2192541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.92, Y:155.47, Z:44.72 [[-5.81920468e-02 -9.98165597e-01 -1.67070752e-02 4.47919305e+02] [ 9.58922284e-01 -5.12342979e-02 -2.79003762e-01 1.55465186e+02] [ 2.77635982e-01 -3.22565867e-02 9.60144663e-01 4.47228887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2492541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.90, Y:155.48, Z:44.73 [[-5.64578779e-02 -9.98329896e-01 1.22444480e-02 4.47903707e+02] [ 9.61066387e-01 -5.76649354e-02 -2.70233521e-01 1.55479991e+02] [ 2.70488278e-01 -3.48908369e-03 9.62716946e-01 4.47269524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.2792541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:447.91, Y:155.48, Z:44.72 [[-5.41595792e-02 -9.98532251e-01 2.90520442e-04 4.47906828e+02] [ 9.61406018e-01 -5.22244766e-02 -2.70131584e-01 1.55480319e+02] [ 2.69750271e-01 -1.43509048e-02 9.62823371e-01 4.47244758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.309254154 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:447.90, Y:155.48, Z:44.72 [[-5.21629352e-02 -9.98638572e-01 1.77422148e-04 4.47904271e+02] [ 9.61491870e-01 -5.02706168e-02 -2.70196686e-01 1.55480622e+02] [ 2.69837752e-01 -1.39236623e-02 9.62805131e-01 4.47244417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.339254154 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.90, Y:155.48, Z:44.73 [[-4.85775571e-02 -9.98819412e-01 6.43879445e-05 4.47899513e+02] [ 9.61492647e-01 -4.67796290e-02 -2.70820154e-01 1.55484608e+02] [ 2.70503439e-01 -1.30938730e-02 9.62629960e-01 4.47254744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3692541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.90, Y:155.51, Z:44.73 [[-4.77858971e-02 -9.98857601e-01 -4.44292455e-05 4.47896902e+02] [ 9.61686611e-01 -4.59955951e-02 -2.70265179e-01 1.55510573e+02] [ 2.69954384e-01 -1.29575910e-02 9.62785922e-01 4.47320821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.3992541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.89, Y:155.51, Z:44.73 [[-4.59204617e-02 -9.98945098e-01 3.83796394e-05 4.47894666e+02] [ 9.61676452e-01 -4.42176574e-02 -2.70597857e-01 1.55511249e+02] [ 2.70314100e-01 -1.23890697e-02 9.62692474e-01 4.47324183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.429254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.89, Y:155.54, Z:44.74 [[-4.27468291e-02 -9.99085934e-01 -7.03868533e-05 4.47889752e+02] [ 9.61867085e-01 -4.11353353e-02 -2.70406351e-01 1.55538336e+02] [ 2.70156286e-01 -1.16267169e-02 9.62746280e-01 4.47397176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.459254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.89, Y:155.54, Z:44.74 [[-3.99914082e-02 -9.99200024e-01 8.42079479e-06 4.47887331e+02] [ 9.62010141e-01 -3.85052195e-02 -2.70284732e-01 1.55537992e+02] [ 2.70068835e-01 -1.08009662e-02 9.62780434e-01 4.47397371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.4892541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.88, Y:155.57, Z:44.75 [[-3.52649229e-02 -9.99377994e-01 -9.99682535e-05 4.47882612e+02] [ 9.62278827e-01 -3.39288070e-02 -2.69941281e-01 1.55565122e+02] [ 2.69769984e-01 -9.61565578e-03 9.62876781e-01 4.47475374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.5192541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.88, Y:155.59, Z:44.75 [[-3.33890979e-02 -9.99442429e-01 -1.66223789e-05 4.47879912e+02] [ 9.62674455e-01 -3.21562939e-02 -2.68744983e-01 1.55591895e+02] [ 2.68594604e-01 -8.98915449e-03 9.63211365e-01 4.47543025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.549254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.88, Y:155.59, Z:44.75 [[-3.07319128e-02 -9.99527661e-01 6.37750769e-05 4.47877033e+02] [ 9.62823434e-01 -2.96205205e-02 -2.68502624e-01 1.55589184e+02] [ 2.68377689e-01 -8.19019508e-03 9.63278951e-01 4.47536709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.579254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.88, Y:155.62, Z:44.76 [[-3.09187836e-02 -9.99521899e-01 -4.50249540e-05 4.47877011e+02] [ 9.62818788e-01 -2.97713301e-02 -2.68502607e-01 1.55616623e+02] [ 2.68372895e-01 -8.34512488e-03 9.63278956e-01 4.47611812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6092541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.87, Y:155.62, Z:44.76 [[-2.83752108e-02 -9.99597343e-01 4.85292151e-06 4.47874450e+02] [ 9.62996527e-01 -2.73375383e-02 -2.68123756e-01 1.55618729e+02] [ 2.68015927e-01 -7.60339475e-03 9.63384477e-01 4.47610155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6392541539999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:447.87, Y:155.65, Z:44.77 [[-2.65953149e-02 -9.99646277e-01 -1.03494249e-04 4.47872358e+02] [ 9.63036825e-01 -2.55935685e-02 -2.68151159e-01 1.55645182e+02] [ 2.68053658e-01 -7.23123326e-03 9.63376845e-01 4.47680640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.6692541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.87, Y:155.67, Z:44.77 [[-2.51337863e-02 -9.99684096e-01 -2.83970329e-05 4.47870468e+02] [ 9.63185691e-01 -2.42085478e-02 -2.67744789e-01 1.55672018e+02] [ 2.67659520e-01 -6.75679192e-03 9.63489869e-01 4.47748018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.699254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.87, Y:155.68, Z:44.78 [[-2.33095808e-02 -9.99728293e-01 5.17035246e-05 4.47868621e+02] [ 9.63404113e-01 -2.24764636e-02 -2.67109197e-01 1.55680677e+02] [ 2.67037784e-01 -6.17639204e-03 9.63666267e-01 4.47767774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7292541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.87, Y:155.71, Z:44.78 [[-2.18646630e-02 -9.99760938e-01 -5.69883223e-05 4.47865517e+02] [ 9.63803828e-01 -2.10631350e-02 -2.65779093e-01 1.55707339e+02] [ 2.65714355e-01 -5.86609586e-03 9.64033957e-01 4.47835040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7592541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.86, Y:155.71, Z:44.78 [[-2.09777009e-02 -9.99779944e-01 2.35255973e-05 4.47864313e+02] [ 9.63960735e-01 -2.02323729e-02 -2.65274109e-01 1.55711139e+02] [ 2.65216210e-01 -5.54216316e-03 9.64173038e-01 4.47845354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.7892541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.86, Y:155.74, Z:44.79 [[-2.10366075e-02 -9.99778702e-01 -8.51098560e-05 4.47863223e+02] [ 9.64111998e-01 -2.02635996e-02 -2.64721442e-01 1.55737994e+02] [ 2.64661136e-01 -5.65089651e-03 9.64324920e-01 4.47916044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.819254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.86, Y:155.76, Z:44.80 [[-2.13919440e-02 -9.99771166e-01 -3.19015873e-06 4.47861976e+02] [ 9.64267099e-01 -2.06314264e-02 -2.64127445e-01 1.55764059e+02] [ 2.64066937e-01 -5.65327568e-03 9.64487788e-01 4.47985239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8492541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.86, Y:155.77, Z:44.80 [[-2.12158317e-02 -9.99774916e-01 7.09999834e-05 4.47861021e+02] [ 9.64384297e-01 -2.04835489e-02 -2.63710734e-01 1.55767695e+02] [ 2.63652832e-01 -5.52637129e-03 9.64601806e-01 4.47992288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.8792541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:447.86, Y:155.80, Z:44.81 [[-2.23528288e-02 -9.99750144e-01 -3.80204904e-05 4.47860267e+02] [ 9.64472917e-01 -2.15540726e-02 -2.63300996e-01 1.55795257e+02] [ 2.63234389e-01 -5.92219183e-03 9.64713732e-01 4.48054509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9092541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.86, Y:155.80, Z:44.81 [[-2.24509227e-02 -9.99747945e-01 4.36935819e-05 4.47859839e+02] [ 9.64553478e-01 -2.16720693e-02 -2.62996026e-01 1.55797810e+02] [ 2.62930684e-01 -5.86235865e-03 9.64796916e-01 4.48057798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.939254154 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.86, Y:155.82, Z:44.81 [[-2.35420553e-02 -9.99722845e-01 -6.57260100e-05 4.47859202e+02] [ 9.64584768e-01 -2.26973262e-02 -2.62794706e-01 1.55824998e+02] [ 2.62720379e-01 -6.25012580e-03 9.64851770e-01 4.48127708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9692541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.86, Y:155.83, Z:44.81 [[-2.39336315e-02 -9.99713550e-01 1.53481487e-05 4.47858607e+02] [ 9.64690813e-01 -2.30991981e-02 -2.62370085e-01 1.55828364e+02] [ 2.62295284e-01 -6.26466272e-03 9.64967325e-01 4.48127987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 526.9992541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.86, Y:155.85, Z:44.82 [[-2.61723032e-02 -9.99657442e-01 -9.39867969e-05 4.47858128e+02] [ 9.64560651e-01 -2.52287303e-02 -2.62652361e-01 1.55854778e+02] [ 2.62560016e-01 -6.96487320e-03 9.64890527e-01 4.48190991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.0292541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.86, Y:155.88, Z:44.83 [[-2.75981830e-02 -9.99619097e-01 -3.88746120e-05 4.47857782e+02] [ 9.64472778e-01 -2.66176173e-02 -2.62837902e-01 1.55880686e+02] [ 2.62736752e-01 -7.29134203e-03 9.64840005e-01 4.48261671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.059254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.86, Y:155.88, Z:44.83 [[-2.82595954e-02 -9.99600617e-01 3.40054896e-05 4.47857373e+02] [ 9.64536417e-01 -2.72772306e-02 -2.62536574e-01 1.55882644e+02] [ 2.62432649e-01 -7.38637783e-03 9.64922042e-01 4.48262012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.089254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.86, Y:155.91, Z:44.83 [[-3.07712978e-02 -9.99526449e-01 -7.58940411e-05 4.47856844e+02] [ 9.64479961e-01 -2.96724306e-02 -2.62484193e-01 1.55909426e+02] [ 2.62357641e-01 -8.15017756e-03 9.64936289e-01 4.48328146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1192541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.86, Y:155.91, Z:44.83 [[-3.11772537e-02 -9.99513871e-01 6.89379832e-06 4.47856434e+02] [ 9.64602033e-01 -3.00900760e-02 -2.61987606e-01 1.55911191e+02] [ 2.61860454e-01 -8.16140429e-03 9.65071238e-01 4.48328051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.1492541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.86, Y:155.94, Z:44.84 [[-3.23426981e-02 -9.99476833e-01 -1.03201342e-04 4.47855851e+02] [ 9.64615230e-01 -3.11875562e-02 -2.61810609e-01 1.55937911e+02] [ 2.61670419e-01 -8.56721105e-03 9.65119264e-01 4.48400443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.179254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.85, Y:155.96, Z:44.85 [[-3.39468896e-02 -9.99423638e-01 -2.19821253e-05 4.47854665e+02] [ 9.64499263e-01 -3.27548684e-02 -2.62046351e-01 1.55963570e+02] [ 2.61894597e-01 -8.91686030e-03 9.65055288e-01 4.48467028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.209254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.85, Y:155.97, Z:44.85 [[-3.40322466e-02 -9.99420734e-01 5.28430938e-05 4.47854213e+02] [ 9.64425756e-01 -3.28544676e-02 -2.62304298e-01 1.55967038e+02] [ 2.62154090e-01 -8.87584129e-03 9.64985209e-01 4.48476360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2392541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.85, Y:155.99, Z:44.85 [[-3.48005539e-02 -9.99394276e-01 -5.76313257e-05 4.47854058e+02] [ 9.64396780e-01 -3.35667564e-02 -2.62320650e-01 1.55993040e+02] [ 2.62159821e-01 -9.18448336e-03 9.64980763e-01 4.48541039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.2692541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.85, Y:156.00, Z:44.85 [[-3.46141480e-02 -9.99400751e-01 1.66037905e-05 4.47853762e+02] [ 9.64428041e-01 -3.34072282e-02 -2.62226068e-01 1.55995278e+02] [ 2.62069483e-01 -9.06071876e-03 9.65006471e-01 4.48544536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.299254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.85, Y:156.02, Z:44.86 [[-3.50589926e-02 -9.99385240e-01 -9.37798053e-05 4.47852943e+02] [ 9.64303639e-01 -3.38036656e-02 -2.62632452e-01 1.56022489e+02] [ 2.62467826e-01 -9.29806138e-03 9.64895946e-01 4.48613726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.329254154 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.85, Y:156.05, Z:44.87 [[-3.54078271e-02 -9.99372946e-01 -1.35332021e-05 4.47852247e+02] [ 9.64132197e-01 -3.41556814e-02 -2.63215684e-01 1.56049118e+02] [ 2.63050171e-01 -9.33294320e-03 9.64737013e-01 4.48685666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3592541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.85, Y:156.05, Z:44.87 [[-3.47790217e-02 -9.99395025e-01 6.76749291e-05 4.47851493e+02] [ 9.64054092e-01 -3.35670029e-02 -2.63577246e-01 1.56051867e+02] [ 2.63420060e-01 -9.10171645e-03 9.64638290e-01 4.48691769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.3892541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.85, Y:156.08, Z:44.88 [[-3.48794772e-02 -9.99391525e-01 -4.22264926e-05 4.47850592e+02] [ 9.63966389e-01 -3.36319647e-02 -2.63889545e-01 1.56078903e+02] [ 2.63727554e-01 -9.24503427e-03 9.64552905e-01 4.48766367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4192541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.85, Y:156.08, Z:44.88 [[-3.35428594e-02 -9.99437279e-01 3.75482712e-05 4.47848487e+02] [ 9.63930799e-01 -3.23611250e-02 -2.64178296e-01 1.56077294e+02] [ 2.64030852e-01 -8.82510151e-03 9.64473860e-01 4.48761326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.449254154 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.85, Y:156.10, Z:44.88 [[-3.27485829e-02 -9.99463619e-01 -7.22542904e-05 4.47847647e+02] [ 9.63986207e-01 -3.15670338e-02 -2.64072178e-01 1.56104470e+02] [ 2.63928254e-01 -8.71764175e-03 9.64502918e-01 4.48833151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.4792541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.85, Y:156.11, Z:44.88 [[-3.10029677e-02 -9.99519292e-01 6.24862329e-06 4.47846851e+02] [ 9.64033649e-01 -2.99039293e-02 -2.64092556e-01 1.56106179e+02] [ 2.63965791e-01 -8.18162908e-03 9.64497342e-01 4.48837404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5092541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.85, Y:156.13, Z:44.89 [[-2.98226864e-02 -9.99555199e-01 -1.03225893e-04 4.47846277e+02] [ 9.64084834e-01 -2.87371266e-02 -2.64035245e-01 1.56133028e+02] [ 2.63914835e-01 -7.97375881e-03 9.64513027e-01 4.48908515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5392541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.84, Y:156.16, Z:44.90 [[-2.68496422e-02 -9.99639483e-01 -2.69957741e-05 4.47844676e+02] [ 9.64165592e-01 -2.58897070e-02 -2.64034910e-01 1.56158864e+02] [ 2.63939022e-01 -7.11527125e-03 9.64513124e-01 4.48977972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.569254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.85, Y:156.15, Z:44.89 [[-1.94299391e-02 -9.99811191e-01 2.46464970e-04 4.47846345e+02] [ 9.64492170e-01 -1.88085043e-02 -2.63440873e-01 1.56149317e+02] [ 2.63395769e-01 -4.88092659e-03 9.64675513e-01 4.48945895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.5992541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.84, Y:156.17, Z:44.90 [[-1.79976685e-02 -9.99830571e-01 -3.86164731e-03 4.47842910e+02] [ 9.64215699e-01 -1.63345510e-02 -2.64615323e-01 1.56172078e+02] [ 2.64507411e-01 -8.48591982e-03 9.64346317e-01 4.49009252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6292541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.84, Y:156.20, Z:44.91 [[-1.61193328e-02 -9.99869840e-01 -6.85052889e-04 4.47840576e+02] [ 9.64158666e-01 -1.53621363e-02 -2.64881241e-01 1.56199153e+02] [ 2.64836240e-01 -4.93020856e-03 9.64280799e-01 4.49094160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.6592541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.84, Y:156.23, Z:44.92 [[-1.43910784e-02 -9.99896257e-01 -6.10805237e-04 4.47839892e+02] [ 9.64181494e-01 -1.37152390e-02 -2.64888542e-01 1.56225700e+02] [ 2.64852685e-01 -4.40095889e-03 9.64278843e-01 4.49167128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.689254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.84, Y:156.25, Z:44.92 [[-1.26293676e-02 -9.99920106e-01 -5.29636563e-04 4.47839568e+02] [ 9.64229437e-01 -1.20383244e-02 -2.64795527e-01 1.56252480e+02] [ 2.64767996e-01 -3.85489121e-03 9.64304438e-01 4.49241808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7192541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.84, Y:156.28, Z:44.93 [[-1.13951181e-02 -9.99934973e-01 -4.48123951e-04 4.47839072e+02] [ 9.64234786e-01 -1.08696009e-02 -2.64826601e-01 1.56278897e+02] [ 2.64804509e-01 -3.44982710e-03 9.64295946e-01 4.49311487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7492541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.84, Y:156.31, Z:44.94 [[-9.36005663e-03 -9.99956123e-01 -3.74814597e-04 4.47839031e+02] [ 9.64284087e-01 -8.92692454e-03 -2.64719680e-01 1.56306298e+02] [ 2.64704719e-01 -2.83921895e-03 9.64325334e-01 4.49384914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.7792541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.84, Y:156.33, Z:44.95 [[-9.81343604e-03 -9.99951804e-01 -2.93921435e-04 4.47838581e+02] [ 9.64341578e-01 -9.38621624e-03 -2.64494271e-01 1.56332969e+02] [ 2.64478765e-01 -2.87903827e-03 9.64387212e-01 4.49462572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.809254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.84, Y:156.36, Z:44.95 [[-1.02348852e-02 -9.99947599e-01 -2.13674480e-04 4.47838631e+02] [ 9.64333909e-01 -9.81384278e-03 -2.64506713e-01 1.56359437e+02] [ 2.64490756e-01 -2.91324939e-03 9.64383820e-01 4.49536098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.839254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.84, Y:156.39, Z:44.96 [[-1.23060140e-02 -9.99924269e-01 -1.33030708e-04 4.47839207e+02] [ 9.64408538e-01 -1.18337809e-02 -2.64151723e-01 1.56385857e+02] [ 2.64130144e-01 -3.37895076e-03 9.64481130e-01 4.49608118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8692541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.84, Y:156.41, Z:44.97 [[-1.41876067e-02 -9.99899349e-01 -6.07417375e-05 4.47839972e+02] [ 9.64468563e-01 -1.36688501e-02 -2.63843805e-01 1.56413070e+02] [ 2.63816418e-01 -3.80189562e-03 9.64565417e-01 4.49681087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.8992541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.84, Y:156.42, Z:44.97 [[-1.61411354e-02 -9.99869723e-01 1.78486115e-05 4.47840610e+02] [ 9.64536295e-01 -1.55754430e-02 -2.63490305e-01 1.56417976e+02] [ 2.63456256e-01 -4.23581706e-03 9.64662044e-01 4.49692806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.929254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.84, Y:156.44, Z:44.98 [[-1.90462270e-02 -9.99818600e-01 -9.07969699e-05 4.47841577e+02] [ 9.64450884e-01 -1.83485426e-02 -2.63624399e-01 1.56444760e+02] [ 2.63574912e-01 -5.10861938e-03 9.64625403e-01 4.49765741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.959254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.84, Y:156.47, Z:44.98 [[-2.57973066e-02 -9.99667194e-01 -1.03174630e-05 4.47843383e+02] [ 9.64294698e-01 -2.48817665e-02 -2.63660072e-01 1.56472185e+02] [ 2.63572068e-01 -6.81166879e-03 9.64615657e-01 4.49833193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 527.9892541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:447.84, Y:156.48, Z:44.99 [[-2.88411071e-02 -9.99584006e-01 7.07825331e-05 4.47844195e+02] [ 9.64163483e-01 -2.78377982e-02 -2.63844337e-01 1.56478520e+02] [ 2.63736550e-01 -7.54131686e-03 9.64565270e-01 4.49851897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.0192541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.85, Y:156.51, Z:44.99 [[-3.26149879e-02 -9.99467989e-01 -3.84901729e-05 4.47845123e+02] [ 9.63986086e-01 -3.14469599e-02 -2.64086944e-01 1.56505010e+02] [ 2.63945236e-01 -8.65029647e-03 9.64498877e-01 4.49923019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.049254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.85, Y:156.51, Z:44.99 [[-3.57491468e-02 -9.99360794e-01 4.10614803e-05 4.47845788e+02] [ 9.63906794e-01 -3.44917329e-02 -2.63996235e-01 1.56508012e+02] [ 2.63828904e-01 -9.39806073e-03 9.64523709e-01 4.49926008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.079254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.84, Y:156.53, Z:45.00 [[-4.31825488e-02 -9.99055756e-01 4.78160571e-03 4.47844655e+02] [ 9.63055847e-01 -4.28989650e-02 -2.65862962e-01 1.56534382e+02] [ 2.65817048e-01 -6.87568699e-03 9.63998974e-01 4.50004639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1092541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.85, Y:156.56, Z:45.01 [[-4.67001052e-02 -9.98895811e-01 -5.12433173e-03 4.47850012e+02] [ 9.63220289e-01 -4.36720437e-02 -2.65140393e-01 1.56561855e+02] [ 2.64623838e-01 -1.73179445e-02 9.64196201e-01 4.50051537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1392541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.85, Y:156.57, Z:45.01 [[-4.98391898e-02 -9.98757255e-01 1.46649641e-05 4.47847464e+02] [ 9.62839756e-01 -4.80507656e-02 -2.65764423e-01 1.56566585e+02] [ 2.65434851e-01 -1.32313635e-02 9.64038003e-01 4.50075821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.1692541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.85, Y:156.59, Z:45.01 [[-5.60207474e-02 -9.98429600e-01 -9.53052235e-05 4.47846922e+02] [ 9.62305071e-01 -5.39683963e-02 -2.66563995e-01 1.56593582e+02] [ 2.66140240e-01 -1.50248269e-02 9.63817217e-01 4.50149865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.199254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.85, Y:156.62, Z:45.02 [[-5.86165247e-02 -9.98280573e-01 -1.63961675e-05 4.47846152e+02] [ 9.62227862e-01 -5.64952260e-02 -2.66319041e-01 1.56620447e+02] [ 2.65860199e-01 -1.56264735e-02 9.63884935e-01 4.50223559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2292541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.83, Y:156.60, Z:45.01 [[-4.62638788e-02 -9.97993002e-01 4.32391235e-02 4.47830452e+02] [ 9.69315902e-01 -5.53117300e-02 -2.39514708e-01 1.56597671e+02] [ 2.41425633e-01 3.08314905e-02 9.69929422e-01 4.50111462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2592541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.87, Y:156.62, Z:45.01 [[-5.51529138e-02 -9.96327705e-01 -6.54924432e-02 4.47874583e+02] [ 9.67177962e-01 -3.70144937e-02 -2.51389571e-01 1.56615016e+02] [ 2.48042225e-01 -7.72077151e-02 9.65667657e-01 4.50079442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.2892541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.84, Y:156.64, Z:45.03 [[-5.58779586e-02 -9.98436120e-01 -1.72292285e-03 4.47842463e+02] [ 9.66120382e-01 -5.36337465e-02 -2.52457579e-01 1.56638410e+02] [ 2.51970359e-01 -1.57713650e-02 9.67606430e-01 4.50291709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.319254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.81, Y:156.68, Z:45.04 [[-4.94414011e-02 -9.95856742e-01 7.63210108e-02 4.47809827e+02] [ 9.69702852e-01 -6.61649870e-02 -2.35156487e-01 1.56679335e+02] [ 2.39231952e-01 6.23822356e-02 9.68956413e-01 4.50387976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3492541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.88, Y:156.70, Z:45.03 [[-5.68629930e-02 -9.94681068e-01 -8.58846500e-02 4.47877930e+02] [ 9.67649234e-01 -3.37286924e-02 -2.50034667e-01 1.56698635e+02] [ 2.45807972e-01 -9.73239353e-02 9.64420288e-01 4.50253553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.3792541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.83, Y:156.72, Z:45.05 [[-5.67494913e-02 -9.98387327e-01 -1.49668918e-03 4.47833805e+02] [ 9.66441326e-01 -5.45573270e-02 -2.51027214e-01 1.56720635e+02] [ 2.50540734e-01 -1.56921290e-02 9.67978873e-01 4.50528921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4092541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.83, Y:156.75, Z:45.06 [[-5.62753996e-02 -9.98414271e-01 -1.42216348e-03 4.47831507e+02] [ 9.66587552e-01 -5.41245940e-02 -2.50557444e-01 1.56746804e+02] [ 2.50083154e-01 -1.54748658e-02 9.68100689e-01 4.50597883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.439254154 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:447.79, Y:156.79, Z:45.07 [[-4.58228502e-02 -9.94350805e-01 9.57431099e-02 4.47791634e+02] [ 9.70981555e-01 -6.68553208e-02 -2.29619654e-01 1.56789615e+02] [ 2.34723424e-01 8.24429667e-02 9.68559792e-01 4.50697700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4692541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:447.84, Y:156.83, Z:45.05 [[-4.42919720e-02 -9.98986629e-01 -7.99600036e-03 4.47843402e+02] [ 9.71933705e-01 -4.12386786e-02 -2.31612273e-01 1.56828443e+02] [ 2.31047820e-01 -1.80301466e-02 9.72775318e-01 4.50504717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.4992541539999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:447.88, Y:156.84, Z:45.06 [[-5.46655532e-02 -9.93111065e-01 -1.03644057e-01 4.47875616e+02] [ 9.67705606e-01 -2.71115680e-02 -2.50620875e-01 1.56836457e+02] [ 2.46084411e-01 -1.13997263e-01 9.62521214e-01 4.50578988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.5292541539999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:447.79, Y:156.87, Z:45.09 [[-4.66990484e-02 -9.96031503e-01 7.57657150e-02 4.47794132e+02] [ 9.69701027e-01 -6.34105317e-02 -2.35921644e-01 1.56870330e+02] [ 2.39789734e-01 6.24527755e-02 9.68813983e-01 4.50907422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.559254154 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.83, Y:156.91, Z:45.08 [[-4.46187613e-02 -9.98977717e-01 -7.25864271e-03 4.47833009e+02] [ 9.70358713e-01 -4.16107500e-02 -2.38059896e-01 1.56906230e+02] [ 2.37514494e-01 -1.76654249e-02 9.71223351e-01 4.50760444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.589254154 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:447.86, Y:156.92, Z:45.08 [[-5.00458922e-02 -9.95299042e-01 -8.29169749e-02 4.47855107e+02] [ 9.66517569e-01 -2.73433845e-02 -2.55139429e-01 1.56918184e+02] [ 2.51672799e-01 -9.29093934e-02 9.63342435e-01 4.50836459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6192541539999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:447.81, Y:156.94, Z:45.11 [[-4.78799600e-02 -9.98852886e-01 -6.48728944e-04 4.47811127e+02] [ 9.65459259e-01 -4.61126864e-02 -2.56441103e-01 1.56938789e+02] [ 2.56117022e-01 -1.29047111e-02 9.66559641e-01 4.51118594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.6492541539999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:447.81, Y:156.97, Z:45.12 [[-4.52787426e-02 -9.98974216e-01 -5.92676423e-04 4.47807914e+02] [ 9.65582826e-01 -4.36131439e-02 -2.56413142e-01 1.56965580e+02] [ 2.56124270e-01 -1.21823429e-02 9.66567095e-01 4.51192052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.679254154 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:447.80, Y:156.99, Z:45.13 [[-3.83520533e-02 -9.99264156e-01 -5.16757797e-04 4.47801722e+02] [ 9.65925549e-01 -3.69400322e-02 -2.56170389e-01 1.56991344e+02] [ 2.55962798e-01 -1.03238100e-02 9.66631504e-01 4.51267159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.709254154 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:447.80, Y:157.02, Z:45.13 [[-3.44423526e-02 -9.99406591e-01 -4.37095442e-04 4.47798514e+02] [ 9.66115804e-01 -3.31831103e-02 -2.55967058e-01 1.57018287e+02] [ 2.55800661e-01 -9.23839250e-03 9.66685406e-01 4.51341050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7392541539999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:447.80, Y:157.04, Z:45.14 [[-3.01149659e-02 -9.99546378e-01 -3.57232305e-04 4.47795194e+02] [ 9.66431023e-01 -2.90260094e-02 -2.55281352e-01 1.57044531e+02] [ 2.55155181e-01 -8.03302958e-03 9.66866746e-01 4.51414218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.7692541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:447.79, Y:157.07, Z:45.15 [[-2.15833605e-02 -9.99767007e-01 -3.01823869e-04 4.47789636e+02] [ 9.67090453e-01 -2.08013716e-02 -2.53581068e-01 1.57071324e+02] [ 2.53515707e-01 -5.76502259e-03 9.67314091e-01 4.51489459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.799254154 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:447.79, Y:157.10, Z:45.16 [[-1.79604090e-02 -9.99838673e-01 -2.28176997e-04 4.47787376e+02] [ 9.67274722e-01 -1.73176827e-02 -2.53139706e-01 1.57097034e+02] [ 2.53094916e-01 -4.76720248e-03 9.67429707e-01 4.51559664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.829254154 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:447.79, Y:157.12, Z:45.16 [[-1.52224244e-02 -9.99884121e-01 -1.50909593e-04 4.47785464e+02] [ 9.67460095e-01 -1.46906712e-02 -2.52596811e-01 1.57122834e+02] [ 2.52565323e-01 -3.99113487e-03 9.67571614e-01 4.51626128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8592541539999 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:447.78, Y:157.15, Z:45.17 [[-1.10631920e-02 -9.99938798e-01 -7.45933933e-05 4.47782795e+02] [ 9.67544957e-01 -1.06859569e-02 -2.52472901e-01 1.57149766e+02] [ 2.52456652e-01 -2.86532866e-03 9.67603963e-01 4.51683704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.8892541539999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:447.78, Y:157.15, Z:45.17 [[-9.92695639e-03 -9.99950727e-01 1.55335875e-06 4.47781911e+02] [ 9.67347077e-01 -9.60367888e-03 -2.53273372e-01 1.57149036e+02] [ 2.53260908e-01 -2.51273108e-03 9.67394748e-01 4.51676258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9192541539999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:447.78, Y:157.18, Z:45.17 [[-1.02369776e-02 -9.99947596e-01 -1.01455474e-04 4.47781601e+02] [ 9.67068955e-01 -9.87457823e-03 -2.54322884e-01 1.57176051e+02] [ 2.54308555e-01 -2.70161210e-03 9.67119362e-01 4.51744301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.949254154 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:447.78, Y:157.20, Z:45.18 [[-1.18057693e-02 -9.99930309e-01 -2.42991376e-05 4.47781209e+02] [ 9.66800260e-01 -1.14084128e-02 -2.55278486e-01 1.57202637e+02] [ 2.55260418e-01 -3.03725133e-03 9.66867568e-01 4.51811706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 528.9792541539999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:447.78, Y:157.21, Z:45.18 [[-1.51925302e-02 -9.99884585e-01 5.27287831e-05 4.47781871e+02] [ 9.66318864e-01 -1.46960722e-02 -2.56927769e-01 1.57207048e+02] [ 2.56898890e-01 -3.85243007e-03 9.66430607e-01 4.51817675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0092541539999 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:447.78, Y:157.23, Z:45.19 [[-1.80649937e-02 -9.99836813e-01 -4.92870908e-05 4.47782617e+02] [ 9.66198483e-01 -1.74445392e-02 -2.57208434e-01 1.57233196e+02] [ 2.57165602e-01 -4.69408985e-03 9.66355948e-01 4.51881759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0392541539999 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:447.78, Y:157.23, Z:45.19 [[-1.99039217e-02 -9.99801897e-01 1.80137307e-05 4.47783399e+02] [ 9.66223093e-01 -1.92400696e-02 -2.56987849e-01 1.57233676e+02] [ 2.56937285e-01 -5.09766074e-03 9.66414634e-01 4.51881899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.069254154 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:447.78, Y:157.26, Z:45.20 [[-2.37622259e-02 -9.99717635e-01 -8.44060490e-05 4.47784770e+02] [ 9.66198568e-01 -2.29438338e-02 -2.56775986e-01 1.57260265e+02] [ 2.56701545e-01 -6.18312200e-03 9.66470944e-01 4.51958357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.0992541539999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:447.79, Y:157.29, Z:45.20 [[-2.46749365e-02 -9.99695527e-01 -7.77882481e-06 4.47785397e+02] [ 9.66275836e-01 -2.38480615e-02 -2.56402570e-01 1.57286462e+02] [ 2.56324317e-01 -6.33423364e-03 9.66570081e-01 4.52027535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1292541539999 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:447.79, Y:157.29, Z:45.20 [[-2.44442723e-02 -9.99701193e-01 4.25279848e-05 4.47786174e+02] [ 9.66409064e-01 -2.36411142e-02 -2.55919164e-01 1.57290470e+02] [ 2.55843699e-01 -6.21465830e-03 9.66698184e-01 4.52039306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.1592541539999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:447.79, Y:157.32, Z:45.21 [[-2.37440292e-02 -9.99718069e-01 -6.03647818e-05 4.47788291e+02] [ 9.66546925e-01 -2.29407652e-02 -2.55461861e-01 1.57317087e+02] [ 2.55388453e-01 -6.12403928e-03 9.66819132e-01 4.52107365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.189254154 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:447.79, Y:157.32, Z:45.21 [[-2.26492282e-02 -9.99743473e-01 1.37614358e-05 4.47789423e+02] [ 9.66670137e-01 -2.19034617e-02 -2.55086427e-01 1.57322744e+02] [ 2.55021292e-01 -5.76420793e-03 9.66918256e-01 4.52120294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2192541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:447.79, Y:157.35, Z:45.22 [[-2.21955755e-02 -9.99753644e-01 -8.93757809e-05 4.47790734e+02] [ 9.66663134e-01 -2.14381215e-02 -2.55152490e-01 1.57349046e+02] [ 2.55087715e-01 -5.74965263e-03 9.66900822e-01 4.52186907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2492541539999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:447.79, Y:157.38, Z:45.23 [[-2.15054406e-02 -9.99768731e-01 -2.08418720e-05 4.47792385e+02] [ 9.66687258e-01 -2.07885261e-02 -2.55114840e-01 1.57375563e+02] [ 2.55055407e-01 -5.50650461e-03 9.66910760e-01 4.52256152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.2792541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:447.79, Y:157.38, Z:45.23 [[-2.07015431e-02 -9.99785699e-01 5.27937458e-05 4.47793780e+02] [ 9.66664238e-01 -2.00292100e-02 -2.55262771e-01 1.57380467e+02] [ 2.55209126e-01 -5.23329945e-03 9.66871716e-01 4.52268235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.309254154 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:447.80, Y:157.41, Z:45.23 [[-1.98188131e-02 -9.99803587e-01 -5.01338611e-05 4.47796991e+02] [ 9.66552922e-01 -1.91468706e-02 -2.55751532e-01 1.57406329e+02] [ 2.55700339e-01 -5.11714884e-03 9.66742547e-01 4.52338571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.339254154 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:447.80, Y:157.41, Z:45.23 [[-1.88716832e-02 -9.99821914e-01 1.63946674e-05 4.47798462e+02] [ 9.66422547e-01 -1.82454715e-02 -2.56309507e-01 1.57408306e+02] [ 2.56264161e-01 -4.82114765e-03 9.66594763e-01 4.52339880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3692541539999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:447.80, Y:157.44, Z:45.24 [[-1.81954190e-02 -9.99834446e-01 -8.59688988e-05 4.47800351e+02] [ 9.66325638e-01 -1.75635375e-02 -2.56722191e-01 1.57435865e+02] [ 2.56678180e-01 -4.75424179e-03 9.66485235e-01 4.52407400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.3992541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.80, Y:157.46, Z:45.25 [[-1.72615509e-02 -9.99851008e-01 -8.80065869e-06 4.47801756e+02] [ 9.66182352e-01 -1.66780261e-02 -2.57319851e-01 1.57462567e+02] [ 2.57281366e-01 -4.45024275e-03 9.66326288e-01 4.52474532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.429254154 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:447.80, Y:157.46, Z:45.25 [[-1.37903606e-02 -9.99904906e-01 6.60805742e-05 4.47804483e+02] [ 9.65897380e-01 -1.33384288e-02 -2.58581394e-01 1.57462216e+02] [ 2.58557686e-01 -3.50210361e-03 9.65989471e-01 4.52474773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.459254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:447.81, Y:157.49, Z:45.25 [[-1.20719935e-02 -9.99927130e-01 -3.59961416e-05 4.47805873e+02] [ 9.65793434e-01 -1.16505762e-02 -2.59050781e-01 1.57488143e+02] [ 2.59031485e-01 -3.16202419e-03 9.65863702e-01 4.52539536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.4892541539999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:447.81, Y:157.49, Z:45.25 [[-9.52717404e-03 -9.99954615e-01 1.20987333e-05 4.47807237e+02] [ 9.65757224e-01 -9.20449190e-03 -2.59284135e-01 1.57488070e+02] [ 2.59272478e-01 -2.45856063e-03 9.65801086e-01 4.52537728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.5192541539999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:447.81, Y:157.52, Z:45.26 [[-5.82540934e-03 -9.99983028e-01 -8.90529598e-05 4.47809620e+02] [ 9.65667326e-01 -5.60237357e-03 -2.59721446e-01 1.57515036e+02] [ 2.59716539e-01 -1.59897927e-03 9.65683573e-01 4.52611774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.549254154 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:447.81, Y:157.54, Z:45.27 [[-4.33802622e-03 -9.99990591e-01 -1.02296961e-05 4.47810650e+02] [ 9.65604269e-01 -4.18619648e-03 -2.59982446e-01 1.57542253e+02] [ 2.59979957e-01 -1.13768850e-03 9.65613343e-01 4.52684436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.579254154 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:447.81, Y:157.54, Z:45.27 [[-2.77872804e-03 -9.99996137e-01 6.32060641e-05 4.47811901e+02] [ 9.65576727e-01 -2.69952572e-03 -2.60104398e-01 1.57539103e+02] [ 2.60103564e-01 -6.61729078e-04 9.65580498e-01 4.52677020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6092541539999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:447.78, Y:157.58, Z:45.28 [[ 7.42991161e-03 -9.95593049e-01 9.34840975e-02 4.47779825e+02] [ 9.70990159e-01 -1.51613315e-02 -2.38638313e-01 1.57584865e+02] [ 2.39003989e-01 9.25452003e-02 9.66598406e-01 4.52783728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6392541539999 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:447.86, Y:157.61, Z:45.26 [[-1.29994297e-02 -9.96836016e-01 -7.84153834e-02 4.47858570e+02] [ 9.58975079e-01 9.78159017e-03 -2.83321582e-01 1.57607649e+02] [ 2.83192184e-01 -7.88814174e-02 9.55813742e-01 4.52600002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.6692541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:447.82, Y:157.61, Z:45.28 [[-1.33991252e-02 -9.99906478e-01 2.73847767e-03 4.47820206e+02] [ 9.58711193e-01 -1.36250437e-02 -2.84054936e-01 1.57606216e+02] [ 2.84065682e-01 -1.18067846e-03 9.58804096e-01 4.52820128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.699254154 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:447.82, Y:157.61, Z:45.28 [[-1.46168229e-02 -9.99889723e-01 2.62506452e-03 4.47822735e+02] [ 9.58613869e-01 -1.47598924e-02 -2.84326564e-01 1.57611359e+02] [ 2.84333955e-01 -1.63952777e-03 9.58723899e-01 4.52830214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7292541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:447.83, Y:157.62, Z:45.29 [[-1.92449138e-02 -9.99811638e-01 2.51421742e-03 4.47827217e+02] [ 9.58349269e-01 -1.91633979e-02 -2.84955159e-01 1.57618469e+02] [ 2.84949665e-01 -3.07443903e-03 9.58537551e-01 4.52853544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7592541539999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:447.83, Y:157.62, Z:45.29 [[-2.14356300e-02 -9.99767351e-01 2.39932286e-03 4.47829720e+02] [ 9.58238254e-01 -2.12296233e-02 -2.85181963e-01 1.57619979e+02] [ 2.85166553e-01 -3.81393209e-03 9.58470391e-01 4.52859820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.7892541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.83, Y:157.63, Z:45.29 [[-2.38246464e-02 -9.99713551e-01 2.28101974e-03 4.47832109e+02] [ 9.58237947e-01 -2.34865123e-02 -2.85006001e-01 1.57626202e+02] [ 2.84977934e-01 -4.60440752e-03 9.58523018e-01 4.52878957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.819254154 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.84, Y:157.63, Z:45.29 [[-2.85348098e-02 -9.99590472e-01 2.15720935e-03 4.47836648e+02] [ 9.58397101e-01 -2.79719206e-02 -2.84064374e-01 1.57631953e+02] [ 2.84008383e-01 -6.03825969e-03 9.58802784e-01 4.52900439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8492541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.84, Y:157.64, Z:45.29 [[-3.00318414e-02 -9.99546867e-01 2.03673391e-03 4.47838609e+02] [ 9.58509025e-01 -2.93766071e-02 -2.83544467e-01 1.57637932e+02] [ 2.83475816e-01 -6.56313463e-03 9.58956926e-01 4.52914556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.8792541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.84, Y:157.64, Z:45.29 [[-3.11757077e-02 -9.99512084e-01 1.91531925e-03 4.47839922e+02] [ 9.58678141e-01 -3.04440895e-02 -2.82859294e-01 1.57640297e+02] [ 2.82779592e-01 -6.98216397e-03 9.59159503e-01 4.52922749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9092541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.84, Y:157.64, Z:45.29 [[-3.16051809e-02 -9.99498817e-01 1.79675346e-03 4.47841384e+02] [ 9.58746357e-01 -3.08245395e-02 -2.82586749e-01 1.57642330e+02] [ 2.82500505e-01 -7.20857449e-03 9.59240064e-01 4.52931914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.939254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.84, Y:157.64, Z:45.29 [[-3.12084675e-02 -9.99511491e-01 1.67650942e-03 4.47844028e+02] [ 9.58944065e-01 -3.04147405e-02 -2.81959614e-01 1.57642437e+02] [ 2.81872865e-01 -7.19184869e-03 9.59424810e-01 4.52933475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9692541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.85, Y:157.65, Z:45.29 [[-2.99225668e-02 -9.99551004e-01 1.55917028e-03 4.47845198e+02] [ 9.59037654e-01 -2.91492913e-02 -2.81774904e-01 1.57647895e+02] [ 2.81693837e-01 -6.93612539e-03 9.59479271e-01 4.52945141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 529.9992541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.85, Y:157.65, Z:45.30 [[-2.79404086e-02 -9.99608549e-01 1.44291735e-03 4.47846327e+02] [ 9.59088123e-01 -2.72145764e-02 -2.81796627e-01 1.57648227e+02] [ 2.81725586e-01 -6.48962800e-03 9.59473074e-01 4.52950604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.0292541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.85, Y:157.65, Z:45.30 [[-2.29710826e-02 -9.99735256e-01 1.32211964e-03 4.47847686e+02] [ 9.59511951e-01 -2.24181806e-02 -2.80774359e-01 1.57648413e+02] [ 2.80729665e-01 -5.18110139e-03 9.59772896e-01 4.52955882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.059254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.85, Y:157.65, Z:45.30 [[-1.99185389e-02 -9.99800881e-01 1.20413310e-03 4.47848136e+02] [ 9.59744013e-01 -1.94579727e-02 -2.80201388e-01 1.57647429e+02] [ 2.80169024e-01 -4.42554272e-03 9.59940484e-01 4.52952472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.089254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.85, Y:157.64, Z:45.29 [[-1.32775208e-02 -9.99911258e-01 1.08784133e-03 4.47849429e+02] [ 9.59938937e-01 -1.30512598e-02 -2.79905167e-01 1.57644825e+02] [ 2.79894526e-01 -2.67218545e-03 9.60027038e-01 4.52946669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1192541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.85, Y:157.64, Z:45.29 [[-9.81037578e-03 -9.99951404e-01 9.72886057e-04 4.47849884e+02] [ 9.59998618e-01 -9.69066763e-03 -2.79836997e-01 1.57644467e+02] [ 2.79832826e-01 -1.81133683e-03 9.60047035e-01 4.52944809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.1492541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:447.85, Y:157.64, Z:45.29 [[-6.87186072e-03 -9.99976019e-01 8.59660538e-04 4.47850366e+02] [ 9.59896262e-01 -6.83737620e-03 -2.80272040e-01 1.57644149e+02] [ 2.80271197e-01 -1.10080549e-03 9.59920228e-01 4.52939965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.179254154 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:447.85, Y:157.65, Z:45.29 [[-4.33855347e-03 -9.99990310e-01 7.46426462e-04 4.47850941e+02] [ 9.59773719e-01 -4.37362418e-03 -2.80740591e-01 1.57646457e+02] [ 2.80741136e-01 -5.01607565e-04 9.59783394e-01 4.52941870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.209254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.85, Y:157.65, Z:45.29 [[-1.29137852e-03 -9.99998965e-01 6.34060165e-04 4.47852804e+02] [ 9.59472157e-01 -1.41772127e-03 -2.81799877e-01 1.57647115e+02] [ 2.81800484e-01 2.44452767e-04 9.59472995e-01 4.52933324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2392541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.85, Y:157.65, Z:45.29 [[-3.42882317e-04 -9.99999806e-01 5.20303789e-04 4.47853595e+02] [ 9.59288773e-01 -4.75870914e-04 -2.82426670e-01 1.57650037e+02] [ 2.82426862e-01 4.02282473e-04 9.59288750e-01 4.52938438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.2692541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.85, Y:157.65, Z:45.29 [[-2.24086190e-04 -9.99999893e-01 4.05997355e-04 4.47854600e+02] [ 9.59137078e-01 -3.29802954e-04 -2.82941614e-01 1.57653174e+02] [ 2.82941717e-01 3.26003809e-04 9.59137049e-01 4.52943274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.299254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.86, Y:157.65, Z:45.29 [[-4.50514685e-04 -9.99999856e-01 2.90976629e-04 4.47855819e+02] [ 9.59105808e-01 -5.14451478e-04 -2.83047320e-01 1.57654702e+02] [ 2.83047429e-01 1.51560401e-04 9.59105901e-01 4.52948578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.329254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.86, Y:157.66, Z:45.30 [[-2.60338112e-03 -9.99996596e-01 1.75933927e-04 4.47858718e+02] [ 9.59034931e-01 -2.54658003e-03 -2.83276395e-01 1.57659870e+02] [ 2.83275878e-01 -5.68749636e-04 9.59038296e-01 4.52964766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3592541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.86, Y:157.67, Z:45.30 [[-4.38215458e-03 -9.99990397e-01 6.06588390e-05 4.47859954e+02] [ 9.59025986e-01 -4.21982448e-03 -2.83286695e-01 1.57667116e+02] [ 2.83284230e-01 -1.18323268e-03 9.59035268e-01 4.52988409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.3892541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.86, Y:157.69, Z:45.31 [[-4.64503417e-03 -9.99989211e-01 -4.98395999e-05 4.47859928e+02] [ 9.59024994e-01 -4.44063289e-03 -2.83286676e-01 1.57694443e+02] [ 2.83283398e-01 -1.36367371e-03 9.59035274e-01 4.53066532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4192541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.86, Y:157.70, Z:45.31 [[-7.24014737e-03 -9.99973790e-01 2.21966473e-05 4.47860904e+02] [ 9.58961750e-01 -6.94949818e-03 -2.83450289e-01 1.57697340e+02] [ 2.83443014e-01 -2.03093613e-03 9.58986931e-01 4.53078460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.449254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.87, Y:157.72, Z:45.32 [[-1.51205122e-02 -9.99835859e-01 -9.98124675e-03 4.47869366e+02] [ 9.58235582e-01 -1.16388511e-02 -2.85743077e-01 1.57724406e+02] [ 2.85580005e-01 -1.38849675e-02 9.58254282e-01 4.53177894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.4792541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.86, Y:157.75, Z:45.33 [[-1.99138779e-02 -9.99760089e-01 9.12147511e-03 4.47861303e+02] [ 9.58823923e-01 -2.16820538e-02 -2.83172338e-01 1.57750032e+02] [ 2.83302175e-01 3.10682917e-03 9.59025665e-01 4.53260091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5092541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.87, Y:157.75, Z:45.32 [[-2.44371218e-02 -9.99701369e-01 5.79754330e-06 4.47867305e+02] [ 9.59015057e-01 -2.34442061e-02 -2.82383585e-01 1.57751827e+02] [ 2.82299392e-01 -6.89508213e-03 9.59301575e-01 4.53243204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5392541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.87, Y:157.78, Z:45.33 [[-2.98733507e-02 -9.99553686e-01 -1.05904043e-04 4.47869110e+02] [ 9.59001142e-01 -2.86314962e-02 -2.81952206e-01 1.57779020e+02] [ 2.81823335e-01 -8.52441924e-03 9.59428446e-01 4.53323051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.569254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:447.88, Y:157.81, Z:45.34 [[-4.00168723e-02 -9.99145841e-01 -1.03072009e-02 4.47877844e+02] [ 9.58344151e-01 -3.54590974e-02 -2.83406319e-01 1.57807538e+02] [ 2.82798761e-01 -2.12188802e-02 9.58944534e-01 4.53411562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.5992541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.87, Y:157.83, Z:45.35 [[-4.60982730e-02 -9.98910429e-01 7.27352959e-03 4.47870296e+02] [ 9.59422726e-01 -4.63012697e-02 -2.78144252e-01 1.57826774e+02] [ 2.78177968e-01 -5.84358008e-03 9.60511775e-01 4.53486743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6292541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:447.88, Y:157.81, Z:45.34 [[-4.74847021e-02 -9.98866561e-01 -3.28576985e-03 4.47877294e+02] [ 9.59020874e-01 -4.46701193e-02 -2.79791966e-01 1.57814581e+02] [ 2.79328063e-01 -1.64369600e-02 9.60055030e-01 4.53443052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.6592541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.88, Y:157.84, Z:45.35 [[-5.22683546e-02 -9.98632980e-01 -4.36520334e-04 4.47876867e+02] [ 9.58987989e-01 -5.00713884e-02 -2.78989055e-01 1.57840768e+02] [ 2.78585814e-01 -1.50009166e-02 9.60294182e-01 4.53518812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.689254154 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.88, Y:157.87, Z:45.36 [[-5.94326898e-02 -9.98222078e-01 -4.52095341e-03 4.47880223e+02] [ 9.58458803e-01 -5.57983889e-02 -2.79719973e-01 1.57868731e+02] [ 2.78970391e-01 -2.09576580e-02 9.60070986e-01 4.53582968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7192541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.88, Y:157.90, Z:45.37 [[-6.29213074e-02 -9.98018246e-01 -7.00100730e-04 4.47878690e+02] [ 9.58327342e-01 -6.02230518e-02 -2.79252375e-01 1.57895761e+02] [ 2.78656803e-01 -1.82418502e-02 9.60217486e-01 4.53653299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7492541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.88, Y:157.93, Z:45.38 [[-7.14409567e-02 -9.97444645e-01 6.08817861e-04 4.47875865e+02] [ 9.57639838e-01 -6.87606633e-02 -2.79638896e-01 1.57932826e+02] [ 2.78966182e-01 -1.93946420e-02 9.60105055e-01 4.53775235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.7792541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.88, Y:157.93, Z:45.38 [[-7.21724866e-02 -9.97391803e-01 8.51036506e-04 4.47875135e+02] [ 9.57444811e-01 -6.95208879e-02 -2.80118333e-01 1.57932822e+02] [ 2.79446894e-01 -1.94020161e-02 9.59965101e-01 4.53775702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.809254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.88, Y:157.92, Z:45.37 [[-6.86140426e-02 -9.97643226e-01 -3.27681779e-04 4.47876186e+02] [ 9.57702632e-01 -6.57750689e-02 -2.80141587e-01 1.57916563e+02] [ 2.79459804e-01 -1.95354685e-02 9.59958636e-01 4.53722677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.839254154 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.87, Y:157.94, Z:45.38 [[-7.18760636e-02 -9.97413551e-01 -1.98551255e-04 4.47873797e+02] [ 9.57505123e-01 -6.89444151e-02 -2.80054651e-01 1.57937424e+02] [ 2.79316615e-01 -2.03193397e-02 9.59984038e-01 4.53784658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8692541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.86, Y:157.91, Z:45.37 [[-5.48922074e-02 -9.97542276e-01 4.35459801e-02 4.47856107e+02] [ 9.65238901e-01 -6.41749841e-02 -2.53368181e-01 1.57911969e+02] [ 2.55540034e-01 2.81243353e-02 9.66389317e-01 4.53667853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.8992541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.90, Y:157.93, Z:45.36 [[-6.06235046e-02 -9.95933595e-01 -6.66413162e-02 4.47900516e+02] [ 9.63280880e-01 -4.08793921e-02 -2.65365451e-01 1.57928244e+02] [ 2.61562111e-01 -8.02816893e-02 9.61842041e-01 4.53641754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.929254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.87, Y:157.95, Z:45.38 [[-5.83403219e-02 -9.98295498e-01 -1.58273521e-03 4.47866981e+02] [ 9.62122237e-01 -5.58032912e-02 -2.66846011e-01 1.57951708e+02] [ 2.66302850e-01 -1.70906669e-02 9.63737880e-01 4.53843817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.959254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.87, Y:157.98, Z:45.39 [[-5.62550331e-02 -9.98415301e-01 -1.50241395e-03 4.47865123e+02] [ 9.62142073e-01 -5.38091848e-02 -2.67183839e-01 1.57977774e+02] [ 2.66679589e-01 -1.64759714e-02 9.63644405e-01 4.53909355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 530.9892541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.84, Y:158.02, Z:45.40 [[-4.47695380e-02 -9.97704867e-01 5.08004645e-02 4.47843023e+02] [ 9.64937242e-01 -5.63523459e-02 -2.56360162e-01 1.58016203e+02] [ 2.58634506e-01 3.75421341e-02 9.65245451e-01 4.53965950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.0192541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.89, Y:158.04, Z:45.39 [[-4.90914061e-02 -9.97006162e-01 -5.97389938e-02 4.47887017e+02] [ 9.62958781e-01 -3.13677359e-02 -2.67817946e-01 1.58035503e+02] [ 2.65142265e-01 -7.06737481e-02 9.61615724e-01 4.53938352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.049254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.86, Y:158.06, Z:45.41 [[-4.56751744e-02 -9.98955586e-01 -1.23078404e-03 4.47855810e+02] [ 9.62307899e-01 -4.36688057e-02 -2.68433499e-01 1.58058928e+02] [ 2.68099397e-01 -1.34451401e-02 9.63297432e-01 4.54141266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.079254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.85, Y:158.09, Z:45.42 [[-3.92232138e-02 -9.99229815e-01 -1.14747604e-03 4.47850845e+02] [ 9.62890450e-01 -3.74898392e-02 -2.67276061e-01 1.58085749e+02] [ 2.67027190e-01 -1.15883198e-02 9.63619318e-01 4.54217660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1092541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.85, Y:158.11, Z:45.43 [[-3.56647420e-02 -9.99363244e-01 -1.06454601e-03 4.47848147e+02] [ 9.63113298e-01 -3.40867345e-02 -2.66928585e-01 1.58111880e+02] [ 2.66722330e-01 -1.05452175e-02 9.63715724e-01 4.54292760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1392541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.85, Y:158.14, Z:45.44 [[-3.16076601e-02 -9.99499847e-01 -1.00611972e-03 4.47845772e+02] [ 9.63396266e-01 -3.01977999e-02 -2.66375163e-01 1.58138949e+02] [ 2.66211552e-01 -9.38878759e-03 9.63868902e-01 4.54359235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.1692541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.84, Y:158.16, Z:45.44 [[-2.76295205e-02 -9.99617806e-01 -9.22493048e-04 4.47842928e+02] [ 9.63723008e-01 -2.63922808e-02 -2.65596332e-01 1.58164237e+02] [ 2.65470476e-01 -8.22732708e-03 9.64083885e-01 4.54439736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.199254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.81, Y:158.21, Z:45.45 [[-1.23399039e-02 -9.97232574e-01 7.33138476e-02 4.47810230e+02] [ 9.68496160e-01 -3.01574761e-02 -2.47195701e-01 1.58206020e+02] [ 2.48722566e-01 6.79538087e-02 9.66188059e-01 4.54513902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2292541539999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:447.88, Y:158.22, Z:45.44 [[-1.65043878e-02 -9.96442826e-01 -8.26395758e-02 4.47875412e+02] [ 9.64776643e-01 5.83238073e-03 -2.63005728e-01 1.58224086e+02] [ 2.62552156e-01 -8.40694810e-02 9.61248505e-01 4.54409504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2592541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.83, Y:158.25, Z:45.47 [[-1.33721628e-02 -9.99910392e-01 -6.27838186e-04 4.47832903e+02] [ 9.64479375e-01 -1.27326604e-02 -2.63851122e-01 1.58246157e+02] [ 2.63819485e-01 -4.13379714e-03 9.64563213e-01 4.54675093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.2892541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.83, Y:158.27, Z:45.47 [[-1.14354205e-02 -9.99934464e-01 -5.47625176e-04 4.47831427e+02] [ 9.64478949e-01 -1.08853981e-02 -2.63935341e-01 1.58272193e+02] [ 2.63912083e-01 -3.54638456e-03 9.64540220e-01 4.54737657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.319254154 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:447.83, Y:158.30, Z:45.48 [[-1.00290707e-02 -9.99949595e-01 -4.74892000e-04 4.47829104e+02] [ 9.64568962e-01 -9.54900258e-03 -2.63657988e-01 1.58299117e+02] [ 2.63640163e-01 -3.10231068e-03 9.64616110e-01 4.54815186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3492541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:447.83, Y:158.33, Z:45.49 [[-1.09661948e-02 -9.99939791e-01 -3.95471895e-04 4.47827857e+02] [ 9.64485851e-01 -1.04729947e-02 -2.63926807e-01 1.58326339e+02] [ 2.63906775e-01 -3.27569983e-03 9.64542630e-01 4.54890164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.3792541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.83, Y:158.35, Z:45.50 [[-1.18641784e-02 -9.99929568e-01 -3.15985728e-04 4.47826845e+02] [ 9.64309059e-01 -1.13579452e-02 -2.64535510e-01 1.58351955e+02] [ 2.64513290e-01 -3.44320439e-03 9.64375894e-01 4.54959565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4092541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:447.83, Y:158.38, Z:45.50 [[-1.52003369e-02 -9.99884438e-01 -2.44004930e-04 4.47825529e+02] [ 9.64118237e-01 -1.45919294e-02 -2.65071878e-01 1.58378733e+02] [ 2.65037685e-01 -4.26443144e-03 9.64228624e-01 4.55028810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.439254154 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:447.79, Y:158.43, Z:45.51 [[-7.06667574e-03 -9.95968931e-01 8.94200791e-02 4.47794311e+02] [ 9.69191074e-01 -2.88387919e-02 -2.44615996e-01 1.58425054e+02] [ 2.46208699e-01 8.49365206e-02 9.65487993e-01 4.55117726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4692541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.86, Y:158.47, Z:45.50 [[-3.01616553e-02 -9.96738975e-01 -7.48444365e-02 4.47863907e+02] [ 9.57296281e-01 -7.26599352e-03 -2.89017361e-01 1.58468444e+02] [ 2.87531050e-01 -8.03655427e-02 9.54393669e-01 4.55039674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.4992541539999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:447.83, Y:158.46, Z:45.52 [[-3.07260129e-02 -9.99523075e-01 3.08776796e-03 4.47825496e+02] [ 9.56966840e-01 -3.03093919e-02 -2.88610132e-01 1.58464671e+02] [ 2.88566076e-01 -5.91294711e-03 9.57441725e-01 4.55231170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.5292541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:447.83, Y:158.47, Z:45.52 [[-3.20407899e-02 -9.99482148e-01 2.97048109e-03 4.47825411e+02] [ 9.56870511e-01 -3.15330865e-02 -2.88798354e-01 1.58466145e+02] [ 2.88742468e-01 -6.41096162e-03 9.57385339e-01 4.55223534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.559254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:447.82, Y:158.57, Z:45.55 [[-3.27631105e-02 -9.99453113e-01 4.47821246e-03 4.47823283e+02] [ 9.56962788e-01 -3.26623078e-02 -2.88366774e-01 1.58570247e+02] [ 2.88355338e-01 -5.16230977e-03 9.57509556e-01 4.55547334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.589254154 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:447.83, Y:158.47, Z:45.52 [[-3.18732217e-02 -9.99489900e-01 2.00939744e-03 4.47825079e+02] [ 9.57119131e-01 -3.11010822e-02 -2.88020296e-01 1.58472070e+02] [ 2.87935872e-01 -7.25690203e-03 9.57622196e-01 4.55247530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6192541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.82, Y:158.47, Z:45.53 [[-3.07788959e-02 -9.99522567e-01 2.70133361e-03 4.47824523e+02] [ 9.57170549e-01 -3.02529178e-02 -2.87939754e-01 1.58473962e+02] [ 2.87884006e-01 -6.27683076e-03 9.57644715e-01 4.55254212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.6492541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:447.81, Y:158.46, Z:45.52 [[-1.62583025e-02 -9.99243041e-01 3.53413719e-02 4.47814756e+02] [ 9.63783684e-01 -2.50717436e-02 -2.65504084e-01 1.58459492e+02] [ 2.66189178e-01 2.97447919e-02 9.63461763e-01 4.55161284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.679254154 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:447.84, Y:158.48, Z:45.52 [[-2.85536311e-02 -9.98971902e-01 -3.52112223e-02 4.47842424e+02] [ 9.57562746e-01 -1.72290039e-02 -2.87709486e-01 1.58476367e+02] [ 2.86807038e-01 -4.19321053e-02 9.57070228e-01 4.55156838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.709254154 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:447.82, Y:158.48, Z:45.53 [[-2.74618651e-02 -9.99619873e-01 2.44052211e-03 4.47824226e+02] [ 9.57357612e-01 -2.70030840e-02 -2.87640811e-01 1.58477683e+02] [ 2.87597373e-01 -5.56270074e-03 9.57735249e-01 4.55260518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7392541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:447.82, Y:158.48, Z:45.53 [[-2.73253118e-02 -9.99623890e-01 2.32507295e-03 4.47824278e+02] [ 9.57241899e-01 -2.68367437e-02 -2.88041207e-01 1.58481362e+02] [ 2.87995269e-01 -5.64515856e-03 9.57615193e-01 4.55268042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.7692541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.82, Y:158.48, Z:45.53 [[-2.68624459e-02 -9.99636703e-01 2.20697875e-03 4.47824455e+02] [ 9.57225759e-01 -2.63589178e-02 -2.88138950e-01 1.58482279e+02] [ 2.88092443e-01 -5.62754004e-03 9.57586067e-01 4.55261777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.799254154 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:447.82, Y:158.46, Z:45.51 [[-1.48527996e-02 -9.99576281e-01 2.50330492e-02 4.47819086e+02] [ 9.61988289e-01 -2.11129973e-02 -2.72273344e-01 1.58456320e+02] [ 2.72686499e-01 2.00374788e-02 9.61894263e-01 4.55144604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.829254154 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:447.84, Y:158.49, Z:45.52 [[-2.61759434e-02 -9.99315268e-01 -2.61498413e-02 4.47838385e+02] [ 9.57396919e-01 -1.75352827e-02 -2.88242353e-01 1.58487917e+02] [ 2.87586440e-01 -3.25807930e-02 9.57200361e-01 4.55200708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8592541539999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:447.82, Y:158.49, Z:45.53 [[-2.30794635e-02 -9.99731686e-01 1.97335717e-03 4.47824736e+02] [ 9.57295206e-01 -2.26687074e-02 -2.88222168e-01 1.58487507e+02] [ 2.88189568e-01 -4.76292767e-03 9.57561532e-01 4.55273339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.8892541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:447.82, Y:158.49, Z:45.53 [[-2.05938208e-02 -9.99786204e-01 1.85477178e-03 4.47824796e+02] [ 9.57340983e-01 -2.02542767e-02 -2.88249902e-01 1.58490979e+02] [ 2.88225842e-01 -4.16051778e-03 9.57553421e-01 4.55282139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9192541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.82, Y:158.49, Z:45.53 [[-1.79194738e-02 -9.99837924e-01 1.73757703e-03 4.47824618e+02] [ 9.57308357e-01 -1.76586652e-02 -2.88528823e-01 1.58490778e+02] [ 2.88512743e-01 -3.50688769e-03 9.57469634e-01 4.55279084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.949254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.82, Y:158.49, Z:45.53 [[-1.51898166e-02 -9.99883313e-01 1.62164881e-03 4.47824247e+02] [ 9.57188791e-01 -1.50100517e-02 -2.89074933e-01 1.58490492e+02] [ 2.89065542e-01 -2.83877114e-03 9.57305100e-01 4.55278489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 531.9792541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:447.82, Y:158.49, Z:45.53 [[-1.03512662e-02 -9.99945291e-01 1.50560618e-03 4.47823525e+02] [ 9.57081326e-01 -1.03436455e-02 -2.89634846e-01 1.58487608e+02] [ 2.89634574e-01 -1.55709984e-03 9.57136035e-01 4.55271454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0092541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:447.82, Y:158.49, Z:45.53 [[-8.18213326e-03 -9.99965563e-01 1.38785648e-03 4.47823409e+02] [ 9.57043486e-01 -8.23317985e-03 -2.89827501e-01 1.58489811e+02] [ 2.89828947e-01 -1.04316823e-03 9.57077893e-01 4.55275772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0392541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:447.82, Y:158.49, Z:45.53 [[-6.70852019e-03 -9.99976691e-01 1.27038576e-03 4.47823663e+02] [ 9.56982728e-01 -6.78859122e-03 -2.90065464e-01 1.58493838e+02] [ 2.90067327e-01 -7.30172795e-04 9.57005963e-01 4.55288263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.069254154 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.82, Y:158.49, Z:45.53 [[-5.59159680e-03 -9.99983702e-01 1.15290014e-03 4.47824179e+02] [ 9.56899338e-01 -5.68544879e-03 -2.90364139e-01 1.58493253e+02] [ 2.90365962e-01 -5.20389807e-04 9.56915533e-01 4.55286538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.0992541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.83, Y:158.50, Z:45.53 [[-5.86011375e-03 -9.99982293e-01 1.03622976e-03 4.47825848e+02] [ 9.56713366e-01 -5.90806748e-03 -2.90971871e-01 1.58496460e+02] [ 2.90972841e-01 -7.13753399e-04 9.56731047e-01 4.55296968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1292541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.83, Y:158.50, Z:45.53 [[-6.87729025e-03 -9.99975929e-01 9.19295494e-04 4.47826706e+02] [ 9.56504434e-01 -6.84642440e-03 -2.91637435e-01 1.58502821e+02] [ 2.91636709e-01 -1.12636507e-03 9.56528495e-01 4.55319367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.1592541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:447.83, Y:158.50, Z:45.53 [[-8.01959629e-03 -9.99967522e-01 8.01132279e-04 4.47827790e+02] [ 9.56353803e-01 -7.90384231e-03 -2.92104319e-01 1.58503671e+02] [ 2.92101164e-01 -1.57639281e-03 9.56386128e-01 4.55319014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.189254154 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:447.83, Y:158.51, Z:45.53 [[-9.71572902e-03 -9.99952568e-01 6.83086699e-04 4.47828755e+02] [ 9.56105088e-01 -9.48976386e-03 -2.92870287e-01 1.58508078e+02] [ 2.92862878e-01 -2.19234568e-03 9.56151938e-01 4.55337646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2192541539999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:447.83, Y:158.51, Z:45.54 [[-1.18980839e-02 -9.99929056e-01 5.65240162e-04 4.47829848e+02] [ 9.55679508e-01 -1.15378575e-02 -2.94182861e-01 1.58512927e+02] [ 2.94168513e-01 -2.96002393e-03 9.55748986e-01 4.55355350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2492541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:447.83, Y:158.52, Z:45.54 [[-1.79130356e-02 -9.99839449e-01 4.45538273e-04 4.47832087e+02] [ 9.55340611e-01 -1.72472546e-02 -2.95003136e-01 1.58519576e+02] [ 2.94963457e-01 -4.85876087e-03 9.55496181e-01 4.55371974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.2792541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:447.83, Y:158.52, Z:45.54 [[-1.75197660e-02 -9.99846465e-01 3.24279441e-04 4.47832066e+02] [ 9.55347909e-01 -1.68357202e-02 -2.95003272e-01 1.58522100e+02] [ 2.94963438e-01 -4.85858861e-03 9.55496187e-01 4.55379106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.309254154 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:447.83, Y:158.53, Z:45.54 [[-2.04233387e-02 -9.99791401e-01 2.02905449e-04 4.47833445e+02] [ 9.55221307e-01 -1.95727978e-02 -2.95244238e-01 1.58527381e+02] [ 2.95186622e-01 -5.83605346e-03 9.55421791e-01 4.55395255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.339254154 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:447.84, Y:158.53, Z:45.54 [[-2.65022886e-02 -9.99648749e-01 8.12353383e-05 4.47836349e+02] [ 9.55154199e-01 -2.53466414e-02 -2.95022039e-01 1.58534210e+02] [ 2.94920471e-01 -7.74116693e-03 9.55490445e-01 4.55421641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3692541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.84, Y:158.56, Z:45.55 [[-2.98770702e-02 -9.99553580e-01 -3.33838649e-05 4.47837412e+02] [ 9.55225469e-01 -2.85422487e-02 -2.94498970e-01 1.58559700e+02] [ 2.94366547e-01 -8.83065552e-03 9.55651796e-01 4.55498182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.3992541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:447.84, Y:158.56, Z:45.55 [[-3.24558780e-02 -9.99473169e-01 2.04599931e-05 4.47838204e+02] [ 9.55270387e-01 -3.10265022e-02 -2.94101757e-01 1.58562008e+02] [ 2.93947450e-01 -9.52578593e-03 9.55774114e-01 4.55509410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.429254154 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:447.84, Y:158.59, Z:45.56 [[-3.52765565e-02 -9.99377584e-01 -9.35579684e-05 4.47838920e+02] [ 9.55335003e-01 -3.36944327e-02 -2.93597883e-01 1.58587673e+02] [ 2.93411991e-01 -1.04465015e-02 9.55929011e-01 4.55587814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.459254154 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:447.84, Y:158.61, Z:45.57 [[-4.13666078e-02 -9.99144036e-01 -1.13993056e-06 4.47840095e+02] [ 9.55167563e-01 -3.95455571e-02 -2.93412806e-01 1.58612490e+02] [ 2.93161610e-01 -1.21385813e-02 9.55985839e-01 4.55664299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.4892541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.84, Y:158.62, Z:45.57 [[-4.38532702e-02 -9.99037979e-01 8.79386686e-05 4.47840564e+02] [ 9.55129312e-01 -4.19516861e-02 -2.93203092e-01 1.58621282e+02] [ 2.92924713e-01 -1.27739216e-02 9.56050176e-01 4.55688935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.5192541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.84, Y:158.65, Z:45.58 [[-4.73336308e-02 -9.98879135e-01 -2.72191894e-05 4.47840549e+02] [ 9.54929418e-01 -4.52430027e-02 -2.93364753e-01 1.58647260e+02] [ 2.93034699e-01 -1.39120113e-02 9.56000586e-01 4.55767823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.549254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.84, Y:158.65, Z:45.58 [[-4.97940666e-02 -9.98759505e-01 5.57328924e-05 4.47840568e+02] [ 9.54841774e-01 -4.76208734e-02 -2.93273659e-01 1.58651162e+02] [ 2.92912508e-01 -1.45500720e-02 9.56028534e-01 4.55780523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.579254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.84, Y:158.68, Z:45.59 [[-5.61330645e-02 -9.98423295e-01 -5.95963785e-05 4.47840377e+02] [ 9.54506037e-01 -5.36464524e-02 -2.93326242e-01 1.58676741e+02] [ 2.92860555e-01 -1.65221859e-02 9.56012402e-01 4.55862237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6092541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.84, Y:158.68, Z:45.59 [[-5.84158615e-02 -9.98292335e-01 2.50930327e-05 4.47840244e+02] [ 9.54433150e-01 -5.58567754e-02 -2.93150784e-01 1.58677451e+02] [ 2.92651583e-01 -1.71007060e-02 9.56066220e-01 4.55866173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6392541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.84, Y:158.70, Z:45.60 [[-6.12781594e-02 -9.98120724e-01 -9.12358871e-05 4.47839643e+02] [ 9.54084957e-01 -5.85477963e-02 -2.93758490e-01 1.58704172e+02] [ 2.93201095e-01 -1.80880264e-02 9.55879669e-01 4.55951268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.6692541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.84, Y:158.73, Z:45.60 [[-6.49667663e-02 -9.97887428e-01 -3.40754697e-06 4.47838632e+02] [ 9.53169016e-01 -6.20543944e-02 -2.96003511e-01 1.58731287e+02] [ 2.95377971e-01 -1.92336389e-02 9.55186852e-01 4.56027693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.699254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.83, Y:158.73, Z:45.60 [[-6.29462581e-02 -9.97986538e-01 7.78705677e-03 4.47834613e+02] [ 9.54615684e-01 -6.24829813e-02 -2.91212590e-01 1.58728689e+02] [ 2.91112803e-01 -1.08970963e-02 9.56626672e-01 4.56036764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7292541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:447.84, Y:158.76, Z:45.61 [[-6.43062909e-02 -9.97929333e-01 1.32207724e-03 4.47837040e+02] [ 9.54764588e-01 -6.19100861e-02 -2.90846562e-01 1.58757626e+02] [ 2.90326166e-01 -1.74409911e-02 9.56768796e-01 4.56091464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7592541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:447.84, Y:158.78, Z:45.61 [[-6.68276693e-02 -9.97589165e-01 -1.87061744e-02 4.47844220e+02] [ 9.54254838e-01 -5.84262635e-02 -2.93230416e-01 1.58781599e+02] [ 2.91430554e-01 -3.74463627e-02 9.55858777e-01 4.56138907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.7892541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.83, Y:158.81, Z:45.63 [[-6.83027236e-02 -9.97619655e-01 -9.47425187e-03 4.47834993e+02] [ 9.52596574e-01 -6.23923078e-02 -2.97769990e-01 1.58805621e+02] [ 2.96470074e-01 -2.93636412e-02 9.54590630e-01 4.56286358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.819254154 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.83, Y:158.83, Z:45.64 [[-6.60982634e-02 -9.97768420e-01 9.44458505e-03 4.47825624e+02] [ 9.53031969e-01 -6.59327688e-02 -2.95606049e-01 1.58831902e+02] [ 2.95569088e-01 -1.05380550e-02 9.55263243e-01 4.56374821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8492541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:447.83, Y:158.86, Z:45.64 [[-6.51638147e-02 -9.97874528e-01 -3.21628902e-04 4.47828277e+02] [ 9.53149194e-01 -6.21477131e-02 -2.96047761e-01 1.58859311e+02] [ 2.95398531e-01 -1.95981618e-02 9.55173084e-01 4.56431037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.8792541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.83, Y:158.89, Z:45.65 [[-6.34805003e-02 -9.97983052e-01 -2.33525625e-04 4.47826172e+02] [ 9.53241438e-01 -6.05652584e-02 -2.96078722e-01 1.58885726e+02] [ 2.95467403e-01 -1.90178317e-02 9.55163513e-01 4.56512687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9092541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.82, Y:158.91, Z:45.66 [[-5.81501544e-02 -9.98307837e-01 -1.47672181e-04 4.47822150e+02] [ 9.53375196e-01 -5.54890054e-02 -2.96642387e-01 1.58911554e+02] [ 2.96132226e-01 -1.73905876e-02 9.54988624e-01 4.56597521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.939254154 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:447.82, Y:158.94, Z:45.67 [[-5.52598022e-02 -9.98472006e-01 -8.26761560e-05 4.47819748e+02] [ 9.53628854e-01 -5.27534497e-02 -2.96325974e-01 1.58938600e+02] [ 2.95868828e-01 -1.64537571e-02 9.55086860e-01 4.56677855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9692541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.82, Y:158.97, Z:45.68 [[-5.20401585e-02 -9.98644993e-01 3.19340937e-06 4.47817094e+02] [ 9.53863365e-01 -4.97075003e-02 -2.96097695e-01 1.58965417e+02] [ 2.95696640e-01 -1.54059249e-02 9.55157660e-01 4.56762598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 532.9992541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.81, Y:158.97, Z:45.68 [[-4.43479691e-02 -9.99016142e-01 7.79829248e-05 4.47812120e+02] [ 9.54343534e-01 -4.23879599e-02 -2.95688483e-01 1.58967822e+02] [ 2.95400873e-01 -1.30387612e-02 9.55284416e-01 4.56778543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.0292541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.81, Y:158.99, Z:45.69 [[-4.11877854e-02 -9.99151423e-01 -3.48584906e-05 4.47809678e+02] [ 9.54561653e-01 -3.93393656e-02 -2.95405595e-01 1.58994755e+02] [ 2.95153550e-01 -1.22003769e-02 9.55371934e-01 4.56857954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.059254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:447.81, Y:159.00, Z:45.69 [[-3.72735564e-02 -9.99305099e-01 4.52900042e-05 4.47807351e+02] [ 9.54910531e-01 -3.56310207e-02 -2.94747873e-01 1.59000036e+02] [ 2.94544666e-01 -1.09430536e-02 9.55575057e-01 4.56874249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.089254154 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:447.81, Y:159.03, Z:45.70 [[-3.40238155e-02 -9.99421020e-01 -6.76588168e-05 4.47805394e+02] [ 9.55026401e-01 -3.24925132e-02 -2.94735151e-01 1.59026692e+02] [ 2.94562307e-01 -1.00926304e-02 9.55578980e-01 4.56951416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1192541539999 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:447.80, Y:159.02, Z:45.69 [[-2.71822002e-02 -9.99630496e-01 1.18024067e-05 4.47801718e+02] [ 9.55326906e-01 -2.59809620e-02 -2.94407019e-01 1.59021131e+02] [ 2.94298541e-01 -7.99135538e-03 9.55680128e-01 4.56934162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.1492541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.80, Y:159.05, Z:45.70 [[-2.38504110e-02 -9.99715533e-01 -1.01864082e-04 4.47800485e+02] [ 9.55467137e-01 -2.27647895e-02 -2.94218140e-01 1.59047424e+02] [ 2.94132126e-01 -7.11455135e-03 9.55738288e-01 4.57011683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.179254154 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:447.80, Y:159.07, Z:45.71 [[-2.11060970e-02 -9.99777241e-01 -3.93822330e-05 4.47798758e+02] [ 9.55644174e-01 -2.01628383e-02 -2.93832731e-01 1.59074363e+02] [ 2.93766483e-01 -6.23929753e-03 9.55856854e-01 4.57091779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.209254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:447.80, Y:159.08, Z:45.71 [[-1.78874435e-02 -9.99840006e-01 4.12663973e-05 4.47796856e+02] [ 9.55767607e-01 -1.71110936e-02 -2.93624747e-01 1.59076024e+02] [ 2.93578475e-01 -5.21275498e-03 9.55920764e-01 4.57096285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2392541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:447.79, Y:159.10, Z:45.72 [[-1.20317746e-02 -9.99927613e-01 -7.09458091e-05 4.47794043e+02] [ 9.55650138e-01 -1.14781200e-02 -2.94280590e-01 1.59101377e+02] [ 2.94258474e-01 -3.60851711e-03 9.55719064e-01 4.57171339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.2692541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.79, Y:159.10, Z:45.72 [[-8.48606215e-03 -9.99963993e-01 3.20552947e-07 4.47792908e+02] [ 9.55691884e-01 -8.11044708e-03 -2.94257105e-01 1.59104636e+02] [ 2.94246513e-01 -2.49677773e-03 9.55726298e-01 4.57177589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.299254154 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:447.79, Y:159.13, Z:45.72 [[-5.38006590e-03 -9.99984225e-01 -1.61360256e-03 4.47792669e+02] [ 9.55767592e-01 -4.66762848e-03 -2.94085911e-01 1.59130251e+02] [ 2.94073740e-01 -3.12443062e-03 9.55777627e-01 4.57244157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.329254154 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:447.79, Y:159.16, Z:45.73 [[ 6.47468437e-04 -9.99998418e-01 1.65698151e-03 4.47789754e+02] [ 9.55813836e-01 1.31752325e-04 -2.93972608e-01 1.59157995e+02] [ 2.93971924e-01 1.77410384e-03 9.55812409e-01 4.57333319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3592541539999 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:447.79, Y:159.18, Z:45.74 [[ 3.16649533e-03 -9.99994987e-01 -8.99729913e-06 4.47790154e+02] [ 9.55915620e-01 3.02955938e-03 -2.93625867e-01 1.59184807e+02] [ 2.93624422e-01 9.21164277e-04 9.55920421e-01 4.57407899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.3892541539999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:447.79, Y:159.18, Z:45.74 [[ 5.91314132e-03 -9.99982515e-01 7.10023985e-05 4.47789762e+02] [ 9.55977526e-01 5.63209759e-03 -2.93385836e-01 1.59184693e+02] [ 2.93380306e-01 1.80270861e-03 9.55994114e-01 4.57410006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4192541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:447.79, Y:159.21, Z:45.75 [[ 7.42116174e-03 -9.99972462e-01 -3.97690582e-05 4.47789657e+02] [ 9.56142054e-01 7.10752562e-03 -2.92817102e-01 1.59210238e+02] [ 2.92809321e-01 2.13501820e-03 9.56168470e-01 4.57487315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.449254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:447.79, Y:159.21, Z:45.75 [[ 8.88131752e-03 -9.99960560e-01 3.11005099e-05 4.47790236e+02] [ 9.56106778e-01 8.48271324e-03 -2.92895668e-01 1.59210730e+02] [ 2.92883852e-01 2.63103483e-03 9.56144407e-01 4.57494997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.4792541539999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:447.79, Y:159.24, Z:45.76 [[ 7.70101576e-03 -9.99970344e-01 -7.91605162e-05 4.47791007e+02] [ 9.56036034e-01 7.38587400e-03 -2.93156187e-01 1.59237307e+02] [ 2.93148077e-01 2.18192011e-03 9.56064561e-01 4.57570039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5092541539999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:447.79, Y:159.24, Z:45.76 [[ 6.22027341e-03 -9.99980654e-01 4.22841843e-07 4.47791635e+02] [ 9.55886419e-01 5.94586572e-03 -2.93676353e-01 1.59240874e+02] [ 2.93670669e-01 1.82715140e-03 9.55904911e-01 4.57584100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5392541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:447.79, Y:159.27, Z:45.77 [[ 9.61419504e-05 -9.99999989e-01 -1.09782074e-04 4.47794201e+02] [ 9.55583466e-01 1.24226698e-04 -2.94720586e-01 1.59267530e+02] [ 2.94720597e-01 -7.65709220e-05 9.55583468e-01 4.57664765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.569254154 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:447.80, Y:159.29, Z:45.77 [[-4.24369083e-03 -9.99990995e-01 -2.12609327e-05 4.47795681e+02] [ 9.55586874e-01 -4.04898650e-03 -2.94681747e-01 1.59294107e+02] [ 2.94679007e-01 -1.27085489e-03 9.55595452e-01 4.57740785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.5992541539999 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:447.80, Y:159.30, Z:45.78 [[-7.93135278e-03 -9.99968545e-01 5.89958344e-05 4.47797499e+02] [ 9.55568597e-01 -7.59657495e-03 -2.94670916e-01 1.59298407e+02] [ 2.94662095e-01 -2.28076442e-03 9.55598790e-01 4.57754774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6292541539999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:447.80, Y:159.33, Z:45.78 [[-1.22314442e-02 -9.99925192e-01 -5.15925783e-05 4.47799605e+02] [ 9.55557013e-01 -1.16735176e-02 -2.94575158e-01 1.59325280e+02] [ 2.94552519e-01 -3.65237925e-03 9.55628313e-01 4.57836808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.6592541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:447.80, Y:159.33, Z:45.78 [[-1.52188042e-02 -9.99884187e-01 2.95889059e-05 4.47801961e+02] [ 9.55563272e-01 -1.45529275e-02 -2.94426637e-01 1.59328122e+02] [ 2.94392969e-01 -4.45254727e-03 9.55674084e-01 4.57849154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.689254154 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:447.81, Y:159.35, Z:45.79 [[-2.11688102e-02 -9.99775912e-01 -8.13888295e-05 4.47805531e+02] [ 9.55446145e-01 -2.02062193e-02 -2.94473044e-01 1.59354746e+02] [ 2.94405412e-01 -6.31140664e-03 9.55659782e-01 4.57935584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7192541539999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:447.81, Y:159.36, Z:45.80 [[-2.27081052e-02 -9.99742138e-01 -8.45049056e-07 4.47806788e+02] [ 9.55417689e-01 -2.17010724e-02 -2.94459002e-01 1.59361121e+02] [ 2.94383053e-01 -6.68741336e-03 9.55664113e-01 4.57958092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7492541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:447.81, Y:159.39, Z:45.80 [[-2.42770679e-02 -9.99705262e-01 -1.12468711e-04 4.47808439e+02] [ 9.55371593e-01 -2.31673276e-02 -2.94496849e-01 1.59388190e+02] [ 2.94407444e-01 -7.25696942e-03 9.55652444e-01 4.58036695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.7792541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:447.81, Y:159.42, Z:45.81 [[-2.64217864e-02 -9.99650883e-01 -2.26387778e-05 4.47811604e+02] [ 9.55155647e-01 -2.52390508e-02 -2.95026576e-01 1.59415264e+02] [ 2.94923006e-01 -7.81675273e-03 9.55489047e-01 4.58114809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.809254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.81, Y:159.42, Z:45.81 [[-2.65788896e-02 -9.99646717e-01 5.70851101e-05 4.47812963e+02] [ 9.55157603e-01 -2.54128468e-02 -2.95005323e-01 1.59420773e+02] [ 2.94902553e-01 -7.78638864e-03 9.55495608e-01 4.58131473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.839254154 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:447.81, Y:159.45, Z:45.82 [[-2.71671086e-02 -9.99630904e-01 -5.58898686e-05 4.47814449e+02] [ 9.55243647e-01 -2.59443142e-02 -2.94680281e-01 1.59446839e+02] [ 2.94570066e-01 -8.05899964e-03 9.55595903e-01 4.58206294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8692541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:447.82, Y:159.45, Z:45.82 [[-2.65597284e-02 -9.99647228e-01 -2.90313719e-06 4.47816861e+02] [ 9.55458409e-01 -2.53848173e-02 -2.94032039e-01 1.59450459e+02] [ 2.93928239e-01 -7.81218492e-03 9.55795564e-01 4.58222450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.8992541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:447.82, Y:159.48, Z:45.83 [[-2.60539123e-02 -9.99660533e-01 -1.14922527e-04 4.47817839e+02] [ 9.55416158e-01 -2.48669586e-02 -2.94213526e-01 1.59477301e+02] [ 2.94110792e-01 -7.77521224e-03 9.55739707e-01 4.58298675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.929254154 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:447.82, Y:159.50, Z:45.84 [[-2.53533929e-02 -9.99678551e-01 -2.65603202e-05 4.47818331e+02] [ 9.55360128e-01 -2.42215860e-02 -2.94449216e-01 1.59502609e+02] [ 2.94353922e-01 -7.49066133e-03 9.55667127e-01 4.58378340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.959254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.82, Y:159.50, Z:45.84 [[-2.92585001e-02 -9.99564429e-01 -3.85913933e-03 4.47817343e+02] [ 9.54206922e-01 -2.67805121e-02 -2.97946228e-01 1.59504751e+02] [ 2.97713101e-01 -1.23998772e-02 9.54574854e-01 4.58405002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 533.9892541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:447.80, Y:159.48, Z:45.83 [[-1.41522054e-02 -9.98861085e-01 4.55658631e-02 4.47800242e+02] [ 9.61670580e-01 -2.60773266e-02 -2.72964591e-01 1.59482931e+02] [ 2.73841944e-01 3.99562991e-02 9.60944371e-01 4.58341677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.0192541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.85, Y:159.50, Z:45.83 [[-2.02760785e-02 -9.97997409e-01 -5.99170515e-02 4.47845136e+02] [ 9.57953791e-01 -2.23699702e-03 -2.86913802e-01 1.59504798e+02] [ 2.86205197e-01 -6.32152534e-02 9.56080759e-01 4.58277258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.049254154 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.82, Y:159.53, Z:45.85 [[-1.70612428e-02 -9.99811934e-01 9.22012640e-03 4.47817320e+02] [ 9.57898312e-01 -1.89878803e-02 -2.86479117e-01 1.59532445e+02] [ 2.86600310e-01 3.94425376e-03 9.58042121e-01 4.58504103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.079254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:447.82, Y:159.56, Z:45.85 [[-1.73607735e-02 -9.99849022e-01 -7.33349361e-04 4.47823160e+02] [ 9.57885435e-01 -1.64218743e-02 -2.86680686e-01 1.59559807e+02] [ 2.86625361e-01 -5.67946313e-03 9.58025911e-01 4.58548682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1092541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.82, Y:159.59, Z:45.86 [[-1.77122987e-02 -9.99842916e-01 -6.46456558e-04 4.47824261e+02] [ 9.57792152e-01 -1.67818223e-02 -2.86971364e-01 1.59586062e+02] [ 2.86915437e-01 -5.70209354e-03 9.57938943e-01 4.58622245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1392541539999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:447.83, Y:159.61, Z:45.87 [[-1.92055812e-02 -9.99815395e-01 -5.67483136e-04 4.47826112e+02] [ 9.57685586e-01 -1.82332714e-02 -2.87238343e-01 1.59613274e+02] [ 2.87174970e-01 -6.06004974e-03 9.57858973e-01 4.58697606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.1692541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.83, Y:159.64, Z:45.88 [[-2.05150631e-02 -9.99789427e-01 -4.82665364e-04 4.47826479e+02] [ 9.57666667e-01 -1.95120709e-02 -2.87217399e-01 1.59639944e+02] [ 2.87147501e-01 -6.35451561e-03 9.57865300e-01 4.58773446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.199254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.83, Y:159.67, Z:45.89 [[-2.07830947e-02 -9.99783929e-01 -3.97197706e-04 4.47826400e+02] [ 9.57660859e-01 -1.97933510e-02 -2.87217519e-01 1.59667302e+02] [ 2.87147598e-01 -6.34964960e-03 9.57865303e-01 4.58850193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2292541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:447.83, Y:159.69, Z:45.89 [[-2.20668441e-02 -9.99756448e-01 -3.16128069e-04 4.47826839e+02] [ 9.57731742e-01 -2.10485489e-02 -2.86891736e-01 1.59694200e+02] [ 2.86815209e-01 -6.63356109e-03 9.57962960e-01 4.58926995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2592541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:447.83, Y:159.72, Z:45.90 [[-2.42594743e-02 -9.99705669e-01 -2.29307856e-04 4.47827624e+02] [ 9.57817803e-01 -2.31772952e-02 -2.86439991e-01 1.59720473e+02] [ 2.86350369e-01 -7.16851876e-03 9.58098157e-01 4.59010452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.2892541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:447.83, Y:159.75, Z:45.91 [[-2.55258904e-02 -9.99674151e-01 -1.42354312e-04 4.47828029e+02] [ 9.57915992e-01 -2.44189010e-02 -2.86008163e-01 1.59746845e+02] [ 2.85911492e-01 -7.43697649e-03 9.58227171e-01 4.59090000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.319254154 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.83, Y:159.77, Z:45.92 [[-2.65332092e-02 -9.99647931e-01 -5.60557284e-05 4.47828529e+02] [ 9.58122278e-01 -2.54150180e-02 -2.85229342e-01 1.59773708e+02] [ 2.85127497e-01 -7.62175804e-03 9.58459295e-01 4.59166616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3492541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.83, Y:159.78, Z:45.92 [[-2.69420436e-02 -9.99636997e-01 1.84550355e-05 4.47828908e+02] [ 9.58191492e-01 -2.58302723e-02 -2.84959405e-01 1.59780544e+02] [ 2.84856441e-01 -7.65970526e-03 9.58539586e-01 4.59190540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.3792541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.83, Y:159.81, Z:45.93 [[-2.84011934e-02 -9.99596601e-01 -8.80575166e-05 4.47830086e+02] [ 9.58467371e-01 -2.72075930e-02 -2.83901471e-01 1.59806966e+02] [ 2.83784550e-01 -8.14754084e-03 9.58853454e-01 4.59269590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4092541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.83, Y:159.83, Z:45.93 [[-2.94186181e-02 -9.99567179e-01 -2.30556114e-06 4.47830445e+02] [ 9.58678024e-01 -2.82145418e-02 -2.83090774e-01 1.59833994e+02] [ 2.82968182e-01 -8.33034966e-03 9.59093120e-01 4.59343944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.439254154 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:447.83, Y:159.83, Z:45.93 [[-2.92217735e-02 -9.99572950e-01 7.34065522e-05 4.47831135e+02] [ 9.58859685e-01 -2.80522969e-02 -2.82491014e-01 1.59831774e+02] [ 2.82372435e-01 -8.18450183e-03 9.59269942e-01 4.59339298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4692541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.83, Y:159.86, Z:45.94 [[-2.92734926e-02 -9.99571439e-01 -3.46452506e-05 4.47831944e+02] [ 9.58922184e-01 -2.80732530e-02 -2.82276704e-01 1.59857369e+02] [ 2.82154759e-01 -8.29644710e-03 9.59333029e-01 4.59410073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.4992541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:447.83, Y:159.86, Z:45.94 [[-2.79025622e-02 -9.99610647e-01 3.44571396e-05 4.47833147e+02] [ 9.58892951e-01 -2.67757296e-02 -2.82501979e-01 1.59859716e+02] [ 2.82392908e-01 -7.84948832e-03 9.59266715e-01 4.59420420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.5292541539999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:447.83, Y:159.89, Z:45.95 [[-2.68156235e-02 -9.99640394e-01 -7.32372306e-05 4.47833639e+02] [ 9.58917233e-01 -2.57025154e-02 -2.82519241e-01 1.59885918e+02] [ 2.82415763e-01 -7.64615806e-03 9.59261629e-01 4.59495558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.559254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.83, Y:159.91, Z:45.96 [[-2.53778334e-02 -9.99677931e-01 3.92524110e-06 4.47833775e+02] [ 9.58941243e-01 -2.43448009e-02 -2.82558000e-01 1.59912657e+02] [ 2.82467093e-01 -7.16694579e-03 9.59250216e-01 4.59569160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.589254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.83, Y:159.91, Z:45.96 [[-2.04856462e-02 -9.99790144e-01 7.86595339e-05 4.47834056e+02] [ 9.59118396e-01 -1.96744961e-02 -2.82320414e-01 1.59908012e+02] [ 2.82262715e-01 -5.70807230e-03 9.59320164e-01 4.59558907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6192541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.83, Y:159.93, Z:45.96 [[-1.80760365e-02 -9.99836615e-01 -2.83571757e-05 4.47834264e+02] [ 9.59123209e-01 -1.73319682e-02 -2.82457558e-01 1.59934730e+02] [ 2.82410917e-01 -5.13291115e-03 9.59279796e-01 4.59636004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.6492541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.83, Y:159.94, Z:45.96 [[-1.47114439e-02 -9.99891780e-01 4.62285951e-05 4.47834326e+02] [ 9.59283235e-01 -1.41270110e-02 -2.82092364e-01 1.59939524e+02] [ 2.82062489e-01 -4.10563966e-03 9.59387250e-01 4.59647844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.679254154 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:447.83, Y:159.97, Z:45.97 [[-1.20180120e-02 -9.99927779e-01 -6.05303660e-05 4.47834499e+02] [ 9.59451083e-01 -1.15144785e-02 -2.81639906e-01 1.59966727e+02] [ 2.81618869e-01 -3.44282771e-03 9.59520172e-01 4.59722708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.709254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.84, Y:159.96, Z:45.97 [[-5.55396529e-03 -9.99984576e-01 1.75459877e-05 4.47835577e+02] [ 9.59724428e-01 -5.33528698e-03 -2.80892431e-01 1.59964769e+02] [ 2.80888192e-01 -1.54322750e-03 9.59739257e-01 4.59712239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7392541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.84, Y:159.99, Z:45.98 [[-3.48905184e-03 -9.99993909e-01 -8.88101481e-05 4.47836068e+02] [ 9.59756071e-01 -3.32371968e-03 -2.80815308e-01 1.59990469e+02] [ 2.80813303e-01 -1.06501525e-03 9.59761822e-01 4.59780708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.7692541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.84, Y:160.02, Z:45.99 [[-1.42769481e-03 -9.99998981e-01 -1.69151997e-06 4.47836602e+02] [ 9.59662142e-01 -1.36963048e-03 -2.81152446e-01 1.60017699e+02] [ 2.81152158e-01 -4.03023176e-04 9.59663119e-01 4.59855103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.799254154 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:447.84, Y:160.02, Z:45.99 [[-3.86780168e-04 -9.99999923e-01 7.11154818e-05 4.47837312e+02] [ 9.59930671e-01 -3.91211387e-04 -2.80237319e-01 1.60018779e+02] [ 2.80237325e-01 -4.01243048e-05 9.59930748e-01 4.59855682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.829254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.84, Y:160.05, Z:45.99 [[-6.17647313e-04 -9.99999809e-01 -3.52285645e-05 4.47839491e+02] [ 9.60004506e-01 -5.83080881e-04 -2.79983944e-01 1.60046187e+02] [ 2.79983870e-01 -2.06750911e-04 9.60004682e-01 4.59925958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8592541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.84, Y:160.05, Z:45.99 [[-1.67680712e-03 -9.99998593e-01 4.05230107e-05 4.47840264e+02] [ 9.60114934e-01 -1.62126011e-03 -2.79600938e-01 1.60052794e+02] [ 2.79600611e-01 -4.29930095e-04 9.60116302e-01 4.59942791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.8892541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.84, Y:160.08, Z:46.00 [[-5.40545833e-03 -9.99985388e-01 -6.61744713e-05 4.47843412e+02] [ 9.60008688e-01 -5.17083880e-03 -2.79922455e-01 1.60078878e+02] [ 2.79918022e-01 -1.57663723e-03 9.60022612e-01 4.60012396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9192541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:447.84, Y:160.08, Z:46.00 [[-9.07896896e-03 -9.99958785e-01 4.28829419e-06 4.47844603e+02] [ 9.60300210e-01 -8.72009091e-03 -2.78832326e-01 1.60084141e+02] [ 2.78820872e-01 -2.52739199e-03 9.60339801e-01 4.60028468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.949254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.85, Y:160.11, Z:46.01 [[-1.22692322e-02 -9.99924725e-01 -1.02919044e-04 4.47846553e+02] [ 9.60185476e-01 -1.17528969e-02 -2.79115965e-01 1.60109916e+02] [ 2.79093745e-01 -3.52335996e-03 9.60257397e-01 4.60099132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 534.9792541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:447.85, Y:160.14, Z:46.02 [[-1.76938093e-02 -9.99843452e-01 -2.62216556e-05 4.47847843e+02] [ 9.60395486e-01 -1.69884213e-02 -2.78122102e-01 1.60135863e+02] [ 2.78078118e-01 -4.94622262e-03 9.60545728e-01 4.60171742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0092541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.85, Y:160.14, Z:46.02 [[-2.58320084e-02 -9.99666297e-01 5.22585326e-05 4.47851479e+02] [ 9.60465288e-01 -2.48335252e-02 -2.77289967e-01 1.60143350e+02] [ 2.77198732e-01 -7.11276425e-03 9.60786278e-01 4.60192704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0392541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:447.85, Y:160.17, Z:46.03 [[-3.01879610e-02 -9.99544238e-01 -5.63343083e-05 4.47853237e+02] [ 9.60485838e-01 -2.89927286e-02 -2.76814698e-01 1.60169529e+02] [ 2.76686903e-01 -8.41057961e-03 9.60923316e-01 4.60263212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.069254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.86, Y:160.17, Z:46.03 [[-3.30127856e-02 -9.99454929e-01 1.61504849e-05 4.47855111e+02] [ 9.60496863e-01 -3.17304376e-02 -2.76475960e-01 1.60172148e+02] [ 2.76325773e-01 -9.11172911e-03 9.61020834e-01 4.60268535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.0992541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:447.86, Y:160.20, Z:46.03 [[-3.74485547e-02 -9.99298553e-01 -9.30771908e-05 4.47856385e+02] [ 9.60536770e-01 -3.59702727e-02 -2.75817427e-01 1.60198879e+02] [ 2.75620607e-01 -1.04183680e-02 9.61210039e-01 4.60340437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1292541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:447.86, Y:160.23, Z:46.04 [[-4.36278620e-02 -9.99047852e-01 -7.91532011e-06 4.47858660e+02] [ 9.60319130e-01 -4.19344158e-02 -2.75732975e-01 1.60225421e+02] [ 2.75470104e-01 -1.20372414e-02 9.61234272e-01 4.60408497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.1592541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:447.84, Y:160.21, Z:46.03 [[-2.79136730e-02 -9.98178269e-01 5.34880434e-02 4.47843408e+02] [ 9.69747138e-01 -4.00224853e-02 -2.40808408e-01 1.60207816e+02] [ 2.42510444e-01 4.51480298e-02 9.69097694e-01 4.60274841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.189254154 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:447.90, Y:160.22, Z:46.03 [[-3.90273049e-02 -9.95940110e-01 -8.11182231e-02 4.47897802e+02] [ 9.66382176e-01 -1.69734022e-02 -2.56549009e-01 1.60221146e+02] [ 2.54130596e-01 -8.84036214e-02 9.63121197e-01 4.60252149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2192541539999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:447.86, Y:160.24, Z:46.05 [[-4.17704709e-02 -9.99124814e-01 -2.19855604e-03 4.47859366e+02] [ 9.65346139e-01 -3.97907321e-02 -2.57921558e-01 1.60243913e+02] [ 2.57608347e-01 -1.28958725e-02 9.66163359e-01 4.60481633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2492541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.86, Y:160.27, Z:46.05 [[-4.38125839e-02 -9.99037523e-01 -2.11800417e-03 4.47859666e+02] [ 9.65328275e-01 -4.17879948e-02 -2.57672436e-01 1.60270863e+02] [ 2.57335925e-01 -1.33338645e-02 9.66230009e-01 4.60548465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.2792541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:447.84, Y:160.31, Z:46.06 [[-3.82589269e-02 -9.97656523e-01 5.67249172e-02 4.47843706e+02] [ 9.68657703e-01 -5.09698620e-02 -2.43113815e-01 1.60311840e+02] [ 2.45435345e-01 4.56457543e-02 9.68337729e-01 4.60566622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.309254154 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.89, Y:160.33, Z:46.05 [[-4.81326755e-02 -9.96461706e-01 -6.89007610e-02 4.47893282e+02] [ 9.66126688e-01 -2.89356702e-02 -2.56440929e-01 1.60327615e+02] [ 2.53539876e-01 -7.89100520e-02 9.64100998e-01 4.60545501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.339254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.86, Y:160.35, Z:46.07 [[-5.04340439e-02 -9.98725635e-01 -1.87457220e-03 4.47860164e+02] [ 9.65295778e-01 -4.82641470e-02 -2.56660542e-01 1.60349953e+02] [ 2.56242988e-01 -1.47539457e-02 9.66499794e-01 4.60748457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3692541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.86, Y:160.38, Z:46.08 [[-5.20194046e-02 -9.98644465e-01 -1.79286667e-03 4.47859864e+02] [ 9.65244635e-01 -4.98190123e-02 -2.56555767e-01 1.60377300e+02] [ 2.56118678e-01 -1.50764332e-02 9.66527767e-01 4.60818273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.3992541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.86, Y:160.40, Z:46.09 [[-5.37855372e-02 -9.98551043e-01 -1.71194022e-03 4.47858317e+02] [ 9.65350349e-01 -5.15586565e-02 -2.55813228e-01 1.60404647e+02] [ 2.55354301e-01 -1.54116740e-02 9.66724708e-01 4.60891360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.429254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.86, Y:160.43, Z:46.10 [[-5.28435560e-02 -9.98598911e-01 -2.78817003e-03 4.47857716e+02] [ 9.65417838e-01 -5.03734903e-02 -2.55794664e-01 1.60429881e+02] [ 2.55295823e-01 -1.62088487e-02 9.66727116e-01 4.60950045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.459254154 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.84, Y:160.47, Z:46.10 [[-4.87902943e-02 -9.97845433e-01 4.38634129e-02 4.47843418e+02] [ 9.67428047e-01 -5.81334523e-02 -2.46380755e-01 1.60468931e+02] [ 2.48399843e-01 3.04137064e-02 9.68180006e-01 4.60998479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.4892541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.87, Y:160.49, Z:46.10 [[-5.48384667e-02 -9.97427421e-01 -4.61658074e-02 4.47874245e+02] [ 9.65005835e-01 -4.10684941e-02 -2.58992505e-01 1.60485234e+02] [ 2.56430266e-01 -5.87530254e-02 9.64775415e-01 4.60996799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.5192541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.85, Y:160.51, Z:46.12 [[-5.62549270e-02 -9.98414471e-01 -1.98163779e-03 4.47851559e+02] [ 9.64462820e-01 -5.38285274e-02 -2.58677325e-01 1.60513522e+02] [ 2.58160516e-01 -1.64630900e-02 9.65961756e-01 4.61173948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.549254154 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:447.83, Y:160.56, Z:46.12 [[-4.66332026e-02 -9.96289509e-01 7.23364273e-02 4.47825296e+02] [ 9.68263720e-01 -6.28840560e-02 -2.41890396e-01 1.60555783e+02] [ 2.45541672e-01 5.87606143e-02 9.67603471e-01 4.61241879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.579254154 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:447.87, Y:160.59, Z:46.11 [[-4.70176518e-02 -9.98410906e-01 -3.10645023e-02 4.47871427e+02] [ 9.68251066e-01 -3.79094506e-02 -2.47088539e-01 1.60586396e+02] [ 2.45518254e-01 -4.16957603e-02 9.68494838e-01 4.61122161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6092541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.86, Y:160.61, Z:46.12 [[-4.48422408e-02 -9.98981489e-01 -5.01581909e-03 4.47855364e+02] [ 9.68529973e-01 -4.22437705e-02 -2.45285864e-01 1.60612110e+02] [ 2.44824151e-01 -1.58571389e-02 9.69437820e-01 4.61245695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6392541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.85, Y:160.64, Z:46.13 [[-4.43803863e-02 -9.98992071e-01 -6.72489397e-03 4.47854234e+02] [ 9.68565411e-01 -4.13774391e-02 -2.45293604e-01 1.60640085e+02] [ 2.44768106e-01 -1.73997246e-02 9.69425512e-01 4.61322246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.6692541539999 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:447.87, Y:160.65, Z:46.14 [[-5.22304436e-02 -9.96522544e-01 -6.49214909e-02 4.47870017e+02] [ 9.65511661e-01 -3.37865730e-02 -2.58158283e-01 1.60652455e+02] [ 2.55067075e-01 -7.61661782e-02 9.63918825e-01 4.61420391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.699254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.81, Y:160.69, Z:46.16 [[-3.97105467e-02 -9.96272102e-01 7.65830955e-02 4.47810516e+02] [ 9.69051965e-01 -5.70869986e-02 -2.40165282e-01 1.60692464e+02] [ 2.43641870e-01 6.46759046e-02 9.67706395e-01 4.61627117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7292541539999 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:447.86, Y:160.73, Z:46.15 [[-3.86498433e-02 -9.98964026e-01 -2.40221546e-02 4.47856518e+02] [ 9.69104030e-01 -3.16122129e-02 -2.44618167e-01 1.60725460e+02] [ 2.43605356e-01 -3.27344207e-02 9.69321870e-01 4.61498258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7592541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:447.84, Y:160.76, Z:46.16 [[-3.80169755e-02 -9.99272698e-01 -2.96373750e-03 4.47844594e+02] [ 9.68947417e-01 -3.61377679e-02 -2.44611865e-01 1.60755054e+02] [ 2.44326856e-01 -1.21711091e-02 9.69616549e-01 4.61617727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.7892541539999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:447.86, Y:160.82, Z:46.19 [[-5.76196436e-02 -9.96965897e-01 -5.23352388e-02 4.47857141e+02] [ 9.59620752e-01 -4.08512758e-02 -2.78314904e-01 1.60818103e+02] [ 2.75332506e-01 -6.62583868e-02 9.59063000e-01 4.61861343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.819254154 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.83, Y:160.78, Z:46.19 [[-5.48393393e-02 -9.98493674e-01 1.74044065e-03 4.47827819e+02] [ 9.58938861e-01 -5.31525038e-02 -2.78587638e-01 1.60777286e+02] [ 2.78260503e-01 -1.36085858e-02 9.60409235e-01 4.61890925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8492541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.83, Y:160.78, Z:46.19 [[-5.31941393e-02 -9.98579489e-01 3.06398866e-03 4.47825744e+02] [ 9.58859427e-01 -5.19346051e-02 -2.79090302e-01 1.60779864e+02] [ 2.78852979e-01 -1.19080340e-02 9.60259973e-01 4.61902957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.8792541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.81, Y:160.75, Z:46.18 [[-3.31786183e-02 -9.97675581e-01 5.95198714e-02 4.47806772e+02] [ 9.68599982e-01 -4.67793372e-02 -2.44183884e-01 1.60752084e+02] [ 2.46400598e-01 4.95492625e-02 9.67900623e-01 4.61768709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9092541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.84, Y:160.76, Z:46.16 [[-2.83067987e-02 -9.99514516e-01 -1.30175518e-02 4.47839467e+02] [ 9.68752156e-01 -2.42207091e-02 -2.46845332e-01 1.60756006e+02] [ 2.46410198e-01 -1.95981825e-02 9.68967453e-01 4.61595369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.939254154 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:447.84, Y:160.76, Z:46.16 [[-2.82300082e-02 -9.99544142e-01 -1.07039663e-02 4.47835985e+02] [ 9.67898881e-01 -2.46576776e-02 -2.50127477e-01 1.60757990e+02] [ 2.49749520e-01 -1.74214577e-02 9.68153743e-01 4.61630983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9692541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.83, Y:160.77, Z:46.17 [[-2.47733552e-02 -9.99689603e-01 2.64180476e-03 4.47829695e+02] [ 9.69195675e-01 -2.46652690e-02 -2.45053806e-01 1.60766477e+02] [ 2.45042903e-01 -3.51037923e-03 9.69505881e-01 4.61663767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 535.9992541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:447.83, Y:160.78, Z:46.17 [[-2.29603883e-02 -9.99736256e-01 -4.88687333e-04 4.47830711e+02] [ 9.69797654e-01 -2.21540703e-02 -2.42902671e-01 1.60776724e+02] [ 2.42827781e-01 -6.05106749e-03 9.70050542e-01 4.61676266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.0292541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.83, Y:160.78, Z:46.17 [[-2.07549611e-02 -9.99780968e-01 -2.69219056e-03 4.47830881e+02] [ 9.69976382e-01 -1.94834557e-02 -2.42417437e-01 1.60779603e+02] [ 2.42311887e-01 -7.64272575e-03 9.70168304e-01 4.61677319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.059254154 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.86, Y:160.79, Z:46.17 [[-2.86612232e-02 -9.95959404e-01 -8.51081659e-02 4.47856376e+02] [ 9.65736925e-01 -5.61955944e-03 -2.59462159e-01 1.60789163e+02] [ 2.57935507e-01 -8.96286013e-02 9.61995836e-01 4.61749845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.089254154 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.81, Y:160.81, Z:46.20 [[-2.85594309e-02 -9.99592094e-01 -6.04586175e-05 4.47814788e+02] [ 9.65104849e-01 -2.75583424e-02 -2.60409617e-01 1.60811267e+02] [ 2.60301728e-01 -7.49549936e-03 9.65498228e-01 4.62026543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1192541539999 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:447.81, Y:160.84, Z:46.21 [[-2.62508884e-02 -9.99655386e-01 -1.06609680e-05 4.47814532e+02] [ 9.65106673e-01 -2.53408618e-02 -2.60627994e-01 1.60837186e+02] [ 2.60537908e-01 -6.85200535e-03 9.65439303e-01 4.62085889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.1492541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.81, Y:160.84, Z:46.21 [[-2.39185249e-02 -9.99713910e-01 4.06305738e-05 4.47813777e+02] [ 9.65151450e-01 -2.31021994e-02 -2.60670228e-01 1.60837736e+02] [ 2.60596592e-01 -6.19563268e-03 9.65427900e-01 4.62093553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.179254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.81, Y:160.86, Z:46.22 [[-2.00364000e-02 -9.99799249e-01 -6.29037974e-05 4.47812960e+02] [ 9.65097521e-01 -1.93245304e-02 -2.61176832e-01 1.60864166e+02] [ 2.61123185e-01 -5.29375178e-03 9.65290971e-01 4.62167771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.209254154 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.81, Y:160.86, Z:46.22 [[-1.76628977e-02 -9.99843999e-01 1.20177698e-05 4.47812482e+02] [ 9.65143415e-01 -1.70530283e-02 -2.61165433e-01 1.60863301e+02] [ 2.61124896e-01 -4.60133946e-03 9.65294057e-01 4.62167509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2392541539999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:447.81, Y:160.89, Z:46.22 [[-1.34113494e-02 -9.99810035e-01 1.41432147e-02 4.47808840e+02] [ 9.66707798e-01 -1.65794072e-02 -2.55345173e-01 1.60894422e+02] [ 2.55531152e-01 1.02478326e-02 9.66746509e-01 4.62216945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.2692541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:447.82, Y:160.92, Z:46.23 [[-1.30061157e-02 -9.99889886e-01 -7.14539486e-03 4.47818515e+02] [ 9.65747571e-01 -1.07092723e-02 -2.59262301e-01 1.60922116e+02] [ 2.59157230e-01 -1.02726432e-02 9.65780515e-01 4.62268752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.299254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.82, Y:160.93, Z:46.23 [[-1.21563173e-02 -9.99926050e-01 -3.45670671e-04 4.47816165e+02] [ 9.65763645e-01 -1.16514063e-02 -2.59161778e-01 1.60926407e+02] [ 2.59138586e-01 -3.48428898e-03 9.65833864e-01 4.62298176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.329254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.82, Y:160.86, Z:46.21 [[-1.58125237e-02 -9.99849944e-01 -7.07480357e-03 4.47818654e+02] [ 9.64350529e-01 -1.33810263e-02 -2.64289623e-01 1.60855845e+02] [ 2.64155297e-01 -1.10016765e-02 9.64417411e-01 4.62127053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3592541539999 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:447.82, Y:160.86, Z:46.21 [[-1.53184494e-02 -9.99882619e-01 3.07074870e-04 4.47816644e+02] [ 9.64367196e-01 -1.48554677e-02 -2.64150008e-01 1.60856770e+02] [ 2.64123564e-01 -3.75023560e-03 9.64481560e-01 4.62129872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.3892541539999 meters Centerline goodness : 0.996873 Centerline is valid? [True, True] Translation: X:447.82, Y:161.42, Z:46.37 [[-1.96063138e-02 -9.99798080e-01 4.40360487e-03 4.47815910e+02] [ 9.64491272e-01 -2.00738646e-02 -2.63350766e-01 1.61419259e+02] [ 2.63385987e-01 -9.16099296e-04 9.64690097e-01 4.63658865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4192541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.82, Y:160.95, Z:46.24 [[-2.04972500e-02 -9.99789819e-01 -4.25831000e-04 4.47819758e+02] [ 9.64605342e-01 -1.96639118e-02 -2.62963617e-01 1.60953218e+02] [ 2.62899974e-01 -5.80078987e-03 9.64805656e-01 4.62399968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.449254154 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:447.81, Y:160.84, Z:46.20 [[-4.28316141e-03 -9.98993174e-01 4.46574996e-02 4.47807786e+02] [ 9.72605118e-01 -1.45413741e-02 -2.32008259e-01 1.60839851e+02] [ 2.32424048e-01 4.24403839e-02 9.71688158e-01 4.62044993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.4792541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.86, Y:160.85, Z:46.20 [[-1.83034294e-02 -9.97132015e-01 -7.34352060e-02 4.47857038e+02] [ 9.69064645e-01 3.88210484e-04 -2.46806734e-01 1.60854952e+02] [ 2.46127405e-01 -7.56808715e-02 9.66278276e-01 4.61999307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5092541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.81, Y:160.89, Z:46.22 [[-1.16814397e-02 -9.98326146e-01 5.66431919e-02 4.47806080e+02] [ 9.71870793e-01 -2.46610956e-02 -2.34219966e-01 1.60892869e+02] [ 2.35224799e-01 5.23138374e-02 9.70532100e-01 4.62227538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5392541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:447.86, Y:160.91, Z:46.22 [[-2.27835677e-02 -9.97363213e-01 -6.89023270e-02 4.47857323e+02] [ 9.68882512e-01 -5.03663473e-03 -2.47469816e-01 1.60908836e+02] [ 2.46470255e-01 -7.23965050e-02 9.66442528e-01 4.62160571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.569254154 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:447.83, Y:160.93, Z:46.24 [[-2.41325990e-02 -9.99707082e-01 -1.83503200e-03 4.47826153e+02] [ 9.68328354e-01 -2.29187564e-02 -2.48626083e-01 1.60932779e+02] [ 2.48511199e-01 -7.77690708e-03 9.68597803e-01 4.62381593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.5992541539999 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:447.81, Y:160.97, Z:46.24 [[-1.85650188e-02 -9.98672648e-01 4.80445940e-02 4.47812785e+02] [ 9.70773377e-01 -2.95047304e-02 -2.38177500e-01 1.60969187e+02] [ 2.39278898e-01 4.22186430e-02 9.70032574e-01 4.62430905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6292541539999 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:447.85, Y:160.99, Z:46.23 [[-2.44207739e-02 -9.98968998e-01 -3.82696590e-02 4.47850810e+02] [ 9.69925781e-01 -1.44026413e-02 -2.42974366e-01 1.60988135e+02] [ 2.42172675e-01 -4.30523510e-02 9.69277510e-01 4.62335991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.6592541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.82, Y:161.02, Z:46.25 [[-2.15203725e-02 -9.99004861e-01 3.90661031e-02 4.47819200e+02] [ 9.70843889e-01 -3.02129471e-02 -2.37801013e-01 1.61023839e+02] [ 2.38744670e-01 3.28095211e-02 9.70527958e-01 4.62546419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.689254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:447.86, Y:161.04, Z:46.25 [[-3.14563383e-02 -9.97126494e-01 -6.89148362e-02 4.47863826e+02] [ 9.67594098e-01 -1.30962851e-02 -2.52170873e-01 1.61040810e+02] [ 2.50543730e-01 -7.46139610e-02 9.65225671e-01 4.62537389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7192541539999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:447.83, Y:161.06, Z:46.28 [[-3.12344241e-02 -9.99511655e-01 -9.29107350e-04 4.47832243e+02] [ 9.66979248e-01 -2.99825383e-02 -2.53085326e-01 1.61063635e+02] [ 2.52933876e-01 -8.80340195e-03 9.67443515e-01 4.62755165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7492541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.83, Y:161.09, Z:46.28 [[-3.13164034e-02 -9.99509136e-01 -8.77137152e-04 4.47833336e+02] [ 9.66958255e-01 -3.00743659e-02 -2.53154627e-01 1.61090610e+02] [ 2.53003983e-01 -8.77604743e-03 9.67425432e-01 4.62821926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.7792541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.83, Y:161.12, Z:46.29 [[-3.05820596e-02 -9.99531937e-01 -8.03217237e-04 4.47834757e+02] [ 9.66824395e-01 -2.93774178e-02 -2.53747032e-01 1.61116663e+02] [ 2.53604666e-01 -8.53667689e-03 9.67270282e-01 4.62880462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.809254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.82, Y:161.16, Z:46.29 [[-2.13812838e-02 -9.98076219e-01 5.81953832e-02 4.47816633e+02] [ 9.70185408e-01 -3.47692671e-02 -2.39856983e-01 1.61157304e+02] [ 2.41418962e-01 5.13318613e-02 9.69062395e-01 4.62949593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.839254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.87, Y:161.17, Z:46.29 [[-2.82590866e-02 -9.97289610e-01 -6.79327487e-02 4.47868703e+02] [ 9.67180168e-01 -1.01115693e-02 -2.53890288e-01 1.61173666e+02] [ 2.52515240e-01 -7.28779150e-02 9.64844476e-01 4.62895977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8692541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.84, Y:161.20, Z:46.31 [[-2.57926947e-02 -9.99667185e-01 -5.05280283e-04 4.47836738e+02] [ 9.66746052e-01 -2.48146346e-02 -2.54531541e-01 1.61195895e+02] [ 2.54434291e-01 -7.05353204e-03 9.67064341e-01 4.63110069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.8992541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.84, Y:161.22, Z:46.32 [[-2.35853891e-02 -9.99721731e-01 -4.36342566e-04 4.47837457e+02] [ 9.66789907e-01 -2.26973556e-02 -2.54562579e-01 1.61223328e+02] [ 2.54481838e-01 -6.42580905e-03 9.67056205e-01 4.63180237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.929254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.84, Y:161.25, Z:46.33 [[-1.84562201e-02 -9.99829605e-01 -3.59432608e-04 4.47839470e+02] [ 9.66903715e-01 -1.77569296e-02 -2.54522884e-01 1.61250035e+02] [ 2.54473132e-01 -5.04506707e-03 9.67066685e-01 4.63256906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.959254154 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] Translation: X:447.85, Y:161.27, Z:46.33 [[-1.47365280e-02 -9.99742073e-01 -1.72806917e-02 4.47848711e+02] [ 9.67854405e-01 -9.92247005e-03 -2.51315329e-01 1.61274053e+02] [ 2.51079041e-01 -2.04287089e-02 9.67750992e-01 4.63265606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 536.9892541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.83, Y:161.30, Z:46.34 [[-1.31615145e-02 -9.99823320e-01 1.34202789e-02 4.47834032e+02] [ 9.67635448e-01 -1.61181178e-02 -2.51836945e-01 1.61300547e+02] [ 2.52008760e-01 9.67138201e-03 9.67676624e-01 4.63408205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.0192541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.85, Y:161.33, Z:46.35 [[-9.95418240e-03 -9.99528627e-01 -2.90420184e-02 4.47852799e+02] [ 9.65431417e-01 -2.04126343e-03 -2.60649212e-01 1.61325892e+02] [ 2.60467066e-01 -3.06326268e-02 9.64996658e-01 4.63485708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.049254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.83, Y:161.35, Z:46.36 [[-5.54984764e-03 -9.99411335e-01 3.38553199e-02 4.47826128e+02] [ 9.67161487e-01 -1.39675759e-02 -2.53778573e-01 1.61353563e+02] [ 2.54102059e-01 3.13351291e-02 9.66669671e-01 4.63601502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.079254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.84, Y:161.38, Z:46.36 [[-4.48150891e-03 -9.99983164e-01 3.68609602e-03 4.47841234e+02] [ 9.66845624e-01 -5.27410262e-03 -2.55307117e-01 1.61382943e+02] [ 2.55322260e-01 2.41972468e-03 9.66852982e-01 4.63600561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1092541539999 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:447.85, Y:161.41, Z:46.36 [[-2.59625480e-03 -9.99976890e-01 -6.28328860e-03 4.47846937e+02] [ 9.67091090e-01 -9.12186653e-04 -2.54428757e-01 1.61409798e+02] [ 2.54417145e-01 -6.73707430e-03 9.67071108e-01 4.63629109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1392541539999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:447.84, Y:160.85, Z:46.23 [[ 4.27798238e-03 -9.99978151e-01 5.03957400e-03 4.47840645e+02] [ 9.67254404e-01 2.85895258e-03 -2.53792719e-01 1.60845141e+02] [ 2.53772766e-01 5.96027093e-03 9.67245501e-01 4.62256441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.1692541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:447.84, Y:160.87, Z:46.23 [[ 4.00001244e-03 -9.99990799e-01 -1.54971335e-03 4.47844785e+02] [ 9.67324103e-01 4.26221119e-03 -2.53507224e-01 1.60871117e+02] [ 2.53511497e-01 -4.85043027e-04 9.67332252e-01 4.62310921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.199254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.85, Y:160.90, Z:46.24 [[ 4.27165961e-03 -9.99979102e-01 -4.85271540e-03 4.47847012e+02] [ 9.67632529e-01 5.35788051e-03 -2.52306522e-01 1.60896743e+02] [ 2.52327250e-01 -3.61787770e-03 9.67635195e-01 4.62372929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2292541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.85, Y:160.92, Z:46.25 [[ 2.37650941e-03 -9.99993422e-01 2.74001346e-03 4.47845083e+02] [ 9.67483348e-01 1.60621329e-03 -2.52929619e-01 1.60923464e+02] [ 2.52923554e-01 3.25200702e-03 9.67480801e-01 4.62466870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2592541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.85, Y:160.95, Z:46.25 [[ 1.09022352e-04 -9.99999937e-01 -3.37298917e-04 4.47848039e+02] [ 9.67546696e-01 1.90717040e-04 -2.52692214e-01 1.60952149e+02] [ 2.52692263e-01 -2.98803352e-04 9.67546656e-01 4.62532039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.2892541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.85, Y:160.98, Z:46.26 [[-1.30726965e-03 -9.99998268e-01 -1.32461601e-03 4.47850098e+02] [ 9.67510259e-01 -9.29895668e-04 -2.52830051e-01 1.60979400e+02] [ 2.52828382e-01 -1.61209663e-03 9.67509799e-01 4.62598484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.319254154 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.85, Y:161.01, Z:46.27 [[-4.65976358e-03 -9.99988355e-01 -1.25526029e-03 4.47852921e+02] [ 9.67344353e-01 -4.18952270e-03 -2.53431155e-01 1.61005416e+02] [ 2.53422945e-01 -2.39519822e-03 9.67352611e-01 4.62664044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3492541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.85, Y:161.03, Z:46.27 [[-6.50454432e-03 -9.99978147e-01 -1.18144645e-03 4.47854262e+02] [ 9.67196738e-01 -5.99126740e-03 -2.53957823e-01 1.61031798e+02] [ 2.53945195e-01 -2.79457106e-03 9.67214572e-01 4.62726651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.3792541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.86, Y:161.06, Z:46.28 [[-8.36699911e-03 -9.99964382e-01 -1.10823655e-03 4.47855585e+02] [ 9.67045887e-01 -7.80952360e-03 -2.54482345e-01 1.61058451e+02] [ 2.54464626e-01 -3.20096915e-03 9.67076785e-01 4.62791618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4092541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.86, Y:161.09, Z:46.29 [[-1.05400892e-02 -9.99943913e-01 -1.03799058e-03 4.47856978e+02] [ 9.66947041e-01 -9.92780158e-03 -2.54783944e-01 1.61085836e+02] [ 2.54759349e-01 -3.68912743e-03 9.66997448e-01 4.62858585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.439254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.86, Y:161.11, Z:46.29 [[-1.25734051e-02 -9.99920485e-01 -9.65921507e-04 4.47858360e+02] [ 9.66811751e-01 -1.19105481e-02 -2.55212023e-01 1.61111652e+02] [ 2.55180225e-01 -4.14274841e-03 9.66884631e-01 4.62923210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4692541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.85, Y:161.14, Z:46.30 [[-1.63394043e-02 -9.99775441e-01 1.34941034e-02 4.47853660e+02] [ 9.65539768e-01 -1.92829374e-02 -2.59540219e-01 1.61137907e+02] [ 2.59742143e-01 8.78836091e-03 9.65638019e-01 4.63019933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.4992541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.87, Y:161.16, Z:46.30 [[-1.80285748e-02 -9.99711417e-01 -1.58762065e-02 4.47868516e+02] [ 9.66953197e-01 -1.33945419e-02 -2.54601849e-01 1.61164749e+02] [ 2.54315721e-01 -1.99416571e-02 9.66915635e-01 4.63029320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.5292541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.86, Y:161.19, Z:46.31 [[-1.86845833e-02 -9.99825134e-01 -7.66772817e-04 4.47862113e+02] [ 9.66857407e-01 -1.78731633e-02 -2.54690604e-01 1.61188904e+02] [ 2.54632363e-01 -5.50014777e-03 9.67022289e-01 4.63125961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.559254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.86, Y:161.22, Z:46.32 [[-1.82452032e-02 -9.99833307e-01 -6.85782582e-04 4.47862690e+02] [ 9.66869968e-01 -1.74690021e-02 -2.54670961e-01 1.61215405e+02] [ 2.54616529e-01 -5.30958602e-03 9.67027524e-01 4.63197692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.589254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.86, Y:161.24, Z:46.33 [[-1.74183336e-02 -9.99848103e-01 -6.10788805e-04 4.47862594e+02] [ 9.66962938e-01 -1.66900519e-02 -2.54370041e-01 1.61242429e+02] [ 2.54321209e-01 -5.02131238e-03 9.67106772e-01 4.63267673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6192541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.86, Y:161.27, Z:46.33 [[-1.57936021e-02 -9.99875130e-01 -5.34656361e-04 4.47862962e+02] [ 9.66993974e-01 -1.51382190e-02 -2.54349147e-01 1.61268511e+02] [ 2.54309293e-01 -4.53409870e-03 9.67112313e-01 4.63334174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.6492541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.86, Y:161.30, Z:46.34 [[-1.13473108e-02 -9.99935502e-01 -4.80771120e-04 4.47863404e+02] [ 9.67144309e-01 -1.08530730e-02 -2.53996253e-01 1.61295297e+02] [ 2.53974653e-01 -3.34714947e-03 9.67205083e-01 4.63403270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.679254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.86, Y:161.32, Z:46.35 [[-8.79583093e-03 -9.99961234e-01 -4.05466921e-04 4.47863462e+02] [ 9.67237299e-01 -8.40510050e-03 -2.53734827e-01 1.61322662e+02] [ 2.53721582e-01 -2.62399136e-03 9.67273732e-01 4.63466371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.709254154 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:447.86, Y:161.35, Z:46.35 [[-5.62382710e-03 -9.99980635e-01 2.66494262e-03 4.47861687e+02] [ 9.67105913e-01 -6.11665110e-03 -2.54300489e-01 1.61347832e+02] [ 2.54311865e-01 1.14713979e-03 9.67121584e-01 4.63540073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7392541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.86, Y:161.37, Z:46.36 [[-3.83196737e-03 -9.99989497e-01 -2.51417643e-03 4.47864501e+02] [ 9.67343070e-01 -3.06963604e-03 -2.53452090e-01 1.61374988e+02] [ 2.53441711e-01 -3.40329129e-03 9.67344673e-01 4.63596470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.7692541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.86, Y:161.40, Z:46.37 [[-6.80276846e-04 -9.99999745e-01 -2.15247109e-04 4.47863658e+02] [ 9.67287140e-01 -6.03418597e-04 -2.53683315e-01 1.61401503e+02] [ 2.53683120e-01 -3.80780645e-04 9.67287305e-01 4.63666792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.799254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.86, Y:161.43, Z:46.37 [[-2.38053737e-04 -9.99999962e-01 -1.40588517e-04 4.47863791e+02] [ 9.67333044e-01 -1.94636817e-04 -2.53508864e-01 1.61427628e+02] [ 2.53508827e-01 -1.96344650e-04 9.67333053e-01 4.63732245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.829254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.86, Y:161.46, Z:46.38 [[-2.71876548e-04 -9.99999960e-01 -7.30736806e-05 4.47864416e+02] [ 9.67246862e-01 -2.44422910e-04 -2.53837443e-01 1.61455118e+02] [ 2.53837415e-01 -1.39692736e-04 9.67246891e-01 4.63791186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8592541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.87, Y:161.48, Z:46.39 [[-1.36881161e-03 -9.99999063e-01 4.90674886e-07 4.47865224e+02] [ 9.67422513e-01 -1.32434463e-03 -2.53163834e-01 1.61481608e+02] [ 2.53163598e-01 -3.46058905e-04 9.67423420e-01 4.63860497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.8892541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.87, Y:161.48, Z:46.39 [[-4.15064335e-03 -9.99991384e-01 7.11574380e-05 4.47867683e+02] [ 9.67568700e-01 -4.03404000e-03 -2.52575806e-01 1.61484476e+02] [ 2.52573916e-01 -9.79502379e-04 9.67577107e-01 4.63872987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9192541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.87, Y:161.51, Z:46.39 [[-6.75108301e-03 -9.99977211e-01 -2.45748006e-05 4.47868898e+02] [ 9.67606162e-01 -6.52633605e-03 -2.52380116e-01 1.61510933e+02] [ 2.52374204e-01 -1.72761784e-03 9.67628170e-01 4.63940485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.949254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.87, Y:161.52, Z:46.40 [[-8.95602860e-03 -9.99959893e-01 4.65750332e-05 4.47870007e+02] [ 9.67593558e-01 -8.67789747e-03 -2.52363627e-01 1.61516778e+02] [ 2.52353909e-01 -2.21511016e-03 9.67632470e-01 4.63951163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 537.9792541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.87, Y:161.54, Z:46.40 [[-1.44302857e-02 -9.99895877e-01 -4.96471017e-05 4.47872987e+02] [ 9.67601217e-01 -1.39516988e-02 -2.52097671e-01 1.61543840e+02] [ 2.52070729e-01 -3.68588002e-03 9.67701794e-01 4.64024311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0092541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.87, Y:161.55, Z:46.40 [[-1.40350246e-02 -9.99901504e-01 2.16181927e-05 4.47872877e+02] [ 9.67606406e-01 -1.35871679e-02 -2.52097664e-01 1.61546356e+02] [ 2.52073127e-01 -3.51727901e-03 9.67701797e-01 4.64030789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0392541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.87, Y:161.57, Z:46.41 [[-1.69840753e-02 -9.99855757e-01 -7.52043984e-05 4.47874203e+02] [ 9.67728485e-01 -1.64194309e-02 -2.51459702e-01 1.61572863e+02] [ 2.51422196e-01 -4.34358794e-03 9.67867766e-01 4.64100178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.069254154 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.88, Y:161.60, Z:46.42 [[-2.14136328e-02 -9.99770702e-01 -5.96234829e-06 4.47877473e+02] [ 9.67674498e-01 -2.07246799e-02 -2.51349466e-01 1.61599307e+02] [ 2.51291708e-01 -5.38807479e-03 9.67896403e-01 4.64160622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.0992541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.88, Y:161.61, Z:46.42 [[-2.30986053e-02 -9.99733190e-01 5.74509851e-05 4.47878987e+02] [ 9.67508282e-01 -2.23685290e-02 -2.51847915e-01 1.61605094e+02] [ 2.51782005e-01 -5.76175128e-03 9.67766823e-01 4.64162769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1292541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.88, Y:161.63, Z:46.42 [[-2.55708178e-02 -9.99673012e-01 -3.97258734e-05 4.47880299e+02] [ 9.67557332e-01 -2.47393331e-02 -2.51437419e-01 1.61631541e+02] [ 2.51354219e-01 -6.46789747e-03 9.67873557e-01 4.64239973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.1592541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:447.88, Y:161.63, Z:46.42 [[-2.68148145e-02 -9.99640418e-01 3.00184746e-05 4.47881797e+02] [ 9.67372314e-01 -2.59568082e-02 -2.52025892e-01 1.61634516e+02] [ 2.51936047e-01 -6.72898849e-03 9.67720491e-01 4.64235653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.189254154 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:447.88, Y:161.66, Z:46.43 [[-3.07236566e-02 -9.99527915e-01 -6.74255993e-05 4.47884124e+02] [ 9.67514221e-01 -2.97226783e-02 -2.51063329e-01 1.61661090e+02] [ 2.50942801e-01 -7.77881873e-03 9.67970661e-01 4.64317986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2192541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:447.89, Y:161.66, Z:46.43 [[-3.17575162e-02 -9.99495603e-01 2.42462724e-06 4.47885306e+02] [ 9.67559923e-01 -3.07434149e-02 -2.50764107e-01 1.61663723e+02] [ 2.50637696e-01 -7.96129921e-03 9.68048223e-01 4.64327471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2492541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:447.89, Y:161.69, Z:46.44 [[-3.36673644e-02 -9.99433089e-01 -9.56087802e-05 4.47886419e+02] [ 9.67663536e-01 -3.25732321e-02 -2.50132496e-01 1.61691278e+02] [ 2.49987578e-01 -8.51381901e-03 9.68211612e-01 4.64396664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.2792541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.89, Y:161.72, Z:46.45 [[-3.49694735e-02 -9.99388381e-01 -2.19260428e-05 4.47887499e+02] [ 9.67591311e-01 -3.38513760e-02 -2.50242162e-01 1.61717964e+02] [ 2.50088366e-01 -8.77205209e-03 9.68183278e-01 4.64453229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.309254154 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.89, Y:161.72, Z:46.45 [[-3.56422215e-02 -9.99364613e-01 5.11113536e-05 4.47888065e+02] [ 9.67821045e-01 -3.45299720e-02 -2.49259114e-01 1.61719528e+02] [ 2.49102503e-01 -8.83468192e-03 9.68436829e-01 4.64471199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.339254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.89, Y:161.75, Z:46.45 [[-3.68648313e-02 -9.99320260e-01 -4.80054836e-05 4.47889086e+02] [ 9.67837439e-01 -3.56914700e-02 -2.49031745e-01 1.61745230e+02] [ 2.48860755e-01 -9.22697480e-03 9.68495321e-01 4.64538691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3692541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.89, Y:161.75, Z:46.45 [[-3.64494095e-02 -9.99335500e-01 1.63908557e-06 4.47889482e+02] [ 9.67885516e-01 -3.53027222e-02 -2.48900272e-01 1.61745635e+02] [ 2.48734936e-01 -9.07068151e-03 9.68529119e-01 4.64539065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.3992541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:447.89, Y:161.77, Z:46.46 [[-3.64771971e-02 -9.99334481e-01 -9.73630846e-05 4.47889867e+02] [ 9.67757823e-01 -3.53003039e-02 -2.49396640e-01 1.61772757e+02] [ 2.49227225e-01 -9.19151430e-03 9.68401418e-01 4.64607582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.429254154 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:447.89, Y:161.80, Z:46.47 [[-3.64539566e-02 -9.99335333e-01 -2.57117172e-05 4.47889890e+02] [ 9.67589194e-01 -3.52894810e-02 -2.50051604e-01 1.61798971e+02] [ 2.49884495e-01 -9.14024869e-03 9.68232511e-01 4.64665484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.459254154 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:447.89, Y:161.80, Z:46.47 [[-3.59729718e-02 -9.99352763e-01 2.29312593e-05 4.47889856e+02] [ 9.67502125e-01 -3.48322145e-02 -2.50452302e-01 1.61801271e+02] [ 2.50290999e-01 -8.98732755e-03 9.68128940e-01 4.64677100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.4892541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.89, Y:161.83, Z:46.47 [[-3.63961428e-02 -9.99337438e-01 -7.52367289e-05 4.47889776e+02] [ 9.67474635e-01 -3.52168312e-02 -2.50504700e-01 1.61826165e+02] [ 2.50336075e-01 -9.19019445e-03 9.68115380e-01 4.64738600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.5192541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.89, Y:161.83, Z:46.47 [[-3.63276853e-02 -9.99339932e-01 3.13940049e-06 4.47889765e+02] [ 9.67617844e-01 -3.51753194e-02 -2.49956804e-01 1.61826516e+02] [ 2.49791926e-01 -9.07731440e-03 9.68256989e-01 4.64738404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.549254154 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:447.89, Y:161.85, Z:46.48 [[-3.75865122e-02 -9.99293373e-01 -9.55324670e-05 4.47889776e+02] [ 9.67489044e-01 -3.63663258e-02 -2.50284717e-01 1.61853272e+02] [ 2.50104385e-01 -9.49975617e-03 9.68172274e-01 4.64813043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.579254154 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:447.89, Y:161.88, Z:46.49 [[-3.84459652e-02 -9.99260680e-01 -1.93920213e-05 4.47889495e+02] [ 9.67540853e-01 -3.72207128e-02 -2.49958630e-01 1.61879722e+02] [ 2.49773109e-01 -9.62866337e-03 9.68256517e-01 4.64879203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6092541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.89, Y:161.89, Z:46.49 [[-3.84144335e-02 -9.99261892e-01 4.48453453e-05 4.47889353e+02] [ 9.67644170e-01 -3.72101593e-02 -2.49559943e-01 1.61886188e+02] [ 2.49377410e-01 -9.54330950e-03 9.68359351e-01 4.64892947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6392541539999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:447.89, Y:161.91, Z:46.50 [[-3.95567661e-02 -9.99217323e-01 -5.40090014e-05 4.47888821e+02] [ 9.67637307e-01 -3.82931026e-02 -2.49422693e-01 1.61912434e+02] [ 2.49225408e-01 -9.91861625e-03 9.68394711e-01 4.64969023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.6692541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.89, Y:161.92, Z:46.50 [[-3.90319033e-02 -9.99237965e-01 2.14516920e-05 4.47888406e+02] [ 9.67685307e-01 -3.78047560e-02 -2.49310943e-01 1.61916942e+02] [ 2.49121770e-01 -9.71032212e-03 9.68423489e-01 4.64981337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.699254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.89, Y:161.94, Z:46.50 [[-3.90399137e-02 -9.99237649e-01 -7.75257196e-05 4.47888141e+02] [ 9.67693982e-01 -3.77881718e-02 -2.49279784e-01 1.61944120e+02] [ 2.49086816e-01 -9.80688242e-03 9.68431507e-01 4.65045397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7292541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.89, Y:161.97, Z:46.51 [[-3.93960313e-02 -9.99223675e-01 -3.49867115e-06 4.47886994e+02] [ 9.67670544e-01 -3.81511245e-02 -2.49315483e-01 1.61970082e+02] [ 2.49121800e-01 -9.82542615e-03 9.68422320e-01 4.65114854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7592541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.89, Y:161.97, Z:46.51 [[-3.89559876e-02 -9.99240925e-01 7.02510788e-05 4.47886025e+02] [ 9.67596867e-01 -3.77398781e-02 -2.49663783e-01 1.61973230e+02] [ 2.49476921e-01 -9.65792452e-03 9.68332583e-01 4.65118196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.7892541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.88, Y:162.00, Z:46.52 [[-3.97729924e-02 -9.99208741e-01 -2.87945769e-05 4.47884638e+02] [ 9.67603738e-01 -3.85077809e-02 -2.49519854e-01 1.62000574e+02] [ 2.49321311e-01 -9.95201301e-03 9.68369682e-01 4.65192102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.819254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.88, Y:162.00, Z:46.52 [[-4.01781033e-02 -9.99192533e-01 3.91646111e-05 4.47882717e+02] [ 9.67426181e-01 -3.89105649e-02 -2.50145063e-01 1.62003736e+02] [ 2.49944603e-01 -1.00124653e-02 9.68208369e-01 4.65204005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8492541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.88, Y:162.03, Z:46.53 [[-4.12254222e-02 -9.99149869e-01 -5.95949967e-05 4.47881640e+02] [ 9.67337185e-01 -3.98978836e-02 -2.50333638e-01 1.62029710e+02] [ 2.50118443e-01 -1.03777583e-02 9.68159629e-01 4.65269927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.8792541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.88, Y:162.03, Z:46.53 [[-4.13292896e-02 -9.99145580e-01 1.09509247e-05 4.47880797e+02] [ 9.67256270e-01 -4.00129469e-02 -2.50627756e-01 1.62031353e+02] [ 2.50414053e-01 -1.03476747e-02 9.68083534e-01 4.65264772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9092541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.88, Y:162.06, Z:46.53 [[-4.25331178e-02 -9.99095054e-01 -8.75270379e-05 4.47879605e+02] [ 9.67258926e-01 -4.11558621e-02 -2.50432358e-01 1.62056794e+02] [ 2.50202128e-01 -1.07363303e-02 9.68134095e-01 4.65340934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.939254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.88, Y:162.08, Z:46.54 [[-4.35119466e-02 -9.99052907e-01 -4.14548965e-06 4.47877248e+02] [ 9.67300737e-01 -4.21280003e-02 -2.50109009e-01 1.62083841e+02] [ 2.49871957e-01 -1.08867398e-02 9.68217684e-01 4.65407819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9692541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.88, Y:162.09, Z:46.54 [[-4.26348077e-02 -9.99090721e-01 6.71903076e-05 4.47876009e+02] [ 9.67215611e-01 -4.12914334e-02 -2.50577293e-01 1.62085415e+02] [ 2.50352223e-01 -1.06183272e-02 9.68096594e-01 4.65402073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 538.9992541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.87, Y:162.11, Z:46.55 [[-4.25529129e-02 -9.99094214e-01 -3.17711281e-05 4.47874216e+02] [ 9.67403590e-01 -4.11952162e-02 -2.49866460e-01 1.62111930e+02] [ 2.49638826e-01 -1.06632812e-02 9.68280306e-01 4.65488974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.0292541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.87, Y:162.11, Z:46.55 [[-3.99439977e-02 -9.99201919e-01 4.00707324e-05 4.47871266e+02] [ 9.67509149e-01 -3.86870706e-02 -2.49858674e-01 1.62109492e+02] [ 2.49660817e-01 -9.94158549e-03 9.68282315e-01 4.65489629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.059254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.87, Y:162.14, Z:46.56 [[-3.84482752e-02 -9.99260590e-01 -5.87640593e-05 4.47870443e+02] [ 9.67542932e-01 -3.72131845e-02 -2.49951704e-01 1.62137232e+02] [ 2.49764700e-01 -9.66706864e-03 9.68258304e-01 4.65550448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.089254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.87, Y:162.14, Z:46.55 [[-3.63409386e-02 -9.99339450e-01 1.11943658e-05 4.47869240e+02] [ 9.67527335e-01 -3.51868962e-02 -2.50305292e-01 1.62138075e+02] [ 2.50140347e-01 -9.08549839e-03 9.68166959e-01 4.65548761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1192541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.87, Y:162.16, Z:46.56 [[-3.41590363e-02 -9.99416406e-01 -8.72897898e-05 4.47865728e+02] [ 9.67562149e-01 -3.30484146e-02 -2.50462152e-01 1.62164414e+02] [ 2.50313099e-01 -8.64000403e-03 9.68126388e-01 4.65632945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.1492541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.86, Y:162.19, Z:46.57 [[-3.28959385e-02 -9.99458782e-01 -1.35392823e-05 4.47864095e+02] [ 9.67488517e-01 -3.18402782e-02 -2.50902701e-01 1.62190262e+02] [ 2.50766477e-01 -8.26677892e-03 9.68012311e-01 4.65700008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.179254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.86, Y:162.19, Z:46.57 [[-3.10918291e-02 -9.99516531e-01 5.89068349e-05 4.47862475e+02] [ 9.67600676e-01 -3.01138009e-02 -2.50683248e-01 1.62190743e+02] [ 2.50563825e-01 -7.73720242e-03 9.68069164e-01 4.65701762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.209254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.86, Y:162.22, Z:46.58 [[-2.88466996e-02 -9.99583847e-01 -3.92735666e-05 4.47860026e+02] [ 9.67694676e-01 -2.79165743e-02 -2.50574698e-01 1.62216768e+02] [ 2.50469324e-01 -7.26625788e-03 9.68097267e-01 4.65770477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2392541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.86, Y:162.21, Z:46.58 [[-2.73979004e-02 -9.99624607e-01 3.21131949e-05 4.47859413e+02] [ 9.67749551e-01 -2.65323106e-02 -2.50513160e-01 1.62214509e+02] [ 2.50419972e-01 -6.83245708e-03 9.68113194e-01 4.65768876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.2692541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.86, Y:162.24, Z:46.58 [[-2.69575631e-02 -9.99636577e-01 -6.59162383e-05 4.47858762e+02] [ 9.67765757e-01 -2.60815732e-02 -2.50497887e-01 1.62240097e+02] [ 2.50405131e-01 -6.81660407e-03 9.68117144e-01 4.65835815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.299254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.86, Y:162.24, Z:46.58 [[-2.59506487e-02 -9.99663225e-01 4.20067074e-06 4.47858112e+02] [ 9.67821097e-01 -2.51250986e-02 -2.50381816e-01 1.62243220e+02] [ 2.50297599e-01 -6.49350506e-03 9.68147172e-01 4.65847746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.329254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.86, Y:162.27, Z:46.59 [[-2.48292716e-02 -9.99691702e-01 -9.36196421e-05 4.47856716e+02] [ 9.67810814e-01 -2.40139865e-02 -2.50530551e-01 1.62270160e+02] [ 2.50451064e-01 -6.31109720e-03 9.68108689e-01 4.65922786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3592541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.86, Y:162.30, Z:46.60 [[-2.45171125e-02 -9.99699410e-01 -1.73815509e-05 4.47856167e+02] [ 9.67809606e-01 -2.37306750e-02 -2.50562212e-01 1.62297454e+02] [ 2.50486483e-01 -6.15988398e-03 9.68100500e-01 4.65995066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.3892541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.86, Y:162.30, Z:46.60 [[-2.35881627e-02 -9.99721759e-01 5.43575084e-05 4.47855558e+02] [ 9.67903413e-01 -2.28510260e-02 -2.50281469e-01 1.62301654e+02] [ 2.50213072e-01 -5.85106720e-03 9.68173116e-01 4.66002777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4192541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:447.85, Y:162.33, Z:46.61 [[-2.35478717e-02 -9.99722710e-01 -4.31852580e-05 4.47854990e+02] [ 9.67889613e-01 -2.27872481e-02 -2.50340647e-01 1.62328559e+02] [ 2.50270245e-01 -5.93678798e-03 9.68157817e-01 4.66070008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.449254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.86, Y:162.33, Z:46.61 [[-2.25164316e-02 -9.99746473e-01 2.86743392e-05 4.47855147e+02] [ 9.67812725e-01 -2.18044064e-02 -2.50725144e-01 1.62327087e+02] [ 2.50662204e-01 -5.61768418e-03 9.68058315e-01 4.66060305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.4792541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.86, Y:162.35, Z:46.61 [[-2.24494750e-02 -9.99747976e-01 -6.87893749e-05 4.47855992e+02] [ 9.67533615e-01 -2.17087710e-02 -2.51808326e-01 1.62354225e+02] [ 2.51743371e-01 -5.71952074e-03 9.67777124e-01 4.66112569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5092541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.86, Y:162.36, Z:46.61 [[-2.24263932e-02 -9.99748497e-01 3.19160639e-06 4.47856029e+02] [ 9.67763302e-01 -2.17097012e-02 -2.50924053e-01 1.62359943e+02] [ 2.50861014e-01 -5.62423273e-03 9.68006777e-01 4.66136740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5392541539999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:447.86, Y:162.39, Z:46.62 [[-2.37388730e-02 -9.99718189e-01 -9.41116597e-05 4.47855974e+02] [ 9.68006064e-01 -2.29623280e-02 -2.49873952e-01 1.62386447e+02] [ 2.49801374e-01 -6.02282667e-03 9.68278369e-01 4.66212358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.569254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.86, Y:162.41, Z:46.63 [[-2.46680456e-02 -9.99695697e-01 -1.88326109e-05 4.47856051e+02] [ 9.68008828e-01 -2.38814491e-02 -2.49777070e-01 1.62413478e+02] [ 2.49700612e-01 -6.17974227e-03 9.68303369e-01 4.66281749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.5992541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.86, Y:162.41, Z:46.63 [[-2.48755776e-02 -9.99690554e-01 5.18865842e-05 4.47856245e+02] [ 9.68033385e-01 -2.41008016e-02 -2.49660802e-01 1.62413598e+02] [ 2.49584796e-01 -6.16022872e-03 9.68333352e-01 4.66281960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6292541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.86, Y:162.44, Z:46.63 [[-2.62354567e-02 -9.99655790e-01 -4.65824551e-05 4.47857535e+02] [ 9.67872079e-01 -2.53896524e-02 -2.50157957e-01 1.62439606e+02] [ 2.50070668e-01 -6.60809412e-03 9.68205037e-01 4.66344781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.6592541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.86, Y:162.44, Z:46.63 [[-2.59379393e-02 -9.99663555e-01 1.69518181e-06 4.47858445e+02] [ 9.67872095e-01 -2.51134811e-02 -2.50185773e-01 1.62440683e+02] [ 2.50101642e-01 -6.48766268e-03 9.68197851e-01 4.66336774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.689254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.86, Y:162.47, Z:46.64 [[-2.66744414e-02 -9.99644169e-01 -9.61164630e-05 4.47858688e+02] [ 9.67947555e-01 -2.58046303e-02 -2.49823240e-01 1.62467727e+02] [ 2.49731865e-01 -6.75693107e-03 9.68291454e-01 4.66416423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7192541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.86, Y:162.49, Z:46.65 [[-2.68495359e-02 -9.99639486e-01 -1.93408372e-05 4.47859208e+02] [ 9.68023926e-01 -2.59955392e-02 -2.49507338e-01 1.62494138e+02] [ 2.49416884e-01 -6.71787862e-03 9.68372908e-01 4.66478694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7492541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.86, Y:162.73, Z:46.71 [[-2.67473306e-02 -9.99636298e-01 3.44259406e-03 4.47857934e+02] [ 9.68137815e-01 -2.67619860e-02 -2.48983870e-01 1.62728115e+02] [ 2.48985445e-01 -3.32674840e-03 9.68501513e-01 4.67072549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.7792541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.86, Y:162.49, Z:46.65 [[-2.52267965e-02 -9.99677802e-01 -2.81088599e-03 4.47861125e+02] [ 9.68129733e-01 -2.37296402e-02 -2.49322531e-01 1.62492591e+02] [ 2.49175499e-01 -9.01091107e-03 9.68416426e-01 4.66471264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.809254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.86, Y:162.50, Z:46.65 [[-2.37498568e-02 -9.99717931e-01 4.55483620e-05 4.47860012e+02] [ 9.68234597e-01 -2.30132651e-02 -2.48982239e-01 1.62495759e+02] [ 2.48913057e-01 -5.86919102e-03 9.68508050e-01 4.66483858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.839254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.86, Y:162.52, Z:46.66 [[-2.29765483e-02 -9.99736003e-01 -5.28521959e-05 4.47860336e+02] [ 9.68283115e-01 -2.22405222e-02 -2.48863754e-01 1.62522277e+02] [ 2.48796879e-01 -5.76920595e-03 9.68538502e-01 4.66551364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8692541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.86, Y:162.52, Z:46.66 [[-2.06891498e-02 -9.99785957e-01 1.19942268e-05 4.47860739e+02] [ 9.68258342e-01 -2.00397195e-02 -2.49146932e-01 1.62523198e+02] [ 2.49093844e-01 -5.14302467e-03 9.68465697e-01 4.66551455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.8992541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.86, Y:162.55, Z:46.66 [[-2.09619579e-02 -9.99780270e-01 -8.60493027e-05 4.47860720e+02] [ 9.68253358e-01 -2.02795032e-02 -2.49146898e-01 1.62550774e+02] [ 2.49090408e-01 -5.30592432e-03 9.68465702e-01 4.66620530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.929254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.86, Y:162.58, Z:46.67 [[-2.03642000e-02 -9.99792628e-01 -1.59323700e-05 4.47861413e+02] [ 9.68197431e-01 -1.97166811e-02 -2.49409276e-01 1.62577768e+02] [ 2.49357242e-01 -5.09444605e-03 9.68398168e-01 4.66678318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.959254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.86, Y:162.57, Z:46.67 [[-1.97803510e-02 -9.99804348e-01 5.46687987e-05 4.47862258e+02] [ 9.68141049e-01 -1.91675691e-02 -2.49670810e-01 1.62573326e+02] [ 2.49623009e-01 -4.88564913e-03 9.68330772e-01 4.66673825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 539.9892541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.86, Y:162.60, Z:46.67 [[-2.02419407e-02 -9.99795110e-01 -4.38067737e-05 4.47862901e+02] [ 9.68129547e-01 -1.95898968e-02 -2.49682631e-01 1.62599351e+02] [ 2.49630615e-01 -5.09647164e-03 9.68327724e-01 4.66738919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.0192541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.86, Y:162.60, Z:46.67 [[-2.06235896e-02 -9.99787311e-01 4.72808014e-06 4.47863758e+02] [ 9.68061474e-01 -1.99703316e-02 -2.49916323e-01 1.62603653e+02] [ 2.49863263e-01 -5.14959460e-03 9.68267438e-01 4.66746161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.049254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.87, Y:162.63, Z:46.68 [[-2.31231337e-02 -9.99732620e-01 -9.32072598e-05 4.47865959e+02] [ 9.67949925e-01 -2.23647000e-02 -2.50145486e-01 1.62629728e+02] [ 2.50076517e-01 -5.87436746e-03 9.68208256e-01 4.66802635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.079254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.87, Y:162.66, Z:46.69 [[-2.54056281e-02 -9.99677225e-01 -2.49256344e-05 4.47866032e+02] [ 9.68092287e-01 -2.45967157e-02 -2.49383892e-01 1.62656915e+02] [ 2.49302784e-01 -6.35988471e-03 9.68404706e-01 4.66880738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1092541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.87, Y:162.66, Z:46.69 [[-2.69448781e-02 -9.99636920e-01 4.66233523e-05 4.47866786e+02] [ 9.67994992e-01 -2.61036223e-02 -2.49608285e-01 1.62663787e+02] [ 2.49518874e-01 -6.68053362e-03 9.68346891e-01 4.66900283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1392541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.87, Y:162.69, Z:46.70 [[-3.17742127e-02 -9.99495071e-01 -5.14315428e-05 4.47868104e+02] [ 9.67733646e-01 -3.07516395e-02 -2.50091837e-01 1.62690347e+02] [ 2.49963977e-01 -7.99624327e-03 9.68222118e-01 4.66968684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.1692541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.87, Y:162.70, Z:46.70 [[-3.37520854e-02 -9.99430236e-01 1.94618779e-05 4.47868663e+02] [ 9.67655016e-01 -3.26838653e-02 -2.50151026e-01 1.62696793e+02] [ 2.50009135e-01 -8.42428642e-03 9.68206829e-01 4.66985528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.199254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.87, Y:162.72, Z:46.70 [[-3.65270230e-02 -9.99332663e-01 -7.87190392e-05 4.47869468e+02] [ 9.67659163e-01 -3.53496368e-02 -2.49772191e-01 1.62723841e+02] [ 2.49602726e-01 -9.19960778e-03 9.68304625e-01 4.67048892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2292541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.87, Y:162.75, Z:46.71 [[-3.91775525e-02 -9.99232265e-01 -1.89876671e-06 4.47870177e+02] [ 9.67718991e-01 -3.79415175e-02 -2.49159379e-01 1.62750731e+02] [ 2.48968018e-01 -9.76329211e-03 9.68462495e-01 4.67112907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2592541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:447.87, Y:162.76, Z:46.71 [[-4.26991250e-02 -9.99087974e-01 7.12290565e-05 4.47871879e+02] [ 9.67648796e-01 -4.13732183e-02 -2.48885644e-01 1.62757484e+02] [ 2.48661601e-01 -1.05582745e-02 9.68532876e-01 4.67118444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.2892541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.87, Y:162.78, Z:46.72 [[-4.52202839e-02 -9.98977039e-01 -2.80165388e-05 4.47871169e+02] [ 9.67717743e-01 -4.37983213e-02 -2.48201686e-01 1.62784115e+02] [ 2.47946558e-01 -1.12508628e-02 9.68708378e-01 4.67198546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.319254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.87, Y:162.79, Z:46.72 [[-4.64305060e-02 -9.98921522e-01 4.33888877e-05 4.47870849e+02] [ 9.67590184e-01 -4.49849988e-02 -2.48486590e-01 1.62788539e+02] [ 2.48220554e-01 -1.14953754e-02 9.68635335e-01 4.67211094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3492541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.87, Y:162.82, Z:46.73 [[-4.79802501e-02 -9.98848283e-01 -5.62047714e-05 4.47870583e+02] [ 9.67623092e-01 -4.64663705e-02 -2.48085526e-01 1.62815279e+02] [ 2.47797190e-01 -1.19575906e-02 9.68738132e-01 4.67279716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.3792541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.87, Y:162.79, Z:46.72 [[-4.46322871e-02 -9.98990479e-01 -5.09719873e-03 4.47873636e+02] [ 9.67236004e-01 -4.19359952e-02 -2.50391465e-01 1.62785729e+02] [ 2.49924934e-01 -1.61057379e-02 9.68131258e-01 4.67202939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4092541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.87, Y:162.81, Z:46.73 [[-4.83250178e-02 -9.98829381e-01 2.13531925e-03 4.47866934e+02] [ 9.67070581e-01 -4.73230797e-02 -2.50070027e-01 1.62807227e+02] [ 2.49878340e-01 -1.00196341e-02 9.68225399e-01 4.67257781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.439254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:447.89, Y:162.83, Z:46.74 [[-5.38645989e-02 -9.97018617e-01 -5.52492696e-02 4.47889064e+02] [ 9.64352171e-01 -3.75845316e-02 -2.61939484e-01 1.62832569e+02] [ 2.59082024e-01 -6.73890183e-02 9.63501544e-01 4.67350729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4692541539999 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:447.84, Y:162.86, Z:46.75 [[-5.07703754e-02 -9.97164257e-01 5.55501016e-02 4.47840217e+02] [ 9.66139699e-01 -6.31276963e-02 -2.50177890e-01 1.62859592e+02] [ 2.52975200e-01 4.09675331e-02 9.66604992e-01 4.67497778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.4992541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.87, Y:162.89, Z:46.74 [[-5.18429926e-02 -9.98654915e-01 -8.15067041e-04 4.47865974e+02] [ 9.66640849e-01 -4.99760211e-02 -2.51212792e-01 1.62889878e+02] [ 2.50834156e-01 -1.38115000e-02 9.67931541e-01 4.67430878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.5292541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.86, Y:162.92, Z:46.75 [[-5.24379658e-02 -9.98623911e-01 -7.38266091e-04 4.47864892e+02] [ 9.66677119e-01 -5.05749070e-02 -2.50953234e-01 1.62916105e+02] [ 2.50570562e-01 -1.38731420e-02 9.67998930e-01 4.67501287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.559254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.86, Y:162.94, Z:46.76 [[-5.29390649e-02 -9.98597528e-01 -6.57812468e-04 4.47861679e+02] [ 9.66699040e-01 -5.10828286e-02 -2.50765847e-01 1.62942224e+02] [ 2.50380552e-01 -1.39112162e-02 9.68047549e-01 4.67581348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.589254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.86, Y:162.97, Z:46.76 [[-5.28230282e-02 -9.98603720e-01 -5.81254953e-04 4.47860582e+02] [ 9.66501818e-01 -5.09785207e-02 -2.51546072e-01 1.62969815e+02] [ 2.51165212e-01 -1.38492092e-02 9.67845151e-01 4.67646135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6192541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.88, Y:162.99, Z:46.78 [[-5.75593119e-02 -9.96393066e-01 -6.23520991e-02 4.47882571e+02] [ 9.63786451e-01 -3.91687385e-02 -2.63783029e-01 1.62992176e+02] [ 2.60389328e-01 -7.52772779e-02 9.62564662e-01 4.67777174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.6492541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.83, Y:163.02, Z:46.79 [[-5.13674048e-02 -9.96609579e-01 6.42708161e-02 4.47827411e+02] [ 9.65975363e-01 -6.59168224e-02 -2.50093122e-01 1.63020929e+02] [ 2.53481729e-01 4.92373903e-02 9.66086276e-01 4.67926557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.679254154 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:447.85, Y:163.05, Z:46.79 [[-5.02048152e-02 -9.98738848e-01 -4.36666879e-04 4.47853250e+02] [ 9.66631570e-01 -4.84808614e-02 -2.51541276e-01 1.63050921e+02] [ 2.51202874e-01 -1.30506793e-02 9.67846473e-01 4.67860696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.709254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.85, Y:163.08, Z:46.79 [[-4.93523169e-02 -9.98781368e-01 -3.56846087e-04 4.47851246e+02] [ 9.66612224e-01 -4.76728052e-02 -2.51769958e-01 1.63078075e+02] [ 2.51446131e-01 -1.27703625e-02 9.67787043e-01 4.67928758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7392541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.85, Y:163.10, Z:46.80 [[-4.81889044e-02 -9.98838200e-01 -2.81028303e-04 4.47849404e+02] [ 9.66486924e-01 -4.65570879e-02 -2.52458837e-01 1.63104322e+02] [ 2.52152446e-01 -1.24373249e-02 9.67607594e-01 4.67993937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.7692541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.84, Y:163.13, Z:46.81 [[-4.60480989e-02 -9.98939201e-01 -2.11576950e-04 4.47844851e+02] [ 9.66660528e-01 -4.45067402e-02 -2.52163782e-01 1.63130873e+02] [ 2.51886870e-01 -1.18161858e-02 9.67684547e-01 4.68065643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.799254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.84, Y:163.16, Z:46.81 [[-4.46969318e-02 -9.99000584e-01 -1.35284757e-04 4.47843252e+02] [ 9.66502669e-01 -4.32086611e-02 -2.52993286e-01 1.63158518e+02] [ 2.52734595e-01 -1.14387767e-02 9.67468025e-01 4.68130832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.829254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.84, Y:163.19, Z:46.82 [[-4.37616952e-02 -9.99041996e-01 -5.78784040e-05 4.47840346e+02] [ 9.66747978e-01 -4.23324880e-02 -2.52202909e-01 1.63185108e+02] [ 2.51958848e-01 -1.10927807e-02 9.67674371e-01 4.68208994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8592541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:447.84, Y:163.19, Z:46.82 [[-4.14476359e-02 -9.99140677e-01 1.28728939e-05 4.47837860e+02] [ 9.66920791e-01 -4.01142947e-02 -2.51902813e-01 1.63188212e+02] [ 2.51686864e-01 -1.04283290e-02 9.67752537e-01 4.68218875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.8892541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.83, Y:163.21, Z:46.83 [[-3.76822018e-02 -9.99289770e-01 -8.55677968e-05 4.47832746e+02] [ 9.66993978e-01 -3.64427665e-02 -2.52179643e-01 1.63215000e+02] [ 2.51997419e-01 -9.58542773e-03 9.67680433e-01 4.68288778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9192541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.83, Y:163.24, Z:46.84 [[-3.58333232e-02 -9.99357780e-01 -7.96099730e-06 4.47830155e+02] [ 9.67101774e-01 -3.46747329e-02 -2.52015520e-01 1.63240893e+02] [ 2.51853395e-01 -9.03825268e-03 9.67723193e-01 4.68352324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.949254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.83, Y:163.24, Z:46.84 [[-3.29495277e-02 -9.99457015e-01 5.60960572e-05 4.47828026e+02] [ 9.67009885e-01 -3.18940144e-02 -2.52734354e-01 1.63241542e+02] [ 2.52598912e-01 -8.27323215e-03 9.67535707e-01 4.68350727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 540.9792541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:447.83, Y:163.27, Z:46.84 [[-3.10454116e-02 -9.99517974e-01 -4.16786694e-05 4.47825154e+02] [ 9.67220754e-01 -3.00317331e-02 -2.52154927e-01 1.63268137e+02] [ 2.52032130e-01 -7.86856598e-03 9.67686877e-01 4.68420477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0092541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.82, Y:163.26, Z:46.84 [[-2.58678087e-02 -9.99665372e-01 2.62784486e-05 4.47820182e+02] [ 9.67425538e-01 -2.50401778e-02 -2.51914308e-01 1.63264289e+02] [ 2.51830669e-01 -6.49104868e-03 9.67749544e-01 4.68413146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0392541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.82, Y:163.29, Z:46.85 [[-2.34526632e-02 -9.99724946e-01 -7.15536295e-05 4.47818403e+02] [ 9.67268354e-01 -2.26731708e-02 -2.52740696e-01 1.63290491e+02] [ 2.52669556e-01 -5.99665398e-03 9.67534049e-01 4.68473667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.069254154 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.82, Y:163.32, Z:46.85 [[-2.10956383e-02 -9.99777462e-01 -1.80535765e-06 4.47816441e+02] [ 9.67224293e-01 -2.04082985e-02 -2.53102090e-01 1.63317931e+02] [ 2.53045728e-01 -5.34109631e-03 9.67439576e-01 4.68539298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.0992541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.81, Y:163.32, Z:46.86 [[-1.72980112e-02 -9.99850376e-01 6.95310892e-05 4.47811213e+02] [ 9.67792982e-01 -1.67608671e-02 -2.51188808e-01 1.63319010e+02] [ 2.51152389e-01 -4.27777512e-03 9.67938107e-01 4.68556146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1292541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.81, Y:163.35, Z:46.86 [[-1.61663622e-02 -9.99869315e-01 -2.78293513e-05 4.47809384e+02] [ 9.67751760e-01 -1.56400725e-02 -2.51419808e-01 1.63345546e+02] [ 2.51386516e-01 -4.09147558e-03 9.67878133e-01 4.68623178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.1592541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.81, Y:163.35, Z:46.86 [[-1.48889864e-02 -9.99889152e-01 3.54792344e-05 4.47807995e+02] [ 9.67749881e-01 -1.44193362e-02 -2.51500001e-01 1.63350342e+02] [ 2.51472634e-01 -3.71024507e-03 9.67857298e-01 4.68630156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.189254154 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.81, Y:163.38, Z:46.87 [[-1.45798723e-02 -9.99893706e-01 -6.13860890e-05 4.47805646e+02] [ 9.67586192e-01 -1.40933028e-02 -2.52147456e-01 1.63377152e+02] [ 2.52119789e-01 -3.73567405e-03 9.67688822e-01 4.68691644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2192541539999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:447.80, Y:163.38, Z:46.87 [[-1.45974984e-02 -9.99893451e-01 8.96188037e-06 4.47804514e+02] [ 9.67684388e-01 -1.41295331e-02 -2.51768308e-01 1.63380950e+02] [ 2.51741609e-01 -3.66651520e-03 9.67787538e-01 4.68700783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2492541539999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:447.80, Y:163.41, Z:46.88 [[-1.57467389e-02 -9.99876009e-01 -8.77826043e-05 4.47803875e+02] [ 9.67633260e-01 -1.52168425e-02 -2.51901412e-01 1.63407816e+02] [ 2.51868842e-01 -4.05156713e-03 9.67752898e-01 4.68768709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.2792541539999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:447.80, Y:163.44, Z:46.88 [[-1.90419556e-02 -9.99818685e-01 -1.16214102e-05 4.47802524e+02] [ 9.67782922e-01 -1.84289026e-02 -2.51110717e-01 1.63435230e+02] [ 2.51064973e-01 -4.79288612e-03 9.67958371e-01 4.68832710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.309254154 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:447.79, Y:163.40, Z:46.87 [[-5.26633198e-03 -9.98980538e-01 4.48347022e-02 4.47788171e+02] [ 9.74339615e-01 -1.52151492e-02 -2.24568060e-01 1.63402388e+02] [ 2.25021288e-01 4.25015765e-02 9.73426441e-01 4.68718201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.339254154 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:447.83, Y:163.42, Z:46.87 [[-1.59872534e-02 -9.97617626e-01 -6.71079774e-02 4.47831667e+02] [ 9.71724933e-01 3.10765508e-04 -2.36115563e-01 1.63418509e+02] [ 2.35573902e-01 -6.89853342e-02 9.69404952e-01 4.68650136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3692541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:447.79, Y:163.45, Z:46.89 [[-1.42875338e-02 -9.99232443e-01 3.64745235e-02 4.47789936e+02] [ 9.73429916e-01 -2.22376275e-02 -2.27902800e-01 1.63453571e+02] [ 2.28538979e-01 3.22492234e-02 9.73000474e-01 4.68877221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.3992541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:447.82, Y:163.47, Z:46.88 [[-2.31092158e-02 -9.98632431e-01 -4.68959675e-02 4.47822296e+02] [ 9.71385549e-01 -1.13379883e-02 -2.37237359e-01 1.63471502e+02] [ 2.36381215e-01 -5.10364345e-02 9.70319125e-01 4.68828527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.429254154 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:447.80, Y:163.50, Z:46.90 [[-2.43245554e-02 -9.99702757e-01 -1.64744363e-03 4.47801698e+02] [ 9.70782556e-01 -2.32272925e-02 -2.38834091e-01 1.63496612e+02] [ 2.38724833e-01 -7.40884261e-03 9.71058991e-01 4.68996583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.459254154 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:447.80, Y:163.52, Z:46.91 [[-2.72586578e-02 -9.99627186e-01 -1.56644465e-03 4.47800566e+02] [ 9.71016849e-01 -2.61061912e-02 -2.37581032e-01 1.63523302e+02] [ 2.37451564e-01 -7.99718420e-03 9.71366460e-01 4.69071106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.4892541539999 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:447.80, Y:163.55, Z:46.91 [[-2.79677578e-02 -9.99607708e-01 -1.49482821e-03 4.47799882e+02] [ 9.70970322e-01 -2.68110708e-02 -2.37692660e-01 1.63549413e+02] [ 2.37559337e-01 -8.09916457e-03 9.71339263e-01 4.69133539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.5192541539999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:447.80, Y:163.58, Z:46.92 [[-2.77924925e-02 -9.99612693e-01 -1.42891431e-03 4.47799355e+02] [ 9.70990485e-01 -2.66570207e-02 -2.37627612e-01 1.63575643e+02] [ 2.37497487e-01 -7.99172583e-03 9.71355278e-01 4.69198162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.549254154 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:447.80, Y:163.60, Z:46.93 [[-2.71316855e-02 -9.99630950e-01 -1.35477379e-03 4.47798830e+02] [ 9.71060865e-01 -2.60344906e-02 -2.37408935e-01 1.63602873e+02] [ 2.37286048e-01 -7.75687236e-03 9.71408854e-01 4.69259284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.579254154 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:447.80, Y:163.63, Z:46.93 [[-2.33646499e-02 -9.99726183e-01 -1.28500160e-03 4.47798899e+02] [ 9.71086406e-01 -2.23898105e-02 -2.37676018e-01 1.63630275e+02] [ 2.37582167e-01 -6.80106452e-03 9.71343636e-01 4.69313664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6092541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.80, Y:163.66, Z:46.94 [[-2.17763424e-02 -9.99762137e-01 -1.20854871e-03 4.47797435e+02] [ 9.71308933e-01 -2.08702104e-02 -2.36903760e-01 1.63656020e+02] [ 2.36822187e-01 -6.33277154e-03 9.71532371e-01 4.69387485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6392541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.80, Y:163.68, Z:46.95 [[-1.94881579e-02 -9.99809436e-01 -1.14187782e-03 4.47796871e+02] [ 9.71420308e-01 -1.86645455e-02 -2.36630977e-01 1.63683599e+02] [ 2.36564571e-01 -5.72074516e-03 9.71598928e-01 4.69454460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.6692541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:447.80, Y:163.71, Z:46.95 [[-1.53166510e-02 -9.99882119e-01 -1.07196744e-03 4.47795477e+02] [ 9.71387261e-01 -1.46260136e-02 -2.37050352e-01 1.63710573e+02] [ 2.37006730e-01 -4.67211304e-03 9.71496774e-01 4.69511786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.699254154 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:447.79, Y:163.74, Z:46.96 [[-1.36010653e-02 -9.99907000e-01 -1.00151804e-03 4.47794619e+02] [ 9.71336645e-01 -1.29747058e-02 -2.37353702e-01 1.63737735e+02] [ 2.37318633e-01 -4.20107438e-03 9.71422780e-01 4.69576724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7292541539999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:447.80, Y:163.77, Z:46.96 [[-1.04430629e-02 -9.99943760e-01 -1.84936317e-03 4.47796636e+02] [ 9.71499218e-01 -9.70796311e-03 -2.36843882e-01 1.63768941e+02] [ 2.36812608e-01 -4.27003044e-03 9.71545962e-01 4.69643028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7592541539999 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:447.79, Y:163.79, Z:46.97 [[-1.11584945e-02 -9.99933869e-01 -2.78316768e-03 4.47794581e+02] [ 9.70970412e-01 -1.01701099e-02 -2.38983321e-01 1.63791996e+02] [ 2.38939211e-01 -5.36906755e-03 9.71019684e-01 4.69688227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.7892541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.79, Y:163.82, Z:46.98 [[-9.77086458e-03 -9.99951937e-01 -8.08372520e-04 4.47793012e+02] [ 9.71032818e-01 -9.29526562e-03 -2.38765293e-01 1.63817954e+02] [ 2.38746303e-01 -3.11789959e-03 9.71076970e-01 4.69762057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.819254154 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.79, Y:163.85, Z:46.98 [[-1.00366758e-02 -9.99949354e-01 -7.44409644e-04 4.47792990e+02] [ 9.71030113e-01 -9.56865973e-03 -2.38765493e-01 1.63845602e+02] [ 2.38746277e-01 -3.11925603e-03 9.71076972e-01 4.69827524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8492541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:447.79, Y:163.87, Z:46.99 [[-9.26113022e-03 -9.99956884e-01 -6.79851842e-04 4.47793086e+02] [ 9.70944622e-01 -8.82984462e-03 -2.39141328e-01 1.63872420e+02] [ 2.39125014e-01 -2.87481747e-03 9.70984533e-01 4.69889794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.8792541539999 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:447.79, Y:163.90, Z:47.00 [[-8.44857000e-03 -9.99964124e-01 -6.10110380e-04 4.47792974e+02] [ 9.70971617e-01 -8.05775839e-03 -2.39058969e-01 1.63899122e+02] [ 2.39045477e-01 -2.61210630e-03 9.71004859e-01 4.69951548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9092541539999 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:447.79, Y:163.93, Z:47.00 [[-7.38567442e-03 -9.99972576e-01 -5.47611112e-04 4.47792619e+02] [ 9.70918360e-01 -7.04003263e-03 -2.39307285e-01 1.63925953e+02] [ 2.39296867e-01 -2.29913138e-03 9.70943728e-01 4.70017164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.939254154 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:447.79, Y:163.95, Z:47.01 [[-4.13784508e-03 -9.99991325e-01 -4.76945931e-04 4.47792297e+02] [ 9.70943475e-01 -3.90352530e-03 -2.39277102e-01 1.63952278e+02] [ 2.39273165e-01 -1.45317912e-03 9.70951204e-01 4.70078870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9692541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:447.79, Y:163.98, Z:47.02 [[-2.73754760e-03 -9.99996168e-01 -4.12513369e-04 4.47792046e+02] [ 9.71029876e-01 -2.55968255e-03 -2.38944404e-01 1.63979691e+02] [ 2.38942432e-01 -1.05468448e-03 9.71033162e-01 4.70152796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 541.9992541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.79, Y:164.01, Z:47.02 [[-1.31231369e-03 -9.99999081e-01 -3.40063343e-04 4.47792410e+02] [ 9.71122800e-01 -1.19328748e-03 -2.38577206e-01 1.64006442e+02] [ 2.38576581e-01 -6.43331399e-04 9.71123474e-01 4.70216173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.0292541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:447.79, Y:164.03, Z:47.03 [[ 9.94296811e-04 -9.99999470e-01 -2.67324910e-04 4.47793823e+02] [ 9.71384682e-01 1.02933743e-03 -2.37509453e-01 1.64033440e+02] [ 2.37509602e-01 -2.35204309e-05 9.71385191e-01 4.70278659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.059254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.79, Y:164.06, Z:47.03 [[ 1.38883742e-03 -9.99999016e-01 -1.95603508e-04 4.47794549e+02] [ 9.71403271e-01 1.39556503e-03 -2.37431545e-01 1.64059940e+02] [ 2.37431584e-01 1.39743928e-04 9.71404253e-01 4.70344860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.089254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:447.80, Y:164.09, Z:47.04 [[ 9.33401253e-04 -9.99999553e-01 -1.54209377e-04 4.47795536e+02] [ 9.71648031e-01 9.43397658e-04 -2.36430147e-01 1.64086851e+02] [ 2.36430187e-01 7.08469583e-05 9.71648477e-01 4.70410297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1192541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:447.80, Y:164.11, Z:47.05 [[-1.24040164e-03 -9.99999227e-01 -8.32116469e-05 4.47798287e+02] [ 9.71853552e-01 -1.18588642e-03 -2.35582824e-01 1.64113201e+02] [ 2.35582543e-01 -3.73086854e-04 9.71854272e-01 4.70473739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.1492541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.80, Y:164.14, Z:47.05 [[-3.36326863e-03 -9.99994344e-01 -1.95044346e-05 4.47800148e+02] [ 9.71965519e-01 -3.26441409e-03 -2.35100774e-01 1.64140775e+02] [ 2.35099381e-01 -8.09664695e-04 9.71971000e-01 4.70535326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.179254154 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:447.80, Y:164.14, Z:47.05 [[-5.29352939e-03 -9.99985988e-01 4.86960833e-05 4.47802261e+02] [ 9.71954050e-01 -5.15658872e-03 -2.35114299e-01 1.64143132e+02] [ 2.35111256e-01 -1.19725410e-03 9.71967728e-01 4.70537526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.209254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.80, Y:164.17, Z:47.06 [[-8.28908283e-03 -9.99965644e-01 -4.27727515e-05 4.47804900e+02] [ 9.71754080e-01 -8.04513814e-03 -2.35858611e-01 1.64169075e+02] [ 2.35850163e-01 -1.99661616e-03 9.71787381e-01 4.70598130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2392541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.81, Y:164.17, Z:47.06 [[-1.07327463e-02 -9.99942402e-01 2.05652962e-06 4.47807987e+02] [ 9.71648100e-01 -1.04295390e-02 -2.36201596e-01 1.64171749e+02] [ 2.36188013e-01 -2.53309358e-03 9.71704073e-01 4.70590068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.2692541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.81, Y:164.20, Z:47.07 [[-1.56884863e-02 -9.99870337e-01 3.63038976e-03 4.47814062e+02] [ 9.71879557e-01 -1.61022847e-02 -2.34927313e-01 1.64202911e+02] [ 2.34955309e-01 -1.57352333e-04 9.72006162e-01 4.70651202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.299254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.82, Y:164.22, Z:47.07 [[-2.46180823e-02 -9.99688375e-01 -4.13567115e-03 4.47816822e+02] [ 9.71022772e-01 -2.29280510e-02 -2.37884594e-01 1.64221268e+02] [ 2.37715641e-01 -9.87209338e-03 9.71284622e-01 4.70696369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.329254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.82, Y:164.23, Z:47.07 [[-3.03987350e-02 -9.99537661e-01 6.17097526e-04 4.47819641e+02] [ 9.70819800e-01 -2.96722615e-02 -2.37967378e-01 1.64225384e+02] [ 2.37875667e-01 -6.63481677e-03 9.71272951e-01 4.70706638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3592541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.82, Y:164.23, Z:47.07 [[-3.32214468e-02 -9.99447881e-01 5.19274630e-04 4.47821580e+02] [ 9.70843348e-01 -3.23940420e-02 -2.37515935e-01 1.64234047e+02] [ 2.37401620e-01 -7.38648868e-03 9.71383503e-01 4.70726671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.3892541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.82, Y:164.24, Z:47.07 [[-3.53595186e-02 -9.99374568e-01 4.21599651e-04 4.47823391e+02] [ 9.70871641e-01 -3.44510663e-02 -2.37110484e-01 1.64238503e+02] [ 2.36976712e-01 -7.97479342e-03 9.71482599e-01 4.70741360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4192541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.83, Y:164.24, Z:47.07 [[-3.72663553e-02 -9.99305316e-01 3.24205091e-04 4.47825362e+02] [ 9.70842343e-01 -3.62817828e-02 -2.36957332e-01 1.64242117e+02] [ 2.36804484e-01 -8.51578408e-03 9.71520004e-01 4.70749156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.449254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:447.83, Y:164.25, Z:47.08 [[-4.09019338e-02 -9.99163140e-01 2.26890494e-04 4.47828873e+02] [ 9.70717974e-01 -3.97912932e-02 -2.36903499e-01 1.64245383e+02] [ 2.36714272e-01 -9.46956455e-03 9.71533160e-01 4.70752816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.4792541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.83, Y:164.25, Z:47.08 [[-4.24859428e-02 -9.99097056e-01 1.29533648e-04 4.47830318e+02] [ 9.70673058e-01 -4.13079360e-02 -2.36827929e-01 1.64248877e+02] [ 2.36619438e-01 -9.93612303e-03 9.71551602e-01 4.70760018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5092541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.83, Y:164.26, Z:47.08 [[-4.41631559e-02 -9.99024331e-01 3.23542962e-05 4.47831510e+02] [ 9.70791028e-01 -4.29227113e-02 -2.36055968e-01 1.64255049e+02] [ 2.35827045e-01 -1.03935673e-02 9.71739460e-01 4.70770615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5392541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.83, Y:164.28, Z:47.08 [[-4.79771316e-02 -9.98848433e-01 -6.10589988e-05 4.47834645e+02] [ 9.70437137e-01 -4.65979914e-02 -2.36812985e-01 1.64282615e+02] [ 2.36537434e-01 -1.14208617e-02 9.71555251e-01 4.70818108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.569254154 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:447.83, Y:164.29, Z:47.08 [[-5.02595814e-02 -9.98736189e-01 8.30784081e-06 4.47834377e+02] [ 9.70487400e-01 -4.88399769e-02 -2.36154319e-01 1.64287418e+02] [ 2.35856270e-01 -1.18609546e-02 9.71715564e-01 4.70848985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.5992541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.84, Y:164.31, Z:47.09 [[-5.27318000e-02 -9.98608707e-01 -8.58137879e-05 4.47835122e+02] [ 9.70368238e-01 -5.12202621e-02 -2.36139722e-01 1.64313480e+02] [ 2.35806787e-01 -1.25353435e-02 9.71719108e-01 4.70906805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6292541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:447.84, Y:164.34, Z:47.10 [[-5.75667621e-02 -9.98341659e-01 -2.08846252e-05 4.47836366e+02] [ 9.70081314e-01 -5.59322611e-02 -2.36249499e-01 1.64340559e+02] [ 2.35856548e-01 -1.36203785e-02 9.71692428e-01 4.70968216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.6592541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.84, Y:164.34, Z:47.10 [[-5.95637479e-02 -9.98224503e-01 4.67951810e-05 4.47835889e+02] [ 9.69968510e-01 -5.78887962e-02 -2.36241351e-01 1.64343872e+02] [ 2.35824614e-01 -1.40260304e-02 9.71694408e-01 4.70987174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.689254154 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:447.84, Y:164.37, Z:47.10 [[-6.09996977e-02 -9.98137783e-01 -4.75222727e-05 4.47836693e+02] [ 9.69691129e-01 -5.92499372e-02 -2.37041262e-01 1.64371319e+02] [ 2.36597024e-01 -1.45055273e-02 9.71499582e-01 4.71034607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7192541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.84, Y:164.36, Z:47.10 [[-6.30946540e-02 -9.97919628e-01 -1.32469356e-02 4.47841848e+02] [ 9.67797421e-01 -5.79382473e-02 -2.44972064e-01 1.64364325e+02] [ 2.43694927e-01 -2.82767777e-02 9.69439635e-01 4.71031860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7492541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.83, Y:164.39, Z:47.11 [[-6.46460502e-02 -9.97751957e-01 1.76612876e-02 4.47826577e+02] [ 9.68178710e-01 -6.69981211e-02 -2.41124941e-01 1.64391265e+02] [ 2.41766155e-01 1.51150758e-03 9.70333366e-01 4.71133938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.7792541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:447.83, Y:164.42, Z:47.11 [[-6.47491245e-02 -9.97901574e-01 -2.20519267e-05 4.47834820e+02] [ 9.68089204e-01 -6.28093792e-02 -2.42607245e-01 1.64419576e+02] [ 2.42096767e-01 -1.57299550e-02 9.70124592e-01 4.71144418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.809254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.83, Y:164.42, Z:47.12 [[-6.42302939e-02 -9.97935102e-01 4.63989801e-05 4.47833419e+02] [ 9.68109739e-01 -6.23219203e-02 -2.42651007e-01 1.64423431e+02] [ 2.42152849e-01 -1.55406262e-02 9.70113646e-01 4.71159663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.839254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.83, Y:164.45, Z:47.12 [[-6.43860959e-02 -9.97925061e-01 -4.97371134e-05 4.47831003e+02] [ 9.68261530e-01 -6.24601439e-02 -2.42008965e-01 1.64449932e+02] [ 2.41503705e-01 -1.56301710e-02 9.70274012e-01 4.71238819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8692541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.83, Y:164.45, Z:47.13 [[-6.11910798e-02 -9.98126070e-01 1.73159253e-05 4.47827507e+02] [ 9.68177103e-01 -5.93592474e-02 -2.43124611e-01 1.64453645e+02] [ 2.42670040e-01 -1.48602926e-02 9.69995064e-01 4.71253973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.8992541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.83, Y:164.48, Z:47.13 [[-5.96016232e-02 -9.98222240e-01 -7.83780859e-05 4.47825528e+02] [ 9.68084399e-01 -5.77830117e-02 -2.43872342e-01 1.64480036e+02] [ 2.43434267e-01 -1.46110641e-02 9.69807339e-01 4.71323471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.929254154 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.82, Y:164.51, Z:47.14 [[-5.76638684e-02 -9.98336055e-01 -9.18274972e-07 4.47823558e+02] [ 9.68140014e-01 -5.59195213e-02 -2.44085887e-01 1.64507264e+02] [ 2.43679690e-01 -1.40758255e-02 9.69753618e-01 4.71393591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.959254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.82, Y:164.51, Z:47.14 [[-5.21716587e-02 -9.98638129e-01 6.70642224e-05 4.47819784e+02] [ 9.68505590e-01 -5.06138224e-02 -2.43793282e-01 1.64505772e+02] [ 2.43464661e-01 -1.26541478e-02 9.69827217e-01 4.71398673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 542.9892541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.82, Y:164.53, Z:47.15 [[-4.94403951e-02 -9.98777076e-01 -2.80088704e-05 4.47817843e+02] [ 9.68654088e-01 -4.79424438e-02 -2.43743268e-01 1.64532738e+02] [ 2.43443846e-01 -1.20778944e-02 9.69839790e-01 4.71471402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.0192541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.82, Y:164.53, Z:47.15 [[-4.61160654e-02 -9.98936087e-01 4.07556411e-05 4.47815641e+02] [ 9.68908094e-01 -4.47397458e-02 -2.43342270e-01 1.64530422e+02] [ 2.43085198e-01 -1.11824996e-02 9.69940482e-01 4.71469508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.049254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:447.81, Y:164.56, Z:47.15 [[-4.32010201e-02 -9.99066399e-01 -5.42935405e-05 4.47813681e+02] [ 9.69084369e-01 -4.18913418e-02 -2.43147283e-01 1.64556206e+02] [ 2.42918006e-01 -1.05568257e-02 9.69989379e-01 4.71537762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.079254154 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.81, Y:164.56, Z:47.15 [[-3.70541147e-02 -9.99313260e-01 6.51443919e-06 4.47810012e+02] [ 9.69321998e-01 -3.59436364e-02 -2.43152049e-01 1.64556462e+02] [ 2.42985301e-01 -9.00346932e-03 9.69988186e-01 4.71541223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1092541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.81, Y:164.58, Z:47.16 [[-3.39947708e-02 -9.99422007e-01 -8.81161399e-05 4.47808700e+02] [ 9.69510754e-01 -3.29559476e-02 -2.42822575e-01 1.64582596e+02] [ 2.42679321e-01 -8.34012733e-03 9.70070714e-01 4.71601814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1392541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.81, Y:164.61, Z:47.17 [[-3.15007361e-02 -9.99503728e-01 -2.12665068e-05 4.47807313e+02] [ 9.69360138e-01 -3.05455333e-02 -2.43737346e-01 1.64609726e+02] [ 2.43615736e-01 -7.69852071e-03 9.69841279e-01 4.71672114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.1692541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.81, Y:164.61, Z:47.17 [[-2.84440003e-02 -9.99595387e-01 4.61499172e-05 4.47805981e+02] [ 9.69300484e-01 -2.75932235e-02 -2.44325984e-01 1.64610667e+02] [ 2.44228400e-01 -6.90487524e-03 9.69693153e-01 4.71672605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.199254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.80, Y:164.64, Z:47.17 [[-2.44021151e-02 -9.99702223e-01 -4.76466620e-05 4.47803757e+02] [ 9.69279955e-01 -2.36478579e-02 -2.44820643e-01 1.64636995e+02] [ 2.44746614e-01 -6.02032445e-03 9.69568384e-01 4.71738612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2292541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.80, Y:164.64, Z:47.17 [[-2.24753734e-02 -9.99747397e-01 1.29575435e-05 4.47802825e+02] [ 9.69351850e-01 -2.17952211e-02 -2.44707908e-01 1.64636448e+02] [ 2.44646376e-01 -5.48734118e-03 9.69596844e-01 4.71735935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2592541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.80, Y:164.66, Z:47.18 [[-2.15129925e-02 -9.99768566e-01 -8.02324103e-05 4.47802221e+02] [ 9.69327195e-01 -2.08383034e-02 -2.44888859e-01 1.64663469e+02] [ 2.44830512e-01 -5.34606365e-03 9.69551154e-01 4.71807991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.2892541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.80, Y:164.69, Z:47.19 [[-1.95865404e-02 -9.99808165e-01 -6.33136880e-06 4.47801747e+02] [ 9.69453295e-01 -1.89903309e-02 -2.44539722e-01 1.64689357e+02] [ 2.44492691e-01 -4.79582512e-03 9.69639275e-01 4.71874205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.319254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.80, Y:164.69, Z:47.19 [[-1.85748776e-02 -9.99827471e-01 5.38995676e-05 4.47801593e+02] [ 9.69515917e-01 -1.80249204e-02 -2.44364461e-01 1.64690056e+02] [ 2.44323273e-01 -4.48678346e-03 9.69683457e-01 4.71878375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3492541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.80, Y:164.72, Z:47.19 [[-1.83581173e-02 -9.99831475e-01 -3.88985962e-05 4.47801995e+02] [ 9.69065783e-01 -1.77836449e-02 -2.46161026e-01 1.64717152e+02] [ 2.46118850e-01 -4.55674827e-03 9.69228945e-01 4.71947187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.3792541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.80, Y:164.72, Z:47.20 [[-1.79613377e-02 -9.99838682e-01 2.85252494e-05 4.47801626e+02] [ 9.69511456e-01 -1.74235057e-02 -2.44425771e-01 1.64724762e+02] [ 2.44386838e-01 -4.36255827e-03 9.69668006e-01 4.71966408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4092541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.80, Y:164.75, Z:47.20 [[-1.82427457e-02 -9.99833585e-01 -6.45272902e-05 4.47801973e+02] [ 9.69421287e-01 -1.76720528e-02 -2.44765332e-01 1.64752110e+02] [ 2.44723459e-01 -4.52774582e-03 9.69582347e-01 4.72036357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.439254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.80, Y:164.75, Z:47.20 [[-1.81088515e-02 -9.99836021e-01 3.44836884e-06 4.47802078e+02] [ 9.69360304e-01 -1.75577258e-02 -2.45014952e-01 1.64754570e+02] [ 2.44974835e-01 -4.43359667e-03 9.69519300e-01 4.72043017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4692541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.80, Y:164.78, Z:47.21 [[-1.87234746e-02 -9.99824696e-01 -8.92469191e-05 4.47802449e+02] [ 9.69139330e-01 -1.81268924e-02 -2.45846244e-01 1.64781516e+02] [ 2.45801529e-01 -4.68958862e-03 9.69308834e-01 4.72110040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.4992541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.80, Y:164.81, Z:47.22 [[-1.99816633e-02 -9.99800347e-01 -1.42972109e-05 4.47803444e+02] [ 9.68965549e-01 -1.93618856e-02 -2.46436367e-01 1.64807824e+02] [ 2.46386888e-01 -4.93806200e-03 9.69158974e-01 4.72175930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.5292541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:447.80, Y:164.81, Z:47.22 [[-1.99504265e-02 -9.99800969e-01 4.55212256e-05 4.47804171e+02] [ 9.68813913e-01 -1.93433459e-02 -2.47033269e-01 1.64813770e+02] [ 2.46984983e-01 -4.88431748e-03 9.69006998e-01 4.72192702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.559254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.81, Y:164.84, Z:47.23 [[-2.03355828e-02 -9.99793210e-01 -4.64334477e-05 4.47805306e+02] [ 9.68318120e-01 -1.96838244e-02 -2.48942896e-01 1.64840704e+02] [ 2.48890503e-01 -5.10736123e-03 9.68518163e-01 4.72263317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.589254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:447.81, Y:164.84, Z:47.23 [[-2.06506323e-02 -9.99786753e-01 1.86178163e-05 4.47805411e+02] [ 9.68738797e-01 -2.00139403e-02 -2.47274314e-01 1.64843356e+02] [ 2.47221956e-01 -5.08833512e-03 9.68945516e-01 4.72263495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6192541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.81, Y:164.87, Z:47.23 [[-2.16946588e-02 -9.99764640e-01 -7.37927923e-05 4.47806656e+02] [ 9.68650525e-01 -2.10012189e-02 -2.47538096e-01 1.64869665e+02] [ 2.47478286e-01 -5.44173395e-03 9.68878158e-01 4.72321647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.6492541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.81, Y:164.90, Z:47.24 [[-2.20977848e-02 -9.99755814e-01 -5.74492383e-06 4.47807619e+02] [ 9.68635248e-01 -2.14084987e-02 -2.47562988e-01 1.64897052e+02] [ 2.47502413e-01 -5.47615836e-03 9.68871801e-01 4.72386814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.679254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.81, Y:164.90, Z:47.24 [[-2.18380759e-02 -9.99761519e-01 6.08394007e-05 4.47808458e+02] [ 9.68534283e-01 -2.11710609e-02 -2.47978080e-01 1.64895354e+02] [ 2.47920230e-01 -5.35643910e-03 9.68765641e-01 4.72380715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.709254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.81, Y:164.92, Z:47.24 [[-2.21126325e-02 -9.99755485e-01 -3.14795586e-05 4.47808433e+02] [ 9.68528942e-01 -2.14141544e-02 -2.47978068e-01 1.64922978e+02] [ 2.47916759e-01 -5.51393673e-03 9.68765646e-01 4.72447308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7392541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.81, Y:164.93, Z:47.25 [[-2.14725145e-02 -9.99769439e-01 2.93638907e-05 4.47810628e+02] [ 9.68469957e-01 -2.08075725e-02 -2.48259917e-01 1.64932299e+02] [ 2.48203289e-01 -5.30232661e-03 9.68693456e-01 4.72467394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.7692541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.81, Y:164.96, Z:47.25 [[-2.12650908e-02 -9.99773870e-01 -6.28643220e-05 4.47811576e+02] [ 9.68557084e-01 -2.05855229e-02 -2.47938321e-01 1.64959888e+02] [ 2.47880961e-01 -5.33331860e-03 9.68775818e-01 4.72529868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.799254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.81, Y:164.97, Z:47.25 [[-1.99750290e-02 -9.99800479e-01 -1.03739683e-07 4.47812459e+02] [ 9.68598885e-01 -1.93516262e-02 -2.47874392e-01 1.64965737e+02] [ 2.47824934e-01 -4.95139865e-03 9.68792179e-01 4.72543792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.829254154 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.81, Y:164.99, Z:47.26 [[-1.92643425e-02 -9.99814421e-01 -9.20080446e-05 4.47813158e+02] [ 9.68640742e-01 -1.86408900e-02 -2.47765273e-01 1.64991572e+02] [ 2.47717578e-01 -4.86215782e-03 9.68820087e-01 4.72602705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8592541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.81, Y:165.02, Z:47.27 [[-1.68884928e-02 -9.99857379e-01 -1.52631515e-05 4.47813589e+02] [ 9.68603412e-01 -1.63567982e-02 -2.48072338e-01 1.65018268e+02] [ 2.48036708e-01 -4.20435183e-03 9.68741511e-01 4.72672643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.8892541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.81, Y:165.01, Z:47.27 [[-1.52228205e-02 -9.99884125e-01 4.83559217e-05 4.47813672e+02] [ 9.68519989e-01 -1.47573323e-02 -2.48497993e-01 1.65014559e+02] [ 2.48469912e-01 -3.73600668e-03 9.68632410e-01 4.72665100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9192541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.81, Y:165.04, Z:47.27 [[-1.42193767e-02 -9.99898899e-01 -4.36299068e-05 4.47814550e+02] [ 9.68516299e-01 -1.37622444e-02 -2.48569464e-01 1.65040911e+02] [ 2.48543733e-01 -3.57675911e-03 9.68614072e-01 4.72728230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.949254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.82, Y:165.04, Z:47.27 [[-1.31792947e-02 -9.99913149e-01 1.53758799e-05 4.47815300e+02] [ 9.68583195e-01 -1.27701713e-02 -2.48361665e-01 1.65041920e+02] [ 2.48340291e-01 -3.25833877e-03 9.68667375e-01 4.72731532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 543.9792541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.82, Y:165.07, Z:47.28 [[-1.36891929e-02 -9.99906296e-01 -7.59107427e-05 4.47817725e+02] [ 9.68701345e-01 -1.32431641e-02 -2.47875620e-01 1.65068592e+02] [ 2.47851388e-01 -3.46675203e-03 9.68791862e-01 4.72794560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0092541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.82, Y:165.10, Z:47.29 [[-1.52507289e-02 -9.99883701e-01 -6.43245248e-07 4.47818841e+02] [ 9.68671387e-01 -1.47745035e-02 -2.47906150e-01 1.65096025e+02] [ 2.47877309e-01 -3.78137257e-03 9.68784053e-01 4.72860592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0392541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.82, Y:165.10, Z:47.29 [[-1.61959902e-02 -9.99868835e-01 6.11064890e-05 4.47820541e+02] [ 9.68678861e-01 -1.57059168e-02 -2.47819668e-01 1.65097362e+02] [ 2.47788123e-01 -3.95449236e-03 9.68806177e-01 4.72863364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.069254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.82, Y:165.12, Z:47.29 [[-2.08574570e-02 -9.99782459e-01 -3.09975382e-05 4.47822650e+02] [ 9.68444310e-01 -2.01959789e-02 -2.48410429e-01 1.65123749e+02] [ 2.48355763e-01 -5.21122922e-03 9.68654870e-01 4.72924669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.0992541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.82, Y:165.13, Z:47.29 [[-2.23200102e-02 -9.99750877e-01 2.63213171e-05 4.47823637e+02] [ 9.68309998e-01 -2.16246253e-02 -2.48813431e-01 1.65128220e+02] [ 2.48752016e-01 -5.52803113e-03 9.68551432e-01 4.72935838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1292541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.82, Y:165.16, Z:47.30 [[-2.46856844e-02 -9.99695260e-01 -6.54618460e-05 4.47824520e+02] [ 9.68220010e-01 -2.38921573e-02 -2.48956176e-01 1.65155030e+02] [ 2.48878745e-01 -6.20903505e-03 9.68514749e-01 4.72998092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.1592541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.83, Y:165.16, Z:47.30 [[-2.59067201e-02 -9.99664365e-01 8.72631840e-08 4.47825581e+02] [ 9.68154081e-01 -2.50901396e-02 -2.49094683e-01 1.65156486e+02] [ 2.49011080e-01 -6.45314175e-03 9.68479137e-01 4.73001957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.189254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.83, Y:165.18, Z:47.31 [[-2.87980271e-02 -9.99585247e-01 -9.18395210e-05 4.47827647e+02] [ 9.67985568e-01 -2.78647219e-02 -2.49454400e-01 1.65183775e+02] [ 2.49348379e-01 -7.27269392e-03 9.68386542e-01 4.73071958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2192541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.83, Y:165.21, Z:47.31 [[-3.01572922e-02 -9.99545165e-01 -1.66340628e-05 4.47828172e+02] [ 9.68041404e-01 -2.92026465e-02 -2.49084415e-01 1.65211167e+02] [ 2.48970637e-01 -7.52781394e-03 9.68481778e-01 4.73140058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2492541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.83, Y:165.21, Z:47.31 [[-3.05119701e-02 -9.99534400e-01 4.84025665e-05 4.47828698e+02] [ 9.68115237e-01 -2.95649089e-02 -2.48754504e-01 1.65211293e+02] [ 2.48640115e-01 -7.54313072e-03 9.68566567e-01 4.73145776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.2792541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.83, Y:165.24, Z:47.32 [[-3.17793612e-02 -9.99494908e-01 -4.40391901e-05 4.47829740e+02] [ 9.68382846e-01 -3.07792322e-02 -2.47562725e-01 1.65238378e+02] [ 2.47436328e-01 -7.91003206e-03 9.68871867e-01 4.73218587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.309254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.83, Y:165.24, Z:47.32 [[-3.16295645e-02 -9.99499660e-01 2.17600528e-05 4.47830068e+02] [ 9.68476734e-01 -3.06532137e-02 -2.47210834e-01 1.65236865e+02] [ 2.47087812e-01 -7.79809692e-03 9.68961714e-01 4.73215532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.339254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.83, Y:165.26, Z:47.33 [[-3.21666698e-02 -9.99482516e-01 -7.10878044e-05 4.47830432e+02] [ 9.68455538e-01 -3.11505342e-02 -2.47231704e-01 1.65263714e+02] [ 2.47101551e-01 -8.02146596e-03 9.68956387e-01 4.73281086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3692541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.83, Y:165.27, Z:47.33 [[-3.14964105e-02 -9.99503865e-01 -4.25776507e-06 4.47831843e+02] [ 9.68509571e-01 -3.05186643e-02 -2.47098812e-01 1.65266211e+02] [ 2.46976088e-01 -7.78684930e-03 9.68990287e-01 4.73284031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.3992541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.83, Y:165.29, Z:47.33 [[-3.17376702e-02 -9.99496229e-01 -9.74022467e-05 4.47831908e+02] [ 9.68712502e-01 -3.07361742e-02 -2.46274999e-01 1.65292872e+02] [ 2.46147939e-01 -7.91054948e-03 9.69199987e-01 4.73344914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.429254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.83, Y:165.32, Z:47.34 [[-3.17540171e-02 -9.99495714e-01 -2.95036811e-05 4.47832235e+02] [ 9.68462114e-01 -3.07607798e-02 -2.47254743e-01 1.65319960e+02] [ 2.47129148e-01 -7.87990454e-03 9.68950510e-01 4.73413597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.459254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.83, Y:165.32, Z:47.34 [[-3.16525206e-02 -9.99498933e-01 3.65801826e-05 4.47831643e+02] [ 9.68650200e-01 -3.06846135e-02 -2.46526355e-01 1.65323142e+02] [ 2.46403951e-01 -7.76774714e-03 9.69136087e-01 4.73415873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.4892541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.83, Y:165.35, Z:47.35 [[-3.16820643e-02 -9.99497996e-01 -5.74995449e-05 4.47831413e+02] [ 9.68571858e-01 -3.06875683e-02 -2.46833605e-01 1.65349657e+02] [ 2.46707929e-01 -7.87589059e-03 9.69057877e-01 4.73476646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.5192541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.83, Y:165.38, Z:47.35 [[-3.18837822e-02 -9.99491583e-01 -5.63006414e-06 4.47831340e+02] [ 9.68533704e-01 -3.08948347e-02 -2.46957434e-01 1.65376886e+02] [ 2.46831703e-01 -7.87938996e-03 9.69026329e-01 4.73540313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.549254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:447.83, Y:165.38, Z:47.35 [[-3.15033749e-02 -9.99503644e-01 5.93269150e-05 4.47831157e+02] [ 9.68488347e-01 -3.05404748e-02 -2.47179291e-01 1.65376342e+02] [ 2.47058413e-01 -7.72952444e-03 9.68969760e-01 4.73540507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.579254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.83, Y:165.40, Z:47.36 [[-3.15499321e-02 -9.99502176e-01 -3.38104057e-05 4.47831428e+02] [ 9.68444316e-01 -3.05612035e-02 -2.47349184e-01 1.65402957e+02] [ 2.47225014e-01 -7.83659345e-03 9.68926406e-01 4.73604744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6092541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.83, Y:165.40, Z:47.36 [[-3.07674662e-02 -9.99526569e-01 2.49611205e-05 4.47831383e+02] [ 9.68651516e-01 -2.98232281e-02 -2.46626875e-01 1.65404648e+02] [ 2.46510859e-01 -7.56390542e-03 9.69110512e-01 4.73603713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6392541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.83, Y:165.43, Z:47.37 [[-3.05219772e-02 -9.99534094e-01 -6.81661973e-05 4.47831050e+02] [ 9.68809020e-01 -2.95669707e-02 -2.46038367e-01 1.65432118e+02] [ 2.45921721e-01 -7.57561744e-03 9.69260088e-01 4.73668907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.6692541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.83, Y:165.43, Z:47.37 [[-2.95302139e-02 -9.99563888e-01 -1.99237736e-06 4.47830633e+02] [ 9.68928458e-01 -2.86246587e-02 -2.45679204e-01 1.65433170e+02] [ 2.45572004e-01 -7.25688991e-03 9.69351190e-01 4.73671851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.699254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.83, Y:165.46, Z:47.37 [[-2.85952172e-02 -9.99591069e-01 -9.54656386e-05 4.47829925e+02] [ 9.69087756e-01 -2.76991979e-02 -2.45156433e-01 1.65458993e+02] [ 2.45053536e-01 -7.10281603e-03 9.69483530e-01 4.73728486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7292541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.83, Y:165.49, Z:47.38 [[-2.81426417e-02 -9.99603917e-01 -2.75763848e-05 4.47829531e+02] [ 9.69204287e-01 -2.72800251e-02 -2.44742417e-01 1.65486088e+02] [ 2.44644726e-01 -6.91442530e-03 9.69588134e-01 4.73792982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7592541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.83, Y:165.49, Z:47.38 [[-2.68348225e-02 -9.99639881e-01 3.97862563e-05 4.47829377e+02] [ 9.69349609e-01 -2.60314190e-02 -2.44302477e-01 1.65487850e+02] [ 2.44215535e-01 -6.51724683e-03 9.69699076e-01 4.73796940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.7892541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.83, Y:165.51, Z:47.39 [[-2.64490730e-02 -9.99650161e-01 -5.40843703e-05 4.47829310e+02] [ 9.69347982e-01 -2.56341078e-02 -2.44350939e-01 1.65514148e+02] [ 2.44264069e-01 -6.51528242e-03 9.69686865e-01 4.73862364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.819254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.83, Y:165.51, Z:47.39 [[-2.49463155e-02 -9.99688792e-01 6.07901525e-06 4.47828934e+02] [ 9.69608970e-01 -2.41971816e-02 -2.43460351e-01 1.65514690e+02] [ 2.43384731e-01 -6.06754445e-03 9.69910850e-01 4.73865266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8492541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.83, Y:165.54, Z:47.39 [[-2.49041923e-02 -9.99689839e-01 -8.76822065e-05 4.47828547e+02] [ 9.69712401e-01 -2.41360787e-02 -2.43054129e-01 1.65541869e+02] [ 2.42976626e-01 -6.13809328e-03 9.70012723e-01 4.73933162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.8792541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.83, Y:165.57, Z:47.40 [[-2.49001613e-02 -9.99689943e-01 -1.54010818e-05 4.47828104e+02] [ 9.69857638e-01 -2.41533662e-02 -2.42472219e-01 1.65568894e+02] [ 2.42396667e-01 -6.05253423e-03 9.70158349e-01 4.73998323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9092541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.83, Y:165.57, Z:47.40 [[-2.46498749e-02 -9.99696144e-01 5.14162216e-05 4.47827748e+02] [ 9.69914422e-01 -2.39279962e-02 -2.42267344e-01 1.65570674e+02] [ 2.42194960e-01 -5.92199037e-03 9.70209530e-01 4.74005631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.939254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.83, Y:165.60, Z:47.41 [[-2.58164949e-02 -9.99666698e-01 -4.25435063e-05 4.47828115e+02] [ 9.70015094e-01 -2.50404508e-02 -2.41751305e-01 1.65597680e+02] [ 2.41669663e-01 -6.28243917e-03 9.70338242e-01 4.74068326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9692541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.83, Y:165.60, Z:47.41 [[-2.61640437e-02 -9.99657663e-01 2.37307764e-05 4.47828137e+02] [ 9.70128970e-01 -2.53969163e-02 -2.41256666e-01 1.65604234e+02] [ 2.41174677e-01 -6.28922802e-03 9.70461344e-01 4.74082235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 544.9992541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.83, Y:165.63, Z:47.41 [[-2.73053283e-02 -9.99627138e-01 -7.05582032e-05 4.47828063e+02] [ 9.70070438e-01 -2.64809345e-02 -2.41375447e-01 1.65631089e+02] [ 2.41283578e-01 -6.65928224e-03 9.70431805e-01 4.74146952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.0292541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:447.83, Y:165.66, Z:47.42 [[-2.87649000e-02 -9.99586205e-01 4.61695771e-07 4.47827787e+02] [ 9.70134708e-01 -2.79174912e-02 -2.40954895e-01 1.65657998e+02] [ 2.40855202e-01 -6.93059555e-03 9.70536315e-01 4.74208902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.059254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.83, Y:165.66, Z:47.42 [[-3.05064960e-02 -9.99534566e-01 6.96866416e-05 4.47827028e+02] [ 9.69961625e-01 -2.96207426e-02 -2.41447836e-01 1.65660649e+02] [ 2.41337522e-01 -7.29813405e-03 9.70413797e-01 4.74212166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.089254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.83, Y:165.69, Z:47.43 [[-3.22086044e-02 -9.99481168e-01 -2.49619619e-05 4.47826389e+02] [ 9.69821600e-01 -3.12467761e-02 -2.41805094e-01 1.65687869e+02] [ 2.41678858e-01 -7.81241326e-03 9.70324840e-01 4.74277741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1192541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.83, Y:165.69, Z:47.43 [[-3.33686561e-02 -9.99443111e-01 3.86405279e-05 4.47825739e+02] [ 9.69802501e-01 -3.23883835e-02 -2.41731466e-01 1.65691783e+02] [ 2.41598100e-01 -8.02878048e-03 9.70343185e-01 4.74283171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.1492541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.83, Y:165.72, Z:47.43 [[-3.53292855e-02 -9.99375724e-01 -5.65885948e-05 4.47825618e+02] [ 9.69727500e-01 -3.42674904e-02 -2.41773271e-01 1.65718444e+02] [ 2.41620399e-01 -8.59655244e-03 9.70332769e-01 4.74345682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.179254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.83, Y:165.74, Z:47.44 [[-3.76855035e-02 -9.99289649e-01 -5.66144807e-06 4.47825511e+02] [ 9.69754160e-01 -3.65702853e-02 -2.41328582e-01 1.65744938e+02] [ 2.41156947e-01 -9.10007933e-03 9.70443463e-01 4.74409889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.209254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.82, Y:165.75, Z:47.44 [[-4.18697239e-02 -9.99123077e-01 6.53543229e-05 4.47824755e+02] [ 9.69883061e-01 -4.06600868e-02 -2.40153297e-01 1.65748073e+02] [ 2.39945359e-01 -9.99176621e-03 9.70734974e-01 4.74414017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2392541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.82, Y:165.78, Z:47.45 [[-4.41200286e-02 -9.99026237e-01 -3.00352646e-05 4.47824304e+02] [ 9.69922748e-01 -4.28275263e-02 -2.39615664e-01 1.65775482e+02] [ 2.39381049e-01 -1.06009818e-02 9.70867825e-01 4.74476501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.2692541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.82, Y:165.78, Z:47.45 [[-4.55283219e-02 -9.98963048e-01 3.81679608e-05 4.47823731e+02] [ 9.69930235e-01 -4.42142789e-02 -2.39333318e-01 1.65779317e+02] [ 2.39086828e-01 -1.08594241e-02 9.70937465e-01 4.74483380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.299254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.82, Y:165.81, Z:47.45 [[-4.87294533e-02 -9.98812013e-01 -5.82411856e-05 4.47821948e+02] [ 9.70036768e-01 -4.73116878e-02 -2.38307099e-01 1.65805667e+02] [ 2.38021237e-01 -1.16690707e-02 9.71189849e-01 4.74541632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.329254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.82, Y:165.83, Z:47.46 [[-4.96419860e-02 -9.98767077e-01 -9.28591221e-06 4.47821012e+02] [ 9.70101417e-01 -4.82149976e-02 -2.37862471e-01 1.65833242e+02] [ 2.37568757e-01 -1.18169738e-02 9.71298844e-01 4.74604217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3592541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.82, Y:165.84, Z:47.46 [[-5.08041144e-02 -9.98708635e-01 6.01192108e-05 4.47819465e+02] [ 9.70107898e-01 -4.93635032e-02 -2.37600319e-01 1.65836062e+02] [ 2.37296458e-01 -1.20127517e-02 9.71363004e-01 4.74609558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.3892541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.82, Y:165.86, Z:47.47 [[-5.26898674e-02 -9.98610924e-01 -3.64624581e-05 4.47816737e+02] [ 9.70060527e-01 -5.11747897e-02 -2.37410435e-01 1.65862610e+02] [ 2.37078788e-01 -1.25444951e-02 9.71409432e-01 4.74667891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4192541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.81, Y:165.86, Z:47.47 [[-5.27669846e-02 -9.98606852e-01 3.55958895e-05 4.47814944e+02] [ 9.69951730e-01 -5.12613086e-02 -2.37835908e-01 1.65864269e+02] [ 2.37506392e-01 -1.25153574e-02 9.71305348e-01 4.74675065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.449254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.81, Y:165.89, Z:47.47 [[-5.33771644e-02 -9.98574421e-01 -6.12293896e-05 4.47813251e+02] [ 9.70008259e-01 -5.18356454e-02 -2.37480616e-01 1.65890531e+02] [ 2.37138894e-01 -1.27354349e-02 9.71392276e-01 4.74735452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.4792541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.81, Y:165.89, Z:47.48 [[-5.32823232e-02 -9.98579488e-01 1.21759964e-05 4.47811442e+02] [ 9.70022366e-01 -5.17614640e-02 -2.37439172e-01 1.65894811e+02] [ 2.37102517e-01 -1.26394997e-02 9.71402409e-01 4.74750487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5092541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.81, Y:165.92, Z:47.48 [[-5.36541850e-02 -9.98559573e-01 -8.46710041e-05 4.47809703e+02] [ 9.69994829e-01 -5.20992196e-02 -2.37477796e-01 1.65921160e+02] [ 2.37131315e-01 -1.28238080e-02 9.71392963e-01 4.74816863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5392541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.81, Y:165.95, Z:47.49 [[-5.39474000e-02 -9.98543779e-01 -9.51995926e-06 4.47805771e+02] [ 9.69959091e-01 -5.24008167e-02 -2.37557396e-01 1.65947651e+02] [ 2.37210961e-01 -1.28248379e-02 9.71373504e-01 4.74880997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.569254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.80, Y:165.96, Z:47.49 [[-5.30665363e-02 -9.98590977e-01 6.01101203e-05 4.47803562e+02] [ 9.69883351e-01 -5.15553019e-02 -2.38051120e-01 1.65955567e+02] [ 2.37718800e-01 -1.25742486e-02 9.71252624e-01 4.74903674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.5992541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.80, Y:165.98, Z:47.50 [[-5.25276711e-02 -9.98619468e-01 -3.66762795e-05 4.47801261e+02] [ 9.69825524e-01 -5.10043455e-02 -2.38405138e-01 1.65982181e+02] [ 2.38074142e-01 -1.25584363e-02 9.71165789e-01 4.74967532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6292541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.80, Y:165.98, Z:47.50 [[-5.21244663e-02 -9.98640595e-01 3.62070507e-05 4.47801152e+02] [ 9.69845135e-01 -5.06301188e-02 -2.38405127e-01 1.65984725e+02] [ 2.38082871e-01 -1.23916248e-02 9.71165791e-01 4.74973884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.6592541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.80, Y:166.01, Z:47.50 [[-4.93098833e-02 -9.98783526e-01 -6.04136256e-05 4.47795867e+02] [ 9.69823710e-01 -4.78656786e-02 -2.39062436e-01 1.66011878e+02] [ 2.38768731e-01 -1.18467314e-02 9.71004196e-01 4.75040731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.689254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.79, Y:166.01, Z:47.50 [[-4.65657517e-02 -9.98915227e-01 1.02327588e-05 4.47793128e+02] [ 9.69930833e-01 -4.52170557e-02 -2.39143466e-01 1.66010047e+02] [ 2.38884512e-01 -1.11259702e-02 9.70984244e-01 4.75038071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7192541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.79, Y:166.04, Z:47.51 [[-4.40733252e-02 -9.99028295e-01 -8.58562456e-05 4.47790379e+02] [ 9.70005245e-01 -4.27723741e-02 -2.39291347e-01 1.66037624e+02] [ 2.39055154e-01 -1.06296464e-02 9.70947807e-01 4.75104589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7492541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.78, Y:166.06, Z:47.52 [[-3.86412468e-02 -9.99253148e-01 -1.20813924e-05 4.47784480e+02] [ 9.70266896e-01 -3.75174538e-02 -2.39112091e-01 1.66064665e+02] [ 2.38933057e-01 -9.25131151e-03 9.70991971e-01 4.75170650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.7792541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.78, Y:166.06, Z:47.52 [[-3.56215935e-02 -9.99365348e-01 5.90750432e-05 4.47781455e+02] [ 9.70328506e-01 -3.46007438e-02 -2.39301859e-01 1.66058171e+02] [ 2.39152029e-01 -8.46699134e-03 9.70945218e-01 4.75157007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.809254154 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:447.78, Y:166.08, Z:47.52 [[-3.07654677e-02 -9.99526630e-01 -3.63612311e-05 4.47775935e+02] [ 9.70632141e-01 -2.98674104e-02 -2.38707321e-01 1.66084881e+02] [ 2.38593239e-01 -7.37923576e-03 9.71091558e-01 4.75223444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.839254154 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:447.77, Y:166.08, Z:47.52 [[-2.81267136e-02 -9.99604365e-01 3.32411596e-05 4.47773425e+02] [ 9.70672758e-01 -2.73205832e-02 -2.38847194e-01 1.66081434e+02] [ 2.38753606e-01 -6.68572034e-03 9.71057165e-01 4.75221002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8692541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.77, Y:166.11, Z:47.53 [[-2.60058165e-02 -9.99661790e-01 -6.20272858e-05 4.47771324e+02] [ 9.70839337e-01 -2.52412193e-02 -2.38398538e-01 1.66108605e+02] [ 2.38316343e-01 -6.25996716e-03 9.71167407e-01 4.75286104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.8992541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:447.77, Y:166.11, Z:47.53 [[-2.34910063e-02 -9.99724048e-01 6.80038768e-06 4.47769165e+02] [ 9.70988761e-01 -2.28174183e-02 -2.38034015e-01 1.66106320e+02] [ 2.37968485e-01 -5.58505544e-03 9.71256819e-01 4.75281332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.929254154 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:447.77, Y:166.13, Z:47.53 [[-2.16380495e-02 -9.99765866e-01 -8.83657013e-05 4.47767091e+02] [ 9.70933532e-01 -2.09929542e-02 -2.38426872e-01 1.66133199e+02] [ 2.38369193e-01 -5.24488968e-03 9.71160450e-01 4.75349226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.959254154 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:447.79, Y:166.15, Z:47.54 [[-2.50507481e-02 -9.97922344e-01 -5.93587072e-02 4.47786157e+02] [ 9.67912304e-01 -9.36058354e-03 -2.51113822e-01 1.66153986e+02] [ 2.50036462e-01 -6.37446122e-02 9.66135804e-01 4.75441021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 545.9892541539999 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:447.74, Y:166.02, Z:47.53 [[-1.15114483e-02 -9.98855214e-01 4.64300349e-02 4.47739183e+02] [ 9.74171505e-01 -2.16748647e-02 -2.24766723e-01 1.66015906e+02] [ 2.25515778e-01 4.26434264e-02 9.73305796e-01 4.75259959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.0192541539999 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:447.76, Y:166.05, Z:47.52 [[-1.07763143e-02 -9.99941406e-01 -1.02740059e-03 4.47759380e+02] [ 9.74277722e-01 -1.02684397e-02 -2.25116592e-01 1.66046275e+02] [ 2.25092852e-01 -3.42690067e-03 9.74331291e-01 4.75180461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.049254154 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:447.76, Y:166.07, Z:47.52 [[-1.02712708e-02 -9.99946786e-01 -9.62382316e-04 4.47758307e+02] [ 9.74174405e-01 -9.78943143e-03 -2.25584566e-01 1.66072014e+02] [ 2.25563141e-01 -3.25456838e-03 9.74223115e-01 4.75241085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.079254154 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:447.76, Y:166.10, Z:47.53 [[-1.09577635e-02 -9.99939553e-01 -9.04611850e-04 4.47756660e+02] [ 9.74003693e-01 -1.04688303e-02 -2.26290100e-01 1.66098684e+02] [ 2.26266951e-01 -3.36072868e-03 9.74059532e-01 4.75299419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1092541539999 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:447.76, Y:166.13, Z:47.54 [[-1.20369582e-02 -9.99927201e-01 -8.39609053e-04 4.47756449e+02] [ 9.73815474e-01 -1.15319848e-02 -2.27047210e-01 1.66126110e+02] [ 2.27020999e-01 -3.55058207e-03 9.73883391e-01 4.75360663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1392541539999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:447.76, Y:166.15, Z:47.54 [[-1.34543303e-02 -9.99909187e-01 -7.73820984e-04 4.47756321e+02] [ 9.73742418e-01 -1.29263479e-02 -2.27285312e-01 1.66153692e+02] [ 2.27254668e-01 -3.81147398e-03 9.73827905e-01 4.75421703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.1692541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:447.76, Y:166.18, Z:47.55 [[-1.69589613e-02 -9.99855936e-01 -7.07350298e-04 4.47756104e+02] [ 9.73697757e-01 -1.63545091e-02 -2.27255822e-01 1.66180114e+02] [ 2.27211515e-01 -4.54276809e-03 9.73834838e-01 4.75481840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.199254154 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:447.76, Y:166.21, Z:47.55 [[-1.92867983e-02 -9.99813783e-01 -6.47350091e-04 4.47756187e+02] [ 9.73653284e-01 -1.86350009e-02 -2.27270806e-01 1.66207016e+02] [ 2.27216421e-01 -5.01362073e-03 9.73831383e-01 4.75546465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2292541539999 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:447.76, Y:166.23, Z:47.56 [[-2.16197258e-02 -9.99766099e-01 -5.79316186e-04 4.47756631e+02] [ 9.73675439e-01 -2.09239990e-02 -2.26976488e-01 1.66233365e+02] [ 2.26911276e-01 -5.47123537e-03 9.73900066e-01 4.75607116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2592541539999 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:447.76, Y:166.26, Z:47.57 [[-2.41514843e-02 -9.99708176e-01 -5.19052041e-04 4.47756872e+02] [ 9.73559829e-01 -2.34017997e-02 -2.27230314e-01 1.66260672e+02] [ 2.27151856e-01 -5.99327758e-03 9.73840908e-01 4.75674835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.2892541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:447.77, Y:166.29, Z:47.58 [[-3.06953925e-02 -9.99328224e-01 -2.00223514e-02 4.47765094e+02] [ 9.72395781e-01 -2.52204151e-02 -2.31970636e-01 1.66286771e+02] [ 2.31309831e-01 -2.65900797e-02 9.72516699e-01 4.75765874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.319254154 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:447.75, Y:166.31, Z:47.59 [[-3.10673383e-02 -9.99323131e-01 1.97002716e-02 4.47748944e+02] [ 9.73252382e-01 -3.47337577e-02 -2.27097705e-01 1.66313593e+02] [ 2.27628254e-01 1.21180150e-02 9.73672703e-01 4.75857040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3492541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:447.76, Y:166.34, Z:47.59 [[-3.38872687e-02 -9.99425591e-01 -3.76199495e-04 4.47758660e+02] [ 9.73245108e-01 -3.29139770e-02 -2.27399713e-01 1.66342062e+02] [ 2.27256710e-01 -8.07208951e-03 9.73801432e-01 4.75860179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.3792541539999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:447.76, Y:166.37, Z:47.59 [[-3.63986044e-02 -9.99337303e-01 -3.11965686e-04 4.47759141e+02] [ 9.73177737e-01 -3.53748387e-02 -2.27318526e-01 1.66369681e+02] [ 2.27156847e-01 -8.57767518e-03 9.73820410e-01 4.75918528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4092541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.76, Y:166.40, Z:47.60 [[-4.09256352e-02 -9.99162165e-01 -2.47655722e-04 4.47760257e+02] [ 9.72931922e-01 -3.97948221e-02 -2.27639732e-01 1.66397441e+02] [ 2.27439152e-01 -9.55725277e-03 9.73745393e-01 4.75975879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.439254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:447.76, Y:166.42, Z:47.60 [[-4.28363717e-02 -9.99082085e-01 -1.78267834e-04 4.47760734e+02] [ 9.72838691e-01 -4.16705377e-02 -2.27702543e-01 1.66424165e+02] [ 2.27486103e-01 -9.92737663e-03 9.73730723e-01 4.76036671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4692541539999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:447.76, Y:166.45, Z:47.61 [[-4.44540486e-02 -9.99011424e-01 -1.08193742e-04 4.47760851e+02] [ 9.72783247e-01 -4.32622922e-02 -2.27642547e-01 1.66450994e+02] [ 2.27412824e-01 -1.02248819e-02 9.73744761e-01 4.76097429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.4992541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:447.76, Y:166.48, Z:47.62 [[-4.61805480e-02 -9.98933109e-01 -3.85884383e-05 4.47760553e+02] [ 9.72823797e-01 -4.49647436e-02 -2.27138793e-01 1.66476860e+02] [ 2.26894725e-01 -1.05269337e-02 9.73862397e-01 4.76158846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.5292541539999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:447.76, Y:166.48, Z:47.62 [[-4.61177204e-02 -9.98936012e-01 1.95318963e-05 4.47760035e+02] [ 9.72864321e-01 -4.49185108e-02 -2.26974316e-01 1.66482975e+02] [ 2.26733695e-01 -1.04485362e-02 9.73900744e-01 4.76171880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.559254154 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.77, Y:166.51, Z:47.63 [[-4.82095231e-02 -9.98621651e-01 -2.07518921e-02 4.47766884e+02] [ 9.71737549e-01 -4.20847164e-02 -2.32282184e-01 1.66508820e+02] [ 2.31088680e-01 -3.13636061e-02 9.72427039e-01 4.76254628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.589254154 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.75, Y:166.54, Z:47.63 [[-4.59009041e-02 -9.98726133e-01 2.09575359e-02 4.47749603e+02] [ 9.72550598e-01 -4.94691309e-02 -2.27372250e-01 1.66535158e+02] [ 2.28119359e-01 9.94567222e-03 9.73582375e-01 4.76349656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6192541539999 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:447.76, Y:166.54, Z:47.63 [[-4.43138242e-02 -9.99017660e-01 2.31818010e-05 4.47758069e+02] [ 9.72785169e-01 -4.31555018e-02 -2.27654601e-01 1.66535903e+02] [ 2.27431967e-01 -1.00656951e-02 9.73741948e-01 4.76283008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.6492541539999 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:447.76, Y:166.56, Z:47.63 [[-4.35127559e-02 -9.99052869e-01 -6.53917794e-05 4.47757522e+02] [ 9.72762893e-01 -4.23528051e-02 -2.27900402e-01 1.66561708e+02] [ 2.27681781e-01 -9.98018525e-03 9.73684447e-01 4.76341919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.679254154 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:447.76, Y:166.59, Z:47.64 [[-4.25085585e-02 -9.99096103e-01 -3.96424227e-06 4.47756867e+02] [ 9.72824140e-01 -4.13898610e-02 -2.27815873e-01 1.66588368e+02] [ 2.27609787e-01 -9.68798087e-03 9.73704230e-01 4.76401959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.709254154 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:447.76, Y:166.59, Z:47.64 [[-4.06586319e-02 -9.99173095e-01 5.18377787e-05 4.47756223e+02] [ 9.72924063e-01 -3.96023126e-02 -2.27706881e-01 1.66589462e+02] [ 2.27520642e-01 -9.20781603e-03 9.73729723e-01 4.76402207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7392541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:447.75, Y:166.62, Z:47.65 [[-3.70977504e-02 -9.99311641e-01 -3.63210257e-05 4.47754586e+02] [ 9.73034009e-01 -3.61139576e-02 -2.27817030e-01 1.66616865e+02] [ 2.27658899e-01 -8.48684092e-03 9.73703959e-01 4.76465001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.7692541539999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:447.75, Y:166.62, Z:47.65 [[-3.41586398e-02 -9.99416423e-01 2.64084203e-05 4.47753603e+02] [ 9.73162060e-01 -3.32673196e-02 -2.27703516e-01 1.66616697e+02] [ 2.27571512e-01 -7.75234271e-03 9.73730511e-01 4.76462563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.799254154 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:447.75, Y:166.64, Z:47.65 [[-3.15256869e-02 -9.99502940e-01 -6.13389412e-05 4.47752686e+02] [ 9.73003033e-01 -3.06758058e-02 -2.28744601e-01 1.66643654e+02] [ 2.28629019e-01 -7.27101364e-03 9.73486468e-01 4.76524948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.829254154 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:447.75, Y:166.64, Z:47.65 [[-2.54139964e-02 -9.99677012e-01 1.78793143e-06 4.47750468e+02] [ 9.73154993e-01 -2.47401574e-02 -2.28817141e-01 1.66640802e+02] [ 2.28743280e-01 -5.81341806e-03 9.73469422e-01 4.76511320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8592541539999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:447.75, Y:166.67, Z:47.66 [[-2.28589393e-02 -9.99738697e-01 -8.56167985e-05 4.47749277e+02] [ 9.73168179e-01 -2.22317938e-02 -2.29018435e-01 1.66668018e+02] [ 2.28956688e-01 -5.31843806e-03 9.73422082e-01 4.76571822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.8892541539999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:447.75, Y:166.69, Z:47.66 [[-2.02596046e-02 -9.99794753e-01 -1.89110276e-05 4.47748352e+02] [ 9.73158766e-01 -1.97155223e-02 -2.29288715e-01 1.66694776e+02] [ 2.29241281e-01 -4.66370213e-03 9.73358457e-01 4.76631874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9192541539999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:447.75, Y:166.69, Z:47.66 [[-1.75144513e-02 -9.99846609e-01 4.16948972e-05 4.47747323e+02] [ 9.73217165e-01 -1.70575398e-02 -2.29253988e-01 1.66688522e+02] [ 2.29219534e-01 -3.97467961e-03 9.73366636e-01 4.76619404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.949254154 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:447.75, Y:166.72, Z:47.67 [[-1.35047151e-02 -9.99908806e-01 -4.51912523e-05 4.47746345e+02] [ 9.73494256e-01 -1.31376420e-02 -2.28333825e-01 1.66716220e+02] [ 2.28312409e-01 -3.12757669e-03 9.73582899e-01 4.76679183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 546.9792541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:447.75, Y:166.72, Z:47.67 [[-1.13440536e-02 -9.99935654e-01 1.89428896e-05 4.47745994e+02] [ 9.73634096e-01 -1.10499845e-02 -2.27847638e-01 1.66716874e+02] [ 2.27833186e-01 -2.56627238e-03 9.73696798e-01 4.76682413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0092541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.75, Y:166.74, Z:47.67 [[-1.01322197e-02 -9.99948665e-01 -6.76686718e-05 4.47745962e+02] [ 9.73760825e-01 -9.85147917e-03 -2.27360516e-01 1.66743787e+02] [ 2.27348178e-01 -2.36955980e-03 9.73810655e-01 4.76741163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0392541539999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:447.76, Y:166.76, Z:47.68 [[-1.57452961e-02 -9.97865912e-01 -6.33696035e-02 4.47764926e+02] [ 9.70770897e-01 -7.60229558e-05 -2.40008042e-01 1.66759382e+02] [ 2.39491026e-01 -6.52963645e-02 9.68700384e-01 4.76790253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.069254154 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:447.72, Y:166.72, Z:47.69 [[ 6.83478713e-03 -9.99016940e-01 4.37999902e-02 4.47724337e+02] [ 9.78903703e-01 -2.26038415e-03 -2.04309646e-01 1.66720837e+02] [ 2.04207802e-01 4.42723855e-02 9.77925933e-01 4.76857575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.0992541539999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:447.75, Y:166.75, Z:47.68 [[ 6.15476449e-03 -9.99967914e-01 -5.12736602e-03 4.47747005e+02] [ 9.79159329e-01 7.06742633e-03 -2.02970588e-01 1.66753167e+02] [ 2.03000312e-01 -3.77127210e-03 9.79171410e-01 4.76762199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1292541539999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:447.75, Y:166.78, Z:47.68 [[ 7.97640355e-03 -9.99967598e-01 1.08593597e-03 4.47745091e+02] [ 9.78949482e-01 7.58725270e-03 -2.03961626e-01 1.66778141e+02] [ 2.03946778e-01 2.68995669e-03 9.78978282e-01 4.76832520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.1592541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:447.75, Y:166.81, Z:47.69 [[ 6.27160952e-03 -9.99969302e-01 -4.69697898e-03 4.47747937e+02] [ 9.79157796e-01 7.09449204e-03 -2.02977041e-01 1.66808198e+02] [ 2.03004132e-01 -3.32609084e-03 9.79172232e-01 4.76870571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.189254154 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:447.75, Y:166.84, Z:47.69 [[ 6.03999247e-03 -9.99979018e-01 -2.34141067e-03 4.47748902e+02] [ 9.79226267e-01 6.38918686e-03 -2.02669919e-01 1.66835069e+02] [ 2.02680626e-01 -1.06864604e-03 9.79244312e-01 4.76925326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2192541539999 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:447.75, Y:166.86, Z:47.70 [[ 5.86502146e-03 -9.99980269e-01 2.25003686e-03 4.47747985e+02] [ 9.78983883e-01 5.28315254e-03 -2.03869187e-01 1.66861695e+02] [ 2.03853277e-01 3.39844698e-03 9.78995553e-01 4.76993174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2492541539999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:447.75, Y:166.89, Z:47.70 [[ 5.22832391e-03 -9.99985104e-01 -1.56715369e-03 4.47750644e+02] [ 9.78954374e-01 5.43808152e-03 -2.04006766e-01 1.66888898e+02] [ 2.04012250e-01 -4.67558510e-04 9.78968224e-01 4.77034994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.2792541539999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:447.75, Y:166.92, Z:47.71 [[ 4.41595766e-03 -9.99964507e-01 -7.17525985e-03 4.47754043e+02] [ 9.79267206e-01 5.77752879e-03 -2.02490396e-01 1.66916690e+02] [ 2.02524664e-01 -6.13230764e-03 9.79257962e-01 4.77069583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.309254154 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:447.75, Y:166.94, Z:47.71 [[ 3.17973665e-03 -9.99994895e-01 3.14680093e-04 4.47752261e+02] [ 9.78974469e-01 3.04871441e-03 -2.03960031e-01 1.66942946e+02] [ 2.03958031e-01 9.56602964e-04 9.78979166e-01 4.77142377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.339254154 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:447.78, Y:166.96, Z:47.72 [[-6.83692829e-03 -9.96893166e-01 -7.84682925e-02 4.47779370e+02] [ 9.75924411e-01 1.04551251e-02 -2.17858289e-01 1.66958720e+02] [ 2.18001835e-01 -7.80686037e-02 9.72820895e-01 4.77163874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3692541539999 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:447.74, Y:166.98, Z:47.75 [[-4.39067582e-03 -9.99977492e-01 5.07325106e-03 4.47743402e+02] [ 9.75926887e-01 -5.39122744e-03 -2.18031298e-01 1.66984719e+02] [ 2.18053741e-01 3.99381737e-03 9.75928591e-01 4.77452783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.3992541539999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:447.72, Y:167.02, Z:47.75 [[ 2.05875859e-03 -9.96933768e-01 7.82229086e-02 4.47722675e+02] [ 9.79054006e-01 -1.39160299e-02 -2.03124587e-01 1.67022022e+02] [ 2.03590312e-01 7.70026365e-02 9.76023350e-01 4.77519932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.429254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:447.76, Y:167.05, Z:47.73 [[ 9.76803301e-04 -9.99997339e-01 -2.08983199e-03 4.47760559e+02] [ 9.79227331e-01 1.38025210e-03 -2.02760767e-01 1.67053170e+02] [ 2.02763112e-01 -1.84836322e-03 9.79226074e-01 4.77321932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.459254154 meters Centerline goodness : 0.994978 Centerline is valid? [True, True] Translation: X:447.76, Y:167.08, Z:47.74 [[ 2.49700731e-03 -9.99996837e-01 -3.01239812e-04 4.47761998e+02] [ 9.79055229e-01 2.50604221e-03 -2.03579415e-01 1.67078533e+02] [ 2.03579526e-01 2.13408875e-04 9.79058390e-01 4.77384374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.4892541539999 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:447.76, Y:167.11, Z:47.74 [[ 1.23265160e-03 -9.99994297e-01 -3.14433932e-03 4.47764001e+02] [ 9.79428231e-01 1.84178294e-03 -2.01784412e-01 1.67106439e+02] [ 2.01789052e-01 -2.83092481e-03 9.79424915e-01 4.77426525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.5192541539999 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:447.76, Y:167.13, Z:47.75 [[ 9.72674031e-04 -9.99997746e-01 -1.88750362e-03 4.47763600e+02] [ 9.79426598e-01 1.33355713e-03 -2.01796333e-01 1.67134234e+02] [ 2.01798395e-01 -1.65238920e-03 9.79425688e-01 4.77485457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.549254154 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:447.76, Y:167.16, Z:47.75 [[ 1.61134185e-03 -9.99997022e-01 -1.83291920e-03 4.47764887e+02] [ 9.79404565e-01 1.94822454e-03 -2.01898250e-01 1.67162015e+02] [ 2.01901219e-01 -1.46984233e-03 9.79404787e-01 4.77540398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.579254154 meters Centerline goodness : 0.995515 Centerline is valid? [True, True] Translation: X:447.77, Y:167.18, Z:47.76 [[ 1.72720205e-03 -9.99644644e-01 -2.66008076e-02 4.47774381e+02] [ 9.78335291e-01 7.19608966e-03 -2.06901604e-01 1.67180910e+02] [ 2.07019502e-01 -2.56671480e-02 9.78000063e-01 4.77606394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6092541539999 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:447.75, Y:167.21, Z:47.77 [[ 3.80127887e-03 -9.99646428e-01 2.63167031e-02 4.47754228e+02] [ 9.79495821e-01 -1.57893957e-03 -2.01458293e-01 1.67212370e+02] [ 2.01428615e-01 2.65428998e-02 9.79143497e-01 4.77718563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6392541539999 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:447.77, Y:167.23, Z:47.77 [[ 5.61887438e-03 -9.99850039e-01 -1.63807277e-02 4.47772511e+02] [ 9.78008165e-01 8.90999499e-03 -2.08376201e-01 1.67232626e+02] [ 2.08490905e-01 -1.48496458e-02 9.77911566e-01 4.77729866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.6692541539999 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:447.76, Y:167.26, Z:47.78 [[ 7.04287048e-03 -9.99828000e-01 1.71571442e-02 4.47761103e+02] [ 9.79284739e-01 3.42394496e-03 -2.02459074e-01 1.67264869e+02] [ 2.02365506e-01 1.82276225e-02 9.79140417e-01 4.77792194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.699254154 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:447.77, Y:167.29, Z:47.78 [[ 8.02321644e-03 -9.99966720e-01 -1.47879681e-03 4.47771005e+02] [ 9.79389798e-01 8.15657042e-03 -2.01814505e-01 1.67293418e+02] [ 2.01819851e-01 1.70882952e-04 9.79422646e-01 4.77790451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7292541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.77, Y:167.32, Z:47.78 [[ 8.97738844e-03 -9.99958698e-01 -1.41725443e-03 4.47772151e+02] [ 9.79485008e-01 9.07890329e-03 -2.01312425e-01 1.67321043e+02] [ 2.01316978e-01 4.19080371e-04 9.79526058e-01 4.77845357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7592541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:447.77, Y:167.35, Z:47.79 [[ 1.15165062e-02 -9.99932767e-01 -1.35315683e-03 4.47774810e+02] [ 9.79608044e-01 1.15538627e-02 -2.00585612e-01 1.67347164e+02] [ 2.00587761e-01 9.84482132e-04 9.79675243e-01 4.77895254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.7892541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:447.78, Y:167.37, Z:47.80 [[ 1.24586217e-02 -9.99921543e-01 -1.30028499e-03 4.47775798e+02] [ 9.79577431e-01 1.24661045e-02 -2.00680473e-01 1.67374761e+02] [ 2.00680937e-01 1.22647226e-03 9.79655887e-01 4.77950879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.819254154 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:447.76, Y:167.41, Z:47.81 [[ 1.68727086e-02 -9.99122355e-01 3.83383749e-02 4.47761939e+02] [ 9.80863820e-01 9.10168591e-03 -1.94482201e-01 1.67408734e+02] [ 1.93962571e-01 4.08861663e-02 9.80156540e-01 4.78059398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8492541539999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:447.80, Y:167.43, Z:47.79 [[ 1.39371241e-02 -9.98912684e-01 -4.44882669e-02 4.47799368e+02] [ 9.79282924e-01 2.26253114e-02 -2.01228852e-01 1.67432075e+02] [ 2.02016614e-01 -4.07620486e-02 9.78533465e-01 4.77943061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.8792541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:447.78, Y:167.46, Z:47.81 [[ 1.38597248e-02 -9.99903295e-01 -1.14378468e-03 4.47780355e+02] [ 9.79323100e-01 1.38053347e-02 -2.01830819e-01 1.67457215e+02] [ 2.01827091e-01 1.67718485e-03 9.79419732e-01 4.78106958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9092541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:447.78, Y:167.48, Z:47.82 [[ 1.30729654e-02 -9.99913957e-01 -1.08452218e-03 4.47781996e+02] [ 9.79293695e-01 1.30224941e-02 -2.02025428e-01 1.67484268e+02] [ 2.02022169e-01 1.57900570e-03 9.79379676e-01 4.78159844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.939254154 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:447.78, Y:167.51, Z:47.82 [[ 1.19964221e-02 -9.99927515e-01 -1.02498088e-03 4.47783719e+02] [ 9.79287265e-01 1.19559817e-02 -2.02122505e-01 1.67511531e+02] [ 2.02120108e-01 1.42099616e-03 9.79359711e-01 4.78213561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9692541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.79, Y:167.54, Z:47.83 [[ 8.42640921e-03 -9.99964033e-01 -9.63160219e-04 4.47787523e+02] [ 9.79399266e-01 8.44744674e-03 -2.01756582e-01 1.67538594e+02] [ 2.01757462e-01 7.56765114e-04 9.79435222e-01 4.78266120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 547.9992541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:447.80, Y:167.56, Z:47.84 [[ 5.99872194e-03 -9.99683020e-01 -2.44514774e-02 4.47799557e+02] [ 9.78078836e-01 1.09552963e-02 -2.07946563e-01 1.67564523e+02] [ 2.08148521e-01 -2.26680589e-02 9.77834522e-01 4.78371828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.0292541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:447.78, Y:167.59, Z:47.84 [[ 3.58557022e-03 -9.99727762e-01 2.30552947e-02 4.47780258e+02] [ 9.79646918e-01 -1.11549330e-03 -2.00725365e-01 1.67592063e+02] [ 2.00696438e-01 2.33057633e-02 9.79376221e-01 4.78436870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.059254154 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:447.81, Y:167.61, Z:47.85 [[-3.46316316e-03 -9.98529337e-01 -5.41033230e-02 4.47811259e+02] [ 9.75913299e-01 8.42694974e-03 -2.17995917e-01 1.67610071e+02] [ 2.18131245e-01 -5.35551078e-02 9.74448875e-01 4.78538908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.089254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.79, Y:167.64, Z:47.86 [[-2.80323463e-03 -9.99628443e-01 2.71130474e-02 4.47785262e+02] [ 9.79416927e-01 -8.21675758e-03 -2.01680359e-01 1.67644202e+02] [ 2.01828205e-01 2.59896202e-02 9.79076052e-01 4.78641797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1192541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.79, Y:167.67, Z:47.86 [[-6.30187922e-03 -9.99789574e-01 1.95216251e-02 4.47790510e+02] [ 9.80684159e-01 -9.99565830e-03 -1.95342438e-01 1.67671374e+02] [ 1.95496464e-01 1.79135240e-02 9.80540789e-01 4.78571345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.1492541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.80, Y:167.70, Z:47.86 [[-9.70878528e-03 -9.99952327e-01 -1.04112868e-03 4.47802429e+02] [ 9.80580591e-01 -9.31673852e-03 -1.95895134e-01 1.67699602e+02] [ 1.95876096e-01 -2.92281437e-03 9.80624297e-01 4.78568698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.179254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.81, Y:167.73, Z:47.86 [[-1.58298831e-02 -9.99874215e-01 -9.84346581e-04 4.47806714e+02] [ 9.80470357e-01 -1.53296600e-02 -1.96068559e-01 1.67726931e+02] [ 1.96028807e-01 -4.06886502e-03 9.80589696e-01 4.78619464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.209254154 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.82, Y:167.75, Z:47.87 [[-1.77225793e-02 -9.99455477e-01 -2.78326921e-02 4.47821206e+02] [ 9.78953766e-01 -1.16851113e-02 -2.03747349e-01 1.67752174e+02] [ 2.03311176e-01 -3.08578473e-02 9.78627794e-01 4.78722658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2392541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:447.81, Y:167.78, Z:47.88 [[-2.21965157e-02 -9.99744753e-01 -4.21233998e-03 4.47812335e+02] [ 9.79030059e-01 -2.08827865e-02 -2.02642672e-01 1.67780497e+02] [ 2.02502983e-01 -8.62196872e-03 9.79243690e-01 4.78833902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.2692541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.82, Y:167.81, Z:47.89 [[-2.77559496e-02 -9.99610385e-01 -2.94725234e-03 4.47815880e+02] [ 9.79179016e-01 -2.65952738e-02 -2.01248965e-01 1.67807847e+02] [ 2.01092173e-01 -8.47174377e-03 9.79535690e-01 4.78885335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.299254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.82, Y:167.83, Z:47.89 [[-2.86396179e-02 -9.99582622e-01 3.78868357e-03 4.47815179e+02] [ 9.79632390e-01 -2.88212146e-02 -1.98720201e-01 1.67834985e+02] [ 1.98746454e-01 -1.97975349e-03 9.80048941e-01 4.78935379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.329254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:447.82, Y:167.86, Z:47.90 [[-3.19393081e-02 -9.99481042e-01 -4.18645600e-03 4.47819965e+02] [ 9.79388741e-01 -3.04608789e-02 -1.99674306e-01 1.67862654e+02] [ 1.99443161e-01 -1.04776271e-02 9.79853379e-01 4.78964687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3592541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:447.81, Y:167.89, Z:47.90 [[-3.39440488e-02 -9.99164971e-01 2.27411828e-02 4.47807900e+02] [ 9.80349472e-01 -3.77119048e-02 -1.93630380e-01 1.67888235e+02] [ 1.94326307e-01 1.57217075e-02 9.80810947e-01 4.78978075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.3892541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:447.82, Y:167.92, Z:47.90 [[-3.62315207e-02 -9.99343214e-01 -6.46810200e-04 4.47820981e+02] [ 9.80363979e-01 -3.54178652e-02 -1.93989802e-01 1.67915915e+02] [ 1.93839484e-01 -7.66265495e-03 9.81003332e-01 4.78969615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4192541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:447.82, Y:167.94, Z:47.90 [[-3.66108731e-02 -9.99329420e-01 -5.95534714e-04 4.47821685e+02] [ 9.80310391e-01 -3.57983777e-02 -1.94190661e-01 1.67943391e+02] [ 1.94039122e-01 -7.69329852e-03 9.80963624e-01 4.79024340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.449254154 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:447.82, Y:167.97, Z:47.91 [[-3.64468150e-02 -9.99335449e-01 -5.39075770e-04 4.47821828e+02] [ 9.80284030e-01 -3.56471498e-02 -1.94351491e-01 1.67970105e+02] [ 1.94203118e-01 -7.61194018e-03 9.80931806e-01 4.79074025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.4792541539999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:447.82, Y:168.00, Z:47.91 [[-3.57672715e-02 -9.99360027e-01 -4.87834352e-04 4.47822025e+02] [ 9.80284741e-01 -3.49896350e-02 -1.94467355e-01 1.67997535e+02] [ 1.94325832e-01 -7.43378326e-03 9.80908869e-01 4.79126455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5092541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:447.83, Y:168.03, Z:47.92 [[-3.33002035e-02 -9.99085179e-01 -2.68309845e-02 4.47834327e+02] [ 9.79336660e-01 -2.72603589e-02 -2.00391065e-01 1.68025419e+02] [ 1.99476321e-01 -3.29496300e-02 9.79348518e-01 4.79232698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5392541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.81, Y:168.05, Z:47.93 [[-3.21013600e-02 -9.99159120e-01 2.55059825e-02 4.47809263e+02] [ 9.80239486e-01 -3.64567017e-02 -1.94425971e-01 1.68051401e+02] [ 1.95192347e-01 1.87606331e-02 9.80585532e-01 4.79286999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.569254154 meters Centerline goodness : 0.996857 Centerline is valid? [True, True] Translation: X:447.83, Y:168.08, Z:47.93 [[-3.27546008e-02 -9.99058542e-01 -2.84458280e-02 4.47831991e+02] [ 9.80004489e-01 -2.65150789e-02 -1.97200790e-01 1.68077788e+02] [ 1.96260890e-01 -3.43362723e-02 9.79950347e-01 4.79284940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.5992541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.81, Y:168.11, Z:47.94 [[-2.94294358e-02 -9.99408466e-01 1.77940232e-02 4.47812045e+02] [ 9.80167147e-01 -3.23439026e-02 -1.95515308e-01 1.68106885e+02] [ 1.95975182e-01 1.16872117e-02 9.80539207e-01 4.79421983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6292541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:447.81, Y:168.12, Z:47.94 [[-3.13238676e-02 -9.99473361e-01 8.47441395e-03 4.47813934e+02] [ 9.81328626e-01 -3.23627694e-02 -1.89596358e-01 1.68123041e+02] [ 1.89770765e-01 2.37729378e-03 9.81825547e-01 4.79361977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.6592541539999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:447.83, Y:168.16, Z:47.95 [[-3.34247771e-02 -9.98900611e-01 -3.28687194e-02 4.47831753e+02] [ 9.77191185e-01 -2.57622237e-02 -2.10793017e-01 1.68161186e+02] [ 2.09714502e-01 -3.91647324e-02 9.76977969e-01 4.79482089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.689254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.80, Y:168.13, Z:47.94 [[-2.97408291e-02 -9.98923177e-01 3.56085620e-02 4.47800677e+02] [ 9.81265360e-01 -3.59621798e-02 -1.89274972e-01 1.68128180e+02] [ 1.90351717e-01 2.93122538e-02 9.81278256e-01 4.79440746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7192541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.82, Y:168.13, Z:47.94 [[-2.96797663e-02 -9.99559382e-01 3.92805976e-04 4.47816790e+02] [ 9.81490630e-01 -2.92176321e-02 -1.89268256e-01 1.68128326e+02] [ 1.89196337e-01 -5.23190221e-03 9.81925340e-01 4.79351050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7492541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.82, Y:168.13, Z:47.94 [[-2.95993609e-02 -9.99561793e-01 3.15876801e-04 4.47816598e+02] [ 9.81530360e-01 -2.91251590e-02 -1.89076378e-01 1.68132663e+02] [ 1.89002723e-01 -5.28649728e-03 9.81962333e-01 4.79357268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.7792541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.82, Y:168.13, Z:47.94 [[-2.94162780e-02 -9.99567219e-01 2.40493770e-04 4.47816621e+02] [ 9.81278191e-01 -2.89238625e-02 -1.90411456e-01 1.68132190e+02] [ 1.90336006e-01 -5.36520505e-03 9.81704344e-01 4.79363778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.809254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.82, Y:168.12, Z:47.94 [[-2.77059004e-02 -9.99497404e-01 -1.54052883e-02 4.47824971e+02] [ 9.79392171e-01 -2.40578141e-02 -2.00529790e-01 1.68119991e+02] [ 2.00058387e-01 -2.06436771e-02 9.79566476e-01 4.79388369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.839254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.83, Y:168.14, Z:47.95 [[-3.23929093e-02 -9.99142567e-01 -2.57842870e-02 4.47827001e+02] [ 9.78234892e-01 -2.64037504e-02 -2.05813843e-01 1.68143766e+02] [ 2.04956569e-01 -3.18899983e-02 9.78251416e-01 4.79486782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8692541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.80, Y:168.17, Z:47.95 [[-3.02050898e-02 -9.98924086e-01 3.51898089e-02 4.47799949e+02] [ 9.80419072e-01 -3.64627108e-02 -1.93517218e-01 1.68170131e+02] [ 1.94592126e-01 2.86555548e-02 9.80465585e-01 4.79511302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.8992541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.82, Y:168.16, Z:47.94 [[-3.35740704e-02 -9.99357050e-01 -1.25804479e-02 4.47822895e+02] [ 9.80109336e-01 -3.04587294e-02 -1.96107001e-01 1.68163314e+02] [ 1.95597729e-01 -1.89143247e-02 9.80501798e-01 4.79372224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.929254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.82, Y:168.15, Z:47.95 [[-3.53780370e-02 -9.99310300e-01 -1.12835888e-02 4.47819623e+02] [ 9.75881373e-01 -3.21104827e-02 -2.15926984e-01 1.68149880e+02] [ 2.15415738e-01 -1.86505169e-02 9.76344313e-01 4.79516601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.959254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.79, Y:168.18, Z:47.95 [[-3.78284102e-02 -9.98200128e-01 4.65351128e-02 4.47794637e+02] [ 9.77574485e-01 -4.66206671e-02 -2.05364652e-01 1.68179068e+02] [ 2.07164520e-01 3.77229207e-02 9.77578561e-01 4.79547271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 548.9892541539999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:447.82, Y:168.21, Z:47.95 [[-4.00793401e-02 -9.99192777e-01 -2.72768159e-03 4.47817369e+02] [ 9.78057476e-01 -3.86727199e-02 -2.04714422e-01 1.68206869e+02] [ 2.04443685e-01 -1.08726483e-02 9.78817943e-01 4.79479178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.0192541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.81, Y:168.24, Z:47.96 [[-4.36026370e-02 -9.99044199e-01 3.08189211e-03 4.47814556e+02] [ 9.77772283e-01 -4.33070880e-02 -2.05148382e-01 1.68235902e+02] [ 2.05085769e-01 -5.93162176e-03 9.78726031e-01 4.79554630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.049254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.83, Y:168.27, Z:47.96 [[-4.69849515e-02 -9.98626552e-01 -2.31824275e-02 4.47827632e+02] [ 9.76850429e-01 -4.10867645e-02 -2.09940745e-01 1.68267457e+02] [ 2.08699911e-01 -3.25098200e-02 9.77439235e-01 4.79638808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.079254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.81, Y:168.29, Z:47.97 [[-4.94644173e-02 -9.98565839e-01 2.04825821e-02 4.47805145e+02] [ 9.77478072e-01 -5.26119380e-02 -2.04373685e-01 1.68290123e+02] [ 2.05158208e-01 9.91204964e-03 9.78678630e-01 4.79708799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1092541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.83, Y:168.32, Z:47.98 [[-5.23714810e-02 -9.97933377e-01 -3.72317372e-02 4.47831200e+02] [ 9.76192386e-01 -4.33008760e-02 -2.12540488e-01 1.68318486e+02] [ 2.10489080e-01 -4.74763985e-02 9.76442696e-01 4.79752064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1392541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.80, Y:168.34, Z:47.99 [[-5.34314393e-02 -9.97904840e-01 3.64830446e-02 4.47795792e+02] [ 9.77206404e-01 -5.97704987e-02 -2.03703537e-01 1.68343722e+02] [ 2.05457355e-01 2.47672916e-02 9.78352624e-01 4.79854439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.1692541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.82, Y:168.37, Z:47.99 [[-5.50951193e-02 -9.98158911e-01 -2.53636961e-02 4.47824445e+02] [ 9.76633609e-01 -4.85873918e-02 -2.09346743e-01 1.68374529e+02] [ 2.07728961e-01 -3.63050218e-02 9.77512468e-01 4.79860643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.199254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.82, Y:168.40, Z:48.00 [[-6.07232388e-02 -9.97986350e-01 -1.83285011e-02 4.47818082e+02] [ 9.73876308e-01 -5.52109713e-02 -2.20265035e-01 1.68399472e+02] [ 2.18809563e-01 -3.12248993e-02 9.75267851e-01 4.79994525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2292541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.80, Y:168.38, Z:48.00 [[-5.38639090e-02 -9.98096666e-01 3.00287290e-02 4.47797298e+02] [ 9.77494005e-01 -5.88471574e-02 -2.02589442e-01 1.68378347e+02] [ 2.03970952e-01 1.84406433e-02 9.78803245e-01 4.79983562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2592541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.82, Y:168.40, Z:48.00 [[-6.05663424e-02 -9.97311334e-01 -4.12531431e-02 4.47823718e+02] [ 9.76339479e-01 -5.05962490e-02 -2.10240914e-01 1.68401982e+02] [ 2.07588392e-01 -5.30105954e-02 9.76778857e-01 4.79965128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.2892541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.80, Y:168.43, Z:48.01 [[-5.90808148e-02 -9.98184988e-01 1.16699232e-02 4.47799467e+02] [ 9.76295811e-01 -6.02157691e-02 -2.07895528e-01 1.68429199e+02] [ 2.08220908e-01 -8.89340031e-04 9.78081419e-01 4.80113175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.319254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:447.81, Y:168.46, Z:48.01 [[-6.08500636e-02 -9.98101729e-01 -9.49784176e-03 4.47806906e+02] [ 9.76353804e-01 -5.75412590e-02 -2.08380069e-01 1.68456128e+02] [ 2.07437989e-01 -2.19531943e-02 9.78001809e-01 4.80131014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3492541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.80, Y:168.48, Z:48.02 [[-6.01026506e-02 -9.98145487e-01 9.65705693e-03 4.47797512e+02] [ 9.76627084e-01 -6.08015505e-02 -2.06161855e-01 1.68484041e+02] [ 2.06366689e-01 -2.95953057e-03 9.78470250e-01 4.80197843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.3792541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:447.78, Y:168.51, Z:48.02 [[-5.91134512e-02 -9.97522708e-01 3.81319683e-02 4.47782397e+02] [ 9.77998351e-01 -6.55273773e-02 -1.98054004e-01 1.68512288e+02] [ 2.00062054e-01 2.55853464e-02 9.79449113e-01 4.80189075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4092541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.80, Y:168.54, Z:48.01 [[-5.97676962e-02 -9.98212312e-01 -5.84027261e-05 4.47798422e+02] [ 9.78322719e-01 -5.85651907e-02 -1.98632263e-01 1.68541440e+02] [ 1.98273750e-01 -1.19289295e-02 9.80074089e-01 4.80140073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.439254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.80, Y:168.57, Z:48.02 [[-6.00437237e-02 -9.98195748e-01 1.16605025e-06 4.47798319e+02] [ 9.78305776e-01 -5.88475291e-02 -1.98632264e-01 1.68569340e+02] [ 1.98273950e-01 -1.19254800e-02 9.80074091e-01 4.80193865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4692541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.81, Y:168.56, Z:48.02 [[-6.16289028e-02 -9.97658185e-01 -2.96652134e-02 4.47808844e+02] [ 9.74439695e-01 -5.37084162e-02 -2.18134561e-01 1.68557828e+02] [ 2.16030458e-01 -4.23503552e-02 9.75467728e-01 4.80204635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.4992541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.77, Y:168.58, Z:48.03 [[-5.90973125e-02 -9.97458224e-01 3.98070248e-02 4.47773566e+02] [ 9.75460611e-01 -6.61745422e-02 -2.09994111e-01 1.68584203e+02] [ 2.12094565e-01 2.64200971e-02 9.76891946e-01 4.80310672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.5292541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.79, Y:168.59, Z:48.02 [[-5.85688347e-02 -9.98283372e-01 1.17923877e-05 4.47790028e+02] [ 9.75897954e-01 -5.72579799e-02 -2.10581828e-01 1.68588439e+02] [ 2.10221013e-01 -1.23220241e-02 9.77576234e-01 4.80211714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.559254154 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:447.79, Y:168.62, Z:48.03 [[-5.92350311e-02 -9.98244062e-01 -6.66235534e-05 4.47787689e+02] [ 9.76058933e-01 -5.79045901e-02 -2.09656906e-01 1.68615170e+02] [ 2.09284904e-01 -1.24840619e-02 9.77775014e-01 4.80264108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.589254154 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:447.79, Y:168.64, Z:48.03 [[-5.92407120e-02 -9.98243727e-01 -1.95744032e-06 4.47785332e+02] [ 9.76112588e-01 -5.79269303e-02 -2.09400778e-01 1.68641997e+02] [ 2.09032900e-01 -1.24069619e-02 9.77829900e-01 4.80320501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6192541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.78, Y:168.64, Z:48.03 [[-5.68842205e-02 -9.98380780e-01 5.17391369e-05 4.47780305e+02] [ 9.76381788e-01 -5.56416142e-02 -2.08764498e-01 1.68644447e+02] [ 2.08429341e-01 -1.18248886e-02 9.77965941e-01 4.80333963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.6492541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.78, Y:168.67, Z:48.04 [[-5.54951878e-02 -9.98458954e-01 -2.75465038e-05 4.47777508e+02] [ 9.76633743e-01 -5.42763872e-02 -2.07943755e-01 1.68671290e+02] [ 2.07621809e-01 -1.15667806e-02 9.78140784e-01 4.80391815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.679254154 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:447.77, Y:168.68, Z:48.04 [[-5.29326026e-02 -9.98598087e-01 2.54005276e-05 4.47774825e+02] [ 9.76908802e-01 -5.17881931e-02 -2.07285252e-01 1.68676742e+02] [ 2.06995971e-01 -1.09473339e-02 9.78280545e-01 4.80407495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.709254154 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:447.77, Y:168.70, Z:48.05 [[-5.08272645e-02 -9.98707458e-01 -5.38953110e-05 4.47771953e+02] [ 9.77222180e-01 -4.97226796e-02 -2.06311577e-01 1.68703948e+02] [ 2.06042231e-01 -1.05389208e-02 9.78486347e-01 4.80462848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7392541539999 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:447.77, Y:168.70, Z:48.05 [[-4.43542783e-02 -9.99015865e-01 4.01759205e-06 4.47766771e+02] [ 9.77717418e-01 -4.34094965e-02 -2.05388087e-01 1.68698740e+02] [ 2.05186132e-01 -9.10591230e-03 9.78680609e-01 4.80453080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.7692541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:447.76, Y:168.72, Z:48.05 [[-4.12722159e-02 -9.99147936e-01 -7.57248542e-05 4.47764390e+02] [ 9.77881137e-01 -4.03781854e-02 -2.05226911e-01 1.68724709e+02] [ 2.05048987e-01 -8.54421928e-03 9.78714417e-01 4.80503666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.799254154 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:447.76, Y:168.75, Z:48.06 [[-3.86198239e-02 -9.99253976e-01 -2.04606051e-05 4.47762078e+02] [ 9.77963507e-01 -3.77927717e-02 -2.05326777e-01 1.68752486e+02] [ 2.05172825e-01 -7.94969372e-03 9.78693473e-01 4.80557488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.829254154 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:447.76, Y:168.75, Z:48.06 [[-3.27150937e-02 -9.99464717e-01 3.66188243e-05 4.47758203e+02] [ 9.78101266e-01 -3.20233468e-02 -2.05651206e-01 1.68751516e+02] [ 2.05542297e-01 -6.69208154e-03 9.78625352e-01 4.80552103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8592541539999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:447.75, Y:168.79, Z:48.06 [[-2.67461357e-02 -9.99092730e-01 3.31415215e-02 4.47745767e+02] [ 9.79536445e-01 -3.28096469e-02 -1.98574619e-01 1.68785965e+02] [ 1.99481820e-01 2.71522244e-02 9.79525273e-01 4.80625886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.8892541539999 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:447.76, Y:168.79, Z:48.05 [[-2.64389623e-02 -9.99599070e-01 -1.01331902e-02 4.47763353e+02] [ 9.78854887e-01 -2.38307726e-02 -2.03163002e-01 1.68788055e+02] [ 2.02840066e-01 -1.52903417e-02 9.79092495e-01 4.80516270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9192541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:447.76, Y:168.80, Z:48.06 [[-3.23723763e-02 -9.99277741e-01 -1.99003733e-02 4.47763064e+02] [ 9.76391606e-01 -2.73638729e-02 -2.14267706e-01 1.68798574e+02] [ 2.13568398e-01 -2.63669122e-02 9.76572233e-01 4.80567170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.949254154 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:447.75, Y:168.80, Z:48.06 [[-3.08911426e-02 -9.99522396e-01 8.47471269e-04 4.47750896e+02] [ 9.76104147e-01 -3.03498209e-02 -2.15173378e-01 1.68797000e+02] [ 2.15096331e-01 -5.81973128e-03 9.76575496e-01 4.80622380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 549.9792541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:447.75, Y:169.17, Z:48.14 [[-3.16266085e-02 -9.99499753e-01 -4.53068747e-05 4.47748934e+02] [ 9.76021986e-01 -3.08739475e-02 -2.15471303e-01 1.69174940e+02] [ 2.15362115e-01 -6.85884703e-03 9.76510172e-01 4.81414106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0092541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:447.75, Y:168.81, Z:48.06 [[-3.06126580e-02 -9.99529983e-01 1.63640231e-03 4.47748799e+02] [ 9.75926035e-01 -3.02433591e-02 -2.15994707e-01 1.68805166e+02] [ 2.15942676e-01 -5.01516448e-03 9.76393163e-01 4.80640866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0392541539999 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:447.75, Y:168.80, Z:48.06 [[-3.03848991e-02 -9.99538011e-01 7.22477838e-04 4.47748219e+02] [ 9.75971307e-01 -2.98245139e-02 -2.15848341e-01 1.68803632e+02] [ 2.15770169e-01 -5.85341242e-03 9.76426634e-01 4.80630482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.069254154 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:447.75, Y:168.81, Z:48.06 [[-3.04274293e-02 -9.99536777e-01 6.34379484e-04 4.47746442e+02] [ 9.76005211e-01 -2.98479862e-02 -2.15691737e-01 1.68809922e+02] [ 2.15610758e-01 -5.94378739e-03 9.76461301e-01 4.80645858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.0992541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.75, Y:168.81, Z:48.06 [[-3.01883770e-02 -9.99544078e-01 5.46322570e-04 4.47745721e+02] [ 9.76059048e-01 -2.95968554e-02 -2.15482624e-01 1.68810116e+02] [ 2.15400550e-01 -5.97182759e-03 9.76507522e-01 4.80645760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1292541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:447.74, Y:168.81, Z:48.06 [[-3.08320462e-02 -9.99524474e-01 4.58890838e-04 4.47744354e+02] [ 9.76022059e-01 -3.02060420e-02 -2.15565620e-01 1.68811515e+02] [ 2.15476974e-01 -6.19844156e-03 9.76489249e-01 4.80648816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.1592541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:447.74, Y:168.79, Z:48.06 [[-1.96919197e-02 -9.99539871e-01 2.30710976e-02 4.47737451e+02] [ 9.79018493e-01 -2.39584001e-02 -2.02358064e-01 1.68788793e+02] [ 2.02817700e-01 1.86022124e-02 9.79039804e-01 4.80607759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.189254154 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:447.76, Y:168.81, Z:48.05 [[-2.65467450e-02 -9.99014336e-01 -3.55756445e-02 4.47758781e+02] [ 9.77925146e-01 -1.85747395e-02 -2.08128299e-01 1.68808173e+02] [ 2.07262346e-01 -4.03154462e-02 9.77454339e-01 4.80546621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2192541539999 meters Centerline goodness : 0.995280 Centerline is valid? [True, True] Translation: X:447.74, Y:168.83, Z:48.07 [[-2.83257334e-02 -9.99598309e-01 -9.34971291e-04 4.47741784e+02] [ 9.77251470e-01 -2.74957906e-02 -2.10293954e-01 1.68831953e+02] [ 2.10183773e-01 -6.87043253e-03 9.77637754e-01 4.80706760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2492541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:447.74, Y:168.86, Z:48.08 [[-3.06626513e-02 -9.99529436e-01 -8.42204977e-04 4.47741828e+02] [ 9.77602521e-01 -2.98144522e-02 -2.08337249e-01 1.68858718e+02] [ 2.08214103e-01 -7.21151412e-03 9.78056686e-01 4.80758219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.2792541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:447.74, Y:168.89, Z:48.08 [[-3.19358385e-02 -9.99489633e-01 -7.58238498e-04 4.47741866e+02] [ 9.77565246e-01 -3.10772646e-02 -2.08327613e-01 1.68885497e+02] [ 2.08197725e-01 -7.39434460e-03 9.78058807e-01 4.80815031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.309254154 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:447.74, Y:168.91, Z:48.09 [[-3.34004261e-02 -9.99441804e-01 -7.01551312e-04 4.47741770e+02] [ 9.77584393e-01 -3.25239556e-02 -2.08016698e-01 1.68911846e+02] [ 2.07877767e-01 -7.63367196e-03 9.78125023e-01 4.80868102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.339254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.75, Y:168.94, Z:48.09 [[-3.32168768e-02 -9.99432071e-01 -5.67219413e-03 4.47746230e+02] [ 9.77442746e-01 -3.13006305e-02 -2.08868256e-01 1.68942280e+02] [ 2.08572091e-01 -1.24821961e-02 9.77927338e-01 4.80929112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3692541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:447.74, Y:168.97, Z:48.10 [[-3.54598723e-02 -9.99367197e-01 2.79346912e-03 4.47740446e+02] [ 9.77439208e-01 -3.52639312e-02 -2.08252370e-01 1.68966872e+02] [ 2.08219096e-01 -4.65415622e-03 9.78071136e-01 4.80989728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.3992541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.74, Y:168.99, Z:48.10 [[-3.52620785e-02 -9.99377949e-01 -5.47720916e-04 4.47741783e+02] [ 9.77641280e-01 -3.43814259e-02 -2.07449862e-01 1.68993165e+02] [ 2.07301986e-01 -7.85058788e-03 9.78245498e-01 4.81028487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.429254154 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.74, Y:169.02, Z:48.11 [[-3.45318998e-02 -9.99403478e-01 -4.85650925e-04 4.47741832e+02] [ 9.77519621e-01 -3.36746148e-02 -2.08137963e-01 1.69020790e+02] [ 2.07997450e-01 -7.66213260e-03 9.78099357e-01 4.81086888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.459254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:447.74, Y:169.05, Z:48.11 [[-3.31361381e-02 -9.99424705e-01 -7.22879625e-03 4.47744457e+02] [ 9.77879178e-01 -3.09254969e-02 -2.06871766e-01 1.69045601e+02] [ 2.06529199e-01 -1.39238207e-02 9.78341360e-01 4.81115130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.4892541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:447.74, Y:169.07, Z:48.12 [[-3.02314629e-02 -9.99521534e-01 6.53921788e-03 4.47737203e+02] [ 9.77758527e-01 -3.09303686e-02 -2.07440534e-01 1.69073312e+02] [ 2.07543541e-01 1.22545257e-04 9.78225773e-01 4.81221144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.5192541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:447.73, Y:169.11, Z:48.13 [[-2.47699683e-02 -9.99437400e-01 2.26126702e-02 4.47733214e+02] [ 9.79063574e-01 -2.88241239e-02 -2.01503570e-01 1.69107515e+02] [ 2.02041995e-01 1.71480046e-02 9.79226725e-01 4.81270507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.549254154 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:447.75, Y:169.13, Z:48.12 [[-2.67623598e-02 -9.99288599e-01 -2.65720091e-02 4.47751865e+02] [ 9.78053249e-01 -2.06806516e-02 -2.07326199e-01 1.69131067e+02] [ 2.06629181e-01 -3.15373782e-02 9.77910924e-01 4.81241309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.579254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:447.74, Y:169.16, Z:48.14 [[-2.47500251e-02 -9.99693643e-01 -2.38388967e-04 4.47739289e+02] [ 9.77949848e-01 -2.41622347e-02 -2.07437417e-01 1.69156494e+02] [ 2.07368107e-01 -5.36721373e-03 9.78248262e-01 4.81375530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6092541539999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:447.74, Y:169.18, Z:48.14 [[-2.18658996e-02 -9.99752977e-01 -3.98332853e-03 4.47740464e+02] [ 9.78207631e-01 -2.05714861e-02 -2.06607464e-01 1.69181322e+02] [ 2.06474484e-01 -8.41418044e-03 9.78415806e-01 4.81410949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6392541539999 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:447.74, Y:169.21, Z:48.15 [[-2.02390281e-02 -9.99781281e-01 5.27000295e-03 4.47735646e+02] [ 9.77908175e-01 -2.08925792e-02 -2.07988222e-01 1.69211024e+02] [ 2.08052835e-01 9.44099492e-04 9.78117133e-01 4.81504576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.6692541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:447.74, Y:169.24, Z:48.15 [[-2.06896020e-02 -9.99777604e-01 -4.08440692e-03 4.47737485e+02] [ 9.77862420e-01 -1.93849133e-02 -2.08349015e-01 1.69236478e+02] [ 2.08223503e-01 -8.30464624e-03 9.78046014e-01 4.81538817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.699254154 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:447.73, Y:169.27, Z:48.16 [[-1.89770095e-02 -9.99803536e-01 5.72387351e-03 4.47734819e+02] [ 9.77849646e-01 -1.97532513e-02 -2.08374374e-01 1.69265741e+02] [ 2.08446501e-01 1.64276522e-03 9.78032391e-01 4.81619897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7292541539999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:447.74, Y:169.27, Z:48.16 [[-1.84557417e-02 -9.99829678e-01 -1.19598417e-06 4.47737650e+02] [ 9.77882811e-01 -1.80503777e-02 -2.08373203e-01 1.69270494e+02] [ 2.08337691e-01 -3.84685154e-03 9.78049390e-01 4.81611350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7592541539999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:447.74, Y:169.30, Z:48.17 [[-1.94310788e-02 -9.99811196e-01 -7.94516248e-05 4.47738012e+02] [ 9.77667860e-01 -1.89840965e-02 -2.09296822e-01 1.69296696e+02] [ 2.09255798e-01 -4.14454035e-03 9.77852153e-01 4.81671063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.7892541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:447.74, Y:169.32, Z:48.17 [[-2.05626231e-02 -9.99788567e-01 -2.35699582e-05 4.47738393e+02] [ 9.77639951e-01 -2.01021584e-02 -2.09322788e-01 1.69323768e+02] [ 2.09278056e-01 -4.32726852e-03 9.77846598e-01 4.81726469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.819254154 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:447.74, Y:169.33, Z:48.17 [[-2.13277607e-02 -9.99772537e-01 2.99057253e-05 4.47739002e+02] [ 9.77545690e-01 -2.08598763e-02 -2.09688553e-01 1.69325650e+02] [ 2.09641481e-01 -4.44295308e-03 9.77768229e-01 4.81735513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8492541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:447.74, Y:169.35, Z:48.18 [[-2.32881314e-02 -9.99728794e-01 -4.70974241e-05 4.47740109e+02] [ 9.77440214e-01 -2.27590389e-02 -2.09982508e-01 1.69351533e+02] [ 2.09924488e-01 -4.93613515e-03 9.77705142e-01 4.81792497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.8792541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:447.74, Y:168.99, Z:48.11 [[-2.53958032e-02 -9.99677475e-01 1.21568796e-05 4.47740476e+02] [ 9.77375510e-01 -2.48317985e-02 -2.10048792e-01 1.68991387e+02] [ 2.09981347e-01 -5.32247594e-03 9.77690905e-01 4.81063912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9092541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:447.74, Y:169.02, Z:48.11 [[-2.71577605e-02 -9.99631153e-01 -1.16641071e-04 4.47740879e+02] [ 9.77245088e-01 -2.65250249e-02 -2.10448236e-01 1.69017255e+02] [ 2.10367519e-01 -5.82928972e-03 9.77604995e-01 4.81119702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.939254154 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:447.74, Y:169.04, Z:48.12 [[-2.90126166e-02 -9.99579042e-01 -8.00986383e-05 4.47741108e+02] [ 9.77191917e-01 -2.83459695e-02 -2.10457748e-01 1.69044605e+02] [ 2.10366884e-01 -6.18420171e-03 9.77602951e-01 4.81178571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9692541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.74, Y:169.07, Z:48.12 [[-3.19749736e-02 -9.99488670e-01 -1.64113813e-05 4.47741734e+02] [ 9.77050931e-01 -3.12537008e-02 -2.10700460e-01 1.69071543e+02] [ 2.10592210e-01 -6.75317641e-03 9.77550672e-01 4.81245062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 550.9992541539999 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:447.74, Y:169.08, Z:48.13 [[-3.27912585e-02 -9.99462221e-01 3.95256016e-05 4.47742020e+02] [ 9.77027687e-01 -3.20635381e-02 -2.10686563e-01 1.69077815e+02] [ 2.10574528e-01 -6.87005996e-03 9.77553666e-01 4.81262017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.0292541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.74, Y:169.11, Z:48.13 [[-3.40655871e-02 -9.99419599e-01 -3.81377675e-05 4.47742328e+02] [ 9.77009066e-01 -3.32936800e-02 -2.10582089e-01 1.69105078e+02] [ 2.10458597e-01 -7.21086343e-03 9.77576177e-01 4.81321425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.059254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:447.74, Y:169.11, Z:48.13 [[-3.42217879e-02 -9.99414263e-01 1.73803710e-05 4.47742970e+02] [ 9.76987158e-01 -3.34575060e-02 -2.10657750e-01 1.69111655e+02] [ 2.10534941e-01 -7.19210444e-03 9.77559877e-01 4.81342240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.089254154 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:447.74, Y:169.14, Z:48.14 [[-3.29144353e-02 -9.99425213e-01 8.11688390e-03 4.47741231e+02] [ 9.77391606e-01 -3.38837983e-02 -2.08704425e-01 1.69142330e+02] [ 2.08859495e-01 1.06398590e-03 9.77945080e-01 4.81412106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1192541539999 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:447.74, Y:169.12, Z:48.13 [[-2.40359826e-02 -9.99414346e-01 2.43564585e-02 4.47736284e+02] [ 9.80564195e-01 -2.83140841e-02 -1.94144722e-01 1.69115408e+02] [ 1.94720651e-01 1.92166119e-02 9.80670480e-01 4.81332069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.1492541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:447.76, Y:169.14, Z:48.13 [[-2.95964342e-02 -9.98423535e-01 -4.76916820e-02 4.47763858e+02] [ 9.78871107e-01 -1.92931024e-02 -2.03566039e-01 1.69135231e+02] [ 2.02325004e-01 -5.27088384e-02 9.77898958e-01 4.81290002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.179254154 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:447.74, Y:169.16, Z:48.15 [[-2.82340362e-02 -9.99600957e-01 -8.74694234e-04 4.47742244e+02] [ 9.78555363e-01 -2.74609609e-02 -2.04145285e-01 1.69159369e+02] [ 2.04039802e-01 -6.61978209e-03 9.78940212e-01 4.81480796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.209254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:447.74, Y:169.19, Z:48.15 [[-2.72248485e-02 -9.99628980e-01 -8.43191295e-04 4.47742462e+02] [ 9.78414112e-01 -2.64741854e-02 -2.04951074e-01 1.69185603e+02] [ 2.04852710e-01 -6.40475220e-03 9.78771856e-01 4.81536128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2392541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:447.74, Y:169.21, Z:48.16 [[-2.46780031e-02 -9.99695121e-01 -8.12831347e-04 4.47742665e+02] [ 9.78143992e-01 -2.39780674e-02 -2.06541481e-01 1.69213078e+02] [ 2.06459020e-01 -5.89209739e-03 9.78437508e-01 4.81597414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2692541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:447.74, Y:169.24, Z:48.17 [[-2.34517039e-02 -9.99724689e-01 -7.51110718e-04 4.47742441e+02] [ 9.78144944e-01 -2.27902068e-02 -2.06671420e-01 1.69240033e+02] [ 2.06597403e-01 -5.58149208e-03 9.78410119e-01 4.81650119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.2992541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:447.74, Y:169.27, Z:48.17 [[-2.19693590e-02 -9.99758406e-01 -6.90958475e-04 4.47742327e+02] [ 9.78026273e-01 -2.13484730e-02 -2.07385757e-01 1.69267814e+02] [ 2.07320903e-01 -5.23190769e-03 9.78259000e-01 4.81705967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.329254154 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:447.74, Y:169.30, Z:48.18 [[-2.21517442e-02 -9.99754421e-01 -6.30558345e-04 4.47742305e+02] [ 9.78022047e-01 -2.15394149e-02 -2.07385942e-01 1.69295721e+02] [ 2.07321430e-01 -5.21066030e-03 9.78259001e-01 4.81760467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3592541539999 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:447.74, Y:169.32, Z:48.18 [[-2.10910205e-02 -9.99777386e-01 -5.89623216e-04 4.47741889e+02] [ 9.78074072e-01 -2.05109500e-02 -2.07244810e-01 1.69322688e+02] [ 2.07186580e-01 -4.94769970e-03 9.78288935e-01 4.81815353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.3892541539999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:447.74, Y:169.35, Z:48.19 [[-1.88641045e-02 -9.99821917e-01 -5.28840747e-04 4.47741823e+02] [ 9.78066759e-01 -1.83438952e-02 -2.07482326e-01 1.69348724e+02] [ 2.07435676e-01 -4.43120984e-03 9.78238624e-01 4.81867140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4192541539999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:447.74, Y:169.38, Z:48.19 [[-1.83747257e-02 -9.99831058e-01 -4.74179858e-04 4.47742016e+02] [ 9.77978431e-01 -1.78745046e-02 -2.07939151e-01 1.69375474e+02] [ 2.07895546e-01 -4.28456253e-03 9.78141649e-01 4.81923700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.449254154 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:447.74, Y:169.40, Z:48.20 [[-1.82838718e-02 -9.99832748e-01 -4.19181080e-04 4.47742506e+02] [ 9.77926751e-01 -1.77959950e-02 -2.08188788e-01 1.69402797e+02] [ 2.08146508e-01 -4.21642550e-03 9.78088571e-01 4.81978551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.4792541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:447.74, Y:169.43, Z:48.20 [[-1.86922835e-02 -9.99825220e-01 -3.58295561e-04 4.47742805e+02] [ 9.77876385e-01 -1.82072598e-02 -2.08389712e-01 1.69429871e+02] [ 2.08346766e-01 -4.24564835e-03 9.78045807e-01 4.82032818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5092541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:447.74, Y:169.46, Z:48.21 [[-2.00231278e-02 -9.99799473e-01 -2.96952177e-04 4.47743936e+02] [ 9.77891295e-01 -1.95225316e-02 -2.08200593e-01 1.69457182e+02] [ 2.08153046e-01 -4.45921403e-03 9.78086103e-01 4.82090547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5392541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:447.74, Y:169.48, Z:48.21 [[-2.14143039e-02 -9.99770660e-01 -2.35887261e-04 4.47744136e+02] [ 9.77940255e-01 -2.08976765e-02 -2.07836821e-01 1.69483154e+02] [ 2.07784226e-01 -4.68136450e-03 9.78163483e-01 4.82143383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.569254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:447.74, Y:169.51, Z:48.22 [[-2.28328527e-02 -9.99739277e-01 -1.98967597e-04 4.47744282e+02] [ 9.77953376e-01 -2.22939664e-02 -2.07629897e-01 1.69510001e+02] [ 2.07571327e-01 -4.93536389e-03 9.78207435e-01 4.82199126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.5992541539999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:447.74, Y:169.54, Z:48.23 [[-2.45158448e-02 -9.99699432e-01 -1.39923387e-04 4.47744378e+02] [ 9.77929621e-01 -2.39529282e-02 -2.07557015e-01 1.69537463e+02] [ 2.07491278e-01 -5.22527077e-03 9.78222912e-01 4.82254908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6292541539999 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:447.74, Y:169.56, Z:48.23 [[-2.83138001e-02 -9.99599081e-01 -8.08061660e-05 4.47744929e+02] [ 9.77846373e-01 -2.76808784e-02 -2.07485518e-01 1.69563711e+02] [ 2.07400097e-01 -5.95371951e-03 9.78238086e-01 4.82310005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.6592541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:447.75, Y:169.59, Z:48.24 [[-2.98754790e-02 -9.99553628e-01 -1.90858827e-05 4.47746136e+02] [ 9.77822101e-01 -2.92219893e-02 -2.07388557e-01 1.69591628e+02] [ 2.07295427e-01 -6.21449508e-03 9.78258650e-01 4.82359875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.689254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:447.75, Y:169.60, Z:48.24 [[-3.20063128e-02 -9.99487666e-01 2.73004910e-05 4.47746318e+02] [ 9.77756133e-01 -3.13160749e-02 -2.07393943e-01 1.69599002e+02] [ 2.07288543e-01 -6.61122218e-03 9.78257508e-01 4.82375715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7192541539999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:447.75, Y:169.63, Z:48.24 [[-3.62368240e-02 -9.99343230e-01 -4.51530255e-05 4.47747221e+02] [ 9.77783938e-01 -3.54457357e-02 -2.06596638e-01 1.69626614e+02] [ 2.06459351e-01 -7.53055592e-03 9.78426199e-01 4.82427056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7492541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:447.75, Y:169.63, Z:48.24 [[-3.74742066e-02 -9.99297595e-01 6.86241202e-06 4.47747481e+02] [ 9.77763538e-01 -3.66680856e-02 -2.06479818e-01 1.69629199e+02] [ 2.06335037e-01 -7.73095753e-03 9.78450860e-01 4.82432983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.7792541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:447.75, Y:169.66, Z:48.25 [[-3.93878494e-02 -9.99223995e-01 -6.61284344e-05 4.47747659e+02] [ 9.77774733e-01 -3.85287141e-02 -2.06087627e-01 1.69656427e+02] [ 2.05925154e-01 -8.18200712e-03 9.78533538e-01 4.82485697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.809254154 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:447.75, Y:169.68, Z:48.25 [[-4.10963921e-02 -9.99155186e-01 -4.01065927e-06 4.47747671e+02] [ 9.77716740e-01 -4.02137773e-02 -2.06040841e-01 1.69683846e+02] [ 2.05866614e-01 -8.47145647e-03 9.78543393e-01 4.82544463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.839254154 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:447.75, Y:169.69, Z:48.25 [[-4.22136267e-02 -9.99108606e-01 4.74094927e-05 4.47747649e+02] [ 9.77895433e-01 -4.13270689e-02 -2.04969745e-01 1.69685075e+02] [ 2.04788995e-01 -8.60615475e-03 9.78768308e-01 4.82547198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8692541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:447.75, Y:169.71, Z:48.26 [[-4.25601161e-02 -9.99093907e-01 -2.61804826e-05 4.47747664e+02] [ 9.77863957e-01 -4.16503742e-02 -2.05054452e-01 1.69712704e+02] [ 2.04867563e-01 -8.75274223e-03 9.78750566e-01 4.82600664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.8992541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:447.75, Y:169.72, Z:48.26 [[-4.17910416e-02 -9.99126373e-01 2.55558292e-05 4.47747695e+02] [ 9.77944047e-01 -4.09102751e-02 -2.04821364e-01 1.69716505e+02] [ 2.04643472e-01 -8.53470599e-03 9.78799371e-01 4.82602710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.929254154 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:447.75, Y:169.74, Z:48.27 [[-4.21680781e-02 -9.99110530e-01 -4.81025343e-05 4.47746962e+02] [ 9.77836529e-01 -4.12603132e-02 -2.05264001e-01 1.69744029e+02] [ 2.05079440e-01 -8.70262482e-03 9.78706640e-01 4.82656196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.959254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:447.75, Y:169.75, Z:48.27 [[-4.04234214e-02 -9.99182639e-01 3.24185110e-06 4.47746064e+02] [ 9.77797565e-01 -3.95589241e-02 -2.05783898e-01 1.69747312e+02] [ 2.05615827e-01 -8.31531935e-03 9.78597459e-01 4.82656555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 551.9892541539999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:447.75, Y:169.77, Z:48.27 [[-3.97857500e-02 -9.99208231e-01 -7.08691558e-05 4.47745386e+02] [ 9.77756776e-01 -3.89169938e-02 -2.06099864e-01 1.69773360e+02] [ 2.05933923e-01 -8.26913048e-03 9.78530961e-01 4.82707697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0192541539999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:447.74, Y:169.80, Z:48.28 [[-3.86859168e-02 -9.99251420e-01 -1.70752185e-05 4.47744771e+02] [ 9.77775799e-01 -3.78509667e-02 -2.06208126e-01 1.69800959e+02] [ 2.06053116e-01 -7.99404615e-03 9.78508155e-01 4.82757626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.0492541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:447.74, Y:169.80, Z:48.28 [[-3.55809365e-02 -9.99366798e-01 3.16603145e-05 4.47743048e+02] [ 9.77831184e-01 -3.48207350e-02 -2.06479280e-01 1.69801563e+02] [ 2.06349639e-01 -7.31576768e-03 9.78450973e-01 4.82759189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.079254154 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:447.74, Y:169.83, Z:48.28 [[-3.40655047e-02 -9.99419601e-01 -4.14669087e-05 4.47742172e+02] [ 9.77868816e-01 -3.33223701e-02 -2.06548293e-01 1.69829274e+02] [ 2.06427031e-01 -7.07672106e-03 9.78436406e-01 4.82813788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1092541539999 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:447.74, Y:169.83, Z:48.28 [[-3.18764007e-02 -9.99491818e-01 9.17561717e-06 4.47740923e+02] [ 9.77857972e-01 -3.11883406e-02 -2.06932535e-01 1.69833577e+02] [ 2.06827662e-01 -6.58729194e-03 9.78355215e-01 4.82827596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1392541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.74, Y:169.86, Z:48.29 [[-2.78858431e-02 -9.99611112e-01 -6.35158578e-05 4.47738425e+02] [ 9.78070537e-01 -2.72718124e-02 -2.06480685e-01 1.69861140e+02] [ 2.06398655e-01 -5.82001098e-03 9.78450675e-01 4.82883673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.1692541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:447.74, Y:169.89, Z:48.29 [[-2.60337681e-02 -9.99661064e-01 -1.42274579e-06 4.47736922e+02] [ 9.78150486e-01 -2.54732832e-02 -2.06331622e-01 1.69888661e+02] [ 2.06261653e-01 -5.37298127e-03 9.78482121e-01 4.82938362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.199254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:447.74, Y:169.89, Z:48.29 [[-2.35464264e-02 -9.99722743e-01 4.98527294e-05 4.47735317e+02] [ 9.78277938e-01 -2.30516110e-02 -2.06011890e-01 1.69888794e+02] [ 2.05955921e-01 -4.80207400e-03 9.78549487e-01 4.82940008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2292541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:447.73, Y:169.92, Z:48.30 [[-2.02014537e-02 -9.99795930e-01 -2.31343184e-05 4.47732598e+02] [ 9.78658573e-01 -1.97696284e-02 -2.04539875e-01 1.69916307e+02] [ 2.04497677e-01 -4.15464341e-03 9.78858232e-01 4.82992502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2592541539999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:447.73, Y:169.92, Z:48.30 [[-1.83243654e-02 -9.99832094e-01 2.83615133e-05 4.47731540e+02] [ 9.78802501e-01 -1.79447340e-02 -2.04018752e-01 1.69918380e+02] [ 2.03985005e-01 -3.71075384e-03 9.78966980e-01 4.82998275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.2892541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:447.73, Y:169.95, Z:48.31 [[-1.71195940e-02 -9.99853448e-01 -4.48453509e-05 4.47730564e+02] [ 9.78913615e-01 -1.67519287e-02 -2.03586611e-01 1.69945885e+02] [ 2.03556023e-01 -3.52921984e-03 9.79056939e-01 4.83052631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.319254154 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:447.73, Y:169.95, Z:48.31 [[-1.39546484e-02 -9.99902629e-01 6.24599913e-06 4.47728731e+02] [ 9.79035925e-01 -1.36647020e-02 -2.03228770e-01 1.69947916e+02] [ 2.03209067e-01 -2.82987096e-03 9.79131282e-01 4.83056696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3492541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:447.73, Y:169.98, Z:48.31 [[-1.28001225e-02 -9.99918073e-01 -6.70671709e-05 4.47727746e+02] [ 9.79074098e-01 -1.25196715e-02 -2.03118606e-01 1.69975563e+02] [ 2.03101125e-01 -2.66560677e-03 9.79154139e-01 4.83110705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.3792541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:447.73, Y:170.00, Z:48.32 [[-1.20231673e-02 -9.99927719e-01 -8.87698077e-06 4.47726670e+02] [ 9.79173857e-01 -1.17718228e-02 -2.02681971e-01 1.70002908e+02] [ 2.02667217e-01 -2.44557136e-03 9.79244616e-01 4.83163989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4092541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:447.73, Y:170.00, Z:48.32 [[-1.03640418e-02 -9.99946291e-01 4.13893471e-05 4.47726043e+02] [ 9.79294258e-01 -1.01583606e-02 -2.02186952e-01 1.70000762e+02] [ 2.02176513e-01 -2.05494167e-03 9.79346943e-01 4.83161012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.439254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:447.73, Y:170.03, Z:48.32 [[-8.22966995e-03 -9.99966135e-01 -3.20422915e-05 4.47725800e+02] [ 9.79416645e-01 -8.05408593e-03 -2.01688290e-01 1.70028134e+02] [ 2.01681202e-01 -1.69121082e-03 9.79449760e-01 4.83215166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4692541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:447.73, Y:170.03, Z:48.32 [[-7.35422988e-03 -9.99972957e-01 2.14052825e-05 4.47725524e+02] [ 9.79520010e-01 -7.20811738e-03 -2.01217777e-01 1.70029118e+02] [ 2.01212489e-01 -1.45883488e-03 9.79546531e-01 4.83214151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.4992541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:447.73, Y:170.06, Z:48.33 [[-6.17632761e-03 -9.99980925e-01 -5.21237037e-05 4.47726586e+02] [ 9.79599043e-01 -6.03996968e-03 -2.00871185e-01 1.70057090e+02] [ 2.00867039e-01 -1.29170658e-03 9.79617662e-01 4.83262365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.5292541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:447.73, Y:170.06, Z:48.33 [[-5.73061419e-03 -9.99983580e-01 -4.23002071e-08 4.47726797e+02] [ 9.79605117e-01 -5.61382267e-03 -2.00853925e-01 1.70057697e+02] [ 2.00850627e-01 -1.15105779e-03 9.79621203e-01 4.83265690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.559254154 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:447.73, Y:170.09, Z:48.33 [[-5.84164125e-03 -9.99982935e-01 -7.37702570e-05 4.47727036e+02] [ 9.79627983e-01 -5.70792402e-03 -2.00739718e-01 1.70085443e+02] [ 2.00735871e-01 -1.24491682e-03 9.79644609e-01 4.83319018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.589254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:447.73, Y:170.11, Z:48.34 [[-6.17085372e-03 -9.99980960e-01 -1.58338510e-05 4.47727507e+02] [ 9.79633766e-01 -6.04211383e-03 -2.00701714e-01 1.70112202e+02] [ 2.00697797e-01 -1.25401229e-03 9.79652398e-01 4.83370857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6192541539999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:447.73, Y:170.11, Z:48.34 [[-7.42740747e-03 -9.99972416e-01 2.99789890e-05 4.47728471e+02] [ 9.79578264e-01 -7.28195150e-03 -2.00931326e-01 1.70114523e+02] [ 2.00926002e-01 -1.46303206e-03 9.79605329e-01 4.83374792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.6492541539999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:447.73, Y:170.14, Z:48.34 [[-9.07835881e-03 -9.99958790e-01 -4.36021945e-05 4.47729181e+02] [ 9.79525729e-01 -8.88408274e-03 -2.01122896e-01 1.70142220e+02] [ 2.01114221e-01 -1.86857529e-03 9.79566015e-01 4.83428208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.679254154 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:447.73, Y:170.15, Z:48.34 [[-1.01197244e-02 -9.99948794e-01 6.43305725e-06 4.47729866e+02] [ 9.79534499e-01 -9.91442010e-03 -2.01032012e-01 1.70145419e+02] [ 2.01021781e-01 -2.02808715e-03 9.79584672e-01 4.83434668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.709254154 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:447.73, Y:170.17, Z:48.35 [[-1.22169820e-02 -9.99925368e-01 -6.80962790e-05 4.47730632e+02] [ 9.79533874e-01 -1.19541577e-02 -2.00924083e-01 1.70171982e+02] [ 2.00908274e-01 -2.52138852e-03 9.79606813e-01 4.83485317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7392541539999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:447.73, Y:170.20, Z:48.35 [[-1.70241810e-02 -9.99855078e-01 -2.66255114e-05 4.47732106e+02] [ 9.79417544e-01 -1.66708417e-02 -2.01155057e-01 1.70199759e+02] [ 2.01125461e-01 -3.45057759e-03 9.79559412e-01 4.83543889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7692541539999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:447.73, Y:170.20, Z:48.35 [[-1.89653399e-02 -9.99820141e-01 2.67209837e-05 4.47732948e+02] [ 9.79511304e-01 -1.85854659e-02 -2.00529765e-01 1.70203842e+02] [ 2.00494194e-01 -3.77694163e-03 9.79687610e-01 4.83547542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.7992541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.73, Y:170.23, Z:48.36 [[-2.12682054e-02 -9.99773805e-01 -4.73416921e-05 4.47734043e+02] [ 9.79501855e-01 -2.08274725e-02 -2.00355515e-01 1.70231639e+02] [ 2.00309209e-01 -4.30757351e-03 9.79723260e-01 4.83598377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.829254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:447.74, Y:170.24, Z:48.36 [[-2.29426365e-02 -9.99736783e-01 5.80936479e-06 4.47735280e+02] [ 9.79541429e-01 -2.24803419e-02 -1.99983055e-01 1.70242142e+02] [ 1.99930547e-01 -4.58244803e-03 9.79799356e-01 4.83616201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8592541539999 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:447.74, Y:170.27, Z:48.37 [[-2.82546580e-02 -9.99600755e-01 -6.93690969e-05 4.47737425e+02] [ 9.79690069e-01 -2.76780816e-02 -1.98598320e-01 1.70268272e+02] [ 1.98517111e-01 -5.67928783e-03 9.80080967e-01 4.83660860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.8892541539999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:447.74, Y:170.30, Z:48.37 [[-3.16963483e-02 -9.99497544e-01 -2.84673133e-05 4.47737955e+02] [ 9.79693409e-01 -3.10626723e-02 -1.98080626e-01 1.70295812e+02] [ 1.97980215e-01 -6.30632176e-03 9.80185730e-01 4.83718244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9192541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:447.74, Y:170.30, Z:48.37 [[-3.42013996e-02 -9.99414961e-01 2.60027803e-05 4.47738596e+02] [ 9.79708075e-01 -3.35321432e-02 -1.97604865e-01 1.70298425e+02] [ 1.97490130e-01 -6.73288779e-03 9.80281754e-01 4.83722736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.949254154 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:447.74, Y:170.33, Z:48.38 [[-4.08429860e-02 -9.99165576e-01 -4.96573133e-05 4.47740626e+02] [ 9.79511427e-01 -4.00297725e-02 -1.97370164e-01 1.70325221e+02] [ 1.97203486e-01 -8.10982677e-03 9.80329034e-01 4.83768032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 552.9792541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.74, Y:170.33, Z:48.38 [[-4.40079802e-02 -9.99031180e-01 -1.99250845e-06 4.47741460e+02] [ 9.79450195e-01 -4.31450320e-02 -1.97017315e-01 1.70333498e+02] [ 1.96826355e-01 -8.67228567e-03 9.80400009e-01 4.83779460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0092541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:447.74, Y:170.36, Z:48.38 [[-4.74285300e-02 -9.98874631e-01 -7.82165117e-05 4.47742327e+02] [ 9.79348784e-01 -4.64859971e-02 -1.96761305e-01 1.70360392e+02] [ 1.96536240e-01 -9.40870069e-03 9.80451418e-01 4.83827249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0392541539999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:447.74, Y:170.39, Z:48.39 [[-5.36203577e-02 -9.98561393e-01 -2.66598692e-05 4.47743089e+02] [ 9.79232855e-01 -5.25772338e-02 -1.95802580e-01 1.70387228e+02] [ 1.95519496e-01 -1.05251106e-02 9.80643334e-01 4.83873505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.069254154 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:447.74, Y:170.40, Z:48.39 [[-5.53947388e-02 -9.98464532e-01 2.95361702e-05 4.47743495e+02] [ 9.79295616e-01 -5.43370173e-02 -1.95006626e-01 1.70399790e+02] [ 1.94708805e-01 -1.07734165e-02 9.80801924e-01 4.83892719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.0992541539999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:447.74, Y:170.43, Z:48.39 [[-5.76535931e-02 -9.98336647e-01 -4.78225980e-05 4.47743642e+02] [ 9.79314000e-01 -5.65457351e-02 -1.94285022e-01 1.70427408e+02] [ 1.93959153e-01 -1.12480629e-02 9.80945120e-01 4.83940655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1292541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:447.74, Y:170.43, Z:48.39 [[-5.86782173e-02 -9.98276949e-01 4.92610578e-06 4.47743700e+02] [ 9.79425140e-01 -5.75710719e-02 -1.93421732e-01 1.70430344e+02] [ 1.93088740e-01 -1.13448177e-02 9.81115709e-01 4.83939608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.1592541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:447.74, Y:170.46, Z:48.40 [[-6.04152218e-02 -9.98173330e-01 -7.27422243e-05 4.47743966e+02] [ 9.79514579e-01 -5.92718613e-02 -1.92452685e-01 1.70457178e+02] [ 1.92096825e-01 -1.16983237e-02 9.81306251e-01 4.83979733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.189254154 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:447.74, Y:170.48, Z:48.40 [[-6.09758834e-02 -9.98139240e-01 -1.59943964e-05 4.47743853e+02] [ 9.79492422e-01 -5.98336746e-02 -1.92391598e-01 1.70484836e+02] [ 1.92032646e-01 -1.17469140e-02 9.81318232e-01 4.84026406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2192541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:447.74, Y:170.48, Z:48.40 [[-6.03027889e-02 -9.98180130e-01 3.62897181e-05 4.47743330e+02] [ 9.79502202e-01 -5.91814043e-02 -1.92543497e-01 1.70484757e+02] [ 1.92195240e-01 -1.15753640e-02 9.81288439e-01 4.84022489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2492541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:447.74, Y:170.51, Z:48.41 [[-6.05779536e-02 -9.98163468e-01 -4.17967580e-05 4.47743296e+02] [ 9.79486764e-01 -5.94364129e-02 -1.92543480e-01 1.70512640e+02] [ 1.92187384e-01 -1.17048294e-02 9.81288442e-01 4.84076522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.2792541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:447.73, Y:170.78, Z:48.46 [[-5.93476419e-02 -9.98097378e-01 1.67176829e-02 4.47734292e+02] [ 9.79730449e-01 -6.14490446e-02 -1.90662692e-01 1.70782293e+02] [ 1.91327219e-01 5.06344184e-03 9.81513249e-01 4.84647485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.309254154 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:447.75, Y:170.52, Z:48.40 [[-5.62775741e-02 -9.98291895e-01 -1.56884392e-02 4.47748356e+02] [ 9.79776028e-01 -5.21980563e-02 -1.93169091e-01 1.70516553e+02] [ 1.92020232e-01 -2.62422445e-02 9.81040048e-01 4.84016906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.339254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.74, Y:170.54, Z:48.41 [[-5.38885318e-02 -9.98546957e-01 -9.17537930e-06 4.47740099e+02] [ 9.79674409e-01 -5.28682599e-02 -1.93501938e-01 1.70542874e+02] [ 1.93220287e-01 -1.04365242e-02 9.81099893e-01 4.84112777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3692541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:447.74, Y:170.54, Z:48.41 [[-5.02320906e-02 -9.98737571e-01 4.74087521e-05 4.47738769e+02] [ 9.79888617e-01 -4.92932500e-02 -1.93360996e-01 1.70543463e+02] [ 1.93119228e-01 -9.66647175e-03 9.81127679e-01 4.84111362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.3992541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.73, Y:170.57, Z:48.42 [[-4.12369322e-02 -9.99133324e-01 5.66713182e-03 4.47732572e+02] [ 9.80171068e-01 -4.15532524e-02 -1.93747268e-01 1.70568430e+02] [ 1.93814840e-01 -2.43478431e-03 9.81035106e-01 4.84177938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.429254154 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:447.73, Y:170.18, Z:48.34 [[-3.49051433e-02 -9.99384030e-01 -3.63195697e-03 4.47734033e+02] [ 9.80584220e-01 -3.35463741e-02 -1.93207735e-01 1.70177183e+02] [ 1.92966886e-01 -1.03053834e-02 9.81151150e-01 4.83378451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.459254154 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:447.73, Y:170.20, Z:48.34 [[-2.98113560e-02 -9.99555437e-01 -4.58838722e-04 4.47730603e+02] [ 9.80861036e-01 -2.91654313e-02 -1.92512352e-01 1.70203358e+02] [ 1.92413386e-01 -6.18911129e-03 9.81294443e-01 4.83441179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.4892541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:447.73, Y:170.23, Z:48.35 [[-2.45724823e-02 -9.99697961e-01 -4.25012542e-04 4.47728628e+02] [ 9.81164482e-01 -2.40354431e-02 -1.91673049e-01 1.70231232e+02] [ 1.91604941e-01 -5.12688981e-03 9.81458742e-01 4.83494565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5192541539999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:447.73, Y:170.26, Z:48.35 [[-1.36382173e-02 -9.99906929e-01 -3.64866214e-04 4.47725013e+02] [ 9.81607665e-01 -1.33191316e-02 -1.90444198e-01 1.70257559e+02] [ 1.90421614e-01 -2.95547484e-03 9.81697955e-01 4.83544113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.5492541539999 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:447.72, Y:170.28, Z:48.36 [[-7.99668200e-03 -9.99947912e-01 6.34248974e-03 4.47720128e+02] [ 9.81390074e-01 -9.06489401e-03 -1.91810716e-01 1.70282945e+02] [ 1.91858219e-01 4.69060718e-03 9.81411444e-01 4.83615501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.579254154 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:447.72, Y:170.31, Z:48.36 [[-4.24489426e-03 -9.99973283e-01 -5.95104146e-03 4.47724608e+02] [ 9.81801437e-01 -3.03770471e-03 -1.89886046e-01 1.70313019e+02] [ 1.89862895e-01 -6.64878725e-03 9.81788101e-01 4.83628491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6092541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:447.72, Y:170.34, Z:48.37 [[ 2.81152867e-03 -9.99996016e-01 -2.52296838e-04 4.47719746e+02] [ 9.81797612e-01 2.80827685e-03 -1.89909352e-01 1.70340124e+02] [ 1.89909304e-01 2.86231155e-04 9.81801596e-01 4.83691607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6392541539999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:447.72, Y:170.37, Z:48.37 [[ 5.24670153e-03 -9.99986217e-01 -1.96056013e-04 4.47718930e+02] [ 9.81746509e-01 5.18827725e-03 -1.90123310e-01 1.70367195e+02] [ 1.90121707e-01 8.05042957e-04 9.81760199e-01 4.83742824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.6692541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:447.72, Y:170.39, Z:48.38 [[ 6.91166925e-03 -9.99976104e-01 -1.39861946e-04 4.47718466e+02] [ 9.81661880e-01 6.81172991e-03 -1.90508672e-01 1.70393298e+02] [ 1.90505072e-01 1.17943579e-03 9.81685503e-01 4.83790684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.699254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:447.72, Y:170.42, Z:48.38 [[ 7.75517300e-03 -9.99969922e-01 -1.09237343e-04 4.47718200e+02] [ 9.81601059e-01 7.63355710e-03 -1.90790696e-01 1.70420781e+02] [ 1.90785791e-01 1.37238736e-03 9.81630734e-01 4.83839376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7292541539999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:447.72, Y:170.45, Z:48.39 [[ 8.12910415e-03 -9.99966957e-01 -5.28911126e-05 4.47718886e+02] [ 9.81523554e-01 7.98928262e-03 -1.91174487e-01 1.70448419e+02] [ 1.91168593e-01 1.50216345e-03 9.81556067e-01 4.83883154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7592541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:447.72, Y:170.45, Z:48.39 [[ 8.11307514e-03 -9.99967088e-01 4.73788642e-06 4.47719154e+02] [ 9.81463795e-01 7.96204434e-03 -1.91482179e-01 1.70448102e+02] [ 1.91475840e-01 1.55815937e-03 9.81496090e-01 4.83882328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.7892541539999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:447.72, Y:170.48, Z:48.39 [[ 6.92929723e-03 -9.99975990e-01 -7.21549004e-05 4.47719588e+02] [ 9.81488576e-01 6.81500011e-03 -1.91399401e-01 1.70475650e+02] [ 1.91395297e-01 1.25544413e-03 9.81512233e-01 4.83935468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.819254154 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:447.72, Y:170.50, Z:48.40 [[ 5.72238803e-03 -9.99983627e-01 -1.56194452e-05 4.47720253e+02] [ 9.81635218e-01 5.62036804e-03 -1.90684847e-01 1.70503159e+02] [ 1.90681813e-01 1.07584009e-03 9.81651307e-01 4.83987833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8492541539999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:447.72, Y:170.51, Z:48.40 [[ 3.77324842e-03 -9.99992880e-01 4.31649355e-05 4.47722248e+02] [ 9.81924867e-01 3.69690446e-03 -1.89235009e-01 1.70509538e+02] [ 1.89233502e-01 7.56415423e-04 9.81931825e-01 4.83993823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.8792541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:447.72, Y:170.54, Z:48.40 [[ 2.63325707e-03 -9.99996532e-01 -3.39502930e-05 4.47723633e+02] [ 9.82055332e-01 2.59241532e-03 -1.88575197e-01 1.70535602e+02] [ 1.88574631e-01 4.63225904e-04 9.82058753e-01 4.84042047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9092541539999 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:447.72, Y:170.56, Z:48.41 [[ 1.05815110e-03 -9.99999440e-01 -3.67084999e-06 4.47724756e+02] [ 9.82090921e-01 1.03989277e-03 -1.88404728e-01 1.70562727e+02] [ 1.88404627e-01 1.95755562e-04 9.82091472e-01 4.84094153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.939254154 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:447.73, Y:170.57, Z:48.41 [[-5.65448502e-04 -9.99999839e-01 5.56156143e-05 4.47727644e+02] [ 9.82157475e-01 -5.65818607e-04 -1.88059496e-01 1.70568707e+02] [ 1.88059497e-01 -5.17146687e-05 9.82157636e-01 4.84100028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9692541539999 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:447.73, Y:170.60, Z:48.42 [[-1.99792384e-03 -9.99998004e-01 -2.25998364e-05 4.47729419e+02] [ 9.82240526e-01 -1.95820559e-03 -1.87615869e-01 1.70596075e+02] [ 1.87615451e-01 -3.97040694e-04 9.82242478e-01 4.84150275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 553.9992541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:447.73, Y:170.61, Z:48.42 [[-4.02426603e-03 -9.99979257e-01 5.02897995e-03 4.47728366e+02] [ 9.82412427e-01 -4.89229893e-03 -1.86659819e-01 1.70614085e+02] [ 1.86680550e-01 4.18936363e-03 9.82411737e-01 4.84197413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.0292541539999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:447.73, Y:170.61, Z:48.42 [[-4.77124568e-03 -9.99988598e-01 1.97608794e-04 4.47732137e+02] [ 9.82432661e-01 -4.72434688e-03 -1.86557626e-01 1.70608428e+02] [ 1.86556433e-01 -6.95974936e-04 9.82444000e-01 4.84171632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.059254154 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:447.74, Y:170.60, Z:48.41 [[-4.87952995e-03 -9.99980628e-01 -3.86447315e-03 4.47738639e+02] [ 9.82396020e-01 -4.07195811e-03 -1.86765839e-01 1.70599380e+02] [ 1.86746485e-01 -4.70777255e-03 9.82396858e-01 4.84134724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.089254154 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:447.74, Y:170.63, Z:48.42 [[-5.28875823e-03 -9.99982300e-01 2.72569040e-03 4.47737120e+02] [ 9.82238872e-01 -5.70612261e-03 -1.87547966e-01 1.70625381e+02] [ 1.87560199e-01 1.68538322e-03 9.82251664e-01 4.84201910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1192541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:447.74, Y:170.65, Z:48.42 [[-5.62898312e-03 -9.99983768e-01 8.82411257e-04 4.47740302e+02] [ 9.82117713e-01 -5.69447016e-03 -1.88181750e-01 1.70652887e+02] [ 1.88183720e-01 -1.92640166e-04 9.82133825e-01 4.84249863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.1492541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:447.75, Y:170.68, Z:48.43 [[-5.30687295e-03 -9.99983780e-01 -2.06806705e-03 4.47746588e+02] [ 9.82276761e-01 -4.82539389e-03 -1.87374171e-01 1.70681362e+02] [ 1.87361153e-01 -3.02578513e-03 9.82286436e-01 4.84279879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.179254154 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:447.75, Y:170.71, Z:48.43 [[-4.61240345e-03 -9.99989362e-01 -3.71807382e-05 4.47747988e+02] [ 9.82136330e-01 -4.52306281e-03 -1.88116377e-01 1.70708448e+02] [ 1.88114207e-01 -9.04185179e-04 9.82146744e-01 4.84337777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.209254154 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:447.75, Y:170.71, Z:48.43 [[-3.25145900e-03 -9.99992425e-01 -2.13981929e-03 4.47751086e+02] [ 9.81852593e-01 -2.78671089e-03 -1.89625207e-01 1.70711866e+02] [ 1.89617808e-01 -2.71754570e-03 9.81854216e-01 4.84348569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2392541539999 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:447.75, Y:170.71, Z:48.43 [[-7.76367552e-05 -9.99996850e-01 2.50867338e-03 4.47753442e+02] [ 9.82046424e-01 -5.49477250e-04 -1.88638596e-01 1.70709320e+02] [ 1.88639380e-01 2.44898843e-03 9.82043373e-01 4.84337982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2692541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:447.76, Y:170.74, Z:48.44 [[ 1.04276630e-03 -9.99999453e-01 -7.56865499e-05 4.47756717e+02] [ 9.81973192e-01 1.03827520e-03 -1.89017385e-01 1.70736665e+02] [ 1.89017360e-01 1.22778797e-04 9.81973738e-01 4.84382909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.2992541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.76, Y:170.76, Z:48.44 [[ 1.92022123e-03 -9.99998156e-01 -1.96353124e-05 4.47758891e+02] [ 9.81921365e-01 1.88922630e-03 -1.89279854e-01 1.70763356e+02] [ 1.89279543e-01 3.44178862e-04 9.81923183e-01 4.84435596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.329254154 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:447.77, Y:170.75, Z:48.44 [[ 9.94605186e-03 -9.99919013e-01 -7.93996335e-03 4.47768580e+02] [ 9.81114622e-01 1.12923172e-02 -1.93097337e-01 1.70745702e+02] [ 1.93171359e-01 -5.86945801e-03 9.81147479e-01 4.84398169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3592541539999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:447.76, Y:170.77, Z:48.45 [[ 6.23969117e-03 -9.99950283e-01 7.77806369e-03 4.47762490e+02] [ 9.81206620e-01 4.62223143e-03 -1.92904650e-01 1.70767749e+02] [ 1.92859107e-01 8.83555302e-03 9.81186678e-01 4.84450888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.3892541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:447.77, Y:170.80, Z:48.45 [[ 5.07924716e-03 -9.99986866e-01 -6.84851697e-04 4.47769348e+02] [ 9.81137567e-01 5.11585027e-03 -1.93243119e-01 1.70795210e+02] [ 1.93244085e-01 3.09595838e-04 9.81150665e-01 4.84478928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4192541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:447.78, Y:170.83, Z:48.45 [[ 8.81643685e-03 -9.99960866e-01 -7.32759467e-04 4.47778790e+02] [ 9.81568276e-01 8.79416951e-03 -1.90909354e-01 1.70830344e+02] [ 1.90908327e-01 9.63886820e-04 9.81607397e-01 4.84522703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.449254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.78, Y:170.85, Z:48.46 [[ 1.73934101e-04 -9.99990852e-01 -4.27379897e-03 4.47779864e+02] [ 9.80871343e-01 1.00253066e-03 -1.94654574e-01 1.70849938e+02] [ 1.94657078e-01 -4.15818987e-03 9.80862545e-01 4.84570093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.4792541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:447.79, Y:170.88, Z:48.46 [[ 1.87164091e-03 -9.99981514e-01 -5.78526213e-03 4.47788937e+02] [ 9.80945696e-01 2.95987535e-03 -1.94259570e-01 1.70882648e+02] [ 1.94273103e-01 -5.31144383e-03 9.80933102e-01 4.84633610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5092541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.78, Y:170.90, Z:48.47 [[-5.18374516e-03 -9.99984965e-01 1.78852379e-03 4.47783042e+02] [ 9.80724475e-01 -5.43324227e-03 -1.95320207e-01 1.70904284e+02] [ 1.95326988e-01 7.41558874e-04 9.80737895e-01 4.84690783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5392541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.80, Y:170.93, Z:48.48 [[-5.73784782e-03 -9.99564005e-01 -2.89633823e-02 4.47803778e+02] [ 9.79691169e-01 1.86276463e-04 -2.00512289e-01 1.70934351e+02] [ 2.00430262e-01 -2.95256789e-02 9.79262960e-01 4.84762202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.569254154 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:447.78, Y:170.96, Z:48.49 [[-1.38527192e-02 -9.99543665e-01 2.68433226e-02 4.47781613e+02] [ 9.80593350e-01 -1.88308528e-02 -1.95146309e-01 1.70958415e+02] [ 1.95562739e-01 2.36190766e-02 9.80406729e-01 4.84854771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.5992541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:447.80, Y:170.99, Z:48.48 [[-1.66780774e-02 -9.99860875e-01 -2.68582976e-04 4.47797586e+02] [ 9.80672622e-01 -1.63056354e-02 -1.94975215e-01 1.70986170e+02] [ 1.94943710e-01 -3.51520370e-03 9.80808133e-01 4.84839935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6292541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.82, Y:171.02, Z:48.49 [[-1.66291753e-02 -9.99386704e-01 -3.08169829e-02 4.47817628e+02] [ 9.80040155e-01 -1.01851468e-02 -1.98538554e-01 1.71016422e+02] [ 1.98102916e-01 -3.35034131e-02 9.79608471e-01 4.84906244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.6592541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:447.79, Y:171.04, Z:48.50 [[-2.12253025e-02 -9.99356837e-01 2.89032684e-02 4.47789160e+02] [ 9.80703660e-01 -2.64314453e-02 -1.93705213e-01 1.71039737e+02] [ 1.94344584e-01 2.42340894e-02 9.80633923e-01 4.85011308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.689254154 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.81, Y:171.07, Z:48.50 [[-2.36558233e-02 -9.99720153e-01 -1.36308933e-04 4.47807528e+02] [ 9.80863730e-01 -2.31832770e-02 -1.93310318e-01 1.71068918e+02] [ 1.93253060e-01 -4.70661521e-03 9.81137657e-01 4.84994559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7192541539999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:447.81, Y:171.10, Z:48.50 [[-2.39278140e-02 -9.99713686e-01 -7.82785393e-05 4.47809697e+02] [ 9.80845587e-01 -2.34610714e-02 -1.93368850e-01 1.71095798e+02] [ 1.93311649e-01 -4.70367304e-03 9.81126129e-01 4.85046691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7492541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:447.81, Y:171.12, Z:48.51 [[-2.27975769e-02 -9.99740101e-01 -2.61563774e-05 4.47813837e+02] [ 9.80774544e-01 -2.23600238e-02 -1.93859032e-01 1.71123476e+02] [ 1.93808063e-01 -4.44516969e-03 9.81029396e-01 4.85099314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.7792541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.82, Y:171.15, Z:48.51 [[-2.13457300e-02 -9.99738687e-01 -8.18035599e-03 4.47819556e+02] [ 9.80659428e-01 -1.93447106e-02 -1.94763621e-01 1.71148530e+02] [ 1.94554480e-01 -1.21795149e-02 9.80816096e-01 4.85134077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.809254154 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:447.81, Y:171.13, Z:48.51 [[-1.90194836e-02 -9.99783588e-01 8.42830940e-03 4.47813144e+02] [ 9.80815534e-01 -2.02930691e-02 -1.93879034e-01 1.71128807e+02] [ 1.94008112e-01 4.57913769e-03 9.80989237e-01 4.85127527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.839254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:447.82, Y:171.16, Z:48.51 [[-1.73135639e-02 -9.99800099e-01 -1.00000868e-02 4.47823238e+02] [ 9.81287915e-01 -1.50730346e-02 -1.91955283e-01 1.71155196e+02] [ 1.91766180e-01 -1.31363943e-02 9.81352723e-01 4.85146259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8692541539999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:447.82, Y:171.18, Z:48.52 [[-1.51156284e-02 -9.99836363e-01 9.93802045e-03 4.47815690e+02] [ 9.80975946e-01 -1.67528731e-02 -1.93405104e-01 1.71182543e+02] [ 1.93539947e-01 6.82551933e-03 9.81068653e-01 4.85226484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.8992541539999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:447.83, Y:171.23, Z:48.53 [[-1.07357576e-02 -9.99740597e-01 -2.00868797e-02 4.47832176e+02] [ 9.78075496e-01 -6.32084305e-03 -2.08154683e-01 1.71230950e+02] [ 2.07973721e-01 -2.18811830e-02 9.77889639e-01 4.85344616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.929254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:447.81, Y:171.18, Z:48.52 [[-8.36534516e-03 -9.99756165e-01 2.04360315e-02 4.47814604e+02] [ 9.80655070e-01 -1.21989433e-02 -1.95363303e-01 1.71181060e+02] [ 1.95564965e-01 1.84064165e-02 9.80518000e-01 4.85246526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.959254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.83, Y:171.21, Z:48.53 [[-6.64174760e-03 -9.99977943e-01 -3.15869984e-05 4.47825861e+02] [ 9.80541043e-01 -6.50645206e-03 -1.96206345e-01 1.71209162e+02] [ 1.96201812e-01 -1.33412537e-03 9.80562629e-01 4.85256257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 554.9892541539999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:447.83, Y:171.24, Z:48.53 [[-4.07979320e-03 -9.99967018e-01 -7.02263577e-03 4.47832748e+02] [ 9.80278462e-01 -2.61171904e-03 -1.97603940e-01 1.71244869e+02] [ 1.97579081e-01 -7.69032179e-03 9.80256786e-01 4.85304713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0192541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.83, Y:171.21, Z:48.53 [[-2.78374001e-03 -9.99969331e-01 7.32044428e-03 4.47828056e+02] [ 9.80287921e-01 -4.17500323e-03 -1.97530153e-01 1.71208756e+02] [ 1.97554658e-01 6.62627051e-03 9.80269478e-01 4.85258885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.0492541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:447.83, Y:171.24, Z:48.53 [[-3.56672292e-03 -9.99993637e-01 -7.27496173e-05 4.47832617e+02] [ 9.80218792e-01 -3.48179484e-03 -1.97886322e-01 1.71236028e+02] [ 1.97884810e-01 -7.77116224e-04 9.80224973e-01 4.85304440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.079254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.84, Y:171.26, Z:48.54 [[-5.37685363e-03 -9.99985545e-01 -1.47162454e-05 4.47836541e+02] [ 9.80005224e-01 -5.26649368e-03 -1.98902050e-01 1.71263660e+02] [ 1.98899097e-01 -1.08388920e-03 9.80019375e-01 4.85361826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1092541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:447.84, Y:171.27, Z:48.54 [[-6.69195456e-03 -9.99977608e-01 4.04231814e-05 4.47838304e+02] [ 9.79926851e-01 -6.56582727e-03 -1.99249234e-01 1.71271840e+02] [ 1.99245038e-01 -1.29375506e-03 9.79948846e-01 4.85380628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1392541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:447.84, Y:171.30, Z:48.54 [[-6.86996312e-03 -9.99976401e-01 -3.70083932e-05 4.47838261e+02] [ 9.79925775e-01 -6.72483874e-03 -1.99249220e-01 1.71299751e+02] [ 1.99244269e-01 -1.40510027e-03 9.79948849e-01 4.85435989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.1692541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:447.84, Y:171.33, Z:48.55 [[-9.20640330e-03 -9.99957620e-01 -4.31400843e-07 4.47839980e+02] [ 9.79882872e-01 -9.02149322e-03 -1.99369433e-01 1.71326977e+02] [ 1.99360980e-01 -1.83589813e-03 9.79924400e-01 4.85493129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.199254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.84, Y:171.33, Z:48.55 [[-1.09429480e-02 -9.99940123e-01 5.41784728e-05 4.47842606e+02] [ 9.79896780e-01 -1.07343955e-02 -1.99216145e-01 1.71328383e+02] [ 1.99204798e-01 -2.12692261e-03 9.79955573e-01 4.85486759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2292541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.85, Y:171.35, Z:48.55 [[-1.68822413e-02 -9.99857485e-01 -2.28431680e-05 4.47846645e+02] [ 9.79815763e-01 -1.65392925e-02 -1.99217276e-01 1.71354250e+02] [ 1.99188506e-01 -3.38561621e-03 9.79955344e-01 4.85544531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2592541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.85, Y:171.36, Z:48.56 [[-1.95561312e-02 -9.99808760e-01 3.43623234e-05 4.47847760e+02] [ 9.79795899e-01 -1.91715243e-02 -1.99079001e-01 1.71359441e+02] [ 1.99041588e-01 -3.85954698e-03 9.79983444e-01 4.85567840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.2892541539999 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:447.85, Y:171.39, Z:48.56 [[-2.29705847e-02 -9.99727057e-01 -4.26201008e-03 4.47851440e+02] [ 9.80016293e-01 -2.16747239e-02 -1.97732830e-01 1.71385630e+02] [ 1.97586482e-01 -8.71887803e-03 9.80246685e-01 4.85610850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.319254154 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.65, Y:170.78, Z:49.30 [[-1.15529281e-02 3.13522097e-01 9.49510624e-01 4.47654346e+02] [ 9.88198247e-01 -1.41471658e-01 5.87366510e-02 1.70781499e+02] [ 1.52744080e-01 9.38983315e-01 -3.08187574e-01 4.93038795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3492541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:447.87, Y:170.90, Z:48.51 [[-5.12676159e-02 -9.98680741e-01 2.89970045e-03 4.47865628e+02] [ 9.89945468e-01 -5.12020391e-02 -1.31857200e-01 1.70903997e+02] [ 1.31831717e-01 -3.88945899e-03 9.91264481e-01 4.85081559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.3792541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.87, Y:170.90, Z:48.51 [[-5.32697228e-02 -9.98576097e-01 2.84855904e-03 4.47867004e+02] [ 9.89829968e-01 -5.31795338e-02 -1.31941550e-01 1.70902817e+02] [ 1.31905163e-01 -4.20890067e-03 9.91253405e-01 4.85080953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4092541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:447.87, Y:171.02, Z:48.52 [[-5.50695415e-02 -9.98456127e-01 -7.25998762e-03 4.47871375e+02] [ 9.89598461e-01 -5.36103317e-02 -1.33494637e-01 1.71019508e+02] [ 1.32899328e-01 -1.45359610e-02 9.91022943e-01 4.85196518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.439254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.87, Y:170.91, Z:48.51 [[-6.04724893e-02 -9.98090162e-01 1.26137580e-02 4.47865542e+02] [ 9.89234837e-01 -6.16134350e-02 -1.32733652e-01 1.70914976e+02] [ 1.33257330e-01 4.45123449e-03 9.91071476e-01 4.85108863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4692541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.87, Y:170.92, Z:48.51 [[-6.21853160e-02 -9.98060808e-01 2.75864472e-03 4.47871621e+02] [ 9.89119496e-01 -6.19969712e-02 -1.33412887e-01 1.70919569e+02] [ 1.33325201e-01 -5.56769325e-03 9.91056705e-01 4.85087215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.4992541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.87, Y:170.92, Z:48.51 [[-6.41328248e-02 -9.97937696e-01 2.70859934e-03 4.47871829e+02] [ 9.88970246e-01 -6.39191779e-02 -1.33612091e-01 1.70922327e+02] [ 1.33509674e-01 -5.89019666e-03 9.91030006e-01 4.85092014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.5292541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.87, Y:170.93, Z:48.51 [[-6.58708149e-02 -9.97824628e-01 2.65471713e-03 4.47871185e+02] [ 9.88856351e-01 -6.56342854e-02 -1.33623570e-01 1.70928301e+02] [ 1.33507130e-01 -6.17675957e-03 9.91028604e-01 4.85109734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.559254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.87, Y:170.93, Z:48.51 [[-6.80511883e-02 -9.97678394e-01 2.61865843e-03 4.47870705e+02] [ 9.88582297e-01 -6.77839731e-02 -1.34574793e-01 1.70932554e+02] [ 1.34439866e-01 -6.56921519e-03 9.90899979e-01 4.85114280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.589254154 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:447.87, Y:170.94, Z:48.51 [[-6.82710545e-02 -9.97663505e-01 2.56780715e-03 4.47869991e+02] [ 9.88539917e-01 -6.79936189e-02 -1.34780192e-01 1.70935655e+02] [ 1.34639873e-01 -6.66320595e-03 9.90872195e-01 4.85119369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6192541539999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:447.87, Y:170.94, Z:48.51 [[-6.79278461e-02 -9.97687039e-01 2.52576027e-03 4.47869483e+02] [ 9.88468280e-01 -6.76431675e-02 -1.35480117e-01 1.70938013e+02] [ 1.35337608e-01 -6.70623866e-03 9.90776846e-01 4.85118305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.6492541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:447.87, Y:170.94, Z:48.51 [[-6.59393188e-02 -9.97820570e-01 2.47295182e-03 4.47866224e+02] [ 9.88584019e-01 -6.56650231e-02 -1.35608784e-01 1.70938505e+02] [ 1.35475621e-01 -6.49723022e-03 9.90759377e-01 4.85125166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.679254154 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:447.86, Y:170.94, Z:48.51 [[-6.43041614e-02 -9.97927399e-01 2.42496525e-03 4.47864429e+02] [ 9.88634733e-01 -6.40358860e-02 -1.36017536e-01 1.70939548e+02] [ 1.35890911e-01 -6.34908874e-03 9.90703462e-01 4.85129827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.709254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.86, Y:170.94, Z:48.51 [[-6.23637456e-02 -9.98050668e-01 2.37204854e-03 4.47863071e+02] [ 9.88739446e-01 -6.21055173e-02 -1.36151431e-01 1.70943543e+02] [ 1.36033344e-01 -6.14557525e-03 9.90685198e-01 4.85124085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7392541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.86, Y:170.94, Z:48.51 [[-6.06232085e-02 -9.98158027e-01 2.31958447e-03 4.47860629e+02] [ 9.88823666e-01 -6.03730721e-02 -1.36318925e-01 1.70942080e+02] [ 1.36207870e-01 -5.97043061e-03 9.90662289e-01 4.85133139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7692541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.86, Y:170.95, Z:48.51 [[-5.72276682e-02 -9.98358579e-01 2.26761244e-03 4.47857249e+02] [ 9.88995683e-01 -5.70010599e-02 -1.36522594e-01 1.70945532e+02] [ 1.36427759e-01 -5.57021081e-03 9.90634362e-01 4.85133173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.7992541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.85, Y:170.95, Z:48.51 [[-5.56966134e-02 -9.98445310e-01 2.20210997e-03 4.47854870e+02] [ 9.89171110e-01 -5.54789499e-02 -1.35877158e-01 1.70945584e+02] [ 1.35788082e-01 -5.38963397e-03 9.90723245e-01 4.85138338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.829254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.85, Y:170.95, Z:48.51 [[-5.40062597e-02 -9.98538284e-01 2.14906084e-03 4.47852850e+02] [ 9.89246727e-01 -5.37964297e-02 -1.36003149e-01 1.70948726e+02] [ 1.35919963e-01 -5.21906998e-03 9.90706074e-01 4.85143648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8592541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.85, Y:170.95, Z:48.51 [[-5.10882503e-02 -9.98691964e-01 2.08624526e-03 4.47848664e+02] [ 9.89471514e-01 -5.08995954e-02 -1.35481930e-01 1.70945571e+02] [ 1.35410904e-01 -4.85725449e-03 9.90777621e-01 4.85141367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.8892541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:447.85, Y:170.93, Z:48.51 [[-4.65419931e-02 -9.98898031e-01 -6.04704452e-03 4.47851220e+02] [ 9.88997812e-01 -4.52280639e-02 -1.40846549e-01 1.70928479e+02] [ 1.40417844e-01 -1.25357929e-02 9.90012971e-01 4.85141159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9192541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.86, Y:170.95, Z:48.52 [[-5.57961005e-02 -9.97646825e-01 -3.98448053e-02 4.47860253e+02] [ 9.84852910e-01 -4.84311271e-02 -1.66490757e-01 1.70952678e+02] [ 1.64169246e-01 -4.85308075e-02 9.85237646e-01 4.85238973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.949254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.82, Y:170.94, Z:48.53 [[-4.48738948e-02 -9.97517461e-01 5.42701392e-02 4.47817216e+02] [ 9.89636295e-01 -5.18056285e-02 -1.33926025e-01 1.70943220e+02] [ 1.36405048e-01 4.76979171e-02 9.89504205e-01 4.85259259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 555.9792541539999 meters Centerline goodness : 0.997725 Centerline is valid? [True, True] Translation: X:447.83, Y:171.50, Z:48.59 [[-4.16776744e-02 -9.99103117e-01 7.47885921e-03 4.47826435e+02] [ 9.89979298e-01 -4.23055785e-02 -1.34726495e-01 1.71496898e+02] [ 1.34922059e-01 1.78882878e-03 9.90854600e-01 4.85883266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0092541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.84, Y:170.96, Z:48.52 [[-3.57771118e-02 -9.99353605e-01 -3.51725452e-03 4.47837004e+02] [ 9.90188169e-01 -3.49728179e-02 -1.35293353e-01 1.70964938e+02] [ 1.35082892e-01 -8.32314924e-03 9.90799343e-01 4.85156447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0392541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.83, Y:170.96, Z:48.52 [[-3.24327122e-02 -9.99472627e-01 1.60839855e-03 4.47832854e+02] [ 9.90242394e-01 -3.23513238e-02 -1.35548491e-01 1.70961518e+02] [ 1.35529040e-01 -2.80350076e-03 9.90769408e-01 4.85163803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.069254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.83, Y:170.96, Z:48.52 [[-2.92437190e-02 -9.99571110e-01 1.54978870e-03 4.47830732e+02] [ 9.90394234e-01 -2.91847931e-02 -1.35157350e-01 1.70959497e+02] [ 1.35144612e-01 -2.41760176e-03 9.90822935e-01 4.85161933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.0992541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.83, Y:170.96, Z:48.52 [[-2.39185117e-02 -9.99712805e-01 1.48720867e-03 4.47825660e+02] [ 9.90646310e-01 -2.39014490e-02 -1.34345111e-01 1.70961727e+02] [ 1.34342074e-01 -1.74003732e-03 9.90933489e-01 4.85171593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1292541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.82, Y:170.96, Z:48.52 [[-2.11357583e-02 -9.99775588e-01 1.43309340e-03 4.47823918e+02] [ 9.90717346e-01 -2.11367482e-02 -1.34284688e-01 1.70960266e+02] [ 1.34284844e-01 -1.41841822e-03 9.90941759e-01 4.85170070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.1592541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.82, Y:170.96, Z:48.52 [[-1.75333686e-02 -9.99845327e-01 1.37958376e-03 4.47821255e+02] [ 9.90789132e-01 -1.75598244e-02 -1.34270428e-01 1.70961260e+02] [ 1.34273885e-01 -9.87336302e-04 9.90943767e-01 4.85172516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.189254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.82, Y:170.96, Z:48.52 [[-1.63028391e-02 -9.99866221e-01 1.32595916e-03 4.47820438e+02] [ 9.90815273e-01 -1.63332736e-02 -1.34232335e-01 1.70961743e+02] [ 1.34236035e-01 -8.74587583e-04 9.90949001e-01 4.85172822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2192541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.82, Y:170.96, Z:48.52 [[-1.55121774e-02 -9.99878867e-01 1.27454429e-03 4.47819985e+02] [ 9.90801889e-01 -1.55427078e-02 -1.34424856e-01 1.70963897e+02] [ 1.34428383e-01 -8.22401325e-04 9.90922971e-01 4.85177089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2492541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.82, Y:170.97, Z:48.52 [[-1.50571589e-02 -9.99885893e-01 1.21747034e-03 4.47819721e+02] [ 9.90869402e-01 -1.50845144e-02 -1.33978678e-01 1.70967251e+02] [ 1.33981755e-01 -8.10984133e-04 9.90983467e-01 4.85175820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.2792541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.82, Y:170.97, Z:48.52 [[-1.49908933e-02 -9.99886951e-01 1.16571730e-03 4.47819430e+02] [ 9.90849675e-01 -1.50117795e-02 -1.34132650e-01 1.70971019e+02] [ 1.34134986e-01 -8.55717628e-04 9.90962700e-01 4.85182139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.309254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.82, Y:170.97, Z:48.52 [[-1.55326122e-02 -9.99878742e-01 1.11311534e-03 4.47819201e+02] [ 9.90832505e-01 -1.55414807e-02 -1.34199143e-01 1.70973177e+02] [ 1.34200170e-01 -9.81552384e-04 9.90953758e-01 4.85181304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.339254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.82, Y:170.98, Z:48.52 [[-1.59866838e-02 -9.99871639e-01 1.06348270e-03 4.47819055e+02] [ 9.90761888e-01 -1.59842656e-02 -1.34667683e-01 1.70976135e+02] [ 1.34667396e-01 -1.09923154e-03 9.90890248e-01 4.85185847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3692541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.82, Y:170.98, Z:48.52 [[-1.61438997e-02 -9.99869165e-01 1.01383890e-03 4.47819615e+02] [ 9.90688769e-01 -1.61327486e-02 -1.35186900e-01 1.70978687e+02] [ 1.35185569e-01 -1.17804494e-03 9.90819597e-01 4.85184222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.3992541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.82, Y:170.98, Z:48.52 [[-1.68692079e-02 -9.99857248e-01 9.55340460e-04 4.47819203e+02] [ 9.90776634e-01 -1.68444711e-02 -1.34454173e-01 1.70983181e+02] [ 1.34451071e-01 -1.32160638e-03 9.90919352e-01 4.85191473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.429254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.82, Y:170.99, Z:48.52 [[-1.86165439e-02 -9.99826289e-01 9.03912082e-04 4.47820391e+02] [ 9.90705616e-01 -1.85685424e-02 -1.34750107e-01 1.70985683e+02] [ 1.34743483e-01 -1.61307050e-03 9.90879201e-01 4.85190212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.459254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.82, Y:170.99, Z:48.52 [[-1.96362704e-02 -9.99806827e-01 8.51671136e-04 4.47821008e+02] [ 9.90658427e-01 -1.95715547e-02 -1.34954935e-01 1.70991401e+02] [ 1.34945534e-01 -1.80629641e-03 9.90851371e-01 4.85194721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.4892541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.82, Y:171.00, Z:48.52 [[-2.33627557e-02 -9.99726730e-01 8.03948568e-04 4.47821222e+02] [ 9.90433371e-01 -2.32549594e-02 -1.36018175e-01 1.70997791e+02] [ 1.35999701e-01 -2.38150191e-03 9.90706016e-01 4.85201810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5192541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.82, Y:171.00, Z:48.52 [[-2.45755207e-02 -9.99697695e-01 7.50352112e-04 4.47821677e+02] [ 9.90389432e-01 -2.44488714e-02 -1.36128712e-01 1.71000993e+02] [ 1.36105905e-01 -2.60229318e-03 9.90690875e-01 4.85204679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.5492541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.82, Y:171.01, Z:48.52 [[-2.61411663e-02 -9.99658018e-01 6.97161916e-04 4.47822064e+02] [ 9.90317634e-01 -2.59920152e-02 -1.36364945e-01 1.71006855e+02] [ 1.36336431e-01 -2.87432695e-03 9.90658425e-01 4.85212112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.579254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.82, Y:171.01, Z:48.52 [[-2.73218189e-02 -9.99626483e-01 6.42446877e-04 4.47822262e+02] [ 9.90294323e-01 -2.71543552e-02 -1.36307725e-01 1.71008321e+02] [ 1.36274257e-01 -3.08796348e-03 9.90666337e-01 4.85215101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6092541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.82, Y:171.01, Z:48.52 [[-2.81898185e-02 -9.99602416e-01 5.87308850e-04 4.47822446e+02] [ 9.90292961e-01 -2.80072732e-02 -1.36144939e-01 1.71012876e+02] [ 1.36107259e-01 -3.25629330e-03 9.90688756e-01 4.85220812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6392541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:447.82, Y:171.02, Z:48.52 [[-2.94974395e-02 -9.99564712e-01 5.36198764e-04 4.47823283e+02] [ 9.90125936e-01 -2.92924359e-02 -1.37086050e-01 1.71015339e+02] [ 1.37042084e-01 -3.51278316e-03 9.90558998e-01 4.85226100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.6692541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.82, Y:171.02, Z:48.52 [[-2.95844057e-02 -9.99562171e-01 4.78154421e-04 4.47822898e+02] [ 9.90263877e-01 -2.93742909e-02 -1.36068382e-01 1.71018715e+02] [ 1.36022853e-01 -3.55200318e-03 9.90699332e-01 4.85234723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.699254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.82, Y:171.03, Z:48.52 [[-2.94029852e-02 -9.99567549e-01 4.24461605e-04 4.47822854e+02] [ 9.90230037e-01 -2.91862181e-02 -1.36354823e-01 1.71028319e+02] [ 1.36308245e-01 -3.58892421e-03 9.90659973e-01 4.85249306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7292541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:447.82, Y:171.03, Z:48.53 [[-2.86496470e-02 -9.99589448e-01 3.66170346e-04 4.47821633e+02] [ 9.90459816e-01 -2.84373719e-02 -1.34835712e-01 1.71025248e+02] [ 1.34790768e-01 -3.50031854e-03 9.90867901e-01 4.85251832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7592541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.82, Y:171.02, Z:48.53 [[-2.80352774e-02 -9.99606886e-01 3.12070874e-04 4.47821313e+02] [ 9.90472286e-01 -2.78211920e-02 -1.34872651e-01 1.71023906e+02] [ 1.34828313e-01 -3.47209464e-03 9.90862892e-01 4.85255977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.7892541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.82, Y:171.03, Z:48.53 [[-2.77645810e-02 -9.99614457e-01 2.57638362e-04 4.47820628e+02] [ 9.90519508e-01 -2.75466530e-02 -1.34581897e-01 1.71030272e+02] [ 1.34537107e-01 -3.48141415e-03 9.90902441e-01 4.85263216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.819254154 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:447.82, Y:171.03, Z:48.53 [[-2.76431396e-02 -9.99617835e-01 2.03508621e-04 4.47819667e+02] [ 9.90553809e-01 -2.74198386e-02 -1.34355139e-01 1.71031859e+02] [ 1.34309373e-01 -3.51241162e-03 9.90933224e-01 4.85268396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8492541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.82, Y:171.03, Z:48.53 [[-2.75052936e-02 -9.99621647e-01 1.49575665e-04 4.47819161e+02] [ 9.90574377e-01 -2.72764371e-02 -1.34232636e-01 1.71034071e+02] [ 1.34185929e-01 -3.54394226e-03 9.90949836e-01 4.85272842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.8792541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.82, Y:171.04, Z:48.53 [[-2.76387397e-02 -9.99617972e-01 9.58539527e-05 4.47818256e+02] [ 9.90558402e-01 -2.74011294e-02 -1.34325093e-01 1.71038888e+02] [ 1.34276404e-01 -3.61762734e-03 9.90937314e-01 4.85278775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9092541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.82, Y:171.04, Z:48.53 [[-2.75821509e-02 -9.99619539e-01 4.20478777e-05 4.47817645e+02] [ 9.90611122e-01 -2.73392192e-02 -1.33948391e-01 1.71039766e+02] [ 1.33898578e-01 -3.65293164e-03 9.90988308e-01 4.85278778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.939254154 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.82, Y:171.07, Z:48.53 [[-2.89474778e-02 -9.99580934e-01 -8.76589489e-06 4.47815698e+02] [ 9.90580779e-01 -2.86856626e-02 -1.33891200e-01 1.71066432e+02] [ 1.33834839e-01 -3.88449586e-03 9.90996038e-01 4.85317556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9692541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.81, Y:171.07, Z:48.53 [[-2.91379532e-02 -9.99575399e-01 2.39077093e-05 4.47814446e+02] [ 9.90580633e-01 -2.88789542e-02 -1.33850725e-01 1.71066510e+02] [ 1.33794582e-01 -3.87645364e-03 9.91001505e-01 4.85315752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 556.9992541539999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:447.81, Y:171.09, Z:48.54 [[-3.03068744e-02 -9.99540641e-01 -2.67674621e-05 4.47813516e+02] [ 9.90491961e-01 -3.00289159e-02 -1.34253263e-01 1.71094202e+02] [ 1.34190789e-01 -4.09530974e-03 9.90947052e-01 4.85350213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.0292541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.81, Y:171.44, Z:48.58 [[-3.90550354e-02 -9.99224595e-01 4.99125172e-03 4.47806443e+02] [ 9.90410320e-01 -3.93720221e-02 -1.32428254e-01 1.71439645e+02] [ 1.32522084e-01 -2.28602938e-04 9.91180027e-01 4.85787292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.059254154 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.81, Y:171.44, Z:48.58 [[-3.84987268e-02 -9.99258072e-01 1.07397557e-03 4.47808248e+02] [ 9.90450804e-01 -3.83017487e-02 -1.32439346e-01 1.71442399e+02] [ 1.32382221e-01 -4.03502623e-03 9.91190530e-01 4.85781574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.089254154 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.81, Y:171.10, Z:48.54 [[-3.39764581e-02 -9.99416125e-01 -3.60699213e-03 4.47812416e+02] [ 9.90408001e-01 -3.31861291e-02 -1.34129316e-01 1.71102400e+02] [ 1.33931299e-01 -8.12963296e-03 9.90957273e-01 4.85354802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1192541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.81, Y:171.13, Z:48.54 [[-3.47583329e-02 -9.99379272e-01 5.73836500e-03 4.47806684e+02] [ 9.90147490e-01 -3.52154440e-02 -1.35527936e-01 1.71128214e+02] [ 1.35645889e-01 9.71102583e-04 9.90756907e-01 4.85411573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.1492541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.81, Y:171.16, Z:48.54 [[-3.75902210e-02 -9.99292943e-01 -7.67319702e-04 4.47807512e+02] [ 9.90216721e-01 -3.71455226e-02 -1.34502995e-01 1.71156502e+02] [ 1.34379392e-01 -5.81581012e-03 9.90912890e-01 4.85428929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.179254154 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.81, Y:171.18, Z:48.55 [[-4.00138658e-02 -9.99191119e-01 -3.99979483e-03 4.47807062e+02] [ 9.90405498e-01 -3.91314903e-02 -1.32535569e-01 1.71183883e+02] [ 1.32271846e-01 -9.26467927e-03 9.91170179e-01 4.85473263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.209254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.80, Y:171.19, Z:48.55 [[-4.11607549e-02 -9.99152537e-01 2.26087093e-05 4.47803705e+02] [ 9.90422078e-01 -4.08040826e-02 -1.31905781e-01 1.71189650e+02] [ 1.31794918e-01 -5.40694936e-03 9.91262258e-01 4.85487646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2392541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:447.80, Y:171.22, Z:48.55 [[-4.53077811e-02 -9.98973075e-01 -2.91400124e-05 4.47800533e+02] [ 9.90318358e-01 -4.49114205e-02 -1.31348830e-01 1.71217446e+02] [ 1.31212636e-01 -5.97998192e-03 9.91336211e-01 4.85529046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2692541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:447.80, Y:171.22, Z:48.55 [[-4.71888454e-02 -9.98885986e-01 7.56873071e-06 4.47798908e+02] [ 9.90229271e-01 -4.67808849e-02 -1.31367953e-01 1.71218657e+02] [ 1.31221962e-01 -6.19160726e-03 9.91333678e-01 4.85531323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.2992541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.80, Y:171.25, Z:48.56 [[-4.97114070e-02 -9.98763623e-01 -4.43745789e-05 4.47797477e+02] [ 9.90125888e-01 -4.92756507e-02 -1.31235046e-01 1.71246120e+02] [ 1.31070603e-01 -6.56781519e-03 9.91351280e-01 4.85559331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.329254154 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:447.79, Y:171.27, Z:48.56 [[-5.47277054e-02 -9.98501316e-01 -4.98532665e-06 4.47793309e+02] [ 9.89858253e-01 -5.42533250e-02 -1.31290575e-01 1.71272660e+02] [ 1.31093542e-01 -7.19016669e-03 9.91343929e-01 4.85602932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3592541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:447.79, Y:171.28, Z:48.56 [[-5.61325708e-02 -9.98423324e-01 2.95314300e-05 4.47791075e+02] [ 9.89851181e-01 -5.56545021e-02 -1.30756322e-01 1.71281723e+02] [ 1.30551805e-01 -7.31045679e-03 9.91414537e-01 4.85621514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.3892541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.79, Y:171.31, Z:48.57 [[-5.74091560e-02 -9.98350734e-01 -2.30371780e-05 4.47789436e+02] [ 9.89741415e-01 -5.69110618e-02 -1.31046032e-01 1.71309084e+02] [ 1.30828591e-01 -7.54604292e-03 9.91376284e-01 4.85653132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4192541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.79, Y:171.31, Z:48.57 [[-5.82025717e-02 -9.98304793e-01 1.52484409e-05 4.47786770e+02] [ 9.89722286e-01 -5.77041981e-02 -1.30843501e-01 1.71310396e+02] [ 1.30622574e-01 -7.60033652e-03 9.91403035e-01 4.85662570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.449254154 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:447.80, Y:171.33, Z:48.57 [[-6.24254817e-02 -9.97385504e-01 -3.64035108e-02 4.47795000e+02] [ 9.88537276e-01 -5.67655140e-02 -1.39899002e-01 1.71334044e+02] [ 1.37466773e-01 -4.47194900e-02 9.89496364e-01 4.85713575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.4792541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.76, Y:171.36, Z:48.58 [[-5.81099272e-02 -9.97585220e-01 3.80389980e-02 4.47762550e+02] [ 9.89450146e-01 -6.26175909e-02 -1.30642433e-01 1.71364688e+02] [ 1.32708871e-01 3.00460698e-02 9.90699545e-01 4.85831520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5092541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.79, Y:171.39, Z:48.58 [[-6.25593121e-02 -9.97139073e-01 -4.24264164e-02 4.47792577e+02] [ 9.88459266e-01 -5.60262858e-02 -1.40745638e-01 1.71388700e+02] [ 1.37965981e-01 -5.07417347e-02 9.89136323e-01 4.85788730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5392541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.75, Y:171.42, Z:48.59 [[-5.50357103e-02 -9.97494404e-01 4.44520407e-02 4.47753051e+02] [ 9.89478944e-01 -6.04510233e-02 -1.31442354e-01 1.71419812e+02] [ 1.33800184e-01 3.67503350e-02 9.90326675e-01 4.85918993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.569254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.77, Y:171.42, Z:48.58 [[-5.32360435e-02 -9.98581956e-01 1.69453965e-05 4.47771224e+02] [ 9.89829838e-01 -5.27716955e-02 -1.32106169e-01 1.71420652e+02] [ 1.31919731e-01 -7.01603671e-03 9.91235572e-01 4.85789724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.5992541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:447.77, Y:171.45, Z:48.58 [[-5.15988787e-02 -9.98667890e-01 -3.46395754e-05 4.47768443e+02] [ 9.89797448e-01 -5.11359505e-02 -1.32989194e-01 1.71447691e+02] [ 1.32810266e-01 -6.89637944e-03 9.91117487e-01 4.85828452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6292541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:447.78, Y:171.47, Z:48.59 [[-5.31476726e-02 -9.98163031e-01 -2.90841644e-02 4.47775362e+02] [ 9.88871814e-01 -4.85555207e-02 -1.40623248e-01 1.71472417e+02] [ 1.38952731e-01 -3.62343087e-02 9.89635899e-01 4.85885751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.6592541539999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:447.75, Y:171.48, Z:48.60 [[-4.28181062e-02 -9.98826230e-01 2.26444792e-02 4.47749573e+02] [ 9.90921489e-01 -4.53485563e-02 -1.26562676e-01 1.71483995e+02] [ 1.27441015e-01 1.70197270e-02 9.91700114e-01 4.85955527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.689254154 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:447.76, Y:171.51, Z:48.59 [[-4.05923303e-02 -9.99175761e-01 -2.45860757e-04 4.47758118e+02] [ 9.91060492e-01 -4.02313409e-02 -1.27202751e-01 1.71512104e+02] [ 1.27088015e-01 -5.40711898e-03 9.91876706e-01 4.85914919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7192541539999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:447.76, Y:171.54, Z:48.60 [[-3.86332745e-02 -9.99253431e-01 -2.23312801e-04 4.47755898e+02] [ 9.91190078e-01 -3.82931929e-02 -1.26790616e-01 1.71539951e+02] [ 1.26687407e-01 -5.11968209e-03 9.91929478e-01 4.85956468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7492541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:447.75, Y:171.57, Z:48.60 [[-3.49430909e-02 -9.99389287e-01 -1.85291506e-04 4.47751898e+02] [ 9.91366154e-01 -3.46391194e-02 -1.26464543e-01 1.71568000e+02] [ 1.26380891e-01 -4.60275376e-03 9.91971111e-01 4.85985248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.7792541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:447.75, Y:171.60, Z:48.60 [[-3.30754382e-02 -9.99452847e-01 -1.47367418e-04 4.47750248e+02] [ 9.91454532e-01 -3.27921283e-02 -1.26263959e-01 1.71595398e+02] [ 1.26190041e-01 -4.32234386e-03 9.91996669e-01 4.86018151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.809254154 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:447.75, Y:171.62, Z:48.60 [[-3.11022992e-02 -9.99516200e-01 -1.10342048e-04 4.47748434e+02] [ 9.91505157e-01 -3.08390673e-02 -1.26358521e-01 1.71622115e+02] [ 1.26293986e-01 -4.03944525e-03 9.91984633e-01 4.86048201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.839254154 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:447.75, Y:171.65, Z:48.61 [[-2.92963499e-02 -9.99570766e-01 -8.44285444e-05 4.47746643e+02] [ 9.91535994e-01 -2.90501711e-02 -1.26540347e-01 1.71649374e+02] [ 1.26483578e-01 -3.79088421e-03 9.91961458e-01 4.86079276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8692541539999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:447.74, Y:171.68, Z:48.61 [[-2.50276520e-02 -9.99686758e-01 -4.70291160e-05 4.47744664e+02] [ 9.91634452e-01 -2.48200996e-02 -1.26669161e-01 1.71677047e+02] [ 1.26628316e-01 -3.21686739e-03 9.91945019e-01 4.86104219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.8992541539999 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:447.75, Y:171.70, Z:48.62 [[-2.48582558e-02 -9.99536480e-01 -1.75753101e-02 4.47750665e+02] [ 9.91042818e-01 -2.23319108e-02 -1.31664040e-01 1.71702947e+02] [ 1.31210521e-01 -2.06908233e-02 9.91138582e-01 4.86162191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.929254154 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:447.74, Y:171.70, Z:48.62 [[-1.96790533e-02 -9.99709871e-01 1.38891328e-02 4.47737155e+02] [ 9.92318164e-01 -2.12268110e-02 -1.21877328e-01 1.71699058e+02] [ 1.22136790e-01 1.13840084e-02 9.92447988e-01 4.86180238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.959254154 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:447.74, Y:171.73, Z:48.62 [[-1.79655816e-02 -9.99838596e-01 -1.38545747e-04 4.47744067e+02] [ 9.92436863e-01 -1.78157537e-02 -1.21456462e-01 1.71727241e+02] [ 1.21434390e-01 -2.31953389e-03 9.92596750e-01 4.86168424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 557.9892541539999 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:447.74, Y:171.75, Z:48.62 [[-1.46970675e-02 -9.99891987e-01 -1.02418946e-04 4.47744685e+02] [ 9.92522957e-01 -1.45763398e-02 -1.21184613e-01 1.71754005e+02] [ 1.21170030e-01 -1.88271159e-03 9.92629981e-01 4.86194656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0192541539999 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:447.75, Y:171.78, Z:48.62 [[-1.34413205e-02 -9.99909658e-01 -8.19787747e-05 4.47745442e+02] [ 9.92494585e-01 -1.33316769e-02 -1.21559716e-01 1.71781815e+02] [ 1.21547641e-01 -1.71528660e-03 9.92584117e-01 4.86224473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.0492541539999 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:447.75, Y:171.81, Z:48.62 [[-1.17379033e-02 -9.99931107e-01 -4.61932531e-05 4.47748316e+02] [ 9.92326120e-01 -1.16429438e-02 -1.23098795e-01 1.71809925e+02] [ 1.23089777e-01 -1.49076053e-03 9.92394420e-01 4.86245563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.079254154 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:447.75, Y:171.84, Z:48.63 [[-1.10496701e-02 -9.99938951e-01 -9.72200798e-06 4.47750231e+02] [ 9.92287429e-01 -1.09639176e-02 -1.23472472e-01 1.71836763e+02] [ 1.23464828e-01 -1.37397710e-03 9.92347998e-01 4.86267881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1092541539999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:447.75, Y:171.84, Z:48.63 [[-1.00521578e-02 -9.99949476e-01 7.33464670e-06 4.47752470e+02] [ 9.92312119e-01 -9.97628684e-03 -1.23357745e-01 1.71840830e+02] [ 1.23351586e-01 -1.23273326e-03 9.92362266e-01 4.86267563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1392541539999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:447.75, Y:171.87, Z:48.63 [[-1.02463889e-02 -9.99947504e-01 -3.71931992e-05 4.47754908e+02] [ 9.92331735e-01 -1.01637688e-02 -1.23184522e-01 1.71868276e+02] [ 1.23177678e-01 -1.29910452e-03 9.92383783e-01 4.86295086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.1692541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:447.76, Y:171.90, Z:48.63 [[-1.10665452e-02 -9.99938764e-01 -6.93526398e-07 4.47759852e+02] [ 9.92360238e-01 -1.09825868e-02 -1.22884262e-01 1.71896505e+02] [ 1.22876730e-01 -1.36059247e-03 9.92421009e-01 4.86320482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.199254154 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.76, Y:171.90, Z:48.63 [[-1.13432832e-02 -9.99935662e-01 3.15942651e-05 4.47762230e+02] [ 9.92294292e-01 -1.12604981e-02 -1.23390600e-01 1.71903605e+02] [ 1.23383017e-01 -1.36830371e-03 9.92358181e-01 4.86328485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2292541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:447.77, Y:171.93, Z:48.64 [[-1.40213513e-02 -9.99901696e-01 -1.28511770e-05 4.47767603e+02] [ 9.92143550e-01 -1.39109630e-02 -1.24328845e-01 1.71931375e+02] [ 1.24316444e-01 -1.75600862e-03 9.92241069e-01 4.86351646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2592541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:447.77, Y:171.94, Z:48.63 [[-1.52975328e-02 -9.99882986e-01 1.79762262e-05 4.47770526e+02] [ 9.91980879e-01 -1.51788917e-02 -1.25473255e-01 1.71935041e+02] [ 1.25458846e-01 -1.90159916e-03 9.92097002e-01 4.86349585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.2892541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:447.77, Y:171.96, Z:48.64 [[-1.76660900e-02 -9.99843942e-01 -2.60735243e-05 4.47773859e+02] [ 9.91882193e-01 -1.75221307e-02 -1.25947175e-01 1.71962429e+02] [ 1.25927063e-01 -2.25085600e-03 9.92036949e-01 4.86382853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.319254154 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.78, Y:171.97, Z:48.64 [[-1.93814837e-02 -9.99812161e-01 3.90483975e-06 4.47777030e+02] [ 9.91837845e-01 -1.92273928e-02 -1.26047598e-01 1.71968080e+02] [ 1.26023996e-01 -2.43911649e-03 9.92024195e-01 4.86383145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3492541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:447.78, Y:172.00, Z:48.64 [[-2.17021845e-02 -9.99764479e-01 -4.01406529e-05 4.47780351e+02] [ 9.91779937e-01 -2.15237974e-02 -1.26132009e-01 1.71995653e+02] [ 1.26101438e-01 -2.77715082e-03 9.92013465e-01 4.86412593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.3792541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.79, Y:172.02, Z:48.64 [[-2.58412304e-02 -9.99664195e-01 1.93106340e-03 4.47785149e+02] [ 9.91631152e-01 -2.58779060e-02 -1.26483169e-01 1.72023542e+02] [ 1.26490667e-01 -1.35357809e-03 9.91966874e-01 4.86448708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4092541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.79, Y:171.94, Z:48.63 [[-2.69293298e-02 -9.99636449e-01 -1.33468213e-03 4.47789263e+02] [ 9.91631577e-01 -2.65449985e-02 -1.26341515e-01 1.71944397e+02] [ 1.26260154e-01 -4.72580526e-03 9.91985907e-01 4.86346818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.439254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.79, Y:171.97, Z:48.64 [[-2.94015947e-02 -9.99567679e-01 -4.87046496e-05 4.47793841e+02] [ 9.91613640e-01 -2.91614973e-02 -1.25904713e-01 1.71971586e+02] [ 1.25848862e-01 -3.75009554e-03 9.92042338e-01 4.86381430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4692541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.80, Y:172.00, Z:48.64 [[-3.05317869e-02 -9.99533796e-01 -1.61923927e-05 4.47796559e+02] [ 9.91575714e-01 -3.02866589e-02 -1.25937769e-01 1.71999193e+02] [ 1.25878566e-01 -3.86116111e-03 9.92038143e-01 4.86413319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.4992541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.80, Y:172.00, Z:48.64 [[-3.09314389e-02 -9.99521509e-01 1.34962478e-05 4.47798961e+02] [ 9.91606672e-01 -3.06882003e-02 -1.25596345e-01 1.72003349e+02] [ 1.25536662e-01 -3.87149269e-03 9.92081427e-01 4.86416318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.5292541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.80, Y:172.03, Z:48.64 [[-3.18890430e-02 -9.99491415e-01 -3.12631951e-05 4.47803337e+02] [ 9.91570616e-01 -3.16323977e-02 -1.25646749e-01 1.72029915e+02] [ 1.25581858e-01 -4.03775424e-03 9.92075044e-01 4.86446986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.559254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.81, Y:172.03, Z:48.64 [[-3.12216919e-02 -9.99512484e-01 2.26946578e-08 4.47805045e+02] [ 9.91552586e-01 -3.09730521e-02 -1.25952921e-01 1.72031389e+02] [ 1.25891518e-01 -3.93244080e-03 9.92036220e-01 4.86446591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.589254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.81, Y:172.06, Z:48.65 [[-3.13682820e-02 -9.99507893e-01 -4.50314498e-05 4.47806314e+02] [ 9.91517896e-01 -3.11118407e-02 -1.26191583e-01 1.72057931e+02] [ 1.26128082e-01 -4.00306264e-03 9.92005888e-01 4.86483886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6192541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.81, Y:172.09, Z:48.65 [[-3.12455984e-02 -9.99511737e-01 -1.08622058e-05 4.47807470e+02] [ 9.91509490e-01 -3.09940688e-02 -1.26286575e-01 1.72086057e+02] [ 1.26224577e-01 -3.95666959e-03 9.91993801e-01 4.86516997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.6492541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.81, Y:172.09, Z:48.65 [[-2.97933771e-02 -9.99556079e-01 2.03433222e-05 4.47810014e+02] [ 9.91524506e-01 -2.95565580e-02 -1.26513096e-01 1.72089582e+02] [ 1.26457536e-01 -3.74908148e-03 9.91964937e-01 4.86521982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.679254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.81, Y:172.12, Z:48.66 [[-2.96519247e-02 -9.99560285e-01 -2.41197128e-05 4.47811146e+02] [ 9.91486248e-01 -2.94093478e-02 -1.26846798e-01 1.72117039e+02] [ 1.26790312e-01 -3.78516606e-03 9.91922320e-01 4.86554041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.709254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.81, Y:172.12, Z:48.66 [[-2.87861078e-02 -9.99585594e-01 7.33007570e-06 4.47812471e+02] [ 9.91468592e-01 -2.85532866e-02 -1.27179953e-01 1.72117474e+02] [ 1.27127458e-01 -3.65374829e-03 9.91879660e-01 4.86554578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7392541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.81, Y:172.15, Z:48.66 [[-2.90298132e-02 -9.99578546e-01 -3.69781446e-05 4.47813565e+02] [ 9.91399390e-01 -2.87875509e-02 -1.27665685e-01 1.72145659e+02] [ 1.27610815e-01 -3.74277109e-03 9.91817257e-01 4.86585226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7692541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.82, Y:172.17, Z:48.66 [[-2.93688662e-02 -9.99568642e-01 1.04975279e-06 4.47815361e+02] [ 9.91326912e-01 -2.91268461e-02 -1.28150619e-01 1.72173593e+02] [ 1.28095371e-01 -3.76259774e-03 9.91754717e-01 4.86616610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.7992541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.81, Y:172.15, Z:48.66 [[-2.23026112e-02 -9.99705855e-01 9.52869959e-03 4.47814278e+02] [ 9.92176755e-01 -2.33036511e-02 -1.22646759e-01 1.72153635e+02] [ 1.22832736e-01 6.71881126e-03 9.92404644e-01 4.86584548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.829254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.82, Y:172.18, Z:48.66 [[-2.63725848e-02 -9.99540155e-01 -1.49654457e-02 4.47822782e+02] [ 9.91741562e-01 -2.42813123e-02 -1.25932888e-01 1.72175684e+02] [ 1.25511598e-01 -1.81630302e-02 9.91925876e-01 4.86596417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8592541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:447.82, Y:172.20, Z:48.67 [[-2.68345932e-02 -9.99639787e-01 -4.49251179e-04 4.47817675e+02] [ 9.91663857e-01 -2.65638214e-02 -1.26083932e-01 1.72202824e+02] [ 1.26026581e-01 -3.82891717e-03 9.92019476e-01 4.86659995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.8892541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:447.82, Y:172.23, Z:48.67 [[-2.71122475e-02 -9.99632311e-01 -4.10383569e-04 4.47818662e+02] [ 9.91711801e-01 -2.68458435e-02 -1.25646349e-01 1.72230603e+02] [ 1.25589133e-01 -3.81353714e-03 9.92075011e-01 4.86694659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9192541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.82, Y:172.26, Z:48.67 [[-2.42745938e-02 -9.99704261e-01 -1.46100293e-03 4.47823391e+02] [ 9.91853134e-01 -2.39010934e-02 -1.25124333e-01 1.72262808e+02] [ 1.25052410e-01 -4.48644270e-03 9.92139994e-01 4.86728241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.949254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.82, Y:172.29, Z:48.68 [[-2.47626539e-02 -9.99691525e-01 -1.91490579e-03 4.47823531e+02] [ 9.91844706e-01 -2.43286405e-02 -1.25108741e-01 1.72291007e+02] [ 1.25023561e-01 -4.99731363e-03 9.92141188e-01 4.86759608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 558.9792541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.82, Y:172.31, Z:48.68 [[-2.76895104e-02 -9.99616268e-01 -7.79060710e-04 4.47820036e+02] [ 9.91860524e-01 -2.73777611e-02 -1.24350951e-01 1.72313545e+02] [ 1.24281905e-01 -4.21593653e-03 9.92237993e-01 4.86801389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0092541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.82, Y:172.34, Z:48.68 [[-2.72490279e-02 -9.99628565e-01 4.71066834e-04 4.47819538e+02] [ 9.91950157e-01 -2.70980115e-02 -1.23695532e-01 1.72340442e+02] [ 1.23662352e-01 -2.90330818e-03 9.92320106e-01 4.86841687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0392541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.82, Y:172.37, Z:48.69 [[-2.81440279e-02 -9.99603751e-01 -5.04558477e-04 4.47820121e+02] [ 9.92067367e-01 -2.78699668e-02 -1.22578976e-01 1.72369164e+02] [ 1.22516342e-01 -3.95042212e-03 9.92458634e-01 4.86875426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.069254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.82, Y:172.40, Z:48.69 [[-2.83108652e-02 -9.99599150e-01 -1.86452820e-04 4.47820154e+02] [ 9.92105191e-01 -2.80758212e-02 -1.22225359e-01 1.72397306e+02] [ 1.22171130e-01 -3.64528646e-03 9.92502356e-01 4.86908168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.0992541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.82, Y:172.42, Z:48.69 [[-3.01998724e-02 -9.99543869e-01 -1.49689560e-04 4.47821138e+02] [ 9.92215240e-01 -2.99603454e-02 -1.20877194e-01 1.72424395e+02] [ 1.20817574e-01 -3.79900010e-03 9.92667458e-01 4.86944698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1292541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.82, Y:172.45, Z:48.70 [[-3.17706915e-02 -9.99495177e-01 -1.17649624e-04 4.47822118e+02] [ 9.92226003e-01 -3.15254571e-02 -1.20389807e-01 1.72451266e+02] [ 1.20325322e-01 -3.94160241e-03 9.92726690e-01 4.86973755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.1592541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.82, Y:172.48, Z:48.70 [[-3.37185442e-02 -9.99431365e-01 -8.60887909e-05 4.47822819e+02] [ 9.92199973e-01 -3.34642300e-02 -1.20080639e-01 1.72479008e+02] [ 1.20009476e-01 -4.13436163e-03 9.92764138e-01 4.87000744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.189254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.82, Y:172.51, Z:48.70 [[-3.61340875e-02 -9.99346949e-01 -5.04498712e-05 4.47822963e+02] [ 9.92151607e-01 -3.58678733e-02 -1.19785996e-01 1.72505598e+02] [ 1.19705961e-01 -4.37841160e-03 9.92799734e-01 4.87028389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2192541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.82, Y:172.53, Z:48.71 [[-4.13748727e-02 -9.99143693e-01 -1.83773824e-05 4.47822977e+02] [ 9.92015341e-01 -4.10774921e-02 -1.19240108e-01 1.72533162e+02] [ 1.19137247e-01 -4.95177493e-03 9.92865447e-01 4.87053826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2492541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.82, Y:172.54, Z:48.71 [[-4.38652776e-02 -9.99037455e-01 1.22357085e-05 4.47822704e+02] [ 9.91920857e-01 -4.35542645e-02 -1.19147130e-01 1.72537910e+02] [ 1.19032979e-01 -5.21428508e-03 9.92876609e-01 4.87058320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.2792541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:447.82, Y:172.56, Z:48.71 [[-4.71587338e-02 -9.98887407e-01 -3.24237205e-05 4.47822222e+02] [ 9.91756835e-01 -4.68182188e-02 -1.19274616e-01 1.72564281e+02] [ 1.19140393e-01 -5.65699629e-03 9.92861302e-01 4.87088720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.309254154 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:447.82, Y:172.57, Z:48.71 [[-5.20629957e-02 -9.98643803e-01 -1.24837450e-08 4.47821260e+02] [ 9.91498862e-01 -5.16905020e-02 -1.19407281e-01 1.72566645e+02] [ 1.19245341e-01 -6.21671315e-03 9.92845356e-01 4.87085231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.339254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.82, Y:172.59, Z:48.71 [[-5.50003253e-02 -9.98486336e-01 -4.47923404e-05 4.47820391e+02] [ 9.91379848e-01 -5.46035308e-02 -1.19098497e-01 1.72594178e+02] [ 1.18915776e-01 -6.59486229e-03 9.92882443e-01 4.87120694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3692541539999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:447.82, Y:172.62, Z:48.72 [[-5.73093063e-02 -9.98356471e-01 -1.01524792e-05 4.47819558e+02] [ 9.91263011e-01 -5.69009057e-02 -1.18995503e-01 1.72620756e+02] [ 1.18799352e-01 -6.82961348e-03 9.92894793e-01 4.87152531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.3992541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.82, Y:172.63, Z:48.71 [[-5.77445203e-02 -9.98331393e-01 1.80474357e-05 4.47818991e+02] [ 9.91277350e-01 -5.73386524e-02 -1.18665473e-01 1.72627653e+02] [ 1.18468502e-01 -6.83439083e-03 9.92934290e-01 4.87149300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.429254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.81, Y:172.66, Z:48.72 [[-5.96421311e-02 -9.98219823e-01 -2.72576530e-05 4.47814906e+02] [ 9.91342598e-01 -5.92280274e-02 -1.17183163e-01 1.72655592e+02] [ 1.16972942e-01 -7.01607522e-03 9.93110319e-01 4.87195753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.459254154 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:447.81, Y:172.66, Z:48.72 [[-5.93060724e-02 -9.98239846e-01 5.37411358e-06 4.47812738e+02] [ 9.91477476e-01 -5.89049412e-02 -1.16200789e-01 1.72655991e+02] [ 1.15996574e-01 -6.88608407e-03 9.93225743e-01 4.87193612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.4892541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.81, Y:172.68, Z:48.72 [[-5.92485362e-02 -9.98243262e-01 -4.06775687e-05 4.47810852e+02] [ 9.91446887e-01 -5.88404052e-02 -1.16494109e-01 1.72683133e+02] [ 1.16287066e-01 -6.94243509e-03 9.93191382e-01 4.87216796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5192541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.81, Y:172.71, Z:48.73 [[-5.97118393e-02 -9.98215656e-01 -9.24055600e-06 4.47808630e+02] [ 9.91399008e-01 -5.93029971e-02 -1.16666884e-01 1.72710774e+02] [ 1.16458162e-01 -6.97555528e-03 9.93171102e-01 4.87254708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.5492541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.81, Y:172.71, Z:48.72 [[-5.94522407e-02 -9.98231151e-01 2.23883052e-05 4.47805699e+02] [ 9.91302728e-01 -5.90422384e-02 -1.17613415e-01 1.72713634e+02] [ 1.17406697e-01 -6.97018749e-03 9.93059456e-01 4.87240151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.579254154 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:447.80, Y:172.74, Z:48.73 [[-6.10712428e-02 -9.98133409e-01 -2.31277910e-05 4.47803517e+02] [ 9.91150275e-01 -6.06412405e-02 -1.18083752e-01 1.72740970e+02] [ 1.17861935e-01 -7.23444460e-03 9.93003639e-01 4.87277290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6092541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:447.80, Y:172.75, Z:48.73 [[-6.15847079e-02 -9.98101860e-01 8.91921129e-06 4.47801585e+02] [ 9.91051157e-01 -6.11507269e-02 -1.18651563e-01 1.72747903e+02] [ 1.18426891e-01 -7.29828246e-03 9.92935953e-01 4.87285386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6392541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:447.81, Y:172.77, Z:48.73 [[-6.39253131e-02 -9.97769830e-01 -1.92072908e-02 4.47808250e+02] [ 9.90393194e-01 -6.10644006e-02 -1.24066351e-01 1.72774570e+02] [ 1.22616780e-01 -2.69537505e-02 9.92088010e-01 4.87343144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.6692541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.80, Y:172.80, Z:48.74 [[-6.72427557e-02 -9.97727923e-01 -4.17172388e-03 4.47796073e+02] [ 9.89911137e-01 -6.61921216e-02 -1.25277869e-01 1.72801425e+02] [ 1.24717093e-01 -1.25536651e-02 9.92112923e-01 4.87433243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.699254154 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.79, Y:172.77, Z:48.74 [[-6.80706143e-02 -9.97646181e-01 -8.27586805e-03 4.47794380e+02] [ 9.89220874e-01 -6.64131613e-02 -1.30504233e-01 1.72772372e+02] [ 1.29647423e-01 -1.70701647e-02 9.91413211e-01 4.87414906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7292541539999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:447.77, Y:172.80, Z:48.74 [[-6.70852208e-02 -9.97121826e-01 3.53219000e-02 4.47773819e+02] [ 9.90002219e-01 -7.09252051e-02 -1.21923016e-01 1.72800531e+02] [ 1.24077313e-01 2.67895269e-02 9.91910854e-01 4.87442863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7592541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.81, Y:172.83, Z:48.74 [[-7.31670663e-02 -9.95442913e-01 -6.11554288e-02 4.47810950e+02] [ 9.88736823e-01 -6.43734271e-02 -1.35113123e-01 1.72825256e+02] [ 1.30560616e-01 -7.03524552e-02 9.88941079e-01 4.87411387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.7892541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.75, Y:172.86, Z:48.76 [[-6.71345108e-02 -9.95748693e-01 6.30674010e-02 4.47754459e+02] [ 9.89854753e-01 -7.44036611e-02 -1.21044052e-01 1.72855761e+02] [ 1.25221903e-01 5.43013334e-02 9.90641631e-01 4.87573708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.819254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.81, Y:172.88, Z:48.75 [[-7.22717732e-02 -9.95097754e-01 -6.75074154e-02 4.47807844e+02] [ 9.88723645e-01 -6.25792587e-02 -1.36049220e-01 1.72881266e+02] [ 1.31157709e-01 -7.65786962e-02 9.88399392e-01 4.87474204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8492541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.77, Y:172.91, Z:48.77 [[-6.92886352e-02 -9.97592195e-01 -2.98277720e-03 4.47773867e+02] [ 9.88233006e-01 -6.82292711e-02 -1.36895191e-01 1.72907396e+02] [ 1.36362061e-01 -1.24329598e-02 9.90581047e-01 4.87668619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.8792541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.74, Y:172.94, Z:48.77 [[-5.81712228e-02 -9.95584932e-01 7.36664926e-02 4.47737406e+02] [ 9.90539073e-01 -6.67484805e-02 -1.19904071e-01 1.72939423e+02] [ 1.24291813e-01 6.59945728e-02 9.90048616e-01 4.87704337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9092541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.77, Y:172.97, Z:48.75 [[-5.57711632e-02 -9.98443576e-01 -5.54103819e-05 4.47768848e+02] [ 9.91214547e-01 -5.53606971e-02 -1.20120418e-01 1.72969621e+02] [ 1.19930392e-01 -6.75417900e-03 9.92759327e-01 4.87534838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.939254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.77, Y:173.00, Z:48.76 [[-5.29283939e-02 -9.98598310e-01 -2.06481674e-05 4.47765629e+02] [ 9.91378710e-01 -5.25432538e-02 -1.20031076e-01 1.72997623e+02] [ 1.19861745e-01 -6.37352222e-03 9.92770135e-01 4.87572279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9692541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:447.76, Y:173.00, Z:48.76 [[-4.71172592e-02 -9.98889365e-01 1.03396201e-05 4.47759733e+02] [ 9.91670979e-01 -4.67780126e-02 -1.20002027e-01 1.72996800e+02] [ 1.19869232e-01 -5.64391309e-03 9.92773647e-01 4.87573483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 559.9992541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.76, Y:173.02, Z:48.76 [[-4.56073808e-02 -9.98959441e-01 -3.46346616e-05 4.47756869e+02] [ 9.91675035e-01 -4.52706326e-02 -1.20545406e-01 1.73024857e+02] [ 1.20418404e-01 -5.53210656e-03 9.92707814e-01 4.87609987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.0292541539999 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:447.75, Y:173.05, Z:48.76 [[-4.42760053e-02 -9.99019337e-01 -3.42009068e-07 4.47754520e+02] [ 9.91705094e-01 -4.39518006e-02 -1.20785953e-01 1.73052810e+02] [ 1.20667487e-01 -5.34825865e-03 9.92678575e-01 4.87632610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.059254154 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:447.75, Y:173.35, Z:48.80 [[-4.40536656e-02 -9.99028486e-01 1.16562132e-03 4.47751342e+02] [ 9.91684712e-01 -4.38709878e-02 -1.20982517e-01 1.73354895e+02] [ 1.20916117e-01 -4.17379449e-03 9.92653954e-01 4.87993998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.089254154 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:447.75, Y:173.06, Z:48.76 [[-4.20836097e-02 -9.99113676e-01 -9.12829818e-04 4.47748259e+02] [ 9.91680822e-01 -4.16592556e-02 -1.21793485e-01 1.73060383e+02] [ 1.21647508e-01 -6.03074530e-03 9.92555043e-01 4.87643342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1192541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:447.75, Y:173.06, Z:48.76 [[-4.09150587e-02 -9.99162628e-01 1.44204934e-05 4.47745754e+02] [ 9.91693220e-01 -4.06109527e-02 -1.22046336e-01 1.73056593e+02] [ 1.21944724e-01 -4.97923230e-03 9.92524404e-01 4.87639918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.1492541539999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:447.74, Y:173.08, Z:48.77 [[-4.04728877e-02 -9.99180637e-01 -3.01077571e-05 4.47743674e+02] [ 9.91661558e-01 -4.01646296e-02 -1.22450629e-01 1.73083821e+02] [ 1.22349088e-01 -4.98578727e-03 9.92474606e-01 4.87668702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.179254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.74, Y:173.11, Z:48.77 [[-3.98899441e-02 -9.99204079e-01 1.21555859e-06 4.47741663e+02] [ 9.91647008e-01 -3.95884022e-02 -1.22755735e-01 1.73110334e+02] [ 1.22658079e-01 -4.89551399e-03 9.92436915e-01 4.87701625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.209254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:447.74, Y:173.11, Z:48.77 [[-3.82209026e-02 -9.99269314e-01 3.18107080e-05 4.47737687e+02] [ 9.91701674e-01 -3.79353594e-02 -1.22836065e-01 1.73111249e+02] [ 1.22747518e-01 -4.66335856e-03 9.92426975e-01 4.87701466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2392541539999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:447.74, Y:173.14, Z:48.77 [[-3.83297289e-02 -9.99265146e-01 -1.21463137e-05 4.47735875e+02] [ 9.91686079e-01 -3.80375174e-02 -1.22930335e-01 1.73138890e+02] [ 1.22839537e-01 -4.72393175e-03 9.92415302e-01 4.87736861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2692541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:447.73, Y:173.14, Z:48.77 [[-3.87486483e-02 -9.99248989e-01 1.60901006e-05 4.47732129e+02] [ 9.91760461e-01 -3.84602274e-02 -1.22196561e-01 1.73141949e+02] [ 1.22105408e-01 -4.71899402e-03 9.92505920e-01 4.87741980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.2992541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:447.73, Y:173.17, Z:48.78 [[-3.98053588e-02 -9.99207452e-01 -2.80652578e-05 4.47730288e+02] [ 9.91744863e-01 -3.95046458e-02 -1.21989797e-01 1.73169735e+02] [ 1.21892006e-01 -4.88368122e-03 9.92531354e-01 4.87777009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.329254154 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:447.73, Y:173.17, Z:48.78 [[-4.05052179e-02 -9.99179327e-01 -4.76289628e-08 4.47728553e+02] [ 9.91770532e-01 -4.02048708e-02 -1.21551553e-01 1.73174882e+02] [ 1.21451797e-01 -4.92351936e-03 9.92585120e-01 4.87783549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3592541539999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:447.73, Y:173.20, Z:48.78 [[-4.16710284e-02 -9.99131384e-01 -4.43710309e-05 4.47727250e+02] [ 9.91760112e-01 -4.13582082e-02 -1.21249246e-01 1.73202544e+02] [ 1.21142092e-01 -5.09658620e-03 9.92622092e-01 4.87814379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.3892541539999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:447.72, Y:173.23, Z:48.78 [[-4.41772631e-02 -9.99023708e-01 -8.69332132e-06 4.47724835e+02] [ 9.91688428e-01 -4.38518413e-02 -1.20958991e-01 1.73230244e+02] [ 1.20840518e-01 -5.35225823e-03 9.92657505e-01 4.87845493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4192541539999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:447.72, Y:173.43, Z:48.81 [[-4.56461443e-02 -9.98955533e-01 2.06711208e-03 4.47722622e+02] [ 9.91557067e-01 -4.55592978e-02 -1.21404013e-01 1.73430571e+02] [ 1.21371386e-01 -3.49196548e-03 9.92601024e-01 4.88085895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.449254154 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:447.72, Y:173.24, Z:48.78 [[-4.59110812e-02 -9.98944168e-01 -1.64984285e-03 4.47722859e+02] [ 9.91590979e-01 -4.53729648e-02 -1.21196634e-01 1.73235099e+02] [ 1.20993812e-01 -7.20023779e-03 9.92627148e-01 4.87849554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.4792541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:447.72, Y:173.26, Z:48.79 [[-4.84397045e-02 -9.98826107e-01 -4.76026755e-05 4.47719741e+02] [ 9.91370126e-01 -4.80723020e-02 -1.21960354e-01 1.73262971e+02] [ 1.21814898e-01 -5.95491539e-03 9.92534972e-01 4.87889734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5092541539999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:447.72, Y:173.29, Z:48.79 [[-5.00282725e-02 -9.98747802e-01 -1.27977486e-05 4.47718505e+02] [ 9.91151263e-01 -4.96461768e-02 -1.23103337e-01 1.73290552e+02] [ 1.22948552e-01 -6.17133178e-03 9.92393857e-01 4.87925170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5392541539999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:447.72, Y:173.30, Z:48.79 [[-5.08453307e-02 -9.98706540e-01 1.66575978e-05 4.47717476e+02] [ 9.91059716e-01 -5.04580819e-02 -1.23509601e-01 1.73295227e+02] [ 1.23350687e-01 -6.26337782e-03 9.92343377e-01 4.87929917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.569254154 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:447.72, Y:173.32, Z:48.80 [[-5.29737470e-02 -9.98595905e-01 -2.70800491e-05 4.47715741e+02] [ 9.90866914e-01 -5.25603703e-02 -1.24177963e-01 1.73320631e+02] [ 1.24002182e-01 -6.60500473e-03 9.92259962e-01 4.87959052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.5992541539999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:447.71, Y:173.29, Z:48.79 [[-4.69938628e-02 -9.98874946e-01 6.35754220e-03 4.47714202e+02] [ 9.91694407e-01 -4.74169851e-02 -1.19556820e-01 1.73291457e+02] [ 1.19723768e-01 6.86302247e-04 9.92807005e-01 4.87924365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6292541539999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:447.72, Y:173.31, Z:48.79 [[-4.88699517e-02 -9.98743166e-01 -1.11272477e-02 4.47719409e+02] [ 9.91566031e-01 -4.71738794e-02 -1.20712183e-01 1.73313771e+02] [ 1.20035553e-01 -1.69325993e-02 9.92625183e-01 4.87917542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.6592541539999 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:447.71, Y:173.34, Z:48.80 [[-4.93937277e-02 -9.98778653e-01 1.20887216e-03 4.47712780e+02] [ 9.91449256e-01 -4.91775557e-02 -1.20871592e-01 1.73342394e+02] [ 1.20783415e-01 -4.77176310e-03 9.92667415e-01 4.87994131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.689254154 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:447.71, Y:173.37, Z:48.80 [[-4.66805844e-02 -9.98909764e-01 -4.54595619e-04 4.47711585e+02] [ 9.91653591e-01 -4.62867285e-02 -1.20335755e-01 1.73368763e+02] [ 1.20183519e-01 -6.06814476e-03 9.92733146e-01 4.88024639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7192541539999 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:447.71, Y:173.40, Z:48.81 [[-4.46338324e-02 -9.99003326e-01 -4.19568468e-04 4.47710599e+02] [ 9.91759494e-01 -4.42596967e-02 -1.20225560e-01 1.73396585e+02] [ 1.20087164e-01 -5.78223851e-03 9.92746513e-01 4.88056760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7492541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:447.71, Y:173.42, Z:48.81 [[-4.18840453e-02 -9.99114009e-01 -4.11378476e-03 4.47710796e+02] [ 9.91982827e-01 -4.10930440e-02 -1.19504947e-01 1.73423613e+02] [ 1.19230019e-01 -9.08615446e-03 9.92825082e-01 4.88073384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.7792541539999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:447.71, Y:173.45, Z:48.81 [[-3.99742739e-02 -9.99194297e-01 3.57963365e-03 4.47706083e+02] [ 9.91920036e-01 -4.01144325e-02 -1.20355620e-01 1.73451943e+02] [ 1.20402244e-01 -1.26041819e-03 9.92724388e-01 4.88130960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.809254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:447.70, Y:173.49, Z:48.82 [[-3.11911613e-02 -9.99363712e-01 1.72998094e-02 4.47701480e+02] [ 9.92555466e-01 -3.30081084e-02 -1.17235282e-01 1.73487156e+02] [ 1.17731721e-01 1.35143158e-02 9.92953476e-01 4.88157331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.839254154 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:447.71, Y:173.51, Z:48.81 [[-2.93224943e-02 -9.99563676e-01 -3.55655993e-03 4.47710386e+02] [ 9.92638581e-01 -2.87006813e-02 -1.17664431e-01 1.73514240e+02] [ 1.17511016e-01 -6.98059321e-03 9.93047044e-01 4.88116922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8692541539999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:447.71, Y:173.54, Z:48.82 [[-2.98856867e-02 -9.99550932e-01 -2.18656819e-03 4.47709605e+02] [ 9.92585800e-01 -2.94194536e-02 -1.17931868e-01 1.73542424e+02] [ 1.17814581e-01 -5.69483141e-03 9.93019281e-01 4.88154492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.8992541539999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:447.71, Y:173.56, Z:48.82 [[-3.19546497e-02 -9.99298918e-01 -1.95082971e-02 4.47712672e+02] [ 9.92016255e-01 -2.93273497e-02 -1.22652585e-01 1.73563575e+02] [ 1.21994469e-01 -2.32718682e-02 9.92257915e-01 4.88177135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.929254154 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:447.70, Y:173.59, Z:48.83 [[-2.97488757e-02 -9.99556634e-01 -1.24124763e-03 4.47701821e+02] [ 9.92042937e-01 -2.93732246e-02 -1.22425593e-01 1.73588284e+02] [ 1.22334854e-01 -4.87339469e-03 9.92476918e-01 4.88262361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.959254154 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:447.70, Y:173.62, Z:48.83 [[-2.53182380e-02 -9.99678038e-01 1.67552608e-03 4.47699454e+02] [ 9.92062827e-01 -2.53318050e-02 -1.23165125e-01 1.73616498e+02] [ 1.23167915e-01 -1.45609681e-03 9.92384777e-01 4.88309030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 560.9892541539999 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:447.70, Y:173.64, Z:48.83 [[-2.23546486e-02 -9.99745891e-01 2.90239431e-03 4.47697524e+02] [ 9.92030134e-01 -2.25420173e-02 -1.23968026e-01 1.73644250e+02] [ 1.24001950e-01 1.08000964e-04 9.92281968e-01 4.88343621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0192541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:447.70, Y:173.67, Z:48.84 [[-1.97870337e-02 -9.99799619e-01 -3.03237785e-03 4.47699430e+02] [ 9.92214202e-01 -1.92637193e-02 -1.23044245e-01 1.73672043e+02] [ 1.22961174e-01 -5.44344898e-03 9.92396553e-01 4.88357242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.0492541539999 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:447.70, Y:173.70, Z:48.84 [[-1.37998783e-02 -9.99904772e-01 -1.05718032e-04 4.47696087e+02] [ 9.92385248e-01 -1.36831576e-02 -1.22410340e-01 1.73699479e+02] [ 1.22397237e-01 -1.79416081e-03 9.92479570e-01 4.88404026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.079254154 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:447.70, Y:173.73, Z:48.84 [[-1.13476514e-02 -9.99935611e-01 -6.97892378e-05 4.47695395e+02] [ 9.92483202e-01 -1.12545734e-02 -1.21862335e-01 1.73727642e+02] [ 1.21853703e-01 -1.45211594e-03 9.92547010e-01 4.88434553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1092541539999 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:447.69, Y:173.76, Z:48.85 [[-5.91676977e-03 -9.99833190e-01 1.72795848e-02 4.47688969e+02] [ 9.92631271e-01 -7.96381017e-03 -1.20912108e-01 1.73755568e+02] [ 1.21029550e-01 1.64368472e-02 9.92512810e-01 4.88488570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1392541539999 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:447.70, Y:173.78, Z:48.84 [[-6.57179999e-03 -9.99816943e-01 -1.79691920e-02 4.47703787e+02] [ 9.92648745e-01 -4.35086444e-03 -1.20952630e-01 1.73783366e+02] [ 1.20852307e-01 -1.86319724e-02 9.92495627e-01 4.88439638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.1692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:447.70, Y:173.78, Z:48.85 [[-6.09420663e-03 -9.99981430e-01 6.91483013e-07 4.47695494e+02] [ 9.92664704e-01 -6.04969966e-03 -1.20748440e-01 1.73784470e+02] [ 1.20746202e-01 -7.35179535e-04 9.92683139e-01 4.88503071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.199254154 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:447.70, Y:173.81, Z:48.85 [[-7.24038078e-03 -9.99973787e-01 -4.07144425e-05 4.47696386e+02] [ 9.92686278e-01 -7.18270847e-03 -1.20508767e-01 1.73812363e+02] [ 1.20505316e-01 -9.12946031e-04 9.92712262e-01 4.88531288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2292541539999 meters Centerline goodness : 0.997341 Centerline is valid? [True, True] Translation: X:447.69, Y:173.84, Z:48.86 [[-8.95442469e-03 -9.99926920e-01 8.12236792e-03 4.47693151e+02] [ 9.92453292e-01 -9.88032312e-03 -1.22224555e-01 1.73838517e+02] [ 1.22295874e-01 6.96662021e-03 9.92469236e-01 4.88590011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2592541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:447.70, Y:173.32, Z:48.79 [[-2.81146622e-03 -9.99972486e-01 -6.86466591e-03 4.47698106e+02] [ 9.92417281e-01 -1.94654101e-03 -1.22898946e-01 1.73317286e+02] [ 1.22882202e-01 -7.15813931e-03 9.92395448e-01 4.87940075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.2892541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:447.70, Y:173.35, Z:48.80 [[-6.67344865e-03 -9.99976731e-01 -1.41542620e-03 4.47697033e+02] [ 9.92400326e-01 -6.44895217e-03 -1.22882074e-01 1.73345076e+02] [ 1.22870087e-01 -2.22471663e-03 9.92420270e-01 4.87987251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.319254154 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:447.70, Y:173.37, Z:48.80 [[-1.07413105e-02 -9.99941356e-01 -1.38177091e-03 4.47699111e+02] [ 9.92343702e-01 -1.04896452e-02 -1.23060735e-01 1.73372565e+02] [ 1.23039024e-01 -2.69302522e-03 9.92398179e-01 4.88013828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3492541539999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:447.70, Y:173.40, Z:48.80 [[-1.89593496e-02 -9.99819334e-01 -1.35718031e-03 4.47702389e+02] [ 9.92101743e-01 -1.86446243e-02 -1.24042373e-01 1.73399159e+02] [ 1.23994658e-01 -3.69822365e-03 9.92275994e-01 4.88039355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.3792541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:447.70, Y:173.43, Z:48.81 [[-2.30445010e-02 -9.99733536e-01 -1.34492233e-03 4.47703978e+02] [ 9.91860294e-01 -2.26944646e-02 -1.25292136e-01 1.73427123e+02] [ 1.25228227e-01 -4.22126980e-03 9.92118981e-01 4.88077655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4092541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:447.71, Y:173.45, Z:48.81 [[-2.72129827e-02 -9.99628802e-01 -1.30813116e-03 4.47705450e+02] [ 9.91781753e-01 -2.68356602e-02 -1.25095173e-01 1.73454785e+02] [ 1.25013633e-01 -4.70159340e-03 9.92143884e-01 4.88105111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.439254154 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:447.70, Y:173.48, Z:48.82 [[-3.08881708e-02 -9.99493726e-01 7.62969157e-03 4.47702500e+02] [ 9.91240681e-01 -3.16119612e-02 -1.28228691e-01 1.73481225e+02] [ 1.28404962e-01 3.60211095e-03 9.91715277e-01 4.88168024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4692541539999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:447.71, Y:173.51, Z:48.81 [[-3.82259640e-02 -9.99220512e-01 -9.85621453e-03 4.47713461e+02] [ 9.91488894e-01 -3.66980643e-02 -1.24912071e-01 1.73509087e+02] [ 1.24453000e-01 -1.45472116e-02 9.92118859e-01 4.88137890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.4992541539999 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:447.71, Y:173.54, Z:48.82 [[-4.08300397e-02 -9.99165410e-01 -1.17930107e-03 4.47710577e+02] [ 9.91414815e-01 -4.03665293e-02 -1.24367231e-01 1.73536743e+02] [ 1.24215832e-01 -6.24709555e-03 9.92235557e-01 4.88196003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.5292541539999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:447.70, Y:173.57, Z:48.82 [[-3.94084913e-02 -9.98863706e-01 2.68005282e-02 4.47702512e+02] [ 9.92200486e-01 -4.22917751e-02 -1.17258694e-01 1.73571429e+02] [ 1.18258896e-01 2.19705089e-02 9.92739709e-01 4.88229769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.559254154 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:447.73, Y:173.59, Z:48.82 [[-4.46058954e-02 -9.98527955e-01 -3.08583275e-02 4.47726627e+02] [ 9.91447084e-01 -4.04550071e-02 -1.24080911e-01 1.73594389e+02] [ 1.22649884e-01 -3.61291389e-02 9.91792161e-01 4.88172641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.589254154 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:447.71, Y:173.62, Z:48.83 [[-4.55770414e-02 -9.98960225e-01 -1.09624246e-03 4.47712097e+02] [ 9.91293421e-01 -4.50914903e-02 -1.23709784e-01 1.73621563e+02] [ 1.23531723e-01 -6.72502389e-03 9.92317836e-01 4.88300145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6192541539999 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:447.71, Y:173.65, Z:48.83 [[-4.55371968e-02 -9.98962081e-01 -1.06050173e-03 4.47711850e+02] [ 9.91290215e-01 -4.50561068e-02 -1.23748364e-01 1.73648111e+02] [ 1.23572141e-01 -6.68641861e-03 9.92313064e-01 4.88334607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.6492541539999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:447.71, Y:173.68, Z:48.84 [[-4.49817395e-02 -9.98987285e-01 -1.02319207e-03 4.47711710e+02] [ 9.91383552e-01 -4.45131828e-02 -1.23195903e-01 1.73675429e+02] [ 1.23025595e-01 -6.55594179e-03 9.92381843e-01 4.88363153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.679254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:447.71, Y:173.70, Z:48.84 [[-4.20582378e-02 -9.99114672e-01 -9.88198770e-04 4.47710228e+02] [ 9.91500962e-01 -4.16158177e-02 -1.23263806e-01 1.73702574e+02] [ 1.23113553e-01 -6.16405851e-03 9.92373447e-01 4.88399141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.709254154 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:447.71, Y:173.73, Z:48.84 [[-4.05309703e-02 -9.99177822e-01 -9.59137487e-04 4.47709147e+02] [ 9.91522270e-01 -4.01017870e-02 -1.23593832e-01 1.73729780e+02] [ 1.23453753e-01 -5.96038412e-03 9.92332427e-01 4.88433814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7392541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:447.71, Y:173.76, Z:48.85 [[-3.88674857e-02 -9.99243937e-01 -9.34513471e-04 4.47708036e+02] [ 9.91587901e-01 -3.84541049e-02 -1.23590927e-01 1.73757384e+02] [ 1.23461549e-01 -5.73032085e-03 9.92332812e-01 4.88467643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7692541539999 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:447.71, Y:173.78, Z:48.85 [[-3.72546063e-02 -9.99305398e-01 -9.03178770e-04 4.47707151e+02] [ 9.91593766e-01 -3.68550134e-02 -1.24030286e-01 1.73784690e+02] [ 1.23910848e-01 -5.51628592e-03 9.92278022e-01 4.88502130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.7992541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:447.71, Y:173.81, Z:48.85 [[-3.36721773e-02 -9.99432548e-01 -8.75546739e-04 4.47705473e+02] [ 9.91588305e-01 -3.32983231e-02 -1.25075398e-01 1.73811860e+02] [ 1.24975270e-01 -5.07974290e-03 9.92146853e-01 4.88519328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.829254154 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:447.70, Y:173.84, Z:48.86 [[-3.33016566e-02 -9.99444988e-01 -8.46288121e-04 4.47703857e+02] [ 9.91548756e-01 -3.29322974e-02 -1.25485172e-01 1.73839322e+02] [ 1.25387656e-01 -5.01800003e-03 9.92095134e-01 4.88561115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8592541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:447.70, Y:173.87, Z:48.86 [[-3.24972157e-02 -9.99471491e-01 -8.18262410e-04 4.47702613e+02] [ 9.91435816e-01 -3.21323100e-02 -1.26580166e-01 1.73866691e+02] [ 1.26486974e-01 -4.92475760e-03 9.91956043e-01 4.88592928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.8892541539999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:447.69, Y:173.90, Z:48.86 [[-2.70475656e-02 -9.99264961e-01 2.71655547e-02 4.47688913e+02] [ 9.91961671e-01 -3.01905621e-02 -1.22884386e-01 1.73898936e+02] [ 1.23614205e-01 2.36234655e-02 9.92049122e-01 4.88640661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9192541539999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:447.70, Y:173.93, Z:48.86 [[-2.70837588e-02 -9.99590585e-01 -9.22677542e-03 4.47703562e+02] [ 9.91679107e-01 -2.57050381e-02 -1.26141980e-01 1.73926715e+02] [ 1.25853161e-01 -1.25663994e-02 9.91969288e-01 4.88581653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.949254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.71, Y:173.95, Z:48.86 [[-2.41987741e-02 -9.99474142e-01 -2.15837868e-02 4.47705448e+02] [ 9.91074450e-01 -2.11530392e-02 -1.31620605e-01 1.73951882e+02] [ 1.31094828e-01 -2.45761969e-02 9.91065163e-01 4.88640348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 561.9792541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.69, Y:173.98, Z:48.87 [[-2.17205045e-02 -9.99763839e-01 -6.97743453e-04 4.47693940e+02] [ 9.91086195e-01 -2.14402123e-02 -1.31485636e-01 1.73978335e+02] [ 1.31439624e-01 -3.54745825e-03 9.91317830e-01 4.88748607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0092541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:447.69, Y:174.01, Z:48.88 [[-1.91116678e-02 -9.99817137e-01 -6.61177303e-04 4.47692575e+02] [ 9.91157396e-01 -1.88592777e-02 -1.31344372e-01 1.74005281e+02] [ 1.31307885e-01 -3.16554079e-03 9.91336582e-01 4.88791250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0392541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.68, Y:174.04, Z:48.88 [[-1.40238184e-02 -9.99557670e-01 2.62259000e-02 4.47680512e+02] [ 9.92045660e-01 -1.71902223e-02 -1.24699259e-01 1.74037131e+02] [ 1.25094930e-01 2.42685305e-02 9.91847920e-01 4.88843625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.069254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.70, Y:174.06, Z:48.88 [[-9.70081115e-03 -9.99542369e-01 -2.86521671e-02 4.47702593e+02] [ 9.91545883e-01 -5.90755161e-03 -1.29622000e-01 1.74062207e+02] [ 1.29393417e-01 -2.96673769e-02 9.91149429e-01 4.88787399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.0992541539999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:447.69, Y:174.09, Z:48.89 [[-5.64502780e-03 -9.99983907e-01 -5.66079585e-04 4.47688128e+02] [ 9.91616656e-01 -5.52471365e-03 -1.29096419e-01 1.74089239e+02] [ 1.29091214e-01 -1.29008682e-03 9.91631884e-01 4.88921643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1292541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.69, Y:174.12, Z:48.90 [[-2.30336166e-03 -9.99997207e-01 -5.29728985e-04 4.47687108e+02] [ 9.91672464e-01 -2.21597517e-03 -1.28766509e-01 1.74115744e+02] [ 1.28764976e-01 -8.21913488e-04 9.91674798e-01 4.88961235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.1592541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.69, Y:174.14, Z:48.90 [[ 3.89975579e-03 -9.99992268e-01 -5.05162555e-04 4.47686436e+02] [ 9.91668703e-01 3.93233812e-03 -1.28754500e-01 1.74142712e+02] [ 1.28755491e-01 1.15721074e-06 9.91676370e-01 4.89002579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.189254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.69, Y:174.17, Z:48.90 [[ 5.86169689e-03 -9.99980646e-01 2.08500157e-03 4.47686106e+02] [ 9.91500532e-01 5.54096475e-03 -1.29984588e-01 1.74171605e+02] [ 1.29970519e-01 2.82921042e-03 9.91513822e-01 4.89042231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2192541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.69, Y:174.20, Z:48.91 [[ 6.88477193e-03 -9.99970611e-01 -3.37309859e-03 4.47689247e+02] [ 9.91611591e-01 7.26252893e-03 -1.29049252e-01 1.74198795e+02] [ 1.29069956e-01 -2.45632899e-03 9.91632449e-01 4.89061356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2492541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:447.69, Y:174.23, Z:48.91 [[ 6.62410362e-03 -9.99977962e-01 -4.44461231e-04 4.47690411e+02] [ 9.91560535e-01 6.62589242e-03 -1.29475104e-01 1.74226643e+02] [ 1.29475196e-01 4.16946293e-04 9.91582573e-01 4.89106368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.2792541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:447.69, Y:174.25, Z:48.91 [[ 4.82757127e-03 -9.99988263e-01 -4.09567742e-04 4.47691769e+02] [ 9.91540758e-01 4.83991364e-03 -1.29705437e-01 1.74253320e+02] [ 1.29705897e-01 2.20059132e-04 9.91552486e-01 4.89137178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.309254154 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.69, Y:174.28, Z:48.92 [[ 2.86012691e-03 -9.99995842e-01 -3.68552222e-04 4.47693270e+02] [ 9.91466888e-01 2.88376538e-03 -1.30326874e-01 1.74279273e+02] [ 1.30327395e-01 7.34407671e-06 9.91471013e-01 4.89170071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.339254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.70, Y:174.31, Z:48.92 [[-2.00510528e-03 -9.99997937e-01 -3.24545962e-04 4.47697502e+02] [ 9.91353531e-01 -1.94519060e-03 -1.31203632e-01 1.74307292e+02] [ 1.31202730e-01 -5.84816881e-04 9.91355386e-01 4.89204894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3692541539999 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:447.70, Y:174.33, Z:48.92 [[-4.47692854e-03 -9.99989936e-01 -2.89956311e-04 4.47700286e+02] [ 9.91285322e-01 -4.39978251e-03 -1.31658848e-01 1.74333825e+02] [ 1.31656247e-01 -8.76856688e-04 9.91295044e-01 4.89237840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.3992541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.70, Y:174.36, Z:48.93 [[-6.32538690e-03 -9.99976901e-01 2.48731388e-03 4.47701544e+02] [ 9.91145713e-01 -6.59938660e-03 -1.32614568e-01 1.74360509e+02] [ 1.32627920e-01 1.62645204e-03 9.91164562e-01 4.89277662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.429254154 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:447.69, Y:174.40, Z:48.93 [[-6.95648338e-03 -9.99087017e-01 4.21514035e-02 4.47687837e+02] [ 9.92165347e-01 -1.21541441e-02 -1.24339058e-01 1.74396150e+02] [ 1.24737853e-01 4.09561992e-02 9.91344066e-01 4.89337198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.459254154 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:447.73, Y:174.42, Z:48.92 [[-1.63418841e-02 -9.98619920e-01 -4.99119105e-02 4.47733068e+02] [ 9.90764167e-01 -9.45259130e-03 -1.35266456e-01 1.74419312e+02] [ 1.34607980e-01 -5.16614412e-02 9.89551306e-01 4.89243745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.4892541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.71, Y:174.45, Z:48.94 [[-1.79780935e-02 -9.99838378e-01 -7.35379816e-05 4.47712103e+02] [ 9.90673636e-01 -1.78033665e-02 -1.35088071e-01 1.74445574e+02] [ 1.35064928e-01 -2.50147810e-03 9.90833592e-01 4.89434023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5192541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.71, Y:174.47, Z:48.95 [[-1.99956818e-02 -9.99800066e-01 -3.87727375e-05 4.47714907e+02] [ 9.90660917e-01 -1.98076702e-02 -1.34902203e-01 1.74472745e+02] [ 1.34874463e-01 -2.73587215e-03 9.90858917e-01 4.89469873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.5492541539999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:447.72, Y:174.50, Z:48.95 [[-2.14530905e-02 -9.99769856e-01 -1.16741790e-05 4.47717732e+02] [ 9.90660545e-01 -2.12560500e-02 -1.34684316e-01 1.74500737e+02] [ 1.34653071e-01 -2.90095997e-03 9.90888558e-01 4.89507576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.579254154 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:447.72, Y:174.50, Z:48.95 [[-2.21117606e-02 -9.99755505e-01 1.40568311e-05 4.47722690e+02] [ 9.90689959e-01 -2.19131455e-02 -1.34362270e-01 1.74497592e+02] [ 1.34329727e-01 -2.95706037e-03 9.90932278e-01 4.89509574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6092541539999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:447.72, Y:174.52, Z:48.95 [[-2.19269882e-02 -9.99759574e-01 -2.98115437e-05 4.47724936e+02] [ 9.90652653e-01 -2.17232372e-02 -1.34667818e-01 1.74524799e+02] [ 1.34634793e-01 -2.98239255e-03 9.90890800e-01 4.89547587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6392541539999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:447.73, Y:174.52, Z:48.95 [[-2.05507119e-02 -9.99788812e-01 -1.00200535e-06 4.47727195e+02] [ 9.90688569e-01 -2.03635210e-02 -1.34616070e-01 1.74523955e+02] [ 1.34587620e-01 -2.76744874e-03 9.90897832e-01 4.89545899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.6692541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:447.73, Y:174.55, Z:48.96 [[-1.73214936e-02 -9.99849971e-01 -4.50202718e-05 4.47732135e+02] [ 9.90826875e-01 -1.71591411e-02 -1.34043532e-01 1.74551846e+02] [ 1.34022649e-01 -2.36644148e-03 9.90975443e-01 4.89574070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.699254154 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:447.73, Y:174.58, Z:48.96 [[-1.58213800e-02 -9.99874834e-01 -7.81977533e-06 4.47734605e+02] [ 9.90838261e-01 -1.56773419e-02 -1.34140828e-01 1.74579064e+02] [ 1.34123915e-01 -2.13004113e-03 9.90962279e-01 4.89603139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7292541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.74, Y:174.58, Z:48.96 [[-1.33928348e-02 -9.99910312e-01 2.14811470e-05 4.47736858e+02] [ 9.90812103e-01 -1.32738645e-02 -1.34592646e-01 1.74581066e+02] [ 1.34580860e-01 -1.78129330e-03 9.90901014e-01 4.89604906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7592541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.74, Y:174.61, Z:48.96 [[-1.36718955e-02 -9.99906535e-01 -2.22230112e-05 4.47736821e+02] [ 9.90808442e-01 -1.35445043e-02 -1.34592637e-01 1.74609265e+02] [ 1.34579757e-01 -1.86215522e-03 9.90901015e-01 4.89638906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.7892541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:447.74, Y:174.61, Z:48.96 [[-1.11316231e-02 -9.99938042e-01 5.74808818e-06 4.47739151e+02] [ 9.90831477e-01 -1.10310200e-02 -1.34652521e-01 1.74608783e+02] [ 1.34644242e-01 -1.49320572e-03 9.90892879e-01 4.89636266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.819254154 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:447.74, Y:174.64, Z:48.97 [[-6.64422919e-03 -9.99977926e-01 -3.76049429e-05 4.47744003e+02] [ 9.90883887e-01 -6.57874482e-03 -1.34557956e-01 1.74636953e+02] [ 1.34554739e-01 -9.31296032e-04 9.90905725e-01 4.89669601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8492541539999 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:447.75, Y:174.66, Z:48.97 [[-4.32855295e-03 -9.99990632e-01 5.48126373e-07 4.47746104e+02] [ 9.90962330e-01 -4.28954659e-03 -1.34071846e-01 1.74663576e+02] [ 1.34070593e-01 -5.79793912e-04 9.90971614e-01 4.89697629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.8792541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:447.75, Y:174.66, Z:48.97 [[-9.76507500e-04 -9.99999523e-01 1.48847837e-05 4.47748043e+02] [ 9.91003213e-01 -9.69714630e-04 -1.33834566e-01 1.74664401e+02] [ 1.33834517e-01 -1.15939589e-04 9.91003688e-01 4.89697782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9092541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:447.75, Y:174.69, Z:48.97 [[ 5.23156985e-03 -9.99986315e-01 -2.85052950e-05 4.47752156e+02] [ 9.90868347e-01 5.18770857e-03 -1.34733096e-01 1.74692330e+02] [ 1.34731400e-01 6.76620606e-04 9.90881926e-01 4.89728741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.939254154 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:447.75, Y:174.69, Z:48.97 [[ 8.62581702e-03 -9.99962797e-01 1.15964624e-06 4.47754317e+02] [ 9.90846895e-01 8.54702576e-03 -1.34719629e-01 1.74693344e+02] [ 1.34714607e-01 1.16321590e-03 9.90883758e-01 4.89721470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9692541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.76, Y:174.72, Z:48.98 [[ 1.09474824e-02 -9.99940074e-01 -4.18115556e-05 4.47756502e+02] [ 9.90801724e-01 1.08530746e-02 -1.34885712e-01 1.74720960e+02] [ 1.34878083e-01 1.43523200e-03 9.90861162e-01 4.89754521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 562.9992541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:447.76, Y:174.75, Z:48.98 [[ 1.24267205e-02 -9.99922785e-01 -2.73773400e-06 4.47758593e+02] [ 9.90763202e-01 1.23132579e-02 -1.35043185e-01 1.74749070e+02] [ 1.35032792e-01 1.67543147e-03 9.90839714e-01 4.89783087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.0292541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:447.76, Y:174.75, Z:48.98 [[ 1.33528186e-02 -9.99910847e-01 2.59958145e-05 4.47764698e+02] [ 9.90694857e-01 1.32262265e-02 -1.35457621e-01 1.74752351e+02] [ 1.35445201e-01 1.83449496e-03 9.90783141e-01 4.89782119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.059254154 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:447.77, Y:174.78, Z:48.98 [[ 1.17144550e-02 -9.99931383e-01 -1.67250302e-05 4.47767876e+02] [ 9.90740293e-01 1.16090416e-02 -1.35273435e-01 1.74779930e+02] [ 1.35264347e-01 1.56808440e-03 9.90808305e-01 4.89814941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.089254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.77, Y:174.78, Z:48.98 [[ 9.57241049e-03 -9.99954183e-01 1.12284770e-05 4.47771135e+02] [ 9.90724324e-01 9.48253228e-03 -1.35555879e-01 1.74784674e+02] [ 1.35549562e-01 1.30872085e-03 9.90769703e-01 4.89824552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1192541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.78, Y:174.81, Z:48.99 [[ 2.46811305e-03 -9.99996954e-01 -3.20537948e-05 4.47777932e+02] [ 9.90698585e-01 2.44952457e-03 -1.36052613e-01 1.74811818e+02] [ 1.36052278e-01 3.04037581e-04 9.90701613e-01 4.89861627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.1492541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.78, Y:174.84, Z:48.99 [[ 1.54176666e-04 -9.99941359e-01 1.08283871e-02 4.47776051e+02] [ 9.90323660e-01 -1.35005403e-03 -1.38770405e-01 1.74837368e+02] [ 1.38776886e-01 1.07450031e-02 9.90265379e-01 4.89922673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.179254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.79, Y:174.81, Z:48.98 [[-3.54816358e-03 -9.99967447e-01 -7.24674346e-03 4.47787753e+02] [ 9.90337749e-01 -2.50917428e-03 -1.38653691e-01 1.74809151e+02] [ 1.38630994e-01 -7.66868959e-03 9.90314414e-01 4.89839997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.209254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.79, Y:174.84, Z:48.99 [[-1.15377072e-02 -9.99933391e-01 -3.08004452e-04 4.47791694e+02] [ 9.90395728e-01 -1.13852137e-02 -1.37792162e-01 1.74835252e+02] [ 1.37779477e-01 -1.89485191e-03 9.90461118e-01 4.89895351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2392541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:447.79, Y:174.86, Z:48.99 [[-1.53168727e-02 -9.99882654e-01 -2.67373831e-04 4.47794612e+02] [ 9.90390899e-01 -1.51347126e-02 -1.37465661e-01 1.74862527e+02] [ 1.37445484e-01 -2.37034865e-03 9.90506497e-01 4.89940136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2692541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.80, Y:174.89, Z:49.00 [[-2.04551912e-02 -9.99790745e-01 -2.27502389e-04 4.47800733e+02] [ 9.90463984e-01 -2.02333605e-02 -1.36278053e-01 1.74888742e+02] [ 1.36244933e-01 -3.01292655e-03 9.90670601e-01 4.89980980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.2992541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:447.80, Y:174.92, Z:49.00 [[-2.23393417e-02 -9.99750428e-01 -1.87342253e-04 4.47803116e+02] [ 9.90480413e-01 -2.21067440e-02 -1.35867010e-01 1.74915012e+02] [ 1.35828960e-01 -3.22073839e-03 9.90727067e-01 4.90016266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.329254154 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:447.81, Y:174.94, Z:49.01 [[-2.34033673e-02 -9.99726093e-01 -1.48231255e-04 4.47805241e+02] [ 9.90463489e-01 -2.31663944e-02 -1.35813823e-01 1.74942246e+02] [ 1.35773189e-01 -3.32531844e-03 9.90734366e-01 4.90053043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3592541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.81, Y:174.97, Z:49.01 [[-2.39984118e-02 -9.99711990e-01 -1.11587108e-04 4.47808933e+02] [ 9.90380741e-01 -2.37591969e-02 -1.36313935e-01 1.74970202e+02] [ 1.36272024e-01 -3.38183167e-03 9.90665685e-01 4.90089318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.3892541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:447.81, Y:175.00, Z:49.01 [[-2.39720688e-02 -9.99712626e-01 -7.30569725e-05 4.47810912e+02] [ 9.90327562e-01 -2.37370347e-02 -1.36703596e-01 1.74996785e+02] [ 1.36662577e-01 -3.34941836e-03 9.90611993e-01 4.90121475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4192541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:447.81, Y:175.02, Z:49.02 [[-2.37703182e-02 -9.99717446e-01 -3.26657327e-05 4.47812547e+02] [ 9.90302390e-01 -2.35419822e-02 -1.36919506e-01 1.75024183e+02] [ 1.36880050e-01 -3.28696918e-03 9.90582176e-01 4.90156377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.449254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.81, Y:175.03, Z:49.02 [[-2.28994140e-02 -9.99737774e-01 -3.75039934e-06 4.47814167e+02] [ 9.90345140e-01 -2.26837587e-02 -1.36755079e-01 1.75028565e+02] [ 1.36719133e-01 -3.13532535e-03 9.90604890e-01 4.90160433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.4792541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.82, Y:175.06, Z:49.02 [[-2.23714715e-02 -9.99749726e-01 -4.92751989e-05 4.47815804e+02] [ 9.90384581e-01 -2.21551765e-02 -1.36555957e-01 1.75055277e+02] [ 1.36520689e-01 -3.10375909e-03 9.90632358e-01 4.90191847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5092541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.82, Y:175.08, Z:49.02 [[-2.05846962e-02 -9.99788113e-01 -1.00429184e-05 4.47818573e+02] [ 9.90466121e-01 -2.03913967e-02 -1.36238958e-01 1.75083276e+02] [ 1.36209886e-01 -2.81438474e-03 9.90676005e-01 4.90224034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5392541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:447.82, Y:175.08, Z:49.02 [[-1.88368496e-02 -9.99822571e-01 1.82125585e-05 4.47819724e+02] [ 9.90449540e-01 -1.86627483e-02 -1.36606774e-01 1.75081525e+02] [ 1.36582876e-01 -2.55520264e-03 9.90625353e-01 4.90222254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.569254154 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:447.82, Y:175.11, Z:49.03 [[-1.75532898e-02 -9.99845929e-01 -2.72043627e-05 4.47820714e+02] [ 9.90463100e-01 -1.73848461e-02 -1.36677046e-01 1.75108149e+02] [ 1.36655515e-01 -2.42607671e-03 9.90615659e-01 4.90250393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.5992541539999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:447.82, Y:175.11, Z:49.02 [[-1.28594550e-02 -9.99917314e-01 2.28505741e-06 4.47822864e+02] [ 9.90397677e-01 -1.27373421e-02 -1.37659733e-01 1.75110431e+02] [ 1.37648380e-01 -1.76796603e-03 9.90479580e-01 4.90247173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6292541539999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:447.82, Y:175.14, Z:49.03 [[-1.05386433e-02 -9.99944466e-01 -4.28888206e-05 4.47823917e+02] [ 9.90364679e-01 -1.04317569e-02 -1.38090481e-01 1.75138089e+02] [ 1.38082364e-01 -1.49776190e-03 9.90419617e-01 4.90281659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.6592541539999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:447.82, Y:175.17, Z:49.03 [[-7.87567747e-03 -9.99968986e-01 -3.98909023e-06 4.47824840e+02] [ 9.90327491e-01 -7.79918918e-03 -1.38530259e-01 1.75165562e+02] [ 1.38525932e-01 -1.09497014e-03 9.90358202e-01 4.90316420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.689254154 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:447.83, Y:175.17, Z:49.03 [[-1.99159407e-03 -9.99998016e-01 2.53494209e-05 4.47826313e+02] [ 9.90411225e-01 -1.97600272e-03 -1.38136528e-01 1.75165994e+02] [ 1.38136304e-01 -2.50005539e-04 9.90413196e-01 4.90317821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7192541539999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:447.83, Y:175.19, Z:49.04 [[ 4.01250237e-05 -9.99999999e-01 -2.05523098e-05 4.47827206e+02] [ 9.90452027e-01 4.25752096e-05 -1.37857828e-01 1.75192310e+02] [ 1.37857829e-01 -1.48245280e-05 9.90452028e-01 4.90355186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7492541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:447.83, Y:175.19, Z:49.04 [[ 2.35895311e-03 -9.99997218e-01 -1.80608729e-06 4.47828155e+02] [ 9.90507439e-01 2.33681533e-03 -1.37439267e-01 1.75192656e+02] [ 1.37438889e-01 3.22423845e-04 9.90510196e-01 4.90357879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.7792541539999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:447.83, Y:175.22, Z:49.04 [[ 3.44015918e-03 -9.99994082e-01 -4.63289766e-05 4.47829265e+02] [ 9.90578822e-01 3.41411153e-03 -1.36901213e-01 1.75220169e+02] [ 1.36900561e-01 4.25069464e-04 9.90584704e-01 4.90395533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.809254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.83, Y:175.25, Z:49.04 [[ 4.44479014e-03 -9.99990122e-01 -7.41986755e-06 4.47832042e+02] [ 9.90570895e-01 4.40393925e-03 -1.36930302e-01 1.75247001e+02] [ 1.36928982e-01 6.01276550e-04 9.90580684e-01 4.90429814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.839254154 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:447.83, Y:175.25, Z:49.04 [[ 3.92447308e-03 -9.99992299e-01 1.92553442e-05 4.47833188e+02] [ 9.90716921e-01 3.88545529e-03 -1.35885561e-01 1.75246114e+02] [ 1.35884440e-01 5.52355824e-04 9.90724540e-01 4.90431789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8692541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:447.83, Y:175.27, Z:49.05 [[ 2.69401917e-03 -9.99996371e-01 -2.61924604e-05 4.47834912e+02] [ 9.90727252e-01 2.67260588e-03 -1.35839502e-01 1.75272926e+02] [ 1.35839079e-01 3.40004638e-04 9.90730856e-01 4.90464243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.8992541539999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:447.84, Y:175.28, Z:49.05 [[-1.00682901e-03 -9.99999493e-01 1.31696764e-07 4.47838929e+02] [ 9.90700001e-01 -9.97483925e-04 -1.36060697e-01 1.75280256e+02] [ 1.36060628e-01 -1.36859384e-04 9.90700503e-01 4.90470809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.929254154 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.84, Y:175.31, Z:49.05 [[-4.43476200e-03 -9.99990165e-01 -4.49432985e-05 4.47840942e+02] [ 9.90705032e-01 -4.38747382e-03 -1.35956939e-01 1.75307579e+02] [ 1.35955405e-01 -6.47462218e-04 9.90714746e-01 4.90504738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.959254154 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:447.84, Y:175.34, Z:49.05 [[-8.58609435e-03 -9.99963139e-01 -7.38533352e-06 4.47843014e+02] [ 9.90697217e-01 -8.50553023e-03 -1.35818559e-01 1.75335227e+02] [ 1.35813490e-01 -1.17346759e-03 9.90733728e-01 4.90539917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 563.9892541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:447.85, Y:175.34, Z:49.05 [[-1.23837745e-02 -9.99923318e-01 2.20309766e-05 4.47845197e+02] [ 9.90689115e-01 -1.22723988e-02 -1.35589330e-01 1.75340776e+02] [ 1.35579203e-01 -1.65728184e-03 9.90765125e-01 4.90546999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0192541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:447.85, Y:175.37, Z:49.06 [[-2.21578489e-02 -9.99754484e-01 -2.33946104e-05 4.47849010e+02] [ 9.90545564e-01 -2.19505801e-02 -1.35416606e-01 1.75367429e+02] [ 1.35382846e-01 -3.02371412e-03 9.90788748e-01 4.90579312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.0492541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.85, Y:175.38, Z:49.06 [[-2.68564952e-02 -9.99639299e-01 7.52222849e-06 4.47850982e+02] [ 9.90480066e-01 -2.66114379e-02 -1.35059508e-01 1.75375470e+02] [ 1.35010992e-01 -3.61977441e-03 9.90837489e-01 4.90589681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.079254154 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:447.85, Y:175.40, Z:49.06 [[-3.20299071e-02 -9.99486910e-01 -3.83655255e-05 4.47853335e+02] [ 9.90376035e-01 -3.17327657e-02 -1.34715779e-01 1.75402924e+02] [ 1.34645440e-01 -4.35293017e-03 9.90884281e-01 4.90620359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1092541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.86, Y:175.43, Z:49.07 [[-4.16126502e-02 -9.99133819e-01 2.48300506e-07 4.47857261e+02] [ 9.90232847e-01 -4.12419692e-02 -1.33184114e-01 1.75429637e+02] [ 1.33068762e-01 -5.54189806e-03 9.91091314e-01 4.90653139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1392541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:447.86, Y:175.43, Z:49.07 [[-4.51635648e-02 -9.98979605e-01 2.13147930e-05 4.47858411e+02] [ 9.90150843e-01 -4.47672495e-02 -1.32654443e-01 1.75434014e+02] [ 1.32520038e-01 -5.97004269e-03 9.91162347e-01 4.90662742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.1692541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.86, Y:175.46, Z:49.07 [[-4.89225807e-02 -9.98802573e-01 -2.59031081e-05 4.47859433e+02] [ 9.90101286e-01 -4.84929651e-02 -1.31711335e-01 1.75462012e+02] [ 1.31552364e-01 -6.46930511e-03 9.91288113e-01 4.90696845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.199254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.86, Y:175.47, Z:49.07 [[-5.34506283e-02 -9.98570493e-01 7.20220096e-06 4.47860483e+02] [ 9.89927614e-01 -5.29889466e-02 -1.31284004e-01 1.75465968e+02] [ 1.31096715e-01 -7.01008286e-03 9.91344799e-01 4.90699788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2292541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.86, Y:175.49, Z:49.07 [[-5.54152323e-02 -9.98463395e-01 -4.09788381e-05 4.47860678e+02] [ 9.89666214e-01 -5.49215480e-02 -1.32455311e-01 1.75492791e+02] [ 1.32249529e-01 -7.38059720e-03 9.91188977e-01 4.90733791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2592541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.86, Y:175.52, Z:49.08 [[-5.69555530e-02 -9.98376715e-01 -5.38888710e-06 4.47860250e+02] [ 9.89463015e-01 -5.64463232e-02 -1.33329495e-01 1.75520884e+02] [ 1.33112759e-01 -7.59918725e-03 9.91071766e-01 4.90769694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.2892541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.86, Y:175.52, Z:49.08 [[-5.82935753e-02 -9.98299483e-01 2.76400906e-05 4.47858419e+02] [ 9.89545104e-01 -5.77860406e-02 -1.32141060e-01 1.75523455e+02] [ 1.31917950e-01 -7.67562374e-03 9.91230921e-01 4.90765761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.319254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.86, Y:175.55, Z:49.08 [[-5.86908341e-02 -9.98276207e-01 -2.04127053e-05 4.47857537e+02] [ 9.89509801e-01 -5.81727341e-02 -1.32235721e-01 1.75549954e+02] [ 1.32006586e-01 -7.78122333e-03 9.91218298e-01 4.90798174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3492541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.86, Y:175.55, Z:49.08 [[-5.83417491e-02 -9.98296669e-01 8.90398384e-06 4.47856285e+02] [ 9.89567812e-01 -5.78328003e-02 -1.31950421e-01 1.75552104e+02] [ 1.31726181e-01 -7.68940727e-03 9.91256317e-01 4.90799154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.3792541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.85, Y:175.58, Z:49.08 [[-5.85352704e-02 -9.98285340e-01 -3.90040671e-05 4.47853765e+02] [ 9.89621599e-01 -5.80221285e-02 -1.31463011e-01 1.75579429e+02] [ 1.31235333e-01 -7.73382214e-03 9.91321076e-01 4.90830668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4092541539999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:447.85, Y:175.61, Z:49.09 [[-5.89394875e-02 -9.98261557e-01 -5.02446749e-07 4.47852216e+02] [ 9.89605605e-01 -5.84283555e-02 -1.31403481e-01 1.75607317e+02] [ 1.31175014e-01 -7.74535103e-03 9.91328969e-01 4.90862477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.439254154 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.85, Y:175.61, Z:49.09 [[-5.91218318e-02 -9.98250774e-01 3.22264245e-05 4.47850429e+02] [ 9.89584158e-01 -5.86127923e-02 -1.31482834e-01 1.75609240e+02] [ 1.31254730e-01 -7.74161524e-03 9.91318447e-01 4.90863678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4692541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:447.85, Y:175.64, Z:49.09 [[-5.98096746e-02 -9.98209799e-01 -1.57625087e-05 4.47848480e+02] [ 9.89523552e-01 -5.92871427e-02 -1.31636526e-01 1.75637512e+02] [ 1.31399935e-01 -7.88873515e-03 9.91298050e-01 4.90893512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.4992541539999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:447.84, Y:175.64, Z:49.09 [[-6.04705040e-02 -9.98169984e-01 1.68623338e-05 4.47844589e+02] [ 9.89345550e-01 -5.99381490e-02 -1.32675547e-01 1.75642879e+02] [ 1.32433759e-01 -8.00627450e-03 9.91159523e-01 4.90892244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.5292541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.84, Y:175.67, Z:49.09 [[-6.13896956e-02 -9.98113873e-01 -3.08088685e-05 4.47842372e+02] [ 9.89179403e-01 -6.08360539e-02 -1.33503119e-01 1.75670369e+02] [ 1.33249441e-01 -8.22619136e-03 9.91048392e-01 4.90925339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.559254154 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:447.84, Y:175.67, Z:49.09 [[-6.15737267e-02 -9.98102538e-01 9.24354329e-07 4.47840041e+02] [ 9.89065258e-01 -6.10163342e-02 -1.34264376e-01 1.75670594e+02] [ 1.34009671e-01 -8.26624376e-03 9.90945547e-01 4.90925209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.589254154 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.83, Y:175.70, Z:49.10 [[-6.26502770e-02 -9.98035541e-01 -4.63745575e-05 4.47834757e+02] [ 9.88941556e-01 -6.20731564e-02 -1.34690465e-01 1.75698008e+02] [ 1.34422993e-01 -8.48425667e-03 9.90887721e-01 4.90957964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6192541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:447.83, Y:175.72, Z:49.10 [[-6.32392756e-02 -9.97998394e-01 -6.49436904e-06 4.47832085e+02] [ 9.88955385e-01 -6.26653813e-02 -1.34314169e-01 1.75724656e+02] [ 1.34044918e-01 -8.50035341e-03 9.90938799e-01 4.90992199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.6492541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.83, Y:175.72, Z:49.10 [[-6.26823904e-02 -9.98033525e-01 2.22569636e-05 4.47829466e+02] [ 9.89047625e-01 -6.21210087e-02 -1.33887177e-01 1.75724695e+02] [ 1.33625274e-01 -8.37035511e-03 9.90996581e-01 4.90996415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.679254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.83, Y:175.75, Z:49.10 [[-6.28654506e-02 -9.98022011e-01 -2.63158177e-05 4.47829409e+02] [ 9.89036624e-01 -6.22959304e-02 -1.33887167e-01 1.75752934e+02] [ 1.33620700e-01 -8.44290438e-03 9.90996582e-01 4.91031424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.709254154 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:447.82, Y:175.78, Z:49.11 [[-6.18506495e-02 -9.98085416e-01 -1.71643232e-06 4.47823969e+02] [ 9.89292837e-01 -6.13055518e-02 -1.32443621e-01 1.75779551e+02] [ 1.32189941e-01 -8.19342201e-03 9.91190540e-01 4.91068957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7392541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.82, Y:175.78, Z:49.11 [[-6.04814660e-02 -9.98169320e-01 1.95454020e-05 4.47821100e+02] [ 9.89473417e-01 -5.99571395e-02 -1.31709903e-01 1.75779359e+02] [ 1.31469956e-01 -7.94666834e-03 9.91288304e-01 4.91070234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7692541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:447.82, Y:175.81, Z:49.11 [[-5.90502097e-02 -9.98255014e-01 -2.83784891e-05 4.47818548e+02] [ 9.89638943e-01 -5.85368126e-02 -1.31103788e-01 1.75807103e+02] [ 1.30873353e-01 -7.76979065e-03 9.91368648e-01 4.91104018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.7992541539999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:447.82, Y:175.81, Z:49.11 [[-5.66972724e-02 -9.98391416e-01 5.49358665e-06 4.47815581e+02] [ 9.89815788e-01 -5.62109939e-02 -1.30786201e-01 1.75814477e+02] [ 1.30576130e-01 -7.40978325e-03 9.91410596e-01 4.91113661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.829254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.81, Y:175.84, Z:49.11 [[-5.18554370e-02 -9.98654601e-01 -4.26064402e-05 4.47809432e+02] [ 9.90158658e-01 -5.14087293e-02 -1.30165179e-01 1.75842182e+02] [ 1.29987864e-01 -6.79195937e-03 9.91492322e-01 4.91147912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8592541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.81, Y:175.87, Z:49.12 [[-4.92635124e-02 -9.98785816e-01 -4.19505269e-06 4.47806597e+02] [ 9.90289875e-01 -4.88439170e-02 -1.30154657e-01 1.75869861e+02] [ 1.29996421e-01 -6.41602989e-03 9.91493704e-01 4.91181159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.8892541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.80, Y:175.87, Z:49.12 [[-4.62013878e-02 -9.98932145e-01 2.93042142e-05 4.47803849e+02] [ 9.90418437e-01 -4.58114439e-02 -1.30279054e-01 1.75868697e+02] [ 1.30141278e-01 -5.99004967e-03 9.91477366e-01 4.91180497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9192541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.80, Y:175.90, Z:49.12 [[-4.37164527e-02 -9.99043979e-01 -1.87450054e-05 4.47801237e+02] [ 9.90599837e-01 -4.33445172e-02 -1.29742882e-01 1.75896774e+02] [ 1.29618033e-01 -5.69046738e-03 9.91547671e-01 4.91213421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.949254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.80, Y:175.90, Z:49.12 [[-3.88218803e-02 -9.99246147e-01 1.47510460e-05 4.47796222e+02] [ 9.90832398e-01 -3.84969080e-02 -1.29495742e-01 1.75897428e+02] [ 1.29398689e-01 -5.01265238e-03 9.91579978e-01 4.91217945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 564.9792541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.79, Y:175.93, Z:49.13 [[-3.74239883e-02 -9.99299477e-01 -3.32175757e-05 4.47794057e+02] [ 9.90819222e-01 -3.71020794e-02 -1.30002713e-01 1.75925190e+02] [ 1.29910411e-01 -4.89813263e-03 9.91513638e-01 4.91251226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0092541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.79, Y:175.93, Z:49.12 [[-3.54415490e-02 -9.99371751e-01 -2.18379203e-07 4.47792163e+02] [ 9.90824116e-01 -3.51383886e-02 -1.30510021e-01 1.75926081e+02] [ 1.30428020e-01 -4.62569368e-03 9.91446990e-01 4.91249751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0392541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.79, Y:175.95, Z:49.13 [[-3.33328712e-02 -9.99444304e-01 -4.80060839e-05 4.47789110e+02] [ 9.90818752e-01 -3.30388999e-02 -1.31097791e-01 1.75953430e+02] [ 1.31023355e-01 -4.41743112e-03 9.91369440e-01 4.91277662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.069254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.79, Y:175.98, Z:49.13 [[-3.30097992e-02 -9.99455028e-01 -1.07362657e-05 4.47788067e+02] [ 9.90823505e-01 -3.27233103e-02 -1.31141018e-01 1.75981559e+02] [ 1.31069198e-01 -4.33957641e-03 9.91363724e-01 4.91308110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.0992541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.79, Y:175.98, Z:49.13 [[-3.21330408e-02 -9.99483600e-01 2.12073807e-05 4.47787016e+02] [ 9.90850066e-01 -3.18582586e-02 -1.31153337e-01 1.75982634e+02] [ 1.31086285e-01 -4.19334220e-03 9.91362094e-01 4.91305804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1292541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.78, Y:176.01, Z:49.13 [[-3.14718790e-02 -9.99504637e-01 -2.67869418e-05 4.47784461e+02] [ 9.90876897e-01 -3.11966994e-02 -1.31109656e-01 1.76009086e+02] [ 1.31043874e-01 -4.15280981e-03 9.91367872e-01 4.91339426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.1592541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.78, Y:176.04, Z:49.14 [[-3.13887365e-02 -9.99507252e-01 4.17136535e-07 4.47783408e+02] [ 9.90881902e-01 -3.11179189e-02 -1.31090546e-01 1.76036948e+02] [ 1.31025965e-01 -4.11435328e-03 9.91370399e-01 4.91375750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.189254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.78, Y:176.04, Z:49.14 [[-3.06830880e-02 -9.99529163e-01 3.33788218e-05 4.47782344e+02] [ 9.90936385e-01 -3.04236803e-02 -1.30841432e-01 1.76041446e+02] [ 1.30780843e-01 -3.98154290e-03 9.91403308e-01 4.91379933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2192541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.78, Y:176.07, Z:49.14 [[-3.02113450e-02 -9.99543533e-01 -1.48603944e-05 4.47781173e+02] [ 9.91021344e-01 -2.99518233e-02 -1.30305734e-01 1.76067802e+02] [ 1.30245809e-01 -3.95143846e-03 9.91473860e-01 4.91410753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2492541539999 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:447.78, Y:176.07, Z:49.14 [[-2.95381674e-02 -9.99563653e-01 2.87095443e-06 4.47780616e+02] [ 9.91046864e-01 -2.92868614e-02 -1.30262784e-01 1.76069025e+02] [ 1.30206028e-01 -3.84487866e-03 9.91479504e-01 4.91412634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.2792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.78, Y:176.10, Z:49.14 [[-2.96676987e-02 -9.99559816e-01 -4.47666762e-05 4.47780193e+02] [ 9.91124237e-01 -2.94115179e-02 -1.29644554e-01 1.76096401e+02] [ 1.29586170e-01 -3.89062491e-03 9.91560531e-01 4.91444145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.309254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.78, Y:176.12, Z:49.15 [[-3.07226305e-02 -9.99527949e-01 -8.29833163e-06 4.47779735e+02] [ 9.91215160e-01 -3.04660506e-02 -1.28702473e-01 1.76123409e+02] [ 1.28641466e-01 -3.96230396e-03 9.91683253e-01 4.91479373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.339254154 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:447.78, Y:176.13, Z:49.15 [[-3.11403151e-02 -9.99515022e-01 2.63701337e-05 4.47779966e+02] [ 9.91275602e-01 -3.08869931e-02 -1.28135377e-01 1.76133102e+02] [ 1.28074048e-01 -3.96403594e-03 9.91756686e-01 4.91491813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3692541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.78, Y:176.16, Z:49.15 [[-3.22840553e-02 -9.99478734e-01 -2.19423794e-05 4.47780294e+02] [ 9.91277202e-01 -3.20163318e-02 -1.27845467e-01 1.76160466e+02] [ 1.27778123e-01 -4.14912112e-03 9.91794100e-01 4.91521063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.3992541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.78, Y:176.17, Z:49.15 [[-3.38657994e-02 -9.99426389e-01 1.04075624e-05 4.47781130e+02] [ 9.91309779e-01 -3.35920906e-02 -1.27186844e-01 1.76165561e+02] [ 1.27114238e-01 -4.29696704e-03 9.91878776e-01 4.91517421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.429254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.78, Y:176.19, Z:49.15 [[-3.51194343e-02 -9.99383122e-01 -3.81305560e-05 4.47781736e+02] [ 9.91296999e-01 -3.48304352e-02 -1.26953146e-01 1.76192106e+02] [ 1.26873503e-01 -4.49632138e-03 9.91908714e-01 4.91545671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.459254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.78, Y:176.22, Z:49.16 [[-3.60630905e-02 -9.99349515e-01 -4.53488427e-06 4.47782101e+02] [ 9.91223587e-01 -3.57692762e-02 -1.27264916e-01 1.76219353e+02] [ 1.27181970e-01 -4.59406127e-03 9.91868762e-01 4.91574708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.4892541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.78, Y:176.22, Z:49.16 [[-3.65121684e-02 -9.99333208e-01 2.90387271e-05 4.47782055e+02] [ 9.91161900e-01 -3.62173255e-02 -1.27618151e-01 1.76224963e+02] [ 1.27534108e-01 -4.63083336e-03 9.91823375e-01 4.91574606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5192541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.78, Y:176.25, Z:49.16 [[-3.73885601e-02 -9.99300803e-01 -1.91368511e-05 4.47781915e+02] [ 9.91013946e-01 -3.70760485e-02 -1.28517415e-01 1.76253146e+02] [ 1.28426846e-01 -4.82404597e-03 9.91707252e-01 4.91603326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.5492541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.78, Y:176.25, Z:49.16 [[-3.70513358e-02 -9.99313363e-01 1.56282950e-05 4.47781900e+02] [ 9.90985570e-01 -3.67445827e-02 -1.28831032e-01 1.76253668e+02] [ 1.28743146e-01 -4.75787442e-03 9.91666559e-01 4.91599092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.579254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.78, Y:176.28, Z:49.16 [[-3.70813982e-02 -9.99312248e-01 -3.23588258e-05 4.47781699e+02] [ 9.90954768e-01 -3.67670987e-02 -1.29061336e-01 1.76281202e+02] [ 1.28971384e-01 -4.81784093e-03 9.91636612e-01 4.91633583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6092541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:447.78, Y:176.28, Z:49.16 [[-3.66175853e-02 -9.99329351e-01 2.38288062e-06 4.47781344e+02] [ 9.91001297e-01 -3.63127346e-02 -1.28832507e-01 1.76283115e+02] [ 1.28746192e-01 -4.71517389e-03 9.91666368e-01 4.91634593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6392541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.78, Y:176.31, Z:49.17 [[-3.67437456e-02 -9.99324720e-01 -4.56171069e-05 4.47780945e+02] [ 9.91014663e-01 -3.64323220e-02 -1.28695856e-01 1.76310836e+02] [ 1.28607288e-01 -4.77397500e-03 9.91684110e-01 4.91667467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.6692541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:447.78, Y:176.34, Z:49.17 [[-3.67937002e-02 -9.99322883e-01 -7.48868698e-06 4.47780371e+02] [ 9.91046403e-01 -3.64880091e-02 -1.28435401e-01 1.76338827e+02] [ 1.28348162e-01 -4.73303528e-03 9.91717877e-01 4.91700430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.699254154 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:447.78, Y:176.34, Z:49.17 [[-3.62762248e-02 -9.99341801e-01 2.69305793e-05 4.47779826e+02] [ 9.91037449e-01 -3.59782427e-02 -1.28648131e-01 1.76338695e+02] [ 1.28564424e-01 -4.64017931e-03 9.91690303e-01 4.91694990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7292541539999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:447.78, Y:176.37, Z:49.17 [[-3.65629293e-02 -9.99331352e-01 -2.11126447e-05 4.47779952e+02] [ 9.90996364e-01 -3.62552509e-02 -1.28886631e-01 1.76366337e+02] [ 1.28799685e-01 -4.73339532e-03 9.91659335e-01 4.91731039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7592541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.78, Y:176.37, Z:49.17 [[-3.67302372e-02 -9.99325217e-01 1.35714987e-05 4.47779837e+02] [ 9.91023250e-01 -3.64268449e-02 -1.28631269e-01 1.76368008e+02] [ 1.28544966e-01 -4.71120736e-03 9.91692491e-01 4.91728494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.7892541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.78, Y:176.40, Z:49.18 [[-3.79642877e-02 -9.99279096e-01 -3.45418490e-05 4.47779700e+02] [ 9.90907477e-01 -3.76417708e-02 -1.29172245e-01 1.76395357e+02] [ 1.29077824e-01 -4.93816004e-03 9.91622171e-01 4.91765198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.819254154 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:447.78, Y:176.40, Z:49.18 [[-3.78497539e-02 -9.99283441e-01 -7.41477240e-07 4.47779494e+02] [ 9.90882612e-01 -3.75314606e-02 -1.29394894e-01 1.76399558e+02] [ 1.29302147e-01 -4.89829962e-03 9.91593143e-01 4.91765186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8492541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.78, Y:176.43, Z:49.18 [[-3.83556709e-02 -9.99264149e-01 -4.93944816e-05 4.47779187e+02] [ 9.90799428e-01 -3.80243413e-02 -1.29887043e-01 1.76425856e+02] [ 1.29789587e-01 -5.03084470e-03 9.91528796e-01 4.91796478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.8792541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:447.78, Y:176.45, Z:49.18 [[-3.86030354e-02 -9.99254625e-01 -2.29150292e-05 4.47778648e+02] [ 9.90793676e-01 -3.82731955e-02 -1.29857823e-01 1.76453827e+02] [ 1.29760154e-01 -5.03561021e-03 9.91532624e-01 4.91830391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9092541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.78, Y:176.46, Z:49.18 [[-3.78490373e-02 -9.99283468e-01 1.06559586e-05 4.47778478e+02] [ 9.90859308e-01 -3.75313440e-02 -1.29573265e-01 1.76456667e+02] [ 1.29480821e-01 -4.89366478e-03 9.91569851e-01 4.91836260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.939254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.78, Y:176.48, Z:49.19 [[-3.77165123e-02 -9.99288479e-01 -3.74328454e-05 4.47778333e+02] [ 9.90946675e-01 -3.73968344e-02 -1.28942483e-01 1.76483785e+02] [ 1.28849338e-01 -4.90035471e-03 9.91652073e-01 4.91869495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9692541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:447.78, Y:176.51, Z:49.19 [[-3.59556818e-02 -9.99353385e-01 -4.52256801e-06 4.47777502e+02] [ 9.91204708e-01 -3.56619242e-02 -1.27441967e-01 1.76511273e+02] [ 1.27359400e-01 -4.58674560e-03 9.91846029e-01 4.91904610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 565.9992541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:447.78, Y:176.51, Z:49.19 [[-3.37517236e-02 -9.99430248e-01 3.07696660e-05 4.47776887e+02] [ 9.91355270e-01 -3.34829294e-02 -1.26860643e-01 1.76514254e+02] [ 1.26789394e-01 -4.25126168e-03 9.91920549e-01 4.91903615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.0292541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.78, Y:176.54, Z:49.19 [[-3.17752533e-02 -9.99495039e-01 -1.78521958e-05 4.47776444e+02] [ 9.91453728e-01 -3.15173484e-02 -1.26594475e-01 1.76542350e+02] [ 1.26529987e-01 -4.04027113e-03 9.91954555e-01 4.91934857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.059254154 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:447.77, Y:177.08, Z:49.26 [[-2.67586982e-02 -9.99640037e-01 1.94133999e-03 4.47774828e+02] [ 9.91679374e-01 -2.67901342e-02 -1.25913892e-01 1.77079891e+02] [ 1.25920576e-01 -1.44410500e-03 9.92039275e-01 4.92596357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.089254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.78, Y:176.54, Z:49.19 [[-2.18303781e-02 -9.99760625e-01 -1.45829290e-03 4.47775875e+02] [ 9.91787313e-01 -2.14723664e-02 -1.26082766e-01 1.76541824e+02] [ 1.26021271e-01 -4.19875084e-03 9.92018654e-01 4.91918041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1192541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.77, Y:176.57, Z:49.20 [[-1.89999763e-02 -9.99819479e-01 -9.73080279e-05 4.47774988e+02] [ 9.91872266e-01 -1.88367051e-02 -1.25835551e-01 1.76569043e+02] [ 1.25811002e-01 -2.48738962e-03 9.92051110e-01 4.91950767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.1492541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.77, Y:176.60, Z:49.20 [[-1.67992452e-02 -9.99858881e-01 -6.08706732e-05 4.47774619e+02] [ 9.91912254e-01 -1.66580687e-02 -1.25827614e-01 1.76597037e+02] [ 1.25808843e-01 -2.17418730e-03 9.92052120e-01 4.91984739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.179254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.77, Y:176.62, Z:49.20 [[-1.35132433e-02 -9.99908692e-01 -2.48835025e-05 4.47774901e+02] [ 9.91981306e-01 -1.34029814e-02 -1.25671986e-01 1.76624280e+02] [ 1.25660177e-01 -1.72292009e-03 9.92071848e-01 4.92017352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.209254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.78, Y:176.65, Z:49.20 [[-1.32103193e-02 -9.99912740e-01 -1.93927263e-07 4.47775240e+02] [ 9.92024881e-01 -1.31060848e-02 -1.25358951e-01 1.76652123e+02] [ 1.25348009e-01 -1.65622415e-03 9.92111452e-01 4.92046838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2392541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.78, Y:176.66, Z:49.20 [[-1.29323461e-02 -9.99916373e-01 3.58932629e-05 4.47775765e+02] [ 9.92007661e-01 -1.28345651e-02 -1.25523203e-01 1.76656441e+02] [ 1.25513167e-01 -1.58770311e-03 9.92090683e-01 4.92049868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2692541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.78, Y:176.68, Z:49.21 [[-1.40091696e-02 -9.99901867e-01 -1.27062688e-05 4.47776435e+02] [ 9.91935935e-01 -1.38959617e-02 -1.25976200e-01 1.76683585e+02] [ 1.25963661e-01 -1.77742577e-03 9.92033264e-01 4.92077000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.2992541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.78, Y:176.69, Z:49.21 [[-1.65504893e-02 -9.99863031e-01 6.33474608e-06 4.47778901e+02] [ 9.91770330e-01 -1.64173372e-02 -1.26972766e-01 1.76689687e+02] [ 1.26955478e-01 -2.09517878e-03 9.91906204e-01 4.92068235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.329254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.78, Y:176.72, Z:49.21 [[-1.92785064e-02 -9.99814151e-01 -4.21656159e-05 4.47780129e+02] [ 9.91665000e-01 -1.91160001e-02 -1.27417055e-01 1.76716891e+02] [ 1.27392569e-01 -2.49822468e-03 9.91849229e-01 4.92096735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3592541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.78, Y:176.74, Z:49.21 [[-2.50330541e-02 -9.99686624e-01 -2.05353069e-05 4.47782652e+02] [ 9.91384138e-01 -2.48225104e-02 -1.28613117e-01 1.76744538e+02] [ 1.28572303e-01 -3.23993750e-03 9.91694845e-01 4.92119457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.3892541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.78, Y:176.74, Z:49.21 [[-2.73579858e-02 -9.99625700e-01 1.36939134e-05 4.47783611e+02] [ 9.91289168e-01 -2.71315952e-02 -1.28878475e-01 1.76743750e+02] [ 1.28830607e-01 -3.51228086e-03 9.91660395e-01 4.92114294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4192541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.78, Y:176.77, Z:49.21 [[-3.01891370e-02 -9.99544204e-01 -3.42248691e-05 4.47784381e+02] [ 9.91227490e-01 -2.99335403e-02 -1.28732458e-01 1.76770168e+02] [ 1.28672758e-01 -3.92024645e-03 9.91679360e-01 4.92143729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.449254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.79, Y:176.80, Z:49.22 [[-3.46129150e-02 -9.99400794e-01 -4.93973245e-07 4.47786072e+02] [ 9.91179280e-01 -3.43281105e-02 -1.28004749e-01 1.76796508e+02] [ 1.27928031e-01 -4.43110711e-03 9.91773555e-01 4.92177874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.4792541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.79, Y:176.88, Z:49.23 [[-3.61683422e-02 -9.99345195e-01 1.01636024e-03 4.47786000e+02] [ 9.91180867e-01 -3.60025615e-02 -1.27531583e-01 1.76879690e+02] [ 1.27484666e-01 -3.60520910e-03 9.91833989e-01 4.92288941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5092541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.79, Y:176.88, Z:49.23 [[-3.66281674e-02 -9.99316921e-01 -4.90593505e-03 4.47788695e+02] [ 9.91212094e-01 -3.57057926e-02 -1.27372212e-01 1.76882650e+02] [ 1.27110036e-01 -9.52823286e-03 9.91842856e-01 4.92275532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5392541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.78, Y:177.09, Z:49.26 [[-3.76324795e-02 -9.99285474e-01 3.51262355e-03 4.47784390e+02] [ 9.91407639e-01 -3.77760239e-02 -1.25235242e-01 1.77091928e+02] [ 1.25278451e-01 -1.23047086e-03 9.92120857e-01 4.92560458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.569254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.79, Y:177.09, Z:49.26 [[-3.71198572e-02 -9.99310782e-01 2.78337336e-04 4.47785881e+02] [ 9.91442230e-01 -3.68624575e-02 -1.25233636e-01 1.77094642e+02] [ 1.25157583e-01 -4.37269928e-03 9.92127239e-01 4.92556152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.5992541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.79, Y:176.89, Z:49.23 [[-3.63080874e-02 -9.99340638e-01 1.10596496e-04 4.47785998e+02] [ 9.91469937e-01 -3.60359906e-02 -1.25254829e-01 1.76889055e+02] [ 1.25176226e-01 -4.43811018e-03 9.92124597e-01 4.92304860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6292541539999 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:447.78, Y:177.49, Z:49.31 [[-3.63335702e-02 -9.99335144e-01 3.02343805e-03 4.47784827e+02] [ 9.91622420e-01 -3.64280887e-02 -1.23927279e-01 1.77491189e+02] [ 1.23955023e-01 -1.50461153e-03 9.92286697e-01 4.93056197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.6592541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.78, Y:176.90, Z:49.23 [[-3.14136178e-02 -9.99506354e-01 -4.82321458e-04 4.47784663e+02] [ 9.91871482e-01 -3.11141216e-02 -1.23381016e-01 1.76898550e+02] [ 1.23305103e-01 -4.35424498e-03 9.92359256e-01 4.92318251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.689254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.79, Y:176.93, Z:49.23 [[-2.98866194e-02 -9.99548713e-01 -3.02651296e-03 4.47785557e+02] [ 9.91993064e-01 -2.92887320e-02 -1.22849220e-01 1.76925958e+02] [ 1.22705137e-01 -6.67382775e-03 9.92420732e-01 4.92343943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7192541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.78, Y:176.95, Z:49.24 [[-2.84570500e-02 -9.99594998e-01 -1.89292134e-04 4.47784046e+02] [ 9.92001501e-01 -2.82175755e-02 -1.23031662e-01 1.76954434e+02] [ 1.22976493e-01 -3.68889624e-03 9.92402728e-01 4.92385644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7492541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.78, Y:176.98, Z:49.24 [[-2.67442178e-02 -9.99642287e-01 -2.13945030e-04 4.47783441e+02] [ 9.92024464e-01 -2.65140393e-02 -1.23225278e-01 1.76981924e+02] [ 1.23175526e-01 -3.50780239e-03 9.92378700e-01 4.92415384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.7792541539999 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:447.77, Y:177.02, Z:49.24 [[-1.73439570e-02 -9.99451697e-01 2.82044822e-02 4.47774929e+02] [ 9.93056698e-01 -2.05018790e-02 -1.15836380e-01 1.77017055e+02] [ 1.16351111e-01 2.59995888e-02 9.92867786e-01 4.92411493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.809254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.80, Y:177.04, Z:49.24 [[-2.10661211e-02 -9.99293466e-01 -3.11253592e-02 4.47797396e+02] [ 9.92052197e-01 -1.70303510e-02 -1.24669186e-01 1.77038495e+02] [ 1.24051027e-01 -3.35042771e-02 9.91710041e-01 4.92411774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.839254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.78, Y:177.06, Z:49.25 [[-1.87901721e-02 -9.99823261e-01 6.13196613e-04 4.47781887e+02] [ 9.91932938e-01 -1.87187779e-02 -1.25374059e-01 1.77064392e+02] [ 1.25363379e-01 -1.74755023e-03 9.92109354e-01 4.92510904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8692541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.78, Y:177.09, Z:49.25 [[-1.62679189e-02 -9.99867430e-01 6.90681010e-04 4.47782857e+02] [ 9.91875351e-01 -1.62250451e-02 -1.26174628e-01 1.77091339e+02] [ 1.26169108e-01 -1.36752915e-03 9.92007806e-01 4.92537428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.8992541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.78, Y:177.12, Z:49.26 [[-1.65668267e-02 -9.99862322e-01 9.36416810e-04 4.47782739e+02] [ 9.91815852e-01 -1.65520698e-02 -1.26599148e-01 1.77119286e+02] [ 1.26597218e-01 -1.16859311e-03 9.91953516e-01 4.92571546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.929254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.78, Y:177.15, Z:49.26 [[-1.72252322e-02 -9.99851507e-01 -5.04942930e-04 4.47783725e+02] [ 9.91784099e-01 -1.70222196e-02 -1.26785430e-01 1.77148391e+02] [ 1.26758008e-01 -2.68470284e-03 9.91930038e-01 4.92604724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.959254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.78, Y:177.15, Z:49.26 [[-1.67198799e-02 -9.99860213e-01 8.87415691e-06 4.47784617e+02] [ 9.91679662e-01 -1.65842159e-02 -1.27657397e-01 1.77149265e+02] [ 1.27639700e-01 -2.12561602e-03 9.91818325e-01 4.92604115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 566.9892541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.79, Y:177.18, Z:49.26 [[-1.57857928e-02 -9.99875301e-01 4.38466951e-04 4.47785307e+02] [ 9.91622534e-01 -1.57117231e-02 -1.28210339e-01 1.77175926e+02] [ 1.28201241e-01 -1.58910814e-03 9.91746902e-01 4.92635810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0192541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.79, Y:177.21, Z:49.27 [[-1.83487148e-02 -9.99831648e-01 3.11989136e-05 4.47786207e+02] [ 9.91567464e-01 -1.82010558e-02 -1.28306997e-01 1.77205172e+02] [ 1.28285964e-01 -2.32333267e-03 9.91734498e-01 4.92670915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.0492541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.79, Y:177.23, Z:49.27 [[-2.14153572e-02 -9.99770665e-01 -5.45038320e-06 4.47787845e+02] [ 9.91437001e-01 -2.12361455e-02 -1.28847581e-01 1.77232557e+02] [ 1.28817916e-01 -2.76472069e-03 9.91664409e-01 4.92709127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.079254154 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.79, Y:177.23, Z:49.27 [[-2.28347888e-02 -9.99739252e-01 2.70219463e-05 4.47788653e+02] [ 9.91472930e-01 -2.26494485e-02 -1.28329387e-01 1.77233810e+02] [ 1.28296538e-01 -2.90358292e-03 9.91731601e-01 4.92710038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1092541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.79, Y:177.26, Z:49.27 [[-2.49582960e-02 -9.99688493e-01 -1.98458286e-05 4.47789590e+02] [ 9.91505197e-01 -2.47514563e-02 -1.27690291e-01 1.77260920e+02] [ 1.27650023e-01 -3.20660932e-03 9.91814090e-01 4.92747828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1392541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.79, Y:177.26, Z:49.28 [[-3.16919016e-02 -9.99497686e-01 1.05468936e-05 4.47792497e+02] [ 9.91383098e-01 -3.14359476e-02 -1.27166557e-01 1.77262535e+02] [ 1.27103011e-01 -4.01969401e-03 9.91881377e-01 4.92755094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.1692541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.79, Y:177.29, Z:49.28 [[-3.59958433e-02 -9.99351939e-01 -3.66627459e-05 4.47793675e+02] [ 9.91290896e-01 -3.57008408e-02 -1.26758864e-01 1.77290030e+02] [ 1.26675408e-01 -4.59913565e-03 9.91933561e-01 4.92790010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.199254154 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.79, Y:177.32, Z:49.28 [[-4.00108280e-02 -9.99199246e-01 9.61698506e-07 4.47794916e+02] [ 9.91170256e-01 -3.96894458e-02 -1.26515895e-01 1.77316577e+02] [ 1.26414625e-01 -5.06105250e-03 9.91964580e-01 4.92827755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2292541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:447.80, Y:177.32, Z:49.28 [[-4.34582054e-02 -9.99055245e-01 3.17662424e-05 4.47795687e+02] [ 9.91119242e-01 -4.31169944e-02 -1.25791786e-01 1.77319127e+02] [ 1.25674314e-01 -5.43520115e-03 9.92056664e-01 4.92832579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2592541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:447.80, Y:177.35, Z:49.29 [[-5.08621559e-02 -9.98705683e-01 -1.62996468e-05 4.47797192e+02] [ 9.90871706e-01 -5.04611464e-02 -1.25007740e-01 1.77346628e+02] [ 1.24845118e-01 -6.37431404e-03 9.92155766e-01 4.92875874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.2892541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.80, Y:177.35, Z:49.29 [[-5.35921641e-02 -9.98562907e-01 1.78722524e-05 4.47797539e+02] [ 9.90706723e-01 -5.31727689e-02 -1.25191240e-01 1.77352315e+02] [ 1.25012279e-01 -6.69156332e-03 9.92132629e-01 4.92887797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.319254154 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:447.80, Y:177.38, Z:49.29 [[-5.65849679e-02 -9.98397787e-01 -3.04629630e-05 4.47797612e+02] [ 9.90495128e-01 -5.61332471e-02 -1.25572525e-01 1.77380121e+02] [ 1.25369621e-01 -7.13569073e-03 9.92084442e-01 4.92928384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3492541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.80, Y:177.39, Z:49.29 [[-5.84853937e-02 -9.98288264e-01 3.56412583e-06 4.47797344e+02] [ 9.90385307e-01 -5.80228420e-02 -1.25579829e-01 1.77385810e+02] [ 1.25365077e-01 -7.34105590e-03 9.92083518e-01 4.92936690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.3792541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.80, Y:177.41, Z:49.30 [[-6.11861541e-02 -9.98126371e-01 -4.50185005e-05 4.47797608e+02] [ 9.90108592e-01 -6.06889507e-02 -1.26498328e-01 1.77413142e+02] [ 1.26258585e-01 -7.78451941e-03 9.91966819e-01 4.92969267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4092541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.80, Y:177.44, Z:49.30 [[-6.27141889e-02 -9.98031528e-01 -8.23787169e-06 4.47797021e+02] [ 9.89943006e-01 -6.22048745e-02 -1.27056678e-01 1.77440038e+02] [ 1.26806058e-01 -7.97641153e-03 9.91895458e-01 4.93009257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.439254154 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:447.79, Y:177.44, Z:49.30 [[-6.25562067e-02 -9.98041442e-01 2.65805220e-05 4.47794952e+02] [ 9.89902409e-01 -6.20494548e-02 -1.27448366e-01 1.77440663e+02] [ 1.27200400e-01 -7.94637419e-03 9.91845206e-01 4.93020992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4692541539999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:447.79, Y:177.47, Z:49.31 [[-6.19326239e-02 -9.98080332e-01 -2.15497981e-05 4.47793696e+02] [ 9.89876574e-01 -6.14208038e-02 -1.27952540e-01 1.77466916e+02] [ 1.27705590e-01 -7.94576817e-03 9.91780292e-01 4.93055597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.4992541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:447.79, Y:177.47, Z:49.31 [[-6.04197675e-02 -9.98173057e-01 7.94508434e-06 4.47792627e+02] [ 9.89906146e-01 -5.99203907e-02 -1.28434298e-01 1.77467783e+02] [ 1.28200132e-01 -7.75210553e-03 9.91718020e-01 4.93060479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.5292541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.79, Y:177.50, Z:49.31 [[-5.90853936e-02 -9.98252931e-01 -3.96761314e-05 4.47791566e+02] [ 9.89943530e-01 -5.85884524e-02 -1.28760246e-01 1.77495327e+02] [ 1.28532969e-01 -7.64712697e-03 9.91675752e-01 4.93094346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.559254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:447.79, Y:177.52, Z:49.31 [[-5.57084929e-02 -9.98447076e-01 -2.15180270e-06 4.47788333e+02] [ 9.89954672e-01 -5.52343776e-02 -1.30149572e-01 1.77522501e+02] [ 1.29947341e-01 -7.25256672e-03 9.91494372e-01 4.93132325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.589254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.79, Y:177.52, Z:49.31 [[-5.33982403e-02 -9.98573296e-01 1.85780425e-05 4.47786899e+02] [ 9.89974994e-01 -5.29408863e-02 -1.30945690e-01 1.77520481e+02] [ 1.30759853e-01 -6.97387763e-03 9.91389543e-01 4.93131340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6192541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.79, Y:177.55, Z:49.32 [[-5.19872874e-02 -9.98647746e-01 -2.80892022e-05 4.47785457e+02] [ 9.89984601e-01 -5.15326072e-02 -1.31433940e-01 1.77548667e+02] [ 1.31254760e-01 -6.86070187e-03 9.91324931e-01 4.93166222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.6492541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:447.78, Y:177.55, Z:49.32 [[-4.85202366e-02 -9.98822200e-01 3.87702128e-06 4.47782813e+02] [ 9.90092738e-01 -4.80966936e-02 -1.31920729e-01 1.77547374e+02] [ 1.31765539e-01 -6.39698636e-03 9.91260269e-01 4.93167433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.679254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.78, Y:177.58, Z:49.32 [[-4.73385275e-02 -9.98878903e-01 -4.24555880e-05 4.47781681e+02] [ 9.90084657e-01 -4.69161259e-02 -1.32405621e-01 1.77575008e+02] [ 1.32255189e-01 -6.30992175e-03 9.91195616e-01 4.93204541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.709254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.78, Y:177.60, Z:49.32 [[-4.62256213e-02 -9.98931025e-01 -3.65224838e-06 4.47780409e+02] [ 9.90159808e-01 -4.58192490e-02 -1.32227649e-01 1.77603018e+02] [ 1.32086134e-01 -6.11592155e-03 9.91219375e-01 4.93240756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7392541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.78, Y:177.60, Z:49.33 [[-4.33433494e-02 -9.99060235e-01 2.75906831e-05 4.47777899e+02] [ 9.90310427e-01 -4.29673937e-02 -1.32057041e-01 1.77604922e+02] [ 1.31934124e-01 -5.69647113e-03 9.91242118e-01 4.93252120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7692541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.78, Y:177.63, Z:49.33 [[-4.20696906e-02 -9.99114679e-01 -1.86091199e-05 4.47776947e+02] [ 9.90378726e-01 -4.16993885e-02 -1.31951276e-01 1.77632684e+02] [ 1.31833681e-01 -5.56957943e-03 9.91256203e-01 4.93288746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.7992541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.78, Y:177.63, Z:49.33 [[-3.99210467e-02 -9.99202837e-01 1.19118229e-05 4.47775839e+02] [ 9.90469115e-01 -3.95736820e-02 -1.31927463e-01 1.77631877e+02] [ 1.31822766e-01 -5.25488411e-03 9.91259373e-01 4.93291881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.829254154 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.77, Y:177.66, Z:49.33 [[-3.59650759e-02 -9.99353047e-01 -3.51894652e-05 4.47774108e+02] [ 9.90631056e-01 -3.56465437e-02 -1.31831088e-01 1.77658171e+02] [ 1.31744545e-01 -4.77617485e-03 9.91272194e-01 4.93323620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8592541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.77, Y:177.69, Z:49.34 [[-3.39415248e-02 -9.99423820e-01 -8.23645783e-06 4.47773195e+02] [ 9.90657070e-01 -3.36427072e-02 -1.32161785e-01 1.77685827e+02] [ 1.32085359e-01 -4.49393200e-03 9.91228159e-01 4.93364213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.8892541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.77, Y:177.68, Z:49.34 [[-3.10520418e-02 -9.99517769e-01 2.29094718e-05 4.47772031e+02] [ 9.90749626e-01 -3.07826710e-02 -1.32165070e-01 1.77684502e+02] [ 1.32102041e-01 -4.08129773e-03 9.91227720e-01 4.93362005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9192541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.77, Y:177.71, Z:49.34 [[-2.59137302e-02 -9.99664183e-01 -2.32469687e-05 4.47770126e+02] [ 9.90809701e-01 -2.56811122e-02 -1.32802924e-01 1.77710853e+02] [ 1.32757729e-01 -3.46445245e-03 9.91142464e-01 4.93396045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.949254154 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:447.77, Y:177.71, Z:49.34 [[-2.30551745e-02 -9.99734194e-01 3.63496130e-06 4.47769353e+02] [ 9.90843251e-01 -2.28506216e-02 -1.33069532e-01 1.77710327e+02] [ 1.33034244e-01 -3.06433960e-03 9.91106705e-01 4.93392612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 567.9792541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.77, Y:177.74, Z:49.34 [[-2.10705458e-02 -9.99777991e-01 -4.18175816e-05 4.47768921e+02] [ 9.90840451e-01 -2.08766048e-02 -1.33414273e-01 1.77738248e+02] [ 1.33383781e-01 -2.85254610e-03 9.91060356e-01 4.93424995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0092541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.77, Y:177.77, Z:49.35 [[-2.00622627e-02 -9.99798733e-01 -3.10277735e-06 4.47768307e+02] [ 9.90848883e-01 -1.98822580e-02 -1.33503510e-01 1.77766288e+02] [ 1.33476578e-01 -2.68145687e-03 9.91048340e-01 4.93461060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0392541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.77, Y:177.77, Z:49.35 [[-1.84589608e-02 -9.99829619e-01 2.79823077e-05 4.47768336e+02] [ 9.90894796e-01 -1.82977384e-02 -1.33389262e-01 1.77772564e+02] [ 1.33367047e-01 -2.43449964e-03 9.91063723e-01 4.93463365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.069254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.77, Y:177.80, Z:49.35 [[-1.92688078e-02 -9.99814339e-01 -1.74771264e-05 4.47768618e+02] [ 9.90907292e-01 -1.90948196e-02 -1.33184562e-01 1.77799449e+02] [ 1.33159501e-01 -2.58362593e-03 9.91091253e-01 4.93493943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.0992541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.77, Y:177.80, Z:49.35 [[-1.95088203e-02 -9.99809685e-01 1.01973310e-05 4.47768997e+02] [ 9.90943590e-01 -1.93371756e-02 -1.32879174e-01 1.77801465e+02] [ 1.32854082e-01 -2.58221094e-03 9.91132244e-01 4.93495573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1292541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.77, Y:177.83, Z:49.35 [[-2.28364098e-02 -9.99739215e-01 -3.50442630e-05 4.47769841e+02] [ 9.90985386e-01 -2.26318230e-02 -1.32044559e-01 1.77829086e+02] [ 1.32009330e-01 -3.05015201e-03 9.91243781e-01 4.93524706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.1592541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.77, Y:177.83, Z:49.35 [[-2.44515541e-02 -9.99701016e-01 -2.92137413e-06 4.47770625e+02] [ 9.91030344e-01 -2.42390952e-02 -1.31420411e-01 1.77832158e+02] [ 1.31381048e-01 -3.21632846e-03 9.91326725e-01 4.93525032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.189254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.77, Y:177.86, Z:49.36 [[-2.69274936e-02 -9.99637388e-01 -4.99852887e-05 4.47771550e+02] [ 9.90959435e-01 -2.66871588e-02 -1.31480773e-01 1.77858922e+02] [ 1.31431763e-01 -3.58998107e-03 9.91318720e-01 4.93560061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2192541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.77, Y:177.89, Z:49.36 [[-3.28867915e-02 -9.99459083e-01 -2.70261056e-05 4.47773454e+02] [ 9.90802238e-01 -3.25983902e-02 -1.31332672e-01 1.77886353e+02] [ 1.31260751e-01 -4.34588772e-03 9.91338352e-01 4.93589399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2492541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.77, Y:177.89, Z:49.36 [[-3.51999016e-02 -9.99380291e-01 4.66125642e-06 4.47774596e+02] [ 9.90748098e-01 -3.48964725e-02 -1.31150456e-01 1.77890612e+02] [ 1.31069344e-01 -4.61186502e-03 9.91362476e-01 4.93590894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.2792541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.78, Y:177.92, Z:49.36 [[-3.86243496e-02 -9.99253801e-01 -4.14563730e-05 4.47775515e+02] [ 9.90621984e-01 -3.82852609e-02 -1.31157633e-01 1.77918440e+02] [ 1.31058176e-01 -5.10694586e-03 9.91361525e-01 4.93623238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.309254154 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:447.78, Y:177.95, Z:49.37 [[-4.47438599e-02 -9.98998492e-01 -2.29465018e-06 4.47777155e+02] [ 9.90197135e-01 -4.43493542e-02 -1.32449115e-01 1.77946368e+02] [ 1.32316364e-01 -5.92855678e-03 9.91189806e-01 4.93659831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.339254154 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:447.78, Y:177.95, Z:49.37 [[-4.71273066e-02 -9.98888891e-01 2.93741994e-05 4.47777394e+02] [ 9.90158570e-01 -4.67192919e-02 -1.31921620e-01 1.77948035e+02] [ 1.31776413e-01 -6.18802550e-03 9.91260150e-01 4.93661689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3692541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.78, Y:177.98, Z:49.37 [[-4.96277613e-02 -9.98767783e-01 -1.67248255e-05 4.47777967e+02] [ 9.90008905e-01 -4.91903287e-02 -1.32146433e-01 1.77975384e+02] [ 1.31982777e-01 -6.57468934e-03 9.91230205e-01 4.93696754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.3992541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.78, Y:177.98, Z:49.37 [[-5.30451808e-02 -9.98592113e-01 1.59979794e-05 4.47778918e+02] [ 9.90091812e-01 -5.25957310e-02 -1.30199433e-01 1.77977014e+02] [ 1.30016969e-01 -6.89061301e-03 9.91487825e-01 4.93696805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.429254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.78, Y:178.00, Z:49.37 [[-5.40890177e-02 -9.98536117e-01 -3.09965882e-05 4.47779407e+02] [ 9.90096263e-01 -5.36278175e-02 -1.29743775e-01 1.78004213e+02] [ 1.29552183e-01 -7.04840294e-03 9.91547554e-01 4.93731508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.459254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.78, Y:178.00, Z:49.37 [[-5.39778915e-02 -9.98542131e-01 6.81013936e-07 4.47779352e+02] [ 9.90100592e-01 -5.35216582e-02 -1.29754577e-01 1.78004760e+02] [ 1.29565449e-01 -7.00320422e-03 9.91546141e-01 4.93733978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.4892541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.78, Y:178.03, Z:49.38 [[-5.42567620e-02 -9.98527016e-01 -4.64957664e-05 4.47779314e+02] [ 9.90085940e-01 -5.37920590e-02 -1.29754559e-01 1.78032969e+02] [ 1.29560932e-01 -7.08609705e-03 9.91546142e-01 4.93768446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5192541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.78, Y:178.06, Z:49.38 [[-5.44103833e-02 -9.98518658e-01 -1.01678696e-05 4.47778892e+02] [ 9.90104107e-01 -5.39505459e-02 -1.29549977e-01 1.78060041e+02] [ 1.29357521e-01 -7.05893117e-03 9.91572894e-01 4.93803695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.5492541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.78, Y:178.06, Z:49.38 [[-5.21430804e-02 -9.98639624e-01 1.93746640e-05 4.47777535e+02] [ 9.90205633e-01 -5.17052232e-02 -1.29689533e-01 1.78056904e+02] [ 1.29514109e-01 -6.74322688e-03 9.91554650e-01 4.93803764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.579254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.78, Y:178.08, Z:49.38 [[-5.14120352e-02 -9.98677526e-01 -2.79548012e-05 4.47776524e+02] [ 9.90342856e-01 -5.09793565e-02 -1.28926848e-01 1.78083312e+02] [ 1.28754921e-01 -6.65607649e-03 9.91654107e-01 4.93834349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6092541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.78, Y:178.08, Z:49.38 [[-4.97821832e-02 -9.98760098e-01 1.75562293e-06 4.47775726e+02] [ 9.90452393e-01 -4.93683203e-02 -1.28712184e-01 1.78081885e+02] [ 1.28552681e-01 -6.40583469e-03 9.91681992e-01 4.93832341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6392541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.77, Y:178.11, Z:49.39 [[-4.73211930e-02 -9.98879724e-01 -4.56047314e-05 4.47774742e+02] [ 9.90360393e-01 -4.69116457e-02 -1.30328775e-01 1.78109551e+02] [ 1.30180632e-01 -6.21247825e-03 9.91470831e-01 4.93864597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.6692541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:447.77, Y:178.14, Z:49.39 [[-4.69603365e-02 -9.98896755e-01 -8.00346997e-06 4.47773687e+02] [ 9.90430905e-01 -4.65612973e-02 -1.29917929e-01 1.78136176e+02] [ 1.29774225e-01 -6.10891652e-03 9.91524751e-01 4.93896527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.699254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.77, Y:178.14, Z:49.39 [[-4.47792906e-02 -9.98996904e-01 1.24888274e-05 4.47773590e+02] [ 9.90263921e-01 -4.43894905e-02 -1.31935366e-01 1.78140199e+02] [ 1.31803577e-01 -5.89560486e-03 9.91258321e-01 4.93904445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7292541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.77, Y:178.17, Z:49.39 [[-4.46176795e-02 -9.99004135e-01 -3.37223551e-05 4.47771980e+02] [ 9.90494348e-01 -4.42332175e-02 -1.30247336e-01 1.78168008e+02] [ 1.30116136e-01 -5.84473570e-03 9.91481533e-01 4.93936168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7592541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.77, Y:178.17, Z:49.39 [[-4.25304695e-02 -9.99095170e-01 -9.87160928e-07 4.47769406e+02] [ 9.90463818e-01 -4.21629120e-02 -1.31162927e-01 1.78167229e+02] [ 1.31044205e-01 -5.57939862e-03 9.91360826e-01 4.93940177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.7892541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.77, Y:178.19, Z:49.40 [[-4.18491862e-02 -9.99123938e-01 -4.73484824e-05 4.47768489e+02] [ 9.90452435e-01 -4.14797425e-02 -1.31466362e-01 1.78194634e+02] [ 1.31349226e-01 -5.54865670e-03 9.91320631e-01 4.93971440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.819254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.77, Y:178.22, Z:49.40 [[-4.11590997e-02 -9.99152605e-01 -8.87732687e-06 4.47767689e+02] [ 9.90393186e-01 -4.07970902e-02 -1.32124691e-01 1.78221232e+02] [ 1.32012368e-01 -5.44692540e-03 9.91233104e-01 4.94004975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8492541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.77, Y:178.22, Z:49.40 [[-3.92861471e-02 -9.99228001e-01 7.00907913e-06 4.47765845e+02] [ 9.90352615e-01 -3.89381308e-02 -1.32986918e-01 1.78219616e+02] [ 1.32884525e-01 -5.21760215e-03 9.91117793e-01 4.94001391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.8792541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.77, Y:178.25, Z:49.40 [[-3.88018965e-02 -9.99246922e-01 -3.86836313e-05 4.47765120e+02] [ 9.90405816e-01 -3.84534478e-02 -1.32731501e-01 1.78247385e+02] [ 1.32630057e-01 -5.18854647e-03 9.91152030e-01 4.94033715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9092541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.76, Y:178.28, Z:49.41 [[-3.81340634e-02 -9.99272632e-01 6.06871555e-07 4.47764393e+02] [ 9.90470429e-01 -3.77982357e-02 -1.32437241e-01 1.78275125e+02] [ 1.32340934e-01 -5.04976906e-03 9.91191393e-01 4.94068605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.939254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.76, Y:178.28, Z:49.41 [[-3.53451818e-02 -9.99375163e-01 3.29955172e-05 4.47762410e+02] [ 9.90745592e-01 -3.50443067e-02 -1.31129971e-01 1.78279924e+02] [ 1.31049192e-01 -4.60212250e-03 9.91365185e-01 4.94080030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9692541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.76, Y:178.31, Z:49.41 [[-3.43065772e-02 -9.99411356e-01 -1.33684520e-05 4.47761632e+02] [ 9.90845467e-01 -3.40107902e-02 -1.30646570e-01 1.78307503e+02] [ 1.30569211e-01 -4.49528269e-03 9.91429006e-01 4.94117489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 568.9992541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.76, Y:178.31, Z:49.41 [[-3.25782096e-02 -9.99469189e-01 1.92560140e-05 4.47761261e+02] [ 9.90907158e-01 -3.23016422e-02 -1.30612433e-01 1.78312871e+02] [ 1.30543725e-01 -4.23603830e-03 9.91433504e-01 4.94127691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.0292541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.76, Y:178.34, Z:49.42 [[-3.17903722e-02 -9.99494558e-01 -2.69344882e-05 4.47761068e+02] [ 9.90884728e-01 -3.15129946e-02 -1.30974760e-01 1.78340863e+02] [ 1.30907711e-01 -4.19042534e-03 9.91385703e-01 4.94164248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.059254154 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:447.76, Y:178.34, Z:49.42 [[-3.14148344e-02 -9.99506432e-01 5.95606615e-06 4.47760204e+02] [ 9.91118312e-01 -3.11519633e-02 -1.29282819e-01 1.78341811e+02] [ 1.29219194e-01 -4.05549518e-03 9.91607762e-01 4.94159625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.089254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.76, Y:178.37, Z:49.42 [[-3.19930208e-02 -9.99488091e-01 -4.07351145e-05 4.47760182e+02] [ 9.91114722e-01 -3.17197297e-02 -1.29172239e-01 1.78369129e+02] [ 1.29104822e-01 -4.17298329e-03 9.91622172e-01 4.94190597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1192541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.76, Y:178.40, Z:49.42 [[-3.23768623e-02 -9.99475732e-01 -3.04935781e-06 4.47760781e+02] [ 9.91065584e-01 -3.21040303e-02 -1.29454009e-01 1.78395748e+02] [ 1.29386042e-01 -4.19433672e-03 9.91585427e-01 4.94219626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.1492541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.76, Y:178.40, Z:49.42 [[-3.41404999e-02 -9.99417043e-01 2.60882233e-05 4.47760598e+02] [ 9.91187885e-01 -3.38627313e-02 -1.28062064e-01 1.78400729e+02] [ 1.27988293e-01 -4.34624457e-03 9.91766155e-01 4.94223210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.179254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.76, Y:178.43, Z:49.43 [[-3.52701353e-02 -9.99377815e-01 -2.15244615e-05 4.47760692e+02] [ 9.91166081e-01 -3.49775707e-02 -1.27931116e-01 1.78427713e+02] [ 1.27850767e-01 -4.53348210e-03 9.91783055e-01 4.94257018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.209254154 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.76, Y:178.43, Z:49.43 [[-3.57704688e-02 -9.99360032e-01 -1.10838819e-07 4.47760636e+02] [ 9.91156018e-01 -3.54768052e-02 -1.27871592e-01 1.78432360e+02] [ 1.27789755e-01 -4.57413666e-03 9.91790732e-01 4.94263597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2392541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.76, Y:178.46, Z:49.43 [[-3.68062604e-02 -9.99322419e-01 -4.75284701e-05 4.47760605e+02] [ 9.91147948e-01 -3.64991137e-02 -1.27646233e-01 1.78458963e+02] [ 1.27558008e-01 -4.74528824e-03 9.91819760e-01 4.94292627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2692541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.76, Y:178.49, Z:49.43 [[-3.82996545e-02 -9.99266299e-01 -1.41709680e-05 4.47760607e+02] [ 9.91017431e-01 -3.79816753e-02 -1.28225757e-01 1.78486316e+02] [ 1.28131139e-01 -4.92504585e-03 9.91745005e-01 4.94324925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.2992541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.76, Y:178.50, Z:49.43 [[-3.79242143e-02 -9.99280618e-01 1.79832145e-05 4.47760696e+02] [ 9.90966769e-01 -3.76110077e-02 -1.28725576e-01 1.78498099e+02] [ 1.28633650e-01 -4.86399557e-03 9.91680254e-01 4.94339115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.329254154 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:447.76, Y:178.53, Z:49.44 [[-3.84081868e-02 -9.99262133e-01 -2.90030562e-05 4.47760240e+02] [ 9.90899581e-01 -3.80830121e-02 -1.29103461e-01 1.78525963e+02] [ 1.29007096e-01 -4.98736898e-03 9.91631129e-01 4.94371640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3592541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.76, Y:178.53, Z:49.44 [[-3.72619798e-02 -9.99305531e-01 2.52493600e-06 4.47760046e+02] [ 9.90848392e-01 -3.69469591e-02 -1.29824446e-01 1.78530884e+02] [ 1.29734380e-01 -4.83501404e-03 9.91536995e-01 4.94378686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.3892541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.76, Y:178.56, Z:49.44 [[-3.66369366e-02 -9.99328641e-01 -4.40821411e-05 4.47758650e+02] [ 9.90856603e-01 -3.63206068e-02 -1.29938471e-01 1.78558102e+02] [ 1.29849635e-01 -4.80422662e-03 9.91522058e-01 4.94408575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4192541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.76, Y:178.59, Z:49.44 [[-3.63277468e-02 -9.99339930e-01 -5.47181755e-06 4.47758105e+02] [ 9.90900618e-01 -3.60202531e-02 -1.29686183e-01 1.78585585e+02] [ 1.29600384e-01 -4.71662886e-03 9.91555089e-01 4.94440027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.449254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.76, Y:178.58, Z:49.44 [[-3.52605265e-02 -9.99378154e-01 2.54636697e-05 4.47757618e+02] [ 9.90938201e-01 -3.49660485e-02 -1.29687534e-01 1.78583282e+02] [ 1.29607778e-01 -4.54761779e-03 9.91554912e-01 4.94437443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.4792541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.76, Y:178.61, Z:49.45 [[-3.39451844e-02 -9.99423696e-01 -2.13144414e-05 4.47756703e+02] [ 9.91042487e-01 -3.36577625e-02 -1.29236000e-01 1.78610760e+02] [ 1.29160803e-01 -4.40806337e-03 9.91613864e-01 4.94469936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5092541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.76, Y:178.61, Z:49.45 [[-3.28673781e-02 -9.99459722e-01 1.01528209e-05 4.47756273e+02] [ 9.91101881e-01 -3.25938402e-02 -1.29053099e-01 1.78607106e+02] [ 1.28983705e-01 -4.23157452e-03 9.91637685e-01 4.94465205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5392541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.76, Y:178.64, Z:49.45 [[-3.23908688e-02 -9.99475277e-01 -3.67231566e-05 4.47755740e+02] [ 9.91134775e-01 -3.21158340e-02 -1.28920253e-01 1.78635005e+02] [ 1.28851426e-01 -4.21223660e-03 9.91654964e-01 4.94501609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.569254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.75, Y:178.66, Z:49.45 [[-3.25634807e-02 -9.99469669e-01 -7.47436264e-07 4.47754441e+02] [ 9.91156146e-01 -3.22925235e-02 -1.28711641e-01 1.78662466e+02] [ 1.28643357e-01 -4.19203985e-03 9.91682063e-01 4.94540951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.5992541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:447.75, Y:178.72, Z:49.46 [[-3.22624238e-02 -9.99478713e-01 1.19944566e-03 4.47752336e+02] [ 9.91125355e-01 -3.21475746e-02 -1.28984743e-01 1.78724562e+02] [ 1.28956064e-01 -2.97255945e-03 9.91645853e-01 4.94625378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6292541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.75, Y:178.67, Z:49.46 [[-3.20333281e-02 -9.99486256e-01 -1.04363295e-03 4.47753193e+02] [ 9.91083305e-01 -3.16288629e-02 -1.29435300e-01 1.78666844e+02] [ 1.29335795e-01 -5.18057062e-03 9.91587320e-01 4.94552164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.6592541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.75, Y:178.69, Z:49.46 [[-3.27830762e-02 -9.99462490e-01 -3.14732111e-05 4.47752333e+02] [ 9.90998358e-01 -3.25013571e-02 -1.29868843e-01 1.78694902e+02] [ 1.29798014e-01 -4.28869007e-03 9.91531181e-01 4.94588595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.689254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.75, Y:178.70, Z:49.46 [[-3.27725463e-02 -9.99462836e-01 -2.05954219e-06 4.47752317e+02] [ 9.90885549e-01 -3.24910263e-02 -1.30729345e-01 1.78695570e+02] [ 1.30659055e-01 -4.28637427e-03 9.91418095e-01 4.94590854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7192541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.75, Y:178.72, Z:49.46 [[-3.52817469e-02 -9.99377404e-01 -4.83456826e-05 4.47751693e+02] [ 9.90676456e-01 -3.49682013e-02 -1.31671500e-01 1.78723346e+02] [ 1.31587832e-01 -4.69349549e-03 9.91293404e-01 4.94633183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7492541539999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:447.75, Y:178.75, Z:49.47 [[-3.62855754e-02 -9.99341462e-01 -9.73215485e-06 4.47751943e+02] [ 9.90476616e-01 -3.59624031e-02 -1.32901388e-01 1.78751254e+02] [ 1.32813517e-01 -4.83204279e-03 9.91129266e-01 4.94669652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.7792541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.75, Y:178.75, Z:49.47 [[-3.78515734e-02 -9.99283372e-01 2.12163046e-05 4.47750150e+02] [ 9.90361562e-01 -3.75164574e-02 -1.33328515e-01 1.78753731e+02] [ 1.33233764e-01 -5.02568224e-03 9.91071898e-01 4.94680019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.809254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.75, Y:178.78, Z:49.47 [[-3.81555246e-02 -9.99271813e-01 -2.42904235e-05 4.47749253e+02] [ 9.90275331e-01 -3.78087545e-02 -1.33885273e-01 1.78781786e+02] [ 1.33786861e-01 -5.13251703e-03 9.90996838e-01 4.94719410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.839254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.75, Y:178.78, Z:49.47 [[-3.72662673e-02 -9.99305371e-01 6.64514747e-06 4.47748221e+02] [ 9.90258462e-01 -3.69297812e-02 -1.34254867e-01 1.78784569e+02] [ 1.34161855e-01 -4.99659736e-03 9.90946835e-01 4.94726680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8692541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.75, Y:178.81, Z:49.48 [[-3.43430927e-02 -9.99410101e-01 -3.87037506e-05 4.47746245e+02] [ 9.90321925e-01 -3.40255816e-02 -1.34553877e-01 1.78812143e+02] [ 1.34473187e-01 -4.65932544e-03 9.90906279e-01 4.94773495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.8992541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:447.75, Y:178.84, Z:49.48 [[-3.22548714e-02 -9.99479676e-01 4.23521728e-08 4.47745103e+02] [ 9.90386817e-01 -3.19614354e-02 -1.34582391e-01 1.78839798e+02] [ 1.34512366e-01 -4.34089576e-03 9.90902407e-01 4.94814708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.929254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.74, Y:178.84, Z:49.48 [[-2.92093048e-02 -9.99573317e-01 3.05291576e-05 4.47743829e+02] [ 9.90531614e-01 -2.89491889e-02 -1.34197862e-01 1.78844847e+02] [ 1.34141486e-01 -3.88958616e-03 9.90954556e-01 4.94826395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.959254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.74, Y:178.87, Z:49.49 [[-2.42174391e-02 -9.99706715e-01 -1.46979538e-05 4.47742007e+02] [ 9.90818780e-01 -2.40001768e-02 -1.33049380e-01 1.78871996e+02] [ 1.33010006e-01 -3.23667827e-03 9.91109410e-01 4.94872796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 569.9892541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.74, Y:178.87, Z:49.49 [[-2.17690516e-02 -9.99763026e-01 1.69167875e-05 4.47740819e+02] [ 9.90923054e-01 -2.15788133e-02 -1.32687060e-01 1.78874856e+02] [ 1.32655982e-01 -2.87170823e-03 9.91157981e-01 4.94881836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0192541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:447.74, Y:178.90, Z:49.49 [[-2.00850345e-02 -9.99798275e-01 -2.84223944e-05 4.47740489e+02] [ 9.91018491e-01 -1.99048975e-02 -1.32235190e-01 1.78902476e+02] [ 1.32207949e-01 -2.68411547e-03 9.91218368e-01 4.94918202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.0492541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:447.74, Y:178.90, Z:49.49 [[-1.80066891e-02 -9.99837866e-01 2.82259209e-06 4.47741087e+02] [ 9.90921407e-01 -1.78464833e-02 -1.33252647e-01 1.78904431e+02] [ 1.33231093e-01 -2.39664202e-03 9.91082102e-01 4.94919397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.079254154 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:447.74, Y:178.93, Z:49.50 [[-1.81699891e-02 -9.99834911e-01 -4.35196292e-05 4.47741667e+02] [ 9.90801221e-01 -1.79999820e-02 -1.34122860e-01 1.78930910e+02] [ 1.34099934e-01 -2.48013021e-03 9.90964710e-01 4.94951865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1092541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:447.74, Y:178.96, Z:49.50 [[-1.92818603e-02 -9.99814088e-01 -1.57603868e-05 4.47742065e+02] [ 9.90614863e-01 -1.91023157e-02 -1.35341400e-01 1.78957877e+02] [ 1.35315937e-01 -2.62524644e-03 9.90799024e-01 4.94984253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1392541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:447.74, Y:178.96, Z:49.50 [[-2.01784953e-02 -9.99796393e-01 1.03620707e-05 4.47742721e+02] [ 9.90454847e-01 -1.99913720e-02 -1.36380138e-01 1.78962556e+02] [ 1.36352577e-01 -2.74168281e-03 9.90656579e-01 4.94989283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.1692541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.74, Y:178.99, Z:49.50 [[-2.43085316e-02 -9.99704503e-01 -3.44103378e-05 4.47744232e+02] [ 9.90074906e-01 -2.40696151e-02 -1.38464196e-01 1.78989674e+02] [ 1.38422452e-01 -3.39993011e-03 9.90367440e-01 4.95024627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.199254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.75, Y:179.02, Z:49.51 [[-2.68355750e-02 -9.99639861e-01 1.95864067e-06 4.47745034e+02] [ 9.89878411e-01 -2.65737996e-02 -1.39407904e-01 1.79017257e+02] [ 1.39357750e-01 -3.73915245e-03 9.90235041e-01 4.95061912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2292541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.75, Y:179.03, Z:49.51 [[-2.88863950e-02 -9.99582701e-01 2.97609550e-05 4.47745851e+02] [ 9.89739676e-01 -2.86061147e-02 -1.39989513e-01 1.79025860e+02] [ 1.39931947e-01 -4.01433677e-03 9.90152986e-01 4.95076452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2592541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.75, Y:179.05, Z:49.51 [[-3.37715484e-02 -9.99429579e-01 -1.34766264e-05 4.47748079e+02] [ 9.89528932e-01 -3.34351041e-02 -1.40408643e-01 1.79053054e+02] [ 1.40328100e-01 -4.75515280e-03 9.90093638e-01 4.95113830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.2892541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.75, Y:179.06, Z:49.51 [[-3.57117153e-02 -9.99362133e-01 1.52394780e-05 4.47749117e+02] [ 9.89531880e-01 -3.53625696e-02 -1.39914786e-01 1.79058454e+02] [ 1.39826078e-01 -4.98151706e-03 9.90163548e-01 4.95122362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.319254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.75, Y:179.08, Z:49.52 [[-3.84091926e-02 -9.99262094e-01 -2.89640635e-05 4.47749805e+02] [ 9.89464657e-01 -3.80285541e-02 -1.39690810e-01 1.79084832e+02] [ 1.39586630e-01 -5.39407015e-03 9.90195171e-01 4.95159125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3492541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.75, Y:179.09, Z:49.52 [[-4.28933588e-02 -9.99079656e-01 -3.96038861e-06 4.47751190e+02] [ 9.89394183e-01 -4.24769830e-02 -1.38905929e-01 1.79088143e+02] [ 1.38777920e-01 -5.96206024e-03 9.90305581e-01 4.95167472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.3792541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.75, Y:179.12, Z:49.52 [[-4.31552403e-02 -9.99068378e-01 -4.84850185e-05 4.47751131e+02] [ 9.89383284e-01 -4.27301469e-02 -1.38905912e-01 1.79116350e+02] [ 1.38774432e-01 -6.04248826e-03 9.90305582e-01 4.95201927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4092541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.75, Y:179.14, Z:49.52 [[-4.59665032e-02 -9.98942982e-01 -1.15382595e-05 4.47751539e+02] [ 9.89307300e-01 -4.55215155e-02 -1.38559941e-01 1.79144486e+02] [ 1.38412956e-01 -6.38053087e-03 9.90354049e-01 4.95239173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.439254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.75, Y:179.15, Z:49.52 [[-4.80399026e-02 -9.98845417e-01 1.67749496e-05 4.47751721e+02] [ 9.89229347e-01 -4.75797383e-02 -1.38424952e-01 1.79147226e+02] [ 1.38265927e-01 -6.63332694e-03 9.90372926e-01 4.95245820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4692541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.75, Y:179.18, Z:49.53 [[-5.09116719e-02 -9.98703160e-01 -2.77032678e-05 4.47752035e+02] [ 9.89181829e-01 -5.04224743e-02 -1.37756611e-01 1.79175164e+02] [ 1.37576566e-01 -7.04082295e-03 9.90466110e-01 4.95283545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.4992541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.75, Y:179.18, Z:49.53 [[-5.58295132e-02 -9.98440316e-01 1.03512850e-06 4.47752613e+02] [ 9.89110740e-01 -5.53079752e-02 -1.36385381e-01 1.79184666e+02] [ 1.36172720e-01 -7.61330556e-03 9.90655857e-01 4.95297464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.5292541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.75, Y:179.21, Z:49.53 [[-5.87355557e-02 -9.98273576e-01 -4.39871030e-05 4.47753049e+02] [ 9.89011236e-01 -5.81845975e-02 -1.35909263e-01 1.79211035e+02] [ 1.35672066e-01 -8.02620979e-03 9.90721288e-01 4.95332056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.559254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:447.75, Y:179.24, Z:49.54 [[-6.08756505e-02 -9.98145358e-01 -3.16879521e-06 4.47753781e+02] [ 9.88844881e-01 -6.03079935e-02 -1.36193784e-01 1.79239144e+02] [ 1.35941002e-01 -8.29401862e-03 9.90682216e-01 4.95366808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.589254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.75, Y:179.25, Z:49.54 [[-6.30159571e-02 -9.98012519e-01 2.56685208e-05 4.47752938e+02] [ 9.88864409e-01 -6.24418066e-02 -1.35085903e-01 1.79246450e+02] [ 1.34819025e-01 -8.48718476e-03 9.90833890e-01 4.95376364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6192541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.75, Y:179.27, Z:49.54 [[-6.63955196e-02 -9.97793383e-01 -2.13851394e-05 4.47752336e+02] [ 9.88787419e-01 -6.57933684e-02 -1.34054741e-01 1.79273270e+02] [ 1.33757526e-01 -8.92177952e-03 9.90973928e-01 4.95408085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.6492541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:447.75, Y:179.27, Z:49.54 [[-6.70790987e-02 -9.97747661e-01 -1.32604372e-06 4.47752125e+02] [ 9.88746917e-01 -6.64737959e-02 -1.34017795e-01 1.79274045e+02] [ 1.33715853e-01 -8.99110401e-03 9.90978925e-01 4.95407877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.679254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.75, Y:179.30, Z:49.54 [[-6.81085687e-02 -9.97677914e-01 -4.76809059e-05 4.47751982e+02] [ 9.88720304e-01 -6.74906686e-02 -1.33705538e-01 1.79301903e+02] [ 1.33391845e-01 -9.15363593e-03 9.91021103e-01 4.95434462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.709254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.75, Y:179.33, Z:49.55 [[-6.79963116e-02 -9.97685572e-01 -1.16412929e-05 4.47751172e+02] [ 9.88663510e-01 -6.73798559e-02 -1.34180549e-01 1.79328449e+02] [ 1.33869213e-01 -9.13529173e-03 9.90956901e-01 4.95457815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7392541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.75, Y:179.33, Z:49.55 [[-6.61247297e-02 -9.97811365e-01 7.64999366e-06 4.47750593e+02] [ 9.88751424e-01 -6.55253603e-02 -1.34450916e-01 1.79329818e+02] [ 1.34157153e-01 -8.88296655e-03 9.90920255e-01 4.95453338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7692541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.75, Y:179.36, Z:49.55 [[-6.51007392e-02 -9.97878696e-01 -3.94937935e-05 4.47748417e+02] [ 9.88767382e-01 -6.45009888e-02 -1.34828358e-01 1.79356755e+02] [ 1.34539799e-01 -8.81647596e-03 9.90868968e-01 4.95486339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.7992541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.74, Y:179.38, Z:49.55 [[-6.09368201e-02 -9.98141625e-01 -1.10923626e-05 4.47744241e+02] [ 9.88973232e-01 -6.03755843e-02 -1.35228460e-01 1.79383174e+02] [ 1.34976485e-01 -8.25136236e-03 9.90814445e-01 4.95513314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.829254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.74, Y:179.38, Z:49.55 [[-5.78168267e-02 -9.98327208e-01 2.21413140e-05 4.47741680e+02] [ 9.89181304e-01 -5.72901487e-02 -1.35048831e-01 1.79379219e+02] [ 1.34824191e-01 -7.78619311e-03 9.90838944e-01 4.95509427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8592541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.74, Y:179.41, Z:49.55 [[-5.51604006e-02 -9.98477506e-01 -2.34727134e-05 4.47739324e+02] [ 9.89361873e-01 -5.46536425e-02 -1.34818629e-01 1.79406607e+02] [ 1.34612086e-01 -7.45987261e-03 9.90870293e-01 4.95537615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.8892541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:447.74, Y:179.40, Z:49.55 [[-4.84194746e-02 -9.98827089e-01 7.80786843e-06 4.47735635e+02] [ 9.89838267e-01 -4.79847758e-02 -1.33856888e-01 1.79404324e+02] [ 1.33700260e-01 -6.47355165e-03 9.91000673e-01 4.95530877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9192541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.73, Y:179.43, Z:49.56 [[-4.64861350e-02 -9.98918935e-01 -3.79162716e-05 4.47733113e+02] [ 9.90018886e-01 -4.60669027e-02 -1.33193267e-01 1.79432362e+02] [ 1.33047530e-01 -6.22917803e-03 9.91090083e-01 4.95569843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.949254154 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:447.73, Y:179.46, Z:49.56 [[-4.40367428e-02 -9.99029912e-01 1.10772421e-06 4.47730922e+02] [ 9.90286298e-01 -4.36514750e-02 -1.32013627e-01 1.79459860e+02] [ 1.31885611e-01 -5.81235318e-03 9.91247902e-01 4.95603327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 570.9792541539999 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:447.73, Y:179.46, Z:49.56 [[-3.77261448e-02 -9.99288115e-01 3.31613152e-05 4.47726453e+02] [ 9.90793342e-01 -3.74097592e-02 -1.30111734e-01 1.79462598e+02] [ 1.30020350e-01 -4.87575811e-03 9.91499337e-01 4.95608747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0092541539999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:447.72, Y:179.49, Z:49.56 [[-3.50074468e-02 -9.99387051e-01 -1.35072729e-05 4.47724025e+02] [ 9.90974729e-01 -3.47110223e-02 -1.29476758e-01 1.79490334e+02] [ 1.29396927e-01 -4.54603608e-03 9.91582457e-01 4.95643512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0392541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:447.72, Y:179.49, Z:49.56 [[-3.13287799e-02 -9.99509133e-01 1.98993876e-05 4.47721836e+02] [ 9.91252449e-01 -3.10725347e-02 -1.28269559e-01 1.79487988e+02] [ 1.28207214e-01 -3.99880347e-03 9.91739341e-01 4.95636183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.069254154 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:447.72, Y:179.52, Z:49.57 [[-2.85288006e-02 -9.99592971e-01 -2.70207391e-05 4.47720266e+02] [ 9.91438318e-01 -2.82926176e-02 -1.27473875e-01 1.79515939e+02] [ 1.27421225e-01 -3.66346617e-03 9.91841928e-01 4.95666062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.0992541539999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:447.72, Y:179.52, Z:49.57 [[-2.33311216e-02 -9.99727792e-01 6.84559377e-06 4.47718773e+02] [ 9.91623875e-01 -2.31428668e-02 -1.27068870e-01 1.79516885e+02] [ 1.27034439e-01 -2.95787100e-03 9.91893897e-01 4.95655025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1292541539999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:447.72, Y:179.54, Z:49.57 [[-2.16255890e-02 -9.99766139e-01 -4.10090753e-05 4.47718453e+02] [ 9.91607021e-01 -2.14438722e-02 -1.27497750e-01 1.79543968e+02] [ 1.27467054e-01 -2.79787884e-03 9.91838859e-01 4.95684035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.1592541539999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:447.72, Y:179.57, Z:49.57 [[-1.99597912e-02 -9.99800783e-01 -1.94806611e-05 4.47717105e+02] [ 9.91675192e-01 -1.97950947e-02 -1.27233914e-01 1.79571289e+02] [ 1.27208181e-01 -2.55888084e-03 9.91872739e-01 4.95710535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.189254154 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:447.72, Y:179.57, Z:49.57 [[-1.88255700e-02 -9.99822783e-01 1.37067874e-05 4.47717012e+02] [ 9.91685992e-01 -1.86741086e-02 -1.27319171e-01 1.79572037e+02] [ 1.27296864e-01 -2.38326313e-03 9.91861799e-01 4.95709223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2192541539999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:447.72, Y:179.60, Z:49.57 [[-1.88607323e-02 -9.99822120e-01 -3.30955871e-05 4.47716746e+02] [ 9.91707171e-01 -1.87034423e-02 -1.27149787e-01 1.79599682e+02] [ 1.27126551e-01 -2.43095923e-03 9.91883527e-01 4.95740742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2492541539999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:447.72, Y:179.61, Z:49.57 [[-1.86553785e-02 -9.99825973e-01 5.03204358e-07 4.47716912e+02] [ 9.91779118e-01 -1.85052990e-02 -1.26616489e-01 1.79606471e+02] [ 1.26594463e-01 -2.36157946e-03 9.91951745e-01 4.95746909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.2792541539999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:447.72, Y:179.63, Z:49.58 [[-1.92869041e-02 -9.99813989e-01 -4.65988330e-05 4.47716894e+02] [ 9.91788896e-01 -1.91262027e-02 -1.26447512e-01 1.79634651e+02] [ 1.26423100e-01 -2.48499724e-03 9.91973298e-01 4.95780882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.309254154 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:447.72, Y:179.66, Z:49.58 [[-2.05705888e-02 -9.99788403e-01 -1.02253070e-05 4.47717622e+02] [ 9.91790131e-01 -2.04047337e-02 -1.26237803e-01 1.79662837e+02] [ 1.26210883e-01 -2.60692729e-03 9.92000009e-01 4.95808481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.339254154 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:447.72, Y:179.66, Z:49.58 [[-2.06344536e-02 -9.99787087e-01 2.29038223e-05 4.47718000e+02] [ 9.91856121e-01 -2.04736474e-02 -1.25707061e-01 1.79663724e+02] [ 1.25680765e-01 -2.57117922e-03 9.92067404e-01 4.95803746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3692541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:447.72, Y:179.69, Z:49.58 [[-2.19817491e-02 -9.99758372e-01 -2.45856160e-05 4.47718597e+02] [ 9.91912367e-01 -2.18061636e-02 -1.25037387e-01 1.79690326e+02] [ 1.25006638e-01 -2.77292724e-03 9.92152030e-01 4.95832072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.3992541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:447.72, Y:179.69, Z:49.58 [[-2.20660761e-02 -9.99756515e-01 5.31315953e-06 4.47718967e+02] [ 9.91989934e-01 -2.18953176e-02 -1.24404851e-01 1.79688753e+02] [ 1.24374677e-01 -2.73985631e-03 9.92231542e-01 4.95825617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.429254154 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:447.72, Y:179.72, Z:49.59 [[-2.38882101e-02 -9.99714635e-01 -4.24689525e-05 4.47719492e+02] [ 9.92012138e-01 -2.36988954e-02 -1.23896249e-01 1.79715708e+02] [ 1.23859887e-01 -3.00178934e-03 9.92295177e-01 4.95862910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.459254154 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:447.72, Y:179.74, Z:49.59 [[-2.47900365e-02 -9.99692680e-01 -1.14037097e-05 4.47720003e+02] [ 9.92058467e-01 -2.45993188e-02 -1.23348578e-01 1.79743844e+02] [ 1.23310390e-01 -3.06912891e-03 9.92363405e-01 4.95896388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.4892541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:447.72, Y:179.74, Z:49.59 [[-2.52739861e-02 -9.99680562e-01 2.20054030e-05 4.47720809e+02] [ 9.92095135e-01 -2.50849174e-02 -1.22955239e-01 1.79744692e+02] [ 1.22916514e-01 -3.08573754e-03 9.92412217e-01 4.95897330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5192541539999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:447.72, Y:179.77, Z:49.59 [[-2.66050896e-02 -9.99646022e-01 -2.62851140e-05 4.47721732e+02] [ 9.92084718e-01 -2.64006212e-02 -1.22763673e-01 1.79772792e+02] [ 1.22719523e-01 -3.29221557e-03 9.92435932e-01 4.95928804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.5492541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.72, Y:179.78, Z:49.59 [[-2.85583632e-02 -9.99592127e-01 6.93721017e-06 4.47724222e+02] [ 9.92012384e-01 -2.83426628e-02 -1.22915106e-01 1.79777243e+02] [ 1.22865169e-01 -3.50337243e-03 9.92417189e-01 4.95929111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.579254154 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.73, Y:179.80, Z:49.60 [[-3.04505854e-02 -9.99536273e-01 -4.13627509e-05 4.47725474e+02] [ 9.91998264e-01 -3.02158694e-02 -1.22582404e-01 1.79804673e+02] [ 1.22524309e-01 -3.77373773e-03 9.92458338e-01 4.95956985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6092541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:447.73, Y:179.83, Z:49.60 [[-3.21283775e-02 -9.99483750e-01 -4.78314488e-06 4.47726750e+02] [ 9.91927805e-01 -3.18849045e-02 -1.22729714e-01 1.79831634e+02] [ 1.22666202e-01 -3.94785111e-03 9.92440133e-01 4.95987419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6392541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:447.73, Y:179.84, Z:49.60 [[-3.44486146e-02 -9.99406470e-01 1.50548549e-05 4.47729292e+02] [ 9.91894116e-01 -3.41915142e-02 -1.22380566e-01 1.79840064e+02] [ 1.22308445e-01 -4.20090814e-03 9.92483248e-01 4.95996038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.6692541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:447.73, Y:179.87, Z:49.60 [[-3.55862048e-02 -9.99366610e-01 -3.35789101e-05 4.47730377e+02] [ 9.91884979e-01 -3.53156895e-02 -1.22135129e-01 1.79867724e+02] [ 1.22056584e-01 -4.37963213e-03 9.92513481e-01 4.96029964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.699254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.73, Y:179.87, Z:49.60 [[-3.55830345e-02 -9.99366723e-01 1.93781175e-06 4.47731570e+02] [ 9.91954423e-01 -3.53193510e-02 -1.21568771e-01 1.79870579e+02] [ 1.21491853e-01 -4.32386356e-03 9.92583011e-01 4.96029068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7292541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:447.73, Y:179.90, Z:49.61 [[-3.61032881e-02 -9.99348063e-01 -4.69170930e-05 4.47732889e+02] [ 9.91929445e-01 -3.58295670e-02 -1.21623268e-01 1.79898169e+02] [ 1.21542296e-01 -4.43753832e-03 9.92576334e-01 4.96064024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7592541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.73, Y:179.92, Z:49.61 [[-3.55884559e-02 -9.99366530e-01 -1.12798685e-05 4.47734971e+02] [ 9.92029550e-01 -3.53258134e-02 -1.20952303e-01 1.79924623e+02] [ 1.20875285e-01 -4.31569568e-03 9.92658320e-01 4.96089234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.7892541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.74, Y:179.93, Z:49.61 [[-3.45791565e-02 -9.99401962e-01 1.32412253e-05 4.47735354e+02] [ 9.92046983e-01 -3.43262798e-02 -1.21097030e-01 1.79929047e+02] [ 1.21025063e-01 -4.17429722e-03 9.92640675e-01 4.96094805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.819254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.74, Y:179.96, Z:49.61 [[-3.40961282e-02 -9.99412043e-01 -3.60856199e-03 4.47737574e+02] [ 9.91980213e-01 -3.34024411e-02 -1.21899691e-01 1.79957436e+02] [ 1.21707485e-01 -7.73592960e-03 9.92535865e-01 4.96128482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8492541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.74, Y:179.98, Z:49.62 [[-3.28439039e-02 -9.99454710e-01 3.40005993e-03 4.47735806e+02] [ 9.92097698e-01 -3.30139287e-02 -1.21046429e-01 1.79984023e+02] [ 1.21092673e-01 -6.02445666e-04 9.92641024e-01 4.96162699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.8792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.74, Y:179.99, Z:49.61 [[-3.12594588e-02 -9.99511304e-01 1.47177600e-05 4.47738433e+02] [ 9.92221072e-01 -3.10332339e-02 -1.20558213e-01 1.79994636e+02] [ 1.20499754e-01 -3.75398123e-03 9.92706259e-01 4.96145065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9092541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.74, Y:180.02, Z:49.62 [[-3.11824684e-02 -9.99513708e-01 -3.44950613e-05 4.47738915e+02] [ 9.92166772e-01 -3.09490846e-02 -1.21025826e-01 1.80020904e+02] [ 1.20965904e-01 -3.80810884e-03 9.92649358e-01 4.96188540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.939254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.74, Y:180.05, Z:49.62 [[-3.05972747e-02 -9.99531794e-01 -2.44529956e-06 4.47739725e+02] [ 9.92153611e-01 -3.03711199e-02 -1.21279870e-01 1.80049024e+02] [ 1.21223011e-01 -3.71325960e-03 9.92618352e-01 4.96222776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9692541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.74, Y:180.05, Z:49.62 [[-2.76664640e-02 -9.99617210e-01 3.17214486e-05 4.47741388e+02] [ 9.92276259e-01 -2.74671268e-02 -1.20968518e-01 1.80049637e+02] [ 1.20923084e-01 -3.31529471e-03 9.92656344e-01 4.96219474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 571.9992541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.74, Y:180.08, Z:49.63 [[-2.63930367e-02 -9.99651643e-01 -1.71016692e-05 4.47741592e+02] [ 9.92285262e-01 -2.61964748e-02 -1.21176336e-01 1.80075844e+02] [ 1.21133676e-01 -3.21518123e-03 9.92630997e-01 4.96253360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.0292541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:447.74, Y:180.08, Z:49.62 [[-2.41758325e-02 -9.99707722e-01 1.48541397e-05 4.47742112e+02] [ 9.92399106e-01 -2.40008823e-02 -1.20697857e-01 1.80077872e+02] [ 1.20662936e-01 -2.90322993e-03 9.92689290e-01 4.96239907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.059254154 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.74, Y:180.11, Z:49.63 [[-2.28775547e-02 -9.99738274e-01 -3.40604494e-05 4.47742581e+02] [ 9.92381184e-01 -2.27050727e-02 -1.21095276e-01 1.80105250e+02] [ 1.21062808e-01 -2.80416474e-03 9.92640888e-01 4.96289854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.089254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:447.74, Y:180.10, Z:49.63 [[-2.18070272e-02 -9.99762199e-01 2.55518148e-06 4.47743242e+02] [ 9.92416346e-01 -2.16471071e-02 -1.21000820e-01 1.80103687e+02] [ 1.20972101e-01 -2.63613236e-03 9.92652407e-01 4.96287460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1192541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.75, Y:180.13, Z:49.63 [[-2.21321305e-02 -9.99755053e-01 -4.60873262e-05 4.47745532e+02] [ 9.92521430e-01 -2.19664604e-02 -1.20077834e-01 1.80130073e+02] [ 1.20047409e-01 -2.70332095e-03 9.92764480e-01 4.96315535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.1492541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.75, Y:180.16, Z:49.64 [[-2.35966606e-02 -9.99721560e-01 -1.45212353e-05 4.47746907e+02] [ 9.92530697e-01 -2.34251939e-02 -1.19725003e-01 1.80158181e+02] [ 1.19691327e-01 -2.83952303e-03 9.92807093e-01 4.96350168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.179254154 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.75, Y:180.16, Z:49.63 [[-2.47919154e-02 -9.99692633e-01 2.23444849e-05 4.47748624e+02] [ 9.92590425e-01 -2.46184434e-02 -1.18988157e-01 1.80160351e+02] [ 1.18952134e-01 -2.92776539e-03 9.92895673e-01 4.96342920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.209254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.75, Y:180.19, Z:49.64 [[-3.07022063e-02 -9.99528576e-01 -2.68742777e-05 4.47751730e+02] [ 9.92448112e-01 -3.04815232e-02 -1.18817602e-01 1.80186605e+02] [ 1.18760770e-01 -3.67463386e-03 9.92916098e-01 4.96388133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2392541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.75, Y:180.21, Z:49.64 [[-3.45290423e-02 -9.99403695e-01 -3.32011949e-06 4.47753777e+02] [ 9.92358267e-01 -3.42852315e-02 -1.18530977e-01 1.80214823e+02] [ 1.18460182e-01 -4.09605586e-03 9.92950355e-01 4.96418145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2692541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.76, Y:180.22, Z:49.64 [[-3.80320206e-02 -9.99276520e-01 3.38709918e-05 4.47755738e+02] [ 9.92152719e-01 -3.77649320e-02 -1.19192251e-01 1.80218772e+02] [ 1.19107297e-01 -4.49951695e-03 9.92871193e-01 4.96425970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.2992541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.76, Y:180.25, Z:49.65 [[-3.82080177e-02 -9.99269807e-01 -1.55304674e-05 4.47755674e+02] [ 9.92146278e-01 -3.79337905e-02 -1.19192245e-01 1.80247008e+02] [ 1.19104622e-01 -4.56950790e-03 9.92871194e-01 4.96460457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.329254154 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.76, Y:180.25, Z:49.65 [[-4.21032593e-02 -9.99113265e-01 6.97553480e-06 4.47757627e+02] [ 9.91959225e-01 -4.18026176e-02 -1.19454754e-01 1.80251754e+02] [ 1.19349120e-01 -5.02251503e-03 9.92839646e-01 4.96461476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3592541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.76, Y:180.28, Z:49.65 [[-5.02611049e-02 -9.98736111e-01 -4.27108664e-05 4.47761132e+02] [ 9.91480524e-01 -4.98908240e-02 -1.20321558e-01 1.80278417e+02] [ 1.20167354e-01 -6.08984143e-03 9.92734970e-01 4.96492779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.3892541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:447.76, Y:180.31, Z:49.65 [[-5.39682106e-02 -9.98542654e-01 -1.03917010e-05 4.47762660e+02] [ 9.91214900e-01 -5.35709091e-02 -1.20926340e-01 1.80306024e+02] [ 1.20749551e-01 -6.53647856e-03 9.92661483e-01 4.96517633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4192541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.76, Y:180.31, Z:49.65 [[-5.62042298e-02 -9.98419293e-01 2.45557698e-05 4.47763994e+02] [ 9.91020611e-01 -5.57907229e-02 -1.21513556e-01 1.80309051e+02] [ 1.21322848e-01 -6.80524054e-03 9.92589772e-01 4.96536566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.449254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:447.76, Y:180.34, Z:49.66 [[-5.84920569e-02 -9.98287874e-01 -2.49132052e-05 4.47764967e+02] [ 9.90843333e-01 -5.80528215e-02 -1.21898972e-01 1.80336831e+02] [ 1.21688819e-01 -7.15480667e-03 9.92542513e-01 4.96573946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.4792541539999 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:447.77, Y:180.34, Z:49.66 [[-5.96183490e-02 -9.98221244e-01 1.11157362e-05 4.47766171e+02] [ 9.90807316e-01 -5.91769099e-02 -1.21650959e-01 1.80341931e+02] [ 1.21435229e-01 -7.24161578e-03 9.92572941e-01 4.96583155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5092541539999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:447.77, Y:180.37, Z:49.66 [[-5.94315434e-02 -9.98232383e-01 -3.84242477e-05 4.47766733e+02] [ 9.90802378e-01 -5.89844971e-02 -1.21784548e-01 1.80368615e+02] [ 1.21567013e-01 -7.27591446e-03 9.92556559e-01 4.96616921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5392541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:447.77, Y:180.40, Z:49.66 [[-5.87944038e-02 -9.98270113e-01 -6.38202859e-06 4.47767166e+02] [ 9.90814340e-01 -5.83545066e-02 -1.21990551e-01 1.80396177e+02] [ 1.21779148e-01 -7.17868511e-03 9.92531262e-01 4.96642653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.569254154 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.77, Y:180.40, Z:49.67 [[-5.55117612e-02 -9.98458033e-01 2.88362438e-05 4.47767239e+02] [ 9.90843110e-01 -5.50919506e-02 -1.23267226e-01 1.80402479e+02] [ 1.23078741e-01 -6.81420864e-03 9.92373513e-01 4.96656224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.5992541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:447.77, Y:180.43, Z:49.67 [[-5.37693560e-02 -9.98553382e-01 -2.01934130e-05 4.47766683e+02] [ 9.90896828e-01 -5.33545721e-02 -1.23599217e-01 1.80428928e+02] [ 1.23419338e-01 -6.66585988e-03 9.92332219e-01 4.96686512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6292541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:447.77, Y:180.43, Z:49.67 [[-4.86223630e-02 -9.98817233e-01 1.13870951e-05 4.47765074e+02] [ 9.91016059e-01 -4.82440245e-02 -1.24738463e-01 1.80428740e+02] [ 1.24591476e-01 -6.05379405e-03 9.92189657e-01 4.96682548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.6592541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:447.76, Y:180.46, Z:49.67 [[-4.62091190e-02 -9.98931787e-01 -3.71699019e-05 4.47763849e+02] [ 9.91035103e-01 -4.58391605e-02 -1.25491815e-01 1.80455611e+02] [ 1.25356059e-01 -5.83570290e-03 9.92094654e-01 4.96719681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.689254154 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.76, Y:180.48, Z:49.68 [[-4.39007378e-02 -9.99035898e-01 -2.89683435e-06 4.47762276e+02] [ 9.91049860e-01 -4.35494406e-02 -1.26188834e-01 1.80483391e+02] [ 1.26067049e-01 -5.54265381e-03 9.92006239e-01 4.96756645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7192541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:447.76, Y:180.49, Z:49.68 [[-3.83347442e-02 -9.99264953e-01 3.16047395e-05 4.47759940e+02] [ 9.91156660e-01 -3.80277071e-02 -1.27131308e-01 1.80485439e+02] [ 1.27039063e-01 -4.84222094e-03 9.91885895e-01 4.96763109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7492541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.76, Y:180.51, Z:49.68 [[-3.66528947e-02 -9.99328057e-01 -1.57810902e-05 4.47758987e+02] [ 9.91188052e-01 -3.63523278e-02 -1.27376426e-01 1.80513404e+02] [ 1.27290262e-01 -4.68435674e-03 9.91854448e-01 4.96795055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.7792541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.76, Y:180.52, Z:49.68 [[-3.40564785e-02 -9.99419910e-01 1.78125439e-05 4.47757913e+02] [ 9.91278051e-01 -3.37813048e-02 -1.27383869e-01 1.80515202e+02] [ 1.27310576e-01 -4.32058881e-03 9.91853492e-01 4.96800474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.809254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.76, Y:180.54, Z:49.68 [[-3.23433226e-02 -9.99476817e-01 -2.96247136e-05 4.47756243e+02] [ 9.91315917e-01 -3.20754537e-02 -1.27530066e-01 1.80542087e+02] [ 1.27462394e-01 -4.15411351e-03 9.91834705e-01 4.96836291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.839254154 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.75, Y:180.54, Z:49.68 [[-2.73792517e-02 -9.99625118e-01 -3.39317762e-07 4.47752808e+02] [ 9.91343094e-01 -2.71523675e-02 -1.28458627e-01 1.80542621e+02] [ 1.28410461e-01 -3.51743747e-03 9.91714869e-01 4.96835297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8692541539999 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:447.75, Y:180.57, Z:49.69 [[-2.55139646e-02 -9.99669578e-01 -3.12605774e-03 4.47752547e+02] [ 9.91515984e-01 -2.49069228e-02 -1.27576248e-01 1.80569612e+02] [ 1.27456234e-01 -6.35451210e-03 9.91823840e-01 4.96867530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.8992541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:447.75, Y:180.60, Z:49.69 [[-2.19628402e-02 -9.99753198e-01 3.34316170e-03 4.47746671e+02] [ 9.91325368e-01 -2.22108765e-02 -1.29540313e-01 1.80596352e+02] [ 1.29582597e-01 4.69087811e-04 9.91568520e-01 4.96913704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.929254154 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:447.75, Y:180.68, Z:49.70 [[-2.01366191e-02 -9.99797191e-01 3.06681937e-04 4.47746883e+02] [ 9.91281857e-01 -2.00050618e-02 -1.30230864e-01 1.80682553e+02] [ 1.30210588e-01 -2.31840107e-03 9.91483650e-01 4.97016689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.959254154 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:447.75, Y:180.60, Z:49.69 [[-1.81622349e-02 -9.99835051e-01 -6.59565159e-05 4.47746005e+02] [ 9.91286753e-01 -1.79983453e-02 -1.30486140e-01 1.80601213e+02] [ 1.30463430e-01 -2.43530175e-03 9.91450131e-01 4.96912409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 572.9892541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.75, Y:180.63, Z:49.69 [[-1.72415379e-02 -9.99851353e-01 -3.55237035e-05 4.47745034e+02] [ 9.91236749e-01 -1.70883329e-02 -1.30987392e-01 1.80628469e+02] [ 1.30967314e-01 -2.29363648e-03 9.91384034e-01 4.96948070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0192541539999 meters Centerline goodness : 0.996424 Centerline is valid? [True, True] Translation: X:447.76, Y:180.65, Z:49.70 [[-1.90200945e-02 -9.99241967e-01 -3.39665580e-02 4.47756501e+02] [ 9.90634624e-01 -1.42402733e-02 -1.35794904e-01 1.80652720e+02] [ 1.35208274e-01 -3.62312804e-02 9.90154542e-01 4.96992086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.0492541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.72, Y:180.09, Z:49.64 [[ 1.22781856e-04 -9.99509555e-01 3.13150693e-02 4.47720941e+02] [ 9.92612365e-01 -3.67760481e-03 -1.21273113e-01 1.80089406e+02] [ 1.21328800e-01 3.10986151e-02 9.92125092e-01 4.96427319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.079254154 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:447.74, Y:180.12, Z:49.64 [[-8.95133674e-04 -9.99997702e-01 -1.94779655e-03 4.47736708e+02] [ 9.92646672e-01 -6.52779776e-04 -1.21046104e-01 1.80116414e+02] [ 1.21044555e-01 -2.04182620e-03 9.92644975e-01 4.96373388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1092541539999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:447.74, Y:180.14, Z:49.64 [[-3.24741382e-03 -9.99992866e-01 -1.92918623e-03 4.47737413e+02] [ 9.92623398e-01 -2.98965962e-03 -1.21201696e-01 1.80142692e+02] [ 1.21195064e-01 -2.30854746e-03 9.92626026e-01 4.96411229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1392541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.74, Y:180.17, Z:49.64 [[-5.02708365e-03 -9.99985568e-01 -1.89558191e-03 4.47738223e+02] [ 9.92607416e-01 -4.76010069e-03 -1.21275962e-01 1.80170009e+02] [ 1.21265189e-01 -2.49123307e-03 9.92617020e-01 4.96445835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.1692541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.74, Y:180.20, Z:49.65 [[-9.38562197e-03 -9.99944562e-01 -4.77308810e-03 4.47740846e+02] [ 9.92648967e-01 -8.74093881e-03 -1.20712987e-01 1.80196723e+02] [ 1.20664574e-01 -5.87096743e-03 9.92675976e-01 4.96472879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.199254154 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.74, Y:180.23, Z:49.65 [[-1.20030588e-02 -9.99927404e-01 1.05550115e-03 4.47739138e+02] [ 9.92509817e-01 -1.20423451e-02 -1.21569917e-01 1.80225036e+02] [ 1.21573802e-01 -4.11615611e-04 9.92582310e-01 4.96521847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2292541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.74, Y:180.25, Z:49.65 [[-1.50007860e-02 -9.99885823e-01 -1.82135537e-03 4.47741524e+02] [ 9.92468093e-01 -1.46679591e-02 -1.21622097e-01 1.80253007e+02] [ 1.21581495e-01 -3.63206414e-03 9.92574807e-01 4.96542137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2592541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.74, Y:180.28, Z:49.66 [[-1.81122211e-02 -9.99834359e-01 -1.78960523e-03 4.47742458e+02] [ 9.92385585e-01 -1.77591264e-02 -1.21882993e-01 1.80279735e+02] [ 1.21831022e-01 -3.98355015e-03 9.92542862e-01 4.96573325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.2892541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:447.74, Y:180.31, Z:49.66 [[-2.37944312e-02 -9.99715305e-01 -1.77019577e-03 4.47743958e+02] [ 9.92153352e-01 -2.33969734e-02 -1.22818194e-01 1.80307494e+02] [ 1.22741811e-01 -4.67869474e-03 9.92427608e-01 4.96604121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.319254154 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.74, Y:180.33, Z:49.66 [[-2.65044718e-02 -9.99647177e-01 -1.74216171e-03 4.47744883e+02] [ 9.92022369e-01 -2.60873668e-02 -1.23333163e-01 1.80334405e+02] [ 1.23244200e-01 -4.99714374e-03 9.92363792e-01 4.96635238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3492541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.75, Y:180.36, Z:49.67 [[-3.14347458e-02 -9.99504326e-01 -1.72004010e-03 4.47746131e+02] [ 9.91844504e-01 -3.09810859e-02 -1.23631112e-01 1.80361985e+02] [ 1.23516543e-01 -5.59232491e-03 9.92326755e-01 4.96667408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.3792541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:447.75, Y:180.39, Z:49.67 [[-3.37451868e-02 -9.99429046e-01 -1.68647889e-03 4.47746852e+02] [ 9.91744222e-01 -3.32767419e-02 -1.23838835e-01 1.80389053e+02] [ 1.23712009e-01 -5.85152033e-03 9.92300911e-01 4.96697120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4092541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.76, Y:180.41, Z:49.67 [[-3.95674961e-02 -9.98595889e-01 -3.52230600e-02 4.47758967e+02] [ 9.91013094e-01 -3.47104254e-02 -1.29182946e-01 1.80411710e+02] [ 1.27778951e-01 -4.00179594e-02 9.90995006e-01 4.96740936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.439254154 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:447.73, Y:180.44, Z:49.69 [[-3.80042105e-02 -9.98712591e-01 3.35982150e-02 4.47731275e+02] [ 9.91265866e-01 -4.19272523e-02 -1.25036352e-01 1.80443470e+02] [ 1.26284060e-01 2.85528558e-02 9.91583113e-01 4.96852222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4692541539999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.75, Y:180.47, Z:49.68 [[-4.26190820e-02 -9.99090128e-01 -1.59079216e-03 4.47748316e+02] [ 9.91302135e-01 -4.20883194e-02 -1.24694227e-01 1.80471323e+02] [ 1.24513817e-01 -6.89130916e-03 9.92193942e-01 4.96791617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.4992541539999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:447.75, Y:180.50, Z:49.68 [[-4.46722800e-02 -9.99000488e-01 -1.55295519e-03 4.47748341e+02] [ 9.91256672e-01 -4.41326993e-02 -1.24348363e-01 1.80498553e+02] [ 1.24155540e-01 -7.09430209e-03 9.92237408e-01 4.96817681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.5292541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.75, Y:180.53, Z:49.69 [[-4.77986527e-02 -9.98855831e-01 -1.52234451e-03 4.47748083e+02] [ 9.91082126e-01 -4.72367546e-02 -1.24598992e-01 1.80526049e+02] [ 1.24384519e-01 -7.46443237e-03 9.92206014e-01 4.96850672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.559254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:447.75, Y:180.55, Z:49.69 [[-4.94797994e-02 -9.98774026e-01 -1.48138555e-03 4.47747638e+02] [ 9.91051965e-01 -4.89130432e-02 -1.24191450e-01 1.80552520e+02] [ 1.23966736e-01 -7.61309812e-03 9.92257169e-01 4.96879779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.589254154 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:447.75, Y:180.58, Z:49.69 [[-5.10701611e-02 -9.98694012e-01 -1.45236870e-03 4.47747286e+02] [ 9.90927099e-01 -5.04918479e-02 -1.24555441e-01 1.80580467e+02] [ 1.24319441e-01 -7.80025795e-03 9.92211587e-01 4.96911063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6192541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.75, Y:180.61, Z:49.69 [[-5.22204633e-02 -9.98634573e-01 -1.41909304e-03 4.47746766e+02] [ 9.90835264e-01 -5.16352538e-02 -1.24816984e-01 1.80607916e+02] [ 1.24573280e-01 -7.92408817e-03 9.92178768e-01 4.96943760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.6492541539999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:447.74, Y:180.64, Z:49.70 [[-5.34905761e-02 -9.98567371e-01 -1.40165895e-03 4.47744877e+02] [ 9.90544598e-01 -5.28831286e-02 -1.26588996e-01 1.80635646e+02] [ 1.26333517e-01 -8.15972401e-03 9.91954264e-01 4.96995074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.679254154 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.74, Y:180.66, Z:49.70 [[-5.37368836e-02 -9.98554213e-01 -1.35352688e-03 4.47744106e+02] [ 9.90659231e-01 -5.31417962e-02 -1.25579608e-01 1.80662968e+02] [ 1.25326118e-01 -8.08914070e-03 9.92082623e-01 4.97009270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.709254154 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.74, Y:180.69, Z:49.70 [[-5.36159529e-02 -9.98560744e-01 -1.33034672e-03 4.47742913e+02] [ 9.90661536e-01 -5.30244718e-02 -1.25611015e-01 1.80690695e+02] [ 1.25359688e-01 -8.05267759e-03 9.92078678e-01 4.97040263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7392541539999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:447.74, Y:180.72, Z:49.71 [[-5.14481227e-02 -9.98674849e-01 -1.27905424e-03 4.47741130e+02] [ 9.90961166e-01 -5.08917736e-02 -1.24120889e-01 1.80718054e+02] [ 1.23891317e-01 -7.65327983e-03 9.92266279e-01 4.97071624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7692541539999 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:447.74, Y:180.74, Z:49.71 [[-5.05185595e-02 -9.98722580e-01 -1.04087314e-03 4.47739214e+02] [ 9.90914784e-01 -4.99934929e-02 -1.24854085e-01 1.80744106e+02] [ 1.24642557e-01 -7.33886512e-03 9.92174568e-01 4.97104069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.7992541539999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:447.74, Y:180.77, Z:49.71 [[-4.82467310e-02 -9.98835030e-01 -9.14480983e-04 4.47735977e+02] [ 9.90943062e-01 -4.77506186e-02 -1.25505881e-01 1.80773646e+02] [ 1.25316003e-01 -6.96144706e-03 9.92092454e-01 4.97141045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.829254154 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:447.73, Y:180.80, Z:49.72 [[-4.59136694e-02 -9.98944722e-01 -1.17329962e-03 4.47734620e+02] [ 9.91053000e-01 -4.54035337e-02 -1.25508846e-01 1.80801491e+02] [ 1.25323127e-01 -6.92537376e-03 9.92091807e-01 4.97169063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8592541539999 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:447.73, Y:180.83, Z:49.72 [[-4.30079565e-02 -9.99074079e-01 -1.14022553e-03 4.47732748e+02] [ 9.91145970e-01 -4.25231144e-02 -1.25783348e-01 1.80828099e+02] [ 1.25618397e-01 -6.53981472e-03 9.92057080e-01 4.97200112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.8892541539999 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:447.73, Y:180.86, Z:49.72 [[-3.56886653e-02 -9.99362337e-01 -1.11337298e-03 4.47728449e+02] [ 9.91434396e-01 -3.52654462e-02 -1.25754474e-01 1.80856003e+02] [ 1.25635022e-01 -5.59184562e-03 9.92060771e-01 4.97237002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9192541539999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:447.73, Y:180.88, Z:49.73 [[-3.15081699e-02 -9.99502917e-01 -1.07420555e-03 4.47726430e+02] [ 9.91609548e-01 -3.11244971e-02 -1.25466209e-01 1.80883864e+02] [ 1.25370408e-01 -5.01840312e-03 9.92097312e-01 4.97270162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.949254154 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:447.72, Y:180.91, Z:49.73 [[-2.70183400e-02 -9.99634398e-01 -1.03928194e-03 4.47724172e+02] [ 9.91704822e-01 -2.66732925e-02 -1.25738149e-01 1.80911258e+02] [ 1.25664458e-01 -4.42789697e-03 9.92062920e-01 4.97308895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 573.9792541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:447.72, Y:180.94, Z:49.73 [[-1.81840528e-02 -9.99834167e-01 -9.89119605e-04 4.47720012e+02] [ 9.92135540e-01 -1.79214863e-02 -1.23878530e-01 1.80937672e+02] [ 1.23840261e-01 -3.23395445e-03 9.92296897e-01 4.97340755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0092541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:447.72, Y:180.96, Z:49.74 [[-1.28650486e-02 -9.99914282e-01 2.43312163e-03 4.47716820e+02] [ 9.92159555e-01 -1.30677201e-02 -1.24292611e-01 1.80964543e+02] [ 1.24313752e-01 8.15014392e-04 9.92242625e-01 4.97382341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0392541539999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:447.72, Y:180.99, Z:49.74 [[-1.02647616e-02 -9.99940271e-01 -3.75357593e-03 4.47718638e+02] [ 9.92413046e-01 -9.72741430e-03 -1.22563145e-01 1.80994618e+02] [ 1.22519312e-01 -4.98317919e-03 9.92453619e-01 4.97398481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.069254154 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:447.72, Y:181.02, Z:49.74 [[-7.23409867e-03 -9.99973418e-01 -9.11342214e-04 4.47716283e+02] [ 9.92464542e-01 -7.06829151e-03 -1.22328136e-01 1.81022116e+02] [ 1.22318443e-01 -1.78940864e-03 9.92489293e-01 4.97437090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.0992541539999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:447.72, Y:181.05, Z:49.75 [[-2.93592874e-03 -9.99995309e-01 -8.73105268e-04 4.47715444e+02] [ 9.92543315e-01 -2.80765292e-03 -1.21860101e-01 1.81049536e+02] [ 1.21857078e-01 -1.22436737e-03 9.92546902e-01 4.97461443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1292541539999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:447.72, Y:181.08, Z:49.75 [[-1.81065287e-03 -9.99998007e-01 -8.40699268e-04 4.47715172e+02] [ 9.92502036e-01 -1.69433284e-03 -1.22216355e-01 1.81076244e+02] [ 1.22214687e-01 -1.05568713e-03 9.92503126e-01 4.97491309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.1592541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:447.72, Y:181.10, Z:49.75 [[-1.48401023e-03 -9.99998570e-01 -8.10621758e-04 4.47715119e+02] [ 9.92462348e-01 -1.37349083e-03 -1.22542245e-01 1.81104362e+02] [ 1.22540957e-01 -9.86365518e-04 9.92462967e-01 4.97518644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.189254154 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:447.72, Y:181.13, Z:49.75 [[-1.76232022e-03 -9.99998147e-01 -7.74235133e-04 4.47715218e+02] [ 9.92461891e-01 -1.65416203e-03 -1.22542476e-01 1.81132592e+02] [ 1.22540968e-01 -9.84357947e-04 9.92462968e-01 4.97549975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2192541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:447.72, Y:181.16, Z:49.76 [[-2.13097517e-03 -9.99997449e-01 -7.48355938e-04 4.47716175e+02] [ 9.92313147e-01 -2.02200147e-03 -1.23735729e-01 1.81159666e+02] [ 1.23733900e-01 -1.00628120e-03 9.92314925e-01 4.97577067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2492541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:447.72, Y:181.19, Z:49.76 [[-3.62731477e-03 -9.99993160e-01 -7.22876724e-04 4.47716935e+02] [ 9.92407889e-01 -3.51092931e-03 -1.22940047e-01 1.81186742e+02] [ 1.22936668e-01 -1.16333081e-03 9.92413836e-01 4.97607559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.2792541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:447.72, Y:181.21, Z:49.76 [[-6.72418197e-03 -9.99977154e-01 -6.91042930e-04 4.47718712e+02] [ 9.92528079e-01 -6.58989443e-03 -1.21838362e-01 1.81214566e+02] [ 1.21831025e-01 -1.50514283e-03 9.92549715e-01 4.97638854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.309254154 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:447.72, Y:181.24, Z:49.77 [[-8.56338401e-03 -9.99963121e-01 -6.52146922e-04 4.47720193e+02] [ 9.92575548e-01 -8.42098604e-03 -1.21337830e-01 1.81242032e+02] [ 1.21327864e-01 -1.68636752e-03 9.92611055e-01 4.97670104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.339254154 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:447.72, Y:181.27, Z:49.77 [[-1.06038944e-02 -9.99943589e-01 -6.14212540e-04 4.47721672e+02] [ 9.92606291e-01 -1.04518066e-02 -1.20927713e-01 1.81269439e+02] [ 1.20914472e-01 -1.89197593e-03 9.92661126e-01 4.97698643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3692541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.72, Y:181.30, Z:49.77 [[-1.35903835e-02 -9.99907478e-01 -5.80916254e-04 4.47723956e+02] [ 9.92539666e-01 -1.34198401e-02 -1.21181351e-01 1.81295733e+02] [ 1.21162343e-01 -2.22348346e-03 9.92630214e-01 4.97728722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.3992541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:447.73, Y:181.32, Z:49.78 [[-1.48727464e-02 -9.99889238e-01 -5.60193203e-04 4.47725446e+02] [ 9.92504441e-01 -1.46949308e-02 -1.21321862e-01 1.81323274e+02] [ 1.21300192e-01 -2.36038352e-03 9.92613063e-01 4.97760219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.429254154 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:447.73, Y:181.35, Z:49.78 [[-1.59536844e-02 -9.99872595e-01 -5.23861374e-04 4.47727281e+02] [ 9.92513891e-01 -1.57728186e-02 -1.21109017e-01 1.81350866e+02] [ 1.21085324e-01 -2.45207472e-03 9.92639074e-01 4.97786563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.459254154 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.73, Y:181.38, Z:49.78 [[-1.68767686e-02 -9.99857459e-01 -4.86657589e-04 4.47729339e+02] [ 9.92560834e-01 -1.66949085e-02 -1.20599629e-01 1.81378303e+02] [ 1.20574314e-01 -2.51836930e-03 9.92701109e-01 4.97813178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.4892541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:447.73, Y:181.41, Z:49.78 [[-1.80562839e-02 -9.99836872e-01 -4.48053478e-04 4.47732755e+02] [ 9.92658480e-01 -1.78730414e-02 -1.19623146e-01 1.81405813e+02] [ 1.19595624e-01 -2.60471357e-03 9.92819270e-01 4.97842257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5192541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.73, Y:181.43, Z:49.79 [[-1.84532566e-02 -9.99829639e-01 -4.12860103e-04 4.47734365e+02] [ 9.92645431e-01 -1.82712461e-02 -1.19671260e-01 1.81433656e+02] [ 1.19643329e-01 -2.61814816e-03 9.92813487e-01 4.97872423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.5492541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:447.74, Y:181.46, Z:49.79 [[-2.03774294e-02 -9.99792288e-01 -3.76822648e-04 4.47737214e+02] [ 9.92685841e-01 -2.01877270e-02 -1.19026371e-01 1.81460420e+02] [ 1.18994040e-01 -2.79951797e-03 9.92891022e-01 4.97906122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.579254154 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:447.74, Y:181.49, Z:49.79 [[-2.11608053e-02 -9.99776022e-01 -3.55882192e-04 4.47738853e+02] [ 9.92683599e-01 -2.09683628e-02 -1.18910053e-01 1.81488491e+02] [ 1.18875957e-01 -2.86951089e-03 9.92904967e-01 4.97938112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6092541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:447.73, Y:181.51, Z:49.80 [[-2.08140419e-02 -9.99721437e-01 1.11276621e-02 4.47734861e+02] [ 9.92287604e-01 -2.20170668e-02 -1.21985902e-01 1.81513716e+02] [ 1.22196920e-01 8.50282152e-03 9.92469453e-01 4.97995298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6392541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:447.75, Y:181.54, Z:49.80 [[-2.30608106e-02 -9.99672488e-01 -1.10958001e-02 4.47748888e+02] [ 9.92641498e-01 -2.15760913e-02 -1.19152543e-01 1.81544283e+02] [ 1.18874116e-01 -1.37619059e-02 9.92813958e-01 4.97965745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.6692541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.75, Y:181.57, Z:49.80 [[-2.30383927e-02 -9.99734545e-01 -2.68104372e-04 4.47745731e+02] [ 9.92646828e-01 -2.28431813e-02 -1.18871630e-01 1.81571316e+02] [ 1.18833950e-01 -3.00474424e-03 9.92909595e-01 4.98019164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.699254154 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:447.75, Y:181.60, Z:49.81 [[-2.26157761e-02 -9.99744203e-01 -2.33402483e-04 4.47747369e+02] [ 9.92685030e-01 -2.24283906e-02 -1.18631355e-01 1.81598955e+02] [ 1.18595775e-01 -2.91463532e-03 9.92938340e-01 4.98050131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7292541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:447.75, Y:181.63, Z:49.81 [[-1.94858525e-02 -9.99810113e-01 -1.98784278e-04 4.47750441e+02] [ 9.92776264e-01 -1.93252226e-02 -1.18413792e-01 1.81626162e+02] [ 1.18387465e-01 -2.50474198e-03 9.92964317e-01 4.98078010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7592541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:447.75, Y:181.65, Z:49.81 [[-1.72527170e-02 -9.99851147e-01 -1.67485451e-04 4.47751801e+02] [ 9.92831869e-01 -1.71117829e-02 -1.18288068e-01 1.81653659e+02] [ 1.18267595e-01 -2.20707546e-03 9.92979307e-01 4.98107356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.7892541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:447.75, Y:181.68, Z:49.81 [[-1.46890876e-02 -9.99892101e-01 -1.34032302e-04 4.47753052e+02] [ 9.92867970e-01 -1.45700372e-02 -1.18325435e-01 1.81680397e+02] [ 1.18310715e-01 -1.87116906e-03 9.92974860e-01 4.98135562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.819254154 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:447.75, Y:181.71, Z:49.82 [[-1.25006551e-02 -9.99921858e-01 -1.03689132e-04 4.47754185e+02] [ 9.92855881e-01 -1.24000128e-02 -1.18673666e-01 1.81708228e+02] [ 1.18663107e-01 -1.58644694e-03 9.92933306e-01 4.98167812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8492541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.76, Y:181.74, Z:49.82 [[-8.04983844e-03 -9.99967597e-01 -7.02784920e-05 4.47756939e+02] [ 9.92827463e-01 -7.98397592e-03 -1.19289077e-01 1.81735097e+02] [ 1.19284651e-01 -1.03003222e-03 9.92859563e-01 4.98197831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.8792541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:447.76, Y:181.76, Z:49.82 [[-6.46633059e-03 -9.99979092e-01 -3.94749252e-05 4.47758533e+02] [ 9.92826930e-01 -6.41536843e-03 -1.19388153e-01 1.81763112e+02] [ 1.19385403e-01 -8.11195032e-04 9.92847656e-01 4.98227189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9092541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.76, Y:181.79, Z:49.83 [[-3.96272568e-03 -9.99992148e-01 -5.38620203e-06 4.47762153e+02] [ 9.92718386e-01 -3.93325306e-03 -1.20394084e-01 1.81791201e+02] [ 1.20393117e-01 -4.82435709e-04 9.92726178e-01 4.98256095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.939254154 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:447.76, Y:181.79, Z:49.83 [[-3.09499180e-03 -9.99995210e-01 2.19074653e-05 4.47764325e+02] [ 9.92618988e-01 -3.07481832e-03 -1.21235681e-01 1.81790813e+02] [ 1.21235168e-01 -3.53477672e-04 9.92623750e-01 4.98256572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9692541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.77, Y:181.82, Z:49.83 [[-4.08295944e-03 -9.99991665e-01 -1.95843346e-05 4.47766199e+02] [ 9.92614464e-01 -4.05046388e-03 -1.21244048e-01 1.81817106e+02] [ 1.21242958e-01 -5.14474223e-04 9.92622728e-01 4.98290794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 574.9992541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.77, Y:181.84, Z:49.83 [[-6.31494394e-03 -9.99980061e-01 1.30980015e-06 4.47770683e+02] [ 9.92586959e-01 -6.26841497e-03 -1.21374774e-01 1.81844000e+02] [ 1.21372363e-01 -7.65174806e-04 9.92606752e-01 4.98324657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.0292541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.77, Y:181.85, Z:49.83 [[-8.35955456e-03 -9.99965058e-01 2.50164666e-05 4.47773123e+02] [ 9.92618688e-01 -8.30116695e-03 -1.20992690e-01 1.81847883e+02] [ 1.20988670e-01 -9.86613180e-04 9.92653398e-01 4.98330039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.059254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.78, Y:181.88, Z:49.84 [[-1.15073831e-02 -9.99933788e-01 -1.51866821e-05 4.47776021e+02] [ 9.92654609e-01 -1.14217840e-02 -1.20442391e-01 1.81875785e+02] [ 1.20434243e-01 -1.40105186e-03 9.92720318e-01 4.98360675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.089254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.78, Y:181.88, Z:49.84 [[-1.46201687e-02 -9.99893120e-01 1.34037226e-05 4.47778880e+02] [ 9.92609620e-01 -1.45152863e-02 -1.20480077e-01 1.81881156e+02] [ 1.20467395e-01 -1.74813439e-03 9.92715745e-01 4.98369597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1192541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.78, Y:181.91, Z:49.84 [[-2.31407510e-02 -9.99732217e-01 -2.71000074e-05 4.47784183e+02] [ 9.92494466e-01 -2.29699632e-02 -1.20112929e-01 1.81908703e+02] [ 1.20080142e-01 -2.80639999e-03 9.92760235e-01 4.98402136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.1492541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.79, Y:181.92, Z:49.84 [[-2.73247561e-02 -9.99626609e-01 1.84755994e-06 4.47786439e+02] [ 9.92399250e-01 -2.71274184e-02 -1.20032626e-01 1.81915574e+02] [ 1.19987858e-01 -3.27802872e-03 9.92769947e-01 4.98408399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.179254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.79, Y:181.94, Z:49.84 [[-3.68651339e-02 -9.99320249e-01 -3.90501785e-05 4.47791518e+02] [ 9.92187702e-01 -3.65973522e-02 -1.19265240e-01 1.81943189e+02] [ 1.19182741e-01 -4.43547416e-03 9.92862428e-01 4.98436691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.209254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.79, Y:181.97, Z:49.85 [[-4.20019679e-02 -9.99117528e-01 -3.61427827e-06 4.47793909e+02] [ 9.92057427e-01 -4.17047386e-02 -1.18670871e-01 1.81970711e+02] [ 1.18565996e-01 -4.98799568e-03 9.92933646e-01 4.98467762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2392541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.80, Y:181.98, Z:49.85 [[-4.58025451e-02 -9.98950512e-01 2.55595321e-05 4.47796183e+02] [ 9.91944200e-01 -4.54843260e-02 -1.18228089e-01 1.81979458e+02] [ 1.18105173e-01 -5.38979376e-03 9.92986464e-01 4.98479184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2692541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.80, Y:182.01, Z:49.85 [[-5.38148126e-02 -9.98550933e-01 -1.64382191e-05 4.47799876e+02] [ 9.91632177e-01 -5.34400062e-02 -1.17515068e-01 1.82007602e+02] [ 1.17343903e-01 -6.34035205e-03 9.93071099e-01 4.98512934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.2992541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.80, Y:182.01, Z:49.85 [[-5.67704596e-02 -9.98387257e-01 1.27035102e-05 4.47801681e+02] [ 9.91451984e-01 -5.63776021e-02 -1.17662779e-01 1.82010828e+02] [ 1.17473735e-01 -6.66717512e-03 9.93053609e-01 4.98518129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.329254154 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:447.80, Y:182.04, Z:49.85 [[-6.22122963e-02 -9.98062939e-01 -2.96833265e-05 4.47804991e+02] [ 9.91163245e-01 -6.17787263e-02 -1.17383182e-01 1.82038847e+02] [ 1.17153970e-01 -7.33209833e-03 9.93086697e-01 4.98549365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3592541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:447.81, Y:182.04, Z:49.86 [[-6.36281095e-02 -9.97973679e-01 2.80943422e-07 4.47805983e+02] [ 9.91099212e-01 -6.31898451e-02 -1.17172499e-01 1.82044848e+02] [ 1.16935088e-01 -7.45518618e-03 9.93111578e-01 4.98552252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.3892541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.81, Y:182.07, Z:49.86 [[-6.54431903e-02 -9.97856296e-01 -4.25430892e-05 4.47806661e+02] [ 9.90912392e-01 -6.49827618e-02 -1.17770418e-01 1.82072186e+02] [ 1.17515188e-01 -7.74942834e-03 9.93040849e-01 4.98585965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4192541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:447.81, Y:182.10, Z:49.86 [[-6.66174435e-02 -9.97778591e-01 -7.74994760e-06 4.47807257e+02] [ 9.90800841e-01 -6.61506518e-02 -1.18058393e-01 1.82099533e+02] [ 1.17795625e-01 -7.87242699e-03 9.93006654e-01 4.98617006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.449254154 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:447.81, Y:182.10, Z:49.86 [[-6.67690818e-02 -9.97768455e-01 2.14429809e-05 4.47807760e+02] [ 9.90732604e-01 -6.63008015e-02 -1.18545818e-01 1.82104470e+02] [ 1.18282699e-01 -7.89395116e-03 9.92948583e-01 4.98619718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.4792541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.81, Y:182.13, Z:49.87 [[-6.71832560e-02 -9.97740653e-01 -2.10916817e-05 4.47807685e+02] [ 9.90721671e-01 -6.67081271e-02 -1.18408596e-01 1.82132595e+02] [ 1.18139663e-01 -7.97597099e-03 9.92964956e-01 4.98650260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5092541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:447.81, Y:182.14, Z:49.87 [[-6.63535650e-02 -9.97796174e-01 7.45960522e-06 4.47807388e+02] [ 9.90721990e-01 -6.58840196e-02 -1.18866454e-01 1.82135634e+02] [ 1.18604984e-01 -7.87982258e-03 9.92910251e-01 4.98652778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5392541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.81, Y:182.16, Z:49.87 [[-6.46542147e-02 -9.97907727e-01 -3.48472333e-05 4.47805729e+02] [ 9.90912968e-01 -6.41968984e-02 -1.18195802e-01 1.82163239e+02] [ 1.17946267e-01 -7.67638736e-03 9.92990308e-01 4.98679052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.569254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.80, Y:182.19, Z:49.87 [[-6.37545974e-02 -9.97965606e-01 -5.54651084e-07 4.47804702e+02] [ 9.90946950e-01 -6.33061478e-02 -1.18391195e-01 1.82190542e+02] [ 1.18150305e-01 -7.54853258e-03 9.92967031e-01 4.98710363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.5992541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.80, Y:182.19, Z:49.87 [[-6.21510653e-02 -9.98066753e-01 2.87821466e-05 4.47803504e+02] [ 9.90978061e-01 -6.17130730e-02 -1.18970495e-01 1.82187321e+02] [ 1.18742272e-01 -7.36562052e-03 9.92897790e-01 4.98707341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6292541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.80, Y:182.21, Z:49.87 [[-6.09260671e-02 -9.98142282e-01 -1.36467652e-05 4.47800795e+02] [ 9.91074528e-01 -6.04930311e-02 -1.18793403e-01 1.82213813e+02] [ 1.18571892e-01 -7.25113978e-03 9.92918993e-01 4.98733074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.6592541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.80, Y:182.22, Z:49.87 [[-6.01608046e-02 -9.98188698e-01 1.26877625e-05 4.47799241e+02] [ 9.91121854e-01 -5.97363959e-02 -1.18781455e-01 1.82220825e+02] [ 1.18567064e-01 -7.13341279e-03 9.92920423e-01 4.98740015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.689254154 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.80, Y:182.25, Z:49.88 [[-6.00081383e-02 -9.98197887e-01 -2.97725914e-05 4.47797745e+02] [ 9.91116492e-01 -5.95788833e-02 -1.18905238e-01 1.82247948e+02] [ 1.18689183e-01 -7.16479005e-03 9.92905607e-01 4.98769440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7192541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:447.79, Y:182.28, Z:49.88 [[-5.99654615e-02 -9.98200453e-01 2.49480960e-06 4.47794618e+02] [ 9.91156764e-01 -5.95426184e-02 -1.18587290e-01 1.82275496e+02] [ 1.18374035e-01 -7.10866880e-03 9.92943631e-01 4.98800866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7492541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.79, Y:182.28, Z:49.88 [[-5.94739118e-02 -9.98229860e-01 3.17126713e-05 4.47793088e+02] [ 9.91295444e-01 -5.90645017e-02 -1.17663624e-01 1.82277278e+02] [ 1.17457216e-01 -6.96647938e-03 9.93053508e-01 4.98802026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.7792541539999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:447.79, Y:182.30, Z:49.88 [[-5.98214450e-02 -9.98209094e-01 -1.10163320e-05 4.47791389e+02] [ 9.91339041e-01 -5.94084386e-02 -1.17121916e-01 1.82304734e+02] [ 1.16911507e-01 -7.01732316e-03 9.93117544e-01 4.98832564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.809254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.79, Y:182.30, Z:49.88 [[-5.93701903e-02 -9.98236034e-01 1.83171371e-05 4.47788003e+02] [ 9.91435671e-01 -5.89678762e-02 -1.16525108e-01 1.82304297e+02] [ 1.16320642e-01 -6.89995756e-03 9.93187746e-01 4.98830283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.839254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.79, Y:182.33, Z:49.89 [[-5.94688379e-02 -9.98230162e-01 -2.45528450e-05 4.47786248e+02] [ 9.91455130e-01 -5.90623594e-02 -1.16311491e-01 1.82331890e+02] [ 1.16104189e-01 -6.94125226e-03 9.93212785e-01 4.98858516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8692541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:447.78, Y:182.34, Z:49.89 [[-5.88233337e-02 -9.98268409e-01 6.08675826e-06 4.47784549e+02] [ 9.91460684e-01 -5.84228969e-02 -1.16586782e-01 1.82336357e+02] [ 1.16385257e-01 -6.85198843e-03 9.93180508e-01 4.98861693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.8992541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.78, Y:182.36, Z:49.89 [[-5.74606017e-02 -9.98347774e-01 -3.66203878e-05 4.47781566e+02] [ 9.91559048e-01 -5.70656013e-02 -1.16422381e-01 1.82364226e+02] [ 1.16227935e-01 -6.72601131e-03 9.93199793e-01 4.98885961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.929254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.78, Y:182.39, Z:49.89 [[-5.69042324e-02 -9.98379641e-01 -2.33135166e-06 4.47779398e+02] [ 9.91688032e-01 -5.65225636e-02 -1.15585666e-01 1.82390577e+02] [ 1.15398244e-01 -6.57962556e-03 9.93297515e-01 4.98911320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.959254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:447.78, Y:182.39, Z:49.89 [[-5.50128882e-02 -9.98485644e-01 2.48156974e-05 4.47777486e+02] [ 9.91805654e-01 -5.46477153e-02 -1.15478014e-01 1.82391346e+02] [ 1.15304495e-01 -6.32816670e-03 9.93310036e-01 4.98911061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 575.9892541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.78, Y:182.42, Z:49.89 [[-5.35658440e-02 -9.98564319e-01 -1.83032911e-05 4.47775643e+02] [ 9.91903360e-01 -5.32064175e-02 -1.15311754e-01 1.82419602e+02] [ 1.15145230e-01 -6.19492654e-03 9.93329351e-01 4.98939863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0192541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.77, Y:182.39, Z:49.89 [[-3.60747274e-02 -9.99110159e-01 2.18518522e-02 4.47768086e+02] [ 9.94277655e-01 -3.80831708e-02 -9.98079006e-02 1.82393026e+02] [ 1.00551275e-01 1.81262656e-02 9.94766746e-01 4.98873232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.0492541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.78, Y:182.41, Z:49.89 [[-4.01491893e-02 -9.98682826e-01 -3.19477135e-02 4.47784175e+02] [ 9.93555990e-01 -3.65105410e-02 -1.07300862e-01 1.82409689e+02] [ 1.05993100e-01 -3.60498848e-02 9.93713172e-01 4.98871405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.079254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.77, Y:182.44, Z:49.90 [[-3.84185244e-02 -9.99261171e-01 -1.06290196e-03 4.47767732e+02] [ 9.93454484e-01 -3.80807221e-02 -1.07694231e-01 1.82438295e+02] [ 1.07574187e-01 -5.19339815e-03 9.94183496e-01 4.98973399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1092541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.77, Y:182.47, Z:49.90 [[-3.86909556e-02 -9.99250976e-01 -7.04953062e-04 4.47767672e+02] [ 9.93442323e-01 -3.83900668e-02 -1.07696585e-01 1.82466559e+02] [ 1.07588854e-01 -4.86721399e-03 9.94183559e-01 4.99003327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1392541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.76, Y:182.49, Z:49.90 [[-3.46141384e-02 -9.99400526e-01 -6.71364946e-04 4.47764526e+02] [ 9.93660933e-01 -3.43434393e-02 -1.07044281e-01 1.82493343e+02] [ 1.06957053e-01 -4.37235467e-03 9.94254028e-01 4.99027954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.1692541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.76, Y:182.52, Z:49.91 [[-3.28868604e-02 -9.99458875e-01 -6.41747449e-04 4.47762838e+02] [ 9.93740874e-01 -3.26301114e-02 -1.06837963e-01 1.82520969e+02] [ 1.06759210e-01 -4.15129585e-03 9.94276238e-01 4.99057482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.199254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.76, Y:182.55, Z:49.91 [[-2.93273277e-02 -9.99569676e-01 -6.09066824e-04 4.47758690e+02] [ 9.93881028e-01 -2.90954961e-02 -1.06554934e-01 1.82548372e+02] [ 1.06491360e-01 -3.73031143e-03 9.94306630e-01 4.99088873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2292541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.76, Y:182.58, Z:49.91 [[-2.78945266e-02 -9.99610705e-01 -5.77823850e-04 4.47756854e+02] [ 9.93914905e-01 -2.76739528e-02 -1.06617609e-01 1.82575507e+02] [ 1.06560112e-01 -3.54835545e-03 9.94299930e-01 4.99114814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2592541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.76, Y:182.60, Z:49.91 [[-2.67265605e-02 -9.99642624e-01 -5.62404668e-04 4.47755557e+02] [ 9.93882779e-01 -2.65122473e-02 -1.07210643e-01 1.82602960e+02] [ 1.07157418e-01 -3.42433606e-03 9.94236170e-01 4.99143374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.2892541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.75, Y:182.63, Z:49.92 [[-2.56270626e-02 -9.99671431e-01 -5.31820268e-04 4.47754306e+02] [ 9.93894621e-01 -2.54218537e-02 -1.07364851e-01 1.82629743e+02] [ 1.07316055e-01 -3.28001907e-03 9.94219546e-01 4.99168399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.319254154 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.75, Y:182.66, Z:49.92 [[-2.45888553e-02 -9.99697515e-01 -5.16284071e-04 4.47752156e+02] [ 9.93851569e-01 -2.43892906e-02 -1.08001024e-01 1.82657534e+02] [ 1.07955764e-01 -3.16873128e-03 9.94150649e-01 4.99195775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3492541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.76, Y:182.69, Z:49.92 [[-2.20919611e-02 -9.99742507e-01 -5.18314176e-03 4.47756440e+02] [ 9.93854166e-01 -2.13987600e-02 -1.08609348e-01 1.82688617e+02] [ 1.08470469e-01 -7.55068053e-03 9.94070996e-01 4.99220515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.3792541539999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:447.75, Y:182.71, Z:49.93 [[-2.42746819e-02 -9.99699491e-01 3.41578688e-03 4.47748858e+02] [ 9.93835983e-01 -2.45017265e-02 -1.08118934e-01 1.82713788e+02] [ 1.08170136e-01 7.70179191e-04 9.94132098e-01 4.99258044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4092541539999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:447.75, Y:182.74, Z:49.93 [[-2.36064234e-02 -9.99720062e-01 1.59203933e-03 4.47747441e+02] [ 9.93749237e-01 -2.36391803e-02 -1.09103817e-01 1.82742983e+02] [ 1.09110909e-01 -9.93463018e-04 9.94029085e-01 4.99283650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.439254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.75, Y:182.77, Z:49.93 [[-2.26510429e-02 -9.99740102e-01 -2.58056226e-03 4.47748453e+02] [ 9.93815582e-01 -2.22359886e-02 -1.08794071e-01 1.82769663e+02] [ 1.08708415e-01 -5.02890216e-03 9.94060959e-01 4.99301070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4692541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.75, Y:182.80, Z:49.93 [[-2.09394107e-02 -9.99780667e-01 -3.99925079e-04 4.47746598e+02] [ 9.93783536e-01 -2.07700554e-02 -1.09374989e-01 1.82796651e+02] [ 1.09342693e-01 -2.68768677e-03 9.94000479e-01 4.99330231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.4992541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.75, Y:182.82, Z:49.94 [[-2.03943790e-02 -9.99791941e-01 -3.78616385e-04 4.47746484e+02] [ 9.93776337e-01 -2.02301861e-02 -1.09541463e-01 1.82824343e+02] [ 1.09511012e-01 -2.61029011e-03 9.93982155e-01 4.99359326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.5292541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.75, Y:182.85, Z:49.94 [[-1.99827332e-02 -9.99800265e-01 -3.48062883e-04 4.47746216e+02] [ 9.93777519e-01 -1.98242012e-02 -1.09604944e-01 1.82852524e+02] [ 1.09576152e-01 -2.53610342e-03 9.93975168e-01 4.99389668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.559254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.75, Y:182.88, Z:49.94 [[-1.89897244e-02 -9.99819629e-01 -3.16475327e-04 4.47745617e+02] [ 9.93843078e-01 -1.88416509e-02 -1.09183004e-01 1.82879256e+02] [ 1.09157348e-01 -2.38788197e-03 9.94021615e-01 4.99418808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.589254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.75, Y:182.91, Z:49.95 [[-1.87293644e-02 -9.99824548e-01 -2.88763288e-04 4.47745124e+02] [ 9.93854460e-01 -1.85860125e-02 -1.09123202e-01 1.82907070e+02] [ 1.09098689e-01 -2.33079688e-03 9.94028191e-01 4.99451304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6192541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.74, Y:182.93, Z:49.95 [[-1.85655978e-02 -9.99827611e-01 -2.58887308e-04 4.47744740e+02] [ 9.93848316e-01 -1.84262925e-02 -1.09206209e-01 1.82934667e+02] [ 1.09182613e-01 -2.28477327e-03 9.94019083e-01 4.99482352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.6492541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.74, Y:182.96, Z:49.95 [[-1.74878735e-02 -9.99847049e-01 -2.28014461e-04 4.47744447e+02] [ 9.93835508e-01 -1.73577575e-02 -1.09497449e-01 1.82961554e+02] [ 1.09476743e-01 -2.14148640e-03 9.93987051e-01 4.99506043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.679254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.74, Y:182.99, Z:49.95 [[-1.66931668e-02 -9.99860639e-01 -2.00137710e-04 4.47744448e+02] [ 9.93803833e-01 -1.65700460e-02 -1.09906214e-01 1.82989128e+02] [ 1.09887581e-01 -2.03358039e-03 9.93941942e-01 4.99538235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.709254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.74, Y:183.02, Z:49.96 [[-1.58171681e-02 -9.99874886e-01 -1.70109814e-04 4.47744378e+02] [ 9.93842650e-01 -1.57030829e-02 -1.09682270e-01 1.83017040e+02] [ 1.09665876e-01 -1.90392529e-03 9.93966685e-01 4.99563260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7392541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.74, Y:183.04, Z:49.96 [[-1.36009027e-02 -9.99907494e-01 -1.38912033e-04 4.47743982e+02] [ 9.93849004e-01 -1.35032239e-02 -1.09917337e-01 1.83043431e+02] [ 1.09905293e-01 -1.63303259e-03 9.93940722e-01 4.99592694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7692541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.74, Y:183.07, Z:49.96 [[-1.27689897e-02 -9.99918467e-01 -1.10448480e-04 4.47743690e+02] [ 9.93815765e-01 -1.26788729e-02 -1.10315326e-01 1.83071103e+02] [ 1.10304931e-01 -1.51838071e-03 9.93896633e-01 4.99626567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.7992541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.74, Y:183.10, Z:49.97 [[-1.12091343e-02 -9.99937173e-01 -7.84100560e-05 4.47743716e+02] [ 9.93881264e-01 -1.11326314e-02 -1.09891295e-01 1.83098106e+02] [ 1.09883518e-01 -1.30971657e-03 9.93943609e-01 4.99657145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.829254154 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:447.74, Y:183.12, Z:49.97 [[-1.09710139e-02 -9.99939815e-01 -5.63988810e-05 4.47743973e+02] [ 9.93876650e-01 -1.08982890e-02 -1.09956497e-01 1.83124412e+02] [ 1.09949264e-01 -1.26238778e-03 9.93936399e-01 4.99685044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8592541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.74, Y:183.15, Z:49.97 [[-1.12797938e-02 -9.99936381e-01 -3.40234753e-05 4.47744124e+02] [ 9.93861111e-01 -1.12075166e-02 -1.10065818e-01 1.83152540e+02] [ 1.10058434e-01 -1.27533434e-03 9.93924300e-01 4.99715619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.8892541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.74, Y:183.18, Z:49.97 [[-1.20726009e-02 -9.99927124e-01 -2.24816400e-06 4.47744554e+02] [ 9.93823928e-01 -1.19986661e-02 -1.10317869e-01 1.83180002e+02] [ 1.10309802e-01 -1.33405788e-03 9.93896357e-01 4.99743976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9192541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.75, Y:183.19, Z:49.98 [[-1.43907295e-02 -9.99892798e-01 2.70181083e-03 4.47745088e+02] [ 9.93728122e-01 -1.46015762e-02 -1.10865748e-01 1.83191724e+02] [ 1.10893313e-01 1.08942641e-03 9.93831719e-01 4.99764942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.949254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.75, Y:183.19, Z:49.97 [[-1.57379088e-02 -9.99872809e-01 -2.58541380e-03 4.47748579e+02] [ 9.93684402e-01 -1.53530838e-02 -1.11155709e-01 1.83186608e+02] [ 1.11101877e-01 -4.31844378e-03 9.93799640e-01 4.99746808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 576.9792541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:447.75, Y:183.21, Z:49.98 [[-1.80560616e-02 -9.99836976e-01 -2.55658557e-05 4.47748119e+02] [ 9.93679129e-01 -1.79420235e-02 -1.10814590e-01 1.83214476e+02] [ 1.10796066e-01 -2.02627933e-03 9.93841097e-01 4.99782076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0092541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:447.75, Y:183.22, Z:49.98 [[-2.23707107e-02 -9.99749744e-01 7.38024383e-08 4.47750051e+02] [ 9.93596407e-01 -2.22330299e-02 -1.10778482e-01 1.83220725e+02] [ 1.10750761e-01 -2.47812005e-03 9.93845123e-01 4.99791302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0392541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.75, Y:183.25, Z:49.98 [[-2.48717792e-02 -9.99690649e-01 -3.82058922e-05 4.47751514e+02] [ 9.93516465e-01 -2.47139277e-02 -1.10969613e-01 1.83247730e+02] [ 1.10934340e-01 -2.79796990e-03 9.93823799e-01 4.99813040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.069254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.75, Y:183.28, Z:49.99 [[-2.80630105e-02 -9.99606156e-01 -5.56972714e-06 4.47752529e+02] [ 9.93452837e-01 -2.78896445e-02 -1.10786409e-01 1.83275665e+02] [ 1.10742621e-01 -3.11453340e-03 9.93844239e-01 4.99850013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.0992541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.75, Y:183.28, Z:49.99 [[-3.28329376e-02 -9.99460854e-01 2.03028555e-05 4.47754552e+02] [ 9.93340951e-01 -3.26341394e-02 -1.10493296e-01 1.83282298e+02] [ 1.10434386e-01 -3.60765184e-03 9.93876869e-01 4.99855378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1292541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.76, Y:183.31, Z:49.99 [[-3.55309240e-02 -9.99368577e-01 -1.82545268e-05 4.47755655e+02] [ 9.93247629e-01 -3.53112851e-02 -1.10509094e-01 1.83309798e+02] [ 1.10438672e-01 -3.94462150e-03 9.93875113e-01 4.99884511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.1592541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.76, Y:183.32, Z:49.99 [[-3.94836533e-02 -9.99220217e-01 8.52361896e-06 4.47757290e+02] [ 9.93092911e-01 -3.92424793e-02 -1.10573492e-01 1.83316119e+02] [ 1.10487603e-01 -4.35738069e-03 9.93867950e-01 4.99891447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.189254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.76, Y:183.34, Z:49.99 [[-4.17159309e-02 -9.99129511e-01 -3.02569313e-05 4.47757816e+02] [ 9.93023361e-01 -4.14576422e-02 -1.10389620e-01 1.83343701e+02] [ 1.10292273e-01 -4.63505160e-03 9.93888390e-01 4.99922198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2192541539999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:447.76, Y:183.37, Z:50.00 [[-4.39823743e-02 -9.99032307e-01 2.04262276e-06 4.47758223e+02] [ 9.92943218e-01 -4.37145277e-02 -1.10239766e-01 1.83370457e+02] [ 1.10133177e-01 -4.84657844e-03 9.93905023e-01 4.99950249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2492541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.76, Y:183.38, Z:50.00 [[-4.55230912e-02 -9.98963286e-01 2.59923403e-05 4.47758892e+02] [ 9.92876889e-01 -4.52485998e-02 -1.10218186e-01 1.83376596e+02] [ 1.10105097e-01 -4.99166532e-03 9.93907416e-01 4.99958008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.2792541539999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:447.76, Y:183.40, Z:50.00 [[-5.01358271e-02 -9.98742409e-01 -1.29298312e-05 4.47760122e+02] [ 9.92636244e-01 -4.98278746e-02 -1.10410465e-01 1.83403988e+02] [ 1.10270970e-01 -5.54835460e-03 9.93886075e-01 4.99988773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.309254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.76, Y:183.41, Z:50.00 [[-5.20898979e-02 -9.98642400e-01 1.45611157e-05 4.47760666e+02] [ 9.92545655e-01 -5.17734961e-02 -1.10329636e-01 1.83409212e+02] [ 1.10180607e-01 -5.73260693e-03 9.93895050e-01 4.99995127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.339254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:447.76, Y:183.44, Z:50.00 [[-5.47668147e-02 -9.98499171e-01 -2.53628746e-05 4.47761141e+02] [ 9.92384175e-01 -5.44286055e-02 -1.10504187e-01 1.83435642e+02] [ 1.10336958e-01 -6.07713203e-03 9.93875658e-01 5.00021227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3692541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.76, Y:183.46, Z:50.01 [[-5.75057484e-02 -9.98345175e-01 -2.30217081e-06 4.47761149e+02] [ 9.92228290e-01 -5.71531544e-02 -1.10528449e-01 1.83463676e+02] [ 1.10345412e-01 -6.35830546e-03 9.93872961e-01 5.00050578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.3992541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:447.76, Y:183.47, Z:50.01 [[-6.15541125e-02 -9.98103747e-01 2.48806929e-05 4.47760456e+02] [ 9.91970229e-01 -6.11786112e-02 -1.10689845e-01 1.83468682e+02] [ 1.10481471e-01 -6.78873424e-03 9.93854998e-01 5.00056696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.429254154 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.76, Y:183.50, Z:50.01 [[-6.37537721e-02 -9.97965659e-01 -1.46090774e-05 4.47760166e+02] [ 9.91819526e-01 -6.33595120e-02 -1.10813358e-01 1.83495824e+02] [ 1.10587000e-01 -7.07925913e-03 9.93841235e-01 5.00086230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.459254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.76, Y:183.50, Z:50.01 [[-6.55233350e-02 -9.97851037e-01 8.68713370e-06 4.47759746e+02] [ 9.91623516e-01 -6.51153794e-02 -1.11547255e-01 1.83497613e+02] [ 1.11308109e-01 -7.30033377e-03 9.93759131e-01 5.00089360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.4892541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.76, Y:183.52, Z:50.01 [[-6.62053431e-02 -9.97806019e-01 -3.06129913e-05 4.47759142e+02] [ 9.91543946e-01 -6.57864169e-02 -1.11860408e-01 1.83524529e+02] [ 1.11612974e-01 -7.43611080e-03 9.93723930e-01 5.00118911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5192541539999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:447.76, Y:183.55, Z:50.02 [[-6.64554787e-02 -9.97789391e-01 -1.39198719e-06 4.47756781e+02] [ 9.91499976e-01 -6.60364302e-02 -1.12102579e-01 1.83551352e+02] [ 1.11854672e-01 -7.45121071e-03 9.93696640e-01 5.00153862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.5492541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.77, Y:183.55, Z:50.02 [[-7.01776056e-02 -9.96998768e-01 -3.26888417e-02 4.47768864e+02] [ 9.88896188e-01 -6.52292907e-02 -1.33527039e-01 1.83550297e+02] [ 1.30994023e-01 -4.16964788e-02 9.90505916e-01 5.00186633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.579254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.74, Y:183.56, Z:50.02 [[-6.50284940e-02 -9.97325833e-01 3.33538422e-02 4.47738307e+02] [ 9.91339501e-01 -6.83875656e-02 -1.12112154e-01 1.83555276e+02] [ 1.14093335e-01 2.57744967e-02 9.93135633e-01 5.00249865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6092541539999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:447.77, Y:183.58, Z:50.02 [[-6.79532318e-02 -9.96860302e-01 -4.06435385e-02 4.47768757e+02] [ 9.90659734e-01 -6.25913706e-02 -1.21142943e-01 1.83581436e+02] [ 1.18218656e-01 -4.84959716e-02 9.91802647e-01 5.00228073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6392541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.73, Y:183.61, Z:50.03 [[-6.28799687e-02 -9.97158298e-01 4.14902079e-02 4.47729186e+02] [ 9.91328046e-01 -6.72108325e-02 -1.12922136e-01 1.83609738e+02] [ 1.15389837e-01 3.40298664e-02 9.92737203e-01 5.00332631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.6692541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.75, Y:183.61, Z:50.02 [[-6.18323092e-02 -9.98086552e-01 2.29137288e-06 4.47746626e+02] [ 9.91696662e-01 -6.14367095e-02 -1.12974605e-01 1.83609002e+02] [ 1.12758575e-01 -6.98320839e-03 9.93597876e-01 5.00225177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.699254154 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.74, Y:183.64, Z:50.03 [[-6.03287404e-02 -9.98178562e-01 -3.60346515e-05 4.47744750e+02] [ 9.91762822e-01 -5.99368941e-02 -1.13199269e-01 1.83637096e+02] [ 1.12990924e-01 -6.86490715e-03 9.93572304e-01 5.00256743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7292541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:447.74, Y:183.66, Z:50.03 [[-5.73081930e-02 -9.98356535e-01 -2.79713392e-06 4.47738965e+02] [ 9.92060342e-01 -5.69464615e-02 -1.12131073e-01 1.83664864e+02] [ 1.11946630e-01 -6.42880409e-03 9.93693425e-01 5.00302374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7592541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:447.74, Y:183.66, Z:50.03 [[-5.47627569e-02 -9.98499394e-01 2.32119544e-05 4.47736347e+02] [ 9.92233513e-01 -5.44217045e-02 -1.11852283e-01 1.83664397e+02] [ 1.11685700e-01 -6.10230770e-03 9.93724844e-01 5.00306054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.7892541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:447.73, Y:183.69, Z:50.03 [[-5.03430659e-02 -9.98731984e-01 -1.60437889e-05 4.47730909e+02] [ 9.92437628e-01 -5.00239857e-02 -1.12094407e-01 1.83691550e+02] [ 1.11951467e-01 -5.65909858e-03 9.93697561e-01 5.00342706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.819254154 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:447.73, Y:183.69, Z:50.03 [[-4.76522559e-02 -9.98863986e-01 -2.12968328e-08 4.47727841e+02] [ 9.92530471e-01 -4.73501040e-02 -1.12433230e-01 1.83690399e+02] [ 1.12305504e-01 -5.35771821e-03 9.93659282e-01 5.00345629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8492541539999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:447.73, Y:183.72, Z:50.04 [[-4.55833117e-02 -9.98960540e-01 -3.81643736e-05 4.47725143e+02] [ 9.92568919e-01 -4.52873424e-02 -1.12942453e-01 1.83718439e+02] [ 1.12823325e-01 -5.18617180e-03 9.93601530e-01 5.00376216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.8792541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.72, Y:183.74, Z:50.04 [[-4.12475674e-02 -9.99148957e-01 -5.52663530e-06 4.47719897e+02] [ 9.92658392e-01 -4.09789899e-02 -1.13798239e-01 1.83744979e+02] [ 1.13701166e-01 -4.69938660e-03 9.93503881e-01 5.00402899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9092541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.72, Y:183.74, Z:50.04 [[-3.85180390e-02 -9.99257905e-01 1.61388403e-05 4.47717085e+02] [ 9.92705758e-01 -3.82673222e-02 -1.14327994e-01 1.83744038e+02] [ 1.14243769e-01 -4.38766899e-03 9.93443058e-01 5.00403354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.939254154 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:447.71, Y:183.77, Z:50.04 [[-3.59884572e-02 -9.99352205e-01 -2.13661079e-05 4.47714713e+02] [ 9.92768080e-01 -3.57489009e-02 -1.14601726e-01 1.83772178e+02] [ 1.14526724e-01 -4.14555090e-03 9.93411518e-01 5.00432895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9692541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:447.71, Y:183.77, Z:50.04 [[-3.02708703e-02 -9.99541732e-01 1.91513702e-06 4.47710378e+02] [ 9.92858258e-01 -3.00686841e-02 -1.15448489e-01 1.83772608e+02] [ 1.15395641e-01 -3.49282478e-03 9.93313468e-01 5.00439183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 577.9992541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:447.71, Y:183.80, Z:50.05 [[-3.04562895e-02 -9.99536099e-01 -3.64298811e-05 4.47710327e+02] [ 9.92852799e-01 -3.02484388e-02 -1.15448476e-01 1.83800899e+02] [ 1.15393818e-01 -3.55230173e-03 9.93313469e-01 5.00468040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.0292541539999 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:447.71, Y:183.83, Z:50.05 [[-2.83412625e-02 -9.99598306e-01 -1.34604852e-05 4.47708091e+02] [ 9.92912735e-01 -2.81501541e-02 -1.15463712e-01 1.83828646e+02] [ 1.15416952e-01 -3.28575247e-03 9.93311699e-01 5.00499360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.059254154 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:447.70, Y:183.83, Z:50.05 [[-2.34123944e-02 -9.99725892e-01 1.13825148e-05 4.47704264e+02] [ 9.93058343e-01 -2.32575611e-02 -1.15300535e-01 1.83829876e+02] [ 1.15269195e-01 -2.68815811e-03 9.93330653e-01 5.00507188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.089254154 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:447.70, Y:183.86, Z:50.05 [[-2.16674162e-02 -9.99765234e-01 -2.53208110e-05 4.47702811e+02] [ 9.93105583e-01 -2.15201664e-02 -1.15231002e-01 1.83858124e+02] [ 1.15203405e-01 -2.52190432e-03 9.93338721e-01 5.00533471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1192541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:447.70, Y:183.86, Z:50.05 [[-1.96859269e-02 -9.99806213e-01 -7.21358072e-07 4.47701712e+02] [ 9.93158316e-01 -1.95549484e-02 -1.15126727e-01 1.83863578e+02] [ 1.15104402e-01 -2.26709275e-03 9.93350813e-01 5.00536582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.1492541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.70, Y:183.89, Z:50.06 [[-1.82461145e-02 -9.99833525e-01 -3.91641594e-05 4.47699740e+02] [ 9.93155960e-01 -1.81197350e-02 -1.15381600e-01 1.83890608e+02] [ 1.15361682e-01 -2.14416201e-03 9.93321239e-01 5.00562251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.179254154 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:447.70, Y:183.92, Z:50.06 [[-1.86761598e-02 -9.99825585e-01 -1.87271138e-05 4.47698836e+02] [ 9.93152230e-01 -1.85493450e-02 -1.15345435e-01 1.83918139e+02] [ 1.15324969e-01 -2.17280865e-03 9.93325440e-01 5.00587706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.209254154 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:447.70, Y:184.07, Z:50.08 [[-1.99297950e-02 -9.99792995e-01 4.09524574e-03 4.47695749e+02] [ 9.93145751e-01 -2.02687975e-02 -1.15111659e-01 1.84068844e+02] [ 1.15170836e-01 1.77302413e-03 9.93344117e-01 5.00755024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2392541539999 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:447.70, Y:183.92, Z:50.06 [[-2.07243146e-02 -9.99778118e-01 -3.77052276e-03 4.47698505e+02] [ 9.93110379e-01 -2.01507448e-02 -1.15437098e-01 1.83921073e+02] [ 1.15335506e-01 -6.13690002e-03 9.93307636e-01 5.00578377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2692541539999 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:447.70, Y:183.95, Z:50.06 [[-2.23152117e-02 -9.99750984e-01 -4.77167004e-05 4.47696274e+02] [ 9.93092621e-01 -2.21610926e-02 -1.15221234e-01 1.83947744e+02] [ 1.15191485e-01 -2.61857334e-03 9.93339854e-01 5.00616660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.2992541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:447.70, Y:183.98, Z:50.06 [[-2.62045207e-02 -9.99656602e-01 -2.30998235e-05 4.47695867e+02] [ 9.92953384e-01 -2.60261342e-02 -1.15612361e-01 1.83975477e+02] [ 1.15572058e-01 -3.05250354e-03 9.93294408e-01 5.00647413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.329254154 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:447.68, Y:183.98, Z:50.07 [[-1.90010623e-02 -9.99164091e-01 3.61950055e-02 4.47683111e+02] [ 9.95365261e-01 -2.23173721e-02 -9.35410681e-02 1.83979240e+02] [ 9.42706537e-02 3.42498715e-02 9.94957281e-01 5.00653410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3592541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.72, Y:184.00, Z:50.06 [[-2.65697667e-02 -9.98435724e-01 -4.91950507e-02 4.47717740e+02] [ 9.94424654e-01 -2.13751673e-02 -1.03260397e-01 1.84001673e+02] [ 1.02047316e-01 -5.16643759e-02 9.93437032e-01 5.00559807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.3892541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:447.69, Y:184.03, Z:50.07 [[-2.65176844e-02 -9.99648266e-01 -3.95783156e-04 4.47694728e+02] [ 9.94230513e-01 -2.63327988e-02 -1.03982072e-01 1.84028591e+02] [ 1.03935076e-01 -3.15086347e-03 9.94579093e-01 5.00727223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4192541539999 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:447.69, Y:184.06, Z:50.08 [[-2.74284998e-02 -9.99623702e-01 -3.63904338e-04 4.47694230e+02] [ 9.94252621e-01 -2.72434326e-02 -1.03535120e-01 1.84056633e+02] [ 1.03486246e-01 -3.20162587e-03 9.94625732e-01 5.00754838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.449254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:447.69, Y:184.08, Z:50.08 [[-2.70440202e-02 -9.99634188e-01 -3.32241343e-04 4.47694142e+02] [ 9.94313414e-01 -2.68658228e-02 -1.03048831e-01 1.84084123e+02] [ 1.03002208e-01 -3.11720668e-03 9.94676243e-01 5.00781730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.4792541539999 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:447.69, Y:184.11, Z:50.08 [[-2.60832572e-02 -9.99659729e-01 -2.99744979e-04 4.47693916e+02] [ 9.94417575e-01 -2.59158086e-02 -1.02284203e-01 1.84112080e+02] [ 1.02241630e-01 -2.96597685e-03 9.94755172e-01 5.00805814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5092541539999 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:447.69, Y:184.14, Z:50.08 [[-2.47535907e-02 -9.99693547e-01 -2.69882216e-04 4.47693495e+02] [ 9.94501580e-01 -2.45975513e-02 -1.01791788e-01 1.84138617e+02] [ 1.01753956e-01 -2.78811056e-03 9.94805689e-01 5.00829708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5392541539999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:447.69, Y:184.17, Z:50.09 [[-2.05295271e-02 -9.99789216e-01 -2.48955026e-04 4.47692717e+02] [ 9.94722042e-01 -2.04004389e-02 -1.00557850e-01 1.84166467e+02] [ 1.00531575e-01 -2.31204615e-03 9.94931182e-01 5.00858856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.569254154 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:447.69, Y:184.19, Z:50.09 [[-1.86367955e-02 -9.99826296e-01 -2.18480389e-04 4.47692130e+02] [ 9.94808598e-01 -1.85213996e-02 -1.00064032e-01 1.84194322e+02] [ 1.00042604e-01 -2.08221907e-03 9.94980976e-01 5.00886880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.5992541539999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:447.69, Y:184.22, Z:50.09 [[-1.42585949e-02 -9.99891292e-01 3.75469055e-03 4.47689360e+02] [ 9.94790357e-01 -1.45647295e-02 -1.00896057e-01 1.84219678e+02] [ 1.00939775e-01 2.29649394e-03 9.94889887e-01 5.00923340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6292541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:447.69, Y:184.25, Z:50.09 [[-1.34113024e-02 -9.99902969e-01 -3.76684137e-03 4.47692953e+02] [ 9.94918840e-01 -1.29683286e-02 -9.98414993e-02 1.84248620e+02] [ 9.97829620e-02 -5.08670598e-03 9.94996224e-01 5.00923628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.6592541539999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:447.69, Y:184.28, Z:50.10 [[-1.24037736e-02 -9.99923060e-01 -1.46076720e-04 4.47691792e+02] [ 9.94869357e-01 -1.23264145e-02 -1.00414253e-01 1.84276703e+02] [ 1.00404726e-01 -1.39084291e-03 9.94945705e-01 5.00956702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.689254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:447.69, Y:184.30, Z:50.10 [[-1.09534317e-02 -9.99901031e-01 8.82894001e-03 4.47688432e+02] [ 9.94637299e-01 -1.18030235e-02 -1.02748875e-01 1.84301487e+02] [ 1.02842914e-01 7.65614027e-03 9.94668145e-01 5.01005604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7192541539999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:447.70, Y:184.33, Z:50.10 [[-1.30905607e-02 -9.99880786e-01 -8.18846607e-03 4.47698392e+02] [ 9.94793488e-01 -1.21953576e-02 -1.01178993e-01 1.84331663e+02] [ 1.01067070e-01 -9.47032247e-03 9.94834539e-01 5.00970673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7492541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:447.69, Y:184.37, Z:50.10 [[-1.03970968e-02 -9.99746030e-01 1.99943760e-02 4.47690510e+02] [ 9.95272367e-01 -1.22774009e-02 -9.63440768e-02 1.84365202e+02] [ 9.65650874e-02 1.88981513e-02 9.95147247e-01 5.01019410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.7792541539999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:447.71, Y:184.39, Z:50.10 [[-1.81289414e-02 -9.99596054e-01 -2.18876816e-02 4.47707346e+02] [ 9.94580010e-01 -1.57876973e-02 -1.02768439e-01 1.84386806e+02] [ 1.02381370e-01 -2.36321336e-02 9.94464468e-01 5.00979628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.809254154 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:447.70, Y:184.41, Z:50.11 [[-1.96032498e-02 -9.99807838e-01 -1.08291350e-05 4.47697899e+02] [ 9.94457267e-01 -1.94972220e-02 -1.03317971e-01 1.84413089e+02] [ 1.03297906e-01 -2.03613710e-03 9.94648379e-01 5.01065182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.839254154 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:447.70, Y:184.42, Z:50.11 [[-2.11719318e-02 -9.99775850e-01 -1.49474543e-06 4.47698381e+02] [ 9.94420317e-01 -2.10583649e-02 -1.03367198e-01 1.84415892e+02] [ 1.03343997e-01 -2.18996967e-03 9.94643264e-01 5.01066113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8692541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:447.70, Y:184.44, Z:50.11 [[-2.48279682e-02 -9.99691738e-01 -3.52392404e-05 4.47699850e+02] [ 9.94377875e-01 -2.46923654e-02 -1.02970524e-01 1.84442374e+02] [ 1.02937912e-01 -2.59159003e-03 9.94684407e-01 5.01085777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.8992541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.70, Y:184.47, Z:50.11 [[-2.73864763e-02 -9.99624920e-01 -1.71046977e-05 4.47700328e+02] [ 9.94417954e-01 -2.72420781e-02 -1.01935285e-01 1.84470156e+02] [ 1.01896586e-01 -2.80865750e-03 9.94791032e-01 5.01111382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.929254154 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:447.70, Y:184.48, Z:50.11 [[-3.19257430e-02 -9.99490244e-01 4.05202464e-06 4.47701201e+02] [ 9.94483255e-01 -3.17662149e-02 -9.99698154e-02 1.84479636e+02] [ 9.99189839e-02 -3.18758096e-03 9.94990470e-01 5.01121624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.959254154 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:447.70, Y:184.51, Z:50.11 [[-3.50236026e-02 -9.99386485e-01 -2.95733544e-05 4.47701367e+02] [ 9.94533380e-01 -3.48506123e-02 -9.84316521e-02 1.84506265e+02] [ 9.83702322e-02 -3.47684276e-03 9.95143813e-01 5.01143341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 578.9892541539999 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:447.70, Y:184.53, Z:50.12 [[-4.21071760e-02 -9.99113100e-01 -4.39720230e-06 4.47701900e+02] [ 9.94467885e-01 -4.19109816e-02 -9.63176754e-02 1.84533855e+02] [ 9.62320669e-02 -4.06003819e-03 9.95350644e-01 5.01166387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0192541539999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:447.70, Y:184.54, Z:50.12 [[-4.45370043e-02 -9.99007735e-01 1.95615211e-05 4.47702846e+02] [ 9.94423536e-01 -4.43345086e-02 -9.56884657e-02 1.84540790e+02] [ 9.55943846e-02 -4.24222517e-03 9.95411331e-01 5.01166262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.0492541539999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:447.70, Y:184.57, Z:50.12 [[-4.92256462e-02 -9.98787683e-01 -1.53979441e-05 4.47702411e+02] [ 9.94300686e-01 -4.90030431e-02 -9.46828777e-02 1.84568617e+02] [ 9.45673375e-02 -4.67613603e-03 9.95507485e-01 5.01196893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.079254154 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:447.70, Y:184.58, Z:50.12 [[-5.13287901e-02 -9.98634151e-01 9.75643002e-03 4.47700214e+02] [ 9.94867870e-01 -5.19833031e-02 -8.68081608e-02 1.84579427e+02] [ 8.71967655e-02 5.25060089e-03 9.96177271e-01 5.01188663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1092541539999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:447.71, Y:184.61, Z:50.12 [[-5.54783227e-02 -9.98407991e-01 -1.01803155e-02 4.47707839e+02] [ 9.94534095e-01 -5.43540491e-02 -8.91491518e-02 1.84606914e+02] [ 8.84538842e-02 -1.50705163e-02 9.95966259e-01 5.01184132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1392541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:447.70, Y:184.63, Z:50.12 [[-5.90389400e-02 -9.98248629e-01 -3.75216980e-03 4.47703000e+02] [ 9.94209705e-01 -5.84611677e-02 -9.01629335e-02 1.84632519e+02] [ 8.97856685e-02 -9.05356765e-03 9.95919960e-01 5.01237881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.1692541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:447.70, Y:184.66, Z:50.13 [[-6.22538768e-02 -9.98060337e-01 -1.38309356e-04 4.47699897e+02] [ 9.93986242e-01 -6.19872460e-02 -9.02714405e-02 1.84658812e+02] [ 9.00877709e-02 -5.75722473e-03 9.95917189e-01 5.01267218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.199254154 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:447.70, Y:184.69, Z:50.13 [[-6.35257700e-02 -9.97980191e-01 -1.20300612e-04 4.47698773e+02] [ 9.93889061e-01 -6.32544471e-02 -9.04622025e-02 1.84686553e+02] [ 9.02718766e-02 -5.86624654e-03 9.95899882e-01 5.01291434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2292541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.70, Y:184.71, Z:50.13 [[-6.38196291e-02 -9.97961445e-01 -9.44988272e-05 4.47696685e+02] [ 9.93798369e-01 -6.35447596e-02 -9.12516605e-02 1.84713251e+02] [ 9.10596341e-02 -5.91755991e-03 9.95827859e-01 5.01307711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2592541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:447.70, Y:184.74, Z:50.13 [[-6.31650803e-02 -9.98003090e-01 -7.57978836e-05 4.47695210e+02] [ 9.93842031e-01 -6.28947922e-02 -9.12264315e-02 1.84741058e+02] [ 9.10394932e-02 -5.83765599e-03 9.95830173e-01 5.01327817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.2892541539999 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:447.69, Y:184.77, Z:50.14 [[-5.96684981e-02 -9.98218247e-01 -4.95392584e-05 4.47690573e+02] [ 9.94013788e-01 -5.94126263e-02 -9.16882221e-02 1.84768112e+02] [ 9.15219131e-02 -5.52014122e-03 9.95787762e-01 5.01352968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.319254154 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:447.69, Y:184.79, Z:50.14 [[-5.67878844e-02 -9.98386266e-01 -3.10350045e-05 4.47687742e+02] [ 9.94175754e-01 -5.65455400e-02 -9.17451442e-02 1.84794543e+02] [ 9.15953370e-02 -5.24086689e-03 9.95782520e-01 5.01376990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3492541539999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:447.68, Y:184.82, Z:50.14 [[-5.34991617e-02 -9.98567894e-01 -7.31501278e-06 4.47684451e+02] [ 9.94364361e-01 -5.32732822e-02 -9.16595559e-02 1.84821998e+02] [ 9.15279001e-02 -4.91098319e-03 9.95790403e-01 5.01400322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.3792541539999 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:447.68, Y:184.81, Z:50.14 [[-4.46152086e-02 -9.99004246e-01 1.57025897e-05 4.47677872e+02] [ 9.94789092e-01 -4.44284036e-02 -9.17648065e-02 1.84814826e+02] [ 9.16741290e-02 -4.07848522e-03 9.95780709e-01 5.01401826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4092541539999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:447.67, Y:184.84, Z:50.14 [[-4.07231603e-02 -9.99170468e-01 -1.82681697e-05 4.47674773e+02] [ 9.94982252e-01 -4.05507890e-02 -9.14655747e-02 1.84842914e+02] [ 9.13889603e-02 -3.74294377e-03 9.95808239e-01 5.01426445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.439254154 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:447.67, Y:184.84, Z:50.14 [[-3.19043357e-02 -9.99490927e-01 6.09952752e-06 4.47669095e+02] [ 9.95355801e-01 -3.17728946e-02 -9.08697526e-02 1.84840975e+02] [ 9.08236871e-02 -2.89306790e-03 9.95862786e-01 5.01427160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4692541539999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:447.67, Y:184.87, Z:50.15 [[-2.81315815e-02 -9.99604228e-01 -2.81445548e-05 4.47666353e+02] [ 9.95499836e-01 -2.80135238e-02 -9.05280006e-02 1.84868280e+02] [ 9.04913838e-02 -2.57471373e-03 9.95893910e-01 5.01451039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.4992541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.66, Y:184.90, Z:50.15 [[-2.45160934e-02 -9.99699435e-01 -9.91421302e-06 4.47663707e+02] [ 9.95635265e-01 -2.44155325e-02 -9.00794194e-02 1.84895920e+02] [ 9.00521027e-02 -2.21826640e-03 9.95934585e-01 5.01478324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.5292541539999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:447.66, Y:184.90, Z:50.15 [[-2.06223532e-02 -9.99787337e-01 1.44930724e-05 4.47661008e+02] [ 9.95785271e-01 -2.05410994e-02 -8.93854401e-02 1.84896075e+02] [ 8.93667288e-02 -1.82890613e-03 9.95997110e-01 5.01481678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.559254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.66, Y:184.92, Z:50.15 [[-1.47648689e-02 -9.99890993e-01 -1.98984743e-05 4.47656641e+02] [ 9.95919680e-01 -1.47044547e-02 -8.90380256e-02 1.84922764e+02] [ 8.90280272e-02 -1.33445206e-03 9.96028227e-01 5.01507283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.589254154 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:447.66, Y:184.95, Z:50.15 [[-1.26414394e-02 -9.99920094e-01 -5.38010130e-06 4.47655095e+02] [ 9.95937187e-01 -1.25906060e-02 -8.91661199e-02 1.84950801e+02] [ 8.91589273e-02 -1.13254635e-03 9.96016768e-01 5.01530402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6192541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.65, Y:184.95, Z:50.15 [[-7.99455398e-03 -9.99968043e-01 1.88010591e-05 4.47652407e+02] [ 9.95937569e-01 -7.96401749e-03 -8.96935512e-02 1.84950562e+02] [ 8.96908346e-02 -6.98335255e-04 9.95969410e-01 5.01527940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.6492541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.65, Y:184.98, Z:50.16 [[-6.53179089e-03 -9.99978668e-01 -1.50289163e-05 4.47651093e+02] [ 9.95886693e-01 -6.50370415e-03 -9.03736500e-02 1.84978777e+02] [ 9.03716243e-02 -6.05268881e-04 9.95907929e-01 5.01552419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.679254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.65, Y:184.98, Z:50.16 [[-4.73797170e-03 -9.99988776e-01 8.34997931e-06 4.47650036e+02] [ 9.95877867e-01 -4.71925048e-03 -9.05814681e-02 1.84984936e+02] [ 9.05804908e-02 -4.20856873e-04 9.95889049e-01 5.01556461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.709254154 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.65, Y:185.01, Z:50.16 [[-3.22868158e-03 -9.99994788e-01 -2.51853784e-05 4.47648512e+02] [ 9.95882788e-01 -3.21312354e-03 -9.05933095e-02 1.85012418e+02] [ 9.05927563e-02 -3.17578634e-04 9.95887971e-01 5.01578466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7392541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:447.65, Y:185.01, Z:50.16 [[-2.84638186e-03 -9.99995949e-01 -7.49097719e-07 4.47647846e+02] [ 9.95872147e-01 -2.83457593e-03 -9.07228343e-02 1.85010466e+02] [ 9.07224647e-02 -2.58977835e-04 9.95876181e-01 5.01578596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7692541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.65, Y:185.04, Z:50.16 [[-4.21817273e-03 -9.99991103e-01 -3.46345373e-05 4.47647450e+02] [ 9.95884525e-01 -4.19771470e-03 -9.05339253e-02 1.85037286e+02] [ 9.05329745e-02 -4.16379735e-04 9.95893371e-01 5.01602363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.7992541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:447.65, Y:185.07, Z:50.16 [[-5.76146839e-03 -9.99983402e-01 -1.97686373e-05 4.47647233e+02] [ 9.95918480e-01 -5.73626739e-03 -9.00748342e-02 1.85065031e+02] [ 9.00732258e-02 -5.38651261e-04 9.95935000e-01 5.01625789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.829254154 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:447.65, Y:185.07, Z:50.16 [[-7.06658935e-03 -9.99975031e-01 4.41521547e-06 4.47647158e+02] [ 9.95947251e-01 -7.03852186e-03 -8.96634415e-02 1.85071827e+02] [ 8.96612338e-02 -6.29217399e-04 9.95972122e-01 5.01633429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8592541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:447.65, Y:185.10, Z:50.17 [[-1.06692042e-02 -9.99943080e-01 6.25910293e-05 4.47647359e+02] [ 9.96021804e-01 -1.06329029e-02 -8.84732074e-02 1.85099975e+02] [ 8.84688371e-02 -8.81596686e-04 9.96078555e-01 5.01657611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.8892541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:447.65, Y:185.13, Z:50.17 [[-1.36446384e-02 -9.99906907e-01 4.69700222e-05 4.47647792e+02] [ 9.96054217e-01 -1.35961846e-02 -8.76991438e-02 1.85127948e+02] [ 8.76916182e-02 -1.14983842e-03 9.96147006e-01 5.01682286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9192541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:447.65, Y:185.13, Z:50.17 [[-1.32513631e-02 -9.99912197e-01 2.76524853e-06 4.47647738e+02] [ 9.96059539e-01 -1.32005482e-02 -8.76991453e-02 1.85130594e+02] [ 8.76914816e-02 -1.15937887e-03 9.96147007e-01 5.01684456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.949254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.64, Y:185.16, Z:50.17 [[-1.84599868e-02 -9.99758165e-01 1.19516027e-02 4.47643896e+02] [ 9.96277450e-01 -1.93998158e-02 -8.39933861e-02 1.85161317e+02] [ 8.42049324e-02 1.03565955e-02 9.96394636e-01 5.01723792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 579.9792541539999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:447.66, Y:185.17, Z:50.17 [[-2.41819362e-02 -9.99612163e-01 -1.38115258e-02 4.47655099e+02] [ 9.95553666e-01 -2.28210333e-02 -9.13898119e-02 1.85166338e+02] [ 9.10391742e-02 -1.59600977e-02 9.95719410e-01 5.01679771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0092541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:447.65, Y:185.19, Z:50.18 [[-2.68736179e-02 -9.99629172e-01 4.39626231e-03 4.47648401e+02] [ 9.95754938e-01 -2.71562453e-02 -8.79468136e-02 1.85188571e+02] [ 8.80335864e-02 2.01415084e-03 9.96115471e-01 5.01750284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0392541539999 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:447.65, Y:185.19, Z:50.17 [[-3.29255596e-02 -9.99453142e-01 -3.05360170e-03 4.47652585e+02] [ 9.95508965e-01 -3.25239954e-02 -8.89049561e-02 1.85187145e+02] [ 8.87570224e-02 -5.96713330e-03 9.96035433e-01 5.01733751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.069254154 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:447.65, Y:185.19, Z:50.17 [[-3.61773615e-02 -9.99345385e-01 -3.23947357e-05 4.47651720e+02] [ 9.95384359e-01 -3.60310848e-02 -8.89479605e-02 1.85188029e+02] [ 8.88885665e-02 -3.25014773e-03 9.96036274e-01 5.01746453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.0992541539999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:447.65, Y:185.20, Z:50.18 [[-4.05031218e-02 -9.99173854e-01 3.33266506e-03 4.47652842e+02] [ 9.95416030e-01 -4.06395588e-02 -8.65757120e-02 1.85203112e+02] [ 8.66396259e-02 -1.89198385e-04 9.96239700e-01 5.01753986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1292541539999 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:447.66, Y:185.21, Z:50.17 [[-4.23270883e-02 -9.99103807e-01 1.86473259e-05 4.47655003e+02] [ 9.95353217e-01 -4.21698100e-02 -8.65660477e-02 1.85207561e+02] [ 8.64892542e-02 -3.64552807e-03 9.96246114e-01 5.01744782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.1592541539999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:447.66, Y:185.24, Z:50.18 [[-4.45978734e-02 -9.99005020e-01 -1.88122257e-05 4.47655377e+02] [ 9.95282424e-01 -4.44300640e-02 -8.62488590e-02 1.85235285e+02] [ 8.61622073e-02 -3.86523917e-03 9.96273624e-01 5.01765070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.189254154 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:447.66, Y:185.24, Z:50.18 [[-4.62131240e-02 -9.98931603e-01 1.00267719e-05 4.47655690e+02] [ 9.95235069e-01 -4.60429756e-02 -8.59488340e-02 1.85238922e+02] [ 8.58574682e-02 -3.96198513e-03 9.96299552e-01 5.01765400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2192541539999 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:447.65, Y:185.27, Z:50.18 [[-4.46302047e-02 -9.98867816e-01 1.64691099e-02 4.47649691e+02] [ 9.95566609e-01 -4.58369222e-02 -8.21346645e-02 1.85270899e+02] [ 8.27965663e-02 1.27304090e-02 9.96485156e-01 5.01800760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2492541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:447.66, Y:185.29, Z:50.18 [[-4.82789672e-02 -9.98744239e-01 -1.33822938e-02 4.47661217e+02] [ 9.94854745e-01 -4.68875937e-02 -8.98086321e-02 1.85292413e+02] [ 8.90683904e-02 -1.76493065e-02 9.95869130e-01 5.01762524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.2792541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:447.65, Y:185.27, Z:50.18 [[-4.28756255e-02 -9.99052696e-01 7.44251333e-03 4.47651755e+02] [ 9.95459323e-01 -4.33527059e-02 -8.47424289e-02 1.85271818e+02] [ 8.49848052e-02 3.77533464e-03 9.96375095e-01 5.01785579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.309254154 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:447.66, Y:185.30, Z:50.18 [[-4.35151947e-02 -9.98998484e-01 -1.04142508e-02 4.47657499e+02] [ 9.95284023e-01 -4.24441028e-02 -8.72250639e-02 1.85295281e+02] [ 8.66956830e-02 -1.41607531e-02 9.96134194e-01 5.01781945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.339254154 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:447.65, Y:185.32, Z:50.18 [[-4.13063138e-02 -9.99146530e-01 -2.47702690e-05 4.47650700e+02] [ 9.95308896e-01 -4.11454891e-02 -8.75628398e-02 1.85322342e+02] [ 8.74870883e-02 -3.64155221e-03 9.96158998e-01 5.01846135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3692541539999 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:447.65, Y:185.31, Z:50.18 [[-3.93198608e-02 -9.99226675e-01 3.90526028e-06 4.47649767e+02] [ 9.95406331e-01 -3.91698706e-02 -8.73610724e-02 1.85312781e+02] [ 8.72936669e-02 -3.43113788e-03 9.96176713e-01 5.01835340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.3992541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:447.65, Y:185.34, Z:50.19 [[-3.59728212e-02 -9.99352768e-01 -3.40740811e-05 4.47647820e+02] [ 9.95500945e-01 -3.58311797e-02 -8.77154170e-02 1.85339362e+02] [ 8.76574239e-02 -3.18929179e-03 9.96145574e-01 5.01864294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.429254154 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:447.65, Y:185.37, Z:50.19 [[-3.41771287e-02 -9.99415791e-01 -1.95276614e-05 4.47646715e+02] [ 9.95524211e-01 -3.40423252e-02 -8.81627254e-02 1.85365721e+02] [ 8.81105552e-02 -3.03258907e-03 9.96106085e-01 5.01888536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.459254154 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:447.65, Y:185.39, Z:50.19 [[-3.23115693e-02 -9.99477845e-01 -5.07958641e-06 4.47645488e+02] [ 9.95604041e-01 -3.21858882e-02 -8.79583012e-02 1.85392763e+02] [ 8.79122099e-02 -2.84712800e-03 9.96124158e-01 5.01911255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.4892541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.64, Y:185.39, Z:50.19 [[-2.72634242e-02 -9.99628284e-01 1.11310219e-05 4.47643398e+02] [ 9.95616395e-01 -2.71550023e-02 -8.95019506e-02 1.85392059e+02] [ 8.94689835e-02 -2.42904742e-03 9.95986647e-01 5.01906160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5192541539999 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:447.64, Y:185.42, Z:50.19 [[-2.48303796e-02 -9.99691678e-01 -2.61470896e-05 4.47642477e+02] [ 9.95650149e-01 -2.47276464e-02 -8.98294228e-02 1.85418422e+02] [ 8.98010799e-02 -2.25653202e-03 9.95957165e-01 5.01927502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.5492541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:447.64, Y:185.45, Z:50.19 [[-1.91275559e-02 -9.99817052e-01 -1.17864591e-05 4.47640341e+02] [ 9.95571021e-01 -1.90452396e-02 -9.20631324e-02 1.85446751e+02] [ 9.20460651e-02 -1.77267697e-03 9.95753172e-01 5.01937240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.579254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.63, Y:185.46, Z:50.20 [[-1.50117240e-02 -9.99809564e-01 1.24693079e-02 4.47633560e+02] [ 9.96248208e-01 -1.60189243e-02 -8.50464704e-02 1.85458890e+02] [ 8.52300195e-02 1.11458315e-02 9.96298958e-01 5.01957603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6092541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.65, Y:185.49, Z:50.19 [[-1.34229251e-02 -9.99772593e-01 -1.65706520e-02 4.47645413e+02] [ 9.95995030e-01 -1.19035038e-02 -8.86126754e-02 1.85485650e+02] [ 8.83952755e-02 -1.76937284e-02 9.95928314e-01 5.01927672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6392541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.64, Y:185.51, Z:50.20 [[-8.27652729e-03 -9.99965748e-01 -3.63748010e-05 4.47635923e+02] [ 9.95948210e-01 -8.24001740e-03 -8.95503447e-02 1.85512364e+02] [ 8.95469777e-02 -7.77393290e-04 9.95982296e-01 5.02006869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.6692541539999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:447.63, Y:185.54, Z:50.20 [[-5.05341096e-03 -9.99776549e-01 2.05259582e-02 4.47626297e+02] [ 9.96296395e-01 -6.79562622e-03 -8.57164665e-02 1.85541786e+02] [ 8.58367998e-02 2.00167776e-02 9.96108113e-01 5.02049523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.699254154 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.64, Y:185.57, Z:50.20 [[-4.02309578e-03 -9.99775091e-01 -2.08226153e-02 4.47644494e+02] [ 9.95925609e-01 -2.12995258e-03 -9.01534487e-02 1.85568791e+02] [ 9.00888212e-02 -2.11004718e-02 9.95710186e-01 5.01982217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7292541539999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:447.63, Y:185.57, Z:50.21 [[ 2.82257504e-04 -9.99999960e-01 7.73251374e-06 4.47634271e+02] [ 9.95793456e-01 2.80361689e-04 -9.16259523e-02 1.85569003e+02] [ 9.16259465e-02 3.35620993e-05 9.95793495e-01 5.02050484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7592541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.63, Y:185.60, Z:50.21 [[ 2.02375181e-03 -9.99997952e-01 -2.61648009e-05 4.47634343e+02] [ 9.95656468e-01 2.01740116e-03 -9.30812947e-02 1.85597185e+02] [ 9.30811568e-02 1.62322285e-04 9.95658512e-01 5.02067209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.7892541539999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:447.63, Y:185.63, Z:50.21 [[ 3.38124658e-03 -9.99994284e-01 -1.43567573e-07 4.47634622e+02] [ 9.95630896e-01 3.36650620e-03 -9.33155207e-02 1.85625386e+02] [ 9.33149878e-02 3.15379845e-04 9.95636587e-01 5.02091267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.819254154 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:447.64, Y:185.63, Z:50.21 [[ 4.50358598e-03 -9.99989859e-01 2.26190476e-05 4.47635741e+02] [ 9.95516615e-01 4.48130305e-03 -9.44806237e-02 1.85628394e+02] [ 9.44795642e-02 4.48019250e-04 9.95526700e-01 5.02088560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8492541539999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:447.64, Y:185.66, Z:50.21 [[ 3.17836275e-03 -9.99994949e-01 -1.00749176e-05 4.47637917e+02] [ 9.95415688e-01 3.16477120e-03 -9.55907560e-02 1.85656660e+02] [ 9.55903051e-02 2.93793367e-04 9.95420719e-01 5.02113782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.8792541539999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:447.64, Y:185.66, Z:50.21 [[ 2.47812013e-03 -9.99996929e-01 1.29555681e-05 4.47639195e+02] [ 9.95342042e-01 2.46533613e-03 -9.63750030e-02 1.85663146e+02] [ 9.63746751e-02 2.51724057e-04 9.95345095e-01 5.02128916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9092541539999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:447.64, Y:185.69, Z:50.22 [[ 1.45837172e-03 -9.99998936e-01 -1.93762845e-05 4.47640813e+02] [ 9.95252331e-01 1.45333505e-03 -9.73174461e-02 1.85690657e+02] [ 9.73173708e-02 1.22640719e-04 9.95253392e-01 5.02150391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.939254154 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:447.64, Y:185.69, Z:50.22 [[ 2.42078114e-04 -9.99999971e-01 2.01402008e-06 4.47644431e+02] [ 9.94978485e-01 2.40660943e-04 -1.00088745e-01 1.85690689e+02] [ 1.00088742e-01 2.62332015e-05 9.94978514e-01 5.02150402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9692541539999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:447.65, Y:185.72, Z:50.22 [[-4.21206032e-04 -9.99999911e-01 -2.94585030e-05 4.47646765e+02] [ 9.94885998e-01 -4.16076611e-04 -1.01003355e-01 1.85718170e+02] [ 1.01003333e-01 -7.18510742e-05 9.94886085e-01 5.02171162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 580.9992541539999 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:447.65, Y:185.75, Z:50.22 [[-5.05219754e-04 -9.99999872e-01 9.15204116e-08 4.47649083e+02] [ 9.94689402e-01 -5.02546216e-04 -1.02921042e-01 1.85746482e+02] [ 1.02921028e-01 -5.19067087e-05 9.94689529e-01 5.02186625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.0292541539999 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:447.65, Y:185.75, Z:50.22 [[-5.10157070e-04 -9.99999870e-01 2.01187960e-05 4.47654012e+02] [ 9.94637948e-01 -5.09502274e-04 -1.03417078e-01 1.85752796e+02] [ 1.03417074e-01 -3.27480352e-05 9.94638079e-01 5.02200708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.059254154 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:447.66, Y:185.78, Z:50.22 [[-6.06442974e-04 -9.99999816e-01 -1.02304937e-05 4.47656704e+02] [ 9.94589032e-01 -6.02098834e-04 -1.03885975e-01 1.85780303e+02] [ 1.03885950e-01 -7.31760565e-05 9.94589214e-01 5.02223518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.089254154 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:447.66, Y:185.78, Z:50.22 [[-1.53668325e-04 -9.99999988e-01 9.01389553e-06 4.47662093e+02] [ 9.94508614e-01 -1.53767819e-04 -1.04654636e-01 1.85781198e+02] [ 1.04654636e-01 -7.11770558e-06 9.94508626e-01 5.02223851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1192541539999 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:447.67, Y:185.81, Z:50.22 [[-5.06033261e-04 -9.99999872e-01 -2.10489959e-05 4.47665070e+02] [ 9.94490769e-01 -5.01039051e-04 -1.04822991e-01 1.85808800e+02] [ 1.04822967e-01 -7.39769519e-05 9.94490895e-01 5.02248708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1492541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:447.67, Y:185.81, Z:50.23 [[-4.43499831e-04 -9.99999902e-01 -1.83003275e-06 4.47668127e+02] [ 9.94486165e-01 -4.40862578e-04 -1.04866930e-01 1.85812980e+02] [ 1.04866919e-01 -4.83284079e-05 9.94486263e-01 5.02252814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.1792541539999 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:447.67, Y:185.84, Z:50.23 [[-2.13799509e-03 -9.99997714e-01 -3.19012881e-05 4.47674526e+02] [ 9.94395200e-01 -2.12264476e-03 -1.05705636e-01 1.85840885e+02] [ 1.05705326e-01 -2.57720618e-04 9.94397465e-01 5.02277259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.209254154 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:447.68, Y:185.87, Z:50.23 [[-3.17716486e-03 -9.99994953e-01 -3.52303675e-06 4.47678160e+02] [ 9.94394799e-01 -3.15899983e-03 -1.05683514e-01 1.85868081e+02] [ 1.05682970e-01 -3.39277236e-04 9.94399816e-01 5.02297035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2392541539999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:447.68, Y:185.87, Z:50.23 [[-3.71774950e-03 -9.99993089e-01 3.67276056e-06 4.47681899e+02] [ 9.94312307e-01 -3.69702056e-03 -1.06439508e-01 1.85872061e+02] [ 1.06438786e-01 -3.92063558e-04 9.94319180e-01 5.02292056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2692541539999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:447.69, Y:185.90, Z:50.23 [[-7.23259434e-03 -9.99973844e-01 -2.58111680e-05 4.47689153e+02] [ 9.94224882e-01 -7.18824952e-03 -1.07075737e-01 1.85900190e+02] [ 1.07072751e-01 -8.00097475e-04 9.94250867e-01 5.02318331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.2992541539999 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:447.69, Y:185.91, Z:50.23 [[-8.42366981e-03 -9.99964520e-01 -7.18763880e-06 4.47692769e+02] [ 9.94185112e-01 -8.37421257e-03 -1.07358443e-01 1.85907678e+02] [ 1.07354574e-01 -9.11497917e-04 9.94220380e-01 5.02320260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.329254154 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:447.70, Y:185.93, Z:50.23 [[-1.14772044e-02 -9.99934134e-01 -3.73667567e-05 4.47699769e+02] [ 9.94133569e-01 -1.14066065e-02 -1.07556201e-01 1.85934079e+02] [ 1.07548690e-01 -1.27159205e-03 9.94199005e-01 5.02341308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3592541539999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:447.70, Y:185.96, Z:50.24 [[-1.31470479e-02 -9.99913574e-01 -9.17659521e-06 4.47702974e+02] [ 9.94087666e-01 -1.30694586e-02 -1.07791014e-01 1.85962212e+02] [ 1.07781578e-01 -1.42625596e-03 9.94173575e-01 5.02362865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.3892541539999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:447.71, Y:185.96, Z:50.24 [[-1.39908504e-02 -9.99902123e-01 8.90169577e-06 4.47706149e+02] [ 9.94076564e-01 -1.39102975e-02 -1.07788168e-01 1.85964275e+02] [ 1.07777742e-01 -1.49919917e-03 9.94173884e-01 5.02376044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4192541539999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:447.71, Y:185.99, Z:50.24 [[-1.38300508e-02 -9.99904360e-01 -2.05179293e-05 4.47712505e+02] [ 9.94079571e-01 -1.37472743e-02 -1.07781350e-01 1.85992506e+02] [ 1.07770760e-01 -1.51101800e-03 9.94174623e-01 5.02401256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.449254154 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:447.71, Y:186.00, Z:50.24 [[-1.25061460e-02 -9.99921795e-01 -2.49897479e-06 4.47714839e+02] [ 9.94098739e-01 -1.24330470e-02 -1.07764175e-01 1.85998346e+02] [ 1.07755716e-01 -1.35019873e-03 9.94176485e-01 5.02408620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.4792541539999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:447.72, Y:186.03, Z:50.24 [[-9.17956920e-03 -9.99957866e-01 -3.37224347e-05 4.47718642e+02] [ 9.94154695e-01 -9.12266836e-03 -1.07578902e-01 1.86025273e+02] [ 1.07574062e-01 -1.02105329e-03 9.94196549e-01 5.02439103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5092541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:447.72, Y:186.05, Z:50.25 [[-6.35338168e-03 -9.99979817e-01 -1.09861397e-05 4.47720523e+02] [ 9.94131804e-01 -6.31503984e-03 -1.07991092e-01 1.86053460e+02] [ 1.07988843e-01 -6.97030293e-04 9.94151862e-01 5.02456388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5392541539999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:447.72, Y:186.05, Z:50.25 [[-2.14594375e-03 -9.99997697e-01 6.83325221e-06 4.47723294e+02] [ 9.94366839e-01 -2.13458435e-03 -1.05971849e-01 1.86050625e+02] [ 1.05971619e-01 -2.20614867e-04 9.94369130e-01 5.02479704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.569254154 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:447.72, Y:186.08, Z:50.25 [[-5.16427390e-04 -9.99999866e-01 -2.35801801e-05 4.47724828e+02] [ 9.94400645e-01 -5.11043973e-04 -1.05674480e-01 1.86077623e+02] [ 1.05674453e-01 -7.80213417e-05 9.94400776e-01 5.02512104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.5992541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:447.73, Y:186.11, Z:50.25 [[ 8.42909047e-04 -9.99999645e-01 3.93350946e-06 4.47726603e+02] [ 9.94446717e-01 8.37814479e-04 -1.05237942e-01 1.86105038e+02] [ 1.05237902e-01 9.26176794e-05 9.94447070e-01 5.02535820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6292541539999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:447.73, Y:186.11, Z:50.26 [[ 2.03365122e-03 -9.99997932e-01 2.35935850e-05 4.47729262e+02] [ 9.94514914e-01 2.02003334e-03 -1.04575356e-01 1.86106083e+02] [ 1.04575092e-01 2.36133972e-04 9.94516965e-01 5.02550915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.6592541539999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:447.73, Y:186.13, Z:50.26 [[ 1.33231474e-03 -9.99999112e-01 -8.52568694e-06 4.47730115e+02] [ 9.94509219e-01 1.32589261e-03 -1.04640598e-01 1.86133049e+02] [ 1.04640516e-01 1.30935337e-04 9.94510103e-01 5.02582037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.689254154 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:447.73, Y:186.14, Z:50.26 [[-6.10286237e-04 -9.99999814e-01 -6.61791785e-07 4.47732514e+02] [ 9.94521541e-01 -6.06873743e-04 -1.04530071e-01 1.86136273e+02] [ 1.04530051e-01 -6.44514294e-05 9.94521726e-01 5.02587415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7192541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:447.73, Y:186.16, Z:50.26 [[-1.52643393e-03 -9.99998835e-01 -3.11073596e-05 4.47734883e+02] [ 9.94422328e-01 -1.51464115e-03 -1.05460609e-01 1.86164306e+02] [ 1.05460439e-01 -1.91912505e-04 9.94423481e-01 5.02604138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7492541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.74, Y:186.19, Z:50.26 [[-4.49423152e-03 -9.99989901e-01 -2.55836779e-06 4.47735904e+02] [ 9.94581437e-01 -4.46965865e-03 -1.03864279e-01 1.86191893e+02] [ 1.03863218e-01 -4.69334620e-04 9.94591480e-01 5.02639319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.7792541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:447.74, Y:186.20, Z:50.27 [[-7.68679079e-03 -9.99970456e-01 1.58010702e-05 4.47737349e+02] [ 9.94659609e-01 -7.64759260e-03 -1.02926073e-01 1.86196588e+02] [ 1.02923153e-01 -7.75454505e-04 9.94689008e-01 5.02662150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.809254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:447.74, Y:186.22, Z:50.27 [[-7.95383291e-03 -9.99968368e-01 -1.51791258e-05 4.47737291e+02] [ 9.94657557e-01 -7.91002789e-03 -1.02926067e-01 1.86224895e+02] [ 1.02922691e-01 -8.33754771e-04 9.94689009e-01 5.02687197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.839254154 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:447.74, Y:186.23, Z:50.27 [[-8.53815249e-03 -9.99963549e-01 2.48177506e-06 4.47737917e+02] [ 9.94557217e-01 -8.49224844e-03 -1.03845190e-01 1.86229557e+02] [ 1.03841426e-01 -8.84177798e-04 9.94593473e-01 5.02691895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8692541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:447.74, Y:186.26, Z:50.27 [[-1.34586823e-02 -9.99909427e-01 -2.78682156e-05 4.47738548e+02] [ 9.94740920e-01 -1.33862845e-02 -1.01544614e-01 1.86257118e+02] [ 1.01535044e-01 -1.39437835e-03 9.94830986e-01 5.02733831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.8992541539999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:447.74, Y:186.28, Z:50.28 [[-1.56774228e-02 -9.99877102e-01 6.68036318e-07 4.47738822e+02] [ 9.94758829e-01 -1.55972391e-02 -1.01052457e-01 1.86283824e+02] [ 1.01040049e-01 -1.58357756e-03 9.94881099e-01 5.02762029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9292541539999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:447.74, Y:186.29, Z:50.28 [[-1.72381510e-02 -9.99851412e-01 1.32416606e-05 4.47739520e+02] [ 9.94688478e-01 -1.71504825e-02 -1.01492325e-01 1.86286782e+02] [ 1.01477472e-01 -1.73636870e-03 9.94836322e-01 5.02763464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.959254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.74, Y:186.31, Z:50.28 [[-2.26363112e-02 -9.99739138e-01 3.04198616e-03 4.47739413e+02] [ 9.94528961e-01 -2.28285109e-02 -1.01936278e-01 1.86312971e+02] [ 1.01979130e-01 7.17882031e-04 9.94786279e-01 5.02789809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 581.9892541539999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:447.74, Y:186.25, Z:50.27 [[-2.50232340e-02 -9.99684749e-01 -2.05943937e-03 4.47742038e+02] [ 9.94489446e-01 -2.46832882e-02 -1.01889530e-01 1.86249620e+02] [ 1.01806575e-01 -4.59769626e-03 9.94793588e-01 5.02716950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0192541539999 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:447.74, Y:186.28, Z:50.28 [[-3.03615526e-02 -9.99538975e-01 -1.18773246e-04 4.47740740e+02] [ 9.94368660e-01 -3.01924303e-02 -1.01584376e-01 1.86276138e+02] [ 1.01533957e-01 -3.20236375e-03 9.94826920e-01 5.02752573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.0492541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.74, Y:186.30, Z:50.28 [[-3.29773363e-02 -9.99456095e-01 -1.00518319e-04 4.47740914e+02] [ 9.94289198e-01 -3.27966394e-02 -1.01554768e-01 1.86303952e+02] [ 1.01496235e-01 -3.44895003e-03 9.94829945e-01 5.02781706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.079254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.74, Y:186.33, Z:50.28 [[-3.52359107e-02 -9.99379020e-01 -7.10031400e-05 4.47741216e+02] [ 9.94249607e-01 -3.50478696e-02 -1.01189753e-01 1.86330756e+02] [ 1.01124427e-01 -3.63610793e-03 9.94867141e-01 5.02805013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1092541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.74, Y:186.36, Z:50.28 [[-3.84037639e-02 -9.99262302e-01 -4.42830147e-05 4.47740735e+02] [ 9.94223247e-01 -3.82056574e-02 -1.00301863e-01 1.86357069e+02] [ 1.00226178e-01 -3.89599625e-03 9.94957052e-01 5.02833885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1392541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:447.74, Y:186.38, Z:50.29 [[-3.90043953e-02 -9.99239039e-01 -1.84592603e-05 4.47740270e+02] [ 9.94262260e-01 -3.88082898e-02 -9.96818672e-02 1.86383893e+02] [ 9.96052968e-02 -3.90638430e-03 9.95019359e-01 5.02859033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.1692541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:447.74, Y:186.38, Z:50.29 [[-3.71340938e-02 -9.99310292e-01 5.16205998e-07 4.47738853e+02] [ 9.94427841e-01 -3.69527143e-02 -9.87307736e-02 1.86380936e+02] [ 9.86626972e-02 -3.66576448e-03 9.95114182e-01 5.02858947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.199254154 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:447.74, Y:186.41, Z:50.29 [[-3.54756296e-02 -9.99370541e-01 -3.28756137e-05 4.47737439e+02] [ 9.94484949e-01 -3.52989521e-02 -9.87606743e-02 1.86407233e+02] [ 9.86973480e-02 -3.53629140e-03 9.95111214e-01 5.02886794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2292541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.74, Y:186.43, Z:50.29 [[-3.33187541e-02 -9.99444776e-01 -6.96089335e-06 4.47735807e+02] [ 9.94537727e-01 -3.31544772e-02 -9.89721734e-02 1.86434965e+02] [ 9.89169909e-02 -3.30455238e-03 9.95090201e-01 5.02913241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2592541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.73, Y:186.43, Z:50.29 [[-3.04908494e-02 -9.99535046e-01 1.48316665e-05 4.47734175e+02] [ 9.94591308e-01 -3.03415145e-02 -9.93354057e-02 1.86434879e+02] [ 9.92896693e-02 -3.01406945e-03 9.95054007e-01 5.02908354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.2892541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.73, Y:186.46, Z:50.29 [[-2.59553040e-02 -9.99663104e-01 -1.80346098e-05 4.47732763e+02] [ 9.94708551e-01 -2.58248698e-02 -9.94382945e-02 1.86462638e+02] [ 9.94043285e-02 -2.59889034e-03 9.95043730e-01 5.02926054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.319254154 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.73, Y:186.46, Z:50.29 [[-2.33300133e-02 -9.99727818e-01 3.50018946e-06 4.47731985e+02] [ 9.94811470e-01 -2.32156304e-02 -9.90513699e-02 1.86459332e+02] [ 9.90244911e-02 -2.30738774e-03 9.95082321e-01 5.02923250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3492541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.73, Y:186.49, Z:50.29 [[-2.11878501e-02 -9.99775512e-01 -2.91972171e-05 4.47730511e+02] [ 9.94920403e-01 -2.10820831e-02 -9.84324028e-02 1.86487461e+02] [ 9.84096904e-02 -2.11461990e-03 9.95143739e-01 5.02945582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.3792541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.73, Y:186.52, Z:50.30 [[-2.13006673e-02 -9.99773115e-01 -1.49957523e-07 4.47729784e+02] [ 9.94945422e-01 -2.11977961e-02 -9.81542684e-02 1.86515625e+02] [ 9.81319955e-02 -2.09090061e-03 9.95171211e-01 5.02969225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4092541539999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:447.73, Y:186.52, Z:50.30 [[-2.12238872e-02 -9.99774748e-01 2.28301290e-05 4.47729001e+02] [ 9.94939110e-01 -2.11234763e-02 -9.82342373e-02 1.86515569e+02] [ 9.82125921e-02 -2.06219778e-03 9.95163320e-01 5.02966835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.439254154 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:447.73, Y:186.54, Z:50.30 [[-2.31723916e-02 -9.99731484e-01 -1.11981411e-05 4.47728054e+02] [ 9.94888419e-01 -2.30590349e-02 -9.83123294e-02 1.86542436e+02] [ 9.82856727e-02 -2.28927270e-03 9.95155609e-01 5.02978357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4692541539999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:447.73, Y:186.54, Z:50.30 [[-2.41678023e-02 -9.99707916e-01 -1.37484829e-07 4.47728104e+02] [ 9.94870844e-01 -2.40508532e-02 -9.82525339e-02 1.86543471e+02] [ 9.82238326e-02 -2.37468460e-03 9.95161514e-01 5.02971067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.4992541539999 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:447.73, Y:186.57, Z:50.30 [[-2.53876620e-02 -9.99677681e-01 -3.33962061e-05 4.47728715e+02] [ 9.94865683e-01 -2.52621834e-02 -9.80004800e-02 1.86570304e+02] [ 9.79680489e-02 -2.52122780e-03 9.95186367e-01 5.02986923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.5292541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:447.73, Y:186.60, Z:50.30 [[-2.71466871e-02 -9.99631461e-01 -7.83898164e-06 4.47729459e+02] [ 9.94931509e-01 -2.70182924e-02 -9.68571312e-02 1.86598497e+02] [ 9.68212237e-02 -2.63714948e-03 9.95298295e-01 5.02999469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.559254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.73, Y:186.60, Z:50.30 [[-2.67631987e-02 -9.99641801e-01 1.57389566e-05 4.47729386e+02] [ 9.95051075e-01 -2.66417993e-02 -9.57265495e-02 1.86600026e+02] [ 9.56926797e-02 -2.54628759e-03 9.95407669e-01 5.02996922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.589254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.72, Y:186.63, Z:50.30 [[-2.31358766e-02 -9.99364653e-01 2.71112983e-02 4.47719556e+02] [ 9.95757260e-01 -2.54513158e-02 -8.84291198e-02 1.86633749e+02] [ 8.90629548e-02 2.49503869e-02 9.95713447e-01 5.03006676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6192541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:447.74, Y:186.65, Z:50.30 [[-2.89881340e-02 -9.99349650e-01 -2.14468034e-02 4.47739516e+02] [ 9.94534598e-01 -2.66822029e-02 -1.00940546e-01 1.86650474e+02] [ 1.00302651e-01 -2.42556660e-02 9.94661269e-01 5.02962285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6492541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.73, Y:186.65, Z:50.30 [[-2.65500075e-02 -9.99647427e-01 3.46126175e-04 4.47728938e+02] [ 9.94583047e-01 -2.64503068e-02 -1.00523350e-01 1.86650384e+02] [ 1.00497063e-01 -2.32464447e-03 9.94934639e-01 5.03012482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.6792541539999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:447.73, Y:186.65, Z:50.30 [[-2.53171486e-02 -9.99679424e-01 3.02273381e-04 4.47729181e+02] [ 9.94759751e-01 -2.52225154e-02 -9.90800780e-02 1.86652008e+02] [ 9.90559394e-02 -2.20773566e-03 9.95079417e-01 5.03003561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.709254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.72, Y:186.65, Z:50.30 [[-1.81586643e-02 -9.99589309e-01 2.21692823e-02 4.47722081e+02] [ 9.96174730e-01 -1.99833074e-02 -8.50680628e-02 1.86649618e+02] [ 8.54761416e-02 2.05397564e-02 9.96128480e-01 5.02983078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7392541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:447.74, Y:186.67, Z:50.29 [[-1.95187505e-02 -9.99350731e-01 -3.02842288e-02 4.47743452e+02] [ 9.95812182e-01 -1.67259348e-02 -8.98795988e-02 1.86672332e+02] [ 8.93147107e-02 -3.19117414e-02 9.95492101e-01 5.02949060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7692541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:447.73, Y:186.70, Z:50.30 [[-1.84618980e-02 -9.99829564e-01 -3.79988792e-05 4.47728959e+02] [ 9.95864906e-01 -1.83853092e-02 -8.89666739e-02 1.86699238e+02] [ 8.89508122e-02 -1.68033541e-03 9.96034603e-01 5.03046328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.7992541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.73, Y:186.73, Z:50.31 [[-1.52387630e-02 -9.99883883e-01 -1.19317780e-05 4.47729385e+02] [ 9.96008835e-01 -1.51786557e-02 -8.79545856e-02 1.86725663e+02] [ 8.79441915e-02 -1.35220325e-03 9.96124486e-01 5.03063580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.829254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.73, Y:187.12, Z:50.34 [[-1.41625122e-02 -9.99895571e-01 2.87593550e-03 4.47728259e+02] [ 9.96081129e-01 -1.43594958e-02 -8.72707817e-02 1.87123757e+02] [ 8.73029651e-02 1.62869158e-03 9.96180475e-01 5.03418084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8592541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.73, Y:186.79, Z:50.31 [[-9.87469366e-03 -9.99948337e-01 2.41112229e-03 4.47728177e+02] [ 9.96164594e-01 -1.00469150e-02 -8.69204357e-02 1.86794044e+02] [ 8.69401695e-02 1.54356198e-03 9.96212339e-01 5.03117297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.8892541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.73, Y:186.73, Z:50.30 [[-7.89049218e-03 -9.99953005e-01 -5.63278439e-03 4.47731903e+02] [ 9.96115605e-01 -7.36593152e-03 -8.77464845e-02 1.86725881e+02] [ 8.77008702e-02 -6.30326738e-03 9.96126913e-01 5.03030789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9192541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:447.73, Y:186.75, Z:50.31 [[-7.11229151e-03 -9.99974706e-01 -5.29147220e-05 4.47729427e+02] [ 9.96077668e-01 -7.07990677e-03 -8.81995113e-02 1.86753695e+02] [ 8.81969057e-02 -6.80007808e-04 9.96102828e-01 5.03065147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.949254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.72, Y:186.78, Z:50.31 [[-5.83734239e-03 -9.99918239e-01 1.13772277e-02 4.47724496e+02] [ 9.95723265e-01 -6.86113292e-03 -9.21309082e-02 1.86778987e+02] [ 9.22014361e-02 1.07907707e-02 9.95681904e-01 5.03106401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 582.9792541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.73, Y:186.51, Z:50.28 [[-5.06783077e-03 -9.99954937e-01 -8.02757462e-03 4.47733794e+02] [ 9.95613211e-01 -4.29548798e-03 -9.34659456e-02 1.86510170e+02] [ 9.34272513e-02 -8.46602894e-03 9.95590114e-01 5.02801796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0092541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.73, Y:186.54, Z:50.28 [[-7.10204205e-03 -9.99974768e-01 -1.57814694e-04 4.47730906e+02] [ 9.95567989e-01 -7.05594397e-03 -9.37794939e-02 1.86537948e+02] [ 9.37760141e-02 -8.23141167e-04 9.95592980e-01 5.02842457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0392541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.73, Y:186.57, Z:50.29 [[-8.56836795e-03 -9.99963282e-01 -1.31185809e-04 4.47731532e+02] [ 9.95536054e-01 -8.51810093e-03 -9.39968440e-02 1.86566103e+02] [ 9.39922752e-02 -9.35999747e-04 9.95572487e-01 5.02866387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.069254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.73, Y:186.59, Z:50.29 [[-1.03940887e-02 -9.99945975e-01 -1.04423319e-04 4.47732353e+02] [ 9.95497466e-01 -1.03380084e-02 -9.42227212e-02 1.86593877e+02] [ 9.42165512e-02 -1.08331247e-03 9.95551138e-01 5.02890365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.0992541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.73, Y:186.62, Z:50.29 [[-1.44814966e-02 -9.99895135e-01 -7.69302097e-05 4.47733687e+02] [ 9.95402269e-01 -1.44091408e-02 -9.46926543e-02 1.86621951e+02] [ 9.46816159e-02 -1.44786785e-03 9.95506552e-01 5.02915835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1292541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.73, Y:186.65, Z:50.29 [[-1.68413963e-02 -9.99858172e-01 -4.91660839e-05 4.47734532e+02] [ 9.95390392e-01 -1.67614985e-02 -9.44299738e-02 1.86649782e+02] [ 9.44157569e-02 -1.63927206e-03 9.95531505e-01 5.02940779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.1592541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.74, Y:186.68, Z:50.30 [[-1.92843283e-02 -9.99811814e-01 -2.10994151e-03 4.47736049e+02] [ 9.95464026e-01 -1.90037397e-02 -9.32214055e-02 1.86677289e+02] [ 9.31637657e-02 -3.89808306e-03 9.95643168e-01 5.02957078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.189254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.74, Y:186.70, Z:50.30 [[-2.51754503e-02 -9.99683048e-01 2.36236101e-05 4.47736283e+02] [ 9.95347523e-01 -2.50684654e-02 -9.30316064e-02 1.86704527e+02] [ 9.30027121e-02 -2.31859888e-03 9.95663156e-01 5.02995595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2192541539999 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:447.74, Y:187.01, Z:50.33 [[-2.88721827e-02 -9.99581488e-01 1.80178378e-03 4.47735896e+02] [ 9.95411714e-01 -2.89161524e-02 -9.12106171e-02 1.87005817e+02] [ 9.12245450e-02 -8.39932924e-04 9.95829994e-01 5.03275217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2492541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.74, Y:186.71, Z:50.30 [[-3.06086288e-02 -9.99529907e-01 -1.75425394e-03 4.47738352e+02] [ 9.95331778e-01 -3.03192579e-02 -9.16263869e-02 1.86711222e+02] [ 9.15301263e-02 -4.55062276e-03 9.95791910e-01 5.02998334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.2792541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.75, Y:186.41, Z:50.28 [[-4.22775434e-02 -9.98857950e-01 -2.22577198e-02 4.47746421e+02] [ 9.92738920e-01 -3.94866644e-02 -1.13623234e-01 1.86409021e+02] [ 1.12614588e-01 -2.68998159e-02 9.93274562e-01 5.02777018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.309254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.73, Y:186.33, Z:50.27 [[-3.94781560e-02 -9.98774805e-01 2.98389771e-02 4.47725988e+02] [ 9.94465127e-01 -4.21826620e-02 -9.62275134e-02 1.86330969e+02] [ 9.73683034e-02 2.58749373e-02 9.94912007e-01 5.02727273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.339254154 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:447.74, Y:186.42, Z:50.27 [[-4.26366260e-02 -9.99088765e-01 1.93831606e-03 4.47739801e+02] [ 9.94458653e-01 -4.26254741e-02 -9.60992023e-02 1.86422725e+02] [ 9.60942550e-02 -2.16977057e-03 9.95369874e-01 5.02743364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3692541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.74, Y:186.33, Z:50.27 [[-4.79541469e-02 -9.98848346e-01 -1.54354799e-03 4.47742872e+02] [ 9.94174371e-01 -4.75802985e-02 -9.67131618e-02 1.86334311e+02] [ 9.65283392e-02 -6.17235302e-03 9.95311098e-01 5.02651044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.3992541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:447.75, Y:186.36, Z:50.27 [[-5.06206213e-02 -9.98568171e-01 -1.72962791e-02 4.47751680e+02] [ 9.93611002e-01 -4.86050637e-02 -1.01856394e-01 1.86364212e+02] [ 1.00869867e-01 -2.23418072e-02 9.94648739e-01 5.02710702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4292541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.74, Y:186.38, Z:50.27 [[-5.59155296e-02 -9.98346958e-01 1.32968075e-02 4.47737001e+02] [ 9.94044856e-01 -5.69122832e-02 -9.29290950e-02 1.86383761e+02] [ 9.35322310e-02 8.02144357e-03 9.95583938e-01 5.02745438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.459254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.74, Y:186.38, Z:50.27 [[-5.48403109e-02 -9.98492166e-01 2.43621328e-03 4.47744867e+02] [ 9.94117768e-01 -5.48279439e-02 -9.34010655e-02 1.86377406e+02] [ 9.33938048e-02 -2.70026057e-03 9.95625585e-01 5.02723260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.4892541539999 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:447.75, Y:186.40, Z:50.27 [[-5.79028437e-02 -9.98313775e-01 -4.10700591e-03 4.47745121e+02] [ 9.94087407e-01 -5.72782144e-02 -9.22465927e-02 1.86400209e+02] [ 9.18558023e-02 -9.42406290e-03 9.95727723e-01 5.02711627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5192541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.75, Y:186.43, Z:50.28 [[-6.00409153e-02 -9.98161917e-01 -8.23866750e-03 4.47745606e+02] [ 9.93800661e-01 -5.90008263e-02 -9.42292392e-02 1.86431593e+02] [ 9.35699498e-02 -1.38452030e-02 9.95516436e-01 5.02753555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.5492541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.73, Y:186.45, Z:50.28 [[-6.32040234e-02 -9.97965491e-01 8.37434087e-03 4.47733555e+02] [ 9.93935263e-01 -6.37009628e-02 -8.96374998e-02 1.86450975e+02] [ 8.99885851e-02 2.65810205e-03 9.95939250e-01 5.02778206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.579254154 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:447.74, Y:186.45, Z:50.28 [[-6.17107180e-02 -9.98094043e-01 2.63272128e-04 4.47735499e+02] [ 9.94014918e-01 -6.14823307e-02 -9.03009731e-02 1.86448553e+02] [ 9.01450498e-02 -5.31084146e-03 9.95914487e-01 5.02759127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6092541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.73, Y:186.45, Z:50.28 [[-5.72645333e-02 -9.98359014e-01 2.28235274e-04 4.47730699e+02] [ 9.94209193e-01 -5.70473246e-02 -9.10696667e-02 1.86447341e+02] [ 9.09332429e-02 -4.98814835e-03 9.95844498e-01 5.02759430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6392541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.73, Y:186.44, Z:50.28 [[-5.02930213e-02 -9.98721292e-01 -5.13741250e-03 4.47732450e+02] [ 9.94305650e-01 -4.95854445e-02 -9.43268739e-02 1.86436611e+02] [ 9.39515165e-02 -9.85214176e-03 9.95528025e-01 5.02758345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.6692541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.72, Y:186.47, Z:50.28 [[-4.61487299e-02 -9.98748178e-01 1.92969444e-02 4.47720966e+02] [ 9.94827236e-01 -4.77003772e-02 -8.96852573e-02 1.86467421e+02] [ 9.04934588e-02 1.50582652e-02 9.95783201e-01 5.02787247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.699254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.73, Y:186.48, Z:50.28 [[-5.27403562e-02 -9.98534374e-01 -1.21473578e-02 4.47729853e+02] [ 9.93974813e-01 -5.13213148e-02 -9.68514050e-02 1.86484392e+02] [ 9.60860387e-02 -1.71821453e-02 9.95224722e-01 5.02754367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7292541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.72, Y:186.49, Z:50.28 [[-5.22570323e-02 -9.98633587e-01 4.01853576e-04 4.47723779e+02] [ 9.93941316e-01 -5.20504477e-02 -9.68060528e-02 1.86486687e+02] [ 9.66946924e-02 -4.65937816e-03 9.95303183e-01 5.02789092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7592541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.72, Y:186.48, Z:50.28 [[-4.89388039e-02 -9.98801712e-01 3.65171079e-04 4.47720037e+02] [ 9.94038407e-01 -4.87410714e-02 -9.75292431e-02 1.86482830e+02] [ 9.74301738e-02 -4.40997042e-03 9.95232593e-01 5.02787624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.7892541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.72, Y:186.48, Z:50.28 [[-4.78692058e-02 -9.98853559e-01 3.26876101e-04 4.47718142e+02] [ 9.94056330e-01 -4.76713323e-02 -9.78747047e-02 1.86483962e+02] [ 9.77780798e-02 -4.36025112e-03 9.95198691e-01 5.02784772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.819254154 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.71, Y:186.49, Z:50.28 [[-4.59929146e-02 -9.98941724e-01 2.89960830e-04 4.47714807e+02] [ 9.94050641e-01 -4.57964063e-02 -9.88231333e-02 1.86487369e+02] [ 9.87318303e-02 -4.25692818e-03 9.95104972e-01 5.02787306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8492541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:447.71, Y:186.49, Z:50.28 [[-4.50062088e-02 -9.98986676e-01 2.51297025e-04 4.47712967e+02] [ 9.94047498e-01 -4.48086703e-02 -9.93063641e-02 1.86487699e+02] [ 9.92169949e-02 -4.21960178e-03 9.95056874e-01 5.02790349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.8792541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:447.71, Y:186.49, Z:50.28 [[-4.32073679e-02 -9.99066103e-01 2.12624532e-04 4.47710978e+02] [ 9.94058027e-01 -4.30120607e-02 -9.99930123e-02 1.86494742e+02] [ 9.99087746e-02 -4.10907375e-03 9.94988117e-01 5.02801817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9092541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.71, Y:186.49, Z:50.28 [[-4.07846104e-02 -9.99167947e-01 1.71718309e-04 4.47706701e+02] [ 9.94211487e-01 -4.05993906e-02 -9.94746588e-02 1.86491183e+02] [ 9.93988622e-02 -3.88631088e-03 9.95040081e-01 5.02804627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.939254154 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:447.70, Y:186.49, Z:50.28 [[-3.87479881e-02 -9.99249006e-01 1.31980979e-04 4.47704711e+02] [ 9.94269985e-01 -3.85680842e-02 -9.96980422e-02 1.86494189e+02] [ 9.96282598e-02 -3.73187383e-03 9.95017730e-01 5.02812598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9692541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:447.70, Y:186.49, Z:50.28 [[-3.68145651e-02 -9.99322110e-01 9.19201753e-05 4.47702804e+02] [ 9.94361350e-01 -3.66409665e-02 -9.95135420e-02 1.86493813e+02] [ 9.94494508e-02 -3.57214590e-03 9.95036204e-01 5.02813158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 583.9992541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:447.70, Y:186.49, Z:50.28 [[-3.25662290e-02 -9.99469578e-01 5.20318288e-05 4.47699901e+02] [ 9.94531360e-01 -3.24104931e-02 -9.92820883e-02 1.86494362e+02] [ 9.92311133e-02 -3.18149594e-03 9.95059327e-01 5.02813380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.0292541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:447.70, Y:186.50, Z:50.28 [[-2.99177026e-02 -9.99552365e-01 1.23640398e-05 4.47698462e+02] [ 9.94620753e-01 -2.97713213e-02 -9.92130349e-02 1.86495110e+02] [ 9.91689918e-02 -2.95592855e-03 9.95066216e-01 5.02812528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.059254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:447.70, Y:186.52, Z:50.28 [[-2.82351450e-02 -9.99601309e-01 -2.08754555e-05 4.47696708e+02] [ 9.94630306e-01 -2.80926519e-02 -9.96060078e-02 1.86523216e+02] [ 9.95657093e-02 -2.83315343e-03 9.95026956e-01 5.02840988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.089254154 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:447.69, Y:186.52, Z:50.28 [[-2.35740507e-02 -9.99722093e-01 1.60823703e-06 4.47693406e+02] [ 9.94715303e-01 -2.34561484e-02 -9.99563712e-02 1.86522125e+02] [ 9.99286303e-02 -2.35477682e-03 9.94991821e-01 5.02840061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1192541539999 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:447.69, Y:186.55, Z:50.29 [[-2.17749588e-02 -9.99762897e-01 -3.15376149e-05 4.47692300e+02] [ 9.94682552e-01 -2.16611321e-02 -1.00684735e-01 1.86550318e+02] [ 1.00660179e-01 -2.22377587e-03 9.94918380e-01 5.02869751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1492541539999 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:447.69, Y:186.58, Z:50.29 [[-2.02445584e-02 -9.99795058e-01 -3.11935695e-06 4.47691408e+02] [ 9.94668840e-01 -2.01404436e-02 -1.01134869e-01 1.86577821e+02] [ 1.01114080e-01 -2.05053350e-03 9.94872725e-01 5.02892561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.1792541539999 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:447.69, Y:186.58, Z:50.29 [[-1.69199282e-02 -9.99856848e-01 1.90036229e-05 4.47689270e+02] [ 9.94589021e-01 -1.68327326e-02 -1.02515064e-01 1.86577479e+02] [ 1.02500708e-01 -1.71564672e-03 9.94731452e-01 5.02896886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.209254154 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:447.69, Y:186.60, Z:50.29 [[-1.57371209e-02 -9.99876164e-01 -1.31351723e-05 4.47688659e+02] [ 9.94564590e-01 -1.56521694e-02 -1.02938266e-01 1.86604924e+02] [ 1.02925313e-01 -1.63301571e-03 9.94687747e-01 5.02922406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2392541539999 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:447.69, Y:186.61, Z:50.29 [[-1.46667558e-02 -9.99892437e-01 7.00500377e-06 4.47687562e+02] [ 9.94505896e-01 -1.45884705e-02 -1.03659052e-01 1.86608692e+02] [ 1.03648004e-01 -1.51337549e-03 9.94612890e-01 5.02927115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2692541539999 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:447.69, Y:186.64, Z:50.30 [[-1.50758951e-02 -9.99886352e-01 -2.48175392e-05 4.47687336e+02] [ 9.94497349e-01 -1.49920684e-02 -1.03683468e-01 1.86636209e+02] [ 1.03671312e-01 -1.58780206e-03 9.94610345e-01 5.02954407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.2992541539999 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:447.69, Y:186.64, Z:50.30 [[-1.53704437e-02 -9.99881868e-01 -4.36871657e-06 4.47687326e+02] [ 9.94547004e-01 -1.52879840e-02 -1.03162661e-01 1.86638664e+02] [ 1.03150407e-01 -1.59000076e-03 9.94664499e-01 5.02954340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.329254154 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:447.69, Y:186.67, Z:50.30 [[-1.81695938e-02 -9.99834919e-01 -3.66542168e-05 4.47688139e+02] [ 9.94552315e-01 -1.80698317e-02 -1.02660478e-01 1.86665189e+02] [ 1.02642868e-01 -1.90175371e-03 9.94716455e-01 5.02980951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3592541539999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:447.69, Y:186.69, Z:50.30 [[-2.03035322e-02 -9.99793862e-01 -1.02233575e-05 4.47688655e+02] [ 9.94566566e-01 -2.01963335e-02 -1.02124700e-01 1.86692783e+02] [ 1.02103441e-01 -2.08365994e-03 9.94771605e-01 5.03003027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.3892541539999 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:447.69, Y:186.70, Z:50.30 [[-2.20891687e-02 -9.99756005e-01 1.08264304e-05 4.47689267e+02] [ 9.94538058e-01 -2.19749854e-02 -1.02035053e-01 1.86695251e+02] [ 1.02010394e-01 -2.24310219e-03 9.94780804e-01 5.03007066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4192541539999 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:447.69, Y:186.72, Z:50.30 [[-2.74356521e-02 -9.99623571e-01 -2.18635318e-05 4.47690665e+02] [ 9.94361304e-01 -2.72889828e-02 -1.02473938e-01 1.86721949e+02] [ 1.02434768e-01 -2.83317958e-03 9.94735689e-01 5.03030497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.449254154 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:447.69, Y:186.73, Z:50.30 [[-2.95773274e-02 -9.99562495e-01 -3.78257158e-06 4.47691088e+02] [ 9.94263517e-01 -2.94201400e-02 -1.02832460e-01 1.86728042e+02] [ 1.02787359e-01 -3.04527019e-03 9.94698691e-01 5.03035928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.4792541539999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:447.69, Y:186.76, Z:50.31 [[-3.23760388e-02 -9.99475758e-01 -3.76927861e-05 4.47691539e+02] [ 9.94129323e-01 -3.21989560e-02 -1.03296258e-01 1.86755349e+02] [ 1.03240892e-01 -3.38179517e-03 9.94650633e-01 5.03061226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5092541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.69, Y:186.78, Z:50.31 [[-3.72888755e-02 -9.99304528e-01 -2.07123775e-05 4.47693117e+02] [ 9.93959634e-01 -3.70872909e-02 -1.03289784e-01 1.86781973e+02] [ 1.03217180e-01 -3.87214716e-03 9.94651306e-01 5.03086000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5392541539999 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:447.69, Y:186.81, Z:50.31 [[-3.99938293e-02 -9.99199927e-01 -2.24328692e-06 4.47694258e+02] [ 9.93844138e-01 -3.97792272e-02 -1.03399431e-01 1.86810091e+02] [ 1.03316615e-01 -4.13756869e-03 9.94639914e-01 5.03112116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.569254154 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:447.70, Y:186.82, Z:50.31 [[-4.41716249e-02 -9.99023957e-01 1.89875754e-05 4.47695688e+02] [ 9.93672691e-01 -4.39369844e-02 -1.03364038e-01 1.86817978e+02] [ 1.03263984e-01 -4.54689006e-03 9.94643592e-01 5.03121466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.5992541539999 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:447.70, Y:186.85, Z:50.31 [[-4.65549062e-02 -9.98915732e-01 -1.33359892e-05 4.47696259e+02] [ 9.93586705e-01 -4.63051673e-02 -1.03156631e-01 1.86846227e+02] [ 1.03044164e-01 -4.81569774e-03 9.94665124e-01 5.03144720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6292541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:447.70, Y:186.86, Z:50.32 [[-4.88286235e-02 -9.98807171e-01 7.95605416e-06 4.47697593e+02] [ 9.93524621e-01 -4.85711940e-02 -1.02711568e-01 1.86855487e+02] [ 1.02589437e-01 -5.00735994e-03 9.94711181e-01 5.03153126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.6592541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.70, Y:186.88, Z:50.32 [[-4.98269470e-02 -9.98757866e-01 -2.45802047e-05 4.47698025e+02] [ 9.93508799e-01 -4.95625568e-02 -1.02390528e-01 1.86883082e+02] [ 1.02262127e-01 -5.12622808e-03 9.94744278e-01 5.03175992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.689254154 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.70, Y:186.89, Z:50.32 [[-4.93443186e-02 -9.98781827e-01 -2.78193809e-06 4.47698029e+02] [ 9.93538632e-01 -4.90849961e-02 -1.02331083e-01 1.86885199e+02] [ 1.02206290e-01 -5.05222153e-03 9.94750396e-01 5.03180392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7192541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.70, Y:186.91, Z:50.32 [[-4.87633431e-02 -9.98810360e-01 -3.55070084e-05 4.47697982e+02] [ 9.93575987e-01 -4.85041588e-02 -1.02245319e-01 1.86912974e+02] [ 1.02121962e-01 -5.02110248e-03 9.94759214e-01 5.03207089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7492541539999 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:447.70, Y:186.94, Z:50.32 [[-4.49259041e-02 -9.98990322e-01 -5.60878148e-06 4.47699200e+02] [ 9.93740370e-01 -4.46892321e-02 -1.02386280e-01 1.86940802e+02] [ 1.02282652e-01 -4.60536988e-03 9.94744716e-01 5.03244363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.7792541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.70, Y:186.96, Z:50.33 [[-4.35905712e-02 -9.99049479e-01 1.69691504e-05 4.47696826e+02] [ 9.93941839e-01 -4.33694298e-02 -1.00988682e-01 1.86963047e+02] [ 1.00893426e-01 -4.38528798e-03 9.94887575e-01 5.03266609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.809254154 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:447.70, Y:186.99, Z:50.33 [[-3.81049364e-02 -9.99273743e-01 -1.60385322e-05 4.47695291e+02] [ 9.94313137e-01 -3.79141782e-02 -9.95183393e-02 1.86990771e+02] [ 9.94454553e-02 -3.80808732e-03 9.95035728e-01 5.03299899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.839254154 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:447.69, Y:187.35, Z:50.36 [[-3.53589814e-02 -9.99374657e-01 -1.95673428e-04 4.47694620e+02] [ 9.94473823e-01 -3.51662164e-02 -9.89199337e-02 1.87353952e+02] [ 9.88511937e-02 -3.69230020e-03 9.95095377e-01 5.03631867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8692541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:447.69, Y:186.99, Z:50.33 [[-3.12042039e-02 -9.99512979e-01 3.19970570e-04 4.47693665e+02] [ 9.94642235e-01 -3.10837044e-02 -9.85932461e-02 1.86986018e+02] [ 9.85551749e-02 -2.75826751e-03 9.95127765e-01 5.03301045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.8992541539999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:447.69, Y:187.01, Z:50.33 [[-2.44773425e-02 -9.99700283e-01 -4.50546410e-04 4.47692788e+02] [ 9.94803855e-01 -2.43128986e-02 -9.88644149e-02 1.87013389e+02] [ 9.88238295e-02 -2.86814345e-03 9.95100811e-01 5.03321260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9292541539999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:447.69, Y:186.90, Z:50.32 [[-2.15082083e-02 -9.99768650e-01 -2.09964604e-04 4.47691879e+02] [ 9.94836155e-01 -2.13812579e-02 -9.92162612e-02 1.86904335e+02] [ 9.91888182e-02 -2.34284439e-03 9.95065872e-01 5.03225100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.959254154 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:447.69, Y:186.93, Z:50.32 [[-2.03184393e-02 -9.99793487e-01 3.80854021e-04 4.47691079e+02] [ 9.94870740e-01 -2.02561487e-02 -9.91054991e-02 1.86932796e+02] [ 9.90927472e-02 -1.63476855e-03 9.95076859e-01 5.03247814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 584.9892541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:447.70, Y:186.96, Z:50.32 [[-1.55591560e-02 -9.99830156e-01 -9.87789837e-03 4.47696461e+02] [ 9.95063625e-01 -1.45150848e-02 -9.81717603e-02 1.86959705e+02] [ 9.80117078e-02 -1.13566071e-02 9.95120461e-01 5.03238569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0192541539999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:447.69, Y:186.99, Z:50.33 [[-1.42128150e-02 -9.99845031e-01 1.03879982e-02 4.47686578e+02] [ 9.94751798e-01 -1.51916701e-02 -1.01183368e-01 1.86985999e+02] [ 1.01325498e-01 8.89537937e-03 9.94813558e-01 5.03323775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.0492541539999 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:447.69, Y:186.99, Z:50.33 [[-1.24785609e-02 -9.99922140e-01 1.46439603e-06 4.47691771e+02] [ 9.94734009e-01 -1.24139644e-02 -1.01735663e-01 1.86986579e+02] [ 1.01727760e-01 -1.26805798e-03 9.94811467e-01 5.03290683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.079254154 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:447.69, Y:187.01, Z:50.33 [[-1.02948554e-02 -9.99947006e-01 -3.11039506e-05 4.47692646e+02] [ 9.94754797e-01 -1.02382337e-02 -1.01774612e-01 1.87014488e+02] [ 1.01768900e-01 -1.07869572e-03 9.94807483e-01 5.03314639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1092541539999 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:447.69, Y:187.04, Z:50.34 [[-1.03187934e-02 -9.99940279e-01 3.60016471e-03 4.47691126e+02] [ 9.94694980e-01 -1.06330462e-02 -1.02317330e-01 1.87041885e+02] [ 1.02349500e-01 2.52527438e-03 9.94745296e-01 5.03352047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1392541539999 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:448.55, Y:186.71, Z:50.71 [[-3.78004006e-02 4.78682656e-01 -8.77173897e-01 4.48552086e+02] [ 9.89686125e-01 1.39310880e-01 3.33744198e-02 1.86708708e+02] [ 1.38175623e-01 -8.66865269e-01 -4.79011590e-01 5.07149214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.1692541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:447.71, Y:186.75, Z:50.28 [[-4.22492217e-02 -9.99092818e-01 5.34277761e-03 4.47710928e+02] [ 9.86533173e-01 -4.25626360e-02 -1.57926315e-01 1.86750000e+02] [ 1.58010449e-01 -1.40143652e-03 9.87436446e-01 5.02757380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.199254154 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:447.71, Y:186.75, Z:50.28 [[-4.25290589e-02 -9.99081468e-01 5.24399358e-03 4.47712327e+02] [ 9.86694988e-01 -4.28250173e-02 -1.56840740e-01 1.86752490e+02] [ 1.56921251e-01 -1.49606691e-03 9.87609985e-01 5.02756701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2292541539999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:447.71, Y:186.75, Z:50.28 [[-4.35267411e-02 -9.99039011e-01 5.14571133e-03 4.47713212e+02] [ 9.86826049e-01 -4.37968238e-02 -1.55743980e-01 1.86754631e+02] [ 1.55819678e-01 -1.70110593e-03 9.87784052e-01 5.02756176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2592541539999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:447.72, Y:186.76, Z:50.28 [[-4.67129138e-02 -9.98895619e-01 5.04445849e-03 4.47716260e+02] [ 9.86873219e-01 -4.69310606e-02 -1.54527423e-01 1.86760789e+02] [ 1.54593507e-01 -2.24018520e-03 9.87975622e-01 5.02755221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.2892541539999 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:447.72, Y:186.77, Z:50.28 [[-4.86299536e-02 -9.98804522e-01 4.96530372e-03 4.47717625e+02] [ 9.86867994e-01 -4.88142407e-02 -1.53976401e-01 1.86768085e+02] [ 1.54034704e-01 -2.58776594e-03 9.88062049e-01 5.02762197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.319254154 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:447.72, Y:186.77, Z:50.28 [[-5.12945580e-02 -9.98671611e-01 4.88697883e-03 4.47718917e+02] [ 9.86817825e-01 -5.14365863e-02 -1.53443335e-01 1.86770496e+02] [ 1.53490872e-01 -3.04825023e-03 9.88145364e-01 5.02761956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3492541539999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:447.72, Y:186.78, Z:50.28 [[-5.63637131e-02 -9.98398751e-01 4.80267846e-03 4.47721214e+02] [ 9.86658787e-01 -5.64355234e-02 -1.52707135e-01 1.86780973e+02] [ 1.52733654e-01 -3.86853621e-03 9.88259817e-01 5.02771871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.3792541539999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:447.72, Y:186.78, Z:50.28 [[-5.83193944e-02 -9.98286702e-01 4.74441918e-03 4.47723526e+02] [ 9.86531378e-01 -5.83588808e-02 -1.52807335e-01 1.86784554e+02] [ 1.52822410e-01 -4.23111286e-03 9.88244610e-01 5.02775073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4092541539999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:447.72, Y:186.79, Z:50.28 [[-6.33053516e-02 -9.97983101e-01 4.70769592e-03 4.47724709e+02] [ 9.86100564e-01 -6.32763022e-02 -1.53628732e-01 1.86787568e+02] [ 1.53616764e-01 -5.08325926e-03 9.88117427e-01 5.02769355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.439254154 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:447.73, Y:186.79, Z:50.28 [[-6.50621429e-02 -9.97870303e-01 4.66649208e-03 4.47725398e+02] [ 9.85879857e-01 -6.50020387e-02 -1.54323176e-01 1.86789853e+02] [ 1.54297846e-01 -5.43999596e-03 9.88009403e-01 5.02768514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4692541539999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:447.73, Y:186.79, Z:50.28 [[-6.74836156e-02 -9.97681122e-01 -8.85098525e-03 4.47731326e+02] [ 9.84183097e-01 -6.51089628e-02 -1.64755742e-01 1.86786906e+02] [ 1.63797415e-01 -1.98293032e-02 9.86294685e-01 5.02788993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.4992541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:447.72, Y:186.80, Z:50.28 [[-6.83076711e-02 -9.97496386e-01 1.83036263e-02 4.47720124e+02] [ 9.85484152e-01 -7.03204348e-02 -1.54518678e-01 1.86797650e+02] [ 1.55418942e-01 7.48312256e-03 9.87820305e-01 5.02817314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.5292541539999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:447.73, Y:186.80, Z:50.28 [[-6.81512363e-02 -9.97664676e-01 4.53903200e-03 4.47726313e+02] [ 9.85623033e-01 -6.80322995e-02 -1.54657177e-01 1.86803800e+02] [ 1.54604803e-01 -6.06630332e-03 9.87957770e-01 5.02789302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.559254154 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:447.73, Y:186.80, Z:50.28 [[-6.74144103e-02 -9.97714991e-01 4.48258610e-03 4.47725873e+02] [ 9.85639859e-01 -6.72943280e-02 -1.54872662e-01 1.86802837e+02] [ 1.54820429e-01 -6.02243365e-03 9.87924271e-01 5.02790255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.589254154 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.73, Y:186.81, Z:50.28 [[-6.62097361e-02 -9.97795960e-01 4.41519401e-03 4.47725271e+02] [ 9.85747416e-01 -6.60948026e-02 -1.54704589e-01 1.86807546e+02] [ 1.54655436e-01 -5.89068395e-03 9.87950908e-01 5.02795090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6192541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.73, Y:186.81, Z:50.28 [[-6.58110763e-02 -9.97822608e-01 4.35268038e-03 4.47725153e+02] [ 9.85774113e-01 -6.56912784e-02 -1.54706349e-01 1.86810144e+02] [ 1.54655426e-01 -5.89063170e-03 9.87950910e-01 5.02798884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6492541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.72, Y:186.81, Z:50.28 [[-6.40194152e-02 -9.97939423e-01 4.29219819e-03 4.47724449e+02] [ 9.85878873e-01 -6.39114482e-02 -1.54784286e-01 1.86811288e+02] [ 1.54739662e-01 -5.67761199e-03 9.87938967e-01 5.02801400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.6792541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:447.72, Y:186.81, Z:50.28 [[-6.01616740e-02 -9.98179684e-01 4.22981593e-03 4.47722348e+02] [ 9.86117937e-01 -6.00906310e-02 -1.54791895e-01 1.86810307e+02] [ 1.54764297e-01 -5.14144215e-03 9.87938044e-01 5.02803336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.709254154 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:447.72, Y:186.81, Z:50.28 [[-5.82238909e-02 -9.98294824e-01 4.17403464e-03 4.47720995e+02] [ 9.86193712e-01 -5.81663779e-02 -1.55043978e-01 1.86810364e+02] [ 1.55022389e-01 -4.91085695e-03 9.87898751e-01 5.02806328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7392541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:447.72, Y:186.81, Z:50.28 [[-5.54020887e-02 -9.98455642e-01 4.11577826e-03 4.47718388e+02] [ 9.86329587e-01 -5.53690132e-02 -1.55203799e-01 1.86813763e+02] [ 1.55191995e-01 -4.53910075e-03 9.87873899e-01 5.02811042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7692541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:447.72, Y:186.81, Z:50.28 [[-5.41780607e-02 -9.98523030e-01 4.06157501e-03 4.47717449e+02] [ 9.86346625e-01 -5.41500029e-02 -1.55525279e-01 1.86814592e+02] [ 1.55515507e-01 -4.41993719e-03 9.87823563e-01 5.02809411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.7992541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:447.72, Y:186.82, Z:50.28 [[-5.36835754e-02 -9.98549878e-01 4.02672379e-03 4.47715975e+02] [ 9.86200624e-01 -5.36512425e-02 -1.56620156e-01 1.86815728e+02] [ 1.56609076e-01 -4.43677241e-03 9.87650704e-01 5.02805075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.829254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.72, Y:186.82, Z:50.28 [[-5.32774560e-02 -9.98571782e-01 3.98869934e-03 4.47715204e+02] [ 9.86063759e-01 -5.32397018e-02 -1.57619151e-01 1.86818132e+02] [ 1.57606393e-01 -4.46443549e-03 9.87491921e-01 5.02811213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8592541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:447.71, Y:186.82, Z:50.28 [[-5.31698664e-02 -9.98577758e-01 3.92774505e-03 4.47714249e+02] [ 9.86054714e-01 -5.31234158e-02 -1.57714947e-01 1.86824332e+02] [ 1.57699293e-01 -4.51271110e-03 9.87476870e-01 5.02817806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.8892541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:447.71, Y:186.82, Z:50.28 [[-5.26855692e-02 -9.98603560e-01 3.89356951e-03 4.47712308e+02] [ 9.85886340e-01 -5.26342765e-02 -1.58926897e-01 1.86824602e+02] [ 1.58909900e-01 -4.53453703e-03 9.87282676e-01 5.02822025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9192541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:447.71, Y:186.83, Z:50.28 [[-5.17622672e-02 -9.98652104e-01 3.82667450e-03 4.47710832e+02] [ 9.85955322e-01 -5.17126676e-02 -1.58801458e-01 1.86828025e+02] [ 1.58785298e-01 -4.44699341e-03 9.87303121e-01 5.02828362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.949254154 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.71, Y:186.83, Z:50.28 [[-5.03997980e-02 -9.98722028e-01 3.76441393e-03 4.47709473e+02] [ 9.86014585e-01 -5.03573400e-02 -1.58869057e-01 1.86829050e+02] [ 1.58855592e-01 -4.29520131e-03 9.87292486e-01 5.02831813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 585.9792541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:447.71, Y:186.83, Z:50.28 [[-4.84583558e-02 -9.98818354e-01 3.69910708e-03 4.47708342e+02] [ 9.86121442e-01 -4.84304876e-02 -1.58804877e-01 1.86828792e+02] [ 1.58796376e-01 -4.04765442e-03 9.87303058e-01 5.02834142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0092541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.71, Y:186.83, Z:50.28 [[-4.37440967e-02 -9.99036140e-01 3.63942233e-03 4.47705797e+02] [ 9.86310664e-01 -4.37660621e-02 -1.58983664e-01 1.86828912e+02] [ 1.58989709e-01 -3.36499572e-03 9.87274506e-01 5.02841342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0392541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.70, Y:186.83, Z:50.28 [[-4.05670568e-02 -9.99170449e-01 3.56770437e-03 4.47704312e+02] [ 9.86503920e-01 -4.06191632e-02 -1.58619356e-01 1.86831027e+02] [ 1.58632691e-01 -2.91516610e-03 9.87333364e-01 5.02845010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.069254154 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:447.70, Y:186.83, Z:50.28 [[-3.74280971e-02 -9.99293181e-01 3.50366403e-03 4.47703008e+02] [ 9.86631412e-01 -3.75099025e-02 -1.58592132e-01 1.86831306e+02] [ 1.58611459e-01 -2.47897674e-03 9.87337966e-01 5.02848134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.0992541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:447.70, Y:186.83, Z:50.28 [[-3.24397483e-02 -9.99467806e-01 3.43040482e-03 4.47700987e+02] [ 9.86881242e-01 -3.25739566e-02 -1.58127642e-01 1.86831199e+02] [ 1.58155229e-01 -1.74421872e-03 9.87412721e-01 5.02843103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1292541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:447.70, Y:186.83, Z:50.28 [[-3.02622118e-02 -9.99536323e-01 3.36716842e-03 4.47700013e+02] [ 9.86951552e-01 -3.04138525e-02 -1.58119045e-01 1.86833520e+02] [ 1.58148137e-01 -1.46179991e-03 9.87414315e-01 5.02848667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.1592541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.70, Y:186.83, Z:50.29 [[-2.88503672e-02 -9.99578283e-01 3.30328889e-03 4.47698955e+02] [ 9.87000784e-01 -2.90097382e-02 -1.58075574e-01 1.86834329e+02] [ 1.58104738e-01 -1.30018962e-03 9.87421491e-01 5.02851355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.189254154 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:447.70, Y:186.84, Z:50.29 [[-2.81609196e-02 -9.99598162e-01 3.23700405e-03 4.47697968e+02] [ 9.87047660e-01 -2.83186985e-02 -1.57908102e-01 1.86835677e+02] [ 1.57936316e-01 -1.25176009e-03 9.87448507e-01 5.02850250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2192541539999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:447.70, Y:186.84, Z:50.29 [[-2.83413509e-02 -9.99593258e-01 3.17577697e-03 4.47698051e+02] [ 9.87030165e-01 -2.84870871e-02 -1.57987150e-01 1.86838949e+02] [ 1.58013359e-01 -1.34298160e-03 9.87436061e-01 5.02852350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2492541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:447.70, Y:186.84, Z:50.29 [[-2.90907923e-02 -9.99571899e-01 3.12172796e-03 4.47697921e+02] [ 9.86936056e-01 -2.92178696e-02 -1.58440960e-01 1.86843260e+02] [ 1.58464341e-01 -1.52822718e-03 9.87363518e-01 5.02860724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.2792541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:447.70, Y:186.85, Z:50.29 [[-3.16708951e-02 -9.99493654e-01 3.06429980e-03 4.47698533e+02] [ 9.86809983e-01 -3.17556545e-02 -1.58737635e-01 1.86847247e+02] [ 1.58754567e-01 -2.00348134e-03 9.87316045e-01 5.02862571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.309254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:447.70, Y:186.85, Z:50.29 [[-3.34882058e-02 -9.99434614e-01 2.99870520e-03 4.47698428e+02] [ 9.86771435e-01 -3.35397933e-02 -1.58610270e-01 1.86851355e+02] [ 1.58621170e-01 -2.35253675e-03 9.87336716e-01 5.02865476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.339254154 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:447.70, Y:186.85, Z:50.29 [[-3.50783791e-02 -9.99380249e-01 2.93699812e-03 4.47698783e+02] [ 9.86703525e-01 -3.50998009e-02 -1.58695175e-01 1.86854207e+02] [ 1.58699912e-01 -2.66882312e-03 9.87323258e-01 5.02867003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3692541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:447.70, Y:186.86, Z:50.29 [[-3.91140286e-02 -9.99230623e-01 2.87303483e-03 4.47698887e+02] [ 9.86560076e-01 -3.90742323e-02 -1.58658189e-01 1.86862023e+02] [ 1.58648383e-01 -3.37133949e-03 9.87329390e-01 5.02877909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.3992541539999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:447.70, Y:186.87, Z:50.29 [[-4.07404769e-02 -9.99165836e-01 2.80103580e-03 4.47699237e+02] [ 9.86574831e-01 -4.06704794e-02 -1.58164522e-01 1.86867487e+02] [ 1.58146506e-01 -3.68026661e-03 9.87408800e-01 5.02883443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4292541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:447.70, Y:186.87, Z:50.29 [[-4.37975396e-02 -9.99036692e-01 2.73196151e-03 4.47699521e+02] [ 9.86499634e-01 -4.36795214e-02 -1.57830835e-01 1.86870652e+02] [ 1.57798126e-01 -4.21752320e-03 9.87462386e-01 5.02890246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.459254154 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:447.70, Y:186.87, Z:50.29 [[-4.48830108e-02 -9.98988696e-01 2.66464055e-03 4.47699157e+02] [ 9.86490307e-01 -4.47418271e-02 -1.57591378e-01 1.86872472e+02] [ 1.57551226e-01 -4.44453343e-03 9.87500814e-01 5.02892422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.4892541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.70, Y:186.88, Z:50.29 [[-4.59958327e-02 -9.98938272e-01 2.59063105e-03 4.47698859e+02] [ 9.86546423e-01 -4.58322212e-02 -1.56925343e-01 1.86879389e+02] [ 1.56877465e-01 -4.66213401e-03 9.87607070e-01 5.02899355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5192541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.70, Y:186.88, Z:50.29 [[-4.86821915e-02 -9.98811131e-01 2.52384811e-03 4.47698813e+02] [ 9.86457279e-01 -4.84759985e-02 -1.56691140e-01 1.86882770e+02] [ 1.56627201e-01 -5.13839977e-03 9.87644428e-01 5.02901850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.5492541539999 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:447.70, Y:186.89, Z:50.29 [[-5.08206222e-02 -9.98704763e-01 2.46171689e-03 4.47698546e+02] [ 9.86341446e-01 -5.05778851e-02 -1.56755953e-01 1.86887673e+02] [ 1.56677425e-01 -5.53834166e-03 9.87634300e-01 5.02907572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.579254154 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.70, Y:186.89, Z:50.29 [[-5.30225740e-02 -9.98590444e-01 2.39418527e-03 4.47698540e+02] [ 9.86273951e-01 -5.27437388e-02 -1.56466586e-01 1.86891927e+02] [ 1.56372316e-01 -5.93493857e-03 9.87680351e-01 5.02910299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6092541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.70, Y:186.90, Z:50.29 [[-5.90060504e-02 -9.98254918e-01 2.32494055e-03 4.47698864e+02] [ 9.86006685e-01 -5.86455078e-02 -1.56049738e-01 1.86896858e+02] [ 1.55913766e-01 -6.91547181e-03 9.87746462e-01 5.02910833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6392541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:447.70, Y:186.91, Z:50.29 [[-6.19370380e-02 -9.98077501e-01 2.25940635e-03 4.47698851e+02] [ 9.85857756e-01 -6.15315983e-02 -1.55879272e-01 1.86906143e+02] [ 1.55718619e-01 -7.42724712e-03 9.87773531e-01 5.02920924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.6692541539999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:447.70, Y:186.91, Z:50.29 [[-6.48513614e-02 -9.97892523e-01 2.19404614e-03 4.47698659e+02] [ 9.85698502e-01 -6.44012865e-02 -1.55727127e-01 1.86907062e+02] [ 1.55540235e-01 -7.93644817e-03 9.87797676e-01 5.02920002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.699254154 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:447.70, Y:186.91, Z:50.29 [[-6.72826144e-02 -9.97731687e-01 2.12864611e-03 4.47698445e+02] [ 9.85563835e-01 -6.67939778e-02 -1.55571502e-01 1.86912832e+02] [ 1.55360798e-01 -8.36934077e-03 9.87822341e-01 5.02924642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7292541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:447.70, Y:186.92, Z:50.29 [[-7.12761427e-02 -9.97454460e-01 2.07636794e-03 4.47696780e+02] [ 9.85154305e-01 -7.07228257e-02 -1.56426591e-01 1.86916091e+02] [ 1.56175247e-01 -9.10394120e-03 9.87687405e-01 5.02932026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7592541539999 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:447.70, Y:186.92, Z:50.29 [[-7.17890626e-02 -9.97417800e-01 2.01554664e-03 4.47695377e+02] [ 9.85081499e-01 -7.12177320e-02 -1.56660384e-01 1.86918996e+02] [ 1.56399398e-01 -9.26102440e-03 9.87650475e-01 5.02937297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.7892541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.69, Y:186.92, Z:50.29 [[-7.11124236e-02 -9.97466399e-01 1.95097531e-03 4.47692709e+02] [ 9.85139712e-01 -7.05399172e-02 -1.56600983e-01 1.86922468e+02] [ 1.56341841e-01 -9.21429221e-03 9.87660025e-01 5.02944218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.819254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.69, Y:186.92, Z:50.29 [[-6.95448377e-02 -9.97577048e-01 1.88375883e-03 4.47691077e+02] [ 9.85295736e-01 -6.89838312e-02 -1.56312329e-01 1.86924488e+02] [ 1.56063540e-01 -9.01465599e-03 9.87705881e-01 5.02949330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8492541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:447.69, Y:186.92, Z:50.30 [[-6.59246502e-02 -9.97822936e-01 1.82433820e-03 4.47686997e+02] [ 9.85479600e-01 -6.53956334e-02 -1.56695145e-01 1.86921212e+02] [ 1.56473313e-01 -8.53222454e-03 9.87645333e-01 5.02951304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.8792541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.68, Y:186.93, Z:50.30 [[-6.35490851e-02 -9.97977158e-01 1.76228010e-03 4.47684853e+02] [ 9.85608503e-01 -6.30384497e-02 -1.56850353e-01 1.86926942e+02] [ 1.56644161e-01 -8.23077817e-03 9.87620808e-01 5.02962832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9092541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:447.68, Y:186.93, Z:50.30 [[-6.08892952e-02 -9.98143078e-01 1.70002147e-03 4.47682600e+02] [ 9.85750924e-01 -6.04007302e-02 -1.56993212e-01 1.86925526e+02] [ 1.56804370e-01 -7.88340828e-03 9.87598219e-01 5.02962647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.939254154 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:447.68, Y:186.93, Z:50.30 [[-5.81616112e-02 -9.98305844e-01 1.63395067e-03 4.47680369e+02] [ 9.85949111e-01 -5.76982850e-02 -1.56764977e-01 1.86927423e+02] [ 1.56593669e-01 -7.50671144e-03 9.87634584e-01 5.02966400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9692541539999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:447.68, Y:186.94, Z:50.30 [[-5.55901869e-02 -9.98452440e-01 1.56735738e-03 4.47677880e+02] [ 9.86144690e-01 -5.51505318e-02 -1.56451493e-01 1.86935127e+02] [ 1.56295816e-01 -7.15152661e-03 9.87684400e-01 5.02981236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 586.9992541539999 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:447.65, Y:186.91, Z:50.29 [[-2.93672332e-02 -9.97386955e-01 6.60062770e-02 4.47654431e+02] [ 9.93150423e-01 -3.65862035e-02 -1.10967052e-01 1.86907274e+02] [ 1.13092010e-01 6.22953666e-02 9.91629711e-01 5.02886033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.0292541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:447.71, Y:186.92, Z:50.27 [[-3.85189258e-02 -9.95129707e-01 -9.07367573e-02 4.47714368e+02] [ 9.90975063e-01 -2.63745736e-02 -1.31426047e-01 1.86919433e+02] [ 1.28392820e-01 -9.49802539e-02 9.87164644e-01 5.02730134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.059254154 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:447.67, Y:186.94, Z:50.30 [[-3.30653283e-02 -9.99453189e-01 -8.79224159e-05 4.47665889e+02] [ 9.90860837e-01 -3.27695533e-02 -1.30847076e-01 1.86943077e+02] [ 1.30772646e-01 -4.41362040e-03 9.91402560e-01 5.03032251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.089254154 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:447.66, Y:186.97, Z:50.31 [[-3.04570262e-02 -9.99536075e-01 -6.59268936e-05 4.47663692e+02] [ 9.90975389e-01 -3.01875581e-02 -1.30600499e-01 1.86970226e+02] [ 1.30537920e-01 -4.04303476e-03 9.91435074e-01 5.03069368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1192541539999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:447.66, Y:187.00, Z:50.31 [[-2.79459928e-02 -9.99609434e-01 -2.96501254e-05 4.47661751e+02] [ 9.91086726e-01 -2.77038591e-02 -1.30305786e-01 1.86997230e+02] [ 1.30254071e-01 -3.67091039e-03 9.91473853e-01 5.03105529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1492541539999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:447.66, Y:187.00, Z:50.31 [[-2.24163951e-02 -9.99748721e-01 1.34466788e-06 4.47659234e+02] [ 9.91325382e-01 -2.22277009e-02 -1.29537316e-01 1.86995820e+02] [ 1.29504796e-01 -2.90242664e-03 9.91574548e-01 5.03104659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.1792541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:447.64, Y:187.04, Z:50.31 [[-8.74955043e-03 -9.97655966e-01 6.78676535e-02 4.47640464e+02] [ 9.94044422e-01 -1.60503270e-02 -1.07787175e-01 1.87038914e+02] [ 1.08623817e-01 6.65203731e-02 9.91854781e-01 5.03093861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.209254154 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.66, Y:187.08, Z:50.30 [[-4.87655271e-03 -9.99418898e-01 3.37355210e-02 4.47659109e+02] [ 9.94085747e-01 -8.50501170e-03 -1.08264457e-01 1.87082697e+02] [ 1.08488466e-01 3.30080433e-02 9.93549557e-01 5.02972349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2392541539999 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:447.70, Y:187.11, Z:50.29 [[-3.25797973e-02 -9.96078326e-01 -8.22588949e-02 4.47701241e+02] [ 9.86711514e-01 -1.89467577e-02 -1.61373508e-01 1.87108348e+02] [ 1.59182114e-01 -8.64233149e-02 9.83459234e-01 5.02945880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2692541539999 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:447.64, Y:187.07, Z:50.31 [[-6.09040594e-03 -9.97083572e-01 7.60740307e-02 4.47638563e+02] [ 9.93612338e-01 -1.46066355e-02 -1.11898025e-01 1.87074027e+02] [ 1.12682868e-01 7.49065911e-02 9.90803499e-01 5.03122550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.2992541539999 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:447.70, Y:187.11, Z:50.30 [[-3.12252506e-02 -9.96593340e-01 -7.63328169e-02 4.47698959e+02] [ 9.86505598e-01 -1.84485402e-02 -1.62684841e-01 1.87110043e+02] [ 1.60722400e-01 -8.03826261e-02 9.83720968e-01 5.02960264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.329254154 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:447.66, Y:187.27, Z:50.34 [[-2.29410359e-02 -9.99647841e-01 1.33380584e-02 4.47657159e+02] [ 9.87790811e-01 -2.47212056e-02 -1.53812143e-01 1.87271777e+02] [ 1.54087709e-01 9.64660160e-03 9.88010081e-01 5.03427651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3592541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:447.65, Y:187.07, Z:50.31 [[-5.18194631e-04 -9.98569403e-01 5.34684915e-02 4.47649212e+02] [ 9.93217265e-01 -6.73083794e-03 -1.16078251e-01 1.87068380e+02] [ 1.16272077e-01 5.30456778e-02 9.91799859e-01 5.03066359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.3892541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:447.69, Y:187.27, Z:50.32 [[-2.10786157e-02 -9.98120548e-01 -5.75418488e-02 4.47694155e+02] [ 9.87749989e-01 -1.18897486e-02 -1.55591109e-01 1.87271299e+02] [ 1.54614525e-01 -6.01166057e-02 9.86144179e-01 5.03212558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4192541539999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:447.67, Y:187.12, Z:50.32 [[-2.95278525e-02 -9.99536069e-01 -7.46675043e-03 4.47668125e+02] [ 9.86193243e-01 -2.79143294e-02 -1.63228911e-01 1.87119645e+02] [ 1.62944755e-01 -1.21834580e-02 9.86559968e-01 5.03196350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.449254154 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:447.65, Y:187.08, Z:50.31 [[-3.23131479e-03 -9.97850498e-01 6.54518271e-02 4.47647773e+02] [ 9.93282444e-01 -1.07736337e-02 -1.15212483e-01 1.87084548e+02] [ 1.15669988e-01 6.46398630e-02 9.91182194e-01 5.03107037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.4792541539999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:447.69, Y:187.10, Z:50.29 [[-5.16854001e-03 -9.99920054e-01 -1.15400429e-02 4.47687500e+02] [ 9.92627266e-01 -3.73266284e-03 -1.21149404e-01 1.87095240e+02] [ 1.21096643e-01 -1.20811268e-02 9.92567201e-01 5.02904403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5092541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:447.70, Y:187.13, Z:50.31 [[-3.36083423e-02 -9.97905248e-01 -5.52774486e-02 4.47696454e+02] [ 9.86398414e-01 -2.42150095e-02 -1.62578605e-01 1.87129759e+02] [ 1.60899499e-01 -5.99895850e-02 9.85145980e-01 5.03066976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5392541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:447.67, Y:187.13, Z:50.32 [[-3.29420851e-02 -9.99454233e-01 2.46068160e-03 4.47668423e+02] [ 9.86248136e-01 -3.29055668e-02 -1.61962460e-01 1.87129148e+02] [ 1.61955036e-01 -2.90853848e-03 9.86793852e-01 5.03247243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.569254154 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:447.67, Y:187.13, Z:50.32 [[-3.38422382e-02 -9.99424327e-01 2.39101286e-03 4.47669592e+02] [ 9.86271349e-01 -3.37835615e-02 -1.61640023e-01 1.87128359e+02] [ 1.61627748e-01 -3.11207266e-03 9.86846891e-01 5.03246108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.5992541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:447.67, Y:187.13, Z:50.33 [[-3.51338055e-02 -9.99379911e-01 2.32572020e-03 4.47669840e+02] [ 9.86232694e-01 -3.50476924e-02 -1.61606723e-01 1.87131225e+02] [ 1.61588024e-01 -3.38415788e-03 9.86852501e-01 5.03250591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6292541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:447.67, Y:187.14, Z:50.33 [[-3.79497765e-02 -9.99277096e-01 2.25827692e-03 4.47672031e+02] [ 9.86163178e-01 -3.78165108e-02 -1.61406621e-01 1.87142516e+02] [ 1.61375339e-01 -3.89831564e-03 9.86885405e-01 5.03262100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.6592541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:447.67, Y:187.14, Z:50.33 [[-3.95669996e-02 -9.99214512e-01 2.19356153e-03 4.47673119e+02] [ 9.86099304e-01 -3.94020200e-02 -1.61417608e-01 1.87140966e+02] [ 1.61377247e-01 -4.22374092e-03 9.86883754e-01 5.03258825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.689254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:447.66, Y:187.13, Z:50.32 [[-2.54803688e-02 -9.98048726e-01 5.70043055e-02 4.47659115e+02] [ 9.91496140e-01 -3.25102294e-02 -1.26009882e-01 1.87125695e+02] [ 1.27617225e-01 5.33087706e-02 9.90389832e-01 5.03205306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7192541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:447.71, Y:187.15, Z:50.31 [[-4.61445832e-02 -9.97298194e-01 -5.71575934e-02 4.47705257e+02] [ 9.86195700e-01 -3.63726411e-02 -1.61539696e-01 1.87149695e+02] [ 1.59024274e-01 -6.38227548e-02 9.85209590e-01 5.03080490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7492541539999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:447.65, Y:187.15, Z:50.33 [[-2.54345665e-02 -9.95418067e-01 9.21735001e-02 4.47647554e+02] [ 9.93507443e-01 -3.53974392e-02 -1.08120223e-01 1.87148463e+02] [ 1.10887530e-01 8.88250674e-02 9.89855577e-01 5.03269781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.7792541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:447.73, Y:187.16, Z:50.30 [[-5.30387628e-02 -9.94271230e-01 -9.27987679e-02 4.47725839e+02] [ 9.86139513e-01 -3.75204127e-02 -1.61620172e-01 1.87158497e+02] [ 1.57212439e-01 -1.00084666e-01 9.82480182e-01 5.02981905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.809254154 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:447.68, Y:187.16, Z:50.33 [[-5.45736157e-02 -9.98507600e-01 2.07207900e-03 4.47679774e+02] [ 9.85327217e-01 -5.41890963e-02 -1.61845044e-01 1.87158406e+02] [ 1.61715790e-01 -6.79079338e-03 9.86814009e-01 5.03256514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.839254154 meters Centerline goodness : 0.996101 Centerline is valid? [True, True] Translation: X:447.67, Y:187.75, Z:50.42 [[-5.81756922e-02 -9.98183670e-01 1.56508425e-02 4.47667639e+02] [ 9.86571784e-01 -5.98814848e-02 -1.51955001e-01 1.87754870e+02] [ 1.52616196e-01 6.60059228e-03 9.88263492e-01 5.04166887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8692541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:448.45, Y:187.30, Z:50.46 [[-1.78690033e-02 -4.10984582e-02 -9.98995303e-01 4.48454660e+02] [ 9.84123861e-01 1.75737186e-01 -2.48327893e-02 1.87296520e+02] [ 1.76581213e-01 -9.83578852e-01 3.73057250e-02 5.04576739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.8992541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:447.68, Y:187.33, Z:50.31 [[-5.98514603e-02 -9.98204611e-01 2.31456982e-03 4.47678874e+02] [ 9.71440324e-01 -5.87797470e-02 -2.29888319e-01 1.87331110e+02] [ 2.29611630e-01 -1.15106851e-02 9.73214264e-01 5.03110944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9292541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.68, Y:187.33, Z:50.31 [[-6.27107276e-02 -9.98029280e-01 2.21837791e-03 4.47679086e+02] [ 9.71302505e-01 -6.15420363e-02 -2.29747733e-01 1.87330780e+02] [ 2.29431488e-01 -1.22529315e-02 9.73247686e-01 5.03105306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.959254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:447.68, Y:187.33, Z:50.31 [[-6.36806635e-02 -9.97968064e-01 2.12515665e-03 4.47678828e+02] [ 9.71198969e-01 -6.24621661e-02 -2.29937037e-01 1.87332911e+02] [ 2.29602561e-01 -1.25785931e-02 9.73203187e-01 5.03108043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 587.9892541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.66, Y:187.33, Z:50.31 [[-4.72193575e-02 -9.96981899e-01 6.16232497e-02 4.47659657e+02] [ 9.79967788e-01 -5.81862274e-02 -1.90466524e-01 1.87325304e+02] [ 1.93477302e-01 5.13950928e-02 9.79757663e-01 5.03050155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0192541539999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:447.70, Y:187.77, Z:50.39 [[-7.12483513e-02 -9.96593247e-01 -4.15400222e-02 4.47695009e+02] [ 9.70344740e-01 -5.96073379e-02 -2.34260648e-01 1.87769351e+02] [ 2.30986489e-01 -5.69988270e-02 9.71285939e-01 5.03916406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.0492541539999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:447.68, Y:187.35, Z:50.31 [[-7.09253250e-02 -9.97459267e-01 -6.67904499e-03 4.47683217e+02] [ 9.67951970e-01 -6.72068966e-02 -2.41975654e-01 1.87352723e+02] [ 2.40911980e-01 -2.36271966e-02 9.70259333e-01 5.03070240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.079254154 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:447.68, Y:187.35, Z:50.31 [[-7.10987652e-02 -9.97465086e-01 2.89267645e-03 4.47678183e+02] [ 9.67684800e-01 -6.96788492e-02 -2.42344765e-01 1.87350454e+02] [ 2.41932000e-01 -1.44312145e-02 9.70185883e-01 5.03094847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1092541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:447.68, Y:187.36, Z:50.31 [[-7.06614845e-02 -9.97496444e-01 2.79265528e-03 4.47677184e+02] [ 9.67705483e-01 -6.92297408e-02 -2.42390884e-01 1.87355379e+02] [ 2.41977380e-01 -1.44252319e-02 9.70174655e-01 5.03105047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1392541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:447.68, Y:187.36, Z:50.31 [[-6.96011787e-02 -9.97571271e-01 2.68971070e-03 4.47676216e+02] [ 9.67836781e-01 -6.81795220e-02 -2.42164239e-01 1.87355617e+02] [ 2.41759471e-01 -1.42517155e-02 9.70231543e-01 5.03105758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.1692541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.65, Y:187.33, Z:50.30 [[-4.40265571e-02 -9.95865374e-01 7.94595415e-02 4.47649833e+02] [ 9.80024969e-01 -5.84924896e-02 -1.90078115e-01 1.87328312e+02] [ 1.93939999e-01 6.95038497e-02 9.78548155e-01 5.03006438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.199254154 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:447.68, Y:187.37, Z:50.29 [[-4.03040173e-02 -9.99175612e-01 4.86640284e-03 4.47683464e+02] [ 9.80068476e-01 -4.04805445e-02 -1.94491925e-01 1.87371757e+02] [ 1.94528583e-01 -3.06939788e-03 9.80892048e-01 5.02875955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2292541539999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:447.70, Y:187.61, Z:50.34 [[-6.20926781e-02 -9.96565715e-01 -5.47838985e-02 4.47699001e+02] [ 9.71151495e-01 -4.76647728e-02 -2.33651113e-01 1.87607448e+02] [ 2.30237426e-01 -6.77114883e-02 9.70775917e-01 5.03417592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2592541539999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:447.68, Y:187.40, Z:50.31 [[-6.41685580e-02 -9.97663054e-01 -2.34696938e-02 4.47682543e+02] [ 9.66380991e-01 -5.62545480e-02 -2.50884845e-01 1.87398680e+02] [ 2.48978263e-01 -3.87795846e-02 9.67732385e-01 5.03113858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.2892541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:447.64, Y:187.36, Z:50.31 [[-3.13120409e-02 -9.95731806e-01 8.68200799e-02 4.47637826e+02] [ 9.78852502e-01 -4.81174882e-02 -1.98827782e-01 1.87361600e+02] [ 2.02156711e-01 7.87583488e-02 9.76181226e-01 5.03115616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.319254154 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:447.71, Y:187.40, Z:50.29 [[-5.02410071e-02 -9.95007339e-01 -8.62336180e-02 4.47708734e+02] [ 9.67882617e-01 -2.72112686e-02 -2.49925563e-01 1.87399150e+02] [ 2.46331243e-01 -9.60205318e-02 9.64417428e-01 5.02932360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3492541539999 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:447.66, Y:187.39, Z:50.32 [[-3.39951852e-02 -9.99321421e-01 1.41783406e-02 4.47659498e+02] [ 9.70109964e-01 -3.64054303e-02 -2.39919365e-01 1.87386338e+02] [ 2.40272729e-01 5.59844623e-03 9.70689277e-01 5.03158651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.3792541539999 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:447.65, Y:187.86, Z:50.44 [[-3.82056023e-02 -9.99254415e-01 5.56294020e-03 4.47650110e+02] [ 9.67843278e-01 -3.83886462e-02 -2.48607524e-01 1.87863023e+02] [ 2.48635719e-01 -4.11414590e-03 9.68588330e-01 5.04391580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4092541539999 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:447.65, Y:187.85, Z:50.43 [[-3.33299095e-02 -9.99376626e-01 1.16394768e-02 4.47645844e+02] [ 9.70299679e-01 -3.51476918e-02 -2.39339034e-01 1.87851031e+02] [ 2.39598937e-01 3.31663224e-03 9.70866288e-01 5.04332996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.439254154 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:447.65, Y:187.88, Z:50.44 [[-2.76143876e-02 -9.99617450e-01 1.54871746e-03 4.47649239e+02] [ 9.70350954e-01 -2.71779957e-02 -2.40167407e-01 1.87883795e+02] [ 2.40117622e-01 -5.12927639e-03 9.70730250e-01 5.04371878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4692541539999 meters Centerline goodness : 0.995024 Centerline is valid? [True, True] Translation: X:447.64, Y:188.04, Z:50.48 [[-2.19210139e-02 -9.99759706e-01 -1.46710431e-05 4.47644768e+02] [ 9.67790691e-01 -2.12163709e-02 -2.50860606e-01 1.88044499e+02] [ 2.50800015e-01 -5.51331733e-03 9.68023221e-01 5.04826970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.4992541539999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:448.49, Y:187.50, Z:50.49 [[-2.88008045e-02 7.75034414e-02 -9.96576003e-01 4.48494344e+02] [ 9.50220780e-01 3.11560633e-01 -3.23116520e-03 1.87500600e+02] [ 3.10243424e-01 -9.47060288e-01 -8.26185774e-02 5.04876919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.5292541539999 meters Centerline goodness : 0.996206 Centerline is valid? [True, True] Translation: X:448.31, Y:187.87, Z:51.42 [[-1.02243034e-01 9.94758840e-01 1.10146799e-03 4.48312416e+02] [ 9.46885745e-01 9.69830688e-02 3.06596917e-01 1.87865403e+02] [ 3.04883170e-01 3.23903634e-02 -9.51838808e-01 5.14226333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.559254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.82, Y:187.33, Z:51.34 [[-1.32584273e-01 5.07894819e-01 8.51154665e-01 4.47815984e+02] [ 9.59888996e-01 -1.48247321e-01 2.37982871e-01 1.87329366e+02] [ 2.47051666e-01 8.48566783e-01 -4.67867385e-01 5.13440780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.589254154 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:447.65, Y:187.93, Z:50.47 [[-1.32092402e-01 -9.90240603e-01 4.44426131e-02 4.47649550e+02] [ 9.58264610e-01 -1.39037930e-01 -2.49794698e-01 1.87928920e+02] [ 2.53536061e-01 9.59180160e-03 9.67278379e-01 5.04663790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6192541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.67, Y:187.82, Z:50.43 [[-1.31304942e-01 -9.90825162e-01 3.20079833e-02 4.47670875e+02] [ 9.57231973e-01 -1.35117648e-01 -2.55832311e-01 1.87820019e+02] [ 2.57809934e-01 -2.95298174e-03 9.66191139e-01 5.04349905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6492541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:447.71, Y:187.57, Z:50.37 [[-1.32133464e-01 -9.90663050e-01 3.35778070e-02 4.47705583e+02] [ 9.56234877e-01 -1.36316922e-01 -2.58906463e-01 1.87571835e+02] [ 2.61066289e-01 -2.10193767e-03 9.65318587e-01 5.03721633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.6792541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:447.70, Y:187.58, Z:50.37 [[-1.32032964e-01 -9.90563320e-01 3.67641997e-02 4.47703757e+02] [ 9.56305900e-01 -1.37051769e-01 -2.58255374e-01 1.87576898e+02] [ 2.60856899e-01 1.05959861e-03 9.65376898e-01 5.03748648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.709254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.70, Y:187.58, Z:50.37 [[-1.32860618e-01 -9.90461076e-01 3.65364724e-02 4.47704798e+02] [ 9.56430767e-01 -1.37790785e-01 -2.57398306e-01 1.87577290e+02] [ 2.59977393e-01 7.46508262e-04 9.65614415e-01 5.03743754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7392541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.68, Y:187.74, Z:50.42 [[-1.34393439e-01 -9.89840371e-01 4.64159807e-02 4.47677865e+02] [ 9.56507242e-01 -1.41821186e-01 -2.54913017e-01 1.87738702e+02] [ 2.58905965e-01 1.01385846e-02 9.65849321e-01 5.04214445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7692541539999 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:447.62, Y:188.18, Z:50.53 [[-1.34490289e-01 -9.90286566e-01 3.52828503e-02 4.47621186e+02] [ 9.55955797e-01 -1.39037567e-01 -2.58489978e-01 1.88182377e+02] [ 2.60884794e-01 -1.03554657e-03 9.65369386e-01 5.05344200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.7992541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.67, Y:187.71, Z:50.40 [[-9.68747811e-02 -9.95017949e-01 2.35490651e-02 4.47673433e+02] [ 9.60265171e-01 -9.96609647e-02 -2.60688499e-01 1.87705105e+02] [ 2.61736658e-01 -2.64079423e-03 9.65135715e-01 5.04024727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.829254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.66, Y:187.87, Z:50.45 [[-9.56115977e-02 -9.94902542e-01 3.20523582e-02 4.47655906e+02] [ 9.61899157e-01 -1.00629760e-01 -2.54211847e-01 1.87870199e+02] [ 2.56141434e-01 6.52553553e-03 9.66617289e-01 5.04452190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8592541539999 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:447.68, Y:187.71, Z:50.40 [[-1.01166633e-01 -9.94715268e-01 1.75170905e-02 4.47679115e+02] [ 9.59916247e-01 -1.02223349e-01 -2.60981198e-01 1.87710588e+02] [ 2.61392638e-01 -9.58764938e-03 9.65184939e-01 5.04008201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.8892541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:447.68, Y:187.72, Z:50.40 [[-1.06533992e-01 -9.93984907e-01 2.53872540e-02 4.47678261e+02] [ 9.59393273e-01 -1.09466237e-01 -2.59964789e-01 1.87717896e+02] [ 2.61180124e-01 -3.33872594e-03 9.65284308e-01 5.04044264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9192541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:447.68, Y:187.72, Z:50.41 [[-1.09143468e-01 -9.93704183e-01 2.52922909e-02 4.47679502e+02] [ 9.59072492e-01 -1.11959559e-01 -2.60086549e-01 1.87722687e+02] [ 2.61280805e-01 -4.12960733e-03 9.65254001e-01 5.04052429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.949254154 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.68, Y:187.73, Z:50.41 [[-1.11586213e-01 -9.93435479e-01 2.51886227e-02 4.47680286e+02] [ 9.58787865e-01 -1.14289890e-01 -2.60122378e-01 1.87728912e+02] [ 2.61293604e-01 -4.87552527e-03 9.65247058e-01 5.04065033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 588.9792541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:447.68, Y:187.72, Z:50.40 [[-1.11381040e-01 -9.93163455e-01 3.49372965e-02 4.47681062e+02] [ 9.60985558e-01 -1.16595761e-01 -2.50823018e-01 1.87721154e+02] [ 2.53181796e-01 5.63730879e-03 9.67402294e-01 5.04002782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0092541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:447.69, Y:187.74, Z:50.40 [[-1.19291578e-01 -9.92777763e-01 1.27213541e-02 4.47690362e+02] [ 9.57812690e-01 -1.18445517e-01 -2.61850167e-01 1.87736785e+02] [ 2.61465810e-01 -1.90518450e-02 9.65024693e-01 5.04032678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0392541539999 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:447.69, Y:187.74, Z:50.41 [[-1.21021140e-01 -9.92333638e-01 2.50566410e-02 4.47685228e+02] [ 9.57408368e-01 -1.23353650e-01 -2.61061477e-01 1.87740274e+02] [ 2.62150913e-01 -7.60451991e-03 9.64996927e-01 5.04082589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.069254154 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:447.66, Y:187.73, Z:50.41 [[-1.03646443e-01 -9.89413551e-01 1.01578738e-01 4.47659862e+02] [ 9.70698130e-01 -1.22886778e-01 -2.06504188e-01 1.87727189e+02] [ 2.16800725e-01 7.71988663e-02 9.73158662e-01 5.04053745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.0992541539999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:447.71, Y:187.73, Z:50.37 [[-1.01604939e-01 -9.94823601e-01 1.56197126e-03 4.47709631e+02] [ 9.70068363e-01 -9.94244446e-02 -2.21544921e-01 1.87726715e+02] [ 2.20553414e-01 -2.09948393e-02 9.75148916e-01 5.03739433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1292541539999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:447.73, Y:187.75, Z:50.39 [[-1.25050099e-01 -9.90801430e-01 -5.17204004e-02 4.47725522e+02] [ 9.57881239e-01 -1.06984179e-01 -2.66491871e-01 1.87754018e+02] [ 2.58507262e-01 -8.28668361e-02 9.62448483e-01 5.03870991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.1592541539999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:447.69, Y:187.75, Z:50.41 [[-1.23892169e-01 -9.91988148e-01 2.47031347e-02 4.47687560e+02] [ 9.57353210e-01 -1.26040658e-01 -2.59978047e-01 1.87749445e+02] [ 2.61008741e-01 -8.55961888e-03 9.65298488e-01 5.04098657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.189254154 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:447.69, Y:187.75, Z:50.41 [[-1.23012389e-01 -9.92101104e-01 2.45632304e-02 4.47687136e+02] [ 9.57561103e-01 -1.25158052e-01 -2.59638587e-01 1.87750708e+02] [ 2.60662014e-01 -8.41796879e-03 9.65393418e-01 5.04101764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2192541539999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:447.69, Y:187.75, Z:50.41 [[-1.20965836e-01 -9.92355766e-01 2.44397162e-02 4.47687036e+02] [ 9.57866546e-01 -1.23151931e-01 -2.59471157e-01 1.87750439e+02] [ 2.60497497e-01 -7.97715875e-03 9.65441567e-01 5.04101063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2492541539999 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:447.69, Y:187.75, Z:50.41 [[-1.19847819e-01 -9.92494029e-01 2.43331757e-02 4.47686587e+02] [ 9.58005194e-01 -1.22044929e-01 -2.59482337e-01 1.87751865e+02] [ 2.60504411e-01 -7.78708362e-03 9.65441253e-01 5.04104835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.2792541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:447.69, Y:187.76, Z:50.41 [[-1.19094012e-01 -9.92586288e-01 2.42709080e-02 4.47685418e+02] [ 9.57968459e-01 -1.21297231e-01 -2.59968100e-01 1.87760759e+02] [ 2.60984765e-01 -7.70987954e-03 9.65312131e-01 5.04129719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.309254154 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:447.68, Y:187.76, Z:50.41 [[-1.18667876e-01 -9.92638044e-01 2.42414548e-02 4.47684695e+02] [ 9.57792068e-01 -1.20871534e-01 -2.60814930e-01 1.87760444e+02] [ 2.61824924e-01 -7.73208062e-03 9.65084413e-01 5.04125688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.339254154 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:447.67, Y:187.74, Z:50.40 [[-1.01808823e-01 -9.91663029e-01 7.89898824e-02 4.47666460e+02] [ 9.68423376e-01 -1.16960622e-01 -2.20173516e-01 1.87739390e+02] [ 2.27576641e-01 5.40800421e-02 9.72257281e-01 5.04048132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3692541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:447.72, Y:187.77, Z:50.39 [[-1.20151990e-01 -9.91949306e-01 -4.00009220e-02 4.47715016e+02] [ 9.58031677e-01 -1.05291836e-01 -2.66625083e-01 1.87773994e+02] [ 2.60266795e-01 -7.03576846e-02 9.62969881e-01 5.03941984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.3992541539999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:447.68, Y:187.77, Z:50.41 [[-1.21311966e-01 -9.92319807e-01 2.41827924e-02 4.47683556e+02] [ 9.57148190e-01 -1.23396973e-01 -2.61993377e-01 1.87766617e+02] [ 2.62965301e-01 -8.63641570e-03 9.64766637e-01 5.04123690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4292541539999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:447.68, Y:187.77, Z:50.41 [[-1.20918279e-01 -9.92370480e-01 2.40749035e-02 4.47683298e+02] [ 9.57198012e-01 -1.22988785e-01 -2.62003293e-01 1.87769168e+02] [ 2.62965276e-01 -8.63653741e-03 9.64766642e-01 5.04130122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.459254154 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:447.68, Y:187.77, Z:50.41 [[-1.21589291e-01 -9.92291802e-01 2.39379281e-02 4.47682655e+02] [ 9.57203940e-01 -1.23602880e-01 -2.61692465e-01 1.87774345e+02] [ 2.62634084e-01 -8.90552229e-03 9.64854408e-01 5.04139548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.4892541539999 meters Centerline goodness : 0.995748 Centerline is valid? [True, True] Translation: X:447.62, Y:188.36, Z:50.57 [[-1.25483896e-01 -9.91594882e-01 3.15179769e-02 4.47623007e+02] [ 9.58073006e-01 -1.29367850e-01 -2.55656167e-01 1.88362510e+02] [ 2.57584759e-01 -1.88420886e-03 9.66253870e-01 5.05690396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5192541539999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:447.68, Y:187.80, Z:50.42 [[-1.21973821e-01 -9.92391129e-01 1.67998505e-02 4.47680855e+02] [ 9.57256382e-01 -1.22094279e-01 -2.62208326e-01 1.87799026e+02] [ 2.62264382e-01 -1.59007874e-02 9.64865047e-01 5.04190893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.5492541539999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:447.68, Y:187.79, Z:50.42 [[-1.22560489e-01 -9.92192327e-01 2.30935611e-02 4.47677080e+02] [ 9.57275791e-01 -1.24324306e-01 -2.61087202e-01 1.87794807e+02] [ 2.61919809e-01 -9.89206822e-03 9.65038942e-01 5.04199171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.579254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:447.68, Y:187.80, Z:50.42 [[-1.22688200e-01 -9.92179542e-01 2.29643692e-02 4.47675797e+02] [ 9.57327062e-01 -1.24416104e-01 -2.60855381e-01 1.87798862e+02] [ 2.61672510e-01 -1.00194650e-02 9.65104713e-01 5.04216275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6092541539999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:447.67, Y:187.79, Z:50.42 [[-1.14044099e-01 -9.92462128e-01 4.48650071e-02 4.47668283e+02] [ 9.63189820e-01 -1.21520202e-01 -2.39787846e-01 1.87793971e+02] [ 2.43432360e-01 1.58671293e-02 9.69788080e-01 5.04164894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6392541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:447.69, Y:187.81, Z:50.42 [[-1.24319159e-01 -9.92234036e-01 -4.04521769e-03 4.47685641e+02] [ 9.57737195e-01 -1.18929212e-01 -2.61907059e-01 1.87808512e+02] [ 2.59392004e-01 -3.64343208e-02 9.65084623e-01 5.04150463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.6692541539999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:447.67, Y:187.80, Z:50.42 [[-1.24715234e-01 -9.91933999e-01 2.26506333e-02 4.47671606e+02] [ 9.57448345e-01 -1.26304987e-01 -2.59498972e-01 1.87802887e+02] [ 2.60266741e-01 -1.06766637e-02 9.65477722e-01 5.04219656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.699254154 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:447.67, Y:187.81, Z:50.42 [[-1.24677686e-01 -9.91941223e-01 2.25407398e-02 4.47669757e+02] [ 9.57462059e-01 -1.26240364e-01 -2.59479818e-01 1.87811601e+02] [ 2.60234279e-01 -1.07694402e-02 9.65485442e-01 5.04239187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7292541539999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:447.67, Y:187.81, Z:50.42 [[-1.24790285e-01 -9.91929238e-01 2.24448550e-02 4.47668657e+02] [ 9.57412191e-01 -1.26322477e-01 -2.59623822e-01 1.87806973e+02] [ 2.60363750e-01 -1.09095528e-02 9.65448963e-01 5.04226270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7592541539999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:447.67, Y:187.81, Z:50.42 [[-1.24421383e-01 -9.91978243e-01 2.23267855e-02 4.47665936e+02] [ 9.57494009e-01 -1.25936974e-01 -2.59509347e-01 1.87809456e+02] [ 2.60239394e-01 -1.09107485e-02 9.65482477e-01 5.04242200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.7892541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:447.64, Y:188.03, Z:50.49 [[-1.25553011e-01 -9.91390215e-01 3.71736856e-02 4.47639120e+02] [ 9.57736171e-01 -1.30895318e-01 -2.56140277e-01 1.88026114e+02] [ 2.58800826e-01 3.44340031e-03 9.65924570e-01 5.04876949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.819254154 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:447.67, Y:187.81, Z:50.42 [[-1.23807020e-01 -9.92264381e-01 9.12252216e-03 4.47669762e+02] [ 9.58042044e-01 -1.21921892e-01 -2.59404115e-01 1.87810055e+02] [ 2.58509699e-01 -2.33762908e-02 9.65725781e-01 5.04201725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8492541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:447.66, Y:187.81, Z:50.43 [[-1.22141914e-01 -9.92266695e-01 2.20943133e-02 4.47660698e+02] [ 9.58154461e-01 -1.23690970e-01 -2.58148354e-01 1.87810097e+02] [ 2.58884881e-01 -1.03609690e-02 9.65852612e-01 5.04252547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.8792541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.66, Y:187.79, Z:50.41 [[-1.11795810e-01 -9.93063437e-01 3.64240030e-02 4.47658570e+02] [ 9.62907072e-01 -1.17313648e-01 -2.42996870e-01 1.87785930e+02] [ 2.45584340e-01 7.90689810e-03 9.69342980e-01 5.04139995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9092541539999 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:447.67, Y:187.80, Z:50.41 [[-1.10430874e-01 -9.93878984e-01 3.09622012e-03 4.47669370e+02] [ 9.62305111e-01 -1.07700678e-01 -2.49738740e-01 1.87802712e+02] [ 2.48543550e-01 -2.45993588e-02 9.68308306e-01 5.04069010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.939254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.66, Y:187.81, Z:50.43 [[-1.17910878e-01 -9.92836309e-01 1.93155009e-02 4.47655771e+02] [ 9.58463715e-01 -1.18872634e-01 -2.59261653e-01 1.87813134e+02] [ 2.59700467e-01 -1.20565625e-02 9.65613953e-01 5.04251996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9692541539999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:447.65, Y:187.82, Z:50.43 [[-1.16541787e-01 -9.92944304e-01 2.19002340e-02 4.47652381e+02] [ 9.58539644e-01 -1.18222319e-01 -2.59278295e-01 1.87819184e+02] [ 2.60038002e-01 -9.22451327e-03 9.65554320e-01 5.04277386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 589.9992541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.65, Y:187.82, Z:50.43 [[-1.14380100e-01 -9.93197945e-01 2.17953011e-02 4.47649905e+02] [ 9.58789183e-01 -1.16107939e-01 -2.59311103e-01 1.87816892e+02] [ 2.60077863e-01 -8.76293104e-03 9.65547884e-01 5.04267885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.0292541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.65, Y:187.82, Z:50.43 [[-1.13259100e-01 -9.93328767e-01 2.16872649e-02 4.47648601e+02] [ 9.58924258e-01 -1.14997720e-01 -2.59306368e-01 1.87817965e+02] [ 2.60070461e-01 -8.57236134e-03 9.65551589e-01 5.04268593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.059254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.65, Y:187.82, Z:50.43 [[-1.12300031e-01 -9.93440434e-01 2.15594061e-02 4.47647133e+02] [ 9.59105315e-01 -1.14040779e-01 -2.59059253e-01 1.87820564e+02] [ 2.59818588e-01 -8.41462127e-03 9.65620783e-01 5.04276706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.089254154 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:447.64, Y:187.83, Z:50.43 [[-1.11467687e-01 -9.93535921e-01 2.14785567e-02 4.47644878e+02] [ 9.59116847e-01 -1.13213449e-01 -2.59379237e-01 1.87829326e+02] [ 2.60134250e-01 -8.31195802e-03 9.65536681e-01 5.04303065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1192541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.64, Y:187.83, Z:50.43 [[-1.10035438e-01 -9.93698460e-01 2.13441556e-02 4.47642121e+02] [ 9.59371078e-01 -1.11798577e-01 -2.59052528e-01 1.87825797e+02] [ 2.59806344e-01 -8.02799271e-03 9.65627368e-01 5.04296640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1492541539999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:447.64, Y:187.83, Z:50.43 [[-1.08332016e-01 -9.93886599e-01 2.12979696e-02 4.47638500e+02] [ 9.59360086e-01 -1.10136022e-01 -2.59804316e-01 1.87833467e+02] [ 2.60561702e-01 -7.71270331e-03 9.65426390e-01 5.04322221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.1792541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.64, Y:187.83, Z:50.43 [[-1.06897834e-01 -9.94043435e-01 2.12250468e-02 4.47637484e+02] [ 9.59404148e-01 -1.08729352e-01 -2.60233759e-01 1.87827247e+02] [ 2.60991445e-01 -7.45502722e-03 9.65312327e-01 5.04305155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.209254154 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:447.64, Y:187.83, Z:50.43 [[-1.05299258e-01 -9.94215529e-01 2.11553263e-02 4.47635820e+02] [ 9.59452105e-01 -1.07164797e-01 -2.60705514e-01 1.87830884e+02] [ 2.61464577e-01 -7.15457488e-03 9.65186556e-01 5.04316246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2392541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.63, Y:187.83, Z:50.43 [[-1.03626818e-01 -9.94392641e-01 2.10893010e-02 4.47634862e+02] [ 9.59492252e-01 -1.05529908e-01 -2.61224150e-01 1.87830296e+02] [ 2.61984924e-01 -6.83480651e-03 9.65047763e-01 5.04312798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2692541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.63, Y:187.83, Z:50.43 [[-9.99703626e-02 -9.94768322e-01 2.10217288e-02 4.47631878e+02] [ 9.59738812e-01 -1.01980934e-01 -2.61727535e-01 1.87832218e+02] [ 2.62502076e-01 -5.98962756e-03 9.64912838e-01 5.04317282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.2992541539999 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:447.61, Y:188.08, Z:50.50 [[-9.85213065e-02 -9.94877057e-01 2.26537647e-02 4.47608850e+02] [ 9.59932531e-01 -1.01012810e-01 -2.61392326e-01 1.88084002e+02] [ 2.62341549e-01 -4.00662778e-03 9.64966766e-01 5.04993976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.329254154 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:447.59, Y:188.34, Z:50.57 [[-9.62080826e-02 -9.95165884e-01 1.97197411e-02 4.47587871e+02] [ 9.60024912e-01 -9.80063741e-02 -2.62196338e-01 1.88340517e+02] [ 2.62861511e-01 -6.29396418e-03 9.64813045e-01 5.05668471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3592541539999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:447.63, Y:187.83, Z:50.43 [[-9.05237878e-02 -9.95669894e-01 2.11401400e-02 4.47625150e+02] [ 9.60825333e-01 -9.28999538e-02 -2.61121195e-01 1.87830206e+02] [ 2.61954430e-01 -3.32569760e-03 9.65074513e-01 5.04328864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.3892541539999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:447.62, Y:187.83, Z:50.43 [[-8.79367640e-02 -9.95909072e-01 2.07905089e-02 4.47623936e+02] [ 9.60989102e-01 -9.03109200e-02 -2.61426632e-01 1.87829187e+02] [ 2.62234764e-01 -3.00955957e-03 9.64999415e-01 5.04327821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4192541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:447.62, Y:187.83, Z:50.43 [[-8.46912695e-02 -9.96191232e-01 2.07465222e-02 4.47621439e+02] [ 9.61061205e-01 -8.71658052e-02 -2.62227921e-01 1.87830481e+02] [ 2.63037543e-01 -2.26973793e-03 9.64782929e-01 5.04333038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.449254154 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:447.62, Y:187.84, Z:50.43 [[-8.37367997e-02 -9.96273676e-01 2.06618204e-02 4.47620607e+02] [ 9.61067936e-01 -8.62220843e-02 -2.62515093e-01 1.87836487e+02] [ 2.63318382e-01 -2.12476068e-03 9.64706647e-01 5.04346462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.4792541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.62, Y:187.84, Z:50.43 [[-8.34425079e-02 -9.96300319e-01 2.05674924e-02 4.47620429e+02] [ 9.61049795e-01 -8.59129821e-02 -2.62682797e-01 1.87838417e+02] [ 2.63477969e-01 -2.15252694e-03 9.64663012e-01 5.04348931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5092541539999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:447.62, Y:187.84, Z:50.44 [[-8.48980628e-02 -9.96179053e-01 2.04844857e-02 4.47619797e+02] [ 9.60838637e-01 -8.72942986e-02 -2.62999657e-01 1.87840791e+02] [ 2.63782928e-01 -2.64587613e-03 9.64578440e-01 5.04352020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5392541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.62, Y:187.84, Z:50.44 [[-8.61034393e-02 -9.96077541e-01 2.03894497e-02 4.47619633e+02] [ 9.60689854e-01 -8.84313230e-02 -2.63163269e-01 1.87843278e+02] [ 2.63934088e-01 -3.07132513e-03 9.64535828e-01 5.04356357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.569254154 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:447.62, Y:187.85, Z:50.44 [[-8.77520072e-02 -9.95934411e-01 2.03527285e-02 4.47619880e+02] [ 9.60289261e-01 -9.00081805e-02 -2.64089120e-01 1.87846311e+02] [ 2.64847354e-01 -3.62984376e-03 9.64283518e-01 5.04353730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.5992541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.62, Y:187.86, Z:50.44 [[-9.23317804e-02 -9.95522411e-01 2.02477589e-02 4.47618900e+02] [ 9.59856603e-01 -9.43959778e-02 -2.64130085e-01 1.87858845e+02] [ 2.64858726e-01 -4.95265587e-03 9.64274508e-01 5.04392201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6292541539999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:447.62, Y:187.86, Z:50.44 [[-9.43252665e-02 -9.95336976e-01 2.01754345e-02 4.47618942e+02] [ 9.59536392e-01 -9.62961222e-02 -2.64607197e-01 1.87861118e+02] [ 2.65316144e-01 -5.60008079e-03 9.64145208e-01 5.04398066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.6592541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.62, Y:187.86, Z:50.44 [[-9.89581678e-02 -9.94888661e-01 2.00956070e-02 4.47619559e+02] [ 9.58972921e-01 -1.00738361e-01 -2.64995696e-01 1.87863281e+02] [ 2.65665612e-01 -6.95234560e-03 9.64040169e-01 5.04402456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.689254154 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:447.62, Y:187.87, Z:50.44 [[-1.01304733e-01 -9.94655146e-01 1.99622590e-02 4.47619348e+02] [ 9.58824858e-01 -1.02967344e-01 -2.64674550e-01 1.87868414e+02] [ 2.65315364e-01 -7.67247438e-03 9.64131159e-01 5.04418097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7192541539999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:447.62, Y:187.87, Z:50.44 [[-1.03536814e-01 -9.94426623e-01 1.98952068e-02 4.47619047e+02] [ 9.58437631e-01 -1.05096318e-01 -2.65239650e-01 1.87874180e+02] [ 2.65852283e-01 -8.39375337e-03 9.63977235e-01 5.04438792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7492541539999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:447.62, Y:187.88, Z:50.45 [[-1.06006212e-01 -9.94168261e-01 1.98028109e-02 4.47618559e+02] [ 9.58112128e-01 -1.07449561e-01 -2.65472676e-01 1.87878131e+02] [ 2.66052312e-01 -9.16843950e-03 9.63914990e-01 5.04454491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.7792541539999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:447.62, Y:187.88, Z:50.45 [[-1.10798458e-01 -9.93646968e-01 1.97333339e-02 4.47618928e+02] [ 9.57433417e-01 -1.12043455e-01 -2.66021645e-01 1.87881660e+02] [ 2.66542592e-01 -1.05814346e-02 9.63765054e-01 5.04462658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.809254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:447.62, Y:187.89, Z:50.45 [[-1.12793184e-01 -9.93424378e-01 1.96393268e-02 4.47618741e+02] [ 9.57148023e-01 -1.13937837e-01 -2.66243934e-01 1.87885677e+02] [ 2.66730877e-01 -1.12327581e-02 9.63705590e-01 5.04474858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.839254154 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:447.62, Y:187.89, Z:50.45 [[-1.15455647e-01 -9.93121419e-01 1.94895190e-02 4.47617696e+02] [ 9.56992982e-01 -1.16469856e-01 -2.65705109e-01 1.87890974e+02] [ 2.66147376e-01 -1.20258223e-02 9.63857331e-01 5.04495798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8692541539999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:447.62, Y:187.89, Z:50.45 [[-1.15363738e-01 -9.93134820e-01 1.93504002e-02 4.47617444e+02] [ 9.57117219e-01 -1.16349237e-01 -2.65310168e-01 1.87891045e+02] [ 2.65740170e-01 -1.20865716e-02 9.63968919e-01 5.04499855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.8992541539999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:447.62, Y:187.89, Z:50.45 [[-1.14771507e-01 -9.93206434e-01 1.91958274e-02 4.47616811e+02] [ 9.57360425e-01 -1.15745084e-01 -2.64696228e-01 1.87892667e+02] [ 2.65119820e-01 -1.20022596e-02 9.64140771e-01 5.04504966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9292541539999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:447.61, Y:187.91, Z:50.46 [[-1.12415303e-01 -9.93478527e-01 1.90582309e-02 4.47613188e+02] [ 9.57742605e-01 -1.13442023e-01 -2.64310443e-01 1.87914432e+02] [ 2.64748754e-01 -1.14596587e-02 9.64249332e-01 5.04576358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.959254154 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:447.61, Y:187.91, Z:50.46 [[-1.10714440e-01 -9.93671429e-01 1.89579712e-02 4.47612039e+02] [ 9.57898801e-01 -1.11774130e-01 -2.64454970e-01 1.87908554e+02] [ 2.64900359e-01 -1.11191660e-02 9.64211680e-01 5.04564703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 590.9892541539999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:447.61, Y:187.90, Z:50.46 [[-1.06793222e-01 -9.94101730e-01 1.88933609e-02 4.47610086e+02] [ 9.58153857e-01 -1.07970005e-01 -2.65110666e-01 1.87900301e+02] [ 2.65586887e-01 -1.02092755e-02 9.64032871e-01 5.04551941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0192541539999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:447.61, Y:187.90, Z:50.46 [[-1.04863240e-01 -9.94309120e-01 1.87902675e-02 4.47608914e+02] [ 9.58335496e-01 -1.06081352e-01 -2.65216560e-01 1.87899667e+02] [ 2.65700542e-01 -9.80408760e-03 9.64005758e-01 5.04553169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.0492541539999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:447.61, Y:187.90, Z:50.46 [[-1.02920800e-01 -9.94514528e-01 1.86591106e-02 4.47607915e+02] [ 9.58627851e-01 -1.04177278e-01 -2.64914586e-01 1.87898550e+02] [ 2.65405260e-01 -9.37807816e-03 9.64091334e-01 5.04551656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.079254154 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:447.61, Y:187.90, Z:50.46 [[-9.95242540e-02 -9.94862759e-01 1.85206407e-02 4.47605383e+02] [ 9.59095991e-01 -1.00870211e-01 -2.64499681e-01 1.87903241e+02] [ 2.65009063e-01 -8.56106116e-03 9.64207916e-01 5.04569441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1092541539999 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:447.60, Y:187.91, Z:50.46 [[-9.78919418e-02 -9.95026717e-01 1.84119684e-02 4.47604038e+02] [ 9.59260388e-01 -9.92676945e-02 -2.64509796e-01 1.87905470e+02] [ 2.65022028e-01 -8.23150564e-03 9.64207222e-01 5.04578469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1392541539999 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:447.60, Y:187.91, Z:50.46 [[-9.52900292e-02 -9.95280845e-01 1.83262325e-02 4.47601773e+02] [ 9.59424066e-01 -9.67338386e-02 -2.64854727e-01 1.87910911e+02] [ 2.65377603e-01 -7.65538625e-03 9.64114165e-01 5.04592564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.1692541539999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:447.60, Y:187.91, Z:50.46 [[-9.38611617e-02 -9.95418246e-01 1.82372870e-02 4.47601124e+02] [ 9.59480628e-01 -9.53305186e-02 -2.65158474e-01 1.87912912e+02] [ 2.65682153e-01 -7.38975879e-03 9.64032357e-01 5.04594709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.199254154 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:447.60, Y:187.91, Z:50.46 [[-9.27671466e-02 -9.95521981e-01 1.81725850e-02 4.47600721e+02] [ 9.59402918e-01 -9.42538460e-02 -2.65823726e-01 1.87910355e+02] [ 2.66346198e-01 -7.22487747e-03 9.63850354e-01 5.04583672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2292541539999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:447.60, Y:187.91, Z:50.46 [[-9.20554095e-02 -9.95589542e-01 1.80904976e-02 4.47600155e+02] [ 9.59358269e-01 -9.35430211e-02 -2.66235637e-01 1.87908373e+02] [ 2.66753656e-01 -7.15316218e-03 9.63738201e-01 5.04578437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2592541539999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:447.60, Y:187.92, Z:50.46 [[-9.13487315e-02 -9.95656041e-01 1.80126970e-02 4.47597779e+02] [ 9.59294885e-01 -9.28378290e-02 -2.66710445e-01 1.87916186e+02] [ 2.67224126e-01 -7.08417273e-03 9.63608365e-01 5.04602844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.2892541539999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:447.60, Y:187.92, Z:50.46 [[-9.09180867e-02 -9.95697690e-01 1.78888671e-02 4.47597049e+02] [ 9.59395880e-01 -9.23913551e-02 -2.66502127e-01 1.87916690e+02] [ 2.67008328e-01 -7.06735800e-03 9.63668307e-01 5.04604791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.319254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:447.57, Y:188.24, Z:50.55 [[-9.14498462e-02 -9.95606247e-01 2.01277442e-02 4.47573718e+02] [ 9.59260953e-01 -9.35011591e-02 -2.66600747e-01 1.88241633e+02] [ 2.67311337e-01 -5.07283819e-03 9.63596864e-01 5.05476937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:447.57, Y:188.24, Z:50.55 [[-9.09400967e-02 -9.95692503e-01 1.80648494e-02 4.47574437e+02] [ 9.59321806e-01 -9.24577990e-02 -2.66745624e-01 1.88244529e+02] [ 2.67266855e-01 -6.92786896e-03 9.63597651e-01 5.05476237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.3792541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:447.60, Y:187.93, Z:50.46 [[-9.14864128e-02 -9.95684196e-01 1.55954814e-02 4.47595694e+02] [ 9.59631747e-01 -9.23350353e-02 -2.65671135e-01 1.87931280e+02] [ 2.65964560e-01 -9.33938003e-03 9.63937565e-01 5.04637343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4092541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:447.60, Y:187.92, Z:50.46 [[-9.16688199e-02 -9.95636351e-01 1.74666662e-02 4.47595179e+02] [ 9.59800442e-01 -9.30152366e-02 -2.64823104e-01 1.87922708e+02] [ 2.65292175e-01 -7.51150752e-03 9.64138807e-01 5.04623256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.439254154 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:447.59, Y:187.94, Z:50.47 [[-9.17784091e-02 -9.95630063e-01 1.72482005e-02 4.47594186e+02] [ 9.60254343e-01 -9.30762332e-02 -2.63150930e-01 1.87935815e+02] [ 2.63606375e-01 -7.58891430e-03 9.64600481e-01 5.04659502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4692541539999 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:447.60, Y:187.89, Z:50.45 [[-8.36044417e-02 -9.96210013e-01 2.39980529e-02 4.47596160e+02] [ 9.62876979e-01 -8.69630623e-02 -2.55549115e-01 1.87886645e+02] [ 2.56667531e-01 1.74213161e-03 9.66498186e-01 5.04510262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.4992541539999 meters Centerline goodness : 0.999670 Centerline is valid? [True, True] Translation: X:447.60, Y:187.93, Z:50.46 [[-9.14357167e-02 -9.95792738e-01 6.02758576e-03 4.47598687e+02] [ 9.60766968e-01 -8.98079878e-02 -2.62414478e-01 1.87932078e+02] [ 2.61851757e-01 -1.82029505e-02 9.64936428e-01 5.04608648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.5292541539999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:447.59, Y:187.93, Z:50.47 [[-9.05434115e-02 -9.95749182e-01 1.68954983e-02 4.47593053e+02] [ 9.60843838e-01 -9.18054865e-02 -2.61439997e-01 1.87931111e+02] [ 2.61879762e-01 -7.43773384e-03 9.65071847e-01 5.04656711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.559254154 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:447.59, Y:187.93, Z:50.47 [[-8.96667637e-02 -9.95830788e-01 1.67604613e-02 4.47592513e+02] [ 9.61043600e-01 -9.09274510e-02 -2.61012256e-01 1.87931708e+02] [ 2.61448027e-01 -7.29659022e-03 9.65189976e-01 5.04663363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.589254154 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:447.59, Y:187.94, Z:50.47 [[-8.89729757e-02 -9.95894539e-01 1.66696503e-02 4.47592185e+02] [ 9.61038034e-01 -9.02322029e-02 -2.61273893e-01 1.87936552e+02] [ 2.61705382e-01 -7.22614781e-03 9.65120757e-01 5.04675523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6192541539999 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:447.59, Y:187.94, Z:50.47 [[-8.84014250e-02 -9.95946086e-01 1.66307237e-02 4.47592533e+02] [ 9.60794733e-01 -8.96623871e-02 -2.62362606e-01 1.87937714e+02] [ 2.62790161e-01 -7.21451650e-03 9.64826037e-01 5.04675899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6492541539999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:447.59, Y:187.94, Z:50.47 [[-8.78363378e-02 -9.95997425e-01 1.65501504e-02 4.47592825e+02] [ 9.60728025e-01 -8.90928207e-02 -2.62800555e-01 1.87939514e+02] [ 2.63223175e-01 -7.18324500e-03 9.64708226e-01 5.04673560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.6792541539999 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:447.59, Y:187.94, Z:50.47 [[-8.73183264e-02 -9.96044157e-01 1.64786846e-02 4.47593286e+02] [ 9.60615079e-01 -8.85699824e-02 -2.63389500e-01 1.87941322e+02] [ 2.63807090e-01 -7.16905748e-03 9.64548819e-01 5.04674678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.709254154 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:447.59, Y:187.95, Z:50.47 [[-8.68381480e-02 -9.96087475e-01 1.63975159e-02 4.47593445e+02] [ 9.60539666e-01 -8.80822290e-02 -2.63827730e-01 1.87950186e+02] [ 2.64239827e-01 -7.15984702e-03 9.64430428e-01 5.04694362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7392541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:447.59, Y:187.95, Z:50.47 [[-8.65383442e-02 -9.96115043e-01 1.63075281e-02 4.47593805e+02] [ 9.60485086e-01 -8.77670887e-02 -2.64131290e-01 1.87949170e+02] [ 2.64536415e-01 -7.19434690e-03 9.64348861e-01 5.04692712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7692541539999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:447.59, Y:187.96, Z:50.47 [[-8.64108453e-02 -9.96128197e-01 1.61796743e-02 4.47593722e+02] [ 9.60584831e-01 -8.76126821e-02 -2.63819636e-01 1.87963457e+02] [ 2.64215723e-01 -7.25492799e-03 9.64436321e-01 5.04732085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.7992541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.58, Y:187.95, Z:50.47 [[-7.07064712e-02 -9.95947797e-01 5.55750092e-02 4.47582952e+02] [ 9.69741462e-01 -8.16837822e-02 -2.30063591e-01 1.87946717e+02] [ 2.33670903e-01 3.76264060e-02 9.71587445e-01 5.04675361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.829254154 meters Centerline goodness : 0.999650 Centerline is valid? [True, True] Translation: X:447.62, Y:187.96, Z:50.45 [[-8.64633541e-02 -9.95776389e-01 -3.08783332e-02 4.47618836e+02] [ 9.61174834e-01 -7.52262960e-02 -2.65488121e-01 1.87960816e+02] [ 2.62043940e-01 -5.26344703e-02 9.63619523e-01 5.04540194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8592541539999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:447.59, Y:187.95, Z:50.47 [[-7.13775778e-02 -9.96001544e-01 5.37230464e-02 4.47585642e+02] [ 9.69878055e-01 -8.18799286e-02 -2.29417165e-01 1.87950594e+02] [ 2.32898690e-01 3.57295622e-02 9.71844431e-01 5.04676014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.8892541539999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:447.62, Y:187.97, Z:50.46 [[-8.58553648e-02 -9.95897484e-01 -2.85842316e-02 4.47619184e+02] [ 9.61400276e-01 -7.52853052e-02 -2.64653797e-01 1.87967406e+02] [ 2.61416078e-01 -5.02028365e-02 9.63919763e-01 5.04563909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9192541539999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:447.59, Y:187.95, Z:50.47 [[-7.64398464e-02 -9.96426042e-01 3.59456945e-02 4.47594041e+02] [ 9.66518959e-01 -8.29056547e-02 -2.42832769e-01 1.87945587e+02] [ 2.44944996e-01 1.61800957e-02 9.69401957e-01 5.04664483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.949254154 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:447.60, Y:187.95, Z:50.46 [[-7.24651624e-02 -9.97175981e-01 1.97196042e-02 4.47603408e+02] [ 9.68707204e-01 -7.50748028e-02 -2.36580063e-01 1.87948674e+02] [ 2.37392402e-01 1.95870992e-03 9.71411865e-01 5.04568532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 591.9792541539999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:447.62, Y:187.97, Z:50.46 [[-8.35611311e-02 -9.96342104e-01 -1.78871460e-02 4.47616488e+02] [ 9.61817456e-01 -7.59450364e-02 -2.62943972e-01 1.87965410e+02] [ 2.60623710e-01 -3.91760650e-02 9.64645281e-01 5.04608099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0092541539999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:447.60, Y:187.96, Z:50.47 [[-8.17452839e-02 -9.96531205e-01 1.55969678e-02 4.47601503e+02] [ 9.61745554e-01 -8.29779750e-02 -2.61074982e-01 1.87963492e+02] [ 2.61463571e-01 -6.34133407e-03 9.65192514e-01 5.04739917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0392541539999 meters Centerline goodness : 0.999629 Centerline is valid? [True, True] Translation: X:447.60, Y:187.96, Z:50.47 [[-8.07582267e-02 -9.96613309e-01 1.54926177e-02 4.47602120e+02] [ 9.61816108e-01 -8.19977705e-02 -2.61124759e-01 1.87964736e+02] [ 2.61510770e-01 -6.18692322e-03 9.65180729e-01 5.04745224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.069254154 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:447.60, Y:187.97, Z:50.48 [[-7.96301830e-02 -9.96705437e-01 1.54047512e-02 4.47603597e+02] [ 9.61820452e-01 -8.08840793e-02 -2.61455895e-01 1.87966986e+02] [ 2.61840511e-01 -6.00317595e-03 9.65092487e-01 5.04752056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.0992541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.60, Y:187.96, Z:50.47 [[-7.17897329e-02 -9.96839280e-01 3.40247505e-02 4.47598903e+02] [ 9.66966703e-01 -7.79223936e-02 -2.42700424e-01 1.87956395e+02] [ 2.44584606e-01 1.54774022e-02 9.69504420e-01 5.04694732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1292541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.62, Y:187.97, Z:50.47 [[-7.82738712e-02 -9.96908860e-01 -6.77681301e-03 4.47615876e+02] [ 9.62101147e-01 -7.37562632e-02 -2.62528849e-01 1.87971373e+02] [ 2.61217503e-01 -2.70691288e-02 9.64900346e-01 5.04678239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.1592541539999 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:447.59, Y:188.22, Z:50.54 [[-7.77029907e-02 -9.96789270e-01 1.93234859e-02 4.47589527e+02] [ 9.61907192e-01 -8.00511147e-02 -2.61393139e-01 1.88222280e+02] [ 2.62100743e-01 -1.72362858e-03 9.65038978e-01 5.05448602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.189254154 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:447.61, Y:187.98, Z:50.48 [[-7.68684632e-02 -9.96981370e-01 1.09264493e-02 4.47609304e+02] [ 9.61780714e-01 -7.70341930e-02 -2.62761473e-01 1.87977937e+02] [ 2.62810004e-01 -9.68922248e-03 9.64798954e-01 5.04762019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2192541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.61, Y:187.97, Z:50.48 [[-7.63120870e-02 -9.96967065e-01 1.52688205e-02 4.47608084e+02] [ 9.61627781e-01 -7.76371816e-02 -2.63143457e-01 1.87970234e+02] [ 2.63530788e-01 -5.39810444e-03 9.64635882e-01 5.04757326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2492541539999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:447.61, Y:187.97, Z:50.48 [[-7.58539725e-02 -9.97003073e-01 1.52002532e-02 4.47608390e+02] [ 9.61476033e-01 -7.71733953e-02 -2.63833482e-01 1.87974151e+02] [ 2.64215847e-01 -5.39813850e-03 9.64448467e-01 5.04766516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.2792541539999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:447.61, Y:187.98, Z:50.48 [[-7.54549649e-02 -9.97034168e-01 1.51465154e-02 4.47609857e+02] [ 9.61245859e-01 -7.67690787e-02 -2.64788419e-01 1.87976340e+02] [ 2.65165885e-01 -5.42007561e-03 9.64187573e-01 5.04770253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.309254154 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:447.61, Y:187.98, Z:50.48 [[-7.54938822e-02 -9.97032815e-01 1.50412786e-02 4.47610114e+02] [ 9.61229613e-01 -7.67783737e-02 -2.64844695e-01 1.87982991e+02] [ 2.65213697e-01 -5.53603177e-03 9.64173764e-01 5.04783643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.339254154 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.61, Y:187.98, Z:50.48 [[-7.63674537e-02 -9.96967644e-01 1.49509092e-02 4.47611516e+02] [ 9.61074584e-01 -7.75946343e-02 -2.65169224e-01 1.87982806e+02] [ 2.65525247e-01 -5.88135962e-03 9.64085968e-01 5.04785668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3692541539999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:447.59, Y:188.33, Z:50.57 [[-7.73644147e-02 -9.96814890e-01 1.93603369e-02 4.47590272e+02] [ 9.60941678e-01 -7.97274720e-02 -2.65018155e-01 1.88334570e+02] [ 2.65717593e-01 -1.89881982e-03 9.64049042e-01 5.05743229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.3992541539999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:447.60, Y:188.21, Z:50.54 [[-7.78251027e-02 -9.96894000e-01 1.20667039e-02 4.47601290e+02] [ 9.60923006e-01 -7.82310050e-02 -2.65531327e-01 1.88206038e+02] [ 2.65650577e-01 -9.06982939e-03 9.64026716e-01 5.05368521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4292541539999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:447.60, Y:187.97, Z:50.48 [[-7.30974566e-02 -9.96545064e-01 3.94296508e-02 4.47601920e+02] [ 9.66213147e-01 -8.05596592e-02 -2.44831160e-01 1.87974612e+02] [ 2.47161723e-01 2.02009119e-02 9.68763648e-01 5.04780873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.459254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:447.62, Y:188.05, Z:50.49 [[-8.04017970e-02 -9.96663538e-01 -1.40479155e-02 4.47621984e+02] [ 9.61367493e-01 -7.38166492e-02 -2.65186058e-01 1.88047474e+02] [ 2.63264305e-01 -3.48266449e-02 9.64094918e-01 5.04855681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.4892541539999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:447.61, Y:187.99, Z:50.48 [[-8.17116857e-02 -9.96577510e-01 1.25086599e-02 4.47611575e+02] [ 9.61259044e-01 -8.21185552e-02 -2.63130373e-01 1.87993754e+02] [ 2.63257005e-01 -9.47676387e-03 9.64679190e-01 5.04818583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5192541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:447.61, Y:188.00, Z:50.48 [[-8.25751394e-02 -9.96483058e-01 1.42429613e-02 4.47610216e+02] [ 9.61316902e-01 -8.34131713e-02 -2.62511061e-01 1.87996366e+02] [ 2.62775875e-01 -7.98488802e-03 9.64823860e-01 5.04833461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.5492541539999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:447.61, Y:188.00, Z:50.48 [[-8.32024272e-02 -9.96433082e-01 1.40879345e-02 4.47610020e+02] [ 9.61506922e-01 -8.39851224e-02 -2.61631301e-01 1.87998661e+02] [ 2.61881261e-01 -8.22271276e-03 9.65065072e-01 5.04837409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.579254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:447.61, Y:188.00, Z:50.49 [[-8.56342317e-02 -9.96229692e-01 1.38988778e-02 4.47609177e+02] [ 9.61718723e-01 -8.62964531e-02 -2.60096175e-01 1.88003141e+02] [ 2.60314956e-01 -8.90632513e-03 9.65482678e-01 5.04857564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6092541539999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:447.61, Y:188.01, Z:50.49 [[-8.65830635e-02 -9.96149665e-01 1.37556425e-02 4.47608530e+02] [ 9.61824626e-01 -8.71817312e-02 -2.59408432e-01 1.88006110e+02] [ 2.59608863e-01 -9.22986099e-03 9.65669741e-01 5.04868668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6392541539999 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:447.61, Y:188.01, Z:50.49 [[-8.79146508e-02 -9.96035539e-01 1.35727270e-02 4.47607563e+02] [ 9.62101866e-01 -8.84345595e-02 -2.57952181e-01 1.88009495e+02] [ 2.58129838e-01 -9.61943000e-03 9.66062344e-01 5.04881314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.6692541539999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:447.61, Y:188.01, Z:50.49 [[-8.63288258e-02 -9.96175536e-01 1.34772283e-02 4.47608083e+02] [ 9.62187663e-01 -8.68760893e-02 -2.58161667e-01 1.88010065e+02] [ 2.58345185e-01 -9.31917070e-03 9.66007722e-01 5.04880184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.699254154 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:447.61, Y:188.01, Z:50.49 [[-8.47573620e-02 -9.96312307e-01 1.33407705e-02 4.47607633e+02] [ 9.62483086e-01 -8.53284540e-02 -2.57575937e-01 1.88014059e+02] [ 2.57764423e-01 -8.99119099e-03 9.66165959e-01 5.04890111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7292541539999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:447.61, Y:188.01, Z:50.49 [[-8.04233873e-02 -9.96674329e-01 1.31286502e-02 4.47606691e+02] [ 9.63402171e-01 -8.11041136e-02 -2.55496340e-01 1.88012311e+02] [ 2.55711431e-01 -7.89971105e-03 9.66720879e-01 5.04888861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7592541539999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:447.61, Y:188.02, Z:50.49 [[-7.81527299e-02 -9.96856979e-01 1.29736219e-02 4.47605592e+02] [ 9.63848196e-01 -7.88771894e-02 -2.54509417e-01 1.88015377e+02] [ 2.54732812e-01 -7.38600372e-03 9.66983269e-01 5.04903344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.7892541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:447.60, Y:188.01, Z:50.49 [[-7.56173840e-02 -9.97054623e-01 1.28097685e-02 4.47604969e+02] [ 9.64359681e-01 -7.63924219e-02 -2.53327068e-01 1.88014532e+02] [ 2.53559494e-01 -6.80270595e-03 9.67295873e-01 5.04907318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.819254154 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.60, Y:188.02, Z:50.49 [[-7.08170259e-02 -9.97409839e-01 1.25921210e-02 4.47603137e+02] [ 9.65316414e-01 -7.17077267e-02 -2.51042272e-01 1.88019497e+02] [ 2.51294985e-01 -5.62268602e-03 9.67894217e-01 5.04928257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8492541539999 meters Centerline goodness : 0.999521 Centerline is valid? [True, True] Translation: X:447.60, Y:188.04, Z:50.50 [[-6.80631229e-02 -9.97603624e-01 1.24266184e-02 4.47601840e+02] [ 9.65841712e-01 -6.90074347e-02 -2.49775424e-01 1.88035140e+02] [ 2.50034397e-01 -4.99834896e-03 9.68224053e-01 5.04973099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.8792541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.60, Y:188.02, Z:50.49 [[-6.40051436e-02 -9.97875239e-01 1.21798485e-02 4.47601172e+02] [ 9.66872152e-01 -6.50294226e-02 -2.46838846e-01 1.88020145e+02] [ 2.47106421e-01 -4.02259949e-03 9.68979997e-01 5.04938160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9092541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.60, Y:188.03, Z:50.50 [[-6.18448311e-02 -9.98013244e-01 1.20325250e-02 4.47600295e+02] [ 9.67252117e-01 -6.29033080e-02 -2.45899403e-01 1.88026782e+02] [ 2.46167746e-01 -3.56912173e-03 9.69220667e-01 5.04959419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.939254154 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:447.60, Y:188.02, Z:50.49 [[-5.95107074e-02 -9.98156759e-01 1.18978672e-02 4.47600181e+02] [ 9.67577089e-01 -6.06102232e-02 -2.45195797e-01 1.88017965e+02] [ 2.45464974e-01 -3.07967164e-03 9.69400568e-01 5.04935943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9692541539999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:447.60, Y:188.02, Z:50.49 [[-5.44428999e-02 -9.98447446e-01 1.17757389e-02 4.47598876e+02] [ 9.67989971e-01 -5.56685740e-02 -2.44737465e-01 1.88021439e+02] [ 2.45013036e-01 -1.92542015e-03 9.69517872e-01 5.04945647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 592.9992541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.60, Y:188.02, Z:50.49 [[-5.13415204e-02 -9.98612910e-01 1.16749344e-02 4.47598525e+02] [ 9.68165672e-01 -5.26371209e-02 -2.44713230e-01 1.88018832e+02] [ 2.44988326e-01 -1.26067858e-03 9.69525209e-01 5.04933454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.0292541539999 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:447.60, Y:188.02, Z:50.49 [[-4.55774223e-02 -9.98893852e-01 1.15659645e-02 4.47598505e+02] [ 9.68505663e-01 -4.70220124e-02 -2.44511166e-01 1.88020671e+02] [ 2.44784556e-01 5.75134193e-05 9.69577495e-01 5.04926247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.059254154 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:447.60, Y:188.02, Z:50.49 [[-4.27146713e-02 -9.99021696e-01 1.14502537e-02 4.47598891e+02] [ 9.68727681e-01 -4.42177750e-02 -2.44154598e-01 1.88019517e+02] [ 2.44422045e-01 6.63194334e-04 9.69668719e-01 5.04917469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.089254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.60, Y:188.02, Z:50.49 [[-4.00904061e-02 -9.99131730e-01 1.13378212e-02 4.47599328e+02] [ 9.68916162e-01 -4.16452300e-02 -2.43858867e-01 1.88020677e+02] [ 2.44119297e-01 1.20899720e-03 9.69744454e-01 5.04915551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1192541539999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:447.60, Y:188.02, Z:50.49 [[-3.77459344e-02 -9.99224379e-01 1.12198203e-02 4.47599723e+02] [ 9.69119998e-01 -3.93421059e-02 -2.43430951e-01 1.88024702e+02] [ 2.43683552e-01 1.68482357e-03 9.69853333e-01 5.04923192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1492541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.60, Y:188.02, Z:50.49 [[-3.43389745e-02 -9.99349005e-01 1.10635287e-02 4.47601056e+02] [ 9.69570971e-01 -3.59965344e-02 -2.42149502e-01 1.88024291e+02] [ 2.42390113e-01 2.41171070e-03 9.70175869e-01 5.04911457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.1792541539999 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:447.60, Y:188.04, Z:50.49 [[-3.27706436e-02 -9.99403050e-01 1.09374605e-02 4.47601602e+02] [ 9.69785194e-01 -3.44426263e-02 -2.41516840e-01 1.88035025e+02] [ 2.41749381e-01 2.69232498e-03 9.70334988e-01 5.04931685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.209254154 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:447.61, Y:188.03, Z:50.49 [[-3.10739256e-02 -9.99458471e-01 1.08247728e-02 4.47605007e+02] [ 9.69927555e-01 -3.27678979e-02 -2.41177949e-01 1.88028274e+02] [ 2.41402049e-01 3.00489982e-03 9.70420538e-01 5.04896515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2392541539999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:447.60, Y:188.03, Z:50.49 [[-3.06844575e-02 -9.99471552e-01 1.07275500e-02 4.47604866e+02] [ 9.69939958e-01 -3.23664803e-02 -2.41182274e-01 1.88030854e+02] [ 2.41402035e-01 3.00453219e-03 9.70420543e-01 5.04902914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2692541539999 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:447.61, Y:188.04, Z:50.49 [[-3.01394445e-02 -9.99489236e-01 1.06245072e-02 4.47606681e+02] [ 9.69992538e-01 -3.18122640e-02 -2.41044510e-01 1.88035078e+02] [ 2.41259383e-01 3.04074505e-03 9.70455905e-01 5.04903938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.2992541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:447.61, Y:188.04, Z:50.49 [[-3.11137071e-02 -9.99459988e-01 1.05673415e-02 4.47611318e+02] [ 9.69731988e-01 -3.27465776e-02 -2.41965977e-01 1.88037387e+02] [ 2.42181357e-01 2.71903055e-03 9.70227188e-01 5.04886346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.329254154 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:447.61, Y:188.05, Z:50.49 [[-3.22218534e-02 -9.99425799e-01 1.04797579e-02 4.47613831e+02] [ 9.69638716e-01 -3.38011064e-02 -2.42194645e-01 1.88045501e+02] [ 2.42409803e-01 2.35761862e-03 9.70171082e-01 5.04888684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3592541539999 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:447.62, Y:188.05, Z:50.49 [[-3.39914114e-02 -9.99367761e-01 1.04240884e-02 4.47616488e+02] [ 9.69330466e-01 -3.55063154e-02 -2.43182542e-01 1.88048207e+02] [ 2.43398914e-01 1.83826866e-03 9.69924528e-01 5.04880969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.3892541539999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:447.62, Y:188.04, Z:50.48 [[-3.74321286e-02 -9.99151653e-01 1.71700554e-02 4.47619363e+02] [ 9.69332763e-01 -4.04804654e-02 -2.42394980e-01 1.88037445e+02] [ 2.42884396e-01 7.57013717e-03 9.70025702e-01 5.04830660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4192541539999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:447.63, Y:188.06, Z:50.48 [[-4.28786171e-02 -9.99077211e-01 2.48003623e-03 4.47628899e+02] [ 9.67615839e-01 -4.21461626e-02 -2.48884089e-01 1.88059621e+02] [ 2.48758945e-01 -8.27208321e-03 9.68530103e-01 5.04837241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.449254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:447.63, Y:188.08, Z:50.49 [[-5.04136878e-02 -9.98672572e-01 1.05618712e-02 4.47631829e+02] [ 9.66039828e-01 -5.14443993e-02 -2.53220307e-01 1.88076064e+02] [ 2.53427524e-01 -2.56258123e-03 9.67350982e-01 5.04868882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.4792541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.64, Y:188.07, Z:50.48 [[-5.39339135e-02 -9.98488965e-01 1.05318031e-02 4.47635991e+02] [ 9.65382941e-01 -5.48354276e-02 -2.55007556e-01 1.88073708e+02] [ 2.55199747e-01 -3.58633246e-03 9.66881703e-01 5.04840627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5092541539999 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:447.64, Y:188.08, Z:50.48 [[-5.71031309e-02 -9.98312999e-01 1.05065556e-02 4.47639958e+02] [ 9.64687598e-01 -5.78840732e-02 -2.56957724e-01 1.88080708e+02] [ 2.57132398e-01 -4.53754666e-03 9.66365532e-01 5.04845602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5392541539999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:447.65, Y:188.09, Z:50.48 [[-6.34636676e-02 -9.97928476e-01 1.05413666e-02 4.47647894e+02] [ 9.63364249e-01 -6.40166785e-02 -2.60444216e-01 1.88089714e+02] [ 2.60579523e-01 -6.37356948e-03 9.65431349e-01 5.04839563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.569254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.65, Y:188.09, Z:50.48 [[-6.58648673e-02 -9.97773377e-01 1.04931650e-02 4.47651757e+02] [ 9.62808793e-01 -6.63112924e-02 -2.61919914e-01 1.88094760e+02] [ 2.62032533e-01 -7.14840882e-03 9.65032565e-01 5.04839752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.5992541539999 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:447.66, Y:188.10, Z:50.48 [[-6.77374564e-02 -9.97648357e-01 1.04591026e-02 4.47655383e+02] [ 9.62172442e-01 -6.80942975e-02 -2.63794159e-01 1.88100744e+02] [ 2.63886014e-01 -7.80528501e-03 9.64522291e-01 5.04843181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6292541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.66, Y:188.11, Z:50.48 [[-7.10311148e-02 -9.97418907e-01 1.04930588e-02 4.47663190e+02] [ 9.60929797e-01 -7.12463411e-02 -2.67465670e-01 1.88106080e+02] [ 2.67522909e-01 -8.91529184e-03 9.63510255e-01 5.04832014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.6592541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.67, Y:188.11, Z:50.48 [[-7.21710456e-02 -9.97337958e-01 1.04084971e-02 4.47667841e+02] [ 9.60662867e-01 -7.23154511e-02 -2.68136779e-01 1.88107437e+02] [ 2.68175683e-01 -9.35265504e-03 9.63324624e-01 5.04815386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.689254154 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:447.68, Y:188.11, Z:50.48 [[-7.36675094e-02 -9.97228904e-01 1.03735453e-02 4.47677486e+02] [ 9.59997642e-01 -7.37271195e-02 -2.70127450e-01 1.88113095e+02] [ 2.70143713e-01 -9.94103744e-03 9.62768690e-01 5.04803511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7192541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:447.68, Y:188.12, Z:50.48 [[-7.41160635e-02 -9.97196540e-01 1.02893535e-02 4.47681969e+02] [ 9.59762392e-01 -7.41285245e-02 -2.70852567e-01 1.88119800e+02] [ 2.70855977e-01 -1.01991915e-02 9.62565850e-01 5.04806571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7492541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:447.69, Y:188.12, Z:50.48 [[-7.41315860e-02 -9.97196159e-01 1.02141384e-02 4.47686498e+02] [ 9.59483934e-01 -7.41124944e-02 -2.71841715e-01 1.88122389e+02] [ 2.71836509e-01 -1.03517557e-02 9.62287771e-01 5.04800850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.7792541539999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:447.70, Y:188.13, Z:50.48 [[-7.41152750e-02 -9.97197342e-01 1.02170174e-02 4.47695303e+02] [ 9.58592902e-01 -7.40634312e-02 -2.74980465e-01 1.88127914e+02] [ 2.74966496e-01 -1.05862924e-02 9.61395526e-01 5.04798627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.809254154 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:447.70, Y:188.13, Z:50.48 [[-7.40321978e-02 -9.97204101e-01 1.01595123e-02 4.47699751e+02] [ 9.58155229e-01 -7.39505246e-02 -2.76531874e-01 1.88129535e+02] [ 2.76510020e-01 -1.07378726e-02 9.60951043e-01 5.04789629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.839254154 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:447.71, Y:188.14, Z:50.48 [[-7.39496373e-02 -9.97210386e-01 1.01438227e-02 4.47709388e+02] [ 9.57365633e-01 -7.38358179e-02 -2.79283578e-01 1.88135073e+02] [ 2.79253462e-01 -1.09415721e-02 9.60155084e-01 5.04783161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8692541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:447.71, Y:188.14, Z:50.48 [[-7.38248589e-02 -9.97220467e-01 1.00613179e-02 4.47714212e+02] [ 9.57103701e-01 -7.36822337e-02 -2.80220331e-01 1.88136842e+02] [ 2.80182790e-01 -1.10575018e-02 9.59882980e-01 5.04782616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.8992541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.72, Y:188.14, Z:50.48 [[-7.34111948e-02 -9.97252018e-01 9.96035839e-03 4.47718885e+02] [ 9.57009495e-01 -7.32519255e-02 -2.80654561e-01 1.88140550e+02] [ 2.80612942e-01 -1.10710291e-02 9.59757161e-01 5.04782815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9292541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.73, Y:188.14, Z:50.48 [[-7.23918715e-02 -9.97327346e-01 9.87836149e-03 4.47727041e+02] [ 9.56795251e-01 -7.22394681e-02 -2.81645713e-01 1.88143791e+02] [ 2.81606579e-01 -1.09372909e-02 9.59467618e-01 5.04788732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.959254154 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.73, Y:188.14, Z:50.48 [[-7.13372873e-02 -9.97404288e-01 9.78154778e-03 4.47730780e+02] [ 9.56701711e-01 -7.11939411e-02 -2.82229088e-01 1.88141946e+02] [ 2.82192890e-01 -1.07754340e-02 9.59297171e-01 5.04785822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 593.9892541539999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:447.73, Y:188.14, Z:50.48 [[-6.99136299e-02 -9.97506150e-01 9.67294319e-03 4.47734250e+02] [ 9.56732809e-01 -6.97950670e-02 -2.82472973e-01 1.88144570e+02] [ 2.82443652e-01 -1.04942888e-02 9.59226487e-01 5.04793318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0192541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.74, Y:188.15, Z:50.48 [[-6.60141670e-02 -9.97772870e-01 9.56190219e-03 4.47740095e+02] [ 9.56949973e-01 -6.60219128e-02 -2.82644397e-01 1.88150324e+02] [ 2.82646207e-01 -9.50827239e-03 9.59177103e-01 5.04814538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.0492541539999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:447.74, Y:188.15, Z:50.48 [[-6.36446941e-02 -9.97927964e-01 9.44095578e-03 4.47742719e+02] [ 9.57141776e-01 -6.37163153e-02 -2.82524074e-01 1.88149477e+02] [ 2.82540217e-01 -8.94482507e-03 9.59213749e-01 5.04812106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.079254154 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.75, Y:188.15, Z:50.48 [[-5.83807628e-02 -9.98250919e-01 9.31604500e-03 4.47747295e+02] [ 9.57539165e-01 -5.86341358e-02 -2.82277853e-01 1.88146938e+02] [ 2.82330364e-01 -7.55911842e-03 9.59287457e-01 5.04817555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1092541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:447.75, Y:188.15, Z:50.48 [[-5.55397218e-02 -9.98414399e-01 9.16660827e-03 4.47749135e+02] [ 9.58005981e-01 -5.58741055e-02 -2.81251888e-01 1.88148064e+02] [ 2.81318111e-01 -6.83898604e-03 9.59590198e-01 5.04829072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1392541539999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:447.75, Y:188.16, Z:50.49 [[-5.21254071e-02 -9.98599869e-01 9.01352892e-03 4.47750409e+02] [ 9.58537213e-01 -5.25622266e-02 -2.80077890e-01 1.88155471e+02] [ 2.80159516e-01 -5.95937117e-03 9.59934962e-01 5.04857593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.1692541539999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:447.75, Y:188.15, Z:50.49 [[-4.92313936e-02 -9.98748402e-01 8.82610696e-03 4.47751784e+02] [ 9.59354660e-01 -4.97443810e-02 -2.77784328e-01 1.88153828e+02] [ 2.77875703e-01 -5.20834273e-03 9.60602919e-01 5.04863086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.199254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:447.75, Y:188.15, Z:50.49 [[-4.40200207e-02 -9.98993579e-01 8.60624106e-03 4.47753222e+02] [ 9.60581479e-01 -4.46911993e-02 -2.74382797e-01 1.88151451e+02] [ 2.74491276e-01 -3.81134064e-03 9.61582037e-01 5.04885219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2292541539999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:447.75, Y:188.15, Z:50.49 [[-4.18865111e-02 -9.99086495e-01 8.46736022e-03 4.47752908e+02] [ 9.60920241e-01 -4.26045693e-02 -2.73527221e-01 1.88149263e+02] [ 2.73638101e-01 -3.32064314e-03 9.61826992e-01 5.04894936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2592541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.75, Y:188.15, Z:50.49 [[-3.95606590e-02 -9.99182729e-01 8.29626884e-03 4.47751863e+02] [ 9.61574068e-01 -4.03264612e-02 -2.71567833e-01 1.88147120e+02] [ 2.71680447e-01 -2.76592545e-03 9.62383543e-01 5.04907999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.2892541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.75, Y:188.15, Z:50.49 [[-3.90149340e-02 -9.99205342e-01 8.15589561e-03 4.47751982e+02] [ 9.61877109e-01 -3.97659577e-02 -2.70575491e-01 1.88153739e+02] [ 2.70684803e-01 -2.71151564e-03 9.62664212e-01 5.04932730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.319254154 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:447.75, Y:188.15, Z:50.49 [[-3.90260701e-02 -9.99206062e-01 8.01321127e-03 4.47752752e+02] [ 9.62186515e-01 -3.97412849e-02 -2.69476790e-01 1.88152719e+02] [ 2.69581297e-01 -2.80641625e-03 9.62973545e-01 5.04933603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3492541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.75, Y:188.16, Z:50.50 [[-4.11169799e-02 -9.99123542e-01 7.84491881e-03 4.47753215e+02] [ 9.62664617e-01 -4.17166516e-02 -2.67463187e-01 1.88155593e+02] [ 2.67556030e-01 -3.44525272e-03 9.63536144e-01 5.04954593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.3792541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.75, Y:188.16, Z:50.50 [[-4.23313668e-02 -9.99073770e-01 7.72383263e-03 4.47752153e+02] [ 9.62731420e-01 -4.28560212e-02 -2.67042271e-01 1.88160766e+02] [ 2.67125941e-01 -3.86828799e-03 9.63653863e-01 5.04979707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4092541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.74, Y:188.49, Z:50.59 [[-4.60714815e-02 -9.98901248e-01 8.58574354e-03 4.47740701e+02] [ 9.62787882e-01 -4.66938414e-02 -2.66193874e-01 1.88494438e+02] [ 2.66302295e-01 -3.99769631e-03 9.63881272e-01 5.05875709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.439254154 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.74, Y:188.19, Z:50.50 [[-4.27262768e-02 -9.98813054e-01 2.33869203e-02 4.47743524e+02] [ 9.66752308e-01 -4.72392438e-02 -2.51313409e-01 1.88187398e+02] [ 2.52119894e-01 1.18716729e-02 9.67623182e-01 5.05039750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4692541539999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:447.76, Y:188.17, Z:50.50 [[-4.87184049e-02 -9.98741517e-01 -1.19121673e-02 4.47759732e+02] [ 9.63548688e-01 -4.38539532e-02 -2.63914299e-01 1.88165035e+02] [ 2.63059772e-01 -2.43354368e-02 9.64472572e-01 5.04989992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.4992541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:447.75, Y:188.17, Z:50.50 [[-4.93934184e-02 -9.98752380e-01 7.34673504e-03 4.47749633e+02] [ 9.63337034e-01 -4.95815035e-02 -2.63672968e-01 1.88168224e+02] [ 2.63708266e-01 -5.94632730e-03 9.64584155e-01 5.05048725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.5292541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.75, Y:188.17, Z:50.51 [[-5.04151600e-02 -9.98702085e-01 7.24272464e-03 4.47748799e+02] [ 9.63245950e-01 -5.05385978e-02 -2.63823976e-01 1.88170062e+02] [ 2.63847592e-01 -6.32420277e-03 9.64543650e-01 5.05060191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.559254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.75, Y:188.17, Z:50.51 [[-5.29088547e-02 -9.98573926e-01 7.12506341e-03 4.47746847e+02] [ 9.63215016e-01 -5.29153098e-02 -2.63470686e-01 1.88174205e+02] [ 2.63471982e-01 -7.07696417e-03 9.64641089e-01 5.05082397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.589254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.75, Y:188.18, Z:50.51 [[-5.39348979e-02 -9.98519805e-01 7.01611549e-03 4.47745976e+02] [ 9.63170129e-01 -5.38765557e-02 -2.63439972e-01 1.88177812e+02] [ 2.63428034e-01 -7.45089514e-03 9.64650276e-01 5.05097902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6192541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.75, Y:188.18, Z:50.51 [[-5.69149828e-02 -9.98355265e-01 6.88837001e-03 4.47745163e+02] [ 9.63212393e-01 -5.67239956e-02 -2.62686646e-01 1.88179967e+02] [ 2.62645332e-01 -8.31584259e-03 9.64856609e-01 5.05113913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6492541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.75, Y:188.18, Z:50.51 [[-5.83305677e-02 -9.98274370e-01 6.76955443e-03 4.47745090e+02] [ 9.63248431e-01 -5.80624172e-02 -2.62261734e-01 1.88184780e+02] [ 2.62202224e-01 -8.77711314e-03 9.64973034e-01 5.05132381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.6792541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.74, Y:188.19, Z:50.51 [[-5.95164156e-02 -9.98205088e-01 6.66324088e-03 4.47744834e+02] [ 9.63163057e-01 -5.91781730e-02 -2.62325883e-01 1.88188358e+02] [ 2.62249350e-01 -9.19490885e-03 9.64956337e-01 5.05148795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.709254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:447.74, Y:188.19, Z:50.52 [[-6.21906226e-02 -9.98042816e-01 6.54704767e-03 4.47743301e+02] [ 9.63092251e-01 -6.17314348e-02 -2.61997225e-01 1.88193816e+02] [ 2.61888607e-01 -9.98835965e-03 9.65046419e-01 5.05173183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7392541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.74, Y:188.20, Z:50.52 [[-6.32893898e-02 -9.97974467e-01 6.43549563e-03 4.47742208e+02] [ 9.63063453e-01 -6.27640131e-02 -2.61857718e-01 1.88197939e+02] [ 2.61731234e-01 -1.03750245e-02 9.65085033e-01 5.05193947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7692541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.74, Y:188.21, Z:50.52 [[-6.53198120e-02 -9.97844509e-01 6.29748920e-03 4.47740292e+02] [ 9.63273896e-01 -6.47015164e-02 -2.60609124e-01 1.88209731e+02] [ 2.60454840e-01 -1.09567320e-02 9.65423858e-01 5.05235690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.7992541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:447.74, Y:188.20, Z:50.52 [[-6.58585936e-02 -9.97809774e-01 6.18870122e-03 4.47740022e+02] [ 9.63246302e-01 -6.51935397e-02 -2.60588495e-01 1.88202676e+02] [ 2.60421210e-01 -1.12007482e-02 9.65430130e-01 5.05222698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.829254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:447.74, Y:188.21, Z:50.52 [[-6.62018601e-02 -9.97787727e-01 6.07987046e-03 4.47739525e+02] [ 9.63232173e-01 -6.54968578e-02 -2.60564661e-01 1.88206589e+02] [ 2.60386433e-01 -1.13935384e-02 9.65437255e-01 5.05234104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8592541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.74, Y:188.21, Z:50.52 [[-6.66047561e-02 -9.97761575e-01 5.97041182e-03 4.47737920e+02] [ 9.63225706e-01 -6.58581091e-02 -2.60497502e-01 1.88209042e+02] [ 2.60307598e-01 -1.15995185e-02 9.65456061e-01 5.05248462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.8892541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:447.74, Y:188.21, Z:50.53 [[-6.63817073e-02 -9.97777083e-01 5.86183191e-03 4.47736052e+02] [ 9.63249961e-01 -6.56148600e-02 -2.60469197e-01 1.88211589e+02] [ 2.60274819e-01 -1.16439807e-02 9.65464363e-01 5.05258666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9192541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.73, Y:188.21, Z:50.53 [[-6.65418735e-02 -9.97766989e-01 5.76327225e-03 4.47732630e+02] [ 9.63124009e-01 -6.57385282e-02 -2.60903408e-01 1.88213903e+02] [ 2.60699677e-01 -1.18102557e-02 9.65347707e-01 5.05269941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.949254154 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:447.73, Y:188.31, Z:50.55 [[-6.74218809e-02 -9.97667370e-01 1.06821759e-02 4.47726704e+02] [ 9.63038015e-01 -6.78727247e-02 -2.60674269e-01 1.88309217e+02] [ 2.60791241e-01 -7.28780805e-03 9.65367711e-01 5.05530130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 594.9792541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.73, Y:188.23, Z:50.53 [[-6.74601614e-02 -9.97720028e-01 1.96778618e-03 4.47731008e+02] [ 9.62943593e-01 -6.56247198e-02 -2.61597082e-01 1.88225282e+02] [ 2.61129784e-01 -1.57525143e-02 9.65175163e-01 5.05289920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0092541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.73, Y:188.22, Z:50.53 [[-7.00180016e-02 -9.97530248e-01 5.55726043e-03 4.47727543e+02] [ 9.62592972e-01 -6.90253806e-02 -2.62011959e-01 1.88221973e+02] [ 2.61748446e-01 -1.29961739e-02 9.65048626e-01 5.05285742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0392541539999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:447.73, Y:188.22, Z:50.53 [[-7.14010832e-02 -9.97432789e-01 5.45139482e-03 4.47726373e+02] [ 9.62455150e-01 -7.03300914e-02 -2.62171248e-01 1.88224030e+02] [ 2.61881596e-01 -1.34725881e-02 9.65005968e-01 5.05294320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.069254154 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:447.72, Y:188.23, Z:50.53 [[-7.46817375e-02 -9.97193128e-01 5.33892989e-03 4.47722422e+02] [ 9.62268614e-01 -7.34688834e-02 -2.61995111e-01 1.88230745e+02] [ 2.61651969e-01 -1.44287654e-02 9.65054433e-01 5.05321541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.0992541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:447.72, Y:188.24, Z:50.53 [[-7.60001984e-02 -9.97094078e-01 5.23158084e-03 4.47720438e+02] [ 9.62149507e-01 -7.47117582e-02 -2.62081056e-01 1.88235934e+02] [ 2.61710330e-01 -1.48846493e-02 9.65031684e-01 5.05339838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1292541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:447.72, Y:188.24, Z:50.54 [[-7.63582094e-02 -9.97067311e-01 5.11880605e-03 4.47718943e+02] [ 9.62173223e-01 -7.50304955e-02 -2.61902872e-01 1.88238839e+02] [ 2.61518858e-01 -1.50732562e-02 9.65080662e-01 5.05350574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.1592541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:447.72, Y:188.24, Z:50.54 [[-7.59562419e-02 -9.97098569e-01 5.00939173e-03 4.47718871e+02] [ 9.62205044e-01 -7.46139509e-02 -2.61904967e-01 1.88241379e+02] [ 2.61518838e-01 -1.50732550e-02 9.65080667e-01 5.05356919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.189254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.72, Y:188.24, Z:50.54 [[-7.66406828e-02 -9.97046746e-01 4.89827094e-03 4.47715426e+02] [ 9.62180612e-01 -7.52468363e-02 -2.61813645e-01 1.88242031e+02] [ 2.61409022e-01 -1.53525552e-02 9.65106016e-01 5.05363389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2192541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.71, Y:188.25, Z:50.54 [[-7.64533488e-02 -9.97061637e-01 4.79340138e-03 4.47714184e+02] [ 9.62129409e-01 -7.50346655e-02 -2.62062588e-01 1.88248310e+02] [ 2.61652224e-01 -1.54236900e-02 9.65038975e-01 5.05378996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2492541539999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:447.71, Y:188.25, Z:50.54 [[-7.57422060e-02 -9.97116408e-01 4.68908574e-03 4.47711937e+02] [ 9.62103334e-01 -7.43163687e-02 -2.62362827e-01 1.88251590e+02] [ 2.61954756e-01 -1.53605543e-02 9.64957906e-01 5.05389807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.2792541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:447.71, Y:188.25, Z:50.54 [[-7.49683281e-02 -9.97175412e-01 4.57694847e-03 4.47709961e+02] [ 9.62199390e-01 -7.35424135e-02 -2.62228616e-01 1.88251563e+02] [ 2.61824528e-01 -1.52549039e-02 9.64994925e-01 5.05396097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.309254154 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.71, Y:188.25, Z:50.54 [[-7.40836954e-02 -9.97242033e-01 4.46468674e-03 4.47707961e+02] [ 9.62307729e-01 -7.26618010e-02 -2.62076510e-01 1.88254098e+02] [ 2.61678124e-01 -1.51191938e-02 9.65036771e-01 5.05408306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.339254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.71, Y:188.25, Z:50.54 [[-7.25212345e-02 -9.97357367e-01 4.35351940e-03 4.47705298e+02] [ 9.62449583e-01 -7.11265141e-02 -2.61976752e-01 1.88253320e+02] [ 2.61594095e-01 -1.48088346e-02 9.65064365e-01 5.05409986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3692541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.70, Y:188.26, Z:50.54 [[-7.13777298e-02 -9.97440344e-01 4.24030779e-03 4.47703965e+02] [ 9.62598450e-01 -6.99970929e-02 -2.61733892e-01 1.88257181e+02] [ 2.61360753e-01 -1.46002573e-02 9.65130763e-01 5.05419844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.3992541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:447.70, Y:188.26, Z:50.54 [[-6.86858356e-02 -9.97629717e-01 4.14778146e-03 4.47701163e+02] [ 9.62491258e-01 -6.73592885e-02 -2.62818008e-01 1.88259750e+02] [ 2.62474446e-01 -1.40596711e-02 9.64836510e-01 5.05426972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4292541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:447.70, Y:188.26, Z:50.54 [[-6.68160611e-02 -9.97757078e-01 4.05297324e-03 4.47699958e+02] [ 9.62345852e-01 -6.55163402e-02 -2.63814462e-01 1.88258485e+02] [ 2.63488283e-01 -1.37266812e-02 9.64564929e-01 5.05423755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.459254154 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.70, Y:188.26, Z:50.54 [[-6.47812287e-02 -9.97891659e-01 3.95329018e-03 4.47698559e+02] [ 9.62285841e-01 -6.35177051e-02 -2.64521192e-01 1.88262613e+02] [ 2.64214595e-01 -1.33318127e-02 9.64371770e-01 5.05433468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.4892541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:447.69, Y:188.26, Z:50.54 [[-5.97231160e-02 -9.98207527e-01 3.85774623e-03 4.47694509e+02] [ 9.62312565e-01 -5.86017974e-02 -2.65556694e-01 1.88260536e+02] [ 2.65306761e-01 -1.21475156e-02 9.64087527e-01 5.05436131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5192541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:447.69, Y:188.26, Z:50.54 [[-5.65688093e-02 -9.98391691e-01 3.74172000e-03 4.47692697e+02] [ 9.62606310e-01 -5.55349302e-02 -2.65150833e-01 1.88259204e+02] [ 2.64932185e-01 -1.13974636e-02 9.64199686e-01 5.05431386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.5492541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:447.69, Y:188.26, Z:50.54 [[-4.97865734e-02 -9.98753313e-01 3.62172462e-03 4.47690429e+02] [ 9.63170604e-01 -4.89715784e-02 -2.64393972e-01 1.88258577e+02] [ 2.64241717e-01 -9.67493119e-03 9.64407959e-01 5.05428724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.579254154 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:447.69, Y:188.26, Z:50.54 [[-4.74877651e-02 -9.98865663e-01 3.50697602e-03 4.47688135e+02] [ 9.63397674e-01 -4.67283527e-02 -2.63972314e-01 1.88258945e+02] [ 2.63836756e-01 -9.15684270e-03 9.64523882e-01 5.05436723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6092541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:447.69, Y:188.26, Z:50.54 [[-4.42717995e-02 -9.99013744e-01 3.39811120e-03 4.47686130e+02] [ 9.63542987e-01 -4.35978056e-02 -2.63977543e-01 1.88258824e+02] [ 2.63865344e-01 -8.41253466e-03 9.64522840e-01 5.05443450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6392541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:447.68, Y:188.26, Z:50.54 [[-3.76096234e-02 -9.99287057e-01 3.30072159e-03 4.47681675e+02] [ 9.63555813e-01 -3.71398659e-02 -2.64916640e-01 1.88257362e+02] [ 2.64850358e-01 -6.78298559e-03 9.64265668e-01 5.05444500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.6692541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.68, Y:188.26, Z:50.54 [[-3.41084319e-02 -9.99413031e-01 3.19495977e-03 4.47679499e+02] [ 9.63607911e-01 -3.37342034e-02 -2.65182573e-01 1.88257953e+02] [ 2.65134698e-01 -5.96627319e-03 9.64192924e-01 5.05446562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.699254154 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:447.68, Y:188.26, Z:50.54 [[-2.83375184e-02 -9.99593651e-01 3.08501605e-03 4.47676515e+02] [ 9.63817157e-01 -2.81413811e-02 -2.65074615e-01 1.88258876e+02] [ 2.65053719e-01 -4.53816539e-03 9.64222968e-01 5.05442990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7292541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:447.68, Y:188.26, Z:50.54 [[-2.59808383e-02 -9.99658023e-01 2.97204810e-03 4.47675724e+02] [ 9.63994433e-01 -2.58408143e-02 -2.64663909e-01 1.88259529e+02] [ 2.64650200e-01 -4.01115239e-03 9.64336136e-01 5.05442459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7592541539999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:447.67, Y:188.26, Z:50.54 [[-2.33392267e-02 -9.99723496e-01 2.86565267e-03 4.47673596e+02] [ 9.64013200e-01 -2.32646790e-02 -2.64834486e-01 1.88257068e+02] [ 2.64827927e-01 -3.41850510e-03 9.64289626e-01 5.05443809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.7892541539999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:447.67, Y:188.26, Z:50.55 [[-2.28925574e-02 -9.99734129e-01 2.75719089e-03 4.47672430e+02] [ 9.64037590e-01 -2.28054137e-02 -2.64785646e-01 1.88261107e+02] [ 2.64778126e-01 -3.40358492e-03 9.64303355e-01 5.05457815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.819254154 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:447.67, Y:188.26, Z:50.55 [[-2.29494764e-02 -9.99733121e-01 2.64748798e-03 4.47671868e+02] [ 9.64090338e-01 -2.28319639e-02 -2.64591237e-01 1.88263961e+02] [ 2.64581070e-01 -3.51981275e-03 9.64357023e-01 5.05459040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8492541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:447.67, Y:188.27, Z:50.55 [[-2.59230091e-02 -9.99660677e-01 2.55520416e-03 4.47671639e+02] [ 9.63553649e-01 -2.56673217e-02 -2.66280969e-01 1.88269013e+02] [ 2.66256199e-01 -4.44072768e-03 9.63892067e-01 5.05467449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.8792541539999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:447.67, Y:188.27, Z:50.55 [[-2.78973811e-02 -9.99607779e-01 2.45442342e-03 4.47671931e+02] [ 9.63255516e-01 -2.75388586e-02 -2.67171146e-01 1.88273665e+02] [ 2.67133948e-01 -5.08913837e-03 9.63645969e-01 5.05476559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9092541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:447.67, Y:188.28, Z:50.55 [[-3.38905301e-02 -9.99422778e-01 2.35439612e-03 4.47672825e+02] [ 9.62770886e-01 -3.32796212e-02 -2.68262349e-01 1.88279619e+02] [ 2.68185855e-01 -6.82480915e-03 9.63343017e-01 5.05488964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.939254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:447.67, Y:188.28, Z:50.55 [[-3.65940028e-02 -9.99327690e-01 2.24656242e-03 4.47673343e+02] [ 9.62608441e-01 -3.58530329e-02 -2.68513593e-01 1.88284195e+02] [ 2.68413615e-01 -7.66342723e-03 9.63273275e-01 5.05502541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9692541539999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:447.67, Y:188.29, Z:50.55 [[-4.15635499e-02 -9.99133596e-01 2.12787347e-03 4.47673297e+02] [ 9.62731793e-01 -4.06187160e-02 -2.67390379e-01 1.88290446e+02] [ 2.67245143e-01 -9.06512193e-03 9.63585937e-01 5.05528346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 595.9992541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:447.67, Y:188.30, Z:50.55 [[-4.26746871e-02 -9.99086996e-01 2.01115228e-03 4.47673119e+02] [ 9.62948227e-01 -4.16674243e-02 -2.66448003e-01 1.88296961e+02] [ 2.66288535e-01 -9.43394963e-03 9.63847196e-01 5.05548656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.0292541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.67, Y:188.30, Z:50.55 [[-4.28269636e-02 -9.99080707e-01 1.89532173e-03 4.47672914e+02] [ 9.63185297e-01 -4.17920617e-02 -2.65570156e-01 1.88295408e+02] [ 2.65405229e-01 -9.54801739e-03 9.64089674e-01 5.05549053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.059254154 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:447.67, Y:188.30, Z:50.56 [[-4.09532979e-02 -9.99159480e-01 1.77771725e-03 4.47672485e+02] [ 9.63612957e-01 -3.99665660e-02 -2.64296696e-01 1.88298725e+02] [ 2.64145599e-01 -9.11078997e-03 9.64439784e-01 5.05557432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.089254154 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.67, Y:188.30, Z:50.56 [[-3.82613996e-02 -9.99266373e-01 1.66781578e-03 4.47672071e+02] [ 9.63764914e-01 -3.73429043e-02 -2.64126293e-01 1.88301910e+02] [ 2.63994804e-01 -8.49845930e-03 9.64486661e-01 5.05562744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1192541539999 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:447.67, Y:188.30, Z:50.56 [[-3.27471945e-02 -9.99462447e-01 1.56120884e-03 4.47670046e+02] [ 9.63844806e-01 -3.19934083e-02 -2.64536599e-01 1.88299297e+02] [ 2.64444345e-01 -7.15806841e-03 9.64374383e-01 5.05556706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1492541539999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:447.67, Y:188.30, Z:50.56 [[-2.96805263e-02 -9.99558379e-01 1.45385677e-03 4.47669404e+02] [ 9.63858234e-01 -2.90056569e-02 -2.64831977e-01 1.88299979e+02] [ 2.64757191e-01 -6.45904062e-03 9.64293477e-01 5.05559017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.1792541539999 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:447.67, Y:188.30, Z:50.56 [[-2.73708377e-02 -9.99624447e-01 1.34258735e-03 4.47668167e+02] [ 9.64076309e-01 -2.67524352e-02 -2.64274813e-01 1.88304156e+02] [ 2.64211481e-01 -5.93906637e-03 9.64446484e-01 5.05568321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.209254154 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:447.67, Y:188.30, Z:50.55 [[-2.32982669e-02 -9.99727799e-01 1.23227781e-03 4.47668429e+02] [ 9.64299058e-01 -2.27978173e-02 -2.63832497e-01 1.88299110e+02] [ 2.63788774e-01 -4.95855559e-03 9.64567725e-01 5.05548684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2392541539999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:447.67, Y:188.30, Z:50.56 [[-2.09933711e-02 -9.99778989e-01 1.11902137e-03 4.47669244e+02] [ 9.64720676e-01 -2.05509932e-02 -2.62472235e-01 1.88302443e+02] [ 2.62437222e-01 -4.43063397e-03 9.64938896e-01 5.05553979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2692541539999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:447.67, Y:188.31, Z:50.56 [[-2.02316135e-02 -9.99794808e-01 1.01205830e-03 4.47669335e+02] [ 9.64720113e-01 -1.97876034e-02 -2.62532959e-01 1.88307126e+02] [ 2.62499115e-01 -4.33511235e-03 9.64922495e-01 5.05565343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.2992541539999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:447.67, Y:188.31, Z:50.56 [[-1.88755935e-02 -9.99821428e-01 9.07318861e-04 4.47669446e+02] [ 9.64521123e-01 -1.84481547e-02 -2.63360340e-01 1.88305167e+02] [ 2.63330050e-01 -4.09595452e-03 9.64697107e-01 5.05556795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.329254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:447.67, Y:188.31, Z:50.56 [[-1.78830687e-02 -9.99839763e-01 8.02394461e-04 4.47669613e+02] [ 9.64270596e-01 -1.74590225e-02 -2.64343336e-01 1.88308407e+02] [ 2.64314988e-01 -3.95354465e-03 9.64428306e-01 5.05562985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3592541539999 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:447.67, Y:188.31, Z:50.56 [[-1.57241632e-02 -9.99876124e-01 6.97750786e-04 4.47671359e+02] [ 9.63921779e-01 -1.53441865e-02 -2.65743032e-01 1.88314652e+02] [ 2.65720820e-01 -3.50600963e-03 9.64043647e-01 5.05565583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.3892541539999 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:447.67, Y:188.31, Z:50.56 [[-1.42691970e-02 -9.99898016e-01 5.90118551e-04 4.47672209e+02] [ 9.63812626e-01 -1.39113508e-02 -2.66217384e-01 1.88311663e+02] [ 2.66198444e-01 -3.22994459e-03 9.63912836e-01 5.05556109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4192541539999 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:447.67, Y:188.32, Z:50.56 [[-1.10316347e-02 -9.99939034e-01 4.80185429e-04 4.47672688e+02] [ 9.64112384e-01 -1.07637736e-02 -2.65276182e-01 1.88315781e+02] [ 2.65265178e-01 -2.46347722e-03 9.64172348e-01 5.05565989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.449254154 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:447.67, Y:188.31, Z:50.56 [[-8.62177027e-03 -9.99962763e-01 3.71576396e-04 4.47672484e+02] [ 9.64296774e-01 -8.41261119e-03 -2.64690310e-01 1.88313888e+02] [ 2.64683580e-01 -1.92378913e-03 9.64333398e-01 5.05564791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.4792541539999 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:447.67, Y:188.32, Z:50.56 [[-5.80451653e-03 -9.99983119e-01 2.62082690e-04 4.47672459e+02] [ 9.65116941e-01 -5.67073514e-03 -2.61757775e-01 1.88324683e+02] [ 2.61754843e-01 -1.26643689e-03 9.65133565e-01 5.05577084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5092541539999 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:447.67, Y:188.32, Z:50.56 [[-3.80024001e-03 -9.99992767e-01 1.55774128e-04 4.47672396e+02] [ 9.64706312e-01 -3.70715799e-03 -2.63302086e-01 1.88316979e+02] [ 2.63300759e-01 -8.50334838e-04 9.64713422e-01 5.05575771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5392541539999 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:447.67, Y:188.32, Z:50.56 [[ 6.13188729e-04 -9.99999811e-01 4.86164113e-05 4.47674450e+02] [ 9.64706342e-01 5.78745131e-04 -2.63327438e-01 1.88315785e+02] [ 2.63327360e-01 2.08369978e-04 9.64706514e-01 5.05570807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.569254154 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:447.68, Y:188.34, Z:50.56 [[ 2.66409587e-03 -9.99996450e-01 -5.04086508e-05 4.47675427e+02] [ 9.64926881e-01 2.58389947e-03 -2.62506073e-01 1.88341501e+02] [ 2.62505271e-01 6.50700683e-04 9.64930339e-01 5.05640333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.5992541539999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:447.68, Y:188.35, Z:50.57 [[ 3.65789215e-03 -9.99993310e-01 1.14394545e-05 4.47675780e+02] [ 9.64977726e-01 3.52680738e-03 -2.62308119e-01 1.88345242e+02] [ 2.62306324e-01 9.70533629e-04 9.64984171e-01 5.05651403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6292541539999 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:447.68, Y:188.37, Z:50.57 [[ 3.73499336e-03 -9.99993021e-01 -8.73155341e-05 4.47676436e+02] [ 9.65020931e-01 3.62726166e-03 -2.62147757e-01 1.88372422e+02] [ 2.62146245e-01 8.94858816e-04 9.65027743e-01 5.05723937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.6592541539999 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:447.68, Y:188.40, Z:50.58 [[ 2.37943154e-03 -9.99997169e-01 -1.21488284e-05 4.47677571e+02] [ 9.65218025e-01 2.29985287e-03 -2.61436177e-01 1.88398974e+02] [ 2.61435465e-01 6.10343218e-04 9.65220765e-01 5.05797161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.689254154 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:447.68, Y:188.40, Z:50.58 [[ 1.69276874e-03 -9.99998565e-01 6.00102333e-05 4.47678529e+02] [ 9.65353383e-01 1.61846322e-03 -2.60941041e-01 1.88401958e+02] [ 2.60940570e-01 4.99643921e-04 9.65354738e-01 5.05802412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7192541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:447.68, Y:188.43, Z:50.59 [[-2.18940393e-03 -9.99997603e-01 -3.92229386e-05 4.47682343e+02] [ 9.65486868e-01 -2.10363044e-03 -2.60443243e-01 1.88427780e+02] [ 2.60442536e-01 -6.08084692e-04 9.65489159e-01 5.05859076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7492541539999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:447.68, Y:188.43, Z:50.59 [[-3.98950745e-03 -9.99992042e-01 2.57081342e-05 4.47684257e+02] [ 9.65491849e-01 -3.85856214e-03 -2.60404687e-01 1.88431276e+02] [ 2.60402714e-01 -1.01406544e-03 9.65499559e-01 5.05868634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.7792541539999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:447.69, Y:188.46, Z:50.59 [[-6.54656530e-03 -9.99978568e-01 -7.37105241e-05 4.47685687e+02] [ 9.65557273e-01 -6.30204564e-03 -2.60114277e-01 1.88457549e+02] [ 2.60108237e-01 -1.77402683e-03 9.65577836e-01 5.05937606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.809254154 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:447.69, Y:188.47, Z:50.60 [[-1.06877453e-02 -9.99942884e-01 -2.40057194e-06 4.47688256e+02] [ 9.65428597e-01 -1.03182190e-02 -2.60463353e-01 1.88465552e+02] [ 2.60448452e-01 -2.78608356e-03 9.65483735e-01 5.05963723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.839254154 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.69, Y:188.49, Z:50.60 [[-1.33374080e-02 -9.99911048e-01 -1.02201676e-04 4.47690134e+02] [ 9.65134737e-01 -1.28468191e-02 -2.61438136e-01 1.88492758e+02] [ 2.61413568e-01 -3.58554548e-03 9.65220229e-01 5.06035737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8692541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:447.69, Y:188.52, Z:50.61 [[-1.86744515e-02 -9.99825617e-01 -2.44773914e-05 4.47693724e+02] [ 9.65006333e-01 -1.80177025e-02 -2.61606841e-01 1.88519231e+02] [ 2.61560780e-01 -4.90898509e-03 9.65174523e-01 5.06104355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.8992541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:447.70, Y:188.52, Z:50.61 [[-2.06572754e-02 -9.99786615e-01 3.90637007e-05 4.47695770e+02] [ 9.64890418e-01 -1.99464939e-02 -2.61894288e-01 1.88523890e+02] [ 2.61839183e-01 -5.37233025e-03 9.65096565e-01 5.06115435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9292541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.70, Y:188.55, Z:50.62 [[-2.28998806e-02 -9.99737762e-01 -6.10996712e-05 4.47697774e+02] [ 9.64712002e-01 -2.20815490e-02 -2.62379799e-01 1.88549637e+02] [ 2.62309644e-01 -6.06740966e-03 9.64964682e-01 5.06180599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.959254154 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:447.70, Y:188.55, Z:50.62 [[-2.55508753e-02 -9.99673523e-01 1.59063258e-06 4.47700297e+02] [ 9.64664473e-01 -2.46564887e-02 -2.62325202e-01 1.88553439e+02] [ 2.62239598e-01 -6.70110409e-03 9.64979527e-01 5.06196848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 596.9892541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.70, Y:188.58, Z:50.63 [[-2.67846582e-02 -9.99641222e-01 -9.88676771e-05 4.47700992e+02] [ 9.64622529e-01 -2.58204089e-02 -2.62367459e-01 1.88579302e+02] [ 2.62270774e-01 -7.12279270e-03 9.64968034e-01 5.06267656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0192541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.70, Y:188.61, Z:50.63 [[-2.78797781e-02 -9.99611283e-01 -2.70448146e-05 4.47702694e+02] [ 9.64543355e-01 -2.68946084e-02 -2.62550561e-01 1.88606283e+02] [ 2.62447776e-01 -7.34593728e-03 9.64918236e-01 5.06338775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.0492541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.70, Y:188.61, Z:50.63 [[-2.74814426e-02 -9.99622313e-01 4.53004377e-05 4.47702583e+02] [ 9.64553477e-01 -2.65292344e-02 -2.62550548e-01 1.88608815e+02] [ 2.62452587e-01 -7.17157311e-03 9.64918239e-01 5.06345573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.079254154 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:447.70, Y:188.63, Z:50.64 [[-2.76598369e-02 -9.99617392e-01 -5.52664838e-05 4.47703518e+02] [ 9.64503596e-01 -2.66736982e-02 -2.62719105e-01 1.88634917e+02] [ 2.62617112e-01 -7.32007231e-03 9.64872359e-01 5.06413911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1092541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.70, Y:188.64, Z:50.64 [[-2.70236991e-02 -9.99634793e-01 9.09662767e-06 4.47704200e+02] [ 9.64481640e-01 -2.60757758e-02 -2.62859696e-01 1.88639822e+02] [ 2.62763935e-01 -7.09466779e-03 9.64834069e-01 5.06427166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1392541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:447.71, Y:188.67, Z:50.65 [[-2.60217386e-02 -9.99661373e-01 -9.21592969e-05 4.47706025e+02] [ 9.64489217e-01 -2.50819484e-02 -2.62928597e-01 1.88666256e+02] [ 2.62837250e-01 -6.93074586e-03 9.64815290e-01 5.06500328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.1692541539999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:447.71, Y:188.69, Z:50.66 [[-2.55266477e-02 -9.99674141e-01 -3.73437427e-05 4.47706882e+02] [ 9.64613749e-01 -2.46215752e-02 -2.62514939e-01 1.88693079e+02] [ 2.62428477e-01 -6.73714865e-03 9.64927928e-01 5.06572894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.199254154 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:447.71, Y:188.69, Z:50.66 [[-2.40959261e-02 -9.99709650e-01 3.35154243e-05 4.47707142e+02] [ 9.64796157e-01 -2.32631913e-02 -2.61967936e-01 1.88689320e+02] [ 2.61892654e-01 -6.28002447e-03 9.65076577e-01 5.06580836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2292541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:447.71, Y:188.72, Z:50.67 [[-2.37016046e-02 -9.99719075e-01 -6.69051198e-05 4.47707171e+02] [ 9.64784792e-01 -2.28558362e-02 -2.62045637e-01 1.88715710e+02] [ 2.61970493e-01 -6.27545111e-03 9.65055480e-01 5.06658286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2592541539999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:447.71, Y:188.72, Z:50.67 [[-2.30564369e-02 -9.99734165e-01 2.37269696e-06 4.47707129e+02] [ 9.64700054e-01 -2.22490831e-02 -2.62409573e-01 1.88718807e+02] [ 2.62339868e-01 -6.04794082e-03 9.64956588e-01 5.06667420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.2892541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:447.71, Y:188.74, Z:50.67 [[-2.39314746e-02 -9.99713596e-01 -9.81899060e-05 4.47708045e+02] [ 9.64193943e-01 -2.30552448e-02 -2.64194049e-01 1.88744858e+02] [ 2.64116119e-01 -6.41722729e-03 9.64469541e-01 5.06735852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.319254154 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:447.71, Y:188.77, Z:50.68 [[-2.47283114e-02 -9.99694208e-01 -2.53102149e-05 4.47708717e+02] [ 9.63987169e-01 -2.38383603e-02 -2.64878218e-01 1.88772131e+02] [ 2.64796617e-01 -6.57438977e-03 9.64281872e-01 5.06804429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3492541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:447.71, Y:188.77, Z:50.68 [[-2.51745487e-02 -9.99683070e-01 4.15706119e-05 4.47709599e+02] [ 9.63743511e-01 -2.42805495e-02 -2.65723351e-01 1.88770219e+02] [ 2.65640145e-01 -6.64940203e-03 9.64049324e-01 5.06800076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.3792541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:447.71, Y:188.80, Z:50.69 [[-2.61156781e-02 -9.99658926e-01 -5.77326519e-05 4.47709687e+02] [ 9.63685497e-01 -2.51605335e-02 -2.65851859e-01 1.88796802e+02] [ 2.65759731e-01 -6.99853770e-03 9.64013893e-01 5.06872909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4092541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:447.71, Y:188.80, Z:50.69 [[-2.65023457e-02 -9.99648751e-01 1.37164264e-05 4.47709645e+02] [ 9.63643231e-01 -2.55514291e-02 -2.65967758e-01 1.88801537e+02] [ 2.65874687e-01 -7.03555172e-03 9.63981925e-01 5.06889382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.439254154 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:447.71, Y:188.83, Z:50.70 [[-2.87585391e-02 -9.99586384e-01 -8.52277776e-05 4.47709972e+02] [ 9.63523579e-01 -2.76983005e-02 -2.66186246e-01 1.88828146e+02] [ 2.66073787e-01 -7.73724654e-03 9.63921613e-01 5.06966528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4692541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.71, Y:188.85, Z:50.70 [[-3.08760537e-02 -9.99523221e-01 -5.10991726e-06 4.47710871e+02] [ 9.63472163e-01 -2.97610477e-02 -2.66149714e-01 1.88853929e+02] [ 2.66022668e-01 -8.22257613e-03 9.63931704e-01 5.07038613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.4992541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.70, Y:188.83, Z:50.70 [[-2.31015148e-02 -9.99519816e-01 2.06508370e-02 4.47704099e+02] [ 9.66496698e-01 -2.76106768e-02 -2.55189700e-01 1.88827262e+02] [ 2.55637346e-01 1.40636972e-02 9.66670450e-01 5.06982093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.5292541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.73, Y:188.85, Z:50.70 [[-2.82530445e-02 -9.99051736e-01 -3.31269431e-02 4.47727227e+02] [ 9.65492036e-01 -1.86907248e-02 -2.59761016e-01 1.88847729e+02] [ 2.58895527e-01 -3.93228392e-02 9.65104564e-01 5.06957949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.559254154 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.71, Y:188.88, Z:50.71 [[-2.80959334e-02 -9.99605096e-01 5.20504529e-04 4.47713610e+02] [ 9.64825518e-01 -2.72545350e-02 -2.61474492e-01 1.88876384e+02] [ 2.61385421e-01 -6.84417386e-03 9.65210246e-01 5.07136440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.589254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.71, Y:188.90, Z:50.72 [[-3.00362719e-02 -9.99533907e-01 -5.45808523e-03 4.47714761e+02] [ 9.64853592e-01 -2.75670480e-02 -2.61338103e-01 1.88900517e+02] [ 2.61065832e-01 -1.31158755e-02 9.65231892e-01 5.07166501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6192541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:447.71, Y:188.93, Z:50.73 [[-2.96637705e-02 -9.99559317e-01 -1.11008795e-03 4.47712587e+02] [ 9.64674134e-01 -2.83376085e-02 -2.61917534e-01 1.88927249e+02] [ 2.61770654e-01 -8.84033473e-03 9.65089619e-01 5.07251085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6492541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.71, Y:188.95, Z:50.73 [[-2.93024239e-02 -9.99570060e-01 -1.03106403e-03 4.47712679e+02] [ 9.64619877e-01 -2.80074458e-02 -2.62152771e-01 1.88954589e+02] [ 2.62011184e-01 -8.67629647e-03 9.65025835e-01 5.07324744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.6792541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.71, Y:188.98, Z:50.74 [[-2.62784974e-02 -9.99654210e-01 -9.48934777e-04 4.47712547e+02] [ 9.64902000e-01 -2.51168023e-02 -2.61406343e-01 1.88980133e+02] [ 2.61292117e-01 -7.78499497e-03 9.65228379e-01 5.07400091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.709254154 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.71, Y:189.01, Z:50.75 [[-2.41620055e-02 -9.99707672e-01 -8.76086196e-04 4.47712357e+02] [ 9.65022168e-01 -2.30948330e-02 -2.61149085e-01 1.89007192e+02] [ 2.61052511e-01 -7.15532822e-03 9.65298082e-01 5.07476971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7392541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.71, Y:189.03, Z:50.76 [[-2.21554374e-02 -9.99754220e-01 -7.97296118e-04 4.47711761e+02] [ 9.65077345e-01 -2.11787360e-02 -2.61107600e-01 1.89033755e+02] [ 2.61026540e-01 -6.55440552e-03 9.65309373e-01 5.07551494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7692541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.71, Y:189.06, Z:50.76 [[-1.74520316e-02 -9.99847445e-01 -7.16277601e-04 4.47710869e+02] [ 9.65306727e-01 -1.66624532e-02 -2.60586428e-01 1.89060838e+02] [ 2.60534739e-01 -5.23919016e-03 9.65450258e-01 5.07625717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.7992541539999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:447.71, Y:189.09, Z:50.77 [[-1.54306883e-02 -9.99880737e-01 -6.37346085e-04 4.47710560e+02] [ 9.65298053e-01 -1.47307919e-02 -2.60734870e-01 1.89087612e+02] [ 2.60694386e-01 -4.63854746e-03 9.65410235e-01 5.07695931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.829254154 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:447.71, Y:189.11, Z:50.78 [[-1.31546825e-02 -9.99913317e-01 -5.59749728e-04 4.47710609e+02] [ 9.65217814e-01 -1.25520458e-02 -2.61145588e-01 1.89113479e+02] [ 2.61115925e-01 -3.97556770e-03 9.65299264e-01 5.07754477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8592541539999 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:447.71, Y:189.14, Z:50.78 [[-1.29243254e-02 -9.99916358e-01 -4.89199816e-04 4.47711259e+02] [ 9.65180384e-01 -1.23475133e-02 -2.61293640e-01 1.89139958e+02] [ 2.61265744e-01 -3.84921008e-03 9.65259237e-01 5.07817960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.8892541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.71, Y:189.17, Z:50.79 [[-1.31424447e-02 -9.99913547e-01 -4.18901843e-04 4.47712273e+02] [ 9.65244742e-01 -1.25774108e-02 -2.61044817e-01 1.89167190e+02] [ 2.61016980e-01 -3.83510988e-03 9.65326591e-01 5.07880743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9192541539999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:447.71, Y:189.19, Z:50.79 [[-1.46211164e-02 -9.99893047e-01 -3.42520514e-04 4.47714236e+02] [ 9.65279134e-01 -1.40256144e-02 -2.60843776e-01 1.89193537e+02] [ 2.60811074e-01 -4.14445513e-03 9.65380965e-01 5.07941628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.949254154 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.72, Y:189.22, Z:50.80 [[-1.75277741e-02 -9.99846335e-01 -2.88304550e-04 4.47715088e+02] [ 9.65290716e-01 -1.68468445e-02 -2.60633877e-01 1.89220307e+02] [ 2.60588970e-01 -4.84662943e-03 9.65437672e-01 5.08011157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 597.9792541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:447.72, Y:189.25, Z:50.81 [[-1.93481493e-02 -9.99812784e-01 -2.13345604e-04 4.47715260e+02] [ 9.65273239e-01 -1.86241444e-02 -2.60577656e-01 1.89246490e+02] [ 2.60524899e-01 -5.24763220e-03 9.65452868e-01 5.08078143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0092541539999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:447.72, Y:189.27, Z:50.81 [[-2.14236139e-02 -9.99770476e-01 -1.56773285e-04 4.47715593e+02] [ 9.65145057e-01 -2.06407304e-02 -2.60900325e-01 1.89273134e+02] [ 2.60837206e-01 -5.74073680e-03 9.65365732e-01 5.08149488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0392541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.72, Y:189.30, Z:50.82 [[-2.62033027e-02 -9.99656631e-01 -8.14138887e-05 4.47718090e+02] [ 9.65179736e-01 -2.52783794e-02 -2.60363362e-01 1.89298955e+02] [ 2.60271903e-01 -6.90095901e-03 9.65510701e-01 5.08208572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.069254154 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.72, Y:189.33, Z:50.83 [[-2.84762354e-02 -9.99594470e-01 -2.70789940e-06 4.47719992e+02] [ 9.65147372e-01 -2.74942087e-02 -2.60258755e-01 1.89325831e+02] [ 2.60153138e-01 -7.41380310e-03 9.65538907e-01 5.08279079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.0992541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.72, Y:189.33, Z:50.83 [[-3.27098736e-02 -9.99464887e-01 6.12362735e-05 4.47722187e+02] [ 9.65517939e-01 -3.16147112e-02 -2.58409791e-01 1.89325327e+02] [ 2.58273449e-01 -8.39342689e-03 9.66035391e-01 5.08276866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1292541539999 meters Centerline goodness : 0.997373 Centerline is valid? [True, True] Translation: X:447.73, Y:189.35, Z:50.83 [[-3.48225305e-02 -9.99377584e-01 -5.64239008e-03 4.47725148e+02] [ 9.65929064e-01 -3.22072022e-02 -2.56795133e-01 1.89352285e+02] [ 2.56453574e-01 -1.43924049e-02 9.66449390e-01 5.08330946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.1592541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.49, Y:188.75, Z:51.46 [[ 1.09276866e-02 2.03231593e-02 9.99733742e-01 4.47494505e+02] [ 9.77229807e-01 -2.12088009e-01 -6.37025879e-03 1.88748098e+02] [ 2.11902075e-01 9.77039224e-01 -2.21780283e-02 5.14637403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.189254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.72, Y:188.88, Z:50.76 [[-3.72112080e-02 -9.99307373e-01 3.15284409e-04 4.47723934e+02] [ 9.81317095e-01 -3.66008975e-02 -1.88883915e-01 1.88878655e+02] [ 1.88764629e-01 -6.71920469e-03 9.81999372e-01 5.07584735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2192541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.73, Y:188.88, Z:50.76 [[-3.60684141e-02 -9.99349295e-01 2.38408636e-04 4.47725387e+02] [ 9.81421939e-01 -3.54663643e-02 -1.88555337e-01 1.88881414e+02] [ 1.88441098e-01 -6.56691250e-03 9.82062538e-01 5.07577685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2492541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.73, Y:188.89, Z:50.76 [[-3.38874585e-02 -9.99425642e-01 1.61670759e-04 4.47727189e+02] [ 9.81610893e-01 -3.33138206e-02 -1.87963414e-01 1.88886231e+02] [ 1.87860841e-01 -6.21090460e-03 9.82176017e-01 5.07582202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.2792541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.73, Y:188.94, Z:50.77 [[-3.22367582e-02 -9.99478958e-01 -1.61372714e-03 4.47728386e+02] [ 9.81744947e-01 -3.13618821e-02 -1.87598752e-01 1.88943824e+02] [ 1.87450395e-01 -7.63184406e-03 9.82244422e-01 5.07675866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.309254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.73, Y:188.97, Z:50.77 [[-3.06192483e-02 -9.99529538e-01 1.77899447e-03 4.47727233e+02] [ 9.81732501e-01 -3.04083492e-02 -1.87820735e-01 1.88970897e+02] [ 1.87786469e-01 -4.00443303e-03 9.82201714e-01 5.07733246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.339254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.73, Y:189.00, Z:50.78 [[-2.70911333e-02 -9.99632968e-01 -2.71273799e-05 4.47727648e+02] [ 9.81808070e-01 -2.66029575e-02 -1.88003182e-01 1.88996969e+02] [ 1.87933457e-01 -5.11985316e-03 9.82168419e-01 5.07776466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3692541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.73, Y:189.00, Z:50.78 [[-2.45278801e-02 -9.99699146e-01 1.67510478e-05 4.47727110e+02] [ 9.81875836e-01 -2.40937305e-02 -1.87987594e-01 1.88997210e+02] [ 1.87931441e-01 -4.59448973e-03 9.82171403e-01 5.07776150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.3992541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.73, Y:189.02, Z:50.78 [[-2.23923536e-02 -9.99749258e-01 -5.23711313e-05 4.47727135e+02] [ 9.81863211e-01 -2.19818778e-02 -1.88312059e-01 1.89023713e+02] [ 1.88263690e-01 -4.26817150e-03 9.82109243e-01 5.07819954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4292541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.73, Y:189.05, Z:50.79 [[-1.79686881e-02 -9.99838550e-01 -1.20187142e-06 4.47728348e+02] [ 9.81967723e-01 -1.76472947e-02 -1.88223176e-01 1.89051162e+02] [ 1.88192766e-01 -3.38330374e-03 9.82126283e-01 5.07857198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.459254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.73, Y:189.05, Z:50.79 [[-1.57321126e-02 -9.99876242e-01 4.75865740e-05 4.47728974e+02] [ 9.82049565e-01 -1.54605734e-02 -1.87988358e-01 1.89052784e+02] [ 1.87965828e-01 -2.91072163e-03 9.82171255e-01 5.07858348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.4892541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.73, Y:189.08, Z:50.79 [[-1.32798822e-02 -9.99911818e-01 -2.12115425e-05 4.47728845e+02] [ 9.82131493e-01 -1.30397581e-02 -1.87743695e-01 1.89078819e+02] [ 1.87726863e-01 -2.51404669e-03 9.82218053e-01 5.07911347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5192541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.73, Y:189.08, Z:50.79 [[-1.19222601e-02 -9.99928927e-01 2.15362406e-05 4.47728653e+02] [ 9.82185675e-01 -1.17147448e-02 -1.87547499e-01 1.89083677e+02] [ 1.87534422e-01 -2.21483748e-03 9.82255535e-01 5.07922053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.5492541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.73, Y:189.11, Z:50.80 [[-1.13823224e-02 -9.99935218e-01 -4.68118919e-05 4.47729123e+02] [ 9.82245991e-01 -1.11721981e-02 -1.87264504e-01 1.89110761e+02] [ 1.87251850e-01 -2.17748576e-03 9.82309525e-01 5.07973839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.579254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.73, Y:189.11, Z:50.80 [[-1.22936039e-02 -9.99849815e-01 -1.22153146e-02 4.47734586e+02] [ 9.80659891e-01 -9.66943890e-03 -1.95480641e-01 1.89112458e+02] [ 1.95333167e-01 -1.43822307e-02 9.80631483e-01 5.08012838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6092541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.72, Y:189.14, Z:50.81 [[-1.29420858e-02 -9.99790854e-01 1.58351134e-02 4.47722493e+02] [ 9.81542225e-01 -1.57246333e-02 -1.90597998e-01 1.89139983e+02] [ 1.90807136e-01 1.30760968e-02 9.81540449e-01 5.08054779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6392541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.73, Y:189.17, Z:50.81 [[-1.76092933e-02 -9.99844943e-01 -5.22551207e-05 4.47731173e+02] [ 9.81473351e-01 -1.72757596e-02 -1.90818265e-01 1.89167686e+02] [ 1.90787775e-01 -3.41146181e-03 9.81625380e-01 5.08066875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.6692541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.73, Y:189.18, Z:50.81 [[-1.98347229e-02 -9.99803273e-01 -2.83546153e-06 4.47731886e+02] [ 9.81439955e-01 -1.94698789e-02 -1.90778769e-01 1.89175395e+02] [ 1.90741182e-01 -3.78682685e-03 9.81633058e-01 5.08081325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.699254154 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.73, Y:189.20, Z:50.81 [[-2.57773398e-02 -9.99667707e-01 -7.32456353e-05 4.47733125e+02] [ 9.81467220e-01 -2.52941058e-02 -1.89953425e-01 1.89203015e+02] [ 1.89888452e-01 -4.96838218e-03 9.81793100e-01 5.08132030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7292541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.74, Y:189.23, Z:50.82 [[-3.09649044e-02 -9.99173798e-01 -2.63229338e-02 4.47743829e+02] [ 9.80189609e-01 -2.52011161e-02 -1.96451608e-01 1.89228475e+02] [ 1.95625932e-01 -3.18845715e-02 9.80160124e-01 5.08220916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7592541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.72, Y:189.26, Z:50.83 [[-3.08394505e-02 -9.99151402e-01 2.73020923e-02 4.47720953e+02] [ 9.81240066e-01 -3.54647415e-02 -1.89499829e-01 1.89257399e+02] [ 1.90307281e-01 2.09458363e-02 9.81501101e-01 5.08294902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.7892541539999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:447.73, Y:189.26, Z:50.82 [[-3.40601820e-02 -9.99419783e-01 3.90075073e-05 4.47734177e+02] [ 9.81310507e-01 -3.34504149e-02 -1.89501340e-01 1.89258979e+02] [ 1.89392693e-01 -6.41617166e-03 9.81880461e-01 5.08233736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.819254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.73, Y:189.29, Z:50.83 [[-3.56484933e-02 -9.99364390e-01 -3.22654788e-05 4.47734384e+02] [ 9.81320434e-01 -3.49987368e-02 -1.89170013e-01 1.89286240e+02] [ 1.89048645e-01 -6.77528870e-03 9.81944349e-01 5.08285577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8492541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.73, Y:189.64, Z:50.90 [[-3.84975650e-02 -9.99256636e-01 2.02785796e-03 4.47733623e+02] [ 9.81219127e-01 -3.81863586e-02 -1.89078893e-01 1.89643897e+02] [ 1.89015775e-01 -5.28930396e-03 9.81959806e-01 5.08951443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.8792541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.73, Y:189.26, Z:50.82 [[-2.53481234e-02 -9.99505904e-01 1.85854682e-02 4.47730087e+02] [ 9.85474057e-01 -2.81065746e-02 -1.67484039e-01 1.89262990e+02] [ 1.67923660e-01 1.40700907e-02 9.85699588e-01 5.08191876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9092541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.75, Y:189.28, Z:50.82 [[-3.12322274e-02 -9.98806860e-01 -3.75420484e-02 4.47750048e+02] [ 9.84188088e-01 -2.41797944e-02 -1.75468359e-01 1.89280716e+02] [ 1.74351242e-01 -4.24287045e-02 9.83769002e-01 5.08235824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.939254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.73, Y:189.31, Z:50.84 [[-3.13037465e-02 -9.99509016e-01 -1.34226853e-03 4.47732590e+02] [ 9.84083197e-01 -3.05855351e-02 -1.75056524e-01 1.89306764e+02] [ 1.74929520e-01 -6.80082897e-03 9.84557470e-01 5.08358289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9692541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.73, Y:189.33, Z:50.84 [[-3.15654259e-02 -9.99500852e-01 -1.29268335e-03 4.47732685e+02] [ 9.84074819e-01 -3.08518473e-02 -1.75056891e-01 1.89334782e+02] [ 1.74929630e-01 -6.79784245e-03 9.84557471e-01 5.08406289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 598.9992541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.73, Y:189.36, Z:50.85 [[-3.17733574e-02 -9.99494324e-01 -1.24478443e-03 4.47732458e+02] [ 9.84098639e-01 -3.10661330e-02 -1.74885004e-01 1.89362633e+02] [ 1.74757898e-01 -6.78167439e-03 9.84588079e-01 5.08458571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.0292541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.73, Y:189.39, Z:50.85 [[-3.16126601e-02 -9.99499483e-01 -1.19311524e-03 4.47732301e+02] [ 9.84122276e-01 -3.09176672e-02 -1.74778269e-01 1.89389814e+02] [ 1.74653901e-01 -6.69937727e-03 9.84607096e-01 5.08505449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.059254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.72, Y:189.43, Z:50.85 [[-2.55442449e-02 -9.98605826e-01 4.61941195e-02 4.47716765e+02] [ 9.85791180e-01 -3.28368418e-02 -1.64734608e-01 1.89427989e+02] [ 1.66021808e-01 4.13297344e-02 9.85255608e-01 5.08523828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.089254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.75, Y:189.45, Z:50.85 [[-3.31712135e-02 -9.98064474e-01 -5.26020510e-02 4.47754595e+02] [ 9.83775781e-01 -2.33213176e-02 -1.77880096e-01 1.89446405e+02] [ 1.76309055e-01 -5.76491224e-02 9.82645254e-01 5.08488907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1192541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.73, Y:189.47, Z:50.86 [[-3.36338885e-02 -9.99433662e-01 -1.05698811e-03 4.47729497e+02] [ 9.83240413e-01 -3.28992907e-02 -1.79320736e-01 1.89471676e+02] [ 1.79184406e-01 -7.07052708e-03 9.83790098e-01 5.08640073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1492541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.73, Y:189.50, Z:50.87 [[-3.45178725e-02 -9.99403569e-01 -1.01096124e-03 4.47729485e+02] [ 9.83128660e-01 -3.37739127e-02 -1.79770299e-01 1.89499579e+02] [ 1.79628935e-01 -7.19919324e-03 9.83708096e-01 5.08686964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.1792541539999 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:447.73, Y:189.53, Z:50.87 [[-3.69517856e-02 -9.99316591e-01 -9.57821293e-04 4.47727454e+02] [ 9.83115641e-01 -3.61807976e-02 -1.79372758e-01 1.89526127e+02] [ 1.79215518e-01 -7.56979278e-03 9.83780716e-01 5.08738174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.209254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.73, Y:189.55, Z:50.88 [[-3.78166539e-02 -9.99284283e-01 -9.06791494e-04 4.47726740e+02] [ 9.82989424e-01 -3.70367568e-02 -1.79889053e-01 1.89553754e+02] [ 1.79726719e-01 -7.69416850e-03 9.83686488e-01 5.08790358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2392541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.73, Y:189.58, Z:50.88 [[-4.07214710e-02 -9.99170176e-01 -8.49488202e-04 4.47725226e+02] [ 9.83052762e-01 -3.99124799e-02 -1.78925294e-01 1.89581241e+02] [ 1.78742913e-01 -8.12119290e-03 9.83862296e-01 5.08837491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2692541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.71, Y:189.62, Z:50.88 [[-3.61113542e-02 -9.98622656e-01 3.80625869e-02 4.47712979e+02] [ 9.84843693e-01 -4.20269251e-02 -1.68275483e-01 1.89619267e+02] [ 1.69643363e-01 3.14090431e-02 9.85004874e-01 5.08849758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.2992541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.73, Y:189.65, Z:50.88 [[-3.66794722e-02 -9.99325391e-01 -1.83827221e-03 4.47731772e+02] [ 9.85279042e-01 -3.58564348e-02 -1.67151206e-01 1.89651102e+02] [ 1.66972531e-01 -7.94222910e-03 9.85929559e-01 5.08801779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.329254154 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.73, Y:189.68, Z:50.88 [[-3.54405813e-02 -9.99354908e-01 5.80803773e-03 4.47728788e+02] [ 9.85710281e-01 -3.59131802e-02 -1.64576684e-01 1.89681926e+02] [ 1.64679102e-01 -1.07650825e-04 9.86347191e-01 5.08845332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3592541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.74, Y:189.70, Z:50.89 [[-3.22323233e-02 -9.99429277e-01 -1.01092571e-02 4.47735397e+02] [ 9.85983858e-01 -3.01388632e-02 -1.64095953e-01 1.89704590e+02] [ 1.63697618e-01 -1.52567581e-02 9.86392580e-01 5.08851884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.3892541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.75, Y:189.72, Z:50.90 [[-3.70060749e-02 -9.97771287e-01 -5.55248520e-02 4.47745911e+02] [ 9.84366492e-01 -2.68216535e-02 -1.74078167e-01 1.89721577e+02] [ 1.72200928e-01 -6.10987535e-02 9.83165186e-01 5.08984550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4192541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.72, Y:189.75, Z:50.92 [[-3.47343660e-02 -9.99396456e-01 -4.96808480e-04 4.47717557e+02] [ 9.84232420e-01 -3.41210577e-02 -1.73557762e-01 1.89747150e+02] [ 1.73436060e-01 -6.51739383e-03 9.84823566e-01 5.09155060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.449254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.72, Y:189.78, Z:50.92 [[-2.89490823e-02 -9.99580788e-01 -4.46923834e-04 4.47715287e+02] [ 9.84332252e-01 -2.84296613e-02 -1.74016583e-01 1.89775081e+02] [ 1.73930927e-01 -5.47754194e-03 9.84742621e-01 5.09200377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.4792541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.71, Y:189.80, Z:50.92 [[-2.63039140e-02 -9.99653914e-01 -3.96274675e-04 4.47714647e+02] [ 9.84394378e-01 -2.58333862e-02 -1.74069940e-01 1.89802708e+02] [ 1.73999460e-01 -4.96881130e-03 9.84733212e-01 5.09238314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5092541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:447.71, Y:189.83, Z:50.93 [[-2.39987488e-02 -9.99711928e-01 -3.46798468e-04 4.47713939e+02] [ 9.84338700e-01 -2.35690993e-02 -1.74704954e-01 1.89829519e+02] [ 1.74646453e-01 -4.53406745e-03 9.84620769e-01 5.09282613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5392541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.71, Y:189.86, Z:50.93 [[-2.05259975e-02 -9.99789274e-01 -3.01903256e-04 4.47712391e+02] [ 9.84300262e-01 -2.01550539e-02 -1.75347565e-01 1.89857422e+02] [ 1.75304529e-01 -3.89634713e-03 9.84506547e-01 5.09326625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.569254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.71, Y:189.89, Z:50.94 [[-1.99042964e-02 -9.99801859e-01 -2.50311866e-04 4.47711741e+02] [ 9.84252234e-01 -1.95507459e-02 -1.75685255e-01 1.89885018e+02] [ 1.75645550e-01 -3.74326140e-03 9.84446356e-01 5.09371917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.5992541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.71, Y:189.92, Z:50.94 [[-1.58592379e-02 -9.99868843e-01 3.28357755e-03 4.47713722e+02] [ 9.84754418e-01 -1.61882786e-02 -1.73195487e-01 1.89917223e+02] [ 1.73225926e-01 4.86769067e-04 9.84881994e-01 5.09395059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6292541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.71, Y:189.94, Z:50.94 [[-1.89010534e-02 -9.99806611e-01 -5.43060562e-03 4.47713134e+02] [ 9.84461057e-01 -1.76619716e-02 -1.74712568e-01 1.89940584e+02] [ 1.74582865e-01 -8.64847133e-03 9.84604503e-01 5.09449031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.6592541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.71, Y:189.97, Z:50.95 [[-1.89520143e-02 -9.99820387e-01 -1.19648792e-04 4.47710218e+02] [ 9.84480938e-01 -1.86403663e-02 -1.74498765e-01 1.89967796e+02] [ 1.74465193e-01 -3.42489506e-03 9.84657385e-01 5.09505595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.689254154 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:447.71, Y:190.00, Z:50.95 [[-1.93621804e-02 -9.99812533e-01 -6.88221323e-05 4.47710665e+02] [ 9.84468858e-01 -1.90530244e-02 -1.74522349e-01 1.89995886e+02] [ 1.74488320e-01 -3.44688644e-03 9.84653211e-01 5.09546835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7192541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.71, Y:190.02, Z:50.96 [[-1.99354722e-02 -9.99801269e-01 -1.88395847e-05 4.47710877e+02] [ 9.84478633e-01 -1.96266612e-02 -1.74403599e-01 1.90022882e+02] [ 1.74368570e-01 -3.49536527e-03 9.84674253e-01 5.09589221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7492541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.71, Y:190.02, Z:50.96 [[-1.99652515e-02 -9.99800674e-01 1.21894423e-05 4.47711258e+02] [ 9.84462777e-01 -1.96610929e-02 -1.74489204e-01 1.90024203e+02] [ 1.74454663e-01 -3.47172080e-03 9.84659087e-01 5.09590721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.7792541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:447.71, Y:190.05, Z:50.96 [[-2.13715368e-02 -9.99771601e-01 -5.44141506e-05 4.47711976e+02] [ 9.84659243e-01 -2.10390612e-02 -1.73215279e-01 1.90050633e+02] [ 1.73174572e-01 -3.75545610e-03 9.84883985e-01 5.09635282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.809254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:447.72, Y:190.09, Z:50.97 [[-2.05942727e-02 -9.99787292e-01 -1.11678423e-03 4.47720351e+02] [ 9.85197642e-01 -2.01035844e-02 -1.70239399e-01 1.90086607e+02] [ 1.70180736e-01 -4.60620980e-03 9.85402101e-01 5.09677958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.839254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.72, Y:190.13, Z:50.98 [[-3.26721891e-02 -9.99465942e-01 -5.99014454e-04 4.47716204e+02] [ 9.84743738e-01 -3.20884233e-02 -1.71026616e-01 1.90131425e+02] [ 1.70916056e-01 -6.17768966e-03 9.85266227e-01 5.09771291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8692541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.72, Y:190.13, Z:50.98 [[-3.65332506e-02 -9.99331786e-01 1.14194100e-03 4.47717776e+02] [ 9.84656368e-01 -3.61918228e-02 -1.70710250e-01 1.90133689e+02] [ 1.70637508e-01 -5.11218087e-03 9.85320611e-01 5.09777641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.8992541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:447.72, Y:190.14, Z:50.98 [[-3.84694769e-02 -9.99259200e-01 1.07280108e-03 4.47719116e+02] [ 9.84591896e-01 -3.80880453e-02 -1.70669564e-01 1.90138915e+02] [ 1.70583993e-01 -5.50929762e-03 9.85327737e-01 5.09785221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9292541539999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:447.72, Y:190.14, Z:50.98 [[-4.02381302e-02 -9.99189611e-01 1.00709993e-03 4.47720085e+02] [ 9.84420066e-01 -3.98159705e-02 -1.71265358e-01 1.90143114e+02] [ 1.71166665e-01 -5.89998839e-03 9.85224423e-01 5.09795386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.959254154 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:447.72, Y:190.15, Z:50.98 [[-4.37781178e-02 -9.99040834e-01 9.42910676e-04 4.47721834e+02] [ 9.84097322e-01 -4.32858871e-02 -1.72275338e-01 1.90148981e+02] [ 1.72150912e-01 -6.61397418e-03 9.85048384e-01 5.09799860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 599.9892541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:447.72, Y:190.15, Z:50.98 [[-4.45417038e-02 -9.99007141e-01 8.76533131e-04 4.47722819e+02] [ 9.83933969e-01 -4.40214606e-02 -1.73020392e-01 1.90151755e+02] [ 1.72887194e-01 -6.84417234e-03 9.84917852e-01 5.09803237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0192541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:447.72, Y:190.16, Z:50.98 [[-4.46372753e-02 -9.99002934e-01 8.07714685e-04 4.47723762e+02] [ 9.83872062e-01 -4.41013588e-02 -1.73351770e-01 1.90155195e+02] [ 1.73214548e-01 -6.94326274e-03 9.84859641e-01 5.09808864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.0492541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.72, Y:190.16, Z:50.98 [[-4.29500926e-02 -9.99076949e-01 7.34900964e-04 4.47724884e+02] [ 9.84055954e-01 -4.24313954e-02 -1.72723640e-01 1.90157690e+02] [ 1.72595390e-01 -6.69531266e-03 9.84970052e-01 5.09808757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.079254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.73, Y:190.16, Z:50.98 [[-4.11025234e-02 -9.99154713e-01 6.65437674e-04 4.47725076e+02] [ 9.84097217e-01 -4.05982696e-02 -1.72929024e-01 1.90163050e+02] [ 1.72809865e-01 -6.45296390e-03 9.84934064e-01 5.09822243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1092541539999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:447.72, Y:190.16, Z:50.98 [[-3.81336744e-02 -9.99272468e-01 5.98749511e-04 4.47724804e+02] [ 9.84003719e-01 -3.76553289e-02 -1.74122824e-01 1.90157207e+02] [ 1.74018690e-01 -6.05077132e-03 9.84723760e-01 5.09811573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1392541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:447.72, Y:190.16, Z:50.98 [[-3.61133936e-02 -9.99347558e-01 5.29931872e-04 4.47724408e+02] [ 9.83955576e-01 -3.56498748e-02 -1.74815651e-01 1.90161155e+02] [ 1.74720486e-01 -5.79175700e-03 9.84601040e-01 5.09818960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.1692541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.72, Y:190.16, Z:50.98 [[-3.25064404e-02 -9.99471420e-01 4.59938932e-04 4.47721941e+02] [ 9.84018141e-01 -3.20844463e-02 -1.75153896e-01 1.90161895e+02] [ 1.75076070e-01 -5.24104141e-03 9.84540960e-01 5.09821440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.199254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.72, Y:190.24, Z:51.00 [[-3.11664088e-02 -9.99513971e-01 -6.90398450e-04 4.47721497e+02] [ 9.84040933e-01 -3.05628510e-02 -1.75297901e-01 1.90237575e+02] [ 1.75191601e-01 -6.14278638e-03 9.84515195e-01 5.09950758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2292541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.72, Y:190.16, Z:50.98 [[-2.97077958e-02 -9.99557003e-01 1.80134769e-03 4.47719855e+02] [ 9.84070170e-01 -2.95634377e-02 -1.75305173e-01 1.90162358e+02] [ 1.75280767e-01 -3.43527774e-03 9.84512494e-01 5.09829415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2592541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.74, Y:190.31, Z:51.02 [[-3.33844968e-02 -9.98660490e-01 -3.95310154e-02 4.47736134e+02] [ 9.78482007e-01 -2.46007444e-02 -2.04860358e-01 1.90308199e+02] [ 2.03613453e-01 -4.55195472e-02 9.77992604e-01 5.10176349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.2892541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.70, Y:190.17, Z:50.99 [[-3.01991469e-02 -9.98710054e-01 4.08195912e-02 4.47699424e+02] [ 9.83654285e-01 -3.69470654e-02 -1.76236099e-01 1.90165010e+02] [ 1.77516928e-01 3.48301859e-02 9.83501194e-01 5.09933212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.319254154 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.72, Y:190.17, Z:50.98 [[-3.24407284e-02 -9.99473641e-01 1.97893045e-04 4.47716334e+02] [ 9.83755387e-01 -3.19655235e-02 -1.76645251e-01 1.90168083e+02] [ 1.76558598e-01 -5.53582226e-03 9.84274563e-01 5.09845028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3492541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.72, Y:190.18, Z:50.99 [[-3.32050173e-02 -9.99448553e-01 1.26513318e-04 4.47715171e+02] [ 9.83789321e-01 -3.27070845e-02 -1.76320219e-01 1.90177037e+02] [ 1.76227125e-01 -5.73025346e-03 9.84332853e-01 5.09862983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.3792541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.72, Y:190.20, Z:50.99 [[-3.46957372e-02 -9.99378840e-01 -6.17579341e-03 4.47715758e+02] [ 9.83641760e-01 -3.30551178e-02 -1.77076954e-01 1.90195475e+02] [ 1.76762820e-01 -1.22185838e-02 9.84177632e-01 5.09877675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4092541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.71, Y:190.22, Z:51.00 [[-3.49714221e-02 -9.99357680e-01 7.82478352e-03 4.47708342e+02] [ 9.83197507e-01 -3.58074400e-02 -1.78998573e-01 1.90219492e+02] [ 1.79163784e-01 1.43347298e-03 9.83818217e-01 5.09952953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.439254154 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.71, Y:190.25, Z:51.00 [[-3.66610932e-02 -9.99327731e-01 -2.22259824e-04 4.47711337e+02] [ 9.83115277e-01 -3.60264256e-02 -1.79405820e-01 1.90246667e+02] [ 1.79277204e-01 -6.79572053e-03 9.83775128e-01 5.09982352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4692541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.73, Y:190.27, Z:51.01 [[-4.32661525e-02 -9.97166735e-01 -6.15348897e-02 4.47734524e+02] [ 9.80708460e-01 -3.06383556e-02 -1.93060113e-01 1.90269065e+02] [ 1.90627795e-01 -6.87007552e-02 9.79255457e-01 5.10095537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.4992541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.68, Y:190.30, Z:51.02 [[-3.98407269e-02 -9.97198968e-01 6.33003602e-02 4.47678764e+02] [ 9.82512143e-01 -5.06281804e-02 -1.79183360e-01 1.90299634e+02] [ 1.81886244e-01 5.50545772e-02 9.81777158e-01 5.10241099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.5292541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.71, Y:190.33, Z:51.01 [[-4.00651691e-02 -9.99197064e-01 -9.62560602e-05 4.47705568e+02] [ 9.82931410e-01 -3.93956477e-02 -1.79704829e-01 1.90329413e+02] [ 1.79556745e-01 -7.29451747e-03 9.83720573e-01 5.10128087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.559254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.70, Y:190.36, Z:51.02 [[-3.96900685e-02 -9.99212038e-01 -4.31001269e-05 4.47703007e+02] [ 9.83030420e-01 -3.90395811e-02 -1.79240354e-01 1.90355906e+02] [ 1.79097437e-01 -7.15643067e-03 9.83805313e-01 5.10182809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.589254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.70, Y:190.36, Z:51.02 [[-3.79646117e-02 -9.99279084e-01 -6.59614657e-07 4.47700665e+02] [ 9.83060490e-01 -3.73483165e-02 -1.79435714e-01 1.90359149e+02] [ 1.79306331e-01 -6.81285565e-03 9.83769701e-01 5.10193648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6192541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:447.70, Y:190.39, Z:51.02 [[-3.48046800e-02 -9.99394131e-01 -6.80558012e-05 4.47697304e+02] [ 9.83091620e-01 -3.42246825e-02 -1.79887568e-01 1.90386844e+02] [ 1.79776250e-01 -6.32783432e-03 9.83687175e-01 5.10247635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6492541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.70, Y:190.41, Z:51.03 [[-3.28697358e-02 -9.99459644e-01 -1.68292492e-05 4.47696066e+02] [ 9.83200559e-01 -3.23319902e-02 -1.79642154e-01 1.90414604e+02] [ 1.79544539e-01 -5.92133666e-03 9.83732025e-01 5.10296226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.6792541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.69, Y:190.60, Z:51.06 [[-2.86419268e-02 -9.99587147e-01 -2.27520556e-03 4.47694475e+02] [ 9.83317634e-01 -2.77665729e-02 -1.79764983e-01 1.90595742e+02] [ 1.79627592e-01 -7.38606523e-03 9.83706956e-01 5.10605532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.709254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.69, Y:190.62, Z:51.07 [[-2.74021862e-02 -9.99624445e-01 2.97485467e-04 4.47691650e+02] [ 9.83328430e-01 -2.70089863e-02 -1.79821336e-01 1.90624462e+02] [ 1.79761838e-01 -4.63497183e-03 9.83699242e-01 5.10664451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7392541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:447.69, Y:190.65, Z:51.07 [[-2.55628840e-02 -9.99671066e-01 2.07323393e-03 4.47689302e+02] [ 9.83209418e-01 -2.55166700e-02 -1.80687963e-01 1.90651187e+02] [ 1.80681431e-01 -2.58048232e-03 9.83538287e-01 5.10718068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7692541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.69, Y:190.65, Z:51.07 [[-2.40923050e-02 -9.99709737e-01 4.82030418e-05 4.47688844e+02] [ 9.83181192e-01 -2.37027102e-02 -1.81088168e-01 1.90653324e+02] [ 1.81036748e-01 -4.31543906e-03 9.83466864e-01 5.10717176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.7992541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:447.69, Y:190.68, Z:51.08 [[-2.31309932e-02 -9.99732443e-01 -1.84811899e-05 4.47687482e+02] [ 9.82974274e-01 -2.27398858e-02 -1.82330673e-01 1.90680510e+02] [ 1.82281469e-01 -4.23565609e-03 9.83237268e-01 5.10764048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.829254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.69, Y:190.78, Z:51.09 [[-2.24512894e-02 -9.99746282e-01 -1.81985382e-03 4.47688015e+02] [ 9.82929058e-01 -2.17410610e-02 -1.82695905e-01 1.90783088e+02] [ 1.82609986e-01 -5.89054585e-03 9.83167785e-01 5.10935982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8592541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.69, Y:190.81, Z:51.10 [[-2.27764435e-02 -9.99740183e-01 -8.94690207e-04 4.47687484e+02] [ 9.82924797e-01 -2.22298827e-02 -1.82660003e-01 1.90811001e+02] [ 1.82592656e-01 -5.03975843e-03 9.83175734e-01 5.10987223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.8892541539999 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:447.69, Y:190.84, Z:51.10 [[-2.29627567e-02 -9.99734894e-01 1.68914642e-03 4.47685806e+02] [ 9.82933752e-01 -2.28852569e-02 -1.82530831e-01 1.90837761e+02] [ 1.82521098e-01 -2.53109202e-03 9.83198679e-01 5.11038818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9192541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:447.69, Y:190.86, Z:51.11 [[-2.38085809e-02 -9.99716532e-01 -7.92375022e-05 4.47685585e+02] [ 9.82871098e-01 -2.33929122e-02 -1.82803656e-01 1.90864732e+02] [ 1.82749983e-01 -4.43017587e-03 9.83149438e-01 5.11088914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.949254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.68, Y:190.89, Z:51.11 [[-2.47297736e-02 -9.99694171e-01 -4.73627634e-05 4.47684306e+02] [ 9.82836147e-01 -2.43040870e-02 -1.82872688e-01 1.90891989e+02] [ 1.82815610e-01 -4.56895003e-03 9.83136602e-01 5.11140299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 600.9792541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.68, Y:190.90, Z:51.12 [[-2.63227519e-02 -9.99653496e-01 -7.93562081e-07 4.47682298e+02] [ 9.82773807e-01 -2.58781327e-02 -1.82991714e-01 1.90897064e+02] [ 1.82928286e-01 -4.81762537e-03 9.83114456e-01 5.11150605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0092541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:447.68, Y:190.92, Z:51.12 [[-2.74619545e-02 -9.99622652e-01 -6.28116307e-04 4.47682063e+02] [ 9.82820492e-01 -2.68856258e-02 -1.82595301e-01 1.90924494e+02] [ 1.82509512e-01 -5.63174943e-03 9.83187958e-01 5.11195455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0392541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.68, Y:190.95, Z:51.12 [[-3.05017472e-02 -9.99534320e-01 8.87293793e-04 4.47682019e+02] [ 9.82871662e-01 -3.01546621e-02 -1.81807570e-01 1.90952224e+02] [ 1.81749661e-01 -4.67335260e-03 9.83333728e-01 5.11248235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.069254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.68, Y:190.96, Z:51.12 [[-3.12169302e-02 -9.99512633e-01 -3.27666324e-06 4.47682785e+02] [ 9.82932241e-01 -3.06984943e-02 -1.81388565e-01 1.90955846e+02] [ 1.81300062e-01 -5.66561492e-03 9.83411505e-01 5.11249954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.0992541539999 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:447.67, Y:190.99, Z:51.13 [[-2.85394384e-02 -9.98879024e-01 3.77650054e-02 4.47669300e+02] [ 9.84420431e-01 -3.46437221e-02 -1.72383956e-01 1.90989258e+02] [ 1.73499038e-01 3.22569016e-02 9.84305632e-01 5.11293558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1292541539999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:447.70, Y:191.00, Z:51.12 [[-3.73880351e-02 -9.98815725e-01 -3.11333053e-02 4.47696811e+02] [ 9.81225628e-01 -3.07951328e-02 -1.90388885e-01 1.90995979e+02] [ 1.89204657e-01 -3.76670633e-02 9.81214956e-01 5.11217299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.1592541539999 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:447.68, Y:191.00, Z:51.13 [[-3.67777027e-02 -9.99323327e-01 5.37299416e-04 4.47680746e+02] [ 9.81020293e-01 -3.62065254e-02 -1.90494808e-01 1.90995034e+02] [ 1.90385360e-01 -6.47885981e-03 9.81688056e-01 5.11300100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.189254154 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:447.68, Y:191.00, Z:51.13 [[-3.57593020e-02 -9.99360326e-01 4.60021701e-04 4.47679823e+02] [ 9.81066599e-01 -3.51923779e-02 -1.90446383e-01 1.90997549e+02] [ 1.90340749e-01 -6.35891779e-03 9.81697491e-01 5.11308208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2192541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:447.68, Y:191.00, Z:51.13 [[-3.28968420e-02 -9.99458679e-01 3.82999800e-04 4.47678542e+02] [ 9.81153875e-01 -3.23673457e-02 -1.90497846e-01 1.90998226e+02] [ 1.90407122e-01 -5.89099578e-03 9.81687539e-01 5.11314638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2492541539999 meters Centerline goodness : 0.996551 Centerline is valid? [True, True] Translation: X:447.68, Y:191.60, Z:51.24 [[-3.15326466e-02 -9.99499375e-01 -2.58670782e-03 4.47678706e+02] [ 9.81092744e-01 -3.04573098e-02 -1.91126608e-01 1.91597849e+02] [ 1.90952141e-01 -8.56452805e-03 9.81561984e-01 5.12414456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.2792541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.67, Y:191.02, Z:51.14 [[-2.56848634e-02 -9.99662646e-01 3.85784604e-03 4.47674897e+02] [ 9.81324262e-01 -2.59492490e-02 -1.90602545e-01 1.91015891e+02] [ 1.90638353e-01 -1.10980242e-03 9.81659710e-01 5.11357808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.309254154 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:447.68, Y:191.04, Z:51.14 [[-1.94041935e-02 -9.99811148e-01 -1.07047419e-03 4.47675357e+02] [ 9.81471120e-01 -1.88440949e-02 -1.90681256e-01 1.91043684e+02] [ 1.90625074e-01 -4.75065549e-03 9.81651421e-01 5.11401806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.339254154 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:447.67, Y:191.07, Z:51.15 [[-1.74202835e-02 -9.99847897e-01 8.47000181e-04 4.47672520e+02] [ 9.81581541e-01 -1.72632065e-02 -1.90262082e-01 1.91071996e+02] [ 1.90247764e-01 -2.48301965e-03 9.81732969e-01 5.11467204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3692541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.67, Y:191.10, Z:51.15 [[-1.16124623e-02 -9.99932552e-01 -2.05199901e-04 4.47671055e+02] [ 9.81714357e-01 -1.13618951e-02 -1.90020599e-01 1.91098308e+02] [ 1.90005451e-01 -2.40805474e-03 9.81780082e-01 5.11512495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.3992541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:447.67, Y:191.13, Z:51.16 [[-9.43721093e-03 -9.99955454e-01 -1.72816610e-04 4.47670341e+02] [ 9.81655800e-01 -9.23159321e-03 -1.90438097e-01 1.91125639e+02] [ 1.90428018e-01 -1.96685092e-03 9.81699191e-01 5.11560288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4292541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.67, Y:191.15, Z:51.16 [[-7.42403909e-03 -9.99972435e-01 -1.18070050e-04 4.47669696e+02] [ 9.81600624e-01 -7.26511304e-03 -1.90807318e-01 1.91152395e+02] [ 1.90801200e-01 -1.53245862e-03 9.81627502e-01 5.11608624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.459254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:447.67, Y:191.18, Z:51.17 [[-5.07945384e-03 -9.99987097e-01 -6.81281455e-05 4.47669167e+02] [ 9.81484083e-01 -4.97242214e-03 -1.91479162e-01 1.91180289e+02] [ 1.91476352e-01 -1.03947625e-03 9.81496677e-01 5.11655491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.4892541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:447.63, Y:191.23, Z:51.17 [[ 6.92193299e-03 -9.94579454e-01 1.03748722e-01 4.47633522e+02] [ 9.86113826e-01 -1.04263498e-02 -1.65743219e-01 1.91231419e+02] [ 1.65926520e-01 1.03455313e-01 9.80696379e-01 5.11722920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5192541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:447.71, Y:191.28, Z:51.16 [[-1.78113940e-02 -9.95850871e-01 -8.92401082e-02 4.47714559e+02] [ 9.76066677e-01 2.02964593e-03 -2.17462004e-01 1.91282553e+02] [ 2.16740852e-01 -9.09775973e-02 9.71980699e-01 5.11579004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.5492541539999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:447.67, Y:191.28, Z:51.18 [[-1.71045128e-02 -9.99850493e-01 2.53522224e-03 4.47670633e+02] [ 9.75945941e-01 -1.72466367e-02 -2.17329414e-01 1.91280124e+02] [ 2.17340646e-01 -1.24307388e-03 9.76095025e-01 5.11824842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.579254154 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:447.67, Y:191.29, Z:51.18 [[-1.88793755e-02 -9.99818786e-01 2.44216321e-03 4.47672504e+02] [ 9.76034806e-01 -1.89597925e-02 -2.16786956e-01 1.91287148e+02] [ 2.16793974e-01 -1.70916606e-03 9.76215884e-01 5.11842450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6092541539999 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:447.67, Y:191.29, Z:51.18 [[-1.99112543e-02 -9.99798982e-01 2.35336702e-03 4.47673946e+02] [ 9.76051136e-01 -1.99482097e-02 -2.16624674e-01 1.91286728e+02] [ 2.16628074e-01 -2.01626242e-03 9.76252125e-01 5.11840297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6392541539999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:447.68, Y:191.29, Z:51.19 [[-2.09387241e-02 -9.99778195e-01 2.26493762e-03 4.47675623e+02] [ 9.76060121e-01 -2.09324357e-02 -2.16491278e-01 1.91291236e+02] [ 2.16490670e-01 -2.32233583e-03 9.76281925e-01 5.11850065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.6692541539999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:447.68, Y:191.30, Z:51.19 [[-2.34789228e-02 -9.99721969e-01 2.17372696e-03 4.47680176e+02] [ 9.76100429e-01 -2.33939400e-02 -2.16057112e-01 1.91296988e+02] [ 2.16047894e-01 -2.95101244e-03 9.76378307e-01 5.11853606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.699254154 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:447.68, Y:191.30, Z:51.19 [[-2.47320339e-02 -9.99691966e-01 2.07359739e-03 4.47682042e+02] [ 9.76383207e-01 -2.46005989e-02 -2.14640733e-01 1.91300650e+02] [ 2.14625628e-01 -3.28387621e-03 9.76690870e-01 5.11858639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7292541539999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:447.69, Y:191.31, Z:51.19 [[-2.62162319e-02 -9.99654337e-01 1.97883733e-03 4.47685818e+02] [ 9.76548962e-01 -2.60333414e-02 -2.13715677e-01 1.91305335e+02] [ 2.13693319e-01 -3.67038822e-03 9.76893901e-01 5.11863140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7592541539999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:447.69, Y:191.31, Z:51.19 [[-2.65991564e-02 -9.99644392e-01 1.89041355e-03 4.47687383e+02] [ 9.76595037e-01 -2.63895186e-02 -2.13461299e-01 1.91308281e+02] [ 2.13435278e-01 -3.83172198e-03 9.76949692e-01 5.11866784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.7892541539999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:447.69, Y:191.31, Z:51.19 [[-2.69847157e-02 -9.99634215e-01 1.80598327e-03 4.47689234e+02] [ 9.76536203e-01 -2.67472485e-02 -2.13685820e-01 1.91312347e+02] [ 2.13655962e-01 -4.00264304e-03 9.76900767e-01 5.11875201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.819254154 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:447.69, Y:191.32, Z:51.19 [[-2.83361294e-02 -9.99596968e-01 1.72228045e-03 4.47692600e+02] [ 9.76422825e-01 -2.80479792e-02 -2.14036861e-01 1.91315994e+02] [ 2.13998903e-01 -4.38330224e-03 9.76824066e-01 5.11878830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8492541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:447.69, Y:191.32, Z:51.19 [[-2.92291353e-02 -9.99571394e-01 1.63894685e-03 4.47694397e+02] [ 9.76299075e-01 -2.89002983e-02 -2.14487504e-01 1.91316096e+02] [ 2.14442940e-01 -4.66918200e-03 9.76725358e-01 5.11878012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.8792541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.70, Y:191.32, Z:51.19 [[-3.09222585e-02 -9.99520590e-01 1.55044776e-03 4.47699390e+02] [ 9.76305567e-01 -3.05363667e-02 -2.14231113e-01 1.91323846e+02] [ 2.14175753e-01 -5.11079906e-03 9.76781770e-01 5.11881722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9092541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.70, Y:191.33, Z:51.19 [[-3.12909908e-02 -9.99509250e-01 1.46040576e-03 4.47701960e+02] [ 9.76407934e-01 -3.08800363e-02 -2.13714691e-01 1.91325430e+02] [ 2.13654908e-01 -5.26139267e-03 9.76895029e-01 5.11882604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.939254154 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.70, Y:191.33, Z:51.19 [[-3.13582539e-02 -9.99507267e-01 1.37202999e-03 4.47703941e+02] [ 9.76469447e-01 -3.09284438e-02 -2.13426453e-01 1.91329423e+02] [ 2.13363726e-01 -5.35293555e-03 9.76958170e-01 5.11890364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9692541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:447.71, Y:191.33, Z:51.19 [[-3.09367016e-02 -9.99520529e-01 1.27795997e-03 4.47707606e+02] [ 9.76773714e-01 -3.05038265e-02 -2.12091086e-01 1.91334633e+02] [ 2.12028377e-01 -5.31312094e-03 9.77249066e-01 5.11893632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 601.9992541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.71, Y:191.33, Z:51.19 [[-2.98311585e-02 -9.99554240e-01 1.19311173e-03 4.47709315e+02] [ 9.76753801e-01 -2.94041476e-02 -2.12337960e-01 1.91334070e+02] [ 2.12278390e-01 -5.16891092e-03 9.77195563e-01 5.11892965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.0292541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.71, Y:191.34, Z:51.19 [[-2.79214505e-02 -9.99609506e-01 1.10830564e-03 4.47712190e+02] [ 9.76746110e-01 -2.75185684e-02 -2.12625882e-01 1.91337770e+02] [ 2.12573352e-01 -4.85428981e-03 9.77133054e-01 5.11899808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.059254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.71, Y:191.34, Z:51.19 [[-2.68515506e-02 -9.99638909e-01 1.02313149e-03 4.47713594e+02] [ 9.76722334e-01 -2.64538555e-02 -2.12870093e-01 1.91339722e+02] [ 2.12820293e-01 -4.71657668e-03 9.77079975e-01 5.11898864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.089254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.72, Y:191.34, Z:51.19 [[-2.56097667e-02 -9.99671576e-01 9.38575594e-04 4.47715019e+02] [ 9.76657483e-01 -2.52204673e-02 -2.13316873e-01 1.91339250e+02] [ 2.13270485e-01 -4.54632846e-03 9.76982616e-01 5.11893361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1192541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.72, Y:191.34, Z:51.19 [[-2.45370515e-02 -9.99698556e-01 8.54554306e-04 4.47717353e+02] [ 9.76540486e-01 -2.41515580e-02 -2.13975187e-01 1.91340794e+02] [ 2.13931325e-01 -4.41581331e-03 9.76838722e-01 5.11896226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1492541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.72, Y:191.35, Z:51.19 [[-2.44554719e-02 -9.99700625e-01 7.68135263e-04 4.47718719e+02] [ 9.76535189e-01 -2.40532187e-02 -2.14010437e-01 1.91345277e+02] [ 2.13964843e-01 -4.48361510e-03 9.76831072e-01 5.11907438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.1792541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.72, Y:191.35, Z:51.19 [[-2.61409624e-02 -9.99658036e-01 6.79597066e-04 4.47722193e+02] [ 9.76646052e-01 -2.56842182e-02 -2.13313876e-01 1.91349975e+02] [ 2.13258385e-01 -4.91250421e-03 9.76983484e-01 5.11916925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.209254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.72, Y:191.35, Z:51.19 [[-2.69090521e-02 -9.99637710e-01 5.93273240e-04 4.47723774e+02] [ 9.76617000e-01 -2.64159873e-02 -2.13357519e-01 1.91351793e+02] [ 2.13295894e-01 -5.16184787e-03 9.76974010e-01 5.11920572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2392541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.73, Y:191.36, Z:51.19 [[-2.89258428e-02 -9.99581432e-01 5.06239649e-04 4.47726756e+02] [ 9.76619103e-01 -2.83692833e-02 -2.13096953e-01 1.91355765e+02] [ 2.13022120e-01 -5.66960567e-03 9.77030927e-01 5.11923845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2692541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.73, Y:191.36, Z:51.19 [[-2.93235639e-02 -9.99569884e-01 4.20085673e-04 4.47728246e+02] [ 9.76572561e-01 -2.87385366e-02 -2.13260707e-01 1.91357547e+02] [ 2.13181053e-01 -5.84331983e-03 9.76995238e-01 5.11926109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.2992541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.73, Y:191.36, Z:51.19 [[-3.00523308e-02 -9.99548271e-01 3.32745171e-04 4.47729029e+02] [ 9.76706276e-01 -2.94363229e-02 -2.12552003e-01 1.91364269e+02] [ 2.12465782e-01 -6.06268881e-03 9.77149700e-01 5.11938849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.329254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.73, Y:191.37, Z:51.19 [[-3.12365820e-02 -9.99511989e-01 2.46153961e-04 4.47731430e+02] [ 9.76745551e-01 -3.05773510e-02 -2.12210166e-01 1.91369418e+02] [ 2.12114132e-01 -6.38829047e-03 9.77224020e-01 5.11942858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3592541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.73, Y:191.37, Z:51.19 [[-3.19309313e-02 -9.99490065e-01 1.59750277e-04 4.47732298e+02] [ 9.76720584e-01 -3.12374306e-02 -2.12228941e-01 1.91371900e+02] [ 2.12125709e-01 -6.62063637e-03 9.77219960e-01 5.11944924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.3892541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.73, Y:191.38, Z:51.19 [[-3.24332026e-02 -9.99473903e-01 7.32823983e-05 4.47733127e+02] [ 9.76750092e-01 -3.17113544e-02 -2.12022753e-01 1.91375947e+02] [ 2.11913533e-01 -6.80499832e-03 9.77264727e-01 5.11948002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4192541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.73, Y:191.40, Z:51.20 [[-3.56057114e-02 -9.99365916e-01 -9.24656976e-06 4.47733465e+02] [ 9.76726195e-01 -3.47971383e-02 -2.11648527e-01 1.91403683e+02] [ 2.11514002e-01 -7.54492775e-03 9.77345845e-01 5.12007450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.449254154 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.73, Y:191.41, Z:51.20 [[-3.68685033e-02 -9.99320124e-01 5.07903439e-05 4.47733537e+02] [ 9.76801489e-01 -3.60484388e-02 -2.11090886e-01 1.91409326e+02] [ 2.10949201e-01 -7.73299294e-03 9.77466437e-01 5.12017652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.4792541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.73, Y:191.43, Z:51.21 [[-4.01302007e-02 -9.99109043e-01 1.30647261e-02 4.47728086e+02] [ 9.75639682e-01 -4.20031435e-02 -2.15320567e-01 1.91434703e+02] [ 2.15677485e-01 4.10560767e-03 9.76456024e-01 5.12096741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5092541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.74, Y:191.43, Z:51.20 [[-4.15447332e-02 -9.99099129e-01 -8.65821494e-03 4.47738467e+02] [ 9.75589818e-01 -3.86938742e-02 -2.16164963e-01 1.91431236e+02] [ 2.15635206e-01 -1.74273820e-02 9.76318465e-01 5.12036090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5392541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:447.73, Y:191.46, Z:51.21 [[-4.34184026e-02 -9.99056952e-01 -2.21188609e-04 4.47734393e+02] [ 9.75495334e-01 -4.23466280e-02 -2.15906500e-01 1.91457829e+02] [ 2.15693523e-01 -9.59008378e-03 9.76414018e-01 5.12109282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.569254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.73, Y:191.49, Z:51.22 [[-4.68103652e-02 -9.98903782e-01 -1.56550466e-04 4.47734550e+02] [ 9.75481576e-01 -4.56790195e-02 -2.15288464e-01 1.91485105e+02] [ 2.15045310e-01 -1.02304437e-02 9.76550487e-01 5.12169072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.5992541539999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:447.75, Y:191.52, Z:51.23 [[-4.70110135e-02 -9.98623787e-01 -2.32485841e-02 4.47747020e+02] [ 9.74647487e-01 -4.07605276e-02 -2.20001945e-01 1.91515383e+02] [ 2.18751551e-01 -3.30016885e-02 9.75222358e-01 5.12266025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6292541539999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:447.73, Y:191.56, Z:51.24 [[-5.17157443e-02 -9.98526797e-01 1.64230815e-02 4.47727314e+02] [ 9.76532608e-01 -5.40056955e-02 -2.08488492e-01 1.91559769e+02] [ 2.09068286e-01 5.25553705e-03 9.77886922e-01 5.12376244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.6592541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.73, Y:191.56, Z:51.24 [[-5.05386745e-02 -9.98721878e-01 6.73092284e-04 4.47732162e+02] [ 9.76554547e-01 -4.95581184e-02 -2.09487969e-01 1.91560434e+02] [ 2.09253575e-01 -9.92993295e-03 9.77810993e-01 5.12350292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.689254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.73, Y:191.56, Z:51.24 [[-4.94834221e-02 -9.98774772e-01 5.88404477e-04 4.47730683e+02] [ 9.76477407e-01 -4.85024905e-02 -2.10093746e-01 1.91564101e+02] [ 2.09864873e-01 -9.82159386e-03 9.77681068e-01 5.12356966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7192541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.73, Y:191.56, Z:51.23 [[-4.66339664e-02 -9.98911918e-01 5.03850670e-04 4.47729042e+02] [ 9.76420932e-01 -4.56904007e-02 -2.10984719e-01 1.91560159e+02] [ 2.10778171e-01 -9.34708394e-03 9.77489230e-01 5.12348306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7492541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.73, Y:191.57, Z:51.24 [[-4.52316592e-02 -9.98976438e-01 4.17413827e-04 4.47727998e+02] [ 9.76472608e-01 -4.43009128e-02 -2.11041879e-01 1.91565510e+02] [ 2.10844356e-01 -9.13818118e-03 9.77476931e-01 5.12363912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.7792541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.73, Y:191.57, Z:51.24 [[-4.48313145e-02 -9.98994516e-01 3.30991216e-04 4.47727960e+02] [ 9.76491073e-01 -4.38913635e-02 -2.11042016e-01 1.91568067e+02] [ 2.10844344e-01 -9.13808102e-03 9.77476935e-01 5.12369059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.809254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.73, Y:191.57, Z:51.24 [[-4.33238616e-02 -9.99061051e-01 2.44426730e-04 4.47726895e+02] [ 9.76568341e-01 -4.24000947e-02 -2.10989352e-01 1.91570645e+02] [ 2.10801607e-01 -8.90217409e-03 9.77488329e-01 5.12376069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.839254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.73, Y:191.57, Z:51.24 [[-4.17354055e-02 -9.99128686e-01 1.57841657e-04 4.47725956e+02] [ 9.76686410e-01 -4.08312457e-02 -2.10752143e-01 1.91572346e+02] [ 2.10574957e-01 -8.64166437e-03 9.77539518e-01 5.12379678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8692541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.72, Y:191.57, Z:51.24 [[-3.86954901e-02 -9.99251047e-01 7.15068181e-05 4.47724162e+02] [ 9.76947010e-01 -3.78468125e-02 -2.10100354e-01 1.91572867e+02] [ 2.09945705e-01 -8.06007781e-03 9.77679823e-01 5.12386360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.8992541539999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:447.72, Y:191.60, Z:51.24 [[-3.79456889e-02 -9.99279803e-01 -1.05187405e-05 4.47722682e+02] [ 9.77050428e-01 -3.70993641e-02 -2.09752470e-01 1.91599635e+02] [ 2.09601017e-01 -7.96947933e-03 9.77754520e-01 5.12447594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9292541539999 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:447.72, Y:191.60, Z:51.25 [[-3.55277397e-02 -9.99368689e-01 4.83556530e-05 4.47720022e+02] [ 9.77086999e-01 -3.47457819e-02 -2.09985062e-01 1.91604241e+02] [ 2.09854177e-01 -7.41304695e-03 9.77704593e-01 5.12457580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.959254154 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:447.72, Y:191.63, Z:51.25 [[-3.51678404e-02 -9.99381420e-01 -3.33957744e-05 4.47719170e+02] [ 9.76911122e-01 -3.43700732e-02 -2.10863362e-01 1.91630419e+02] [ 2.10731778e-01 -7.44823376e-03 9.77515545e-01 5.12507187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 602.9892541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.72, Y:191.64, Z:51.25 [[-3.43845025e-02 -9.99408678e-01 1.78435888e-05 4.47717921e+02] [ 9.76506099e-01 -3.36003431e-02 -2.12854072e-01 1.91636469e+02] [ 2.12728807e-01 -7.30145701e-03 9.77084000e-01 5.12516241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0192541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.72, Y:191.66, Z:51.26 [[-3.49360588e-02 -9.99389548e-01 -6.30976968e-05 4.47717059e+02] [ 9.76441699e-01 -3.41204095e-02 -2.13066669e-01 1.91663839e+02] [ 2.12934449e-01 -7.50532090e-03 9.77037661e-01 5.12573969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.0492541539999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:447.72, Y:191.69, Z:51.26 [[-3.53321213e-02 -9.99375626e-01 1.44465897e-06 4.47715818e+02] [ 9.76436154e-01 -3.45214227e-02 -2.13027485e-01 1.91689943e+02] [ 2.12894526e-01 -7.52530232e-03 9.77046207e-01 5.12634517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.079254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.72, Y:191.66, Z:51.26 [[-3.12162180e-02 -9.99412590e-01 -1.41429323e-02 4.47721568e+02] [ 9.74773683e-01 -2.73118737e-02 -2.21518233e-01 1.91656139e+02] [ 2.21001841e-01 -2.07011197e-02 9.75053665e-01 5.12594037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1092541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.71, Y:191.69, Z:51.27 [[-2.77141653e-02 -9.99525077e-01 1.34738897e-02 4.47708390e+02] [ 9.75824227e-01 -2.99753720e-02 -2.16491466e-01 1.91685178e+02] [ 2.16792534e-01 7.14826774e-03 9.76191528e-01 5.12671659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1392541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.71, Y:191.71, Z:51.27 [[-2.51220860e-02 -9.99680727e-01 -2.70647217e-03 4.47711359e+02] [ 9.76475833e-01 -2.39587847e-02 -2.14291682e-01 1.91707767e+02] [ 2.14158421e-01 -8.02625873e-03 9.76765965e-01 5.12668719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.1692541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.71, Y:191.73, Z:51.27 [[-2.18658576e-02 -9.99760800e-01 -4.76926635e-04 4.47708425e+02] [ 9.76555049e-01 -2.12561328e-02 -2.14215812e-01 1.91734271e+02] [ 2.14154434e-01 -5.14975754e-03 9.76786240e-01 5.12732340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.199254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.71, Y:191.76, Z:51.28 [[-1.81546474e-02 -9.99835097e-01 -4.33940839e-04 4.47706559e+02] [ 9.76544556e-01 -1.76386106e-02 -2.14591728e-01 1.91761163e+02] [ 2.14548687e-01 -4.31959972e-03 9.76703743e-01 5.12791775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2292541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.70, Y:191.79, Z:51.28 [[-1.45356986e-02 -9.99894282e-01 -3.71467082e-04 4.47704760e+02] [ 9.76567013e-01 -1.41168036e-02 -2.14750051e-01 1.91788115e+02] [ 2.14722104e-01 -3.48430452e-03 9.76668970e-01 5.12844361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2592541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.70, Y:191.82, Z:51.29 [[-7.40776297e-03 -9.99972514e-01 -3.09804964e-04 4.47701636e+02] [ 9.76503992e-01 -7.16718129e-03 -2.15380094e-01 1.91815140e+02] [ 2.15371954e-01 -1.89801047e-03 9.76530245e-01 5.12898097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.2892541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.70, Y:191.84, Z:51.30 [[-4.93450850e-03 -9.99987795e-01 -2.47382318e-04 4.47700173e+02] [ 9.76559049e-01 -4.76566117e-03 -2.15196917e-01 1.91842386e+02] [ 2.15193112e-01 -1.30347446e-03 9.76570646e-01 5.12956592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.319254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.72, Y:191.86, Z:51.31 [[-8.48491988e-03 -9.97698537e-01 -6.72728368e-02 4.47722496e+02] [ 9.73059111e-01 7.26283016e-03 -2.30441354e-01 1.91860205e+02] [ 2.30399593e-01 -6.74157232e-02 9.70758027e-01 5.13080149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3492541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.67, Y:191.89, Z:51.33 [[-1.43094881e-03 -9.97382502e-01 7.22917498e-02 4.47665103e+02] [ 9.76849696e-01 -1.68589936e-02 -2.13261450e-01 1.91893560e+02] [ 2.13922004e-01 7.03130076e-02 9.74316918e-01 5.13256873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.3792541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.70, Y:191.93, Z:51.31 [[-3.14543199e-03 -9.99995009e-01 2.97289605e-04 4.47698399e+02] [ 9.76684171e-01 -3.13592497e-03 -2.14658326e-01 1.91925514e+02] [ 2.14658186e-01 -3.84835112e-04 9.76689160e-01 5.13127509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4092541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.70, Y:191.95, Z:51.32 [[-3.61462630e-03 -9.99991922e-01 -1.75780456e-03 4.47698389e+02] [ 9.76923619e-01 -3.15583264e-03 -2.13565641e-01 1.91950864e+02] [ 2.13558369e-01 -2.48920078e-03 9.76927135e-01 5.13178973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.439254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.70, Y:191.98, Z:51.32 [[-8.30598294e-03 -9.99965502e-01 -7.64045967e-05 4.47697061e+02] [ 9.76763837e-01 -8.09689986e-03 -2.14165469e-01 1.91977615e+02] [ 2.14157462e-01 -1.85348398e-03 9.76797393e-01 5.13239831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4692541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.70, Y:192.00, Z:51.33 [[-1.31971170e-02 -9.99912914e-01 -1.49017379e-05 4.47697759e+02] [ 9.76287494e-01 -1.28820819e-02 -2.16094382e-01 1.92004339e+02] [ 2.16075371e-01 -2.86637122e-03 9.76372479e-01 5.13287704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.4992541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.70, Y:192.01, Z:51.33 [[-1.53974810e-02 -9.99881451e-01 4.46131820e-05 4.47698291e+02] [ 9.76148052e-01 -1.50416668e-02 -2.16584233e-01 1.92008480e+02] [ 2.16559228e-01 -3.29130253e-03 9.76263934e-01 5.13291899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.5292541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.70, Y:192.04, Z:51.33 [[-1.80772987e-02 -9.99836592e-01 -3.68191136e-05 4.47698949e+02] [ 9.75942261e-01 -1.76372805e-02 -2.17314588e-01 1.92035617e+02] [ 2.17278427e-01 -3.96439404e-03 9.76101618e-01 5.13347467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.559254154 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.70, Y:192.04, Z:51.34 [[-2.22526835e-02 -9.99752378e-01 1.88660354e-05 4.47699037e+02] [ 9.76034151e-01 -2.17288446e-02 -2.16529892e-01 1.92043199e+02] [ 2.16476684e-01 -4.79995725e-03 9.76275988e-01 5.13364514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.589254154 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.70, Y:192.07, Z:51.34 [[-2.43253533e-02 -9.99704093e-01 -6.36699647e-05 4.47698696e+02] [ 9.76023109e-01 -2.37353542e-02 -2.16368953e-01 1.92069210e+02] [ 2.16303417e-01 -5.32539458e-03 9.76311668e-01 5.13425875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6192541539999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:447.70, Y:192.10, Z:51.35 [[-2.83521484e-02 -9.99597997e-01 -1.87730928e-05 4.47698055e+02] [ 9.75948311e-01 -2.76772983e-02 -2.16237974e-01 1.92096035e+02] [ 2.16150526e-01 -6.14913270e-03 9.76340688e-01 5.13494762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6492541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.70, Y:192.10, Z:51.35 [[-2.95672960e-02 -9.99562791e-01 4.06818784e-05 4.47698168e+02] [ 9.75726042e-01 -2.88710347e-02 -2.17083290e-01 1.92099115e+02] [ 2.16989554e-01 -6.37887152e-03 9.76153084e-01 5.13497200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.6792541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.70, Y:192.13, Z:51.36 [[-3.24476853e-02 -9.99473434e-01 -4.12852154e-05 4.47697991e+02] [ 9.75846131e-01 -3.16717016e-02 -2.16150946e-01 1.92126416e+02] [ 2.16035821e-01 -7.05388590e-03 9.76359958e-01 5.13558418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.709254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.70, Y:192.14, Z:51.36 [[-3.67036384e-02 -9.99326194e-01 1.92730179e-05 4.47698733e+02] [ 9.75885734e-01 -3.58468607e-02 -2.15318454e-01 1.92135959e+02] [ 2.15174062e-01 -7.88416241e-03 9.76543887e-01 5.13575582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7392541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.70, Y:192.16, Z:51.36 [[-4.11099518e-02 -9.99154627e-01 -6.34631052e-05 4.47697780e+02] [ 9.75987402e-01 -4.01431437e-02 -2.14096053e-01 1.92163487e+02] [ 2.13912514e-01 -8.86341758e-03 9.76812611e-01 5.13640908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7692541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.70, Y:192.19, Z:51.37 [[-4.13850808e-02 -9.99143271e-01 8.11609080e-07 4.47697676e+02] [ 9.75975741e-01 -4.04256425e-02 -2.14096053e-01 1.92191277e+02] [ 2.13912663e-01 -8.85959034e-03 9.76812613e-01 5.13700190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.7992541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.70, Y:192.20, Z:51.37 [[-4.50581640e-02 -9.98984364e-01 5.70059963e-05 4.47696208e+02] [ 9.75816272e-01 -4.40254092e-02 -2.14112977e-01 1.92195484e+02] [ 2.13898026e-01 -9.59191026e-03 9.76808901e-01 5.13715216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.829254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.69, Y:192.23, Z:51.38 [[-4.40425710e-02 -9.98716832e-01 2.49988313e-02 4.47687011e+02] [ 9.76804406e-01 -4.82980969e-02 -2.08615549e-01 1.92231940e+02] [ 2.09555256e-01 1.52310035e-02 9.77678174e-01 5.13768023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8592541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:447.70, Y:192.26, Z:51.37 [[-5.00168822e-02 -9.98698157e-01 -1.00151541e-02 4.47702896e+02] [ 9.75185137e-01 -4.66690349e-02 -2.16416148e-01 1.92255221e+02] [ 2.15667011e-01 -2.05910905e-02 9.76249839e-01 5.13746040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.8892541539999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:447.70, Y:192.26, Z:51.38 [[-5.33835897e-02 -9.98543211e-01 -7.85162355e-03 4.47700225e+02] [ 9.74291258e-01 -5.03603803e-02 -2.19591387e-01 1.92255288e+02] [ 2.18876078e-01 -1.93723447e-02 9.75560339e-01 5.13780300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9192541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:447.70, Y:192.29, Z:51.39 [[-6.09394108e-02 -9.98117709e-01 -6.88676078e-03 4.47697273e+02] [ 9.72886079e-01 -5.78538349e-02 -2.23932159e-01 1.92290638e+02] [ 2.23112228e-01 -2.03463275e-02 9.74580402e-01 5.13884558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.949254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.69, Y:192.29, Z:51.39 [[-6.32035962e-02 -9.97999968e-01 1.17001516e-03 4.47691272e+02] [ 9.72751529e-01 -6.18665622e-02 -2.23443485e-01 1.92293564e+02] [ 2.23068976e-01 -1.29842978e-02 9.74716184e-01 5.13923786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 603.9792541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.69, Y:192.30, Z:51.39 [[-6.31806077e-02 -9.98001528e-01 1.07787305e-03 4.47690132e+02] [ 9.72752393e-01 -6.18234923e-02 -2.23451647e-01 1.92300057e+02] [ 2.23071723e-01 -1.30693072e-02 9.74714420e-01 5.13940195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0092541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.69, Y:192.30, Z:51.40 [[-6.23920822e-02 -9.98051229e-01 9.86509261e-04 4.47686698e+02] [ 9.72745485e-01 -6.10312337e-02 -2.23699373e-01 1.92302551e+02] [ 2.23323642e-01 -1.29974472e-02 9.74657692e-01 5.13951803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0392541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:447.69, Y:192.29, Z:51.39 [[-5.79859414e-02 -9.98314589e-01 -2.36904472e-03 4.47687168e+02] [ 9.72518858e-01 -5.59513156e-02 -2.26001153e-01 1.92286739e+02] [ 2.25487697e-01 -1.54088303e-02 9.74124153e-01 5.13920142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.069254154 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:447.68, Y:192.31, Z:51.40 [[-5.95464255e-02 -9.98221211e-01 2.93877023e-03 4.47680826e+02] [ 9.72979529e-01 -5.86981083e-02 -2.23305550e-01 1.92308333e+02] [ 2.23080837e-01 -1.04376840e-02 9.74744066e-01 5.13978965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.0992541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.68, Y:192.29, Z:51.39 [[-5.00694367e-02 -9.98745629e-01 -4.68162120e-04 4.47680199e+02] [ 9.73558957e-01 -4.87021529e-02 -2.23183910e-01 1.92289140e+02] [ 2.22881155e-01 -1.16304761e-02 9.74776243e-01 5.13931429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1292541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.68, Y:192.30, Z:51.40 [[-5.02937325e-02 -9.98734212e-01 7.17490790e-04 4.47676234e+02] [ 9.73654840e-01 -4.91907561e-02 -2.22657858e-01 1.92300829e+02] [ 2.22411314e-01 -1.04997064e-02 9.74896386e-01 5.13961126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.1592541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:447.67, Y:192.30, Z:51.40 [[-4.22972753e-02 -9.99104854e-01 6.57364689e-04 4.47671072e+02] [ 9.74012048e-01 -4.13814827e-02 -2.22683866e-01 1.92298541e+02] [ 2.22511734e-01 -8.77863967e-03 9.74890488e-01 5.13960588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.189254154 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:447.67, Y:192.40, Z:51.42 [[-3.68652197e-02 -9.99319148e-01 -1.48181002e-03 4.47669184e+02] [ 9.73857980e-01 -3.55932753e-02 -2.24351854e-01 1.92399298e+02] [ 2.24146361e-01 -9.71385289e-03 9.74507081e-01 5.14189774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2192541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:447.66, Y:192.30, Z:51.40 [[-3.38740768e-02 -9.99422224e-01 2.78666339e-03 4.47663396e+02] [ 9.74078584e-01 -3.36388105e-02 -2.23694753e-01 1.92300004e+02] [ 2.23659247e-01 -4.86302411e-03 9.74655268e-01 5.13980755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2492541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:447.66, Y:192.29, Z:51.40 [[-2.59177577e-02 -9.99663978e-01 4.48938975e-04 4.47658582e+02] [ 9.74378869e-01 -2.53625660e-02 -2.23478323e-01 1.92292967e+02] [ 2.23414616e-01 -5.35462039e-03 9.74708796e-01 5.13968520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.2792541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.66, Y:192.30, Z:51.40 [[-2.20637513e-02 -9.99756502e-01 3.56902385e-04 4.47656831e+02] [ 9.74675268e-01 -2.15896892e-02 -2.22580338e-01 1.92298070e+02] [ 2.22533845e-01 -4.56309329e-03 9.74914286e-01 5.13975241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.309254154 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.66, Y:192.43, Z:51.43 [[-1.78797588e-02 -9.99834161e-01 -3.45890073e-03 4.47657516e+02] [ 9.74367581e-01 -1.66482314e-02 -2.24344943e-01 1.92426052e+02] [ 2.24250154e-01 -7.38147422e-03 9.74503660e-01 5.14256504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.339254154 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:447.65, Y:192.27, Z:51.39 [[-2.65168530e-03 -9.99737924e-01 2.27387594e-02 4.47646659e+02] [ 9.77921782e-01 -7.34387752e-03 -2.08842179e-01 1.92273135e+02] [ 2.08954437e-01 2.16829443e-02 9.77684966e-01 5.13899343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3692541539999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:447.66, Y:192.29, Z:51.39 [[-5.64084047e-03 -9.99713224e-01 -2.32733751e-02 4.47660771e+02] [ 9.76983715e-01 -5.46647841e-04 -2.13313203e-01 1.92294386e+02] [ 2.13239308e-01 -2.39409742e-02 9.76706623e-01 5.13862495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.3992541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:447.65, Y:192.32, Z:51.40 [[-2.46985248e-03 -9.99985946e-01 -4.69115612e-03 4.47647868e+02] [ 9.76586196e-01 -1.40287311e-03 -2.15121905e-01 1.92321581e+02] [ 2.15112300e-01 -5.11263767e-03 9.76575936e-01 5.13998387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4292541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:447.65, Y:192.35, Z:51.41 [[-3.14176398e-04 -9.99983703e-01 -5.70037131e-03 4.47646949e+02] [ 9.76632988e-01 9.18258086e-04 -2.14911992e-01 1.92348274e+02] [ 2.14913724e-01 -5.63469094e-03 9.76616783e-01 5.14062121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.459254154 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:447.64, Y:192.38, Z:51.41 [[ 1.86147415e-03 -9.99991923e-01 3.56222228e-03 4.47643546e+02] [ 9.76764486e-01 1.05480013e-03 -2.14312915e-01 1.92376251e+02] [ 2.14307427e-01 3.87839017e-03 9.76758560e-01 5.14141938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.4892541539999 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:447.64, Y:192.40, Z:51.42 [[-8.21999283e-04 -9.99999067e-01 -1.09097037e-03 4.47643900e+02] [ 9.76558161e-01 -5.67896040e-04 -2.15252956e-01 1.92403064e+02] [ 2.15252135e-01 -1.24233380e-03 9.76557717e-01 5.14174749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5192541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:447.64, Y:192.43, Z:51.43 [[ 1.54414708e-05 -9.99999432e-01 -1.06534595e-03 4.47644971e+02] [ 9.76297804e-01 2.45649898e-04 -2.16431370e-01 1.92429775e+02] [ 2.16431509e-01 -1.03675289e-03 9.76297254e-01 5.14252376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.5492541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:447.64, Y:192.46, Z:51.43 [[-4.97411069e-03 -9.99987141e-01 -9.87990729e-04 4.47642488e+02] [ 9.76860665e-01 -4.64781455e-03 -2.13826187e-01 1.92456349e+02] [ 2.13818846e-01 -2.02872440e-03 9.76871223e-01 5.14297983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.579254154 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:447.64, Y:192.48, Z:51.44 [[-7.10945367e-03 -9.99974274e-01 -9.52208214e-04 4.47642306e+02] [ 9.77145294e-01 -6.74483133e-03 -2.12465483e-01 1.92483469e+02] [ 2.12453595e-01 -2.44095929e-03 9.77168108e-01 5.14358777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6092541539999 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:447.64, Y:192.51, Z:51.44 [[-1.13584189e-02 -9.99935101e-01 -8.82774287e-04 4.47644327e+02] [ 9.77402219e-01 -1.09160933e-02 -2.11105996e-01 1.92509787e+02] [ 2.11082659e-01 -3.26065587e-03 9.77462776e-01 5.14411940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6392541539999 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:447.64, Y:192.54, Z:51.45 [[-8.61223611e-03 -9.99731337e-01 2.15193867e-02 4.47640896e+02] [ 9.78662509e-01 -1.28449564e-02 -2.05072428e-01 1.92544119e+02] [ 2.05293748e-01 1.92940848e-02 9.78510202e-01 5.14476130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.6692541539999 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:447.65, Y:192.57, Z:51.45 [[-8.97185827e-03 -9.99949350e-01 -4.56101633e-03 4.47653103e+02] [ 9.78655990e-01 -7.84412990e-03 -2.05355599e-01 1.92574431e+02] [ 2.05309421e-01 -6.30608729e-03 9.78676798e-01 5.14461671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.699254154 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:447.66, Y:192.60, Z:51.45 [[-1.80131780e-02 -9.99490971e-01 -2.63310427e-02 4.47658700e+02] [ 9.77244274e-01 -1.20331324e-02 -2.11775428e-01 1.92595676e+02] [ 2.11350784e-01 -2.95466092e-02 9.76963584e-01 5.14519449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7292541539999 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:447.65, Y:192.62, Z:51.46 [[-2.32729970e-02 -9.99728983e-01 -5.73143873e-04 4.47649316e+02] [ 9.76999843e-01 -2.26223179e-02 -2.12036642e-01 1.92621333e+02] [ 2.11966211e-01 -5.49468960e-03 9.77261548e-01 5.14646207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7592541539999 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:447.65, Y:192.65, Z:51.47 [[-2.55683100e-02 -9.99672947e-01 -5.10422344e-04 4.47650560e+02] [ 9.76835348e-01 -2.48756787e-02 -2.12541536e-01 1.92648425e+02] [ 2.12459327e-01 -5.93292647e-03 9.77151900e-01 5.14707594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.7892541539999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:447.66, Y:192.68, Z:51.48 [[-2.53721239e-02 -9.99668584e-01 -4.35633926e-03 4.47657093e+02] [ 9.76776734e-01 -2.38632283e-02 -2.12926650e-01 1.92680833e+02] [ 2.12752126e-01 -9.65757218e-03 9.77058475e-01 5.14761156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.819254154 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:447.65, Y:192.70, Z:51.48 [[-2.79513936e-02 -9.99608960e-01 8.03766238e-04 4.47653373e+02] [ 9.76516366e-01 -2.74774899e-02 -2.13683817e-01 1.92703118e+02] [ 2.13622344e-01 -5.18786959e-03 9.76902544e-01 5.14809129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8492541539999 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:447.66, Y:192.73, Z:51.49 [[-2.84762475e-02 -9.99594427e-01 -2.92853102e-04 4.47655081e+02] [ 9.76444175e-01 -2.77540582e-02 -2.13977771e-01 1.92729286e+02] [ 2.13882859e-01 -6.37923866e-03 9.76838486e-01 5.14869257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.8792541539999 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:447.66, Y:192.76, Z:51.49 [[-2.70057448e-02 -9.99635245e-01 -2.57267419e-04 4.47657326e+02] [ 9.76064265e-01 -2.63134003e-02 -2.15884590e-01 1.92756590e+02] [ 2.15799076e-01 -6.08123369e-03 9.76418853e-01 5.14918166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9092541539999 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:447.66, Y:192.79, Z:51.50 [[-2.44841612e-02 -9.99650872e-01 -9.93277147e-03 4.47663646e+02] [ 9.75632423e-01 -2.17264742e-02 -2.18333084e-01 1.92787525e+02] [ 2.18041053e-01 -1.50364363e-02 9.75823757e-01 5.14985983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.939254154 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:447.65, Y:192.81, Z:51.51 [[-2.07753714e-02 -9.99755784e-01 7.53372744e-03 4.47653115e+02] [ 9.76188883e-01 -2.19119121e-02 -2.15812728e-01 1.92810183e+02] [ 2.15925101e-01 2.87075139e-03 9.76405709e-01 5.15054588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9692541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:447.66, Y:192.84, Z:51.51 [[-1.78986023e-02 -9.99839804e-01 -7.93839410e-05 4.47656063e+02] [ 9.76342217e-01 -1.74608490e-02 -2.15524926e-01 1.92837879e+02] [ 2.15489014e-01 -3.93510084e-03 9.76498336e-01 5.15091390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 604.9992541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.66, Y:192.87, Z:51.51 [[-1.09264422e-02 -9.99940305e-01 -1.44653558e-05 4.47655310e+02] [ 9.76540602e-01 -1.06676402e-02 -2.15068952e-01 1.92865060e+02] [ 2.15055960e-01 -2.36406448e-03 9.76598866e-01 5.15143954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.0292541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:447.66, Y:192.87, Z:51.51 [[-7.30524803e-03 -9.99973315e-01 4.44388156e-05 4.47655116e+02] [ 9.76540743e-01 -7.14362683e-03 -2.15214186e-01 1.92865373e+02] [ 2.15208760e-01 -1.52879669e-03 9.76566870e-01 5.15143271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.059254154 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:447.66, Y:192.89, Z:51.52 [[-3.93746970e-03 -9.99992248e-01 -3.60029342e-05 4.47655520e+02] [ 9.76543772e-01 -3.83739037e-03 -2.15284780e-01 1.92892846e+02] [ 2.15282973e-01 -8.82835738e-04 9.76551311e-01 5.15192032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.089254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.66, Y:192.89, Z:51.52 [[ 2.13659695e-03 -9.99997717e-01 2.21989999e-05 4.47655788e+02] [ 9.77064110e-01 2.08287000e-03 -2.12935171e-01 1.92887158e+02] [ 2.12934639e-01 4.76646482e-04 9.77066330e-01 5.15193897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1192541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:447.66, Y:192.91, Z:51.53 [[ 4.29452060e-03 -9.99990777e-01 -5.87407420e-05 4.47656174e+02] [ 9.77111189e-01 4.20875637e-03 -2.12687590e-01 1.92914345e+02] [ 2.12685875e-01 8.55995000e-04 9.77120251e-01 5.15253894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1492541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:447.67, Y:192.98, Z:51.54 [[ 1.28717097e-04 -9.99044940e-01 -4.36942853e-02 4.47674055e+02] [ 9.70944059e-01 1.05811860e-02 -2.39072527e-01 1.92980017e+02] [ 2.39306536e-01 -4.23939339e-02 9.70018111e-01 5.15433115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.1792541539999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:447.64, Y:192.98, Z:51.55 [[ 9.98933294e-03 -9.98855464e-01 4.67757986e-02 4.47637195e+02] [ 9.77161581e-01 -1.78755237e-04 -2.12497559e-01 1.92978019e+02] [ 2.12262709e-01 4.78302222e-02 9.76041399e-01 5.15534288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.209254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.66, Y:193.01, Z:51.54 [[ 9.63726860e-03 -9.99951368e-01 -2.09397055e-03 4.47661353e+02] [ 9.77024196e-01 9.86213080e-03 -2.12900115e-01 1.93007158e+02] [ 2.12910413e-01 5.91570125e-06 9.77071725e-01 5.15442330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2392541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:447.69, Y:193.03, Z:51.55 [[ 2.15344405e-03 -9.97865521e-01 -6.52668675e-02 4.47690391e+02] [ 9.73188554e-01 1.71026078e-02 -2.29372056e-01 1.93029562e+02] [ 2.29998700e-01 -6.30230285e-02 9.71148133e-01 5.15537054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2692541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.66, Y:193.06, Z:51.58 [[ 2.63677287e-03 -9.99963695e-01 8.10283575e-03 4.47659540e+02] [ 9.72667722e-01 6.83246791e-04 -2.32200422e-01 1.93056288e+02] [ 2.32186456e-01 8.49362656e-03 9.72634211e-01 5.15799188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.2992541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.67, Y:193.09, Z:51.59 [[-2.50071512e-03 -9.99932685e-01 -1.13301620e-02 4.47670392e+02] [ 9.71731186e-01 2.44930456e-04 -2.36089902e-01 1.93092483e+02] [ 2.36076784e-01 -1.16002654e-02 9.71665161e-01 5.15850799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.329254154 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:447.64, Y:193.02, Z:51.57 [[ 6.03166991e-03 -9.98116810e-01 6.10446745e-02 4.47642689e+02] [ 9.79793928e-01 -6.30553572e-03 -1.99910227e-01 1.93020120e+02] [ 1.99918678e-01 6.10169939e-02 9.77910757e-01 5.15688773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3592541539999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:447.67, Y:193.05, Z:51.56 [[ 2.93027205e-03 -9.99995548e-01 -5.63552499e-04 4.47672671e+02] [ 9.79554770e-01 2.98373695e-03 -2.01155538e-01 1.93050656e+02] [ 2.01156324e-01 3.74099124e-05 9.79559152e-01 5.15578277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.3892541539999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:447.70, Y:193.07, Z:51.57 [[-4.91104418e-03 -9.97218263e-01 -7.43748476e-02 4.47702336e+02] [ 9.75803496e-01 1.14793028e-02 -2.18347801e-01 1.93071436e+02] [ 2.18594187e-01 -7.36475521e-02 9.73032692e-01 5.15699335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4192541539999 meters Centerline goodness : 0.996237 Centerline is valid? [True, True] Translation: X:447.66, Y:193.10, Z:51.60 [[-4.18072586e-03 -9.99501902e-01 3.12804850e-02 4.47657526e+02] [ 9.76598324e-01 -1.08073121e-02 -2.14799710e-01 1.93101252e+02] [ 2.15030777e-01 2.96504505e-02 9.76157065e-01 5.16008353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.449254154 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:447.46, Y:192.46, Z:52.22 [[ 1.55710751e-02 -6.96010501e-02 9.97453375e-01 4.47456880e+02] [ 9.91694239e-01 -1.26302486e-01 -2.42943999e-02 1.92463349e+02] [ 1.27671757e-01 9.89547056e-01 6.70562949e-02 5.22162016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.4792541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.67, Y:192.58, Z:51.52 [[-1.61554210e-03 -9.99998490e-01 -6.39608873e-04 4.47671666e+02] [ 9.91186768e-01 -1.51658162e-03 -1.32463169e-01 1.92576139e+02] [ 1.32461999e-01 -8.47971677e-04 9.91187722e-01 5.15225324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5092541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.67, Y:192.60, Z:51.53 [[-6.01788141e-03 -9.99981714e-01 -5.97565584e-04 4.47672501e+02] [ 9.91278111e-01 -5.88682924e-03 -1.31655046e-01 1.92603191e+02] [ 1.31649121e-01 -1.38463814e-03 9.91295411e-01 5.15264275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5392541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:447.67, Y:192.63, Z:51.53 [[-1.10887270e-02 -9.99938352e-01 -5.75761196e-04 4.47673393e+02] [ 9.91092289e-01 -1.09142046e-02 -1.32728875e-01 1.92629488e+02] [ 1.32714409e-01 -2.04242675e-03 9.91152215e-01 5.15297661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.569254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.67, Y:192.66, Z:51.53 [[-1.39395816e-02 -9.99902685e-01 -5.56151457e-04 4.47673912e+02] [ 9.90938032e-01 -1.37402884e-02 -1.33615199e-01 1.92657291e+02] [ 1.33594555e-01 -2.41365160e-03 9.91033132e-01 5.15327419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.5992541539999 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:447.67, Y:192.68, Z:51.54 [[-1.72381368e-02 -9.99851277e-01 -5.20577041e-04 4.47674406e+02] [ 9.90762581e-01 -1.70113942e-02 -1.34536690e-01 1.92684120e+02] [ 1.34507826e-01 -2.83493012e-03 9.90908476e-01 5.15353588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6292541539999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:447.67, Y:192.71, Z:51.54 [[-2.08391721e-02 -9.99780410e-01 2.20456916e-03 4.47673535e+02] [ 9.90458924e-01 -2.09452216e-02 -1.36207260e-01 1.92712543e+02] [ 1.36223525e-01 -6.54911328e-04 9.90677910e-01 5.15392513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.6592541539999 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:447.68, Y:192.74, Z:51.54 [[-2.82553578e-02 -9.99595431e-01 -3.25719462e-03 4.47675646e+02] [ 9.90267657e-01 -2.75471568e-02 -1.36422587e-01 1.92739184e+02] [ 1.36277668e-01 -7.08016349e-03 9.90645380e-01 5.15415816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.689254154 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.67, Y:192.77, Z:51.55 [[-3.23729591e-02 -9.99475762e-01 -4.38584489e-04 4.47673806e+02] [ 9.90207780e-01 -3.20131430e-02 -1.35881239e-01 1.92766340e+02] [ 1.35795964e-01 -4.83316755e-03 9.90725036e-01 5.15459352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7192541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:447.67, Y:192.79, Z:51.55 [[-4.01549372e-02 -9.99193386e-01 -3.98006927e-04 4.47672888e+02] [ 9.89953161e-01 -3.97295441e-02 -1.35699306e-01 1.92793659e+02] [ 1.35574037e-01 -5.84300533e-03 9.90749989e-01 5.15497121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7492541539999 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:447.67, Y:192.82, Z:51.55 [[-4.34721403e-02 -9.99054575e-01 -3.58532967e-04 4.47672506e+02] [ 9.89812537e-01 -4.30212823e-02 -1.35721443e-01 1.92820791e+02] [ 1.35577704e-01 -6.25498203e-03 9.90746971e-01 5.15530195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.7792541539999 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:447.67, Y:192.85, Z:51.56 [[-4.71903348e-02 -9.98885863e-01 -3.25445539e-04 4.47671298e+02] [ 9.89369142e-01 -4.66958646e-02 -1.37725078e-01 1.92847130e+02] [ 1.37556436e-01 -6.82127830e-03 9.90470442e-01 5.15568869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.809254154 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:447.67, Y:192.87, Z:51.56 [[-4.95161089e-02 -9.98773288e-01 -2.71827732e-04 4.47667779e+02] [ 9.89589128e-01 -4.90239591e-02 -1.35314481e-01 1.92874475e+02] [ 1.35135163e-01 -6.96924433e-03 9.90802663e-01 5.15599256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.839254154 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:447.67, Y:192.90, Z:51.57 [[-5.02850557e-02 -9.98724979e-01 -4.45296995e-03 4.47666933e+02] [ 9.89235976e-01 -4.91928337e-02 -1.37812371e-01 1.92904120e+02] [ 1.37417603e-01 -1.13349408e-02 9.90448344e-01 5.15664885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8692541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.66, Y:192.93, Z:51.57 [[-4.93407313e-02 -9.98776448e-01 3.33142266e-03 4.47658982e+02] [ 9.89415954e-01 -4.93334863e-02 -1.36463465e-01 1.92929743e+02] [ 1.36460845e-01 -3.43704441e-03 9.90639503e-01 5.15682197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.8992541539999 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:447.66, Y:192.96, Z:51.57 [[-4.90728525e-02 -9.98795192e-01 -1.39494892e-04 4.47658296e+02] [ 9.89434444e-01 -4.85938626e-02 -1.36594719e-01 1.92957636e+02] [ 1.36423370e-01 -6.84111355e-03 9.90627005e-01 5.15706284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9292541539999 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:447.66, Y:192.98, Z:51.57 [[-4.87794564e-02 -9.98809569e-01 -9.82029270e-05 4.47656123e+02] [ 9.89482129e-01 -4.83105208e-02 -1.36349584e-01 1.92984973e+02] [ 1.36182525e-01 -6.74822865e-03 9.90660780e-01 5.15738830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.959254154 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:447.65, Y:193.01, Z:51.58 [[-4.78213863e-02 -9.98855901e-01 -5.90491480e-05 4.47651830e+02] [ 9.89631866e-01 -4.73717592e-02 -1.35590142e-01 1.93011989e+02] [ 1.35432216e-01 -6.54254548e-03 9.90765012e-01 5.15777527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 605.9892541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:447.65, Y:193.04, Z:51.58 [[-4.63776242e-02 -9.98923978e-01 -3.49953008e-05 4.47648250e+02] [ 9.89700258e-01 -4.59446394e-02 -1.35582039e-01 1.93039619e+02] [ 1.35434542e-01 -6.32260773e-03 9.90766122e-01 5.15812043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0192541539999 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:447.65, Y:193.04, Z:51.58 [[-4.59533273e-02 -9.98943588e-01 -4.25860532e-06 4.47645448e+02] [ 9.89935268e-01 -4.55383561e-02 -1.33994115e-01 1.93039946e+02] [ 1.33852368e-01 -6.16169118e-03 9.90982128e-01 5.15810814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.0492541539999 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:447.64, Y:193.07, Z:51.58 [[-4.54157150e-02 -9.98968173e-01 -5.03592710e-05 4.47642952e+02] [ 9.90005662e-01 -4.50015180e-02 -1.33654975e-01 1.93067737e+02] [ 1.33514800e-01 -6.11989221e-03 9.91027924e-01 5.15841638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.079254154 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:447.64, Y:193.10, Z:51.59 [[-4.46324284e-02 -9.99003477e-01 -1.12315065e-05 4.47640321e+02] [ 9.90017420e-01 -4.42294542e-02 -1.33825498e-01 1.93095103e+02] [ 1.33691641e-01 -5.98407635e-03 9.91004912e-01 5.15875915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1092541539999 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:447.64, Y:193.10, Z:51.59 [[-4.28806977e-02 -9.99080200e-01 2.06640462e-05 4.47637691e+02] [ 9.90061299e-01 -4.24963777e-02 -1.34062230e-01 1.93096499e+02] [ 1.33939797e-01 -5.72822327e-03 9.90972915e-01 5.15877993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1392541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:447.63, Y:193.12, Z:51.59 [[-3.92643380e-02 -9.99228858e-01 -2.52641454e-05 4.47632500e+02] [ 9.90219272e-01 -3.89069219e-02 -1.33985238e-01 1.93123989e+02] [ 1.33880934e-01 -5.28585873e-03 9.90983327e-01 5.15915555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.1692541539999 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:447.63, Y:193.38, Z:51.62 [[-3.37393526e-02 -9.99430450e-01 6.57364083e-04 4.47628199e+02] [ 9.90519208e-01 -3.35261460e-02 -1.33220476e-01 1.93377964e+02] [ 1.33166639e-01 -3.84364087e-03 9.91086208e-01 5.16230005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.199254154 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:447.63, Y:193.12, Z:51.59 [[-3.04027445e-02 -9.99537596e-01 -5.16147605e-04 4.47626511e+02] [ 9.90761203e-01 -3.00675062e-02 -1.32242899e-01 1.93123887e+02] [ 1.32166230e-01 -4.53192608e-03 9.91217206e-01 5.15911470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2292541539999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:447.62, Y:193.15, Z:51.59 [[-2.72851637e-02 -9.99627688e-01 -7.66824289e-05 4.47624059e+02] [ 9.90693596e-01 -2.70310716e-02 -1.33399848e-01 1.93150706e+02] [ 1.33348109e-01 -3.71580549e-03 9.91062296e-01 5.15947207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2592541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.62, Y:193.18, Z:51.60 [[-2.22036655e-02 -9.99753467e-01 -4.94539702e-05 4.47618662e+02] [ 9.90876172e-01 -2.19999309e-02 -1.32967724e-01 1.93178673e+02] [ 1.32933855e-01 -3.00137363e-03 9.91120367e-01 5.15975899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.2892541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:447.62, Y:193.21, Z:51.60 [[-1.90333763e-02 -9.99818849e-01 -1.18552669e-05 4.47616391e+02] [ 9.90905831e-01 -1.88621210e-02 -1.33228577e-01 1.93205763e+02] [ 1.33204219e-01 -2.54753708e-03 9.91085338e-01 5.16010164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.319254154 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:447.61, Y:193.21, Z:51.60 [[-1.55135896e-02 -9.99879657e-01 1.52366971e-05 4.47614052e+02] [ 9.91019467e-01 -1.53781438e-02 -1.32830451e-01 1.93212014e+02] [ 1.32814700e-01 -2.04557724e-03 9.91138775e-01 5.16016761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3492541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:447.59, Y:193.25, Z:51.61 [[-2.49079166e-03 -9.97913310e-01 6.45199288e-02 4.47586893e+02] [ 9.92864506e-01 -1.01601115e-02 -1.18814327e-01 1.93252942e+02] [ 1.19221928e-01 6.37636055e-02 9.90818013e-01 5.16105203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.3792541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.63, Y:193.29, Z:51.59 [[-1.36463958e-02 -9.98574633e-01 -5.15992076e-02 4.47634217e+02] [ 9.88752474e-01 -5.78970646e-03 -1.49449070e-01 1.93287150e+02] [ 1.48937306e-01 -5.30582854e-02 9.87422148e-01 5.15921727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4092541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.61, Y:193.29, Z:51.61 [[-8.20757710e-03 -9.99965644e-01 1.16004076e-03 4.47606008e+02] [ 9.88988349e-01 -8.28889178e-03 -1.47761091e-01 1.93285052e+02] [ 1.47765630e-01 -6.54937527e-05 9.89022403e-01 5.16084464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.439254154 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:447.58, Y:193.26, Z:51.61 [[ 1.24261489e-02 -9.97538569e-01 6.90100968e-02 4.47581986e+02] [ 9.94569460e-01 5.19820738e-03 -1.03945019e-01 1.93261457e+02] [ 1.03330437e-01 6.99269710e-02 9.92185990e-01 5.16061417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4692541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:447.65, Y:193.27, Z:51.57 [[ 8.09402098e-03 -9.96756948e-01 -8.00629333e-02 4.47646462e+02] [ 9.93858575e-01 1.68551786e-02 -1.09366518e-01 1.93272989e+02] [ 1.10361312e-01 -7.86860179e-02 9.90771867e-01 5.15707115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.4992541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.61, Y:193.30, Z:51.60 [[ 7.66627311e-03 -9.99966868e-01 -2.73701424e-03 4.47607957e+02] [ 9.94035971e-01 7.91850446e-03 -1.08764822e-01 1.93298990e+02] [ 1.08782892e-01 -1.88686978e-03 9.94063742e-01 5.15972355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.5292541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:447.61, Y:193.33, Z:51.60 [[ 5.67638453e-03 -9.99966048e-01 -5.97337597e-03 4.47608990e+02] [ 9.94199297e-01 6.28503061e-03 -1.07369721e-01 1.93326626e+02] [ 1.07403619e-01 -5.32925437e-03 9.94201218e-01 5.15985272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.559254154 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:447.61, Y:193.35, Z:51.60 [[ 1.87093740e-03 -9.99998059e-01 -6.18312105e-04 4.47606870e+02] [ 9.94166849e-01 1.92670388e-03 -1.07835817e-01 1.93353755e+02] [ 1.07836799e-01 -4.12951333e-04 9.94168524e-01 5.16026682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.589254154 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:447.61, Y:193.38, Z:51.61 [[ 1.61092757e-03 -9.99998529e-01 -5.88340062e-04 4.47606925e+02] [ 9.94167304e-01 1.66497819e-03 -1.07835981e-01 1.93382006e+02] [ 1.07836802e-01 -4.11192498e-04 9.94168524e-01 5.16055437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6192541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.61, Y:193.41, Z:51.61 [[-1.22756420e-03 -9.99999089e-01 -5.61172879e-04 4.47607700e+02] [ 9.94146985e-01 -1.15975694e-03 -1.08029749e-01 1.93409047e+02] [ 1.08029000e-01 -6.90501779e-04 9.94147503e-01 5.16076457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6492541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.60, Y:193.43, Z:51.62 [[-2.02116478e-03 -9.99909754e-01 1.32815586e-02 4.47602525e+02] [ 9.93680384e-01 -3.49879260e-03 -1.12192033e-01 1.93433003e+02] [ 1.12228377e-01 1.29708656e-02 9.93597780e-01 5.16155053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.6792541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.62, Y:193.46, Z:51.61 [[-1.03392118e-02 -9.99861384e-01 -1.30504484e-02 4.47616131e+02] [ 9.94120264e-01 -8.87127707e-03 -1.07917563e-01 1.93463950e+02] [ 1.07786829e-01 -1.40894978e-02 9.94074185e-01 5.16093659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.709254154 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:447.61, Y:193.49, Z:51.62 [[-1.32832733e-02 -9.99911646e-01 -5.05208074e-04 4.47611313e+02] [ 9.94095122e-01 -1.31515821e-02 -1.07712227e-01 1.93489877e+02] [ 1.07696065e-01 -1.93299583e-03 9.94181986e-01 5.16159941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7392541539999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:447.61, Y:193.52, Z:51.62 [[-1.82467235e-02 -9.99833400e-01 -4.78211620e-04 4.47613497e+02] [ 9.94014596e-01 -1.80890009e-02 -1.07739364e-01 1.93517123e+02] [ 1.07712764e-01 -2.44123972e-03 9.94179059e-01 5.16184862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7692541539999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:447.62, Y:193.54, Z:51.63 [[-2.03000943e-02 -9.99682466e-01 -1.49289188e-02 4.47616670e+02] [ 9.93158618e-01 -1.84456610e-02 -1.15307060e-01 1.93539478e+02] [ 1.14995072e-01 -1.71675285e-02 9.93217705e-01 5.16251363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.7992541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:447.61, Y:193.57, Z:51.63 [[-2.14014743e-02 -9.99654775e-01 1.52416581e-02 4.47607010e+02] [ 9.93907029e-01 -2.29222201e-02 -1.07811828e-01 1.93571998e+02] [ 1.08123982e-01 1.28414590e-02 9.94054476e-01 5.16287423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.829254154 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:447.62, Y:193.60, Z:51.63 [[-2.30528407e-02 -9.99734159e-01 -4.22414867e-04 4.47615996e+02] [ 9.93869822e-01 -2.28719125e-02 -1.08164932e-01 1.93599999e+02] [ 1.08126516e-01 -2.91333433e-03 9.94132873e-01 5.16256890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8592541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:447.62, Y:193.63, Z:51.63 [[-2.32669452e-02 -9.99729210e-01 -3.94667542e-04 4.47616734e+02] [ 9.93822213e-01 -2.30866150e-02 -1.08556059e-01 1.93627853e+02] [ 1.08517552e-01 -2.91799725e-03 9.94090251e-01 5.16281361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.8892541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.62, Y:193.66, Z:51.63 [[-2.30094194e-02 -9.99735182e-01 -3.63057785e-04 4.47617100e+02] [ 9.93791888e-01 -2.28330887e-02 -1.08886789e-01 1.93655559e+02] [ 1.08849664e-01 -2.86622568e-03 9.94054091e-01 5.16313378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9192541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:447.62, Y:193.68, Z:51.63 [[-2.19963934e-02 -9.99637508e-01 -1.55245211e-02 4.47623496e+02] [ 9.93586025e-01 -2.01351685e-02 -1.11271674e-01 1.93683073e+02] [ 1.10918750e-01 -1.78725227e-02 9.93668760e-01 5.16343249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.949254154 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.62, Y:193.71, Z:51.64 [[-2.37150622e-02 -9.99576073e-01 -1.68899233e-02 4.47620986e+02] [ 9.93200683e-01 -2.16309895e-02 -1.14387519e-01 1.93705935e+02] [ 1.13973682e-01 -1.94877905e-02 9.93292618e-01 5.16411714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 606.9792541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:447.60, Y:193.74, Z:51.65 [[-2.02548318e-02 -9.99282962e-01 3.19891176e-02 4.47602742e+02] [ 9.93691617e-01 -2.36508174e-02 -1.09624855e-01 1.93737367e+02] [ 1.10302819e-01 2.95668850e-02 9.93458146e-01 5.16518430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0092541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:447.62, Y:193.77, Z:51.64 [[-1.92446180e-02 -9.99814774e-01 -2.49829586e-04 4.47617765e+02] [ 9.93802464e-01 -1.91015288e-02 -1.09507053e-01 1.93766281e+02] [ 1.09481997e-01 -2.35570265e-03 9.93985987e-01 5.16437169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0392541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.62, Y:193.79, Z:51.65 [[-1.75377673e-02 -9.99846178e-01 -2.18849637e-04 4.47617779e+02] [ 9.93812512e-01 -1.74079230e-02 -1.09698021e-01 1.93793195e+02] [ 1.09677338e-01 -2.14135388e-03 9.93964937e-01 5.16459284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.069254154 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:447.62, Y:193.82, Z:51.65 [[-1.33834691e-02 -9.99910417e-01 -2.00804597e-04 4.47617522e+02] [ 9.93818137e-01 -1.32797906e-02 -1.10223219e-01 1.93820983e+02] [ 1.10210678e-01 -1.67473229e-03 9.93906838e-01 5.16487095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.0992541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.62, Y:193.85, Z:51.65 [[-1.12447323e-02 -9.99936762e-01 -1.68870665e-04 4.47617334e+02] [ 9.93840022e-01 -1.11575507e-02 -1.10261146e-01 1.93848654e+02] [ 1.10252289e-01 -1.40768749e-03 9.93902637e-01 5.16513271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1292541539999 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:447.62, Y:193.88, Z:51.65 [[-6.44145022e-03 -9.99979244e-01 -1.37207994e-04 4.47617389e+02] [ 9.93875449e-01 -6.38699483e-03 -1.10321340e-01 1.93876198e+02] [ 1.10318174e-01 -8.46997075e-04 9.93895962e-01 5.16539937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.1592541539999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.62, Y:193.90, Z:51.66 [[-3.84271835e-03 -9.99992611e-01 -1.05802644e-04 4.47617486e+02] [ 9.93878874e-01 -3.80754308e-03 -1.10409635e-01 1.93903848e+02] [ 1.10408416e-01 -5.29428143e-04 9.93886161e-01 5.16568263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.189254154 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:447.62, Y:193.93, Z:51.66 [[-1.51528939e-03 -9.99998849e-01 -7.45568926e-05 4.47617224e+02] [ 9.93870536e-01 -1.49776168e-03 -1.10540102e-01 1.93931718e+02] [ 1.10539863e-01 -2.41600143e-04 9.93871662e-01 5.16597537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2192541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.61, Y:193.96, Z:51.67 [[ 3.63045400e-03 -9.99957474e-01 8.47764710e-03 4.47612922e+02] [ 9.93633238e-01 2.65259878e-03 -1.12631934e-01 1.93958280e+02] [ 1.12604657e-01 8.83257699e-03 9.93600612e-01 5.16651155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2492541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.62, Y:193.99, Z:51.66 [[ 5.40552946e-03 -9.99953049e-01 -8.04241005e-03 4.47621957e+02] [ 9.93841255e-01 6.26231295e-03 -1.10636082e-01 1.93987370e+02] [ 1.10681251e-01 -7.39483230e-03 9.93828445e-01 5.16624843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.2792541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.62, Y:194.01, Z:51.67 [[ 6.48074452e-03 -9.99961401e-01 5.93261551e-03 4.47616124e+02] [ 9.93682945e-01 5.77512909e-03 -1.12075209e-01 1.94013869e+02] [ 1.12036621e-01 6.62146965e-03 9.93682017e-01 5.16693193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.309254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.63, Y:194.01, Z:51.67 [[-6.79120361e-03 -9.99579377e-01 -2.81948170e-02 4.47627340e+02] [ 9.90886241e-01 -2.93356455e-03 -1.34669418e-01 1.94008583e+02] [ 1.34530062e-01 -2.88524236e-02 9.90489374e-01 5.16679739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.339254154 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.61, Y:193.68, Z:51.64 [[ 3.26300015e-03 -9.99306178e-01 3.71014126e-02 4.47605179e+02] [ 9.93391368e-01 -1.01746372e-03 -1.14771748e-01 1.93675891e+02] [ 1.14729866e-01 3.72307233e-02 9.92698812e-01 5.16423511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3692541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.63, Y:193.92, Z:51.66 [[-7.28745262e-03 -9.99569210e-01 -2.84303951e-02 4.47630954e+02] [ 9.91530468e-01 -3.53624630e-03 -1.29826138e-01 1.93917359e+02] [ 1.29669673e-01 -2.91357047e-02 9.91129097e-01 5.16565225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.3992541539999 meters Centerline goodness : 0.995052 Centerline is valid? [True, True] Translation: X:447.62, Y:194.32, Z:51.71 [[-5.80882574e-03 -9.99888059e-01 1.37886587e-02 4.47615724e+02] [ 9.93831138e-01 -7.29970862e-03 -1.10663381e-01 1.94323025e+02] [ 1.10751646e-01 1.30607741e-02 9.93762290e-01 5.17063341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4292541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:447.62, Y:193.93, Z:51.67 [[-8.35124064e-03 -9.99961057e-01 2.85312769e-03 4.47620707e+02] [ 9.93233152e-01 -8.62550477e-03 -1.15816691e-01 1.93929425e+02] [ 1.15836790e-01 1.86660795e-03 9.93266507e-01 5.16655744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.459254154 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:447.63, Y:193.83, Z:51.65 [[-9.02002062e-03 -9.99915954e-01 -9.31260049e-03 4.47629504e+02] [ 9.92973309e-01 -7.85769277e-03 -1.18077368e-01 1.93830225e+02] [ 1.17994268e-01 -1.03122240e-02 9.92960730e-01 5.16507504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.4892541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:447.62, Y:193.86, Z:51.66 [[-1.17210714e-02 -9.99739159e-01 1.96017951e-02 4.47620070e+02] [ 9.93393558e-01 -1.38801917e-02 -1.13914790e-01 1.93860449e+02] [ 1.14157153e-01 1.81370936e-02 9.93297131e-01 5.16563903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5192541539999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:447.63, Y:193.89, Z:51.65 [[-2.07223502e-02 -9.99785261e-01 -1.30840927e-04 4.47632460e+02] [ 9.93301345e-01 -2.05730787e-02 -1.13706585e-01 1.93889080e+02] [ 1.13679476e-01 -2.48623215e-03 9.93514366e-01 5.16528410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.5492541539999 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:447.63, Y:193.92, Z:51.66 [[-2.54853027e-02 -9.99675192e-01 -9.70453348e-05 4.47633407e+02] [ 9.93261501e-01 -2.53108156e-02 -1.13097101e-01 1.93916781e+02] [ 1.13057910e-01 -2.97870525e-03 9.93583935e-01 5.16560381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.579254154 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:447.63, Y:193.94, Z:51.66 [[-2.99136771e-02 -9.99552484e-01 -6.33434903e-05 4.47634252e+02] [ 9.93186507e-01 -2.97160211e-02 -1.12683272e-01 1.93943586e+02] [ 1.12630962e-01 -3.43368291e-03 9.93630956e-01 5.16590564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6092541539999 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:447.64, Y:193.97, Z:51.66 [[-3.79156442e-02 -9.99280942e-01 -4.43222108e-05 4.47636496e+02] [ 9.92922567e-01 -3.76693931e-02 -1.12631228e-01 1.93970493e+02] [ 1.12548570e-01 -4.31449408e-03 9.93636858e-01 5.16618985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6392541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:447.64, Y:194.00, Z:51.66 [[-4.16440697e-02 -9.99132509e-01 -2.25490210e-05 4.47637452e+02] [ 9.92737170e-01 -4.13749610e-02 -1.12964702e-01 1.93998010e+02] [ 1.12865773e-01 -4.72669516e-03 9.93599001e-01 5.16647808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.6692541539999 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:447.64, Y:194.01, Z:51.67 [[-4.59974829e-02 -9.98941556e-01 8.43280676e-06 4.47638418e+02] [ 9.92498544e-01 -4.57017638e-02 -1.13393075e-01 1.94006207e+02] [ 1.13273440e-01 -5.20742650e-03 9.93550205e-01 5.16651670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.699254154 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:447.64, Y:194.03, Z:51.67 [[-4.82562123e-02 -9.98834990e-01 -3.42460635e-05 4.47638200e+02] [ 9.92374028e-01 -4.79401737e-02 -1.13558480e-01 1.94033291e+02] [ 1.13424542e-01 -5.51388705e-03 9.93531313e-01 5.16689124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7292541539999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:447.64, Y:194.07, Z:51.67 [[-4.65402151e-02 -9.98908996e-01 -3.85052265e-03 4.47642974e+02] [ 9.92518335e-01 -4.58061990e-02 -1.13177505e-01 1.94067335e+02] [ 1.12877650e-01 -9.08901973e-03 9.93567323e-01 5.16710800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7592541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:447.64, Y:194.11, Z:51.68 [[-5.33173524e-02 -9.98575519e-01 2.04745940e-03 4.47636221e+02] [ 9.92166182e-01 -5.32068861e-02 -1.13027846e-01 1.94107762e+02] [ 1.12975779e-01 -3.99492552e-03 9.93589711e-01 5.16781352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.7892541539999 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:447.64, Y:194.11, Z:51.68 [[-5.17897138e-02 -9.98657902e-01 4.69344450e-04 4.47635608e+02] [ 9.92221042e-01 -5.15091660e-02 -1.13332296e-01 1.94108982e+02] [ 1.13204368e-01 -5.40375372e-03 9.93557029e-01 5.16781418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.819254154 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:447.63, Y:194.11, Z:51.68 [[-4.80384485e-02 -9.98845399e-01 4.20734000e-04 4.47633933e+02] [ 9.92505146e-01 -4.77808971e-02 -1.12474538e-01 1.94110291e+02] [ 1.12364778e-01 -4.98552166e-03 9.93654518e-01 5.16781509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8492541539999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:447.63, Y:194.11, Z:51.68 [[-4.53395266e-02 -9.98971565e-01 3.74796692e-04 4.47633340e+02] [ 9.92653991e-01 -4.50949176e-02 -1.12269780e-01 1.94111992e+02] [ 1.12171219e-01 -4.71821523e-03 9.93677692e-01 5.16779976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.8792541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:447.64, Y:194.08, Z:51.67 [[-3.84995176e-02 -9.99238224e-01 -6.38426596e-03 4.47636505e+02] [ 9.92563445e-01 -3.75024365e-02 -1.15807487e-01 1.94081110e+02] [ 1.15479843e-01 -1.07953214e-02 9.93251160e-01 5.16746026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9092541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:447.62, Y:194.10, Z:51.68 [[-3.49077055e-02 -9.99361306e-01 7.64403861e-03 4.47623892e+02] [ 9.92667766e-01 -3.55575532e-02 -1.15526473e-01 1.94104958e+02] [ 1.15724490e-01 3.55522663e-03 9.93274988e-01 5.16798433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.939254154 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:447.63, Y:194.13, Z:51.68 [[-3.24250739e-02 -9.99474169e-01 -7.22617258e-06 4.47625347e+02] [ 9.92768036e-01 -3.22066765e-02 -1.15647555e-01 1.94132173e+02] [ 1.15586512e-01 -3.75705445e-03 9.93290312e-01 5.16804282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9692541539999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:447.62, Y:194.13, Z:51.68 [[-2.65594089e-02 -9.99647237e-01 8.13532368e-06 4.47622193e+02] [ 9.92765088e-01 -2.63775119e-02 -1.17139693e-01 1.94133621e+02] [ 1.17098585e-01 -3.10308455e-03 9.93115448e-01 5.16806142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 607.9992541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:447.62, Y:194.16, Z:51.68 [[-2.38878944e-02 -9.99714643e-01 -3.46581010e-05 4.47620738e+02] [ 9.92759054e-01 -2.37176102e-02 -1.17757954e-01 1.94160625e+02] [ 1.17723529e-01 -2.84739673e-03 9.93042327e-01 5.16832671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.0292541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:447.62, Y:194.19, Z:51.69 [[-2.14999200e-02 -9.99768850e-01 -1.07359021e-05 4.47618693e+02] [ 9.92742394e-01 -2.13475459e-02 -1.18350417e-01 1.94188482e+02] [ 1.18322832e-01 -2.55518249e-03 9.92971892e-01 5.16866355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.059254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.61, Y:194.19, Z:51.69 [[-1.56320495e-02 -9.99877812e-01 1.75198919e-05 4.47614514e+02] [ 9.92839234e-01 -1.55240840e-02 -1.18445171e-01 1.94191119e+02] [ 1.18430971e-01 -1.83414634e-03 9.92960594e-01 5.16877084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.089254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.61, Y:194.22, Z:51.69 [[-1.34463502e-02 -9.99909593e-01 -2.39745512e-05 4.47612848e+02] [ 9.92937393e-01 -1.33497646e-02 -1.17886035e-01 1.94219200e+02] [ 1.17875057e-01 -1.60894214e-03 9.93027131e-01 5.16907615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1192541539999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:447.61, Y:194.23, Z:51.69 [[-1.04319838e-02 -9.99945585e-01 5.96246498e-06 4.47611571e+02] [ 9.93003254e-01 -1.03602589e-02 -1.17631643e-01 1.94226072e+02] [ 1.17625304e-01 -1.22121064e-03 9.93057298e-01 5.16916197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1492541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:447.61, Y:194.25, Z:51.70 [[-6.28837956e-03 -9.99980227e-01 -3.56756769e-05 4.47607763e+02] [ 9.93037774e-01 -6.24052527e-03 -1.17630925e-01 1.94253373e+02] [ 1.17628376e-01 -7.75135197e-04 9.93057382e-01 5.16950901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.1792541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.61, Y:194.28, Z:51.70 [[-4.82564842e-03 -9.99738372e-01 -2.23584425e-02 4.47614555e+02] [ 9.92496621e-01 -2.05655154e-03 -1.22254770e-01 1.94279384e+02] [ 1.22176804e-01 -2.27806371e-02 9.92246880e-01 5.16987705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.209254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.60, Y:194.27, Z:51.70 [[ 1.92337989e-03 -9.99852129e-01 1.70885965e-02 4.47595003e+02] [ 9.93768485e-01 6.63392803e-06 -1.11463886e-01 1.94265604e+02] [ 1.11447290e-01 1.71964961e-02 9.93621549e-01 5.17035391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2392541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:447.60, Y:194.29, Z:51.70 [[ 1.87824411e-03 -9.99974927e-01 -6.82777653e-03 4.47602273e+02] [ 9.93756967e-01 2.62812403e-03 -1.11535572e-01 1.94290459e+02] [ 1.11550720e-01 -6.57565946e-03 9.93736986e-01 5.17004894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2692541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.60, Y:194.32, Z:51.71 [[ 6.71241655e-03 -9.99975806e-01 1.82510546e-03 4.47599881e+02] [ 9.93899902e-01 6.47069003e-03 -1.10095931e-01 1.94320235e+02] [ 1.10081458e-01 2.55298189e-03 9.93919290e-01 5.17056965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.2992541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.60, Y:194.35, Z:51.71 [[ 7.04745312e-03 -9.99974762e-01 -8.99677367e-04 4.47600264e+02] [ 9.93877522e-01 7.10368190e-03 -1.10258831e-01 1.94347135e+02] [ 1.10262439e-01 -1.17125171e-04 9.93902501e-01 5.17086276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.329254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:447.60, Y:194.38, Z:51.71 [[ 7.06426361e-03 -9.99945697e-01 7.66154142e-03 4.47596982e+02] [ 9.94035286e-01 6.18825000e-03 -1.08883225e-01 1.94376505e+02] [ 1.08829901e-01 8.38502231e-03 9.94025022e-01 5.17115762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3592541539999 meters Centerline goodness : 0.997101 Centerline is valid? [True, True] Translation: X:447.60, Y:194.40, Z:51.71 [[ 5.38368500e-03 -9.99983252e-01 2.12390969e-03 4.47598045e+02] [ 9.94138661e-01 5.12285182e-03 -1.07991110e-01 1.94402725e+02] [ 1.07978421e-01 2.69285085e-03 9.94149591e-01 5.17123656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.3892541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:447.60, Y:194.43, Z:51.71 [[ 4.53287281e-03 -9.99988979e-01 -1.22305007e-03 4.47601714e+02] [ 9.93997896e-01 4.63939749e-03 -1.09300773e-01 1.94432340e+02] [ 1.09305243e-01 -7.20262691e-04 9.94007970e-01 5.17141634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4192541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.60, Y:194.46, Z:51.72 [[ 1.14520005e-03 -9.99999344e-01 -3.78130067e-05 4.47603351e+02] [ 9.93952091e-01 1.14242693e-03 -1.09808635e-01 1.94459179e+02] [ 1.09808607e-01 8.81685377e-05 9.93952746e-01 5.17163789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.449254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.60, Y:194.49, Z:51.72 [[-1.52145601e-03 -9.99998842e-01 -1.93906962e-05 4.47604583e+02] [ 9.93893848e-01 -1.51002814e-03 -1.10330132e-01 1.94486487e+02] [ 1.10329975e-01 -1.87134736e-04 9.93894995e-01 5.17189988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.4792541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.60, Y:194.49, Z:51.72 [[-1.13014479e-03 -9.99999361e-01 9.06846717e-06 4.47604494e+02] [ 9.93894360e-01 -1.12424577e-03 -1.10330128e-01 1.94489121e+02] [ 1.10330068e-01 -1.15675921e-04 9.93894996e-01 5.17192844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5092541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:447.61, Y:194.52, Z:51.72 [[-3.43663608e-03 -9.99994094e-01 -3.05145516e-05 4.47605957e+02] [ 9.93798020e-01 -3.41195065e-03 -1.11147895e-01 1.94515959e+02] [ 1.11147135e-01 -4.12300168e-04 9.93803876e-01 5.17212791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5392541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.61, Y:194.54, Z:51.72 [[-7.43134914e-03 -9.99972387e-01 -7.32130570e-06 4.47606665e+02] [ 9.93789751e-01 -7.38458965e-03 -1.11028817e-01 1.94543310e+02] [ 1.11025697e-01 -8.32369741e-04 9.93817187e-01 5.17245490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.569254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.61, Y:194.55, Z:51.72 [[-1.23717963e-02 -9.99923466e-01 2.05231384e-05 4.47609782e+02] [ 9.93759914e-01 -1.22978116e-02 -1.10860264e-01 1.94549345e+02] [ 1.10852031e-01 -1.35114552e-03 9.93836003e-01 5.17243422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.5992541539999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.61, Y:194.58, Z:51.73 [[-1.51093589e-02 -9.99885847e-01 -1.91574506e-05 4.47610582e+02] [ 9.93756466e-01 -1.50146191e-02 -1.10556079e-01 1.94576050e+02] [ 1.10543171e-01 -1.68946932e-03 9.93869887e-01 5.17271676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6292541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.61, Y:194.58, Z:51.73 [[-1.77028952e-02 -9.99843292e-01 -1.46812831e-06 4.47610745e+02] [ 9.93749411e-01 -1.75948371e-02 -1.10238511e-01 1.94581657e+02] [ 1.10221210e-01 -1.95299977e-03 9.93905162e-01 5.17288779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.6592541539999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:447.61, Y:194.61, Z:51.73 [[-2.02115625e-02 -9.99795725e-01 -4.13508155e-05 4.47611402e+02] [ 9.93709728e-01 -2.00839733e-02 -1.10170825e-01 1.94608870e+02] [ 1.10147489e-01 -2.26781522e-03 9.93912666e-01 5.17319526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.689254154 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:447.61, Y:194.64, Z:51.73 [[-2.48499635e-02 -9.99691192e-01 -1.93907321e-05 4.47614109e+02] [ 9.93540221e-01 -2.46949164e-02 -1.10760960e-01 1.94635692e+02] [ 1.10726277e-01 -2.77167128e-03 9.93847075e-01 5.17341718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7192541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:447.62, Y:194.66, Z:51.74 [[-2.72968292e-02 -9.99627372e-01 -6.09244104e-07 4.47615599e+02] [ 9.93464118e-01 -2.71284616e-02 -1.10874220e-01 1.94663301e+02] [ 1.10832889e-01 -3.02711991e-03 9.93834447e-01 5.17363258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7492541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:447.62, Y:194.67, Z:51.74 [[-3.12869503e-02 -9.99510443e-01 2.66103725e-05 4.47617553e+02] [ 9.93393436e-01 -3.10984150e-02 -1.10464342e-01 1.94668262e+02] [ 1.10411091e-01 -3.42965780e-03 9.93880088e-01 5.17364699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.7792541539999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:447.62, Y:194.70, Z:51.74 [[-3.38359517e-02 -9.99427400e-01 -1.29510307e-05 4.47618355e+02] [ 9.93317849e-01 -3.36276802e-02 -1.10403035e-01 1.94695707e+02] [ 1.10339383e-01 -3.74845625e-03 9.93886900e-01 5.17393112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.809254154 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:447.62, Y:194.70, Z:51.74 [[-3.57882164e-02 -9.99359397e-01 1.48470537e-05 4.47618897e+02] [ 9.93317297e-01 -3.55734730e-02 -1.09796520e-01 1.94702543e+02] [ 1.09726712e-01 -3.91467379e-03 9.93954085e-01 5.17397405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.839254154 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:447.62, Y:194.73, Z:51.74 [[-4.03043511e-02 -9.99187449e-01 -2.52156601e-05 4.47619829e+02] [ 9.93134059e-01 -4.00574010e-02 -1.09909716e-01 1.94729126e+02] [ 1.09819399e-01 -4.45488231e-03 9.93941575e-01 5.17423962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8692541539999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:447.62, Y:194.73, Z:51.74 [[-4.37895074e-02 -9.99040780e-01 -8.25154612e-07 4.47621065e+02] [ 9.92902690e-01 -4.35203740e-02 -1.10680733e-01 1.94732366e+02] [ 1.10574530e-01 -4.84747407e-03 9.93856013e-01 5.17418024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.8992541539999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:447.62, Y:194.76, Z:51.74 [[-4.60788110e-02 -9.98937807e-01 -4.06824724e-05 4.47621702e+02] [ 9.92687280e-01 -4.57859391e-02 -1.11694283e-01 1.94759744e+02] [ 1.11573779e-01 -5.18712473e-03 9.93742615e-01 5.17445309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9292541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:447.62, Y:194.79, Z:51.75 [[-4.85577238e-02 -9.98820378e-01 -8.15393022e-06 4.47621661e+02] [ 9.92527315e-01 -4.82508711e-02 -1.12077577e-01 1.94787250e+02] [ 1.11944974e-01 -5.45032501e-03 9.93699460e-01 5.17469107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.959254154 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:447.62, Y:194.79, Z:51.75 [[-5.02503223e-02 -9.98736654e-01 1.86198919e-05 4.47621449e+02] [ 9.92464141e-01 -4.99368139e-02 -1.11898361e-01 1.94793171e+02] [ 1.11757924e-01 -5.60444911e-03 9.93719657e-01 5.17475089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 608.9892541539999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:447.62, Y:194.82, Z:51.75 [[-5.41586849e-02 -9.98532341e-01 -2.16322736e-05 4.47621023e+02] [ 9.92316586e-01 -5.38191395e-02 -1.11405981e-01 1.94820410e+02] [ 1.11241311e-01 -6.05506747e-03 9.93774978e-01 5.17502665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0192541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:447.62, Y:194.85, Z:51.75 [[-5.59387555e-02 -9.98434202e-01 7.93266140e-07 4.47621000e+02] [ 9.92288831e-01 -5.55945400e-02 -1.10779614e-01 1.94848263e+02] [ 1.10606199e-01 -6.19608658e-03 9.93844997e-01 5.17525857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.0492541539999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:447.62, Y:194.85, Z:51.75 [[-5.80374094e-02 -9.98314409e-01 2.73240895e-05 4.47620722e+02] [ 9.92211855e-01 -5.76856566e-02 -1.10399278e-01 1.94846501e+02] [ 1.10214767e-01 -6.38017683e-03 9.93887317e-01 5.17518239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.079254154 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:447.62, Y:194.87, Z:51.75 [[-5.91322847e-02 -9.98250155e-01 -1.30906406e-05 4.47620087e+02] [ 9.92162007e-01 -5.87702014e-02 -1.10275182e-01 1.94873101e+02] [ 1.10081448e-01 -6.53381147e-03 9.93901094e-01 5.17544262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1092541539999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:447.62, Y:194.87, Z:51.75 [[-5.92422443e-02 -9.98243636e-01 1.07488464e-05 4.47618874e+02] [ 9.92146692e-01 -5.88816004e-02 -1.10353519e-01 1.94872862e+02] [ 1.10160331e-01 -6.52692570e-03 9.93892399e-01 5.17541974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1392541539999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:447.62, Y:194.90, Z:51.76 [[-5.87807282e-02 -9.98270918e-01 -2.94404449e-05 4.47616200e+02] [ 9.92107151e-01 -5.84145177e-02 -1.10955597e-01 1.94900867e+02] [ 1.10762026e-01 -6.55125885e-03 9.93825364e-01 5.17574469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.1692541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:447.61, Y:194.90, Z:51.76 [[-5.74200768e-02 -9.98350106e-01 -1.65125027e-06 4.47614568e+02] [ 9.92172088e-01 -5.70645646e-02 -1.11077376e-01 1.94903931e+02] [ 1.10894016e-01 -6.37970978e-03 9.93811761e-01 5.17579277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.199254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:447.61, Y:194.93, Z:51.76 [[-5.52556410e-02 -9.98472239e-01 -4.14276411e-05 4.47611800e+02] [ 9.92381490e-01 -5.49140019e-02 -1.10287943e-01 1.94931727e+02] [ 1.10117175e-01 -6.13514303e-03 9.93899677e-01 5.17611224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2292541539999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:447.61, Y:194.96, Z:51.76 [[-5.42922832e-02 -9.98525086e-01 -9.16447529e-06 4.47610234e+02] [ 9.92480918e-01 -5.39626384e-02 -1.09862008e-01 1.94959870e+02] [ 1.09699477e-01 -5.97375482e-03 9.93946849e-01 5.17644699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2592541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:447.61, Y:194.96, Z:51.77 [[-5.25923608e-02 -9.98616064e-01 1.93820011e-05 4.47608586e+02] [ 9.92641607e-01 -5.22798344e-02 -1.09222067e-01 1.94961778e+02] [ 1.09071924e-01 -5.72500698e-03 9.94017374e-01 5.17652225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.2892541539999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:447.61, Y:194.99, Z:51.77 [[-5.04609665e-02 -9.98726034e-01 -2.10615260e-05 4.47605636e+02] [ 9.92925240e-01 -5.01656098e-02 -1.07623787e-01 1.94989210e+02] [ 1.07485621e-01 -5.45171282e-03 9.94191692e-01 5.17683047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.319254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:447.60, Y:194.99, Z:51.77 [[-4.85176852e-02 -9.98822324e-01 8.41117548e-06 4.47604253e+02] [ 9.93078964e-01 -4.82396039e-02 -1.07084600e-01 1.94988736e+02] [ 1.06958894e-01 -5.18714393e-03 9.94249912e-01 5.17681441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3492541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.60, Y:195.02, Z:51.77 [[-4.55113076e-02 -9.98963823e-01 -3.25519508e-05 4.47601522e+02] [ 9.93303061e-01 -4.52499476e-02 -1.06308378e-01 1.95015919e+02] [ 1.06196751e-01 -4.87056725e-03 9.94333208e-01 5.17704534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.3792541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:447.60, Y:195.04, Z:51.77 [[-4.40181262e-02 -9.99030733e-01 -4.81631269e-06 4.47600019e+02] [ 9.93332183e-01 -4.37665292e-02 -1.06656762e-01 1.95043731e+02] [ 1.06553172e-01 -4.69961500e-03 9.94295899e-01 5.17733136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4092541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.60, Y:195.05, Z:51.77 [[-4.19303416e-02 -9.99120536e-01 2.32769755e-05 4.47598519e+02] [ 9.93451858e-01 -4.16949209e-02 -1.06371708e-01 1.95051747e+02] [ 1.06279129e-01 -4.43707750e-03 9.94326435e-01 5.17737796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.439254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:447.60, Y:195.08, Z:51.78 [[-3.89780687e-02 -9.99240066e-01 -1.80425916e-05 4.47596240e+02] [ 9.93570258e-01 -3.87549817e-02 -1.06377598e-01 1.95078345e+02] [ 1.06296059e-01 -4.16431991e-03 9.94325805e-01 5.17761790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4692541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:447.60, Y:195.11, Z:51.78 [[-3.71984007e-02 -9.99307900e-01 -2.63834301e-07 4.47595922e+02] [ 9.93687402e-01 -3.69891544e-02 -1.05911044e-01 1.95106009e+02] [ 1.05837733e-01 -3.93998361e-03 9.94375609e-01 5.17774069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.4992541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.59, Y:195.11, Z:51.78 [[-3.47558069e-02 -9.99395834e-01 2.96372564e-05 4.47593665e+02] [ 9.93810758e-01 -3.45647065e-02 -1.05572055e-01 1.95109421e+02] [ 1.05509297e-01 -3.63978814e-03 9.94411655e-01 5.17791041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.5292541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:447.59, Y:195.14, Z:51.78 [[-3.35478734e-02 -9.99437112e-01 -1.14398940e-05 4.47592758e+02] [ 9.93867598e-01 -3.33597161e-02 -1.05424507e-01 1.95136945e+02] [ 1.05364783e-01 -3.54813776e-03 9.94427309e-01 5.17815057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.559254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.59, Y:195.14, Z:51.78 [[-2.94281661e-02 -9.99566898e-01 1.86876764e-05 4.47590722e+02] [ 9.93970037e-01 -2.92653651e-02 -1.05674520e-01 1.95140323e+02] [ 1.05629299e-01 -3.09123235e-03 9.94400772e-01 5.17808658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.589254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.59, Y:195.17, Z:51.78 [[-2.81574089e-02 -9.99603501e-01 -2.21754780e-05 4.47589372e+02] [ 9.93959322e-01 -2.79960662e-02 -1.06118266e-01 1.95167596e+02] [ 1.06075569e-01 -3.01005692e-03 9.94353515e-01 5.17845141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6192541539999 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:447.59, Y:195.17, Z:51.78 [[-2.63771171e-02 -9.99652063e-01 7.33447969e-06 4.47588590e+02] [ 9.94004233e-01 -2.62288706e-02 -1.06149102e-01 1.95166843e+02] [ 1.06112361e-01 -2.79261679e-03 9.94350224e-01 5.17847973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6492541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.59, Y:195.19, Z:51.79 [[-2.25038921e-02 -9.99746755e-01 -3.33382656e-05 4.47589310e+02] [ 9.94163441e-01 -2.23746946e-02 -1.05538738e-01 1.95194624e+02] [ 1.05511265e-01 -2.40817606e-03 9.94415192e-01 5.17854858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.6792541539999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:447.59, Y:195.22, Z:51.79 [[-2.11429090e-02 -9.99776464e-01 -2.30527626e-06 4.47588933e+02] [ 9.94174760e-01 -2.10242025e-02 -1.05709648e-01 1.95221514e+02] [ 1.05685969e-01 -2.23730131e-03 9.94397039e-01 5.17893254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.709254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:447.59, Y:195.24, Z:51.79 [[-1.83114020e-02 -9.99832332e-01 1.39864985e-05 4.47588722e+02] [ 9.94228900e-01 -1.82102570e-02 -1.05722662e-01 1.95235634e+02] [ 1.05705191e-01 -1.92202439e-03 9.94395655e-01 5.17905283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7392541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.59, Y:195.26, Z:51.79 [[-1.30678847e-02 -9.99914611e-01 -2.69131874e-05 4.47586986e+02] [ 9.94368361e-01 -1.29925698e-02 -1.05179638e-01 1.95263668e+02] [ 1.05170308e-01 -1.40123701e-03 9.94453238e-01 5.17938354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7692541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.59, Y:195.26, Z:51.79 [[-1.00016755e-02 -9.99949982e-01 3.23515121e-06 4.47586064e+02] [ 9.94430323e-01 -9.94680635e-03 -1.04925663e-01 1.95262324e+02] [ 1.04920447e-01 -1.04621530e-03 9.94480068e-01 5.17940626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.7992541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.59, Y:195.29, Z:51.80 [[-6.43393088e-03 -9.99979301e-01 -3.75135867e-05 4.47586002e+02] [ 9.94460771e-01 -6.39448852e-03 -1.04913709e-01 1.95290093e+02] [ 1.04911298e-01 -7.12313343e-04 9.94481328e-01 5.17968193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.829254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.59, Y:195.32, Z:51.80 [[-5.72005356e-03 -9.99983640e-01 -6.27911299e-06 4.47586305e+02] [ 9.94465710e-01 -5.68783144e-03 -1.04907576e-01 1.95316997e+02] [ 1.04905824e-01 -6.06321314e-04 9.94481976e-01 5.17994030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8592541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:447.59, Y:195.32, Z:51.80 [[-4.82444119e-03 -9.99988362e-01 6.77719981e-06 4.47587089e+02] [ 9.94479360e-01 -4.79857344e-03 -1.04822591e-01 1.95319447e+02] [ 1.04821403e-01 -4.98970640e-04 9.94490937e-01 5.17994933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.8892541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:447.59, Y:195.35, Z:51.80 [[-5.68533702e-03 -9.99983838e-01 -3.39561474e-05 4.47588417e+02] [ 9.94475724e-01 -5.65046188e-03 -1.04814626e-01 1.95347108e+02] [ 1.04812740e-01 -6.29675040e-04 9.94491776e-01 5.18022156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9192541539999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:447.59, Y:195.38, Z:51.81 [[-6.94164581e-03 -9.99975907e-01 -3.61709038e-06 4.47589004e+02] [ 9.94475931e-01 -6.90308715e-03 -1.04737627e-01 1.95375144e+02] [ 1.04735079e-01 -7.30648618e-04 9.94499889e-01 5.18051188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.949254154 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:447.59, Y:195.37, Z:51.80 [[-8.40607442e-03 -9.99964668e-01 2.60142159e-05 4.47591108e+02] [ 9.94544558e-01 -8.36321593e-03 -1.03976820e-01 1.95374946e+02] [ 1.03973364e-01 -8.48164588e-04 9.94579720e-01 5.18042869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 609.9792541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:447.59, Y:195.40, Z:51.81 [[-9.73687165e-03 -9.99952595e-01 -1.49411308e-05 4.47592474e+02] [ 9.94529819e-01 -9.68251426e-03 -1.04003305e-01 1.95402995e+02] [ 1.03998231e-01 -1.02752624e-03 9.94576951e-01 5.18062704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0092541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.59, Y:195.40, Z:51.81 [[-1.03744584e-02 -9.99946184e-01 1.41919512e-05 4.47593751e+02] [ 9.94465178e-01 -1.03190768e-02 -1.04558723e-01 1.95404009e+02] [ 1.04553243e-01 -1.07062672e-03 9.94518714e-01 5.18060952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0392541539999 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:447.60, Y:195.43, Z:51.81 [[-1.28334589e-02 -9.99917647e-01 -2.68365354e-05 4.47595769e+02] [ 9.94302767e-01 -1.27585544e-02 -1.05826404e-01 1.95430879e+02] [ 1.05817347e-01 -1.38480245e-03 9.94384619e-01 5.18082358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.069254154 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:447.60, Y:195.46, Z:51.81 [[-1.46350017e-02 -9.99892903e-01 -9.75770226e-06 4.47596435e+02] [ 9.94230836e-01 -1.45510914e-02 -1.06269991e-01 1.95457868e+02] [ 1.06258468e-01 -1.56496291e-03 9.94337311e-01 5.18108374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.0992541539999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:447.60, Y:195.46, Z:51.81 [[-1.71837698e-02 -9.99852348e-01 1.55794539e-05 4.47598003e+02] [ 9.94188637e-01 -1.70880876e-02 -1.06287117e-01 1.95461024e+02] [ 1.06271689e-01 -1.81092443e-03 9.94335481e-01 5.18113267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1292541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:447.60, Y:195.49, Z:51.81 [[-1.93295789e-02 -9.99813166e-01 -2.48491910e-05 4.47598802e+02] [ 9.94183852e-01 -1.92181126e-02 -1.05967598e-01 1.95488941e+02] [ 1.05947322e-01 -2.07301371e-03 9.94369583e-01 5.18138603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.1592541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.60, Y:195.49, Z:51.81 [[-2.08964968e-02 -9.99781644e-01 5.05782672e-06 4.47599937e+02] [ 9.94123015e-01 -2.07787629e-02 -1.06243465e-01 1.95493447e+02] [ 1.06220371e-01 -2.21508812e-03 9.94340146e-01 5.18142472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.189254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.60, Y:195.52, Z:51.82 [[-2.34663168e-02 -9.99724627e-01 -3.58889234e-05 4.47601091e+02] [ 9.94044686e-01 -2.33291715e-02 -1.06446756e-01 1.95520589e+02] [ 1.06416606e-01 -2.53358849e-03 9.94318403e-01 5.18168832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2192541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:447.60, Y:195.55, Z:51.82 [[-2.80661500e-02 -9.99606068e-01 -2.17312835e-05 4.47603321e+02] [ 9.93919167e-01 -2.79041620e-02 -1.06517830e-01 1.95547380e+02] [ 1.06475263e-01 -3.01114453e-03 9.94310792e-01 5.18184764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2492541539999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:447.60, Y:195.55, Z:51.82 [[-2.97206054e-02 -9.99558245e-01 3.71938574e-06 4.47603921e+02] [ 9.93841775e-01 -2.95510307e-02 -1.06795430e-01 1.95552567e+02] [ 1.06748363e-01 -3.17032837e-03 9.94281015e-01 5.18192266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.2792541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:447.60, Y:195.58, Z:51.82 [[-3.19024657e-02 -9.99490986e-01 -3.67765395e-05 4.47604579e+02] [ 9.93805555e-01 -3.17170750e-02 -1.06510780e-01 1.95580738e+02] [ 1.06455398e-01 -3.43450524e-03 9.94311547e-01 5.18218512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.309254154 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:447.61, Y:195.61, Z:51.82 [[-3.53749708e-02 -9.99374110e-01 -5.54172065e-06 4.47605587e+02] [ 9.93672265e-01 -3.51725504e-02 -1.06669217e-01 1.95607167e+02] [ 1.06602259e-01 -3.77892710e-03 9.94294563e-01 5.18243601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.339254154 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.61, Y:195.61, Z:51.82 [[-3.64581179e-02 -9.99335182e-01 1.40064069e-05 4.47605920e+02] [ 9.93565464e-01 -3.62491289e-02 -1.07301768e-01 1.95608986e+02] [ 1.07230940e-01 -3.89810424e-03 9.94226499e-01 5.18246143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3692541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.61, Y:195.64, Z:51.83 [[-3.96451447e-02 -9.99213822e-01 -2.70934741e-05 4.47606407e+02] [ 9.93359029e-01 -3.94099170e-02 -1.08095777e-01 1.95635380e+02] [ 1.08009727e-01 -4.31238629e-03 9.94140484e-01 5.18264833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.3992541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.61, Y:195.66, Z:51.83 [[-3.99121567e-02 -9.99203192e-01 -9.28240434e-06 4.47606319e+02] [ 9.93348386e-01 -3.96772882e-02 -1.08095779e-01 1.95663622e+02] [ 1.08009279e-01 -4.32355633e-03 9.94140484e-01 5.18294372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4292541539999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:447.61, Y:195.67, Z:51.83 [[-4.06875791e-02 -9.99171917e-01 1.67543749e-05 4.47606436e+02] [ 9.93241060e-01 -4.04478912e-02 -1.08794136e-01 1.95666010e+02] [ 1.08704723e-01 -4.40992887e-03 9.94064302e-01 5.18294714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.459254154 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:447.61, Y:195.69, Z:51.83 [[-4.20342045e-02 -9.99116172e-01 -2.35772025e-05 4.47606333e+02] [ 9.93137653e-01 -4.17801022e-02 -1.09233806e-01 1.95693076e+02] [ 1.09136277e-01 -4.61497156e-03 9.94016084e-01 5.18322391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.4892541539999 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:447.61, Y:195.70, Z:51.83 [[-4.34818456e-02 -9.99054217e-01 7.45366523e-07 4.47605596e+02] [ 9.92997019e-01 -4.32183001e-02 -1.09950439e-01 1.95700703e+02] [ 1.09846482e-01 -4.78010786e-03 9.93937071e-01 5.18332362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5192541539999 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:447.60, Y:195.73, Z:51.84 [[-4.49673956e-02 -9.98988454e-01 -3.93561561e-05 4.47604356e+02] [ 9.92841579e-01 -4.46863431e-02 -1.10764298e-01 1.95728934e+02] [ 1.10650496e-01 -5.01985642e-03 9.93846703e-01 5.18360616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.5492541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:447.60, Y:195.76, Z:51.84 [[-4.57492673e-02 -9.98952954e-01 -7.95634474e-06 4.47603624e+02] [ 9.92759434e-01 -4.54647357e-02 -1.11183020e-01 1.95756791e+02] [ 1.11066244e-01 -5.09444042e-03 9.93799948e-01 5.18388123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.579254154 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:447.60, Y:195.76, Z:51.84 [[-4.57144846e-02 -9.98954546e-01 1.95811024e-05 4.47603033e+02] [ 9.92750003e-01 -4.54327315e-02 -1.11280267e-01 1.95761642e+02] [ 1.11164819e-01 -5.06768092e-03 9.93789063e-01 5.18392983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6092541539999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:447.60, Y:195.79, Z:51.84 [[-4.60654664e-02 -9.98938423e-01 -1.99969078e-05 4.47602763e+02] [ 9.92771830e-01 -4.57788767e-02 -1.10943172e-01 1.95789108e+02] [ 1.10824482e-01 -5.13050134e-03 9.93826752e-01 5.18417695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6392541539999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:447.60, Y:195.79, Z:51.84 [[-4.45829464e-02 -9.99005686e-01 8.40207201e-06 4.47601340e+02] [ 9.92941503e-01 -4.43132434e-02 -1.10015949e-01 1.95787577e+02] [ 1.09906930e-01 -4.89649237e-03 9.93929822e-01 5.18416005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.6692541539999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:447.60, Y:195.81, Z:51.84 [[-4.35634251e-02 -9.99050663e-01 -3.17681328e-05 4.47600098e+02] [ 9.93008417e-01 -4.32964621e-02 -1.09816669e-01 1.95814492e+02] [ 1.09711041e-01 -4.81553627e-03 9.93951859e-01 5.18447772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.699254154 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:447.60, Y:195.84, Z:51.85 [[-4.04500429e-02 -9.99181562e-01 -3.47209855e-06 4.47596944e+02] [ 9.93205403e-01 -4.02077295e-02 -1.09207900e-01 1.95842113e+02] [ 1.09118381e-01 -4.42091276e-03 9.94018931e-01 5.18480555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7292541539999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:447.60, Y:195.84, Z:51.85 [[-3.81171080e-02 -9.99273279e-01 2.53962880e-05 4.47595172e+02] [ 9.93308788e-01 -3.78923661e-02 -1.09095465e-01 1.95841275e+02] [ 1.09017146e-01 -4.13317727e-03 9.94031277e-01 5.18486056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7592541539999 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:447.59, Y:195.87, Z:51.85 [[-3.63837823e-02 -9.99337891e-01 -1.47143687e-05 4.47593495e+02] [ 9.93405432e-01 -3.61661920e-02 -1.08800987e-01 1.95869275e+02] [ 1.08728417e-01 -3.97320876e-03 9.94063552e-01 5.18516112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.7892541539999 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:447.59, Y:195.87, Z:51.85 [[-3.27122161e-02 -9.99464812e-01 1.39504353e-05 4.47591339e+02] [ 9.93516137e-01 -3.25190382e-02 -1.08941259e-01 1.95872357e+02] [ 1.08883408e-01 -3.54985002e-03 9.94048189e-01 5.18514631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.819254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.59, Y:195.90, Z:51.85 [[-3.11675762e-02 -9.99514173e-01 -2.62043132e-05 4.47590374e+02] [ 9.93555898e-01 -3.09789226e-02 -1.09027442e-01 1.95900120e+02] [ 1.08973661e-01 -3.42415655e-03 9.94038740e-01 5.18542507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8492541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:447.59, Y:195.90, Z:51.85 [[-2.87055035e-02 -9.99587912e-01 2.07007486e-06 4.47589034e+02] [ 9.93581089e-01 -2.85332302e-02 -1.09464488e-01 1.95901063e+02] [ 1.09419438e-01 -3.14017646e-03 9.93990707e-01 5.18544182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.8792541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:447.59, Y:195.93, Z:51.86 [[-2.47631539e-02 -9.99693345e-01 -3.77813448e-05 4.47586530e+02] [ 9.93619202e-01 -2.46085330e-02 -1.10069534e-01 1.95928412e+02] [ 1.10034851e-01 -2.76320909e-03 9.93923889e-01 5.18573940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:447.59, Y:195.96, Z:51.86 [[-2.29244854e-02 -9.99737199e-01 -6.36341936e-06 4.47585263e+02] [ 9.93626032e-01 -2.27836505e-02 -1.10400243e-01 1.95955793e+02] [ 1.10371085e-01 -2.53719162e-03 9.93887210e-01 5.18601170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.939254154 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:447.58, Y:195.95, Z:51.86 [[-1.73239803e-02 -9.99849928e-01 2.12133556e-05 4.47582818e+02] [ 9.93658051e-01 -1.72190538e-02 -1.11117873e-01 1.95954372e+02] [ 1.11101563e-01 -1.90392503e-03 9.93807234e-01 5.18600347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9692541539999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:447.58, Y:195.98, Z:51.86 [[-1.48010571e-02 -9.99890458e-01 -1.87745207e-05 4.47581654e+02] [ 9.93665385e-01 -1.47068174e-02 -1.11412805e-01 1.95981096e+02] [ 1.11400325e-01 -1.66768288e-03 9.93774213e-01 5.18630423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 610.9992541539999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:447.58, Y:196.01, Z:51.87 [[-1.19938639e-02 -9.99928071e-01 5.71509319e-07 4.47580317e+02] [ 9.93630855e-01 -1.19183946e-02 -1.12052114e-01 1.96008984e+02] [ 1.12044061e-01 -1.34336994e-03 9.93702332e-01 5.18663931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0292541539999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:447.58, Y:196.01, Z:51.87 [[-6.02947601e-03 -9.99981822e-01 2.75140072e-05 4.47578166e+02] [ 9.93606088e-01 -5.99413504e-03 -1.12743123e-01 1.96005205e+02] [ 1.12741238e-01 -6.52443868e-04 9.93624168e-01 5.18661694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.0592541539999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:447.58, Y:196.03, Z:51.87 [[-1.76436031e-03 -9.99998443e-01 -1.08298918e-05 4.47575401e+02] [ 9.93564258e-01 -1.75178152e-03 -1.13256327e-01 1.96033101e+02] [ 1.13256132e-01 -2.10585162e-04 9.93565803e-01 5.18697094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.089254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:447.57, Y:196.03, Z:51.87 [[ 6.14420055e-04 -9.99999811e-01 1.58947596e-05 4.47574218e+02] [ 9.93560804e-01 6.08662947e-04 -1.13298537e-01 1.96030954e+02] [ 1.13298506e-01 8.54053037e-05 9.93560990e-01 5.18699435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:447.57, Y:196.06, Z:51.87 [[ 3.38460033e-03 -9.99994272e-01 -2.36985291e-05 4.47572757e+02] [ 9.93621238e-01 3.36570132e-03 -1.12718714e-01 1.96057720e+02] [ 1.12718148e-01 3.57960433e-04 9.93626938e-01 5.18733899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1492541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:447.57, Y:196.09, Z:51.88 [[ 3.88662464e-03 -9.99992447e-01 -7.65061136e-06 4.47572250e+02] [ 9.93580891e-01 3.86257011e-03 -1.13057918e-01 1.96085608e+02] [ 1.13057094e-01 4.31812190e-04 9.93588399e-01 5.18767408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.1792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:447.57, Y:196.09, Z:51.88 [[ 4.61985150e-03 -9.99989328e-01 1.93284768e-05 4.47571632e+02] [ 9.93576391e-01 4.58803887e-03 -1.13070359e-01 1.96091753e+02] [ 1.13069064e-01 5.41572586e-04 9.93586983e-01 5.18776814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.209254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:447.57, Y:196.12, Z:51.88 [[ 4.18446293e-03 -9.99991245e-01 -2.03897623e-05 4.47570036e+02] [ 9.93548708e-01 4.15981493e-03 -1.13329872e-01 1.96118238e+02] [ 1.13328965e-01 4.53966428e-04 9.93557416e-01 5.18811149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.57, Y:196.14, Z:51.88 [[ 3.71717365e-03 -9.99993091e-01 -5.58795882e-06 4.47569160e+02] [ 9.93490818e-01 3.69363961e-03 -1.13852322e-01 1.96144550e+02] [ 1.13851557e-01 4.17657268e-04 9.93497684e-01 5.18842108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.57, Y:196.15, Z:51.88 [[ 4.00189664e-03 -9.99991992e-01 7.15551197e-06 4.47568998e+02] [ 9.93483772e-01 3.97503616e-03 -1.13904319e-01 1.96145111e+02] [ 1.13903378e-01 4.62942197e-04 9.93491724e-01 5.18845195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.57, Y:196.17, Z:51.89 [[ 2.42137850e-03 -9.99997068e-01 -3.08044451e-05 4.47569527e+02] [ 9.93375294e-01 2.40888377e-03 -1.14890050e-01 1.96172565e+02] [ 1.14889787e-01 2.47591923e-04 9.93378214e-01 5.18878038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.329254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:447.57, Y:196.20, Z:51.89 [[ 1.30111452e-03 -9.99999154e-01 1.76967591e-06 4.47569602e+02] [ 9.93300878e-01 1.29219480e-03 -1.15549539e-01 1.96200419e+02] [ 1.15549439e-01 1.52101004e-04 9.93301719e-01 5.18908544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:447.57, Y:196.20, Z:51.89 [[ 1.05071502e-03 -9.99999448e-01 2.64527827e-05 4.47569517e+02] [ 9.93307147e-01 1.04062806e-03 -1.15498180e-01 1.96204442e+02] [ 1.15498089e-01 1.47631410e-04 9.93307691e-01 5.18916265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.3892541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:447.57, Y:196.23, Z:51.90 [[ 8.24571758e-05 -9.99999997e-01 -1.21321768e-05 4.47569480e+02] [ 9.93250255e-01 8.33078371e-05 -1.15991050e-01 1.96231080e+02] [ 1.15991051e-01 -2.48599300e-06 9.93250259e-01 5.18955067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:447.57, Y:196.23, Z:51.90 [[-4.87584111e-05 -9.99999999e-01 2.71217434e-06 4.47569442e+02] [ 9.93232307e-01 -4.87434317e-05 -1.16144656e-01 1.96233221e+02] [ 1.16144656e-01 -2.96920944e-06 9.93232309e-01 5.18960983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.449254154 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:447.57, Y:196.26, Z:51.90 [[-5.71518965e-04 -9.99999836e-01 -3.61979440e-05 4.47569762e+02] [ 9.93211857e-01 -5.63429028e-04 -1.16318056e-01 1.96260008e+02] [ 1.16318017e-01 -1.02430202e-04 9.93212016e-01 5.18993188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.4792541539999 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:447.57, Y:196.29, Z:51.90 [[-6.15985115e-04 -9.99999810e-01 -1.62155949e-05 4.47569958e+02] [ 9.93178010e-01 -6.09892141e-04 -1.16606471e-01 1.96287578e+02] [ 1.16606439e-01 -8.79328223e-05 9.93178197e-01 5.19025921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5092541539999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:447.57, Y:196.28, Z:51.90 [[ 1.01635604e-03 -9.99999484e-01 7.93160279e-06 4.47571068e+02] [ 9.93119189e-01 1.00843439e-03 -1.17103630e-01 1.96278829e+02] [ 1.17103561e-01 1.26896009e-04 9.93119701e-01 5.19022191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5392541539999 meters Centerline goodness : 0.999565 Centerline is valid? [True, True] Translation: X:447.57, Y:196.31, Z:51.90 [[ 2.11353320e-03 -9.99997766e-01 -3.09460273e-05 4.47572009e+02] [ 9.93086126e-01 2.10255731e-03 -1.17369186e-01 1.96306131e+02] [ 1.17368989e-01 2.17331601e-04 9.93088351e-01 5.19046745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.569254154 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:447.57, Y:196.33, Z:51.91 [[ 2.77453293e-03 -9.99996151e-01 -1.03717242e-05 4.47572539e+02] [ 9.93092776e-01 2.75659582e-03 -1.17299356e-01 1.96333285e+02] [ 1.17298933e-01 3.15150842e-04 9.93096602e-01 5.19083684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.5992541539999 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:447.57, Y:196.34, Z:51.91 [[ 5.06491969e-03 -9.99987173e-01 1.41030446e-05 4.47573471e+02] [ 9.93080058e-01 5.02828051e-03 -1.17331645e-01 1.96337676e+02] [ 1.17330069e-01 6.08280812e-04 9.93092788e-01 5.19097828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6292541539999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:447.57, Y:196.37, Z:51.91 [[ 5.78898578e-03 -9.99983243e-01 -2.28963206e-05 4.47573787e+02] [ 9.93049179e-01 5.75153563e-03 -1.17559554e-01 1.96365324e+02] [ 1.17557716e-01 6.57813415e-04 9.93065834e-01 5.19134591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.6592541539999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:447.57, Y:196.37, Z:51.91 [[ 6.64534205e-03 -9.99977920e-01 6.98130667e-07 4.47574088e+02] [ 9.92961112e-01 6.59862937e-03 -1.18256875e-01 1.96367951e+02] [ 1.18254260e-01 7.86550603e-04 9.92983037e-01 5.19140520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.689254154 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:447.57, Y:196.39, Z:51.92 [[ 6.77571313e-03 -9.99977044e-01 -3.80264424e-05 4.47574822e+02] [ 9.92849135e-01 6.73194768e-03 -1.19185887e-01 1.96394670e+02] [ 1.19183407e-01 7.69814862e-04 9.92871957e-01 5.19169844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7192541539999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:447.58, Y:196.42, Z:51.92 [[ 6.35235848e-03 -9.99979823e-01 -1.75788864e-05 4.47577777e+02] [ 9.92779168e-01 6.30872224e-03 -1.19790330e-01 1.96422586e+02] [ 1.19788024e-01 7.43499165e-04 9.92799213e-01 5.19194624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7492541539999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:447.58, Y:196.43, Z:51.92 [[ 4.29019658e-03 -9.99990797e-01 4.39620119e-06 4.47580873e+02] [ 9.92628396e-01 4.25807765e-03 -1.21122815e-01 1.96425389e+02] [ 1.21121682e-01 5.24004482e-04 9.92637529e-01 5.19199219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.7792541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:447.58, Y:196.45, Z:51.92 [[ 2.09886923e-03 -9.99997797e-01 -3.20969275e-05 4.47582077e+02] [ 9.92574782e-01 2.08719284e-03 -1.21618036e-01 1.96451640e+02] [ 1.21617835e-01 2.23401753e-04 9.92576976e-01 5.19229398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8092541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.58, Y:196.48, Z:51.93 [[ 1.03401368e-04 -9.99999995e-01 -1.49377796e-06 4.47583243e+02] [ 9.92581048e-01 1.02815862e-04 -1.21584754e-01 1.96479432e+02] [ 1.21584754e-01 1.10893345e-05 9.92581053e-01 5.19262434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.839254154 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:447.58, Y:196.48, Z:51.93 [[-1.64550025e-03 -9.99998646e-01 1.97132856e-05 4.47584218e+02] [ 9.92575093e-01 -1.63568235e-03 -1.21622403e-01 1.96479755e+02] [ 1.21622270e-01 -1.80562777e-04 9.92576441e-01 5.19268237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8692541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:447.59, Y:196.51, Z:51.93 [[-5.87283442e-03 -9.99982755e-01 -1.59376149e-05 4.47587696e+02] [ 9.92519312e-01 -5.82705850e-03 -1.21948601e-01 1.96507490e+02] [ 1.21946406e-01 -7.32002334e-04 9.92536417e-01 5.19300785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.8992541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.59, Y:196.51, Z:51.93 [[-7.45116524e-03 -9.99972240e-01 7.03780545e-06 4.47589406e+02] [ 9.92480527e-01 -7.39620159e-03 -1.22178965e-01 1.96512439e+02] [ 1.22175625e-01 -9.03390769e-04 9.92508086e-01 5.19306900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9292541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.59, Y:196.54, Z:51.93 [[-1.15292253e-02 -9.99933536e-01 -2.88171489e-05 4.47592338e+02] [ 9.92486475e-01 -1.14398501e-02 -1.21818415e-01 1.96540472e+02] [ 1.21809989e-01 -1.43307258e-03 9.92552403e-01 5.19337853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.959254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.59, Y:196.55, Z:51.94 [[-1.29809834e-02 -9.99915744e-01 -5.81101051e-06 4.47593900e+02] [ 9.92495618e-01 -1.28839481e-02 -1.21599555e-01 1.96552062e+02] [ 1.21589235e-01 -1.58424921e-03 9.92579240e-01 5.19353690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 611.9892541539999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:447.60, Y:196.58, Z:51.94 [[-1.49062489e-02 -9.99888895e-01 -4.39240420e-05 4.47595639e+02] [ 9.92563637e-01 -1.47917370e-02 -1.20824792e-01 1.96578661e+02] [ 1.20810718e-01 -1.84464182e-03 9.92673848e-01 5.19381842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0192541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.60, Y:196.61, Z:51.94 [[-1.72851928e-02 -9.99850600e-01 -2.39086379e-05 4.47598859e+02] [ 9.92584020e-01 -1.71566921e-02 -1.20343718e-01 1.96605640e+02] [ 1.20325329e-01 -2.10389571e-03 9.92732285e-01 5.19412291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.0492541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:447.60, Y:196.63, Z:51.94 [[-1.82661760e-02 -9.99833160e-01 1.03432377e-06 4.47599992e+02] [ 9.92547130e-01 -1.81331906e-02 -1.20504700e-01 1.96633612e+02] [ 1.20484613e-01 -2.20013344e-03 9.92712757e-01 5.19446755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.079254154 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:447.60, Y:196.63, Z:51.95 [[-1.70982989e-02 -9.99853813e-01 2.40162734e-05 4.47602088e+02] [ 9.92545487e-01 -1.69762196e-02 -1.20686639e-01 1.96633397e+02] [ 1.20669404e-01 -2.03969899e-03 9.92690654e-01 5.19451209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1092541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.60, Y:196.66, Z:51.95 [[-1.62698672e-02 -9.99867637e-01 -1.26526494e-05 4.47602474e+02] [ 9.92603751e-01 -1.61501465e-02 -1.20320270e-01 1.96661532e+02] [ 1.20304139e-01 -1.97015387e-03 9.92735127e-01 5.19482305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1392541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:447.60, Y:196.66, Z:51.95 [[-1.44688279e-02 -9.99895321e-01 9.85612168e-06 4.47603080e+02] [ 9.92554862e-01 -1.43638012e-02 -1.20948452e-01 1.96657021e+02] [ 1.20935932e-01 -1.74019959e-03 9.92658789e-01 5.19478990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.1692541539999 meters Centerline goodness : 0.996517 Centerline is valid? [True, True] Translation: X:447.59, Y:196.68, Z:51.95 [[-9.37903749e-03 -9.99367034e-01 3.43156646e-02 4.47588458e+02] [ 9.93234537e-01 -1.32827645e-02 -1.15363438e-01 1.96683684e+02] [ 1.15746223e-01 3.30015052e-02 9.92730433e-01 5.19526810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.199254154 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.62, Y:196.71, Z:51.94 [[-9.89477096e-03 -9.99399712e-01 -3.32010499e-02 4.47621032e+02] [ 9.92409317e-01 -5.74454808e-03 -1.22844404e-01 1.96712923e+02] [ 1.22579937e-01 -3.41645485e-02 9.91870426e-01 5.19431162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2292541539999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:447.61, Y:196.71, Z:51.95 [[-6.66136825e-03 -9.99977813e-01 2.18109740e-05 4.47605381e+02] [ 9.92295738e-01 -6.61289240e-03 -1.23715148e-01 1.96711304e+02] [ 1.23712547e-01 -8.02469224e-04 9.92317773e-01 5.19539601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2592541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.61, Y:196.74, Z:51.96 [[-4.78456048e-03 -9.99988554e-01 -1.33631001e-05 4.47605590e+02] [ 9.92232653e-01 -4.74579035e-03 -1.24305429e-01 1.96739305e+02] [ 1.24303942e-01 -6.08006145e-04 9.92244002e-01 5.19570446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.2892541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.61, Y:196.74, Z:51.96 [[-4.39204539e-03 -9.99990355e-01 8.53223633e-06 4.47605501e+02] [ 9.92234428e-01 -4.35904129e-03 -1.24305424e-01 1.96741936e+02] [ 1.24304262e-01 -5.37489087e-04 9.92244003e-01 5.19573290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.319254154 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:447.61, Y:196.77, Z:51.96 [[-7.87770723e-04 -9.99999689e-01 -2.63283115e-05 4.47606393e+02] [ 9.92193806e-01 -7.78338251e-04 -1.24703028e-01 1.96769808e+02] [ 1.24702969e-01 -1.24360182e-04 9.92194111e-01 5.19610849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3492541539999 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:447.61, Y:196.77, Z:51.96 [[ 1.70529092e-03 -9.99998546e-01 -4.16563006e-06 4.47606422e+02] [ 9.92198568e-01 1.69250894e-03 -1.24656073e-01 1.96772058e+02] [ 1.24655899e-01 2.08441737e-04 9.92200012e-01 5.19618645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.3792541539999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:447.61, Y:196.80, Z:51.97 [[ 4.38772643e-03 -9.99990373e-01 -3.89959143e-05 4.47606582e+02] [ 9.92257998e-01 4.35863867e-03 -1.24117154e-01 1.96799774e+02] [ 1.24116129e-01 5.05898109e-04 9.92267570e-01 5.19656256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4092541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:447.61, Y:196.83, Z:51.97 [[ 4.76652543e-03 -9.99988640e-01 -2.99458526e-06 4.47607196e+02] [ 9.92288324e-01 4.73019218e-03 -1.23860835e-01 1.96827232e+02] [ 1.23859442e-01 5.87414329e-04 9.92299599e-01 5.19689054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.439254154 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.61, Y:196.83, Z:51.97 [[ 5.35671969e-03 -9.99985653e-01 1.94218528e-05 4.47609502e+02] [ 9.92482285e-01 5.31415088e-03 -1.22272951e-01 1.96833611e+02] [ 1.22271094e-01 6.74257771e-04 9.92496511e-01 5.19695785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4692541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:447.61, Y:196.86, Z:51.97 [[ 4.29168254e-03 -9.99990791e-01 -1.60230871e-05 4.47610647e+02] [ 9.92533907e-01 4.26163282e-03 -1.21894551e-01 1.96860896e+02] [ 1.21893497e-01 5.07229261e-04 9.92543056e-01 5.19727043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.4992541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.61, Y:196.86, Z:51.97 [[ 3.20536997e-03 -9.99994863e-01 7.19987235e-06 4.47612139e+02] [ 9.92551741e-01 3.18063507e-03 -1.21782288e-01 1.96862874e+02] [ 1.21781639e-01 3.97503534e-04 9.92556837e-01 5.19730666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5292541539999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:447.62, Y:196.89, Z:51.98 [[-5.94567699e-04 -9.99999823e-01 -3.05995038e-05 4.47615587e+02] [ 9.92591855e-01 -5.86445466e-04 -1.21495128e-01 1.96889647e+02] [ 1.21495089e-01 -1.02609897e-04 9.92592027e-01 5.19759443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.5592541539999 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:447.62, Y:196.92, Z:51.98 [[-2.84537157e-03 -9.99995952e-01 -8.88164382e-06 4.47616952e+02] [ 9.92616935e-01 -2.82329846e-03 -1.21258603e-01 1.96917686e+02] [ 1.21258087e-01 -3.53841851e-04 9.92620950e-01 5.19791999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.589254154 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:447.62, Y:196.92, Z:51.98 [[-6.95261407e-03 -9.99975830e-01 1.38887319e-05 4.47620910e+02] [ 9.92600478e-01 -6.90301862e-03 -1.21229695e-01 1.96920857e+02] [ 1.21226860e-01 -8.29077317e-04 9.92624481e-01 5.19796282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6192541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:447.62, Y:196.95, Z:51.98 [[-9.61116306e-03 -9.99953811e-01 -2.19647538e-05 4.47623413e+02] [ 9.92532428e-01 -9.53716043e-03 -1.21607658e-01 1.96948515e+02] [ 1.21601832e-01 -1.19059176e-03 9.92578247e-01 5.19821414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6492541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:447.63, Y:196.95, Z:51.98 [[-1.11421937e-02 -9.99937924e-01 9.10537295e-07 4.47626106e+02] [ 9.92428192e-01 -1.10586250e-02 -1.22327392e-01 1.96952739e+02] [ 1.22319808e-01 -1.36209185e-03 9.92489803e-01 5.19819429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.6792541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:447.63, Y:196.98, Z:51.99 [[-1.70009307e-02 -9.99855473e-01 -3.47655128e-05 4.47628982e+02] [ 9.92370696e-01 -1.68694176e-02 -1.22130361e-01 1.96979963e+02] [ 1.22112124e-01 -2.11083008e-03 9.92514067e-01 5.19857035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.709254154 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:447.63, Y:197.01, Z:51.99 [[-1.92045324e-02 -9.99815576e-01 1.17815311e-06 4.47630657e+02] [ 9.92369080e-01 -1.90616431e-02 -1.21820616e-01 1.97007844e+02] [ 1.21798172e-01 -2.33833880e-03 9.92552133e-01 5.19888927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7392541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:447.63, Y:197.02, Z:51.99 [[-2.04215415e-02 -9.99791458e-01 2.45505287e-05 4.47632496e+02] [ 9.92417362e-01 -2.02738965e-02 -1.21230149e-01 1.97016982e+02] [ 1.21205365e-01 -2.45134215e-03 9.92624426e-01 5.19898942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7692541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:447.64, Y:197.04, Z:51.99 [[-2.24656837e-02 -9.99747615e-01 -1.17568817e-05 4.47636211e+02] [ 9.92494999e-01 -2.23012936e-02 -1.20234476e-01 1.97044754e+02] [ 1.20203868e-01 -2.71281835e-03 9.92745522e-01 5.19924879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.7992541539999 meters Centerline goodness : 0.994564 Centerline is valid? [True, True] Translation: X:447.64, Y:197.72, Z:52.06 [[-2.38759354e-02 -9.99703009e-01 4.88200890e-03 4.47635513e+02] [ 9.92493213e-01 -2.42890922e-02 -1.19863515e-01 1.97719823e+02] [ 1.19946496e-01 1.98350717e-03 9.92778376e-01 5.20644142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.829254154 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:447.64, Y:197.06, Z:51.99 [[-2.01198167e-02 -9.99786826e-01 -4.63639929e-03 4.47641802e+02] [ 9.92514157e-01 -1.94142999e-02 -1.20576669e-01 1.97064956e+02] [ 1.20460952e-01 -7.02767240e-03 9.92693191e-01 5.19932290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8592541539999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:447.64, Y:197.09, Z:52.00 [[-1.97725672e-02 -9.99804464e-01 -2.82637706e-04 4.47640651e+02] [ 9.92533502e-01 -1.95947407e-02 -1.20388096e-01 1.97092743e+02] [ 1.20359017e-01 -2.66090911e-03 9.92726864e-01 5.19977734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.8892541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.64, Y:197.12, Z:52.00 [[-1.96675910e-02 -9.99806543e-01 -2.50183191e-04 4.47641336e+02] [ 9.92502827e-01 -1.94937245e-02 -1.20657085e-01 1.97119669e+02] [ 1.20628866e-01 -2.62134173e-03 9.92694215e-01 5.20010056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9192541539999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.64, Y:197.15, Z:52.00 [[-1.94757705e-02 -9.99810303e-01 -2.28351599e-04 4.47644338e+02] [ 9.92511299e-01 -1.93060414e-02 -1.20617573e-01 1.97147043e+02] [ 1.20590283e-01 -2.57576171e-03 9.92699022e-01 5.20039549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.949254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.65, Y:197.17, Z:52.01 [[-1.99745013e-02 -9.99800471e-01 -1.91801820e-04 4.47646345e+02] [ 9.92576737e-01 -1.98071619e-02 -1.19996243e-01 1.97174536e+02] [ 1.19968502e-01 -2.58724315e-03 9.92774327e-01 5.20063779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 612.9792541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:447.65, Y:197.20, Z:52.01 [[-2.06915609e-02 -9.99785895e-01 -1.55944959e-04 4.47648138e+02] [ 9.92604002e-01 -2.05242618e-02 -1.19649694e-01 1.97202453e+02] [ 1.19620875e-01 -2.63053051e-03 9.92816160e-01 5.20094623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0092541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.65, Y:197.23, Z:52.01 [[-2.13146238e-02 -9.99772810e-01 -1.21344812e-04 4.47649534e+02] [ 9.92627168e-01 -2.11477969e-02 -1.19348552e-01 1.97228739e+02] [ 1.19318871e-01 -2.66431964e-03 9.92852410e-01 5.20122651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0392541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.65, Y:197.26, Z:52.02 [[-2.23472826e-02 -9.99750264e-01 -9.80940018e-05 4.47651699e+02] [ 9.92529001e-01 -2.21740947e-02 -1.19977048e-01 1.97255380e+02] [ 1.19944910e-01 -2.77852213e-03 9.92776661e-01 5.20151989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.069254154 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:447.65, Y:197.28, Z:52.02 [[-2.29186657e-02 -9.99737330e-01 -7.66318194e-05 4.47653243e+02] [ 9.92486257e-01 -2.27432217e-02 -1.20223859e-01 1.97283269e+02] [ 1.20190537e-01 -2.83142645e-03 9.92746805e-01 5.20175193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.0992541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:447.66, Y:197.31, Z:52.02 [[-2.47109788e-02 -9.99694636e-01 -4.21654994e-05 4.47655970e+02] [ 9.92427219e-01 -2.45262624e-02 -1.20360611e-01 1.97310635e+02] [ 1.20322823e-01 -3.01607470e-03 9.92730236e-01 5.20202682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1292541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:447.66, Y:197.34, Z:52.02 [[-2.41515047e-02 -9.99701570e-01 3.67094040e-03 4.47657022e+02] [ 9.92832158e-01 -2.44151643e-02 -1.16996604e-01 1.97340618e+02] [ 1.17051316e-01 8.18983645e-04 9.93125530e-01 5.20214178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.1592541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.66, Y:197.28, Z:52.02 [[-2.78816858e-02 -9.99606707e-01 -3.00726211e-03 4.47660895e+02] [ 9.92341097e-01 -2.73166022e-02 -1.20469704e-01 1.97280918e+02] [ 1.20340176e-01 -6.34312823e-03 9.92712449e-01 5.20162314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.189254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.66, Y:197.28, Z:52.02 [[-2.82209294e-02 -9.99601706e-01 9.40973788e-05 4.47660811e+02] [ 9.92375162e-01 -2.80282069e-02 -1.20024823e-01 1.97282770e+02] [ 1.19979655e-01 -3.29383214e-03 9.92770887e-01 5.20175801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2192541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.66, Y:197.28, Z:52.02 [[-2.86702906e-02 -9.99588922e-01 4.60318972e-05 4.47662494e+02] [ 9.92436830e-01 -2.84706526e-02 -1.19409216e-01 1.97282809e+02] [ 1.19361440e-01 -3.37781317e-03 9.92845122e-01 5.20185295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2492541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:447.66, Y:197.29, Z:52.02 [[-2.85282204e-02 -9.99592988e-01 -1.46788878e-06 4.47662920e+02] [ 9.92521048e-01 -2.83262140e-02 -1.18741715e-01 1.97286341e+02] [ 1.18693344e-01 -3.38894671e-03 9.92925176e-01 5.20192051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.2792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.66, Y:197.31, Z:52.02 [[-2.80362724e-02 -9.99606906e-01 -3.96210415e-05 4.47664977e+02] [ 9.92590196e-01 -2.78347844e-02 -1.18279022e-01 1.97312999e+02] [ 1.18231424e-01 -3.35543034e-03 9.92980398e-01 5.20219320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3092541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.67, Y:197.34, Z:52.02 [[-2.82342248e-02 -9.99601335e-01 -7.92388702e-06 4.47666053e+02] [ 9.92552094e-01 -2.80341758e-02 -1.18551366e-01 1.97341110e+02] [ 1.18503882e-01 -3.35507079e-03 9.92947921e-01 5.20247674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.339254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.67, Y:197.34, Z:52.03 [[-2.76669817e-02 -9.99617196e-01 1.74816318e-05 4.47667151e+02] [ 9.92514947e-01 -2.74724897e-02 -1.18993034e-01 1.97343544e+02] [ 1.18947963e-01 -3.27482730e-03 9.92895089e-01 5.20250177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3692541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:447.67, Y:197.37, Z:52.03 [[-2.86088603e-02 -9.99590683e-01 -2.15903387e-05 4.47668467e+02] [ 9.92336168e-01 -2.83986344e-02 -1.20259919e-01 1.97370306e+02] [ 1.20210081e-01 -3.46192410e-03 9.92742440e-01 5.20275333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.3992541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.67, Y:197.40, Z:52.03 [[-2.94690384e-02 -9.99565694e-01 3.77712085e-06 4.47668664e+02] [ 9.92306154e-01 -2.92554684e-02 -1.20302176e-01 1.97397655e+02] [ 1.20250038e-01 -3.54144138e-03 9.92737320e-01 5.20306675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4292541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.67, Y:197.40, Z:52.03 [[-3.02446368e-02 -9.99542526e-01 2.78805354e-05 4.47669118e+02] [ 9.92284678e-01 -3.00283806e-02 -1.20288880e-01 1.97400232e+02] [ 1.20234688e-01 -3.61042805e-03 9.92738931e-01 5.20314973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.459254154 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.67, Y:197.43, Z:52.03 [[-3.10222527e-02 -9.99518694e-01 -9.69098345e-06 4.47669648e+02] [ 9.92254697e-01 -3.07956319e-02 -1.20342202e-01 1.97428065e+02] [ 1.20283982e-01 -3.74290212e-03 9.92732469e-01 5.20343165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.4892541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.67, Y:197.43, Z:52.04 [[-3.12953984e-02 -9.99510179e-01 1.37056827e-05 4.47670287e+02] [ 9.92198625e-01 -3.10681238e-02 -1.20733842e-01 1.97431654e+02] [ 1.20675130e-01 -3.76481492e-03 9.92684914e-01 5.20350806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5192541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.67, Y:197.46, Z:52.04 [[-3.25799371e-02 -9.99469133e-01 -2.56592430e-05 4.47670910e+02] [ 9.92118253e-01 -3.23372108e-02 -1.21060631e-01 1.97458761e+02] [ 1.20995534e-01 -3.96960476e-03 9.92645114e-01 5.20376262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.5492541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.66, Y:197.48, Z:52.05 [[-3.18903384e-02 -9.99278981e-01 2.06040074e-02 4.47661084e+02] [ 9.91494083e-01 -3.42309998e-02 -1.25569591e-01 1.97482469e+02] [ 1.26184349e-01 1.64242947e-02 9.91870835e-01 5.20464538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.579254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.68, Y:197.21, Z:52.01 [[-3.11453080e-02 -9.99415198e-01 -1.41149203e-02 4.47676093e+02] [ 9.91446951e-01 -2.91001721e-02 -1.27224693e-01 1.97205960e+02] [ 1.26739546e-01 -1.79566470e-02 9.91773485e-01 5.20062943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6092541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.67, Y:197.23, Z:52.01 [[-3.19187720e-02 -9.99490413e-01 -3.24941225e-04 4.47669838e+02] [ 9.91415933e-01 -3.16196685e-02 -1.26864672e-01 1.97233308e+02] [ 1.26789749e-01 -4.37151644e-03 9.91919981e-01 5.20138959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6392541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.67, Y:197.26, Z:52.02 [[-3.25700360e-02 -9.99469414e-01 -2.88842578e-04 4.47669854e+02] [ 9.91387821e-01 -3.22699989e-02 -1.26920591e-01 1.97260451e+02] [ 1.26843928e-01 -4.42016323e-03 9.91912839e-01 5.20173258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.6692541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.67, Y:197.29, Z:52.02 [[-3.35678106e-02 -9.99415828e-01 6.41907072e-03 4.47667418e+02] [ 9.91027696e-01 -3.41160914e-02 -1.29229250e-01 1.97288725e+02] [ 1.29372751e-01 2.02353388e-03 9.91593968e-01 5.20218541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.699254154 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.67, Y:197.32, Z:52.02 [[-3.39281883e-02 -9.99414296e-01 -4.46569075e-03 4.47672718e+02] [ 9.91215712e-01 -3.30776871e-02 -1.28051857e-01 1.97315487e+02] [ 1.27829142e-01 -8.77103035e-03 9.91757420e-01 5.20234428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7292541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.67, Y:197.34, Z:52.03 [[-3.47003002e-02 -9.99395323e-01 -2.20870165e-03 4.47671434e+02] [ 9.91325494e-01 -3.41396110e-02 -1.26918285e-01 1.97344252e+02] [ 1.26766137e-01 -6.59364485e-03 9.91910717e-01 5.20281798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7592541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.67, Y:197.37, Z:52.03 [[-3.54588388e-02 -9.99371129e-01 -1.34704786e-04 4.47670364e+02] [ 9.91319482e-01 -3.51560809e-02 -1.26687548e-01 1.97370455e+02] [ 1.26603142e-01 -4.62572881e-03 9.91942663e-01 5.20323084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.7892541539999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:447.67, Y:197.40, Z:52.04 [[-3.69403316e-02 -9.99317468e-01 -1.00511785e-04 4.47671127e+02] [ 9.91285795e-01 -3.66307095e-02 -1.26533253e-01 1.97397987e+02] [ 1.26443208e-01 -4.77381623e-03 9.91962361e-01 5.20356855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.819254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.67, Y:197.43, Z:52.04 [[-3.77121346e-02 -9.99288642e-01 -6.28749935e-05 4.47671689e+02] [ 9.91267770e-01 -3.74014789e-02 -1.26448951e-01 1.97425014e+02] [ 1.26356649e-01 -4.83098582e-03 9.91973114e-01 5.20389779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8492541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.67, Y:197.45, Z:52.04 [[-3.94322054e-02 -9.99221632e-01 1.10994818e-03 4.47672283e+02] [ 9.91165718e-01 -3.92550209e-02 -1.26686873e-01 1.97451750e+02] [ 1.26631835e-01 -3.89540022e-03 9.91942138e-01 5.20423374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.8792541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.67, Y:197.48, Z:52.05 [[-4.08735244e-02 -9.99164030e-01 -7.71811303e-04 4.47673660e+02] [ 9.91125169e-01 -4.04468573e-02 -1.26629184e-01 1.97479270e+02] [ 1.26492109e-01 -5.94074267e-03 9.91949824e-01 5.20453046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9092541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.67, Y:197.48, Z:52.05 [[-4.08973157e-02 -9.99163355e-01 5.82262962e-06 4.47673785e+02] [ 9.91114004e-01 -4.05685814e-02 -1.26677629e-01 1.97477401e+02] [ 1.26571881e-01 -5.17500409e-03 9.91943939e-01 5.20456497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.939254154 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.67, Y:197.50, Z:52.05 [[-4.14156815e-02 -9.99142002e-01 -3.61781277e-05 4.47674070e+02] [ 9.91106744e-01 -4.10780270e-02 -1.26570211e-01 1.97504130e+02] [ 1.26460128e-01 -5.27784794e-03 9.91957651e-01 5.20489904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9692541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.67, Y:197.53, Z:52.05 [[-4.17348545e-02 -9.99128721e-01 -9.71782852e-06 4.47674812e+02] [ 9.91011071e-01 -4.13945328e-02 -1.27214580e-01 1.97531919e+02] [ 1.27103338e-01 -5.31891244e-03 9.91875219e-01 5.20524168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 613.9992541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.68, Y:197.53, Z:52.05 [[-4.07666870e-02 -9.99168693e-01 1.61106743e-05 4.47675477e+02] [ 9.91016280e-01 -4.04361191e-02 -1.27481969e-01 1.97534325e+02] [ 1.27376644e-01 -5.18105157e-03 9.91840888e-01 5.20520171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0292541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.68, Y:197.56, Z:52.06 [[-4.05419759e-02 -9.99177836e-01 -2.41684095e-05 4.47675297e+02] [ 9.91022443e-01 -4.02079839e-02 -1.27506218e-01 1.97561328e+02] [ 1.27400415e-01 -5.19330544e-03 9.91837771e-01 5.20564319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.0592541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.68, Y:197.56, Z:52.06 [[-3.95870560e-02 -9.99216125e-01 2.69347778e-06 4.47675561e+02] [ 9.91070914e-01 -3.92647016e-02 -1.27423413e-01 1.97562663e+02] [ 1.27323635e-01 -5.04164836e-03 9.91848413e-01 5.20566359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.089254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.68, Y:197.59, Z:52.06 [[-3.94525620e-02 -9.99221444e-01 -3.78681050e-05 4.47675999e+02] [ 9.91059397e-01 -3.91254633e-02 -1.27555754e-01 1.97590090e+02] [ 1.27454963e-01 -5.06993083e-03 9.91831401e-01 5.20598369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1192541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:447.68, Y:197.62, Z:52.06 [[-3.90557046e-02 -9.99237035e-01 -2.05302120e-06 4.47676660e+02] [ 9.91014183e-01 -3.87340470e-02 -1.28025636e-01 1.97618069e+02] [ 1.27927878e-01 -5.00216601e-03 9.91770859e-01 5.20633565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1492541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:447.68, Y:197.62, Z:52.06 [[-3.70394663e-02 -9.99313803e-01 2.32673728e-05 4.47676962e+02] [ 9.91033996e-01 -3.67355671e-02 -1.28460563e-01 1.97617840e+02] [ 1.28373269e-01 -4.73505195e-03 9.91714618e-01 5.20640627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.1792541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:447.68, Y:197.64, Z:52.07 [[-3.60802390e-02 -9.99348896e-01 -1.82833103e-05 4.47676903e+02] [ 9.91053258e-01 -3.57783830e-02 -1.28582064e-01 1.97644925e+02] [ 1.28497690e-01 -4.65739134e-03 9.91698872e-01 5.20677851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.209254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:447.68, Y:197.65, Z:52.07 [[-3.56803613e-02 -9.99363253e-01 -2.26928750e-06 4.47676818e+02] [ 9.91067422e-01 -3.53838825e-02 -1.28582062e-01 1.97647527e+02] [ 1.28500108e-01 -4.59010345e-03 9.91698872e-01 5.20680831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2392541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.68, Y:197.68, Z:52.07 [[-3.34556636e-02 -9.99440202e-01 -4.21200319e-05 4.47676572e+02] [ 9.91195203e-01 -3.31742650e-02 -1.28185556e-01 1.97675180e+02] [ 1.28112401e-01 -4.33028203e-03 9.91750201e-01 5.20725386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2692541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.68, Y:197.70, Z:52.08 [[-3.19215173e-02 -9.99490379e-01 -3.86847179e-06 4.47676574e+02] [ 9.91154739e-01 -3.16547965e-02 -1.28880785e-01 1.97702850e+02] [ 1.28814982e-01 -4.11790447e-03 9.91660095e-01 5.20756488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.2992541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:447.68, Y:197.70, Z:52.08 [[-2.97186045e-02 -9.99558305e-01 2.25890173e-05 4.47676213e+02] [ 9.91234400e-01 -2.94740308e-02 -1.28785268e-01 1.97702655e+02] [ 1.28729050e-01 -3.80492743e-03 9.91672504e-01 5.20766024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.329254154 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:447.68, Y:197.73, Z:52.08 [[-2.55667853e-02 -9.99673116e-01 -1.75441515e-05 4.47676188e+02] [ 9.91275619e-01 -2.53497481e-02 -1.29344647e-01 1.97729544e+02] [ 1.29301922e-01 -3.32431791e-03 9.91599698e-01 5.20803156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3592541539999 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:447.68, Y:197.73, Z:52.08 [[-2.21671670e-02 -9.99754278e-01 4.66993975e-06 4.47676116e+02] [ 9.91213254e-01 -2.19783995e-02 -1.30434794e-01 1.97728177e+02] [ 1.30402846e-01 -2.88674095e-03 9.91456890e-01 5.20796710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.3892541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.67, Y:197.75, Z:52.08 [[-1.69916692e-02 -9.99855631e-01 -3.50632737e-05 4.47673813e+02] [ 9.91452213e-01 -1.68443234e-02 -1.29378433e-01 1.97754460e+02] [ 1.29359165e-01 -2.23311910e-03 9.91595290e-01 5.20849679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4192541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.67, Y:197.78, Z:52.09 [[-1.41349774e-02 -9.99900096e-01 -1.12960265e-06 4.47673214e+02] [ 9.91559792e-01 -1.40169300e-02 -1.28890284e-01 1.97782193e+02] [ 1.28877391e-01 -1.82298131e-03 9.91658860e-01 5.20886862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.449254154 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:447.67, Y:197.78, Z:52.09 [[-1.10082873e-02 -9.99939407e-01 2.37956139e-05 4.47672876e+02] [ 9.91661441e-01 -1.09202112e-02 -1.28406912e-01 1.97781813e+02] [ 1.28399392e-01 -1.38994298e-03 9.91721566e-01 5.20891703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.4792541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.67, Y:197.81, Z:52.09 [[-8.77290170e-03 -9.99961517e-01 -1.73014642e-05 4.47672752e+02] [ 9.91722592e-01 -8.69840317e-03 -1.28104011e-01 1.97808638e+02] [ 1.28098931e-01 -1.14100215e-03 9.91760738e-01 5.20925654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5092541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.67, Y:197.81, Z:52.09 [[-3.82584530e-03 -9.99992681e-01 -2.02135372e-06 4.47673016e+02] [ 9.91855716e-01 -3.79445696e-03 -1.27310020e-01 1.97808101e+02] [ 1.27309080e-01 -4.89073332e-04 9.91862974e-01 5.20930885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5392541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.67, Y:197.84, Z:52.10 [[-1.53381985e-03 -9.99998823e-01 -4.18266455e-05 4.47673204e+02] [ 9.91824069e-01 -1.51594399e-03 -1.27603752e-01 1.97835457e+02] [ 1.27603539e-01 -2.37205842e-04 9.91825227e-01 5.20967781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.569254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.67, Y:197.86, Z:52.10 [[-1.70651040e-03 -9.99998544e-01 -7.79762285e-06 4.47673102e+02] [ 9.91823785e-01 -1.69156505e-03 -1.27603755e-01 1.97863725e+02] [ 1.27603556e-01 -2.25491002e-04 9.91825227e-01 5.20999620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.5992541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.67, Y:197.87, Z:52.10 [[-1.28796973e-03 -9.99999171e-01 5.28084917e-06 4.47673510e+02] [ 9.91789542e-01 -1.27807125e-03 -1.27874433e-01 1.97867424e+02] [ 1.27874334e-01 -1.59460908e-04 9.91790366e-01 5.21001624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6292541539999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:447.67, Y:197.89, Z:52.10 [[-2.50619348e-03 -9.99996859e-01 -3.41046666e-05 4.47674049e+02] [ 9.91754011e-01 -2.48116532e-03 -1.28132063e-01 1.97894603e+02] [ 1.28131576e-01 -3.54947180e-04 9.91757114e-01 5.21029644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.6592541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.68, Y:197.92, Z:52.11 [[-5.22112057e-03 -9.99986370e-01 2.92434544e-06 4.47675909e+02] [ 9.91621935e-01 -5.17782570e-03 -1.29070247e-01 1.97921890e+02] [ 1.29068503e-01 -6.70991474e-04 9.91635453e-01 5.21068931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.689254154 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:447.68, Y:197.93, Z:52.11 [[-6.15736358e-03 -9.99981043e-01 2.90857072e-05 4.47677623e+02] [ 9.91542588e-01 -6.10917464e-03 -1.29637856e-01 1.97926084e+02] [ 1.29635576e-01 -7.69387693e-04 9.91561408e-01 5.21063273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7192541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:447.68, Y:197.95, Z:52.11 [[-8.65650459e-03 -9.99962532e-01 -9.90255137e-06 4.47678636e+02] [ 9.91657406e-01 -8.58333487e-03 -1.28615375e-01 1.97953230e+02] [ 1.28610471e-01 -1.12317953e-03 9.91694552e-01 5.21103118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7492541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.68, Y:197.96, Z:52.11 [[-1.21153930e-02 -9.99926606e-01 1.63346935e-05 4.47681249e+02] [ 9.91648996e-01 -1.20171968e-02 -1.28405045e-01 1.97960210e+02] [ 1.28395817e-01 -1.53947930e-03 9.91721808e-01 5.21123385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.7792541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.68, Y:197.99, Z:52.12 [[-1.39051492e-02 -9.99903318e-01 -2.50602940e-05 4.47682069e+02] [ 9.91658820e-01 -1.37872854e-02 -1.28151062e-01 1.97986750e+02] [ 1.28138326e-01 -1.80681090e-03 9.91754660e-01 5.21157815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8092541539999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:447.68, Y:198.01, Z:52.12 [[-1.69298867e-02 -9.99856679e-01 -1.63234192e-06 4.47684325e+02] [ 9.91493196e-01 -1.67880629e-02 -1.29071309e-01 1.98014604e+02] [ 1.29052783e-01 -2.18678109e-03 9.91635315e-01 5.21186412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.839254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.69, Y:198.02, Z:52.12 [[-1.76407067e-02 -9.99844390e-01 2.33956603e-05 4.47686024e+02] [ 9.91429421e-01 -1.74952671e-02 -1.29466670e-01 1.98020393e+02] [ 1.29446933e-01 -2.26068841e-03 9.91583774e-01 5.21192463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8692541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.69, Y:198.05, Z:52.12 [[-1.91687828e-02 -9.99816262e-01 -1.61161488e-05 4.47687206e+02] [ 9.91363321e-01 -1.90046288e-02 -1.29759743e-01 1.98048557e+02] [ 1.29735595e-01 -2.50331329e-03 9.91545465e-01 5.21229989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.8992541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.69, Y:198.05, Z:52.12 [[-1.92138056e-02 -9.99815398e-01 7.26421966e-06 4.47688423e+02] [ 9.91321199e-01 -1.90515146e-02 -1.30074291e-01 1.98054183e+02] [ 1.30050418e-01 -2.49202097e-03 9.91504250e-01 5.21236216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9292541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.69, Y:198.08, Z:52.13 [[-1.86419512e-02 -9.99826223e-01 -3.23280993e-05 4.47689935e+02] [ 9.91372107e-01 -1.84801266e-02 -1.29768373e-01 1.98080559e+02] [ 1.29745225e-01 -2.45118486e-03 9.91544335e-01 5.21274234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.959254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.69, Y:198.11, Z:52.13 [[-1.73230766e-02 -9.99849944e-01 1.60166593e-06 4.47690653e+02] [ 9.91317957e-01 -1.71754629e-02 -1.30359933e-01 1.98107779e+02] [ 1.30340399e-01 -2.25664734e-03 9.91466736e-01 5.21303356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 614.9892541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.69, Y:198.11, Z:52.13 [[-1.52033794e-02 -9.99884422e-01 2.28033949e-05 4.47691069e+02] [ 9.91419007e-01 -1.50776230e-02 -1.29849982e-01 1.98108765e+02] [ 1.29835318e-01 -1.95155083e-03 9.91533651e-01 5.21305124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0192541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.69, Y:198.14, Z:52.13 [[-1.19801493e-02 -9.99928235e-01 -1.62876019e-05 4.47691861e+02] [ 9.91591433e-01 -1.18781670e-02 -1.28861708e-01 1.98135726e+02] [ 1.28852267e-01 -1.55993315e-03 9.91662574e-01 5.21346079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.0492541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.69, Y:198.14, Z:52.14 [[-9.60353752e-03 -9.99953885e-01 9.78870315e-06 4.47692492e+02] [ 9.91574532e-01 -9.52432701e-03 -1.29186818e-01 1.98136398e+02] [ 1.29180954e-01 -1.23094422e-03 9.91620273e-01 5.21355862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.079254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.69, Y:198.16, Z:52.14 [[-7.46377834e-03 -9.99972145e-01 -2.96581782e-05 4.47693278e+02] [ 9.91524839e-01 -7.39688080e-03 -1.29706518e-01 1.98164650e+02] [ 1.29702686e-01 -9.97507520e-04 9.91552428e-01 5.21383264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1092541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.69, Y:198.17, Z:52.14 [[-4.97100095e-03 -9.99987645e-01 -6.14323590e-06 4.47693569e+02] [ 9.91521563e-01 -4.92811782e-03 -1.29848774e-01 1.98165690e+02] [ 1.29847139e-01 -6.51569528e-04 9.91533810e-01 5.21393791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1392541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.70, Y:198.19, Z:52.14 [[-5.14423268e-05 -9.99999998e-01 -4.49775783e-05 4.47695091e+02] [ 9.91472778e-01 -4.51424584e-05 -1.30313960e-01 1.98193070e+02] [ 1.30313958e-01 -5.12976975e-05 9.91472778e-01 5.21422792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.1692541539999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:447.70, Y:198.22, Z:52.15 [[ 2.32894259e-03 -9.99997288e-01 -7.30291176e-06 4.47695643e+02] [ 9.91553870e-01 2.31022531e-03 -1.29674927e-01 1.98220261e+02] [ 1.29674592e-01 2.94764230e-04 9.91556561e-01 5.21458978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.199254154 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:447.70, Y:198.22, Z:52.15 [[ 7.13792886e-03 -9.99974525e-01 1.84078601e-05 4.47697244e+02] [ 9.91665229e-01 7.07624802e-03 -1.28646802e-01 1.98219344e+02] [ 1.28643394e-01 9.36526156e-04 9.91690476e-01 5.21469225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2292541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.70, Y:198.25, Z:52.15 [[ 8.61448252e-03 -9.99962894e-01 -2.04717086e-05 4.47698434e+02] [ 9.91722707e-01 8.54611773e-03 -1.28113376e-01 1.98247203e+02] [ 1.28108797e-01 1.08332818e-03 9.91759529e-01 5.21497636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2592541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.70, Y:198.25, Z:52.15 [[ 1.03421935e-02 -9.99946518e-01 5.62574392e-06 4.47699691e+02] [ 9.91722599e-01 1.02564155e-02 -1.27988646e-01 1.98248424e+02] [ 1.27981743e-01 1.32926252e-03 9.91775633e-01 5.21496167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.2892541539999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:447.70, Y:198.28, Z:52.15 [[ 1.20281995e-02 -9.99927658e-01 -3.54476032e-05 4.47702785e+02] [ 9.91756149e-01 1.19344266e-02 -1.27582566e-01 1.98275359e+02] [ 1.27573760e-01 1.49943318e-03 9.91827953e-01 5.21528317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.319254154 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.70, Y:198.30, Z:52.15 [[ 1.22232654e-02 -9.99925293e-01 -1.27001508e-05 4.47704248e+02] [ 9.91789573e-01 1.21254298e-02 -1.27304425e-01 1.98303381e+02] [ 1.27295069e-01 1.54347990e-03 9.91863692e-01 5.21549149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3492541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:447.71, Y:198.30, Z:52.16 [[ 1.32464021e-02 -9.99912263e-01 1.36058922e-05 4.47707546e+02] [ 9.91744327e-01 1.31364612e-02 -1.27556353e-01 1.98301030e+02] [ 1.27544983e-01 1.70315632e-03 9.91831325e-01 5.21555483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.3792541539999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:447.71, Y:198.33, Z:52.16 [[ 1.28020668e-02 -9.99918050e-01 -2.54010877e-05 4.47709397e+02] [ 9.91851019e-01 1.27020040e-02 -1.26768355e-01 1.98329207e+02] [ 1.26758289e-01 1.59770286e-03 9.91932348e-01 5.21578196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4092541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:447.71, Y:198.33, Z:52.16 [[ 1.32246630e-02 -9.99912550e-01 1.79772313e-06 4.47711381e+02] [ 9.91860543e-01 1.31179409e-02 -1.26651425e-01 1.98329985e+02] [ 1.26640326e-01 1.67670550e-03 9.91947285e-01 5.21590033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.439254154 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.72, Y:198.36, Z:52.16 [[ 1.32767768e-02 -9.99911859e-01 -3.73356526e-05 4.47716164e+02] [ 9.92082269e-01 1.31774795e-02 -1.24896457e-01 1.98357742e+02] [ 1.24885940e-01 1.62118234e-03 9.92169781e-01 5.21623888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4692541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:447.72, Y:198.38, Z:52.17 [[ 1.34189519e-02 -9.99909962e-01 -2.29361572e-06 4.47718559e+02] [ 9.92137904e-01 1.33149350e-02 -1.24439111e-01 1.98384295e+02] [ 1.24427938e-01 1.66756686e-03 9.92227246e-01 5.21653409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.4992541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.72, Y:198.38, Z:52.16 [[ 1.47980132e-02 -9.99890503e-01 1.10034291e-05 4.47720855e+02] [ 9.92188401e-01 1.46826617e-02 -1.23881378e-01 1.98381676e+02] [ 1.23867652e-01 1.84411575e-03 9.92297034e-01 5.21640123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5292541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.72, Y:198.41, Z:52.17 [[ 1.63445420e-02 -9.99866419e-01 -2.90101092e-05 4.47724261e+02] [ 9.92205561e-01 1.62228968e-02 -1.23551373e-01 1.98409497e+02] [ 1.23535339e-01 1.99060662e-03 9.92338177e-01 5.21674164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.5592541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:447.73, Y:198.41, Z:52.17 [[ 1.77269485e-02 -9.99842865e-01 -6.78856045e-07 4.47726435e+02] [ 9.92250963e-01 1.75924296e-02 -1.22998105e-01 1.98407236e+02] [ 1.22978790e-01 2.17970748e-03 9.92406906e-01 5.21675746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.589254154 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.73, Y:198.43, Z:52.17 [[ 1.77750247e-02 -9.99842011e-01 -4.08992145e-05 4.47728862e+02] [ 9.92203289e-01 1.76442715e-02 -1.23374682e-01 1.98434459e+02] [ 1.23355912e-01 2.15240768e-03 9.92360160e-01 5.21714506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6192541539999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:447.73, Y:198.46, Z:52.17 [[ 1.78763424e-02 -9.99840205e-01 -4.60859692e-06 4.47731615e+02] [ 9.92273337e-01 1.77416188e-02 -1.22796007e-01 1.98461914e+02] [ 1.22776467e-01 2.19057048e-03 9.92431932e-01 5.21729006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6492541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:447.74, Y:198.46, Z:52.17 [[ 1.81836438e-02 -9.99834664e-01 2.42435540e-05 4.47737417e+02] [ 9.92272786e-01 1.80431420e-02 -1.22756520e-01 1.98462078e+02] [ 1.22735787e-01 2.25621705e-03 9.92436817e-01 5.21729283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.6792541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.74, Y:198.49, Z:52.18 [[ 1.71245184e-02 -9.99853365e-01 -1.73728977e-05 4.47740170e+02] [ 9.92365557e-01 1.69983970e-02 -1.22154231e-01 1.98488425e+02] [ 1.22136614e-01 2.07459211e-03 9.92511130e-01 5.21770111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.709254154 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.75, Y:198.50, Z:52.18 [[ 1.60332157e-02 -9.99871460e-01 -2.94124422e-06 4.47745450e+02] [ 9.92445185e-01 1.59144912e-02 -1.21652307e-01 1.98496076e+02] [ 1.21636717e-01 1.94755866e-03 9.92572776e-01 5.21780090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7392541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:447.75, Y:198.52, Z:52.18 [[ 1.42858283e-02 -9.99897951e-01 -4.36234196e-05 4.47747708e+02] [ 9.92396372e-01 1.41839851e-02 -1.22263061e-01 1.98523532e+02] [ 1.22251203e-01 1.70333737e-03 9.92497729e-01 5.21813746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7692541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.75, Y:198.55, Z:52.18 [[ 1.25858398e-02 -9.99920795e-01 -8.56065081e-06 4.47750321e+02] [ 9.92384969e-01 1.24920367e-02 -1.22539878e-01 1.98550130e+02] [ 1.22530279e-01 1.53377181e-03 9.92463590e-01 5.21833688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.7992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.76, Y:198.56, Z:52.18 [[ 8.95912100e-03 -9.99959866e-01 1.61131075e-05 4.47756524e+02] [ 9.92402646e-01 8.88943489e-03 -1.22710908e-01 1.98557623e+02] [ 1.22705840e-01 1.11537256e-03 9.92442458e-01 5.21841958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.76, Y:198.59, Z:52.19 [[ 6.47800850e-03 -9.99979017e-01 -2.42944597e-05 4.47759676e+02] [ 9.92443292e-01 6.43216798e-03 -1.22535459e-01 1.98585579e+02] [ 1.22533044e-01 7.69674871e-04 9.92464136e-01 5.21885408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8592541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.76, Y:198.59, Z:52.19 [[ 3.06475779e-03 -9.99995304e-01 4.56850254e-06 4.47764676e+02] [ 9.92663624e-01 3.04173566e-03 -1.20870501e-01 1.98589721e+02] [ 1.20869920e-01 3.74973797e-04 9.92668284e-01 5.21891847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.77, Y:198.62, Z:52.19 [[ 4.54810588e-04 -9.99999896e-01 -3.65716043e-05 4.47766938e+02] [ 9.92744193e-01 4.55908157e-04 -1.20244582e-01 1.98617220e+02] [ 1.20244586e-01 1.83822616e-05 9.92744297e-01 5.21931446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9192541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:447.77, Y:198.64, Z:52.19 [[-1.72303128e-03 -9.99998516e-01 -2.30596332e-06 4.47769250e+02] [ 9.92749108e-01 -1.71026314e-03 -1.20192695e-01 1.98644328e+02] [ 1.20192513e-01 -2.09385016e-04 9.92750581e-01 5.21943112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.949254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.77, Y:198.65, Z:52.20 [[-6.49383717e-03 -9.99978915e-01 2.29128124e-05 4.47773533e+02] [ 9.92572886e-01 -6.44852613e-03 -1.21480379e-01 1.98647744e+02] [ 1.21477966e-01 -7.66131166e-04 9.92593833e-01 5.21972812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 615.9792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.78, Y:198.68, Z:52.20 [[-8.80482353e-03 -9.99961237e-01 -1.84248787e-05 4.47775739e+02] [ 9.92599794e-01 -8.73777316e-03 -1.21116888e-01 1.98675282e+02] [ 1.21112032e-01 -1.08470135e-03 9.92638252e-01 5.21996713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.78, Y:198.69, Z:52.20 [[-1.17579745e-02 -9.99930873e-01 8.98666747e-06 4.47780185e+02] [ 9.92621572e-01 -1.16731107e-02 -1.20690323e-01 1.98689763e+02] [ 1.20682085e-01 -1.41015339e-03 9.92690206e-01 5.22020782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0392541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:447.78, Y:198.72, Z:52.20 [[-1.30857362e-02 -9.99914378e-01 -3.29704512e-05 4.47782118e+02] [ 9.92737609e-01 -1.29878714e-02 -1.19596635e-01 1.98717835e+02] [ 1.19585967e-01 -1.59774103e-03 9.92822564e-01 5.22034448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.069254154 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.78, Y:198.75, Z:52.21 [[-1.48489640e-02 -9.99889748e-01 -5.20979471e-08 4.47783379e+02] [ 9.92762344e-01 -1.47431116e-02 -1.19187119e-01 1.98745866e+02] [ 1.19173977e-01 -1.76985696e-03 9.92871810e-01 5.22077657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.0992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.78, Y:198.75, Z:52.21 [[-1.44454804e-02 -9.99895658e-01 2.75029412e-05 4.47783291e+02] [ 9.92768166e-01 -1.43457880e-02 -1.19187111e-01 1.98748424e+02] [ 1.19175070e-01 -1.69441104e-03 9.92871810e-01 5.22080572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.78, Y:198.78, Z:52.21 [[-1.61920869e-02 -9.99868899e-01 -1.56564366e-05 4.47784445e+02] [ 9.92663363e-01 -1.60735225e-02 -1.19837765e-01 1.98776197e+02] [ 1.19821803e-01 -1.95596508e-03 9.92793488e-01 5.22134665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.79, Y:198.76, Z:52.21 [[-1.69770306e-02 -9.99855880e-01 1.17187735e-05 4.47787151e+02] [ 9.92669724e-01 -1.68564161e-02 -1.19677399e-01 1.98761666e+02] [ 1.19660348e-01 -2.02013399e-03 9.92812832e-01 5.22125668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.189254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.79, Y:198.79, Z:52.22 [[-1.77257182e-02 -9.99842887e-01 -3.07781459e-05 4.47788341e+02] [ 9.92669790e-01 -1.75948692e-02 -1.19570521e-01 1.98789567e+02] [ 1.19551193e-01 -2.15002589e-03 9.92825710e-01 5.22159479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.79, Y:198.80, Z:52.22 [[-1.75654386e-02 -9.99845716e-01 -1.00382591e-06 4.47790596e+02] [ 9.92687060e-01 -1.74395544e-02 -1.19449832e-01 1.98795102e+02] [ 1.19431385e-01 -2.09918518e-03 9.92840238e-01 5.22164100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.79, Y:198.82, Z:52.22 [[-1.80881070e-02 -9.99836396e-01 -4.33154298e-05 4.47791492e+02] [ 9.92617338e-01 -1.79523099e-02 -1.19952221e-01 1.98823171e+02] [ 1.19931819e-01 -2.21270425e-03 9.92779665e-01 5.22209190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.2792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.79, Y:198.85, Z:52.22 [[-1.87336617e-02 -9.99824510e-01 -8.08745442e-06 4.47791902e+02] [ 9.92608145e-01 -1.85974789e-02 -1.19930001e-01 1.98851038e+02] [ 1.19908804e-01 -2.25475574e-03 9.92782350e-01 5.22239192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.79, Y:198.85, Z:52.23 [[-1.91199006e-02 -9.99817198e-01 2.12374547e-05 4.47792948e+02] [ 9.92502497e-01 -1.89825834e-02 -1.20741272e-01 1.98854276e+02] [ 1.20719604e-01 -2.28748290e-03 9.92684011e-01 5.22260187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.339254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.79, Y:198.88, Z:52.23 [[-1.99241846e-02 -9.99801494e-01 -2.09757253e-05 4.47793587e+02] [ 9.92517920e-01 -1.97765087e-02 -1.20486798e-01 1.98881095e+02] [ 1.20462465e-01 -2.42141998e-03 9.92714929e-01 5.22286167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.80, Y:198.89, Z:52.23 [[-2.14863979e-02 -9.99769141e-01 4.65763572e-06 4.47795497e+02] [ 9.92402748e-01 -2.13286486e-02 -1.21168782e-01 1.98886728e+02] [ 1.21140908e-01 -2.59885841e-03 9.92631919e-01 5.22304829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.3992541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.80, Y:198.91, Z:52.23 [[-2.33291834e-02 -9.99727837e-01 -3.72155210e-05 4.47796289e+02] [ 9.92300352e-01 -2.31513298e-02 -1.21671799e-01 1.98914785e+02] [ 1.21637823e-01 -2.87543269e-03 9.92570386e-01 5.22324506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4292541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.80, Y:198.94, Z:52.24 [[-2.50071631e-02 -9.99687272e-01 -1.94920118e-06 4.47797147e+02] [ 9.92291261e-01 -2.48219152e-02 -1.21416330e-01 1.98942075e+02] [ 1.21378311e-01 -3.03821213e-03 9.92601670e-01 5.22359713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.459254154 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:447.80, Y:198.95, Z:52.24 [[-2.85773178e-02 -9.99591585e-01 2.62932397e-05 4.47797956e+02] [ 9.92175843e-01 -2.83685073e-02 -1.21582579e-01 1.98947202e+02] [ 1.21533669e-01 -3.44841648e-03 9.92581320e-01 5.22373057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.4892541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.80, Y:198.97, Z:52.24 [[-3.11346276e-02 -9.99515200e-01 -1.58404396e-05 4.47798642e+02] [ 9.92126877e-01 -3.09025599e-02 -1.21364292e-01 1.98974154e+02] [ 1.21304965e-01 -3.79434775e-03 9.92608034e-01 5.22408149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.80, Y:198.98, Z:52.24 [[-3.32244222e-02 -9.99447916e-01 1.01959231e-05 4.47799344e+02] [ 9.92056639e-01 -3.29799539e-02 -1.21391716e-01 1.98979492e+02] [ 1.21325034e-01 -4.02305469e-03 9.92604680e-01 5.22424547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.80, Y:199.01, Z:52.25 [[-3.77778973e-02 -9.99286160e-01 -3.18855748e-05 4.47801227e+02] [ 9.91875625e-01 -3.74938640e-02 -1.21560499e-01 1.99007597e+02] [ 1.21472529e-01 -4.62392657e-03 9.92584024e-01 5.22461738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.80, Y:199.01, Z:52.25 [[-3.95746177e-02 -9.99216618e-01 -3.37448603e-06 4.47801716e+02] [ 9.91776310e-01 -3.92795281e-02 -1.21806688e-01 1.99008583e+02] [ 1.21711134e-01 -4.82379983e-03 9.92553843e-01 5.22468685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6092541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.80, Y:199.04, Z:52.25 [[-4.14151981e-02 -9.99142022e-01 -4.56451388e-05 4.47802214e+02] [ 9.91591837e-01 -4.10966314e-02 -1.22705731e-01 1.99036677e+02] [ 1.22598576e-01 -5.12714351e-03 9.92443097e-01 5.22489094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.80, Y:199.06, Z:52.25 [[-4.38595706e-02 -9.99037706e-01 -1.02658625e-05 4.47802486e+02] [ 9.91599679e-01 -4.35317761e-02 -1.21799264e-01 1.99064459e+02] [ 1.21681610e-01 -5.35224305e-03 9.92554754e-01 5.22533532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.6692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.80, Y:199.07, Z:52.26 [[-4.71844508e-02 -9.98886193e-01 1.78273199e-05 4.47802925e+02] [ 9.91444450e-01 -4.68350991e-02 -1.21837500e-01 1.99072097e+02] [ 1.21702632e-01 -5.73116074e-03 9.92550061e-01 5.22553285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.699254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.80, Y:199.10, Z:52.26 [[-5.01244277e-02 -9.98742981e-01 -2.45692674e-05 4.47803330e+02] [ 9.91376895e-01 -4.97517599e-02 -1.21229596e-01 1.99100149e+02] [ 1.21075986e-01 -6.10092152e-03 9.92624493e-01 5.22591240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.80, Y:199.10, Z:52.26 [[-5.05690307e-02 -9.98720568e-01 3.25565087e-06 4.47803382e+02] [ 9.91144904e-01 -5.01858467e-02 -1.22935591e-01 1.99103713e+02] [ 1.22778467e-01 -6.21350684e-03 9.92414652e-01 5.22584725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.80, Y:199.13, Z:52.26 [[-5.16656636e-02 -9.98664437e-01 -3.87171546e-05 4.47803433e+02] [ 9.91181580e-01 -5.12738027e-02 -1.22188673e-01 1.99130294e+02] [ 1.22023497e-01 -6.35133459e-03 9.92506890e-01 5.22625133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.80, Y:199.16, Z:52.27 [[-5.22837992e-02 -9.98632267e-01 -1.38797032e-06 4.47802294e+02] [ 9.91005847e-01 -5.18843434e-02 -1.23350823e-01 1.99157905e+02] [ 1.23182040e-01 -6.45062516e-03 9.92363126e-01 5.22659040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.819254154 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.80, Y:199.16, Z:52.27 [[-5.11849652e-02 -9.98689190e-01 2.65256463e-05 4.47801290e+02] [ 9.90971642e-01 -5.07927198e-02 -1.24077816e-01 1.99159689e+02] [ 1.23916521e-01 -6.32463252e-03 9.92272490e-01 5.22654030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8492541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:447.80, Y:199.19, Z:52.27 [[-5.10739653e-02 -9.98694873e-01 -1.54226855e-05 4.47800041e+02] [ 9.91016213e-01 -5.06793618e-02 -1.23767801e-01 1.99187548e+02] [ 1.23605486e-01 -6.33659649e-03 9.92311207e-01 5.22699379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.8792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.80, Y:199.19, Z:52.27 [[-4.95633970e-02 -9.98770980e-01 1.18866429e-05 4.47799079e+02] [ 9.91060952e-01 -4.91822675e-02 -1.24013281e-01 1.99187614e+02] [ 1.23861451e-01 -6.13473908e-03 9.92280558e-01 5.22696062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.80, Y:199.21, Z:52.27 [[-4.67302929e-02 -9.98907543e-01 -2.98009953e-05 4.47796909e+02] [ 9.91260321e-01 -4.63688607e-02 -1.23502653e-01 1.99214838e+02] [ 1.23366350e-01 -5.80085570e-03 9.92344242e-01 5.22730639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.939254154 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.80, Y:199.21, Z:52.27 [[-4.41701028e-02 -9.99024025e-01 -1.08697098e-06 4.47795562e+02] [ 9.91230738e-01 -4.38254006e-02 -1.24663383e-01 1.99214193e+02] [ 1.24541667e-01 -5.50747189e-03 9.92199093e-01 5.22720104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.79, Y:199.24, Z:52.28 [[-4.01294740e-02 -9.99194487e-01 -4.35695740e-05 4.47792792e+02] [ 9.91486351e-01 -3.98144953e-02 -1.23974280e-01 1.99241181e+02] [ 1.23872683e-01 -5.01822130e-03 9.92285431e-01 5.22766874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 616.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.79, Y:199.27, Z:52.28 [[-3.83584846e-02 -9.99264042e-01 -1.70597833e-05 4.47790793e+02] [ 9.91564522e-01 -3.80608099e-02 -1.23899853e-01 1.99269030e+02] [ 1.23808018e-01 -4.76952646e-03 9.92294728e-01 5.22800265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0292541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.79, Y:199.27, Z:52.28 [[-3.51113230e-02 -9.99383407e-01 8.53913076e-06 4.47788862e+02] [ 9.91513201e-01 -3.48358894e-02 -1.25251877e-01 1.99271065e+02] [ 1.25174945e-01 -4.38929246e-03 9.92124976e-01 5.22795149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.0592541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.79, Y:199.30, Z:52.28 [[-3.10900969e-02 -9.99516586e-01 -3.26369327e-05 4.47785702e+02] [ 9.91654093e-01 -3.08414454e-02 -1.25183726e-01 1.99298123e+02] [ 1.25122204e-01 -3.92433872e-03 9.92133577e-01 5.22828488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.78, Y:199.32, Z:52.29 [[-3.05356588e-02 -9.99533678e-01 3.35501834e-06 4.47784355e+02] [ 9.91909074e-01 -3.03031416e-02 -1.23280612e-01 1.99324681e+02] [ 1.23223225e-01 -3.76112683e-03 9.92371851e-01 5.22863701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.78, Y:199.33, Z:52.29 [[-2.91346584e-02 -9.99575495e-01 3.26755385e-05 4.47783353e+02] [ 9.91930906e-01 -2.89158765e-02 -1.23438042e-01 1.99327739e+02] [ 1.23386587e-01 -3.56391333e-03 9.92352281e-01 5.22869996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1492541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:447.78, Y:199.36, Z:52.29 [[-2.75809070e-02 -9.99619574e-01 -8.22199061e-06 4.47781263e+02] [ 9.91802933e-01 -2.73642082e-02 -1.24812431e-01 1.99355017e+02] [ 1.24764724e-01 -3.45059464e-03 9.92180355e-01 5.22892879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.1792541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:447.78, Y:199.35, Z:52.29 [[-2.69641694e-02 -9.99636401e-01 2.00082515e-05 4.47778408e+02] [ 9.91761191e-01 -2.67542511e-02 -1.25275500e-01 1.99354678e+02] [ 1.25230486e-01 -3.35810640e-03 9.92121993e-01 5.22893653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.209254154 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.78, Y:199.38, Z:52.29 [[-2.75369359e-02 -9.99620786e-01 -2.07294906e-05 4.47777276e+02] [ 9.91829440e-01 -2.73197206e-02 -1.24611378e-01 1.99381361e+02] [ 1.24563558e-01 -3.45197566e-03 9.92205626e-01 5.22922378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2392541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.78, Y:199.39, Z:52.29 [[-2.77308326e-02 -9.99615427e-01 6.97791830e-06 4.47776491e+02] [ 9.91902741e-01 -2.75177366e-02 -1.23982767e-01 1.99385832e+02] [ 1.23935279e-01 -3.43122394e-03 9.92284371e-01 5.22928176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2692541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:447.78, Y:199.41, Z:52.30 [[-2.81136972e-02 -9.99604731e-01 -3.42001813e-05 4.47775958e+02] [ 9.91876989e-01 -2.78921098e-02 -1.24105074e-01 1.99412952e+02] [ 1.24055066e-01 -3.52297486e-03 9.92269081e-01 5.22956967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.2992541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.77, Y:199.44, Z:52.30 [[-2.94106536e-02 -9.99567413e-01 3.42060023e-06 4.47774157e+02] [ 9.91831406e-01 -2.91834591e-02 -1.24172413e-01 1.99441121e+02] [ 1.24118797e-01 -3.64859916e-03 9.92260657e-01 5.22989151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.329254154 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.77, Y:199.44, Z:52.30 [[-3.04241243e-02 -9.99537079e-01 3.01788579e-05 4.47773157e+02] [ 9.91996857e-01 -3.01983150e-02 -1.22598114e-01 1.99441552e+02] [ 1.22542272e-01 -3.70000292e-03 9.92456398e-01 5.22990006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3592541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.77, Y:199.47, Z:52.30 [[-3.15092647e-02 -9.99503460e-01 -1.16570814e-05 4.47772578e+02] [ 9.92055156e-01 -3.12730364e-02 -1.21854686e-01 1.99469395e+02] [ 1.21793815e-01 -3.85111601e-03 9.92547951e-01 5.23018145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.3892541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.77, Y:199.47, Z:52.30 [[-3.36986977e-02 -9.99432037e-01 1.67477506e-05 4.47771031e+02] [ 9.91985803e-01 -3.34496685e-02 -1.21841231e-01 1.99473672e+02] [ 1.21772590e-01 -4.08927728e-03 9.92549603e-01 5.23022541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4192541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.77, Y:199.50, Z:52.31 [[-3.57161169e-02 -9.99361976e-01 -2.52153391e-05 4.47770129e+02] [ 9.91939825e-01 -3.54477878e-02 -1.21650472e-01 1.99501804e+02] [ 1.21571962e-01 -4.36989456e-03 9.92573001e-01 5.23051658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.449254154 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.77, Y:199.51, Z:52.31 [[-3.94721487e-02 -9.99220671e-01 2.55694576e-06 4.47769062e+02] [ 9.91734676e-01 -3.91767426e-02 -1.22178213e-01 1.99510905e+02] [ 1.22083097e-01 -4.82010079e-03 9.92508178e-01 5.23059758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.4792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.77, Y:199.54, Z:52.31 [[-4.25240736e-02 -9.99069179e-01 7.24424127e-03 4.47765221e+02] [ 9.91535328e-01 -4.30914906e-02 -1.22477819e-01 1.99538511e+02] [ 1.22675980e-01 1.97466534e-03 9.92444812e-01 5.23098005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.77, Y:199.57, Z:52.31 [[-4.55440245e-02 -9.98936326e-01 -7.20816547e-03 4.47770827e+02] [ 9.91744951e-01 -4.43479923e-02 -1.20312961e-01 1.99566582e+02] [ 1.19865319e-01 -1.26281981e-02 9.92709844e-01 5.23111114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5392541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.77, Y:199.59, Z:52.32 [[-4.85218682e-02 -9.98822120e-01 8.34993666e-07 4.47766861e+02] [ 9.91636508e-01 -4.81728978e-02 -1.19734738e-01 1.99593973e+02] [ 1.19593746e-01 -5.80892519e-03 9.92805919e-01 5.23151058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.569254154 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:447.76, Y:199.60, Z:52.32 [[-5.25067387e-02 -9.98620569e-01 3.01623743e-05 4.47764784e+02] [ 9.91393553e-01 -5.21303746e-02 -1.20088499e-01 1.99600066e+02] [ 1.19924418e-01 -6.27555265e-03 9.92763190e-01 5.23153707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.5992541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.76, Y:199.63, Z:52.32 [[-5.73244758e-02 -9.98355600e-01 -1.29779163e-05 4.47762642e+02] [ 9.91342199e-01 -5.69202359e-02 -1.18324686e-01 1.99627353e+02] [ 1.18129374e-01 -6.79576613e-03 9.92974959e-01 5.23176362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.76, Y:199.63, Z:52.32 [[-5.90348282e-02 -9.98255923e-01 1.85978338e-05 4.47760900e+02] [ 9.91285213e-01 -5.86247923e-02 -1.17969320e-01 1.99633408e+02] [ 1.17764663e-01 -6.94586278e-03 9.93017240e-01 5.23187027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.6592541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:447.76, Y:199.66, Z:52.32 [[-6.04716854e-02 -9.98169913e-01 -2.51124819e-05 4.47759166e+02] [ 9.91214916e-01 -6.00473691e-02 -1.17844408e-01 1.99661041e+02] [ 1.17627235e-01 -7.15114184e-03 9.93032071e-01 5.23213041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.689254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.76, Y:199.66, Z:52.32 [[-6.09675916e-02 -9.98139746e-01 6.15821969e-06 4.47757050e+02] [ 9.91253092e-01 -6.05476699e-02 -1.17265883e-01 1.99663460e+02] [ 1.17048111e-01 -7.14331411e-03 9.93100555e-01 5.23208618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7192541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:447.75, Y:199.69, Z:52.32 [[-6.25212387e-02 -9.98043633e-01 -3.78648008e-05 4.47753172e+02] [ 9.91210099e-01 -6.20887281e-02 -1.16822639e-01 1.99689984e+02] [ 1.16591740e-01 -7.34142804e-03 9.93152793e-01 5.23234936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7492541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:447.75, Y:199.72, Z:52.33 [[-6.40498118e-02 -9.97946703e-01 -6.63202095e-06 4.47748295e+02] [ 9.91298939e-01 -6.36223819e-02 -1.15232832e-01 1.99717967e+02] [ 1.14995803e-01 -7.38721551e-03 9.93338510e-01 5.23270612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.7792541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:447.75, Y:199.72, Z:52.33 [[-6.34107833e-02 -9.97987511e-01 2.49481114e-05 4.47746086e+02] [ 9.91368371e-01 -6.29930864e-02 -1.14980972e-01 1.99719979e+02] [ 1.14751146e-01 -7.26630076e-03 9.93367694e-01 5.23265544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8092541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:447.74, Y:199.75, Z:52.33 [[-6.51912574e-02 -9.97872787e-01 -1.98721935e-05 4.47740200e+02] [ 9.91368629e-01 -6.47640691e-02 -1.13990604e-01 1.99747896e+02] [ 1.13746834e-01 -7.45089146e-03 9.93481828e-01 5.23301442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.839254154 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:447.74, Y:199.75, Z:52.33 [[-6.47846016e-02 -9.97899271e-01 1.23006723e-05 4.47740111e+02] [ 9.91394702e-01 -6.43637237e-02 -1.13990600e-01 1.99750470e+02] [ 1.13751928e-01 -7.37264078e-03 9.93481828e-01 5.23304392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8692541539999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:447.73, Y:199.78, Z:52.33 [[-6.56288940e-02 -9.97844100e-01 -3.28589542e-05 4.47734792e+02] [ 9.91268455e-01 -6.51926350e-02 -1.14615754e-01 1.99776967e+02] [ 1.14366512e-01 -7.55467723e-03 9.93409899e-01 5.23330814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.8992541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.73, Y:199.80, Z:52.33 [[-6.55076796e-02 -9.97852065e-01 -2.26577819e-06 4.47732577e+02] [ 9.91299583e-01 -6.50772579e-02 -1.14411922e-01 1.99804849e+02] [ 1.14166025e-01 -7.49710559e-03 9.93433396e-01 5.23344660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9292541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.73, Y:199.81, Z:52.33 [[-6.56074044e-02 -9.97845513e-01 2.95748162e-05 4.47726688e+02] [ 9.91407000e-01 -6.51874397e-02 -1.13414099e-01 1.99807021e+02] [ 1.13171677e-01 -7.41148396e-03 9.93547805e-01 5.23349177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.959254154 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:447.72, Y:199.84, Z:52.34 [[-6.64077816e-02 -9.97792567e-01 -1.57185366e-05 4.47723072e+02] [ 9.91430387e-01 -6.59825725e-02 -1.12747896e-01 1.99835024e+02] [ 1.12497976e-01 -7.50292150e-03 9.93623627e-01 5.23389142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 617.9892541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.72, Y:199.84, Z:52.34 [[-6.57299406e-02 -9.97837449e-01 1.66401841e-05 4.47719937e+02] [ 9.91498059e-01 -6.53142266e-02 -1.12541770e-01 1.99839884e+02] [ 1.12299479e-01 -7.38086514e-03 9.93646995e-01 5.23386511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0192541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.72, Y:199.87, Z:52.34 [[-6.59990895e-02 -9.97819683e-01 -2.88285076e-05 4.47719876e+02] [ 9.91480745e-01 -6.55765597e-02 -1.12541758e-01 1.99868139e+02] [ 1.12294491e-01 -7.45623648e-03 9.93646996e-01 5.23418162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.0492541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.71, Y:199.87, Z:52.34 [[-6.61120428e-02 -9.97812206e-01 1.04070523e-06 4.47713550e+02] [ 9.91457002e-01 -6.56910836e-02 -1.12684046e-01 1.99869312e+02] [ 1.12437585e-01 -7.44874067e-03 9.93630870e-01 5.23417771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.079254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.71, Y:199.90, Z:52.34 [[-6.55556077e-02 -9.97848917e-01 -4.43892368e-05 4.47710926e+02] [ 9.91497301e-01 -6.51333147e-02 -1.12653248e-01 1.99897570e+02] [ 1.12408031e-01 -7.42906397e-03 9.93634361e-01 5.23435052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1092541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.70, Y:199.93, Z:52.35 [[-6.56001975e-02 -9.97845987e-01 -1.26351074e-05 4.47703886e+02] [ 9.91628992e-01 -6.51900697e-02 -1.11454913e-01 1.99925309e+02] [ 1.11214014e-01 -7.32399367e-03 9.93769491e-01 5.23481339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1392541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.70, Y:199.93, Z:52.35 [[-6.40953584e-02 -9.97943778e-01 1.92824806e-05 4.47700684e+02] [ 9.91677962e-01 -6.36950829e-02 -1.11882783e-01 1.99925508e+02] [ 1.11653956e-01 -7.15204507e-03 9.93721411e-01 5.23474544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.1692541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.70, Y:199.95, Z:52.35 [[-6.37638865e-02 -9.97965012e-01 -2.62482382e-05 4.47697070e+02] [ 9.91688877e-01 -6.33599345e-02 -1.11976296e-01 1.99952160e+02] [ 1.11746762e-01 -7.16607390e-03 9.93710878e-01 5.23501279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.199254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.69, Y:199.95, Z:52.35 [[-6.21829944e-02 -9.98064765e-01 6.85083663e-06 4.47689986e+02] [ 9.91825033e-01 -6.17950032e-02 -1.11644444e-01 1.99953481e+02] [ 1.11428810e-01 -6.93559103e-03 9.93748217e-01 5.23506662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2292541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.69, Y:199.98, Z:52.35 [[-6.14521300e-02 -9.98110031e-01 -3.87581598e-05 4.47686324e+02] [ 9.91901622e-01 -6.10655631e-02 -1.11365030e-01 1.99981257e+02] [ 1.11152187e-01 -6.88206258e-03 9.93779567e-01 5.23536124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2592541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:447.68, Y:200.01, Z:52.36 [[-5.88093171e-02 -9.98269234e-01 -5.82034338e-06 4.47678718e+02] [ 9.92073807e-01 -5.84436880e-02 -1.11238017e-01 2.00008477e+02] [ 1.11045150e-01 -6.54760601e-03 9.93793793e-01 5.23556973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.2892541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:447.68, Y:200.01, Z:52.36 [[-5.64135638e-02 -9.98407487e-01 2.40273514e-05 4.47675137e+02] [ 9.92237669e-01 -5.60676185e-02 -1.10999237e-01 2.00009683e+02] [ 1.10823816e-01 -6.23802168e-03 9.93820491e-01 5.23550469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.319254154 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:447.67, Y:200.04, Z:52.36 [[-5.38281611e-02 -9.98550213e-01 -2.15130345e-05 4.47671975e+02] [ 9.92308813e-01 -5.34893052e-02 -1.11633838e-01 2.00037949e+02] [ 1.11470842e-01 -6.03039181e-03 9.93749408e-01 5.23576215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3492541539999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:447.67, Y:200.04, Z:52.36 [[-5.11563738e-02 -9.98690655e-01 1.13443297e-05 4.47668173e+02] [ 9.92435877e-01 -5.08372518e-02 -1.11743471e-01 2.00036425e+02] [ 1.11597737e-01 -5.70513227e-03 9.93737086e-01 5.23572313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.3792541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:447.66, Y:200.07, Z:52.36 [[-4.54952011e-02 -9.98962094e-01 -2.21841731e-03 4.47663845e+02] [ 9.92790669e-01 -4.49674029e-02 -1.11106350e-01 2.00067518e+02] [ 1.10891275e-01 -7.25722973e-03 9.93806046e-01 5.23613288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4092541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:447.66, Y:200.09, Z:52.37 [[-4.94712886e-02 -9.98775090e-01 9.55075345e-04 4.47656102e+02] [ 9.92513373e-01 -4.92680018e-02 -1.11758083e-01 2.00093609e+02] [ 1.11668244e-01 -4.58089134e-03 9.93734984e-01 5.23660089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.439254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.66, Y:200.06, Z:52.36 [[-4.07727041e-02 -9.99160938e-01 -3.87386261e-03 4.47657739e+02] [ 9.92640395e-01 -4.00635432e-02 -1.14280175e-01 2.00061794e+02] [ 1.14029086e-01 -8.50486427e-03 9.93441007e-01 5.23617836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4692541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.65, Y:200.08, Z:52.37 [[-3.96247428e-02 -9.99204416e-01 4.51824256e-03 4.47645158e+02] [ 9.92766576e-01 -3.98815089e-02 -1.13243061e-01 2.00084041e+02] [ 1.13333161e-01 -1.66695633e-06 9.93557042e-01 5.23662733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.4992541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.64, Y:200.11, Z:52.37 [[-3.80179821e-02 -9.99277055e-01 -1.45953780e-05 4.47643921e+02] [ 9.92883306e-01 -3.77730791e-02 -1.12942172e-01 2.00111364e+02] [ 1.12859970e-01 -4.30832499e-03 9.93601563e-01 5.23686080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5292541539999 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:447.64, Y:200.11, Z:52.37 [[-3.29959174e-02 -9.99455486e-01 1.38062725e-05 4.47638082e+02] [ 9.92989326e-01 -3.27840131e-02 -1.13566748e-01 2.00111187e+02] [ 1.13505362e-01 -3.73352957e-03 9.93530369e-01 5.23671700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.5592541539999 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:447.64, Y:200.14, Z:52.37 [[-3.15722127e-02 -9.99501473e-01 -3.11745975e-05 4.47635329e+02] [ 9.92980771e-01 -3.13626801e-02 -1.14041969e-01 2.00139034e+02] [ 1.13984138e-01 -3.63151307e-03 9.93475933e-01 5.23699869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.589254154 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:447.63, Y:200.17, Z:52.37 [[-3.09908890e-02 -9.99519667e-01 4.77416914e-07 4.47632194e+02] [ 9.92938383e-01 -3.07868858e-02 -1.14566729e-01 2.00166901e+02] [ 1.14511713e-01 -3.55005073e-03 9.93415555e-01 5.23743909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6192541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.64, Y:200.16, Z:52.38 [[-3.36127434e-02 -9.98749309e-01 -3.70135406e-02 4.47643299e+02] [ 9.89179751e-01 -2.79532807e-02 -1.44020953e-01 2.00164067e+02] [ 1.42806177e-01 -4.14539842e-02 9.88882179e-01 5.23806993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6492541539999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:447.62, Y:200.16, Z:52.39 [[-2.90862987e-02 -9.99574512e-01 2.18681059e-03 4.47622753e+02] [ 9.89156695e-01 -2.90980849e-02 -1.43952544e-01 2.00160389e+02] [ 1.43954925e-01 -2.02394834e-03 9.89582176e-01 5.23917924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.6792541539999 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:447.61, Y:200.17, Z:52.38 [[-2.53137321e-02 -9.99038442e-01 3.57967469e-02 4.47608941e+02] [ 9.92931787e-01 -2.92802331e-02 -1.15017973e-01 2.00169289e+02] [ 1.15955513e-01 3.26321937e-02 9.92718217e-01 5.23849121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.709254154 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:447.64, Y:200.20, Z:52.38 [[-2.67195807e-02 -9.97780840e-01 -6.09873689e-02 4.47644131e+02] [ 9.92421237e-01 -1.91569459e-02 -1.21379982e-01 2.00195917e+02] [ 1.19942289e-01 -6.37683823e-02 9.90730761e-01 5.23795642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7392541539999 meters Centerline goodness : 0.997264 Centerline is valid? [True, True] Translation: X:447.61, Y:200.23, Z:52.40 [[-2.74848736e-02 -9.99311116e-01 2.49374118e-02 4.47606323e+02] [ 9.93047284e-01 -3.01521538e-02 -1.13789009e-01 2.00231185e+02] [ 1.14462538e-01 2.16365525e-02 9.93191918e-01 5.23965609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7692541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:447.76, Y:199.71, Z:53.29 [[-3.26834666e-02 5.78630282e-01 8.14934836e-01 4.47759035e+02] [ 9.96949026e-01 -3.89528645e-02 6.76410612e-02 1.99711664e+02] [ 7.08832125e-02 8.14659236e-01 -5.75591782e-01 5.32927580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.7992541539999 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:447.64, Y:199.76, Z:52.37 [[-6.65975216e-02 -9.97776461e-01 2.62766310e-03 4.47639324e+02] [ 9.96205930e-01 -6.66400978e-02 -5.59718024e-02 1.99755752e+02] [ 5.60224546e-02 -1.10988975e-03 9.98428892e-01 5.23728754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.829254154 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:447.64, Y:199.76, Z:52.37 [[-6.55103121e-02 -9.97848430e-01 2.62850523e-03 4.47638564e+02] [ 9.96249700e-01 -6.55541125e-02 -5.64729498e-02 1.99757635e+02] [ 5.65237536e-02 -1.08091302e-03 9.98400670e-01 5.23735701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8592541539999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:447.64, Y:199.76, Z:52.37 [[-6.35098748e-02 -9.97977665e-01 2.65990125e-03 4.47638537e+02] [ 9.96311769e-01 -6.35575085e-02 -5.76480865e-02 1.99759415e+02] [ 5.77005595e-02 -1.01113184e-03 9.98333423e-01 5.23726477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.8892541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.64, Y:199.76, Z:52.37 [[-6.16488697e-02 -9.98094408e-01 2.64008519e-03 4.47636981e+02] [ 9.96424760e-01 -6.16984043e-02 -5.77148618e-02 1.99760091e+02] [ 5.77677698e-02 -9.27409747e-04 9.98329617e-01 5.23734537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9192541539999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:447.64, Y:199.76, Z:52.37 [[-5.97347684e-02 -9.98210788e-01 2.64217532e-03 4.47636623e+02] [ 9.96509001e-01 -5.97871639e-02 -5.82692635e-02 1.99761213e+02] [ 5.83229756e-02 -8.47749471e-04 9.98297407e-01 5.23728324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.949254154 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:447.63, Y:199.76, Z:52.37 [[-5.75742142e-02 -9.98337767e-01 2.62913348e-03 4.47634692e+02] [ 9.96622984e-01 -5.76293657e-02 -5.84934596e-02 1.99762038e+02] [ 5.85477452e-02 -7.47460119e-04 9.98284330e-01 5.23744904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 618.9792541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:447.63, Y:199.76, Z:52.37 [[-5.54822153e-02 -9.98456225e-01 2.62491583e-03 4.47634696e+02] [ 9.96716423e-01 -5.55404386e-02 -5.89205536e-02 1.99763711e+02] [ 5.89753825e-02 -6.52746121e-04 9.98259224e-01 5.23739341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0092541539999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:447.63, Y:199.86, Z:52.38 [[-4.95884021e-02 -9.98767780e-01 1.97795426e-03 4.47632967e+02] [ 9.97120788e-01 -4.96201872e-02 -5.73408257e-02 1.99864497e+02] [ 5.73683157e-02 -8.71180618e-04 9.98352702e-01 5.23796125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0392541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.63, Y:199.77, Z:52.38 [[-5.08976082e-02 -9.98700072e-01 2.75667186e-03 4.47634873e+02] [ 9.96989844e-01 -5.09717084e-02 -5.84220448e-02 1.99767373e+02] [ 5.84866126e-02 -2.25168498e-04 9.98288168e-01 5.23751072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.069254154 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:447.64, Y:199.77, Z:52.37 [[-4.85944025e-02 -9.98815323e-01 2.55633116e-03 4.47635422e+02] [ 9.97097045e-01 -4.86606887e-02 -5.85629578e-02 1.99767955e+02] [ 5.86179724e-02 -2.96921700e-04 9.98280444e-01 5.23747639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.0992541539999 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:447.64, Y:199.77, Z:52.38 [[-4.73455538e-02 -9.98875339e-01 2.54072317e-03 4.47635440e+02] [ 9.97146939e-01 -4.74130310e-02 -5.87365903e-02 1.99769550e+02] [ 5.87909950e-02 -2.47442068e-04 9.98270283e-01 5.23750058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1292541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:447.63, Y:199.76, Z:52.37 [[-3.72522658e-02 -9.99096547e-01 2.04538010e-02 4.47633232e+02] [ 9.98329976e-01 -3.81124500e-02 -4.34131343e-02 1.99756862e+02] [ 4.41534570e-02 1.88024050e-02 9.98847807e-01 5.23715467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.1592541539999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:447.65, Y:199.77, Z:52.37 [[-4.51082271e-02 -9.98841911e-01 -1.67357166e-02 4.47645777e+02] [ 9.97275331e-01 -4.40459690e-02 -5.91765675e-02 1.99771836e+02] [ 5.83708949e-02 -1.93594674e-02 9.98107234e-01 5.23691028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.189254154 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:447.64, Y:199.78, Z:52.38 [[-4.49393666e-02 -9.98986670e-01 2.46728698e-03 4.47638287e+02] [ 9.97290211e-01 -4.50067802e-02 -5.81947201e-02 1.99776789e+02] [ 5.82467943e-02 -1.54632712e-04 9.98302202e-01 5.23750764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2192541539999 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:447.64, Y:199.78, Z:52.38 [[-4.65863657e-02 -9.98911237e-01 2.45980725e-03 4.47641120e+02] [ 9.97193049e-01 -4.66504478e-02 -5.85641446e-02 1.99781268e+02] [ 5.86151333e-02 -2.75387963e-04 9.98280617e-01 5.23751802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2492541539999 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:447.64, Y:199.78, Z:52.37 [[-4.71030047e-02 -9.98887011e-01 2.45891780e-03 4.47643115e+02] [ 9.97137112e-01 -4.71659743e-02 -5.91011967e-02 1.99784501e+02] [ 5.91513949e-02 -3.31965758e-04 9.98248968e-01 5.23749266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.2792541539999 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:447.65, Y:199.79, Z:52.38 [[-5.03542968e-02 -9.98728480e-01 2.42236831e-03 4.47646519e+02] [ 9.96997600e-01 -5.04095878e-02 -5.87763422e-02 1.99790065e+02] [ 5.88237175e-02 -5.44545988e-04 9.98268237e-01 5.23756826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3092541539999 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:447.65, Y:199.79, Z:52.38 [[-5.18227089e-02 -9.98653470e-01 2.37771363e-03 4.47648265e+02] [ 9.96953679e-01 -5.18731801e-02 -5.82454672e-02 1.99792390e+02] [ 5.82903775e-02 -6.47967537e-04 9.98299460e-01 5.23760277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.339254154 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:447.65, Y:199.80, Z:52.38 [[-5.30842840e-02 -9.98587261e-01 2.35375007e-03 4.47649817e+02] [ 9.96888859e-01 -5.31312293e-02 -5.82209218e-02 1.99796026e+02] [ 5.82637285e-02 -7.44188725e-04 9.98300949e-01 5.23768493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3692541539999 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:447.65, Y:199.80, Z:52.38 [[-5.35502293e-02 -9.98562400e-01 2.34667500e-03 4.47651798e+02] [ 9.96840503e-01 -5.35956530e-02 -5.86218250e-02 1.99800811e+02] [ 5.86633218e-02 -7.99951486e-04 9.98277504e-01 5.23767275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.3992541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:447.66, Y:199.80, Z:52.38 [[-5.59744977e-02 -9.98429546e-01 2.30151803e-03 4.47655175e+02] [ 9.96740333e-01 -5.60136368e-02 -5.80618670e-02 1.99804373e+02] [ 5.80995999e-02 -9.55967988e-04 9.98310334e-01 5.23775140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4292541539999 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:447.66, Y:199.81, Z:52.38 [[-5.55495895e-02 -9.98453231e-01 2.32150186e-03 4.47657366e+02] [ 9.96699107e-01 -5.55895659e-02 -5.91666322e-02 1.99808635e+02] [ 5.92041663e-02 -9.72843299e-04 9.98245421e-01 5.23773215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.459254154 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:447.66, Y:199.81, Z:52.38 [[-5.61627197e-02 -9.98419015e-01 2.28443997e-03 4.47660376e+02] [ 9.96685860e-01 -5.61997926e-02 -5.88122480e-02 1.99814354e+02] [ 5.88476518e-02 -1.02618678e-03 9.98266448e-01 5.23772664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.4892541539999 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:447.66, Y:199.82, Z:52.38 [[-5.56943836e-02 -9.98445328e-01 2.25014306e-03 4.47662008e+02] [ 9.96729162e-01 -5.57305469e-02 -5.85242119e-02 1.99818902e+02] [ 5.85586276e-02 -1.01668669e-03 9.98283454e-01 5.23771307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5192541539999 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:447.64, Y:200.38, Z:52.41 [[-5.77867133e-02 -9.98324895e-01 2.84585758e-03 4.47640616e+02] [ 9.96703791e-01 -5.78549972e-02 -5.68713745e-02 2.00384736e+02] [ 5.69407561e-02 -4.49932777e-04 9.98377458e-01 5.24078734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.5492541539999 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:447.67, Y:199.82, Z:52.38 [[-5.49247736e-02 -9.98488995e-01 1.73100858e-03 4.47665328e+02] [ 9.96740691e-01 -5.49310277e-02 -5.90811080e-02 1.99824600e+02] [ 5.90869222e-02 -1.51964979e-03 9.98251685e-01 5.23781356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.579254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:447.67, Y:199.83, Z:52.38 [[-5.36499199e-02 -9.98557409e-01 2.18812495e-03 4.47668058e+02] [ 9.96800479e-01 -5.36852867e-02 -5.92173521e-02 1.99825878e+02] [ 5.92493958e-02 -9.95882198e-04 9.98242715e-01 5.23782850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6092541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:447.67, Y:199.83, Z:52.38 [[-5.28185509e-02 -9.98601763e-01 2.17240556e-03 4.47669674e+02] [ 9.96832174e-01 -5.28542420e-02 -5.94310115e-02 1.99830479e+02] [ 5.94627337e-02 -9.73536152e-04 9.98230051e-01 5.23780774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6392541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:447.66, Y:200.11, Z:52.39 [[-5.25427993e-02 -9.98596430e-01 6.66515176e-03 4.47659394e+02] [ 9.96819791e-01 -5.28474163e-02 -5.96444079e-02 2.00114878e+02] [ 5.99129288e-02 3.51007103e-03 9.98197436e-01 5.23941327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.6692541539999 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:447.67, Y:199.83, Z:52.38 [[-5.07166987e-02 -9.98710544e-01 -2.25059769e-03 4.47674576e+02] [ 9.96851926e-01 -5.04845450e-02 -6.11354867e-02 1.99833563e+02] [ 6.09430348e-02 -5.34410270e-03 9.98126939e-01 5.23762859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.699254154 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:447.67, Y:199.84, Z:52.38 [[-5.03319707e-02 -9.98730231e-01 2.14924126e-03 4.47673286e+02] [ 9.96897787e-01 -5.03697718e-02 -6.04788283e-02 1.99835260e+02] [ 6.05102909e-02 -9.01444756e-04 9.98167166e-01 5.23786949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7292541539999 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:447.67, Y:199.84, Z:52.38 [[-4.91039067e-02 -9.98791390e-01 2.13671984e-03 4.47674710e+02] [ 9.96939080e-01 -4.91429249e-02 -6.08066085e-02 1.99839793e+02] [ 6.08381217e-02 -8.55662520e-04 9.98147279e-01 5.23778431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7592541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:447.68, Y:199.84, Z:52.38 [[-4.94690122e-02 -9.98773512e-01 2.07113892e-03 4.47675036e+02] [ 9.96994083e-01 -4.95044681e-02 -5.95995461e-02 1.99841225e+02] [ 5.96289785e-02 -8.83417426e-04 9.98220218e-01 5.23787964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.7892541539999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:447.68, Y:199.84, Z:52.38 [[-5.01275677e-02 -9.98740739e-01 2.04051711e-03 4.47677113e+02] [ 9.96973647e-01 -5.01602207e-02 -5.93927541e-02 1.99844380e+02] [ 5.94203159e-02 -9.42872517e-04 9.98232607e-01 5.23792155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.819254154 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:447.68, Y:199.85, Z:52.38 [[-5.05807679e-02 -9.98717918e-01 2.02642974e-03 4.47677928e+02] [ 9.96934110e-01 -5.06115039e-02 -5.96729108e-02 1.99847599e+02] [ 5.96989659e-02 -9.98084716e-04 9.98215927e-01 5.23796623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8492541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:447.68, Y:199.85, Z:52.38 [[-5.06348770e-02 -9.98715162e-01 2.03340377e-03 4.47679070e+02] [ 9.96875823e-01 -5.06649934e-02 -6.05941605e-02 1.99849913e+02] [ 6.06193292e-02 -1.04112680e-03 9.98160414e-01 5.23793922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.8792541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:447.68, Y:199.86, Z:52.38 [[-5.34547422e-02 -9.98568270e-01 2.00019241e-03 4.47678904e+02] [ 9.96745925e-01 -5.34780003e-02 -6.03130600e-02 1.99856132e+02] [ 6.03336742e-02 -1.23033544e-03 9.98177506e-01 5.23807468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9092541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:447.68, Y:199.86, Z:52.38 [[-5.30595743e-02 -9.98589393e-01 1.97630614e-03 4.47678753e+02] [ 9.96767039e-01 -5.30821113e-02 -6.03138432e-02 1.99858744e+02] [ 6.03336706e-02 -1.23031002e-03 9.98177507e-01 5.23808814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.939254154 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:447.67, Y:199.83, Z:52.37 [[-4.08078081e-02 -9.98257611e-01 4.26199997e-02 4.47669101e+02] [ 9.98600982e-01 -4.21831595e-02 -3.18850981e-02 1.99833291e+02] [ 3.36273881e-02 4.12592126e-02 9.98582433e-01 5.23743090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9692541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.70, Y:199.87, Z:52.37 [[-5.75008008e-02 -9.97527189e-01 -4.04124369e-02 4.47700125e+02] [ 9.96551541e-01 -5.49248568e-02 -6.21955471e-02 1.99866642e+02] [ 5.98221019e-02 -4.38493701e-02 9.97245481e-01 5.23706843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 619.9992541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.68, Y:199.87, Z:52.38 [[-5.85134784e-02 -9.98284750e-01 1.93165369e-03 4.47682231e+02] [ 9.96468332e-01 -5.85235255e-02 -6.02151126e-02 1.99866272e+02] [ 6.02248758e-02 -1.59856396e-03 9.98183555e-01 5.23808672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0292541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.68, Y:199.87, Z:52.38 [[-5.98946011e-02 -9.98202882e-01 1.90890435e-03 4.47682593e+02] [ 9.96384176e-01 -5.99006995e-02 -6.02534698e-02 1.99871688e+02] [ 6.02595319e-02 -1.70685545e-03 9.98181284e-01 5.23811861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.0592541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:447.68, Y:199.88, Z:52.38 [[-6.34574320e-02 -9.97982781e-01 1.87705811e-03 4.47682949e+02] [ 9.96179449e-01 -6.34556153e-02 -5.99990839e-02 1.99876371e+02] [ 5.99971625e-02 -1.93750108e-03 9.98196667e-01 5.23810182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.089254154 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:447.68, Y:199.88, Z:52.38 [[-6.48978204e-02 -9.97890189e-01 1.85545719e-03 4.47682748e+02] [ 9.96082333e-01 -6.48919489e-02 -6.00751243e-02 1.99883112e+02] [ 6.00687814e-02 -2.05055651e-03 9.98192134e-01 5.23813779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1192541539999 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:447.68, Y:199.89, Z:52.38 [[-6.64692536e-02 -9.97786801e-01 1.82693755e-03 4.47682740e+02] [ 9.95988016e-01 -6.64591473e-02 -5.99253975e-02 1.99889192e+02] [ 5.99141874e-02 -2.16358854e-03 9.98201187e-01 5.23809109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1492541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:447.68, Y:199.89, Z:52.38 [[-6.88247326e-02 -9.97627185e-01 1.77665405e-03 4.47682388e+02] [ 9.95881182e-01 -6.88094250e-02 -5.90417978e-02 1.99889790e+02] [ 5.90239530e-02 -2.29419961e-03 9.98253930e-01 5.23819436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.1792541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:447.68, Y:199.90, Z:52.38 [[-7.41893147e-02 -9.97242666e-01 1.73537432e-03 4.47682121e+02] [ 9.95532193e-01 -7.41637630e-02 -5.84413326e-02 1.99895619e+02] [ 5.84088922e-02 -2.60810141e-03 9.98289336e-01 5.23823260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.209254154 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:447.68, Y:199.90, Z:52.38 [[-7.66116945e-02 -9.97059521e-01 1.72068406e-03 4.47681912e+02] [ 9.95331395e-01 -7.65802876e-02 -5.87441320e-02 1.99902473e+02] [ 5.87031666e-02 -2.78783663e-03 9.98271589e-01 5.23820407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2392541539999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:447.68, Y:199.91, Z:52.38 [[-8.27894051e-02 -9.96565667e-01 1.66930846e-03 4.47680435e+02] [ 9.94894626e-01 -8.27473548e-02 -5.77716070e-02 1.99910339e+02] [ 5.77113309e-02 -3.12209096e-03 9.98328430e-01 5.23833785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2692541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:447.68, Y:199.91, Z:52.38 [[-8.52530715e-02 -9.96358003e-01 1.62608445e-03 4.47679652e+02] [ 9.94727855e-01 -8.52067186e-02 -5.70640836e-02 1.99912460e+02] [ 5.69948097e-02 -3.24737690e-03 9.98369193e-01 5.23834356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.2992541539999 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:447.68, Y:199.92, Z:52.38 [[-8.68676595e-02 -9.96218586e-01 1.59358182e-03 4.47679006e+02] [ 9.94607962e-01 -8.68179553e-02 -5.67242831e-02 1.99916674e+02] [ 5.66481366e-02 -3.34251655e-03 9.98388610e-01 5.23829597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.329254154 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:447.68, Y:199.92, Z:52.38 [[-8.97636185e-02 -9.95961909e-01 1.53873381e-03 4.47676703e+02] [ 9.94417194e-01 -8.97102302e-02 -5.55564448e-02 1.99922988e+02] [ 5.54701430e-02 -3.45680415e-03 9.98454362e-01 5.23836848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3592541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:447.68, Y:199.93, Z:52.38 [[-8.98170379e-02 -9.95957114e-01 1.52566621e-03 4.47675254e+02] [ 9.94392845e-01 -8.97616131e-02 -5.59081577e-02 1.99929488e+02] [ 5.58190736e-02 -3.50439355e-03 9.98434750e-01 5.23836626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.3892541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.67, Y:199.93, Z:52.38 [[-8.99177402e-02 -9.95948074e-01 1.49465638e-03 4.47673545e+02] [ 9.94401324e-01 -8.98615291e-02 -5.55959744e-02 1.99926577e+02] [ 5.55050157e-02 -3.51277610e-03 9.98452229e-01 5.23839708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4192541539999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:447.67, Y:199.93, Z:52.38 [[-8.84213087e-02 -9.96082127e-01 1.43811285e-03 4.47670065e+02] [ 9.94606993e-01 -8.83687511e-02 -5.42945065e-02 1.99928340e+02] [ 5.42088718e-02 -3.37043422e-03 9.98523930e-01 5.23845544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.449254154 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:447.67, Y:199.93, Z:52.38 [[-8.67968107e-02 -9.96225054e-01 1.39868398e-03 4.47668206e+02] [ 9.94786552e-01 -8.67467568e-02 -5.36163858e-02 1.99931587e+02] [ 5.35353181e-02 -3.26233928e-03 9.98560628e-01 5.23849933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.4792541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:447.67, Y:199.93, Z:52.38 [[-8.47158793e-02 -9.96404205e-01 1.37098197e-03 4.47666392e+02] [ 9.94978313e-01 -8.46680954e-02 -5.33804217e-02 1.99934486e+02] [ 5.33045551e-02 -3.15807203e-03 9.98573308e-01 5.23848634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5092541539999 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:447.66, Y:199.93, Z:52.38 [[-8.09919211e-02 -9.96713877e-01 1.32517844e-03 4.47662545e+02] [ 9.95339328e-01 -8.09499073e-02 -5.24093056e-02 1.99929083e+02] [ 5.23443553e-02 -2.92572813e-03 9.98624809e-01 5.23848287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5392541539999 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:447.66, Y:199.94, Z:52.38 [[-7.83500059e-02 -9.96925057e-01 1.30635390e-03 4.47660222e+02] [ 9.95545378e-01 -7.83103776e-02 -5.25060517e-02 1.99936728e+02] [ 5.24468997e-02 -2.81331488e-03 9.98619751e-01 5.23840286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.569254154 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:447.66, Y:199.93, Z:52.38 [[-7.41354188e-02 -9.97247376e-01 1.26930105e-03 4.47655046e+02] [ 9.95902014e-01 -7.41013962e-02 -5.18474765e-02 1.99933529e+02] [ 5.17988169e-02 -2.57963491e-03 9.98654208e-01 5.23844469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.5992541539999 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:447.65, Y:199.94, Z:52.38 [[-7.19547267e-02 -9.97407087e-01 1.27260237e-03 4.47652548e+02] [ 9.96007980e-01 -7.19212524e-02 -5.28718981e-02 1.99940223e+02] [ 5.28263330e-02 -2.53686086e-03 9.98600492e-01 5.23843360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6292541539999 meters Centerline goodness : 0.998587 Centerline is valid? [True, True] Translation: X:447.65, Y:199.94, Z:52.38 [[-7.01612940e-02 -9.97534862e-01 1.26168481e-03 4.47650802e+02] [ 9.96111925e-01 -7.01286512e-02 -5.33198481e-02 1.99937802e+02] [ 5.32768876e-02 -2.48421025e-03 9.98576688e-01 5.23838395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.6592541539999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:447.65, Y:199.94, Z:52.38 [[-6.82655592e-02 -9.97666408e-01 1.24537390e-03 4.47649207e+02] [ 9.96231298e-01 -6.82342036e-02 -5.35471171e-02 1.99938357e+02] [ 5.35071371e-02 -2.41474344e-03 9.98564547e-01 5.23832958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.689254154 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:447.65, Y:199.94, Z:52.38 [[-6.49654994e-02 -9.97886753e-01 1.22929068e-03 4.47645348e+02] [ 9.96438531e-01 -6.49374794e-02 -5.37901248e-02 1.99936913e+02] [ 5.37562800e-02 -2.26958972e-03 9.98551507e-01 5.23831633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7192541539999 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:447.64, Y:199.94, Z:52.38 [[-6.27732461e-02 -9.98027092e-01 1.20144491e-03 4.47643456e+02] [ 9.96594107e-01 -6.27475272e-02 -5.35063839e-02 1.99939385e+02] [ 5.34762084e-02 -2.16141649e-03 9.98566785e-01 5.23824495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7492541539999 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:447.64, Y:199.94, Z:52.38 [[-5.97618402e-02 -9.98211965e-01 1.18131593e-03 4.47639822e+02] [ 9.96775704e-01 -5.97392457e-02 -5.35669535e-02 1.99937628e+02] [ 5.35417449e-02 -2.02375271e-03 9.98563561e-01 5.23828168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.7792541539999 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:447.64, Y:199.94, Z:52.38 [[-5.73286254e-02 -9.98354677e-01 1.16969222e-03 4.47638053e+02] [ 9.96893556e-01 -5.73080236e-02 -5.40280323e-02 1.99943557e+02] [ 5.40061715e-02 -1.93129418e-03 9.98538734e-01 5.23824587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8092541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:447.64, Y:199.94, Z:52.38 [[-5.56768176e-02 -9.98448174e-01 1.15546822e-03 4.47635610e+02] [ 9.96967855e-01 -5.56572040e-02 -5.43817326e-02 1.99943055e+02] [ 5.43616518e-02 -1.87583713e-03 9.98519550e-01 5.23838589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.839254154 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:447.63, Y:199.94, Z:52.38 [[-5.11988591e-02 -9.98687836e-01 1.13260146e-03 4.47631760e+02] [ 9.97210459e-01 -5.11847314e-02 -5.43270124e-02 1.99939637e+02] [ 5.43136984e-02 -1.65203903e-03 9.98522555e-01 5.23833807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8692541539999 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:447.63, Y:199.94, Z:52.38 [[-4.84383341e-02 -9.98825560e-01 1.10884414e-03 4.47630383e+02] [ 9.97353892e-01 -4.84271596e-02 -5.42219917e-02 1.99943950e+02] [ 5.42120094e-02 -1.52051293e-03 9.98528290e-01 5.23832773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.8992541539999 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:447.63, Y:199.94, Z:52.38 [[-4.60809561e-02 -9.98937116e-01 1.08791927e-03 4.47629109e+02] [ 9.97463679e-01 -4.60720740e-02 -5.42547144e-02 1.99943380e+02] [ 5.42471707e-02 -1.41494915e-03 9.98526536e-01 5.23829346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9292541539999 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:447.63, Y:199.94, Z:52.38 [[-4.20954399e-02 -9.99113016e-01 1.07507947e-03 4.47626463e+02] [ 9.97614836e-01 -4.20911851e-02 -5.47080561e-02 1.99942885e+02] [ 5.47047823e-02 -1.23044446e-03 9.98501814e-01 5.23825873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.959254154 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:447.63, Y:199.95, Z:52.38 [[-3.93584025e-02 -9.99224587e-01 1.06806799e-03 4.47625591e+02] [ 9.97683438e-01 -3.93570079e-02 -5.54867798e-02 1.99945044e+02] [ 5.54857906e-02 -1.11827726e-03 9.98458851e-01 5.23814094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 620.9892541539999 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:447.62, Y:199.95, Z:52.38 [[-3.74765542e-02 -9.99296957e-01 1.04844260e-03 4.47624421e+02] [ 9.97748737e-01 -3.74768408e-02 -5.56142381e-02 1.99949469e+02] [ 5.56144313e-02 -1.03814774e-03 9.98451780e-01 5.23811023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0192541539999 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:447.62, Y:199.95, Z:52.38 [[-3.54089287e-02 -9.99372375e-01 1.03164236e-03 4.47622535e+02] [ 9.97807997e-01 -3.54112100e-02 -5.59039190e-02 1.99946964e+02] [ 5.59053640e-02 -9.50116887e-04 9.98435620e-01 5.23815257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.0492541539999 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:447.62, Y:199.95, Z:52.38 [[-3.41218086e-02 -9.99417172e-01 1.00970744e-03 4.47622552e+02] [ 9.97852209e-01 -3.41248686e-02 -5.59147775e-02 1.99949287e+02] [ 5.59166450e-02 -9.00374541e-04 9.98435035e-01 5.23807487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.079254154 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:447.62, Y:199.95, Z:52.38 [[-3.35190050e-02 -9.99437577e-01 1.00268296e-03 4.47623259e+02] [ 9.97823429e-01 -3.35218406e-02 -5.67863599e-02 1.99951056e+02] [ 5.67880337e-02 -9.02921730e-04 9.98385849e-01 5.23793536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1092541539999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:447.62, Y:199.96, Z:52.38 [[-3.42520159e-02 -9.99412746e-01 9.81397885e-04 4.47622955e+02] [ 9.97794802e-01 -3.42523941e-02 -5.68533844e-02 1.99956187e+02] [ 5.68536122e-02 -9.68109319e-04 9.98382056e-01 5.23808920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1392541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.62, Y:199.96, Z:52.38 [[-3.44614561e-02 -9.99405571e-01 9.55276602e-04 4.47622720e+02] [ 9.97800260e-01 -3.44602328e-02 -5.66315537e-02 1.99958811e+02] [ 5.66308093e-02 -9.98430559e-04 9.98394689e-01 5.23810490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.1692541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:447.62, Y:199.97, Z:52.38 [[-3.57380797e-02 -9.99360749e-01 9.39751699e-04 4.47623204e+02] [ 9.97731177e-01 -3.57334594e-02 -5.70580230e-02 1.99965188e+02] [ 5.70551292e-02 -1.10152460e-03 9.98370422e-01 5.23804785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.199254154 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:447.62, Y:199.97, Z:52.38 [[-3.63082593e-02 -9.99340212e-01 9.22766110e-04 4.47624280e+02] [ 9.97690181e-01 -3.63013258e-02 -5.74152949e-02 1.99970769e+02] [ 5.74109106e-02 -1.16401473e-03 9.98349955e-01 5.23796002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2292541539999 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:447.63, Y:199.97, Z:52.38 [[-3.86949378e-02 -9.99250666e-01 8.99164208e-04 4.47627143e+02] [ 9.97603728e-01 -3.86827787e-02 -5.73623977e-02 1.99972335e+02] [ 5.73541962e-02 -1.32262484e-03 9.98353017e-01 5.23781434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2592541539999 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:447.63, Y:199.97, Z:52.38 [[-3.82990202e-02 -9.99265939e-01 8.76391571e-04 4.47627038e+02] [ 9.97619006e-01 -3.82862072e-02 -5.73627459e-02 1.99974967e+02] [ 5.73541919e-02 -1.32263208e-03 9.98353017e-01 5.23782780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.2892541539999 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:447.63, Y:199.98, Z:52.38 [[-4.03446605e-02 -9.99185464e-01 8.46459557e-04 4.47629545e+02] [ 9.97566833e-01 -4.03274808e-02 -5.68692167e-02 1.99977721e+02] [ 5.68570303e-02 -1.44996926e-03 9.98381278e-01 5.23776081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.319254154 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:447.62, Y:199.96, Z:52.38 [[-3.45895690e-02 -9.98828566e-01 3.38386907e-02 4.47619918e+02] [ 9.98671907e-01 -3.58381245e-02 -3.70141890e-02 1.99955425e+02] [ 3.81835445e-02 3.25134449e-02 9.98741655e-01 5.23777121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3492541539999 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:447.65, Y:199.99, Z:52.37 [[-4.50197071e-02 -9.98434448e-01 -3.31945733e-02 4.47646404e+02] [ 9.97397561e-01 -4.30501637e-02 -5.78341417e-02 1.99991154e+02] [ 5.63145675e-02 -3.57118626e-02 9.97774189e-01 5.23691576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.3792541539999 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:447.63, Y:199.99, Z:52.38 [[-4.52913995e-02 -9.98973474e-01 8.29105405e-04 4.47633033e+02] [ 9.97257986e-01 -4.52622150e-02 -5.85477770e-02 1.99988306e+02] [ 5.85252033e-02 -1.82487877e-03 9.98284263e-01 5.23771512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4092541539999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:447.63, Y:199.99, Z:52.38 [[-4.74149476e-02 -9.98874961e-01 7.97126255e-04 4.47633996e+02] [ 9.97197133e-01 -4.73815126e-02 -5.79039699e-02 1.99991470e+02] [ 5.78765947e-02 -1.95062168e-03 9.98321839e-01 5.23777444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.439254154 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:447.64, Y:200.00, Z:52.38 [[-5.00835778e-02 -9.98744718e-01 7.89315504e-04 4.47637500e+02] [ 9.96998270e-01 -5.00426891e-02 -5.90777375e-02 2.00001489e+02] [ 5.90430778e-02 -2.17187827e-03 9.98253073e-01 5.23760162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4692541539999 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:447.63, Y:199.99, Z:52.37 [[-4.48546915e-02 -9.98497980e-01 3.14617197e-02 4.47627941e+02] [ 9.98129474e-01 -4.61032347e-02 -4.01502886e-02 1.99986089e+02] [ 4.15404692e-02 2.96019409e-02 9.98698210e-01 5.23749827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.4992541539999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:447.65, Y:200.01, Z:52.37 [[-5.51358310e-02 -9.98003338e-01 -3.08119601e-02 4.47653150e+02] [ 9.96819823e-01 -5.32398316e-02 -5.92938470e-02 2.00009896e+02] [ 5.75350336e-02 -3.39831881e-02 9.97764934e-01 5.23678352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5292541539999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:447.64, Y:200.01, Z:52.38 [[-5.81256390e-02 -9.98308997e-01 7.45518159e-04 4.47640085e+02] [ 9.96556350e-01 -5.80677954e-02 -5.91909851e-02 2.00010934e+02] [ 5.91341835e-02 -2.69756298e-03 9.98246398e-01 5.23762471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.5592541539999 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:447.64, Y:200.01, Z:52.38 [[-5.88046432e-02 -9.98269245e-01 7.26900279e-04 4.47640366e+02] [ 9.96490829e-01 -5.87433000e-02 -5.96259437e-02 2.00012949e+02] [ 5.95654464e-02 -2.78193289e-03 9.98220526e-01 5.23763678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.589254154 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:447.64, Y:200.02, Z:52.38 [[-6.14633814e-02 -9.98109096e-01 6.96835061e-04 4.47641122e+02] [ 9.96362811e-01 -6.13970990e-02 -5.90892945e-02 2.00018081e+02] [ 5.90203459e-02 -2.93752730e-03 9.98252458e-01 5.23763634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6192541539999 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:447.64, Y:200.02, Z:52.38 [[-6.33042578e-02 -9.97994050e-01 6.69169483e-04 4.47641447e+02] [ 9.96268989e-01 -6.32342157e-02 -5.87327434e-02 2.00021064e+02] [ 5.86572428e-02 -3.05135992e-03 9.98273518e-01 5.23769072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6492541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:447.64, Y:200.03, Z:52.38 [[-6.44859097e-02 -9.97918413e-01 6.38556355e-04 4.47641954e+02] [ 9.96231987e-01 -6.44140934e-02 -5.80745418e-02 2.00028266e+02] [ 5.79947866e-02 -3.10883939e-03 9.98312045e-01 5.23769623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.6792541539999 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:447.64, Y:200.03, Z:52.38 [[-6.71624732e-02 -9.97741868e-01 6.05975049e-04 4.47641527e+02] [ 9.96107527e-01 -6.70871841e-02 -5.71760883e-02 2.00029679e+02] [ 5.70876303e-02 -3.23647119e-03 9.98363926e-01 5.23779510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.709254154 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:447.64, Y:200.04, Z:52.38 [[-6.77418813e-02 -9.97702707e-01 5.88379884e-04 4.47641038e+02] [ 9.96036461e-01 -6.76627939e-02 -5.77331414e-02 2.00036052e+02] [ 5.76403229e-02 -3.32490379e-03 9.98331878e-01 5.23781746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7392541539999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:447.64, Y:200.04, Z:52.38 [[-7.01545145e-02 -9.97535985e-01 5.50236912e-04 4.47639611e+02] [ 9.95959812e-01 -7.00746416e-02 -5.61569104e-02 2.00040311e+02] [ 5.60570966e-02 -3.39164693e-03 9.98421804e-01 5.23792297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7692541539999 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:447.64, Y:200.04, Z:52.38 [[-7.02736060e-02 -9.97527617e-01 5.23205075e-04 4.47639245e+02] [ 9.95978307e-01 -7.01936638e-02 -5.56782003e-02 2.00043928e+02] [ 5.55772681e-02 -3.39160701e-03 9.98448629e-01 5.23795109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.7992541539999 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:447.64, Y:200.04, Z:52.38 [[-6.98779996e-02 -9.97555419e-01 5.01417653e-04 4.47638781e+02] [ 9.96001201e-01 -6.97971589e-02 -5.57670534e-02 2.00044443e+02] [ 5.56657239e-02 -3.39747755e-03 9.98443681e-01 5.23793941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.829254154 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:447.64, Y:200.05, Z:52.38 [[-6.94752308e-02 -9.97583562e-01 4.78851187e-04 4.47638694e+02] [ 9.96029377e-01 -6.93937608e-02 -5.57672474e-02 2.00047073e+02] [ 5.56657186e-02 -3.39749253e-03 9.98443681e-01 5.23795291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8592541539999 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:447.64, Y:200.05, Z:52.38 [[-6.78326558e-02 -9.97696606e-01 4.62655685e-04 4.47637301e+02] [ 9.96096539e-01 -6.77501073e-02 -5.65827508e-02 2.00046698e+02] [ 5.64837634e-02 -3.37730854e-03 9.98397806e-01 5.23779558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.8892541539999 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:447.64, Y:200.05, Z:52.38 [[-6.73753931e-02 -9.97727604e-01 4.30037720e-04 4.47635551e+02] [ 9.96201481e-01 -6.72961545e-02 -5.52615299e-02 2.00049694e+02] [ 5.51648937e-02 -3.29486309e-03 9.98471822e-01 5.23790836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9192541539999 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:447.63, Y:200.05, Z:52.38 [[-6.34597895e-02 -9.97984312e-01 4.09558417e-04 4.47632337e+02] [ 9.96443483e-01 -6.33845970e-02 -5.55227784e-02 2.00051564e+02] [ 5.54368215e-02 -3.11536201e-03 9.98457337e-01 5.23787080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.949254154 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:447.63, Y:200.05, Z:52.38 [[-6.10516563e-02 -9.98134534e-01 3.83241582e-04 4.47630347e+02] [ 9.96626450e-01 -6.09805033e-02 -5.49281125e-02 2.00052734e+02] [ 5.48490162e-02 -2.97150355e-03 9.98490238e-01 5.23788600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 621.9792541539999 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:447.63, Y:200.05, Z:52.38 [[-5.85084663e-02 -9.98286847e-01 3.60835594e-04 4.47628400e+02] [ 9.96780993e-01 -5.84400485e-02 -5.48854490e-02 2.00052317e+02] [ 5.48125091e-02 -2.85158938e-03 9.98492593e-01 5.23786200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0092541539999 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:447.62, Y:200.05, Z:52.38 [[-5.42570163e-02 -9.98526948e-01 3.32767966e-04 4.47624375e+02] [ 9.97077107e-01 -5.41961828e-02 -5.38517962e-02 2.00051896e+02] [ 5.37905045e-02 -2.59004246e-03 9.98548884e-01 5.23791741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0392541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:447.62, Y:200.06, Z:52.38 [[-5.09061843e-02 -9.98703391e-01 3.12967144e-04 4.47622450e+02] [ 9.97235060e-01 -5.08483222e-02 -5.41911653e-02 2.00059928e+02] [ 5.41368144e-02 -2.44656364e-03 9.98530530e-01 5.23790585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.069254154 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:447.62, Y:200.05, Z:52.38 [[-4.85043924e-02 -9.98822927e-01 2.89208117e-04 4.47619778e+02] [ 9.97375996e-01 -4.84497030e-02 -5.37935767e-02 2.00053068e+02] [ 5.37442698e-02 -2.32077552e-03 9.98552035e-01 5.23795689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.0992541539999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:447.62, Y:200.05, Z:52.38 [[-4.15256451e-02 -9.99137403e-01 2.64218946e-04 4.47615512e+02] [ 9.97729916e-01 -4.14811768e-02 -5.30502308e-02 2.00052740e+02] [ 5.30154300e-02 -1.93932591e-03 9.98591810e-01 5.23785926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1292541539999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:447.61, Y:200.06, Z:52.38 [[-3.87115218e-02 -9.99250400e-01 2.38924112e-04 4.47612915e+02] [ 9.97894611e-01 -3.86714469e-02 -5.20659709e-02 2.00055230e+02] [ 5.20361817e-02 -1.77713188e-03 9.98643619e-01 5.23797272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.1592541539999 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:447.61, Y:200.05, Z:52.38 [[-3.46241933e-02 -9.99400379e-01 2.17619627e-04 4.47611182e+02] [ 9.98051852e-01 -3.45887801e-02 -5.19241495e-02 2.00052392e+02] [ 5.19005419e-02 -1.58063612e-03 9.98651008e-01 5.23788669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.189254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:447.61, Y:200.05, Z:52.38 [[-2.76868055e-02 -9.99616628e-01 1.92733775e-04 4.47607317e+02] [ 9.98331863e-01 -2.76609921e-02 -5.06789904e-02 2.00053443e+02] [ 5.06648927e-02 -1.21072708e-03 9.98714976e-01 5.23788484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2192541539999 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:447.61, Y:200.05, Z:52.38 [[-2.27117362e-02 -9.99742040e-01 1.72823102e-04 4.47606084e+02] [ 9.98453573e-01 -2.26912384e-02 -5.07500818e-02 2.00051110e+02] [ 5.07409119e-02 -9.80066627e-04 9.98711369e-01 5.23769289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2492541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:447.60, Y:200.05, Z:52.38 [[-1.62570517e-02 -9.99867834e-01 1.49110745e-04 4.47602299e+02] [ 9.98649094e-01 -1.62445966e-02 -4.93568679e-02 2.00049380e+02] [ 4.93527669e-02 -6.53487842e-04 9.98781196e-01 5.23775227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.2792541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:447.60, Y:200.05, Z:52.38 [[-1.24815502e-02 -9.99922094e-01 1.29363625e-04 4.47601044e+02] [ 9.98709334e-01 -1.24727816e-02 -4.92351185e-02 2.00053903e+02] [ 4.92328963e-02 -4.85333941e-04 9.98787208e-01 5.23774659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3092541539999 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:447.60, Y:200.05, Z:52.38 [[-8.40513901e-03 -9.99964670e-01 1.09490908e-04 4.47600364e+02] [ 9.98764417e-01 -8.40041344e-03 -4.89803364e-02 2.00050124e+02] [ 4.89795257e-02 -3.02330913e-04 9.98799737e-01 5.23755119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.339254154 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:447.60, Y:200.05, Z:52.38 [[-3.99288181e-03 -9.99992024e-01 8.99809296e-05 4.47598503e+02] [ 9.98799787e-01 -3.99251390e-03 -4.88164494e-02 2.00051092e+02] [ 4.88164193e-02 -1.05045380e-04 9.98807762e-01 5.23758597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3692541539999 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:447.60, Y:200.05, Z:52.37 [[-1.74792472e-03 -9.99998470e-01 7.08338425e-05 4.47598545e+02] [ 9.98805974e-01 -1.74929856e-03 -4.88217908e-02 2.00051530e+02] [ 4.88218400e-02 -1.45875499e-05 9.98807503e-01 5.23741074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.3992541539999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:447.60, Y:200.06, Z:52.37 [[-2.65514244e-03 -9.99996474e-01 5.12708369e-05 4.47598212e+02] [ 9.98838133e-01 -2.65453392e-03 -4.81179628e-02 2.00059354e+02] [ 4.81179292e-02 -7.65487782e-05 9.98841659e-01 5.23744918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4292541539999 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:447.60, Y:200.06, Z:52.37 [[-3.62703426e-03 -9.99993422e-01 3.23991563e-05 4.47598946e+02] [ 9.98836863e-01 -3.62439715e-03 -4.80810244e-02 2.00064510e+02] [ 4.80808255e-02 -1.42030051e-04 9.98843438e-01 5.23734047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.459254154 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:447.60, Y:200.06, Z:52.37 [[-5.77871886e-03 -9.99983303e-01 1.34121362e-05 4.47599606e+02] [ 9.98803158e-01 -5.77255044e-03 -4.85688033e-02 2.00063799e+02] [ 4.85680698e-02 -2.67269375e-04 9.98819839e-01 5.23733119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.4892541539999 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:447.60, Y:200.09, Z:52.37 [[-1.26894499e-02 -9.99919486e-01 -9.24748928e-06 4.47601910e+02] [ 9.98780604e-01 -1.26745556e-02 -4.77143651e-02 2.00091736e+02] [ 4.77104062e-02 -6.14705255e-04 9.98861021e-01 5.23734298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5192541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.60, Y:200.10, Z:52.37 [[-2.04330893e-02 -9.99791223e-01 9.15599043e-06 4.47604279e+02] [ 9.98708083e-01 -2.04113790e-02 -4.65353739e-02 2.00096932e+02] [ 4.65258453e-02 -9.41717291e-04 9.98916643e-01 5.23731845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.5492541539999 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:447.61, Y:200.12, Z:52.37 [[-2.43552729e-02 -9.99703366e-01 -1.40589480e-05 4.47605886e+02] [ 9.98659149e-01 -2.43291905e-02 -4.56945893e-02 2.00124458e+02] [ 4.56806927e-02 -1.12694429e-03 9.98955457e-01 5.23734842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.579254154 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:447.61, Y:200.13, Z:52.37 [[-2.80117862e-02 -9.99607593e-01 4.94998318e-06 4.47607209e+02] [ 9.98606334e-01 -2.79839497e-02 -4.47469477e-02 2.00131450e+02] [ 4.47295272e-02 -1.24849885e-03 9.98998354e-01 5.23737397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6092541539999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:447.61, Y:200.16, Z:52.38 [[-3.24182637e-02 -9.99474390e-01 -1.89179269e-05 4.47608591e+02] [ 9.98495342e-01 -3.23856704e-02 -4.42517820e-02 2.00159423e+02] [ 4.42279101e-02 -1.45345540e-03 9.99020410e-01 5.23755154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6392541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:447.61, Y:200.19, Z:52.38 [[-3.97304102e-02 -9.99210436e-01 -5.75076863e-06 4.47611527e+02] [ 9.98255026e-01 -3.96921698e-02 -4.37199542e-02 2.00187069e+02] [ 4.36852063e-02 -1.74275245e-03 9.99043826e-01 5.23761328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.6692541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:447.61, Y:200.19, Z:52.38 [[-4.21050596e-02 -9.99113189e-01 1.42081084e-05 4.47613076e+02] [ 9.98168613e-01 -4.20658711e-02 -4.34727728e-02 2.00193192e+02] [ 4.34348183e-02 -1.81624160e-03 9.99054612e-01 5.23756879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.699254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:447.61, Y:200.22, Z:52.38 [[-4.51026191e-02 -9.98982359e-01 -1.01555860e-05 4.47614149e+02] [ 9.98022246e-01 -4.50588258e-02 -4.38326215e-02 2.00220663e+02] [ 4.37875580e-02 -1.98710153e-03 9.99038889e-01 5.23767418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7292541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:447.61, Y:200.22, Z:52.38 [[-4.67357583e-02 -9.98907287e-01 9.47550899e-06 4.47614669e+02] [ 9.97918472e-01 -4.66899166e-02 -4.44834187e-02 2.00222085e+02] [ 4.44352535e-02 -2.06951052e-03 9.99010123e-01 5.23761279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7592541539999 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:447.62, Y:200.25, Z:52.38 [[-4.90456716e-02 -9.98796537e-01 -1.35804582e-05 4.47615891e+02] [ 9.97771302e-01 -4.89947118e-02 -4.52984217e-02 2.00249036e+02] [ 4.52432413e-02 -2.23524171e-03 9.98973500e-01 5.23756587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.7892541539999 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:447.62, Y:200.28, Z:52.37 [[-4.92422723e-02 -9.98786863e-01 -6.95612344e-06 4.47616672e+02] [ 9.97706192e-01 -4.91886691e-02 -4.65062325e-02 2.00276866e+02] [ 4.64494719e-02 -2.29701273e-03 9.98918000e-01 5.23747870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.819254154 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:447.61, Y:200.25, Z:52.37 [[-3.88752869e-02 -9.98981133e-01 2.29217644e-02 4.47611312e+02] [ 9.98777715e-01 -3.95476695e-02 -2.96489184e-02 2.00249841e+02] [ 3.05252124e-02 2.17411373e-02 9.99297520e-01 5.23715609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8492541539999 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:447.63, Y:200.27, Z:52.37 [[-4.42207115e-02 -9.98488464e-01 -3.26391898e-02 4.47628876e+02] [ 9.98367492e-01 -4.29859135e-02 -3.76106769e-02 2.00268679e+02] [ 3.61508016e-02 -3.42490769e-02 9.98759290e-01 5.23675085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.8792541539999 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:447.61, Y:200.30, Z:52.38 [[-4.49045333e-02 -9.98991251e-01 -2.52723602e-04 4.47613397e+02] [ 9.98278456e-01 -4.48629354e-02 -3.77814953e-02 2.00296548e+02] [ 3.77320453e-02 -1.94884894e-03 9.99285993e-01 5.23780033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9092541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:447.61, Y:200.32, Z:52.38 [[-4.48865941e-02 -9.98992059e-01 -2.44138035e-04 4.47612012e+02] [ 9.98264594e-01 -4.48445802e-02 -3.81675696e-02 2.00322982e+02] [ 3.81181507e-02 -1.95692656e-03 9.99271323e-01 5.23787979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.939254154 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:447.61, Y:200.35, Z:52.38 [[-4.48941648e-02 -9.98991721e-01 -2.35172251e-04 4.47611318e+02] [ 9.98260043e-01 -4.48522727e-02 -3.82774219e-02 2.00351219e+02] [ 3.82282795e-02 -1.95319595e-03 9.99267123e-01 5.23801511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9692541539999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:447.61, Y:200.38, Z:52.38 [[-4.51187663e-02 -9.98981605e-01 -2.21639547e-04 4.47610222e+02] [ 9.98269273e-01 -4.50782146e-02 -3.77678858e-02 2.00379445e+02] [ 3.77194321e-02 -1.92529636e-03 9.99286514e-01 5.23812080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 622.9992541539999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:447.61, Y:200.41, Z:52.38 [[-4.38463206e-02 -9.99038266e-01 -2.08680154e-04 4.47608033e+02] [ 9.98342187e-01 -4.38079726e-02 -3.73328062e-02 2.00406532e+02] [ 3.72877602e-02 -1.84524039e-03 9.99302866e-01 5.23807091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0292541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:447.61, Y:200.43, Z:52.38 [[-4.46642613e-02 -9.99002034e-01 -1.99395860e-04 4.47606359e+02] [ 9.98307216e-01 -4.46257519e-02 -3.72994011e-02 2.00433866e+02] [ 3.72532794e-02 -1.86500852e-03 9.99304115e-01 5.23837095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.0592541539999 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:447.61, Y:200.46, Z:52.38 [[-4.45219100e-02 -9.99008390e-01 -1.89435649e-04 4.47605352e+02] [ 9.98311877e-01 -4.44837878e-02 -3.73441991e-02 2.00461832e+02] [ 3.72987414e-02 -1.85175093e-03 9.99302444e-01 5.23845827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.089254154 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:447.61, Y:200.49, Z:52.39 [[-4.36161961e-02 -9.99034539e-01 -5.25523524e-03 4.47606473e+02] [ 9.98316535e-01 -4.33823396e-02 -3.84976380e-02 2.00491820e+02] [ 3.82324856e-02 -6.92550877e-03 9.99244872e-01 5.23855181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1192541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:447.60, Y:200.52, Z:52.39 [[-4.40724004e-02 -9.99017391e-01 4.67729277e-03 4.47599236e+02] [ 9.98275479e-01 -4.42204316e-02 -3.86085726e-02 2.00518060e+02] [ 3.87774674e-02 2.96765421e-03 9.99243464e-01 5.23866671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1492541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:447.60, Y:200.54, Z:52.39 [[-4.52788134e-02 -9.98974374e-01 -1.70764605e-04 4.47599300e+02] [ 9.98187432e-01 -4.52363599e-02 -3.96928505e-02 2.00544533e+02] [ 3.96444157e-02 -1.96770025e-03 9.99211914e-01 5.23863336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.1792541539999 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:447.60, Y:200.57, Z:52.39 [[-4.63888711e-02 -9.98923444e-01 -1.60260794e-04 4.47598322e+02] [ 9.98128925e-01 -4.63455758e-02 -3.98840361e-02 2.00571294e+02] [ 3.98336714e-02 -2.01013634e-03 9.99204302e-01 5.23873636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.209254154 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:447.60, Y:200.60, Z:52.39 [[-4.60816915e-02 -9.98929673e-01 -3.99824925e-03 4.47599416e+02] [ 9.98131999e-01 -4.58834363e-02 -4.03388563e-02 2.00601091e+02] [ 4.01122272e-02 -5.84966325e-03 9.99178058e-01 5.23891821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2392541539999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:447.59, Y:200.63, Z:52.39 [[-4.61071484e-02 -9.98930515e-01 3.45789087e-03 4.47592768e+02] [ 9.98139810e-01 -4.62083223e-02 -3.97707250e-02 2.00626307e+02] [ 3.98879741e-02 1.61774382e-03 9.99202849e-01 5.23919147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2692541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:447.59, Y:200.65, Z:52.39 [[-4.28378654e-02 -9.99082029e-01 -1.27932019e-04 4.47590189e+02] [ 9.98334891e-01 -4.28008783e-02 -3.86720878e-02 2.00653414e+02] [ 3.86311123e-02 -1.78434869e-03 9.99251947e-01 5.23928828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.2992541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:447.59, Y:200.68, Z:52.39 [[-4.02826549e-02 -9.99188318e-01 -1.15013396e-04 4.47588015e+02] [ 9.98472381e-01 -4.02494344e-02 -3.78535060e-02 2.00681028e+02] [ 3.78181518e-02 -1.63967742e-03 9.99283293e-01 5.23944358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.329254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:447.59, Y:200.71, Z:52.40 [[-3.70945330e-02 -9.99311756e-01 -1.04613015e-04 4.47585831e+02] [ 9.98609881e-01 -3.70645561e-02 -3.74769725e-02 2.00708522e+02] [ 3.74473017e-02 -1.49465838e-03 9.99297486e-01 5.23958270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3592541539999 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:447.58, Y:200.74, Z:52.40 [[-3.36685551e-02 -9.99433049e-01 -9.36531644e-05 4.47583840e+02] [ 9.98735208e-01 -3.36415450e-02 -3.73661818e-02 2.00735167e+02] [ 3.73418463e-02 -1.35160006e-03 9.99301636e-01 5.23969424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.3892541539999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:447.58, Y:200.76, Z:52.40 [[-2.60243999e-02 -9.99661305e-01 -8.22064692e-05 4.47580256e+02] [ 9.98981399e-01 -2.60036671e-02 -3.68778278e-02 2.00761531e+02] [ 3.68631998e-02 -1.04184607e-03 9.99319778e-01 5.23972185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4192541539999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:447.58, Y:200.79, Z:52.40 [[-1.84841763e-02 -9.99829151e-01 -6.95679554e-05 4.47576281e+02] [ 9.99186619e-01 -1.84698034e-02 -3.58464241e-02 2.00787274e+02] [ 3.58390148e-02 -7.32102994e-04 9.99357308e-01 5.23988258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.449254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.57, Y:200.81, Z:52.40 [[-1.46314244e-02 -9.99892953e-01 -5.89171476e-05 4.47574750e+02] [ 9.99249945e-01 -1.46199024e-02 -3.58581239e-02 2.00814021e+02] [ 3.58534241e-02 -5.83528388e-04 9.99356889e-01 5.23985129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.4792541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.57, Y:200.84, Z:52.40 [[-1.23840779e-02 -9.99923313e-01 -4.87346485e-05 4.47572820e+02] [ 9.99290678e-01 -1.23745092e-02 -3.55670068e-02 2.00841111e+02] [ 3.55636763e-02 -4.89164664e-04 9.99367293e-01 5.24010197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5092541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.57, Y:200.87, Z:52.40 [[-8.15730812e-03 -9.99966728e-01 -3.92217787e-05 4.47571057e+02] [ 9.99300144e-01 -8.15043847e-03 -3.65074339e-02 2.00867525e+02] [ 3.65058995e-02 -3.36996716e-04 9.99333381e-01 5.24015359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5392541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.57, Y:200.89, Z:52.40 [[-7.18413086e-03 -9.99974193e-01 -3.23652807e-05 4.47570478e+02] [ 9.99278767e-01 -7.17792781e-03 -3.72883920e-02 2.00894938e+02] [ 3.72871974e-02 -3.00226626e-04 9.99304546e-01 5.24019115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.569254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.57, Y:200.92, Z:52.40 [[-6.40744505e-03 -9.99979472e-01 -2.24343385e-05 4.47570253e+02] [ 9.99267136e-01 -6.40203404e-03 -3.77386420e-02 2.00922161e+02] [ 3.77377237e-02 -2.64226172e-04 9.99287644e-01 5.24024439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.5992541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.57, Y:200.95, Z:52.40 [[-6.19082911e-03 -9.99980837e-01 -1.25022773e-05 4.47570304e+02] [ 9.99200943e-01 -6.18550714e-03 -3.94869032e-02 2.00950426e+02] [ 3.94860691e-02 -2.56948957e-04 9.99220088e-01 5.24019948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6292541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.57, Y:200.95, Z:52.40 [[-5.98710096e-03 -9.99982077e-01 2.15457099e-06 4.47570558e+02] [ 9.99164774e-01 -5.98229468e-03 -4.04223649e-02 2.00952803e+02] [ 4.04216533e-02 -2.39860008e-04 9.99182682e-01 5.24016101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.6592541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.57, Y:200.98, Z:52.40 [[-6.66098553e-03 -9.99977815e-01 -1.64071505e-05 4.47570770e+02] [ 9.99116287e-01 -6.65456584e-03 -4.15013501e-02 2.00981154e+02] [ 4.15003202e-02 -2.92832543e-04 9.99138448e-01 5.24015595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.689254154 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.57, Y:201.01, Z:52.40 [[-8.94514713e-03 -9.99959991e-01 -3.67599456e-06 4.47570859e+02] [ 9.99095587e-01 -8.93726177e-03 -4.15708351e-02 2.01008008e+02] [ 4.15691390e-02 -3.75529906e-04 9.99135559e-01 5.24035522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7192541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.57, Y:201.01, Z:52.40 [[-8.55246029e-03 -9.99963427e-01 3.03057402e-06 4.47570782e+02] [ 9.99099017e-01 -8.54519317e-03 -4.15708349e-02 2.01010660e+02] [ 4.15693405e-02 -3.52505071e-04 9.99135559e-01 5.24036716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7492541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.57, Y:201.04, Z:52.41 [[-1.02636817e-02 -9.99947327e-01 -1.51203407e-05 4.47571279e+02] [ 9.99089746e-01 -1.02542532e-02 -4.14068903e-02 2.01038666e+02] [ 4.14045542e-02 -4.40093721e-04 9.99142367e-01 5.24051030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.7792541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.57, Y:201.07, Z:52.41 [[-1.29855007e-02 -9.99915685e-01 -2.60749008e-06 4.47573055e+02] [ 9.99093808e-01 -1.29747216e-02 -4.05366343e-02 2.01065532e+02] [ 4.05331827e-02 -5.28993619e-04 9.99178053e-01 5.24059524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8092541539999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:447.57, Y:201.07, Z:52.41 [[-1.48225001e-02 -9.99890141e-01 4.78969087e-06 4.47573618e+02] [ 9.99111048e-01 -1.48111398e-02 -3.94682717e-02 2.01072393e+02] [ 3.94640067e-02 -5.80233028e-04 9.99220824e-01 5.24071258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.839254154 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.57, Y:201.10, Z:52.41 [[-1.67653407e-02 -9.99859452e-01 -1.40136613e-05 4.47574802e+02] [ 9.99109524e-01 -1.67522234e-02 -3.87236724e-02 2.01100199e+02] [ 3.87179951e-02 -6.63216744e-04 9.99249957e-01 5.24081902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8692541539999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:447.58, Y:201.13, Z:52.41 [[-2.03833554e-02 -9.99792238e-01 -2.41371396e-06 4.47577533e+02] [ 9.99090640e-01 -2.03689610e-02 -3.74566222e-02 2.01127174e+02] [ 3.74487909e-02 -7.65903159e-04 9.99298255e-01 5.24089344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.8992541539999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:447.58, Y:201.13, Z:52.41 [[-2.16668002e-02 -9.99765247e-01 9.17034643e-06 4.47578979e+02] [ 9.99086039e-01 -2.16524186e-02 -3.68545791e-02 2.01131034e+02] [ 3.68461259e-02 -7.89358837e-04 9.99320639e-01 5.24091339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9292541539999 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:447.58, Y:201.16, Z:52.41 [[-2.33887669e-02 -9.99726445e-01 -9.22350057e-06 4.47580063e+02] [ 9.99064628e-01 -2.33729480e-02 -3.63809632e-02 2.01158152e+02] [ 3.63707954e-02 -8.60120741e-04 9.99337994e-01 5.24101344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.959254154 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:447.58, Y:201.19, Z:52.41 [[-2.63628711e-02 -9.99652439e-01 -5.78541837e-06 4.47582812e+02] [ 9.98986370e-01 -2.63450942e-02 -3.64988933e-02 2.01186497e+02] [ 3.64860553e-02 -9.67995172e-04 9.99333693e-01 5.24105913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 623.9892541539999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:447.58, Y:201.19, Z:52.41 [[-2.66219715e-02 -9.99645572e-01 9.79990167e-06 4.47584836e+02] [ 9.98916417e-01 -2.66029274e-02 -3.81873952e-02 2.01190367e+02] [ 3.81741213e-02 -1.00683446e-03 9.99270595e-01 5.24087881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0192541539999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:447.59, Y:201.22, Z:52.41 [[-2.90620825e-02 -9.99577608e-01 -8.72657630e-06 4.47587477e+02] [ 9.98823485e-01 -2.90398177e-02 -3.88372970e-02 2.01216808e+02] [ 3.88206390e-02 -1.13740904e-03 9.99245548e-01 5.24103376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.0492541539999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:447.59, Y:201.24, Z:52.41 [[-2.93782396e-02 -9.99568366e-01 -2.98969538e-06 4.47588467e+02] [ 9.98786580e-01 -2.93551439e-02 -3.95429243e-02 2.01244353e+02] [ 3.95257685e-02 -1.16468757e-03 9.99217873e-01 5.24113830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.079254154 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:447.59, Y:201.25, Z:52.41 [[-2.68209739e-02 -9.99640253e-01 1.18868150e-05 4.47589753e+02] [ 9.98832015e-01 -2.67997664e-02 -4.02042138e-02 2.01246598e+02] [ 4.01900690e-02 -1.06644324e-03 9.99191484e-01 5.24112406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1092541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:447.59, Y:201.27, Z:52.41 [[-2.41101172e-02 -9.99709309e-01 -6.58975558e-06 4.47590436e+02] [ 9.98841412e-01 -2.40889114e-02 -4.16600262e-02 2.01274407e+02] [ 4.16477573e-02 -1.01101024e-03 9.99131844e-01 5.24107834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1392541539999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:447.59, Y:201.27, Z:52.41 [[-1.74303862e-02 -9.99848079e-01 7.17727407e-06 4.47590001e+02] [ 9.99007709e-01 -1.74160303e-02 -4.09912225e-02 2.01272443e+02] [ 4.09851201e-02 -7.07322688e-04 9.99159507e-01 5.24115578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.1692541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.59, Y:201.30, Z:52.41 [[-1.35557540e-02 -9.99908117e-01 -1.11824591e-05 4.47589866e+02] [ 9.99057839e-01 -1.35437657e-02 -4.12310737e-02 2.01299901e+02] [ 4.12271338e-02 -5.70090215e-04 9.99149638e-01 5.24125975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.199254154 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:447.59, Y:201.31, Z:52.41 [[-3.87527733e-03 -9.99992491e-01 2.36220872e-06 4.47589420e+02] [ 9.99144108e-01 -3.87208687e-03 -4.11832383e-02 2.01305452e+02] [ 4.11829383e-02 -1.57236283e-04 9.99151611e-01 5.24117574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2292541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:447.59, Y:201.33, Z:52.41 [[-1.32215153e-04 -9.99999991e-01 -1.58238329e-05 4.47589180e+02] [ 9.99187358e-01 -1.31469907e-04 -4.03064107e-02 2.01333473e+02] [ 4.03064083e-02 -2.11400920e-05 9.99187366e-01 5.24131990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2592541539999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:447.59, Y:201.36, Z:52.41 [[ 3.03791427e-03 -9.99995386e-01 -4.82532262e-06 4.47589007e+02] [ 9.99199317e-01 3.03568837e-03 -3.98937325e-02 2.01361305e+02] [ 3.98935631e-02 1.16372280e-04 9.99203928e-01 5.24142095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.2892541539999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:447.59, Y:201.36, Z:52.41 [[ 7.86182890e-03 -9.99969095e-01 8.93863228e-06 4.47589891e+02] [ 9.99168971e-01 7.85518075e-03 -3.99957881e-02 2.01360545e+02] [ 3.99944818e-02 3.23371247e-04 9.99199848e-01 5.24141201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.319254154 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:447.59, Y:201.39, Z:52.41 [[ 8.53408429e-03 -9.99963584e-01 -9.52829585e-06 4.47590822e+02] [ 9.99155255e-01 8.52756875e-03 -4.02002037e-02 2.01388744e+02] [ 4.01988210e-02 3.33551680e-04 9.99191645e-01 5.24144947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3492541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.59, Y:201.39, Z:52.41 [[ 8.65421736e-03 -9.99962552e-01 5.16368421e-06 4.47592131e+02] [ 9.99171619e-01 8.64716686e-03 -3.97656028e-02 2.01387081e+02] [ 3.97640690e-02 3.49299577e-04 9.99209036e-01 5.24143698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.3792541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:447.60, Y:201.41, Z:52.41 [[ 6.56390245e-03 -9.99978457e-01 -1.27887754e-05 4.47595662e+02] [ 9.99152380e-01 6.55899977e-03 -4.06386660e-02 2.01414312e+02] [ 4.06378744e-02 2.53970304e-04 9.99173908e-01 5.24146949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4092541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:447.60, Y:201.44, Z:52.42 [[ 4.84833412e-03 -9.99988247e-01 -8.16743427e-06 4.47597797e+02] [ 9.99147460e-01 4.84459252e-03 -4.09985750e-02 2.01441943e+02] [ 4.09981327e-02 1.90614319e-04 9.99159205e-01 5.24153407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.439254154 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:447.60, Y:201.45, Z:52.42 [[ 1.45239584e-03 -9.99998945e-01 6.04113484e-06 4.47601420e+02] [ 9.99148668e-01 1.45091183e-03 -4.12290485e-02 2.01449664e+02] [ 4.12289962e-02 6.59168903e-05 9.99149721e-01 5.24152153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4692541539999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:447.60, Y:201.48, Z:52.42 [[-8.93001462e-04 -9.99999601e-01 -1.21123524e-05 4.47603225e+02] [ 9.99150277e-01 -8.91743912e-04 -4.12059269e-02 2.01477561e+02] [ 4.12058997e-02 -4.88990131e-05 9.99150675e-01 5.24162105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.4992541539999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:447.61, Y:201.48, Z:52.42 [[-2.45183818e-03 -9.99996994e-01 1.99073387e-06 4.47605123e+02] [ 9.99161172e-01 -2.44987025e-03 -4.08772685e-02 2.01482268e+02] [ 4.08771505e-02 -9.82353836e-05 9.99164175e-01 5.24161238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5292541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:447.61, Y:201.51, Z:52.42 [[-4.18565492e-03 -9.99991240e-01 -1.63267224e-05 4.47607648e+02] [ 9.99126291e-01 -4.18135558e-03 -4.15832927e-02 2.01510301e+02] [ 4.15828602e-02 -1.90365771e-04 9.99135041e-01 5.24161991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.5592541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:447.61, Y:201.54, Z:52.42 [[-9.00281888e-03 -9.99959474e-01 -4.95564581e-06 4.47611415e+02] [ 9.99151033e-01 -8.99534109e-03 -4.02031926e-02 2.01538038e+02] [ 4.02015187e-02 -3.66893499e-04 9.99191525e-01 5.24181177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.589254154 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:447.61, Y:201.55, Z:52.42 [[-1.06836166e-02 -9.99942929e-01 9.31709345e-06 4.47613274e+02] [ 9.99133404e-01 -1.06753423e-02 -4.02303092e-02 2.01545470e+02] [ 4.02281127e-02 -4.20496182e-04 9.99190433e-01 5.24184607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6192541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:447.62, Y:201.57, Z:52.42 [[-1.47158895e-02 -9.99891715e-01 -9.25139579e-06 4.47616982e+02] [ 9.99102948e-01 -1.47039134e-02 -3.97126355e-02 2.01572879e+02] [ 3.97081992e-02 -5.93649852e-04 9.99211142e-01 5.24192478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6492541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:447.62, Y:201.58, Z:52.42 [[-1.59861103e-02 -9.99872214e-01 5.10451184e-06 4.47618878e+02] [ 9.99094081e-01 -1.59738707e-02 -3.94442950e-02 2.01577968e+02] [ 3.94393361e-02 -6.25460962e-04 9.99221771e-01 5.24192791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.6792541539999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:447.62, Y:201.61, Z:52.42 [[-1.96827205e-02 -9.99806276e-01 -1.37290585e-05 4.47622403e+02] [ 9.99056103e-01 -1.96674203e-02 -3.87310617e-02 2.01605861e+02] [ 3.87232885e-02 -7.76048761e-04 9.99249671e-01 5.24199795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.709254154 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:447.62, Y:201.63, Z:52.42 [[-2.14445512e-02 -9.99770039e-01 -2.45739509e-06 4.47623947e+02] [ 9.99018929e-01 -2.14283450e-02 -3.87557147e-02 2.01634159e+02] [ 3.87467497e-02 -8.33553890e-04 9.99248715e-01 5.24210895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7392541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:447.63, Y:201.64, Z:52.42 [[-2.21004571e-02 -9.99755755e-01 1.26686306e-05 4.47625376e+02] [ 9.99000027e-01 -2.20842437e-02 -3.88745778e-02 2.01639247e+02] [ 3.88653627e-02 -8.46489978e-04 9.99244098e-01 5.24209574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7692541539999 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:447.63, Y:201.67, Z:52.42 [[-2.31789654e-02 -9.99731332e-01 -5.65840169e-06 4.47628374e+02] [ 9.98935052e-01 -2.31602777e-02 -3.99044204e-02 2.01665778e+02] [ 3.98935683e-02 -9.30595556e-04 9.99203501e-01 5.24203316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.7992541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:447.63, Y:201.67, Z:52.42 [[-2.37126711e-02 -9.99718815e-01 3.48040076e-06 4.47628991e+02] [ 9.98948973e-01 -2.36945475e-02 -3.92366890e-02 2.01669478e+02] [ 3.92257387e-02 -9.26929958e-04 9.99229945e-01 5.24211300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.829254154 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:447.63, Y:201.70, Z:52.42 [[-2.43259727e-02 -9.99704080e-01 -1.49273392e-05 4.47629908e+02] [ 9.98915659e-01 -2.43061950e-02 -3.97078838e-02 2.01696728e+02] [ 3.96957706e-02 -9.80844052e-04 9.99211331e-01 5.24220486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8592541539999 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:447.63, Y:201.72, Z:52.42 [[-2.52716719e-02 -9.99680620e-01 -8.92577307e-06 4.47631644e+02] [ 9.98824670e-01 -2.52496643e-02 -4.13730909e-02 2.01724945e+02] [ 4.13596518e-02 -1.05448246e-03 9.99143767e-01 5.24217023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.8892541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:447.63, Y:201.73, Z:52.42 [[-2.53023308e-02 -9.99679845e-01 4.96855707e-06 4.47632333e+02] [ 9.98819550e-01 -2.52807625e-02 -4.14775726e-02 2.01728335e+02] [ 4.14644189e-02 -1.04451657e-03 9.99139435e-01 5.24219176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9192541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.63, Y:201.76, Z:52.42 [[-2.56651934e-02 -9.99670595e-01 -1.33861335e-05 4.47634182e+02] [ 9.98786816e-01 -2.56419406e-02 -4.20402931e-02 2.01756562e+02] [ 4.20261016e-02 -1.09234215e-03 9.99115916e-01 5.24226110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.949254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:447.63, Y:201.78, Z:52.42 [[-2.55225396e-02 -9.99674247e-01 -6.59930013e-07 4.47634984e+02] [ 9.98768958e-01 -2.54993987e-02 -4.25482054e-02 2.01783021e+02] [ 4.25343284e-02 -1.08659738e-03 9.99094415e-01 5.24232044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 624.9792541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:447.64, Y:201.79, Z:52.42 [[-2.49583454e-02 -9.99688492e-01 7.36980000e-06 4.47635539e+02] [ 9.98814036e-01 -2.49368219e-02 -4.18171805e-02 2.01785577e+02] [ 4.18043379e-02 -1.03632658e-03 9.99125279e-01 5.24231261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0092541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:447.64, Y:201.81, Z:52.42 [[-2.47553938e-02 -9.99693538e-01 -1.04908708e-05 4.47635934e+02] [ 9.98812318e-01 -2.47331316e-02 -4.19788751e-02 2.01812126e+02] [ 4.19657507e-02 -1.04968199e-03 9.99118498e-01 5.24241586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0392541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.64, Y:201.84, Z:52.42 [[-2.37850020e-02 -9.99717097e-01 -5.47014480e-06 4.47636091e+02] [ 9.98850510e-01 -2.37641566e-02 -4.16283898e-02 2.01840051e+02] [ 4.16164830e-02 -9.95595190e-04 9.99133163e-01 5.24249943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.069254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.64, Y:201.85, Z:52.43 [[-2.24227388e-02 -9.99748579e-01 8.41425377e-06 4.47636057e+02] [ 9.98876494e-01 -2.24035308e-02 -4.17592031e-02 2.01847444e+02] [ 4.17488924e-02 -9.27950904e-04 9.99127704e-01 5.24251683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.0992541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.64, Y:201.88, Z:52.43 [[-2.14655336e-02 -9.99769589e-01 -9.82348828e-06 4.47636611e+02] [ 9.98890976e-01 -2.14462575e-02 -4.19151049e-02 2.01875249e+02] [ 4.19052366e-02 -9.09542688e-04 9.99121176e-01 5.24255269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1292541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.64, Y:201.88, Z:52.43 [[-2.08091170e-02 -9.99783467e-01 3.96474871e-06 4.47637280e+02] [ 9.98900629e-01 -2.07909085e-02 -4.20151402e-02 2.01882289e+02] [ 4.20061250e-02 -8.70337578e-04 9.99116974e-01 5.24254089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.1592541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.64, Y:201.91, Z:52.43 [[-2.12714916e-02 -9.99773736e-01 -1.42217088e-05 4.47637816e+02] [ 9.98898340e-01 -2.12522713e-02 -4.18383433e-02 2.01909885e+02] [ 4.18285746e-02 -9.04170012e-04 9.99124393e-01 5.24260463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.189254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.64, Y:201.94, Z:52.43 [[-2.30339900e-02 -9.99734682e-01 -1.45045468e-06 4.47638817e+02] [ 9.98877462e-01 -2.30141795e-02 -4.14024501e-02 2.01936520e+02] [ 4.13914320e-02 -9.55112448e-04 9.99142551e-01 5.24266507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2192541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.64, Y:201.94, Z:52.43 [[-2.56441844e-02 -9.99671134e-01 7.16833664e-06 4.47639692e+02] [ 9.98839708e-01 -2.56231486e-02 -4.07761269e-02 2.01938905e+02] [ 4.07629007e-02 -1.03851050e-03 9.99168308e-01 5.24259455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2492541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.64, Y:201.97, Z:52.43 [[-2.76067718e-02 -9.99618860e-01 -1.13667044e-05 4.47640372e+02] [ 9.98777886e-01 -2.75830800e-02 -4.10110683e-02 2.01966882e+02] [ 4.09951239e-02 -1.14353602e-03 9.99158692e-01 5.24267929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.2792541539999 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:447.64, Y:201.97, Z:52.43 [[-2.93832814e-02 -9.99568218e-01 2.97268229e-06 4.47640916e+02] [ 9.98742465e-01 -2.93591284e-02 -4.06390210e-02 2.01970818e+02] [ 4.06215611e-02 -1.19113885e-03 9.99173894e-01 5.24271241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3092541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:447.64, Y:202.00, Z:52.43 [[-3.20061795e-02 -9.99487671e-01 -1.51520959e-05 4.47641592e+02] [ 9.98664305e-01 -3.19791980e-02 -4.05824669e-02 2.01997675e+02] [ 4.05611907e-02 -1.31402158e-03 9.99176192e-01 5.24276862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.339254154 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:447.64, Y:202.02, Z:52.43 [[-3.71554347e-02 -9.99309498e-01 -9.02591317e-06 4.47642791e+02] [ 9.98489700e-01 -3.71245880e-02 -4.04979479e-02 2.02024242e+02] [ 4.04696489e-02 -1.51373114e-03 9.99179622e-01 5.24284330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3692541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:447.64, Y:202.03, Z:52.43 [[-4.10770359e-02 -9.99155982e-01 3.63173405e-06 4.47643954e+02] [ 9.98313109e-01 -4.10425332e-02 -4.10663739e-02 2.02027640e+02] [ 4.10318622e-02 -1.68325931e-03 9.99156421e-01 5.24279626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.3992541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:447.64, Y:202.06, Z:52.43 [[-4.13423690e-02 -9.99145039e-01 -1.48835809e-05 4.47643886e+02] [ 9.98302206e-01 -4.13068827e-02 -4.10663677e-02 2.02056025e+02] [ 4.10306428e-02 -1.71263924e-03 9.99156421e-01 5.24292143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4292541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:447.64, Y:202.08, Z:52.43 [[-4.51551701e-02 -9.98979985e-01 -3.91302942e-06 4.47643003e+02] [ 9.98133473e-01 -4.51167454e-02 -4.11588259e-02 2.02082608e+02] [ 4.11166667e-02 -1.86243951e-03 9.99152617e-01 5.24313088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.459254154 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:447.64, Y:202.09, Z:52.43 [[-4.55536512e-02 -9.98961894e-01 8.45683195e-06 4.47642342e+02] [ 9.98093099e-01 -4.55143863e-02 -4.16965999e-02 2.02085521e+02] [ 4.16536993e-02 -1.89099167e-03 9.99130319e-01 5.24315020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.4892541539999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:447.64, Y:202.11, Z:52.43 [[-4.62634263e-02 -9.98929274e-01 -9.69126181e-06 4.47641326e+02] [ 9.98070393e-01 -4.62232467e-02 -4.14596398e-02 2.02112376e+02] [ 4.14148000e-02 -1.92773755e-03 9.99140179e-01 5.24326671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5192541539999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:447.64, Y:202.14, Z:52.43 [[-4.60230120e-02 -9.98940380e-01 -3.17539397e-06 4.47640583e+02] [ 9.98089028e-01 -4.59836574e-02 -4.12770651e-02 2.02140196e+02] [ 4.12331811e-02 -1.90286419e-03 9.99147739e-01 5.24341313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.5492541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:447.64, Y:202.14, Z:52.43 [[-4.52125426e-02 -9.98977390e-01 1.02508415e-05 4.47639417e+02] [ 9.98147484e-01 -4.51754002e-02 -4.07527095e-02 2.02143240e+02] [ 4.07114985e-02 -1.83230176e-03 9.99169263e-01 5.24341963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.579254154 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:447.64, Y:202.17, Z:52.44 [[-4.47709213e-02 -9.98997280e-01 -8.06779999e-06 4.47638471e+02] [ 9.98172864e-01 -4.47336463e-02 -4.06181514e-02 2.02170581e+02] [ 4.05770619e-02 -1.82656512e-03 9.99174742e-01 5.24350309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6092541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:447.64, Y:202.20, Z:52.44 [[-4.24814703e-02 -9.99097255e-01 -1.08331420e-06 4.47636977e+02] [ 9.98210595e-01 -4.24437240e-02 -4.21205266e-02 2.02197285e+02] [ 4.20824565e-02 -1.79042327e-03 9.99112537e-01 5.24353213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6392541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:447.64, Y:202.20, Z:52.44 [[-4.20823839e-02 -9.99114144e-01 7.02341720e-06 4.47636899e+02] [ 9.98227455e-01 -4.20453329e-02 -4.21205256e-02 2.02199911e+02] [ 4.20835081e-02 -1.76552116e-03 9.99112537e-01 5.24354396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.6692541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:447.63, Y:202.23, Z:52.44 [[-4.22108861e-02 -9.99108723e-01 -1.13030784e-05 4.47634797e+02] [ 9.98240251e-01 -4.21737228e-02 -4.16866607e-02 2.02228038e+02] [ 4.16490297e-02 -1.77091408e-03 9.99130733e-01 5.24373732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.699254154 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:447.63, Y:202.23, Z:52.44 [[-4.09012213e-02 -9.99163195e-01 2.51441348e-06 4.47633188e+02] [ 9.98253956e-01 -4.08641085e-02 -4.26516504e-02 2.02229555e+02] [ 4.26160620e-02 -1.74199457e-03 9.99090004e-01 5.24367645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7292541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:447.63, Y:202.26, Z:52.44 [[-3.97533820e-02 -9.99209522e-01 -1.56495969e-05 4.47630763e+02] [ 9.98279998e-01 -3.97157256e-02 -4.31243086e-02 2.02257893e+02] [ 4.30895983e-02 -1.72995979e-03 9.99069714e-01 5.24376454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7592541539999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:447.63, Y:202.29, Z:52.44 [[-3.95732493e-02 -9.99216672e-01 -2.93134451e-06 4.47629221e+02] [ 9.98302235e-01 -3.95369082e-02 -4.27724222e-02 2.02286176e+02] [ 4.27388015e-02 -1.69557009e-03 9.99084841e-01 5.24395453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.7892541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:447.63, Y:202.29, Z:52.44 [[-3.87319885e-02 -9.99249635e-01 1.06836576e-05 4.47627245e+02] [ 9.98334976e-01 -3.86969927e-02 -4.27763840e-02 2.02289812e+02] [ 4.27446995e-02 -1.64614854e-03 9.99084672e-01 5.24399775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.819254154 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:447.62, Y:202.32, Z:52.44 [[-3.82608197e-02 -9.99267787e-01 -7.32228929e-06 4.47623734e+02] [ 9.98322076e-01 -3.82242908e-02 -4.34964049e-02 2.02317919e+02] [ 4.34642764e-02 -1.67151811e-03 9.99053584e-01 5.24416231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8492541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.62, Y:202.32, Z:52.44 [[-3.78011965e-02 -9.99285279e-01 6.14711597e-06 4.47622054e+02] [ 9.98320892e-01 -3.77649856e-02 -4.39226970e-02 2.02319078e+02] [ 4.38915367e-02 -1.65419371e-03 9.99034933e-01 5.24419920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.8792541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.62, Y:202.35, Z:52.44 [[-3.75115116e-02 -9.99296196e-01 -1.16027973e-05 4.47619636e+02] [ 9.98312492e-01 -3.74740704e-02 -4.43605955e-02 2.02347216e+02] [ 4.43289395e-02 -1.67561621e-03 9.99015584e-01 5.24425541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9092541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:447.62, Y:202.35, Z:52.44 [[-3.68073806e-02 -9.99322379e-01 1.66230002e-06 4.47618604e+02] [ 9.98349141e-01 -3.67716073e-02 -4.41230338e-02 2.02346731e+02] [ 4.40931962e-02 -1.62239374e-03 9.99026105e-01 5.24418817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.939254154 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.62, Y:202.37, Z:52.44 [[-3.64425477e-02 -9.99335750e-01 -1.60057314e-05 4.47617594e+02] [ 9.98365667e-01 -3.64064663e-02 -4.40518464e-02 2.02374949e+02] [ 4.40220022e-02 -1.62134109e-03 9.99029246e-01 5.24434315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9692541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:447.62, Y:202.40, Z:52.45 [[-3.56736206e-02 -9.99363494e-01 -2.79192297e-06 4.47616301e+02] [ 9.98399419e-01 -3.56390840e-02 -4.39141996e-02 2.02401822e+02] [ 4.38861485e-02 -1.56936595e-03 9.99035306e-01 5.24451161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 625.9992541539999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:447.61, Y:202.40, Z:52.45 [[-3.24654483e-02 -9.99472858e-01 4.53131009e-06 4.47612879e+02] [ 9.98485262e-01 -3.24335702e-02 -4.44437229e-02 2.02399070e+02] [ 4.44204417e-02 -1.43836094e-03 9.99011890e-01 5.24454480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0292541539999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:447.61, Y:202.43, Z:52.45 [[-3.05740572e-02 -9.99532504e-01 -1.30034497e-05 4.47611226e+02] [ 9.98504223e-01 -3.05420138e-02 -4.53486686e-02 2.02427188e+02] [ 4.53270711e-02 -1.39947679e-03 9.98971220e-01 5.24464875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.0592541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.61, Y:202.43, Z:52.45 [[-2.80890658e-02 -9.99605424e-01 -5.04070004e-07 4.47609666e+02] [ 9.98555593e-01 -2.80595422e-02 -4.58190977e-02 2.02429092e+02] [ 4.58010045e-02 -1.28751899e-03 9.98949754e-01 5.24461271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.089254154 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:447.61, Y:202.46, Z:52.45 [[-2.50390595e-02 -9.99686473e-01 -1.77005274e-05 4.47606848e+02] [ 9.98646187e-01 -2.50121960e-02 -4.56090300e-02 2.02455718e+02] [ 4.55942877e-02 -1.15968378e-03 9.98959367e-01 5.24482898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1192541539999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:447.61, Y:202.48, Z:52.45 [[-2.36940231e-02 -9.99719257e-01 -8.43982619e-06 4.47606034e+02] [ 9.98687544e-01 -2.36691874e-02 -4.54198203e-02 2.02483535e+02] [ 4.54068692e-02 -1.08460702e-03 9.98967987e-01 5.24495322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1492541539999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:447.61, Y:202.49, Z:52.45 [[-2.18534587e-02 -9.99761185e-01 4.10543138e-06 4.47605573e+02] [ 9.98734666e-01 -2.18312064e-02 -4.53041420e-02 2.02486360e+02] [ 4.52934123e-02 -9.85951960e-04 9.98973240e-01 5.24494258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.1792541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:447.60, Y:202.51, Z:52.45 [[-2.05955043e-02 -9.99787890e-01 -1.32419504e-05 4.47604084e+02] [ 9.98752861e-01 -2.05735803e-02 -4.54912073e-02 2.02513649e+02] [ 4.54812857e-02 -9.50139792e-04 9.98964739e-01 5.24504403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.209254154 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:447.60, Y:202.54, Z:52.45 [[-2.06105912e-02 -9.99787579e-01 -5.66552619e-06 4.47603277e+02] [ 9.98735090e-01 -2.05886342e-02 -4.58729554e-02 2.02541888e+02] [ 4.58630944e-02 -9.51127089e-04 9.98947282e-01 5.24519305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2392541539999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:447.60, Y:202.55, Z:52.45 [[-2.06870016e-02 -9.99786001e-01 6.52887866e-06 4.47602032e+02] [ 9.98749315e-01 -2.06658484e-02 -4.55272257e-02 2.02546577e+02] [ 4.55176178e-02 -9.35301077e-04 9.98963098e-01 5.24519343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2692541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:447.60, Y:202.57, Z:52.45 [[-2.15038205e-02 -9.99768766e-01 -1.05594095e-05 4.47601560e+02] [ 9.98725183e-01 -2.14808918e-02 -4.56790996e-02 2.02574838e+02] [ 4.56683102e-02 -9.92821105e-04 9.98956165e-01 5.24530727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.2992541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:447.58, Y:202.56, Z:52.45 [[-8.73687644e-03 -9.98449873e-01 5.49683326e-02 4.47581991e+02] [ 9.99901689e-01 -9.32603696e-03 -1.04708090e-02 2.02564637e+02] [ 1.09672146e-02 5.48714464e-02 9.98433195e-01 5.24498458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.329254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:447.64, Y:202.58, Z:52.44 [[-1.82225346e-02 -9.97136288e-01 -7.33972967e-02 4.47635900e+02] [ 9.99526700e-01 -1.63479995e-02 -2.60599018e-02 2.02583883e+02] [ 2.47853747e-02 -7.38374352e-02 9.96962245e-01 5.24356320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3592541539999 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:447.60, Y:202.61, Z:52.46 [[-2.05699524e-02 -9.99788409e-01 -1.23590113e-04 4.47599096e+02] [ 9.99416154e-01 -2.05589202e-02 -2.72888667e-02 2.02610764e+02] [ 2.72805517e-02 -6.84848644e-04 9.99627582e-01 5.24577225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.3892541539999 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:447.60, Y:202.64, Z:52.46 [[-2.23903435e-02 -9.99749297e-01 -1.22300238e-04 4.47599199e+02] [ 9.99360049e-01 -2.23782122e-02 -2.79053437e-02 2.02638891e+02] [ 2.78956109e-02 -7.47032201e-04 9.99610563e-01 5.24581672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4192541539999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:447.60, Y:202.67, Z:52.46 [[-2.64702201e-02 -9.99649596e-01 -1.15973560e-04 4.47599590e+02] [ 9.99251335e-01 -2.64563995e-02 -2.82281346e-02 2.02665820e+02] [ 2.82151751e-02 -8.63091669e-04 9.99601500e-01 5.24581541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.449254154 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:447.60, Y:202.69, Z:52.46 [[-2.89106205e-02 -9.99581995e-01 -1.10947492e-04 4.47600092e+02] [ 9.99185774e-01 -2.88960355e-02 -2.81568482e-02 2.02692747e+02] [ 2.81418725e-02 -9.24889108e-04 9.99603511e-01 5.24586517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.4792541539999 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:447.60, Y:202.72, Z:52.46 [[-3.14688031e-02 -9.99504729e-01 -1.02982886e-04 4.47600399e+02] [ 9.99114523e-01 -3.14536385e-02 -2.79434792e-02 2.02720473e+02] [ 2.79264005e-02 -9.82239543e-04 9.99609499e-01 5.24593932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5092541539999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:447.60, Y:202.75, Z:52.46 [[-3.50301256e-02 -9.99386253e-01 -9.09393980e-05 4.47600249e+02] [ 9.99031903e-01 -3.50152819e-02 -2.66305478e-02 2.02747808e+02] [ 2.66110191e-02 -1.02372280e-03 9.99645340e-01 5.24596775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5392541539999 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:447.60, Y:202.78, Z:52.46 [[-3.58642997e-02 -9.99356665e-01 -8.59073593e-05 4.47599951e+02] [ 9.99007001e-01 -3.58494771e-02 -2.64542403e-02 2.02775865e+02] [ 2.64341416e-02 -1.03458486e-03 9.99650022e-01 5.24607909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.569254154 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:447.60, Y:202.80, Z:52.46 [[-3.63300558e-02 -9.99339843e-01 -7.57236785e-05 4.47599034e+02] [ 9.99014343e-01 -3.63162886e-02 -2.55239117e-02 2.02803924e+02] [ 2.55043119e-02 -1.00293418e-03 9.99674209e-01 5.24610988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.5992541539999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:447.60, Y:202.83, Z:52.46 [[-3.57474727e-02 -9.99360853e-01 -6.87470506e-05 4.47598596e+02] [ 9.99030996e-01 -3.57339061e-02 -2.56935121e-02 2.02831196e+02] [ 2.56746336e-02 -9.87158557e-04 9.99669865e-01 5.24616590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6292541539999 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:447.60, Y:202.86, Z:52.46 [[-3.40789755e-02 -9.99419141e-01 -6.42299504e-05 4.47599152e+02] [ 9.99092410e-01 -3.40661910e-02 -2.55704924e-02 2.02859522e+02] [ 2.55534515e-02 -9.35587840e-04 9.99673019e-01 5.24601199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.6592541539999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:447.60, Y:202.89, Z:52.46 [[-3.45861183e-02 -9.99401720e-01 -5.60613778e-05 4.47597512e+02] [ 9.99084874e-01 -3.45737408e-02 -2.51807867e-02 2.02887134e+02] [ 2.51637833e-02 -9.26915743e-04 9.99682912e-01 5.24624880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.689254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:447.60, Y:202.92, Z:52.46 [[-3.35390141e-02 -9.99437408e-01 -4.88632960e-05 4.47595824e+02] [ 9.99115984e-01 -3.35269879e-02 -2.53612247e-02 2.02915135e+02] [ 2.53453185e-02 -8.99410573e-04 9.99678351e-01 5.24632005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7192541539999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:447.60, Y:202.94, Z:52.46 [[-3.32461002e-02 -9.99447195e-01 -4.24504025e-05 4.47595039e+02] [ 9.99106186e-01 -3.32336472e-02 -2.61219199e-02 2.02942431e+02] [ 2.61060688e-02 -9.10864427e-04 9.99658764e-01 5.24640324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7492541539999 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:447.59, Y:202.97, Z:52.46 [[-3.39346627e-02 -9.99424053e-01 -4.06650791e-05 4.47593630e+02] [ 9.99043848e-01 -3.39206308e-02 -2.75822596e-02 2.02970827e+02] [ 2.75649943e-02 -9.76620872e-04 9.99619536e-01 5.24640610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.7792541539999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:447.59, Y:203.00, Z:52.46 [[-3.48122445e-02 -9.99393870e-01 -3.33647716e-05 4.47592866e+02] [ 9.98997685e-01 -3.47975041e-02 -2.81559720e-02 2.02998509e+02] [ 2.81377448e-02 -1.01350391e-03 9.99603542e-01 5.24643542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8092541539999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:447.59, Y:203.03, Z:52.46 [[-3.54386407e-02 -9.99371854e-01 -2.59284721e-05 4.47592427e+02] [ 9.98954813e-01 -3.54231026e-02 -2.88874727e-02 2.03025403e+02] [ 2.88684086e-02 -1.04963414e-03 9.99582670e-01 5.24649101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.839254154 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:447.59, Y:203.05, Z:52.47 [[-3.59438358e-02 -9.99353811e-01 -2.00512171e-05 4.47591101e+02] [ 9.98918783e-01 -3.59275971e-02 -2.95037636e-02 2.03053206e+02] [ 2.94839782e-02 -1.08050797e-03 9.99564669e-01 5.24657447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8692541539999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:447.59, Y:203.08, Z:52.47 [[-3.56172890e-02 -9.99365503e-01 -1.13368669e-05 4.47590105e+02] [ 9.98923250e-01 -3.56011897e-02 -2.97471908e-02 2.03081250e+02] [ 2.97279127e-02 -1.07083895e-03 9.99557454e-01 5.24665098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.8992541539999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:447.59, Y:203.11, Z:52.47 [[-3.46232285e-02 -9.99400436e-01 -3.17611171e-06 4.47588819e+02] [ 9.98953243e-01 -3.46076408e-02 -2.99120302e-02 2.03108483e+02] [ 2.98939861e-02 -1.03882384e-03 9.99552535e-01 5.24674307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9292541539999 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:447.59, Y:203.11, Z:52.47 [[-3.10316922e-02 -9.99518401e-01 -1.10691438e-06 4.47586058e+02] [ 9.99066629e-01 -3.10176328e-02 -3.00629043e-02 2.03107149e+02] [ 3.00483917e-02 -9.34008674e-04 9.99548009e-01 5.24682225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.959254154 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:447.58, Y:203.13, Z:52.47 [[-2.94946570e-02 -9.99564938e-01 -1.04393510e-05 4.47584942e+02] [ 9.99106756e-01 -2.94808210e-02 -3.02749438e-02 2.03134338e+02] [ 3.02614646e-02 -9.03379109e-04 9.99541609e-01 5.24687952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 626.9892541539999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:447.58, Y:203.16, Z:52.47 [[-2.72146889e-02 -9.99629612e-01 -5.65204605e-06 4.47584494e+02] [ 9.99170844e-01 -2.72020278e-02 -3.02931317e-02 2.03162498e+02] [ 3.02817577e-02 -8.30065515e-04 9.99541058e-01 5.24686545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0192541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:447.58, Y:203.16, Z:52.47 [[-2.36061163e-02 -9.99721337e-01 -1.08584848e-07 4.47581517e+02] [ 9.99283782e-01 -2.35957813e-02 -2.95831388e-02 2.03162818e+02] [ 2.95748925e-02 -6.98451522e-04 9.99562323e-01 5.24698315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.0492541539999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:447.58, Y:203.19, Z:52.47 [[-2.22962693e-02 -9.99751407e-01 -8.64046283e-06 4.47580302e+02] [ 9.99327424e-01 -2.22865620e-02 -2.91205858e-02 2.03190623e+02] [ 2.91131541e-02 -6.57915076e-04 9.99575906e-01 5.24707547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.079254154 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.58, Y:203.22, Z:52.47 [[-2.11903801e-02 -9.99775459e-01 -1.04716342e-07 4.47579280e+02] [ 9.99361630e-01 -2.11816059e-02 -2.87693031e-02 2.03218242e+02] [ 2.87628410e-02 -6.09737116e-04 9.99586078e-01 5.24712556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1092541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.58, Y:203.22, Z:52.47 [[-1.82550042e-02 -9.99833364e-01 5.82049736e-06 4.47578046e+02] [ 9.99427824e-01 -1.82477656e-02 -2.84788435e-02 2.03220224e+02] [ 2.84742041e-02 -5.14064240e-04 9.99594395e-01 5.24712594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1392541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.58, Y:203.25, Z:52.47 [[-1.79466814e-02 -9.99838945e-01 -3.13700823e-06 4.47577479e+02] [ 9.99446909e-01 -1.79395566e-02 -2.80008610e-02 2.03248253e+02] [ 2.79962950e-02 -5.05657803e-04 9.99607899e-01 5.24720727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.1692541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:447.58, Y:203.25, Z:52.47 [[-1.62456480e-02 -9.99868031e-01 2.96942556e-06 4.47578121e+02] [ 9.99491812e-01 -1.62396168e-02 -2.74297894e-02 2.03253540e+02] [ 2.74262178e-02 -4.42646788e-04 9.99623733e-01 5.24715747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.199254154 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:447.58, Y:203.28, Z:52.47 [[-1.75518842e-02 -9.99845954e-01 -6.23840452e-06 4.47577382e+02] [ 9.99506273e-01 -1.75457586e-02 -2.60644834e-02 2.03281882e+02] [ 2.60603588e-02 -4.63716118e-04 9.99660264e-01 5.24733441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2292541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:447.58, Y:203.29, Z:52.47 [[-1.69310735e-02 -9.99856659e-01 6.98940934e-07 4.47578087e+02] [ 9.99515387e-01 -1.69253128e-02 -2.61251863e-02 2.03291338e+02] [ 2.61214533e-02 -4.41628846e-04 9.99658679e-01 5.24732337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2592541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.56, Y:203.33, Z:52.48 [[-1.27727657e-02 -9.98843355e-01 4.63552411e-02 4.47563173e+02] [ 9.99779040e-01 -1.35312890e-02 -1.60865229e-02 2.03328892e+02] [ 1.66951627e-02 4.61395290e-02 9.98795482e-01 5.24766596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.2892541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:447.60, Y:203.34, Z:52.46 [[-2.49642781e-02 -9.98992932e-01 -3.72814599e-02 4.47598529e+02] [ 9.98990972e-01 -2.35367784e-02 -3.82499290e-02 2.03338402e+02] [ 3.73339233e-02 -3.81987237e-02 9.98572499e-01 5.24598355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.319254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:447.58, Y:203.35, Z:52.47 [[-2.66125584e-02 -9.99645804e-01 1.94271303e-04 4.47582240e+02] [ 9.98901044e-01 -2.66002308e-02 -3.85892693e-02 2.03345824e+02] [ 3.85807688e-02 -8.32901373e-04 9.99255138e-01 5.24711528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3492541539999 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:447.58, Y:203.35, Z:52.47 [[-2.76586690e-02 -9.99617410e-01 1.77904410e-04 4.47582934e+02] [ 9.98882518e-01 -2.76451574e-02 -3.83335469e-02 2.03345985e+02] [ 3.83237991e-02 -8.82549279e-04 9.99264984e-01 5.24708828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.3792541539999 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:447.58, Y:203.35, Z:52.47 [[-2.84780944e-02 -9.99594404e-01 1.61632773e-04 4.47583922e+02] [ 9.98870246e-01 -2.84636166e-02 -3.80533025e-02 2.03351787e+02] [ 3.80424689e-02 -9.22235375e-04 9.99275698e-01 5.24708793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4092541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.59, Y:203.35, Z:52.47 [[-3.09069605e-02 -9.99522255e-01 1.46271997e-04 4.47585625e+02] [ 9.98801212e-01 -3.08902216e-02 -3.79727862e-02 2.03354235e+02] [ 3.79591633e-02 -1.02752676e-03 9.99278763e-01 5.24707031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.439254154 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.57, Y:203.35, Z:52.47 [[-1.89147715e-02 -9.98779888e-01 4.56176168e-02 4.47570555e+02] [ 9.99753866e-01 -1.94229195e-02 -1.07218538e-02 2.03349671e+02] [ 1.15947992e-02 4.54035874e-02 9.98901434e-01 5.24713756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4692541539999 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:447.61, Y:203.37, Z:52.46 [[-2.85409907e-02 -9.97850401e-01 -5.89914312e-02 4.47614923e+02] [ 9.99352361e-01 -2.71905429e-02 -2.35697332e-02 2.03367180e+02] [ 2.19150587e-02 -5.96259296e-02 9.97980200e-01 5.24552675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.4992541539999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:447.59, Y:203.39, Z:52.47 [[-3.00316699e-02 -9.99548945e-01 -6.70961298e-05 4.47586160e+02] [ 9.99258955e-01 -3.00213401e-02 -2.40886017e-02 2.03394949e+02] [ 2.40757221e-02 -7.90467343e-04 9.99709825e-01 5.24741255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5292541539999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:447.59, Y:203.42, Z:52.47 [[-3.03083125e-02 -9.99540596e-01 -6.00052880e-05 4.47586159e+02] [ 9.99250602e-01 -3.02980732e-02 -2.40886194e-02 2.03423337e+02] [ 2.40757350e-02 -7.90045726e-04 9.99709825e-01 5.24747481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.5592541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:447.59, Y:203.45, Z:52.47 [[-3.37320985e-02 -9.99430909e-01 -5.24180458e-05 4.47587008e+02] [ 9.99155040e-01 -3.37215552e-02 -2.34960062e-02 2.03450092e+02] [ 2.34808672e-02 -8.44943348e-04 9.99723929e-01 5.24743708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.589254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.59, Y:203.48, Z:52.47 [[-3.58419401e-02 -9.99357470e-01 -4.99437505e-05 4.47587313e+02] [ 9.99074586e-01 -3.58306053e-02 -2.37936694e-02 2.03476760e+02] [ 2.37765917e-02 -9.02708804e-04 9.99716889e-01 5.24745777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6192541539999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:447.59, Y:203.50, Z:52.48 [[-3.85124456e-02 -9.99258120e-01 -4.61732377e-05 4.47587378e+02] [ 9.98971574e-01 -3.85002952e-02 -2.39482939e-02 2.03504386e+02] [ 2.39287494e-02 -9.68433117e-04 9.99713197e-01 5.24751582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6492541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:447.59, Y:203.53, Z:52.48 [[-4.13061008e-02 -9.99146538e-01 -3.87484825e-05 4.47587532e+02] [ 9.98869527e-01 -4.12937356e-02 -2.35477181e-02 2.03532641e+02] [ 2.35260210e-02 -1.01136910e-03 9.99722713e-01 5.24751323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.6792541539999 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:447.59, Y:203.56, Z:52.48 [[-4.40502416e-02 -9.99029317e-01 -3.13972627e-05 4.47587627e+02] [ 9.98763210e-01 -4.40377828e-02 -2.30808323e-02 2.03559543e+02] [ 2.30570454e-02 -1.04807467e-03 9.99733602e-01 5.24754115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.709254154 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:447.59, Y:203.59, Z:52.48 [[-4.66385982e-02 -9.98911828e-01 -2.67182648e-05 4.47587828e+02] [ 9.98643842e-01 -4.66254666e-02 -2.31633957e-02 2.03587493e+02] [ 2.31369442e-02 -1.10699034e-03 9.99731692e-01 5.24758847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7392541539999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:447.59, Y:203.61, Z:52.48 [[-5.07189588e-02 -9.98712965e-01 -2.01016838e-05 4.47588327e+02] [ 9.98445545e-01 -5.07049123e-02 -2.31409986e-02 2.03614221e+02] [ 2.31101961e-02 -1.19375779e-03 9.99732211e-01 5.24757020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7692541539999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:447.59, Y:203.64, Z:52.48 [[-5.26986230e-02 -9.98610462e-01 -1.62905753e-05 4.47588246e+02] [ 9.98338785e-01 -5.26839056e-02 -2.33254581e-02 2.03642308e+02] [ 2.32921882e-02 -1.24548304e-03 9.99727924e-01 5.24761483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.7992541539999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:447.59, Y:203.67, Z:52.48 [[-5.54741060e-02 -9.98460126e-01 -9.95155607e-06 4.47587381e+02] [ 9.98159939e-01 -5.54571833e-02 -2.45201388e-02 2.03669717e+02] [ 2.44818289e-02 -1.37016602e-03 9.99699336e-01 5.24770339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.829254154 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:447.59, Y:203.70, Z:52.48 [[-5.60997409e-02 -9.98425170e-01 -2.91698616e-06 4.47586777e+02] [ 9.98115033e-01 -5.60822421e-02 -2.49231268e-02 2.03697545e+02] [ 2.48837135e-02 -1.40109245e-03 9.99689371e-01 5.24775655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8592541539999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:447.59, Y:203.70, Z:52.48 [[-5.38546041e-02 -9.98548788e-01 2.01913327e-06 4.47586105e+02] [ 9.98219039e-01 -5.38368717e-02 -2.56971187e-02 2.03696327e+02] [ 2.56599354e-02 -1.38189261e-03 9.99669775e-01 5.24777316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.8892541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:447.59, Y:203.72, Z:52.48 [[-5.19093071e-02 -9.98651803e-01 -6.18628367e-06 4.47585683e+02] [ 9.98317435e-01 -5.18917666e-02 -2.58755450e-02 2.03723477e+02] [ 2.58403387e-02 -1.34935749e-03 9.99665172e-01 5.24782841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9192541539999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:447.58, Y:203.75, Z:52.48 [[-4.94764130e-02 -9.98775292e-01 -1.50377629e-06 4.47584634e+02] [ 9.98435186e-01 -4.94595258e-02 -2.60947326e-02 2.03751076e+02] [ 2.60626998e-02 -1.29257519e-03 9.99659475e-01 5.24788569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.949254154 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.58, Y:204.22, Z:52.49 [[-4.28874915e-02 -9.99063999e-01 5.63812027e-03 4.47578255e+02] [ 9.98720569e-01 -4.30227265e-02 -2.65757526e-02 2.04224698e+02] [ 2.67934450e-02 4.49113932e-03 9.99630902e-01 5.24918044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 627.9792541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.58, Y:203.79, Z:52.48 [[-3.15048835e-02 -9.99482128e-01 -6.55120493e-03 4.47579894e+02] [ 9.99128702e-01 -3.13128860e-02 -2.75923974e-02 2.03788010e+02] [ 2.73729709e-02 -7.41479214e-03 9.99597790e-01 5.24780908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0092541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.57, Y:203.81, Z:52.48 [[-2.26664278e-02 -9.99743068e-01 -1.77432657e-04 4.47572993e+02] [ 9.99334409e-01 -2.26520877e-02 -2.85940889e-02 2.03814638e+02] [ 2.85827229e-02 -8.25440409e-04 9.99591090e-01 5.24810368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0392541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.57, Y:203.84, Z:52.48 [[-1.80003556e-02 -9.99832047e-01 3.44447219e-03 4.47569518e+02] [ 9.99386202e-01 -1.80956669e-02 -2.99960868e-02 2.03842468e+02] [ 3.00533789e-02 2.90241775e-03 9.99544081e-01 5.24827430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.069254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.57, Y:203.87, Z:52.48 [[-1.41013817e-02 -9.99893562e-01 -3.74380612e-03 4.47571445e+02] [ 9.99467297e-01 -1.39849609e-02 -2.94880334e-02 2.03870035e+02] [ 2.94325378e-02 -4.15763379e-03 9.99558122e-01 5.24807651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.0992541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.57, Y:203.90, Z:52.48 [[-9.76658136e-03 -9.99952291e-01 -1.72796300e-04 4.47568420e+02] [ 9.99478026e-01 -9.75662725e-03 -3.07974564e-02 2.03898160e+02] [ 3.07943012e-02 -4.73491968e-04 9.99525631e-01 5.24823676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1292541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:447.56, Y:203.92, Z:52.48 [[-2.67011000e-03 -9.99996422e-01 -1.62027393e-04 4.47563915e+02] [ 9.99541029e-01 -2.66400456e-03 -3.01767353e-02 2.03924718e+02] [ 3.01761957e-02 -2.42528230e-04 9.99544566e-01 5.24835288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.1592541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:447.56, Y:203.95, Z:52.48 [[ 2.75024320e-03 -9.99996206e-01 -1.56624021e-04 4.47560652e+02] [ 9.99542835e-01 2.75371209e-03 -3.01087664e-02 2.03952818e+02] [ 3.01090834e-02 -7.37459880e-05 9.99546616e-01 5.24846698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.189254154 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:447.56, Y:203.98, Z:52.49 [[ 4.49554718e-03 -9.99989884e-01 -1.48789777e-04 4.47559812e+02] [ 9.99532133e-01 4.49799080e-03 -3.02536347e-02 2.03980513e+02] [ 3.02539979e-02 -1.27135207e-05 9.99542243e-01 5.24850097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2192541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:447.56, Y:204.01, Z:52.49 [[ 5.68609918e-03 -9.99983824e-01 -1.41133753e-04 4.47559388e+02] [ 9.99520188e-01 5.68776008e-03 -3.04473939e-02 2.04008614e+02] [ 3.04477041e-02 3.20608659e-05 9.99536361e-01 5.24854946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2492541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.56, Y:204.04, Z:52.49 [[ 6.51626335e-03 -9.99978760e-01 -1.33367886e-04 4.47558683e+02] [ 9.99517190e-01 6.51730730e-03 -3.03794575e-02 2.04036028e+02] [ 3.03796814e-02 6.46570506e-05 9.99538429e-01 5.24860264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.2792541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.56, Y:204.06, Z:52.49 [[ 6.10890736e-03 -9.99981333e-01 -1.25974648e-04 4.47558637e+02] [ 9.99531426e-01 6.10993733e-03 -2.99933017e-02 2.04063810e+02] [ 2.99935115e-02 5.73106823e-05 9.99550092e-01 5.24867951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3092541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.56, Y:204.09, Z:52.49 [[ 5.26732326e-03 -9.99986121e-01 -1.15842551e-04 4.47558873e+02] [ 9.99546680e-01 5.26844247e-03 -2.96425162e-02 2.04091737e+02] [ 2.96427150e-02 4.03466775e-05 9.99560557e-01 5.24877511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.339254154 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:447.56, Y:204.12, Z:52.49 [[ 2.96901932e-03 -9.99995587e-01 -1.05343406e-04 4.47559433e+02] [ 9.99580468e-01 2.97082186e-03 -2.88107979e-02 2.04118247e+02] [ 2.88109837e-02 -1.97593951e-05 9.99584877e-01 5.24885568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3692541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.56, Y:204.15, Z:52.49 [[ 1.25868701e-03 -9.99999203e-01 -1.00071585e-04 4.47560378e+02] [ 9.99588188e-01 1.26103855e-03 -2.86681612e-02 2.04145745e+02] [ 2.86682645e-02 -6.39461325e-05 9.99588979e-01 5.24891261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.3992541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.56, Y:204.17, Z:52.49 [[-6.34477296e-04 -9.99999795e-01 -9.03688328e-05 4.47561392e+02] [ 9.99601700e-01 -6.31675025e-04 -2.82142285e-02 2.04173773e+02] [ 2.82141656e-02 -1.08234126e-04 9.99601895e-01 5.24896475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4292541539999 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:447.56, Y:204.20, Z:52.49 [[-4.70715379e-03 -9.99988918e-01 -7.81734566e-05 4.47564073e+02] [ 9.99631716e-01 -4.70338303e-03 -2.67266052e-02 2.04201446e+02] [ 2.67259413e-02 -2.03950907e-04 9.99642777e-01 5.24900446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.459254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.57, Y:204.23, Z:52.49 [[-6.65937179e-03 -9.99977824e-01 -7.02150503e-05 4.47565947e+02] [ 9.99629856e-01 -6.65520224e-03 -2.63791485e-02 2.04228402e+02] [ 2.63780962e-02 -2.45857618e-04 9.99652007e-01 5.24904849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.4892541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.57, Y:204.26, Z:52.49 [[-1.02378985e-02 -9.99947589e-01 -6.55723970e-05 4.47569348e+02] [ 9.99613523e-01 -1.02327832e-02 -2.58475428e-02 2.04255700e+02] [ 2.58455171e-02 -3.30171573e-04 9.99665894e-01 5.24911237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5192541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.57, Y:204.28, Z:52.49 [[-1.17029244e-02 -9.99931517e-01 -6.10504868e-05 4.47570931e+02] [ 9.99605203e-01 -1.16975456e-02 -2.55461467e-02 2.04283636e+02] [ 2.55436830e-02 -3.59991007e-04 9.99673642e-01 5.24916292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.5492541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.57, Y:204.31, Z:52.49 [[-1.27846766e-02 -9.99918271e-01 -5.47487655e-05 4.47572625e+02] [ 9.99576271e-01 -1.27788719e-02 -2.61530080e-02 2.04311432e+02] [ 2.61501709e-02 -3.89083315e-04 9.99657950e-01 5.24922275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.579254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:447.58, Y:204.34, Z:52.49 [[-1.33948245e-02 -9.99910284e-01 -4.86751414e-05 4.47575586e+02] [ 9.99554417e-01 -1.33887586e-02 -2.66778848e-02 2.04338534e+02] [ 2.66748397e-02 -4.05999038e-04 9.99644081e-01 5.24922101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6092541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.58, Y:204.37, Z:52.49 [[-1.32977017e-02 -9.99911581e-01 -4.44071656e-05 4.47576884e+02] [ 9.99558057e-01 -1.32918194e-02 -2.65898266e-02 2.04366510e+02] [ 2.65868853e-02 -3.97971123e-04 9.99646427e-01 5.24921505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6392541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.58, Y:204.39, Z:52.49 [[-1.28543094e-02 -9.99917379e-01 -3.77868165e-05 4.47578021e+02] [ 9.99555595e-01 -1.28486421e-02 -2.68984136e-02 2.04393559e+02] [ 2.68957057e-02 -3.83530556e-04 9.99638172e-01 5.24924176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.6692541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.58, Y:204.42, Z:52.49 [[-1.22309738e-02 -9.99925198e-01 -3.39621032e-05 4.47579308e+02] [ 9.99553102e-01 -1.22254959e-02 -2.72788136e-02 2.04421673e+02] [ 2.72763579e-02 -3.67593381e-04 9.99627863e-01 5.24926509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.699254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.58, Y:204.45, Z:52.49 [[-1.01684555e-02 -9.99948300e-01 -2.61091883e-05 4.47582201e+02] [ 9.99570352e-01 -1.01638944e-02 -2.74919420e-02 2.04449237e+02] [ 2.74902553e-02 -3.05648560e-04 9.99622025e-01 5.24924564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7292541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.58, Y:204.48, Z:52.49 [[-9.19653295e-03 -9.99944539e-01 5.13261826e-03 4.47580917e+02] [ 9.99530867e-01 -9.34244421e-03 -2.91678650e-02 2.04477143e+02] [ 2.92141985e-02 4.86196715e-03 9.99561350e-01 5.24945467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7592541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:447.59, Y:204.51, Z:52.49 [[-6.83565254e-03 -9.99963470e-01 -5.13145628e-03 4.47588085e+02] [ 9.99570911e-01 -6.68662423e-03 -2.85181154e-02 2.04505234e+02] [ 2.84827615e-02 -5.32419436e-03 9.99580105e-01 5.24911930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.7892541539999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:447.59, Y:204.53, Z:52.49 [[-6.12977727e-03 -9.99981213e-01 -2.19585861e-06 4.47586703e+02] [ 9.99577008e-01 -6.12723710e-03 -2.84299607e-02 2.04532550e+02] [ 2.84294132e-02 -1.76464257e-04 9.99595787e-01 5.24931974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.819254154 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:447.59, Y:204.53, Z:52.49 [[-5.28387307e-03 -9.99986040e-01 -4.02330944e-07 4.47587941e+02] [ 9.99577959e-01 -5.28170530e-03 -2.85658358e-02 2.04531585e+02] [ 2.85654349e-02 -1.51340412e-04 9.99591913e-01 5.24930881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8492541539999 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:447.59, Y:204.56, Z:52.49 [[-6.26657628e-03 -9.99980365e-01 -7.18226666e-06 4.47591189e+02] [ 9.99585097e-01 -6.26389733e-03 -2.81139994e-02 2.04559266e+02] [ 2.81134024e-02 -1.83357809e-04 9.99604723e-01 5.24928162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.8792541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:447.59, Y:204.59, Z:52.49 [[-7.53407218e-03 -9.99971619e-01 1.27741390e-07 4.47592823e+02] [ 9.99583428e-01 -7.53115101e-03 -2.78612889e-02 2.04585896e+02] [ 2.78604991e-02 -2.09781273e-04 9.99611799e-01 5.24929711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9092541539999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:447.60, Y:204.59, Z:52.49 [[-1.01188728e-02 -9.99948803e-01 1.43621354e-06 4.47596698e+02] [ 9.99566117e-01 -1.01150400e-02 -2.76633905e-02 2.04591511e+02] [ 2.76619888e-02 -2.78486739e-04 9.99617295e-01 5.24924428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.939254154 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:447.60, Y:204.62, Z:52.49 [[-1.20617634e-02 -9.99927254e-01 -5.58422936e-06 4.47598342e+02] [ 9.99536698e-01 -1.20568962e-02 -2.79467337e-02 2.04619560e+02] [ 2.79446334e-02 -3.42668533e-04 9.99609414e-01 5.24931711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9692541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:447.60, Y:204.62, Z:52.49 [[-1.34060814e-02 -9.99910134e-01 -1.29454557e-06 4.47599398e+02] [ 9.99526465e-01 -1.34009016e-02 -2.76994807e-02 2.04624768e+02] [ 2.76969742e-02 -3.72635426e-04 9.99616296e-01 5.24930984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 628.9992541539999 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:447.60, Y:204.65, Z:52.50 [[-1.66277997e-02 -9.99831950e-01 7.71931846e-03 4.47597829e+02] [ 9.99411943e-01 -1.68513755e-02 -2.98629981e-02 2.04652070e+02] [ 2.99880608e-02 7.21822311e-03 9.99524194e-01 5.24966153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0292541539999 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:447.61, Y:204.68, Z:52.49 [[-1.85302854e-02 -9.99798111e-01 -7.76960039e-03 4.47606601e+02] [ 9.99460290e-01 -1.83120840e-02 -2.72726238e-02 2.04679635e+02] [ 2.71248401e-02 -8.27077657e-03 9.99597838e-01 5.24916207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.0592541539999 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:447.61, Y:204.69, Z:52.49 [[-2.05746978e-02 -9.99788319e-01 6.66531520e-06 4.47605184e+02] [ 9.99415270e-01 -2.05672029e-02 -2.73149917e-02 2.04686877e+02] [ 2.73093467e-02 -5.55336281e-04 9.99626876e-01 5.24935911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.089254154 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:447.61, Y:204.71, Z:52.49 [[-2.20785969e-02 -9.99756238e-01 -4.50938811e-07 4.47605945e+02] [ 9.99382885e-01 -2.20703394e-02 -2.73267058e-02 2.04714810e+02] [ 2.73200347e-02 -6.03785982e-04 9.99626556e-01 5.24938262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1192541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:447.61, Y:204.72, Z:52.49 [[-2.27752825e-02 -9.99740610e-01 3.80932539e-06 4.47606357e+02] [ 9.99372451e-01 -2.27669988e-02 -2.71361164e-02 2.04716044e+02] [ 2.71291643e-02 -6.14225783e-04 9.99631748e-01 5.24938968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1492541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:447.61, Y:204.74, Z:52.49 [[-2.43762782e-02 -9.99702854e-01 -3.33180136e-06 4.47607316e+02] [ 9.99331954e-01 -2.43671435e-02 -2.72376324e-02 2.04743518e+02] [ 2.72294577e-02 -6.67281680e-04 9.99628987e-01 5.24947964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.1792541539999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:447.61, Y:204.75, Z:52.50 [[-2.44767564e-02 -9.99700399e-01 9.01522966e-07 4.47607664e+02] [ 9.99317113e-01 -2.44673970e-02 -2.76885398e-02 2.04747102e+02] [ 2.76802663e-02 -6.76824736e-04 9.99616599e-01 5.24950030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.209254154 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:447.61, Y:204.77, Z:52.50 [[-2.55637144e-02 -9.99673195e-01 -6.10063228e-06 4.47608877e+02] [ 9.99255265e-01 -2.55528507e-02 -2.89130891e-02 2.04774976e+02] [ 2.89034843e-02 -7.45222042e-04 9.99581929e-01 5.24952441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2392541539999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:447.61, Y:204.78, Z:52.50 [[-2.52487476e-02 -9.99681200e-01 -2.76849917e-06 4.47609561e+02] [ 9.99240575e-01 -2.52375366e-02 -2.96873853e-02 2.04775636e+02] [ 2.96778511e-02 -7.52335694e-04 9.99559232e-01 5.24950100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2692541539999 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:447.61, Y:204.80, Z:52.50 [[-2.60709322e-02 -9.99660095e-01 -1.01739111e-05 4.47609468e+02] [ 9.99223776e-01 -2.60592524e-02 -2.95425127e-02 2.04802657e+02] [ 2.95322060e-02 -7.80366859e-04 9.99563525e-01 5.24957075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.2992541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:447.61, Y:204.83, Z:52.50 [[-2.70953903e-02 -9.99632853e-01 -4.43094310e-06 4.47610231e+02] [ 9.99204008e-01 -2.70836365e-02 -2.92886936e-02 2.04830720e+02] [ 2.92778203e-02 -7.98016000e-04 9.99570994e-01 5.24967850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.329254154 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:447.61, Y:204.84, Z:52.50 [[-2.73459220e-02 -9.99626030e-01 -6.79799215e-07 4.47610518e+02] [ 9.99221424e-01 -2.73348341e-02 -2.84491361e-02 2.04835925e+02] [ 2.84384784e-02 -7.78647124e-04 9.99595241e-01 5.24968511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3592541539999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:447.61, Y:204.86, Z:52.50 [[-2.81947386e-02 -9.99602449e-01 -7.49889063e-06 4.47611062e+02] [ 9.99200715e-01 -2.81831946e-02 -2.83485220e-02 2.04864088e+02] [ 2.83370407e-02 -8.06772064e-04 9.99598100e-01 5.24974662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.3892541539999 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:447.61, Y:204.89, Z:52.50 [[-2.91621326e-02 -9.99574695e-01 7.49058804e-07 4.47611704e+02] [ 9.99165378e-01 -2.91502124e-02 -2.86149065e-02 2.04892377e+02] [ 2.86027582e-02 -8.33723264e-04 9.99590510e-01 5.24980281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4192541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:447.61, Y:204.90, Z:52.50 [[-3.23902711e-02 -9.99475298e-01 4.50823704e-06 4.47611375e+02] [ 9.99075223e-01 -3.23774334e-02 -2.82913568e-02 2.04897820e+02] [ 2.82766582e-02 -9.11860648e-04 9.99599719e-01 5.24981698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.449254154 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:447.61, Y:204.93, Z:52.50 [[-3.26658609e-02 -9.99466328e-01 -2.46329373e-06 4.47611312e+02] [ 9.99066264e-01 -3.26527157e-02 -2.82913555e-02 2.04926217e+02] [ 2.82761768e-02 -9.26622476e-04 9.99599720e-01 5.24987904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.4792541539999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:447.61, Y:204.93, Z:52.50 [[-3.47534344e-02 -9.99395917e-01 1.20007223e-06 4.47611119e+02] [ 9.99010866e-01 -3.47400778e-02 -2.77563761e-02 2.04932126e+02] [ 2.77396506e-02 -9.63430509e-04 9.99614718e-01 5.24987027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5092541539999 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:447.61, Y:204.96, Z:52.50 [[-4.08334926e-02 -9.99165965e-01 -6.40043242e-06 4.47611912e+02] [ 9.98789415e-01 -4.08179281e-02 -2.74517940e-02 2.04959255e+02] [ 2.74286370e-02 -1.12734531e-03 9.99623128e-01 5.24986698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5392541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:447.61, Y:204.99, Z:52.50 [[-4.46141777e-02 -9.99004292e-01 -6.90334956e-07 4.47612112e+02] [ 9.98644001e-01 -4.45980690e-02 -2.68546556e-02 2.04987223e+02] [ 2.68278854e-02 -1.19878778e-03 9.99639349e-01 5.24989756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.569254154 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:447.61, Y:205.00, Z:52.50 [[-5.11013829e-02 -9.98693471e-01 3.67305772e-06 4.47611987e+02] [ 9.98316196e-01 -5.10821795e-02 -2.74842345e-02 2.04998417e+02] [ 2.74485132e-02 -1.40081552e-03 9.99622237e-01 5.24991666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.5992541539999 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:447.61, Y:205.03, Z:52.50 [[-5.51091067e-02 -9.98480339e-01 -3.53519268e-06 4.47611128e+02] [ 9.98110836e-01 -5.50886164e-02 -2.72030157e-02 2.05026709e+02] [ 2.71614816e-02 -1.50266241e-03 9.99629930e-01 5.24997730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6292541539999 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:447.61, Y:205.03, Z:52.50 [[-5.86550733e-02 -9.98278309e-01 6.09909533e-07 4.47610962e+02] [ 9.97896638e-01 -5.86326646e-02 -2.76497931e-02 2.05029573e+02] [ 2.76022245e-02 -1.62119201e-03 9.99617671e-01 5.24997946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.6592541539999 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:447.61, Y:205.06, Z:52.50 [[-6.01677318e-02 -9.98188281e-01 -7.21973203e-06 4.47610232e+02] [ 9.97821796e-01 -6.01454453e-02 -2.70959135e-02 2.05056569e+02] [ 2.70463891e-02 -1.63750366e-03 9.99632838e-01 5.24997482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.689254154 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:447.61, Y:205.08, Z:52.50 [[-6.06088731e-02 -9.98161592e-01 -2.24434846e-06 4.47609600e+02] [ 9.97784998e-01 -6.05859443e-02 -2.74670869e-02 2.05083372e+02] [ 2.74164552e-02 -1.66698856e-03 9.99622708e-01 5.25000001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7192541539999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:447.61, Y:205.08, Z:52.50 [[-5.97248868e-02 -9.98214876e-01 1.21225958e-06 4.47608476e+02] [ 9.97841550e-01 -5.97025833e-02 -2.73467057e-02 2.05081858e+02] [ 2.72979608e-02 -1.63206926e-03 9.99626009e-01 5.24998121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7492541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.60, Y:205.11, Z:52.50 [[-5.67376705e-02 -9.98384935e-01 2.89100481e-03 4.47604680e+02] [ 9.97984947e-01 -5.67968500e-02 -2.82871645e-02 2.05108985e+02] [ 2.84056788e-02 1.28023147e-03 9.99595657e-01 5.25013529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.7792541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:447.61, Y:204.71, Z:52.49 [[-5.26321558e-02 -9.98611912e-01 -2.02641031e-03 4.47605285e+02] [ 9.98199366e-01 -5.25517281e-02 -2.89195577e-02 2.04706163e+02] [ 2.87729235e-02 -3.54486016e-03 9.99579688e-01 5.24904607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8092541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:447.60, Y:204.73, Z:52.49 [[-5.03440393e-02 -9.98731932e-01 -7.21598667e-05 4.47603086e+02] [ 9.98309131e-01 -5.03206243e-02 -2.90983482e-02 2.04733660e+02] [ 2.90578184e-02 -1.53696624e-03 9.99576551e-01 5.24914164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.839254154 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.60, Y:204.76, Z:52.49 [[-4.42413663e-02 -9.99020869e-01 -6.40686029e-05 4.47599836e+02] [ 9.98590316e-01 -4.42204165e-02 -2.93587474e-02 2.04761371e+02] [ 2.93271683e-02 -1.36284939e-03 9.99568937e-01 5.24921449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8692541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:447.60, Y:204.79, Z:52.49 [[-4.07065135e-02 -9.99171145e-01 -5.63852818e-05 4.47598076e+02] [ 9.98738774e-01 -4.06872385e-02 -2.94178563e-02 2.04788802e+02] [ 2.93911790e-02 -1.25381253e-03 9.99567200e-01 5.24926756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.8992541539999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:447.60, Y:204.82, Z:52.49 [[-3.25061007e-02 -9.99471536e-01 -5.17028070e-05 4.47595838e+02] [ 9.99020517e-01 -3.24898781e-02 -3.00402044e-02 2.04816590e+02] [ 3.00226494e-02 -1.02814208e-03 9.99548690e-01 5.24936294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9292541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:447.58, Y:204.86, Z:52.49 [[-2.29636568e-02 -9.98543391e-01 4.88238378e-02 4.47577194e+02] [ 9.99571449e-01 -2.38193194e-02 -1.70164474e-02 2.04855780e+02] [ 1.81546116e-02 4.84121544e-02 9.98662442e-01 5.24930185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.959254154 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:447.61, Y:204.87, Z:52.48 [[-2.30997341e-02 -9.98488922e-01 -4.98625580e-02 4.47614352e+02] [ 9.99345227e-01 -2.16727101e-02 -2.89726031e-02 2.04872991e+02] [ 2.78481665e-02 -5.04991687e-02 9.98335772e-01 5.24801271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 629.9892541539999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:447.59, Y:204.90, Z:52.50 [[-1.87842157e-02 -9.99823561e-01 -2.21978730e-05 4.47588665e+02] [ 9.99387897e-01 -1.87753753e-02 -2.95180854e-02 2.04900701e+02] [ 2.95124605e-02 -5.76658370e-04 9.99564246e-01 5.24957930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0192541539999 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:447.59, Y:204.93, Z:52.50 [[-1.63929068e-02 -9.99865627e-01 -1.35391793e-05 4.47586127e+02] [ 9.99463131e-01 -1.63859236e-02 -2.83716519e-02 2.04928657e+02] [ 2.83676176e-02 -4.78625755e-04 9.99597444e-01 5.24960175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.0492541539999 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:447.58, Y:204.96, Z:52.49 [[-7.54154404e-03 -9.99950166e-01 6.54149305e-03 4.47584917e+02] [ 9.99651618e-01 -7.70443730e-03 -2.52444887e-02 2.04961706e+02] [ 2.52936292e-02 6.34883169e-03 9.99659905e-01 5.24948833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.079254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:447.59, Y:204.97, Z:52.49 [[-1.11400072e-02 -9.99923812e-01 -5.31694825e-03 4.47586682e+02] [ 9.99492004e-01 -1.09760966e-02 -2.99208741e-02 2.04967661e+02] [ 2.98602351e-02 -5.64756602e-03 9.99538129e-01 5.24939098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1092541539999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:447.58, Y:204.97, Z:52.50 [[-7.03853334e-03 -9.99975226e-01 8.36838308e-05 4.47582728e+02] [ 9.99516063e-01 -7.03783713e-03 -3.03003071e-02 2.04970812e+02] [ 3.03001454e-02 -1.29626389e-04 9.99540837e-01 5.24950501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1392541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.58, Y:204.97, Z:52.49 [[-5.45619065e-03 -9.99985112e-01 7.21801528e-05 4.47582191e+02] [ 9.99520196e-01 -5.45585471e-03 -3.04895255e-02 2.04972502e+02] [ 3.04894654e-02 -9.42111434e-05 9.99535084e-01 5.24947046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.1692541539999 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:447.58, Y:204.97, Z:52.49 [[-4.54871261e-03 -9.99989653e-01 6.12213645e-05 4.47581932e+02] [ 9.99506067e-01 -4.54841663e-03 -3.10955694e-02 2.04972956e+02] [ 3.10955261e-02 -8.02536834e-05 9.99516414e-01 5.24940960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.199254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.58, Y:204.96, Z:52.49 [[ 6.47894630e-03 -9.99698369e-01 2.36895527e-02 4.47575180e+02] [ 9.99826135e-01 6.06190977e-03 -1.76338715e-02 2.04964385e+02] [ 1.74849486e-02 2.37996828e-02 9.99563831e-01 5.24940632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2292541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.60, Y:204.98, Z:52.49 [[-1.30244894e-03 -9.99537008e-01 -3.03985851e-02 4.47596720e+02] [ 9.99686582e-01 -5.41449173e-04 -2.50288702e-02 2.04984195e+02] [ 2.50008228e-02 -3.04216565e-02 9.99224440e-01 5.24856346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2592541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.59, Y:205.02, Z:52.50 [[-1.14471867e-03 -9.99937871e-01 -1.10879807e-02 4.47589827e+02] [ 9.99649816e-01 -8.51110775e-04 -2.64484507e-02 2.05015534e+02] [ 2.64373704e-02 -1.11143739e-02 9.99588684e-01 5.24958358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.2892541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:447.58, Y:205.04, Z:52.50 [[-5.90062800e-03 -9.99924880e-01 1.07432040e-02 4.47579428e+02] [ 9.99728614e-01 -6.14090840e-03 -2.24719218e-02 2.05039340e+02] [ 2.25362067e-02 1.06076900e-02 9.99689750e-01 5.24995169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.319254154 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:447.59, Y:205.07, Z:52.50 [[-8.01317302e-03 -9.99967892e-01 -6.45177976e-05 4.47586250e+02] [ 9.99738715e-01 -8.00995522e-03 -2.14089282e-02 2.05067675e+02] [ 2.14077240e-02 -2.36054386e-04 9.99770801e-01 5.24968669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3492541539999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:447.59, Y:205.10, Z:52.50 [[-9.62884179e-03 -9.99953640e-01 -5.67137102e-05 4.47587869e+02] [ 9.99737541e-01 -9.62558181e-03 -2.07893414e-02 2.05095603e+02] [ 2.07878317e-02 -2.56876104e-04 9.99783877e-01 5.24974365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.3792541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:447.59, Y:205.12, Z:52.50 [[-1.25925258e-02 -9.99920710e-01 -4.81446748e-05 4.47591154e+02] [ 9.99729574e-01 -1.25891773e-02 -1.95522726e-02 2.05122595e+02] [ 1.95501162e-02 -2.94344151e-04 9.99808835e-01 5.24977433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4092541539999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:447.59, Y:205.15, Z:52.50 [[-1.41785297e-02 -9.99899479e-01 -4.42928303e-05 4.47593333e+02] [ 9.99719931e-01 -1.41751443e-02 -1.89506149e-02 2.05149640e+02] [ 1.89480821e-02 -3.12972281e-04 9.99820420e-01 5.24978984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.439254154 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:447.60, Y:205.18, Z:52.50 [[-1.62530541e-02 -9.99867910e-01 -4.03550597e-05 4.47595608e+02] [ 9.99696584e-01 -1.62495221e-02 -1.85119811e-02 2.05177980e+02] [ 1.85088800e-02 -3.41219046e-04 9.99828638e-01 5.24976353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4692541539999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:447.60, Y:205.20, Z:52.50 [[-2.04252471e-02 -9.99791382e-01 -3.59514046e-05 4.47600159e+02] [ 9.99611168e-01 -2.04208827e-02 -1.89868655e-02 2.05204515e+02] [ 1.89821703e-02 -4.23748846e-04 9.99819733e-01 5.24968453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.4992541539999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:447.60, Y:205.23, Z:52.50 [[-2.28530166e-02 -9.99738835e-01 -3.28537059e-05 4.47602681e+02] [ 9.99549913e-01 -2.28480592e-02 -1.94406148e-02 2.05232785e+02] [ 1.94347869e-02 -4.77115612e-04 9.99811013e-01 5.24965578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5292541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:447.60, Y:205.26, Z:52.50 [[-2.49456674e-02 -9.99688808e-01 -2.77545256e-05 4.47604860e+02] [ 9.99492261e-01 -2.49402123e-02 -1.98294215e-02 2.05260989e+02] [ 1.98225586e-02 -5.22398587e-04 9.99803377e-01 5.24962750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.5592541539999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:447.63, Y:205.29, Z:52.50 [[-2.99971239e-02 -9.97947311e-01 -5.65803634e-02 4.47632413e+02] [ 9.99109184e-01 -2.82548986e-02 -3.13448317e-02 2.05285468e+02] [ 2.96818181e-02 -5.74702156e-02 9.97905889e-01 5.24974681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.589254154 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:447.58, Y:205.32, Z:52.51 [[-2.63782004e-02 -9.98063915e-01 5.63259397e-02 4.47580467e+02] [ 9.99391028e-01 -2.76169182e-02 -2.13278757e-02 2.05316164e+02] [ 2.28421320e-02 5.57290478e-02 9.98184607e-01 5.25138243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6192541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:447.61, Y:205.34, Z:52.50 [[-2.61928883e-02 -9.99656907e-01 -1.38612215e-05 4.47609145e+02] [ 9.99416465e-01 -2.61862841e-02 -2.19318767e-02 2.05343865e+02] [ 2.19239890e-02 -5.88312329e-04 9.99759467e-01 5.24969918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6492541539999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:447.63, Y:205.37, Z:52.50 [[-2.53411265e-02 -9.98968604e-01 -3.76769867e-02 4.47627594e+02] [ 9.99295520e-01 -2.42697678e-02 -2.86259122e-02 2.05370919e+02] [ 2.76819759e-02 -3.83758568e-02 9.98879874e-01 5.24970894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.6792541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:447.59, Y:205.40, Z:52.51 [[-2.25025752e-02 -9.99044285e-01 3.74720009e-02 4.47592010e+02] [ 9.99461330e-01 -2.33759645e-02 -2.30350673e-02 2.05399592e+02] [ 2.38889965e-02 3.69334675e-02 9.99032149e-01 5.25086145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.709254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:447.61, Y:205.40, Z:52.50 [[-2.13612787e-02 -9.99771822e-01 -3.09081096e-07 4.47611035e+02] [ 9.99513247e-01 -2.13557469e-02 -2.27420429e-02 2.05403513e+02] [ 2.27368471e-02 -4.86108047e-04 9.99741366e-01 5.24970577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7392541539999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:447.61, Y:205.43, Z:52.50 [[-2.05549059e-02 -9.99788726e-01 -6.18452468e-06 4.47612208e+02] [ 9.99531687e-01 -2.05494811e-02 -2.26743574e-02 2.05431083e+02] [ 2.26694398e-02 -4.72250910e-04 9.99742904e-01 5.24972258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7692541539999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:447.61, Y:205.46, Z:52.50 [[-2.05970263e-02 -9.99787859e-01 1.74539351e-07 4.47613301e+02] [ 9.99521101e-01 -2.05915347e-02 -2.30988664e-02 2.05458189e+02] [ 2.30939698e-02 -4.75593503e-04 9.99733186e-01 5.24974161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.7992541539999 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:447.62, Y:205.46, Z:52.50 [[-2.13983543e-02 -9.99771029e-01 1.69685754e-06 4.47615246e+02] [ 9.99481980e-01 -2.13922085e-02 -2.40446479e-02 2.05461290e+02] [ 2.40391787e-02 -5.12819916e-04 9.99710886e-01 5.24964859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.829254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.62, Y:205.49, Z:52.50 [[-2.27767397e-02 -9.99740576e-01 -3.75176131e-06 4.47615894e+02] [ 9.99431888e-01 -2.27696137e-02 -2.48484481e-02 2.05488984e+02] [ 2.48419164e-02 -5.69716264e-04 9.99691230e-01 5.24969876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8592541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.62, Y:205.49, Z:52.50 [[-2.35786749e-02 -9.99721984e-01 -1.20230273e-06 4.47616269e+02] [ 9.99399253e-01 -2.35710327e-02 -2.54074643e-02 2.05489357e+02] [ 2.54003723e-02 -6.00275921e-04 9.99677178e-01 5.24970357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.8892541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:447.62, Y:205.52, Z:52.50 [[-2.54819656e-02 -9.99675282e-01 -6.37235168e-06 4.47616772e+02] [ 9.99329862e-01 -2.54729932e-02 -2.62859952e-02 2.05517409e+02] [ 2.62772973e-02 -6.76186907e-04 9.99654464e-01 5.24977956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9192541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:447.62, Y:205.55, Z:52.50 [[-2.95519307e-02 -9.99563246e-01 1.69577595e-06 4.47618777e+02] [ 9.99175723e-01 -2.95405209e-02 -2.78429987e-02 2.05545496e+02] [ 2.78308883e-02 -8.21119992e-04 9.99612309e-01 5.24982181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.949254154 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:447.62, Y:206.02, Z:52.51 [[-3.24043215e-02 -9.99468635e-01 -3.52249720e-03 4.47621553e+02] [ 9.99050360e-01 -3.22876531e-02 -2.92555158e-02 2.06016695e+02] [ 2.91262373e-02 -4.46715724e-03 9.99565759e-01 5.25053044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 630.9792541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:447.62, Y:206.02, Z:52.51 [[-3.35757880e-02 -9.99432216e-01 2.81282471e-03 4.47619503e+02] [ 9.98999681e-01 -3.36441611e-02 -2.94568664e-02 2.06016975e+02] [ 2.95347764e-02 1.82097348e-03 9.99562095e-01 5.25073626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0092541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:448.22, Y:205.68, Z:53.52 [[-3.02013043e-02 9.99543337e-01 9.99441155e-04 4.48215561e+02] [ 9.99537196e-01 3.01974437e-02 3.67535735e-03 2.05682039e+02] [ 3.64349838e-03 1.10997919e-03 -9.99992746e-01 5.35187715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0392541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.66, Y:205.66, Z:52.50 [[-1.06953432e-01 -9.94261707e-01 2.14985601e-03 4.47661392e+02] [ 9.93758967e-01 -1.06967764e-01 -3.16387989e-02 2.05664252e+02] [ 3.16872115e-02 -1.24743945e-03 9.99497056e-01 5.25010396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.069254154 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:447.66, Y:205.67, Z:52.50 [[-1.08607003e-01 -9.94082306e-01 2.21068224e-03 4.47660965e+02] [ 9.93544232e-01 -1.08621005e-01 -3.27312773e-02 2.05672692e+02] [ 3.27777101e-02 -1.35843533e-03 9.99461743e-01 5.25013397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.0992541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:447.66, Y:205.67, Z:52.50 [[-1.08388801e-01 -9.94106039e-01 2.24757283e-03 4.47660835e+02] [ 9.93543095e-01 -1.08403117e-01 -3.34795923e-02 2.05672215e+02] [ 3.35259088e-02 -1.39575242e-03 9.99436874e-01 5.25017469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1292541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:447.65, Y:205.68, Z:52.50 [[-1.03503679e-01 -9.94460229e-01 1.83259697e-02 4.47654111e+02] [ 9.94331030e-01 -1.03906119e-01 -2.25681651e-02 2.05678009e+02] [ 2.43473230e-02 1.58861923e-02 9.99577329e-01 5.25015604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.1592541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:447.67, Y:205.67, Z:52.50 [[-1.06246073e-01 -9.94230817e-01 -1.47259764e-02 4.47667507e+02] [ 9.93787550e-01 -1.05681861e-01 -3.48948527e-02 2.05669912e+02] [ 3.31372694e-02 -1.83419330e-02 9.99282490e-01 5.24992858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.189254154 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:447.66, Y:205.68, Z:52.50 [[-1.04183866e-01 -9.94555581e-01 2.21753946e-03 4.47657644e+02] [ 9.93989482e-01 -1.04199430e-01 -3.35766024e-02 2.05675373e+02] [ 3.36248637e-02 -1.29392936e-03 9.99433687e-01 5.25047650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2192541539999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:447.66, Y:205.67, Z:52.51 [[-1.02205815e-01 -9.94760835e-01 2.20298320e-03 4.47657201e+02] [ 9.94195345e-01 -1.02222036e-01 -3.35599686e-02 2.05673619e+02] [ 3.36093358e-02 -1.23982829e-03 9.99434278e-01 5.25054414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2492541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:447.66, Y:205.67, Z:52.51 [[-9.86556747e-02 -9.95119466e-01 2.07502784e-03 4.47655613e+02] [ 9.94611841e-01 -9.86716568e-02 -3.17992134e-02 2.05673761e+02] [ 3.18487627e-02 -1.07332560e-03 9.99492123e-01 5.25061938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.2792541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:447.65, Y:205.68, Z:52.51 [[-9.68902399e-02 -9.95293010e-01 2.02621009e-03 4.47654885e+02] [ 9.94803107e-01 -9.69061481e-02 -3.12406359e-02 2.05675944e+02] [ 3.12899387e-02 -1.01123262e-03 9.99509838e-01 5.25064340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3092541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:447.65, Y:205.68, Z:52.51 [[-9.53152990e-02 -9.95445152e-01 1.98568407e-03 4.47654189e+02] [ 9.94968885e-01 -9.53311428e-02 -3.08040803e-02 2.05679474e+02] [ 3.08530699e-02 -9.60406252e-04 9.99523469e-01 5.25067824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.339254154 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:447.65, Y:205.68, Z:52.51 [[-9.49190898e-02 -9.95483035e-01 1.97342101e-03 4.47653950e+02] [ 9.95006761e-01 -9.49347440e-02 -3.08048669e-02 2.05682096e+02] [ 3.08530686e-02 -9.60402679e-04 9.99523469e-01 5.25068262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3692541539999 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:447.65, Y:205.69, Z:52.51 [[-9.38095935e-02 -9.95588243e-01 1.95199130e-03 4.47653320e+02] [ 9.95116431e-01 -9.38252525e-02 -3.06612381e-02 2.05685648e+02] [ 3.07091142e-02 -9.33859662e-04 9.99527928e-01 5.25071994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.3992541539999 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:447.65, Y:205.69, Z:52.51 [[-9.28915104e-02 -9.95674331e-01 1.94800389e-03 4.47651938e+02] [ 9.95198495e-01 -9.29073618e-02 -3.07924860e-02 2.05687091e+02] [ 3.08402718e-02 -9.21709999e-04 9.99523901e-01 5.25075939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4292541539999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:447.65, Y:205.69, Z:52.51 [[-9.27165970e-02 -9.95690587e-01 1.97180170e-03 4.47651440e+02] [ 9.95196781e-01 -9.27327358e-02 -3.13688750e-02 2.05688768e+02] [ 3.14165442e-02 -9.46084645e-04 9.99505931e-01 5.25072917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.459254154 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:447.65, Y:205.67, Z:52.51 [[-8.53481556e-02 -9.96131527e-01 2.09206253e-02 4.47645134e+02] [ 9.96163689e-01 -8.57206161e-02 -1.76034260e-02 2.05673540e+02] [ 1.93286565e-02 1.93379474e-02 9.99626154e-01 5.25054577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.4892541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:447.66, Y:205.69, Z:52.50 [[-9.37850723e-02 -9.95429864e-01 -1.79929672e-02 4.47661603e+02] [ 9.95086994e-01 -9.31463238e-02 -3.35505126e-02 2.05692265e+02] [ 3.17212034e-02 -2.10511049e-02 9.99275045e-01 5.25011991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5192541539999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:447.65, Y:205.69, Z:52.51 [[-9.41636701e-02 -9.95554678e-01 2.02157598e-03 4.47650834e+02] [ 9.95021870e-01 -9.41794399e-02 -3.25839202e-02 2.05694645e+02] [ 3.26294651e-02 -1.05670920e-03 9.99466959e-01 5.25070434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.5492541539999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:447.65, Y:205.70, Z:52.51 [[-9.51048617e-02 -9.95465181e-01 2.03452197e-03 4.47649941e+02] [ 9.94918457e-01 -9.51200872e-02 -3.30065531e-02 2.05700533e+02] [ 3.30503983e-02 -1.11490021e-03 9.99453065e-01 5.25073143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.579254154 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:447.65, Y:205.70, Z:52.51 [[-9.72731144e-02 -9.95255634e-01 2.04048269e-03 4.47648914e+02] [ 9.94698442e-01 -9.72869702e-02 -3.33205010e-02 2.05702305e+02] [ 3.33609287e-02 -1.21152395e-03 9.99442635e-01 5.25073160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6092541539999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:447.65, Y:205.71, Z:52.51 [[-9.74317942e-02 -9.95240062e-01 2.06525871e-03 4.47648026e+02] [ 9.94661658e-01 -9.74456187e-02 -3.39490343e-02 2.05705649e+02] [ 3.39886894e-02 -1.25348167e-03 9.99421432e-01 5.25076196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6392541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:447.65, Y:205.71, Z:52.51 [[-9.70514160e-02 -9.95277183e-01 2.08618044e-03 4.47647234e+02] [ 9.94679110e-01 -9.70654575e-02 -3.45219532e-02 2.05708504e+02] [ 3.45614084e-02 -1.27532434e-03 9.99401762e-01 5.25073993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.6692541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:447.65, Y:205.71, Z:52.51 [[-9.55373859e-02 -9.95423547e-01 2.13775459e-03 4.47646090e+02] [ 9.94787031e-01 -9.55527814e-02 -3.56150054e-02 2.05713035e+02] [ 3.56562834e-02 -1.27595398e-03 9.99363298e-01 5.25068096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.699254154 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:447.64, Y:205.71, Z:52.51 [[-9.41428067e-02 -9.95556429e-01 2.12799857e-03 4.47644961e+02] [ 9.94917238e-01 -9.41586519e-02 -3.56908740e-02 2.05713678e+02] [ 3.57326486e-02 -1.24285660e-03 9.99360612e-01 5.25072527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7292541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.64, Y:205.71, Z:52.51 [[-9.15742360e-02 -9.95796109e-01 2.06622560e-03 4.47643182e+02] [ 9.95185478e-01 -9.15904690e-02 -3.48862621e-02 2.05711610e+02] [ 3.49288506e-02 -1.13840509e-03 9.99389153e-01 5.25083619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7592541539999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:447.64, Y:205.72, Z:52.51 [[-9.03852688e-02 -9.95904778e-01 2.04340496e-03 4.47642142e+02] [ 9.95299475e-01 -9.04016024e-02 -3.47347921e-02 2.05718992e+02] [ 3.47772726e-02 -1.10571364e-03 9.99394476e-01 5.25090356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.7892541539999 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:447.64, Y:205.72, Z:52.51 [[-8.91628425e-02 -9.96015068e-01 1.99304166e-03 4.47641546e+02] [ 9.95431442e-01 -8.91788479e-02 -3.41083092e-02 2.05718969e+02] [ 3.41501271e-02 -1.05725747e-03 9.99416155e-01 5.25093316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.819254154 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:447.64, Y:205.72, Z:52.51 [[-8.76426870e-02 -9.96149945e-01 2.01174874e-03 4.47640366e+02] [ 9.95547064e-01 -8.76596563e-02 -3.46673936e-02 2.05719125e+02] [ 3.47102714e-02 -1.03555298e-03 9.99396880e-01 5.25105944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8492541539999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:447.64, Y:205.72, Z:52.51 [[-8.72638470e-02 -9.96183183e-01 2.02184300e-03 4.47639853e+02] [ 9.95565740e-01 -8.72809664e-02 -3.50840388e-02 2.05723616e+02] [ 3.51265978e-02 -1.04869057e-03 9.99382320e-01 5.25106969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.8792541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:447.64, Y:205.72, Z:52.51 [[-8.68305103e-02 -9.96221044e-01 2.02334761e-03 4.47639927e+02] [ 9.95594017e-01 -8.68476672e-02 -3.53558480e-02 2.05724193e+02] [ 3.53979628e-02 -1.05553354e-03 9.99372738e-01 5.25109346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9092541539999 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:447.64, Y:205.73, Z:52.51 [[-8.69230024e-02 -9.96212969e-01 2.02802531e-03 4.47639655e+02] [ 9.95574136e-01 -8.69399122e-02 -3.56874162e-02 2.05727702e+02] [ 3.57285832e-02 -1.08300782e-03 9.99360944e-01 5.25112458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.939254154 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:447.64, Y:205.73, Z:52.51 [[-8.64521434e-02 -9.96253958e-01 2.01942156e-03 4.47639324e+02] [ 9.95611555e-01 -8.64689395e-02 -3.57876344e-02 2.05733627e+02] [ 3.58281897e-02 -1.08335827e-03 9.99357377e-01 5.25114210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9692541539999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:447.64, Y:205.73, Z:52.51 [[-8.57195558e-02 -9.96317386e-01 1.95545416e-03 4.47639212e+02] [ 9.95706569e-01 -8.57354965e-02 -3.48977546e-02 2.05729744e+02] [ 3.49368915e-02 -1.04436147e-03 9.99388975e-01 5.25118319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 631.9992541539999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:447.64, Y:205.74, Z:52.51 [[-8.49862315e-02 -9.96380259e-01 1.92895770e-03 4.47638824e+02] [ 9.95777384e-01 -8.50019311e-02 -3.46709424e-02 2.05740301e+02] [ 3.47094077e-02 -1.02574029e-03 9.99396921e-01 5.25125502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0292541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:447.64, Y:205.74, Z:52.51 [[-8.48013246e-02 -9.96396155e-01 1.85395445e-03 4.47638934e+02] [ 9.95831338e-01 -8.48156970e-02 -3.35595693e-02 2.05735450e+02] [ 3.35958702e-02 -9.99669990e-04 9.99435000e-01 5.25121734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.0592541539999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:447.64, Y:205.74, Z:52.51 [[-8.48024419e-02 -9.96396130e-01 1.81589540e-03 4.47638348e+02] [ 9.95846430e-01 -8.48159953e-02 -3.31079360e-02 2.05741311e+02] [ 3.31426363e-02 -9.99280864e-04 9.99450132e-01 5.25119654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.089254154 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:447.64, Y:205.75, Z:52.51 [[-8.46757934e-02 -9.96406885e-01 1.82469370e-03 4.47637597e+02] [ 9.95843642e-01 -8.46893009e-02 -3.35136309e-02 2.05746591e+02] [ 3.35477446e-02 -1.02068367e-03 9.99436595e-01 5.25118482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1192541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:447.64, Y:205.75, Z:52.51 [[-8.44976673e-02 -9.96421976e-01 1.84102963e-03 4.47636917e+02] [ 9.95840037e-01 -8.45112593e-02 -3.40656448e-02 2.05746344e+02] [ 3.40993449e-02 -1.04509651e-03 9.99417902e-01 5.25112837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1492541539999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:447.64, Y:205.75, Z:52.51 [[-8.38603823e-02 -9.96475808e-01 1.84404285e-03 4.47636389e+02] [ 9.95883225e-01 -8.38741279e-02 -3.43763572e-02 2.05747148e+02] [ 3.44098758e-02 -1.04636312e-03 9.99407257e-01 5.25114282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.1792541539999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:447.64, Y:205.75, Z:52.51 [[-8.27046631e-02 -9.96572438e-01 1.82071592e-03 4.47635363e+02] [ 9.95986128e-01 -8.27184789e-02 -3.41948317e-02 2.05750508e+02] [ 3.42282336e-02 -1.01466423e-03 9.99413527e-01 5.25116109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.209254154 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:447.63, Y:205.75, Z:52.51 [[-7.99049412e-02 -9.96800912e-01 1.77290109e-03 4.47633228e+02] [ 9.96236725e-01 -7.99193784e-02 -3.35451982e-02 2.05748936e+02] [ 3.35795733e-02 -9.14197915e-04 9.99435629e-01 5.25123613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2392541539999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:447.63, Y:205.75, Z:52.51 [[-7.60289424e-02 -9.97104133e-01 1.71699379e-03 4.47631094e+02] [ 9.96567092e-01 -7.60443545e-02 -3.27305323e-02 2.05754190e+02] [ 3.27663167e-02 -7.77368245e-04 9.99462738e-01 5.25130587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2692541539999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:447.63, Y:205.75, Z:52.51 [[-7.45133616e-02 -9.97218558e-01 1.70504869e-03 4.47630329e+02] [ 9.96680877e-01 -7.45291833e-02 -3.27510429e-02 2.05752164e+02] [ 3.27870236e-02 -7.41000874e-04 9.99462086e-01 5.25131584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.2992541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:447.63, Y:205.76, Z:52.51 [[-7.30608888e-02 -9.97326082e-01 1.67101373e-03 4.47629684e+02] [ 9.96801770e-01 -7.30766689e-02 -3.23424040e-02 2.05757837e+02] [ 3.23780352e-02 -6.97295340e-04 9.99475451e-01 5.25129882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.329254154 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:447.63, Y:205.76, Z:52.51 [[-7.21250766e-02 -9.97394185e-01 1.67751963e-03 4.47629381e+02] [ 9.96857534e-01 -7.21413037e-02 -3.27214010e-02 2.05757082e+02] [ 3.27571535e-02 -6.87785471e-04 9.99463104e-01 5.25133169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3592541539999 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:447.63, Y:205.76, Z:52.51 [[-7.07501174e-02 -9.97492755e-01 1.61985814e-03 4.47628942e+02] [ 9.96984678e-01 -7.07657856e-02 -3.18395330e-02 2.05761017e+02] [ 3.18743340e-02 -6.37676949e-04 9.99491681e-01 5.25132122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.3892541539999 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:447.63, Y:205.76, Z:52.51 [[-7.03746238e-02 -9.97519321e-01 1.61732096e-03 4.47628630e+02] [ 9.97004827e-01 -7.03902748e-02 -3.20403396e-02 2.05763089e+02] [ 3.20747015e-02 -6.42350044e-04 9.99485268e-01 5.25132892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4192541539999 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:447.63, Y:205.77, Z:52.51 [[-7.02004206e-02 -9.97531589e-01 1.62168431e-03 4.47628475e+02] [ 9.97006049e-01 -7.02160806e-02 -3.23827203e-02 2.05765300e+02] [ 3.24166548e-02 -6.56451522e-04 9.99474227e-01 5.25134132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.449254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:447.63, Y:205.77, Z:52.51 [[-7.09475728e-02 -9.97478712e-01 1.63126116e-03 4.47628038e+02] [ 9.96938351e-01 -7.09628380e-02 -3.28359639e-02 2.05769056e+02] [ 3.28689339e-02 -7.03365134e-04 9.99459423e-01 5.25137034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.4792541539999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:447.63, Y:205.77, Z:52.51 [[-7.15185804e-02 -9.97437936e-01 1.62992034e-03 4.47627654e+02] [ 9.96889701e-01 -7.15333176e-02 -3.30742894e-02 2.05774093e+02] [ 3.31061445e-02 -7.40575421e-04 9.99451567e-01 5.25137916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5092541539999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:447.63, Y:205.78, Z:52.51 [[-7.48088708e-02 -9.97196479e-01 1.67808426e-03 4.47628370e+02] [ 9.96605641e-01 -7.48223238e-02 -3.43338897e-02 2.05776751e+02] [ 3.43631920e-02 -8.96091280e-04 9.99409009e-01 5.25135291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5392541539999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:447.63, Y:205.78, Z:52.51 [[-7.70789904e-02 -9.97023596e-01 1.66674457e-03 4.47628596e+02] [ 9.96431086e-01 -7.70906611e-02 -3.43819871e-02 2.05783310e+02] [ 3.44081429e-02 -9.89332758e-04 9.99407375e-01 5.25133303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.569254154 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:447.63, Y:205.78, Z:52.51 [[-7.94428146e-02 -9.96838040e-01 1.66168720e-03 4.47628898e+02] [ 9.96239283e-01 -7.94527108e-02 -3.45623624e-02 2.05782841e+02] [ 3.45851032e-02 -1.09029328e-03 9.99401162e-01 5.25133624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.5992541539999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:447.63, Y:205.79, Z:52.51 [[-8.18446815e-02 -9.96643721e-01 1.65551214e-03 4.47628610e+02] [ 9.96039394e-01 -8.18527312e-02 -3.47225636e-02 2.05793535e+02] [ 3.47415332e-02 -1.19290185e-03 9.99395619e-01 5.25135103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6292541539999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:447.63, Y:205.80, Z:52.51 [[-8.67137425e-02 -9.96231951e-01 1.62054594e-03 4.47628119e+02] [ 9.95643093e-01 -8.67182417e-02 -3.42750265e-02 2.05803683e+02] [ 3.42864074e-02 -1.35863045e-03 9.99411125e-01 5.25133495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.6592541539999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:447.63, Y:205.80, Z:52.51 [[-8.83874399e-02 -9.96084863e-01 1.61463659e-03 4.47627700e+02] [ 9.95490213e-01 -8.83905060e-02 -3.44434921e-02 2.05804424e+02] [ 3.44513596e-02 -1.43701716e-03 9.99405343e-01 5.25134121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.689254154 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:447.63, Y:205.81, Z:52.51 [[-9.08829127e-02 -9.95860357e-01 1.56403743e-03 4.47626193e+02] [ 9.95292838e-01 -9.08839680e-02 -3.36492499e-02 2.05806506e+02] [ 3.36521000e-02 -1.50146659e-03 9.99432480e-01 5.25137027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7192541539999 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:447.63, Y:205.81, Z:52.51 [[-9.15227261e-02 -9.95801856e-01 1.50124535e-03 4.47625066e+02] [ 9.95270023e-01 -9.15229553e-02 -3.25749988e-02 2.05807092e+02] [ 3.25756427e-02 -1.48720820e-03 9.99468166e-01 5.25136473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7492541539999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:447.62, Y:205.81, Z:52.51 [[-9.14469812e-02 -9.95808904e-01 1.44073581e-03 4.47623820e+02] [ 9.95310612e-01 -9.14468425e-02 -3.15319022e-02 2.05812847e+02] [ 3.15314997e-02 -1.44951763e-03 9.99501708e-01 5.25141556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.7792541539999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:447.62, Y:205.81, Z:52.51 [[-9.06726014e-02 -9.95879847e-01 1.34495085e-03 4.47621769e+02] [ 9.95438168e-01 -9.06724810e-02 -2.96876280e-02 2.05813657e+02] [ 2.96872605e-02 -1.35303905e-03 9.99558320e-01 5.25146397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8092541539999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:447.62, Y:205.81, Z:52.52 [[-8.98370960e-02 -9.95955626e-01 1.29902707e-03 4.47620259e+02] [ 9.95536327e-01 -8.98370031e-02 -2.89263749e-02 2.05813466e+02] [ 2.89260865e-02 -1.30543288e-03 9.99580701e-01 5.25153565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.839254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:447.62, Y:205.82, Z:52.52 [[-8.88822809e-02 -9.96041339e-01 1.26117640e-03 4.47618649e+02] [ 9.95639074e-01 -8.88822599e-02 -2.83333584e-02 2.05817898e+02] [ 2.83332925e-02 -1.26265702e-03 9.99597734e-01 5.25158294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8692541539999 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:447.62, Y:205.82, Z:52.52 [[-8.79555231e-02 -9.96123684e-01 1.19693844e-03 4.47617049e+02] [ 9.95754938e-01 -8.79555604e-02 -2.71278827e-02 2.05818739e+02] [ 2.71280039e-02 -1.19418975e-03 9.99631255e-01 5.25152588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.8992541539999 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:447.62, Y:205.82, Z:52.51 [[-8.74916859e-02 -9.96164560e-01 1.17194670e-03 4.47616873e+02] [ 9.95804608e-01 -8.74916044e-02 -2.68030223e-02 2.05819843e+02] [ 2.68027564e-02 -1.17801169e-03 9.99640048e-01 5.25148261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9292541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:447.59, Y:205.81, Z:52.51 [[-5.99907082e-02 -9.94478290e-01 8.61048500e-02 4.47586312e+02] [ 9.97835077e-01 -5.74164531e-02 3.20703979e-02 2.05805182e+02] [-2.69494794e-02 8.78423655e-02 9.95769775e-01 5.25125401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.959254154 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:447.66, Y:205.83, Z:52.49 [[-8.85216764e-02 -9.92397768e-01 -8.55019421e-02 4.47659449e+02] [ 9.95790214e-01 -8.61200031e-02 -3.13878270e-02 2.05831085e+02] [ 2.37857819e-02 -8.79205002e-02 9.95843473e-01 5.24888557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 632.9892541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.61, Y:205.83, Z:52.51 [[-8.73302599e-02 -9.96178682e-01 1.20789903e-03 4.47614688e+02] [ 9.95785677e-01 -8.73297665e-02 -2.80070795e-02 2.05832028e+02] [ 2.80055411e-02 -1.24305698e-03 9.99606995e-01 5.25132157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0192541539999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:447.62, Y:205.80, Z:52.51 [[-7.80964687e-02 -9.96935868e-01 4.45160120e-03 4.47617084e+02] [ 9.96632658e-01 -7.81830687e-02 -2.47134285e-02 2.05800864e+02] [ 2.49857431e-02 2.50657964e-03 9.99684665e-01 5.25092789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.0492541539999 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:447.62, Y:205.83, Z:52.51 [[-8.46085024e-02 -9.96411163e-01 -2.48903064e-03 4.47615780e+02] [ 9.95978361e-01 -8.44973425e-02 -2.97876291e-02 2.05830656e+02] [ 2.94704097e-02 -4.99930735e-03 9.99553151e-01 5.25110552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.079254154 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:447.61, Y:205.83, Z:52.51 [[-8.10917118e-02 -9.96705791e-01 1.30399666e-03 4.47611327e+02] [ 9.96227977e-01 -8.10932402e-02 -3.08821172e-02 2.05830576e+02] [ 3.08861303e-02 -1.20520579e-03 9.99522183e-01 5.25127526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1092541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:447.61, Y:205.83, Z:52.51 [[-7.83542391e-02 -9.96924704e-01 1.32200065e-03 4.47609773e+02] [ 9.96424072e-01 -7.83568106e-02 -3.16113743e-02 2.05832862e+02] [ 3.16177477e-02 -1.15961191e-03 9.99499361e-01 5.25126277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1392541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.61, Y:205.79, Z:52.51 [[-6.71750388e-02 -9.97740539e-01 1.15387713e-03 4.47612813e+02] [ 9.97281015e-01 -6.71791316e-02 -3.02909339e-02 2.05787579e+02] [ 3.03000092e-02 -8.84054902e-04 9.99540458e-01 5.25099207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.1692541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.61, Y:205.83, Z:52.51 [[-6.90495390e-02 -9.97612717e-01 1.01398225e-03 4.47605342e+02] [ 9.97075971e-01 -6.90456701e-02 -3.27445091e-02 2.05834134e+02] [ 3.27363498e-02 -1.24997592e-03 9.99463240e-01 5.25128661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.199254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.60, Y:205.84, Z:52.51 [[-6.50093431e-02 -9.97883765e-01 1.33308034e-03 4.47603633e+02] [ 9.97352477e-01 -6.50182388e-02 -3.25678664e-02 2.05835976e+02] [ 3.25856196e-02 -7.87664624e-04 9.99468637e-01 5.25129660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2292541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:447.60, Y:205.83, Z:52.51 [[-6.02896079e-02 -9.98180079e-01 1.30150583e-03 4.47602412e+02] [ 9.97663806e-01 -6.03002878e-02 -3.21061608e-02 2.05833089e+02] [ 3.21262113e-02 -6.37202581e-04 9.99483617e-01 5.25133362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2592541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:447.60, Y:205.84, Z:52.51 [[-5.98945830e-02 -9.98203876e-01 1.28878053e-03 4.47602234e+02] [ 9.97687599e-01 -5.99050581e-02 -3.21066728e-02 2.05835731e+02] [ 3.21262097e-02 -6.37215426e-04 9.99483617e-01 5.25133794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.2892541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.60, Y:205.80, Z:52.51 [[-3.88183140e-02 -9.99099681e-01 1.71162433e-02 4.47596286e+02] [ 9.99089090e-01 -3.91103339e-02 -1.70696433e-02 2.05799869e+02] [ 1.77236972e-02 1.64380372e-02 9.99707788e-01 5.25126728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.319254154 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.61, Y:205.83, Z:52.51 [[-4.59883100e-02 -9.98818022e-01 -1.57363973e-02 4.47605269e+02] [ 9.98509244e-01 -4.54990523e-02 -3.01517030e-02 2.05829862e+02] [ 2.94000732e-02 -1.70995640e-02 9.99421453e-01 5.25098351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3492541539999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:447.59, Y:205.83, Z:52.52 [[-3.75870830e-02 -9.99292738e-01 1.11171103e-03 4.47594211e+02] [ 9.98891781e-01 -3.76034911e-02 -2.83052548e-02 2.05830869e+02] [ 2.83270397e-02 4.65670485e-05 9.99598708e-01 5.25155500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.3792541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.59, Y:205.83, Z:52.52 [[-3.46557321e-02 -9.99398711e-01 1.09387924e-03 4.47593199e+02] [ 9.99002702e-01 -3.46727912e-02 -2.81318281e-02 2.05828731e+02] [ 2.81528406e-02 1.17859224e-04 9.99603623e-01 5.25155006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4092541539999 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:447.57, Y:206.44, Z:52.53 [[-3.33319482e-02 -9.99438092e-01 3.53285132e-03 4.47567605e+02] [ 9.99062076e-01 -3.34167469e-02 -2.75370721e-02 2.06436328e+02] [ 2.76396552e-02 2.61167351e-03 9.99614540e-01 5.25264882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.439254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:448.54, Y:206.01, Z:52.95 [[-8.55058254e-02 5.10027868e-01 -8.55897382e-01 4.48537161e+02] [ 9.93613429e-01 1.07133276e-01 -3.54233821e-02 2.06007881e+02] [ 7.36281784e-02 -8.53460037e-01 -5.15931057e-01 5.29505156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4692541539999 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:447.56, Y:206.64, Z:52.53 [[-7.35431553e-02 -9.97270084e-01 -6.61689351e-03 4.47563903e+02] [ 9.92902190e-01 -7.25959795e-02 -9.42075622e-02 2.06640149e+02] [ 9.34700236e-02 -1.34982494e-02 9.95530588e-01 5.25334939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.4992541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.35, Y:206.05, Z:53.21 [[-4.50885353e-02 -2.76133381e-01 9.60061134e-01 4.47352319e+02] [ 9.98903135e-01 -2.46137171e-02 3.98333075e-02 2.06045726e+02] [ 1.26313673e-02 9.60804101e-01 2.76940296e-01 5.32084942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5292541539999 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:447.56, Y:206.67, Z:52.54 [[-6.63695153e-02 -9.97794779e-01 8.16828254e-04 4.47557545e+02] [ 9.97455894e-01 -6.63682740e-02 -2.60190509e-02 2.06673497e+02] [ 2.60158846e-02 -9.12121637e-04 9.99661114e-01 5.25428110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.5592541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.59, Y:206.09, Z:52.53 [[-6.63101279e-02 -9.97797349e-01 1.84855296e-03 4.47591979e+02] [ 9.97592204e-01 -6.63339892e-02 -2.02384904e-02 2.06088047e+02] [ 2.03165339e-02 5.02085136e-04 9.99793472e-01 5.25315254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.589254154 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.59, Y:206.10, Z:52.53 [[-7.47770757e-02 -9.97199637e-01 1.12845029e-03 4.47593298e+02] [ 9.96977353e-01 -7.47842379e-02 -2.10588449e-02 2.06095566e+02] [ 2.10842628e-02 -4.49679457e-04 9.99777601e-01 5.25310277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6192541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.58, Y:206.50, Z:52.54 [[-8.54921453e-02 -9.96045170e-01 -2.41891027e-02 4.47581224e+02] [ 9.95698288e-01 -8.45415697e-02 -3.79162666e-02 2.06501248e+02] [ 3.57213295e-02 -2.73265911e-02 9.98988110e-01 5.25363981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6492541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.57, Y:206.18, Z:52.54 [[-6.80218396e-02 -9.97045082e-01 3.56950144e-02 4.47568222e+02] [ 9.97473707e-01 -6.86982329e-02 -1.80764397e-02 2.06180496e+02] [ 2.04752097e-02 3.43752457e-02 9.99199234e-01 5.25431652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.6792541539999 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:447.57, Y:206.67, Z:52.54 [[-7.70314324e-02 -9.96874603e-01 -1.75266629e-02 4.47573050e+02] [ 9.96533113e-01 -7.64270779e-02 -3.28733464e-02 2.06665232e+02] [ 3.14310925e-02 -1.99981809e-02 9.99305839e-01 5.25371851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.709254154 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:447.56, Y:206.28, Z:52.54 [[-5.86087546e-02 -9.97914988e-01 2.70313054e-02 4.47563500e+02] [ 9.98092097e-01 -5.91029640e-02 -1.78607283e-02 2.06276034e+02] [ 1.94211187e-02 2.59329373e-02 9.99475014e-01 5.25401042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7392541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.58, Y:206.68, Z:52.54 [[-6.96670397e-02 -9.97174066e-01 -2.81138078e-02 4.47576532e+02] [ 9.96859384e-01 -6.85259610e-02 -3.96933459e-02 2.06678096e+02] [ 3.76546494e-02 -3.07908310e-02 9.98816326e-01 5.25377631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7692541539999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:447.55, Y:206.34, Z:52.54 [[-5.15131704e-02 -9.97985658e-01 3.70272790e-02 4.47553298e+02] [ 9.98525268e-01 -5.21064038e-02 -1.52385336e-02 2.06339280e+02] [ 1.71371963e-02 3.61876884e-02 9.99198062e-01 5.25441936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.7992541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.57, Y:206.60, Z:52.53 [[-5.24506011e-02 -9.98623506e-01 1.64664284e-04 4.47568036e+02] [ 9.98511042e-01 -5.24471675e-02 -1.49997788e-02 2.06601084e+02] [ 1.49877679e-02 -6.22328309e-04 9.99887483e-01 5.25327034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.829254154 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:447.57, Y:206.35, Z:52.53 [[-5.42602291e-02 -9.98526818e-01 1.43187745e-04 4.47569650e+02] [ 9.98431493e-01 -5.42570295e-02 -1.38104301e-02 2.06347088e+02] [ 1.37978538e-02 -6.06393949e-04 9.99904621e-01 5.25324304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8592541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.56, Y:206.80, Z:52.53 [[-5.57476912e-02 -9.98443157e-01 1.85960737e-03 4.47564171e+02] [ 9.98357313e-01 -5.57673727e-02 -1.31406414e-02 2.06801696e+02] [ 1.32238889e-02 1.12399220e-03 9.99911929e-01 5.25341900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.8892541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:447.57, Y:206.72, Z:52.53 [[-5.66668446e-02 -9.98392265e-01 -1.32444472e-03 4.47566872e+02] [ 9.98316497e-01 -5.66460069e-02 -1.24660531e-02 2.06717636e+02] [ 1.23709864e-02 -2.02862691e-03 9.99921419e-01 5.25322305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9192541539999 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:447.56, Y:206.84, Z:52.53 [[-5.77970864e-02 -9.98326495e-01 1.92516485e-03 4.47564517e+02] [ 9.98263954e-01 -5.78151536e-02 -1.12466369e-02 2.06843818e+02] [ 1.13391193e-02 1.27179983e-03 9.99934901e-01 5.25335327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.949254154 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:447.57, Y:206.38, Z:52.53 [[-5.60193487e-02 -9.98426997e-01 -2.31614619e-03 4.47569366e+02] [ 9.98366442e-01 -5.59895402e-02 -1.13850212e-02 2.06382880e+02] [ 1.12374326e-02 -2.95014410e-03 9.99932506e-01 5.25302059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 633.9792541539999 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:447.57, Y:206.38, Z:52.53 [[-5.67742794e-02 -9.98387037e-01 6.88684247e-05 4.47567541e+02] [ 9.98317917e-01 -5.67711602e-02 -1.17631486e-02 2.06383616e+02] [ 1.17480848e-02 -5.99091703e-04 9.99930809e-01 5.25309135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0092541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.56, Y:206.89, Z:52.53 [[-5.86698503e-02 -9.98253270e-01 6.94679975e-03 4.47560506e+02] [ 9.98211454e-01 -5.87445619e-02 -1.10891976e-02 2.06889708e+02] [ 1.14779145e-02 6.28377351e-03 9.99914382e-01 5.25343642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0392541539999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:448.39, Y:206.54, Z:52.67 [[-1.52889952e-02 -7.13411966e-03 -9.99857665e-01 4.48390285e+02] [ 9.99719824e-01 1.79624366e-02 -1.54150519e-02 2.06541143e+02] [ 1.80698528e-02 -9.99813210e-01 6.85749325e-03 5.26661668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.069254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:447.57, Y:206.55, Z:52.49 [[-5.96400899e-02 -9.98219842e-01 4.55619873e-04 4.47566018e+02] [ 9.94921632e-01 -5.94800949e-02 -8.11976940e-02 2.06551100e+02] [ 8.10802496e-02 -4.38933171e-03 9.96697912e-01 5.24915911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.0992541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:447.57, Y:206.56, Z:52.49 [[-6.01992113e-02 -9.98186289e-01 4.32487180e-04 4.47565145e+02] [ 9.94724286e-01 -6.00264664e-02 -8.31890463e-02 2.06557734e+02] [ 8.30641261e-02 -4.57770948e-03 9.96533690e-01 5.24916977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1292541539999 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:447.56, Y:206.56, Z:52.49 [[-5.99787023e-02 -9.98199576e-01 4.02650138e-04 4.47563995e+02] [ 9.94668033e-01 -5.98003947e-02 -8.40203358e-02 2.06560838e+02] [ 8.38931422e-02 -4.63892749e-03 9.96463959e-01 5.24917592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.1592541539999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:447.53, Y:206.56, Z:52.50 [[-3.76475516e-02 -9.96275969e-01 7.75683898e-02 4.47533032e+02] [ 9.98375273e-01 -4.08220546e-02 -3.97539173e-02 2.06561505e+02] [ 4.27723735e-02 7.59457247e-02 9.96194143e-01 5.24969749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.189254154 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:447.61, Y:206.57, Z:52.47 [[-5.01673104e-02 -9.93459694e-01 -1.02572304e-01 4.47611259e+02] [ 9.97269961e-01 -4.42567819e-02 -5.91097451e-02 2.06570315e+02] [ 5.41836292e-02 -1.05257655e-01 9.92967754e-01 5.24664538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2192541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.56, Y:206.60, Z:52.50 [[-4.88381548e-02 -9.98806631e-01 -3.84684651e-04 4.47556639e+02] [ 9.97007610e-01 -4.87270755e-02 -6.00124801e-02 2.06595765e+02] [ 5.99221185e-02 -3.31443232e-03 9.98197553e-01 5.24988426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2492541539999 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:447.55, Y:206.62, Z:52.50 [[-4.75961558e-02 -9.98866592e-01 -3.69588218e-04 4.47553821e+02] [ 9.97104863e-01 -4.74902363e-02 -5.93849206e-02 2.06623649e+02] [ 5.93000614e-02 -3.19501214e-03 9.98235090e-01 5.25007759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.2792541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.55, Y:206.65, Z:52.50 [[-4.70883892e-02 -9.98890666e-01 -3.46952158e-04 4.47552592e+02] [ 9.97187581e-01 -4.69878245e-02 -5.83872661e-02 2.06651287e+02] [ 5.83061926e-02 -3.09533869e-03 9.98293948e-01 5.25022792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3092541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.55, Y:206.68, Z:52.50 [[-4.52130399e-02 -9.98977318e-01 -3.16313198e-04 4.47550024e+02] [ 9.97419626e-01 -4.51248596e-02 -5.58375879e-02 2.06679428e+02] [ 5.57662102e-02 -2.84008408e-03 9.98439815e-01 5.25047484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.339254154 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:447.55, Y:206.71, Z:52.51 [[-4.45303199e-02 -9.99007989e-01 -2.97222617e-04 4.47549019e+02] [ 9.97495596e-01 -4.44465367e-02 -5.50185563e-02 2.06706400e+02] [ 5.49507668e-02 -2.74647216e-03 9.98485288e-01 5.25065839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3692541539999 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:447.55, Y:206.73, Z:52.51 [[-4.34244702e-02 -9.99056672e-01 -2.86068744e-04 4.47548978e+02] [ 9.97556444e-01 -4.33435722e-02 -5.47948549e-02 2.06734701e+02] [ 5.47307661e-02 -2.66480727e-03 9.98497592e-01 5.25086871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.3992541539999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:447.55, Y:206.76, Z:52.51 [[-4.38823355e-02 -9.99036671e-01 -2.64157989e-04 4.47548180e+02] [ 9.97614954e-01 -4.38057825e-02 -5.33428275e-02 2.06761237e+02] [ 5.32798692e-02 -2.60433581e-03 9.98576223e-01 5.25090207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4292541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:447.55, Y:206.79, Z:52.51 [[-4.27608841e-02 -9.99063570e-01 -6.59468542e-03 4.47551538e+02] [ 9.97617622e-01 -4.23394791e-02 -5.44651201e-02 2.06791580e+02] [ 5.41349018e-02 -8.90795107e-03 9.98493896e-01 5.25092930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.459254154 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:447.55, Y:206.82, Z:52.51 [[-4.36072321e-02 -9.99042970e-01 -3.39901831e-03 4.47549343e+02] [ 9.97464732e-01 -4.33463274e-02 -5.64376108e-02 2.06819992e+02] [ 5.62362633e-02 -5.85148888e-03 9.98400342e-01 5.25119464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.4892541539999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:447.56, Y:206.84, Z:52.52 [[-5.23420938e-02 -9.97535025e-01 -4.67352119e-02 4.47563618e+02] [ 9.96179601e-01 -4.88805573e-02 -7.23663804e-02 2.06840387e+02] [ 6.99035559e-02 -5.03444727e-02 9.96282554e-01 5.25152047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5192541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:447.52, Y:206.87, Z:52.53 [[-4.65647473e-02 -9.97046268e-01 6.10775168e-02 4.47517105e+02] [ 9.96923504e-01 -5.02442302e-02 -6.01584902e-02 2.06873832e+02] [ 6.30495910e-02 5.80883471e-02 9.96318470e-01 5.25343225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.5492541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.55, Y:206.90, Z:52.51 [[-4.90130119e-02 -9.98798129e-01 -1.49867329e-04 4.47546936e+02] [ 9.96932457e-01 -4.89122917e-02 -6.11004465e-02 2.06902179e+02] [ 6.10196813e-02 -3.14412451e-03 9.98131611e-01 5.25142691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.579254154 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.55, Y:206.93, Z:52.52 [[-5.16824748e-02 -9.98663559e-01 -1.36096227e-04 4.47546675e+02] [ 9.96728649e-01 -5.15738600e-02 -6.22264973e-02 2.06929201e+02] [ 6.21363162e-02 -3.35167039e-03 9.98062044e-01 5.25158149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6092541539999 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:447.58, Y:206.95, Z:52.52 [[-6.11889015e-02 -9.95006969e-01 -7.88482667e-02 4.47577295e+02] [ 9.95431573e-01 -5.50322403e-02 -7.80220285e-02 2.06949199e+02] [ 7.32932653e-02 -8.32621364e-02 9.93828715e-01 5.25156692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6392541539999 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:447.51, Y:206.98, Z:52.55 [[-5.14726236e-02 -9.95443144e-01 8.02715144e-02 4.47507026e+02] [ 9.96500261e-01 -5.64952704e-02 -6.16077409e-02 2.06983619e+02] [ 6.58619642e-02 7.68194730e-02 9.94867313e-01 5.25469846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.6692541539999 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:447.58, Y:207.00, Z:52.52 [[-6.13269629e-02 -9.94850478e-01 -8.06940523e-02 4.47575514e+02] [ 9.95492409e-01 -5.51055470e-02 -7.71896566e-02 2.07003770e+02] [ 7.23454769e-02 -8.50641237e-02 9.93745554e-01 5.25189004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.699254154 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:447.50, Y:207.04, Z:52.55 [[-4.95550667e-02 -9.95378058e-01 8.22606708e-02 4.47503699e+02] [ 9.96669807e-01 -5.46229310e-02 -6.05444642e-02 2.07039635e+02] [ 6.47579501e-02 7.89864418e-02 9.94770099e-01 5.25505723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7292541539999 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:447.54, Y:207.07, Z:52.52 [[-4.69523253e-02 -9.98897127e-01 -9.18419096e-05 4.47539864e+02] [ 9.97112011e-01 -4.68629227e-02 -5.97620546e-02 2.07068278e+02] [ 5.96918407e-02 -2.89754410e-03 9.98212647e-01 5.25233953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7592541539999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:447.57, Y:207.09, Z:52.52 [[-5.44446357e-02 -9.95203345e-01 -8.12778150e-02 4.47570251e+02] [ 9.95851638e-01 -4.81758680e-02 -7.71919707e-02 2.07088857e+02] [ 7.29060782e-02 -8.51433340e-02 9.93697799e-01 5.25218373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.7892541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.50, Y:207.12, Z:52.56 [[-4.12669774e-02 -9.95712333e-01 8.27888094e-02 4.47497626e+02] [ 9.97198604e-01 -4.62184791e-02 -5.88115399e-02 2.07124309e+02] [ 6.23857484e-02 8.01299106e-02 9.94830245e-01 5.25565662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.819254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.53, Y:207.15, Z:52.53 [[-3.93280476e-02 -9.99206802e-01 6.25065661e-03 4.47533963e+02] [ 9.97346572e-01 -3.96368196e-02 -6.10633884e-02 2.07152391e+02] [ 6.12627092e-02 3.83256709e-03 9.98114318e-01 5.25295626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8492541539999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:447.54, Y:207.18, Z:52.53 [[-3.86370848e-02 -9.99235384e-01 -5.98520960e-03 4.47538060e+02] [ 9.97492381e-01 -3.82128698e-02 -5.95711867e-02 2.07181237e+02] [ 5.92969256e-02 -8.27185797e-03 9.98206117e-01 5.25265814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.8792541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.53, Y:207.21, Z:52.53 [[-3.79150215e-02 -9.99280967e-01 -2.56889917e-05 4.47534137e+02] [ 9.97452554e-01 -3.78440928e-02 -6.04667492e-02 2.07208977e+02] [ 6.04222994e-02 -2.31822164e-03 9.98170212e-01 5.25302704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9092541539999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:447.54, Y:207.24, Z:52.53 [[-3.75371739e-02 -9.99277558e-01 -5.94326467e-03 4.47535716e+02] [ 9.97475703e-01 -3.71094220e-02 -6.05401760e-02 2.07238667e+02] [ 6.02758881e-02 -8.20076922e-03 9.98148068e-01 5.25290607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.939254154 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:447.71, Y:206.95, Z:53.62 [[-5.69421143e-03 5.79295139e-01 8.15097981e-01 4.47710823e+02] [ 9.99945269e-01 -3.85579047e-03 9.72587424e-03 2.06946314e+02] [ 8.77699870e-03 8.15108750e-01 -5.79241478e-01 5.36242612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9692541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:447.55, Y:206.93, Z:52.55 [[-7.72012832e-02 -9.97015497e-01 2.46172071e-04 4.47553937e+02] [ 9.96995985e-01 -7.72013135e-02 -6.24199003e-03 2.06930730e+02] [ 6.24236560e-03 -2.36457073e-04 9.99980488e-01 5.25491606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 634.9992541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.55, Y:206.93, Z:52.55 [[-7.62889864e-02 -9.97085717e-01 2.51803412e-04 4.47552837e+02] [ 9.97065106e-01 -7.62890295e-02 -6.41543767e-03 2.06928037e+02] [ 6.41595110e-03 -2.38362840e-04 9.99979389e-01 5.25500962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0292541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:447.55, Y:206.93, Z:52.55 [[-7.52321551e-02 -9.97166012e-01 2.58532833e-04 4.47552182e+02] [ 9.97143868e-01 -7.52322085e-02 -6.64997603e-03 2.06929630e+02] [ 6.65058007e-03 -2.42497599e-04 9.99977855e-01 5.25508067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.0592541539999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:447.55, Y:206.93, Z:52.55 [[-7.40760367e-02 -9.97252563e-01 2.56846197e-04 4.47551659e+02] [ 9.97230255e-01 -7.40760987e-02 -6.67464841e-03 2.06932628e+02] [ 6.67533640e-03 -2.38296702e-04 9.99977691e-01 5.25515067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.089254154 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:447.55, Y:206.93, Z:52.55 [[-7.09328409e-02 -9.97481069e-01 2.22327397e-04 4.47551851e+02] [ 9.97463915e-01 -7.09329257e-02 -5.85302023e-03 2.06934730e+02] [ 5.85404721e-03 -1.93407797e-04 9.99982846e-01 5.25520984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1192541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:447.55, Y:206.93, Z:52.55 [[-6.89755372e-02 -9.97618327e-01 2.20355329e-04 4.47552042e+02] [ 9.97601121e-01 -6.89756424e-02 -5.86204526e-03 2.06931091e+02] [ 5.86328293e-03 -1.84510998e-04 9.99982794e-01 5.25526156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1492541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:447.55, Y:206.93, Z:52.55 [[-6.85800211e-02 -9.97645595e-01 2.18043836e-04 4.47551864e+02] [ 9.97628389e-01 -6.85801196e-02 -5.86213259e-03 2.06933746e+02] [ 5.86328422e-03 -1.84498455e-04 9.99982794e-01 5.25525866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.1792541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:447.55, Y:206.95, Z:52.55 [[-6.68343826e-02 -9.97764062e-01 2.04484234e-04 4.47551254e+02] [ 9.97748563e-01 -6.68344846e-02 -5.56391027e-03 2.06945505e+02] [ 5.56513631e-03 -1.67836657e-04 9.99984500e-01 5.25532210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.209254154 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:447.55, Y:206.94, Z:52.55 [[-6.36474452e-02 -9.97972429e-01 1.85680554e-04 4.47550181e+02] [ 9.97959315e-01 -6.36475611e-02 -5.11792374e-03 2.06941810e+02] [ 5.11936490e-03 -1.40441132e-04 9.99986886e-01 5.25548730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2392541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:447.55, Y:206.94, Z:52.56 [[-6.19608419e-02 -9.98078563e-01 1.88976379e-04 4.47549433e+02] [ 9.98064700e-01 -6.19609776e-02 -5.26241151e-03 2.06941947e+02] [ 5.26400928e-03 -1.37452795e-04 9.99986136e-01 5.25553686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2692541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:447.55, Y:206.94, Z:52.56 [[-6.02473156e-02 -9.98183459e-01 2.10029322e-04 4.47549335e+02] [ 9.98166043e-01 -6.02475055e-02 -5.89826521e-03 2.06942344e+02] [ 5.90020451e-03 -1.45710509e-04 9.99982583e-01 5.25558710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.2992541539999 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:447.54, Y:207.24, Z:52.55 [[-6.43343625e-02 -9.97881640e-01 -9.66036296e-03 4.47539325e+02] [ 9.97838214e-01 -6.41953923e-02 -1.40659248e-02 2.07241983e+02] [ 1.34159774e-02 -1.05444016e-02 9.99854403e-01 5.25549920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.329254154 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:447.54, Y:206.95, Z:52.56 [[-5.61007749e-02 -9.98366230e-01 1.08431809e-02 4.47544172e+02] [ 9.98390572e-01 -5.61858597e-02 -7.70808683e-03 2.06949034e+02] [ 8.30472702e-03 1.03932999e-02 9.99911502e-01 5.25596327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3592541539999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:447.54, Y:207.32, Z:52.55 [[-6.31975963e-02 -9.97937602e-01 -1.12519254e-02 4.47538106e+02] [ 9.97829344e-01 -6.29735862e-02 -1.92594945e-02 2.07319202e+02] [ 1.85111996e-02 -1.24446551e-02 9.99751202e-01 5.25543360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.3892541539999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:447.54, Y:206.97, Z:52.56 [[-5.31452570e-02 -9.98500199e-01 1.31504679e-02 4.47542318e+02] [ 9.98519237e-01 -5.32902324e-02 -1.09308745e-02 2.06973631e+02] [ 1.16152719e-02 1.25500710e-02 9.99853780e-01 5.25609505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4192541539999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:447.55, Y:206.98, Z:52.56 [[-5.33852382e-02 -9.98573918e-01 3.83458872e-04 4.47548479e+02] [ 9.98498844e-01 -5.33859277e-02 -1.22474951e-02 2.06976317e+02] [ 1.22505005e-02 -2.70952201e-04 9.99924923e-01 5.25569972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.449254154 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:447.55, Y:206.98, Z:52.56 [[-5.41823332e-02 -9.98530983e-01 3.88749925e-04 4.47549438e+02] [ 9.98451886e-01 -5.41829356e-02 -1.25714428e-02 2.06976600e+02] [ 1.25740388e-02 -2.93002007e-04 9.99920901e-01 5.25578406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.4792541539999 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:447.55, Y:206.98, Z:52.56 [[-5.47607645e-02 -9.98499421e-01 4.07110225e-04 4.47549780e+02] [ 9.98410537e-01 -5.47613234e-02 -1.33265510e-02 2.06980124e+02] [ 1.33288474e-02 -3.23308984e-04 9.99911115e-01 5.25587023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5092541539999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:447.55, Y:206.98, Z:52.56 [[-5.68238543e-02 -9.98384142e-01 3.94415091e-04 4.47550421e+02] [ 9.98298474e-01 -5.68241471e-02 -1.30832962e-02 2.06981989e+02] [ 1.30845677e-02 -3.49699334e-04 9.99914332e-01 5.25603890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5392541539999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:447.55, Y:206.99, Z:52.56 [[-5.73672338e-02 -9.98353083e-01 3.49802160e-04 4.47550912e+02] [ 9.98283703e-01 -5.73673726e-02 -1.17742501e-02 2.06991012e+02] [ 1.17749261e-02 -3.26254362e-04 9.99930620e-01 5.25606138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.569254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.55, Y:206.99, Z:52.56 [[-5.80909727e-02 -9.98311244e-01 3.14824277e-04 4.47551739e+02] [ 9.98253359e-01 -5.80909961e-02 -1.07548596e-02 2.06994021e+02] [ 1.07549857e-02 -3.10485861e-04 9.99942115e-01 5.25615012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.5992541539999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:447.55, Y:207.00, Z:52.56 [[-5.97609876e-02 -9.98212683e-01 2.54241344e-04 4.47553373e+02] [ 9.98173630e-01 -5.97608996e-02 -8.83393909e-03 2.06996112e+02] [ 8.83334373e-03 -2.74147919e-04 9.99960948e-01 5.25628666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6292541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.55, Y:207.00, Z:52.56 [[-6.03889575e-02 -9.98174893e-01 2.39566393e-04 4.47553845e+02] [ 9.98139178e-01 -6.03888244e-02 -8.44811461e-03 2.07001431e+02] [ 8.44716302e-03 -2.71052231e-04 9.99964285e-01 5.25634038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.6592541539999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:447.55, Y:207.00, Z:52.56 [[-6.10012190e-02 -9.98137662e-01 2.43833811e-04 4.47554434e+02] [ 9.98099649e-01 -6.10010250e-02 -8.71582996e-03 2.07003308e+02] [ 8.71447225e-03 -2.88305811e-04 9.99961987e-01 5.25639393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.689254154 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:447.56, Y:207.01, Z:52.56 [[-6.26260931e-02 -9.98037025e-01 2.64918037e-04 4.47556246e+02] [ 9.97991013e-01 -6.26257513e-02 -9.58918356e-03 2.07007667e+02] [ 9.58695092e-03 -3.36147282e-04 9.99953988e-01 5.25643126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7192541539999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:447.56, Y:207.01, Z:52.56 [[-6.33024443e-02 -9.97994351e-01 2.74059851e-04 4.47557204e+02] [ 9.97943743e-01 -6.33019960e-02 -1.00570193e-02 2.07010637e+02] [ 1.00541970e-02 -3.63137590e-04 9.99949389e-01 5.25642313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7492541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.56, Y:207.01, Z:52.56 [[-6.37860897e-02 -9.97963553e-01 2.85836878e-04 4.47558482e+02] [ 9.97906967e-01 -6.37855189e-02 -1.06345276e-02 2.07010838e+02] [ 1.06311032e-02 -3.93096323e-04 9.99943411e-01 5.25641891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.7792541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.56, Y:207.02, Z:52.56 [[-6.45289414e-02 -9.97915781e-01 3.30439649e-04 4.47560824e+02] [ 9.97838241e-01 -6.45280496e-02 -1.24489397e-02 2.07019828e+02] [ 1.24443160e-02 -4.73591584e-04 9.99922454e-01 5.25640362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8092541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:447.56, Y:207.02, Z:52.56 [[-6.44543094e-02 -9.97920600e-01 3.44932664e-04 4.47561884e+02] [ 9.97833648e-01 -6.44532500e-02 -1.31829491e-02 2.07019010e+02] [ 1.31777685e-02 -5.05512460e-04 9.99913042e-01 5.25643463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.839254154 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.56, Y:207.03, Z:52.56 [[-6.28845178e-02 -9.98020742e-01 3.68573298e-04 4.47564023e+02] [ 9.97918577e-01 -6.28833577e-02 -1.42897445e-02 2.07027881e+02] [ 1.42846386e-02 -5.30797552e-04 9.99897828e-01 5.25649811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8692541539999 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:447.56, Y:207.03, Z:52.57 [[-6.11736938e-02 -9.98127067e-01 3.70707477e-04 4.47564842e+02] [ 9.98020487e-01 -6.11725824e-02 -1.45953330e-02 2.07028451e+02] [ 1.45906740e-02 -5.22876773e-04 9.99893414e-01 5.25656462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.8992541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.56, Y:207.04, Z:52.57 [[-5.89397868e-02 -9.98261470e-01 3.73415787e-04 4.47564908e+02] [ 9.98149894e-01 -5.89387852e-02 -1.49334700e-02 2.07036745e+02] [ 1.49295163e-02 -5.07450607e-04 9.99888420e-01 5.25661913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9292541539999 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:447.57, Y:207.03, Z:52.57 [[-5.23682880e-02 -9.98627776e-01 3.56330847e-04 4.47565600e+02] [ 9.98522773e-01 -5.23679508e-02 -1.44868724e-02 2.07026248e+02] [ 1.44856535e-02 -4.02848242e-04 9.99894996e-01 5.25677365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.959254154 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:447.57, Y:207.03, Z:52.57 [[-4.79567043e-02 -9.98849358e-01 3.38479247e-04 4.47566119e+02] [ 9.98751402e-01 -4.79567428e-02 -1.39924509e-02 2.07026378e+02] [ 1.39925830e-02 -3.32975210e-04 9.99902044e-01 5.25680824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 635.9892541539999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:447.57, Y:207.03, Z:52.57 [[-4.33408368e-02 -9.99060292e-01 3.23857585e-04 4.47566601e+02] [ 9.98967538e-01 -4.33412268e-02 -1.36159991e-02 2.07026404e+02] [ 1.36172405e-02 -2.66605582e-04 9.99907246e-01 5.25682923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0192541539999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:447.57, Y:207.03, Z:52.57 [[-3.45257866e-02 -9.99403753e-01 3.28629730e-04 4.47567367e+02] [ 9.99305094e-01 -3.45269960e-02 -1.40433848e-02 2.07025236e+02] [ 1.40463581e-02 -1.56457542e-04 9.99901333e-01 5.25689814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.0492541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.57, Y:207.02, Z:52.57 [[-3.06739216e-02 -9.99529389e-01 3.32836761e-04 4.47567874e+02] [ 9.99424794e-01 -3.06755268e-02 -1.44600295e-02 2.07021918e+02] [ 1.44634344e-02 -1.10900499e-04 9.99895393e-01 5.25690873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.079254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:447.57, Y:207.03, Z:52.57 [[-2.53163857e-02 -9.99679430e-01 3.43337085e-04 4.47569450e+02] [ 9.99564395e-01 -2.53186809e-02 -1.51652268e-02 2.07026801e+02] [ 1.51690582e-02 -4.07412065e-05 9.99884942e-01 5.25696676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1092541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.57, Y:207.03, Z:52.57 [[-2.35128704e-02 -9.99723476e-01 3.40054545e-04 4.47570958e+02] [ 9.99606636e-01 -2.35153212e-02 -1.52840564e-02 2.07026191e+02] [ 1.52878265e-02 -1.94512569e-05 9.99883134e-01 5.25697371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1392541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:447.57, Y:207.03, Z:52.57 [[-2.25878789e-02 -9.99744804e-01 3.38415350e-04 4.47572629e+02] [ 9.99624937e-01 -2.25904110e-02 -1.54809181e-02 2.07030208e+02] [ 1.54846123e-02 -1.13926783e-05 9.99880106e-01 5.25699372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.1692541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.57, Y:207.03, Z:52.57 [[-2.23964767e-02 -9.99749113e-01 3.29808843e-04 4.47574777e+02] [ 9.99631035e-01 -2.23989003e-02 -1.53649871e-02 2.07032334e+02] [ 1.53685196e-02 -1.44344202e-05 9.99881897e-01 5.25699519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.199254154 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:447.58, Y:207.03, Z:52.57 [[-2.42530152e-02 -9.99705798e-01 3.30928137e-04 4.47579512e+02] [ 9.99582521e-01 -2.42552214e-02 -1.56992822e-02 2.07032180e+02] [ 1.57026902e-02 -4.99649480e-05 9.99876704e-01 5.25702584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2292541539999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:447.58, Y:207.04, Z:52.57 [[-2.60072245e-02 -9.99661700e-01 3.31840552e-04 4.47581264e+02] [ 9.99533049e-01 -2.60092012e-02 -1.60376057e-02 2.07043692e+02] [ 1.60408111e-02 -8.54080127e-05 9.99871334e-01 5.25704430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2592541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.59, Y:207.05, Z:52.57 [[-3.05763870e-02 -9.99532379e-01 3.27581317e-04 4.47585717e+02] [ 9.99402087e-01 -3.05776907e-02 -1.61391738e-02 2.07047368e+02] [ 1.61416435e-02 -1.66092174e-04 9.99869701e-01 5.25703571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.2892541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.59, Y:207.05, Z:52.57 [[-3.28597777e-02 -9.99459923e-01 3.12059718e-04 4.47588107e+02] [ 9.99336833e-01 -3.28606286e-02 -1.56867221e-02 2.07052562e+02] [ 1.56885045e-02 -2.03609429e-04 9.99876907e-01 5.25700916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.319254154 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.59, Y:207.06, Z:52.57 [[-3.84174463e-02 -9.99261739e-01 2.76112367e-04 4.47593382e+02] [ 9.99161088e-01 -3.84174962e-02 -1.41850948e-02 2.07057688e+02] [ 1.41852301e-02 -2.69074385e-04 9.99899348e-01 5.25701398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3492541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.60, Y:207.06, Z:52.57 [[-4.10754865e-02 -9.99156013e-01 2.55552392e-04 4.47595714e+02] [ 9.99065993e-01 -4.10752170e-02 -1.34152346e-02 2.07060316e+02] [ 1.34144091e-02 -2.95723582e-04 9.99909979e-01 5.25701810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.3792541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:447.60, Y:207.06, Z:52.57 [[-4.39172452e-02 -9.99035145e-01 2.35733307e-04 4.47597676e+02] [ 9.98955073e-01 -4.39167108e-02 -1.26524277e-02 2.07064616e+02] [ 1.26505725e-02 -3.20172786e-04 9.99919927e-01 5.25701475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4092541539999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:447.60, Y:207.07, Z:52.57 [[-5.04991694e-02 -9.98724081e-01 2.08627967e-04 4.47601239e+02] [ 9.98658320e-01 -5.04982396e-02 -1.14668538e-02 2.07074140e+02] [ 1.14627584e-02 -3.70718537e-04 9.99934232e-01 5.25703932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.439254154 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:447.60, Y:207.08, Z:52.57 [[-5.38492795e-02 -9.98549056e-01 1.96527407e-04 4.47603153e+02] [ 9.98487950e-01 -5.38481598e-02 -1.10539184e-02 2.07076175e+02] [ 1.10484624e-02 -3.99015291e-04 9.99938884e-01 5.25706134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4692541539999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:447.61, Y:207.08, Z:52.57 [[-6.09401257e-02 -9.98141410e-01 1.65246593e-04 4.47607114e+02] [ 9.98095852e-01 -6.09389245e-02 -9.54553416e-03 2.07082855e+02] [ 9.53786287e-03 -4.16774112e-04 9.99954427e-01 5.25705996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.4992541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:447.61, Y:207.09, Z:52.57 [[-6.40572696e-02 -9.97946213e-01 1.52243744e-04 4.47609191e+02] [ 9.97905547e-01 -6.40560352e-02 -9.01902988e-03 2.07089349e+02] [ 9.01025884e-03 -4.25809552e-04 9.99959316e-01 5.25707019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5292541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.61, Y:207.10, Z:52.57 [[-6.70598465e-02 -9.97748946e-01 1.33517930e-04 4.47611125e+02] [ 9.97715894e-01 -6.70587132e-02 -8.13170976e-03 2.07097031e+02] [ 8.12235838e-03 -4.12098248e-04 9.99966928e-01 5.25704292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.5592541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:447.62, Y:207.10, Z:52.57 [[-7.15573392e-02 -9.97436483e-01 1.01610553e-04 4.47615209e+02] [ 9.97415961e-01 -7.15565198e-02 -6.40818823e-03 2.07103009e+02] [ 6.39903163e-03 -3.57204911e-04 9.99979462e-01 5.25702276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.589254154 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:447.62, Y:207.11, Z:52.57 [[-7.35244925e-02 -9.97293407e-01 1.01673207e-04 4.47616482e+02] [ 9.97271820e-01 -7.35235711e-02 -6.57275833e-03 2.07109553e+02] [ 6.56244392e-03 -3.81862896e-04 9.99978394e-01 5.25706912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6192541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:447.62, Y:207.11, Z:52.57 [[-7.59448862e-02 -9.97112012e-01 9.83574351e-05 4.47619804e+02] [ 9.97090699e-01 -7.59439071e-02 -6.53160679e-03 2.07111971e+02] [ 6.52021324e-03 -3.97970851e-04 9.99978664e-01 5.25703767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6492541539999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:447.62, Y:207.11, Z:52.57 [[-7.61918363e-02 -9.97093173e-01 9.26533052e-05 4.47621661e+02] [ 9.97073144e-01 -7.61908941e-02 -6.33193982e-03 2.07110734e+02] [ 6.32059330e-03 -3.90059999e-04 9.99979949e-01 5.25696447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.6792541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:447.62, Y:207.12, Z:52.57 [[-7.65437665e-02 -9.97066217e-01 1.03295372e-04 4.47622395e+02] [ 9.97040218e-01 -7.65425180e-02 -7.21435531e-03 2.07123553e+02] [ 7.20109644e-03 -4.49224288e-04 9.99973971e-01 5.25696755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.709254154 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:447.62, Y:207.12, Z:52.57 [[-7.53724186e-02 -9.97155447e-01 1.14428482e-04 4.47623828e+02] [ 9.97122019e-01 -7.53708306e-02 -8.18025740e-03 2.07124954e+02] [ 8.16561279e-03 -5.02466626e-04 9.99966535e-01 5.25689684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7392541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:447.62, Y:207.12, Z:52.57 [[-7.38327577e-02 -9.97270631e-01 1.13629411e-04 4.47624355e+02] [ 9.97235747e-01 -7.38311272e-02 -8.35644330e-03 2.07119436e+02] [ 8.34202487e-03 -5.03663943e-04 9.99965078e-01 5.25689457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7692541539999 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:447.62, Y:207.12, Z:52.57 [[-7.16912767e-02 -9.97426863e-01 1.15160462e-04 4.47624530e+02] [ 9.97388948e-01 -7.16895573e-02 -8.71167504e-03 2.07121728e+02] [ 8.69751451e-03 -5.09691333e-04 9.99962046e-01 5.25688045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.7992541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:447.63, Y:207.12, Z:52.57 [[-6.64588746e-02 -9.97789159e-01 1.10093913e-04 4.47625004e+02] [ 9.97752248e-01 -6.64573644e-02 -8.59478455e-03 2.07121125e+02] [ 8.58309940e-03 -4.61353259e-04 9.99963058e-01 5.25683969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.829254154 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:447.63, Y:207.12, Z:52.57 [[-6.22364642e-02 -9.98061427e-01 9.93476711e-05 4.47625162e+02] [ 9.98029190e-01 -6.22352534e-02 -8.03181669e-03 2.07121831e+02] [ 8.02242935e-03 -4.00719996e-04 9.99967740e-01 5.25681471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8592541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:447.62, Y:207.12, Z:52.57 [[-5.33064824e-02 -9.98578195e-01 8.74306847e-05 4.47623065e+02] [ 9.98551271e-01 -5.33056877e-02 -7.33911743e-03 2.07121171e+02] [ 7.33334319e-03 -3.03918512e-04 9.99973065e-01 5.25679649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.8892541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:447.62, Y:207.11, Z:52.57 [[-4.76827206e-02 -9.98862530e-01 7.21131105e-05 4.47621473e+02] [ 9.98842568e-01 -4.76822239e-02 -6.31903198e-03 2.07114968e+02] [ 6.31528278e-03 -2.29278992e-04 9.99980032e-01 5.25679085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9192541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:447.62, Y:207.11, Z:52.57 [[-4.15875190e-02 -9.99134863e-01 5.74863570e-05 4.47619772e+02] [ 9.99120886e-01 -4.15872415e-02 -5.28745242e-03 2.07114552e+02] [ 5.28526875e-03 -1.62456208e-04 9.99986020e-01 5.25681507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.949254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:447.62, Y:207.11, Z:52.57 [[-2.94949284e-02 -9.99564930e-01 2.43173696e-05 4.47617482e+02] [ 9.99561671e-01 -2.94948944e-02 -2.55277969e-03 2.07113121e+02] [ 2.55238629e-03 -5.09873437e-05 9.99996741e-01 5.25680933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 636.9792541539999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:447.62, Y:207.11, Z:52.57 [[-2.33768121e-02 -9.99726725e-01 4.21904437e-06 4.47616709e+02] [ 9.99726396e-01 -2.33768078e-02 -8.10790341e-04 2.07108162e+02] [ 8.10667399e-04 -1.47358034e-05 9.99999671e-01 5.25676858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0092541539999 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:447.62, Y:207.10, Z:52.57 [[-1.26802723e-02 -9.99919602e-01 -2.10857610e-05 4.47615813e+02] [ 9.99918395e-01 -1.26802898e-02 1.55371871e-03 2.07102964e+02] [-1.55386117e-03 -1.38246381e-06 9.99998793e-01 5.25670765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0392541539999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:447.62, Y:207.10, Z:52.57 [[-8.12447136e-03 -9.99966995e-01 -3.13269522e-05 4.47615497e+02] [ 9.99963561e-01 -8.12452556e-03 2.62066700e-03 2.07102098e+02] [-2.62083502e-03 -1.00342766e-05 9.99996566e-01 5.25664402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.069254154 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:447.62, Y:207.10, Z:52.57 [[-7.73393616e-03 -9.99970092e-01 -3.02979684e-05 4.47615393e+02] [ 9.99966658e-01 -7.73398900e-03 2.62067819e-03 2.07104727e+02] [-2.62083413e-03 -1.00288004e-05 9.99996566e-01 5.25664104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.0992541539999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:447.62, Y:207.11, Z:52.57 [[-3.98518247e-03 -9.99992058e-01 -3.73636946e-05 4.47615232e+02] [ 9.99986001e-01 -3.98528839e-03 3.48080339e-03 2.07105995e+02] [-3.48092466e-03 -2.34915348e-05 9.99993941e-01 5.25661112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1292541539999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:447.62, Y:207.11, Z:52.57 [[-9.42503212e-04 -9.99999555e-01 -4.48321349e-05 4.47615232e+02] [ 9.99989608e-01 -9.42693809e-04 4.46051431e-03 2.07105070e+02] [-4.46055458e-03 -4.06276198e-05 9.99990051e-01 5.25656928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.1592541539999 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:447.62, Y:207.11, Z:52.56 [[ 1.12081811e-03 -9.99999371e-01 -5.32486853e-05 4.47615665e+02] [ 9.99983478e-01 1.12050008e-03 5.63807313e-03 2.07107296e+02] [-5.63800991e-03 -5.95670600e-05 9.99984105e-01 5.25648928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.189254154 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:447.62, Y:207.11, Z:52.56 [[ 2.29767072e-03 -9.99997359e-01 -5.98151744e-05 4.47617847e+02] [ 9.99974905e-01 2.29721826e-03 6.70170031e-03 2.07107757e+02] [-6.70154520e-03 -7.52119739e-05 9.99977542e-01 5.25628813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2192541539999 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:447.62, Y:207.11, Z:52.56 [[ 1.97485795e-03 -9.99998048e-01 -6.14960636e-05 4.47619786e+02] [ 9.99971786e-01 1.97436038e-03 7.24769564e-03 2.07112668e+02] [-7.24756008e-03 -7.58074979e-05 9.99973733e-01 5.25616183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2492541539999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:447.62, Y:207.12, Z:52.56 [[-6.50025613e-04 -9.99999786e-01 -6.95486033e-05 4.47624532e+02] [ 9.99961905e-01 -6.50606365e-04 8.70438403e-03 2.07116027e+02] [-8.70442742e-03 -6.38878812e-05 9.99962114e-01 5.25596010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.2792541539999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:447.63, Y:207.13, Z:52.56 [[-2.62242980e-03 -9.99996559e-01 -7.34548323e-05 4.47626541e+02] [ 9.99949170e-01 -2.62302064e-03 9.73540462e-03 2.07125019e+02] [-9.73556379e-03 -4.79206834e-05 9.99952607e-01 5.25591001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3092541539999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:447.63, Y:207.12, Z:52.56 [[-5.08290607e-03 -9.99987079e-01 -7.65484759e-05 4.47628645e+02] [ 9.99929113e-01 -5.08343563e-03 1.07669879e-02 2.07124939e+02] [-1.07672379e-02 -2.18154616e-05 9.99942031e-01 5.25584821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.339254154 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:447.63, Y:207.13, Z:52.56 [[-1.09900261e-02 -9.99939604e-01 -8.41325368e-05 4.47633229e+02] [ 9.99859688e-01 -1.09902114e-02 1.26419463e-02 2.07134131e+02] [-1.26421074e-02 5.48145871e-05 9.99920084e-01 5.25569451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3692541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.64, Y:207.14, Z:52.56 [[-1.41543731e-02 -9.99899818e-01 -8.34099503e-05 4.47635619e+02] [ 9.99810585e-01 -1.41542242e-02 1.33586091e-02 2.07139983e+02] [-1.33584514e-02 1.05688586e-04 9.99910766e-01 5.25562029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.3992541539999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:447.64, Y:207.15, Z:52.55 [[-2.11940320e-02 -9.99775378e-01 -8.48463563e-05 4.47641021e+02] [ 9.99669178e-01 -2.11930175e-02 1.45736502e-02 2.07147505e+02] [-1.45721748e-02 2.24056123e-04 9.99893795e-01 5.25545220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4292541539999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:447.64, Y:207.15, Z:52.55 [[-2.46724732e-02 -9.99695585e-01 -8.26482683e-05 4.47643969e+02] [ 9.99579027e-01 -2.46708589e-02 1.52681830e-02 2.07153697e+02] [-1.52655742e-02 2.94090362e-04 9.99883431e-01 5.25534494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.459254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.65, Y:207.16, Z:52.55 [[-2.78478174e-02 -9.99612172e-01 -7.55317108e-05 4.47647141e+02] [ 9.99499099e-01 -2.78458037e-02 1.50387087e-02 2.07156287e+02] [-1.50349795e-02 3.43301338e-04 9.99886909e-01 5.25526040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.4892541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.65, Y:207.16, Z:52.55 [[-3.42675084e-02 -9.99412694e-01 -7.18549903e-05 4.47652044e+02] [ 9.99291565e-01 -3.42644744e-02 1.55664306e-02 2.07164437e+02] [-1.55597504e-02 4.61618707e-04 9.99878833e-01 5.25515016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5192541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.65, Y:207.17, Z:52.55 [[-3.68262931e-02 -9.99321680e-01 -6.81013705e-05 4.47653530e+02] [ 9.99190745e-01 -3.68225709e-02 1.61849505e-02 2.07169292e+02] [-1.61764796e-02 5.27985472e-04 9.99869013e-01 5.25512183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.5492541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.66, Y:207.18, Z:52.55 [[-4.13662477e-02 -9.99144048e-01 -6.63269662e-05 4.47656310e+02] [ 9.98990786e-01 -4.13610649e-02 1.75120549e-02 2.07179072e+02] [-1.74998088e-02 6.58147975e-04 9.99846650e-01 5.25509752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.579254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.66, Y:207.16, Z:52.55 [[-3.96338814e-02 -9.99198489e-01 -5.61566952e-03 4.47662204e+02] [ 9.99095677e-01 -3.97151366e-02 1.51833900e-02 2.07161783e+02] [-1.53942474e-02 -5.00881447e-03 9.99868956e-01 5.25514400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6092541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.66, Y:207.16, Z:52.55 [[-4.17084089e-02 -9.99127604e-01 -2.10693644e-03 4.47661792e+02] [ 9.99026170e-01 -4.17343642e-02 1.43162055e-02 2.07164478e+02] [-1.43916477e-02 -1.50777849e-03 9.99895298e-01 5.25528419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6392541539999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:447.66, Y:207.19, Z:52.55 [[-4.88179802e-02 -9.98776229e-01 7.92770432e-03 4.47657709e+02] [ 9.98632434e-01 -4.86591944e-02 1.91192360e-02 2.07187243e+02] [-1.87100828e-02 8.85022514e-03 9.99785780e-01 5.25515747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.6692541539999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:447.66, Y:207.19, Z:52.55 [[-4.95643076e-02 -9.98770933e-01 -4.80429422e-05 4.47661922e+02] [ 9.98585728e-01 -4.95560429e-02 1.92546866e-02 2.07190341e+02] [-1.92334021e-02 9.06370211e-04 9.99814610e-01 5.25489857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.699254154 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.66, Y:207.20, Z:52.55 [[-5.00205019e-02 -9.98748190e-01 -4.00132295e-05 4.47661830e+02] [ 9.98566201e-01 -5.00121521e-02 1.90873321e-02 2.07196425e+02] [-1.90654395e-02 9.14802072e-04 9.99817820e-01 5.25484324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7292541539999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:447.66, Y:207.20, Z:52.55 [[-4.99741751e-02 -9.98750510e-01 -3.16471978e-05 4.47661287e+02] [ 9.98577677e-01 -4.99661165e-02 1.86013620e-02 2.07198547e+02] [-1.85797010e-02 8.97985534e-04 9.99826979e-01 5.25482115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7592541539999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:447.66, Y:207.20, Z:52.55 [[-4.93552802e-02 -9.98781285e-01 -2.39679470e-05 4.47660807e+02] [ 9.98612129e-01 -4.93473628e-02 1.84025703e-02 2.07200151e+02] [-1.83813256e-02 8.84329330e-04 9.99830658e-01 5.25477681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.7892541539999 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:447.66, Y:207.20, Z:52.55 [[-4.90467380e-02 -9.98796484e-01 -1.61323727e-05 4.47660272e+02] [ 9.98639918e-01 -4.90393356e-02 1.77047404e-02 2.07202697e+02] [-1.76842235e-02 8.52249330e-04 9.99843259e-01 5.25471981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.819254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.66, Y:207.40, Z:52.55 [[-4.86907242e-02 -9.98799315e-01 5.39831971e-03 4.47656643e+02] [ 9.98687229e-01 -4.85977630e-02 1.61887477e-02 2.07403435e+02] [-1.59069639e-02 6.17947480e-03 9.99854381e-01 5.25450699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8492541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:447.66, Y:207.21, Z:52.54 [[-4.80982935e-02 -9.98827633e-01 -5.46939776e-03 4.47661345e+02] [ 9.98738788e-01 -4.81715202e-02 1.41540506e-02 2.07209935e+02] [-1.44009261e-02 -4.78171401e-03 9.99884868e-01 5.25443921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.8792541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.66, Y:207.24, Z:52.55 [[-4.88584848e-02 -9.98796239e-01 -4.34992742e-03 4.47659326e+02] [ 9.98757392e-01 -4.88984960e-02 9.62340747e-03 2.07240091e+02] [-9.82452809e-03 -3.87433705e-03 9.99944233e-01 5.25476221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9092541539999 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:447.65, Y:207.82, Z:52.54 [[-5.32593805e-02 -9.98541593e-01 8.83886726e-03 4.47649225e+02] [ 9.98492626e-01 -5.31350304e-02 1.37529923e-02 2.07819159e+02] [-1.32632813e-02 9.55801963e-03 9.99866356e-01 5.25397525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.939254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:448.34, Y:207.39, Z:52.68 [[-9.81903654e-04 -1.63232992e-01 -9.86587060e-01 4.48341277e+02] [ 9.99992292e-01 3.59038704e-03 -1.58928266e-03 2.07390892e+02] [ 3.80165276e-03 -9.86581015e-01 1.63228209e-01 5.26806195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9692541539999 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:447.64, Y:207.43, Z:52.51 [[-3.99963758e-02 -9.99199085e-01 1.21626697e-03 4.47643999e+02] [ 9.97673090e-01 -4.00024972e-02 -5.52105681e-02 2.07433831e+02] [ 5.52150028e-02 -9.94785800e-04 9.98473993e-01 5.25071735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 637.9992541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.65, Y:207.46, Z:52.51 [[-3.99418410e-02 -9.99189410e-01 -5.01729492e-03 4.47645047e+02] [ 9.97744726e-01 -3.96119925e-02 -5.41881228e-02 2.07461063e+02] [ 5.39454534e-02 -7.17035293e-03 9.98518139e-01 5.25080531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0292541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.64, Y:207.49, Z:52.51 [[-3.66768076e-02 -9.99327047e-01 -5.15347873e-04 4.47638638e+02] [ 9.97907483e-01 -3.65972190e-02 -5.33038293e-02 2.07488909e+02] [ 5.32490980e-02 -2.46928379e-03 9.98578207e-01 5.25117691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.0592541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.63, Y:207.52, Z:52.52 [[-3.21641375e-02 -9.99426401e-01 1.05989112e-02 4.47633999e+02] [ 9.98140539e-01 -3.26684986e-02 -5.14609870e-02 2.07521138e+02] [ 5.17777196e-02 8.92400467e-03 9.98618761e-01 5.25151527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.089254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.64, Y:207.54, Z:52.51 [[-3.15018171e-02 -9.99429743e-01 -1.21582819e-02 4.47639687e+02] [ 9.98142031e-01 -3.08218308e-02 -5.25595033e-02 2.07544509e+02] [ 5.21547904e-02 -1.37914120e-02 9.98543777e-01 5.25128458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1192541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.63, Y:207.57, Z:52.52 [[-2.81438606e-02 -9.99603779e-01 -4.56165671e-04 4.47631186e+02] [ 9.98258415e-01 -2.80823067e-02 -5.18798634e-02 2.07571096e+02] [ 5.18464973e-02 -1.91547086e-03 9.98653229e-01 5.25181579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1492541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:447.63, Y:207.60, Z:52.52 [[-2.12159977e-02 -9.99774820e-01 -4.37179872e-04 4.47626322e+02] [ 9.98494209e-01 -2.11666919e-02 -5.06091532e-02 2.07598425e+02] [ 5.05885034e-02 -1.51024525e-03 9.98718440e-01 5.25211578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.1792541539999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:447.62, Y:207.63, Z:52.52 [[-1.80538727e-02 -9.99836928e-01 -4.17863468e-04 4.47624354e+02] [ 9.98580587e-01 -1.80102387e-02 -5.01242666e-02 2.07625123e+02] [ 5.01085669e-02 -1.32220748e-03 9.98742902e-01 5.25231038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.209254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.63, Y:207.65, Z:52.53 [[-1.36351935e-02 -9.99696296e-01 -2.05279648e-02 4.47628830e+02] [ 9.98438795e-01 -1.25001593e-02 -5.44400439e-02 2.07651620e+02] [ 5.41669074e-02 -2.12382170e-02 9.98306007e-01 5.25278388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2392541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:447.61, Y:207.68, Z:52.53 [[-1.18061961e-02 -9.99732635e-01 1.98814318e-02 4.47610356e+02] [ 9.98643916e-01 -1.27968945e-02 -5.04635288e-02 2.07682527e+02] [ 5.07044572e-02 1.92586886e-02 9.98527997e-01 5.25320100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2692541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:447.62, Y:207.71, Z:52.53 [[-1.25485586e-02 -9.99921181e-01 -4.07325052e-04 4.47619302e+02] [ 9.98578545e-01 -1.25106036e-02 -5.18109581e-02 2.07710156e+02] [ 5.18017785e-02 -1.05689890e-03 9.98656827e-01 5.25274578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.2992541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:447.62, Y:207.74, Z:52.53 [[-1.34521191e-02 -9.99909437e-01 -3.97854966e-04 4.47618961e+02] [ 9.98524702e-01 -1.34125540e-02 -5.26167532e-02 2.07736751e+02] [ 5.26066518e-02 -1.10507484e-03 9.98614700e-01 5.25282930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.329254154 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.62, Y:207.76, Z:52.53 [[-1.56411448e-02 -9.99877592e-01 -3.95346186e-04 4.47617981e+02] [ 9.98431651e-01 -1.55972664e-02 -5.37676877e-02 2.07764713e+02] [ 5.37549397e-02 -1.23571433e-03 9.98553393e-01 5.25300994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3592541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.62, Y:207.79, Z:52.53 [[-1.94075179e-02 -9.99811578e-01 -3.94993899e-04 4.47617475e+02] [ 9.98243959e-01 -1.93549704e-02 -5.59855614e-02 2.07791525e+02] [ 5.59673674e-02 -1.48084106e-03 9.98431500e-01 5.25310226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.3892541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:447.62, Y:207.82, Z:52.53 [[-2.19023263e-02 -9.99760040e-01 -3.88420942e-04 4.47617211e+02] [ 9.98150125e-01 -2.18450137e-02 -5.67373165e-02 2.07819339e+02] [ 5.67152167e-02 -1.63038163e-03 9.98389066e-01 5.25326752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4192541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:447.61, Y:207.86, Z:52.53 [[-2.03149674e-02 -9.99255978e-01 3.27840222e-02 4.47607648e+02] [ 9.98525787e-01 -2.19291418e-02 -4.96524567e-02 2.07857231e+02] [ 5.03344397e-02 3.17270035e-02 9.98228351e-01 5.25340702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.449254154 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:447.63, Y:207.88, Z:52.53 [[-2.81226301e-02 -9.98996172e-01 -3.48678413e-02 4.47633310e+02] [ 9.98016837e-01 -2.60956996e-02 -5.72835676e-02 2.07876802e+02] [ 5.63161641e-02 -3.64096573e-02 9.97748880e-01 5.25277711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.4792541539999 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:447.62, Y:207.90, Z:52.54 [[-3.01284487e-02 -9.99545977e-01 -3.40813661e-04 4.47615826e+02] [ 9.97896572e-01 -3.00591482e-02 -5.74358683e-02 2.07903874e+02] [ 5.73995465e-02 -2.07055039e-03 9.98349140e-01 5.25388043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5092541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:447.61, Y:207.93, Z:52.54 [[-3.27515396e-02 -9.99462092e-01 1.69228252e-03 4.47613950e+02] [ 9.97807843e-01 -3.27946570e-02 -5.74806039e-02 2.07929833e+02] [ 5.75051824e-02 -1.94005503e-04 9.98345189e-01 5.25413718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5392541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:447.61, Y:207.96, Z:52.54 [[-3.31676829e-02 -9.99446982e-01 2.37368276e-03 4.47614047e+02] [ 9.97691093e-01 -3.32500574e-02 -5.92192250e-02 2.07957528e+02] [ 5.92654008e-02 4.04037670e-04 9.98242180e-01 5.25439344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.569254154 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:447.62, Y:207.99, Z:52.54 [[-3.62395694e-02 -9.99332208e-01 -4.67240195e-03 4.47617782e+02] [ 9.97681023e-01 -3.59093546e-02 -5.78195065e-02 2.07986899e+02] [ 5.76131122e-02 -6.75692077e-03 9.98316119e-01 5.25435673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.5992541539999 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:447.61, Y:208.02, Z:52.55 [[-3.42376634e-02 -9.99334760e-01 1.25626577e-02 4.47613189e+02] [ 9.97906330e-01 -3.48734474e-02 -5.44683419e-02 2.08018889e+02] [ 5.48702105e-02 1.06714869e-02 9.98436467e-01 5.25455562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6292541539999 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:447.62, Y:208.04, Z:52.54 [[-3.81283015e-02 -9.99176818e-01 -1.38535064e-02 4.47622202e+02] [ 9.97559781e-01 -3.72478512e-02 -5.90515178e-02 2.08042322e+02] [ 5.84868943e-02 -1.60712348e-02 9.98158804e-01 5.25435631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.6592541539999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:447.61, Y:208.07, Z:52.55 [[-3.89502604e-02 -9.99241106e-01 -3.00251158e-04 4.47614656e+02] [ 9.97528810e-01 -3.88659285e-02 -5.85295868e-02 2.08070262e+02] [ 5.84734995e-02 -2.57925183e-03 9.98285629e-01 5.25497613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.689254154 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:447.61, Y:208.10, Z:52.55 [[-3.73921966e-02 -9.99300627e-01 -2.85283323e-04 4.47613669e+02] [ 9.97566927e-01 -3.73105120e-02 -5.88910176e-02 2.08096683e+02] [ 5.88391867e-02 -2.48665371e-03 9.98264377e-01 5.25518576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7192541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.61, Y:208.12, Z:52.55 [[-3.62227593e-02 -9.99343702e-01 -2.76633581e-04 4.47612717e+02] [ 9.97585061e-01 -3.61425965e-02 -5.93106943e-02 2.08124276e+02] [ 5.92617706e-02 -2.42436253e-03 9.98239533e-01 5.25535616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7492541539999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:447.61, Y:208.15, Z:52.56 [[-3.51040657e-02 -9.99383629e-01 -2.59862599e-04 4.47611649e+02] [ 9.97618580e-01 -3.50266175e-02 -5.94163641e-02 2.08152368e+02] [ 5.93706394e-02 -2.34499971e-03 9.98233253e-01 5.25550929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.7792541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.61, Y:208.18, Z:52.56 [[-3.20290477e-02 -9.99486908e-01 -2.47815913e-04 4.47610340e+02] [ 9.97644353e-01 -3.19549517e-02 -6.07011209e-02 2.08179283e+02] [ 6.06620567e-02 -2.19143124e-03 9.98155956e-01 5.25565008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8092541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.61, Y:208.21, Z:52.56 [[-2.86953155e-02 -9.99588177e-01 -2.34090552e-04 4.47609128e+02] [ 9.97706576e-01 -2.86269360e-02 -6.13358479e-02 2.08206696e+02] [ 6.13038871e-02 -1.99360519e-03 9.98117157e-01 5.25572665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.839254154 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:447.61, Y:208.23, Z:52.56 [[-2.74661268e-02 -9.99622711e-01 -2.17959342e-04 4.47608229e+02] [ 9.97708402e-01 -2.74000393e-02 -6.18642344e-02 2.08234276e+02] [ 6.18349216e-02 -1.91663077e-03 9.98084550e-01 5.25586734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8692541539999 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:447.61, Y:208.26, Z:52.56 [[-2.60929421e-02 -9.99659501e-01 -2.02862689e-04 4.47607386e+02] [ 9.97704434e-01 -2.60292247e-02 -6.25167317e-02 2.08261194e+02] [ 6.24901644e-02 -1.83364246e-03 9.98043895e-01 5.25600366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.8992541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:447.61, Y:208.29, Z:52.56 [[-2.49000515e-02 -9.99689927e-01 -1.93886067e-04 4.47606546e+02] [ 9.97677204e-01 -2.48376171e-02 -6.34294049e-02 2.08288775e+02] [ 6.34049214e-02 -1.77283115e-03 9.97986309e-01 5.25615426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9292541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.60, Y:208.32, Z:52.56 [[-2.29672984e-02 -9.99736201e-01 -1.78140562e-04 4.47604504e+02] [ 9.97687323e-01 -2.29088260e-02 -6.39936825e-02 2.08315896e+02] [ 6.39727201e-02 -1.64749058e-03 9.97950288e-01 5.25625412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.959254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.60, Y:208.34, Z:52.56 [[-2.32385389e-02 -9.99729935e-01 -1.66503205e-04 4.47604498e+02] [ 9.97681052e-01 -2.31802550e-02 -6.39937129e-02 2.08344262e+02] [ 6.39725709e-02 -1.65323748e-03 9.97950288e-01 5.25640418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 638.9892541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:447.60, Y:208.37, Z:52.57 [[-2.27147193e-02 -9.99741976e-01 -1.50411478e-04 4.47603331e+02] [ 9.97646968e-01 -2.26573841e-02 -6.47083477e-02 2.08372371e+02] [ 6.46882434e-02 -1.61988951e-03 9.97904207e-01 5.25661201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0192541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:447.60, Y:208.40, Z:52.57 [[-2.27296479e-02 -9.99741640e-01 -1.31461937e-04 4.47602156e+02] [ 9.97656618e-01 -2.26737553e-02 -6.45536428e-02 2.08400097e+02] [ 6.45339840e-02 -1.59843544e-03 9.97914230e-01 5.25676813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.0492541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.60, Y:208.43, Z:52.57 [[-2.23210684e-02 -9.99750847e-01 -1.14149091e-04 4.47601213e+02] [ 9.97675779e-01 -2.22673862e-02 -6.43987891e-02 2.08427238e+02] [ 6.43802022e-02 -1.55133356e-03 9.97924237e-01 5.25692993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.079254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:447.60, Y:208.46, Z:52.57 [[-2.25347790e-02 -9.99746054e-01 -1.02651356e-04 4.47600908e+02] [ 9.97659291e-01 -2.24811114e-02 -6.45797153e-02 2.08455452e+02] [ 6.45610078e-02 -1.55770069e-03 9.97912546e-01 5.25708891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1092541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:447.60, Y:208.48, Z:52.57 [[-2.26446186e-02 -9.99743574e-01 -8.47130951e-05 4.47599994e+02] [ 9.97654005e-01 -2.25918132e-02 -6.46227211e-02 2.08482138e+02] [ 6.46042363e-02 -1.54787123e-03 9.97909764e-01 5.25726197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1392541539999 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:447.60, Y:208.51, Z:52.57 [[-2.27633865e-02 -9.99740878e-01 -6.69303624e-05 4.47599536e+02] [ 9.97730492e-01 -2.27133678e-02 -6.33874523e-02 2.08510322e+02] [ 6.33695070e-02 -1.50969154e-03 9.97988991e-01 5.25741295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.1692541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:447.60, Y:208.54, Z:52.58 [[-2.29129388e-02 -9.99737463e-01 -4.87204771e-05 4.47599237e+02] [ 9.97779024e-01 -2.28650045e-02 -6.25636475e-02 2.08538213e+02] [ 6.25461082e-02 -1.48212930e-03 9.98040975e-01 5.25760339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.199254154 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:447.60, Y:208.57, Z:52.58 [[-2.07179493e-02 -9.99785360e-01 -3.03311400e-05 4.47599092e+02] [ 9.97982983e-01 -2.06787788e-02 -6.00196162e-02 2.08566093e+02] [ 6.00061063e-02 -1.27375332e-03 9.98197197e-01 5.25771982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2292541539999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:447.60, Y:208.59, Z:52.58 [[-1.96368557e-02 -9.99807178e-01 -1.38875462e-05 4.47598385e+02] [ 9.98091788e-01 -1.96023510e-02 -5.85536511e-02 2.08592889e+02] [ 5.85420885e-02 -1.16367064e-03 9.98284263e-01 5.25793836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2592541539999 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:447.60, Y:208.62, Z:52.58 [[-1.58748080e-02 -9.99873987e-01 -4.24906798e-06 4.47598037e+02] [ 9.98216844e-01 -1.58482533e-02 -5.75496830e-02 2.08619977e+02] [ 5.75423637e-02 -9.17831660e-04 9.98342644e-01 5.25807843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.2892541539999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:447.60, Y:208.62, Z:52.58 [[-1.39607538e-02 -9.99902544e-01 6.97451502e-06 4.47597923e+02] [ 9.98249112e-01 -1.39380694e-02 -5.74842702e-02 2.08621614e+02] [ 5.74787652e-02 -7.95561440e-04 9.98346412e-01 5.25809392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.319254154 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:447.60, Y:208.65, Z:52.58 [[-1.33373430e-02 -9.99911054e-01 -1.31285595e-05 4.47597644e+02] [ 9.98233654e-01 -1.33142088e-02 -5.78990796e-02 2.08648582e+02] [ 5.78937549e-02 -7.85325254e-04 9.98322441e-01 5.25825150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3492541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:447.60, Y:208.68, Z:52.58 [[-1.37164131e-02 -9.99905926e-01 -3.27416100e-06 4.47598054e+02] [ 9.98190280e-01 -1.36926867e-02 -5.85548895e-02 2.08675963e+02] [ 5.85493361e-02 -8.06431289e-04 9.98284190e-01 5.25838162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.3792541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:447.60, Y:208.68, Z:52.58 [[-1.59910195e-02 -9.99872135e-01 8.27135815e-06 4.47599561e+02] [ 9.98068523e-01 -1.59626708e-02 -6.00367982e-02 2.08682703e+02] [ 6.00292536e-02 -9.51794227e-04 9.98196165e-01 5.25833107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4092541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:447.60, Y:208.71, Z:52.58 [[-1.77590315e-02 -9.99842296e-01 -1.11046573e-05 4.47601187e+02] [ 9.97988267e-01 -1.77254245e-02 -6.08705827e-02 2.08709534e+02] [ 6.08607863e-02 -1.09208492e-03 9.98145667e-01 5.25840143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.439254154 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:447.60, Y:208.74, Z:52.59 [[-2.07171881e-02 -9.99785376e-01 1.01457966e-06 4.47602202e+02] [ 9.97893392e-01 -2.06780455e-02 -6.14914390e-02 2.08736439e+02] [ 6.14782624e-02 -1.27291727e-03 9.98107611e-01 5.25853226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4692541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:447.60, Y:208.74, Z:52.59 [[-2.28855342e-02 -9.99738092e-01 7.28263266e-06 4.47603529e+02] [ 9.97817195e-01 -2.28420132e-02 -6.19603770e-02 2.08742811e+02] [ 6.19443154e-02 -1.41072959e-03 9.98078610e-01 5.25851572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.4992541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:447.60, Y:208.77, Z:52.59 [[-2.83006910e-02 -9.99599455e-01 -1.08796286e-05 4.47604837e+02] [ 9.97626754e-01 -2.82441563e-02 -6.27943322e-02 2.08770448e+02] [ 6.27688730e-02 -1.78797680e-03 9.98026489e-01 5.25865667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5292541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:447.61, Y:208.77, Z:52.59 [[-2.97024259e-02 -9.99558786e-01 1.97089737e-07 4.47605650e+02] [ 9.97541600e-01 -2.96424967e-02 -6.34986490e-02 2.08771667e+02] [ 6.34706383e-02 -1.88586731e-03 9.97981925e-01 5.25858763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.5592541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:447.61, Y:208.80, Z:52.59 [[-3.28124285e-02 -9.99461527e-01 -1.75392275e-05 4.47605725e+02] [ 9.97476488e-01 -3.27461540e-02 -6.29948059e-02 2.08799937e+02] [ 6.29603106e-02 -2.08450753e-03 9.98013855e-01 5.25881722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.589254154 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:447.61, Y:208.83, Z:52.59 [[-3.48468700e-02 -9.99392663e-01 9.04972505e-09 4.47606705e+02] [ 9.97420179e-01 -3.47780939e-02 -6.27970652e-02 2.08827044e+02] [ 6.27589265e-02 -2.18827214e-03 9.98026317e-01 5.25894521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6192541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:447.61, Y:208.83, Z:52.59 [[-3.77180863e-02 -9.99288420e-01 4.86484140e-06 4.47608284e+02] [ 9.97341436e-01 -3.76449012e-02 -6.23932842e-02 2.08825729e+02] [ 6.23490695e-02 -2.34850337e-03 9.98051641e-01 5.25894941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6492541539999 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:447.61, Y:208.85, Z:52.59 [[-3.93971182e-02 -9.99223632e-01 -1.33983886e-05 4.47608653e+02] [ 9.97306139e-01 -3.93206854e-02 -6.19221196e-02 2.08853584e+02] [ 6.18735184e-02 -2.45291536e-03 9.98080984e-01 5.25909236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.6792541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.61, Y:208.86, Z:52.59 [[-4.17384804e-02 -9.99128570e-01 -1.09957296e-06 4.47608918e+02] [ 9.97279635e-01 -4.16611745e-02 -6.08085229e-02 2.08856951e+02] [ 6.07554868e-02 -2.53915193e-03 9.98149450e-01 5.25916876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.709254154 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:447.61, Y:208.89, Z:52.59 [[-4.35697144e-02 -9.99050389e-01 -1.98502892e-05 4.47608826e+02] [ 9.97227794e-01 -4.34890294e-02 -6.03773997e-02 2.08885017e+02] [ 6.03192014e-02 -2.65042132e-03 9.98175620e-01 5.25935320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7392541539999 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:447.61, Y:208.91, Z:52.60 [[-4.50669487e-02 -9.98983969e-01 -2.28582512e-06 4.47609004e+02] [ 9.97178153e-01 -4.49853458e-02 -6.01003328e-02 2.08912553e+02] [ 6.00391661e-02 -2.71081799e-03 9.98192341e-01 5.25952331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7692541539999 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:447.61, Y:208.92, Z:52.60 [[-4.72286490e-02 -9.98884105e-01 1.01975093e-05 4.47610067e+02] [ 9.97088409e-01 -4.71443579e-02 -5.99342464e-02 2.08921522e+02] [ 5.98678468e-02 -2.82044567e-03 9.98202327e-01 5.25952951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.7992541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:447.61, Y:208.95, Z:52.60 [[-4.87868205e-02 -9.98809214e-01 -8.85542946e-06 4.47610671e+02] [ 9.96990659e-01 -4.86974585e-02 -6.03173570e-02 2.08949022e+02] [ 6.02451007e-02 -2.95152085e-03 9.98179251e-01 5.25966354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.829254154 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:447.61, Y:208.96, Z:52.60 [[-5.04542436e-02 -9.98726374e-01 3.26571710e-06 4.47611022e+02] [ 9.96906631e-01 -5.03625100e-02 -6.03389392e-02 2.08957070e+02] [ 6.02622544e-02 -3.04109992e-03 9.98177946e-01 5.25968660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8592541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:447.61, Y:208.98, Z:52.60 [[-5.14727713e-02 -9.98674398e-01 -1.60027449e-05 4.47610575e+02] [ 9.96841378e-01 -5.13773250e-02 -6.05610272e-02 2.08984182e+02] [ 6.04799252e-02 -3.13319610e-03 9.98164496e-01 5.25984943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.8892541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.61, Y:209.01, Z:52.60 [[-5.24222507e-02 -9.98625009e-01 4.78580284e-09 4.47609868e+02] [ 9.96773971e-01 -5.23250819e-02 -6.08583281e-02 2.09011760e+02] [ 6.07746487e-02 -3.19032576e-03 9.98146414e-01 5.25992860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9192541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:447.61, Y:209.01, Z:52.60 [[-5.18595581e-02 -9.98654388e-01 1.19462431e-05 4.47609741e+02] [ 9.96788093e-01 -5.17633735e-02 -6.11068776e-02 2.09009645e+02] [ 6.10252698e-02 -3.15706780e-03 9.98131229e-01 5.25989253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.949254154 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:447.61, Y:209.04, Z:52.60 [[-5.12847649e-02 -9.98684071e-01 -6.92166314e-06 4.47609746e+02] [ 9.96816672e-01 -5.11884460e-02 -6.11249928e-02 2.09037062e+02] [ 6.10442023e-02 -3.14168051e-03 9.98130119e-01 5.26000966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 639.9792541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:447.61, Y:209.03, Z:52.60 [[-4.77779057e-02 -9.98857984e-01 4.80995444e-06 4.47608121e+02] [ 9.96985325e-01 -4.76886264e-02 -6.12050384e-02 2.09029197e+02] [ 6.11353706e-02 -2.91945310e-03 9.98125214e-01 5.26004139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0092541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:447.61, Y:209.06, Z:52.60 [[-4.56757257e-02 -9.98956319e-01 -1.40349046e-05 4.47607267e+02] [ 9.97097358e-01 -4.55898709e-02 -6.09788644e-02 2.09057368e+02] [ 6.09145821e-02 -2.79924805e-03 9.98139057e-01 5.26019980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0392541539999 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:447.61, Y:209.05, Z:52.60 [[-3.91398405e-02 -9.99233743e-01 -2.41110621e-06 4.47605271e+02] [ 9.97381963e-01 -3.90671597e-02 -6.08520853e-02 2.09054207e+02] [ 6.08053628e-02 -2.38414571e-03 9.98146795e-01 5.26017827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.069254154 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:447.60, Y:209.08, Z:52.60 [[-3.60084752e-02 -9.99351484e-01 -2.14145415e-05 4.47603988e+02] [ 9.97519183e-01 -3.59411570e-02 -6.05286156e-02 2.09080741e+02] [ 6.04885922e-02 -2.20090457e-03 9.98166462e-01 5.26032977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.0992541539999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:447.60, Y:209.11, Z:52.60 [[-3.25046643e-02 -9.99471584e-01 -5.63546631e-06 4.47603019e+02] [ 9.97687210e-01 -3.24462964e-02 -5.97282856e-02 2.09108536e+02] [ 5.96965414e-02 -1.94707030e-03 9.98214672e-01 5.26046380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1292541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.60, Y:209.09, Z:52.60 [[-1.88639351e-02 -9.99821860e-01 -6.32606707e-04 4.47604472e+02] [ 9.98099970e-01 -1.87943204e-02 -5.86789862e-02 2.09087039e+02] [ 5.86566438e-02 -1.73832132e-03 9.98276703e-01 5.26022192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.1592541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:447.60, Y:209.11, Z:52.60 [[-1.84680033e-02 -9.99829427e-01 -2.22067491e-04 4.47599915e+02] [ 9.98017174e-01 -1.84211612e-02 -6.01862280e-02 2.09110033e+02] [ 6.01718711e-02 -1.33314662e-03 9.98187141e-01 5.26043624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.189254154 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:447.60, Y:209.14, Z:52.61 [[-1.52454340e-02 -9.99883764e-01 -1.89615686e-04 4.47598816e+02] [ 9.98055650e-01 -1.52060976e-02 -6.04458021e-02 2.09137405e+02] [ 6.04358928e-02 -1.11076950e-03 9.98171463e-01 5.26058228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2192541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:447.60, Y:209.17, Z:52.61 [[-8.75039705e-03 -9.99961699e-01 -1.73946337e-04 4.47597962e+02] [ 9.98091595e-01 -8.72339824e-03 -6.11315870e-02 2.09165563e+02] [ 6.11277283e-02 -7.08540035e-04 9.98129700e-01 5.26073802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2492541539999 meters Centerline goodness : 0.996789 Centerline is valid? [True, True] Translation: X:447.60, Y:209.19, Z:52.61 [[-7.81415064e-03 -9.99902979e-01 -1.15313584e-02 4.47601059e+02] [ 9.98061648e-01 -7.08672857e-03 -6.18281931e-02 2.09190666e+02] [ 6.17404748e-02 -1.19921414e-02 9.98020191e-01 5.26088051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.2792541539999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:447.59, Y:209.22, Z:52.61 [[-2.90086666e-03 -9.99927903e-01 1.16522026e-02 4.47592206e+02] [ 9.98204501e-01 -3.59260466e-03 -5.97901972e-02 2.09220059e+02] [ 5.98277482e-02 1.14578377e-02 9.98142955e-01 5.26149392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3092541539999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:447.60, Y:209.25, Z:52.61 [[-2.40871337e-03 -9.99997092e-01 -1.16373816e-04 4.47598587e+02] [ 9.98231556e-01 -2.39754840e-03 -5.93970715e-02 2.09248227e+02] [ 5.93966198e-02 -2.59238536e-04 9.98234429e-01 5.26126981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.339254154 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:447.60, Y:209.28, Z:52.61 [[-3.10188197e-03 -9.99995184e-01 -1.01123975e-04 4.47601557e+02] [ 9.98188553e-01 -3.09020204e-03 -6.00837996e-02 2.09275053e+02] [ 6.00831978e-02 -2.87313649e-04 9.98193331e-01 5.26138502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3692541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.60, Y:209.30, Z:52.61 [[-4.60804354e-03 -9.99989379e-01 -9.03345659e-05 4.47603008e+02] [ 9.98193135e-01 -4.59435416e-03 -5.99112445e-02 2.09303070e+02] [ 5.99101932e-02 -3.66244966e-04 9.98203704e-01 5.26147715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.3992541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:447.61, Y:209.33, Z:52.62 [[-8.50313087e-03 -9.99963845e-01 -7.43424625e-05 4.47605319e+02] [ 9.98126189e-01 -8.48299929e-03 -6.05982690e-02 2.09330222e+02] [ 6.05954474e-02 -5.89478171e-04 9.98162233e-01 5.26162721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4292541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:447.61, Y:209.36, Z:52.62 [[-1.10318625e-02 -9.99939145e-01 -6.34841314e-05 4.47606427e+02] [ 9.98107759e-01 -1.10078169e-02 -6.04957010e-02 2.09357964e+02] [ 6.04913208e-02 -7.30744262e-04 9.98168456e-01 5.26178539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.459254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:447.61, Y:209.39, Z:52.62 [[-1.40779279e-02 -9.99900900e-01 -4.61770975e-05 4.47607525e+02] [ 9.98082727e-01 -1.40495455e-02 -6.02783629e-02 2.09385703e+02] [ 6.02717405e-02 -8.94683010e-04 9.98181605e-01 5.26195351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.4892541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:447.61, Y:209.41, Z:52.62 [[-1.72061693e-02 -9.99851963e-01 -2.84190475e-05 4.47609122e+02] [ 9.98049190e-01 -1.71734398e-02 -6.00240590e-02 2.09413908e+02] [ 6.00146851e-02 -1.06114773e-03 9.98196930e-01 5.26205433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5192541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:447.61, Y:209.44, Z:52.62 [[-2.04726993e-02 -9.99790412e-01 -1.05833019e-05 4.47610716e+02] [ 9.97977449e-01 -2.04349380e-02 -6.01948891e-02 2.09442147e+02] [ 6.01820568e-02 -1.24291376e-03 9.98186644e-01 5.26221225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.5492541539999 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:447.61, Y:209.45, Z:52.62 [[-2.68121765e-02 -9.99640489e-01 2.17563451e-06 4.47613812e+02] [ 9.97814693e-01 -2.67633368e-02 -6.04116007e-02 2.09451418e+02] [ 6.03899403e-02 -1.61759562e-03 9.98173551e-01 5.26225105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.579254154 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:447.62, Y:209.48, Z:52.62 [[-3.02065261e-02 -9.99543679e-01 -1.74002515e-05 4.47615449e+02] [ 9.97672184e-01 -3.01489041e-02 -6.11658146e-02 2.09478280e+02] [ 6.11373787e-02 -1.86496652e-03 9.98127619e-01 5.26240954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6092541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:447.62, Y:209.51, Z:52.63 [[-3.68546658e-02 -9.99320636e-01 -4.13629917e-06 4.47618225e+02] [ 9.97392989e-01 -3.67833177e-02 -6.20823148e-02 2.09506414e+02] [ 6.20399862e-02 -2.29214848e-03 9.98071033e-01 5.26257081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6392541539999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:447.62, Y:209.51, Z:52.63 [[-3.94013378e-02 -9.99223466e-01 7.68627470e-06 4.47619072e+02] [ 9.97255727e-01 -3.93242285e-02 -6.27265573e-02 2.09512386e+02] [ 6.26781502e-02 -2.46384509e-03 9.98030751e-01 5.26263483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.6692541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:447.62, Y:209.54, Z:52.63 [[-4.46761856e-02 -9.99001521e-01 -1.18724182e-05 4.47621009e+02] [ 9.97008603e-01 -4.45863103e-02 -6.31340342e-02 2.09538897e+02] [ 6.30704668e-02 -2.83242473e-03 9.98005057e-01 5.26282841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.699254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.62, Y:209.57, Z:52.63 [[-4.75203297e-02 -9.98870271e-01 -1.25670198e-07 4.47622286e+02] [ 9.96885740e-01 -4.74259095e-02 -6.30047956e-02 2.09566489e+02] [ 6.29336113e-02 -2.99413393e-03 9.98013224e-01 5.26293390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7292541539999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:447.62, Y:209.57, Z:52.63 [[-5.12793145e-02 -9.98684350e-01 1.13278255e-05 4.47624574e+02] [ 9.96633237e-01 -5.11747228e-02 -6.40573029e-02 2.09570588e+02] [ 6.39736056e-02 -3.27352489e-03 9.97946222e-01 5.26292035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7592541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.62, Y:209.60, Z:52.63 [[-5.33119769e-02 -9.98577905e-01 -6.56774955e-06 4.47624718e+02] [ 9.96470519e-01 -5.31990409e-02 -6.49335575e-02 2.09598575e+02] [ 6.48408664e-02 -3.46828089e-03 9.97889590e-01 5.26308889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.7892541539999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:447.62, Y:209.61, Z:52.63 [[-5.46265008e-02 -9.98506858e-01 3.98317401e-06 4.47624517e+02] [ 9.96356438e-01 -5.45091168e-02 -6.55942498e-02 2.09607181e+02] [ 6.54965254e-02 -3.57921567e-03 9.97846378e-01 5.26314092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.819254154 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:447.62, Y:209.63, Z:52.63 [[-5.75172493e-02 -9.98344513e-01 -1.48090280e-05 4.47624962e+02] [ 9.96175285e-01 -5.73912971e-02 -6.58865679e-02 2.09634453e+02] [ 6.57766436e-02 -3.80436654e-03 9.97827119e-01 5.26329015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8492541539999 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:447.62, Y:209.66, Z:52.63 [[-5.88776771e-02 -9.98265205e-01 -4.07588741e-07 4.47624792e+02] [ 9.96124897e-01 -5.87514150e-02 -6.54481582e-02 2.09662333e+02] [ 6.53345952e-02 -3.85384153e-03 9.97855971e-01 5.26344402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.8792541539999 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:447.62, Y:209.66, Z:52.63 [[-5.84749019e-02 -9.98288879e-01 1.01648536e-05 4.47624710e+02] [ 9.96148480e-01 -5.83501941e-02 -6.54481548e-02 2.09664954e+02] [ 6.53367582e-02 -3.81694873e-03 9.97855971e-01 5.26345833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9092541539999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:447.62, Y:209.69, Z:52.64 [[-5.92553898e-02 -9.98242856e-01 -7.92192130e-06 4.47624373e+02] [ 9.96125881e-01 -5.91292103e-02 -6.50919758e-02 2.09691715e+02] [ 6.49771313e-02 -3.86494163e-03 9.97879269e-01 5.26360238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9392541539999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:447.61, Y:209.70, Z:52.64 [[-5.08948768e-02 -9.98254175e-01 2.99718878e-02 4.47612871e+02] [ 9.97572251e-01 -5.22426343e-02 -4.60468488e-02 2.09703405e+02] [ 4.75322694e-02 2.75555749e-02 9.98489546e-01 5.26354811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9692541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:447.64, Y:209.72, Z:52.63 [[-5.56436628e-02 -9.97592553e-01 -4.13869699e-02 4.47641395e+02] [ 9.97075685e-01 -5.33446145e-02 -5.47213998e-02 2.09724865e+02] [ 5.23818890e-02 -4.43108405e-02 9.97643567e-01 5.26293837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 640.9992541539999 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:447.62, Y:209.75, Z:52.64 [[-5.39128791e-02 -9.98545618e-01 -2.22906813e-04 4.47618498e+02] [ 9.96998220e-01 -5.38169073e-02 -5.56622823e-02 2.09751429e+02] [ 5.55693320e-02 -3.22315159e-03 9.98449629e-01 5.26407521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0292541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:447.62, Y:209.78, Z:52.64 [[-5.31134025e-02 -9.98588465e-01 -2.08455635e-04 4.47617150e+02] [ 9.97034098e-01 -5.30190829e-02 -5.57851563e-02 2.09779686e+02] [ 5.56953615e-02 -3.17077683e-03 9.98442774e-01 5.26415320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.0592541539999 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:447.62, Y:209.81, Z:52.64 [[-5.19434755e-02 -9.98650008e-01 -1.94355089e-04 4.47615771e+02] [ 9.97082788e-01 -5.18510577e-02 -5.60123290e-02 2.09806336e+02] [ 5.59266353e-02 -3.10326316e-03 9.98430058e-01 5.26426219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.089254154 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:447.61, Y:209.83, Z:52.64 [[-4.98665577e-02 -9.98755873e-01 -1.82754515e-04 4.47612943e+02] [ 9.97177502e-01 -4.97774668e-02 -5.62070578e-02 2.09833780e+02] [ 5.61280320e-02 -2.98509118e-03 9.98419117e-01 5.26432382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1192541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:447.61, Y:209.86, Z:52.64 [[-4.90525708e-02 -9.98796184e-01 -1.68057822e-04 4.47611297e+02] [ 9.97195053e-01 -4.89644115e-02 -5.66084224e-02 2.09861362e+02] [ 5.65320475e-02 -2.94437508e-03 9.98396443e-01 5.26444659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1492541539999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:447.61, Y:209.89, Z:52.65 [[-4.73897705e-02 -9.98876462e-01 -1.54783699e-04 4.47606934e+02] [ 9.97226247e-01 -4.73025745e-02 -5.74654507e-02 2.09888284e+02] [ 5.73935644e-02 -2.87762888e-03 9.98347484e-01 5.26458937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.1792541539999 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:447.60, Y:209.92, Z:52.65 [[-4.67062611e-02 -9.98908657e-01 -1.40101653e-04 4.47604594e+02] [ 9.97254838e-01 -4.66208646e-02 -5.75263701e-02 2.09916015e+02] [ 5.74570575e-02 -2.82655871e-03 9.98343977e-01 5.26470908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.209254154 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:447.60, Y:209.94, Z:52.65 [[-4.55854925e-02 -9.98960434e-01 -1.23082139e-04 4.47602704e+02] [ 9.97333677e-01 -4.55042295e-02 -5.70517486e-02 2.09943744e+02] [ 5.69868388e-02 -2.72348602e-03 9.98371215e-01 5.26482326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2392541539999 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:447.60, Y:209.97, Z:52.65 [[-4.21174963e-02 -9.99112659e-01 -1.06436660e-04 4.47599630e+02] [ 9.97532826e-01 -4.20449096e-02 -5.62182115e-02 2.09970650e+02] [ 5.61638516e-02 -2.47394438e-03 9.98418500e-01 5.26488963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2692541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:447.60, Y:210.00, Z:52.65 [[-4.04030427e-02 -9.99183459e-01 -9.35654352e-05 4.47597353e+02] [ 9.97623753e-01 -4.03347438e-02 -5.58565682e-02 2.09998357e+02] [ 5.58071851e-02 -2.35011841e-03 9.98438799e-01 5.26506669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.2992541539999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:447.59, Y:210.03, Z:52.65 [[-3.84740286e-02 -9.99259598e-01 -7.69651856e-05 4.47594821e+02] [ 9.97728663e-01 -3.84108215e-02 -5.53364616e-02 2.10025936e+02] [ 5.52925340e-02 -2.20580697e-03 9.98467761e-01 5.26522056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.329254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:447.59, Y:210.05, Z:52.65 [[-3.31800617e-02 -9.99449388e-01 -6.09755857e-05 4.47589920e+02] [ 9.97998671e-01 -3.31286142e-02 -5.38623104e-02 2.10052467e+02] [ 5.38306331e-02 -1.84800833e-03 9.98548370e-01 5.26538412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3592541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:447.59, Y:210.08, Z:52.66 [[-3.01749296e-02 -9.99544632e-01 -5.03895620e-05 4.47587739e+02] [ 9.98116826e-01 -3.01291323e-02 -5.34325531e-02 2.10080345e+02] [ 5.34067034e-02 -1.66261820e-03 9.98571460e-01 5.26551480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.3892541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.58, Y:210.11, Z:52.66 [[-2.32150509e-02 -9.99730494e-01 -3.44768604e-05 4.47584424e+02] [ 9.98352803e-01 -2.31812493e-02 -5.24815302e-02 2.10108263e+02] [ 5.24665869e-02 -1.25278147e-03 9.98621894e-01 5.26560017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4192541539999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:447.58, Y:210.14, Z:52.66 [[-1.97497470e-02 -9.99804955e-01 -2.04034362e-05 4.47582358e+02] [ 9.98446763e-01 -1.97218545e-02 -5.21067152e-02 2.10135156e+02] [ 5.20961496e-02 -1.04946619e-03 9.98641522e-01 5.26570415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.449254154 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:447.57, Y:210.16, Z:52.66 [[-1.54397274e-02 -9.99721442e-01 1.78508846e-02 4.47570482e+02] [ 9.98741521e-01 -1.62716853e-02 -4.74405513e-02 2.10161169e+02] [ 4.77178003e-02 1.70959505e-02 9.98714544e-01 5.26570201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.4792541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:447.58, Y:210.00, Z:52.65 [[-8.90781578e-03 -9.99874372e-01 -1.31106884e-02 4.47581796e+02] [ 9.98392771e-01 -8.15923718e-03 -5.60829990e-02 2.10001618e+02] [ 5.59689802e-02 -1.35891935e-02 9.98340026e-01 5.26468421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5092541539999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:447.57, Y:210.03, Z:52.65 [[-7.37569497e-03 -9.99972792e-01 -1.22487444e-04 4.47573920e+02] [ 9.98410051e-01 -7.35732285e-03 -5.58859470e-02 2.10029515e+02] [ 5.58835253e-02 -5.34490394e-04 9.98437152e-01 5.26520495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5392541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:447.57, Y:210.06, Z:52.65 [[-6.43578762e-03 -9.99979285e-01 -1.06101268e-04 4.47573061e+02] [ 9.98431524e-01 -6.41992518e-03 -5.56172342e-02 2.10057905e+02] [ 5.56154009e-02 -4.63875558e-04 9.98452158e-01 5.26523161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.569254154 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:447.57, Y:210.09, Z:52.65 [[-7.35451116e-03 -9.99972951e-01 -9.05367438e-05 4.47573087e+02] [ 9.98409936e-01 -7.33795534e-03 -5.58905631e-02 2.10085756e+02] [ 5.58883870e-02 -5.01440555e-04 9.98436897e-01 5.26537720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.5992541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:447.57, Y:210.11, Z:52.65 [[-8.42237650e-03 -9.99964528e-01 -7.54721919e-05 4.47573359e+02] [ 9.98413334e-01 -8.40510891e-03 -5.56791570e-02 2.10112250e+02] [ 5.56765476e-02 -5.44303265e-04 9.98448710e-01 5.26544549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6292541539999 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:447.57, Y:210.14, Z:52.66 [[-1.17659788e-02 -9.99930776e-01 -6.67923315e-05 4.47573080e+02] [ 9.98371451e-01 -1.17439016e-02 -5.58258609e-02 2.10139537e+02] [ 5.58212120e-02 -7.23529454e-04 9.98440518e-01 5.26557311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6592541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:447.57, Y:210.17, Z:52.66 [[-1.38970284e-02 -9.99903430e-01 -5.67397468e-05 4.47573174e+02] [ 9.98355577e-01 -1.38723596e-02 -5.56210422e-02 2.10167906e+02] [ 5.56148838e-02 -8.29613647e-04 9.98451950e-01 5.26569090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.6892541539999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:447.57, Y:210.20, Z:52.66 [[-1.81454360e-02 -9.99835357e-01 -4.11677799e-05 4.47573877e+02] [ 9.98284334e-01 -1.81149947e-02 -5.56797524e-02 2.10195614e+02] [ 5.56698393e-02 -1.05143053e-03 9.98448678e-01 5.26578891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7192541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:447.57, Y:210.22, Z:52.66 [[-2.05620571e-02 -9.99788578e-01 -2.54070837e-05 4.47574132e+02] [ 9.98242317e-01 -2.05288432e-02 -5.55953499e-02 2.10223455e+02] [ 5.55830743e-02 -1.16851718e-03 9.98453382e-01 5.26590156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7492541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:447.57, Y:210.25, Z:52.66 [[-2.24860059e-02 -9.99747158e-01 -1.04077880e-05 4.47574609e+02] [ 9.98196577e-01 -2.24505511e-02 -5.56737480e-02 2.10250216e+02] [ 5.56594377e-02 -1.26226924e-03 9.98449014e-01 5.26602442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.7792541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:447.57, Y:210.28, Z:52.66 [[-2.45952390e-02 -9.99697491e-01 -1.64848940e-07 4.47574946e+02] [ 9.98123609e-01 -2.45565081e-02 -5.60913557e-02 2.10278539e+02] [ 5.60743835e-02 -1.37974484e-03 9.98425641e-01 5.26615000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8092541539999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:447.58, Y:210.28, Z:52.66 [[-2.68795947e-02 -9.99638678e-01 9.66021285e-06 4.47575932e+02] [ 9.98049772e-01 -2.68374148e-02 -5.63596110e-02 2.10284444e+02] [ 5.63395063e-02 -1.50528213e-03 9.98410534e-01 5.26616035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.839254154 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:447.58, Y:210.31, Z:52.66 [[-2.77071435e-02 -9.99616083e-01 -7.22706144e-06 4.47575911e+02] [ 9.98024004e-01 -2.76626067e-02 -5.64169137e-02 2.10311137e+02] [ 5.63950544e-02 -1.57036430e-03 9.98407298e-01 5.26633613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8692541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:447.58, Y:210.31, Z:52.66 [[-2.74434097e-02 -9.99623359e-01 -3.08857309e-06 4.47576517e+02] [ 9.98098387e-01 -2.74013729e-02 -5.52157175e-02 2.10307214e+02] [ 5.51948364e-02 -1.51839026e-03 9.98474449e-01 5.26630749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.8992541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:447.58, Y:210.34, Z:52.66 [[-2.75464580e-02 -9.99620524e-01 -1.92306910e-05 4.47576921e+02] [ 9.98075031e-01 -2.75027996e-02 -5.55862314e-02 2.10335540e+02] [ 5.55646088e-02 -1.55039746e-03 9.98453890e-01 5.26644413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9292541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.58, Y:210.36, Z:52.67 [[-2.70054939e-02 -9.99635285e-01 -3.51311782e-06 4.47576929e+02] [ 9.98071251e-01 -2.69630444e-02 -5.59175518e-02 2.10363192e+02] [ 5.58970631e-02 -1.51358745e-03 9.98435390e-01 5.26659744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.959254154 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:447.56, Y:210.34, Z:52.66 [[-5.59793074e-03 -9.98947981e-01 4.55147773e-02 4.47563026e+02] [ 9.99672243e-01 -6.72744137e-03 -2.47011642e-02 2.10335976e+02] [ 2.49813761e-02 4.53615841e-02 9.98658229e-01 5.26609115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 641.9892541539999 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:447.60, Y:210.35, Z:52.65 [[-1.37018019e-02 -9.97982950e-01 -6.19862269e-02 4.47604916e+02] [ 9.99168590e-01 -1.12847816e-02 -3.91762907e-02 2.10348333e+02] [ 3.83977692e-02 -6.24714767e-02 9.97307839e-01 5.26503450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0192541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:447.57, Y:210.38, Z:52.67 [[-8.89273323e-03 -9.99960389e-01 -3.74839435e-04 4.47573819e+02] [ 9.99137990e-01 -8.87021787e-03 -4.05536210e-02 2.10376336e+02] [ 4.05486897e-02 -7.35148853e-04 9.99177293e-01 5.26692726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.0492541539999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:447.57, Y:210.40, Z:52.67 [[-6.71495072e-03 -9.99977388e-01 -3.63423170e-04 4.47573636e+02] [ 9.99153228e-01 -6.69466264e-03 -4.05956800e-02 2.10404252e+02] [ 4.05923291e-02 -6.35713423e-04 9.99175590e-01 5.26698672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.079254154 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.57, Y:210.43, Z:52.67 [[-2.33991559e-03 -9.99997200e-01 -3.54107808e-04 4.47573028e+02] [ 9.99160430e-01 -2.32347358e-03 -4.09027687e-02 2.10432041e+02] [ 4.09018314e-02 -4.49519535e-04 9.99163069e-01 5.26713722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1092541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.57, Y:210.46, Z:52.67 [[-2.63881576e-04 -9.99999906e-01 -3.43434388e-04 4.47573101e+02] [ 9.99156537e-01 -2.49556647e-04 -4.10627960e-02 2.10460124e+02] [ 4.10627064e-02 -3.53980429e-04 9.99156509e-01 5.26724710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1392541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:447.57, Y:210.49, Z:52.67 [[ 3.95959689e-03 -9.99992105e-01 -3.34889353e-04 4.47573038e+02] [ 9.99140013e-01 3.97004498e-03 -4.12731556e-02 2.10486730e+02] [ 4.12741592e-02 -1.71176294e-04 9.99147844e-01 5.26734826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.1692541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.57, Y:210.51, Z:52.67 [[ 5.60117243e-03 -9.99984257e-01 -3.34516957e-04 4.47573302e+02] [ 9.99095916e-01 5.61029375e-03 -4.21411465e-02 2.10514904e+02] [ 4.21423598e-02 -9.81746968e-05 9.99111611e-01 5.26745632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.199254154 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:447.57, Y:210.54, Z:52.68 [[ 6.91269312e-03 -9.99976053e-01 -3.28826340e-04 4.47573774e+02] [ 9.99060420e-01 6.92043199e-03 -4.27830051e-02 2.10542039e+02] [ 4.27842562e-02 -3.27715962e-05 9.99084334e-01 5.26754177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2292541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:447.58, Y:210.57, Z:52.68 [[ 8.88671500e-03 -9.99960460e-01 -3.22611767e-04 4.47575535e+02] [ 9.99031633e-01 8.89236225e-03 -4.30896896e-02 2.10570393e+02] [ 4.30908546e-02 6.06264310e-05 9.99071156e-01 5.26758011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2592541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:447.58, Y:210.60, Z:52.68 [[ 8.73676685e-03 -9.99961785e-01 -3.12946601e-04 4.47576336e+02] [ 9.99016538e-01 8.74211205e-03 -4.34687409e-02 2.10598718e+02] [ 4.34698155e-02 6.71374243e-05 9.99054739e-01 5.26770184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.2892541539999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:447.58, Y:210.63, Z:52.68 [[ 8.72260695e-03 -9.99961912e-01 -3.02801672e-04 4.47577819e+02] [ 9.99002009e-01 8.72749830e-03 -4.38042920e-02 2.10627064e+02] [ 4.38052663e-02 7.95881433e-05 9.99040085e-01 5.26783103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.319254154 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:447.58, Y:210.65, Z:52.68 [[ 7.85964768e-03 -9.99969069e-01 -2.95450115e-04 4.47579955e+02] [ 9.98986404e-01 7.86501894e-03 -4.43204892e-02 2.10653913e+02] [ 4.43214420e-02 5.31927819e-05 9.99017321e-01 5.26794609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3492541539999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:447.58, Y:210.68, Z:52.68 [[ 7.15137526e-03 -9.99974387e-01 -2.89679729e-04 4.47581635e+02] [ 9.98970401e-01 7.15717277e-03 -4.47985786e-02 2.10682072e+02] [ 4.47995045e-02 3.09899725e-05 9.98995998e-01 5.26808599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.3792541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:447.58, Y:210.71, Z:52.68 [[ 6.19183066e-03 -9.99815965e-01 1.81575817e-02 4.47575303e+02] [ 9.99233630e-01 5.48436842e-03 -3.87566107e-02 2.10709769e+02] [ 3.86498952e-02 1.83836406e-02 9.99083694e-01 5.26811982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4092541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:447.60, Y:210.74, Z:52.68 [[ 4.34295931e-03 -9.99821690e-01 -1.83773473e-02 4.47595163e+02] [ 9.99020563e-01 5.14726972e-03 -4.39479238e-02 2.10737765e+02] [ 4.40346806e-02 -1.81684838e-02 9.98864782e-01 5.26780001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4392541539999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:447.59, Y:210.77, Z:52.68 [[ 3.27856608e-03 -9.99994594e-01 -2.51310298e-04 4.47587830e+02] [ 9.99037280e-01 3.28642133e-03 -4.37460011e-02 2.10766007e+02] [ 4.37465905e-02 -1.07644201e-04 9.99042654e-01 5.26845444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4692541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:447.59, Y:210.79, Z:52.69 [[ 8.44196069e-04 -9.99999616e-01 -2.35835020e-04 4.47590903e+02] [ 9.99064879e-01 8.53601591e-04 -4.32277519e-02 2.10793454e+02] [ 4.32279366e-02 -1.99121788e-04 9.99065216e-01 5.26854450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.4992541539999 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:447.59, Y:210.82, Z:52.69 [[-8.02884666e-04 -9.99999653e-01 -2.23720069e-04 4.47592375e+02] [ 9.99060493e-01 -7.92436794e-04 -4.33301725e-02 2.10821423e+02] [ 4.33299802e-02 -2.58299014e-04 9.99060782e-01 5.26868626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5292541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:447.60, Y:210.85, Z:52.69 [[-3.80171283e-03 -9.99992752e-01 -2.08746146e-04 4.47595396e+02] [ 9.99074552e-01 -3.78927831e-03 -4.28448422e-02 2.10849081e+02] [ 4.28437406e-02 -3.71436748e-04 9.99081716e-01 5.26873240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.5592541539999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:447.60, Y:210.88, Z:52.69 [[-5.40155258e-03 -9.99985392e-01 -1.96738378e-04 4.47597191e+02] [ 9.99061295e-01 -5.38810451e-03 -4.29825245e-02 2.10877091e+02] [ 4.29808365e-02 -4.28726065e-04 9.99075805e-01 5.26880981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.589254154 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.60, Y:210.91, Z:52.69 [[-7.16228401e-03 -9.99974334e-01 -1.82142854e-04 4.47599110e+02] [ 9.99070192e-01 -7.14806383e-03 -4.25165570e-02 2.10905059e+02] [ 4.25141638e-02 -4.86489152e-04 9.99095746e-01 5.26884107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6192541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:447.60, Y:210.93, Z:52.69 [[-1.00344434e-02 -9.99949640e-01 -1.67013666e-04 4.47601992e+02] [ 9.99074974e-01 -1.00186815e-02 -4.18189331e-02 2.10932914e+02] [ 4.18151539e-02 -5.86488891e-04 9.99125192e-01 5.26899094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6492541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:447.58, Y:210.98, Z:52.69 [[-1.23843222e-03 -9.97474229e-01 7.10185143e-02 4.47580901e+02] [ 9.99672350e-01 -3.05061662e-03 -2.54142886e-02 2.10976892e+02] [ 2.55667482e-02 7.09637712e-02 9.97151184e-01 5.26872020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.6792541539999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:447.64, Y:210.99, Z:52.67 [[-1.47204351e-02 -9.97222123e-01 -7.30160668e-02 4.47643894e+02] [ 9.99092888e-01 -1.17511355e-02 -4.09305765e-02 2.10989985e+02] [ 3.99588547e-02 -7.35523490e-02 9.96490513e-01 5.26736809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.709254154 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:447.61, Y:211.02, Z:52.69 [[-1.03252941e-02 -9.99813611e-01 1.63135545e-02 4.47606407e+02] [ 9.99301621e-01 -1.09031716e-02 -3.57406005e-02 2.11021509e+02] [ 3.59118083e-02 1.59331293e-02 9.99227941e-01 5.26908564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7392541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.61, Y:211.05, Z:52.69 [[-1.26070238e-02 -9.99889554e-01 7.87038682e-03 4.47610968e+02] [ 9.99314767e-01 -1.28729313e-02 -3.47028071e-02 2.11047224e+02] [ 3.48002893e-02 7.42749465e-03 9.99366686e-01 5.26870755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7692541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.61, Y:211.08, Z:52.69 [[-1.29140688e-02 -9.99916608e-01 -6.80059144e-05 4.47614814e+02] [ 9.99301774e-01 -1.29037434e-02 -3.50636309e-02 2.11075133e+02] [ 3.50598294e-02 -5.20772574e-04 9.99385080e-01 5.26859882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.7992541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.63, Y:211.10, Z:52.69 [[-1.46454009e-02 -9.99610452e-01 -2.37583024e-02 4.47629266e+02] [ 9.99052522e-01 -1.36550778e-02 -4.13230804e-02 2.11100546e+02] [ 4.09825616e-02 -2.43409850e-02 9.98863327e-01 5.26887205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.829254154 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.62, Y:211.13, Z:52.70 [[-1.33956016e-02 -9.99895883e-01 5.36488507e-03 4.47617157e+02] [ 9.99007733e-01 -1.36112309e-02 -4.24061701e-02 2.11127028e+02] [ 4.24747776e-02 4.79150552e-03 9.99086050e-01 5.26973292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8592541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:447.63, Y:211.16, Z:52.70 [[-1.25494110e-02 -9.99906884e-01 -5.36049626e-03 4.47625900e+02] [ 9.99094675e-01 -1.23209236e-02 -4.07188685e-02 2.11156001e+02] [ 4.06490307e-02 -5.86664108e-03 9.99156264e-01 5.26953136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.8892541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:447.63, Y:211.18, Z:52.70 [[-1.19590739e-02 -9.99928485e-01 -7.70070154e-05 4.47625083e+02] [ 9.99092140e-01 -1.19459221e-02 -4.08924224e-02 2.11183701e+02] [ 4.08885780e-02 -5.65972606e-04 9.99163552e-01 5.26977689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9192541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.63, Y:211.21, Z:52.70 [[-1.11203978e-02 -9.99938164e-01 -6.70106620e-05 4.47627083e+02] [ 9.99082285e-01 -1.11081073e-02 -4.13666322e-02 2.11210822e+02] [ 4.13633299e-02 -5.26962569e-04 9.99144032e-01 5.26977756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.949254154 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.63, Y:211.24, Z:52.70 [[-1.08166426e-02 -9.99941497e-01 -5.98171471e-05 4.47629999e+02] [ 9.99052333e-01 -1.08045020e-02 -4.21627714e-02 2.11238799e+02] [ 4.21596585e-02 -5.15820089e-04 9.99110753e-01 5.26989296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 642.9792541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.63, Y:211.27, Z:52.70 [[-1.11412258e-02 -9.99937934e-01 -4.78880903e-05 4.47631637e+02] [ 9.99035809e-01 -1.11291405e-02 -4.24687433e-02 2.11267129e+02] [ 4.24655744e-02 -5.20995774e-04 9.99097795e-01 5.26994756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0092541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.63, Y:211.30, Z:52.70 [[-1.28884193e-02 -9.99916940e-01 -3.56905394e-05 4.47634971e+02] [ 9.99003960e-01 -1.28751265e-02 -4.27237580e-02 2.11295036e+02] [ 4.27197499e-02 -5.86296696e-04 9.99086923e-01 5.26997542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0392541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.64, Y:211.32, Z:52.70 [[-1.41333556e-02 -9.99900119e-01 -2.33558929e-05 4.47636650e+02] [ 9.98969885e-01 -1.41191997e-02 -4.31256067e-02 2.11323015e+02] [ 4.31209695e-02 -6.32841371e-04 9.99069658e-01 5.27004536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.069254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.64, Y:211.35, Z:52.70 [[-1.61266560e-02 -9.99869957e-01 -1.22321619e-05 4.47637397e+02] [ 9.98960940e-01 -1.61114731e-02 -4.26316953e-02 2.11349502e+02] [ 4.26259542e-02 -6.99726135e-04 9.99090856e-01 5.27019337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.0992541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.64, Y:211.38, Z:52.70 [[-2.03113790e-02 -9.99793703e-01 -3.88231095e-06 4.47639197e+02] [ 9.98968886e-01 -2.02944647e-02 -4.06115784e-02 2.11377759e+02] [ 4.06031215e-02 -8.28755468e-04 9.99175010e-01 5.27030838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1292541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.64, Y:211.47, Z:52.71 [[-2.22508928e-02 -9.99740967e-01 4.78500691e-03 4.47637954e+02] [ 9.98955532e-01 -2.24239626e-02 -3.98121865e-02 2.11465999e+02] [ 3.99091727e-02 3.89415243e-03 9.99195723e-01 5.27072438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1592541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.64, Y:211.38, Z:52.70 [[-2.37336600e-02 -9.99707440e-01 -4.66353284e-03 4.47643229e+02] [ 9.98963337e-01 -2.35342196e-02 -3.89665418e-02 2.11384281e+02] [ 3.88453891e-02 -5.58351698e-03 9.99229633e-01 5.27023987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.1892541539999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:447.64, Y:211.41, Z:52.70 [[-2.85632380e-02 -9.99591987e-01 -1.41579544e-05 4.47642427e+02] [ 9.98852663e-01 -2.85415672e-02 -3.84543411e-02 2.11412300e+02] [ 3.84382472e-02 -1.11252221e-03 9.99260358e-01 5.27043507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2192541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.64, Y:211.44, Z:52.71 [[-3.14882927e-02 -9.99504121e-01 -2.74343484e-06 4.47643033e+02] [ 9.98776007e-01 -3.14652495e-02 -3.81631472e-02 2.11440568e+02] [ 3.81441366e-02 -1.20443243e-03 9.99271522e-01 5.27051019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2492541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.64, Y:211.44, Z:52.71 [[-3.70196764e-02 -9.99314537e-01 3.14679353e-06 4.47644290e+02] [ 9.98598282e-01 -3.69932619e-02 -3.78545927e-02 2.11440813e+02] [ 3.78287612e-02 -1.39822239e-03 9.99283258e-01 5.27055219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.2792541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.62, Y:211.48, Z:52.70 [[-3.10325655e-02 -9.96877293e-01 7.26129591e-02 4.47619995e+02] [ 9.99278432e-01 -3.25348692e-02 -1.95984167e-02 2.11483478e+02] [ 2.18996697e-02 7.19523747e-02 9.97167619e-01 5.27022284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3092541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.68, Y:211.52, Z:52.69 [[-5.61026531e-02 -9.96740692e-01 -5.79696894e-02 4.47677352e+02] [ 9.97065943e-01 -5.29033602e-02 -5.53239593e-02 2.11518376e+02] [ 5.20768501e-02 -6.09034239e-02 9.96784217e-01 5.26913332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.339254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.65, Y:211.52, Z:52.70 [[-5.88232023e-02 -9.98268323e-01 4.30940131e-04 4.47650124e+02] [ 9.96746302e-01 -5.87573356e-02 -5.51759521e-02 2.11523204e+02] [ 5.51057261e-02 -2.81608821e-03 9.98476554e-01 5.27034644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3692541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.65, Y:211.53, Z:52.70 [[-6.25005318e-02 -9.98044848e-01 4.06748535e-04 4.47649997e+02] [ 9.96538467e-01 -6.24285711e-02 -5.48977087e-02 2.11529157e+02] [ 5.48157681e-02 -3.02579543e-03 9.98491901e-01 5.27045627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.3992541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.65, Y:211.54, Z:52.70 [[-6.83701099e-02 -9.97659951e-01 3.86676747e-04 4.47649752e+02] [ 9.96136678e-01 -6.82871193e-02 -5.52140289e-02 2.11535605e+02] [ 5.51112304e-02 -3.38980633e-03 9.98474467e-01 5.27049899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4292541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.65, Y:211.54, Z:52.70 [[-7.03892697e-02 -9.97519532e-01 3.65493400e-04 4.47649288e+02] [ 9.95986090e-01 -7.03013630e-02 -5.54024164e-02 2.11535818e+02] [ 5.52906872e-02 -3.53570929e-03 9.98464040e-01 5.27049279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.459254154 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.65, Y:211.54, Z:52.71 [[-7.24394577e-02 -9.97372751e-01 3.47983479e-04 4.47648437e+02] [ 9.95792316e-01 -7.23442956e-02 -5.62491390e-02 2.11544094e+02] [ 5.61265331e-02 -3.72813785e-03 9.98416703e-01 5.27050720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.4892541539999 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:447.63, Y:211.54, Z:52.70 [[-5.44998645e-02 -9.96582260e-01 6.20770863e-02 4.47627059e+02] [ 9.98295418e-01 -5.56826498e-02 -1.74843268e-02 2.11543363e+02] [ 2.08811866e-02 6.10183774e-02 9.97918200e-01 5.26996838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5192541539999 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:447.66, Y:211.57, Z:52.69 [[-5.56641255e-02 -9.98186904e-01 -2.29000177e-02 4.47664805e+02] [ 9.98246202e-01 -5.51752781e-02 -2.14524657e-02 2.11569781e+02] [ 2.01500555e-02 -2.40539885e-02 9.99507569e-01 5.26854867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.5492541539999 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:447.65, Y:211.60, Z:52.69 [[-5.50598084e-02 -9.98366728e-01 1.52411626e-02 4.47645033e+02] [ 9.98228767e-01 -5.53838494e-02 -2.17245808e-02 2.11601454e+02] [ 2.25332129e-02 1.40180157e-02 9.99647813e-01 5.26928821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.579254154 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:447.68, Y:211.62, Z:52.70 [[-6.45749921e-02 -9.95205220e-01 -7.34618368e-02 4.47675414e+02] [ 9.97316900e-01 -6.18175354e-02 -3.92121558e-02 2.11615856e+02] [ 3.44829125e-02 -7.57968560e-02 9.96526851e-01 5.26961333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6092541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:447.61, Y:211.65, Z:52.71 [[-5.45163204e-02 -9.96822211e-01 5.80814064e-02 4.47614721e+02] [ 9.98099927e-01 -5.60742405e-02 -2.55385180e-02 2.11654590e+02] [ 2.87142328e-02 5.65787814e-02 9.97985137e-01 5.27109209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6392541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.64, Y:211.65, Z:52.70 [[-5.12828896e-02 -9.98684033e-01 -5.16689399e-04 4.47641751e+02] [ 9.98393136e-01 -5.12554488e-02 -2.41666090e-02 2.11652043e+02] [ 2.41083234e-02 -1.75519269e-03 9.99707811e-01 5.26950863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.6692541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:447.63, Y:211.68, Z:52.70 [[-4.67382108e-02 -9.98756906e-01 1.73257700e-02 4.47631105e+02] [ 9.98684326e-01 -4.70871072e-02 -2.03081866e-02 2.11683200e+02] [ 2.10987620e-02 1.63538066e-02 9.99643634e-01 5.26960504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.699254154 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:447.66, Y:211.70, Z:52.70 [[-5.62018722e-02 -9.95265593e-01 -7.92953307e-02 4.47664775e+02] [ 9.97838574e-01 -5.32830376e-02 -3.84590368e-02 2.11695578e+02] [ 3.40518599e-02 -8.12854096e-02 9.96109007e-01 5.26986237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7292541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:447.62, Y:211.72, Z:52.72 [[-5.42778396e-02 -9.98525871e-01 -4.12982843e-05 4.47623579e+02] [ 9.97788601e-01 -5.42361740e-02 -3.84232294e-02 2.11721536e+02] [ 3.83643488e-02 -2.12673684e-03 9.99261554e-01 5.27187355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7592541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.62, Y:211.75, Z:52.72 [[-5.05942140e-02 -9.98719292e-01 -3.34140796e-05 4.47618846e+02] [ 9.97998825e-01 -5.05564451e-02 -3.79788257e-02 2.11749706e+02] [ 3.79284966e-02 -1.95485605e-03 9.99278544e-01 5.27205848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.7892541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.62, Y:211.78, Z:52.72 [[-4.83049148e-02 -9.98832636e-01 -2.20649421e-05 4.47616576e+02] [ 9.98131273e-01 -4.82701682e-02 -3.74693638e-02 2.11777131e+02] [ 3.74245583e-02 -1.83197813e-03 9.99297777e-01 5.27215615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.819254154 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.61, Y:211.80, Z:52.72 [[-4.57101323e-02 -9.98954746e-01 -1.20750490e-05 4.47614575e+02] [ 9.98267802e-01 -4.56782509e-02 -3.70795516e-02 2.11804123e+02] [ 3.70402425e-02 -1.70696534e-03 9.99312317e-01 5.27224337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8492541539999 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:447.59, Y:211.85, Z:52.72 [[-3.14363039e-02 -9.97183959e-01 6.80875165e-02 4.47588001e+02] [ 9.99269301e-01 -3.28375390e-02 -1.95591458e-02 2.11845502e+02] [ 2.17398929e-02 6.74228978e-02 9.97487609e-01 5.27203343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.8792541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.64, Y:211.87, Z:52.71 [[-4.45270194e-02 -9.97529832e-01 -5.43284343e-02 4.47637172e+02] [ 9.97653551e-01 -4.15697626e-02 -5.43998873e-02 2.11869443e+02] [ 5.20070903e-02 -5.66232203e-02 9.97040156e-01 5.27076473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9092541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:447.61, Y:211.86, Z:52.72 [[-3.77539314e-02 -9.99286990e-01 3.89644873e-04 4.47606668e+02] [ 9.97784769e-01 -3.77185434e-02 -5.47984222e-02 2.11863340e+02] [ 5.47740472e-02 -1.68007415e-03 9.98497362e-01 5.27218121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9392541539999 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:447.59, Y:212.38, Z:52.74 [[-3.64975994e-02 -9.99201029e-01 1.62858729e-02 4.47592766e+02] [ 9.98347475e-01 -3.71805892e-02 -4.38169174e-02 2.12375808e+02] [ 4.43874273e-02 1.46597478e-02 9.98906827e-01 5.27426534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9692541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:448.26, Y:212.01, Z:52.77 [[-4.74307575e-03 -2.65155071e-01 -9.64194115e-01 4.48264057e+02] [ 9.95954006e-01 8.52753469e-02 -2.83501792e-02 2.12006863e+02] [ 8.97391815e-02 -9.60427459e-01 2.63677788e-01 5.27728907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 643.9992541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.59, Y:212.05, Z:52.69 [[-1.16593471e-02 -9.99931122e-01 -1.34608603e-03 4.47590819e+02] [ 9.92473678e-01 -1.14082586e-02 -1.21925592e-01 2.12051630e+02] [ 1.21901837e-01 -2.75752775e-03 9.92538331e-01 5.26949311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0292541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:447.59, Y:212.08, Z:52.70 [[-1.06956005e-02 -9.99941948e-01 -1.30570773e-03 4.47589984e+02] [ 9.92545470e-01 -1.04579308e-02 -1.21425373e-01 2.12078833e+02] [ 1.21404669e-01 -2.59469156e-03 9.92599705e-01 5.26977432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.0592541539999 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:447.57, Y:212.12, Z:52.70 [[-2.81030494e-03 -9.98721207e-01 5.04782491e-02 4.47572971e+02] [ 9.94136722e-01 -8.24670822e-03 -1.07815448e-01 2.12119145e+02] [ 1.08093854e-01 4.98792868e-02 9.92888602e-01 5.26986188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.089254154 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:447.62, Y:212.14, Z:52.69 [[-1.16889475e-02 -9.98328679e-01 -5.65969735e-02 4.47615026e+02] [ 9.92737452e-01 -4.80885773e-03 -1.20204932e-01 2.12136340e+02] [ 1.19731864e-01 -5.75910044e-02 9.91134480e-01 5.26896990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1192541539999 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:447.59, Y:212.16, Z:52.71 [[-1.19503016e-02 -9.99927899e-01 -1.17794214e-03 4.47587715e+02] [ 9.92652221e-01 -1.17214751e-02 -1.20433283e-01 2.12161969e+02] [ 1.20410793e-01 -2.60850093e-03 9.92720724e-01 5.27071728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1492541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.59, Y:212.19, Z:52.71 [[-1.49103206e-02 -9.99888170e-01 -1.15338553e-03 4.47585865e+02] [ 9.92661087e-01 -1.46640857e-02 -1.20037209e-01 2.12189795e+02] [ 1.20006872e-01 -2.93471420e-03 9.92768723e-01 5.27112221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.1792541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:447.59, Y:212.22, Z:52.71 [[-1.70207931e-02 -9.99854507e-01 -1.12144329e-03 4.47585834e+02] [ 9.92587818e-01 -1.67620848e-02 -1.20368000e-01 2.12217738e+02] [ 1.20331690e-01 -3.16188978e-03 9.92728708e-01 5.27141163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.209254154 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:447.59, Y:212.24, Z:52.72 [[-1.90815727e-02 -9.99817340e-01 -1.08655519e-03 4.47586221e+02] [ 9.92551214e-01 -1.88120891e-02 -1.20366906e-01 2.12244139e+02] [ 1.20324479e-01 -3.37525154e-03 9.92728879e-01 5.27170970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2392541539999 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:447.59, Y:212.27, Z:52.72 [[-2.45781694e-02 -9.99697342e-01 -1.06711914e-03 4.47587355e+02] [ 9.92412280e-01 -2.42703970e-02 -1.20535529e-01 2.12272088e+02] [ 1.20473149e-01 -4.02156480e-03 9.92708440e-01 5.27192831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2692541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:447.59, Y:212.30, Z:52.72 [[-2.77248132e-02 -9.99615059e-01 -1.03349276e-03 4.47588005e+02] [ 9.92313873e-01 -2.73975460e-02 -1.20675403e-01 2.12299033e+02] [ 1.20600635e-01 -4.37125220e-03 9.92691482e-01 5.27223142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.2992541539999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:447.59, Y:212.33, Z:52.73 [[-3.40764079e-02 -9.99418717e-01 -1.01365939e-03 4.47589634e+02] [ 9.92103522e-01 -3.37044578e-02 -1.20808160e-01 2.12326521e+02] [ 1.20703771e-01 -5.12236319e-03 9.92675355e-01 5.27253493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.329254154 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.59, Y:212.35, Z:52.73 [[-3.69378643e-02 -9.99317084e-01 -9.79941891e-04 4.47590454e+02] [ 9.91996389e-01 -3.65487511e-02 -1.20860887e-01 2.12353026e+02] [ 1.20742534e-01 -5.43644188e-03 9.92668971e-01 5.27286190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3592541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:447.59, Y:212.38, Z:52.73 [[-3.94928300e-02 -9.99219395e-01 -9.57761903e-04 4.47591020e+02] [ 9.91862262e-01 -3.90859088e-02 -1.21167423e-01 2.12380765e+02] [ 1.21035404e-01 -5.73521231e-03 9.92631623e-01 5.27318204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.3892541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.59, Y:212.41, Z:52.73 [[-4.27061516e-02 -9.99087250e-01 -9.22577952e-04 4.47591274e+02] [ 9.91727680e-01 -4.22796500e-02 -1.21196698e-01 2.12408286e+02] [ 1.21047070e-01 -6.09079066e-03 9.92628082e-01 5.27348610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4192541539999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:447.59, Y:212.43, Z:52.74 [[-4.36199019e-02 -9.99047805e-01 -8.87273525e-04 4.47591333e+02] [ 9.91682271e-01 -4.31906300e-02 -1.21247032e-01 2.12434585e+02] [ 1.21093259e-01 -6.16867707e-03 9.92621967e-01 5.27376569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.449254154 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:447.59, Y:212.46, Z:52.74 [[-4.39750399e-02 -9.99032260e-01 -8.60458394e-04 4.47590566e+02] [ 9.91689263e-01 -4.35475488e-02 -1.21062039e-01 2.12462372e+02] [ 1.20907412e-01 -6.17701535e-03 9.92644570e-01 5.27405108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.4792541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:447.59, Y:212.49, Z:52.74 [[-4.40090961e-02 -9.99030789e-01 -8.25564997e-04 4.47590126e+02] [ 9.91670045e-01 -4.35846816e-02 -1.21206014e-01 2.12489957e+02] [ 1.21052557e-01 -6.15285517e-03 9.92627030e-01 5.27428390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5092541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:447.59, Y:212.52, Z:52.75 [[-4.40673933e-02 -9.99028249e-01 -7.88666231e-04 4.47587918e+02] [ 9.91688804e-01 -4.36481037e-02 -1.21029583e-01 2.12517853e+02] [ 1.20877548e-01 -6.11556969e-03 9.92648587e-01 5.27465786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5392541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.59, Y:212.55, Z:52.75 [[-4.42285482e-02 -9.99021155e-01 -7.53671139e-04 4.47586708e+02] [ 9.91659549e-01 -4.38111939e-02 -1.21210222e-01 2.12545404e+02] [ 1.21058557e-01 -6.10833734e-03 9.92626573e-01 5.27500206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.569254154 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:447.59, Y:212.58, Z:52.75 [[-4.21412502e-02 -9.99103752e-01 3.97585727e-03 4.47586331e+02] [ 9.92021741e-01 -4.23151065e-02 -1.18753091e-01 2.12577869e+02] [ 1.18814897e-01 -1.06026685e-03 9.92915855e-01 5.27523141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.5992541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:447.57, Y:212.61, Z:52.75 [[-3.85592350e-02 -9.98461556e-01 3.98460362e-02 4.47571022e+02] [ 9.93015425e-01 -4.27376166e-02 -1.09972093e-01 2.12613640e+02] [ 1.11505832e-01 3.53272888e-02 9.93135656e-01 5.27537958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6292541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.61, Y:212.63, Z:52.75 [[-4.63076304e-02 -9.97569127e-01 -5.20714902e-02 4.47606433e+02] [ 9.91712309e-01 -3.96568584e-02 -1.22204865e-01 2.12630448e+02] [ 1.19842809e-01 -5.72989556e-02 9.91137998e-01 5.27462170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6592541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.58, Y:212.66, Z:52.76 [[-4.66988114e-02 -9.98908835e-01 -6.00374521e-04 4.47579849e+02] [ 9.91293695e-01 -4.62687146e-02 -1.23272125e-01 2.12657022e+02] [ 1.23109836e-01 -6.35180920e-03 9.92372724e-01 5.27638552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.6892541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.58, Y:212.69, Z:52.77 [[-4.69774318e-02 -9.98895792e-01 -5.63590761e-04 4.47579890e+02] [ 9.91280517e-01 -4.65497383e-02 -1.23272294e-01 2.12685240e+02] [ 1.23109941e-01 -6.34969231e-03 9.92372724e-01 5.27670807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7192541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.58, Y:212.71, Z:52.77 [[-4.80479911e-02 -9.98844886e-01 -5.33438541e-04 4.47577186e+02] [ 9.91129507e-01 -4.76105890e-02 -1.24078732e-01 2.12711579e+02] [ 1.23910010e-01 -6.49044049e-03 9.92272233e-01 5.27702652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7492541539999 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:447.58, Y:212.74, Z:52.77 [[-4.84578197e-02 -9.98825099e-01 -5.11854417e-04 4.47575597e+02] [ 9.91094161e-01 -4.80191057e-02 -1.24203582e-01 2.12739357e+02] [ 1.24033077e-01 -6.52593072e-03 9.92256624e-01 5.27736373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.7792541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:447.54, Y:212.79, Z:52.78 [[-3.81401919e-02 -9.94984359e-01 9.24740540e-02 4.47539316e+02] [ 9.93341567e-01 -4.78186265e-02 -1.04813698e-01 2.12785235e+02] [ 1.08709972e-01 8.78607071e-02 9.90183134e-01 5.27801848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8092541539999 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:447.62, Y:212.80, Z:52.75 [[-4.91377031e-02 -9.93904738e-01 -9.86856548e-02 4.47618128e+02] [ 9.91611653e-01 -3.67194732e-02 -1.23927440e-01 2.12797358e+02] [ 1.19548385e-01 -1.03947355e-01 9.87371830e-01 5.27545801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.839254154 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:447.57, Y:212.82, Z:52.79 [[-4.75177274e-02 -9.98870319e-01 -3.88295379e-04 4.47567274e+02] [ 9.91053305e-01 -4.70973152e-02 -1.24880699e-01 2.12822454e+02] [ 1.24721336e-01 -6.31886842e-03 9.92171689e-01 5.27860466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8692541539999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:447.56, Y:212.85, Z:52.79 [[-4.47308247e-02 -9.98999014e-01 -3.51917159e-04 4.47562799e+02] [ 9.91199979e-01 -4.43376804e-02 -1.24726788e-01 2.12850091e+02] [ 1.24586335e-01 -5.92795236e-03 9.92191063e-01 5.27899483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.8992541539999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:447.56, Y:212.88, Z:52.79 [[-4.06631256e-02 -9.99172863e-01 -3.16841680e-04 4.47557815e+02] [ 9.91317762e-01 -4.03037599e-02 -1.25158705e-01 2.12877198e+02] [ 1.25042412e-01 -5.40343492e-03 9.92136683e-01 5.27938284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9292541539999 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:447.56, Y:212.90, Z:52.80 [[-3.85587647e-02 -9.99256294e-01 -2.84613510e-04 4.47555365e+02] [ 9.91417829e-01 -3.82206896e-02 -1.25019465e-01 2.12903626e+02] [ 1.24915609e-01 -5.10276704e-03 9.92154248e-01 5.27974890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.959254154 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:447.55, Y:212.93, Z:52.80 [[-3.61365222e-02 -9.99346829e-01 -2.58669409e-04 4.47552870e+02] [ 9.91549524e-01 -3.58222973e-02 -1.24684824e-01 2.12931330e+02] [ 1.24594117e-01 -4.76215944e-03 9.92196366e-01 5.28009384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 644.9892541539999 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:447.55, Y:212.96, Z:52.81 [[-3.22227175e-02 -9.99420396e-01 1.09803350e-02 4.47545025e+02] [ 9.91251257e-01 -3.33623611e-02 -1.27702383e-01 2.12956740e+02] [ 1.27994697e-01 6.76935308e-03 9.91751750e-01 5.28086900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0192541539999 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:447.55, Y:212.99, Z:52.81 [[-2.70570674e-02 -9.99623916e-01 -4.46556342e-03 4.47546907e+02] [ 9.91628050e-01 -2.62758681e-02 -1.26425428e-01 2.12986285e+02] [ 1.26260544e-01 -7.84887926e-03 9.91966063e-01 5.28072568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.0492541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:447.54, Y:213.01, Z:52.81 [[-2.52419405e-02 -9.99665321e-01 -5.66482338e-03 4.47544812e+02] [ 9.91862689e-01 -2.43367822e-02 -1.24964501e-01 2.13014570e+02] [ 1.24784814e-01 -8.77307344e-03 9.92145042e-01 5.28101610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.079254154 meters Centerline goodness : 0.996683 Centerline is valid? [True, True] Translation: X:447.52, Y:213.04, Z:52.82 [[-1.86903266e-02 -9.99158399e-01 3.65125476e-02 4.47520164e+02] [ 9.92829625e-01 -2.28596349e-02 -1.17331889e-01 2.13042332e+02] [ 1.18067806e-01 3.40577676e-02 9.92421313e-01 5.28184218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1092541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.55, Y:213.07, Z:52.81 [[-1.82495820e-02 -9.99174419e-01 -3.62964578e-02 4.47552295e+02] [ 9.92056956e-01 -1.35767926e-02 -1.25054652e-01 2.13070306e+02] [ 1.24458620e-01 -3.82903486e-02 9.91485704e-01 5.28066975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1392541539999 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:447.53, Y:213.09, Z:52.83 [[-1.35826315e-02 -9.99808469e-01 1.40903436e-02 4.47526379e+02] [ 9.91476408e-01 -1.52928768e-02 -1.29385701e-01 2.13091753e+02] [ 1.29576401e-01 1.22128449e-02 9.91494227e-01 5.28274654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.1692541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.53, Y:213.12, Z:52.82 [[-1.18061325e-02 -9.99848709e-01 -1.27739677e-02 4.47534862e+02] [ 9.92031038e-01 -1.01093287e-02 -1.25587503e-01 2.13122523e+02] [ 1.25439366e-01 -1.41548751e-02 9.92000305e-01 5.28209775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.199254154 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.53, Y:213.15, Z:52.83 [[-9.95820425e-03 -9.99950416e-01 -6.03513904e-06 4.47526924e+02] [ 9.92065867e-01 -9.87892799e-03 -1.25330450e-01 2.13149810e+02] [ 1.25324176e-01 -1.25405347e-03 9.92115053e-01 5.28284643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2292541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:447.52, Y:213.15, Z:52.83 [[-5.05833586e-03 -9.99987206e-01 2.15926762e-05 4.47524526e+02] [ 9.92101676e-01 -5.02115405e-03 -1.25335758e-01 2.13153156e+02] [ 1.25334263e-01 -6.12568230e-04 9.92114382e-01 5.28292368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2592541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.50, Y:213.20, Z:52.84 [[ 8.27266584e-03 -9.96413379e-01 8.42136594e-02 4.47496500e+02] [ 9.94725995e-01 -4.09992133e-04 -1.02567178e-01 2.13199879e+02] [ 1.02233835e-01 8.46180202e-02 9.91154899e-01 5.28365058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.2892541539999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:447.56, Y:213.23, Z:52.81 [[-1.17318749e-02 -9.97401921e-01 -7.10758125e-02 4.47559600e+02] [ 9.89496256e-01 -1.33794953e-03 -1.44552309e-01 2.13230195e+02] [ 1.44081655e-01 -7.20251199e-02 9.86941163e-01 5.28107821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.319254154 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:447.50, Y:213.21, Z:52.83 [[ 1.50517056e-02 -9.96430820e-01 8.30606276e-02 4.47497705e+02] [ 9.95591302e-01 7.24359318e-03 -9.35173250e-02 2.13207815e+02] [ 9.25818874e-02 8.41020336e-02 9.92146885e-01 5.28332972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3492541539999 meters Centerline goodness : 0.996089 Centerline is valid? [True, True] Translation: X:447.56, Y:213.22, Z:52.79 [[ 1.06728296e-02 -9.97822400e-01 -6.50887822e-02 4.47563875e+02] [ 9.95302806e-01 1.68643721e-02 -9.53305743e-02 2.13218895e+02] [ 9.62206639e-02 -6.37656006e-02 9.93315424e-01 5.27873260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.3792541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:447.51, Y:213.26, Z:52.83 [[ 1.46903120e-02 -9.98034153e-01 6.09263761e-02 4.47509871e+02] [ 9.95534189e-01 8.91639585e-03 -9.39796628e-02 2.13261631e+02] [ 9.32516695e-02 6.20348810e-02 9.93708106e-01 5.28294943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4092541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:447.58, Y:213.27, Z:52.81 [[-2.62896358e-03 -9.93588510e-01 -1.13026371e-01 4.47579372e+02] [ 9.93156638e-01 1.06028401e-02 -1.16307660e-01 2.13269383e+02] [ 1.16760355e-01 -1.12558659e-01 9.86761150e-01 5.28083185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4392541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:447.52, Y:213.29, Z:52.85 [[-3.71760945e-03 -9.99993082e-01 -1.25565340e-04 4.47524962e+02] [ 9.93067677e-01 -3.67711099e-03 -1.17486462e-01 2.13293667e+02] [ 1.17485187e-01 -5.61463661e-04 9.93074476e-01 5.28470235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4692541539999 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:447.53, Y:213.32, Z:52.85 [[-9.07206917e-03 -9.99958844e-01 -9.19868017e-05 4.47528215e+02] [ 9.93017357e-01 -8.99827256e-03 -1.17624661e-01 2.13321799e+02] [ 1.17618992e-01 -1.15844355e-03 9.93058121e-01 5.28499163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.4992541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.53, Y:213.35, Z:52.85 [[-1.22115167e-02 -9.99925435e-01 -5.98066780e-05 4.47529987e+02] [ 9.92960695e-01 -1.21194132e-02 -1.17822653e-01 2.13348909e+02] [ 1.17813143e-01 -1.49817898e-03 9.93034651e-01 5.28522653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5292541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:447.53, Y:213.38, Z:52.86 [[-1.51954736e-02 -9.99884541e-01 -4.01551601e-05 4.47531695e+02] [ 9.92943922e-01 -1.50852718e-02 -1.17621439e-01 2.13375716e+02] [ 1.17607253e-01 -1.82718530e-03 9.93058506e-01 5.28552813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.5592541539999 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:447.53, Y:213.40, Z:52.86 [[-1.99890117e-02 -9.99697960e-01 1.42978594e-02 4.47528159e+02] [ 9.93383307e-01 -2.14763231e-02 -1.12820088e-01 2.13403833e+02] [ 1.13093077e-01 1.19480928e-02 9.93512556e-01 5.28590153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.589254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:448.34, Y:213.16, Z:52.92 [[-6.69970908e-03 -4.08573120e-02 -9.99142529e-01 4.48336941e+02] [ 9.87519361e-01 1.56956894e-01 -1.30401107e-02 2.13155419e+02] [ 1.57355092e-01 -9.86759957e-01 3.92958211e-02 5.29232013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6192541539999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:447.54, Y:213.21, Z:52.81 [[-2.07912348e-02 -9.99759754e-01 -6.93970252e-03 4.47542268e+02] [ 9.82167397e-01 -1.91271145e-02 -1.87033042e-01 2.13208316e+02] [ 1.86855371e-01 -1.07045975e-02 9.82329111e-01 5.28052978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6492541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:447.53, Y:213.23, Z:52.82 [[-2.07919597e-02 -9.99580482e-01 2.01632016e-02 4.47530919e+02] [ 9.81277746e-01 -2.42653147e-02 -1.91063290e-01 2.13230295e+02] [ 1.91472402e-01 1.58131208e-02 9.81370605e-01 5.28189000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.6792541539999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:447.55, Y:213.26, Z:52.81 [[-2.37921826e-02 -9.99499535e-01 -2.08473595e-02 4.47552052e+02] [ 9.82290187e-01 -1.94957023e-02 -1.86348881e-01 2.13263221e+02] [ 1.85849186e-01 -2.49118033e-02 9.82262430e-01 5.28104988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.709254154 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:447.54, Y:213.29, Z:52.82 [[-2.53059297e-02 -9.99559524e-01 1.55037986e-02 4.47536485e+02] [ 9.83009637e-01 -2.77013638e-02 -1.81451616e-01 2.13289682e+02] [ 1.81801167e-01 1.06485815e-02 9.83277653e-01 5.28225460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7392541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.55, Y:213.32, Z:52.83 [[-2.62750258e-02 -9.99631543e-01 -6.81191595e-03 4.47549403e+02] [ 9.81473820e-01 -2.45028574e-02 -1.90023026e-01 2.13317667e+02] [ 1.89786099e-01 -1.16785771e-02 9.81756002e-01 5.28265010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7692541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.56, Y:213.35, Z:52.83 [[-2.92870846e-02 -9.99495866e-01 -1.22589115e-02 4.47555214e+02] [ 9.81938664e-01 -2.64749072e-02 -1.87338034e-01 2.13345993e+02] [ 1.86919037e-01 -1.75240840e-02 9.82219008e-01 5.28293003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.7992541539999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:447.55, Y:213.37, Z:52.84 [[-3.12898316e-02 -9.99510151e-01 -6.36798488e-04 4.47550845e+02] [ 9.81823452e-01 -3.06168089e-02 -1.87310760e-01 2.13372596e+02] [ 1.87199510e-01 -6.48614584e-03 9.82300501e-01 5.28382348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.829254154 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:447.55, Y:213.40, Z:52.84 [[-3.37060635e-02 -9.99431619e-01 -5.83168137e-04 4.47552389e+02] [ 9.81684253e-01 -3.29980441e-02 -1.87635700e-01 2.13399505e+02] [ 1.87509808e-01 -6.89694779e-03 9.82238517e-01 5.28425364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8592541539999 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:447.54, Y:213.44, Z:52.84 [[-2.92123193e-02 -9.98040876e-01 5.53267585e-02 4.47540859e+02] [ 9.84515168e-01 -3.82994447e-02 -1.71064421e-01 2.13443745e+02] [ 1.72848269e-01 4.94728445e-02 9.83705197e-01 5.28442805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.8892541539999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:447.59, Y:213.46, Z:52.84 [[-4.28496653e-02 -9.97293838e-01 -5.97403304e-02 4.47585974e+02] [ 9.81046841e-01 -3.06907772e-02 -1.91324784e-01 2.13461163e+02] [ 1.88973551e-01 -6.68062654e-02 9.79707058e-01 5.28355328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9192541539999 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:447.56, Y:213.49, Z:52.86 [[-4.54857919e-02 -9.98964986e-01 -1.32073487e-05 4.47558159e+02] [ 9.80533076e-01 -4.46440052e-02 -1.91211399e-01 2.13485726e+02] [ 1.91012903e-01 -8.71035213e-03 9.81548878e-01 5.28587403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.949254154 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:447.56, Y:213.49, Z:52.86 [[-4.58945460e-02 -9.98946290e-01 3.72977979e-05 4.47559490e+02] [ 9.80414580e-01 -4.50503028e-02 -1.91723032e-01 2.13488433e+02] [ 1.91522692e-01 -8.76247419e-03 9.81449070e-01 5.28586942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 645.9792541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:447.56, Y:213.52, Z:52.86 [[-4.74672930e-02 -9.98872792e-01 -3.37228442e-05 4.47559434e+02] [ 9.80421631e-01 -4.65840189e-02 -1.91320032e-01 2.13515475e+02] [ 1.91102804e-01 -9.11450664e-03 9.81527709e-01 5.28642626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0092541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:447.56, Y:213.52, Z:52.86 [[-4.90073420e-02 -9.98798418e-01 1.33862155e-05 4.47560808e+02] [ 9.80095545e-01 -4.80922426e-02 -1.92613239e-01 2.13519705e+02] [ 1.92382442e-01 -9.42634308e-03 9.81274753e-01 5.28646533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0392541539999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:447.56, Y:213.55, Z:52.87 [[-4.98950539e-02 -9.98754465e-01 -5.75182877e-05 4.47561273e+02] [ 9.79916483e-01 -4.89428269e-02 -1.93308786e-01 2.13546985e+02] [ 1.93065198e-01 -9.70151542e-03 9.81137967e-01 5.28694180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.069254154 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:447.56, Y:213.57, Z:52.87 [[-5.06871246e-02 -9.98714582e-01 -4.56294692e-07 4.47561274e+02] [ 9.79779482e-01 -4.97260350e-02 -1.93802707e-01 2.13574373e+02] [ 1.93553566e-01 -9.82374900e-03 9.81040525e-01 5.28742492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.0992541539999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:447.56, Y:213.58, Z:52.87 [[-5.01470235e-02 -9.98741845e-01 4.79212862e-05 4.47560957e+02] [ 9.79709524e-01 -4.92007293e-02 -1.94289825e-01 2.13576542e+02] [ 1.94047736e-01 -9.69610748e-03 9.80944168e-01 5.28746078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1292541539999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:447.56, Y:213.61, Z:52.88 [[-4.69926176e-02 -9.98894376e-01 1.31161802e-03 4.47563184e+02] [ 9.80212330e-01 -4.63664175e-02 -1.92442051e-01 2.13610251e+02] [ 1.92290097e-01 -7.75769153e-03 9.81307463e-01 5.28792673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1592541539999 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:447.56, Y:214.10, Z:52.97 [[-5.71101803e-02 -9.98363940e-01 2.80539957e-03 4.47556839e+02] [ 9.79292635e-01 -5.65654565e-02 -1.94386947e-01 2.14103172e+02] [ 1.94227607e-01 -8.35416645e-03 9.80920917e-01 5.29736674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.1892541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:447.56, Y:213.62, Z:52.88 [[-4.28874919e-02 -9.99071840e-01 -4.01521769e-03 4.47561594e+02] [ 9.80346600e-01 -4.13083731e-02 -1.92909728e-01 2.13622812e+02] [ 1.92564814e-01 -1.22097194e-02 9.81208293e-01 5.28821454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2192541539999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:447.56, Y:213.64, Z:52.89 [[-4.39454358e-02 -9.99033075e-01 -1.30875160e-03 4.47556255e+02] [ 9.80294648e-01 -4.28685553e-02 -1.92833325e-01 2.13644149e+02] [ 1.92590765e-01 -9.75710668e-03 9.81230654e-01 5.28879950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2492541539999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:447.55, Y:213.67, Z:52.90 [[-4.22373990e-02 -9.99107584e-01 -1.93968076e-04 4.47553496e+02] [ 9.80344542e-01 -4.14067394e-02 -1.92899095e-01 2.13670982e+02] [ 1.92718918e-01 -8.33771161e-03 9.81218580e-01 5.28959955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.2792541539999 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:447.55, Y:213.70, Z:52.90 [[-3.73850000e-02 -9.99300928e-01 -1.29051935e-04 4.47551744e+02] [ 9.80833324e-01 -3.66693921e-02 -1.91367045e-01 2.13697713e+02] [ 1.91228534e-01 -7.28083544e-03 9.81518536e-01 5.28992905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3092541539999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:447.55, Y:213.73, Z:52.90 [[-3.12841209e-02 -9.99510061e-01 -9.70648267e-04 4.47552931e+02] [ 9.81509813e-01 -3.05372191e-02 -1.88960223e-01 2.13730351e+02] [ 1.88838003e-01 -6.86415526e-03 9.81984263e-01 5.29038997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.339254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:447.55, Y:213.72, Z:52.90 [[-2.64818807e-02 -9.99644878e-01 -2.97132731e-03 4.47550054e+02] [ 9.81200579e-01 -2.54246248e-02 -1.91308681e-01 2.13724405e+02] [ 1.91165198e-01 -7.98168175e-03 9.81525425e-01 5.29034159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3692541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:447.54, Y:213.75, Z:52.91 [[-2.65129410e-02 -9.99648459e-01 1.48756073e-04 4.47544805e+02] [ 9.81026244e-01 -2.60476263e-02 -1.92117232e-01 2.13746894e+02] [ 1.92053570e-01 -4.94765922e-03 9.81371972e-01 5.29089218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.3992541539999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:447.54, Y:213.77, Z:52.91 [[-2.45248730e-02 -9.99699211e-01 -1.31730510e-04 4.47544446e+02] [ 9.80989852e-01 -2.40405161e-02 -1.92564183e-01 2.13774732e+02] [ 1.92503095e-01 -4.85183843e-03 9.81284372e-01 5.29130858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4292541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:447.54, Y:213.80, Z:52.92 [[-2.21946636e-02 -9.99753665e-01 -7.57675330e-05 4.47542010e+02] [ 9.80946690e-01 -2.17625154e-02 -1.93054355e-01 2.13802349e+02] [ 1.93005150e-01 -4.35910037e-03 9.81188061e-01 5.29189319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.459254154 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.54, Y:213.83, Z:52.92 [[-2.16833375e-02 -9.99764889e-01 -1.87354613e-05 4.47541095e+02] [ 9.80868301e-01 -2.12698738e-02 -1.93507026e-01 2.13828358e+02] [ 1.93461132e-01 -4.21425518e-03 9.81098889e-01 5.29237768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.4892541539999 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:447.54, Y:214.23, Z:53.00 [[-2.27299491e-02 -9.99725004e-01 5.76760359e-03 4.47537236e+02] [ 9.80898068e-01 -2.34159724e-02 -1.93107929e-01 2.14230926e+02] [ 1.93189879e-01 1.26809782e-03 9.81160569e-01 5.30011370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5192541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.54, Y:213.84, Z:52.92 [[-2.13645065e-02 -9.99758878e-01 -5.07377324e-03 4.47542053e+02] [ 9.80741638e-01 -1.99721149e-02 -1.94285754e-01 2.13835277e+02] [ 1.94137573e-01 -9.12687993e-03 9.80931854e-01 5.29230842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.5492541539999 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:447.54, Y:213.86, Z:52.93 [[-2.21790302e-02 -9.99754008e-01 -1.19216825e-04 4.47538986e+02] [ 9.80792471e-01 -2.17352636e-02 -1.93839385e-01 2.13862383e+02] [ 1.93789111e-01 -4.41609655e-03 9.81033271e-01 5.29300376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.579254154 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:447.54, Y:213.89, Z:52.94 [[-2.24535401e-02 -9.99747886e-01 -6.15138782e-05 4.47538898e+02] [ 9.80786211e-01 -2.20157492e-02 -1.93839404e-01 2.13890290e+02] [ 1.93789180e-01 -4.41271280e-03 9.81033272e-01 5.29352687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6092541539999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:447.50, Y:213.94, Z:52.95 [[-1.25031940e-02 -9.94630619e-01 1.02730721e-01 4.47502202e+02] [ 9.84760255e-01 -3.00716613e-02 -1.71297800e-01 2.13938228e+02] [ 1.73467320e-01 9.90233617e-02 9.79848694e-01 5.29509505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6392541539999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:447.58, Y:213.96, Z:52.92 [[-3.50281046e-02 -9.95711444e-01 -8.56256504e-02 4.47583525e+02] [ 9.75698678e-01 -1.55286435e-02 -2.18565667e-01 2.13963707e+02] [ 2.16298685e-01 -9.12007750e-02 9.72058279e-01 5.29167678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.6692541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.54, Y:213.96, Z:52.94 [[-3.47517711e-02 -9.99393198e-01 2.35586387e-03 4.47539724e+02] [ 9.75357449e-01 -3.44296986e-02 -2.17927610e-01 2.13962743e+02] [ 2.17876482e-01 -5.27556103e-03 9.75962093e-01 5.29444237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.699254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.54, Y:213.96, Z:52.94 [[-3.48978313e-02 -9.99388320e-01 2.26431007e-03 4.47539675e+02] [ 9.75425162e-01 -3.45540831e-02 -2.17604615e-01 2.13964897e+02] [ 2.17549752e-01 -5.38526412e-03 9.76034377e-01 5.29448483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7292541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:447.54, Y:213.97, Z:52.95 [[-3.52475618e-02 -9.99376254e-01 2.17076271e-03 4.47539605e+02] [ 9.75536163e-01 -3.48782004e-02 -2.17054613e-01 2.13970346e+02] [ 2.16994938e-01 -5.53298835e-03 9.76157048e-01 5.29460095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7592541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:447.51, Y:213.96, Z:52.95 [[-1.86515212e-02 -9.96633954e-01 7.98303389e-02 4.47512262e+02] [ 9.84507089e-01 -3.22303751e-02 -1.72357171e-01 2.13959655e+02] [ 1.74349971e-01 7.53788111e-02 9.81794338e-01 5.29481676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.7892541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.58, Y:213.98, Z:52.92 [[-3.86212308e-02 -9.95905803e-01 -8.17314579e-02 4.47582256e+02] [ 9.76334843e-01 -2.01915275e-02 -2.15319710e-01 2.13978619e+02] [ 2.12787865e-01 -8.81131823e-02 9.73117358e-01 5.29210475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.819254154 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.54, Y:213.98, Z:52.95 [[-4.02796530e-02 -9.99186388e-01 2.02792788e-03 4.47542051e+02] [ 9.75893205e-01 -3.97761819e-02 -2.14593356e-01 2.13975761e+02] [ 2.14499423e-01 -6.66470487e-03 9.76701377e-01 5.29463671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8492541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:447.54, Y:213.98, Z:52.95 [[-4.10335240e-02 -9.99155885e-01 1.94103257e-03 4.47542439e+02] [ 9.75856042e-01 -4.04935938e-02 -2.14628175e-01 2.13978143e+02] [ 2.14525603e-01 -6.91278200e-03 9.76693902e-01 5.29466965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.8792541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:447.54, Y:213.98, Z:52.95 [[-4.16738103e-02 -9.99129553e-01 1.85201013e-03 4.47542610e+02] [ 9.75878921e-01 -4.11014564e-02 -2.14408492e-01 2.13982719e+02] [ 2.14297981e-01 -7.12788119e-03 9.76742325e-01 5.29472869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9092541539999 meters Centerline goodness : 0.997568 Centerline is valid? [True, True] Translation: X:447.54, Y:214.55, Z:53.07 [[-4.43108639e-02 -9.98977011e-01 9.02657037e-03 4.47535262e+02] [ 9.75885271e-01 -4.52161957e-02 -2.13549606e-01 2.14550177e+02] [ 2.13739294e-01 -6.53670440e-04 9.76890519e-01 5.30699781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9392541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.55, Y:214.00, Z:52.95 [[-4.27017698e-02 -9.99079786e-01 -4.01753749e-03 4.47545550e+02] [ 9.75863767e-01 -4.08468311e-02 -2.14526096e-01 2.13997236e+02] [ 2.14164582e-01 -1.30812132e-02 9.76709995e-01 5.29473224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9692541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:447.54, Y:214.00, Z:52.95 [[-4.28531198e-02 -9.99080425e-01 1.38379313e-03 4.47542982e+02] [ 9.75769035e-01 -4.21506149e-02 -2.14704720e-01 2.14000769e+02] [ 2.14565610e-01 -7.85050459e-03 9.76678027e-01 5.29499221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 646.9992541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:447.54, Y:214.00, Z:52.95 [[-4.34644717e-02 -9.99054135e-01 1.29427595e-03 4.47543100e+02] [ 9.75821234e-01 -4.27314037e-02 -2.14352390e-01 2.14004175e+02] [ 2.14204948e-01 -8.05373144e-03 9.76755536e-01 5.29500647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0292541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.54, Y:214.00, Z:52.95 [[-4.33717590e-02 -9.99058273e-01 1.20713249e-03 4.47543168e+02] [ 9.75812926e-01 -4.26216848e-02 -2.14412046e-01 2.14003396e+02] [ 2.14261578e-01 -8.12149209e-03 9.76742554e-01 5.29500067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.0592541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:447.51, Y:214.00, Z:52.95 [[-2.50057280e-02 -9.96508743e-01 7.96557500e-02 4.47514814e+02] [ 9.84775540e-01 -3.82655904e-02 -1.69566743e-01 2.14004206e+02] [ 1.72022816e-01 7.42028943e-02 9.82294295e-01 5.29526562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.089254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:447.56, Y:214.04, Z:52.93 [[-2.49197824e-02 -9.99428451e-01 -2.28424068e-02 4.47564296e+02] [ 9.85040414e-01 -2.06508795e-02 -1.71081633e-01 2.14036657e+02] [ 1.70512135e-01 -2.67640109e-02 9.84992030e-01 5.29273870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1192541539999 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:447.58, Y:214.05, Z:52.94 [[-3.74869220e-02 -9.95204255e-01 -9.03505438e-02 4.47584767e+02] [ 9.81504964e-01 -1.96832557e-02 -1.90422098e-01 2.14045036e+02] [ 1.87730490e-01 -9.58178456e-02 9.77535781e-01 5.29361396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1492541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:447.54, Y:214.07, Z:52.97 [[-3.75917558e-02 -9.99292963e-01 -6.59253309e-04 4.47540229e+02] [ 9.80796648e-01 -3.67695950e-02 -1.91535720e-01 2.14067800e+02] [ 1.91376056e-01 -7.84675744e-03 9.81485422e-01 5.29676920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.1792541539999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:447.51, Y:214.11, Z:52.98 [[-2.88912756e-02 -9.96087778e-01 8.35130658e-02 4.47510156e+02] [ 9.84182081e-01 -4.29559910e-02 -1.71873249e-01 2.14109611e+02] [ 1.74788229e-01 7.72264255e-02 9.81572796e-01 5.29780808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.209254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.58, Y:214.13, Z:52.95 [[-4.03115270e-02 -9.95087265e-01 -9.04229784e-02 4.47584817e+02] [ 9.81232206e-01 -2.23459707e-02 -1.91530715e-01 2.14129082e+02] [ 1.88569186e-01 -9.64468342e-02 9.77312473e-01 5.29511785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2392541539999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:447.51, Y:214.16, Z:52.99 [[-3.16698469e-02 -9.96705374e-01 7.46687289e-02 4.47513584e+02] [ 9.83266211e-01 -4.44775215e-02 -1.76661563e-01 2.14164817e+02] [ 1.79400609e-01 6.78243935e-02 9.81435313e-01 5.29864631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2692541539999 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:447.58, Y:214.18, Z:52.97 [[-4.09884917e-02 -9.95883135e-01 -8.08500179e-02 4.47578691e+02] [ 9.80777624e-01 -2.46523300e-02 -1.93565274e-01 2.14184638e+02] [ 1.90775250e-01 -8.72298371e-02 9.77750356e-01 5.29656185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.2992541539999 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:447.54, Y:214.21, Z:53.00 [[-3.97450739e-02 -9.99209787e-01 -3.62079188e-04 4.47538379e+02] [ 9.80083950e-01 -3.89137502e-02 -1.94733593e-01 2.14207777e+02] [ 1.94565622e-01 -8.09456903e-03 9.80856104e-01 5.29952104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.329254154 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:447.51, Y:214.25, Z:53.00 [[-2.95790518e-02 -9.95808434e-01 8.65484952e-02 4.47506879e+02] [ 9.83484411e-01 -4.44615572e-02 -1.75446809e-01 2.14250452e+02] [ 1.78559493e-01 7.99295456e-02 9.80677202e-01 5.30048199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3592541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:447.58, Y:214.27, Z:52.98 [[-3.73597843e-02 -9.94921918e-01 -9.34592059e-02 4.47582771e+02] [ 9.80478578e-01 -1.84284340e-02 -1.95760441e-01 2.14268631e+02] [ 1.93044046e-01 -9.89483172e-02 9.76188110e-01 5.29781156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.3892541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.54, Y:214.29, Z:53.01 [[-3.43220384e-02 -9.99410814e-01 -1.50050750e-04 4.47535836e+02] [ 9.79802389e-01 -3.36190448e-02 -1.97121886e-01 2.14290229e+02] [ 1.97000700e-01 -6.91264503e-03 9.80378978e-01 5.30113579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4192541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:447.53, Y:214.32, Z:53.02 [[-3.25142333e-02 -9.99471266e-01 -1.15371071e-04 4.47534470e+02] [ 9.79950533e-01 -3.18564929e-02 -1.96677699e-01 2.14317325e+02] [ 1.96570034e-01 -6.50788252e-03 9.80468189e-01 5.30170980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.449254154 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:447.53, Y:214.34, Z:53.02 [[-2.77992022e-02 -9.99613526e-01 -5.74455811e-05 4.47531941e+02] [ 9.80215226e-01 -2.72484699e-02 -1.96050074e-01 2.14343836e+02] [ 1.95972740e-01 -5.50634468e-03 9.80593884e-01 5.30229543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.4792541539999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:447.53, Y:214.37, Z:53.03 [[-2.53611880e-02 -9.99678353e-01 -5.14901207e-06 4.47531399e+02] [ 9.80409717e-01 -2.48713489e-02 -1.95392435e-01 2.14371333e+02] [ 1.95329459e-01 -4.96043242e-03 9.80725138e-01 5.30277457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5092541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.53, Y:214.37, Z:53.03 [[-2.24506824e-02 -9.99747951e-01 4.57220366e-05 4.47530885e+02] [ 9.80513066e-01 -2.20276651e-02 -1.95215035e-01 2.14371511e+02] [ 1.95166838e-01 -4.33787968e-03 9.80760464e-01 5.30276652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5392541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:447.53, Y:214.40, Z:53.03 [[-1.70852579e-02 -9.99854036e-01 -2.68205612e-05 4.47529393e+02] [ 9.80748800e-01 -1.67535735e-02 -1.94553613e-01 2.14398382e+02] [ 1.94524766e-01 -3.35030288e-03 9.80891886e-01 5.30319668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.569254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:447.53, Y:214.40, Z:53.03 [[-1.41022094e-02 -9.99900559e-01 7.37718161e-06 4.47528116e+02] [ 9.80987917e-01 -1.38369010e-02 -1.93574911e-01 2.14402751e+02] [ 1.93555763e-01 -2.72259699e-03 9.81085498e-01 5.30331268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.5992541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.53, Y:214.43, Z:53.04 [[-8.46508973e-03 -9.99964168e-01 -6.45515855e-05 4.47526809e+02] [ 9.81310171e-01 -8.29476557e-03 -1.92253855e-01 2.14429113e+02] [ 1.92246431e-01 -1.69079126e-03 9.81345225e-01 5.30384436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6292541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.53, Y:214.46, Z:53.04 [[-5.93740210e-03 -9.99982373e-01 -1.40680140e-05 4.47526298e+02] [ 9.81372035e-01 -5.82420157e-03 -1.92028663e-01 2.14456146e+02] [ 1.92025197e-01 -1.15395734e-03 9.81389317e-01 5.30435457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6592541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.53, Y:214.46, Z:53.04 [[-1.54260914e-03 -9.99998810e-01 3.76945694e-05 4.47525909e+02] [ 9.81395137e-01 -1.52114801e-03 -1.91992895e-01 2.14459628e+02] [ 1.91992724e-01 -2.59176728e-04 9.81396315e-01 5.30437049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.6892541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.53, Y:214.49, Z:53.05 [[-7.10447703e-04 -9.99999747e-01 -3.40841778e-05 4.47526123e+02] [ 9.81424724e-01 -6.90712187e-04 -1.91846383e-01 2.14487089e+02] [ 1.91846311e-01 -1.69747876e-04 9.81424966e-01 5.30491017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7192541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.53, Y:214.49, Z:53.05 [[ 1.06630048e-04 -9.99999994e-01 1.82390440e-05 4.47526383e+02] [ 9.81447049e-01 1.01154715e-04 -1.91733357e-01 2.14492908e+02] [ 1.91733354e-01 3.83451934e-05 9.81447054e-01 5.30498411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7492541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.53, Y:214.52, Z:53.05 [[-1.15463753e-03 -9.99999332e-01 -5.34935715e-05 4.47528367e+02] [ 9.81465422e-01 -1.12298626e-03 -1.91636018e-01 2.14520945e+02] [ 1.91635830e-01 -2.73772229e-04 9.81466063e-01 5.30542914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.7792541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.53, Y:214.52, Z:53.05 [[-2.15664814e-03 -9.99997674e-01 -2.11083755e-06 4.47529896e+02] [ 9.81385017e-01 -2.11610173e-03 -1.92038980e-01 2.14523124e+02] [ 1.92038529e-01 -4.16232053e-04 9.81387299e-01 5.30542672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8092541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:447.53, Y:214.55, Z:53.06 [[-6.90493187e-03 -9.99976158e-01 -7.40912728e-05 4.47533155e+02] [ 9.81226120e-01 -6.76118018e-03 -1.92742286e-01 2.14549351e+02] [ 1.92737190e-01 -1.40357265e-03 9.81249411e-01 5.30577386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.839254154 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.53, Y:214.58, Z:53.06 [[-9.72937641e-03 -9.99952668e-01 -2.33470976e-05 4.47534336e+02] [ 9.81169534e-01 -9.54211541e-03 -1.92912660e-01 2.14577304e+02] [ 1.92903306e-01 -1.89982734e-03 9.81215932e-01 5.30624238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8692541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:447.54, Y:214.58, Z:53.06 [[-1.20780332e-02 -9.99927058e-01 2.90421316e-05 4.47535240e+02] [ 9.81168137e-01 -1.18570453e-02 -1.92791329e-01 2.14582763e+02] [ 1.92777611e-01 -2.30004486e-03 9.81239778e-01 5.30635194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.8992541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.54, Y:214.61, Z:53.07 [[-1.75063536e-02 -9.99846751e-01 -4.28140886e-05 4.47536885e+02] [ 9.81077128e-01 -1.71694574e-02 -1.92854553e-01 2.14609885e+02] [ 1.92824263e-01 -3.41818391e-03 9.81227354e-01 5.30682658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9292541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.54, Y:214.62, Z:53.07 [[-2.24721327e-02 -9.99747470e-01 7.93500502e-06 4.47539155e+02] [ 9.81130054e-01 -2.20551786e-02 -1.92086926e-01 2.14617891e+02] [ 1.92038593e-01 -4.30881761e-03 9.81377916e-01 5.30695901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.959254154 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.54, Y:214.65, Z:53.07 [[-2.55231402e-02 -9.99674230e-01 -6.43720977e-05 4.47540364e+02] [ 9.81049347e-01 -2.50352477e-02 -1.92133846e-01 2.14645223e+02] [ 1.92069643e-01 -4.96701129e-03 9.81368728e-01 5.30748583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 647.9892541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.54, Y:214.67, Z:53.08 [[-2.82289363e-02 -9.99601484e-01 -7.03515448e-06 4.47541561e+02] [ 9.81073912e-01 -2.77043654e-02 -1.91641455e-01 2.14673066e+02] [ 1.91564888e-01 -5.41673643e-03 9.81465003e-01 5.30800302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0192541539999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:447.54, Y:214.68, Z:53.08 [[-3.24304341e-02 -9.99473994e-01 4.56617976e-05 4.47543560e+02] [ 9.81196471e-01 -3.18460712e-02 -1.90366262e-01 2.14680045e+02] [ 1.90267583e-01 -6.12885733e-03 9.81713137e-01 5.30814961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.0492541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:447.52, Y:214.72, Z:53.09 [[-2.58512445e-02 -9.97279418e-01 6.90324212e-02 4.47521292e+02] [ 9.83542073e-01 -3.77262245e-02 -1.76696694e-01 2.14720091e+02] [ 1.78820309e-01 6.33284612e-02 9.81841537e-01 5.30913514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.079254154 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:447.57, Y:214.74, Z:53.07 [[-4.36136748e-02 -9.97583520e-01 -5.40829768e-02 4.47573721e+02] [ 9.77419591e-01 -3.14035048e-02 -2.08961154e-01 2.14736844e+02] [ 2.06757809e-01 -6.19753248e-02 9.76427298e-01 5.30723721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1092541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:447.55, Y:214.74, Z:53.09 [[-4.40004260e-02 -9.99030134e-01 1.65941949e-03 4.47547334e+02] [ 9.76876225e-01 -4.33724518e-02 -2.09360147e-01 2.14736882e+02] [ 2.09229069e-01 -7.59088820e-03 9.77837193e-01 5.30900359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1392541539999 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:447.54, Y:215.32, Z:53.21 [[-4.44427747e-02 -9.98986695e-01 7.10095859e-03 4.47540871e+02] [ 9.76904390e-01 -4.49452502e-02 -2.08896475e-01 2.15321397e+02] [ 2.09003954e-01 -2.34698138e-03 9.77911979e-01 5.32132070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.1692541539999 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:447.54, Y:214.73, Z:53.09 [[-1.49724946e-02 -9.99031167e-01 4.13829949e-02 4.47535056e+02] [ 9.86779703e-01 -2.14431957e-02 -1.60642484e-01 2.14733454e+02] [ 1.61374232e-01 3.84306807e-02 9.86144736e-01 5.30877255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.199254154 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:447.56, Y:214.77, Z:53.08 [[-1.22047659e-02 -9.99923784e-01 1.86253803e-03 4.47555542e+02] [ 9.86579194e-01 -1.23451602e-02 -1.62816129e-01 2.14768251e+02] [ 1.62826714e-01 -1.49591464e-04 9.86654671e-01 5.30811545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2292541539999 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:447.59, Y:214.78, Z:53.08 [[-2.18958024e-02 -9.95761820e-01 -8.93250944e-02 4.47587992e+02] [ 9.83494875e-01 -5.40238769e-03 -1.80855315e-01 2.14777415e+02] [ 1.79606249e-01 -9.18107448e-02 9.79444936e-01 5.30813986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2592541539999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:447.54, Y:214.80, Z:53.11 [[-1.89896168e-02 -9.99818707e-01 -1.39540813e-03 4.47543864e+02] [ 9.83048074e-01 -1.84164936e-02 -1.82420716e-01 2.14800241e+02] [ 1.82361946e-01 -4.83585278e-03 9.83219576e-01 5.31122101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.2892541539999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:447.52, Y:214.84, Z:53.12 [[-4.53066873e-03 -9.97898022e-01 6.46452634e-02 4.47522399e+02] [ 9.85782849e-01 -1.53152092e-02 -1.67324888e-01 2.14840928e+02] [ 1.67963231e-01 6.29680984e-02 9.83780144e-01 5.31190150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.319254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:447.56, Y:214.87, Z:53.10 [[-2.00208238e-03 -9.99935383e-01 -1.11902615e-02 4.47559771e+02] [ 9.85872468e-01 -9.94616349e-05 -1.67497665e-01 2.14872712e+02] [ 1.67485729e-01 -1.13675149e-02 9.85808962e-01 5.31020965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3492541539999 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:447.58, Y:214.88, Z:53.11 [[-7.54956003e-03 -9.97654564e-01 -6.80321631e-02 4.47577266e+02] [ 9.83213862e-01 4.99716624e-03 -1.82388406e-01 2.14884760e+02] [ 1.82300594e-01 -6.82671180e-02 9.80870070e-01 5.31079037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.3792541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.54, Y:214.91, Z:53.13 [[-5.91787344e-03 -9.99981811e-01 -1.16439230e-03 4.47544242e+02] [ 9.83002053e-01 -5.60370717e-03 -1.83509024e-01 2.14908750e+02] [ 1.83499161e-01 -2.23058320e-03 9.83017336e-01 5.31324327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4092541539999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:447.52, Y:214.95, Z:53.14 [[ 3.64799626e-03 -9.98248885e-01 5.90411343e-02 4.47524318e+02] [ 9.85299486e-01 -6.49606033e-03 -1.70712402e-01 2.14948298e+02] [ 1.70796999e-01 5.87959575e-02 9.83550416e-01 5.31396460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4392541539999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:447.58, Y:214.97, Z:53.12 [[-5.55247881e-03 -9.97761049e-01 -6.66487769e-02 4.47576580e+02] [ 9.82610855e-01 6.92610621e-03 -1.85547665e-01 2.14967932e+02] [ 1.85593850e-01 -6.65200612e-02 9.80372381e-01 5.31229614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4692541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.54, Y:214.99, Z:53.15 [[-5.94763559e-03 -9.99981815e-01 -9.97664847e-04 4.47544199e+02] [ 9.82403368e-01 -5.65683015e-03 -1.86685893e-01 2.14992015e+02] [ 1.86676855e-01 -2.09044897e-03 9.82419148e-01 5.31472555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.4992541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.54, Y:215.02, Z:53.15 [[-6.21736011e-03 -9.99980227e-01 -9.43117085e-04 4.47544241e+02] [ 9.82401693e-01 -5.93199547e-03 -1.86686170e-01 2.15019962e+02] [ 1.86676884e-01 -2.08721496e-03 9.82419149e-01 5.31523051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5292541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.54, Y:215.05, Z:53.16 [[-9.58249080e-03 -9.99953686e-01 -8.94875227e-04 4.47544756e+02] [ 9.82253742e-01 -9.24522965e-03 -1.87328887e-01 2.15045997e+02] [ 1.87311937e-01 -2.67407187e-03 9.82296843e-01 5.31573377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.5592541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.54, Y:215.07, Z:53.16 [[-1.18192265e-02 -9.99929793e-01 -8.45381442e-04 4.47544974e+02] [ 9.82245843e-01 -1.14518938e-02 -1.87248384e-01 2.15072060e+02] [ 1.87225557e-01 -3.04350346e-03 9.82312236e-01 5.31620815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.589254154 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:447.55, Y:215.10, Z:53.17 [[-1.47868483e-02 -9.99889587e-01 1.47089805e-03 4.47546271e+02] [ 9.82596342e-01 -1.48034933e-02 -1.85162863e-01 2.15101973e+02] [ 1.85164193e-01 -1.29267614e-03 9.82706747e-01 5.31669088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6192541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:447.55, Y:215.13, Z:53.17 [[-2.06739328e-02 -9.99779087e-01 -3.79027330e-03 4.47547573e+02] [ 9.82213674e-01 -1.96027523e-02 -1.86740546e-01 2.15126997e+02] [ 1.86624992e-01 -7.58351976e-03 9.82401956e-01 5.31715069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6492541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:447.55, Y:215.15, Z:53.18 [[-2.38910819e-02 -9.99714312e-01 -7.14640615e-04 4.47546350e+02] [ 9.82195736e-01 -2.33391739e-02 -1.86404987e-01 2.15153742e+02] [ 1.86335054e-01 -5.15533377e-03 9.82472733e-01 5.31777755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.6792541539999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:447.55, Y:215.18, Z:53.18 [[-2.96138954e-02 -9.99561197e-01 -6.55910338e-04 4.47547144e+02] [ 9.82273936e-01 -2.89802013e-02 -1.85197361e-01 2.15180736e+02] [ 1.85097087e-01 -6.12869889e-03 9.82701128e-01 5.31825075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.709254154 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:447.55, Y:215.21, Z:53.19 [[-3.25474160e-02 -9.99469999e-01 -6.22061712e-04 4.47547764e+02] [ 9.82326023e-01 -3.18743316e-02 -1.84444059e-01 2.15206823e+02] [ 1.84326476e-01 -6.61424494e-03 9.82842817e-01 5.31870487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7392541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:447.55, Y:215.23, Z:53.19 [[-3.72933122e-02 -9.99304200e-01 -5.70623483e-04 4.47548951e+02] [ 9.82313897e-01 -3.65543848e-02 -1.83638736e-01 2.15234188e+02] [ 1.83490102e-01 -7.40902811e-03 9.82993636e-01 5.31921699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7692541539999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:447.54, Y:215.27, Z:53.20 [[-3.34587005e-02 -9.98565138e-01 4.18112470e-02 4.47535403e+02] [ 9.84088163e-01 -4.02202451e-02 -1.73068827e-01 2.15270948e+02] [ 1.74502156e-01 3.53552952e-02 9.84021850e-01 5.31992479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.7992541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:447.57, Y:215.29, Z:53.19 [[-4.12352699e-02 -9.98274353e-01 -4.18087054e-02 4.47570833e+02] [ 9.82757994e-01 -3.29748373e-02 -1.81932367e-01 2.15292177e+02] [ 1.80239781e-01 -4.85898697e-02 9.82421827e-01 5.31878720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.829254154 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:447.55, Y:215.32, Z:53.20 [[-4.53646615e-02 -9.98962908e-01 -3.89299525e-03 4.47552218e+02] [ 9.82484651e-01 -4.39106170e-02 -1.81096020e-01 2.15317192e+02] [ 1.80737263e-01 -1.20401677e-02 9.83457714e-01 5.32043859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8592541539999 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:447.55, Y:215.34, Z:53.21 [[-4.73529139e-02 -9.98878037e-01 -6.08079910e-04 4.47550835e+02] [ 9.82346275e-01 -4.64588931e-02 -1.81210839e-01 2.15343319e+02] [ 1.80979277e-01 -9.17820632e-03 9.83444082e-01 5.32098181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.8892541539999 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:447.55, Y:215.37, Z:53.21 [[-5.01986421e-02 -9.98739094e-01 -5.65059462e-04 4.47551569e+02] [ 9.81837990e-01 -4.92454985e-02 -1.83218566e-01 2.15370601e+02] [ 1.82959718e-01 -9.75212005e-03 9.83072041e-01 5.32135947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9192541539999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:447.55, Y:215.40, Z:53.22 [[-5.19682741e-02 -9.98648606e-01 -5.11098569e-04 4.47551148e+02] [ 9.81764205e-01 -5.09959068e-02 -1.83135094e-01 2.15397151e+02] [ 1.82861543e-01 -1.00189931e-02 9.83087624e-01 5.32187435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.949254154 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:447.55, Y:215.42, Z:53.22 [[-5.27506064e-02 -9.98607610e-01 -4.63239185e-04 4.47550942e+02] [ 9.81653915e-01 -5.17699148e-02 -1.83508764e-01 2.15424757e+02] [ 1.83229266e-01 -1.01349391e-02 9.83017965e-01 5.32234455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 648.9792541539999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:447.55, Y:215.45, Z:53.23 [[-5.30351062e-02 -9.98592564e-01 -4.10697758e-04 4.47550029e+02] [ 9.81514621e-01 -5.20523532e-02 -1.84172749e-01 2.15452353e+02] [ 1.83892160e-01 -1.01707272e-02 9.82893804e-01 5.32284448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0092541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:447.55, Y:215.48, Z:53.23 [[-5.14541958e-02 -9.98675292e-01 -3.55677620e-04 4.47547702e+02] [ 9.81529718e-01 -5.05050962e-02 -1.84522757e-01 2.15480279e+02] [ 1.84260355e-01 -9.84357824e-03 9.82828177e-01 5.32335517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0392541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:447.54, Y:215.51, Z:53.24 [[-4.80798321e-02 -9.98843451e-01 -3.01709032e-04 4.47544830e+02] [ 9.81535200e-01 -4.71906984e-02 -1.85369062e-01 2.15506743e+02] [ 1.85140436e-01 -9.20865142e-03 9.82668927e-01 5.32386631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.069254154 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:447.54, Y:215.53, Z:53.24 [[-4.56703260e-02 -9.98956531e-01 -2.63773676e-04 4.47543404e+02] [ 9.81599488e-01 -4.48277847e-02 -1.85614966e-01 2.15533639e+02] [ 1.85409458e-01 -8.73601611e-03 9.82622519e-01 5.32434760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.0992541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.54, Y:215.56, Z:53.25 [[-4.05138421e-02 -9.99178952e-01 -2.25446742e-04 4.47540115e+02] [ 9.81737122e-01 -3.97646492e-02 -1.86040310e-01 2.15561234e+02] [ 1.85878597e-01 -7.75853716e-03 9.82542087e-01 5.32483566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1292541539999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:447.54, Y:215.59, Z:53.25 [[-3.76894757e-02 -9.99289485e-01 -1.70608069e-04 4.47538719e+02] [ 9.81774856e-01 -3.69970632e-02 -1.86411776e-01 2.15589176e+02] [ 1.86273016e-01 -7.19326082e-03 9.82471689e-01 5.32532264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1592541539999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:447.54, Y:215.62, Z:53.26 [[-3.51069136e-02 -9.99383556e-01 -1.15722596e-04 4.47537072e+02] [ 9.81743795e-01 -3.44655937e-02 -1.87059465e-01 2.15615439e+02] [ 1.86940165e-01 -6.68069042e-03 9.82348585e-01 5.32578584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.1892541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:447.54, Y:215.64, Z:53.26 [[-3.30851355e-02 -9.99316852e-01 -1.64682363e-02 4.47537415e+02] [ 9.81340603e-01 -2.93585011e-02 -1.90022893e-01 2.15639548e+02] [ 1.89409596e-01 -2.24478821e-02 9.81641532e-01 5.32628255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2192541539999 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:447.52, Y:215.67, Z:53.27 [[-2.81544285e-02 -9.99431806e-01 1.85308635e-02 4.47522812e+02] [ 9.81904561e-01 -3.11242352e-02 -1.86801270e-01 2.15668850e+02] [ 1.87271889e-01 1.29362564e-02 9.82222934e-01 5.32740854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2492541539999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:447.53, Y:215.70, Z:53.27 [[-2.67322480e-02 -9.99642630e-01 3.05338972e-07 4.47530106e+02] [ 9.82142533e-01 -2.62643207e-02 -1.86296082e-01 2.15697703e+02] [ 1.86229514e-01 -4.97981318e-03 9.82493649e-01 5.32738672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.2792541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.53, Y:215.69, Z:53.27 [[-2.11863113e-02 -9.99775544e-01 4.78431625e-05 4.47527800e+02] [ 9.82461107e-01 -2.08282673e-02 -1.85300721e-01 2.15692935e+02] [ 1.85260126e-01 -3.87883472e-03 9.82681861e-01 5.32736923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3092541539999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:447.53, Y:215.72, Z:53.28 [[-1.86506714e-02 -9.99826061e-01 -2.09230976e-05 4.47526670e+02] [ 9.82594532e-01 -1.83253675e-02 -1.84857151e-01 2.15719604e+02] [ 1.84824613e-01 -3.46826889e-03 9.82765401e-01 5.32783453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.339254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.52, Y:215.71, Z:53.28 [[-1.21598187e-02 -9.99926067e-01 4.13028285e-06 4.47523587e+02] [ 9.82613307e-01 -1.19500484e-02 -1.85278939e-01 2.15713345e+02] [ 1.85265290e-01 -2.24889984e-03 9.82685970e-01 5.32777589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3692541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.52, Y:215.74, Z:53.28 [[-8.57084277e-03 -9.99963268e-01 -6.43239346e-05 4.47522311e+02] [ 9.82723430e-01 -8.41118418e-03 -1.84888919e-01 2.15740125e+02] [ 1.84881587e-01 -1.64786649e-03 9.82759423e-01 5.32825576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.3992541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.52, Y:215.77, Z:53.29 [[-1.70874707e-03 -9.99998540e-01 -3.25090513e-05 4.47520091e+02] [ 9.82871524e-01 -1.67349037e-03 -1.84284475e-01 2.15767874e+02] [ 1.84284151e-01 -3.46847777e-04 9.82872948e-01 5.32874153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4292541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.52, Y:215.77, Z:53.29 [[ 1.61351821e-03 -9.99998698e-01 1.44988435e-05 4.47519128e+02] [ 9.82883712e-01 1.58323184e-03 -1.84220257e-01 2.15771952e+02] [ 1.84219994e-01 3.11493416e-04 9.82884987e-01 5.32881289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.459254154 meters Centerline goodness : 0.997760 Centerline is valid? [True, True] Translation: X:447.52, Y:215.80, Z:53.29 [[ 3.76063129e-03 -9.99992927e-01 -5.18562269e-05 4.47518530e+02] [ 9.82976715e-01 3.70616482e-03 -1.83692795e-01 2.15798536e+02] [ 1.83691688e-01 6.39827410e-04 9.82983700e-01 5.32924708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.4892541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:447.52, Y:215.25, Z:53.19 [[ 9.34286739e-03 -9.99956354e-01 -3.59087735e-06 4.47518283e+02] [ 9.82896771e-01 9.18413550e-03 -1.83928220e-01 2.15251586e+02] [ 1.83920225e-01 1.71488750e-03 9.82939678e-01 5.31945346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5192541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:447.52, Y:215.28, Z:53.20 [[ 1.02409147e-02 -9.99947525e-01 -2.64781560e-04 4.47518436e+02] [ 9.82854280e-01 1.01146056e-02 -1.84106382e-01 2.15279524e+02] [ 1.84099399e-01 1.62517606e-03 9.82906288e-01 5.31994117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.5492541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:447.52, Y:215.31, Z:53.20 [[ 1.05429686e-02 -9.99944399e-01 -2.11590592e-04 4.47518426e+02] [ 9.82856203e-01 1.04017501e-02 -1.84080115e-01 2.15305796e+02] [ 1.84072080e-01 1.73278775e-03 9.82911220e-01 5.32038829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.579254154 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:447.52, Y:215.33, Z:53.21 [[ 1.02125408e-02 -9.99932891e-01 5.46964451e-03 4.47515626e+02] [ 9.83136009e-01 9.04188066e-03 -1.82652218e-01 2.15331827e+02] [ 1.82590505e-01 7.24274770e-03 9.83162372e-01 5.32093328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6092541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:447.52, Y:215.36, Z:53.21 [[ 9.45789644e-03 -9.99954453e-01 1.28039518e-03 4.47518574e+02] [ 9.82990251e-01 9.06256474e-03 -1.83434010e-01 2.15360506e+02] [ 1.83414052e-01 2.99351585e-03 9.83031192e-01 5.32133479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6392541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.52, Y:215.39, Z:53.22 [[ 5.35957678e-03 -9.99967720e-01 -5.98609410e-03 4.47524931e+02] [ 9.82528240e-01 6.37958006e-03 -1.86004191e-01 2.15389148e+02] [ 1.86036376e-01 -4.88460275e-03 9.82530716e-01 5.32166418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.6692541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.52, Y:215.42, Z:53.22 [[ 2.99309674e-03 -9.99995505e-01 -1.78778450e-04 4.47523562e+02] [ 9.82528669e-01 2.97408517e-03 -1.86087533e-01 2.15415761e+02] [ 1.86087228e-01 3.81323035e-04 9.82533154e-01 5.32236118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.699254154 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.53, Y:215.44, Z:53.23 [[-2.15908060e-03 -9.99997661e-01 -1.25452515e-04 4.47526864e+02] [ 9.82580059e-01 -2.09816186e-03 -1.85827944e-01 2.15442677e+02] [ 1.85827246e-01 -5.24484647e-04 9.82582292e-01 5.32286825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7292541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.53, Y:215.47, Z:53.23 [[-4.67837865e-03 -9.99989052e-01 -9.39852282e-05 4.47528654e+02] [ 9.82719770e-01 -4.58019403e-03 -1.85042901e-01 2.15469953e+02] [ 1.85040444e-01 -9.58061897e-04 9.82730439e-01 5.32336118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7592541539999 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:447.53, Y:215.50, Z:53.24 [[-6.93938455e-03 -9.99975921e-01 -4.02248830e-05 4.47530010e+02] [ 9.82773279e-01 -6.81257663e-03 -1.84689662e-01 2.15497679e+02] [ 1.84684941e-01 -1.32116453e-03 9.82796890e-01 5.32391371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.7892541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:447.53, Y:215.51, Z:53.24 [[-9.50125586e-03 -9.99954862e-01 7.69604412e-06 4.47532648e+02] [ 9.82974125e-01 -9.34132259e-03 -1.83506427e-01 2.15505323e+02] [ 1.83498216e-01 -1.73597650e-03 9.83018510e-01 5.32409438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.819254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.54, Y:215.53, Z:53.25 [[-1.05918054e-02 -9.99943903e-01 -6.01572706e-05 4.47536024e+02] [ 9.83005162e-01 -1.04013571e-02 -1.83283015e-01 2.15532471e+02] [ 1.83272108e-01 -2.00043294e-03 9.83060188e-01 5.32458069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8492541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:447.54, Y:215.56, Z:53.25 [[-1.09304879e-02 -9.99940260e-01 -5.30140228e-06 4.47537496e+02] [ 9.82900285e-01 -1.07432470e-02 -1.83824951e-01 2.15559886e+02] [ 1.83813913e-01 -2.01450716e-03 9.82958996e-01 5.32507708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.8792541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:447.54, Y:215.56, Z:53.25 [[-1.02231049e-02 -9.99947742e-01 4.36739803e-05 4.47538982e+02] [ 9.82755460e-01 -1.00554014e-02 -1.84636386e-01 2.15562530e+02] [ 1.84627176e-01 -1.84463630e-03 9.82806900e-01 5.32505444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9092541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:447.54, Y:215.59, Z:53.26 [[-1.02160809e-02 -9.99947814e-01 -2.49958491e-05 4.47540284e+02] [ 9.82754273e-01 -1.00358056e-02 -1.84643772e-01 2.15589216e+02] [ 1.84633885e-01 -1.91090049e-03 9.82805513e-01 5.32556492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9392541539999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:447.54, Y:215.59, Z:53.26 [[-8.28978050e-03 -9.99965639e-01 8.76805255e-08 4.47543011e+02] [ 9.82579903e-01 -8.14566789e-03 -1.85662014e-01 2.15593629e+02] [ 1.85655635e-01 -1.53901119e-03 9.82613666e-01 5.32566043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9692541539999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:447.54, Y:215.62, Z:53.26 [[-7.58468115e-03 -9.99971234e-01 -6.72157059e-05 4.47544006e+02] [ 9.82543293e-01 -7.43999721e-03 -1.85885242e-01 2.15621289e+02] [ 1.85879395e-01 -1.47592263e-03 9.82571459e-01 5.32615478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 649.9992541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.55, Y:215.65, Z:53.27 [[-4.21056436e-03 -9.99991135e-01 -1.25279788e-05 4.47546002e+02] [ 9.82452004e-01 -4.13437795e-03 -1.86469750e-01 2.15647285e+02] [ 1.86468045e-01 -7.97451020e-04 9.82460703e-01 5.32665608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0292541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:447.55, Y:215.65, Z:53.27 [[-1.76716731e-03 -9.99998439e-01 1.22311252e-05 4.47546648e+02] [ 9.82375322e-01 -1.73831039e-03 -1.86910957e-01 2.15647270e+02] [ 1.86910686e-01 -3.18287376e-04 9.82376860e-01 5.32665283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.0592541539999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:447.55, Y:215.67, Z:53.27 [[ 2.11714243e-03 -9.99997757e-01 -5.45061513e-05 4.47548111e+02] [ 9.82318058e-01 2.08991592e-03 -1.87208078e-01 2.15674799e+02] [ 1.87207772e-01 3.42803789e-04 9.82320280e-01 5.32713155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.089254154 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:447.55, Y:215.70, Z:53.28 [[ 3.95265497e-03 -9.99992188e-01 9.74559051e-07 4.47549015e+02] [ 9.82326755e-01 3.88264669e-03 -1.87133832e-01 2.15702795e+02] [ 1.87132367e-01 7.40632810e-04 9.82334428e-01 5.32759802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1192541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:447.55, Y:215.71, Z:53.28 [[ 6.36264873e-03 -9.99979757e-01 4.85385461e-05 4.47550191e+02] [ 9.82378996e-01 6.24159204e-03 -1.86795479e-01 2.15708567e+02] [ 1.86791395e-01 1.23619726e-03 9.82398823e-01 5.32770104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1492541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:447.55, Y:215.73, Z:53.28 [[ 8.92401725e-03 -9.99960180e-01 -1.94520610e-05 4.47553480e+02] [ 9.82482321e-01 8.77165946e-03 -1.86149262e-01 2.15734987e+02] [ 1.86142020e-01 1.64208792e-03 9.82521477e-01 5.32815646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.1792541539999 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:447.55, Y:215.74, Z:53.28 [[ 9.23885723e-03 -9.99957321e-01 5.87069606e-06 4.47554846e+02] [ 9.82515848e-01 9.07661932e-03 -1.85957586e-01 2.15738265e+02] [ 1.85949597e-01 1.72380364e-03 9.82557772e-01 5.32821315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.209254154 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:447.56, Y:215.77, Z:53.29 [[ 8.26654861e-03 -9.99965830e-01 -6.06807006e-05 4.47556369e+02] [ 9.82525926e-01 8.13365971e-03 -1.85947974e-01 2.15765624e+02] [ 1.85942113e-01 1.47752760e-03 9.82559590e-01 5.32870053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2392541539999 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:447.56, Y:215.79, Z:53.29 [[ 4.85829670e-03 -9.99988198e-01 -5.66042882e-06 4.47559679e+02] [ 9.82533110e-01 4.77454670e-03 -1.86026590e-01 2.15793227e+02] [ 1.86024421e-01 8.98210807e-04 9.82544710e-01 5.32919717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2692541539999 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:447.56, Y:215.80, Z:53.29 [[ 2.77494570e-03 -9.99996149e-01 4.23217036e-05 4.47561686e+02] [ 9.82475513e-01 2.71843909e-03 -1.86371876e-01 2.15797177e+02] [ 1.86371043e-01 5.58751873e-04 9.82479273e-01 5.32926777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.2992541539999 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:447.57, Y:215.82, Z:53.30 [[-3.83536143e-03 -9.99992645e-01 -2.55907208e-05 4.47566946e+02] [ 9.82377790e-01 -3.76301947e-03 -1.86868182e-01 2.15823485e+02] [ 1.86866711e-01 -7.41846772e-04 9.82384997e-01 5.32970709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.329254154 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:447.57, Y:215.83, Z:53.30 [[-7.27207845e-03 -9.99973558e-01 -1.24231023e-06 4.47569819e+02] [ 9.82270281e-01 -7.14310269e-03 -1.87334117e-01 2.15833497e+02] [ 1.87329155e-01 -1.36352868e-03 9.82296253e-01 5.32990068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3592541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:447.57, Y:215.86, Z:53.30 [[-1.14189162e-02 -9.99934800e-01 -6.96520469e-05 4.47572803e+02] [ 9.82132112e-01 -1.12025299e-02 -1.87859037e-01 2.15860406e+02] [ 1.87846008e-01 -2.21355410e-03 9.82195998e-01 5.33040775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.3892541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:447.57, Y:215.89, Z:53.31 [[-1.15984141e-02 -9.99932735e-01 -3.83073623e-05 4.47572711e+02] [ 9.82130016e-01 -1.13847200e-02 -1.87859043e-01 2.15888400e+02] [ 1.87845971e-01 -2.21648979e-03 9.82195998e-01 5.33090852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4192541539999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:447.58, Y:215.91, Z:53.31 [[-1.99266533e-02 -9.99801445e-01 -3.81633471e-06 4.47578268e+02] [ 9.82039022e-01 -1.95719211e-02 -1.87660061e-01 2.15914992e+02] [ 1.87622725e-01 -3.74318476e-03 9.82234036e-01 5.33139906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.449254154 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:447.58, Y:215.92, Z:53.32 [[-2.28605151e-02 -9.99738664e-01 2.64570103e-05 4.47580804e+02] [ 9.82024391e-01 -2.24604115e-02 -1.87412979e-01 2.15923756e+02] [ 1.87364595e-01 -4.25837580e-03 9.82281210e-01 5.33156296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.4792541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:447.58, Y:215.95, Z:53.32 [[-2.60845593e-02 -9.99659739e-01 -4.09755828e-05 4.47583041e+02] [ 9.81928994e-01 -2.56142173e-02 -1.87508302e-01 2.15951108e+02] [ 1.87443450e-01 -4.93130653e-03 9.82263017e-01 5.33208786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5092541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:447.59, Y:215.96, Z:53.32 [[-3.03653875e-02 -9.99538865e-01 4.85942690e-06 4.47586692e+02] [ 9.81930991e-01 -2.98313795e-02 -1.86873267e-01 2.15958128e+02] [ 1.86787238e-01 -5.66970755e-03 9.82384030e-01 5.33224129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5392541539999 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:447.59, Y:215.99, Z:53.33 [[-3.19221276e-02 -9.99490357e-01 -6.28308713e-05 4.47588201e+02] [ 9.81989087e-01 -3.13514524e-02 -1.86318328e-01 2.15985353e+02] [ 1.86221403e-01 -6.00937668e-03 9.82489428e-01 5.33273426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.569254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.59, Y:216.01, Z:53.33 [[-3.30553417e-02 -9.99453523e-01 -9.81044236e-06 4.47589371e+02] [ 9.81998966e-01 -3.24762334e-02 -1.86073442e-01 2.16011478e+02] [ 1.85971438e-01 -6.16035504e-03 9.82535839e-01 5.33324311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.5992541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:447.59, Y:216.26, Z:53.38 [[-3.37588838e-02 -9.99427129e-01 2.39843066e-03 4.47590123e+02] [ 9.81982736e-01 -3.36159028e-02 -1.85956655e-01 2.16262284e+02] [ 1.85930751e-01 -3.92247159e-03 9.82555021e-01 5.33781579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6292541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:447.59, Y:216.01, Z:53.33 [[-3.33417768e-02 -9.99441470e-01 -2.25246713e-03 4.47593085e+02] [ 9.82027381e-01 -3.23417624e-02 -1.85946858e-01 2.16011813e+02] [ 1.85770152e-01 -8.41178302e-03 9.82557221e-01 5.33320118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6592541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:447.59, Y:216.01, Z:53.33 [[-3.16696099e-02 -9.99498391e-01 3.89057485e-05 4.47592714e+02] [ 9.82057827e-01 -3.11242367e-02 -1.85993837e-01 2.16014774e+02] [ 1.85901751e-01 -5.85214456e-03 9.82550910e-01 5.33335959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.6892541539999 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:447.59, Y:216.04, Z:53.34 [[-3.15317077e-02 -9.99502752e-01 -2.92015004e-05 4.47592452e+02] [ 9.82036647e-01 -3.09752596e-02 -1.86130485e-01 2.16042424e+02] [ 1.86037028e-01 -5.89768899e-03 9.82525034e-01 5.33387726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7192541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:447.59, Y:216.05, Z:53.34 [[-2.93447858e-02 -9.99569349e-01 1.85087263e-05 4.47592872e+02] [ 9.82215204e-01 -2.88387481e-02 -1.85530644e-01 2.16049234e+02] [ 1.85451279e-01 -5.42617745e-03 9.82638479e-01 5.33403404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7492541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:447.59, Y:216.08, Z:53.35 [[-2.90969255e-02 -9.99576594e-01 -4.97246829e-05 4.47592785e+02] [ 9.82186209e-01 -2.85814654e-02 -1.85723856e-01 2.16077050e+02] [ 1.85643798e-01 -5.45283210e-03 9.82601978e-01 5.33456770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.7792541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:447.59, Y:216.08, Z:53.35 [[-2.84285466e-02 -9.99595827e-01 -3.01288075e-06 4.47592740e+02] [ 9.82032557e-01 -2.79284839e-02 -1.86633482e-01 2.16080396e+02] [ 1.86557966e-01 -5.30867740e-03 9.82429612e-01 5.33465052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8092541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:447.59, Y:216.11, Z:53.35 [[-2.87949657e-02 -9.99585337e-01 -7.09415073e-05 4.47593086e+02] [ 9.81721880e-01 -2.82670172e-02 -1.88210326e-01 2.16107708e+02] [ 1.88130277e-01 -5.48915471e-03 9.82128743e-01 5.33509684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.839254154 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:447.59, Y:216.13, Z:53.36 [[-2.92097982e-02 -9.99573303e-01 -1.54463642e-05 4.47593186e+02] [ 9.81684157e-01 -2.86841263e-02 -1.88343933e-01 2.16134171e+02] [ 1.88263124e-01 -5.51665172e-03 9.82103132e-01 5.33555164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8692541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:447.59, Y:216.14, Z:53.36 [[-2.92904055e-02 -9.99570944e-01 2.60155099e-05 4.47592639e+02] [ 9.81419981e-01 -2.87634656e-02 -1.89703674e-01 2.16138036e+02] [ 1.89623028e-01 -5.53096539e-03 9.81841390e-01 5.33561595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.8992541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:447.60, Y:216.16, Z:53.36 [[-3.16565792e-02 -9.99307486e-01 -1.95553097e-02 4.47597720e+02] [ 9.80668112e-01 -2.72742858e-02 -1.93768333e-01 2.16160083e+02] [ 1.93100789e-01 -2.53113113e-02 9.80852396e-01 5.33612943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9292541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.58, Y:216.19, Z:53.37 [[-2.88085605e-02 -9.99322499e-01 2.29043665e-02 4.47581616e+02] [ 9.81129412e-01 -3.26520528e-02 -1.90575234e-01 2.16191756e+02] [ 1.91193993e-01 1.69819495e-02 9.81405355e-01 5.33717306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.959254154 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:447.59, Y:216.20, Z:53.37 [[-2.65701221e-02 -9.99646952e-01 3.05762718e-05 4.47592178e+02] [ 9.81233845e-01 -2.60865545e-02 -1.91048770e-01 2.16195690e+02] [ 1.90982119e-01 -5.04618669e-03 9.81580545e-01 5.33660278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 650.9892541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.59, Y:216.22, Z:53.37 [[-2.49402754e-02 -9.99688942e-01 -3.79665944e-05 4.47591464e+02] [ 9.81280720e-01 -2.44737717e-02 -1.91021420e-01 2.16222139e+02] [ 1.90961072e-01 -4.80138271e-03 9.81585868e-01 5.33713384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0192541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.59, Y:216.25, Z:53.38 [[-1.99547583e-02 -9.99800884e-01 -4.53550230e-06 4.47589740e+02] [ 9.81662306e-01 -1.95918751e-02 -1.89618763e-01 2.16248796e+02] [ 1.89580918e-01 -3.78824892e-03 9.81857792e-01 5.33770046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.0492541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:447.59, Y:216.25, Z:53.38 [[-1.72352709e-02 -9.99851461e-01 3.71748479e-05 4.47589003e+02] [ 9.81905916e-01 -1.69329412e-02 -1.88610837e-01 2.16248523e+02] [ 1.88583450e-01 -3.21425665e-03 9.82051909e-01 5.33777520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.079254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:447.59, Y:216.28, Z:53.38 [[-1.32239315e-02 -9.99912560e-01 -2.99076110e-05 4.47587875e+02] [ 9.82352017e-01 -1.29861109e-02 -1.86590127e-01 2.16276414e+02] [ 1.86573423e-01 -2.49683487e-03 9.82437847e-01 5.33823908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1092541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:447.59, Y:216.47, Z:53.42 [[-1.28462496e-02 -9.99876468e-01 -9.05660645e-03 4.47591240e+02] [ 9.81446573e-01 -1.08755709e-02 -1.91427133e-01 2.16471324e+02] [ 1.91304990e-01 -1.13476961e-02 9.81465043e-01 5.34189906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1392541539999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:447.58, Y:216.28, Z:53.38 [[-9.20105781e-03 -9.99907688e-01 9.99781612e-03 4.47582833e+02] [ 9.82762018e-01 -1.08885943e-02 -1.84554206e-01 2.16276990e+02] [ 1.84646031e-01 8.12738003e-03 9.82771484e-01 5.33848930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.1692541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:447.59, Y:216.30, Z:53.39 [[-7.08771618e-03 -9.99974882e-01 -1.57918456e-05 4.47586965e+02] [ 9.82961862e-01 -6.96422901e-03 -1.83677646e-01 2.16304486e+02] [ 1.83672922e-01 -1.31737780e-03 9.82986532e-01 5.33868554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.199254154 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:447.59, Y:216.31, Z:53.39 [[-5.65324865e-03 -9.99984020e-01 3.32265229e-05 4.47587040e+02] [ 9.82896605e-01 -5.56276394e-03 -1.84074221e-01 2.16311298e+02] [ 1.84071465e-01 -1.00795911e-03 9.82912346e-01 5.33879154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2292541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:447.59, Y:216.34, Z:53.39 [[-5.69743135e-03 -9.99983769e-01 -3.45020065e-05 4.47587374e+02] [ 9.82897516e-01 -5.59373118e-03 -1.84068421e-01 2.16339084e+02] [ 1.84065240e-01 -1.08262913e-03 9.82913432e-01 5.33924305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2592541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:447.59, Y:216.34, Z:53.39 [[-5.47880871e-03 -9.99984991e-01 1.43267314e-05 4.47588104e+02] [ 9.82880389e-01 -5.38773299e-03 -1.84165992e-01 2.16341878e+02] [ 1.84163305e-01 -9.94928776e-04 9.82895156e-01 5.33927209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.2892541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:447.59, Y:216.37, Z:53.40 [[-6.88185858e-03 -9.99976318e-01 -5.33222834e-05 4.47589977e+02] [ 9.82900134e-01 -6.75452755e-03 -1.84015495e-01 2.16369358e+02] [ 1.84010777e-01 -1.31877909e-03 9.82923341e-01 5.33975768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.319254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:447.59, Y:216.40, Z:53.40 [[-9.48435754e-03 -9.99955023e-01 1.08784671e-06 4.47592463e+02] [ 9.82869907e-01 -9.32250914e-03 -1.84064765e-01 2.16396636e+02] [ 1.84056496e-01 -1.74466683e-03 9.82914117e-01 5.34021921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3492541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:447.59, Y:216.40, Z:53.40 [[-9.09049773e-03 -9.99958679e-01 4.94692267e-05 4.47592364e+02] [ 9.82873424e-01 -8.94428375e-03 -1.84064751e-01 2.16399216e+02] [ 1.84057588e-01 -1.62461821e-03 9.82914119e-01 5.34026666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.3792541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:447.60, Y:216.43, Z:53.41 [[-1.28139042e-02 -9.99917898e-01 -1.85824115e-05 4.47595251e+02] [ 9.82809863e-01 -1.25912425e-02 -1.84190752e-01 2.16425936e+02] [ 1.84175396e-01 -2.37846563e-03 9.82890516e-01 5.34063217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4092541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:447.60, Y:216.43, Z:53.41 [[-1.45143963e-02 -9.99894660e-01 2.44545353e-05 4.47596540e+02] [ 9.82733574e-01 -1.42697990e-02 -1.84475187e-01 2.16428957e+02] [ 1.84456104e-01 -2.65351369e-03 9.82837171e-01 5.34064693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4392541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:447.60, Y:216.46, Z:53.41 [[-1.74403208e-02 -9.99847905e-01 -4.45215034e-05 4.47600011e+02] [ 9.82444378e-01 -1.71284796e-02 -1.85767757e-01 2.16456428e+02] [ 1.85738740e-01 -3.28358917e-03 9.82593679e-01 5.34112166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4692541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:447.60, Y:216.48, Z:53.42 [[-2.07299800e-02 -9.99785111e-01 -9.65803986e-06 4.47600459e+02] [ 9.82531747e-01 -2.03704543e-02 -1.84976785e-01 2.16484433e+02] [ 1.84936839e-01 -3.84405440e-03 9.82742890e-01 5.34150133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.4992541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.60, Y:216.49, Z:53.42 [[-2.31780261e-02 -9.99731353e-01 3.89517726e-05 4.47602338e+02] [ 9.82492334e-01 -2.27855566e-02 -1.84904384e-01 2.16490829e+02] [ 1.84855598e-01 -4.24744883e-03 9.82756515e-01 5.34160515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5292541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:447.60, Y:216.52, Z:53.42 [[-2.48792275e-02 -9.99690464e-01 -2.93373099e-05 4.47603322e+02] [ 9.82438914e-01 -2.44444610e-02 -1.84976344e-01 2.16517102e+02] [ 1.84918370e-01 -4.63089067e-03 9.82742973e-01 5.34205137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.5592541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.60, Y:216.52, Z:53.42 [[-2.82534829e-02 -9.99600791e-01 1.38919225e-05 4.47604750e+02] [ 9.82504880e-01 -2.77728302e-02 -1.84154369e-01 2.16521939e+02] [ 1.84081239e-01 -5.18935344e-03 9.82897333e-01 5.34218030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.589254154 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:447.61, Y:216.55, Z:53.43 [[-3.04238963e-02 -9.99537085e-01 -5.45949334e-05 4.47605612e+02] [ 9.82643487e-01 -2.98996894e-02 -1.83078635e-01 2.16549634e+02] [ 1.82992252e-01 -5.62361276e-03 9.83098271e-01 5.34266841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6192541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.61, Y:216.58, Z:53.43 [[-3.30332300e-02 -9.99454254e-01 -3.65821482e-06 4.47606040e+02] [ 9.82722585e-01 -3.24795602e-02 -1.82212511e-01 2.16575834e+02] [ 1.82112950e-01 -6.02266279e-03 9.83259173e-01 5.34316115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6492541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:447.61, Y:216.58, Z:53.43 [[-3.45793883e-02 -9.99401954e-01 3.00984876e-05 4.47606654e+02] [ 9.82803257e-01 -3.40105381e-02 -1.81496669e-01 2.16580526e+02] [ 1.81389150e-01 -6.24646291e-03 9.83391559e-01 5.34323613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.6792541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:447.61, Y:216.61, Z:53.44 [[-3.90040374e-02 -9.99239052e-01 -3.95319449e-05 4.47607664e+02] [ 9.82675054e-01 -3.83503090e-02 -1.81325650e-01 2.16607800e+02] [ 1.81186154e-01 -7.11127948e-03 9.83423107e-01 5.34369390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.709254154 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:447.61, Y:216.61, Z:53.44 [[-4.04004426e-02 -9.99183569e-01 6.09661653e-06 4.47608010e+02] [ 9.82694031e-01 -3.97348176e-02 -1.80924257e-01 2.16612515e+02] [ 1.80776787e-01 -7.30342894e-03 9.83497033e-01 5.34372968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7392541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:447.61, Y:216.64, Z:53.44 [[-4.45372520e-02 -9.99007722e-01 -6.38322022e-05 4.47607990e+02] [ 9.82481360e-01 -4.37889079e-02 -1.81143336e-01 2.16639798e+02] [ 1.80960796e-01 -8.13034035e-03 9.83456704e-01 5.34418212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7692541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.61, Y:216.67, Z:53.45 [[-4.63420062e-02 -9.98925632e-01 -1.00316030e-05 4.47607425e+02] [ 9.82400272e-01 -4.55735451e-02 -1.81142920e-01 2.16666131e+02] [ 1.80947848e-01 -8.40438136e-03 9.83456782e-01 5.34464945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.7992541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.61, Y:216.67, Z:53.45 [[-4.72353649e-02 -9.98883787e-01 3.47698709e-05 4.47606533e+02] [ 9.82304595e-01 -4.64576812e-02 -1.81436951e-01 2.16672019e+02] [ 1.81236044e-01 -8.53608598e-03 9.83402579e-01 5.34479022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.829254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.63, Y:216.70, Z:53.46 [[-5.12139423e-02 -9.97653351e-01 -4.54414205e-02 4.47626064e+02] [ 9.80702933e-01 -4.16432901e-02 -1.91017258e-01 2.16699076e+02] [ 1.88676678e-01 -5.43472812e-02 9.80534285e-01 5.34554730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8592541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:447.58, Y:216.72, Z:53.47 [[-4.89787479e-02 -9.97525384e-01 5.04399735e-02 4.47580758e+02] [ 9.80729719e-01 -5.75939401e-02 -1.86687321e-01 2.16722588e+02] [ 1.89130379e-01 4.03242698e-02 9.81123669e-01 5.34747099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.8892541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:447.61, Y:216.41, Z:53.40 [[-4.82491111e-02 -9.98825812e-01 -4.36118191e-03 4.47605639e+02] [ 9.81137147e-01 -4.65754460e-02 -1.87618299e-01 2.16407757e+02] [ 1.87194876e-01 -1.33313337e-02 9.82232332e-01 5.34021834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9192541539999 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:447.60, Y:216.43, Z:53.41 [[-4.77392846e-02 -9.98859685e-01 -5.38965009e-04 4.47602170e+02] [ 9.81081192e-01 -4.67882187e-02 -1.87857814e-01 2.16434031e+02] [ 1.87618380e-01 -9.49696608e-03 9.82196086e-01 5.34076764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.949254154 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.61, Y:216.47, Z:53.41 [[-4.61067151e-02 -9.98902816e-01 -8.20584379e-03 4.47607016e+02] [ 9.81241121e-01 -4.37491188e-02 -1.87754835e-01 2.16465908e+02] [ 1.87189834e-01 -1.67086700e-02 9.82181646e-01 5.34137633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 651.9792541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:447.60, Y:216.49, Z:53.42 [[-4.65932712e-02 -9.98902908e-01 4.69537579e-03 4.47595046e+02] [ 9.81157630e-01 -4.66468714e-02 -1.87493397e-01 2.16488505e+02] [ 1.87506724e-01 -4.12902690e-03 9.82254641e-01 5.34193011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0092541539999 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:447.60, Y:216.52, Z:53.42 [[-4.45711766e-02 -9.99006150e-01 -3.49868253e-04 4.47596638e+02] [ 9.81092416e-01 -4.37059162e-02 -1.88540352e-01 2.16515829e+02] [ 1.88337680e-01 -8.74671843e-03 9.82065381e-01 5.34221946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0392541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:447.59, Y:216.54, Z:53.43 [[-4.24712961e-02 -9.99097645e-01 -2.92405674e-04 4.47593499e+02] [ 9.81126207e-01 -4.16520719e-02 -1.88829213e-01 2.16543521e+02] [ 1.88646643e-01 -8.30670830e-03 9.82009900e-01 5.34273548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.069254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.59, Y:216.57, Z:53.43 [[-4.10294451e-02 -9.99157910e-01 -2.37410588e-04 4.47591724e+02] [ 9.81131007e-01 -4.02442535e-02 -1.89109350e-01 2.16569865e+02] [ 1.88940549e-01 -7.99198260e-03 9.81956006e-01 5.34322060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.0992541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.59, Y:216.60, Z:53.44 [[-3.97298782e-02 -9.99210437e-01 -1.99185002e-04 4.47589670e+02] [ 9.81092041e-01 -3.89716769e-02 -1.89577468e-01 2.16596221e+02] [ 1.89420022e-01 -7.72730854e-03 9.81865746e-01 5.34375206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1292541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.59, Y:216.62, Z:53.44 [[-3.60141663e-02 -9.99351268e-01 -1.48889617e-04 4.47585390e+02] [ 9.81365656e-01 -3.53378696e-02 -1.88872137e-01 2.16623543e+02] [ 1.88744349e-01 -6.94818772e-03 9.82001677e-01 5.34429180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1592541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:447.58, Y:216.65, Z:53.45 [[-3.36961015e-02 -9.99432121e-01 -9.39187786e-05 4.47583202e+02] [ 9.81540299e-01 -3.30751724e-02 -1.88373763e-01 2.16649527e+02] [ 1.88263684e-01 -6.43964651e-03 9.82097407e-01 5.34481868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.1892541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:447.58, Y:216.68, Z:53.45 [[-2.75839173e-02 -9.99619490e-01 -4.50719232e-05 4.47578553e+02] [ 9.81863272e-01 -2.70854840e-02 -1.87645655e-01 2.16675410e+02] [ 1.87573033e-01 -5.22025668e-03 9.82236787e-01 5.34539788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2192541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:447.58, Y:216.70, Z:53.46 [[-2.64439836e-02 -9.99460381e-01 -1.94849256e-02 4.47582706e+02] [ 9.81567661e-01 -2.22700845e-02 -1.89812989e-01 2.16699908e+02] [ 1.89276632e-01 -2.41451844e-02 9.81626898e-01 5.34597049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2492541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.57, Y:216.63, Z:53.45 [[-1.83030664e-02 -9.99732709e-01 1.41247658e-02 4.47567500e+02] [ 9.83691621e-01 -2.05339778e-02 -1.78687299e-01 2.16627049e+02] [ 1.78929575e-01 1.06238883e-02 9.83804523e-01 5.34501450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.2792541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:447.57, Y:216.66, Z:53.45 [[-1.32527215e-02 -9.99909696e-01 -2.22848696e-03 4.47571789e+02] [ 9.84023273e-01 -1.26463710e-02 -1.77590169e-01 2.16656025e+02] [ 1.77545949e-01 -4.54643607e-03 9.84102010e-01 5.34503281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3092541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:447.57, Y:216.68, Z:53.46 [[-1.34955613e-02 -9.99908924e-01 -1.17782860e-04 4.47570692e+02] [ 9.84014869e-01 -1.32601233e-02 -1.77591968e-01 2.16683912e+02] [ 1.77574232e-01 -2.51260337e-03 9.84104201e-01 5.34558036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.339254154 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:447.57, Y:216.71, Z:53.46 [[-1.12804135e-02 -9.99936372e-01 -7.17308077e-05 4.47568989e+02] [ 9.84071006e-01 -1.10887063e-02 -1.77429695e-01 2.16711181e+02] [ 1.77417610e-01 -2.07206854e-03 9.84133476e-01 5.34602544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3692541539999 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:447.57, Y:216.74, Z:53.46 [[-8.66758271e-03 -9.99962436e-01 -2.16643213e-05 4.47566228e+02] [ 9.83849425e-01 -8.52404298e-03 -1.78794996e-01 2.16738740e+02] [ 1.78788095e-01 -1.57103485e-03 9.83886350e-01 5.34641603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.3992541539999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:447.57, Y:216.85, Z:53.48 [[-8.76248383e-03 -9.99945641e-01 -5.65096260e-03 4.47567897e+02] [ 9.83654820e-01 -7.60304293e-03 -1.79903831e-01 2.16847094e+02] [ 1.79851087e-01 -7.13500101e-03 9.83667972e-01 5.34809325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4292541539999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:447.55, Y:216.88, Z:53.49 [[-5.25354900e-03 -9.98905055e-01 4.64875315e-02 4.47548233e+02] [ 9.84369513e-01 -1.33496700e-02 -1.75608795e-01 2.16884358e+02] [ 1.76037106e-01 4.48383394e-02 9.83361816e-01 5.34909107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.459254154 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:447.58, Y:216.91, Z:53.48 [[-2.04267460e-02 -9.99217926e-01 -3.38568368e-02 4.47580879e+02] [ 9.80407468e-01 -1.33832855e-02 -1.96525021e-01 2.16910628e+02] [ 1.95918208e-01 -3.72078624e-02 9.79914094e-01 5.34834521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.4892541539999 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:447.56, Y:216.91, Z:53.49 [[-2.44649306e-02 -9.99699612e-01 1.46713211e-03 4.47563665e+02] [ 9.80444139e-01 -2.42803135e-02 -1.95294025e-01 2.16913786e+02] [ 1.95270983e-01 -3.33941368e-03 9.80743642e-01 5.34942120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5192541539999 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:447.56, Y:216.92, Z:53.50 [[-2.65708568e-02 -9.99645969e-01 1.38778056e-03 4.47563886e+02] [ 9.80420513e-01 -2.63307560e-02 -1.95146893e-01 2.16917369e+02] [ 1.95114346e-01 -3.82461163e-03 9.80773044e-01 5.34951643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.5492541539999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:447.56, Y:216.93, Z:53.50 [[-2.83541869e-02 -9.99597085e-01 1.30645700e-03 4.47563575e+02] [ 9.80463382e-01 -2.80659031e-02 -1.94689140e-01 2.16926772e+02] [ 1.94647364e-01 -4.23931902e-03 9.80864125e-01 5.34970008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.579254154 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:447.56, Y:216.93, Z:53.50 [[-3.17132450e-02 -9.99496264e-01 1.21964502e-03 4.47563434e+02] [ 9.80642295e-01 -3.13508770e-02 -1.93281689e-01 2.16925539e+02] [ 1.93222563e-01 -4.93355407e-03 9.81142549e-01 5.34966995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6092541539999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:447.56, Y:216.93, Z:53.50 [[-3.31081286e-02 -9.99451128e-01 1.13767077e-03 4.47563461e+02] [ 9.80740034e-01 -3.27074889e-02 -1.92559617e-01 2.16934541e+02] [ 1.92491137e-01 -5.25952932e-03 9.81284617e-01 5.34982626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6392541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.56, Y:216.93, Z:53.50 [[-3.53724894e-02 -9.99373641e-01 1.05459882e-03 4.47564118e+02] [ 9.80866937e-01 -3.49195563e-02 -1.91522003e-01 2.16934857e+02] [ 1.91438867e-01 -5.74018889e-03 9.81487754e-01 5.34976446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.6692541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.56, Y:216.94, Z:53.50 [[-3.57802937e-02 -9.99359201e-01 9.78284369e-04 4.47564569e+02] [ 9.80805457e-01 -3.53037318e-02 -1.91766270e-01 2.16941988e+02] [ 1.91677924e-01 -5.90194683e-03 9.81440136e-01 5.34988025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.699254154 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:447.56, Y:216.95, Z:53.50 [[-3.69438360e-02 -9.99316938e-01 9.00423229e-04 4.47564697e+02] [ 9.80775158e-01 -3.64311017e-02 -1.91710365e-01 2.16945273e+02] [ 1.91612218e-01 -6.19940353e-03 9.81451132e-01 5.34993389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7292541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.56, Y:216.95, Z:53.50 [[-3.84557259e-02 -9.99259965e-01 8.24554356e-04 4.47564935e+02] [ 9.80624261e-01 -3.78971402e-02 -1.92197464e-01 2.16947171e+02] [ 1.92086480e-01 -6.58251500e-03 9.81355927e-01 5.34992608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7592541539999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:447.57, Y:216.95, Z:53.50 [[-3.89539128e-02 -9.99240729e-01 7.47157103e-04 4.47565073e+02] [ 9.80574015e-01 -3.83700510e-02 -1.92359926e-01 2.16951078e+02] [ 1.92242541e-01 -6.76052894e-03 9.81324157e-01 5.34996919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.7892541539999 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:447.57, Y:216.96, Z:53.50 [[-3.90963928e-02 -9.99235220e-01 6.69435041e-04 4.47565543e+02] [ 9.80549299e-01 -3.84942204e-02 -1.92461081e-01 2.16956404e+02] [ 1.92339660e-01 -6.86811996e-03 9.81304379e-01 5.35002093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.819254154 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.57, Y:216.95, Z:53.50 [[-3.81107127e-02 -9.99273348e-01 5.92024782e-04 4.47565755e+02] [ 9.80530217e-01 -3.75100764e-02 -1.92752401e-01 2.16954359e+02] [ 1.92634543e-01 -6.76543317e-03 9.81247248e-01 5.34995790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8492541539999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:447.57, Y:216.96, Z:53.50 [[-3.55926721e-02 -9.99366247e-01 5.15584265e-04 4.47566368e+02] [ 9.80465307e-01 -3.50193649e-02 -1.93549545e-01 2.16959111e+02] [ 1.93444938e-01 -6.38343300e-03 9.81090367e-01 5.35001652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.8792541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:447.57, Y:216.96, Z:53.50 [[-3.05210026e-02 -9.99534031e-01 4.35971599e-04 4.47565500e+02] [ 9.80749933e-01 -3.00315835e-02 -1.92944738e-01 2.16957525e+02] [ 1.92867925e-01 -5.46128775e-03 9.81209528e-01 5.34997269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9092541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.56, Y:216.96, Z:53.50 [[-2.64977815e-02 -9.99648808e-01 3.57749300e-04 4.47564556e+02] [ 9.80869301e-01 -2.60690305e-02 -1.92914024e-01 2.16957060e+02] [ 1.92855601e-01 -4.76088836e-03 9.81215599e-01 5.34998957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9392541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:447.56, Y:216.95, Z:53.50 [[-1.77370252e-02 -9.99842648e-01 2.79077181e-04 4.47562135e+02] [ 9.81194230e-01 -1.74598616e-02 -1.92231728e-01 2.16953439e+02] [ 1.92206352e-01 -3.13579007e-03 9.81349522e-01 5.34993818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9692541539999 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:447.56, Y:216.95, Z:53.50 [[-1.31382467e-02 -9.99913669e-01 2.01387165e-04 4.47561042e+02] [ 9.81349108e-01 -1.29329490e-02 -1.91798506e-01 2.16950732e+02] [ 1.91784553e-01 -2.32226498e-03 9.81434304e-01 5.34986448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 652.9992541539999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:447.56, Y:216.95, Z:53.50 [[-5.94681568e-03 -9.99982310e-01 1.24310564e-04 4.47559882e+02] [ 9.81554788e-01 -5.86098374e-03 -1.91091201e-01 2.16953591e+02] [ 1.91088550e-01 -1.01436652e-03 9.81572278e-01 5.34987592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0292541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:447.56, Y:216.95, Z:53.50 [[-3.23537813e-03 -9.99994765e-01 4.77925991e-05 4.47559584e+02] [ 9.81495491e-01 -3.18467602e-03 -1.91458764e-01 2.16953794e+02] [ 1.91457914e-01 -5.72533278e-04 9.81500657e-01 5.34983981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.0592541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.56, Y:216.98, Z:53.50 [[-3.77845042e-03 -9.99992861e-01 -2.48312281e-05 4.47559352e+02] [ 9.81359614e-01 -3.70327389e-03 -1.92144723e-01 2.16981527e+02] [ 1.92143259e-01 -7.50377674e-04 9.81366601e-01 5.35036489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.089254154 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:447.56, Y:216.99, Z:53.50 [[-5.41282056e-03 -9.99985350e-01 2.80962437e-05 4.47559793e+02] [ 9.81214506e-01 -5.31663421e-03 -1.92846639e-01 2.16985112e+02] [ 1.92843964e-01 -1.01627581e-03 9.81228910e-01 5.35041428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1192541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.56, Y:217.01, Z:53.51 [[-8.37190106e-03 -9.99964954e-01 -4.41590612e-05 4.47561177e+02] [ 9.81100919e-01 -8.20543044e-03 -1.93322678e-01 2.17012966e+02] [ 1.93315540e-01 -1.66180283e-03 9.81135230e-01 5.35084982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1492541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:447.56, Y:217.03, Z:53.51 [[-1.62875150e-02 -9.99867350e-01 7.25735619e-06 4.47564744e+02] [ 9.80937037e-01 -1.59805521e-02 -1.93667632e-01 2.17029444e+02] [ 1.93642058e-01 -3.14724547e-03 9.81067199e-01 5.35112774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.1792541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:447.57, Y:217.06, Z:53.52 [[-2.09814066e-02 -9.99779864e-01 -6.53805535e-05 4.47566545e+02] [ 9.80844018e-01 -2.05713511e-02 -1.93705528e-01 2.17056496e+02] [ 1.93661542e-01 -4.12834257e-03 9.81059715e-01 5.35162157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.209254154 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:447.58, Y:217.08, Z:53.52 [[-3.02395493e-02 -9.99331769e-01 -2.05325520e-02 4.47577525e+02] [ 9.79770257e-01 -2.55694861e-02 -1.98485375e-01 2.17081064e+02] [ 1.97827734e-01 -2.61192920e-02 9.79888754e-01 5.35230353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2392541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:447.56, Y:216.99, Z:53.51 [[-3.02149210e-02 -9.99416452e-01 1.59315657e-02 4.47562964e+02] [ 9.81633120e-01 -3.26735265e-02 -1.87959725e-01 2.16993298e+02] [ 1.88370582e-01 9.95976428e-03 9.82047518e-01 5.35104402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2692541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:447.57, Y:217.03, Z:53.51 [[-3.27178024e-02 -9.99317093e-01 1.71724280e-02 4.47567256e+02] [ 9.82324344e-01 -3.53203231e-02 -1.83824258e-01 2.17026291e+02] [ 1.84305258e-01 1.08545684e-02 9.82809112e-01 5.35113564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.2992541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:447.58, Y:217.05, Z:53.51 [[-3.79091363e-02 -9.99080841e-01 -2.00092504e-02 4.47583375e+02] [ 9.81892487e-01 -3.35227968e-02 -1.86449368e-01 2.17050495e+02] [ 1.85607225e-01 -2.67150671e-02 9.82260792e-01 5.35112652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.329254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.57, Y:217.08, Z:53.52 [[-3.66466014e-02 -9.99042567e-01 2.38950886e-02 4.47568037e+02] [ 9.83165200e-01 -4.03266937e-02 -1.78213206e-01 2.17082572e+02] [ 1.79006189e-01 1.69619112e-02 9.83701722e-01 5.35211351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3592541539999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:447.59, Y:217.10, Z:53.52 [[-4.14766832e-02 -9.98728078e-01 -2.86689963e-02 4.47590676e+02] [ 9.82566568e-01 -3.55674053e-02 -1.82477122e-01 2.17104513e+02] [ 1.81225344e-01 -3.57377431e-02 9.82792037e-01 5.35190337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.3892541539999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:447.58, Y:217.13, Z:53.53 [[-4.40961380e-02 -9.99027220e-01 -3.79411922e-04 4.47577695e+02] [ 9.82514955e-01 -4.32985314e-02 -1.81078989e-01 2.17129374e+02] [ 1.80886411e-01 -8.35766195e-03 9.83468482e-01 5.35310625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4192541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:447.57, Y:217.16, Z:53.54 [[-4.21144723e-02 -9.98838418e-01 2.34133638e-02 4.47569880e+02] [ 9.83452592e-01 -4.55758081e-02 -1.75339230e-01 2.17163961e+02] [ 1.76202642e-01 1.56416142e-02 9.84229632e-01 5.35364178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.449254154 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:447.59, Y:217.19, Z:53.53 [[-4.67333229e-02 -9.98532681e-01 -2.73583999e-02 4.47590861e+02] [ 9.82478068e-01 -4.10005252e-02 -1.81812548e-01 2.17185617e+02] [ 1.80424063e-01 -3.53757324e-02 9.82952550e-01 5.35337085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.4792541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.57, Y:217.22, Z:53.55 [[-4.64862987e-02 -9.98577990e-01 2.60963794e-02 4.47568571e+02] [ 9.83022981e-01 -5.03729769e-02 -1.76432370e-01 2.17219643e+02] [ 1.77496034e-01 1.74516528e-02 9.83966767e-01 5.35460540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5092541539999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:447.59, Y:217.24, Z:53.54 [[-5.20342534e-02 -9.98192803e-01 -3.00593650e-02 4.47591768e+02] [ 9.81947060e-01 -4.56596277e-02 -1.83562440e-01 2.17241278e+02] [ 1.81858207e-01 -3.90682396e-02 9.82548353e-01 5.35429913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5392541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.58, Y:217.27, Z:53.56 [[-5.33984367e-02 -9.98573279e-01 -1.14126588e-04 4.47576219e+02] [ 9.81371272e-01 -5.24574410e-02 -1.84820570e-01 2.17267243e+02] [ 1.84550896e-01 -9.98113007e-03 9.82772275e-01 5.35553694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.569254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:447.57, Y:217.30, Z:53.56 [[-4.96206776e-02 -9.98556008e-01 2.05836767e-02 4.47569489e+02] [ 9.82188190e-01 -5.25261688e-02 -1.80408871e-01 2.17301249e+02] [ 1.81229544e-01 1.12650337e-02 9.83376302e-01 5.35597064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.5992541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.58, Y:217.32, Z:53.56 [[-5.53888766e-02 -9.98320415e-01 -1.69829663e-02 4.47582257e+02] [ 9.80272318e-01 -5.11396671e-02 -1.90921231e-01 2.17315597e+02] [ 1.89732059e-01 -2.72228443e-02 9.81458437e-01 5.35580540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6292541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:447.57, Y:217.31, Z:53.56 [[-5.28388059e-02 -9.98602808e-01 7.02461104e-04 4.47572224e+02] [ 9.80081606e-01 -5.19936264e-02 -1.91668225e-01 2.17314101e+02] [ 1.91436951e-01 -9.43905095e-03 9.81459524e-01 5.35626088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6592541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:447.57, Y:217.32, Z:53.56 [[-5.03527164e-02 -9.98731301e-01 6.26081771e-04 4.47570404e+02] [ 9.80069708e-01 -4.95324591e-02 -1.92379581e-01 2.17317254e+02] [ 1.92166521e-01 -9.07323070e-03 9.81320389e-01 5.35630778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.6892541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:447.57, Y:217.31, Z:53.56 [[-4.34480264e-02 -9.99055538e-01 5.49233335e-04 4.47566695e+02] [ 9.80246588e-01 -4.27362031e-02 -1.93106819e-01 2.17313052e+02] [ 1.92947909e-01 -7.85172608e-03 9.81177586e-01 5.35617994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7192541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:447.56, Y:217.32, Z:53.56 [[-3.98437499e-02 -9.99205812e-01 4.70136100e-04 4.47564012e+02] [ 9.80431222e-01 -3.91858771e-02 -1.92922486e-01 2.17315632e+02] [ 1.92787692e-01 -7.22581917e-03 9.81213888e-01 5.35629358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7492541539999 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:447.56, Y:217.31, Z:53.56 [[-3.17137303e-02 -9.99496916e-01 3.91651646e-04 4.47559763e+02] [ 9.80724570e-01 -3.11936729e-02 -1.92889276e-01 2.17312856e+02] [ 1.92804454e-01 -5.73313608e-03 9.81220451e-01 5.35623505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.7792541539999 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:447.56, Y:217.36, Z:53.57 [[-2.81209955e-02 -9.99598101e-01 3.58405526e-03 4.47556439e+02] [ 9.80884336e-01 -2.82848320e-02 -1.92525031e-01 2.17361554e+02] [ 1.92549030e-01 -1.89845187e-03 9.81285518e-01 5.35721822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8092541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:447.56, Y:217.31, Z:53.56 [[-2.47846835e-02 -9.99690223e-01 -2.27555341e-03 4.47556989e+02] [ 9.80974550e-01 -2.38821296e-02 -1.92661817e-01 2.17312192e+02] [ 1.92547790e-01 -7.00732213e-03 9.81262578e-01 5.35622871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.839254154 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:447.55, Y:217.31, Z:53.56 [[-1.83847121e-02 -9.99830966e-01 2.03813842e-04 4.47552333e+02] [ 9.81205207e-01 -1.80813880e-02 -1.92118205e-01 2.17311531e+02] [ 1.92089416e-01 -3.33205469e-03 9.81371771e-01 5.35632970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8692541539999 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:447.55, Y:217.31, Z:53.56 [[-1.52570936e-02 -9.99883596e-01 1.26287707e-04 4.47550553e+02] [ 9.81372734e-01 -1.49988291e-02 -1.91527004e-01 2.17314502e+02] [ 1.91506603e-01 -2.79821011e-03 9.81487336e-01 5.35640954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.8992541539999 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:447.55, Y:217.31, Z:53.56 [[-1.02171074e-02 -9.99947803e-01 4.93343696e-05 4.47547423e+02] [ 9.81570955e-01 -1.00387545e-02 -1.90834181e-01 2.17308898e+02] [ 1.90824715e-01 -1.90134813e-03 9.81622286e-01 5.35629660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9292541539999 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:447.55, Y:217.34, Z:53.57 [[-8.40788937e-03 -9.99964653e-01 -2.40554250e-05 4.47546464e+02] [ 9.81564295e-01 -8.24858208e-03 -1.90954174e-01 2.17335296e+02] [ 1.90947226e-01 -1.62913352e-03 9.81598952e-01 5.35677577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.959254154 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:447.55, Y:217.36, Z:53.57 [[-5.87067219e-03 -9.99937223e-01 -9.54381688e-03 4.47549678e+02] [ 9.80502206e-01 -3.88137947e-03 -1.96469740e-01 2.17357434e+02] [ 1.96420363e-01 -1.05111429e-02 9.80463440e-01 5.35726788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 653.9892541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:447.54, Y:217.38, Z:53.58 [[-6.43389916e-03 -9.99900495e-01 1.25541165e-02 4.47538227e+02] [ 9.81022076e-01 -8.74438441e-03 -1.93698792e-01 2.17384770e+02] [ 1.93789296e-01 1.10696269e-02 9.80980720e-01 5.35803387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0192541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:447.54, Y:217.41, Z:53.58 [[-7.27408715e-03 -9.99973543e-01 -1.82951884e-05 4.47543768e+02] [ 9.81020488e-01 -7.13267211e-03 -1.93772877e-01 2.17412467e+02] [ 1.93767620e-01 -1.42746875e-03 9.81046417e-01 5.35817755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.0492541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:447.54, Y:217.42, Z:53.58 [[-8.68010507e-03 -9.99962327e-01 3.62668571e-05 4.47543308e+02] [ 9.80963888e-01 -8.52222656e-03 -1.94003149e-01 2.17416968e+02] [ 1.93996149e-01 -1.64839124e-03 9.81000906e-01 5.35823108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.079254154 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:447.54, Y:217.44, Z:53.59 [[-1.05089940e-02 -9.99944778e-01 -3.78768315e-05 4.47543577e+02] [ 9.80934819e-01 -1.03018564e-02 -1.94063786e-01 2.17444153e+02] [ 1.94052679e-01 -2.07656985e-03 9.80988912e-01 5.35876995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1092541539999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:447.54, Y:217.45, Z:53.59 [[-1.18510350e-02 -9.99929774e-01 1.56949835e-05 4.47543924e+02] [ 9.80943133e-01 -1.16290520e-02 -1.93946734e-01 2.17447029e+02] [ 1.93933296e-01 -2.28307364e-03 9.81012061e-01 5.35881627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1392541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:447.54, Y:217.47, Z:53.59 [[-1.59936797e-02 -9.99872091e-01 -5.87829904e-05 4.47544569e+02] [ 9.80897159e-01 -1.56787627e-02 -1.93894145e-01 2.17474660e+02] [ 1.93868423e-01 -3.15874091e-03 9.81022455e-01 5.35929338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.1692541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:447.55, Y:217.50, Z:53.60 [[-1.74011425e-02 -9.99848589e-01 -1.00651300e-06 4.47545689e+02] [ 9.80837448e-01 -1.70700814e-02 -1.94078626e-01 2.17501074e+02] [ 1.94049223e-01 -3.37817704e-03 9.80985977e-01 5.35963616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.199254154 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:447.55, Y:217.50, Z:53.60 [[-1.70063783e-02 -9.99855381e-01 2.84152440e-05 4.47545599e+02] [ 9.80844015e-01 -1.66885327e-02 -1.94078621e-01 2.17503663e+02] [ 1.94051028e-01 -3.27270353e-03 9.80985978e-01 5.35968699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2292541539999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:447.55, Y:217.53, Z:53.60 [[-2.14643252e-02 -9.99769614e-01 -4.61502136e-05 4.47547290e+02] [ 9.81005421e-01 -2.10525703e-02 -1.92834526e-01 2.17530670e+02] [ 1.92789128e-01 -4.18433658e-03 9.81231290e-01 5.36031400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2592541539999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:447.55, Y:217.53, Z:53.60 [[-2.27308224e-02 -9.99741621e-01 9.11037957e-06 4.47548129e+02] [ 9.81005425e-01 -2.23065791e-02 -1.92693469e-01 2.17534744e+02] [ 1.92643884e-01 -4.37114368e-03 9.81259001e-01 5.36037777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.2892541539999 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:447.55, Y:217.56, Z:53.61 [[-2.45136349e-02 -9.99699494e-01 -6.64281748e-05 4.47548633e+02] [ 9.80990641e-01 -2.40420798e-02 -1.92559969e-01 2.17560899e+02] [ 1.92500506e-01 -4.78551017e-03 9.81285205e-01 5.36089194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.319254154 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:447.55, Y:217.59, Z:53.61 [[-2.71470191e-02 -9.99631451e-01 -3.37528110e-05 4.47549771e+02] [ 9.80846925e-01 -2.66303721e-02 -1.92951117e-01 2.17588426e+02] [ 1.92879106e-01 -5.27115399e-03 9.81208370e-01 5.36134935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3492541539999 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:447.55, Y:217.59, Z:53.61 [[-2.77061687e-02 -9.99616110e-01 2.07322609e-05 4.47550033e+02] [ 9.80802048e-01 -2.71887079e-02 -1.93101315e-01 2.17591922e+02] [ 1.93027749e-01 -5.32976336e-03 9.81178823e-01 5.36148039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.3792541539999 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:447.55, Y:217.62, Z:53.62 [[-2.90640855e-02 -9.99577549e-01 -5.45879709e-05 4.47550967e+02] [ 9.80812286e-01 -2.85079275e-02 -1.92858907e-01 2.17618156e+02] [ 1.92775878e-01 -5.65880832e-03 9.81226497e-01 5.36193192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4092541539999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:447.55, Y:217.64, Z:53.62 [[-2.95262801e-02 -9.99564004e-01 -2.88365486e-06 4.47551256e+02] [ 9.80755504e-01 -2.89701358e-02 -1.93078669e-01 2.17644928e+02] [ 1.92994404e-01 -5.70372304e-03 9.81183279e-01 5.36247051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4392541539999 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:447.55, Y:217.65, Z:53.63 [[-2.94594112e-02 -9.99565976e-01 4.50994603e-05 4.47551225e+02] [ 9.80667890e-01 -2.89111749e-02 -1.93531996e-01 2.17649205e+02] [ 1.93449303e-01 -5.65711106e-03 9.81093963e-01 5.36256144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4692541539999 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:447.55, Y:217.68, Z:53.63 [[-2.92241163e-02 -9.99572884e-01 -2.99540885e-05 4.47551492e+02] [ 9.80626909e-01 -2.86643935e-02 -1.93776206e-01 2.17677142e+02] [ 1.93692582e-01 -5.69231217e-03 9.81045759e-01 5.36290315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.4992541539999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:447.55, Y:217.68, Z:53.63 [[-2.83805341e-02 -9.99597191e-01 2.52401848e-05 4.47551511e+02] [ 9.80747141e-01 -2.78502246e-02 -1.93285824e-01 2.17681772e+02] [ 1.93208670e-01 -5.46080068e-03 9.81142492e-01 5.36299239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5292541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:447.55, Y:217.71, Z:53.64 [[-2.80259068e-02 -9.99607196e-01 -5.04860059e-05 4.47550982e+02] [ 9.80575020e-01 -2.74824945e-02 -1.94209532e-01 2.17707732e+02] [ 1.94131858e-01 -5.49240356e-03 9.80960068e-01 5.36364437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.5592541539999 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:447.55, Y:217.74, Z:53.64 [[-2.77419335e-02 -9.99615118e-01 -1.20079092e-05 4.47550430e+02] [ 9.80484788e-01 -2.72086780e-02 -1.94703025e-01 2.17735298e+02] [ 1.94627760e-01 -5.41321194e-03 9.80862239e-01 5.36407469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.589254154 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:447.55, Y:217.75, Z:53.64 [[-2.62805462e-02 -9.99654606e-01 4.08799222e-05 4.47550014e+02] [ 9.80384023e-01 -2.57819205e-02 -1.95403328e-01 2.17746776e+02] [ 1.95336891e-01 -5.09522815e-03 9.80722967e-01 5.36425171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6192541539999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:447.55, Y:217.77, Z:53.65 [[-2.42907666e-02 -9.99704935e-01 -3.37832649e-05 4.47549086e+02] [ 9.80331856e-01 -2.38134201e-02 -1.95914201e-01 2.17774250e+02] [ 1.95855589e-01 -4.79202492e-03 9.80621040e-01 5.36485605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6492541539999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:447.55, Y:217.78, Z:53.65 [[-2.19509408e-02 -9.99759049e-01 1.95678439e-05 4.47548336e+02] [ 9.80361616e-01 -2.15288831e-02 -1.96029613e-01 2.17775067e+02] [ 1.95982801e-01 -4.28385087e-03 9.80597976e-01 5.36490639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.6792541539999 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:447.55, Y:217.80, Z:53.65 [[-2.01358096e-02 -9.99797253e-01 -5.45910960e-05 4.47547522e+02] [ 9.80420094e-01 -1.97348577e-02 -1.95925941e-01 2.17802424e+02] [ 1.95885140e-01 -3.99864966e-03 9.80618694e-01 5.36545625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.709254154 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:447.55, Y:217.80, Z:53.65 [[-1.49961530e-02 -9.99887551e-01 -9.37304857e-07 4.47545628e+02] [ 9.80531498e-01 -1.47056704e-02 -1.95810433e-01 2.17798925e+02] [ 1.95788401e-01 -2.93732226e-03 9.80641767e-01 5.36548672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7392541539999 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:447.54, Y:217.83, Z:53.66 [[-1.28815441e-02 -9.99917027e-01 -7.49518012e-05 4.47544657e+02] [ 9.80586136e-01 -1.26178437e-02 -1.95682447e-01 2.17825785e+02] [ 1.95665265e-01 -2.59418877e-03 9.80667311e-01 5.36604225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7692541539999 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:447.54, Y:217.85, Z:53.67 [[-8.64157660e-03 -9.99962661e-01 -1.70304560e-05 4.47543527e+02] [ 9.80680777e-01 -8.47161608e-03 -1.95431436e-01 2.17853586e+02] [ 1.95423995e-01 -1.70553717e-03 9.80717367e-01 5.36660280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.7992541539999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:447.54, Y:217.86, Z:53.67 [[-6.14082459e-03 -9.99981144e-01 3.61847644e-05 4.47543402e+02] [ 9.80762182e-01 -6.02986234e-03 -1.95113260e-01 2.17856331e+02] [ 1.95109799e-01 -1.16266765e-03 9.80780717e-01 5.36668053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.829254154 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:447.54, Y:217.88, Z:53.67 [[-4.86881590e-03 -9.99988147e-01 -3.76167446e-05 4.47543655e+02] [ 9.80790866e-01 -4.76801126e-03 -1.95003959e-01 2.17883324e+02] [ 1.95001468e-01 -9.86332536e-04 9.80802454e-01 5.36719989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8592541539999 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:447.54, Y:217.89, Z:53.67 [[-3.40026084e-03 -9.99994219e-01 1.56317733e-05 4.47543646e+02] [ 9.80748107e-01 -3.33787075e-03 -1.95248583e-01 2.17886975e+02] [ 1.95247507e-01 -6.48565279e-04 9.80753787e-01 5.36732810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.8892541539999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:447.54, Y:217.91, Z:53.68 [[-2.48827769e-03 -9.99996903e-01 -5.83136553e-05 4.47544048e+02] [ 9.80577258e-01 -2.42851967e-03 -1.96118186e-01 2.17913036e+02] [ 1.96117437e-01 -5.45177551e-04 9.80580264e-01 5.36791088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9192541539999 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:447.54, Y:217.94, Z:53.68 [[-2.84545874e-03 -9.99995952e-01 -7.06664022e-06 4.47544704e+02] [ 9.80507565e-01 -2.78861679e-03 -1.96461544e-01 2.17938901e+02] [ 1.96460729e-01 -5.65952111e-04 9.80511531e-01 5.36844850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.949254154 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:447.55, Y:217.94, Z:53.69 [[-4.22951400e-03 -9.99991055e-01 3.85741456e-05 4.47547034e+02] [ 9.80358095e-01 -4.15408157e-03 -1.97182019e-01 2.17943164e+02] [ 1.97180415e-01 -7.96167631e-04 9.80366896e-01 5.36858090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 654.9792541539999 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:447.55, Y:217.97, Z:53.69 [[-5.91966262e-03 -9.99982478e-01 -3.46683349e-05 4.47548652e+02] [ 9.80258456e-01 -5.79604920e-03 -1.97635437e-01 2.17969812e+02] [ 1.97631774e-01 -1.20391904e-03 9.80275590e-01 5.36911627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0092541539999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:447.55, Y:217.97, Z:53.69 [[-7.77027908e-03 -9.99969811e-01 1.18186805e-05 4.47550170e+02] [ 9.80123940e-01 -7.61840947e-03 -1.98239809e-01 2.17973448e+02] [ 1.98233915e-01 -1.52879487e-03 9.80153548e-01 5.36928705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0392541539999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:447.55, Y:218.00, Z:53.70 [[-1.38452728e-02 -9.99904148e-01 -6.10213963e-05 4.47553511e+02] [ 9.79963366e-01 -1.35570337e-02 -1.98715899e-01 2.18001061e+02] [ 1.98696025e-01 -2.81107457e-03 9.80057135e-01 5.36990100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.069254154 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:447.56, Y:218.03, Z:53.70 [[-1.74954771e-02 -9.99846942e-01 -1.57759117e-06 4.47555188e+02] [ 9.79832415e-01 -1.71449456e-02 -1.99084128e-01 2.18028459e+02] [ 1.99053629e-01 -3.48461756e-03 9.79982403e-01 5.37046254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.0992541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:447.56, Y:218.04, Z:53.71 [[-2.06081094e-02 -9.99787629e-01 5.07268771e-05 4.47556627e+02] [ 9.79685366e-01 -2.02038749e-02 -1.99520395e-01 2.18035074e+02] [ 1.99479048e-01 -4.06204175e-03 9.79893672e-01 5.37066709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1292541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:447.56, Y:218.06, Z:53.71 [[-2.77791517e-02 -9.99614085e-01 -2.23020086e-05 4.47559795e+02] [ 9.79444276e-01 -2.72141760e-02 -1.99870707e-01 2.18062334e+02] [ 1.99792967e-01 -5.57408227e-03 9.79822280e-01 5.37124788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1592541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:447.56, Y:218.07, Z:53.72 [[-3.07158395e-02 -9.99528157e-01 2.77003668e-05 4.47561169e+02] [ 9.79448476e-01 -3.01043112e-02 -1.99435236e-01 2.18069536e+02] [ 1.99341968e-01 -6.09868964e-03 9.79911009e-01 5.37150883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.1892541539999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:447.56, Y:218.10, Z:53.72 [[-3.78291985e-02 -9.99284219e-01 -4.57263359e-05 4.47564555e+02] [ 9.79357058e-01 -3.70657372e-02 -1.98710556e-01 2.18096579e+02] [ 1.98566628e-01 -7.56184346e-03 9.80058219e-01 5.37210453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2192541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:447.57, Y:218.11, Z:53.72 [[-4.08807962e-02 -9.99164031e-01 6.83894125e-06 4.47566134e+02] [ 9.79300141e-01 -4.00694232e-02 -1.98407853e-01 2.18105516e+02] [ 1.98242264e-01 -8.10437362e-03 9.80119546e-01 5.37230433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2492541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:447.57, Y:218.13, Z:53.73 [[-4.42523618e-02 -9.99020382e-01 -6.78717300e-05 4.47567783e+02] [ 9.78961795e-01 -4.33503056e-02 -1.99385442e-01 2.18132407e+02] [ 1.99187178e-01 -8.88972054e-03 9.79921140e-01 5.37276001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.2792541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:447.57, Y:218.16, Z:53.73 [[-5.03516904e-02 -9.98731549e-01 -1.37437735e-05 4.47569972e+02] [ 9.78286213e-01 -4.93181555e-02 -2.01305252e-01 2.18159499e+02] [ 2.01049228e-01 -1.01495051e-02 9.79528558e-01 5.37325803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3092541539999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:447.57, Y:218.16, Z:53.73 [[-5.28720287e-02 -9.98601295e-01 3.67670780e-05 4.47570461e+02] [ 9.78166267e-01 -5.17974843e-02 -2.01265435e-01 2.18159535e+02] [ 2.00985828e-01 -1.06053475e-02 9.79536739e-01 5.37335546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.339254154 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:447.57, Y:218.19, Z:53.74 [[-5.72426081e-02 -9.98360297e-01 -3.68574382e-05 4.47571277e+02] [ 9.77584140e-01 -5.60438809e-02 -2.02949090e-01 2.18186681e+02] [ 2.02614248e-01 -1.16533665e-02 9.79189290e-01 5.37405057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3692541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:447.57, Y:218.20, Z:53.74 [[-5.79645858e-02 -9.98318640e-01 1.49253038e-05 4.47572374e+02] [ 9.77525234e-01 -5.67603101e-02 -2.03033703e-01 2.18202427e+02] [ 2.02693177e-01 -1.17541746e-02 9.79171750e-01 5.37418860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.3992541539999 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:447.57, Y:218.23, Z:53.75 [[-5.95126454e-02 -9.98227550e-01 -5.82455372e-05 4.47572366e+02] [ 9.77564599e-01 -5.82689444e-02 -2.02415871e-01 2.18230023e+02] [ 2.02053705e-01 -1.21032427e-02 9.79299654e-01 5.37483630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4292541539999 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:447.57, Y:218.26, Z:53.75 [[-6.02545048e-02 -9.98183047e-01 1.55368481e-06 4.47571915e+02] [ 9.76951013e-01 -5.89731698e-02 -2.05155754e-01 2.18257285e+02] [ 2.04783087e-01 -1.23600405e-02 9.78729338e-01 5.37532677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.459254154 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:447.57, Y:218.77, Z:53.85 [[-6.03843974e-02 -9.98170185e-01 3.16324989e-03 4.47568300e+02] [ 9.76981613e-01 -5.97515647e-02 -2.04784468e-01 2.18768015e+02] [ 2.04598759e-01 -9.27534968e-03 9.78801980e-01 5.38529896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.4892541539999 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:447.57, Y:218.77, Z:53.85 [[-5.97515223e-02 -9.98213256e-01 2.25373541e-04 4.47569637e+02] [ 9.77053199e-01 -5.85311517e-02 -2.04795387e-01 2.18770831e+02] [ 2.04442661e-01 -1.20166342e-02 9.78804781e-01 5.38527090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5192541539999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:447.56, Y:218.28, Z:53.76 [[-4.81430168e-02 -9.98725613e-01 1.51459850e-02 4.47559993e+02] [ 9.80961707e-01 -5.01320190e-02 -1.87619059e-01 2.18277154e+02] [ 1.88139258e-01 5.82508380e-03 9.82125088e-01 5.37582008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.5492541539999 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:447.58, Y:218.30, Z:53.76 [[-5.16693829e-02 -9.97967367e-01 -3.73015916e-02 4.47580162e+02] [ 9.80031212e-01 -4.34883815e-02 -1.94029855e-01 2.18300721e+02] [ 1.92013277e-01 -4.65821269e-02 9.80286186e-01 5.37572782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.579254154 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:447.56, Y:218.33, Z:53.77 [[-4.69850373e-02 -9.98846613e-01 9.89190456e-03 4.47555613e+02] [ 9.80242099e-01 -4.80102093e-02 -1.91886547e-01 2.18327923e+02] [ 1.92140140e-01 6.80664710e-04 9.81367262e-01 5.37713807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6092541539999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:447.56, Y:218.36, Z:53.77 [[-4.51033432e-02 -9.98944540e-01 -8.68874729e-03 4.47563095e+02] [ 9.80155970e-01 -4.25710789e-02 -1.93602628e-01 2.18355713e+02] [ 1.93028399e-01 -1.72484533e-02 9.81041553e-01 5.37735142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6392541539999 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:447.56, Y:218.38, Z:53.78 [[-4.27804637e-02 -9.99083558e-01 -1.36984485e-03 4.47557266e+02] [ 9.80067936e-01 -4.16999020e-02 -1.94236865e-01 2.18382725e+02] [ 1.94001735e-01 -9.65208416e-03 9.80953701e-01 5.37808028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.6692541539999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:447.55, Y:218.41, Z:53.79 [[-3.91245783e-02 -9.99233484e-01 -1.30877153e-03 4.47551768e+02] [ 9.80362825e-01 -3.81322895e-02 -1.93480388e-01 2.18409815e+02] [ 1.93282175e-01 -8.85290952e-03 9.81103270e-01 5.37864037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.699254154 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:447.55, Y:218.44, Z:53.79 [[-3.76911025e-02 -9.99279521e-01 4.45191813e-03 4.47545619e+02] [ 9.80240964e-01 -3.78379837e-02 -1.94154424e-01 2.18435916e+02] [ 1.94182991e-01 -2.95394177e-03 9.80960876e-01 5.37903143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7292541539999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:447.54, Y:218.47, Z:53.80 [[-3.27838496e-02 -9.99277489e-01 1.92280823e-02 4.47535966e+02] [ 9.81321388e-01 -3.58316633e-02 -1.89009063e-01 2.18465700e+02] [ 1.89561476e-01 1.26724837e-02 9.81787072e-01 5.37965848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7592541539999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:447.56, Y:218.49, Z:53.79 [[-3.22660480e-02 -9.99164426e-01 -2.50868889e-02 4.47555678e+02] [ 9.80909117e-01 -2.68406147e-02 -1.92605518e-01 2.18494027e+02] [ 1.91771234e-01 -3.08225770e-02 9.80955535e-01 5.37937814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.7892541539999 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:447.54, Y:218.52, Z:53.81 [[-3.14492765e-02 -9.99504660e-01 -1.17399497e-03 4.47542055e+02] [ 9.81032956e-01 -3.06432487e-02 -1.91403579e-01 2.18518902e+02] [ 1.91272794e-01 -7.17123182e-03 9.81510719e-01 5.38063417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.819254154 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:447.54, Y:218.55, Z:53.81 [[-3.06545220e-02 -9.99529415e-01 -1.11714653e-03 4.47537953e+02] [ 9.81274750e-01 -2.98819984e-02 -1.90281188e-01 2.18545018e+02] [ 1.90158262e-01 -6.92920653e-03 9.81728996e-01 5.38112091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8492541539999 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:447.54, Y:218.57, Z:53.82 [[-3.09260379e-02 -9.99521102e-01 -1.07116318e-03 4.47536050e+02] [ 9.81113096e-01 -3.01517126e-02 -1.91070583e-01 2.18572659e+02] [ 1.90946782e-01 -6.95998831e-03 9.81575715e-01 5.38161487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.8792541539999 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:447.53, Y:218.60, Z:53.82 [[-3.20113509e-02 -9.99486990e-01 -1.01525828e-03 4.47534410e+02] [ 9.81130556e-01 -3.12296166e-02 -1.90807609e-01 2.18600385e+02] [ 1.90678016e-01 -7.10411024e-03 9.81626928e-01 5.38214996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9092541539999 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:447.53, Y:218.62, Z:53.82 [[-3.45050287e-02 -9.99400676e-01 -2.77327539e-03 4.47529118e+02] [ 9.80866586e-01 -3.33328752e-02 -1.91806310e-01 2.18621136e+02] [ 1.91598915e-01 -9.33849540e-03 9.81428881e-01 5.38234104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9392541539999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:447.53, Y:218.65, Z:53.83 [[-3.67118428e-02 -9.99314272e-01 4.81943911e-03 4.47527148e+02] [ 9.80678703e-01 -3.69536931e-02 -1.92103372e-01 2.18653098e+02] [ 1.92149737e-01 -2.32614748e-03 9.81362862e-01 5.38321519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9692541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:447.53, Y:218.68, Z:53.84 [[-4.06273807e-02 -9.99174006e-01 -8.49655463e-04 4.47527072e+02] [ 9.80551625e-01 -3.97067356e-02 -1.92202722e-01 2.18680653e+02] [ 1.92010227e-01 -8.64182421e-03 9.81354876e-01 5.38351058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 655.9992541539999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:447.53, Y:218.71, Z:53.84 [[-4.29701651e-02 -9.99076040e-01 -7.94801287e-04 4.47525710e+02] [ 9.80495977e-01 -4.20182993e-02 -1.91995056e-01 2.18708218e+02] [ 1.91784264e-01 -9.02935870e-03 9.81395571e-01 5.38400704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0292541539999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:447.52, Y:218.73, Z:53.85 [[-4.50793562e-02 -9.98983135e-01 -7.39428778e-04 4.47524246e+02] [ 9.80379887e-01 -4.40976753e-02 -1.92121503e-01 2.18734255e+02] [ 1.91893535e-01 -9.38563478e-03 9.81370868e-01 5.38453766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.0592541539999 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:447.52, Y:218.76, Z:53.85 [[-4.85737432e-02 -9.98819349e-01 -7.07051918e-04 4.47522634e+02] [ 9.80153227e-01 -4.75297485e-02 -1.92459282e-01 2.18760569e+02] [ 1.92198449e-01 -1.00414870e-02 9.81304705e-01 5.38495804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.089254154 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:447.52, Y:218.79, Z:53.86 [[-5.10148333e-02 -9.98697684e-01 -6.50668175e-04 4.47521712e+02] [ 9.80359200e-01 -4.99537764e-02 -1.90789046e-01 2.18787577e+02] [ 1.90508075e-01 -1.03709599e-02 9.81630845e-01 5.38552532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1192541539999 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:447.52, Y:218.82, Z:53.86 [[-5.12877958e-02 -9.98683738e-01 -5.94173108e-04 4.47521696e+02] [ 9.80344924e-01 -5.02324875e-02 -1.90789223e-01 2.18815522e+02] [ 1.90508248e-01 -1.03676533e-02 9.81630847e-01 5.38602987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1492541539999 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:447.52, Y:218.84, Z:53.87 [[-5.32984174e-02 -9.98578484e-01 -5.39455904e-04 4.47520809e+02] [ 9.80372014e-01 -5.22239558e-02 -1.90114104e-01 2.18842259e+02] [ 1.89815681e-01 -1.06616483e-02 9.81761853e-01 5.38653235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.1792541539999 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:447.52, Y:218.87, Z:53.87 [[-5.63228044e-02 -9.98412493e-01 -4.85568730e-04 4.47519243e+02] [ 9.80446347e-01 -5.52174313e-02 -1.88880905e-01 2.18869484e+02] [ 1.88554243e-01 -1.11143763e-02 9.81999882e-01 5.38709451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.209254154 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:447.52, Y:218.90, Z:53.88 [[-5.74984521e-02 -9.98345504e-01 -4.28376892e-04 4.47518573e+02] [ 9.80538058e-01 -5.63921623e-02 -1.88055953e-01 2.18896848e+02] [ 1.87720658e-01 -1.12329660e-02 9.82158223e-01 5.38761274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2392541539999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:447.52, Y:218.92, Z:53.88 [[-5.82920208e-02 -9.98299505e-01 -3.72300993e-04 4.47517941e+02] [ 9.80624550e-01 -5.71900828e-02 -1.87362714e-01 2.18924046e+02] [ 1.87022812e-01 -1.12868387e-02 9.82290728e-01 5.38805694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2692541539999 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:447.52, Y:218.95, Z:53.89 [[-5.89923001e-02 -9.98258387e-01 -3.17740222e-04 4.47516466e+02] [ 9.80577740e-01 -5.78878120e-02 -1.87393427e-01 2.18951515e+02] [ 1.87048667e-01 -1.13663383e-02 9.82284889e-01 5.38853475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.2992541539999 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:447.52, Y:218.98, Z:53.89 [[-5.90500266e-02 -9.98254990e-01 -2.62687959e-04 4.47515822e+02] [ 9.80572992e-01 -5.79547658e-02 -1.87397578e-01 2.18979324e+02] [ 1.87055343e-01 -1.13234167e-02 9.82284113e-01 5.38898139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.329254154 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:447.50, Y:219.01, Z:53.90 [[-5.57505396e-02 -9.97907245e-01 3.27567998e-02 4.47501265e+02] [ 9.81800301e-01 -6.07571533e-02 -1.79935370e-01 2.19011780e+02] [ 1.81549019e-01 2.21291420e-02 9.83132878e-01 5.38954023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3592541539999 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:447.52, Y:219.04, Z:53.89 [[-5.49085423e-02 -9.98482089e-01 -4.30926005e-03 4.47518740e+02] [ 9.82269125e-01 -5.32411595e-02 -1.79757463e-01 2.19041553e+02] [ 1.79255178e-01 -1.41030734e-02 9.83701522e-01 5.38880611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.3892541539999 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:447.51, Y:219.07, Z:53.89 [[-5.40787559e-02 -9.98531496e-01 3.21552050e-03 4.47514616e+02] [ 9.82329159e-01 -5.37785552e-02 -1.79268765e-01 2.19070675e+02] [ 1.79178434e-01 -6.53593222e-03 9.83794882e-01 5.38947312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4192541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:447.53, Y:219.09, Z:53.90 [[-5.73730300e-02 -9.97598536e-01 -3.88007200e-02 4.47529975e+02] [ 9.80883275e-01 -4.90877983e-02 -1.88303978e-01 2.19092279e+02] [ 1.85947131e-01 -4.88625471e-02 9.81344036e-01 5.38982194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.449254154 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:447.51, Y:219.12, Z:53.91 [[-5.50737451e-02 -9.98482288e-01 -5.12251268e-05 4.47509092e+02] [ 9.80466165e-01 -5.40703196e-02 -1.89109757e-01 2.19116957e+02] [ 1.88819973e-01 -1.04652070e-02 9.81955955e-01 5.39149297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.4792541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:447.51, Y:219.14, Z:53.92 [[-5.44347429e-02 -9.98517330e-01 -1.15331182e-05 4.47507958e+02] [ 9.80400398e-01 -5.34448977e-02 -1.89627803e-01 2.19144034e+02] [ 1.89346031e-01 -1.03336478e-02 9.81856047e-01 5.39198785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5092541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:447.51, Y:219.15, Z:53.92 [[-5.27499004e-02 -9.98607754e-01 3.61396995e-05 4.47507048e+02] [ 9.80483553e-01 -5.17993812e-02 -1.89654493e-01 2.19145562e+02] [ 1.89392320e-01 -9.96882124e-03 9.81850891e-01 5.39199114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5392541539999 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:447.51, Y:219.17, Z:53.92 [[-4.95217812e-02 -9.98773043e-01 -3.24501004e-05 4.47505092e+02] [ 9.80524593e-01 -4.86107929e-02 -1.90285346e-01 2.19173484e+02] [ 1.90050297e-01 -9.45508741e-03 9.81728825e-01 5.39243445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.569254154 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:447.50, Y:219.18, Z:53.93 [[-4.76314413e-02 -9.98864979e-01 1.49443039e-05 4.47503378e+02] [ 9.80607868e-01 -4.67636881e-02 -1.90319117e-01 2.19177552e+02] [ 1.90103799e-01 -9.05051933e-03 9.81722279e-01 5.39260476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.5992541539999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:447.49, Y:219.21, Z:53.93 [[-4.39346171e-02 -9.98743493e-01 2.41077777e-02 4.47491801e+02] [ 9.81711639e-01 -4.76344813e-02 -1.84318243e-01 2.19207390e+02] [ 1.85235007e-01 1.55689346e-02 9.82570914e-01 5.39321227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6292541539999 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:447.51, Y:219.23, Z:53.93 [[-4.24124984e-02 -9.98786408e-01 -2.50377815e-02 4.47511435e+02] [ 9.81252858e-01 -3.69261987e-02 -1.89154132e-01 2.19234030e+02] [ 1.88000026e-01 -3.25908939e-02 9.81628150e-01 5.39284698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6592541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:447.50, Y:219.22, Z:53.94 [[-4.01135980e-02 -9.99195126e-01 1.09595510e-05 4.47497792e+02] [ 9.81209435e-01 -3.93936178e-02 -1.88881410e-01 2.19224408e+02] [ 1.88729816e-01 -7.56595936e-03 9.81999905e-01 5.39362619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.6892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:447.50, Y:219.25, Z:53.94 [[-3.79357146e-02 -9.99280180e-01 -5.93940216e-05 4.47495630e+02] [ 9.81325669e-01 -3.72428902e-02 -1.88713800e-01 2.19250760e+02] [ 1.88575748e-01 -7.21727773e-03 9.82032127e-01 5.39410971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7192541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:447.50, Y:219.28, Z:53.95 [[-3.73676064e-02 -9.99301587e-01 -2.66293134e-05 4.47495294e+02] [ 9.81314832e-01 -3.66899815e-02 -1.88878391e-01 2.19278320e+02] [ 1.88745499e-01 -7.08406511e-03 9.82000485e-01 5.39455045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7492541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:447.49, Y:219.28, Z:53.95 [[-3.67904175e-02 -9.99323003e-01 2.05518798e-05 4.47494734e+02] [ 9.81194850e-01 -3.61269228e-02 -1.89608838e-01 2.19279854e+02] [ 1.89481216e-01 -6.95562291e-03 9.81859709e-01 5.39456582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.7792541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:447.49, Y:219.31, Z:53.95 [[-3.64581357e-02 -9.99335180e-01 -4.92232615e-05 4.47494221e+02] [ 9.81056073e-01 -3.57818923e-02 -1.90390750e-01 2.19306456e+02] [ 1.90262413e-01 -6.98958258e-03 9.81708388e-01 5.39503700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8092541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:447.49, Y:219.33, Z:53.96 [[-3.58257872e-02 -9.99358050e-01 -1.58978238e-05 4.47492263e+02] [ 9.80954018e-01 -3.51629858e-02 -1.91030832e-01 2.19333450e+02] [ 1.90907641e-01 -6.85942498e-03 9.81584037e-01 5.39555930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.839254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:447.49, Y:219.32, Z:53.95 [[-3.42123808e-02 -9.99414585e-01 3.19904501e-05 4.47491558e+02] [ 9.81045992e-01 -3.35896881e-02 -1.90841544e-01 2.19324331e+02] [ 1.90730897e-01 -6.49775948e-03 9.81620856e-01 5.39541703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8692541539999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:447.49, Y:219.35, Z:53.96 [[-3.26792147e-02 -9.99465891e-01 -3.61308645e-05 4.47490826e+02] [ 9.81250001e-01 -3.20767452e-02 -1.90051357e-01 2.19351405e+02] [ 1.89948690e-01 -6.24618250e-03 9.81774149e-01 5.39592871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.8992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:447.49, Y:219.35, Z:53.96 [[-2.77687537e-02 -9.99614374e-01 1.23563212e-05 4.47488380e+02] [ 9.81740459e-01 -2.72745529e-02 -1.88259846e-01 2.19351347e+02] [ 1.88187585e-01 -5.21561060e-03 9.82119255e-01 5.39605076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9292541539999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:447.49, Y:219.38, Z:53.97 [[-2.54084385e-02 -9.99677152e-01 -5.59775076e-05 4.47487222e+02] [ 9.81999443e-01 -2.49486465e-02 -1.87228894e-01 2.19378649e+02] [ 1.87167051e-01 -4.81216373e-03 9.82316313e-01 5.39661180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.959254154 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:447.49, Y:219.41, Z:53.97 [[-2.34521134e-02 -9.99724961e-01 -5.82686663e-07 4.47485823e+02] [ 9.82190823e-01 -2.30406790e-02 -1.86468000e-01 2.19405958e+02] [ 1.86416700e-01 -4.37364098e-03 9.82461035e-01 5.39715808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 656.9892541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:447.48, Y:219.40, Z:53.97 [[-2.06508553e-02 -9.99786747e-01 4.89115066e-05 4.47484700e+02] [ 9.82355907e-01 -2.02999121e-02 -1.85916070e-01 2.19400659e+02] [ 1.85877415e-01 -3.79127734e-03 9.82565628e-01 5.39708279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0192541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:447.48, Y:219.43, Z:53.97 [[-1.72798162e-02 -9.99850693e-01 -2.11956707e-05 4.47484119e+02] [ 9.82696973e-01 -1.69794489e-02 -1.84440664e-01 2.19427431e+02] [ 1.84412766e-01 -3.20792969e-03 9.82843650e-01 5.39749803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.0492541539999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:447.48, Y:219.43, Z:53.97 [[-1.59921395e-02 -9.99872118e-01 5.30811918e-06 4.47484255e+02] [ 9.82812969e-01 -1.57202688e-02 -1.83933525e-01 2.19429063e+02] [ 1.83910087e-01 -2.93627370e-03 9.82938685e-01 5.39744209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.079254154 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:447.48, Y:219.46, Z:53.98 [[-1.62909379e-02 -9.99867292e-01 -6.38521761e-05 4.47484998e+02] [ 9.82779240e-01 -1.60007645e-02 -1.84089492e-01 2.19457180e+02] [ 1.84064040e-01 -3.06174308e-03 9.82909485e-01 5.39776385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1092541539999 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:447.48, Y:219.48, Z:53.99 [[-1.58777130e-02 -9.99814829e-01 1.08722137e-02 4.47480113e+02] [ 9.82164383e-01 -1.76330201e-02 -1.87195623e-01 2.19482296e+02] [ 1.87352670e-01 7.70606267e-03 9.82262487e-01 5.39864513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1392541539999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:447.49, Y:219.16, Z:53.92 [[-1.61912242e-02 -9.99844670e-01 -6.96278622e-03 4.47487607e+02] [ 9.81987942e-01 -1.45902076e-02 -1.88379423e-01 2.19162529e+02] [ 1.88248573e-01 -9.88746558e-03 9.82071643e-01 5.39213654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.1692541539999 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:447.48, Y:219.19, Z:53.93 [[-1.79734283e-02 -9.99838330e-01 -5.19954799e-04 4.47484767e+02] [ 9.81838481e-01 -1.75516190e-02 -1.88905104e-01 2.19189178e+02] [ 1.88865438e-01 -3.90578399e-03 9.81995209e-01 5.39282683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.199254154 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:447.49, Y:219.22, Z:53.93 [[-2.21502464e-02 -9.99754544e-01 -4.66940247e-04 4.47486192e+02] [ 9.81634115e-01 -2.16602504e-02 -1.89539700e-01 2.19216789e+02] [ 1.89483062e-01 -4.65671553e-03 9.81872947e-01 5.39321273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2292541539999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:447.49, Y:219.24, Z:53.94 [[-2.48578206e-02 -9.99690911e-01 -4.12964603e-04 4.47486954e+02] [ 9.81479012e-01 -2.43264772e-02 -1.90018870e-01 2.19243682e+02] [ 1.89950091e-01 -5.12877107e-03 9.81780352e-01 5.39372995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2592541539999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:447.49, Y:219.27, Z:53.94 [[-2.71643066e-02 -9.99630916e-01 -3.63252404e-04 4.47487842e+02] [ 9.81397131e-01 -2.65997223e-02 -1.90137126e-01 2.19270930e+02] [ 1.90057287e-01 -5.52143807e-03 9.81757476e-01 5.39419135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.2892541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.49, Y:219.30, Z:53.95 [[-3.18038684e-02 -9.99494082e-01 -3.08316658e-04 4.47488767e+02] [ 9.81263725e-01 -3.11651284e-02 -1.90132157e-01 2.19298552e+02] [ 1.90026357e-01 -6.34947804e-03 9.81758457e-01 5.39465808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.319254154 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:447.49, Y:219.33, Z:53.95 [[-3.38404671e-02 -9.99427215e-01 -2.53521314e-04 4.47488873e+02] [ 9.81212681e-01 -3.31755147e-02 -1.90055415e-01 2.19325423e+02] [ 1.89938144e-01 -6.68032235e-03 9.81773332e-01 5.39514067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3492541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.49, Y:219.35, Z:53.96 [[-3.68648858e-02 -9.99320238e-01 -2.04239462e-04 4.47488777e+02] [ 9.81221703e-01 -3.61585093e-02 -1.89463800e-01 2.19351846e+02] [ 1.89327624e-01 -7.18496553e-03 9.81887686e-01 5.39564606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.3792541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.49, Y:219.38, Z:53.96 [[-3.81080791e-02 -9.99273610e-01 -1.66040363e-04 4.47488498e+02] [ 9.81366061e-01 -3.73938438e-02 -1.88473753e-01 2.19379277e+02] [ 1.88330639e-01 -7.34531908e-03 9.82078213e-01 5.39614098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4092541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.49, Y:219.41, Z:53.97 [[-3.91894784e-02 -9.99231791e-01 -1.12586081e-04 4.47488073e+02] [ 9.81477698e-01 -3.84720242e-02 -1.87673738e-01 2.19406539e+02] [ 1.87525234e-01 -7.46533663e-03 9.82231416e-01 5.39665810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4392541539999 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:447.49, Y:219.43, Z:53.97 [[-4.02256434e-02 -9.99190620e-01 -5.95053760e-05 4.47487589e+02] [ 9.81654399e-01 -3.95085577e-02 -1.86530733e-01 2.19434203e+02] [ 1.86377408e-01 -7.56173245e-03 9.82449124e-01 5.39718182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4692541539999 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:447.49, Y:219.46, Z:53.98 [[-4.09356324e-02 -9.99161786e-01 -5.43620156e-06 4.47487314e+02] [ 9.81738160e-01 -4.02207753e-02 -1.85936751e-01 2.19460765e+02] [ 1.85780677e-01 -7.61677542e-03 9.82561715e-01 5.39773072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.4992541539999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:447.49, Y:219.47, Z:53.98 [[-4.21776517e-02 -9.99110127e-01 2.88709022e-05 4.47486642e+02] [ 9.81971512e-01 -4.14594706e-02 -1.84426303e-01 2.19466292e+02] [ 1.84263384e-01 -7.75031797e-03 9.82846345e-01 5.39780897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5292541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.49, Y:219.49, Z:53.98 [[-4.33888580e-02 -9.99058259e-01 -4.33866436e-05 4.47486315e+02] [ 9.81940035e-01 -4.26374129e-02 -1.84325308e-01 2.19493832e+02] [ 1.84149871e-01 -8.04026769e-03 9.82865290e-01 5.39826293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.5592541539999 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:447.49, Y:219.51, Z:53.98 [[-4.49664750e-02 -9.98988497e-01 6.72509153e-06 4.47485872e+02] [ 9.81713094e-01 -4.41901210e-02 -1.85166506e-01 2.19505216e+02] [ 1.84979507e-01 -8.31968294e-03 9.82707161e-01 5.39847627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.589254154 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:447.49, Y:219.53, Z:53.99 [[-4.59719754e-02 -9.98942728e-01 -6.63919970e-05 4.47485654e+02] [ 9.81562722e-01 -4.51597926e-02 -1.85728880e-01 2.19531457e+02] [ 1.85529516e-01 -8.60349140e-03 9.82601027e-01 5.39894095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6192541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.49, Y:219.56, Z:53.99 [[-4.71362566e-02 -9.98888469e-01 -2.97655334e-05 4.47485382e+02] [ 9.81434326e-01 -4.63070719e-02 -1.86124470e-01 2.19559196e+02] [ 1.85916209e-01 -8.80242370e-03 9.82526173e-01 5.39941965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6492541539999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:447.49, Y:219.56, Z:53.99 [[-4.71946643e-02 -9.98885711e-01 1.89285430e-05 4.47485131e+02] [ 9.81371723e-01 -4.63707083e-02 -1.86438460e-01 2.19555990e+02] [ 1.86231591e-01 -8.78032458e-03 9.82466641e-01 5.39933950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.6792541539999 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:447.48, Y:219.58, Z:54.00 [[-4.73425315e-02 -9.98878712e-01 -5.43918175e-05 4.47484730e+02] [ 9.81182375e-01 -4.64935971e-02 -1.87401953e-01 2.19582300e+02] [ 1.87189292e-01 -8.92545115e-03 9.82283312e-01 5.39976329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.709254154 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:447.48, Y:219.61, Z:54.00 [[-4.70473534e-02 -9.98892660e-01 1.62411336e-06 4.47484340e+02] [ 9.81078800e-01 -4.62086350e-02 -1.88013696e-01 2.19609747e+02] [ 1.87805576e-01 -8.84395341e-03 9.82166407e-01 5.40025192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7392541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.48, Y:219.62, Z:54.00 [[-4.56478183e-02 -9.98957594e-01 4.87632802e-05 4.47483670e+02] [ 9.81011210e-01 -4.48369613e-02 -1.88697254e-01 2.19615018e+02] [ 1.88502741e-01 -8.56578065e-03 9.82035307e-01 5.40034343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7692541539999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:447.48, Y:219.64, Z:54.01 [[-4.26133486e-02 -9.99091638e-01 -2.32648834e-05 4.47481583e+02] [ 9.80956568e-01 -4.18354333e-02 -1.89668153e-01 2.19641581e+02] [ 1.89494892e-01 -8.10521695e-03 9.81848253e-01 5.40082882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.7992541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.48, Y:219.65, Z:54.01 [[-3.98787586e-02 -9.99204526e-01 9.31964354e-06 4.47480161e+02] [ 9.81011837e-01 -3.91544509e-02 -1.89954479e-01 2.19645567e+02] [ 1.89803740e-01 -7.56600615e-03 9.81792899e-01 5.40092968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.829254154 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:447.48, Y:219.67, Z:54.01 [[-3.74173719e-02 -9.99299723e-01 -6.16064737e-05 4.47478472e+02] [ 9.81054288e-01 -3.67224702e-02 -1.90220780e-01 2.19673338e+02] [ 1.90085310e-01 -7.17800096e-03 9.81741336e-01 5.40147960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8592541539999 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:447.48, Y:219.70, Z:54.02 [[-3.15987600e-02 -9.99500634e-01 -1.04702442e-05 4.47475046e+02] [ 9.81390213e-01 -3.10242221e-02 -1.89501313e-01 2.19700514e+02] [ 1.89406358e-01 -5.99828190e-03 9.81880467e-01 5.40202569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.8892541539999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:447.47, Y:219.70, Z:54.02 [[-2.80883376e-02 -9.99605444e-01 3.54737592e-05 4.47473609e+02] [ 9.81581512e-01 -2.75885841e-02 -1.89041277e-01 2.19701080e+02] [ 1.88967669e-01 -5.27503482e-03 9.81969141e-01 5.40209179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9192541539999 meters Centerline goodness : 0.999586 Centerline is valid? [True, True] Translation: X:447.47, Y:219.73, Z:54.03 [[-2.54456124e-02 -9.99676207e-01 -3.52647647e-05 4.47472361e+02] [ 9.81735351e-01 -2.49822952e-02 -1.88604309e-01 2.19728843e+02] [ 1.88542360e-01 -4.83377282e-03 9.82053162e-01 5.40260948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.949254154 meters Centerline goodness : 0.999564 Centerline is valid? [True, True] Translation: X:447.47, Y:219.73, Z:54.03 [[-1.94121641e-02 -9.99811566e-01 1.03922108e-05 4.47469926e+02] [ 9.81963371e-01 -1.90675820e-02 -1.88107326e-01 2.19728390e+02] [ 1.88072079e-01 -3.64136552e-03 9.82148478e-01 5.40269866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 657.9792541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:447.47, Y:219.76, Z:54.03 [[-1.70019813e-02 -9.99855454e-01 -6.02491966e-05 4.47468553e+02] [ 9.82143155e-01 -1.66895017e-02 -1.87393393e-01 2.19756084e+02] [ 1.87365300e-01 -3.24523230e-03 9.82284945e-01 5.40321271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0092541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:447.47, Y:219.78, Z:54.04 [[-1.72456630e-02 -9.99851282e-01 -1.07561940e-05 4.47468421e+02] [ 9.82138898e-01 -1.69381398e-02 -1.87393396e-01 2.19784006e+02] [ 1.87365345e-01 -3.24228743e-03 9.82284946e-01 5.40372802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0392541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:447.47, Y:219.78, Z:54.04 [[-1.43035278e-02 -9.99897699e-01 3.14738918e-05 4.47466976e+02] [ 9.82160348e-01 -1.40556977e-02 -1.87519301e-01 2.19784073e+02] [ 1.87500560e-01 -2.65127513e-03 9.82260918e-01 5.40378591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.069254154 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:447.47, Y:219.81, Z:54.04 [[-1.21525849e-02 -9.99926154e-01 -3.94443952e-05 4.47465688e+02] [ 9.82177997e-01 -1.19294837e-02 -1.87574170e-01 2.19811517e+02] [ 1.87559848e-01 -2.31825245e-03 9.82250441e-01 5.40432441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.0992541539999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:447.46, Y:219.81, Z:54.04 [[-6.73978656e-03 -9.99977287e-01 5.09064785e-06 4.47463811e+02] [ 9.82086124e-01 -6.62015987e-03 -1.88316271e-01 2.19811716e+02] [ 1.88312027e-01 -1.26421201e-03 9.82108437e-01 5.40436313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1292541539999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:447.46, Y:219.84, Z:54.05 [[-4.96396211e-03 -9.99987677e-01 -6.50934672e-05 4.47463039e+02] [ 9.82062122e-01 -4.86270929e-03 -1.88494943e-01 2.19839470e+02] [ 1.88492303e-01 -9.99607582e-04 9.82074158e-01 5.40487817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1592541539999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:447.47, Y:219.87, Z:54.05 [[-3.05272586e-03 -9.99933659e-01 -1.11066517e-02 4.47467532e+02] [ 9.82246281e-01 -9.15051168e-04 -1.87593725e-01 2.19866768e+02] [ 1.87571116e-01 -1.14821395e-02 9.82183912e-01 5.40489473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.1892541539999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:447.46, Y:219.62, Z:54.01 [[ 4.32084502e-04 -9.99967978e-01 7.99104461e-03 4.47457617e+02] [ 9.82522127e-01 -1.06297682e-03 -1.86142793e-01 2.19615090e+02] [ 1.86145327e-01 7.93180756e-03 9.82490205e-01 5.40122427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2192541539999 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:447.46, Y:219.64, Z:54.01 [[ 7.37318209e-04 -9.99999706e-01 -2.12806053e-04 4.47461550e+02] [ 9.82451533e-01 7.64071470e-04 -1.86516490e-01 2.19642568e+02] [ 1.86516598e-01 -7.15496276e-05 9.82451807e-01 5.40143560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2492541539999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:447.46, Y:219.67, Z:54.02 [[ 9.90958503e-04 -9.99999496e-01 -1.60005159e-04 4.47461772e+02] [ 9.82477295e-01 1.00341644e-03 -1.86379606e-01 2.19668823e+02] [ 1.86379673e-01 2.74930199e-05 9.82477795e-01 5.40191069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.2792541539999 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:447.46, Y:219.70, Z:54.02 [[ 3.15442337e-05 -9.99999991e-01 -1.29330952e-04 4.47463282e+02] [ 9.82429295e-01 5.51276830e-05 -1.86635147e-01 2.19696699e+02] [ 1.86635152e-01 -1.21171253e-04 9.82429288e-01 5.40239928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3092541539999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:447.46, Y:219.72, Z:54.03 [[-1.07076068e-03 -9.99999424e-01 -7.56295661e-05 4.47464211e+02] [ 9.82396503e-01 -1.03778417e-03 -1.86804803e-01 2.19724329e+02] [ 1.86804617e-01 -2.74321458e-04 9.82397048e-01 5.40282716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.339254154 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:447.46, Y:219.75, Z:54.03 [[-2.68736669e-03 -9.99996389e-01 -2.21016978e-05 4.47464906e+02] [ 9.82394094e-01 -2.63593404e-03 -1.86801759e-01 2.19751898e+02] [ 1.86801026e-01 -5.23717400e-04 9.82397630e-01 5.40333516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3692541539999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:447.46, Y:219.99, Z:54.08 [[-4.03472873e-03 -9.99982647e-01 4.29258630e-03 4.47463943e+02] [ 9.82325441e-01 -4.76672944e-03 -1.87120301e-01 2.19992320e+02] [ 1.87137515e-01 3.46173708e-03 9.82327627e-01 5.40780950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.3992541539999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:447.47, Y:219.76, Z:54.03 [[-6.25979457e-03 -9.99973490e-01 -3.71949021e-03 4.47470136e+02] [ 9.82338494e-01 -5.45371435e-03 -1.87032993e-01 2.19763426e+02] [ 1.87007750e-01 -4.82458653e-03 9.82346591e-01 5.40339352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4292541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:447.47, Y:219.79, Z:54.04 [[-8.10287374e-03 -9.99967167e-01 -9.64479675e-05 4.47469690e+02] [ 9.82347763e-01 -7.94207500e-03 -1.86895150e-01 2.19790823e+02] [ 1.86888247e-01 -1.60913325e-03 9.82379862e-01 5.40404497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.459254154 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:447.47, Y:219.82, Z:54.05 [[-1.03734606e-02 -9.99946193e-01 -4.30989490e-05 4.47470755e+02] [ 9.82391797e-01 -1.01833102e-02 -1.86554705e-01 2.19818527e+02] [ 1.86544228e-01 -1.97755794e-03 9.82444574e-01 5.40459662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.4892541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:447.47, Y:219.82, Z:54.05 [[-1.20540754e-02 -9.99927347e-01 3.79242518e-06 4.47472020e+02] [ 9.82405141e-01 -1.18435530e-02 -1.86386342e-01 2.19823609e+02] [ 1.86372845e-01 -2.24298933e-03 9.82476530e-01 5.40470749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5192541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:447.48, Y:219.85, Z:54.05 [[-1.66382516e-02 -9.99861573e-01 -6.45232359e-05 4.47475155e+02] [ 9.82382695e-01 -1.63353797e-02 -1.86164972e-01 2.19851013e+02] [ 1.86138148e-01 -3.16084616e-03 9.82518498e-01 5.40516346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.5492541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.48, Y:219.88, Z:54.06 [[-1.93425523e-02 -9.99812915e-01 -1.05354609e-05 4.47476894e+02] [ 9.82278628e-01 -1.90013662e-02 -1.86460841e-01 2.19877894e+02] [ 1.86425756e-01 -3.61697732e-03 9.82462394e-01 5.40565314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.579254154 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.48, Y:219.89, Z:54.06 [[-2.17791756e-02 -9.99762805e-01 3.22842206e-05 4.47478747e+02] [ 9.82227625e-01 -2.14032047e-02 -1.86469290e-01 2.19886735e+02] [ 1.86425751e-01 -4.02943695e-03 9.82460790e-01 5.40577021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6092541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:447.48, Y:219.91, Z:54.06 [[-2.65504984e-02 -9.99647473e-01 -3.74360190e-05 4.47483652e+02] [ 9.82008993e-01 -2.60750189e-02 -1.87025217e-01 2.19913799e+02] [ 1.86958309e-01 -5.00237523e-03 9.82355112e-01 5.40610500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6392541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.49, Y:219.94, Z:54.07 [[-3.00276629e-02 -9.99549068e-01 -4.43777322e-09 4.47485230e+02] [ 9.82007008e-01 -2.95006773e-02 -1.86525996e-01 2.19940482e+02] [ 1.86441885e-01 -5.60094407e-03 9.82450026e-01 5.40663339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.6692541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:447.49, Y:219.95, Z:54.07 [[-3.17741941e-02 -9.99495072e-01 4.66063576e-05 4.47487183e+02] [ 9.81916120e-01 -3.12240618e-02 -1.86723839e-01 2.19945263e+02] [ 1.86631013e-01 -5.88723599e-03 9.82412442e-01 5.40669612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.699254154 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:447.49, Y:219.97, Z:54.07 [[-3.36927699e-02 -9.99432237e-01 -2.26452125e-05 4.47489008e+02] [ 9.81761014e-01 -3.30927973e-02 -1.87216926e-01 2.19972805e+02] [ 1.87109882e-01 -6.33008900e-03 9.82318595e-01 5.40716786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7292541539999 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:447.49, Y:219.98, Z:54.07 [[-3.55954497e-02 -9.99366281e-01 2.11307566e-05 4.47491948e+02] [ 9.81655432e-01 -3.49685873e-02 -1.87429482e-01 2.19977826e+02] [ 1.87311444e-01 -6.65089359e-03 9.82278061e-01 5.40728923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7592541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.49, Y:220.01, Z:54.08 [[-3.61394507e-02 -9.99346756e-01 -4.77710749e-05 4.47493723e+02] [ 9.81584873e-01 -3.54881539e-02 -1.87701169e-01 2.20005598e+02] [ 1.87576859e-01 -6.83030851e-03 9.82226180e-01 5.40771742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.7892541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.50, Y:220.01, Z:54.08 [[-3.66280605e-02 -9.99328967e-01 -1.42699043e-06 4.47495230e+02] [ 9.81606935e-01 -3.59782333e-02 -1.87492377e-01 2.20011126e+02] [ 1.87366512e-01 -6.86888287e-03 9.82266058e-01 5.40787745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.819254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.50, Y:220.04, Z:54.08 [[-3.84316458e-02 -9.99261229e-01 -7.03870416e-05 4.47499090e+02] [ 9.81573604e-01 -3.77381840e-02 -1.87320819e-01 2.20038889e+02] [ 1.87179776e-01 -7.26813744e-03 9.82298786e-01 5.40834918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8492541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.50, Y:220.07, Z:54.09 [[-3.88363399e-02 -9.99245585e-01 -1.62366688e-05 4.47500883e+02] [ 9.81415639e-01 -3.81403114e-02 -1.88065575e-01 2.20066543e+02] [ 1.87923076e-01 -7.31971353e-03 9.82156474e-01 5.40874663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.8792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.50, Y:220.07, Z:54.09 [[-3.92039208e-02 -9.99231230e-01 3.03462832e-05 4.47501745e+02] [ 9.81401697e-01 -3.85101068e-02 -1.88062970e-01 2.20066599e+02] [ 1.87919562e-01 -7.34302389e-03 9.82156972e-01 5.40880417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9092541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:447.50, Y:220.09, Z:54.09 [[-4.02966383e-02 -9.99187760e-01 -3.86071437e-05 4.47503985e+02] [ 9.81221924e-01 -3.95647928e-02 -1.88780730e-01 2.20093809e+02] [ 1.88625867e-01 -7.64511096e-03 9.82019264e-01 5.40932542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9392541539999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:447.51, Y:220.10, Z:54.09 [[-3.95124527e-02 -9.99219078e-01 6.66580437e-06 4.47505601e+02] [ 9.81180946e-01 -3.88004267e-02 -1.89151996e-01 2.20101304e+02] [ 1.89004542e-01 -7.46731895e-03 9.81947821e-01 5.40943053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9692541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.51, Y:220.13, Z:54.10 [[-3.96867697e-02 -9.99212168e-01 -6.22082140e-05 4.47507039e+02] [ 9.81154540e-01 -3.89577731e-02 -1.89256601e-01 2.20128745e+02] [ 1.89105075e-01 -7.57201900e-03 9.81927663e-01 5.40984540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 658.9992541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.51, Y:220.15, Z:54.10 [[-4.02294123e-02 -9.99190470e-01 -8.31305774e-06 4.47508716e+02] [ 9.81132215e-01 -3.95007761e-02 -1.89259783e-01 2.20154676e+02] [ 1.89106243e-01 -7.62196603e-03 9.81927052e-01 5.41041364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0292541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.51, Y:220.15, Z:54.10 [[-3.98023889e-02 -9.99207570e-01 3.24434431e-05 4.47509388e+02] [ 9.81065232e-01 -3.90858669e-02 -1.89692659e-01 2.20153934e+02] [ 1.89543609e-01 -7.51839186e-03 9.81843518e-01 5.41041360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.0592541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.51, Y:220.18, Z:54.11 [[-3.90649943e-02 -9.99236671e-01 -3.71570471e-05 4.47511188e+02] [ 9.80892939e-01 -3.83407566e-02 -1.90732875e-01 2.20181048e+02] [ 1.90585858e-01 -7.48742574e-03 9.81641976e-01 5.41080490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.089254154 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:447.51, Y:220.21, Z:54.11 [[-3.98220812e-02 -9.99206786e-01 2.07440431e-06 4.47511193e+02] [ 9.80910440e-01 -3.90932997e-02 -1.90489954e-01 2.20207968e+02] [ 1.90338936e-01 -7.58367162e-03 9.81689145e-01 5.41138780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1192541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.51, Y:220.20, Z:54.11 [[-3.91769681e-02 -9.99232287e-01 4.58169493e-05 4.47511881e+02] [ 9.80922965e-01 -3.84678505e-02 -1.90552780e-01 2.20202819e+02] [ 1.90408252e-01 -7.42033728e-03 9.81676951e-01 5.41128620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1492541539999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:447.51, Y:220.23, Z:54.12 [[-3.91195276e-02 -9.99234538e-01 -2.28142696e-05 4.47512409e+02] [ 9.81018771e-01 -3.84020498e-02 -1.90072234e-01 2.20230356e+02] [ 1.89925865e-01 -7.45791722e-03 9.81770108e-01 5.41176881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.1792541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:447.51, Y:220.23, Z:54.12 [[-3.69000970e-02 -9.99318959e-01 2.15619563e-05 4.47513000e+02] [ 9.81301203e-01 -3.62388657e-02 -1.89036222e-01 2.20233339e+02] [ 1.88908263e-01 -6.95429617e-03 9.81970115e-01 5.41186819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.209254154 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:447.51, Y:220.26, Z:54.12 [[-3.56007369e-02 -9.99366092e-01 -4.70839390e-05 4.47512840e+02] [ 9.81605648e-01 -3.49592080e-02 -1.87691786e-01 2.20260494e+02] [ 1.87571161e-01 -6.72818375e-03 9.82227973e-01 5.41237285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2392541539999 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:447.51, Y:220.26, Z:54.12 [[-3.30395342e-02 -9.99454046e-01 -2.14963134e-06 4.47512612e+02] [ 9.81878238e-01 -3.24581189e-02 -1.86712606e-01 2.20263694e+02] [ 1.86610599e-01 -6.17100819e-03 9.82414578e-01 5.41248760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2692541539999 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:447.51, Y:220.29, Z:54.13 [[-2.78039548e-02 -9.99613393e-01 -7.11447518e-05 4.47511688e+02] [ 9.82483002e-01 -2.73143581e-02 -1.84339567e-01 2.20291057e+02] [ 1.84266357e-01 -5.19526751e-03 9.82862615e-01 5.41307538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.2992541539999 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:447.51, Y:220.32, Z:54.14 [[-2.44075533e-02 -9.99702091e-01 -2.04954076e-05 4.47511539e+02] [ 9.82727972e-01 -2.39893712e-02 -1.83494532e-01 2.20317533e+02] [ 1.83439376e-01 -4.49879397e-03 9.83020730e-01 5.41350726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.329254154 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:447.51, Y:220.32, Z:54.14 [[-2.10174285e-02 -9.99779109e-01 1.32541694e-05 4.47511215e+02] [ 9.82931551e-01 -2.06656814e-02 -1.82807266e-01 2.20320982e+02] [ 1.82767160e-01 -3.82911070e-03 9.83148770e-01 5.41360623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3592541539999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:447.51, Y:220.35, Z:54.14 [[-1.56345067e-02 -9.99877772e-01 -5.66128411e-05 4.47511489e+02] [ 9.83012845e-01 -1.53604443e-02 -1.82892876e-01 2.20348616e+02] [ 1.82869652e-01 -2.91509105e-03 9.83132846e-01 5.41409343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.3892541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:447.52, Y:220.38, Z:54.14 [[-1.27958461e-02 -9.99843416e-01 -1.22233116e-02 4.47517899e+02] [ 9.83474747e-01 -1.03766803e-02 -1.80747741e-01 2.20376110e+02] [ 1.80592602e-01 -1.43341385e-02 9.83453530e-01 5.41414635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4192541539999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:447.51, Y:220.32, Z:54.14 [[-1.01982524e-02 -9.99911568e-01 8.53534492e-03 4.47507943e+02] [ 9.83639199e-01 -1.15668910e-02 -1.79778011e-01 2.20323476e+02] [ 1.79860840e-01 6.56227831e-03 9.83670176e-01 5.41398868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.449254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.51, Y:220.35, Z:54.14 [[-5.87885044e-03 -9.99980487e-01 -2.11309360e-03 4.47514013e+02] [ 9.83566198e-01 -5.40100015e-03 -1.80467072e-01 2.20350081e+02] [ 1.80452138e-01 -3.13930636e-03 9.83578757e-01 5.41412376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.4792541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:447.52, Y:220.37, Z:54.15 [[-8.05709224e-03 -9.99855279e-01 -1.49834677e-02 4.47515901e+02] [ 9.82815850e-01 -5.15468302e-03 -1.84516761e-01 2.20371898e+02] [ 1.84412822e-01 -1.62126581e-02 9.82715147e-01 5.41459782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5092541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:447.51, Y:220.40, Z:54.16 [[-3.96236199e-03 -9.99787392e-01 2.02353660e-02 4.47505898e+02] [ 9.83541894e-01 -7.55169012e-03 -1.80522337e-01 2.20404126e+02] [ 1.80636767e-01 1.91870354e-02 9.83362708e-01 5.41575724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5392541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:447.52, Y:220.43, Z:54.16 [[-2.66767562e-03 -9.99973453e-01 6.78055353e-03 4.47515360e+02] [ 9.83219143e-01 -3.85970077e-03 -1.82387554e-01 2.20430581e+02] [ 1.82408883e-01 6.18021920e-03 9.83203338e-01 5.41577213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.569254154 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:447.52, Y:220.46, Z:54.16 [[-3.26121989e-03 -9.99973879e-01 -6.45024803e-03 4.47523307e+02] [ 9.83603394e-01 -2.04460432e-03 -1.80333535e-01 2.20458562e+02] [ 1.80315636e-01 -6.93259316e-03 9.83584369e-01 5.41581709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.5992541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.52, Y:220.46, Z:54.16 [[-2.99598782e-03 -9.99995512e-01 1.26180683e-05 4.47521946e+02] [ 9.83628682e-01 -2.94922635e-03 -1.80183015e-01 2.20457601e+02] [ 1.80182243e-01 -5.27414623e-04 9.83633103e-01 5.41600367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6292541539999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:447.53, Y:220.49, Z:54.17 [[-3.95044027e-03 -9.99992196e-01 -5.48271471e-05 4.47525914e+02] [ 9.83700232e-01 -3.87622274e-03 -1.79774381e-01 2.20485516e+02] [ 1.79772766e-01 -7.64121432e-04 9.83707868e-01 5.41651736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6592541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.53, Y:220.51, Z:54.17 [[-4.88842341e-03 -9.99988052e-01 -4.09950322e-06 4.47528085e+02] [ 9.83712102e-01 -4.80812209e-03 -1.79686901e-01 2.20512245e+02] [ 1.79684734e-01 -8.82418384e-04 9.83723852e-01 5.41692624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.6892541539999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:447.53, Y:220.51, Z:54.17 [[-6.04409708e-03 -9.99981734e-01 2.72336578e-05 4.47530136e+02] [ 9.83685573e-01 -5.95049634e-03 -1.79797899e-01 2.20513380e+02] [ 1.79794777e-01 -1.05992660e-03 9.83703571e-01 5.41697413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7192541539999 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:447.54, Y:220.54, Z:54.17 [[-9.72653460e-03 -9.99952695e-01 -4.04092074e-05 4.47535844e+02] [ 9.83664044e-01 -9.56083067e-03 -1.79759951e-01 2.20541303e+02] [ 1.79751062e-01 -1.78819047e-03 9.83710505e-01 5.41737682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7492541539999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:447.54, Y:220.55, Z:54.17 [[-1.19925134e-02 -9.99928087e-01 4.99405053e-06 4.47538700e+02] [ 9.83811980e-01 -1.18001200e-02 -1.78814833e-01 2.20545762e+02] [ 1.78802033e-01 -2.13952608e-03 9.83882745e-01 5.41740780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.7792541539999 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:447.55, Y:220.57, Z:54.18 [[-1.84698244e-02 -9.99829416e-01 -6.30707500e-05 4.47545011e+02] [ 9.83805208e-01 -1.81625610e-02 -1.78318353e-01 2.20572694e+02] [ 1.78286789e-01 -3.35555800e-03 9.83972846e-01 5.41776846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8092541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:447.55, Y:220.60, Z:54.18 [[-2.26453617e-02 -9.99743561e-01 -1.21420073e-05 4.47547541e+02] [ 9.83821906e-01 -2.22825587e-02 -1.77758106e-01 2.20599900e+02] [ 1.77712251e-01 -4.03734217e-03 9.84074212e-01 5.41827371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.839254154 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.55, Y:220.61, Z:54.18 [[-2.55078922e-02 -9.99674620e-01 3.26498198e-05 4.47550510e+02] [ 9.83742286e-01 -2.51071674e-02 -1.77822231e-01 2.20606565e+02] [ 1.77765191e-01 -4.50375130e-03 9.84062627e-01 5.41829792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8692541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:447.55, Y:220.63, Z:54.19 [[-2.94470872e-02 -9.99566340e-01 -3.61019951e-05 4.47552891e+02] [ 9.83633155e-01 -2.89712747e-02 -1.77838359e-01 2.20634214e+02] [ 1.77760192e-01 -5.27233279e-03 9.84059712e-01 5.41882108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.8992541539999 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:447.56, Y:220.64, Z:54.19 [[-3.52062043e-02 -9.99380069e-01 1.41500505e-05 4.47558327e+02] [ 9.83296179e-01 -3.46421303e-02 -1.78685608e-01 2.20643511e+02] [ 1.78575325e-01 -6.27692832e-03 9.83906222e-01 5.41881938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9292541539999 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:447.56, Y:220.67, Z:54.19 [[-3.54800045e-02 -9.99370385e-01 -5.47642619e-05 4.47558295e+02] [ 9.83287092e-01 -3.48992179e-02 -1.78685586e-01 2.20671491e+02] [ 1.78571172e-01 -6.39361439e-03 9.83906224e-01 5.41931140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.959254154 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:447.56, Y:220.70, Z:54.20 [[-3.84031907e-02 -9.99262325e-01 -5.00983402e-06 4.47561063e+02] [ 9.83052145e-01 -3.77793091e-02 -1.79391204e-01 2.20697661e+02] [ 1.79258682e-01 -6.89411954e-03 9.83777818e-01 5.41974103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 659.9892541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:447.56, Y:220.70, Z:54.20 [[-4.08443092e-02 -9.99165522e-01 3.91735657e-05 4.47563070e+02] [ 9.83166329e-01 -4.01972754e-02 -1.78236215e-01 2.20702168e+02] [ 1.78089055e-01 -7.24142093e-03 9.83987729e-01 5.41985599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0192541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:447.57, Y:220.73, Z:54.20 [[-4.31874974e-02 -9.99066984e-01 -3.01901105e-05 4.47565012e+02] [ 9.83126987e-01 -4.24930694e-02 -1.77920394e-01 2.20729790e+02] [ 1.77753108e-01 -7.71361724e-03 9.84044883e-01 5.42032113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.0492541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.57, Y:220.73, Z:54.20 [[-4.58565656e-02 -9.98948034e-01 1.92881675e-05 4.47567434e+02] [ 9.83134571e-01 -4.51340728e-02 -1.77226779e-01 2.20733603e+02] [ 1.77041213e-01 -8.10804855e-03 9.84170040e-01 5.42040099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.079254154 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:447.57, Y:220.76, Z:54.21 [[-4.68506648e-02 -9.98901903e-01 -5.06218932e-05 4.47568715e+02] [ 9.83006061e-01 -4.60961104e-02 -1.77691397e-01 2.20761409e+02] [ 1.77493941e-01 -8.37472168e-03 9.84086259e-01 5.42081171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1092541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.57, Y:220.79, Z:54.21 [[-4.82187640e-02 -9.98836799e-01 7.24250662e-07 4.47569351e+02] [ 9.82921135e-01 -4.74505656e-02 -1.77804627e-01 2.20788001e+02] [ 1.77597839e-01 -8.57280748e-03 9.84065808e-01 5.42124527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1392541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.57, Y:220.79, Z:54.21 [[-5.02465230e-02 -9.98736844e-01 5.20172702e-05 4.47570352e+02] [ 9.82884224e-01 -4.94582192e-02 -1.77461228e-01 2.20792914e+02] [ 1.77239639e-01 -8.86568271e-03 9.84127791e-01 5.42135819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.1692541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.57, Y:220.82, Z:54.22 [[-5.17184751e-02 -9.98661704e-01 -1.77758829e-05 4.47570862e+02] [ 9.82679449e-01 -5.08876178e-02 -1.78189651e-01 2.20820533e+02] [ 1.77950276e-01 -9.23316502e-03 9.83996163e-01 5.42178235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.199254154 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:447.57, Y:220.82, Z:54.22 [[-5.20056598e-02 -9.98646790e-01 2.89874677e-05 4.47571530e+02] [ 9.82496818e-01 -5.11698308e-02 -1.79113515e-01 2.20823938e+02] [ 1.78872620e-01 -9.28643641e-03 9.83828414e-01 5.42172273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2292541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.57, Y:220.85, Z:54.22 [[-5.37850307e-02 -9.98552537e-01 -4.04622948e-05 4.47571440e+02] [ 9.82322714e-01 -5.29035677e-02 -1.79564187e-01 2.20851430e+02] [ 1.79302134e-01 -9.69761233e-03 9.83746259e-01 5.42224661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2592541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.57, Y:220.85, Z:54.22 [[-5.47271056e-02 -9.98501349e-01 4.76567070e-06 4.47571579e+02] [ 9.81906113e-01 -5.38183998e-02 -1.81559812e-01 2.20853854e+02] [ 1.81287973e-01 -9.93156354e-03 9.83379904e-01 5.42216611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.2892541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.57, Y:220.88, Z:54.23 [[-5.60713476e-02 -9.98426762e-01 -6.40244085e-05 4.47571075e+02] [ 9.81863142e-01 -5.51295074e-02 -1.81398754e-01 2.20879974e+02] [ 1.81109841e-01 -1.02341358e-02 9.83409624e-01 5.42274660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.319254154 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:447.57, Y:220.91, Z:54.23 [[-5.68361471e-02 -9.98383520e-01 -1.11893131e-05 4.47570717e+02] [ 9.81784440e-01 -5.58891567e-02 -1.81592167e-01 2.20906245e+02] [ 1.81298002e-01 -1.03319846e-02 9.83373929e-01 5.42319735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3492541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.57, Y:220.91, Z:54.23 [[-5.61989615e-02 -9.98419589e-01 3.86541977e-05 4.47570363e+02] [ 9.81736924e-01 -5.52669767e-02 -1.82038932e-01 2.20908412e+02] [ 1.81753372e-01 -1.01924507e-02 9.83291323e-01 5.42327532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.3792541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.57, Y:220.94, Z:54.24 [[-5.57119572e-02 -9.98446882e-01 -3.00024833e-05 4.47570144e+02] [ 9.81713443e-01 -5.47727760e-02 -1.82314724e-01 2.20935407e+02] [ 1.82029924e-01 -1.01865639e-02 9.83240225e-01 5.42376527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4092541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.57, Y:220.94, Z:54.24 [[-5.39286555e-02 -9.98544791e-01 1.86819225e-05 4.47569325e+02] [ 9.81737434e-01 -5.30243547e-02 -1.82702020e-01 2.20941582e+02] [ 1.82437141e-01 -9.83453358e-03 9.83168333e-01 5.42388961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4392541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:447.57, Y:220.97, Z:54.24 [[-4.96635058e-02 -9.98766006e-01 -4.97888309e-05 4.47567228e+02] [ 9.82000646e-01 -4.88207549e-02 -1.82458940e-01 2.20966846e+02] [ 1.82231356e-01 -9.11044328e-03 9.83213473e-01 5.42439286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4692541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.57, Y:220.96, Z:54.24 [[-4.61197753e-02 -9.98935917e-01 1.22669237e-06 4.47565776e+02] [ 9.82188288e-01 -4.53467795e-02 -1.82345378e-01 2.20964618e+02] [ 1.82151403e-01 -8.40852300e-03 9.83234541e-01 5.42440097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.4992541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:447.56, Y:220.99, Z:54.25 [[-4.24847429e-02 -9.99097113e-01 -6.71892903e-05 4.47564357e+02] [ 9.82405794e-01 -4.17627342e-02 -1.82029477e-01 2.20990977e+02] [ 1.81862319e-01 -7.79948270e-03 9.83293072e-01 5.42488928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5292541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:447.56, Y:221.02, Z:54.25 [[-3.41855125e-02 -9.99415504e-01 -1.39453492e-05 4.47561780e+02] [ 9.82807398e-01 -3.36148906e-02 -1.81547951e-01 2.21016555e+02] [ 1.81441368e-01 -6.22001535e-03 9.83382093e-01 5.42537142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.5592541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:447.56, Y:221.02, Z:54.25 [[-2.91753441e-02 -9.99574308e-01 3.61770914e-05 4.47560481e+02] [ 9.82958107e-01 -2.86969259e-02 -1.81576008e-01 2.21019156e+02] [ 1.81499751e-01 -5.26198195e-03 9.83376913e-01 5.42544266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.589254154 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:447.56, Y:221.04, Z:54.26 [[-2.49554489e-02 -9.99688564e-01 -3.18287946e-05 4.47558877e+02] [ 9.83031721e-01 -2.45338525e-02 -1.81787584e-01 2.21044502e+02] [ 1.81730188e-01 -4.56787948e-03 9.83337823e-01 5.42592541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6192541539999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:447.56, Y:221.04, Z:54.26 [[-1.59223591e-02 -9.99873231e-01 1.73108485e-05 4.47555368e+02] [ 9.83075460e-01 -1.56580251e-02 -1.82530730e-01 2.21038942e+02] [ 1.82507861e-01 -2.88930194e-03 9.83200149e-01 5.42592876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6492541539999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:447.55, Y:221.07, Z:54.26 [[-1.23049201e-02 -9.99924290e-01 -5.00990562e-05 4.47553818e+02] [ 9.83067151e-01 -1.20883175e-02 -1.82846518e-01 2.21065486e+02] [ 1.82832069e-01 -2.29916253e-03 9.83141469e-01 5.42642119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.6792541539999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:447.55, Y:221.09, Z:54.27 [[-9.39295037e-03 -9.99955885e-01 9.98209244e-07 4.47552223e+02] [ 9.83079861e-01 -9.23461034e-03 -1.82944552e-01 2.21092172e+02] [ 1.82936491e-01 -1.71740778e-03 9.83123233e-01 5.42691044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.709254154 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:447.55, Y:221.09, Z:54.27 [[-4.05192708e-03 -9.99991790e-01 4.57836403e-05 4.47550682e+02] [ 9.83055445e-01 -3.99169229e-03 -1.83264993e-01 2.21090795e+02] [ 1.83263671e-01 -6.97568531e-04 9.83063548e-01 5.42688708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7392541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:447.55, Y:221.12, Z:54.27 [[-2.36162613e-03 -9.99997211e-01 -2.07568555e-05 4.47550451e+02] [ 9.83169287e-01 -2.31809283e-03 -1.82682183e-01 2.21116829e+02] [ 1.82681626e-01 -4.51834519e-04 9.83172019e-01 5.42728013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7692541539999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:447.55, Y:221.15, Z:54.28 [[-1.17018429e-03 -9.99992588e-01 3.66798325e-03 4.47548381e+02] [ 9.83099092e-01 -1.82190059e-03 -1.83065168e-01 2.21146442e+02] [ 1.83070494e-01 3.39177102e-03 9.83093938e-01 5.42800445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.7992541539999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:447.55, Y:221.12, Z:54.27 [[ 2.30118515e-04 -9.99994319e-01 -3.36276727e-03 4.47551646e+02] [ 9.83156781e-01 8.40834249e-04 -1.82762244e-01 2.21121339e+02] [ 1.82764033e-01 -3.26407046e-03 9.83151389e-01 5.42734352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.829254154 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:447.55, Y:221.15, Z:54.28 [[ 7.33907826e-04 -9.99999729e-01 -5.77399117e-05 4.47549901e+02] [ 9.83121161e-01 7.32084275e-04 -1.82954219e-01 2.21147984e+02] [ 1.82954211e-01 7.75062044e-05 9.83121432e-01 5.42792776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8592541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:447.55, Y:221.18, Z:54.28 [[ 4.23094637e-04 -9.99999910e-01 -1.01050612e-05 4.47550114e+02] [ 9.83144233e-01 4.17810612e-04 -1.82831188e-01 2.21175833e+02] [ 1.82831175e-01 6.74201628e-05 9.83144321e-01 5.42840730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.8892541539999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:447.55, Y:221.18, Z:54.28 [[ 7.05845567e-04 -9.99999750e-01 3.69563345e-05 4.47550737e+02] [ 9.83152352e-01 6.87198777e-04 -1.82786706e-01 2.21178752e+02] [ 1.82786635e-01 1.65352894e-04 9.83152592e-01 5.42847011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9192541539999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:447.55, Y:221.21, Z:54.29 [[ 1.72597558e-05 -9.99999999e-01 -2.94999543e-05 4.47552924e+02] [ 9.83290159e-01 2.23416759e-05 -1.82045220e-01 2.21206599e+02] [ 1.82045221e-01 -2.58649583e-05 9.83290159e-01 5.42891301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.949254154 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:447.55, Y:221.21, Z:54.29 [[ 1.47654603e-04 -9.99999989e-01 1.91898891e-05 4.47554183e+02] [ 9.83335865e-01 1.41705385e-04 -1.81798122e-01 2.21206296e+02] [ 1.81798118e-01 4.57134362e-05 9.83335875e-01 5.42888538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 660.9792541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:447.56, Y:221.23, Z:54.29 [[-8.79020359e-04 -9.99999613e-01 -4.76005284e-05 4.47555580e+02] [ 9.83453854e-01 -8.55853130e-04 -1.81156795e-01 2.21233941e+02] [ 1.81156684e-01 -2.06053434e-04 9.83454225e-01 5.42938260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0092541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:447.56, Y:221.24, Z:54.30 [[-1.97038192e-03 -9.99998059e-01 9.19572664e-07 4.47556715e+02] [ 9.83603997e-01 -1.93824512e-03 -1.80331418e-01 2.21238036e+02] [ 1.80331069e-01 -3.54417268e-04 9.83605907e-01 5.42965847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0392541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.56, Y:221.27, Z:54.30 [[-4.55777233e-03 -9.99989611e-01 -6.62688441e-05 4.47560322e+02] [ 9.83629540e-01 -4.47126781e-03 -1.80146983e-01 2.21265598e+02] [ 1.80144815e-01 -8.86252926e-04 9.83639700e-01 5.43001755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.069254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.56, Y:221.29, Z:54.31 [[-6.66981123e-03 -9.99977756e-01 -1.42978923e-05 4.47562383e+02] [ 9.83603298e-01 -6.55801733e-03 -1.80226371e-01 2.21291892e+02] [ 1.80222269e-01 -1.21613933e-03 9.83625160e-01 5.43059249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.0992541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.56, Y:221.30, Z:54.31 [[-8.16166690e-03 -9.99966693e-01 2.83445485e-05 4.47564809e+02] [ 9.83539667e-01 -8.03270727e-03 -1.80513709e-01 2.21296100e+02] [ 1.80507925e-01 -1.44541478e-03 9.83572468e-01 5.43067502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1292541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.57, Y:221.32, Z:54.31 [[-1.03661840e-02 -9.99946269e-01 -3.90713636e-05 4.47567225e+02] [ 9.83412277e-01 -1.01877042e-02 -1.81098054e-01 2.21323354e+02] [ 1.81087925e-01 -1.91571900e-03 9.83465044e-01 5.43112943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1592541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.57, Y:221.33, Z:54.31 [[-1.36096286e-02 -9.99907385e-01 7.86096940e-06 4.47571640e+02] [ 9.83193497e-01 -1.33835692e-02 -1.82075333e-01 2.21329102e+02] [ 1.82058575e-01 -2.47024881e-03 9.83284584e-01 5.43121540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.1892541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.57, Y:221.36, Z:54.32 [[-1.56834337e-02 -9.99877006e-01 -5.93948182e-05 4.47573869e+02] [ 9.83056021e-01 -1.54087402e-02 -1.82656594e-01 2.21356453e+02] [ 1.82633213e-01 -2.92307101e-03 9.83176772e-01 5.43170241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2192541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.58, Y:221.38, Z:54.32 [[-1.95294140e-02 -9.99809283e-01 -6.72773446e-06 4.47578000e+02] [ 9.82989351e-01 -1.91996388e-02 -1.82656262e-01 2.21384136e+02] [ 1.82621297e-01 -3.57378305e-03 9.83176836e-01 5.43215938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2492541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.58, Y:221.39, Z:54.32 [[-2.06843689e-02 -9.99786055e-01 3.95978587e-05 4.47580102e+02] [ 9.83020963e-01 -2.03447421e-02 -1.82361939e-01 2.21388699e+02] [ 1.82323730e-01 -3.73311610e-03 9.83231469e-01 5.43222790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.2792541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.58, Y:221.42, Z:54.32 [[-2.19401348e-02 -9.99759286e-01 -2.79506130e-05 4.47582385e+02] [ 9.82952799e-01 -2.15662047e-02 -1.82588865e-01 2.21415189e+02] [ 1.82544310e-01 -4.03349844e-03 9.83189354e-01 5.43246933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3092541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.58, Y:221.41, Z:54.33 [[-2.34273766e-02 -9.99725541e-01 1.48997599e-05 4.47583894e+02] [ 9.82969250e-01 -2.30374301e-02 -1.82320407e-01 2.21411821e+02] [ 1.82270710e-01 -4.25664282e-03 9.83239172e-01 5.43264743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.339254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.59, Y:221.44, Z:54.33 [[-2.62772188e-02 -9.99654693e-01 -5.25837267e-05 4.47587327e+02] [ 9.83036520e-01 -2.58308371e-02 -1.81581849e-01 2.21439519e+02] [ 1.81517789e-01 -4.82315769e-03 9.83375833e-01 5.43307860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3692541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.59, Y:221.47, Z:54.34 [[-2.75872529e-02 -9.99619399e-01 1.72447393e-06 4.47588837e+02] [ 9.83014770e-01 -2.71293155e-02 -1.81510227e-01 2.21465759e+02] [ 1.81441190e-01 -5.00567333e-03 9.83389057e-01 5.43351159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.3992541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.59, Y:221.47, Z:54.34 [[-2.80533342e-02 -9.99606427e-01 4.56536319e-05 4.47590046e+02] [ 9.83043994e-01 -2.75967992e-02 -1.81281335e-01 2.21469019e+02] [ 1.81211248e-01 -5.04066635e-03 9.83431276e-01 5.43352008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4292541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.59, Y:221.50, Z:54.34 [[-2.97329240e-02 -9.99557879e-01 -2.23756935e-05 4.47591023e+02] [ 9.83110343e-01 -2.92396301e-02 -1.80662941e-01 2.21496232e+02] [ 1.80582411e-01 -5.39363526e-03 9.83545068e-01 5.43402270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.459254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.59, Y:221.50, Z:54.34 [[-3.16195372e-02 -9.99499977e-01 2.62520913e-05 4.47593671e+02] [ 9.83015213e-01 -3.11027864e-02 -1.80869313e-01 2.21501802e+02] [ 1.80779691e-01 -5.69319777e-03 9.83507138e-01 5.43398603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.4892541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.60, Y:221.53, Z:54.34 [[-3.33905806e-02 -9.99442378e-01 -4.22260127e-05 4.47595157e+02] [ 9.82897673e-01 -3.28301793e-02 -1.81202494e-01 2.21528344e+02] [ 1.81100065e-01 -6.09196033e-03 9.83445807e-01 5.43443750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5192541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.60, Y:221.53, Z:54.35 [[-3.53807876e-02 -9.99373904e-01 1.06380290e-06 4.47596059e+02] [ 9.82916153e-01 -3.47983270e-02 -1.80734371e-01 2.21532131e+02] [ 1.80621251e-01 -6.39347878e-03 9.83531945e-01 5.43454754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.5492541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.60, Y:221.56, Z:54.35 [[-4.07910362e-02 -9.99167697e-01 -6.75392999e-05 4.47597788e+02] [ 9.82739141e-01 -4.01081326e-02 -1.80596563e-01 2.21558517e+02] [ 1.80443543e-01 -7.43309445e-03 9.83557257e-01 5.43510046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.579254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.60, Y:221.59, Z:54.36 [[-4.36514717e-02 -9.99046820e-01 -1.98388340e-05 4.47598274e+02] [ 9.82589754e-01 -4.29288216e-02 -1.80760867e-01 2.21585781e+02] [ 1.80587718e-01 -7.90997132e-03 9.83527076e-01 5.43557162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6092541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.60, Y:221.59, Z:54.36 [[-4.56469194e-02 -9.98957636e-01 2.71373555e-05 4.47598606e+02] [ 9.82409457e-01 -4.48956819e-02 -1.81262344e-01 2.21590860e+02] [ 1.81074621e-01 -8.24740761e-03 9.83434778e-01 5.43565174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6392541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:447.60, Y:221.62, Z:54.36 [[-4.78078771e-02 -9.98856549e-01 -4.15650277e-05 4.47599098e+02] [ 9.82075867e-01 -4.69971143e-02 -1.82532911e-01 2.21618323e+02] [ 1.82322240e-01 -8.76733096e-03 9.83199743e-01 5.43605569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.6692541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.60, Y:221.62, Z:54.36 [[-5.23675542e-02 -9.98609495e-01 -6.05936194e-03 4.47601996e+02] [ 9.81065046e-01 -5.03126578e-02 -1.87029444e-01 2.21615227e+02] [ 1.86464516e-01 -1.57389027e-02 9.82335621e-01 5.43626406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.699254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.60, Y:221.64, Z:54.37 [[-5.43463675e-02 -9.98520070e-01 -2.03504403e-03 4.47600253e+02] [ 9.80799100e-01 -5.29993644e-02 -1.87681095e-01 2.21643659e+02] [ 1.87295484e-01 -1.21957551e-02 9.82227909e-01 5.43693382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7292541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.60, Y:221.67, Z:54.37 [[-5.55742549e-02 -9.98408332e-01 9.60756794e-03 4.47595033e+02] [ 9.81012773e-01 -5.63916275e-02 -1.85563799e-01 2.21670661e+02] [ 1.85810229e-01 -8.87422976e-04 9.82585249e-01 5.43722489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7592541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.60, Y:221.70, Z:54.38 [[-5.79198039e-02 -9.98321238e-01 -4.94776704e-05 4.47598088e+02] [ 9.80905927e-01 -5.69001994e-02 -1.85972928e-01 2.21698531e+02] [ 1.85657909e-01 -1.08200485e-02 9.82554867e-01 5.43763819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.7892541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.60, Y:221.70, Z:54.38 [[-5.82390101e-02 -9.98302668e-01 -6.87789392e-07 4.47597144e+02] [ 9.80985066e-01 -5.72286075e-02 -1.85454004e-01 2.21700232e+02] [ 1.85139188e-01 -1.08013323e-02 9.82652946e-01 5.43769435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.819254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.60, Y:221.73, Z:54.38 [[-5.85103768e-02 -9.98286798e-01 -7.07267368e-05 4.47597107e+02] [ 9.80970238e-01 -5.74823005e-02 -1.85453977e-01 2.21728210e+02] [ 1.85132191e-01 -1.09203629e-02 9.82652949e-01 5.43819441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8492541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.60, Y:221.76, Z:54.39 [[-5.93019489e-02 -9.98240091e-01 -1.94951135e-05 4.47596012e+02] [ 9.80952921e-01 -5.82713599e-02 -1.85299260e-01 2.21756111e+02] [ 1.84972014e-01 -1.10077311e-02 9.82682138e-01 5.43871286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.8792541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.59, Y:221.75, Z:54.39 [[-5.87647056e-02 -9.98271861e-01 2.87639535e-05 4.47593915e+02] [ 9.80975645e-01 -5.77518794e-02 -1.85341587e-01 2.21753558e+02] [ 1.85022952e-01 -1.08633270e-02 9.82674155e-01 5.43868110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9092541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:447.59, Y:221.78, Z:54.39 [[-5.86589000e-02 -9.98278083e-01 -4.11332152e-05 4.47592910e+02] [ 9.81013033e-01 -5.76367741e-02 -1.85179459e-01 2.21780969e+02] [ 1.84858225e-01 -1.09027756e-02 9.82704720e-01 5.43918449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9392541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.59, Y:221.78, Z:54.39 [[-5.74458567e-02 -9.98348623e-01 7.83460316e-06 4.47591676e+02] [ 9.81212126e-01 -5.64612553e-02 -1.84485478e-01 2.21780567e+02] [ 1.84181265e-01 -1.05902389e-02 9.82835240e-01 5.43917149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9692541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.59, Y:221.81, Z:54.40 [[-5.54797093e-02 -9.98459813e-01 -6.22990597e-05 4.47587765e+02] [ 9.81507837e-01 -5.45263188e-02 -1.83491817e-01 2.21807589e+02] [ 1.83205809e-01 -1.02412197e-02 9.83021235e-01 5.43976304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 661.9992541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.59, Y:221.84, Z:54.40 [[-5.39643678e-02 -9.98542862e-01 -8.38475776e-06 4.47585676e+02] [ 9.81536519e-01 -5.30437489e-02 -1.83772750e-01 2.21835160e+02] [ 1.83504523e-01 -9.92541020e-03 9.82968757e-01 5.44023037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0292541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.58, Y:221.84, Z:54.40 [[-5.20927695e-02 -9.98642249e-01 4.10371679e-05 4.47583405e+02] [ 9.81742712e-01 -5.12187566e-02 -1.83188118e-01 2.21843303e+02] [ 1.82941496e-01 -9.50248848e-03 9.83077877e-01 5.44044719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.0592541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.58, Y:221.87, Z:54.41 [[-4.82606428e-02 -9.98834776e-01 -2.94269972e-05 4.47579646e+02] [ 9.81955291e-01 -4.74396843e-02 -1.83066334e-01 2.21870602e+02] [ 1.82851625e-01 -8.86379495e-03 9.83100563e-01 5.44089491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.089254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.58, Y:221.87, Z:54.41 [[-4.57231626e-02 -9.98954149e-01 1.98069112e-05 4.47577418e+02] [ 9.82001551e-01 -4.49508620e-02 -1.83445832e-01 2.21869843e+02] [ 1.83254865e-01 -8.36827316e-03 9.83029820e-01 5.44091210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1192541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.58, Y:221.90, Z:54.41 [[-4.37547733e-02 -9.99042300e-01 -5.02485948e-05 4.47575247e+02] [ 9.82197851e-01 -4.30078445e-02 -1.82859801e-01 2.21895879e+02] [ 1.82682515e-01 -8.05034318e-03 9.83138999e-01 5.44136651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1492541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.57, Y:221.92, Z:54.42 [[-3.87857983e-02 -9.99247548e-01 -1.82744662e-06 4.47570104e+02] [ 9.82200975e-01 -3.81237992e-02 -1.83923408e-01 2.21923459e+02] [ 1.83784945e-01 -7.13541112e-03 9.82940578e-01 5.44191976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.1792541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.57, Y:221.92, Z:54.42 [[-3.55326878e-02 -9.99368514e-01 4.62456725e-05 4.47567441e+02] [ 9.82292926e-01 -3.49340805e-02 -1.84065798e-01 2.21924581e+02] [ 1.83951178e-01 -6.49492573e-03 9.82913923e-01 5.44193170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.209254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.57, Y:221.95, Z:54.42 [[-3.24428318e-02 -9.99473593e-01 -2.33303077e-05 4.47565306e+02] [ 9.82250930e-01 -3.18794709e-02 -1.84842664e-01 2.21951564e+02] [ 1.84744618e-01 -6.01973568e-03 9.82768126e-01 5.44233009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2392541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.56, Y:221.95, Z:54.42 [[-2.91842849e-02 -9.99574048e-01 2.05006993e-05 4.47562692e+02] [ 9.82314061e-01 -2.86841448e-02 -1.85030552e-01 2.21951921e+02] [ 1.84952326e-01 -5.37984623e-03 9.82732769e-01 5.44242167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2692541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:447.56, Y:221.98, Z:54.43 [[-2.39717825e-02 -9.99712634e-01 -4.82925491e-05 4.47557665e+02] [ 9.82575153e-01 -2.35519423e-02 -1.84367497e-01 2.21979329e+02] [ 1.84313379e-01 -4.46706860e-03 9.82857377e-01 5.44298086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.2992541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.56, Y:221.98, Z:54.43 [[-2.04558016e-02 -9.99790758e-01 9.60810784e-07 4.47555689e+02] [ 9.82576838e-01 -2.01037810e-02 -1.84766328e-01 2.21980006e+02] [ 1.84727686e-01 -3.77859927e-03 9.82782481e-01 5.44287247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.329254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:447.55, Y:222.01, Z:54.44 [[-1.89169804e-02 -9.99821056e-01 -6.75190383e-05 4.47552983e+02] [ 9.82770788e-01 -1.85819647e-02 -1.83892058e-01 2.22006764e+02] [ 1.83857897e-01 -3.54503820e-03 9.82946441e-01 5.44350216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3592541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:447.55, Y:222.03, Z:54.44 [[-1.71847632e-02 -9.99852331e-01 -1.25800967e-05 4.47551359e+02] [ 9.82686940e-01 -1.68874150e-02 -1.84502557e-01 2.22033047e+02] [ 1.84475099e-01 -3.18299505e-03 9.82832034e-01 5.44383849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.3892541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:447.55, Y:222.04, Z:54.44 [[-1.64700624e-02 -9.99864359e-01 3.18129638e-05 4.47547609e+02] [ 9.82821487e-01 -1.61951767e-02 -1.83846785e-01 2.22036272e+02] [ 1.83822363e-01 -2.99670155e-03 9.82954912e-01 5.44401703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4192541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:447.55, Y:222.06, Z:54.45 [[-1.77342314e-02 -9.99842736e-01 -3.68060086e-05 4.47546428e+02] [ 9.82842404e-01 -1.74259367e-02 -1.83622292e-01 2.22063706e+02] [ 1.83592774e-01 -3.29257473e-03 9.82996873e-01 5.44451667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.449254154 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:447.55, Y:222.06, Z:54.45 [[-1.87722356e-02 -9.99823786e-01 1.27252189e-05 4.47545530e+02] [ 9.82806933e-01 -1.84550731e-02 -1.83711576e-01 2.22064620e+02] [ 1.83679438e-01 -3.43617056e-03 9.82980191e-01 5.44453246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.4792541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:447.54, Y:222.09, Z:54.45 [[-2.40371771e-02 -9.99711064e-01 -5.61045630e-05 4.47544048e+02] [ 9.82738285e-01 -2.36187840e-02 -1.83487374e-01 2.22091614e+02] [ 1.83433033e-01 -4.46565460e-03 9.83022065e-01 5.44507067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5092541539999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:447.54, Y:222.12, Z:54.45 [[-2.74829480e-02 -9.99622272e-01 -1.03835269e-06 4.47543551e+02] [ 9.82705475e-01 -2.70176586e-02 -1.83193875e-01 2.22119459e+02] [ 1.83124649e-01 -5.03572813e-03 9.83076805e-01 5.44549962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5392541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.54, Y:222.13, Z:54.46 [[-3.41471612e-02 -9.99416814e-01 4.98707848e-05 4.47542927e+02] [ 9.82643817e-01 -3.35831803e-02 -1.82437112e-01 2.22127279e+02] [ 1.82332393e-01 -6.18070427e-03 9.83217523e-01 5.44568879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.569254154 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.54, Y:222.16, Z:54.46 [[-3.44230411e-02 -9.99407351e-01 -1.98113931e-05 4.47542892e+02] [ 9.82634948e-01 -3.38417251e-02 -1.82437105e-01 2.22155243e+02] [ 1.82328313e-01 -6.29950731e-03 9.83217526e-01 5.44618824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.5992541539999 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:447.54, Y:222.16, Z:54.46 [[-4.10783462e-02 -9.99155928e-01 2.70144482e-05 4.47542585e+02] [ 9.82233200e-01 -4.03875563e-02 -1.83266978e-01 2.22159882e+02] [ 1.83113379e-01 -7.50176989e-03 9.83063179e-01 5.44622058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6292541539999 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:447.54, Y:222.19, Z:54.47 [[-4.41655935e-02 -9.99024223e-01 -4.24631791e-05 4.47542810e+02] [ 9.81964128e-01 -4.34035667e-02 -1.84017887e-01 2.22187956e+02] [ 1.83836483e-01 -8.16895651e-03 9.82922894e-01 5.44658128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6592541539999 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:447.54, Y:222.19, Z:54.47 [[-4.65534981e-02 -9.98915798e-01 7.65158146e-06 4.47542282e+02] [ 9.81774969e-01 -4.57560793e-02 -1.84456748e-01 2.22193742e+02] [ 1.84257110e-01 -8.57959472e-03 9.82840632e-01 5.44672625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.6892541539999 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:447.54, Y:222.22, Z:54.47 [[-4.89491958e-02 -9.98801268e-01 -6.19366985e-05 4.47541899e+02] [ 9.81534119e-01 -4.80914875e-02 -1.85143142e-01 2.22221010e+02] [ 1.84918226e-01 -9.12340089e-03 9.82711562e-01 5.44711782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7192541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:447.54, Y:222.25, Z:54.48 [[-5.29944011e-02 -9.98594809e-01 -7.16224775e-06 4.47539469e+02] [ 9.81477093e-01 -5.20846591e-02 -1.84363514e-01 2.22248187e+02] [ 1.84104075e-01 -9.77726358e-03 9.82858125e-01 5.44780928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7492541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:447.54, Y:222.26, Z:54.48 [[-5.37418609e-02 -9.98554861e-01 4.25601228e-05 4.47538474e+02] [ 9.81518194e-01 -5.28327931e-02 -1.83931324e-01 2.22256376e+02] [ 1.83667766e-01 -9.84303808e-03 9.82939096e-01 5.44796601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.7792541539999 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:447.54, Y:222.28, Z:54.48 [[-5.57516746e-02 -9.98444666e-01 -2.76132580e-05 4.47537527e+02] [ 9.81409440e-01 -5.47953657e-02 -1.83937433e-01 2.22283612e+02] [ 1.83649836e-01 -1.02819198e-02 9.82937953e-01 5.44830003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8092541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:447.54, Y:222.29, Z:54.48 [[-5.65823067e-02 -9.98397938e-01 1.60267020e-05 4.47536416e+02] [ 9.81349312e-01 -5.56190621e-02 -1.84010998e-01 2.22288220e+02] [ 1.83717092e-01 -1.03960389e-02 9.82924184e-01 5.44849756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.839254154 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.54, Y:222.32, Z:54.49 [[-5.79032555e-02 -9.98322198e-01 -5.40623519e-05 4.47535505e+02] [ 9.81304241e-01 -5.69062478e-02 -1.83857735e-01 2.22315462e+02] [ 1.83546181e-01 -1.06990130e-02 9.82952863e-01 5.44896555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8692541539999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:447.53, Y:222.34, Z:54.49 [[-5.92598882e-02 -9.98242589e-01 8.06437188e-08 4.47534359e+02] [ 9.81256575e-01 -5.82515417e-02 -1.83690750e-01 2.22342492e+02] [ 1.83367935e-01 -1.08854142e-02 9.82984083e-01 5.44941846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.8992541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:447.53, Y:222.34, Z:54.49 [[-6.08353969e-02 -9.98147811e-01 4.90050584e-05 4.47531954e+02] [ 9.81229899e-01 -5.98132801e-02 -1.83331003e-01 2.22344934e+02] [ 1.82994371e-01 -1.11049291e-02 9.83051240e-01 5.44939265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9292541539999 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:447.53, Y:222.37, Z:54.50 [[-6.22954723e-02 -9.98057751e-01 -2.12939208e-05 4.47530685e+02] [ 9.81044251e-01 -6.12296231e-02 -1.83856223e-01 2.22372816e+02] [ 1.83497824e-01 -1.14743005e-02 9.82953147e-01 5.44987969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.959254154 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:447.53, Y:222.37, Z:54.50 [[-6.24380782e-02 -9.98048839e-01 2.67879899e-05 4.47529684e+02] [ 9.80914624e-01 -6.13711113e-02 -1.84499560e-01 2.22368335e+02] [ 1.84141216e-01 -1.14935212e-02 9.82832596e-01 5.44971500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 662.9892541539999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:447.53, Y:222.40, Z:54.50 [[-6.37004997e-02 -9.97969060e-01 -4.33220004e-05 4.47528174e+02] [ 9.80755757e-01 -6.25937443e-02 -1.84932873e-01 2.22395331e+02] [ 1.84554574e-01 -1.18228047e-02 9.82751154e-01 5.45025432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0192541539999 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:447.53, Y:222.39, Z:54.50 [[-6.45304117e-02 -9.97915741e-01 4.08274434e-06 4.47525429e+02] [ 9.80588504e-01 -6.34107017e-02 -1.85540478e-01 2.22394405e+02] [ 1.85154022e-01 -1.19689999e-02 9.82636622e-01 5.45023249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.0492541539999 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:447.52, Y:222.42, Z:54.51 [[-6.53263567e-02 -9.97863950e-01 -6.57317431e-05 4.47523964e+02] [ 9.80451890e-01 -6.41742031e-02 -1.85999365e-01 2.22421147e+02] [ 1.85597843e-01 -1.22151077e-02 9.82549862e-01 5.45070924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.079254154 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:447.52, Y:222.45, Z:54.51 [[-6.58621687e-02 -9.97828730e-01 -9.34405893e-06 4.47522396e+02] [ 9.80365456e-01 -6.47077526e-02 -1.86269911e-01 2.22448737e+02] [ 1.85864864e-01 -1.22773009e-02 9.82498611e-01 5.45114969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1092541539999 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:447.52, Y:222.45, Z:54.51 [[-6.57399274e-02 -9.97836791e-01 3.65974311e-05 4.47519417e+02] [ 9.80060636e-01 -6.45756829e-02 -1.87912561e-01 2.22452096e+02] [ 1.87508430e-01 -1.23174904e-02 9.82185760e-01 5.45109492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1392541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:447.50, Y:222.49, Z:54.52 [[-6.11612887e-02 -9.97060736e-01 4.61430909e-02 4.47501642e+02] [ 9.81613957e-01 -6.84596680e-02 -1.78177756e-01 2.22489520e+02] [ 1.80812985e-01 3.43971209e-02 9.82915817e-01 5.45170642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.1692541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:447.53, Y:222.50, Z:54.51 [[-7.27038432e-02 -9.96786865e-01 -3.36169144e-02 4.47533108e+02] [ 9.76911620e-01 -6.43839499e-02 -2.03711545e-01 2.22501958e+02] [ 2.00892603e-01 -4.76513666e-02 9.78453632e-01 5.45090304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.199254154 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:447.51, Y:222.50, Z:54.52 [[-7.16010246e-02 -9.97432533e-01 1.27860011e-03 4.47514339e+02] [ 9.76500840e-01 -7.03595635e-02 -2.03704788e-01 2.22502385e+02] [ 2.03271745e-01 -1.33369175e-02 9.79031524e-01 5.45181431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2292541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:447.51, Y:222.50, Z:54.52 [[-7.13306979e-02 -9.97452012e-01 1.18957585e-03 4.47509476e+02] [ 9.76714617e-01 -7.00895338e-02 -2.02770842e-01 2.22503351e+02] [ 2.02337562e-01 -1.33019096e-02 9.79225495e-01 5.45209987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2592541539999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:447.51, Y:222.51, Z:54.52 [[-7.00150611e-02 -9.97545322e-01 1.10555621e-03 4.47507836e+02] [ 9.76830407e-01 -6.87857389e-02 -2.02659512e-01 2.22506810e+02] [ 2.02238095e-01 -1.31092772e-02 9.79248640e-01 5.45209625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.2892541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.51, Y:222.51, Z:54.52 [[-6.95526681e-02 -9.97577764e-01 1.01582758e-03 4.47505609e+02] [ 9.77143089e-01 -6.83329143e-02 -2.01300761e-01 2.22505452e+02] [ 2.00882577e-01 -1.30083961e-02 9.79528954e-01 5.45224201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.319254154 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:447.50, Y:222.51, Z:54.52 [[-6.74624822e-02 -9.97721382e-01 9.26013518e-04 4.47502536e+02] [ 9.77624609e-01 -6.62888987e-02 -1.99639441e-01 2.22514133e+02] [ 1.99245924e-01 -1.25628787e-02 9.79868989e-01 5.45246330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3492541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.50, Y:222.51, Z:54.52 [[-6.63990788e-02 -9.97792791e-01 8.41688230e-04 4.47500727e+02] [ 9.77811674e-01 -6.52373408e-02 -1.99068881e-01 2.22512435e+02] [ 1.98684404e-01 -1.23949777e-02 9.79985139e-01 5.45245932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.3792541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.50, Y:222.52, Z:54.53 [[-6.43954728e-02 -9.97924172e-01 7.55392758e-04 4.47497040e+02] [ 9.78197658e-01 -6.32722619e-02 -1.97802837e-01 2.22524539e+02] [ 1.97440028e-01 -1.19986838e-02 9.80241535e-01 5.45276507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4092541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:447.50, Y:222.51, Z:54.53 [[-6.32257198e-02 -9.97999026e-01 6.72883243e-04 4.47495412e+02] [ 9.78330738e-01 -6.21128538e-02 -1.97511926e-01 2.22514345e+02] [ 1.97158504e-01 -1.18295313e-02 9.80300253e-01 5.45261756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4392541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.49, Y:222.51, Z:54.53 [[-6.24608826e-02 -9.98047237e-01 5.92649229e-04 4.47494189e+02] [ 9.78288332e-01 -6.13418611e-02 -1.97962408e-01 2.22514607e+02] [ 1.97612188e-01 -1.17851249e-02 9.80209434e-01 5.45264855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4692541539999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:447.49, Y:222.52, Z:54.53 [[-6.17795428e-02 -9.98089688e-01 5.11906479e-04 4.47493861e+02] [ 9.78295259e-01 -6.06559344e-02 -1.98139455e-01 2.22517296e+02] [ 1.97791997e-01 -1.17401693e-02 9.80173706e-01 5.45263504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.4992541539999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:447.49, Y:222.52, Z:54.53 [[-6.14987342e-02 -9.98107067e-01 4.33551750e-04 4.47493274e+02] [ 9.77999741e-01 -6.03465526e-02 -1.99686757e-01 2.22519188e+02] [ 1.99334927e-01 -1.18564693e-02 9.79859689e-01 5.45262178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5292541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.49, Y:222.52, Z:54.53 [[-6.10741060e-02 -9.98133172e-01 3.52925430e-04 4.47492589e+02] [ 9.77864235e-01 -5.99047710e-02 -2.00481812e-01 2.22524665e+02] [ 2.00128689e-01 -1.18991343e-02 9.79697361e-01 5.45271500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.5592541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:447.49, Y:222.53, Z:54.53 [[-6.02139468e-02 -9.98185457e-01 2.71261802e-04 4.47491792e+02] [ 9.77819597e-01 -5.90400194e-02 -2.00955496e-01 2.22530902e+02] [ 2.00606869e-01 -1.18350785e-02 9.79600334e-01 5.45280564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.589254154 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:447.49, Y:222.53, Z:54.53 [[-5.82245375e-02 -9.98303495e-01 1.89750810e-04 4.47490043e+02] [ 9.77558060e-01 -5.70531371e-02 -2.02793439e-01 2.22529081e+02] [ 2.02460225e-01 -1.16220618e-02 9.79221520e-01 5.45277614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6192541539999 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:447.49, Y:222.53, Z:54.53 [[-5.61356334e-02 -9.98423146e-01 1.06546129e-04 4.47488921e+02] [ 9.77631488e-01 -5.49883012e-02 -2.03009755e-01 2.22531315e+02] [ 2.02695497e-01 -1.12919183e-02 9.79176709e-01 5.45282214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6492541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.49, Y:222.53, Z:54.53 [[-5.39472112e-02 -9.98543789e-01 2.31765842e-05 4.47487615e+02] [ 9.77600187e-01 -5.28204434e-02 -2.03734814e-01 2.22534046e+02] [ 2.03439357e-01 -1.09682676e-02 9.79026111e-01 5.45288992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.6792541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.49, Y:222.56, Z:54.53 [[-4.92635236e-02 -9.98785814e-01 -5.17025413e-05 4.47486179e+02] [ 9.77926907e-01 -4.82241669e-02 -2.03306162e-01 2.22561805e+02] [ 2.03056817e-01 -1.00661392e-02 9.79115214e-01 5.45345952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.709254154 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:447.49, Y:222.56, Z:54.53 [[-4.64065468e-02 -9.98922636e-01 5.58192495e-07 4.47485021e+02] [ 9.78213302e-01 -4.54445748e-02 -2.02567339e-01 2.22560339e+02] [ 2.02349126e-01 -9.39990469e-03 9.79268336e-01 5.45345344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7392541539999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:447.48, Y:222.59, Z:54.54 [[-4.66726086e-02 -9.98910237e-01 -7.46426167e-05 4.47484982e+02] [ 9.78201880e-01 -4.56899045e-02 -2.02567311e-01 2.22588212e+02] [ 2.02343150e-01 -9.52736037e-03 9.79268339e-01 5.45399478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7692541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.48, Y:222.62, Z:54.55 [[-4.45079168e-02 -9.99009032e-01 -1.98086386e-05 4.47483417e+02] [ 9.78464383e-01 -4.35886097e-02 -2.01760958e-01 2.22615243e+02] [ 2.01560156e-01 -8.99934198e-03 9.79434794e-01 5.45456662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.7992541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.48, Y:222.62, Z:54.55 [[-3.93703333e-02 -9.99224687e-01 3.13018106e-05 4.47480906e+02] [ 9.78947535e-01 -3.85776744e-02 -2.00433250e-01 2.22622417e+02] [ 2.00279059e-01 -7.86048102e-03 9.79707360e-01 5.45463302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.829254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.48, Y:222.65, Z:54.55 [[-3.80570728e-02 -9.99275566e-01 -4.41653592e-05 4.47479596e+02] [ 9.79136407e-01 -3.72812511e-02 -1.99754862e-01 2.22649632e+02] [ 1.99608507e-01 -7.64532926e-03 9.79845903e-01 5.45528448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8592541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.48, Y:222.64, Z:54.55 [[-3.61617936e-02 -9.99345948e-01 8.85272154e-06 4.47478543e+02] [ 9.79257435e-01 -3.54366487e-02 -1.99497168e-01 2.22644618e+02] [ 1.99367001e-01 -7.20550633e-03 9.79898403e-01 5.45519371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.8892541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.48, Y:222.67, Z:54.56 [[-3.49399077e-02 -9.99389413e-01 -6.67677657e-05 4.47477847e+02] [ 9.79229157e-01 -3.42217283e-02 -1.99847771e-01 2.22671714e+02] [ 1.99723462e-01 -7.04804363e-03 9.79826956e-01 5.45565491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9192541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.48, Y:222.70, Z:54.56 [[-3.45510947e-02 -9.99402933e-01 -7.53216734e-06 4.47476837e+02] [ 9.79233126e-01 -3.38522829e-02 -1.99891242e-01 2.22698408e+02] [ 1.99771638e-01 -6.91383696e-03 9.79818091e-01 5.45622863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.949254154 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:447.48, Y:222.70, Z:54.56 [[-3.31538922e-02 -9.99450258e-01 4.00659961e-05 4.47475671e+02] [ 9.79066030e-01 -3.24857590e-02 -2.00933782e-01 2.22703967e+02] [ 2.00824622e-01 -6.62250971e-03 9.79604825e-01 5.45620454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 663.9792541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.48, Y:222.73, Z:54.57 [[-3.35332182e-02 -9.99437603e-01 -3.50676906e-05 4.47475044e+02] [ 9.79025464e-01 -3.28412932e-02 -2.01073594e-01 2.22730301e+02] [ 2.00959359e-01 -6.77697686e-03 9.79576137e-01 5.45680514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0092541539999 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:447.47, Y:222.73, Z:54.57 [[-3.36990688e-02 -9.99432025e-01 1.09152704e-05 4.47474370e+02] [ 9.78976209e-01 -3.30115334e-02 -2.01285424e-01 2.22726462e+02] [ 2.01171459e-01 -6.77244554e-03 9.79532633e-01 5.45670811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0392541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.47, Y:222.75, Z:54.57 [[-3.50661275e-02 -9.99384992e-01 -6.40631179e-05 4.47473731e+02] [ 9.78832393e-01 -3.43320504e-02 -2.01763371e-01 2.22754265e+02] [ 2.01637085e-01 -7.13776714e-03 9.79434295e-01 5.45718909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.069254154 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:447.47, Y:222.78, Z:54.58 [[-3.58442842e-02 -9.99357387e-01 -3.98443924e-06 4.47473163e+02] [ 9.78750901e-01 -3.51043790e-02 -2.02025634e-01 2.22781526e+02] [ 2.01895670e-01 -7.24536402e-03 9.79380234e-01 5.45771185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.0992541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.47, Y:222.79, Z:54.58 [[-3.56127920e-02 -9.99365662e-01 4.85654830e-05 4.47472454e+02] [ 9.78719670e-01 -3.48868908e-02 -2.02214523e-01 2.22789591e+02] [ 2.02087945e-01 -7.15389175e-03 9.79341250e-01 5.45786466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1292541539999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:447.47, Y:222.82, Z:54.58 [[-3.52458434e-02 -9.99378672e-01 -2.60915570e-05 4.47471224e+02] [ 9.78846880e-01 -3.45164682e-02 -2.01661596e-01 2.22817208e+02] [ 2.01535398e-01 -7.13327267e-03 9.79455257e-01 5.45843500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1592541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:447.47, Y:222.82, Z:54.59 [[-3.43429431e-02 -9.99410107e-01 2.62280415e-05 4.47470318e+02] [ 9.78970259e-01 -3.36458447e-02 -2.01209316e-01 2.22821767e+02] [ 2.01091506e-01 -6.88444361e-03 9.79548269e-01 5.45856288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.1892541539999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:447.47, Y:222.85, Z:54.59 [[-3.36215425e-02 -9.99434635e-01 -4.90184950e-05 4.47469714e+02] [ 9.79106872e-01 -3.29278634e-02 -2.00662625e-01 2.22847942e+02] [ 2.00547563e-01 -6.79458132e-03 9.79660405e-01 5.45909050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2192541539999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:447.47, Y:222.85, Z:54.59 [[-3.19484352e-02 -9.99489518e-01 -2.58844158e-06 4.47469040e+02] [ 9.79231341e-01 -3.13003688e-02 -2.00315423e-01 2.22852719e+02] [ 2.00213084e-01 -6.40229898e-03 9.79731459e-01 5.45917818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2492541539999 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:447.47, Y:222.88, Z:54.60 [[-2.97614906e-02 -9.99557026e-01 -7.74739512e-05 4.47467913e+02] [ 9.79487884e-01 -2.91484844e-02 -1.99383677e-01 2.22880102e+02] [ 1.99293097e-01 -6.00984023e-03 9.79921499e-01 5.45961524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.2792541539999 meters Centerline goodness : 0.999437 Centerline is valid? [True, True] Translation: X:447.47, Y:222.91, Z:54.60 [[-2.92974157e-02 -9.99570738e-01 -1.88395719e-05 4.47467263e+02] [ 9.79609899e-01 -2.87086157e-02 -1.98847331e-01 2.22907273e+02] [ 1.98761433e-01 -5.84416834e-03 9.80030478e-01 5.46026435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3092541539999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:447.47, Y:222.90, Z:54.60 [[-2.80132053e-02 -9.99607319e-01 6.84183812e-04 4.47465930e+02] [ 9.79769164e-01 -2.75929286e-02 -1.98219613e-01 2.22900725e+02] [ 1.98160655e-01 -4.88242453e-03 9.80157394e-01 5.46013432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.339254154 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.47, Y:222.93, Z:54.61 [[-2.77513743e-02 -9.99614363e-01 -9.92797724e-04 4.47466853e+02] [ 9.79759612e-01 -2.70031697e-02 -1.98348005e-01 2.22926897e+02] [ 1.98244706e-01 -6.47713283e-03 9.80131156e-01 5.46060530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3692541539999 meters Centerline goodness : 0.999502 Centerline is valid? [True, True] Translation: X:447.47, Y:222.95, Z:54.61 [[-2.76037557e-02 -9.99618944e-01 -4.51812509e-07 4.47466346e+02] [ 9.79569296e-01 -2.70500090e-02 -1.99279430e-01 2.22953948e+02] [ 1.99203481e-01 -5.50130326e-03 9.79942707e-01 5.46112691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.3992541539999 meters Centerline goodness : 0.999523 Centerline is valid? [True, True] Translation: X:447.47, Y:222.95, Z:54.61 [[-2.75124309e-02 -9.99621460e-01 5.29709191e-05 4.47466128e+02] [ 9.79455551e-01 -2.69679978e-02 -1.99848818e-01 2.22952363e+02] [ 1.99774596e-01 -5.44644412e-03 9.79826744e-01 5.46102952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4292541539999 meters Centerline goodness : 0.999545 Centerline is valid? [True, True] Translation: X:447.47, Y:222.98, Z:54.62 [[-2.82940259e-02 -9.99599644e-01 -2.17014969e-05 4.47466134e+02] [ 9.79229535e-01 -2.77130822e-02 -2.00851941e-01 2.22979389e+02] [ 2.00770927e-01 -5.70416077e-03 9.79621609e-01 5.46154818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.459254154 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:447.47, Y:222.98, Z:54.62 [[-2.88415925e-02 -9.99583994e-01 3.03589927e-05 4.47465659e+02] [ 9.78966804e-01 -2.82528492e-02 -2.02053888e-01 2.22982659e+02] [ 2.01970690e-01 -5.79783547e-03 9.79374405e-01 5.46156435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.4892541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:447.47, Y:223.01, Z:54.62 [[-2.95375094e-02 -9.99563672e-01 -4.43534815e-05 4.47465278e+02] [ 9.78819848e-01 -2.89155280e-02 -2.02671155e-01 2.23008642e+02] [ 2.02581442e-01 -6.02981523e-03 9.79246854e-01 5.46206178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5192541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:447.46, Y:223.01, Z:54.62 [[-2.92897940e-02 -9.99570962e-01 1.21341653e-06 4.47464986e+02] [ 9.78798796e-01 -2.86813666e-02 -2.02806056e-01 2.23012559e+02] [ 2.02719079e-01 -5.93895991e-03 9.79218925e-01 5.46213936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.5492541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:447.46, Y:223.04, Z:54.63 [[-2.96410593e-02 -9.99560605e-01 -7.26921582e-05 4.47464694e+02] [ 9.78865183e-01 -2.90126333e-02 -2.02438190e-01 2.23039923e+02] [ 2.02347131e-01 -6.07163823e-03 9.79295039e-01 5.46264538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.579254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:447.46, Y:223.07, Z:54.63 [[-2.92693568e-02 -9.99571561e-01 -1.41667178e-05 4.47463265e+02] [ 9.78887365e-01 -2.86608159e-02 -2.02381037e-01 2.23067491e+02] [ 2.02293923e-01 -5.93743042e-03 9.79306855e-01 5.46326368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6092541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:447.46, Y:223.06, Z:54.63 [[-2.79854514e-02 -9.99608330e-01 3.86929314e-05 4.47462227e+02] [ 9.79072633e-01 -2.74183311e-02 -2.01655683e-01 2.23063290e+02] [ 2.01577762e-01 -5.60554213e-03 9.79456474e-01 5.46321031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6392541539999 meters Centerline goodness : 0.999696 Centerline is valid? [True, True] Translation: X:447.46, Y:223.09, Z:54.64 [[-2.76220838e-02 -9.99618437e-01 -3.58261363e-05 4.47460928e+02] [ 9.79226399e-01 -2.70513959e-02 -2.00957413e-01 2.23090045e+02] [ 2.00879766e-01 -5.58594440e-03 9.79599978e-01 5.46379824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:447.46, Y:223.09, Z:54.64 [[-2.59598763e-02 -9.99662986e-01 1.62862946e-05 4.47459330e+02] [ 9.79514670e-01 -2.54399067e-02 -1.99759410e-01 2.23094856e+02] [ 1.99692502e-01 -5.16977691e-03 9.79844977e-01 5.46403668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.699254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.46, Y:223.12, Z:54.65 [[-2.60164959e-02 -9.99661512e-01 -5.87601542e-05 4.47459074e+02] [ 9.79522706e-01 -2.54806380e-02 -1.99714809e-01 2.23122485e+02] [ 1.99645711e-01 -5.25343640e-03 9.79854067e-01 5.46462057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7292541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:447.46, Y:223.15, Z:54.65 [[-2.66879257e-02 -9.99643814e-01 -4.25050579e-06 4.47458989e+02] [ 9.79619009e-01 -2.61524679e-02 -1.99154828e-01 2.23149476e+02] [ 1.99083781e-01 -5.31919313e-03 9.79968037e-01 5.46509087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7592541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:447.46, Y:223.36, Z:54.69 [[-2.68758092e-02 -9.99634631e-01 2.88011780e-03 4.47458164e+02] [ 9.79640900e-01 -2.69114622e-02 -1.98945921e-01 2.23364145e+02] [ 1.98950740e-01 -2.52535142e-03 9.80006238e-01 5.46939744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.7892541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:447.46, Y:223.39, Z:54.70 [[-2.80904914e-02 -9.99603967e-01 1.68344857e-03 4.47459759e+02] [ 9.79865239e-01 -2.78687600e-02 -1.97705452e-01 2.23387987e+02] [ 1.97674069e-01 -3.90409056e-03 9.80260027e-01 5.46980340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.819254154 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:447.46, Y:223.16, Z:54.65 [[-2.84963463e-02 -9.99585190e-01 -4.17200663e-03 4.47462628e+02] [ 9.79840447e-01 -2.71073348e-02 -1.97934058e-01 2.23158426e+02] [ 1.97738861e-01 -9.72829828e-03 9.80206460e-01 5.46513802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:447.46, Y:223.18, Z:54.66 [[-2.93377582e-02 -9.99569529e-01 -2.28510029e-04 4.47461073e+02] [ 9.79845945e-01 -2.87136719e-02 -1.97680171e-01 2.23184872e+02] [ 1.97588514e-01 -6.02339768e-03 9.80266544e-01 5.46574794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.8792541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:447.46, Y:223.21, Z:54.66 [[-3.09385323e-02 -9.99521271e-01 -1.88976759e-04 4.47461472e+02] [ 9.79645249e-01 -3.02857845e-02 -1.98438801e-01 2.23211576e+02] [ 1.98338080e-01 -6.32453545e-03 9.80113262e-01 5.46630993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9092541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:447.46, Y:223.24, Z:54.67 [[-3.15573795e-02 -9.99501933e-01 -1.37069716e-04 4.47461898e+02] [ 9.79524270e-01 -3.08993403e-02 -1.98940782e-01 2.23237763e+02] [ 1.98837461e-01 -6.41231287e-03 9.80011503e-01 5.46683512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9392541539999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:447.46, Y:223.27, Z:54.67 [[-3.21353350e-02 -9.99483523e-01 -8.56181599e-05 4.47462479e+02] [ 9.79510084e-01 -3.14761102e-02 -1.98920210e-01 2.23265489e+02] [ 1.98814777e-01 -6.47623143e-03 9.80015685e-01 5.46733550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9692541539999 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:447.46, Y:223.29, Z:54.68 [[-3.33727251e-02 -9.99442975e-01 -2.88801307e-05 4.47464004e+02] [ 9.79352943e-01 -3.26961276e-02 -1.99496305e-01 2.23292843e+02] [ 1.99384237e-01 -6.68601918e-03 9.79898578e-01 5.46786176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 664.9992541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.46, Y:223.30, Z:54.68 [[-3.31157088e-02 -9.99451524e-01 2.35595396e-05 4.47464886e+02] [ 9.79383781e-01 -3.24554865e-02 -1.99384178e-01 2.23296963e+02] [ 1.99275585e-01 -6.57967454e-03 9.79921399e-01 5.46792779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0292541539999 meters Centerline goodness : 0.999568 Centerline is valid? [True, True] Translation: X:447.47, Y:223.32, Z:54.68 [[-3.37623720e-02 -9.99429887e-01 -5.13701033e-05 4.47465487e+02] [ 9.79302905e-01 -3.30721862e-02 -1.99679870e-01 2.23324033e+02] [ 1.99564331e-01 -6.79197292e-03 9.79861188e-01 5.46847769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.0592541539999 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:447.47, Y:223.32, Z:54.69 [[-3.71310752e-02 -9.99261767e-01 -9.85919180e-03 4.47468442e+02] [ 9.78054998e-01 -3.43154878e-02 -2.05501504e-01 2.23324812e+02] [ 2.05011473e-01 -1.72733236e-02 9.78607137e-01 5.46850144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.089254154 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:447.46, Y:223.33, Z:54.69 [[-3.13720772e-02 -9.99449196e-01 1.08211998e-02 4.47461748e+02] [ 9.79235311e-01 -3.29034303e-02 -2.00038920e-01 2.23334018e+02] [ 2.00284792e-01 4.32086454e-03 9.79728193e-01 5.46915206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1192541539999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:447.47, Y:223.36, Z:54.69 [[-3.01596081e-02 -9.99545085e-01 -1.46771134e-04 4.47466695e+02] [ 9.79335869e-01 -2.95204501e-02 -2.00074485e-01 2.23361780e+02] [ 1.99979135e-01 -6.17790629e-03 9.79780679e-01 5.46929988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1492541539999 meters Centerline goodness : 0.999480 Centerline is valid? [True, True] Translation: X:447.47, Y:223.39, Z:54.70 [[-2.53486173e-02 -9.99678668e-01 -8.85275911e-05 4.47466587e+02] [ 9.79539336e-01 -2.48202629e-02 -1.99716407e-01 2.23388265e+02] [ 1.99650035e-01 -5.14925104e-03 9.79853739e-01 5.46985646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.1792541539999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:447.47, Y:223.42, Z:54.70 [[-2.26064038e-02 -9.99744441e-01 -5.46151405e-05 4.47466604e+02] [ 9.79620561e-01 -2.21404532e-02 -1.99633056e-01 2.23415264e+02] [ 1.99580828e-01 -4.56648759e-03 9.79870726e-01 5.47045222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.209254154 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.47, Y:223.42, Z:54.70 [[-1.93293241e-02 -9.99813171e-01 -1.80546182e-06 4.47466564e+02] [ 9.79819602e-01 -1.89424304e-02 -1.98984248e-01 2.23416286e+02] [ 1.98947038e-01 -3.84800005e-03 9.80002688e-01 5.47042253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2392541539999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:447.47, Y:223.44, Z:54.71 [[-1.43337783e-02 -9.99897263e-01 -7.72531559e-05 4.47467229e+02] [ 9.79809024e-01 -1.40303992e-02 -1.99442783e-01 2.23442589e+02] [ 1.99421209e-01 -2.93446197e-03 9.79909471e-01 5.47096771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2692541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:447.47, Y:223.47, Z:54.71 [[-1.23047865e-02 -9.99924293e-01 -3.77981620e-05 4.47467920e+02] [ 9.79864119e-01 -1.20503978e-02 -1.99301522e-01 2.23469292e+02] [ 1.99285978e-01 -2.48939974e-03 9.79938213e-01 5.47145871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.2992541539999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:447.47, Y:223.50, Z:54.72 [[-1.10396335e-02 -9.99939061e-01 1.99563859e-06 4.47468576e+02] [ 9.79838804e-01 -1.08181187e-02 -1.99496583e-01 2.23496847e+02] [ 1.99484448e-01 -2.20041376e-03 9.79898522e-01 5.47197943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.329254154 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:447.45, Y:223.50, Z:54.72 [[ 3.40045977e-04 -9.98456464e-01 5.55389455e-02 4.47448274e+02] [ 9.85548480e-01 -9.07330971e-03 -1.69150430e-01 2.23500326e+02] [ 1.69393262e-01 5.47938423e-02 9.84024165e-01 5.47233608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3592541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.49, Y:223.53, Z:54.70 [[-3.69974522e-04 -9.99580753e-01 -2.89513513e-02 4.47489714e+02] [ 9.84835608e-01 4.65855166e-03 -1.73427575e-01 2.23529099e+02] [ 1.73489738e-01 -2.85764855e-02 9.84420995e-01 5.47045690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.3892541539999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:447.50, Y:223.55, Z:54.72 [[-5.26038803e-03 -9.98797874e-01 -4.87353502e-02 4.47495891e+02] [ 9.82786717e-01 3.83638428e-03 -1.84703955e-01 2.23548188e+02] [ 1.84668885e-01 -4.88680693e-02 9.81585103e-01 5.47154557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4192541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.47, Y:223.57, Z:54.74 [[-6.28705950e-03 -9.99979970e-01 -7.29085338e-04 4.47473900e+02] [ 9.82780653e-01 -6.04427609e-03 -1.84677163e-01 2.23571830e+02] [ 1.84669058e-01 -1.87760728e-03 9.82798969e-01 5.47374822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.449254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.48, Y:223.60, Z:54.74 [[-7.36992982e-03 -9.99972598e-01 -6.98121501e-04 4.47475476e+02] [ 9.82754512e-01 -7.11402913e-03 -1.84778137e-01 2.23599198e+02] [ 1.84768107e-01 -2.04788396e-03 9.82780012e-01 5.47421254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.4792541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:447.48, Y:223.63, Z:54.75 [[-9.30121508e-03 -9.99956533e-01 -6.48048332e-04 4.47478494e+02] [ 9.82462327e-01 -9.01779091e-03 -1.86243004e-01 2.23626912e+02] [ 1.86229065e-01 -2.36896931e-03 9.82503498e-01 5.47456954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5092541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.48, Y:223.65, Z:54.75 [[-1.18675971e-02 -9.99929402e-01 -5.92571596e-04 4.47479198e+02] [ 9.82504249e-01 -1.15506318e-02 -1.85881637e-01 2.23652723e+02] [ 1.85861669e-01 -2.78817248e-03 9.82571965e-01 5.47521992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5392541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:447.48, Y:223.68, Z:54.76 [[-1.37405472e-02 -9.99905437e-01 -5.61442820e-04 4.47480392e+02] [ 9.82403775e-01 -1.33954419e-02 -1.86288447e-01 2.23680052e+02] [ 1.86263311e-01 -3.11126876e-03 9.82494936e-01 5.47574537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.569254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.48, Y:223.71, Z:54.76 [[-1.80746210e-02 -9.99836513e-01 -5.05716147e-04 4.47483037e+02] [ 9.82295853e-01 -1.76631960e-02 -1.86501659e-01 2.23707914e+02] [ 1.86462236e-01 -3.86770966e-03 9.82454516e-01 5.47621526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.5992541539999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:447.48, Y:223.73, Z:54.77 [[-1.94421426e-02 -9.99792011e-01 6.15941797e-03 4.47481794e+02] [ 9.81964248e-01 -2.02535411e-02 -1.87978748e-01 2.23732617e+02] [ 1.88064401e-01 2.39361860e-03 9.82153782e-01 5.47686903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6292541539999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:447.48, Y:223.76, Z:54.77 [[-1.97230045e-02 -9.99805226e-01 7.16472638e-04 4.47484354e+02] [ 9.81960552e-01 -1.95057637e-02 -1.88077110e-01 2.23760944e+02] [ 1.88054453e-01 -3.00589782e-03 9.82154004e-01 5.47719654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6592541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.49, Y:223.79, Z:54.77 [[-2.37129179e-02 -9.99701806e-01 -5.83060390e-03 4.47489249e+02] [ 9.82211301e-01 -2.22105396e-02 -1.86460858e-01 2.23791155e+02] [ 1.86275756e-01 -1.01484161e-02 9.82445089e-01 5.47748574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.6892541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.49, Y:223.82, Z:54.78 [[-2.63733173e-02 -9.99652114e-01 -3.14769606e-04 4.47488493e+02] [ 9.82202568e-01 -2.58543757e-02 -1.86036735e-01 2.23817671e+02] [ 1.85963878e-01 -5.21557337e-03 9.82542739e-01 5.47815522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7192541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:447.49, Y:223.85, Z:54.79 [[-2.92664766e-02 -9.99571605e-01 -2.81957752e-04 4.47490173e+02] [ 9.82222488e-01 -2.87061823e-02 -1.85512642e-01 2.23845022e+02] [ 1.85425075e-01 -5.70624664e-03 9.82641837e-01 5.47866340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7492541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:447.49, Y:223.87, Z:54.79 [[-3.20626230e-02 -9.99485836e-01 -2.26858743e-04 4.47491605e+02] [ 9.82214432e-01 -3.14665568e-02 -1.85107175e-01 2.23872791e+02] [ 1.85004861e-01 -6.15784547e-03 9.82718313e-01 5.47918255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.7792541539999 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:447.49, Y:223.90, Z:54.80 [[-3.68345244e-02 -9.99321364e-01 -1.72505848e-04 4.47494570e+02] [ 9.82125569e-01 -3.61688086e-02 -1.84719206e-01 2.23899257e+02] [ 1.84587610e-01 -6.97346651e-03 9.82791323e-01 5.47967699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8092541539999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:447.50, Y:223.93, Z:54.80 [[-3.90040853e-02 -9.99239044e-01 -1.23260474e-04 4.47496207e+02] [ 9.82162993e-01 -3.83148345e-02 -1.84086469e-01 2.23927076e+02] [ 1.83941665e-01 -7.30118623e-03 9.82910045e-01 5.48010922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.839254154 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:447.50, Y:223.95, Z:54.81 [[-4.09893873e-02 -9.99159580e-01 -6.86490367e-05 4.47497733e+02] [ 9.82116078e-01 -4.02775606e-02 -1.83917722e-01 2.23954038e+02] [ 1.83760389e-01 -7.60609607e-03 9.82941640e-01 5.48054559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8692541539999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:447.50, Y:223.98, Z:54.81 [[-4.46588027e-02 -9.99002298e-01 -1.91763811e-05 4.47500478e+02] [ 9.81933556e-01 -4.38922386e-02 -1.84065105e-01 2.23981561e+02] [ 1.83880621e-01 -8.23895712e-03 9.82914054e-01 5.48109714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.8992541539999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:447.50, Y:223.99, Z:54.81 [[-4.57331442e-02 -9.98953692e-01 2.79416164e-05 4.47501916e+02] [ 9.81921314e-01 -4.49585272e-02 -1.83872959e-01 2.23990378e+02] [ 1.83681827e-01 -8.38165207e-03 9.82950016e-01 5.48122834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9292541539999 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:447.50, Y:224.02, Z:54.82 [[-4.72844174e-02 -9.98881466e-01 -4.15129099e-05 4.47503404e+02] [ 9.81862683e-01 -4.64711540e-02 -1.83809967e-01 2.24017468e+02] [ 1.83602440e-01 -8.73210717e-03 9.82961797e-01 5.48169690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.959254154 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:447.50, Y:224.03, Z:54.82 [[-4.81518284e-02 -9.98840028e-01 5.88692207e-06 4.47504740e+02] [ 9.81799174e-01 -4.73314113e-02 -1.83929659e-01 2.24025829e+02] [ 1.83716584e-01 -8.85076960e-03 9.82939408e-01 5.48178434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 665.9892541539999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:447.49, Y:224.06, Z:54.82 [[-4.40571025e-02 -9.98151604e-01 4.18610404e-02 4.47493659e+02] [ 9.83432251e-01 -5.07063903e-02 -1.74039854e-01 2.24063939e+02] [ 1.75840782e-01 3.34998055e-02 9.83848455e-01 5.48233453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0192541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:447.53, Y:224.10, Z:54.82 [[-5.70242668e-02 -9.97739099e-01 -3.55657736e-02 4.47526459e+02] [ 9.79604326e-01 -4.90417640e-02 -1.94859617e-01 2.24095157e+02] [ 1.92674850e-01 -4.59521124e-02 9.80186108e-01 5.48168203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.0492541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:447.51, Y:224.10, Z:54.83 [[-5.66523323e-02 -9.98393257e-01 1.19080606e-03 4.47509295e+02] [ 9.79217392e-01 -5.57967922e-02 -1.94987222e-01 2.24095229e+02] [ 1.94740371e-01 -9.88042292e-03 9.80805060e-01 5.48281377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.079254154 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:447.51, Y:224.10, Z:54.83 [[-5.57755233e-02 -9.98442715e-01 1.11179428e-03 4.47510084e+02] [ 9.79246487e-01 -5.49204118e-02 -1.95089891e-01 2.24098745e+02] [ 1.94847140e-01 -9.79252010e-03 9.80784736e-01 5.48285151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1092541539999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:447.51, Y:224.10, Z:54.83 [[-5.46385179e-02 -9.98505667e-01 1.03190546e-03 4.47510139e+02] [ 9.79320046e-01 -5.37902346e-02 -1.95035533e-01 2.24099292e+02] [ 1.94799592e-01 -9.64588678e-03 9.80795634e-01 5.48287371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1392541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:447.51, Y:224.10, Z:54.83 [[-5.27848830e-02 -9.98605452e-01 9.52279380e-04 4.47510087e+02] [ 9.79422486e-01 -5.19568695e-02 -1.95018146e-01 2.24104198e+02] [ 1.94795662e-01 -9.36132621e-03 9.80799172e-01 5.48297493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.1692541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.51, Y:224.10, Z:54.83 [[-5.06070010e-02 -9.98718264e-01 8.71622125e-04 4.47509850e+02] [ 9.79587410e-01 -4.98075699e-02 -1.94750383e-01 2.24102011e+02] [ 1.94544178e-01 -9.00190278e-03 9.80852450e-01 5.48294952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.199254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:447.51, Y:224.10, Z:54.83 [[-4.50093193e-02 -9.98986256e-01 7.88330531e-04 4.47508699e+02] [ 9.80062858e-01 -4.43095676e-02 -1.93683910e-01 2.24104662e+02] [ 1.93522494e-01 -7.94496746e-03 9.81063669e-01 5.48305152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2292541539999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:447.51, Y:224.11, Z:54.83 [[-4.14360109e-02 -9.99140908e-01 7.08647800e-04 4.47507751e+02] [ 9.80267929e-01 -4.07905013e-02 -1.93419035e-01 2.24107445e+02] [ 1.93281776e-01 -7.31984853e-03 9.81115984e-01 5.48315347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2592541539999 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:447.51, Y:224.11, Z:54.83 [[-3.77747690e-02 -9.99286081e-01 6.28440125e-04 4.47506888e+02] [ 9.80514548e-01 -3.71864815e-02 -1.92894756e-01 2.24107761e+02] [ 1.92780415e-01 -6.67036019e-03 9.81219251e-01 5.48320691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.2892541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:447.51, Y:224.10, Z:54.83 [[-3.09472646e-02 -9.99520869e-01 5.47415048e-04 4.47506323e+02] [ 9.80953962e-01 -3.04774576e-02 -1.91834434e-01 2.24102801e+02] [ 1.91759204e-01 -5.39976203e-03 9.81427150e-01 5.48304001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.319254154 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:447.51, Y:224.10, Z:54.83 [[-2.75307617e-02 -9.99620846e-01 4.70138991e-04 4.47506271e+02] [ 9.81013178e-01 -2.71086025e-02 -1.92037153e-01 2.24104926e+02] [ 1.91977087e-01 -4.82571655e-03 9.81387544e-01 5.48307645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3492541539999 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:447.51, Y:224.11, Z:54.83 [[-2.43339907e-02 -9.99703808e-01 3.92442241e-04 4.47506092e+02] [ 9.81112537e-01 -2.39568079e-02 -1.91948591e-01 2.24105388e+02] [ 1.91901139e-01 -4.28584523e-03 9.81404903e-01 5.48306916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.3792541539999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:447.51, Y:224.11, Z:54.83 [[-2.07169188e-02 -9.99785332e-01 3.14973338e-04 4.47506176e+02] [ 9.81200753e-01 -2.03922803e-02 -1.91909449e-01 2.24105027e+02] [ 1.91874675e-01 -3.66672040e-03 9.81412586e-01 5.48296520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4092541539999 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:447.51, Y:224.11, Z:54.83 [[-1.49715839e-02 -9.99887891e-01 2.37272869e-04 4.47506172e+02] [ 9.81403662e-01 -1.47402311e-02 -1.91388554e-01 2.24106603e+02] [ 1.91370595e-01 -2.63252934e-03 9.81514322e-01 5.48308091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4392541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:447.51, Y:224.11, Z:54.83 [[-1.17306136e-02 -9.99931181e-01 1.60420185e-04 4.47506235e+02] [ 9.81412308e-01 -1.15440937e-02 -1.91563608e-01 2.24106953e+02] [ 1.91552277e-01 -2.08972032e-03 9.81480187e-01 5.48310775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4692541539999 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:447.51, Y:224.11, Z:54.83 [[-8.50341885e-03 -9.99963842e-01 8.35377931e-05 4.47506291e+02] [ 9.81388994e-01 -8.36149058e-03 -1.91848190e-01 2.24107955e+02] [ 1.91841951e-01 -1.54938244e-03 9.81424610e-01 5.48310728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.4992541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:447.51, Y:224.10, Z:54.83 [[-5.68227447e-03 -9.99983856e-01 6.51913727e-06 4.47506150e+02] [ 9.81350625e-01 -5.57764627e-03 -1.92145365e-01 2.24104808e+02] [ 1.92142299e-01 -1.08542514e-03 9.81366475e-01 5.48307935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5292541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:447.51, Y:224.13, Z:54.84 [[-2.07939197e-03 -9.99997836e-01 -6.62421688e-05 4.47507649e+02] [ 9.81255746e-01 -2.02765488e-03 -1.92699374e-01 2.24132341e+02] [ 1.92698823e-01 -4.65698039e-04 9.81257839e-01 5.48359838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.5592541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.51, Y:224.16, Z:54.84 [[-1.54981876e-03 -9.99998799e-01 -1.02839727e-05 4.47508594e+02] [ 9.81312696e-01 -1.51887987e-03 -1.92413838e-01 2.24158965e+02] [ 1.92413591e-01 -3.08298367e-04 9.81313872e-01 5.48408509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.589254154 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:447.51, Y:224.76, Z:54.95 [[-2.52869898e-03 -9.99951019e-01 9.56899810e-03 4.47506833e+02] [ 9.82698929e-01 -4.25696608e-03 -1.85161265e-01 2.24764825e+02] [ 1.85192930e-01 8.93522708e-03 9.82661559e-01 5.49549467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6192541539999 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:447.51, Y:224.26, Z:54.86 [[ 2.49389349e-02 -9.99573415e-01 -1.51999220e-02 4.47506412e+02] [ 9.80695201e-01 2.74120705e-02 -1.93611727e-01 2.24264952e+02] [ 1.93945796e-01 -1.00780203e-02 9.80960479e-01 5.48557161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6492541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:447.50, Y:224.29, Z:54.86 [[ 2.34868009e-02 -9.99709714e-01 -5.37203791e-03 4.47504293e+02] [ 9.80711219e-01 2.40827903e-02 -1.93973000e-01 2.24291175e+02] [ 1.94046066e-01 -7.12612616e-04 9.80992159e-01 5.48635880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.6792541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:447.51, Y:224.32, Z:54.87 [[ 2.12657430e-02 -9.99759660e-01 -5.32835913e-03 4.47506743e+02] [ 9.80713968e-01 2.18957377e-02 -1.94218152e-01 2.24318849e+02] [ 1.94288142e-01 -1.09540291e-03 9.80943891e-01 5.48689840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.709254154 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:447.51, Y:224.35, Z:54.87 [[ 1.59631242e-02 -9.99858683e-01 -5.27182314e-03 4.47511722e+02] [ 9.80821451e-01 1.66830839e-02 -1.94193090e-01 2.24345874e+02] [ 1.94253598e-01 -2.07078880e-03 9.80949159e-01 5.48733312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7392541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:447.51, Y:224.37, Z:54.88 [[ 1.26215147e-02 -9.99906773e-01 -5.20978045e-03 4.47514776e+02] [ 9.80909773e-01 1.33925219e-02 -1.94001694e-01 2.24371996e+02] [ 1.94053380e-01 -2.66172931e-03 9.80987360e-01 5.48781896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7692541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:447.52, Y:224.40, Z:54.88 [[ 8.82079376e-03 -9.99947749e-01 -5.16644633e-03 4.47517838e+02] [ 9.81031518e-01 9.65424512e-03 -1.93607736e-01 2.24399364e+02] [ 1.93647498e-01 -3.36067277e-03 9.81065417e-01 5.48829627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.7992541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:447.52, Y:224.43, Z:54.89 [[ 4.75453202e-03 -9.99975626e-01 -5.11283658e-03 4.47520792e+02] [ 9.81029988e-01 5.65520873e-03 -1.93773531e-01 2.24426710e+02] [ 1.93797722e-01 -4.09454355e-03 9.81032965e-01 5.48882431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.829254154 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:447.53, Y:224.45, Z:54.89 [[-1.89107338e-03 -9.99985340e-01 -5.07388938e-03 4.47526273e+02] [ 9.80904298e-01 -8.68158612e-04 -1.94489088e-01 2.24452827e+02] [ 1.94481832e-01 -5.34479303e-03 9.80891559e-01 5.48917838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8592541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:447.53, Y:224.48, Z:54.90 [[-6.39571495e-03 -9.99966996e-01 -5.01014950e-03 4.47528797e+02] [ 9.81125226e-01 -5.30670742e-03 -1.93300618e-01 2.24479733e+02] [ 1.93267651e-01 -6.15187972e-03 9.81126786e-01 5.48984353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.8892541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.53, Y:224.51, Z:54.90 [[-1.00261404e-02 -9.99937505e-01 -4.94597428e-03 4.47531542e+02] [ 9.81152355e-01 -8.88299777e-03 -1.93031469e-01 2.24507308e+02] [ 1.92975471e-01 -6.78811493e-03 9.81180100e-01 5.49035315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9192541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:447.52, Y:224.55, Z:54.91 [[-8.94266227e-03 -9.98831454e-01 4.74947881e-02 4.47520284e+02] [ 9.83081592e-01 -1.74716506e-02 -1.82333006e-01 2.24546281e+02] [ 1.82949754e-01 4.50607094e-02 9.82089059e-01 5.49073274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.949254154 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:447.57, Y:224.56, Z:54.90 [[-1.85637002e-02 -9.97877058e-01 -6.24240863e-02 4.47566241e+02] [ 9.81520319e-01 -6.29513385e-03 -1.91254370e-01 2.24563183e+02] [ 1.90455380e-01 -6.48208979e-02 9.79553469e-01 5.48988952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 666.9792541539999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:447.54, Y:224.59, Z:54.92 [[-2.06217727e-02 -9.99775796e-01 -4.80629420e-03 4.47540311e+02] [ 9.80930094e-01 -1.93033084e-02 -1.93399932e-01 2.24587972e+02] [ 1.93263794e-01 -8.70288807e-03 9.81108234e-01 5.49186860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0092541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:447.54, Y:224.62, Z:54.92 [[-2.24834754e-02 -9.99735922e-01 -4.75190065e-03 4.47541980e+02] [ 9.80880601e-01 -2.11398899e-02 -1.93458916e-01 2.24615173e+02] [ 1.93307373e-01 -9.01067595e-03 9.81096869e-01 5.49238457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0392541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:447.54, Y:224.64, Z:54.93 [[-2.49666040e-02 -9.99677196e-01 -4.70883799e-03 4.47543696e+02] [ 9.80719964e-01 -2.35793881e-02 -1.93990629e-01 2.24641563e+02] [ 1.93816977e-01 -9.46133865e-03 9.80992081e-01 5.49285848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.069254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.54, Y:224.67, Z:54.93 [[-2.60180357e-02 -9.99650678e-01 -4.64594021e-03 4.47544473e+02] [ 9.80796406e-01 -2.46281343e-02 -1.93473164e-01 2.24669107e+02] [ 1.93291158e-01 -9.59051314e-03 9.81094567e-01 5.49342168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.0992541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:447.55, Y:224.70, Z:54.94 [[-2.68339599e-02 -9.99629355e-01 -4.59251101e-03 4.47545200e+02] [ 9.80765678e-01 -2.54384941e-02 -1.93524077e-01 2.24696867e+02] [ 1.93335522e-01 -9.69719450e-03 9.81084777e-01 5.49397306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1292541539999 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:447.54, Y:224.72, Z:54.95 [[-2.72741147e-02 -9.99626262e-01 -1.85980261e-03 4.47544170e+02] [ 9.80669763e-01 -2.63961834e-02 -1.93881553e-01 2.24722877e+02] [ 1.93760001e-01 -7.11179991e-03 9.81023182e-01 5.49451915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1592541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:447.55, Y:224.75, Z:54.95 [[-2.76185335e-02 -9.99596553e-01 -6.62925222e-03 4.47546802e+02] [ 9.80775519e-01 -2.58157388e-02 -1.93424221e-01 2.24751470e+02] [ 1.93175046e-01 -1.18439016e-02 9.81092821e-01 5.49496627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.1892541539999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:447.55, Y:224.78, Z:54.95 [[-2.70639608e-02 -9.99623775e-01 -4.45549067e-03 4.47545894e+02] [ 9.80592085e-01 -2.56823557e-02 -1.94369700e-01 2.24777744e+02] [ 1.94182146e-01 -9.62943283e-03 9.80918227e-01 5.49542617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2192541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:447.55, Y:224.81, Z:54.96 [[-2.77693658e-02 -9.99604611e-01 -4.41404687e-03 4.47545281e+02] [ 9.80639436e-01 -2.63856824e-02 -1.94036317e-01 2.24805317e+02] [ 1.93843130e-01 -9.71685391e-03 9.80984416e-01 5.49611890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2492541539999 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:447.54, Y:224.83, Z:54.97 [[-2.63757170e-02 -9.99649787e-01 2.15037589e-03 4.47540836e+02] [ 9.80062719e-01 -2.62825616e-02 -1.96942361e-01 2.24829681e+02] [ 1.96929906e-01 -3.08699274e-03 9.80412710e-01 5.49679327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.2792541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:447.54, Y:224.86, Z:54.97 [[-2.44703212e-02 -9.99658824e-01 9.13446056e-03 4.47538940e+02] [ 9.80989022e-01 -2.57708719e-02 -1.92344484e-01 2.24863122e+02] [ 1.92514264e-01 4.25407424e-03 9.81284954e-01 5.49709821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3092541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.55, Y:224.89, Z:54.97 [[-2.67421679e-02 -9.99319186e-01 -2.54169396e-02 4.47552494e+02] [ 9.79832603e-01 -2.11670192e-02 -1.98695816e-01 2.24887335e+02] [ 1.98022540e-01 -3.02179030e-02 9.79731571e-01 5.49735869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.339254154 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:447.54, Y:224.91, Z:54.98 [[-2.55235346e-02 -9.99665213e-01 -4.24405168e-03 4.47541533e+02] [ 9.79595499e-01 -2.41640506e-02 -1.99521319e-01 2.24913183e+02] [ 1.99351968e-01 -9.24994320e-03 9.79884295e-01 5.49839947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3692541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:447.54, Y:224.94, Z:54.99 [[-2.26151534e-02 -9.99735401e-01 -4.20499450e-03 4.47539128e+02] [ 9.79514644e-01 -2.13154990e-02 -2.00241632e-01 2.24940682e+02] [ 2.00099017e-01 -8.64734890e-03 9.79737519e-01 5.49895336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.3992541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:447.54, Y:224.97, Z:55.00 [[-2.11359694e-02 -9.99768005e-01 -4.14804729e-03 4.47537720e+02] [ 9.79522229e-01 -1.98766916e-02 -2.00352490e-01 2.24967804e+02] [ 2.00223559e-01 -8.29774862e-03 9.79715098e-01 5.49952993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4292541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:447.54, Y:225.00, Z:55.00 [[-1.95841631e-02 -9.99799881e-01 -4.08143819e-03 4.47536074e+02] [ 9.79610116e-01 -1.83719630e-02 -2.00066217e-01 2.24995163e+02] [ 1.99951196e-01 -7.91634758e-03 9.79773877e-01 5.50014320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.459254154 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:447.53, Y:225.02, Z:55.01 [[-1.60307495e-02 -9.99863494e-01 -4.00100317e-03 4.47532254e+02] [ 9.79877852e-01 -1.49138520e-02 -1.99040128e-01 2.25021190e+02] [ 1.98953287e-01 -7.11125681e-03 9.79983173e-01 5.50073881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.4892541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:447.53, Y:225.05, Z:55.01 [[-1.46437318e-02 -9.99885027e-01 -3.93636505e-03 4.47530667e+02] [ 9.80005597e-01 -1.35711051e-02 -1.98506562e-01 2.25049002e+02] [ 1.98430318e-01 -6.76453663e-03 9.80091654e-01 5.50133164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5192541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:447.52, Y:225.08, Z:55.02 [[-1.20023650e-02 -9.99836236e-01 1.35441787e-02 4.47521714e+02] [ 9.80967551e-01 -1.43989444e-02 -1.93637122e-01 2.25077254e+02] [ 1.93800433e-01 1.09622963e-02 9.80979725e-01 5.50187853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.5492541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:447.53, Y:225.11, Z:55.02 [[-1.23091168e-02 -9.99918174e-01 -3.48308492e-03 4.47530264e+02] [ 9.81007013e-01 -1.14018092e-02 -1.93636876e-01 2.25106070e+02] [ 1.93581318e-01 -5.80042964e-03 9.81067087e-01 5.50194780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.579254154 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:447.54, Y:225.13, Z:55.02 [[-1.15960954e-02 -9.99713738e-01 -2.09277828e-02 4.47537397e+02] [ 9.80176274e-01 -7.22467588e-03 -1.97995644e-01 2.25132689e+02] [ 1.97787769e-01 -2.28088925e-02 9.79979466e-01 5.50235103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6092541539999 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:447.53, Y:225.16, Z:55.03 [[-1.00473080e-02 -9.99942664e-01 -3.70401858e-03 4.47526374e+02] [ 9.80398360e-01 -9.12188363e-03 -1.96814247e-01 2.25157993e+02] [ 1.96769175e-01 -5.60886710e-03 9.80433798e-01 5.50345451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6392541539999 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:447.53, Y:225.19, Z:55.04 [[-9.29164043e-03 -9.99950126e-01 -3.66211357e-03 4.47525443e+02] [ 9.80421575e-01 -8.38969132e-03 -1.96731159e-01 2.25185632e+02] [ 1.96690623e-01 -5.41837034e-03 9.80450631e-01 5.50400076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.6692541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.52, Y:225.21, Z:55.05 [[-7.94823995e-03 -9.99961935e-01 -3.59925073e-03 4.47523198e+02] [ 9.80476282e-01 -7.08604294e-03 -1.96509664e-01 2.25213248e+02] [ 1.96476679e-01 -5.09088594e-03 9.80495282e-01 5.50456460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.699254154 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:447.51, Y:225.24, Z:55.05 [[-6.63058986e-03 -9.99885418e-01 1.36083417e-02 4.47514626e+02] [ 9.81396405e-01 -9.11803248e-03 -1.91775803e-01 2.25241404e+02] [ 1.91877910e-01 1.20835910e-02 9.81344412e-01 5.50508936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7292541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:447.53, Y:225.27, Z:55.05 [[-7.04711043e-03 -9.99771608e-01 -2.01759892e-02 4.47530237e+02] [ 9.80601344e-01 -2.95677980e-03 -1.95990463e-01 2.25268599e+02] [ 1.95886045e-01 -2.11657685e-02 9.80398219e-01 5.50507947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7592541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:447.52, Y:225.29, Z:55.06 [[-6.50540952e-03 -9.99972882e-01 -3.45182859e-03 4.47522081e+02] [ 9.80417814e-01 -5.69869449e-03 -1.96846224e-01 2.25294014e+02] [ 1.96821215e-01 -4.66479954e-03 9.80428299e-01 5.50604040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.7892541539999 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:447.52, Y:225.32, Z:55.07 [[-5.35168333e-03 -9.99979833e-01 -3.41964796e-03 4.47521730e+02] [ 9.80408209e-01 -4.57351779e-03 -1.96923401e-01 2.25321629e+02] [ 1.96903790e-01 -4.40652262e-03 9.80412913e-01 5.50652146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.819254154 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:447.52, Y:225.35, Z:55.07 [[-4.14867980e-03 -9.99990035e-01 1.64879757e-03 4.47519427e+02] [ 9.80750863e-01 -4.39073324e-03 -1.95213901e-01 2.25349150e+02] [ 1.95219195e-01 8.07179671e-04 9.80759305e-01 5.50712021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8492541539999 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:447.52, Y:225.38, Z:55.07 [[-3.82264676e-03 -9.99961634e-01 -7.88155181e-03 4.47523788e+02] [ 9.80472801e-01 -2.19823781e-03 -1.96642456e-01 2.25376439e+02] [ 1.96617586e-01 -8.47934182e-03 9.80443586e-01 5.50746959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.8792541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:447.52, Y:225.40, Z:55.08 [[-2.61209579e-03 -9.99991441e-01 -3.20865356e-03 4.47522074e+02] [ 9.80710386e-01 -1.93457258e-03 -1.95456890e-01 2.25403675e+02] [ 1.95449010e-01 -3.65731200e-03 9.80707045e-01 5.50820631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9092541539999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:447.52, Y:225.43, Z:55.09 [[-2.60305382e-03 -9.99991654e-01 -3.14888707e-03 4.47522690e+02] [ 9.80635097e-01 -1.93600212e-03 -1.95834261e-01 2.25430230e+02] [ 1.95826531e-01 -3.59767630e-03 9.80631953e-01 5.50862054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9392541539999 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:447.52, Y:225.46, Z:55.10 [[-2.81193580e-03 -9.99991151e-01 -3.12919642e-03 4.47521999e+02] [ 9.80060034e-01 -2.13414427e-03 -1.98690151e-01 2.25456501e+02] [ 1.98681715e-01 -3.62550430e-03 9.80057362e-01 5.50955404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9692541539999 meters Centerline goodness : 0.997195 Centerline is valid? [True, True] Translation: X:447.53, Y:225.48, Z:55.10 [[-6.02921305e-04 -9.99815560e-01 -1.91958978e-02 4.47531079e+02] [ 9.80538950e-01 3.17753249e-03 -1.96298933e-01 2.25482954e+02] [ 1.96323723e-01 -1.89406783e-02 9.80356184e-01 5.50953755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 667.9992541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:447.52, Y:225.51, Z:55.11 [[ 1.36880726e-03 -9.99890543e-01 1.47319005e-02 4.47517639e+02] [ 9.80728316e-01 -1.53591805e-03 -1.95370446e-01 2.25511017e+02] [ 1.95371688e-01 1.47154165e-02 9.80618866e-01 5.51070641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0292541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:447.53, Y:225.54, Z:55.11 [[ 1.76946426e-03 -9.99994196e-01 -2.91163026e-03 4.47526923e+02] [ 9.80775289e-01 2.30359772e-03 -1.95126946e-01 2.25538020e+02] [ 1.95132521e-01 -2.51038485e-03 9.80773673e-01 5.51066898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.0592541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:447.53, Y:225.57, Z:55.11 [[ 2.11875052e-03 -9.99993594e-01 -2.88495913e-03 4.47529169e+02] [ 9.80689544e-01 2.64201629e-03 -1.95553161e-01 2.25565928e+02] [ 1.95559530e-01 -2.41492089e-03 9.80688859e-01 5.51113461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.089254154 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:447.53, Y:225.59, Z:55.12 [[ 1.60703170e-03 -9.99994719e-01 -2.82483349e-03 4.47530865e+02] [ 9.80715751e-01 2.12810398e-03 -1.95427956e-01 2.25592953e+02] [ 1.95432936e-01 -2.45629978e-03 9.80713992e-01 5.51161539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1192541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:447.53, Y:225.62, Z:55.12 [[ 6.83815441e-04 -9.99995925e-01 -2.77172851e-03 4.47532746e+02] [ 9.80643508e-01 1.21328288e-03 -1.95797951e-01 2.25620094e+02] [ 1.95800516e-01 -2.58418790e-03 9.80640342e-01 5.51212361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1492541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:447.54, Y:225.65, Z:55.13 [[-1.88348300e-03 -9.99994533e-01 -2.71773385e-03 4.47536390e+02] [ 9.80579275e-01 -1.31391304e-03 -1.96118740e-01 2.25647600e+02] [ 1.96114097e-01 -3.03433980e-03 9.80576389e-01 5.51259457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.1792541539999 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:447.54, Y:225.68, Z:55.13 [[-3.50404735e-03 -9.99990307e-01 -2.66609477e-03 4.47537732e+02] [ 9.80478560e-01 -2.91150538e-03 -1.96604467e-01 2.25675296e+02] [ 1.96594798e-01 -3.30296012e-03 9.80479258e-01 5.51316526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.209254154 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:447.54, Y:225.70, Z:55.14 [[-5.50836830e-03 -9.99981480e-01 -2.58813052e-03 4.47539683e+02] [ 9.80765546e-01 -4.89749166e-03 -1.95128058e-01 2.25701567e+02] [ 1.95111769e-01 -3.61318645e-03 9.80774359e-01 5.51363401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2392541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:447.54, Y:225.73, Z:55.14 [[-6.05558248e-03 -9.99978430e-01 -2.54369065e-03 4.47540768e+02] [ 9.80462444e-01 -5.43721950e-03 -1.96631212e-01 2.25728784e+02] [ 1.96613140e-01 -3.68470967e-03 9.80474220e-01 5.51422029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2692541539999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:447.54, Y:225.76, Z:55.15 [[-6.45577706e-03 -9.99976102e-01 -2.47370960e-03 4.47541904e+02] [ 9.80548409e-01 -5.84502366e-03 -1.96190348e-01 2.25755183e+02] [ 1.96171201e-01 -3.69215316e-03 9.80562710e-01 5.51470384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.2992541539999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:447.54, Y:225.78, Z:55.15 [[-6.31768237e-03 -9.99977112e-01 -2.42125594e-03 4.47543177e+02] [ 9.80544405e-01 -5.71981458e-03 -1.96214051e-01 2.25782674e+02] [ 1.96195711e-01 -3.61376701e-03 9.80558098e-01 5.51520951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.329254154 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:447.54, Y:225.81, Z:55.16 [[-5.76129628e-03 -9.99980599e-01 -2.36822353e-03 4.47544445e+02] [ 9.80471557e-01 -5.18331242e-03 -1.96592622e-01 2.25809951e+02] [ 1.96576533e-01 -3.45460415e-03 9.80482398e-01 5.51573466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3592541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:447.55, Y:225.84, Z:55.16 [[-3.85220857e-03 -9.99989908e-01 -2.31172355e-03 4.47545940e+02] [ 9.80453961e-01 -3.32218304e-03 -1.96720598e-01 2.25836917e+02] [ 1.96710932e-01 -3.02434728e-03 9.80456864e-01 5.51625025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.3892541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:447.54, Y:225.86, Z:55.17 [[-2.66417630e-03 -9.99983522e-01 5.08514234e-03 4.47542934e+02] [ 9.80098433e-01 -3.62050916e-03 -1.98479104e-01 2.25862624e+02] [ 1.98494244e-01 4.45515671e-03 9.80091928e-01 5.51693652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4192541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:447.55, Y:225.89, Z:55.17 [[-2.01922190e-03 -9.99954920e-01 -9.27800300e-03 4.47550442e+02] [ 9.80643322e-01 -1.63486980e-04 -1.95802573e-01 2.25891938e+02] [ 1.95792229e-01 -9.49378053e-03 9.80599445e-01 5.51710930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.449254154 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:447.55, Y:225.92, Z:55.18 [[ 8.86916277e-04 -9.99997272e-01 -2.16088714e-03 4.47548280e+02] [ 9.80761862e-01 1.29167045e-03 -1.95203746e-01 2.25918427e+02] [ 1.95206004e-01 -1.94618631e-03 9.80760332e-01 5.51780073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.4792541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:447.55, Y:225.95, Z:55.18 [[ 1.69862783e-03 -9.99996350e-01 -2.10125811e-03 4.47548870e+02] [ 9.80908850e-01 2.07481099e-03 -1.94456995e-01 2.25945101e+02] [ 1.94460645e-01 -1.73083261e-03 9.80908794e-01 5.51839440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5092541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.55, Y:225.97, Z:55.19 [[ 3.58230151e-03 -9.99975881e-01 5.95023787e-03 4.47546071e+02] [ 9.80428046e-01 2.34085873e-03 -1.96863827e-01 2.25971204e+02] [ 1.96845150e-01 6.53900567e-03 9.80412785e-01 5.51913473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5392541539999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:447.55, Y:225.99, Z:55.19 [[ 4.53034276e-05 -9.99930920e-01 -1.17538396e-02 4.47549960e+02] [ 9.80416242e-01 2.35917334e-03 -1.96922387e-01 2.25992357e+02] [ 1.96936513e-01 -1.15147340e-02 9.80348622e-01 5.51930373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.569254154 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:447.55, Y:226.03, Z:55.20 [[ 5.63291913e-03 -9.99968021e-01 5.67686589e-03 4.47550269e+02] [ 9.80712711e-01 4.41512902e-03 -1.95404927e-01 2.26026817e+02] [ 1.95373614e-01 6.66807469e-03 9.80706219e-01 5.52016041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.5992541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:447.56, Y:226.05, Z:55.20 [[ 5.91612824e-03 -9.99980512e-01 -1.99359159e-03 4.47555401e+02] [ 9.80710166e-01 6.19161472e-03 -1.95369481e-01 2.26054555e+02] [ 1.95378017e-01 -7.99304634e-04 9.80727685e-01 5.52048078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6292541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:447.56, Y:226.08, Z:55.21 [[ 5.82544517e-03 -9.99981155e-01 -1.93775422e-03 4.47558549e+02] [ 9.80667563e-01 6.09193820e-03 -1.95586346e-01 2.26081992e+02] [ 1.95594465e-01 -7.60915173e-04 9.80684570e-01 5.52102130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6592541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.56, Y:226.11, Z:55.22 [[ 5.23573934e-03 -9.99984528e-01 -1.87891096e-03 4.47560460e+02] [ 9.80667189e-01 5.50212861e-03 -1.95605702e-01 2.26109683e+02] [ 1.95613013e-01 -8.18445865e-04 9.80680824e-01 5.52153457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.6892541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:447.56, Y:226.14, Z:55.22 [[ 4.17255411e-03 -9.99989622e-01 -1.82913556e-03 4.47562560e+02] [ 9.80469483e-01 4.45075447e-03 -1.96620916e-01 2.26135867e+02] [ 1.96627017e-01 -9.73000184e-04 9.80477878e-01 5.52206397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7192541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.56, Y:226.16, Z:55.22 [[ 3.25662933e-03 -9.99993074e-01 -1.80177024e-03 4.47564999e+02] [ 9.80157879e-01 3.54912224e-03 -1.98186618e-01 2.26163209e+02] [ 1.98191640e-01 -1.12059895e-03 9.80162649e-01 5.52245095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7492541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:447.57, Y:226.19, Z:55.23 [[-5.66528315e-04 -9.99998316e-01 -1.74550341e-03 4.47568413e+02] [ 9.80148781e-01 -2.09213173e-04 -1.98263270e-01 2.26190126e+02] [ 1.98262571e-01 -1.82317479e-03 9.80147249e-01 5.52301240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.7792541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:447.57, Y:226.22, Z:55.24 [[-2.13054070e-03 -9.99997545e-01 6.08485429e-04 4.47568588e+02] [ 9.79946606e-01 -2.20906106e-03 -1.99248011e-01 2.26215529e+02] [ 1.99248866e-01 1.71777236e-04 9.79948907e-01 5.52359338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8092541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:447.57, Y:226.24, Z:55.24 [[-4.86734473e-03 -9.99982341e-01 -3.40977348e-03 4.47572309e+02] [ 9.80113415e-01 -4.09413709e-03 -1.98395898e-01 2.26244572e+02] [ 1.98378434e-01 -4.30762596e-03 9.80116035e-01 5.52401537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.839254154 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:447.58, Y:226.26, Z:55.25 [[-1.04056702e-02 -9.99224261e-01 -3.79815501e-02 4.47584675e+02] [ 9.78217090e-01 -2.29688779e-03 -2.07571793e-01 2.26264217e+02] [ 2.07323532e-01 -3.93141250e-02 9.77482149e-01 5.52498055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8692541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:447.56, Y:226.30, Z:55.26 [[-1.19750010e-02 -9.99189245e-01 3.84376426e-02 4.47557939e+02] [ 9.80263137e-01 -1.93169659e-02 -1.96751205e-01 2.26297313e+02] [ 1.97334186e-01 3.53229083e-02 9.79699705e-01 5.52628832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.8992541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.59, Y:226.32, Z:55.26 [[-1.62204867e-02 -9.99302455e-01 -3.36377524e-02 4.47590561e+02] [ 9.78899834e-01 -9.01765702e-03 -2.04141609e-01 2.26321077e+02] [ 2.03695877e-01 -3.62392665e-02 9.78363279e-01 5.52609478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9292541539999 meters Centerline goodness : 0.996718 Centerline is valid? [True, True] Translation: X:447.57, Y:226.35, Z:55.28 [[-1.88989575e-02 -9.99765006e-01 1.06189980e-02 4.47570413e+02] [ 9.79284222e-01 -2.06513384e-02 -2.01434692e-01 2.26347460e+02] [ 2.01606652e-01 6.59211154e-03 9.79444384e-01 5.52752687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.959254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.57, Y:226.38, Z:55.28 [[-2.29395986e-02 -9.99560937e-01 1.87538951e-02 4.47571673e+02] [ 9.80062541e-01 -2.61874299e-02 -1.96955919e-01 2.26379162e+02] [ 1.97360560e-01 1.38619003e-02 9.80232961e-01 5.52796394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 668.9892541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.58, Y:226.41, Z:55.28 [[-2.50777757e-02 -9.99684956e-01 -1.04563379e-03 4.47582604e+02] [ 9.80211965e-01 -2.43838101e-02 -1.96443209e-01 2.26407697e+02] [ 1.96355824e-01 -5.95130147e-03 9.80514647e-01 5.52803112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0192541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.58, Y:226.44, Z:55.29 [[-2.70095874e-02 -9.99634687e-01 -9.87126284e-04 4.47584185e+02] [ 9.80150159e-01 -2.62890791e-02 -1.96505852e-01 2.26435523e+02] [ 1.96408116e-01 -6.27507399e-03 9.80502155e-01 5.52858203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.0492541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.59, Y:226.46, Z:55.29 [[-3.08823167e-02 -9.99522589e-01 -9.36132932e-04 4.47587428e+02] [ 9.79723439e-01 -3.00850605e-02 -1.98082993e-01 2.26462476e+02] [ 1.97960262e-01 -7.03441311e-03 9.80184805e-01 5.52898893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.079254154 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.59, Y:226.49, Z:55.30 [[-3.32144524e-02 -9.99447848e-01 -8.93807753e-04 4.47588934e+02] [ 9.79734701e-01 -3.23825576e-02 -1.97664577e-01 2.26490188e+02] [ 1.97526492e-01 -7.44101516e-03 9.80269308e-01 5.52954188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1092541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.60, Y:226.52, Z:55.30 [[-3.52896980e-02 -9.99096492e-01 -2.36819967e-02 4.47600815e+02] [ 9.78629169e-01 -2.97438133e-02 -2.03470527e-01 2.26516556e+02] [ 2.02582297e-01 -3.03563061e-02 9.78794620e-01 5.53029696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1392541539999 meters Centerline goodness : 0.997285 Centerline is valid? [True, True] Translation: X:447.59, Y:226.54, Z:55.32 [[-3.62133563e-02 -9.99259095e-01 1.30328311e-02 4.47585039e+02] [ 9.78129869e-01 -3.81144680e-02 -2.04473094e-01 2.26541025e+02] [ 2.04818338e-01 5.34314435e-03 9.78785420e-01 5.53157042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.1692541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.59, Y:226.57, Z:55.32 [[-4.05687085e-02 -9.99143707e-01 8.12610145e-03 4.47587687e+02] [ 9.78280231e-01 -4.13735328e-02 -2.03115781e-01 2.26570108e+02] [ 2.03278060e-01 -2.90540524e-04 9.79121007e-01 5.53171804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.199254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.60, Y:226.60, Z:55.32 [[-4.31328748e-02 -9.98971232e-01 -1.40011734e-02 4.47600212e+02] [ 9.77831849e-01 -3.93376394e-02 -2.05663378e-01 2.26597982e+02] [ 2.04901025e-01 -2.25616461e-02 9.78522632e-01 5.53214276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2292541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.59, Y:226.62, Z:55.33 [[-4.46653400e-02 -9.98918846e-01 1.28897912e-02 4.47587220e+02] [ 9.77867516e-01 -4.63567427e-02 -2.04024933e-01 2.26624557e+02] [ 2.04401879e-01 3.49166514e-03 9.78880830e-01 5.53292607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2592541539999 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:447.59, Y:226.65, Z:55.33 [[-4.52639395e-02 -9.98975011e-01 -3.21668947e-04 4.47593563e+02] [ 9.77844111e-01 -4.42406073e-02 -2.04606118e-01 2.26651834e+02] [ 2.04382168e-01 -9.57582103e-03 9.78844335e-01 5.53328438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.2892541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.59, Y:226.68, Z:55.34 [[-4.46896565e-02 -9.99000886e-01 -2.53140059e-04 4.47593507e+02] [ 9.77474059e-01 -4.36743453e-02 -2.06487327e-01 2.26677723e+02] [ 2.06269967e-01 -9.47528557e-03 9.78449242e-01 5.53388841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.319254154 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:447.60, Y:226.71, Z:55.34 [[-4.45796886e-02 -9.98941416e-01 -1.13445533e-02 4.47597851e+02] [ 9.77485270e-01 -4.12721745e-02 -2.06927896e-01 2.26706137e+02] [ 2.06240631e-01 -2.03139149e-02 9.78290421e-01 5.53428540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3492541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.59, Y:226.73, Z:55.35 [[-4.43016690e-02 -9.98958060e-01 1.09616242e-02 4.47585173e+02] [ 9.77327113e-01 -4.56112152e-02 -2.06763953e-01 2.26731006e+02] [ 2.07048490e-01 1.55310427e-03 9.78329449e-01 5.53496159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.3792541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.59, Y:226.73, Z:55.35 [[-4.18401785e-02 -9.99124316e-01 3.28007878e-07 4.47587937e+02] [ 9.77623669e-01 -4.09398668e-02 -2.06339258e-01 2.26730835e+02] [ 2.06158583e-01 -8.63295070e-03 9.78480511e-01 5.53472224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4092541539999 meters Centerline goodness : 0.997311 Centerline is valid? [True, True] Translation: X:447.58, Y:226.76, Z:55.35 [[-3.99215201e-02 -9.99181464e-01 6.53260419e-03 4.47583915e+02] [ 9.78224617e-01 -4.04151768e-02 -2.03576061e-01 2.26758799e+02] [ 2.03673443e-01 -1.73671158e-03 9.79037340e-01 5.53524424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4392541539999 meters Centerline goodness : 0.997311 Centerline is valid? [True, True] Translation: X:447.59, Y:226.79, Z:55.36 [[-4.03760890e-02 -9.99184543e-01 -1.44376197e-04 4.47586872e+02] [ 9.78238005e-01 -3.95002274e-02 -2.03691281e-01 2.26786172e+02] [ 2.03519477e-01 -8.36549158e-03 9.79035158e-01 5.53563549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4692541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:448.34, Y:226.31, Z:55.54 [[-1.45954104e-02 1.48148794e-01 -9.88857375e-01 4.48342564e+02] [ 9.74184639e-01 2.24924581e-01 1.93189446e-02 2.26313328e+02] [ 2.25280410e-01 -9.63047697e-01 -1.47607146e-01 5.55372727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.4992541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.59, Y:226.39, Z:55.24 [[-4.64562517e-02 -9.98915862e-01 2.98624478e-03 4.47588767e+02] [ 9.61039890e-01 -4.55098122e-02 -2.72637463e-01 2.26387894e+02] [ 2.72477790e-01 -9.79581427e-03 9.62112205e-01 5.52389175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5292541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.59, Y:226.38, Z:55.24 [[-4.09926323e-02 -9.99155358e-01 2.85915830e-03 4.47585882e+02] [ 9.61663533e-01 -4.02306899e-02 -2.71265076e-01 2.26382763e+02] [ 2.71150980e-01 -8.37032126e-03 9.62500433e-01 5.52373808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.5592541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.58, Y:226.38, Z:55.24 [[-3.80546070e-02 -9.99271894e-01 2.74395311e-03 4.47584445e+02] [ 9.61865430e-01 -3.73741184e-02 -2.70957690e-01 2.26384071e+02] [ 2.70862956e-01 -7.67187475e-03 9.62587347e-01 5.52376250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.589254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.58, Y:226.38, Z:55.24 [[-3.44078501e-02 -9.99404412e-01 2.63065988e-03 4.47583587e+02] [ 9.62044427e-01 -3.38343810e-02 -2.70787287e-01 2.26383522e+02] [ 2.70715016e-01 -6.78639671e-03 9.62635614e-01 5.52369971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6192541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.58, Y:226.38, Z:55.24 [[-3.19030065e-02 -9.99487815e-01 2.51109357e-03 4.47582249e+02] [ 9.62384041e-01 -3.13967005e-02 -2.69872570e-01 2.26383314e+02] [ 2.69813186e-01 -6.19310998e-03 9.62892772e-01 5.52372371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6492541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.58, Y:226.39, Z:55.24 [[-2.68439734e-02 -9.99636777e-01 2.39064857e-03 4.47581259e+02] [ 9.62849026e-01 -2.64987743e-02 -2.68736987e-01 2.26385340e+02] [ 2.68702724e-01 -4.91213488e-03 9.63210630e-01 5.52369230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.6792541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.58, Y:226.39, Z:55.24 [[-2.47325339e-02 -9.99691512e-01 2.27657452e-03 4.47580744e+02] [ 9.63037121e-01 -2.44365960e-02 -2.68258003e-01 2.26386194e+02] [ 2.68230880e-01 -4.44227440e-03 9.63344415e-01 5.52369724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.709254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.58, Y:226.39, Z:55.24 [[-2.28903393e-02 -9.99735639e-01 2.16457859e-03 4.47580279e+02] [ 9.63157427e-01 -2.26330564e-02 -2.67984172e-01 2.26391733e+02] [ 2.67962319e-01 -4.04941869e-03 9.63420883e-01 5.52381930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7392541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.58, Y:226.39, Z:55.24 [[-2.07096870e-02 -9.99783420e-01 2.05491270e-03 4.47580209e+02] [ 9.63197919e-01 -2.05027052e-02 -2.68010089e-01 2.26389392e+02] [ 2.67994175e-01 -3.57111741e-03 9.63413914e-01 5.52364340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7692541539999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:447.58, Y:226.39, Z:55.24 [[-2.03451639e-02 -9.99791122e-01 1.94586377e-03 4.47580465e+02] [ 9.63178267e-01 -2.01219274e-02 -2.68109558e-01 2.26391021e+02] [ 2.68092710e-01 -3.58051921e-03 9.63386464e-01 5.52363685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.7992541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.58, Y:226.39, Z:55.24 [[-1.98848018e-02 -9.99800589e-01 1.83759198e-03 4.47580860e+02] [ 9.63133693e-01 -1.96486753e-02 -2.68304714e-01 2.26393851e+02] [ 2.68287317e-01 -3.56533931e-03 9.63332343e-01 5.52364255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.829254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.58, Y:226.40, Z:55.24 [[-1.95365105e-02 -9.99807649e-01 1.72912825e-03 4.47580944e+02] [ 9.63089820e-01 -1.92833749e-02 -2.68488639e-01 2.26399007e+02] [ 2.68470339e-01 -3.58002531e-03 9.63281299e-01 5.52374244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8592541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:447.58, Y:226.40, Z:55.24 [[-1.86414648e-02 -9.99824912e-01 1.62491233e-03 4.47581563e+02] [ 9.62831290e-01 -1.83896815e-02 -2.69476766e-01 2.26400694e+02] [ 2.69459466e-01 -3.45892521e-03 9.63005520e-01 5.52369510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.8892541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.58, Y:226.40, Z:55.24 [[-1.80247457e-02 -9.99836398e-01 1.51179813e-03 4.47581910e+02] [ 9.62998169e-01 -1.77672591e-02 -2.68921645e-01 2.26401214e+02] [ 2.68904509e-01 -3.39138541e-03 9.63160871e-01 5.52365046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9192541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.58, Y:226.41, Z:55.24 [[-1.72114455e-02 -9.99850892e-01 1.40020437e-03 4.47582311e+02] [ 9.63113295e-01 -1.69551412e-02 -2.68561547e-01 2.26406866e+02] [ 2.68545243e-01 -3.27377697e-03 9.63261509e-01 5.52375141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.949254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.58, Y:226.41, Z:55.24 [[-1.59394391e-02 -9.99872127e-01 1.28994197e-03 4.47583205e+02] [ 9.63167019e-01 -1.57006284e-02 -2.68445124e-01 2.26406034e+02] [ 2.68431050e-01 -3.03643513e-03 9.63294115e-01 5.52362749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 669.9792541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:447.58, Y:226.41, Z:55.24 [[-1.65607721e-02 -9.99862172e-01 1.17391006e-03 4.47584098e+02] [ 9.63600434e-01 -1.62734690e-02 -2.66850852e-01 2.26408662e+02] [ 2.66833176e-01 -3.28807590e-03 9.63737124e-01 5.52368877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0092541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.59, Y:226.41, Z:55.24 [[-1.66718320e-02 -9.99860451e-01 1.06226484e-03 4.47585322e+02] [ 9.63814777e-01 -1.63534777e-02 -2.66070742e-01 2.26412211e+02] [ 2.66050984e-01 -3.41206015e-03 9.63952920e-01 5.52375146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0392541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.59, Y:226.41, Z:55.24 [[-1.74497017e-02 -9.99847289e-01 9.51886489e-04 4.47586476e+02] [ 9.63957988e-01 -1.70761185e-02 -2.65505939e-01 2.26414933e+02] [ 2.65481648e-01 -3.71542085e-03 9.64108754e-01 5.52380966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.069254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.59, Y:226.42, Z:55.24 [[-2.02266101e-02 -9.99795068e-01 8.40763120e-04 4.47589448e+02] [ 9.64174925e-01 -1.97284425e-02 -2.64532613e-01 2.26421193e+02] [ 2.64494988e-01 -4.53995530e-03 9.64376374e-01 5.52389603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.0992541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.59, Y:226.42, Z:55.24 [[-2.14987725e-02 -9.99768606e-01 7.32497215e-04 4.47590902e+02] [ 9.64162237e-01 -2.09268828e-02 -2.64486760e-01 2.26424751e+02] [ 2.64440888e-01 -4.97989453e-03 9.64389038e-01 5.52397938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1292541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.59, Y:226.43, Z:55.24 [[-2.23114895e-02 -9.99750873e-01 6.23565221e-04 4.47592368e+02] [ 9.64228394e-01 -2.16835099e-02 -2.64184460e-01 2.26427404e+02] [ 2.64132166e-01 -5.29308953e-03 9.64471971e-01 5.52388440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1592541539999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:447.59, Y:226.43, Z:55.24 [[-2.36486041e-02 -9.99720200e-01 5.15280271e-04 4.47593436e+02] [ 9.64204465e-01 -2.29446287e-02 -2.64165277e-01 2.26431307e+02] [ 2.64103186e-01 -5.75030451e-03 9.64477289e-01 5.52407694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.1892541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.60, Y:226.44, Z:55.24 [[-2.47711350e-02 -9.99693066e-01 4.05722733e-04 4.47596228e+02] [ 9.64486169e-01 -2.40055066e-02 -2.63040237e-01 2.26435626e+02] [ 2.62969240e-01 -6.12449124e-03 9.64784779e-01 5.52412356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2192541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.60, Y:226.44, Z:55.24 [[-2.45841520e-02 -9.99697720e-01 2.97621041e-04 4.47597645e+02] [ 9.64547799e-01 -2.37980080e-02 -2.62833023e-01 2.26438795e+02] [ 2.62760656e-01 -6.17445725e-03 9.64841289e-01 5.52417266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2492541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.60, Y:226.44, Z:55.24 [[-2.40611655e-02 -9.99710470e-01 1.89538317e-04 4.47598951e+02] [ 9.64651658e-01 -2.32671334e-02 -2.62499181e-01 2.26441863e+02] [ 2.62427589e-01 -6.13319777e-03 9.64932197e-01 5.52423940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.2792541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.60, Y:226.44, Z:55.24 [[-2.29525352e-02 -9.99736553e-01 8.15992335e-05 4.47600523e+02] [ 9.64518609e-01 -2.21654541e-02 -2.63082775e-01 2.26442633e+02] [ 2.63015275e-01 -5.95971268e-03 9.64773262e-01 5.52420289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3092541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.60, Y:226.47, Z:55.25 [[-2.29829838e-02 -9.99735856e-01 -2.66869569e-05 4.47600823e+02] [ 9.64337844e-01 -2.21621764e-02 -2.63744879e-01 2.26468610e+02] [ 2.63674621e-01 -6.08737952e-03 9.64592472e-01 5.52486118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.339254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.60, Y:226.47, Z:55.25 [[-2.20897026e-02 -9.99755991e-01 5.33079323e-05 4.47601296e+02] [ 9.64199213e-01 -2.13181661e-02 -2.64320664e-01 2.26469034e+02] [ 2.64257304e-01 -5.78736539e-03 9.64434852e-01 5.52484308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3692541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.60, Y:226.50, Z:55.26 [[-2.13259662e-02 -9.99772574e-01 -5.46371077e-05 4.47602354e+02] [ 9.63934803e-01 -2.05470164e-02 -2.65344145e-01 2.26496473e+02] [ 2.65282676e-01 -5.71138688e-03 9.64153765e-01 5.52553316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.3992541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.60, Y:226.50, Z:55.26 [[-2.01430771e-02 -9.99797107e-01 1.91194473e-05 4.47602939e+02] [ 9.63925837e-01 -1.94254492e-02 -2.65461170e-01 2.26498189e+02] [ 2.65407681e-01 -5.32877509e-03 9.64121552e-01 5.52556593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4292541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.60, Y:226.53, Z:55.26 [[-1.94843264e-02 -9.99810159e-01 -8.84063229e-05 4.47603539e+02] [ 9.63948005e-01 -1.87619738e-02 -2.65428393e-01 2.26525531e+02] [ 2.65376345e-01 -5.25691253e-03 9.64130572e-01 5.52625616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.459254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.60, Y:226.55, Z:55.27 [[-1.90438416e-02 -9.99818650e-01 -7.15399709e-06 4.47603622e+02] [ 9.63848960e-01 -1.83568143e-02 -2.65816120e-01 2.26552368e+02] [ 2.65767783e-01 -5.06905546e-03 9.64023750e-01 5.52699097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.4892541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.60, Y:226.55, Z:55.27 [[-1.75441647e-02 -9.99846087e-01 7.19899788e-05 4.47603050e+02] [ 9.63603159e-01 -1.69274248e-02 -2.66800328e-01 2.26554576e+02] [ 2.66760482e-01 -4.61141911e-03 9.63751825e-01 5.52706366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5192541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.60, Y:226.58, Z:55.28 [[-1.73489963e-02 -9.99849494e-01 -3.50340588e-05 4.47602855e+02] [ 9.63609945e-01 -1.67108337e-02 -2.66789473e-01 2.26581362e+02] [ 2.66748734e-01 -4.66228874e-03 9.63754832e-01 5.52778893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.5492541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.60, Y:226.59, Z:55.28 [[-1.72690185e-02 -9.99850879e-01 4.27037409e-05 4.47602514e+02] [ 9.63496109e-01 -1.66525260e-02 -2.67203934e-01 2.26585373e+02] [ 2.67164799e-01 -4.57320479e-03 9.63640003e-01 5.52792058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.579254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.60, Y:226.61, Z:55.29 [[-1.81476240e-02 -9.99835316e-01 -6.41876732e-05 4.47603009e+02] [ 9.63441850e-01 -1.74698971e-02 -2.67347347e-01 2.26611822e+02] [ 2.67302198e-01 -4.91356023e-03 9.63600224e-01 5.52865817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6092541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.60, Y:226.62, Z:55.29 [[-2.10354021e-02 -9.99778731e-01 1.36824309e-05 4.47604268e+02] [ 9.63521084e-01 -2.02761913e-02 -2.66863254e-01 2.26616885e+02] [ 2.66804483e-01 -5.60039253e-03 9.63734405e-01 5.52879231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6392541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.60, Y:226.64, Z:55.30 [[-2.38617234e-02 -9.99715264e-01 -9.36515210e-05 4.47604922e+02] [ 9.63488185e-01 -2.29720467e-02 -2.66763571e-01 2.26642810e+02] [ 2.66685463e-01 -6.45567068e-03 9.63761998e-01 5.52950758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.6692541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.61, Y:226.67, Z:55.30 [[-3.03088840e-02 -9.99540580e-01 -3.53986342e-05 4.47606333e+02] [ 9.63378949e-01 -2.92029218e-02 -2.66548664e-01 2.26668793e+02] [ 2.66425173e-01 -8.11289484e-03 9.63821461e-01 5.53021676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.699254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.62, Y:226.73, Z:55.32 [[-3.62458506e-02 -9.99096120e-01 -2.22076740e-02 4.47615932e+02] [ 9.59354613e-01 -2.85635471e-02 -2.80754073e-01 2.26725329e+02] [ 2.79865975e-01 -3.14812047e-02 9.59522782e-01 5.53207466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7292541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.60, Y:226.67, Z:55.31 [[-3.72383195e-02 -9.99029995e-01 2.35026811e-02 4.47595938e+02] [ 9.62946730e-01 -4.21599617e-02 -2.66375923e-01 2.26673859e+02] [ 2.67108409e-01 1.27124382e-02 9.63582634e-01 5.53088982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7592541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.61, Y:226.70, Z:55.31 [[-4.11348742e-02 -9.99153600e-01 -7.05941611e-05 4.47608427e+02] [ 9.62826153e-01 -3.96204046e-02 -2.67200341e-01 2.26702356e+02] [ 2.66971386e-01 -1.10592223e-02 9.63640998e-01 5.53104017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.7892541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.61, Y:226.71, Z:55.31 [[-4.76873415e-02 -9.98862312e-01 3.58633924e-06 4.47609784e+02] [ 9.62469383e-01 -4.59508432e-02 -2.67471879e-01 2.26714255e+02] [ 2.67167744e-01 -1.27515711e-02 9.63565667e-01 5.53134041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8192541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.61, Y:226.74, Z:55.32 [[-5.15509624e-02 -9.98670360e-01 -1.04733955e-04 4.47609630e+02] [ 9.62395159e-01 -4.96504418e-02 -2.67077502e-01 2.26740598e+02] [ 2.66717185e-01 -1.38688977e-02 9.63675047e-01 5.53221603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8492541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.61, Y:226.77, Z:55.33 [[-5.44232618e-02 -9.98517956e-01 -2.70395766e-05 4.47609564e+02] [ 9.62324188e-01 -5.24433305e-02 -2.66799276e-01 2.26766229e+02] [ 2.66402449e-01 -1.45461077e-02 9.63752118e-01 5.53290533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.8792541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.61, Y:226.77, Z:55.33 [[-5.61914623e-02 -9.98420010e-01 5.24661190e-05 4.47609473e+02] [ 9.62181425e-01 -5.41659698e-02 -2.66969949e-01 2.26766457e+02] [ 2.66550981e-01 -1.49509499e-02 9.63704853e-01 5.53292649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9092541539999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:447.61, Y:226.79, Z:55.34 [[-5.90433858e-02 -9.98255416e-01 -5.70587900e-05 4.47608715e+02] [ 9.62043561e-01 -5.68863230e-02 -2.66900980e-01 2.26793449e+02] [ 2.66432103e-01 -1.58136306e-02 9.63723956e-01 5.53364988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9392541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.61, Y:226.80, Z:55.34 [[-5.89165722e-02 -9.98262910e-01 1.85462912e-05 4.47608122e+02] [ 9.61881478e-01 -5.67743430e-02 -2.67508310e-01 2.26796695e+02] [ 2.67044677e-01 -1.57428333e-02 9.63555553e-01 5.53367613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9692541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.61, Y:226.82, Z:55.34 [[-5.96154201e-02 -9.98221415e-01 -9.07035113e-05 4.47606998e+02] [ 9.62003712e-01 -5.74281849e-02 -2.66928570e-01 2.26823075e+02] [ 2.66448606e-01 -1.60003160e-02 9.63716312e-01 5.53445942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 670.9992541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.60, Y:226.85, Z:55.35 [[-5.88779239e-02 -9.98265190e-01 -8.92663056e-06 4.47604560e+02] [ 9.61963786e-01 -5.67344687e-02 -2.67220647e-01 2.26849227e+02] [ 2.66756564e-01 -1.57419840e-02 9.63635370e-01 5.53522312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0292541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:447.60, Y:226.85, Z:55.35 [[-5.73483778e-02 -9.98354225e-01 7.44490324e-05 4.47602896e+02] [ 9.61966874e-01 -5.52781313e-02 -2.67514602e-01 2.26849984e+02] [ 2.67078449e-01 -1.52699110e-02 9.63553803e-01 5.53520963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.0592541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.60, Y:226.88, Z:55.36 [[-5.66154028e-02 -9.98396061e-01 -3.51245115e-05 4.47601274e+02] [ 9.61791353e-01 -5.45302442e-02 -2.68298053e-01 2.26875790e+02] [ 2.67865804e-01 -1.52235848e-02 9.63335951e-01 5.53600644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.089254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.60, Y:226.88, Z:55.36 [[-5.44807789e-02 -9.98514819e-01 2.10293326e-05 4.47599657e+02] [ 9.61583988e-01 -5.24714405e-02 -2.69449405e-01 2.26878920e+02] [ 2.69050328e-01 -1.46595920e-02 9.63014547e-01 5.53590841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1192541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.60, Y:226.91, Z:55.37 [[-5.23263621e-02 -9.98630034e-01 -8.75744376e-05 4.47595352e+02] [ 9.61769263e-01 -5.03713197e-02 -2.69188809e-01 2.26905689e+02] [ 2.68815618e-01 -1.41698975e-02 9.63087419e-01 5.53684232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1492541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:447.60, Y:226.94, Z:55.38 [[-4.89068823e-02 -9.98803052e-01 -7.62145451e-04 4.47595725e+02] [ 9.62069999e-01 -4.69031656e-02 -2.68740413e-01 2.26936794e+02] [ 2.68382997e-01 -1.38764930e-02 9.63212339e-01 5.53763701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.1792541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.59, Y:226.96, Z:55.38 [[-5.15648339e-02 -9.98669286e-01 -8.51674954e-04 4.47592107e+02] [ 9.61955355e-01 -4.94400169e-02 -2.68696074e-01 2.26962591e+02] [ 2.68296409e-01 -1.46745417e-02 9.63224634e-01 5.53845714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.209254154 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.59, Y:226.96, Z:55.38 [[-4.99189075e-02 -9.98753025e-01 7.04981297e-04 4.47589426e+02] [ 9.62064595e-01 -4.82747101e-02 -2.68516791e-01 2.26959435e+02] [ 2.68215990e-01 -1.27258273e-02 9.63274746e-01 5.53844096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2392541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:447.59, Y:226.96, Z:55.38 [[-4.63625119e-02 -9.98924505e-01 5.92167430e-04 4.47585278e+02] [ 9.62364082e-01 -4.48245502e-02 -2.68041289e-01 2.26960905e+02] [ 2.67779556e-01 -1.18571868e-02 9.63407243e-01 5.53849607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2692541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.58, Y:226.96, Z:55.39 [[-4.43518116e-02 -9.99015858e-01 4.81182118e-04 4.47582729e+02] [ 9.62356391e-01 -4.28535683e-02 -2.68391037e-01 2.26960757e+02] [ 2.68147522e-01 -1.14405600e-02 9.63309929e-01 5.53851633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.2992541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.58, Y:226.97, Z:55.39 [[-4.20388093e-02 -9.99115910e-01 3.70236575e-04 4.47580355e+02] [ 9.62311135e-01 -4.05898578e-02 -2.68904709e-01 2.26965362e+02] [ 2.68682001e-01 -1.09481510e-02 9.63166715e-01 5.53862354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.329254154 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:447.58, Y:226.97, Z:55.39 [[-3.71544902e-02 -9.99309500e-01 2.59246672e-04 4.47575876e+02] [ 9.62162649e-01 -3.58434372e-02 -2.70107912e-01 2.26965992e+02] [ 2.69930695e-01 -9.78628431e-03 9.62830021e-01 5.53859189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3592541539999 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:447.58, Y:226.97, Z:55.39 [[-3.67553159e-02 -9.99324284e-01 1.47092827e-04 4.47575854e+02] [ 9.62177988e-01 -3.54288266e-02 -2.70107975e-01 2.26968527e+02] [ 2.69930670e-01 -9.78637447e-03 9.62830027e-01 5.53865822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.3892541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.57, Y:226.97, Z:55.39 [[-3.36628199e-02 -9.99433246e-01 3.48306859e-05 4.47573398e+02] [ 9.62071609e-01 -3.24138484e-02 -2.70864470e-01 2.26966182e+02] [ 2.70712085e-01 -9.08455226e-03 9.62617493e-01 5.53865166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4192541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.57, Y:226.99, Z:55.39 [[-3.15487170e-02 -9.99502213e-01 -7.26304403e-05 4.47570842e+02] [ 9.61904852e-01 -3.03422346e-02 -2.71695427e-01 2.26991798e+02] [ 2.71557977e-01 -8.64150573e-03 9.62383286e-01 5.53937380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.449254154 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:447.57, Y:227.02, Z:55.40 [[-2.98523464e-02 -9.99554319e-01 -1.34404154e-05 4.47568449e+02] [ 9.61823327e-01 -2.87218259e-02 -2.72159779e-01 2.27017677e+02] [ 2.72038096e-01 -8.13753529e-03 9.62252074e-01 5.54011595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.4792541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.56, Y:227.02, Z:55.40 [[-2.63264039e-02 -9.99653399e-01 3.92618891e-05 4.47563999e+02] [ 9.61817772e-01 -2.53406857e-02 -2.72514998e-01 2.27015694e+02] [ 2.72421539e-01 -7.13657712e-03 9.62151534e-01 5.54014393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5092541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:447.56, Y:227.04, Z:55.41 [[-2.57003767e-02 -9.99669689e-01 -6.65326735e-05 4.47561709e+02] [ 9.61695813e-01 -2.47059416e-02 -2.73003261e-01 2.27042165e+02] [ 2.72911442e-01 -7.08027084e-03 9.62013105e-01 5.54091914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5392541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.56, Y:227.04, Z:55.41 [[-2.45713434e-02 -9.99698079e-01 8.21714540e-06 4.47559680e+02] [ 9.61681735e-01 -2.36391938e-02 -2.73147268e-01 2.27041500e+02] [ 2.73064993e-01 -6.70369303e-03 9.61972229e-01 5.54091538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5692541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:447.56, Y:227.07, Z:55.42 [[-2.46607239e-02 -9.99695873e-01 -9.72773058e-05 4.47556717e+02] [ 9.61564015e-01 -2.36934596e-02 -2.73556696e-01 2.27068364e+02] [ 2.73471195e-01 -6.83964450e-03 9.61855875e-01 5.54163785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.5992541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.56, Y:227.10, Z:55.42 [[-2.49693943e-02 -9.99688216e-01 -1.76138317e-05 4.47555501e+02] [ 9.61463078e-01 -2.40098125e-02 -2.73883697e-01 2.27095684e+02] [ 2.73797882e-01 -6.85564508e-03 9.61762819e-01 5.54239469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6292541539999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:447.55, Y:227.10, Z:55.42 [[-2.49085761e-02 -9.99689732e-01 5.51542872e-05 4.47554193e+02] [ 9.61516680e-01 -2.39725449e-02 -2.73698723e-01 2.27098953e+02] [ 2.73615125e-01 -6.76441369e-03 9.61815474e-01 5.54248404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6592541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:447.55, Y:227.13, Z:55.43 [[-2.56296468e-02 -9.99671505e-01 -5.01419476e-05 4.47553069e+02] [ 9.61554903e-01 -2.46386921e-02 -2.73505217e-01 2.27126277e+02] [ 2.73414136e-01 -7.05805633e-03 9.61870518e-01 5.54322825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.6892541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.55, Y:227.13, Z:55.43 [[-2.64192030e-02 -9.99650952e-01 2.22048258e-05 4.47551423e+02] [ 9.61755069e-01 -2.54237324e-02 -2.72728475e-01 2.27130775e+02] [ 2.72633844e-01 -7.18391332e-03 9.62091045e-01 5.54336711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7192541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.55, Y:227.16, Z:55.44 [[-2.73915381e-02 -9.99624778e-01 -8.34577272e-05 4.47550666e+02] [ 9.61868143e-01 -2.63342083e-02 -2.72242879e-01 2.27157325e+02] [ 2.72138529e-01 -7.53742652e-03 9.62228563e-01 5.54407565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7492541539999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:447.55, Y:227.18, Z:55.45 [[-2.77535033e-02 -9.99614797e-01 -5.58030339e-06 4.47550274e+02] [ 9.61766204e-01 -2.67011458e-02 -2.72567087e-01 2.27183283e+02] [ 2.72461945e-01 -7.57005850e-03 9.62136780e-01 5.54472375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.7792541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:447.55, Y:227.19, Z:55.45 [[-2.91022789e-02 -9.99576437e-01 6.99225748e-05 4.47549222e+02] [ 9.61858164e-01 -2.80231607e-02 -2.72109492e-01 2.27185703e+02] [ 2.71996196e-01 -7.85175075e-03 9.62266293e-01 5.54485958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8092541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:447.55, Y:227.21, Z:55.46 [[-3.00631436e-02 -9.99548001e-01 -3.60572844e-05 4.47548815e+02] [ 9.61886549e-01 -2.89206010e-02 -2.71915183e-01 2.27212904e+02] [ 2.71791235e-01 -8.20930820e-03 9.62321221e-01 5.54563667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.839254154 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.55, Y:227.22, Z:55.46 [[-3.03857325e-02 -9.99538246e-01 3.36563879e-05 4.47548168e+02] [ 9.61832482e-01 -2.92486471e-02 -2.72071301e-01 2.27218506e+02] [ 2.71946656e-01 -8.23471396e-03 9.62277094e-01 5.54577886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8692541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.55, Y:227.24, Z:55.46 [[-3.15343170e-02 -9.99502667e-01 -7.19976810e-05 4.47547604e+02] [ 9.61686354e-01 -3.03215850e-02 -2.72470107e-01 2.27243746e+02] [ 2.72332415e-01 -8.66139790e-03 9.62164246e-01 5.54646354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.8992541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.55, Y:227.25, Z:55.47 [[-3.25909784e-02 -9.99468773e-01 1.01403777e-05 4.47547145e+02] [ 9.61613771e-01 -3.13593569e-02 -2.72608778e-01 2.27254237e+02] [ 2.72464279e-01 -8.87483568e-03 9.62124968e-01 5.54669385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9292541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.55, Y:227.28, Z:55.47 [[-3.34114956e-02 -9.99441676e-01 -9.58282685e-05 4.47546743e+02] [ 9.61499585e-01 -3.21169170e-02 -2.72923162e-01 2.27280927e+02] [ 2.72767705e-01 -9.21090988e-03 9.62035830e-01 5.54739814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.959254154 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:447.55, Y:227.31, Z:55.48 [[-3.35804568e-02 -9.99436017e-01 -1.48777275e-05 4.47546239e+02] [ 9.61468655e-01 -3.23007119e-02 -2.73010419e-01 2.27306798e+02] [ 2.72855966e-01 -9.18211905e-03 9.62011076e-01 5.54808934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 671.9892541539999 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:447.55, Y:227.31, Z:55.48 [[-3.27450391e-02 -9.99463737e-01 3.46774199e-05 4.47545525e+02] [ 9.61475034e-01 -3.15099049e-02 -2.73080362e-01 2.27307279e+02] [ 2.72935012e-01 -8.90868567e-03 9.61991224e-01 5.54805680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0192541539999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:447.54, Y:227.33, Z:55.49 [[-2.97296059e-02 -9.99557975e-01 -7.11175391e-05 4.47544055e+02] [ 9.61553866e-01 -2.85798265e-02 -2.73125165e-01 2.27334380e+02] [ 2.73002405e-01 -8.18828686e-03 9.61978502e-01 5.54875320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.0492541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.54, Y:227.34, Z:55.49 [[-2.70605685e-02 -9.99633796e-01 5.33178099e-06 4.47542666e+02] [ 9.61753240e-01 -2.60365780e-02 -2.72677101e-01 2.27336568e+02] [ 2.72577384e-01 -7.37366951e-03 9.62105607e-01 5.54886753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.079254154 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.54, Y:227.36, Z:55.50 [[-2.44071859e-02 -9.99702095e-01 -1.00142156e-04 4.47541413e+02] [ 9.61900569e-01 -2.34569961e-02 -2.72391383e-01 2.27362920e+02] [ 2.72307888e-01 -6.74463394e-03 9.62186533e-01 5.54963823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1092541539999 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:447.54, Y:227.39, Z:55.50 [[-1.83903741e-02 -9.99830883e-01 -1.76826326e-05 4.47538547e+02] [ 9.62260176e-01 -1.76945153e-02 -2.71555259e-01 2.27388466e+02] [ 2.71509021e-01 -5.01101809e-03 9.62422850e-01 5.55040982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1392541539999 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:447.54, Y:227.39, Z:55.50 [[-1.48146348e-02 -9.99890257e-01 3.38864670e-05 4.47537452e+02] [ 9.62460405e-01 -1.42692501e-02 -2.71046779e-01 2.27388624e+02] [ 2.71017517e-01 -3.98284466e-03 9.62566176e-01 5.55044759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.1692541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.54, Y:227.42, Z:55.51 [[-1.24239029e-02 -9.99922818e-01 -7.16280403e-05 4.47536889e+02] [ 9.62691442e-01 -1.19419430e-02 -2.70337894e-01 2.27415800e+02] [ 2.70316174e-01 -3.42760746e-03 9.62765505e-01 5.55118495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.199254154 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:447.54, Y:227.42, Z:55.51 [[-9.51234962e-03 -9.99954757e-01 3.65373567e-06 4.47536449e+02] [ 9.62750789e-01 -9.15942387e-03 -2.70235125e-01 2.27418053e+02] [ 2.70222932e-01 -2.56705335e-03 9.62794359e-01 5.55128977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2292541539999 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:447.54, Y:227.44, Z:55.52 [[-6.23047747e-03 -9.99980585e-01 -1.01693120e-04 4.47536765e+02] [ 9.62876219e-01 -5.97184987e-03 -2.69877240e-01 2.27444661e+02] [ 2.69871393e-01 -1.77938195e-03 9.62894732e-01 5.55195611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2592541539999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:447.54, Y:227.47, Z:55.53 [[-5.82468607e-03 -9.99983036e-01 -2.21417659e-05 4.47536916e+02] [ 9.62857516e-01 -5.60246059e-03 -2.69951876e-01 2.27470792e+02] [ 2.69947173e-01 -1.59370430e-03 9.62873815e-01 5.55263833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.2892541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.54, Y:227.47, Z:55.53 [[-5.36659292e-03 -9.99985599e-01 4.48023588e-05 4.47537218e+02] [ 9.62680763e-01 -5.17851341e-03 -2.70589969e-01 2.27469895e+02] [ 2.70586304e-01 -1.40901584e-03 9.62694690e-01 5.55257899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3192541539999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:447.54, Y:227.50, Z:55.53 [[-4.44313529e-03 -9.99971065e-01 6.17482386e-03 4.47535907e+02] [ 9.63029099e-01 -5.94211726e-03 -2.69331852e-01 2.27498450e+02] [ 2.69360750e-01 4.74985720e-03 9.63027635e-01 5.55325083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3492541539999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:447.54, Y:227.53, Z:55.54 [[-9.73900687e-03 -9.99931236e-01 -6.53268571e-03 4.47543178e+02] [ 9.62029759e-01 -7.58736407e-03 -2.72839101e-01 2.27525311e+02] [ 2.72770774e-01 -8.94181994e-03 9.62037499e-01 5.55373946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.3792541539999 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:447.54, Y:227.53, Z:55.54 [[-1.10703720e-02 -9.99938721e-01 4.21455825e-05 4.47541877e+02] [ 9.61625555e-01 -1.06577602e-02 -2.74158172e-01 2.27526022e+02] [ 2.74141821e-01 -2.99450467e-03 9.61684613e-01 5.55377162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4092541539999 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:447.54, Y:227.55, Z:55.55 [[-1.67264323e-02 -9.99842938e-01 5.85878132e-03 4.47541292e+02] [ 9.61188620e-01 -1.76930993e-02 -2.75324156e-01 2.27551459e+02] [ 2.75384573e-01 1.02620308e-03 9.61333597e-01 5.55477918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4392541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:447.55, Y:227.58, Z:55.55 [[-2.07216261e-02 -9.99774306e-01 -4.68530552e-03 4.47547826e+02] [ 9.61675786e-01 -1.86500106e-02 -2.73554125e-01 2.27581211e+02] [ 2.73405004e-01 -1.01742312e-02 9.61845200e-01 5.55533281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4692541539999 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:447.55, Y:227.58, Z:55.56 [[-2.34444353e-02 -9.99725141e-01 1.86207421e-05 4.47546622e+02] [ 9.61675606e-01 -2.25572299e-02 -2.73260317e-01 2.27582748e+02] [ 2.73185629e-01 -6.38852670e-03 9.61940122e-01 5.55552868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.4992541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:447.55, Y:227.61, Z:55.56 [[-2.92730745e-02 -9.99571448e-01 -8.67172934e-05 4.47549214e+02] [ 9.61958308e-01 -2.81479753e-02 -2.71742352e-01 2.27609994e+02] [ 2.71623456e-01 -8.03815255e-03 9.62370036e-01 5.55632676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5292541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:447.55, Y:227.64, Z:55.57 [[-3.15841400e-02 -9.99501097e-01 -5.69045843e-06 4.47550741e+02] [ 9.62150496e-01 -3.04023227e-02 -2.70817507e-01 2.27636793e+02] [ 2.70682222e-01 -8.55901313e-03 9.62630707e-01 5.55700002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.5592541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:447.55, Y:227.64, Z:55.57 [[-3.30586927e-02 -9.99453410e-01 7.05805876e-05 4.47551948e+02] [ 9.62320236e-01 -3.18495176e-02 -2.70046981e-01 2.27635464e+02] [ 2.69901624e-01 -8.85947903e-03 9.62847144e-01 5.55695830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.589254154 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:447.55, Y:227.66, Z:55.58 [[-3.74839099e-02 -9.99297231e-01 -3.68967395e-05 4.47553479e+02] [ 9.62578632e-01 -3.60966684e-02 -2.68587801e-01 2.27661258e+02] [ 2.68397714e-01 -1.01032370e-02 9.63255206e-01 5.55776063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6192541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:447.55, Y:227.67, Z:55.58 [[-3.88205929e-02 -9.99246197e-01 1.51677474e-05 4.47554228e+02] [ 9.62663020e-01 -3.74034106e-02 -2.68106128e-01 2.27665094e+02] [ 2.67904596e-01 -1.03934374e-02 9.63389383e-01 5.55786154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6492541539999 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:447.56, Y:227.69, Z:55.58 [[-4.05542910e-02 -9.99177332e-01 -9.24951947e-05 4.47555210e+02] [ 9.62648055e-01 -3.90468501e-02 -2.67925485e-01 2.27692065e+02] [ 2.67701459e-01 -1.09545684e-02 9.63439633e-01 5.55848950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.6792541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:447.56, Y:227.72, Z:55.59 [[-4.50376941e-02 -9.98985288e-01 -9.74477137e-06 4.47555530e+02] [ 9.62637644e-01 -4.33964099e-02 -2.67292945e-01 2.27718240e+02] [ 2.67021297e-01 -1.20476386e-02 9.63615318e-01 5.55931939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.709254154 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:447.56, Y:227.73, Z:55.60 [[-4.62767636e-02 -9.98928654e-01 7.05099933e-05 4.47556270e+02] [ 9.62591266e-01 -4.46122481e-02 -2.67259801e-01 2.27725606e+02] [ 2.66976619e-01 -1.23000463e-02 9.63624509e-01 5.55951984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7392541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:447.56, Y:227.75, Z:55.60 [[-4.82635267e-02 -9.98834636e-01 -3.77020018e-05 4.47556875e+02] [ 9.62467019e-01 -4.64961566e-02 -2.67386134e-01 2.27752995e+02] [ 2.67072779e-01 -1.29412847e-02 9.63589463e-01 5.56025868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7692541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.56, Y:227.75, Z:55.60 [[-5.00580987e-02 -9.98746307e-01 4.10748971e-05 4.47557694e+02] [ 9.62265643e-01 -4.82406674e-02 -2.67801549e-01 2.27754422e+02] [ 2.67467790e-01 -1.33661114e-02 9.63474093e-01 5.56028988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.7992541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.56, Y:227.78, Z:55.61 [[-5.07189938e-02 -9.98712961e-01 -6.74419239e-05 4.47557697e+02] [ 9.62290270e-01 -4.88512201e-02 -2.67602307e-01 2.27781215e+02] [ 2.67254598e-01 -1.36374185e-02 9.63529450e-01 5.56100555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.829254154 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:447.56, Y:227.78, Z:55.61 [[-5.02762625e-02 -9.98735349e-01 1.23300778e-05 4.47557116e+02] [ 9.62195376e-01 -4.84401519e-02 -2.68017931e-01 2.27781314e+02] [ 2.67679579e-01 -1.34630759e-02 9.63413924e-01 5.56101576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8592541539999 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:447.56, Y:227.81, Z:55.62 [[-4.95336389e-02 -9.98772451e-01 -9.60897375e-05 4.47556722e+02] [ 9.62237211e-01 -4.76959074e-02 -2.68001214e-01 2.27808103e+02] [ 2.67667647e-01 -1.33675365e-02 9.63418569e-01 5.56172090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.8892541539999 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:447.54, Y:227.85, Z:55.63 [[-3.96699507e-02 -9.98129352e-01 4.65198087e-02 4.47538781e+02] [ 9.64974440e-01 -5.03519726e-02 -2.57466520e-01 2.27846321e+02] [ 2.59327255e-01 3.46767422e-02 9.65166772e-01 5.56251502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9192541539999 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:447.57, Y:227.87, Z:55.62 [[-4.95084280e-02 -9.97946338e-01 -4.06450861e-02 4.47574619e+02] [ 9.58911625e-01 -3.61109455e-02 -2.81397396e-01 2.27871247e+02] [ 2.79351768e-01 -5.29065883e-02 9.58730141e-01 5.56206414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.949254154 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:447.55, Y:227.87, Z:55.63 [[-4.61659673e-02 -9.98932064e-01 1.85312224e-03 4.47551712e+02] [ 9.58344618e-01 -4.48134871e-02 -2.82076841e-01 2.27867995e+02] [ 2.81858646e-01 -1.12464205e-02 9.59390026e-01 5.56314400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 672.9792541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:447.55, Y:227.87, Z:55.63 [[-4.29943701e-02 -9.99073794e-01 1.74302930e-03 4.47549692e+02] [ 9.58112725e-01 -4.17259618e-02 -2.83335403e-01 2.27871676e+02] [ 2.83145705e-01 -1.05118086e-02 9.59019297e-01 5.56323317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0092541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:447.55, Y:227.87, Z:55.63 [[-3.79812314e-02 -9.99277125e-01 1.62896086e-03 4.47545304e+02] [ 9.58106189e-01 -3.68793841e-02 -2.84028945e-01 2.27870216e+02] [ 2.83883703e-01 -9.22705162e-03 9.58814322e-01 5.56332761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0392541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.54, Y:227.87, Z:55.63 [[-3.56984000e-02 -9.99361468e-01 1.51005637e-03 4.47543917e+02] [ 9.58246604e-01 -3.46586078e-02 -2.83834859e-01 2.27873089e+02] [ 2.83705958e-01 -8.68544393e-03 9.58871990e-01 5.56340364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0692541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.54, Y:227.87, Z:55.63 [[-3.39510886e-02 -9.99422526e-01 1.39201702e-03 4.47542828e+02] [ 9.58330078e-01 -3.29503712e-02 -2.83756469e-01 2.27871106e+02] [ 2.83638475e-01 -8.29982924e-03 9.58895369e-01 5.56341396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.0992541539999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:447.54, Y:227.90, Z:55.64 [[-3.16481196e-02 -9.99480451e-01 6.10123025e-03 4.47538062e+02] [ 9.58789181e-01 -3.20829282e-02 -2.82301244e-01 2.27895756e+02] [ 2.82350320e-01 -3.08450996e-03 9.59306407e-01 5.56434184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1292541539999 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:447.54, Y:227.87, Z:55.63 [[-2.98050691e-02 -9.99552454e-01 -2.55912758e-03 4.47540745e+02] [ 9.59009637e-01 -2.78741515e-02 -2.81999199e-01 2.27872740e+02] [ 2.81801658e-01 -1.08592336e-02 9.59411227e-01 5.56344689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1592541539999 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:447.54, Y:227.87, Z:55.64 [[-2.77930213e-02 -9.99613073e-01 1.11873568e-03 4.47537572e+02] [ 9.59168975e-01 -2.69836173e-02 -2.81543535e-01 2.27873586e+02] [ 2.81464786e-01 -6.75188893e-03 9.59547803e-01 5.56358169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.1892541539999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:447.54, Y:227.87, Z:55.64 [[-2.57119093e-02 -9.99668892e-01 1.00219708e-03 4.47536238e+02] [ 9.59267021e-01 -2.49548643e-02 -2.81396583e-01 2.27874426e+02] [ 2.81328420e-01 -6.27386884e-03 9.59591037e-01 5.56365699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2192541539999 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:447.53, Y:227.87, Z:55.64 [[-2.21454490e-02 -9.99754366e-01 8.86878529e-04 4.47534148e+02] [ 9.59289477e-01 -2.14989267e-02 -2.81605212e-01 2.27874755e+02] [ 2.81555108e-01 -5.38550063e-03 9.59529946e-01 5.56361843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2492541539999 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:447.53, Y:227.88, Z:55.64 [[-2.17512402e-02 -9.99763116e-01 7.71078433e-04 4.47534121e+02] [ 9.59298503e-01 -2.10880675e-02 -2.81605532e-01 2.27877298e+02] [ 2.81555085e-01 -5.38557517e-03 9.59529953e-01 5.56368760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.2792541539999 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:447.53, Y:227.88, Z:55.64 [[-1.98255636e-02 -9.99803239e-01 6.55903126e-04 4.47533228e+02] [ 9.59254910e-01 -1.92064398e-02 -2.81888508e-01 2.27878572e+02] [ 2.81845641e-01 -4.95942025e-03 9.59446944e-01 5.56372676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3092541539999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:447.53, Y:227.88, Z:55.64 [[-1.81581222e-02 -9.99834982e-01 5.40616954e-04 4.47532432e+02] [ 9.59198112e-01 -1.75726921e-02 -2.82188204e-01 2.27882560e+02] [ 2.82151138e-01 -4.60544913e-03 9.59358914e-01 5.56382489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.339254154 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:447.53, Y:227.88, Z:55.64 [[-1.60050389e-02 -9.99871821e-01 4.25572715e-04 4.47531745e+02] [ 9.59016532e-01 -1.54714862e-02 -2.82927419e-01 2.27881907e+02] [ 2.82897738e-01 -4.12013306e-03 9.59141228e-01 5.56376740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3692541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.53, Y:227.88, Z:55.64 [[-1.52268972e-02 -9.99884016e-01 3.09790820e-04 4.47531160e+02] [ 9.58901153e-01 -1.46905754e-02 -2.83359781e-01 2.27884203e+02] [ 2.83331467e-01 -4.01763148e-03 9.59013628e-01 5.56384226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.3992541539999 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:447.53, Y:227.89, Z:55.64 [[-1.44656126e-02 -9.99895349e-01 1.93753225e-04 4.47530395e+02] [ 9.58820496e-01 -1.39263455e-02 -2.83671138e-01 2.27888048e+02] [ 2.83644149e-01 -3.91770223e-03 9.58921607e-01 5.56396775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4292541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:447.53, Y:227.89, Z:55.64 [[-1.44095635e-02 -9.99896174e-01 7.75076967e-05 4.47529092e+02] [ 9.58946343e-01 -1.38413893e-02 -2.83249585e-01 2.27892639e+02] [ 2.83221250e-01 -4.00717716e-03 9.59046227e-01 5.56411160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.459254154 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:447.53, Y:227.92, Z:55.65 [[-1.48495349e-02 -9.99889739e-01 -3.29155999e-05 4.47529102e+02] [ 9.59039411e-01 -1.42335463e-02 -2.82914855e-01 2.27918492e+02] [ 2.82883192e-01 -4.23272138e-03 9.59145027e-01 5.56483839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.4892541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:447.53, Y:227.92, Z:55.65 [[-1.48959309e-02 -9.99889049e-01 3.88261806e-05 4.47528920e+02] [ 9.59070673e-01 -1.42988172e-02 -2.82805565e-01 2.27918708e+02] [ 2.82774742e-01 -4.17541509e-03 9.59177257e-01 5.56483352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5192541539999 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:447.53, Y:227.95, Z:55.66 [[-1.59297455e-02 -9.99873111e-01 -7.15876034e-05 4.47528929e+02] [ 9.59192699e-01 -1.52614199e-02 -2.82341027e-01 2.27945151e+02] [ 2.82304108e-01 -4.56628700e-03 9.59314098e-01 5.56552621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.5492541539999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:447.53, Y:227.95, Z:55.66 [[-1.76201751e-02 -9.99844753e-01 8.00779355e-07 4.47528665e+02] [ 9.59236344e-01 -1.69047627e-02 -2.82099035e-01 2.27945288e+02] [ 2.82055253e-01 -4.96986625e-03 9.59385290e-01 5.56550026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.579254154 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:447.53, Y:227.97, Z:55.66 [[-1.90316142e-02 -9.99818876e-01 -1.10042122e-04 4.47528361e+02] [ 9.59062540e-01 -1.82247105e-02 -2.82607331e-01 2.27972170e+02] [ 2.82554139e-01 -5.48401098e-03 9.59235677e-01 5.56627461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6092541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:447.52, Y:228.00, Z:55.67 [[-2.13350531e-02 -9.99747078e-01 7.11303657e-03 4.47523906e+02] [ 9.58492384e-01 -2.24769147e-02 -2.84230785e-01 2.27998427e+02] [ 2.84318776e-01 7.53712497e-04 9.58729506e-01 5.56719025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6392541539999 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:447.53, Y:227.96, Z:55.66 [[-2.23997142e-02 -9.99736416e-01 -5.03498365e-03 4.47529415e+02] [ 9.58455186e-01 -2.00417598e-02 -2.84538196e-01 2.27957878e+02] [ 2.84362287e-01 -1.11993805e-02 9.58651482e-01 5.56566783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.6692541539999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:447.53, Y:227.98, Z:55.67 [[-2.40346705e-02 -9.99711115e-01 -1.48865478e-04 4.47527026e+02] [ 9.58429165e-01 -2.29998359e-02 -2.84402080e-01 2.27984462e+02] [ 2.84316496e-01 -6.97818730e-03 9.58705082e-01 5.56657504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.699254154 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:447.53, Y:228.01, Z:55.67 [[-2.59067361e-02 -9.99664362e-01 -6.27504905e-05 4.47526786e+02] [ 9.58378927e-01 -2.48189527e-02 -2.84418446e-01 2.28010555e+02] [ 2.84321427e-01 -7.42849238e-03 9.58700237e-01 5.56734827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7292541539999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:447.53, Y:228.04, Z:55.68 [[-2.92689842e-02 -9.99571572e-01 -3.42272654e-06 4.47526746e+02] [ 9.58498384e-01 -2.80653270e-02 -2.83713211e-01 2.28036691e+02] [ 2.83591565e-01 -8.30727819e-03 9.58909179e-01 5.56802514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7592541539999 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:447.53, Y:228.09, Z:55.70 [[-3.02173021e-02 -9.99541762e-01 1.78339997e-03 4.47525493e+02] [ 9.58360459e-01 -2.94791250e-02 -2.84035583e-01 2.28093894e+02] [ 2.83958001e-01 -6.87364900e-03 9.58812081e-01 5.56975532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.7892541539999 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:447.53, Y:228.12, Z:55.70 [[-3.18600914e-02 -9.99489310e-01 -2.46038523e-03 4.47526970e+02] [ 9.58681787e-01 -2.98628751e-02 -2.82908892e-01 2.28119952e+02] [ 2.82690939e-01 -1.13722296e-02 9.59143631e-01 5.57037469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8192541539999 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:447.52, Y:228.13, Z:55.71 [[-3.21905607e-02 -9.99481749e-01 3.02276894e-05 4.47524491e+02] [ 9.58716621e-01 -3.08861771e-02 -2.82680887e-01 2.28127810e+02] [ 2.82535321e-01 -9.07067645e-03 9.59214009e-01 5.57070206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8492541539999 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:447.52, Y:228.15, Z:55.71 [[-3.18718554e-02 -9.99491960e-01 -8.19632429e-05 4.47523652e+02] [ 9.58676129e-01 -3.05471224e-02 -2.82855002e-01 2.28154788e+02] [ 2.82708797e-01 -9.09368993e-03 9.59162677e-01 5.57148468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.8792541539999 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:447.52, Y:228.15, Z:55.71 [[-2.98888915e-02 -9.99553227e-01 -1.03727484e-06 4.47523092e+02] [ 9.58729880e-01 -2.86678880e-02 -2.82869529e-01 2.28153242e+02] [ 2.82743121e-01 -8.45565114e-03 9.59158397e-01 5.57130977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9092541539999 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:447.52, Y:228.18, Z:55.72 [[-2.86132224e-02 -9.99590552e-01 -1.13167313e-04 4.47521592e+02] [ 9.58838935e-01 -2.74147128e-02 -2.82624009e-01 2.28179458e+02] [ 2.82505187e-01 -8.19529286e-03 9.59230763e-01 5.57214108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9392541539999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:447.52, Y:228.21, Z:55.73 [[-2.45174539e-02 -9.99699402e-01 -2.96037566e-05 4.47518769e+02] [ 9.58896941e-01 -2.35084068e-02 -2.82779086e-01 2.28206174e+02] [ 2.82693387e-01 -6.96141015e-03 9.59185064e-01 5.57303613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9692541539999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:447.52, Y:228.21, Z:55.73 [[-2.21697660e-02 -9.99754219e-01 5.14210496e-05 4.47517061e+02] [ 9.59081389e-01 -2.12823584e-02 -2.82329509e-01 2.28210875e+02] [ 2.82261212e-01 -6.20986217e-03 9.59317490e-01 5.57318520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 673.9992541539999 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:447.52, Y:228.24, Z:55.74 [[-2.03368121e-02 -9.99793184e-01 -6.04759368e-05 4.47516145e+02] [ 9.59120263e-01 -1.94924059e-02 -2.82326703e-01 2.28237451e+02] [ 2.82267135e-01 -5.79962880e-03 9.59318315e-01 5.57384305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0292541539999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:447.51, Y:228.24, Z:55.74 [[-1.81005859e-02 -9.99836171e-01 1.23327783e-05 4.47513896e+02] [ 9.59407286e-01 -1.73721516e-02 -2.81488663e-01 2.28239016e+02] [ 2.81442761e-01 -5.08327756e-03 9.59564554e-01 5.57402457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.0592541539999 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:447.51, Y:228.27, Z:55.75 [[-1.78880049e-02 -9.99839992e-01 -9.93133542e-05 4.47513423e+02] [ 9.59464153e-01 -1.71377038e-02 -2.81309151e-01 2.28265486e+02] [ 2.81262437e-01 -5.12734706e-03 9.59617190e-01 5.57476838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.089254154 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:447.51, Y:228.29, Z:55.76 [[-1.82227972e-02 -9.99833951e-01 -1.57493353e-05 4.47512691e+02] [ 9.59363410e-01 -1.74807520e-02 -2.81631446e-01 2.28292554e+02] [ 2.81584406e-01 -5.14722207e-03 9.59522656e-01 5.57553406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1192541539999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:447.51, Y:228.30, Z:55.76 [[-1.85836720e-02 -9.99827307e-01 6.35123662e-05 4.47511643e+02] [ 9.58961463e-01 -1.78420789e-02 -2.82974510e-01 2.28298349e+02] [ 2.82926775e-01 -5.19779956e-03 9.59127428e-01 5.57566376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1492541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:447.51, Y:228.33, Z:55.76 [[-1.97468740e-02 -9.99805010e-01 -4.74147216e-05 4.47510519e+02] [ 9.58733606e-01 -1.89222310e-02 -2.83675557e-01 2.28325696e+02] [ 2.83619346e-01 -5.64716356e-03 9.58920318e-01 5.57641618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.1792541539999 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:447.51, Y:228.33, Z:55.76 [[-2.00773485e-02 -9.99798429e-01 3.19610132e-05 4.47509528e+02] [ 9.58575087e-01 -1.92586110e-02 -2.84188157e-01 2.28326427e+02] [ 2.84131488e-01 -5.67510763e-03 9.58768528e-01 5.57646713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.209254154 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:447.51, Y:228.35, Z:55.77 [[-2.18476371e-02 -9.99761309e-01 -7.88784553e-05 4.47507670e+02] [ 9.58435241e-01 -2.09220950e-02 -2.84542010e-01 2.28353099e+02] [ 2.84472442e-01 -6.29217045e-03 9.58663569e-01 5.57724771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2392541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.51, Y:228.36, Z:55.77 [[-2.25642903e-02 -9.99745394e-01 8.23595235e-07 4.47507331e+02] [ 9.58408243e-01 -2.16315437e-02 -2.84579895e-01 2.28356882e+02] [ 2.84507458e-01 -6.42055403e-03 9.58652327e-01 5.57736402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2692541539999 meters Centerline goodness : 0.997998 Centerline is valid? [True, True] Translation: X:447.51, Y:228.38, Z:55.78 [[-2.54166191e-02 -9.99676940e-01 -1.09892644e-04 4.47506741e+02] [ 9.58603271e-01 -2.43411410e-02 -2.83702799e-01 2.28383257e+02] [ 2.83608471e-01 -7.31610944e-03 9.58912253e-01 5.57812306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.2992541539999 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:447.51, Y:228.41, Z:55.79 [[-2.68223097e-02 -9.99640217e-01 -2.54847780e-05 4.47506322e+02] [ 9.58824958e-01 -2.57199457e-02 -2.82830665e-01 2.28409862e+02] [ 2.82728252e-01 -7.61060715e-03 9.59169857e-01 5.57890216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.329254154 meters Centerline goodness : 0.998301 Centerline is valid? [True, True] Translation: X:447.51, Y:228.42, Z:55.79 [[-2.69447596e-02 -9.99636923e-01 5.38958961e-05 4.47506251e+02] [ 9.59039279e-01 -2.58656776e-02 -2.82089752e-01 2.28417748e+02] [ 2.81988726e-01 -7.54915227e-03 9.59388018e-01 5.57905594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3592541539999 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:447.50, Y:228.44, Z:55.80 [[-2.92878737e-02 -9.99571017e-01 -5.85548449e-05 4.47504696e+02] [ 9.59212974e-01 -2.80888874e-02 -2.81285417e-01 2.28444501e+02] [ 2.81163106e-01 -8.29441833e-03 9.59624151e-01 5.57998272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.3892541539999 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:447.50, Y:228.45, Z:55.80 [[-3.09470785e-02 -9.99521024e-01 2.13874091e-05 4.47503921e+02] [ 9.59687261e-01 -2.97197297e-02 -2.79494364e-01 2.28450965e+02] [ 2.79361129e-01 -8.62900879e-03 9.60147332e-01 5.58018172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4192541539999 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:447.50, Y:228.48, Z:55.81 [[-3.22289162e-02 -9.99480509e-01 -9.18101494e-05 4.47504179e+02] [ 9.59769513e-01 -3.09227728e-02 -2.79081107e-01 2.28477801e+02] [ 2.78933288e-01 -9.08259817e-03 9.60267529e-01 5.58092007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.449254154 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:447.50, Y:228.50, Z:55.82 [[-3.38598477e-02 -9.99426591e-01 -1.06374109e-05 4.47504284e+02] [ 9.59704530e-01 -3.25111223e-02 -2.79124061e-01 2.28504907e+02] [ 2.78963663e-01 -9.46130698e-03 9.60255049e-01 5.58168962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.4792541539999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:447.51, Y:228.51, Z:55.82 [[-3.67550136e-02 -9.99324304e-01 6.76484396e-05 4.47505058e+02] [ 9.59572895e-01 -3.53118647e-02 -2.79236338e-01 2.28505132e+02] [ 2.79050047e-01 -1.01984218e-02 9.60222403e-01 5.58152719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5092541539999 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:447.50, Y:228.53, Z:55.82 [[-3.96342318e-02 -9.99214254e-01 -4.55883958e-05 4.47504437e+02] [ 9.59477868e-01 -3.80453337e-02 -2.79203822e-01 2.28531830e+02] [ 2.78982704e-01 -1.11097700e-02 9.60231859e-01 5.58242792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5392541539999 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:447.50, Y:228.54, Z:55.83 [[-4.15006270e-02 -9.99138477e-01 3.77765611e-05 4.47504180e+02] [ 9.59432176e-01 -3.98619225e-02 -2.79107374e-01 2.28539757e+02] [ 2.78868422e-01 -1.15468869e-02 9.60259898e-01 5.58267196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5692541539999 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:447.50, Y:228.57, Z:55.83 [[-4.41283074e-02 -9.99025869e-01 -7.57454060e-05 4.47504047e+02] [ 9.59316809e-01 -4.23531412e-02 -2.79137011e-01 2.28566910e+02] [ 2.78861887e-01 -1.23905077e-02 9.60251281e-01 5.58348403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.5992541539999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:447.50, Y:228.57, Z:55.84 [[-4.72149673e-02 -9.98884752e-01 8.09988841e-06 4.47504850e+02] [ 9.59122120e-01 -4.53377450e-02 -2.79337158e-01 2.28573813e+02] [ 2.79025995e-01 -1.31811260e-02 9.60193081e-01 5.58354490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6292541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:447.50, Y:228.60, Z:55.84 [[-4.94665770e-02 -9.98775774e-01 -1.05586639e-04 4.47504564e+02] [ 9.58954295e-01 -4.74647763e-02 -2.79559932e-01 2.28600167e+02] [ 2.79212676e-01 -1.39301257e-02 9.60128238e-01 5.58443867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6592541539999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:447.50, Y:228.63, Z:55.85 [[-5.09547921e-02 -9.98700961e-01 -2.18375656e-05 4.47504433e+02] [ 9.58722334e-01 -4.89089150e-02 -2.80106058e-01 2.28626261e+02] [ 2.79741122e-01 -1.42936821e-02 9.59969060e-01 5.58521721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.6892541539999 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:447.50, Y:228.63, Z:55.85 [[-5.13456501e-02 -9.98680940e-01 6.33176421e-05 4.47504134e+02] [ 9.58536411e-01 -4.92994756e-02 -2.80673317e-01 2.28626867e+02] [ 2.80306214e-01 -1.43506617e-02 9.59803357e-01 5.58523121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7192541539999 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:447.50, Y:228.65, Z:55.86 [[-5.06956741e-02 -9.98714146e-01 -5.03177562e-05 4.47503611e+02] [ 9.58435662e-01 -4.86369360e-02 -2.81132585e-01 2.28652687e+02] [ 2.80768642e-01 -1.43004322e-02 9.59668936e-01 5.58596674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7492541539999 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:447.50, Y:228.66, Z:55.86 [[-4.88747952e-02 -9.98804913e-01 3.27976552e-05 4.47502821e+02] [ 9.58388669e-01 -4.69063424e-02 -2.81586495e-01 2.28659647e+02] [ 2.81251513e-01 -1.37310494e-02 9.59535849e-01 5.58618973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.7792541539999 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:447.50, Y:228.69, Z:55.87 [[-4.45520832e-02 -9.99007060e-01 -8.06785588e-05 4.47500299e+02] [ 9.58261026e-01 -4.27121289e-02 -2.82686187e-01 2.28686117e+02] [ 2.82402051e-01 -1.26715697e-02 9.59212444e-01 5.58698189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8092541539999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:447.50, Y:228.71, Z:55.88 [[-4.17635019e-02 -9.99127524e-01 2.00808325e-06 4.47499143e+02] [ 9.58215543e-01 -4.00539515e-02 -2.83228978e-01 2.28712610e+02] [ 2.82981948e-01 -1.18267098e-02 9.59052317e-01 5.58780216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.839254154 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:447.50, Y:228.72, Z:55.88 [[-3.84442815e-02 -9.99260742e-01 8.26709713e-05 4.47497673e+02] [ 9.58258977e-01 -3.68902875e-02 -2.83511622e-01 2.28717474e+02] [ 2.83305084e-01 -1.08201804e-02 9.58968797e-01 5.58793340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8692541539999 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:447.50, Y:228.74, Z:55.89 [[-3.55551453e-02 -9.99367716e-01 -2.95265531e-05 4.47496323e+02] [ 9.58363286e-01 -3.40879281e-02 -2.83509833e-01 2.28744003e+02] [ 2.83329567e-01 -1.01085305e-02 9.58969329e-01 5.58873404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.8992541539999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:447.50, Y:228.74, Z:55.89 [[-3.19921092e-02 -9.99488120e-01 4.97283602e-05 4.47495211e+02] [ 9.58567099e-01 -3.06963796e-02 -2.83208137e-01 2.28743371e+02] [ 2.83064695e-01 -9.01275768e-03 9.59058470e-01 5.58874767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9292541539999 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:447.49, Y:228.77, Z:55.90 [[-2.70562240e-02 -9.99633911e-01 -6.22844396e-05 4.47493183e+02] [ 9.58860617e-01 -2.59350350e-02 -2.82690099e-01 2.28770399e+02] [ 2.82584994e-01 -7.70824874e-03 9.59211293e-01 5.58958194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.959254154 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:447.49, Y:228.77, Z:55.90 [[-2.41340954e-02 -9.99708730e-01 1.79646298e-05 4.47492154e+02] [ 9.59021242e-01 -2.31569280e-02 -2.82386285e-01 2.28768921e+02] [ 2.82304450e-01 -6.79790906e-03 9.59300780e-01 5.58957862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 674.9892541539999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:447.49, Y:228.79, Z:55.91 [[-2.12773465e-02 -9.99757930e-01 5.59971577e-03 4.47488542e+02] [ 9.58747479e-01 -2.19919256e-02 -2.83407175e-01 2.28794402e+02] [ 2.83461719e-01 -6.61439298e-04 9.58983324e-01 5.59051543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0192541539999 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:447.49, Y:228.82, Z:55.91 [[-1.75900549e-02 -9.99834026e-01 -4.74442184e-03 4.47492120e+02] [ 9.59480692e-01 -1.55450776e-02 -2.81345254e-01 2.28821501e+02] [ 2.81224806e-01 -9.50105961e-03 9.59594883e-01 5.59097864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.0492541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.49, Y:228.82, Z:55.91 [[-1.47584547e-02 -9.99891085e-01 7.63821270e-05 4.47489340e+02] [ 9.59463210e-01 -1.41832389e-02 -2.81476793e-01 2.28821709e+02] [ 2.81447219e-01 -4.08087667e-03 9.59568033e-01 5.59112638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.079254154 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:447.49, Y:228.85, Z:55.92 [[-1.28539171e-02 -9.99917384e-01 -3.48479924e-05 4.47488713e+02] [ 9.59467099e-01 -1.23241172e-02 -2.81551065e-01 2.28848409e+02] [ 2.81527375e-01 -3.65246954e-03 9.59546245e-01 5.59188039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1092541539999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:447.49, Y:228.85, Z:55.92 [[-8.48635533e-03 -9.99963989e-01 4.73921308e-05 4.47487872e+02] [ 9.59287275e-01 -8.15452581e-03 -2.82314413e-01 2.28846201e+02] [ 2.82304633e-01 -2.35035776e-03 9.59321932e-01 5.59180143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1392541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.49, Y:228.87, Z:55.93 [[-7.35125485e-03 -9.99972977e-01 -6.36591384e-05 4.47487514e+02] [ 9.59203465e-01 -7.03354726e-03 -2.82629159e-01 2.28873283e+02] [ 2.82621074e-01 -2.13874104e-03 9.59229250e-01 5.59251887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.1692541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.49, Y:228.88, Z:55.93 [[-6.95851343e-03 -9.99975789e-01 1.47039419e-05 4.47487401e+02] [ 9.59206001e-01 -6.67896531e-03 -2.82629155e-01 2.28875823e+02] [ 2.82622410e-01 -1.95257466e-03 9.59229253e-01 5.59259456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.199254154 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.49, Y:228.90, Z:55.93 [[-5.31878056e-03 -9.99985851e-01 -9.60864413e-05 4.47487432e+02] [ 9.58834473e-01 -5.07262104e-03 -2.83920272e-01 2.28901544e+02] [ 2.83915768e-01 -1.60224062e-03 9.58847887e-01 5.59334995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2292541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.49, Y:228.93, Z:55.94 [[-5.24208668e-03 -9.99986260e-01 -2.06838493e-05 4.47487680e+02] [ 9.58740482e-01 -5.01999054e-03 -2.84238435e-01 2.28927911e+02] [ 2.84234426e-01 -1.50983296e-03 9.58753624e-01 5.59411513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2592541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:447.49, Y:228.93, Z:55.94 [[-4.85574862e-03 -9.99988209e-01 6.01395900e-05 4.47488252e+02] [ 9.58764949e-01 -4.67266604e-03 -2.84161820e-01 2.28926876e+02] [ 2.84158750e-01 -1.32215863e-03 9.58776333e-01 5.59406670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.2892541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.49, Y:228.95, Z:55.95 [[-4.83371577e-03 -9.99988316e-01 -5.01679065e-05 4.47489877e+02] [ 9.58776606e-01 -4.62025370e-03 -2.84123341e-01 2.28954563e+02] [ 2.84119790e-01 -1.42147129e-03 9.58787737e-01 5.59470181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3192541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.49, Y:228.96, Z:55.95 [[-6.07236886e-03 -9.99981563e-01 3.07737336e-05 4.47491668e+02] [ 9.59135663e-01 -5.83303854e-03 -2.82886473e-01 2.28956744e+02] [ 2.82881437e-01 -1.68827482e-03 9.59153399e-01 5.59484985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3492541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:447.49, Y:228.98, Z:55.96 [[-6.31565890e-03 -9.99965201e-01 5.45064815e-03 4.47490432e+02] [ 9.58786741e-01 -7.60375465e-03 -2.84024944e-01 2.28980166e+02] [ 2.84056506e-01 3.43220451e-03 9.58801398e-01 5.59572707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.3792541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.49, Y:228.52, Z:55.82 [[-5.95673366e-03 -9.99976958e-01 -3.25577625e-03 4.47494759e+02] [ 9.58741966e-01 -4.78566720e-03 -2.84237471e-01 2.28516698e+02] [ 2.84215341e-01 -4.81457623e-03 9.58748382e-01 5.58199140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4092541539999 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:447.49, Y:228.54, Z:55.83 [[-7.14931777e-03 -9.99952985e-01 6.55093407e-03 4.47492508e+02] [ 9.58283733e-01 -8.72299180e-03 -2.85685484e-01 2.28541289e+02] [ 2.85729197e-01 4.23519725e-03 9.58301043e-01 5.58305668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4392541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.50, Y:228.57, Z:55.83 [[-9.52587067e-03 -9.99933264e-01 -6.53651831e-03 4.47499714e+02] [ 9.58826259e-01 -7.27842290e-03 -2.83900035e-01 2.28568810e+02] [ 2.83833513e-01 -8.97178041e-03 9.58831604e-01 5.58336979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4692541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.50, Y:228.59, Z:55.84 [[-1.00591605e-02 -9.99949219e-01 -6.10880295e-04 4.47499093e+02] [ 9.58865056e-01 -9.47254917e-03 -2.83704205e-01 2.28594466e+02] [ 2.83684011e-01 -3.43957788e-03 9.58911649e-01 5.58410008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.4992541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.50, Y:228.62, Z:55.85 [[-1.27398484e-02 -9.99918703e-01 -5.33347705e-04 4.47501613e+02] [ 9.58957715e-01 -1.20668637e-02 -2.83292238e-01 2.28620705e+02] [ 2.83262772e-01 -4.12055808e-03 9.59033484e-01 5.58500764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5292541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.50, Y:228.65, Z:55.86 [[-1.43713300e-02 -9.99896627e-01 -4.47077983e-04 4.47503403e+02] [ 9.59060038e-01 -1.36579137e-02 -2.82873302e-01 2.28647278e+02] [ 2.82837954e-01 -4.49404020e-03 9.59157180e-01 5.58574001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.5592541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:447.51, Y:228.67, Z:55.87 [[-1.60461510e-02 -9.99871187e-01 -3.60670546e-04 4.47505558e+02] [ 9.58946706e-01 -1.52872403e-02 -2.83174001e-01 2.28674148e+02] [ 2.83132011e-01 -4.88971662e-03 9.59068483e-01 5.58651273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.589254154 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.51, Y:228.70, Z:55.87 [[-1.81200587e-02 -9.99835781e-01 -2.73366934e-04 4.47507385e+02] [ 9.58982286e-01 -1.73023110e-02 -2.82937458e-01 2.28700429e+02] [ 2.82886264e-01 -5.38899740e-03 9.59138322e-01 5.58724034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6192541539999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:447.51, Y:228.73, Z:55.88 [[-2.11318171e-02 -9.99776679e-01 -1.95320556e-04 4.47511137e+02] [ 9.58726719e-01 -2.02087559e-02 -2.83610094e-01 2.28726446e+02] [ 2.83542810e-01 -6.18045567e-03 9.58939663e-01 5.58783385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6492541539999 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:447.51, Y:228.75, Z:55.89 [[-2.27861082e-02 -9.99740356e-01 -1.18657474e-04 4.47512348e+02] [ 9.58707787e-01 -2.18172381e-02 -2.83554911e-01 2.28753483e+02] [ 2.83478699e-01 -6.57487071e-03 9.58955994e-01 5.58868722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.6792541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:447.50, Y:228.79, Z:55.89 [[-1.66928882e-02 -9.98450464e-01 5.30850126e-02 4.47496804e+02] [ 9.62291894e-01 -3.04599419e-02 -2.70308161e-01 2.28791774e+02] [ 2.71506275e-01 4.65710534e-02 9.61309253e-01 5.58929671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.709254154 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:447.53, Y:228.95, Z:55.93 [[-3.04629876e-02 -9.98976031e-01 -3.34498887e-02 4.47534131e+02] [ 9.54567366e-01 -1.91512840e-02 -2.97379171e-01 2.28953536e+02] [ 2.96434056e-01 -4.09892302e-02 9.54173325e-01 5.59301590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7392541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:447.52, Y:228.82, Z:55.90 [[-3.09019539e-02 -9.99518019e-01 -2.96621709e-03 4.47521195e+02] [ 9.53047616e-01 -2.85705795e-02 -3.01469674e-01 2.28815435e+02] [ 3.01239625e-01 -1.21429481e-02 9.53471152e-01 5.58992870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7692541539999 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:447.52, Y:228.82, Z:55.90 [[-2.98390015e-02 -9.99551311e-01 2.60957492e-03 4.47519488e+02] [ 9.53260931e-01 -2.92422522e-02 -3.00729927e-01 2.28816916e+02] [ 3.00671303e-01 -6.48587491e-03 9.53705773e-01 5.59014334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.7992541539999 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:447.52, Y:229.18, Z:56.01 [[-2.98317131e-02 -9.99544365e-01 4.59696611e-03 4.47516290e+02] [ 9.53491110e-01 -2.98366855e-02 -2.99940785e-01 2.29182613e+02] [ 2.99941280e-01 -4.56458113e-03 9.53946746e-01 5.60147580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.829254154 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:447.52, Y:228.82, Z:55.90 [[-2.80418523e-02 -9.99606302e-01 9.46160785e-04 4.47522640e+02] [ 9.53444894e-01 -2.70311856e-02 -3.00353374e-01 2.28817251e+02] [ 3.00260702e-01 -7.52035279e-03 9.53827529e-01 5.59012014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8592541539999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:447.52, Y:228.82, Z:55.90 [[-2.77196839e-02 -9.99612695e-01 2.46545072e-03 4.47522651e+02] [ 9.53286772e-01 -2.71770442e-02 -3.00841718e-01 2.28820506e+02] [ 3.00792204e-01 -5.98895577e-03 9.53670898e-01 5.59027139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.8892541539999 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:447.52, Y:228.82, Z:55.90 [[-2.78074833e-02 -9.99610555e-01 2.34156559e-03 4.47523395e+02] [ 9.53260599e-01 -2.72230051e-02 -3.00920484e-01 2.28823256e+02] [ 3.00867036e-01 -6.13571912e-03 9.53646360e-01 5.59029386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9192541539999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:447.52, Y:228.83, Z:55.90 [[-2.80548892e-02 -9.99603920e-01 2.21935358e-03 4.47524669e+02] [ 9.53149274e-01 -2.74199492e-02 -3.01255056e-01 2.28826618e+02] [ 3.01196590e-01 -6.33630195e-03 9.53541014e-01 5.59039948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.949254154 meters Centerline goodness : 0.998945 Centerline is valid? [True, True] Translation: X:447.53, Y:228.83, Z:55.90 [[-3.06027137e-02 -9.99529433e-01 2.09463553e-03 4.47527176e+02] [ 9.53077225e-01 -2.98117990e-02 -3.01255806e-01 2.28830297e+02] [ 3.01176490e-01 -7.22289578e-03 9.53541059e-01 5.59040443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 675.9792541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:447.53, Y:228.84, Z:55.90 [[-3.17714120e-02 -9.99493211e-01 1.97465418e-03 4.47528430e+02] [ 9.52792795e-01 -3.08836614e-02 -3.02046501e-01 2.28835327e+02] [ 3.01954411e-01 -7.71500755e-03 9.53291148e-01 5.59047273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0092541539999 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:447.53, Y:228.84, Z:55.91 [[-3.54387793e-02 -9.99370132e-01 1.85246662e-03 4.47529847e+02] [ 9.52502354e-01 -3.43376852e-02 -3.02589141e-01 2.28840360e+02] [ 3.02462159e-01 -8.95891097e-03 9.53119290e-01 5.59064873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0392541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:447.53, Y:228.84, Z:55.91 [[-3.68883757e-02 -9.99317898e-01 1.72825554e-03 4.47530580e+02] [ 9.52360934e-01 -3.56788368e-02 -3.02878974e-01 2.28841027e+02] [ 3.02734041e-01 -9.52679030e-03 9.53027461e-01 5.59065428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0692541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.53, Y:228.85, Z:55.91 [[-3.82291378e-02 -9.99267712e-01 1.60383475e-03 4.47531164e+02] [ 9.52216523e-01 -3.69157077e-02 -3.03184636e-01 2.28849062e+02] [ 3.03021824e-01 -1.00632893e-02 9.52930482e-01 5.59088215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.0992541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:447.53, Y:228.85, Z:55.91 [[-3.90162233e-02 -9.99237483e-01 1.47852981e-03 4.47531813e+02] [ 9.52125013e-01 -3.76255756e-02 -3.03384700e-01 2.28853352e+02] [ 3.03208994e-01 -1.04291800e-02 9.52867010e-01 5.59102032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1292541539999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:447.52, Y:228.86, Z:55.91 [[-3.13887915e-02 -9.99109833e-01 2.81830579e-02 4.47523188e+02] [ 9.56913544e-01 -3.81828868e-02 -2.87851587e-01 2.28858094e+02] [ 2.88671461e-01 1.79334363e-02 9.57260246e-01 5.59114925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1592541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.55, Y:228.86, Z:55.90 [[-4.05464609e-02 -9.98739598e-01 -2.95837901e-02 4.47547147e+02] [ 9.52412786e-01 -2.96797544e-02 -3.03362814e-01 2.28857195e+02] [ 3.02102415e-01 -4.04762684e-02 9.52415772e-01 5.59034284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.1892541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:447.53, Y:228.86, Z:55.91 [[-3.98860154e-02 -9.99203482e-01 1.22751522e-03 4.47531430e+02] [ 9.52165274e-01 -3.83807877e-02 -3.03163664e-01 2.28856721e+02] [ 3.02969302e-01 -1.09231932e-02 9.52937714e-01 5.59126796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2192541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:447.53, Y:228.86, Z:55.91 [[-3.86473431e-02 -9.99252307e-01 1.09989028e-03 4.47531429e+02] [ 9.52328237e-01 -3.71657948e-02 -3.02802961e-01 2.28860294e+02] [ 3.02617436e-01 -1.06550734e-02 9.53052547e-01 5.59139550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2492541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:447.53, Y:228.84, Z:55.91 [[-2.82897853e-02 -9.99378286e-01 2.10411281e-02 4.47525659e+02] [ 9.56666913e-01 -3.31714897e-02 -2.89288905e-01 2.28843437e+02] [ 2.89807016e-01 1.19454300e-02 9.57010554e-01 5.59068321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.2792541539999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:447.55, Y:228.87, Z:55.91 [[-2.87396262e-02 -9.99057783e-01 -3.25204508e-02 4.47545948e+02] [ 9.55415967e-01 -1.78907068e-02 -2.94720635e-01 2.28865646e+02] [ 2.93861130e-01 -3.95407188e-02 9.55029930e-01 5.59077577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3092541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.52, Y:228.89, Z:55.93 [[-2.48915186e-02 -9.99610071e-01 1.26537687e-02 4.47522754e+02] [ 9.55129501e-01 -2.75170450e-02 -2.94907526e-01 2.28886933e+02] [ 2.95140727e-01 4.74529162e-03 9.55442009e-01 5.59260974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.339254154 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:447.53, Y:228.92, Z:55.93 [[-1.93953080e-02 -9.99733006e-01 -1.25594485e-02 4.47533207e+02] [ 9.56232132e-01 -1.48801352e-02 -2.92230546e-01 2.28915750e+02] [ 2.91965636e-01 -1.76776497e-02 9.56265428e-01 5.59294867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3692541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:447.53, Y:228.94, Z:55.94 [[-1.66837511e-02 -9.99860801e-01 -1.77238080e-04 4.47526251e+02] [ 9.56270920e-01 -1.59046376e-02 -2.92049603e-01 2.28941462e+02] [ 2.92006131e-01 -5.04197050e-03 9.56403157e-01 5.59408457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.3992541539999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:447.52, Y:228.97, Z:55.95 [[-1.36423967e-02 -9.99904841e-01 2.04782225e-03 4.47524485e+02] [ 9.56018446e-01 -1.36436707e-02 -2.92989046e-01 2.28966338e+02] [ 2.92989105e-01 -2.03931693e-03 9.56113605e-01 5.59490193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4292541539999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:447.53, Y:228.71, Z:55.87 [[-1.15991043e-02 -9.99831315e-01 -1.42408372e-02 4.47530920e+02] [ 9.52454280e-01 -6.71088092e-03 -3.04607631e-01 2.28707726e+02] [ 3.04460680e-01 -1.70969220e-02 9.52371456e-01 5.58710395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.459254154 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:447.52, Y:228.62, Z:55.85 [[-9.73386819e-03 -9.99822238e-01 1.61475551e-02 4.47517552e+02] [ 9.54734417e-01 -1.40936146e-02 -2.97125499e-01 2.28621402e+02] [ 2.97300259e-01 1.25244461e-02 9.54701888e-01 5.58473927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.4892541539999 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:447.53, Y:228.65, Z:55.85 [[-1.07895325e-02 -9.99785280e-01 -1.76912395e-02 4.47533619e+02] [ 9.53643523e-01 -4.96718308e-03 -3.00897587e-01 2.28648534e+02] [ 3.00745102e-01 -2.01176803e-02 9.53492350e-01 5.58506121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5192541539999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:447.52, Y:228.67, Z:55.86 [[-1.40788898e-02 -9.99852771e-01 9.80926982e-03 4.47521524e+02] [ 9.53314886e-01 -1.63818492e-02 -3.01533354e-01 2.28672947e+02] [ 3.01649654e-01 5.10606806e-03 9.53405168e-01 5.58642974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.5492541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:447.53, Y:228.70, Z:55.87 [[-1.60046188e-02 -9.99866534e-01 -3.28118845e-03 4.47529155e+02] [ 9.53221915e-01 -1.42671537e-02 -3.01934479e-01 2.28701398e+02] [ 3.01847368e-01 -7.96004699e-03 9.53323032e-01 5.58689916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.579254154 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:447.52, Y:228.73, Z:55.88 [[-1.85845615e-02 -9.99735704e-01 1.35327713e-02 4.47522283e+02] [ 9.53782979e-01 -2.17872417e-02 -2.99705431e-01 2.28728042e+02] [ 2.99921061e-01 7.33743295e-03 9.53935804e-01 5.58775237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6092541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.53, Y:228.76, Z:55.88 [[-2.15395298e-02 -9.99767997e-01 -2.86108026e-05 4.47529368e+02] [ 9.53765015e-01 -2.05398363e-02 -2.99850648e-01 2.28755918e+02] [ 2.99780494e-01 -6.48592997e-03 9.53986157e-01 5.58820652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6392541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:447.53, Y:228.77, Z:55.89 [[-2.63230801e-02 -9.99653486e-01 5.48534418e-05 4.47530555e+02] [ 9.53824695e-01 -2.51327309e-02 -2.99310538e-01 2.28767069e+02] [ 2.99208201e-01 -7.82645471e-03 9.54155752e-01 5.58857656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.6692541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:447.53, Y:228.79, Z:55.89 [[-2.90403911e-02 -9.99578237e-01 -6.32827038e-05 4.47531485e+02] [ 9.53872708e-01 -2.76935995e-02 -2.98931300e-01 2.28792398e+02] [ 2.98803469e-01 -8.74144552e-03 9.54274632e-01 5.58933514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.699254154 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.53, Y:228.79, Z:55.89 [[-3.13246270e-02 -9.99509263e-01 2.45513747e-05 4.47532201e+02] [ 9.53872125e-01 -2.99016963e-02 -2.98720368e-01 2.28790676e+02] [ 2.98574509e-01 -9.33388523e-03 9.54340684e-01 5.58930449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7292541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.53, Y:228.82, Z:55.90 [[-3.73871239e-02 -9.99300853e-01 -9.44707010e-05 4.47533756e+02] [ 9.53588403e-01 -3.56486051e-02 -2.98995542e-01 2.28816527e+02] [ 2.98783133e-01 -1.12686695e-02 9.54254503e-01 5.59012675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7592541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:447.53, Y:228.84, Z:55.91 [[-4.06136159e-02 -9.99174927e-01 -1.23911056e-05 4.47534262e+02] [ 9.53577425e-01 -3.87565037e-02 -2.98643648e-01 2.28843123e+02] [ 2.98396765e-01 -1.21408143e-02 9.54364695e-01 5.59093350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.7892541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.54, Y:228.82, Z:55.90 [[-4.29095304e-02 -9.99028486e-01 -1.00426829e-02 4.47538388e+02] [ 9.51632635e-01 -3.78087974e-02 -3.04902973e-01 2.28821286e+02] [ 3.04227054e-01 -2.26401882e-02 9.52330469e-01 5.59045189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8192541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.53, Y:228.85, Z:55.91 [[-4.82121069e-02 -9.98769470e-01 1.16249377e-02 4.47530676e+02] [ 9.52308627e-01 -4.94739416e-02 -3.01099002e-01 2.28846376e+02] [ 3.01303622e-01 -3.44608881e-03 9.53522025e-01 5.59134972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8492541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.54, Y:228.87, Z:55.92 [[-5.14118435e-02 -9.98677501e-01 -2.67800644e-04 4.47537437e+02] [ 9.52427218e-01 -4.89502187e-02 -3.00809361e-01 2.28874240e+02] [ 3.00398432e-01 -1.57202244e-02 9.53684254e-01 5.59184480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.8792541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:447.54, Y:228.90, Z:55.93 [[-5.46599198e-02 -9.98505014e-01 -1.74640404e-04 4.47537887e+02] [ 9.52318442e-01 -5.20790052e-02 -3.00628279e-01 2.28899581e+02] [ 3.00169749e-01 -1.65986309e-02 9.53741373e-01 5.59263896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9092541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.54, Y:228.93, Z:55.94 [[-6.00473578e-02 -9.98195523e-01 -1.10433405e-04 4.47538037e+02] [ 9.51888352e-01 -5.72284014e-02 -3.01053942e-01 2.28926129e+02] [ 3.00504377e-01 -1.81826140e-02 9.53607106e-01 5.59352368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9392541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:447.54, Y:228.95, Z:55.94 [[-6.23281082e-02 -9.98055713e-01 -2.13696584e-05 4.47538007e+02] [ 9.51701351e-01 -5.94268507e-02 -3.01219168e-01 2.28952678e+02] [ 3.00632242e-01 -1.87947584e-02 9.53554934e-01 5.59435257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9692541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:447.54, Y:228.96, Z:55.94 [[-6.37045208e-02 -9.97968802e-01 6.19391452e-05 4.47537437e+02] [ 9.51431539e-01 -6.07525844e-02 -3.01806477e-01 2.28955981e+02] [ 3.01197212e-01 -1.91675061e-02 9.53369208e-01 5.59448069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 676.9992541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:447.54, Y:228.98, Z:55.95 [[-6.52181196e-02 -9.97871030e-01 -5.99392939e-05 4.47536850e+02] [ 9.51155725e-01 -6.21467713e-02 -3.02391411e-01 2.28981608e+02] [ 3.01743903e-01 -1.97784108e-02 9.53183839e-01 5.59530991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0292541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:447.54, Y:228.98, Z:55.95 [[-6.55124548e-02 -9.97851751e-01 3.09194050e-05 4.47535484e+02] [ 9.50903614e-01 -6.24395381e-02 -3.03123112e-01 2.28984188e+02] [ 3.02473859e-01 -1.98289378e-02 9.52951404e-01 5.59540976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.0592541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:447.54, Y:229.01, Z:55.96 [[-6.58035966e-02 -9.97832590e-01 -9.06518983e-05 4.47535417e+02] [ 9.50887791e-01 -6.26802116e-02 -3.03123077e-01 2.29010548e+02] [ 3.02460403e-01 -2.00327884e-02 9.52951411e-01 5.59621715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.089254154 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:447.53, Y:229.04, Z:55.97 [[-6.55746644e-02 -9.97847665e-01 1.79011453e-06 4.47534689e+02] [ 9.50788965e-01 -6.24826942e-02 -3.03473652e-01 2.29036392e+02] [ 3.02820587e-01 -1.98984808e-02 9.52839831e-01 5.59702723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1192541539999 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:447.53, Y:229.05, Z:55.97 [[-6.47519328e-02 -9.97901387e-01 9.25425019e-05 4.47533593e+02] [ 9.50753956e-01 -6.17207931e-02 -3.03739129e-01 2.29046791e+02] [ 3.03107410e-01 -1.95797105e-02 9.52755232e-01 5.59735036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1492541539999 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:447.53, Y:229.07, Z:55.98 [[-6.39738222e-02 -9.97951577e-01 -2.93250638e-05 4.47532643e+02] [ 9.50726920e-01 -6.09375466e-02 -3.03981806e-01 2.29073248e+02] [ 3.03357336e-01 -1.94747582e-02 9.52677837e-01 5.59815863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.1792541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.53, Y:229.07, Z:55.98 [[-6.12142487e-02 -9.98124648e-01 5.27851481e-05 4.47529994e+02] [ 9.50528060e-01 -5.83113210e-02 -3.05116694e-01 2.29074556e+02] [ 3.04547571e-01 -1.86273154e-02 9.52314969e-01 5.59819733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.209254154 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:447.53, Y:229.10, Z:55.99 [[-5.97863878e-02 -9.98211192e-01 -6.82478302e-05 4.47528481e+02] [ 9.50365200e-01 -5.68998090e-02 -3.05889521e-01 2.29101126e+02] [ 3.05338460e-01 -1.83528899e-02 9.52067013e-01 5.59903592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2392541539999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:447.53, Y:229.11, Z:55.99 [[-5.74422009e-02 -9.98348834e-01 1.16857723e-05 4.47526601e+02] [ 9.50297612e-01 -5.46810556e-02 -3.06503557e-01 2.29106096e+02] [ 3.05998108e-01 -1.75951339e-02 9.51869513e-01 5.59921247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2692541539999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:447.52, Y:229.13, Z:56.00 [[-5.30980177e-02 -9.98589299e-01 -1.08733110e-04 4.47522892e+02] [ 9.49937210e-01 -5.04774650e-02 -3.08336378e-01 2.29132907e+02] [ 3.07895920e-01 -1.64753401e-02 9.51277386e-01 5.60004820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.2992541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.52, Y:229.16, Z:56.01 [[-5.10386164e-02 -9.98696680e-01 -1.52670053e-05 4.47520528e+02] [ 9.50379387e-01 -4.85646530e-02 -3.07279181e-01 2.29158853e+02] [ 3.06877956e-01 -1.56976137e-02 9.51619412e-01 5.60090651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.329254154 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:447.52, Y:229.16, Z:56.01 [[-4.77924284e-02 -9.98857286e-01 7.29492107e-05 4.47518220e+02] [ 9.50472493e-01 -4.54998108e-02 -3.07460254e-01 2.29161757e+02] [ 3.07112235e-01 -1.46249360e-02 9.51560921e-01 5.60104920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3592541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:447.52, Y:229.19, Z:56.02 [[-4.53233372e-02 -9.98972368e-01 -4.68776767e-05 4.47515801e+02] [ 9.50726582e-01 -4.31200207e-02 -3.07017313e-01 2.29188169e+02] [ 3.06699790e-01 -1.39596170e-02 9.51703929e-01 5.60188848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.3892541539999 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:447.51, Y:229.18, Z:56.02 [[-3.85983567e-02 -9.99254805e-01 3.87872388e-05 4.47511366e+02] [ 9.51316284e-01 -3.67585071e-02 -3.06016570e-01 2.29182977e+02] [ 3.05789954e-01 -1.17748378e-02 9.52026185e-01 5.60182053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4192541539999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:447.51, Y:229.21, Z:56.03 [[-3.57515912e-02 -9.99360704e-01 -8.06279815e-05 4.47508970e+02] [ 9.51784834e-01 -3.40249929e-02 -3.04873631e-01 2.29209619e+02] [ 3.04675983e-01 -1.09764579e-02 9.52392809e-01 5.60269033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.449254154 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:447.51, Y:229.21, Z:56.03 [[-3.20868582e-02 -9.99485084e-01 5.42060873e-06 4.47506462e+02] [ 9.52195099e-01 -3.05703379e-02 -3.03957150e-01 2.29207615e+02] [ 3.03800803e-01 -9.74786849e-03 9.52685704e-01 5.60268152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.4792541539999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:447.50, Y:229.23, Z:56.03 [[-2.87779567e-02 -9.99585822e-01 -1.14941977e-04 4.47504256e+02] [ 9.52636021e-01 -2.73914499e-02 -3.02876741e-01 2.29232940e+02] [ 3.02748148e-01 -8.82567163e-03 9.53029730e-01 5.60347522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5092541539999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:447.50, Y:229.26, Z:56.04 [[-2.20727820e-02 -9.99756365e-01 -5.08092021e-05 4.47500672e+02] [ 9.53184074e-01 -2.10292207e-02 -3.01658570e-01 2.29260147e+02] [ 3.01584007e-01 -6.70687438e-03 9.53416019e-01 5.60426651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5392541539999 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:447.50, Y:229.26, Z:56.04 [[-1.81605655e-02 -9.99835083e-01 3.62852848e-05 4.47498884e+02] [ 9.53313151e-01 -1.73265029e-02 -3.01486034e-01 2.29262603e+02] [ 3.01436942e-01 -5.44056563e-03 9.53470592e-01 5.60434333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5692541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:447.50, Y:229.29, Z:56.05 [[-1.49469014e-02 -9.99888285e-01 -8.30058085e-05 4.47497152e+02] [ 9.53454891e-01 -1.42277843e-02 -3.01199834e-01 2.29288964e+02] [ 3.01165005e-01 -4.58114650e-03 9.53561038e-01 5.60513629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.5992541539999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:447.49, Y:229.28, Z:56.05 [[-8.32065172e-03 -9.99965383e-01 4.93489137e-06 4.47494228e+02] [ 9.53543298e-01 -7.93586255e-03 -3.01151459e-01 2.29282886e+02] [ 3.01141073e-01 -2.50107077e-03 9.53576321e-01 5.60489552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6292541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.49, Y:229.31, Z:56.06 [[-6.27825236e-03 -9.99980285e-01 -1.14536146e-04 4.47493199e+02] [ 9.53524319e-01 -5.95207880e-03 -3.01257276e-01 2.29308552e+02] [ 3.01250655e-01 -2.00058221e-03 9.53542889e-01 5.60569774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6592541539999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:447.49, Y:229.34, Z:56.06 [[-4.79165983e-03 -9.99988520e-01 -3.05302113e-05 4.47492172e+02] [ 9.53531048e-01 -4.55985123e-03 -3.01260268e-01 2.29335514e+02] [ 3.01256670e-01 -1.47264823e-03 9.53541950e-01 5.60649423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.6892541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.49, Y:229.34, Z:56.07 [[-3.01714735e-03 -9.99995447e-01 5.55684669e-05 4.47491157e+02] [ 9.53571475e-01 -2.89381343e-03 -3.01152897e-01 2.29338450e+02] [ 3.01151686e-01 -8.55634159e-04 9.53575865e-01 5.60657498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7192541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:447.49, Y:229.36, Z:56.07 [[-2.39349201e-03 -9.99997134e-01 -6.32092305e-05 4.47490336e+02] [ 9.53313310e-01 -2.26266669e-03 -3.01974526e-01 2.29364192e+02] [ 3.01973517e-01 -7.83031814e-04 9.53315993e-01 5.60730557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7492541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:447.49, Y:229.37, Z:56.07 [[-2.39502042e-03 -9.99997132e-01 1.49021451e-05 4.47490098e+02] [ 9.53250601e-01 -2.28756423e-03 -3.02172233e-01 2.29367044e+02] [ 3.02171400e-01 -7.09503188e-04 9.53253346e-01 5.60732620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.7792541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:447.49, Y:229.39, Z:56.08 [[-3.66108083e-03 -9.99993293e-01 -1.03092709e-04 4.47490000e+02] [ 9.53208084e-01 -3.45863061e-03 -3.02295198e-01 2.29393409e+02] [ 3.02292814e-01 -1.20499596e-03 9.53214353e-01 5.60810189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8092541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:447.49, Y:229.42, Z:56.09 [[-5.18844908e-03 -9.99986540e-01 -1.04631195e-05 4.47489875e+02] [ 9.53163780e-01 -4.94234407e-03 -3.02414254e-01 2.29419530e+02] [ 3.02410132e-01 -1.57903402e-03 9.53176594e-01 5.60887876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.839254154 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:447.49, Y:229.42, Z:56.09 [[-7.54990472e-03 -9.99971497e-01 6.72622658e-05 4.47490325e+02] [ 9.53198960e-01 -7.21709757e-03 -3.02257598e-01 2.29418894e+02] [ 3.02249469e-01 -2.21790175e-03 9.53226279e-01 5.60885014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8692541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:447.49, Y:229.45, Z:56.10 [[-9.40753418e-03 -9.99955747e-01 -5.12966868e-05 4.47490761e+02] [ 9.53262287e-01 -8.95275155e-03 -3.02011357e-01 2.29445634e+02] [ 3.01997533e-01 -2.89008136e-03 9.53304326e-01 5.60963650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.8992541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:447.49, Y:229.45, Z:56.10 [[-1.21306121e-02 -9.99926421e-01 3.30571413e-05 4.47490729e+02] [ 9.53102477e-01 -1.15725653e-02 -3.02426427e-01 2.29448157e+02] [ 3.02404557e-01 -3.63711084e-03 9.53172731e-01 5.60972761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9292541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:447.49, Y:229.47, Z:56.11 [[-1.44787396e-02 -9.99895174e-01 -8.55488333e-05 4.47490652e+02] [ 9.53115270e-01 -1.37754910e-02 -3.02293761e-01 2.29474830e+02] [ 3.02260894e-01 -4.45837054e-03 9.53214810e-01 5.61057258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.959254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.49, Y:229.48, Z:56.11 [[-1.57553655e-02 -9.99875877e-01 2.44831408e-06 4.47490759e+02] [ 9.53125520e-01 -1.50194451e-02 -3.02202183e-01 2.29483059e+02] [ 3.02164709e-01 -4.75897231e-03 9.53243852e-01 5.61085069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 677.9892541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.49, Y:229.51, Z:56.12 [[-1.79962945e-02 -9.99838047e-01 -1.16388853e-04 4.47490954e+02] [ 9.53183982e-01 -1.71214140e-02 -3.01905869e-01 2.29510092e+02] [ 3.01854982e-01 -5.54412692e-03 9.53337733e-01 5.61164122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0192541539999 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:447.49, Y:229.54, Z:56.12 [[-2.18953729e-02 -9.99760267e-01 -2.35021648e-05 4.47491928e+02] [ 9.53266397e-01 -2.08700426e-02 -3.01409386e-01 2.29535823e+02] [ 3.01336638e-01 -6.62187472e-03 9.53494825e-01 5.61241289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.0492541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.49, Y:229.54, Z:56.13 [[-2.31475615e-02 -9.99732059e-01 3.55343829e-05 4.47492576e+02] [ 9.53341447e-01 -2.20841459e-02 -3.01085331e-01 2.29541374e+02] [ 3.01005443e-01 -6.93551483e-03 9.53597201e-01 5.61254799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.079254154 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.49, Y:229.57, Z:56.13 [[-2.45309955e-02 -9.99699066e-01 -8.43162602e-05 4.47493419e+02] [ 9.53291979e-01 -2.33668417e-02 -3.01145138e-01 2.29567430e+02] [ 3.01052543e-01 -7.46776805e-03 9.53578313e-01 5.61332566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1092541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.49, Y:229.60, Z:56.14 [[-2.39677918e-02 -9.99608146e-01 1.44602959e-02 4.47488161e+02] [ 9.54623296e-01 -2.71793985e-02 -2.96573166e-01 2.29595369e+02] [ 2.96849974e-01 6.69593145e-03 9.54900653e-01 5.61410658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1392541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.50, Y:229.39, Z:56.07 [[-2.60315392e-02 -9.99600097e-01 -1.10456052e-02 4.47500590e+02] [ 9.52509925e-01 -2.14487610e-02 -3.03751203e-01 2.29392468e+02] [ 3.03392818e-01 -1.84281599e-02 9.52687358e-01 5.60732151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.1692541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.50, Y:229.39, Z:56.08 [[-2.46761789e-02 -9.99695484e-01 1.61129006e-04 4.47495001e+02] [ 9.52423365e-01 -2.35583049e-02 -3.03866320e-01 2.29393390e+02] [ 3.03777584e-01 -7.34479666e-03 9.52714665e-01 5.60773074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.199254154 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.49, Y:229.65, Z:56.16 [[-1.98511184e-02 -9.99534204e-01 2.31799076e-02 4.47485617e+02] [ 9.57371507e-01 -2.56860708e-02 -2.87715178e-01 2.29654346e+02] [ 2.88176562e-01 1.64803150e-02 9.57435464e-01 5.61553842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2292541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.51, Y:229.68, Z:56.16 [[-1.89749925e-02 -9.99268808e-01 -3.31933683e-02 4.47510502e+02] [ 9.55227162e-01 -8.31435125e-03 -2.95756557e-01 2.29680177e+02] [ 2.95264321e-01 -3.73191855e-02 9.54686472e-01 5.61555220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2592541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.49, Y:229.70, Z:56.17 [[-1.66228074e-02 -9.99861808e-01 -2.15504672e-04 4.47493879e+02] [ 9.55048358e-01 -1.58139749e-02 -2.96027959e-01 2.29704269e+02] [ 2.95983642e-01 -5.12663313e-03 9.55179251e-01 5.61730531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.2892541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.49, Y:229.73, Z:56.18 [[-1.45680005e-02 -9.99893873e-01 -1.26083035e-04 4.47493605e+02] [ 9.55174365e-01 -1.38791685e-02 -2.95718280e-01 2.29730034e+02] [ 2.95685147e-01 -4.42845533e-03 9.55275187e-01 5.61808786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3192541539999 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:447.49, Y:229.76, Z:56.19 [[-1.26855067e-02 -9.99919534e-01 -6.45971421e-05 4.47493398e+02] [ 9.55068082e-01 -1.20973662e-02 -2.96139516e-01 2.29755755e+02] [ 2.96114906e-01 -3.81837450e-03 9.55144692e-01 5.61879171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3492541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:447.49, Y:229.75, Z:56.19 [[-9.61213982e-03 -9.99953802e-01 9.92674552e-06 4.47492964e+02] [ 9.54975747e-01 -9.18272832e-03 -2.96541735e-01 2.29754219e+02] [ 2.96528126e-01 -2.84092081e-03 9.55019895e-01 5.61876518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.3792541539999 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:447.49, Y:229.78, Z:56.20 [[-9.19241986e-03 -9.99957743e-01 -1.06621144e-04 4.47492510e+02] [ 9.54937746e-01 -8.74692624e-03 -2.96677255e-01 2.29781345e+02] [ 2.96663785e-01 -2.82899844e-03 9.54977798e-01 5.61955521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4092541539999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:447.49, Y:229.81, Z:56.20 [[-9.05441899e-03 -9.99959008e-01 -1.60203157e-05 4.47492001e+02] [ 9.54786971e-01 -8.64063480e-03 -2.97165239e-01 2.29808345e+02] [ 2.97152919e-01 -2.70595457e-03 9.54826068e-01 5.62034783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4392541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:447.49, Y:229.81, Z:56.20 [[-8.84695472e-03 -9.99960863e-01 6.86980172e-05 4.47491647e+02] [ 9.54594456e-01 -8.46604272e-03 -2.97788098e-01 2.29811391e+02] [ 2.97777025e-01 -2.56893907e-03 9.54631994e-01 5.62041672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4692541539999 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:447.49, Y:229.84, Z:56.21 [[-1.07132556e-02 -9.99942610e-01 -4.72779240e-05 4.47491941e+02] [ 9.54337472e-01 -1.02105321e-02 -2.98556082e-01 2.29838109e+02] [ 2.98538465e-01 -3.24362671e-03 9.54392091e-01 5.62112553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.4992541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.49, Y:229.84, Z:56.21 [[-1.19989966e-02 -9.99928009e-01 3.62459830e-05 4.47491881e+02] [ 9.54235195e-01 -1.14615216e-02 -2.98837457e-01 2.29840719e+02] [ 2.98816358e-01 -3.55116243e-03 9.54304026e-01 5.62116766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5292541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:447.49, Y:229.87, Z:56.22 [[-1.39228418e-02 -9.99903069e-01 -8.00000099e-05 4.47492234e+02] [ 9.54257242e-01 -1.32633628e-02 -2.98692482e-01 2.29866827e+02] [ 2.98662469e-01 -4.23498876e-03 9.54349409e-01 5.62191045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.5592541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.49, Y:229.89, Z:56.23 [[-1.72292565e-02 -9.99851565e-01 2.34831845e-06 4.47492696e+02] [ 9.54223989e-01 -1.64437120e-02 -2.98640560e-01 2.29893833e+02] [ 2.98596270e-01 -5.14311400e-03 9.54365661e-01 5.62265224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.589254154 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.49, Y:229.90, Z:56.23 [[-1.95420167e-02 -9.99809033e-01 8.56380294e-05 4.47492055e+02] [ 9.54239883e-01 -1.86768978e-02 -2.98458405e-01 2.29896728e+02] [ 2.98403009e-01 -5.75075991e-03 9.54422639e-01 5.62287044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6192541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:447.49, Y:229.92, Z:56.24 [[-2.21880527e-02 -9.99753814e-01 -3.11330155e-05 4.47491573e+02] [ 9.54215114e-01 -2.11680973e-02 -2.98371291e-01 2.29921942e+02] [ 2.98297178e-01 -6.64998552e-03 9.54449879e-01 5.62368506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6492541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.49, Y:229.93, Z:56.24 [[-2.60276721e-02 -9.99661222e-01 4.49887400e-05 4.47491105e+02] [ 9.54549912e-01 -2.48664985e-02 -2.97011992e-01 2.29927719e+02] [ 2.96912489e-01 -7.68758672e-03 9.54873748e-01 5.62390703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.6792541539999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:447.49, Y:229.95, Z:56.25 [[-2.82123523e-02 -9.99601950e-01 -7.28250585e-05 4.47491006e+02] [ 9.54723003e-01 -2.69241226e-02 -2.96275344e-01 2.29953853e+02] [ 2.96155450e-01 -8.42815212e-03 9.55102568e-01 5.62469092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.709254154 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:447.49, Y:229.96, Z:56.25 [[-3.16245585e-02 -9.99499819e-01 2.82640795e-06 4.47490986e+02] [ 9.55248799e-01 -3.02252713e-02 -2.94255273e-01 2.29959386e+02] [ 2.94108177e-01 -9.30299316e-03 9.55726862e-01 5.62486731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7392541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:447.49, Y:229.98, Z:56.26 [[-3.33596896e-02 -9.99443404e-01 -1.16040242e-04 4.47490883e+02] [ 9.55473348e-01 -3.18579856e-02 -2.93352603e-01 2.29984768e+02] [ 2.93185627e-01 -9.89702514e-03 9.56004308e-01 5.62560993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7692541539999 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:447.49, Y:230.01, Z:56.26 [[-3.51807639e-02 -9.99380964e-01 -5.47906761e-05 4.47490134e+02] [ 9.55483666e-01 -3.36193965e-02 -2.93122330e-01 2.30011696e+02] [ 2.92939035e-01 -1.03646191e-02 9.56074943e-01 5.62643552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.7992541539999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:447.49, Y:230.02, Z:56.27 [[-3.58506456e-02 -9.99357159e-01 3.12650951e-05 4.47489413e+02] [ 9.55570136e-01 -3.42890019e-02 -2.92762669e-01 2.30018893e+02] [ 2.92575541e-01 -1.04658547e-02 9.56185138e-01 5.62666327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.829254154 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:447.49, Y:230.05, Z:56.27 [[-3.79672728e-02 -9.99278979e-01 -8.79144345e-05 4.47487572e+02] [ 9.55735269e-01 -3.62871560e-02 -2.91981741e-01 2.30045113e+02] [ 2.91768026e-01 -1.11697733e-02 9.56423889e-01 5.62746476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8592541539999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:447.49, Y:230.07, Z:56.28 [[-3.91024023e-02 -9.99235209e-01 6.87638873e-07 4.47486290e+02] [ 9.55712145e-01 -3.73994442e-02 -2.91917074e-01 2.30071741e+02] [ 2.91693844e-01 -1.14140017e-02 9.56443632e-01 5.62828576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.8892541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.49, Y:230.07, Z:56.28 [[-3.94007454e-02 -9.99223485e-01 8.67668256e-05 4.47485090e+02] [ 9.55744826e-01 -3.77116582e-02 -2.91769872e-01 2.30072170e+02] [ 2.91546580e-01 -1.14130235e-02 9.56488544e-01 5.62829216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9192541539999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:447.48, Y:230.10, Z:56.29 [[-3.98485964e-02 -9.99205729e-01 -3.30107249e-05 4.47484463e+02] [ 9.55690967e-01 -3.81035726e-02 -2.91895346e-01 2.30098431e+02] [ 2.91662244e-01 -1.16631679e-02 9.56450263e-01 5.62906849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.949254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:447.48, Y:230.10, Z:56.29 [[-3.95207880e-02 -9.99218748e-01 4.36217570e-05 4.47482975e+02] [ 9.55530781e-01 -3.78056227e-02 -2.92457965e-01 2.30103775e+02] [ 2.92231131e-01 -1.15164873e-02 9.56278378e-01 5.62915312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 678.9792541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:447.48, Y:230.13, Z:56.30 [[-3.97847512e-02 -9.99208271e-01 -7.59272331e-05 4.47482953e+02] [ 9.55522160e-01 -3.80231099e-02 -2.92457936e-01 2.30130971e+02] [ 2.92223501e-01 -1.17079164e-02 9.56278385e-01 5.62997075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0092541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.48, Y:230.13, Z:56.30 [[-3.86689671e-02 -9.99252076e-01 2.33402164e-06 4.47481936e+02] [ 9.55482491e-01 -3.69758593e-02 -2.92721702e-01 2.30130636e+02] [ 2.92502855e-01 -1.13170157e-02 9.56197681e-01 5.62995473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0392541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.48, Y:230.16, Z:56.31 [[-3.76511731e-02 -9.99290936e-01 -1.17084870e-04 4.47480711e+02] [ 9.55540373e-01 -3.59684541e-02 -2.92658275e-01 2.30157639e+02] [ 2.92446550e-01 -1.11308067e-02 9.56217089e-01 5.63075782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0692541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.48, Y:230.18, Z:56.31 [[-3.27429453e-02 -9.99463806e-01 -3.20749828e-05 4.47478030e+02] [ 9.55433844e-01 -3.12910809e-02 -2.93542226e-01 2.30184443e+02] [ 2.93383827e-01 -9.64208258e-03 9.55946108e-01 5.63147733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.0992541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.48, Y:230.18, Z:56.31 [[-2.90565962e-02 -9.99577767e-01 4.93567103e-05 4.47476557e+02] [ 9.55467432e-01 -2.77888650e-02 -2.93785238e-01 2.30184361e+02] [ 2.93662564e-01 -8.48924029e-03 9.55871451e-01 5.63142347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1292541539999 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:447.47, Y:230.21, Z:56.32 [[-2.62580647e-02 -9.99655195e-01 -7.00457203e-05 4.47474639e+02] [ 9.55467725e-01 -2.50767845e-02 -2.94028199e-01 2.30210514e+02] [ 2.93925060e-01 -7.78753789e-03 9.55796743e-01 5.63236309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1592541539999 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:447.47, Y:230.32, Z:56.36 [[-1.76628134e-02 -9.99843429e-01 1.06846237e-03 4.47470772e+02] [ 9.55525229e-01 -1.71945195e-02 -2.94407685e-01 2.30316720e+02] [ 2.94379961e-01 -4.17912526e-03 9.55679326e-01 5.63561065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.1892541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.47, Y:230.34, Z:56.36 [[-1.36287374e-02 -9.99902304e-01 -3.10499967e-03 4.47471462e+02] [ 9.55598428e-01 -1.21105995e-02 -2.94423127e-01 2.30340905e+02] [ 2.94356760e-01 -6.97974828e-03 9.55670122e-01 5.63620637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2192541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.47, Y:230.37, Z:56.37 [[-1.07974675e-02 -9.99941635e-01 -3.76528134e-04 4.47468980e+02] [ 9.55646670e-01 -1.02083329e-02 -2.94338635e-01 2.30367275e+02] [ 2.94317613e-01 -3.53793970e-03 9.55701118e-01 5.63709692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2492541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.47, Y:230.39, Z:56.38 [[-8.70426683e-03 -9.99960284e-01 1.91490976e-03 4.47466746e+02] [ 9.55541320e-01 -8.88200813e-03 -2.94723424e-01 2.30393778e+02] [ 2.94728727e-01 -7.35575923e-04 9.55580680e-01 5.63799165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.2792541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.47, Y:230.42, Z:56.39 [[-6.00988992e-03 -9.99978417e-01 -2.65443666e-03 4.47467915e+02] [ 9.55803685e-01 -4.96407397e-03 -2.93963729e-01 2.30419311e+02] [ 2.93944208e-01 -4.30380999e-03 9.55812890e-01 5.63862514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3092541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.47, Y:230.45, Z:56.39 [[-5.86049657e-03 -9.99982813e-01 -1.67659712e-04 4.47466440e+02] [ 9.55869803e-01 -5.55271908e-03 -2.93738127e-01 2.30445312e+02] [ 2.93732147e-01 -1.88171214e-03 9.55885916e-01 5.63948908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.339254154 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:447.46, Y:230.47, Z:56.40 [[-5.91211196e-03 -9.99963295e-01 6.20129851e-03 4.47462975e+02] [ 9.56607090e-01 -7.46218991e-03 -2.91285412e-01 2.30472257e+02] [ 2.91320995e-01 4.21009415e-03 9.56616095e-01 5.64028218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3692541539999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:447.47, Y:230.50, Z:56.41 [[-6.74973278e-03 -9.99977006e-01 6.54534810e-04 4.47466014e+02] [ 9.56361654e-01 -6.64653455e-03 -2.92109930e-01 2.30500323e+02] [ 2.92107564e-01 -1.34569198e-03 9.56384525e-01 5.64081743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.3992541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.47, Y:230.28, Z:56.34 [[-9.43625283e-03 -9.99946504e-01 -4.23629445e-03 4.47469954e+02] [ 9.55241198e-01 -7.76152920e-03 -2.95726247e-01 2.30275165e+02] [ 2.95677547e-01 -6.83723062e-03 9.55263336e-01 5.63401774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4292541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.46, Y:230.30, Z:56.35 [[-1.05223467e-02 -9.99923194e-01 6.54875080e-03 4.47464805e+02] [ 9.56069760e-01 -1.19791099e-02 -2.92894375e-01 2.30301832e+02] [ 2.92950328e-01 3.17912643e-03 9.56122376e-01 5.63490627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.459254154 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:447.47, Y:230.33, Z:56.35 [[-1.34950136e-02 -9.99879705e-01 -7.64598964e-03 4.47471248e+02] [ 9.55386703e-01 -1.06373984e-02 -2.95166214e-01 2.30327494e+02] [ 2.95049373e-01 -1.12881489e-02 9.55415326e-01 5.63539711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.4892541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:447.47, Y:230.35, Z:56.37 [[-1.55955084e-02 -9.99870362e-01 4.00489773e-03 4.47468505e+02] [ 9.55157361e-01 -1.60823440e-02 -2.95661586e-01 2.30354666e+02] [ 2.95687665e-01 -7.85685213e-04 9.55284349e-01 5.63657156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5192541539999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:447.47, Y:230.36, Z:56.37 [[-1.64031945e-02 -9.99865457e-01 5.69954091e-05 4.47470539e+02] [ 9.55301673e-01 -1.56889360e-02 -2.95216144e-01 2.30356929e+02] [ 2.95177319e-01 -4.78804002e-03 9.55430492e-01 5.63653076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.5492541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.47, Y:230.38, Z:56.37 [[-1.77512493e-02 -9.99842432e-01 -6.14114395e-05 4.47470551e+02] [ 9.55361790e-01 -1.69434216e-02 -2.94952149e-01 2.30382622e+02] [ 2.94904634e-01 -5.29443927e-03 9.55512023e-01 5.63734354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.579254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:447.47, Y:230.38, Z:56.37 [[-1.93947908e-02 -9.99811903e-01 1.41911210e-05 4.47471163e+02] [ 9.55541138e-01 -1.85401839e-02 -2.94274352e-01 2.30382800e+02] [ 2.94219263e-01 -5.69382931e-03 9.55720987e-01 5.63735204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6092541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.47, Y:230.41, Z:56.38 [[-2.03486642e-02 -9.99792939e-01 -1.04794557e-04 4.47471816e+02] [ 9.55497023e-01 -1.94162610e-02 -2.94361086e-01 2.30408182e+02] [ 2.94298100e-01 -6.08998577e-03 9.55694271e-01 5.63810589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6392541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.47, Y:230.43, Z:56.39 [[-2.16787087e-02 -9.99764989e-01 -2.38105424e-05 4.47472104e+02] [ 9.55515908e-01 -2.07122132e-02 -2.94211411e-01 2.30434520e+02] [ 2.94141775e-01 -6.40087481e-03 9.55740365e-01 5.63890578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.6692541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.47, Y:230.44, Z:56.39 [[-2.21518182e-02 -9.99754616e-01 6.31375350e-05 4.47472635e+02] [ 9.55521529e-01 -2.11903114e-02 -2.94159103e-01 2.30438747e+02] [ 2.94088259e-01 -6.45582970e-03 9.55756464e-01 5.63901405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.699254154 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.47, Y:230.47, Z:56.40 [[-2.45764271e-02 -9.99697952e-01 -5.58802590e-05 4.47473864e+02] [ 9.55444238e-01 -2.34720533e-02 -2.94236929e-01 2.30465078e+02] [ 2.94146744e-01 -7.28468291e-03 9.55732508e-01 5.63975003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7292541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.47, Y:230.47, Z:56.40 [[-2.53456909e-02 -9.99676348e-01 2.18987653e-03 4.47473028e+02] [ 9.55334641e-01 -2.48665354e-02 -2.94478146e-01 2.30467683e+02] [ 2.94437292e-01 -5.37168716e-03 9.55655705e-01 5.63986621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7592541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.48, Y:230.49, Z:56.40 [[-2.64763299e-02 -9.99643189e-01 -3.53522161e-03 4.47476194e+02] [ 9.55324247e-01 -2.42607932e-02 -2.94562381e-01 2.30494948e+02] [ 2.94371511e-01 -1.11762137e-02 9.55625714e-01 5.64047750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.7892541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:447.48, Y:230.52, Z:56.41 [[-2.90102865e-02 -9.99579106e-01 -1.22377298e-04 4.47475548e+02] [ 9.54766461e-01 -2.76734644e-02 -2.96066181e-01 2.30521376e+02] [ 2.95938182e-01 -8.70580646e-03 9.55167421e-01 5.64130284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8192541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.48, Y:230.55, Z:56.42 [[-3.00210056e-02 -9.99549268e-01 -3.37765195e-05 4.47476121e+02] [ 9.54570315e-01 -2.86600605e-02 -2.96604308e-01 2.30547022e+02] [ 2.96469651e-01 -8.93660166e-03 9.55000462e-01 5.64203923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8492541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.48, Y:230.55, Z:56.42 [[-3.04855609e-02 -9.99535207e-01 2.24381256e-05 4.47476673e+02] [ 9.54344502e-01 -2.91139299e-02 -2.97285975e-01 2.30553659e+02] [ 2.97148452e-01 -9.04151598e-03 9.54788484e-01 5.64224021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.8792541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:447.48, Y:230.58, Z:56.43 [[-3.13784485e-02 -9.99507571e-01 -9.56563164e-05 4.47477053e+02] [ 9.54176269e-01 -2.99268266e-02 -2.97744912e-01 2.30579388e+02] [ 2.97595431e-01 -9.43404637e-03 9.54645462e-01 5.64302692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9092541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.48, Y:230.61, Z:56.44 [[-3.24778526e-02 -9.99472455e-01 -1.49947874e-05 4.47477450e+02] [ 9.54245996e-01 -3.10037570e-02 -2.97411073e-01 2.30606490e+02] [ 2.97253710e-01 -9.67358170e-03 9.54749524e-01 5.64381937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9392541539999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:447.48, Y:230.61, Z:56.44 [[-3.20728023e-02 -9.99485533e-01 6.78932697e-05 4.47477356e+02] [ 9.54244546e-01 -3.06412557e-02 -2.97453290e-01 2.30610095e+02] [ 2.97302340e-01 -9.47537378e-03 9.54736370e-01 5.64396234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9692541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.48, Y:230.64, Z:56.45 [[-3.13688475e-02 -9.99499951e-01 -3.98043437e-03 4.47478995e+02] [ 9.54677698e-01 -2.87823414e-02 -2.96246637e-01 2.30637218e+02] [ 2.95983933e-01 -1.30929475e-02 9.55103181e-01 5.64458925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 679.9992541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:447.48, Y:230.61, Z:56.44 [[-2.80690021e-02 -9.99603296e-01 2.32005126e-03 4.47475127e+02] [ 9.54816963e-01 -2.74982167e-02 -2.95919610e-01 2.30610506e+02] [ 2.95866015e-01 -6.09094386e-03 9.55210030e-01 5.64401106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0292541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.47, Y:230.38, Z:56.37 [[-2.40683328e-02 -9.99708592e-01 1.85646574e-03 4.47474096e+02] [ 9.55034627e-01 -2.35416451e-02 -2.95558205e-01 2.30382149e+02] [ 2.95515782e-01 -5.34060417e-03 9.55322930e-01 5.63711987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.0592541539999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:447.47, Y:230.41, Z:56.38 [[-2.09492308e-02 -9.99780522e-01 -1.95349637e-04 4.47474116e+02] [ 9.55116933e-01 -1.99556081e-02 -2.95556118e-01 2.30407940e+02] [ 2.95487352e-01 -6.37825506e-03 9.55325360e-01 5.63784277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.089254154 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:447.47, Y:230.43, Z:56.39 [[-1.42580115e-02 -9.99898196e-01 5.53896766e-04 4.47471035e+02] [ 9.55254351e-01 -1.37850875e-02 -2.95464205e-01 2.30433523e+02] [ 2.95441761e-01 -3.68361973e-03 9.55353650e-01 5.63869940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1192541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:447.47, Y:230.46, Z:56.40 [[-1.25398875e-02 -9.99921297e-01 3.88884512e-04 4.47469889e+02] [ 9.55286746e-01 -1.20950298e-02 -2.95433482e-01 2.30461228e+02] [ 2.95414934e-01 -3.33320642e-03 9.55363233e-01 5.63956618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1492541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:447.47, Y:230.46, Z:56.40 [[-9.85988040e-03 -9.99951389e-01 5.63573500e-05 4.47468997e+02] [ 9.55279158e-01 -9.43605363e-03 -2.95554888e-01 2.30463994e+02] [ 2.95541052e-01 -2.86029884e-03 9.55325759e-01 5.63961437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.1792541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:447.47, Y:230.49, Z:56.40 [[-8.37930977e-03 -9.99964891e-01 -6.00464472e-05 4.47468229e+02] [ 9.55136846e-01 -7.98589069e-03 -2.96057142e-01 2.30489445e+02] [ 2.96046268e-01 -2.53810707e-03 9.55170228e-01 5.64039572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.209254154 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:447.47, Y:230.49, Z:56.40 [[-6.15476408e-03 -9.99981059e-01 1.38565687e-05 4.47466897e+02] [ 9.54896258e-01 -5.88138633e-03 -2.96881368e-01 2.30492867e+02] [ 2.96875826e-01 -1.81400319e-03 9.54914370e-01 5.64047070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2392541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:447.47, Y:230.52, Z:56.41 [[-5.71451795e-03 -9.99983667e-01 -1.01867338e-04 4.47467092e+02] [ 9.54711324e-01 -5.42549969e-03 -2.97484206e-01 2.30519867e+02] [ 2.97478795e-01 -1.79723274e-03 9.54726734e-01 5.64113326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2692541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:447.47, Y:230.54, Z:56.42 [[-6.83630432e-03 -9.99976632e-01 -1.44060210e-05 4.47466922e+02] [ 9.54559664e-01 -6.52152050e-03 -2.97948514e-01 2.30544911e+02] [ 2.97941458e-01 -2.05061812e-03 9.54581941e-01 5.64201144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.2992541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:447.47, Y:230.55, Z:56.42 [[-8.87611806e-03 -9.99960606e-01 3.97275265e-05 4.47467485e+02] [ 9.54498366e-01 -8.48441701e-03 -2.98095429e-01 2.30549944e+02] [ 2.98084023e-01 -2.60801036e-03 9.54536073e-01 5.64213879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.329254154 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:447.47, Y:230.58, Z:56.43 [[-1.07009078e-02 -9.99942741e-01 -7.57725620e-05 4.47467474e+02] [ 9.54528175e-01 -1.01923255e-02 -2.97946438e-01 2.30576322e+02] [ 2.97928606e-01 -3.26062442e-03 9.54582586e-01 5.64295894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3592541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:447.47, Y:230.59, Z:56.43 [[-1.17990924e-02 -9.99930388e-01 6.44159112e-06 4.47467571e+02] [ 9.54682745e-01 -1.12670900e-02 -2.97412019e-01 2.30585290e+02] [ 2.97391388e-01 -3.50304221e-03 9.54749229e-01 5.64322463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.3892541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:447.47, Y:230.61, Z:56.44 [[-1.55110747e-02 -9.99879690e-01 -1.09409519e-04 4.47467953e+02] [ 9.54850729e-01 -1.47800754e-02 -2.96718106e-01 2.30611430e+02] [ 2.96680791e-01 -4.70688646e-03 9.54965106e-01 5.64406029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4192541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:447.47, Y:230.64, Z:56.45 [[-1.72716497e-02 -9.99850834e-01 -2.19814381e-05 4.47468364e+02] [ 9.54817773e-01 -1.64872148e-02 -2.96734210e-01 2.30637325e+02] [ 2.96689585e-01 -5.14607760e-03 9.54960108e-01 5.64477859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.449254154 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:447.47, Y:230.64, Z:56.45 [[-1.92693937e-02 -9.99814327e-01 5.10175816e-05 4.47468484e+02] [ 9.54898540e-01 -1.84188554e-02 -2.96360465e-01 2.30642308e+02] [ 2.96306378e-01 -5.66196986e-03 9.55076161e-01 5.64502073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.4792541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.47, Y:230.67, Z:56.46 [[-2.37614866e-02 -9.99717654e-01 -6.54978702e-05 4.47469333e+02] [ 9.54928983e-01 -2.26775499e-02 -2.95966834e-01 2.30669258e+02] [ 2.95881784e-01 -7.09515776e-03 9.55198214e-01 5.64582805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5092541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:447.47, Y:230.68, Z:56.46 [[-2.54753673e-02 -9.99675450e-01 1.48505101e-05 4.47469900e+02] [ 9.54922625e-01 -2.43392975e-02 -2.95855335e-01 2.30677515e+02] [ 2.95759677e-01 -7.52284223e-03 9.55232757e-01 5.64606423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5392541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.47, Y:230.70, Z:56.47 [[-2.79659710e-02 -9.99608871e-01 -1.02168417e-04 4.47470329e+02] [ 9.54933407e-01 -2.66858747e-02 -2.95618086e-01 2.30704310e+02] [ 2.95499735e-01 -8.36481085e-03 9.55306201e-01 5.64685835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5692541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.47, Y:230.73, Z:56.48 [[-3.18651403e-02 -9.99492177e-01 -1.50130991e-05 4.47470781e+02] [ 9.54908138e-01 -3.04393056e-02 -2.95336921e-01 2.30729860e+02] [ 2.95186485e-01 -9.42528854e-03 9.55393167e-01 5.64765344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.5992541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:447.47, Y:230.73, Z:56.48 [[-3.26537478e-02 -9.99466723e-01 4.46638115e-05 4.47470952e+02] [ 9.55031015e-01 -3.12151577e-02 -2.94858228e-01 2.30731379e+02] [ 2.94702381e-01 -9.58557088e-03 9.55541011e-01 5.64767846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6292541539999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:447.47, Y:230.76, Z:56.48 [[-3.37239406e-02 -9.99431184e-01 -7.30726152e-05 4.47471214e+02] [ 9.55081237e-01 -3.22058958e-02 -2.94588886e-01 2.30758114e+02] [ 2.94418965e-01 -1.00044884e-02 9.55624080e-01 5.64847318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6592541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:447.46, Y:230.74, Z:56.48 [[-1.85408347e-02 -9.98807004e-01 4.51752924e-02 4.47455615e+02] [ 9.63481717e-01 -2.99204714e-02 -2.66097251e-01 2.30738456e+02] [ 2.67131464e-01 3.85919032e-02 9.62887037e-01 5.64780405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.6892541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.50, Y:230.76, Z:56.46 [[-2.59769197e-02 -9.97185907e-01 -7.03240091e-02 4.47504445e+02] [ 9.60572110e-01 -5.41941726e-03 -2.77978151e-01 2.30756971e+02] [ 2.76814780e-01 -7.47722979e-02 9.58009750e-01 5.64645105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7192541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.47, Y:230.78, Z:56.49 [[-2.49744790e-02 -9.99685618e-01 -2.22292089e-03 4.47469857e+02] [ 9.59883322e-01 -2.33587896e-02 -2.79425080e-01 2.30778419e+02] [ 2.79285308e-01 -9.11224047e-03 9.60164925e-01 5.64932833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7492541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.47, Y:230.81, Z:56.50 [[-2.39246251e-02 -9.99711477e-01 -2.13918940e-03 4.47469599e+02] [ 9.59892463e-01 -2.23736742e-02 -2.79474289e-01 2.30805642e+02] [ 2.79345793e-01 -8.73970937e-03 9.60150793e-01 5.65011793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.7792541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:447.47, Y:230.83, Z:56.51 [[-2.09299940e-02 -9.99778830e-01 -2.05587826e-03 4.47469368e+02] [ 9.59913881e-01 -1.95204557e-02 -2.79614545e-01 2.30832300e+02] [ 2.79512571e-01 -7.82579685e-03 9.60110139e-01 5.65092492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8092541539999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:447.47, Y:230.86, Z:56.52 [[-1.74645562e-02 -9.99846677e-01 1.26996706e-03 4.47468230e+02] [ 9.59706704e-01 -1.71196790e-02 -2.80481654e-01 2.30855130e+02] [ 2.80460391e-01 -3.67969170e-03 9.59858546e-01 5.65171093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.839254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.47, Y:230.88, Z:56.52 [[-1.72394802e-02 -9.99846183e-01 -3.22658438e-03 4.47470688e+02] [ 9.60048557e-01 -1.56516527e-02 -2.79395409e-01 2.30884014e+02] [ 2.79301932e-01 -7.91430931e-03 9.60170711e-01 5.65237228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8692541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.47, Y:230.91, Z:56.53 [[-1.75043839e-02 -9.99844993e-01 -1.89380824e-03 4.47470143e+02] [ 9.60035435e-01 -1.62782132e-02 -2.79404693e-01 2.30911207e+02] [ 2.79330556e-01 -6.70893004e-03 9.60171563e-01 5.65319146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.8992541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.47, Y:230.94, Z:56.54 [[-1.57239142e-02 -9.99874730e-01 -1.81196011e-03 4.47470609e+02] [ 9.60181501e-01 -1.45941110e-02 -2.78995515e-01 2.30937344e+02] [ 2.78934121e-01 -6.12671210e-03 9.60290695e-01 5.65388882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9292541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.47, Y:230.96, Z:56.55 [[-1.15320965e-02 -9.99931990e-01 -1.73940229e-03 4.47471440e+02] [ 9.60063622e-01 -1.05859617e-02 -2.79581437e-01 2.30964189e+02] [ 2.79544010e-01 -4.89409698e-03 9.60120406e-01 5.65463469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.959254154 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:447.47, Y:230.99, Z:56.55 [[-9.77963646e-03 -9.99950804e-01 -1.65753174e-03 4.47471556e+02] [ 9.59959410e-01 -8.92438928e-03 -2.79996939e-01 2.30989912e+02] [ 2.79968372e-01 -4.32943146e-03 9.59999462e-01 5.65534911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 680.9892541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.47, Y:231.02, Z:56.56 [[-7.65223647e-03 -9.99969465e-01 -1.58500537e-03 4.47471730e+02] [ 9.59782223e-01 -6.89984236e-03 -2.80660787e-01 2.31016602e+02] [ 2.80641280e-01 -3.66894268e-03 9.59805715e-01 5.65610717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0192541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:447.47, Y:231.04, Z:56.57 [[-3.81848337e-03 -9.99991578e-01 -1.50471698e-03 4.47472378e+02] [ 9.59600937e-01 -3.24090150e-03 -2.81345941e-01 2.31042611e+02] [ 2.81338695e-01 -2.51824261e-03 9.59605230e-01 5.65679090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.0492541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.47, Y:231.07, Z:56.58 [[-2.19925505e-03 -9.99996558e-01 -1.43117569e-03 4.47472968e+02] [ 9.59480382e-01 -1.70688519e-03 -2.81770265e-01 2.31068722e+02] [ 2.81766853e-01 -1.99286968e-03 9.59480833e-01 5.65755666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.079254154 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:447.47, Y:231.10, Z:56.58 [[-1.38196823e-03 -9.99998124e-01 -1.35702970e-03 4.47473408e+02] [ 9.59455637e-01 -9.43449156e-04 -2.81858105e-01 2.31095080e+02] [ 2.81856296e-01 -1.69152874e-03 9.59455141e-01 5.65830740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1092541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:447.47, Y:231.12, Z:56.59 [[-8.66535787e-04 -9.99998810e-01 -1.27647825e-03 4.47474055e+02] [ 9.59378980e-01 -4.71216606e-04 -2.82120100e-01 2.31121631e+02] [ 2.82119163e-01 -1.46909357e-03 9.59378247e-01 5.65910294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1392541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.48, Y:231.15, Z:56.60 [[-1.64522760e-03 -9.99997934e-01 -1.19409046e-03 4.47475840e+02] [ 9.59454880e-01 -1.24195844e-03 -2.81859522e-01 2.31148935e+02] [ 2.81857457e-01 -1.60939898e-03 9.59454941e-01 5.65986922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.1692541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:447.48, Y:231.18, Z:56.61 [[-3.28602078e-03 -9.99993988e-01 -1.10761462e-03 4.47477063e+02] [ 9.59506085e-01 -2.84098824e-03 -2.81673574e-01 2.31175967e+02] [ 2.81668734e-01 -1.98834819e-03 9.59509651e-01 5.66062621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.199254154 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:447.48, Y:231.20, Z:56.61 [[-5.67821414e-03 -9.99983358e-01 -1.02063104e-03 4.47478226e+02] [ 9.59601702e-01 -5.16179140e-03 -2.81314645e-01 2.31201691e+02] [ 2.81304695e-01 -2.57676407e-03 9.59615042e-01 5.66137498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2292541539999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:447.48, Y:231.23, Z:56.62 [[-1.22384649e-02 -9.99924665e-01 -9.40802412e-04 4.47480614e+02] [ 9.59793597e-01 -1.14833969e-02 -2.80471716e-01 2.31228083e+02] [ 2.80439783e-01 -4.33551940e-03 9.59861829e-01 5.66214293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2592541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.48, Y:231.25, Z:56.63 [[-1.63392998e-02 -9.99866139e-01 -8.55311933e-04 4.47481934e+02] [ 9.59907621e-01 -1.54468923e-02 -2.79890607e-01 2.31253691e+02] [ 2.79839929e-01 -5.39423697e-03 9.60031519e-01 5.66285054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.2892541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:447.48, Y:231.28, Z:56.64 [[-2.07078921e-02 -9.99785250e-01 -7.97982998e-04 4.47483428e+02] [ 9.59835048e-01 -1.96570461e-02 -2.79875474e-01 2.31279844e+02] [ 2.79799685e-01 -6.56156319e-03 9.60035980e-01 5.66361149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3192541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.49, Y:231.31, Z:56.64 [[-2.94892329e-02 -9.99564823e-01 -7.40858942e-04 4.47486365e+02] [ 9.59620083e-01 -2.81033296e-02 -2.79891941e-01 2.31306654e+02] [ 2.79749318e-01 -8.96474175e-03 9.60031225e-01 5.66437861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3492541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.49, Y:231.33, Z:56.65 [[-3.37025649e-02 -9.99431691e-01 -6.57482764e-04 4.47487496e+02] [ 9.59478749e-01 -3.21711232e-02 -2.79938473e-01 2.31332089e+02] [ 2.79758230e-01 -1.00654853e-02 9.60017718e-01 5.66514373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.3792541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:447.49, Y:231.36, Z:56.66 [[-3.75252282e-02 -9.99295511e-01 -5.81403968e-04 4.47488886e+02] [ 9.59444460e-01 -3.58660750e-02 -2.79606784e-01 2.31358901e+02] [ 2.79388951e-01 -1.10501332e-02 9.60114425e-01 5.66592665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4092541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.49, Y:231.39, Z:56.67 [[-4.28125917e-02 -9.99083118e-01 -6.71341568e-05 4.47493254e+02] [ 9.59777136e-01 -4.11095936e-02 -2.77737017e-01 2.31388091e+02] [ 2.77479605e-01 -1.19550753e-02 9.60657142e-01 5.66670598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4392541539999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:447.50, Y:231.42, Z:56.67 [[-4.52118062e-02 -9.98975018e-01 -2.19216188e-03 4.47496188e+02] [ 9.59893421e-01 -4.28350303e-02 -2.77073600e-01 2.31416360e+02] [ 2.76695703e-01 -1.46312397e-02 9.60846197e-01 5.66741834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4692541539999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:447.50, Y:231.44, Z:56.68 [[-4.88878194e-02 -9.98800124e-01 -2.87977061e-03 4.47496729e+02] [ 9.59540774e-01 -4.61653655e-02 -2.77759361e-01 2.31440068e+02] [ 2.77293138e-01 -1.63423068e-02 9.60646368e-01 5.66818197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.4992541539999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:447.50, Y:231.47, Z:56.69 [[-5.21545178e-02 -9.98638991e-01 -2.66597465e-04 4.47498422e+02] [ 9.59160227e-01 -5.00183923e-02 -2.78405853e-01 2.31466212e+02] [ 2.78013606e-01 -1.47758327e-02 9.60463487e-01 5.66893234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5292541539999 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:447.50, Y:231.49, Z:56.70 [[-5.28974005e-02 -9.98599936e-01 -1.78803202e-04 4.47499766e+02] [ 9.58980384e-01 -5.07487540e-02 -2.78892789e-01 2.31492818e+02] [ 2.78493247e-01 -1.49241723e-02 9.60322227e-01 5.66964231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.5592541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:447.50, Y:231.52, Z:56.70 [[-5.28744735e-02 -9.98601162e-01 -9.62073851e-05 4.47500694e+02] [ 9.58745186e-01 -5.07372106e-02 -2.79702348e-01 2.31519248e+02] [ 2.79306209e-01 -1.48813528e-02 9.60086760e-01 5.67036132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.589254154 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:447.50, Y:231.55, Z:56.71 [[-5.23683536e-02 -9.98627836e-01 -8.87125696e-06 4.47500986e+02] [ 9.58629610e-01 -5.02683452e-02 -2.80182733e-01 2.31546017e+02] [ 2.79797830e-01 -1.46812127e-02 9.59946684e-01 5.67111452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6192541539999 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:447.50, Y:231.55, Z:56.71 [[-4.79094023e-02 -9.98851683e-01 7.03479418e-05 4.47501476e+02] [ 9.58743537e-01 -4.60053929e-02 -2.80525106e-01 2.31548235e+02] [ 2.80206210e-01 -1.33723445e-02 9.59846686e-01 5.67115791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6492541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:447.50, Y:231.58, Z:56.72 [[-4.48119206e-02 -9.98995440e-01 -4.17324777e-05 4.47501373e+02] [ 9.58845938e-01 -4.29992110e-02 -2.80651982e-01 2.31575496e+02] [ 2.80368255e-01 -1.26165693e-02 9.59809598e-01 5.67192347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.6792541539999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:447.50, Y:231.58, Z:56.72 [[-4.03892776e-02 -9.99184020e-01 3.67507666e-05 4.47500614e+02] [ 9.58886563e-01 -3.87707034e-02 -2.81128783e-01 2.31575058e+02] [ 2.80900813e-01 -1.13193486e-02 9.59670051e-01 5.67195131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.709254154 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:447.50, Y:231.60, Z:56.73 [[-3.03539761e-02 -9.99539209e-01 -7.48091946e-05 4.47498145e+02] [ 9.59157450e-01 -2.91066052e-02 -2.81371272e-01 2.31602186e+02] [ 2.81239441e-01 -8.61249067e-03 9.59598980e-01 5.67274170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7392541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.50, Y:231.60, Z:56.73 [[-2.42365854e-02 -9.99706251e-01 3.45615391e-06 4.47496626e+02] [ 9.59406652e-01 -2.32605454e-02 -2.81065515e-01 2.31600098e+02] [ 2.80983033e-01 -6.80875248e-03 9.59688583e-01 5.67270131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7692541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:447.50, Y:231.63, Z:56.73 [[-1.87866275e-02 -9.99823510e-01 -1.06888002e-04 4.47495222e+02] [ 9.59582124e-01 -1.80004691e-02 -2.80852505e-01 2.31626468e+02] [ 2.80801014e-01 -5.37883923e-03 9.59750936e-01 5.67347295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.7992541539999 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:447.49, Y:231.65, Z:56.74 [[-8.36892586e-03 -9.99964980e-01 -2.31968698e-05 4.47492899e+02] [ 9.59743435e-01 -8.02578988e-03 -2.80763470e-01 2.31652669e+02] [ 2.80753452e-01 -2.37195171e-03 9.59776991e-01 5.67424795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.829254154 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:447.49, Y:231.65, Z:56.74 [[-3.40883425e-03 -9.99994189e-01 4.70857299e-05 4.47492271e+02] [ 9.59741589e-01 -3.28484384e-03 -2.80865256e-01 2.31654846e+02] [ 2.80863778e-01 -9.12232970e-04 9.59747209e-01 5.67432871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8592541539999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:447.49, Y:231.68, Z:56.75 [[ 4.99220513e-04 -9.99999873e-01 -6.26986366e-05 4.47492043e+02] [ 9.59733741e-01 4.96731562e-04 -2.80910840e-01 2.31680526e+02] [ 2.80910836e-01 8.00624573e-05 9.59733867e-01 5.67505416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.8892541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.49, Y:231.68, Z:56.75 [[ 4.36067990e-03 -9.99990492e-01 6.91211536e-06 4.47491649e+02] [ 9.59734143e-01 4.18319169e-03 -2.80878758e-01 2.31681241e+02] [ 2.80876058e-01 1.23145615e-03 9.59743259e-01 5.67507931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9192541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.49, Y:231.71, Z:56.76 [[ 9.15177099e-03 -9.99958117e-01 -1.01893780e-04 4.47491366e+02] [ 9.59712251e-01 8.81205233e-03 -2.80846475e-01 2.31708184e+02] [ 2.80835610e-01 2.47245392e-03 9.59752701e-01 5.67590052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.949254154 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.49, Y:231.73, Z:56.77 [[ 1.02709146e-02 -9.99947253e-01 -1.87299179e-05 4.47491532e+02] [ 9.59719615e-01 9.86297755e-03 -2.80786365e-01 2.31733969e+02] [ 2.80771739e-01 2.86595731e-03 9.59770294e-01 5.67664035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 681.9792541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.49, Y:231.74, Z:56.77 [[ 1.08590823e-02 -9.99941037e-01 5.09977799e-05 4.47492594e+02] [ 9.59583359e-01 1.04064660e-02 -2.81232079e-01 2.31741468e+02] [ 2.81214966e-01 3.10285890e-03 9.59639784e-01 5.67688971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0092541539999 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:447.49, Y:231.77, Z:56.78 [[ 9.43593245e-03 -9.99955479e-01 -5.77119846e-05 4.47493548e+02] [ 9.59579863e-01 9.07116844e-03 -2.81290242e-01 2.31767757e+02] [ 2.81278243e-01 2.59885647e-03 9.59622736e-01 5.67762930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0392541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:447.49, Y:231.77, Z:56.78 [[ 8.16866919e-03 -9.99966636e-01 1.41139666e-05 4.47494963e+02] [ 9.59670239e-01 7.83552384e-03 -2.81018928e-01 2.31769102e+02] [ 2.81009441e-01 2.30909541e-03 9.59702226e-01 5.67769446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0692541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.50, Y:231.80, Z:56.78 [[ 5.35327265e-03 -9.99985667e-01 -9.41927317e-05 4.47496686e+02] [ 9.59761275e-01 5.16438427e-03 -2.80769701e-01 2.31795894e+02] [ 2.80766163e-01 1.41263423e-03 9.59775164e-01 5.67844466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.0992541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:447.50, Y:231.82, Z:56.79 [[-1.24113451e-03 -9.99999230e-01 -9.50699631e-06 4.47500617e+02] [ 9.59890196e-01 -1.18868825e-03 -2.80373677e-01 2.31822571e+02] [ 2.80373449e-01 -3.57107117e-04 9.59890932e-01 5.67922995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1292541539999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:447.50, Y:231.82, Z:56.79 [[-4.62994685e-03 -9.99989279e-01 7.26395002e-05 4.47502636e+02] [ 9.59959219e-01 -4.46495466e-03 -2.80104198e-01 2.31824995e+02] [ 2.80101520e-01 -1.22713659e-03 9.59969600e-01 5.67928479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1592541539999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:447.51, Y:231.85, Z:56.80 [[-1.34037793e-02 -9.99910165e-01 -3.69953411e-05 4.47506798e+02] [ 9.59804882e-01 -1.28557952e-02 -2.80373530e-01 2.31850584e+02] [ 2.80347867e-01 -3.79357322e-03 9.59890974e-01 5.67996820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.1892541539999 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:447.51, Y:231.85, Z:56.80 [[-1.75229379e-02 -9.99846461e-01 3.25679221e-05 4.47508516e+02] [ 9.59676702e-01 -1.68280776e-02 -2.80601932e-01 2.31854665e+02] [ 2.80559397e-01 -4.88571555e-03 9.59824231e-01 5.68004805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2192541539999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:447.51, Y:231.88, Z:56.81 [[-2.19971984e-02 -9.99758029e-01 -7.75674644e-05 4.47510399e+02] [ 9.59593415e-01 -2.10917050e-02 -2.80598679e-01 2.31880966e+02] [ 2.80529147e-01 -6.24681805e-03 9.59825180e-01 5.68075548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2492541539999 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:447.51, Y:231.91, Z:56.81 [[-2.60387784e-02 -9.99660934e-01 -3.71166951e-08 4.47512255e+02] [ 9.59249166e-01 -2.49861380e-02 -2.81454670e-01 2.31907690e+02] [ 2.81359237e-01 -7.32877140e-03 9.59574525e-01 5.68143147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.2792541539999 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:447.52, Y:231.92, Z:56.82 [[-3.32312890e-02 -9.99447685e-01 7.83825560e-05 4.47515498e+02] [ 9.59088262e-01 -3.19114136e-02 -2.81302982e-01 2.31915775e+02] [ 2.81150115e-01 -9.27288489e-03 9.59619001e-01 5.68162085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3092541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:447.52, Y:231.94, Z:56.82 [[-3.72161876e-02 -9.99307237e-01 -3.21785073e-05 4.47516463e+02] [ 9.59130190e-01 -3.57108756e-02 -2.80702713e-01 2.31942878e+02] [ 2.80507103e-01 -1.04775482e-02 9.59794763e-01 5.68241842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.339254154 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:447.52, Y:231.94, Z:56.82 [[-3.94093156e-02 -9.99223150e-01 4.67598803e-05 4.47517702e+02] [ 9.58880925e-01 -3.78313827e-02 -2.81275948e-01 2.31943254e+02] [ 2.81059208e-01 -1.10400555e-02 9.59626927e-01 5.68237561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3692541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:447.52, Y:231.97, Z:56.83 [[-4.30029825e-02 -9.99074942e-01 -6.46089044e-05 4.47517913e+02] [ 9.59073192e-01 -4.12630792e-02 -2.80135630e-01 2.31968491e+02] [ 2.79873822e-01 -1.21086323e-02 9.59960429e-01 5.68319563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.3992541539999 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:447.52, Y:231.97, Z:56.83 [[-4.74469030e-02 -9.98873762e-01 7.47796157e-06 4.47519364e+02] [ 9.59181950e-01 -4.55636155e-02 -2.79094866e-01 2.31972722e+02] [ 2.78780880e-01 -1.32350143e-02 9.60263534e-01 5.68330320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4292541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:447.52, Y:232.00, Z:56.84 [[-4.94062583e-02 -9.98778760e-01 -1.04516784e-04 4.47520168e+02] [ 9.59212114e-01 -4.74198656e-02 -2.78681678e-01 2.31999293e+02] [ 2.78336384e-01 -1.38688727e-02 9.60383523e-01 5.68406952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.459254154 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:447.52, Y:232.03, Z:56.85 [[-5.31958082e-02 -9.98584100e-01 -2.32215233e-05 4.47521164e+02] [ 9.59207830e-01 -5.10917198e-02 -2.78046715e-01 2.32025518e+02] [ 2.77651842e-01 -1.48131940e-02 9.60567553e-01 5.68477152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.4892541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.52, Y:232.03, Z:56.85 [[-5.40556872e-02 -9.98537921e-01 5.90192525e-05 4.47521464e+02] [ 9.59161849e-01 -5.19405042e-02 -2.78048074e-01 2.32027777e+02] [ 2.77644611e-01 -1.49734707e-02 9.60567158e-01 5.68480866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5192541539999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:447.52, Y:232.05, Z:56.85 [[-5.57169648e-02 -9.98446602e-01 -5.37814434e-05 4.47521910e+02] [ 9.59034698e-01 -5.35026520e-02 -2.78190427e-01 2.32054263e+02] [ 2.77755409e-01 -1.55515045e-02 9.60525941e-01 5.68547948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.5492541539999 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:447.52, Y:232.07, Z:56.86 [[-5.81086076e-02 -9.98310267e-01 2.70086683e-05 4.47522131e+02] [ 9.58606148e-01 -5.58051054e-02 -2.79213257e-01 2.32065539e+02] [ 2.78742968e-01 -1.61988029e-02 9.60229117e-01 5.68573319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.579254154 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:447.52, Y:232.09, Z:56.86 [[-5.95448280e-02 -9.98225629e-01 -8.60386691e-05 4.47522133e+02] [ 9.58413794e-01 -5.71459260e-02 -2.79602114e-01 2.32092749e+02] [ 2.79101080e-01 -1.67313204e-02 9.60115957e-01 5.68649131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6092541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:447.52, Y:232.12, Z:56.87 [[-6.10765029e-02 -9.98133088e-01 -3.58153484e-06 4.47521560e+02] [ 9.58091482e-01 -5.86253213e-02 -2.80399330e-01 2.32119837e+02] [ 2.79875639e-01 -1.71292419e-02 9.59883439e-01 5.68727333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6392541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:447.52, Y:232.12, Z:56.87 [[-6.26433130e-02 -9.98035976e-01 7.39457510e-05 4.47520686e+02] [ 9.57508376e-01 -6.01204327e-02 -2.82069572e-01 2.32124643e+02] [ 2.81520026e-01 -1.75989688e-02 9.59393950e-01 5.68735590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.6692541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:447.52, Y:232.15, Z:56.88 [[-6.32148181e-02 -9.97999943e-01 -3.79839040e-05 4.47520666e+02] [ 9.57218436e-01 -6.06208872e-02 -2.82945179e-01 2.32150565e+02] [ 2.82376970e-01 -1.79226869e-02 9.59136082e-01 5.68804022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.699254154 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:447.52, Y:232.16, Z:56.88 [[-6.26407991e-02 -9.98036136e-01 4.30851169e-05 4.47520254e+02] [ 9.56928785e-01 -6.00729969e-02 -2.84039671e-01 2.32159678e+02] [ 2.83484444e-01 -1.77512426e-02 9.58812528e-01 5.68829936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7292541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:447.52, Y:232.19, Z:56.89 [[-6.20519424e-02 -9.98072919e-01 -6.85476826e-05 4.47519230e+02] [ 9.56719661e-01 -5.94613728e-02 -2.84871613e-01 2.32186107e+02] [ 2.84318567e-01 -1.77424178e-02 9.58565678e-01 5.68907699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7592541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.52, Y:232.18, Z:56.89 [[-5.76502683e-02 -9.98336840e-01 9.55266533e-06 4.47516126e+02] [ 9.56631376e-01 -5.52446684e-02 -2.86014750e-01 2.32182959e+02] [ 2.85539590e-01 -1.64796887e-02 9.58225215e-01 5.68901402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.7892541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.52, Y:232.21, Z:56.90 [[-5.79088661e-02 -9.98321868e-01 -1.01888071e-04 4.47516093e+02] [ 9.56618891e-01 -5.54606440e-02 -2.86014711e-01 2.32210297e+02] [ 2.85529090e-01 -1.66602556e-02 9.58225221e-01 5.68978753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8192541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:447.51, Y:232.24, Z:56.91 [[-5.55370529e-02 -9.98456627e-01 -2.50072401e-05 4.47513846e+02] [ 9.56889845e-01 -5.32178365e-02 -2.85534038e-01 2.32237362e+02] [ 2.85092021e-01 -1.58816481e-02 9.58368568e-01 5.69063932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8492541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:447.51, Y:232.24, Z:56.91 [[-5.11024999e-02 -9.98693412e-01 5.16432028e-05 4.47512120e+02] [ 9.57024023e-01 -4.89850852e-02 -2.85841706e-01 2.32241862e+02] [ 2.85470758e-01 -1.45578020e-02 9.58276848e-01 5.69078438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.8792541539999 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:447.51, Y:232.27, Z:56.92 [[-4.22187602e-02 -9.99108389e-01 -5.88659634e-05 4.47508430e+02] [ 9.57660786e-01 -4.04505379e-02 -2.85043106e-01 2.32268336e+02] [ 2.84786578e-01 -1.20905402e-02 9.58514697e-01 5.69156481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9092541539999 meters Centerline goodness : 0.998815 Centerline is valid? [True, True] Translation: X:447.51, Y:232.27, Z:56.92 [[-3.73003804e-02 -9.99304099e-01 1.95266274e-05 4.47506139e+02] [ 9.58164086e-01 -3.57703226e-02 -2.83975473e-01 2.32268901e+02] [ 2.83778553e-01 -1.05736835e-02 9.58831544e-01 5.69169854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9392541539999 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:447.50, Y:232.30, Z:56.93 [[-2.78469516e-02 -9.99612194e-01 -9.14071943e-05 4.47502267e+02] [ 9.58864487e-01 -2.66859696e-02 -2.82607069e-01 2.32295375e+02] [ 2.82495033e-01 -7.95739249e-03 9.59235756e-01 5.69252523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9692541539999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:447.50, Y:232.32, Z:56.93 [[-2.35744729e-02 -9.99722084e-01 -6.81791484e-06 4.47500159e+02] [ 9.59223031e-01 -2.26175422e-02 -2.81743896e-01 2.32321451e+02] [ 2.81665441e-01 -6.64850374e-03 9.59489644e-01 5.69331393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 682.9992541539999 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:447.50, Y:232.32, Z:56.93 [[-1.92102265e-02 -9.99815465e-01 6.35109076e-05 4.47498368e+02] [ 9.59531945e-01 -1.84540777e-02 -2.80994472e-01 2.32317794e+02] [ 2.80943791e-01 -5.33702671e-03 9.59709384e-01 5.69318689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0292541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:447.50, Y:232.34, Z:56.94 [[-1.33930151e-02 -9.99910308e-01 -4.69347677e-05 4.47496397e+02] [ 9.59647911e-01 -1.28405462e-02 -2.80911031e-01 2.32343882e+02] [ 2.80885233e-01 -3.80728654e-03 9.59733812e-01 5.69394203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.0592541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:447.50, Y:232.35, Z:56.94 [[-1.10211721e-02 -9.99939265e-01 2.54799831e-05 4.47495665e+02] [ 9.59580350e-01 -1.05835088e-02 -2.81235738e-01 2.32345032e+02] [ 2.81218927e-01 -3.07509738e-03 9.59638713e-01 5.69397024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.089254154 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:447.50, Y:232.37, Z:56.95 [[-9.80066086e-03 -9.99951969e-01 -8.44208018e-05 4.47495207e+02] [ 9.59498393e-01 -9.38039955e-03 -2.81557884e-01 2.32371185e+02] [ 2.81543569e-01 -2.84045496e-03 9.59544241e-01 5.69467978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1192541539999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:447.49, Y:232.40, Z:56.95 [[-8.09942779e-03 -9.99967199e-01 -8.81659578e-06 4.47494459e+02] [ 9.59313375e-01 -7.76765583e-03 -2.82236625e-01 2.32398172e+02] [ 2.82227299e-01 -2.29441304e-03 9.59344822e-01 5.69541562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1492541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:447.49, Y:232.40, Z:56.96 [[-6.94276256e-03 -9.99975896e-01 6.93185322e-05 4.47494722e+02] [ 9.59092547e-01 -6.67853091e-03 -2.83013929e-01 2.32402654e+02] [ 2.83007571e-01 -1.89841562e-03 9.59115796e-01 5.69550545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.1792541539999 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:447.49, Y:232.43, Z:56.96 [[-6.40004078e-03 -9.99979519e-01 -3.92901502e-05 4.47494852e+02] [ 9.59078826e-01 -6.12714711e-03 -2.83072896e-01 2.32429249e+02] [ 2.83066857e-01 -1.84936043e-03 9.59098397e-01 5.69624207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.209254154 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:447.49, Y:232.43, Z:56.96 [[-4.03020009e-03 -9.99991878e-01 3.89967669e-05 4.47494514e+02] [ 9.58869426e-01 -3.87553523e-03 -2.83821079e-01 2.32429257e+02] [ 2.83818925e-01 -1.10646293e-03 9.58877257e-01 5.69623230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2392541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:447.49, Y:232.46, Z:56.97 [[-3.37010470e-03 -9.99994319e-01 -6.92415334e-05 4.47494377e+02] [ 9.58810663e-01 -3.21164404e-03 -2.84027811e-01 2.32455774e+02] [ 2.84025975e-01 -1.02359298e-03 9.58816040e-01 5.69702898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2692541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:447.49, Y:232.46, Z:56.97 [[-2.48230460e-03 -9.99996919e-01 1.02266256e-05 4.47494128e+02] [ 9.58935698e-01 -2.38327825e-03 -2.83613552e-01 2.32460515e+02] [ 2.83612702e-01 -6.94208548e-04 9.58938660e-01 5.69715785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.2992541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:447.49, Y:232.48, Z:56.98 [[-2.02447132e-03 -9.99990296e-01 3.91278843e-03 4.47492946e+02] [ 9.58748322e-01 -3.05315878e-03 -2.84239922e-01 2.32484566e+02] [ 2.84249110e-01 3.17594378e-03 9.58745199e-01 5.69805012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.329254154 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:447.50, Y:232.15, Z:56.88 [[-1.97705636e-03 -9.99995067e-01 -2.44092707e-03 4.47496228e+02] [ 9.58894956e-01 -1.20316095e-03 -2.83758728e-01 2.32147071e+02] [ 2.83754391e-01 -2.90159966e-03 9.58892604e-01 5.68819486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3592541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:447.51, Y:232.17, Z:56.89 [[-5.40004291e-03 -9.99258941e-01 -3.81104793e-02 4.47512084e+02] [ 9.57296809e-01 5.85063927e-03 -2.89047728e-01 2.32171332e+02] [ 2.89056497e-01 -3.80439103e-02 9.56555802e-01 5.68895360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.3892541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:447.48, Y:232.20, Z:56.91 [[-6.54267641e-03 -9.99178845e-01 3.99853522e-02 4.47480014e+02] [ 9.59108790e-01 -1.75850756e-02 -2.82490875e-01 2.32197431e+02] [ 2.82962052e-01 3.65020564e-02 9.58436267e-01 5.69096401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4192541539999 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:447.50, Y:232.23, Z:56.90 [[-8.91755150e-03 -9.99960207e-01 -2.47086213e-04 4.47501581e+02] [ 9.58927967e-01 -8.48157244e-03 -2.83522870e-01 2.32226818e+02] [ 2.83509492e-01 -2.76526767e-03 9.58965443e-01 5.69047250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.449254154 meters Centerline goodness : 0.995224 Centerline is valid? [True, True] Translation: X:447.51, Y:232.25, Z:56.91 [[-1.26117823e-02 -9.99827348e-01 -1.36461473e-02 4.47507323e+02] [ 9.59067109e-01 -8.23430055e-03 -2.83059142e-01 2.32251128e+02] [ 2.82897904e-01 -1.66574513e-02 9.59005373e-01 5.69116618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.4792541539999 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:447.50, Y:232.28, Z:56.92 [[-1.64469588e-02 -9.99744893e-01 1.54805047e-02 4.47497454e+02] [ 9.58771879e-01 -2.01621399e-02 -2.83460708e-01 2.32277851e+02] [ 2.83700516e-01 1.01802059e-02 9.58858895e-01 5.69245843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5092541539999 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:447.51, Y:232.31, Z:56.93 [[-1.87966271e-02 -9.99823328e-01 -8.20255937e-06 4.47506714e+02] [ 9.58759504e-01 -1.80223023e-02 -2.83646628e-01 2.32306251e+02] [ 2.83596368e-01 -5.33946416e-03 9.58928877e-01 5.69275919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5392541539999 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:447.51, Y:232.31, Z:56.93 [[-2.03775535e-02 -9.99792354e-01 6.72956215e-05 4.47508411e+02] [ 9.58539725e-01 -1.95558865e-02 -2.84287112e-01 2.32309193e+02] [ 2.84229397e-01 -5.72857031e-03 9.58739189e-01 5.69286201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5692541539999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:447.51, Y:232.34, Z:56.94 [[-2.20585850e-02 -9.99756679e-01 -4.27283601e-05 4.47510238e+02] [ 9.58554650e-01 -2.11373623e-02 -2.84123554e-01 2.32335938e+02] [ 2.84053518e-01 -6.30832105e-03 9.58787674e-01 5.69360967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.5992541539999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:447.51, Y:232.34, Z:56.94 [[-2.33464475e-02 -9.99727434e-01 3.73417518e-05 4.47513561e+02] [ 9.58469102e-01 -2.23935692e-02 -2.84315860e-01 2.32341664e+02] [ 2.84239202e-01 -6.60197439e-03 9.58730666e-01 5.69381072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6292541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:447.52, Y:232.37, Z:56.95 [[-2.36437301e-02 -9.99720445e-01 -7.28982905e-05 4.47515051e+02] [ 9.58340309e-01 -2.26443136e-02 -2.84729849e-01 2.32368211e+02] [ 2.84648601e-01 -6.80193707e-03 9.58607797e-01 5.69461870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6592541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.52, Y:232.37, Z:56.95 [[-2.28497316e-02 -9.99738911e-01 5.53417216e-06 4.47515748e+02] [ 9.58322464e-01 -2.19047065e-02 -2.84847747e-01 2.32373956e+02] [ 2.84773497e-01 -6.50339103e-03 9.58572773e-01 5.69480735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.6892541539999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:447.52, Y:232.40, Z:56.96 [[-2.11778811e-02 -9.99775718e-01 -1.04597787e-04 4.47517206e+02] [ 9.58252248e-01 -2.02684662e-02 -2.85204872e-01 2.32401031e+02] [ 2.85138786e-01 -6.14026595e-03 9.58466572e-01 5.69560036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7192541539999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:447.52, Y:232.43, Z:56.96 [[-2.00617195e-02 -9.99798743e-01 -1.97509752e-05 4.47518026e+02] [ 9.58072663e-01 -1.92188065e-02 -2.85880061e-01 2.32426813e+02] [ 2.85822147e-01 -5.75416847e-03 9.58265407e-01 5.69636563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7492541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:447.52, Y:232.83, Z:57.08 [[-1.68164652e-02 -9.99848095e-01 4.58192389e-03 4.47517631e+02] [ 9.58173254e-01 -1.74245965e-02 -2.85657834e-01 2.32831827e+02] [ 2.85694280e-01 -4.13478094e-04 9.58320723e-01 5.70801776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.7792541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:447.52, Y:232.42, Z:56.96 [[-1.39521363e-02 -9.99894237e-01 -4.10527346e-03 4.47522736e+02] [ 9.58061086e-01 -1.21929300e-02 -2.86304536e-01 2.32424272e+02] [ 2.86224200e-01 -7.92766265e-03 9.58129876e-01 5.69611988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8092541539999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:447.52, Y:232.42, Z:56.96 [[-8.51714838e-03 -9.99963728e-01 2.45979573e-05 4.47521971e+02] [ 9.58114650e-01 -8.16774252e-03 -2.86268415e-01 2.32421612e+02] [ 2.86258233e-01 -2.41462291e-03 9.58149463e-01 5.69618936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.839254154 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:447.52, Y:232.45, Z:56.97 [[-6.29470507e-03 -9.99980185e-01 -8.43061821e-05 4.47522544e+02] [ 9.58173411e-01 -6.00741595e-03 -2.86125193e-01 2.32448740e+02] [ 2.86119017e-01 -1.88185365e-03 9.58192239e-01 5.69698409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8692541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:447.52, Y:232.47, Z:56.98 [[-4.15851267e-03 -9.99991353e-01 1.39133298e-08 4.47522677e+02] [ 9.58180292e-01 -3.98464331e-03 -2.86137468e-01 2.32474365e+02] [ 2.86134994e-01 -1.18989296e-03 9.58188577e-01 5.69773931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.8992541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:447.52, Y:232.48, Z:56.98 [[-1.51642651e-03 -9.99998849e-01 5.10356404e-05 4.47522831e+02] [ 9.58271767e-01 -1.46773919e-03 -2.85854975e-01 2.32475071e+02] [ 2.85854720e-01 -3.84572047e-04 9.58272890e-01 5.69776247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9292541539999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:447.52, Y:232.50, Z:56.99 [[ 5.96111393e-04 -9.99999821e-01 -5.73595392e-05 4.47524022e+02] [ 9.58160944e-01 5.87588748e-04 -2.86229383e-01 2.32500865e+02] [ 2.86229365e-01 1.15664926e-04 9.58161123e-01 5.69850788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.959254154 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:447.53, Y:232.50, Z:56.99 [[ 1.33381636e-03 -9.99999110e-01 2.27301487e-05 4.47525113e+02] [ 9.58094059e-01 1.27141159e-03 -2.86450969e-01 2.32503200e+02] [ 2.86450686e-01 4.03850611e-04 9.58094902e-01 5.69854186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 683.9892541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:447.53, Y:232.53, Z:56.99 [[ 8.78836309e-04 -9.99999610e-01 -8.57231082e-05 4.47526442e+02] [ 9.57976147e-01 8.66493940e-04 -2.86846565e-01 2.32529061e+02] [ 2.86846527e-01 1.69970484e-04 9.57976535e-01 5.69928192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0192541539999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:447.53, Y:232.56, Z:57.00 [[-1.58901810e-03 -9.99998738e-01 -6.27589111e-06 4.47529265e+02] [ 9.57791225e-01 -1.52014543e-03 -2.87460708e-01 2.32555661e+02] [ 2.87460336e-01 -4.62791260e-04 9.57792431e-01 5.70004400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.0492541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.53, Y:232.55, Z:57.00 [[-2.51178393e-03 -9.99996843e-01 7.04832312e-05 4.47531194e+02] [ 9.57389094e-01 -2.42511712e-03 -2.88790998e-01 2.32554926e+02] [ 2.88790258e-01 -6.57900712e-04 9.57392163e-01 5.70004248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.079254154 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:447.53, Y:232.58, Z:57.01 [[-5.09547241e-03 -9.99987017e-01 -3.77215230e-05 4.47532452e+02] [ 9.57630724e-01 -4.86878193e-03 -2.87957794e-01 2.32581239e+02] [ 2.87953872e-01 -1.50340428e-03 9.57643100e-01 5.70079830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1092541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:447.54, Y:232.59, Z:57.01 [[-9.30213786e-03 -9.99956734e-01 3.15283801e-05 4.47535298e+02] [ 9.57530839e-01 -8.91655590e-03 -2.88192970e-01 2.32586233e+02] [ 2.88180782e-01 -2.65062134e-03 9.57572353e-01 5.70095930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1392541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:447.54, Y:232.61, Z:57.02 [[-1.21702147e-02 -9.99925937e-01 -7.63017721e-05 4.47536981e+02] [ 9.57627335e-01 -1.16334341e-02 -2.87775174e-01 2.32612070e+02] [ 2.87752973e-01 -3.57535432e-03 9.57697992e-01 5.70165453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.1692541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:447.54, Y:232.62, Z:57.02 [[-1.48761362e-02 -9.99889344e-01 4.22337888e-06 4.47538682e+02] [ 9.57492013e-01 -1.42465748e-02 -2.88107759e-01 2.32617546e+02] [ 2.88075938e-01 -4.28188640e-03 9.57597995e-01 5.70184071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.199254154 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.53, Y:232.65, Z:57.03 [[-1.56078484e-02 -9.98781994e-01 4.68072944e-02 4.47525956e+02] [ 9.60211338e-01 -2.80270547e-02 -2.77864483e-01 2.32653176e+02] [ 2.78837913e-01 4.06080280e-02 9.59479237e-01 5.70287401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2292541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.57, Y:232.67, Z:57.02 [[-3.01001146e-02 -9.98727753e-01 -4.04581114e-02 4.47566267e+02] [ 9.54618831e-01 -1.67247766e-02 -2.97360337e-01 2.32669319e+02] [ 2.96305368e-01 -4.75726552e-02 9.53907737e-01 5.70207160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2592541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.55, Y:232.67, Z:57.03 [[-3.26851553e-02 -9.99464616e-01 1.47037283e-03 4.47547172e+02] [ 9.54493755e-01 -3.16507560e-02 -2.96546625e-01 2.32671302e+02] [ 2.96434397e-01 -8.28921080e-03 9.55017244e-01 5.70322634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.2892541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.55, Y:232.68, Z:57.03 [[-3.87685174e-02 -9.99247316e-01 1.34294962e-03 4.47551168e+02] [ 9.54611063e-01 -3.74338644e-02 -2.95493528e-01 2.32680842e+02] [ 2.95321387e-01 -1.01738514e-02 9.55343798e-01 5.70349097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3192541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.55, Y:232.68, Z:57.04 [[-4.14440720e-02 -9.99140082e-01 1.21919001e-03 4.47552865e+02] [ 9.54564878e-01 -3.99554559e-02 -2.95312472e-01 2.32683189e+02] [ 2.95107240e-01 -1.10751554e-02 9.55399947e-01 5.70355312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3492541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.55, Y:232.69, Z:57.04 [[-4.40651761e-02 -9.99028058e-01 1.09507885e-03 4.47554432e+02] [ 9.54531853e-01 -4.24259797e-02 -2.95074529e-01 2.32688523e+02] [ 2.94834194e-01 -1.19572235e-02 9.55473612e-01 5.70368543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.3792541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.56, Y:232.71, Z:57.04 [[-4.70668195e-02 -9.98890272e-01 1.71411308e-03 4.47555744e+02] [ 9.54289905e-01 -4.54722069e-02 -2.95403209e-01 2.32711706e+02] [ 2.95153336e-01 -1.22679287e-02 9.55371135e-01 5.70436251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4092541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.55, Y:232.67, Z:57.03 [[-4.12073588e-02 -9.99038232e-01 1.49854511e-02 4.47553930e+02] [ 9.56819905e-01 -4.37764350e-02 -2.87366130e-01 2.32670652e+02] [ 2.87745760e-01 2.49677872e-03 9.57703578e-01 5.70300438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4392541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:447.57, Y:232.69, Z:57.03 [[-5.04365822e-02 -9.98449344e-01 -2.35596786e-02 4.47570667e+02] [ 9.55637642e-01 -4.13927640e-02 -2.91621908e-01 2.32691969e+02] [ 2.90194502e-01 -3.72229280e-02 9.56243486e-01 5.70319509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4692541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.56, Y:232.72, Z:57.05 [[-5.23826707e-02 -9.98627021e-01 -3.59472162e-04 4.47559616e+02] [ 9.55056936e-01 -4.99920417e-02 -2.92176394e-01 2.32717010e+02] [ 2.91757271e-01 -1.56482962e-02 9.56364379e-01 5.70452400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.4992541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.56, Y:232.74, Z:57.05 [[-5.39004510e-02 -9.98546278e-01 -2.69231791e-04 4.47559981e+02] [ 9.54999603e-01 -5.14710894e-02 -2.92106977e-01 2.32742588e+02] [ 2.91668477e-01 -1.60018140e-02 9.56385614e-01 5.70526904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5292541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:447.57, Y:232.77, Z:57.06 [[-5.53806735e-02 -9.98380484e-01 -1.30150146e-02 4.47567582e+02] [ 9.54141454e-01 -4.90770679e-02 -2.95305821e-01 2.32770912e+02] [ 2.94188829e-01 -2.87724002e-02 9.55314127e-01 5.70632352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.5592541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.56, Y:232.79, Z:57.07 [[-5.56844005e-02 -9.98389128e-01 1.08809811e-02 4.47555208e+02] [ 9.54635402e-01 -5.64305981e-02 -2.92381320e-01 2.32794570e+02] [ 2.92524352e-01 -5.89370879e-03 9.56239911e-01 5.70710977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.589254154 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.56, Y:232.82, Z:57.08 [[-5.57424977e-02 -9.98445177e-01 -4.17753216e-05 4.47560525e+02] [ 9.54786150e-01 -5.32928073e-02 -2.92477837e-01 2.32820826e+02] [ 2.92020860e-01 -1.63433317e-02 9.56272301e-01 5.70759476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6192541539999 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:447.56, Y:232.82, Z:57.08 [[-5.37454509e-02 -9.98554668e-01 4.44708533e-05 4.47559553e+02] [ 9.54590940e-01 -5.13922495e-02 -2.93453530e-01 2.32821187e+02] [ 2.93031678e-01 -1.57293408e-02 9.55973338e-01 5.70760201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6492541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.56, Y:232.85, Z:57.08 [[-5.27610760e-02 -9.98607162e-01 -6.96949654e-05 4.47558418e+02] [ 9.54509024e-01 -5.04106544e-02 -2.93889928e-01 2.32848037e+02] [ 2.93477074e-01 -1.55724733e-02 9.55839268e-01 5.70840091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.6792541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.56, Y:232.85, Z:57.08 [[-5.23584149e-02 -9.98628357e-01 9.43731896e-06 4.47558302e+02] [ 9.54528056e-01 -5.00489988e-02 -2.93889924e-01 2.32850541e+02] [ 2.93487285e-01 -1.53786024e-02 9.55839271e-01 5.70847631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.709254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.56, Y:232.88, Z:57.09 [[-5.10035346e-02 -9.98698467e-01 -1.04324400e-04 4.47556926e+02] [ 9.54428837e-01 -4.87119275e-02 -2.94436316e-01 2.32877713e+02] [ 2.94048015e-01 -1.51168630e-02 9.55671097e-01 5.70929993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7392541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.55, Y:232.90, Z:57.10 [[-4.68073734e-02 -9.98903934e-01 -1.50707685e-05 4.47553927e+02] [ 9.54601260e-01 -4.47269628e-02 -2.94509649e-01 2.32904188e+02] [ 2.94186173e-01 -1.37996097e-02 9.55648506e-01 5.71010946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7692541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.55, Y:232.91, Z:57.10 [[-4.36919121e-02 -9.99045050e-01 6.64450391e-05 4.47552225e+02] [ 9.54779510e-01 -4.17755951e-02 -2.94365229e-01 2.32906168e+02] [ 2.94086900e-01 -1.27979393e-02 9.55692999e-01 5.71017924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.7992541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.55, Y:232.93, Z:57.11 [[-3.77367873e-02 -9.99287713e-01 -4.69678910e-05 4.47548663e+02] [ 9.55096866e-01 -3.60541553e-02 -2.94091950e-01 2.32933123e+02] [ 2.93880779e-01 -1.11429443e-02 9.55777130e-01 5.71105499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.829254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.55, Y:232.93, Z:57.11 [[-3.40110036e-02 -9.99421458e-01 3.46613742e-05 4.47546397e+02] [ 9.55176346e-01 -3.25155167e-02 -2.94246308e-01 2.32931984e+02] [ 2.94077201e-01 -9.97450452e-03 9.55729621e-01 5.71109570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8592541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.54, Y:232.96, Z:57.12 [[-3.08420883e-02 -9.99524267e-01 -7.82195423e-05 4.47544177e+02] [ 9.55558487e-01 -2.94624917e-02 -2.93325653e-01 2.32959072e+02] [ 2.93183804e-01 -9.12151905e-03 9.56012581e-01 5.71192260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.8892541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.55, Y:233.03, Z:57.15 [[-3.22101693e-02 -9.98908218e-01 -3.38360414e-02 4.47551091e+02] [ 9.48791814e-01 -1.99148746e-02 -3.15273676e-01 2.33034565e+02] [ 3.14255625e-01 -4.22583776e-02 9.48397402e-01 5.71499953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9192541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.53, Y:233.04, Z:57.16 [[-2.68870475e-02 -9.99638117e-01 8.49003526e-04 4.47532522e+02] [ 9.48299215e-01 -2.57748582e-02 -3.16329346e-01 2.33043118e+02] [ 3.16236755e-01 -7.70005276e-03 9.48649052e-01 5.71626135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.949254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.52, Y:232.95, Z:57.13 [[-1.36618042e-02 -9.99061223e-01 4.11099417e-02 4.47516807e+02] [ 9.55812454e-01 -2.51228783e-02 -2.92901678e-01 2.32950390e+02] [ 2.93659509e-01 3.52918289e-02 9.55258384e-01 5.71297489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 684.9792541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.55, Y:232.97, Z:57.13 [[-1.34237595e-02 -9.99121473e-01 -3.96999364e-02 4.47548696e+02] [ 9.52535003e-01 -7.01433742e-04 -3.04428278e-01 2.32970223e+02] [ 3.04132983e-01 -4.19021510e-02 9.51707591e-01 5.71326073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0092541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.51, Y:233.00, Z:57.15 [[-2.17359970e-03 -9.99034170e-01 4.38862459e-02 4.47512155e+02] [ 9.56425647e-01 -1.48903242e-02 -2.91596056e-01 2.33002955e+02] [ 2.91967904e-01 4.13401180e-02 9.55534268e-01 5.71462733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0392541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:447.53, Y:233.03, Z:57.14 [[-5.55101949e-04 -9.99999775e-01 -3.76535688e-04 4.47532698e+02] [ 9.56324270e-01 -4.20793328e-04 -2.92307568e-01 2.33032633e+02] [ 2.92307344e-01 -5.22350716e-04 9.56324288e-01 5.71424372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0692541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:447.53, Y:233.06, Z:57.15 [[ 5.32313093e-04 -9.99999817e-01 -2.87726871e-04 4.47532236e+02] [ 9.56158628e-01 5.93236291e-04 -2.92848640e-01 2.33059892e+02] [ 2.92848757e-01 -1.19225364e-04 9.56158769e-01 5.71503248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.0992541539999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:447.53, Y:233.09, Z:57.16 [[ 6.73205490e-04 -9.99999754e-01 -1.98560739e-04 4.47532128e+02] [ 9.55918319e-01 7.01833396e-04 -2.93631869e-01 2.33086682e+02] [ 2.93631936e-01 7.86673963e-06 9.55918556e-01 5.71583552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1292541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:447.53, Y:233.11, Z:57.17 [[-1.86057221e-03 -9.99998263e-01 -1.09410306e-04 4.47532968e+02] [ 9.55547032e-01 -1.74560945e-03 -2.94833552e-01 2.33113835e+02] [ 2.94832849e-01 -6.53105805e-04 9.55548620e-01 5.71662196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1592541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:447.53, Y:233.14, Z:57.17 [[-4.53242528e-03 -9.99989728e-01 -2.04640188e-05 4.47533811e+02] [ 9.55549671e-01 -4.32496915e-03 -2.94798440e-01 2.33140348e+02] [ 2.94795323e-01 -1.35570629e-03 9.55559459e-01 5.71738845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.1892541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:447.53, Y:233.15, Z:57.18 [[-6.65542846e-03 -9.99977851e-01 5.71754611e-05 4.47534850e+02] [ 9.55561833e-01 -6.37666551e-03 -2.94721771e-01 2.33146467e+02] [ 2.94715607e-01 -1.90686497e-03 9.55583107e-01 5.71757266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2192541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:447.54, Y:233.17, Z:57.18 [[-1.26646785e-02 -9.99919798e-01 -5.29882794e-05 4.47536631e+02] [ 9.55643514e-01 -1.20882941e-02 -2.94277672e-01 2.33171631e+02] [ 2.94253430e-01 -3.77757000e-03 9.55719964e-01 5.71841625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2492541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.54, Y:233.18, Z:57.19 [[-1.52374130e-02 -9.99883904e-01 1.75479291e-05 4.47537468e+02] [ 9.56284265e-01 -1.45781161e-02 -2.92075132e-01 2.33178369e+02] [ 2.92041479e-01 -4.43368862e-03 9.56395377e-01 5.71859004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.2792541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:447.54, Y:233.20, Z:57.19 [[-1.80002132e-02 -9.99837979e-01 -9.32749372e-05 4.47538769e+02] [ 9.56615574e-01 -1.71949417e-02 -2.90845280e-01 2.33204421e+02] [ 2.90796553e-01 -5.32450530e-03 9.56770095e-01 5.71937797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3092541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.54, Y:233.23, Z:57.20 [[-2.29591150e-02 -9.99736405e-01 -2.88246913e-06 4.47540692e+02] [ 9.56871899e-01 -2.19738892e-02 -2.89677955e-01 2.33231410e+02] [ 2.89601533e-01 -6.65350762e-03 9.57124173e-01 5.72020408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.339254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.54, Y:233.23, Z:57.20 [[-2.47726595e-02 -9.99693108e-01 7.51241107e-05 4.47541741e+02] [ 9.56988670e-01 -2.37361612e-02 -2.89152695e-01 2.33233825e+02] [ 2.89065739e-01 -7.09118831e-03 9.57282985e-01 5.72024367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3692541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.54, Y:233.26, Z:57.21 [[-2.73226071e-02 -9.99626667e-01 -3.74232954e-05 4.47542905e+02] [ 9.56917402e-01 -2.61444166e-02 -2.89180837e-01 2.33260532e+02] [ 2.89071897e-01 -7.93698537e-03 9.57274486e-01 5.72099537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.3992541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:447.55, Y:233.27, Z:57.21 [[-3.18133444e-02 -9.99493827e-01 4.09106892e-05 4.47545520e+02] [ 9.56742750e-01 -3.04644438e-02 -2.89335841e-01 2.33270234e+02] [ 2.89190633e-01 -9.16559975e-03 9.57227648e-01 5.72122365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4292541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.55, Y:233.30, Z:57.22 [[-3.46184714e-02 -9.99400599e-01 -7.17960809e-05 4.47546558e+02] [ 9.56641137e-01 -3.31165276e-02 -2.89380425e-01 2.33297226e+02] [ 2.89204593e-01 -1.00865911e-02 9.57214168e-01 5.72199019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.459254154 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.55, Y:233.30, Z:57.22 [[-3.67374070e-02 -9.99324954e-01 6.74406375e-06 4.47547191e+02] [ 9.56602959e-01 -3.51688037e-02 -2.89264469e-01 2.33301019e+02] [ 2.89069440e-01 -1.06203752e-02 9.57249219e-01 5.72210245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.4892541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.55, Y:233.33, Z:57.23 [[-3.94138442e-02 -9.99222967e-01 -1.06270151e-04 4.47548227e+02] [ 9.56473602e-01 -3.76968414e-02 -2.89373801e-01 2.33327088e+02] [ 2.89144942e-01 -1.15069785e-02 9.57216168e-01 5.72283718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5192541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.55, Y:233.35, Z:57.24 [[-4.32259229e-02 -9.99065323e-01 -1.37785067e-05 4.47549820e+02] [ 9.56438580e-01 -4.13776333e-02 -2.88986390e-01 2.33354268e+02] [ 2.88715711e-01 -1.25048817e-02 9.57333206e-01 5.72360614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.5492541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.55, Y:233.36, Z:57.24 [[-4.37048503e-02 -9.99044484e-01 6.74733371e-05 4.47549905e+02] [ 9.56406914e-01 -4.18591193e-02 -2.89021847e-01 2.33355170e+02] [ 2.88748507e-01 -1.25671246e-02 9.57322499e-01 5.72363381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.579254154 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.55, Y:233.38, Z:57.24 [[-4.37743120e-02 -9.98993491e-01 -9.78846921e-03 4.47554716e+02] [ 9.57015662e-01 -3.91190066e-02 -2.87386023e-01 2.33380470e+02] [ 2.86713851e-01 -2.19478438e-02 9.57764825e-01 5.72409252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6092541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.55, Y:233.08, Z:57.16 [[-4.14421345e-02 -9.99114892e-01 7.20988221e-03 4.47545893e+02] [ 9.57426338e-01 -4.17741904e-02 -2.85639150e-01 2.33076175e+02] [ 2.85687516e-01 -4.93456497e-03 9.58310124e-01 5.71573188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6392541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.55, Y:233.10, Z:57.16 [[-4.01487668e-02 -9.99193680e-01 -2.55989655e-04 4.47548926e+02] [ 9.57568505e-01 -3.84030399e-02 -2.85635719e-01 2.33102329e+02] [ 2.85395575e-01 -1.17130495e-02 9.58338234e-01 5.71628533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.6692541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.55, Y:233.13, Z:57.17 [[-3.51777116e-02 -9.99381073e-01 1.03138797e-05 4.47547827e+02] [ 9.57541624e-01 -3.37079389e-02 -2.86317679e-01 2.33131907e+02] [ 2.86140817e-01 -1.00621247e-02 9.58134744e-01 5.71720492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.699254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.54, Y:233.16, Z:57.18 [[-3.18875835e-02 -9.99461741e-01 7.70782238e-03 4.47544775e+02] [ 9.58189447e-01 -3.27629499e-02 -2.84252658e-01 2.33160803e+02] [ 2.84352187e-01 -1.67857628e-03 9.58718424e-01 5.71786667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7292541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.55, Y:233.18, Z:57.18 [[-3.55081001e-02 -9.99324239e-01 -9.49947236e-03 4.47550257e+02] [ 9.56828641e-01 -3.12512452e-02 -2.88967664e-01 2.33175309e+02] [ 2.88475520e-01 -1.93500600e-02 9.57291726e-01 5.71799395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7592541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.54, Y:233.18, Z:57.18 [[-3.37187156e-02 -9.99430985e-01 8.68832896e-04 4.47544467e+02] [ 9.56743002e-01 -3.25298435e-02 -2.89110078e-01 2.33178323e+02] [ 2.88973833e-01 -8.91717070e-03 9.57295465e-01 5.71832618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.7892541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.54, Y:233.18, Z:57.18 [[-3.25122366e-02 -9.99471056e-01 7.49913029e-04 4.47543944e+02] [ 9.56659736e-01 -3.13368358e-02 -2.89517100e-01 2.33178647e+02] [ 2.89387462e-01 -8.69543687e-03 9.57172548e-01 5.71832849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8192541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.54, Y:233.18, Z:57.18 [[-3.24085014e-02 -9.99474507e-01 6.31284385e-04 4.47543394e+02] [ 9.56440856e-01 -3.11964415e-02 -2.90254495e-01 2.33182511e+02] [ 2.90121662e-01 -8.80292704e-03 9.56949283e-01 5.71837666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8492541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.54, Y:233.19, Z:57.18 [[-3.27369812e-02 -9.99463871e-01 5.11495870e-04 4.47543269e+02] [ 9.56338642e-01 -3.14731348e-02 -2.90561255e-01 2.33185630e+02] [ 2.90421575e-01 -9.02293509e-03 9.56856256e-01 5.71844153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.8792541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.54, Y:233.19, Z:57.19 [[-3.33049209e-02 -9.99445161e-01 3.91332361e-04 4.47543219e+02] [ 9.56239749e-01 -3.19790441e-02 -2.90831367e-01 2.33190677e+02] [ 2.90682516e-01 -9.31190809e-03 9.56774249e-01 5.71854025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9092541539999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:447.54, Y:233.19, Z:57.18 [[-3.48567943e-02 -9.99392281e-01 2.70971192e-04 4.47542641e+02] [ 9.56012958e-01 -3.34228235e-02 -2.91414034e-01 2.33191149e+02] [ 2.91245993e-01 -9.89870708e-03 9.56596983e-01 5.71849734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9392541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.54, Y:233.20, Z:57.19 [[-3.49987632e-02 -9.99387344e-01 1.50132219e-04 4.47542087e+02] [ 9.55789815e-01 -3.35158539e-02 -2.92134417e-01 2.33199728e+02] [ 2.91960471e-01 -1.00808484e-02 9.56377258e-01 5.71878342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9692541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.55, Y:233.18, Z:57.18 [[-3.24015493e-02 -9.99457719e-01 -5.86583762e-03 4.47545002e+02] [ 9.55024755e-01 -2.92292292e-02 -2.95081971e-01 2.33176855e+02] [ 2.94750499e-01 -1.51631332e-02 9.55453935e-01 5.71815376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 685.9992541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.54, Y:233.20, Z:57.19 [[-3.32888464e-02 -9.99435154e-01 4.60713646e-03 4.47537193e+02] [ 9.55406776e-01 -3.31749700e-02 -2.93423437e-01 2.33200235e+02] [ 2.93410540e-01 -5.36603833e-03 9.55971475e-01 5.71889343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0292541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.54, Y:233.23, Z:57.20 [[-3.32458113e-02 -9.99447052e-01 -5.52755793e-04 4.47539010e+02] [ 9.55767136e-01 -3.16311081e-02 -2.92418629e-01 2.33227494e+02] [ 2.92239453e-01 -1.02500004e-02 9.56290249e-01 5.71955051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.0592541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:447.54, Y:233.25, Z:57.20 [[-3.29880032e-02 -9.99455641e-01 -4.62347680e-04 4.47538183e+02] [ 9.55950331e-01 -3.14170622e-02 -2.91842309e-01 2.33254168e+02] [ 2.91668916e-01 -1.00692764e-02 9.56466337e-01 5.72037903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.089254154 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.54, Y:233.28, Z:57.21 [[-3.17330478e-02 -9.99496311e-01 -3.70695031e-04 4.47535560e+02] [ 9.56802820e-01 -3.02703272e-02 -2.89157518e-01 2.33281240e+02] [ 2.89000652e-01 -9.53053139e-03 9.57281459e-01 5.72121058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1192541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:447.53, Y:233.31, Z:57.22 [[-3.07081931e-02 -9.99528352e-01 -2.82590166e-04 4.47534248e+02] [ 9.57105504e-01 -2.93233537e-02 -2.88251964e-01 2.33308254e+02] [ 2.88107724e-01 -9.12216556e-03 9.57554555e-01 5.72202881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1492541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.53, Y:233.33, Z:57.23 [[-2.94104481e-02 -9.99567400e-01 -1.95616170e-04 4.47532871e+02] [ 9.57356674e-01 -2.81122031e-02 -2.87537654e-01 2.33334728e+02] [ 2.87407766e-01 -8.64388567e-03 9.57769314e-01 5.72283975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.1792541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.53, Y:233.36, Z:57.24 [[-2.68401723e-02 -9.99639732e-01 -1.08327124e-04 4.47529922e+02] [ 9.57964056e-01 -2.56902228e-02 -2.85735683e-01 2.33360875e+02] [ 2.85629958e-01 -7.77296844e-03 9.58308462e-01 5.72360798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.209254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.53, Y:233.39, Z:57.24 [[-2.60378383e-02 -9.99660958e-01 -3.04058881e-05 4.47528675e+02] [ 9.58147551e-01 -2.49478781e-02 -2.85185682e-01 2.33387591e+02] [ 2.85088233e-01 -7.45475200e-03 9.58472287e-01 5.72436437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2392541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.53, Y:233.40, Z:57.25 [[-2.52163041e-02 -9.99682017e-01 5.04908494e-05 4.47527782e+02] [ 9.58115761e-01 -2.41822359e-02 -2.85358385e-01 2.33396518e+02] [ 2.85268867e-01 -7.14730773e-03 9.58420883e-01 5.72463980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2692541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.53, Y:233.42, Z:57.25 [[-2.53578976e-02 -9.99678435e-01 -6.47553306e-05 4.47527201e+02] [ 9.58131435e-01 -2.42855337e-02 -2.85296978e-01 2.33422527e+02] [ 2.85203664e-01 -7.29657568e-03 9.58439163e-01 5.72535730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.2992541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.53, Y:233.45, Z:57.26 [[-2.73755868e-02 -9.99625218e-01 -2.40029191e-06 4.47526467e+02] [ 9.57864922e-01 -2.62312587e-02 -2.86018729e-01 2.33449633e+02] [ 2.85911471e-01 -7.83222967e-03 9.58224028e-01 5.72606557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.329254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.53, Y:233.46, Z:57.26 [[-2.83063728e-02 -9.99599291e-01 8.04579568e-05 4.47526482e+02] [ 9.57596431e-01 -2.71400347e-02 -2.86831823e-01 2.33456546e+02] [ 2.86719071e-01 -8.04212227e-03 9.57980949e-01 5.72620587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3592541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.53, Y:233.48, Z:57.27 [[-3.02222239e-02 -9.99543204e-01 -3.37224129e-05 4.47526629e+02] [ 9.57273474e-01 -2.89344474e-02 -2.87733025e-01 2.33483609e+02] [ 2.87600613e-01 -8.72821347e-03 9.57710659e-01 5.72694196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.3892541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:447.53, Y:233.49, Z:57.27 [[-3.29823347e-02 -9.99455934e-01 4.79210597e-05 4.47526044e+02] [ 9.56853388e-01 -3.15902878e-02 -2.88848831e-01 2.33488615e+02] [ 2.88693192e-01 -9.48105538e-03 9.57374718e-01 5.72704684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4192541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:447.53, Y:233.51, Z:57.28 [[-3.43720077e-02 -9.99409106e-01 -6.67979228e-05 4.47526025e+02] [ 9.56750702e-01 -3.28855668e-02 -2.89044347e-01 2.33514089e+02] [ 2.88871356e-01 -9.99894350e-03 9.57315706e-01 5.72776122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.449254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.53, Y:233.54, Z:57.29 [[-3.53627002e-02 -9.99374544e-01 -2.31242800e-06 4.47525811e+02] [ 9.56630889e-01 -3.38495537e-02 -2.89329482e-01 2.33541142e+02] [ 2.89148441e-01 -1.02336839e-02 9.57229571e-01 5.72855118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.4792541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:447.53, Y:233.54, Z:57.29 [[-3.52083808e-02 -9.99379990e-01 7.84240930e-05 4.47525404e+02] [ 9.56655045e-01 -3.37258707e-02 -2.89264052e-01 2.33542950e+02] [ 2.89087350e-01 -1.01094941e-02 9.57249342e-01 5.72859370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5092541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:447.52, Y:233.57, Z:57.29 [[-3.42635262e-02 -9.99412832e-01 -3.66592474e-05 4.47524448e+02] [ 9.56793368e-01 -3.27917775e-02 -2.88913741e-01 2.33568785e+02] [ 2.88742898e-01 -9.93427886e-03 9.57355132e-01 5.72938453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5392541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:447.52, Y:233.58, Z:57.30 [[-3.26592540e-02 -9.99466544e-01 1.84965397e-05 4.47524096e+02] [ 9.57078740e-01 -3.12794933e-02 -2.88135176e-01 2.33575813e+02] [ 2.87982047e-01 -9.39257723e-03 9.57589745e-01 5.72958913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5692541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.52, Y:233.60, Z:57.30 [[-3.11178384e-02 -9.99515718e-01 -9.60816916e-05 4.47523964e+02] [ 9.57457503e-01 -2.97808515e-02 -2.87033502e-01 2.33602231e+02] [ 2.86891635e-01 -9.02385625e-03 9.57920539e-01 5.73036256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.5992541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.52, Y:233.63, Z:57.31 [[-3.13803026e-02 -9.99507517e-01 -1.20465048e-05 4.47523837e+02] [ 9.57448892e-01 -3.00563805e-02 -2.87033507e-01 2.33629494e+02] [ 2.86891785e-01 -9.01873221e-03 9.57920543e-01 5.73116285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6292541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:447.52, Y:233.63, Z:57.31 [[-2.68351648e-02 -9.99639870e-01 6.26673305e-05 4.47522448e+02] [ 9.57957246e-01 -2.57341156e-02 -2.85754562e-01 2.33629413e+02] [ 2.85653266e-01 -7.60823813e-03 9.58302837e-01 5.73120633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6592541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:447.52, Y:233.66, Z:57.32 [[-2.49045493e-02 -9.99689832e-01 -5.23013781e-05 4.47521713e+02] [ 9.58212446e-01 -2.38563395e-02 -2.85061017e-01 2.33655897e+02] [ 2.84971352e-01 -7.14943197e-03 9.58509371e-01 5.73199358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.6892541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:447.52, Y:233.66, Z:57.32 [[-2.25508259e-02 -9.99745697e-01 2.79990636e-05 4.47520901e+02] [ 9.58403897e-01 -2.16262674e-02 -2.84594932e-01 2.33655590e+02] [ 2.84523165e-01 -6.39101636e-03 9.58647862e-01 5.73198684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7192541539999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:447.52, Y:233.68, Z:57.33 [[-1.87384817e-02 -9.99824415e-01 -8.69648970e-05 4.47520440e+02] [ 9.58807225e-01 -1.79450888e-02 -2.83490176e-01 2.33682133e+02] [ 2.83438839e-01 -5.39555805e-03 9.58975137e-01 5.73274021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7492541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:447.52, Y:233.71, Z:57.34 [[-1.74727607e-02 -9.99847340e-01 -1.05499794e-06 4.47520308e+02] [ 9.58947240e-01 -1.67577153e-02 -2.83088979e-01 2.33708414e+02] [ 2.83045745e-01 -4.94735768e-03 9.59093650e-01 5.73350153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.7792541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:447.52, Y:233.71, Z:57.33 [[-1.52790545e-02 -9.99883266e-01 7.45405989e-05 4.47520656e+02] [ 9.59001276e-01 -1.46754425e-02 -2.83021525e-01 2.33707733e+02] [ 2.82989580e-01 -4.25281678e-03 9.59113555e-01 5.73347020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8092541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.52, Y:233.73, Z:57.34 [[-1.33347992e-02 -9.99911087e-01 -4.03615376e-05 4.47521236e+02] [ 9.59011020e-01 -1.27779300e-02 -2.83080532e-01 2.33734932e+02] [ 2.83054847e-01 -3.81352921e-03 9.59096143e-01 5.73422549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.839254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:447.52, Y:233.74, Z:57.34 [[-9.58101995e-03 -9.99954100e-01 4.42219210e-05 4.47521495e+02] [ 9.59105302e-01 -9.20213979e-03 -2.82899875e-01 2.33739329e+02] [ 2.82887297e-01 -2.66805587e-03 9.59149445e-01 5.73436381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8692541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:447.52, Y:233.77, Z:57.35 [[-7.99581818e-03 -9.99968030e-01 -7.06289502e-05 4.47522292e+02] [ 9.59115903e-01 -7.64917927e-03 -2.82910189e-01 2.33766445e+02] [ 2.82900604e-01 -2.32983978e-03 9.59146402e-01 5.73514819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.8992541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.52, Y:233.77, Z:57.35 [[-6.15999090e-03 -9.99981027e-01 1.09681098e-05 4.47523102e+02] [ 9.59210412e-01 -5.91193951e-03 -2.82631268e-01 2.33765771e+02] [ 2.82625971e-01 -1.73048532e-03 9.59228631e-01 5.73509742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9292541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.53, Y:233.79, Z:57.36 [[-4.95039894e-03 -9.99987741e-01 -1.03380363e-04 4.47525053e+02] [ 9.59380632e-01 -4.72021367e-03 -2.82075384e-01 2.33792510e+02] [ 2.82071438e-01 -1.49556680e-03 9.59392238e-01 5.73584466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.959254154 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:447.53, Y:233.82, Z:57.37 [[-5.12661656e-03 -9.99986859e-01 -1.84901789e-05 4.47526473e+02] [ 9.59522647e-01 -4.91396264e-03 -2.81588608e-01 2.33819115e+02] [ 2.81584816e-01 -1.46133856e-03 9.59535229e-01 5.73657871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 686.9892541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.53, Y:233.82, Z:57.37 [[-5.03328156e-03 -9.99987331e-01 6.70264286e-05 4.47528674e+02] [ 9.59662650e-01 -4.84915570e-03 -2.81112228e-01 2.33823041e+02] [ 2.81108991e-01 -1.35059423e-03 9.59674899e-01 5.73657832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0192541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.53, Y:233.85, Z:57.37 [[-6.77280031e-03 -9.99977063e-01 -4.78100441e-05 4.47530943e+02] [ 9.59725038e-01 -6.48674660e-03 -2.80866112e-01 2.33850350e+02] [ 2.80859360e-01 -1.94813459e-03 9.59746959e-01 5.73731480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.0492541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.53, Y:233.86, Z:57.37 [[-1.23780213e-02 -9.99923389e-01 3.85196302e-05 4.47534661e+02] [ 9.59644136e-01 -1.18902291e-02 -2.80965755e-01 2.33856977e+02] [ 2.80944687e-01 -3.44083495e-03 9.59717794e-01 5.73746992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.079254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.54, Y:233.88, Z:57.38 [[-1.65038417e-02 -9.99863799e-01 -7.64543960e-05 4.47536915e+02] [ 9.59489959e-01 -1.58159180e-02 -2.81298553e-01 2.33883452e+02] [ 2.81259030e-01 -4.71586401e-03 9.59620299e-01 5.73820453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1092541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.54, Y:233.89, Z:57.38 [[-2.07937624e-02 -9.99783786e-01 8.61352790e-06 4.47539187e+02] [ 9.59297942e-01 -1.99541542e-02 -2.81690062e-01 2.33889448e+02] [ 2.81629329e-01 -5.84913329e-03 9.59505450e-01 5.73831472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1392541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.54, Y:233.92, Z:57.39 [[-3.13083088e-02 -9.99509769e-01 -1.06879028e-04 4.47544301e+02] [ 9.58751193e-01 -3.00013757e-02 -2.82658924e-01 2.33916072e+02] [ 2.82517149e-01 -8.95204329e-03 9.59220476e-01 5.73906817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.1692541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.55, Y:233.94, Z:57.40 [[-3.67084606e-02 -9.99326017e-01 -2.15635862e-05 4.47546773e+02] [ 9.58575893e-01 -3.52054782e-02 -2.82653202e-01 2.33942498e+02] [ 2.82461940e-01 -1.03964343e-02 9.59222168e-01 5.73983534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.199254154 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.55, Y:233.95, Z:57.40 [[-4.10073863e-02 -9.99158841e-01 6.24996574e-05 4.47549095e+02] [ 9.58550023e-01 -3.93583747e-02 -2.82192791e-01 2.33949589e+02] [ 2.81957882e-01 -1.15120797e-02 9.59357715e-01 5.74000801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2292541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.55, Y:233.98, Z:57.41 [[-5.00624607e-02 -9.98746087e-01 -5.44340503e-05 4.47552775e+02] [ 9.58489317e-01 -4.80292593e-02 -2.81054122e-01 2.33975552e+02] [ 2.80699090e-01 -1.41224354e-02 9.59691918e-01 5.74082656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2592541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.55, Y:233.98, Z:57.41 [[-5.36174382e-02 -9.98561550e-01 3.48386920e-05 4.47553914e+02] [ 9.58485838e-01 -5.14753706e-02 -2.80455318e-01 2.33979633e+02] [ 2.80053690e-01 -1.50039033e-02 9.59867081e-01 5.74104452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.2892541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.54, Y:234.02, Z:57.42 [[-4.83523426e-02 -9.97565318e-01 5.02542235e-02 4.47541178e+02] [ 9.61733296e-01 -6.00822238e-02 -2.67318525e-01 2.34023591e+02] [ 2.69687075e-01 3.54056831e-02 9.62296898e-01 5.74181793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3192541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.58, Y:234.07, Z:57.42 [[-7.04198048e-02 -9.96533186e-01 -4.43019174e-02 4.47579988e+02] [ 9.54531767e-01 -5.44217362e-02 -2.93099607e-01 2.34068650e+02] [ 2.89672498e-01 -6.29276047e-02 9.55054952e-01 5.74244328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3492541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.56, Y:234.07, Z:57.44 [[-7.36179997e-02 -9.97280953e-01 3.33034043e-03 4.47557106e+02] [ 9.53367588e-01 -7.13556739e-02 -2.93255195e-01 2.34070263e+02] [ 2.92695459e-01 -1.84138223e-02 9.56028399e-01 5.74360633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.3792541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.56, Y:234.03, Z:57.42 [[-5.97573590e-02 -9.97981869e-01 2.14766471e-02 4.47555355e+02] [ 9.57869937e-01 -6.33837507e-02 -2.80120839e-01 2.34032617e+02] [ 2.80916789e-01 3.83255307e-03 9.59724476e-01 5.74194407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4092541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.57, Y:234.07, Z:57.43 [[-7.58178516e-02 -9.96876010e-01 -2.21330849e-02 4.47569952e+02] [ 9.53523301e-01 -6.59930386e-02 -2.94003799e-01 2.34074435e+02] [ 2.91624705e-01 -4.33951485e-02 9.55547954e-01 5.74308314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4392541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:447.56, Y:234.04, Z:57.42 [[-6.78810055e-02 -9.97693423e-01 -6.06682613e-05 4.47562288e+02] [ 9.53436729e-01 -6.48519608e-02 -2.94537989e-01 2.34042228e+02] [ 2.93854680e-01 -2.00513782e-02 9.55639770e-01 5.74248342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4692541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.56, Y:234.05, Z:57.43 [[-6.98138402e-02 -9.97559145e-01 1.33428033e-03 4.47560562e+02] [ 9.53441467e-01 -6.71195366e-02 -2.94014178e-01 2.34053348e+02] [ 2.93386088e-01 -1.92541006e-02 9.55800127e-01 5.74288728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.4992541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.56, Y:234.05, Z:57.43 [[-7.03300969e-02 -9.97512133e-01 -4.81897736e-03 4.47562698e+02] [ 9.52740864e-01 -6.57406722e-02 -2.96585586e-01 2.34047875e+02] [ 2.95530918e-01 -2.54501297e-02 9.54994119e-01 5.74259245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5292541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.56, Y:234.06, Z:57.43 [[-7.05457457e-02 -9.97505018e-01 2.65279243e-03 4.47557557e+02] [ 9.52803549e-01 -6.81711104e-02 -2.95834576e-01 2.34057781e+02] [ 2.95277317e-01 -1.83422807e-02 9.55235503e-01 5.74310429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.5592541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.56, Y:234.07, Z:57.43 [[-7.15600186e-02 -9.97430317e-01 -3.45336153e-03 4.47558185e+02] [ 9.52103897e-01 -6.72753731e-02 -2.98282071e-01 2.34069497e+02] [ 2.97283255e-01 -2.46330295e-02 9.54471519e-01 5.74325375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.589254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.55, Y:234.09, Z:57.44 [[-7.79579701e-02 -9.96948189e-01 4.10658057e-03 4.47549761e+02] [ 9.51830876e-01 -7.56539297e-02 -2.97143848e-01 2.34088092e+02] [ 2.96547700e-01 -1.92559610e-02 9.54823895e-01 5.74403697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6192541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.55, Y:234.07, Z:57.43 [[-6.97114572e-02 -9.97567165e-01 2.53447475e-04 4.47553552e+02] [ 9.51957527e-01 -6.66001290e-02 -2.98900133e-01 2.34067726e+02] [ 2.98189838e-01 -2.05954926e-02 9.54284363e-01 5.74316876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6492541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.55, Y:234.09, Z:57.44 [[-7.54399931e-02 -9.97148913e-01 1.68905970e-03 4.47547073e+02] [ 9.51411756e-01 -7.24866436e-02 -2.99268037e-01 2.34089500e+02] [ 2.98537232e-01 -2.09697874e-02 9.54167590e-01 5.74402366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.6792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.54, Y:234.09, Z:57.44 [[-7.03930321e-02 -9.97515871e-01 2.62849916e-03 4.47542522e+02] [ 9.51016989e-01 -6.79063818e-02 -3.01588148e-01 2.34092728e+02] [ 3.01017456e-01 -1.87299568e-02 9.53434675e-01 5.74405197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.709254154 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.54, Y:234.09, Z:57.44 [[-6.75430277e-02 -9.97713217e-01 2.50512075e-03 4.47539395e+02] [ 9.51021059e-01 -6.51408139e-02 -3.02184743e-01 2.34090984e+02] [ 3.01656898e-01 -1.80280499e-02 9.53246089e-01 5.74407360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7392541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.53, Y:234.09, Z:57.44 [[-6.06431569e-02 -9.98156661e-01 2.38489420e-03 4.47533006e+02] [ 9.51115161e-01 -5.85096825e-02 -3.03243414e-01 2.34086584e+02] [ 3.02823973e-01 -1.61213289e-02 9.52910145e-01 5.74401194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7692541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.53, Y:234.09, Z:57.44 [[-5.66226282e-02 -9.98393091e-01 2.26120469e-03 4.47530066e+02] [ 9.51148921e-01 -5.46314299e-02 -3.03860392e-01 2.34089156e+02] [ 3.03495649e-01 -1.50546316e-02 9.52713886e-01 5.74411756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.7992541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.53, Y:234.09, Z:57.44 [[-5.27255971e-02 -9.98606760e-01 2.13323680e-03 4.47526888e+02] [ 9.51358406e-01 -5.08800247e-02 -3.03855896e-01 2.34089887e+02] [ 3.03541091e-01 -1.39915108e-02 9.52715615e-01 5.74414359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.829254154 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.52, Y:234.09, Z:57.44 [[-4.88035917e-02 -9.98806375e-01 2.00850812e-03 4.47523215e+02] [ 9.51392447e-01 -4.70988935e-02 -3.04358515e-01 2.34088456e+02] [ 3.04089823e-01 -1.29429092e-02 9.52555437e-01 5.74419032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8592541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:447.52, Y:234.08, Z:57.44 [[-4.17994645e-02 -9.99124255e-01 1.87849004e-03 4.47515950e+02] [ 9.51823763e-01 -4.03921084e-02 -3.03973685e-01 2.34084066e+02] [ 3.03783358e-01 -1.09179458e-02 9.52678576e-01 5.74418199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.8892541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.51, Y:234.09, Z:57.44 [[-3.83638180e-02 -9.99262300e-01 1.75318091e-03 4.47512959e+02] [ 9.51851217e-01 -3.70775093e-02 -3.04309906e-01 2.34087315e+02] [ 3.04150421e-01 -1.00057225e-02 9.52571471e-01 5.74434201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9192541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:447.51, Y:234.09, Z:57.44 [[-3.48444044e-02 -9.99391426e-01 1.62648367e-03 4.47510216e+02] [ 9.51960934e-01 -3.36860504e-02 -3.04361021e-01 2.34086901e+02] [ 3.04230584e-01 -9.05692956e-03 9.52555365e-01 5.74435696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.949254154 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:447.51, Y:234.09, Z:57.44 [[-3.16348208e-02 -9.99498370e-01 1.49908641e-03 4.47507286e+02] [ 9.52102379e-01 -3.05910236e-02 -3.04245377e-01 2.34085325e+02] [ 3.04138617e-01 -8.19746425e-03 9.52592517e-01 5.74435993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 687.9792541539999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:447.50, Y:234.09, Z:57.44 [[-2.58757403e-02 -9.99664226e-01 1.37196271e-03 4.47502120e+02] [ 9.52312483e-01 -2.50674118e-02 -3.04093012e-01 2.34085797e+02] [ 3.04025296e-01 -6.56209459e-03 9.52641359e-01 5.74444849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0092541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:447.48, Y:234.07, Z:57.44 [[-6.46728082e-03 -9.98422837e-01 5.57674918e-02 4.47481505e+02] [ 9.61399914e-01 -2.15491964e-02 -2.74309748e-01 2.34066114e+02] [ 2.75078861e-01 5.18408236e-02 9.60022994e-01 5.74380771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0392541539999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:447.52, Y:234.10, Z:57.43 [[-4.52578430e-03 -9.99688536e-01 -2.45427887e-02 4.47518759e+02] [ 9.61428072e-01 2.39992731e-03 -2.75046001e-01 2.34096653e+02] [ 2.75019235e-01 -2.48409249e-02 9.61117760e-01 5.74257757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0692541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:447.53, Y:234.11, Z:57.44 [[-1.04457427e-02 -9.97791374e-01 -6.55992377e-02 4.47525021e+02] [ 9.57705613e-01 8.88284502e-03 -2.87612681e-01 2.34107439e+02] [ 2.87560160e-01 -6.58290862e-02 9.55497612e-01 5.74367978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.0992541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.49, Y:234.13, Z:57.46 [[-8.72968033e-03 -9.99961141e-01 -1.22867108e-03 4.47491473e+02] [ 9.57319356e-01 -8.00241347e-03 -2.88921464e-01 2.34129281e+02] [ 2.88900404e-01 -3.69842263e-03 9.57352014e-01 5.74622907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1292541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:447.49, Y:234.16, Z:57.47 [[-8.01478038e-03 -9.99967231e-01 -1.14066432e-03 4.47490256e+02] [ 9.57250354e-01 -7.34254890e-03 -2.89167507e-01 2.34155382e+02] [ 2.89149655e-01 -3.40951538e-03 9.57277834e-01 5.74699434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1592541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:447.49, Y:234.18, Z:57.48 [[-7.72283500e-03 -9.99969615e-01 -1.06112489e-03 4.47489349e+02] [ 9.57161290e-01 -7.08505165e-03 -2.89468596e-01 2.34181867e+02] [ 2.89452282e-01 -3.25118587e-03 9.57186923e-01 5.74779770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.1892541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:447.49, Y:234.21, Z:57.49 [[-8.42438543e-03 -9.99964039e-01 -9.75379864e-04 4.47488571e+02] [ 9.56985281e-01 -7.77940109e-03 -2.90032159e-01 2.34208443e+02] [ 2.90014141e-01 -3.37676687e-03 9.57016403e-01 5.74860065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2192541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:447.49, Y:234.23, Z:57.49 [[-9.95776080e-03 -9.99950026e-01 -8.88216097e-04 4.47488791e+02] [ 9.56930507e-01 -9.27161566e-03 -2.90168990e-01 2.34234778e+02] [ 2.90146254e-01 -3.73939447e-03 9.56975009e-01 5.74935590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2492541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:447.49, Y:234.26, Z:57.50 [[-1.16306226e-02 -9.99932042e-01 -8.00360368e-04 4.47489341e+02] [ 9.56865143e-01 -1.08973109e-02 -2.90327999e-01 2.34260179e+02] [ 2.90299547e-01 -4.14253233e-03 9.56926859e-01 5.75010985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.2792541539999 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:447.49, Y:234.29, Z:57.51 [[-1.57120217e-02 -9.99876298e-01 -7.21359606e-04 4.47490668e+02] [ 9.56843215e-01 -1.48264180e-02 -2.90226185e-01 2.34285678e+02] [ 2.90179589e-01 -5.25026816e-03 9.56957805e-01 5.75086860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3092541539999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:447.48, Y:234.32, Z:57.52 [[-1.32564290e-02 -9.99513511e-01 2.82313501e-02 4.47482943e+02] [ 9.58911710e-01 -2.07098175e-02 -2.82947763e-01 2.34320901e+02] [ 2.83394778e-01 2.33204953e-02 9.58719748e-01 5.75170628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.339254154 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:447.50, Y:234.35, Z:57.52 [[-1.50139070e-02 -9.99886236e-01 1.44848398e-03 4.47498577e+02] [ 9.59146577e-01 -1.48114505e-02 -2.82521619e-01 2.34353333e+02] [ 2.82510933e-01 -2.85244486e-03 9.59259838e-01 5.75159901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3692541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:447.52, Y:234.37, Z:57.52 [[-2.67692818e-02 -9.98646022e-01 -4.46041226e-02 4.47516995e+02] [ 9.56569113e-01 -1.26336378e-02 -2.91231735e-01 2.34369890e+02] [ 2.90273902e-01 -5.04629904e-02 9.55612133e-01 5.75213096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.3992541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:447.50, Y:234.39, Z:57.54 [[-2.63381234e-02 -9.99653069e-01 -2.14061840e-04 4.47497944e+02] [ 9.56747386e-01 -2.51456127e-02 -2.89831222e-01 2.34392995e+02] [ 2.89725288e-01 -7.83841360e-03 9.57077749e-01 5.75412505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4292541539999 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:447.50, Y:234.42, Z:57.55 [[-3.09134219e-02 -9.99522059e-01 -1.21718006e-04 4.47498988e+02] [ 9.55858619e-01 -2.95273902e-02 -2.92339585e-01 2.34418633e+02] [ 2.92196270e-01 -9.15356214e-03 9.56314568e-01 5.75485007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.459254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:447.50, Y:234.44, Z:57.56 [[-3.45475215e-02 -9.99403055e-01 -5.71750778e-05 4.47498977e+02] [ 9.56153289e-01 -3.30358090e-02 -2.90997464e-01 2.34444273e+02] [ 2.90821865e-01 -1.01079093e-02 9.56723823e-01 5.75571348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.4892541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:447.50, Y:234.45, Z:57.56 [[-3.41470632e-02 -9.99416819e-01 1.39969805e-05 4.47498866e+02] [ 9.56165744e-01 -3.26733796e-02 -2.90997459e-01 2.34446796e+02] [ 2.90828212e-01 -9.92332518e-03 9.56723826e-01 5.75578922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5192541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:447.50, Y:234.47, Z:57.57 [[-3.88892287e-02 -9.99243523e-01 -9.88704370e-05 4.47501929e+02] [ 9.55955741e-01 -3.71757182e-02 -2.91147020e-01 2.34473004e+02] [ 2.90923099e-01 -1.14169988e-02 9.56678317e-01 5.75661445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.5492541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:447.50, Y:234.50, Z:57.57 [[-4.12458008e-02 -9.99149030e-01 -1.19683338e-05 4.47503413e+02] [ 9.55858334e-01 -3.94552329e-02 -2.91166844e-01 2.34499862e+02] [ 2.90918597e-01 -1.20208497e-02 9.56672289e-01 5.75738827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.579254154 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:447.51, Y:234.50, Z:57.57 [[-4.19335939e-02 -9.99120398e-01 6.66046733e-05 4.47505772e+02] [ 9.55666478e-01 -4.01292566e-02 -2.91704003e-01 2.34503862e+02] [ 2.91450092e-01 -1.21685454e-02 9.56508636e-01 5.75747307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6092541539999 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:447.51, Y:234.53, Z:57.58 [[-4.38362968e-02 -9.98986421e-01 -1.02230026e-02 4.47512341e+02] [ 9.55385500e-01 -3.89268728e-02 -2.92785321e-01 2.34530313e+02] [ 2.92090611e-01 -2.26015327e-02 9.56123552e-01 5.75837830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6392541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:447.51, Y:234.56, Z:57.59 [[-4.28988591e-02 -9.99019400e-01 1.09510520e-02 4.47505015e+02] [ 9.55453365e-01 -4.42268504e-02 -2.91809618e-01 2.34557033e+02] [ 2.92007800e-01 -2.05508022e-03 9.56413729e-01 5.75936153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.6692541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:447.51, Y:234.56, Z:57.59 [[-4.15047792e-02 -9.99138303e-01 6.37573017e-05 4.47510967e+02] [ 9.55640447e-01 -3.97164766e-02 -2.91845742e-01 2.34559956e+02] [ 2.91596791e-01 -1.20520640e-02 9.56465399e-01 5.75920380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.699254154 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:447.51, Y:234.59, Z:57.60 [[-3.99943719e-02 -9.99199904e-01 -5.00429920e-05 4.47511507e+02] [ 9.55635411e-01 -3.82360150e-02 -2.92059871e-01 2.34585950e+02] [ 2.91824282e-01 -1.17285740e-02 9.56400036e-01 5.75997043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7292541539999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:447.50, Y:234.58, Z:57.60 [[-2.85323108e-02 -9.99035914e-01 3.33638899e-02 4.47499502e+02] [ 9.61251807e-01 -3.65781601e-02 -2.73234337e-01 2.34584495e+02] [ 2.74191305e-01 2.42750924e-02 9.61368737e-01 5.75989030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7592541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:447.51, Y:234.62, Z:57.60 [[-2.04705510e-02 -9.99390101e-01 2.82910350e-02 4.47506368e+02] [ 9.64024086e-01 -2.72313254e-02 -2.64416370e-01 2.34618583e+02] [ 2.65025505e-01 2.18604904e-02 9.63993569e-01 5.75968166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.7892541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.53, Y:234.65, Z:57.59 [[-1.91182955e-02 -9.99692615e-01 -1.57850159e-02 4.47528301e+02] [ 9.63798655e-01 -1.42277808e-02 -2.66251241e-01 2.34647823e+02] [ 2.65944813e-01 -2.03038469e-02 9.63774408e-01 5.75948038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8192541539999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:447.55, Y:234.66, Z:57.60 [[-1.88331879e-02 -9.97557088e-01 -6.72693679e-02 4.47549389e+02] [ 9.60267787e-01 6.90276194e-04 -2.79079382e-01 2.34661206e+02] [ 2.78444050e-01 -6.98525615e-02 9.57908937e-01 5.76024103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8492541539999 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:447.52, Y:234.68, Z:57.62 [[-1.54258703e-02 -9.99857345e-01 -6.87987392e-03 4.47519986e+02] [ 9.60591182e-01 -1.29094955e-02 -2.77665133e-01 2.34684289e+02] [ 2.77536707e-01 -1.08919725e-02 9.60653289e-01 5.76244610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.8792541539999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:447.52, Y:234.71, Z:57.63 [[-1.30790773e-02 -9.99914063e-01 -8.96556890e-04 4.47516821e+02] [ 9.60989508e-01 -1.23221871e-02 -2.76310204e-01 2.34710382e+02] [ 2.76275412e-01 -4.47546428e-03 9.61068087e-01 5.76345634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9092541539999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:447.52, Y:234.74, Z:57.64 [[-7.84500917e-03 -9.99968896e-01 -8.13985948e-04 4.47518938e+02] [ 9.61033756e-01 -7.31461395e-03 -2.76334246e-01 2.34736783e+02] [ 2.76319697e-01 -2.95011267e-03 9.61061248e-01 5.76411476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9392541539999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:447.52, Y:234.76, Z:57.65 [[-5.75637707e-03 -9.99983159e-01 -7.39462295e-04 4.47519830e+02] [ 9.61025355e-01 -5.32772008e-03 -2.76408906e-01 2.34763660e+02] [ 2.76400311e-01 -2.30175590e-03 9.61039838e-01 5.76487460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9692541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.52, Y:234.79, Z:57.66 [[-3.86631713e-03 -9.99992309e-01 -6.58131143e-04 4.47521687e+02] [ 9.60990220e-01 -3.53350752e-03 -2.76559780e-01 2.34790722e+02] [ 2.76555328e-01 -1.70172541e-03 9.60996491e-01 5.76554165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 688.9992541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:447.52, Y:234.82, Z:57.66 [[-2.51581136e-03 -9.99996671e-01 -5.73377816e-04 4.47523145e+02] [ 9.61021914e-01 -2.25923964e-03 -2.76462975e-01 2.34817324e+02] [ 2.76460759e-01 -1.24655734e-03 9.61024399e-01 5.76634075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0292541539999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:447.53, Y:234.84, Z:57.67 [[ 2.55693845e-04 -9.99999847e-01 -4.90442055e-04 4.47526949e+02] [ 9.60918461e-01 3.81470706e-04 -2.76831296e-01 2.34843544e+02] [ 2.76831441e-01 -4.00490765e-04 9.60918411e-01 5.76709173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.0592541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:447.53, Y:234.87, Z:57.68 [[ 1.30854288e-03 -9.99999050e-01 -4.32560311e-04 4.47529198e+02] [ 9.60834252e-01 1.37716536e-03 -2.77120268e-01 2.34869778e+02] [ 2.77120601e-01 -5.29950083e-05 9.60835142e-01 5.76772086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.089254154 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.53, Y:234.90, Z:57.68 [[ 1.97025843e-03 -9.99997995e-01 -3.57683005e-04 4.47531122e+02] [ 9.60699574e-01 1.99211717e-03 -2.77583067e-01 2.34896544e+02] [ 2.77583223e-01 2.03284467e-04 9.60701573e-01 5.76848568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1192541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:447.54, Y:234.92, Z:57.69 [[ 3.09599206e-03 -9.99995169e-01 -2.75549324e-04 4.47535360e+02] [ 9.60901846e-01 3.05125123e-03 -2.76872412e-01 2.34922730e+02] [ 2.76871915e-01 5.92418935e-04 9.60906651e-01 5.76927473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1492541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:447.54, Y:234.95, Z:57.70 [[ 3.70175264e-03 -9.99993125e-01 -2.18278405e-04 4.47537932e+02] [ 9.61003568e-01 3.61777903e-03 -2.76512304e-01 2.34949502e+02] [ 2.76511193e-01 8.13813827e-04 9.61010353e-01 5.77000500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.1792541539999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:447.54, Y:234.98, Z:57.71 [[ 4.11091238e-03 -9.99991541e-01 -1.37033409e-04 4.47540737e+02] [ 9.61097217e-01 3.98886628e-03 -2.76181513e-01 2.34976863e+02] [ 2.76179723e-01 1.00365557e-03 9.61105485e-01 5.77073862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.209254154 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:447.54, Y:235.00, Z:57.71 [[ 4.56887102e-03 -9.99989561e-01 -5.23374921e-05 4.47543698e+02] [ 9.61266357e-01 4.40637147e-03 -2.75585877e-01 2.35003433e+02] [ 2.75583230e-01 1.20880606e-03 9.61276454e-01 5.77147240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2392541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.55, Y:235.01, Z:57.71 [[ 7.41308696e-03 -9.99972522e-01 2.56909222e-05 4.47549308e+02] [ 9.61414975e-01 7.12018320e-03 -2.75010090e-01 2.35005350e+02] [ 2.75002350e-01 2.06337335e-03 9.61441340e-01 5.77145766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2692541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.55, Y:235.03, Z:57.72 [[ 8.68980699e-03 -9.99962240e-01 -7.90040923e-05 4.47551565e+02] [ 9.61564380e-01 8.37780803e-03 -2.74451738e-01 2.35032347e+02] [ 2.74442036e-01 2.30896511e-03 9.61600872e-01 5.77223076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.2992541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:447.55, Y:235.04, Z:57.72 [[ 1.02327176e-02 -9.99947644e-01 -2.15975650e-06 4.47553635e+02] [ 9.61722988e-01 9.84214647e-03 -2.73846721e-01 2.35035131e+02] [ 2.73832405e-01 2.80011907e-03 9.61773348e-01 5.77232577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.329254154 meters Centerline goodness : 0.999371 Centerline is valid? [True, True] Translation: X:447.56, Y:235.06, Z:57.73 [[ 1.12845843e-02 -9.99936321e-01 -1.06837125e-04 4.47556331e+02] [ 9.61715236e-01 1.08825053e-02 -2.73834577e-01 2.35061666e+02] [ 2.73818302e-01 2.98736247e-03 9.61776800e-01 5.77306388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3592541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.56, Y:235.09, Z:57.74 [[ 1.24179406e-02 -9.99922894e-01 -2.29782402e-05 4.47562628e+02] [ 9.61829329e-01 1.19511430e-02 -2.73388940e-01 2.35088877e+02] [ 2.73368134e-01 3.37282647e-03 9.61903575e-01 5.77374335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.3892541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.57, Y:235.09, Z:57.74 [[ 1.27550436e-02 -9.99918650e-01 5.52042321e-05 4.47566152e+02] [ 9.61908005e-01 1.22550993e-02 -2.73098522e-01 2.35092480e+02] [ 2.73075629e-01 3.53648496e-03 9.61986068e-01 5.77366727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4192541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.57, Y:235.12, Z:57.75 [[ 1.07159152e-02 -9.99942582e-01 -4.97545259e-05 4.47572938e+02] [ 9.62203598e-01 1.03250249e-02 -2.72135316e-01 2.35118567e+02] [ 2.72120204e-01 2.86830497e-03 9.62258992e-01 5.77450731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.449254154 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:447.58, Y:235.12, Z:57.75 [[ 9.35956983e-03 -9.99956198e-01 2.06316943e-05 4.47576572e+02] [ 9.62270556e-01 9.00122204e-03 -2.71945502e-01 2.35122594e+02] [ 2.71933404e-01 2.56514618e-03 9.62312654e-01 5.77461354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.4792541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.58, Y:235.15, Z:57.75 [[ 6.92204592e-03 -9.99976039e-01 -8.47482178e-05 4.47580140e+02] [ 9.62334768e-01 6.68451892e-03 -2.71785048e-01 2.35148427e+02] [ 2.71779102e-01 1.79975243e-03 9.62357979e-01 5.77528576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5092541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.58, Y:235.18, Z:57.76 [[ 4.70330752e-03 -9.99988939e-01 -1.13397423e-05 4.47583987e+02] [ 9.62397273e-01 4.52958040e-03 -2.71608122e-01 2.35175795e+02] [ 2.71605169e-01 1.26654319e-03 9.62407932e-01 5.77601376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5392541539999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:447.59, Y:235.18, Z:57.76 [[ 8.50874587e-04 -9.99999636e-01 6.85021902e-05 4.47591953e+02] [ 9.62230530e-01 8.00089121e-04 -2.72234765e-01 2.35180703e+02] [ 2.72234611e-01 2.97552543e-04 9.62230860e-01 5.77611661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5692541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.60, Y:235.18, Z:57.76 [[-5.83316436e-04 -9.99999830e-01 2.68329932e-05 4.47596079e+02] [ 9.62088922e-01 -5.68520682e-04 -2.72735373e-01 2.35184659e+02] [ 2.72735341e-01 -1.33275299e-04 9.62089089e-01 5.77615887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.5992541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.60, Y:235.21, Z:57.77 [[-2.21175505e-03 -9.99997554e-01 -1.15613523e-05 4.47600363e+02] [ 9.61897870e-01 -2.12432678e-03 -2.73400758e-01 2.35212009e+02] [ 2.73400065e-01 -6.15816347e-04 9.61900216e-01 5.77673350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6292541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.60, Y:235.21, Z:57.77 [[-3.12101763e-03 -9.99995127e-01 6.75065158e-05 4.47603722e+02] [ 9.61782599e-01 -3.02023828e-03 -2.73797572e-01 2.35214948e+02] [ 2.73796442e-01 -7.89600457e-04 9.61787339e-01 5.77679113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6592541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.61, Y:235.22, Z:57.77 [[-4.84881078e-03 -9.99988244e-01 2.59087979e-05 4.47609833e+02] [ 9.61670439e-01 -4.67011626e-03 -2.74168118e-01 2.35217734e+02] [ 2.74165016e-01 -1.30447360e-03 9.61681778e-01 5.77697406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.6892541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:447.61, Y:235.24, Z:57.78 [[-6.01986503e-03 -9.99981880e-01 1.50154985e-06 4.47612618e+02] [ 9.61570660e-01 -5.78904265e-03 -2.74496546e-01 2.35244730e+02] [ 2.74491581e-01 -1.65098831e-03 9.61588086e-01 5.77770084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7192541539999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:447.62, Y:235.25, Z:57.78 [[-6.57926975e-03 -9.99978353e-01 8.04968349e-05 4.47615533e+02] [ 9.61605741e-01 -6.34888621e-03 -2.74361240e-01 2.35248275e+02] [ 2.74355812e-01 -1.72769039e-03 9.61626697e-01 5.77778550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7492541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.62, Y:235.25, Z:57.78 [[-8.30807009e-03 -9.99965486e-01 5.28729602e-05 4.47621612e+02] [ 9.61774999e-01 -8.00524298e-03 -2.73723890e-01 2.35248745e+02] [ 2.73714866e-01 -2.22326537e-03 9.61808312e-01 5.77781144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.7792541539999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:447.62, Y:235.25, Z:57.78 [[-9.93492032e-03 -9.99950647e-01 4.24432065e-05 4.47624875e+02] [ 9.61872962e-01 -9.56820443e-03 -2.73329204e-01 2.35251396e+02] [ 2.73316120e-01 -2.67467889e-03 9.61920550e-01 5.77783135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8092541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:447.63, Y:235.25, Z:57.78 [[-1.16453173e-02 -9.99932180e-01 1.51148805e-04 4.47627501e+02] [ 9.61957385e-01 -1.12443203e-02 -2.72968048e-01 2.35248814e+02] [ 2.72951235e-01 -3.03340081e-03 9.62023088e-01 5.77783390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.839254154 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.63, Y:235.25, Z:57.78 [[-1.49169647e-02 -9.99888722e-01 1.66550385e-04 4.47633221e+02] [ 9.62230789e-01 -1.44004426e-02 -2.71853887e-01 2.35247637e+02] [ 2.71826034e-01 -3.89497493e-03 9.62338525e-01 5.77772608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8692541539999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:447.64, Y:235.25, Z:57.78 [[-1.67059779e-02 -9.99860407e-01 2.76699725e-04 4.47635297e+02] [ 9.62409927e-01 -1.61552730e-02 -2.71120158e-01 2.35247451e+02] [ 2.71086782e-01 -4.26302880e-03 9.62545471e-01 5.77780123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.8992541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.64, Y:235.25, Z:57.78 [[-1.81987003e-02 -9.99834315e-01 3.87589742e-04 4.47637458e+02] [ 9.62410849e-01 -1.76225931e-02 -2.71025463e-01 2.35246186e+02] [ 2.70987388e-01 -4.55929060e-03 9.62572100e-01 5.77780398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9292541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:447.64, Y:235.24, Z:57.78 [[-1.97118990e-02 -9.99805577e-01 4.98364176e-04 4.47639038e+02] [ 9.62435150e-01 -1.91101160e-02 -2.70838303e-01 2.35244330e+02] [ 2.70795170e-01 -4.85909408e-03 9.62624727e-01 5.77777138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.959254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.64, Y:235.25, Z:57.78 [[-2.13622069e-02 -9.99771616e-01 6.10634973e-04 4.47642020e+02] [ 9.62287775e-01 -2.07269546e-02 -2.71242754e-01 2.35246418e+02] [ 2.71193463e-01 -5.20673727e-03 9.62510777e-01 5.77786690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 689.9892541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:447.64, Y:235.24, Z:57.78 [[-2.20025597e-02 -9.99757654e-01 7.22053847e-04 4.47643662e+02] [ 9.62287535e-01 -2.13737851e-02 -2.71193402e-01 2.35238963e+02] [ 2.71143112e-01 -5.27212560e-03 9.62524606e-01 5.77768545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.65, Y:235.24, Z:57.78 [[-2.23512354e-02 -9.99749833e-01 8.33128196e-04 4.47645422e+02] [ 9.62317600e-01 -2.17402516e-02 -2.71057554e-01 2.35237633e+02] [ 2.71007857e-01 -5.25673728e-03 9.62562781e-01 5.77765055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.65, Y:235.24, Z:57.78 [[-2.25225809e-02 -9.99745888e-01 9.44847722e-04 4.47647761e+02] [ 9.62284540e-01 -2.19349095e-02 -2.71159222e-01 2.35235324e+02] [ 2.71111043e-01 -5.19799315e-03 9.62534043e-01 5.77767568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.65, Y:235.23, Z:57.78 [[-2.25116548e-02 -9.99746025e-01 1.05394482e-03 4.47648686e+02] [ 9.62438654e-01 -2.19568712e-02 -2.70609927e-01 2.35231307e+02] [ 2.70564340e-01 -5.07752002e-03 9.62688505e-01 5.77759706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1092541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.65, Y:235.23, Z:57.77 [[-2.19636909e-02 -9.99758091e-01 1.16398325e-03 4.47650877e+02] [ 9.62517722e-01 -2.14603375e-02 -2.70368433e-01 2.35228315e+02] [ 2.70328008e-01 -4.81793420e-03 9.62756228e-01 5.77743666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.65, Y:235.22, Z:57.77 [[-2.22334751e-02 -9.99751991e-01 1.27616651e-03 4.47651476e+02] [ 9.62444250e-01 -2.17492136e-02 -2.70606795e-01 2.35224836e+02] [ 2.70567438e-01 -4.78829032e-03 9.62689116e-01 5.77745557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.1692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.65, Y:235.22, Z:57.77 [[-2.26005861e-02 -9.99743607e-01 1.39046963e-03 4.47652811e+02] [ 9.62268642e-01 -2.21306044e-02 -2.71199738e-01 2.35224652e+02] [ 2.71160976e-01 -4.79126772e-03 9.62522087e-01 5.77719173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.199254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.65, Y:235.22, Z:57.77 [[-2.33861706e-02 -9.99725381e-01 1.49973145e-03 4.47653007e+02] [ 9.62347119e-01 -2.29181183e-02 -2.70855650e-01 2.35220486e+02] [ 2.70815639e-01 -4.89101419e-03 9.62618807e-01 5.77733813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2292541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:447.66, Y:235.22, Z:57.77 [[-2.51601312e-02 -9.99682122e-01 1.61955593e-03 4.47655361e+02] [ 9.61919549e-01 -2.46507317e-02 -2.72218886e-01 2.35221268e+02] [ 2.72172277e-01 -5.29118039e-03 9.62233992e-01 5.77721736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2592541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.66, Y:235.22, Z:57.77 [[-2.69972937e-02 -9.99634007e-01 1.73137715e-03 4.47656351e+02] [ 9.61871176e-01 -2.64489161e-02 -2.72221043e-01 2.35219512e+02] [ 2.72167205e-01 -5.68386967e-03 9.62233187e-01 5.77717161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.2892541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:447.66, Y:235.22, Z:57.77 [[-2.93061931e-02 -9.99568780e-01 1.84416211e-03 4.47657246e+02] [ 9.61774775e-01 -2.87005607e-02 -2.72333547e-01 2.35217492e+02] [ 2.72269040e-01 -6.20739091e-03 9.62201142e-01 5.77705222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.65, Y:235.22, Z:57.77 [[-2.73825742e-02 -9.99322638e-01 2.45857689e-02 4.47650605e+02] [ 9.66095129e-01 -3.27727351e-02 -2.56097930e-01 2.35219440e+02] [ 2.56730202e-01 1.67395711e-02 9.66338135e-01 5.77672444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.67, Y:235.22, Z:57.77 [[-3.79337334e-02 -9.99012576e-01 -2.31279964e-02 4.47670698e+02] [ 9.62116936e-01 -3.02599750e-02 -2.70952645e-01 2.35223793e+02] [ 2.69985248e-01 -3.25300824e-02 9.62314793e-01 5.77717706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.66, Y:235.22, Z:57.78 [[-4.16700018e-02 -9.99129415e-01 2.00592709e-03 4.47659039e+02] [ 9.61865768e-01 -4.06589147e-02 -2.70483082e-01 2.35224835e+02] [ 2.70329162e-01 -9.34159791e-03 9.62722639e-01 5.77756184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.66, Y:235.22, Z:57.77 [[-4.20699093e-02 -9.99112424e-01 2.11821170e-03 4.47659078e+02] [ 9.61848367e-01 -4.10742687e-02 -2.70482205e-01 2.35222356e+02] [ 2.70329135e-01 -9.34176334e-03 9.62722645e-01 5.77749498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.66, Y:235.22, Z:57.77 [[-4.63021900e-02 -9.98925000e-01 2.22530831e-03 4.47659847e+02] [ 9.61838307e-01 -4.51843191e-02 -2.69861906e-01 2.35221535e+02] [ 2.69672354e-01 -1.03548105e-02 9.62896464e-01 5.77744812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.66, Y:235.23, Z:57.78 [[-5.51904436e-02 -9.98473126e-01 2.33080291e-03 4.47660451e+02] [ 9.61605923e-01 -5.37808229e-02 -2.69112748e-01 2.35226213e+02] [ 2.68827199e-01 -1.26111381e-02 9.63105859e-01 5.77753776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.4992541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.66, Y:235.23, Z:57.77 [[-5.96440879e-02 -9.98216717e-01 2.44298061e-03 4.47660892e+02] [ 9.61360325e-01 -5.81004565e-02 -2.69092293e-01 2.35227068e+02] [ 2.68754364e-01 -1.37011798e-02 9.63111297e-01 5.77732765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5292541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.66, Y:235.23, Z:57.77 [[-6.36900482e-02 -9.97966456e-01 2.55547688e-03 4.47660935e+02] [ 9.61123363e-01 -6.20277115e-02 -2.69062157e-01 2.35226213e+02] [ 2.68673517e-01 -1.46804532e-02 9.63119424e-01 5.77733553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.66, Y:235.22, Z:57.77 [[-6.67534194e-02 -9.97765936e-01 2.66805937e-03 4.47661824e+02] [ 9.60937513e-01 -6.50088660e-02 -2.69022200e-01 2.35216893e+02] [ 2.68594635e-01 -1.53943134e-02 9.63130281e-01 5.77707784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.66, Y:235.23, Z:57.78 [[-7.32998708e-02 -9.97306067e-01 2.78178456e-03 4.47659184e+02] [ 9.60462131e-01 -7.13425614e-02 -2.69114721e-01 2.35230462e+02] [ 2.68588204e-01 -1.70542756e-02 9.63104111e-01 5.77754366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.66, Y:235.23, Z:57.77 [[-7.56002305e-02 -9.97134009e-01 2.89359387e-03 4.47657555e+02] [ 9.60327664e-01 -7.35902476e-02 -2.68989318e-01 2.35227248e+02] [ 2.68431338e-01 -1.75568562e-02 9.63138813e-01 5.77748611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6492541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.66, Y:235.23, Z:57.77 [[-7.71529148e-02 -9.97014724e-01 3.01130057e-03 4.47656078e+02] [ 9.60117717e-01 -7.51111058e-02 -2.69318197e-01 2.35226068e+02] [ 2.68740390e-01 -1.78874809e-02 9.63046541e-01 5.77748823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.6792541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.65, Y:235.22, Z:57.77 [[-7.81114112e-02 -9.96939705e-01 3.13548016e-03 4.47653268e+02] [ 9.59806473e-01 -7.60516672e-02 -2.70162317e-01 2.35220558e+02] [ 2.69573999e-01 -1.80933057e-02 9.62809686e-01 5.77718740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.709254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.65, Y:235.22, Z:57.77 [[-7.84010946e-02 -9.96916616e-01 3.24477098e-03 4.47650644e+02] [ 9.59894800e-01 -7.63675800e-02 -2.69759088e-01 2.35220433e+02] [ 2.69175113e-01 -1.80347690e-02 9.62922378e-01 5.77739591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7392541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.65, Y:235.22, Z:57.77 [[-7.82370030e-02 -9.96929131e-01 3.35840811e-03 4.47648831e+02] [ 9.59915874e-01 -7.62408965e-02 -2.69719929e-01 2.35216761e+02] [ 2.69147703e-01 -1.78782897e-02 9.62932958e-01 5.77727170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7692541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.64, Y:235.32, Z:57.80 [[-7.80228189e-02 -9.96882565e-01 1.17298981e-02 4.47641861e+02] [ 9.59682796e-01 -7.82878510e-02 -2.69962855e-01 2.35316649e+02] [ 2.70039572e-01 -9.80628148e-03 9.62799287e-01 5.77994753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.7992541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.65, Y:235.21, Z:57.77 [[-7.59911298e-02 -9.97099186e-01 -4.30824084e-03 4.47646069e+02] [ 9.59924951e-01 -7.19877004e-02 -2.70853945e-01 2.35214192e+02] [ 2.69758107e-01 -2.47180851e-02 9.62610814e-01 5.77686400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.829254154 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.64, Y:235.21, Z:57.77 [[-7.55172040e-02 -9.97138349e-01 3.50224309e-03 4.47639572e+02] [ 9.59531917e-01 -7.36237808e-02 -2.71805151e-01 2.35210862e+02] [ 2.71285188e-01 -1.71654510e-02 9.62345933e-01 5.77674952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8592541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:447.63, Y:235.19, Z:57.76 [[-6.61130021e-02 -9.97463716e-01 2.63667476e-02 4.47629502e+02] [ 9.63902616e-01 -7.06741931e-02 -2.56703927e-01 2.35193431e+02] [ 2.57916302e-01 8.44350963e-03 9.66130368e-01 5.77605445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.8892541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:447.64, Y:235.23, Z:57.77 [[-7.49493745e-02 -9.97009456e-01 -1.88344117e-02 4.47644168e+02] [ 9.59871634e-01 -6.70132848e-02 -2.72315379e-01 2.35225934e+02] [ 2.70238852e-01 -3.84884849e-02 9.62023700e-01 5.77703861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9192541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.63, Y:235.21, Z:57.77 [[-7.42669929e-02 -9.97238215e-01 -5.96168675e-04 4.47629920e+02] [ 9.59315296e-01 -7.12794527e-02 -2.73191148e-01 2.35206881e+02] [ 2.72394158e-01 -2.08609988e-02 9.61959584e-01 5.77677685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.949254154 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:447.62, Y:235.18, Z:57.76 [[-6.44607680e-02 -9.97553975e-01 2.70347188e-02 4.47618072e+02] [ 9.63903581e-01 -6.92536410e-02 -2.57087185e-01 2.35182556e+02] [ 2.58330596e-01 9.48682492e-03 9.66009991e-01 5.77563769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 690.9792541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:447.63, Y:235.21, Z:57.77 [[-7.26478396e-02 -9.97088834e-01 -2.31548917e-02 4.47632249e+02] [ 9.59854190e-01 -6.35906276e-02 -2.73196206e-01 2.35207950e+02] [ 2.70928452e-01 -4.20724339e-02 9.61679616e-01 5.77654036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0092541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:447.62, Y:235.20, Z:57.77 [[-7.08787448e-02 -9.97477412e-01 3.87510295e-03 4.47615893e+02] [ 9.59729667e-01 -6.92541503e-02 -2.72255081e-01 2.35202518e+02] [ 2.71836661e-01 -1.55780472e-02 9.62217311e-01 5.77691895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0392541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.61, Y:235.20, Z:57.77 [[-6.87112721e-02 -9.97629197e-01 3.84018729e-03 4.47612658e+02] [ 9.60004339e-01 -6.71661563e-02 -2.71809449e-01 2.35204286e+02] [ 2.71422973e-01 -1.49897765e-02 9.62343430e-01 5.77705652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0692541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:447.61, Y:235.20, Z:57.77 [[-6.55348025e-02 -9.97843054e-01 3.79853994e-03 4.47609619e+02] [ 9.60473188e-01 -6.41116894e-02 -2.70889177e-01 2.35203757e+02] [ 2.70548414e-01 -1.41042729e-02 9.62603046e-01 5.77709504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.0992541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:447.60, Y:235.20, Z:57.77 [[-5.67875226e-02 -9.98379281e-01 3.74019062e-03 4.47602658e+02] [ 9.61315887e-01 -5.56899588e-02 -2.69759883e-01 2.35201959e+02] [ 2.69530969e-01 -1.17234908e-02 9.62920358e-01 5.77711728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1292541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.59, Y:235.42, Z:57.83 [[-5.19435045e-02 -9.98599805e-01 1.00151177e-02 4.47593513e+02] [ 9.61762066e-01 -5.27228165e-02 -2.68763899e-01 2.35416097e+02] [ 2.68915602e-01 -4.32837846e-03 9.63154019e-01 5.78319584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1592541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:447.60, Y:235.19, Z:57.77 [[-4.64814111e-02 -9.98916863e-01 -2.14004686e-03 4.47599113e+02] [ 9.62049309e-01 -4.41890133e-02 -2.69273948e-01 2.35190848e+02] [ 2.68887721e-01 -1.45750637e-02 9.63061245e-01 5.77671380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.1892541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:447.59, Y:235.19, Z:57.77 [[-3.66927705e-02 -9.99319782e-01 3.68982450e-03 4.47590266e+02] [ 9.62460265e-01 -3.63325363e-02 -2.68979899e-01 2.35185175e+02] [ 2.68930995e-01 -6.31830823e-03 9.63138723e-01 5.77656006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2192541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.59, Y:235.19, Z:57.77 [[-3.27519828e-02 -9.99457084e-01 3.58391981e-03 4.47587194e+02] [ 9.62488950e-01 -3.25064580e-02 -2.69366576e-01 2.35186581e+02] [ 2.69336833e-01 -5.37280626e-03 9.63031050e-01 5.77667965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2492541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.58, Y:235.19, Z:57.77 [[-2.94653062e-02 -9.99559753e-01 3.47806150e-03 4.47584815e+02] [ 9.62483619e-01 -2.93109928e-02 -2.69752014e-01 2.35186773e+02] [ 2.69735201e-01 -4.60074847e-03 9.62923545e-01 5.77664696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.2792541539999 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:447.57, Y:235.74, Z:57.92 [[-2.68396740e-02 -9.99624758e-01 5.47488620e-03 4.47574498e+02] [ 9.62138683e-01 -2.73184623e-02 -2.71187863e-01 2.35739974e+02] [ 2.71235668e-01 -2.01099404e-03 9.62510867e-01 5.79168837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3092541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.58, Y:235.19, Z:57.77 [[-2.59985933e-02 -9.99660541e-01 1.69566454e-03 4.47581653e+02] [ 9.62320551e-01 -2.54866834e-02 -2.70720494e-01 2.35187715e+02] [ 2.70671813e-01 -5.40657918e-03 9.62656501e-01 5.77659139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.339254154 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.58, Y:235.19, Z:57.77 [[-2.63350300e-02 -9.99647973e-01 3.22433708e-03 4.47580638e+02] [ 9.62106975e-01 -2.62214594e-02 -2.71408556e-01 2.35190134e+02] [ 2.71397559e-01 -4.04539528e-03 9.62458830e-01 5.77658959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3692541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.58, Y:235.20, Z:57.77 [[-2.76519766e-02 -9.99612751e-01 3.11702887e-03 4.47579769e+02] [ 9.61976986e-01 -2.74582409e-02 -2.71746802e-01 2.35195085e+02] [ 2.71727157e-01 -4.51582619e-03 9.62363736e-01 5.77682568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.3992541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:447.58, Y:235.20, Z:57.77 [[-3.15664623e-02 -9.99497109e-01 3.01456481e-03 4.47578898e+02] [ 9.61629313e-01 -3.11926111e-02 -2.72573083e-01 2.35201540e+02] [ 2.72530041e-01 -5.70527406e-03 9.62130359e-01 5.77700454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4292541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.58, Y:235.32, Z:57.80 [[-3.44933087e-02 -9.99369775e-01 8.38243378e-03 4.47575714e+02] [ 9.61467525e-01 -3.54717748e-02 -2.72620525e-01 2.35317405e+02] [ 2.72746053e-01 -1.34414607e-03 9.62085123e-01 5.78018694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.459254154 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:447.58, Y:235.22, Z:57.78 [[-3.75006503e-02 -9.99292729e-01 2.78247968e-03 4.47578784e+02] [ 9.61412939e-01 -3.68382575e-02 -2.72631809e-01 2.35220648e+02] [ 2.72541486e-01 -7.54875816e-03 9.62114419e-01 5.77756679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.4892541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.58, Y:235.21, Z:57.77 [[-3.95127629e-02 -9.99218466e-01 -1.09455096e-03 4.47581474e+02] [ 9.61280514e-01 -3.77135341e-02 -2.72978867e-01 2.35209421e+02] [ 2.72724246e-01 -1.18383198e-02 9.62019407e-01 5.77694706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5192541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.58, Y:235.22, Z:57.77 [[-4.56255108e-02 -9.98954635e-01 2.81948130e-03 4.47578398e+02] [ 9.61021655e-01 -4.46630652e-02 -2.72841692e-01 2.35215481e+02] [ 2.72682400e-01 -9.73895899e-03 9.62054812e-01 5.77743419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.5492541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:447.58, Y:235.22, Z:57.78 [[-4.78239270e-02 -9.98852123e-01 2.70345432e-03 4.47577760e+02] [ 9.61018080e-01 -4.67500251e-02 -2.72504470e-01 2.35222904e+02] [ 2.72318055e-01 -1.04341654e-02 9.62150719e-01 5.77762938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.579254154 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.58, Y:235.23, Z:57.78 [[-4.91811843e-02 -9.98786505e-01 2.59415039e-03 4.47577554e+02] [ 9.60838121e-01 -4.80214200e-02 -2.72917658e-01 2.35225750e+02] [ 2.72711049e-01 -1.09298551e-02 9.62033899e-01 5.77756354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6092541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.58, Y:235.23, Z:57.78 [[-5.10269520e-02 -9.98694214e-01 2.47313276e-03 4.47575889e+02] [ 9.60996026e-01 -4.97744992e-02 -2.72046206e-01 2.35231139e+02] [ 2.71814071e-01 -1.15050179e-02 9.62281012e-01 5.77788694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6392541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.57, Y:235.23, Z:57.78 [[-5.43243124e-02 -9.98520563e-01 2.35665569e-03 4.47573807e+02] [ 9.60937916e-01 -5.29207873e-02 -2.71657344e-01 2.35232716e+02] [ 2.71380161e-01 -1.24929986e-02 9.62391154e-01 5.77808545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.6692541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.57, Y:235.24, Z:57.78 [[-5.55679073e-02 -9.98452394e-01 2.24147216e-03 4.47572965e+02] [ 9.60943610e-01 -5.40896859e-02 -2.71406860e-01 2.35236794e+02] [ 2.71108070e-01 -1.29275829e-02 9.62462099e-01 5.77820357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.699254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.57, Y:235.24, Z:57.78 [[-5.64381804e-02 -9.98403827e-01 2.12826246e-03 4.47572669e+02] [ 9.60899361e-01 -5.48966496e-02 -2.71401505e-01 2.35239862e+02] [ 2.71085136e-01 -1.32723611e-02 9.62463866e-01 5.77809766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7292541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.57, Y:235.25, Z:57.78 [[-5.88303237e-02 -9.98265971e-01 2.01121548e-03 4.47569918e+02] [ 9.60920770e-01 -5.71751706e-02 -2.70854711e-01 2.35247142e+02] [ 2.70500032e-01 -1.40018516e-02 9.62618139e-01 5.77848204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7592541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.57, Y:235.25, Z:57.79 [[-5.89146526e-02 -9.98261217e-01 1.89903784e-03 4.47568860e+02] [ 9.60872570e-01 -5.72236417e-02 -2.71015423e-01 2.35248457e+02] [ 2.70652856e-01 -1.41420461e-02 9.62573132e-01 5.77852802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.7892541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.57, Y:235.25, Z:57.79 [[-5.87869032e-02 -9.98268960e-01 1.78441492e-03 4.47567338e+02] [ 9.60933885e-01 -5.70723947e-02 -2.70829856e-01 2.35249145e+02] [ 2.70462879e-01 -1.42065438e-02 9.62625579e-01 5.77854266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8192541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:447.55, Y:235.24, Z:57.78 [[-4.97089897e-02 -9.98398449e-01 2.70102491e-02 4.47554657e+02] [ 9.65439483e-01 -5.49603496e-02 -2.54766492e-01 2.35240946e+02] [ 2.55842963e-01 1.34125760e-02 9.66625306e-01 5.77803049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8492541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.58, Y:235.25, Z:57.78 [[-5.67456362e-02 -9.98017375e-01 -2.72259341e-02 4.47575594e+02] [ 9.61408840e-01 -4.72703656e-02 -2.71032389e-01 2.35251888e+02] [ 2.69208054e-01 -4.15551591e-02 9.62185114e-01 5.77800028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.8792541539999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:447.56, Y:235.25, Z:57.79 [[-5.49589717e-02 -9.98487394e-01 1.56036384e-03 4.47559443e+02] [ 9.61051256e-01 -5.33221798e-02 -2.71177486e-01 2.35253330e+02] [ 2.70850503e-01 -1.34040461e-02 9.62528096e-01 5.77872326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9092541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.56, Y:235.26, Z:57.79 [[-5.31552443e-02 -9.98585208e-01 1.45008520e-03 4.47557451e+02] [ 9.60981254e-01 -5.15482100e-02 -2.71767936e-01 2.35255317e+02] [ 2.71458190e-01 -1.30523863e-02 9.62361723e-01 5.77878451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9392541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:447.55, Y:235.26, Z:57.79 [[-4.86562683e-02 -9.98814682e-01 1.34110669e-03 4.47554226e+02] [ 9.60926094e-01 -4.71767912e-02 -2.72755188e-01 2.35255478e+02] [ 2.72495155e-01 -1.19825452e-02 9.62082538e-01 5.77867271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9692541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:447.55, Y:235.26, Z:57.79 [[-4.56876069e-02 -9.98955019e-01 1.22969499e-03 4.47552385e+02] [ 9.60903417e-01 -4.42837529e-02 -2.73319542e-01 2.35258154e+02] [ 2.73088384e-01 -1.13056977e-02 9.61922510e-01 5.77865560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 691.9992541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.55, Y:235.25, Z:57.79 [[-4.04101715e-02 -9.99182549e-01 1.11868499e-03 4.47547274e+02] [ 9.60908551e-01 -3.91691087e-02 -2.74081262e-01 2.35252845e+02] [ 2.73901032e-01 -1.00007168e-02 9.61705886e-01 5.77866458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0292541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.53, Y:235.24, Z:57.78 [[-2.83892785e-02 -9.99096039e-01 3.16410099e-02 4.47534583e+02] [ 9.66330117e-01 -3.55289498e-02 -2.54840733e-01 2.35242386e+02] [ 2.55734539e-01 2.33409162e-02 9.66465233e-01 5.77800032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.0592541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.56, Y:235.26, Z:57.78 [[-3.15820784e-02 -9.98457169e-01 -4.56711489e-02 4.47564750e+02] [ 9.64191246e-01 -1.83963708e-02 -2.64569110e-01 2.35262904e+02] [ 2.63320742e-01 -5.23913644e-02 9.63284658e-01 5.77802064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.089254154 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.54, Y:235.29, Z:57.80 [[-2.92900525e-02 -9.99570920e-01 -2.62911659e-04 4.47540171e+02] [ 9.63781781e-01 -2.81715826e-02 -2.65200000e-01 2.35286177e+02] [ 2.65078801e-01 -8.02111138e-03 9.64193389e-01 5.77969973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1192541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.54, Y:235.31, Z:57.80 [[-2.59946946e-02 -9.99662060e-01 -2.04654254e-04 4.47536844e+02] [ 9.63723265e-01 -2.50057597e-02 -2.65729524e-01 2.35312874e+02] [ 2.65634606e-01 -7.10478789e-03 9.64047602e-01 5.78039660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1492541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:447.54, Y:235.34, Z:57.81 [[-2.49711391e-02 -9.99688165e-01 -1.26386666e-04 4.47535467e+02] [ 9.63708973e-01 -2.40388045e-02 -2.65870552e-01 2.35339471e+02] [ 2.65784606e-01 -6.76089052e-03 9.64008731e-01 5.78113252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.1792541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.53, Y:235.37, Z:57.82 [[-2.45263911e-02 -9.99699182e-01 -4.75702975e-05 4.47533962e+02] [ 9.63850221e-01 -2.36342522e-02 -2.65394374e-01 2.35365536e+02] [ 2.65313414e-01 -6.55501684e-03 9.64139940e-01 5.78181651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.209254154 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:447.53, Y:235.37, Z:57.82 [[-2.35914360e-02 -9.99721683e-01 2.81212694e-05 4.47530492e+02] [ 9.64105515e-01 -2.27584069e-02 -2.64542266e-01 2.35365016e+02] [ 2.64469279e-01 -6.21382007e-03 9.64374092e-01 5.78187582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2392541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.53, Y:235.39, Z:57.82 [[-2.42697277e-02 -9.99705444e-01 -7.41229683e-05 4.47529185e+02] [ 9.64165258e-01 -2.33873287e-02 -2.64269539e-01 2.35391504e+02] [ 2.64189963e-01 -6.48521653e-03 9.64448861e-01 5.78244827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2692541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.53, Y:235.42, Z:57.83 [[-2.56797403e-02 -9.99670221e-01 -2.27652441e-06 4.47527131e+02] [ 9.64300080e-01 -2.47705442e-02 -2.63650859e-01 2.35416630e+02] [ 2.63563857e-01 -6.77268086e-03 9.64618175e-01 5.78330229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.2992541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.53, Y:235.42, Z:57.83 [[-2.52821476e-02 -9.99680353e-01 7.41860597e-05 4.47527017e+02] [ 9.64309352e-01 -2.44071723e-02 -2.63650837e-01 2.35419159e+02] [ 2.63568373e-01 -6.59412107e-03 9.64618179e-01 5.78337125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.329254154 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:447.52, Y:235.44, Z:57.84 [[-2.71084923e-02 -9.99632497e-01 -2.90045563e-05 4.47524555e+02] [ 9.64553884e-01 -2.61495954e-02 -2.62587137e-01 2.35444982e+02] [ 2.62489877e-01 -7.14631784e-03 9.64908283e-01 5.78408583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3592541539999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:447.52, Y:235.45, Z:57.84 [[-2.76866677e-02 -9.99616651e-01 2.23680299e-05 4.47523826e+02] [ 9.64582469e-01 -2.67221882e-02 -2.62424436e-01 2.35446858e+02] [ 2.62324434e-01 -7.24408237e-03 9.64952545e-01 5.78415424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.3892541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:447.52, Y:235.47, Z:57.85 [[-2.93247482e-02 -9.99569934e-01 -8.09293596e-05 4.47523240e+02] [ 9.64659517e-01 -2.82793578e-02 -2.61977660e-01 2.35473209e+02] [ 2.61862703e-01 -7.76049820e-03 9.65073935e-01 5.78483407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4192541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:447.52, Y:235.50, Z:57.85 [[-3.10952517e-02 -9.99516425e-01 -2.44768931e-05 4.47522860e+02] [ 9.64695940e-01 -3.00055685e-02 -2.61651313e-01 2.35501055e+02] [ 2.61524050e-01 -8.15972617e-03 9.65162468e-01 5.78540836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.449254154 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.52, Y:235.51, Z:57.86 [[-3.49170664e-02 -9.99390212e-01 4.74430608e-05 4.47520687e+02] [ 9.64952821e-01 -3.37262345e-02 -2.60247178e-01 2.35505818e+02] [ 2.60090083e-01 -9.04128768e-03 9.65542026e-01 5.78576805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.4792541539999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:447.52, Y:235.53, Z:57.87 [[-3.74225567e-02 -9.99299529e-01 -5.63455506e-05 4.47519930e+02] [ 9.64988303e-01 -3.61229943e-02 -2.59793581e-01 2.35532299e+02] [ 2.59609568e-01 -9.77651279e-03 9.65664172e-01 5.78650012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5092541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:447.52, Y:235.54, Z:57.86 [[-3.91977674e-02 -9.99231472e-01 1.81934214e-05 4.47519281e+02] [ 9.64919140e-01 -3.78564965e-02 -2.59803653e-01 2.35538261e+02] [ 2.59604676e-01 -1.01661680e-02 9.65661463e-01 5.78647015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5392541539999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:447.52, Y:235.56, Z:57.87 [[-4.39366688e-02 -9.99034315e-01 -8.57609052e-05 4.47517839e+02] [ 9.64716849e-01 -4.24051095e-02 -2.59852280e-01 2.35564230e+02] [ 2.59597708e-01 -1.14997786e-02 9.65648375e-01 5.78731718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5692541539999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:447.52, Y:235.59, Z:57.88 [[-4.63037925e-02 -9.98927404e-01 -4.46506481e-06 4.47517720e+02] [ 9.64521403e-01 -4.47077905e-02 -2.60191614e-01 2.35590908e+02] [ 2.59912334e-01 -1.20521652e-02 9.65557002e-01 5.78799198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.5992541539999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:447.52, Y:235.59, Z:57.88 [[-4.76256798e-02 -9.98865251e-01 7.08511377e-05 4.47517616e+02] [ 9.64365048e-01 -4.59991985e-02 -2.60545828e-01 2.35590624e+02] [ 2.60253433e-01 -1.23403458e-02 9.65461479e-01 5.78790697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6292541539999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:447.52, Y:235.62, Z:57.89 [[-5.03265012e-02 -9.98732818e-01 -3.40374975e-05 4.47515994e+02] [ 9.63989872e-01 -4.85668809e-02 -2.61466604e-01 2.35616997e+02] [ 2.61133625e-01 -1.31915112e-02 9.65212523e-01 5.78858244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6592541539999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:447.51, Y:235.62, Z:57.89 [[-5.05788086e-02 -9.98720073e-01 1.89842983e-05 4.47514748e+02] [ 9.63827592e-01 -4.88167073e-02 -2.62017753e-01 2.35616766e+02] [ 2.61683316e-01 -1.32342482e-02 9.65063053e-01 5.78858204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.6892541539999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:447.51, Y:235.64, Z:57.89 [[-5.13014817e-02 -9.98683208e-01 -8.54383518e-05 4.47513600e+02] [ 9.63642557e-01 -4.94790107e-02 -2.62573515e-01 2.35644291e+02] [ 2.62223533e-01 -1.35527424e-02 9.64911987e-01 5.78926145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7192541539999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:447.51, Y:235.67, Z:57.90 [[-5.15706114e-02 -9.98669351e-01 -8.16835842e-06 4.47512409e+02] [ 9.63419983e-01 -4.97482039e-02 -2.63338284e-01 2.35671094e+02] [ 2.62987467e-01 -1.35883859e-02 9.64703554e-01 5.78994999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7492541539999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:447.51, Y:235.67, Z:57.90 [[-5.04728004e-02 -9.98725434e-01 6.51751338e-05 4.47509842e+02] [ 9.63250837e-01 -4.86972513e-02 -2.64152233e-01 2.35674196e+02] [ 2.63818727e-01 -1.32697229e-02 9.64480997e-01 5.78996675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.7792541539999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:447.51, Y:235.70, Z:57.91 [[-4.99432528e-02 -9.98752056e-01 -3.84786809e-05 4.47508957e+02] [ 9.63160750e-01 -4.81532927e-02 -2.64580102e-01 2.35700810e+02] [ 2.64248068e-01 -1.32510520e-02 9.64363712e-01 5.79065913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8092541539999 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:447.51, Y:235.70, Z:57.91 [[-4.84554286e-02 -9.98825345e-01 3.17243879e-05 4.47507869e+02] [ 9.63318452e-01 -4.67412968e-02 -2.64258985e-01 2.35703962e+02] [ 2.63950055e-01 -1.27742217e-02 9.64451755e-01 5.79073651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.839254154 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:447.50, Y:235.73, Z:57.92 [[-4.57249728e-02 -9.98954064e-01 -7.18831991e-05 4.47504502e+02] [ 9.63629268e-01 -4.40890894e-02 -2.63580702e-01 2.35729897e+02] [ 2.63301844e-01 -1.21214892e-02 9.64637346e-01 5.79151003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8692541539999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:447.50, Y:235.76, Z:57.92 [[-4.37837429e-02 -9.99041032e-01 5.73512918e-07 4.47502586e+02] [ 9.63817151e-01 -4.22401803e-02 -2.63196251e-01 2.35756352e+02] [ 2.62943878e-01 -1.15231642e-02 9.64742315e-01 5.79222610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.8992541539999 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:447.50, Y:235.76, Z:57.92 [[-4.08239109e-02 -9.99166354e-01 7.41550726e-05 4.47500646e+02] [ 9.63920022e-01 -3.94033556e-02 -2.63259504e-01 2.35761760e+02] [ 2.63042960e-01 -1.06758030e-02 9.64725053e-01 5.79237170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9292541539999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:447.50, Y:235.79, Z:57.93 [[-3.49747279e-02 -9.99388197e-01 -2.98916592e-05 4.47496636e+02] [ 9.64442745e-01 -3.37439317e-02 -2.62128861e-01 2.35787648e+02] [ 2.61967481e-01 -9.19671436e-03 9.65032880e-01 5.79311830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.959254154 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:447.49, Y:235.79, Z:57.93 [[-3.16494646e-02 -9.99499030e-01 2.14974113e-05 4.47494755e+02] [ 9.64625652e-01 -3.05508195e-02 -2.61847281e-01 2.35792281e+02] [ 2.61716760e-01 -8.26658927e-03 9.65109321e-01 5.79327902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 692.9892541539999 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:447.49, Y:235.82, Z:57.94 [[-2.93928665e-02 -9.99567933e-01 -8.19111666e-05 4.47492892e+02] [ 9.64693030e-01 -2.83458925e-02 -2.61847034e-01 2.35818558e+02] [ 2.61731576e-01 -7.77545403e-03 9.65109385e-01 5.79397467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0192541539999 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:447.49, Y:235.84, Z:57.95 [[-2.55201425e-02 -9.99674308e-01 -9.02388920e-06 4.47488773e+02] [ 9.64731221e-01 -2.46257336e-02 -2.62082515e-01 2.35844310e+02] [ 2.61996934e-01 -6.69708875e-03 9.65045468e-01 5.79467351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.0492541539999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:447.49, Y:235.85, Z:57.95 [[-2.34899378e-02 -9.99724072e-01 5.77700758e-05 4.47486696e+02] [ 9.64534918e-01 -2.26783151e-02 -2.62979252e-01 2.35854547e+02] [ 2.62907999e-01 -6.12164502e-03 9.64801487e-01 5.79496702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.079254154 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:447.48, Y:235.88, Z:57.96 [[-2.22505631e-02 -9.99752425e-01 -4.54891859e-05 4.47484746e+02] [ 9.64421052e-01 -2.14522361e-02 -2.63499214e-01 2.35880813e+02] [ 2.63433003e-01 -5.90687661e-03 9.64659609e-01 5.79563298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1092541539999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:447.48, Y:235.88, Z:57.96 [[-2.07151918e-02 -9.99785417e-01 3.76627016e-06 4.47482889e+02] [ 9.64266100e-01 -1.99802396e-02 -2.64181149e-01 2.35883498e+02] [ 2.64124535e-01 -5.46893147e-03 9.64473079e-01 5.79567213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1392541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:447.48, Y:235.91, Z:57.96 [[-1.92406575e-02 -9.99814877e-01 -9.84411253e-05 4.47479557e+02] [ 9.64060041e-01 -1.85264881e-02 -2.65037745e-01 2.35910155e+02] [ 2.64986856e-01 -5.19440361e-03 9.64238033e-01 5.79635764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.1692541539999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:447.48, Y:235.94, Z:57.97 [[-1.89217816e-02 -9.99820967e-01 -2.00934836e-05 4.47478189e+02] [ 9.64006774e-01 -1.82386611e-02 -2.65251374e-01 2.35936983e+02] [ 2.65203519e-01 -5.03839882e-03 9.64179293e-01 5.79706326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.199254154 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:447.48, Y:235.94, Z:57.97 [[-1.78962637e-02 -9.99839848e-01 5.21821889e-05 4.47475215e+02] [ 9.64047284e-01 -1.72694473e-02 -2.65169005e-01 2.35937768e+02] [ 2.65127438e-01 -4.69522834e-03 9.64201948e-01 5.79709972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2292541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:447.47, Y:235.96, Z:57.98 [[-1.77679134e-02 -9.99842137e-01 -4.91243595e-05 4.47473646e+02] [ 9.64064427e-01 -1.71190920e-02 -2.65116423e-01 2.35964312e+02] [ 2.65073730e-01 -4.75792470e-03 9.64216407e-01 5.79783015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2592541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.47, Y:235.97, Z:57.98 [[-1.70643674e-02 -9.99854393e-01 2.27958344e-05 4.47471939e+02] [ 9.64095128e-01 -1.64601121e-02 -2.65046503e-01 2.35966092e+02] [ 2.65008285e-01 -4.50087354e-03 9.64235630e-01 5.79792140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.2892541539999 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:447.47, Y:235.99, Z:57.99 [[-1.72585178e-02 -9.99851058e-01 -7.83811585e-05 4.47470320e+02] [ 9.64221664e-01 -1.66227748e-02 -2.64575635e-01 2.35993386e+02] [ 2.64534925e-01 -4.64176011e-03 9.64364935e-01 5.79863489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3192541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.47, Y:236.02, Z:57.99 [[-1.73886328e-02 -9.99848806e-01 2.29420475e-06 4.47468803e+02] [ 9.64325855e-01 -1.67714500e-02 -2.64186231e-01 2.36019662e+02] [ 2.64146327e-01 -4.59162501e-03 9.64471687e-01 5.79937275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3492541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.47, Y:236.02, Z:58.00 [[-1.81564534e-02 -9.99835156e-01 6.91712810e-05 4.47466442e+02] [ 9.64449089e-01 -1.75321046e-02 -2.63686518e-01 2.36023236e+02] [ 2.63644264e-01 -4.72089981e-03 9.64608426e-01 5.79950979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.3792541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:447.47, Y:236.05, Z:58.00 [[-1.97797467e-02 -9.99804361e-01 -3.28055982e-05 4.47465481e+02] [ 9.64565617e-01 -1.90739623e-02 -2.63152720e-01 2.36050714e+02] [ 2.63100611e-01 -5.23673730e-03 9.64754189e-01 5.80022105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4092541539999 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:447.46, Y:236.06, Z:58.00 [[-2.34213675e-02 -9.99725681e-01 3.77000526e-05 4.47464298e+02] [ 9.64694223e-01 -2.26105529e-02 -2.62400113e-01 2.36056690e+02] [ 2.62328984e-01 -6.10940045e-03 9.64959159e-01 5.80034536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4392541539999 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:447.46, Y:236.08, Z:58.01 [[-2.57445763e-02 -9.99668551e-01 -6.48846814e-05 4.47463978e+02] [ 9.64689875e-01 -2.48267471e-02 -2.62215709e-01 2.36083900e+02] [ 2.62127187e-01 -6.81322593e-03 9.65009284e-01 5.80106877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4692541539999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:447.46, Y:236.09, Z:58.01 [[-2.76032724e-02 -9.99618957e-01 7.65434510e-06 4.47463492e+02] [ 9.64734737e-01 -2.66419919e-02 -2.61872280e-01 2.36087823e+02] [ 2.61772699e-01 -7.22114746e-03 9.65102538e-01 5.80117878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.4992541539999 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:447.46, Y:236.12, Z:58.02 [[-3.08269296e-02 -9.99524733e-01 -9.51941804e-05 4.47462973e+02] [ 9.64790061e-01 -2.97307677e-02 -2.61335456e-01 2.36115164e+02] [ 2.61208422e-01 -8.14801211e-03 9.65248036e-01 5.80193181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5292541539999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:447.46, Y:236.14, Z:58.03 [[-3.31037462e-02 -9.99446199e-01 -3.38201993e-03 4.47460210e+02] [ 9.64471031e-01 -3.10575082e-02 -2.62356744e-01 2.36137076e+02] [ 2.62106413e-01 -1.19468513e-02 9.64965026e-01 5.80259979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.5592541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:447.46, Y:235.82, Z:57.94 [[-2.66059461e-02 -9.99636637e-01 4.32647346e-03 4.47458191e+02] [ 9.65287582e-01 -2.68161906e-02 -2.59809113e-01 2.35817325e+02] [ 2.59830727e-01 -2.73617614e-03 9.65650302e-01 5.79415745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.589254154 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.46, Y:235.84, Z:57.95 [[-2.51829216e-02 -9.99682069e-01 -1.25764364e-03 4.47459699e+02] [ 9.65493093e-01 -2.39954326e-02 -2.59320858e-01 2.35844063e+02] [ 2.59208234e-01 -7.74470309e-03 9.65790407e-01 5.79487159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6192541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.46, Y:235.87, Z:57.96 [[-2.38733605e-02 -9.99714296e-01 -1.17889502e-03 4.47459174e+02] [ 9.65507579e-01 -2.27506297e-02 -2.59379113e-01 2.35870396e+02] [ 2.59278186e-01 -7.33048314e-03 9.65774863e-01 5.79558368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6492541539999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:447.46, Y:235.90, Z:57.96 [[-2.16664789e-02 -9.99764641e-01 -1.10728479e-03 4.47459083e+02] [ 9.65579953e-01 -2.06384713e-02 -2.59286345e-01 2.35897986e+02] [ 2.59202467e-01 -6.68699412e-03 9.65799858e-01 5.79605691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.6792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.46, Y:235.92, Z:57.97 [[-1.79490601e-02 -9.99838371e-01 -1.03079449e-03 4.47458499e+02] [ 9.65503998e-01 -1.70648178e-02 -2.59828446e-01 2.35924594e+02] [ 2.59768860e-01 -5.65891260e-03 9.65654243e-01 5.79693918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.709254154 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:447.46, Y:235.95, Z:57.98 [[-1.61708153e-02 -9.99868789e-01 -9.53248234e-04 4.47458554e+02] [ 9.65445658e-01 -1.53660711e-02 -2.60151044e-01 2.35950710e+02] [ 2.60102262e-01 -5.12716387e-03 9.65567463e-01 5.79758782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7392541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:447.46, Y:235.98, Z:57.98 [[-1.43935689e-02 -9.99896017e-01 -8.83585572e-04 4.47458593e+02] [ 9.65361481e-01 -1.36661928e-02 -2.60557952e-01 2.35978052e+02] [ 2.60518783e-01 -4.60333832e-03 9.65457805e-01 5.79827115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7692541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:447.46, Y:236.00, Z:57.99 [[-1.29926774e-02 -9.99915263e-01 -8.10292379e-04 4.47458250e+02] [ 9.65194028e-01 -1.23298154e-02 -2.61244072e-01 2.36004819e+02] [ 2.61211944e-01 -4.17634932e-03 9.65272437e-01 5.79898675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.7992541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.46, Y:236.03, Z:58.00 [[-1.20999031e-02 -9.99926522e-01 -7.36438768e-04 4.47458048e+02] [ 9.65064542e-01 -1.14852609e-02 -2.61760422e-01 2.36031952e+02] [ 2.61732730e-01 -3.87798669e-03 9.65132602e-01 5.79970575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.829254154 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:447.46, Y:236.06, Z:58.00 [[-1.17440236e-02 -9.99930819e-01 -6.60389940e-04 4.47458024e+02] [ 9.64697725e-01 -1.11564407e-02 -2.63123229e-01 2.36058394e+02] [ 2.63097658e-01 -3.72720208e-03 9.64762007e-01 5.80038536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8592541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:447.46, Y:236.08, Z:58.01 [[-1.26251413e-02 -9.99920126e-01 -5.89484082e-04 4.47458416e+02] [ 9.64544908e-01 -1.20230617e-02 -2.63644772e-01 2.36084930e+02] [ 2.63616626e-01 -3.89713637e-03 9.64619659e-01 5.80108865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.8892541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:447.46, Y:236.11, Z:58.02 [[-1.40625963e-02 -9.99900986e-01 -5.11128027e-04 4.47458985e+02] [ 9.64413939e-01 -1.34285272e-02 -2.64055730e-01 2.36111651e+02] [ 2.64022721e-01 -4.20624813e-03 9.64507289e-01 5.80175054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9192541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:447.46, Y:236.14, Z:58.03 [[-1.87145152e-02 -9.99824775e-01 -4.32426317e-04 4.47460617e+02] [ 9.64190807e-01 -1.79330847e-02 -2.64602518e-01 2.36138749e+02] [ 2.64548398e-01 -5.36884931e-03 9.64357465e-01 5.80251142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.949254154 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.46, Y:236.16, Z:58.03 [[-2.19567775e-02 -9.99758859e-01 -3.53233207e-04 4.47461239e+02] [ 9.64156895e-01 -2.10814340e-02 -2.64493960e-01 2.36164324e+02] [ 2.64422733e-01 -6.14800727e-03 9.64387277e-01 5.80321266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 693.9792541539999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:447.46, Y:236.19, Z:58.04 [[-2.50555770e-02 -9.99686020e-01 -2.81728619e-04 4.47462065e+02] [ 9.64174121e-01 -2.40910776e-02 -2.64173968e-01 2.36190149e+02] [ 2.64084236e-01 -6.89066664e-03 9.64475005e-01 5.80389944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0092541539999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:447.44, Y:236.23, Z:58.05 [[-2.41575853e-02 -9.96517237e-01 7.98110775e-02 4.47435593e+02] [ 9.68419644e-01 -4.31437214e-02 -2.45564681e-01 2.36231362e+02] [ 2.48152784e-01 7.13583656e-02 9.66089116e-01 5.80507882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0392541539999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:447.50, Y:236.47, Z:58.09 [[-4.83269926e-02 -9.97007809e-01 -6.03318420e-02 4.47495939e+02] [ 9.56540276e-01 -2.88061813e-02 -2.90173920e-01 2.36472410e+02] [ 2.87567734e-01 -7.17330697e-02 9.55070241e-01 5.80944296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0692541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:447.45, Y:236.24, Z:58.05 [[-3.41069168e-02 -9.97754410e-01 5.76442104e-02 4.47447522e+02] [ 9.66852380e-01 -4.75443508e-02 -2.50870504e-01 2.36241430e+02] [ 2.53047808e-01 4.71770226e-02 9.66302818e-01 5.80488660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.0992541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:447.50, Y:236.27, Z:58.04 [[-5.82223041e-02 -9.96531320e-01 -5.94600052e-02 4.47499372e+02] [ 9.58354790e-01 -3.91127009e-02 -2.82889188e-01 2.36268691e+02] [ 2.79582294e-01 -7.34542411e-02 9.57307795e-01 5.80381892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1292541539999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:447.47, Y:236.27, Z:58.06 [[-6.17453387e-02 -9.98089485e-01 2.21203223e-03 4.47470236e+02] [ 9.57364204e-01 -5.98522801e-02 -2.82615438e-01 2.36268314e+02] [ 2.82207893e-01 -1.53324655e-02 9.59230744e-01 5.80577043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1592541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:447.47, Y:236.27, Z:58.06 [[-6.87254887e-02 -9.97633422e-01 2.08877990e-03 4.47472326e+02] [ 9.57135176e-01 -6.65258445e-02 -2.81898149e-01 2.36272254e+02] [ 2.81369973e-01 -1.73743433e-02 9.59442062e-01 5.80588829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.1892541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:447.46, Y:236.27, Z:58.06 [[-5.86814153e-02 -9.96999409e-01 5.04843640e-02 4.47455803e+02] [ 9.65564031e-01 -6.95258902e-02 -2.50703514e-01 2.36272499e+02] [ 2.53461226e-01 3.40342490e-02 9.66746646e-01 5.80571671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2192541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:447.48, Y:236.28, Z:58.04 [[-5.69755316e-02 -9.98367071e-01 -4.12083630e-03 4.47482504e+02] [ 9.66355433e-01 -5.41107721e-02 -2.51454172e-01 2.36280066e+02] [ 2.50820584e-01 -1.83089277e-02 9.67860433e-01 5.80414950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2492541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.48, Y:236.31, Z:58.05 [[-5.95895939e-02 -9.98215366e-01 -3.89412685e-03 4.47482926e+02] [ 9.66116689e-01 -5.66911219e-02 -2.51802819e-01 2.36307872e+02] [ 2.51132681e-01 -1.87670086e-02 9.67770725e-01 5.80490936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.2792541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.51, Y:236.32, Z:58.05 [[-6.94961538e-02 -9.94835342e-01 -7.39792341e-02 4.47509413e+02] [ 9.62823793e-01 -4.74849470e-02 -2.65923906e-01 2.36322287e+02] [ 2.61037600e-01 -8.97096555e-02 9.61151158e-01 5.80543428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3092541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:447.44, Y:236.36, Z:58.09 [[-6.10324406e-02 -9.93399058e-01 9.71254457e-02 4.47436740e+02] [ 9.65632453e-01 -8.33946853e-02 -2.46169234e-01 2.36359108e+02] [ 2.52644031e-01 7.87631733e-02 9.64348151e-01 5.80903888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.339254154 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:447.51, Y:236.38, Z:58.06 [[-7.83272805e-02 -9.93952927e-01 -7.69572364e-02 4.47513261e+02] [ 9.54737438e-01 -5.25692884e-02 -2.92767646e-01 2.36383770e+02] [ 2.86951672e-01 -9.64056482e-02 9.53081680e-01 5.80648165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3692541539999 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:447.47, Y:236.36, Z:58.08 [[-7.65075955e-02 -9.97065109e-01 2.78518291e-03 4.47474137e+02] [ 9.53287675e-01 -7.39665220e-02 -2.92867825e-01 2.36358875e+02] [ 2.92214300e-01 -1.97515325e-02 9.56148880e-01 5.80808640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.3992541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:447.47, Y:236.36, Z:58.08 [[-7.13098479e-02 -9.97450622e-01 2.67607110e-03 4.47473504e+02] [ 9.53121392e-01 -6.89311296e-02 -2.94632164e-01 2.36361049e+02] [ 2.94065500e-01 -1.84595542e-02 9.55606994e-01 5.80810610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4292541539999 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:447.45, Y:236.36, Z:58.08 [[-5.21824179e-02 -9.96581635e-01 6.40471749e-02 4.47449656e+02] [ 9.63895786e-01 -6.70327893e-02 -2.57704325e-01 2.36355756e+02] [ 2.61116659e-01 4.82871672e-02 9.64098771e-01 5.80783709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.459254154 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.50, Y:236.37, Z:58.06 [[-6.43486083e-02 -9.95726709e-01 -6.62387906e-02 4.47504965e+02] [ 9.54363844e-01 -4.20061754e-02 -2.95677416e-01 2.36368016e+02] [ 2.91631462e-01 -8.22423370e-02 9.52988609e-01 5.80617098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.4892541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:447.47, Y:236.36, Z:58.08 [[-5.88750076e-02 -9.98262280e-01 2.48055345e-03 4.47469510e+02] [ 9.53480173e-01 -5.69694520e-02 -2.96023718e-01 2.36357369e+02] [ 2.95650628e-01 -1.50632401e-02 9.55177368e-01 5.80795807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5192541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:447.47, Y:236.36, Z:58.08 [[-4.80053265e-02 -9.98844293e-01 2.35947043e-03 4.47465995e+02] [ 9.53923139e-01 -4.65465771e-02 -2.96418728e-01 2.36359139e+02] [ 2.96185980e-01 -1.19789244e-02 9.55055166e-01 5.80802581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.5492541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:447.46, Y:236.35, Z:58.08 [[-4.21599675e-02 -9.99108376e-01 2.23390829e-03 4.47464162e+02] [ 9.54254550e-01 -4.09294752e-02 -2.96180742e-01 2.36354421e+02] [ 2.96008092e-01 -1.03552533e-02 9.55129299e-01 5.80791543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.579254154 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:447.46, Y:236.36, Z:58.08 [[-3.64594887e-02 -9.99332900e-01 2.11197130e-03 4.47462231e+02] [ 9.54407477e-01 -3.54468326e-02 -2.96394822e-01 2.36355551e+02] [ 2.96271959e-01 -8.79072244e-03 9.55063165e-01 5.80800433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6092541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.46, Y:236.35, Z:58.08 [[-2.61546356e-02 -9.99655936e-01 1.98592845e-03 4.47459408e+02] [ 9.54870813e-01 -2.55707695e-02 -2.95918681e-01 2.36350147e+02] [ 2.95867647e-01 -5.84334015e-03 9.55211071e-01 5.80786986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6392541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:447.46, Y:236.70, Z:58.18 [[-2.23369154e-02 -9.99737040e-01 5.18771909e-03 4.47455044e+02] [ 9.55110819e-01 -2.28725120e-02 -2.95364473e-01 2.36697303e+02] [ 2.95405460e-01 -1.64268460e-03 9.55370565e-01 5.81833473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.6692541539999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:447.46, Y:236.35, Z:58.08 [[-1.72177541e-02 -9.99851726e-01 -2.72965648e-04 4.47459020e+02] [ 9.55220951e-01 -1.63685414e-02 -2.95440360e-01 2.36347527e+02] [ 2.95392086e-01 -5.34756198e-03 9.55361146e-01 5.80772013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.699254154 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:447.45, Y:236.74, Z:58.19 [[-7.26524441e-03 -9.99765556e-01 2.03973065e-02 4.47446792e+02] [ 9.59019927e-01 -1.27439980e-02 -2.83051885e-01 2.36735830e+02] [ 2.83245469e-01 1.75049823e-02 9.58887679e-01 5.81920067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7292541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:447.47, Y:236.35, Z:58.07 [[-5.85425212e-03 -9.99828950e-01 -1.75441870e-02 4.47465814e+02] [ 9.55248527e-01 -4.02691443e-04 -2.95804140e-01 2.36347204e+02] [ 2.95746478e-01 -1.84907708e-02 9.55087489e-01 5.80703678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7592541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:447.45, Y:236.67, Z:58.17 [[ 8.69156167e-04 -9.99820426e-01 1.89304000e-02 4.47447904e+02] [ 9.58751363e-01 -4.54771492e-03 -2.84209680e-01 2.36672129e+02] [ 2.84244733e-01 1.83965694e-02 9.58575244e-01 5.81720112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.7892541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.46, Y:236.65, Z:58.16 [[ 5.61586799e-03 -9.99973267e-01 -4.68268697e-03 4.47458895e+02] [ 9.57003848e-01 6.73255282e-03 -2.89997084e-01 2.36646914e+02] [ 2.90020857e-01 -2.85276411e-03 9.57016073e-01 5.81587797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8192541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.46, Y:236.34, Z:58.07 [[ 5.42822303e-03 -9.99937134e-01 -9.81131830e-03 4.47462193e+02] [ 9.54665403e-01 8.10220694e-03 -2.97570701e-01 2.36337352e+02] [ 2.97631487e-01 -7.75124601e-03 9.54649368e-01 5.80689276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8492541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:447.46, Y:236.34, Z:58.07 [[ 7.26078591e-03 -9.99972282e-01 1.64837330e-03 4.47457123e+02] [ 9.54813207e-01 6.44308065e-03 -2.97136713e-01 2.36340826e+02] [ 2.97117856e-01 3.73133466e-03 9.54833523e-01 5.80739469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.8792541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.46, Y:236.34, Z:58.07 [[ 8.35985498e-03 -9.99963891e-01 1.52612356e-03 4.47457867e+02] [ 9.54908290e-01 7.53020499e-03 -2.96805415e-01 2.36339272e+02] [ 2.96783206e-01 3.93855827e-03 9.54936760e-01 5.80740247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9092541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.46, Y:236.34, Z:58.08 [[ 7.78882823e-03 -9.99968684e-01 1.40203657e-03 4.47459927e+02] [ 9.55171338e-01 7.02492441e-03 -2.95970212e-01 2.36342972e+02] [ 2.95951094e-01 3.64444629e-03 9.55196141e-01 5.80753199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9392541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.46, Y:236.35, Z:58.08 [[ 6.58280483e-03 -9.99977513e-01 1.28099211e-03 4.47461354e+02] [ 9.55257578e-01 5.90959705e-03 -2.95716141e-01 2.36346329e+02] [ 2.95701921e-01 3.17031907e-03 9.55274999e-01 5.80761346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9692541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.46, Y:236.35, Z:58.08 [[ 4.61166162e-03 -9.99988692e-01 1.16126317e-03 4.47463031e+02] [ 9.55241248e-01 4.06179365e-03 -2.95800034e-01 2.36352133e+02] [ 2.95791972e-01 2.47341614e-03 9.55249178e-01 5.80777118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 694.9992541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:447.47, Y:236.36, Z:58.08 [[-1.60232651e-03 -9.99998176e-01 1.03952362e-03 4.47467217e+02] [ 9.55396284e-01 -1.83785342e-03 -2.95321118e-01 2.36357690e+02] [ 2.95322490e-01 5.19956147e-04 9.55397486e-01 5.80790301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0292541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:447.47, Y:236.80, Z:58.21 [[-6.01525727e-03 -9.99980053e-01 1.92610855e-03 4.47467684e+02] [ 9.55462192e-01 -6.31576739e-03 -2.95045948e-01 2.36799465e+02] [ 2.95052227e-01 6.55466150e-05 9.55481124e-01 5.82112963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.0592541539999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:447.47, Y:236.37, Z:58.08 [[-1.32091321e-02 -9.99912668e-01 4.19073886e-04 4.47474392e+02] [ 9.55544409e-01 -1.27464727e-02 -2.94571572e-01 2.36369388e+02] [ 2.94551188e-01 -3.49059108e-03 9.55629329e-01 5.80819368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.089254154 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:447.48, Y:236.37, Z:58.08 [[-1.68684020e-02 -9.99857426e-01 7.65354381e-04 4.47476568e+02] [ 9.55498670e-01 -1.63454953e-02 -2.94542217e-01 2.36374439e+02] [ 2.94512733e-01 -4.23716143e-03 9.55638162e-01 5.80833100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1192541539999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:447.48, Y:236.38, Z:58.08 [[-1.99593897e-02 -9.99800585e-01 6.42872882e-04 4.47478775e+02] [ 9.55678791e-01 -1.92674709e-02 -2.93780212e-01 2.36378391e+02] [ 2.93734014e-01 -5.24929374e-03 9.55872781e-01 5.80846134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1492541539999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:447.48, Y:236.39, Z:58.09 [[-2.26419716e-02 -9.99743502e-01 5.21718486e-04 4.47481008e+02] [ 9.55659696e-01 -2.17968213e-02 -2.93665531e-01 2.36387250e+02] [ 2.93601578e-01 -6.15058130e-03 9.55908094e-01 5.80872330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.1792541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:447.48, Y:236.39, Z:58.09 [[-2.45052387e-02 -9.99699621e-01 4.00851733e-04 4.47483128e+02] [ 9.55479518e-01 -2.35392217e-02 -2.94116977e-01 2.36387055e+02] [ 2.94038066e-01 -6.82440112e-03 9.55769346e-01 5.80873234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.209254154 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:447.49, Y:236.39, Z:58.09 [[-2.77422626e-02 -9.99615070e-01 2.79024030e-04 4.47486982e+02] [ 9.55487280e-01 -2.65996038e-02 -2.93830767e-01 2.36394042e+02] [ 2.93725085e-01 -7.88492639e-03 9.55857418e-01 5.80903481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2392541539999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:447.49, Y:236.40, Z:58.09 [[-2.85343788e-02 -9.99592799e-01 1.57316333e-04 4.47489147e+02] [ 9.55582567e-01 -2.73242465e-02 -2.93454160e-01 2.36396376e+02] [ 2.93338964e-01 -8.22320341e-03 9.55973133e-01 5.80909387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2692541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:447.49, Y:236.40, Z:58.09 [[-2.87591642e-02 -9.99586369e-01 3.56590192e-05 4.47491293e+02] [ 9.55588219e-01 -2.75037580e-02 -2.93418983e-01 2.36398893e+02] [ 2.93298597e-01 -8.40440939e-03 9.55983943e-01 5.80919364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.2992541539999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:447.49, Y:236.43, Z:58.10 [[-2.96707074e-02 -9.99559724e-01 -8.12242384e-05 4.47494791e+02] [ 9.55686427e-01 -2.83445716e-02 -2.93018836e-01 2.36425559e+02] [ 2.92887525e-01 -8.77170105e-03 9.56106665e-01 5.81001584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.329254154 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:447.50, Y:236.43, Z:58.10 [[-2.92520767e-02 -9.99572066e-01 4.00167485e-06 4.47496300e+02] [ 9.55651342e-01 -2.79679279e-02 -2.93169417e-01 2.36434541e+02] [ 2.93044072e-01 -8.57199007e-03 9.56060507e-01 5.81019913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3592541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:447.50, Y:236.46, Z:58.11 [[-2.91055901e-02 -9.99576336e-01 -1.13756797e-04 4.47497816e+02] [ 9.55606789e-01 -2.77919055e-02 -2.93331341e-01 2.36460049e+02] [ 2.93203906e-01 -8.64628856e-03 9.56010832e-01 5.81095034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.3892541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.50, Y:236.49, Z:58.12 [[-2.92205905e-02 -9.99572986e-01 -5.05559031e-05 4.47500033e+02] [ 9.55441789e-01 -2.79156374e-02 -2.93856606e-01 2.36487019e+02] [ 2.93729714e-01 -8.63496678e-03 9.55849513e-01 5.81178440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4192541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:447.50, Y:236.49, Z:58.12 [[-2.90036899e-02 -9.99579304e-01 3.33524669e-05 4.47501128e+02] [ 9.55295703e-01 -2.77285829e-02 -2.94348849e-01 2.36489022e+02] [ 2.94225943e-01 -8.50534128e-03 9.55698045e-01 5.81182737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.449254154 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:447.50, Y:236.51, Z:58.12 [[-3.08953353e-02 -9.99522622e-01 -8.36473430e-05 4.47503976e+02] [ 9.54558136e-01 -2.94806604e-02 -2.96563072e-01 2.36514782e+02] [ 2.96419033e-01 -9.24226179e-03 9.55013266e-01 5.81243261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.4792541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.50, Y:236.54, Z:58.13 [[-3.30766835e-02 -9.99452817e-01 -2.96314111e-06 4.47504660e+02] [ 9.54328097e-01 -3.15824095e-02 -2.97086579e-01 2.36541187e+02] [ 2.96923924e-01 -9.82946655e-03 9.54850546e-01 5.81329150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5092541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.51, Y:236.55, Z:58.13 [[-3.47290392e-02 -9.99396762e-01 7.57077000e-05 4.47505584e+02] [ 9.54069412e-01 -3.31764687e-02 -2.97742975e-01 2.36546089e+02] [ 2.97565877e-01 -1.02680971e-02 9.54646068e-01 5.81345103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5392541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:447.51, Y:236.57, Z:58.14 [[-3.97983965e-02 -9.99207729e-01 -4.12159579e-05 4.47507889e+02] [ 9.53712009e-01 -3.79739991e-02 -2.98314229e-01 2.36571600e+02] [ 2.98076318e-01 -1.19117361e-02 9.54467715e-01 5.81423893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5692541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:447.51, Y:236.58, Z:58.15 [[-4.22300717e-02 -9.99107913e-01 1.43682118e-05 4.47509004e+02] [ 9.53636523e-01 -4.03123862e-02 -2.98248712e-01 2.36581825e+02] [ 2.97983228e-01 -1.25813625e-02 9.54488190e-01 5.81453480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.5992541539999 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:447.51, Y:236.61, Z:58.15 [[-4.51842316e-02 -9.98978666e-01 -1.02251089e-04 4.47510242e+02] [ 9.53679950e-01 -4.31048781e-02 -2.97718865e-01 2.36608003e+02] [ 2.97410387e-01 -1.35497129e-02 9.54653585e-01 5.81530361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6292541539999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:447.51, Y:236.63, Z:58.16 [[-5.00849214e-02 -9.98744963e-01 -1.86693306e-05 4.47512278e+02] [ 9.53578755e-01 -4.78143750e-02 -2.97323635e-01 2.36634715e+02] [ 2.96949590e-01 -1.49092336e-02 9.54776757e-01 5.81603745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6592541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:447.51, Y:236.64, Z:58.16 [[-5.21543511e-02 -9.98639034e-01 6.59351939e-05 4.47512610e+02] [ 9.53650321e-01 -4.98243901e-02 -2.96763533e-01 2.36640950e+02] [ 2.96362933e-01 -1.54146304e-02 9.54950994e-01 5.81630977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.6892541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:447.51, Y:236.67, Z:58.17 [[-5.38318442e-02 -9.98550014e-01 -5.15164938e-05 4.47513713e+02] [ 9.53541115e-01 -5.13900991e-02 -2.96847436e-01 2.36668347e+02] [ 2.96414364e-01 -1.60289680e-02 9.54924917e-01 5.81702559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7192541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:447.51, Y:236.67, Z:58.17 [[-5.46122196e-02 -9.98507639e-01 3.32135747e-05 4.47514223e+02] [ 9.53382071e-01 -5.21540155e-02 -2.97224808e-01 2.36674801e+02] [ 2.96782973e-01 -1.62004413e-02 9.54807526e-01 5.81718586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7492541539999 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:447.51, Y:236.70, Z:58.18 [[-5.64313281e-02 -9.98406479e-01 -8.44105645e-05 4.47514167e+02] [ 9.53538575e-01 -5.38702709e-02 -2.96415553e-01 2.36701123e+02] [ 2.95938662e-01 -1.68076121e-02 9.55059062e-01 5.81808812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.7792541539999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:447.51, Y:236.71, Z:58.18 [[-5.74284119e-02 -9.98349627e-01 -9.37804949e-08 4.47514981e+02] [ 9.53346212e-01 -5.48396370e-02 -2.96856217e-01 2.36708196e+02] [ 2.96366289e-01 -1.70480705e-02 9.54922189e-01 5.81831360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8092541539999 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:447.52, Y:236.74, Z:58.19 [[-5.78462482e-02 -9.98325497e-01 -1.17956715e-04 4.47515992e+02] [ 9.53116159e-01 -5.51915167e-02 -2.97528964e-01 2.36735337e+02] [ 2.97024240e-01 -1.73233607e-02 9.54712785e-01 5.81893427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.839254154 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:447.52, Y:236.76, Z:58.20 [[-5.87299537e-02 -9.98273906e-01 -2.70183504e-05 4.47515855e+02] [ 9.53332195e-01 -5.60779359e-02 -2.96669837e-01 2.36761645e+02] [ 2.96156241e-01 -1.74491632e-02 9.54980108e-01 5.81992115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8692541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:447.51, Y:236.72, Z:58.18 [[-4.08643293e-02 -9.98577528e-01 3.42494902e-02 4.47505123e+02] [ 9.60506886e-01 -4.87027684e-02 -2.73960876e-01 2.36718642e+02] [ 2.75239219e-01 2.17016437e-02 9.61130798e-01 5.81838278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.8992541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:447.53, Y:236.75, Z:58.18 [[-4.08019213e-02 -9.99074016e-01 -1.36497195e-02 4.47528787e+02] [ 9.61217178e-01 -3.55192578e-02 -2.73495740e-01 2.36749021e+02] [ 2.72757659e-01 -2.42794965e-02 9.61776359e-01 5.81784218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9292541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:447.54, Y:236.76, Z:58.19 [[-4.80756887e-02 -9.97216158e-01 -5.69970376e-02 4.47540292e+02] [ 9.58704701e-01 -3.00546720e-02 -2.82810913e-01 2.36759561e+02] [ 2.80310585e-01 -6.82396573e-02 9.57480718e-01 5.81869014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.959254154 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:447.52, Y:236.79, Z:58.21 [[-4.28568656e-02 -9.99075261e-01 -3.45134603e-03 4.47516012e+02] [ 9.58573521e-01 -4.01452938e-02 -2.82002057e-01 2.36787681e+02] [ 2.81602723e-01 -1.53940932e-02 9.59407592e-01 5.82082785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 695.9892541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:447.51, Y:236.81, Z:58.21 [[-4.31608740e-02 -9.99053438e-01 -5.41904622e-03 4.47512579e+02] [ 9.58311780e-01 -3.98661004e-02 -2.82929721e-01 2.36809899e+02] [ 2.82445874e-01 -1.74046299e-02 9.59125334e-01 5.82147413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0192541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:447.51, Y:236.84, Z:58.22 [[-4.10093877e-02 -9.99155847e-01 -2.41311339e-03 4.47510027e+02] [ 9.58285421e-01 -3.86479587e-02 -2.83187900e-01 2.36836943e+02] [ 2.82855584e-01 -1.39258138e-02 9.59061411e-01 5.82234767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.0492541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.51, Y:236.87, Z:58.23 [[-3.43883398e-02 -9.99384762e-01 -6.89491589e-03 4.47512121e+02] [ 9.58281377e-01 -3.10136721e-02 -2.84138971e-01 2.36867551e+02] [ 2.83750321e-01 -1.63783370e-02 9.58758314e-01 5.82315752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.079254154 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:447.51, Y:236.89, Z:58.24 [[-3.33149650e-02 -9.99444260e-01 -1.13342299e-03 4.47505715e+02] [ 9.58107638e-01 -3.16142536e-02 -2.84658205e-01 2.36890079e+02] [ 2.84464177e-01 -1.05693194e-02 9.58628407e-01 5.82382218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1092541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:447.51, Y:236.92, Z:58.25 [[-3.35865461e-02 -9.99433432e-01 -2.18168473e-03 4.47506339e+02] [ 9.58111227e-01 -3.15765199e-02 -2.84650313e-01 2.36917469e+02] [ 2.84420149e-01 -1.16507175e-02 9.58628937e-01 5.82457699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1392541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:447.50, Y:236.94, Z:58.25 [[-3.10432177e-02 -9.99515827e-01 -2.10462699e-03 4.47504856e+02] [ 9.58161414e-01 -2.91592616e-02 -2.84739253e-01 2.36944123e+02] [ 2.84540021e-01 -1.08557950e-02 9.58602696e-01 5.82534140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.1692541539999 meters Centerline goodness : 0.997128 Centerline is valid? [True, True] Translation: X:447.50, Y:236.97, Z:58.27 [[-2.68873300e-02 -9.99636429e-01 -2.02033790e-03 4.47501108e+02] [ 9.58269410e-01 -2.51991686e-02 -2.84753822e-01 2.36970147e+02] [ 2.84599383e-01 -9.59229800e-03 9.58598549e-01 5.82655130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.199254154 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.50, Y:237.00, Z:58.27 [[-2.50982675e-02 -9.99683151e-01 -1.91701731e-03 4.47500591e+02] [ 9.58470313e-01 -2.35185396e-02 -2.84220931e-01 2.36995528e+02] [ 2.84085791e-01 -8.97085714e-03 9.58756897e-01 5.82702733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2292541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.50, Y:237.02, Z:58.28 [[-2.32587820e-02 -9.99727869e-01 -1.79383115e-03 4.47499833e+02] [ 9.58461530e-01 -2.17884323e-02 -2.84388398e-01 2.37022244e+02] [ 2.84271922e-01 -8.33384588e-03 9.58707474e-01 5.82775221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2592541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:447.50, Y:237.05, Z:58.29 [[-2.05700580e-02 -9.99786947e-01 -1.71255399e-03 4.47498039e+02] [ 9.58288700e-01 -1.92278083e-02 -2.85154448e-01 2.37048029e+02] [ 2.85060767e-01 -7.50676469e-03 9.58480051e-01 5.82853501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.2892541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:447.50, Y:237.07, Z:58.29 [[-1.94500742e-02 -9.99809492e-01 -1.63529574e-03 4.47497438e+02] [ 9.58291165e-01 -1.81758858e-02 -2.85215148e-01 2.37074879e+02] [ 2.85131089e-01 -7.11454526e-03 9.58462125e-01 5.82927230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3192541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:447.50, Y:237.10, Z:58.30 [[-1.79502063e-02 -9.99837671e-01 -1.55649959e-03 4.47497134e+02] [ 9.57889602e-01 -1.67508680e-02 -2.86647728e-01 2.37101060e+02] [ 2.86575124e-01 -6.63634061e-03 9.58034789e-01 5.82983434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3492541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:447.50, Y:237.13, Z:58.31 [[-1.78215934e-02 -9.99840094e-01 -1.47564541e-03 4.47495912e+02] [ 9.58046451e-01 -1.66543529e-02 -2.86128696e-01 2.37127360e+02] [ 2.86058366e-01 -6.51300613e-03 9.58190060e-01 5.83075761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.3792541539999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:447.49, Y:237.15, Z:58.32 [[-1.67252108e-02 -9.99859159e-01 -1.38920864e-03 4.47494864e+02] [ 9.58249304e-01 -1.56324954e-02 -2.85506387e-01 2.37153937e+02] [ 2.85444459e-01 -6.10636272e-03 9.58375800e-01 5.83156728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4092541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:447.49, Y:237.18, Z:58.32 [[-1.67011598e-02 -9.99859680e-01 -1.30076964e-03 4.47494495e+02] [ 9.58447584e-01 -1.56388699e-02 -2.84839700e-01 2.37180845e+02] [ 2.84779388e-01 -6.00387286e-03 9.58574282e-01 5.83240719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4392541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:447.49, Y:237.21, Z:58.33 [[-1.67937475e-02 -9.99858247e-01 -1.20706308e-03 4.47494401e+02] [ 9.59071148e-01 -1.57673658e-02 -2.82725879e-01 2.37206558e+02] [ 2.82666769e-01 -5.90568641e-03 9.59199990e-01 5.83320028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4692541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:447.49, Y:237.23, Z:58.34 [[-1.68888703e-02 -9.99856733e-01 -1.13115817e-03 4.47494929e+02] [ 9.59038583e-01 -1.58794277e-02 -2.82830056e-01 2.37233991e+02] [ 2.82771574e-01 -5.86150446e-03 9.59169370e-01 5.83386840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.4992541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:447.49, Y:237.26, Z:58.35 [[-1.77761922e-02 -9.99841445e-01 -1.04453650e-03 4.47494904e+02] [ 9.59292571e-01 -1.67607547e-02 -2.81916370e-01 2.37260026e+02] [ 2.81854163e-01 -6.01341569e-03 9.59438414e-01 5.83476409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5292541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:447.50, Y:237.29, Z:58.35 [[-1.85203934e-02 -9.99817169e-01 -4.75635818e-03 4.47496274e+02] [ 9.59341317e-01 -1.64301838e-02 -2.81769918e-01 2.37285918e+02] [ 2.81640254e-01 -9.78146064e-03 9.59470213e-01 5.83534935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.5592541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:447.49, Y:237.31, Z:58.37 [[-1.96167682e-02 -9.99652894e-01 1.75861649e-02 4.47487525e+02] [ 9.59011208e-01 -2.37867275e-02 -2.82368014e-01 2.37309594e+02] [ 2.82688320e-01 1.13261814e-02 9.59144948e-01 5.83661257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.589254154 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:447.50, Y:237.34, Z:58.36 [[-2.12385726e-02 -9.99742657e-01 -7.97131868e-03 4.47500973e+02] [ 9.60006921e-01 -1.81667749e-02 -2.79386255e-01 2.37340295e+02] [ 2.79169544e-01 -1.35862864e-02 9.60145707e-01 5.83648978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6192541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:447.50, Y:237.37, Z:58.37 [[-2.35288965e-02 -9.99707415e-01 -5.61038740e-03 4.47500981e+02] [ 9.59030986e-01 -2.09860185e-02 -2.82522838e-01 2.37366328e+02] [ 2.82322437e-01 -1.20279860e-02 9.59244166e-01 5.83742322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6492541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:447.50, Y:237.39, Z:58.38 [[-2.52740713e-02 -9.99680312e-01 -7.03164148e-04 4.47499462e+02] [ 9.58907890e-01 -2.40444108e-02 -2.82696879e-01 2.37392032e+02] [ 2.82589597e-01 -7.81917072e-03 9.59209039e-01 5.83826966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.6792541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:447.50, Y:237.42, Z:58.39 [[-2.86538091e-02 -9.99589204e-01 -6.18711982e-04 4.47500691e+02] [ 9.58775897e-01 -2.73087984e-02 -2.82848030e-01 2.37418821e+02] [ 2.82714941e-01 -8.69787960e-03 9.59164537e-01 5.83898394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.709254154 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.48, Y:237.46, Z:58.40 [[-2.28494476e-02 -9.97782858e-01 6.25081634e-02 4.47478556e+02] [ 9.62600560e-01 -3.88410688e-02 -2.68125965e-01 2.37457774e+02] [ 2.69959376e-01 5.40438629e-02 9.61353835e-01 5.83998690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7392541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.54, Y:237.48, Z:58.39 [[-3.15047288e-02 -9.96961011e-01 -7.12474187e-02 4.47536278e+02] [ 9.59178958e-01 -1.01135409e-02 -2.82618899e-01 2.37478155e+02] [ 2.81039460e-01 -7.72428567e-02 9.56582648e-01 5.83885503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7692541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:447.50, Y:237.50, Z:58.41 [[-3.14064696e-02 -9.99506639e-01 -3.34380461e-04 4.47502631e+02] [ 9.58557705e-01 -3.00249926e-02 -2.83311888e-01 2.37498545e+02] [ 2.83162074e-01 -9.21834918e-03 9.59027769e-01 5.84134263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.7992541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:447.50, Y:237.53, Z:58.42 [[-3.15241876e-02 -9.99502957e-01 -2.55950818e-04 4.47503265e+02] [ 9.58495517e-01 -3.01582183e-02 -2.83508069e-01 2.37525096e+02] [ 2.83359435e-01 -9.18268929e-03 9.58969817e-01 5.84212676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.829254154 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:447.50, Y:237.55, Z:58.43 [[-3.09484929e-02 -9.99520966e-01 -1.69189459e-04 4.47504231e+02] [ 9.58324717e-01 -2.96248233e-02 -2.84141000e-01 2.37552374e+02] [ 2.83999874e-01 -8.95587414e-03 9.58782490e-01 5.84271263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8592541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.50, Y:237.58, Z:58.44 [[-3.10450118e-02 -9.99517984e-01 -8.28917609e-05 4.47504543e+02] [ 9.58562297e-01 -2.97494322e-02 -2.83325422e-01 2.37577764e+02] [ 2.83186388e-01 -8.87529798e-03 9.59023826e-01 5.84354298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.8892541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:447.49, Y:237.61, Z:58.44 [[-2.66133145e-02 -9.98980243e-01 3.64719771e-02 4.47493002e+02] [ 9.61498424e-01 -3.55635242e-02 -2.72499570e-01 2.37612602e+02] [ 2.73518759e-01 2.78156318e-02 9.61464393e-01 5.84438469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9192541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:447.52, Y:237.63, Z:58.44 [[-3.54281103e-02 -9.98875562e-01 -3.15033513e-02 4.47522640e+02] [ 9.56580458e-01 -2.47686719e-02 -2.90414085e-01 2.37634474e+02] [ 2.89307237e-01 -4.04243124e-02 9.56382349e-01 5.84421592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.949254154 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.51, Y:237.63, Z:58.45 [[-3.55704355e-02 -9.99366379e-01 1.25865869e-03 4.47508787e+02] [ 9.56247489e-01 -3.44016144e-02 -2.90529290e-01 2.37634411e+02] [ 2.90388505e-01 -9.13066416e-03 9.56865271e-01 5.84505992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 696.9792541539999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:447.51, Y:237.64, Z:58.45 [[-3.59302334e-02 -9.99353653e-01 1.13812315e-03 4.47509445e+02] [ 9.56218125e-01 -3.47103016e-02 -2.90589218e-01 2.37635255e+02] [ 2.90440901e-01 -9.35264442e-03 9.56847225e-01 5.84508020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0092541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.51, Y:237.64, Z:58.45 [[-3.64117115e-02 -9.99336355e-01 1.01829832e-03 4.47510199e+02] [ 9.56117831e-01 -3.51333934e-02 -2.90868248e-01 2.37639296e+02] [ 2.90710991e-01 -9.61739756e-03 9.56762575e-01 5.84507751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0392541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:447.51, Y:237.64, Z:58.45 [[-3.82070825e-02 -9.99269439e-01 8.98892522e-04 4.47511466e+02] [ 9.55895446e-01 -3.68107981e-02 -2.91391251e-01 2.37644197e+02] [ 2.91211461e-01 -1.02739623e-02 9.56603539e-01 5.84514592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0692541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.51, Y:237.65, Z:58.45 [[-3.99361337e-02 -9.99201932e-01 7.77893259e-04 4.47511571e+02] [ 9.55811399e-01 -3.84288039e-02 -2.91458055e-01 2.37647362e+02] [ 2.91255345e-01 -1.08961886e-02 9.56583293e-01 5.84537178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.0992541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.49, Y:237.64, Z:58.45 [[-2.56674343e-02 -9.97306131e-01 6.87143651e-02 4.47487190e+02] [ 9.66007195e-01 -4.24320185e-02 -2.55009066e-01 2.37639644e+02] [ 2.57237794e-01 5.98331426e-02 9.64494019e-01 5.84508560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1292541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.56, Y:237.66, Z:58.44 [[-3.78782701e-02 -9.94714357e-01 -9.54389087e-02 4.47558852e+02] [ 9.62190401e-01 -1.05257265e-02 -2.72174285e-01 2.37657197e+02] [ 2.69731104e-01 -1.02139893e-01 9.57503302e-01 5.84366803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1592541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:447.49, Y:237.69, Z:58.47 [[-3.43656505e-02 -9.97132681e-01 6.74197162e-02 4.47487280e+02] [ 9.64471581e-01 -5.07696660e-02 -2.59262437e-01 2.37690064e+02] [ 2.61941925e-01 5.61146779e-02 9.63450866e-01 5.84690450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.1892541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:447.55, Y:237.71, Z:58.46 [[-4.34735825e-02 -9.96098245e-01 -7.68006176e-02 4.47550261e+02] [ 9.61826803e-01 -2.09402071e-02 -2.72856573e-01 2.37711179e+02] [ 2.70183733e-01 -8.57309452e-02 9.58984336e-01 5.84568631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2192541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.51, Y:237.73, Z:58.48 [[-4.42696585e-02 -9.99018937e-01 -1.16663503e-03 4.47512658e+02] [ 9.61029369e-01 -4.22671887e-02 -2.73195969e-01 2.37733446e+02] [ 2.72878636e-01 -1.32154628e-02 9.61957692e-01 5.84824567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2492541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:447.51, Y:237.76, Z:58.49 [[-4.49554525e-02 -9.98988409e-01 -1.07978175e-03 4.47511771e+02] [ 9.61330604e-01 -4.29667900e-02 -2.72024494e-01 2.37759403e+02] [ 2.71702922e-01 -1.32670114e-02 9.62289722e-01 5.84896775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.2792541539999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:447.51, Y:237.79, Z:58.50 [[-4.47567428e-02 -9.98997391e-01 -1.02347773e-03 4.47510931e+02] [ 9.61297466e-01 -4.27888844e-02 -2.72169604e-01 2.37785751e+02] [ 2.71852930e-01 -1.31652915e-02 9.62248751e-01 5.84972438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3092541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:447.51, Y:237.81, Z:58.50 [[-4.38023859e-02 -9.99039771e-01 -9.42114363e-04 4.47510179e+02] [ 9.61361389e-01 -4.18938169e-02 -2.72083054e-01 2.37813282e+02] [ 2.71782323e-01 -1.28235993e-02 9.62273311e-01 5.85031338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.339254154 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.51, Y:237.84, Z:58.51 [[-4.18153016e-02 -9.99124989e-01 -8.58749004e-04 4.47507246e+02] [ 9.61390380e-01 -4.00020234e-02 -2.72265265e-01 2.37838839e+02] [ 2.71992678e-01 -1.22104472e-02 9.62221850e-01 5.85114980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3692541539999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:447.51, Y:237.87, Z:58.52 [[-4.07345772e-02 -9.99169696e-01 -7.83336803e-04 4.47506012e+02] [ 9.61403105e-01 -3.89813592e-02 -2.72368359e-01 2.37865245e+02] [ 2.72111675e-01 -1.18479124e-02 9.62192737e-01 5.85190318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.3992541539999 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:447.51, Y:237.89, Z:58.52 [[-3.93662767e-02 -9.99224601e-01 -7.01622356e-04 4.47505274e+02] [ 9.61481574e-01 -3.76881399e-02 -2.72273369e-01 2.37892111e+02] [ 2.72035806e-01 -1.13929857e-02 9.62219684e-01 5.85247464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4292541539999 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:447.50, Y:237.92, Z:58.53 [[-3.71145230e-02 -9.99310828e-01 -6.18132130e-04 4.47503528e+02] [ 9.61848462e-01 -3.55553746e-02 -2.71262512e-01 2.37919277e+02] [ 2.71053588e-01 -1.06623282e-02 9.62505204e-01 5.85323726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.459254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.50, Y:237.95, Z:58.54 [[-3.73531215e-02 -9.99301985e-01 -5.35754451e-04 4.47501610e+02] [ 9.62082773e-01 -3.58169296e-02 -2.70395796e-01 2.37945612e+02] [ 2.70187867e-01 -1.06155671e-02 9.62749098e-01 5.85419343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.4892541539999 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:447.50, Y:237.97, Z:58.55 [[-3.69949049e-02 -9.99315350e-01 -4.55924727e-04 4.47500233e+02] [ 9.62038293e-01 -3.54914425e-02 -2.70596898e-01 2.37972140e+02] [ 2.70395452e-01 -1.04493235e-02 9.62692636e-01 5.85493684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5192541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:447.50, Y:238.00, Z:58.56 [[-3.64455341e-02 -9.99335570e-01 -3.76458738e-04 4.47497784e+02] [ 9.61955498e-01 -3.49802195e-02 -2.70957571e-01 2.37998586e+02] [ 2.70764370e-01 -1.02373299e-02 9.62591218e-01 5.85565829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.5492541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:447.50, Y:238.03, Z:58.56 [[-3.67381682e-02 -9.99324882e-01 -2.96172406e-04 4.47496623e+02] [ 9.61754178e-01 -3.52764523e-02 -2.71632977e-01 2.38025310e+02] [ 2.71439145e-01 -1.02641430e-02 9.62400872e-01 5.85635572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.579254154 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:447.50, Y:238.05, Z:58.57 [[-3.67269373e-02 -9.99325316e-01 -2.13461494e-04 4.47495946e+02] [ 9.61484499e-01 -3.52779959e-02 -2.72585804e-01 2.38052324e+02] [ 2.72394364e-01 -1.02164817e-02 9.62131454e-01 5.85698727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6092541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.49, Y:238.08, Z:58.58 [[-3.76421093e-02 -9.99291276e-01 -1.30713149e-04 4.47493932e+02] [ 9.61047575e-01 -3.61656731e-02 -2.74006576e-01 2.38078736e+02] [ 2.73807654e-01 -1.04398070e-02 9.61727809e-01 5.85774867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6392541539999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:447.47, Y:238.12, Z:58.59 [[-3.13620571e-02 -9.97945806e-01 5.58622425e-02 4.47473130e+02] [ 9.64203847e-01 -4.49300693e-02 -2.61327823e-01 2.38117115e+02] [ 2.63300899e-01 4.56668110e-02 9.63632284e-01 5.85852832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.6692541539999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:447.52, Y:238.15, Z:58.58 [[-4.52704549e-02 -9.97915096e-01 -4.60005182e-02 4.47515081e+02] [ 9.56655581e-01 -3.00460153e-02 -2.89667631e-01 2.38149260e+02] [ 2.87681570e-01 -5.71200379e-02 9.56021242e-01 5.85818908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.699254154 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:447.49, Y:238.14, Z:58.59 [[-4.44138752e-02 -9.99011099e-01 2.05703412e-03 4.47489942e+02] [ 9.56064928e-01 -4.31016481e-02 -2.89969139e-01 2.38144194e+02] [ 2.89771050e-01 -1.09119950e-02 9.57033786e-01 5.85947666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7292541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:447.49, Y:238.15, Z:58.60 [[-4.37326734e-02 -9.99041400e-01 1.93232680e-03 4.47487718e+02] [ 9.56290785e-01 -4.24208858e-02 -2.89324045e-01 2.38148394e+02] [ 2.89128670e-01 -1.08050476e-02 9.57229264e-01 5.85962460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7592541539999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:447.49, Y:238.15, Z:58.60 [[-4.37663971e-02 -9.99040148e-01 1.81254552e-03 4.47486626e+02] [ 9.56263509e-01 -4.24175003e-02 -2.89414681e-01 2.38151458e+02] [ 2.89213770e-01 -1.09333667e-02 9.57202098e-01 5.85972801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.7892541539999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:447.49, Y:238.15, Z:58.60 [[-4.34263937e-02 -9.99055196e-01 1.69223783e-03 4.47485758e+02] [ 9.56272514e-01 -4.20569994e-02 -2.89437536e-01 2.38153688e+02] [ 2.89235245e-01 -1.09509879e-02 9.57195408e-01 5.85982125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8192541539999 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:447.48, Y:238.16, Z:58.60 [[-4.34351558e-02 -9.99055020e-01 1.56639633e-03 4.47484242e+02] [ 9.56595039e-01 -4.20412877e-02 -2.88372088e-01 2.38161558e+02] [ 2.88165435e-01 -1.10270796e-02 9.57517146e-01 5.85993470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8492541539999 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:447.48, Y:238.16, Z:58.60 [[-4.38205949e-02 -9.99038375e-01 1.44226169e-03 4.47483347e+02] [ 9.56832546e-01 -4.23844267e-02 -2.87532675e-01 2.38159383e+02] [ 2.87317306e-01 -1.12198500e-02 9.57769743e-01 5.85991124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.8792541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:447.48, Y:238.16, Z:58.60 [[-4.43112221e-02 -9.99016904e-01 1.31958764e-03 4.47482331e+02] [ 9.57010670e-01 -4.28269702e-02 -2.86873540e-01 2.38161629e+02] [ 2.86648030e-01 -1.14488577e-02 9.57967552e-01 5.86006309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9092541539999 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:447.48, Y:238.17, Z:58.60 [[-4.41054165e-02 -9.99026162e-01 1.20004556e-03 4.47481894e+02] [ 9.57030996e-01 -4.25959535e-02 -2.86840125e-01 2.38166791e+02] [ 2.86611906e-01 -1.15027224e-02 9.57977715e-01 5.86005341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9392541539999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:447.48, Y:238.17, Z:58.60 [[-4.50220802e-02 -9.98985405e-01 1.08288502e-03 4.47480250e+02] [ 9.56780269e-01 -4.34316875e-02 -2.87550354e-01 2.38169019e+02] [ 2.87305639e-01 -1.19100321e-02 9.57764909e-01 5.86020898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9692541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:447.48, Y:238.17, Z:58.60 [[-4.46802438e-02 -9.99000874e-01 9.64130613e-04 4.47479439e+02] [ 9.56677171e-01 -4.30652165e-02 -2.87948220e-01 2.38172583e+02] [ 2.87702044e-01 -1.19432349e-02 9.57645495e-01 5.86029609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 697.9992541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:447.48, Y:238.17, Z:58.60 [[-4.42201034e-02 -9.99021456e-01 8.44085977e-04 4.47478748e+02] [ 9.56685895e-01 -4.25895132e-02 -2.87989986e-01 2.38174601e+02] [ 2.87744124e-01 -1.19274218e-02 9.57633049e-01 5.86029862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0292541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:447.48, Y:238.18, Z:58.60 [[-4.38211190e-02 -9.99039131e-01 7.23920925e-04 4.47478724e+02] [ 9.56704261e-01 -4.21728560e-02 -2.87990291e-01 2.38177142e+02] [ 2.87744099e-01 -1.19274786e-02 9.57633055e-01 5.86036943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.0592541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:447.48, Y:238.18, Z:58.60 [[-4.30446828e-02 -9.99072965e-01 6.04543329e-04 4.47477342e+02] [ 9.56608994e-01 -4.13896628e-02 -2.88420057e-01 2.38177655e+02] [ 2.88177703e-01 -1.18366383e-02 9.57503789e-01 5.86042381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.089254154 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.46, Y:238.16, Z:58.60 [[-2.87682931e-02 -9.98871216e-01 3.77978680e-02 4.47464995e+02] [ 9.63859810e-01 -3.77393815e-02 -2.63723352e-01 2.38163278e+02] [ 2.64852134e-01 2.88449752e-02 9.63857518e-01 5.85965942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1192541539999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:447.50, Y:238.18, Z:58.59 [[-3.49419865e-02 -9.97679791e-01 -5.84302398e-02 4.47503297e+02] [ 9.61332157e-01 -1.75732315e-02 -2.74830248e-01 2.38182277e+02] [ 2.73165776e-01 -6.57739833e-02 9.59715709e-01 5.85906264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1492541539999 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:447.47, Y:238.20, Z:58.61 [[-3.17306332e-02 -9.99495345e-01 -1.49100251e-03 4.47473048e+02] [ 9.60939151e-01 -3.00961936e-02 -2.75118460e-01 2.38203944e+02] [ 2.74934746e-01 -1.01624456e-02 9.61409179e-01 5.86138941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.1792541539999 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:447.47, Y:238.23, Z:58.62 [[-2.98590983e-02 -9.99553132e-01 -1.40360274e-03 4.47471714e+02] [ 9.61087550e-01 -2.83241716e-02 -2.74788033e-01 2.38231072e+02] [ 2.74625483e-01 -9.55390800e-03 9.61503805e-01 5.86213850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.209254154 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:447.47, Y:238.26, Z:58.63 [[-2.76373286e-02 -9.99617139e-01 -1.32436458e-03 4.47470151e+02] [ 9.61120700e-01 -2.62087990e-02 -2.74881974e-01 2.38256459e+02] [ 2.74742022e-01 -8.86987764e-03 9.61477065e-01 5.86287385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2392541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.47, Y:238.28, Z:58.64 [[-2.23470737e-02 -9.99749502e-01 -1.24197073e-03 4.47467934e+02] [ 9.61158130e-01 -2.11425932e-02 -2.75187281e-01 2.38283321e+02] [ 2.75092088e-01 -7.34336070e-03 9.61389837e-01 5.86358464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2692541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:447.47, Y:238.31, Z:58.64 [[-1.98252682e-02 -9.99802783e-01 -1.16361463e-03 4.47466798e+02] [ 9.61223510e-01 -1.87400609e-02 -2.75133013e-01 2.38310580e+02] [ 2.75056945e-01 -6.57307951e-03 9.61405467e-01 5.86433886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.2992541539999 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:447.47, Y:238.34, Z:58.65 [[-1.76242646e-02 -9.99844089e-01 -1.08724381e-03 4.47465212e+02] [ 9.61167272e-01 -1.66429644e-02 -2.75464132e-01 2.38337664e+02] [ 2.75403089e-01 -5.89987590e-03 9.61310735e-01 5.86512139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.329254154 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:447.46, Y:238.36, Z:58.66 [[-1.41857437e-02 -9.99898867e-01 -1.01041062e-03 4.47462483e+02] [ 9.61166237e-01 -1.33576926e-02 -2.75646581e-01 2.38363697e+02] [ 2.75605207e-01 -4.88142431e-03 9.61258520e-01 5.86589889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3592541539999 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:447.46, Y:238.39, Z:58.67 [[-1.28093026e-02 -9.99880746e-01 8.62644935e-03 4.47456215e+02] [ 9.61799742e-01 -1.46798618e-02 -2.73360126e-01 2.38389587e+02] [ 2.73454162e-01 4.79536420e-03 9.61873082e-01 5.86663667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.3892541539999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:447.47, Y:238.42, Z:58.67 [[-1.33741299e-02 -9.99870091e-01 -8.99635197e-03 4.47465502e+02] [ 9.61285288e-01 -1.03804720e-02 -2.75359476e-01 2.38417926e+02] [ 2.75230318e-01 -1.23307542e-02 9.61299238e-01 5.86714050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4192541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:447.46, Y:238.44, Z:58.68 [[-1.49596963e-02 -9.99887782e-01 -7.94016907e-04 4.47461909e+02] [ 9.61243825e-01 -1.41628838e-02 -2.75335653e-01 2.38444634e+02] [ 2.75293510e-01 -4.88218159e-03 9.61347829e-01 5.86809389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.449254154 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:447.46, Y:238.47, Z:58.69 [[-1.64176114e-02 -9.99864970e-01 -7.10307597e-04 4.47462710e+02] [ 9.61123534e-01 -1.55856407e-02 -2.75678510e-01 2.38471038e+02] [ 2.75630215e-01 -5.20867599e-03 9.61249632e-01 5.86865969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.4792541539999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:447.46, Y:238.50, Z:58.69 [[-1.80587935e-02 -9.99836724e-01 -6.36434278e-04 4.47463124e+02] [ 9.60873197e-01 -1.71790698e-02 -2.76455383e-01 2.38497262e+02] [ 2.76399312e-01 -5.60398330e-03 9.61026543e-01 5.86927626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5092541539999 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:447.46, Y:238.52, Z:58.70 [[-2.12459454e-02 -9.99774113e-01 -5.77319433e-04 4.47462422e+02] [ 9.61016469e-01 -2.02630861e-02 -2.75747627e-01 2.38523632e+02] [ 2.75673641e-01 -6.41333250e-03 9.61229896e-01 5.87021093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5392541539999 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:447.46, Y:238.55, Z:58.71 [[-2.55225858e-02 -9.99674123e-01 -4.94519067e-04 4.47462961e+02] [ 9.61003378e-01 -2.43990229e-02 -2.75458155e-01 2.38550341e+02] [ 2.75356324e-01 -7.50563889e-03 9.61312936e-01 5.87093598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5692541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:447.46, Y:238.58, Z:58.72 [[-2.79179664e-02 -9.99610133e-01 -4.11961643e-04 4.47463268e+02] [ 9.61070657e-01 -2.67282665e-02 -2.75006895e-01 2.38577676e+02] [ 2.74888667e-01 -8.07355749e-03 9.61442166e-01 5.87169562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.5992541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:447.46, Y:238.60, Z:58.72 [[-3.00085649e-02 -9.99549587e-01 -3.30204521e-04 4.47463647e+02] [ 9.61048361e-01 -2.87618704e-02 -2.74879617e-01 2.38604567e+02] [ 2.74746310e-01 -8.56608534e-03 9.61478594e-01 5.87247166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6292541539999 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:447.44, Y:238.64, Z:58.74 [[-2.63469714e-02 -9.97183652e-01 7.02182401e-02 4.47439074e+02] [ 9.65243906e-01 -4.36480271e-02 -2.57680135e-01 2.38643660e+02] [ 2.60019305e-01 6.09886372e-02 9.63675437e-01 5.87365574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6592541539999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:447.50, Y:238.67, Z:58.72 [[-3.65771207e-02 -9.96258606e-01 -7.83000915e-02 4.47503771e+02] [ 9.61787333e-01 -1.38200680e-02 -2.73448591e-01 2.38665469e+02] [ 2.71343399e-01 -8.53099983e-02 9.58694406e-01 5.87193194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.6892541539999 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:447.47, Y:238.69, Z:58.75 [[-3.87361456e-02 -9.99249472e-01 -5.35023607e-05 4.47465496e+02] [ 9.61027777e-01 -3.72398054e-02 -2.73932124e-01 2.38685075e+02] [ 2.73724538e-01 -1.06624919e-02 9.61749026e-01 5.87487387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7192541539999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:447.47, Y:238.69, Z:58.75 [[-4.07921389e-02 -9.99167654e-01 1.93831084e-05 4.47465788e+02] [ 9.61044496e-01 -3.92410257e-02 -2.73593895e-01 2.38690529e+02] [ 2.73366931e-01 -1.11418521e-02 9.61845300e-01 5.87506024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7492541539999 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:447.47, Y:238.72, Z:58.76 [[-4.53545281e-02 -9.98970950e-01 -9.03756995e-05 4.47467461e+02] [ 9.60924818e-01 -4.36024562e-02 -2.73353838e-01 2.38717219e+02] [ 2.73068602e-01 -1.24846786e-02 9.61913547e-01 5.87576733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.7792541539999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:447.47, Y:238.74, Z:58.76 [[-4.78493724e-02 -9.98854563e-01 -5.97757832e-06 4.47468707e+02] [ 9.60929296e-01 -4.60309578e-02 -2.72939624e-01 2.38743825e+02] [ 2.72626714e-01 -1.30657337e-02 9.62031165e-01 5.87647453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8092541539999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:447.47, Y:238.75, Z:58.77 [[-4.92359398e-02 -9.98787173e-01 7.59932878e-05 4.47470348e+02] [ 9.60879507e-01 -4.73880163e-02 -2.72882665e-01 2.38749737e+02] [ 2.72555307e-01 -1.33626141e-02 9.62047320e-01 5.87658538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.839254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.47, Y:238.78, Z:58.77 [[-5.20441878e-02 -9.98644782e-01 -3.45545249e-05 4.47473523e+02] [ 9.60752852e-01 -5.00600159e-02 -2.72851521e-01 2.38776678e+02] [ 2.72480018e-01 -1.42335342e-02 9.62056155e-01 5.87730196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8692541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:447.47, Y:238.78, Z:58.77 [[-5.21896904e-02 -9.98637188e-01 4.58869910e-05 4.47474251e+02] [ 9.60743025e-01 -5.02218445e-02 -2.72856383e-01 2.38783347e+02] [ 2.72486836e-01 -1.41962046e-02 9.62054776e-01 5.87746192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.8992541539999 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:447.47, Y:238.81, Z:58.78 [[-5.25426807e-02 -9.98618677e-01 -6.50594830e-05 4.47474908e+02] [ 9.60542998e-01 -5.05214965e-02 -2.73504529e-01 2.38809520e+02] [ 2.73123444e-01 -1.44331536e-02 9.61870713e-01 5.87819724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9292541539999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:447.46, Y:238.80, Z:58.78 [[-3.64458141e-02 -9.98079735e-01 5.00853715e-02 4.47459612e+02] [ 9.68979798e-01 -4.75533677e-02 -2.42521812e-01 2.38798200e+02] [ 2.44437834e-01 3.96928083e-02 9.68852221e-01 5.87752370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.959254154 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:447.51, Y:238.82, Z:58.76 [[-4.29348326e-02 -9.96262883e-01 -7.49457625e-02 4.47513235e+02] [ 9.66012467e-01 -2.22575710e-02 -2.57535463e-01 2.38817078e+02] [ 2.54904912e-01 -8.34557829e-02 9.63357991e-01 5.87638526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 698.9892541539999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:447.45, Y:238.85, Z:58.80 [[-3.17479962e-02 -9.96981812e-01 7.08472356e-02 4.47452081e+02] [ 9.69051029e-01 -4.80651644e-02 -2.42136002e-01 2.38853142e+02] [ 2.44810474e-01 6.09672537e-02 9.67652224e-01 5.87957332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0192541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.52, Y:238.87, Z:58.78 [[-3.93973411e-02 -9.95754385e-01 -8.31928732e-02 4.47518454e+02] [ 9.66020454e-01 -1.66716985e-02 -2.57927387e-01 2.38871874e+02] [ 2.55445360e-01 -9.05276703e-02 9.62575924e-01 5.87787643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.0492541539999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:447.46, Y:238.91, Z:58.81 [[-2.94134626e-02 -9.97920342e-01 5.73571281e-02 4.47458265e+02] [ 9.68390274e-01 -4.26687312e-02 -2.45763415e-01 2.38906576e+02] [ 2.47699667e-01 4.83153320e-02 9.67631388e-01 5.88088900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.079254154 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:447.51, Y:238.93, Z:58.80 [[-3.23602978e-02 -9.97123148e-01 -6.85436978e-02 4.47511837e+02] [ 9.65910558e-01 -1.35763083e-02 -2.58519784e-01 2.38925550e+02] [ 2.56845490e-01 -7.45728585e-02 9.63571109e-01 5.87977062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1092541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:447.48, Y:238.95, Z:58.82 [[-2.88329022e-02 -9.99583281e-01 -1.38833070e-03 4.47478545e+02] [ 9.65454148e-01 -2.74885572e-02 -2.59119021e-01 2.38946612e+02] [ 2.58972878e-01 -8.81152304e-03 9.65844400e-01 5.88227087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1392541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:447.48, Y:238.97, Z:58.83 [[-2.54874988e-02 -9.99674275e-01 -1.31552571e-03 4.47478503e+02] [ 9.65608907e-01 -2.42783231e-02 -2.58862902e-01 2.38973764e+02] [ 2.58746645e-01 -7.86805124e-03 9.65913178e-01 5.88300681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.1692541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:447.48, Y:239.00, Z:58.84 [[-2.16634374e-02 -9.99764558e-01 -1.23438330e-03 4.47478455e+02] [ 9.65785674e-01 -2.06079749e-02 -2.58521458e-01 2.39000299e+02] [ 2.58435153e-01 -6.79261313e-03 9.66004727e-01 5.88368442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.199254154 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:447.48, Y:239.03, Z:58.84 [[-1.37463271e-02 -9.99902880e-01 -2.29558720e-03 4.47477356e+02] [ 9.65973571e-01 -1.26868031e-02 -2.58329452e-01 2.39026205e+02] [ 2.58275239e-01 -5.76855771e-03 9.66054152e-01 5.88441993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2292541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:447.48, Y:239.05, Z:58.85 [[-1.08473182e-02 -9.99940567e-01 1.09494815e-03 4.47476035e+02] [ 9.65734048e-01 -1.07601957e-02 -2.59310559e-01 2.39054239e+02] [ 2.59306929e-01 -1.75539545e-03 9.65793371e-01 5.88515921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2592541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:447.48, Y:239.08, Z:58.86 [[-8.29963851e-03 -9.99965032e-01 -1.02539195e-03 4.47476822e+02] [ 9.65591669e-01 -7.74778465e-03 -2.59947497e-01 2.39081837e+02] [ 2.59930462e-01 -3.14758017e-03 9.65622208e-01 5.88578941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.2892541539999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:447.48, Y:239.11, Z:58.86 [[-5.33000919e-03 -9.99985343e-01 -9.51307554e-04 4.47477203e+02] [ 9.65285121e-01 -4.89661393e-03 -2.61152556e-01 2.39109034e+02] [ 2.61144070e-01 -2.31022855e-03 9.65297072e-01 5.88645699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3192541539999 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:447.48, Y:239.14, Z:58.87 [[-5.01062310e-03 -9.99987065e-01 -8.74139630e-04 4.47477866e+02] [ 9.65110248e-01 -4.60701062e-03 -2.61803331e-01 2.39136457e+02] [ 2.61795917e-01 -2.15543893e-03 9.65120848e-01 5.88716742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3492541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.48, Y:239.16, Z:58.88 [[-5.59048022e-03 -9.99984056e-01 -7.96455405e-04 4.47478663e+02] [ 9.64978999e-01 -5.18588765e-03 -2.62275880e-01 2.39163286e+02] [ 2.62267568e-01 -2.23481086e-03 9.64992605e-01 5.88784944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.3792541539999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:447.48, Y:239.19, Z:58.89 [[-8.94072083e-03 -9.99959773e-01 -7.18699565e-04 4.47479971e+02] [ 9.64854357e-01 -8.43806665e-03 -2.62649708e-01 2.39189023e+02] [ 2.62633078e-01 -3.04171812e-03 9.64890986e-01 5.88854873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4092541539999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:447.48, Y:239.22, Z:58.89 [[-1.14683056e-02 -9.99934028e-01 -6.46834836e-04 4.47480595e+02] [ 9.64927576e-01 -1.08971449e-02 -2.62289965e-01 2.39215907e+02] [ 2.62265613e-01 -3.63217024e-03 9.64988889e-01 5.88925936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4392541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:447.48, Y:239.24, Z:58.90 [[-1.42236276e-02 -9.99898676e-01 -5.71075487e-04 4.47481480e+02] [ 9.65000362e-01 -1.35776186e-02 -2.61896830e-01 2.39242344e+02] [ 2.61862540e-01 -4.27621103e-03 9.65095707e-01 5.88999035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4692541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.48, Y:239.27, Z:58.91 [[-2.00302098e-02 -9.99799253e-01 -4.95271275e-04 4.47482989e+02] [ 9.65062285e-01 -1.92048331e-02 -2.61315826e-01 2.39268985e+02] [ 2.61253856e-01 -5.71217846e-03 9.65253228e-01 5.89072458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.4992541539999 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:447.48, Y:239.30, Z:58.91 [[-2.28489673e-02 -9.99738842e-01 -4.14694365e-04 4.47483595e+02] [ 9.65133550e-01 -2.19498701e-02 -2.60836027e-01 2.39295294e+02] [ 2.60758806e-01 -6.36006931e-03 9.65383030e-01 5.89141356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5292541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:447.48, Y:239.32, Z:58.92 [[-2.53036239e-02 -9.99679753e-01 -3.42595647e-04 4.47484352e+02] [ 9.65078165e-01 -2.43384103e-02 -2.60829020e-01 2.39322730e+02] [ 2.60737152e-01 -6.93055100e-03 9.65384952e-01 5.89214468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.5592541539999 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:447.49, Y:239.35, Z:58.93 [[-2.92010574e-02 -9.99573523e-01 -2.66747274e-04 4.47486076e+02] [ 9.64692610e-01 -2.81121794e-02 -2.61873775e-01 2.39348871e+02] [ 2.61754593e-01 -7.90432027e-03 9.65102096e-01 5.89268163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.589254154 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:447.49, Y:239.38, Z:58.94 [[-3.20856995e-02 -9.99485104e-01 -1.85820211e-04 4.47486186e+02] [ 9.64687260e-01 -3.09199798e-02 -2.61576844e-01 2.39375499e+02] [ 2.61436414e-01 -8.57213440e-03 9.65182636e-01 5.89353645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6192541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:447.49, Y:239.40, Z:58.94 [[-3.40945870e-02 -9.99418605e-01 -1.10385952e-04 4.47486762e+02] [ 9.64644660e-01 -3.28794119e-02 -2.61494979e-01 2.39402395e+02] [ 2.61339318e-01 -9.02204655e-03 9.65204830e-01 5.89422805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6492541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:447.49, Y:239.43, Z:58.95 [[-3.59758275e-02 -9.99352660e-01 -2.98057767e-05 4.47487328e+02] [ 9.64564406e-01 -3.47156797e-02 -2.61553682e-01 2.39429243e+02] [ 2.61383333e-01 -9.43835975e-03 9.65188930e-01 5.89500024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.6792541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:447.49, Y:239.43, Z:58.95 [[-3.73508776e-02 -9.99302212e-01 4.45051096e-05 4.47488702e+02] [ 9.64679120e-01 -3.60683933e-02 -2.60946867e-01 2.39427382e+02] [ 2.60766387e-01 -9.70366134e-03 9.65353164e-01 5.89494309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.709254154 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:447.52, Y:239.45, Z:58.96 [[-4.43336385e-02 -9.96625024e-01 -6.90875568e-02 4.47516307e+02] [ 9.61087596e-01 -2.36736105e-02 -2.75227528e-01 2.39448871e+02] [ 2.72663090e-01 -7.86010316e-02 9.58893486e-01 5.89582052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7392541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:447.45, Y:239.48, Z:58.98 [[-3.62330003e-02 -9.96639361e-01 7.34653223e-02 4.47454541e+02] [ 9.63945188e-01 -5.42475832e-02 -2.60512713e-01 2.39476021e+02] [ 2.63622540e-01 6.13773867e-02 9.62671269e-01 5.89844560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7692541539999 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:447.49, Y:239.48, Z:58.96 [[-3.39457125e-02 -9.99423678e-01 4.79043445e-06 4.47488866e+02] [ 9.64390667e-01 -3.27570642e-02 -2.62445454e-01 2.39484199e+02] [ 2.62294358e-01 -8.90427808e-03 9.64946830e-01 5.89633088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.7992541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.49, Y:239.51, Z:58.97 [[-3.10949990e-02 -9.99500189e-01 5.69858147e-03 4.47485597e+02] [ 9.63922294e-01 -3.14951190e-02 -2.64313958e-01 2.39508532e+02] [ 2.64361328e-01 -2.72585254e-03 9.64419856e-01 5.89716933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.829254154 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:447.49, Y:239.17, Z:58.88 [[-2.76412307e-02 -9.99610929e-01 -3.73542196e-03 4.47489035e+02] [ 9.64007617e-01 -2.56678287e-02 -2.64632722e-01 2.39165995e+02] [ 2.64433880e-01 -1.09157493e-02 9.64342040e-01 5.88787354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8592541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:447.49, Y:239.19, Z:58.89 [[-2.49844006e-02 -9.99687749e-01 -4.30181457e-04 4.47486722e+02] [ 9.64046920e-01 -2.39797756e-02 -2.64647892e-01 2.39191739e+02] [ 2.64554939e-01 -7.02678405e-03 9.64345015e-01 5.88865251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.8892541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:447.49, Y:239.22, Z:58.89 [[-1.88888898e-02 -9.99821525e-01 -3.58875968e-04 4.47485727e+02] [ 9.64148699e-01 -1.81199225e-02 -2.64743186e-01 2.39218329e+02] [ 2.64689433e-01 -5.34671466e-03 9.64318888e-01 5.88943411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9192541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:447.49, Y:239.25, Z:58.90 [[-1.91612293e-02 -9.99816368e-01 -2.79232413e-04 4.47485646e+02] [ 9.64143302e-01 -1.84036255e-02 -2.64743271e-01 2.39245798e+02] [ 2.64689517e-01 -5.34202657e-03 9.64318891e-01 5.89015803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.949254154 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:447.49, Y:239.27, Z:58.91 [[-1.62887227e-02 -9.99867309e-01 -2.04747206e-04 4.47485584e+02] [ 9.64094472e-01 -1.56516663e-02 -2.65097857e-01 2.39271934e+02] [ 2.65059476e-01 -4.51550112e-03 9.64221491e-01 5.89077878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 699.9792541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.49, Y:239.30, Z:58.92 [[-1.41808002e-02 -9.99899439e-01 -1.32662582e-04 4.47485408e+02] [ 9.64255509e-01 -1.36401808e-02 -2.64622861e-01 2.39298444e+02] [ 2.64594440e-01 -3.88048454e-03 9.64351971e-01 5.89154355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0092541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:447.49, Y:239.32, Z:58.92 [[-1.12797134e-02 -9.99936381e-01 -5.42848078e-05 4.47485085e+02] [ 9.64185277e-01 -1.08620388e-02 -2.65007111e-01 2.39324227e+02] [ 2.64989662e-01 -3.04154487e-03 9.64246456e-01 5.89219500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0392541539999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:447.48, Y:239.32, Z:58.92 [[-1.01201107e-02 -9.99948790e-01 9.05330653e-06 4.47484826e+02] [ 9.64113710e-01 -9.75983924e-03 -2.65310195e-01 2.39324307e+02] [ 2.65296696e-01 -2.67624013e-03 9.64163109e-01 5.89221526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0692541539999 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:447.49, Y:239.35, Z:58.93 [[-1.02409833e-02 -9.99947556e-01 -9.12424662e-05 4.47485143e+02] [ 9.63929317e-01 -9.84783218e-03 -2.65976112e-01 2.39351758e+02] [ 2.65961264e-01 -2.81180821e-03 9.63979616e-01 5.89292045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.0992541539999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:447.49, Y:239.38, Z:58.94 [[-1.15900541e-02 -9.99932833e-01 -1.20320125e-05 4.47486093e+02] [ 9.63690466e-01 -1.11667647e-02 -2.66788284e-01 2.39377910e+02] [ 2.66770230e-01 -3.10368578e-03 9.63755162e-01 5.89351381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1292541539999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:447.49, Y:239.37, Z:58.93 [[-1.24238604e-02 -9.99922820e-01 5.07819133e-05 4.47486758e+02] [ 9.63599679e-01 -1.19861158e-02 -2.67080496e-01 2.39374504e+02] [ 2.67060491e-01 -3.26923736e-03 9.63674222e-01 5.89340968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1592541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:447.49, Y:239.40, Z:58.94 [[-1.37175434e-02 -9.99905909e-01 -4.88411999e-05 4.47487787e+02] [ 9.63411619e-01 -1.32038082e-02 -2.67700789e-01 2.39401421e+02] [ 2.67674956e-01 -3.71925137e-03 9.63502094e-01 5.89401802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.1892541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:447.49, Y:239.40, Z:58.94 [[-1.63702984e-02 -9.99865997e-01 2.38063189e-05 4.47488257e+02] [ 9.63645986e-01 -1.57836369e-02 -2.66715750e-01 2.39403900e+02] [ 2.66680385e-01 -4.34327555e-03 9.63775237e-01 5.89420799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2192541539999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:447.49, Y:239.43, Z:58.95 [[-1.75295283e-02 -9.99846343e-01 -7.60046084e-05 4.47488794e+02] [ 9.63610362e-01 -1.68739516e-02 -2.66777698e-01 2.39430995e+02] [ 2.66735424e-01 -4.74972604e-03 9.63758089e-01 5.89490895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2492541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:447.49, Y:239.43, Z:58.95 [[-1.88785366e-02 -9.99821785e-01 -2.91916535e-06 4.47488889e+02] [ 9.63940095e-01 -1.82002469e-02 -2.65496222e-01 2.39434116e+02] [ 2.65448853e-01 -5.01499404e-03 9.64111900e-01 5.89505520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.2792541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:447.49, Y:239.46, Z:58.96 [[-2.15025505e-02 -9.99768788e-01 -1.03602441e-04 4.47490236e+02] [ 9.64086743e-01 -2.07076800e-02 -2.64779046e-01 2.39459658e+02] [ 2.64715681e-01 -5.79330656e-03 9.64309103e-01 5.89577219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3092541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:447.49, Y:239.49, Z:58.96 [[-2.31921467e-02 -9.99731026e-01 -3.06404828e-05 4.47490642e+02] [ 9.64277677e-01 -2.23615966e-02 -2.63947950e-01 2.39487078e+02] [ 2.63876269e-01 -6.15106551e-03 9.64536925e-01 5.89644040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.339254154 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:447.49, Y:239.49, Z:58.97 [[-2.39637134e-02 -9.99712828e-01 4.24597883e-05 4.47491328e+02] [ 9.64294976e-01 -2.31259313e-02 -2.63818861e-01 2.39489265e+02] [ 2.63744081e-01 -6.28113582e-03 9.64572240e-01 5.89652665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3692541539999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:447.47, Y:239.53, Z:58.97 [[-1.64298928e-02 -9.97593039e-01 6.73660646e-02 4.47469736e+02] [ 9.68338219e-01 -3.26611487e-02 -2.47496147e-01 2.39530507e+02] [ 2.49100687e-01 6.11667998e-02 9.66544086e-01 5.89729767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.3992541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:447.52, Y:239.55, Z:58.96 [[-3.35607159e-02 -9.97902379e-01 -5.53581033e-02 4.47521387e+02] [ 9.59823976e-01 -1.67415296e-02 -2.80102941e-01 2.39549267e+02] [ 2.78588612e-01 -6.25344900e-02 9.58372487e-01 5.89629259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4292541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.49, Y:239.55, Z:58.98 [[-3.22857917e-02 -9.99476462e-01 2.10447403e-03 4.47493152e+02] [ 9.59547573e-01 -3.15850562e-02 -2.79769261e-01 2.39545854e+02] [ 2.79689261e-01 -7.01322915e-03 9.60064962e-01 5.89778084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.459254154 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:447.49, Y:239.55, Z:58.98 [[-3.02283547e-02 -9.99541026e-01 1.99610104e-03 4.47493177e+02] [ 9.59308557e-01 -2.95724115e-02 -2.80806989e-01 2.39546887e+02] [ 2.80737135e-01 -6.57345645e-03 9.59762185e-01 5.89783467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.4892541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.49, Y:239.55, Z:58.98 [[-2.79386893e-02 -9.99607857e-01 1.88736379e-03 4.47493533e+02] [ 9.59055582e-01 -2.73375154e-02 -2.81895460e-01 2.39552543e+02] [ 2.81836513e-01 -6.06570290e-03 9.59443270e-01 5.89787506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5192541539999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:447.49, Y:239.55, Z:58.98 [[-2.66171599e-02 -9.99644133e-01 1.77046579e-03 4.47492992e+02] [ 9.59130901e-01 -2.60374568e-02 -2.81762252e-01 2.39550335e+02] [ 2.81708080e-01 -5.80160245e-03 9.59482620e-01 5.89797076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.5492541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.49, Y:239.55, Z:58.98 [[-2.31414518e-02 -9.99730822e-01 1.66020169e-03 4.47493647e+02] [ 9.58909570e-01 -2.26661742e-02 -2.82805025e-01 2.39552257e+02] [ 2.82766530e-01 -4.95253556e-03 9.59175981e-01 5.89792903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.579254154 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:447.49, Y:239.55, Z:58.98 [[-2.19951365e-02 -9.99756891e-01 1.54027583e-03 4.47493626e+02] [ 9.59153036e-01 -2.15363982e-02 -2.82066724e-01 2.39553818e+02] [ 2.82031323e-01 -4.72673584e-03 9.59393554e-01 5.89803549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6092541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:447.49, Y:239.56, Z:58.98 [[-2.03763065e-02 -9.99791362e-01 1.42798625e-03 4.47494161e+02] [ 9.58964737e-01 -1.99481884e-02 -2.82822741e-01 2.39557688e+02] [ 2.82792219e-01 -4.39349440e-03 9.59171131e-01 5.89813103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6392541539999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:447.49, Y:239.56, Z:58.98 [[-1.97198210e-02 -9.99804684e-01 1.31275093e-03 4.47494543e+02] [ 9.58914374e-01 -1.92849467e-02 -2.83039422e-01 2.39558743e+02] [ 2.83009456e-01 -4.32267100e-03 9.59107378e-01 5.89811022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6692541539999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:447.50, Y:239.56, Z:58.98 [[-1.91758074e-02 -9.99815406e-01 1.20070127e-03 4.47495466e+02] [ 9.58604753e-01 -1.87266245e-02 -2.84123639e-01 2.39562388e+02] [ 2.84093676e-01 -4.29730222e-03 9.58786898e-01 5.89809413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.6992541539998 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:447.50, Y:239.56, Z:58.98 [[-1.94611924e-02 -9.99810024e-01 1.08534254e-03 4.47495425e+02] [ 9.58488161e-01 -1.89657064e-02 -2.84500875e-01 2.39564063e+02] [ 2.84467411e-01 -4.49643829e-03 9.58675166e-01 5.89820882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7292541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:447.50, Y:239.57, Z:58.98 [[-2.05602363e-02 -9.99788144e-01 9.71423965e-04 4.47495752e+02] [ 9.58182544e-01 -1.99819947e-02 -2.85459162e-01 2.39567240e+02] [ 2.85418097e-01 -4.93830635e-03 9.58390381e-01 5.89827248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7592541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:447.50, Y:239.57, Z:58.98 [[-2.12547513e-02 -9.99773727e-01 8.54605155e-04 4.47496087e+02] [ 9.58125350e-01 -2.06134608e-02 -2.85606196e-01 2.39571220e+02] [ 2.85559188e-01 -5.25166981e-03 9.58346686e-01 5.89835540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.7892541539999 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:447.50, Y:239.58, Z:58.99 [[-2.24049789e-02 -9.99748705e-01 7.38009442e-04 4.47496412e+02] [ 9.57998805e-01 -2.16804261e-02 -2.85951481e-01 2.39577921e+02] [ 2.85895623e-01 -5.69972473e-03 9.58243814e-01 5.89861877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8192541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:447.50, Y:239.58, Z:58.99 [[-2.52597859e-02 -9.99680729e-01 6.18821583e-04 4.47497163e+02] [ 9.58175323e-01 -2.43875411e-02 -2.85140839e-01 2.39578215e+02] [ 2.85064893e-01 -6.60965697e-03 9.58485430e-01 5.89867570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8492541539999 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:447.50, Y:239.58, Z:58.99 [[-2.66875926e-02 -9.99643697e-01 5.00742260e-04 4.47497785e+02] [ 9.58264606e-01 -2.57255143e-02 -2.84722924e-01 2.39583290e+02] [ 2.84634358e-01 -7.11872582e-03 9.58609726e-01 5.89886577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.8792541539999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:447.49, Y:239.79, Z:59.04 [[-2.46180449e-02 -9.99327471e-01 2.71764071e-02 4.47488220e+02] [ 9.63566535e-01 -3.09619206e-02 -2.65670645e-01 2.39791597e+02] [ 2.66333408e-01 1.96459846e-02 9.63680731e-01 5.90421484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9092541539999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:447.51, Y:239.59, Z:58.98 [[-3.19590973e-02 -9.99106223e-01 -2.76653425e-02 4.47513008e+02] [ 9.58870554e-01 -2.28378744e-02 -2.82923476e-01 2.39587566e+02] [ 2.82038788e-01 -3.55694612e-02 9.58743415e-01 5.89824731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9392541539999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:447.50, Y:239.59, Z:58.99 [[-3.64503982e-02 -9.99335383e-01 4.02065660e-04 4.47500866e+02] [ 9.58892807e-01 -3.50885631e-02 -2.81590798e-01 2.39590781e+02] [ 2.81417756e-01 -9.87855884e-03 9.59534502e-01 5.89909100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9692541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.49, Y:240.02, Z:59.11 [[-3.80045226e-02 -9.99032366e-01 2.21356508e-02 4.47491655e+02] [ 9.62496633e-01 -4.25513334e-02 -2.67935843e-01 2.40019863e+02] [ 2.68618481e-01 1.11227155e-02 9.63182432e-01 5.91084833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 700.9992541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:447.51, Y:239.60, Z:58.99 [[-4.15596344e-02 -9.98896235e-01 -2.18885336e-02 4.47513170e+02] [ 9.59300563e-01 -3.37687697e-02 -2.80360659e-01 2.39598411e+02] [ 2.79312058e-01 -3.26493691e-02 9.59645139e-01 5.89872894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0292541539999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:447.50, Y:239.61, Z:59.00 [[-4.51707202e-02 -9.98979270e-01 1.54916461e-04 4.47503746e+02] [ 9.58905491e-01 -4.34021900e-02 -2.80386356e-01 2.39605836e+02] [ 2.80106881e-01 -1.25167034e-02 9.59887216e-01 5.89952647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.0592541539999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:447.50, Y:239.85, Z:59.07 [[-4.71166287e-02 -9.98871904e-01 5.91124109e-03 4.47501597e+02] [ 9.58663685e-01 -4.68808948e-02 -2.80653027e-01 2.39852367e+02] [ 2.80613548e-01 -7.55653233e-03 9.59791090e-01 5.90652966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.089254154 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:447.50, Y:239.86, Z:59.07 [[-5.02472091e-02 -9.98735369e-01 1.69723576e-03 4.47503311e+02] [ 9.58733820e-01 -4.87106977e-02 -2.80101284e-01 2.39856995e+02] [ 2.79829733e-01 -1.24471105e-02 9.59968953e-01 5.90673722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1192541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.51, Y:239.61, Z:59.00 [[-5.29402918e-02 -9.98580057e-01 -5.93260631e-03 4.47507428e+02] [ 9.58574712e-01 -4.91525177e-02 -2.80568266e-01 2.39608246e+02] [ 2.79878273e-01 -2.05402123e-02 9.59815739e-01 5.89952418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1492541539999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:447.50, Y:239.61, Z:59.00 [[-5.39783566e-02 -9.98542106e-01 2.75916354e-06 4.47504676e+02] [ 9.58437465e-01 -5.18111886e-02 -2.80558776e-01 2.39612617e+02] [ 2.80149894e-01 -1.51414572e-02 9.59836847e-01 5.89983012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.1792541539999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:447.51, Y:239.64, Z:59.00 [[-5.49977480e-02 -9.98486473e-01 -1.08301661e-04 4.47505260e+02] [ 9.58260337e-01 -5.27515699e-02 -2.80988253e-01 2.39639214e+02] [ 2.80557257e-01 -1.55575023e-02 9.59711201e-01 5.90046855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.209254154 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.51, Y:239.67, Z:59.01 [[-5.63623462e-02 -9.98410379e-01 -3.07733385e-05 4.47505964e+02] [ 9.57817087e-01 -5.40620707e-02 -2.82247622e-01 2.39666735e+02] [ 2.81797292e-01 -1.59376134e-02 9.59341586e-01 5.90102988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2392541539999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:447.51, Y:239.67, Z:59.01 [[-5.60492343e-02 -9.98428005e-01 4.68063619e-05 4.47505611e+02] [ 9.57889010e-01 -5.37867000e-02 -2.82056087e-01 2.39666380e+02] [ 2.81615214e-01 -1.57641924e-02 9.59397916e-01 5.90103649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2692541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.50, Y:239.69, Z:59.02 [[-5.56558179e-02 -9.98442399e-01 3.89955520e-03 4.47501239e+02] [ 9.57594187e-01 -5.44838219e-02 -2.82922049e-01 2.39690203e+02] [ 2.82693832e-01 -1.20120666e-02 9.59134979e-01 5.90209859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.2992541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.50, Y:239.26, Z:58.90 [[-5.26253462e-02 -9.98611592e-01 -2.33677711e-03 4.47503478e+02] [ 9.57956978e-01 -4.98217270e-02 -2.82553045e-01 2.39264503e+02] [ 2.82044324e-01 -1.71079837e-02 9.59248829e-01 5.88968395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.329254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:447.50, Y:239.29, Z:58.91 [[-5.16943744e-02 -9.98662854e-01 -4.43576904e-04 4.47500966e+02] [ 9.58010649e-01 -4.94646215e-02 -2.82433793e-01 2.39289380e+02] [ 2.82034196e-01 -1.50251896e-02 9.59286691e-01 5.89061220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3592541539999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:447.50, Y:239.32, Z:58.91 [[-4.97451375e-02 -9.98761877e-01 -3.65634953e-04 4.47499785e+02] [ 9.58176114e-01 -4.76203841e-02 -2.82189359e-01 2.39316211e+02] [ 2.81822563e-01 -1.43878912e-02 9.59358656e-01 5.89141756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.3892541539999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:447.50, Y:239.34, Z:58.92 [[-4.72856371e-02 -9.98881370e-01 -2.79185022e-04 4.47498793e+02] [ 9.58327792e-01 -4.52870532e-02 -2.82058373e-01 2.39343036e+02] [ 2.81730211e-01 -1.36048607e-02 9.59397205e-01 5.89215203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4192541539999 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:447.50, Y:239.37, Z:58.93 [[-4.20416724e-02 -9.99115840e-01 -1.91020111e-04 4.47495955e+02] [ 9.58686179e-01 -4.02865990e-02 -2.81598651e-01 2.39369900e+02] [ 2.81341977e-01 -1.20220065e-02 9.59532263e-01 5.89292186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4492541539998 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:447.49, Y:239.39, Z:58.94 [[-3.99106047e-02 -9.99203249e-01 -1.03406503e-04 4.47493742e+02] [ 9.58939426e-01 -3.82732877e-02 -2.81016604e-01 2.39394980e+02] [ 2.80788746e-01 -1.13147032e-02 9.59702901e-01 5.89385691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.4792541539999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:447.49, Y:239.42, Z:58.95 [[-3.73367685e-02 -9.99302740e-01 -2.48543357e-05 4.47492097e+02] [ 9.59259257e-01 -3.58336609e-02 -2.80245653e-01 2.39421514e+02] [ 2.80049358e-01 -1.04873088e-02 9.59928317e-01 5.89466566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5092541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:447.49, Y:239.42, Z:58.94 [[-3.01841019e-02 -9.99544355e-01 5.64492060e-05 4.47490940e+02] [ 9.59562305e-01 -2.89925424e-02 -2.79999313e-01 2.39417427e+02] [ 2.79873369e-01 -8.39736126e-03 9.60000199e-01 5.89441840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5392541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:447.49, Y:239.44, Z:58.95 [[-2.88606286e-02 -9.99583444e-01 -5.44312493e-05 4.47489209e+02] [ 9.59666981e-01 -2.76928996e-02 -2.79772032e-01 2.39443737e+02] [ 2.79653984e-01 -8.12663258e-03 9.60066460e-01 5.89542024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5692541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.49, Y:239.44, Z:58.95 [[-2.53824572e-02 -9.99677813e-01 2.67820183e-05 4.47489008e+02] [ 9.59685005e-01 -2.43745162e-02 -2.80018880e-01 2.39439780e+02] [ 2.79929315e-01 -7.08186495e-03 9.59994493e-01 5.89525669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.5992541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.49, Y:239.47, Z:58.96 [[-2.07100408e-02 -9.99785521e-01 -8.36344842e-05 4.47487904e+02] [ 9.59649795e-01 -1.98551858e-02 -2.80496065e-01 2.39466355e+02] [ 2.80434244e-01 -5.88934477e-03 9.59855172e-01 5.89600171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6292541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.49, Y:239.49, Z:58.97 [[-1.93980186e-02 -9.99811841e-01 1.63098872e-06 4.47486567e+02] [ 9.59704656e-01 -1.86203297e-02 -2.80393040e-01 2.39492861e+02] [ 2.80340312e-01 -5.43750414e-03 9.59885276e-01 5.89694791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6592541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.49, Y:239.90, Z:59.08 [[-2.13229929e-02 -9.99709952e-01 -1.11955971e-02 4.47489519e+02] [ 9.57467769e-01 -1.71964280e-02 -2.88027350e-01 2.39896754e+02] [ 2.87751284e-01 -1.68610285e-02 9.57556737e-01 5.90838750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.6892541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.48, Y:239.88, Z:59.09 [[-1.65691303e-02 -9.99861900e-01 -1.28283426e-03 4.47484218e+02] [ 9.56727928e-01 -1.54815322e-02 -2.90571839e-01 2.39878500e+02] [ 2.90511851e-01 -6.04184602e-03 9.56852319e-01 5.90851091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7192541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.48, Y:239.49, Z:58.97 [[-9.79430686e-03 -9.99791185e-01 1.79348552e-02 4.47477860e+02] [ 9.59254471e-01 -1.44589900e-02 -2.82173346e-01 2.39488435e+02] [ 2.82373744e-01 1.44403977e-02 9.59195780e-01 5.89729524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7492541539999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:447.49, Y:239.52, Z:58.98 [[-8.27265804e-03 -9.99965775e-01 -1.13455078e-04 4.47487009e+02] [ 9.59197437e-01 -7.90331745e-03 -2.82626636e-01 2.39516999e+02] [ 2.82616066e-01 -2.44689933e-03 9.59229989e-01 5.89758109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.7792541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.49, Y:239.54, Z:58.98 [[-6.09929072e-03 -9.99981399e-01 -2.69829078e-05 4.47488562e+02] [ 9.59129200e-01 -5.84248281e-03 -2.82908190e-01 2.39543497e+02] [ 2.82902769e-01 -1.75141939e-03 9.59146994e-01 5.89828348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8092541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:447.49, Y:239.54, Z:58.98 [[-4.99317121e-03 -9.99987533e-01 5.29917947e-05 4.47489410e+02] [ 9.59228673e-01 -4.80462786e-03 -2.82590283e-01 2.39544405e+02] [ 2.82587015e-01 -1.36019042e-03 9.59240704e-01 5.89834084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.839254154 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:447.49, Y:239.57, Z:58.99 [[-5.26912871e-03 -9.99986117e-01 -5.59666446e-05 4.47489401e+02] [ 9.59227479e-01 -5.03854738e-03 -2.82590262e-01 2.39571739e+02] [ 2.82586057e-01 -1.54268921e-03 9.59240711e-01 5.89911471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8692541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.49, Y:239.57, Z:58.99 [[-4.90794461e-03 -9.99987956e-01 1.86777203e-05 4.47489999e+02] [ 9.59419735e-01 -4.71410174e-03 -2.81942456e-01 2.39574093e+02] [ 2.81939148e-01 -1.36583818e-03 9.59431317e-01 5.89917362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.8992541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:447.49, Y:239.60, Z:59.00 [[-6.06915994e-03 -9.99981578e-01 -9.04301413e-05 4.47493019e+02] [ 9.59539698e-01 -5.79824938e-03 -2.81513674e-01 2.39600715e+02] [ 2.81507963e-01 -1.79532282e-03 9.59557212e-01 5.89981964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9292541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.49, Y:239.63, Z:59.01 [[-8.53495451e-03 -9.99963577e-01 -1.19698334e-05 4.47494045e+02] [ 9.59763836e-01 -8.18847913e-03 -2.80689023e-01 2.39627675e+02] [ 2.80678701e-01 -2.40715625e-03 9.59798767e-01 5.90071958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.959254154 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.50, Y:239.63, Z:59.01 [[-9.48157459e-03 -9.99955047e-01 6.91350500e-05 4.47496931e+02] [ 9.59530537e-01 -9.11772877e-03 -2.81456951e-01 2.39632811e+02] [ 2.81444929e-01 -2.60231788e-03 9.59573853e-01 5.90064799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 701.9892541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:447.50, Y:239.66, Z:59.02 [[-1.31237450e-02 -9.99913879e-01 -4.04074441e-05 4.47498031e+02] [ 9.59485604e-01 -1.25817542e-02 -2.81476600e-01 2.39658717e+02] [ 2.81451850e-01 -3.73279748e-03 9.59568092e-01 5.90152613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0192541539999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:447.50, Y:239.67, Z:59.02 [[-1.85950270e-02 -9.99827097e-01 3.10839079e-05 4.47501982e+02] [ 9.59080335e-01 -1.78459937e-02 -2.82571111e-01 2.39667053e+02] [ 2.82522808e-01 -5.22460545e-03 9.59246353e-01 5.90165491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.0492541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:447.50, Y:239.69, Z:59.02 [[-2.28398774e-02 -9.99739133e-01 -7.82364141e-05 4.47503443e+02] [ 9.58954641e-01 -2.18859972e-02 -2.82713634e-01 2.39693395e+02] [ 2.82638171e-01 -6.53216991e-03 9.59204355e-01 5.90249587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.079254154 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.51, Y:239.70, Z:59.03 [[-2.59872951e-02 -9.99662273e-01 3.00737914e-06 4.47505376e+02] [ 9.58843110e-01 -2.49270080e-02 -2.82840124e-01 2.39700756e+02] [ 2.82744676e-01 -7.34736616e-03 9.59167068e-01 5.90273135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1092541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:447.51, Y:239.73, Z:59.03 [[-3.28742185e-02 -9.99459491e-01 -1.07011408e-04 4.47509897e+02] [ 9.58373258e-01 -3.14924265e-02 -2.83776188e-01 2.39727523e+02] [ 2.83619434e-01 -9.43147726e-03 9.58890538e-01 5.90339900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1392541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.51, Y:239.75, Z:59.04 [[-3.64197904e-02 -9.99336579e-01 -1.89512438e-05 4.47511561e+02] [ 9.58490223e-01 -3.49258207e-02 -2.82978233e-01 2.39753179e+02] [ 2.82789838e-01 -1.03241725e-02 9.59126331e-01 5.90423386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1692541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.51, Y:239.76, Z:59.04 [[-3.81015561e-02 -9.99273871e-01 5.38265558e-05 4.47513697e+02] [ 9.58417435e-01 -3.65589761e-02 -2.83018482e-01 2.39757978e+02] [ 2.82814942e-01 -1.07318563e-02 9.59114454e-01 5.90431447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.1992541539998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.52, Y:239.78, Z:59.05 [[-4.11055251e-02 -9.99154809e-01 -5.69122713e-05 4.47516348e+02] [ 9.58421154e-01 -3.94136322e-02 -2.82622466e-01 2.39784465e+02] [ 2.82381353e-01 -1.16718908e-02 9.59231223e-01 5.90510871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2292541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.52, Y:239.79, Z:59.05 [[-4.13188560e-02 -9.99146011e-01 2.26656227e-05 4.47516942e+02] [ 9.58362673e-01 -3.96387098e-02 -2.82789251e-01 2.39789994e+02] [ 2.82548650e-01 -1.16628064e-02 9.59182068e-01 5.90527278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2592541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.52, Y:239.82, Z:59.06 [[-4.09937570e-02 -9.99159399e-01 -8.85022855e-05 4.47517820e+02] [ 9.58189804e-01 -3.92877417e-02 -2.83423309e-01 2.39816601e+02] [ 2.83181586e-01 -1.17033882e-02 9.58994901e-01 5.90591707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.2892541539999 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:447.52, Y:239.84, Z:59.07 [[-4.01373456e-02 -9.99194172e-01 -9.22606366e-06 4.47518523e+02] [ 9.58108351e-01 -3.84843193e-02 -2.83808640e-01 2.39843785e+02] [ 2.83579584e-01 -1.14001650e-02 9.58880939e-01 5.90658614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3192541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:447.52, Y:239.84, Z:59.07 [[-3.55267394e-02 -9.99368724e-01 7.02133783e-05 4.47519484e+02] [ 9.58458163e-01 -3.40922987e-02 -2.83188391e-01 2.39842981e+02] [ 2.83012015e-01 -9.99346359e-03 9.59064299e-01 5.90668333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3492541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.52, Y:239.87, Z:59.07 [[-3.28238982e-02 -9.99461150e-01 -4.05308943e-05 4.47519677e+02] [ 9.58726891e-01 -3.14746607e-02 -2.82581129e-01 2.39869837e+02] [ 2.82427584e-01 -9.31427226e-03 9.59243402e-01 5.90745848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.3792541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.52, Y:239.98, Z:59.11 [[-2.96035790e-02 -9.99557568e-01 2.88038929e-03 4.47518371e+02] [ 9.58812528e-01 -2.92110132e-02 -2.82533633e-01 2.39984017e+02] [ 2.82492770e-01 -5.60225339e-03 9.59253069e-01 5.91079143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4092541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.52, Y:239.86, Z:59.07 [[-2.24179275e-02 -9.99745567e-01 -2.49750183e-03 4.47520309e+02] [ 9.59227862e-01 -2.08052306e-02 -2.81867082e-01 2.39862863e+02] [ 2.81743405e-01 -8.71454914e-03 9.59450213e-01 5.90731201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4392541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.52, Y:239.86, Z:59.07 [[-1.86788928e-02 -9.99825533e-01 4.03599514e-05 4.47519260e+02] [ 9.59195051e-01 -1.79312186e-02 -2.82176054e-01 2.39863390e+02] [ 2.82127548e-01 -5.23202321e-03 9.59362639e-01 5.90734683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4692541539999 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:447.52, Y:239.89, Z:59.08 [[-1.59585171e-02 -9.99869969e-01 2.31733800e-03 4.47518463e+02] [ 9.59027956e-01 -1.59622251e-02 -2.82861429e-01 2.39888417e+02] [ 2.82861638e-01 -2.29165702e-03 9.59157986e-01 5.90817400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.4992541539999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.52, Y:239.32, Z:58.92 [[-1.08818925e-02 -9.99939796e-01 -1.41031103e-03 4.47522188e+02] [ 9.58547009e-01 -1.00298122e-02 -2.84757851e-01 2.39324469e+02] [ 2.84726562e-01 -4.45055376e-03 9.58598444e-01 5.89178643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5292541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.52, Y:239.35, Z:58.93 [[-1.01153376e-02 -9.99941713e-01 3.77487092e-03 4.47520647e+02] [ 9.58516807e-01 -1.07715546e-02 -2.84832414e-01 2.39351263e+02] [ 2.84856473e-01 7.37101185e-04 9.58569896e-01 5.89273113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.5592541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.53, Y:239.38, Z:58.93 [[-1.06667345e-02 -9.99934044e-01 -4.25786418e-03 4.47525779e+02] [ 9.58616989e-01 -9.01430591e-03 -2.84556165e-01 2.39378745e+02] [ 2.84499015e-01 -7.11694599e-03 9.58649915e-01 5.89333907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.589254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.53, Y:239.41, Z:58.94 [[-1.25594408e-02 -9.99921009e-01 -4.86308211e-04 4.47525431e+02] [ 9.58267828e-01 -1.18973464e-02 -2.85624269e-01 2.39405625e+02] [ 2.85595921e-01 -4.05329461e-03 9.58341557e-01 5.89421985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6192541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.52, Y:239.43, Z:58.95 [[-1.35822094e-02 -9.99903012e-01 3.08068071e-03 4.47524637e+02] [ 9.57605837e-01 -1.38942054e-02 -2.87746437e-01 2.39431660e+02] [ 2.87761332e-01 -9.58154525e-04 9.57701675e-01 5.89497586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6492541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.55, Y:239.46, Z:58.96 [[-1.90029205e-02 -9.98707706e-01 -4.71360438e-02 4.47546704e+02] [ 9.54984797e-01 -4.17114178e-03 -2.96625419e-01 2.39455873e+02] [ 2.96045480e-01 -5.06509544e-02 9.53829940e-01 5.89611700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.6792541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:447.51, Y:239.48, Z:58.98 [[-2.08382244e-02 -9.98713945e-01 4.62193146e-02 4.47508025e+02] [ 9.57447764e-01 -3.32446728e-02 -2.86685490e-01 2.39483963e+02] [ 2.87853343e-01 3.82785629e-02 9.56909194e-01 5.89759265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.709254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.53, Y:239.51, Z:58.97 [[-2.43974998e-02 -9.99702306e-01 -2.46966008e-04 4.47531489e+02] [ 9.57422209e-01 -2.32945783e-02 -2.87750025e-01 2.39514308e+02] [ 2.87658611e-01 -7.25683192e-03 9.57705519e-01 5.89722771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7392541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.53, Y:239.54, Z:58.98 [[-2.73849993e-02 -9.99624948e-01 -1.59288802e-04 4.47532536e+02] [ 9.57355946e-01 -2.61811803e-02 -2.87722330e-01 2.39540698e+02] [ 2.87610249e-01 -8.03177189e-03 9.57713859e-01 5.89794489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7692541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.53, Y:239.57, Z:58.99 [[-3.06485309e-02 -9.99530220e-01 -7.97130829e-05 4.47533229e+02] [ 9.57675332e-01 -2.93423005e-02 -2.86351162e-01 2.39566759e+02] [ 2.86214302e-01 -8.85258170e-03 9.58124734e-01 5.89883858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.7992541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.53, Y:239.57, Z:58.99 [[-3.59460641e-02 -9.99353731e-01 5.46171776e-07 4.47534307e+02] [ 9.57696817e-01 -3.44478498e-02 -2.85709908e-01 2.39574214e+02] [ 2.85525282e-01 -1.02696236e-02 9.58316153e-01 5.89914128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.829254154 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.53, Y:239.60, Z:59.00 [[-3.86922751e-02 -9.99251168e-01 -1.09702827e-04 4.47534691e+02] [ 9.57797112e-01 -3.70558276e-02 -2.85046589e-01 2.39601281e+02] [ 2.84829072e-01 -1.11341741e-02 9.58513657e-01 5.89993451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8592541539999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:447.53, Y:239.63, Z:59.01 [[-4.14978148e-02 -9.99138594e-01 -2.39622935e-05 4.47534830e+02] [ 9.58341068e-01 -3.97965637e-02 -2.82840293e-01 2.39626825e+02] [ 2.82595699e-01 -1.17602181e-02 9.59167018e-01 5.90072214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.8892541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.54, Y:239.62, Z:59.01 [[-4.56780686e-02 -9.98956211e-01 5.95320871e-05 4.47535708e+02] [ 9.58062903e-01 -4.38250658e-02 -2.83186929e-01 2.39623853e+02] [ 2.82893951e-01 -1.28783965e-02 9.59064732e-01 5.90063821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9192541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.54, Y:239.65, Z:59.01 [[-4.82923376e-02 -9.98833243e-01 -5.20923500e-05 4.47535777e+02] [ 9.57829781e-01 -4.62950818e-02 -2.83582223e-01 2.39650953e+02] [ 2.83248940e-01 -1.37447440e-02 9.58947924e-01 5.90141104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9492541539998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.54, Y:239.66, Z:59.02 [[-5.01366997e-02 -9.98742365e-01 2.72029509e-05 4.47535689e+02] [ 9.57519065e-01 -4.80750415e-02 -2.84334363e-01 2.39658071e+02] [ 2.83978081e-01 -1.42295392e-02 9.58725179e-01 5.90155608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 702.9792541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.53, Y:239.69, Z:59.02 [[-5.52557620e-02 -9.98472230e-01 -8.45006913e-05 4.47534552e+02] [ 9.57028746e-01 -5.29381371e-02 -2.85120210e-01 2.39685489e+02] [ 2.84680138e-01 -1.58354040e-02 9.58491763e-01 5.90229233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0092541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.53, Y:239.71, Z:59.03 [[-5.79376242e-02 -9.98320205e-01 1.51157505e-07 4.47533396e+02] [ 9.56856676e-01 -5.55313269e-02 -2.85204440e-01 2.39712348e+02] [ 2.84725363e-01 -1.65239230e-02 9.58466707e-01 5.90309820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0392541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.53, Y:239.72, Z:59.03 [[-5.95323442e-02 -9.98226374e-01 7.62676172e-05 4.47532567e+02] [ 9.56717961e-01 -5.70786632e-02 -2.85364276e-01 2.39719141e+02] [ 2.84862499e-01 -1.69154377e-02 9.58419128e-01 5.90324864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0692541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.53, Y:239.75, Z:59.04 [[-6.22114948e-02 -9.98062988e-01 -3.57460145e-05 4.47530794e+02] [ 9.56549041e-01 -5.96136156e-02 -2.85412244e-01 2.39746414e+02] [ 2.84857266e-01 -1.77901151e-02 9.58404846e-01 5.90397854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.0992541539999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:447.53, Y:239.75, Z:59.04 [[-6.18659213e-02 -9.98084468e-01 4.05427770e-05 4.47529717e+02] [ 9.56449038e-01 -5.92967735e-02 -2.85813103e-01 2.39754156e+02] [ 2.85268023e-01 -1.76433138e-02 9.58285380e-01 5.90414537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1292541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.53, Y:239.78, Z:59.05 [[-6.20627524e-02 -9.98072247e-01 -7.10259586e-05 4.47527504e+02] [ 9.56686110e-01 -5.94689735e-02 -2.84982680e-01 2.39778740e+02] [ 2.84429080e-01 -1.77547591e-02 9.58532663e-01 5.90491333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1592541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.52, Y:239.78, Z:59.05 [[-5.79841286e-02 -9.98317505e-01 1.75216566e-05 4.47523566e+02] [ 9.56604158e-01 -5.55663606e-02 -2.86043465e-01 2.39777707e+02] [ 2.85563172e-01 -1.65692198e-02 9.58216643e-01 5.90483158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.1892541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.52, Y:239.80, Z:59.06 [[-5.62412457e-02 -9.98417204e-01 -9.40000527e-05 4.47520486e+02] [ 9.56920166e-01 -5.38768392e-02 -2.85308750e-01 2.39804933e+02] [ 2.84852100e-01 -1.61360701e-02 9.58435657e-01 5.90562228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2192541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.52, Y:239.83, Z:59.06 [[-5.39282654e-02 -9.98544812e-01 -6.33356174e-06 4.47517329e+02] [ 9.57127166e-01 -5.16896208e-02 -2.85018896e-01 2.39830451e+02] [ 2.84603812e-01 -1.53766367e-02 9.58521898e-01 5.90639274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2492541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.51, Y:239.83, Z:59.06 [[-4.73921935e-02 -9.98876357e-01 6.48944705e-05 4.47511926e+02] [ 9.57092066e-01 -4.54283105e-02 -2.86201059e-01 2.39825605e+02] [ 2.85882419e-01 -1.35015860e-02 9.58169583e-01 5.90626960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.2792541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.51, Y:239.85, Z:59.07 [[-4.54275899e-02 -9.98967633e-01 -4.62830401e-05 4.47509313e+02] [ 9.57388941e-01 -4.35235905e-02 -2.85503264e-01 2.39852537e+02] [ 2.85206506e-01 -1.30140361e-02 9.58377736e-01 5.90707143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3092541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.51, Y:239.85, Z:59.07 [[-4.26265933e-02 -9.99091073e-01 3.15256449e-05 4.47506933e+02] [ 9.57583629e-01 -4.08646634e-02 -2.85243181e-01 2.39850485e+02] [ 2.84985204e-01 -1.21287566e-02 9.58455177e-01 5.90704069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.339254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.50, Y:239.88, Z:59.08 [[-3.74021147e-02 -9.99266041e-01 8.27411146e-03 4.47504407e+02] [ 9.58893028e-01 -3.82192116e-02 -2.81182241e-01 2.39883019e+02] [ 2.81292095e-01 -2.58282265e-03 9.59618719e-01 5.90770981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3692541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.50, Y:239.90, Z:59.08 [[-4.04016209e-02 -9.99146520e-01 -8.59884610e-03 4.47503914e+02] [ 9.57603237e-01 -3.62621299e-02 -2.85799052e-01 2.39901793e+02] [ 2.85243316e-01 -1.97810278e-02 9.58250991e-01 5.90833709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.3992541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.50, Y:239.90, Z:59.09 [[-3.82473168e-02 -9.99267865e-01 9.36708327e-04 4.47496979e+02] [ 9.57739344e-01 -3.69251975e-02 -2.85257565e-01 2.39901558e+02] [ 2.85083306e-01 -1.00132140e-02 9.58450439e-01 5.90857702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4292541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.49, Y:239.90, Z:59.09 [[-3.64389052e-02 -9.99335546e-01 8.19878782e-04 4.47494563e+02] [ 9.57611663e-01 -3.51520887e-02 -2.85909487e-01 2.39904913e+02] [ 2.85748334e-01 -9.63310321e-03 9.58256277e-01 5.90869434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.459254154 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:447.49, Y:239.90, Z:59.09 [[-3.28427499e-02 -9.99460286e-01 7.01111482e-04 4.47490562e+02] [ 9.57748539e-01 -3.16726079e-02 -2.85857626e-01 2.39902458e+02] [ 2.85725551e-01 -8.71686201e-03 9.58271844e-01 5.90853723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.4892541539999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:447.49, Y:239.91, Z:59.09 [[-3.02252811e-02 -9.99542941e-01 5.83824031e-04 4.47489441e+02] [ 9.57615361e-01 -2.91248139e-02 -2.86573838e-01 2.39909584e+02] [ 2.86459861e-01 -8.10269596e-03 9.58057981e-01 5.90863332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5192541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:447.49, Y:239.91, Z:59.09 [[-2.93480486e-02 -9.99569145e-01 4.64469183e-04 4.47487285e+02] [ 9.57797553e-01 -2.82545249e-02 -2.86051620e-01 2.39907736e+02] [ 2.85941497e-01 -7.95018940e-03 9.58214097e-01 5.90867500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.5492541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.46, Y:239.89, Z:59.08 [[-7.24424998e-03 -9.97739434e-01 6.68097554e-02 4.47463179e+02] [ 9.70077892e-01 -2.32265994e-02 -2.41680385e-01 2.39891486e+02] [ 2.42685813e-01 6.30598736e-02 9.68053226e-01 5.90766403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.579254154 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.52, Y:239.91, Z:59.05 [[-1.21818079e-02 -9.97518910e-01 -6.93370573e-02 4.47520317e+02] [ 9.69199056e-01 5.27881668e-03 -2.46222105e-01 2.39907720e+02] [ 2.45977223e-01 -7.02008408e-02 9.66730080e-01 5.90537928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6092541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:447.50, Y:239.93, Z:59.08 [[-1.48060848e-02 -9.99487608e-01 -2.83778240e-02 4.47496596e+02] [ 9.67648999e-01 -7.17393192e-03 -2.52198234e-01 2.39927668e+02] [ 2.51865429e-01 -3.11938414e-02 9.67259402e-01 5.90785603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6392541539999 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:447.48, Y:239.95, Z:59.09 [[-1.50267676e-02 -9.99882437e-01 -3.05091421e-03 4.47483772e+02] [ 9.67705471e-01 -1.37751685e-02 -2.51706907e-01 2.39951851e+02] [ 2.51635288e-01 -6.73472757e-03 9.67798701e-01 5.90917298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6692541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.48, Y:239.98, Z:59.10 [[-1.60664605e-02 -9.99866550e-01 -2.95815423e-03 4.47482116e+02] [ 9.68045322e-01 -1.48145024e-02 -2.50337344e-01 2.39978218e+02] [ 2.50260113e-01 -6.88566240e-03 9.68154153e-01 5.90979942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.6992541539998 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:447.48, Y:240.01, Z:59.10 [[-1.64140089e-02 -9.99861140e-01 -2.87755565e-03 4.47481485e+02] [ 9.68159679e-01 -1.51744650e-02 -2.49873111e-01 2.40005193e+02] [ 2.49794748e-01 -6.88735283e-03 9.68274315e-01 5.91044617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7292541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:447.48, Y:240.03, Z:59.11 [[-1.65893564e-02 -9.99858451e-01 -2.80555741e-03 4.47481670e+02] [ 9.68156509e-01 -1.53622323e-02 -2.49873920e-01 2.40032765e+02] [ 2.49795451e-01 -6.86146618e-03 9.68274317e-01 5.91114312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7592541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:447.48, Y:240.06, Z:59.12 [[-1.61925094e-02 -9.99865084e-01 -2.75988508e-03 4.47481660e+02] [ 9.68167129e-01 -1.49895055e-02 -2.49855407e-01 2.40059140e+02] [ 2.49780328e-01 -6.71781605e-03 9.68279226e-01 5.91176028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.7892541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:447.45, Y:240.11, Z:59.13 [[-5.68514566e-03 -9.95087642e-01 9.88345306e-02 4.47446032e+02] [ 9.73751202e-01 -2.79988332e-02 -2.25886392e-01 2.40105768e+02] [ 2.27544008e-01 9.49560460e-02 9.69126965e-01 5.91272941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8192541539999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:447.53, Y:240.12, Z:59.10 [[-1.69343402e-02 -9.93386936e-01 -1.13558903e-01 4.47534794e+02] [ 9.69121197e-01 1.16362369e-02 -2.46310178e-01 2.40120727e+02] [ 2.46002712e-01 -1.14223441e-01 9.62515284e-01 5.91040047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8492541539999 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:447.48, Y:240.14, Z:59.14 [[-1.66639007e-02 -9.99858125e-01 -2.45842250e-03 4.47479963e+02] [ 9.68502311e-01 -1.55302631e-02 -2.48519788e-01 2.40141435e+02] [ 2.48446350e-01 -6.52229695e-03 9.68623699e-01 5.91389299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.8792541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:447.48, Y:240.17, Z:59.14 [[-1.55665477e-02 -9.99875977e-01 -2.39021451e-03 4.47481102e+02] [ 9.68341740e-01 -1.44798732e-02 -2.49207960e-01 2.40167569e+02] [ 2.49142443e-01 -6.19385207e-03 9.68447045e-01 5.91441697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9092541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:447.48, Y:240.19, Z:59.15 [[-1.64458587e-02 -9.99862059e-01 -2.32305033e-03 4.47481188e+02] [ 9.68318912e-01 -1.53479451e-02 -2.49244711e-01 2.40194026e+02] [ 2.49174676e-01 -6.34849687e-03 9.68437751e-01 5.91515201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9392541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:447.48, Y:240.22, Z:59.16 [[-1.74451350e-02 -9.99845295e-01 -2.24789760e-03 4.47481430e+02] [ 9.68288646e-01 -1.63340531e-02 -2.49299612e-01 2.40220971e+02] [ 2.49224327e-01 -6.52567911e-03 9.68423797e-01 5.91585198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9692541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:447.48, Y:240.25, Z:59.16 [[-1.87552991e-02 -9.99821732e-01 -2.17763851e-03 4.47482884e+02] [ 9.68091423e-01 -1.76156242e-02 -2.49977371e-01 2.40247719e+02] [ 2.49894448e-01 -6.79655354e-03 9.68249230e-01 5.91648806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 703.9992541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:447.46, Y:240.29, Z:59.17 [[-9.74054278e-03 -9.97874849e-01 6.44275326e-02 4.47461946e+02] [ 9.72082478e-01 -2.45550256e-02 -2.33351037e-01 2.40289836e+02] [ 2.34437150e-01 6.03559098e-02 9.70255836e-01 5.91717950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0292541539999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:447.52, Y:240.31, Z:59.16 [[-2.12836402e-02 -9.96788941e-01 -7.71933522e-02 4.47520905e+02] [ 9.68361133e-01 -1.35103530e-03 -2.49549376e-01 2.40306489e+02] [ 2.48643767e-01 -8.00623611e-02 9.65280423e-01 5.91599440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.0592541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.48, Y:240.33, Z:59.18 [[-1.92991267e-02 -9.99722374e-01 1.35173829e-02 4.47479881e+02] [ 9.68823858e-01 -2.20392350e-02 -2.46768323e-01 2.40330989e+02] [ 2.46997726e-01 8.33354990e-03 9.68980224e-01 5.91849162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.089254154 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:447.49, Y:240.36, Z:59.19 [[-2.17405808e-02 -9.99602419e-01 -1.79541650e-02 4.47493803e+02] [ 9.67706377e-01 -1.65289227e-02 -2.51537598e-01 2.40356105e+02] [ 2.51140829e-01 -2.28429335e-02 9.67680983e-01 5.91883070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1192541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:447.49, Y:240.39, Z:59.20 [[-1.81068158e-02 -9.99822340e-01 5.23746316e-03 4.47486100e+02] [ 9.68482170e-01 -1.88403007e-02 -2.48369343e-01 2.40385947e+02] [ 2.48423893e-01 5.75211734e-04 9.68651247e-01 5.91982836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1492541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:447.49, Y:240.41, Z:59.20 [[-2.10103500e-02 -9.99725574e-01 -1.03606255e-02 4.47491736e+02] [ 9.67599851e-01 -1.77249890e-02 -2.51865744e-01 2.40410194e+02] [ 2.51612983e-01 -1.53167271e-02 9.67706725e-01 5.92033613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.1792541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.49, Y:240.44, Z:59.21 [[-1.58462917e-02 -9.99829774e-01 9.45081764e-03 4.47487474e+02] [ 9.68702394e-01 -1.76933151e-02 -2.47593656e-01 2.40441553e+02] [ 2.47718726e-01 5.23158837e-03 9.68817869e-01 5.92116073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.209254154 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:447.50, Y:240.46, Z:59.22 [[-2.04842987e-02 -9.99666453e-01 -1.57282097e-02 4.47495616e+02] [ 9.67577555e-01 -1.58607399e-02 -2.52075609e-01 2.40464613e+02] [ 2.51742069e-01 -2.03818548e-02 9.67579718e-01 5.92158630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2392541539999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:447.47, Y:240.51, Z:59.23 [[-1.03761656e-02 -9.97342823e-01 7.21084506e-02 4.47466660e+02] [ 9.71772296e-01 -2.70548088e-02 -2.34364335e-01 2.40509196e+02] [ 2.35692467e-01 6.76411915e-02 9.69470851e-01 5.92273256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2692541539999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:447.53, Y:240.53, Z:59.21 [[-1.82828901e-02 -9.96924949e-01 -7.61996257e-02 4.47531367e+02] [ 9.68050806e-01 1.41264574e-03 -2.50750159e-01 2.40530784e+02] [ 2.50086733e-01 -7.83495466e-02 9.65048172e-01 5.92147929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.2992541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.49, Y:240.55, Z:59.24 [[-2.16835874e-02 -9.99735834e-01 -7.62127467e-03 4.47494277e+02] [ 9.66816772e-01 -1.90274770e-02 -2.54761232e-01 2.40549026e+02] [ 2.54548919e-01 -1.28925136e-02 9.66973956e-01 5.92406657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.329254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.49, Y:240.58, Z:59.25 [[-1.92113457e-02 -9.99815083e-01 -8.50752872e-04 4.47491234e+02] [ 9.66872408e-01 -1.83617147e-02 -2.54598890e-01 2.40575254e+02] [ 2.54536189e-01 -5.71375676e-03 9.67046370e-01 5.92494429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3592541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:447.49, Y:240.60, Z:59.26 [[-1.72086131e-02 -9.99851621e-01 -7.74877533e-04 4.47491287e+02] [ 9.66894447e-01 -1.64440327e-02 -2.54646269e-01 2.40602332e+02] [ 2.54595743e-01 -5.13133390e-03 9.67033959e-01 5.92562055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.3892541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.49, Y:240.63, Z:59.26 [[-1.54807970e-02 -9.99879922e-01 -6.97806194e-04 4.47490754e+02] [ 9.66975950e-01 -1.47937864e-02 -2.54437921e-01 2.40628706e+02] [ 2.54397046e-01 -4.61366361e-03 9.67088857e-01 5.92636895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4192541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.49, Y:240.66, Z:59.27 [[-1.18782830e-02 -9.99893623e-01 8.46453817e-03 4.47487559e+02] [ 9.67793236e-01 -1.36249652e-02 -2.51377430e-01 2.40657475e+02] [ 2.51466019e-01 5.20599053e-03 9.67852127e-01 5.92692151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4492541539998 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:447.50, Y:240.68, Z:59.27 [[-9.69161136e-03 -9.99902585e-01 -1.00446015e-02 4.47495727e+02] [ 9.67105716e-01 -6.81930193e-03 -2.54283369e-01 2.40683746e+02] [ 2.54190101e-01 -1.21786072e-02 9.67077595e-01 5.92747423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.4792541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.49, Y:240.71, Z:59.28 [[-7.89478287e-03 -9.99968724e-01 -4.73011589e-04 4.47491760e+02] [ 9.67024514e-01 -7.51426786e-03 -2.54572438e-01 2.40709719e+02] [ 2.54560921e-01 -2.46720792e-03 9.67053592e-01 5.92844456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5092541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:447.49, Y:240.74, Z:59.29 [[-5.61704391e-03 -9.99984146e-01 -3.96798682e-04 4.47493031e+02] [ 9.66797154e-01 -5.32924868e-03 -2.55489455e-01 2.40736779e+02] [ 2.55483290e-01 -1.81871932e-03 9.66811761e-01 5.92907158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5392541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:447.49, Y:240.76, Z:59.30 [[-4.97520679e-03 -9.99987572e-01 -3.20173419e-04 4.47493959e+02] [ 9.66677866e-01 -4.72753192e-03 -2.55952250e-01 2.40762481e+02] [ 2.55947555e-01 -1.58291993e-03 9.66689373e-01 5.92970901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5692541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.49, Y:240.79, Z:59.30 [[-5.28105382e-03 -9.99986024e-01 -2.50651731e-04 4.47493957e+02] [ 9.66633858e-01 -5.04072085e-03 -2.56112429e-01 2.40789619e+02] [ 2.56107586e-01 -1.59483197e-03 9.66646968e-01 5.93044368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.5992541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:447.49, Y:240.82, Z:59.31 [[-5.50180221e-03 -9.99984850e-01 -1.73479361e-04 4.47494525e+02] [ 9.66571304e-01 -5.27349368e-03 -2.56343722e-01 2.40816725e+02] [ 2.56338924e-01 -1.57803263e-03 9.66585675e-01 5.93116160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6292541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.50, Y:240.84, Z:59.32 [[-7.23814216e-03 -9.99973800e-01 -9.67163313e-05 4.47496145e+02] [ 9.66477576e-01 -6.97086186e-03 -2.56656390e-01 2.40843205e+02] [ 2.56648991e-01 -1.95118960e-03 9.66502710e-01 5.93186074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6592541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.50, Y:240.87, Z:59.33 [[-8.65818112e-03 -9.99962517e-01 -2.72537432e-05 4.47497749e+02] [ 9.66519166e-01 -8.36162197e-03 -2.56458154e-01 2.40869841e+02] [ 2.56448313e-01 -2.24680241e-03 9.66555335e-01 5.93252137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.6892541539999 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:447.50, Y:240.88, Z:59.33 [[-9.94635755e-03 -9.99950533e-01 4.52621252e-05 4.47499280e+02] [ 9.66458882e-01 -9.62483783e-03 -2.56640979e-01 2.40875196e+02] [ 2.56628719e-01 -2.50889896e-03 9.66506806e-01 5.93261504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7192541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.50, Y:240.90, Z:59.33 [[-1.27117463e-02 -9.99919201e-01 -5.40270838e-05 4.47500297e+02] [ 9.66534176e-01 -1.22734848e-02 -2.56244117e-01 2.40901636e+02] [ 2.56222750e-01 -3.30952924e-03 9.66612099e-01 5.93329644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7492541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:447.50, Y:240.91, Z:59.33 [[-1.78197558e-02 -9.99841216e-01 9.43726626e-06 4.47502445e+02] [ 9.66538022e-01 -1.72286226e-02 -2.55944188e-01 2.40907180e+02] [ 2.55903711e-01 -4.55174147e-03 9.66691560e-01 5.93347982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.7792541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.50, Y:240.93, Z:59.34 [[-2.05826881e-02 -9.99788150e-01 -9.07597653e-05 4.47504311e+02] [ 9.66416926e-01 -1.98724146e-02 -2.56209706e-01 2.40933729e+02] [ 2.56153624e-01 -5.36119624e-03 9.66621218e-01 5.93409084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8092541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.50, Y:240.96, Z:59.35 [[-2.47732497e-02 -9.99693095e-01 -3.69865742e-05 4.47504952e+02] [ 9.66448134e-01 -2.39399491e-02 -2.55743783e-01 2.40960990e+02] [ 2.55664408e-01 -6.37135019e-03 9.66744597e-01 5.93486070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.839254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.51, Y:240.93, Z:59.34 [[-3.16150041e-02 -9.99500120e-01 3.15361713e-05 4.47507420e+02] [ 9.66482929e-01 -3.05786861e-02 -2.54903300e-01 2.40931603e+02] [ 2.54776844e-01 -8.02828973e-03 9.66966549e-01 5.93407404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8692541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.51, Y:240.96, Z:59.35 [[-3.53858542e-02 -9.99373722e-01 -7.05427598e-05 4.47509285e+02] [ 9.66221010e-01 -3.41939515e-02 -2.55436358e-01 2.40958769e+02] [ 2.55273971e-01 -9.10699359e-03 9.66825870e-01 5.93476330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.8992541539999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:447.51, Y:240.95, Z:59.34 [[-2.90862983e-02 -9.99360129e-01 2.08163463e-02 4.47505211e+02] [ 9.69721669e-01 -3.32631395e-02 -2.41936868e-01 2.40951103e+02] [ 2.42474476e-01 1.31490141e-02 9.70068674e-01 5.93443525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9292541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.52, Y:240.98, Z:59.35 [[-3.91079791e-02 -9.99205323e-01 -7.69990012e-03 4.47519794e+02] [ 9.69746326e-01 -3.60945027e-02 -2.41431669e-01 2.40980969e+02] [ 2.40961885e-01 -1.69088545e-02 9.70387274e-01 5.93458939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.959254154 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.53, Y:241.00, Z:59.35 [[-4.85404154e-02 -9.98329673e-01 -3.13319625e-02 4.47525786e+02] [ 9.68219567e-01 -3.93247600e-02 -2.46990758e-01 2.40999464e+02] [ 2.45346080e-01 -4.23252531e-02 9.68511164e-01 5.93522226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 704.9892541539999 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:447.51, Y:241.02, Z:59.37 [[-5.62400087e-02 -9.98416683e-01 -1.09040120e-03 4.47512046e+02] [ 9.67304161e-01 -5.42168831e-02 -2.47756312e-01 2.41023423e+02] [ 2.47304917e-01 -1.49885668e-02 9.68821769e-01 5.93661832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0192541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.51, Y:241.05, Z:59.37 [[-5.97718677e-02 -9.98211524e-01 -1.03836178e-03 4.47512268e+02] [ 9.67039745e-01 -5.76473445e-02 -2.48013941e-01 2.41050733e+02] [ 2.47510515e-01 -1.58283936e-02 9.68755907e-01 5.93727985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.0492541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.51, Y:241.08, Z:59.38 [[-6.27220128e-02 -9.98030565e-01 -9.69852224e-04 4.47512572e+02] [ 9.66713865e-01 -6.05123080e-02 -2.48601216e-01 2.41077901e+02] [ 2.48052924e-01 -1.65303382e-02 9.68605438e-01 5.93796433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.079254154 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:447.51, Y:241.10, Z:59.39 [[-6.66608398e-02 -9.97775290e-01 -8.96029001e-04 4.47512062e+02] [ 9.66448386e-01 -6.43445926e-02 -2.48671051e-01 2.41103968e+02] [ 2.48060175e-01 -1.74425869e-02 9.68587583e-01 5.93856844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1092541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:447.51, Y:241.13, Z:59.39 [[-6.76425851e-02 -9.97709282e-01 -8.18059720e-04 4.47511279e+02] [ 9.66389543e-01 -6.53152980e-02 -2.48646664e-01 2.41131016e+02] [ 2.48023653e-01 -1.76096675e-02 9.68593912e-01 5.93926536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1392541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.51, Y:241.16, Z:59.40 [[-6.62530949e-02 -9.97799133e-01 -2.72342678e-03 4.47513117e+02] [ 9.66537414e-01 -6.34989608e-02 -2.48542371e-01 2.41161759e+02] [ 2.47822427e-01 -1.90989951e-02 9.68617196e-01 5.93999268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1692541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.51, Y:241.19, Z:59.41 [[-6.74611896e-02 -9.97721319e-01 -1.07611971e-03 4.47508819e+02] [ 9.66285996e-01 -6.50669935e-02 -2.49113749e-01 2.41185403e+02] [ 2.48476078e-01 -1.78453492e-02 9.68473635e-01 5.94060320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.1992541539998 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:447.51, Y:241.21, Z:59.41 [[-6.44932936e-02 -9.97917933e-01 -6.42787216e-04 4.47505818e+02] [ 9.66405550e-01 -6.22960973e-02 -2.49358194e-01 2.41211182e+02] [ 2.48798971e-01 -1.67031244e-02 9.68411110e-01 5.94120387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2292541539999 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:447.50, Y:241.25, Z:59.42 [[-5.71969633e-02 -9.97987182e-01 2.73878151e-02 4.47496087e+02] [ 9.67940107e-01 -6.21537064e-02 -2.43369815e-01 2.41245055e+02] [ 2.44582210e-01 1.25897503e-02 9.69546823e-01 5.94181657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2592541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.52, Y:241.27, Z:59.42 [[-5.88973347e-02 -9.97726345e-01 -3.27604255e-02 4.47517636e+02] [ 9.66954205e-01 -4.88646981e-02 -2.50223515e-01 2.41267192e+02] [ 2.48053765e-01 -4.64153293e-02 9.67633684e-01 5.94181613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.2892541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:447.50, Y:241.29, Z:59.43 [[-5.08538261e-02 -9.98706026e-01 -4.03704406e-04 4.47497454e+02] [ 9.66913633e-01 -4.91337772e-02 -2.50327582e-01 2.41292419e+02] [ 2.49983829e-01 -1.31204626e-02 9.68161112e-01 5.94331852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3192541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:447.49, Y:241.32, Z:59.44 [[-4.65459385e-02 -9.98916097e-01 -3.27836177e-04 4.47494810e+02] [ 9.67070218e-01 -4.49798206e-02 -2.50503510e-01 2.41318048e+02] [ 2.50217242e-01 -1.19769616e-02 9.68115636e-01 5.94400335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3492541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:447.49, Y:241.34, Z:59.45 [[-4.22024054e-02 -9.99109048e-01 -2.59178424e-04 4.47492341e+02] [ 9.67248413e-01 -4.07916204e-02 -2.50532536e-01 2.41344950e+02] [ 2.50298751e-01 -1.08237656e-02 9.68108145e-01 5.94469385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.3792541539999 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:447.49, Y:241.37, Z:59.45 [[-3.33885878e-02 -9.99442429e-01 -1.83147556e-04 4.47487992e+02] [ 9.67655633e-01 -3.22808302e-02 -2.50200968e-01 2.41370995e+02] [ 2.50055551e-01 -8.53108075e-03 9.68193907e-01 5.94532043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4092541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:447.49, Y:241.40, Z:59.46 [[-2.98116097e-02 -9.99555529e-01 -1.14731196e-04 4.47485935e+02] [ 9.67736856e-01 -2.88338911e-02 -2.50307780e-01 2.41397966e+02] [ 2.50193217e-01 -7.57310745e-03 9.68166309e-01 5.94601948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4392541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:447.48, Y:241.42, Z:59.47 [[-2.61345354e-02 -9.99658434e-01 -4.01386493e-05 4.47484181e+02] [ 9.67954193e-01 -2.52956447e-02 -2.49849576e-01 2.41424987e+02] [ 2.49763220e-01 -6.56855496e-03 9.68284663e-01 5.94669712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4692541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:447.48, Y:241.42, Z:59.47 [[-1.95804477e-02 -9.99808284e-01 3.12326260e-05 4.47479788e+02] [ 9.68203411e-01 -1.89692837e-02 -2.49444026e-01 2.41424093e+02] [ 2.49396796e-01 -4.85398617e-03 9.68389218e-01 5.94675093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.4992541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.48, Y:241.45, Z:59.47 [[-1.73860180e-02 -9.99848850e-01 -6.64028186e-05 4.47477779e+02] [ 9.68210324e-01 -1.68192921e-02 -2.49571394e-01 2.41450885e+02] [ 2.49532555e-01 -4.40334466e-03 9.68356399e-01 5.94745140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5292541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:447.48, Y:241.45, Z:59.47 [[-1.51270476e-02 -9.99885580e-01 4.45430733e-06 4.47476082e+02] [ 9.68200739e-01 -1.46488072e-02 -2.49745352e-01 2.41452633e+02] [ 2.49716841e-01 -3.77359717e-03 9.68311551e-01 5.94746676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.5592541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:447.47, Y:241.48, Z:59.48 [[-1.31310468e-02 -9.99913780e-01 -9.28318127e-05 4.47474565e+02] [ 9.68007236e-01 -1.26887786e-02 -2.50601248e-01 2.41479733e+02] [ 2.50578464e-01 -3.38051859e-03 9.68090391e-01 5.94810192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.589254154 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:447.47, Y:241.51, Z:59.49 [[-1.34256527e-02 -9.99909872e-01 -1.64734000e-05 4.47473978e+02] [ 9.67908057e-01 -1.29918340e-02 -2.50968534e-01 2.41506587e+02] [ 2.50945700e-01 -3.38536111e-03 9.67995245e-01 5.94872159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6192541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:447.47, Y:241.51, Z:59.49 [[-1.34926094e-02 -9.99908969e-01 5.46384736e-05 4.47473252e+02] [ 9.67644272e-01 -1.30710038e-02 -2.51979584e-01 2.41510125e+02] [ 2.51957361e-01 -3.34699150e-03 9.67732549e-01 5.94879209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6492541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:447.47, Y:241.54, Z:59.49 [[-1.37656132e-02 -9.99905249e-01 -4.19487043e-05 4.47473231e+02] [ 9.67641007e-01 -1.33108629e-02 -2.51979568e-01 2.41537682e+02] [ 2.51955135e-01 -3.50924457e-03 9.67732554e-01 5.94948111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.6792541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.47, Y:241.54, Z:59.50 [[-1.40898397e-02 -9.99900733e-01 2.29267676e-05 4.47472698e+02] [ 9.67596410e-01 -1.36404130e-02 -2.52133154e-01 2.41539244e+02] [ 2.52108438e-01 -3.53033188e-03 9.67692550e-01 5.94952121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.709254154 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:447.47, Y:241.57, Z:59.50 [[-1.42785797e-02 -9.99896466e-01 1.78321189e-03 4.47471566e+02] [ 9.67830835e-01 -1.42686643e-02 -2.51196894e-01 2.41566908e+02] [ 2.51196331e-01 -1.86088742e-03 9.67934368e-01 5.95022841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7392541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:447.47, Y:241.59, Z:59.51 [[-1.77049512e-02 -9.99840704e-01 -2.25841825e-03 4.47472231e+02] [ 9.67573674e-01 -1.65642597e-02 -2.52045254e-01 2.41592648e+02] [ 2.51967696e-01 -6.64763497e-03 9.67712813e-01 5.95086532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7692541539999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:447.47, Y:241.59, Z:59.51 [[-1.80942380e-02 -9.99836286e-01 1.99886060e-05 4.47471134e+02] [ 9.67662992e-01 -1.75170221e-02 -2.51637614e-01 2.41593977e+02] [ 2.51596767e-01 -4.53384863e-03 9.67821528e-01 5.95098589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.7992541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:447.47, Y:241.62, Z:59.52 [[-1.92157678e-02 -9.99815357e-01 -7.68189341e-05 4.47471348e+02] [ 9.67798198e-01 -1.85811316e-02 -2.51040613e-01 2.41621345e+02] [ 2.50992832e-01 -4.89828334e-03 9.67976552e-01 5.95165079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.829254154 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.47, Y:241.65, Z:59.52 [[-2.00849166e-02 -9.99798278e-01 -1.34453188e-06 4.47471926e+02] [ 9.68027578e-01 -1.94463397e-02 -2.50088882e-01 2.41647992e+02] [ 2.50038408e-01 -5.02431589e-03 9.68222883e-01 5.95232919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8592541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:447.47, Y:241.64, Z:59.52 [[-1.92915200e-02 -9.99813899e-01 6.90526130e-05 4.47472770e+02] [ 9.68052167e-01 -1.86959437e-02 -2.50050924e-01 2.41644959e+02] [ 2.50005680e-01 -4.75701585e-03 9.68232684e-01 5.95215843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.8892541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:447.47, Y:241.67, Z:59.53 [[-1.87986792e-02 -9.99823289e-01 -2.87712279e-05 4.47473135e+02] [ 9.68217015e-01 -1.81972398e-02 -2.49448738e-01 2.41670444e+02] [ 2.49404134e-01 -4.71716360e-03 9.68388004e-01 5.95286914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9192541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:447.47, Y:241.67, Z:59.53 [[-1.80788978e-02 -9.99836563e-01 3.57413823e-05 4.47472998e+02] [ 9.68358447e-01 -1.75186143e-02 -2.48947819e-01 2.41671380e+02] [ 2.48907758e-01 -4.46609171e-03 9.68516898e-01 5.95292168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9492541539998 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:447.47, Y:241.70, Z:59.54 [[-1.78406032e-02 -9.99840842e-01 -6.19498281e-05 4.47473505e+02] [ 9.68350679e-01 -1.72632825e-02 -2.48995865e-01 2.41697058e+02] [ 2.48955166e-01 -4.50222558e-03 9.68504546e-01 5.95354837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 705.9792541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:447.47, Y:241.83, Z:59.57 [[-1.72394394e-02 -9.99835189e-01 5.69185913e-03 4.47472472e+02] [ 9.68300018e-01 -1.81139615e-02 -2.49132414e-01 2.41825178e+02] [ 2.49194457e-01 1.21652414e-03 9.68452706e-01 5.95690250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0092541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:447.48, Y:241.70, Z:59.53 [[-1.65021770e-02 -9.99851543e-01 -4.95689595e-03 4.47478679e+02] [ 9.68236942e-01 -1.47429678e-02 -2.49599416e-01 2.41697338e+02] [ 2.49489282e-01 -8.91838354e-03 9.68336491e-01 5.95323068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0392541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.48, Y:241.72, Z:59.54 [[-1.84957409e-02 -9.99828931e-01 -1.27626388e-04 4.47477928e+02] [ 9.68131048e-01 -1.78774775e-02 -2.49805265e-01 2.41724421e+02] [ 2.49760250e-01 -4.74389252e-03 9.68296088e-01 5.95403482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0692541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:447.48, Y:241.75, Z:59.55 [[-1.99889657e-02 -9.99800199e-01 -5.15799744e-05 4.47478668e+02] [ 9.67935048e-01 -1.93389660e-02 -2.50455081e-01 2.41750672e+02] [ 2.50404043e-01 -5.05626410e-03 9.68128220e-01 5.95464925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.0992541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:447.48, Y:241.78, Z:59.55 [[-2.20201306e-02 -9.99757528e-01 -7.88183292e-06 4.47479581e+02] [ 9.67723525e-01 -2.13125869e-02 -2.51111436e-01 2.41777859e+02] [ 2.51050380e-01 -5.53713406e-03 9.67958184e-01 5.95526657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1292541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.48, Y:241.78, Z:59.55 [[-2.38475824e-02 -9.99715604e-01 6.09270555e-05 4.47480100e+02] [ 9.67593146e-01 -2.30966464e-02 -2.51455859e-01 2.41782407e+02] [ 2.51385754e-01 -5.93766173e-03 9.67868765e-01 5.95534076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1592541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:447.48, Y:241.81, Z:59.56 [[-2.86542646e-02 -9.99589382e-01 -3.59515689e-05 4.47482385e+02] [ 9.67288060e-01 -2.77192444e-02 -2.52161561e-01 2.41809595e+02] [ 2.52057022e-01 -7.26027960e-03 9.67685148e-01 5.95593397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.1892541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.48, Y:241.81, Z:59.56 [[-3.06390473e-02 -9.99530514e-01 3.27445467e-05 4.47483523e+02] [ 9.67240460e-01 -2.96575056e-02 -2.52123632e-01 2.41813153e+02] [ 2.52006235e-01 -7.69315603e-03 9.67695031e-01 5.95597978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2192541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:447.48, Y:241.84, Z:59.57 [[-3.33220722e-02 -9.99444663e-01 -6.55098959e-05 4.47484721e+02] [ 9.67149738e-01 -3.22288125e-02 -2.52156078e-01 2.41839283e+02] [ 2.52013935e-01 -8.46572091e-03 9.67686575e-01 5.95662863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2492541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:447.49, Y:241.87, Z:59.57 [[-3.77069750e-02 -9.99288839e-01 -1.29443695e-05 4.47487064e+02] [ 9.66938449e-01 -3.64830022e-02 -2.52386663e-01 2.41866003e+02] [ 2.52206703e-01 -9.52925398e-03 9.67626463e-01 5.95726077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.2792541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.49, Y:241.87, Z:59.57 [[-3.97412578e-02 -9.99210003e-01 5.59451616e-05 4.47486747e+02] [ 9.67101446e-01 -3.84782938e-02 -2.51464140e-01 2.41870163e+02] [ 2.51267637e-01 -9.93939658e-03 9.67866614e-01 5.95743343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3092541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:447.49, Y:241.90, Z:59.58 [[-4.17594048e-02 -9.99127695e-01 -4.24995407e-05 4.47487132e+02] [ 9.66898638e-01 -4.04016468e-02 -2.51941920e-01 2.41897696e+02] [ 2.51720433e-01 -1.05620374e-02 9.67742356e-01 5.95811241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.339254154 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:447.49, Y:241.90, Z:59.58 [[-4.50582911e-02 -9.98984359e-01 2.75746277e-05 4.47487572e+02] [ 9.67006156e-01 -4.36228710e-02 -2.50990319e-01 2.41903317e+02] [ 2.50736605e-01 -1.12825300e-02 9.67989597e-01 5.95830892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3692541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.49, Y:241.93, Z:59.59 [[-4.67561988e-02 -9.98906328e-01 -7.09008096e-05 4.47488253e+02] [ 9.66947835e-01 -4.52424947e-02 -2.50928278e-01 2.41929893e+02] [ 2.50650638e-01 -1.18010099e-02 9.68005679e-01 5.95900011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.3992541539999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:447.49, Y:241.94, Z:59.59 [[-4.76242608e-02 -9.98865321e-01 -1.25597532e-06 4.47489174e+02] [ 9.66994483e-01 -4.61043964e-02 -2.50591410e-01 2.41935652e+02] [ 2.50307011e-01 -1.19354452e-02 9.68092943e-01 5.95909778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4292541539999 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:447.49, Y:241.96, Z:59.60 [[-4.93919522e-02 -9.98779468e-01 -1.00085252e-04 4.47491198e+02] [ 9.66956678e-01 -4.77931477e-02 -2.50420840e-01 2.41962381e+02] [ 2.50110410e-01 -1.24655523e-02 9.68137073e-01 5.95970092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.459254154 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:447.49, Y:241.99, Z:59.60 [[-5.03080006e-02 -9.98733750e-01 -3.27317477e-05 4.47491358e+02] [ 9.67037551e-01 -4.87032154e-02 -2.49932735e-01 2.41989172e+02] [ 2.49614664e-01 -1.26052690e-02 9.68263201e-01 5.96039152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.4892541539999 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:447.49, Y:241.99, Z:59.60 [[-4.99559197e-02 -9.98751423e-01 3.61958336e-05 4.47491228e+02] [ 9.67185659e-01 -4.83860908e-02 -2.49420702e-01 2.41985583e+02] [ 2.49111033e-01 -1.24250325e-02 9.68395225e-01 5.96033573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5192541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.49, Y:242.01, Z:59.61 [[-4.95531261e-02 -9.98771487e-01 -6.31975661e-05 4.47491584e+02] [ 9.67304716e-01 -4.79761733e-02 -2.49037896e-01 2.42012056e+02] [ 2.48728918e-01 -1.24017376e-02 9.68493739e-01 5.96099213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.5492541539999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:447.49, Y:242.02, Z:59.61 [[-4.82974319e-02 -9.98832998e-01 1.99432915e-06 4.47491761e+02] [ 9.67459035e-01 -4.67808761e-02 -2.48665569e-01 2.42017458e+02] [ 2.48375469e-01 -1.20079790e-02 9.68589405e-01 5.96108838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.579254154 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:447.49, Y:242.05, Z:59.62 [[-4.73452358e-02 -9.98878581e-01 -9.75148050e-05 4.47492521e+02] [ 9.67414420e-01 -4.58295753e-02 -2.49016044e-01 2.42045233e+02] [ 2.48732323e-01 -1.18840605e-02 9.68499355e-01 5.96167603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6092541539999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.49, Y:242.07, Z:59.62 [[-4.66699091e-02 -9.98910366e-01 -2.12227035e-05 4.47492476e+02] [ 9.67554047e-01 -4.51996347e-02 -2.48588335e-01 2.42072222e+02] [ 2.48316505e-01 -1.16221291e-02 9.68609230e-01 5.96239451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6392541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.49, Y:242.07, Z:59.62 [[-4.41526052e-02 -9.99024797e-01 5.23822965e-05 4.47492120e+02] [ 9.67655920e-01 -4.27792716e-02 -2.48620102e-01 2.42069638e+02] [ 2.48379888e-01 -1.09265372e-02 9.68601075e-01 5.96233362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6692541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.49, Y:242.10, Z:59.63 [[-4.28999009e-02 -9.99079374e-01 -4.67602171e-05 4.47491988e+02] [ 9.67682012e-01 -4.15400746e-02 -2.48728660e-01 2.42096144e+02] [ 2.48497732e-01 -1.07156839e-02 9.68573204e-01 5.96291305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.6992541539998 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:447.49, Y:242.10, Z:59.63 [[-4.13690899e-02 -9.99143932e-01 2.74697871e-05 4.47491221e+02] [ 9.67706523e-01 -4.00742809e-02 -2.48873738e-01 2.42100679e+02] [ 2.48661786e-01 -1.02690973e-02 9.68535937e-01 5.96306298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7292541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:447.49, Y:242.13, Z:59.64 [[-3.90502643e-02 -9.99237245e-01 -7.15221321e-05 4.47489917e+02] [ 9.67888821e-01 -3.78073774e-02 -2.48519282e-01 2.42127066e+02] [ 2.48327018e-01 -9.77396911e-03 9.68626947e-01 5.96369030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7592541539999 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:447.49, Y:242.15, Z:59.64 [[-3.80331590e-02 -9.99276478e-01 -2.81963796e-06 4.47489522e+02] [ 9.67939084e-01 -3.68397348e-02 -2.48468838e-01 2.42153942e+02] [ 2.48288961e-01 -9.45278405e-03 9.68639890e-01 5.96425734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.7892541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.49, Y:242.16, Z:59.64 [[-3.59565691e-02 -9.99353351e-01 7.05122291e-05 4.47488132e+02] [ 9.68211846e-01 -3.48535794e-02 -2.47691440e-01 2.42156571e+02] [ 2.47533728e-01 -8.83786361e-03 9.68838968e-01 5.96438588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8192541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:447.49, Y:242.18, Z:59.65 [[-3.55166517e-02 -9.99369084e-01 -2.86004862e-05 4.47487806e+02] [ 9.68300469e-01 -3.44054214e-02 -2.47407496e-01 2.42183077e+02] [ 2.47250419e-01 -8.81477973e-03 9.68911518e-01 5.96504641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8492541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:447.49, Y:242.18, Z:59.65 [[-3.47163587e-02 -9.99397205e-01 3.67766261e-05 4.47487120e+02] [ 9.68404284e-01 -3.36488415e-02 -2.47105037e-01 2.42183722e+02] [ 2.46957321e-01 -8.54297244e-03 9.68988699e-01 5.96505234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.8792541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:447.49, Y:242.21, Z:59.66 [[-3.41569099e-02 -9.99416481e-01 -6.22393450e-05 4.47485856e+02] [ 9.68539626e-01 -3.30862759e-02 -2.46650140e-01 2.42210462e+02] [ 2.46504156e-01 -8.48508788e-03 9.69104589e-01 5.96572263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9092541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:447.49, Y:242.22, Z:59.66 [[-3.32319464e-02 -9.99447666e-01 1.13051610e-05 4.47485113e+02] [ 9.68525434e-01 -3.22065644e-02 -2.46822247e-01 2.42216014e+02] [ 2.46686283e-01 -8.19143434e-03 9.69060771e-01 5.96586611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9392541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:447.48, Y:242.24, Z:59.67 [[-3.26885475e-02 -9.99465583e-01 -8.79284048e-05 4.47484572e+02] [ 9.68730099e-01 -3.16616622e-02 -2.46088468e-01 2.42243079e+02] [ 2.45954170e-01 -8.12945348e-03 9.69247367e-01 5.96652314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9692541539999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:447.48, Y:242.27, Z:59.67 [[-3.20729196e-02 -9.99485532e-01 -1.25073666e-05 4.47483783e+02] [ 9.68818763e-01 -3.10857645e-02 -2.45812691e-01 2.42270014e+02] [ 2.45685839e-01 -7.89604803e-03 9.69317348e-01 5.96720636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 706.9992541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:447.48, Y:242.27, Z:59.67 [[-2.82085417e-02 -9.99602058e-01 6.19866562e-05 4.47482560e+02] [ 9.69111519e-01 -2.73633046e-02 -2.45100211e-01 2.42273977e+02] [ 2.45004372e-01 -6.85384754e-03 9.69497748e-01 5.96736510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0292541539999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:447.48, Y:242.30, Z:59.68 [[-2.62698495e-02 -9.99654887e-01 -3.76313463e-05 4.47481899e+02] [ 9.69277568e-01 -2.54623568e-02 -2.44648041e-01 2.42300034e+02] [ 2.44562652e-01 -6.46334245e-03 9.69611951e-01 5.96802232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.0592541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:447.48, Y:242.30, Z:59.68 [[-2.33450260e-02 -9.99727467e-01 2.70353194e-05 4.47480876e+02] [ 9.69300391e-01 -2.26411324e-02 -2.44834905e-01 2.42302051e+02] [ 2.44768792e-01 -5.68947188e-03 9.69564783e-01 5.96810225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.089254154 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:447.48, Y:242.33, Z:59.69 [[-1.74115518e-02 -9.99848405e-01 -7.21565109e-05 4.47479548e+02] [ 9.69318069e-01 -1.68621929e-02 -2.45230807e-01 2.42327909e+02] [ 2.45192414e-01 -4.33979149e-03 9.69464722e-01 5.96870856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1192541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:447.48, Y:242.35, Z:59.69 [[-1.46331239e-02 -9.99892930e-01 -7.32821148e-06 4.47478697e+02] [ 9.69294452e-01 -1.41835255e-02 -2.45493572e-01 2.42354547e+02] [ 2.45467183e-01 -3.59944105e-03 9.69398219e-01 5.96941521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1492541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:447.48, Y:242.35, Z:59.69 [[-1.10729422e-02 -9.99938691e-01 6.43982098e-05 4.47478512e+02] [ 9.69430382e-01 -1.07508917e-02 -2.45130890e-01 2.42354270e+02] [ 2.45116554e-01 -2.65189059e-03 9.69489991e-01 5.96927074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.1792541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:447.47, Y:242.38, Z:59.70 [[-4.63895953e-03 -9.99893995e-01 1.38013900e-02 4.47472273e+02] [ 9.70257531e-01 -7.84103550e-03 -2.41948014e-01 2.42382971e+02] [ 2.42030584e-01 1.22685155e-02 9.70191053e-01 5.96993904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.209254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:447.48, Y:242.32, Z:59.68 [[-5.48706675e-03 -9.99926294e-01 -1.08304214e-02 4.47482552e+02] [ 9.68603365e-01 -2.62257051e-03 -2.48597353e-01 2.42318421e+02] [ 2.48550626e-01 -1.18544529e-02 9.68546363e-01 5.96801278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2392541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:447.48, Y:242.32, Z:59.68 [[-3.70347276e-03 -9.99993139e-01 8.24380794e-05 4.47477269e+02] [ 9.68532467e-01 -3.60747399e-03 -2.48861100e-01 2.42320027e+02] [ 2.48859690e-01 -8.41806346e-04 9.68539182e-01 5.96825165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2692541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.48, Y:242.35, Z:59.69 [[-3.88226896e-03 -9.99992464e-01 -1.66560380e-05 4.47476740e+02] [ 9.68446056e-01 -3.75564576e-03 -2.49194969e-01 2.42346408e+02] [ 2.49193029e-01 -9.83572370e-04 9.68453338e-01 5.96903381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.2992541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:447.48, Y:242.35, Z:59.69 [[-4.50460568e-03 -9.99989853e-01 5.58937060e-05 4.47477157e+02] [ 9.68357578e-01 -4.37606052e-03 -2.49528457e-01 2.42351556e+02] [ 2.49526169e-01 -1.06990221e-03 9.68367464e-01 5.96910520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.329254154 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:447.48, Y:242.38, Z:59.70 [[-6.64395330e-03 -9.99977928e-01 -4.32134631e-05 4.47477402e+02] [ 9.68322483e-01 -6.42284416e-03 -2.49620343e-01 2.42377418e+02] [ 2.49614555e-01 -1.70031046e-03 9.68343783e-01 5.96982314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3592541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.48, Y:242.38, Z:59.70 [[-1.05826252e-02 -9.99944002e-01 2.22454874e-05 4.47479623e+02] [ 9.68293456e-01 -1.02532135e-02 -2.49604998e-01 2.42384711e+02] [ 2.49591249e-01 -2.61993598e-03 9.68347739e-01 5.96990111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.3892541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:447.48, Y:242.41, Z:59.71 [[-1.40744662e-02 -9.99900947e-01 -7.70029113e-05 4.47480555e+02] [ 9.68172850e-01 -1.36086201e-02 -2.49912263e-01 2.42411786e+02] [ 2.49886460e-01 -3.59193383e-03 9.68268483e-01 5.97066755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4192541539999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:447.48, Y:242.44, Z:59.71 [[-1.73578358e-02 -9.99849341e-01 -1.64597202e-06 4.47481642e+02] [ 9.68065622e-01 -1.68056443e-02 -2.50133010e-01 2.42438508e+02] [ 2.50095298e-01 -4.34336112e-03 9.68211484e-01 5.97138184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4492541539998 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:447.48, Y:242.45, Z:59.71 [[-1.96971386e-02 -9.99805990e-01 7.12909890e-05 4.47483010e+02] [ 9.68073230e-01 -1.90897946e-02 -2.49939595e-01 2.42445740e+02] [ 2.49892465e-01 -4.85407995e-03 9.68261428e-01 5.97136262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.4792541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:447.48, Y:242.47, Z:59.72 [[-2.66935121e-02 -9.99643664e-01 -2.86826992e-05 4.47483264e+02] [ 9.67960046e-01 -2.58402969e-02 -2.49771151e-01 2.42471072e+02] [ 2.49681408e-01 -6.69503295e-03 9.68304896e-01 5.97234937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5092541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:447.48, Y:242.48, Z:59.73 [[-2.91090991e-02 -9.99576240e-01 3.67376924e-05 4.47484007e+02] [ 9.67962633e-01 -2.81976355e-02 -2.49505982e-01 2.42480481e+02] [ 2.49401288e-01 -7.22733366e-03 9.68373256e-01 5.97256107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5392541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:447.48, Y:242.51, Z:59.73 [[-2.93840396e-02 -9.99568194e-01 -6.39872079e-05 4.47483989e+02] [ 9.67955585e-01 -2.84387601e-02 -2.49505957e-01 2.42508017e+02] [ 2.49396400e-01 -7.39342971e-03 9.68373261e-01 5.97325955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5692541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.49, Y:242.51, Z:59.73 [[-3.39130758e-02 -9.99424786e-01 4.99274050e-06 4.47486414e+02] [ 9.67876578e-01 -3.28438085e-02 -2.49271367e-01 2.42506472e+02] [ 2.49128146e-01 -8.44872639e-03 9.68433677e-01 5.97323928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.5992541539999 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:447.49, Y:242.53, Z:59.74 [[-3.63598451e-02 -9.99338758e-01 -9.58716115e-05 4.47487496e+02] [ 9.67824138e-01 -3.51893176e-02 -2.49154870e-01 2.42533814e+02] [ 2.48986745e-01 -9.15201936e-03 9.68463650e-01 5.97396122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6292541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.49, Y:242.56, Z:59.75 [[-3.85969938e-02 -9.99254858e-01 -2.12134413e-05 4.47488086e+02] [ 9.67777222e-01 -3.73758592e-02 -2.49018663e-01 2.42561241e+02] [ 2.48832316e-01 -9.63190169e-03 9.68498686e-01 5.97467750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6592541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.49, Y:242.56, Z:59.75 [[-4.18183562e-02 -9.99125229e-01 5.17385709e-05 4.47489263e+02] [ 9.67548797e-01 -4.05096413e-02 -2.49415907e-01 2.42562046e+02] [ 2.49199821e-01 -1.03801036e-02 9.68396460e-01 5.97474282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.6892541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.49, Y:242.59, Z:59.75 [[-4.38446539e-02 -9.99038360e-01 -4.93582716e-05 4.47489842e+02] [ 9.67410182e-01 -4.24442593e-02 -2.49631780e-01 2.42589464e+02] [ 2.49389629e-01 -1.09927687e-02 9.68340835e-01 5.97545937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7192541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.49, Y:242.59, Z:59.76 [[-4.48330650e-02 -9.98994492e-01 2.45250016e-05 4.47490188e+02] [ 9.67247690e-01 -4.34144657e-02 -2.50094164e-01 2.42594429e+02] [ 2.49843757e-01 -1.11887662e-02 9.68221518e-01 5.97558923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7492541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.49, Y:242.62, Z:59.76 [[-4.75851578e-02 -9.98867182e-01 -7.65799336e-05 4.47491205e+02] [ 9.67032371e-01 -4.60493737e-02 -2.50455283e-01 2.42621765e+02] [ 2.50168037e-01 -1.19920095e-02 9.68128166e-01 5.97625509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.7792541539999 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:447.49, Y:242.65, Z:59.77 [[-4.89630163e-02 -9.98800592e-01 5.22344754e-08 4.47491711e+02] [ 9.66940400e-01 -4.74011850e-02 -2.50558157e-01 2.42648772e+02] [ 2.50257639e-01 -1.22680326e-02 9.68101549e-01 5.97690018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8092541539999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:447.49, Y:242.65, Z:59.77 [[-4.89625166e-02 -9.98800614e-01 7.50673293e-05 4.47492772e+02] [ 9.66819995e-01 -4.74136507e-02 -2.51020004e-01 2.42653292e+02] [ 2.50722493e-01 -1.22179945e-02 9.67981897e-01 5.97684009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.839254154 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.49, Y:242.68, Z:59.78 [[-5.06494410e-02 -9.98716493e-01 -2.57998713e-05 4.47491221e+02] [ 9.66485248e-01 -4.90083384e-02 -2.52000889e-01 2.42678861e+02] [ 2.51676180e-01 -1.27886394e-02 9.67727002e-01 5.97767030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8692541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.49, Y:242.68, Z:59.78 [[-4.93250120e-02 -9.98782780e-01 4.01454882e-05 4.47491227e+02] [ 9.66492896e-01 -4.77405097e-02 -2.52214840e-01 2.42679475e+02] [ 2.51909756e-01 -1.24016997e-02 9.67671263e-01 5.97753979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.8992541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.49, Y:242.71, Z:59.78 [[-4.94663498e-02 -9.98775789e-01 -6.06549678e-05 4.47489985e+02] [ 9.66431546e-01 -4.78491072e-02 -2.52429256e-01 2.42706335e+02] [ 2.52117327e-01 -1.25453728e-02 9.67615351e-01 5.97837803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9292541539999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:447.49, Y:242.71, Z:59.78 [[-4.63284378e-02 -9.98926261e-01 1.08367140e-05 4.47488949e+02] [ 9.66637579e-01 -4.48336815e-02 -2.52193840e-01 2.42707121e+02] [ 2.51923535e-01 -1.16732714e-02 9.67676737e-01 5.97837979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.959254154 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:447.49, Y:242.73, Z:59.79 [[-4.43246160e-02 -9.99017177e-01 -8.99326764e-05 4.47488099e+02] [ 9.66600729e-01 -4.28636096e-02 -2.52677150e-01 2.42734325e+02] [ 2.52424958e-01 -1.12867466e-02 9.67550645e-01 5.97914322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 707.9892541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.49, Y:242.76, Z:59.80 [[-3.87531141e-02 -9.99248816e-01 -1.26331389e-05 4.47485919e+02] [ 9.66668814e-01 -3.74863864e-02 -2.53270951e-01 2.42760072e+02] [ 2.53080224e-01 -9.82725011e-03 9.67395382e-01 5.97983880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0192541539999 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:447.48, Y:242.75, Z:59.80 [[-3.50243585e-02 -9.99386458e-01 5.25108200e-05 4.47484697e+02] [ 9.66747360e-01 -3.38938117e-02 -2.53477318e-01 2.42754039e+02] [ 2.53323579e-01 -8.82711576e-03 9.67341329e-01 5.97969275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.0492541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.48, Y:242.78, Z:59.80 [[-3.18084388e-02 -9.99493983e-01 -4.72042337e-05 4.47483283e+02] [ 9.66809599e-01 -3.07562943e-02 -2.53640002e-01 2.42780879e+02] [ 2.53510204e-01 -8.11352999e-03 9.67298686e-01 5.98042454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.079254154 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:447.48, Y:242.78, Z:59.81 [[-2.75868573e-02 -9.99619410e-01 2.48379716e-05 4.47481715e+02] [ 9.67052116e-01 -2.66943766e-02 -2.53175069e-01 2.42780025e+02] [ 2.53079376e-01 -6.96028486e-03 9.67420479e-01 5.98051340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1092541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.48, Y:242.81, Z:59.81 [[-2.03982887e-02 -9.99791931e-01 -7.46435399e-05 4.47479573e+02] [ 9.67342316e-01 -1.97173676e-02 -2.52705498e-01 2.42806051e+02] [ 2.52651446e-01 -5.22696555e-03 9.67543242e-01 5.98128852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1392541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:447.48, Y:242.83, Z:59.82 [[-1.74493701e-02 -9.99847748e-01 -5.91177756e-06 4.47478841e+02] [ 9.67427463e-01 -1.68820769e-02 -2.52584838e-01 2.42832822e+02] [ 2.52546281e-01 -4.41316553e-03 9.67574752e-01 5.98199652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1692541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:447.48, Y:242.83, Z:59.82 [[-1.06049525e-02 -9.99943764e-01 6.65156214e-05 4.47478282e+02] [ 9.67626094e-01 -1.02789806e-02 -2.52178677e-01 2.42830326e+02] [ 2.52165180e-01 -2.60998064e-03 9.67680686e-01 5.98190886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.1992541539998 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.48, Y:242.86, Z:59.82 [[-7.96244130e-03 -9.99968299e-01 -3.22503283e-05 4.47478573e+02] [ 9.67555298e-01 -7.69620168e-03 -2.52542103e-01 2.42858139e+02] [ 2.52533849e-01 -2.04205565e-03 9.67585906e-01 5.98246010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2292541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:447.48, Y:242.86, Z:59.83 [[-6.24819251e-03 -9.99980479e-01 4.06687062e-05 4.47477278e+02] [ 9.67675542e-01 -6.05659492e-03 -2.52125690e-01 2.42858502e+02] [ 2.52121015e-01 -1.53597573e-03 9.67694495e-01 5.98269366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2592541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:447.48, Y:242.89, Z:59.83 [[-4.74095682e-03 -9.99988760e-01 -5.77306916e-05 4.47477810e+02] [ 9.67577201e-01 -4.57271415e-03 -2.52534059e-01 2.42885223e+02] [ 2.52530957e-01 -1.25311197e-03 9.67588004e-01 5.98334130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.2892541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:447.48, Y:242.88, Z:59.83 [[-2.21620045e-03 -9.99997544e-01 1.44581536e-05 4.47479684e+02] [ 9.67463482e-01 -2.14775621e-03 -2.53001577e-01 2.42883342e+02] [ 2.53000987e-01 -5.46714473e-04 9.67465866e-01 5.98324540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3192541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:447.48, Y:242.92, Z:59.84 [[ 1.62647277e-03 -9.99822636e-01 1.87630185e-02 4.47475943e+02] [ 9.69215533e-01 -3.04349887e-03 -2.46195021e-01 2.42915133e+02] [ 2.46208460e-01 1.85858385e-02 9.69038679e-01 5.98366782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3492541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:447.49, Y:242.94, Z:59.84 [[ 8.20247100e-04 -9.99993647e-01 -3.46877419e-03 4.47488231e+02] [ 9.68962714e-01 1.65228516e-03 -2.47201392e-01 2.42943817e+02] [ 2.47205553e-01 -3.15834663e-03 9.68957914e-01 5.98381292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.3792541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.49, Y:242.91, Z:59.83 [[-6.61732249e-03 -9.99860554e-01 -1.53324383e-02 4.47492362e+02] [ 9.65887054e-01 -2.42155240e-03 -2.58952380e-01 2.42908705e+02] [ 2.58879142e-01 -1.65229751e-02 9.65768389e-01 5.98334894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4092541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.49, Y:242.91, Z:59.84 [[-9.22627964e-03 -9.99957129e-01 7.85232645e-04 4.47488146e+02] [ 9.65974597e-01 -9.11570656e-03 -2.58476270e-01 2.42910034e+02] [ 2.58472347e-01 -1.62625956e-03 9.66017288e-01 5.98385812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4392541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.49, Y:242.91, Z:59.84 [[-1.07828592e-02 -9.99941632e-01 6.79789214e-04 4.47490443e+02] [ 9.66026874e-01 -1.05926882e-02 -2.58224464e-01 2.42913099e+02] [ 2.58216593e-01 -2.12770338e-03 9.66084708e-01 5.98392796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4692541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.50, Y:242.92, Z:59.84 [[-1.49435023e-02 -9.99888174e-01 5.75819889e-04 4.47496481e+02] [ 9.65848879e-01 -1.45837577e-02 -2.58695299e-01 2.42917666e+02] [ 2.58674768e-01 -3.30965880e-03 9.65958804e-01 5.98391954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.4992541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.50, Y:242.92, Z:59.84 [[-1.78571685e-02 -9.99840438e-01 4.69292772e-04 4.47498444e+02] [ 9.66070965e-01 -1.73749973e-02 -2.57691677e-01 2.42924235e+02] [ 2.57658713e-01 -4.14827358e-03 9.66227085e-01 5.98420720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5292541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.50, Y:242.93, Z:59.84 [[-2.02582148e-02 -9.99794715e-01 3.64606674e-04 4.47501409e+02] [ 9.65964715e-01 -1.96667992e-02 -2.57925156e-01 2.42927472e+02] [ 2.57879379e-01 -4.87290604e-03 9.66164831e-01 5.98428610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.5592541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.51, Y:242.93, Z:59.84 [[-2.46319731e-02 -9.99696553e-01 2.59050910e-04 4.47507262e+02] [ 9.66004201e-01 -2.38685178e-02 -2.57422178e-01 2.42934022e+02] [ 2.57350248e-01 -6.09057191e-03 9.66298999e-01 5.98441254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.589254154 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.51, Y:242.94, Z:59.85 [[-2.62964757e-02 -9.99654176e-01 1.53857996e-04 4.47509836e+02] [ 9.65940501e-01 -2.54492518e-02 -2.57509776e-01 2.42939085e+02] [ 2.57424639e-01 -6.62298191e-03 9.66275681e-01 5.98455471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6192541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.51, Y:242.94, Z:59.85 [[-2.77245423e-02 -9.99615600e-01 4.82891913e-05 4.47512375e+02] [ 9.65856808e-01 -2.68006835e-02 -2.57686535e-01 2.42941827e+02] [ 2.57588774e-01 -7.09760079e-03 9.66228569e-01 5.98465144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6492541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.52, Y:242.97, Z:59.85 [[-3.07904510e-02 -9.99525860e-01 -5.29672562e-05 4.47517498e+02] [ 9.65835406e-01 -2.97389721e-02 -2.57444289e-01 2.42968373e+02] [ 2.57320649e-01 -7.97798342e-03 9.66293142e-01 5.98535464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.6792541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.52, Y:242.98, Z:59.86 [[-3.13796103e-02 -9.99507539e-01 2.18285804e-05 4.47520301e+02] [ 9.65848779e-01 -3.03285110e-02 -2.57325313e-01 2.42977875e+02] [ 2.57199252e-01 -8.05368495e-03 9.66324833e-01 5.98554975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.709254154 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.52, Y:243.00, Z:59.86 [[-3.20268979e-02 -9.99487004e-01 -7.99642784e-05 4.47523839e+02] [ 9.65610537e-01 -3.09207297e-02 -2.58147633e-01 2.43004922e+02] [ 2.58012731e-01 -8.34488222e-03 9.66105477e-01 5.98611424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7392541539999 meters Centerline goodness : 0.997286 Centerline is valid? [True, True] Translation: X:447.53, Y:243.03, Z:59.87 [[-3.30171638e-02 -9.99454706e-01 -3.96971108e-04 4.47528912e+02] [ 9.66161854e-01 -3.18156616e-02 -2.55966863e-01 2.43033096e+02] [ 2.55814656e-01 -8.83483817e-03 9.66685475e-01 5.98686918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7692541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.53, Y:242.56, Z:59.75 [[-3.61481403e-02 -9.99344434e-01 2.00350986e-03 4.47529673e+02] [ 9.65809316e-01 -3.54499885e-02 -2.56818348e-01 2.42564620e+02] [ 2.56721011e-01 -7.34849718e-03 9.66457615e-01 5.97483538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.7992541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.54, Y:242.50, Z:59.73 [[-3.56409766e-02 -9.99363203e-01 -1.70556940e-03 4.47535451e+02] [ 9.65821189e-01 -3.40061871e-02 -2.56968891e-01 2.42496365e+02] [ 2.56747254e-01 -1.08058973e-02 9.66418170e-01 5.97290283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.829254154 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.54, Y:242.50, Z:59.73 [[-3.52857376e-02 -9.99377166e-01 4.43121301e-04 4.47536755e+02] [ 9.65541287e-01 -3.42054627e-02 -2.57992267e-01 2.42499948e+02] [ 2.57846738e-01 -8.67559552e-03 9.66146880e-01 5.97295697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8592541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.54, Y:242.50, Z:59.73 [[-3.56381731e-02 -9.99364702e-01 3.36511470e-04 4.47537728e+02] [ 9.65644999e-01 -3.45224280e-02 -2.57561524e-01 2.42502146e+02] [ 2.57409513e-01 -8.85407157e-03 9.66261842e-01 5.97308204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.8892541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.55, Y:242.53, Z:59.74 [[-3.31042966e-02 -9.99205164e-01 -2.22068903e-02 4.47551689e+02] [ 9.62192868e-01 -2.58521042e-02 -2.71139362e-01 2.42530151e+02] [ 2.70349756e-01 -3.03431893e-02 9.62283898e-01 5.97411732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9192541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.53, Y:242.55, Z:59.75 [[-3.48798034e-02 -9.98971545e-01 2.89698526e-02 4.47528857e+02] [ 9.62621211e-01 -4.13730277e-02 -2.67672706e-01 2.42554497e+02] [ 2.68595987e-01 1.85506233e-02 9.63074281e-01 5.97489049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9492541539998 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.57, Y:242.58, Z:59.75 [[-3.68197121e-02 -9.97924399e-01 -5.28318354e-02 4.47569448e+02] [ 9.60250386e-01 -2.06921820e-02 -2.78372108e-01 2.42582511e+02] [ 2.76701113e-01 -6.09813712e-02 9.59019169e-01 5.97549177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 708.9792541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.52, Y:242.61, Z:59.77 [[-3.54355558e-02 -9.98019921e-01 5.19669017e-02 4.47521941e+02] [ 9.61801270e-01 -4.81811572e-02 -2.69475217e-01 2.42607458e+02] [ 2.71445461e-01 4.04328280e-02 9.61604154e-01 5.97678885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0092541539999 meters Centerline goodness : 0.997122 Centerline is valid? [True, True] Translation: X:447.55, Y:242.63, Z:59.77 [[-3.53733911e-02 -9.99374165e-01 -4.92335347e-05 4.47547832e+02] [ 9.60675282e-01 -3.39900466e-02 -2.75586066e-01 2.42634675e+02] [ 2.75411921e-01 -9.79571115e-03 9.61276400e-01 5.97703022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0392541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.56, Y:242.09, Z:59.62 [[-3.58694054e-02 -9.99052274e-01 -2.46564155e-02 4.47560581e+02] [ 9.54429825e-01 -2.69320307e-02 -2.97217725e-01 2.42093800e+02] [ 2.96271997e-01 -3.41938414e-02 9.54491323e-01 5.96222971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0692541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.53, Y:242.12, Z:59.63 [[-3.39578601e-02 -9.98500909e-01 4.29278224e-02 4.47529676e+02] [ 9.56468095e-01 -4.49255488e-02 -2.88358245e-01 2.42119764e+02] [ 2.89854526e-01 3.12670636e-02 9.56559838e-01 5.96293008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.0992541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.55, Y:242.15, Z:59.63 [[-3.39837858e-02 -9.99422365e-01 -1.97177933e-04 4.47551112e+02] [ 9.57001942e-01 -3.24844752e-02 -2.88256904e-01 2.42149418e+02] [ 2.88083992e-01 -9.98476053e-03 9.57553089e-01 5.96278667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1292541539999 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:447.56, Y:242.18, Z:59.64 [[-3.42510492e-02 -9.99083500e-01 -2.56715046e-02 4.47562840e+02] [ 9.56734811e-01 -2.53513967e-02 -2.89854804e-01 2.42175558e+02] [ 2.88938344e-01 -3.44886533e-02 9.56726276e-01 5.96376346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1592541539999 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:447.55, Y:242.20, Z:59.65 [[-3.12458295e-02 -9.99508142e-01 -2.67803522e-03 4.47551893e+02] [ 9.56859776e-01 -2.91380284e-02 -2.89085360e-01 2.42199489e+02] [ 2.88865138e-01 -1.15952160e-02 9.57299578e-01 5.96494605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.1892541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.28, Y:241.52, Z:60.22 [[ 9.69009621e-03 9.97805333e-03 9.99903266e-01 4.47277359e+02] [ 9.73185253e-01 -2.29912000e-01 -7.13687492e-03 2.41524015e+02] [ 2.29818548e-01 9.73160270e-01 -1.19383638e-02 6.02171657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2192541539999 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:447.56, Y:242.27, Z:59.67 [[-2.95361215e-02 -9.99364221e-01 -1.99692616e-02 4.47559994e+02] [ 9.74151075e-01 -2.43032722e-02 -2.24586363e-01 2.42268577e+02] [ 2.23958257e-01 -2.60864877e-02 9.74249554e-01 5.96676620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2492541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.26, Y:241.64, Z:60.24 [[ 1.24117019e-02 -7.86292443e-02 9.96826661e-01 4.47257850e+02] [ 9.87107556e-01 -1.58131015e-01 -2.47639915e-02 2.41641335e+02] [ 1.59576385e-01 9.84282492e-01 7.56528461e-02 6.02387551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.2792541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.55, Y:241.75, Z:59.60 [[-1.75394822e-02 -9.99846002e-01 -5.82195946e-04 4.47550995e+02] [ 9.89195787e-01 -1.72678851e-02 -1.45579927e-01 2.41754561e+02] [ 1.45547454e-01 -3.12930231e-03 9.89346323e-01 5.95974950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3092541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.55, Y:241.78, Z:59.60 [[-1.73379286e-02 -9.99849540e-01 -5.41570483e-04 4.47551253e+02] [ 9.89247728e-01 -1.70754129e-02 -1.45249315e-01 2.41782343e+02] [ 1.45218213e-01 -3.05406962e-03 9.89394938e-01 5.96015405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.339254154 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.55, Y:241.81, Z:59.61 [[-1.70977134e-02 -9.99844123e-01 4.40435391e-03 4.47549820e+02] [ 9.89042693e-01 -1.75587039e-02 -1.46581864e-01 2.41809609e+02] [ 1.46636350e-01 1.84987936e-03 9.89188738e-01 5.96061848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3692541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.56, Y:241.84, Z:59.61 [[-1.84639981e-02 -9.99816067e-01 -5.18770053e-03 4.47555717e+02] [ 9.89267127e-01 -1.75164967e-02 -1.45064549e-01 2.41838512e+02] [ 1.44946997e-01 -7.81049316e-03 9.89408593e-01 5.96075551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.3992541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:447.55, Y:241.87, Z:59.61 [[-1.94946113e-02 -9.99809865e-01 -4.41379930e-04 4.47553584e+02] [ 9.89182509e-01 -1.92231958e-02 -1.45425009e-01 2.41866256e+02] [ 1.45388874e-01 -3.27160933e-03 9.89369179e-01 5.96123286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4292541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.55, Y:241.89, Z:59.62 [[-2.11419050e-02 -9.99776403e-01 -4.04376497e-04 4.47553925e+02] [ 9.88815900e-01 -2.08503970e-02 -1.47676598e-01 2.41893681e+02] [ 1.47635147e-01 -3.52201853e-03 9.89035621e-01 5.96154302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.459254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.55, Y:241.92, Z:59.62 [[-2.13239811e-02 -9.99772553e-01 -3.62148700e-04 4.47553893e+02] [ 9.88811938e-01 -2.10367109e-02 -1.47676703e-01 2.41921873e+02] [ 1.47635495e-01 -3.50715217e-03 9.89035621e-01 5.96192800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.4892541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.55, Y:241.95, Z:59.62 [[-2.40690124e-02 -9.99710244e-01 -3.32835688e-04 4.47554033e+02] [ 9.88800542e-01 -2.37572963e-02 -1.47340011e-01 2.41949392e+02] [ 1.47289412e-01 -3.87543667e-03 9.89085846e-01 5.96227696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5192541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:447.55, Y:241.98, Z:59.63 [[-2.58364066e-02 -9.99666143e-01 -2.87539501e-04 4.47553979e+02] [ 9.88898310e-01 -2.55160055e-02 -1.46386698e-01 2.41977573e+02] [ 1.46330489e-01 -4.06645358e-03 9.89227402e-01 5.96264193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.5492541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.55, Y:242.00, Z:59.63 [[-2.77902395e-02 -9.99613747e-01 -2.45299048e-04 4.47554301e+02] [ 9.88752125e-01 -2.74521973e-02 -1.47022489e-01 2.42004940e+02] [ 1.46958967e-01 -4.32833012e-03 9.89133119e-01 5.96300922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.579254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.55, Y:242.03, Z:59.63 [[-3.12332786e-02 -9.99512101e-01 -2.03621770e-04 4.47554682e+02] [ 9.88474673e-01 -3.08581822e-02 -1.48207942e-01 2.42031822e+02] [ 1.48129348e-01 -4.83029492e-03 9.88956199e-01 5.96340045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6092541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.55, Y:242.06, Z:59.64 [[-3.28319409e-02 -9.99460873e-01 -1.62957656e-04 4.47554346e+02] [ 9.88615699e-01 -3.24517259e-02 -1.46921359e-01 2.42059342e+02] [ 1.46836861e-01 -4.98481588e-03 9.89148163e-01 5.96375651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6392541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.55, Y:242.09, Z:59.64 [[-3.39197963e-02 -9.99424551e-01 -1.19375191e-04 4.47553849e+02] [ 9.88865763e-01 -3.35441211e-02 -1.44980324e-01 2.42086823e+02] [ 1.44892891e-01 -5.03574910e-03 9.89434531e-01 5.96410756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6692541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.55, Y:242.11, Z:59.64 [[-3.55998304e-02 -9.99366122e-01 -7.76452451e-05 4.47553148e+02] [ 9.89028131e-01 -3.52204195e-02 -1.43467345e-01 2.42113214e+02] [ 1.43373670e-01 -5.18420648e-03 9.89655048e-01 5.96448905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.6992541539998 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.55, Y:242.14, Z:59.65 [[-3.62203992e-02 -9.99343825e-01 -4.84420539e-05 4.47553108e+02] [ 9.89108668e-01 -3.58425143e-02 -1.42756284e-01 2.42139617e+02] [ 1.42660874e-01 -5.21860404e-03 9.89757870e-01 5.96482162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7292541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.55, Y:242.17, Z:59.65 [[-3.70729179e-02 -9.99312563e-01 -5.67927775e-06 4.47552852e+02] [ 9.88988780e-01 -3.66891070e-02 -1.43370508e-01 2.42167554e+02] [ 1.43271742e-01 -5.32077982e-03 9.89669085e-01 5.96517896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7592541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.55, Y:242.17, Z:59.65 [[-3.58132953e-02 -9.99358498e-01 3.09997753e-05 4.47552257e+02] [ 9.89294972e-01 -3.54570469e-02 -1.41556546e-01 2.42171235e+02] [ 1.41466836e-01 -5.03893845e-03 9.89930171e-01 5.96519020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.7892541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.55, Y:242.20, Z:59.66 [[-3.53939631e-02 -9.99373437e-01 -2.15486876e-05 4.47551504e+02] [ 9.89294748e-01 -3.50339601e-02 -1.41663415e-01 2.42198553e+02] [ 1.41573899e-01 -5.03534768e-03 9.89914883e-01 5.96554057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8192541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.55, Y:242.20, Z:59.66 [[-3.31967270e-02 -9.99448837e-01 1.50340904e-05 4.47549814e+02] [ 9.89194982e-01 -3.28582941e-02 -1.42876244e-01 2.42200503e+02] [ 1.42797990e-01 -4.72815203e-03 9.89740561e-01 5.96559175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8492541539999 meters Centerline goodness : 0.996455 Centerline is valid? [True, True] Translation: X:447.55, Y:242.23, Z:59.66 [[-3.34844145e-02 -9.99436285e-01 2.43043076e-03 4.47547137e+02] [ 9.89243504e-01 -3.34891942e-02 -1.42392989e-01 2.42227958e+02] [ 1.42394113e-01 -2.36365802e-03 9.89807219e-01 5.96603567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.8792541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:448.22, Y:241.63, Z:60.35 [[-3.73749693e-02 8.46414032e-01 -5.31212197e-01 4.48223702e+02] [ 9.88427115e-01 1.09520527e-01 1.04962344e-01 2.41632888e+02] [ 1.47020241e-01 -5.21141575e-01 -8.40711905e-01 6.03502446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9092541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.58, Y:241.73, Z:59.57 [[-8.84022643e-02 -9.96028228e-01 1.06211738e-02 4.47578971e+02] [ 9.80134230e-01 -8.88822857e-02 -1.77304346e-01 2.41725014e+02] [ 1.77544167e-01 -5.26392956e-03 9.84098755e-01 5.95695939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9392541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.58, Y:241.73, Z:59.57 [[-8.74591146e-02 -9.96111736e-01 1.05978012e-02 4.47578369e+02] [ 9.80069198e-01 -8.79457155e-02 -1.78128935e-01 2.41726870e+02] [ 1.78368354e-01 -5.19242048e-03 9.83950085e-01 5.95701492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9692541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.58, Y:241.73, Z:59.57 [[-8.63401817e-02 -9.96209948e-01 1.05410325e-02 4.47577278e+02] [ 9.80120560e-01 -8.68333246e-02 -1.78391878e-01 2.41731895e+02] [ 1.78631076e-01 -5.07090449e-03 9.83903057e-01 5.95709374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 709.9992541539999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:447.57, Y:241.73, Z:59.57 [[-8.36739578e-02 -9.96437994e-01 1.04877187e-02 4.47574744e+02] [ 9.80290855e-01 -8.41990841e-02 -1.78718645e-01 2.41729070e+02] [ 1.78965104e-01 -4.67308160e-03 9.83844324e-01 5.95698415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0292541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.57, Y:241.73, Z:59.57 [[-8.21677520e-02 -9.96563744e-01 1.04482053e-02 4.47573152e+02] [ 9.80314084e-01 -8.27076340e-02 -1.79286767e-01 2.41731323e+02] [ 1.79534838e-01 -4.48906777e-03 9.83741374e-01 5.95698331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.0592541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.57, Y:241.73, Z:59.57 [[-7.97079377e-02 -9.96763997e-01 1.04009113e-02 4.47570468e+02] [ 9.80435811e-01 -8.02776003e-02 -1.79725146e-01 2.41732599e+02] [ 1.79978515e-01 -4.12809477e-03 9.83661879e-01 5.95696907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.089254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.57, Y:241.71, Z:59.57 [[-7.64171978e-02 -9.97060875e-01 5.47933300e-03 4.47573025e+02] [ 9.80018073e-01 -7.61208824e-02 -1.83766669e-01 2.41712289e+02] [ 1.83643648e-01 -8.67308853e-03 9.82954622e-01 5.95671834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1192541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.57, Y:241.74, Z:59.57 [[-7.84129084e-02 -9.96816581e-01 1.44263658e-02 4.47565576e+02] [ 9.80418331e-01 -7.97289384e-02 -1.80064413e-01 2.41736335e+02] [ 1.80641391e-01 2.44991656e-05 9.83549026e-01 5.95712639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1492541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.57, Y:241.77, Z:59.58 [[-8.27239514e-02 -9.96538136e-01 -8.27599696e-03 4.47570614e+02] [ 9.77693715e-01 -7.95452897e-02 -1.94390194e-01 2.41767700e+02] [ 1.93058925e-01 -2.41721152e-02 9.80889372e-01 5.95794548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.1792541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.55, Y:241.74, Z:59.58 [[-7.82235112e-02 -9.96448786e-01 3.11592475e-02 4.47554466e+02] [ 9.80608440e-01 -8.25382553e-02 -1.77748485e-01 2.41738724e+02] [ 1.79689092e-01 1.66509105e-02 9.83582522e-01 5.95758849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.209254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.56, Y:241.74, Z:59.57 [[-7.85731547e-02 -9.96856971e-01 1.01212523e-02 4.47563415e+02] [ 9.80657094e-01 -7.91140124e-02 -1.79032504e-01 2.41742163e+02] [ 1.79270533e-01 -4.14167078e-03 9.83791097e-01 5.95717923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2392541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.54, Y:242.09, Z:59.63 [[-8.03945286e-02 -9.96643298e-01 1.54549677e-02 4.47540075e+02] [ 9.80769712e-01 -8.18614713e-02 -1.77170744e-01 2.42094588e+02] [ 1.77841201e-01 9.14205724e-04 9.84058774e-01 5.96343943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2692541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.55, Y:241.99, Z:59.62 [[-8.44877678e-02 -9.96424296e-01 -6.63475826e-04 4.47551623e+02] [ 9.79480243e-01 -8.29287555e-02 -1.83687982e-01 2.41994655e+02] [ 1.82976147e-01 -1.61692490e-02 9.82984377e-01 5.96151271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.2992541539999 meters Centerline goodness : 0.997077 Centerline is valid? [True, True] Translation: X:447.53, Y:242.29, Z:59.67 [[-8.70325035e-02 -9.96098345e-01 1.46092559e-02 4.47526340e+02] [ 9.80057863e-01 -8.82422797e-02 -1.78044614e-01 2.42291766e+02] [ 1.78639099e-01 -1.17775234e-03 9.83913962e-01 5.96694392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.329254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.56, Y:241.72, Z:59.57 [[-7.86015604e-02 -9.96783859e-01 1.56119636e-02 4.47560023e+02] [ 9.81591541e-01 -8.01190295e-02 -1.73375280e-01 2.41716686e+02] [ 1.74068496e-01 1.69700389e-03 9.84732085e-01 5.95655459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3592541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.56, Y:241.76, Z:59.57 [[-8.62977819e-02 -9.96255846e-01 5.19436841e-03 4.47560204e+02] [ 9.80448144e-01 -8.58516668e-02 -1.77061932e-01 2.41760250e+02] [ 1.76844930e-01 -1.01872431e-02 9.84186004e-01 5.95730112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.3892541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.56, Y:241.76, Z:59.57 [[-8.72106581e-02 -9.96145651e-01 9.38846150e-03 4.47557715e+02] [ 9.80432228e-01 -8.74969751e-02 -1.76343204e-01 2.41758943e+02] [ 1.76484977e-01 -6.17425661e-03 9.84283969e-01 5.95736652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4192541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.56, Y:241.76, Z:59.58 [[-8.85017952e-02 -9.96032191e-01 9.34383368e-03 4.47555704e+02] [ 9.80226277e-01 -8.87564853e-02 -1.76857942e-01 2.41764977e+02] [ 1.76985530e-01 -6.49317409e-03 9.84192035e-01 5.95750804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4492541539998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.55, Y:241.77, Z:59.58 [[-8.81311802e-02 -9.96065284e-01 9.31906192e-03 4.47554815e+02] [ 9.80096570e-01 -8.83814012e-02 -1.77762316e-01 2.41766152e+02] [ 1.77886503e-01 -6.53282207e-03 9.84029326e-01 5.95752359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.4792541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.55, Y:241.94, Z:59.61 [[-9.30370297e-02 -9.95618146e-01 -9.41370610e-03 4.47551006e+02] [ 9.77633975e-01 -8.95572282e-02 -1.90292705e-01 2.41940378e+02] [ 1.88615805e-01 -2.69074270e-02 9.81682265e-01 5.96087253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5092541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.54, Y:241.76, Z:59.58 [[-8.77479619e-02 -9.95687401e-01 3.01146832e-02 4.47541739e+02] [ 9.80210353e-01 -9.16903206e-02 -1.75443865e-01 2.41762589e+02] [ 1.77448471e-01 1.41238826e-02 9.84028737e-01 5.95801003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5392541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.55, Y:241.77, Z:59.58 [[-8.72099996e-02 -9.96147441e-01 9.20279628e-03 4.47550969e+02] [ 9.80359026e-01 -8.74608144e-02 -1.76767607e-01 2.41770870e+02] [ 1.76891483e-01 -6.39385854e-03 9.84209592e-01 5.95763250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5692541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:447.55, Y:241.77, Z:59.58 [[-8.65145584e-02 -9.96208705e-01 9.13494792e-03 4.47550284e+02] [ 9.80406919e-01 -8.67638928e-02 -1.76845412e-01 2.41771993e+02] [ 1.76967523e-01 -6.34373662e-03 9.84196247e-01 5.95765661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.5992541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.55, Y:241.77, Z:59.58 [[-8.58983070e-02 -9.96262760e-01 9.05508661e-03 4.47549521e+02] [ 9.80489615e-01 -8.61442811e-02 -1.76689779e-01 2.41773184e+02] [ 1.76809490e-01 -6.29893447e-03 9.84224938e-01 5.95767723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6292541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.55, Y:241.78, Z:59.58 [[-8.53053985e-02 -9.96314293e-01 8.98991841e-03 4.47547403e+02] [ 9.80518082e-01 -8.55484009e-02 -1.76821270e-01 2.41783448e+02] [ 1.76938631e-01 -6.26903131e-03 9.84201920e-01 5.95784220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6592541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:447.55, Y:241.76, Z:59.57 [[-8.03921556e-02 -9.96747921e-01 5.53924442e-03 4.47551413e+02] [ 9.80607152e-01 -8.00843934e-02 -1.78874545e-01 2.41757471e+02] [ 1.78736438e-01 -8.94828757e-03 9.83856297e-01 5.95737763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.6892541539999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:447.55, Y:241.78, Z:59.58 [[-8.47742139e-02 -9.96340470e-01 1.09087115e-02 4.47545344e+02] [ 9.80402958e-01 -8.53620970e-02 -1.77548167e-01 2.41781443e+02] [ 1.77829615e-01 -4.35657328e-03 9.84051649e-01 5.95780798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7192541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.55, Y:241.78, Z:59.58 [[-8.49846855e-02 -9.96342096e-01 8.94604041e-03 4.47545879e+02] [ 9.80103588e-01 -8.52092044e-02 -1.79266139e-01 2.41781654e+02] [ 1.79372686e-01 -6.46683017e-03 9.83759940e-01 5.95771510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7492541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.54, Y:241.76, Z:59.57 [[-7.39267063e-02 -9.96802738e-01 3.03173841e-02 4.47540592e+02] [ 9.83370702e-01 -7.79198834e-02 -1.64044369e-01 2.41760666e+02] [ 1.65882203e-01 1.76859675e-02 9.85986968e-01 5.95707391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.7792541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.56, Y:241.79, Z:59.57 [[-8.56651236e-02 -9.96192997e-01 -1.61554834e-02 4.47557004e+02] [ 9.80072829e-01 -8.13400087e-02 -1.81221007e-01 2.41793929e+02] [ 1.79217010e-01 -3.13578703e-02 9.83309690e-01 5.95732757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8092541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.54, Y:241.79, Z:59.58 [[-8.57756402e-02 -9.96275386e-01 8.82577744e-03 4.47544052e+02] [ 9.79988643e-01 -8.59638630e-02 -1.79534048e-01 2.41789610e+02] [ 1.79624051e-01 -6.75048628e-03 9.83712169e-01 5.95787210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.839254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.54, Y:241.77, Z:59.57 [[-7.32323158e-02 -9.96609890e-01 3.74933986e-02 4.47536157e+02] [ 9.84230741e-01 -7.82901350e-02 -1.58620629e-01 2.41765358e+02] [ 1.61018251e-01 2.52859995e-02 9.86627458e-01 5.95707252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8692541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.56, Y:241.80, Z:59.57 [[-8.62795025e-02 -9.95978077e-01 -2.41561269e-02 4.47558944e+02] [ 9.80281585e-01 -8.05432673e-02 -1.80446105e-01 2.41796468e+02] [ 1.77774751e-01 -3.92486065e-02 9.83288200e-01 5.95724488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.8992541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.54, Y:241.79, Z:59.58 [[-8.57634664e-02 -9.96277886e-01 8.66035280e-03 4.47542445e+02] [ 9.80109156e-01 -8.59266627e-02 -1.78892850e-01 2.41794458e+02] [ 1.78971145e-01 -6.85437983e-03 9.83830446e-01 5.95801857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9292541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.54, Y:241.80, Z:59.58 [[-8.61077189e-02 -9.96249132e-01 8.55152231e-03 4.47541720e+02] [ 9.80218720e-01 -8.62512382e-02 -1.78134738e-01 2.41798396e+02] [ 1.78204158e-01 -6.95641371e-03 9.83968946e-01 5.95804168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.959254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.54, Y:241.80, Z:59.58 [[-8.53669000e-02 -9.96313340e-01 8.49830298e-03 4.47541719e+02] [ 9.80209790e-01 -8.55100110e-02 -1.78540770e-01 2.41800800e+02] [ 1.78609240e-01 -6.91135224e-03 9.83895814e-01 5.95798531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 710.9892541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.54, Y:241.80, Z:59.58 [[-8.50448643e-02 -9.96341583e-01 8.41554193e-03 4.47540697e+02] [ 9.80278100e-01 -8.51799296e-02 -1.78323378e-01 2.41804592e+02] [ 1.78387832e-01 -6.91591601e-03 9.83935949e-01 5.95807341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0192541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.54, Y:241.81, Z:59.58 [[-8.24215175e-02 -9.96562634e-01 8.34323747e-03 4.47538589e+02] [ 9.80499191e-01 -8.25859427e-02 -1.78328062e-01 2.41808019e+02] [ 1.78404118e-01 -6.51753190e-03 9.83935716e-01 5.95815026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.0492541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.54, Y:241.81, Z:59.58 [[-7.99505901e-02 -9.96764479e-01 8.27503867e-03 4.47537669e+02] [ 9.80684686e-01 -8.01420785e-02 -1.78423078e-01 2.41809030e+02] [ 1.78508965e-01 -6.14982670e-03 9.83919066e-01 5.95814510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.079254154 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.54, Y:241.81, Z:59.58 [[-7.52120933e-02 -9.97134411e-01 8.13064353e-03 4.47535674e+02] [ 9.81341097e-01 -7.54628470e-02 -1.76847422e-01 2.41805366e+02] [ 1.76954212e-01 -5.32213019e-03 9.84204695e-01 5.95816761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1092541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.54, Y:241.81, Z:59.58 [[-7.14061704e-02 -9.97414826e-01 8.05130181e-03 4.47535206e+02] [ 9.81653198e-01 -7.17039604e-02 -1.76679204e-01 2.41806909e+02] [ 1.76799768e-01 -4.71239921e-03 9.84235559e-01 5.95812242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1392541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.53, Y:241.81, Z:59.58 [[-6.83264487e-02 -9.97631391e-01 7.94378604e-03 4.47534339e+02] [ 9.82015573e-01 -6.86573626e-02 -1.75873766e-01 2.41806371e+02] [ 1.76002589e-01 -4.21590822e-03 9.84380676e-01 5.95815345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1692541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.53, Y:241.81, Z:59.58 [[-6.54016817e-02 -9.97828254e-01 7.83558860e-03 4.47533361e+02] [ 9.82363357e-01 -6.57625435e-02 -1.75035776e-01 2.41808080e+02] [ 1.75170931e-01 -3.75023897e-03 9.84530894e-01 5.95824538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.1992541539998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.53, Y:241.81, Z:59.58 [[-5.99012331e-02 -9.98174030e-01 7.77485418e-03 4.47532766e+02] [ 9.82671726e-01 -6.03360358e-02 -1.75259356e-01 2.41806930e+02] [ 1.75408442e-01 -2.85812215e-03 9.84491600e-01 5.95817567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2292541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.53, Y:241.80, Z:59.58 [[-5.83296222e-02 -9.98267732e-01 7.69349432e-03 4.47532263e+02] [ 9.82810525e-01 -5.87752292e-02 -1.75011270e-01 2.41804870e+02] [ 1.75160290e-01 -2.64709403e-03 9.84536371e-01 5.95813882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2592541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.53, Y:241.81, Z:59.58 [[-5.73492707e-02 -9.98325036e-01 7.62776797e-03 4.47531627e+02] [ 9.82849942e-01 -5.77982759e-02 -1.75115251e-01 2.41813729e+02] [ 1.75262811e-01 -2.54578062e-03 9.84518393e-01 5.95825214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.2892541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.53, Y:241.81, Z:59.58 [[-5.69758364e-02 -9.98346663e-01 7.59563674e-03 4.47532985e+02] [ 9.82712511e-01 -5.74226978e-02 -1.76007826e-01 2.41811291e+02] [ 1.76152988e-01 -2.56386585e-03 9.84359463e-01 5.95808417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3192541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.53, Y:241.82, Z:59.58 [[-5.77868727e-02 -9.98300399e-01 7.54921343e-03 4.47533271e+02] [ 9.82563389e-01 -5.82112445e-02 -1.76580400e-01 2.41816637e+02] [ 1.76719733e-01 -2.78644837e-03 9.84257269e-01 5.95815473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3492541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.53, Y:241.82, Z:59.58 [[-5.73930073e-02 -9.98323652e-01 7.47850087e-03 4.47533121e+02] [ 9.82586476e-01 -5.78110834e-02 -1.76583396e-01 2.41819213e+02] [ 1.76719721e-01 -2.78637831e-03 9.84257271e-01 5.95819781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.3792541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.53, Y:241.83, Z:59.58 [[-6.15829272e-02 -9.98074330e-01 7.42795217e-03 4.47534323e+02] [ 9.82247638e-01 -6.19242227e-02 -1.77073340e-01 2.41825196e+02] [ 1.77192325e-01 -3.60860612e-03 9.84169629e-01 5.95825950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4092541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.54, Y:241.83, Z:59.58 [[-6.40274431e-02 -9.97920948e-01 7.36666899e-03 4.47535340e+02] [ 9.82050351e-01 -6.43181079e-02 -1.77314100e-01 2.41829121e+02] [ 1.77419265e-01 -4.11852857e-03 9.84126741e-01 5.95832575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4392541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.54, Y:241.80, Z:59.58 [[-5.76675037e-02 -9.98191733e-01 1.69624239e-02 4.47536775e+02] [ 9.83702791e-01 -5.97124416e-02 -1.69597296e-01 2.41803564e+02] [ 1.70303486e-01 6.90573108e-03 9.85367461e-01 5.95768249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4692541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.54, Y:241.82, Z:59.58 [[-6.55773289e-02 -9.97827458e-01 6.32289349e-03 4.47542859e+02] [ 9.83411284e-01 -6.57012529e-02 -1.69072743e-01 2.41823516e+02] [ 1.69120847e-01 -4.86933405e-03 9.85583294e-01 5.95782866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.4992541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.55, Y:241.85, Z:59.58 [[-7.73143546e-02 -9.96980137e-01 -7.28676799e-03 4.47546017e+02] [ 9.81372865e-01 -7.48107477e-02 -1.76948163e-01 2.41848108e+02] [ 1.75868676e-01 -2.08316694e-02 9.84193198e-01 5.95833636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5292541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.54, Y:241.83, Z:59.58 [[-7.06489073e-02 -9.97192293e-01 2.48246346e-02 4.47536492e+02] [ 9.83700658e-01 -7.37753185e-02 -1.63982370e-01 2.41830839e+02] [ 1.65353401e-01 1.28348341e-02 9.86150861e-01 5.95820468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.5592541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.55, Y:241.84, Z:59.58 [[-7.76367382e-02 -9.96974722e-01 -3.73370641e-03 4.47551890e+02] [ 9.82686039e-01 -7.58910489e-02 -1.69022770e-01 2.41843354e+02] [ 1.68228074e-01 -1.67914377e-02 9.85605074e-01 5.95794755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.589254154 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.55, Y:241.86, Z:59.59 [[-8.75399424e-02 -9.96149024e-01 -4.88678525e-03 4.47549336e+02] [ 9.80726848e-01 -8.53223983e-02 -1.75769557e-01 2.41862458e+02] [ 1.74675721e-01 -2.01794584e-02 9.84419211e-01 5.95862531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6192541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.54, Y:241.84, Z:59.59 [[-8.17266133e-02 -9.96425891e-01 2.13589302e-02 4.47541768e+02] [ 9.82361071e-01 -8.41525044e-02 -1.66988273e-01 2.41842330e+02] [ 1.68188846e-01 7.33479555e-03 9.85727504e-01 5.95852192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6492541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.55, Y:241.87, Z:59.59 [[-9.10845491e-02 -9.95800941e-01 -9.17010123e-03 4.47553112e+02] [ 9.80570813e-01 -8.80773523e-02 -1.75280518e-01 2.41866022e+02] [ 1.73736827e-01 -2.49572806e-02 9.84475825e-01 5.95853495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.6792541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.55, Y:241.87, Z:59.59 [[-9.45874921e-02 -9.95492404e-01 6.93390595e-03 4.47545913e+02] [ 9.80231772e-01 -9.43488127e-02 -1.73907948e-01 2.41868048e+02] [ 1.73778247e-01 -9.65268178e-03 9.84737501e-01 5.95898061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.709254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.55, Y:241.87, Z:59.59 [[-9.62062246e-02 -9.95337828e-01 6.85350782e-03 4.47545687e+02] [ 9.80119928e-01 -9.59311514e-02 -1.73672513e-01 2.41874640e+02] [ 1.73520286e-01 -9.99111716e-03 9.84779614e-01 5.95907959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7392541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.55, Y:241.85, Z:59.59 [[-9.26697466e-02 -9.95694031e-01 2.39074565e-03 4.47550617e+02] [ 9.80109606e-01 -9.16419617e-02 -1.76030994e-01 2.41846225e+02] [ 1.75492102e-01 -1.39695548e-02 9.84381722e-01 5.95860164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7692541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.54, Y:241.93, Z:59.60 [[-9.99429315e-02 -9.94912329e-01 1.26833552e-02 4.47540669e+02] [ 9.79619284e-01 -1.00622861e-01 -1.73842167e-01 2.41930226e+02] [ 1.74233950e-01 -4.94943645e-03 9.84691847e-01 5.96017580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.7992541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.55, Y:241.88, Z:59.59 [[-9.97886216e-02 -9.95000137e-01 4.11805775e-03 4.47545873e+02] [ 9.79742621e-01 -9.89789623e-02 -1.74090669e-01 2.41884107e+02] [ 1.73627841e-01 -1.33376312e-02 9.84721017e-01 5.95919112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.829254154 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:447.54, Y:241.87, Z:59.59 [[-9.01552100e-02 -9.95689979e-01 2.17601331e-02 4.47540008e+02] [ 9.82080416e-01 -9.25112783e-02 -1.64194156e-01 2.41866954e+02] [ 1.65499534e-01 6.56724194e-03 9.86188002e-01 5.95873167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8592541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.55, Y:241.88, Z:59.59 [[-9.76905616e-02 -9.95154138e-01 -1.11712046e-02 4.47551421e+02] [ 9.79925134e-01 -9.42233061e-02 -1.75694906e-01 2.41884212e+02] [ 1.73790924e-01 -2.81106781e-02 9.84381280e-01 5.95865400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.8892541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.54, Y:241.88, Z:59.59 [[-9.68658237e-02 -9.95275421e-01 6.62185486e-03 4.47540865e+02] [ 9.79866446e-01 -9.65289185e-02 -1.74768178e-01 2.41884158e+02] [ 1.74581672e-01 -1.04405301e-02 9.84587343e-01 5.95917872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9192541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.54, Y:241.89, Z:59.59 [[-9.49431731e-02 -9.95460909e-01 6.58573212e-03 4.47539513e+02] [ 9.79881139e-01 -9.46198047e-02 -1.75727193e-01 2.41889668e+02] [ 1.75552692e-01 -1.02308626e-02 9.84416874e-01 5.95920273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9492541539998 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.54, Y:241.89, Z:59.59 [[-9.29151268e-02 -9.95652437e-01 6.55778265e-03 4.47536709e+02] [ 9.79856715e-01 -9.26064036e-02 -1.76931831e-01 2.41887304e+02] [ 1.76769901e-01 -1.00139561e-02 9.84201261e-01 5.95911262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 711.9792541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.54, Y:241.89, Z:59.59 [[-9.14489050e-02 -9.95788548e-01 6.50121791e-03 4.47535029e+02] [ 9.79913605e-01 -9.11490365e-02 -1.77372996e-01 2.41892788e+02] [ 1.77218578e-01 -9.84993435e-03 9.84122225e-01 5.95919249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0092541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:447.53, Y:241.91, Z:59.60 [[-8.74045609e-02 -9.96096192e-01 1.23620006e-02 4.47528342e+02] [ 9.79998282e-01 -8.82059190e-02 -1.78390255e-01 2.41912396e+02] [ 1.78784256e-01 -3.47738262e-03 9.83882156e-01 5.95956840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0392541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.53, Y:241.89, Z:59.59 [[-8.60499285e-02 -9.96290789e-01 2.70771929e-04 4.47532705e+02] [ 9.80193750e-01 -8.47082740e-02 -1.79010391e-01 2.41893817e+02] [ 1.78369341e-01 -1.51384224e-02 9.83847146e-01 5.95906459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0692541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.53, Y:241.89, Z:59.59 [[-8.28816317e-02 -9.96539055e-01 6.36758706e-03 4.47527821e+02] [ 9.80509454e-01 -8.26872605e-02 -1.78224655e-01 2.41893925e+02] [ 1.78134348e-01 -8.52807094e-03 9.83969220e-01 5.95924459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.0992541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.52, Y:241.88, Z:59.59 [[-6.90807470e-02 -9.96963636e-01 3.59354962e-02 4.47516305e+02] [ 9.84771243e-01 -7.39080718e-02 -1.57363258e-01 2.41881437e+02] [ 1.59541369e-01 2.45174719e-02 9.86886744e-01 5.95882937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1292541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.54, Y:241.89, Z:59.59 [[-7.17791391e-02 -9.97059700e-01 -2.68274095e-02 4.47537425e+02] [ 9.81975367e-01 -6.59270278e-02 -1.77138381e-01 2.41892936e+02] [ 1.74848890e-01 -3.90586958e-02 9.83820250e-01 5.95855215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1592541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.51, Y:241.87, Z:59.59 [[-5.99492657e-02 -9.97940927e-01 2.28033459e-02 4.47514673e+02] [ 9.84414976e-01 -6.28894824e-02 -1.64231750e-01 2.41872878e+02] [ 1.65327675e-01 1.26023824e-02 9.86158172e-01 5.95870293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.1892541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:447.53, Y:241.89, Z:59.59 [[-6.28797882e-02 -9.97937381e-01 -1.29273358e-02 4.47526418e+02] [ 9.82677856e-01 -5.96453541e-02 -1.75461285e-01 2.41887593e+02] [ 1.74328320e-01 -2.37363751e-02 9.84401453e-01 5.95884846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2192541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.51, Y:241.88, Z:59.59 [[-5.41277218e-02 -9.98515999e-01 5.99917896e-03 4.47514349e+02] [ 9.83227705e-01 -5.43449651e-02 -1.74097400e-01 2.41881545e+02] [ 1.74165064e-01 -3.52493667e-03 9.84710163e-01 5.95924814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2492541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.51, Y:241.88, Z:59.59 [[-5.00292436e-02 -9.98730100e-01 5.93823097e-03 4.47513203e+02] [ 9.83394537e-01 -5.02978145e-02 -1.74371200e-01 2.41883964e+02] [ 1.74448446e-01 -2.88403535e-03 9.84662085e-01 5.95923997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.2792541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:447.51, Y:241.95, Z:59.61 [[-4.88491918e-02 -9.98806047e-01 4.86934347e-04 4.47511053e+02] [ 9.82812907e-01 -4.81538879e-02 -1.78213334e-01 2.41954719e+02] [ 1.78024003e-01 -8.22701197e-03 9.83991753e-01 5.96057910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3092541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.51, Y:241.88, Z:59.59 [[-4.37289476e-02 -9.98969235e-01 1.21756270e-02 4.47507189e+02] [ 9.83475418e-01 -4.51874527e-02 -1.75311710e-01 2.41882589e+02] [ 1.75681191e-01 4.30823327e-03 9.84437686e-01 5.95927399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.339254154 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:447.51, Y:241.88, Z:59.59 [[-4.35577781e-02 -9.99033893e-01 5.83099246e-03 4.47509509e+02] [ 9.83416353e-01 -4.39039150e-02 -1.75967961e-01 2.41884696e+02] [ 1.76053961e-01 -1.93048008e-03 9.84378624e-01 5.95923167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3692541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:447.51, Y:241.89, Z:59.59 [[-4.37876887e-02 -9.99024159e-01 5.77644754e-03 4.47509235e+02] [ 9.83318840e-01 -4.41196148e-02 -1.76458266e-01 2.41886805e+02] [ 1.76540925e-01 -2.04660991e-03 9.84291173e-01 5.95923758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.3992541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.51, Y:241.89, Z:59.59 [[-4.58210167e-02 -9.98933224e-01 5.73142646e-03 4.47508768e+02] [ 9.83083751e-01 -4.61110237e-02 -1.77257194e-01 2.41893332e+02] [ 1.77332382e-01 -2.48763260e-03 9.84147874e-01 5.95933467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4292541539999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:447.51, Y:241.89, Z:59.59 [[-4.68112037e-02 -9.98887723e-01 5.65926186e-03 4.47508737e+02] [ 9.83044990e-01 -4.70728080e-02 -1.77219352e-01 2.41894980e+02] [ 1.77288632e-01 -2.73254214e-03 9.84155107e-01 5.95933320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.459254154 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.51, Y:241.90, Z:59.59 [[-4.78020802e-02 -9.98841227e-01 5.58257604e-03 4.47508650e+02] [ 9.83031131e-01 -4.80349224e-02 -1.77037966e-01 2.41899462e+02] [ 1.77100977e-01 -2.97493699e-03 9.84188190e-01 5.95941625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.4892541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.51, Y:241.90, Z:59.59 [[-4.97164829e-02 -9.98748214e-01 5.50234232e-03 4.47508722e+02] [ 9.82992036e-01 -4.99058471e-02 -1.76737275e-01 2.41904230e+02] [ 1.76790637e-01 -3.37799706e-03 9.84242683e-01 5.95946171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5192541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.51, Y:241.91, Z:59.59 [[-5.05207334e-02 -9.98708204e-01 5.43859037e-03 4.47508595e+02] [ 9.82909323e-01 -5.06852712e-02 -1.76975329e-01 2.41907698e+02] [ 1.77022369e-01 -3.59528221e-03 9.84200262e-01 5.95946457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.5492541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.51, Y:241.91, Z:59.60 [[-5.13987510e-02 -9.98663799e-01 5.36512928e-03 4.47508632e+02] [ 9.82878986e-01 -5.15366958e-02 -1.76897902e-01 2.41913216e+02] [ 1.76938031e-01 -3.81905837e-03 9.84214584e-01 5.95951509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.579254154 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.51, Y:241.91, Z:59.60 [[-5.23824548e-02 -9.98613069e-01 5.29315213e-03 4.47508967e+02] [ 9.82833194e-01 -5.24922255e-02 -1.76871366e-01 2.41914036e+02] [ 1.76903907e-01 -4.06267070e-03 9.84219743e-01 5.95953835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6092541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.51, Y:241.92, Z:59.60 [[-5.49928100e-02 -9.98473243e-01 5.19356735e-03 4.47509667e+02] [ 9.82868168e-01 -5.50482621e-02 -1.75897282e-01 2.41919152e+02] [ 1.75914626e-01 -4.56849377e-03 9.84394826e-01 5.95957955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6392541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.51, Y:241.92, Z:59.60 [[-5.62218785e-02 -9.98405292e-01 5.09645361e-03 4.47510033e+02] [ 9.82963624e-01 -5.62455480e-02 -1.74982718e-01 2.41920721e+02] [ 1.74990325e-01 -4.82822861e-03 9.84558314e-01 5.95960444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6692541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.51, Y:241.93, Z:59.60 [[-5.93297303e-02 -9.98225883e-01 5.00704942e-03 4.47510526e+02] [ 9.82902894e-01 -5.92933677e-02 -1.74316375e-01 2.41928870e+02] [ 1.74304002e-01 -5.42070016e-03 9.84676968e-01 5.95976548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.6992541539998 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.51, Y:241.93, Z:59.60 [[-5.99882328e-02 -9.98187010e-01 4.90965008e-03 4.47511388e+02] [ 9.83035469e-01 -5.99302929e-02 -1.73348284e-01 2.41931276e+02] [ 1.73328242e-01 -5.57249704e-03 9.84848348e-01 5.95960906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7292541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.51, Y:241.93, Z:59.60 [[-6.11307182e-02 -9.98118084e-01 4.82976570e-03 4.47511387e+02] [ 9.83029558e-01 -6.10436974e-02 -1.72992932e-01 2.41934626e+02] [ 1.72962201e-01 -5.82737975e-03 9.84911224e-01 5.95975845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7592541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.51, Y:241.94, Z:59.60 [[-6.29050089e-02 -9.98008142e-01 4.76537700e-03 4.47512298e+02] [ 9.82883933e-01 -6.27787290e-02 -1.73199325e-01 2.41938757e+02] [ 1.73153501e-01 -6.21129260e-03 9.84875264e-01 5.95989866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.7892541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.51, Y:241.94, Z:59.60 [[-6.29075270e-02 -9.98008259e-01 4.70727634e-03 4.47512978e+02] [ 9.82805222e-01 -6.27682789e-02 -1.73649181e-01 2.41941871e+02] [ 1.73598785e-01 -6.29750479e-03 9.84796326e-01 5.95991769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8192541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.51, Y:241.94, Z:59.60 [[-6.24505692e-02 -9.98037218e-01 4.65166688e-03 4.47513199e+02] [ 9.82735487e-01 -6.23050476e-02 -1.74209768e-01 2.41941534e+02] [ 1.74157655e-01 -6.30814107e-03 9.84697577e-01 5.95987867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8492541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.51, Y:241.95, Z:59.60 [[-6.17294114e-02 -9.98082345e-01 4.59476933e-03 4.47512725e+02] [ 9.82687692e-01 -6.15816958e-02 -1.74735788e-01 2.41947618e+02] [ 1.74683659e-01 -6.27111409e-03 9.84604638e-01 5.95996513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.8792541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.51, Y:241.95, Z:59.60 [[-5.92154760e-02 -9.98234897e-01 4.54072627e-03 4.47511957e+02] [ 9.82723856e-01 -5.90931666e-02 -1.75390481e-01 2.41948432e+02] [ 1.75349225e-01 -5.92355079e-03 9.84488477e-01 5.95996433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9092541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.51, Y:241.95, Z:59.60 [[-5.72410753e-02 -9.98350326e-01 4.48164909e-03 4.47512011e+02] [ 9.82754255e-01 -5.71363448e-02 -1.75867885e-01 2.41949873e+02] [ 1.75833825e-01 -5.66250715e-03 9.84403577e-01 5.95997266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9392541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.51, Y:241.95, Z:59.60 [[-5.50361908e-02 -9.98474503e-01 4.43673092e-03 4.47511582e+02] [ 9.82687967e-01 -5.49522276e-02 -1.76931095e-01 2.41953128e+02] [ 1.76904996e-01 -5.37769143e-03 9.84213241e-01 5.96005019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9692541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:447.51, Y:241.95, Z:59.60 [[-5.12542942e-02 -9.98676052e-01 4.37497739e-03 4.47510251e+02] [ 9.82816697e-01 -5.12172270e-02 -1.77336223e-01 2.41953563e+02] [ 1.77325514e-01 -4.78944214e-03 9.84140601e-01 5.96003908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 712.9992541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.51, Y:241.95, Z:59.60 [[-4.92930227e-02 -9.98775053e-01 4.31187766e-03 4.47509718e+02] [ 9.82850984e-01 -4.92742592e-02 -1.77696344e-01 2.41952608e+02] [ 1.77691140e-01 -4.52125674e-03 9.84075920e-01 5.96002540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0292541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.51, Y:241.95, Z:59.60 [[-4.68513327e-02 -9.98892819e-01 4.25299973e-03 4.47508455e+02] [ 9.82870443e-01 -4.68587312e-02 -1.78241274e-01 2.41952095e+02] [ 1.78243219e-01 -4.17069349e-03 9.83977622e-01 5.96004618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.0592541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.51, Y:241.96, Z:59.60 [[-4.56851012e-02 -9.98947105e-01 4.18968056e-03 4.47507664e+02] [ 9.82858889e-01 -4.56984250e-02 -1.78605875e-01 2.41956169e+02] [ 1.78609283e-01 -4.04176267e-03 9.83911779e-01 5.96007716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.089254154 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:447.51, Y:241.96, Z:59.60 [[-4.49502743e-02 -9.98980734e-01 4.11891620e-03 4.47507195e+02] [ 9.82884291e-01 -4.49626034e-02 -1.78652834e-01 2.41957507e+02] [ 1.78655936e-01 -3.98207585e-03 9.83903552e-01 5.96006231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1192541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.51, Y:241.96, Z:59.60 [[-4.60030598e-02 -9.98933072e-01 4.05405134e-03 4.47506726e+02] [ 9.82779931e-01 -4.59854858e-02 -1.78966315e-01 2.41960080e+02] [ 1.78961798e-01 -4.24875781e-03 9.83846849e-01 5.96016150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1492541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:447.51, Y:241.97, Z:59.60 [[-4.74980958e-02 -9.98863448e-01 3.96782742e-03 4.47505980e+02] [ 9.82829222e-01 -4.74439572e-02 -1.78313745e-01 2.41970394e+02] [ 1.78299332e-01 -4.56986663e-03 9.83965683e-01 5.96044951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.1792541539999 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:447.49, Y:241.93, Z:59.59 [[-3.23913966e-02 -9.98274360e-01 4.89805960e-02 4.47492040e+02] [ 9.88334251e-01 -3.92886016e-02 -1.47145554e-01 2.41933626e+02] [ 1.48816013e-01 4.36429507e-02 9.87901355e-01 5.95936705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.209254154 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:447.53, Y:241.98, Z:59.59 [[-5.45997541e-02 -9.97451910e-01 -4.59189867e-02 4.47531963e+02] [ 9.82917094e-01 -4.55953213e-02 -1.78311673e-01 2.41979862e+02] [ 1.75763628e-01 -5.48703304e-02 9.82902027e-01 5.95932983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2392541539999 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:447.51, Y:241.98, Z:59.61 [[-5.65861535e-02 -9.98390371e-01 3.83070672e-03 4.47507426e+02] [ 9.82552530e-01 -5.63685454e-02 -1.77237447e-01 2.41978890e+02] [ 1.77168092e-01 -6.26531483e-03 9.84160664e-01 5.96060856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2692541539999 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:447.51, Y:241.98, Z:59.61 [[-5.61880658e-02 -9.98413127e-01 3.75887383e-03 4.47507331e+02] [ 9.82575378e-01 -5.59640368e-02 -1.77238972e-01 2.41981478e+02] [ 1.77168078e-01 -6.26533814e-03 9.84160667e-01 5.96065165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.2992541539999 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:447.50, Y:241.96, Z:59.60 [[-4.34455304e-02 -9.98298419e-01 3.88941089e-02 4.47497388e+02] [ 9.87110483e-01 -4.88957339e-02 -1.52387997e-01 2.41960060e+02] [ 1.54030453e-01 3.17722053e-02 9.87555136e-01 5.95989920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.329254154 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:447.53, Y:241.99, Z:59.60 [[-6.07016481e-02 -9.97518805e-01 -3.56587132e-02 4.47526816e+02] [ 9.82638399e-01 -5.34450170e-02 -1.77666559e-01 2.41990496e+02] [ 1.75319953e-01 -4.58242739e-02 9.83444482e-01 5.95982752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3592541539999 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:447.51, Y:241.99, Z:59.61 [[-6.35316684e-02 -9.97973284e-01 3.61270147e-03 4.47508260e+02] [ 9.82331268e-01 -6.31736136e-02 -1.76165760e-01 2.41989541e+02] [ 1.76036950e-01 -7.64323504e-03 9.84353886e-01 5.96082961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.3892541539999 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:447.51, Y:241.99, Z:59.61 [[-6.41224345e-02 -9.97935786e-01 3.53284400e-03 4.47508635e+02] [ 9.82369788e-01 -6.37444036e-02 -1.75744848e-01 2.41991833e+02] [ 1.75607272e-01 -7.79862829e-03 9.84429412e-01 5.96086821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4192541539999 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:447.51, Y:242.00, Z:59.61 [[-6.45182449e-02 -9.97910581e-01 3.44493926e-03 4.47508252e+02] [ 9.82498086e-01 -6.41255119e-02 -1.74886904e-01 2.42000600e+02] [ 1.74742400e-01 -7.89874987e-03 9.84582502e-01 5.96107642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4492541539998 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:447.51, Y:242.00, Z:59.61 [[-6.40982565e-02 -9.97937905e-01 3.36930101e-03 4.47507983e+02] [ 9.82567923e-01 -6.37006948e-02 -1.74649647e-01 2.42000202e+02] [ 1.74504129e-01 -7.88417076e-03 9.84624877e-01 5.96114311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.4792541539999 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:447.51, Y:242.00, Z:59.61 [[-6.32575910e-02 -9.97991796e-01 3.29439310e-03 4.47507472e+02] [ 9.82657937e-01 -6.28615101e-02 -1.74447155e-01 2.42001866e+02] [ 1.74303920e-01 -7.79784528e-03 9.84661026e-01 5.96117119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5092541539999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:447.51, Y:242.00, Z:59.61 [[-6.13650116e-02 -9.98110162e-01 3.23112839e-03 4.47506797e+02] [ 9.82700507e-01 -6.09837157e-02 -1.74873383e-01 2.42002711e+02] [ 1.74739946e-01 -7.55587564e-03 9.84585629e-01 5.96123389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5392541539999 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:447.51, Y:242.00, Z:59.61 [[-6.00046045e-02 -9.98193120e-01 3.15330798e-03 4.47506758e+02] [ 9.82851377e-01 -5.96335819e-02 -1.74490710e-01 2.42004710e+02] [ 1.74363469e-01 -7.37101293e-03 9.84653771e-01 5.96121791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5692541539999 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:447.51, Y:242.01, Z:59.61 [[-5.85876339e-02 -9.98277483e-01 3.09120470e-03 4.47506898e+02] [ 9.82845808e-01 -5.82238548e-02 -1.74997431e-01 2.42008998e+02] [ 1.74875976e-01 -7.21450782e-03 9.84564037e-01 5.96124558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.5992541539999 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:447.51, Y:242.01, Z:59.61 [[-5.77446554e-02 -9.98326814e-01 3.02112594e-03 4.47506472e+02] [ 9.82884747e-01 -5.73812198e-02 -1.75057047e-01 2.42012908e+02] [ 1.74937500e-01 -7.13919023e-03 9.84553657e-01 5.96134322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6292541539999 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:447.50, Y:241.99, Z:59.61 [[-4.61153754e-02 -9.98743660e-01 1.96079974e-02 4.47502084e+02] [ 9.85137802e-01 -4.87208668e-02 -1.64711227e-01 2.41988150e+02] [ 1.65459612e-01 1.17208594e-02 9.86146915e-01 5.96066102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6592541539999 meters Centerline goodness : 0.998663 Centerline is valid? [True, True] Translation: X:447.51, Y:242.01, Z:59.61 [[-5.55316778e-02 -9.98316225e-01 -1.67614878e-02 4.47514763e+02] [ 9.82763579e-01 -5.16864688e-02 -1.77494386e-01 2.42013716e+02] [ 1.76329183e-01 -2.63291408e-02 9.83979063e-01 5.96080276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.6892541539999 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:447.50, Y:242.01, Z:59.61 [[-5.36597864e-02 -9.98555000e-01 2.92237142e-03 4.47504218e+02] [ 9.82527971e-01 -5.33203875e-02 -1.78313553e-01 2.42013317e+02] [ 1.78211712e-01 -6.69695551e-03 9.83969378e-01 5.96130778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7192541539999 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:447.50, Y:242.02, Z:59.61 [[-5.25825758e-02 -9.98612493e-01 2.85699211e-03 4.47504004e+02] [ 9.82505229e-01 -5.22458527e-02 -1.78756390e-01 2.42016069e+02] [ 1.78657630e-01 -6.59246174e-03 9.83889217e-01 5.96137392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7492541539999 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:447.50, Y:242.02, Z:59.61 [[-5.14519947e-02 -9.98671548e-01 2.79862222e-03 4.47503925e+02] [ 9.82395901e-01 -5.11169951e-02 -1.79681236e-01 2.42020478e+02] [ 1.79585595e-01 -6.49560300e-03 9.83720906e-01 5.96133478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.7792541539999 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:447.50, Y:242.00, Z:59.61 [[-4.05444080e-02 -9.98967707e-01 2.04858807e-02 4.47499691e+02] [ 9.85280806e-01 -4.33797053e-02 -1.65347918e-01 2.41996827e+02] [ 1.66065902e-01 1.34804116e-02 9.86022512e-01 5.96076668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8092541539999 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:447.51, Y:242.02, Z:59.61 [[-5.13874451e-02 -9.98524145e-01 -1.75744836e-02 4.47511864e+02] [ 9.82699888e-01 -4.74220481e-02 -1.79030947e-01 2.42023034e+02] [ 1.77933306e-01 -2.64703861e-02 9.83686463e-01 5.96099877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.839254154 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:447.50, Y:242.02, Z:59.62 [[-5.04713488e-02 -9.98722039e-01 2.63291000e-03 4.47501112e+02] [ 9.82652291e-01 -5.01299668e-02 -1.78553804e-01 2.42024489e+02] [ 1.78457606e-01 -6.42461624e-03 9.83926627e-01 5.96159179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8692541539999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:447.50, Y:242.03, Z:59.62 [[-4.92849401e-02 -9.98781484e-01 2.55785529e-03 4.47500106e+02] [ 9.82747223e-01 -4.89505002e-02 -1.78358470e-01 2.42025811e+02] [ 1.78266346e-01 -6.27666134e-03 9.83962252e-01 5.96163324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.8992541539999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:447.50, Y:242.03, Z:59.62 [[-4.57440147e-02 -9.98950112e-01 2.48157825e-03 4.47498287e+02] [ 9.82969366e-01 -4.54545554e-02 -1.78059283e-01 2.42028741e+02] [ 1.77985140e-01 -5.70583106e-03 9.84016633e-01 5.96172380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9292541539999 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:447.50, Y:242.03, Z:59.62 [[-4.34289819e-02 -9.99053635e-01 2.39974630e-03 4.47497535e+02] [ 9.83206824e-01 -4.31660362e-02 -1.77316198e-01 2.42029503e+02] [ 1.77251980e-01 -5.34121503e-03 9.84151008e-01 5.96172763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.959254154 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:447.50, Y:242.03, Z:59.62 [[-3.89995355e-02 -9.99236544e-01 2.31643991e-03 4.47496274e+02] [ 9.83552276e-01 -3.87963396e-02 -1.76407949e-01 2.42030305e+02] [ 1.76363138e-01 -4.60148831e-03 9.84314416e-01 5.96181831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 713.9892541539999 meters Centerline goodness : 0.998554 Centerline is valid? [True, True] Translation: X:447.50, Y:242.03, Z:59.62 [[-3.68074946e-02 -9.99319869e-01 2.23798034e-03 4.47495483e+02] [ 9.83739971e-01 -3.66274059e-02 -1.75824070e-01 2.42029654e+02] [ 1.75786458e-01 -4.27005280e-03 9.84419061e-01 5.96185278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0192541539999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:447.49, Y:242.03, Z:59.62 [[-3.46562541e-02 -9.99396936e-01 2.16983165e-03 4.47494841e+02] [ 9.83775989e-01 -3.44968005e-02 -1.76053328e-01 2.42028221e+02] [ 1.76022009e-01 -3.96672060e-03 9.84378239e-01 5.96188465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.0492541539999 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:447.49, Y:242.03, Z:59.62 [[-3.26868667e-02 -9.99463428e-01 2.10333860e-03 4.47494048e+02] [ 9.83775678e-01 -3.25450915e-02 -1.76426283e-01 2.42029863e+02] [ 1.76400071e-01 -3.69760905e-03 9.84311609e-01 5.96195917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.079254154 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:447.49, Y:242.03, Z:59.62 [[-3.00341352e-02 -9.99546768e-01 2.05160860e-03 4.47493154e+02] [ 9.83550124e-01 -2.99191121e-02 -1.78140394e-01 2.42029823e+02] [ 1.78121037e-01 -3.33243279e-03 9.84002943e-01 5.96195614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1092541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:447.49, Y:242.04, Z:59.62 [[-2.93195395e-02 -9.99568108e-01 1.99075587e-03 4.47493179e+02] [ 9.83392894e-01 -2.92018325e-02 -1.79124728e-01 2.42035014e+02] [ 1.79105499e-01 -3.29415937e-03 9.83824359e-01 5.96203413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1392541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:447.49, Y:242.04, Z:59.62 [[-2.89472022e-02 -9.99579090e-01 1.92414826e-03 4.47493739e+02] [ 9.83312216e-01 -2.88219008e-02 -1.79628460e-01 2.42035982e+02] [ 1.79608310e-01 -3.30770287e-03 9.83732644e-01 5.96198416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1692541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:447.50, Y:242.04, Z:59.62 [[-2.92346116e-02 -9.99570821e-01 1.87384283e-03 4.47496276e+02] [ 9.82901765e-01 -2.90879348e-02 -1.81818626e-01 2.42042648e+02] [ 1.81795100e-01 -3.47359349e-03 9.83330298e-01 5.96191137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.1992541539998 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:447.50, Y:242.05, Z:59.62 [[-3.00996009e-02 -9.99545276e-01 1.80403850e-03 4.47496363e+02] [ 9.82814884e-01 -2.99245527e-02 -1.82152203e-01 2.42045379e+02] [ 1.82123359e-01 -3.70967273e-03 9.83268692e-01 5.96205324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2292541539999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:447.50, Y:242.05, Z:59.62 [[-3.15964831e-02 -9.99499188e-01 1.74210461e-03 4.47497511e+02] [ 9.82539349e-01 -3.13799872e-02 -1.83389542e-01 2.42048499e+02] [ 1.83352366e-01 -4.08277825e-03 9.83038779e-01 5.96211983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2592541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:447.50, Y:242.05, Z:59.62 [[-3.24968561e-02 -9.99470450e-01 1.66536294e-03 4.47497863e+02] [ 9.82575226e-01 -3.22525224e-02 -1.83045625e-01 2.42049796e+02] [ 1.83002406e-01 -4.31206298e-03 9.83103009e-01 5.96219137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.2892541539999 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:447.50, Y:242.05, Z:59.62 [[-3.34485843e-02 -9.99439173e-01 1.59094613e-03 4.47498220e+02] [ 9.82563217e-01 -3.31750100e-02 -1.82945194e-01 2.42054119e+02] [ 1.82895374e-01 -4.55605262e-03 9.83121826e-01 5.96230287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3192541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:447.50, Y:242.06, Z:59.62 [[-3.53852047e-02 -9.99372599e-01 1.51519223e-03 4.47499270e+02] [ 9.82548818e-01 -3.50664712e-02 -1.82669543e-01 2.42059339e+02] [ 1.82608069e-01 -4.97504884e-03 9.83173200e-01 5.96244557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3492541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:447.50, Y:242.07, Z:59.63 [[-3.58257167e-02 -9.99357009e-01 1.44435422e-03 4.47499987e+02] [ 9.82465953e-01 -3.54847293e-02 -1.83034111e-01 2.42065041e+02] [ 1.82967675e-01 -5.13829937e-03 9.83105502e-01 5.96257729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.3792541539999 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:447.50, Y:242.61, Z:59.72 [[-3.72890230e-02 -9.99304265e-01 7.16829897e-04 4.47496735e+02] [ 9.82396103e-01 -3.67894749e-02 -1.83151391e-01 2.42611914e+02] [ 1.83050338e-01 -6.12532554e-03 9.83084459e-01 5.97205263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4092541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.50, Y:242.07, Z:59.63 [[-3.49978344e-02 -9.99384221e-01 2.51623744e-03 4.47500238e+02] [ 9.82530451e-01 -3.48678930e-02 -1.82806301e-01 2.42069292e+02] [ 1.82781468e-01 -3.92554474e-03 9.83145729e-01 5.96273622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4392541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:447.50, Y:242.07, Z:59.63 [[-3.43573887e-02 -9.99408963e-01 1.13793457e-03 4.47500546e+02] [ 9.82532109e-01 -3.39855247e-02 -1.82963490e-01 2.42074563e+02] [ 1.82894025e-01 -5.16809049e-03 9.83119050e-01 5.96285243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4692541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.50, Y:242.08, Z:59.63 [[-3.31211641e-02 -9.99450779e-01 1.06250289e-03 4.47500368e+02] [ 9.82628745e-01 -3.27578847e-02 -1.82668198e-01 2.42075691e+02] [ 1.82602679e-01 -5.00613749e-03 9.83174044e-01 5.96289407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.4992541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:447.50, Y:242.08, Z:59.63 [[-3.05586011e-02 -9.99532483e-01 9.93487786e-04 4.47501332e+02] [ 9.82534762e-01 -3.02214297e-02 -1.83608571e-01 2.42077155e+02] [ 1.83552756e-01 -4.63468481e-03 9.82998935e-01 5.96292657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5292541539999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:447.50, Y:242.08, Z:59.63 [[-2.92152007e-02 -9.99572727e-01 9.13744532e-04 4.47501216e+02] [ 9.82803581e-01 -2.88917971e-02 -1.82379783e-01 2.42078623e+02] [ 1.82328257e-01 -4.43023056e-03 9.83227736e-01 5.96304888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.5592541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:447.50, Y:242.08, Z:59.63 [[-2.79146292e-02 -9.99609957e-01 8.40712529e-04 4.47501767e+02] [ 9.82820602e-01 -2.75992576e-02 -1.82488206e-01 2.42077991e+02] [ 1.82440231e-01 -4.26782099e-03 9.83207683e-01 5.96309837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.589254154 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:447.52, Y:242.19, Z:59.66 [[-3.75400546e-02 -9.98281957e-01 -4.49875407e-02 4.47518323e+02] [ 9.76719039e-01 -2.71394136e-02 -2.12798899e-01 2.42191989e+02] [ 2.11212366e-01 -5.19286698e-02 9.76059808e-01 5.96588849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6192541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.48, Y:242.08, Z:59.65 [[-2.58307457e-02 -9.98431840e-01 4.96652084e-02 4.47480830e+02] [ 9.82693761e-01 -3.44768890e-02 -1.82000871e-01 2.42077650e+02] [ 1.83427766e-01 4.41044722e-02 9.82043304e-01 5.96451696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6492541539999 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:447.50, Y:242.09, Z:59.63 [[-2.62603241e-02 -9.99654891e-01 7.03737966e-04 4.47504687e+02] [ 9.82774662e-01 -2.59457035e-02 -1.82977552e-01 2.42086046e+02] [ 1.82932664e-01 -4.11343399e-03 9.83116840e-01 5.96329995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.6792541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.51, Y:242.09, Z:59.63 [[-2.63275512e-02 -9.99653171e-01 6.31244036e-04 4.47506392e+02] [ 9.82707841e-01 -2.59970328e-02 -1.83328813e-01 2.42086045e+02] [ 1.83281640e-01 -4.20627025e-03 9.83051447e-01 5.96334035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.709254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.51, Y:242.09, Z:59.63 [[-2.63500473e-02 -9.99652621e-01 5.59697872e-04 4.47507313e+02] [ 9.82555729e-01 -2.60024863e-02 -1.84141550e-01 2.42090517e+02] [ 1.84092136e-01 -4.30220420e-03 9.82899576e-01 5.96345398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7392541539999 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:447.51, Y:242.10, Z:59.64 [[-2.62441609e-02 -9.99655444e-01 4.87612862e-04 4.47508492e+02] [ 9.82396000e-01 -2.58812889e-02 -1.85008807e-01 2.42095049e+02] [ 1.84957681e-01 -4.37637197e-03 9.82736742e-01 5.96352155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7692541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.51, Y:242.10, Z:59.64 [[-2.58173615e-02 -9.99666590e-01 4.14564470e-04 4.47509592e+02] [ 9.82259816e-01 -2.54448626e-02 -1.85790776e-01 2.42095490e+02] [ 1.85739381e-01 -4.38941763e-03 9.82589241e-01 5.96355800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.7992541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.51, Y:242.10, Z:59.64 [[-2.52157929e-02 -9.99681973e-01 3.41927159e-04 4.47510899e+02] [ 9.81991279e-01 -2.48336250e-02 -1.87286996e-01 2.42100094e+02] [ 1.87235925e-01 -4.38682062e-03 9.82305179e-01 5.96364665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.829254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.51, Y:242.10, Z:59.64 [[-2.48149169e-02 -9.99692027e-01 2.67389786e-04 4.47511101e+02] [ 9.81839617e-01 -2.44220950e-02 -1.88134335e-01 2.42104581e+02] [ 1.88082925e-01 -4.40600401e-03 9.82143269e-01 5.96376953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8592541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.51, Y:242.49, Z:59.71 [[-2.59572941e-02 -9.99653999e-01 4.25460716e-03 4.47509844e+02] [ 9.81499977e-01 -2.62930600e-02 -1.89648281e-01 2.42494778e+02] [ 1.89694529e-01 -7.46859380e-04 9.81842873e-01 5.97071983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.8892541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.52, Y:242.10, Z:59.64 [[-2.61262745e-02 -9.99651837e-01 -3.69091290e-03 4.47515240e+02] [ 9.81451592e-01 -2.49487919e-02 -1.90079802e-01 2.42104617e+02] [ 1.89921540e-01 -8.58852944e-03 9.81761705e-01 5.96374559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9192541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:447.51, Y:242.11, Z:59.64 [[-2.66241287e-02 -9.99645503e-01 1.56869227e-04 4.47514387e+02] [ 9.81446148e-01 -2.61692218e-02 -1.89943754e-01 2.42106530e+02] [ 1.89880525e-01 -4.90312826e-03 9.81794961e-01 5.96393237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9492541539998 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.52, Y:242.11, Z:59.64 [[-2.80391603e-02 -9.99606822e-01 8.02816149e-05 4.47516230e+02] [ 9.81688448e-01 -2.75516848e-02 -1.88490571e-01 2.42113531e+02] [ 1.88418672e-01 -5.20630580e-03 9.82074996e-01 5.96415456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 714.9792541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:447.52, Y:242.11, Z:59.64 [[-2.80601960e-02 -9.99606235e-01 4.59127327e-06 4.47516846e+02] [ 9.81875446e-01 -2.75633318e-02 -1.87512323e-01 2.42113110e+02] [ 1.87438614e-01 -5.25712448e-03 9.82262250e-01 5.96419204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0092541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.52, Y:242.14, Z:59.65 [[-2.82050019e-02 -9.99602158e-01 -5.94020169e-05 4.47517305e+02] [ 9.81976113e-01 -2.76965509e-02 -1.86964742e-01 2.42140982e+02] [ 1.86888714e-01 -5.33167226e-03 9.82366623e-01 5.96473812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0392541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.52, Y:242.17, Z:59.65 [[-2.66552757e-02 -9.99644685e-01 -4.60464471e-06 4.47517956e+02] [ 9.82220375e-01 -2.61898045e-02 -1.85895751e-01 2.42167638e+02] [ 1.85829579e-01 -4.95962526e-03 9.82569473e-01 5.96528680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0692541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.52, Y:242.17, Z:59.65 [[-2.50547810e-02 -9.99686079e-01 3.49743583e-05 4.47518241e+02] [ 9.82324251e-01 -2.46261395e-02 -1.85560286e-01 2.42171789e+02] [ 1.85502896e-01 -4.61481617e-03 9.82632881e-01 5.96537871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.0992541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.52, Y:242.20, Z:59.66 [[-2.38380481e-02 -9.99715833e-01 -3.09341064e-05 4.47518857e+02] [ 9.82346404e-01 -2.34181342e-02 -1.85599391e-01 2.42197942e+02] [ 1.85545925e-01 -4.45471522e-03 9.82625496e-01 5.96583654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1292541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.52, Y:242.20, Z:59.66 [[-2.17284328e-02 -9.99763910e-01 -3.32413129e-06 4.47520969e+02] [ 9.82298018e-01 -2.13482179e-02 -1.86104427e-01 2.42197144e+02] [ 1.86060418e-01 -4.04702282e-03 9.82529970e-01 5.96585742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1592541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.52, Y:242.23, Z:59.66 [[-2.19820911e-02 -9.99758362e-01 -6.82018126e-05 4.47520912e+02] [ 9.82292840e-01 -2.15853739e-02 -1.86104402e-01 2.42225151e+02] [ 1.86057960e-01 -4.15795806e-03 9.82529973e-01 5.96634144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.1892541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.52, Y:242.25, Z:59.67 [[-2.25930347e-02 -9.99744745e-01 -1.99199335e-05 4.47521796e+02] [ 9.82347031e-01 -2.21961662e-02 -1.85746176e-01 2.42252759e+02] [ 1.85698321e-01 -4.21613808e-03 9.82597760e-01 5.96678404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2192541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.52, Y:242.26, Z:59.67 [[-2.25924363e-02 -9.99744758e-01 2.47256884e-05 4.47523128e+02] [ 9.82288115e-01 -2.22025491e-02 -1.86056727e-01 2.42256086e+02] [ 1.86009787e-01 -4.17918701e-03 9.82539004e-01 5.96685884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2492541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.52, Y:242.28, Z:59.67 [[-2.42593768e-02 -9.99705697e-01 -3.94867666e-05 4.47524309e+02] [ 9.82211777e-01 -2.38275033e-02 -1.86258625e-01 2.42283959e+02] [ 1.86202868e-01 -4.55730253e-03 9.82500750e-01 5.96733316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.2792541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.53, Y:242.29, Z:59.67 [[-2.76747906e-02 -9.99616980e-01 4.28387573e-06 4.47527444e+02] [ 9.81752366e-01 -2.71810083e-02 -1.88211278e-01 2.42290993e+02] [ 1.88139306e-01 -5.20450201e-03 9.82128563e-01 5.96742765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3092541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.53, Y:242.32, Z:59.68 [[-3.02146615e-02 -9.99543431e-01 -5.94825260e-05 4.47528907e+02] [ 9.81733731e-01 -2.96651178e-02 -1.87933135e-01 2.42318856e+02] [ 1.87845566e-01 -5.73673205e-03 9.82181823e-01 5.96780812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.339254154 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.53, Y:242.35, Z:59.68 [[-3.50297985e-02 -9.99386268e-01 -4.25944234e-06 4.47532344e+02] [ 9.81436666e-01 -3.43998373e-02 -1.88676234e-01 2.42346612e+02] [ 1.88560291e-01 -6.61347082e-03 9.82039347e-01 5.96818478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3692541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.53, Y:242.35, Z:59.68 [[-3.64589915e-02 -9.99335149e-01 3.91933725e-05 4.47533467e+02] [ 9.81341943e-01 -3.58099497e-02 -1.88906428e-01 2.42351387e+02] [ 1.88782237e-01 -6.84887575e-03 9.81995092e-01 5.96822611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.3992541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.53, Y:242.38, Z:59.69 [[-3.81968076e-02 -9.99270235e-01 -2.53766047e-05 4.47534484e+02] [ 9.81215962e-01 -3.75018828e-02 -1.89232250e-01 2.42377613e+02] [ 1.89093204e-01 -7.25296779e-03 9.81932358e-01 5.96867289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4292541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:447.54, Y:242.38, Z:59.69 [[-3.88775145e-02 -9.99243984e-01 1.26433542e-05 4.47536003e+02] [ 9.81225966e-01 -3.81788808e-02 -1.89044904e-01 2.42382196e+02] [ 1.88902466e-01 -7.33719003e-03 9.81968444e-01 5.96878624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.459254154 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.54, Y:242.41, Z:59.69 [[-3.88528013e-02 -9.99244944e-01 -5.14354739e-05 4.47536972e+02] [ 9.81312996e-01 -3.81458604e-02 -1.88599305e-01 2.42410106e+02] [ 1.88454940e-01 -7.37808562e-03 9.82054123e-01 5.96926847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.4892541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.54, Y:242.44, Z:59.70 [[-3.84713609e-02 -9.99259703e-01 4.04087064e-06 4.47537550e+02] [ 9.81378778e-01 -3.77837093e-02 -1.88329724e-01 2.42436922e+02] [ 1.88190456e-01 -7.24133514e-03 9.82105857e-01 5.96975297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5192541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:447.54, Y:242.43, Z:59.70 [[-3.50687635e-02 -9.99384901e-01 4.28659810e-05 4.47538695e+02] [ 9.81878914e-01 -3.44624653e-02 -1.86349504e-01 2.42433509e+02] [ 1.86236358e-01 -6.49295749e-03 9.82483517e-01 5.96970771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.5492541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.54, Y:242.46, Z:59.70 [[-3.35052935e-02 -9.99438540e-01 -2.21818410e-05 4.47539086e+02] [ 9.82097412e-01 -3.29198310e-02 -1.85474952e-01 2.42461215e+02] [ 1.85370085e-01 -6.23617743e-03 9.82648992e-01 5.97018432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.579254154 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:447.54, Y:242.47, Z:59.70 [[-3.08826804e-02 -9.99523016e-01 2.14078937e-05 4.47539967e+02] [ 9.82152769e-01 -3.03499603e-02 -1.85620090e-01 2.42468379e+02] [ 1.85532202e-01 -5.71142009e-03 9.82621586e-01 5.97038171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6092541539999 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:447.54, Y:242.50, Z:59.71 [[-2.70586540e-02 -9.99633847e-01 -4.35655186e-05 4.47540245e+02] [ 9.83025472e-01 -2.66011777e-02 -1.81530434e-01 2.42496359e+02] [ 1.81462807e-01 -4.95479521e-03 9.83385326e-01 5.97073726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6392541539999 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:447.54, Y:242.50, Z:59.71 [[-2.41056550e-02 -9.99709417e-01 2.80317964e-06 4.47540573e+02] [ 9.83141023e-01 -2.37066553e-02 -1.81305610e-01 2.42496315e+02] [ 1.81252992e-01 -4.36773456e-03 9.83426803e-01 5.97072465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6692541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.54, Y:242.52, Z:59.71 [[-1.90563569e-02 -9.99818409e-01 -6.30212151e-05 4.47541146e+02] [ 9.83253641e-01 -1.87292090e-02 -1.81277398e-01 2.42524433e+02] [ 1.81243300e-01 -3.51645264e-03 9.83432001e-01 5.97111832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.6992541539998 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.54, Y:242.55, Z:59.72 [[-1.64516531e-02 -9.99864662e-01 -1.16885754e-05 4.47541536e+02] [ 9.83368603e-01 -1.61781142e-02 -1.80899031e-01 2.42550982e+02] [ 1.80874359e-01 -2.98758228e-03 9.83501673e-01 5.97151140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7292541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.54, Y:242.55, Z:59.72 [[-1.36064074e-02 -9.99907428e-01 1.78966632e-05 4.47542010e+02] [ 9.83483966e-01 -1.33861530e-02 -1.80499586e-01 2.42553227e+02] [ 1.80483116e-01 -2.43834981e-03 9.83575060e-01 5.97152920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7592541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.54, Y:242.58, Z:59.72 [[-1.16706456e-02 -9.99931895e-01 -4.78955785e-05 4.47542709e+02] [ 9.83485283e-01 -1.14700382e-02 -1.80624295e-01 2.42581056e+02] [ 1.80611444e-01 -2.15510672e-03 9.83552165e-01 5.97199655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.7892541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.54, Y:242.58, Z:59.72 [[-8.23084072e-03 -9.99966126e-01 -3.27323759e-06 4.47543559e+02] [ 9.83464944e-01 -8.09442531e-03 -1.80917619e-01 2.42580145e+02] [ 1.80911464e-01 -1.49232322e-03 9.83498254e-01 5.97190235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8192541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:447.54, Y:242.61, Z:59.72 [[-7.75994513e-03 -9.99969889e-01 -6.88827956e-05 4.47544118e+02] [ 9.83308087e-01 -7.61812407e-03 -1.81788809e-01 2.42607294e+02] [ 1.81782811e-01 -1.47840419e-03 9.83337594e-01 5.97234627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8492541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.55, Y:242.63, Z:59.73 [[-7.56166360e-03 -9.99971410e-01 -1.80406687e-05 4.47545232e+02] [ 9.83125813e-01 -7.43098165e-03 -1.82779695e-01 2.42633588e+02] [ 1.82774335e-01 -1.39985481e-03 9.83153896e-01 5.97277662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.8792541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.55, Y:242.64, Z:59.73 [[-8.04413441e-03 -9.99967645e-01 2.74533763e-05 4.47546329e+02] [ 9.83256835e-01 -7.91470419e-03 -1.82053163e-01 2.42638613e+02] [ 1.82047490e-01 -1.43746639e-03 9.83288689e-01 5.97275284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9092541539999 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:447.55, Y:242.67, Z:59.73 [[-9.01608999e-03 -9.99959354e-01 -3.74623417e-05 4.47547005e+02] [ 9.83373253e-01 -8.85974696e-03 -1.81379573e-01 2.42665495e+02] [ 1.81371868e-01 -1.67217402e-03 9.83413163e-01 5.97316935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9392541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.55, Y:242.67, Z:59.73 [[-9.05132918e-03 -9.99959036e-01 7.58757752e-06 4.47547651e+02] [ 9.83425645e-01 -8.90304800e-03 -1.81093169e-01 2.42669580e+02] [ 1.81085818e-01 -1.63167206e-03 9.83465945e-01 5.97321789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9692541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.55, Y:242.70, Z:59.74 [[-1.05211525e-02 -9.99944650e-01 -5.77581102e-05 4.47548723e+02] [ 9.83335415e-01 -1.03359104e-02 -1.81506559e-01 2.42697236e+02] [ 1.81495915e-01 -1.96645377e-03 9.83389732e-01 5.97370772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 715.9992541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.55, Y:242.72, Z:59.74 [[-1.17798140e-02 -9.99930616e-01 -7.21442998e-06 4.47548908e+02] [ 9.83455973e-01 -1.15844280e-02 -1.80776521e-01 2.42724270e+02] [ 1.80763895e-01 -2.13660887e-03 9.83524199e-01 5.97414421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0292541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.55, Y:242.73, Z:59.74 [[-1.42477278e-02 -9.99898495e-01 3.92333536e-05 4.47549240e+02] [ 9.83661453e-01 -1.40234057e-02 -1.79481172e-01 2.42726931e+02] [ 1.79463504e-01 -2.51860653e-03 9.83761408e-01 5.97413755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.0592541539999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:447.55, Y:242.75, Z:59.75 [[-1.62537846e-02 -9.99867898e-01 -2.70670542e-05 4.47550024e+02] [ 9.83796038e-01 -1.59876873e-02 -1.78577014e-01 2.42754462e+02] [ 1.78552991e-01 -2.92918078e-03 9.83925937e-01 5.97459311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.089254154 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.55, Y:242.76, Z:59.75 [[-1.76200242e-02 -9.99844755e-01 1.67054218e-05 4.47551029e+02] [ 9.83818764e-01 -1.73405815e-02 -1.78325390e-01 2.42758904e+02] [ 1.78297996e-01 -3.12566259e-03 9.83971572e-01 5.97470342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1192541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.55, Y:242.79, Z:59.75 [[-2.22342439e-02 -9.99752787e-01 -4.96935472e-05 4.47552391e+02] [ 9.84165343e-01 -2.18788401e-02 -1.75897395e-01 2.42786077e+02] [ 1.75852824e-01 -3.95985225e-03 9.84408505e-01 5.97512993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1492541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.55, Y:242.79, Z:59.75 [[-2.39304913e-02 -9.99713625e-01 4.48632620e-07 4.47553328e+02] [ 9.84266198e-01 -2.35607995e-02 -1.75114077e-01 2.42787944e+02] [ 1.75063939e-01 -4.19012432e-03 9.84548150e-01 5.97515275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.1792541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.55, Y:242.81, Z:59.76 [[-2.61448947e-02 -9.99658162e-01 -6.69688628e-05 4.47554117e+02] [ 9.84350905e-01 -2.57328725e-02 -1.74330478e-01 2.42814906e+02] [ 1.74269162e-01 -4.62377286e-03 9.84687199e-01 5.97561451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.209254154 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.55, Y:242.84, Z:59.76 [[-2.81635170e-02 -9.99603329e-01 -1.47027238e-05 4.47554834e+02] [ 9.84387016e-01 -2.77322454e-02 -1.73819232e-01 2.42842028e+02] [ 1.73749875e-01 -4.90983406e-03 9.84777576e-01 5.97607844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2392541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:447.56, Y:242.85, Z:59.76 [[-3.00837837e-02 -9.99547380e-01 3.53565622e-05 4.47556915e+02] [ 9.84471298e-01 -2.96361531e-02 -1.73025900e-01 2.42845578e+02] [ 1.72948633e-01 -5.17046624e-03 9.84917274e-01 5.97610940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2692541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.56, Y:242.87, Z:59.77 [[-3.06263419e-02 -9.99530903e-01 -3.29132861e-05 4.47558364e+02] [ 9.84367461e-01 -3.01560092e-02 -1.73526128e-01 2.42872699e+02] [ 1.73443735e-01 -5.34686929e-03 9.84829265e-01 5.97654702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.2992541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.57, Y:242.86, Z:59.77 [[-3.08784043e-02 -9.99289091e-01 -2.16295420e-02 4.47569012e+02] [ 9.80798158e-01 -2.61237552e-02 -1.93268008e-01 2.42861012e+02] [ 1.92565567e-01 -2.71820227e-02 9.80907559e-01 5.97720487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.329254154 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:447.55, Y:242.87, Z:59.77 [[-2.91096055e-02 -9.99336256e-01 2.19015437e-02 4.47548920e+02] [ 9.83938476e-01 -3.25078619e-02 -1.75522977e-01 2.42872217e+02] [ 1.76118447e-01 1.64403669e-02 9.84231684e-01 5.97691458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3592541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.56, Y:242.90, Z:59.77 [[-2.88777383e-02 -9.99582950e-01 -5.22478578e-05 4.47558887e+02] [ 9.84037895e-01 -2.84194625e-02 -1.75675140e-01 2.42900250e+02] [ 1.75600390e-01 -5.12451458e-03 9.84448192e-01 5.97689013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.3892541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.57, Y:242.93, Z:59.78 [[-2.76092435e-02 -9.99150225e-01 -3.06032388e-02 4.47573323e+02] [ 9.83096174e-01 -2.15968678e-02 -1.81811683e-01 2.42925465e+02] [ 1.80996250e-01 -3.51056100e-02 9.82857036e-01 5.97799830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4192541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.55, Y:242.94, Z:59.78 [[-2.57490529e-02 -9.99479090e-01 1.94559641e-02 4.47549410e+02] [ 9.86002839e-01 -2.85993222e-02 -1.64257359e-01 2.42944407e+02] [ 1.64728223e-01 1.49541644e-02 9.86225626e-01 5.97815094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4492541539998 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.56, Y:242.95, Z:59.78 [[-2.43184364e-02 -9.99704254e-01 1.37629304e-04 4.47558456e+02] [ 9.86193216e-01 -2.40123289e-02 -1.63848554e-01 2.42945663e+02] [ 1.63803401e-01 -3.84881156e-03 9.86485495e-01 5.97777934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.4792541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.56, Y:242.95, Z:59.78 [[-2.16019687e-02 -9.99766648e-01 7.18022014e-05 4.47558222e+02] [ 9.86374442e-01 -2.13243189e-02 -1.63127969e-01 2.42948246e+02] [ 1.63091434e-01 -3.45306143e-03 9.86604916e-01 5.97784562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5092541539999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:447.56, Y:242.95, Z:59.78 [[-2.02634421e-02 -9.99794675e-01 6.29474563e-06 4.47557829e+02] [ 9.86380042e-01 -1.99925875e-02 -1.63262699e-01 2.42952469e+02] [ 1.63229303e-01 -3.30205525e-03 9.86582633e-01 5.97793797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5392541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.56, Y:242.98, Z:59.78 [[-1.97270118e-02 -9.99805402e-01 -5.63956595e-05 4.47557799e+02] [ 9.86287994e-01 -1.94510578e-02 -1.63883034e-01 2.42980304e+02] [ 1.63850045e-01 -3.28854490e-03 9.86479776e-01 5.97840642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5692541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.56, Y:243.01, Z:59.79 [[-1.98352303e-02 -9.99803262e-01 -7.99422599e-06 4.47557164e+02] [ 9.86337809e-01 -1.95667795e-02 -1.63569153e-01 2.43006490e+02] [ 1.63536816e-01 -3.25231681e-03 9.86531871e-01 5.97882725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.5992541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.56, Y:243.01, Z:59.79 [[-2.02795369e-02 -9.99794349e-01 3.24429627e-05 4.47557112e+02] [ 9.86210862e-01 -2.00093442e-02 -1.64279522e-01 2.43008507e+02] [ 1.64246387e-01 -3.29951703e-03 9.86413827e-01 5.97887333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6292541539999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:447.56, Y:243.04, Z:59.79 [[-2.13902914e-02 -9.99771201e-01 -2.98144940e-05 4.47557598e+02] [ 9.86196030e-01 -2.10949505e-02 -1.64232740e-01 2.43035645e+02] [ 1.64194534e-01 -3.54238909e-03 9.86421617e-01 5.97928001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6592541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.58, Y:243.03, Z:59.80 [[-3.17952553e-02 -9.97884220e-01 -5.67110750e-02 4.47582414e+02] [ 9.79800024e-01 -1.99103993e-02 -1.98986152e-01 2.43028931e+02] [ 1.97436001e-01 -6.18923281e-02 9.78360039e-01 5.97995264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.6892541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.53, Y:243.04, Z:59.81 [[-2.63916379e-02 -9.97935328e-01 5.85539217e-02 4.47530407e+02] [ 9.85741575e-01 -3.57172079e-02 -1.64431836e-01 2.43040697e+02] [ 1.66183721e-01 5.33794095e-02 9.84648978e-01 5.98068855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7192541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.56, Y:243.07, Z:59.80 [[-2.96616671e-02 -9.99559996e-01 -3.08215194e-05 4.47558972e+02] [ 9.85899259e-01 -2.92512080e-02 -1.64763523e-01 2.43070279e+02] [ 1.64690125e-01 -4.91754768e-03 9.86333098e-01 5.97988124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7492541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.57, Y:243.07, Z:59.80 [[-3.80742643e-02 -9.98643131e-01 -3.55281079e-02 4.47574879e+02] [ 9.81995868e-01 -3.08090922e-02 -1.86373053e-01 2.43071018e+02] [ 1.85025581e-01 -4.19844721e-02 9.81836462e-01 5.98047527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.7792541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.54, Y:243.08, Z:59.81 [[-3.70451917e-02 -9.98662605e-01 3.60646075e-02 4.47541970e+02] [ 9.85573728e-01 -4.24760335e-02 -1.63829832e-01 2.43081532e+02] [ 1.65142608e-01 2.94752221e-02 9.85829159e-01 5.98088898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8092541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.56, Y:243.11, Z:59.81 [[-4.02466830e-02 -9.99189773e-01 -4.21401473e-05 4.47559779e+02] [ 9.85668182e-01 -3.96951277e-02 -1.63958934e-01 2.43108877e+02] [ 1.63824417e-01 -6.64033944e-03 9.86467164e-01 5.98054699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.839254154 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.56, Y:243.11, Z:59.80 [[-4.48962151e-02 -9.98991657e-01 2.76568217e-06 4.47560183e+02] [ 9.85435046e-01 -4.42874148e-02 -1.64184028e-01 2.43108096e+02] [ 1.64018597e-01 -7.36851604e-03 9.86429726e-01 5.98048757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8692541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.56, Y:243.14, Z:59.81 [[-4.74264453e-02 -9.98874731e-01 -6.04250197e-05 4.47559865e+02] [ 9.85183182e-01 -4.67663905e-02 -1.65006068e-01 2.43136101e+02] [ 1.64817566e-01 -7.88518099e-03 9.86292550e-01 5.98096276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.8992541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.56, Y:243.16, Z:59.81 [[-5.13411849e-02 -9.98681172e-01 -1.08050925e-05 4.47558489e+02] [ 9.84851374e-01 -5.06284147e-02 -1.65844912e-01 2.43162424e+02] [ 1.65625644e-01 -8.52531571e-03 9.86151847e-01 5.98134933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9292541539999 meters Centerline goodness : 0.999500 Centerline is valid? [True, True] Translation: X:447.56, Y:243.14, Z:59.81 [[-4.77918278e-02 -9.98853268e-01 -2.84441162e-03 4.47560873e+02] [ 9.84796126e-01 -4.66427236e-02 -1.67335132e-01 2.43143042e+02] [ 1.67010572e-01 -1.07984173e-02 9.85895970e-01 5.98103544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.959254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.56, Y:243.17, Z:59.81 [[-5.11626458e-02 -9.98689502e-01 1.28933240e-03 4.47556399e+02] [ 9.84521241e-01 -5.06534248e-02 -1.67786042e-01 2.43165835e+02] [ 1.67631468e-01 -7.31500270e-03 9.85822591e-01 5.98144902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 716.9892541539999 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:447.55, Y:243.19, Z:59.82 [[-5.50711685e-02 -9.98455702e-01 7.30599856e-03 4.47550209e+02] [ 9.84618331e-01 -5.55201559e-02 -1.65663073e-01 2.43192869e+02] [ 1.65812870e-01 -1.92963891e-03 9.86155347e-01 5.98183985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0192541539999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:447.56, Y:243.22, Z:59.82 [[-5.60246250e-02 -9.98397939e-01 -7.92443741e-03 4.47556819e+02] [ 9.84468157e-01 -5.39168296e-02 -1.67079093e-01 2.43219681e+02] [ 1.66384162e-01 -1.71618998e-02 9.85911649e-01 5.98214303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.0492541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.55, Y:243.25, Z:59.83 [[-5.48184533e-02 -9.98494218e-01 -2.05763438e-03 4.47554511e+02] [ 9.84631088e-01 -5.37148952e-02 -1.66181620e-01 2.43250830e+02] [ 1.65820861e-01 -1.11358302e-02 9.86093016e-01 5.98265040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.079254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.55, Y:243.28, Z:59.83 [[-5.53083294e-02 -9.98466705e-01 -2.28665211e-03 4.47554542e+02] [ 9.84610968e-01 -5.41602898e-02 -1.66156269e-01 2.43278846e+02] [ 1.65777656e-01 -1.14412884e-02 9.86096783e-01 5.98309738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1092541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.55, Y:243.31, Z:59.84 [[-5.65371138e-02 -9.98398522e-01 -1.98627375e-03 4.47552394e+02] [ 9.84331850e-01 -5.54075251e-02 -1.67394190e-01 2.43307214e+02] [ 1.67016057e-01 -1.14191369e-02 9.85888046e-01 5.98364904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1392541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.55, Y:243.33, Z:59.84 [[-5.85043706e-02 -9.98286645e-01 -1.00638369e-03 4.47545558e+02] [ 9.84076210e-01 -5.75020180e-02 -1.68188976e-01 2.43330135e+02] [ 1.67842939e-01 -1.08301484e-02 9.85754257e-01 5.98407696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1692541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.54, Y:243.36, Z:59.84 [[-5.48817757e-02 -9.98490271e-01 2.27370867e-03 4.47542719e+02] [ 9.84582175e-01 -5.44958215e-02 -1.66217166e-01 2.43363927e+02] [ 1.66090130e-01 -6.88364018e-03 9.86086550e-01 5.98445124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.1992541539998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.54, Y:243.84, Z:59.92 [[-6.37533776e-02 -9.97960792e-01 -3.12486070e-03 4.47538902e+02] [ 9.83524073e-01 -6.22997251e-02 -1.69703103e-01 2.43835894e+02] [ 1.69162365e-01 -1.38925217e-02 9.85490280e-01 5.99221984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2292541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.53, Y:243.35, Z:59.84 [[-4.16146730e-02 -9.98760177e-01 2.73190003e-02 4.47528825e+02] [ 9.88738848e-01 -4.51002064e-02 -1.42693593e-01 2.43352728e+02] [ 1.43748771e-01 2.10732096e-02 9.89389817e-01 5.98397704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2592541539999 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:447.54, Y:243.38, Z:59.84 [[-3.98908013e-02 -9.99204011e-01 -2.61571826e-04 4.47540968e+02] [ 9.89068088e-01 -3.94489542e-02 -1.42084822e-01 2.43382922e+02] [ 1.41961406e-01 -5.92658977e-03 9.89854451e-01 5.98360512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.2892541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.55, Y:243.40, Z:59.84 [[-4.22607765e-02 -9.98605155e-01 -3.16507724e-02 4.47545249e+02] [ 9.87790519e-01 -3.70067410e-02 -1.51328755e-01 2.43402412e+02] [ 1.49946383e-01 -3.76596036e-02 9.87976638e-01 5.98423969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3192541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.53, Y:243.42, Z:59.86 [[-4.34818527e-02 -9.98882328e-01 -1.85317037e-02 4.47532212e+02] [ 9.86812020e-01 -4.00466903e-02 -1.56838450e-01 2.43424272e+02] [ 1.55921022e-01 -2.51069343e-02 9.87450392e-01 5.98559014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3492541539999 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:447.52, Y:243.45, Z:59.86 [[-4.06962289e-02 -9.99170372e-01 -1.54448749e-03 4.47521250e+02] [ 9.86834541e-01 -3.99515357e-02 -1.56720976e-01 2.43449666e+02] [ 1.56529251e-01 -7.90210629e-03 9.87641712e-01 5.98638172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.3792541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.51, Y:243.48, Z:59.87 [[-3.74651488e-02 -9.99297802e-01 5.15094157e-04 4.47514275e+02] [ 9.86942701e-01 -3.70827329e-02 -1.56744942e-01 2.43477854e+02] [ 1.56653977e-01 -5.36410415e-03 9.87638982e-01 5.98693437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4092541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.51, Y:243.50, Z:59.87 [[-3.54332256e-02 -9.99371755e-01 -7.62947994e-04 4.47512254e+02] [ 9.87075737e-01 -3.48778542e-02 -1.56412993e-01 2.43504030e+02] [ 1.56288118e-01 -6.29530434e-03 9.87691447e-01 5.98731801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4392541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.51, Y:243.53, Z:59.88 [[-3.33623668e-02 -9.99443062e-01 -7.19794421e-04 4.47509745e+02] [ 9.87191428e-01 -3.28409560e-02 -1.56123531e-01 2.43531948e+02] [ 1.56012941e-01 -5.91922537e-03 9.87737275e-01 5.98774146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4692541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.50, Y:243.56, Z:59.88 [[-2.46578388e-02 -9.99546189e-01 1.73033581e-02 4.47499945e+02] [ 9.88357580e-01 -2.69739865e-02 -1.49738766e-01 2.43564647e+02] [ 1.50137554e-01 1.34096707e-02 9.88574173e-01 5.98786163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.4992541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.51, Y:243.59, Z:59.88 [[-2.57301326e-02 -9.99468011e-01 -2.00413546e-02 4.47511863e+02] [ 9.87677580e-01 -2.23204927e-02 -1.54902532e-01 2.43587697e+02] [ 1.54372793e-01 -2.37800593e-02 9.87726455e-01 5.98801586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5292541539999 meters Centerline goodness : 0.995391 Centerline is valid? [True, True] Translation: X:447.50, Y:243.61, Z:59.88 [[-1.85070274e-02 -9.99772844e-01 -1.05711788e-02 4.47502755e+02] [ 9.88191438e-01 -1.66821427e-02 -1.52313455e-01 2.43612687e+02] [ 1.52102506e-01 -1.32652177e-02 9.88275701e-01 5.98849519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.5592541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:447.49, Y:243.64, Z:59.90 [[-1.50508509e-02 -9.99826728e-01 1.09538315e-02 4.47490553e+02] [ 9.87889990e-01 -1.65612972e-02 -1.54269541e-01 2.43639367e+02] [ 1.54424220e-01 8.49929263e-03 9.87968078e-01 5.98954082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.589254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.49, Y:243.67, Z:59.90 [[-1.33160729e-02 -9.99910931e-01 -9.01690498e-04 4.47494563e+02] [ 9.88092371e-01 -1.30204317e-02 -1.53309930e-01 2.43668434e+02] [ 1.53284534e-01 -2.93243971e-03 9.88177743e-01 5.98967597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6192541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.49, Y:243.70, Z:59.90 [[-9.49826210e-03 -9.99954725e-01 -5.75408781e-04 4.47491732e+02] [ 9.88201264e-01 -9.29864805e-03 -1.52878375e-01 2.43695924e+02] [ 1.52866103e-01 -2.02069856e-03 9.88244844e-01 5.99009528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6492541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.49, Y:243.72, Z:59.91 [[-8.01870931e-03 -9.99966031e-01 1.90708802e-03 4.47489796e+02] [ 9.88108991e-01 -8.21644334e-03 -1.53535378e-01 2.43722517e+02] [ 1.53545832e-01 6.53255253e-04 9.88141311e-01 5.99054356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.6792541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.49, Y:243.75, Z:59.91 [[-7.96713216e-03 -9.99964950e-01 -2.57366092e-03 4.47491607e+02] [ 9.88282351e-01 -7.48167515e-03 -1.52453334e-01 2.43750914e+02] [ 1.52428736e-01 -3.75811953e-03 9.88307319e-01 5.99080463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.709254154 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.49, Y:243.78, Z:59.91 [[-7.64262107e-03 -9.99970679e-01 -4.80435802e-04 4.47489608e+02] [ 9.88088553e-01 -7.47796047e-03 -1.53704562e-01 2.43778567e+02] [ 1.53696463e-01 -1.64941884e-03 9.88116732e-01 5.99138084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7392541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.49, Y:243.81, Z:59.92 [[-8.94506058e-03 -9.99959900e-01 -4.30365199e-04 4.47489900e+02] [ 9.88424078e-01 -8.77668111e-03 -1.51462249e-01 2.43805223e+02] [ 1.51452398e-01 -1.78022231e-03 9.88462949e-01 5.99161096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7692541539999 meters Centerline goodness : 0.997040 Centerline is valid? [True, True] Translation: X:447.49, Y:243.83, Z:59.92 [[-9.56467242e-03 -9.99954136e-01 4.92899717e-04 4.47489392e+02] [ 9.88385496e-01 -9.52877785e-03 -1.51668433e-01 2.43832017e+02] [ 1.51666173e-01 -9.63483945e-04 9.88431304e-01 5.99194723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.7992541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.49, Y:243.86, Z:59.92 [[-1.31252496e-02 -9.99913243e-01 1.11111754e-03 4.47491487e+02] [ 9.88214524e-01 -1.31411592e-02 -1.52510212e-01 2.43859580e+02] [ 1.52511582e-01 -9.03712108e-04 9.88301270e-01 5.99230734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.829254154 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.49, Y:243.89, Z:59.93 [[-1.55038330e-02 -9.99878023e-01 -1.88965495e-03 4.47493640e+02] [ 9.88290124e-01 -1.50371870e-02 -1.51843718e-01 2.43887243e+02] [ 1.51796781e-01 -4.22168698e-03 9.88402709e-01 5.99261179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8592541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.49, Y:243.91, Z:59.93 [[-1.78175554e-02 -9.99841213e-01 -2.89825217e-04 4.47493500e+02] [ 9.88333309e-01 -1.75686256e-02 -1.51289836e-01 2.43913600e+02] [ 1.51260721e-01 -2.98205895e-03 9.88489404e-01 5.99301074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.8892541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.52, Y:243.94, Z:59.94 [[-2.84550147e-02 -9.96958297e-01 -7.25566403e-02 4.47524957e+02] [ 9.86194920e-01 -1.61540836e-02 -1.64798745e-01 2.43936828e+02] [ 1.63125390e-01 -7.62443408e-02 9.83654872e-01 5.99361251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9192541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.49, Y:243.96, Z:59.96 [[-2.89871594e-02 -9.99577157e-01 2.29164662e-03 4.47490542e+02] [ 9.86113983e-01 -2.89716312e-02 -1.63523262e-01 2.43964879e+02] [ 1.63520510e-01 -2.48025009e-03 9.86536817e-01 5.99587671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9492541539998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.51, Y:243.99, Z:59.96 [[-3.57351525e-02 -9.98702378e-01 -3.62844177e-02 4.47506513e+02] [ 9.85254261e-01 -2.91284980e-02 -1.68598846e-01 2.43987140e+02] [ 1.67323158e-01 -4.17742827e-02 9.85016685e-01 5.99610545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 717.9792541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:447.45, Y:244.02, Z:59.98 [[-3.14581120e-02 -9.93314026e-01 1.11074900e-01 4.47447966e+02] [ 9.88394905e-01 -4.74392993e-02 -1.44308784e-01 2.44021764e+02] [ 1.48613254e-01 1.05246184e-01 9.83278873e-01 5.99759629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0092541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.50, Y:244.05, Z:59.95 [[-3.51507478e-02 -9.99381996e-01 -2.25195693e-04 4.47501740e+02] [ 9.88745714e-01 -3.47438536e-02 -1.45515559e-01 2.44053093e+02] [ 1.45417806e-01 -5.33764200e-03 9.89355938e-01 5.99479403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0392541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.50, Y:244.08, Z:59.95 [[-3.79612461e-02 -9.99279195e-01 -1.86662075e-04 4.47503296e+02] [ 9.88655732e-01 -3.75305085e-02 -1.45434884e-01 2.44080709e+02] [ 1.45323048e-01 -5.70543395e-03 9.89367808e-01 5.99514915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0692541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:447.51, Y:244.11, Z:59.95 [[-4.33043762e-02 -9.99061915e-01 -1.44207675e-04 4.47505465e+02] [ 9.88493934e-01 -4.28253666e-02 -1.45071467e-01 2.44108359e+02] [ 1.44929202e-01 -6.42477781e-03 9.89421168e-01 5.99547262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.0992541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:447.51, Y:244.14, Z:59.96 [[-4.62541035e-02 -9.98929701e-01 -1.01958806e-04 4.47506409e+02] [ 9.88380784e-01 -4.57508553e-02 -1.44949250e-01 2.44136519e+02] [ 1.44789447e-01 -6.80527176e-03 9.89439086e-01 5.99581229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1292541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.51, Y:244.16, Z:59.96 [[-5.14608945e-02 -9.98675009e-01 -6.00421856e-05 4.47507785e+02] [ 9.88018840e-01 -5.09030314e-02 -1.45697129e-01 2.44164553e+02] [ 1.45501025e-01 -7.55702739e-03 9.89329239e-01 5.99614063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1592541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.51, Y:244.19, Z:59.97 [[-5.41652935e-02 -9.98531983e-01 -1.78927444e-05 4.47508227e+02] [ 9.87838851e-01 -5.35826300e-02 -1.45956524e-01 2.44191115e+02] [ 1.45741299e-01 -7.92345314e-03 9.89291005e-01 5.99650157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.1892541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.51, Y:244.19, Z:59.96 [[-5.58728109e-02 -9.98437894e-01 1.65632811e-05 4.47508869e+02] [ 9.87755482e-01 -5.52774408e-02 -1.45888701e-01 2.44192877e+02] [ 1.45661723e-01 -8.13485133e-03 9.89301009e-01 5.99646970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2192541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.51, Y:244.22, Z:59.97 [[-5.82539752e-02 -9.98301795e-01 -3.89629866e-05 4.47509127e+02] [ 9.87654197e-01 -5.76269699e-02 -1.45665094e-01 2.44219319e+02] [ 1.45415479e-01 -8.52405273e-03 9.89333957e-01 5.99681056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2492541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.50, Y:244.19, Z:59.96 [[-4.68588333e-02 -9.98151318e-01 3.87065374e-02 4.47495847e+02] [ 9.91279879e-01 -5.12439734e-02 -1.21401224e-01 2.44191154e+02] [ 1.23160268e-01 3.26802920e-02 9.91848550e-01 5.99614111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.2792541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.53, Y:244.21, Z:59.96 [[-5.56016124e-02 -9.96968017e-01 -5.44355994e-02 4.47533870e+02] [ 9.90060796e-01 -4.79983389e-02 -1.32195988e-01 2.44207181e+02] [ 1.29182354e-01 -6.12448629e-02 9.89727733e-01 5.99560372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3092541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.50, Y:244.24, Z:59.97 [[-5.17522162e-02 -9.98076976e-01 3.41182898e-02 4.47496228e+02] [ 9.90720357e-01 -5.56102253e-02 -1.24018858e-01 2.44243391e+02] [ 1.25677693e-01 2.73834335e-02 9.91693131e-01 5.99706277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.339254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.53, Y:244.26, Z:59.97 [[-5.79003947e-02 -9.97542370e-01 -3.94558483e-02 4.47525305e+02] [ 9.89780758e-01 -5.22012277e-02 -1.32699217e-01 2.44261379e+02] [ 1.30313447e-01 -4.67359764e-02 9.90370715e-01 5.99668039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3692541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.50, Y:244.30, Z:59.98 [[-5.26377921e-02 -9.98082388e-01 3.25700818e-02 4.47495301e+02] [ 9.90518343e-01 -5.63278097e-02 -1.25301992e-01 2.44298451e+02] [ 1.26896313e-01 2.56656432e-02 9.91583885e-01 5.99787596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.3992541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:447.52, Y:244.33, Z:59.97 [[-5.34816104e-02 -9.98480885e-01 -1.32529041e-02 4.47515393e+02] [ 9.90323960e-01 -5.13333844e-02 -1.28931521e-01 2.44327846e+02] [ 1.28055343e-01 -2.00201339e-02 9.91564937e-01 5.99736204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4292541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:447.52, Y:244.35, Z:59.98 [[-5.56263001e-02 -9.98247112e-01 -2.02093428e-02 4.47515049e+02] [ 9.89693922e-01 -5.24521230e-02 -1.33246825e-01 2.44351395e+02] [ 1.31953235e-01 -2.74130916e-02 9.90876817e-01 5.99800224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.459254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.50, Y:244.37, Z:59.99 [[-5.81633847e-02 -9.98279134e-01 -7.46936841e-03 4.47503992e+02] [ 9.88981608e-01 -5.65981664e-02 -1.36791911e-01 2.44372834e+02] [ 1.36133758e-01 -1.53433485e-02 9.90571644e-01 5.99896255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.4892541539999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:447.50, Y:244.40, Z:59.99 [[-5.70771494e-02 -9.98369635e-01 -5.20814963e-04 4.47497594e+02] [ 9.88899825e-01 -5.64640608e-02 -1.37437063e-01 2.44400356e+02] [ 1.37183583e-01 -8.35954961e-03 9.90510365e-01 5.99947864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5192541539999 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:447.49, Y:244.43, Z:60.00 [[-5.81844269e-02 -9.98299441e-01 3.57765308e-03 4.47493525e+02] [ 9.88570312e-01 -5.81159099e-02 -1.39108879e-01 2.44428372e+02] [ 1.39080235e-01 -4.55720880e-03 9.90270630e-01 5.99995659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.5492541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.50, Y:244.45, Z:60.00 [[-5.50820493e-02 -9.98468011e-01 -5.25346795e-03 4.47495418e+02] [ 9.89022341e-01 -5.38369275e-02 -1.37609569e-01 2.44453477e+02] [ 1.37115922e-01 -1.27756143e-02 9.90472618e-01 6.00007973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.579254154 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:447.49, Y:244.48, Z:60.01 [[-5.37136205e-02 -9.98556310e-01 -3.76684381e-04 4.47491378e+02] [ 9.89100549e-01 -5.31531846e-02 -1.37312938e-01 2.44480861e+02] [ 1.37094679e-01 -7.74815378e-03 9.90527645e-01 6.00062044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6092541539999 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:447.48, Y:244.52, Z:60.01 [[-4.72165476e-02 -9.98596251e-01 2.40026027e-02 4.47483113e+02] [ 9.90124100e-01 -4.99644291e-02 -1.30987873e-01 2.44517033e+02] [ 1.32003276e-01 1.75807603e-02 9.91093362e-01 6.00095511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6392541539999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:447.50, Y:244.54, Z:60.01 [[-4.68574529e-02 -9.98515450e-01 -2.77718313e-02 4.47498324e+02] [ 9.89638934e-01 -4.26275970e-02 -1.37104590e-01 2.44536702e+02] [ 1.35717205e-01 -3.39084573e-02 9.90167186e-01 6.00075974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6692541539999 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:447.48, Y:244.56, Z:60.02 [[-4.35150772e-02 -9.99052744e-01 -2.30823331e-04 4.47482545e+02] [ 9.89626534e-01 -4.30728405e-02 -1.37054930e-01 2.44563692e+02] [ 1.36915162e-01 -6.19238475e-03 9.90563422e-01 6.00186442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.6992541539998 meters Centerline goodness : 0.997522 Centerline is valid? [True, True] Translation: X:447.47, Y:244.59, Z:60.03 [[-3.91906937e-02 -9.99130665e-01 1.42127719e-02 4.47473396e+02] [ 9.89145238e-01 -4.08070549e-02 -1.41161192e-01 2.44588691e+02] [ 1.41618457e-01 8.52629061e-03 9.89884597e-01 6.00273898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7292541539999 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:447.48, Y:244.62, Z:60.02 [[-3.27169436e-02 -9.99366982e-01 -1.39727380e-02 4.47483086e+02] [ 9.90106311e-01 -3.04987873e-02 -1.36964659e-01 2.44616553e+02] [ 1.36451806e-01 -1.83155611e-02 9.90477382e-01 6.00216149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7592541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.47, Y:244.64, Z:60.03 [[-2.92334737e-02 -9.99572606e-01 -9.34679263e-05 4.47474611e+02] [ 9.90156919e-01 -2.89452982e-02 -1.36935919e-01 2.44644126e+02] [ 1.36874688e-01 -4.09566050e-03 9.90579904e-01 6.00291795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.7892541539999 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:447.47, Y:244.67, Z:60.03 [[-2.62848908e-02 -9.99654491e-01 -5.39037830e-05 4.47472826e+02] [ 9.90264223e-01 -2.60306097e-02 -1.36744928e-01 2.44671230e+02] [ 1.36696278e-01 -3.64770448e-03 9.90606290e-01 6.00328292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8192541539999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:447.47, Y:244.70, Z:60.04 [[-2.13218592e-02 -9.99772663e-01 -1.81660691e-05 4.47469525e+02] [ 9.90352457e-01 -2.11184688e-02 -1.36952627e-01 2.44699257e+02] [ 1.36921109e-01 -2.93807544e-03 9.90577598e-01 6.00365679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8492541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:447.47, Y:244.70, Z:60.04 [[-1.86902894e-02 -9.99825321e-01 1.70809770e-05 4.47468353e+02] [ 9.90333311e-01 -1.85151985e-02 -1.37466798e-01 2.44698033e+02] [ 1.37443102e-01 -2.55237838e-03 9.90506375e-01 6.00363486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.8792541539999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:447.47, Y:244.73, Z:60.04 [[-1.71588310e-02 -9.99852776e-01 -3.31392930e-05 4.47467421e+02] [ 9.90293054e-01 -1.69902008e-02 -1.37952890e-01 2.44726055e+02] [ 1.37932017e-01 -2.39992794e-03 9.90438791e-01 6.00400730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9092541539999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:447.47, Y:244.72, Z:60.04 [[-1.41442180e-02 -9.99899966e-01 2.49397261e-06 4.47465370e+02] [ 9.90209794e-01 -1.40074908e-02 -1.38882522e-01 2.44724506e+02] [ 1.38868664e-01 -1.96191511e-03 9.90308863e-01 6.00399931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9392541539999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:447.46, Y:244.75, Z:60.04 [[-1.32727932e-02 -9.99911911e-01 -4.84783427e-05 4.47464902e+02] [ 9.90155592e-01 -1.31365320e-02 -1.39353278e-01 2.44751695e+02] [ 1.39340366e-01 -1.89760835e-03 9.90242729e-01 6.00437164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9692541539999 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:447.46, Y:244.78, Z:60.05 [[-1.35301796e-02 -9.99908463e-01 -2.49463925e-05 4.47464805e+02] [ 9.90152132e-01 -1.33946859e-02 -1.39353282e-01 2.44779859e+02] [ 1.39340192e-01 -1.91017565e-03 9.90242729e-01 6.00474419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 718.9992541539999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:447.46, Y:244.78, Z:60.05 [[-1.26414075e-02 -9.99920094e-01 5.82563172e-06 4.47464247e+02] [ 9.90211341e-01 -1.25194753e-02 -1.39013536e-01 2.44780884e+02] [ 1.39002501e-01 -1.75155815e-03 9.90290481e-01 6.00475017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0292541539999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:447.46, Y:244.81, Z:60.05 [[-1.26940858e-02 -9.99919426e-01 -4.48685100e-05 4.47463042e+02] [ 9.90281065e-01 -1.25655104e-02 -1.38511809e-01 2.44807813e+02] [ 1.38500085e-01 -1.80271322e-03 9.90360781e-01 6.00517905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.0592541539999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:447.46, Y:244.84, Z:60.06 [[-1.36061680e-02 -9.99907432e-01 -2.13813705e-05 4.47462923e+02] [ 9.90355587e-01 -1.34732434e-02 -1.37892291e-01 2.44835562e+02] [ 1.37879239e-01 -1.89736084e-03 9.90447230e-01 6.00554880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.089254154 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:447.46, Y:244.84, Z:60.05 [[-1.55570240e-02 -9.99878982e-01 1.45713864e-05 4.47464370e+02] [ 9.90474420e-01 -1.54126933e-02 -1.36831546e-01 2.44841257e+02] [ 1.36815211e-01 -2.11425905e-03 9.90594331e-01 6.00549529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1192541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:447.46, Y:244.87, Z:60.06 [[-1.80539530e-02 -9.99837014e-01 -3.57957579e-05 4.47464442e+02] [ 9.90468154e-01 -1.78798908e-02 -1.36576521e-01 2.44868519e+02] [ 1.36553621e-01 -2.50120066e-03 9.90629523e-01 6.00592805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1492541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:447.47, Y:244.88, Z:60.06 [[-2.29061463e-02 -9.99737620e-01 7.28704982e-07 4.47465518e+02] [ 9.90485156e-01 -2.26942513e-02 -1.35735504e-01 2.44880400e+02] [ 1.35699906e-01 -3.10845554e-03 9.90745110e-01 6.00602334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.1792541539999 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:447.47, Y:244.91, Z:60.06 [[-2.58241666e-02 -9.99666499e-01 -5.07879369e-05 4.47466365e+02] [ 9.90432603e-01 -2.55787399e-02 -1.35605999e-01 2.44907051e+02] [ 1.35559476e-01 -3.55221395e-03 9.90762843e-01 6.00636333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.209254154 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:447.47, Y:244.94, Z:60.07 [[-2.93943654e-02 -9.99567892e-01 -2.75023493e-05 4.47467077e+02] [ 9.90412775e-01 -2.91214248e-02 -1.35035099e-01 2.44935010e+02] [ 1.34975948e-01 -3.99650970e-03 9.90840815e-01 6.00671854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2392541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:447.47, Y:244.94, Z:60.07 [[-3.23934202e-02 -9.99475195e-01 9.86004418e-06 4.47467742e+02] [ 9.90335277e-01 -3.20985226e-02 -1.34928592e-01 2.44938542e+02] [ 1.34858097e-01 -4.36103381e-03 9.90855325e-01 6.00673644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2692541539999 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:447.47, Y:244.97, Z:60.07 [[-3.93283584e-02 -9.99226340e-01 -4.18122313e-05 4.47470207e+02] [ 9.90123775e-01 -3.89644570e-02 -1.34672494e-01 2.44965515e+02] [ 1.34566674e-01 -5.33784738e-03 9.90890164e-01 6.00702241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.2992541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:447.47, Y:244.99, Z:60.07 [[-4.25643989e-02 -9.99093725e-01 -1.41354829e-05 4.47471133e+02] [ 9.89946982e-01 -4.21728100e-02 -1.35005283e-01 2.44992944e+02] [ 1.34882335e-01 -5.76041212e-03 9.90844879e-01 6.00738853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.329254154 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:447.47, Y:245.00, Z:60.07 [[-4.73760295e-02 -9.98877125e-01 2.18544201e-05 4.47472864e+02] [ 9.89663468e-01 -4.69419971e-02 -1.35508925e-01 2.44998495e+02] [ 1.35357791e-01 -6.39824629e-03 9.90776126e-01 6.00741924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3592541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.47, Y:245.03, Z:60.08 [[-4.95789372e-02 -9.98770208e-01 -2.98091463e-05 4.47473525e+02] [ 9.89544431e-01 -4.91169225e-02 -1.35607329e-01 2.45025107e+02] [ 1.35439096e-01 -6.75276471e-03 9.90762662e-01 6.00773187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.3892541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.47, Y:245.03, Z:60.08 [[-5.08039316e-02 -9.98708647e-01 2.81197392e-06 4.47474147e+02] [ 9.89468058e-01 -5.03342485e-02 -1.35718188e-01 2.45027619e+02] [ 1.35543070e-01 -6.89223521e-03 9.90747482e-01 6.00773092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4192541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:447.47, Y:245.06, Z:60.08 [[-5.33012636e-02 -9.98578476e-01 -4.88629506e-05 4.47474526e+02] [ 9.89259516e-01 -5.27971745e-02 -1.36301392e-01 2.45055764e+02] [ 1.36105057e-01 -7.31337456e-03 9.90667416e-01 6.00808208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4492541539998 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.47, Y:245.08, Z:60.08 [[-5.39497579e-02 -9.98543651e-01 -9.89446858e-06 4.47474140e+02] [ 9.89236490e-01 -5.34455567e-02 -1.36215783e-01 2.45083173e+02] [ 1.36016876e-01 -7.35859647e-03 9.90679192e-01 6.00840689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.4792541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.47, Y:245.08, Z:60.08 [[-5.30695431e-02 -9.98590819e-01 2.55634220e-05 4.47473578e+02] [ 9.89212537e-01 -5.25746398e-02 -1.36727703e-01 2.45081216e+02] [ 1.36536373e-01 -7.23078908e-03 9.90608669e-01 6.00840904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5092541539999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:447.47, Y:245.11, Z:60.09 [[-5.24128362e-02 -9.98625502e-01 -2.64569236e-05 4.47473301e+02] [ 9.89269123e-01 -5.19181487e-02 -1.36569062e-01 2.45107796e+02] [ 1.36379975e-01 -7.18414492e-03 9.90630552e-01 6.00874291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5392541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:447.47, Y:245.14, Z:60.09 [[-5.18082970e-02 -9.98657048e-01 1.40484177e-06 4.47472546e+02] [ 9.89322249e-01 -5.13242184e-02 -1.36408620e-01 2.45135225e+02] [ 1.36225502e-01 -7.06570846e-03 9.90652658e-01 6.00911529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5692541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:447.47, Y:245.13, Z:60.09 [[-4.88860261e-02 -9.98804363e-01 3.86539084e-05 4.47471017e+02] [ 9.89382666e-01 -4.84301884e-02 -1.37027216e-01 2.45133847e+02] [ 1.36865254e-01 -6.66047257e-03 9.90567282e-01 6.00912264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.5992541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:447.47, Y:245.16, Z:60.09 [[-4.80482977e-02 -9.98845014e-01 -1.23523938e-05 4.47470486e+02] [ 9.89319784e-01 -4.75883936e-02 -1.37774129e-01 2.45162107e+02] [ 1.37614414e-01 -6.63203283e-03 9.90463674e-01 6.00939730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6292541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:447.47, Y:245.17, Z:60.10 [[-4.71497695e-02 -9.98887831e-01 2.43523113e-05 4.47469270e+02] [ 9.89340438e-01 -4.67024735e-02 -1.37928885e-01 2.45170204e+02] [ 1.37776622e-01 -6.47922241e-03 9.90442135e-01 6.00955311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6592541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.47, Y:245.20, Z:60.10 [[-4.65868199e-02 -9.98914244e-01 -2.68300536e-05 4.47467164e+02] [ 9.89157427e-01 -4.61280419e-02 -1.39426639e-01 2.45196893e+02] [ 1.39274018e-01 -6.52198287e-03 9.90232403e-01 6.00993177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.6892541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:447.47, Y:245.19, Z:60.10 [[-4.57274736e-02 -9.98953952e-01 4.69275895e-06 4.47466077e+02] [ 9.89115993e-01 -4.52777952e-02 -1.39998122e-01 2.45192804e+02] [ 1.39851890e-01 -6.39711873e-03 9.90151769e-01 6.00988733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7192541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:447.46, Y:245.22, Z:60.10 [[-4.52068776e-02 -9.98977646e-01 -4.56330124e-05 4.47464093e+02] [ 9.88978647e-01 -4.47479446e-02 -1.41134180e-01 2.45220771e+02] [ 1.40987849e-01 -6.42536569e-03 9.89990475e-01 6.01027132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7492541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:447.46, Y:245.25, Z:60.11 [[-4.46739770e-02 -9.99001620e-01 -4.46612801e-06 4.47463088e+02] [ 9.88952281e-01 -4.42239519e-02 -1.41483667e-01 2.45247441e+02] [ 1.41342215e-01 -6.32505485e-03 9.89940590e-01 6.01062707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.7792541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:447.46, Y:245.25, Z:60.11 [[-4.36747270e-02 -9.99045804e-01 2.57695962e-05 4.47461811e+02] [ 9.89021778e-01 -4.32401571e-02 -1.41301849e-01 2.45250898e+02] [ 1.41168134e-01 -6.14583300e-03 9.89966558e-01 6.01065653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8092541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:447.46, Y:245.28, Z:60.11 [[-4.10973166e-02 -9.99155148e-01 -2.42538130e-05 4.47459540e+02] [ 9.89154681e-01 -4.06825508e-02 -1.41130961e-01 2.45277350e+02] [ 1.41010740e-01 -5.82409456e-03 9.89990935e-01 6.01105929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.839254154 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:447.46, Y:245.27, Z:60.11 [[-3.90472912e-02 -9.99237364e-01 5.76100329e-06 4.47458115e+02] [ 9.89280240e-01 -3.86590076e-02 -1.40819347e-01 2.45274533e+02] [ 1.40712176e-01 -5.49291480e-03 9.90035308e-01 6.01104685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8692541539999 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:447.46, Y:245.30, Z:60.11 [[-3.69621833e-02 -9.99316664e-01 -4.53198705e-05 4.47456676e+02] [ 9.89366425e-01 -3.65877653e-02 -1.40767228e-01 2.45301652e+02] [ 1.40669378e-01 -5.24790203e-03 9.90042719e-01 6.01145489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.8992541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:447.45, Y:245.33, Z:60.12 [[-3.30946537e-02 -9.99452222e-01 -2.12056333e-05 4.47453753e+02] [ 9.89688934e-01 -3.27684055e-02 -1.39434734e-01 2.45329379e+02] [ 1.39357659e-01 -4.63553120e-03 9.90231263e-01 6.01193771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9292541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:447.45, Y:245.33, Z:60.12 [[-3.06639613e-02 -9.99529750e-01 1.32628717e-05 4.47452653e+02] [ 9.89891422e-01 -3.03701112e-02 -1.38537462e-01 2.45333544e+02] [ 1.38472717e-01 -4.23497856e-03 9.90357194e-01 6.01204566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.959254154 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:447.45, Y:245.36, Z:60.12 [[-2.68350076e-02 -9.99639876e-01 -3.71665821e-05 4.47451307e+02] [ 9.90223799e-01 -2.65771449e-02 -1.36932402e-01 2.45361570e+02] [ 1.36882102e-01 -3.71138529e-03 9.90580393e-01 6.01245827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 719.9892541539999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:447.45, Y:245.36, Z:60.12 [[-2.41136524e-02 -9.99709224e-01 -1.49877148e-06 4.47450576e+02] [ 9.90323764e-01 -2.38870638e-02 -1.36704981e-01 2.45360052e+02] [ 1.36665194e-01 -3.29794065e-03 9.90611805e-01 6.01246410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0192541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:447.45, Y:245.39, Z:60.13 [[-2.20818363e-02 -9.99756165e-01 -5.24314071e-05 4.47449998e+02] [ 9.90450419e-01 -2.18691594e-02 -1.36123869e-01 2.45386246e+02] [ 1.36089531e-01 -3.05779571e-03 9.90691824e-01 6.01282168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.0492541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:447.45, Y:245.41, Z:60.13 [[-1.81625492e-02 -9.99835047e-01 -1.64509032e-05 4.47449001e+02] [ 9.90493800e-01 -1.79906165e-02 -1.36375839e-01 2.45414208e+02] [ 1.36353047e-01 -2.49322740e-03 9.90657171e-01 6.01319193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.079254154 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:447.45, Y:245.41, Z:60.13 [[-1.64375506e-02 -9.99864894e-01 1.90709329e-05 4.47448494e+02] [ 9.90479407e-01 -1.62858626e-02 -1.36694237e-01 2.45411317e+02] [ 1.36676079e-01 -2.22802907e-03 9.90613287e-01 6.01315811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1092541539999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:447.45, Y:245.44, Z:60.13 [[-1.53189974e-02 -9.99882657e-01 -3.19785879e-05 4.47448691e+02] [ 9.90373049e-01 -1.51689022e-02 -1.37590438e-01 2.45437744e+02] [ 1.37573808e-01 -2.13941829e-03 9.90489208e-01 6.01345548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1392541539999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:447.45, Y:245.47, Z:60.14 [[-1.59293108e-02 -9.99873121e-01 -3.45669312e-06 4.47449263e+02] [ 9.90244433e-01 -1.57754344e-02 -1.38445295e-01 2.45465228e+02] [ 1.38427674e-01 -2.20876110e-03 9.90370083e-01 6.01382045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1692541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:447.45, Y:245.47, Z:60.14 [[-1.61940120e-02 -9.99868868e-01 3.03215971e-05 4.47449947e+02] [ 9.90151088e-01 -1.60408393e-02 -1.39080965e-01 2.45473168e+02] [ 1.39063214e-01 -2.22225586e-03 9.90281013e-01 6.01389604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.1992541539998 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:447.45, Y:245.50, Z:60.14 [[-1.90010760e-02 -9.99819463e-01 -1.97984029e-05 4.47451576e+02] [ 9.89957394e-01 -1.88108778e-02 -1.40108919e-01 2.45500146e+02] [ 1.40083252e-01 -2.68181979e-03 9.90136097e-01 6.01417884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2292541539999 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:447.45, Y:245.75, Z:60.18 [[-1.98532077e-02 -9.99802906e-01 1.17563185e-05 4.47452432e+02] [ 9.90040722e-01 -1.96609980e-02 -1.39401627e-01 2.45754213e+02] [ 1.39374383e-01 -2.75593023e-03 9.90235925e-01 6.01751722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2592541539999 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:447.45, Y:245.78, Z:60.18 [[-2.25323539e-02 -9.99746114e-01 -7.14365332e-06 4.47453193e+02] [ 9.89802118e-01 -2.23072301e-02 -1.40691699e-01 2.45781484e+02] [ 1.40655820e-01 -3.17718596e-03 9.90053456e-01 6.01793451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.2892541539999 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:447.45, Y:245.79, Z:60.18 [[-2.49930671e-02 -9.99687624e-01 2.85612207e-05 4.47454945e+02] [ 9.89751899e-01 -2.47486832e-02 -1.40636701e-01 2.45788026e+02] [ 1.40593477e-01 -3.48667398e-03 9.90061270e-01 6.01802894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3192541539999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:447.46, Y:245.82, Z:60.18 [[-2.66064460e-02 -9.99645986e-01 -2.09497909e-05 4.47456020e+02] [ 9.89766144e-01 -2.63405462e-02 -1.40246765e-01 2.45815225e+02] [ 1.40196564e-01 -3.75220337e-03 9.90116581e-01 6.01836239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3492541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:447.46, Y:245.82, Z:60.18 [[-2.85190987e-02 -9.99593248e-01 1.36647913e-05 4.47457364e+02] [ 9.89697305e-01 -2.82386793e-02 -1.40363179e-01 2.45820562e+02] [ 1.40306472e-01 -3.98950735e-03 9.90100085e-01 6.01848530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.3792541539999 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:447.46, Y:245.85, Z:60.19 [[-2.99223768e-02 -9.99552225e-01 -3.59560603e-05 4.47457867e+02] [ 9.89672108e-01 -2.96215624e-02 -1.40255774e-01 2.45847910e+02] [ 1.40191906e-01 -4.23237082e-03 9.90115305e-01 6.01886018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4092541539999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:447.46, Y:245.85, Z:60.19 [[-3.05968426e-02 -9.99531807e-01 -1.01951570e-06 4.47458352e+02] [ 9.89645821e-01 -3.02940778e-02 -1.40297607e-01 2.45846286e+02] [ 1.40231890e-01 -4.29367276e-03 9.90109379e-01 6.01886065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4392541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.46, Y:245.87, Z:60.19 [[-3.29370269e-02 -9.99457428e-01 -5.17141126e-05 4.47459215e+02] [ 9.89577598e-01 -3.26041807e-02 -1.40260988e-01 2.45872622e+02] [ 1.40183200e-01 -4.67095507e-03 9.90114565e-01 6.01928074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4692541539999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:447.46, Y:245.90, Z:60.20 [[-3.42780502e-02 -9.99412335e-01 -2.25924267e-05 4.47459510e+02] [ 9.89563985e-01 -3.39371038e-02 -1.40040685e-01 2.45900609e+02] [ 1.39957621e-01 -4.82267829e-03 9.90145750e-01 6.01967186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.4992541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.46, Y:245.90, Z:60.20 [[-3.45877367e-02 -9.99401665e-01 1.22952805e-05 4.47460287e+02] [ 9.89604389e-01 -3.42503866e-02 -1.39678433e-01 2.45903835e+02] [ 1.39595280e-01 -4.81899341e-03 9.90196917e-01 6.01972065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5292541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:447.46, Y:245.93, Z:60.20 [[-3.55483398e-02 -9.99367957e-01 -3.78578609e-05 4.47461227e+02] [ 9.89610843e-01 -3.51959905e-02 -1.39397355e-01 2.45931912e+02] [ 1.39307918e-01 -4.99280909e-03 9.90236525e-01 6.02010714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.5592541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:447.46, Y:245.93, Z:60.20 [[-3.43772887e-02 -9.99408926e-01 -3.37279490e-06 4.47461087e+02] [ 9.89626548e-01 -3.40403271e-02 -1.39572745e-01 2.45934442e+02] [ 1.39490132e-01 -4.80147036e-03 9.90211820e-01 6.02018612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.589254154 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:447.46, Y:245.96, Z:60.20 [[-3.10581849e-02 -9.99517577e-01 -5.48295012e-05 4.47461092e+02] [ 9.89545296e-01 -3.07405848e-02 -1.40908212e-01 2.45961528e+02] [ 1.40838549e-01 -4.43060956e-03 9.90022663e-01 6.02048399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6192541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:447.46, Y:245.99, Z:60.21 [[-2.92181886e-02 -9.99573057e-01 -3.01511247e-05 4.47460657e+02] [ 9.89554584e-01 -2.89210819e-02 -1.41227819e-01 2.45989105e+02] [ 1.41166651e-01 -4.15625724e-03 9.89977122e-01 6.02087624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6492541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:447.46, Y:245.99, Z:60.21 [[-2.57863888e-02 -9.99667476e-01 4.61638918e-06 4.47460233e+02] [ 9.89529861e-01 -2.55255454e-02 -1.42053164e-01 2.45992320e+02] [ 1.42006045e-01 -3.65847006e-03 9.89859030e-01 6.02091814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.6792541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:447.46, Y:246.02, Z:60.21 [[-1.94019568e-02 -9.99811763e-01 -4.45168410e-05 4.47459700e+02] [ 9.89456266e-01 -1.91946102e-02 -1.43554400e-01 2.46020261e+02] [ 1.43526523e-01 -2.82928372e-03 9.89642427e-01 6.02123524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.709254154 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:447.46, Y:246.05, Z:60.22 [[-1.68037667e-02 -9.99858807e-01 -3.09308120e-06 4.47459185e+02] [ 9.89596748e-01 -1.66308590e-02 -1.42904481e-01 2.46046499e+02] [ 1.42884253e-01 -2.40439446e-03 9.89736485e-01 6.02164072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7392541539999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:447.46, Y:246.05, Z:60.22 [[-1.06877040e-02 -9.99942885e-01 1.86664756e-05 4.47458980e+02] [ 9.89737266e-01 -1.05812834e-02 -1.42506778e-01 2.46045945e+02] [ 1.42498836e-01 -1.50459536e-03 9.89793826e-01 6.02172406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7692541539999 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:447.46, Y:246.07, Z:60.22 [[-8.53504558e-03 -9.99963575e-01 -2.99280686e-05 4.47458712e+02] [ 9.89806807e-01 -8.44409903e-03 -1.42166039e-01 2.46073430e+02] [ 1.42160608e-01 -1.24301663e-03 9.89842824e-01 6.02212491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.7992541539999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:447.46, Y:246.08, Z:60.22 [[-5.93434000e-03 -9.99982392e-01 4.75666065e-06 4.47458484e+02] [ 9.89848660e-01 -5.87487741e-03 -1.42003931e-01 2.46075066e+02] [ 1.42001459e-01 -8.37991235e-04 9.89866094e-01 6.02219337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.829254154 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:447.46, Y:246.10, Z:60.23 [[-3.54311076e-03 -9.99993722e-01 -4.48959200e-05 4.47458840e+02] [ 9.89842380e-01 -3.50076228e-03 -1.42126027e-01 2.46101678e+02] [ 1.42124978e-01 -5.48008141e-04 9.89848569e-01 6.02255296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8592541539999 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:447.46, Y:246.13, Z:60.23 [[-3.63649472e-03 -9.99993388e-01 -1.55381359e-05 4.47459076e+02] [ 9.89754406e-01 -3.59704262e-03 -1.42734987e-01 2.46129082e+02] [ 1.42733988e-01 -5.34433966e-04 9.89760942e-01 6.02293021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.8892541539999 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:447.46, Y:246.13, Z:60.23 [[-3.24362265e-03 -9.99994739e-01 1.77799140e-05 4.47458983e+02] [ 9.89755729e-01 -3.21294882e-03 -1.42734981e-01 2.46131693e+02] [ 1.42734288e-01 -4.45380647e-04 9.89760943e-01 6.02296581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9192541539999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:447.46, Y:246.16, Z:60.23 [[-5.23972924e-03 -9.99986272e-01 -3.05487416e-05 4.47460159e+02] [ 9.89599476e-01 -5.18091284e-03 -1.43756860e-01 2.46159841e+02] [ 1.43754728e-01 -7.83478043e-04 9.89613038e-01 6.02328085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9492541539998 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:447.46, Y:246.17, Z:60.23 [[-6.79763328e-03 -9.99976896e-01 2.27631689e-06 4.47461044e+02] [ 9.89519658e-01 -6.72687551e-03 -1.44241453e-01 2.46165190e+02] [ 1.44238135e-01 -9.78248037e-04 9.89542522e-01 6.02332794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 720.9792541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.46, Y:246.19, Z:60.24 [[-9.74285028e-03 -9.99952536e-01 -4.56816906e-05 4.47461914e+02] [ 9.89473050e-01 -9.63414878e-03 -1.44396215e-01 2.46193331e+02] [ 1.44388921e-01 -1.45203150e-03 9.89519950e-01 6.02367244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0092541539999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:447.46, Y:246.22, Z:60.24 [[-1.28739484e-02 -9.99917127e-01 -3.90056140e-06 4.47462558e+02] [ 9.89410829e-01 -1.27381157e-02 -1.44581991e-01 2.46221141e+02] [ 1.44569959e-01 -1.86520034e-03 9.89492824e-01 6.02403512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0392541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:447.46, Y:245.81, Z:60.19 [[-2.02293400e-02 -9.99795366e-01 2.49042245e-05 4.47463375e+02] [ 9.89305585e-01 -2.00206940e-02 -1.44477097e-01 2.45808520e+02] [ 1.44448031e-01 -2.89803843e-03 9.89508144e-01 6.01863540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0692541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:447.46, Y:245.84, Z:60.19 [[-2.47855800e-02 -9.99692788e-01 -7.47461054e-05 4.47463751e+02] [ 9.89178127e-01 -2.45140721e-02 -1.44657157e-01 2.45835770e+02] [ 1.44610884e-01 -3.65934875e-03 9.89481835e-01 6.01902174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.0992541539999 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:447.46, Y:245.86, Z:60.19 [[-3.34780602e-02 -9.99439452e-01 -3.44522563e-05 4.47464673e+02] [ 9.89036854e-01 -3.31246454e-02 -1.43905732e-01 2.45862309e+02] [ 1.43823924e-01 -4.85175930e-03 9.89591400e-01 6.01940656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1292541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.47, Y:245.89, Z:60.20 [[-3.76187542e-02 -9.99292164e-01 -5.16718593e-06 4.47465513e+02] [ 9.88838042e-01 -3.72244586e-02 -1.44269423e-01 2.45889512e+02] [ 1.44167112e-01 -5.43234548e-03 9.89538445e-01 6.01977327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1592541539999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:447.47, Y:245.90, Z:60.20 [[-4.14417424e-02 -9.99140922e-01 2.66458756e-05 4.47465599e+02] [ 9.88841506e-01 -4.10183690e-02 -1.43213023e-01 2.45896883e+02] [ 1.43091085e-01 -5.90864867e-03 9.89691886e-01 6.01993206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.1892541539999 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:447.47, Y:245.92, Z:60.20 [[-4.90128236e-02 -9.98798149e-01 -2.38220783e-05 4.47466258e+02] [ 9.88634487e-01 -4.85106805e-02 -1.42297450e-01 2.45923494e+02] [ 1.42125274e-01 -6.99795116e-03 9.89823941e-01 6.02029711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2192541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:447.47, Y:245.93, Z:60.20 [[-5.16149461e-02 -9.98667060e-01 -2.74273672e-06 4.47466408e+02] [ 9.88598537e-01 -5.10941772e-02 -1.41641512e-01 2.45927106e+02] [ 1.41452572e-01 -7.31353045e-03 9.89918018e-01 6.02034987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2492541539999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:447.47, Y:245.95, Z:60.21 [[-5.74250261e-02 -9.98349820e-01 -5.25419172e-05 4.47466233e+02] [ 9.88425054e-01 -5.68467515e-02 -1.40656889e-01 2.45954945e+02] [ 1.40421793e-01 -8.12915925e-03 9.90058401e-01 6.02075447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.2792541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:447.47, Y:245.98, Z:60.21 [[-5.99683718e-02 -9.98200278e-01 -1.11896756e-05 4.47466035e+02] [ 9.88360627e-01 -5.93756700e-02 -1.40063563e-01 2.45981429e+02] [ 1.39810823e-01 -8.41044326e-03 9.90142514e-01 6.02109395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3092541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:447.47, Y:245.98, Z:60.21 [[-6.16768445e-02 -9.98096171e-01 2.01022520e-05 4.47465866e+02] [ 9.88314767e-01 -6.10752204e-02 -1.39655786e-01 2.45982800e+02] [ 1.39391133e-01 -8.59366088e-03 9.90200112e-01 6.02107636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.339254154 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:447.47, Y:246.01, Z:60.21 [[-6.52483557e-02 -9.97869055e-01 -3.07152298e-05 4.47465105e+02] [ 9.88073394e-01 -6.46035376e-02 -1.39776074e-01 2.46010463e+02] [ 1.39476235e-01 -9.15050790e-03 9.90183139e-01 6.02140337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3692541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:447.46, Y:246.00, Z:60.21 [[-6.57822315e-02 -9.97834003e-01 3.08507813e-06 4.47464725e+02] [ 9.88038900e-01 -6.51369213e-02 -1.39772363e-01 2.46004084e+02] [ 1.39469818e-01 -9.19148977e-03 9.90183663e-01 6.02127645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.3992541539999 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:447.45, Y:246.04, Z:60.22 [[-6.22516350e-02 -9.97286516e-01 3.92980783e-02 4.47450356e+02] [ 9.89159471e-01 -6.68954818e-02 -1.30723127e-01 2.46039599e+02] [ 1.32997276e-01 3.07343379e-02 9.90639755e-01 6.02160612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4292541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:447.48, Y:246.04, Z:60.21 [[-7.11567508e-02 -9.96992638e-01 -3.06984682e-02 4.47479252e+02] [ 9.86325192e-01 -6.57419116e-02 -1.51131124e-01 2.46044564e+02] [ 1.48658442e-01 -4.10326722e-02 9.88036936e-01 6.02065464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.459254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.45, Y:246.04, Z:60.21 [[-6.04838209e-02 -9.97552015e-01 3.50953669e-02 4.47451150e+02] [ 9.89698237e-01 -6.45043393e-02 -1.27814671e-01 2.46037655e+02] [ 1.29765586e-01 2.70031030e-02 9.91176939e-01 6.02117083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.4892541539999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:447.48, Y:246.06, Z:60.21 [[-6.48542321e-02 -9.96704079e-01 -4.87330149e-02 4.47484296e+02] [ 9.88419373e-01 -5.74478522e-02 -1.40452439e-01 2.46059839e+02] [ 1.37189911e-01 -5.72775911e-02 9.88887358e-01 6.02054902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5192541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:447.43, Y:246.10, Z:60.23 [[-5.38895118e-02 -9.94583206e-01 8.88828835e-02 4.47426254e+02] [ 9.90361408e-01 -6.46095425e-02 -1.22514851e-01 2.46101817e+02] [ 1.27593895e-01 8.14239121e-02 9.88478601e-01 6.02251746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.5492541539999 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:447.50, Y:246.12, Z:60.20 [[-6.23238068e-02 -9.93687258e-01 -9.32811739e-02 4.47504062e+02] [ 9.88831344e-01 -4.87996420e-02 -1.40823178e-01 2.46117754e+02] [ 1.35382109e-01 -1.01015985e-01 9.85630486e-01 6.02007211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.579254154 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:447.45, Y:246.14, Z:60.23 [[-5.59326914e-02 -9.98434541e-01 -2.35051504e-05 4.47453590e+02] [ 9.88261696e-01 -5.53594525e-02 -1.42387332e-01 2.46141533e+02] [ 1.42163129e-01 -7.98733594e-03 9.89811016e-01 6.02293869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6092541539999 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:447.45, Y:246.14, Z:60.23 [[-5.20624637e-02 -9.98643830e-01 4.95070851e-06 4.47451442e+02] [ 9.88480384e-01 -5.15333165e-02 -1.42305472e-01 2.46140060e+02] [ 1.42112736e-01 -7.40387977e-03 9.89822789e-01 6.02293193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6392541539999 meters Centerline goodness : 0.996699 Centerline is valid? [True, True] Translation: X:447.41, Y:246.18, Z:60.24 [[-3.47598586e-02 -9.95218744e-01 9.12765236e-02 4.47413539e+02] [ 9.91625078e-01 -4.57125430e-02 -1.20789352e-01 2.46184105e+02] [ 1.24384309e-01 8.63134691e-02 9.88472827e-01 6.02368679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6692541539999 meters Centerline goodness : 0.997239 Centerline is valid? [True, True] Translation: X:447.48, Y:246.20, Z:60.21 [[-4.88161309e-02 -9.96102485e-01 -7.34630791e-02 4.47483962e+02] [ 9.85695660e-01 -3.61661329e-02 -1.64608858e-01 2.46198057e+02] [ 1.61310417e-01 -8.04478058e-02 9.83619388e-01 6.02115979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.6992541539998 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:447.44, Y:246.19, Z:60.23 [[-4.35273048e-02 -9.99051425e-01 1.27432352e-03 4.47444560e+02] [ 9.85620073e-01 -4.31505083e-02 -1.63374125e-01 2.46192329e+02] [ 1.63274140e-01 -5.85523651e-03 9.86563364e-01 6.02329810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7292541539999 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:447.44, Y:246.19, Z:60.23 [[-3.42005201e-02 -9.99414286e-01 1.18689926e-03 4.47440756e+02] [ 9.86480321e-01 -3.39483136e-02 -1.60324944e-01 2.46189028e+02] [ 1.60271332e-01 -4.31234369e-03 9.87063576e-01 6.02333390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7592541539999 meters Centerline goodness : 0.997323 Centerline is valid? [True, True] Translation: X:447.44, Y:246.19, Z:60.23 [[-2.93315360e-02 -9.99569118e-01 1.11365156e-03 4.47439415e+02] [ 9.86846966e-01 -2.91353730e-02 -1.59010052e-01 2.46186540e+02] [ 1.58973984e-01 -3.56500540e-03 9.87276336e-01 6.02331899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.7892541539999 meters Centerline goodness : 0.996893 Centerline is valid? [True, True] Translation: X:447.43, Y:246.53, Z:60.28 [[-1.94574688e-02 -9.99665359e-01 1.70463165e-02 4.47428533e+02] [ 9.88699124e-01 -2.17732440e-02 -1.48323861e-01 2.46529566e+02] [ 1.48645379e-01 1.39676713e-02 9.88791917e-01 6.02837232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8192541539999 meters Centerline goodness : 0.996872 Centerline is valid? [True, True] Translation: X:447.45, Y:246.18, Z:60.23 [[-1.67855646e-02 -9.99742571e-01 -1.52655462e-02 4.47445296e+02] [ 9.87247633e-01 -1.41546244e-02 -1.58561526e-01 2.46184764e+02] [ 1.58304630e-01 -1.77324191e-02 9.87231080e-01 6.02269173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8492541539999 meters Centerline goodness : 0.997188 Centerline is valid? [True, True] Translation: X:447.44, Y:246.18, Z:60.23 [[-1.40906747e-02 -9.99900209e-01 1.01216961e-03 4.47436285e+02] [ 9.87276650e-01 -1.40731140e-02 -1.58388017e-01 2.46182423e+02] [ 1.58386455e-01 -1.23250259e-03 9.87376429e-01 6.02320484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.8792541539999 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:447.44, Y:246.18, Z:60.23 [[-9.65149886e-03 -9.99952966e-01 9.56222415e-04 4.47435895e+02] [ 9.87127338e-01 -9.68036796e-03 -1.59643071e-01 2.46183043e+02] [ 1.59644819e-01 -5.96881630e-04 9.87174339e-01 6.02314946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9092541539999 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:447.44, Y:246.18, Z:60.23 [[-8.13609446e-03 -9.99966501e-01 8.95344812e-04 4.47435632e+02] [ 9.87064200e-01 -8.17448130e-03 -1.60116969e-01 2.46184685e+02] [ 1.60118924e-01 -4.18963971e-04 9.87097642e-01 6.02315598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9392541539999 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:447.44, Y:246.19, Z:60.23 [[-7.13953120e-03 -9.99974165e-01 8.34106707e-04 4.47435971e+02] [ 9.86996934e-01 -7.18082061e-03 -1.60578607e-01 2.46186357e+02] [ 1.60580448e-01 -3.23195211e-04 9.87022703e-01 6.02315408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9692541539999 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:447.43, Y:246.63, Z:60.30 [[-1.03911737e-02 -9.99940504e-01 3.31836268e-03 4.47432600e+02] [ 9.87119354e-01 -1.07876524e-02 -1.59621453e-01 2.46626443e+02] [ 1.59647753e-01 1.61696578e-03 9.87172721e-01 6.02977010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 721.9992541539999 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:447.44, Y:246.20, Z:60.23 [[-8.44886335e-03 -9.99964067e-01 -6.94522399e-04 4.47440411e+02] [ 9.86831611e-01 -8.22570670e-03 -1.61541664e-01 2.46198545e+02] [ 1.61530146e-01 -2.05022010e-03 9.86865649e-01 6.02306171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0292541539999 meters Centerline goodness : 0.997153 Centerline is valid? [True, True] Translation: X:447.44, Y:246.20, Z:60.23 [[-1.02939980e-02 -9.99946802e-01 6.53346601e-04 4.47440037e+02] [ 9.86926655e-01 -1.02650532e-02 -1.60842800e-01 2.46199392e+02] [ 1.60840950e-01 -1.01091028e-03 9.86979821e-01 6.02317481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.0592541539999 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:447.44, Y:246.21, Z:60.23 [[-1.20126001e-02 -9.99927672e-01 5.90011531e-04 4.47440936e+02] [ 9.86877103e-01 -1.19508341e-02 -1.61030314e-01 2.46206982e+02] [ 1.61025718e-01 -1.35212390e-03 9.86949284e-01 6.02331016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.089254154 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:447.44, Y:246.21, Z:60.23 [[-1.64892452e-02 -9.99863906e-01 5.22838021e-04 4.47443119e+02] [ 9.86986137e-01 -1.63605219e-02 -1.59970930e-01 2.46209211e+02] [ 1.59957713e-01 -2.12176602e-03 9.87121587e-01 6.02332380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1192541539999 meters Centerline goodness : 0.997434 Centerline is valid? [True, True] Translation: X:447.44, Y:246.21, Z:60.23 [[-1.82981449e-02 -9.99832470e-01 4.57951773e-04 4.47444677e+02] [ 9.87026698e-01 -1.81368523e-02 -1.59528534e-01 2.46212353e+02] [ 1.59510114e-01 -2.46706559e-03 9.87193212e-01 6.02329279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1492541539999 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:447.45, Y:246.22, Z:60.23 [[-2.01800793e-02 -9.99796284e-01 3.93585149e-04 4.47445551e+02] [ 9.87049157e-01 -1.99854479e-02 -1.59168289e-01 2.46218707e+02] [ 1.59143730e-01 -2.82354080e-03 9.87251387e-01 6.02345654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.1792541539999 meters Centerline goodness : 0.997437 Centerline is valid? [True, True] Translation: X:447.45, Y:246.22, Z:60.23 [[-2.21788380e-02 -9.99753965e-01 3.30090093e-04 4.47448393e+02] [ 9.86998222e-01 -2.19484325e-02 -1.59225554e-01 2.46224357e+02] [ 1.59193624e-01 -3.20563943e-03 9.87242176e-01 6.02346279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.209254154 meters Centerline goodness : 0.997630 Centerline is valid? [True, True] Translation: X:447.45, Y:246.23, Z:60.23 [[-2.24616116e-02 -9.99747671e-01 2.66228390e-04 4.47449326e+02] [ 9.87001975e-01 -2.22176354e-02 -1.59164938e-01 2.46226236e+02] [ 1.59130691e-01 -3.31233307e-03 9.87251970e-01 6.02342018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2392541539999 meters Centerline goodness : 0.997551 Centerline is valid? [True, True] Translation: X:447.45, Y:246.23, Z:60.24 [[-2.28669059e-02 -9.99738498e-01 2.02763022e-04 4.47449492e+02] [ 9.86932766e-01 -2.26063589e-02 -1.59538925e-01 2.46226182e+02] [ 1.59501789e-01 -3.44804813e-03 9.87191618e-01 6.02355487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2692541539999 meters Centerline goodness : 0.997779 Centerline is valid? [True, True] Translation: X:447.45, Y:246.23, Z:60.24 [[-2.26028467e-02 -9.99744513e-01 1.38879124e-04 4.47451867e+02] [ 9.86949274e-01 -2.23357174e-02 -1.59474906e-01 2.46231401e+02] [ 1.59437264e-01 -3.46752019e-03 9.87201973e-01 6.02352092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.2992541539999 meters Centerline goodness : 0.997718 Centerline is valid? [True, True] Translation: X:447.45, Y:246.23, Z:60.24 [[-2.28998522e-02 -9.99737761e-01 7.50965279e-05 4.47452616e+02] [ 9.86855808e-01 -2.26167995e-02 -1.60012793e-01 2.46232766e+02] [ 1.59972530e-01 -3.59015985e-03 9.87114938e-01 6.02359546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.329254154 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:447.46, Y:246.24, Z:60.24 [[-2.36720273e-02 -9.99719778e-01 1.13125171e-05 4.47455341e+02] [ 9.87000446e-01 -2.33726498e-02 -1.59008926e-01 2.46238935e+02] [ 1.58964632e-01 -3.75289817e-03 9.87277145e-01 6.02359650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3592541539999 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:447.46, Y:246.27, Z:60.24 [[-2.47369410e-02 -9.99693994e-01 -4.79410243e-05 4.47456706e+02] [ 9.86968969e-01 -2.44144392e-02 -1.59047760e-01 2.46266605e+02] [ 1.58997920e-01 -3.98167137e-03 9.87270889e-01 6.02401385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.3892541539999 meters Centerline goodness : 0.997782 Centerline is valid? [True, True] Translation: X:447.46, Y:246.29, Z:60.24 [[-2.52140270e-02 -9.99682076e-01 -1.89307573e-06 4.47458113e+02] [ 9.87056813e-01 -2.48952921e-02 -1.58426871e-01 2.46294483e+02] [ 1.58376456e-01 -3.99644798e-03 9.87370714e-01 6.02439282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4192541539999 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:447.44, Y:246.28, Z:60.24 [[-5.68527402e-03 -9.98040635e-01 6.23102620e-02 4.47438891e+02] [ 9.93344237e-01 -1.28051458e-02 -1.14469454e-01 2.46281830e+02] [ 1.15043059e-01 6.12447494e-02 9.91470713e-01 6.02356798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4492541539998 meters Centerline goodness : 0.998015 Centerline is valid? [True, True] Translation: X:447.50, Y:246.29, Z:60.22 [[-1.41969052e-02 -9.95729567e-01 -9.12199380e-02 4.47504578e+02] [ 9.91307640e-01 -2.08261106e-03 -1.31547811e-01 2.46294177e+02] [ 1.30796069e-01 -9.22945932e-02 9.87103893e-01 6.02229371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.4792541539999 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:447.46, Y:246.32, Z:60.25 [[-1.31901132e-02 -9.99912167e-01 -1.29590568e-03 4.47459664e+02] [ 9.91037765e-01 -1.29007330e-02 -1.32957589e-01 2.46318925e+02] [ 1.32929192e-01 -3.03801711e-03 9.91120881e-01 6.02498533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5092541539999 meters Centerline goodness : 0.997806 Centerline is valid? [True, True] Translation: X:447.46, Y:246.35, Z:60.25 [[-1.25263027e-02 -9.99920751e-01 -1.25806249e-03 4.47460567e+02] [ 9.91053028e-01 -1.22479974e-02 -1.32905542e-01 2.46346506e+02] [ 1.32879601e-01 -2.91162170e-03 9.91127910e-01 6.02530982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5392541539999 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] Translation: X:447.46, Y:246.37, Z:60.26 [[-1.21383967e-02 -9.99925584e-01 -1.21902389e-03 4.47460973e+02] [ 9.91086762e-01 -1.18693375e-02 -1.32688164e-01 2.46374090e+02] [ 1.32663821e-01 -2.81878000e-03 9.91157084e-01 6.02566834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5692541539999 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:447.46, Y:246.40, Z:60.26 [[-1.20472274e-02 -9.99926731e-01 -1.18221359e-03 4.47461923e+02] [ 9.91092854e-01 -1.17839634e-02 -1.32650267e-01 2.46401272e+02] [ 1.32626616e-01 -2.76975137e-03 9.91162201e-01 6.02597638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.5992541539999 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:447.46, Y:246.43, Z:60.26 [[-1.27870671e-02 -9.99917570e-01 -1.15979636e-03 4.47462937e+02] [ 9.91005698e-01 -1.25185653e-02 -1.33232852e-01 2.46429160e+02] [ 1.33207351e-01 -2.85302222e-03 9.91084084e-01 6.02632147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6292541539999 meters Centerline goodness : 0.997975 Centerline is valid? [True, True] Translation: X:447.46, Y:246.46, Z:60.27 [[-1.54330998e-02 -9.99880262e-01 -1.13171375e-03 4.47464740e+02] [ 9.90830398e-01 -1.51414530e-02 -1.34260413e-01 2.46455601e+02] [ 1.34227201e-01 -3.19339073e-03 9.90945438e-01 6.02660809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6592541539999 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:447.47, Y:246.48, Z:60.27 [[-1.71194376e-02 -9.99852852e-01 -1.09547122e-03 4.47465757e+02] [ 9.90764543e-01 -1.68164142e-02 -1.34546753e-01 2.46483514e+02] [ 1.34508532e-01 -3.38871878e-03 9.90906641e-01 6.02693935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.6892541539999 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:447.47, Y:246.51, Z:60.27 [[-1.93037235e-02 -9.99813103e-01 -1.06068680e-03 4.47466755e+02] [ 9.90701035e-01 -1.89848652e-02 -1.34725772e-01 2.46511683e+02] [ 1.34680455e-01 -3.65153256e-03 9.90882355e-01 6.02726220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7192541539999 meters Centerline goodness : 0.997974 Centerline is valid? [True, True] Translation: X:447.47, Y:246.54, Z:60.27 [[-2.26888321e-02 -9.99742049e-01 -1.02595374e-03 4.47469008e+02] [ 9.90617717e-01 -2.23434001e-02 -1.34823259e-01 2.46538150e+02] [ 1.34765558e-01 -4.07531022e-03 9.90869132e-01 6.02749650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7492541539999 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:447.47, Y:246.57, Z:60.28 [[-2.47298752e-02 -9.99693670e-01 -9.99887620e-04 4.47469074e+02] [ 9.90555130e-01 -2.43688526e-02 -1.34932183e-01 2.46565248e+02] [ 1.34866483e-01 -4.32729985e-03 9.90854332e-01 6.02801034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.7792541539999 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:447.47, Y:246.59, Z:60.28 [[-2.49749417e-02 -9.99687612e-01 -9.64422027e-04 4.47469148e+02] [ 9.90548973e-01 -2.46164609e-02 -1.34932437e-01 2.46593433e+02] [ 1.34866545e-01 -4.32523698e-03 9.90854332e-01 6.02837186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8092541539999 meters Centerline goodness : 0.998398 Centerline is valid? [True, True] Translation: X:447.47, Y:246.62, Z:60.29 [[-2.63328213e-02 -9.99652801e-01 -9.26899047e-04 4.47469902e+02] [ 9.90588993e-01 -2.59694592e-02 -1.34383907e-01 2.46618882e+02] [ 1.34313178e-01 -4.45688341e-03 9.90928911e-01 6.02877528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.839254154 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:447.47, Y:246.65, Z:60.29 [[-2.64172008e-02 -9.99650613e-01 -8.85130371e-04 4.47470547e+02] [ 9.90588206e-01 -2.60587350e-02 -1.34372426e-01 2.46645826e+02] [ 1.34302413e-01 -4.42654306e-03 9.90930506e-01 6.02902723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8692541539999 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:447.47, Y:246.67, Z:60.30 [[-2.68836256e-02 -9.99638219e-01 -8.37826141e-04 4.47470064e+02] [ 9.90755400e-01 -2.65332318e-02 -1.33040314e-01 2.46671356e+02] [ 1.32969952e-01 -4.40668676e-03 9.91110273e-01 6.02959685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.8992541539999 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:447.47, Y:246.70, Z:60.30 [[-2.67431332e-02 -9.99642023e-01 -7.94511149e-04 4.47469856e+02] [ 9.90821720e-01 -2.64017988e-02 -1.32571734e-01 2.46698902e+02] [ 1.32503300e-01 -4.33260244e-03 9.91173095e-01 6.03000566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9292541539999 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:447.47, Y:246.73, Z:60.30 [[-2.58780744e-02 -9.99664824e-01 -7.51789614e-04 4.47470135e+02] [ 9.90943702e-01 -2.55531756e-02 -1.31824183e-01 2.46726187e+02] [ 1.31760789e-01 -4.15633721e-03 9.91272828e-01 6.03022142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.959254154 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:447.47, Y:246.75, Z:60.31 [[-2.47394365e-02 -9.99693670e-01 -7.25776331e-04 4.47469070e+02] [ 9.91065020e-01 -2.44307080e-02 -1.31123095e-01 2.46753265e+02] [ 1.31065197e-01 -3.96320302e-03 9.91365829e-01 6.03073212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 722.9892541539999 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:447.47, Y:246.78, Z:60.31 [[-2.33314896e-02 -9.99727547e-01 -6.88563149e-04 4.47469267e+02] [ 9.91072279e-01 -2.30390475e-02 -1.31319994e-01 2.46779679e+02] [ 1.31268351e-01 -3.74630692e-03 9.91339793e-01 6.03099579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0192541539999 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:447.47, Y:246.81, Z:60.31 [[-2.05042301e-02 -9.99789551e-01 -6.56326385e-04 4.47467731e+02] [ 9.91064980e-01 -2.02387565e-02 -1.31835500e-01 2.46807455e+02] [ 1.31794472e-01 -3.35364752e-03 9.91271391e-01 6.03148539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.0492541539999 meters Centerline goodness : 0.998295 Centerline is valid? [True, True] Translation: X:447.47, Y:246.84, Z:60.32 [[-1.82024528e-02 -9.99834130e-01 -6.18814468e-04 4.47467466e+02] [ 9.91092989e-01 -1.79616471e-02 -1.31954788e-01 2.46835621e+02] [ 1.31921785e-01 -3.01520348e-03 9.91255543e-01 6.03168100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.079254154 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:447.47, Y:246.86, Z:60.32 [[-1.71346507e-02 -9.99853022e-01 -5.80905648e-04 4.47466072e+02] [ 9.91106461e-01 -1.69080728e-02 -1.31992804e-01 2.46863201e+02] [ 1.31963582e-01 -2.83738994e-03 9.91250504e-01 6.03221723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1092541539999 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:447.47, Y:246.89, Z:60.33 [[-1.41890392e-02 -9.99899182e-01 -5.44257093e-04 4.47465138e+02] [ 9.91092564e-01 -1.39919817e-02 -1.32437735e-01 2.46891363e+02] [ 1.32416768e-01 -2.41857337e-03 9.91191177e-01 6.03256883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1392541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:447.46, Y:246.92, Z:60.33 [[-1.35401727e-02 -9.99908199e-01 -5.07272636e-04 4.47464890e+02] [ 9.91050571e-01 -1.33528470e-02 -1.32817418e-01 2.46919506e+02] [ 1.32798452e-01 -2.30110360e-03 9.91140392e-01 6.03292528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1692541539999 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:447.47, Y:246.95, Z:60.33 [[-1.33361810e-02 -9.99910958e-01 -4.71915414e-04 4.47465212e+02] [ 9.90914384e-01 -1.31530191e-02 -1.33849473e-01 2.46946814e+02] [ 1.33831348e-01 -2.25266857e-03 9.91001562e-01 6.03328556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.1992541539998 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:447.47, Y:246.97, Z:60.34 [[-1.40412447e-02 -9.99901323e-01 -4.33454380e-04 4.47465738e+02] [ 9.90876326e-01 -1.38563953e-02 -1.34060091e-01 2.46974919e+02] [ 1.34040856e-01 -2.31187023e-03 9.90973110e-01 6.03364042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2292541539999 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:447.47, Y:247.00, Z:60.34 [[-1.48046462e-02 -9.99890327e-01 -3.95161426e-04 4.47466500e+02] [ 9.90828369e-01 -1.46173832e-02 -1.34333449e-01 2.47002742e+02] [ 1.34312940e-01 -2.38029633e-03 9.90936107e-01 6.03397939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2592541539999 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:447.47, Y:247.03, Z:60.34 [[-1.74254508e-02 -9.99848101e-01 -3.57543229e-04 4.47467622e+02] [ 9.90717784e-01 -1.72181083e-02 -1.34839940e-01 2.47029865e+02] [ 1.34813302e-01 -2.70387118e-03 9.90867329e-01 6.03430189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.2892541539999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:447.47, Y:247.06, Z:60.35 [[-1.93246162e-02 -9.99813210e-01 -3.22508172e-04 4.47468271e+02] [ 9.90662084e-01 -1.91041960e-02 -1.34995055e-01 2.47057782e+02] [ 1.34963678e-01 -2.92822424e-03 9.90846220e-01 6.03468433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3192541539999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:447.47, Y:247.08, Z:60.35 [[-2.22987554e-02 -9.99751311e-01 -2.84635525e-04 4.47470229e+02] [ 9.90603795e-01 -2.20562988e-02 -1.34972741e-01 2.47084445e+02] [ 1.34932897e-01 -3.29168517e-03 9.90849271e-01 6.03503251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3492541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:447.47, Y:247.11, Z:60.35 [[-2.37598116e-02 -9.99717663e-01 -2.57708346e-04 4.47471518e+02] [ 9.90569776e-01 -2.35076035e-02 -1.34977447e-01 2.47112486e+02] [ 1.34933280e-01 -3.46231681e-03 9.90848638e-01 6.03541616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.3792541539999 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:447.47, Y:247.14, Z:60.36 [[-2.53994244e-02 -9.99677358e-01 -2.19808855e-04 4.47472731e+02] [ 9.90515684e-01 -2.51369465e-02 -1.35080766e-01 2.47138785e+02] [ 1.35031658e-01 -3.64869782e-03 9.90834567e-01 6.03572518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4092541539999 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:447.48, Y:247.17, Z:60.36 [[-2.73746800e-02 -9.99625226e-01 -1.86937909e-04 4.47475179e+02] [ 9.90252461e-01 -2.70924576e-02 -1.36623796e-01 2.47166757e+02] [ 1.36567528e-01 -3.92514842e-03 9.90622988e-01 6.03603178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4392541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:447.48, Y:247.19, Z:60.36 [[-2.90468477e-02 -9.99578040e-01 -1.47910689e-04 4.47475569e+02] [ 9.90304933e-01 -2.87572697e-02 -1.35901289e-01 2.47194318e+02] [ 1.35839690e-01 -4.09398072e-03 9.90722372e-01 6.03649432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4692541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:447.48, Y:247.22, Z:60.37 [[-3.02819512e-02 -9.99541391e-01 -1.07573425e-04 4.47477958e+02] [ 9.90276100e-01 -2.99866313e-02 -1.35845677e-01 2.47222283e+02] [ 1.35780151e-01 -4.22019956e-03 9.90730004e-01 6.03681667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.4992541539999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:447.48, Y:247.25, Z:60.37 [[-3.05580311e-02 -9.99532992e-01 -6.80232700e-05 4.47479078e+02] [ 9.90215936e-01 -3.02639166e-02 -1.36222229e-01 2.47249455e+02] [ 1.36156554e-01 -4.23004084e-03 9.90678303e-01 6.03719524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5292541539999 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:447.48, Y:247.28, Z:60.38 [[-3.05130171e-02 -9.99534369e-01 -3.95909472e-05 4.47479924e+02] [ 9.90235885e-01 -3.02237699e-02 -1.36086062e-01 2.47277190e+02] [ 1.36021499e-01 -4.19160072e-03 9.90697018e-01 6.03754331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.5592541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:447.48, Y:247.30, Z:60.38 [[-2.84921301e-02 -9.99594017e-01 1.18355055e-07 4.47481262e+02] [ 9.90333200e-01 -2.82281786e-02 -1.35806200e-01 2.47304857e+02] [ 1.35751068e-01 -3.86929070e-03 9.90735422e-01 6.03789800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.589254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:447.48, Y:247.30, Z:60.38 [[-2.62342253e-02 -9.99655823e-01 3.44320052e-05 4.47481440e+02] [ 9.90339066e-01 -2.59944148e-02 -1.36208755e-01 2.47304439e+02] [ 1.36162770e-01 -3.53923182e-03 9.90680157e-01 6.03793103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6192541539999 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:447.48, Y:247.33, Z:60.38 [[-2.33639625e-02 -9.99727025e-01 -1.48223160e-05 4.47481722e+02] [ 9.90428856e-01 -2.31446437e-02 -1.36069861e-01 2.47331264e+02] [ 1.36032374e-01 -3.19381158e-03 9.90699244e-01 6.03825330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6492541539999 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:447.48, Y:247.33, Z:60.38 [[-1.58755413e-02 -9.99873976e-01 2.26962899e-06 4.47482145e+02] [ 9.90464450e-01 -1.57264518e-02 -1.36868008e-01 2.47329141e+02] [ 1.36850795e-01 -2.17060572e-03 9.90589294e-01 6.03821340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.6792541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:447.48, Y:247.36, Z:60.39 [[-1.24497961e-02 -9.99922497e-01 -4.67561408e-05 4.47482623e+02] [ 9.90462570e-01 -1.23255960e-02 -1.37229652e-01 2.47356243e+02] [ 1.37218440e-01 -1.75479140e-03 9.90539257e-01 6.03853697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.709254154 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.48, Y:247.38, Z:60.39 [[-5.95922553e-03 -9.99982243e-01 -2.29674479e-05 4.47483802e+02] [ 9.90451769e-01 -5.89926683e-03 -1.37733410e-01 2.47384293e+02] [ 1.37730828e-01 -8.43532599e-04 9.90469337e-01 6.03894643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7392541539999 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:447.49, Y:248.06, Z:60.48 [[-7.42020141e-03 -9.99922755e-01 -9.97122456e-03 4.47486668e+02] [ 9.89664497e-01 -5.91528857e-03 -1.43280120e-01 2.48058039e+02] [ 1.43210069e-01 -1.09313343e-02 9.89631943e-01 6.04791201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7692541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:447.48, Y:247.40, Z:60.40 [[ 2.79697415e-03 -9.99925012e-01 1.19225281e-02 4.47478583e+02] [ 9.90527208e-01 1.13345865e-03 -1.37311930e-01 2.47403667e+02] [ 1.37288120e-01 1.21936464e-02 9.90456101e-01 6.03953534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.7992541539999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:447.49, Y:247.43, Z:60.40 [[ 5.23065057e-03 -9.99986227e-01 -4.32203870e-04 4.47487817e+02] [ 9.90534865e-01 5.24049558e-03 -1.37161288e-01 2.47431521e+02] [ 1.37161663e-01 2.89329767e-04 9.90548633e-01 6.03960086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.829254154 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:447.49, Y:247.46, Z:60.40 [[ 5.22374681e-03 -9.99986279e-01 -3.92679635e-04 4.47489535e+02] [ 9.90505842e-01 5.22816633e-03 -1.37371190e-01 2.47459158e+02] [ 1.37371359e-01 3.28640846e-04 9.90519562e-01 6.03994131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8592541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:447.49, Y:247.49, Z:60.40 [[ 3.58441494e-03 -9.99993513e-01 -3.56248535e-04 4.47493103e+02] [ 9.90380664e-01 3.59923588e-03 -1.38322762e-01 2.47485533e+02] [ 1.38323147e-01 1.42984517e-04 9.90387140e-01 6.04024142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.8892541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.50, Y:247.51, Z:60.41 [[ 1.78340674e-03 -9.99998354e-01 -3.34282832e-04 4.47495282e+02] [ 9.90255418e-01 1.81258049e-03 -1.39251291e-01 2.47513078e+02] [ 1.39251668e-01 -8.26836943e-05 9.90257020e-01 6.04059344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9192541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:447.50, Y:247.54, Z:60.41 [[-5.46146361e-04 -9.99999807e-01 -2.95549396e-04 4.47497064e+02] [ 9.90198767e-01 -4.99515809e-04 -1.39664431e-01 2.47539513e+02] [ 1.39664256e-01 -3.68929867e-04 9.90198848e-01 6.04089377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9492541539998 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.50, Y:247.57, Z:60.41 [[-6.00990161e-03 -9.99981903e-01 -2.73138182e-04 4.47501280e+02] [ 9.90001755e-01 -5.91142644e-03 -1.40931122e-01 2.47567490e+02] [ 1.40926957e-01 -1.11738945e-03 9.90019366e-01 6.04129601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 723.9792541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:447.50, Y:247.59, Z:60.42 [[-9.48063446e-03 -9.99955030e-01 -2.34145316e-04 4.47503387e+02] [ 9.89906928e-01 -9.35225579e-03 -1.41410074e-01 2.47593867e+02] [ 1.41401526e-01 -1.57243930e-03 9.89951078e-01 6.04164693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0092541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.51, Y:247.62, Z:60.42 [[-1.67533899e-02 -9.99859631e-01 -2.05203745e-04 4.47508110e+02] [ 9.89755655e-01 -1.65549866e-02 -1.41808588e-01 2.47621453e+02] [ 1.41785285e-01 -2.57887613e-03 9.89894076e-01 6.04205845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0392541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:447.51, Y:247.65, Z:60.42 [[-2.05468807e-02 -9.99788877e-01 -1.63946998e-04 4.47510225e+02] [ 9.89706483e-01 -2.03164451e-02 -1.41662699e-01 2.47647840e+02] [ 1.41629460e-01 -3.07298597e-03 9.89914973e-01 6.04239439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0692541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.51, Y:247.68, Z:60.43 [[-2.85633702e-02 -9.99591976e-01 -1.25379125e-04 4.47514352e+02] [ 9.89725605e-01 -2.82638583e-02 -1.40158417e-01 2.47675418e+02] [ 1.40097685e-01 -4.12748768e-03 9.90129084e-01 6.04280098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.0992541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.52, Y:247.70, Z:60.43 [[-3.26011694e-02 -9.99468437e-01 -8.55309150e-05 4.47516325e+02] [ 9.89624037e-01 -3.22680781e-02 -1.40010843e-01 2.47702712e+02] [ 1.39933659e-01 -4.64916066e-03 9.90149967e-01 6.04320070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1292541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.52, Y:247.73, Z:60.44 [[-3.64653727e-02 -9.99334916e-01 -4.51904393e-05 4.47518153e+02] [ 9.89646971e-01 -3.61055816e-02 -1.38907379e-01 2.47728927e+02] [ 1.38813362e-01 -5.11003191e-03 9.90305376e-01 6.04353693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1592541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.53, Y:247.75, Z:60.44 [[-4.48395897e-02 -9.98556074e-01 -2.95834267e-02 4.47534578e+02] [ 9.88818050e-01 -4.01473578e-02 -1.43621217e-01 2.47754645e+02] [ 1.42226142e-01 -3.56925427e-02 9.89190460e-01 6.04435985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.1892541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.51, Y:247.71, Z:60.44 [[-4.50099644e-02 -9.98764818e-01 2.10461779e-02 4.47513052e+02] [ 9.90555363e-01 -4.73515196e-02 -1.28677530e-01 2.47713603e+02] [ 1.29515158e-01 1.50556333e-02 9.91463137e-01 6.04407563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2192541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.53, Y:247.74, Z:60.44 [[-5.10751690e-02 -9.98694795e-01 -1.85778043e-04 4.47526453e+02] [ 9.90483710e-01 -5.06314318e-02 -1.27978427e-01 2.47740626e+02] [ 1.27801983e-01 -6.72052993e-03 9.91776934e-01 6.04390361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2492541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.53, Y:247.77, Z:60.44 [[-5.38545489e-02 -9.98548778e-01 -1.58997421e-04 4.47527731e+02] [ 9.90371683e-01 -5.33931980e-02 -1.27722730e-01 2.47768801e+02] [ 1.27528886e-01 -7.03591653e-03 9.91809901e-01 6.04423153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.2792541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.53, Y:247.80, Z:60.45 [[-5.67204810e-02 -9.98390090e-01 -1.23287943e-04 4.47528703e+02] [ 9.90203793e-01 -5.62396196e-02 -1.27802794e-01 2.47796390e+02] [ 1.27590110e-01 -7.37111615e-03 9.91799592e-01 6.04456690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3092541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.53, Y:247.83, Z:60.45 [[-5.77197801e-02 -9.98229379e-01 1.43712649e-02 4.47526711e+02] [ 9.90376341e-01 -5.90676382e-02 -1.25162763e-01 2.47830527e+02] [ 1.25790024e-01 7.00859362e-03 9.92032131e-01 6.04497780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.339254154 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.54, Y:247.85, Z:60.45 [[-6.24908782e-02 -9.97907364e-01 -1.66067475e-02 4.47538158e+02] [ 9.89908343e-01 -5.98523694e-02 -1.28449083e-01 2.47852584e+02] [ 1.27186333e-01 -2.44660539e-02 9.91577052e-01 6.04493177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3692541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.53, Y:247.85, Z:60.45 [[-6.25132487e-02 -9.98044134e-01 -3.04283191e-06 4.47530736e+02] [ 9.89615752e-01 -6.19849352e-02 -1.29686280e-01 2.47854029e+02] [ 1.29432442e-01 -8.11012189e-03 9.91555076e-01 6.04530256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.3992541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.52, Y:247.89, Z:60.45 [[-5.76391082e-02 -9.97794423e-01 3.29245020e-02 4.47520170e+02] [ 9.90454336e-01 -6.12891387e-02 -1.23465985e-01 2.47890225e+02] [ 1.25211585e-01 2.54937465e-02 9.91802464e-01 6.04549434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4292541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.54, Y:247.90, Z:60.45 [[-6.74491328e-02 -9.97381073e-01 -2.61076578e-02 4.47544229e+02] [ 9.88116734e-01 -6.31545096e-02 -1.40131464e-01 2.47902352e+02] [ 1.38115654e-01 -3.52491594e-02 9.89788646e-01 6.04510075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.459254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.52, Y:247.88, Z:60.45 [[-5.17507943e-02 -9.98071654e-01 3.42757744e-02 4.47519072e+02] [ 9.91455303e-01 -5.54624581e-02 -1.18069043e-01 2.47881090e+02] [ 1.19742384e-01 2.78727315e-02 9.92413660e-01 6.04494703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.4892541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.55, Y:247.90, Z:60.45 [[-5.76950178e-02 -9.97156998e-01 -4.84686073e-02 4.47551437e+02] [ 9.90358884e-01 -5.10421572e-02 -1.28778801e-01 2.47898244e+02] [ 1.25938741e-01 -5.54312110e-02 9.90488170e-01 6.04484044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5192541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.51, Y:247.94, Z:60.46 [[-4.71112505e-02 -9.97886217e-01 4.47619074e-02 4.47510026e+02] [ 9.91420938e-01 -5.21816429e-02 -1.19839891e-01 2.47936664e+02] [ 1.21922325e-01 3.87320851e-02 9.91783632e-01 6.04588722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.5492541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.55, Y:247.95, Z:60.46 [[-5.24206607e-02 -9.97427206e-01 -4.88982960e-02 4.47547069e+02] [ 9.90254520e-01 -4.55923089e-02 -1.31595319e-01 2.47953795e+02] [ 1.29027365e-01 -5.53200722e-02 9.90096777e-01 6.04561190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.579254154 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.52, Y:247.98, Z:60.47 [[-4.94172491e-02 -9.98778214e-01 -1.23962490e-04 4.47521259e+02] [ 9.90221492e-01 -4.89776699e-02 -1.30623827e-01 2.47979913e+02] [ 1.30458161e-01 -6.57782053e-03 9.91431995e-01 6.04700659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6092541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.52, Y:248.01, Z:60.47 [[-4.37986883e-02 -9.99040373e-01 -8.46205458e-05 4.47517911e+02] [ 9.90640026e-01 -4.34194494e-02 -1.29410546e-01 2.48007529e+02] [ 1.29282686e-01 -5.75184067e-03 9.91591097e-01 6.04744669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6392541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.51, Y:248.04, Z:60.48 [[-3.74490344e-02 -9.99298538e-01 -4.59568414e-05 4.47514077e+02] [ 9.91088797e-01 -3.71354887e-02 -1.27921663e-01 2.48035516e+02] [ 1.27830224e-01 -4.83609007e-03 9.91784274e-01 6.04788019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6692541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.51, Y:248.06, Z:60.48 [[-3.43622808e-02 -9.99409442e-01 -8.23275856e-06 4.47512502e+02] [ 9.91299514e-01 -3.40823932e-02 -1.27136398e-01 2.48062509e+02] [ 1.27061036e-01 -4.37685774e-03 9.91885244e-01 6.04817771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.6992541539998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.51, Y:248.07, Z:60.48 [[-3.39631333e-02 -9.99423086e-01 1.79125543e-05 4.47512413e+02] [ 9.91312935e-01 -3.36898068e-02 -1.27136392e-01 2.48065103e+02] [ 1.27063649e-01 -4.30019330e-03 9.91885244e-01 6.04820856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7292541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.51, Y:248.09, Z:60.49 [[-3.14628590e-02 -9.99504921e-01 -2.49146287e-05 4.47510751e+02] [ 9.91437813e-01 -3.12057584e-02 -1.26796149e-01 2.48093238e+02] [ 1.26732598e-01 -4.01407068e-03 9.91928796e-01 6.04858177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7592541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.51, Y:248.10, Z:60.49 [[-2.83842842e-02 -9.99597085e-01 5.19097045e-06 4.47509401e+02] [ 9.91565344e-01 -2.81568740e-02 -1.26512291e-01 2.48097486e+02] [ 1.26461464e-01 -3.58581364e-03 9.91965040e-01 6.04861862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.7892541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.51, Y:248.13, Z:60.49 [[-2.46608555e-02 -9.99695874e-01 -3.77460049e-05 4.47507150e+02] [ 9.91692588e-01 -2.44586594e-02 -1.26283750e-01 2.48125442e+02] [ 1.26244421e-01 -3.15169775e-03 9.91994160e-01 6.04891659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8192541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.51, Y:248.15, Z:60.49 [[-2.05140827e-02 -9.99789031e-01 1.03284364e-03 4.47505156e+02] [ 9.91667525e-01 -2.04788327e-02 -1.27185444e-01 2.48149625e+02] [ 1.27179764e-01 -1.58485523e-03 9.91878418e-01 6.04922285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8492541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.51, Y:248.09, Z:60.48 [[-1.85289280e-02 -9.99828283e-01 -2.88647173e-04 4.47505132e+02] [ 9.91758321e-01 -1.83427670e-02 -1.26802899e-01 2.48088649e+02] [ 1.26775830e-01 -2.63579002e-03 9.91927891e-01 6.04846320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.8792541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.50, Y:248.12, Z:60.49 [[-1.83677953e-02 -9.99831256e-01 -2.90043708e-04 4.47504594e+02] [ 9.91691297e-01 -1.81813139e-02 -1.27349168e-01 2.48116543e+02] [ 1.27322405e-01 -2.62675727e-03 9.91857906e-01 6.04877385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9092541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.50, Y:248.14, Z:60.49 [[-1.82588631e-02 -9.99833261e-01 -2.52214762e-04 4.47504203e+02] [ 9.91742998e-01 -1.80790928e-02 -1.26960515e-01 2.48143306e+02] [ 1.26934786e-01 -2.56828689e-03 9.91907740e-01 6.04908931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9392541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.50, Y:248.17, Z:60.49 [[-1.83487378e-02 -9.99831624e-01 -2.18473319e-04 4.47504218e+02] [ 9.91730679e-01 -1.81723104e-02 -1.27043408e-01 2.48171297e+02] [ 1.27018047e-01 -2.54775288e-03 9.91897134e-01 6.04942043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9692541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.50, Y:248.20, Z:60.50 [[-1.91336671e-02 -9.99816918e-01 -1.81636853e-04 4.47504153e+02] [ 9.91712296e-01 -1.89554822e-02 -1.27072467e-01 2.48198786e+02] [ 1.27045759e-01 -2.61149377e-03 9.91893419e-01 6.04975245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 724.9992541539999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:447.50, Y:248.23, Z:60.50 [[-1.99462619e-02 -9.99801043e-01 -1.43801144e-04 4.47504580e+02] [ 9.91719721e-01 -1.97667870e-02 -1.26890775e-01 2.48226123e+02] [ 1.26862687e-01 -2.67360707e-03 9.91916685e-01 6.05003484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0292541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.51, Y:248.25, Z:60.50 [[-2.10082788e-02 -9.99779296e-01 -1.07019041e-04 4.47505125e+02] [ 9.91716586e-01 -2.08252905e-02 -1.26745893e-01 2.48253302e+02] [ 1.26715691e-01 -2.76884560e-03 9.91935213e-01 6.05034500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.0592541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.51, Y:248.28, Z:60.51 [[-2.35129587e-02 -9.99723529e-01 -8.49993850e-05 4.47506673e+02] [ 9.91618994e-01 -2.33115400e-02 -1.27076132e-01 2.48280193e+02] [ 1.27039017e-01 -3.07222284e-03 9.91892963e-01 6.05065099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.089254154 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:447.51, Y:248.31, Z:60.51 [[-2.52654933e-02 -9.99680775e-01 -5.12642464e-05 4.47507363e+02] [ 9.91590717e-01 -2.50545179e-02 -1.26965036e-01 2.48308219e+02] [ 1.26923221e-01 -3.25866743e-03 9.91907192e-01 6.05095692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1192541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.51, Y:248.34, Z:60.51 [[-2.90539301e-02 -9.99577845e-01 -1.47103457e-05 4.47508920e+02] [ 9.91481339e-01 -2.88167261e-02 -1.27021069e-01 2.48335154e+02] [ 1.26967022e-01 -3.70504629e-03 9.91900019e-01 6.05128941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1492541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.51, Y:248.34, Z:60.51 [[-3.09429637e-02 -9.99521152e-01 1.08918608e-05 4.47509824e+02] [ 9.91437935e-01 -3.06941083e-02 -1.26920024e-01 2.48335724e+02] [ 1.26859583e-01 -3.91648311e-03 9.91912954e-01 6.05130033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.1792541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.51, Y:248.36, Z:60.52 [[-3.34818339e-02 -9.99439326e-01 -3.25114044e-05 4.47511318e+02] [ 9.91338672e-01 -3.32063237e-02 -1.27062888e-01 2.48362421e+02] [ 1.26990568e-01 -4.28652833e-03 9.91894662e-01 6.05161424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.209254154 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.51, Y:248.39, Z:60.52 [[-3.85590402e-02 -9.99256324e-01 3.07841522e-07 4.47514356e+02] [ 9.91218308e-01 -3.82489104e-02 -1.26583126e-01 2.48389278e+02] [ 1.26489001e-01 -4.88061869e-03 9.91956003e-01 6.05189698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2392541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.52, Y:248.39, Z:60.52 [[-4.04275303e-02 -9.99182473e-01 2.55914936e-05 4.47515627e+02] [ 9.91147805e-01 -4.01056842e-02 -1.26560512e-01 2.48390451e+02] [ 1.26458072e-01 -5.09116399e-03 9.91958888e-01 6.05194188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2692541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.52, Y:248.42, Z:60.52 [[-4.07163519e-02 -9.99110094e-01 1.10090044e-02 4.47516240e+02] [ 9.91302484e-01 -4.17732896e-02 -1.24797347e-01 2.48423082e+02] [ 1.25146171e-01 5.83196071e-03 9.92121174e-01 6.05233817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.2992541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.52, Y:248.44, Z:60.52 [[-4.97138955e-02 -9.98716358e-01 -9.70387593e-03 4.47523933e+02] [ 9.90477920e-01 -4.80502573e-02 -1.29014196e-01 2.48441751e+02] [ 1.28382314e-01 -1.60252731e-02 9.91595266e-01 6.05230675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.329254154 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.52, Y:248.45, Z:60.53 [[-5.16957528e-02 -9.98662801e-01 4.00088665e-04 4.47520732e+02] [ 9.90184495e-01 -5.13089579e-02 -1.30007913e-01 2.48446371e+02] [ 1.29854595e-01 -6.32469535e-03 9.91512876e-01 6.05252876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3592541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.52, Y:248.44, Z:60.53 [[-5.28510572e-02 -9.98602346e-01 3.45627298e-04 4.47521010e+02] [ 9.90220210e-01 -5.24521769e-02 -1.29277625e-01 2.48443190e+02] [ 1.29115069e-01 -6.49021205e-03 9.91608378e-01 6.05250114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.3892541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.52, Y:248.45, Z:60.53 [[-5.38107198e-02 -9.98551111e-01 2.93010298e-04 4.47521090e+02] [ 9.90182584e-01 -5.33976555e-02 -1.29178719e-01 2.48449809e+02] [ 1.29007200e-01 -6.66106617e-03 9.91621285e-01 6.05254957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4192541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.52, Y:248.45, Z:60.53 [[-5.13599918e-02 -9.98671713e-01 4.11833013e-03 4.47520987e+02] [ 9.90595956e-01 -5.14674463e-02 -1.26770477e-01 2.48446113e+02] [ 1.26814049e-01 -2.43132947e-03 9.91923528e-01 6.05252932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4492541539998 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.52, Y:248.47, Z:60.53 [[-5.46186572e-02 -9.98485261e-01 -6.63220405e-03 4.47523187e+02] [ 9.90294237e-01 -5.33180406e-02 -1.28353071e-01 2.48469479e+02] [ 1.27805034e-01 -1.35783058e-02 9.91706359e-01 6.05263663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.4792541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.52, Y:248.50, Z:60.53 [[-5.74753116e-02 -9.98346921e-01 -1.22292338e-04 4.47518712e+02] [ 9.90306743e-01 -5.69969190e-02 -1.26664543e-01 2.48495566e+02] [ 1.26448187e-01 -7.40119103e-03 9.91945603e-01 6.05311760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5092541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.51, Y:248.53, Z:60.53 [[-5.51822112e-02 -9.98309683e-01 1.82400622e-02 4.47512796e+02] [ 9.90867795e-01 -5.70034743e-02 -1.22194999e-01 2.48529490e+02] [ 1.23028198e-01 1.13305000e-02 9.92338492e-01 6.05345538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5392541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.53, Y:248.55, Z:60.53 [[-5.97641138e-02 -9.98003732e-01 -2.04157235e-02 4.47526465e+02] [ 9.90489172e-01 -5.67500470e-02 -1.25342064e-01 2.48551200e+02] [ 1.23933255e-01 -2.77125104e-02 9.91903506e-01 6.05335356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5692541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.51, Y:248.59, Z:60.54 [[-5.64831994e-02 -9.98140586e-01 2.29132716e-02 4.47507227e+02] [ 9.90952413e-01 -5.88455068e-02 -1.20625547e-01 2.48585433e+02] [ 1.21749597e-01 1.58926449e-02 9.92433605e-01 6.05410017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.5992541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.52, Y:248.61, Z:60.54 [[-6.43944805e-02 -9.97758339e-01 -1.82112150e-02 4.47520855e+02] [ 9.89281742e-01 -6.14295661e-02 -1.32469029e-01 2.48606523e+02] [ 1.31053372e-01 -2.65462969e-02 9.91019832e-01 6.05393410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6292541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.51, Y:248.61, Z:60.54 [[-6.33495483e-02 -9.97991222e-01 5.95824648e-04 4.47509854e+02] [ 9.89140176e-01 -6.28670253e-02 -1.32851229e-01 2.48608194e+02] [ 1.32621818e-01 -7.82671126e-03 9.91135811e-01 6.05433609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6592541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.51, Y:248.61, Z:60.54 [[-6.21910112e-02 -9.98064118e-01 5.43555333e-04 4.47508212e+02] [ 9.89143461e-01 -6.17077847e-02 -1.33369271e-01 2.48612211e+02] [ 1.33144625e-01 -7.75671561e-03 9.91066265e-01 6.05437646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.6892541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.51, Y:248.61, Z:60.54 [[-6.10692129e-02 -9.98133413e-01 4.90833169e-04 4.47506596e+02] [ 9.89143643e-01 -6.05850246e-02 -1.33881695e-01 2.48609614e+02] [ 1.33661530e-01 -7.69054521e-03 9.90997200e-01 6.05430536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7192541539999 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:447.51, Y:248.61, Z:60.54 [[-5.59800402e-02 -9.98430968e-01 -1.35549255e-03 4.47505346e+02] [ 9.89145965e-01 -5.52746174e-02 -1.36143219e-01 2.48606132e+02] [ 1.35854682e-01 -8.96208286e-03 9.90688239e-01 6.05421725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7492541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.50, Y:248.61, Z:60.54 [[-5.67551983e-02 -9.98386544e-01 1.77650625e-03 4.47500753e+02] [ 9.89332046e-01 -5.64794197e-02 -1.34283948e-01 2.48611839e+02] [ 1.34167623e-01 -5.86375756e-03 9.90941303e-01 6.05440435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.7792541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.50, Y:248.61, Z:60.54 [[-5.23874698e-02 -9.98626766e-01 3.68004240e-04 4.47497351e+02] [ 9.89669831e-01 -5.19668321e-02 -1.33615395e-01 2.48612599e+02] [ 1.33451034e-01 -6.63556981e-03 9.91033194e-01 6.05448641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8092541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.50, Y:248.61, Z:60.54 [[-4.94744676e-02 -9.98775340e-01 3.12519964e-04 4.47495364e+02] [ 9.89905637e-01 -4.90767092e-02 -1.32959790e-01 2.48611170e+02] [ 1.32812297e-01 -6.26874956e-03 9.91121383e-01 6.05449780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.839254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.49, Y:248.60, Z:60.54 [[-4.03211853e-02 -9.99075171e-01 1.49333435e-02 4.47488652e+02] [ 9.91593764e-01 -4.18493102e-02 -1.22435464e-01 2.48597696e+02] [ 1.22947183e-01 9.87106721e-03 9.92364123e-01 6.05419324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8692541539999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:447.50, Y:248.62, Z:60.54 [[-3.66695368e-02 -9.99099614e-01 -2.13379071e-02 4.47498035e+02] [ 9.91412015e-01 -3.36886569e-02 -1.26361748e-01 2.48621286e+02] [ 1.25529128e-01 -2.57882842e-02 9.91754709e-01 6.05427505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.8992541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.48, Y:248.65, Z:60.55 [[-2.90619434e-02 -9.99577602e-01 -1.47968423e-04 4.47482660e+02] [ 9.91666116e-01 -2.88133347e-02 -1.25571119e-01 2.48648417e+02] [ 1.25513814e-01 -3.79607602e-03 9.92084609e-01 6.05514792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9292541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.48, Y:248.68, Z:60.55 [[-2.52875920e-02 -9.99680212e-01 -1.10978147e-04 4.47480447e+02] [ 9.91802410e-01 -2.50744080e-02 -1.25296659e-01 2.48675367e+02] [ 1.25253808e-01 -3.27851919e-03 9.92119315e-01 6.05548739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.959254154 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.48, Y:248.70, Z:60.56 [[-2.19687340e-02 -9.99758654e-01 -8.90495696e-05 4.47478393e+02] [ 9.91959718e-01 -2.17862559e-02 -1.24664661e-01 2.48703541e+02] [ 1.24632633e-01 -2.82705836e-03 9.92198929e-01 6.05579414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 725.9892541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:447.48, Y:248.73, Z:60.56 [[-1.91227369e-02 -9.99817142e-01 -5.20286165e-05 4.47476618e+02] [ 9.92085271e-01 -1.89683961e-02 -1.24125000e-01 2.48730893e+02] [ 1.24101316e-01 -2.42522655e-03 9.92266588e-01 6.05615178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0192541539999 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:447.47, Y:248.76, Z:60.56 [[-1.46155858e-02 -9.99893187e-01 -1.56499340e-05 4.47473737e+02] [ 9.92374110e-01 -1.45037625e-02 -1.22406152e-01 2.48758926e+02] [ 1.22392851e-01 -1.80456821e-03 9.92480092e-01 6.05645932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.0492541539999 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:447.47, Y:248.76, Z:60.56 [[-1.17737462e-02 -9.99930687e-01 1.75975838e-05 4.47472932e+02] [ 9.92372254e-01 -1.16869088e-02 -1.22722149e-01 2.48760240e+02] [ 1.22713848e-01 -1.42743608e-03 9.92441068e-01 6.05635808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.079254154 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:447.47, Y:248.79, Z:60.57 [[-1.31791765e-02 -9.99913151e-01 -2.80093732e-05 4.47471877e+02] [ 9.92356182e-01 -1.30761358e-02 -1.22711952e-01 2.48788295e+02] [ 1.22700929e-01 -1.64503775e-03 9.92442329e-01 6.05674139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1092541539999 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:447.47, Y:248.79, Z:60.57 [[-1.38006368e-02 -9.99904767e-01 5.16896355e-06 4.47471548e+02] [ 9.92279056e-01 -1.36960243e-02 -1.23266756e-01 2.48791418e+02] [ 1.23255088e-01 -1.69603068e-03 9.92373572e-01 6.05673032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1392541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.47, Y:248.82, Z:60.57 [[-1.80852426e-02 -9.99836448e-01 -4.10573807e-05 4.47472868e+02] [ 9.92050684e-01 -1.79392974e-02 -1.24553694e-01 2.48817915e+02] [ 1.24532586e-01 -2.29331476e-03 9.92212868e-01 6.05693788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1692541539999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:447.47, Y:248.85, Z:60.57 [[-2.09159202e-02 -9.99781238e-01 -1.54923957e-05 4.47473778e+02] [ 9.91919267e-01 -2.07495043e-02 -1.25162397e-01 2.48845579e+02] [ 1.25134694e-01 -2.63325390e-03 9.92136268e-01 6.05724100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.1992541539998 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:447.48, Y:248.85, Z:60.57 [[-2.56613757e-02 -9.99670693e-01 1.64215758e-05 4.47475115e+02] [ 9.91805841e-01 -2.54615429e-02 -1.25191385e-01 2.48850212e+02] [ 1.25150577e-01 -3.19629616e-03 9.92132611e-01 6.05730489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2292541539999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:447.48, Y:248.88, Z:60.58 [[-2.85366725e-02 -9.99592746e-01 -2.89696218e-05 4.47475872e+02] [ 9.91793337e-01 -2.83103993e-02 -1.24677575e-01 2.48876591e+02] [ 1.24625979e-01 -3.58661499e-03 9.92197310e-01 6.05761022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2592541539999 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:447.48, Y:248.88, Z:60.58 [[-3.22205751e-02 -9.99480783e-01 3.27321614e-08 4.47477556e+02] [ 9.91793871e-01 -3.19727738e-02 -1.23784729e-01 2.48880042e+02] [ 1.23720459e-01 -3.98838269e-03 9.92309095e-01 6.05768188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.2892541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.48, Y:248.91, Z:60.58 [[-3.40063383e-02 -9.99421616e-01 -4.57230844e-05 4.47478079e+02] [ 9.91825712e-01 -3.37422501e-02 -1.23057783e-01 2.48907693e+02] [ 1.22985065e-01 -4.23009393e-03 9.92399506e-01 6.05801877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3192541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:447.48, Y:248.94, Z:60.58 [[-3.60152284e-02 -9.99351241e-01 -9.04387919e-06 4.47479546e+02] [ 9.91778631e-01 -3.57412101e-02 -1.22872749e-01 2.48935727e+02] [ 1.22792711e-01 -4.43425966e-03 9.92422434e-01 6.05831162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3492541539999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:447.48, Y:248.94, Z:60.58 [[-3.55958534e-02 -9.99366267e-01 2.44149717e-05 4.47480549e+02] [ 9.91843648e-01 -3.53309014e-02 -1.22465935e-01 2.48935861e+02] [ 1.22389187e-01 -4.33506364e-03 9.92472717e-01 6.05824020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.3792541539999 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:447.48, Y:248.96, Z:60.59 [[-3.55294742e-02 -9.99368629e-01 -2.20721713e-05 4.47480998e+02] [ 9.91880624e-01 -3.52605626e-02 -1.22186420e-01 2.48962978e+02] [ 1.22108496e-01 -4.36311220e-03 9.92507168e-01 6.05859350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4092541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.48, Y:248.97, Z:60.59 [[-3.29568967e-02 -9.99456774e-01 7.55529434e-06 4.47480862e+02] [ 9.92004549e-01 -3.27120823e-02 -1.21888864e-01 2.48965833e+02] [ 1.21822898e-01 -4.00958381e-03 9.92543755e-01 6.05863436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4392541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:447.48, Y:248.99, Z:60.59 [[-3.15182633e-02 -9.99503175e-01 -3.90297074e-05 4.47480666e+02] [ 9.92088043e-01 -3.12796872e-02 -1.21584931e-01 2.48992784e+02] [ 1.21523304e-01 -3.87086676e-03 9.92581031e-01 6.05895417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4692541539999 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:447.48, Y:249.02, Z:60.59 [[-2.78196722e-02 -9.99612958e-01 -6.63909606e-06 4.47480503e+02] [ 9.92226369e-01 -2.76132942e-02 -1.21343886e-01 2.49019927e+02] [ 1.21296737e-01 -3.38233461e-03 9.92610529e-01 6.05924205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.4992541539999 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:447.48, Y:249.02, Z:60.59 [[-2.51211683e-02 -9.99684413e-01 2.33169598e-05 4.47480109e+02] [ 9.92273822e-01 -2.49377816e-02 -1.21535053e-01 2.49020240e+02] [ 1.21497280e-01 -3.02996573e-03 9.92587140e-01 6.05924077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5292541539999 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:447.48, Y:249.05, Z:60.59 [[-2.10761030e-02 -9.99777874e-01 -2.29759326e-05 4.47480138e+02] [ 9.92293149e-01 -2.09155123e-02 -1.22134551e-01 2.49048579e+02] [ 1.22106942e-01 -2.59691925e-03 9.92513552e-01 6.05945962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.5592541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.48, Y:249.05, Z:60.59 [[-1.87999074e-02 -9.99823266e-01 9.86750061e-06 4.47480083e+02] [ 9.92305157e-01 -1.86597506e-02 -1.22402160e-01 2.49049046e+02] [ 1.22380712e-01 -2.29135770e-03 9.92480585e-01 6.05943879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.589254154 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.48, Y:249.08, Z:60.60 [[-1.90678408e-02 -9.99818192e-01 -3.61222457e-05 4.47480035e+02] [ 9.92300230e-01 -1.89200412e-02 -1.22402146e-01 2.49077262e+02] [ 1.22379209e-01 -2.36978875e-03 9.92480586e-01 6.05977372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6192541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:447.48, Y:249.10, Z:60.60 [[-1.71749300e-02 -9.99852500e-01 -3.14299502e-06 4.47479873e+02] [ 9.92325544e-01 -1.70452510e-02 -1.22472339e-01 2.49103708e+02] [ 1.22454221e-01 -2.10657273e-03 9.92471927e-01 6.06005696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6492541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:447.48, Y:249.10, Z:60.60 [[-1.24526669e-02 -9.99922462e-01 2.57136532e-05 4.47478898e+02] [ 9.92354235e-01 -1.23615729e-02 -1.22801728e-01 2.49102716e+02] [ 1.22792524e-01 -1.50369196e-03 9.92431224e-01 6.06006949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.6792541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:447.48, Y:249.13, Z:60.60 [[-9.07829730e-03 -9.99958791e-01 -1.99466992e-05 4.47479346e+02] [ 9.92422277e-01 -9.00743132e-03 -1.22543424e-01 2.49130865e+02] [ 1.22538194e-01 -1.13228118e-03 9.92463152e-01 6.06036954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.709254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.48, Y:249.13, Z:60.60 [[-6.65373459e-03 -9.99977864e-01 1.36061011e-05 4.47480310e+02] [ 9.92456668e-01 -6.60535511e-03 -1.22417854e-01 2.49128651e+02] [ 1.22415234e-01 -8.01032447e-04 9.92478649e-01 6.06020151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7392541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.48, Y:249.16, Z:60.61 [[-6.14640708e-03 -9.99981110e-01 -3.19853970e-05 4.47480718e+02] [ 9.92439218e-01 -6.09612964e-03 -1.22585626e-01 2.49156345e+02] [ 1.22583115e-01 -7.85204719e-04 9.92457940e-01 6.06050236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7692541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:447.48, Y:249.16, Z:60.61 [[-5.92670690e-03 -9.99982437e-01 1.12390308e-06 4.47481697e+02] [ 9.92364655e-01 -5.88169621e-03 -1.23198204e-01 2.49159319e+02] [ 1.23196047e-01 -7.29044327e-04 9.92382085e-01 6.06066482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.7992541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.48, Y:249.19, Z:60.61 [[-6.89129802e-03 -9.99976254e-01 -4.49721889e-05 4.47482683e+02] [ 9.92291330e-01 -6.83277273e-03 -1.23738554e-01 2.49185810e+02] [ 1.23735309e-01 -8.97344766e-04 9.92314853e-01 6.06094643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.829254154 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:447.48, Y:249.21, Z:60.61 [[-1.06900505e-02 -9.99942860e-01 -2.38213479e-05 4.47484909e+02] [ 9.92088184e-01 -1.06030987e-02 -1.25094401e-01 2.49213915e+02] [ 1.25087001e-01 -1.36089834e-03 9.92144843e-01 6.06128224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8592541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.49, Y:249.22, Z:60.61 [[-1.26353413e-02 -9.99920171e-01 7.69012138e-06 4.47486495e+02] [ 9.91999148e-01 -1.25362146e-02 -1.25620596e-01 2.49220941e+02] [ 1.25610664e-01 -1.57963052e-03 9.92078357e-01 6.06135130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.8892541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.49, Y:249.25, Z:60.62 [[-1.55479520e-02 -9.99879123e-01 -3.73457936e-05 4.47488471e+02] [ 9.91929591e-01 -1.54196376e-02 -1.25848800e-01 2.49247797e+02] [ 1.25833012e-01 -1.99373550e-03 9.92049433e-01 6.06165112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9192541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.49, Y:249.27, Z:60.62 [[-2.16995469e-02 -9.99764537e-01 -4.38540377e-06 4.47492697e+02] [ 9.91880392e-01 -2.15278745e-02 -1.25338896e-01 2.49274155e+02] [ 1.25309288e-01 -2.72414704e-03 9.92113986e-01 6.06196704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9492541539998 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.49, Y:249.28, Z:60.62 [[-2.41978385e-02 -9.99707189e-01 2.36485301e-05 4.47494582e+02] [ 9.91913223e-01 -2.40121342e-02 -1.24625740e-01 2.49279202e+02] [ 1.24589816e-01 -2.99221623e-03 9.92203822e-01 6.06202912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 726.9792541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.50, Y:249.31, Z:60.62 [[-2.96451353e-02 -9.99560486e-01 -2.19536940e-05 4.47497306e+02] [ 9.91819046e-01 -2.94128101e-02 -1.24217016e-01 2.49305684e+02] [ 1.24161775e-01 -3.70420433e-03 9.92255074e-01 6.06233632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0092541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.50, Y:249.31, Z:60.63 [[-3.13115489e-02 -9.99509673e-01 6.86113492e-06 4.47498023e+02] [ 9.91814538e-01 -3.10713343e-02 -1.23848678e-01 2.49310042e+02] [ 1.23788165e-01 -3.87108897e-03 9.92301116e-01 6.06251290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0392541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.50, Y:249.34, Z:60.63 [[-3.39556679e-02 -9.99423339e-01 -3.90697366e-05 4.47499798e+02] [ 9.91780108e-01 -3.36911616e-02 -1.23438740e-01 2.49336653e+02] [ 1.23366242e-01 -4.23019346e-03 9.92352193e-01 6.06287219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0692541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.50, Y:249.36, Z:60.63 [[-3.45329018e-02 -9.99403561e-01 -6.99372356e-06 4.47500962e+02] [ 9.91777187e-01 -3.42685209e-02 -1.23303204e-01 2.49364505e+02] [ 1.23229421e-01 -4.26495365e-03 9.92369044e-01 6.06315579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.0992541539999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:447.50, Y:249.36, Z:60.63 [[-3.47896453e-02 -9.99394657e-01 2.44290131e-05 4.47501935e+02] [ 9.91751041e-01 -3.45265829e-02 -1.23441432e-01 2.49362546e+02] [ 1.23367551e-01 -4.27025612e-03 9.92351859e-01 6.06323352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1292541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.50, Y:249.39, Z:60.64 [[-3.52087790e-02 -9.99379979e-01 -2.16973716e-05 4.47503571e+02] [ 9.91852278e-01 -3.49409137e-02 -1.22507922e-01 2.49388919e+02] [ 1.22431206e-01 -4.33487494e-03 9.92467535e-01 6.06355735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1592541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.50, Y:249.39, Z:60.64 [[-3.48312456e-02 -9.99393208e-01 1.21212345e-05 4.47503865e+02] [ 9.91901319e-01 -3.45716176e-02 -1.22215286e-01 2.49392500e+02] [ 1.22141546e-01 -4.24488757e-03 9.92503614e-01 6.06362896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.1892541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.50, Y:249.42, Z:60.64 [[-3.49365571e-02 -9.99389532e-01 -3.42009869e-05 4.47504159e+02] [ 9.91884920e-01 -3.46700256e-02 -1.22320463e-01 2.49419022e+02] [ 1.22244605e-01 -4.30737928e-03 9.92490656e-01 6.06396674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2192541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.50, Y:249.42, Z:60.64 [[-3.44082694e-02 -9.99407860e-01 -1.29394455e-06 4.47504092e+02] [ 9.91849104e-01 -3.41478727e-02 -1.22756989e-01 2.49420284e+02] [ 1.22684256e-01 -4.22513895e-03 9.92436760e-01 6.06399063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2492541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.50, Y:249.45, Z:60.64 [[-3.48900988e-02 -9.99391154e-01 -4.76679803e-05 4.47504199e+02] [ 9.91792904e-01 -3.46189631e-02 -1.23078689e-01 2.49448006e+02] [ 1.23002103e-01 -4.34150439e-03 9.92396914e-01 6.06426742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.2792541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.50, Y:249.48, Z:60.65 [[-3.59573338e-02 -9.99353326e-01 -1.27124468e-05 4.47504766e+02] [ 9.91628068e-01 -3.56777957e-02 -1.24100244e-01 2.49476045e+02] [ 1.24019538e-01 -4.47491990e-03 9.92269686e-01 6.06453658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3092541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.50, Y:249.48, Z:60.65 [[-3.67335808e-02 -9.99325094e-01 1.93660411e-05 4.47504025e+02] [ 9.91509664e-01 -3.64487171e-02 -1.24820177e-01 2.49479081e+02] [ 1.24736641e-01 -4.56589042e-03 9.92179381e-01 6.06456986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.339254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.50, Y:249.51, Z:60.65 [[-3.78653305e-02 -9.99282851e-01 -2.62248323e-05 4.47503523e+02] [ 9.91404289e-01 -3.75635031e-02 -1.25325652e-01 2.49506597e+02] [ 1.25234790e-01 -4.77149667e-03 9.92115659e-01 6.06490560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3692541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.50, Y:249.51, Z:60.65 [[-3.83360982e-02 -9.99264902e-01 5.59026758e-06 4.47502981e+02] [ 9.91326690e-01 -3.80322580e-02 -1.25797221e-01 2.49509031e+02] [ 1.25704960e-01 -4.81703284e-03 9.92055976e-01 6.06492039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.3992541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.50, Y:249.54, Z:60.65 [[-4.07998099e-02 -9.99167340e-01 -3.98878488e-05 4.47501663e+02] [ 9.91091273e-01 -4.04649678e-02 -1.26888432e-01 2.49536732e+02] [ 1.26781163e-01 -5.21655639e-03 9.91916995e-01 6.06529471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4292541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.50, Y:249.56, Z:60.66 [[-4.19481837e-02 -9.99119788e-01 -2.41852764e-06 4.47500968e+02] [ 9.91045302e-01 -4.16088681e-02 -1.26877543e-01 2.49563022e+02] [ 1.26765763e-01 -5.32467935e-03 9.91918388e-01 6.06561914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.459254154 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:447.50, Y:249.56, Z:60.66 [[-4.29418389e-02 -9.99077574e-01 2.57028266e-05 4.47499841e+02] [ 9.90965084e-01 -4.25964238e-02 -1.27176050e-01 2.49564672e+02] [ 1.27059834e-01 -5.43570282e-03 9.91880160e-01 6.06562563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.4892541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.50, Y:249.59, Z:60.66 [[-4.29978690e-02 -9.99075164e-01 -1.93678431e-05 4.47499244e+02] [ 9.90950199e-01 -4.26457220e-02 -1.27275474e-01 2.49592335e+02] [ 1.27156939e-01 -5.49176674e-03 9.91867407e-01 6.06597590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5192541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.50, Y:249.59, Z:60.66 [[-4.13148661e-02 -9.99146176e-01 1.19819737e-05 4.47496365e+02] [ 9.91015724e-01 -4.09801973e-02 -1.27312440e-01 2.49590405e+02] [ 1.27204229e-01 -5.24802210e-03 9.91862663e-01 6.06601890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.5492541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:447.49, Y:249.62, Z:60.66 [[-4.01341778e-02 -9.99194299e-01 -3.30170434e-05 4.47494874e+02] [ 9.91061869e-01 -3.98033188e-02 -1.27326622e-01 2.49617943e+02] [ 1.27222721e-01 -5.14287122e-03 9.91860842e-01 6.06637811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.579254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.49, Y:249.62, Z:60.67 [[-3.59424145e-02 -9.99353863e-01 -1.02551878e-06 4.47491589e+02] [ 9.91247942e-01 -3.56507493e-02 -1.27108384e-01 2.49623848e+02] [ 1.27026218e-01 -4.56959878e-03 9.91888834e-01 6.06651252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6092541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.49, Y:249.65, Z:60.67 [[-3.37194611e-02 -9.99431336e-01 -4.60822413e-05 4.47490001e+02] [ 9.91367134e-01 -3.34415402e-02 -1.26778823e-01 2.49651286e+02] [ 1.26705188e-01 -4.32059802e-03 9.91931010e-01 6.06688812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6392541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.49, Y:249.68, Z:60.67 [[-2.85887202e-02 -9.99591259e-01 -8.86257915e-06 4.47487051e+02] [ 9.91634625e-01 -2.83600407e-02 -1.25922510e-01 2.49678604e+02] [ 1.25870789e-01 -3.60875185e-03 9.92040081e-01 6.06723611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6692541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.49, Y:249.68, Z:60.67 [[-2.55251348e-02 -9.99674180e-01 2.32518983e-05 4.47485290e+02] [ 9.91735728e-01 -2.53253641e-02 -1.25773098e-01 2.49684330e+02] [ 1.25732707e-01 -3.18731554e-03 9.92059034e-01 6.06734929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.6992541539998 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.48, Y:249.71, Z:60.68 [[-2.34389233e-02 -9.99725271e-01 -2.19767441e-05 4.47483542e+02] [ 9.91870872e-01 -2.32520238e-02 -1.25106023e-01 2.49711844e+02] [ 1.25071141e-01 -2.95414856e-03 9.92143378e-01 6.06769928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7292541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.48, Y:249.71, Z:60.68 [[-1.91851478e-02 -9.99815948e-01 1.01679839e-05 4.47480580e+02] [ 9.91953883e-01 -1.90355580e-02 -1.25160468e-01 2.49711678e+02] [ 1.25137625e-01 -2.39113590e-03 9.92136511e-01 6.06775459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7592541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.48, Y:249.74, Z:60.68 [[-1.69791088e-02 -9.99855844e-01 -3.50276531e-05 4.47479074e+02] [ 9.92053260e-01 -1.68422407e-02 -1.24686281e-01 2.49739581e+02] [ 1.24667717e-01 -2.15181123e-03 9.92196216e-01 6.06807257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.7892541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.48, Y:249.77, Z:60.68 [[-1.63552143e-02 -9.99866245e-01 5.28644821e-07 4.47478551e+02] [ 9.92073317e-01 -1.62278081e-02 -1.24608155e-01 2.49766077e+02] [ 1.24591497e-01 -2.03746862e-03 9.92206031e-01 6.06836726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8192541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.48, Y:249.77, Z:60.68 [[-1.54901999e-02 -9.99880019e-01 2.85164336e-05 4.47478111e+02] [ 9.92123856e-01 -1.53735863e-02 -1.24313749e-01 2.49768566e+02] [ 1.24299272e-01 -1.89735298e-03 9.92242960e-01 6.06835741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8492541539999 meters Centerline goodness : 0.999351 Centerline is valid? [True, True] Translation: X:447.48, Y:249.80, Z:60.69 [[-1.46704280e-02 -9.99892383e-01 -1.72785372e-05 4.47477622e+02] [ 9.91880409e-01 -1.45506930e-02 -1.26338956e-01 2.49795429e+02] [ 1.26325109e-01 -1.87058480e-03 9.91987131e-01 6.06864946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.8792541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.48, Y:249.80, Z:60.69 [[-1.44639159e-02 -9.99895392e-01 3.18871514e-06 4.47476910e+02] [ 9.91824905e-01 -1.43475772e-02 -1.26797098e-01 2.49800157e+02] [ 1.26783880e-01 -1.83081992e-03 9.91928675e-01 6.06869719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9092541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.48, Y:249.83, Z:60.69 [[-1.62715432e-02 -9.99867609e-01 -4.13464965e-05 4.47476497e+02] [ 9.91810632e-01 -1.61351873e-02 -1.26693826e-01 2.49827487e+02] [ 1.26676386e-01 -2.10251196e-03 9.91941870e-01 6.06905089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9392541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:447.48, Y:249.86, Z:60.69 [[-1.76232934e-02 -9.99844698e-01 -4.34051608e-06 4.47476940e+02] [ 9.91770466e-01 -1.74804262e-02 -1.26829717e-01 2.49855319e+02] [ 1.26809944e-01 -2.23946211e-03 9.91924505e-01 6.06936444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9692541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.48, Y:249.86, Z:60.69 [[-1.92019464e-02 -9.99815625e-01 2.66800695e-05 4.47478107e+02] [ 9.91761977e-01 -1.90506524e-02 -1.26669864e-01 2.49862461e+02] [ 1.26647018e-01 -2.40584766e-03 9.91944930e-01 6.06947209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 727.9992541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.48, Y:249.89, Z:60.70 [[-2.04321353e-02 -9.99791242e-01 -1.79941934e-05 4.47478634e+02] [ 9.91784829e-01 -2.02662399e-02 -1.26301754e-01 2.49890632e+02] [ 1.26275023e-01 -2.59846091e-03 9.91991868e-01 6.06981517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0292541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.48, Y:249.89, Z:60.70 [[-2.13317504e-02 -9.99772452e-01 1.43580711e-05 4.47479428e+02] [ 9.91848418e-01 -2.11644830e-02 -1.25653412e-01 2.49890956e+02] [ 1.25625124e-01 -2.66616620e-03 9.92074201e-01 6.06987611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.0592541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.48, Y:249.92, Z:60.70 [[-2.19122909e-02 -9.99759897e-01 -3.06836746e-05 4.47479753e+02] [ 9.91800606e-01 -2.17339777e-02 -1.25933284e-01 2.49918823e+02] [ 1.25902380e-01 -2.78991884e-03 9.92038713e-01 6.07023803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.089254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.48, Y:249.93, Z:60.70 [[-2.23754827e-02 -9.99749638e-01 1.25744419e-06 4.47480854e+02] [ 9.91756313e-01 -2.21967422e-02 -1.26201114e-01 2.49925001e+02] [ 1.26169545e-01 -2.82256376e-03 9.92004677e-01 6.07032754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1192541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.48, Y:249.95, Z:60.71 [[-2.35852351e-02 -9.99721829e-01 -4.36423271e-05 4.47482024e+02] [ 9.91732491e-01 -2.33912443e-02 -1.26172565e-01 2.49953003e+02] [ 1.26136447e-01 -3.01909113e-03 9.92008307e-01 6.07061216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1492541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.48, Y:249.98, Z:60.71 [[-2.60767593e-02 -9.99659944e-01 -7.02520366e-06 4.47484513e+02] [ 9.91589398e-01 -2.58653429e-02 -1.26812661e-01 2.49980018e+02] [ 1.26769355e-01 -3.31382935e-03 9.91926685e-01 6.07089551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.1792541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.49, Y:249.99, Z:60.71 [[-2.70480591e-02 -9.99634134e-01 9.13241740e-06 4.47485602e+02] [ 9.91567896e-01 -2.68309614e-02 -1.26780151e-01 2.49986084e+02] [ 1.26734011e-01 -3.42010160e-03 9.91930841e-01 6.07098493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.209254154 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.49, Y:250.01, Z:60.71 [[-3.02400223e-02 -9.99542665e-01 -3.56746650e-05 4.47487621e+02] [ 9.91537279e-01 -2.99933203e-02 -1.26310039e-01 2.50013520e+02] [ 1.26251203e-01 -3.85499117e-03 9.91990813e-01 6.07131238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2392541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:447.49, Y:250.04, Z:60.72 [[-3.11272597e-02 -9.99515429e-01 9.51020350e-07 4.47488672e+02] [ 9.91528271e-01 -3.08786408e-02 -1.26167338e-01 2.50040007e+02] [ 1.26106230e-01 -3.92630053e-03 9.92008973e-01 6.07161807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2692541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.49, Y:250.05, Z:60.72 [[-3.09757984e-02 -9.99520134e-01 2.89114026e-05 4.47489441e+02] [ 9.91595899e-01 -3.07338561e-02 -1.25670219e-01 2.50048055e+02] [ 1.25610803e-01 -3.86406693e-03 9.92072072e-01 6.07172606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.2992541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.49, Y:250.08, Z:60.72 [[-3.08835350e-02 -9.99522990e-01 -1.64073194e-05 4.47491281e+02] [ 9.91612252e-01 -3.06370457e-02 -1.25564777e-01 2.50075395e+02] [ 1.25504379e-01 -3.89415388e-03 9.92085423e-01 6.07206473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.329254154 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.49, Y:250.08, Z:60.72 [[-3.01097534e-02 -9.99546599e-01 1.60041812e-05 4.47492075e+02] [ 9.91643140e-01 -2.98736837e-02 -1.25504765e-01 2.50076126e+02] [ 1.25448339e-01 -3.76304709e-03 9.92093017e-01 6.07206423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3592541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.49, Y:250.10, Z:60.72 [[-2.98368510e-02 -9.99554782e-01 -2.92331717e-05 4.47493185e+02] [ 9.91687294e-01 -2.95983432e-02 -1.25220798e-01 2.50103431e+02] [ 1.25164182e-01 -3.76518446e-03 9.92128898e-01 6.07239513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.3892541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.49, Y:250.11, Z:60.72 [[-2.94580672e-02 -9.99566017e-01 3.06574385e-06 4.47493464e+02] [ 9.91680130e-01 -2.92260479e-02 -1.25364900e-01 2.50106241e+02] [ 1.25310584e-01 -3.68996742e-03 9.92110700e-01 6.07242415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4192541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:447.49, Y:250.13, Z:60.73 [[-3.00272991e-02 -9.99549078e-01 -4.21981794e-05 4.47494216e+02] [ 9.91607431e-01 -2.97834140e-02 -1.25807992e-01 2.50133492e+02] [ 1.25750005e-01 -3.81951822e-03 9.92054609e-01 6.07274185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4492541539998 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.49, Y:250.16, Z:60.73 [[-3.10054900e-02 -9.99482932e-01 8.51632541e-03 4.47491684e+02] [ 9.91235511e-01 -3.18420999e-02 -1.28211710e-01 2.50160413e+02] [ 1.28416593e-01 4.46641729e-03 9.91710255e-01 6.07321888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.4792541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.50, Y:250.11, Z:60.72 [[-3.26010904e-02 -9.99449870e-01 -6.09313747e-03 4.47500877e+02] [ 9.91157061e-01 -3.15448108e-02 -1.28889899e-01 2.50106064e+02] [ 1.28626785e-01 -1.02412075e-02 9.91640191e-01 6.07217119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5092541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.50, Y:250.13, Z:60.73 [[-3.28239006e-02 -9.99461148e-01 -6.81145606e-05 4.47497888e+02] [ 9.91124132e-01 -3.25413152e-02 -1.28895376e-01 2.50134104e+02] [ 1.28823704e-01 -4.29835899e-03 9.91658196e-01 6.07265639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5392541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.50, Y:250.16, Z:60.73 [[-3.44198682e-02 -9.99407460e-01 -3.25741488e-05 4.47498816e+02] [ 9.91035283e-01 -3.41273181e-02 -1.29168085e-01 2.50161784e+02] [ 1.29090436e-01 -4.47823059e-03 9.91622713e-01 6.07297852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5692541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:447.50, Y:250.17, Z:60.73 [[-3.54227029e-02 -9.99372419e-01 -9.93139710e-07 4.47499488e+02] [ 9.90929238e-01 -3.51233059e-02 -1.29713524e-01 2.50165436e+02] [ 1.29632083e-01 -4.59578775e-03 9.91551512e-01 6.07303065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.5992541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.50, Y:250.19, Z:60.73 [[-3.86108254e-02 -9.99254323e-01 -4.72100144e-05 4.47500617e+02] [ 9.90633053e-01 -3.82715098e-02 -1.31078015e-01 2.50192479e+02] [ 1.30978466e-01 -5.10779815e-03 9.91372055e-01 6.07335794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6292541539999 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:447.50, Y:250.22, Z:60.74 [[-4.02291255e-02 -9.99190481e-01 -1.17886992e-05 4.47501067e+02] [ 9.90589333e-01 -3.98812838e-02 -1.30928440e-01 2.50220039e+02] [ 1.30821981e-01 -5.27881442e-03 9.91391821e-01 6.07363097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6592541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.50, Y:250.22, Z:60.74 [[-4.10679057e-02 -9.99156358e-01 1.98246174e-05 4.47501728e+02] [ 9.90474253e-01 -4.07136588e-02 -1.31541444e-01 2.50224023e+02] [ 1.31431277e-01 -5.38249586e-03 9.91310672e-01 6.07371606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.6892541539999 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:447.50, Y:250.25, Z:60.74 [[-4.32045926e-02 -9.99066245e-01 -2.60121847e-05 4.47503434e+02] [ 9.90438718e-01 -4.28280811e-02 -1.31136954e-01 2.50250538e+02] [ 1.31013390e-01 -5.69148216e-03 9.91364261e-01 6.07401403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7192541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:447.48, Y:250.23, Z:60.73 [[-2.54194829e-02 -9.97432817e-01 6.69449395e-02 4.47480369e+02] [ 9.95458040e-01 -3.14012206e-02 -8.98735496e-02 2.50229353e+02] [ 9.17449806e-02 6.43563391e-02 9.93700720e-01 6.07308326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7492541539999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:447.55, Y:250.24, Z:60.72 [[-3.86952217e-02 -9.95218419e-01 -8.96826587e-02 4.47546859e+02] [ 9.93769976e-01 -2.89402003e-02 -1.07627599e-01 2.50241898e+02] [ 1.04517535e-01 -9.32886074e-02 9.90138031e-01 6.07248267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.7792541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.50, Y:250.27, Z:60.75 [[-4.00885710e-02 -9.99195727e-01 -8.98036342e-04 4.47502498e+02] [ 9.93340561e-01 -3.97564663e-02 -1.08138587e-01 2.50268512e+02] [ 1.08015911e-01 -5.22717733e-03 9.94135423e-01 6.07466306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8092541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.50, Y:250.30, Z:60.75 [[-4.09874687e-02 -9.99159288e-01 -8.62615371e-04 4.47502412e+02] [ 9.93351404e-01 -4.06562330e-02 -1.07703567e-01 2.50295278e+02] [ 1.07577948e-01 -5.27137676e-03 9.94182678e-01 6.07491498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.839254154 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.50, Y:250.32, Z:60.75 [[-4.20110911e-02 -9.99116797e-01 -8.32877306e-04 4.47502564e+02] [ 9.93318379e-01 -4.16775662e-02 -1.07617746e-01 2.50322708e+02] [ 1.07487986e-01 -5.34845128e-03 9.94191997e-01 6.07520219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8692541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.50, Y:250.35, Z:60.75 [[-4.31017772e-02 -9.99070365e-01 -8.01126289e-04 4.47502588e+02] [ 9.93266469e-01 -4.27650485e-02 -1.07670204e-01 2.50350770e+02] [ 1.07535850e-01 -5.43650901e-03 9.94186343e-01 6.07548062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.8992541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.50, Y:250.38, Z:60.76 [[-4.43493548e-02 -9.99015787e-01 -7.69796984e-04 4.47501910e+02] [ 9.93210622e-01 -4.40086692e-02 -1.07684247e-01 2.50377424e+02] [ 1.07544385e-01 -5.54029743e-03 9.94184847e-01 6.07576628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9292541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.50, Y:250.40, Z:60.76 [[-4.38764769e-02 -9.99017126e-01 6.29570065e-03 4.47497277e+02] [ 9.92989462e-01 -4.43023474e-02 -1.09586633e-01 2.50401773e+02] [ 1.09757837e-01 1.44328904e-03 9.93957310e-01 6.07621421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.959254154 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.50, Y:250.43, Z:60.76 [[-4.39831810e-02 -9.99015926e-01 5.71476915e-03 4.47497878e+02] [ 9.93420397e-01 -4.43408613e-02 -1.05592628e-01 2.50433881e+02] [ 1.05742115e-01 1.03286857e-03 9.94393050e-01 6.07616274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 728.9892541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.50, Y:250.46, Z:60.76 [[-4.39883238e-02 -9.99015464e-01 -5.75587481e-03 4.47502793e+02] [ 9.93336472e-01 -4.31224802e-02 -1.06878932e-01 2.50460078e+02] [ 1.06525498e-01 -1.04189454e-02 9.94255382e-01 6.07630004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0192541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.50, Y:250.49, Z:60.77 [[-4.46272043e-02 -9.98965423e-01 -8.74617219e-03 4.47502682e+02] [ 9.93013513e-01 -4.34006056e-02 -1.09729441e-01 2.50485904e+02] [ 1.09236328e-01 -1.35819854e-02 9.93923012e-01 6.07675432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.0492541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.50, Y:250.51, Z:60.77 [[-4.41986598e-02 -9.99022514e-01 -7.03979853e-04 4.47498965e+02] [ 9.92978915e-01 -4.38538629e-02 -1.09862249e-01 2.50513233e+02] [ 1.09723988e-01 -5.55480130e-03 9.93946573e-01 6.07719222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.079254154 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.50, Y:250.54, Z:60.77 [[-4.20946210e-02 -9.99113401e-01 -6.73932603e-04 4.47497899e+02] [ 9.93039140e-01 -4.17644131e-02 -1.10131739e-01 2.50541410e+02] [ 1.10005950e-01 -5.30519526e-03 9.93916770e-01 6.07747878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1092541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.50, Y:250.57, Z:60.78 [[-4.03302422e-02 -9.99186197e-01 -6.44506640e-04 4.47497113e+02] [ 9.93070748e-01 -4.00121299e-02 -1.10496696e-01 2.50569434e+02] [ 1.10380986e-01 -5.09639921e-03 9.93876282e-01 6.07770726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1392541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.50, Y:250.60, Z:60.78 [[-3.91284753e-02 -9.99234000e-01 -6.12734693e-04 4.47495515e+02] [ 9.93126344e-01 -3.88215978e-02 -1.10421686e-01 2.50597019e+02] [ 1.10313316e-01 -4.92915520e-03 9.93884639e-01 6.07809111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1692541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.49, Y:250.62, Z:60.78 [[-3.47662625e-02 -9.99395302e-01 -5.80855907e-04 4.47493046e+02] [ 9.93297345e-01 -3.44900114e-02 -1.10321454e-01 2.50624317e+02] [ 1.10234709e-01 -4.41242726e-03 9.93895789e-01 6.07840153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.1992541539998 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:447.49, Y:250.65, Z:60.79 [[-3.04696741e-02 -9.99535542e-01 -5.47031376e-04 4.47491029e+02] [ 9.93465618e-01 -3.02244070e-02 -1.10057034e-01 2.50652013e+02] [ 1.09989383e-01 -3.89685882e-03 9.93925123e-01 6.07873581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2292541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.49, Y:250.68, Z:60.79 [[-2.84757347e-02 -9.99594351e-01 -5.16584744e-04 4.47490182e+02] [ 9.93481438e-01 -2.82445199e-02 -1.10439485e-01 2.50678666e+02] [ 1.10380094e-01 -3.65806282e-03 9.93882716e-01 6.07904729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2592541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.49, Y:250.71, Z:60.79 [[-2.66398006e-02 -9.99644976e-01 -4.92605476e-04 4.47489112e+02] [ 9.93579323e-01 -2.64239453e-02 -1.10008656e-01 2.50705561e+02] [ 1.09956583e-01 -3.42005126e-03 9.93930507e-01 6.07931522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.2892541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.49, Y:250.73, Z:60.80 [[-2.50877529e-02 -9.99685141e-01 -4.72404968e-04 4.47488003e+02] [ 9.93643744e-01 -2.48842605e-02 -1.09785627e-01 2.50733601e+02] [ 1.09739305e-01 -3.22367693e-03 9.93955177e-01 6.07962952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3192541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.49, Y:250.76, Z:60.80 [[-2.23371571e-02 -9.99750398e-01 -4.39078113e-04 4.47485322e+02] [ 9.93754404e-01 -2.21551571e-02 -1.09367882e-01 2.50760153e+02] [ 1.09330856e-01 -2.87930337e-03 9.94001244e-01 6.07991706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3492541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.48, Y:250.79, Z:60.80 [[-1.99291619e-02 -9.99801308e-01 -4.16846013e-04 4.47483253e+02] [ 9.93784915e-01 -1.97635623e-02 -1.09548821e-01 2.50787875e+02] [ 1.09518816e-01 -2.59747146e-03 9.93981329e-01 6.08015510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.3792541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.48, Y:250.82, Z:60.80 [[-1.92185715e-02 -9.99815233e-01 -3.83811318e-04 4.47482610e+02] [ 9.93816372e-01 -1.90612687e-02 -1.09387785e-01 2.50815713e+02] [ 1.09360258e-01 -2.48371495e-03 9.93999077e-01 6.08040158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4092541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.48, Y:250.84, Z:60.81 [[-1.70713129e-02 -9.99854213e-01 -3.51102490e-04 4.47481958e+02] [ 9.93869394e-01 -1.69307635e-02 -1.09256471e-01 2.50843489e+02] [ 1.09234599e-01 -2.21410143e-03 9.94013531e-01 6.08068348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4392541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.48, Y:250.87, Z:60.81 [[-1.65196715e-02 -9.99863490e-01 -3.18551543e-04 4.47481421e+02] [ 9.93887082e-01 -1.63861460e-02 -1.09178578e-01 2.50870901e+02] [ 1.09158454e-01 -2.12019850e-03 9.94022101e-01 6.08097219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4692541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:447.48, Y:250.90, Z:60.81 [[-1.53551683e-02 -9.99882061e-01 -2.86843546e-04 4.47480418e+02] [ 9.93930087e-01 -1.52325076e-02 -1.08953906e-01 2.50897726e+02] [ 1.08936686e-01 -1.95810799e-03 9.94046762e-01 6.08127789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.4992541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.48, Y:250.93, Z:60.82 [[-1.57652800e-02 -9.99875684e-01 -2.68626928e-04 4.47479957e+02] [ 9.93886155e-01 -1.56414781e-02 -1.09296179e-01 2.50925040e+02] [ 1.09278390e-01 -1.99006945e-03 9.94009192e-01 6.08153943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5292541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.48, Y:250.95, Z:60.82 [[-1.59339233e-02 -9.99873019e-01 -2.37877758e-04 4.47480324e+02] [ 9.93854204e-01 -1.58119422e-02 -1.09561871e-01 2.50952049e+02] [ 1.09544198e-01 -1.98216627e-03 9.93979949e-01 6.08180578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.5592541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.48, Y:250.98, Z:60.82 [[-1.61191405e-02 -9.99844080e-01 7.21040446e-03 4.47477323e+02] [ 9.93594436e-01 -1.68242413e-02 -1.11745436e-01 2.50979276e+02] [ 1.11849323e-01 5.36297736e-03 9.93710706e-01 6.08220994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.589254154 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.49, Y:251.01, Z:60.82 [[-1.89250318e-02 -9.99795058e-01 -7.18918776e-03 4.47487200e+02] [ 9.93770319e-01 -1.80201537e-02 -1.09981028e-01 2.51007950e+02] [ 1.09828938e-01 -9.22579587e-03 9.93907686e-01 6.08206018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6192541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.48, Y:251.04, Z:60.82 [[-2.02528045e-02 -9.99794876e-01 -1.74059778e-04 4.47484961e+02] [ 9.93758947e-01 -2.01114330e-02 -1.09720947e-01 2.51035548e+02] [ 1.09694940e-01 -2.39513035e-03 9.93962416e-01 6.08249203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6492541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.49, Y:251.06, Z:60.83 [[-2.27128216e-02 -9.99742020e-01 -1.42796759e-04 4.47486427e+02] [ 9.93739660e-01 -2.25608272e-02 -1.09418908e-01 2.51062786e+02] [ 1.09387458e-01 -2.62711493e-03 9.93995715e-01 6.08274951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.6792541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.49, Y:251.09, Z:60.83 [[-2.40756566e-02 -9.99710133e-01 -1.14934413e-04 4.47486854e+02] [ 9.93668364e-01 -2.39175339e-02 -1.09777656e-01 2.51090955e+02] [ 1.09743086e-01 -2.75717584e-03 9.93956163e-01 6.08302308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.709254154 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.49, Y:251.12, Z:60.83 [[-2.50019329e-02 -9.99687399e-01 -8.47377337e-05 4.47487230e+02] [ 9.93538677e-01 -2.48387679e-02 -1.10742639e-01 2.51117450e+02] [ 1.10705916e-01 -2.85297024e-03 9.93849114e-01 6.08328523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7392541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:447.49, Y:251.14, Z:60.84 [[-2.58400438e-02 -9.99666089e-01 -5.26298873e-05 4.47488211e+02] [ 9.93263526e-01 -2.56685970e-02 -1.12998632e-01 2.51144775e+02] [ 1.12959549e-01 -2.97216495e-03 9.93595142e-01 6.08359828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7692541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.49, Y:251.17, Z:60.84 [[-2.55256971e-02 -9.99674166e-01 -2.03776542e-05 4.47489482e+02] [ 9.93164770e-01 -2.53571636e-02 -1.13933116e-01 2.51171876e+02] [ 1.13895476e-01 -2.92846056e-03 9.93488422e-01 6.08381633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.7992541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.49, Y:251.20, Z:60.84 [[-2.48393665e-02 -9.99691455e-01 4.15042900e-07 4.47490728e+02] [ 9.93152139e-01 -2.46769313e-02 -1.14192289e-01 2.51199358e+02] [ 1.14157066e-01 -2.83605191e-03 9.93458666e-01 6.08412692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.829254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.49, Y:251.20, Z:60.84 [[-2.33622660e-02 -9.99727065e-01 2.48468831e-05 4.47490813e+02] [ 9.93200149e-01 -2.32125762e-02 -1.14081726e-01 2.51198693e+02] [ 1.14051166e-01 -2.64052970e-03 9.93471368e-01 6.08415392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8592541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.49, Y:251.23, Z:60.84 [[-2.23317934e-02 -9.99750614e-01 -1.13337288e-05 4.47490380e+02] [ 9.93269946e-01 -2.21857436e-02 -1.13677645e-01 2.51226290e+02] [ 1.13649044e-01 -2.54988313e-03 9.93517686e-01 6.08447823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.8892541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.49, Y:251.22, Z:60.85 [[-1.85080572e-02 -9.99828711e-01 1.30026783e-05 4.47490103e+02] [ 9.93420846e-01 -1.83909098e-02 -1.13034497e-01 2.51223334e+02] [ 1.13015375e-01 -2.07913182e-03 9.93591064e-01 6.08454351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9192541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.49, Y:251.25, Z:60.85 [[-1.66569085e-02 -9.99861264e-01 -2.33325226e-05 4.47490598e+02] [ 9.93512157e-01 -1.65485117e-02 -1.12515516e-01 2.51251438e+02] [ 1.12499520e-01 -1.89734180e-03 9.93649968e-01 6.08481660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9492541539998 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.49, Y:251.25, Z:60.85 [[-1.07937384e-02 -9.99941746e-01 1.86560383e-06 4.47492747e+02] [ 9.93617852e-01 -1.07256855e-02 -1.12287682e-01 2.51247308e+02] [ 1.12281161e-01 -1.21015017e-03 9.93675740e-01 6.08472598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 729.9792541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.49, Y:251.27, Z:60.85 [[-8.96358819e-03 -9.99959826e-01 -3.54827166e-05 4.47492741e+02] [ 9.93747701e-01 -8.90395387e-03 -1.11293425e-01 2.51273766e+02] [ 1.11288638e-01 -1.03284930e-03 9.93787589e-01 6.08505122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0092541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.49, Y:251.30, Z:60.85 [[-6.99702689e-03 -9.99975520e-01 -1.20701869e-05 4.47492867e+02] [ 9.93722243e-01 -6.95192369e-03 -1.11659189e-01 2.51301726e+02] [ 1.11656372e-01 -7.93276760e-04 9.93746560e-01 6.08537221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0392541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.49, Y:251.30, Z:60.85 [[-3.57728706e-03 -9.99993601e-01 1.31254479e-05 4.47493772e+02] [ 9.93766681e-01 -3.55647392e-03 -1.11423224e-01 2.51300084e+02] [ 1.11422558e-01 -3.85549224e-04 9.93773045e-01 6.08541497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0692541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.49, Y:251.33, Z:60.86 [[-3.57147874e-03 -9.99993622e-01 -2.34018184e-05 4.47494647e+02] [ 9.93796173e-01 -3.54674317e-03 -1.11160190e-01 2.51327931e+02] [ 1.11159398e-01 -4.20262893e-04 9.93802501e-01 6.08566659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.0992541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.50, Y:251.33, Z:60.86 [[-4.64804865e-03 -9.99989198e-01 2.51775322e-06 4.47497568e+02] [ 9.93853460e-01 -4.61980762e-03 -1.10607224e-01 2.51331326e+02] [ 1.10606041e-01 -5.11605480e-04 9.93864197e-01 6.08568020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1292541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.50, Y:251.36, Z:60.86 [[-6.65735401e-03 -9.99977839e-01 -3.55249911e-05 4.47499500e+02] [ 9.93846706e-01 -6.61260801e-03 -1.10566717e-01 2.51358499e+02] [ 1.10564032e-01 -7.71388175e-04 9.93868704e-01 6.08592447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1592541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.50, Y:251.39, Z:60.86 [[-9.47794390e-03 -9.99955083e-01 -1.63344307e-05 4.47501426e+02] [ 9.93833400e-01 -9.41811556e-03 -1.10482906e-01 2.51385916e+02] [ 1.10477790e-01 -1.06338449e-03 9.93878024e-01 6.08617062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.1892541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.51, Y:251.39, Z:60.86 [[-1.54715657e-02 -9.99880308e-01 8.66002766e-06 4.47505065e+02] [ 9.93658341e-01 -1.53762553e-02 -1.11385241e-01 2.51394905e+02] [ 1.11372042e-01 -1.71469897e-03 9.93777303e-01 6.08620776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2192541539999 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.51, Y:251.42, Z:60.86 [[-1.95485039e-02 -9.99808909e-01 -2.81155560e-05 4.47506430e+02] [ 9.93594198e-01 -1.94238618e-02 -1.11325128e-01 2.51422710e+02] [ 1.11303309e-01 -2.20417516e-03 9.93784038e-01 6.08647857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2492541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.51, Y:251.43, Z:60.87 [[-2.71384302e-02 -9.99631685e-01 -3.85512937e-06 4.47509589e+02] [ 9.93337889e-01 -2.69671315e-02 -1.12038442e-01 2.51432059e+02] [ 1.11997072e-01 -3.04437688e-03 9.93703873e-01 6.08653824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.2792541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.51, Y:251.46, Z:60.87 [[-3.14459702e-02 -9.99505452e-01 -4.06737857e-05 4.47511292e+02] [ 9.93177727e-01 -3.12423184e-02 -1.12347320e-01 2.51460110e+02] [ 1.12290488e-01 -3.57326678e-03 9.93668998e-01 6.08680230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3092541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.51, Y:251.49, Z:60.87 [[-3.47467149e-02 -9.99281365e-01 1.51466269e-02 4.47505284e+02] [ 9.93423773e-01 -3.61895314e-02 -1.08625623e-01 2.51487853e+02] [ 1.09095710e-01 1.12726357e-02 9.93967330e-01 6.08682032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.339254154 meters Centerline goodness : 0.999395 Centerline is valid? [True, True] Translation: X:447.51, Y:251.31, Z:60.84 [[-3.01473564e-02 -9.99334616e-01 2.05295478e-02 4.47508971e+02] [ 9.95299830e-01 -3.19040091e-02 -9.14351318e-02 2.51309591e+02] [ 9.20292672e-02 1.76765279e-02 9.95599395e-01 6.08436939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3692541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.52, Y:251.34, Z:60.84 [[-3.52497480e-02 -9.99365840e-01 5.03719016e-03 4.47519237e+02] [ 9.95254940e-01 -3.55612578e-02 -9.05704231e-02 2.51341879e+02] [ 9.06921158e-02 1.82070380e-03 9.95877314e-01 6.08438310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.3992541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.52, Y:251.37, Z:60.85 [[-3.57074006e-02 -9.99359452e-01 -2.38082218e-03 4.47522873e+02] [ 9.95193746e-01 -3.53409886e-02 -9.13259108e-02 2.51371491e+02] [ 9.11832715e-02 -5.63039023e-03 9.95818211e-01 6.08454249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4292541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.54, Y:251.39, Z:60.85 [[-4.38133109e-02 -9.97713161e-01 -5.14669000e-02 4.47541222e+02] [ 9.93997195e-01 -3.83648278e-02 -1.02458367e-01 2.51389730e+02] [ 1.00249543e-01 -5.56469945e-02 9.93404973e-01 6.08537841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.459254154 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.52, Y:251.42, Z:60.87 [[-4.55109742e-02 -9.98962091e-01 1.86853839e-03 4.47515726e+02] [ 9.93680783e-01 -4.54623231e-02 -1.02623971e-01 2.51416634e+02] [ 1.02602405e-01 -2.81378623e-03 9.94718467e-01 6.08674342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.4892541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.52, Y:251.44, Z:60.87 [[-4.73691355e-02 -9.98873367e-01 -2.85688900e-03 4.47519393e+02] [ 9.93858584e-01 -4.68445864e-02 -1.00253175e-01 2.51443900e+02] [ 1.00006397e-01 -7.58824989e-03 9.94957858e-01 6.08690030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5192541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.52, Y:251.47, Z:60.87 [[-4.78211805e-02 -9.98855829e-01 -4.10135611e-04 4.47519129e+02] [ 9.93823555e-01 -4.75390827e-02 -1.00273515e-01 2.51471877e+02] [ 1.00139287e-01 -5.20280029e-03 9.94959825e-01 6.08710861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5492541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.52, Y:251.50, Z:60.87 [[-4.90731186e-02 -9.98795119e-01 -3.73998491e-04 4.47518250e+02] [ 9.93956917e-01 -4.87985878e-02 -9.83277469e-02 2.51499547e+02] [ 9.81910231e-02 -5.19698758e-03 9.95154015e-01 6.08747484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.5792541539998 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.52, Y:251.53, Z:60.88 [[-4.88204061e-02 -9.98807513e-01 -3.47669706e-04 4.47518609e+02] [ 9.93892941e-01 -4.85456943e-02 -9.90966032e-02 2.51526351e+02] [ 9.89615539e-02 -5.18348288e-03 9.95077757e-01 6.08759313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6092541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.52, Y:251.55, Z:60.88 [[-4.92642875e-02 -9.98785724e-01 -3.27182336e-04 4.47517454e+02] [ 9.93870948e-01 -4.89894073e-02 -9.90988273e-02 2.51554088e+02] [ 9.89624655e-02 -5.20721013e-03 9.95077542e-01 6.08799793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6392541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.52, Y:251.58, Z:60.88 [[-4.93767650e-02 -9.98780178e-01 -3.02583825e-04 4.47515406e+02] [ 9.93726650e-01 -4.90964917e-02 -1.00483233e-01 2.51580798e+02] [ 1.00345805e-01 -5.26222257e-03 9.94938706e-01 6.08820105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6692541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.51, Y:251.61, Z:60.88 [[-4.93168631e-02 -9.98783143e-01 -2.82096366e-04 4.47514559e+02] [ 9.93724754e-01 -4.90387015e-02 -1.00530195e-01 2.51608336e+02] [ 1.00394030e-01 -5.23816000e-03 9.94933968e-01 6.08841563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.6992541539998 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.51, Y:251.64, Z:60.89 [[-4.84194428e-02 -9.98827059e-01 -2.52317712e-04 4.47512650e+02] [ 9.93758589e-01 -4.81483225e-02 -1.00626075e-01 2.51636473e+02] [ 1.00495897e-01 -5.12300135e-03 9.94924283e-01 6.08864804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7292541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.51, Y:251.66, Z:60.89 [[-4.78269989e-02 -9.98855610e-01 -2.22503172e-04 4.47511289e+02] [ 9.93781352e-01 -4.75616070e-02 -1.00680273e-01 2.51663894e+02] [ 1.00554473e-01 -5.03635482e-03 9.94918807e-01 6.08893352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7592541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.51, Y:251.69, Z:60.89 [[-4.67792601e-02 -9.98905233e-01 -1.92505296e-04 4.47509844e+02] [ 9.93845494e-01 -4.65229356e-02 -1.00532341e-01 2.51692200e+02] [ 1.00413325e-01 -4.89414903e-03 9.94933772e-01 6.08907613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.7892541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.47, Y:251.74, Z:60.89 [[-3.56988878e-02 -9.95794774e-01 8.43703645e-02 4.47474461e+02] [ 9.95758982e-01 -4.26062107e-02 -8.15399316e-02 2.51736033e+02] [ 8.47917393e-02 8.11016634e-02 9.93092584e-01 6.08921432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8192541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.55, Y:251.75, Z:60.88 [[-4.35956462e-02 -9.95166533e-01 -8.79942652e-02 4.47546911e+02] [ 9.94412456e-01 -3.47486094e-02 -9.96815003e-02 2.51751161e+02] [ 9.61420147e-02 -9.18482728e-02 9.91120885e-01 6.08797423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8492541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.50, Y:251.78, Z:60.90 [[-3.89682889e-02 -9.99240444e-01 -8.63698315e-05 4.47500105e+02] [ 9.94226625e-01 -3.87641122e-02 -1.00053797e-01 2.51777295e+02] [ 9.99744520e-02 -3.98479643e-03 9.94982025e-01 6.09007738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.8792541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.50, Y:251.81, Z:60.90 [[-3.63001420e-02 -9.99340931e-01 -5.77326119e-05 4.47498823e+02] [ 9.94325022e-01 -3.61121627e-02 -1.00068286e-01 2.51805527e+02] [ 1.00000249e-01 -3.68989796e-03 9.94980570e-01 6.09026841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9092541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.50, Y:251.83, Z:60.91 [[-3.41999396e-02 -9.99415011e-01 -2.80165137e-05 4.47496683e+02] [ 9.94370172e-01 -3.40244923e-02 -1.00350856e-01 2.51833499e+02] [ 1.00291198e-01 -3.45985200e-03 9.94952112e-01 6.09065752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9392541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.49, Y:251.83, Z:60.91 [[-2.86285869e-02 -9.99590118e-01 -1.75709358e-06 4.47493151e+02] [ 9.94638206e-01 -2.84865878e-02 -9.94150576e-02 2.51831190e+02] [ 9.93742591e-02 -2.84786029e-03 9.95046052e-01 6.09070512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9692541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.49, Y:251.86, Z:60.91 [[-2.69331290e-02 -9.99637237e-01 -3.79730656e-05 4.47491556e+02] [ 9.94757822e-01 -2.67979147e-02 -9.86850919e-02 2.51859013e+02] [ 9.86482750e-02 -2.69567232e-03 9.95118712e-01 6.09101455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 730.9992541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:447.49, Y:251.89, Z:60.91 [[-2.42869582e-02 -9.99705028e-01 -9.43836832e-06 4.47490376e+02] [ 9.95084193e-01 -2.41737923e-02 -9.60368478e-02 2.51885949e+02] [ 9.60082915e-02 -2.34183488e-03 9.95377779e-01 6.09119475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0292541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:447.49, Y:251.89, Z:60.91 [[-2.36374971e-02 -9.99720595e-01 5.54237941e-06 4.47489873e+02] [ 9.95142840e-01 -2.35297901e-02 -9.55880627e-02 2.51888235e+02] [ 9.55614854e-02 -2.25394710e-03 9.95420977e-01 6.09126939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.0592541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.49, Y:251.92, Z:60.91 [[-2.40095941e-02 -9.99711728e-01 -3.16993802e-05 4.47489916e+02] [ 9.95199930e-01 -2.38982273e-02 -9.48998150e-02 2.51915827e+02] [ 9.48717005e-02 -2.31005326e-03 9.95486828e-01 6.09148176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.089254154 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.49, Y:251.94, Z:60.92 [[-2.55231049e-02 -9.99674233e-01 -3.50811807e-06 4.47490079e+02] [ 9.95194637e-01 -2.54084026e-02 -9.45623988e-02 2.51943582e+02] [ 9.45315043e-02 -2.41701729e-03 9.95518936e-01 6.09165065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1192541539999 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:447.49, Y:251.95, Z:60.92 [[-2.61388104e-02 -9.99658323e-01 2.44254730e-05 4.47489712e+02] [ 9.95184191e-01 -2.60241310e-02 -9.45048669e-02 2.51946954e+02] [ 9.44732124e-02 -2.44593695e-03 9.95524399e-01 6.09162351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1492541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:447.49, Y:251.97, Z:60.92 [[-2.83999189e-02 -9.99596641e-01 -1.31718526e-05 4.47489372e+02] [ 9.95077507e-01 -2.82702725e-02 -9.49818240e-02 2.51973669e+02] [ 9.49431398e-02 -2.71058311e-03 9.95479007e-01 6.09181610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.1792541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.49, Y:251.98, Z:60.92 [[-2.92876620e-02 -9.99571024e-01 5.17843919e-06 4.47489679e+02] [ 9.95003580e-01 -2.91543295e-02 -9.54877013e-02 2.51975985e+02] [ 9.54468904e-02 -2.79145895e-03 9.95430610e-01 6.09181509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.209254154 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.49, Y:252.00, Z:60.92 [[-3.16714458e-02 -9.99498333e-01 -3.23443096e-05 4.47490495e+02] [ 9.94899998e-01 -3.15226362e-02 -9.58139697e-02 2.52002694e+02] [ 9.57648835e-02 -3.06674630e-03 9.95399258e-01 6.09201523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2392541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.49, Y:252.03, Z:60.92 [[-3.28144753e-02 -9.99461460e-01 -1.32988244e-05 4.47490753e+02] [ 9.94885258e-01 -3.26629568e-02 -9.55848030e-02 2.52030098e+02] [ 9.55328924e-02 -3.14979596e-03 9.95421290e-01 6.09223776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2692541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.49, Y:252.03, Z:60.92 [[-3.34764295e-02 -9.99439507e-01 1.32569393e-05 4.47490658e+02] [ 9.94867819e-01 -3.33245671e-02 -9.55379267e-02 2.52032489e+02] [ 9.54848202e-02 -3.18507977e-03 9.95425791e-01 6.09232328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.2992541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.49, Y:252.06, Z:60.93 [[-3.52665783e-02 -9.99377941e-01 -2.42773695e-05 4.47490688e+02] [ 9.94849720e-01 -3.51044741e-02 -9.50879063e-02 2.52059018e+02] [ 9.50279037e-02 -3.37757742e-03 9.95468879e-01 6.09258043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3292541539998 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.49, Y:252.09, Z:60.93 [[-3.62029720e-02 -9.99344458e-01 -4.97089006e-06 4.47490898e+02] [ 9.94832750e-01 -3.60390555e-02 -9.49156775e-02 2.52087048e+02] [ 9.48532771e-02 -3.44117482e-03 9.95485316e-01 6.09284666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3592541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.49, Y:252.09, Z:60.93 [[-3.71179213e-02 -9.99310892e-01 2.17854694e-05 4.47492101e+02] [ 9.94830002e-01 -3.69535474e-02 -9.45922941e-02 2.52091510e+02] [ 9.45279149e-02 -3.48939649e-03 9.95516096e-01 6.09280682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.3892541539999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:447.47, Y:252.13, Z:60.93 [[-3.03918337e-02 -9.96644526e-01 7.60001646e-02 4.47465800e+02] [ 9.96260419e-01 -3.63570301e-02 -7.83794891e-02 2.52134020e+02] [ 8.08796290e-02 7.33338594e-02 9.94022450e-01 6.09279322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4192541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.52, Y:252.14, Z:60.92 [[-4.70190065e-02 -9.97203604e-01 -5.80877397e-02 4.47523011e+02] [ 9.92372832e-01 -3.99990379e-02 -1.16602916e-01 2.52144557e+02] [ 1.13953394e-01 -6.31272480e-02 9.91478479e-01 6.09161007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4492541539998 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.47, Y:252.15, Z:60.93 [[-3.40107629e-02 -9.97560267e-01 6.09654133e-02 4.47472687e+02] [ 9.95951082e-01 -3.89086491e-02 -8.10404791e-02 2.52146243e+02] [ 8.32148438e-02 5.79623208e-02 9.94844540e-01 6.09262102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.4792541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.52, Y:252.15, Z:60.92 [[-5.11070343e-02 -9.96797757e-01 -6.15004230e-02 4.47524183e+02] [ 9.92083477e-01 -4.35992306e-02 -1.17768768e-01 2.52148126e+02] [ 1.14710272e-01 -6.70323659e-02 9.91134812e-01 6.09159620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5092541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.48, Y:252.13, Z:60.92 [[-3.75811943e-02 -9.97945221e-01 5.18940245e-02 4.47476854e+02] [ 9.95484350e-01 -4.19174088e-02 -8.51694788e-02 2.52132205e+02] [ 8.71697374e-02 4.84589185e-02 9.95014156e-01 6.09219975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5392541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.52, Y:252.15, Z:60.92 [[-5.53148593e-02 -9.97089307e-01 -5.24707518e-02 4.47520063e+02] [ 9.91728986e-01 -4.87698243e-02 -1.18722883e-01 2.52153189e+02] [ 1.15818328e-01 -5.86039051e-02 9.91540063e-01 6.09178676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5692541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.49, Y:252.15, Z:60.93 [[-5.64128584e-02 -9.98407112e-01 9.10140867e-04 4.47493548e+02] [ 9.91245080e-01 -5.61171330e-02 -1.19515937e-01 2.52153987e+02] [ 1.19376636e-01 -5.84006297e-03 9.92831865e-01 6.09295460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.5992541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.49, Y:252.16, Z:60.93 [[-5.68307891e-02 -9.98383451e-01 8.63573831e-04 4.47492650e+02] [ 9.91191099e-01 -5.65249789e-02 -1.19771169e-01 2.52157716e+02] [ 1.19626367e-01 -5.95072334e-03 9.92801149e-01 6.09303718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6292541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.49, Y:252.16, Z:60.93 [[-5.66289233e-02 -9.98394960e-01 8.17431311e-04 4.47491733e+02] [ 9.91159782e-01 -5.63168984e-02 -1.20127822e-01 2.52163704e+02] [ 1.19981048e-01 -5.99250419e-03 9.92758097e-01 6.09319919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6592541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.49, Y:252.16, Z:60.93 [[-5.53635589e-02 -9.98465963e-01 7.72501575e-04 4.47489941e+02] [ 9.91155396e-01 -5.50516201e-02 -1.20748917e-01 2.52161100e+02] [ 1.20606211e-01 -5.91942068e-03 9.92682780e-01 6.09316807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.6892541539999 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:447.47, Y:252.15, Z:60.92 [[-3.72361347e-02 -9.97660291e-01 5.73359747e-02 4.47469713e+02] [ 9.95414547e-01 -4.20888912e-02 -8.58976480e-02 2.52145486e+02] [ 8.81098801e-02 5.38745669e-02 9.94652794e-01 6.09247560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7192541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.52, Y:252.16, Z:60.92 [[-4.40788149e-02 -9.96140751e-01 -7.58990248e-02 4.47522762e+02] [ 9.93972639e-01 -3.60957000e-02 -1.03515668e-01 2.52160301e+02] [ 1.00376547e-01 -8.00044020e-02 9.91727707e-01 6.09184328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7492541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.48, Y:252.19, Z:60.94 [[-4.22713985e-02 -9.99106153e-01 -1.52576619e-04 4.47483688e+02] [ 9.93680033e-01 -4.20259283e-02 -1.04085611e-01 2.52186102e+02] [ 1.03986162e-01 -4.55145667e-03 9.94568330e-01 6.09389109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.7792541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:447.48, Y:252.21, Z:60.94 [[-4.02171392e-02 -9.99190956e-01 -1.21825626e-04 4.47481668e+02] [ 9.93783191e-01 -3.99868099e-02 -1.03903919e-01 2.52213076e+02] [ 1.03814985e-01 -4.29978665e-03 9.94587332e-01 6.09418910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8092541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.48, Y:252.24, Z:60.95 [[-3.46992260e-02 -9.99397795e-01 -1.04198716e-04 4.47478440e+02] [ 9.93986363e-01 -3.45005048e-02 -1.03927020e-01 2.52240270e+02] [ 1.03860840e-01 -3.70975926e-03 9.94584920e-01 6.09455408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.839254154 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:447.45, Y:252.28, Z:60.95 [[-2.30040625e-02 -9.97345895e-01 6.90795166e-02 4.47453327e+02] [ 9.95822193e-01 -2.89669310e-02 -8.65972161e-02 2.52284385e+02] [ 8.83683996e-02 6.67988279e-02 9.93845533e-01 6.09451523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8692541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.50, Y:252.32, Z:60.94 [[-3.36961904e-02 -9.97803250e-01 -5.70371872e-02 4.47504237e+02] [ 9.92171690e-01 -2.65304027e-02 -1.22030633e-01 2.52316146e+02] [ 1.20249343e-01 -6.07026498e-02 9.90886110e-01 6.09362534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.8992541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.47, Y:252.32, Z:60.95 [[-3.08764872e-02 -9.99522754e-01 9.52279039e-04 4.47473877e+02] [ 9.92106231e-01 -3.07632039e-02 -1.21568304e-01 2.52320456e+02] [ 1.21539581e-01 -2.80884022e-03 9.92582612e-01 6.09522682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9292541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.47, Y:252.32, Z:60.95 [[-2.88858636e-02 -9.99582309e-01 9.02847639e-04 4.47472333e+02] [ 9.92179961e-01 -2.87816494e-02 -1.21451810e-01 2.52317792e+02] [ 1.21427066e-01 -2.61245307e-03 9.92596919e-01 6.09530035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.959254154 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.47, Y:252.32, Z:60.95 [[-2.69362223e-02 -9.99636786e-01 8.58471213e-04 4.47470511e+02] [ 9.92157552e-01 -2.68395253e-02 -1.22077976e-01 2.52323104e+02] [ 1.22056676e-01 -2.43658080e-03 9.92520141e-01 6.09538802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 731.9892541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.47, Y:252.32, Z:60.95 [[-2.68377587e-02 -9.99639471e-01 8.14242067e-04 4.47469799e+02] [ 9.92071339e-01 -2.67345984e-02 -1.22799510e-01 2.52320665e+02] [ 1.22777006e-01 -2.48787740e-03 9.92431165e-01 6.09535777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0192541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.47, Y:252.33, Z:60.95 [[-2.85654973e-02 -9.99591621e-01 7.76531801e-04 4.47468839e+02] [ 9.91783658e-01 -2.84392605e-02 -1.24725234e-01 2.52327725e+02] [ 1.24696382e-01 -2.79268677e-03 9.92191016e-01 6.09539849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0492541539999 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:447.47, Y:252.33, Z:60.95 [[-2.99617994e-02 -9.99550778e-01 7.30373386e-04 4.47468475e+02] [ 9.91660283e-01 -2.98168971e-02 -1.25382757e-01 2.52328613e+02] [ 1.25348209e-01 -3.03241073e-03 9.92108175e-01 6.09539915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.0792541539998 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:447.47, Y:252.34, Z:60.96 [[-3.43346921e-02 -9.99410157e-01 6.83467621e-04 4.47467362e+02] [ 9.91441209e-01 -3.41470933e-02 -1.26009150e-01 2.52338834e+02] [ 1.25958163e-01 -3.64886741e-03 9.92028844e-01 6.09554885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1092541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:447.47, Y:252.34, Z:60.96 [[-3.65492546e-02 -9.99331652e-01 6.33835427e-04 4.47467035e+02] [ 9.91341445e-01 -3.63370550e-02 -1.26181448e-01 2.52337882e+02] [ 1.26120147e-01 -3.98349054e-03 9.92006976e-01 6.09557663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1392541539999 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:447.46, Y:252.31, Z:60.95 [[-2.80112326e-02 -9.99362152e-01 2.21508364e-02 4.47462887e+02] [ 9.93339068e-01 -3.03065153e-02 -1.11171094e-01 2.52312495e+02] [ 1.11771499e-01 1.88892518e-02 9.93554391e-01 6.09486744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1692541539999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:447.48, Y:252.33, Z:60.95 [[-3.91796213e-02 -9.98746734e-01 -3.11435143e-02 4.47479818e+02] [ 9.92207889e-01 -3.51962056e-02 -1.19518750e-01 2.52330019e+02] [ 1.18272828e-01 -3.55835399e-02 9.92343363e-01 6.09492166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.1992541539998 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:447.47, Y:252.36, Z:60.96 [[-4.10958584e-02 -9.99155176e-01 -2.54601502e-04 4.47465481e+02] [ 9.91920733e-01 -4.07676902e-02 -1.20130159e-01 2.52356112e+02] [ 1.20018291e-01 -5.18939652e-03 9.92758118e-01 6.09588406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2292541539999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:447.45, Y:252.40, Z:60.96 [[-3.95124196e-02 -9.98304498e-01 4.27422308e-02 4.47452062e+02] [ 9.93090540e-01 -4.39644766e-02 -1.08803976e-01 2.52396182e+02] [ 1.10498639e-01 3.81477967e-02 9.93143895e-01 6.09599796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2592541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:447.47, Y:252.43, Z:60.95 [[-4.25731594e-02 -9.99093346e-01 -1.12475524e-04 4.47472041e+02] [ 9.93303393e-01 -4.23143362e-02 -1.07507522e-01 2.52427757e+02] [ 1.07405291e-01 -4.68865720e-03 9.94204265e-01 6.09521973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.2892541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:447.47, Y:252.46, Z:60.95 [[-4.57390640e-02 -9.98826342e-01 1.59334766e-02 4.47465241e+02] [ 9.93372485e-01 -4.71614014e-02 -1.04818457e-01 2.52458874e+02] [ 1.05446881e-01 1.10335791e-02 9.94363724e-01 6.09546369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3192541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:447.47, Y:252.46, Z:60.95 [[-4.50446629e-02 -9.98981617e-01 -2.58991889e-03 4.47474371e+02] [ 9.93465502e-01 -4.45234854e-02 -1.05090223e-01 2.52462220e+02] [ 1.04867889e-01 -7.30674874e-03 9.94459319e-01 6.09502003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3492541539999 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:447.49, Y:252.47, Z:60.96 [[-5.72086407e-02 -9.95910782e-01 -6.99205707e-02 4.47494840e+02] [ 9.91375956e-01 -4.83979717e-02 -1.21784031e-01 2.52472893e+02] [ 1.17902016e-01 -7.62846714e-02 9.90090786e-01 6.09565683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.3792541539999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:447.44, Y:252.51, Z:60.98 [[-4.91135441e-02 -9.96562188e-01 6.67208000e-02 4.47437514e+02] [ 9.92894354e-01 -5.59638603e-02 -1.05018320e-01 2.52514354e+02] [ 1.08391241e-01 6.10888837e-02 9.92229554e-01 6.09759125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4092541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.48, Y:252.54, Z:60.97 [[-6.85956206e-02 -9.96152507e-01 -5.45419363e-02 4.47484646e+02] [ 9.88386224e-01 -6.04265620e-02 -1.39432072e-01 2.52540486e+02] [ 1.35599827e-01 -6.34729280e-02 9.88728413e-01 6.09655398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4392541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.45, Y:252.54, Z:60.98 [[-6.65802025e-02 -9.97780417e-01 1.14688994e-03 4.47454290e+02] [ 9.88010317e-01 -6.60886388e-02 -1.39527435e-01 2.52538140e+02] [ 1.39293539e-01 -8.15662578e-03 9.90217542e-01 6.09804074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4692541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.45, Y:252.54, Z:60.98 [[-6.50499244e-02 -9.97881419e-01 1.08694568e-03 4.47452338e+02] [ 9.88172085e-01 -6.45684994e-02 -1.39092918e-01 2.52540379e+02] [ 1.38868421e-01 -7.97389445e-03 9.90278738e-01 6.09802913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.4992541539999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:447.45, Y:252.55, Z:60.98 [[-6.32183393e-02 -9.97999184e-01 1.03490402e-03 4.47450102e+02] [ 9.88200442e-01 -6.27425297e-02 -1.39725663e-01 2.52551400e+02] [ 1.39511030e-01 -7.81053172e-03 9.90189713e-01 6.09823378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5292541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:447.45, Y:252.54, Z:60.98 [[-5.86273006e-02 -9.98279461e-01 9.78907120e-04 4.47445774e+02] [ 9.88459937e-01 -5.81877632e-02 -1.39861137e-01 2.52540794e+02] [ 1.39677460e-01 -7.23207042e-03 9.90170644e-01 6.09811169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.5592541539999 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:447.44, Y:252.55, Z:60.98 [[-5.52643165e-02 -9.98471332e-01 9.24889790e-04 4.47443782e+02] [ 9.88586888e-01 -5.48471959e-02 -1.40313043e-01 2.52545941e+02] [ 1.40149279e-01 -6.83997052e-03 9.90106759e-01 6.09811764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.589254154 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:447.44, Y:252.54, Z:60.98 [[-4.92280036e-02 -9.98787190e-01 8.67963630e-04 4.47437646e+02] [ 9.88903662e-01 -4.88627831e-02 -1.40292463e-01 2.52542635e+02] [ 1.40164726e-01 -6.04798546e-03 9.90109727e-01 6.09815273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6192541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:447.43, Y:252.54, Z:60.98 [[-4.56798841e-02 -9.98955801e-01 8.10270357e-04 4.47434809e+02] [ 9.89097218e-01 -4.53427198e-02 -1.40109711e-01 2.52544119e+02] [ 1.40000148e-01 -5.59875918e-03 9.90135654e-01 6.09818049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6492541539999 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:447.43, Y:252.55, Z:60.98 [[-4.23107645e-02 -9.99104213e-01 7.55739589e-04 4.47432092e+02] [ 9.89189337e-01 -4.19971603e-02 -1.40501577e-01 2.52547335e+02] [ 1.40407457e-01 -5.19715962e-03 9.90080166e-01 6.09825355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.6792541539999 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:447.43, Y:252.54, Z:60.98 [[-3.62072888e-02 -9.99344057e-01 6.98204759e-04 4.47427530e+02] [ 9.89455376e-01 -3.59470383e-02 -1.40306339e-01 2.52540788e+02] [ 1.40239404e-01 -4.38926967e-03 9.90107895e-01 6.09818987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.709254154 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:447.43, Y:252.55, Z:60.98 [[-3.31812475e-02 -9.99449145e-01 6.41930194e-04 4.47425001e+02] [ 9.89556911e-01 -3.29429602e-02 -1.40327766e-01 2.52545350e+02] [ 1.40271613e-01 -4.02102388e-03 9.90104896e-01 6.09830807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7392541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:447.42, Y:252.54, Z:60.98 [[-2.87193820e-02 -9.99587342e-01 5.84735299e-04 4.47420269e+02] [ 9.89730152e-01 -2.85181132e-02 -1.40074778e-01 2.52540674e+02] [ 1.40033650e-01 -3.44413089e-03 9.90140755e-01 6.09825251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7692541539999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:447.42, Y:252.54, Z:60.98 [[-2.67929896e-02 -9.99640865e-01 5.26829576e-04 4.47418234e+02] [ 9.89861450e-01 -2.66044067e-02 -1.39522454e-01 2.52544682e+02] [ 1.39486362e-01 -3.21673537e-03 9.90218767e-01 6.09827686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.7992541539999 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:447.41, Y:252.92, Z:61.03 [[-2.10499738e-02 -9.99639266e-01 1.66804544e-02 4.47407518e+02] [ 9.91817752e-01 -2.29806992e-02 -1.25576410e-01 2.52919140e+02] [ 1.25914439e-01 1.39005906e-02 9.91943712e-01 6.10278675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8292541539998 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.42, Y:252.71, Z:61.00 [[-1.81617633e-02 -9.99807408e-01 -7.43623313e-03 4.47418489e+02] [ 9.91422284e-01 -1.70456634e-02 -1.29581249e-01 2.52712540e+02] [ 1.29429538e-01 -9.72587122e-03 9.91540923e-01 6.09965948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8592541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:447.41, Y:252.94, Z:61.03 [[-2.38389062e-02 -9.99714464e-01 -1.64239439e-03 4.47411723e+02] [ 9.90194999e-01 -2.33856516e-02 -1.37720640e-01 2.52936421e+02] [ 1.37642907e-01 -4.90940013e-03 9.90469751e-01 6.10328617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.8892541539999 meters Centerline goodness : 0.997231 Centerline is valid? [True, True] Translation: X:447.41, Y:253.11, Z:61.06 [[-2.40483525e-02 -9.99695598e-01 5.51258969e-03 4.47405574e+02] [ 9.90548485e-01 -2.45724302e-02 -1.34944043e-01 2.53105499e+02] [ 1.35038424e-01 2.21530544e-03 9.90837886e-01 6.10568671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9192541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:447.41, Y:252.58, Z:60.98 [[-1.80143553e-02 -9.99760703e-01 -1.24104610e-02 4.47412999e+02] [ 9.90524176e-01 -1.61549192e-02 -1.36385026e-01 2.52579362e+02] [ 1.36151900e-01 -1.47497500e-02 9.90578167e-01 6.09830897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9492541539998 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.41, Y:252.61, Z:60.99 [[-1.87477436e-02 -9.99824226e-01 -1.97788075e-04 4.47405215e+02] [ 9.90680590e-01 -1.85495973e-02 -1.34936584e-01 2.52605711e+02] [ 1.34909197e-01 -2.72570128e-03 9.90854217e-01 6.09902692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 732.9792541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:447.40, Y:252.63, Z:60.99 [[-1.91087801e-02 -9.99817395e-01 -1.74526535e-04 4.47404881e+02] [ 9.90711584e-01 -1.89112415e-02 -1.34658539e-01 2.52633224e+02] [ 1.34630649e-01 -2.74606586e-03 9.90892046e-01 6.09935427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0092541539999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.40, Y:252.66, Z:61.00 [[-1.96651236e-02 -9.99806613e-01 -1.37781190e-04 4.47404812e+02] [ 9.90748339e-01 -1.94684483e-02 -1.34308260e-01 2.52660864e+02] [ 1.34279604e-01 -2.77769502e-03 9.90939591e-01 6.09963189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0392541539999 meters Centerline goodness : 0.995883 Centerline is valid? [True, True] Translation: X:447.39, Y:252.69, Z:61.00 [[-1.88261547e-02 -9.99550980e-01 2.33112556e-02 4.47393997e+02] [ 9.91010232e-01 -2.17439308e-02 -1.32007278e-01 2.52687723e+02] [ 1.32454882e-01 2.06165034e-02 9.90974603e-01 6.10035829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0692541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.41, Y:252.72, Z:61.00 [[-1.86444349e-02 -9.99788608e-01 -8.66744809e-03 4.47409921e+02] [ 9.91192193e-01 -1.73459328e-02 -1.31290347e-01 2.52719830e+02] [ 1.31112249e-01 -1.10389412e-02 9.91306068e-01 6.09975225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.0992541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.41, Y:252.34, Z:60.95 [[-2.06916114e-02 -9.99724171e-01 -1.11103188e-02 4.47411310e+02] [ 9.89860180e-01 -1.89229213e-02 -1.40779075e-01 2.52341929e+02] [ 1.40530005e-01 -1.39106081e-02 9.89978693e-01 6.09489959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1292541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.41, Y:252.34, Z:60.95 [[-2.04330456e-02 -9.99791211e-01 1.59229516e-04 4.47405689e+02] [ 9.89969178e-01 -2.02545784e-02 -1.39824099e-01 2.52339756e+02] [ 1.39798131e-01 -2.69939989e-03 9.90176346e-01 6.09529217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1592541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:447.40, Y:252.54, Z:60.98 [[-2.01182495e-02 -9.99782709e-01 5.45813702e-03 4.47403927e+02] [ 9.89942821e-01 -2.06842651e-02 -1.39947751e-01 2.52538315e+02] [ 1.40030240e-01 2.58773978e-03 9.90143846e-01 6.09810914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.1892541539999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:447.41, Y:252.35, Z:60.95 [[-2.04109454e-02 -9.99777357e-01 -5.35062250e-03 4.47411561e+02] [ 9.89806169e-01 -1.94523108e-02 -1.41086342e-01 2.52345956e+02] [ 1.40950849e-01 -8.17578479e-03 9.89982836e-01 6.09505342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2192541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:447.41, Y:252.37, Z:60.95 [[-2.20381772e-02 -9.99757130e-01 -1.23225119e-05 4.47411261e+02] [ 9.89525965e-01 -2.18108874e-02 -1.42697759e-01 2.52373665e+02] [ 1.42662833e-01 -3.15699194e-03 9.89766311e-01 6.09549947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2492541539999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:447.41, Y:252.38, Z:60.96 [[-2.22941403e-02 -9.99751455e-01 2.22667700e-05 4.47412218e+02] [ 9.89449290e-01 -2.20675944e-02 -1.43189116e-01 2.52377405e+02] [ 1.43154019e-01 -3.17024641e-03 9.89695345e-01 6.09550685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.2792541539999 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:447.41, Y:252.40, Z:60.96 [[-2.33937425e-02 -9.99726329e-01 -2.85144953e-05 4.47413144e+02] [ 9.89389617e-01 -2.31477710e-02 -1.43430703e-01 2.52404878e+02] [ 1.43390790e-01 -3.38359288e-03 9.89660362e-01 6.09584212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3092541539999 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:447.41, Y:252.41, Z:60.96 [[-2.40108701e-02 -9.99711698e-01 6.20755393e-06 4.47414980e+02] [ 9.89318512e-01 -2.37621418e-02 -1.43820174e-01 2.52409581e+02] [ 1.43778858e-01 -3.44710627e-03 9.89603839e-01 6.09590273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.339254154 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:447.42, Y:252.44, Z:60.96 [[-2.44299732e-02 -9.99701543e-01 -4.43680086e-05 4.47415895e+02] [ 9.89325591e-01 -2.41700355e-02 -1.43703461e-01 2.52436837e+02] [ 1.43659499e-01 -3.55456609e-03 9.89620793e-01 6.09625725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3692541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:447.38, Y:252.48, Z:60.97 [[-1.26652049e-02 -9.94141432e-01 1.07342466e-01 4.47380130e+02] [ 9.92604828e-01 -2.54612169e-02 -1.18690278e-01 2.52484915e+02] [ 1.20727993e-01 1.05045413e-01 9.87112057e-01 6.09724195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.3992541539999 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:447.46, Y:252.49, Z:60.94 [[-3.46842951e-02 -9.95626195e-01 -8.67495187e-02 4.47463873e+02] [ 9.85405572e-01 -1.95952096e-02 -1.69091354e-01 2.52489789e+02] [ 1.66651907e-01 -9.13482735e-02 9.81775247e-01 6.09391548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4292541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:447.42, Y:252.49, Z:60.96 [[-3.10662464e-02 -9.99515827e-01 1.73199981e-03 4.47420285e+02] [ 9.85291397e-01 -3.09153584e-02 -1.68062796e-01 2.52486325e+02] [ 1.68034970e-01 -3.51455573e-03 9.85774770e-01 6.09649777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.459254154 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:447.42, Y:252.49, Z:60.96 [[-2.86882428e-02 -9.99587021e-01 1.66498841e-03 4.47420626e+02] [ 9.85354968e-01 -2.85597932e-02 -1.68106885e-01 2.52485965e+02] [ 1.68085012e-01 -3.18208655e-03 9.85767368e-01 6.09645951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.4892541539999 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:447.41, Y:253.04, Z:61.05 [[-2.60471090e-02 -9.99557774e-01 1.43458723e-02 4.47408489e+02] [ 9.87107135e-01 -2.79845089e-02 -1.57595593e-01 2.53040060e+02] [ 1.57927362e-01 1.00560033e-02 9.87399527e-01 6.10539539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5192541539999 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:447.42, Y:252.74, Z:61.00 [[-2.14464259e-02 -9.99762180e-01 -3.95404237e-03 4.47421630e+02] [ 9.86767131e-01 -2.05315480e-02 -1.60838692e-01 2.52738343e+02] [ 1.60719259e-01 -7.35113414e-03 9.86972786e-01 6.10012801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5492541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.43, Y:252.49, Z:60.96 [[-1.93278043e-02 -9.99797739e-01 -5.56031066e-03 4.47425388e+02] [ 9.85764902e-01 -1.81269340e-02 -1.67149552e-01 2.52489760e+02] [ 1.67014953e-01 -8.71179292e-03 9.85915874e-01 6.09636820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.5792541539998 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:447.40, Y:252.48, Z:60.96 [[ 1.35664498e-03 -9.97888085e-01 6.49425113e-02 4.47401551e+02] [ 9.92293294e-01 -6.70329669e-03 -1.23729887e-01 2.52475433e+02] [ 1.23903909e-01 6.46098760e-02 9.90188560e-01 6.09606543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6092541539999 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:447.46, Y:252.49, Z:60.95 [[-1.52582734e-02 -9.97724587e-01 -6.56721731e-02 4.47457699e+02] [ 9.86024716e-01 -4.11681838e-03 -1.66548224e-01 2.52490374e+02] [ 1.65898897e-01 -6.72956242e-02 9.83843918e-01 6.09464412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6392541539999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:447.43, Y:252.49, Z:60.97 [[-1.34426324e-02 -9.99908740e-01 1.34448613e-03 4.47427179e+02] [ 9.85901610e-01 -1.34785795e-02 -1.66782321e-01 2.52488395e+02] [ 1.66785222e-01 -9.16462388e-04 9.85992824e-01 6.09655608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6692541539999 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:447.42, Y:252.88, Z:61.03 [[-1.56626241e-02 -9.99746802e-01 1.61559050e-02 4.47417341e+02] [ 9.87531786e-01 -1.79984767e-02 -1.56387424e-01 2.52881754e+02] [ 1.56638608e-01 1.35050323e-02 9.87563649e-01 6.10276551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.6992541539998 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:447.44, Y:252.50, Z:60.96 [[-1.51721368e-02 -9.99800120e-01 -1.30202162e-02 4.47440073e+02] [ 9.85636120e-01 -1.27641546e-02 -1.68399871e-01 2.52495211e+02] [ 1.68200019e-01 -1.53881812e-02 9.85632770e-01 6.09617816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7292541539999 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:447.44, Y:252.50, Z:60.97 [[-1.60102044e-02 -9.99871066e-01 1.23477291e-03 4.47435352e+02] [ 9.85645039e-01 -1.59899708e-02 -1.68071944e-01 2.52501166e+02] [ 1.68070018e-01 -1.47381839e-03 9.85773958e-01 6.09664404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7592541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:447.44, Y:252.50, Z:60.97 [[-1.72937710e-02 -9.99849769e-01 1.16805668e-03 4.47437430e+02] [ 9.85617657e-01 -1.72439969e-02 -1.68108532e-01 2.52503368e+02] [ 1.68103419e-01 -1.75597316e-03 9.85767801e-01 6.09667946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.7892541539999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:447.44, Y:252.51, Z:60.97 [[-2.10840791e-02 -9.99777098e-01 1.10263359e-03 4.47441509e+02] [ 9.85499874e-01 -2.09686878e-02 -1.68375508e-01 2.52507564e+02] [ 1.68361098e-01 -2.46339727e-03 9.85722310e-01 6.09677738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8192541539999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:447.43, Y:252.49, Z:60.96 [[-4.33671243e-03 -9.97957839e-01 6.37286799e-02 4.47427307e+02] [ 9.92389194e-01 -1.21378868e-02 -1.22541259e-01 2.52490984e+02] [ 1.23064542e-01 6.27122271e-02 9.90415214e-01 6.09558046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8492541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.47, Y:252.52, Z:60.94 [[-8.16890155e-03 -9.99791043e-01 -1.87386908e-02 4.47469621e+02] [ 9.92001388e-01 -5.74188191e-03 -1.26096300e-01 2.52521048e+02] [ 1.25962356e-01 -1.96188756e-02 9.91841008e-01 6.09421358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.8792541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.49, Y:252.53, Z:60.95 [[-2.22656700e-02 -9.96784710e-01 -7.69706527e-02 4.47487195e+02] [ 9.89779163e-01 -1.11306945e-02 -1.42173540e-01 2.52527435e+02] [ 1.40859674e-01 -7.93495374e-02 9.86844569e-01 6.09548364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9092541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:447.43, Y:252.57, Z:60.97 [[-1.70851036e-02 -9.97544332e-01 6.79220565e-02 4.47429921e+02] [ 9.91520494e-01 -2.56560020e-02 -1.27392624e-01 2.52568834e+02] [ 1.28822398e-01 6.51695948e-02 9.89523983e-01 6.09745485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9392541539999 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:447.49, Y:252.58, Z:60.96 [[-3.40282667e-02 -9.96701960e-01 -7.36700716e-02 4.47491556e+02] [ 9.89697890e-01 -2.33484518e-02 -1.41254865e-01 2.52582501e+02] [ 1.39068919e-01 -7.77177726e-02 9.87228334e-01 6.09644998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9692541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:447.46, Y:252.61, Z:60.99 [[-3.78243027e-02 -9.99284252e-01 -5.53764443e-04 4.47457555e+02] [ 9.89250832e-01 -3.73661798e-02 -1.41373832e-01 2.52607722e+02] [ 1.41251952e-01 -5.89517855e-03 9.89956127e-01 6.09865627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 733.9992541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:447.46, Y:252.63, Z:60.99 [[-4.50283814e-02 -9.98985578e-01 -5.09633144e-04 4.47461435e+02] [ 9.89169876e-01 -4.45145966e-02 -1.39862104e-01 2.52634448e+02] [ 1.39697539e-01 -6.80187792e-03 9.90170860e-01 6.09903800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0292541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.46, Y:252.66, Z:60.99 [[-4.86227836e-02 -9.98817104e-01 -4.66865146e-04 4.47462728e+02] [ 9.89105363e-01 -4.80849784e-02 -1.39134528e-01 2.52660779e+02] [ 1.38947497e-01 -7.22688685e-03 9.90273379e-01 6.09941160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.0592541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.46, Y:252.69, Z:61.00 [[-5.18375452e-02 -9.98655439e-01 -4.26816007e-04 4.47463983e+02] [ 9.88956589e-01 -5.12746736e-02 -1.39053133e-01 2.52687962e+02] [ 1.38844283e-01 -7.63027558e-03 9.90284830e-01 6.09980842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.089254154 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.47, Y:252.71, Z:61.00 [[-5.67805683e-02 -9.98386606e-01 -3.89227071e-04 4.47465699e+02] [ 9.88694474e-01 -5.61751549e-02 -1.39023699e-01 2.52714266e+02] [ 1.38777534e-01 -8.27867128e-03 9.90288978e-01 6.10017664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1192541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.47, Y:252.74, Z:61.00 [[-5.82300014e-02 -9.98301897e-01 1.60942222e-03 4.47468171e+02] [ 9.88646735e-01 -5.78903655e-02 -1.38659079e-01 2.52744797e+02] [ 1.38516791e-01 -6.48296831e-03 9.90338866e-01 6.10045548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1492541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:447.47, Y:252.77, Z:61.01 [[-6.09386538e-02 -9.98135139e-01 -3.56726518e-03 4.47468489e+02] [ 9.88296906e-01 -5.98365225e-02 -1.40316840e-01 2.52768936e+02] [ 1.39841716e-01 -1.20762365e-02 9.90100227e-01 6.10082440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.1792541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.47, Y:252.80, Z:61.01 [[-6.16044876e-02 -9.98100607e-01 -2.57624693e-04 4.47467323e+02] [ 9.88204684e-01 -6.09574333e-02 -1.40483783e-01 2.52795729e+02] [ 1.40201245e-01 -8.90901740e-03 9.90082946e-01 6.10126169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.209254154 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.47, Y:252.82, Z:61.02 [[-6.18791640e-02 -9.98083625e-01 -2.16377999e-04 4.47467192e+02] [ 9.88187504e-01 -6.12351685e-02 -1.40483847e-01 2.52823055e+02] [ 1.40201377e-01 -8.90684503e-03 9.90082947e-01 6.10163466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2392541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:447.47, Y:252.85, Z:61.02 [[-6.22604731e-02 -9.98059919e-01 -1.77340800e-04 4.47467342e+02] [ 9.88149886e-01 -6.16172911e-02 -1.40581340e-01 2.52849998e+02] [ 1.40297674e-01 -8.92790005e-03 9.90069116e-01 6.10198649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2692541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.46, Y:252.89, Z:61.02 [[-5.59044836e-02 -9.97767716e-01 3.65277027e-02 4.47455472e+02] [ 9.89213469e-01 -6.03121275e-02 -1.33488425e-01 2.52887628e+02] [ 1.35393504e-01 2.86710941e-02 9.90376982e-01 6.10237529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.2992541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:447.49, Y:252.91, Z:61.02 [[-5.86968086e-02 -9.97503253e-01 -3.92676085e-02 4.47487406e+02] [ 9.88538803e-01 -5.25987327e-02 -1.41507623e-01 2.52910694e+02] [ 1.39088888e-01 -4.71236006e-02 9.89158050e-01 6.10182267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3292541539998 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:447.47, Y:252.93, Z:61.03 [[-5.76058399e-02 -9.98339115e-01 -7.61036963e-04 4.47465318e+02] [ 9.87912123e-01 -5.68942634e-02 -1.44196669e-01 2.52926451e+02] [ 1.43913876e-01 -9.05840788e-03 9.89548757e-01 6.10300272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3592541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.46, Y:252.93, Z:61.03 [[-5.43941778e-02 -9.98519496e-01 2.98985754e-04 4.47463152e+02] [ 9.88089860e-01 -5.38691851e-02 -1.44140695e-01 2.52928432e+02] [ 1.43943400e-01 -7.54498979e-03 9.89557159e-01 6.10313336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.3892541539999 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:447.46, Y:252.92, Z:61.03 [[-5.05392649e-02 -9.98722046e-01 2.40642574e-04 4.47461812e+02] [ 9.88256716e-01 -5.00444653e-02 -1.44375258e-01 2.52924912e+02] [ 1.44202796e-01 -7.05880278e-03 9.89522980e-01 6.10308057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4192541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:447.46, Y:252.92, Z:61.03 [[-4.19851504e-02 -9.99118218e-01 1.82449957e-04 4.47458568e+02] [ 9.88584932e-01 -4.15689636e-02 -1.44816619e-01 2.52923688e+02] [ 1.44696507e-01 -5.89978027e-03 9.89458495e-01 6.10310707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4492541539998 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:447.45, Y:252.92, Z:61.02 [[-2.36365346e-02 -9.99283033e-01 2.95758936e-02 4.47450309e+02] [ 9.92790353e-01 -2.69398170e-02 -1.16797096e-01 2.52918296e+02] [ 1.17510125e-01 2.66019832e-02 9.92715319e-01 6.10217220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.4792541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:447.48, Y:252.93, Z:61.02 [[-1.95769589e-02 -9.98520945e-01 -5.07214420e-02 4.47476740e+02] [ 9.92016968e-01 -1.30783098e-02 -1.25424454e-01 2.52934150e+02] [ 1.24575594e-01 -5.27719605e-02 9.90805754e-01 6.10213385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5092541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.45, Y:252.96, Z:61.04 [[-1.45935250e-02 -9.99893090e-01 -9.15762509e-04 4.47450625e+02] [ 9.91960354e-01 -1.43625937e-02 -1.25731347e-01 2.52960690e+02] [ 1.25704752e-01 -2.74326365e-03 9.92063904e-01 6.10376948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5392541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.44, Y:252.99, Z:61.04 [[-9.95924653e-03 -9.99895457e-01 1.04828108e-02 4.47443406e+02] [ 9.91725695e-01 -1.12185961e-02 -1.27883888e-01 2.52987007e+02] [ 1.27988121e-01 9.12244568e-03 9.91733746e-01 6.10446157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5692541539999 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:447.45, Y:253.02, Z:61.04 [[-2.31998770e-03 -9.99923463e-01 -1.21526455e-02 4.47452641e+02] [ 9.92191087e-01 -7.86197261e-04 -1.24724615e-01 2.53016102e+02] [ 1.24705514e-01 -1.23471061e-02 9.92116971e-01 6.10412547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.5992541539999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:447.45, Y:253.04, Z:61.05 [[ 1.08879320e-03 -9.99999099e-01 -7.84853958e-04 4.47446963e+02] [ 9.92184719e-01 1.17821298e-03 -1.24772174e-01 2.53043514e+02] [ 1.24772986e-01 -6.42869008e-04 9.92185108e-01 6.10470117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6292541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:447.44, Y:253.07, Z:61.05 [[ 8.83950199e-03 -9.99886473e-01 1.22026703e-02 4.47441902e+02] [ 9.92678992e-01 7.30444552e-03 -1.20561453e-01 2.53070976e+02] [ 1.20458632e-01 1.31790376e-02 9.92630863e-01 6.10498475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6592541539999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:447.45, Y:253.10, Z:61.05 [[ 7.59186717e-03 -9.99933022e-01 -8.73582048e-03 4.47450683e+02] [ 9.92349379e-01 8.61027167e-03 -1.23160761e-01 2.53097843e+02] [ 1.23227730e-01 -7.73396589e-03 9.92348282e-01 6.10505324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.6892541539999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:447.45, Y:253.13, Z:61.06 [[ 6.68011840e-03 -9.99962822e-01 -5.45264208e-03 4.47450065e+02] [ 9.92023447e-01 7.31327275e-03 -1.25841154e-01 2.53125549e+02] [ 1.25876352e-01 -4.56851498e-03 9.92035419e-01 6.10558322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7192541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:447.44, Y:253.15, Z:61.06 [[ 7.70696517e-03 -9.99895647e-01 1.22187192e-02 4.47443035e+02] [ 9.92431041e-01 6.15065852e-03 -1.22649089e-01 2.53153559e+02] [ 1.22561137e-01 1.30714885e-02 9.92374881e-01 6.10592974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7492541539999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:447.46, Y:253.18, Z:61.06 [[ 4.84046893e-03 -9.99898365e-01 -1.34100262e-02 4.47455763e+02] [ 9.92006599e-01 6.49235334e-03 -1.26018872e-01 2.53180882e+02] [ 1.26093127e-01 -1.26928440e-02 9.91937203e-01 6.10602451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.7792541539999 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:447.45, Y:253.21, Z:61.07 [[ 3.45690320e-03 -9.99981280e-01 5.04873772e-03 4.47450120e+02] [ 9.92406463e-01 2.80986453e-03 -1.22969579e-01 2.53208279e+02] [ 1.22953091e-01 5.43549387e-03 9.92397598e-01 6.10658948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8092541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.46, Y:253.24, Z:61.07 [[ 3.04985312e-04 -9.99981511e-01 -6.07325924e-03 4.47457187e+02] [ 9.92139286e-01 1.06257855e-03 -1.25133962e-01 2.53235963e+02] [ 1.25138102e-01 -5.98735506e-03 9.92121266e-01 6.10683175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.839254154 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:447.46, Y:253.26, Z:61.07 [[-4.07080470e-03 -9.99991549e-01 -5.74748876e-04 4.47457835e+02] [ 9.92173300e-01 -3.96724545e-03 -1.24805467e-01 2.53263894e+02] [ 1.24802132e-01 -1.07830917e-03 9.92181065e-01 6.10730789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8692541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:447.46, Y:253.29, Z:61.07 [[-6.47056980e-03 -9.99978920e-01 -5.39977542e-04 4.47460233e+02] [ 9.92125739e-01 -6.35220985e-03 -1.25084642e-01 2.53291906e+02] [ 1.25078575e-01 -1.34509452e-03 9.92145927e-01 6.10748997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.8992541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.46, Y:253.32, Z:61.08 [[-1.24606479e-02 -9.99922237e-01 -5.01680038e-04 4.47464227e+02] [ 9.92153413e-01 -1.23014120e-02 -1.24419778e-01 2.53318945e+02] [ 1.24403931e-01 -2.04809461e-03 9.92229544e-01 6.10788649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9292541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.47, Y:253.35, Z:61.08 [[-1.53892872e-02 -9.99881468e-01 -4.69004684e-04 4.47466618e+02] [ 9.92121017e-01 -1.52115147e-02 -1.24356334e-01 2.53346763e+02] [ 1.24334459e-01 -2.37906475e-03 9.92237513e-01 6.10812176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.959254154 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.47, Y:253.37, Z:61.08 [[-2.10343245e-02 -9.99778660e-01 -4.34813723e-04 4.47471090e+02] [ 9.91961656e-01 -2.08155794e-02 -1.24815002e-01 2.53373109e+02] [ 1.24778324e-01 -3.05671779e-03 9.92179936e-01 6.10849115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 734.9892541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.48, Y:253.40, Z:61.09 [[-2.46834350e-02 -9.99695230e-01 -4.17592632e-04 4.47475697e+02] [ 9.91708595e-01 -2.44335365e-02 -1.26162848e-01 2.53401465e+02] [ 1.26114194e-01 -3.52826265e-03 9.92009456e-01 6.10868198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0192541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.48, Y:253.43, Z:61.09 [[-2.65849545e-02 -9.99646486e-01 -3.78856740e-04 4.47476913e+02] [ 9.91819466e-01 -2.63294626e-02 -1.24903592e-01 2.53429339e+02] [ 1.24849462e-01 -3.69631381e-03 9.92168811e-01 6.10914916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0492541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.48, Y:253.46, Z:61.09 [[-2.73289611e-02 -9.99626435e-01 -3.43707785e-04 4.47480315e+02] [ 9.91739073e-01 -2.70702160e-02 -1.25382676e-01 2.53456859e+02] [ 1.25326533e-01 -3.76744670e-03 9.92108395e-01 6.10947466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.0792541539998 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.48, Y:253.49, Z:61.10 [[-2.76088149e-02 -9.99618757e-01 -3.06137090e-04 4.47480300e+02] [ 9.91731314e-01 -2.73525699e-02 -1.25382768e-01 2.53485080e+02] [ 1.25326593e-01 -3.76527536e-03 9.92108395e-01 6.10980765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1092541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.48, Y:253.51, Z:61.10 [[-2.51890749e-02 -9.99682668e-01 -2.70051082e-04 4.47483966e+02] [ 9.91832221e-01 -2.49574769e-02 -1.25083852e-01 2.53512690e+02] [ 1.25037419e-01 -3.41859189e-03 9.92146137e-01 6.11000689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1392541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.48, Y:253.54, Z:61.10 [[-2.38855816e-02 -9.99714672e-01 -2.32707412e-04 4.47484998e+02] [ 9.91942655e-01 -2.36709192e-02 -1.24456645e-01 2.53539682e+02] [ 1.24415625e-01 -3.20355176e-03 9.92225020e-01 6.11042298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1692541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.49, Y:253.57, Z:61.11 [[-2.12097662e-02 -9.99775025e-01 -2.11996040e-04 4.47486640e+02] [ 9.91928973e-01 -2.10168017e-02 -1.25040823e-01 2.53567472e+02] [ 1.25008236e-01 -2.86237162e-03 9.92151575e-01 6.11062103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.1992541539998 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.47, Y:253.61, Z:61.11 [[-1.24511358e-02 -9.98974002e-01 4.35420833e-02 4.47474309e+02] [ 9.93323661e-01 -1.73517127e-02 -1.14048333e-01 2.53607148e+02] [ 1.14686849e-01 4.18313503e-02 9.92520561e-01 6.11087877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2292541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.51, Y:253.63, Z:61.10 [[-1.38775036e-02 -9.98796643e-01 -4.70391497e-02 4.47512021e+02] [ 9.92077758e-01 -7.87937093e-03 -1.25377977e-01 2.53625741e+02] [ 1.24856464e-01 -4.84064276e-02 9.90993280e-01 6.11037036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2592541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.49, Y:253.65, Z:61.12 [[-1.06642681e-02 -9.99943134e-01 -5.41084616e-05 4.47489713e+02] [ 9.91999630e-01 -1.05727446e-02 -1.25797266e-01 2.53651172e+02] [ 1.25789541e-01 -1.39521135e-03 9.92055969e-01 6.11171135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.2892541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.49, Y:253.68, Z:61.12 [[-6.12042671e-03 -9.99981270e-01 -3.22959094e-05 4.47492302e+02] [ 9.92014869e-01 -6.06759948e-03 -1.25974933e-01 2.53678622e+02] [ 1.25972377e-01 -8.03058365e-04 9.92033425e-01 6.11201098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3192541539999 meters Centerline goodness : 0.999225 Centerline is valid? [True, True] Translation: X:447.49, Y:253.68, Z:61.12 [[-4.61457230e-03 -9.99989353e-01 -1.19410242e-06 4.47493656e+02] [ 9.91977808e-01 -4.57745120e-03 -1.26329233e-01 2.53680842e+02] [ 1.26327882e-01 -5.84139901e-04 9.91988369e-01 6.11203661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3492541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.50, Y:253.71, Z:61.12 [[-4.11722506e-03 -9.99991523e-01 -4.60905516e-05 4.47495333e+02] [ 9.91956126e-01 -4.07830997e-03 -1.26516449e-01 2.53707955e+02] [ 1.26515188e-01 -5.66616498e-04 9.91964508e-01 6.11231945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.3792541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.50, Y:253.74, Z:61.13 [[-5.80088134e-03 -9.99983175e-01 -2.02867333e-05 4.47498697e+02] [ 9.91875820e-01 -5.75127266e-03 -1.27079823e-01 2.53735845e+02] [ 1.27077569e-01 -7.57296896e-04 9.91892493e-01 6.11259827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4092541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.50, Y:253.74, Z:61.13 [[-9.66563037e-03 -9.99953287e-01 1.00175053e-05 4.47502433e+02] [ 9.91825291e-01 -9.58833921e-03 -1.27242505e-01 2.53741607e+02] [ 1.27236657e-01 -1.21994341e-03 9.91871637e-01 6.11263413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4392541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.50, Y:253.77, Z:61.13 [[-1.27898889e-02 -9.99918206e-01 -3.37736647e-05 4.47504497e+02] [ 9.91755605e-01 -1.26811746e-02 -1.27514735e-01 2.53769544e+02] [ 1.27503876e-01 -1.66439451e-03 9.91836676e-01 6.11286396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4692541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.51, Y:253.78, Z:61.13 [[-1.62927753e-02 -9.99867264e-01 -2.69414952e-06 4.47506208e+02] [ 9.91717888e-01 -1.61596384e-02 -1.27414668e-01 2.53775117e+02] [ 1.27397712e-01 -2.07861040e-03 9.91849536e-01 6.11294407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.4992541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.51, Y:253.80, Z:61.13 [[-2.09019316e-02 -9.99781530e-01 -4.66006187e-05 4.47508127e+02] [ 9.91747706e-01 -2.07280754e-02 -1.26518118e-01 2.53802525e+02] [ 1.26489511e-01 -2.69068910e-03 9.91964296e-01 6.11333486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5292541539999 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:447.51, Y:253.83, Z:61.14 [[-3.05143105e-02 -9.99534330e-01 -9.76903647e-06 4.47512187e+02] [ 9.91602474e-01 -3.02709337e-02 -1.25730679e-01 2.53830696e+02] [ 1.25671834e-01 -3.84627198e-03 9.92064411e-01 6.11366835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.5592541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.51, Y:253.82, Z:61.13 [[-2.40113468e-02 -9.99278449e-01 2.94284924e-02 4.47505362e+02] [ 9.94035913e-01 -2.69969978e-02 -1.05658728e-01 2.53818790e+02] [ 1.06376971e-01 2.67159699e-02 9.93966899e-01 6.11277133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.589254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.54, Y:253.84, Z:61.13 [[-3.98166623e-02 -9.98335804e-01 -4.17163762e-02 4.47536300e+02] [ 9.92970445e-01 -3.48763699e-02 -1.13107620e-01 2.53837633e+02] [ 1.11464471e-01 -4.59266966e-02 9.92706608e-01 6.11318215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6192541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.52, Y:253.86, Z:61.14 [[-4.42470675e-02 -9.99020461e-01 -5.62338690e-04 4.47517523e+02] [ 9.92710999e-01 -4.39044411e-02 -1.12237573e-01 2.53863625e+02] [ 1.12102943e-01 -5.52442328e-03 9.93681242e-01 6.11432519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6492541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.52, Y:253.89, Z:61.15 [[-4.85131758e-02 -9.98822403e-01 -5.27532016e-04 4.47518872e+02] [ 9.92641550e-01 -4.81542898e-02 -1.11103188e-01 2.53891332e+02] [ 1.10946950e-01 -5.91361867e-03 9.93808736e-01 6.11462036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.6792541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.51, Y:253.93, Z:61.15 [[-5.06669262e-02 -9.98164359e-01 3.31779416e-02 4.47510569e+02] [ 9.93384847e-01 -5.37964725e-02 -1.01451883e-01 2.53927166e+02] [ 1.03050510e-01 2.78182094e-02 9.94287051e-01 6.11450405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.709254154 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.54, Y:253.95, Z:61.15 [[-6.17707519e-02 -9.97436004e-01 -3.61357386e-02 4.47539485e+02] [ 9.92343524e-01 -5.74952335e-02 -1.09309779e-01 2.53948573e+02] [ 1.06951876e-01 -4.26112134e-02 9.93350684e-01 6.11459862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7392541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.52, Y:253.98, Z:61.15 [[-6.41448542e-02 -9.97940513e-01 -4.11619438e-04 4.47522673e+02] [ 9.91939759e-01 -6.37139660e-02 -1.09526457e-01 2.53975808e+02] [ 1.09274663e-01 -7.43386028e-03 9.93983796e-01 6.11539387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7692541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.52, Y:254.00, Z:61.16 [[-6.65965571e-02 -9.97779913e-01 -3.78636821e-04 4.47522179e+02] [ 9.91769875e-01 -6.61538208e-02 -1.09618371e-01 2.54002218e+02] [ 1.09349961e-01 -7.67572672e-03 9.93973676e-01 6.11579912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.7992541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.52, Y:254.03, Z:61.16 [[-6.87104964e-02 -9.97636579e-01 -3.51635477e-04 4.47521326e+02] [ 9.91512238e-01 -6.82496890e-02 -1.10659217e-01 2.54030498e+02] [ 1.10373684e-01 -7.95210062e-03 9.93858347e-01 6.11600969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8292541539998 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.52, Y:254.06, Z:61.16 [[-6.94326401e-02 -9.97586591e-01 -3.20081979e-04 4.47520299e+02] [ 9.91408244e-01 -6.89669617e-02 -1.11145186e-01 2.54058657e+02] [ 1.10854872e-01 -8.03443564e-03 9.93804128e-01 6.11630709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8592541539999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:447.52, Y:254.09, Z:61.17 [[-6.88597635e-02 -9.97626308e-01 -2.89157376e-04 4.47518152e+02] [ 9.91358180e-01 -6.83946687e-02 -1.11942527e-01 2.54086389e+02] [ 1.11657033e-01 -7.99499447e-03 9.93714641e-01 6.11653962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.8892541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.52, Y:254.11, Z:61.17 [[-6.77116000e-02 -9.97704903e-01 -2.56945880e-04 4.47517005e+02] [ 9.91352427e-01 -6.72514540e-02 -1.12683665e-01 2.54114605e+02] [ 1.12407765e-01 -7.88471514e-03 9.93630880e-01 6.11684591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9192541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.52, Y:254.14, Z:61.17 [[-6.65041275e-02 -9.97786125e-01 -2.23542788e-04 4.47515046e+02] [ 9.91405139e-01 -6.60535237e-02 -1.12928216e-01 2.54142541e+02] [ 1.12663441e-01 -7.73181391e-03 9.93603124e-01 6.11713426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9492541539998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.51, Y:254.17, Z:61.17 [[-6.19595035e-02 -9.98078646e-01 -1.90308792e-04 4.47510906e+02] [ 9.91642839e-01 -6.15383556e-02 -1.13390962e-01 2.54170721e+02] [ 1.13161386e-01 -7.21436603e-03 9.93550428e-01 6.11743601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 735.9792541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:447.51, Y:254.20, Z:61.18 [[-5.95057186e-02 -9.98227952e-01 -1.56365346e-04 4.47507941e+02] [ 9.91772586e-01 -5.91031184e-02 -1.13551570e-01 2.54198514e+02] [ 1.13341109e-01 -6.91204662e-03 9.93532091e-01 6.11778557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0092541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.50, Y:254.23, Z:61.18 [[-5.28789524e-02 -9.98600922e-01 -1.22020513e-04 4.47502062e+02] [ 9.92189766e-01 -5.25256375e-02 -1.13139409e-01 2.54225454e+02] [ 1.12974709e-01 -6.10376092e-03 9.93579116e-01 6.11813608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0392541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.50, Y:254.25, Z:61.18 [[-4.93607655e-02 -9.98781010e-01 -9.12606262e-05 4.47499657e+02] [ 9.92418108e-01 -4.90360066e-02 -1.12702122e-01 2.54252520e+02] [ 1.12560264e-01 -5.65363171e-03 9.93628816e-01 6.11846040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0692541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:447.48, Y:254.29, Z:61.18 [[-3.88222107e-02 -9.97693315e-01 5.56856004e-02 4.47478564e+02] [ 9.94081667e-01 -4.42200294e-02 -9.92281623e-02 2.54293059e+02] [ 1.01461693e-01 5.15037779e-02 9.93505353e-01 6.11836464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.0992541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.51, Y:254.32, Z:61.18 [[-4.54467850e-02 -9.98015213e-01 -4.35915722e-02 4.47514651e+02] [ 9.91181602e-01 -3.96124362e-02 -1.26451121e-01 2.54323193e+02] [ 1.24473374e-01 -4.89539613e-02 9.91014576e-01 6.11807533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1292541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.49, Y:254.32, Z:61.19 [[-4.49804871e-02 -9.98987432e-01 9.30812363e-04 4.47492664e+02] [ 9.90989701e-01 -4.47380106e-02 -1.26245487e-01 2.54324413e+02] [ 1.26159298e-01 -4.75615804e-03 9.91998594e-01 6.11907487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1592541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.49, Y:254.32, Z:61.19 [[-3.69240436e-02 -9.99317689e-01 8.78626995e-04 4.47486915e+02] [ 9.91340222e-01 -3.67401301e-02 -1.26074294e-01 2.54317999e+02] [ 1.26020553e-01 -3.78415445e-03 9.92020413e-01 6.11905295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.1892541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.48, Y:254.32, Z:61.19 [[-3.29513486e-02 -9.99456614e-01 8.27446533e-04 4.47483911e+02] [ 9.91486219e-01 -3.27928977e-02 -1.26014698e-01 2.54317282e+02] [ 1.25973357e-01 -3.33195239e-03 9.92028030e-01 6.11905468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2192541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.46, Y:254.28, Z:61.18 [[-9.87544836e-03 -9.98175856e-01 5.95603554e-02 4.47461765e+02] [ 9.95961161e-01 -1.51342849e-02 -8.85003914e-02 2.54283645e+02] [ 8.92403573e-02 5.84458196e-02 9.94293842e-01 6.11804938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2492541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.52, Y:254.29, Z:61.17 [[-1.51852508e-02 -9.96567239e-01 -8.13827114e-02 4.47516265e+02] [ 9.94276516e-01 -6.44155887e-03 -1.06642942e-01 2.54293999e+02] [ 1.05752630e-01 -8.25363186e-02 9.90961219e-01 6.11734400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.2792541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.48, Y:254.32, Z:61.19 [[-1.34356504e-02 -9.99909653e-01 -4.10910856e-04 4.47475315e+02] [ 9.94143537e-01 -1.33141001e-02 -1.07244404e-01 2.54319048e+02] [ 1.07229244e-01 -1.84940269e-03 9.94232603e-01 6.11939946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3092541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.47, Y:254.35, Z:61.20 [[-1.11017749e-02 -9.99938295e-01 -3.96281754e-04 4.47472794e+02] [ 9.94065302e-01 -1.09936788e-02 -1.08228067e-01 2.54346932e+02] [ 1.08217032e-01 -1.59545359e-03 9.94126012e-01 6.11978127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.339254154 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.47, Y:254.37, Z:61.20 [[-9.98931942e-03 -9.99950039e-01 -3.65720979e-04 4.47471595e+02] [ 9.94052294e-01 -9.89073623e-03 -1.08453726e-01 2.54374335e+02] [ 1.08444691e-01 -1.44692469e-03 9.94101431e-01 6.12007255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3692541539999 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:447.47, Y:254.40, Z:61.20 [[-8.82830699e-03 -9.99960974e-01 -3.35063178e-04 4.47470392e+02] [ 9.94019950e-01 -8.73938326e-03 -1.08848345e-01 2.54401858e+02] [ 1.08841169e-01 -1.29400609e-03 9.94058311e-01 6.12035940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.3992541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.47, Y:254.43, Z:61.21 [[-6.31362428e-03 -9.99980022e-01 -3.06201945e-04 4.47467458e+02] [ 9.93907625e-01 -6.24158972e-03 -1.10039431e-01 2.54429584e+02] [ 1.10035322e-01 -9.99084075e-04 9.93927175e-01 6.12072249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4292541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.48, Y:254.45, Z:61.21 [[-6.88309359e-03 -9.99416397e-01 -3.34587517e-02 4.47479915e+02] [ 9.93079084e-01 -2.90870990e-03 -1.17411550e-01 2.54454390e+02] [ 1.17245707e-01 -3.40353412e-02 9.92519541e-01 6.12131429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.459254154 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:447.45, Y:254.49, Z:61.22 [[-2.15016303e-03 -9.99445545e-01 3.32262007e-02 4.47449190e+02] [ 9.93900484e-01 -5.79940145e-03 -1.10128086e-01 2.54485138e+02] [ 1.10259717e-01 3.27867436e-02 9.93361880e-01 6.12223417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.4892541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.46, Y:254.51, Z:61.22 [[-1.53667852e-03 -9.99998792e-01 -2.33234940e-04 4.47464976e+02] [ 9.93904695e-01 -1.50160374e-03 -1.10232494e-01 2.54512775e+02] [ 1.10232011e-01 -4.01205208e-04 9.93905802e-01 6.12164356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5192541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.46, Y:254.54, Z:61.22 [[-1.43153244e-03 -9.99998952e-01 -2.14411800e-04 4.47464480e+02] [ 9.93883014e-01 -1.39909993e-03 -1.10429146e-01 2.54540163e+02] [ 1.10428730e-01 -3.71183150e-04 9.93883976e-01 6.12197654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5492541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:447.48, Y:254.56, Z:61.23 [[-4.60995404e-03 -9.98920425e-01 -4.62248039e-02 4.47483764e+02] [ 9.92605799e-01 1.03593242e-03 -1.21378150e-01 2.54564958e+02] [ 1.21294999e-01 -4.64425561e-02 9.91529431e-01 6.12278728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.5792541539998 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.44, Y:254.59, Z:61.24 [[-3.32400548e-03 -9.98917900e-01 4.63894471e-02 4.47442034e+02] [ 9.93774873e-01 -8.46563673e-03 -1.11084811e-01 2.54594907e+02] [ 1.11357322e-01 4.57314204e-02 9.92727649e-01 6.12393740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6092541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.47, Y:254.62, Z:61.23 [[-7.93056138e-03 -9.99968542e-01 -1.47434160e-04 4.47465129e+02] [ 9.93756326e-01 -7.86488431e-03 -1.11294687e-01 2.54622871e+02] [ 1.11290027e-01 -1.02914298e-03 9.93787437e-01 6.12301102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6392541539999 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:447.47, Y:254.65, Z:61.23 [[-1.06790367e-02 -9.99942969e-01 -1.28701662e-04 4.47466491e+02] [ 9.93679152e-01 -1.05977573e-02 -1.11756124e-01 2.54650473e+02] [ 1.11748386e-01 -1.32133590e-03 9.93735655e-01 6.12328394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6692541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.47, Y:254.68, Z:61.24 [[-1.38385564e-02 -9.99904238e-01 -9.60562337e-05 4.47467919e+02] [ 9.93548752e-01 -1.37397831e-02 -1.12570403e-01 2.54678113e+02] [ 1.12558304e-01 -1.65324842e-03 9.93643747e-01 6.12358554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.6992541539998 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.47, Y:254.70, Z:61.24 [[-1.91517084e-02 -9.99816587e-01 -6.41499128e-05 4.47470482e+02] [ 9.93277731e-01 -1.90191290e-02 -1.14182406e-01 2.54704528e+02] [ 1.14160243e-01 -2.25050681e-03 9.93459800e-01 6.12379494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7292541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.47, Y:254.73, Z:61.24 [[-2.21717224e-02 -9.99754176e-01 -4.39231516e-05 4.47470977e+02] [ 9.93160635e-01 -2.20204588e-02 -1.14660595e-01 2.54732630e+02] [ 1.14631441e-01 -2.58584563e-03 9.93404724e-01 6.12413022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7592541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.47, Y:254.76, Z:61.24 [[-2.64711228e-02 -9.99649578e-01 -1.16403035e-05 4.47472077e+02] [ 9.92932750e-01 -2.62919108e-02 -1.15729383e-01 2.54759537e+02] [ 1.15688523e-01 -3.07504475e-03 9.93280781e-01 6.12437601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.7892541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.47, Y:254.76, Z:61.24 [[-2.79914442e-02 -9.99608163e-01 9.63298586e-06 4.47472344e+02] [ 9.92850246e-01 -2.78033248e-02 -1.16083440e-01 2.54764487e+02] [ 1.16038222e-01 -3.23977900e-03 9.93239465e-01 6.12447658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8192541539999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:447.47, Y:254.79, Z:61.25 [[-3.09269548e-02 -9.99521647e-01 -2.80534072e-05 4.47473292e+02] [ 9.92747968e-01 -3.07141032e-02 -1.16224418e-01 2.54791032e+02] [ 1.16167960e-01 -3.62231728e-03 9.93222978e-01 6.12473087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8492541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.47, Y:254.80, Z:61.25 [[-3.15695137e-02 -9.99501559e-01 -2.43727881e-06 4.47473638e+02] [ 9.92716204e-01 -3.13549129e-02 -1.16324578e-01 2.54795054e+02] [ 1.16266521e-01 -3.67472989e-03 9.93211253e-01 6.12478285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.8792541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.47, Y:254.82, Z:61.25 [[-3.29088982e-02 -9.99458355e-01 -4.00564516e-05 4.47473797e+02] [ 9.92667527e-01 -3.26806343e-02 -1.16375070e-01 2.54822549e+02] [ 1.16310727e-01 -3.86953808e-03 9.93205337e-01 6.12508701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9092541539999 meters Centerline goodness : 0.997541 Centerline is valid? [True, True] Translation: X:447.48, Y:254.85, Z:61.26 [[-3.69847970e-02 -9.98967239e-01 -2.63927968e-02 4.47484298e+02] [ 9.92311952e-01 -3.35913446e-02 -1.19115960e-01 2.54848127e+02] [ 1.18106372e-01 -3.05953673e-02 9.92529500e-01 6.12550170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9392541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.18, Y:254.36, Z:61.85 [[ 2.14382951e-02 -2.43049443e-01 9.69776968e-01 4.47182734e+02] [ 9.97495927e-01 -6.01896308e-02 -3.71360317e-02 2.54363540e+02] [ 6.73964095e-02 9.68144709e-01 2.41150466e-01 6.18517514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9692541539999 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:447.46, Y:254.40, Z:61.25 [[-2.24093661e-02 -9.99748605e-01 -7.39713001e-04 4.47463883e+02] [ 9.98920538e-01 -2.23606795e-02 -4.07155906e-02 2.54403501e+02] [ 4.06888144e-02 -1.65132508e-03 9.99170503e-01 6.12483161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 736.9992541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.46, Y:254.43, Z:61.25 [[-2.52650470e-02 -9.99680515e-01 -7.38785969e-04 4.47464304e+02] [ 9.98830587e-01 -2.52130802e-02 -4.12523945e-02 2.54430569e+02] [ 4.12205879e-02 -1.78016571e-03 9.99148485e-01 6.12490364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0292541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.46, Y:254.46, Z:61.25 [[-2.88364967e-02 -9.99583869e-01 -7.38707201e-04 4.47464679e+02] [ 9.98714587e-01 -2.87805849e-02 -4.17235103e-02 2.54458917e+02] [ 4.16848874e-02 -1.94091752e-03 9.99128922e-01 6.12499248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.0592541539999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:447.47, Y:254.49, Z:61.25 [[-3.32008733e-02 -9.99435374e-01 5.16086097e-03 4.47465451e+02] [ 9.98569359e-01 -3.33877806e-02 -4.17671138e-02 2.54493638e+02] [ 4.19158408e-02 3.76677297e-03 9.99114044e-01 6.12512810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.089254154 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:447.47, Y:254.51, Z:61.25 [[-3.98987587e-02 -9.99176045e-01 -7.43777340e-03 4.47468291e+02] [ 9.98281407e-01 -3.95410705e-02 -4.32520005e-02 2.54514544e+02] [ 4.29222652e-02 -9.15069203e-03 9.99036508e-01 6.12495387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1192541539999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:447.46, Y:254.54, Z:61.25 [[-4.61262930e-02 -9.98935343e-01 -7.39162268e-04 4.47464457e+02] [ 9.97953588e-01 -4.60481325e-02 -4.43644763e-02 2.54542192e+02] [ 4.42832063e-02 -2.78401847e-03 9.99015139e-01 6.12522120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1492541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.46, Y:254.57, Z:61.25 [[-4.84766815e-02 -9.98824049e-01 -7.27930678e-04 4.47463946e+02] [ 9.97842811e-01 -4.83967320e-02 -4.43562932e-02 2.54569599e+02] [ 4.42689029e-02 -2.87660629e-03 9.99015510e-01 6.12531959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.1792541539999 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:447.46, Y:254.60, Z:61.25 [[-5.09095482e-02 -9.98702993e-01 -7.42078722e-04 4.47462495e+02] [ 9.97656002e-01 -5.08221298e-02 -4.58215280e-02 2.54597466e+02] [ 4.57243831e-02 -3.07309258e-03 9.98949367e-01 6.12541536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.209254154 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.46, Y:254.62, Z:61.26 [[-5.17719696e-02 -9.98658691e-01 -6.94244813e-04 4.47461259e+02] [ 9.97713056e-01 -5.16926721e-02 -4.35491287e-02 2.54624529e+02] [ 4.34548285e-02 -2.94728128e-03 9.99051045e-01 6.12556050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2392541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.46, Y:254.65, Z:61.26 [[-5.15567572e-02 -9.98669838e-01 -6.74996168e-04 4.47460331e+02] [ 9.97749659e-01 -5.14802173e-02 -4.29581907e-02 2.54652293e+02] [ 4.28663004e-02 -2.88826220e-03 9.99076643e-01 6.12566877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2692541539999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:447.46, Y:254.68, Z:61.26 [[-4.92804098e-02 -9.98784776e-01 -6.41944074e-04 4.47457495e+02] [ 9.97921132e-01 -4.92110512e-02 -4.16135510e-02 2.54679888e+02] [ 4.15313905e-02 -2.69134240e-03 9.99133575e-01 6.12580423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.2992541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.46, Y:254.71, Z:61.26 [[-4.76934519e-02 -9.98861834e-01 -6.09846023e-04 4.47455942e+02] [ 9.98052408e-01 -4.76302090e-02 -4.02834191e-02 2.54708301e+02] [ 4.02085227e-02 -2.52991360e-03 9.99188108e-01 6.12591014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3292541539998 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:447.45, Y:254.73, Z:61.26 [[-4.33339014e-02 -9.99060469e-01 -5.93961336e-04 4.47452536e+02] [ 9.98264265e-01 -4.32756176e-02 -3.99459513e-02 2.54734975e+02] [ 3.98827168e-02 -2.32394429e-03 9.99201665e-01 6.12600793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3592541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:447.45, Y:254.76, Z:61.26 [[-4.10801290e-02 -9.99155682e-01 -5.87667117e-04 4.47450994e+02] [ 9.98351787e-01 -4.10234713e-02 -4.01345659e-02 2.54763165e+02] [ 4.00765715e-02 -2.23543166e-03 9.99194111e-01 6.12608104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.3892541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:447.45, Y:254.79, Z:61.26 [[-3.86589796e-02 -9.99252298e-01 -5.72838729e-04 4.47449461e+02] [ 9.98457534e-01 -3.86053572e-02 -3.99021304e-02 2.54790905e+02] [ 3.98501809e-02 -2.11453079e-03 9.99203429e-01 6.12612873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4192541539999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:447.45, Y:254.82, Z:61.26 [[-3.34980474e-02 -9.99438621e-01 -5.69397986e-04 4.47445046e+02] [ 9.98620340e-01 -3.34475586e-02 -4.04805807e-02 2.54818379e+02] [ 4.04388107e-02 -1.92463282e-03 9.99180163e-01 6.12623066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4492541539998 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.44, Y:254.85, Z:61.26 [[-3.11135363e-02 -9.99515699e-01 -5.61861009e-04 4.47443196e+02] [ 9.98684708e-01 -3.10647392e-02 -4.07901426e-02 2.54846632e+02] [ 4.07529338e-02 -1.83024758e-03 9.99167578e-01 6.12634136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.4792541539999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:447.44, Y:254.87, Z:61.26 [[-2.52352278e-02 -9.99681390e-01 -5.48792391e-04 4.47439562e+02] [ 9.98853191e-01 -2.51919704e-02 -4.07144699e-02 2.54874600e+02] [ 4.06876728e-02 -1.57560195e-03 9.99170672e-01 6.12642320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5092541539999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:447.44, Y:254.90, Z:61.27 [[-2.23056335e-02 -9.99751052e-01 -5.40999639e-04 4.47437786e+02] [ 9.98909277e-01 -2.22646426e-02 -4.10431652e-02 2.54902789e+02] [ 4.10209024e-02 -1.45590336e-03 9.99157228e-01 6.12652977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5392541539999 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:447.44, Y:254.93, Z:61.27 [[-2.03700267e-02 -9.99700107e-01 -1.35925622e-02 4.47440421e+02] [ 9.98788646e-01 -1.97386054e-02 -4.50735792e-02 2.54928376e+02] [ 4.47917638e-02 -1.44942468e-02 9.98891193e-01 6.12696909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5692541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.43, Y:254.96, Z:61.27 [[-1.20973847e-02 -9.99838853e-01 1.32635162e-02 4.47426124e+02] [ 9.98968772e-01 -1.26652434e-02 -4.36002698e-02 2.54957519e+02] [ 4.37612294e-02 1.27223893e-02 9.98961008e-01 6.12712608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.5992541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.40, Y:255.01, Z:61.27 [[ 4.17560629e-04 -9.95773038e-01 9.18470635e-02 4.47397553e+02] [ 9.99709850e-01 -1.79637466e-03 -2.40205930e-02 2.55005206e+02] [ 2.40840506e-02 9.18304441e-02 9.95483364e-01 6.12690307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6292541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:447.47, Y:255.02, Z:61.25 [[-2.18015821e-03 -9.95527226e-01 -9.44499289e-02 4.47472817e+02] [ 9.99062069e-01 1.91623303e-03 -4.32586404e-02 2.55017025e+02] [ 4.32461424e-02 -9.44556521e-02 9.94589313e-01 6.12455827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6592541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.42, Y:255.04, Z:61.27 [[ 3.55331235e-03 -9.99991260e-01 -2.20297641e-03 4.47424956e+02] [ 9.99014272e-01 3.64730142e-03 -4.42400518e-02 2.55043018e+02] [ 4.42477001e-02 -2.04360615e-03 9.99018501e-01 6.12726414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.6892541539999 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:447.42, Y:255.07, Z:61.27 [[ 1.16678025e-02 -9.99930830e-01 1.48225438e-03 4.47422049e+02] [ 9.98959791e-01 1.15910970e-02 -4.41019500e-02 2.55071661e+02] [ 4.40817185e-02 1.99528537e-03 9.99025936e-01 6.12739018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7192541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:447.42, Y:255.10, Z:61.27 [[ 1.48023972e-02 -9.99890338e-01 -4.48568040e-04 4.47422482e+02] [ 9.98962559e-01 1.48079817e-02 -4.30642467e-02 2.55099997e+02] [ 4.30661666e-02 1.89351407e-04 9.99072204e-01 6.12745706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7492541539999 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:447.42, Y:255.13, Z:61.28 [[ 1.94077328e-02 -9.99811565e-01 -4.18729169e-04 4.47421940e+02] [ 9.98964098e-01 1.94085199e-02 -4.11587210e-02 2.55127389e+02] [ 4.11590922e-02 3.80502053e-04 9.99152533e-01 6.12762708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.7792541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:447.42, Y:255.15, Z:61.28 [[ 2.00879369e-02 -9.99798132e-01 -4.11961375e-04 4.47422694e+02] [ 9.98955511e-01 2.00879176e-02 -4.10409815e-02 2.55153877e+02] [ 4.10409721e-02 4.12897560e-04 9.99157379e-01 6.12778875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8092541539999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:447.42, Y:255.18, Z:61.28 [[ 1.94352982e-02 -9.99811036e-01 -4.01513681e-04 4.47423815e+02] [ 9.98979010e-01 1.94355022e-02 -4.07823302e-02 2.55181743e+02] [ 4.07824275e-02 3.91513009e-04 9.99167974e-01 6.12788181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.839254154 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:447.43, Y:255.21, Z:61.28 [[ 1.61361941e-02 -9.99869726e-01 -3.94044492e-04 4.47427365e+02] [ 9.99025683e-01 1.61387605e-02 -4.10758418e-02 2.55208571e+02] [ 4.10768501e-02 2.69147188e-04 9.99155954e-01 6.12796374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8692541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.43, Y:255.24, Z:61.28 [[ 1.28469797e-02 -9.99917397e-01 -3.93794855e-04 4.47429926e+02] [ 9.99043460e-01 1.28522121e-02 -4.17969502e-02 2.55236923e+02] [ 4.17985587e-02 1.43546394e-04 9.99126048e-01 6.12802418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.8992541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:447.44, Y:255.26, Z:61.28 [[ 4.41825317e-03 -9.99990163e-01 -3.92243874e-04 4.47435571e+02] [ 9.99073773e-01 4.43099306e-03 -4.28014202e-02 2.55263455e+02] [ 4.28027372e-02 -2.02773056e-04 9.99083522e-01 6.12802053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9292541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.44, Y:255.29, Z:61.28 [[-4.99705729e-04 -9.99999800e-01 -3.88371379e-04 4.47438516e+02] [ 9.99061482e-01 -4.82415734e-04 -4.33119115e-02 2.55291076e+02] [ 4.33117155e-02 -4.09650096e-04 9.99061523e-01 6.12808657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.959254154 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.44, Y:255.32, Z:61.28 [[-1.03498983e-02 -9.99946366e-01 -3.81314539e-04 4.47443641e+02] [ 9.98989701e-01 -1.03233176e-02 -4.37379251e-02 2.55318338e+02] [ 4.37316428e-02 -8.33612374e-04 9.99042966e-01 6.12818911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 737.9892541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.45, Y:255.34, Z:61.28 [[-1.50063332e-02 -9.99887329e-01 -3.73360553e-04 4.47446562e+02] [ 9.98929907e-01 -1.49756248e-02 -4.37580996e-02 2.55344970e+02] [ 4.37475781e-02 -1.02960964e-03 9.99042086e-01 6.12825978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0192541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.45, Y:255.37, Z:61.28 [[-1.52654823e-02 -9.99883410e-01 -3.62285341e-04 4.47446704e+02] [ 9.98925981e-01 -1.52350102e-02 -4.37581917e-02 2.55373370e+02] [ 4.37475706e-02 -1.02988614e-03 9.99042086e-01 6.12834717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0492541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:447.45, Y:255.40, Z:61.28 [[-2.27919457e-02 -9.99740170e-01 -3.47028252e-04 4.47452278e+02] [ 9.98803497e-01 -2.27555659e-02 -4.32869267e-02 2.55400814e+02] [ 4.32677827e-02 -1.33320632e-03 9.99062621e-01 6.12841117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.0792541539998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:447.45, Y:255.43, Z:61.29 [[-2.46019836e-02 -9.99676908e-01 6.38919032e-03 4.47451765e+02] [ 9.98689071e-01 -2.48636371e-02 -4.47430323e-02 2.55427324e+02] [ 4.48874347e-02 5.28004720e-03 9.98978098e-01 6.12871122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1092541539999 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:447.43, Y:255.47, Z:61.29 [[-2.31697984e-02 -9.97088597e-01 7.26463324e-02 4.47430237e+02] [ 9.99159199e-01 -2.55538180e-02 -3.20608528e-02 2.55474546e+02] [ 3.38239019e-02 7.18424077e-02 9.96842321e-01 6.12905558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1392541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:447.50, Y:255.49, Z:61.28 [[-3.49741687e-02 -9.95288783e-01 -9.04270231e-02 4.47499624e+02] [ 9.98090237e-01 -3.01754290e-02 -5.39010368e-02 2.55486382e+02] [ 5.09184231e-02 -9.21394729e-02 9.94443378e-01 6.12787393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1692541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.46, Y:255.51, Z:61.30 [[-3.49287085e-02 -9.99389796e-01 -1.41756118e-04 4.47457252e+02] [ 9.97989348e-01 -3.48722555e-02 -5.29262474e-02 2.55513281e+02] [ 5.28890083e-02 -1.99011656e-03 9.98598414e-01 6.13013090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.1992541539998 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:447.42, Y:255.56, Z:61.30 [[-2.51211191e-02 -9.95378863e-01 9.26814317e-02 4.47424702e+02] [ 9.99119316e-01 -2.81156246e-02 -3.11465101e-02 2.55559208e+02] [ 3.36083741e-02 9.18173734e-02 9.95208545e-01 6.12997796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2292541539999 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.51, Y:255.57, Z:61.28 [[-3.65045377e-02 -9.94797038e-01 -9.51118911e-02 4.47505448e+02] [ 9.98120250e-01 -3.16063045e-02 -5.25072116e-02 2.55571637e+02] [ 4.92278832e-02 -9.68498561e-02 9.94080842e-01 6.12823422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2592541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.46, Y:255.60, Z:61.30 [[-3.65190712e-02 -9.99332953e-01 -8.25685845e-05 4.47461578e+02] [ 9.97937017e-01 -3.64636930e-02 -5.28404144e-02 2.55597684e+02] [ 5.28021566e-02 -2.01208110e-03 9.98602966e-01 6.13049347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.2892541539999 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:447.47, Y:255.62, Z:61.30 [[-3.61481795e-02 -9.99310526e-01 -8.47239284e-03 4.47467019e+02] [ 9.98017457e-01 -3.56617289e-02 -5.18593977e-02 2.55623997e+02] [ 5.15215019e-02 -1.03302188e-02 9.98618456e-01 6.13031877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3192541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.46, Y:255.65, Z:61.31 [[-3.95148595e-02 -9.99185397e-01 8.19253413e-03 4.47460073e+02] [ 9.97742580e-01 -3.99006852e-02 -5.40155471e-02 2.55653267e+02] [ 5.42984337e-02 6.03962339e-03 9.98506486e-01 6.13083445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3492541539999 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:447.46, Y:255.68, Z:61.31 [[-4.08660614e-02 -9.99164632e-01 -6.43661416e-05 4.47464528e+02] [ 9.97698837e-01 -4.08026217e-02 -5.41495841e-02 2.55681713e+02] [ 5.41017230e-02 -2.27709825e-03 9.98532833e-01 6.13071795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.3792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.47, Y:255.71, Z:61.31 [[-4.19715803e-02 -9.99118804e-01 -5.11228611e-05 4.47465466e+02] [ 9.97572583e-01 -4.19037800e-02 -5.56148868e-02 2.55709069e+02] [ 5.55637369e-02 -2.38524345e-03 9.98452293e-01 6.13083089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4092541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.44, Y:255.75, Z:61.30 [[-3.39876238e-02 -9.97245948e-01 6.59193458e-02 4.47442923e+02] [ 9.98520555e-01 -3.66841712e-02 -4.01369288e-02 2.55750451e+02] [ 4.24445862e-02 6.44576629e-02 9.97017385e-01 6.13041604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4392541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.49, Y:255.78, Z:61.30 [[-4.90202925e-02 -9.97504888e-01 -5.08036453e-02 4.47492033e+02] [ 9.96166017e-01 -4.51378018e-02 -7.49389458e-02 2.55776998e+02] [ 7.24587998e-02 -5.42823940e-02 9.95893139e-01 6.12954871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4692541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.47, Y:255.77, Z:61.31 [[-4.33305366e-02 -9.99060662e-01 5.08423731e-04 4.47466020e+02] [ 9.96228753e-01 -4.32459927e-02 -7.52200456e-02 2.55770564e+02] [ 7.51713758e-02 -2.75281860e-03 9.97166830e-01 6.13072851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.4992541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.46, Y:255.84, Z:61.31 [[-3.54209897e-02 -9.99295153e-01 1.24318103e-02 4.47460727e+02] [ 9.97137546e-01 -3.61705141e-02 -6.63958537e-02 2.55843877e+02] [ 6.67987198e-02 1.00444179e-02 9.97715912e-01 6.13090994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5292541539999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:447.45, Y:255.74, Z:61.30 [[-1.23532832e-02 -9.99074623e-01 4.11982274e-02 4.47450879e+02] [ 9.99251396e-01 -1.38451022e-02 -3.61242423e-02 2.55736439e+02] [ 3.66612074e-02 4.07211332e-02 9.98497744e-01 6.12959586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.5592541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.49, Y:255.75, Z:61.29 [[-1.89060009e-02 -9.97080738e-01 -7.39767926e-02 4.47494495e+02] [ 9.98460259e-01 -1.49692074e-02 -5.34138074e-02 2.55748877e+02] [ 5.21505046e-02 -7.48727289e-02 9.95828499e-01 6.12944473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.589254154 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:447.46, Y:255.78, Z:61.31 [[-9.83423386e-03 -9.99951625e-01 -1.86656556e-04 4.47456540e+02] [ 9.98557080e-01 -9.81066355e-03 -5.27968632e-02 2.55776546e+02] [ 5.27924780e-02 -7.05603925e-04 9.98605256e-01 6.13129141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6192541539999 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:447.46, Y:255.80, Z:61.31 [[-7.49747878e-03 -9.99971879e-01 -1.69399308e-04 4.47455271e+02] [ 9.98613070e-01 -7.47846229e-03 -5.21153533e-02 2.55804398e+02] [ 5.21126209e-02 -5.59898118e-04 9.98641057e-01 6.13146082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6492541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.45, Y:255.83, Z:61.32 [[-5.17804257e-03 -9.99986582e-01 -1.52503281e-04 4.47454783e+02] [ 9.98662320e-01 -5.16333927e-03 -5.14481324e-02 2.55831976e+02] [ 5.14466547e-02 -4.18699900e-04 9.98675656e-01 6.13160896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.6792541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.45, Y:255.86, Z:61.32 [[-3.07182487e-03 -9.99995273e-01 -1.36300442e-04 4.47454365e+02] [ 9.98720706e-01 -3.06103000e-03 -5.04735669e-02 2.55858880e+02] [ 5.04729111e-02 -2.91172031e-04 9.98725388e-01 6.13177140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.709254154 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:447.45, Y:255.89, Z:61.32 [[-3.01177884e-03 -9.99995457e-01 -1.25343517e-04 4.47454825e+02] [ 9.98750259e-01 -3.00177527e-03 -4.98889804e-02 2.55886291e+02] [ 4.98883775e-02 -2.75441445e-04 9.98754762e-01 6.13184563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7392541539999 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:447.45, Y:255.91, Z:61.32 [[-4.19212446e-03 -9.99991207e-01 -1.12109337e-04 4.47454900e+02] [ 9.98750554e-01 -4.18134056e-03 -4.97980644e-02 2.55913289e+02] [ 4.97971578e-02 -3.20728946e-04 9.98759300e-01 6.13197057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7692541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.46, Y:255.94, Z:61.32 [[-5.40600609e-03 -9.99985382e-01 -1.02643009e-04 4.47455575e+02] [ 9.98719584e-01 -5.39400004e-03 -5.03000787e-02 2.55940761e+02] [ 5.02987898e-02 -3.74434114e-04 9.98734145e-01 6.13208893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.7992541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.46, Y:255.97, Z:61.32 [[-7.87062726e-03 -9.99969022e-01 -8.87258841e-05 4.47458332e+02] [ 9.98699272e-01 -7.85616316e-03 -5.03790044e-02 2.55968642e+02] [ 5.03767467e-02 -4.85124841e-04 9.98730168e-01 6.13208036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8292541539998 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.46, Y:256.00, Z:61.32 [[-1.26794677e-02 -9.99919610e-01 -7.54401723e-05 4.47459973e+02] [ 9.98655316e-01 -1.26596430e-02 -5.02721915e-02 2.55995476e+02] [ 5.02671950e-02 -7.12763358e-04 9.98735551e-01 6.13221012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8592541539999 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:447.45, Y:256.03, Z:61.32 [[-6.13412191e-03 -9.98879141e-01 4.69343593e-02 4.47448665e+02] [ 9.99308777e-01 -7.84416636e-03 -3.63378199e-02 2.56034989e+02] [ 3.66652513e-02 4.66790166e-02 9.98236810e-01 6.13153887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.8892541539999 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:447.49, Y:256.05, Z:61.31 [[-1.84962246e-02 -9.98675673e-01 -4.80082307e-02 4.47485335e+02] [ 9.98551739e-01 -1.60250637e-02 -5.13577757e-02 2.56052475e+02] [ 5.05204263e-02 -4.88886272e-02 9.97525733e-01 6.13138173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9192541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:447.44, Y:256.10, Z:61.32 [[-8.09735618e-03 -9.97656593e-01 6.79393451e-02 4.47441385e+02] [ 9.99368443e-01 -1.04246518e-02 -3.39711899e-02 2.56097489e+02] [ 3.45998256e-02 6.76213607e-02 9.97110928e-01 6.13216816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9492541539998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.49, Y:256.18, Z:61.32 [[-2.53657734e-02 -9.98154018e-01 -5.51827267e-02 4.47493989e+02] [ 9.97359799e-01 -2.15110793e-02 -6.93592484e-02 2.56178155e+02] [ 6.80441725e-02 -5.67963841e-02 9.96064336e-01 6.13150566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 738.9792541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.47, Y:256.14, Z:61.33 [[-2.60311988e-02 -9.99659375e-01 1.87374322e-03 4.47466913e+02] [ 9.97286984e-01 -2.60984350e-02 -6.88298081e-02 2.56140673e+02] [ 6.88552647e-02 7.69373085e-05 9.97626657e-01 6.13266883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0092541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.47, Y:256.18, Z:61.33 [[-2.50003629e-02 -9.99686709e-01 1.21054126e-03 4.47467348e+02] [ 9.97361445e-01 -2.50247319e-02 -6.81462425e-02 2.56178006e+02] [ 6.81551863e-02 -4.96333607e-04 9.97674608e-01 6.13290062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0392541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.47, Y:256.14, Z:61.33 [[-2.27891579e-02 -9.99740274e-01 1.96729494e-04 4.47468548e+02] [ 9.97440883e-01 -2.27500808e-02 -6.77799243e-02 2.56138917e+02] [ 6.77667957e-02 -1.34842135e-03 9.97700277e-01 6.13267361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0692541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.47, Y:256.14, Z:61.32 [[-1.33293087e-02 -9.99909838e-01 1.62624977e-03 4.47472806e+02] [ 9.97768095e-01 -1.34071483e-02 -6.54146503e-02 2.56136761e+02] [ 6.54305558e-02 7.50688071e-04 9.97856843e-01 6.13247642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.0992541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.47, Y:256.16, Z:61.33 [[-1.23001979e-02 -9.99924093e-01 7.16804162e-04 4.47473901e+02] [ 9.97844918e-01 -1.23208228e-02 -6.44493398e-02 2.56155788e+02] [ 6.44532793e-02 -7.74802466e-05 9.97920723e-01 6.13258209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1292541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.48, Y:256.13, Z:61.32 [[-9.12044394e-03 -9.99958378e-01 -2.45379174e-04 4.47477890e+02] [ 9.97826614e-01 -9.08498516e-03 -6.52649411e-02 2.56127469e+02] [ 6.52599954e-02 -8.40091107e-04 9.97867941e-01 6.13238150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1592541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.48, Y:256.13, Z:61.32 [[-8.73830225e-03 -9.99961349e-01 -9.71056765e-04 4.47479648e+02] [ 9.97789034e-01 -8.65532906e-03 -6.58948403e-02 2.56133212e+02] [ 6.58838885e-02 -1.54471882e-03 9.97826101e-01 6.13237336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.1892541539999 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:447.48, Y:256.15, Z:61.33 [[-1.41814523e-02 -9.99899366e-01 -3.79950594e-04 4.47478456e+02] [ 9.97663282e-01 -1.41243372e-02 -6.68466898e-02 2.56146431e+02] [ 6.68345962e-02 -1.32704590e-03 9.97763186e-01 6.13252859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2192541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.48, Y:256.16, Z:61.33 [[-1.25199949e-02 -9.99917421e-01 -2.89841647e-03 4.47484546e+02] [ 9.97374924e-01 -1.22813085e-02 -7.13612664e-02 2.56157912e+02] [ 7.13197771e-02 -3.78425060e-03 9.97446324e-01 6.13280983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2492541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.48, Y:256.15, Z:61.33 [[-1.65324777e-02 -9.99856358e-01 3.73375094e-03 4.47481246e+02] [ 9.97685733e-01 -1.67426777e-02 -6.59003928e-02 2.56153788e+02] [ 6.59534397e-02 2.63561327e-03 9.97819221e-01 6.13272273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.2792541539999 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:447.48, Y:256.12, Z:61.32 [[-5.33668368e-03 -9.99629438e-01 2.66928267e-02 4.47480773e+02] [ 9.98823060e-01 -6.61542443e-03 -4.80492492e-02 2.56123010e+02] [ 4.82080283e-02 2.64049872e-02 9.98488239e-01 6.13190724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3092541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.50, Y:256.16, Z:61.32 [[-2.05202820e-02 -9.99419580e-01 -2.71922959e-02 4.47502018e+02] [ 9.97670857e-01 -1.86995621e-02 -6.55986859e-02 2.56160249e+02] [ 6.50521271e-02 -2.84750647e-02 9.97475509e-01 6.13196527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.339254154 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.49, Y:256.16, Z:61.33 [[-2.09534476e-02 -9.99780371e-01 4.04257814e-04 4.47490497e+02] [ 9.97611648e-01 -2.09346109e-02 -6.58235710e-02 2.56162936e+02] [ 6.58175772e-02 -9.75938441e-04 9.97831195e-01 6.13257583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3692541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.49, Y:256.17, Z:61.33 [[-2.23883376e-02 -9.99749278e-01 3.78647522e-04 4.47494013e+02] [ 9.97575768e-01 -2.23646221e-02 -6.58969771e-02 2.56166624e+02] [ 6.58889236e-02 -1.09759418e-03 9.97826360e-01 6.13252334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.3992541539999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:447.50, Y:256.17, Z:61.32 [[-2.20231838e-02 -9.99757397e-01 3.54757777e-04 4.47496101e+02] [ 9.97555352e-01 -2.19982120e-02 -6.63279687e-02 2.56169864e+02] [ 6.63196814e-02 -1.10686252e-03 9.97797813e-01 6.13244620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4292541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.50, Y:256.17, Z:61.33 [[-2.25764525e-02 -9.99745067e-01 3.25121611e-04 4.47498801e+02] [ 9.97591921e-01 -2.25491595e-02 -6.55888267e-02 2.56171989e+02] [ 6.55794371e-02 -1.15642434e-03 9.97846682e-01 6.13252061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.459254154 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.50, Y:256.18, Z:61.33 [[-2.25670350e-02 -9.99745288e-01 2.97761454e-04 4.47499964e+02] [ 9.97614244e-01 -2.25383659e-02 -6.52521510e-02 2.56177799e+02] [ 6.52422416e-02 -1.17549651e-03 9.97868763e-01 6.13255574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.4892541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.50, Y:256.18, Z:61.33 [[-2.22538625e-02 -9.99752316e-01 2.70305649e-04 4.47501271e+02] [ 9.97648925e-01 -2.22245701e-02 -6.48281711e-02 2.56179826e+02] [ 6.48181216e-02 -1.17300707e-03 9.97896405e-01 6.13253908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5192541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.50, Y:256.18, Z:61.33 [[-2.22064000e-02 -9.99753378e-01 2.41296996e-04 4.47504009e+02] [ 9.97712710e-01 -2.21764849e-02 -6.38557159e-02 2.56180516e+02] [ 6.38453188e-02 -1.17726049e-03 9.97959112e-01 6.13254723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5492541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.51, Y:256.18, Z:61.33 [[-2.22566293e-02 -9.99752268e-01 2.14065399e-04 4.47505482e+02] [ 9.97752694e-01 -2.22256490e-02 -6.32106166e-02 2.56182964e+02] [ 6.31997151e-02 -1.19327093e-03 9.98000186e-01 6.13255759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.5792541539998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.51, Y:256.19, Z:61.33 [[-2.32148456e-02 -9.99730482e-01 1.87283199e-04 4.47507777e+02] [ 9.97773475e-01 -2.31811168e-02 -6.25358240e-02 2.56189789e+02] [ 6.25233109e-02 -1.26489329e-03 9.98042702e-01 6.13257100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6092541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.51, Y:256.19, Z:61.33 [[-2.31935328e-02 -9.99730981e-01 1.61856882e-04 4.47508837e+02] [ 9.97792133e-01 -2.31586296e-02 -6.22457764e-02 2.56190203e+02] [ 6.22327794e-02 -1.28219993e-03 9.98060838e-01 6.13256626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6392541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.51, Y:256.20, Z:61.33 [[-2.34514584e-02 -9.99724967e-01 1.38036045e-04 4.47509649e+02] [ 9.97756682e-01 -2.34139461e-02 -6.27167550e-02 2.56195247e+02] [ 6.27027378e-02 -1.33307298e-03 9.98031357e-01 6.13252150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6692541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.51, Y:256.20, Z:61.32 [[-2.46212617e-02 -9.99696844e-01 1.12914996e-04 4.47511857e+02] [ 9.97739511e-01 -2.45801193e-02 -6.25434777e-02 2.56197209e+02] [ 6.25272927e-02 -1.42723958e-03 9.98042234e-01 6.13247512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.6992541539998 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:447.51, Y:256.20, Z:61.33 [[-2.47980056e-02 -9.99692478e-01 8.86692285e-05 4.47512780e+02] [ 9.97700381e-01 -2.47541868e-02 -6.30965963e-02 2.56202845e+02] [ 6.30793876e-02 -1.47620442e-03 9.98007421e-01 6.13252175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7292541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.51, Y:256.21, Z:61.33 [[-2.41315720e-02 -9.99708789e-01 6.35972941e-05 4.47514303e+02] [ 9.97718022e-01 -2.40875303e-02 -6.30756712e-02 2.56205040e+02] [ 6.30588348e-02 -1.45866294e-03 9.98008745e-01 6.13257313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7592541539999 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:447.51, Y:256.78, Z:61.36 [[-2.32084343e-02 -9.99730647e-01 4.15784609e-05 4.47514499e+02] [ 9.97815882e-01 -2.31665564e-02 -6.18609377e-02 2.56775165e+02] [ 6.18452385e-02 -1.39420786e-03 9.98084777e-01 6.13578948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.7892541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:447.52, Y:256.19, Z:61.32 [[-1.34511991e-02 -9.99909345e-01 -6.05672392e-04 4.47516185e+02] [ 9.97989117e-01 -1.33878392e-02 -6.19555374e-02 2.56192720e+02] [ 6.19418121e-02 -1.43783072e-03 9.98078727e-01 6.13243413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8192541539999 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:447.51, Y:256.22, Z:61.33 [[-1.24735954e-02 -9.99864927e-01 1.07022444e-02 4.47510144e+02] [ 9.97799689e-01 -1.31434087e-02 -6.49848514e-02 2.56219009e+02] [ 6.51167377e-02 9.86810137e-03 9.97828859e-01 6.13296227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8492541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.52, Y:256.25, Z:61.33 [[-9.69571979e-03 -9.99882679e-01 -1.18583866e-02 4.47521412e+02] [ 9.98021677e-01 -8.93961683e-03 -6.22319478e-02 2.56245235e+02] [ 6.21186373e-02 -1.24383104e-02 9.97991264e-01 6.13260336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.8792541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.52, Y:256.27, Z:61.33 [[-4.31658085e-03 -9.99990638e-01 -3.00297470e-04 4.47516630e+02] [ 9.98052143e-01 -4.28952313e-03 -6.22376018e-02 2.56273243e+02] [ 6.22357311e-02 -5.68366174e-04 9.98061316e-01 6.13287461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9092541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.52, Y:256.30, Z:61.33 [[-2.09592684e-03 -9.99997764e-01 -2.81241911e-04 4.47517003e+02] [ 9.98074630e-01 -2.07446193e-03 -6.19897574e-02 2.56300518e+02] [ 6.19890354e-02 -4.10626413e-04 9.98076746e-01 6.13315634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9392541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.52, Y:256.33, Z:61.33 [[-2.36389249e-03 -9.99997171e-01 -2.65024228e-04 4.47517041e+02] [ 9.98074031e-01 -2.34291753e-03 -6.19898269e-02 2.56328902e+02] [ 6.19890306e-02 -4.11051085e-04 9.98076746e-01 6.13332189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9692541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:447.52, Y:256.36, Z:61.34 [[ 1.57291797e-03 -9.99998732e-01 -2.49583196e-04 4.47517340e+02] [ 9.98054419e-01 1.58541593e-03 -6.23286683e-02 2.56356293e+02] [ 6.23289850e-02 -1.51059729e-04 9.98055647e-01 6.13352075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 739.9992541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.52, Y:256.38, Z:61.34 [[ 2.97466902e-03 -9.99995548e-01 -2.33373847e-04 4.47517576e+02] [ 9.98025332e-01 2.98345062e-03 -6.27418209e-02 2.56383106e+02] [ 6.27422379e-02 -4.62768603e-05 9.98029764e-01 6.13356459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0292541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.52, Y:256.41, Z:61.34 [[ 3.34527733e-03 -9.99994381e-01 -2.18063341e-04 4.47518248e+02] [ 9.98006726e-01 3.35237014e-03 -6.30185348e-02 2.56411329e+02] [ 6.30189117e-02 -6.81420533e-06 9.98012333e-01 6.13384818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.0592541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.52, Y:256.44, Z:61.34 [[ 3.03312692e-03 -9.99995380e-01 -2.00280814e-04 4.47519793e+02] [ 9.98000908e-01 3.03972048e-03 -6.31264394e-02 2.56439038e+02] [ 6.31267566e-02 -8.40993160e-06 9.98005517e-01 6.13402663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.089254154 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:447.52, Y:256.47, Z:61.34 [[ 1.90176832e-03 -9.99998175e-01 -1.81429132e-04 4.47520791e+02] [ 9.98015624e-01 1.90941674e-03 -6.29378221e-02 2.56466674e+02] [ 6.29380537e-02 -6.13759514e-05 9.98017434e-01 6.13411544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1192541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.52, Y:256.49, Z:61.34 [[-2.00967658e-03 -9.99997967e-01 -1.63673659e-04 4.47522914e+02] [ 9.97996932e-01 -1.99530589e-03 -6.32308615e-02 2.56494418e+02] [ 6.32304064e-02 -2.90419391e-04 9.97998914e-01 6.13423679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1492541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:447.52, Y:256.52, Z:61.35 [[-5.19542078e-03 -9.99986493e-01 -1.43536224e-04 4.47524133e+02] [ 9.98035021e-01 -5.17631876e-03 -6.24444045e-02 2.56522337e+02] [ 6.24428181e-02 -4.67679135e-04 9.98048434e-01 6.13451157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.1792541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.53, Y:256.55, Z:61.35 [[-1.18622382e-02 -9.99929633e-01 -1.25930206e-04 4.47526395e+02] [ 9.97957179e-01 -1.18309322e-02 -6.27813588e-02 2.56550577e+02] [ 6.27754512e-02 -8.70400387e-04 9.98027297e-01 6.13470383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.209254154 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.53, Y:256.58, Z:61.35 [[-1.52508973e-02 -9.99883693e-01 -1.07684042e-04 4.47527203e+02] [ 9.97911881e-01 -1.52140615e-02 -6.27726930e-02 2.56578019e+02] [ 6.27637537e-02 -1.06479908e-03 9.98027844e-01 6.13492147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2392541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:447.53, Y:256.61, Z:61.35 [[-1.86047376e-02 -9.99826913e-01 -8.89814683e-05 4.47527794e+02] [ 9.97881017e-01 -1.85629785e-02 -6.23609882e-02 2.56606076e+02] [ 6.23485426e-02 -1.24900274e-03 9.98053656e-01 6.13519958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2692541539999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:447.53, Y:256.63, Z:61.35 [[-2.29591677e-02 -9.99736401e-01 -7.13857005e-05 4.47529248e+02] [ 9.97756198e-01 -2.29091998e-02 -6.29105633e-02 2.56634091e+02] [ 6.28923448e-02 -1.51559970e-03 9.98019166e-01 6.13540995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.2992541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.53, Y:256.66, Z:61.35 [[-2.42166699e-02 -9.99706732e-01 -5.33066288e-05 4.47530102e+02] [ 9.97691033e-01 -2.41644576e-02 -6.34718914e-02 2.56660860e+02] [ 6.34519890e-02 -1.59026139e-03 9.97983625e-01 6.13549996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3292541539998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:447.53, Y:256.69, Z:61.36 [[-2.57284496e-02 -9.99668968e-01 -3.61796124e-05 4.47531176e+02] [ 9.97686036e-01 -2.56751365e-02 -6.29552317e-02 2.56688207e+02] [ 6.29334625e-02 -1.65583640e-03 9.98016351e-01 6.13579762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3592541539999 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:447.54, Y:256.72, Z:61.36 [[-2.43171652e-02 -9.99695132e-01 -4.28004426e-03 4.47535347e+02] [ 9.97660343e-01 -2.39935916e-02 -6.40167726e-02 2.56718929e+02] [ 6.38945623e-02 -5.82673686e-03 9.97939645e-01 6.13604889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.3892541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.53, Y:256.74, Z:61.36 [[-2.70723175e-02 -9.99629041e-01 2.97827281e-03 4.47530628e+02] [ 9.97697076e-01 -2.72051110e-02 -6.21323347e-02 2.56743865e+02] [ 6.21903104e-02 1.28934779e-03 9.98063476e-01 6.13615937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4192541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:447.53, Y:256.82, Z:61.36 [[-2.49774445e-02 -9.99687892e-01 -4.95175497e-04 4.47532686e+02] [ 9.97728161e-01 -2.48974729e-02 -6.25989770e-02 2.56819000e+02] [ 6.25671107e-02 -2.05761301e-03 9.98038638e-01 6.13642447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4492541539998 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.53, Y:256.74, Z:61.36 [[-2.34305079e-02 -9.99725074e-01 8.87966564e-04 4.47532121e+02] [ 9.97717797e-01 -2.34397074e-02 -6.33228006e-02 2.56743907e+02] [ 6.33262051e-02 -5.97745332e-04 9.97992703e-01 6.13593895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.4792541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.53, Y:256.75, Z:61.36 [[-2.28217146e-02 -9.99739548e-01 7.49639127e-05 4.47532219e+02] [ 9.97747938e-01 -2.27809813e-02 -6.30878743e-02 2.56746317e+02] [ 6.30731507e-02 -1.36497837e-03 9.98007973e-01 6.13616304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5092541539999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:447.53, Y:256.75, Z:61.36 [[-2.08629268e-02 -9.99782344e-01 5.01625922e-05 4.47532094e+02] [ 9.97754056e-01 -2.08237958e-02 -6.36648560e-02 2.56748638e+02] [ 6.36520435e-02 -1.27818530e-03 9.97971334e-01 6.13615764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5392541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.53, Y:256.76, Z:61.36 [[-1.95307905e-02 -9.99809256e-01 2.48763626e-05 4.47532062e+02] [ 9.97780547e-01 -1.94927449e-02 -6.36711264e-02 2.56757300e+02] [ 6.36594664e-02 -1.21872628e-03 9.97970935e-01 6.13619640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5692541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.53, Y:256.75, Z:61.36 [[-1.75321381e-02 -9.99846300e-01 -6.33951061e-07 4.47532602e+02] [ 9.97787181e-01 -1.74959911e-02 -6.41454015e-02 2.56749240e+02] [ 6.41355313e-02 -1.12523858e-03 9.97940563e-01 6.13613495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.5992541539999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:447.53, Y:256.78, Z:61.36 [[-1.70610044e-02 -9.99854450e-01 -2.14714980e-05 4.47532836e+02] [ 9.97728766e-01 -1.70233332e-02 -6.51729625e-02 2.56776208e+02] [ 6.51631110e-02 -1.13333893e-03 9.97873982e-01 6.13613223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6292541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:447.53, Y:256.80, Z:61.36 [[-1.79772167e-02 -9.99838397e-01 -4.27886058e-06 4.47532448e+02] [ 9.97752236e-01 -1.79394309e-02 -6.45651034e-02 2.56803634e+02] [ 6.45545927e-02 -1.16497010e-03 9.97913497e-01 6.13640977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6592541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.53, Y:256.81, Z:61.36 [[-1.81255665e-02 -9.99835718e-01 8.81774320e-06 4.47532287e+02] [ 9.97657438e-01 -1.80866593e-02 -6.59735477e-02 2.56808349e+02] [ 6.59628689e-02 -1.18701084e-03 9.97821372e-01 6.13634901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.6892541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.53, Y:256.84, Z:61.37 [[-1.98814319e-02 -9.99802345e-01 -1.11227559e-05 4.47532346e+02] [ 9.97667900e-01 -1.98382612e-02 -6.53085350e-02 2.56836331e+02] [ 6.52954057e-02 -1.30952401e-03 9.97865119e-01 6.13659772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7192541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.53, Y:256.83, Z:61.36 [[-2.17481843e-02 -9.99763480e-01 2.27451915e-06 4.47532870e+02] [ 9.97591561e-01 -2.17010877e-02 -6.58797442e-02 2.56834554e+02] [ 6.58642117e-02 -1.43049578e-03 9.97827570e-01 6.13647081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7492541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.53, Y:256.86, Z:61.37 [[-2.43793495e-02 -9.99702779e-01 -1.77197293e-05 4.47532790e+02] [ 9.97572510e-01 -2.43262430e-02 -6.52481547e-02 2.56862679e+02] [ 6.52283305e-02 -1.60838428e-03 9.97869069e-01 6.13676191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.7792541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.53, Y:256.89, Z:61.37 [[-2.59069754e-02 -9.99664358e-01 1.61864203e-06 4.47532900e+02] [ 9.97485050e-01 -2.58506040e-02 -6.59948622e-02 2.56890430e+02] [ 6.59727534e-02 -1.70811270e-03 9.97819963e-01 6.13685504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8092541539999 meters Centerline goodness : 0.999541 Centerline is valid? [True, True] Translation: X:447.53, Y:256.89, Z:61.37 [[-2.95047676e-02 -9.99564640e-01 1.48220262e-05 4.47532526e+02] [ 9.97423313e-01 -2.94425308e-02 -6.54207386e-02 2.56893937e+02] [ 6.53926934e-02 -1.91543985e-03 9.97857769e-01 6.13700857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.839254154 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.53, Y:256.92, Z:61.37 [[-3.07980745e-02 -9.99525627e-01 -5.62010962e-06 4.47532736e+02] [ 9.97369014e-01 -3.07312543e-02 -6.56554626e-02 2.56920851e+02] [ 6.56241447e-02 -2.02766715e-03 9.97842352e-01 6.13710767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8692541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:447.53, Y:256.92, Z:61.37 [[-3.23310983e-02 -9.99477213e-01 6.30462301e-06 4.47532934e+02] [ 9.97395725e-01 -3.22641732e-02 -6.45041885e-02 2.56922230e+02] [ 6.44706699e-02 -2.07920305e-03 9.97917436e-01 6.13720917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.8992541539999 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:447.53, Y:256.95, Z:61.37 [[-3.30807986e-02 -9.99452681e-01 -1.42519223e-05 4.47532937e+02] [ 9.97397898e-01 -3.30118736e-02 -6.40909430e-02 2.56950600e+02] [ 6.40553943e-02 -2.13439442e-03 9.97944062e-01 6.13739949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9292541539999 meters Centerline goodness : 0.999499 Centerline is valid? [True, True] Translation: X:447.53, Y:256.95, Z:61.37 [[-3.21800671e-02 -9.99482088e-01 -1.11248300e-06 4.47533158e+02] [ 9.97360520e-01 -3.21116870e-02 -6.51216814e-02 2.56951173e+02] [ 6.50879183e-02 -2.09672962e-03 9.97877330e-01 6.13725695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.959254154 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:447.53, Y:256.98, Z:61.38 [[-3.23733137e-02 -9.99475847e-01 -2.13600544e-05 4.47532431e+02] [ 9.97465835e-01 -3.23068541e-02 -6.33890718e-02 2.56978645e+02] [ 6.33551561e-02 -2.07342023e-03 9.97988890e-01 6.13755034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 740.9892541539999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:447.53, Y:257.01, Z:61.38 [[-3.17878083e-02 -9.99494640e-01 -2.73908360e-06 4.47531927e+02] [ 9.97482303e-01 -3.17236344e-02 -6.34244864e-02 2.57005374e+02] [ 6.33923473e-02 -2.01885761e-03 9.97986640e-01 6.13769218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0192541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.53, Y:257.00, Z:61.38 [[-3.06939369e-02 -9.99528830e-01 9.85732636e-06 4.47531517e+02] [ 9.97520122e-01 -3.06328776e-02 -6.33658670e-02 2.57004727e+02] [ 6.33363129e-02 -1.93511504e-03 9.97990364e-01 6.13767112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0492541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.53, Y:257.03, Z:61.38 [[-2.95488463e-02 -9.99563337e-01 -1.11813504e-05 4.47531054e+02] [ 9.97535027e-01 -2.94881736e-02 -6.36735297e-02 2.57031560e+02] [ 6.36453962e-02 -1.89263313e-03 9.97970782e-01 6.13778141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.0792541539998 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:447.53, Y:257.04, Z:61.38 [[-2.88098816e-02 -9.99584909e-01 1.15722488e-06 4.47530611e+02] [ 9.97541769e-01 -2.87510685e-02 -6.39045779e-02 2.57036051e+02] [ 6.38780849e-02 -1.83992894e-03 9.97956014e-01 6.13780679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1092541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:447.53, Y:257.06, Z:61.38 [[-2.89180621e-02 -9.99581785e-01 -1.96023250e-05 4.47530317e+02] [ 9.97504593e-01 -2.88567050e-02 -6.44350604e-02 2.57063957e+02] [ 6.44075470e-02 -1.88289049e-03 9.97921902e-01 6.13795378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1392541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.53, Y:257.09, Z:61.38 [[-2.92415717e-02 -9.99572374e-01 -1.10064089e-06 4.47529199e+02] [ 9.97505998e-01 -2.91810510e-02 -6.42670190e-02 2.57092271e+02] [ 6.42395046e-02 -1.88036654e-03 9.97932738e-01 6.13810554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1692541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.53, Y:257.09, Z:61.38 [[-2.88290698e-02 -9.99584356e-01 1.24890812e-05 4.47528221e+02] [ 9.97499488e-01 -2.87697466e-02 -6.45528657e-02 2.57094313e+02] [ 6.45263940e-02 -1.84854122e-03 9.97914289e-01 6.13812756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.1992541539998 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.53, Y:257.12, Z:61.38 [[-2.84518021e-02 -9.99595166e-01 -8.24864377e-06 4.47526218e+02] [ 9.97503020e-01 -2.83917191e-02 -6.46655704e-02 2.57120777e+02] [ 6.46391573e-02 -1.84808006e-03 9.97906992e-01 6.13825352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2292541539999 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.53, Y:257.12, Z:61.38 [[-2.71797485e-02 -9.99630562e-01 3.04084938e-06 4.47525420e+02] [ 9.97459800e-01 -2.71209263e-02 -6.58665481e-02 2.57120627e+02] [ 6.58422970e-02 -1.78720309e-03 9.97828441e-01 6.13817652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2592541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.52, Y:257.15, Z:61.38 [[-2.76135864e-02 -9.99618672e-01 -1.71268191e-05 4.47524371e+02] [ 9.97483172e-01 -2.75534757e-02 -6.53309111e-02 2.57148175e+02] [ 6.53055267e-02 -1.82110447e-03 9.97863654e-01 6.13838307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.2892541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:447.52, Y:257.17, Z:61.39 [[-2.72697495e-02 -9.99628111e-01 7.77482727e-07 4.47523614e+02] [ 9.97492149e-01 -2.72115315e-02 -6.53371602e-02 2.57174896e+02] [ 6.53128832e-02 -1.78095246e-03 9.97863245e-01 6.13852163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3192541539999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:447.52, Y:257.18, Z:61.39 [[-2.67447297e-02 -9.99642296e-01 8.47214358e-06 4.47521622e+02] [ 9.97499952e-01 -2.66879674e-02 -6.54339213e-02 2.57175588e+02] [ 6.54107414e-02 -1.74156158e-03 9.97856905e-01 6.13855686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3492541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.52, Y:257.20, Z:61.39 [[-2.73209864e-02 -9.99626712e-01 -1.16947387e-05 4.47519397e+02] [ 9.97487779e-01 -2.72617619e-02 -6.53829272e-02 2.57202820e+02] [ 6.53582017e-02 -1.79799143e-03 9.97860247e-01 6.13871645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.3792541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:447.52, Y:257.21, Z:61.39 [[-2.73081315e-02 -9.99627063e-01 1.47980429e-06 4.47518452e+02] [ 9.97452556e-01 -2.72488252e-02 -6.59234449e-02 2.57209078e+02] [ 6.58989000e-02 -1.79877007e-03 9.97824684e-01 6.13878433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4092541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.52, Y:257.24, Z:61.39 [[-2.80024868e-02 -9.99607853e-01 -1.93878223e-05 4.47517869e+02] [ 9.97441696e-01 -2.79405290e-02 -6.57981083e-02 2.57236003e+02] [ 6.57717641e-02 -1.86184888e-03 9.97832956e-01 6.13892278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4392541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.52, Y:257.26, Z:61.39 [[-2.90622570e-02 -9.99577603e-01 -5.50303001e-06 4.47517091e+02] [ 9.97457911e-01 -2.90002696e-02 -6.50899403e-02 2.57262421e+02] [ 6.50622869e-02 -1.89714961e-03 9.97879401e-01 6.13904042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4692541539999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.52, Y:257.26, Z:61.39 [[-2.85711975e-02 -9.99591760e-01 7.64855917e-06 4.47516645e+02] [ 9.97479554e-01 -2.85113218e-02 -6.49741824e-02 2.57259746e+02] [ 6.49478754e-02 -1.84876092e-03 9.97886945e-01 6.13903477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.4992541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.52, Y:257.29, Z:61.39 [[-2.82478379e-02 -9.99600950e-01 -1.27450262e-05 4.47516139e+02] [ 9.97528255e-01 -2.81884447e-02 -6.43645209e-02 2.57287553e+02] [ 6.43384770e-02 -1.83087208e-03 9.97926454e-01 6.13918974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5292541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.51, Y:257.29, Z:61.39 [[-2.51548784e-02 -9.99683566e-01 1.08319303e-06 4.47514594e+02] [ 9.97617009e-01 -2.51029476e-02 -6.42662106e-02 2.57288137e+02] [ 6.42459018e-02 -1.61552810e-03 9.97932790e-01 6.13926473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.5592541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.51, Y:257.31, Z:61.39 [[-2.32614863e-02 -9.99729415e-01 -2.03184495e-05 4.47513798e+02] [ 9.97673740e-01 -2.32123526e-02 -6.40959888e-02 2.57314719e+02] [ 6.40781737e-02 -1.51123915e-03 9.97943738e-01 6.13939930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.589254154 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.51, Y:257.34, Z:61.40 [[-2.13126314e-02 -9.99772860e-01 -8.70025877e-06 4.47513027e+02] [ 9.97691200e-01 -2.12676943e-02 -6.44977122e-02 2.57343012e+02] [ 6.44828772e-02 -1.38329614e-03 9.97917855e-01 6.13956633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6192541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.51, Y:257.34, Z:61.40 [[-1.63985341e-02 -9.99865535e-01 4.94738995e-06 4.47511740e+02] [ 9.97748058e-01 -1.63641278e-02 -6.50463531e-02 2.57341153e+02] [ 6.50376876e-02 -1.06172859e-03 9.97882244e-01 6.13956026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6492541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.51, Y:257.37, Z:61.40 [[-1.26297118e-02 -9.99920242e-01 -1.52409787e-05 4.47510681e+02] [ 9.97775644e-01 -1.26016262e-02 -6.54596256e-02 2.57369010e+02] [ 6.54542127e-02 -8.41943281e-04 9.97855219e-01 6.13971255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.6792541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:447.51, Y:257.37, Z:61.40 [[-1.06747239e-02 -9.99943024e-01 -2.08187474e-06 4.47509863e+02] [ 9.97781334e-01 -1.06515103e-02 -6.57187598e-02 2.57369567e+02] [ 6.57149932e-02 -7.03606872e-04 9.97838186e-01 6.13977595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.709254154 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.51, Y:257.40, Z:61.40 [[-8.85410346e-03 -9.99960801e-01 -2.19035559e-05 4.47508602e+02] [ 9.97854893e-01 -8.83403594e-03 -6.48658029e-02 2.57397156e+02] [ 6.48630667e-02 -5.96185099e-04 9.97893996e-01 6.13996900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7392541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.51, Y:257.42, Z:61.40 [[-8.60120466e-03 -9.99963009e-01 -3.98101323e-06 4.47508413e+02] [ 9.97888483e-01 -8.58310426e-03 -6.43809488e-02 2.57423606e+02] [ 6.43785331e-02 -5.57726324e-04 9.97925395e-01 6.14010107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7692541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.51, Y:257.43, Z:61.40 [[-7.58396055e-03 -9.99971241e-01 2.29461164e-06 4.47508840e+02] [ 9.97894113e-01 -7.56835506e-03 -6.44209492e-02 2.57426715e+02] [ 6.44191139e-02 -4.86276157e-04 9.97922813e-01 6.14004156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.7992541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.51, Y:257.45, Z:61.40 [[-8.75799305e-03 -9.99961648e-01 -1.79641315e-05 4.47508758e+02] [ 9.97889889e-01 -8.73869208e-03 -6.43382017e-02 2.57454218e+02] [ 6.43355772e-02 -5.81399748e-04 9.97928152e-01 6.14026376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8292541539998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.51, Y:257.48, Z:61.40 [[-8.93749322e-03 -9.99960060e-01 -1.97786644e-07 4.47508667e+02] [ 9.97888294e-01 -8.91896336e-03 -6.43382020e-02 2.57482626e+02] [ 6.43356306e-02 -5.75219613e-04 9.97928152e-01 6.14042613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8592541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:447.51, Y:257.49, Z:61.40 [[-9.91550151e-03 -9.99950840e-01 7.21901997e-06 4.47509276e+02] [ 9.97902845e-01 -9.89565542e-03 -6.39686471e-02 2.57490218e+02] [ 6.39655739e-02 -6.27077336e-04 9.97951909e-01 6.14042318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.8892541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.51, Y:257.52, Z:61.41 [[-1.14699176e-02 -9.99934218e-01 -1.31788977e-05 4.47509560e+02] [ 9.97910215e-01 -1.14458627e-02 -6.35939794e-02 2.57517667e+02] [ 6.35896453e-02 -7.42569059e-04 9.97975854e-01 6.14055503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9192541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:447.51, Y:257.57, Z:61.41 [[-1.27240781e-02 -9.99908447e-01 4.60386372e-03 4.47507966e+02] [ 9.97931089e-01 -1.29888333e-02 -6.29669116e-02 2.57570233e+02] [ 6.30209456e-02 3.79314284e-03 9.98004996e-01 6.14094285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9492541539998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.51, Y:257.53, Z:61.40 [[-1.66607419e-02 -9.99850698e-01 -4.58272971e-03 4.47513832e+02] [ 9.97955168e-01 -1.63459364e-02 -6.17923327e-02 2.57527058e+02] [ 6.17081980e-02 -5.60286490e-03 9.98078507e-01 6.14049603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 741.9792541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.51, Y:257.55, Z:61.41 [[-2.01107398e-02 -9.99797758e-01 -2.62656750e-05 4.47512504e+02] [ 9.97899890e-01 -2.00709466e-02 -6.15870711e-02 2.57554008e+02] [ 6.15740884e-02 -1.26477207e-03 9.98101714e-01 6.14073008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0092541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:447.51, Y:257.58, Z:61.41 [[-2.76963498e-02 -9.99616383e-01 -9.91704906e-06 4.47514610e+02] [ 9.97716453e-01 -2.76430971e-02 -6.16257963e-02 2.57581828e+02] [ 6.16018815e-02 -1.71670402e-03 9.98099324e-01 6.14086517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0392541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:447.52, Y:257.59, Z:61.41 [[-3.11391737e-02 -9.99515058e-01 5.16280991e-06 4.47515307e+02] [ 9.97619119e-01 -3.10804250e-02 -6.15637993e-02 2.57585468e+02] [ 6.15341049e-02 -1.91189532e-03 9.98103150e-01 6.14088169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0692541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.52, Y:257.61, Z:61.41 [[-3.51346249e-02 -9.99382588e-01 -1.63387617e-05 4.47515882e+02] [ 9.97504770e-01 -3.50676060e-02 -6.12739569e-02 2.57611981e+02] [ 6.12355527e-02 -2.16913549e-03 9.98120986e-01 6.14097111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.0992541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:447.52, Y:257.64, Z:61.41 [[-3.89461753e-02 -9.99241310e-01 2.58782095e-07 4.47516296e+02] [ 9.97332713e-01 -3.88718023e-02 -6.17773675e-02 2.57639462e+02] [ 6.17305077e-02 -2.40573409e-03 9.98089954e-01 6.14116402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1292541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.52, Y:257.65, Z:61.41 [[-4.54100737e-02 -9.98968430e-01 1.51817563e-05 4.47517029e+02] [ 9.97065578e-01 -4.53245133e-02 -6.16921525e-02 2.57650275e+02] [ 6.16292008e-02 -2.78630798e-03 9.98095225e-01 6.14117455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1592541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.52, Y:257.68, Z:61.41 [[-5.16109440e-02 -9.98667267e-01 -6.53724360e-06 4.47517311e+02] [ 9.96802327e-01 -5.15141643e-02 -6.10852881e-02 2.57677408e+02] [ 6.10035410e-02 -3.15918572e-03 9.98132550e-01 6.14127416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.1892541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.52, Y:257.68, Z:61.41 [[-5.34862175e-02 -9.98568588e-01 6.94072955e-06 4.47517403e+02] [ 9.96701112e-01 -5.33866150e-02 -6.11290681e-02 2.57681948e+02] [ 6.10419377e-02 -3.26264480e-03 9.98129870e-01 6.14120771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2192541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.52, Y:257.71, Z:61.41 [[-5.61483136e-02 -9.98422439e-01 -1.48686754e-05 4.47516545e+02] [ 9.96546802e-01 -5.60419209e-02 -6.12680538e-02 2.57709329e+02] [ 6.11705664e-02 -3.45491523e-03 9.98121348e-01 6.14148703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2492541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:447.52, Y:257.71, Z:61.41 [[-5.71759604e-02 -9.98364117e-01 9.60859271e-09 4.47515876e+02] [ 9.96464185e-01 -5.70671526e-02 -6.16641607e-02 2.57711222e+02] [ 6.15632858e-02 -3.52569803e-03 9.98096955e-01 6.14134897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.2792541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.51, Y:257.74, Z:61.42 [[-6.01571054e-02 -9.98188921e-01 -2.16687307e-05 4.47512594e+02] [ 9.96310049e-01 -6.00425415e-02 -6.13284594e-02 2.57738871e+02] [ 6.12160876e-02 -3.71093137e-03 9.98117638e-01 6.14165167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3092541539999 meters Centerline goodness : 0.999623 Centerline is valid? [True, True] Translation: X:447.51, Y:257.77, Z:61.42 [[-6.09314190e-02 -9.98141955e-01 -3.66988622e-06 4.47510905e+02] [ 9.96255557e-01 -6.08160382e-02 -6.14513962e-02 2.57765520e+02] [ 6.13369935e-02 -3.74797691e-03 9.98110077e-01 6.14179073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.339254154 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.51, Y:257.77, Z:61.42 [[-6.06999226e-02 -9.98156060e-01 9.59641905e-06 4.47509040e+02] [ 9.96263012e-01 -6.05853943e-02 -6.15582711e-02 2.57768743e+02] [ 6.14453428e-02 -3.72702173e-03 9.98103491e-01 6.14182599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3692541539999 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:447.51, Y:257.80, Z:61.42 [[-6.00511063e-02 -9.98195304e-01 -1.22174636e-05 4.47505407e+02] [ 9.96343864e-01 -5.99389791e-02 -6.08787641e-02 2.57797094e+02] [ 6.07681641e-02 -3.66800992e-03 9.98145168e-01 6.14200995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.3992541539999 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:447.50, Y:257.80, Z:61.42 [[-5.87175063e-02 -9.98274639e-01 3.24141164e-06 4.47503291e+02] [ 9.96416017e-01 -5.86083821e-02 -6.09932644e-02 2.57800081e+02] [ 6.08882190e-02 -3.57814259e-03 9.98138178e-01 6.14204867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4292541539999 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:447.50, Y:257.83, Z:61.42 [[-5.71381959e-02 -9.98366279e-01 -1.86439782e-05 4.47498340e+02] [ 9.96536885e-01 -5.70323665e-02 -6.05107159e-02 2.57826465e+02] [ 6.04107950e-02 -3.47605255e-03 9.98167548e-01 6.14223344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.459254154 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:447.50, Y:257.85, Z:61.42 [[-5.67550061e-02 -9.98388136e-01 -7.63125294e-07 4.47495830e+02] [ 9.96550522e-01 -5.66504976e-02 -6.06446877e-02 2.57854389e+02] [ 6.05468935e-02 -3.44265011e-03 9.98159417e-01 6.14242304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.4892541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.49, Y:257.85, Z:61.42 [[-5.43188565e-02 -9.98523641e-01 1.34775096e-05 4.47492269e+02] [ 9.96682323e-01 -5.42195096e-02 -6.07008320e-02 2.57853161e+02] [ 6.06119465e-02 -3.28376699e-03 9.98156004e-01 6.14228308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5192541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.49, Y:257.88, Z:61.43 [[-5.44178766e-02 -9.98518250e-01 -8.37607886e-06 4.47489941e+02] [ 9.96647739e-01 -5.43154232e-02 -6.11810296e-02 2.57880744e+02] [ 6.10899196e-02 -3.33768972e-03 9.98126686e-01 6.14253661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5492541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.49, Y:257.89, Z:61.42 [[-5.32676848e-02 -9.98580269e-01 6.82831681e-06 4.47488334e+02] [ 9.96702876e-01 -5.31679574e-02 -6.12906633e-02 2.57885690e+02] [ 6.12040101e-02 -3.25800593e-03 9.98119960e-01 6.14249266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.5792541539998 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.48, Y:257.91, Z:61.43 [[-5.25852749e-02 -9.98616437e-01 -1.53843112e-05 4.47483787e+02] [ 9.96706437e-01 -5.24837454e-02 -6.18201875e-02 2.57912695e+02] [ 6.17338480e-02 -3.26616519e-03 9.98087303e-01 6.14276330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6092541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.48, Y:257.94, Z:61.43 [[-5.17836559e-02 -9.98658326e-01 -2.76362936e-06 4.47481570e+02] [ 9.96744275e-01 -5.16842349e-02 -6.18836795e-02 2.57940910e+02] [ 6.18005090e-02 -3.20731780e-03 9.98083368e-01 6.14296940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6392541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.48, Y:257.94, Z:61.43 [[-5.02149143e-02 -9.98738435e-01 1.23184844e-05 4.47479356e+02] [ 9.96838635e-01 -5.01201559e-02 -6.16498651e-02 2.57940121e+02] [ 6.15727072e-02 -3.08346315e-03 9.98097838e-01 6.14298062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6692541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.48, Y:257.97, Z:61.43 [[-4.60730434e-02 -9.98938073e-01 -9.98494736e-06 4.47475973e+02] [ 9.97029422e-01 -4.59843950e-02 -6.17880862e-02 2.57966738e+02] [ 6.17220126e-02 -2.85672046e-03 9.98089291e-01 6.14309466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.6992541539998 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.47, Y:257.99, Z:61.43 [[-4.45641240e-02 -9.99006526e-01 8.07663105e-07 4.47473486e+02] [ 9.97105514e-01 -4.44793727e-02 -6.16618084e-02 2.57993735e+02] [ 6.16005850e-02 -2.74709915e-03 9.98097100e-01 6.14336713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7292541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.47, Y:257.99, Z:61.43 [[-3.87596635e-02 -9.99248562e-01 1.56477505e-05 4.47469539e+02] [ 9.97326636e-01 -3.86860850e-02 -6.19916803e-02 2.57993196e+02] [ 6.19457027e-02 -2.38717075e-03 9.98076666e-01 6.14336118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7592541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.47, Y:258.02, Z:61.44 [[-3.29242198e-02 -9.99457851e-01 -5.85199257e-06 4.47465523e+02] [ 9.97573030e-01 -3.28617704e-02 -6.13852897e-02 2.58021155e+02] [ 6.13518174e-02 -2.02690056e-03 9.98114145e-01 6.14354667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.7892541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.46, Y:258.02, Z:61.44 [[-2.94400122e-02 -9.99566549e-01 9.34153806e-06 4.47463213e+02] [ 9.97706434e-01 -2.93857965e-02 -6.09782441e-02 2.58019134e+02] [ 6.09520875e-02 -1.78588014e-03 9.98139095e-01 6.14354124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8192541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.46, Y:258.05, Z:61.44 [[-2.32986477e-02 -9.99728550e-01 -1.22057054e-05 4.47460454e+02] [ 9.97897757e-01 -2.32552426e-02 -6.04918176e-02 2.58046564e+02] [ 6.04751132e-02 -1.42155759e-03 9.98168693e-01 6.14365037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8492541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.46, Y:258.05, Z:61.44 [[-2.09761992e-02 -9.99779975e-01 3.53137763e-06 4.47458621e+02] [ 9.98001108e-01 -2.09390877e-02 -5.96267013e-02 2.58048063e+02] [ 5.96136559e-02 -1.24721725e-03 9.98220745e-01 6.14375152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.8792541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.46, Y:258.08, Z:61.44 [[-1.92150753e-02 -9.99815373e-01 -1.82846784e-05 4.47457806e+02] [ 9.98036640e-01 -1.91798001e-02 -5.96238340e-02 2.58075461e+02] [ 5.96124751e-02 -1.16392524e-03 9.98220917e-01 6.14386272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9092541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.43, Y:258.12, Z:61.44 [[-8.52426445e-03 -9.97142895e-01 7.50558747e-02 4.47432555e+02] [ 9.99039723e-01 -1.17182279e-02 -4.22174668e-02 2.58121885e+02] [ 4.29763689e-02 7.46239274e-02 9.96285251e-01 6.14379962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9392541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.49, Y:258.16, Z:61.43 [[-2.74682914e-02 -9.97696103e-01 -6.20320798e-02 4.47488633e+02] [ 9.96544278e-01 -2.24645568e-02 -7.99677811e-02 2.58164513e+02] [ 7.83900204e-02 -6.40142924e-02 9.94865406e-01 6.14259072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9692541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.46, Y:258.22, Z:61.44 [[-2.78604955e-02 -9.99572600e-01 -8.85498269e-03 4.47461714e+02] [ 9.96322403e-01 -2.70496707e-02 -8.13018132e-02 2.58217541e+02] [ 8.10275404e-02 -1.10875264e-02 9.96650192e-01 6.14408932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 742.9992541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.45, Y:258.17, Z:61.44 [[-2.94667580e-02 -9.99510151e-01 1.05436653e-02 4.47452827e+02] [ 9.96298302e-01 -3.02209966e-02 -8.04759842e-02 2.58167416e+02] [ 8.07552032e-02 8.13326953e-03 9.96700781e-01 6.14424223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0292541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:447.45, Y:258.55, Z:61.47 [[-3.07548501e-02 -9.99487816e-01 8.84562442e-03 4.47451323e+02] [ 9.96231255e-01 -3.13703141e-02 -8.08652649e-02 2.58546083e+02] [ 8.11013370e-02 6.32528841e-03 9.96685790e-01 6.14691402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.0592541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.46, Y:258.18, Z:61.44 [[-3.30168617e-02 -9.99428954e-01 -7.18704347e-03 4.47462881e+02] [ 9.96169178e-01 -3.23248691e-02 -8.12531382e-02 2.58176603e+02] [ 8.09744187e-02 -9.84223481e-03 9.96667585e-01 6.14378919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.089254154 meters Centerline goodness : 0.997434 Centerline is valid? [True, True] Translation: X:447.45, Y:258.74, Z:61.48 [[-3.43168252e-02 -9.99397455e-01 5.20410950e-03 4.47452015e+02] [ 9.96147172e-01 -3.46247797e-02 -8.05725577e-02 2.58739263e+02] [ 8.07042002e-02 2.41906458e-03 9.96735161e-01 6.14831879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1192541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:448.21, Y:258.30, Z:61.69 [[-1.90575534e-02 9.73070675e-02 -9.95071929e-01 4.48211587e+02] [ 9.93061016e-01 1.17358114e-01 -7.54271040e-03 2.58303537e+02] [ 1.16045806e-01 -9.88310886e-01 -9.88684138e-02 6.16896215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1492541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:448.21, Y:258.41, Z:61.68 [[-2.53198932e-02 9.54850437e-02 -9.95108793e-01 4.48212428e+02] [ 9.83049227e-01 1.83190985e-01 -7.43506861e-03 2.58414255e+02] [ 1.81585023e-01 -9.78429185e-01 -9.85048746e-02 6.16776755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.1792541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:448.21, Y:258.52, Z:61.67 [[-3.14131983e-02 9.28446462e-02 -9.95184949e-01 4.48212670e+02] [ 9.68708734e-01 2.48088996e-01 -7.43229128e-03 2.58515508e+02] [ 2.46204387e-01 -9.64277824e-01 -9.77326885e-02 6.16706900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.209254154 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.99, Y:258.35, Z:62.33 [[-7.63719950e-02 9.97050963e-01 -7.52968836e-03 4.47994716e+02] [ 9.60419006e-01 7.55907977e-02 2.68107002e-01 2.58350947e+02] [ 2.67885519e-01 1.32442108e-02 -9.63359715e-01 6.23298393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2392541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.49, Y:258.53, Z:61.39 [[-1.27241666e-01 -9.90851319e-01 4.49802456e-02 4.47485523e+02] [ 9.54461396e-01 -1.34653696e-01 -2.66217627e-01 2.58532799e+02] [ 2.69838843e-01 9.05793363e-03 9.62862894e-01 6.13934771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2692541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.50, Y:258.57, Z:61.40 [[-1.36460286e-01 -9.90582769e-01 1.11520264e-02 4.47495467e+02] [ 9.50668855e-01 -1.34110936e-01 -2.79719475e-01 2.58566061e+02] [ 2.78580901e-01 -2.75687154e-02 9.60017004e-01 6.13986308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.2992541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.49, Y:258.57, Z:61.40 [[-1.35096640e-01 -9.90353285e-01 3.08101940e-02 4.47485941e+02] [ 9.50578118e-01 -1.38318644e-01 -2.77973368e-01 2.58566539e+02] [ 2.79553463e-01 -8.26577194e-03 9.60094547e-01 6.14040551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3292541539998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.49, Y:258.57, Z:61.40 [[-1.33871215e-01 -9.90522779e-01 3.07102970e-02 4.47485499e+02] [ 9.50708617e-01 -1.37113247e-01 -2.78124223e-01 2.58566375e+02] [ 2.79699167e-01 -8.03628357e-03 9.60054058e-01 6.14042581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3592541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.49, Y:258.57, Z:61.40 [[-1.31094776e-01 -9.90896056e-01 3.06458264e-02 4.47485501e+02] [ 9.50953501e-01 -1.34426718e-01 -2.78598090e-01 2.58565696e+02] [ 2.80181366e-01 -7.37999833e-03 9.59918714e-01 6.14043171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.3892541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.49, Y:258.57, Z:61.40 [[-1.28912152e-01 -9.91184916e-01 3.05633691e-02 4.47485659e+02] [ 9.51159738e-01 -1.32306734e-01 -2.78908732e-01 2.58569144e+02] [ 2.80493868e-01 -6.88407856e-03 9.59831131e-01 6.14048173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4192541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.49, Y:258.57, Z:61.40 [[-1.25978739e-01 -9.91564622e-01 3.04787996e-02 4.47485609e+02] [ 9.51464790e-01 -1.29466146e-01 -2.79201131e-01 2.58569026e+02] [ 2.80791936e-01 -6.17390179e-03 9.59748806e-01 6.14049760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4492541539998 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.49, Y:258.57, Z:61.41 [[-1.24305922e-01 -9.91779102e-01 3.03685775e-02 4.47485537e+02] [ 9.51669348e-01 -1.27829678e-01 -2.79257993e-01 2.58572012e+02] [ 2.80844247e-01 -5.81257789e-03 9.59735757e-01 6.14056485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.4792541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.49, Y:258.57, Z:61.41 [[-1.22594961e-01 -9.91994917e-01 3.02747480e-02 4.47485781e+02] [ 9.51830937e-01 -1.26160374e-01 -2.79466325e-01 2.58571459e+02] [ 2.81048647e-01 -5.44472145e-03 9.59678078e-01 6.14055418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5092541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.49, Y:258.57, Z:61.41 [[-1.19438640e-01 -9.92383406e-01 3.01593464e-02 4.47485693e+02] [ 9.52229348e-01 -1.23099335e-01 -2.79474191e-01 2.58570883e+02] [ 2.81058145e-01 -4.66140257e-03 9.59679421e-01 6.14056613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5392541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.48, Y:258.58, Z:61.41 [[-1.17900808e-01 -9.92570877e-01 3.00408704e-02 4.47484538e+02] [ 9.52429993e-01 -1.21590527e-01 -2.79450984e-01 2.58578107e+02] [ 2.81027594e-01 -4.33567080e-03 9.59689894e-01 6.14078750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5692541539999 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:447.48, Y:258.62, Z:61.42 [[-1.15060629e-01 -9.92825475e-01 3.25365758e-02 4.47479394e+02] [ 9.52544471e-01 -1.19566285e-01 -2.79933802e-01 2.58619444e+02] [ 2.81815688e-01 -1.21682397e-03 9.59467789e-01 6.14199399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.5992541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.49, Y:258.58, Z:61.41 [[-1.13644817e-01 -9.93116379e-01 2.83674641e-02 4.47485941e+02] [ 9.52728607e-01 -1.17031880e-01 -2.80377855e-01 2.58577100e+02] [ 2.81767738e-01 -4.83699557e-03 9.59470451e-01 6.14071878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6292541539999 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:447.42, Y:259.25, Z:61.60 [[-1.15046419e-01 -9.93178008e-01 1.90201553e-02 4.47418214e+02] [ 9.50786193e-01 -1.15640967e-01 -2.87459184e-01 2.59250298e+02] [ 2.87697649e-01 -1.49870487e-02 9.57604016e-01 6.16014551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6592541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.48, Y:258.62, Z:61.43 [[-1.12658030e-01 -9.93365746e-01 2.30795092e-02 4.47483641e+02] [ 9.42268252e-01 -1.14176815e-01 -3.14792307e-01 2.58616649e+02] [ 3.15339039e-01 -1.37167923e-02 9.48879940e-01 6.14283145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.6892541539999 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:447.48, Y:258.65, Z:61.44 [[-1.12449034e-01 -9.93136928e-01 3.21598727e-02 4.47475655e+02] [ 9.43021960e-01 -1.16862801e-01 -3.11532772e-01 2.58652166e+02] [ 3.13152993e-01 -4.70409310e-03 9.49691042e-01 6.14404944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7192541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:447.47, Y:258.61, Z:61.42 [[-1.08500835e-01 -9.91697680e-01 6.90165207e-02 4.47465413e+02] [ 9.50723078e-01 -1.23800155e-01 -2.84251914e-01 2.58610504e+02] [ 2.90436219e-01 3.47740289e-02 9.56262291e-01 6.14231967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7492541539999 meters Centerline goodness : 0.999479 Centerline is valid? [True, True] Translation: X:447.48, Y:258.62, Z:61.41 [[-1.08501916e-01 -9.93653948e-01 2.96507303e-02 4.47483465e+02] [ 9.50849282e-01 -1.12437315e-01 -2.88519485e-01 2.58617693e+02] [ 2.90022374e-01 -3.11154127e-03 9.57014807e-01 6.14143802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.7792541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.48, Y:258.62, Z:61.42 [[-1.08944226e-01 -9.93607981e-01 2.95691683e-02 4.47483892e+02] [ 9.50688600e-01 -1.12835614e-01 -2.88893251e-01 2.58620117e+02] [ 2.90383095e-01 -3.36218049e-03 9.56904569e-01 6.14151623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8092541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:447.49, Y:258.62, Z:61.42 [[-1.11243282e-01 -9.93355907e-01 2.94783699e-02 4.47485864e+02] [ 9.50341368e-01 -1.15007740e-01 -2.89179019e-01 2.58623871e+02] [ 2.90647927e-01 -4.15470857e-03 9.56821050e-01 6.14164313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.839254154 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:447.49, Y:258.63, Z:61.42 [[-1.12377533e-01 -9.93231792e-01 2.93580984e-02 4.47487073e+02] [ 9.50214607e-01 -1.16057935e-01 -2.89175996e-01 2.58627760e+02] [ 2.90626033e-01 -4.60039110e-03 9.56825661e-01 6.14174385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8692541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.49, Y:258.63, Z:61.42 [[-1.15553556e-01 -9.92871805e-01 2.92053964e-02 4.47488964e+02] [ 9.49942503e-01 -1.19053907e-01 -2.88851880e-01 2.58633990e+02] [ 2.90269904e-01 -5.63441439e-03 9.56928230e-01 6.14196449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.8992541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.49, Y:258.64, Z:61.42 [[-1.16809049e-01 -9.92727463e-01 2.91175235e-02 4.47489810e+02] [ 9.49696635e-01 -1.20227552e-01 -2.89174060e-01 2.58638048e+02] [ 2.90571760e-01 -6.12533275e-03 9.56833597e-01 6.14213017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9292541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.49, Y:258.64, Z:61.42 [[-1.18893656e-01 -9.92486134e-01 2.89062650e-02 4.47490152e+02] [ 9.49725313e-01 -1.22166944e-01 -2.88265621e-01 2.58641589e+02] [ 2.89631022e-01 -6.81994206e-03 9.57114079e-01 6.14224810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.959254154 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.49, Y:258.65, Z:61.42 [[-1.23552488e-01 -9.91923679e-01 2.86740078e-02 4.47491852e+02] [ 9.49490131e-01 -1.26567511e-01 -2.87139613e-01 2.58649306e+02] [ 2.88449779e-01 -8.25112602e-03 9.57459474e-01 6.14246900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 743.9892541539999 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:447.49, Y:258.66, Z:61.43 [[-1.25976616e-01 -9.91620253e-01 2.86210799e-02 4.47492869e+02] [ 9.48975475e-01 -1.28866239e-01 -2.87817722e-01 2.58655302e+02] [ 2.89094173e-01 -9.09759968e-03 9.57257433e-01 6.14264155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0192541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.49, Y:258.68, Z:61.43 [[-1.32599691e-01 -9.90762570e-01 2.84051478e-02 4.47494020e+02] [ 9.48344372e-01 -1.35151299e-01 -2.87014074e-01 2.58675526e+02] [ 2.88201794e-01 -1.11201154e-02 9.57505128e-01 6.14317252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0492541539999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:447.49, Y:258.70, Z:61.44 [[-1.31338271e-01 -9.90847793e-01 3.11594169e-02 4.47493057e+02] [ 9.49301570e-01 -1.34762800e-01 -2.84016755e-01 2.58703016e+02] [ 2.85616505e-01 -7.72258606e-03 9.58312879e-01 6.14382120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.0792541539998 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.50, Y:258.67, Z:61.43 [[-1.41151460e-01 -9.89680275e-01 2.46823622e-02 4.47499466e+02] [ 9.47219874e-01 -1.42260592e-01 -2.87291549e-01 2.58672030e+02] [ 2.87838107e-01 -1.71719976e-02 9.57525116e-01 6.14289574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1092541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.50, Y:258.67, Z:61.43 [[-1.43873116e-01 -9.89194289e-01 2.81990267e-02 4.47498183e+02] [ 9.46803078e-01 -1.45884722e-01 -2.86847657e-01 2.58673101e+02] [ 2.87861872e-01 -1.45707411e-02 9.57561088e-01 6.14296310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1392541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.50, Y:258.68, Z:61.43 [[-1.46392936e-01 -9.88828327e-01 2.80650612e-02 4.47498323e+02] [ 9.46473283e-01 -1.48260077e-01 -2.86718109e-01 2.58677511e+02] [ 2.87675916e-01 -1.54106752e-02 9.57603821e-01 6.14306655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1692541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.49, Y:258.67, Z:61.42 [[-1.37612130e-01 -9.88045300e-01 6.94937887e-02 4.47485170e+02] [ 9.54715916e-01 -1.51000530e-01 -2.56352024e-01 2.58669221e+02] [ 2.63781011e-01 3.10696782e-02 9.64082078e-01 6.14234988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.1992541539998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.52, Y:258.69, Z:61.42 [[-1.53057238e-01 -9.87967839e-01 -2.22042935e-02 4.47521791e+02] [ 9.46500477e-01 -1.40099567e-01 -2.90704245e-01 2.58691701e+02] [ 2.84095633e-01 -6.55107631e-02 9.56555284e-01 6.14225186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2292541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.50, Y:258.70, Z:61.44 [[-1.54187885e-01 -9.87651091e-01 2.77744095e-02 4.47495428e+02] [ 9.45611584e-01 -1.55657497e-01 -2.85638717e-01 2.58695578e+02] [ 2.86434685e-01 -1.77782261e-02 9.57934813e-01 6.14352078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2592541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.49, Y:258.69, Z:61.43 [[-1.54023153e-01 -9.87680698e-01 2.76352521e-02 4.47494187e+02] [ 9.45697955e-01 -1.55463297e-01 -2.85458477e-01 2.58694668e+02] [ 2.86238095e-01 -1.78326134e-02 9.57992563e-01 6.14348338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.2892541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.48, Y:258.68, Z:61.43 [[-1.42980410e-01 -9.88000133e-01 5.84152373e-02 4.47483473e+02] [ 9.52622147e-01 -1.53389464e-01 -2.62645611e-01 2.58683568e+02] [ 2.68454180e-01 1.80944718e-02 9.63122497e-01 6.14276566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3192541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.50, Y:258.69, Z:61.42 [[-1.41984561e-01 -9.89741479e-01 1.58804690e-02 4.47499028e+02] [ 9.53099778e-01 -1.41024830e-01 -2.67792478e-01 2.58693679e+02] [ 2.67284864e-01 -2.28867259e-02 9.63345732e-01 6.14214429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3492541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.50, Y:258.70, Z:61.43 [[-1.49735661e-01 -9.88717494e-01 -4.11696320e-03 4.47501629e+02] [ 9.47066850e-01 -1.42229478e-01 -2.87810975e-01 2.58702885e+02] [ 2.83978192e-01 -4.69946059e-02 9.57678387e-01 6.14290500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.3792541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.48, Y:258.70, Z:61.43 [[-1.45301563e-01 -9.89010450e-01 2.73090949e-02 4.47482674e+02] [ 9.47139924e-01 -1.47023798e-01 -2.85149026e-01 2.58695681e+02] [ 2.86030454e-01 -1.55670651e-02 9.58094070e-01 6.14347129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4092541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.48, Y:258.70, Z:61.44 [[-1.43115325e-01 -9.89332053e-01 2.72046513e-02 4.47480118e+02] [ 9.47414097e-01 -1.44897445e-01 -2.85326583e-01 2.58696867e+02] [ 2.86224618e-01 -1.50605363e-02 9.58044179e-01 6.14350047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4392541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.48, Y:258.70, Z:61.44 [[-1.40944511e-01 -9.89645939e-01 2.71212125e-02 4.47477578e+02] [ 9.47614309e-01 -1.42788674e-01 -2.85724545e-01 2.58697093e+02] [ 2.86638738e-01 -1.45708574e-02 9.57927933e-01 6.14350553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4692541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.47, Y:258.70, Z:61.43 [[-1.37945250e-01 -9.90070673e-01 2.70401470e-02 4.47473496e+02] [ 9.47918727e-01 -1.39887402e-01 -2.86149613e-01 2.58695704e+02] [ 2.87090916e-01 -1.38411183e-02 9.57803335e-01 6.14347304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.4992541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.47, Y:258.66, Z:61.42 [[-1.26800484e-01 -9.90778364e-01 4.77479960e-02 4.47468020e+02] [ 9.53150263e-01 -1.35029878e-01 -2.70687106e-01 2.58661012e+02] [ 2.74638334e-01 1.11877589e-02 9.61482511e-01 6.14224853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5292541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.48, Y:258.71, Z:61.43 [[-1.35378247e-01 -9.90793927e-01 -3.54362536e-04 4.47480129e+02] [ 9.48450365e-01 -1.29489129e-01 -2.89265399e-01 2.58706542e+02] [ 2.86556515e-01 -3.94963378e-02 9.57248872e-01 6.14307365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.5592541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:447.47, Y:258.70, Z:61.44 [[-1.34209850e-01 -9.90588699e-01 2.68653133e-02 4.47465023e+02] [ 9.48279491e-01 -1.36253250e-01 -2.86707270e-01 2.58702712e+02] [ 2.87669467e-01 -1.30031142e-02 9.57641476e-01 6.14369299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.589254154 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.47, Y:258.68, Z:61.43 [[-1.28055440e-01 -9.91415894e-01 2.63880741e-02 4.47467642e+02] [ 9.49235696e-01 -1.30228721e-01 -2.86342580e-01 2.58676473e+02] [ 2.87321070e-01 -1.16192232e-02 9.57763852e-01 6.14281304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6192541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.46, Y:258.71, Z:61.44 [[-1.31915212e-01 -9.90956867e-01 2.45532958e-02 4.47461934e+02] [ 9.48653774e-01 -1.33390392e-01 -2.86815308e-01 2.58707779e+02] [ 2.87496773e-01 -1.45427255e-02 9.57671194e-01 6.14377202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6492541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.46, Y:258.71, Z:61.44 [[-1.28843106e-01 -9.91310528e-01 2.65120856e-02 4.47456973e+02] [ 9.49291216e-01 -1.31025181e-01 -2.85794661e-01 2.58706699e+02] [ 2.86785008e-01 -1.16549818e-02 9.57924068e-01 6.14382089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.6792541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.46, Y:258.71, Z:61.44 [[-1.26986334e-01 -9.91553564e-01 2.63818332e-02 4.47455206e+02] [ 9.49571057e-01 -1.29210972e-01 -2.85690975e-01 2.58705202e+02] [ 2.86686726e-01 -1.12274244e-02 9.57958593e-01 6.14376121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.709254154 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.45, Y:258.70, Z:61.44 [[-1.22987861e-01 -9.92059232e-01 2.63147445e-02 4.47451609e+02] [ 9.49912458e-01 -1.25356322e-01 -2.86272799e-01 2.58703662e+02] [ 2.87298293e-01 -1.02113755e-02 9.57786729e-01 6.14366873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7392541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.45, Y:258.70, Z:61.44 [[-1.21259824e-01 -9.92277367e-01 2.61090624e-02 4.47449589e+02] [ 9.50417976e-01 -1.23652254e-01 -2.85334526e-01 2.58704729e+02] [ 2.86359437e-01 -9.78509202e-03 9.58072296e-01 6.14379725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7692541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.45, Y:258.70, Z:61.44 [[-1.19193323e-01 -9.92531906e-01 2.59493226e-02 4.47447864e+02] [ 9.50811511e-01 -1.21631485e-01 -2.84891650e-01 2.58703822e+02] [ 2.85920307e-01 -9.28426796e-03 9.58208422e-01 6.14380651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.7992541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:447.44, Y:258.71, Z:61.44 [[-1.15128780e-01 -9.93016905e-01 2.57447045e-02 4.47444313e+02] [ 9.51590778e-01 -1.17687383e-01 -2.83944838e-01 2.58705747e+02] [ 2.84991851e-01 -8.19179940e-03 9.58494934e-01 6.14387005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8292541539998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.44, Y:258.70, Z:61.44 [[-1.09985615e-01 -9.93603049e-01 2.56153484e-02 4.47441505e+02] [ 9.52227291e-01 -1.12722669e-01 -2.83825273e-01 2.58703637e+02] [ 2.84897087e-01 -6.82506350e-03 9.58533812e-01 6.14377178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8592541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:447.44, Y:258.70, Z:61.44 [[-1.08058017e-01 -9.93819491e-01 2.54221132e-02 4.47440102e+02] [ 9.52699129e-01 -1.10825882e-01 -2.82987622e-01 2.58704031e+02] [ 2.84056042e-01 -6.35945602e-03 9.58786588e-01 6.14380685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.8892541539999 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:447.44, Y:258.71, Z:61.44 [[-1.05939295e-01 -9.94049793e-01 2.53352501e-02 4.47438671e+02] [ 9.52833408e-01 -1.08768023e-01 -2.83333750e-01 2.58707066e+02] [ 2.84403520e-01 -5.87590491e-03 9.58686660e-01 6.14388149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9192541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.44, Y:258.71, Z:61.44 [[-1.03123825e-01 -9.94348595e-01 2.52259303e-02 4.47436478e+02] [ 9.53112842e-01 -1.06037660e-01 -2.83428870e-01 2.58708145e+02] [ 2.84501997e-01 -5.18511093e-03 9.58661425e-01 6.14386395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9492541539998 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:447.44, Y:258.71, Z:61.44 [[-1.01755159e-01 -9.94491727e-01 2.51414359e-02 4.47435549e+02] [ 9.53148570e-01 -1.04699786e-01 -2.83805847e-01 2.58708760e+02] [ 2.84874870e-01 -4.91518556e-03 9.58552111e-01 6.14387325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 744.9792541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:447.44, Y:258.71, Z:61.44 [[-1.00376572e-01 -9.94632525e-01 2.51134168e-02 4.47435001e+02] [ 9.52989355e-01 -1.03365614e-01 -2.84827736e-01 2.58710596e+02] [ 2.85894794e-01 -4.65721277e-03 9.58249695e-01 6.14383528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0092541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.43, Y:258.72, Z:61.44 [[-9.99856636e-02 -9.94675568e-01 2.49675919e-02 4.47433980e+02] [ 9.53129255e-01 -1.02950937e-01 -2.84509628e-01 2.58716306e+02] [ 2.85565213e-01 -4.64954176e-03 9.58348001e-01 6.14401824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0392541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.43, Y:258.72, Z:61.44 [[-1.00313800e-01 -9.94645018e-01 2.48682341e-02 4.47433193e+02] [ 9.53034458e-01 -1.03235914e-01 -2.84723844e-01 2.58717833e+02] [ 2.85766448e-01 -4.86144677e-03 9.58286963e-01 6.14398489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0692541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:447.43, Y:258.72, Z:61.44 [[-1.02236845e-01 -9.94451912e-01 2.47592892e-02 4.47432317e+02] [ 9.52804731e-01 -1.05046755e-01 -2.84830342e-01 2.58720605e+02] [ 2.85850961e-01 -5.52938752e-03 9.58258135e-01 6.14407054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.0992541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:447.43, Y:258.72, Z:61.44 [[-1.03159568e-01 -9.94358706e-01 2.46752381e-02 4.47431884e+02] [ 9.52591279e-01 -1.05904373e-01 -2.85226434e-01 2.58724336e+02] [ 2.86230604e-01 -5.91841916e-03 9.58142481e-01 6.14415740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1292541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:447.43, Y:258.73, Z:61.44 [[-1.06338468e-01 -9.94026244e-01 2.45755370e-02 4.47431561e+02] [ 9.52185856e-01 -1.08919599e-01 -2.85444594e-01 2.58728450e+02] [ 2.86416175e-01 -6.95326211e-03 9.58080073e-01 6.14421897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1592541539999 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:447.43, Y:258.73, Z:61.44 [[-1.08061535e-01 -9.93843462e-01 2.44515571e-02 4.47431200e+02] [ 9.52018516e-01 -1.10535124e-01 -2.85381729e-01 2.58734064e+02] [ 2.86327521e-01 -7.56045257e-03 9.58101973e-01 6.14434300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.1892541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:447.43, Y:258.74, Z:61.44 [[-1.09799926e-01 -9.93656493e-01 2.43053384e-02 4.47431440e+02] [ 9.51925308e-01 -1.12161255e-01 -2.85057997e-01 2.58736655e+02] [ 2.85975847e-01 -8.16248031e-03 9.58202061e-01 6.14441063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2192541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:447.43, Y:258.74, Z:61.45 [[-1.14019231e-01 -9.93185195e-01 2.41409125e-02 4.47431367e+02] [ 9.51607338e-01 -1.16161657e-01 -2.84517038e-01 2.58742059e+02] [ 2.85382358e-01 -9.46774437e-03 9.58366982e-01 6.14457290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2492541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:447.43, Y:258.75, Z:61.45 [[-1.15183377e-01 -9.93053686e-01 2.40243089e-02 4.47430873e+02] [ 9.51467191e-01 -1.17243539e-01 -2.84541979e-01 2.58747062e+02] [ 2.85382156e-01 -9.91616422e-03 9.58362507e-01 6.14472758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.2792541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:447.43, Y:258.75, Z:61.45 [[-1.16323504e-01 -9.92924307e-01 2.38780930e-02 4.47430279e+02] [ 9.51434273e-01 -1.18297732e-01 -2.84215535e-01 2.58748783e+02] [ 2.85029237e-01 -1.03425109e-02 9.58463023e-01 6.14482867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3092541539999 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:447.43, Y:258.75, Z:61.45 [[-1.17217698e-01 -9.92821905e-01 2.37629034e-02 4.47428994e+02] [ 9.51318323e-01 -1.19121244e-01 -2.84259702e-01 2.58754206e+02] [ 2.85049925e-01 -1.07141826e-02 9.58452788e-01 6.14500610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.339254154 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:447.43, Y:258.76, Z:61.45 [[-1.16869103e-01 -9.92864845e-01 2.36856949e-02 4.47428051e+02] [ 9.51212454e-01 -1.18759568e-01 -2.84764872e-01 2.58758141e+02] [ 2.85545934e-01 -1.07500872e-02 9.58304730e-01 6.14513748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3692541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:447.43, Y:258.76, Z:61.45 [[-1.15750363e-01 -9.92997842e-01 2.36038058e-02 4.47426793e+02] [ 9.51212682e-01 -1.17659371e-01 -2.85220453e-01 2.58757509e+02] [ 2.86000503e-01 -1.05621314e-02 9.58171255e-01 6.14511705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.3992541539999 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:447.43, Y:258.74, Z:61.44 [[-1.09844861e-01 -9.93727429e-01 2.09738648e-02 4.47431054e+02] [ 9.51515027e-01 -1.11231772e-01 -2.86786761e-01 2.58737216e+02] [ 2.87320831e-01 -1.15451042e-02 9.57764820e-01 6.14434077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4292541539999 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:447.43, Y:258.76, Z:61.45 [[-1.13370919e-01 -9.93273464e-01 2.35554740e-02 4.47425334e+02] [ 9.51466324e-01 -1.15365269e-01 -2.85311565e-01 2.58761243e+02] [ 2.86109890e-01 -9.93379400e-03 9.58145318e-01 6.14520783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.459254154 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:447.42, Y:258.76, Z:61.45 [[-1.11703955e-01 -9.93466788e-01 2.33659480e-02 4.47424697e+02] [ 9.51584026e-01 -1.13711513e-01 -2.85582795e-01 2.58762991e+02] [ 2.86374000e-01 -9.66606478e-03 9.58069152e-01 6.14520065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.4892541539999 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:447.42, Y:258.76, Z:61.45 [[-1.09288595e-01 -9.93737882e-01 2.32599415e-02 4.47422993e+02] [ 9.51811632e-01 -1.11366038e-01 -2.85748531e-01 2.58763649e+02] [ 2.86549508e-01 -9.08997274e-03 9.58022313e-01 6.14527175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5192541539999 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:447.42, Y:258.76, Z:61.45 [[-1.07591006e-01 -9.93926232e-01 2.31261801e-02 4.47422285e+02] [ 9.52058319e-01 -1.09703365e-01 -2.85569833e-01 2.58762220e+02] [ 2.86372368e-01 -8.70727363e-03 9.58078833e-01 6.14521538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5492541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:447.42, Y:258.77, Z:61.45 [[-1.05564331e-01 -9.94145393e-01 2.30458079e-02 4.47420953e+02] [ 9.52138376e-01 -1.07734894e-01 -2.86051928e-01 2.58765151e+02] [ 2.86860045e-01 -8.25408242e-03 9.57936942e-01 6.14532598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.5792541539998 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:447.42, Y:258.76, Z:61.45 [[-1.00969985e-01 -9.94625547e-01 2.29146870e-02 4.47419408e+02] [ 9.52675322e-01 -1.03298109e-01 -2.85900738e-01 2.58764569e+02] [ 2.86731222e-01 -7.03713630e-03 9.57985222e-01 6.14532728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6092541539999 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:447.42, Y:258.77, Z:61.45 [[-9.82170373e-02 -9.94903687e-01 2.28050049e-02 4.47418638e+02] [ 9.52926259e-01 -1.00629035e-01 -2.86016331e-01 2.58766658e+02] [ 2.86853548e-01 -6.36018868e-03 9.57953334e-01 6.14540936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6392541539999 meters Centerline goodness : 0.998717 Centerline is valid? [True, True] Translation: X:447.42, Y:258.77, Z:61.45 [[-9.78237921e-02 -9.94945128e-01 2.26869729e-02 4.47418419e+02] [ 9.52966715e-01 -1.00218467e-01 -2.86025696e-01 2.58769187e+02] [ 2.86853526e-01 -6.36018819e-03 9.57953341e-01 6.14548017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6692541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.42, Y:258.77, Z:61.46 [[-9.48721286e-02 -9.95233873e-01 2.25569820e-02 4.47417607e+02] [ 9.53306405e-01 -9.73548648e-02 -2.85882719e-01 2.58773056e+02] [ 2.86716198e-01 -5.61858671e-03 9.57999089e-01 6.14557191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.6992541539998 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:447.42, Y:258.77, Z:61.45 [[-9.02860483e-02 -9.95663624e-01 2.24137724e-02 4.47417267e+02] [ 9.53842559e-01 -9.29223064e-02 -2.85569287e-01 2.58769439e+02] [ 2.86413691e-01 -4.40371245e-03 9.58095927e-01 6.14540942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7292541539999 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:447.42, Y:258.77, Z:61.46 [[-8.89551335e-02 -9.95785701e-01 2.23119157e-02 4.47416865e+02] [ 9.53905118e-01 -9.16172018e-02 -2.85781936e-01 2.58770714e+02] [ 2.86621721e-01 -4.13831970e-03 9.58034897e-01 6.14553430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7592541539999 meters Centerline goodness : 0.998507 Centerline is valid? [True, True] Translation: X:447.42, Y:258.78, Z:61.46 [[-8.69513259e-02 -9.95964613e-01 2.22251442e-02 4.47416751e+02] [ 9.53968460e-01 -8.96712376e-02 -2.86187431e-01 2.58775803e+02] [ 2.87025510e-01 -3.68228999e-03 9.57915861e-01 6.14558357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.7892541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:447.42, Y:258.77, Z:61.46 [[-8.62956913e-02 -9.96024280e-01 2.21062684e-02 4.47417144e+02] [ 9.54032500e-01 -8.90091556e-02 -2.86180640e-01 2.58774227e+02] [ 2.87010526e-01 -3.60605765e-03 9.57920641e-01 6.14555435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8192541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.42, Y:258.78, Z:61.46 [[-8.55626534e-02 -9.96089411e-01 2.20208275e-02 4.47418411e+02] [ 9.53971326e-01 -8.82809336e-02 -2.86609816e-01 2.58777235e+02] [ 2.87433022e-01 -3.51585837e-03 9.57794287e-01 6.14558252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8492541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:447.42, Y:258.78, Z:61.46 [[-8.50217371e-02 -9.96137423e-01 2.19440085e-02 4.47419101e+02] [ 9.53857404e-01 -8.77388416e-02 -2.87154921e-01 2.58782898e+02] [ 2.87971105e-01 -3.48295523e-03 9.57632765e-01 6.14568549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.8792541539999 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:447.42, Y:258.78, Z:61.46 [[-8.57441797e-02 -9.96079533e-01 2.17600669e-02 4.47421055e+02] [ 9.54057918e-01 -8.83811099e-02 -2.86290530e-01 2.58782861e+02] [ 2.87091316e-01 -3.78738255e-03 9.57895731e-01 6.14568573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9092541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:447.42, Y:258.79, Z:61.46 [[-8.60447757e-02 -9.96056563e-01 2.16245251e-02 4.47421718e+02] [ 9.54103807e-01 -8.86310759e-02 -2.86060235e-01 2.58786025e+02] [ 2.86848779e-01 -3.98194701e-03 9.57967600e-01 6.14578613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9392541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:447.42, Y:258.79, Z:61.46 [[-8.85361251e-02 -9.95842256e-01 2.14372669e-02 4.47423259e+02] [ 9.54160870e-01 -9.09684375e-02 -2.85134664e-01 2.58792151e+02] [ 2.85899262e-01 -4.79011706e-03 9.58247706e-01 6.14599793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9692541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:447.42, Y:258.80, Z:61.46 [[-9.00577881e-02 -9.95708583e-01 2.13075902e-02 4.47424062e+02] [ 9.54071808e-01 -9.23902228e-02 -2.84975493e-01 2.58796638e+02] [ 2.85721157e-01 -5.33529145e-03 9.58297947e-01 6.14610862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 745.9992541539999 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:447.43, Y:258.81, Z:61.46 [[-9.51266951e-02 -9.95239675e-01 2.11873127e-02 4.47426030e+02] [ 9.53601549e-01 -9.72129507e-02 -2.84945133e-01 2.58806132e+02] [ 2.85648383e-01 -6.90163460e-03 9.58309642e-01 6.14633698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0292541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:447.43, Y:258.81, Z:61.46 [[-9.79916431e-02 -9.94964840e-01 2.10381812e-02 4.47427404e+02] [ 9.53446578e-01 -9.99188434e-02 -2.84527411e-01 2.58807738e+02] [ 2.85196881e-01 -7.82252667e-03 9.58437034e-01 6.14634525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.0592541539999 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:447.43, Y:258.81, Z:61.46 [[-1.05733748e-01 -9.94173455e-01 2.09646578e-02 4.47429485e+02] [ 9.52459050e-01 -1.07310229e-01 -2.85142550e-01 2.58814305e+02] [ 2.85730876e-01 -1.01812124e-02 9.58255816e-01 6.14648895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.089254154 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:447.41, Y:259.05, Z:61.54 [[-1.10826842e-01 -9.93569171e-01 2.31886464e-02 4.47412044e+02] [ 9.51880675e-01 -1.12826973e-01 -2.84944303e-01 2.59054125e+02] [ 2.85728180e-01 -9.50665292e-03 9.58263550e-01 6.15354804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1192541539999 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:447.43, Y:258.81, Z:61.46 [[-1.10425862e-01 -9.93391040e-01 3.13108726e-02 4.47430673e+02] [ 9.54849443e-01 -1.14778528e-01 -2.74022684e-01 2.58811669e+02] [ 2.75805495e-01 -3.62021646e-04 9.61213399e-01 6.14603378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1492541539999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:447.44, Y:258.83, Z:61.47 [[-1.24557933e-01 -9.92206263e-01 3.47181977e-03 4.47440198e+02] [ 9.50555103e-01 -1.20330975e-01 -2.86296094e-01 2.58832592e+02] [ 2.84482545e-01 -3.23602936e-02 9.58134903e-01 6.14653017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.1792541539999 meters Centerline goodness : 0.998594 Centerline is valid? [True, True] Translation: X:447.43, Y:258.84, Z:61.47 [[-1.25634938e-01 -9.91862839e-01 2.05905530e-02 4.47431770e+02] [ 9.49800567e-01 -1.26249525e-01 -2.86251534e-01 2.58839740e+02] [ 2.86521807e-01 -1.64062747e-02 9.57933238e-01 6.14715970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.209254154 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:447.43, Y:258.84, Z:61.47 [[-1.27007922e-01 -9.91691345e-01 2.04270313e-02 4.47431750e+02] [ 9.49808793e-01 -1.27527950e-01 -2.85656924e-01 2.58835586e+02] [ 2.85888517e-01 -1.68789185e-02 9.58114220e-01 6.14711495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2392541539999 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:447.43, Y:258.83, Z:61.47 [[-1.22309057e-01 -9.92057083e-01 2.93809257e-02 4.47429205e+02] [ 9.52274611e-01 -1.25643115e-01 -2.78184963e-01 2.58832448e+02] [ 2.79666874e-01 -6.04583105e-03 9.60078063e-01 6.14699174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2692541539999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:447.44, Y:258.84, Z:61.47 [[-1.27235209e-01 -9.91839993e-01 8.03922904e-03 4.47435231e+02] [ 9.49974279e-01 -1.24187404e-01 -2.86576967e-01 2.58839877e+02] [ 2.85236868e-01 -2.88256196e-02 9.58023493e-01 6.14697646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.2992541539999 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:447.43, Y:258.84, Z:61.47 [[-1.26013409e-01 -9.91824276e-01 2.01302454e-02 4.47428029e+02] [ 9.50066892e-01 -1.26497660e-01 -2.85256451e-01 2.58840991e+02] [ 2.85470702e-01 -1.68210581e-02 9.58239808e-01 6.14738278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3292541539998 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:447.43, Y:258.84, Z:61.47 [[-1.24103728e-01 -9.92067145e-01 2.00260929e-02 4.47426765e+02] [ 9.50243195e-01 -1.24634665e-01 -2.85489178e-01 2.58843022e+02] [ 2.85720379e-01 -1.64006129e-02 9.58172680e-01 6.14744423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3592541539999 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:447.43, Y:258.83, Z:61.47 [[-1.15762600e-01 -9.93040166e-01 2.16852386e-02 4.47425574e+02] [ 9.51240923e-01 -1.17121101e-01 -2.85347777e-01 2.58831172e+02] [ 2.85901603e-01 -1.24047143e-02 9.58178687e-01 6.14686396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.3892541539999 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:447.42, Y:258.84, Z:61.47 [[-1.16292275e-01 -9.93075979e-01 1.66194856e-02 4.47423860e+02] [ 9.50832702e-01 -1.16150176e-01 -2.87099824e-01 2.58842671e+02] [ 2.87042295e-01 -1.75851413e-02 9.57756485e-01 6.14726653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4192541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:447.42, Y:258.84, Z:61.47 [[-1.09893769e-01 -9.93745535e-01 1.98285477e-02 4.47418684e+02] [ 9.51283831e-01 -1.10938026e-01 -2.87666173e-01 2.58839034e+02] [ 2.88066715e-01 -1.27501433e-02 9.57525457e-01 6.14728439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4492541539998 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:447.42, Y:258.84, Z:61.47 [[-1.06686226e-01 -9.94097347e-01 1.97107451e-02 4.47416254e+02] [ 9.51628279e-01 -1.07833061e-01 -2.87707577e-01 2.58839943e+02] [ 2.88134809e-01 -1.19371332e-02 9.57515450e-01 6.14737142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.4792541539999 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:447.41, Y:258.84, Z:61.47 [[-1.02902106e-01 -9.94498239e-01 1.96063824e-02 4.47414003e+02] [ 9.51964091e-01 -1.04177798e-01 -2.87943321e-01 2.58838290e+02] [ 2.88401675e-01 -1.09654020e-02 9.57446726e-01 6.14730983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5092541539999 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:447.41, Y:258.84, Z:61.47 [[-9.58688608e-02 -9.95203745e-01 1.94593996e-02 4.47409258e+02] [ 9.52801340e-01 -9.74065999e-02 -2.87544014e-01 2.58839478e+02] [ 2.88060353e-01 -9.02557504e-03 9.57569722e-01 6.14742596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5392541539999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:447.41, Y:258.84, Z:61.47 [[-9.14751406e-02 -9.95618799e-01 1.93779672e-02 4.47407232e+02] [ 9.53051794e-01 -9.31718691e-02 -2.88116784e-01 2.58840442e+02] [ 2.88659968e-01 -7.88731692e-03 9.57399192e-01 6.14742415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5692541539999 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:447.40, Y:258.83, Z:61.47 [[-8.33455922e-02 -9.96335044e-01 1.92351979e-02 4.47403350e+02] [ 9.53888319e-01 -8.53505320e-02 -2.87771370e-01 2.58834549e+02] [ 2.88358435e-01 -5.63624460e-03 9.57505951e-01 6.14728135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.5992541539999 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:447.40, Y:258.83, Z:61.47 [[-7.95524162e-02 -9.96648349e-01 1.90651962e-02 4.47400935e+02] [ 9.54441799e-01 -8.16736462e-02 -2.87002210e-01 2.58833774e+02] [ 2.87597403e-01 -4.63509908e-03 9.57740179e-01 6.14738331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6292541539999 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:447.40, Y:258.84, Z:61.47 [[-7.52242452e-02 -9.96985979e-01 1.89807807e-02 4.47399061e+02] [ 9.54633645e-01 -7.75025506e-02 -2.87520363e-01 2.58836325e+02] [ 2.88124830e-01 -3.50881044e-03 9.57586430e-01 6.14735056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6592541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:447.40, Y:258.84, Z:61.47 [[-6.94957631e-02 -9.97404958e-01 1.88066407e-02 4.47396116e+02] [ 9.55323335e-01 -7.19689243e-02 -2.86666706e-01 2.58836153e+02] [ 2.87276287e-01 -1.95569881e-03 9.57845765e-01 6.14741623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.6892541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:447.40, Y:258.83, Z:61.47 [[-6.68963652e-02 -9.97584996e-01 1.86829255e-02 4.47395498e+02] [ 9.55536778e-01 -6.94437622e-02 -2.86578139e-01 2.58833902e+02] [ 2.87183464e-01 -1.31881344e-03 9.57874688e-01 6.14732754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7192541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.39, Y:258.84, Z:61.48 [[-6.50559355e-02 -9.97709108e-01 1.85542856e-02 4.47394108e+02] [ 9.55717073e-01 -6.76441168e-02 -2.86407316e-01 2.58843315e+02] [ 2.87006276e-01 -8.99848371e-04 9.57928279e-01 6.14755572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7492541539999 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:447.39, Y:258.84, Z:61.48 [[-6.43427120e-02 -9.97758745e-01 1.83712309e-02 4.47392963e+02] [ 9.56074604e-01 -6.69092643e-02 -2.85384832e-01 2.58840181e+02] [ 2.85974417e-01 -7.98166715e-04 9.58236921e-01 6.14753324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.7792541539999 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:447.39, Y:258.84, Z:61.48 [[-6.42730962e-02 -9.97764925e-01 1.82790666e-02 4.47392814e+02] [ 9.55963141e-01 -6.68158381e-02 -2.85779839e-01 2.58842321e+02] [ 2.86362431e-01 -8.93841135e-04 9.58120952e-01 6.14752456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8092541539999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:447.39, Y:258.85, Z:61.48 [[-6.69776322e-02 -9.97589500e-01 1.81435016e-02 4.47392905e+02] [ 9.55868383e-01 -6.93687730e-02 -2.85488369e-01 2.58849240e+02] [ 2.86058791e-01 -1.77853546e-03 9.58210418e-01 6.14773053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.839254154 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:447.39, Y:258.85, Z:61.48 [[-6.89084505e-02 -9.97460350e-01 1.80132249e-02 4.47393232e+02] [ 9.55797231e-01 -7.11820993e-02 -2.85280147e-01 2.58851562e+02] [ 2.85837855e-01 -2.44122241e-03 9.58274888e-01 6.14783819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8692541539999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:447.39, Y:258.86, Z:61.48 [[-7.04275664e-02 -9.97356135e-01 1.79080186e-02 4.47394239e+02] [ 9.55631916e-01 -7.26070813e-02 -2.85474785e-01 2.58855845e+02] [ 2.86020277e-01 -2.99182025e-03 9.58218895e-01 6.14781454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.8992541539999 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:447.40, Y:258.86, Z:61.48 [[-7.26274323e-02 -9.97200450e-01 1.77909947e-02 4.47395018e+02] [ 9.55469976e-01 -7.46814092e-02 -2.85481720e-01 2.58859876e+02] [ 2.86011156e-01 -3.73504302e-03 9.58219008e-01 6.14789479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9292541539999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:447.40, Y:258.86, Z:61.48 [[-7.87286098e-02 -9.96739920e-01 1.76447576e-02 4.47396515e+02] [ 9.55137655e-01 -8.04880834e-02 -2.85015312e-01 2.58864324e+02] [ 2.85506332e-01 -5.58568689e-03 9.58360545e-01 6.14803561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.959254154 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:447.40, Y:258.87, Z:61.48 [[-8.45858795e-02 -9.96262370e-01 1.75076856e-02 4.47397499e+02] [ 9.54746785e-01 -8.60641321e-02 -2.84695526e-01 2.58872074e+02] [ 2.85138223e-01 -7.36581488e-03 9.58458105e-01 6.14829495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 746.9892541539999 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:447.40, Y:258.88, Z:61.49 [[-8.74838677e-02 -9.96014842e-01 1.73495702e-02 4.47397665e+02] [ 9.54694438e-01 -8.88020409e-02 -2.84029449e-01 2.58875935e+02] [ 2.84438224e-01 -8.28445657e-03 9.58658576e-01 6.14850520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0192541539999 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:447.40, Y:258.88, Z:61.49 [[-8.93408708e-02 -9.95851879e-01 1.72407537e-02 4.47398419e+02] [ 9.54486287e-01 -9.05496762e-02 -2.84177207e-01 2.58880594e+02] [ 2.84559551e-01 -8.93257617e-03 9.58616749e-01 6.14855010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0492541539999 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:447.40, Y:258.89, Z:61.49 [[-9.11147751e-02 -9.95692858e-01 1.71414966e-02 4.47399001e+02] [ 9.54233380e-01 -9.22185377e-02 -2.84489716e-01 2.58886869e+02] [ 2.84845142e-01 -9.56422824e-03 9.58525832e-01 6.14867284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.0792541539998 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:447.40, Y:258.89, Z:61.49 [[-9.50152233e-02 -9.95330456e-01 1.70115138e-02 4.47399522e+02] [ 9.53926798e-01 -9.59217381e-02 -2.84293307e-01 2.58893960e+02] [ 2.84597561e-01 -1.07844532e-02 9.58586420e-01 6.14896235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1092541539999 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:447.40, Y:258.89, Z:61.49 [[-9.71436736e-02 -9.95126766e-01 1.69064170e-02 4.47400279e+02] [ 9.53654444e-01 -9.79289848e-02 -2.84522609e-01 2.58894776e+02] [ 2.84791692e-01 -1.15166917e-02 9.58520244e-01 6.14896404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1392541539999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:447.40, Y:258.90, Z:61.49 [[-9.75537459e-02 -9.95088519e-01 1.67960289e-02 4.47400359e+02] [ 9.53574294e-01 -9.82887654e-02 -2.84667147e-01 2.58896724e+02] [ 2.84919870e-01 -1.17540851e-02 9.58479269e-01 6.14904240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1692541539999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:447.40, Y:258.90, Z:61.49 [[-9.78654281e-02 -9.95060164e-01 1.66621772e-02 4.47400317e+02] [ 9.53624218e-01 -9.85525421e-02 -2.84408592e-01 2.58899383e+02] [ 2.84645760e-01 -1.19443128e-02 9.58558358e-01 6.14910264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.1992541539998 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:447.40, Y:258.90, Z:61.49 [[-9.79671338e-02 -9.95052443e-01 1.65250386e-02 4.47400171e+02] [ 9.53713132e-01 -9.86150208e-02 -2.84088611e-01 2.58903985e+02] [ 2.84312683e-01 -1.20712007e-02 9.58655613e-01 6.14915854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2292541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:447.40, Y:258.91, Z:61.49 [[-9.72900890e-02 -9.95120878e-01 1.64035492e-02 4.47400036e+02] [ 9.53798492e-01 -9.79321985e-02 -2.84038240e-01 2.58906523e+02] [ 2.84258818e-01 -1.19884252e-02 9.58672625e-01 6.14920543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2592541539999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:447.40, Y:258.91, Z:61.49 [[-9.57450622e-02 -9.95272989e-01 1.62653364e-02 4.47399254e+02] [ 9.54055059e-01 -9.64162162e-02 -2.83695010e-01 2.58909928e+02] [ 2.83922222e-01 -1.16443699e-02 9.58776606e-01 6.14924137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.2892541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:447.40, Y:258.91, Z:61.49 [[-9.45928779e-02 -9.95385079e-01 1.61472163e-02 4.47398926e+02] [ 9.54167047e-01 -9.52781199e-02 -2.83702884e-01 2.58909156e+02] [ 2.83932094e-01 -1.14291306e-02 9.58776273e-01 6.14920568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3192541539999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:447.40, Y:258.91, Z:61.49 [[-9.36776013e-02 -9.95473471e-01 1.60335795e-02 4.47398204e+02] [ 9.54232183e-01 -9.43674791e-02 -2.83788159e-01 2.58912391e+02] [ 2.84016632e-01 -1.12848364e-02 9.58752943e-01 6.14924506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3492541539999 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:447.40, Y:258.92, Z:61.49 [[-9.25081304e-02 -9.95584997e-01 1.58983983e-02 4.47396414e+02] [ 9.54435746e-01 -9.32115607e-02 -2.83485470e-01 2.58918349e+02] [ 2.83715795e-01 -1.10507111e-02 9.58844737e-01 6.14941605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.3792541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:447.40, Y:258.92, Z:61.49 [[-9.24256232e-02 -9.95594579e-01 1.57777699e-02 4.47395581e+02] [ 9.54458844e-01 -9.30987190e-02 -2.83444782e-01 2.58916530e+02] [ 2.83664979e-01 -1.11383286e-02 9.58858758e-01 6.14939039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4092541539999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:447.39, Y:258.92, Z:61.50 [[-9.25818482e-02 -9.95581418e-01 1.56921174e-02 4.47393986e+02] [ 9.54269963e-01 -9.32171723e-02 -2.84041188e-01 2.58921620e+02] [ 2.84248904e-01 -1.13225419e-02 9.58683661e-01 6.14954238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4392541539999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:447.39, Y:258.93, Z:61.50 [[-9.25573246e-02 -9.95584942e-01 1.56129723e-02 4.47393353e+02] [ 9.54059722e-01 -9.31625528e-02 -2.84764440e-01 2.58925566e+02] [ 2.84961733e-01 -1.14613268e-02 9.58470369e-01 6.14964398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4692541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:447.39, Y:258.93, Z:61.50 [[-9.21076865e-02 -9.95627927e-01 1.55307832e-02 4.47392829e+02] [ 9.53901144e-01 -9.27001158e-02 -2.85445786e-01 2.58926956e+02] [ 2.85637501e-01 -1.14769191e-02 9.58269011e-01 6.14960318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.4992541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:447.39, Y:258.93, Z:61.50 [[-9.21482475e-02 -9.95625090e-01 1.54719584e-02 4.47390973e+02] [ 9.53562105e-01 -9.27085236e-02 -2.86573623e-01 2.58926692e+02] [ 2.86754272e-01 -1.16537839e-02 9.57933284e-01 6.14966583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5292541539999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:447.39, Y:258.93, Z:61.50 [[-9.10009548e-02 -9.95731977e-01 1.53836593e-02 4.47388986e+02] [ 9.53494657e-01 -9.15773678e-02 -2.87161148e-01 2.58927453e+02] [ 2.87344333e-01 -1.14637017e-02 9.57758747e-01 6.14972078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.5592541539999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:447.39, Y:258.93, Z:61.50 [[-9.06052437e-02 -9.95769897e-01 1.52644029e-02 4.47388833e+02] [ 9.53532348e-01 -9.11641046e-02 -2.87167490e-01 2.58929995e+02] [ 2.87344307e-01 -1.14637784e-02 9.57758754e-01 6.14979127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.589254154 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:447.39, Y:258.94, Z:61.50 [[-8.95442426e-02 -9.95868119e-01 1.51168470e-02 4.47387551e+02] [ 9.53793547e-01 -9.01120195e-02 -2.86631634e-01 2.58936571e+02] [ 2.86809516e-01 -1.12478614e-02 9.57921598e-01 6.15002325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6192541539999 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:447.39, Y:258.93, Z:61.50 [[-8.81134812e-02 -9.95997984e-01 1.49676680e-02 4.47386632e+02] [ 9.54096947e-01 -8.87054561e-02 -2.86060059e-01 2.58934194e+02] [ 2.86242956e-01 -1.09251413e-02 9.58094782e-01 6.15000661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6492541539999 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:447.39, Y:258.94, Z:61.50 [[-8.64565923e-02 -9.96145318e-01 1.48244436e-02 4.47385570e+02] [ 9.54386081e-01 -8.70824137e-02 -2.85593876e-01 2.58936411e+02] [ 2.85783951e-01 -1.05432307e-02 9.58236074e-01 6.15012573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.6792541539999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:447.38, Y:258.94, Z:61.50 [[-8.26537777e-02 -9.96471293e-01 1.46053016e-02 4.47383733e+02] [ 9.55300686e-01 -8.33959853e-02 -2.83629527e-01 2.58939157e+02] [ 2.83846705e-01 -9.49059721e-03 9.58822703e-01 6.15026910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.709254154 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:447.38, Y:258.94, Z:61.50 [[-8.05504375e-02 -9.96645573e-01 1.44647629e-02 4.47382955e+02] [ 9.55609714e-01 -8.13438339e-02 -2.83184138e-01 2.58938062e+02] [ 2.83410836e-01 -8.98793822e-03 9.58956472e-01 6.15032222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7392541539999 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:447.38, Y:258.94, Z:61.50 [[-7.71954668e-02 -9.96913361e-01 1.43041895e-02 4.47381841e+02] [ 9.56133903e-01 -7.80887334e-02 -2.82329787e-01 2.58939178e+02] [ 2.82575333e-01 -8.11785917e-03 9.59210760e-01 6.15038454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7692541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:447.38, Y:258.94, Z:61.50 [[-7.62864302e-02 -9.96984924e-01 1.41930036e-02 4.47381817e+02] [ 9.56172294e-01 -7.71844792e-02 -2.82448402e-01 2.58938789e+02] [ 2.82692279e-01 -7.97602355e-03 9.59177491e-01 6.15046276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.7992541539999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:447.38, Y:258.94, Z:61.51 [[-7.54960321e-02 -9.97046811e-01 1.40714273e-02 4.47381963e+02] [ 9.56263674e-01 -7.63928427e-02 -2.82354246e-01 2.58944152e+02] [ 2.82595357e-01 -7.86063049e-03 9.59207003e-01 6.15052044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8292541539998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:447.38, Y:258.95, Z:61.51 [[-7.56111026e-02 -9.97039531e-01 1.39690920e-02 4.47382659e+02] [ 9.56169665e-01 -7.64718140e-02 -2.82651081e-01 2.58954006e+02] [ 2.82882543e-01 -8.01473779e-03 9.59121072e-01 6.15065621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8592541539999 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:447.38, Y:258.95, Z:61.51 [[-7.62046623e-02 -9.96995927e-01 1.38553859e-02 4.47383279e+02] [ 9.56103877e-01 -7.70082167e-02 -2.82727980e-01 2.58952190e+02] [ 2.82945623e-01 -8.29800209e-03 9.59100056e-01 6.15070960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.8892541539999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:447.38, Y:258.95, Z:61.51 [[-7.65758793e-02 -9.96968826e-01 1.37584314e-02 4.47383974e+02] [ 9.55950796e-01 -7.73329737e-02 -2.83156648e-01 2.58953829e+02] [ 2.83362331e-01 -8.53058579e-03 9.58974983e-01 6.15062524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9192541539999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:447.38, Y:258.96, Z:61.51 [[-7.86667533e-02 -9.96807092e-01 1.36807852e-02 4.47384838e+02] [ 9.55541268e-01 -7.93077781e-02 -2.83991481e-01 2.58960233e+02] [ 2.84169715e-01 -9.26813299e-03 9.58729198e-01 6.15080569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9492541539998 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:447.39, Y:258.97, Z:61.51 [[-7.97655131e-02 -9.96720577e-01 1.36218421e-02 4.47385978e+02] [ 9.55084155e-01 -8.03316949e-02 -2.85238628e-01 2.58969225e+02] [ 2.85397476e-01 -9.74219996e-03 9.58359729e-01 6.15094693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 747.9792541539999 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:447.39, Y:258.97, Z:61.51 [[-8.00068761e-02 -9.96702429e-01 1.35339693e-02 4.47386377e+02] [ 9.54869336e-01 -8.05310430e-02 -2.85900860e-01 2.58966703e+02] [ 2.86047986e-01 -9.95086237e-03 9.58163624e-01 6.15090244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0092541539999 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:447.39, Y:258.97, Z:61.51 [[-7.94479374e-02 -9.96748754e-01 1.34144259e-02 4.47386832e+02] [ 9.54918939e-01 -7.99614326e-02 -2.85895066e-01 2.58966240e+02] [ 2.86038187e-01 -9.90408398e-03 9.58167034e-01 6.15086344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0392541539999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:447.39, Y:258.97, Z:61.51 [[-7.85424906e-02 -9.96822074e-01 1.32977446e-02 4.47386994e+02] [ 9.54979572e-01 -7.90601209e-02 -2.85943202e-01 2.58968097e+02] [ 2.86085817e-01 -9.75961678e-03 9.58154296e-01 6.15093654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0692541539999 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:447.39, Y:258.97, Z:61.51 [[-7.74387323e-02 -9.96909951e-01 1.31830100e-02 4.47386835e+02] [ 9.55043058e-01 -7.79689980e-02 -2.86030755e-01 2.58970538e+02] [ 2.86174772e-01 -9.55951687e-03 9.58129749e-01 6.15103277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.0992541539999 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:447.39, Y:258.97, Z:61.51 [[-7.63612051e-02 -9.96994724e-01 1.30570201e-02 4.47386318e+02] [ 9.55177577e-01 -7.69022378e-02 -2.85870326e-01 2.58974433e+02] [ 2.86015321e-01 -9.35762974e-03 9.58179352e-01 6.15119990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1292541539999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:447.39, Y:258.97, Z:61.51 [[-7.55082472e-02 -9.97061496e-01 1.29181307e-02 4.47385987e+02] [ 9.55380185e-01 -7.60496613e-02 -2.85421006e-01 2.58974393e+02] [ 2.85564714e-01 -9.20991375e-03 9.58315173e-01 6.15125321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1592541539999 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:447.39, Y:258.98, Z:61.51 [[-7.35549438e-02 -9.97209275e-01 1.27801717e-02 4.47386295e+02] [ 9.55660756e-01 -7.41426184e-02 -2.84983141e-01 2.58975240e+02] [ 2.85135387e-01 -8.74841041e-03 9.58447326e-01 6.15131314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.1892541539999 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:447.39, Y:258.98, Z:61.52 [[-7.26711499e-02 -9.97275660e-01 1.26555394e-02 4.47386019e+02] [ 9.55772686e-01 -7.32614377e-02 -2.84835626e-01 2.58982735e+02] [ 2.84986800e-01 -8.60351355e-03 9.58492829e-01 6.15154489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2192541539999 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:447.39, Y:258.98, Z:61.51 [[-7.11693649e-02 -9.97385788e-01 1.25104471e-02 4.47386202e+02] [ 9.56068077e-01 -7.17861319e-02 -2.84219253e-01 2.58981655e+02] [ 2.84374320e-01 -8.26686459e-03 9.58677686e-01 6.15144173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2492541539999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:447.38, Y:258.97, Z:61.51 [[-6.52776284e-02 -9.97183607e-01 3.69281029e-02 4.47376960e+02] [ 9.60574078e-01 -7.28175891e-02 -2.68318916e-01 2.58969039e+02] [ 2.70252240e-01 1.79569559e-02 9.62622083e-01 6.15108214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.2792541539999 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:447.40, Y:258.99, Z:61.51 [[-7.09483270e-02 -9.97362152e-01 -1.53320678e-02 4.47399768e+02] [ 9.55947080e-01 -6.35969414e-02 -2.86566938e-01 2.58986872e+02] [ 2.84835945e-01 -3.49880902e-02 9.57937533e-01 6.15072301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3092541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:447.39, Y:258.99, Z:61.52 [[-7.01983068e-02 -9.97456670e-01 1.23446142e-02 4.47386414e+02] [ 9.55668982e-01 -7.07945600e-02 -2.85805751e-01 2.58989231e+02] [ 2.85952784e-01 -8.26571490e-03 9.58208059e-01 6.15166516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.339254154 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:447.39, Y:258.99, Z:61.52 [[-7.00447531e-02 -9.97468877e-01 1.22299782e-02 4.47386913e+02] [ 9.55654930e-01 -7.06138653e-02 -2.85897422e-01 2.58989991e+02] [ 2.86037387e-01 -8.33797543e-03 9.58182181e-01 6.15168103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3692541539999 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:447.39, Y:258.99, Z:61.52 [[-6.98139637e-02 -9.97486472e-01 1.21140272e-02 4.47387265e+02] [ 9.55654892e-01 -7.03590371e-02 -2.85960371e-01 2.58991728e+02] [ 2.86093933e-01 -8.38719760e-03 9.58164869e-01 6.15174252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.3992541539999 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:447.39, Y:258.99, Z:61.52 [[-6.93397412e-02 -9.97520940e-01 1.19989299e-02 4.47387334e+02] [ 9.55666081e-01 -6.98710585e-02 -2.86042614e-01 2.58994670e+02] [ 2.86171875e-01 -8.36715050e-03 9.58141769e-01 6.15179190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4292541539999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:447.39, Y:259.00, Z:61.52 [[-6.84568574e-02 -9.97583006e-01 1.19081965e-02 4.47386998e+02] [ 9.55527474e-01 -6.89934578e-02 -2.86717890e-01 2.58998903e+02] [ 2.86846482e-01 -8.24919683e-03 9.57941045e-01 6.15192718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.459254154 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:447.39, Y:259.00, Z:61.52 [[-6.75158498e-02 -9.97648297e-01 1.18103693e-02 4.47386875e+02] [ 9.55439125e-01 -6.80596923e-02 -2.87235020e-01 2.58998917e+02] [ 2.87363339e-01 -8.10882760e-03 9.57787324e-01 6.15195193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.4892541539999 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:447.39, Y:259.00, Z:61.52 [[-6.58224972e-02 -9.97762896e-01 1.16877094e-02 4.47386132e+02] [ 9.55582320e-01 -6.64034488e-02 -2.87146323e-01 2.58999423e+02] [ 2.87280051e-01 -7.73211956e-03 9.57815424e-01 6.15189170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5192541539999 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:447.39, Y:259.00, Z:61.52 [[-6.41044359e-02 -9.97876334e-01 1.15518059e-02 4.47385685e+02] [ 9.55826234e-01 -6.47222613e-02 -2.86718049e-01 2.59001176e+02] [ 2.86856815e-01 -7.33837969e-03 9.57945362e-01 6.15193042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5492541539999 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:447.39, Y:259.00, Z:61.52 [[-6.17818486e-02 -9.98024208e-01 1.14316737e-02 4.47385562e+02] [ 9.55988914e-01 -6.24633713e-02 -2.86676690e-01 2.59003127e+02] [ 2.86824337e-01 -6.78286258e-03 9.57959181e-01 6.15187535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.5792541539998 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:447.38, Y:259.01, Z:61.52 [[-5.79487946e-02 -9.98255756e-01 1.12863664e-02 4.47384936e+02] [ 9.56430304e-01 -5.87542279e-02 -2.85987787e-01 2.59006090e+02] [ 2.86152076e-01 -5.77802471e-03 9.58166793e-01 6.15209398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6092541539999 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:447.39, Y:259.01, Z:61.52 [[-5.56122871e-02 -9.98390101e-01 1.11570303e-02 4.47385145e+02] [ 9.56654097e-01 -5.64801827e-02 -2.85697266e-01 2.59006178e+02] [ 2.85867473e-01 -5.21485965e-03 9.58254973e-01 6.15214921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6392541539999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:447.38, Y:259.01, Z:61.52 [[-5.27678638e-02 -9.98546093e-01 1.10115245e-02 4.47384820e+02] [ 9.57028690e-01 -5.37164651e-02 -2.84974787e-01 2.59005406e+02] [ 2.85151960e-01 -4.49916589e-03 9.58471761e-01 6.15222686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6692541539999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:447.39, Y:259.01, Z:61.52 [[-5.11257221e-02 -9.98632889e-01 1.08863768e-02 4.47385307e+02] [ 9.57178915e-01 -5.21078014e-02 -2.84768858e-01 2.59006945e+02] [ 2.84946813e-01 -4.13880317e-03 9.58534394e-01 6.15229806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.6992541539998 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:447.39, Y:259.01, Z:61.52 [[-5.00236566e-02 -9.98690017e-01 1.07649114e-02 4.47385810e+02] [ 9.57272727e-01 -5.10173562e-02 -2.84650938e-01 2.59010301e+02] [ 2.84827247e-01 -3.93432464e-03 9.58570791e-01 6.15241570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7292541539999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:447.39, Y:259.01, Z:61.52 [[-4.93400154e-02 -9.98725225e-01 1.06530462e-02 4.47386373e+02] [ 9.57267825e-01 -5.03296472e-02 -2.84789815e-01 2.59014408e+02] [ 2.84962936e-01 -3.85371545e-03 9.58530789e-01 6.15248686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7592541539999 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:447.39, Y:259.01, Z:61.52 [[-4.87938824e-02 -9.98753305e-01 1.05352770e-02 4.47388919e+02] [ 9.57301636e-01 -4.97726883e-02 -2.84774048e-01 2.59013137e+02] [ 2.84943391e-01 -3.80979346e-03 9.58536775e-01 6.15243713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.7892541539999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:447.39, Y:259.02, Z:61.53 [[-4.95403194e-02 -9.98717614e-01 1.04347781e-02 4.47390791e+02] [ 9.57129622e-01 -5.04575390e-02 -2.85231351e-01 2.59018724e+02] [ 2.85392088e-01 -4.14301702e-03 9.58401895e-01 6.15259921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8192541539999 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:447.38, Y:259.26, Z:61.60 [[-5.06689960e-02 -9.98549617e-01 1.82020532e-02 4.47379181e+02] [ 9.57042626e-01 -5.37564933e-02 -2.84920430e-01 2.59262808e+02] [ 2.85485665e-01 2.98350863e-03 9.58378335e-01 6.16001299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8492541539999 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:447.40, Y:259.02, Z:61.52 [[-5.16323101e-02 -9.98661485e-01 3.05663550e-03 4.47395847e+02] [ 9.56871594e-01 -5.03474315e-02 -2.86115169e-01 2.59018522e+02] [ 2.85886093e-01 -1.18479794e-02 9.58190361e-01 6.15235084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.8792541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:447.39, Y:259.03, Z:61.53 [[-5.41276383e-02 -9.98480238e-01 1.03640307e-02 4.47393806e+02] [ 9.56509515e-01 -5.48262437e-02 -2.86502410e-01 2.59027882e+02] [ 2.86635216e-01 -5.59440485e-03 9.58023463e-01 6.15286795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9092541539999 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:447.39, Y:259.03, Z:61.53 [[-5.54162784e-02 -9.98410748e-01 1.02476240e-02 4.47394808e+02] [ 9.56425437e-01 -5.60270441e-02 -2.86550787e-01 2.59028088e+02] [ 2.86669530e-01 -6.07848997e-03 9.58010247e-01 6.15285909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9392541539999 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:447.40, Y:259.03, Z:61.53 [[-5.77693386e-02 -9.98278640e-01 1.01222350e-02 4.47396406e+02] [ 9.56353168e-01 -5.82466487e-02 -2.86349342e-01 2.59030656e+02] [ 2.86446018e-01 -6.86178055e-03 9.58071811e-01 6.15293555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9692541539999 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:447.40, Y:259.04, Z:61.53 [[-5.83091008e-02 -9.98248434e-01 1.00056798e-02 4.47396865e+02] [ 9.56309632e-01 -5.87300110e-02 -2.86396008e-01 2.59035381e+02] [ 2.86482000e-01 -7.13096570e-03 9.58059086e-01 6.15298492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 748.9992541539999 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:447.40, Y:259.04, Z:61.53 [[-5.83961860e-02 -9.98244493e-01 9.89024842e-03 4.47397277e+02] [ 9.56281552e-01 -5.87797376e-02 -2.86479556e-01 2.59037623e+02] [ 2.86557986e-01 -7.27145135e-03 9.58035306e-01 6.15302736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0292541539999 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:447.40, Y:259.04, Z:61.53 [[-5.85574006e-02 -9.98236388e-01 9.75423797e-03 4.47397787e+02] [ 9.56430987e-01 -5.88992675e-02 -2.85955668e-01 2.59038851e+02] [ 2.86025871e-01 -7.41556518e-03 9.58193201e-01 6.15323840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.0592541539999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:447.40, Y:259.04, Z:61.53 [[-5.76004541e-02 -9.98293019e-01 9.65590713e-03 4.47398290e+02] [ 9.56311330e-01 -5.79497789e-02 -2.86549232e-01 2.59042971e+02] [ 2.86619656e-01 -7.27131252e-03 9.58016858e-01 6.15314469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.089254154 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:447.40, Y:259.04, Z:61.53 [[-5.60609694e-02 -9.98382233e-01 9.49124643e-03 4.47399386e+02] [ 9.56822741e-01 -5.64380508e-02 -2.85140298e-01 2.59043676e+02] [ 2.85214675e-01 -6.90380111e-03 9.58438797e-01 6.15331588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1192541539999 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:447.40, Y:259.04, Z:61.53 [[-5.42548517e-02 -9.98483139e-01 9.37184565e-03 4.47399924e+02] [ 9.56940382e-01 -5.46734036e-02 -2.85089328e-01 2.59044219e+02] [ 2.85169278e-01 -6.49918165e-03 9.58455134e-01 6.15337474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1492541539999 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:447.40, Y:259.12, Z:61.56 [[-5.24047354e-02 -9.98518342e-01 1.46582893e-02 4.47395410e+02] [ 9.57090676e-01 -5.44089618e-02 -2.84635036e-01 2.59117276e+02] [ 2.85010846e-01 -8.86911730e-04 9.58523881e-01 6.15566844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.1792541539999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:447.39, Y:259.04, Z:61.53 [[-4.25509987e-02 -9.98524305e-01 3.37435038e-02 4.47391444e+02] [ 9.63094282e-01 -4.99789762e-02 -2.64483469e-01 2.59036594e+02] [ 2.65779638e-01 2.12441398e-02 9.63799705e-01 6.15288478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.209254154 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:447.42, Y:259.05, Z:61.53 [[-4.59258836e-02 -9.98667690e-01 -2.35299298e-02 4.47416500e+02] [ 9.57650522e-01 -3.73127405e-02 -2.85505231e-01 2.59047619e+02] [ 2.84246884e-01 -3.56455296e-02 9.58088256e-01 6.15256952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2392541539999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:447.40, Y:259.05, Z:61.54 [[-4.11660421e-02 -9.99111461e-01 9.03574580e-03 4.47401990e+02] [ 9.57592101e-01 -4.20332178e-02 -2.85044868e-01 2.59046350e+02] [ 2.85171396e-01 -3.08161023e-03 9.58471585e-01 6.15353902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2692541539999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:447.40, Y:259.05, Z:61.53 [[-3.81848199e-02 -9.99230660e-01 8.94473762e-03 4.47403259e+02] [ 9.57463526e-01 -3.91478693e-02 -2.85886413e-01 2.59048851e+02] [ 2.86016636e-01 -2.35226116e-03 9.58221765e-01 6.15340902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.2992541539999 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:447.41, Y:259.05, Z:61.53 [[-3.47418664e-02 -9.99357493e-01 8.80936869e-03 4.47405124e+02] [ 9.57770952e-01 -3.58110149e-02 -2.85293489e-01 2.59047183e+02] [ 2.85425658e-01 -1.47427084e-03 9.58399719e-01 6.15343941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3292541539998 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.41, Y:259.05, Z:61.53 [[-3.31480326e-02 -9.99412557e-01 8.70343505e-03 4.47405976e+02] [ 9.57719902e-01 -3.42528403e-02 -2.85655970e-01 2.59048518e+02] [ 2.85786281e-01 -1.13348044e-03 9.58292709e-01 6.15346359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3592541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:447.41, Y:259.05, Z:61.53 [[-3.09351075e-02 -9.99483977e-01 8.64861694e-03 4.47407902e+02] [ 9.57168608e-01 -3.21152775e-02 -2.87744443e-01 2.59051029e+02] [ 2.87873713e-01 -6.23220633e-04 9.57668177e-01 6.15331940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.3892541539999 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:447.40, Y:259.30, Z:61.61 [[-3.18217001e-02 -9.99433216e-01 1.09829807e-02 4.47400211e+02] [ 9.57230396e-01 -3.36358862e-02 -2.87364919e-01 2.59297237e+02] [ 2.87571468e-01 1.36880269e-03 9.57758204e-01 6.16067254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4192541539999 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:447.41, Y:259.05, Z:61.53 [[-3.25599435e-02 -9.99447760e-01 6.63518290e-03 4.47410907e+02] [ 9.57241111e-01 -3.30928920e-02 -2.87392268e-01 2.59052477e+02] [ 2.87453135e-01 -3.00600614e-03 9.57789987e-01 6.15344274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4492541539998 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:447.41, Y:259.05, Z:61.54 [[-3.21511865e-02 -9.99446719e-01 8.51801753e-03 4.47409854e+02] [ 9.57252533e-01 -3.32427383e-02 -2.87336925e-01 2.59054824e+02] [ 2.87461109e-01 -1.08432921e-03 9.57791697e-01 6.15356718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.4792541539999 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:447.41, Y:259.06, Z:61.54 [[-3.30709714e-02 -9.99417463e-01 8.42888116e-03 4.47411360e+02] [ 9.56927276e-01 -3.40965802e-02 -2.88318595e-01 2.59057460e+02] [ 2.88438035e-01 -1.46914971e-03 9.57497437e-01 6.15350237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5092541539999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:447.41, Y:259.06, Z:61.54 [[-3.80502392e-02 -9.99241401e-01 8.29470943e-03 4.47414207e+02] [ 9.56919848e-01 -3.88272397e-02 -2.87744418e-01 2.59063362e+02] [ 2.87848196e-01 -3.01137183e-03 9.57671315e-01 6.15378598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5392541539999 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:447.42, Y:259.07, Z:61.54 [[-4.05864724e-02 -9.99142605e-01 8.17268144e-03 4.47415352e+02] [ 9.56865750e-01 -4.12215400e-02 -2.87591240e-01 2.59067875e+02] [ 2.87681551e-01 -3.85215495e-03 9.57718375e-01 6.15393609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5692541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:447.42, Y:259.09, Z:61.55 [[-4.36009218e-02 -9.99016991e-01 8.00076494e-03 4.47415998e+02] [ 9.56820050e-01 -4.40603457e-02 -2.87322255e-01 2.59090634e+02] [ 2.87392331e-01 -4.87222285e-03 9.57800558e-01 6.15462832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.5992541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.42, Y:259.08, Z:61.54 [[-5.03600404e-02 -9.98638820e-01 1.35784084e-02 4.47416369e+02] [ 9.56946454e-01 -5.21400558e-02 -2.85543166e-01 2.59078789e+02] [ 2.85862469e-01 -1.38615560e-03 9.58269653e-01 6.15449568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6292541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.42, Y:259.11, Z:61.55 [[-5.39528298e-02 -9.98508686e-01 8.33638364e-03 4.47419360e+02] [ 9.57171545e-01 -5.40938442e-02 -2.84423083e-01 2.59114689e+02] [ 2.84449866e-01 -7.36608098e-03 9.58662618e-01 6.15543696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6592541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.43, Y:259.09, Z:61.55 [[-6.02763155e-02 -9.98174864e-01 3.70218325e-03 4.47425494e+02] [ 9.56865408e-01 -5.88370205e-02 -2.84511505e-01 2.59094548e+02] [ 2.84210059e-01 -1.36068142e-02 9.58665477e-01 6.15454244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.6892541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:447.42, Y:259.10, Z:61.55 [[-6.41285163e-02 -9.97912549e-01 7.62095605e-03 4.47424669e+02] [ 9.57118285e-01 -6.36652713e-02 -2.82615149e-01 2.59096233e+02] [ 2.82510393e-01 -1.08295338e-02 9.59203106e-01 6.15485365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7192541539999 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:447.43, Y:259.11, Z:61.55 [[-6.76076011e-02 -9.97683892e-01 7.48753659e-03 4.47425727e+02] [ 9.57069919e-01 -6.69719061e-02 -2.82014066e-01 2.59105006e+02] [ 2.81862346e-01 -1.19001985e-02 9.59381052e-01 6.15508505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7492541539999 meters Centerline goodness : 0.999244 Centerline is valid? [True, True] Translation: X:447.43, Y:259.11, Z:61.55 [[-7.47436095e-02 -9.97175506e-01 7.37586434e-03 4.47427239e+02] [ 9.56499602e-01 -7.37824633e-02 -2.82249286e-01 2.59108029e+02] [ 2.81996284e-01 -1.40413191e-02 9.59312742e-01 6.15515939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.7792541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:447.43, Y:259.11, Z:61.55 [[-8.11642241e-02 -9.96674176e-01 7.27713073e-03 4.47428516e+02] [ 9.55781349e-01 -7.99005294e-02 -2.83015757e-01 2.59114037e+02] [ 2.82655943e-01 -1.60154085e-02 9.59087652e-01 6.15525536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8092541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.43, Y:259.12, Z:61.55 [[-8.36804534e-02 -9.96466784e-01 7.17849731e-03 4.47428923e+02] [ 9.55341765e-01 -8.22715126e-02 -2.83819503e-01 2.59118717e+02] [ 2.83407293e-01 -1.68922264e-02 9.58850853e-01 6.15538597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.839254154 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.43, Y:259.13, Z:61.56 [[-8.58772185e-02 -9.96280568e-01 7.08047368e-03 4.47429318e+02] [ 9.54904254e-01 -8.43339015e-02 -2.84685191e-01 2.59126481e+02] [ 2.84223448e-01 -1.76867979e-02 9.58594914e-01 6.15555601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8692541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.42, Y:259.14, Z:61.56 [[-8.76779139e-02 -9.95669853e-01 3.08889442e-02 4.47418173e+02] [ 9.58062649e-01 -9.27774134e-02 -2.71124164e-01 2.59141307e+02] [ 2.72815953e-01 5.82194259e-03 9.62048627e-01 6.15598576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.8992541539999 meters Centerline goodness : 0.999097 Centerline is valid? [True, True] Translation: X:447.44, Y:259.14, Z:61.55 [[-9.13890656e-02 -9.95649223e-01 -1.81841331e-02 4.47440900e+02] [ 9.54449249e-01 -8.23697809e-02 -2.86778400e-01 2.59135662e+02] [ 2.84032868e-01 -4.35642421e-02 9.57824351e-01 6.15519913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9292541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.43, Y:259.13, Z:61.56 [[-9.19431248e-02 -9.95740290e-01 6.90923869e-03 4.47427499e+02] [ 9.53536517e-01 -9.00411358e-02 -2.87507746e-01 2.59132842e+02] [ 2.86905162e-01 -1.98461491e-02 9.57753391e-01 6.15581656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.959254154 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:447.43, Y:259.14, Z:61.56 [[-9.12425688e-02 -9.95805467e-01 6.80183473e-03 4.47426835e+02] [ 9.53419246e-01 -8.93268421e-02 -2.88118822e-01 2.59135837e+02] [ 2.87517885e-01 -1.98037013e-02 9.57570509e-01 6.15587966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 749.9892541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:447.41, Y:259.12, Z:61.55 [[-8.49463603e-02 -9.95666134e-01 3.78558635e-02 4.47412120e+02] [ 9.58928968e-01 -9.20133021e-02 -2.68307261e-01 2.59118650e+02] [ 2.70627696e-01 1.35093589e-02 9.62589293e-01 6.15518737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0192541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:447.44, Y:259.14, Z:61.55 [[-8.81545087e-02 -9.95734899e-01 -2.72175386e-02 4.47440522e+02] [ 9.53948422e-01 -7.65269418e-02 -2.90044884e-01 2.59140969e+02] [ 2.86724938e-01 -5.15328922e-02 9.56625930e-01 6.15517626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0492541539999 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:447.42, Y:259.14, Z:61.56 [[-8.46931246e-02 -9.96385470e-01 6.56273497e-03 4.47422052e+02] [ 9.53378745e-01 -8.29486393e-02 -2.90152534e-01 2.59140007e+02] [ 2.89648139e-01 -1.83171526e-02 9.56957908e-01 6.15612705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.0792541539998 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:447.42, Y:259.14, Z:61.56 [[-7.71854630e-02 -9.96995824e-01 6.46000512e-03 4.47417414e+02] [ 9.53704356e-01 -7.57198214e-02 -2.91057574e-01 2.59137910e+02] [ 2.90672336e-01 -1.63044786e-02 9.56683729e-01 6.15622639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1092541539999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:447.41, Y:259.14, Z:61.56 [[-7.25309593e-02 -9.97345987e-01 6.34374576e-03 4.47414667e+02] [ 9.53959286e-01 -7.12289109e-02 -2.91355664e-01 2.59137551e+02] [ 2.91034260e-01 -1.50806306e-02 9.56593767e-01 6.15626538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1392541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.41, Y:259.14, Z:61.56 [[-6.22215201e-02 -9.98042972e-01 6.22158553e-03 4.47409206e+02] [ 9.54643046e-01 -6.13321380e-02 -2.91367506e-01 2.59135279e+02] [ 2.91178875e-01 -1.21899358e-02 9.56590962e-01 6.15639845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1692541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:447.41, Y:259.13, Z:61.56 [[-5.66501838e-02 -9.98375511e-01 6.09064469e-03 4.47406600e+02] [ 9.55104502e-01 -5.59697454e-02 -2.90934320e-01 2.59133130e+02] [ 2.90802593e-01 -1.06642806e-02 9.56723641e-01 6.15643906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.1992541539998 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:447.40, Y:259.13, Z:61.56 [[-5.11660961e-02 -9.98672405e-01 5.95471057e-03 4.47404092e+02] [ 9.55617720e-01 -5.06906761e-02 -2.90215830e-01 2.59131083e+02] [ 2.90132390e-01 -9.15878412e-03 9.56942691e-01 6.15646742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2292541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.40, Y:259.12, Z:61.56 [[-4.08304373e-02 -9.99149164e-01 5.81575636e-03 4.47399500e+02] [ 9.56372489e-01 -4.07662432e-02 -2.89291852e-01 2.59123440e+02] [ 2.89282799e-01 -6.24988343e-03 9.57223277e-01 6.15644281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2592541539999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:447.40, Y:259.12, Z:61.57 [[-3.14639302e-02 -9.99488614e-01 5.70359390e-03 4.47396078e+02] [ 9.56595719e-01 -3.17667329e-02 -2.89681731e-01 2.59122454e+02] [ 2.89714776e-01 -3.65849223e-03 9.57106036e-01 6.15650726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.2892541539999 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:447.40, Y:259.12, Z:61.56 [[-2.66532172e-02 -9.99629012e-01 5.60758661e-03 4.47395193e+02] [ 9.56364427e-01 -2.71315798e-02 -2.90914008e-01 2.59120767e+02] [ 2.90958224e-01 -2.39089787e-03 9.56732771e-01 6.15634695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3192541539999 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:447.39, Y:259.12, Z:61.57 [[-2.35144759e-02 -9.99708422e-01 5.49003693e-03 4.47393345e+02] [ 9.56415100e-01 -2.40943072e-02 -2.91014812e-01 2.59120877e+02] [ 2.91062237e-01 -1.59230656e-03 9.56702795e-01 6.15652744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3492541539999 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:447.38, Y:259.43, Z:61.65 [[-1.89910962e-02 -9.99483942e-01 2.59072904e-02 4.47376400e+02] [ 9.60117196e-01 -2.54603457e-02 -2.78436242e-01 2.59430779e+02] [ 2.78952161e-01 1.95862256e-02 9.60105240e-01 6.16528031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.3792541539999 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:447.39, Y:259.18, Z:61.57 [[-1.39312227e-02 -9.99899422e-01 2.65842772e-03 4.47393459e+02] [ 9.60362376e-01 -1.41205398e-02 -2.78396692e-01 2.59179345e+02] [ 2.78406230e-01 -1.32535235e-03 9.60462500e-01 6.15730265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4092541539999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:447.40, Y:259.12, Z:61.56 [[-1.59259782e-02 -9.99774317e-01 -1.40597884e-02 4.47400520e+02] [ 9.56211786e-01 -1.11191308e-02 -2.92464332e-01 2.59118319e+02] [ 2.92241995e-01 -1.81019160e-02 9.56173069e-01 6.15608534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4392541539999 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:447.38, Y:259.18, Z:61.58 [[-1.13135733e-02 -9.99716171e-01 2.09661814e-02 4.47384864e+02] [ 9.59730227e-01 -1.67421495e-02 -2.80423949e-01 2.59181785e+02] [ 2.80695376e-01 1.69492811e-02 9.59647241e-01 6.15806403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4692541539999 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:447.40, Y:259.12, Z:61.56 [[-1.42330270e-02 -9.99837887e-01 -1.10282147e-02 4.47399623e+02] [ 9.56318401e-01 -1.03911818e-02 -2.92142329e-01 2.59122426e+02] [ 2.91980372e-01 -1.47045543e-02 9.56311266e-01 6.15629751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.4992541539999 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:447.39, Y:259.12, Z:61.57 [[-1.34475364e-02 -9.99896595e-01 5.09545269e-03 4.47393769e+02] [ 9.56561186e-01 -1.43485605e-02 -2.91178323e-01 2.59124282e+02] [ 2.91221326e-01 9.58481156e-04 9.56655226e-01 6.15670998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5292541539999 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:447.39, Y:259.20, Z:61.59 [[-1.13500857e-02 -9.99797338e-01 1.66270630e-02 4.47388927e+02] [ 9.59394950e-01 -1.55751482e-02 -2.81635836e-01 2.59201364e+02] [ 2.81837728e-01 1.27553295e-02 9.59377296e-01 6.15868861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.5592541539999 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:447.40, Y:259.13, Z:61.57 [[-1.40871642e-02 -9.99875082e-01 -7.16740581e-03 4.47401067e+02] [ 9.57069324e-01 -1.14078895e-02 -2.89634543e-01 2.59130075e+02] [ 2.89516597e-01 -1.09398336e-02 9.57110474e-01 6.15661868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.589254154 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:447.40, Y:259.13, Z:61.57 [[-1.54207212e-02 -9.99869678e-01 4.77786845e-03 4.47398197e+02] [ 9.57465762e-01 -1.61433962e-02 -2.88094958e-01 2.59131204e+02] [ 2.88134544e-01 1.32013421e-04 9.57589926e-01 6.15695326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6192541539999 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:447.40, Y:259.13, Z:61.57 [[-1.64244870e-02 -9.99854288e-01 4.65187017e-03 4.47399912e+02] [ 9.57612527e-01 -1.70684424e-02 -2.87553328e-01 2.59133491e+02] [ 2.87590828e-01 -2.68226764e-04 9.57753331e-01 6.15701308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6492541539999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:447.40, Y:259.21, Z:61.60 [[-1.84552533e-02 -9.99733897e-01 1.38397688e-02 4.47396157e+02] [ 9.57859529e-01 -2.16472897e-02 -2.86420178e-01 2.59212353e+02] [ 2.86643554e-01 7.97059743e-03 9.58004145e-01 6.15957122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.6792541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:447.41, Y:259.14, Z:61.57 [[-2.31697865e-02 -9.99724150e-01 -3.84519838e-03 4.47409999e+02] [ 9.57617289e-01 -2.10889932e-02 -2.87270574e-01 2.59143418e+02] [ 2.87110239e-01 -1.03382263e-02 9.57841757e-01 6.15689201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.709254154 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.41, Y:259.15, Z:61.57 [[-2.61082423e-02 -9.99649561e-01 4.37203858e-03 4.47408594e+02] [ 9.57589640e-01 -2.62646816e-02 -2.86935966e-01 2.59148446e+02] [ 2.86950243e-01 -3.30477488e-03 9.57939788e-01 6.15723139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7392541539999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:447.41, Y:259.16, Z:61.57 [[-3.29040821e-02 -9.99449437e-01 4.25962465e-03 4.47414371e+02] [ 9.57285041e-01 -3.27403430e-02 -2.87286304e-01 2.59157632e+02] [ 2.87267597e-01 -5.37521719e-03 9.57835286e-01 6.15748953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7692541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:447.42, Y:259.16, Z:61.58 [[-3.60888116e-02 -9.99339990e-01 4.14520293e-03 4.47417113e+02] [ 9.57099413e-01 -3.57561128e-02 -2.87545151e-01 2.59160861e+02] [ 2.87503585e-01 -6.40979147e-03 9.57758113e-01 6.15754096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.7992541539999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:447.42, Y:259.17, Z:61.58 [[-3.85823293e-02 -9.99247314e-01 4.02597481e-03 4.47420107e+02] [ 9.57025647e-01 -3.81103844e-02 -2.87488279e-01 2.59165415e+02] [ 2.87425322e-01 -7.23900629e-03 9.57775695e-01 6.15760082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8292541539998 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:447.43, Y:259.17, Z:61.58 [[-4.30676080e-02 -9.99064524e-01 3.90610324e-03 4.47425268e+02] [ 9.56875980e-01 -4.23725725e-02 -2.87389848e-01 2.59170562e+02] [ 2.87286514e-01 -8.63953696e-03 9.57805731e-01 6.15766067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8592541539999 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:447.43, Y:259.18, Z:61.58 [[-4.56294490e-02 -9.98951273e-01 3.78256020e-03 4.47429279e+02] [ 9.56878806e-01 -4.47944734e-02 -2.87012901e-01 2.59182360e+02] [ 2.86881340e-01 -9.47678881e-03 9.57919249e-01 6.15789999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.8892541539999 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:447.43, Y:259.18, Z:61.58 [[-4.60150078e-02 -9.98934038e-01 3.66158328e-03 4.47431005e+02] [ 9.56908688e-01 -4.51306321e-02 -2.86860574e-01 2.59181650e+02] [ 2.86720041e-01 -9.69609069e-03 9.57965346e-01 6.15783882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9192541539999 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:447.43, Y:259.18, Z:61.58 [[-4.63300007e-02 -9.98919901e-01 3.54435628e-03 4.47432253e+02] [ 9.56844547e-01 -4.53969871e-02 -2.87032449e-01 2.59181846e+02] [ 2.86883329e-01 -9.90681558e-03 9.57914302e-01 6.15782321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9492541539998 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:447.43, Y:259.19, Z:61.58 [[-4.64219806e-02 -9.98916055e-01 3.42256338e-03 4.47433683e+02] [ 9.56912208e-01 -4.54526123e-02 -2.86797990e-01 2.59185877e+02] [ 2.86642681e-01 -1.00386380e-02 9.57984968e-01 6.15790017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 750.9792541539999 meters Centerline goodness : 0.999476 Centerline is valid? [True, True] Translation: X:447.43, Y:259.20, Z:61.58 [[-4.37425216e-02 -9.98651273e-01 2.79683213e-02 4.47426039e+02] [ 9.60992964e-01 -4.97125989e-02 -2.72068339e-01 2.59201296e+02] [ 2.73091771e-01 1.49764048e-02 9.61871401e-01 6.15816683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0092541539999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:447.45, Y:259.20, Z:61.57 [[-4.88538844e-02 -9.98537916e-01 -2.31371767e-02 4.47450078e+02] [ 9.57115606e-01 -4.01793545e-02 -2.86906494e-01 2.59195640e+02] [ 2.85557375e-01 -3.61614496e-02 9.57679140e-01 6.15736799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0392541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:447.44, Y:259.20, Z:61.58 [[-4.99286138e-02 -9.98747700e-01 3.18828852e-03 4.47438409e+02] [ 9.56778736e-01 -4.87457705e-02 -2.86702460e-01 2.59199572e+02] [ 2.86498838e-01 -1.12641697e-02 9.58014371e-01 6.15809233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0692541539999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:447.44, Y:259.20, Z:61.58 [[-5.39948743e-02 -9.98536502e-01 3.06731937e-03 4.47440271e+02] [ 9.56616474e-01 -5.26083530e-02 -2.86561132e-01 2.59201932e+02] [ 2.86303117e-01 -1.25385840e-02 9.58057049e-01 6.15806967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.0992541539999 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:447.44, Y:259.20, Z:61.58 [[-5.62110417e-02 -9.98414550e-01 2.95042945e-03 4.47441070e+02] [ 9.56418069e-01 -5.46942507e-02 -2.86832733e-01 2.59204582e+02] [ 2.86539346e-01 -1.33013227e-02 9.57976137e-01 6.15810460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1292541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.44, Y:259.22, Z:61.58 [[-6.11474944e-02 -9.98124720e-01 2.83333852e-03 4.47442730e+02] [ 9.56056798e-01 -5.93853049e-02 -2.87104136e-01 2.59215986e+02] [ 2.86733994e-01 -1.48468660e-02 9.57895186e-01 6.15834948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1592541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.44, Y:259.22, Z:61.58 [[-6.34758006e-02 -9.97969566e-01 5.25055409e-03 4.47442040e+02] [ 9.56439070e-01 -6.23347571e-02 -2.85199375e-01 2.59221842e+02] [ 2.84947588e-01 -1.30814236e-02 9.58453832e-01 6.15844153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.1892541539999 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.45, Y:259.22, Z:61.58 [[-6.49249735e-02 -9.97890147e-01 -3.87356910e-05 4.47445256e+02] [ 9.55622320e-01 -6.21637558e-02 -2.87961193e-01 2.59224805e+02] [ 2.87351229e-01 -1.87328895e-02 9.57642078e-01 6.15849654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2192541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.44, Y:259.23, Z:61.59 [[-6.71958393e-02 -9.97736723e-01 2.47989435e-03 4.47444387e+02] [ 9.55391838e-01 -6.50600285e-02 -2.88086150e-01 2.59225373e+02] [ 2.87595473e-01 -1.69889198e-02 9.57601285e-01 6.15858407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2492541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.44, Y:259.23, Z:61.59 [[-6.70847302e-02 -9.97744488e-01 2.36123057e-03 4.47444348e+02] [ 9.55300043e-01 -6.49134930e-02 -2.88423416e-01 2.59232559e+02] [ 2.87926149e-01 -1.70931234e-02 9.57500056e-01 6.15873656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.2792541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.44, Y:259.23, Z:61.59 [[-6.72439488e-02 -9.97734056e-01 2.23696852e-03 4.47443637e+02] [ 9.55402514e-01 -6.50367796e-02 -2.88055990e-01 2.59233161e+02] [ 2.87548757e-01 -1.72328169e-02 9.57610956e-01 6.15883989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3092541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:447.44, Y:259.23, Z:61.59 [[-6.58632654e-02 -9.97826419e-01 2.11351573e-03 4.47442814e+02] [ 9.55576758e-01 -6.36840559e-02 -2.87780127e-01 2.59233620e+02] [ 2.87289211e-01 -1.69345124e-02 9.57694174e-01 6.15884448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.339254154 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:447.44, Y:259.24, Z:61.59 [[-6.44038515e-02 -9.97921931e-01 1.99089260e-03 4.47442064e+02] [ 9.55735157e-01 -6.22549097e-02 -2.87566752e-01 2.59235895e+02] [ 2.87093111e-01 -1.66176403e-02 9.57758529e-01 6.15890295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3692541539999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:447.44, Y:259.24, Z:61.59 [[-6.40016550e-02 -9.97948041e-01 1.86987891e-03 4.47442029e+02] [ 9.55762181e-01 -6.18349607e-02 -2.87567541e-01 2.59238418e+02] [ 2.87093088e-01 -1.66176390e-02 9.57758536e-01 6.15897285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.3992541539999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:447.44, Y:259.24, Z:61.59 [[-5.98971298e-02 -9.98203021e-01 1.75029244e-03 4.47440197e+02] [ 9.55935228e-01 -5.78655259e-02 -2.87818382e-01 2.59236573e+02] [ 2.87402460e-01 -1.55663288e-02 9.57683411e-01 6.15877352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4292541539999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:447.44, Y:259.24, Z:61.59 [[-5.83512003e-02 -9.98294798e-01 1.62281417e-03 4.47438511e+02] [ 9.56401420e-01 -5.63683303e-02 -2.86564017e-01 2.59241117e+02] [ 2.86166842e-01 -1.51692925e-02 9.58059722e-01 6.15904347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.459254154 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:447.44, Y:259.24, Z:61.59 [[-5.60427991e-02 -9.98427247e-01 1.49592015e-03 4.47437030e+02] [ 9.56940321e-01 -5.41413883e-02 -2.85191045e-01 2.59238796e+02] [ 2.84823501e-01 -1.45513982e-02 9.58469525e-01 6.15893629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.4892541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:447.43, Y:259.24, Z:61.59 [[-5.14340406e-02 -9.98675452e-01 1.37190455e-03 4.47432950e+02] [ 9.57481941e-01 -4.97028659e-02 -2.84179446e-01 2.59239578e+02] [ 2.83871224e-01 -1.33029233e-02 9.58770129e-01 6.15894116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5192541539999 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:447.43, Y:259.24, Z:61.59 [[-4.85212734e-02 -9.98821364e-01 1.25229719e-03 4.47430703e+02] [ 9.57684699e-01 -4.68789566e-02 -2.83976023e-01 2.59238655e+02] [ 2.83700025e-01 -1.25795724e-02 9.58830564e-01 6.15892394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5492541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:447.43, Y:259.24, Z:61.59 [[-4.23522234e-02 -9.99102101e-01 1.13188060e-03 4.47426120e+02] [ 9.58117171e-01 -4.09359641e-02 -2.83435588e-01 2.59238408e+02] [ 2.83227427e-01 -1.09196531e-02 9.58990608e-01 6.15882627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.5792541539998 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:447.42, Y:259.24, Z:61.59 [[-3.89461648e-02 -9.99240798e-01 1.01193446e-03 4.47423507e+02] [ 9.58438698e-01 -3.76422691e-02 -2.82804387e-01 2.59236991e+02] [ 2.82627773e-01 -1.00442691e-02 9.59177072e-01 6.15874205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6092541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:447.42, Y:259.24, Z:61.59 [[-3.52271238e-02 -9.99378933e-01 8.93785384e-04 4.47421099e+02] [ 9.58657520e-01 -3.40444020e-02 -2.82518564e-01 2.59240947e+02] [ 2.82373529e-01 -9.09548234e-03 9.59261415e-01 6.15885377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6392541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:447.42, Y:259.24, Z:61.59 [[-2.86117431e-02 -9.99590301e-01 7.73310723e-04 4.47416869e+02] [ 9.59283494e-01 -2.76754782e-02 -2.81085833e-01 2.59238455e+02] [ 2.80992075e-01 -7.30053143e-03 9.59682321e-01 6.15874882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6692541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:447.42, Y:259.24, Z:61.59 [[-2.51062587e-02 -9.99684573e-01 6.55351489e-04 4.47415034e+02] [ 9.59620392e-01 -2.42837985e-02 -2.80248106e-01 2.59238319e+02] [ 2.80175622e-01 -6.40709278e-03 9.59927377e-01 6.15875241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.6992541539998 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:447.41, Y:259.24, Z:61.59 [[-1.90629644e-02 -9.99818141e-01 5.37454390e-04 4.47410983e+02] [ 9.60183168e-01 -1.84571154e-02 -2.78760862e-01 2.59239517e+02] [ 2.78720086e-01 -4.79795373e-03 9.60360398e-01 6.15876143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7292541539999 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:447.41, Y:259.24, Z:61.59 [[-1.63191260e-02 -9.99866745e-01 4.22449305e-04 4.47409066e+02] [ 9.60266863e-01 -1.57905299e-02 -2.78636343e-01 2.59236473e+02] [ 2.78605884e-01 -4.14143753e-03 9.60396590e-01 6.15865628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7592541539999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:447.41, Y:259.24, Z:61.59 [[-1.37696720e-02 -9.99905146e-01 3.08195330e-04 4.47407354e+02] [ 9.60201065e-01 -1.33089003e-02 -2.78992453e-01 2.59238680e+02] [ 2.78970091e-01 -3.54570508e-03 9.60293245e-01 6.15871290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.7892541539999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:447.41, Y:259.24, Z:61.59 [[-1.17368129e-02 -9.99931103e-01 1.93692013e-04 4.47405687e+02] [ 9.60337061e-01 -1.13260416e-02 -2.78611646e-01 2.59241259e+02] [ 2.78594644e-01 -3.08400315e-03 9.60403828e-01 6.15872617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8192541539999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:447.40, Y:259.24, Z:61.59 [[-9.46679977e-03 -9.99955186e-01 7.95351020e-05 4.47403396e+02] [ 9.60458746e-01 -9.11501159e-03 -2.78273093e-01 2.59242074e+02] [ 2.78261347e-01 -2.55796546e-03 9.60501994e-01 6.15862185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8492541539999 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:447.40, Y:259.27, Z:61.59 [[-1.03662136e-02 -9.99946269e-01 -3.39510720e-05 4.47401924e+02] [ 9.60591928e-01 -9.94880460e-03 -2.77784392e-01 2.59269117e+02] [ 2.77769128e-01 -2.91218547e-03 9.60643446e-01 6.15934076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.8792541539999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:447.40, Y:259.28, Z:61.60 [[-1.12067866e-02 -9.99937201e-01 4.88335453e-05 4.47400692e+02] [ 9.60614149e-01 -1.07796346e-02 -2.77676533e-01 2.59275440e+02] [ 2.77659621e-01 -3.06495144e-03 9.60674628e-01 6.15953746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9092541539999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:447.40, Y:259.30, Z:61.60 [[-1.26236442e-02 -9.99920317e-01 -6.47364213e-05 4.47399775e+02] [ 9.60789680e-01 -1.21116994e-02 -2.77013533e-01 2.59301790e+02] [ 2.76990676e-01 -3.55911838e-03 9.60866015e-01 6.16028098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9392541539999 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:447.40, Y:259.31, Z:61.60 [[-1.43895368e-02 -9.99896465e-01 1.07408870e-05 4.47399374e+02] [ 9.60755595e-01 -1.38292355e-02 -2.77051330e-01 2.59310085e+02] [ 2.77022794e-01 -3.97632093e-03 9.60855119e-01 6.16037551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9692541539999 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:447.40, Y:259.34, Z:61.61 [[-1.59787084e-02 -9.99872327e-01 -1.03198615e-04 4.47399120e+02] [ 9.60740643e-01 -1.53247626e-02 -2.77024490e-01 2.59337027e+02] [ 2.76987540e-01 -4.52564064e-03 9.60862853e-01 6.16122896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 751.9992541539999 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:447.40, Y:259.36, Z:61.62 [[-1.63266960e-02 -9.99866710e-01 -1.93718900e-05 4.47398877e+02] [ 9.60736562e-01 -1.56823777e-02 -2.77018632e-01 2.59363296e+02] [ 2.76981404e-01 -4.54141027e-03 9.60864547e-01 6.16194035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0292541539999 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:447.40, Y:259.37, Z:61.62 [[-1.53896625e-02 -9.99881571e-01 5.61622551e-05 4.47398565e+02] [ 9.60723158e-01 -1.48025216e-02 -2.77113514e-01 2.59367799e+02] [ 2.77081527e-01 -4.21072708e-03 9.60837186e-01 6.16206206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.0592541539999 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:447.40, Y:259.39, Z:61.63 [[-1.46766559e-02 -9.99892290e-01 -5.79010963e-05 4.47398358e+02] [ 9.60821424e-01 -1.40871351e-02 -2.76809941e-01 2.59393630e+02] [ 2.76779311e-01 -4.11827687e-03 9.60924686e-01 6.16279122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.089254154 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:447.40, Y:259.40, Z:61.63 [[-1.10262020e-02 -9.99939209e-01 1.64108292e-05 4.47397503e+02] [ 9.60798451e-01 -1.05991486e-02 -2.77045115e-01 2.59395655e+02] [ 2.77028447e-01 -3.03898789e-03 9.60856911e-01 6.16289520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1192541539999 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:447.40, Y:259.42, Z:61.64 [[-9.30556467e-03 -9.99956698e-01 -9.74328994e-05 4.47397371e+02] [ 9.60833393e-01 -8.91449602e-03 -2.76983252e-01 2.59421253e+02] [ 2.76970390e-01 -2.67110235e-03 9.60874741e-01 6.16360831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1492541539999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:447.40, Y:259.45, Z:61.64 [[-6.60610958e-03 -9.99978179e-01 -2.38913419e-05 4.47397319e+02] [ 9.60959353e-01 -6.34173242e-03 -2.76616890e-01 2.59448076e+02] [ 2.76610702e-01 -1.85032009e-03 9.60980279e-01 6.16434896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.1792541539999 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:447.40, Y:259.45, Z:61.64 [[-4.92812664e-03 -9.99987855e-01 5.81975069e-05 4.47397488e+02] [ 9.61088677e-01 -4.75249853e-03 -2.76199148e-01 2.59448216e+02] [ 2.76196070e-01 -1.30521142e-03 9.61100425e-01 6.16432951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.209254154 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:447.40, Y:259.47, Z:61.65 [[-2.73811291e-03 -9.99996250e-01 -5.55077402e-05 4.47398525e+02] [ 9.61187721e-01 -2.61653669e-03 -2.75882801e-01 2.59474707e+02] [ 2.75881621e-01 -8.08751616e-04 9.61191280e-01 6.16509760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2392541539999 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:447.40, Y:259.48, Z:61.65 [[-1.72543692e-03 -9.99998511e-01 2.53226197e-05 4.47398628e+02] [ 9.61217823e-01 -1.66550680e-03 -2.75785283e-01 2.59476516e+02] [ 2.75784914e-01 -4.51509555e-04 9.61219266e-01 6.16517299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2692541539999 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:447.40, Y:259.50, Z:61.66 [[-1.09387678e-03 -9.99999398e-01 -8.82748833e-05 4.47399186e+02] [ 9.61166745e-01 -1.02703771e-03 -2.75966362e-01 2.59502947e+02] [ 2.75966106e-01 -3.86720078e-04 9.61167290e-01 6.16593973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.2992541539999 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:447.40, Y:259.53, Z:61.67 [[-7.42847152e-04 -9.99999724e-01 -7.26298561e-06 4.47399985e+02] [ 9.61230548e-01 -7.12044837e-04 -2.75745039e-01 2.59528388e+02] [ 2.75744958e-01 -2.11817820e-04 9.61230812e-01 6.16666630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3292541539998 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:447.40, Y:259.53, Z:61.67 [[-8.61724028e-04 -9.99999626e-01 7.94335484e-05 4.47402400e+02] [ 9.60990031e-01 -8.50078382e-04 -2.76581704e-01 2.59532969e+02] [ 2.76581668e-01 -1.62002251e-04 9.60990403e-01 6.16671263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3592541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:447.40, Y:259.56, Z:61.67 [[-2.01371983e-03 -9.99997972e-01 -3.36391546e-05 4.47404190e+02] [ 9.60796201e-01 -1.92545184e-03 -2.77248902e-01 2.59559398e+02] [ 2.77248275e-01 -5.90621983e-04 9.60798129e-01 6.16744842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.3892541539999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:447.41, Y:259.56, Z:61.67 [[-4.71915777e-03 -9.99988864e-01 4.92758060e-05 4.47407441e+02] [ 9.60447101e-01 -4.54627166e-03 -2.78425389e-01 2.59564375e+02] [ 2.78422513e-01 -1.26660653e-03 9.60457860e-01 6.16748356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4192541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:447.40, Y:259.60, Z:61.68 [[-3.83394187e-03 -9.99798668e-01 1.96957983e-02 4.47403221e+02] [ 9.61401815e-01 -9.10408835e-03 -2.74997573e-01 2.59595928e+02] [ 2.75121520e-01 1.78812515e-02 9.61243159e-01 6.16838485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4492541539998 meters Centerline goodness : 0.999181 Centerline is valid? [True, True] Translation: X:447.42, Y:259.61, Z:61.68 [[-1.23691800e-02 -9.99765429e-01 -1.77789272e-02 4.47420256e+02] [ 9.58664805e-01 -6.80216106e-03 -2.84456539e-01 2.59614134e+02] [ 2.84268879e-01 -2.05625259e-02 9.58524067e-01 6.16828075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.4792541539999 meters Centerline goodness : 0.999245 Centerline is valid? [True, True] Translation: X:447.41, Y:259.61, Z:61.69 [[-1.62138708e-02 -9.99868169e-01 8.69494094e-04 4.47414847e+02] [ 9.58411239e-01 -1.57894031e-02 -2.84953665e-01 2.59611203e+02] [ 2.84929828e-01 -3.78686901e-03 9.58540898e-01 6.16872954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5092541539999 meters Centerline goodness : 0.999434 Centerline is valid? [True, True] Translation: X:447.42, Y:259.62, Z:61.69 [[-1.92253579e-02 -9.99814893e-01 7.52608060e-04 4.47418879e+02] [ 9.58326512e-01 -1.86421641e-02 -2.85066247e-01 2.59616811e+02] [ 2.85027510e-01 -4.75925636e-03 9.58507521e-01 6.16893948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5392541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.42, Y:259.62, Z:61.69 [[-2.02017646e-02 -9.99795722e-01 6.34518736e-04 4.47420333e+02] [ 9.58465454e-01 -1.95472312e-02 -2.84538009e-01 2.59619513e+02] [ 2.84492288e-01 -5.14000559e-03 9.58664550e-01 6.16903120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5692541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.42, Y:259.62, Z:61.69 [[-2.05052165e-02 -9.99789612e-01 5.17090970e-04 4.47421825e+02] [ 9.58531493e-01 -1.98060704e-02 -2.84297551e-01 2.59623479e+02] [ 2.84247980e-01 -5.33393484e-03 9.58735957e-01 6.16923686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.5992541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.42, Y:259.63, Z:61.69 [[-2.04046857e-02 -9.99791723e-01 3.99798861e-04 4.47424907e+02] [ 9.58594666e-01 -1.96775014e-02 -2.84093406e-01 2.59625180e+02] [ 2.84042103e-01 -5.41359159e-03 9.58796525e-01 6.16922958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6292541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:447.43, Y:259.63, Z:61.70 [[-2.00996312e-02 -9.99797942e-01 2.82321821e-04 4.47425950e+02] [ 9.58839450e-01 -1.93562088e-02 -2.83288274e-01 2.59632279e+02] [ 2.83236498e-01 -5.42328852e-03 9.59034762e-01 6.16956748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6592541539999 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.43, Y:259.63, Z:61.70 [[-1.88868286e-02 -9.99821614e-01 1.65438296e-04 4.47428164e+02] [ 9.58947571e-01 -1.81615374e-02 -2.83001264e-01 2.59629418e+02] [ 2.82953785e-01 -5.18634970e-03 9.59119522e-01 6.16950193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.6892541539999 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:447.43, Y:259.63, Z:61.70 [[-1.80158941e-02 -9.99837699e-01 4.87118501e-05 4.47429391e+02] [ 9.58949326e-01 -1.72929240e-02 -2.83049722e-01 2.59634698e+02] [ 2.83004625e-01 -5.05268163e-03 9.59105235e-01 6.16963797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7192541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.43, Y:259.66, Z:61.70 [[-1.79428538e-02 -9.99839012e-01 -6.71110617e-05 4.47430359e+02] [ 9.58885937e-01 -1.71889068e-02 -2.83270723e-01 2.59661961e+02] [ 2.83223966e-01 -5.14703703e-03 9.59039985e-01 6.17043126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7492541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:447.43, Y:259.66, Z:61.70 [[-1.64382309e-02 -9.99864883e-01 1.72876026e-05 4.47431907e+02] [ 9.58800074e-01 -1.57680110e-02 -2.83643768e-01 2.59663798e+02] [ 2.83605716e-01 -4.64602640e-03 9.58929722e-01 6.17045756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.7792541539999 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:447.43, Y:259.69, Z:61.71 [[-1.59064466e-02 -9.99873480e-01 -9.84891778e-05 4.47432968e+02] [ 9.58638866e-01 -1.52224714e-02 -2.84217878e-01 2.59691129e+02] [ 2.84180419e-01 -4.61531203e-03 9.58759714e-01 6.17107569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8092541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:447.43, Y:259.72, Z:61.72 [[-1.61955566e-02 -9.99868843e-01 -1.42554471e-05 4.47434187e+02] [ 9.58679075e-01 -1.55243279e-02 -2.84065884e-01 2.59716123e+02] [ 2.84028406e-01 -4.61427151e-03 9.58804763e-01 6.17197323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.839254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.43, Y:259.72, Z:61.72 [[-1.57138742e-02 -9.99876527e-01 7.28503049e-05 4.47434795e+02] [ 9.58673071e-01 -1.50870283e-02 -2.84109707e-01 2.59717635e+02] [ 2.84075726e-01 -4.39462455e-03 9.58791776e-01 6.17204836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8692541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.44, Y:259.74, Z:61.73 [[-1.59890242e-02 -9.99872167e-01 -4.24695286e-05 4.47435552e+02] [ 9.58635712e-01 -1.53175369e-02 -2.84223407e-01 2.59744516e+02] [ 2.84186423e-01 -4.58516774e-03 9.58758079e-01 6.17273125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.8992541539999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.44, Y:259.75, Z:61.73 [[-1.55556180e-02 -9.99879003e-01 4.17759600e-05 4.47436098e+02] [ 9.58630181e-01 -1.49257662e-02 -2.84262902e-01 2.59746034e+02] [ 2.84229131e-01 -4.38183742e-03 9.58746369e-01 6.17279250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9292541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:447.44, Y:259.77, Z:61.74 [[-1.63411472e-02 -9.99866472e-01 -7.34449272e-05 4.47437087e+02] [ 9.58381588e-01 -1.56422070e-02 -2.85061489e-01 2.59772540e+02] [ 2.85022277e-01 -4.72862002e-03 9.58509229e-01 6.17357902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.959254154 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:447.44, Y:259.78, Z:61.74 [[-1.68008809e-02 -9.99858855e-01 9.90699670e-06 4.47437680e+02] [ 9.58177254e-01 -1.61033255e-02 -2.85721949e-01 2.59776412e+02] [ 2.85681781e-01 -4.79088780e-03 9.58312563e-01 6.17375788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 752.9892541539999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:447.44, Y:259.80, Z:61.74 [[-1.73323018e-02 -9.99849779e-01 -1.05178227e-04 4.47438148e+02] [ 9.58014526e-01 -1.65769809e-02 -2.86240058e-01 2.59802439e+02] [ 2.86195315e-01 -5.06196134e-03 9.58157930e-01 6.17447809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0192541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.44, Y:259.83, Z:61.75 [[-1.82599536e-02 -9.99833273e-01 -1.47088289e-05 4.47438329e+02] [ 9.57819049e-01 -1.74884281e-02 -2.86839371e-01 2.59828956e+02] [ 2.86791290e-01 -5.25176201e-03 9.57978692e-01 6.17522016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0492541539999 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:447.44, Y:259.83, Z:61.75 [[-1.83270501e-02 -9.99832043e-01 6.67254581e-05 4.47438657e+02] [ 9.57640626e-01 -1.75728580e-02 -2.87429340e-01 2.59832271e+02] [ 2.87382237e-01 -5.20383290e-03 9.57801843e-01 6.17530181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.0792541539998 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.44, Y:259.86, Z:61.76 [[-1.98632275e-02 -9.99802706e-01 -4.75906042e-05 4.47439698e+02] [ 9.57338022e-01 -1.90058501e-02 -2.88344742e-01 2.59859271e+02] [ 2.88286948e-01 -5.77301749e-03 9.57526662e-01 6.17612259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1092541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.44, Y:259.86, Z:61.76 [[-1.96282721e-02 -9.99807346e-01 3.63062098e-05 4.47440397e+02] [ 9.57168970e-01 -1.88016847e-02 -2.88918776e-01 2.59860271e+02] [ 2.88863798e-01 -5.63622517e-03 9.57353613e-01 6.17602089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1392541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.44, Y:259.89, Z:61.77 [[-2.13413472e-02 -9.99772244e-01 -7.83748890e-05 4.47440657e+02] [ 9.57412771e-01 -2.04145559e-02 -2.88000055e-01 2.59885908e+02] [ 2.87932861e-01 -6.22134629e-03 9.57630389e-01 6.17694486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1692541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.44, Y:259.91, Z:61.78 [[-2.34033216e-02 -9.99726105e-01 -1.57020780e-05 4.47442453e+02] [ 9.57532255e-01 -2.24110599e-02 -2.87453868e-01 2.59912527e+02] [ 2.87374784e-01 -6.74241055e-03 9.57794484e-01 6.17767669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.1992541539998 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:447.44, Y:259.91, Z:61.78 [[-2.49106170e-02 -9.99689680e-01 6.71798871e-05 4.47442516e+02] [ 9.57739522e-01 -2.38845509e-02 -2.86643570e-01 2.59914026e+02] [ 2.86556223e-01 -7.07612734e-03 9.58037295e-01 6.17794984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2292541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.44, Y:259.94, Z:61.79 [[-2.80717019e-02 -9.99605911e-01 -4.84280405e-05 4.47444059e+02] [ 9.57783537e-01 -2.68833467e-02 -2.86230644e-01 2.59939591e+02] [ 2.86116542e-01 -8.08136489e-03 9.58160746e-01 6.17877713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2592541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:447.44, Y:259.94, Z:61.79 [[-2.76733173e-02 -9.99617020e-01 8.18555401e-06 4.47443956e+02] [ 9.57793727e-01 -2.65178285e-02 -2.86230642e-01 2.59942096e+02] [ 2.86121239e-01 -7.91311133e-03 9.58160748e-01 6.17885221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.2892541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.44, Y:259.97, Z:61.80 [[-2.97015941e-02 -9.99558805e-01 -1.07492946e-04 4.47444686e+02] [ 9.57807253e-01 -2.84302023e-02 -2.86001731e-01 2.59967780e+02] [ 2.85872493e-01 -8.59766486e-03 9.58229095e-01 6.17956712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3192541539999 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:447.45, Y:259.99, Z:61.80 [[-3.12126806e-02 -9.99512765e-01 -1.67689268e-05 4.47446052e+02] [ 9.57671547e-01 -2.99012640e-02 -2.86305995e-01 2.59994840e+02] [ 2.86165996e-01 -8.95243672e-03 9.58138235e-01 6.18019481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3492541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.45, Y:260.00, Z:61.81 [[-3.61037373e-02 -9.99348045e-01 6.72203199e-05 4.47447395e+02] [ 9.57710393e-01 -3.46186953e-02 -2.85643747e-01 2.60002083e+02] [ 2.85459847e-01 -1.02484292e-02 9.58335873e-01 6.18055807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.3792541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.45, Y:260.03, Z:61.81 [[-4.14157664e-02 -9.99141998e-01 -4.92505983e-05 4.47449243e+02] [ 9.57278590e-01 -3.96663532e-02 -2.86433729e-01 2.60027617e+02] [ 2.86186015e-01 -1.19100190e-02 9.58100056e-01 6.18126142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4092541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.45, Y:260.03, Z:61.81 [[-4.34110024e-02 -9.99057298e-01 1.02026335e-05 4.47450166e+02] [ 9.56885573e-01 -4.15814938e-02 -2.87473440e-01 2.60034588e+02] [ 2.87202863e-01 -1.24697474e-02 9.57788610e-01 6.18132813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4392541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.45, Y:260.06, Z:61.82 [[-4.99613585e-02 -9.98751146e-01 -1.06027113e-04 4.47449956e+02] [ 9.56397207e-01 -4.78120645e-02 -2.88129119e-01 2.60060138e+02] [ 2.87764219e-01 -1.44967262e-02 9.57591562e-01 6.18224188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4692541539999 meters Centerline goodness : 0.999375 Centerline is valid? [True, True] Translation: X:447.45, Y:260.09, Z:61.83 [[-5.24184514e-02 -9.98625208e-01 -1.52025541e-05 4.47450145e+02] [ 9.56336444e-01 -5.01943050e-02 -2.87925576e-01 2.60085831e+02] [ 2.87528975e-01 -1.51071516e-02 9.57652788e-01 6.18289474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.4992541539999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:447.45, Y:260.09, Z:61.83 [[-5.40656471e-02 -9.98537382e-01 4.33090845e-05 4.47450235e+02] [ 9.56200113e-01 -5.17857979e-02 -2.88096468e-01 2.60089931e+02] [ 2.87677336e-01 -1.55347098e-02 9.57601391e-01 6.18294720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5292541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.45, Y:260.12, Z:61.84 [[-5.78510504e-02 -9.98325223e-01 -7.32270109e-05 4.47449236e+02] [ 9.56064764e-01 -5.53810214e-02 -2.87876900e-01 2.60116286e+02] [ 2.87390715e-01 -1.67239908e-02 9.57667419e-01 6.18390816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.5592541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.45, Y:260.12, Z:61.84 [[-5.73587303e-02 -9.98353633e-01 7.81069461e-06 4.47449237e+02] [ 9.55782485e-01 -5.49151368e-02 -2.88901659e-01 2.60118473e+02] [ 2.88426450e-01 -1.65635670e-02 9.57358779e-01 6.18381594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.589254154 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.45, Y:260.14, Z:61.85 [[-5.82988544e-02 -9.98299169e-01 -1.08899156e-04 4.47447263e+02] [ 9.55941372e-01 -5.57937972e-02 -2.88206775e-01 2.60144452e+02] [ 2.87710508e-01 -1.69062260e-02 9.57568192e-01 6.18478149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6192541539999 meters Centerline goodness : 0.999562 Centerline is valid? [True, True] Translation: X:447.45, Y:260.17, Z:61.86 [[-5.70144918e-02 -9.98372578e-01 -1.24223763e-03 4.47447239e+02] [ 9.56104076e-01 -5.42423446e-02 -2.87963130e-01 2.60170141e+02] [ 2.87427111e-01 -1.76057800e-02 9.57640691e-01 6.18553803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6492541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.44, Y:260.04, Z:61.82 [[-5.47360358e-02 -9.98500117e-01 1.21746827e-03 4.47443942e+02] [ 9.56142697e-01 -5.27653667e-02 -2.88109282e-01 2.60039754e+02] [ 2.87741392e-01 -1.46058866e-02 9.57596762e-01 6.18170470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.6792541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.44, Y:260.07, Z:61.83 [[-5.41510229e-02 -9.98532727e-01 -2.43872596e-04 4.47443643e+02] [ 9.56085043e-01 -5.17786041e-02 -2.88479406e-01 2.60066593e+02] [ 2.88043501e-01 -1.58546179e-02 9.57486069e-01 6.18251192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.709254154 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:447.44, Y:260.09, Z:61.83 [[-5.32514321e-02 -9.98581124e-01 -1.55113309e-04 4.47443029e+02] [ 9.55825920e-01 -5.09264540e-02 -2.89488007e-01 2.60093079e+02] [ 2.89069360e-01 -1.55639123e-02 9.57181628e-01 6.18314982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7392541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.44, Y:260.12, Z:61.84 [[-5.31717935e-02 -9.98585377e-01 -7.44994540e-05 4.47441573e+02] [ 9.55967093e-01 -5.08809296e-02 -2.89029495e-01 2.60118042e+02] [ 2.88616837e-01 -1.54394356e-02 9.57320190e-01 6.18407531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7692541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.44, Y:260.12, Z:61.84 [[-5.18629071e-02 -9.98654214e-01 1.29430389e-05 4.47438729e+02] [ 9.55879882e-01 -4.96452688e-02 -2.89532381e-01 2.60116272e+02] [ 2.89143375e-01 -1.50036190e-02 9.57168219e-01 6.18407165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.7992541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.44, Y:260.14, Z:61.85 [[-5.21375399e-02 -9.98639908e-01 -1.02898570e-04 4.47437034e+02] [ 9.55771569e-01 -4.98695802e-02 -2.89851225e-01 2.60143089e+02] [ 2.89451870e-01 -1.52104773e-02 9.57071709e-01 6.18489799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8292541539998 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.44, Y:260.17, Z:61.86 [[-5.31706232e-02 -9.98508969e-01 -1.23581215e-02 4.47438163e+02] [ 9.55353125e-01 -4.72627988e-02 -2.91661850e-01 2.60168190e+02] [ 2.90642894e-01 -2.73142123e-02 9.56441656e-01 6.18574598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8592541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.43, Y:260.17, Z:61.86 [[-4.92715407e-02 -9.98734129e-01 1.01220018e-02 4.47427381e+02] [ 9.56933732e-01 -5.01074096e-02 -2.85949436e-01 2.60165068e+02] [ 2.86094648e-01 -4.40308432e-03 9.58191247e-01 6.18599367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.8892541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.43, Y:260.19, Z:61.86 [[-4.80588456e-02 -9.98844418e-01 -4.18632243e-04 4.47431115e+02] [ 9.56995209e-01 -4.59252401e-02 -2.86445530e-01 2.60193181e+02] [ 2.86095293e-01 -1.41668705e-02 9.58096437e-01 6.18634564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9192541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:447.43, Y:260.22, Z:61.87 [[-4.51770947e-02 -9.98978939e-01 -3.30935834e-04 4.47427010e+02] [ 9.57380240e-01 -4.32012598e-02 -2.85581384e-01 2.60218978e+02] [ 2.85275491e-01 -1.32185687e-02 9.58354404e-01 6.18727904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9492541539998 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.42, Y:260.25, Z:61.88 [[-4.29380233e-02 -9.99077709e-01 -2.39836392e-04 4.47424886e+02] [ 9.57473733e-01 -4.10814258e-02 -2.85580754e-01 2.60245937e+02] [ 2.85307513e-01 -1.24919101e-02 9.58354619e-01 6.18810590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 753.9792541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.42, Y:260.27, Z:61.89 [[-4.03613546e-02 -9.99185137e-01 -1.54594068e-04 4.47422354e+02] [ 9.57540306e-01 -3.86349386e-02 -2.85698973e-01 2.60273012e+02] [ 2.85460195e-01 -1.16792276e-02 9.58319400e-01 6.18892329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0092541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.42, Y:260.30, Z:61.90 [[-3.75320887e-02 -9.99295421e-01 -6.99026597e-05 4.47419937e+02] [ 9.57649009e-01 -3.59479256e-02 -2.85685355e-01 2.60299955e+02] [ 2.85481555e-01 -1.07893103e-02 9.58323470e-01 6.18975127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0392541539999 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:447.42, Y:260.30, Z:61.90 [[-3.16391675e-02 -9.99499356e-01 1.18283517e-05 4.47416099e+02] [ 9.57697620e-01 -3.03193196e-02 -2.86174784e-01 2.60299208e+02] [ 2.86031871e-01 -9.04300396e-03 9.58177433e-01 6.18973963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0692541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:447.41, Y:260.33, Z:61.90 [[-2.92896558e-02 -9.99570961e-01 -1.01540460e-04 4.47414870e+02] [ 9.57545248e-01 -2.80290625e-02 -2.86917185e-01 2.60325849e+02] [ 2.86791240e-01 -8.50093515e-03 9.57955385e-01 6.19048441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.0992541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:447.41, Y:260.35, Z:61.91 [[-2.60388840e-02 -9.99660931e-01 -1.33934914e-05 4.47412431e+02] [ 9.57604694e-01 -2.49395698e-02 -2.87003950e-01 2.60352843e+02] [ 2.86906302e-01 -7.48608824e-03 9.57929399e-01 6.19126044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1292541539999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:447.41, Y:260.36, Z:61.91 [[-2.43724761e-02 -9.99702945e-01 6.78483017e-05 4.47411238e+02] [ 9.57471664e-01 -2.33624070e-02 -2.87579921e-01 2.60356703e+02] [ 2.87496079e-01 -6.94407193e-03 9.57756642e-01 6.19137180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1592541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.41, Y:260.38, Z:61.92 [[-2.37213949e-02 -9.99718607e-01 -4.43819254e-05 4.47410323e+02] [ 9.57418243e-01 -2.27049117e-02 -2.87810346e-01 2.60383138e+02] [ 2.87728350e-01 -6.86975494e-03 9.57687424e-01 6.19214964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.1892541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.41, Y:260.38, Z:61.92 [[-2.23975106e-02 -9.99731185e-01 -5.99246361e-03 4.47411427e+02] [ 9.56230994e-01 -1.96729778e-02 -2.91950782e-01 2.60376378e+02] [ 2.91754412e-01 -1.22691502e-02 9.56414571e-01 6.19209962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2192541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.40, Y:260.40, Z:61.93 [[-2.26812798e-02 -9.99715878e-01 7.32962236e-03 4.47404529e+02] [ 9.56637731e-01 -2.38323563e-02 -2.90303755e-01 2.60402203e+02] [ 2.90395955e-01 4.27332613e-04 9.56906478e-01 6.19283567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2492541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:447.41, Y:260.43, Z:61.93 [[-2.39827428e-02 -9.99712357e-01 -1.78707656e-04 4.47407408e+02] [ 9.56396807e-01 -2.28915686e-02 -2.91171983e-01 2.60428498e+02] [ 2.91084139e-01 -7.15401821e-03 9.56670708e-01 6.19342672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.2792541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:447.41, Y:260.46, Z:61.94 [[-2.49841005e-02 -9.99687845e-01 -8.79255728e-05 4.47407063e+02] [ 9.56317383e-01 -2.38745647e-02 -2.91353854e-01 2.60455108e+02] [ 2.91260807e-01 -7.36329871e-03 9.56615348e-01 6.19420987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3092541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:447.41, Y:260.48, Z:61.95 [[-2.61043361e-02 -9.99659224e-01 -3.18303940e-06 4.47406599e+02] [ 9.56110279e-01 -2.49662027e-02 -2.91941472e-01 2.60481971e+02] [ 2.91841906e-01 -7.62398164e-03 9.56436186e-01 6.19499794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.339254154 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.41, Y:260.48, Z:61.95 [[-2.83930805e-02 -9.99596833e-01 7.33501933e-05 4.47405664e+02] [ 9.56046490e-01 -2.71774768e-02 -2.91952897e-01 2.60484194e+02] [ 2.91837185e-01 -8.21931592e-03 9.56432695e-01 6.19519060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3692541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.41, Y:260.51, Z:61.96 [[-3.11785789e-02 -9.99513829e-01 -4.03806773e-05 4.47405191e+02] [ 9.55817437e-01 -2.98037099e-02 -2.92446176e-01 2.60510467e+02] [ 2.92302794e-01 -9.15665272e-03 9.56281984e-01 6.19587870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.3992541539999 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:447.40, Y:260.51, Z:61.96 [[-3.24234185e-02 -9.99474223e-01 1.31083886e-05 4.47404935e+02] [ 9.55741940e-01 -3.10085595e-02 -2.92567623e-01 2.60511825e+02] [ 2.92414204e-01 -9.47351423e-03 9.56244836e-01 6.19589950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4292541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:447.41, Y:260.54, Z:61.97 [[-3.39072933e-02 -9.99424978e-01 -9.94080722e-05 4.47405101e+02] [ 9.55737550e-01 -3.23960319e-02 -2.92431585e-01 2.60536879e+02] [ 2.92260210e-01 -1.00105716e-02 9.56286442e-01 6.19658918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.459254154 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.40, Y:260.56, Z:61.97 [[-3.55320182e-02 -9.99368539e-01 -2.39460669e-06 4.47404886e+02] [ 9.55690106e-01 -3.39783540e-02 -2.92407068e-01 2.60562622e+02] [ 2.92222343e-01 -1.03921017e-02 9.56293944e-01 6.19736801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.4892541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:447.40, Y:260.57, Z:61.98 [[-3.76384661e-02 -9.99291419e-01 8.10161279e-05 4.47403919e+02] [ 9.56057875e-01 -3.60336568e-02 -2.90955177e-01 2.60568980e+02] [ 2.90751931e-01 -1.08736505e-02 9.56736682e-01 6.19773619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5192541539999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:447.40, Y:260.59, Z:61.98 [[-3.85472920e-02 -9.99256776e-01 -3.28409971e-05 4.47403647e+02] [ 9.56134513e-01 -3.68742585e-02 -2.90597802e-01 2.60594977e+02] [ 2.90380612e-01 -1.12331587e-02 9.56845294e-01 6.19847717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5492541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:447.40, Y:260.60, Z:61.98 [[-3.81985914e-02 -9.99270166e-01 4.93322461e-05 4.47403130e+02] [ 9.55730118e-01 -3.65486220e-02 -2.91965990e-01 2.60601373e+02] [ 2.91754706e-01 -1.11055412e-02 9.56428700e-01 6.19849437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.5792541539998 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:447.40, Y:260.63, Z:61.99 [[-3.92438301e-02 -9.99229662e-01 -6.40800179e-05 4.47402365e+02] [ 9.56129883e-01 -3.75324943e-02 -2.90528758e-01 2.60626461e+02] [ 2.90302547e-01 -1.14627300e-02 9.56866259e-01 6.19944374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6092541539999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:447.40, Y:260.63, Z:61.99 [[-3.86393833e-02 -9.99253220e-01 1.71541655e-05 4.47402276e+02] [ 9.56172952e-01 -3.69785305e-02 -2.90458041e-01 2.60627382e+02] [ 2.90241767e-01 -1.12067172e-02 9.56887729e-01 6.19947297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6392541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:447.40, Y:260.65, Z:62.00 [[-3.74706785e-02 -9.99297723e-01 -9.66059583e-05 4.47402271e+02] [ 9.55889954e-01 -3.58148332e-02 -2.91533350e-01 2.60653106e+02] [ 2.91325152e-01 -1.10162971e-02 9.56560660e-01 6.19998482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6692541539999 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:447.40, Y:260.68, Z:62.01 [[-3.66228540e-02 -9.99259876e-01 1.17671785e-02 4.47396700e+02] [ 9.56821426e-01 -3.84603649e-02 -2.88120737e-01 2.60680272e+02] [ 2.88360062e-01 7.07284843e-04 9.57521788e-01 6.20102963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.6992541539998 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:447.40, Y:260.69, Z:62.01 [[-3.78425852e-02 -9.99252626e-01 -7.88218365e-03 4.47404363e+02] [ 9.55027660e-01 -3.38440845e-02 -2.94578932e-01 2.60694870e+02] [ 2.94092006e-01 -1.86753317e-02 9.55594644e-01 6.20122522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7292541539999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:447.40, Y:260.69, Z:62.01 [[-3.61709955e-02 -9.99345420e-01 6.25585200e-04 4.47400099e+02] [ 9.54765314e-01 -3.47423037e-02 -2.95323834e-01 2.60694696e+02] [ 2.95152255e-01 -1.00848700e-02 9.55397007e-01 6.20143980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7592541539999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:447.40, Y:260.70, Z:62.02 [[-3.42114501e-02 -9.99414491e-01 5.02720023e-04 4.47399357e+02] [ 9.54803232e-01 -3.28329405e-02 -2.95419678e-01 2.60697707e+02] [ 2.95263213e-01 -9.62673686e-03 9.55367448e-01 6.20158521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.7892541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:447.40, Y:260.70, Z:62.02 [[-3.30691960e-02 -9.99452992e-01 3.80410398e-04 4.47398899e+02] [ 9.54617938e-01 -3.16984423e-02 -2.96141524e-01 2.60699460e+02] [ 2.95991590e-01 -9.43001550e-03 9.55143996e-01 6.20166969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8192541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:447.40, Y:260.70, Z:62.02 [[-3.20492948e-02 -9.99486256e-01 2.57186926e-04 4.47398263e+02] [ 9.54637982e-01 -3.06874140e-02 -2.96183401e-01 2.60700547e+02] [ 2.96039131e-01 -9.24694872e-03 9.55131052e-01 6.20172227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8492541539999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:447.40, Y:260.94, Z:62.09 [[-3.08105660e-02 -9.99513216e-01 -4.90302372e-03 4.47399998e+02] [ 9.54394408e-01 -2.79616863e-02 -2.97236367e-01 2.60938441e+02] [ 2.96954580e-01 -1.38374391e-02 9.54791340e-01 6.20857817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.8792541539999 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:447.39, Y:260.70, Z:62.02 [[-3.03817805e-02 -9.99522401e-01 5.64949637e-03 4.47394048e+02] [ 9.54527867e-01 -3.06902030e-02 -2.96537792e-01 2.60697325e+02] [ 2.96569550e-01 -3.61674438e-03 9.55004409e-01 6.20187616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9092541539999 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:447.40, Y:260.70, Z:62.02 [[-2.95345369e-02 -9.99563751e-01 1.35076875e-04 4.47395659e+02] [ 9.54362187e-01 -2.82391247e-02 -2.97313586e-01 2.60697449e+02] [ 2.97187698e-01 -8.65210680e-03 9.54779877e-01 6.20175057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9392541539999 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:447.39, Y:260.96, Z:62.10 [[-3.03692348e-02 -9.99536583e-01 2.08052972e-03 4.47394640e+02] [ 9.54320345e-01 -2.96142732e-02 -2.97314100e-01 2.60964216e+02] [ 2.97237933e-01 -7.04370985e-03 9.54777460e-01 6.20977206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9692541539999 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:447.40, Y:260.70, Z:62.02 [[-3.04221457e-02 -9.99536496e-01 -1.13425223e-03 4.47395762e+02] [ 9.54583687e-01 -2.87174257e-02 -2.96555718e-01 2.60700220e+02] [ 2.96385690e-01 -1.01045999e-02 9.55014879e-01 6.20180346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 754.9992541539999 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:447.40, Y:260.71, Z:62.02 [[-3.20571744e-02 -9.99486037e-01 1.08706848e-05 4.47395025e+02] [ 9.54906589e-01 -3.06305604e-02 -2.95322156e-01 2.60708481e+02] [ 2.95170704e-01 -9.45681335e-03 9.55397731e-01 6.20213878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0292541539999 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:447.40, Y:260.74, Z:62.03 [[-3.35395895e-02 -9.99437384e-01 -1.04557257e-04 4.47395121e+02] [ 9.55075951e-01 -3.20200650e-02 -2.94626277e-01 2.60735605e+02] [ 2.94457168e-01 -9.98150450e-03 9.55612550e-01 6.20295358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.0592541539999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:447.40, Y:260.76, Z:62.04 [[-3.72989903e-02 -9.99304150e-01 -1.75931778e-05 4.47395005e+02] [ 9.55199290e-01 -3.56476054e-02 -2.93808722e-01 2.60762004e+02] [ 2.93603648e-01 -1.09755737e-02 9.55864235e-01 6.20375375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.089254154 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:447.40, Y:260.76, Z:62.04 [[-3.84363120e-02 -9.99261050e-01 6.24309786e-05 4.47395162e+02] [ 9.55113175e-01 -3.67565409e-02 -2.93952003e-01 2.60763580e+02] [ 2.93737082e-01 -1.12388022e-02 9.55820180e-01 6.20367189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1192541539999 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:447.39, Y:260.79, Z:62.05 [[-4.11263995e-02 -9.99153950e-01 -5.40044933e-05 4.47394718e+02] [ 9.55184850e-01 -3.93007198e-02 -2.93389426e-01 2.60790070e+02] [ 2.93139082e-01 -1.21176350e-02 9.55993013e-01 6.20458344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1492541539999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:447.39, Y:260.80, Z:62.05 [[-4.43261970e-02 -9.99017111e-01 2.68796540e-05 4.47394586e+02] [ 9.55029999e-01 -4.23823933e-02 -2.93464537e-01 2.60797938e+02] [ 2.93177234e-01 -1.29824960e-02 9.55969960e-01 6.20476543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.1792541539999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:447.39, Y:260.83, Z:62.06 [[-4.45968273e-02 -9.99005063e-01 -8.97627677e-05 4.47394569e+02] [ 9.55020019e-01 -4.26069119e-02 -2.93464503e-01 2.60825176e+02] [ 2.93168699e-01 -1.31733110e-02 9.55969967e-01 6.20557208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.209254154 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:447.37, Y:260.86, Z:62.06 [[-4.19286636e-02 -9.97616081e-01 5.48100563e-02 4.47373398e+02] [ 9.58049174e-01 -5.57116662e-02 -2.81136960e-01 2.60859201e+02] [ 2.83520311e-01 4.07230322e-02 9.58101178e-01 6.20640607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2392541539999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:447.42, Y:260.87, Z:62.05 [[-5.34161652e-02 -9.97618155e-01 -4.36432174e-02 4.47416308e+02] [ 9.50988460e-01 -3.74913799e-02 -3.06945183e-01 2.60872142e+02] [ 3.04577843e-01 -5.79000308e-02 9.50725998e-01 6.20547938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2692541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:447.39, Y:260.87, Z:62.07 [[-5.32214169e-02 -9.98582035e-01 1.18373013e-03 4.47394625e+02] [ 9.50366527e-01 -5.10155038e-02 -3.06921625e-01 2.60873499e+02] [ 3.06546809e-01 -1.52098263e-02 9.51734057e-01 6.20669950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.2992541539999 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:447.39, Y:260.87, Z:62.07 [[-5.38490299e-02 -9.98548534e-01 1.05244016e-03 4.47393859e+02] [ 9.50544887e-01 -5.15831260e-02 -3.06273731e-01 2.60872077e+02] [ 3.05883473e-01 -1.54921517e-02 9.51942905e-01 6.20682344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3292541539998 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:447.39, Y:260.88, Z:62.07 [[-5.37612451e-02 -9.98553391e-01 9.24446690e-04 4.47392668e+02] [ 9.50425912e-01 -5.14540092e-02 -3.06664426e-01 2.60876557e+02] [ 3.06268369e-01 -1.56080433e-02 9.51817249e-01 6.20695361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3592541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:447.39, Y:260.88, Z:62.07 [[-5.28608390e-02 -9.98601572e-01 7.95242574e-04 4.47392090e+02] [ 9.50494442e-01 -5.05584582e-02 -3.06600975e-01 2.60876789e+02] [ 3.06212422e-01 -1.54513112e-02 9.51837806e-01 6.20691586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.3892541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:447.39, Y:260.88, Z:62.07 [[-5.09451474e-02 -9.98701229e-01 6.68485142e-04 4.47390961e+02] [ 9.50174234e-01 -4.86758087e-02 -3.07895421e-01 2.60881582e+02] [ 3.07528075e-01 -1.50506003e-02 9.51419972e-01 6.20702561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4192541539999 meters Centerline goodness : 0.998993 Centerline is valid? [True, True] Translation: X:447.39, Y:260.88, Z:62.07 [[-4.92337675e-02 -9.98787137e-01 5.39395757e-04 4.47390178e+02] [ 9.50150353e-01 -4.70027468e-02 -3.08228890e-01 2.60880680e+02] [ 3.07880403e-01 -1.46627624e-02 9.51312073e-01 6.20695118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4492541539998 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.39, Y:260.88, Z:62.07 [[-4.66314670e-02 -9.98912077e-01 4.10023659e-04 4.47389502e+02] [ 9.50182503e-01 -4.44832921e-02 -3.08503563e-01 2.60882272e+02] [ 3.08186174e-01 -1.39963764e-02 9.51223099e-01 6.20700494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.4792541539999 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:447.39, Y:260.88, Z:62.07 [[-4.13702374e-02 -9.99143846e-01 2.80783583e-04 4.47386729e+02] [ 9.50241464e-01 -3.94322396e-02 -3.09008508e-01 2.60881262e+02] [ 3.08755021e-01 -1.25169431e-02 9.51059232e-01 6.20699223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5092541539999 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:447.39, Y:260.89, Z:62.07 [[-3.78867678e-02 -9.99282027e-01 1.51265789e-04 4.47385297e+02] [ 9.50413980e-01 -3.60807429e-02 -3.08887435e-01 2.60886177e+02] [ 3.08671120e-01 -1.15589814e-02 9.51098591e-01 6.20717723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5392541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.38, Y:260.88, Z:62.07 [[-3.42244115e-02 -9.99414173e-01 2.18896746e-05 4.47383931e+02] [ 9.50572227e-01 -3.25586081e-02 -3.08791806e-01 2.60883240e+02] [ 3.08611620e-01 -1.05474101e-02 9.51129655e-01 6.20714232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5692541539999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:447.38, Y:260.91, Z:62.08 [[-2.76802803e-02 -9.99616823e-01 -1.00185715e-04 4.47382111e+02] [ 9.50942519e-01 -2.63015516e-02 -3.08247552e-01 2.60909945e+02] [ 3.08126804e-01 -8.62764949e-03 9.51306174e-01 6.20794444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.5992541539999 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:447.38, Y:260.94, Z:62.09 [[-2.52475146e-02 -9.99681231e-01 -6.20505471e-06 4.47381077e+02] [ 9.51225039e-01 -2.40218171e-02 -3.07561176e-01 2.60936468e+02] [ 3.07462986e-01 -7.77105771e-03 9.51528309e-01 6.20885065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6292541539999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:447.38, Y:261.35, Z:62.22 [[-2.09916551e-02 -9.99754737e-01 7.05805797e-03 4.47376107e+02] [ 9.51726271e-01 -2.21445527e-02 -3.06148205e-01 2.61353784e+02] [ 3.06229416e-01 2.90781652e-04 9.51957699e-01 6.22221282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6592541539999 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:447.38, Y:260.93, Z:62.09 [[-1.79168726e-02 -9.99818770e-01 -6.43530566e-03 4.47382014e+02] [ 9.51803663e-01 -1.50847078e-02 -3.06336806e-01 2.60933354e+02] [ 3.06184214e-01 -1.16137450e-02 9.51901438e-01 6.20858345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.6892541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:447.38, Y:260.96, Z:62.10 [[-1.65306157e-02 -9.99863359e-01 -4.57536692e-05 4.47378310e+02] [ 9.51836431e-01 -1.57225807e-02 -3.06202889e-01 2.60958731e+02] [ 3.06160330e-01 -5.10527230e-03 9.51966275e-01 6.20960622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7192541539999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:447.38, Y:260.96, Z:62.10 [[-1.32573635e-02 -9.99912117e-01 3.21656503e-05 4.47377608e+02] [ 9.51886482e-01 -1.26304639e-02 -3.06190459e-01 2.60960194e+02] [ 3.06163956e-01 -4.02866016e-03 9.51970274e-01 6.20960762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7492541539999 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:447.38, Y:260.99, Z:62.10 [[-1.19257751e-02 -9.99928881e-01 -8.93100151e-05 4.47377640e+02] [ 9.51767187e-01 -1.13239833e-02 -3.06612115e-01 2.60987582e+02] [ 3.06589297e-01 -3.74158948e-03 9.51834546e-01 6.21031657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.7792541539999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:447.38, Y:261.01, Z:62.11 [[-1.10500906e-02 -9.99938946e-01 1.36052221e-06 4.47377334e+02] [ 9.51625657e-01 -1.05166096e-02 -3.07079810e-01 2.61012708e+02] [ 3.07061076e-01 -3.39196501e-03 9.51683766e-01 6.21116481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8092541539999 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:447.38, Y:261.02, Z:62.11 [[-9.75310867e-03 -9.99952433e-01 9.07801236e-05 4.47377450e+02] [ 9.51490605e-01 -9.30835228e-03 -3.07536962e-01 2.61015307e+02] [ 3.07523178e-01 -2.91306497e-03 9.51536131e-01 6.21113391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.839254154 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:447.38, Y:261.04, Z:62.12 [[-9.72033286e-03 -9.99952756e-01 -2.99506998e-05 4.47377511e+02] [ 9.51635931e-01 -9.24145708e-03 -3.07088995e-01 2.61041420e+02] [ 3.07074210e-01 -3.01350941e-03 9.51680802e-01 6.21210806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8692541539999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:447.38, Y:261.04, Z:62.12 [[-8.78070297e-03 -9.99961447e-01 5.66314630e-05 4.47378241e+02] [ 9.51564377e-01 -8.37313181e-03 -3.07335530e-01 2.61039026e+02] [ 3.07324156e-01 -2.64473352e-03 9.51601213e-01 6.21187528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.8992541539999 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:447.38, Y:261.06, Z:62.13 [[-9.25010247e-03 -9.99957215e-01 -6.41908024e-05 4.47378991e+02] [ 9.51837498e-01 -8.78529726e-03 -3.06477072e-01 2.61064816e+02] [ 3.06463396e-01 -2.89604354e-03 9.51878038e-01 6.21282494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9292541539999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:447.38, Y:261.07, Z:62.13 [[-8.89253273e-03 -9.99960460e-01 2.27078237e-05 4.47380489e+02] [ 9.51966817e-01 -8.47268159e-03 -3.06083963e-01 2.61069980e+02] [ 3.06072053e-01 -2.70024456e-03 9.52004521e-01 6.21293205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.959254154 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:447.38, Y:261.10, Z:62.14 [[-9.87013935e-03 -9.99951284e-01 -9.82464169e-05 4.47381255e+02] [ 9.52107645e-01 -9.36786548e-03 -3.05619494e-01 2.61096303e+02] [ 3.05603685e-01 -3.11004815e-03 9.52153725e-01 6.21385342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 755.9892541539999 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:447.38, Y:261.12, Z:62.14 [[-1.11312691e-02 -9.99938046e-01 -4.66931225e-06 4.47383211e+02] [ 9.51667269e-01 -1.05924875e-02 -3.06948217e-01 2.61122737e+02] [ 3.06929151e-01 -3.42116685e-03 9.51726217e-01 6.21442245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0192541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:447.38, Y:261.13, Z:62.15 [[-1.25762811e-02 -9.99920913e-01 7.42464612e-05 4.47383592e+02] [ 9.51761932e-01 -1.19933383e-02 -3.06602977e-01 2.61127635e+02] [ 3.06579619e-01 -3.78526028e-03 9.51837491e-01 6.21478816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0492541539999 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:447.38, Y:261.15, Z:62.16 [[-1.41525175e-02 -9.99899847e-01 -4.68802964e-05 4.47384878e+02] [ 9.51695503e-01 -1.34558544e-02 -3.06748447e-01 2.61154582e+02] [ 3.06717095e-01 -4.38587853e-03 9.51790622e-01 6.21559580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.0792541539998 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:447.39, Y:261.16, Z:62.16 [[-1.74999205e-02 -9.99846864e-01 3.84490989e-05 4.47387688e+02] [ 9.51410600e-01 -1.66639838e-02 -3.07473873e-01 2.61160046e+02] [ 3.07427429e-01 -5.34418746e-03 9.51556523e-01 6.21573050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1092541539999 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:447.39, Y:261.19, Z:62.17 [[-2.00060086e-02 -9.99799856e-01 -8.24691445e-05 4.47389017e+02] [ 9.51324644e-01 -1.90106461e-02 -3.07603668e-01 2.61186315e+02] [ 3.07540535e-01 -6.23237657e-03 9.51514570e-01 6.21655527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1392541539999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:447.39, Y:261.19, Z:62.17 [[-2.41659773e-02 -9.99707960e-01 6.47733924e-06 4.47391334e+02] [ 9.51131486e-01 -2.29937315e-02 -3.07928864e-01 2.61194184e+02] [ 3.07839086e-01 -7.43524113e-03 9.51409383e-01 6.21664521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1692541539999 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:447.39, Y:261.22, Z:62.18 [[-2.74756275e-02 -9.99622467e-01 -1.14936748e-04 4.47392488e+02] [ 9.51157943e-01 -2.61081636e-02 -3.07598653e-01 2.61219464e+02] [ 3.07479524e-01 -8.56078901e-03 9.51516188e-01 6.21756969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.1992541539998 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:447.40, Y:261.25, Z:62.18 [[-3.28546237e-02 -9.99460141e-01 -2.83529472e-05 4.47395090e+02] [ 9.51018756e-01 -3.12535159e-02 -3.07549254e-01 2.61246206e+02] [ 3.07382335e-01 -1.01313792e-02 9.51532162e-01 6.21833709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2292541539999 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:447.40, Y:261.25, Z:62.18 [[-3.46209598e-02 -9.99400513e-01 6.08156514e-05 4.47395940e+02] [ 9.50999119e-01 -3.29629598e-02 -3.07431485e-01 2.61251444e+02] [ 3.07249189e-01 -1.05857375e-02 9.51570217e-01 6.21846870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2592541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:447.40, Y:261.28, Z:62.19 [[-3.62699283e-02 -9.99342028e-01 -6.16399359e-05 4.47397140e+02] [ 9.50895572e-01 -3.44926500e-02 -3.07583922e-01 2.61278565e+02] [ 3.07379414e-01 -1.12146599e-02 9.51520955e-01 6.21929004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.2892541539999 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.40, Y:261.28, Z:62.19 [[-3.75798397e-02 -9.99293628e-01 2.76583783e-05 4.47398394e+02] [ 9.50839222e-01 -3.57661578e-02 -3.07612673e-01 2.61282086e+02] [ 3.07396373e-01 -1.15337363e-02 9.51511662e-01 6.21940395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3192541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:447.40, Y:261.31, Z:62.20 [[-3.82867993e-02 -9.99266787e-01 -9.51122252e-05 4.47398628e+02] [ 9.50687703e-01 -3.63961802e-02 -3.08006835e-01 2.61307499e+02] [ 3.07777538e-01 -1.18830179e-02 9.51384139e-01 6.22018460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3492541539999 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:447.40, Y:261.33, Z:62.21 [[-3.88020395e-02 -9.99246917e-01 -9.69093935e-06 4.47398638e+02] [ 9.50716922e-01 -3.69145718e-02 -3.07854915e-01 2.61334327e+02] [ 3.07622717e-01 -1.19546119e-02 9.51433314e-01 6.22102381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.3792541539999 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:447.40, Y:261.34, Z:62.21 [[-3.83704308e-02 -9.99263581e-01 7.92031743e-05 4.47398562e+02] [ 9.50765072e-01 -3.65325436e-02 -3.07751770e-01 2.61336573e+02] [ 3.07528030e-01 -1.17332644e-02 9.51466679e-01 6.22111313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4092541539999 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:447.40, Y:261.36, Z:62.22 [[-3.87540615e-02 -9.99248778e-01 -4.37428351e-05 4.47398514e+02] [ 9.50926894e-01 -3.68665360e-02 -3.07211493e-01 2.61362452e+02] [ 3.06979097e-01 -1.19472894e-02 9.51641265e-01 6.22187656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4392541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.40, Y:261.36, Z:62.22 [[-3.86017081e-02 -9.99254676e-01 3.50423395e-05 4.47398602e+02] [ 9.50840836e-01 -3.67422406e-02 -3.07492622e-01 2.61364104e+02] [ 3.07264728e-01 -1.18364208e-02 9.51550464e-01 6.22178240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4692541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:447.40, Y:261.39, Z:62.23 [[-3.92255299e-02 -9.99230379e-01 -8.74010826e-05 4.47398526e+02] [ 9.51280167e-01 -3.73164380e-02 -3.06061314e-01 2.61390701e+02] [ 3.05822501e-01 -1.20885601e-02 9.52011799e-01 6.22277155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.4992541539999 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:447.40, Y:261.42, Z:62.24 [[-4.02697038e-02 -9.99188847e-01 5.84621456e-06 4.47397756e+02] [ 9.51202370e-01 -3.83375253e-02 -3.06176885e-01 2.61419784e+02] [ 3.05928753e-01 -1.23240915e-02 9.51974640e-01 6.22369545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5292541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:447.40, Y:261.45, Z:62.24 [[-4.00579562e-02 -9.99197351e-01 -1.16232700e-04 4.47398191e+02] [ 9.51003533e-01 -3.80901678e-02 -3.06824739e-01 2.61447515e+02] [ 3.06574039e-01 -1.24013096e-02 9.51766025e-01 6.22434476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.5592541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.40, Y:261.47, Z:62.25 [[-4.11388257e-02 -9.99153440e-01 -2.54273265e-05 4.47397300e+02] [ 9.51122133e-01 -3.91534044e-02 -3.06322866e-01 2.61473065e+02] [ 3.06062550e-01 -1.26259475e-02 9.51927676e-01 6.22535874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.589254154 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:447.40, Y:261.47, Z:62.25 [[-3.98851215e-02 -9.99204270e-01 5.96945463e-05 4.47396619e+02] [ 9.50891482e-01 -3.79749775e-02 -3.07186086e-01 2.61473194e+02] [ 3.06943915e-01 -1.21953913e-02 9.51649466e-01 6.22535970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6192541539999 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:447.40, Y:261.50, Z:62.26 [[-3.91304131e-02 -9.99234110e-01 -6.28777374e-05 4.47396013e+02] [ 9.50715875e-01 -3.72110493e-02 -3.07822452e-01 2.61499242e+02] [ 3.07584354e-01 -1.21049986e-02 9.51443815e-01 6.22619168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6492541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:447.39, Y:261.80, Z:62.36 [[-3.65135685e-02 -9.99306991e-01 7.23166348e-03 4.47390695e+02] [ 9.50735770e-01 -3.69662109e-02 -3.07790504e-01 2.61800600e+02] [ 3.07844530e-01 -4.36312849e-03 9.51426670e-01 6.23595267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.6792541539999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:447.40, Y:261.50, Z:62.26 [[-3.44441240e-02 -9.99384738e-01 -6.61427059e-03 4.47396244e+02] [ 9.50819948e-01 -3.07304438e-02 -3.08215943e-01 2.61500770e+02] [ 3.07823049e-01 -1.69052085e-02 9.51293427e-01 6.22618489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.709254154 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.39, Y:261.50, Z:62.26 [[-2.97373964e-02 -9.99557745e-01 3.78862890e-05 4.47391551e+02] [ 9.51095490e-01 -2.83072763e-02 -3.07597250e-01 2.61497289e+02] [ 3.07462286e-01 -9.11110786e-03 9.51516648e-01 6.22637470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7392541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:447.39, Y:261.52, Z:62.27 [[-2.79173421e-02 -9.99610232e-01 -8.43842179e-05 4.47390980e+02] [ 9.51177001e-01 -2.65387293e-02 -3.07502859e-01 2.61523601e+02] [ 3.07380764e-01 -8.66492682e-03 9.51547153e-01 6.22722589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7692541539999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:447.39, Y:261.94, Z:62.40 [[-2.37636835e-02 -9.99691528e-01 -7.22050237e-03 4.47393088e+02] [ 9.50735061e-01 -2.03656959e-02 -3.09334904e-01 2.61938951e+02] [ 3.09092433e-01 -1.42157215e-02 9.50925750e-01 6.24000825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.7992541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:447.38, Y:261.96, Z:62.41 [[-2.19224160e-02 -9.99697052e-01 1.11897928e-02 4.47383562e+02] [ 9.49655952e-01 -2.43212442e-02 -3.12349243e-01 2.61962191e+02] [ 3.12526767e-01 3.77900329e-03 9.49901437e-01 6.24133673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8292541539998 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:447.39, Y:261.96, Z:62.41 [[-2.01525080e-02 -9.99796916e-01 5.66527688e-05 4.47387818e+02] [ 9.49879872e-01 -1.91640309e-02 -3.12027193e-01 2.61964373e+02] [ 3.11964911e-01 -6.23431718e-03 9.50073170e-01 6.24112981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8592541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:447.39, Y:261.99, Z:62.42 [[-1.88377707e-02 -9.99822551e-01 -6.66159712e-05 4.47387104e+02] [ 9.49954330e-01 -1.78774182e-02 -3.11876850e-01 2.61990420e+02] [ 3.11820317e-01 -5.93834672e-03 9.50122532e-01 6.24199302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.8892541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:447.39, Y:262.00, Z:62.42 [[-1.55482734e-02 -9.99879118e-01 2.17208193e-05 4.47385251e+02] [ 9.50033951e-01 -1.47799467e-02 -3.11796481e-01 2.61995889e+02] [ 3.11759112e-01 -4.82726142e-03 9.50148911e-01 6.24223745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9192541539999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:447.38, Y:262.02, Z:62.43 [[-1.48574616e-02 -9.99889617e-01 -1.01569845e-04 4.47384194e+02] [ 9.49941857e-01 -1.40835783e-02 -3.12109151e-01 2.62022637e+02] [ 3.12073269e-01 -4.73363516e-03 9.50046245e-01 6.24317028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9492541539998 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:447.38, Y:262.05, Z:62.44 [[-1.54242396e-02 -9.99881039e-01 -9.13965951e-06 4.47384130e+02] [ 9.50080871e-01 -1.46531697e-02 -3.11659467e-01 2.62048870e+02] [ 3.11622258e-01 -4.81579369e-03 9.50193863e-01 6.24398517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 756.9792541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:447.38, Y:262.04, Z:62.44 [[-1.53778326e-02 -9.99881751e-01 7.93765207e-05 4.47384398e+02] [ 9.49988906e-01 -1.46352617e-02 -3.11940519e-01 2.62044831e+02] [ 3.11904795e-01 -4.72156227e-03 9.50101629e-01 6.24369979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0092541539999 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:447.38, Y:262.07, Z:62.45 [[-1.93634880e-02 -9.99812509e-01 -4.40435493e-05 4.47384262e+02] [ 9.50329131e-01 -1.83914505e-02 -3.10702910e-01 2.62071290e+02] [ 3.10643846e-01 -6.05814794e-03 9.50507075e-01 6.24472807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0392541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:447.38, Y:262.08, Z:62.45 [[-2.09175125e-02 -9.99781204e-01 4.70268239e-05 4.47384440e+02] [ 9.50409319e-01 -1.98991481e-02 -3.10364546e-01 2.62075534e+02] [ 3.10297575e-01 -6.44735953e-03 9.50617613e-01 6.24483670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0692541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:447.38, Y:262.10, Z:62.46 [[-2.11879587e-02 -9.99775507e-01 -7.67326113e-05 4.47384428e+02] [ 9.50404724e-01 -2.01178373e-02 -3.10364516e-01 2.62102615e+02] [ 3.10293298e-01 -6.64891759e-03 9.50617621e-01 6.24569440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.0992541539999 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:447.39, Y:262.11, Z:62.46 [[-2.53664407e-02 -9.99678220e-01 6.02326189e-06 4.47385485e+02] [ 9.50304466e-01 -2.41154713e-02 -3.10386639e-01 2.62109533e+02] [ 3.10286908e-01 -7.86768033e-03 9.50610401e-01 6.24584262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1292541539999 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:447.39, Y:262.14, Z:62.47 [[-2.79046374e-02 -9.99610583e-01 -1.17900087e-04 4.47386261e+02] [ 9.50084589e-01 -2.64854287e-02 -3.10866201e-01 2.62136765e+02] [ 3.10742022e-01 -8.78662368e-03 9.50453676e-01 6.24661032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1592541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:447.39, Y:262.16, Z:62.47 [[-3.03817635e-02 -9.99538367e-01 -2.36140997e-05 4.47386914e+02] [ 9.49854833e-01 -2.88642371e-02 -3.11356151e-01 2.62162979e+02] [ 3.11211737e-01 -9.48197890e-03 9.50293295e-01 6.24740099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.1892541539999 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:447.39, Y:262.17, Z:62.48 [[-3.46635972e-02 -9.99399035e-01 5.57824181e-05 4.47387582e+02] [ 9.49783031e-01 -3.29600620e-02 -3.11168488e-01 2.62165657e+02] [ 3.10983326e-01 -1.07332379e-02 9.50354759e-01 6.24758285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2192541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:447.39, Y:262.19, Z:62.48 [[-3.68974429e-02 -9.99319055e-01 -6.84820124e-05 4.47387864e+02] [ 9.49785414e-01 -3.50472250e-02 -3.10933047e-01 2.62191276e+02] [ 3.10718918e-01 -1.15376775e-02 9.50431815e-01 6.24841070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2492541539999 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:447.39, Y:262.20, Z:62.49 [[-4.03430584e-02 -9.99185887e-01 2.33977160e-05 4.47388244e+02] [ 9.49808414e-01 -3.83566673e-02 -3.10471806e-01 2.62199480e+02] [ 3.10219945e-01 -1.25031589e-02 9.50582588e-01 6.24863763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.2792541539999 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:447.39, Y:262.23, Z:62.49 [[-4.47315204e-02 -9.98999039e-01 -1.01567041e-04 4.47388510e+02] [ 9.49698558e-01 -4.24924806e-02 -3.10269300e-01 2.62225791e+02] [ 3.09954417e-01 -1.39752756e-02 9.50648700e-01 6.24944952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3092541539999 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:447.39, Y:262.25, Z:62.50 [[-4.64288480e-02 -9.98921600e-01 -8.83438744e-06 4.47388824e+02] [ 9.49351423e-01 -4.41221258e-02 -3.11103061e-01 2.62252796e+02] [ 3.10767177e-01 -1.44525437e-02 9.50376181e-01 6.25021545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.339254154 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:447.39, Y:262.26, Z:62.50 [[-4.60271712e-02 -9.98940185e-01 8.19334940e-05 4.47388704e+02] [ 9.49367796e-01 -4.37685905e-02 -3.11103037e-01 2.62255297e+02] [ 3.10776911e-01 -1.42414077e-02 9.50376185e-01 6.25029787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3692541539999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:447.39, Y:262.28, Z:62.51 [[-4.95710618e-02 -9.98770598e-01 -4.34739733e-05 4.47388358e+02] [ 9.49070287e-01 -4.70907721e-02 -3.11525360e-01 2.62280778e+02] [ 3.11140323e-01 -1.54839027e-02 9.50237838e-01 6.25111629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.3992541539999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:447.39, Y:262.28, Z:62.51 [[-5.12792490e-02 -9.98684353e-01 3.75170469e-05 4.47387665e+02] [ 9.48887283e-01 -4.87340430e-02 -3.11829949e-01 2.62283716e+02] [ 3.11421520e-01 -1.59548062e-02 9.50137928e-01 6.25116232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4292541539999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:447.39, Y:262.31, Z:62.52 [[-5.21281761e-02 -9.98640399e-01 -8.78471279e-05 4.47387134e+02] [ 9.48779287e-01 -4.94980196e-02 -3.12038155e-01 2.62310738e+02] [ 3.11609559e-01 -1.63493274e-02 9.50069567e-01 6.25200030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.459254154 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:447.39, Y:262.31, Z:62.52 [[-5.18804235e-02 -9.98653304e-01 8.86174115e-07 4.47386185e+02] [ 9.48750176e-01 -4.92882138e-02 -3.12159854e-01 2.62313583e+02] [ 3.11739514e-01 -1.61941447e-02 9.50029592e-01 6.25206376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.4892541539999 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:447.38, Y:262.34, Z:62.53 [[-5.20231168e-02 -9.98645873e-01 -1.25122254e-04 4.47383919e+02] [ 9.48367977e-01 -4.93647024e-02 -3.13307048e-01 2.62339048e+02] [ 3.12876614e-01 -1.64178711e-02 9.49651872e-01 6.25294203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5192541539999 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:447.38, Y:262.36, Z:62.54 [[-5.10210264e-02 -9.98697579e-01 -3.73262126e-05 4.47380961e+02] [ 9.48468856e-01 -4.84432595e-02 -3.13145461e-01 2.62364713e+02] [ 3.12735805e-01 -1.60124056e-02 9.49705175e-01 6.25378456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5492541539999 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:447.38, Y:262.37, Z:62.54 [[-5.01544936e-02 -9.98741470e-01 5.60467619e-05 4.47379197e+02] [ 9.48520063e-01 -4.76500614e-02 -3.13112060e-01 2.62365315e+02] [ 3.12720670e-01 -1.56508153e-02 9.49716186e-01 6.25383519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.5792541539998 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:447.38, Y:262.39, Z:62.55 [[-4.88592122e-02 -9.98805673e-01 -6.95217396e-05 4.47376084e+02] [ 9.48864645e-01 -4.63944807e-02 -3.12255403e-01 2.62390625e+02] [ 3.11879243e-01 -1.53225197e-02 9.49998189e-01 6.25471555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6092541539999 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:447.37, Y:262.42, Z:62.56 [[-4.86454072e-02 -9.98816111e-01 -2.09509137e-07 4.47374334e+02] [ 9.49009730e-01 -4.62196183e-02 -3.11840149e-01 2.62416894e+02] [ 3.11470956e-01 -1.51697899e-02 9.50134581e-01 6.25556196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6392541539999 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:447.37, Y:262.42, Z:62.56 [[-4.79001927e-02 -9.98852123e-01 8.66135309e-05 4.47372724e+02] [ 9.49174516e-01 -4.55448968e-02 -3.11437637e-01 2.62419950e+02] [ 3.11084089e-01 -1.48357114e-02 9.50266589e-01 6.25569504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6692541539999 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:447.37, Y:262.45, Z:62.57 [[-4.81011553e-02 -9.98842469e-01 -3.84942802e-05 4.47369919e+02] [ 9.49410514e-01 -4.57086918e-02 -3.10693405e-01 2.62446208e+02] [ 3.10332009e-01 -1.49812586e-02 9.50510182e-01 6.25653962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.6992541539998 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:447.37, Y:262.45, Z:62.57 [[-4.77620379e-02 -9.98858741e-01 4.98820748e-05 4.47368377e+02] [ 9.49409439e-01 -4.54130580e-02 -3.10740038e-01 2.62447360e+02] [ 3.10387669e-01 -1.47942190e-02 9.50494938e-01 6.25657843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7292541539999 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:447.37, Y:262.47, Z:62.57 [[-4.79807387e-02 -9.98848258e-01 -7.57942098e-05 4.47366923e+02] [ 9.49328390e-01 -4.55784028e-02 -3.10963369e-01 2.62473210e+02] [ 3.10601765e-01 -1.49922058e-02 9.50421894e-01 6.25740044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7592541539999 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:447.37, Y:262.48, Z:62.58 [[-4.72721343e-02 -9.98882048e-01 4.30254987e-06 4.47365654e+02] [ 9.49236956e-01 -4.49240193e-02 -3.11337493e-01 2.62478896e+02] [ 3.10989626e-01 -1.47135037e-02 9.50299408e-01 6.25751545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.7892541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:447.36, Y:262.50, Z:62.58 [[-4.78785126e-02 -9.98853159e-01 -1.20848810e-04 4.47362495e+02] [ 9.49029317e-01 -4.54525470e-02 -3.11893287e-01 2.62504896e+02] [ 3.11530102e-01 -1.50476757e-02 9.50117131e-01 6.25840086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8192541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:447.36, Y:262.53, Z:62.59 [[-4.78941171e-02 -9.98852418e-01 -2.45159532e-05 4.47361039e+02] [ 9.48925164e-01 -4.54924853e-02 -3.12204208e-01 2.62530781e+02] [ 3.11844813e-01 -1.49760087e-02 9.50015017e-01 6.25918268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8492541539999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:447.36, Y:262.53, Z:62.59 [[-4.74579359e-02 -9.98873236e-01 5.58287560e-05 4.47357400e+02] [ 9.48776407e-01 -4.50952400e-02 -3.12713527e-01 2.62531014e+02] [ 3.12363690e-01 -1.47877695e-02 9.49847486e-01 6.25930047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.8792541539999 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:447.35, Y:262.56, Z:62.60 [[-4.60121355e-02 -9.98931342e-01 4.36550564e-03 4.47353953e+02] [ 9.48201639e-01 -4.50496955e-02 -3.14458547e-01 2.62555458e+02] [ 3.14319163e-01 -1.03295296e-02 9.49261168e-01 6.26009330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9092541539999 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:447.35, Y:262.54, Z:62.59 [[-4.52325166e-02 -9.98973280e-01 -2.53074477e-03 4.47353838e+02] [ 9.48244314e-01 -4.21382309e-02 -3.14733365e-01 2.62541692e+02] [ 3.14303581e-01 -1.66359465e-02 9.49176751e-01 6.25939659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9392541539999 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:447.35, Y:262.57, Z:62.60 [[-4.55697509e-02 -9.98961011e-01 -5.44396408e-04 4.47351075e+02] [ 9.48320048e-01 -4.30883313e-02 -3.14376338e-01 2.62567551e+02] [ 3.14026248e-01 -1.48423135e-02 9.49298279e-01 6.26039150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9692541539999 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:447.35, Y:262.59, Z:62.61 [[-4.44744348e-02 -9.99010423e-01 -4.46902692e-04 4.47348033e+02] [ 9.48577252e-01 -4.20888782e-02 -3.13735116e-01 2.62594632e+02] [ 3.13405841e-01 -1.43771137e-02 9.49510441e-01 6.26122486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 757.9992541539999 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:447.35, Y:262.62, Z:62.62 [[-4.36099784e-02 -9.99048571e-01 -3.50214868e-04 4.47346501e+02] [ 9.48618629e-01 -4.12986630e-02 -3.13715026e-01 2.62619690e+02] [ 3.13402085e-01 -1.40133259e-02 9.49517119e-01 6.26206009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0292541539999 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:447.35, Y:262.65, Z:62.63 [[-4.23540113e-02 -9.99102632e-01 -2.62668189e-04 4.47345028e+02] [ 9.48791688e-01 -4.01388482e-02 -3.13341995e-01 2.62645851e+02] [ 3.13050268e-01 -1.35205078e-02 9.49640314e-01 6.26290119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.0592541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.34, Y:262.67, Z:62.64 [[-3.94043621e-02 -9.99223333e-01 -1.64796023e-04 4.47341982e+02] [ 9.48966392e-01 -3.73708333e-02 -3.13155247e-01 2.62672467e+02] [ 3.12905871e-01 -1.24960686e-02 9.49701935e-01 6.26377427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.089254154 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:447.34, Y:262.70, Z:62.65 [[-3.77526332e-02 -9.99287113e-01 -6.83588588e-05 4.47340431e+02] [ 9.48958000e-01 -3.58297849e-02 -3.13360722e-01 2.62698429e+02] [ 3.13134881e-01 -1.18950621e-02 9.49634168e-01 6.26462038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1192541539999 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:447.34, Y:262.70, Z:62.65 [[-3.38041265e-02 -9.99428477e-01 1.22773679e-05 4.47338333e+02] [ 9.49098588e-01 -3.21056448e-02 -3.13338631e-01 2.62699823e+02] [ 3.13159945e-01 -1.05804863e-02 9.49641460e-01 6.26465323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1492541539999 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:447.34, Y:262.73, Z:62.65 [[-3.27562297e-02 -9.99463364e-01 -1.12175947e-04 4.47337609e+02] [ 9.49145267e-01 -3.10719498e-02 -3.13301447e-01 2.62726719e+02] [ 3.13129833e-01 -1.03690454e-02 9.49653722e-01 6.26548071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.1792541539999 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:447.34, Y:262.75, Z:62.66 [[-3.17686005e-02 -9.99495251e-01 -1.73209278e-05 4.47337064e+02] [ 9.48990045e-01 -3.01578714e-02 -3.13860475e-01 2.62753463e+02] [ 3.13701531e-01 -9.98734541e-03 9.49469116e-01 6.26618992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.209254154 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:447.34, Y:262.75, Z:62.66 [[-2.95103041e-02 -9.99564474e-01 7.06801689e-05 4.47335313e+02] [ 9.49471821e-01 -2.80535145e-02 -3.12596004e-01 2.62754475e+02] [ 3.12461843e-01 -9.15769429e-03 9.49886169e-01 6.26634216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2392541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.33, Y:262.78, Z:62.67 [[-2.64791207e-02 -9.99649365e-01 -5.43395289e-05 4.47333266e+02] [ 9.49670705e-01 -2.51382927e-02 -3.12239680e-01 2.62779929e+02] [ 3.12128832e-01 -8.31943685e-03 9.50003357e-01 6.26712644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2692541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:447.33, Y:262.78, Z:62.67 [[-2.37684968e-02 -9.99717489e-01 6.45748022e-06 4.47331967e+02] [ 9.49859326e-01 -2.25851227e-02 -3.11860824e-01 2.62781836e+02] [ 3.11772866e-01 -7.40632931e-03 9.50127795e-01 6.26720349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.2992541539999 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:447.33, Y:262.81, Z:62.68 [[-2.09054091e-02 -9.99781451e-01 -1.17801429e-04 4.47330852e+02] [ 9.50011592e-01 -1.98280093e-02 -3.11584380e-01 2.62809124e+02] [ 3.11513948e-01 -6.62571168e-03 9.50218480e-01 6.26798168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3292541539998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.33, Y:262.84, Z:62.69 [[-1.81806355e-02 -9.99834718e-01 -2.58952930e-05 4.47329452e+02] [ 9.50122981e-01 -1.72686301e-02 -3.11397038e-01 2.62835509e+02] [ 3.11345123e-01 -5.68599976e-03 9.50279898e-01 6.26888856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3592541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.33, Y:262.84, Z:62.69 [[-1.17113879e-02 -9.99931417e-01 6.24195288e-05 4.47326961e+02] [ 9.50335250e-01 -1.11499237e-02 -3.11028283e-01 2.62837864e+02] [ 3.11007648e-01 -3.58325340e-03 9.50400654e-01 6.26904935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.3892541539999 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:447.33, Y:262.86, Z:62.70 [[-7.42767004e-03 -9.99972413e-01 -6.16466990e-05 4.47326039e+02] [ 9.50479559e-01 -7.04088870e-03 -3.10707311e-01 2.62864040e+02] [ 3.10698306e-01 -2.36642532e-03 9.50505635e-01 6.26986886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4192541539999 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:447.33, Y:262.87, Z:62.70 [[-5.64356253e-03 -9.99984075e-01 3.04540179e-05 4.47326094e+02] [ 9.50532187e-01 -5.37393180e-03 -3.10579592e-01 2.62865439e+02] [ 3.10574809e-01 -1.72382782e-03 9.50547377e-01 6.26988667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4492541539998 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:447.33, Y:262.89, Z:62.71 [[-5.14872088e-03 -9.99986741e-01 -9.29597714e-05 4.47326509e+02] [ 9.50447572e-01 -4.86475751e-03 -3.10846822e-01 2.62891592e+02] [ 3.10842248e-01 -1.68881691e-03 9.50460017e-01 6.27074546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.4792541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.33, Y:262.92, Z:62.72 [[-5.63874975e-03 -9.99984102e-01 1.84061869e-06 4.47327712e+02] [ 9.50550448e-01 -5.36057288e-03 -3.10523930e-01 2.62918505e+02] [ 3.10519003e-01 -1.74921713e-03 9.50565563e-01 6.27155038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5092541539999 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:447.33, Y:262.92, Z:62.72 [[-5.96014325e-03 -9.99982234e-01 9.20845862e-05 4.47328538e+02] [ 9.50499289e-01 -5.69382141e-03 -3.10674559e-01 2.62919581e+02] [ 3.10669563e-01 -1.76413854e-03 9.50516339e-01 6.27159331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5392541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.33, Y:262.94, Z:62.72 [[-8.04445611e-03 -9.99967642e-01 -3.16975657e-05 4.47330343e+02] [ 9.50600659e-01 -7.63747594e-03 -3.10322503e-01 2.62944768e+02] [ 3.10312220e-01 -2.52650748e-03 9.50631339e-01 6.27238632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5692541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.33, Y:262.95, Z:62.72 [[-8.58409857e-03 -9.99963155e-01 4.86344212e-05 4.47331542e+02] [ 9.50540467e-01 -8.17493492e-03 -3.10493142e-01 2.62950870e+02] [ 3.10482099e-01 -2.61907475e-03 9.50575618e-01 6.27249073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.5992541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.33, Y:262.98, Z:62.73 [[-1.23116987e-02 -9.99924205e-01 -7.51072333e-05 4.47333939e+02] [ 9.50569960e-01 -1.16807111e-02 -3.10290690e-01 2.62977621e+02] [ 3.10266295e-01 -3.89160015e-03 9.50641721e-01 6.27341185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6292541539999 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:447.34, Y:262.98, Z:62.73 [[-1.40471674e-02 -9.99901334e-01 1.68605893e-05 4.47335263e+02] [ 9.50466152e-01 -1.33579111e-02 -3.10540915e-01 2.62980515e+02] [ 3.10510500e-01 -4.34619480e-03 9.50560014e-01 6.27348896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6592541539999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:447.34, Y:263.01, Z:62.74 [[-1.68710691e-02 -9.99857668e-01 -1.07023190e-04 4.47336758e+02] [ 9.50329712e-01 -1.60020895e-02 -3.10833350e-01 2.63006756e+02] [ 3.10787396e-01 -5.34579824e-03 9.50464422e-01 6.27430414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.6892541539999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:447.34, Y:263.03, Z:62.75 [[-2.32413447e-02 -9.99729883e-01 -1.26355619e-05 4.47339750e+02] [ 9.49807254e-01 -2.20768181e-02 -3.12055755e-01 2.63033568e+02] [ 3.11971184e-01 -7.26459671e-03 9.50063790e-01 6.27514760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7192541539999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:447.34, Y:263.04, Z:62.75 [[-2.61492365e-02 -9.99658047e-01 7.56566264e-05 4.47341519e+02] [ 9.49591638e-01 -2.48632412e-02 -3.12502063e-01 2.63038867e+02] [ 3.12397083e-01 -8.09984746e-03 9.49917078e-01 6.27530779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7492541539999 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:447.34, Y:263.07, Z:62.76 [[-2.95534260e-02 -9.99563201e-01 -4.82546560e-05 4.47343431e+02] [ 9.49453613e-01 -2.80567754e-02 -3.12651011e-01 2.63065648e+02] [ 3.12513092e-01 -9.28572409e-03 9.49868066e-01 6.27605318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.7792541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.35, Y:263.08, Z:62.76 [[-3.50469159e-02 -9.99385667e-01 3.99847647e-05 4.47346598e+02] [ 9.49284678e-01 -3.33024603e-02 -3.12649239e-01 2.63075410e+02] [ 3.12458500e-01 -1.09194347e-02 9.49868650e-01 6.27634140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8092541539999 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:447.35, Y:263.10, Z:62.77 [[-3.77644027e-02 -9.99286667e-01 -8.48522780e-05 4.47348117e+02] [ 9.49311144e-01 -3.58492425e-02 -3.12287021e-01 2.63102385e+02] [ 3.12061214e-01 -1.18738840e-02 9.49987794e-01 6.27719276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.839254154 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.35, Y:263.11, Z:62.77 [[-4.09674842e-02 -9.99160480e-01 4.30261378e-06 4.47350914e+02] [ 9.49160652e-01 -3.89187410e-02 -3.12376998e-01 2.63105150e+02] [ 3.12114919e-01 -1.27932159e-02 9.49958215e-01 6.27707679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8692541539999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:447.35, Y:263.13, Z:62.78 [[-4.37578809e-02 -9.99042158e-01 -1.21123580e-04 4.47351693e+02] [ 9.49199857e-01 -4.15369792e-02 -3.11920361e-01 2.63129973e+02] [ 3.11616559e-01 -1.37639445e-02 9.50108243e-01 6.27803535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.8992541539999 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:447.35, Y:263.16, Z:62.79 [[-4.82851747e-02 -9.98833590e-01 -3.43973418e-05 4.47353761e+02] [ 9.49047108e-01 -4.58676816e-02 -3.11778356e-01 2.63156795e+02] [ 3.11413117e-01 -1.50869171e-02 9.50154859e-01 6.27883310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9292541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.35, Y:263.16, Z:62.79 [[-5.02863524e-02 -9.98734840e-01 5.59049352e-05 4.47354662e+02] [ 9.49018749e-01 -4.78005852e-02 -3.11574257e-01 2.63164373e+02] [ 3.11182737e-01 -1.56148780e-02 9.50221805e-01 6.27910686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.959254154 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:447.36, Y:263.19, Z:62.80 [[-5.56063873e-02 -9.98452765e-01 -7.04830769e-05 4.47356846e+02] [ 9.48819202e-01 -5.28201868e-02 -3.11371402e-01 2.63190489e+02] [ 3.10885915e-01 -1.73811145e-02 9.50288296e-01 6.27991138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 758.9892541539999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:447.36, Y:263.22, Z:62.81 [[-5.58754572e-02 -9.98437746e-01 -6.80750193e-07 4.47356731e+02] [ 9.48803718e-01 -5.30975814e-02 -3.11371403e-01 2.63217536e+02] [ 3.10884926e-01 -1.73986654e-02 9.50288298e-01 6.28077766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0192541539999 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:447.36, Y:263.23, Z:62.81 [[-5.79469823e-02 -9.98319658e-01 8.25972853e-05 4.47357609e+02] [ 9.48716548e-01 -5.50935488e-02 -3.11290237e-01 2.63225935e+02] [ 3.10771714e-01 -1.79599685e-02 9.50314885e-01 6.28100322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0492541539999 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:447.36, Y:263.25, Z:62.82 [[-6.02796525e-02 -9.98181527e-01 -4.38875709e-05 4.47358701e+02] [ 9.48412550e-01 -5.72604202e-02 -3.11825079e-01 2.63252729e+02] [ 3.11255521e-01 -1.88383309e-02 9.50139526e-01 6.28171509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.0792541539998 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:447.36, Y:263.26, Z:62.82 [[-6.49955976e-02 -9.97885550e-01 4.42771433e-05 4.47359734e+02] [ 9.48387981e-01 -6.17854576e-02 -3.11035039e-01 2.63259367e+02] [ 3.10380106e-01 -2.01739163e-02 9.50398444e-01 6.28214219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1092541539999 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:447.36, Y:263.29, Z:62.83 [[-6.68989663e-02 -9.97759751e-01 -8.30901193e-05 4.47360418e+02] [ 9.48237569e-01 -6.35526344e-02 -3.11137552e-01 2.63285096e+02] [ 3.10435245e-01 -2.08935697e-02 9.50364886e-01 6.28295552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1392541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:447.36, Y:263.31, Z:62.84 [[-6.96268609e-02 -9.97573105e-01 -1.40871228e-05 4.47360503e+02] [ 9.47960748e-01 -6.61597065e-02 -3.11437497e-01 2.63311888e+02] [ 3.10680739e-01 -2.16977693e-02 9.50266639e-01 6.28384846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1692541539999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:447.36, Y:263.32, Z:62.84 [[-6.98384255e-02 -9.97558313e-01 7.65887933e-05 4.47360260e+02] [ 9.47692470e-01 -6.63713195e-02 -3.12207991e-01 2.63315712e+02] [ 3.11450760e-01 -2.17315319e-02 9.50013771e-01 6.28399425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.1992541539998 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:447.36, Y:263.34, Z:62.85 [[-7.01997411e-02 -9.97532954e-01 -5.04490819e-05 4.47360135e+02] [ 9.47490837e-01 -6.66622920e-02 -3.12757499e-01 2.63342365e+02] [ 3.11982548e-01 -2.20032955e-02 9.49833009e-01 6.28483105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2292541539999 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:447.36, Y:263.34, Z:62.85 [[-6.92387231e-02 -9.97600119e-01 3.40500934e-05 4.47359429e+02] [ 9.47132098e-01 -6.57466942e-02 -3.14035288e-01 2.63344275e+02] [ 3.13283880e-01 -2.17111524e-02 9.49411311e-01 6.28489266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2592541539999 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:447.36, Y:263.37, Z:62.86 [[-6.87356932e-02 -9.97634901e-01 -9.21068337e-05 4.47359057e+02] [ 9.47156081e-01 -6.52287741e-02 -3.14070957e-01 2.63369672e+02] [ 3.13322140e-01 -2.16751245e-02 9.49399508e-01 6.28569704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.2892541539999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:447.36, Y:263.37, Z:62.86 [[-6.62302789e-02 -9.97804365e-01 1.34945298e-06 4.47357357e+02] [ 9.47141191e-01 -6.28678846e-02 -3.14596876e-01 2.63372467e+02] [ 3.13906221e-01 -2.08345607e-02 9.49225371e-01 6.28584276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3192541539999 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:447.36, Y:263.40, Z:62.87 [[-6.45959076e-02 -9.97911496e-01 -1.25266904e-04 4.47356837e+02] [ 9.47247910e-01 -6.12769079e-02 -3.14589476e-01 2.63399687e+02] [ 3.13924779e-01 -2.04398516e-02 9.49227816e-01 6.28658110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3492541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:447.35, Y:263.43, Z:62.88 [[-6.13187825e-02 -9.98118232e-01 -3.13274579e-05 4.47354162e+02] [ 9.47794621e-01 -5.82173418e-02 -3.13522086e-01 2.63425846e+02] [ 3.12930287e-01 -1.92544846e-02 9.49580908e-01 6.28767695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.3792541539999 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:447.35, Y:263.43, Z:62.88 [[-5.80695100e-02 -9.98312541e-01 5.85833270e-05 4.47353373e+02] [ 9.48167423e-01 -5.51710499e-02 -3.12945194e-01 2.63426604e+02] [ 3.12420343e-01 -1.81170273e-02 9.49771184e-01 6.28754568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4092541539999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:447.35, Y:263.45, Z:62.88 [[-5.59193635e-02 -9.98435286e-01 -6.75628922e-05 4.47352112e+02] [ 9.48544146e-01 -5.31039870e-02 -3.12160167e-01 2.63452678e+02] [ 3.11668138e-01 -1.75198842e-02 9.50029487e-01 6.28845331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4392541539999 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:447.35, Y:263.45, Z:62.88 [[-5.00425813e-02 -9.98747085e-01 2.33540453e-05 4.47349432e+02] [ 9.49164569e-01 -4.75655076e-02 -3.11165782e-01 2.63446060e+02] [ 3.10777029e-01 -1.55493721e-02 9.50355647e-01 6.28842162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4692541539999 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:447.35, Y:263.47, Z:62.89 [[-4.41050703e-02 -9.99026893e-01 -1.03303214e-04 4.47347491e+02] [ 9.49334902e-01 -4.18790603e-02 -3.11463302e-01 2.63471625e+02] [ 3.11155888e-01 -1.38351802e-02 9.50258176e-01 6.28926252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.4992541539999 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:447.35, Y:263.50, Z:62.90 [[-4.06323210e-02 -9.99174166e-01 -1.65707533e-05 4.47346977e+02] [ 9.49204905e-01 -3.85950967e-02 -3.12282673e-01 2.63497455e+02] [ 3.12024140e-01 -1.27044988e-02 9.49989227e-01 6.28994856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5292541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.35, Y:263.50, Z:62.90 [[-3.69102549e-02 -9.99318582e-01 6.37314606e-05 4.47346202e+02] [ 9.49244029e-01 -3.50806647e-02 -3.12578183e-01 2.63498601e+02] [ 3.12367422e-01 -1.14768437e-02 9.49892034e-01 6.28989770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.5592541539999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:447.34, Y:263.52, Z:62.91 [[-3.09017358e-02 -9.99522426e-01 -6.08977894e-05 4.47344480e+02] [ 9.49077630e-01 -2.93230480e-02 -3.13674689e-01 2.63524536e+02] [ 3.13523101e-01 -9.75088911e-03 9.49530508e-01 6.29092942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.589254154 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:447.34, Y:263.89, Z:63.03 [[-2.78879500e-02 -9.99588742e-01 6.67894081e-03 4.47340735e+02] [ 9.49028415e-01 -2.85746786e-02 -3.13892586e-01 2.63887166e+02] [ 3.13954343e-01 -2.41531614e-03 9.49435009e-01 6.30280324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6192541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.34, Y:263.52, Z:62.91 [[-1.87637257e-02 -9.99809596e-01 -5.35665818e-03 4.47344974e+02] [ 9.49170545e-01 -1.61291881e-02 -3.14348732e-01 2.63520792e+02] [ 3.14202480e-01 -1.09827356e-02 9.49292463e-01 6.29071598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6492541539999 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:447.34, Y:263.55, Z:62.92 [[-1.44291963e-02 -9.99895894e-01 -2.28956956e-05 4.47341696e+02] [ 9.49343878e-01 -1.36925067e-02 -3.13940627e-01 2.63546156e+02] [ 3.13907630e-01 -4.55164681e-03 9.49442617e-01 6.29174676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.6792541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:447.34, Y:263.54, Z:62.92 [[-4.43677689e-03 -9.99990156e-01 5.74738969e-05 4.47340280e+02] [ 9.49777060e-01 -4.23197408e-03 -3.12898750e-01 2.63543856e+02] [ 3.12895913e-01 -1.33367455e-03 9.49786486e-01 6.29181266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7092541539998 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:447.34, Y:263.57, Z:62.93 [[-2.24308483e-04 -9.99999973e-01 -6.55385809e-05 4.47339629e+02] [ 9.49857403e-01 -1.92568253e-04 -3.12683350e-01 2.63570676e+02] [ 3.12683329e-01 -1.32389833e-04 9.49857420e-01 6.29271843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7392541539999 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:447.34, Y:263.57, Z:62.93 [[ 8.44343545e-03 -9.99964353e-01 2.38834745e-05 4.47339434e+02] [ 9.50056831e-01 8.01457820e-03 -3.11974012e-01 2.63569702e+02] [ 3.11962700e-01 2.65682309e-03 9.50090635e-01 6.29270665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7692541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.34, Y:263.60, Z:62.94 [[ 1.14682280e-02 -9.99934233e-01 -9.95425598e-05 4.47339772e+02] [ 9.50032517e-01 1.09269614e-02 -3.11959642e-01 2.63595152e+02] [ 3.11940213e-01 3.48305564e-03 9.50095349e-01 6.29355849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.7992541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.34, Y:263.62, Z:62.94 [[ 1.40443863e-02 -9.99901372e-01 -4.54278285e-05 4.47340558e+02] [ 9.49953012e-01 1.33570028e-02 -3.12107137e-01 2.63621340e+02] [ 3.12076961e-01 4.34019888e-03 9.50046911e-01 6.29427436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8292541539998 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.34, Y:263.63, Z:62.95 [[ 1.49286626e-02 -9.99888561e-01 3.33006445e-06 4.47340607e+02] [ 9.50001429e-01 1.41827926e-02 -3.11923280e-01 2.63625452e+02] [ 3.11888473e-01 4.65976096e-03 9.50107293e-01 6.29454619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8592541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:447.34, Y:263.65, Z:62.95 [[ 1.37132665e-02 -9.99905962e-01 -1.18477670e-04 4.47343507e+02] [ 9.49796047e-01 1.30630705e-02 -3.12596905e-01 2.63652017e+02] [ 3.12569057e-01 4.17419506e-03 9.49885867e-01 6.29537842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.8892541539999 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:447.35, Y:263.68, Z:62.96 [[ 8.17324484e-03 -9.99966598e-01 -2.19159993e-05 4.47347699e+02] [ 9.49579564e-01 7.76827488e-03 -3.13429905e-01 2.63677993e+02] [ 3.13419606e-01 2.54092837e-03 9.49611339e-01 6.29616529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9192541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:447.35, Y:263.69, Z:62.97 [[ 4.72344701e-03 -9.99988844e-01 3.85687814e-05 4.47350364e+02] [ 9.49550283e-01 4.47310584e-03 -3.13582927e-01 2.63691791e+02] [ 3.13579256e-01 1.51781534e-03 9.49560818e-01 6.29651956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9492541539998 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:447.36, Y:263.72, Z:62.97 [[-5.24773325e-03 -9.99986227e-01 -8.45365591e-05 4.47355826e+02] [ 9.49617527e-01 -4.95691635e-03 -3.13371955e-01 2.63717921e+02] [ 3.13367220e-01 -1.72476982e-03 9.49630460e-01 6.29734944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 759.9792541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:447.36, Y:263.74, Z:62.98 [[-1.05433500e-02 -9.99944417e-01 -1.87467692e-05 4.47358545e+02] [ 9.49682597e-01 -1.00075235e-02 -3.13054013e-01 2.63743288e+02] [ 3.13036425e-01 -3.31844150e-03 9.49735323e-01 6.29815384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0092541539999 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:447.36, Y:263.75, Z:62.98 [[-1.51461448e-02 -9.99885289e-01 6.05001725e-05 4.47361297e+02] [ 9.49789292e-01 -1.44062086e-02 -3.12558414e-01 2.63745008e+02] [ 3.12523432e-01 -4.67659259e-03 9.49898539e-01 6.29818459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0392541539999 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:447.37, Y:263.77, Z:62.99 [[-2.33293897e-02 -9.99727831e-01 -6.30731938e-05 4.47367598e+02] [ 9.49632678e-01 -2.21406612e-02 -3.12582098e-01 2.63772221e+02] [ 3.12495626e-01 -7.35224593e-03 9.49890745e-01 6.29885446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0692541539999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:447.37, Y:263.77, Z:62.99 [[-2.72849786e-02 -9.99627695e-01 2.47177341e-05 4.47369738e+02] [ 9.49910285e-01 -2.59356360e-02 -3.11444687e-01 2.63773289e+02] [ 3.11329375e-01 -8.47428199e-03 9.50264283e-01 6.29903985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.0992541539999 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:447.37, Y:263.80, Z:63.00 [[-3.06787697e-02 -9.99529291e-01 -1.00565665e-04 4.47372569e+02] [ 9.49877682e-01 -2.91234850e-02 -3.11262290e-01 2.63799226e+02] [ 3.11112847e-01 -9.64466917e-03 9.50324038e-01 6.29977573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1292541539999 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:447.38, Y:263.82, Z:63.01 [[-3.74584648e-02 -9.99298185e-01 -3.50082886e-05 4.47377224e+02] [ 9.49945559e-01 -3.55976194e-02 -3.10380806e-01 2.63824262e+02] [ 3.10161729e-01 -1.16596445e-02 9.50612305e-01 6.30067255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1592541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:447.38, Y:263.83, Z:63.01 [[-3.98747465e-02 -9.99204685e-01 4.59170142e-05 4.47379614e+02] [ 9.49923724e-01 -3.79223701e-02 -3.10172230e-01 2.63831109e+02] [ 3.09927287e-01 -1.23244214e-02 9.50680380e-01 6.30091550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.1892541539999 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:447.38, Y:263.86, Z:63.02 [[-4.52659620e-02 -9.98974968e-01 -7.97266293e-05 4.47384522e+02] [ 9.49644019e-01 -4.30058881e-02 -3.10365479e-01 2.63857429e+02] [ 3.10043915e-01 -1.41247039e-02 9.50617306e-01 6.30150335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2192541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:447.39, Y:263.86, Z:63.02 [[-4.84551770e-02 -9.98825358e-01 1.06503841e-05 4.47385897e+02] [ 9.49634723e-01 -4.60721380e-02 -3.09953627e-01 2.63860024e+02] [ 3.09590033e-01 -1.50087439e-02 9.50751676e-01 6.30181052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2492541539999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:447.39, Y:263.89, Z:63.02 [[-5.35958187e-02 -9.98562705e-01 -1.15825122e-04 4.47390278e+02] [ 9.48901704e-01 -5.08942410e-02 -3.11440737e-01 2.63887583e+02] [ 3.10987210e-01 -1.68018279e-02 9.50265570e-01 6.30236059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.2792541539999 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:447.39, Y:263.91, Z:63.03 [[-5.67242884e-02 -9.98389881e-01 -1.99899123e-05 4.47391470e+02] [ 9.48815593e-01 -5.39014563e-02 -3.11197048e-01 2.63912474e+02] [ 3.10694906e-01 -1.76713978e-02 9.50345409e-01 6.30324742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3092541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.39, Y:263.92, Z:63.03 [[-5.98152852e-02 -9.98209460e-01 7.58941508e-05 4.47393610e+02] [ 9.48381274e-01 -5.68531728e-02 -3.11994673e-01 2.63915521e+02] [ 3.11440349e-01 -1.85900738e-02 9.50083848e-01 6.30343391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.339254154 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:447.39, Y:263.94, Z:63.04 [[-6.04215973e-02 -9.98172945e-01 -5.06601731e-05 4.47394959e+02] [ 9.48269154e-01 -5.73849644e-02 -3.12238014e-01 2.63942122e+02] [ 3.11664631e-01 -1.89139590e-02 9.50003905e-01 6.30409789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3692541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.39, Y:263.94, Z:63.04 [[-6.07324797e-02 -9.98154078e-01 4.31837085e-05 4.47394969e+02] [ 9.48247533e-01 -5.77094349e-02 -3.12243876e-01 2.63940823e+02] [ 3.11669991e-01 -1.89223960e-02 9.50001979e-01 6.30426619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.3992541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:447.39, Y:263.97, Z:63.05 [[-6.03565439e-02 -9.98176878e-01 -8.33263066e-05 4.47394834e+02] [ 9.48178316e-01 -5.73072023e-02 -3.12528025e-01 2.63967152e+02] [ 3.11953473e-01 -1.89421196e-02 9.49908536e-01 6.30512284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4292541539999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:447.39, Y:263.97, Z:63.05 [[-5.87720162e-02 -9.98271431e-01 8.16265780e-06 4.47394650e+02] [ 9.48184951e-01 -5.58257931e-02 -3.12775926e-01 2.63972134e+02] [ 3.12235727e-01 -1.83747320e-02 9.49826942e-01 6.30530114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4592541539998 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.39, Y:264.00, Z:63.06 [[-5.60029128e-02 -9.98430598e-01 -1.18122448e-04 4.47393890e+02] [ 9.48444146e-01 -5.31621598e-02 -3.12453975e-01 2.63998966e+02] [ 3.11957329e-01 -1.76103653e-02 9.49932892e-01 6.30618116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.4892541539999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:447.39, Y:264.03, Z:63.07 [[-5.41279431e-02 -9.98534008e-01 -2.22739135e-05 4.47393419e+02] [ 9.48533914e-01 -5.14105971e-02 -3.12474584e-01 2.64025328e+02] [ 3.12015353e-01 -1.69347340e-02 9.49926120e-01 6.30694439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5192541539999 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:447.39, Y:264.02, Z:63.07 [[-5.00731011e-02 -9.98745553e-01 6.74715290e-05 4.47392029e+02] [ 9.48993166e-01 -4.75997718e-02 -3.11682905e-01 2.64020185e+02] [ 3.11295127e-01 -1.55428996e-02 9.50186172e-01 6.30694275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5492541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.39, Y:264.05, Z:63.08 [[-4.80769785e-02 -9.98843632e-01 -5.87806765e-05 4.47391546e+02] [ 9.49212113e-01 -4.56697627e-02 -3.11304734e-01 2.64046894e+02] [ 3.10942067e-01 -1.50223863e-02 9.50310138e-01 6.30779434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.5792541539998 meters Centerline goodness : 0.999392 Centerline is valid? [True, True] Translation: X:447.39, Y:264.04, Z:63.08 [[-4.32734880e-02 -9.99063263e-01 3.11684598e-05 4.47389608e+02] [ 9.49480030e-01 -4.11355430e-02 -3.11119817e-01 2.64041001e+02] [ 3.10829661e-01 -1.34336458e-02 9.50370695e-01 6.30764700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6092541539999 meters Centerline goodness : 0.999372 Centerline is valid? [True, True] Translation: X:447.39, Y:264.07, Z:63.08 [[-4.10963177e-02 -9.99155185e-01 -9.49965520e-05 4.47389218e+02] [ 9.49622656e-01 -3.90294273e-02 -3.10955810e-01 2.64067892e+02] [ 3.10689402e-01 -1.28693496e-02 9.50424366e-01 6.30848816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6392541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:447.39, Y:264.09, Z:63.09 [[-3.89262457e-02 -9.99242087e-01 -1.30575868e-06 4.47388578e+02] [ 9.49561762e-01 -3.69905034e-02 -3.11390691e-01 2.64094957e+02] [ 3.11154635e-01 -1.21225104e-02 9.50281978e-01 6.30920432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6692541539999 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:447.39, Y:264.10, Z:63.09 [[-3.44822855e-02 -9.99405305e-01 8.96545329e-05 4.47386638e+02] [ 9.49593353e-01 -3.27916012e-02 -3.11764614e-01 2.64097920e+02] [ 3.11582149e-01 -1.06652211e-02 9.50159364e-01 6.30938310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.6992541539998 meters Centerline goodness : 0.999433 Centerline is valid? [True, True] Translation: X:447.39, Y:264.12, Z:63.10 [[-3.26694971e-02 -9.99466209e-01 -3.57551228e-05 4.47385955e+02] [ 9.49626875e-01 -3.10292456e-02 -3.11842884e-01 2.64124552e+02] [ 3.11675315e-01 -1.02217042e-02 9.50133683e-01 6.31030864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7292541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:447.39, Y:264.13, Z:63.10 [[-3.02629803e-02 -9.99541970e-01 5.04907011e-05 4.47385047e+02] [ 9.49649499e-01 -2.87681534e-02 -3.11990741e-01 2.64131704e+02] [ 3.11849292e-01 -9.39382116e-03 9.50085141e-01 6.31042818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7592541539999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:447.38, Y:264.16, Z:63.11 [[-2.70836203e-02 -9.99633169e-01 -7.44028240e-05 4.47382745e+02] [ 9.49806576e-01 -2.57104348e-02 -3.11779476e-01 2.64158159e+02] [ 3.11663193e-01 -8.51478525e-03 9.50154489e-01 6.31146017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.7892541539999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:447.38, Y:264.16, Z:63.11 [[-2.46851885e-02 -9.99695274e-01 1.42218605e-05 4.47381743e+02] [ 9.49998924e-01 -2.34624805e-02 -3.11370448e-01 2.64155653e+02] [ 3.11275899e-01 -7.67272747e-03 9.50288611e-01 6.31138521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8192541539999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:447.38, Y:264.18, Z:63.12 [[-2.10256068e-02 -9.99778931e-01 -1.10434435e-04 4.47379856e+02] [ 9.50241499e-01 -1.99494831e-02 -3.10874752e-01 2.64182552e+02] [ 3.10803824e-01 -6.64126968e-03 9.50450881e-01 6.31210787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8492541539999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:447.38, Y:264.21, Z:63.13 [[-1.96751032e-02 -9.99806426e-01 -1.54165511e-05 4.47378378e+02] [ 9.50432901e-01 -1.86987002e-02 -3.10366975e-01 2.64208965e+02] [ 3.10306607e-01 -6.12115465e-03 9.50616821e-01 6.31313334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.8792541539999 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:447.38, Y:264.21, Z:63.13 [[-1.92793194e-02 -9.99814134e-01 7.50028079e-05 4.47378259e+02] [ 9.50439695e-01 -1.83505196e-02 -3.10366953e-01 2.64211465e+02] [ 3.10310643e-01 -5.91237796e-03 9.50616826e-01 6.31321602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9092541539999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:447.38, Y:264.24, Z:63.14 [[-1.78338097e-02 -9.99840964e-01 -4.96498686e-05 4.47377093e+02] [ 9.50564010e-01 -1.69394769e-02 -3.10066311e-01 2.64237301e+02] [ 3.10016159e-01 -5.57685897e-03 9.50714931e-01 6.31399757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9392541539999 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:447.38, Y:264.24, Z:63.14 [[-1.45164107e-02 -9.99894631e-01 3.13564118e-05 4.47375984e+02] [ 9.50615164e-01 -1.38106979e-02 -3.10064630e-01 2.64238965e+02] [ 3.10032392e-01 -4.47121765e-03 9.50715480e-01 6.31402807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9692541539999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:447.38, Y:264.26, Z:63.15 [[-1.43748468e-02 -9.99896672e-01 -9.30268409e-05 4.47375632e+02] [ 9.50664395e-01 -1.36382332e-02 -3.09921290e-01 2.64263876e+02] [ 3.09887998e-01 -4.54350836e-03 9.50762213e-01 6.31491163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 760.9992541539999 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:447.38, Y:264.29, Z:63.16 [[-1.38003087e-02 -9.99904771e-01 -6.09115611e-06 4.47375434e+02] [ 9.50712916e-01 -1.31194941e-02 -3.09794818e-01 2.64290859e+02] [ 3.09765237e-01 -4.28105508e-03 9.50803434e-01 6.31571495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0292541539999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:447.38, Y:264.29, Z:63.16 [[-1.34407698e-02 -9.99909665e-01 8.57650810e-05 4.47375379e+02] [ 9.50753505e-01 -1.28065759e-02 -3.09683331e-01 2.64294874e+02] [ 3.09656454e-01 -4.08084091e-03 9.50839748e-01 6.31598504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.0592541539999 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:447.38, Y:264.32, Z:63.17 [[-1.46547274e-02 -9.99892613e-01 -3.85493491e-05 4.47375824e+02] [ 9.50916888e-01 -1.39250062e-02 -3.09132927e-01 2.64321155e+02] [ 3.09099193e-01 -4.56691599e-03 9.51018839e-01 6.31680773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.089254154 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:447.38, Y:264.32, Z:63.17 [[-1.51693026e-02 -9.99884938e-01 5.18232080e-05 4.47376130e+02] [ 9.50932198e-01 -1.44426567e-02 -3.09062073e-01 2.64322505e+02] [ 3.09027261e-01 -4.63897576e-03 9.51041867e-01 6.31687528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1192541539999 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:447.38, Y:264.35, Z:63.18 [[-1.68638230e-02 -9.99857793e-01 -7.26136025e-05 4.47377903e+02] [ 9.50888733e-01 -1.60154506e-02 -3.09118300e-01 2.64349233e+02] [ 3.09073179e-01 -5.28196376e-03 9.51023591e-01 6.31755144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1492541539999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:447.38, Y:264.35, Z:63.18 [[-1.79678152e-02 -9.99838566e-01 1.83849435e-05 4.47377984e+02] [ 9.50844065e-01 -1.70930344e-02 -3.09197982e-01 2.64353327e+02] [ 3.09148381e-01 -5.53813099e-03 9.50997691e-01 6.31781101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.1792541539999 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:447.38, Y:264.38, Z:63.19 [[-1.93017925e-02 -9.99813697e-01 -1.06589196e-04 4.47378658e+02] [ 9.50731530e-01 -1.83212495e-02 -3.09473570e-01 2.64378662e+02] [ 3.09413962e-01 -6.07473236e-03 9.50908039e-01 6.31859909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2092541539998 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:447.38, Y:264.41, Z:63.19 [[-2.13211801e-02 -9.99772677e-01 -4.26027973e-05 4.47380344e+02] [ 9.50353605e-01 -2.02540359e-02 -3.10512156e-01 2.64406003e+02] [ 3.10440707e-01 -6.66097331e-03 9.50569408e-01 6.31908676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2392541539999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:447.38, Y:264.41, Z:63.20 [[-2.26772405e-02 -9.99742837e-01 4.50150705e-05 4.47380211e+02] [ 9.50370056e-01 -2.15712891e-02 -3.10373058e-01 2.64409567e+02] [ 3.10294213e-01 -6.99562351e-03 9.50614834e-01 6.31951206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2692541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:447.38, Y:264.44, Z:63.20 [[-2.50113899e-02 -9.99687163e-01 -7.93792779e-05 4.47380967e+02] [ 9.50207462e-01 -2.37487748e-02 -3.10711723e-01 2.64435167e+02] [ 3.10612636e-01 -7.84675885e-03 9.50504192e-01 6.32035359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.2992541539999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:447.38, Y:264.44, Z:63.20 [[-2.61365556e-02 -9.99658382e-01 1.37606504e-05 4.47380857e+02] [ 9.50097914e-01 -2.48450535e-02 -3.10960893e-01 2.64438911e+02] [ 3.10855005e-01 -8.11437270e-03 9.50422707e-01 6.32046381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3292541539998 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:447.38, Y:264.46, Z:63.21 [[-2.86671545e-02 -9.99589007e-01 -1.11169809e-04 4.47381684e+02] [ 9.50074212e-01 -2.72125529e-02 -3.10835116e-01 2.64464237e+02] [ 3.10704339e-01 -9.01637785e-03 9.50463844e-01 6.32126077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3592541539999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:447.38, Y:264.49, Z:63.22 [[-3.01761600e-02 -9.99544596e-01 -2.60516519e-05 4.47381759e+02] [ 9.49934987e-01 -2.86703413e-02 -3.11129447e-01 2.64490565e+02] [ 3.10987010e-01 -9.41343934e-03 9.50367543e-01 6.32211993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.3892541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:447.38, Y:264.49, Z:63.22 [[-3.07551395e-02 -9.99526947e-01 6.42835714e-05 4.47382103e+02] [ 9.49693647e-01 -2.92418380e-02 -3.11812271e-01 2.64493881e+02] [ 3.11666647e-01 -9.52878019e-03 9.50143728e-01 6.32194489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4192541539999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:447.38, Y:264.52, Z:63.23 [[-3.39199114e-02 -9.99424552e-01 -6.05790900e-05 4.47382192e+02] [ 9.49873462e-01 -3.22193259e-02 -3.10969968e-01 2.64519874e+02] [ 3.10789070e-01 -1.06056162e-02 9.50419736e-01 6.32304551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4492541539998 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:447.38, Y:264.52, Z:63.23 [[-3.44749659e-02 -9.99405561e-01 2.84334824e-05 4.47382582e+02] [ 9.49863360e-01 -3.27748308e-02 -3.10942773e-01 2.64523857e+02] [ 3.10758868e-01 -1.06927336e-02 9.50428636e-01 6.32298382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.4792541539999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:447.38, Y:264.55, Z:63.24 [[-3.63595854e-02 -9.99338767e-01 -9.64950740e-05 4.47382624e+02] [ 9.50003647e-01 -3.45346295e-02 -3.10323107e-01 2.64549685e+02] [ 3.10114579e-01 -1.13748902e-02 9.50631138e-01 6.32378827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5092541539999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:447.38, Y:264.55, Z:63.24 [[-3.70662148e-02 -9.99312812e-01 -1.60396257e-06 4.47381824e+02] [ 9.50274106e-01 -3.52467890e-02 -3.09413617e-01 2.64552784e+02] [ 3.09200935e-01 -1.14703158e-02 9.50927554e-01 6.32413913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5392541539999 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:447.38, Y:264.58, Z:63.25 [[-3.77158358e-02 -9.99288497e-01 -1.27249041e-04 4.47381551e+02] [ 9.50170846e-01 -3.58225710e-02 -3.09664506e-01 2.64578712e+02] [ 3.09439620e-01 -1.18001640e-02 9.50845875e-01 6.32499485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5692541539999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:447.38, Y:264.61, Z:63.26 [[-3.79095652e-02 -9.99281174e-01 -2.88554525e-05 4.47380710e+02] [ 9.50010336e-01 -3.60314301e-02 -3.10132386e-01 2.64605430e+02] [ 3.09908415e-01 -1.17843969e-02 9.50693380e-01 6.32573508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.5992541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.38, Y:264.61, Z:63.26 [[-3.67542734e-02 -9.99324332e-01 6.20341588e-05 4.47380525e+02] [ 9.49864323e-01 -3.49544648e-02 -3.10702354e-01 2.64610527e+02] [ 3.10494591e-01 -1.13607152e-02 9.50507256e-01 6.32570067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6292541539999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:447.38, Y:264.64, Z:63.27 [[-3.62210985e-02 -9.99343799e-01 -6.37008470e-05 4.47378685e+02] [ 9.50269248e-01 -3.44226675e-02 -3.09521302e-01 2.64636255e+02] [ 3.09316001e-01 -1.12717345e-02 9.50892507e-01 6.32679591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6592541539999 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:447.38, Y:264.64, Z:63.27 [[-3.45161311e-02 -9.99404140e-01 2.93920983e-05 4.47377430e+02] [ 9.50307537e-01 -3.28296005e-02 -3.09576812e-01 2.64638880e+02] [ 3.09393312e-01 -1.06574623e-02 9.50874438e-01 6.32690569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.6892541539999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:447.38, Y:264.67, Z:63.28 [[-3.25704765e-02 -9.99469437e-01 -9.64160501e-05 4.47376338e+02] [ 9.50101695e-01 -3.09317483e-02 -3.10402958e-01 2.64666030e+02] [ 3.10235288e-01 -1.02015773e-02 9.50605067e-01 6.32751627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7192541539999 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:447.37, Y:264.69, Z:63.29 [[-2.97473722e-02 -9.99557449e-01 -3.47262408e-06 4.47372518e+02] [ 9.50367151e-01 -2.82823658e-02 -3.09842518e-01 2.64691250e+02] [ 3.09705298e-01 -9.22030097e-03 9.50787891e-01 6.32865783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7492541539999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:447.37, Y:264.69, Z:63.29 [[-2.73099540e-02 -9.99627010e-01 8.76329284e-05 4.47370665e+02] [ 9.50444513e-01 -2.59934404e-02 -3.09805694e-01 2.64692661e+02] [ 3.09692418e-01 -8.37748902e-03 9.50799887e-01 6.32866923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.7792541539999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:447.37, Y:264.72, Z:63.29 [[-2.36217179e-02 -9.99720968e-01 -3.75939740e-05 4.47367644e+02] [ 9.50605706e-01 -2.24495653e-02 -3.09588127e-01 2.64718811e+02] [ 3.09500898e-01 -7.34874044e-03 9.50870754e-01 6.32941436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8092541539999 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:447.37, Y:264.72, Z:63.30 [[-2.16485722e-02 -9.99765641e-01 4.44526870e-05 4.47365772e+02] [ 9.50701725e-01 -2.05999173e-02 -3.09421838e-01 2.64721949e+02] [ 3.09350238e-01 -6.65627973e-03 9.50924878e-01 6.32954376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.839254154 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:447.36, Y:264.75, Z:63.30 [[-2.06812179e-02 -9.99786118e-01 -8.04729820e-05 4.47364251e+02] [ 9.50876315e-01 -1.96446200e-02 -3.08947119e-01 2.64748322e+02] [ 3.08879460e-01 -6.46592253e-03 9.51079214e-01 6.33048689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8692541539999 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:447.36, Y:264.75, Z:63.31 [[-1.88841073e-02 -9.99821679e-01 1.10948574e-05 4.47360920e+02] [ 9.50928059e-01 -1.79640580e-02 -3.08890142e-01 2.64753191e+02] [ 3.08835260e-01 -5.82256418e-03 9.51097724e-01 6.33076692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.8992541539999 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:447.36, Y:264.78, Z:63.32 [[-1.91391051e-02 -9.99816824e-01 -1.14185651e-04 4.47359739e+02] [ 9.51181959e-01 -1.81729203e-02 -3.08095158e-01 2.64779991e+02] [ 3.08036647e-01 -6.00527693e-03 9.51355539e-01 6.33161364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9292541539999 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:447.36, Y:264.81, Z:63.32 [[-2.04819680e-02 -9.99790222e-01 -2.17178131e-05 4.47358570e+02] [ 9.51375344e-01 -1.94834501e-02 -3.07417223e-01 2.64807233e+02] [ 3.07352311e-01 -6.31717151e-03 9.51574826e-01 6.33234859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9592541539998 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:447.36, Y:264.81, Z:63.33 [[-2.20038825e-02 -9.99757883e-01 6.85933656e-05 4.47357847e+02] [ 9.51627824e-01 -2.09656094e-02 -3.06536993e-01 2.64810119e+02] [ 3.06464213e-01 -6.67972863e-03 9.51858743e-01 6.33255486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 761.9892541539999 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:447.36, Y:264.83, Z:63.34 [[-2.71546630e-02 -9.99631243e-01 -5.71564609e-05 4.47357550e+02] [ 9.51630759e-01 -2.58332400e-02 -3.06156076e-01 2.64834795e+02] [ 3.06041703e-01 -8.36795694e-03 9.51981331e-01 6.33351313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0192541539999 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:447.36, Y:264.84, Z:63.34 [[-2.93190559e-02 -9.99570104e-01 2.53396852e-05 4.47357865e+02] [ 9.51611038e-01 -2.79200948e-02 -3.06034151e-01 2.64843772e+02] [ 3.05903296e-01 -8.94851887e-03 9.52020534e-01 6.33377070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0492541539999 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:447.36, Y:264.87, Z:63.34 [[-3.20750340e-02 -9.99485459e-01 -1.01230825e-04 4.47358309e+02] [ 9.51320290e-01 -3.04982767e-02 -3.06691312e-01 2.64869532e+02] [ 3.06530419e-01 -9.93343719e-03 9.51809030e-01 6.33445350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.0792541539998 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:447.36, Y:264.90, Z:63.35 [[-3.81395030e-02 -9.99272424e-01 -1.72240158e-05 4.47358650e+02] [ 9.50821223e-01 -3.62849507e-02 -3.07607549e-01 2.64896393e+02] [ 3.07383116e-01 -1.17483760e-02 9.51513319e-01 6.33522583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1092541539999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:447.36, Y:264.90, Z:63.35 [[-4.03806918e-02 -9.99184364e-01 7.72381677e-05 4.47358915e+02] [ 9.50746094e-01 -3.84469004e-02 -3.07577147e-01 2.64902663e+02] [ 3.07329246e-01 -1.23467441e-02 9.51523144e-01 6.33542167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1392541539999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:447.36, Y:264.93, Z:63.36 [[-4.63094099e-02 -9.98927143e-01 -4.93288584e-05 4.47359491e+02] [ 9.50541809e-01 -4.40511243e-02 -3.07456936e-01 2.64928551e+02] [ 3.07124906e-01 -1.42850384e-02 9.51561995e-01 6.33643084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1692541539999 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:447.36, Y:264.93, Z:63.37 [[-4.83144708e-02 -9.98832173e-01 4.49547961e-05 4.47359658e+02] [ 9.50560793e-01 -4.59933602e-02 -3.07113643e-01 2.64934190e+02] [ 3.06757055e-01 -1.47953009e-02 9.51672847e-01 6.33660325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.1992541539998 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:447.36, Y:264.96, Z:63.37 [[-5.27045446e-02 -9.98610146e-01 -8.23370212e-05 4.47360211e+02] [ 9.50317407e-01 -5.01304246e-02 -3.07219413e-01 2.64960851e+02] [ 3.06788295e-01 -1.62701055e-02 9.51638705e-01 6.33737993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2292541539999 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:447.36, Y:264.97, Z:63.37 [[-5.33572962e-02 -9.98575485e-01 1.15082607e-05 4.47360565e+02] [ 9.50140490e-01 -5.07727948e-02 -3.07660808e-01 2.64968836e+02] [ 3.07223125e-01 -1.64050144e-02 9.51496099e-01 6.33747538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2592541539999 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:447.36, Y:264.99, Z:63.38 [[-5.56937817e-02 -9.98447890e-01 -1.16163962e-04 4.47359110e+02] [ 9.50032003e-01 -5.29573354e-02 -3.07627556e-01 2.64994541e+02] [ 3.07143933e-01 -1.72433014e-02 9.51506844e-01 6.33847274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.2892541539999 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:447.36, Y:265.02, Z:63.39 [[-5.58273341e-02 -9.98440438e-01 -2.12602001e-05 4.47358227e+02] [ 9.49926353e-01 -5.31081347e-02 -3.07927670e-01 2.65019893e+02] [ 3.07446309e-01 -1.72109766e-02 9.51409769e-01 6.33930854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3192541539999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:447.36, Y:265.02, Z:63.39 [[-5.40773618e-02 -9.98536748e-01 4.11382070e-05 4.47356758e+02] [ 9.50072837e-01 -5.14653999e-02 -3.07754637e-01 2.65024280e+02] [ 3.07306432e-01 -1.66034746e-02 9.51465754e-01 6.33941158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3492541539999 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:447.34, Y:265.06, Z:63.40 [[-4.74805215e-02 -9.97316643e-01 5.57235470e-02 4.47336943e+02] [ 9.53503721e-01 -6.18751722e-02 -2.94961215e-01 2.65060996e+02] [ 2.97617633e-01 3.91276971e-02 9.53882995e-01 6.34048012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.3792541539999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:447.38, Y:265.08, Z:63.39 [[-5.84728535e-02 -9.97258437e-01 -4.53490336e-02 4.47377214e+02] [ 9.45594053e-01 -4.07653613e-02 -3.22784871e-01 2.65075813e+02] [ 3.20051266e-01 -6.17559289e-02 9.45385314e-01 6.33936904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4092541539999 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:447.35, Y:265.08, Z:63.41 [[-5.42700414e-02 -9.98524147e-01 2.07125287e-03 4.47352495e+02] [ 9.45102324e-01 -5.20357355e-02 -3.22604836e-01 2.65075174e+02] [ 3.22236498e-01 -1.55502319e-02 9.46531473e-01 6.34069633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4392541539999 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:447.35, Y:265.07, Z:63.41 [[-5.25468314e-02 -9.98616593e-01 1.93170252e-03 4.47350977e+02] [ 9.45371845e-01 -5.03681361e-02 -3.22079378e-01 2.65071459e+02] [ 3.21731108e-01 -1.50980736e-02 9.46710696e-01 6.34069302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4692541539999 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:447.35, Y:265.07, Z:63.41 [[-4.87573860e-02 -9.98809040e-01 1.79419632e-03 4.47348413e+02] [ 9.45648710e-01 -4.67404216e-02 -3.21813377e-01 2.65072339e+02] [ 3.21513972e-01 -1.39940996e-02 9.46801421e-01 6.34074944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.4992541539999 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:447.35, Y:265.08, Z:63.41 [[-4.66565502e-02 -9.98909612e-01 1.65951711e-03 4.47347292e+02] [ 9.45677339e-01 -4.47051832e-02 -3.22018349e-01 2.65079298e+02] [ 3.21741413e-01 -1.34548975e-02 9.46731973e-01 6.34099755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5292541539999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:447.35, Y:265.08, Z:63.41 [[-4.44921252e-02 -9.99008573e-01 1.52391269e-03 4.47346553e+02] [ 9.45750697e-01 -4.26115367e-02 -3.22086753e-01 2.65079106e+02] [ 3.21832363e-01 -1.28890826e-02 9.46708932e-01 6.34096340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.5592541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:447.34, Y:265.08, Z:63.41 [[-4.08604813e-02 -9.99163893e-01 1.39158765e-03 4.47344155e+02] [ 9.45577794e-01 -3.91190046e-02 -3.23036127e-01 2.65078943e+02] [ 3.22820472e-01 -1.18835573e-02 9.46385611e-01 6.34091625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.589254154 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:447.34, Y:265.44, Z:63.53 [[-3.93155951e-02 -9.99203424e-01 6.84119579e-03 4.47339427e+02] [ 9.45288243e-01 -3.94114647e-02 -3.23846993e-01 2.65443903e+02] [ 3.23858646e-01 -6.26533531e-03 9.46084733e-01 6.35326810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6192541539999 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:447.34, Y:265.08, Z:63.41 [[-3.53118579e-02 -9.99371248e-01 -3.19082742e-03 4.47342433e+02] [ 9.45372266e-01 -3.23681562e-02 -3.24381845e-01 2.65078090e+02] [ 3.24074608e-01 -1.44710454e-02 9.45920841e-01 6.34070877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6492541539999 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:447.34, Y:265.08, Z:63.41 [[-3.22143046e-02 -9.99480241e-01 1.21961288e-03 4.47339333e+02] [ 9.45394512e-01 -3.08669898e-02 -3.24463319e-01 2.65078502e+02] [ 3.24332322e-01 -9.29934487e-03 9.45897493e-01 6.34071333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.6792541539999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:447.34, Y:265.08, Z:63.41 [[-2.97443817e-02 -9.99556952e-01 1.08223206e-03 4.47337653e+02] [ 9.45619182e-01 -2.84901514e-02 -3.24025731e-01 2.65080604e+02] [ 3.23913005e-01 -8.61456562e-03 9.46047649e-01 6.34094046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7092541539998 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:447.34, Y:265.08, Z:63.41 [[-2.45466272e-02 -9.99698239e-01 9.46047453e-04 4.47335194e+02] [ 9.45808068e-01 -2.35298973e-02 -3.23872572e-01 2.65081065e+02] [ 3.23797101e-01 -7.05519999e-03 9.46100239e-01 6.34095124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7392541539999 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:447.33, Y:265.08, Z:63.41 [[-2.13980102e-02 -9.99770708e-01 8.10293085e-04 4.47334214e+02] [ 9.45897346e-01 -2.05074102e-02 -3.23817319e-01 2.65080262e+02] [ 3.23759688e-01 -6.16259223e-03 9.46119278e-01 6.34091209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7692541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.33, Y:265.08, Z:63.41 [[-1.61894912e-02 -9.99868715e-01 6.73836590e-04 4.47332250e+02] [ 9.46226291e-01 -1.55387004e-02 -3.23132103e-01 2.65077160e+02] [ 3.23100151e-01 -4.59374244e-03 9.46353628e-01 6.34079622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.7992541539999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:447.33, Y:265.08, Z:63.41 [[-1.57963148e-02 -9.99875085e-01 5.39272913e-04 4.47332234e+02] [ 9.46232946e-01 -1.51231391e-02 -3.23132331e-01 2.65079685e+02] [ 3.23100122e-01 -4.59402224e-03 9.46353637e-01 6.34087660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8292541539998 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.33, Y:265.08, Z:63.41 [[-1.31699088e-02 -9.99913191e-01 4.04992590e-04 4.47331555e+02] [ 9.46274422e-01 -1.25943020e-02 -3.23119331e-01 2.65084567e+02] [ 3.23096382e-01 -3.87221798e-03 9.46358143e-01 6.34104958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8592541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:447.33, Y:265.08, Z:63.41 [[-1.03243866e-02 -9.99946666e-01 2.70591481e-04 4.47331417e+02] [ 9.46344995e-01 -9.85836055e-03 -3.23007682e-01 2.65082072e+02] [ 3.22993122e-01 -3.07878331e-03 9.46396304e-01 6.34079321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.8892541539999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:447.33, Y:265.09, Z:63.41 [[-6.96959219e-03 -9.99975703e-01 1.36415262e-04 4.47331140e+02] [ 9.46588683e-01 -6.64147535e-03 -3.22375180e-01 2.65087975e+02] [ 3.22368253e-01 -2.11769439e-03 9.46611972e-01 6.34108523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9192541539999 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:447.33, Y:265.09, Z:63.41 [[-5.08816561e-03 -9.99987055e-01 2.79992213e-06 4.47331472e+02] [ 9.46751235e-01 -4.81819082e-03 -3.21929937e-01 2.65089277e+02] [ 3.21925783e-01 -1.63538200e-03 9.46763495e-01 6.34105813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9492541539998 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:447.33, Y:265.12, Z:63.42 [[-3.10408993e-03 -9.99995174e-01 -1.28966436e-04 4.47332832e+02] [ 9.46612604e-01 -2.89681097e-03 -3.22360338e-01 2.65116659e+02] [ 3.22358409e-01 -1.12271673e-03 9.46617027e-01 6.34177840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 762.9792541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.33, Y:265.14, Z:63.43 [[-3.54158678e-03 -9.99993728e-01 -3.10306354e-05 4.47332921e+02] [ 9.46679811e-01 -3.34277288e-03 -3.22158597e-01 2.65142804e+02] [ 3.22156473e-01 -1.17032870e-03 9.46685712e-01 6.34284421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0092541539999 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:447.34, Y:265.15, Z:63.43 [[-3.55553616e-03 -9.99993677e-01 6.55319999e-05 4.47335406e+02] [ 9.46612515e-01 -3.38686106e-03 -3.22355821e-01 2.65153705e+02] [ 3.22354005e-01 -1.08411436e-03 9.46618572e-01 6.34304981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0392541539999 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:447.34, Y:265.18, Z:63.44 [[-5.27167810e-03 -9.99986102e-01 -6.59096651e-05 4.47336846e+02] [ 9.46620470e-01 -4.96910398e-03 -3.22311951e-01 2.65179085e+02] [ 3.22307144e-01 -1.76151629e-03 9.46633510e-01 6.34391782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0692541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.34, Y:265.18, Z:63.44 [[-6.52474649e-03 -9.99978713e-01 2.02940344e-05 4.47338690e+02] [ 9.46441324e-01 -6.18197255e-03 -3.22816671e-01 2.65180965e+02] [ 3.22809925e-01 -2.08708983e-03 9.46461513e-01 6.34397425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.0992541539999 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:447.34, Y:265.21, Z:63.45 [[-1.06653024e-02 -9.99925938e-01 5.86264665e-03 4.47339909e+02] [ 9.45673623e-01 -1.19915354e-02 -3.24896293e-01 2.65206119e+02] [ 3.24942533e-01 2.07903309e-03 9.45731478e-01 6.34495883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1292541539999 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:447.35, Y:265.23, Z:63.45 [[-1.33687361e-02 -9.99894318e-01 -5.71233404e-03 4.47347029e+02] [ 9.46058006e-01 -1.07989886e-02 -3.23817281e-01 2.65233494e+02] [ 3.23721372e-01 -9.73322714e-03 9.46102393e-01 6.34545670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1592541539999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:447.35, Y:265.24, Z:63.46 [[-1.75898819e-02 -9.99845281e-01 9.90573023e-05 4.47348178e+02] [ 9.45939758e-01 -1.66736343e-02 -3.23913514e-01 2.65241391e+02] [ 3.23865050e-01 -5.60389820e-03 9.46086691e-01 6.34585792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.1892541539999 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:447.35, Y:265.27, Z:63.47 [[-2.02122953e-02 -9.99795710e-01 -3.23673121e-05 4.47350217e+02] [ 9.45920623e-01 -1.91126498e-02 -3.23834652e-01 2.65267443e+02] [ 3.23767877e-01 -6.57605850e-03 9.46113692e-01 6.34669592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2192541539999 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:447.35, Y:265.27, Z:63.47 [[-2.19773747e-02 -9.99758466e-01 6.46584413e-05 4.47352299e+02] [ 9.45895498e-01 -2.08142637e-02 -3.23803140e-01 2.65273003e+02] [ 3.23726277e-01 -7.05518280e-03 9.46124475e-01 6.34683547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2492541539999 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:447.35, Y:265.30, Z:63.48 [[-2.42906570e-02 -9.99660381e-01 9.43853497e-03 4.47349633e+02] [ 9.44924006e-01 -2.60410116e-02 -3.26252186e-01 2.65298460e+02] [ 3.26387174e-01 9.93818326e-04 9.45235645e-01 6.34800617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.2792541539999 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:447.36, Y:265.33, Z:63.48 [[-2.84759958e-02 -9.99548544e-01 -9.58260234e-03 4.47361736e+02] [ 9.45976341e-01 -2.38497810e-02 -3.23357311e-01 2.65326443e+02] [ 3.22982786e-01 -1.82728365e-02 9.46228420e-01 6.34827515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3092541539999 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:447.36, Y:265.33, Z:63.49 [[-3.14899848e-02 -9.99504064e-01 8.31551914e-05 4.47359985e+02] [ 9.45833603e-01 -2.98259599e-02 -3.23278839e-01 2.65329723e+02] [ 3.23120993e-01 -1.01013947e-02 9.46303749e-01 6.34871965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.339254154 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:447.36, Y:265.36, Z:63.50 [[-3.34791622e-02 -9.99439415e-01 -4.97714646e-05 4.47361264e+02] [ 9.45822591e-01 -3.16670171e-02 -3.23135927e-01 2.65355592e+02] [ 3.22953206e-01 -1.08653951e-02 9.46352561e-01 6.34957797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3692541539999 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:447.36, Y:265.36, Z:63.50 [[-3.48170626e-02 -9.99393702e-01 3.64560630e-05 4.47362271e+02] [ 9.45918985e-01 -3.29658728e-02 -3.22723606e-01 2.65361058e+02] [ 3.22529141e-01 -1.12018035e-02 9.46493250e-01 6.34975037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.3992541539999 meters Centerline goodness : 0.998761 Centerline is valid? [True, True] Translation: X:447.36, Y:265.39, Z:63.51 [[-3.67047748e-02 -9.99326148e-01 -9.67398193e-05 4.47363575e+02] [ 9.45773465e-01 -3.47065452e-02 -3.22967505e-01 2.65387363e+02] [ 3.22746515e-01 -1.19459435e-02 9.46410049e-01 6.35065392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4292541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:447.37, Y:265.39, Z:63.51 [[-4.00666937e-02 -9.99197008e-01 6.03310949e-07 4.47365620e+02] [ 9.45718513e-01 -3.79224601e-02 -3.22766759e-01 2.65393449e+02] [ 3.22507603e-01 -1.29316263e-02 9.46478536e-01 6.35081911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4592541539998 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:447.37, Y:265.42, Z:63.52 [[-4.23613688e-02 -9.99102346e-01 -1.32811659e-04 4.47366656e+02] [ 9.45584746e-01 -4.00493295e-02 -3.22901748e-01 2.65419437e+02] [ 3.22606574e-01 -1.38041447e-02 9.46432482e-01 6.35166237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.4892541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:447.37, Y:265.45, Z:63.53 [[-4.70422603e-02 -9.98892899e-01 -4.17511868e-05 4.47367979e+02] [ 9.45392630e-01 -4.45092017e-02 -3.22880329e-01 2.65446439e+02] [ 3.22521009e-01 -1.52284917e-02 9.46439798e-01 6.35250607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5192541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:447.37, Y:265.45, Z:63.53 [[-4.88857869e-02 -9.98804374e-01 5.46736693e-05 4.47368164e+02] [ 9.45286552e-01 -4.62840718e-02 -3.22941355e-01 2.65453701e+02] [ 3.22557769e-01 -1.57355600e-02 9.46418976e-01 6.35273066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5492541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.37, Y:265.48, Z:63.54 [[-5.14642572e-02 -9.98674834e-01 -7.92027134e-05 4.47368253e+02] [ 9.45046971e-01 -4.86750374e-02 -3.23290833e-01 2.65479477e+02] [ 3.22858564e-01 -1.67127728e-02 9.46299652e-01 6.35359607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.5792541539998 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:447.37, Y:265.48, Z:63.54 [[-5.50775033e-02 -9.98482082e-01 2.15951025e-05 4.47368347e+02] [ 9.44565215e-01 -5.21103934e-02 -3.24162090e-01 2.65484143e+02] [ 3.23671164e-01 -1.78336406e-02 9.46001553e-01 6.35352882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6092541539999 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:447.37, Y:265.51, Z:63.55 [[-5.77921811e-02 -9.98328629e-01 -1.12293284e-04 4.47367579e+02] [ 9.44751918e-01 -5.46543287e-02 -3.23197646e-01 2.65509655e+02] [ 3.22651325e-01 -1.87843862e-02 9.46331480e-01 6.35456947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6392541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:447.37, Y:265.54, Z:63.55 [[-6.16904807e-02 -9.98095328e-01 -1.46702563e-05 4.47366854e+02] [ 9.44437392e-01 -5.83692256e-02 -3.23467225e-01 2.65536503e+02] [ 3.22850270e-01 -1.99687038e-02 9.46239375e-01 6.35546314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6692541539999 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.36, Y:265.74, Z:63.63 [[-6.38060100e-02 -9.97949197e-01 5.11802721e-03 4.47363751e+02] [ 9.44303965e-01 -6.20335035e-02 -3.23174668e-01 2.65744322e+02] [ 3.22829390e-01 -1.57875127e-02 9.46325493e-01 6.36263940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.6992541539998 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:447.37, Y:265.54, Z:63.55 [[-6.33916642e-02 -9.97980442e-01 -4.06614406e-03 4.47367857e+02] [ 9.44339888e-01 -5.86655519e-02 -3.23698208e-01 2.65537812e+02] [ 3.22805938e-01 -2.43595901e-02 9.46151646e-01 6.35526012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7292541539999 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:447.36, Y:265.55, Z:63.56 [[-6.34642960e-02 -9.97984107e-01 7.98065974e-05 4.47363150e+02] [ 9.44531002e-01 -6.00908997e-02 -3.22878105e-01 2.65545277e+02] [ 3.22232013e-01 -2.04158518e-02 9.46440555e-01 6.35573733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7592541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:447.36, Y:265.57, Z:63.57 [[-6.15634173e-02 -9.98103172e-01 -5.54009887e-05 4.47360067e+02] [ 9.44900226e-01 -5.82639571e-02 -3.22131766e-01 2.65571876e+02] [ 3.21517510e-01 -1.98838807e-02 9.46694841e-01 6.35663482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.7892541539999 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:447.36, Y:265.58, Z:63.57 [[-5.93054542e-02 -9.98239882e-01 4.02621816e-05 4.47358426e+02] [ 9.44936443e-01 -5.61516992e-02 -3.22400535e-01 2.65575772e+02] [ 3.21835333e-01 -1.90820650e-02 9.46603345e-01 6.35675340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8192541539999 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:447.36, Y:265.60, Z:63.58 [[-5.67644496e-02 -9.98387594e-01 -9.47397405e-05 4.47356765e+02] [ 9.45097355e-01 -5.37039848e-02 -3.22345888e-01 2.65601711e+02] [ 3.21821047e-01 -1.83873252e-02 9.46621952e-01 6.35758521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8492541539999 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:447.35, Y:265.61, Z:63.58 [[-5.31446720e-02 -9.98586823e-01 5.07581904e-06 4.47354627e+02] [ 9.45256627e-01 -5.03080842e-02 -3.22426745e-01 2.65605582e+02] [ 3.21971355e-01 -1.71304657e-02 9.46594419e-01 6.35773353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.8792541539999 meters Centerline goodness : 0.998707 Centerline is valid? [True, True] Translation: X:447.35, Y:265.63, Z:63.59 [[-4.54303815e-02 -9.98967499e-01 -1.29543521e-04 4.47349786e+02] [ 9.45690056e-01 -4.29656809e-02 -3.22217734e-01 2.65631854e+02] [ 3.21879478e-01 -1.47609826e-02 9.46665577e-01 6.35862916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9092541539999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:447.34, Y:265.66, Z:63.60 [[-3.62176302e-02 -9.99343926e-01 -3.03909116e-05 4.47344564e+02] [ 9.46348600e-01 -3.42872332e-02 -3.21323378e-01 2.65657311e+02] [ 3.21111524e-01 -1.16663317e-02 9.46969527e-01 6.35958652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9392541539999 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:447.34, Y:265.66, Z:63.60 [[-3.02241119e-02 -9.99543146e-01 5.69155304e-05 4.47342460e+02] [ 9.46461776e-01 -2.86373506e-02 -3.21543167e-01 2.65658963e+02] [ 3.21397898e-01 -9.66448829e-03 9.46894920e-01 6.35952764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9692541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.34, Y:265.68, Z:63.60 [[-2.53767250e-02 -9.99677956e-01 -7.65193806e-05 4.47339930e+02] [ 9.46687147e-01 -2.40069681e-02 -3.21258637e-01 2.65683787e+02] [ 3.21153341e-01 -8.22493199e-03 9.46991490e-01 6.36045961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 763.9992541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:447.34, Y:265.68, Z:63.60 [[-1.35513973e-02 -9.99908175e-01 2.42480173e-05 4.47336352e+02] [ 9.46874911e-01 -1.28404491e-02 -3.21345648e-01 2.65681214e+02] [ 3.21316452e-01 -4.33172269e-03 9.46961971e-01 6.36026396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0292541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.33, Y:265.71, Z:63.61 [[-8.28117294e-03 -9.99965705e-01 -1.08154418e-04 4.47334869e+02] [ 9.47042958e-01 -7.80817544e-03 -3.21011943e-01 2.65707557e+02] [ 3.21000090e-01 -2.76078230e-03 9.47075140e-01 6.36118387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.0592541539999 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:447.33, Y:265.73, Z:63.62 [[ 8.95781657e-04 -9.99999599e-01 -8.51431773e-06 4.47330971e+02] [ 9.47124346e-01 8.51148912e-04 -3.20865624e-01 2.65732548e+02] [ 3.20865503e-01 2.79361424e-04 9.47124728e-01 6.36211404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.089254154 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.33, Y:265.73, Z:63.62 [[ 5.21570598e-03 -9.99986395e-01 7.97486234e-05 4.47329613e+02] [ 9.47120874e-01 4.91438437e-03 -3.20839368e-01 2.65732767e+02] [ 3.20834611e-01 1.74893540e-03 9.47133620e-01 6.36207927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1192541539999 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:447.33, Y:265.76, Z:63.63 [[ 8.07484085e-03 -9.99967397e-01 -5.12520665e-05 4.47328720e+02] [ 9.46858369e-01 7.66246105e-03 -3.21559507e-01 2.65757923e+02] [ 3.21549416e-01 2.54801340e-03 9.46889371e-01 6.36291292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1492541539999 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:447.33, Y:265.76, Z:63.63 [[ 1.16683519e-02 -9.99931922e-01 3.65688849e-05 4.47328622e+02] [ 9.46488172e-01 1.10329129e-02 -3.22549865e-01 2.65760383e+02] [ 3.22527503e-01 3.79823736e-03 9.46552473e-01 6.36290403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.1792541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.33, Y:265.79, Z:63.64 [[ 1.15731649e-02 -9.99933024e-01 -9.36151035e-05 4.47329008e+02] [ 9.46274537e-01 1.09823811e-02 -3.23177796e-01 2.65786267e+02] [ 3.23157179e-01 3.65160432e-03 9.46338261e-01 6.36374078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2092541539998 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.33, Y:265.81, Z:63.65 [[ 8.88041076e-03 -9.99960568e-01 -4.45620585e-06 4.47330136e+02] [ 9.46272054e-01 8.40505648e-03 -3.23262364e-01 2.65811626e+02] [ 3.23249655e-01 2.86648579e-03 9.46309381e-01 6.36455800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2392541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:447.33, Y:265.81, Z:63.64 [[ 7.61833447e-03 -9.99970977e-01 8.10347941e-05 4.47330961e+02] [ 9.46171324e-01 7.18223630e-03 -3.23586529e-01 2.65812213e+02] [ 3.23576555e-01 2.54186321e-03 9.46198580e-01 6.36444935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2692541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:447.33, Y:265.84, Z:63.65 [[ 4.94292946e-03 -9.99987782e-01 -4.91554593e-05 4.47331567e+02] [ 9.46467028e-01 4.69424283e-03 -3.22766371e-01 2.65837220e+02] [ 3.22762658e-01 1.54888738e-03 9.46478667e-01 6.36546787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.2992541539999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.33, Y:265.84, Z:63.65 [[ 1.71152904e-03 -9.99998535e-01 3.70738019e-05 4.47334203e+02] [ 9.46576854e-01 1.60814078e-03 -3.22474298e-01 2.65840467e+02] [ 3.22473766e-01 5.87017329e-04 9.46578220e-01 6.36547766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3292541539998 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.34, Y:265.87, Z:63.66 [[-5.48036947e-04 -9.99999845e-01 -9.37579971e-05 4.47335414e+02] [ 9.46872041e-01 -4.88767411e-04 -3.21610166e-01 2.65866364e+02] [ 3.21610071e-01 -2.65031079e-04 9.46872163e-01 6.36644115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3592541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.34, Y:265.87, Z:63.67 [[-1.63053163e-03 -9.99998671e-01 4.60455080e-06 4.47337230e+02] [ 9.46943991e-01 -1.54550406e-03 -3.21394912e-01 2.65870532e+02] [ 3.21394492e-01 -5.19684317e-04 9.46945252e-01 6.36656301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.3892541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.34, Y:265.90, Z:63.67 [[-4.56186217e-03 -9.99989587e-01 -1.26449193e-04 4.47341613e+02] [ 9.47167724e-01 -4.28033964e-03 -3.20710121e-01 2.65896074e+02] [ 3.20706240e-01 -1.58280396e-03 9.47177387e-01 6.36727314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4192541539999 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:447.34, Y:265.92, Z:63.68 [[-4.89204938e-03 -9.99978989e-01 4.25316048e-03 4.47341589e+02] [ 9.46638224e-01 -6.00167495e-03 -3.22242228e-01 2.65922084e+02] [ 3.22260983e-01 2.44977939e-03 9.46647695e-01 6.36810096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4492541539998 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:447.35, Y:266.03, Z:63.72 [[-7.05276828e-03 -9.99974804e-01 -8.05988596e-04 4.47347432e+02] [ 9.47146025e-01 -6.42165168e-03 -3.20738477e-01 2.66034358e+02] [ 3.20725220e-01 -3.02548305e-03 9.47167451e-01 6.37190062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.4792541539999 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:447.35, Y:266.06, Z:63.73 [[-8.80886061e-03 -9.99958576e-01 -2.29132480e-03 4.47350017e+02] [ 9.47446256e-01 -7.61341586e-03 -3.19824371e-01 2.66060656e+02] [ 3.19793678e-01 -4.98819540e-03 9.47474074e-01 6.37272790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5092541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:447.35, Y:266.09, Z:63.74 [[-1.01779932e-02 -9.99948136e-01 -3.67079262e-04 4.47351098e+02] [ 9.47513272e-01 -9.52696858e-03 -3.19574461e-01 2.66086848e+02] [ 3.19554389e-01 -3.60043916e-03 9.47561095e-01 6.37362712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5392541539999 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:447.36, Y:266.11, Z:63.74 [[-1.17196786e-02 -9.99931286e-01 -2.70793917e-04 4.47355971e+02] [ 9.47102670e-01 -1.10136408e-02 -3.20741692e-01 2.66113906e+02] [ 3.20716670e-01 -4.01545919e-03 9.47166666e-01 6.37429098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5692541539999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:447.36, Y:266.14, Z:63.75 [[-1.25414151e-02 -9.99921339e-01 -1.70682849e-04 4.47358179e+02] [ 9.47034484e-01 -1.18233081e-02 -3.20914156e-01 2.66139407e+02] [ 3.20886894e-01 -4.18636018e-03 9.47108270e-01 6.37520421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.5992541539999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:447.36, Y:266.17, Z:63.76 [[-1.27146611e-02 -9.99919162e-01 -8.05294565e-05 4.47361837e+02] [ 9.46958808e-01 -1.20153712e-02 -3.21130263e-01 2.66166353e+02] [ 3.21103336e-01 -4.15932054e-03 9.47035030e-01 6.37607387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6292541539999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:447.36, Y:266.17, Z:63.76 [[-1.18502530e-02 -9.99929783e-01 1.82687564e-05 4.47363055e+02] [ 9.46850365e-01 -1.12270778e-02 -3.21478364e-01 2.66169839e+02] [ 3.21455996e-01 -3.79230218e-03 9.46916924e-01 6.37620080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6592541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:447.37, Y:266.20, Z:63.77 [[-1.03808268e-02 -9.99946111e-01 -1.14178444e-04 4.47365888e+02] [ 9.46666842e-01 -9.79093923e-03 -3.22065254e-01 2.66196487e+02] [ 3.22046780e-01 -3.45139256e-03 9.46717465e-01 6.37703911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.6892541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:447.37, Y:266.22, Z:63.78 [[-1.06584879e-02 -9.99943197e-01 -1.33958546e-05 4.47365776e+02] [ 9.46663740e-01 -1.00862626e-02 -3.22065260e-01 2.66223387e+02] [ 3.22046830e-01 -3.44541003e-03 9.46717470e-01 6.37795092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7192541539999 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:447.37, Y:266.23, Z:63.78 [[-8.59491002e-03 -9.99963060e-01 7.94037663e-05 4.47367672e+02] [ 9.46191561e-01 -8.15842015e-03 -3.23504205e-01 2.66227420e+02] [ 3.23492902e-01 -2.70535836e-03 9.46226729e-01 6.37791915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7492541539999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:447.37, Y:266.25, Z:63.79 [[-7.71282559e-03 -9.99970254e-01 -5.24431717e-05 4.47370549e+02] [ 9.46218501e-01 -7.28127229e-03 -3.23446336e-01 2.66252323e+02] [ 3.23436333e-01 -2.54430788e-03 9.46246514e-01 6.37889196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.7792541539999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:447.37, Y:266.25, Z:63.79 [[-6.31355351e-03 -9.99980069e-01 3.69341762e-05 4.47372455e+02] [ 9.45982856e-01 -5.98460529e-03 -3.24161411e-01 2.66254723e+02] [ 3.24155171e-01 -2.01167131e-03 9.46001786e-01 6.37883522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8092541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.37, Y:266.28, Z:63.80 [[-6.44332543e-03 -9.99979237e-01 -9.43005705e-05 4.47373960e+02] [ 9.45915653e-01 -6.06438133e-03 -3.24355980e-01 2.66280976e+02] [ 3.24348673e-01 -2.17913152e-03 9.45935087e-01 6.37976969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.839254154 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:447.38, Y:266.29, Z:63.80 [[-6.53635076e-03 -9.99978638e-01 4.22386955e-06 4.47376558e+02] [ 9.45920285e-01 -6.18436885e-03 -3.24340204e-01 2.66286641e+02] [ 3.24333302e-01 -2.11600589e-03 9.45940501e-01 6.37999370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8692541539999 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:447.38, Y:266.31, Z:63.81 [[-6.58304265e-03 -9.99978323e-01 -1.27205388e-04 4.47378525e+02] [ 9.45551807e-01 -6.18334763e-03 -3.25412888e-01 2.66313497e+02] [ 3.25405047e-01 -2.26248620e-03 9.45572015e-01 6.38077708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.8992541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:447.38, Y:266.34, Z:63.82 [[-9.05764315e-03 -9.99958978e-01 -2.68449869e-05 4.47381217e+02] [ 9.45924234e-01 -8.55949013e-03 -3.24274698e-01 2.66339882e+02] [ 3.24261166e-01 -2.96255782e-03 9.45962959e-01 6.38174133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9292541539999 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:447.38, Y:266.34, Z:63.82 [[-9.74365740e-03 -9.99952527e-01 7.03494877e-05 4.47383018e+02] [ 9.45908907e-01 -9.23986535e-03 -3.24300733e-01 2.66343244e+02] [ 3.24285987e-01 -3.09333103e-03 9.45954032e-01 6.38183972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9592541539998 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.39, Y:266.37, Z:63.83 [[-1.13580182e-02 -9.99935494e-01 -6.14843136e-05 4.47385037e+02] [ 9.45918248e-01 -1.07245136e-02 -3.24227781e-01 2.66368612e+02] [ 3.24206207e-01 -3.74074418e-03 9.45979039e-01 6.38271070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 764.9892541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.39, Y:266.37, Z:63.83 [[-1.41287832e-02 -9.99900184e-01 4.23585381e-06 4.47388989e+02] [ 9.45742902e-01 -1.33649056e-02 -3.24640943e-01 2.66369648e+02] [ 3.24608596e-01 -4.58277548e-03 9.45837332e-01 6.38265273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0192541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.39, Y:266.40, Z:63.84 [[-1.66487232e-02 -9.99861392e-01 -1.27358933e-04 4.47390495e+02] [ 9.46142611e-01 -1.57130605e-02 -3.23368613e-01 2.66395368e+02] [ 3.23321791e-01 -5.50417425e-03 9.46273070e-01 6.38361268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0492541539999 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:447.39, Y:266.42, Z:63.84 [[-2.05843942e-02 -9.99788119e-01 -2.86675476e-05 4.47393552e+02] [ 9.46634667e-01 -1.94808058e-02 -3.21719296e-01 2.66420427e+02] [ 3.21650571e-01 -6.64953449e-03 9.46835093e-01 6.38449868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.0792541539998 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:447.40, Y:266.42, Z:63.84 [[-2.13514676e-02 -9.99772030e-01 5.88848065e-05 4.47395046e+02] [ 9.46682483e-01 -2.02366071e-02 -3.21531889e-01 2.66422422e+02] [ 3.21459780e-01 -6.80943249e-03 9.46898749e-01 6.38446477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1092541539999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:447.40, Y:266.45, Z:63.85 [[-2.51410352e-02 -9.99683911e-01 -7.45683326e-05 4.47396998e+02] [ 9.46984735e-01 -2.37918055e-02 -3.20396414e-01 2.66447338e+02] [ 3.20293366e-01 -8.12571260e-03 9.47283554e-01 6.38542463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1392541539999 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:447.40, Y:266.45, Z:63.85 [[-2.60068368e-02 -9.99661765e-01 2.73115096e-05 4.47397779e+02] [ 9.46949819e-01 -2.46442565e-02 -3.20435174e-01 2.66448259e+02] [ 3.20327465e-01 -8.30764266e-03 9.47270446e-01 6.38546272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1692541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.40, Y:266.47, Z:63.86 [[-2.78354186e-02 -9.99612514e-01 -1.06619278e-04 4.47398566e+02] [ 9.46822027e-01 -2.63311999e-02 -3.20678526e-01 2.66474728e+02] [ 3.20551460e-01 -9.02717049e-03 9.47188087e-01 6.38633152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.1992541539998 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:447.40, Y:266.50, Z:63.87 [[-2.98599659e-02 -9.99554092e-01 -1.17285117e-05 4.47400731e+02] [ 9.46680205e-01 -2.82766834e-02 -3.20931485e-01 2.66500194e+02] [ 3.20788048e-01 -9.59410637e-03 9.47102413e-01 6.38705517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2292541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.40, Y:266.51, Z:63.87 [[-3.06874277e-02 -9.99529026e-01 8.79395638e-05 4.47400487e+02] [ 9.47049829e-01 -2.91043505e-02 -3.19764848e-01 2.66506334e+02] [ 3.19616806e-01 -9.72947750e-03 9.47496931e-01 6.38736408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2592541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.40, Y:266.53, Z:63.88 [[-3.14522150e-02 -9.99505256e-01 -4.66500456e-05 4.47401098e+02] [ 9.47036124e-01 -2.97862044e-02 -3.19742649e-01 2.66532013e+02] [ 3.19583069e-01 -1.01007938e-02 9.47504425e-01 6.38820516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.2892541539999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:447.39, Y:266.52, Z:63.87 [[-1.75632050e-02 -9.99370328e-01 3.08298691e-02 4.47393608e+02] [ 9.54753246e-01 -2.59187369e-02 -2.96267545e-01 2.66520163e+02] [ 2.96880065e-01 2.42315100e-02 9.54607281e-01 6.38717199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3192541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.43, Y:266.54, Z:63.87 [[-2.41506786e-02 -9.98188888e-01 -5.50970812e-02 4.47426973e+02] [ 9.52128728e-01 -6.16611596e-03 -3.05635182e-01 2.66537255e+02] [ 3.04741908e-01 -5.98408109e-02 9.50553232e-01 6.38711160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3492541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.40, Y:266.56, Z:63.89 [[-2.59060810e-02 -9.99661071e-01 -2.57239065e-03 4.47400929e+02] [ 9.51336380e-01 -2.38631722e-02 -3.07228973e-01 2.66558750e+02] [ 3.07063459e-01 -1.04063074e-02 9.51632146e-01 6.38908248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.3792541539999 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:447.40, Y:266.58, Z:63.90 [[-2.67007598e-02 -9.99640409e-01 -2.47430795e-03 4.47400829e+02] [ 9.51145112e-01 -2.46436680e-02 -3.07759103e-01 2.66583493e+02] [ 3.07587460e-01 -1.05708278e-02 9.51461093e-01 6.38987210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4092541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.40, Y:266.61, Z:63.91 [[-2.77774623e-02 -9.99611242e-01 -2.40366795e-03 4.47400351e+02] [ 9.50927842e-01 -2.56831879e-02 -3.08344958e-01 2.66608363e+02] [ 3.08163353e-01 -1.08507552e-02 9.51271575e-01 6.39061885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4392541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.40, Y:266.63, Z:63.91 [[-2.81456249e-02 -9.99601173e-01 -2.30623608e-03 4.47399726e+02] [ 9.50767961e-01 -2.60581712e-02 -3.08806180e-01 2.66634444e+02] [ 3.08622923e-01 -1.08842383e-02 9.51122192e-01 6.39146977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4692541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.40, Y:266.66, Z:63.92 [[-2.81451953e-02 -9.99601395e-01 -2.21320727e-03 4.47399220e+02] [ 9.50665407e-01 -2.60829144e-02 -3.09119664e-01 2.66661150e+02] [ 3.08938720e-01 -1.08042529e-02 9.51020576e-01 6.39227478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.4992541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.40, Y:266.69, Z:63.93 [[-2.79700629e-02 -9.99606510e-01 -2.12139996e-03 4.47397402e+02] [ 9.50651975e-01 -2.59441254e-02 -3.09172647e-01 2.66686231e+02] [ 3.08995953e-01 -1.06642914e-02 9.51003562e-01 6.39316440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5292541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.40, Y:266.71, Z:63.94 [[-2.78609652e-02 -9.99609759e-01 -2.02418274e-03 4.47396281e+02] [ 9.50670087e-01 -2.58709605e-02 -3.09123080e-01 2.66712660e+02] [ 3.08950080e-01 -1.05367973e-02 9.51019886e-01 6.39402990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.5592541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:447.39, Y:266.74, Z:63.95 [[-2.71532192e-02 -9.99629402e-01 -1.93956290e-03 4.47394729e+02] [ 9.50275981e-01 -2.52103802e-02 -3.10386850e-01 2.66739619e+02] [ 3.10222924e-01 -1.02711222e-02 9.50608354e-01 6.39478737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.589254154 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.39, Y:266.77, Z:63.96 [[-2.74794320e-02 -9.99620683e-01 -1.83587071e-03 4.47393548e+02] [ 9.50754207e-01 -2.55688032e-02 -3.08889421e-01 2.66765404e+02] [ 3.08725313e-01 -1.02335677e-02 9.51096186e-01 6.39571968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6192541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:447.39, Y:266.79, Z:63.97 [[-2.74299088e-02 -9.99622198e-01 -1.74979516e-03 4.47392309e+02] [ 9.50805227e-01 -2.55499324e-02 -3.08733901e-01 2.66791940e+02] [ 3.08572553e-01 -1.01322571e-02 9.51146843e-01 6.39657018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6492541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.39, Y:266.82, Z:63.97 [[-2.52180735e-02 -9.99680600e-01 -1.65765525e-03 4.47389837e+02] [ 9.50747176e-01 -2.34711649e-02 -3.09077517e-01 2.66819259e+02] [ 3.08939890e-01 -9.37035057e-03 9.51035405e-01 6.39731956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.6792541539999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:447.39, Y:266.85, Z:63.98 [[-2.22240440e-02 -9.99751803e-01 -1.55700720e-03 4.47385784e+02] [ 9.51203817e-01 -2.06653680e-02 -3.07870495e-01 2.66845005e+02] [ 3.07761906e-01 -8.32315862e-03 9.51426999e-01 6.39830744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7092541539998 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:447.38, Y:266.87, Z:63.99 [[-2.00501883e-02 -9.99797906e-01 -1.46169321e-03 4.47383660e+02] [ 9.51355973e-01 -1.86291166e-02 -3.07530111e-01 2.66870406e+02] [ 3.07440731e-01 -7.55662720e-03 9.51537227e-01 6.39919569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7392541539999 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:447.38, Y:266.90, Z:64.00 [[-1.54883513e-02 -9.99879075e-01 -1.39505664e-03 4.47379882e+02] [ 9.51647994e-01 -1.43131063e-02 -3.06857019e-01 2.66897108e+02] [ 3.06799944e-01 -6.08031214e-03 9.51754603e-01 6.40009703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7692541539999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:447.38, Y:266.92, Z:64.01 [[-1.35315830e-02 -9.99907600e-01 -1.29911947e-03 4.47378469e+02] [ 9.51814721e-01 -1.24826378e-02 -3.06419518e-01 2.66922415e+02] [ 3.06374988e-01 -5.38286218e-03 9.51895683e-01 6.40090249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.7992541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.38, Y:266.95, Z:64.02 [[-1.05001833e-02 -9.99944132e-01 -1.21652348e-03 4.47375725e+02] [ 9.51693347e-01 -9.62014177e-03 -3.06899376e-01 2.66948377e+02] [ 3.06870527e-01 -4.38025701e-03 9.51741190e-01 6.40169404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8292541539998 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:447.37, Y:266.97, Z:64.03 [[-9.47493689e-03 -9.99954482e-01 -1.12255628e-03 4.47374504e+02] [ 9.51498376e-01 -8.67056024e-03 -3.07531563e-01 2.66974815e+02] [ 3.07507832e-01 -3.98195264e-03 9.51537218e-01 6.40250839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8592541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:447.37, Y:267.00, Z:64.03 [[-9.18303564e-03 -9.99957304e-01 -1.03059938e-03 4.47373346e+02] [ 9.51272469e-01 -8.41825993e-03 -3.08236634e-01 2.67001543e+02] [ 3.08214798e-01 -3.81092881e-03 9.51309159e-01 6.40330992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.8892541539999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:447.37, Y:267.03, Z:64.04 [[-9.96467680e-03 -9.99949910e-01 -9.39998032e-04 4.47371684e+02] [ 9.50728415e-01 -9.18286635e-03 -3.09888943e-01 2.67027951e+02] [ 3.09864789e-01 -3.98162600e-03 9.50772296e-01 6.40405850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9192541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:447.37, Y:267.05, Z:64.05 [[-1.12437229e-02 -9.99936429e-01 -8.46428950e-04 4.47371216e+02] [ 9.50394588e-01 -1.04235048e-02 -3.10872125e-01 2.67053544e+02] [ 3.10843540e-01 -4.29980151e-03 9.50451369e-01 6.40485349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9492541539998 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:447.37, Y:267.08, Z:64.06 [[-1.44396574e-02 -9.99895454e-01 -7.59535050e-04 4.47370614e+02] [ 9.50382589e-01 -1.34885525e-02 -3.10790915e-01 2.67080378e+02] [ 3.10748178e-01 -5.20956321e-03 9.50478001e-01 6.40562920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 765.9792541539999 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:447.37, Y:267.11, Z:64.06 [[-1.63524771e-02 -9.99866068e-01 -6.64986321e-04 4.47370467e+02] [ 9.50259173e-01 -1.53342794e-02 -3.11082569e-01 2.67107030e+02] [ 3.11030708e-01 -5.71887992e-03 9.50382656e-01 6.40644504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0092541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:447.37, Y:267.13, Z:64.07 [[-1.85858529e-02 -9.99827107e-01 -5.68325766e-04 4.47369961e+02] [ 9.50347677e-01 -1.74894681e-02 -3.10698265e-01 2.67132583e+02] [ 3.10634607e-01 -6.31469932e-03 9.50508425e-01 6.40733502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0392541539999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:447.37, Y:267.16, Z:64.08 [[-2.19360317e-02 -9.99759261e-01 -4.80872937e-04 4.47368487e+02] [ 9.50533105e-01 -2.07068713e-02 -3.09932318e-01 2.67159161e+02] [ 3.09847748e-01 -7.25577081e-03 9.50758501e-01 6.40823626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0692541539999 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:447.37, Y:267.19, Z:64.09 [[-2.32512889e-02 -9.99729578e-01 -3.85591097e-04 4.47367732e+02] [ 9.50608024e-01 -2.19894238e-02 -3.09614036e-01 2.67185799e+02] [ 3.09521830e-01 -7.56547138e-03 9.50862240e-01 6.40912117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.0992541539999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:447.37, Y:267.21, Z:64.10 [[-2.49262054e-02 -9.99689252e-01 -2.88595163e-04 4.47366772e+02] [ 9.50775582e-01 -2.36173966e-02 -3.08978984e-01 2.67211732e+02] [ 3.08876153e-01 -7.97606284e-03 9.51068822e-01 6.40993763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1292541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:447.37, Y:267.24, Z:64.11 [[-2.57330596e-02 -9.99668830e-01 -2.01761890e-04 4.47366458e+02] [ 9.50878903e-01 -2.44148454e-02 -3.08598813e-01 2.67238418e+02] [ 3.08491688e-01 -8.13304275e-03 9.51192269e-01 6.41073340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1592541539999 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:447.37, Y:267.27, Z:64.12 [[-2.60932732e-02 -9.99659507e-01 -1.06661860e-04 4.47366364e+02] [ 9.50988156e-01 -2.47899580e-02 -3.08232032e-01 2.67265567e+02] [ 3.08124437e-01 -8.14421679e-03 9.51311202e-01 6.41151649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.1892541539999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.37, Y:267.29, Z:64.12 [[-2.67345933e-02 -9.99642567e-01 -1.13250985e-05 4.47365343e+02] [ 9.51176617e-01 -2.54349278e-02 -3.07597315e-01 2.67290564e+02] [ 3.07487081e-01 -8.23426129e-03 9.51516627e-01 6.41240939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2192541539999 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:447.36, Y:267.29, Z:64.12 [[-2.61093887e-02 -9.99659089e-01 7.31791656e-05 4.47364875e+02] [ 9.51318473e-01 -2.48693030e-02 -3.07204623e-01 2.67291415e+02] [ 3.07101714e-01 -7.95130823e-03 9.51643481e-01 6.41242235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2492541539999 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:447.36, Y:267.32, Z:64.13 [[-2.50295844e-02 -9.99686709e-01 -5.38451257e-05 4.47364623e+02] [ 9.51600484e-01 -2.38091249e-02 -3.06414170e-01 2.67318452e+02] [ 3.06316892e-01 -7.72065840e-03 9.51898289e-01 6.41328488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.2792541539999 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:447.36, Y:267.32, Z:64.13 [[-2.37762912e-02 -9.99717303e-01 4.07883209e-05 4.47364450e+02] [ 9.51686348e-01 -2.26464647e-02 -3.06235584e-01 2.67322177e+02] [ 3.06149936e-01 -7.24232873e-03 9.51955758e-01 6.41340522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3092541539999 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:447.37, Y:267.35, Z:64.14 [[-2.22485332e-02 -9.99752467e-01 -8.63870319e-05 4.47365187e+02] [ 9.51674973e-01 -2.11521410e-02 -3.06377762e-01 2.67348653e+02] [ 3.06300096e-01 -6.89866817e-03 9.51910006e-01 6.41412843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.339254154 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:447.37, Y:267.35, Z:64.14 [[-1.94939935e-02 -9.99809974e-01 5.44065945e-06 4.47365460e+02] [ 9.51645583e-01 -1.85565673e-02 -3.06637145e-01 2.67350901e+02] [ 3.06578977e-01 -5.97240492e-03 9.51826487e-01 6.41427066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3692541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:447.37, Y:267.38, Z:64.15 [[-1.85035419e-02 -9.99828787e-01 -1.21523292e-04 4.47365662e+02] [ 9.51672066e-01 -1.75750524e-02 -3.06612781e-01 2.67377822e+02] [ 3.06558149e-01 -5.78907275e-03 9.51834328e-01 6.41514758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.3992541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:447.37, Y:267.40, Z:64.16 [[-1.57767446e-02 -9.99875539e-01 -2.79550421e-05 4.47366247e+02] [ 9.51618178e-01 -1.50067249e-02 -3.06916342e-01 2.67404550e+02] [ 3.06877724e-01 -4.86874328e-03 9.51736496e-01 6.41596238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4292541539999 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:447.37, Y:267.41, Z:64.16 [[-1.42693941e-02 -9.99898185e-01 6.47536365e-05 4.47366484e+02] [ 9.51643908e-01 -1.36006398e-02 -3.06902093e-01 2.67405891e+02] [ 3.06871726e-01 -4.31768452e-03 9.51741089e-01 6.41600284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4592541539998 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:447.37, Y:267.43, Z:64.17 [[-1.24734634e-02 -9.99922201e-01 -6.14814500e-05 4.47367913e+02] [ 9.51815726e-01 -1.18545205e-02 -3.06441340e-01 2.67431965e+02] [ 3.06416770e-01 -3.88090386e-03 9.51889543e-01 6.41684001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.4892541539999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:447.37, Y:267.43, Z:64.17 [[-1.14026452e-02 -9.99934988e-01 2.09098167e-05 4.47368903e+02] [ 9.51787183e-01 -1.08600078e-02 -3.06566826e-01 2.67432369e+02] [ 3.06547122e-01 -3.47577105e-03 9.51849138e-01 6.41686432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5192541539999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:447.37, Y:267.46, Z:64.18 [[-1.17001087e-02 -9.99931546e-01 -1.05359311e-04 4.47369982e+02] [ 9.51609822e-01 -1.11023416e-02 -3.07108261e-01 2.67457787e+02] [ 3.07086068e-01 -3.69346098e-03 9.51674579e-01 6.41764467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5492541539999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:447.37, Y:267.48, Z:64.18 [[-1.31796943e-02 -9.99913144e-01 -2.18308858e-05 4.47372669e+02] [ 9.51236451e-01 -1.25313655e-02 -3.08208015e-01 2.67484725e+02] [ 3.08180971e-01 -4.08285373e-03 9.51318989e-01 6.41842408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.5792541539998 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:447.37, Y:267.48, Z:64.18 [[-1.47308020e-02 -9.99891493e-01 7.02789686e-05 4.47373599e+02] [ 9.51027868e-01 -1.40326271e-02 -3.08786463e-01 2.67482189e+02] [ 3.08753944e-01 -4.48183500e-03 9.51131387e-01 6.41846017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6092541539999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:447.37, Y:267.51, Z:64.19 [[-1.49996792e-02 -9.99887497e-01 -5.57054077e-05 4.47373589e+02] [ 9.51024651e-01 -1.42494667e-02 -3.08786442e-01 2.67509247e+02] [ 3.08750909e-01 -4.68467477e-03 9.51131395e-01 6.41932576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6392541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.38, Y:267.51, Z:64.19 [[-1.87731088e-02 -9.99823769e-01 2.90698818e-05 4.47376938e+02] [ 9.50658054e-01 -1.78589581e-02 -3.09726206e-01 2.67514792e+02] [ 3.09672142e-01 -5.78688823e-03 9.50825787e-01 6.41934836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6692541539999 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:447.38, Y:267.54, Z:64.20 [[-2.21430357e-02 -9.99754808e-01 -9.64311039e-05 4.47378348e+02] [ 9.50700399e-01 -2.10267130e-02 -3.09397201e-01 2.67539851e+02] [ 3.09319312e-01 -6.94267036e-03 9.50932891e-01 6.42026079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.6992541539998 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.38, Y:267.55, Z:64.20 [[-2.40533516e-02 -9.99710676e-01 -1.32783072e-06 4.47380178e+02] [ 9.50567753e-01 -2.28705461e-02 -3.09673837e-01 2.67545241e+02] [ 3.09584211e-01 -7.44995586e-03 9.50842844e-01 6.42033302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7292541539999 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:447.38, Y:267.57, Z:64.21 [[-2.95528408e-02 -9.99563211e-01 -1.27246764e-04 4.47382847e+02] [ 9.50715081e-01 -2.80692989e-02 -3.08792730e-01 2.67571435e+02] [ 3.08654281e-01 -9.24667779e-03 9.51129347e-01 6.42131793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7592541539999 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:447.38, Y:267.60, Z:64.22 [[-3.19827731e-02 -9.99488420e-01 -3.07637377e-05 4.47384043e+02] [ 9.50651478e-01 -3.04105291e-02 -3.08766850e-01 2.67596994e+02] [ 3.08607955e-01 -9.90446568e-03 9.51137756e-01 6.42217496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.7892541539999 meters Centerline goodness : 0.999287 Centerline is valid? [True, True] Translation: X:447.39, Y:267.60, Z:64.22 [[-3.57018377e-02 -9.99362485e-01 5.43238351e-05 4.47386014e+02] [ 9.50848712e-01 -3.39854327e-02 -3.07785181e-01 2.67603861e+02] [ 3.07590809e-01 -1.09368428e-02 9.51455874e-01 6.42241514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8192541539999 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:447.39, Y:267.63, Z:64.23 [[-3.77319039e-02 -9.99287896e-01 -7.30638590e-05 4.47387098e+02] [ 9.50851384e-01 -3.58805120e-02 -3.07561758e-01 2.67630809e+02] [ 3.07340120e-01 -1.16743635e-02 9.51528118e-01 6.42327647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8492541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.39, Y:267.63, Z:64.23 [[-3.87045881e-02 -9.99250697e-01 2.18201888e-05 4.47388117e+02] [ 9.50838888e-01 -3.68361383e-02 -3.07487413e-01 2.67631889e+02] [ 3.07257815e-01 -1.18804262e-02 9.51552148e-01 6.42331163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.8792541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:447.39, Y:267.66, Z:64.24 [[-4.09631655e-02 -9.99160652e-01 -1.06086109e-04 4.47390081e+02] [ 9.50659920e-01 -3.89420743e-02 -3.07781142e-01 2.67658060e+02] [ 3.07518676e-01 -1.27085417e-02 9.51457176e-01 6.42392791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9092541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.39, Y:267.68, Z:64.25 [[-4.25640859e-02 -9.99093738e-01 -4.04462639e-05 4.47390203e+02] [ 9.50759064e-01 -4.04924591e-02 -3.07274409e-01 2.67684423e+02] [ 3.06994300e-01 -1.31173090e-02 9.51620952e-01 6.42496352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9392541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.39, Y:267.69, Z:64.25 [[-4.28236090e-02 -9.99082647e-01 5.42778291e-05 4.47390674e+02] [ 9.50622772e-01 -4.07631912e-02 -3.07660052e-01 2.67687940e+02] [ 3.07380031e-01 -1.31235160e-02 9.51496342e-01 6.42512019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9692541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.39, Y:267.71, Z:64.26 [[-4.25915041e-02 -9.99092568e-01 -7.36469376e-05 4.47390646e+02] [ 9.50532343e-01 -4.04986706e-02 -3.07974225e-01 2.67714282e+02] [ 3.07691777e-01 -1.31870893e-02 9.51394698e-01 6.42588919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 766.9992541539999 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:447.39, Y:267.72, Z:64.26 [[-4.05157211e-02 -9.99178901e-01 2.04634624e-05 4.47389497e+02] [ 9.50535692e-01 -3.85495992e-02 -3.08213930e-01 2.67716360e+02] [ 3.07961645e-01 -1.24680584e-02 9.51317073e-01 6.42602979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0292541539999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:447.39, Y:267.74, Z:64.27 [[-3.93121807e-02 -9.99226972e-01 -1.07155221e-04 4.47389119e+02] [ 9.50497311e-01 -3.73619488e-02 -3.08478439e-01 2.67741416e+02] [ 3.08235973e-01 -1.22288109e-02 9.51231329e-01 6.42691970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.0592541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.39, Y:267.77, Z:64.28 [[-3.63254780e-02 -9.99340012e-01 -2.03809911e-05 4.47387722e+02] [ 9.50232207e-01 -3.45341208e-02 -3.09622590e-01 2.67768416e+02] [ 3.09417539e-01 -1.12665553e-02 9.50859533e-01 6.42769624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.089254154 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:447.39, Y:267.77, Z:64.28 [[-3.43484114e-02 -9.99409917e-01 7.04600591e-05 4.47387085e+02] [ 9.50109250e-01 -3.26758816e-02 -3.10201065e-01 2.67768301e+02] [ 3.10020323e-01 -1.05879690e-02 9.50670971e-01 6.42765942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1192541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.39, Y:267.79, Z:64.28 [[-3.11878969e-02 -9.99513538e-01 -5.64160401e-05 4.47385786e+02] [ 9.49868551e-01 -2.96212529e-02 -3.11243179e-01 2.67793465e+02] [ 3.11090100e-01 -9.76060799e-03 9.50330301e-01 6.42848228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1492541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.38, Y:267.79, Z:64.28 [[-2.89052469e-02 -9.99582156e-01 2.56605005e-05 4.47384754e+02] [ 9.49797429e-01 -2.74736061e-02 -3.11656935e-01 2.67790529e+02] [ 3.11527416e-01 -8.98414836e-03 9.50194693e-01 6.42836488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.1792541539999 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:447.38, Y:267.82, Z:64.29 [[-2.75555446e-02 -9.99620269e-01 -1.00448921e-04 4.47383746e+02] [ 9.49631460e-01 -2.61461728e-02 -3.12276269e-01 2.67816847e+02] [ 3.12155061e-01 -8.70033211e-03 9.49991327e-01 6.42927367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2092541539998 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:447.38, Y:267.84, Z:64.30 [[-2.43666239e-02 -9.99703090e-01 -5.23793836e-06 4.47381847e+02] [ 9.49612271e-01 -2.31440795e-02 -3.12571412e-01 2.67841961e+02] [ 3.12478485e-01 -7.62128403e-03 9.49894264e-01 6.43009987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2392541539999 meters Centerline goodness : 0.999223 Centerline is valid? [True, True] Translation: X:447.38, Y:267.85, Z:64.30 [[-2.06615819e-02 -9.99786523e-01 9.01141727e-05 4.47379763e+02] [ 9.49547355e-01 -1.96515520e-02 -3.13007407e-01 2.67848284e+02] [ 3.12942358e-01 -6.38166050e-03 9.49750680e-01 6.43041390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2692541539999 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:447.38, Y:267.87, Z:64.31 [[-1.92347375e-02 -9.99814995e-01 -3.50279527e-05 4.47378785e+02] [ 9.49554059e-01 -1.82568344e-02 -3.13071520e-01 2.67874348e+02] [ 3.13012961e-01 -6.05510944e-03 9.49729552e-01 6.43127711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.2992541539999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:447.38, Y:267.86, Z:64.31 [[-1.72281872e-02 -9.99851583e-01 5.11471792e-05 4.47377763e+02] [ 9.49402484e-01 -1.63749556e-02 -3.13634794e-01 2.67856149e+02] [ 3.13589082e-01 -5.35479969e-03 9.49543687e-01 6.43076544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3292541539998 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:447.38, Y:267.88, Z:64.32 [[-1.43774243e-02 -9.99896637e-01 -7.42897241e-05 4.47376407e+02] [ 9.49351727e-01 -1.36273201e-02 -3.13919726e-01 2.67882803e+02] [ 3.13886266e-01 -4.58388418e-03 9.49449525e-01 6.43156912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3592541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:447.38, Y:267.89, Z:64.32 [[-1.29746562e-02 -9.99915826e-01 1.68355759e-05 4.47375567e+02] [ 9.49395003e-01 -1.23243948e-02 -3.13842697e-01 2.67889355e+02] [ 3.13816487e-01 -4.05601747e-03 9.49474992e-01 6.43191355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.3892541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:447.37, Y:267.92, Z:64.33 [[-1.11927894e-02 -9.99937353e-01 -1.07570465e-04 4.47374520e+02] [ 9.49406000e-01 -1.05934016e-02 -3.13872629e-01 2.67915512e+02] [ 3.13851827e-01 -3.61523827e-03 9.49465092e-01 6.43279118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4192541539999 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:447.37, Y:267.94, Z:64.34 [[-1.04668655e-02 -9.99945221e-01 -9.99931102e-06 4.47374019e+02] [ 9.49615469e-01 -9.93690936e-03 -3.13259826e-01 2.67942514e+02] [ 3.13242567e-01 -3.28834397e-03 9.49667458e-01 6.43365082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4492541539998 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.37, Y:267.95, Z:64.34 [[-8.44030637e-03 -9.99964377e-01 8.17206037e-05 4.47374024e+02] [ 9.49675815e-01 -8.04143057e-03 -3.13131254e-01 2.67946207e+02] [ 3.13120756e-01 -2.56531564e-03 9.49709856e-01 6.43366071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.4792541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.37, Y:267.97, Z:64.35 [[-7.20943826e-03 -9.99974011e-01 -4.24533330e-05 4.47373697e+02] [ 9.49863106e-01 -6.83488651e-03 -3.12591369e-01 2.67972294e+02] [ 3.12582955e-01 -2.29393303e-03 9.49887695e-01 6.43466653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5092541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.37, Y:267.97, Z:64.35 [[-4.83423059e-03 -9.99988314e-01 4.92567118e-05 4.47374293e+02] [ 9.49929827e-01 -4.60762291e-03 -3.12429343e-01 2.67972994e+02] [ 3.12425919e-01 -1.46356507e-03 9.49941000e-01 6.43458196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5392541539999 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:447.37, Y:268.00, Z:64.36 [[-4.95249507e-03 -9.99987734e-01 -7.47627473e-05 4.47374624e+02] [ 9.49947106e-01 -4.68131171e-03 -3.12375706e-01 2.67999588e+02] [ 3.12371524e-01 -1.61805980e-03 9.49958638e-01 6.43556583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5692541539999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:447.38, Y:268.00, Z:64.35 [[-3.73207303e-03 -9.99993036e-01 1.71148431e-05 4.47375713e+02] [ 9.49812070e-01 -3.55014627e-03 -3.12800940e-01 2.68000134e+02] [ 3.12798822e-01 -1.15114006e-03 9.49818705e-01 6.43532610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.5992541539999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:447.38, Y:268.03, Z:64.36 [[-4.85446883e-03 -9.99988211e-01 -1.06744615e-04 4.47376317e+02] [ 9.49918151e-01 -4.57804804e-03 -3.12465273e-01 2.68026099e+02] [ 3.12461101e-01 -1.61825158e-03 9.49929177e-01 6.43638388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6292541539999 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:447.38, Y:268.05, Z:64.37 [[-6.43275497e-03 -9.99979310e-01 -1.08000269e-05 4.47379370e+02] [ 9.49737585e-01 -6.10617524e-03 -3.12987594e-01 2.68052513e+02] [ 3.12981052e-01 -2.02362969e-03 9.49757214e-01 6.43694913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6592541539999 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:447.38, Y:268.06, Z:64.37 [[-7.84791087e-03 -9.99969202e-01 7.06614418e-05 4.47380589e+02] [ 9.49676517e-01 -7.47533403e-03 -3.13143151e-01 2.68055011e+02] [ 3.13134035e-01 -2.39041403e-03 9.49705935e-01 6.43710906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.6892541539999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:447.38, Y:268.08, Z:64.38 [[-1.18037648e-02 -9.99930332e-01 -5.34441242e-05 4.47383409e+02] [ 9.49478263e-01 -1.11914360e-02 -3.13633193e-01 2.68081279e+02] [ 3.13610744e-01 -3.75279648e-03 9.49544216e-01 6.43781106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7192541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:447.38, Y:268.09, Z:64.38 [[-1.41455671e-02 -9.99899946e-01 2.66002209e-05 4.47384193e+02] [ 9.49468784e-01 -1.34404602e-02 -3.13573569e-01 2.68087211e+02] [ 3.13542552e-01 -4.41041987e-03 9.49563908e-01 6.43811097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7492541539999 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:447.39, Y:268.11, Z:64.39 [[-1.66601110e-02 -9.99861206e-01 -9.76382686e-05 4.47385470e+02] [ 9.49462746e-01 -1.57897383e-02 -3.13482343e-01 2.68113425e+02] [ 3.13437291e-01 -5.31535451e-03 9.49594025e-01 6.43893209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.7792541539999 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:447.39, Y:268.14, Z:64.40 [[-2.21302769e-02 -9.99755095e-01 -1.44673208e-06 4.47387254e+02] [ 9.49471540e-01 -2.10167622e-02 -3.13148673e-01 2.68140335e+02] [ 3.13071951e-01 -6.93144049e-03 9.49704116e-01 6.43974309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8092541539999 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:447.39, Y:268.15, Z:64.40 [[-2.73561481e-02 -9.99625747e-01 8.95142930e-05 4.47389060e+02] [ 9.49494615e-01 -2.60122419e-02 -3.12703277e-01 2.68145275e+02] [ 3.12588575e-01 -8.46936382e-03 9.49850858e-01 6.43989770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.839254154 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.39, Y:268.17, Z:64.41 [[-3.06299426e-02 -9.99530793e-01 -3.57311965e-05 4.47389839e+02] [ 9.49476046e-01 -2.90848780e-02 -3.12488893e-01 2.68171719e+02] [ 3.12341232e-01 -9.60544279e-03 9.49921413e-01 6.44072927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8692541539999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:447.39, Y:268.17, Z:64.41 [[-3.30595069e-02 -9.99453384e-01 5.44498618e-05 4.47390315e+02] [ 9.49433755e-01 -3.14219972e-02 -3.12391107e-01 2.68174799e+02] [ 3.12222060e-01 -1.02757994e-02 9.49953574e-01 6.44084537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.8992541539999 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:447.39, Y:268.20, Z:64.42 [[-3.88894297e-02 -9.99243518e-01 -7.12814996e-05 4.47390962e+02] [ 9.49412231e-01 -3.69278061e-02 -3.11853736e-01 2.68200353e+02] [ 3.11615192e-01 -1.21954895e-02 9.50130119e-01 6.44162284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9292541539999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.39, Y:268.21, Z:64.42 [[-4.15653938e-02 -9.99135785e-01 2.38189309e-05 4.47390782e+02] [ 9.49340170e-01 -3.95012613e-02 -3.11757747e-01 2.68208871e+02] [ 3.11489262e-01 -1.29357212e-02 9.50161621e-01 6.44186658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9592541539998 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.39, Y:268.24, Z:64.43 [[-4.72719514e-02 -9.98882051e-01 -1.02785234e-04 4.47391389e+02] [ 9.49102662e-01 -4.48840695e-02 -3.11752399e-01 2.68235744e+02] [ 3.11399262e-01 -1.48346980e-02 9.50163371e-01 6.44272887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 767.9892541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:447.39, Y:268.26, Z:64.44 [[-5.04116291e-02 -9.98728526e-01 -7.18713211e-06 4.47391309e+02] [ 9.49013999e-01 -4.79000061e-02 -3.11573458e-01 2.68261110e+02] [ 3.11176956e-01 -1.57137463e-02 9.50222069e-01 6.44354693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0192541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:447.39, Y:268.26, Z:64.44 [[-5.28655148e-02 -9.98601637e-01 8.92443820e-05 4.47391300e+02] [ 9.49007497e-01 -5.02678372e-02 -3.11220044e-01 2.68264279e+02] [ 3.10789332e-01 -1.63681143e-02 9.50337875e-01 6.44362526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0492541539999 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:447.39, Y:268.29, Z:64.44 [[-5.85544770e-02 -9.98284214e-01 -3.82789085e-05 4.47390708e+02] [ 9.48658520e-01 -5.56317367e-02 -3.11371359e-01 2.68290736e+02] [ 3.10834983e-01 -1.82685007e-02 9.50288312e-01 6.44445124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.0792541539998 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:447.39, Y:268.30, Z:64.45 [[-6.03126078e-02 -9.98179536e-01 5.08151123e-05 4.47389973e+02] [ 9.48510231e-01 -5.73273175e-02 -3.11515523e-01 2.68300838e+02] [ 3.10951333e-01 -1.87401149e-02 9.50241062e-01 6.44480775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1092541539999 meters Centerline goodness : 0.999328 Centerline is valid? [True, True] Translation: X:447.39, Y:268.33, Z:64.46 [[-6.32319317e-02 -9.97998856e-01 -7.73507065e-05 4.47388136e+02] [ 9.48507038e-01 -6.00720885e-02 -3.11007624e-01 2.68325795e+02] [ 3.10380607e-01 -1.97389805e-02 9.50407414e-01 6.44567627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1392541539999 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:447.39, Y:268.33, Z:64.46 [[-6.36333506e-02 -9.97973345e-01 1.58897550e-05 4.47386962e+02] [ 9.48511435e-01 -6.04844822e-02 -3.10914274e-01 2.68329954e+02] [ 3.10285119e-01 -1.97694454e-02 9.50437959e-01 6.44579808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1692541539999 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:447.37, Y:268.36, Z:64.47 [[-6.14118454e-02 -9.97734348e-01 2.74728401e-02 4.47374772e+02] [ 9.49797834e-01 -6.68769649e-02 -3.05633024e-01 2.68362473e+02] [ 3.06777866e-01 7.32415599e-03 9.51752960e-01 6.44689797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.1992541539998 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:447.39, Y:268.39, Z:64.47 [[-6.67724323e-02 -9.97508704e-01 -2.27558183e-02 4.47394380e+02] [ 9.46127093e-01 -5.60578972e-02 -3.18905998e-01 2.68389295e+02] [ 3.16835865e-01 -4.28240253e-02 9.47513133e-01 6.44699137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2292541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.38, Y:268.39, Z:64.48 [[-6.49034612e-02 -9.97890759e-01 1.25459309e-03 4.47381093e+02] [ 9.45570454e-01 -6.19021737e-02 -3.19475567e-01 2.68390950e+02] [ 3.18879378e-01 -1.95487639e-02 9.47593683e-01 6.44760329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2592541539999 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:447.38, Y:268.39, Z:64.48 [[-6.33464850e-02 -9.97990968e-01 1.11834995e-03 4.47379335e+02] [ 9.45706098e-01 -6.03856349e-02 -3.19364292e-01 2.68390779e+02] [ 3.18790211e-01 -1.91729750e-02 9.47631362e-01 6.44774344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.2892541539999 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:447.38, Y:268.39, Z:64.48 [[-5.92488705e-02 -9.98242757e-01 9.84601741e-04 4.47375086e+02] [ 9.45688663e-01 -5.64453795e-02 -3.20135709e-01 2.68390016e+02] [ 3.19628729e-01 -1.80365525e-02 9.47371183e-01 6.44774845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3192541539999 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:447.37, Y:268.40, Z:64.48 [[-5.63229825e-02 -9.98412240e-01 8.49466138e-04 4.47372916e+02] [ 9.45748297e-01 -5.36247146e-02 -3.20444300e-01 2.68397675e+02] [ 3.19981063e-01 -1.72449975e-02 9.47266979e-01 6.44800636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3492541539999 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:447.37, Y:268.39, Z:64.48 [[-5.05154290e-02 -9.98723025e-01 7.15181468e-04 4.47368402e+02] [ 9.45717306e-01 -4.80645639e-02 -3.21416512e-01 2.68390549e+02] [ 3.21040446e-01 -1.55601335e-02 9.46937651e-01 6.44779060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.3792541539999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:447.37, Y:268.39, Z:64.48 [[-4.63765871e-02 -9.98923858e-01 5.80714826e-04 4.47366115e+02] [ 9.45477805e-01 -4.40828637e-02 -3.22689357e-01 2.68392166e+02] [ 3.22367697e-01 -1.44161781e-02 9.46504750e-01 6.44777827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4092541539999 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:447.36, Y:268.39, Z:64.48 [[-4.25644457e-02 -9.99093625e-01 4.44185479e-04 4.47363116e+02] [ 9.45753634e-01 -4.04353158e-02 -3.22358571e-01 2.68391525e+02] [ 3.22084354e-01 -1.33009239e-02 9.46617533e-01 6.44791145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4392541539999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:447.36, Y:268.39, Z:64.48 [[-3.36533329e-02 -9.99433519e-01 3.08115992e-04 4.47357637e+02] [ 9.46209743e-01 -3.19604210e-02 -3.21971511e-01 2.68393091e+02] [ 3.21798967e-01 -1.05438721e-02 9.46749308e-01 6.44807508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4692541539999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:447.35, Y:268.39, Z:64.48 [[-2.44908792e-02 -9.99700039e-01 1.72412729e-04 4.47352431e+02] [ 9.47019060e-01 -2.32555348e-02 -3.20334326e-01 2.68385084e+02] [ 3.20242248e-01 -7.68199113e-03 9.47304539e-01 6.44784625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.4992541539999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:447.35, Y:268.39, Z:64.48 [[-2.40956589e-02 -9.99709657e-01 3.81840948e-05 4.47352420e+02] [ 9.47029211e-01 -2.28381554e-02 -3.20334345e-01 2.68387600e+02] [ 3.20242210e-01 -7.68250566e-03 9.47304548e-01 6.44792518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5292541539999 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:447.35, Y:268.41, Z:64.49 [[-2.00108700e-02 -9.99799758e-01 -9.05048752e-05 4.47350133e+02] [ 9.47238335e-01 -1.89298949e-02 -3.19970618e-01 2.68414164e+02] [ 3.19904834e-01 -6.48862014e-03 9.47427462e-01 6.44881906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.5592541539999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:447.35, Y:268.41, Z:64.49 [[-1.51381340e-02 -9.99885412e-01 4.01627431e-06 4.47347968e+02] [ 9.47016582e-01 -1.43389956e-02 -3.20864437e-01 2.68414861e+02] [ 3.20827727e-01 -4.85348535e-03 9.47125131e-01 6.44865403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.589254154 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:447.35, Y:268.44, Z:64.50 [[-1.18636905e-02 -9.99929616e-01 -1.23811281e-04 4.47345775e+02] [ 9.47445621e-01 -1.12014050e-02 -3.19720696e-01 2.68441081e+02] [ 3.19696806e-01 -3.91037184e-03 9.47511827e-01 6.44962243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6192541539999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:447.34, Y:268.47, Z:64.50 [[-5.86614281e-03 -9.99982794e-01 -2.34231849e-05 4.47342384e+02] [ 9.47037365e-01 -5.54803127e-03 -3.21075456e-01 2.68468150e+02] [ 3.21069802e-01 -1.90565711e-03 9.47053616e-01 6.45040475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6492541539999 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:447.34, Y:268.47, Z:64.50 [[-4.13185401e-03 -9.99991461e-01 7.10142172e-05 4.47340733e+02] [ 9.47323400e-01 -3.93697822e-03 -3.20254393e-01 2.68466783e+02] [ 3.20251939e-01 -1.25597097e-03 9.47331578e-01 6.45045571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.6792541539999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:447.34, Y:268.49, Z:64.51 [[-2.85091567e-03 -9.99995935e-01 -5.67878345e-05 4.47338923e+02] [ 9.46939442e-01 -2.68140373e-03 -3.21400847e-01 2.68492469e+02] [ 3.21399388e-01 -9.70061350e-04 9.46943236e-01 6.45122686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7092541539998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.34, Y:268.49, Z:64.51 [[-2.95544528e-03 -9.99995632e-01 2.68201913e-05 4.47337971e+02] [ 9.46955607e-01 -2.80730646e-03 -3.21352140e-01 2.68492763e+02] [ 3.21350811e-01 -9.24341133e-04 9.46959768e-01 6.45122232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7392541539999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:447.34, Y:268.52, Z:64.52 [[-4.00221745e-03 -9.99991986e-01 -1.00141975e-04 4.47337519e+02] [ 9.46911025e-01 -3.75758092e-03 -3.21473780e-01 2.68519459e+02] [ 3.21470828e-01 -1.38143351e-03 9.46918475e-01 6.45209311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7692541539999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:447.33, Y:268.54, Z:64.53 [[-5.57888044e-03 -9.99957524e-01 7.33670821e-03 4.47333199e+02] [ 9.46359734e-01 -7.64988817e-03 -3.23024353e-01 2.68544412e+02] [ 3.23066757e-01 5.14105099e-03 9.46362214e-01 6.45314384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.7992541539999 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:447.34, Y:268.19, Z:64.41 [[-5.95010549e-03 -9.99972023e-01 -4.53312505e-03 4.47338453e+02] [ 9.46347933e-01 -4.16623130e-03 -3.23122628e-01 2.68188379e+02] [ 3.23094702e-01 -6.21252724e-03 9.46346246e-01 6.44091846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8292541539998 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:447.34, Y:268.21, Z:64.42 [[-8.54004174e-03 -9.99963386e-01 -5.42853723e-04 4.47337189e+02] [ 9.46488648e-01 -7.90819568e-03 -3.22640202e-01 2.68214363e+02] [ 3.22624096e-01 -3.26916568e-03 9.46521529e-01 6.44190157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8592541539999 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:447.34, Y:268.24, Z:64.43 [[-9.75206752e-03 -9.99952350e-01 -4.41820884e-04 4.47337647e+02] [ 9.46541756e-01 -9.08870561e-03 -3.22453253e-01 2.68241295e+02] [ 3.22433873e-01 -3.56278782e-03 9.46585286e-01 6.44278142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.8892541539999 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:447.34, Y:268.27, Z:64.43 [[-1.00777388e-02 -9.99949160e-01 -3.42711194e-04 4.47337901e+02] [ 9.46243268e-01 -9.42566680e-03 -3.23318471e-01 2.68267592e+02] [ 3.23298804e-01 -3.58260725e-03 9.46290150e-01 6.44348821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9192541539999 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:447.34, Y:268.29, Z:64.44 [[-1.11671936e-02 -9.99937608e-01 -2.73036897e-04 4.47338000e+02] [ 9.46521504e-01 -1.04825966e-02 -3.22470398e-01 2.68294253e+02] [ 3.22447416e-01 -3.85952466e-03 9.46579510e-01 6.44433992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9492541539998 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:447.34, Y:268.32, Z:64.45 [[-1.23514764e-02 -9.99923703e-01 -1.73979998e-04 4.47338547e+02] [ 9.47042001e-01 -1.16424253e-02 -3.20898586e-01 2.68319401e+02] [ 3.20872077e-01 -4.12833770e-03 9.47113545e-01 6.44530239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 768.9792541539999 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:447.34, Y:268.35, Z:64.46 [[-1.30361058e-02 -9.99915023e-01 -8.55766702e-05 4.47338820e+02] [ 9.47130472e-01 -1.23205031e-02 -3.20612030e-01 2.68346010e+02] [ 3.20583731e-01 -4.26058460e-03 9.47210599e-01 6.44616345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0092541539999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:447.34, Y:268.35, Z:64.46 [[-1.28367741e-02 -9.99917605e-01 7.53111549e-06 4.47339556e+02] [ 9.47193803e-01 -1.21623282e-02 -3.20430924e-01 2.68351342e+02] [ 3.20404614e-01 -4.10616596e-03 9.47271884e-01 6.44631390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0392541539999 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:447.34, Y:268.38, Z:64.47 [[-1.32480091e-02 -9.99912234e-01 -1.21795156e-04 4.47340232e+02] [ 9.47141623e-01 -1.25097946e-02 -3.20571758e-01 2.68377301e+02] [ 3.20542099e-01 -4.36229481e-03 9.47224225e-01 6.44720446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0692541539999 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:447.34, Y:268.40, Z:64.48 [[-1.24420758e-02 -9.99922594e-01 -2.61605100e-05 4.47341508e+02] [ 9.47198084e-01 -1.17776393e-02 -3.20432640e-01 2.68403557e+02] [ 3.20407529e-01 -4.01162637e-03 9.47271303e-01 6.44801284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.0992541539999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:447.34, Y:268.41, Z:64.48 [[-1.01645150e-02 -9.99948338e-01 6.76617407e-05 4.47342647e+02] [ 9.47320632e-01 -9.65121466e-03 -3.20141334e-01 2.68405262e+02] [ 3.20125448e-01 -3.18998401e-03 9.47369792e-01 6.44808372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1292541539999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:447.34, Y:268.43, Z:64.49 [[-9.09736323e-03 -9.99958616e-01 -6.19359175e-05 4.47343337e+02] [ 9.47298866e-01 -8.59844361e-03 -3.20235735e-01 2.68431730e+02] [ 3.20221950e-01 -2.97197262e-03 9.47337886e-01 6.44897961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1592541539999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:447.34, Y:268.43, Z:64.49 [[-7.14449316e-03 -9.99974477e-01 2.98459246e-05 4.47344007e+02] [ 9.47304705e-01 -6.77774349e-03 -3.20262172e-01 2.68431437e+02] [ 3.20254200e-01 -2.25983771e-03 9.47328951e-01 6.44895547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.1892541539999 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:447.35, Y:268.46, Z:64.50 [[-4.07903713e-03 -9.99991676e-01 -9.92107430e-05 4.47345877e+02] [ 9.47243721e-01 -3.83207803e-03 -3.20491260e-01 2.68457868e+02] [ 3.20488212e-01 -1.40127250e-03 9.47251468e-01 6.44976069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2192541539999 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:447.35, Y:268.48, Z:64.51 [[-2.84485484e-03 -9.99995953e-01 -2.07951621e-06 4.47346499e+02] [ 9.47140596e-01 -2.69382128e-03 -3.20807474e-01 2.68483947e+02] [ 3.20806170e-01 -9.14620287e-04 9.47144427e-01 6.45062040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2492541539999 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:447.35, Y:268.48, Z:64.51 [[-2.10236933e-04 -9.99999973e-01 9.43938335e-05 4.47347532e+02] [ 9.46915246e-01 -2.29422595e-04 -3.21483225e-01 2.68483062e+02] [ 3.21483238e-01 2.17953138e-05 9.46915269e-01 6.45055154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.2792541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:447.35, Y:268.51, Z:64.51 [[ 4.91596516e-04 -9.99999879e-01 -3.46272603e-05 4.47348444e+02] [ 9.46865316e-01 4.76612916e-04 -3.21629984e-01 2.68508844e+02] [ 3.21629962e-01 1.25324829e-04 9.46865435e-01 6.45135546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3092541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.35, Y:268.51, Z:64.51 [[ 1.12838703e-03 -9.99999363e-01 2.93237804e-05 4.47349294e+02] [ 9.46804919e-01 1.05892649e-03 -3.21806347e-01 2.68510758e+02] [ 3.21806111e-01 3.90886009e-04 9.46805510e-01 6.45134056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.339254154 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:447.35, Y:268.54, Z:64.52 [[ 7.43663752e-04 -9.99999719e-01 -9.85506015e-05 4.47351563e+02] [ 9.46657982e-01 7.35752306e-04 -3.22239234e-01 2.68537019e+02] [ 3.22239216e-01 1.46343925e-04 9.46658263e-01 6.45215965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3692541539999 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.35, Y:268.56, Z:64.53 [[-4.55073033e-05 -9.99999999e-01 1.57969770e-07 4.47352381e+02] [ 9.46593697e-01 -4.31278579e-05 -3.22428861e-01 2.68562904e+02] [ 3.22428861e-01 -1.45233338e-05 9.46593698e-01 6.45300328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.3992541539999 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:447.35, Y:268.57, Z:64.53 [[-2.23030147e-03 -9.99997509e-01 8.43700715e-05 4.47353925e+02] [ 9.46806349e-01 -2.13881893e-03 -3.21796774e-01 2.68568435e+02] [ 3.21796153e-01 -6.37821697e-04 9.46808761e-01 6.45330568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4292541539999 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:447.36, Y:268.59, Z:64.54 [[-4.21677067e-03 -9.99991108e-01 -4.38601689e-05 4.47355230e+02] [ 9.46820158e-01 -3.97844733e-03 -3.21738653e-01 2.68594887e+02] [ 3.21735618e-01 -1.39822581e-03 9.46828515e-01 6.45417703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4592541539998 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:447.35, Y:268.70, Z:64.58 [[-6.17041558e-03 -9.99972030e-01 4.22682306e-03 4.47354803e+02] [ 9.46774267e-01 -7.20245849e-03 -3.21817670e-01 2.68697108e+02] [ 3.21839112e-01 2.01609853e-03 9.46792227e-01 6.45774617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.4892541539999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:447.36, Y:268.61, Z:64.55 [[-1.10140478e-02 -9.99932505e-01 -3.69826353e-03 4.47361493e+02] [ 9.46832598e-01 -9.23974403e-03 -3.21593936e-01 2.68608085e+02] [ 3.21538059e-01 -7.04368746e-03 9.46870458e-01 6.45452106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5192541539999 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:447.36, Y:268.63, Z:64.55 [[-1.34861208e-02 -9.99909058e-01 -3.49958100e-05 4.47361422e+02] [ 9.46713389e-01 -1.27573888e-02 -3.21824498e-01 2.68633793e+02] [ 3.21794785e-01 -4.37329507e-03 9.46799340e-01 6.45533517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5492541539999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:447.36, Y:268.64, Z:64.56 [[-1.84897774e-02 -9.99829049e-01 2.75054363e-05 4.47363764e+02] [ 9.46795225e-01 -1.75178667e-02 -3.21359498e-01 2.68639969e+02] [ 3.21305043e-01 -5.91582356e-03 9.46957271e-01 6.45564460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.5792541539998 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:447.36, Y:268.67, Z:64.57 [[-2.14527014e-02 -9.99769859e-01 -1.01982105e-04 4.47364863e+02] [ 9.46896594e-01 -2.02854326e-02 -3.20897712e-01 2.68666081e+02] [ 3.20821792e-01 -6.98068930e-03 9.47113852e-01 6.45661471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6092541539999 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:447.37, Y:268.69, Z:64.57 [[-2.61588515e-02 -9.99657799e-01 -6.35423589e-06 4.47366910e+02] [ 9.47103044e-01 -2.47815750e-02 -3.19971400e-01 2.68692188e+02] [ 3.19861748e-01 -8.37610247e-03 9.47427202e-01 6.45749731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6392541539999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:447.37, Y:268.70, Z:64.58 [[-2.76235606e-02 -9.99618393e-01 8.80580807e-05 4.47368330e+02] [ 9.47024622e-01 -2.61983761e-02 -3.20090630e-01 2.68699378e+02] [ 3.19970788e-01 -8.75864975e-03 9.47386922e-01 6.45765704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6692541539999 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:447.37, Y:268.73, Z:64.59 [[-3.02681170e-02 -9.99541815e-01 -4.26276482e-05 4.47369345e+02] [ 9.47068322e-01 -2.86654787e-02 -3.19749721e-01 2.68725554e+02] [ 3.19601995e-01 -9.71859326e-03 9.47502039e-01 6.45863056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.6992541539998 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:447.37, Y:268.72, Z:64.59 [[-3.32867616e-02 -9.99445841e-01 5.29796745e-05 4.47371338e+02] [ 9.47178137e-01 -3.15628922e-02 -3.19150999e-01 2.68724355e+02] [ 3.18975810e-01 -1.05733220e-02 9.47703876e-01 6.45858708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7292541539999 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:447.37, Y:268.75, Z:64.59 [[-3.49682950e-02 -9.99388419e-01 -7.86949858e-05 4.47372115e+02] [ 9.47267500e-01 -3.31195023e-02 -3.18727756e-01 2.68750346e+02] [ 3.18530222e-01 -1.12199114e-02 9.47846302e-01 6.45943784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7592541539999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:447.37, Y:268.78, Z:64.60 [[-3.71522490e-02 -9.99309617e-01 -1.17490691e-05 4.47373257e+02] [ 9.47307515e-01 -3.52151759e-02 -3.18383989e-01 2.68776606e+02] [ 3.18163768e-01 -1.18398112e-02 9.47961832e-01 6.46027635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.7892541539999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:447.37, Y:268.78, Z:64.60 [[-3.74613043e-02 -9.99298076e-01 8.26452918e-05 4.47373517e+02] [ 9.47151533e-01 -3.55328215e-02 -3.18812473e-01 2.68775194e+02] [ 3.18591628e-01 -1.18648535e-02 9.47817810e-01 6.46024094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8192541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:447.37, Y:268.80, Z:64.61 [[-3.77210162e-02 -9.99288308e-01 -4.91371304e-05 4.47374038e+02] [ 9.46970738e-01 -3.57304368e-02 -3.19327039e-01 2.68802343e+02] [ 3.19098021e-01 -1.20918718e-02 9.47644575e-01 6.46097626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8492541539999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:447.37, Y:268.80, Z:64.61 [[-3.79143718e-02 -9.99280991e-01 4.55420552e-05 4.47373970e+02] [ 9.47197240e-01 -3.59527497e-02 -3.18629549e-01 2.68804969e+02] [ 3.18402089e-01 -1.20375019e-02 9.47879322e-01 6.46122482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.8792541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.37, Y:268.83, Z:64.62 [[-3.76626318e-02 -9.99290508e-01 -8.60403843e-05 4.47374625e+02] [ 9.47105804e-01 -3.56683625e-02 -3.18933165e-01 2.68831793e+02] [ 3.18703816e-01 -1.20933517e-02 9.47777204e-01 6.46192615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9092541539999 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:447.37, Y:268.84, Z:64.62 [[-3.69075695e-02 -9.99318684e-01 8.74394356e-06 4.47374125e+02] [ 9.47153946e-01 -3.49837733e-02 -3.18866018e-01 2.68840583e+02] [ 3.18649075e-01 -1.17602879e-02 9.47799801e-01 6.46232899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9392541539999 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:447.37, Y:268.87, Z:64.63 [[-3.63740954e-02 -9.99338236e-01 -1.23290818e-04 4.47374047e+02] [ 9.46941663e-01 -3.44275309e-02 -3.19556304e-01 2.68866804e+02] [ 3.19340589e-01 -1.17403207e-02 9.47567282e-01 6.46321818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9692541539999 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:447.37, Y:268.89, Z:64.64 [[-3.42144398e-02 -9.99393196e-01 6.52783596e-03 4.47370436e+02] [ 9.46184496e-01 -3.44946579e-02 -3.21784117e-01 2.68891363e+02] [ 3.21814032e-01 -4.83312610e-03 9.46790563e-01 6.46420884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 769.9992541539999 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:447.37, Y:268.48, Z:64.50 [[-3.21593558e-02 -9.99474771e-01 -3.99472616e-03 4.47374517e+02] [ 9.46072073e-01 -2.91515134e-02 -3.22641941e-01 2.68483408e+02] [ 3.22356028e-01 -1.41552558e-02 9.46512662e-01 6.45028791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0292541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:447.37, Y:268.51, Z:64.51 [[-3.09534179e-02 -9.99520712e-01 -4.81618231e-04 4.47371585e+02] [ 9.46379220e-01 -2.91526883e-02 -3.21739790e-01 2.68509291e+02] [ 3.21571544e-01 -1.04147397e-02 9.46828007e-01 6.45131099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.0592541539999 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:447.37, Y:268.53, Z:64.52 [[-3.02171305e-02 -9.99543285e-01 -3.82811941e-04 4.47371243e+02] [ 9.46521006e-01 -2.84911323e-02 -3.21381769e-01 2.68534652e+02] [ 3.21224082e-01 -1.00735744e-02 9.46949636e-01 6.45222281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.089254154 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:447.37, Y:268.56, Z:64.53 [[-2.93710712e-02 -9.99568538e-01 -2.78808103e-04 4.47370796e+02] [ 9.46806927e-01 -2.77313114e-02 -3.20605081e-01 2.68560719e+02] [ 3.20459020e-01 -9.68049211e-03 9.47212914e-01 6.45311908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1192541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:447.37, Y:268.59, Z:64.54 [[-2.73782050e-02 -9.99625130e-01 -1.81129020e-04 4.47369495e+02] [ 9.47145223e-01 -2.58829211e-02 -3.19759286e-01 2.68586743e+02] [ 3.19634730e-01 -8.92599076e-03 9.47498795e-01 6.45406208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1492541539999 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:447.37, Y:268.61, Z:64.55 [[-2.54961131e-02 -9.99674918e-01 -8.17731461e-05 4.47368157e+02] [ 9.47412185e-01 -2.41370806e-02 -3.19104299e-01 2.68612632e+02] [ 3.18998591e-01 -8.21339220e-03 9.47719600e-01 6.45495776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.1792541539999 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:447.37, Y:268.64, Z:64.56 [[-2.51414339e-02 -9.99683904e-01 -1.41370806e-05 4.47367846e+02] [ 9.47394970e-01 -2.38218858e-02 -3.19179085e-01 2.68639039e+02] [ 3.19077857e-01 -8.03801326e-03 9.47694419e-01 6.45587821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2092541539998 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:447.37, Y:268.64, Z:64.56 [[-2.47826869e-02 -9.99692859e-01 8.39312900e-05 4.47367412e+02] [ 9.47326996e-01 -2.35113377e-02 -3.19403787e-01 2.68640733e+02] [ 3.19307658e-01 -7.83617368e-03 9.47618707e-01 6.45592704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2392541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:447.37, Y:268.67, Z:64.57 [[-2.60682410e-02 -9.99660165e-01 -4.79440783e-05 4.47367381e+02] [ 9.47010896e-01 -2.46799412e-02 -3.20251874e-01 2.68667696e+02] [ 3.20141858e-01 -8.39380659e-03 9.47332431e-01 6.45679455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2692541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.37, Y:268.67, Z:64.57 [[-2.68333282e-02 -9.99639920e-01 4.79966878e-05 4.47367321e+02] [ 9.46734050e-01 -2.54285892e-02 -3.21010943e-01 2.68668017e+02] [ 3.20896574e-01 -8.56835189e-03 9.47075484e-01 6.45679835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.2992541539999 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:447.37, Y:268.69, Z:64.58 [[-2.96949771e-02 -9.99559003e-01 -8.37350107e-05 4.47367157e+02] [ 9.46088799e-01 -2.80794479e-02 -3.22687974e-01 2.68694418e+02] [ 3.22543318e-01 -9.66143275e-03 9.46505396e-01 6.45758464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3292541539998 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:447.37, Y:268.70, Z:64.58 [[-3.26071508e-02 -9.99468245e-01 1.17525298e-05 4.47366573e+02] [ 9.45972383e-01 -3.08656705e-02 -3.22774784e-01 2.68697002e+02] [ 3.22603510e-01 -1.05136485e-02 9.46475799e-01 6.45781974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3592541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:447.37, Y:268.72, Z:64.59 [[-3.43562512e-02 -9.99409643e-01 -1.19881204e-04 4.47366217e+02] [ 9.45770139e-01 -3.24735407e-02 -3.23209395e-01 2.68723072e+02] [ 3.23014693e-01 -1.12176432e-02 9.46327466e-01 6.45869573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.3892541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:447.37, Y:268.75, Z:64.60 [[-3.56620151e-02 -9.99363908e-01 -1.90593816e-05 4.47365707e+02] [ 9.45639538e-01 -3.37387074e-02 -3.23461844e-01 2.68749548e+02] [ 3.23255449e-01 -1.15533245e-02 9.46241214e-01 6.45958791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4192541539999 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:447.37, Y:268.75, Z:64.60 [[-3.52626074e-02 -9.99378078e-01 7.65395783e-05 4.47365584e+02] [ 9.45651863e-01 -3.33916750e-02 -3.23461822e-01 2.68752034e+02] [ 3.23263209e-01 -1.13337274e-02 9.46241219e-01 6.45967404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4492541539998 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:447.37, Y:268.78, Z:64.61 [[-3.65663173e-02 -9.99331227e-01 -5.50886293e-05 4.47365055e+02] [ 9.45436917e-01 -3.45764233e-02 -3.23965288e-01 2.68778616e+02] [ 3.23746724e-01 -1.18983004e-02 9.46068966e-01 6.46055638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.4792541539999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:447.36, Y:268.78, Z:64.61 [[-3.78455371e-02 -9.99283600e-01 4.05815686e-05 4.47363845e+02] [ 9.45072714e-01 -3.58056202e-02 -3.24893093e-01 2.68782060e+02] [ 3.24661793e-01 -1.22574011e-02 9.45750747e-01 6.46065203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5092541539999 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:447.36, Y:268.81, Z:64.62 [[-3.97891749e-02 -9.99208093e-01 -9.10055652e-05 4.47362760e+02] [ 9.44958743e-01 -3.75993251e-02 -3.25021945e-01 2.68807791e+02] [ 3.24761136e-01 -1.30183515e-02 9.45706470e-01 6.46150493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5392541539999 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:447.36, Y:268.83, Z:64.62 [[-4.12936508e-02 -9.99147053e-01 -2.92487775e-07 4.47362058e+02] [ 9.44861156e-01 -3.90499790e-02 -3.25134581e-01 2.68834521e+02] [ 3.24857247e-01 -1.34262702e-02 9.45667756e-01 6.46239087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5692541539999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:447.36, Y:268.83, Z:64.62 [[-4.20319825e-02 -9.99116261e-01 9.50946394e-05 4.47361776e+02] [ 9.44965773e-01 -3.97848253e-02 -3.24741213e-01 2.68831708e+02] [ 3.24458009e-01 -1.35596558e-02 9.45802905e-01 6.46229795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.5992541539999 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:447.36, Y:268.86, Z:64.63 [[-4.45816661e-02 -9.99005743e-01 -3.70853636e-05 4.47361044e+02] [ 9.45042483e-01 -4.21614640e-02 -3.24217698e-01 2.68858142e+02] [ 3.23893778e-01 -1.44892124e-02 9.45982496e-01 6.46320272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6292541539999 meters Centerline goodness : 0.999202 Centerline is valid? [True, True] Translation: X:447.36, Y:268.86, Z:64.63 [[-4.53659872e-02 -9.98970432e-01 5.60315804e-05 4.47360167e+02] [ 9.45341868e-01 -4.29486974e-02 -3.23240099e-01 2.68858839e+02] [ 3.22909708e-01 -1.46111372e-02 9.46316985e-01 6.46332129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6592541539999 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:447.36, Y:268.88, Z:64.64 [[-4.77955772e-02 -9.98857135e-01 -7.68778332e-05 4.47358547e+02] [ 9.45234896e-01 -4.52048600e-02 -3.23245282e-01 2.68884411e+02] [ 3.22872381e-01 -1.55223624e-02 9.46315213e-01 6.46413677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.6892541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.36, Y:268.91, Z:64.65 [[-4.89981067e-02 -9.98798871e-01 -5.89043087e-06 4.47357531e+02] [ 9.45268947e-01 -4.63701827e-02 -3.22980532e-01 2.68911041e+02] [ 3.22592318e-01 -1.58310026e-02 9.46405609e-01 6.46503974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7192541539999 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:447.36, Y:268.91, Z:64.65 [[-4.88796989e-02 -9.98804669e-01 8.89567657e-05 4.47356827e+02] [ 9.44909303e-01 -4.62710174e-02 -3.24045370e-01 2.68914084e+02] [ 3.23662145e-01 -1.57551840e-02 9.46041537e-01 6.46498918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7492541539999 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:447.35, Y:268.94, Z:64.66 [[-4.96734758e-02 -9.98765510e-01 -4.33551796e-05 4.47354939e+02] [ 9.44623343e-01 -4.69666237e-02 -3.24778195e-01 2.68940831e+02] [ 3.24375224e-01 -1.61738161e-02 9.45790210e-01 6.46585062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.7792541539999 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:447.35, Y:268.94, Z:64.66 [[-4.88136089e-02 -9.98807904e-01 4.54641139e-05 4.47352029e+02] [ 9.44624459e-01 -4.61803510e-02 -3.24887684e-01 2.68942281e+02] [ 3.24502486e-01 -1.58159938e-02 9.45752605e-01 6.46594410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8092541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:447.35, Y:268.97, Z:64.67 [[-4.81835462e-02 -9.98838495e-01 -8.64446815e-05 4.47350532e+02] [ 9.44607575e-01 -4.55393401e-02 -3.25027226e-01 2.68968555e+02] [ 3.24645769e-01 -1.57426207e-02 9.45704655e-01 6.46682183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.839254154 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:447.35, Y:268.97, Z:64.67 [[-4.66475360e-02 -9.98911411e-01 8.48543414e-06 4.47348564e+02] [ 9.44641450e-01 -4.41159790e-02 -3.25125072e-01 2.68971500e+02] [ 3.24771519e-01 -1.51582678e-02 9.45671025e-01 6.46701019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8692541539999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:447.34, Y:269.00, Z:64.68 [[-4.38185616e-02 -9.99039498e-01 -1.23533388e-04 4.47344950e+02] [ 9.44485116e-01 -4.13854659e-02 -3.25937279e-01 2.68996890e+02] [ 3.25619103e-01 -1.43987782e-02 9.45391387e-01 6.46782629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.8992541539999 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:447.34, Y:269.02, Z:64.69 [[-4.19254446e-02 -9.99120742e-01 -2.08074039e-05 4.47343120e+02] [ 9.44338645e-01 -3.96198583e-02 -3.26580449e-01 2.69023692e+02] [ 3.26292476e-01 -1.37116798e-02 9.45169408e-01 6.46862519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9292541539999 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:447.34, Y:269.02, Z:64.69 [[-3.71157363e-02 -9.99310971e-01 7.36212212e-05 4.47339795e+02] [ 9.44704479e-01 -3.51115985e-02 -3.26037764e-01 2.69020269e+02] [ 3.25815699e-01 -1.20315814e-02 9.45356743e-01 6.46856878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9592541539998 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:447.34, Y:269.05, Z:64.69 [[-3.47245119e-02 -9.99396921e-01 -5.74488300e-05 4.47338193e+02] [ 9.44742620e-01 -3.28067735e-02 -3.26167285e-01 2.69046935e+02] [ 3.25968696e-01 -1.13802742e-02 9.45312064e-01 6.46943275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 770.9892541539999 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:447.33, Y:269.04, Z:64.69 [[-2.84282575e-02 -9.99595835e-01 3.36856690e-05 4.47333640e+02] [ 9.44768057e-01 -2.68799765e-02 -3.26635556e-01 2.69044205e+02] [ 3.26504447e-01 -9.25385455e-03 9.45150365e-01 6.46937274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0192541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:447.33, Y:269.07, Z:64.70 [[-2.52904778e-02 -9.99680140e-01 -9.65811613e-05 4.47331133e+02] [ 9.44818794e-01 -2.38709988e-02 -3.26722547e-01 2.69069558e+02] [ 3.26615736e-01 -8.35422101e-03 9.45120293e-01 6.47020298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0492541539999 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:447.33, Y:269.07, Z:64.70 [[-2.15085602e-02 -9.99768664e-01 -1.10664723e-06 4.47328798e+02] [ 9.44864048e-01 -2.03270059e-02 -3.26831369e-01 2.69068802e+02] [ 3.26755738e-01 -7.03071778e-03 9.45082672e-01 6.47023750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.0792541539998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.33, Y:269.10, Z:64.71 [[-1.53937630e-02 -9.99881501e-01 -1.30631307e-04 4.47325115e+02] [ 9.45125251e-01 -1.45081171e-02 -3.26385930e-01 2.69095647e+02] [ 3.26345358e-01 -5.14777058e-03 9.45236588e-01 6.47107887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1092541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.32, Y:269.12, Z:64.72 [[-1.30617580e-02 -9.99914691e-01 -3.10912431e-05 4.47323325e+02] [ 9.45401290e-01 -1.23395299e-02 -3.25674895e-01 2.69122093e+02] [ 3.25646728e-01 -4.28328037e-03 9.45481815e-01 6.47202493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1392541539999 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:447.32, Y:269.11, Z:64.72 [[-7.85239799e-03 -9.99969168e-01 6.26499600e-05 4.47320849e+02] [ 9.45576737e-01 -7.44565534e-03 -3.25313998e-01 2.69111450e+02] [ 3.25304434e-01 -2.49525464e-03 9.45606048e-01 6.47161739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1692541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.32, Y:269.14, Z:64.72 [[-6.09665120e-03 -9.99981413e-01 -6.71029284e-05 4.47319656e+02] [ 9.45624498e-01 -5.74342696e-03 -3.25209659e-01 2.69138634e+02] [ 3.25203229e-01 -2.04614403e-03 9.45641937e-01 6.47243833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.1992541539998 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:447.32, Y:269.14, Z:64.73 [[-4.27409448e-03 -9.99990866e-01 2.47701789e-05 4.47318062e+02] [ 9.45720080e-01 -4.05018321e-03 -3.24957115e-01 2.69143279e+02] [ 3.24954247e-01 -1.36547175e-03 9.45728752e-01 6.47260327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2292541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.32, Y:269.17, Z:64.74 [[-2.72324030e-03 -9.99996287e-01 -1.04519978e-04 4.47315712e+02] [ 9.46035810e-01 -2.54242236e-03 -3.24052130e-01 2.69169753e+02] [ 3.24050661e-01 -9.81351461e-04 9.46039220e-01 6.47361950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2592541539999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:447.32, Y:269.20, Z:64.74 [[-2.10409048e-03 -9.99997786e-01 -7.94409448e-06 4.47315425e+02] [ 9.46251635e-01 -1.98843414e-03 -3.23425246e-01 2.69196290e+02] [ 3.23424514e-01 -6.88033092e-04 9.46253724e-01 6.47443654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.2892541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.32, Y:269.20, Z:64.74 [[-1.50344369e-03 -9.99998866e-01 8.57498324e-05 4.47315520e+02] [ 9.46378393e-01 -1.45053035e-03 -3.23057012e-01 2.69197328e+02] [ 3.23056770e-01 -4.04546236e-04 9.46379501e-01 6.47444644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3192541539999 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.32, Y:269.22, Z:64.75 [[-1.90278539e-03 -9.99998189e-01 -4.37501473e-05 4.47315715e+02] [ 9.46572670e-01 -1.78701908e-03 -3.22485638e-01 2.69223704e+02] [ 3.22484976e-01 -6.55033652e-04 9.46574356e-01 6.47530827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3492541539999 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:447.32, Y:269.22, Z:64.75 [[-2.42791680e-03 -9.99997051e-01 5.09614206e-05 4.47316218e+02] [ 9.46776139e-01 -2.31510421e-03 -3.21884425e-01 2.69223209e+02] [ 3.21883594e-01 -7.33259547e-04 9.46778968e-01 6.47531756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.3792541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.32, Y:269.25, Z:64.76 [[-3.46804016e-03 -9.99993983e-01 -7.88312139e-05 4.47317012e+02] [ 9.46995245e-01 -3.25891411e-03 -3.21231048e-01 2.69249456e+02] [ 3.21228859e-01 -1.18869496e-03 9.47000849e-01 6.47611393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4092541539999 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:447.32, Y:269.25, Z:64.76 [[-5.34283791e-03 -9.99985727e-01 1.70548598e-05 4.47318896e+02] [ 9.47090959e-01 -5.06569912e-03 -3.20925308e-01 2.69252813e+02] [ 3.20920814e-01 -1.69849940e-03 9.47104507e-01 6.47616940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4392541539999 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:447.31, Y:269.28, Z:64.77 [[-5.20785931e-03 -9.99918317e-01 1.16720693e-02 4.47314967e+02] [ 9.45922416e-01 -8.71191373e-03 -3.24275941e-01 2.69275080e+02] [ 3.24351139e-01 9.35208852e-03 9.45890521e-01 6.47719130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4692541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.33, Y:269.30, Z:64.77 [[-9.25101659e-03 -9.99914428e-01 -9.24966062e-03 4.47326147e+02] [ 9.47022108e-01 -5.79119728e-03 -3.21116161e-01 2.69304314e+02] [ 3.21035116e-01 -1.17302840e-02 9.46994644e-01 6.47744478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.4992541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.33, Y:269.30, Z:64.78 [[-1.34201863e-02 -9.99909944e-01 5.00173634e-05 4.47325203e+02] [ 9.46858144e-01 -1.27242342e-02 -3.21399672e-01 2.69304724e+02] [ 3.21371364e-01 -4.26588413e-03 9.46943635e-01 6.47772527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5292541539999 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:447.33, Y:269.33, Z:64.78 [[-1.51774348e-02 -9.99884813e-01 -8.08120845e-05 4.47327476e+02] [ 9.46574404e-01 -1.43421884e-02 -3.22166416e-01 2.69331199e+02] [ 3.22128148e-01 -4.96615442e-03 9.46683048e-01 6.47836753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.5592541539999 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:447.33, Y:269.34, Z:64.79 [[-1.98911875e-02 -9.99802151e-01 4.31663904e-06 4.47330070e+02] [ 9.46227111e-01 -1.88266998e-02 -3.22954810e-01 2.69336594e+02] [ 3.22890995e-01 -6.41987018e-03 9.46414386e-01 6.47863180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.589254154 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:447.33, Y:269.36, Z:64.79 [[-2.18275506e-02 -9.99761743e-01 -1.26378715e-04 4.47331434e+02] [ 9.46029721e-01 -2.06135490e-02 -3.23423637e-01 2.69362877e+02] [ 3.23343974e-01 -7.17910380e-03 9.46254266e-01 6.47947214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6192541539999 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:447.33, Y:269.39, Z:64.80 [[-2.47035254e-02 -9.99694821e-01 -2.83050475e-05 4.47333205e+02] [ 9.45758789e-01 -2.33615341e-02 -3.24028628e-01 2.69389848e+02] [ 3.23929080e-01 -8.03141920e-03 9.46047275e-01 6.48033705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6492541539999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:447.33, Y:269.40, Z:64.80 [[-2.48977100e-02 -9.99690002e-01 6.53638417e-05 4.47334110e+02] [ 9.45846918e-01 -2.35778933e-02 -3.23755603e-01 2.69396029e+02] [ 3.23656781e-01 -7.99894893e-03 9.46140743e-01 6.48047813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.6792541539999 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:447.34, Y:269.42, Z:64.81 [[-2.49817497e-02 -9.99687905e-01 -6.57160153e-05 4.47335574e+02] [ 9.45886926e-01 -2.36160128e-02 -3.23635918e-01 2.69422851e+02] [ 3.23533361e-01 -8.14715140e-03 9.46181689e-01 6.48124391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7092541539998 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:447.34, Y:269.42, Z:64.81 [[-2.35864587e-02 -9.99721800e-01 2.81998163e-05 4.47336960e+02] [ 9.46195090e-01 -2.23327079e-02 -3.22825189e-01 2.69423705e+02] [ 3.22736009e-01 -7.58762045e-03 9.46458608e-01 6.48138086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7392541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:447.34, Y:269.45, Z:64.82 [[-2.22058250e-02 -9.99753415e-01 -1.02614962e-04 4.47337269e+02] [ 9.46237000e-01 -2.09840242e-02 -3.22792829e-01 2.69449279e+02] [ 3.22711080e-01 -7.26497916e-03 9.46469640e-01 6.48228762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7692541539999 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:447.34, Y:269.48, Z:64.83 [[-1.75022268e-02 -9.99846824e-01 -2.16526137e-07 4.47336901e+02] [ 9.46559511e-01 -1.65693675e-02 -3.22103320e-01 2.69475028e+02] [ 3.22053978e-01 -5.63773031e-03 9.46704522e-01 6.48323173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.7992541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.34, Y:269.48, Z:64.83 [[-1.40247611e-02 -9.99901644e-01 9.21930029e-05 4.47336676e+02] [ 9.46802012e-01 -1.33096250e-02 -3.21541296e-01 2.69476495e+02] [ 3.21510897e-01 -4.42225135e-03 9.46895552e-01 6.48328510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8292541539998 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:447.33, Y:269.50, Z:64.84 [[-6.58468389e-03 -9.99555193e-01 2.90870768e-02 4.47326365e+02] [ 9.48727507e-01 -1.54372489e-02 -3.15717925e-01 2.69504631e+02] [ 3.16026516e-01 2.55168071e-02 9.48407156e-01 6.48413768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8592541539999 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:447.35, Y:269.53, Z:64.84 [[-5.96721952e-03 -9.99469564e-01 -3.20153521e-02 4.47352788e+02] [ 9.47295100e-01 4.60517655e-03 -3.20329184e-01 2.69531770e+02] [ 3.20306706e-01 -3.22394607e-02 9.46765140e-01 6.48418076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.8892541539999 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:447.33, Y:269.66, Z:64.90 [[-3.93680415e-03 -9.99978568e-01 5.23112051e-03 4.47334448e+02] [ 9.47355893e-01 -5.40434490e-03 -3.20136854e-01 2.69655410e+02] [ 3.20158264e-01 3.69541675e-03 9.47356865e-01 6.48950112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9192541539999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:447.34, Y:269.53, Z:64.85 [[-1.86640458e-03 -9.99986912e-01 -4.76365823e-03 4.47339793e+02] [ 9.47256858e-01 -2.41333117e-04 -3.20475253e-01 2.69528603e+02] [ 3.20469909e-01 -5.11054441e-03 9.47244910e-01 6.48492221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9492541539998 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:447.34, Y:269.53, Z:64.85 [[-3.90115791e-04 -9.99999921e-01 7.91977455e-05 4.47338646e+02] [ 9.46960050e-01 -3.94874377e-04 -3.21351068e-01 2.69532540e+02] [ 3.21351074e-01 -5.03670239e-05 9.46960129e-01 6.48503782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 771.9792541539999 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:447.34, Y:269.56, Z:64.86 [[-1.56432799e-03 -9.99995067e-01 2.72380835e-03 4.47337857e+02] [ 9.46430887e-01 -2.36005176e-03 -3.22897826e-01 2.69559714e+02] [ 3.22902662e-01 2.07277824e-03 9.46429910e-01 6.48604697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0092541539999 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:447.34, Y:269.59, Z:64.87 [[-5.39301705e-03 -9.99981050e-01 -2.96911367e-03 4.47343283e+02] [ 9.46176509e-01 -4.14194642e-03 -3.23624564e-01 2.69586798e+02] [ 3.23606134e-01 -4.55461840e-03 9.46180916e-01 6.48662779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0392541539999 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:447.34, Y:269.58, Z:64.86 [[-3.15406556e-03 -9.99924951e-01 1.18382550e-02 4.47339712e+02] [ 9.48405325e-01 -6.74443211e-03 -3.16988726e-01 2.69583579e+02] [ 3.17044778e-01 1.02276609e-02 9.48355421e-01 6.48649107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0692541539999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:447.35, Y:269.61, Z:64.87 [[-1.02695676e-02 -9.99754080e-01 -1.96549065e-02 4.47353640e+02] [ 9.47183182e-01 -3.42517203e-03 -3.20674738e-01 2.69607189e+02] [ 3.20528556e-01 -2.19099878e-02 9.46985426e-01 6.48690739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.0992541539999 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:447.35, Y:269.63, Z:64.88 [[-1.90461873e-02 -9.99818282e-01 -8.03921518e-04 4.47347539e+02] [ 9.46799491e-01 -1.77778248e-02 -3.21332652e-01 2.69631834e+02] [ 3.21259968e-01 -6.88131435e-03 9.46966040e-01 6.48834081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1292541539999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:447.35, Y:269.66, Z:64.89 [[-2.39440842e-02 -9.99692665e-01 6.42305357e-03 4.47345491e+02] [ 9.46033724e-01 -2.47349484e-02 -3.23122848e-01 2.69657410e+02] [ 3.23182415e-01 -1.66045539e-03 9.46335231e-01 6.48939496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1592541539999 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:447.35, Y:269.68, Z:64.90 [[-3.35842084e-02 -9.99405686e-01 -7.77013443e-03 4.47354587e+02] [ 9.46447932e-01 -2.93048379e-02 -3.21523775e-01 2.69683648e+02] [ 3.21104987e-01 -1.81521491e-02 9.46869625e-01 6.48987776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.1892541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.35, Y:269.71, Z:64.91 [[-3.82250029e-02 -9.99269032e-01 -5.01908606e-04 4.47351585e+02] [ 9.46167698e-01 -3.60321549e-02 -3.21664999e-01 2.69708782e+02] [ 3.21411787e-01 -1.27705352e-02 9.46853408e-01 6.49095386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2192541539999 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:447.35, Y:269.74, Z:64.92 [[-4.25943981e-02 -9.99092367e-01 -3.98528812e-04 4.47352306e+02] [ 9.46233117e-01 -4.02128103e-02 -3.20976350e-01 2.69735294e+02] [ 3.20668996e-01 -1.40488956e-02 9.47087126e-01 6.49182493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2492541539999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:447.35, Y:269.76, Z:64.93 [[-5.03161818e-02 -9.98733293e-01 -3.02592297e-04 4.47353033e+02] [ 9.46356607e-01 -4.75806128e-02 -3.19601718e-01 2.69762063e+02] [ 3.19182479e-01 -1.63674984e-02 9.47551925e-01 6.49275049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.2792541539999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:447.35, Y:269.79, Z:64.93 [[-5.31954763e-02 -9.98584097e-01 -2.04923938e-04 4.47353415e+02] [ 9.46106479e-01 -5.03342939e-02 -3.19920285e-01 2.69788590e+02] [ 3.19456994e-01 -1.72121918e-02 9.47444441e-01 6.49349665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3092541539999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:447.35, Y:269.82, Z:64.94 [[-5.34675741e-02 -9.98569581e-01 -1.06832359e-04 4.47353296e+02] [ 9.46091041e-01 -5.06234277e-02 -3.19920319e-01 2.69815548e+02] [ 3.19457291e-01 -1.72064365e-02 9.47444446e-01 6.49439188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.339254154 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:447.35, Y:269.84, Z:64.95 [[-5.85935249e-02 -9.98281923e-01 -1.48851906e-05 4.47352127e+02] [ 9.46161849e-01 -5.55296151e-02 -3.18895308e-01 2.69840105e+02] [ 3.18346595e-01 -1.86992839e-02 9.47789946e-01 6.49541790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3692541539999 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:447.35, Y:269.84, Z:64.96 [[-5.93963552e-02 -9.98234474e-01 8.49008300e-05 4.47351480e+02] [ 9.46238800e-01 -5.63296305e-02 -3.18526460e-01 2.69842146e+02] [ 3.17968876e-01 -1.88389743e-02 9.47913966e-01 6.49551073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.3992541539999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:447.35, Y:269.87, Z:64.96 [[-6.02865455e-02 -9.98181111e-01 -4.69970427e-05 4.47350943e+02] [ 9.46284231e-01 -5.71371768e-02 -3.18247542e-01 2.69867429e+02] [ 3.17665999e-01 -1.92305175e-02 9.48007648e-01 6.49636795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4292541539999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:447.35, Y:269.87, Z:64.97 [[-5.96704768e-02 -9.98218128e-01 5.22117666e-05 4.47349518e+02] [ 9.46406326e-01 -5.65899551e-02 -3.17982144e-01 2.69870633e+02] [ 3.17418495e-01 -1.89247326e-02 9.48096700e-01 6.49653055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4592541539998 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:447.35, Y:269.90, Z:64.97 [[-5.90723934e-02 -9.98253698e-01 -8.00517861e-05 4.47348672e+02] [ 9.46434930e-01 -5.59804785e-02 -3.18004890e-01 2.69897191e+02] [ 3.17445076e-01 -1.88610738e-02 9.48089069e-01 6.49730260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.4892541539999 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:447.35, Y:269.90, Z:64.97 [[-5.76964379e-02 -9.98334173e-01 1.27737186e-05 4.47347095e+02] [ 9.46466038e-01 -5.47029083e-02 -3.18134612e-01 2.69899628e+02] [ 3.17605353e-01 -1.83431440e-02 9.48045552e-01 6.49747979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5192541539999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:447.34, Y:269.93, Z:64.98 [[-5.18858090e-02 -9.98420823e-01 2.15342385e-02 4.47336566e+02] [ 9.47668382e-01 -5.60272662e-02 -3.14301739e-01 2.69931105e+02] [ 3.15011906e-01 4.09951693e-03 9.49078866e-01 6.49839356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5492541539999 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:447.35, Y:269.94, Z:64.98 [[-5.53566440e-02 -9.98300470e-01 -1.82157297e-02 4.47352311e+02] [ 9.44310919e-01 -4.64187443e-02 -3.25764008e-01 2.69944746e+02] [ 3.24364811e-01 -3.52345147e-02 9.45275620e-01 6.49820619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.5792541539998 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:447.34, Y:269.95, Z:64.99 [[-4.91644370e-02 -9.98790280e-01 9.13700947e-04 4.47338851e+02] [ 9.43741020e-01 -4.67541678e-02 -3.27363613e-01 2.69945038e+02] [ 3.27010314e-01 -1.52323506e-02 9.44898000e-01 6.49868645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6092541539999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:447.34, Y:269.95, Z:64.99 [[-4.61559885e-02 -9.98933943e-01 7.75505105e-04 4.47335878e+02] [ 9.43795735e-01 -4.38626452e-02 -3.27605982e-01 2.69946507e+02] [ 3.27290751e-01 -1.43890595e-02 9.44814119e-01 6.49891254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6392541539999 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:447.33, Y:269.94, Z:64.99 [[-4.20370007e-02 -9.99115850e-01 6.38786945e-04 4.47333885e+02] [ 9.43517950e-01 -3.99080523e-02 -3.28909144e-01 2.69941599e+02] [ 3.28643832e-01 -1.32236470e-02 9.44361354e-01 6.49860469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6692541539999 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:447.33, Y:269.94, Z:64.99 [[-3.56248418e-02 -9.99365108e-01 5.01233479e-04 4.47329268e+02] [ 9.43372654e-01 -3.37943689e-02 -3.30009055e-01 2.69940022e+02] [ 3.29816474e-01 -1.12836704e-02 9.43977634e-01 6.49853270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.6992541539998 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:447.33, Y:269.94, Z:64.99 [[-3.28366479e-02 -9.99460666e-01 3.62538405e-04 4.47326560e+02] [ 9.43513694e-01 -3.11182003e-02 -3.29869015e-01 2.69940899e+02] [ 3.29702387e-01 -1.04897327e-02 9.44026643e-01 6.49872802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7292541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.32, Y:269.94, Z:64.99 [[-2.58382056e-02 -9.99666113e-01 2.24361893e-04 4.47322016e+02] [ 9.43638904e-01 -2.44641597e-02 -3.30071393e-01 2.69940929e+02] [ 3.29966675e-01 -8.31673591e-03 9.43955945e-01 6.49873957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7592541539999 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:447.32, Y:269.94, Z:64.99 [[-2.21730258e-02 -9.99754145e-01 8.62994024e-05 4.47319465e+02] [ 9.43821069e-01 -2.09609831e-02 -3.29791489e-01 2.69941298e+02] [ 3.29712217e-01 -7.23102402e-03 9.44053794e-01 6.49884429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.7892541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.32, Y:269.97, Z:65.00 [[-1.89002125e-02 -9.99821374e-01 -4.43768350e-05 4.47316953e+02] [ 9.44002634e-01 -1.78304151e-02 -3.29455769e-01 2.69967454e+02] [ 3.29396128e-01 -6.26867589e-03 9.44171009e-01 6.49976884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8192541539999 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:447.31, Y:269.96, Z:65.00 [[-1.11203042e-02 -9.99938166e-01 4.97185398e-05 4.47312683e+02] [ 9.44360569e-01 -1.05185719e-02 -3.28743783e-01 2.69957695e+02] [ 3.28723979e-01 -3.60877865e-03 9.44419146e-01 6.49953757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8492541539999 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:447.31, Y:269.98, Z:65.00 [[-8.07121020e-03 -9.99967424e-01 -8.14221533e-05 4.47310690e+02] [ 9.44516666e-01 -7.59690297e-03 -3.28375631e-01 2.69983046e+02] [ 3.28364315e-01 -2.72729332e-03 9.44547213e-01 6.50047652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.8792541539999 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:447.31, Y:269.98, Z:65.00 [[-1.12221786e-03 -9.99999370e-01 2.35532085e-06 4.47308383e+02] [ 9.44839793e-01 -1.06108820e-03 -3.27531129e-01 2.69977929e+02] [ 3.27530925e-01 -3.65335880e-04 9.44840389e-01 6.50019656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9092541539999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:447.31, Y:270.00, Z:65.01 [[-1.91726920e-04 -9.99999974e-01 -1.27792046e-04 4.47306988e+02] [ 9.44949345e-01 -1.39356547e-04 -3.27216620e-01 2.70004269e+02] [ 3.27216594e-01 -1.83493244e-04 9.44949346e-01 6.50126637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9392541539999 meters Centerline goodness : 0.999034 Centerline is valid? [True, True] Translation: X:447.31, Y:270.03, Z:65.02 [[ 6.46689330e-04 -9.99999791e-01 -2.65100703e-05 4.47306097e+02] [ 9.45078003e-01 6.19836658e-04 -3.26844280e-01 2.70030860e+02] [ 3.26844228e-01 1.86312625e-04 9.45078206e-01 6.50220178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9692541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:447.31, Y:270.03, Z:65.02 [[ 1.50499729e-03 -9.99998865e-01 6.92843169e-05 4.47306359e+02] [ 9.44859921e-01 1.39932455e-03 -3.27471788e-01 2.70033657e+02] [ 3.27471320e-01 5.58308129e-04 9.44860954e-01 6.50217747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 772.9992541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.31, Y:270.06, Z:65.03 [[-2.93736699e-03 -9.99995684e-01 -6.05781498e-05 4.47306873e+02] [ 9.45016553e-01 -2.75606261e-03 -3.27010885e-01 2.70058774e+02] [ 3.27009307e-01 -1.01779833e-03 9.45020570e-01 6.50313085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0292541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.31, Y:270.06, Z:65.03 [[-4.96835953e-03 -9.99987657e-01 2.45918659e-05 4.47307652e+02] [ 9.45004083e-01 -4.70322023e-03 -3.27024713e-01 2.70062036e+02] [ 3.27020792e-01 -1.60153693e-03 9.45015787e-01 6.50324098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.0592541539999 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:447.31, Y:270.09, Z:65.04 [[-7.86354386e-03 -9.99969076e-01 -1.05664476e-04 4.47308821e+02] [ 9.44756898e-01 -7.39474094e-03 -3.27688453e-01 2.70089025e+02] [ 3.27677538e-01 -2.67661976e-03 9.44785831e-01 6.50400133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.089254154 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.31, Y:270.11, Z:65.05 [[-1.21257288e-02 -9.99926481e-01 -6.91020305e-06 4.47309254e+02] [ 9.44745260e-01 -1.14543031e-02 -3.27605240e-01 2.70113648e+02] [ 3.27581076e-01 -3.97898068e-03 9.44814694e-01 6.50498668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1192541539999 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:447.31, Y:270.12, Z:65.05 [[-1.88388878e-02 -9.99822531e-01 5.58848511e-05 4.47311480e+02] [ 9.44540834e-01 -1.78155857e-02 -3.27910380e-01 2.70120848e+02] [ 3.27853182e-01 -6.12468133e-03 9.44708833e-01 6.50515313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1492541539999 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:447.31, Y:270.15, Z:65.06 [[-2.25398686e-02 -9.99745942e-01 -7.47612757e-05 4.47312572e+02] [ 9.44249887e-01 -2.12641085e-02 -3.28542217e-01 2.70147589e+02] [ 3.28457159e-01 -7.47589174e-03 9.44489283e-01 6.50609269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.1792541539999 meters Centerline goodness : 0.998803 Centerline is valid? [True, True] Translation: X:447.31, Y:270.15, Z:65.06 [[-2.56407766e-02 -9.99671221e-01 1.97119212e-05 4.47313512e+02] [ 9.44108554e-01 -2.42221204e-02 -3.28743559e-01 2.70152334e+02] [ 3.28635952e-01 -8.41062995e-03 9.44419225e-01 6.50622802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2092541539998 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.32, Y:270.18, Z:65.07 [[-3.17310231e-02 -9.99496438e-01 -1.11175572e-04 4.47315765e+02] [ 9.43890392e-01 -2.99291134e-02 -3.28899949e-01 2.70178982e+02] [ 3.28731000e-01 -1.05412695e-02 9.44364766e-01 6.50710915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2392541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:447.32, Y:270.20, Z:65.08 [[-3.46412653e-02 -9.99399811e-01 -1.22144957e-05 4.47316308e+02] [ 9.43818339e-01 -3.27106774e-02 -3.28841837e-01 2.70204720e+02] [ 3.28644071e-01 -1.14030256e-02 9.44385009e-01 6.50798181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2692541539999 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.32, Y:270.21, Z:65.08 [[-3.78418615e-02 -9.99283737e-01 8.56903550e-05 4.47317572e+02] [ 9.43905676e-01 -3.57729004e-02 -3.28271801e-01 2.70205066e+02] [ 3.28039737e-01 -1.23415324e-02 9.44583304e-01 6.50796922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.2992541539999 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:447.32, Y:270.23, Z:65.09 [[-3.88416721e-02 -9.99245376e-01 -4.63509903e-05 4.47318553e+02] [ 9.43901574e-01 -3.66751798e-02 -3.28184018e-01 2.70232299e+02] [ 3.27934663e-01 -1.27909668e-02 9.44613809e-01 6.50871127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3292541539998 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:447.32, Y:270.23, Z:65.09 [[-3.91874994e-02 -9.99231874e-01 4.86642616e-05 4.47318856e+02] [ 9.44072660e-01 -3.70402433e-02 -3.27650473e-01 2.70234631e+02] [ 3.27400599e-01 -1.27938601e-02 9.44799008e-01 6.50888203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3592541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:447.32, Y:270.26, Z:65.10 [[-3.83819031e-02 -9.99263140e-01 -8.36042954e-05 4.47319257e+02] [ 9.44064187e-01 -3.62342772e-02 -3.27764990e-01 2.70261235e+02] [ 3.27520443e-01 -1.26591719e-02 9.44759284e-01 6.50965786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.3892541539999 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:447.32, Y:270.26, Z:65.10 [[-3.72112281e-02 -9.99307422e-01 1.40286632e-05 4.47318306e+02] [ 9.44177848e-01 -3.51629654e-02 -3.27554206e-01 2.70262745e+02] [ 3.27327843e-01 -1.21754487e-02 9.44832388e-01 6.50988914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4192541539999 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:447.32, Y:270.29, Z:65.11 [[-3.30442540e-02 -9.99453883e-01 -1.18299199e-04 4.47317980e+02] [ 9.44154486e-01 -3.11771020e-02 -3.28024839e-01 2.70289590e+02] [ 3.27842010e-01 -1.09510288e-02 9.44669091e-01 6.51064418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4492541539998 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:447.32, Y:270.32, Z:65.12 [[-3.16327709e-02 -9.99499559e-01 -1.93680398e-05 4.47316793e+02] [ 9.44154245e-01 -2.98748099e-02 -3.28146703e-01 2.70315590e+02] [ 3.27981906e-01 -1.03984759e-02 9.44626774e-01 6.51171277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.4792541539999 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:447.32, Y:270.31, Z:65.11 [[-2.60498856e-02 -9.99660641e-01 7.53669892e-05 4.47316150e+02] [ 9.44057466e-01 -2.46257312e-02 -3.28860266e-01 2.70314304e+02] [ 3.28750521e-01 -8.49562156e-03 9.44378589e-01 6.51145728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5092541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.31, Y:270.34, Z:65.12 [[-2.50397594e-02 -9.99686455e-01 -5.57198778e-05 4.47314882e+02] [ 9.44118235e-01 -2.36295840e-02 -3.28758879e-01 2.70340318e+02] [ 3.28654482e-01 -8.28464939e-03 9.44413890e-01 6.51248565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5392541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.31, Y:270.34, Z:65.13 [[-2.26837651e-02 -9.99742690e-01 3.92251834e-05 4.47314302e+02] [ 9.44213051e-01 -2.14367138e-02 -3.28636855e-01 2.70342665e+02] [ 3.28553134e-01 -7.41768430e-03 9.44456360e-01 6.51251565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5692541539999 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:447.31, Y:270.37, Z:65.13 [[-2.05808141e-02 -9.99788188e-01 -9.20483640e-05 4.47314148e+02] [ 9.43834342e-01 -1.93986259e-02 -3.29849101e-01 2.70368427e+02] [ 3.29777449e-01 -6.87544144e-03 9.44033666e-01 6.51322490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.5992541539999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:447.31, Y:270.39, Z:65.14 [[-1.81608288e-02 -9.99835079e-01 -1.18872086e-06 4.47312851e+02] [ 9.43632293e-01 -1.71395783e-02 -3.30551554e-01 2.70394861e+02] [ 3.30497019e-01 -6.00421189e-03 9.43787937e-01 6.51404035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6292541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.31, Y:270.39, Z:65.14 [[-1.77291274e-02 -9.99842823e-01 9.10555371e-05 4.47311808e+02] [ 9.43697231e-01 -1.67636467e-02 -3.30385406e-01 2.70390055e+02] [ 3.30335003e-01 -5.77151610e-03 9.43846108e-01 6.51401032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6592541539999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:447.31, Y:270.42, Z:65.15 [[-1.75389637e-02 -9.99846180e-01 -3.91889922e-05 4.47311603e+02] [ 9.43335824e-01 -1.65346879e-02 -3.31427408e-01 2.70416360e+02] [ 3.31375780e-01 -5.84986166e-03 9.43480721e-01 6.51486986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.6892541539999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:447.31, Y:270.42, Z:65.15 [[-1.72367667e-02 -9.99851435e-01 5.08714743e-05 4.47311015e+02] [ 9.43245572e-01 -1.62777961e-02 -3.31696887e-01 2.70423493e+02] [ 3.31648437e-01 -5.66939756e-03 9.43386015e-01 6.51507778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7192541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.31, Y:270.45, Z:65.16 [[-1.82540452e-02 -9.99833378e-01 -7.87765412e-05 4.47310723e+02] [ 9.42809615e-01 -1.71867292e-02 -3.32888340e-01 2.70450613e+02] [ 3.32831520e-01 -6.15083008e-03 9.42966249e-01 6.51587458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7492541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.31, Y:270.45, Z:65.16 [[-1.91372781e-02 -9.99816865e-01 1.37065944e-05 4.47310148e+02] [ 9.42943092e-01 -1.80532273e-02 -3.32464143e-01 2.70449032e+02] [ 3.32403504e-01 -6.34953423e-03 9.43115896e-01 6.51593117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.7792541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.31, Y:270.48, Z:65.17 [[-2.18224398e-02 -9.99761856e-01 -1.16091454e-04 4.47309593e+02] [ 9.42987496e-01 -2.05446156e-02 -3.32193470e-01 2.70475354e+02] [ 3.32111975e-01 -7.35874479e-03 9.43211262e-01 6.51686710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8092541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.31, Y:270.50, Z:65.18 [[-2.34417233e-02 -9.99725205e-01 -1.61635968e-05 4.47309090e+02] [ 9.43145456e-01 -2.21096699e-02 -3.31644104e-01 2.70500631e+02] [ 3.31552612e-01 -7.78955395e-03 9.43404573e-01 6.51775085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.839254154 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.31, Y:270.51, Z:65.18 [[-2.46151835e-02 -9.99696999e-01 4.54368552e-05 4.47308931e+02] [ 9.43371920e-01 -2.32433517e-02 -3.30921695e-01 2.70505836e+02] [ 3.30822482e-01 -8.10283437e-03 9.43658217e-01 6.51802606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8692541539999 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:447.31, Y:270.53, Z:65.19 [[-2.90460134e-02 -9.99578072e-01 -8.48501352e-05 4.47309268e+02] [ 9.43964872e-01 -2.74020703e-02 -3.28906441e-01 2.70532225e+02] [ 3.28765341e-01 -9.63351642e-03 9.44362508e-01 6.51895225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.8992541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.31, Y:270.54, Z:65.19 [[-3.12197456e-02 -9.99512545e-01 9.43324254e-06 4.47309275e+02] [ 9.44078473e-01 -2.94913633e-02 -3.28399294e-01 2.70538513e+02] [ 3.28239493e-01 -1.02436367e-02 9.44538990e-01 6.51921019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9292541539999 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:447.31, Y:270.56, Z:65.20 [[-3.42670551e-02 -9.99412705e-01 -1.22387475e-04 4.47309184e+02] [ 9.44260254e-01 -3.23359138e-02 -3.27607939e-01 2.70564300e+02] [ 3.27411579e-01 -1.13417249e-02 9.44813751e-01 6.52008026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9592541539998 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:447.31, Y:270.59, Z:65.21 [[-3.98651504e-02 -9.99205069e-01 -1.89835149e-05 4.47308867e+02] [ 9.43849618e-01 -3.76504056e-02 -3.28223012e-01 2.70591030e+02] [ 3.27961383e-01 -1.31025773e-02 9.44600261e-01 6.52084138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 773.9892541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:447.31, Y:270.60, Z:65.21 [[-4.22837340e-02 -9.99105640e-01 7.26281972e-05 4.47309083e+02] [ 9.43729345e-01 -3.99639862e-02 -3.28295300e-01 2.70598307e+02] [ 3.28004589e-01 -1.38130098e-02 9.44575138e-01 6.52103002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0192541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.31, Y:270.62, Z:65.22 [[-4.57485520e-02 -9.98952985e-01 -5.99513054e-05 4.47309102e+02] [ 9.43719975e-01 -4.31993939e-02 -3.27912217e-01 2.70624899e+02] [ 3.27566298e-01 -1.50580863e-02 9.44708195e-01 6.52194654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0492541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.31, Y:270.63, Z:65.22 [[-5.18253910e-02 -9.98656161e-01 3.13317064e-05 4.47308963e+02] [ 9.43506057e-01 -4.89736510e-02 -3.27716190e-01 2.70629921e+02] [ 3.27277327e-01 -1.69544580e-02 9.44776216e-01 6.52217295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.0792541539998 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:447.31, Y:270.66, Z:65.23 [[-5.53735935e-02 -9.98465700e-01 -1.01346121e-04 4.47308708e+02] [ 9.43401260e-01 -5.22865497e-02 -3.27505999e-01 2.70655094e+02] [ 3.26998207e-01 -1.82307941e-02 9.44849094e-01 6.52313971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1092541539999 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:447.31, Y:270.66, Z:65.23 [[-5.97617372e-02 -9.98212670e-01 -2.16605097e-06 4.47308320e+02] [ 9.42924149e-01 -5.64509708e-02 -3.28187962e-01 2.70660614e+02] [ 3.27601259e-01 -1.96151251e-02 9.44612440e-01 6.52333833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1392541539999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:447.31, Y:270.69, Z:65.24 [[-6.16013557e-02 -9.98100824e-01 -1.35350808e-04 4.47308070e+02] [ 9.42684348e-01 -5.81365716e-02 -3.28582347e-01 2.70686981e+02] [ 3.27950443e-01 -2.03687112e-02 9.44475316e-01 6.52412147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1692541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.31, Y:270.71, Z:65.25 [[-6.33659368e-02 -9.97990359e-01 -3.22125926e-05 4.47307199e+02] [ 9.42581634e-01 -5.98372354e-02 -3.28571711e-01 2.70712340e+02] [ 3.27909472e-01 -2.08506173e-02 9.44479026e-01 6.52505243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.1992541539998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.31, Y:270.72, Z:65.25 [[-6.33074024e-02 -9.97994073e-01 5.43673043e-05 4.47306523e+02] [ 9.42224913e-01 -5.97876610e-02 -3.29602258e-01 2.70716786e+02] [ 3.28944351e-01 -2.08150366e-02 9.44119880e-01 6.52507998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2292541539999 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:447.31, Y:270.74, Z:65.26 [[-6.35770695e-02 -9.97976929e-01 -7.92486964e-05 4.47306511e+02] [ 9.42211534e-01 -5.99983085e-02 -3.29602228e-01 2.70743704e+02] [ 3.28930664e-01 -2.10298128e-02 9.44119889e-01 6.52598405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2592541539999 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:447.31, Y:270.74, Z:65.26 [[-6.33947392e-02 -9.97988531e-01 7.49045943e-06 4.47305466e+02] [ 9.42333860e-01 -5.98618861e-02 -3.29277165e-01 2.70743651e+02] [ 3.28615283e-01 -2.08673815e-02 9.44233313e-01 6.52612127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.2892541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.30, Y:270.77, Z:65.27 [[-6.28783002e-02 -9.98021194e-01 -1.25969347e-04 4.47304731e+02] [ 9.42399486e-01 -5.93324179e-02 -3.29185166e-01 2.70770161e+02] [ 3.28526298e-01 -2.08173171e-02 9.44265382e-01 6.52700160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3192541539999 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:447.30, Y:270.80, Z:65.28 [[-6.08843622e-02 -9.98144826e-01 -2.39934414e-05 4.47303040e+02] [ 9.42306166e-01 -5.74704149e-02 -3.29782111e-01 2.70796537e+02] [ 3.29168929e-01 -2.01011827e-02 9.44057074e-01 6.52790948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3492541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.30, Y:270.79, Z:65.28 [[-5.89076509e-02 -9.98263434e-01 6.99473638e-05 4.47301978e+02] [ 9.42405880e-01 -5.56345992e-02 -3.29811990e-01 2.70793512e+02] [ 3.29243141e-01 -1.93625307e-02 9.44046634e-01 6.52777882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.3792541539999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:447.30, Y:270.82, Z:65.29 [[-5.74643512e-02 -9.98347557e-01 -6.29304094e-05 4.47300833e+02] [ 9.42408187e-01 -5.42237071e-02 -3.30040298e-01 2.70819440e+02] [ 3.29491513e-01 -1.90248577e-02 9.43966842e-01 6.52866272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4092541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.30, Y:270.82, Z:65.29 [[-5.35238080e-02 -9.98566573e-01 3.13366823e-05 4.47297586e+02] [ 9.42480019e-01 -5.05279019e-02 -3.30421465e-01 2.70823902e+02] [ 3.29949413e-01 -1.76558808e-02 9.43833489e-01 6.52888702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4392541539999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:447.30, Y:270.85, Z:65.30 [[-5.19659787e-02 -9.98648851e-01 -1.01303862e-04 4.47296017e+02] [ 9.42460559e-01 -4.90086015e-02 -3.30705687e-01 2.70850292e+02] [ 3.30253890e-01 -1.72809196e-02 9.43733934e-01 6.52981403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4692541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.29, Y:270.88, Z:65.31 [[-5.01338347e-02 -9.98742509e-01 -6.47541001e-07 4.47294588e+02] [ 9.42626588e-01 -4.73167720e-02 -3.30478802e-01 2.70876280e+02] [ 3.30063197e-01 -1.65687800e-02 9.43813415e-01 6.53072234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.4992541539999 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:447.29, Y:270.88, Z:65.31 [[-4.50711608e-02 -9.98983775e-01 9.23344794e-05 4.47292342e+02] [ 9.42814654e-01 -4.25675338e-02 -3.30588162e-01 2.70881422e+02] [ 3.30256140e-01 -1.48129379e-02 9.43775110e-01 6.53083736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5292541539999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:447.29, Y:270.91, Z:65.32 [[-4.26285311e-02 -9.99090990e-01 -3.96457300e-05 4.47291232e+02] [ 9.42790996e-01 -4.02132288e-02 -3.30950200e-01 2.70908053e+02] [ 3.30647769e-01 -1.41452986e-02 9.43648220e-01 6.53165947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.5592541539999 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:447.29, Y:270.91, Z:65.32 [[-4.02104190e-02 -9.99191233e-01 5.11516080e-05 4.47289143e+02] [ 9.43065781e-01 -3.79686801e-02 -3.30432010e-01 2.70905556e+02] [ 3.30166709e-01 -1.32385702e-02 9.43829796e-01 6.53175190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.589254154 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:447.29, Y:270.93, Z:65.33 [[-3.68033363e-02 -9.99322525e-01 -8.03238941e-05 4.47288341e+02] [ 9.43035372e-01 -3.47037815e-02 -3.30877523e-01 2.70932384e+02] [ 3.30650574e-01 -1.22531450e-02 9.43673703e-01 6.53257072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6192541539999 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:447.28, Y:270.93, Z:65.33 [[-2.95445739e-02 -9.99563464e-01 1.13129204e-05 4.47284252e+02] [ 9.43307349e-01 -2.78855284e-02 -3.30747098e-01 2.70932772e+02] [ 3.30603031e-01 -9.76111052e-03 9.43719427e-01 6.53277052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6492541539999 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.28, Y:270.96, Z:65.34 [[-2.53399531e-02 -9.99678885e-01 -1.19831950e-04 4.47282537e+02] [ 9.43337998e-01 -2.38721451e-02 -3.30973628e-01 2.70958048e+02] [ 3.30864486e-01 -8.49989823e-03 9.43639997e-01 6.53366932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.6792541539999 meters Centerline goodness : 0.999370 Centerline is valid? [True, True] Translation: X:447.28, Y:270.98, Z:65.35 [[-2.04972709e-02 -9.99789908e-01 -2.90905088e-05 4.47280889e+02] [ 9.43414315e-01 -1.93318497e-02 -3.31052429e-01 2.70984733e+02] [ 3.30982315e-01 -6.81311571e-03 9.43612361e-01 6.53452047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7092541539998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.28, Y:270.98, Z:65.35 [[-1.03227435e-02 -9.99946717e-01 6.29732439e-05 4.47277261e+02] [ 9.43545511e-01 -9.76134877e-03 -3.31099056e-01 2.70983173e+02] [ 3.31082029e-01 -3.35843250e-03 9.43596000e-01 6.53460956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7392541539999 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:447.28, Y:271.01, Z:65.36 [[-5.94370601e-03 -9.99982334e-01 -6.68712322e-05 4.47275570e+02] [ 9.43783686e-01 -5.58756943e-03 -3.30516465e-01 2.71009756e+02] [ 3.30510252e-01 -2.02760467e-03 9.43800224e-01 6.53555920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7692541539999 meters Centerline goodness : 0.999455 Centerline is valid? [True, True] Translation: X:447.27, Y:271.01, Z:65.36 [[-9.56593682e-04 -9.99999542e-01 2.45170283e-05 4.47274176e+02] [ 9.43969963e-01 -9.11087475e-04 -3.30030118e-01 2.71007575e+02] [ 3.30029990e-01 -2.92561387e-04 9.43970402e-01 6.53550544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.7992541539999 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:447.27, Y:271.03, Z:65.36 [[ 7.19892696e-03 -9.99974082e-01 -1.04774208e-04 4.47272892e+02] [ 9.43703497e-01 6.82848067e-03 -3.30722061e-01 2.71034572e+02] [ 3.30714205e-01 2.28196818e-03 9.43728196e-01 6.53630594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8292541539998 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:447.27, Y:271.06, Z:65.37 [[ 9.29676410e-03 -9.99956784e-01 -3.11129403e-06 4.47271780e+02] [ 9.43787145e-01 8.77557378e-03 -3.30437309e-01 2.71060194e+02] [ 3.30423056e-01 3.06906131e-03 9.43827943e-01 6.53730608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8592541539999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:447.27, Y:271.06, Z:65.37 [[ 1.34219823e-02 -9.99909917e-01 9.02032846e-05 4.47272023e+02] [ 9.43711202e-01 1.26377987e-02 -3.30529051e-01 2.71057441e+02] [ 3.30498136e-01 4.52148091e-03 9.43795814e-01 6.53720773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.8892541539999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:447.27, Y:271.08, Z:65.38 [[ 1.46536718e-02 -9.99851041e-01 9.11954969e-03 4.47268076e+02] [ 9.43015672e-01 1.07873292e-02 -3.32573415e-01 2.71081578e+02] [ 3.32425499e-01 1.34732999e-02 9.43033275e-01 6.53837878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9192541539999 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:447.28, Y:270.71, Z:65.25 [[ 1.49599871e-02 -9.99871086e-01 -5.83178443e-03 4.47275590e+02] [ 9.42718170e-01 1.60482944e-02 -3.33203999e-01 2.70714841e+02] [ 3.33254635e-01 -5.13001611e-04 9.42836723e-01 6.52529982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9492541539998 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:447.28, Y:270.74, Z:65.26 [[ 1.18761881e-02 -9.99929293e-01 -6.03574969e-04 4.47275378e+02] [ 9.42816933e-01 1.13989377e-02 -3.33116040e-01 2.70740247e+02] [ 3.33099366e-01 3.38708803e-03 9.42885645e-01 6.52633319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 774.9792541539999 meters Centerline goodness : 0.996187 Centerline is valid? [True, True] Translation: X:447.27, Y:270.76, Z:65.28 [[ 1.06562998e-02 -9.99868192e-01 1.22491523e-02 4.47270765e+02] [ 9.41606349e-01 5.91097201e-03 -3.36663843e-01 2.70763144e+02] [ 3.36547064e-01 1.51214704e-02 9.41545227e-01 6.52779004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0092541539999 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:447.28, Y:270.79, Z:65.28 [[ 6.16423441e-03 -9.99913750e-01 -1.15971741e-02 4.47283395e+02] [ 9.42866859e-01 9.67508495e-03 -3.33029246e-01 2.70792019e+02] [ 3.33112726e-01 -8.88172077e-03 9.42845177e-01 6.52777110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0392541539999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:447.28, Y:270.82, Z:65.29 [[ 2.84058967e-03 -9.99995919e-01 -3.04430826e-04 4.47279945e+02] [ 9.43051294e-01 2.78009768e-03 -3.32635728e-01 2.70817500e+02] [ 3.32635217e-01 6.57787730e-04 9.43055343e-01 6.52896846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0692541539999 meters Centerline goodness : 0.999438 Centerline is valid? [True, True] Translation: X:447.28, Y:270.84, Z:65.30 [[-4.46792767e-03 -9.99989999e-01 -2.01250269e-04 4.47284979e+02] [ 9.43201222e-01 -4.14734176e-03 -3.32196110e-01 2.70843112e+02] [ 3.32191953e-01 -1.67404769e-03 9.43210318e-01 6.52979925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.0992541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.29, Y:270.87, Z:65.31 [[-8.92230790e-03 -9.99960190e-01 -1.08076198e-04 4.47287219e+02] [ 9.43378903e-01 -8.38161143e-03 -3.31611208e-01 2.70869087e+02] [ 3.31597100e-01 -3.06069410e-03 9.43416130e-01 6.53073637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1292541539999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:447.29, Y:270.90, Z:65.32 [[-1.69503475e-02 -9.99856333e-01 -7.56916070e-06 4.47292797e+02] [ 9.43496257e-01 -1.59923816e-02 -3.30997066e-01 2.70895196e+02] [ 3.30949391e-01 -5.61765676e-03 9.43631783e-01 6.53157762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1592541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.30, Y:270.90, Z:65.32 [[-2.02815603e-02 -9.99794304e-01 8.76591120e-05 4.47295800e+02] [ 9.43335701e-01 -1.91653024e-02 -3.31286049e-01 2.70902048e+02] [ 3.31219585e-01 -6.63630602e-03 9.43530363e-01 6.53172380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.1892541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.30, Y:270.93, Z:65.33 [[-2.44037976e-02 -9.99702182e-01 -4.42095163e-05 4.47298411e+02] [ 9.43398019e-01 -2.30147213e-02 -3.30863264e-01 2.70928298e+02] [ 3.30763710e-01 -8.11602732e-03 9.43678705e-01 6.53261365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2192541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:447.30, Y:270.94, Z:65.33 [[-2.99396303e-02 -9.99551708e-01 5.12746894e-05 4.47303707e+02] [ 9.43288188e-01 -2.82713335e-02 -3.30768992e-01 2.70938858e+02] [ 3.30622160e-01 -9.85473452e-03 9.43711752e-01 6.53287701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2492541539999 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:447.31, Y:270.97, Z:65.34 [[-3.30162816e-02 -9.99454811e-01 -8.17374658e-05 4.47305745e+02] [ 9.43245116e-01 -3.11323941e-02 -3.30634883e-01 2.70965177e+02] [ 3.30452080e-01 -1.09934328e-02 9.43758744e-01 6.53380955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.2792541539999 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:447.31, Y:270.97, Z:65.34 [[-3.41840164e-02 -9.99415556e-01 1.45101491e-05 4.47308558e+02] [ 9.43048450e-01 -3.22608425e-02 -3.31087389e-01 2.70966203e+02] [ 3.30894355e-01 -1.13042130e-02 9.43600096e-01 6.53365161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3092541539999 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:447.31, Y:270.99, Z:65.34 [[-3.75099695e-02 -9.99296246e-01 -1.18418327e-04 4.47312721e+02] [ 9.42589757e-01 -3.53420610e-02 -3.32077535e-01 2.70993011e+02] [ 3.31839649e-01 -1.25678381e-02 9.43252086e-01 6.53449841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.339254154 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:447.31, Y:271.02, Z:65.35 [[-3.93604603e-02 -9.99225077e-01 -1.72190205e-05 4.47313769e+02] [ 9.42711051e-01 -3.71286040e-02 -3.31537843e-01 2.71017626e+02] [ 3.31280287e-01 -1.30657147e-02 9.43441921e-01 6.53547749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3692541539999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:447.32, Y:271.02, Z:65.36 [[-3.95375427e-02 -9.99218085e-01 4.63283670e-05 4.47315378e+02] [ 9.42464905e-01 -3.73073086e-02 -3.32216900e-01 2.71022964e+02] [ 3.31958862e-01 -1.30913770e-02 9.43203016e-01 6.53565930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.3992541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:447.32, Y:271.05, Z:65.36 [[-3.99399538e-02 -9.99202078e-01 -8.70473236e-05 4.47316806e+02] [ 9.42339596e-01 -3.76380860e-02 -3.32534901e-01 2.71048597e+02] [ 3.32266288e-01 -1.33634567e-02 9.43090946e-01 6.53649463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4292541539999 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:447.32, Y:271.05, Z:65.37 [[-3.81465940e-02 -9.99272154e-01 -2.12638152e-06 4.47318723e+02] [ 9.42056101e-01 -3.59616970e-02 -3.33522201e-01 2.71052381e+02] [ 3.33279371e-01 -1.27247391e-02 9.42742246e-01 6.53659867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4592541539998 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:447.32, Y:271.08, Z:65.38 [[-3.69045007e-02 -9.99318788e-01 -1.34677886e-04 4.47319191e+02] [ 9.41972473e-01 -3.47417230e-02 -3.33887515e-01 2.71078309e+02] [ 3.33655388e-01 -1.24488149e-02 9.42612916e-01 6.53750275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.4892541539999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:447.32, Y:271.10, Z:65.38 [[-3.46749631e-02 -9.99398642e-01 -3.42915537e-05 4.47319741e+02] [ 9.41843849e-01 -3.26665759e-02 -3.34459353e-01 2.71104086e+02] [ 3.34257103e-01 -1.16296630e-02 9.42410176e-01 6.53833368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5192541539999 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:447.32, Y:271.10, Z:65.38 [[-2.76305105e-02 -9.99618203e-01 6.26105623e-05 4.47319515e+02] [ 9.41948723e-01 -2.60574313e-02 -3.34744101e-01 2.71103125e+02] [ 3.34617928e-01 -9.19017444e-03 9.42309070e-01 6.53840898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5492541539999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:447.32, Y:271.13, Z:65.39 [[-2.35237429e-02 -9.99723276e-01 -7.02583838e-05 4.47319060e+02] [ 9.41840334e-01 -2.21381762e-02 -3.35330714e-01 2.71128098e+02] [ 3.35236364e-01 -7.95440568e-03 9.42100476e-01 6.53932539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.5792541539998 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:447.32, Y:271.15, Z:65.40 [[-1.38649342e-02 -9.99903877e-01 3.29011320e-06 4.47317811e+02] [ 9.41844229e-01 -1.30609685e-02 -3.35795861e-01 2.71154455e+02] [ 3.35763626e-01 -4.65268872e-03 9.41934785e-01 6.54030162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6092541539999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:447.32, Y:271.15, Z:65.40 [[-8.16862632e-03 -9.99966631e-01 9.80483341e-05 4.47317270e+02] [ 9.41908062e-01 -7.72727568e-03 -3.35781913e-01 2.71154789e+02] [ 3.35771466e-01 -2.65052445e-03 9.41939753e-01 6.54036746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6392541539999 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:447.32, Y:271.18, Z:65.41 [[-3.28442670e-03 -9.99994606e-01 -3.23452670e-05 4.47316787e+02] [ 9.42001638e-01 -3.08309708e-03 -3.35594114e-01 2.71181055e+02] [ 3.35592204e-01 -1.13270356e-03 9.42006682e-01 6.54126922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6692541539999 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:447.32, Y:271.17, Z:65.41 [[ 6.61870404e-03 -9.99978094e-01 6.25326751e-05 4.47316453e+02] [ 9.42170628e-01 6.21513150e-03 -3.35075932e-01 2.71173646e+02] [ 3.35068203e-01 2.27668488e-03 9.42191125e-01 6.54100705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.6992541539998 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:447.32, Y:271.20, Z:65.42 [[ 9.41117367e-03 -9.99955712e-01 -6.71611133e-05 4.47316308e+02] [ 9.42344557e-01 8.89142921e-03 -3.34526051e-01 2.71199303e+02] [ 3.34511833e-01 3.08499385e-03 9.42386501e-01 6.54202013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7292541539999 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:447.32, Y:271.20, Z:65.42 [[ 1.27239439e-02 -9.99919047e-01 2.64340570e-05 4.47316914e+02] [ 9.42500864e-01 1.19844697e-02 -3.33988762e-01 2.71197178e+02] [ 3.33961408e-01 4.27456841e-03 9.42577056e-01 6.54197151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7592541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.32, Y:271.22, Z:65.43 [[ 1.44142226e-02 -9.99896104e-01 -1.02648969e-04 4.47317821e+02] [ 9.42539952e-01 1.36216617e-02 -3.33815651e-01 2.71223225e+02] [ 3.33782367e-01 4.71494234e-03 9.42638372e-01 6.54286846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.7892541539999 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:447.32, Y:271.25, Z:65.44 [[ 1.55515148e-02 -9.99879068e-01 9.06851075e-07 4.47320543e+02] [ 9.42453546e-01 1.46580500e-02 -3.34015650e-01 2.71250072e+02] [ 3.33975244e-01 5.19530399e-03 9.42567528e-01 6.54363972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8192541539999 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:447.32, Y:271.25, Z:65.44 [[ 1.44552579e-02 -9.99895513e-01 9.66735744e-05 4.47321562e+02] [ 9.42367632e-01 1.35912690e-02 -3.34303041e-01 2.71252629e+02] [ 3.34266796e-01 4.92353873e-03 9.42465632e-01 6.54386427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8492541539999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:447.32, Y:271.28, Z:65.45 [[ 1.22248217e-02 -9.99925274e-01 -3.20047179e-05 4.47323497e+02] [ 9.42290907e-01 1.15309086e-02 -3.34596601e-01 2.71278673e+02] [ 3.34571967e-01 4.06022602e-03 9.42361456e-01 6.54474521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.8792541539999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:447.33, Y:271.28, Z:65.45 [[ 5.66069842e-03 -9.99983976e-01 6.30537348e-05 4.47327767e+02] [ 9.42372068e-01 5.31347620e-03 -3.34524517e-01 2.71284853e+02] [ 3.34518822e-01 1.95306249e-03 9.42387045e-01 6.54491130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9092541539999 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:447.33, Y:271.31, Z:65.46 [[ 1.03991668e-03 -9.99999457e-01 -6.59775747e-05 4.47330919e+02] [ 9.42253482e-01 1.00196149e-03 -3.34899048e-01 2.71312186e+02] [ 3.34898933e-01 2.86099508e-04 9.42254012e-01 6.54565689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9392541539999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:447.34, Y:271.33, Z:65.46 [[-1.07658047e-02 -9.99942047e-01 2.85481410e-05 4.47336103e+02] [ 9.42367062e-01 -1.01554755e-02 -3.34426654e-01 2.71325512e+02] [ 3.34407563e-01 -3.57346922e-03 9.42421780e-01 6.54621376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9692541539999 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:447.34, Y:271.35, Z:65.47 [[-1.70467858e-02 -9.99854688e-01 -1.01459177e-04 4.47339730e+02] [ 9.42323245e-01 -1.60319923e-02 -3.34320021e-01 2.71352141e+02] [ 3.34269814e-01 -5.79468913e-03 9.42459608e-01 6.54691813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 775.9992541539999 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:447.34, Y:271.38, Z:65.48 [[-2.38558001e-02 -9.99715410e-01 1.43596090e-06 4.47342380e+02] [ 9.42405161e-01 -2.24887084e-02 -3.33716601e-01 2.71378462e+02] [ 3.33621661e-01 -7.95972329e-03 9.42673448e-01 6.54780390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0292541539999 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:447.35, Y:271.39, Z:65.48 [[-3.58514704e-02 -9.99357125e-01 9.77005345e-05 4.47347132e+02] [ 9.42517488e-01 -3.38448753e-02 -3.32438430e-01 2.71386647e+02] [ 3.32228020e-01 -1.18263221e-02 9.43124955e-01 6.54805743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.0592541539999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:447.35, Y:271.41, Z:65.49 [[-4.24151687e-02 -9.99100071e-01 -3.53879618e-05 4.47348511e+02] [ 9.42622744e-01 -4.00057755e-02 -3.31454221e-01 2.71411856e+02] [ 3.31154521e-01 -1.40920442e-02 9.43471302e-01 6.54913967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.089254154 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:447.35, Y:271.42, Z:65.49 [[-4.71369288e-02 -9.98888436e-01 5.18759431e-05 4.47350226e+02] [ 9.42698332e-01 -4.45025251e-02 -3.30665057e-01 2.71418219e+02] [ 3.30299810e-01 -1.55376319e-02 9.43748175e-01 6.54935061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1192541539999 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:447.35, Y:271.45, Z:65.50 [[-4.74154141e-02 -9.98875253e-01 -8.22820226e-05 4.47350226e+02] [ 9.42688003e-01 -4.47210341e-02 -3.30665025e-01 2.71445120e+02] [ 3.30289431e-01 -1.57561854e-02 9.43748184e-01 6.55026322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1492541539999 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:447.35, Y:271.45, Z:65.50 [[-5.52430058e-02 -9.98472939e-01 9.18292886e-06 4.47353723e+02] [ 9.42589269e-01 -5.21541360e-02 -3.29856659e-01 2.71453390e+02] [ 3.29353427e-01 -1.82136176e-02 9.44031029e-01 6.55048758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.1792541539999 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:447.36, Y:271.48, Z:65.51 [[-5.86402847e-02 -9.98279170e-01 -1.25563364e-04 4.47355674e+02] [ 9.42483471e-01 -5.53213065e-02 -3.29642928e-01 2.71479672e+02] [ 3.29068722e-01 -1.94486965e-02 9.44105674e-01 6.55129229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2092541539998 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:447.36, Y:271.50, Z:65.52 [[-6.40311684e-02 -9.97947899e-01 -2.20634902e-05 4.47358091e+02] [ 9.42415615e-01 -6.04607871e-02 -3.28933584e-01 2.71504830e+02] [ 3.28257245e-01 -2.10827946e-02 9.44353058e-01 6.55219013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2392541539999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:447.36, Y:271.50, Z:65.52 [[-6.51993168e-02 -9.97872259e-01 6.66561030e-05 4.47358656e+02] [ 9.42454346e-01 -6.16003530e-02 -3.28611020e-01 2.71504799e+02] [ 3.27915927e-01 -2.13623936e-02 9.44465348e-01 6.55224041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2692541539999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:447.34, Y:271.54, Z:65.53 [[-6.17878084e-02 -9.96561741e-01 5.51992965e-02 4.47337508e+02] [ 9.45344624e-01 -7.61736503e-02 -3.17050654e-01 2.71538609e+02] [ 3.20165284e-01 3.25924931e-02 9.46800887e-01 6.55333277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.2992541539999 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:447.37, Y:271.54, Z:65.51 [[-6.49159222e-02 -9.97704933e-01 -1.92559111e-02 4.47374155e+02] [ 9.43278026e-01 -5.50555961e-02 -3.27407158e-01 2.71540544e+02] [ 3.25595591e-01 -3.94176154e-02 9.44687124e-01 6.55147676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3292541539998 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:447.36, Y:271.54, Z:65.52 [[-6.44001875e-02 -9.97924104e-01 3.13769394e-04 4.47364515e+02] [ 9.43350954e-01 -6.09809026e-02 -3.26144611e-01 2.71540455e+02] [ 3.25486702e-01 -2.07077794e-02 9.45319837e-01 6.55201505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3592541539999 meters Centerline goodness : 0.998467 Centerline is valid? [True, True] Translation: X:447.36, Y:271.54, Z:65.52 [[-6.19759550e-02 -9.98069358e-01 4.06660715e-03 4.47363506e+02] [ 9.44400526e-01 -5.99605548e-02 -3.23283742e-01 2.71538587e+02] [ 3.22903433e-01 -1.61953127e-02 9.46293340e-01 6.55185588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.3892541539999 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:447.37, Y:271.57, Z:65.52 [[-6.00041863e-02 -9.98189478e-01 4.15493967e-03 4.47365037e+02] [ 9.44567384e-01 -5.81258264e-02 -3.23131314e-01 2.71567168e+02] [ 3.22787787e-01 -1.54646111e-02 9.46345017e-01 6.55246680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4192541539999 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:447.39, Y:271.58, Z:65.53 [[-6.54605781e-02 -9.96022626e-01 -6.04470123e-02 4.47390652e+02] [ 9.41528800e-01 -4.15876028e-02 -3.34356082e-01 2.71584243e+02] [ 3.30512377e-01 -7.87997453e-02 9.40506337e-01 6.55313819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4492541539998 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:447.36, Y:271.61, Z:65.55 [[-6.38615240e-02 -9.97958757e-01 -1.55921478e-04 4.47360529e+02] [ 9.40160932e-01 -6.01105161e-02 -3.35386565e-01 2.71605904e+02] [ 3.34692587e-01 -2.15648884e-02 9.42080585e-01 6.55537565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.4792541539999 meters Centerline goodness : 0.998738 Centerline is valid? [True, True] Translation: X:447.34, Y:271.64, Z:65.57 [[-5.61853987e-02 -9.96818978e-01 5.65254396e-02 4.47336390e+02] [ 9.42857034e-01 -7.15967402e-02 -3.25414384e-01 2.71641237e+02] [ 3.28426271e-01 3.50118714e-02 9.43880476e-01 6.55650185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5092541539999 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:447.38, Y:271.66, Z:65.56 [[-6.60370143e-02 -9.96853171e-01 -4.38505225e-02 4.47379185e+02] [ 9.34306074e-01 -4.63458248e-02 -3.53446212e-01 2.71658569e+02] [ 3.50301689e-01 -6.43103421e-02 9.34426512e-01 6.55592683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5392541539999 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:447.34, Y:271.65, Z:65.57 [[-5.40377283e-02 -9.97606549e-01 4.31404267e-02 4.47338844e+02] [ 9.41894751e-01 -6.52691017e-02 -3.29506028e-01 2.71646405e+02] [ 3.31533108e-01 2.28279843e-02 9.43167367e-01 6.55667283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5692541539999 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:447.37, Y:271.66, Z:65.56 [[-5.99097409e-02 -9.97225194e-01 -4.41897766e-02 4.47374265e+02] [ 9.34499553e-01 -4.04699298e-02 -3.53656290e-01 2.71659556e+02] [ 3.50886605e-01 -6.24827831e-02 9.34331040e-01 6.55606143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.5992541539999 meters Centerline goodness : 0.998610 Centerline is valid? [True, True] Translation: X:447.35, Y:271.65, Z:65.57 [[-5.63792020e-02 -9.98407595e-01 1.91299778e-03 4.47350654e+02] [ 9.33695806e-01 -5.34033850e-02 -3.54062454e-01 2.71653285e+02] [ 3.53600804e-01 -1.81756006e-02 9.35219824e-01 6.55697157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6292541539999 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:447.35, Y:271.65, Z:65.57 [[-5.48479149e-02 -9.98493172e-01 1.75851250e-03 4.47348582e+02] [ 9.33977837e-01 -5.19266823e-02 -3.53537862e-01 2.71652388e+02] [ 3.53096455e-01 -1.77484028e-02 9.35418563e-01 6.55711985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6592541539999 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:447.34, Y:271.64, Z:65.56 [[-4.13587291e-02 -9.98633252e-01 3.19543884e-02 4.47335468e+02] [ 9.41531246e-01 -4.96570857e-02 -3.33246284e-01 2.71640940e+02] [ 3.34377582e-01 1.63034123e-02 9.42298165e-01 6.55642267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.6892541539999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:447.37, Y:271.66, Z:65.56 [[-4.55314535e-02 -9.97836388e-01 -4.74281522e-02 4.47367144e+02] [ 9.39156565e-01 -2.65764342e-02 -3.42459690e-01 2.71662147e+02] [ 3.40458269e-01 -6.01351480e-02 9.38334658e-01 6.55642803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7192541539999 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:447.34, Y:271.68, Z:65.58 [[-4.29222316e-02 -9.99078404e-01 -1.57817432e-04 4.47343036e+02] [ 9.38587927e-01 -4.02693192e-02 -3.42682193e-01 2.71684721e+02] [ 3.42360024e-01 -1.48568100e-02 9.39451377e-01 6.55838019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7492541539999 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:447.34, Y:271.71, Z:65.59 [[-4.18150172e-02 -9.99125368e-01 -5.50442729e-05 4.47340883e+02] [ 9.38781747e-01 -3.92706824e-02 -3.42266920e-01 2.71710100e+02] [ 3.41965401e-01 -1.43635717e-02 9.39602763e-01 6.55949712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.7792541539999 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:447.34, Y:271.71, Z:65.60 [[-3.79493957e-02 -9.99279662e-01 3.90714543e-05 4.47338164e+02] [ 9.39038001e-01 -3.56749835e-02 -3.41957495e-01 2.71708351e+02] [ 3.41712563e-01 -1.29403907e-02 9.39715420e-01 6.55950742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8092541539999 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:447.34, Y:271.73, Z:65.60 [[-3.59728138e-02 -9.99352764e-01 -9.79439528e-05 4.47337785e+02] [ 9.39196641e-01 -3.37739367e-02 -3.41714779e-01 2.71734716e+02] [ 3.41490301e-01 -1.23844308e-02 9.39803703e-01 6.56031085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.839254154 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:447.34, Y:271.76, Z:65.61 [[-3.52476554e-02 -9.99378608e-01 2.02800262e-06 4.47336194e+02] [ 9.39270287e-01 -3.31283538e-02 -3.41575528e-01 2.71760521e+02] [ 3.41363343e-01 -1.20378316e-02 9.39854329e-01 6.56137754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8692541539999 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:447.33, Y:271.76, Z:65.61 [[-3.18295892e-02 -9.99493306e-01 9.37096849e-05 4.47334450e+02] [ 9.39199082e-01 -2.99415470e-02 -3.42065183e-01 2.71755590e+02] [ 3.41894666e-01 -1.07997822e-02 9.39676222e-01 6.56126314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.8992541539999 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:447.33, Y:271.78, Z:65.62 [[-2.99698900e-02 -9.99550801e-01 -4.21593924e-05 4.47333749e+02] [ 9.39038162e-01 -2.81410650e-02 -3.42659322e-01 2.71780967e+02] [ 3.42504213e-01 -1.03090514e-02 9.39459732e-01 6.56217589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9292541539999 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:447.33, Y:271.78, Z:65.62 [[-2.38068830e-02 -9.99716574e-01 5.90295345e-05 4.47332940e+02] [ 9.38841628e-01 -2.23775190e-02 -3.43621368e-01 2.71782633e+02] [ 3.43525297e-01 -8.12513432e-03 9.39108275e-01 6.56205015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9592541539998 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:447.33, Y:271.81, Z:65.63 [[-2.16622663e-02 -9.99765343e-01 -7.57870798e-05 4.47331539e+02] [ 9.38926533e-01 -2.03180101e-02 -3.43517313e-01 2.71806414e+02] [ 3.43435165e-01 -7.51252200e-03 9.39146341e-01 6.56301075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 776.9892541539999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:447.33, Y:271.81, Z:65.63 [[-1.78865021e-02 -9.99840023e-01 2.87193547e-05 4.47330585e+02] [ 9.38766913e-01 -1.68038281e-02 -3.44142868e-01 2.71807178e+02] [ 3.44088296e-01 -6.12855134e-03 9.38917294e-01 6.56310307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0192541539999 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:447.33, Y:271.83, Z:65.64 [[-1.00750408e-02 -9.99949240e-01 -1.07339165e-04 4.47328878e+02] [ 9.38591281e-01 -9.41980202e-03 -3.44902413e-01 2.71832251e+02] [ 3.44883894e-01 -3.57565347e-03 9.38638543e-01 6.56398341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0492541539999 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:447.33, Y:271.86, Z:65.65 [[-6.24889713e-03 -9.99980475e-01 -3.30275004e-05 4.47327887e+02] [ 9.38593755e-01 -5.85389646e-03 -3.44974630e-01 2.71858148e+02] [ 3.44967701e-01 -2.18671038e-03 9.38612009e-01 6.56491469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.0792541539998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:447.33, Y:271.86, Z:65.65 [[-2.04306420e-03 -9.99997911e-01 6.20251859e-05 4.47326587e+02] [ 9.38542574e-01 -1.93891528e-03 -3.45158046e-01 2.71856516e+02] [ 3.45157446e-01 -6.46966770e-04 9.38544575e-01 6.56492387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1092541539999 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:447.33, Y:271.88, Z:65.66 [[ 1.39099861e-03 -9.99999030e-01 -7.15457239e-05 4.47325842e+02] [ 9.38561545e-01 1.33023019e-03 -3.45109341e-01 2.71882225e+02] [ 3.45109101e-01 4.12896549e-04 9.38562485e-01 6.56586108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1392541539999 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:447.32, Y:271.87, Z:65.65 [[ 1.45409754e-02 -9.99833989e-01 1.09797510e-02 4.47323550e+02] [ 9.41179079e-01 9.97878886e-03 -3.37760810e-01 2.71867563e+02] [ 3.37595174e-01 1.52452836e-02 9.41167934e-01 6.56539837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1692541539999 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:447.34, Y:271.89, Z:65.65 [[ 1.07905125e-02 -9.99739823e-01 -2.00960352e-02 4.47335602e+02] [ 9.39667031e-01 1.70100721e-02 -3.41667278e-01 2.71890978e+02] [ 3.41920219e-01 -1.51968167e-02 9.39606099e-01 6.56549967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.1992541539998 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:447.33, Y:271.92, Z:65.67 [[ 1.05728133e-02 -9.99943472e-01 -1.12651661e-03 4.47328069e+02] [ 9.39876892e-01 1.03222712e-02 -3.41357407e-01 2.71915399e+02] [ 3.41349738e-01 2.55032119e-03 9.39932898e-01 6.56706615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2292541539999 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:447.33, Y:271.94, Z:65.68 [[ 9.44807048e-03 -9.99954844e-01 -1.02166342e-03 4.47329218e+02] [ 9.40021447e-01 9.23018315e-03 -3.40990445e-01 2.71942013e+02] [ 3.40984477e-01 2.26131623e-03 9.40066207e-01 6.56803798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2592541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:447.33, Y:271.97, Z:65.69 [[ 7.99179829e-03 -9.99967644e-01 -9.18055809e-04 4.47330456e+02] [ 9.40084893e-01 7.82614196e-03 -3.40850620e-01 2.71968663e+02] [ 3.40846776e-01 1.86095900e-03 9.40117021e-01 6.56895520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.2892541539999 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:447.33, Y:272.00, Z:65.70 [[ 4.84516025e-03 -9.99987932e-01 -8.12902197e-04 4.47333211e+02] [ 9.40259021e-01 4.83249671e-03 -3.40425645e-01 2.71995317e+02] [ 3.40425465e-01 8.85078180e-04 9.40271088e-01 6.56991447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3192541539999 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:447.33, Y:272.02, Z:65.71 [[ 2.79335408e-03 -9.99995847e-01 -7.09257237e-04 4.47334744e+02] [ 9.40022746e-01 2.86775573e-03 -3.41099712e-01 2.72021957e+02] [ 3.41100329e-01 2.86094338e-04 9.40026853e-01 6.57085793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3492541539999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:447.34, Y:272.05, Z:65.72 [[ 5.42539812e-04 -9.99999670e-01 -6.04036792e-04 4.47336713e+02] [ 9.39957040e-01 7.16117298e-04 -3.41292031e-01 2.72048199e+02] [ 3.41292352e-01 -3.82604119e-04 9.39957118e-01 6.57176506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.3792541539999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:447.34, Y:272.07, Z:65.73 [[-3.86882440e-03 -9.99992392e-01 -4.99119698e-04 4.47341220e+02] [ 9.39804310e-01 -3.46541722e-03 -3.41695552e-01 2.72073142e+02] [ 3.41691222e-01 -1.79103493e-03 9.39810567e-01 6.57268616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4092541539999 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:447.34, Y:272.10, Z:65.74 [[-6.48758202e-03 -9.99978865e-01 -4.25296669e-04 4.47343315e+02] [ 9.39717343e-01 -5.95121000e-03 -3.41900422e-01 2.72099303e+02] [ 3.41890665e-01 -2.61776569e-03 9.39736091e-01 6.57357776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4392541539999 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:447.35, Y:272.13, Z:65.74 [[-8.77491369e-03 -9.99961448e-01 -3.20552887e-04 4.47345549e+02] [ 9.39639298e-01 -8.13591591e-03 -3.42069870e-01 2.72126052e+02] [ 3.42054075e-01 -3.30283767e-03 9.39674466e-01 6.57438914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4692541539999 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:447.35, Y:272.15, Z:65.75 [[-1.29016462e-02 -9.99916747e-01 -2.16072583e-04 4.47349703e+02] [ 9.39657088e-01 -1.20502501e-02 -3.41905468e-01 2.72151359e+02] [ 3.41874400e-01 -4.61417752e-03 9.39734326e-01 6.57541329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.4992541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:447.35, Y:272.18, Z:65.76 [[-1.45193481e-02 -9.99894583e-01 -1.06444229e-04 4.47351589e+02] [ 9.39613763e-01 -1.36076134e-02 -3.41966093e-01 2.72177402e+02] [ 3.41928595e-01 -5.06514119e-03 9.39712286e-01 6.57632732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5292541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:447.35, Y:272.20, Z:65.77 [[-1.57008059e-02 -9.99876735e-01 -3.48219105e-06 4.47353516e+02] [ 9.39691168e-01 -1.47545375e-02 -3.41705739e-01 2.72203402e+02] [ 3.41663567e-01 -5.36832768e-03 9.39806995e-01 6.57719920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.5592541539999 meters Centerline goodness : 0.998908 Centerline is valid? [True, True] Translation: X:447.36, Y:272.20, Z:65.77 [[-1.54699902e-02 -9.99880329e-01 8.87407566e-05 4.47355274e+02] [ 9.39639914e-01 -1.45683001e-02 -3.41854642e-01 2.72203850e+02] [ 3.41815024e-01 -5.20510359e-03 9.39752838e-01 6.57724549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.589254154 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:447.36, Y:272.23, Z:65.78 [[-1.53724423e-02 -9.99881836e-01 -4.34632573e-05 4.47359001e+02] [ 9.39583867e-01 -1.44305389e-02 -3.42014497e-01 2.72229130e+02] [ 3.41973456e-01 -5.29843550e-03 9.39694675e-01 6.57819138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6192541539999 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:447.36, Y:272.23, Z:65.78 [[-1.44774110e-02 -9.99895195e-01 5.38921444e-05 4.47360717e+02] [ 9.39509221e-01 -1.36215335e-02 -3.42252651e-01 2.72227259e+02] [ 3.42217515e-01 -4.90430012e-03 9.39607961e-01 6.57814630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6492541539999 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:447.36, Y:272.25, Z:65.79 [[-1.31085756e-02 -9.99914076e-01 -7.82768875e-05 4.47363817e+02] [ 9.39335545e-01 -1.22875751e-02 -3.42779449e-01 2.72253302e+02] [ 3.42749034e-01 -4.56687859e-03 9.39415906e-01 6.57909934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.6792541539999 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:447.37, Y:272.25, Z:65.79 [[-1.13140877e-02 -9.99935994e-01 1.64194831e-05 4.47365523e+02] [ 9.39156904e-01 -1.06320213e-02 -3.43323857e-01 2.72254355e+02] [ 3.43302057e-01 -3.86897575e-03 9.39217083e-01 6.57900745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7092541539998 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:447.37, Y:272.28, Z:65.80 [[-1.08011311e-02 -9.99941659e-01 -1.15212232e-04 4.47366780e+02] [ 9.39277584e-01 -1.01063311e-02 -3.43009449e-01 2.72279775e+02] [ 3.42988273e-01 -3.81310630e-03 9.39331946e-01 6.58012368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7392541539999 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:447.37, Y:272.30, Z:65.81 [[-9.46172657e-03 -9.99955237e-01 -6.82429585e-06 4.47370082e+02] [ 9.39522248e-01 -8.88756399e-03 -3.42372542e-01 2.72304721e+02] [ 3.42357156e-01 -3.24584695e-03 9.39564283e-01 6.58104165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7692541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:447.37, Y:272.31, Z:65.81 [[-8.54218967e-03 -9.99963512e-01 8.05275987e-05 4.47371530e+02] [ 9.39693750e-01 -8.05487032e-03 -3.41922178e-01 2.72312527e+02] [ 3.41910350e-01 -2.84509281e-03 9.39728268e-01 6.58133289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.7992541539999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:447.37, Y:272.34, Z:65.82 [[-8.24683966e-03 -9.99965993e-01 -5.16054825e-05 4.47373360e+02] [ 9.39599535e-01 -7.73133083e-03 -3.42188457e-01 2.72339342e+02] [ 3.42176421e-01 -2.87046182e-03 9.39631341e-01 6.58210329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8292541539998 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.37, Y:272.34, Z:65.82 [[-7.90474643e-03 -9.99968756e-01 4.10106147e-05 4.47374565e+02] [ 9.39761021e-01 -7.44282054e-03 -3.41751119e-01 2.72343192e+02] [ 3.41740747e-01 -2.66291576e-03 9.39790493e-01 6.58246886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8592541539999 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:447.38, Y:272.37, Z:65.83 [[-8.03281329e-03 -9.99967732e-01 -9.11976375e-05 4.47378449e+02] [ 9.39837171e-01 -7.51863149e-03 -3.41539986e-01 2.72368874e+02] [ 3.41528280e-01 -2.82923787e-03 9.39867240e-01 6.58313241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.8892541539999 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:447.38, Y:272.39, Z:65.84 [[-9.19516466e-03 -9.99957724e-01 3.88715858e-06 4.47379678e+02] [ 9.40148705e-01 -8.64651186e-03 -3.40654739e-01 2.72394249e+02] [ 3.40640371e-01 -3.12872190e-03 9.40188465e-01 6.58421955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9192541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:447.38, Y:272.39, Z:65.84 [[-9.31889973e-03 -9.99956573e-01 9.78889248e-05 4.47381110e+02] [ 9.40140638e-01 -8.79480639e-03 -3.40673204e-01 2.72394686e+02] [ 3.40659271e-01 -3.08267007e-03 9.40181769e-01 6.58434756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9492541539998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.38, Y:272.42, Z:65.85 [[-1.08153391e-02 -9.99941512e-01 -3.54251908e-05 4.47384269e+02] [ 9.39770968e-01 -1.01524323e-02 -3.41654000e-01 2.72420028e+02] [ 3.41633658e-01 -3.72839543e-03 9.39825804e-01 6.58526940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 777.9792541539999 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:447.39, Y:272.42, Z:65.85 [[-1.12570678e-02 -9.99936637e-01 3.10131373e-05 4.47386228e+02] [ 9.39469265e-01 -1.05869611e-02 -3.42469586e-01 2.72422263e+02] [ 3.42448214e-01 -3.82606745e-03 9.39528915e-01 6.58515340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0092541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:447.39, Y:272.45, Z:65.86 [[-1.29648415e-02 -9.99915948e-01 -1.00876767e-04 4.47388047e+02] [ 9.39179102e-01 -1.21427066e-02 -3.43213008e-01 2.72448783e+02] [ 3.43182935e-01 -4.54444361e-03 9.39257590e-01 6.58599938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0392541539999 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:447.39, Y:272.48, Z:65.87 [[-1.32311422e-02 -9.99912465e-01 2.76044508e-06 4.47387921e+02] [ 9.39175365e-01 -1.24283982e-02 -3.43213009e-01 2.72475630e+02] [ 3.43183000e-01 -4.53850760e-03 9.39257595e-01 6.58693205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0692541539999 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:447.39, Y:272.48, Z:65.87 [[-1.70928046e-02 -9.99853903e-01 9.31252973e-05 4.47391011e+02] [ 9.39068065e-01 -1.60856320e-02 -3.43354660e-01 2.72483662e+02] [ 3.43305995e-01 -5.78144314e-03 9.39205818e-01 6.58724085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.0992541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.39, Y:272.49, Z:65.88 [[-1.97705812e-02 -9.99804542e-01 3.89756427e-05 4.47392031e+02] [ 9.39227178e-01 -1.85860606e-02 -3.42792745e-01 2.72486286e+02] [ 3.42726468e-01 -6.74060483e-03 9.39411056e-01 6.58759943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1292541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.39, Y:272.51, Z:65.89 [[-2.24970648e-02 -9.99746909e-01 -8.07708305e-06 4.47393505e+02] [ 9.39283058e-01 -2.11336942e-02 -3.42491905e-01 2.72512567e+02] [ 3.42405053e-01 -7.71264923e-03 9.39520779e-01 6.58857671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1592541539999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:447.40, Y:272.52, Z:65.89 [[-2.48606020e-02 -9.99690923e-01 9.06503997e-05 4.47395273e+02] [ 9.39371232e-01 -2.33915759e-02 -3.42103088e-01 2.72519444e+02] [ 3.41999472e-01 -8.41973433e-03 9.39662423e-01 6.58873914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.1892541539999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:447.40, Y:272.52, Z:65.89 [[-2.99773879e-02 -9.99550576e-01 3.65101782e-05 4.47398078e+02] [ 9.39544920e-01 -2.81902315e-02 -3.41263321e-01 2.72523575e+02] [ 3.41110979e-01 -1.01958800e-02 9.39967736e-01 6.58896571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2192541539999 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:447.40, Y:272.55, Z:65.90 [[-3.27793920e-02 -9.99462611e-01 -1.22726724e-05 4.47399078e+02] [ 9.39388592e-01 -3.08049504e-02 -3.41467610e-01 2.72548962e+02] [ 3.41283731e-01 -1.12046295e-02 9.39893542e-01 6.58992067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2492541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.40, Y:272.55, Z:65.90 [[-3.70521440e-02 -9.99313332e-01 5.90058212e-05 4.47401018e+02] [ 9.39190568e-01 -3.48431077e-02 -3.41624114e-01 2.72553522e+02] [ 3.41391587e-01 -1.26024882e-02 9.39836667e-01 6.59009638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.2792541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.40, Y:272.56, Z:65.90 [[-3.83733017e-02 -9.99263474e-01 4.53670201e-06 4.47402710e+02] [ 9.39103032e-01 -3.60645969e-02 -3.41737969e-01 2.72557791e+02] [ 3.41486434e-01 -1.31093538e-02 9.39795276e-01 6.59007517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3092541539999 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:447.40, Y:272.58, Z:65.91 [[-4.05298133e-02 -9.99178329e-01 -4.32331089e-05 4.47403735e+02] [ 9.38985243e-01 -3.80734015e-02 -3.41843720e-01 2.72584047e+02] [ 3.41561191e-01 -1.38954574e-02 9.39756814e-01 6.59092943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.339254154 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:447.41, Y:272.59, Z:65.91 [[-4.44782086e-02 -9.99010353e-01 5.57829479e-05 4.47405071e+02] [ 9.39204453e-01 -4.18345438e-02 -3.40800333e-01 2.72590858e+02] [ 3.40465394e-01 -1.51057967e-02 9.40135698e-01 6.59140895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3692541539999 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:447.41, Y:272.59, Z:65.91 [[-4.59079472e-02 -9.98945674e-01 1.01095208e-06 4.47406456e+02] [ 9.38979187e-01 -4.31524487e-02 -3.41256433e-01 2.72593966e+02] [ 3.40896681e-01 -1.56654330e-02 9.39970237e-01 6.59136291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.3992541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:447.41, Y:272.62, Z:65.92 [[-4.81285594e-02 -9.98841148e-01 -4.75166360e-05 4.47407137e+02] [ 9.39021068e-01 -4.52299490e-02 -3.40871948e-01 2.72619755e+02] [ 3.40474779e-01 -1.64502949e-02 9.40109734e-01 6.59234615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4292541539999 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:447.41, Y:272.62, Z:65.92 [[-5.15844689e-02 -9.98668634e-01 4.91987718e-05 4.47408382e+02] [ 9.38872253e-01 -4.85125830e-02 -3.40830488e-01 2.72624599e+02] [ 3.40379105e-01 -1.75353683e-02 9.40124766e-01 6.59248813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4592541539998 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:447.41, Y:272.65, Z:65.94 [[-5.44510606e-02 -9.98516441e-01 3.89756686e-07 4.47407905e+02] [ 9.39161265e-01 -5.12144390e-02 -3.39636865e-01 2.72649951e+02] [ 3.39133014e-01 -1.84932215e-02 9.40556644e-01 6.59360081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.4892541539999 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:447.41, Y:272.65, Z:65.94 [[-5.67422040e-02 -9.98388858e-01 1.02339969e-04 4.47409092e+02] [ 9.38419187e-01 -5.33688918e-02 -3.41352004e-01 2.72651673e+02] [ 3.40807499e-01 -1.92730272e-02 9.39935529e-01 6.59353298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5192541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.41, Y:272.65, Z:65.93 [[-5.72413491e-02 -9.98360369e-01 4.72093078e-05 4.47409813e+02] [ 9.38013987e-01 -5.37975586e-02 -3.42396822e-01 2.72652421e+02] [ 3.41837957e-01 -1.95549730e-02 9.39555434e-01 6.59344209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5492541539999 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:447.41, Y:272.68, Z:65.94 [[-5.85801621e-02 -9.98282708e-01 -7.29231355e-07 4.47409283e+02] [ 9.38034017e-01 -5.50444627e-02 -3.42143670e-01 2.72677819e+02] [ 3.41556069e-01 -2.00435157e-02 9.39647652e-01 6.59445923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.5792541539998 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:447.41, Y:272.68, Z:65.95 [[-5.89619940e-02 -9.98260223e-01 1.04583546e-04 4.47408588e+02] [ 9.37992711e-01 -5.54381584e-02 -3.42193343e-01 2.72681072e+02] [ 3.41603801e-01 -2.00783032e-02 9.39629557e-01 6.59469405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6092541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.41, Y:272.68, Z:65.95 [[-5.80606917e-02 -9.98313054e-01 4.92353572e-05 4.47408334e+02] [ 9.38087270e-01 -5.45749027e-02 -3.42072878e-01 2.72682892e+02] [ 3.41498507e-01 -1.98148009e-02 9.39673424e-01 6.59477102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6392541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.41, Y:272.71, Z:65.96 [[-5.70082314e-02 -9.98373708e-01 1.05770107e-06 4.47408507e+02] [ 9.37848290e-01 -5.35525270e-02 -3.42888775e-01 2.72709877e+02] [ 3.42331195e-01 -1.95464907e-02 9.39376010e-01 6.59557386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6692541539999 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:447.41, Y:272.71, Z:65.96 [[-5.55975135e-02 -9.98453257e-01 9.97702070e-05 4.47407523e+02] [ 9.37940407e-01 -5.22621955e-02 -3.42835902e-01 2.72710322e+02] [ 3.42310837e-01 -1.89672452e-02 9.39395303e-01 6.59560500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.6992541539998 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:447.41, Y:272.71, Z:65.96 [[-5.20327371e-02 -9.98645379e-01 4.43318299e-05 4.47405222e+02] [ 9.38273492e-01 -4.89023623e-02 -3.42419937e-01 2.72712703e+02] [ 3.41958255e-01 -1.77754512e-02 9.39547011e-01 6.59580733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7292541539999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:447.39, Y:272.75, Z:65.97 [[-4.52703791e-02 -9.98226602e-01 3.86554387e-02 4.47390390e+02] [ 9.41536610e-01 -5.55673362e-02 -3.32296679e-01 2.72747886e+02] [ 3.33855365e-01 2.13523141e-02 9.42382446e-01 6.59680513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7592541539999 meters Centerline goodness : 0.999417 Centerline is valid? [True, True] Translation: X:447.42, Y:272.78, Z:65.97 [[-5.33399282e-02 -9.98032913e-01 -3.29417040e-02 4.47418928e+02] [ 9.35547852e-01 -3.84116151e-02 -3.51105063e-01 2.72775693e+02] [ 3.49149065e-01 -4.95464592e-02 9.35756421e-01 6.59735194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.7892541539999 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:447.40, Y:272.77, Z:65.98 [[-4.76105838e-02 -9.98863908e-01 2.03094255e-03 4.47399632e+02] [ 9.35150687e-01 -4.52880799e-02 -3.51343396e-01 2.72768376e+02] [ 3.51036215e-01 -1.48284269e-02 9.36244463e-01 6.59798683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8192541539999 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:447.40, Y:272.78, Z:65.98 [[-4.44532168e-02 -9.99009497e-01 1.98401694e-03 4.47399360e+02] [ 9.34620904e-01 -4.22893942e-02 -3.53122319e-01 2.72777751e+02] [ 3.52856454e-01 -1.38431193e-02 9.35575059e-01 6.59810595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8492541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.40, Y:272.77, Z:65.98 [[-4.31064892e-02 -9.99068645e-01 1.91670382e-03 4.47397581e+02] [ 9.35416475e-01 -4.10338039e-02 -3.51158432e-01 2.72772948e+02] [ 3.50910029e-01 -1.33442908e-02 9.36314094e-01 6.59817135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.8792541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:447.40, Y:272.77, Z:65.98 [[-4.13180513e-02 -9.99144307e-01 1.86356403e-03 4.47396888e+02] [ 9.35238614e-01 -3.93315437e-02 -3.51826328e-01 2.72770538e+02] [ 3.51598569e-01 -1.27939012e-02 9.36063439e-01 6.59808354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9092541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.40, Y:272.77, Z:65.98 [[-3.88628066e-02 -9.99242921e-01 1.80778569e-03 4.47395321e+02] [ 9.35281921e-01 -3.70119748e-02 -3.51962842e-01 2.72773414e+02] [ 3.51763288e-01 -1.19874746e-02 9.36012228e-01 6.59814792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9392541539999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:447.39, Y:272.78, Z:65.98 [[-3.83273686e-02 -9.99263706e-01 1.74915574e-03 4.47394180e+02] [ 9.35477613e-01 -3.64960889e-02 -3.51496331e-01 2.72778957e+02] [ 3.51301363e-01 -1.18356334e-02 9.36187625e-01 6.59849524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9692541539999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:447.39, Y:272.78, Z:65.98 [[-3.71969643e-02 -9.99306506e-01 1.70097241e-03 4.47394055e+02] [ 9.34854678e-01 -3.53991931e-02 -3.53261416e-01 2.72780142e+02] [ 3.53076644e-01 -1.15500902e-02 9.35523104e-01 6.59835837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 778.9992541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.39, Y:272.78, Z:65.98 [[-3.57445153e-02 -9.99359608e-01 1.64435021e-03 4.47392663e+02] [ 9.34899824e-01 -3.40202392e-02 -3.53277430e-01 2.72775944e+02] [ 3.53107135e-01 -1.10904278e-02 9.35517159e-01 6.59823690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0292541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.39, Y:272.78, Z:65.98 [[-3.47658094e-02 -9.99394223e-01 1.58918988e-03 4.47392009e+02] [ 9.34815468e-01 -3.30815775e-02 -3.53589663e-01 2.72780029e+02] [ 3.53428039e-01 -1.08072315e-02 9.35399286e-01 6.59841666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.0592541539999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.39, Y:272.78, Z:65.98 [[-3.30605349e-02 -9.99452171e-01 1.53573464e-03 4.47391425e+02] [ 9.34599144e-01 -3.14597064e-02 -3.54308802e-01 2.72780548e+02] [ 3.54163015e-01 -1.02783422e-02 9.35127218e-01 6.59840984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.089254154 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:447.39, Y:272.78, Z:65.99 [[-3.18602856e-02 -9.99491246e-01 1.47334249e-03 4.47389887e+02] [ 9.35183638e-01 -3.03305352e-02 -3.52862045e-01 2.72780520e+02] [ 3.52727212e-01 -9.86443973e-03 9.35674199e-01 6.59863723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1192541539999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:447.39, Y:272.79, Z:65.99 [[-2.78809042e-02 -9.99610246e-01 1.41788931e-03 4.47388115e+02] [ 9.35217403e-01 -2.65856892e-02 -3.53074511e-01 2.72786128e+02] [ 3.52974594e-01 -8.51800184e-03 9.35594132e-01 6.59894297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1492541539999 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:447.39, Y:272.78, Z:65.99 [[-2.52696352e-02 -9.99679752e-01 1.35622161e-03 4.47387398e+02] [ 9.35413675e-01 -2.41236696e-02 -3.52731207e-01 2.72781641e+02] [ 3.52650963e-01 -7.64476070e-03 9.35723707e-01 6.59880928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.1792541539999 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:447.39, Y:272.78, Z:65.99 [[-2.30027358e-02 -9.99734669e-01 1.21052551e-03 4.47386968e+02] [ 9.35561851e-01 -2.19529928e-02 -3.52479913e-01 2.72784644e+02] [ 3.52412964e-01 -6.97548081e-03 9.35818597e-01 6.59893226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2092541539998 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:447.39, Y:272.78, Z:65.99 [[-2.03806140e-02 -9.99791631e-01 1.15084085e-03 4.47386803e+02] [ 9.35574099e-01 -1.94774113e-02 -3.52592877e-01 2.72783486e+02] [ 3.52541823e-01 -6.10936242e-03 9.35776116e-01 6.59891583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2392541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.39, Y:272.78, Z:65.99 [[-1.61154406e-02 -9.99869635e-01 1.00294656e-03 4.47387535e+02] [ 9.35583038e-01 -1.54331536e-02 -3.52769326e-01 2.72784947e+02] [ 3.52738816e-01 -4.74669332e-03 9.35709782e-01 6.59891268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2692541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.39, Y:272.79, Z:65.99 [[-1.48076351e-02 -9.99889992e-01 8.59151278e-04 4.47388014e+02] [ 9.35551130e-01 -1.41580581e-02 -3.52907400e-01 2.72786537e+02] [ 3.52880741e-01 -4.42194406e-03 9.35657859e-01 6.59896367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.2992541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.39, Y:272.79, Z:65.99 [[-1.33275067e-02 -9.99910867e-01 7.97273123e-04 4.47388908e+02] [ 9.35959940e-01 -1.27556901e-02 -3.51875379e-01 2.72786167e+02] [ 3.51854185e-01 -3.94340575e-03 9.36046517e-01 6.59903335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3292541539998 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:447.39, Y:272.79, Z:65.99 [[-1.30935602e-02 -9.99914062e-01 6.53478876e-04 4.47389982e+02] [ 9.35995694e-01 -1.24864763e-02 -3.51789922e-01 2.72789602e+02] [ 3.51767849e-01 -3.99452912e-03 9.36078749e-01 6.59915773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3592541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.39, Y:272.79, Z:65.99 [[-1.39910731e-02 -9.99901942e-01 5.96767789e-04 4.47390252e+02] [ 9.36253523e-01 -1.33100056e-02 -3.51072905e-01 2.72792675e+02] [ 3.51046423e-01 -4.35316072e-03 9.36347937e-01 6.59945358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.3892541539999 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:447.39, Y:272.80, Z:65.99 [[-1.59213942e-02 -9.99873099e-01 5.42620257e-04 4.47393371e+02] [ 9.35852394e-01 -1.50930299e-02 -3.52068881e-01 2.72796482e+02] [ 3.52032393e-01 -5.09761497e-03 9.35973936e-01 6.59940268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4192541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.39, Y:272.80, Z:66.00 [[-1.79030582e-02 -9.99839609e-01 4.85775923e-04 4.47394237e+02] [ 9.36155013e-01 -1.69333482e-02 -3.51179517e-01 2.72799639e+02] [ 3.51131417e-01 -5.83242578e-03 9.36308021e-01 6.59967691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4492541539998 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.40, Y:272.80, Z:66.00 [[-1.99490224e-02 -9.99800906e-01 4.30628668e-04 4.47395722e+02] [ 9.35952510e-01 -1.88265046e-02 -3.51622612e-01 2.72803134e+02] [ 3.51560714e-01 -6.61147937e-03 9.36141738e-01 6.59976989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.4792541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.40, Y:272.81, Z:66.00 [[-2.42621289e-02 -9.99705561e-01 3.75489063e-04 4.47399277e+02] [ 9.35595435e-01 -2.28385593e-02 -3.52334476e-01 2.72810087e+02] [ 3.52239310e-01 -8.19707861e-03 9.35874071e-01 6.59997444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5092541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.40, Y:272.81, Z:66.00 [[-2.63149973e-02 -9.99653650e-01 3.19362409e-04 4.47400514e+02] [ 9.35605010e-01 -2.47414858e-02 -3.52180527e-01 2.72814942e+02] [ 3.52066451e-01 -8.96883255e-03 9.35932035e-01 6.60022000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5392541539999 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:447.40, Y:272.82, Z:66.00 [[-2.74369518e-02 -9.99623501e-01 2.63878755e-04 4.47402541e+02] [ 9.35165025e-01 -2.57609983e-02 -3.53274322e-01 2.72818421e+02] [ 3.53148112e-01 -9.44600036e-03 9.35519740e-01 6.60014705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5692541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.40, Y:272.82, Z:66.00 [[-3.04622389e-02 -9.99535897e-01 2.07057311e-04 4.47404649e+02] [ 9.35446773e-01 -2.85820164e-02 -3.52310095e-01 2.72822318e+02] [ 3.52152505e-01 -1.05384632e-02 9.35883302e-01 6.60041030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.5992541539999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:447.41, Y:272.82, Z:66.01 [[-3.16729302e-02 -9.99498276e-01 1.50623296e-04 4.47405262e+02] [ 9.35606561e-01 -2.97012914e-02 -3.51792832e-01 2.72824719e+02] [ 3.51620802e-01 -1.10013857e-02 9.36077871e-01 6.60063341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6292541539999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:447.41, Y:272.83, Z:66.01 [[-3.22251077e-02 -9.99480632e-01 9.44074238e-05 4.47406531e+02] [ 9.35408685e-01 -3.01925842e-02 -3.52276880e-01 2.72826160e+02] [ 3.52096769e-01 -1.12638509e-02 9.35895823e-01 6.60060135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6592541539999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:447.41, Y:272.83, Z:66.01 [[-3.29283853e-02 -9.99457713e-01 3.80766634e-05 4.47407786e+02] [ 9.35278793e-01 -3.08273623e-02 -3.52566666e-01 2.72831939e+02] [ 3.52376647e-01 -1.15738387e-02 9.35786698e-01 6.60073107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.6892541539999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:447.41, Y:272.86, Z:66.02 [[-3.57423479e-02 -9.99361038e-01 -1.15602099e-05 4.47409922e+02] [ 9.35734954e-01 -3.34626867e-02 -3.51113007e-01 2.72857866e+02] [ 3.50888273e-01 -1.25604205e-02 9.36333090e-01 6.60170271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7192541539999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:447.41, Y:272.86, Z:66.02 [[-3.71144264e-02 -9.99311018e-01 9.14188141e-05 4.47411078e+02] [ 9.35777596e-01 -3.47868924e-02 -3.50870578e-01 2.72862954e+02] [ 3.50632014e-01 -1.29368126e-02 9.36423958e-01 6.60189140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7492541539999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:447.41, Y:272.86, Z:66.02 [[-3.86313455e-02 -9.99253530e-01 5.33690851e-05 4.47412462e+02] [ 9.35541428e-01 -3.61869883e-02 -3.51358418e-01 2.72862590e+02] [ 3.51098071e-01 -1.35235194e-02 9.36241026e-01 6.60180286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.7792541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.41, Y:272.89, Z:66.03 [[-4.33343070e-02 -9.99060628e-01 3.58301786e-06 4.47414700e+02] [ 9.35337566e-01 -4.05715762e-02 -3.51422231e-01 2.72888824e+02] [ 3.51092260e-01 -1.52252875e-02 9.36217077e-01 6.60275085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8092541539999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:447.42, Y:272.89, Z:66.03 [[-4.57419250e-02 -9.98953285e-01 1.06332135e-04 4.47415792e+02] [ 9.35115182e-01 -4.28562283e-02 -3.51742720e-01 2.72893369e+02] [ 3.51379102e-01 -1.59899563e-02 9.36096709e-01 6.60288906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.839254154 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.42, Y:272.90, Z:66.03 [[-5.12104317e-02 -9.98687883e-01 6.87287761e-05 4.47417557e+02] [ 9.34772371e-01 -4.79572144e-02 -3.51995341e-01 2.72895688e+02] [ 3.51536778e-01 -1.79615876e-02 9.36001749e-01 6.60321104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8692541539999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:447.42, Y:272.90, Z:66.03 [[-5.34440689e-02 -9.98570844e-01 3.10065414e-05 4.47418742e+02] [ 9.34737954e-01 -5.00386206e-02 -3.51796950e-01 2.72899214e+02] [ 3.51295729e-01 -1.87724774e-02 9.36076335e-01 6.60333847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.8992541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.42, Y:272.93, Z:66.04 [[-5.60438320e-02 -9.98428309e-01 -9.05377635e-07 4.47419513e+02] [ 9.34694275e-01 -5.24659909e-02 -3.51559286e-01 2.72925036e+02] [ 3.51006696e-01 -1.97035758e-02 9.36165620e-01 6.60430212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9292541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.42, Y:272.93, Z:66.04 [[-5.59411918e-02 -9.98434061e-01 9.98585965e-05 4.47419488e+02] [ 9.34697692e-01 -5.24052726e-02 -3.51559259e-01 2.72926622e+02] [ 3.51013971e-01 -1.95733063e-02 9.36165625e-01 6.60436122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9592541539998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.42, Y:272.93, Z:66.04 [[-5.90932362e-02 -9.98252466e-01 6.35819532e-05 4.47420865e+02] [ 9.34481843e-01 -5.53406266e-02 -3.51683239e-01 2.72930433e+02] [ 3.51072180e-01 -2.07226845e-02 9.36119060e-01 6.60436510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 779.9892541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.42, Y:272.93, Z:66.05 [[-6.05732098e-02 -9.98163755e-01 6.34241148e-05 4.47420670e+02] [ 9.34725690e-01 -5.67457843e-02 -3.50810206e-01 2.72933362e+02] [ 3.50169632e-01 -2.11904161e-02 9.36446579e-01 6.60461558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0192541539999 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:447.42, Y:272.94, Z:66.05 [[-6.13127031e-02 -9.98118604e-01 6.27202999e-05 4.47420572e+02] [ 9.34631112e-01 -5.74348292e-02 -3.50950031e-01 2.72935436e+02] [ 3.50293358e-01 -2.14590747e-02 9.36394186e-01 6.60464444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0492541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.42, Y:272.93, Z:66.05 [[-6.15271214e-02 -9.98105411e-01 4.31036550e-05 4.47420300e+02] [ 9.34467829e-01 -5.76194253e-02 -3.51354350e-01 2.72931915e+02] [ 3.50691162e-01 -2.15775428e-02 9.36242553e-01 6.60458758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.0792541539998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:447.42, Y:272.94, Z:66.05 [[-6.07979501e-02 -9.98150094e-01 6.66400974e-06 4.47419407e+02] [ 9.34385744e-01 -5.69163714e-02 -3.51687089e-01 2.72935949e+02] [ 3.51036880e-01 -2.13756273e-02 9.36117616e-01 6.60469978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1092541539999 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:447.42, Y:272.94, Z:66.05 [[-5.96750914e-02 -9.98217854e-01 5.12695006e-06 4.47419096e+02] [ 9.34486246e-01 -5.58669177e-02 -3.51588316e-01 2.72937372e+02] [ 3.50962020e-01 -2.09762738e-02 9.36154718e-01 6.60477260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1392541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.42, Y:272.96, Z:66.06 [[-5.90395590e-02 -9.98255644e-01 -2.72126274e-05 4.47418405e+02] [ 9.34908897e-01 -5.52835035e-02 -3.50555401e-01 2.72963077e+02] [ 3.49942403e-01 -2.07220776e-02 9.36541996e-01 6.60594422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1692541539999 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:447.42, Y:272.96, Z:66.06 [[-5.63528709e-02 -9.98410912e-01 7.59931311e-05 4.47417026e+02] [ 9.35216689e-01 -5.28126757e-02 -3.50115077e-01 2.72959150e+02] [ 3.49562726e-01 -1.96589197e-02 9.36706692e-01 6.60570120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.1992541539998 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.42, Y:272.96, Z:66.06 [[-5.48474606e-02 -9.98494744e-01 3.81827132e-05 4.47416146e+02] [ 9.35538112e-01 -5.14026074e-02 -3.49465610e-01 2.72958546e+02] [ 3.48941538e-01 -1.91315799e-02 9.36949191e-01 6.60568058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2292541539999 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:447.42, Y:272.96, Z:66.06 [[-5.34608384e-02 -9.98569947e-01 5.61205097e-07 4.47415311e+02] [ 9.35460078e-01 -5.00822967e-02 -3.49865984e-01 2.72959897e+02] [ 3.49365686e-01 -1.87036039e-02 9.36799761e-01 6.60578113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2592541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.41, Y:272.98, Z:66.07 [[-5.12680377e-02 -9.98684929e-01 -3.18724171e-05 4.47414021e+02] [ 9.35758898e-01 -4.80265460e-02 -3.49354743e-01 2.72984807e+02] [ 3.48893786e-01 -1.79405570e-02 9.36990535e-01 6.60672073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.2892541539999 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:447.41, Y:272.99, Z:66.07 [[-5.01042677e-02 -9.98743990e-01 7.39898731e-05 4.47413216e+02] [ 9.35871478e-01 -4.69759943e-02 -3.49195982e-01 2.72986138e+02] [ 3.48760864e-01 -1.74269639e-02 9.37049711e-01 6.60699144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3192541539999 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:447.41, Y:272.98, Z:66.07 [[-4.72499775e-02 -9.98883095e-01 3.58472756e-05 4.47411680e+02] [ 9.35426098e-01 -4.42608704e-02 -3.50740630e-01 2.72983937e+02] [ 3.50350473e-01 -1.65389544e-02 9.36472642e-01 6.60671319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3492541539999 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:447.41, Y:273.01, Z:66.08 [[-4.59394110e-02 -9.98944228e-01 -1.44665110e-05 4.47410649e+02] [ 9.35605684e-01 -4.30215257e-02 -3.50415686e-01 2.73009871e+02] [ 3.50045104e-01 -1.61114252e-02 9.36594281e-01 6.60764959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.3792541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.41, Y:273.01, Z:66.08 [[-4.40273460e-02 -9.99030322e-01 8.86722987e-05 4.47409715e+02] [ 9.35684683e-01 -4.12668010e-02 -3.50415789e-01 2.73010022e+02] [ 3.50079658e-01 -1.53449079e-02 9.36594238e-01 6.60771702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4092541539999 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:447.41, Y:273.02, Z:66.08 [[-4.22938710e-02 -9.99105213e-01 3.22194485e-05 4.47408587e+02] [ 9.35939610e-01 -3.96312449e-02 -3.49923435e-01 2.73015090e+02] [ 3.49611605e-01 -1.47694611e-02 9.36778303e-01 6.60801338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4392541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.41, Y:273.04, Z:66.09 [[-3.87796115e-02 -9.99247788e-01 -1.82829421e-05 4.47406514e+02] [ 9.36207410e-01 -3.63266939e-02 -3.49565526e-01 2.73041011e+02] [ 3.49301914e-01 -1.35731319e-02 9.36911918e-01 6.60903833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4692541539999 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:447.41, Y:273.05, Z:66.09 [[-3.64088262e-02 -9.99336975e-01 8.64110823e-05 4.47405708e+02] [ 9.36233216e-01 -3.41400075e-02 -3.49716778e-01 2.73047135e+02] [ 3.49487857e-01 -1.26518764e-02 9.36855468e-01 6.60921759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.4992541539999 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:447.41, Y:273.04, Z:66.09 [[-3.38572774e-02 -9.99426678e-01 3.01326705e-05 4.47405023e+02] [ 9.36227746e-01 -3.17268574e-02 -3.49958590e-01 2.73044313e+02] [ 3.49758906e-01 -1.18204340e-02 9.36765171e-01 6.60908030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5292541539999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:447.40, Y:273.07, Z:66.10 [[-2.96462492e-02 -9.99560453e-01 -1.98357468e-05 4.47402728e+02] [ 9.35833078e-01 -2.77491684e-02 -3.51349446e-01 2.73070487e+02] [ 3.51194461e-01 -1.04347562e-02 9.36244395e-01 6.60997784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.5592541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.40, Y:273.07, Z:66.10 [[-2.76114703e-02 -9.99618727e-01 8.30999025e-05 4.47401432e+02] [ 9.35973627e-01 -2.58826542e-02 -3.51117443e-01 2.73074088e+02] [ 3.50985722e-01 -9.61708954e-03 9.36331423e-01 6.61016857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.589254154 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.40, Y:273.07, Z:66.10 [[-2.41909149e-02 -9.99707357e-01 2.71780070e-05 4.47399623e+02] [ 9.36537969e-01 -2.26718528e-02 -3.49832275e-01 2.73072176e+02] [ 3.49730515e-01 -8.43730956e-03 9.36812350e-01 6.61033158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6192541539999 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:447.40, Y:273.10, Z:66.11 [[-2.26175435e-02 -9.99744190e-01 -2.28042879e-05 4.47399139e+02] [ 9.36659948e-01 -2.11823934e-02 -3.49598983e-01 2.73098765e+02] [ 3.49509069e-01 -7.92843006e-03 9.36899435e-01 6.61129243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6492541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.40, Y:273.10, Z:66.11 [[-2.00451235e-02 -9.99799073e-01 7.89617863e-05 4.47399518e+02] [ 9.36385154e-01 -1.88014075e-02 -3.50470185e-01 2.73100570e+02] [ 3.50401251e-01 -6.95127949e-03 9.36573886e-01 6.61124311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.6792541539999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:447.40, Y:273.10, Z:66.11 [[-1.68309394e-02 -9.99858349e-01 2.33595322e-05 4.47399194e+02] [ 9.36612041e-01 -1.57744711e-02 -3.50012931e-01 2.73100148e+02] [ 3.49963720e-01 -5.86916760e-03 9.36744868e-01 6.61130437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7092541539998 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:447.40, Y:273.13, Z:66.12 [[-1.55257510e-02 -9.99879468e-01 -2.62706106e-05 4.47399368e+02] [ 9.36423308e-01 -1.45312169e-02 -3.50571293e-01 2.73126506e+02] [ 3.50528656e-01 -5.46748302e-03 9.36536047e-01 6.61225044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7392541539999 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:447.40, Y:273.14, Z:66.12 [[-1.39926191e-02 -9.99902096e-01 7.28464638e-05 4.47399568e+02] [ 9.36324880e-01 -1.31284838e-02 -3.50889386e-01 2.73135048e+02] [ 3.50855989e-01 -4.84165356e-03 9.36416912e-01 6.61248751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7692541539999 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:447.40, Y:273.13, Z:66.12 [[-1.28588167e-02 -9.99917322e-01 1.72685561e-05 4.47399857e+02] [ 9.36396478e-01 -1.20480035e-02 -3.50737056e-01 2.73129704e+02] [ 3.50708266e-01 -4.49389330e-03 9.36473981e-01 6.61235596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.7992541539999 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:447.40, Y:273.16, Z:66.13 [[-1.14545637e-02 -9.99934394e-01 -3.21420201e-05 4.47400332e+02] [ 9.36731308e-01 -1.07193057e-02 -3.49885057e-01 2.73155327e+02] [ 3.49861757e-01 -4.03788910e-03 9.36792638e-01 6.61335444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8292541539998 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:447.40, Y:273.16, Z:66.13 [[-1.01281264e-02 -9.99948707e-01 7.22074571e-05 4.47401453e+02] [ 9.36458582e-01 -9.51037817e-03 -3.50649223e-01 2.73155127e+02] [ 3.50631924e-01 -3.48380035e-03 9.36506870e-01 6.61329185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8592541539999 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:447.40, Y:273.16, Z:66.13 [[-8.32358316e-03 -9.99965358e-01 1.68734461e-05 4.47403442e+02] [ 9.36519871e-01 -7.80138589e-03 -3.50527702e-01 2.73160178e+02] [ 3.50515690e-01 -2.90184416e-03 9.36552364e-01 6.61344573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.8892541539999 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:447.40, Y:273.19, Z:66.14 [[-7.72438865e-03 -9.99970166e-01 -3.22713983e-05 4.47404230e+02] [ 9.36460686e-01 -7.22248425e-03 -3.50698189e-01 2.73186571e+02] [ 3.50687493e-01 -2.73915001e-03 9.36488537e-01 6.61441086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9192541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.40, Y:273.19, Z:66.15 [[-6.63212790e-03 -9.99978005e-01 7.04271160e-05 4.47404845e+02] [ 9.36665333e-01 -6.23688294e-03 -3.50170179e-01 2.73188844e+02] [ 3.50162917e-01 -2.25640678e-03 9.36686095e-01 6.61458690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9492541539998 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.41, Y:273.19, Z:66.15 [[-4.51106384e-03 -9.99989825e-01 1.52787128e-05 4.47406812e+02] [ 9.36875476e-01 -4.23169015e-03 -3.49637578e-01 2.73189432e+02] [ 3.49634085e-01 -1.56292318e-03 9.36885032e-01 6.61478324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 780.9792541539999 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:447.41, Y:273.22, Z:66.16 [[-3.13863750e-03 -9.99995074e-01 -3.40066824e-05 4.47408483e+02] [ 9.36708511e-01 -2.92809721e-03 -3.50097975e-01 2.73216029e+02] [ 3.50096151e-01 -1.13068498e-03 9.36713087e-01 6.61559610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0092541539999 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:447.41, Y:273.22, Z:66.16 [[-2.18591931e-03 -9.99997609e-01 6.84654668e-05 4.47409891e+02] [ 9.37027035e-01 -2.07218205e-03 -3.49250686e-01 2.73215737e+02] [ 3.49249993e-01 -6.99279824e-04 9.37029324e-01 6.61570202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0392541539999 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:447.41, Y:273.22, Z:66.16 [[-9.89127269e-04 -9.99999511e-01 1.36345230e-05 4.47411753e+02] [ 9.37102283e-01 -9.31673055e-04 -3.49053639e-01 2.73219120e+02] [ 3.49053481e-01 -3.32481529e-04 9.37102746e-01 6.61580902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0692541539999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:447.42, Y:273.24, Z:66.17 [[ 3.21725518e-04 -9.99999948e-01 -3.68779173e-05 4.47415809e+02] [ 9.37216878e-01 3.14387666e-04 -3.48746935e-01 2.73244579e+02] [ 3.48746928e-01 7.76381830e-05 9.37216930e-01 6.61671638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.0992541539999 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:447.42, Y:273.24, Z:66.17 [[ 6.88936336e-04 -9.99999762e-01 3.24694987e-05 4.47417911e+02] [ 9.37235196e-01 6.34373510e-04 -3.48697269e-01 2.73240537e+02] [ 3.48697166e-01 2.70661777e-04 9.37235410e-01 6.61660985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1292541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:447.42, Y:273.27, Z:66.18 [[ 8.85544501e-05 -9.99999996e-01 -1.75137291e-05 4.47422149e+02] [ 9.37505898e-01 8.91145636e-05 -3.47969371e-01 2.73265081e+02] [ 3.47969371e-01 1.43950130e-05 9.37505902e-01 6.61767237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1592541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.42, Y:273.27, Z:66.18 [[-2.35211311e-04 -9.99999969e-01 7.63747761e-05 4.47424416e+02] [ 9.37520603e-01 -2.47088506e-04 -3.47929673e-01 2.73266317e+02] [ 3.47929681e-01 -1.02340673e-05 9.37520633e-01 6.61767219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.1892541539999 meters Centerline goodness : 0.999520 Centerline is valid? [True, True] Translation: X:447.43, Y:273.27, Z:66.18 [[-8.90104487e-04 -9.99999603e-01 4.07000604e-05 4.47427135e+02] [ 9.37435451e-01 -8.48585890e-04 -3.48158090e-01 2.73268452e+02] [ 3.48157986e-01 -2.71743397e-04 9.37435834e-01 6.61765745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2192541539999 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:447.43, Y:273.27, Z:66.18 [[-2.95693721e-03 -9.99995628e-01 2.74555014e-05 4.47432600e+02] [ 9.37153428e-01 -2.78069540e-03 -3.48906462e-01 2.73271690e+02] [ 3.48905013e-01 -1.00596448e-03 9.37157553e-01 6.61771081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2492541539999 meters Centerline goodness : 0.999603 Centerline is valid? [True, True] Translation: X:447.43, Y:273.27, Z:66.18 [[-4.33412527e-03 -9.99990596e-01 1.50715123e-04 4.47434928e+02] [ 9.37432513e-01 -4.11545901e-03 -3.48142711e-01 2.73269227e+02] [ 3.48140057e-01 -1.36760886e-03 9.37441534e-01 6.61777874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.2792541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:447.44, Y:273.27, Z:66.18 [[-5.66027457e-03 -9.99983966e-01 1.73169794e-04 4.47437757e+02] [ 9.37257585e-01 -5.36558767e-03 -3.48596372e-01 2.73267705e+02] [ 3.48591712e-01 -1.81084648e-03 9.37272927e-01 6.61765487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3092541539999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:447.44, Y:273.26, Z:66.17 [[-7.99459125e-03 -9.99967992e-01 3.19240396e-04 4.47443029e+02] [ 9.37100393e-01 -7.60338557e-03 -3.48977136e-01 2.73264092e+02] [ 3.48968393e-01 -2.49076926e-03 9.37131184e-01 6.61743927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.339254154 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.45, Y:273.26, Z:66.18 [[-9.78500748e-03 -9.99952019e-01 4.62921304e-04 4.47445566e+02] [ 9.37512875e-01 -9.33503416e-03 -3.47825338e-01 2.73264577e+02] [ 3.47812971e-01 -2.96947885e-03 9.37559235e-01 6.61750891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3692541539999 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:447.45, Y:273.26, Z:66.17 [[-1.17307644e-02 -9.99931008e-01 6.06896050e-04 4.47448048e+02] [ 9.37724735e-01 -1.12117146e-02 -3.47198243e-01 2.73262655e+02] [ 3.47181093e-01 -3.50379933e-03 9.37791561e-01 6.61745625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.3992541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:447.45, Y:273.26, Z:66.17 [[-1.46484756e-02 -9.99892424e-01 7.50745405e-04 4.47453261e+02] [ 9.37890450e-01 -1.40004166e-02 -3.46648948e-01 2.73263018e+02] [ 3.46622168e-01 -4.37376173e-03 9.37994639e-01 6.61745806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4292541539999 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:447.46, Y:273.26, Z:66.17 [[-1.59241750e-02 -9.99872801e-01 8.96377843e-04 4.47455996e+02] [ 9.37818998e-01 -1.52467878e-02 -3.46789651e-01 2.73263833e+02] [ 3.46759206e-01 -4.68169891e-03 9.37942501e-01 6.61740291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4592541539998 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:447.46, Y:273.26, Z:66.17 [[-1.75220802e-02 -9.99845932e-01 1.04354696e-03 4.47458322e+02] [ 9.37621142e-01 -1.67940350e-02 -3.47252868e-01 2.73259097e+02] [ 3.47216893e-01 -5.10614093e-03 9.37770951e-01 6.61718498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.4892541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.46, Y:273.26, Z:66.17 [[-1.87424899e-02 -9.99823637e-01 1.18916535e-03 4.47460652e+02] [ 9.37619251e-01 -1.79893680e-02 -3.47198103e-01 2.73256853e+02] [ 3.47158263e-01 -5.39237264e-03 9.37791055e-01 6.61720953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5192541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.47, Y:273.25, Z:66.17 [[-2.06982415e-02 -9.99784878e-01 1.33444443e-03 4.47465245e+02] [ 9.37618635e-01 -1.98745140e-02 -3.47096959e-01 2.73254733e+02] [ 3.47048813e-01 -5.93309672e-03 9.37828300e-01 6.61725582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5492541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.47, Y:273.25, Z:66.17 [[-2.11365367e-02 -9.99775496e-01 1.48507793e-03 4.47467693e+02] [ 9.37219039e-01 -2.03311561e-02 -3.48148125e-01 2.73253688e+02] [ 3.48100158e-01 -5.96680231e-03 9.37438359e-01 6.61703723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.5792541539998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.47, Y:273.25, Z:66.17 [[-2.19005044e-02 -9.99758828e-01 1.62884645e-03 4.47469667e+02] [ 9.37385197e-01 -2.11005735e-02 -3.47654655e-01 2.73250681e+02] [ 3.47605180e-01 -6.08695572e-03 9.37621239e-01 6.61699399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6092541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.47, Y:273.25, Z:66.17 [[-2.26565924e-02 -9.99741745e-01 1.76700988e-03 4.47473098e+02] [ 9.37898777e-01 -2.18670103e-02 -3.46219176e-01 2.73250327e+02] [ 3.46168402e-01 -6.18687034e-03 9.38151992e-01 6.61730848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6392541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:447.48, Y:273.25, Z:66.17 [[-2.27115674e-02 -9.99740224e-01 1.91568123e-03 4.47475336e+02] [ 9.37707174e-01 -2.19667331e-02 -3.46731480e-01 2.73249421e+02] [ 3.46683489e-01 -6.07846733e-03 9.37962478e-01 6.61711396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6692541539999 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:447.48, Y:273.24, Z:66.17 [[-2.28816006e-02 -9.99736053e-01 2.06339160e-03 4.47477220e+02] [ 9.37606306e-01 -2.21757642e-02 -3.46990852e-01 2.73242772e+02] [ 3.46945022e-01 -6.00505710e-03 9.37866244e-01 6.61681611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.6992541539998 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.48, Y:273.24, Z:66.17 [[-2.32488490e-02 -9.99727280e-01 2.20372307e-03 4.47480294e+02] [ 9.37905728e-01 -2.25742147e-02 -3.46154950e-01 2.73242022e+02] [ 3.46110294e-01 -5.98081967e-03 9.38174767e-01 6.61694124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7292541539999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:447.48, Y:273.24, Z:66.17 [[-2.35926059e-02 -9.99718882e-01 2.35490516e-03 4.47481549e+02] [ 9.37605500e-01 -2.29440251e-02 -3.46943077e-01 2.73244061e+02] [ 3.46899576e-01 -5.97731925e-03 9.37883232e-01 6.61688849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7592541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.48, Y:273.24, Z:66.17 [[-2.41808932e-02 -9.99704488e-01 2.49429098e-03 4.47482907e+02] [ 9.37921231e-01 -2.35498766e-02 -3.46047926e-01 2.73236450e+02] [ 3.46004405e-01 -6.02829947e-03 9.38213521e-01 6.61684871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.7892541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.48, Y:273.24, Z:66.17 [[-2.47188160e-02 -9.99690939e-01 2.64717528e-03 4.47484512e+02] [ 9.37580631e-01 -2.41017212e-02 -3.46931791e-01 2.73235567e+02] [ 3.46888369e-01 -6.09380281e-03 9.37886627e-01 6.61662959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8192541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.49, Y:273.24, Z:66.17 [[-2.61772387e-02 -9.99653414e-01 2.79355613e-03 4.47486949e+02] [ 9.37525975e-01 -2.55199888e-02 -3.46978062e-01 2.73237705e+02] [ 3.46929096e-01 -6.46389613e-03 9.37869085e-01 6.61679530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8492541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.49, Y:273.24, Z:66.17 [[-2.65733987e-02 -9.99642542e-01 2.93990386e-03 4.47486979e+02] [ 9.37514842e-01 -2.59423075e-02 -3.46976827e-01 2.73235277e+02] [ 3.46929065e-01 -6.46415005e-03 9.37869095e-01 6.61671039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.8792541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:447.49, Y:273.23, Z:66.16 [[-2.75100988e-02 -9.99616763e-01 3.08579633e-03 4.47488444e+02] [ 9.37517714e-01 -2.68719608e-02 -3.46898304e-01 2.73229432e+02] [ 3.46848281e-01 -6.65021788e-03 9.37897673e-01 6.61644861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9092541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.49, Y:273.23, Z:66.17 [[-3.00644660e-02 -9.99542772e-01 3.22089146e-03 4.47490928e+02] [ 9.37872066e-01 -2.93236212e-02 -3.45739951e-01 2.73226529e+02] [ 3.45676318e-01 -7.37370287e-03 9.38324844e-01 6.61654766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9392541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.49, Y:273.23, Z:66.17 [[-3.16945645e-02 -9.99491945e-01 3.36251925e-03 4.47492422e+02] [ 9.37967620e-01 -3.09053985e-02 -3.45342730e-01 2.73225217e+02] [ 3.45271196e-01 -7.79155326e-03 9.38470614e-01 6.61658012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.49, Y:273.22, Z:66.16 [[-3.36481933e-02 -9.99427555e-01 3.51602162e-03 4.47493859e+02] [ 9.37628005e-01 -3.27851188e-02 -3.46090828e-01 2.73223404e+02] [ 3.46007983e-01 -8.34861073e-03 9.38194424e-01 6.61634579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 781.9992541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.50, Y:273.23, Z:66.16 [[-3.71581079e-02 -9.99302685e-01 3.66328214e-03 4.47496099e+02] [ 9.37462478e-01 -3.61277762e-02 -3.46206422e-01 2.73225273e+02] [ 3.46097354e-01 -9.43018606e-03 9.38151210e-01 6.61640045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0292541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.50, Y:273.22, Z:66.17 [[-3.93114836e-02 -9.99219773e-01 3.80158885e-03 4.47496915e+02] [ 9.37639087e-01 -3.82032573e-02 -3.45504636e-01 2.73224461e+02] [ 3.45380297e-01 -1.00177815e-02 9.38409343e-01 6.61660771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.50, Y:273.22, Z:66.17 [[-4.16111724e-02 -9.99126067e-01 3.95141176e-03 4.47498246e+02] [ 9.37440026e-01 -4.04096670e-02 -3.45793663e-01 2.73223238e+02] [ 3.45651138e-01 -1.06846682e-02 9.38302259e-01 6.61656507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.50, Y:273.22, Z:66.16 [[-4.41461896e-02 -9.99016661e-01 4.10173611e-03 4.47499437e+02] [ 9.37224626e-01 -4.28365694e-02 -3.46085292e-01 2.73220357e+02] [ 3.45920677e-01 -1.14340988e-02 9.38194088e-01 6.61644924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.50, Y:273.22, Z:66.17 [[-4.91548343e-02 -9.98782105e-01 4.25540216e-03 4.47501297e+02] [ 9.36798060e-01 -4.75811097e-02 -3.46620011e-01 2.73222616e+02] [ 3.46400341e-01 -1.30515967e-02 9.37995981e-01 6.61652690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1492541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.50, Y:273.22, Z:66.16 [[-5.18847712e-02 -9.98643335e-01 4.41138489e-03 4.47501804e+02] [ 9.36419534e-01 -5.01859619e-02 -3.47274855e-01 2.73222226e+02] [ 3.47025109e-01 -1.38873694e-02 9.37753014e-01 6.61641033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.1792541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.50, Y:273.22, Z:66.16 [[-5.41939704e-02 -9.98519953e-01 4.57363362e-03 4.47502427e+02] [ 9.35909380e-01 -5.23912878e-02 -3.48322817e-01 2.73222194e+02] [ 3.48046902e-01 -1.45964898e-02 9.37363482e-01 6.61629531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2092541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:447.50, Y:273.22, Z:66.16 [[-5.73707579e-02 -9.98341875e-01 4.70072819e-03 4.47503011e+02] [ 9.36307601e-01 -5.54387077e-02 -3.46777488e-01 2.73222280e+02] [ 3.46463090e-01 -1.54935598e-02 9.37935647e-01 6.61643512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2392541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.50, Y:273.22, Z:66.16 [[-5.80988516e-02 -9.98299093e-01 4.84198849e-03 4.47502913e+02] [ 9.36445916e-01 -5.61786929e-02 -3.46284566e-01 2.73218802e+02] [ 3.45967584e-01 -1.55844753e-02 9.38117026e-01 6.61642015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.50, Y:273.21, Z:66.16 [[-5.80887337e-02 -9.98299017e-01 4.97715007e-03 4.47502742e+02] [ 9.36768687e-01 -5.62304715e-02 -3.45402030e-01 2.73214415e+02] [ 3.45094374e-01 -1.54015282e-02 9.38441616e-01 6.61646157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.50, Y:273.21, Z:66.16 [[-5.58753650e-02 -9.98424606e-01 5.12347991e-03 4.47502024e+02] [ 9.36922813e-01 -5.42054762e-02 -3.45307701e-01 2.73211454e+02] [ 3.45041426e-01 -1.44938886e-02 9.38475541e-01 6.61641010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3292541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.50, Y:273.21, Z:66.16 [[-5.41013724e-02 -9.98521449e-01 5.28753825e-03 4.47501391e+02] [ 9.36628524e-01 -5.25820017e-02 -3.46355513e-01 2.73207069e+02] [ 3.46121438e-01 -1.37858495e-02 9.38088429e-01 6.61608071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3592541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.50, Y:273.20, Z:66.16 [[-5.20753815e-02 -9.98628345e-01 5.43906110e-03 4.47500878e+02] [ 9.36647230e-01 -5.07309220e-02 -3.46580929e-01 2.73202367e+02] [ 3.46381468e-01 -1.29538526e-02 9.38004305e-01 6.61591786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.3892541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.50, Y:273.20, Z:66.16 [[-4.98646973e-02 -9.98740291e-01 5.59849188e-03 4.47500256e+02] [ 9.36492224e-01 -4.87035533e-02 -3.47289906e-01 2.73198252e+02] [ 3.47125088e-01 -1.20745619e-02 9.37741104e-01 6.61571788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4192541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.50, Y:273.19, Z:66.16 [[-4.52938361e-02 -9.98957204e-01 5.74230522e-03 4.47498738e+02] [ 9.36789417e-01 -4.44700621e-02 -3.47056195e-01 2.73192152e+02] [ 3.46949646e-01 -1.03401756e-02 9.37826756e-01 6.61562293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4492541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.50, Y:273.19, Z:66.16 [[-4.33795609e-02 -9.99041270e-01 5.89526142e-03 4.47498091e+02] [ 9.36751102e-01 -4.27247013e-02 -3.47378716e-01 2.73189061e+02] [ 3.47297547e-01 -9.54674353e-03 9.37706390e-01 6.61557684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.50, Y:273.18, Z:66.16 [[-4.02632280e-02 -9.99170984e-01 6.01809023e-03 4.47497177e+02] [ 9.37385086e-01 -3.98574910e-02 -3.46006619e-01 2.73183962e+02] [ 3.45959640e-01 -8.29007537e-03 9.38212770e-01 6.61564337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5092541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.50, Y:273.18, Z:66.15 [[-3.93348694e-02 -9.99207003e-01 6.17523649e-03 4.47496856e+02] [ 9.37205384e-01 -3.90360609e-02 -3.46586577e-01 2.73177264e+02] [ 3.46552791e-01 -7.84547284e-03 9.37997661e-01 6.61530442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5392541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.50, Y:273.18, Z:66.15 [[-3.86404000e-02 -9.99233171e-01 6.32376838e-03 4.47496456e+02] [ 9.37188373e-01 -3.84352555e-02 -3.46699704e-01 2.73175343e+02] [ 3.46676900e-01 -7.47005304e-03 9.37954863e-01 6.61523992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5692541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.50, Y:273.18, Z:66.16 [[-3.86340806e-02 -9.99232510e-01 6.46514978e-03 4.47496000e+02] [ 9.37281709e-01 -3.84803517e-02 -3.46442291e-01 2.73183503e+02] [ 3.46425182e-01 -7.32481278e-03 9.38049008e-01 6.61561230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.5992541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.50, Y:273.17, Z:66.15 [[-3.92027168e-02 -9.99209303e-01 6.62685487e-03 4.47495021e+02] [ 9.36975154e-01 -3.90637389e-02 -3.47205395e-01 2.73170186e+02] [ 3.47189730e-01 -7.40219639e-03 9.37765695e-01 6.61505303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6292541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.49, Y:273.17, Z:66.15 [[-4.03494058e-02 -9.99162794e-01 6.75542453e-03 4.47494556e+02] [ 9.37271341e-01 -4.01912317e-02 -3.46276044e-01 2.73168099e+02] [ 3.46257648e-01 -7.64036680e-03 9.38108344e-01 6.61509868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6592541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.49, Y:273.17, Z:66.15 [[-4.18967234e-02 -9.99097898e-01 6.93215021e-03 4.47494165e+02] [ 9.36648299e-01 -4.16909764e-02 -3.47781291e-01 2.73166653e+02] [ 3.47756565e-01 -8.07790983e-03 9.37550062e-01 6.61487913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.6892541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.49, Y:273.17, Z:66.15 [[-4.59204309e-02 -9.98919990e-01 7.08295281e-03 4.47493775e+02] [ 9.36398716e-01 -4.55136716e-02 -3.47974067e-01 2.73167438e+02] [ 3.47920622e-01 -9.34665115e-03 9.37477403e-01 6.61498253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.49, Y:273.17, Z:66.15 [[-4.85201241e-02 -9.98796179e-01 7.21039841e-03 4.47494010e+02] [ 9.36619570e-01 -4.80050103e-02 -3.47043659e-01 2.73165004e+02] [ 3.46972016e-01 -1.00852012e-02 9.37821256e-01 6.61509349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.49, Y:273.17, Z:66.15 [[-5.08757857e-02 -9.98677779e-01 7.37211284e-03 4.47494238e+02] [ 9.36248534e-01 -5.02623025e-02 -3.47724579e-01 2.73166561e+02] [ 3.47635350e-01 -1.07886313e-02 9.37567741e-01 6.61496527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.7792541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.49, Y:273.17, Z:66.15 [[-5.51704527e-02 -9.98448719e-01 7.50840897e-03 4.47494222e+02] [ 9.36209269e-01 -5.43424309e-02 -3.47216223e-01 2.73167251e+02] [ 3.47085618e-01 -1.21266341e-02 9.37755042e-01 6.61505788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.49, Y:273.16, Z:66.15 [[-5.73322066e-02 -9.98326161e-01 7.60883870e-03 4.47494060e+02] [ 9.36863168e-01 -5.64327987e-02 -3.45112654e-01 2.73162345e+02] [ 3.44964379e-01 -1.26576293e-02 9.38530427e-01 6.61518378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.839254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.49, Y:273.16, Z:66.15 [[-5.87004725e-02 -9.98245276e-01 7.78610072e-03 4.47493563e+02] [ 9.36292470e-01 -5.77595743e-02 -3.46439378e-01 2.73161249e+02] [ 3.46281194e-01 -1.30460877e-02 9.38040049e-01 6.61487305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.49, Y:273.16, Z:66.15 [[-5.95637561e-02 -9.98193098e-01 7.91821548e-03 4.47492968e+02] [ 9.36481247e-01 -5.86242553e-02 -3.45783271e-01 2.73159793e+02] [ 3.45622674e-01 -1.31808901e-02 9.38280998e-01 6.61489974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.8992541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:447.49, Y:273.16, Z:66.15 [[-5.99594072e-02 -9.98168157e-01 8.07465660e-03 4.47491825e+02] [ 9.36311661e-01 -5.90440625e-02 -3.46170872e-01 2.73157306e+02] [ 3.46013502e-01 -1.31958052e-02 9.38136732e-01 6.61480201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.49, Y:273.16, Z:66.15 [[-5.96781049e-02 -9.98183860e-01 8.21623001e-03 4.47491260e+02] [ 9.36415338e-01 -5.88325515e-02 -3.45926358e-01 2.73155932e+02] [ 3.45781489e-01 -1.29504257e-02 9.38225691e-01 6.61486674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9592541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.49, Y:273.15, Z:66.15 [[-5.91397800e-02 -9.98214488e-01 8.38584475e-03 4.47490629e+02] [ 9.36111102e-01 -5.83740637e-02 -3.46826287e-01 2.73151275e+02] [ 3.46696540e-01 -1.26611479e-02 9.37891894e-01 6.61469154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 782.9892541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.49, Y:273.15, Z:66.15 [[-5.58153673e-02 -9.98404491e-01 8.55083289e-03 4.47489168e+02] [ 9.36042802e-01 -5.53053374e-02 -3.47512868e-01 2.73146266e+02] [ 3.47431315e-01 -1.13926128e-02 9.37636225e-01 6.61457596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0192541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.49, Y:273.14, Z:66.15 [[-5.44126822e-02 -9.98480965e-01 8.66160717e-03 4.47488160e+02] [ 9.36655591e-01 -5.40454491e-02 -3.46056923e-01 2.73139721e+02] [ 3.45999371e-01 -1.07169426e-02 9.38173535e-01 6.61457650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0492541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.49, Y:273.14, Z:66.14 [[-5.24959116e-02 -9.98582138e-01 8.82572797e-03 4.47486925e+02] [ 9.36508277e-01 -5.22970941e-02 -3.46723610e-01 2.73136526e+02] [ 3.46693563e-01 -9.93620467e-03 9.37925821e-01 6.61435833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.0792541539998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:447.49, Y:273.13, Z:66.14 [[-5.03601339e-02 -9.98690726e-01 8.98280636e-03 4.47485798e+02] [ 9.36471658e-01 -5.03447866e-02 -3.47111275e-01 2.73133775e+02] [ 3.47109049e-01 -9.06842672e-03 9.37780930e-01 6.61426675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1092541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.48, Y:273.13, Z:66.14 [[-4.72205489e-02 -9.98843416e-01 9.05819344e-03 4.47483971e+02] [ 9.37611595e-01 -4.74493404e-02 -3.44431498e-01 2.73127695e+02] [ 3.44462940e-01 -7.77117720e-03 9.38767752e-01 6.61443547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1392541539999 meters Centerline goodness : 0.999645 Centerline is valid? [True, True] Translation: X:447.48, Y:273.12, Z:66.14 [[-4.51499880e-02 -9.98937491e-01 9.23947803e-03 4.47483198e+02] [ 9.37222535e-01 -4.55584790e-02 -3.45743178e-01 2.73122591e+02] [ 3.45796759e-01 -6.95085332e-03 9.38283692e-01 6.61402531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1692541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.48, Y:273.12, Z:66.14 [[-4.36267355e-02 -9.99003839e-01 9.38281367e-03 4.47482628e+02] [ 9.37323118e-01 -4.41795221e-02 -3.45649451e-01 2.73117788e+02] [ 3.45719657e-01 -6.28482902e-03 9.38316802e-01 6.61395563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.1992541539998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:447.48, Y:273.11, Z:66.14 [[-4.06940392e-02 -9.99126166e-01 9.53413465e-03 4.47481095e+02] [ 9.37370257e-01 -4.14790670e-02 -3.45856167e-01 2.73114519e+02] [ 3.45949413e-01 -5.13727015e-03 9.38239102e-01 6.61374970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2292541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.48, Y:273.11, Z:66.14 [[-3.97408508e-02 -9.99163217e-01 9.67113167e-03 4.47480831e+02] [ 9.37517359e-01 -4.06336728e-02 -3.45557676e-01 2.73108614e+02] [ 3.45661492e-01 -4.66590220e-03 9.38347677e-01 6.61355735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2592541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.48, Y:273.11, Z:66.14 [[-3.91392827e-02 -9.99185572e-01 9.81374585e-03 4.47480591e+02] [ 9.37571099e-01 -4.01189087e-02 -3.45472006e-01 2.73108541e+02] [ 3.45584360e-01 -4.32044200e-03 9.38377740e-01 6.61356486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.2892541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.48, Y:273.10, Z:66.13 [[-3.89603548e-02 -9.99191246e-01 9.94708729e-03 4.47480759e+02] [ 9.37723084e-01 -3.99988465e-02 -3.45073196e-01 2.73103557e+02] [ 3.45191988e-01 -4.11656077e-03 9.38523066e-01 6.61348835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.48, Y:273.10, Z:66.13 [[-3.95813325e-02 -9.99165601e-01 1.00707538e-02 4.47481047e+02] [ 9.37958434e-01 -4.06275027e-02 -3.44359380e-01 2.73102202e+02] [ 3.44481197e-01 -4.18425463e-03 9.38783893e-01 6.61348021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3492541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:447.48, Y:273.10, Z:66.13 [[-4.02852011e-02 -9.99135806e-01 1.02344626e-02 4.47481431e+02] [ 9.37692160e-01 -4.13417233e-02 -3.44998951e-01 2.73102037e+02] [ 3.45123915e-01 -4.30157680e-03 9.38547271e-01 6.61336936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.3792541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:447.48, Y:273.10, Z:66.13 [[-4.17434012e-02 -9.99074286e-01 1.03951942e-02 4.47481848e+02] [ 9.37437408e-01 -4.27631349e-02 -3.45517614e-01 2.73097345e+02] [ 3.45642294e-01 -4.67823649e-03 9.38354687e-01 6.61323218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.48, Y:273.10, Z:66.13 [[-4.52172126e-02 -9.98922166e-01 1.04838217e-02 4.47483046e+02] [ 9.37952742e-01 -4.60644416e-02 -3.43689861e-01 2.73097344e+02] [ 3.43802352e-01 -5.70736824e-03 9.39024690e-01 6.61347819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4392541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.48, Y:273.10, Z:66.13 [[-4.65029619e-02 -9.98861219e-01 1.06648592e-02 4.47484176e+02] [ 9.37460963e-01 -4.73264696e-02 -3.44858157e-01 2.73096103e+02] [ 3.44970170e-01 -6.03903659e-03 9.38594221e-01 6.61326759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4692541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.49, Y:273.10, Z:66.13 [[-4.81221784e-02 -9.98782800e-01 1.08247216e-02 4.47485400e+02] [ 9.37209650e-01 -4.88980996e-02 -3.45321659e-01 2.73095004e+02] [ 3.45430642e-01 -6.47259694e-03 9.38421961e-01 6.61326323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.49, Y:273.09, Z:66.13 [[-5.09750605e-02 -9.98639548e-01 1.09816558e-02 4.47487459e+02] [ 9.36931667e-01 -5.16265082e-02 -3.45678688e-01 2.73094572e+02] [ 3.45775354e-01 -7.33193100e-03 9.38288680e-01 6.61339738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5292541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:447.49, Y:273.09, Z:66.13 [[-5.14199762e-02 -9.98614369e-01 1.11949698e-02 4.47488637e+02] [ 9.36139038e-01 -5.21014763e-02 -3.47748671e-01 2.73093763e+02] [ 3.47850094e-01 -7.40118016e-03 9.37520952e-01 6.61314989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.5592541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:447.49, Y:273.09, Z:66.13 [[-5.21529477e-02 -9.98574374e-01 1.13705870e-02 4.47489804e+02] [ 9.35774242e-01 -5.28427056e-02 -3.48617579e-01 2.73089405e+02] [ 3.48721434e-01 -7.54113196e-03 9.37196080e-01 6.61299306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.589254154 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.49, Y:273.09, Z:66.13 [[-5.28472643e-02 -9.98535865e-01 1.15452508e-02 4.47490990e+02] [ 9.35427819e-01 -5.35475603e-02 -3.49438771e-01 2.73090792e+02] [ 3.49545365e-01 -7.66713432e-03 9.36888068e-01 6.61307971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6192541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.49, Y:273.08, Z:66.13 [[-5.33378916e-02 -9.98508085e-01 1.16907720e-02 4.47491735e+02] [ 9.35421856e-01 -5.40585561e-02 -3.49376049e-01 2.73084146e+02] [ 3.49486796e-01 -7.69917821e-03 9.36909655e-01 6.61295112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6492541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.49, Y:273.08, Z:66.13 [[-5.36186807e-02 -9.98490927e-01 1.18703787e-02 4.47492326e+02] [ 9.35054507e-01 -5.43767454e-02 -3.50308776e-01 2.73083254e+02] [ 3.50425607e-01 -7.68364328e-03 9.36559051e-01 6.61290107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.6792541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.49, Y:273.08, Z:66.13 [[-5.38044717e-02 -9.98479217e-01 1.20138292e-02 4.47493200e+02] [ 9.35089632e-01 -5.46020436e-02 -3.50179949e-01 2.73081398e+02] [ 3.50303381e-01 -7.60724002e-03 9.36605398e-01 6.61292190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7092541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.49, Y:273.08, Z:66.13 [[-5.38336091e-02 -9.98476653e-01 1.20961345e-02 4.47494821e+02] [ 9.35783202e-01 -5.46730916e-02 -3.48311143e-01 2.73078189e+02] [ 3.48441878e-01 -7.43148646e-03 9.37300929e-01 6.61297240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.49, Y:273.08, Z:66.13 [[-5.42285513e-02 -9.98453489e-01 1.22431866e-02 4.47494918e+02] [ 9.35760407e-01 -5.50945106e-02 -3.48305979e-01 2.73075764e+02] [ 3.48441852e-01 -7.43143933e-03 9.37300939e-01 6.61288751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.50, Y:273.07, Z:66.13 [[-5.38401339e-02 -9.98471894e-01 1.24546276e-02 4.47495656e+02] [ 9.35111708e-01 -5.47905252e-02 -3.50091548e-01 2.73072725e+02] [ 3.50238966e-01 -7.20250775e-03 9.36632687e-01 6.61273068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.7992541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.50, Y:273.07, Z:66.13 [[-5.32572582e-02 -9.98501187e-01 1.26112419e-02 4.47496590e+02] [ 9.35051296e-01 -5.42977417e-02 -3.50329601e-01 2.73071123e+02] [ 3.50489284e-01 -6.86543589e-03 9.36541578e-01 6.61263441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8292541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.50, Y:273.07, Z:66.12 [[-5.10551571e-02 -9.98613980e-01 1.27863218e-02 4.47498082e+02] [ 9.34890284e-01 -5.22922610e-02 -3.51063635e-01 2.73065274e+02] [ 3.51245680e-01 -5.96980098e-03 9.36264297e-01 6.61246590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8592541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.50, Y:273.06, Z:66.12 [[-4.98000213e-02 -9.98675427e-01 1.29363648e-02 4.47498985e+02] [ 9.34933603e-01 -5.11696261e-02 -3.51113697e-01 2.73061371e+02] [ 3.51310570e-01 -5.39082744e-03 9.36243463e-01 6.61235380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.8892541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.50, Y:273.06, Z:66.12 [[-4.85293372e-02 -9.98735376e-01 1.31358881e-02 4.47499765e+02] [ 9.34479062e-01 -5.00431181e-02 -3.52483431e-01 2.73056137e+02] [ 3.52695033e-01 -4.83057491e-03 9.35725857e-01 6.61215228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9192541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:447.50, Y:273.05, Z:66.12 [[-4.72030456e-02 -9.98796840e-01 1.32945271e-02 4.47500680e+02] [ 9.34438636e-01 -4.88568686e-02 -3.52756916e-01 2.73051530e+02] [ 3.52982022e-01 -4.22828097e-03 9.35620550e-01 6.61195448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9492541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:447.50, Y:273.05, Z:66.12 [[-4.51364905e-02 -9.98890898e-01 1.34041353e-02 4.47502497e+02] [ 9.34911476e-01 -4.69657448e-02 -3.51759507e-01 2.73047878e+02] [ 3.51998905e-01 -3.34550974e-03 9.35994433e-01 6.61195147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 783.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.50, Y:273.05, Z:66.12 [[-4.47538870e-02 -9.98906978e-01 1.34884709e-02 4.47503423e+02] [ 9.35536155e-01 -4.66426860e-02 -3.50137919e-01 2.73047229e+02] [ 3.50384349e-01 -3.05108063e-03 9.36601035e-01 6.61208175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0092541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.51, Y:273.05, Z:66.12 [[-4.25677033e-02 -9.99000023e-01 1.36727734e-02 4.47506281e+02] [ 9.35276647e-01 -4.46575919e-02 -3.51088727e-01 2.73045181e+02] [ 3.51348239e-01 -2.15721513e-03 9.36242362e-01 6.61188813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0392541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.51, Y:273.04, Z:66.12 [[-4.19792101e-02 -9.99022888e-01 1.38207918e-02 4.47508026e+02] [ 9.35294269e-01 -4.41586101e-02 -3.51104896e-01 2.73036543e+02] [ 3.51372134e-01 -1.81259888e-03 9.36234125e-01 6.61151091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0692541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.51, Y:273.04, Z:66.12 [[-4.17859787e-02 -9.99029254e-01 1.39456471e-02 4.47509505e+02] [ 9.35507577e-01 -4.40225265e-02 -3.50553263e-01 2.73040941e+02] [ 3.50826888e-01 -1.60195266e-03 9.36438961e-01 6.61174440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.51, Y:273.03, Z:66.12 [[-4.23488565e-02 -9.99004003e-01 1.40562048e-02 4.47511198e+02] [ 9.35814676e-01 -4.45899957e-02 -3.49660729e-01 2.73032344e+02] [ 3.49939234e-01 -1.65372933e-03 9.36770942e-01 6.61154518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1292541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.51, Y:273.03, Z:66.11 [[-4.26372278e-02 -9.98988369e-01 1.42935573e-02 4.47514782e+02] [ 9.34967280e-01 -4.49394330e-02 -3.51875877e-01 2.73034826e+02] [ 3.52162253e-01 -1.63900354e-03 9.35937531e-01 6.61145015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1592541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:447.52, Y:273.03, Z:66.11 [[-4.39872321e-02 -9.98927512e-01 1.44550507e-02 4.47516843e+02] [ 9.34774594e-01 -4.62590686e-02 -3.52216634e-01 2.73032680e+02] [ 3.52507564e-01 -1.98082074e-03 9.35806868e-01 6.61139628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.1892541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.52, Y:273.03, Z:66.11 [[-4.57797427e-02 -9.98845635e-01 1.45468855e-02 4.47519355e+02] [ 9.35190269e-01 -4.79723802e-02 -3.50881477e-01 2.73026414e+02] [ 3.51174281e-01 -2.45915793e-03 9.36306882e-01 6.61122624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2192541539999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:447.52, Y:273.03, Z:66.11 [[-5.00946834e-02 -9.98635680e-01 1.47411372e-02 4.47524210e+02] [ 9.34550633e-01 -5.20759301e-02 -3.51998880e-01 2.73028422e+02] [ 3.52286299e-01 -3.85693331e-03 9.35884334e-01 6.61125379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2492541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:447.53, Y:273.03, Z:66.11 [[-5.30270849e-02 -9.98481796e-01 1.49074466e-02 4.47526562e+02] [ 9.34224281e-01 -5.48764762e-02 -3.52439448e-01 2.73028200e+02] [ 3.52722441e-01 -4.76193791e-03 9.35715878e-01 6.61124906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.2792541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:447.53, Y:273.03, Z:66.11 [[-5.90622172e-02 -9.98142125e-01 1.49650537e-02 4.47531011e+02] [ 9.34662337e-01 -6.05586154e-02 -3.50341220e-01 2.73030600e+02] [ 3.50596593e-01 -6.70465719e-03 9.36502577e-01 6.61141247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3092541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:447.53, Y:273.03, Z:66.11 [[-6.20394678e-02 -9.97959041e-01 1.51280085e-02 4.47533617e+02] [ 9.34341497e-01 -6.34007500e-02 -3.50694042e-01 2.73030206e+02] [ 3.50937417e-01 -7.62214560e-03 9.36367894e-01 6.61139625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.339254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.54, Y:273.03, Z:66.11 [[-6.52875842e-02 -9.97749854e-01 1.52564743e-02 4.47536082e+02] [ 9.34294384e-01 -6.64909719e-02 -3.50246991e-01 2.73029109e+02] [ 3.50473302e-01 -8.61274169e-03 9.36533120e-01 6.61137688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3692541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.54, Y:273.03, Z:66.12 [[-7.07186035e-02 -9.97378154e-01 1.53524458e-02 4.47540909e+02] [ 9.34355167e-01 -7.16231707e-02 -3.49070972e-01 2.73033812e+02] [ 3.49255352e-01 -1.03411746e-02 9.36970522e-01 6.61164519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.3992541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:447.54, Y:273.04, Z:66.12 [[-7.29889824e-02 -9.97212178e-01 1.55074167e-02 4.47543310e+02] [ 9.34129104e-01 -7.38024121e-02 -3.49222022e-01 2.73036144e+02] [ 3.49392938e-01 -1.10034307e-02 9.36911682e-01 6.61170732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4292541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.55, Y:273.03, Z:66.12 [[-7.47652369e-02 -9.97078083e-01 1.56670248e-02 4.47545736e+02] [ 9.33903620e-01 -7.55191531e-02 -3.49457990e-01 2.73034401e+02] [ 3.49620064e-01 -1.14958182e-02 9.36821038e-01 6.61164154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4592541539998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:447.55, Y:273.03, Z:66.11 [[-7.69873240e-02 -9.96906001e-01 1.58548771e-02 4.47549833e+02] [ 9.33412756e-01 -7.76551836e-02 -3.50300298e-01 2.73029283e+02] [ 3.50447683e-01 -1.21695380e-02 9.36503243e-01 6.61144527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.4892541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.55, Y:273.03, Z:66.11 [[-7.80331128e-02 -9.96822360e-01 1.60005019e-02 4.47551741e+02] [ 9.33358476e-01 -7.86865168e-02 -3.50214774e-01 2.73028149e+02] [ 3.50360941e-01 -1.23941449e-02 9.36532752e-01 6.61142763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5192541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.55, Y:273.03, Z:66.12 [[-7.88055487e-02 -9.96758518e-01 1.61908097e-02 4.47553352e+02] [ 9.32962549e-01 -7.94646877e-02 -3.51092929e-01 2.73029839e+02] [ 3.51241466e-01 -1.25626519e-02 9.36200626e-01 6.61152558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.56, Y:273.02, Z:66.11 [[-7.93045071e-02 -9.96716895e-01 1.63164616e-02 4.47556796e+02] [ 9.33114517e-01 -7.99828576e-02 -3.50571022e-01 2.73024107e+02] [ 3.50725098e-01 -1.25767349e-02 9.36394005e-01 6.61137714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.5792541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.56, Y:273.02, Z:66.11 [[-7.66824969e-02 -9.96915900e-01 1.66877964e-02 4.47559806e+02] [ 9.33719564e-01 -7.76715129e-02 -3.49478057e-01 2.73016435e+02] [ 3.49696398e-01 -1.12171280e-02 9.36795925e-01 6.61109643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6092541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.56, Y:273.02, Z:66.11 [[-7.89963445e-02 -9.96765353e-01 1.47786689e-02 4.47560284e+02] [ 9.33409118e-01 -7.91640978e-02 -3.49972092e-01 2.73018119e+02] [ 3.50009996e-01 -1.38519717e-02 9.36643543e-01 6.61116302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6392541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:447.56, Y:273.01, Z:66.11 [[-7.64783448e-02 -9.96933106e-01 1.65965318e-02 4.47561667e+02] [ 9.33885207e-01 -7.74531142e-02 -3.49083707e-01 2.73013393e+02] [ 3.49298558e-01 -1.11980886e-02 9.36944566e-01 6.61109624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6692541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:447.56, Y:273.01, Z:66.11 [[-7.49860691e-02 -9.97043947e-01 1.67468811e-02 4.47562246e+02] [ 9.33984239e-01 -7.61073673e-02 -3.49114753e-01 2.73010749e+02] [ 3.49357312e-01 -1.05374200e-02 9.36930324e-01 6.61100240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.6992541539998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:447.56, Y:273.01, Z:66.11 [[-7.32880372e-02 -9.97167669e-01 1.68968578e-02 4.47562951e+02] [ 9.34099012e-01 -7.45688505e-02 -3.49139688e-01 2.73006387e+02] [ 3.49410788e-01 -9.80442424e-03 9.36918339e-01 6.61080677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7292541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:447.56, Y:273.00, Z:66.11 [[-6.90625250e-02 -9.97467099e-01 1.70221821e-02 4.47563887e+02] [ 9.34579375e-01 -7.06584579e-02 -3.48667139e-01 2.72998767e+02] [ 3.48986761e-01 -8.17125267e-03 9.37092029e-01 6.61055263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7592541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:447.56, Y:272.99, Z:66.10 [[-6.70730486e-02 -9.97599842e-01 1.71977364e-02 4.47564566e+02] [ 9.34507117e-01 -6.88513218e-02 -3.49221911e-01 2.72993745e+02] [ 3.49567810e-01 -7.35197111e-03 9.36882220e-01 6.61044467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.7892541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.56, Y:272.99, Z:66.10 [[-6.56375346e-02 -9.97693028e-01 1.73301855e-02 4.47564992e+02] [ 9.34716199e-01 -6.75550827e-02 -3.48915375e-01 2.72991965e+02] [ 3.49281179e-01 -6.70313984e-03 9.36993984e-01 6.61038023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.57, Y:272.99, Z:66.10 [[-6.44746626e-02 -9.97767270e-01 1.74210218e-02 4.47565640e+02] [ 9.35210078e-01 -6.65047322e-02 -3.47791935e-01 2.72986158e+02] [ 3.48173990e-01 -6.13145247e-03 9.37409877e-01 6.61029011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.57, Y:272.98, Z:66.10 [[-6.23202879e-02 -9.97900338e-01 1.76379490e-02 4.47566872e+02] [ 9.34834500e-01 -6.45532784e-02 -3.49166625e-01 2.72982093e+02] [ 3.49572080e-01 -5.27160136e-03 9.36894642e-01 6.61017610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.8792541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:447.57, Y:272.98, Z:66.10 [[-6.23775681e-02 -9.97894714e-01 1.77532530e-02 4.47567369e+02] [ 9.35059818e-01 -6.46506683e-02 -3.48544728e-01 2.72978030e+02] [ 3.48958702e-01 -5.14101896e-03 9.37124002e-01 6.61010363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9092541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:447.57, Y:272.98, Z:66.10 [[-6.26972190e-02 -9.97871757e-01 1.79168820e-02 4.47568568e+02] [ 9.34914210e-01 -6.50055164e-02 -3.48869176e-01 2.72977726e+02] [ 3.49291394e-01 -5.12237955e-03 9.37000151e-01 6.61016970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9392541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:447.57, Y:272.98, Z:66.10 [[-6.35441414e-02 -9.97816132e-01 1.80307821e-02 4.47569050e+02] [ 9.35092353e-01 -6.58423672e-02 -3.48234225e-01 2.72979167e+02] [ 3.48660916e-01 -5.26779839e-03 9.37234131e-01 6.61025820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9692541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.57, Y:272.97, Z:66.09 [[-6.08631867e-02 -9.97625638e-01 3.22297752e-02 4.47565852e+02] [ 9.38937677e-01 -6.81785966e-02 -3.37265055e-01 2.72974461e+02] [ 3.38661646e-01 9.73472426e-03 9.40857866e-01 6.60943039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 784.9992541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:447.57, Y:273.07, Z:66.13 [[-6.26375920e-02 -9.97816824e-01 2.09312693e-02 4.47567756e+02] [ 9.39080046e-01 -6.60259127e-02 -3.37296970e-01 2.73070911e+02] [ 3.37942597e-01 -1.47133259e-03 9.41165573e-01 6.61272009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0292541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.58, Y:272.97, Z:66.09 [[-6.47300517e-02 -9.97850342e-01 1.02330311e-02 4.47577775e+02] [ 9.37810271e-01 -6.43336476e-02 -3.41134984e-01 2.72974001e+02] [ 3.41059989e-01 -1.24850435e-02 9.39958620e-01 6.60937145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.0592541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:447.58, Y:272.97, Z:66.10 [[-7.07561719e-02 -9.97487163e-01 3.59504121e-03 4.47579184e+02] [ 9.34499817e-01 -6.75478185e-02 -3.49495900e-01 2.72973643e+02] [ 3.48860511e-01 -2.13694266e-02 9.36930996e-01 6.60996467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.089254154 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.57, Y:272.97, Z:66.10 [[-7.47014673e-02 -9.97029779e-01 1.87432963e-02 4.47574125e+02] [ 9.33501555e-01 -7.65272385e-02 -3.50311902e-01 2.72972547e+02] [ 3.50705771e-01 -8.67191685e-03 9.36445546e-01 6.61003885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1192541539999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:447.54, Y:273.57, Z:66.31 [[-7.55412379e-02 -9.96811011e-01 2.57163483e-02 4.47539792e+02] [ 9.35821400e-01 -7.97766518e-02 -3.43327821e-01 2.73574263e+02] [ 3.44284517e-01 -1.86949954e-03 9.38863503e-01 6.63143797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1492541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:448.08, Y:272.94, Z:66.58 [[-7.74111427e-02 3.19695824e-01 -9.44352739e-01 4.48076950e+02] [ 9.26394024e-01 3.73168623e-01 5.03913723e-02 2.72936849e+02] [ 3.68512722e-01 -8.70941880e-01 -3.25051711e-01 6.65796606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.1792541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.58, Y:273.10, Z:66.11 [[-1.02783272e-01 -9.94173592e-01 3.24725778e-02 4.47579776e+02] [ 9.06626209e-01 -1.07062689e-01 -4.08125591e-01 2.73103179e+02] [ 4.09224286e-01 -1.25079936e-02 9.12348088e-01 6.61071187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2092541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.58, Y:273.10, Z:66.11 [[-1.04299302e-01 -9.94014299e-01 3.25150478e-02 4.47579671e+02] [ 9.07218245e-01 -1.08486703e-01 -4.06430426e-01 2.73102705e+02] [ 4.07525105e-01 -1.28921650e-02 9.13102996e-01 6.61079187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2392541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:447.58, Y:273.10, Z:66.11 [[-1.04868775e-01 -9.93945678e-01 3.27800073e-02 4.47580288e+02] [ 9.06664931e-01 -1.09099208e-01 -4.07499773e-01 2.73100500e+02] [ 4.08608912e-01 -1.30135192e-02 9.12616790e-01 6.61065476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2692541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:447.58, Y:273.10, Z:66.11 [[-1.05313366e-01 -9.93893554e-01 3.29347469e-02 4.47580530e+02] [ 9.06742895e-01 -1.09572249e-01 -4.07199268e-01 2.73098486e+02] [ 4.08321462e-01 -1.30201779e-02 9.12745342e-01 6.61057927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.2992541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:447.58, Y:273.09, Z:66.10 [[-1.04486632e-01 -9.93973916e-01 3.31420982e-02 4.47580865e+02] [ 9.06668578e-01 -1.08897887e-01 -4.07545506e-01 2.73092853e+02] [ 4.08698707e-01 -1.25341583e-02 9.12583290e-01 6.61026379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3292541539998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.58, Y:273.09, Z:66.10 [[-1.04338796e-01 -9.93985544e-01 3.32588950e-02 4.47580284e+02] [ 9.07017297e-01 -1.08820958e-01 -4.06789407e-01 2.73093941e+02] [ 4.07962055e-01 -1.22775239e-02 9.12916329e-01 6.61032172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3592541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.58, Y:273.09, Z:66.10 [[-1.02730098e-01 -9.94145860e-01 3.34744035e-02 4.47580213e+02] [ 9.06982163e-01 -1.07435284e-01 -4.07235823e-01 2.73088431e+02] [ 4.08448139e-01 -1.14746892e-02 9.12709400e-01 6.61003105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.3892541539999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:447.58, Y:273.09, Z:66.10 [[-1.02149285e-01 -9.94196869e-01 3.37358870e-02 4.47579954e+02] [ 9.06586527e-01 -1.07000107e-01 -4.08230140e-01 2.73087741e+02] [ 4.09470870e-01 -1.11159165e-02 9.12255470e-01 6.60998071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4192541539999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:447.58, Y:273.08, Z:66.10 [[-1.01484624e-01 -9.94256653e-01 3.39790973e-02 4.47579988e+02] [ 9.06301738e-01 -1.06484603e-01 -4.08996564e-01 2.73081127e+02] [ 4.10265806e-01 -1.07115475e-02 9.11903082e-01 6.60965538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4492541539998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.58, Y:273.08, Z:66.10 [[-1.00647254e-01 -9.94336336e-01 3.41376841e-02 4.47578502e+02] [ 9.06494686e-01 -1.05789111e-01 -4.08749371e-01 2.73078340e+02] [ 4.10045747e-01 -1.01938724e-02 9.12007988e-01 6.60960397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.4792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.58, Y:273.07, Z:66.10 [[-1.00734433e-01 -9.94325677e-01 3.41909622e-02 4.47577779e+02] [ 9.07150797e-01 -1.05906902e-01 -4.07260555e-01 2.73072744e+02] [ 4.08570686e-01 -1.00088026e-02 9.12671802e-01 6.60951283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5092541539999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:447.58, Y:273.07, Z:66.09 [[-1.00587685e-01 -9.94333547e-01 3.43935464e-02 4.47577219e+02] [ 9.07027383e-01 -1.05852664e-01 -4.07549433e-01 2.73071693e+02] [ 4.08880722e-01 -9.79856565e-03 9.12535229e-01 6.60937238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5392541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.58, Y:273.07, Z:66.09 [[-1.00608183e-01 -9.94326468e-01 3.45379159e-02 4.47576647e+02] [ 9.07195352e-01 -1.05934554e-01 -4.07154102e-01 2.73068622e+02] [ 4.08502860e-01 -9.63039779e-03 9.12706234e-01 6.60928513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5692541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.58, Y:273.07, Z:66.09 [[-1.00104208e-01 -9.94375099e-01 3.46021610e-02 4.47575516e+02] [ 9.07838467e-01 -1.05514470e-01 -4.05827567e-01 2.73068875e+02] [ 4.07195856e-01 -9.21187439e-03 9.13294408e-01 6.60924684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.5992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.58, Y:273.06, Z:66.09 [[-9.99675557e-02 -9.94386037e-01 3.46828151e-02 4.47575421e+02] [ 9.08349664e-01 -1.05433640e-01 -4.04703144e-01 2.73063347e+02] [ 4.06087891e-01 -8.95306062e-03 9.13790166e-01 6.60910717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6292541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.58, Y:273.06, Z:66.09 [[-9.95079250e-02 -9.94423102e-01 3.49409009e-02 4.47575204e+02] [ 9.07969359e-01 -1.05109751e-01 -4.05639722e-01 2.73058234e+02] [ 4.07050140e-01 -8.63909961e-03 9.13364960e-01 6.60878667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6592541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.58, Y:273.06, Z:66.09 [[-9.99006483e-02 -9.94377537e-01 3.51165886e-02 4.47575407e+02] [ 9.07926245e-01 -1.05539964e-01 -4.05624519e-01 2.73055903e+02] [ 4.07050113e-01 -8.63888000e-03 9.13364974e-01 6.60868681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.57, Y:273.05, Z:66.09 [[-9.88997206e-02 -9.94474352e-01 3.52080875e-02 4.47573529e+02] [ 9.08461773e-01 -1.04671921e-01 -4.04649225e-01 2.73051788e+02] [ 4.06098574e-01 -8.03449370e-03 9.13793957e-01 6.60866558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7192541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:447.57, Y:273.05, Z:66.09 [[-9.82701484e-02 -9.94530503e-01 3.53844175e-02 4.47572804e+02] [ 9.08519363e-01 -1.04168381e-01 -4.04649869e-01 2.73048648e+02] [ 4.06122575e-01 -7.61757424e-03 9.13786861e-01 6.60851209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7492541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.57, Y:273.05, Z:66.08 [[-9.76550587e-02 -9.94583998e-01 3.55831422e-02 4.47572320e+02] [ 9.08460823e-01 -1.03685158e-01 -4.04905323e-01 2.73045873e+02] [ 4.06401799e-01 -7.21516247e-03 9.13665978e-01 6.60835186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.7792541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:447.57, Y:273.05, Z:66.08 [[-9.66669913e-02 -9.94671830e-01 3.58251741e-02 4.47572133e+02] [ 9.08222044e-01 -1.02875598e-01 -4.05646804e-01 2.73045149e+02] [ 4.07170985e-01 -6.67544316e-03 9.13327558e-01 6.60818863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8092541539999 meters Centerline goodness : 0.999689 Centerline is valid? [True, True] Translation: X:447.57, Y:273.04, Z:66.08 [[-9.50099379e-02 -9.94831093e-01 3.58358479e-02 4.47571783e+02] [ 9.09218739e-01 -1.01378869e-01 -4.03786591e-01 2.73038873e+02] [ 4.05332453e-01 -5.78111451e-03 9.14151071e-01 6.60794910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.839254154 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:447.57, Y:273.03, Z:66.08 [[-9.47877602e-02 -9.94849563e-01 3.59113949e-02 4.47571676e+02] [ 9.09731988e-01 -1.01213212e-01 -4.02670579e-01 2.73034648e+02] [ 4.04231357e-01 -5.49849764e-03 9.14640244e-01 6.60783784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8692541539999 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:447.57, Y:273.03, Z:66.08 [[-9.42143866e-02 -9.94899778e-01 3.60289018e-02 4.47571591e+02] [ 9.10065657e-01 -1.00739945e-01 -4.02034778e-01 2.73033435e+02] [ 4.03613861e-01 -5.08879380e-03 9.14915272e-01 6.60781058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.8992541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.57, Y:273.03, Z:66.08 [[-9.38440723e-02 -9.94932818e-01 3.60829199e-02 4.47571810e+02] [ 9.10686670e-01 -1.00430009e-01 -4.00703884e-01 2.73028570e+02] [ 4.02297253e-01 -4.74345013e-03 9.15496816e-01 6.60762560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9292541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.57, Y:273.03, Z:66.07 [[-9.40508361e-02 -9.94906298e-01 3.62753099e-02 4.47572153e+02] [ 9.10567379e-01 -1.00695609e-01 -4.00908272e-01 2.73026043e+02] [ 4.02518929e-01 -4.67464433e-03 9.15399727e-01 6.60746855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9592541539998 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:447.57, Y:273.03, Z:66.07 [[-9.49994254e-02 -9.94806586e-01 3.65371870e-02 4.47572571e+02] [ 9.10034121e-01 -1.01664030e-01 -4.01873517e-01 2.73025136e+02] [ 4.03500939e-01 -4.92766635e-03 9.14965961e-01 6.60733344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 785.9892541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:447.57, Y:273.02, Z:66.07 [[-9.59514265e-02 -9.94707726e-01 3.67404788e-02 4.47572906e+02] [ 9.09787309e-01 -1.02615129e-01 -4.02190488e-01 2.73024406e+02] [ 4.03832115e-01 -5.16472972e-03 9.14818533e-01 6.60726538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0192541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.57, Y:273.02, Z:66.07 [[-9.73042453e-02 -9.94568926e-01 3.69396073e-02 4.47573163e+02] [ 9.09519765e-01 -1.03931217e-01 -4.02457575e-01 2.73022734e+02] [ 4.04110977e-01 -5.56352764e-03 9.14693045e-01 6.60715714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0492541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:447.57, Y:273.02, Z:66.07 [[-9.97214110e-02 -9.94325242e-01 3.70533794e-02 4.47573904e+02] [ 9.09549580e-01 -1.06192209e-01 -4.01799423e-01 2.73019780e+02] [ 4.03454089e-01 -6.36611974e-03 9.14977743e-01 6.60707731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.0792541539998 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.57, Y:273.02, Z:66.07 [[-1.01597870e-01 -9.94132765e-01 3.71203347e-02 4.47574176e+02] [ 9.09852824e-01 -1.07944494e-01 -4.00644263e-01 2.73020135e+02] [ 4.02300525e-01 -6.93056253e-03 9.15481433e-01 6.60714462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1092541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.57, Y:273.02, Z:66.07 [[-1.03311434e-01 -9.93952640e-01 3.72142161e-02 4.47574709e+02] [ 9.10037796e-01 -1.09557543e-01 -3.99785385e-01 2.73019322e+02] [ 4.01444837e-01 -7.43605813e-03 9.15853016e-01 6.60717435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1392541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.58, Y:273.02, Z:66.07 [[-1.04932980e-01 -9.93781829e-01 3.72390432e-02 4.47575712e+02] [ 9.10551704e-01 -1.11065964e-01 -3.98195863e-01 2.73016313e+02] [ 3.99855803e-01 -7.87580441e-03 9.16544221e-01 6.60713710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1692541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.58, Y:273.02, Z:66.07 [[-1.07681941e-01 -9.93488482e-01 3.72187626e-02 4.47576663e+02] [ 9.11135067e-01 -1.13596405e-01 -3.96142331e-01 2.73016657e+02] [ 3.97790761e-01 -8.74605557e-03 9.17434476e-01 6.60707696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.1992541539998 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:447.58, Y:273.02, Z:66.07 [[-1.09163714e-01 -9.93318887e-01 3.74282288e-02 4.47576592e+02] [ 9.10786686e-01 -1.15034765e-01 -3.96528203e-01 2.73019657e+02] [ 3.98184500e-01 -9.19735860e-03 9.17259239e-01 6.60710796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2292541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.58, Y:273.01, Z:66.07 [[-1.10901183e-01 -9.93118650e-01 3.76334225e-02 4.47577112e+02] [ 9.10429129e-01 -1.16705993e-01 -3.96860823e-01 2.73014139e+02] [ 3.98521931e-01 -9.74977057e-03 9.17106980e-01 6.60680904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2592541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:447.58, Y:273.01, Z:66.07 [[-1.12536231e-01 -9.92926114e-01 3.78593306e-02 4.47576929e+02] [ 9.09987184e-01 -1.18288794e-01 -3.97405443e-01 2.73014277e+02] [ 3.99072577e-01 -1.02710053e-02 9.16861813e-01 6.60681919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.2892541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.58, Y:273.01, Z:66.07 [[-1.15452245e-01 -9.92580947e-01 3.81292946e-02 4.47577180e+02] [ 9.09186292e-01 -1.21056580e-01 -3.98403803e-01 2.73013833e+02] [ 4.00063826e-01 -1.13299817e-02 9.16417245e-01 6.60666583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.58, Y:273.01, Z:66.07 [[-1.16789211e-01 -9.92416600e-01 3.83349961e-02 4.47577627e+02] [ 9.08871146e-01 -1.22359356e-01 -3.98724752e-01 2.73012008e+02] [ 4.00391709e-01 -1.17251775e-02 9.16269065e-01 6.60663385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3492541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.58, Y:273.01, Z:66.07 [[-1.17605318e-01 -9.92314827e-01 3.84743313e-02 4.47577652e+02] [ 9.08923529e-01 -1.23167299e-01 -3.98356416e-01 2.73012413e+02] [ 4.00033757e-01 -1.18786079e-02 9.16423424e-01 6.60660679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.3792541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.58, Y:273.01, Z:66.06 [[-1.17305435e-01 -9.92348142e-01 3.85305035e-02 4.47577740e+02] [ 9.09489426e-01 -1.22930553e-01 -3.97136076e-01 2.73005875e+02] [ 3.98833823e-01 -1.15431347e-02 9.16950565e-01 6.60633930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4092541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.58, Y:273.00, Z:66.06 [[-1.16905253e-01 -9.92392237e-01 3.86110133e-02 4.47577203e+02] [ 9.09951447e-01 -1.22607646e-01 -3.96176386e-01 2.73002649e+02] [ 3.97896375e-01 -1.11809533e-02 9.17362230e-01 6.60618631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4392541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.58, Y:273.00, Z:66.06 [[-1.16175670e-01 -9.92475991e-01 3.86603408e-02 4.47576653e+02] [ 9.10586392e-01 -1.21973119e-01 -3.94911359e-01 2.73000243e+02] [ 3.96655565e-01 -1.06755117e-02 9.17905440e-01 6.60617846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4692541539999 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:447.58, Y:273.00, Z:66.06 [[-1.15059479e-01 -9.92600991e-01 3.87890440e-02 4.47576452e+02] [ 9.10910429e-01 -1.21004986e-01 -3.94461637e-01 2.72997048e+02] [ 3.96236680e-01 -1.00532055e-02 9.18093365e-01 6.60584894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.4992541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:447.58, Y:272.99, Z:66.06 [[-1.12894737e-01 -9.92842670e-01 3.89642328e-02 4.47575693e+02] [ 9.11152899e-01 -1.19087528e-01 -3.94485178e-01 2.72994177e+02] [ 3.96301871e-01 -9.03292655e-03 9.18075832e-01 6.60560668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5292541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.58, Y:272.99, Z:66.05 [[-1.12108997e-01 -9.92923024e-01 3.91847096e-02 4.47575563e+02] [ 9.11028366e-01 -1.18449315e-01 -3.94964653e-01 2.72990113e+02] [ 3.96810900e-01 -8.58070936e-03 9.17860273e-01 6.60546979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.5592541539999 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:447.57, Y:272.99, Z:66.05 [[-1.11610204e-01 -9.92966313e-01 3.95103080e-02 4.47574597e+02] [ 9.10409310e-01 -1.18107202e-01 -3.96491585e-01 2.72989327e+02] [ 3.98369239e-01 -8.28195438e-03 9.17187744e-01 6.60527420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.589254154 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.57, Y:272.99, Z:66.05 [[-1.12626212e-01 -9.92844710e-01 3.96827122e-02 4.47574068e+02] [ 9.10283293e-01 -1.19107477e-01 -3.96481697e-01 2.72988254e+02] [ 3.98371263e-01 -8.53172187e-03 9.17184576e-01 6.60516281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.57, Y:272.98, Z:66.05 [[-1.13964607e-01 -9.92687000e-01 3.98068891e-02 4.47574097e+02] [ 9.10327895e-01 -1.20388773e-01 -3.95992004e-01 2.72984997e+02] [ 3.97888417e-01 -8.89175142e-03 9.17390726e-01 6.60508230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6492541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.57, Y:272.99, Z:66.05 [[-1.15264196e-01 -9.92532047e-01 3.99287071e-02 4.47573874e+02] [ 9.10383567e-01 -1.21634118e-01 -3.95483126e-01 2.72985122e+02] [ 3.97386369e-01 -9.23460569e-03 9.17604924e-01 6.60521593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.6792541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:447.57, Y:272.98, Z:66.05 [[-1.18209492e-01 -9.92184252e-01 3.99615492e-02 4.47573471e+02] [ 9.10612943e-01 -1.24364081e-01 -3.94103595e-01 2.72982089e+02] [ 3.95993162e-01 -1.01972817e-02 9.18196837e-01 6.60495992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7092541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.57, Y:272.98, Z:66.05 [[-1.19959260e-01 -9.91972890e-01 3.99945225e-02 4.47572961e+02] [ 9.10979145e-01 -1.25999065e-01 -3.92735578e-01 2.72979437e+02] [ 3.94622318e-01 -1.06780935e-02 9.18781369e-01 6.60505398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7392541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:447.57, Y:272.98, Z:66.05 [[-1.21124506e-01 -9.91824290e-01 4.01675574e-02 4.47572683e+02] [ 9.10817917e-01 -1.27137323e-01 -3.92742694e-01 2.72979183e+02] [ 3.94638539e-01 -1.09854338e-02 9.18770779e-01 6.60491552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7692541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.57, Y:272.98, Z:66.05 [[-1.22590927e-01 -9.91640664e-01 4.02524429e-02 4.47572432e+02] [ 9.10988324e-01 -1.28527999e-01 -3.91893897e-01 2.72975855e+02] [ 3.93791490e-01 -1.13731306e-02 9.19129433e-01 6.60483334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.7992541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.57, Y:272.98, Z:66.05 [[-1.24649612e-01 -9.91374727e-01 4.04799444e-02 4.47571404e+02] [ 9.10477539e-01 -1.30501759e-01 -3.92428263e-01 2.72978048e+02] [ 3.94326166e-01 -1.20599505e-02 9.18891415e-01 6.60465510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8292541539998 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:447.57, Y:272.98, Z:66.04 [[-1.25847243e-01 -9.91214219e-01 4.07043377e-02 4.47571092e+02] [ 9.10092623e-01 -1.31683385e-01 -3.92926080e-01 2.72975279e+02] [ 3.94834002e-01 -1.24039465e-02 9.18668740e-01 6.60447137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8592541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.57, Y:272.97, Z:66.04 [[-1.27548291e-01 -9.90989971e-01 4.08694407e-02 4.47570528e+02] [ 9.09888663e-01 -1.33311420e-01 -3.92849445e-01 2.72972129e+02] [ 3.94758223e-01 -1.29206344e-02 9.18694183e-01 6.60427393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.8892541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:447.57, Y:272.98, Z:66.04 [[-1.30857758e-01 -9.90546966e-01 4.11455350e-02 4.47568534e+02] [ 9.08998862e-01 -1.36443816e-01 -3.93832647e-01 2.72975606e+02] [ 3.95723788e-01 -1.41348127e-02 9.18260797e-01 6.60439614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.57, Y:272.97, Z:66.04 [[-1.33094731e-01 -9.90244509e-01 4.12505213e-02 4.47568223e+02] [ 9.08962900e-01 -1.38548673e-01 -3.93180254e-01 2.72971787e+02] [ 3.95059793e-01 -1.48350266e-02 9.18535618e-01 6.60426949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9492541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.57, Y:272.97, Z:66.04 [[-1.35073601e-01 -9.89970823e-01 4.13871006e-02 4.47567370e+02] [ 9.08827001e-01 -1.40424920e-01 -3.92828619e-01 2.72970246e+02] [ 3.94700652e-01 -1.54470617e-02 9.18679914e-01 6.60433117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 786.9792541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.57, Y:272.97, Z:66.04 [[-1.36883506e-01 -9.89716243e-01 4.15290702e-02 4.47566522e+02] [ 9.08687985e-01 -1.42147636e-01 -3.92530502e-01 2.72968599e+02] [ 3.94397073e-01 -1.59939842e-02 9.18800926e-01 6.60422856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0092541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:447.56, Y:272.97, Z:66.04 [[-1.38972111e-01 -9.89419996e-01 4.16512276e-02 4.47564152e+02] [ 9.08585437e-01 -1.44122113e-01 -3.92047600e-01 2.72969119e+02] [ 3.93902597e-01 -1.66399839e-02 9.19001553e-01 6.60425091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0392541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.56, Y:272.97, Z:66.04 [[-1.39935586e-01 -9.89280680e-01 4.17344848e-02 4.47562520e+02] [ 9.08800906e-01 -1.45055143e-01 -3.91203168e-01 2.72968193e+02] [ 3.93063538e-01 -1.68149071e-02 9.19357555e-01 6.60435744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.56, Y:272.97, Z:66.04 [[-1.40272320e-01 -9.89227121e-01 4.18733854e-02 4.47560984e+02] [ 9.08881342e-01 -1.45424961e-01 -3.90878864e-01 2.72965491e+02] [ 3.92757409e-01 -1.67715462e-02 9.19489170e-01 6.60436397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.0992541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.56, Y:272.96, Z:66.04 [[-1.38420905e-01 -9.89476241e-01 4.21476094e-02 4.47558216e+02] [ 9.08737309e-01 -1.43815496e-01 -3.91808124e-01 2.72962383e+02] [ 3.93746309e-01 -1.59333298e-02 9.19081048e-01 6.60389982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1292541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:447.56, Y:272.96, Z:66.04 [[-1.37128005e-01 -9.89644878e-01 4.24137446e-02 4.47557244e+02] [ 9.08544166e-01 -1.42718737e-01 -3.92656161e-01 2.72956419e+02] [ 3.94643394e-01 -1.53093958e-02 9.18706816e-01 6.60352792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1592541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.56, Y:272.95, Z:66.03 [[-1.35844049e-01 -9.89814835e-01 4.25791778e-02 4.47555848e+02] [ 9.08752769e-01 -1.41606509e-01 -3.92576110e-01 2.72950966e+02] [ 3.94607146e-01 -1.46351825e-02 9.18733374e-01 6.60347170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.1892541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.55, Y:272.95, Z:66.03 [[-1.31528722e-01 -9.90386759e-01 4.28282915e-02 4.47551828e+02] [ 9.09049628e-01 -1.37733120e-01 -3.93266273e-01 2.72950019e+02] [ 3.95384584e-01 -1.27927678e-02 9.18426576e-01 6.60330351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2192541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.55, Y:272.94, Z:66.03 [[-1.29292986e-01 -9.90674691e-01 4.29765202e-02 4.47550769e+02] [ 9.09450119e-01 -1.35742526e-01 -3.93032375e-01 2.72940046e+02] [ 3.95200968e-01 -1.17313278e-02 9.18519772e-01 6.60291723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2492541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.55, Y:272.94, Z:66.03 [[-1.27136658e-01 -9.90946630e-01 4.31398559e-02 4.47549092e+02] [ 9.09773292e-01 -1.33828545e-01 -3.92940806e-01 2.72936455e+02] [ 3.95156712e-01 -1.07096920e-02 9.18551292e-01 6.60280380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.2792541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.55, Y:272.93, Z:66.02 [[-1.22199717e-01 -9.91563324e-01 4.32366109e-02 4.47546576e+02] [ 9.10718482e-01 -1.29340461e-01 -3.92253606e-01 2.72928262e+02] [ 3.94536532e-01 -8.55689888e-03 9.18840413e-01 6.60244199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3092541539999 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:447.55, Y:272.93, Z:66.02 [[-1.20318907e-01 -9.91787052e-01 4.33797677e-02 4.47545233e+02] [ 9.11065616e-01 -1.27671594e-01 -3.91994143e-01 2.72926401e+02] [ 3.94313079e-01 -7.64249188e-03 9.18944388e-01 6.60237951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.339254154 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:447.54, Y:272.92, Z:66.02 [[-1.16587772e-01 -9.92226111e-01 4.35274232e-02 4.47543216e+02] [ 9.11623375e-01 -1.24303627e-01 -3.91779824e-01 2.72919413e+02] [ 3.94144788e-01 -5.99612031e-03 9.19028799e-01 6.60206380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.54, Y:272.92, Z:66.02 [[-1.15125965e-01 -9.92390073e-01 4.36801489e-02 4.47542481e+02] [ 9.11868310e-01 -1.23021681e-01 -3.91614416e-01 2.72915048e+02] [ 3.94007864e-01 -5.25444404e-03 9.19092049e-01 6.60180858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.3992541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:447.54, Y:272.91, Z:66.02 [[-1.13627353e-01 -9.92552916e-01 4.39036816e-02 4.47541747e+02] [ 9.11839723e-01 -1.21730411e-01 -3.92084208e-01 2.72910784e+02] [ 3.94508738e-01 -4.51836986e-03 9.18881081e-01 6.60161444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.54, Y:272.91, Z:66.01 [[-1.11920460e-01 -9.92736599e-01 4.41345271e-02 4.47541394e+02] [ 9.11806358e-01 -1.20251225e-01 -3.92617891e-01 2.72905347e+02] [ 3.95073380e-01 -3.69983271e-03 9.18642115e-01 6.60138035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4592541539998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:447.54, Y:272.90, Z:66.01 [[-1.07599677e-01 -9.93199952e-01 4.44540806e-02 4.47540109e+02] [ 9.11738001e-01 -1.16406223e-01 -3.93933254e-01 2.72900557e+02] [ 3.96429221e-01 -1.85661643e-03 9.18063411e-01 6.60096301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.4892541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.54, Y:272.90, Z:66.01 [[-1.05448568e-01 -9.93422200e-01 4.46422663e-02 4.47539356e+02] [ 9.11912154e-01 -1.14505968e-01 -3.94087055e-01 2.72900560e+02] [ 3.96606635e-01 -8.46090569e-04 9.17988269e-01 6.60110644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5192541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:447.54, Y:272.89, Z:66.01 [[-1.03068706e-01 -9.93663410e-01 4.48315602e-02 4.47540001e+02] [ 9.12104472e-01 -1.12396447e-01 -3.94249251e-01 2.72892818e+02] [ 3.96789963e-01 2.56306458e-04 9.17909396e-01 6.60068279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5492541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:447.54, Y:272.89, Z:66.01 [[-1.03457592e-01 -9.93615381e-01 4.50000214e-02 4.47540269e+02] [ 9.12060456e-01 -1.12820253e-01 -3.94230027e-01 2.72890472e+02] [ 3.96789932e-01 2.56650582e-04 9.17909409e-01 6.60058294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.5792541539998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:447.54, Y:272.88, Z:66.00 [[-1.01096747e-01 -9.93852058e-01 4.51390527e-02 4.47540647e+02] [ 9.12436684e-01 -1.10707906e-01 -3.93958194e-01 2.72884565e+02] [ 3.96533412e-01 1.35863575e-03 9.18019285e-01 6.60032505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6092541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:447.54, Y:272.88, Z:66.00 [[-9.60839932e-02 -9.94348591e-01 4.51524785e-02 4.47541511e+02] [ 9.13567126e-01 -1.06105797e-01 -3.92602428e-01 2.72876865e+02] [ 3.95174611e-01 3.52701094e-03 9.18599253e-01 6.60015223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6392541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.54, Y:272.87, Z:66.00 [[-9.38949472e-02 -9.94554017e-01 4.52332352e-02 4.47542341e+02] [ 9.14121343e-01 -1.04122735e-01 -3.91842605e-01 2.72872597e+02] [ 3.94418445e-01 4.55662498e-03 9.18919652e-01 6.59990122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6692541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.54, Y:272.87, Z:66.00 [[-9.21221925e-02 -9.94716716e-01 4.53007344e-02 4.47543574e+02] [ 9.14672932e-01 -1.02514901e-01 -3.90978417e-01 2.72868777e+02] [ 3.93556767e-01 5.41756653e-03 9.19284353e-01 6.59978768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.6992541539998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:447.55, Y:272.87, Z:66.00 [[-8.97152286e-02 -9.94929420e-01 4.54601629e-02 4.47547058e+02] [ 9.14940826e-01 -1.00363846e-01 -3.90909687e-01 2.72865153e+02] [ 3.93490105e-01 6.52280712e-03 9.19305711e-01 6.59951740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7292541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.55, Y:272.86, Z:65.99 [[-8.96286949e-02 -9.94928367e-01 4.56534904e-02 4.47549619e+02] [ 9.14845654e-01 -1.00362001e-01 -3.91132839e-01 2.72861552e+02] [ 3.93731033e-01 6.70917137e-03 9.19201208e-01 6.59929501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7592541539999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:447.55, Y:272.87, Z:65.99 [[-8.99667272e-02 -9.94886600e-01 4.58981622e-02 4.47551857e+02] [ 9.14517876e-01 -1.00774051e-01 -3.91792861e-01 2.72865124e+02] [ 3.94414811e-01 6.72636839e-03 9.18907891e-01 6.59929054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.7892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.56, Y:272.86, Z:65.99 [[-9.18298560e-02 -9.94708451e-01 4.60692344e-02 4.47558483e+02] [ 9.14307107e-01 -1.02554339e-01 -3.91822820e-01 2.72858450e+02] [ 3.94474070e-01 6.14039527e-03 9.18886556e-01 6.59914717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8192541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:447.56, Y:272.86, Z:65.99 [[-9.30853435e-02 -9.94578956e-01 4.63445690e-02 4.47561827e+02] [ 9.13773601e-01 -1.03822765e-01 -3.92732275e-01 2.72859463e+02] [ 3.95414877e-01 5.79082493e-03 9.18484372e-01 6.59894694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8492541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:447.56, Y:272.87, Z:66.00 [[-9.45849474e-02 -9.94430439e-01 4.64950421e-02 4.47563517e+02] [ 9.13672301e-01 -1.05259177e-01 -3.92585573e-01 2.72874349e+02] [ 3.95293074e-01 5.34854633e-03 9.18539481e-01 6.59960626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.8792541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:447.57, Y:272.86, Z:65.99 [[-9.67202447e-02 -9.94211871e-01 4.67755245e-02 4.47571796e+02] [ 9.13028999e-01 -1.07336705e-01 -3.93518587e-01 2.72857009e+02] [ 3.96261582e-01 4.64619627e-03 9.18125902e-01 6.59887779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9092541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.58, Y:272.86, Z:65.99 [[-9.75891435e-02 -9.94114663e-01 4.70361211e-02 4.47575246e+02] [ 9.12594364e-01 -1.08241656e-01 -3.94278165e-01 2.72856639e+02] [ 3.97048973e-01 4.44763052e-03 9.17786648e-01 6.59888102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9392541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:447.58, Y:272.86, Z:65.99 [[-9.85676782e-02 -9.94009345e-01 4.72211386e-02 4.47581948e+02] [ 9.12421090e-01 -1.09214029e-01 -3.94411018e-01 2.72859722e+02] [ 3.97205448e-01 4.20938448e-03 9.17720063e-01 6.59893039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9692541539999 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:447.59, Y:272.86, Z:65.99 [[-9.85936767e-02 -9.93997158e-01 4.74229528e-02 4.47585959e+02] [ 9.12292895e-01 -1.09319348e-01 -3.94678291e-01 2.72859986e+02] [ 3.97493346e-01 4.35083910e-03 9.17594742e-01 6.59884323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 787.9992541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.59, Y:272.85, Z:65.99 [[-9.85541183e-02 -9.93996661e-01 4.75155045e-02 4.47590486e+02] [ 9.12570137e-01 -1.09316704e-01 -3.94037567e-01 2.72851637e+02] [ 3.96866264e-01 4.52720551e-03 9.17865280e-01 6.59858306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0292541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.59, Y:272.85, Z:65.98 [[-9.80638904e-02 -9.94033712e-01 4.77540820e-02 4.47594214e+02] [ 9.12366739e-01 -1.08964380e-01 -3.94605751e-01 2.72851666e+02] [ 3.97454913e-01 4.87266099e-03 9.17608767e-01 6.59841812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.0592541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:447.60, Y:272.85, Z:65.98 [[-9.65067688e-02 -9.94174125e-01 4.80026397e-02 4.47601254e+02] [ 9.12243462e-01 -1.07638002e-01 -3.95254256e-01 2.72848322e+02] [ 3.98118463e-01 5.64538302e-03 9.17316641e-01 6.59819102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.089254154 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.61, Y:272.84, Z:65.98 [[-9.58256669e-02 -9.94230698e-01 4.81950307e-02 4.47605623e+02] [ 9.12227654e-01 -1.07090873e-01 -3.95439315e-01 2.72842247e+02] [ 3.98319154e-01 6.07160377e-03 9.17226792e-01 6.59787527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1192541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.61, Y:272.84, Z:65.98 [[-9.56677125e-02 -9.94240798e-01 4.83003614e-02 4.47609021e+02] [ 9.12466356e-01 -1.06984351e-01 -3.94917077e-01 2.72842508e+02] [ 3.97810052e-01 6.29164143e-03 9.17446226e-01 6.59798288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1492541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:447.62, Y:272.84, Z:65.98 [[-9.44366653e-02 -9.94347692e-01 4.85219830e-02 4.47617370e+02] [ 9.12402771e-01 -1.05945974e-01 -3.95343691e-01 2.72839505e+02] [ 3.98249795e-01 6.93665197e-03 9.17250775e-01 6.59783042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.1792541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:447.62, Y:272.84, Z:65.98 [[-9.40339295e-02 -9.94375076e-01 4.87424628e-02 4.47620655e+02] [ 9.12255655e-01 -1.05667550e-01 -3.95757486e-01 2.72844923e+02] [ 3.98681877e-01 7.25095573e-03 9.17060622e-01 6.59803781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.63, Y:272.84, Z:65.98 [[-9.35528997e-02 -9.94417044e-01 4.88118666e-02 4.47625382e+02] [ 9.12655639e-01 -1.05247246e-01 -3.94946454e-01 2.72835427e+02] [ 3.97878800e-01 7.60003938e-03 9.17406508e-01 6.59792833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2392541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.63, Y:272.83, Z:65.97 [[-9.10644143e-02 -9.94631439e-01 4.91484854e-02 4.47634287e+02] [ 9.12317942e-01 -1.03110212e-01 -3.96288098e-01 2.72827883e+02] [ 3.99228312e-01 8.75130149e-03 9.16809778e-01 6.59738702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.64, Y:272.83, Z:65.98 [[-8.96207871e-02 -9.94756530e-01 4.92702755e-02 4.47637926e+02] [ 9.12627013e-01 -1.01830750e-01 -3.95907102e-01 2.72833002e+02] [ 3.98848404e-01 9.48387823e-03 9.16967833e-01 6.59762984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.2992541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:447.64, Y:272.83, Z:65.98 [[-8.83066564e-02 -9.94866581e-01 4.94208465e-02 4.47642024e+02] [ 9.12818848e-01 -1.00683538e-01 -3.95758228e-01 2.72834745e+02] [ 3.98702501e-01 1.01641943e-02 9.17023994e-01 6.59764391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3292541539998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:447.64, Y:272.88, Z:66.00 [[-8.61104914e-02 -9.95056384e-01 4.94750070e-02 4.47645000e+02] [ 9.13436080e-01 -9.86788706e-02 -3.94837952e-01 2.72880232e+02] [ 3.97768162e-01 1.11925664e-02 9.17417689e-01 6.59967540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3592541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:447.65, Y:272.87, Z:65.99 [[-8.56893850e-02 -9.95084158e-01 4.96472385e-02 4.47650959e+02] [ 9.13473277e-01 -9.83607715e-02 -3.94831269e-01 2.72866107e+02] [ 3.97773681e-01 1.15185770e-02 9.17411261e-01 6.59910121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.3892541539999 meters Centerline goodness : 0.999628 Centerline is valid? [True, True] Translation: X:447.66, Y:272.87, Z:65.99 [[-8.45604443e-02 -9.95166569e-01 4.99302587e-02 4.47659295e+02] [ 9.13204035e-01 -9.74483252e-02 -3.95679433e-01 2.72867395e+02] [ 3.98632564e-01 1.21376851e-02 9.17030400e-01 6.59903606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4192541539999 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:447.66, Y:272.87, Z:65.99 [[-8.46326771e-02 -9.95153314e-01 5.00718560e-02 4.47663766e+02] [ 9.13306123e-01 -9.75675512e-02 -3.95414339e-01 2.72867792e+02] [ 3.98383278e-01 1.22659586e-02 9.17137018e-01 6.59930607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4492541539998 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:447.67, Y:272.87, Z:65.99 [[-8.52776509e-02 -9.95079094e-01 5.04511470e-02 4.47673019e+02] [ 9.12530782e-01 -9.83320654e-02 -3.97011809e-01 2.72870063e+02] [ 4.00019117e-01 1.21819901e-02 9.16425832e-01 6.59924746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.4792541539999 meters Centerline goodness : 0.999773 Centerline is valid? [True, True] Translation: X:447.68, Y:272.86, Z:65.99 [[-8.77561336e-02 -9.94861111e-01 5.04998076e-02 4.47682871e+02] [ 9.12717245e-01 -1.00612033e-01 -3.96010669e-01 2.72863475e+02] [ 3.99056502e-01 1.13396802e-02 9.16856215e-01 6.59891828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5092541539999 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:447.70, Y:272.85, Z:65.99 [[-9.28393491e-02 -9.94397873e-01 5.05343923e-02 4.47697749e+02] [ 9.12668690e-01 -1.05277790e-01 -3.94908153e-01 2.72854384e+02] [ 3.98015977e-01 9.45814170e-03 9.17329726e-01 6.59852310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5392541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:447.69, Y:272.91, Z:66.01 [[-9.51036313e-02 -9.93994415e-01 5.41331954e-02 4.47693872e+02] [ 9.12399896e-01 -1.08785654e-01 -3.94578398e-01 2.72905866e+02] [ 3.98097639e-01 1.18652834e-02 9.17266311e-01 6.60074407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5692541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:447.73, Y:272.84, Z:65.98 [[-1.06899881e-01 -9.93112470e-01 4.79586992e-02 4.47726040e+02] [ 9.09795531e-01 -1.17160070e-01 -3.98177862e-01 2.72842658e+02] [ 4.01054245e-01 1.06744408e-03 9.16053685e-01 6.59781447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.5992541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:447.73, Y:272.84, Z:65.98 [[-1.10349139e-01 -9.92555915e-01 5.15346812e-02 4.47729242e+02] [ 9.09040496e-01 -1.21755972e-01 -3.98523349e-01 2.72837796e+02] [ 4.01831362e-01 2.87040370e-03 9.15709188e-01 6.59757883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6292541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:447.73, Y:272.84, Z:65.97 [[-1.10738899e-01 -9.92503608e-01 5.17057484e-02 4.47729536e+02] [ 9.08993113e-01 -1.22181618e-01 -3.98501159e-01 2.72835531e+02] [ 4.01831330e-01 2.87058973e-03 9.15709202e-01 6.59747899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6592541539999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:447.73, Y:272.84, Z:65.97 [[-1.14530358e-01 -9.91953828e-01 5.39481360e-02 4.47732307e+02] [ 9.08344995e-01 -1.26555841e-01 -3.98613835e-01 2.72835918e+02] [ 4.02233971e-01 3.35013429e-03 9.15530780e-01 6.59741259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.6892541539999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:447.73, Y:272.83, Z:65.97 [[-1.14931962e-01 -9.91984526e-01 5.25104137e-02 4.47733308e+02] [ 9.08293531e-01 -1.26345712e-01 -3.98797721e-01 2.72833705e+02] [ 4.02235634e-01 1.86026439e-03 9.15534289e-01 6.59732203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7192541539999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:447.73, Y:272.83, Z:65.97 [[-1.15324141e-01 -9.91930070e-01 5.26790172e-02 4.47733605e+02] [ 9.08245711e-01 -1.26772575e-01 -3.98771167e-01 2.72831441e+02] [ 4.02231366e-01 1.85754924e-03 9.15536170e-01 6.59722209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7492541539999 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:447.74, Y:272.82, Z:65.97 [[-1.19131011e-01 -9.91579025e-01 5.07822839e-02 4.47739245e+02] [ 9.07875722e-01 -1.29495495e-01 -3.98738749e-01 2.72820580e+02] [ 4.01957057e-01 -1.39814750e-03 9.15657452e-01 6.59688997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.7792541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:447.74, Y:272.82, Z:65.97 [[-1.23142665e-01 -9.91004114e-01 5.24092569e-02 4.47742588e+02] [ 9.07483608e-01 -1.33823280e-01 -3.98201997e-01 2.72815984e+02] [ 4.01633396e-01 -1.47511364e-03 9.15799345e-01 6.59683665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8092541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:447.75, Y:272.81, Z:65.96 [[-1.34946251e-01 -9.89462687e-01 5.24699951e-02 4.47752097e+02] [ 9.06189719e-01 -1.44660620e-01 -3.97358148e-01 2.72808995e+02] [ 4.00761403e-01 -6.07422242e-03 9.16162323e-01 6.59637248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.76, Y:272.78, Z:65.96 [[-1.57929051e-01 -9.86047896e-01 5.26114296e-02 4.47764465e+02] [ 9.02667850e-01 -1.65763866e-01 -3.97131078e-01 2.72783687e+02] [ 4.00311337e-01 -1.52278883e-02 9.16252664e-01 6.59559707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.76, Y:272.80, Z:65.96 [[-1.60778634e-01 -9.85580689e-01 5.27345939e-02 4.47762071e+02] [ 9.02327546e-01 -1.68427815e-01 -3.96783405e-01 2.72803486e+02] [ 3.99944034e-01 -1.62104171e-02 9.16396198e-01 6.59648373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.76, Y:272.80, Z:65.96 [[-1.61160365e-01 -9.85509424e-01 5.29009737e-02 4.47762374e+02] [ 9.02259483e-01 -1.68844172e-01 -3.96761228e-01 2.72801234e+02] [ 3.99943950e-01 -1.62117789e-02 9.16396211e-01 6.59638390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.76, Y:272.80, Z:65.96 [[-1.61542058e-01 -9.85437905e-01 5.30688170e-02 4.47762677e+02] [ 9.02191235e-01 -1.69261082e-01 -3.96738782e-01 2.72798982e+02] [ 3.99943920e-01 -1.62117777e-02 9.16396224e-01 6.59628405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.76, Y:272.80, Z:65.96 [[-1.61923722e-01 -9.85366210e-01 5.32366508e-02 4.47762982e+02] [ 9.02122826e-01 -1.69677963e-01 -3.96716266e-01 2.72796730e+02] [ 3.99943890e-01 -1.62117765e-02 9.16396237e-01 6.59618420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 788.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.76, Y:272.79, Z:65.96 [[-1.62305357e-01 -9.85294338e-01 5.34044751e-02 4.47763287e+02] [ 9.02054255e-01 -1.70094813e-01 -3.96693679e-01 2.72794478e+02] [ 3.99943860e-01 -1.62117753e-02 9.16396250e-01 6.59608436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.76, Y:272.79, Z:65.96 [[-1.62686964e-01 -9.85222291e-01 5.35722898e-02 4.47763593e+02] [ 9.01985523e-01 -1.70511632e-01 -3.96671021e-01 2.72792227e+02] [ 3.99943830e-01 -1.62117741e-02 9.16396263e-01 6.59598451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0492541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.76, Y:272.82, Z:65.97 [[-1.65811207e-01 -9.84692611e-01 5.37318012e-02 4.47759932e+02] [ 9.01464469e-01 -1.73437124e-01 -3.96587159e-01 2.72815649e+02] [ 3.99835534e-01 -1.73212859e-02 9.16423220e-01 6.59675536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.0792541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.76, Y:272.81, Z:65.97 [[-1.66200514e-01 -9.84617711e-01 5.39013296e-02 4.47760239e+02] [ 9.01392819e-01 -1.73861674e-01 -3.96564123e-01 2.72813398e+02] [ 3.99835434e-01 -1.73228895e-02 9.16423234e-01 6.59665553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1092541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:447.76, Y:272.80, Z:65.96 [[-1.68858353e-01 -9.84156664e-01 5.40603174e-02 4.47761559e+02] [ 9.00956951e-01 -1.76360523e-01 -3.96451181e-01 2.72797852e+02] [ 3.99704177e-01 -1.82380746e-02 9.16462734e-01 6.59589766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1392541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:447.68, Y:273.41, Z:66.23 [[-1.71417772e-01 -9.83707997e-01 5.41712501e-02 4.47675998e+02] [ 9.00686160e-01 -1.78757352e-01 -3.95992741e-01 2.73412584e+02] [ 3.99224735e-01 -1.90888980e-02 9.16654365e-01 6.62279148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.76, Y:272.77, Z:65.95 [[-1.73648348e-01 -9.83308188e-01 5.43254953e-02 4.47760743e+02] [ 9.00499693e-01 -1.80872715e-01 -3.95455895e-01 2.72769863e+02] [ 3.98681019e-01 -1.97501710e-02 9.16876969e-01 6.59473691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.1992541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.76, Y:272.76, Z:65.94 [[-1.74664348e-01 -9.83142204e-01 5.40719188e-02 4.47758155e+02] [ 9.00424287e-01 -1.81706862e-01 -3.95245138e-01 2.72756892e+02] [ 3.98407415e-01 -2.03475655e-02 9.16982829e-01 6.59419683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2292541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.76, Y:272.75, Z:65.94 [[-1.75037341e-01 -9.83066809e-01 5.42363178e-02 4.47758467e+02] [ 9.00351853e-01 -1.82114390e-01 -3.95222583e-01 2.72754636e+02] [ 3.98407418e-01 -2.03469410e-02 9.16982841e-01 6.59409699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2592541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:447.75, Y:272.75, Z:65.94 [[-1.73360776e-01 -9.83353877e-01 5.44168452e-02 4.47753355e+02] [ 9.00603546e-01 -1.80648594e-01 -3.95321816e-01 2.72748815e+02] [ 3.98571567e-01 -1.95252930e-02 9.16929370e-01 6.59385424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.2892541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.75, Y:272.75, Z:65.94 [[-1.71761434e-01 -9.83627069e-01 5.45508808e-02 4.47749149e+02] [ 9.00988079e-01 -1.79242000e-01 -3.95085797e-01 2.72752008e+02] [ 3.98394894e-01 -1.87108099e-02 9.17023126e-01 6.59400854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3192541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:447.74, Y:272.75, Z:65.94 [[-1.67655119e-01 -9.84322413e-01 5.47827331e-02 4.47740514e+02] [ 9.01506663e-01 -1.75564158e-01 -3.95553994e-01 2.72754173e+02] [ 3.98970547e-01 -1.69296531e-02 9.16807444e-01 6.59389237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.74, Y:272.76, Z:65.95 [[-1.65508936e-01 -9.84686690e-01 5.47623520e-02 4.47735709e+02] [ 9.02475310e-01 -1.73613852e-01 -3.94203685e-01 2.72759221e+02] [ 3.97674625e-01 -1.58225622e-02 9.17390069e-01 6.59466296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.3792541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.73, Y:272.76, Z:65.95 [[-1.63933153e-01 -9.84937650e-01 5.49886147e-02 4.47730630e+02] [ 9.02554578e-01 -1.72252706e-01 -3.94619107e-01 2.72764351e+02] [ 3.98147154e-01 -1.50609284e-02 9.17197913e-01 6.59453099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4092541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:447.72, Y:272.81, Z:65.97 [[-1.59959786e-01 -9.85590753e-01 5.49884865e-02 4.47716438e+02] [ 9.03766317e-01 -1.68629053e-01 -3.93409057e-01 2.72808999e+02] [ 3.97012986e-01 -1.32328869e-02 9.17717593e-01 6.59650221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4392541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.72, Y:272.76, Z:65.95 [[-1.58354202e-01 -9.85838975e-01 5.51857006e-02 4.47718814e+02] [ 9.03950358e-01 -1.67232636e-01 -3.93582261e-01 2.72761777e+02] [ 3.97237583e-01 -1.24402710e-02 9.17631485e-01 6.59450726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.72, Y:272.76, Z:65.94 [[-1.58737184e-01 -9.85767860e-01 5.53555154e-02 4.47719134e+02] [ 9.03883158e-01 -1.67651534e-01 -3.93558381e-01 2.72759506e+02] [ 3.97237640e-01 -1.24374309e-02 9.17631499e-01 6.59440739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.4992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.71, Y:272.76, Z:65.95 [[-1.57144992e-01 -9.86022506e-01 5.53630716e-02 4.47714597e+02] [ 9.04648482e-01 -1.66209190e-01 -3.92410027e-01 2.72760807e+02] [ 3.96126970e-01 -1.15811518e-02 9.18122705e-01 6.59472440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5292541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.71, Y:272.75, Z:65.94 [[-1.53298977e-01 -9.86624568e-01 5.54200837e-02 4.47708384e+02] [ 9.05628615e-01 -1.62711575e-01 -3.91614293e-01 2.72745655e+02] [ 3.95393772e-01 -9.84405694e-03 9.18458959e-01 6.59423358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5592541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.70, Y:272.75, Z:65.94 [[-1.51466743e-01 -9.86898427e-01 5.55816634e-02 4.47703585e+02] [ 9.05940823e-01 -1.61094097e-01 -3.91560872e-01 2.72750644e+02] [ 3.95384686e-01 -8.95475221e-03 9.18471971e-01 6.59442184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.5892541539998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:447.70, Y:272.74, Z:65.94 [[-1.49756673e-01 -9.87142674e-01 5.58773724e-02 4.47700713e+02] [ 9.05815334e-01 -1.59633337e-01 -3.92448440e-01 2.72744370e+02] [ 3.96322494e-01 -8.15719195e-03 9.18075128e-01 6.59384761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6192541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:447.69, Y:272.79, Z:65.96 [[-1.47499461e-01 -9.87694510e-01 5.19948414e-02 4.47687976e+02] [ 9.03753816e-01 -1.55949132e-01 -3.98633801e-01 2.72785866e+02] [ 4.01836967e-01 -1.18077344e-02 9.15635096e-01 6.59579048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6492541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.69, Y:272.75, Z:65.94 [[-1.43854946e-01 -9.87603033e-01 6.28172227e-02 4.47685292e+02] [ 9.05852075e-01 -1.56971831e-01 -3.93435969e-01 2.72754565e+02] [ 3.98419091e-01 3.05401449e-04 9.17203432e-01 6.59421717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.6792541539999 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:447.68, Y:272.76, Z:65.94 [[-1.42246260e-01 -9.88216037e-01 5.65249058e-02 4.47684646e+02] [ 9.06205892e-01 -1.52988734e-01 -3.94189457e-01 2.72756206e+02] [ 3.98192017e-01 -4.84877322e-03 9.17289271e-01 6.59431401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7092541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.68, Y:272.74, Z:65.93 [[-1.40420148e-01 -9.88469096e-01 5.66659365e-02 4.47684724e+02] [ 9.06572505e-01 -1.51371221e-01 -3.93970870e-01 2.72735899e+02] [ 3.98005622e-01 -3.94966795e-03 9.17374474e-01 6.59339805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7392541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.68, Y:272.75, Z:65.94 [[-1.36770397e-01 -9.88983323e-01 5.66201925e-02 4.47677221e+02] [ 9.07778061e-01 -1.48009429e-01 -3.92469364e-01 2.72747125e+02] [ 3.96525978e-01 -2.27962196e-03 9.18020671e-01 6.59397861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7692541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.68, Y:272.74, Z:65.94 [[-1.34911079e-01 -9.89224819e-01 5.68617552e-02 4.47676029e+02] [ 9.07827981e-01 -1.46397800e-01 -3.92958064e-01 2.72739174e+02] [ 3.97048306e-01 -1.39370382e-03 9.17796655e-01 6.59350755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.67, Y:272.73, Z:65.94 [[-1.33212162e-01 -9.89454082e-01 5.68782841e-02 4.47674290e+02] [ 9.08536835e-01 -1.44845917e-01 -3.91893455e-01 2.72734466e+02] [ 3.95999166e-01 -5.28958251e-04 9.18250718e-01 6.59372402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8292541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:447.67, Y:272.73, Z:65.93 [[-1.28880063e-01 -9.90008420e-01 5.72123982e-02 4.47671501e+02] [ 9.08657862e-01 -1.41001940e-01 -3.93013160e-01 2.72729399e+02] [ 3.97153396e-01 1.33493458e-03 9.17751272e-01 6.59318701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8592541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.67, Y:272.73, Z:65.93 [[-1.26740278e-01 -9.90274857e-01 5.73812672e-02 4.47670192e+02] [ 9.08955950e-01 -1.39104976e-01 -3.92999856e-01 2.72728469e+02] [ 3.97159896e-01 2.34813307e-03 9.17746427e-01 6.59313552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.8892541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.67, Y:272.72, Z:65.93 [[-1.21938130e-01 -9.90858480e-01 5.77110557e-02 4.47670148e+02] [ 9.09130724e-01 -1.34833221e-01 -3.94082898e-01 2.72719268e+02] [ 3.98261748e-01 4.41316216e-03 9.17261197e-01 6.59264010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9192541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.67, Y:272.71, Z:65.92 [[-1.19834777e-01 -9.91105260e-01 5.78791016e-02 4.47670301e+02] [ 9.09413192e-01 -1.32970143e-01 -3.94064191e-01 2.72713164e+02] [ 3.98255285e-01 5.41342409e-03 9.17258646e-01 6.59245573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9492541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.67, Y:272.73, Z:65.93 [[-1.17644889e-01 -9.91349845e-01 5.81821632e-02 4.47667204e+02] [ 9.09295971e-01 -1.31087832e-01 -3.94964324e-01 2.72731752e+02] [ 3.99174795e-01 6.43927261e-03 9.16852234e-01 6.59318110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 789.9792541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.66, Y:272.75, Z:65.94 [[-1.15619352e-01 -9.91582182e-01 5.82832868e-02 4.47664814e+02] [ 9.09763383e-01 -1.29266451e-01 -3.94487988e-01 2.72747020e+02] [ 3.98701334e-01 7.41355463e-03 9.17050863e-01 6.59383125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0092541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.67, Y:272.75, Z:65.94 [[-1.10998535e-01 -9.92102456e-01 5.84126833e-02 4.47665571e+02] [ 9.10479729e-01 -1.25075184e-01 -3.94186329e-01 2.72745325e+02] [ 3.98379203e-01 9.42945892e-03 9.17172337e-01 6.59376520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0392541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:447.67, Y:272.74, Z:65.94 [[-1.08703874e-01 -9.92346534e-01 5.85817805e-02 4.47666634e+02] [ 9.10775933e-01 -1.23036168e-01 -3.94143758e-01 2.72742088e+02] [ 3.98334870e-01 1.05099225e-02 9.17179848e-01 6.59363806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0692541539999 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:447.67, Y:272.74, Z:65.94 [[-1.06446939e-01 -9.92580974e-01 5.87542352e-02 4.47667686e+02] [ 9.11052931e-01 -1.21033183e-01 -3.94123744e-01 2.72741463e+02] [ 3.98310941e-01 1.15749522e-02 9.17177417e-01 6.59358113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.67, Y:272.74, Z:65.94 [[-1.02646396e-01 -9.92982660e-01 5.87295073e-02 4.47670234e+02] [ 9.12089367e-01 -1.17515628e-01 -3.92788829e-01 2.72744008e+02] [ 3.96934131e-01 1.32482016e-02 9.17751481e-01 6.59389272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1292541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:447.67, Y:272.76, Z:65.94 [[-1.00613389e-01 -9.93167452e-01 5.91215630e-02 4.47670652e+02] [ 9.11684029e-01 -1.15826442e-01 -3.94228953e-01 2.72756667e+02] [ 3.98383205e-01 1.42354736e-02 9.17108594e-01 6.59404108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1592541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.67, Y:272.74, Z:65.94 [[-9.90268662e-02 -9.93319725e-01 5.92419013e-02 4.47674711e+02] [ 9.12026242e-01 -1.14411844e-01 -3.93850307e-01 2.72744414e+02] [ 3.97997254e-01 1.50284069e-02 9.17263502e-01 6.59355186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.1892541539999 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:447.68, Y:272.74, Z:65.93 [[-9.58219988e-02 -9.93616884e-01 5.95284111e-02 4.47680189e+02] [ 9.12063718e-01 -1.11596268e-01 -3.94570714e-01 2.72743768e+02] [ 3.98695272e-01 1.64851494e-02 9.16935287e-01 6.59344528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2192541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:447.68, Y:272.75, Z:65.94 [[-9.44245070e-02 -9.93738173e-01 5.97365510e-02 4.47683053e+02] [ 9.12120954e-01 -1.10400363e-01 -3.94774778e-01 2.72746983e+02] [ 3.98897703e-01 1.72105461e-02 9.16833911e-01 6.59351639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2492541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:447.69, Y:272.75, Z:65.94 [[-9.25003597e-02 -9.93912621e-01 5.98446737e-02 4.47689719e+02] [ 9.12526632e-01 -1.08668353e-01 -3.94317556e-01 2.72749393e+02] [ 3.98420417e-01 1.81353429e-02 9.17023599e-01 6.59352882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.2792541539999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:447.69, Y:272.75, Z:65.93 [[-9.20110330e-02 -9.93953583e-01 5.99186492e-02 4.47693836e+02] [ 9.12872628e-01 -1.08234884e-01 -3.93635332e-01 2.72746402e+02] [ 3.97740537e-01 1.84793013e-02 9.17311823e-01 6.59338154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.70, Y:272.74, Z:65.94 [[-9.20159220e-02 -9.93954887e-01 5.98894982e-02 4.47698121e+02] [ 9.13459055e-01 -1.08200437e-01 -3.92282067e-01 2.72744601e+02] [ 3.96390748e-01 1.86104083e-02 9.17893255e-01 6.59353687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3392541539998 meters Centerline goodness : 0.999793 Centerline is valid? [True, True] Translation: X:447.71, Y:272.74, Z:65.93 [[-9.19433302e-02 -9.93950470e-01 6.00740175e-02 4.47706706e+02] [ 9.13438295e-01 -1.08207906e-01 -3.92328345e-01 2.72742763e+02] [ 3.96455426e-01 1.88019336e-02 9.17861418e-01 6.59309662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3692541539999 meters Centerline goodness : 0.999814 Centerline is valid? [True, True] Translation: X:447.71, Y:272.74, Z:65.93 [[-9.26122503e-02 -9.93887970e-01 6.00805622e-02 4.47711735e+02] [ 9.13843294e-01 -1.08802754e-01 -3.91219114e-01 2.72739570e+02] [ 3.95364901e-01 1.86725364e-02 9.18334324e-01 6.59319136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.3992541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.72, Y:272.74, Z:65.93 [[-9.32551947e-02 -9.93809335e-01 6.03860473e-02 4.47716781e+02] [ 9.13398814e-01 -1.09531778e-01 -3.92052798e-01 2.72737551e+02] [ 3.96239921e-01 1.85955840e-02 9.17958675e-01 6.59286125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4292541539999 meters Centerline goodness : 0.999731 Centerline is valid? [True, True] Translation: X:447.72, Y:272.74, Z:65.93 [[-9.41908193e-02 -9.93700285e-01 6.07275347e-02 4.47721786e+02] [ 9.12819744e-01 -1.10548548e-01 -3.93114658e-01 2.72736447e+02] [ 3.97351489e-01 1.84055009e-02 9.17481897e-01 6.59260456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4592541539998 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:447.73, Y:272.73, Z:65.92 [[-9.66781219e-02 -9.93448238e-01 6.09421036e-02 4.47732004e+02] [ 9.12425885e-01 -1.12923285e-01 -3.93353959e-01 2.72734138e+02] [ 3.97658580e-01 1.75764308e-02 9.17365098e-01 6.59236126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.4892541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:447.74, Y:272.73, Z:65.92 [[-9.82810238e-02 -9.93280154e-01 6.11177295e-02 4.47737005e+02] [ 9.12238457e-01 -1.14465150e-01 -3.93343015e-01 2.72733658e+02] [ 3.97695660e-01 1.70957891e-02 9.17358107e-01 6.59235694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5192541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.75, Y:272.73, Z:65.92 [[-9.99624358e-02 -9.93107105e-01 6.12028487e-02 4.47747679e+02] [ 9.12294708e-01 -1.16032595e-01 -3.92752851e-01 2.72730102e+02] [ 3.97147173e-01 1.65745034e-02 9.17605258e-01 6.59205561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5492541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:447.75, Y:272.73, Z:65.92 [[-1.00711771e-01 -9.93026732e-01 6.12784610e-02 4.47753223e+02] [ 9.12482650e-01 -1.16739467e-01 -3.92106249e-01 2.72727205e+02] [ 3.96525602e-01 1.64258179e-02 9.17876702e-01 6.59193599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.76, Y:272.73, Z:65.92 [[-1.00941752e-01 -9.93005601e-01 6.12424671e-02 4.47758764e+02] [ 9.13039861e-01 -1.16912393e-01 -3.90755300e-01 2.72726691e+02] [ 3.95182204e-01 1.64732893e-02 9.18455038e-01 6.59225492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6092541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:447.77, Y:272.72, Z:65.92 [[-1.01276913e-01 -9.92948791e-01 6.16091292e-02 4.47768989e+02] [ 9.12459864e-01 -1.17387512e-01 -3.91965775e-01 2.72724974e+02] [ 3.96434085e-01 1.65187740e-02 9.17914564e-01 6.59161462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.77, Y:272.72, Z:65.92 [[-1.00672256e-01 -9.93014224e-01 6.15454882e-02 4.47774863e+02] [ 9.13188528e-01 -1.16778835e-01 -3.90447712e-01 2.72723375e+02] [ 3.94907342e-01 1.68953817e-02 9.18565587e-01 6.59190156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6692541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.78, Y:272.72, Z:65.92 [[-1.00332216e-01 -9.93024967e-01 6.19262620e-02 4.47779500e+02] [ 9.12651727e-01 -1.16641055e-01 -3.91741865e-01 2.72724052e+02] [ 3.96232597e-01 1.72127805e-02 9.17988807e-01 6.59161594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.6992541539998 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:447.79, Y:272.72, Z:65.91 [[-9.84254659e-02 -9.93191915e-01 6.23076790e-02 4.47788947e+02] [ 9.12297141e-01 -1.15065535e-01 -3.93031614e-01 2.72724194e+02] [ 3.97525288e-01 1.81587977e-02 9.17411523e-01 6.59130843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7292541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.79, Y:272.72, Z:65.91 [[-9.75098673e-02 -9.93272445e-01 6.24633978e-02 4.47794202e+02] [ 9.12453002e-01 -1.14283758e-01 -3.92897878e-01 2.72723091e+02] [ 3.97393188e-01 1.86834948e-02 9.17458218e-01 6.59127116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7592541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.80, Y:272.72, Z:65.91 [[-9.68571924e-02 -9.93324077e-01 6.26574955e-02 4.47799363e+02] [ 9.12472125e-01 -1.13763637e-01 -3.93004398e-01 2.72721243e+02] [ 3.97508876e-01 1.91079154e-02 9.17399358e-01 6.59112816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.7892541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.80, Y:272.72, Z:65.91 [[-9.55898925e-02 -9.93438374e-01 6.27914718e-02 4.47804581e+02] [ 9.12726537e-01 -1.12646999e-01 -3.92735180e-01 2.72722936e+02] [ 3.97231470e-01 1.97699290e-02 9.17505482e-01 6.59147992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.79, Y:272.85, Z:65.97 [[-9.29114295e-02 -9.93067843e-01 7.19980916e-02 4.47790067e+02] [ 9.13593172e-01 -1.13779085e-01 -3.90386777e-01 2.72850816e+02] [ 3.95872431e-01 2.95055714e-02 9.17831379e-01 6.59697076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.82, Y:272.72, Z:65.92 [[-9.13373020e-02 -9.94341403e-01 5.42463974e-02 4.47823751e+02] [ 9.13107812e-01 -1.05362983e-01 -3.93868971e-01 2.72723605e+02] [ 3.97355787e-01 1.35578801e-02 9.17564473e-01 6.59152106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.8792541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.82, Y:272.72, Z:65.91 [[-9.09138062e-02 -9.93852730e-01 6.31777687e-02 4.47824061e+02] [ 9.13306594e-01 -1.08499859e-01 -3.92554258e-01 2.72724643e+02] [ 3.96995900e-01 2.20120710e-02 9.17556387e-01 6.59107183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.83, Y:272.72, Z:65.91 [[-8.99872083e-02 -9.93937717e-01 6.31673811e-02 4.47829982e+02] [ 9.13910688e-01 -1.07615748e-01 -3.91389965e-01 2.72721598e+02] [ 3.95815053e-01 2.25092544e-02 9.18054343e-01 6.59123861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9392541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:447.84, Y:272.72, Z:65.91 [[-8.95817289e-02 -9.93965627e-01 6.33043889e-02 4.47839492e+02] [ 9.14055958e-01 -1.07291013e-01 -3.91139802e-01 2.72721169e+02] [ 3.95571510e-01 2.28247742e-02 9.18151518e-01 6.59094037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9692541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.84, Y:272.72, Z:65.91 [[-9.00709863e-02 -9.93906183e-01 6.35430257e-02 4.47844761e+02] [ 9.13829826e-01 -1.07844832e-01 -3.91515697e-01 2.72718810e+02] [ 3.95982659e-01 2.28033072e-02 9.17974805e-01 6.59068451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 790.9992541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:447.85, Y:272.72, Z:65.91 [[-9.10043309e-02 -9.93808827e-01 6.37356070e-02 4.47849851e+02] [ 9.13679259e-01 -1.08781624e-01 -3.91607928e-01 2.72717504e+02] [ 3.96116678e-01 2.25958847e-02 9.17922112e-01 6.59054928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0292541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:447.82, Y:272.97, Z:66.02 [[-9.34541742e-02 -9.93148123e-01 7.01649677e-02 4.47815342e+02] [ 9.13872481e-01 -1.13533705e-01 -3.89804036e-01 2.72973839e+02] [ 3.95099235e-01 2.76930189e-02 9.18220938e-01 6.60174179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0592541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.87, Y:272.71, Z:65.90 [[-9.56976968e-02 -9.93739270e-01 5.76560043e-02 4.47868817e+02] [ 9.12683133e-01 -1.10715824e-01 -3.93384679e-01 2.72714135e+02] [ 3.97305235e-01 1.49756549e-02 9.17564319e-01 6.59038204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.87, Y:272.71, Z:65.90 [[-9.82298161e-02 -9.93097411e-01 6.40970807e-02 4.47872574e+02] [ 9.13019455e-01 -1.15558513e-01 -3.91205450e-01 2.72707254e+02] [ 3.95912083e-01 2.00938422e-02 9.18068549e-01 6.59029171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.88, Y:272.70, Z:65.90 [[-1.04427929e-01 -9.92449962e-01 6.43263684e-02 4.47883509e+02] [ 9.12130348e-01 -1.21353466e-01 -3.91524666e-01 2.72702623e+02] [ 3.96374867e-01 1.77879229e-02 9.17916420e-01 6.58990525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1492541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:447.89, Y:272.70, Z:65.89 [[-1.07829480e-01 -9.92062251e-01 6.46938488e-02 4.47888694e+02] [ 9.11188014e-01 -1.24646493e-01 -3.92682638e-01 2.72700236e+02] [ 3.97629483e-01 1.66054951e-02 9.17395799e-01 6.58940955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.1792541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.89, Y:272.70, Z:65.89 [[-1.10866953e-01 -9.91725077e-01 6.47293567e-02 4.47894329e+02] [ 9.11167976e-01 -1.27436028e-01 -3.91832845e-01 2.72698464e+02] [ 3.96839310e-01 1.55380034e-02 9.17756576e-01 6.58937420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2092541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.91, Y:272.69, Z:65.89 [[-1.16947850e-01 -9.91020247e-01 6.48233848e-02 4.47905936e+02] [ 9.10576247e-01 -1.33052770e-01 -3.91341103e-01 2.72692085e+02] [ 3.96451887e-01 1.32601338e-02 9.17959732e-01 6.58899024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.91, Y:272.69, Z:65.89 [[-1.19520904e-01 -9.90711948e-01 6.48428022e-02 4.47912093e+02] [ 9.10629606e-01 -1.35412044e-01 -3.90406581e-01 2.72688056e+02] [ 3.95560961e-01 1.23860280e-02 9.18356201e-01 6.58896309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2692541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:447.92, Y:272.69, Z:65.89 [[-1.24998306e-01 -9.90011692e-01 6.52094642e-02 4.47921722e+02] [ 9.09346514e-01 -1.40604597e-01 -3.91560040e-01 2.72686893e+02] [ 3.96817768e-01 1.03536572e-02 9.17839017e-01 6.58852026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.2992541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.93, Y:272.68, Z:65.88 [[-1.26809751e-01 -9.89771429e-01 6.53590490e-02 4.47927009e+02] [ 9.09142268e-01 -1.42326234e-01 -3.91412288e-01 2.72684714e+02] [ 3.96711007e-01 9.78577926e-03 9.17891396e-01 6.58841892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3292541539998 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:447.93, Y:272.68, Z:65.88 [[-1.28462874e-01 -9.89535918e-01 6.56959463e-02 4.47931709e+02] [ 9.08462427e-01 -1.43988286e-01 -3.92381693e-01 2.72683810e+02] [ 3.97735225e-01 9.27581889e-03 9.17453350e-01 6.58816363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3592541539999 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:447.93, Y:272.68, Z:65.88 [[-1.28855931e-01 -9.89473526e-01 6.58657076e-02 4.47932072e+02] [ 9.08406773e-01 -1.44416417e-01 -3.92353200e-01 2.72681633e+02] [ 3.97735194e-01 9.27581815e-03 9.17453364e-01 6.58806380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.3892541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:447.94, Y:272.70, Z:65.89 [[-1.24684516e-01 -9.90246725e-01 6.21706892e-02 4.47941432e+02] [ 9.08478371e-01 -1.39131225e-01 -3.94093329e-01 2.72704644e+02] [ 3.98899512e-01 7.34339051e-03 9.16965241e-01 6.58936988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.95, Y:272.68, Z:65.88 [[-1.28951702e-01 -9.89418467e-01 6.65022920e-02 4.47945364e+02] [ 9.09328774e-01 -1.44733151e-01 -3.90094215e-01 2.72678439e+02] [ 3.95591506e-01 1.01691347e-02 9.18370268e-01 6.58817833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4492541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.95, Y:272.68, Z:65.88 [[-1.28649792e-01 -9.89494556e-01 6.59526690e-02 4.47949043e+02] [ 9.09147545e-01 -1.44244515e-01 -3.90697148e-01 2.72679691e+02] [ 3.96106012e-01 9.69760017e-03 9.18153573e-01 6.58799836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.95, Y:272.68, Z:65.88 [[-1.27779484e-01 -9.89610441e-01 6.59058305e-02 4.47953213e+02] [ 9.09837019e-01 -1.43411989e-01 -3.89396457e-01 2.72677141e+02] [ 3.94802486e-01 1.02066860e-02 9.18709323e-01 6.58808045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5092541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.96, Y:272.68, Z:65.88 [[-1.27223482e-01 -9.89667609e-01 6.61226806e-02 4.47956387e+02] [ 9.09794328e-01 -1.42989428e-01 -3.89651516e-01 2.72678291e+02] [ 3.95080328e-01 1.05852172e-02 9.18585591e-01 6.58788801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5392541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.96, Y:272.68, Z:65.88 [[-1.25297205e-01 -9.89903158e-01 6.62747903e-02 4.47962924e+02] [ 9.10116077e-01 -1.41277122e-01 -3.89524711e-01 2.72677914e+02] [ 3.94954853e-01 1.15113946e-02 9.18628408e-01 6.58773834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5692541539999 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:447.97, Y:272.68, Z:65.88 [[-1.24310565e-01 -9.90004244e-01 6.66219213e-02 4.47966588e+02] [ 9.09798920e-01 -1.40520615e-01 -3.90537939e-01 2.72677157e+02] [ 3.95995970e-01 1.20645603e-02 9.18172989e-01 6.58756218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.5992541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:447.97, Y:272.68, Z:65.87 [[-1.23762327e-01 -9.90071118e-01 6.66488367e-02 4.47970479e+02] [ 9.10245332e-01 -1.40015871e-01 -3.89678061e-01 2.72675605e+02] [ 3.95140889e-01 1.24393289e-02 9.18536304e-01 6.58749388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6292541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.98, Y:272.68, Z:65.87 [[-1.22488489e-01 -9.90212702e-01 6.68982359e-02 4.47977560e+02] [ 9.10221053e-01 -1.38949627e-01 -3.90116182e-01 2.72675732e+02] [ 3.95593484e-01 1.31074410e-02 9.18332179e-01 6.58747189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6592541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.98, Y:272.67, Z:65.87 [[-1.22352992e-01 -9.90206082e-01 6.72432891e-02 4.47981335e+02] [ 9.09792014e-01 -1.38976168e-01 -3.91106273e-01 2.72673012e+02] [ 3.96621025e-01 1.33243848e-02 9.17885736e-01 6.58720670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.6892541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:447.98, Y:272.67, Z:65.87 [[-1.22013332e-01 -9.90227274e-01 6.75476997e-02 4.47984801e+02] [ 9.09496878e-01 -1.38796127e-01 -3.91855922e-01 2.72673420e+02] [ 3.97401781e-01 1.36227752e-02 9.17543593e-01 6.58716181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7192541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:447.99, Y:272.67, Z:65.87 [[-1.21379770e-01 -9.90301506e-01 6.76008846e-02 4.47991739e+02] [ 9.09886985e-01 -1.38224643e-01 -3.91151662e-01 2.72671340e+02] [ 3.96702188e-01 1.40312661e-02 9.17840126e-01 6.58709251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7492541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:447.99, Y:272.67, Z:65.87 [[-1.21568995e-01 -9.90257935e-01 6.78984659e-02 4.47994830e+02] [ 9.09537198e-01 -1.38527582e-01 -3.91857366e-01 2.72673150e+02] [ 3.97445677e-01 1.41184740e-02 9.17517086e-01 6.58705125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.7792541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:448.00, Y:272.67, Z:65.87 [[-1.21579767e-01 -9.90236808e-01 6.81866845e-02 4.47999218e+02] [ 9.09237599e-01 -1.38662261e-01 -3.92504478e-01 2.72669261e+02] [ 3.98127302e-01 1.42772943e-02 9.17219064e-01 6.58683319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8092541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:448.01, Y:272.67, Z:65.87 [[-1.22008668e-01 -9.90173353e-01 6.83419013e-02 4.48006488e+02] [ 9.09219442e-01 -1.39116099e-01 -3.92385928e-01 2.72670264e+02] [ 3.98037549e-01 1.42633007e-02 9.17258234e-01 6.58686100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.01, Y:272.66, Z:65.87 [[-1.22652205e-01 -9.90091509e-01 6.83757264e-02 4.48011269e+02] [ 9.09478277e-01 -1.39708032e-01 -3.91574935e-01 2.72664133e+02] [ 3.97247656e-01 1.41587087e-02 9.17602218e-01 6.58675994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8692541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:448.02, Y:272.66, Z:65.86 [[-1.24881189e-01 -9.89786086e-01 6.87618570e-02 4.48018713e+02] [ 9.08616460e-01 -1.41926734e-01 -3.92775931e-01 2.72663586e+02] [ 3.98523297e-01 1.34278298e-02 9.17059908e-01 6.58644578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.8992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:448.02, Y:272.66, Z:65.87 [[-1.26267020e-01 -9.89617999e-01 6.86502361e-02 4.48022394e+02] [ 9.09131428e-01 -1.43131419e-01 -3.91143762e-01 2.72662218e+02] [ 3.96908913e-01 1.30235298e-02 9.17765603e-01 6.58660328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.03, Y:272.66, Z:65.86 [[-1.27496090e-01 -9.89449699e-01 6.88043623e-02 4.48026902e+02] [ 9.08994229e-01 -1.44320113e-01 -3.91025827e-01 2.72657519e+02] [ 3.96830240e-01 1.26885044e-02 9.17804316e-01 6.58639860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:448.03, Y:272.66, Z:65.86 [[-1.28855332e-01 -9.89253619e-01 6.90911101e-02 4.48029710e+02] [ 9.08502809e-01 -1.45691234e-01 -3.91658922e-01 2.72661536e+02] [ 3.97515975e-01 1.23021273e-02 9.17512783e-01 6.58646542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 791.9892541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:448.03, Y:272.65, Z:65.86 [[-1.30139456e-01 -9.89070168e-01 6.93103529e-02 4.48034451e+02] [ 9.08191156e-01 -1.46960992e-01 -3.91907248e-01 2.72653996e+02] [ 3.97809685e-01 1.19444534e-02 9.17390203e-01 6.58606621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:448.04, Y:272.65, Z:65.86 [[-1.31552510e-01 -9.88867424e-01 6.95352784e-02 4.48041019e+02] [ 9.07844464e-01 -1.48351550e-01 -3.92186495e-01 2.72652540e+02] [ 3.98136116e-01 1.15340997e-02 9.17253835e-01 6.58603734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0492541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:448.04, Y:272.66, Z:65.86 [[-1.32590772e-01 -9.88708294e-01 6.98254700e-02 4.48043431e+02] [ 9.07388235e-01 -1.49428356e-01 -3.92832989e-01 2.72655323e+02] [ 3.98831140e-01 1.12727806e-02 9.16955095e-01 6.58599983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.0792541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:448.05, Y:272.65, Z:65.86 [[-1.33589119e-01 -9.88558833e-01 7.00384314e-02 4.48050099e+02] [ 9.07131868e-01 -1.50432106e-01 -3.93041925e-01 2.72648337e+02] [ 3.99081095e-01 1.10279685e-02 9.16849313e-01 6.58563388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:448.05, Y:272.65, Z:65.86 [[-1.33994026e-01 -9.88489240e-01 7.02468763e-02 4.48052978e+02] [ 9.06976480e-01 -1.50889128e-01 -3.93225300e-01 2.72646778e+02] [ 3.99298467e-01 1.10224234e-02 9.16754733e-01 6.58551570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1392541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:448.06, Y:272.64, Z:65.85 [[-1.34486051e-01 -9.88412246e-01 7.03898754e-02 4.48055789e+02] [ 9.06969980e-01 -1.51395576e-01 -3.93045590e-01 2.72644726e+02] [ 3.99147790e-01 1.09823546e-02 9.16820828e-01 6.58539883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.06, Y:272.64, Z:65.86 [[-1.34578919e-01 -9.88395476e-01 7.04478405e-02 4.48058470e+02] [ 9.07235232e-01 -1.51496097e-01 -3.92394146e-01 2.72644983e+02] [ 3.98513172e-01 1.11047828e-02 9.17095380e-01 6.58553227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.1992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:448.06, Y:272.65, Z:65.86 [[-1.35369198e-01 -9.88269264e-01 7.07039003e-02 4.48062363e+02] [ 9.06901452e-01 -1.52328987e-01 -3.92843017e-01 2.72652149e+02] [ 3.99004933e-01 1.09426258e-02 9.16883483e-01 6.58571124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2292541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:448.07, Y:272.64, Z:65.85 [[-1.36002262e-01 -9.88154175e-01 7.10964989e-02 4.48066714e+02] [ 9.06255349e-01 -1.53081006e-01 -3.94039907e-01 2.72641011e+02] [ 4.00255702e-01 1.08412638e-02 9.16339369e-01 6.58504199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.07, Y:272.64, Z:65.85 [[-1.35386874e-01 -9.88236491e-01 7.11268761e-02 4.48071467e+02] [ 9.06700092e-01 -1.52518950e-01 -3.93233917e-01 2.72640476e+02] [ 3.99456303e-01 1.12520342e-02 9.16683181e-01 6.58514458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.2892541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:448.07, Y:272.64, Z:65.85 [[-1.35782936e-01 -9.88153443e-01 7.15245967e-02 4.48072866e+02] [ 9.06078322e-01 -1.53056496e-01 -3.94456314e-01 2.72644150e+02] [ 4.00730669e-01 1.12464499e-02 9.16126873e-01 6.58495728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.08, Y:272.64, Z:65.85 [[-1.34859339e-01 -9.88281432e-01 7.15036394e-02 4.48076924e+02] [ 9.06695605e-01 -1.52187368e-01 -3.93372705e-01 2.72635639e+02] [ 3.99644890e-01 1.17820528e-02 9.16594319e-01 6.58486666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3492541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:448.08, Y:272.64, Z:65.85 [[-1.33686114e-01 -9.88415155e-01 7.18575240e-02 4.48080061e+02] [ 9.06426689e-01 -1.51265829e-01 -3.94346684e-01 2.72640733e+02] [ 4.00647826e-01 1.24149017e-02 9.16148017e-01 6.58474317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.3792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:448.08, Y:272.64, Z:65.85 [[-1.32770689e-01 -9.88543723e-01 7.17861532e-02 4.48083205e+02] [ 9.07161620e-01 -1.50378758e-01 -3.92993670e-01 2.72635302e+02] [ 3.99286539e-01 1.29436027e-02 9.16734816e-01 6.58470382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.09, Y:272.63, Z:65.85 [[-1.32215978e-01 -9.88614003e-01 7.18421126e-02 4.48085338e+02] [ 9.07526752e-01 -1.49882609e-01 -3.92339645e-01 2.72633918e+02] [ 3.98640351e-01 1.33250691e-02 9.17010531e-01 6.58465847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.09, Y:272.63, Z:65.85 [[-1.32571140e-01 -9.88557484e-01 7.19652297e-02 4.48089035e+02] [ 9.07588512e-01 -1.50253635e-01 -3.92054764e-01 2.72634356e+02] [ 3.98381708e-01 1.33396687e-02 9.17122712e-01 6.58450577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4692541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:448.09, Y:272.64, Z:65.85 [[-1.33340507e-01 -9.88436372e-01 7.22069783e-02 4.48089840e+02] [ 9.07299488e-01 -1.51061558e-01 -3.92413106e-01 2.72641155e+02] [ 3.98783085e-01 1.31887919e-02 9.16950439e-01 6.58458207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.4992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:448.09, Y:272.63, Z:65.84 [[-1.33795905e-01 -9.88371053e-01 7.22586823e-02 4.48094543e+02] [ 9.07519601e-01 -1.51490565e-01 -3.91738156e-01 2.72627770e+02] [ 3.98129163e-01 1.31632093e-02 9.17234921e-01 6.58419315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5292541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:448.10, Y:272.63, Z:65.84 [[-1.35467840e-01 -9.88112971e-01 7.26720110e-02 4.48096225e+02] [ 9.06677141e-01 -1.53208253e-01 -3.93018821e-01 2.72629376e+02] [ 3.99480947e-01 1.26486403e-02 9.16654234e-01 6.58397501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.09, Y:272.71, Z:65.87 [[-1.33243115e-01 -9.88185835e-01 7.57299652e-02 4.48086498e+02] [ 9.07828635e-01 -1.52348572e-01 -3.90687959e-01 2.72706617e+02] [ 3.97609660e-01 1.66933502e-02 9.17402796e-01 6.58740059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.5892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:448.10, Y:272.63, Z:65.85 [[-1.38502723e-01 -9.88148509e-01 6.61779463e-02 4.48104843e+02] [ 9.06481976e-01 -1.53402219e-01 -3.93393169e-01 2.72634858e+02] [ 3.98882717e-01 5.50309039e-03 9.16985438e-01 6.58458515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.11, Y:272.62, Z:65.84 [[-1.39762919e-01 -9.87498708e-01 7.28877835e-02 4.48105668e+02] [ 9.06453906e-01 -1.57222276e-01 -3.91947029e-01 2.72624265e+02] [ 3.98506767e-01 1.12897552e-02 9.17095904e-01 6.58395939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.11, Y:272.62, Z:65.84 [[-1.42720728e-01 -9.87054961e-01 7.31662410e-02 4.48110021e+02] [ 9.05721673e-01 -1.60054412e-01 -3.92493103e-01 2.72623727e+02] [ 3.99122844e-01 1.02513488e-02 9.16840152e-01 6.58393118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.6792541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:448.11, Y:272.63, Z:65.84 [[-1.45391456e-01 -9.86653970e-01 7.33162255e-02 4.48111801e+02] [ 9.05335106e-01 -1.62563463e-01 -3.92353753e-01 2.72625355e+02] [ 3.99035927e-01 9.33086920e-03 9.16887814e-01 6.58366723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.11, Y:272.63, Z:65.84 [[-1.46546836e-01 -9.86477940e-01 7.33846018e-02 4.48112501e+02] [ 9.05388990e-01 -1.63645279e-01 -3.91779274e-01 2.72634022e+02] [ 3.98490655e-01 9.02759756e-03 9.17127963e-01 6.58430904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.12, Y:272.63, Z:65.84 [[-1.50371908e-01 -9.85889791e-01 7.35500457e-02 4.48117920e+02] [ 9.04761991e-01 -1.67221173e-01 -3.91717780e-01 2.72627208e+02] [ 3.98489685e-01 7.64193604e-03 9.17140977e-01 6.58399316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.12, Y:272.61, Z:65.83 [[-1.52267982e-01 -9.85586296e-01 7.37164505e-02 4.48122402e+02] [ 9.04451832e-01 -1.69027069e-01 -3.91658950e-01 2.72613612e+02] [ 3.98473769e-01 7.03586056e-03 9.17152742e-01 6.58337588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.13, Y:272.60, Z:65.83 [[-1.55686269e-01 -9.85036432e-01 7.39257286e-02 4.48126898e+02] [ 9.03768111e-01 -1.72248333e-01 -3.91833783e-01 2.72604518e+02] [ 3.98704135e-01 5.80857632e-03 9.17061216e-01 6.58292600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.09, Y:272.84, Z:65.94 [[-1.49633628e-01 -9.86432255e-01 6.75365323e-02 4.48090324e+02] [ 9.02269190e-01 -1.64163863e-01 -3.98698552e-01 2.72842124e+02] [ 4.04376170e-01 1.27742155e-03 9.14591866e-01 6.59392740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.38, Y:272.08, Z:66.61 [[-2.57857658e-01 9.66138099e-01 9.30602308e-03 4.47383645e+02] [ 8.85168274e-01 2.32364531e-01 4.03092858e-01 2.72083264e+02] [ 3.87280978e-01 1.12177977e-01 -9.15111767e-01 6.66068752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.8892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:447.35, Y:272.44, Z:66.82 [[-3.38073830e-01 9.33795469e-01 -1.17184072e-01 4.47351214e+02] [ 8.59781477e-01 3.57088861e-01 3.65052540e-01 2.72440988e+02] [ 3.82729534e-01 2.26620160e-02 -9.23582447e-01 6.68169849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:447.63, Y:272.06, Z:66.69 [[-4.10720914e-01 8.67927793e-01 -2.79302126e-01 4.47634551e+02] [ 8.24639265e-01 4.84293743e-01 2.92283515e-01 2.72061258e+02] [ 3.88945258e-01 -1.10276547e-01 -9.14636906e-01 6.66916765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.72, Y:272.06, Z:66.70 [[-4.69659089e-01 8.15046164e-01 -3.39293518e-01 4.47718233e+02] [ 7.83261639e-01 5.61999379e-01 2.65815542e-01 2.72058066e+02] [ 4.07334684e-01 -1.40912912e-01 -9.02342511e-01 6.66979558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 792.9792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:447.69, Y:272.03, Z:66.63 [[-5.36804377e-01 8.18708554e-01 -2.03856237e-01 4.47686437e+02] [ 7.40751599e-01 5.73001439e-01 3.50651422e-01 2.72032830e+02] [ 4.03891236e-01 3.72243852e-02 -9.14049350e-01 6.66298898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0092541539999 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:447.76, Y:272.04, Z:66.64 [[-6.06321095e-01 7.53818254e-01 -2.53244485e-01 4.47755118e+02] [ 6.90118904e-01 6.57018570e-01 3.03418024e-01 2.72044973e+02] [ 3.95108374e-01 9.19994184e-03 -9.18588446e-01 6.66406663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.93, Y:272.11, Z:66.71 [[-6.52016913e-01 6.08127066e-01 -4.52830450e-01 4.47928396e+02] [ 6.28962706e-01 7.67341172e-01 1.24873699e-01 2.72111507e+02] [ 4.23414524e-01 -2.03393701e-01 -8.82808667e-01 6.67144932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.88, Y:272.07, Z:66.63 [[-7.14547476e-01 6.23198112e-01 -3.17877363e-01 4.47883704e+02] [ 5.68575587e-01 7.82062417e-01 2.55147366e-01 2.72067471e+02] [ 4.07607296e-01 1.57759778e-03 -9.13155958e-01 6.66328987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.09, Y:272.20, Z:66.72 [[-7.48760730e-01 3.89121347e-01 -5.36602224e-01 4.48092454e+02] [ 4.94349418e-01 8.67120092e-01 -6.10032748e-02 2.72203094e+02] [ 4.41560893e-01 -3.10945854e-01 -8.41627384e-01 6.67230825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.09, Y:272.98, Z:65.82 [[-7.07715488e-01 -6.05246499e-01 3.64438559e-01 4.48092553e+02] [ 5.41721235e-01 -7.96012873e-01 -2.70002979e-01 2.72978947e+02] [ 4.53516142e-01 6.33881640e-03 8.91225521e-01 6.58178616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.99, Y:272.10, Z:66.61 [[-7.86189156e-01 5.04246537e-01 -3.57270263e-01 4.47986446e+02] [ 4.35933677e-01 8.62286481e-01 2.57728258e-01 2.72095334e+02] [ 4.38027899e-01 4.68770222e-02 -8.97738327e-01 6.66110800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.06, Y:272.14, Z:66.62 [[-8.27876922e-01 4.03091438e-01 -3.90047555e-01 4.48058633e+02] [ 3.62718582e-01 9.15150379e-01 1.75883526e-01 2.72137376e+02] [ 4.27849311e-01 4.13241625e-03 -9.03840633e-01 6.66185146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2192541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:448.24, Y:272.32, Z:66.71 [[-8.32050022e-01 1.52352477e-01 -5.33368057e-01 4.48236679e+02] [ 2.91270972e-01 9.38313237e-01 -1.86358502e-01 2.72324764e+02] [ 4.72074128e-01 -3.10414228e-01 -8.25099403e-01 6.67114962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.14, Y:272.20, Z:66.61 [[-8.63119490e-01 2.54381398e-01 -4.36250903e-01 4.48140827e+02] [ 2.17467412e-01 9.66888942e-01 1.33542873e-01 2.72204383e+02] [ 4.55776997e-01 2.03931015e-02 -8.89860355e-01 6.66077807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.25, Y:272.34, Z:66.67 [[-8.69424564e-01 6.33660032e-02 -4.89985384e-01 4.48247019e+02] [ 1.37189468e-01 9.83704056e-01 -1.16212647e-01 2.72340389e+02] [ 4.74636679e-01 -1.68258964e-01 -8.63949619e-01 6.66673259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:447.94, Y:273.13, Z:65.81 [[-8.50932234e-01 -2.18037823e-01 4.77884758e-01 4.47941704e+02] [ 1.91324070e-01 -9.75937314e-01 -1.04601430e-01 2.73126432e+02] [ 4.89192635e-01 2.42212794e-03 8.72172402e-01 6.58114420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.93, Y:273.12, Z:65.81 [[-8.51736510e-01 -2.12511543e-01 4.78940248e-01 4.47934345e+02] [ 1.91269474e-01 -9.77084144e-01 -9.33946672e-02 2.73122866e+02] [ 4.87812368e-01 1.20590016e-02 8.72865210e-01 6.58117719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.94, Y:273.12, Z:65.81 [[-8.52005860e-01 -2.11835384e-01 4.78760675e-01 4.47941776e+02] [ 1.90636782e-01 -9.77232680e-01 -9.31338075e-02 2.73121169e+02] [ 4.87589614e-01 1.19188449e-02 8.72991586e-01 6.58074049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.94, Y:273.12, Z:65.81 [[-8.52037369e-01 -2.11345239e-01 4.78921196e-01 4.47944814e+02] [ 1.90185997e-01 -9.77339070e-01 -9.29388447e-02 2.73120145e+02] [ 4.87710579e-01 1.18967366e-02 8.72924315e-01 6.58054231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4292541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:448.26, Y:272.27, Z:66.58 [[-8.76136036e-01 1.00566448e-01 -4.71457354e-01 4.48258762e+02] [ 6.47414137e-02 9.93684477e-01 9.16499290e-02 2.72274436e+02] [ 4.77696762e-01 4.97749899e-02 -8.77113592e-01 6.65781262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4592541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:448.30, Y:272.33, Z:66.58 [[-8.79583178e-01 1.07420522e-02 -4.75623845e-01 4.48301173e+02] [-1.42618515e-02 9.98700352e-01 4.89306333e-02 2.72325325e+02] [ 4.75531317e-01 4.98218386e-02 -8.78286827e-01 6.65784370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.4892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:448.34, Y:272.38, Z:66.58 [[-8.75541252e-01 -7.92710511e-02 -4.76595863e-01 4.48337205e+02] [-9.35408157e-02 9.95595852e-01 6.24620032e-03 2.72379797e+02] [ 4.74001721e-01 5.00499718e-02 -8.79100318e-01 6.65790280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.36, Y:272.44, Z:66.58 [[-8.64182215e-01 -1.70316935e-01 -4.73477815e-01 4.48363701e+02] [-1.74139253e-01 9.84057467e-01 -3.61444730e-02 2.72437625e+02] [ 4.72085395e-01 5.12156623e-02 -8.80063825e-01 6.65795433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.39, Y:272.50, Z:66.58 [[-8.45674323e-01 -2.58581809e-01 -4.66872990e-01 4.48389527e+02] [-2.51895364e-01 9.64607316e-01 -7.79836577e-02 2.72497705e+02] [ 4.70514257e-01 5.16543648e-02 -8.80879198e-01 6.65802349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.41, Y:272.56, Z:66.58 [[-8.20345461e-01 -3.44850966e-01 -4.56191994e-01 4.48413661e+02] [-3.27924735e-01 9.37207196e-01 -1.18777268e-01 2.72560919e+02] [ 4.68506875e-01 5.21582462e-02 -8.81918831e-01 6.65787682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.43, Y:272.62, Z:66.58 [[-7.88390513e-01 -4.28052429e-01 -4.41827474e-01 4.48426736e+02] [-4.01220951e-01 9.02223212e-01 -1.58161387e-01 2.72624861e+02] [ 4.66328369e-01 5.25775024e-02 -8.83047824e-01 6.65824585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:448.44, Y:272.69, Z:66.58 [[-7.50675898e-01 -5.06914535e-01 -4.23701961e-01 4.48438803e+02] [-4.70555975e-01 8.60397414e-01 -1.95686906e-01 2.72691036e+02] [ 4.63748608e-01 5.24780451e-02 -8.84411264e-01 6.65829207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.44, Y:272.75, Z:66.58 [[-7.05799193e-01 -5.81939355e-01 -4.03972879e-01 4.48440660e+02] [-5.36152602e-01 8.11527184e-01 -2.32301565e-01 2.72754733e+02] [ 4.63020395e-01 5.26328531e-02 -8.84783531e-01 6.65820469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.6992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.44, Y:272.82, Z:66.58 [[-6.55968264e-01 -6.51954740e-01 -3.80342810e-01 4.48436029e+02] [-5.97428629e-01 7.56432863e-01 -2.66248677e-01 2.72818109e+02] [ 4.61285888e-01 5.25770014e-02 -8.85692378e-01 6.65848312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:448.45, Y:272.86, Z:66.57 [[-6.00206828e-01 -6.86454862e-01 -4.10525865e-01 4.48446569e+02] [-6.45288642e-01 7.18848519e-01 -2.58571799e-01 2.72864060e+02] [ 4.72603778e-01 1.09711119e-01 -8.74419315e-01 6.65696762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.44, Y:272.75, Z:66.44 [[-5.64056905e-01 -5.84971294e-01 -5.82793611e-01 4.48438266e+02] [-7.11991833e-01 7.02015822e-01 -1.55375653e-02 2.72750792e+02] [ 4.18219365e-01 4.06180220e-01 -8.12471656e-01 6.64420304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.7892541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:448.39, Y:272.99, Z:66.61 [[-4.91539374e-01 -8.24952794e-01 -2.79001670e-01 4.48386315e+02] [-7.58301717e-01 5.62984702e-01 -3.28674202e-01 2.72989956e+02] [ 4.28214373e-01 5.00111336e-02 -9.02292268e-01 6.66106598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8192541539999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:448.37, Y:273.05, Z:66.61 [[-4.23549588e-01 -8.71118481e-01 -2.48512252e-01 4.48366210e+02] [-7.99068677e-01 4.88508023e-01 -3.50498446e-01 2.73053802e+02] [ 4.26725903e-01 5.01248838e-02 -9.02990864e-01 6.66081100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:448.34, Y:273.11, Z:66.61 [[-3.51794778e-01 -9.10586896e-01 -2.16960687e-01 4.48335451e+02] [-8.33229816e-01 4.10238071e-01 -3.70719299e-01 2.73106177e+02] [ 4.26577669e-01 5.03609995e-02 -9.03047763e-01 6.66088793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.8792541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:448.30, Y:273.15, Z:66.61 [[-2.77196028e-01 -9.43182945e-01 -1.83216525e-01 4.48299717e+02] [-8.61861112e-01 3.28371308e-01 -3.86481188e-01 2.73154687e+02] [ 4.24685515e-01 5.07761478e-02 -9.03915923e-01 6.66129075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.26, Y:273.20, Z:66.61 [[-1.99865963e-01 -9.68415404e-01 -1.49081195e-01 4.48259773e+02] [-8.82682706e-01 2.44005340e-01 -4.01662339e-01 2.73198700e+02] [ 4.25352604e-01 5.13127628e-02 -9.03571891e-01 6.66144812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:448.24, Y:273.23, Z:66.61 [[-1.25187616e-01 -9.75913724e-01 -1.78662989e-01 4.48240972e+02] [-8.91826703e-01 1.89594517e-01 -4.10729900e-01 2.73232549e+02] [ 4.34710470e-01 1.07918128e-01 -8.94080805e-01 6.66055415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.26, Y:272.89, Z:66.00 [[-1.55851617e-01 -1.14860477e-01 -9.81079683e-01 4.48258842e+02] [-9.34034274e-01 3.40293194e-01 1.08538089e-01 2.72888829e+02] [ 3.21388002e-01 9.33277886e-01 -1.60318867e-01 6.59982055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 793.9992541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:447.37, Y:272.98, Z:65.86 [[-2.01735674e-01 9.77472685e-01 6.20472983e-02 4.47370588e+02] [-9.07020830e-01 -2.10350822e-01 3.64781779e-01 2.72978023e+02] [ 3.69615925e-01 1.73113062e-02 9.29023351e-01 6.58574609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.37, Y:272.98, Z:65.86 [[-2.04190706e-01 9.76966480e-01 6.19891313e-02 4.47373853e+02] [-9.07003693e-01 -2.12632405e-01 3.63499329e-01 2.72977170e+02] [ 3.68307558e-01 1.79988136e-02 9.29529766e-01 6.58581071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.40, Y:272.96, Z:65.83 [[-1.95755605e-01 9.80531939e-01 1.53902845e-02 4.47399059e+02] [-9.19537369e-01 -1.88986978e-01 3.44579380e-01 2.72964460e+02] [ 3.40779651e-01 5.33014032e-02 9.38631019e-01 6.58272552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.0892541539998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:447.36, Y:272.98, Z:65.87 [[-2.05535064e-01 9.73586174e-01 9.94248461e-02 4.47361730e+02] [-9.04877506e-01 -2.27754806e-01 3.59617086e-01 2.72979849e+02] [ 3.72762709e-01 -1.60533859e-02 9.27787827e-01 6.58713142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.38, Y:272.97, Z:65.86 [[-2.07965029e-01 9.76148858e-01 6.23213813e-02 4.47378474e+02] [-9.06172832e-01 -2.16259858e-01 3.63431524e-01 2.72969653e+02] [ 3.68240880e-01 1.91071047e-02 9.29534062e-01 6.58599830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.38, Y:272.96, Z:65.87 [[-2.09456631e-01 9.75818395e-01 6.25010440e-02 4.47377775e+02] [-9.05783562e-01 -2.17708358e-01 3.63537081e-01 2.72956803e+02] [ 3.68353170e-01 1.95328341e-02 9.29480721e-01 6.58651332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.38, Y:272.96, Z:65.86 [[-2.11818765e-01 9.75292786e-01 6.27438592e-02 4.47381549e+02] [-9.05186885e-01 -2.19987724e-01 3.63651075e-01 2.72956947e+02] [ 3.68469149e-01 2.02332031e-02 9.29419767e-01 6.58642591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2092541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:447.38, Y:272.95, Z:65.86 [[-2.12358274e-01 9.75144832e-01 6.32180330e-02 4.47383035e+02] [-9.04306180e-01 -2.20623725e-01 3.65452465e-01 2.72954270e+02] [ 3.70316480e-01 2.04383966e-02 9.28680772e-01 6.58643411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.39, Y:272.92, Z:65.85 [[-2.09785359e-01 9.77119811e-01 3.50282601e-02 4.47394476e+02] [-9.12338555e-01 -2.08508792e-01 3.52366918e-01 2.72924236e+02] [ 3.51608396e-01 4.19637880e-02 9.35206168e-01 6.58543359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:447.37, Y:272.94, Z:65.88 [[-2.13760426e-01 9.73026846e-01 8.67481268e-02 4.47373595e+02] [-9.03333816e-01 -2.30689465e-01 3.61621885e-01 2.72940893e+02] [ 3.71879681e-01 -1.06206825e-03 9.28280332e-01 6.58784946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.2992541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:447.38, Y:272.92, Z:65.88 [[-2.14403607e-01 9.74653884e-01 6.38819163e-02 4.47382635e+02] [-9.03432644e-01 -2.22746471e-01 3.66324266e-01 2.72921119e+02] [ 3.71268840e-01 2.08282354e-02 9.28291782e-01 6.58752818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.40, Y:272.94, Z:65.85 [[-2.11084738e-01 9.76766241e-01 3.70262505e-02 4.47403517e+02] [-9.11654762e-01 -2.10395493e-01 3.53014633e-01 2.72939216e+02] [ 3.52602933e-01 4.07608437e-02 9.34884873e-01 6.58479482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.40, Y:272.94, Z:65.86 [[-2.10566911e-01 9.75778886e-01 5.93054896e-02 4.47395483e+02] [-9.11286649e-01 -2.17885765e-01 3.49402973e-01 2.72943771e+02] [ 3.53861865e-01 1.95284038e-02 9.35093804e-01 6.58550247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.3892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.40, Y:272.94, Z:65.86 [[-2.09268821e-01 9.75838528e-01 6.28150244e-02 4.47396272e+02] [-9.10706383e-01 -2.17889423e-01 3.50910363e-01 2.72941088e+02] [ 3.56118582e-01 1.62285542e-02 9.34299839e-01 6.58578360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.39, Y:272.94, Z:65.87 [[-2.11559201e-01 9.73845239e-01 8.28743275e-02 4.47387270e+02] [-9.04906215e-01 -2.27209462e-01 3.59889709e-01 2.72940816e+02] [ 3.69306711e-01 1.14448525e-03 9.29306862e-01 6.58743123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.41, Y:272.94, Z:65.85 [[-2.06904855e-01 9.77435688e-01 4.25424152e-02 4.47408433e+02] [-9.11643687e-01 -2.08395498e-01 3.54227476e-01 2.72936729e+02] [ 3.55100225e-01 3.45078605e-02 9.34191114e-01 6.58508481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.4792541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:447.36, Y:272.73, Z:65.94 [[-2.08137925e-01 9.75688875e-01 6.86281578e-02 4.47360798e+02] [-9.07500160e-01 -2.18812030e-01 3.58559277e-01 2.72729712e+02] [ 3.64858964e-01 1.23497198e-02 9.30980892e-01 6.59447959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.38, Y:273.17, Z:66.68 [[-1.32555510e-01 -2.39202520e-01 9.61878990e-01 4.47382770e+02] [-8.74038457e-01 -4.29437926e-01 -2.27244019e-01 2.73169866e+02] [ 4.67424661e-01 -8.70841675e-01 -1.52147838e-01 6.66770953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.38, Y:272.79, Z:65.88 [[-1.89470910e-01 9.79701786e-01 6.54613202e-02 4.47377213e+02] [-8.83954582e-01 -1.99218165e-01 4.23008771e-01 2.72793483e+02] [ 4.27463532e-01 2.22830229e-02 9.03757930e-01 6.58836680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:447.38, Y:272.79, Z:65.89 [[-1.87917449e-01 9.79411230e-01 7.37609371e-02 4.47375707e+02] [-8.82372494e-01 -2.01329289e-01 4.25306124e-01 2.72789811e+02] [ 4.31399830e-01 1.48378196e-02 9.02038816e-01 6.58897490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.5992541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:447.38, Y:272.79, Z:65.89 [[-1.87330219e-01 9.79784187e-01 7.02163534e-02 4.47378705e+02] [-8.82689607e-01 -1.99268196e-01 4.25618660e-01 2.72788269e+02] [ 4.31006319e-01 1.77519915e-02 9.02174274e-01 6.58885297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6292541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:447.38, Y:272.78, Z:65.89 [[-1.86720577e-01 9.79882987e-01 7.04610364e-02 4.47378914e+02] [-8.82641041e-01 -1.98818320e-01 4.25929653e-01 2.72782330e+02] [ 4.31370166e-01 1.73380281e-02 9.02008411e-01 6.58915520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.38, Y:272.78, Z:65.89 [[-1.86205909e-01 9.79981598e-01 7.04515977e-02 4.47379835e+02] [-8.83328463e-01 -1.98373613e-01 4.24710179e-01 2.72779885e+02] [ 4.30183897e-01 1.68516432e-02 9.02583978e-01 6.58926110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.38, Y:272.78, Z:65.89 [[-1.84823011e-01 9.80224362e-01 7.07153061e-02 4.47382199e+02] [-8.83380470e-01 -1.97232861e-01 4.25133090e-01 2.72781729e+02] [ 4.30673194e-01 1.61058576e-02 9.02364229e-01 6.58912668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.38, Y:272.78, Z:65.89 [[-1.84812672e-01 9.80209179e-01 7.09523911e-02 4.47383533e+02] [-8.83233966e-01 -1.97320875e-01 4.25396560e-01 2.72781932e+02] [ 4.30978001e-01 1.59511134e-02 9.02221439e-01 6.58909414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.34, Y:272.55, Z:66.00 [[-1.87505604e-01 9.79413833e-01 7.47675853e-02 4.47343220e+02] [-8.81209042e-01 -2.01354816e-01 4.27699499e-01 2.72552762e+02] [ 4.33949620e-01 1.43101808e-02 9.00823482e-01 6.60033992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.7792541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:448.22, Y:272.89, Z:66.59 [[-6.31145746e-02 -8.54402762e-01 -5.15763968e-01 4.48216008e+02] [-9.24220562e-01 2.45055376e-01 -2.92855282e-01 2.72886006e+02] [ 3.76607094e-01 4.58196228e-01 -8.05123166e-01 6.65900271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8092541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:448.01, Y:273.01, Z:66.78 [[ 2.32542242e-02 -9.98941846e-01 -3.96790904e-02 4.48007803e+02] [-9.20406253e-01 -5.89827066e-03 -3.90918840e-01 2.73012674e+02] [ 3.90271149e-01 4.56113972e-02 -9.19569481e-01 6.67812806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8392541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:447.97, Y:272.87, Z:66.85 [[ 1.01147372e-01 -9.94777709e-01 -1.36572186e-02 4.47967548e+02] [-9.15426527e-01 -8.76861187e-02 -3.92817283e-01 2.72869737e+02] [ 3.89568328e-01 5.22346161e-02 -9.19515124e-01 6.68548457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.33, Y:272.44, Z:66.03 [[ 2.74342025e-02 9.99042249e-01 -3.40873898e-02 4.47334155e+02] [-9.16023760e-01 3.87767511e-02 3.99245332e-01 2.72436185e+02] [ 4.00184752e-01 2.02718817e-02 9.16210246e-01 6.60274623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.94, Y:272.84, Z:66.88 [[ 1.81118550e-01 -9.83076047e-01 2.75237417e-02 4.47940883e+02] [-9.03156829e-01 -1.77340735e-01 -3.90970595e-01 2.72844478e+02] [ 3.89234908e-01 4.59537720e-02 -9.19991542e-01 6.68772350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.35, Y:272.36, Z:66.05 [[ 1.05210311e-01 9.92496192e-01 -6.23065010e-02 4.47352342e+02] [-9.10830060e-01 1.21322109e-01 3.94549804e-01 2.72360526e+02] [ 3.99148334e-01 1.52399264e-02 9.16759702e-01 6.60513479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9592541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.36, Y:272.33, Z:66.06 [[ 1.04949817e-01 9.92512080e-01 -6.24924546e-02 4.47358182e+02] [-9.10687579e-01 1.21163728e-01 3.94927188e-01 2.72334956e+02] [ 3.99541824e-01 1.54635663e-02 9.16584535e-01 6.60617416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 794.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.36, Y:272.31, Z:66.07 [[ 1.04425670e-01 9.92567604e-01 -6.24886422e-02 4.47363284e+02] [-9.11109017e-01 1.20667185e-01 3.94106317e-01 2.72309664e+02] [ 3.98717492e-01 1.57791490e-02 9.16938046e-01 6.60734279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0192541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:447.37, Y:272.29, Z:66.08 [[ 1.04447878e-01 9.92542549e-01 -6.28484590e-02 4.47367738e+02] [-9.10448659e-01 1.20856778e-01 3.95571585e-01 2.72285104e+02] [ 4.00217292e-01 1.59036825e-02 9.16282267e-01 6.60826786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0492541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.93, Y:272.74, Z:66.93 [[ 2.61502008e-01 -9.63264920e-01 6.11342306e-02 4.47932366e+02] [-8.83555578e-01 -2.64395872e-01 -3.86554477e-01 2.72742751e+02] [ 3.88518006e-01 4.70692815e-02 -9.20238144e-01 6.69334236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.0792541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:447.91, Y:272.74, Z:66.95 [[ 3.36489415e-01 -9.37046800e-01 9.33711277e-02 4.47912305e+02] [-8.58588607e-01 -3.46009707e-01 -3.78289422e-01 2.72739243e+02] [ 3.86782209e-01 4.71229999e-02 -9.20966311e-01 6.69455554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1092541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:447.89, Y:272.73, Z:66.96 [[ 4.09229732e-01 -9.03846612e-01 1.24869250e-01 4.47893490e+02] [-8.26952331e-01 -4.25236295e-01 -3.67864018e-01 2.72733827e+02] [ 3.85591584e-01 4.72799758e-02 -9.21457397e-01 6.69574605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1392541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.47, Y:272.12, Z:66.12 [[ 3.29600848e-01 9.28611655e-01 -1.70422052e-01 4.47465371e+02] [-8.59108512e-01 3.69853391e-01 3.53752787e-01 2.72122577e+02] [ 3.91530135e-01 2.98138173e-02 9.19682168e-01 6.61174018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1692541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:447.82, Y:272.69, Z:67.02 [[ 4.74981382e-01 -8.32611195e-01 2.84870645e-01 4.47821801e+02] [-7.83620791e-01 -5.47485028e-01 -2.93595982e-01 2.72691735e+02] [ 4.00413714e-01 -8.37779346e-02 -9.12496639e-01 6.70216929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.1992541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:447.52, Y:272.06, Z:66.14 [[ 3.98290261e-01 8.94275856e-01 -2.04047937e-01 4.47518811e+02] [-8.25552414e-01 4.46443288e-01 3.45183432e-01 2.72060342e+02] [ 3.99785042e-01 3.09690676e-02 9.16085606e-01 6.61438798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.52, Y:272.04, Z:66.16 [[ 3.97639457e-01 8.97412089e-01 -1.91139753e-01 4.47524296e+02] [-8.25828613e-01 4.40825721e-01 3.51681370e-01 2.72036529e+02] [ 3.99862432e-01 1.80062881e-02 9.16398281e-01 6.61610964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.54, Y:272.01, Z:66.17 [[ 3.97884121e-01 8.97317320e-01 -1.91075518e-01 4.47536883e+02] [-8.25882837e-01 4.41017865e-01 3.51312942e-01 2.72013521e+02] [ 3.99506904e-01 1.80241494e-02 9.16552979e-01 6.61719611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.55, Y:271.99, Z:66.18 [[ 3.98108776e-01 8.97221555e-01 -1.91057281e-01 4.47548377e+02] [-8.25900735e-01 4.41211715e-01 3.51027346e-01 2.71991938e+02] [ 3.99246012e-01 1.80472812e-02 9.16666198e-01 6.61824832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:447.56, Y:271.97, Z:66.19 [[ 3.98746925e-01 8.96911725e-01 -1.91181192e-01 4.47560348e+02] [-8.25509024e-01 4.41851079e-01 3.51144523e-01 2.71969221e+02] [ 3.99419256e-01 1.78040006e-02 9.16595481e-01 6.61929731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3492541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:447.57, Y:271.95, Z:66.20 [[ 3.99537465e-01 8.96540032e-01 -1.91274112e-01 4.47572790e+02] [-8.25132896e-01 4.42614443e-01 3.51067171e-01 2.71946014e+02] [ 3.99406458e-01 1.75620745e-02 9.16605725e-01 6.62037692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.58, Y:271.92, Z:66.22 [[ 4.00151847e-01 8.96305853e-01 -1.91087197e-01 4.47584918e+02] [-8.25131578e-01 4.43093577e-01 3.50465351e-01 2.71923690e+02] [ 3.98793655e-01 1.74327227e-02 9.16874976e-01 6.62153351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4092541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:447.60, Y:271.90, Z:66.23 [[ 4.01116879e-01 8.95788654e-01 -1.91488737e-01 4.47597242e+02] [-8.24360913e-01 4.44151643e-01 3.50939316e-01 2.71900141e+02] [ 3.99417494e-01 1.70881468e-02 9.16609874e-01 6.62253056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.61, Y:271.88, Z:66.24 [[ 4.01923299e-01 8.95422312e-01 -1.91511214e-01 4.47608576e+02] [-8.24054601e-01 4.44898587e-01 3.50712505e-01 2.71877994e+02] [ 3.99238871e-01 1.68561697e-02 9.16691984e-01 6.62366616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:447.62, Y:271.85, Z:66.25 [[ 4.02816572e-01 8.94952924e-01 -1.91828238e-01 4.47621040e+02] [-8.23368209e-01 4.45854915e-01 3.51109936e-01 2.71854460e+02] [ 3.99754427e-01 1.65123720e-02 9.16473535e-01 6.62468720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.4992541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:447.63, Y:271.83, Z:66.26 [[ 4.03528161e-01 8.94544503e-01 -1.92237239e-01 4.47633050e+02] [-8.22713076e-01 4.46682386e-01 3.51593574e-01 2.71831420e+02] [ 4.00385087e-01 1.62781815e-02 9.16202381e-01 6.62568645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.04, Y:272.47, Z:67.11 [[ 5.42012027e-01 -8.26131090e-01 1.54046696e-01 4.48041220e+02] [-7.44750676e-01 -5.57122300e-01 -3.67370622e-01 2.72468234e+02] [ 3.89319142e-01 8.43929143e-02 -9.17228675e-01 6.71065437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5592541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:447.70, Y:271.78, Z:66.27 [[ 4.74257958e-01 8.47937547e-01 -2.36814918e-01 4.47701895e+02] [-7.86776260e-01 5.28911276e-01 3.18176020e-01 2.71778840e+02] [ 3.95047474e-01 3.54228462e-02 9.17977513e-01 6.62716946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.5892541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:447.71, Y:271.75, Z:66.29 [[ 4.75019471e-01 8.52245398e-01 -2.19167251e-01 4.47705645e+02] [-7.85735929e-01 5.22919777e-01 3.30414825e-01 2.71753198e+02] [ 3.96201404e-01 1.52541084e-02 9.18036905e-01 6.62891715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:447.72, Y:271.73, Z:66.30 [[ 4.76822897e-01 8.51244381e-01 -2.19141345e-01 4.47717830e+02] [-7.84744607e-01 5.24567922e-01 3.30158138e-01 2.71729780e+02] [ 3.95999780e-01 1.45430291e-02 9.18135434e-01 6.62999856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.73, Y:271.71, Z:66.31 [[ 4.77575429e-01 8.50825833e-01 -2.19128069e-01 4.47731059e+02] [-7.84388669e-01 5.25252586e-01 3.29915348e-01 2.71707852e+02] [ 3.95798086e-01 1.43221106e-02 9.18225872e-01 6.63122726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.75, Y:271.69, Z:66.32 [[ 4.80105191e-01 8.47389407e-01 -2.26782271e-01 4.47750195e+02] [-7.83981098e-01 5.30474184e-01 3.22444999e-01 2.71686303e+02] [ 3.93538617e-01 2.29854955e-02 9.19020688e-01 6.63165184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.75, Y:271.66, Z:66.34 [[ 4.79354339e-01 8.51993278e-01 -2.10539476e-01 4.47751946e+02] [-7.83354076e-01 5.23534959e-01 3.35063484e-01 2.71661511e+02] [ 3.95696612e-01 4.31282195e-03 9.18371162e-01 6.63372854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:447.77, Y:271.64, Z:66.34 [[ 4.81549937e-01 8.48677551e-01 -2.18760310e-01 4.47767307e+02] [-7.82489505e-01 5.28754955e-01 3.28828789e-01 2.71639368e+02] [ 3.94740209e-01 1.28301644e-02 9.18703192e-01 6.63447647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:447.78, Y:271.62, Z:66.35 [[ 4.82568727e-01 8.48056680e-01 -2.18923026e-01 4.47779798e+02] [-7.81797467e-01 5.29759098e-01 3.28858661e-01 2.71617344e+02] [ 3.94867249e-01 1.24565621e-02 9.18653738e-01 6.63544230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.79, Y:271.60, Z:66.37 [[ 4.83388123e-01 8.47693513e-01 -2.18521464e-01 4.47792385e+02] [-7.81692066e-01 5.30346290e-01 3.28162042e-01 2.71595593e+02] [ 3.94072882e-01 1.21868609e-02 9.18998392e-01 6.63662073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.80, Y:271.57, Z:66.38 [[ 4.84767474e-01 8.46937870e-01 -2.18395835e-01 4.47803078e+02] [-7.81032685e-01 5.31563439e-01 3.27762499e-01 2.71572807e+02] [ 3.93685713e-01 1.16856863e-02 9.19170824e-01 6.63763884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:447.82, Y:271.55, Z:66.39 [[ 4.85318856e-01 8.46532277e-01 -2.18743483e-01 4.47815202e+02] [-7.80408441e-01 5.32214645e-01 3.28192378e-01 2.71550965e+02] [ 3.94243926e-01 1.14313112e-02 9.18934738e-01 6.63860577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.83, Y:271.53, Z:66.40 [[ 4.85703472e-01 8.46409601e-01 -2.18364204e-01 4.47826472e+02] [-7.80551565e-01 5.32411231e-01 3.27532496e-01 2.71527571e+02] [ 3.93486204e-01 1.13608505e-02 9.19260322e-01 6.63982919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.84, Y:271.51, Z:66.41 [[ 4.85858881e-01 8.46348440e-01 -2.18255504e-01 4.47838722e+02] [-7.80647524e-01 5.32506909e-01 3.27148033e-01 2.71505592e+02] [ 3.93103792e-01 1.14328416e-02 9.19423025e-01 6.64088101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.85, Y:271.48, Z:66.42 [[ 4.86061043e-01 8.46258606e-01 -2.18153693e-01 4.47851542e+02] [-7.80653926e-01 5.32650163e-01 3.26899453e-01 2.71482794e+02] [ 3.92841075e-01 1.14094479e-02 9.19535597e-01 6.64196837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 795.9792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:447.86, Y:271.46, Z:66.43 [[ 4.86416622e-01 8.45937317e-01 -2.18606786e-01 4.47864748e+02] [-7.80104368e-01 5.33162709e-01 3.27375475e-01 2.71459550e+02] [ 3.93492117e-01 1.12952359e-02 9.19258599e-01 6.64294193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.88, Y:271.44, Z:66.44 [[ 4.85697461e-01 8.46340903e-01 -2.18643664e-01 4.47875990e+02] [-7.80620389e-01 5.32511869e-01 3.27204704e-01 2.71437358e+02] [ 3.93357071e-01 1.17552083e-02 9.19310628e-01 6.64402998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0392541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:447.89, Y:271.42, Z:66.45 [[ 4.85695926e-01 8.46287929e-01 -2.18852026e-01 4.47888807e+02] [-7.80497580e-01 5.32594738e-01 3.27362756e-01 2.71415437e+02] [ 3.93602586e-01 1.18147199e-02 9.19204774e-01 6.64504948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.90, Y:271.39, Z:66.46 [[ 4.85632887e-01 8.46274012e-01 -2.19045649e-01 4.47901731e+02] [-7.80401517e-01 5.32615606e-01 3.27557764e-01 2.71392997e+02] [ 3.93870754e-01 1.18707344e-02 9.19089177e-01 6.64613351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.91, Y:271.37, Z:66.47 [[ 4.85752256e-01 8.46149334e-01 -2.19262513e-01 4.47912749e+02] [-7.80223474e-01 5.32812743e-01 3.27661277e-01 2.71369430e+02] [ 3.94076232e-01 1.19115549e-02 9.19000565e-01 6.64712309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1292541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:447.93, Y:271.35, Z:66.48 [[ 4.86277007e-01 8.45751909e-01 -2.19632378e-01 4.47925218e+02] [-7.79597007e-01 5.33448730e-01 3.28117296e-01 2.71347134e+02] [ 3.94668443e-01 1.16688476e-02 9.18749508e-01 6.64820915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1592541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:447.95, Y:271.33, Z:66.48 [[ 4.89886659e-01 8.41264546e-01 -2.28659190e-01 4.47946043e+02] [-7.78600860e-01 5.40192104e-01 3.19332414e-01 2.71326006e+02] [ 3.92162928e-01 2.15975525e-02 9.19642204e-01 6.64824571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.1892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:447.94, Y:271.30, Z:66.51 [[ 4.88980688e-01 8.46130184e-01 -2.12041502e-01 4.47944233e+02] [-7.77374776e-01 5.32974266e-01 3.34106106e-01 2.71297899e+02] [ 3.95709924e-01 1.46428121e-03 9.18374385e-01 6.65062726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.97, Y:271.28, Z:66.51 [[ 4.92431384e-01 8.39774010e-01 -2.28672132e-01 4.47969168e+02] [-7.77081161e-01 5.42545562e-01 3.19044171e-01 2.71279576e+02] [ 3.91990053e-01 2.05894429e-02 9.19739025e-01 6.65062309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2492541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:447.97, Y:271.25, Z:66.53 [[ 4.93221214e-01 8.43725673e-01 -2.11801375e-01 4.47967276e+02] [-7.74618594e-01 5.36773895e-01 3.34424609e-01 2.71251609e+02] [ 3.95852077e-01 -8.80028773e-04 9.18313867e-01 6.65281679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:447.98, Y:271.23, Z:66.54 [[ 4.94619230e-01 8.40765656e-01 -2.20147518e-01 4.47984751e+02] [-7.74148180e-01 5.41337967e-01 3.28097242e-01 2.71230856e+02] [ 3.95027103e-01 8.14359516e-03 9.18633371e-01 6.65377423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.00, Y:271.21, Z:66.55 [[ 4.96436661e-01 8.39658146e-01 -2.20283545e-01 4.47997512e+02] [-7.72945696e-01 5.43064897e-01 3.28078449e-01 2.71208368e+02] [ 3.95102003e-01 7.39704900e-03 9.18607474e-01 6.65487861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.01, Y:271.19, Z:66.56 [[ 4.97977274e-01 8.38694326e-01 -2.20477805e-01 4.48010298e+02] [-7.71863873e-01 5.44560377e-01 3.28146548e-01 2.71185536e+02] [ 3.95278124e-01 6.76932922e-03 9.18536543e-01 6.65598455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.03, Y:271.16, Z:66.57 [[ 5.03124934e-01 8.34685978e-01 -2.23974595e-01 4.48025843e+02] [-7.69268918e-01 5.50648377e-01 3.24055081e-01 2.71164484e+02] [ 3.93815480e-01 9.25650295e-03 9.19142908e-01 6.65652496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.03, Y:271.14, Z:66.58 [[ 5.01923622e-01 8.36776707e-01 -2.18809096e-01 4.48033726e+02] [-7.69152146e-01 5.47536686e-01 3.29558119e-01 2.71139262e+02] [ 3.95572565e-01 2.88448055e-03 9.18430196e-01 6.65822388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.05, Y:271.12, Z:66.59 [[ 5.03029026e-01 8.35584057e-01 -2.20819117e-01 4.48047958e+02] [-7.68450574e-01 5.49343342e-01 3.28185326e-01 2.71117165e+02] [ 3.95531938e-01 4.60183200e-03 9.18440694e-01 6.65920569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4592541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:448.06, Y:271.09, Z:66.60 [[ 5.04326952e-01 8.34734802e-01 -2.21070432e-01 4.48061681e+02] [-7.67459192e-01 5.50637102e-01 3.28336978e-01 2.71094256e+02] [ 3.95803885e-01 4.07334793e-03 9.18326028e-01 6.66012787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.07, Y:271.07, Z:66.61 [[ 5.04792508e-01 8.34430064e-01 -2.21158297e-01 4.48073066e+02] [-7.67167134e-01 5.51099541e-01 3.28243637e-01 2.71072772e+02] [ 3.95776595e-01 3.97044789e-03 9.18338240e-01 6.66135529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.09, Y:271.05, Z:66.62 [[ 5.05207362e-01 8.34089582e-01 -2.21495123e-01 4.48087107e+02] [-7.66623920e-01 5.51616133e-01 3.28644805e-01 2.71050337e+02] [ 3.96299492e-01 3.76968445e-03 9.18113556e-01 6.66240947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.10, Y:271.03, Z:66.64 [[ 5.03199001e-01 8.35275950e-01 -2.21596147e-01 4.48101450e+02] [-7.68088347e-01 5.49807975e-01 3.28255210e-01 2.71029367e+02] [ 3.96019011e-01 5.02772391e-03 9.18228547e-01 6.66355836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.12, Y:271.01, Z:66.65 [[ 5.02706049e-01 8.35432284e-01 -2.22125024e-01 4.48116606e+02] [-7.68437491e-01 5.49561969e-01 3.27849760e-01 2.71007761e+02] [ 3.95967739e-01 5.87713891e-03 9.18245615e-01 6.66468144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6092541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:448.13, Y:270.99, Z:66.66 [[ 5.01888563e-01 8.36069642e-01 -2.21574873e-01 4.48130405e+02] [-7.68936330e-01 5.48594673e-01 3.28299871e-01 2.70987309e+02] [ 3.96036350e-01 5.60701939e-03 9.18217714e-01 6.66571250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.14, Y:270.97, Z:66.68 [[ 4.99962459e-01 8.39648882e-01 -2.12196358e-01 4.48138181e+02] [-7.68531304e-01 5.43096144e-01 3.38239875e-01 2.70967163e+02] [ 3.99245757e-01 -6.02769590e-03 9.16824134e-01 6.66753342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:448.17, Y:270.95, Z:66.67 [[ 4.99135170e-01 8.34113563e-01 -2.34773608e-01 4.48167260e+02] [-7.70422250e-01 5.51194050e-01 3.20366470e-01 2.70946976e+02] [ 3.96627834e-01 2.09686394e-02 9.17739984e-01 6.66728111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.18, Y:270.92, Z:66.69 [[ 4.97909591e-01 8.37702580e-01 -2.24366724e-01 4.48175268e+02] [-7.70457719e-01 5.46051448e-01 3.28972215e-01 2.70924211e+02] [ 3.98096648e-01 9.06665347e-03 9.17298672e-01 6.66885089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.19, Y:270.90, Z:66.70 [[ 4.96795735e-01 8.38939986e-01 -2.22201929e-01 4.48189771e+02] [-7.71230703e-01 5.44175069e-01 3.30267615e-01 2.70902736e+02] [ 3.97991458e-01 7.29340750e-03 9.17360129e-01 6.67000797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.21, Y:270.88, Z:66.71 [[ 4.95907203e-01 8.39173986e-01 -2.23300395e-01 4.48205080e+02] [-7.71560140e-01 5.43795385e-01 3.30123507e-01 2.70882168e+02] [ 3.98460784e-01 8.57905890e-03 9.17145247e-01 6.67105998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.21, Y:270.86, Z:66.73 [[ 4.94780906e-01 8.43036043e-01 -2.10907766e-01 4.48210632e+02] [-7.70432035e-01 5.37812945e-01 3.42332755e-01 2.70862303e+02] [ 4.02027778e-01 -6.88961100e-03 9.15601550e-01 6.67318058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8192541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:448.25, Y:270.84, Z:66.73 [[ 4.93247528e-01 8.36164498e-01 -2.39866231e-01 4.48245315e+02] [-7.72839582e-01 5.47796147e-01 3.20372222e-01 2.70843805e+02] [ 3.99281676e-01 2.73553111e-02 9.16420117e-01 6.67258609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.25, Y:270.82, Z:66.74 [[ 4.92265240e-01 8.40992766e-01 -2.24513031e-01 4.48251422e+02] [-7.73017338e-01 5.40946034e-01 3.31393397e-01 2.70820419e+02] [ 4.00148883e-01 1.04190159e-02 9.16390918e-01 6.67437950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.8792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.27, Y:270.80, Z:66.75 [[ 4.91611837e-01 8.41272424e-01 -2.24896665e-01 4.48266559e+02] [-7.73180490e-01 5.40503511e-01 3.31734659e-01 2.70799835e+02] [ 4.00636658e-01 1.08010292e-02 9.16173349e-01 6.67537612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.28, Y:270.78, Z:66.77 [[ 4.90795219e-01 8.41643711e-01 -2.25290741e-01 4.48281340e+02] [-7.73407748e-01 5.39916661e-01 3.32160285e-01 2.70779661e+02] [ 4.01198839e-01 1.12189247e-02 9.15922283e-01 6.67657192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.30, Y:270.76, Z:66.78 [[ 4.89799395e-01 8.42219134e-01 -2.25307530e-01 4.48297219e+02] [-7.74127103e-01 5.39005748e-01 3.31963902e-01 2.70758812e+02] [ 4.01028404e-01 1.18209473e-02 9.15989347e-01 6.67760119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:448.31, Y:270.74, Z:66.79 [[ 4.89690741e-01 8.42205444e-01 -2.25594697e-01 4.48312547e+02] [-7.74028896e-01 5.39024078e-01 3.32163079e-01 2.70737549e+02] [ 4.01350527e-01 1.19596305e-02 9.15846451e-01 6.67872354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 796.9992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:448.33, Y:270.72, Z:66.80 [[ 4.89828551e-01 8.42044240e-01 -2.25897073e-01 4.48326880e+02] [-7.73759434e-01 5.39275432e-01 3.32382831e-01 2.70717289e+02] [ 4.01701790e-01 1.19793911e-02 9.15692179e-01 6.67967896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0292541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:448.34, Y:270.70, Z:66.81 [[ 4.89838622e-01 8.42054901e-01 -2.25835490e-01 4.48341528e+02] [-7.73878117e-01 5.39256639e-01 3.32136926e-01 2.70696403e+02] [ 4.01460814e-01 1.20756493e-02 9.15796590e-01 6.68084225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.36, Y:270.68, Z:66.82 [[ 4.90250322e-01 8.41645487e-01 -2.26467427e-01 4.48356426e+02] [-7.73126871e-01 5.39899042e-01 3.32842104e-01 2.70675397e+02] [ 4.02404602e-01 1.19121044e-02 9.15384421e-01 6.68191996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.0892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.37, Y:270.65, Z:66.83 [[ 4.90482258e-01 8.41481744e-01 -2.26573674e-01 4.48371346e+02] [-7.72979867e-01 5.40154059e-01 3.32769768e-01 2.70653714e+02] [ 4.02404374e-01 1.19192215e-02 9.15384429e-01 6.68303691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.39, Y:270.63, Z:66.84 [[ 4.90809977e-01 8.41283309e-01 -2.26600882e-01 4.48386053e+02] [-7.72838604e-01 5.40463819e-01 3.32594878e-01 2.70632892e+02] [ 4.02276098e-01 1.18850244e-02 9.15441253e-01 6.68418530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.40, Y:270.61, Z:66.85 [[ 4.91800462e-01 8.40682250e-01 -2.26684055e-01 4.48400100e+02] [-7.72223279e-01 5.41405938e-01 3.32491832e-01 2.70612502e+02] [ 4.02248075e-01 1.15310671e-02 9.15458094e-01 6.68530117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.41, Y:270.59, Z:66.86 [[ 4.92655957e-01 8.40173984e-01 -2.26710795e-01 4.48413794e+02] [-7.71690381e-01 5.42201786e-01 3.32432216e-01 2.70592397e+02] [ 4.02223898e-01 1.11758280e-02 9.15473122e-01 6.68638061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.43, Y:270.57, Z:66.88 [[ 4.93998961e-01 8.39429338e-01 -2.26546712e-01 4.48427948e+02] [-7.71018929e-01 5.43365085e-01 3.32090644e-01 2.70571119e+02] [ 4.01864203e-01 1.06193704e-02 9.15637697e-01 6.68750486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.44, Y:270.55, Z:66.89 [[ 4.96460397e-01 8.37949588e-01 -2.26644132e-01 4.48442297e+02] [-7.69428203e-01 5.45663968e-01 3.32010654e-01 2.70549982e+02] [ 4.01879727e-01 9.55624596e-03 9.15642596e-01 6.68860058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.46, Y:270.53, Z:66.90 [[ 4.97417667e-01 8.37415037e-01 -2.26520906e-01 4.48456703e+02] [-7.69014939e-01 5.46489260e-01 3.31610484e-01 2.70529222e+02] [ 4.01486847e-01 9.24904746e-03 9.15818086e-01 6.68965079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.47, Y:270.51, Z:66.91 [[ 4.98397068e-01 8.36858871e-01 -2.26423481e-01 4.48471362e+02] [-7.68508872e-01 5.47347070e-01 3.31368825e-01 2.70508264e+02] [ 4.01241169e-01 8.85520329e-03 9.15929642e-01 6.69073799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.49, Y:270.49, Z:66.92 [[ 4.98676424e-01 8.36645684e-01 -2.26596170e-01 4.48486157e+02] [-7.68261995e-01 5.47673404e-01 3.31402097e-01 2.70487076e+02] [ 4.01366830e-01 8.82281277e-03 9.15874897e-01 6.69181404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.50, Y:270.47, Z:66.93 [[ 4.98717306e-01 8.36641202e-01 -2.26522730e-01 4.48500583e+02] [-7.68399687e-01 5.47678231e-01 3.31074729e-01 2.70466358e+02] [ 4.01052327e-01 8.94729787e-03 9.16011450e-01 6.69282913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.3892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:448.52, Y:270.44, Z:66.94 [[ 4.98700685e-01 8.36538272e-01 -2.26939083e-01 4.48515550e+02] [-7.68068057e-01 5.47835496e-01 3.31583669e-01 2.70444951e+02] [ 4.01707714e-01 8.94365780e-03 9.15724262e-01 6.69397922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4192541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:448.53, Y:270.42, Z:66.95 [[ 4.98391021e-01 8.36658348e-01 -2.27176580e-01 4.48530732e+02] [-7.68145376e-01 5.47648164e-01 3.31713990e-01 2.70423540e+02] [ 4.01944116e-01 9.18136524e-03 9.15618169e-01 6.69505673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.55, Y:270.40, Z:66.96 [[ 4.97885646e-01 8.36926471e-01 -2.27297085e-01 4.48545197e+02] [-7.68460781e-01 5.47232273e-01 3.31669817e-01 2.70402758e+02] [ 4.01967550e-01 9.53525442e-03 9.15604264e-01 6.69612540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.4792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:448.56, Y:270.38, Z:66.97 [[ 4.96551898e-01 8.37650914e-01 -2.27545951e-01 4.48560296e+02] [-7.69144564e-01 5.46110827e-01 3.31933133e-01 2.70381646e+02] [ 4.02309400e-01 1.01937037e-02 9.15447014e-01 6.69717214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.58, Y:270.36, Z:66.98 [[ 4.95430841e-01 8.38427213e-01 -2.27130117e-01 4.48575089e+02] [-7.70353937e-01 5.44904016e-01 3.31110896e-01 2.70361137e+02] [ 4.01376499e-01 1.09280302e-02 9.15847959e-01 6.69829785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.59, Y:270.34, Z:66.99 [[ 4.94547586e-01 8.38981614e-01 -2.27007790e-01 4.48590501e+02] [-7.71135893e-01 5.44038236e-01 3.30714125e-01 2.70340305e+02] [ 4.00963988e-01 1.14999827e-02 9.16021632e-01 6.69938416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.61, Y:270.32, Z:67.00 [[ 4.92369384e-01 8.40272210e-01 -2.26969165e-01 4.48606320e+02] [-7.72676786e-01 5.42016525e-01 3.30437091e-01 2.70320537e+02] [ 4.00678143e-01 1.26766976e-02 9.16131173e-01 6.70042624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.5992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:448.62, Y:270.30, Z:67.01 [[ 4.91458696e-01 8.40743310e-01 -2.27198232e-01 4.48621478e+02] [-7.73096869e-01 5.41274562e-01 3.30670652e-01 2.70299993e+02] [ 4.00985762e-01 1.31352740e-02 9.15990111e-01 6.70148879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.05, Y:271.05, Z:67.88 [[ 6.12795510e-01 -7.61036457e-01 2.12850122e-01 4.49054365e+02] [-6.93056787e-01 -6.46981174e-01 -3.17942841e-01 2.71047736e+02] [ 3.79676115e-01 4.73167243e-02 -9.23908640e-01 6.78784737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:449.06, Y:271.05, Z:67.88 [[ 6.70296609e-01 -7.07805895e-01 2.22964729e-01 4.49055891e+02] [-6.39462302e-01 -7.03363392e-01 -3.10431802e-01 2.71054660e+02] [ 3.76550688e-01 6.55038458e-02 -9.24077284e-01 6.78826710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.02, Y:271.04, Z:67.90 [[ 7.23477602e-01 -6.38141629e-01 2.63354174e-01 4.49024100e+02] [-5.79195942e-01 -7.68669457e-01 -2.71439361e-01 2.71039455e+02] [ 3.75649066e-01 4.38466289e-02 -9.25724177e-01 6.79025824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.00, Y:271.03, Z:67.91 [[ 7.70553383e-01 -5.70192287e-01 2.84830197e-01 4.49004297e+02] [-5.15540756e-01 -8.20338529e-01 -2.47512478e-01 2.71026471e+02] [ 3.74786891e-01 4.38800021e-02 -9.26071991e-01 6.79139752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.99, Y:271.01, Z:67.93 [[ 8.12103575e-01 -4.97871052e-01 3.04322526e-01 4.48986194e+02] [-4.47788466e-01 -8.66131829e-01 -2.22038612e-01 2.71011092e+02] [ 3.74130023e-01 4.40462336e-02 -9.26329669e-01 6.79253499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.97, Y:271.00, Z:67.94 [[ 8.47830684e-01 -4.21882213e-01 3.21245279e-01 4.48968831e+02] [-3.76760374e-01 -9.05571520e-01 -1.94914961e-01 2.70995848e+02] [ 3.73141731e-01 4.42223931e-02 -9.26719822e-01 6.79364306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.95, Y:270.98, Z:67.95 [[ 8.77366761e-01 -3.42917558e-01 3.35611555e-01 4.48953917e+02] [-3.03054174e-01 -9.38317318e-01 -1.66489574e-01 2.70978601e+02] [ 3.72002332e-01 4.43639356e-02 -9.27171023e-01 6.79477832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8392541539998 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:448.96, Y:270.99, Z:67.95 [[ 9.01158552e-01 -2.72310079e-01 3.37283983e-01 4.48955972e+02] [-2.27687259e-01 -9.59433174e-01 -1.66272358e-01 2.70990187e+02] [ 3.68879081e-01 7.30424919e-02 -9.26602945e-01 6.79517995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:449.00, Y:271.05, Z:67.89 [[ 9.24632168e-01 -2.45643829e-01 2.91057491e-01 4.48997765e+02] [-1.56363474e-01 -9.41670340e-01 -2.98005764e-01 2.71053586e+02] [ 3.47283484e-01 2.30034955e-01 -9.09108410e-01 6.78884769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.8992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:448.94, Y:270.96, Z:67.98 [[ 9.32327016e-01 -9.50360073e-02 3.48904705e-01 4.48938747e+02] [-7.36943371e-02 -9.94533680e-01 -7.39723149e-02 2.70957916e+02] [ 3.54027514e-01 4.32540866e-02 -9.34234234e-01 6.79804595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9292541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:448.93, Y:270.94, Z:67.99 [[ 9.36026164e-01 -1.15480186e-02 3.51740905e-01 4.48930027e+02] [ 4.28026208e-03 -9.99014021e-01 -4.41889743e-02 2.70939853e+02] [ 3.51904391e-01 4.28675793e-02 -9.35053833e-01 6.79918795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.92, Y:270.92, Z:68.00 [[ 9.32132540e-01 7.29031858e-02 3.54702768e-01 4.48924993e+02] [ 8.33943893e-02 -9.96413175e-01 -1.43583008e-02 2.70921173e+02] [ 3.52383745e-01 4.29640601e-02 -9.34868860e-01 6.80013856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 797.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.92, Y:270.90, Z:68.01 [[ 9.22227940e-01 1.56272376e-01 3.53658835e-01 4.48920090e+02] [ 1.61291751e-01 -9.86786021e-01 1.54375808e-02 2.70902904e+02] [ 3.51398062e-01 4.28052844e-02 -9.35247085e-01 6.80113780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.92, Y:270.88, Z:68.02 [[ 9.05562860e-01 2.38565874e-01 3.50773760e-01 4.48917439e+02] [ 2.38123429e-01 -9.70187476e-01 4.50942800e-02 2.70884456e+02] [ 3.51074265e-01 4.26917452e-02 -9.35373869e-01 6.80219843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.92, Y:270.86, Z:68.03 [[ 8.82639756e-01 3.19066656e-01 3.45171740e-01 4.48917361e+02] [ 3.13198404e-01 -9.46777356e-01 7.42926469e-02 2.70863523e+02] [ 3.50505094e-01 4.25335945e-02 -9.35594502e-01 6.80329044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.92, Y:270.84, Z:68.04 [[ 8.53688198e-01 3.97443459e-01 3.36534036e-01 4.48919533e+02] [ 3.86305773e-01 -9.16646025e-01 1.02605631e-01 2.70841425e+02] [ 3.49262523e-01 4.24118242e-02 -9.36064596e-01 6.80435236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.92, Y:270.82, Z:68.05 [[ 8.18522764e-01 4.73024756e-01 3.25987830e-01 4.48923553e+02] [ 4.56717263e-01 -8.80032522e-01 1.30200237e-01 2.70819016e+02] [ 3.48467828e-01 4.23124117e-02 -9.36365224e-01 6.80541920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:448.93, Y:270.80, Z:68.07 [[ 7.78553615e-01 5.44509333e-01 3.12031819e-01 4.48927857e+02] [ 5.23353260e-01 -8.37710876e-01 1.56018760e-01 2.70797215e+02] [ 3.46346119e-01 4.18339001e-02 -9.37173565e-01 6.80657642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.93, Y:270.79, Z:68.07 [[ 7.33727944e-01 5.95434059e-01 3.27263785e-01 4.48929541e+02] [ 5.84986668e-01 -7.98609269e-01 1.41470262e-01 2.70792864e+02] [ 3.45592104e-01 8.76442666e-02 -9.34282923e-01 6.80664045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.91, Y:270.88, Z:67.96 [[ 6.95709691e-01 5.62736499e-01 4.46447823e-01 4.48912160e+02] [ 6.47183507e-01 -7.60715195e-01 -4.96578338e-02 2.70880492e+02] [ 3.11675367e-01 3.23481104e-01 -8.93430714e-01 6.79628931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:448.96, Y:270.74, Z:68.10 [[ 6.34020360e-01 7.33162187e-01 2.45949975e-01 4.48964708e+02] [ 7.03111770e-01 -6.78939190e-01 2.11365597e-01 2.70740769e+02] [ 3.21950340e-01 3.89202307e-02 -9.45956233e-01 6.81016854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.97, Y:270.73, Z:68.11 [[ 5.73400211e-01 7.87146062e-01 2.27185552e-01 4.48970831e+02] [ 7.53579463e-01 -6.15538136e-01 2.30718002e-01 2.70728650e+02] [ 3.21450138e-01 3.89086154e-02 -9.46126804e-01 6.81100957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.2892541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:448.97, Y:270.72, Z:68.11 [[ 5.12417476e-01 8.24266804e-01 2.40857980e-01 4.48974801e+02] [ 7.97070856e-01 -5.60897581e-01 2.23767636e-01 2.70723265e+02] [ 3.19540892e-01 7.73184290e-02 -9.44412769e-01 6.81135311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:448.93, Y:270.78, Z:68.03 [[ 4.53058605e-01 8.03012409e-01 3.87180799e-01 4.48934764e+02] [ 8.42521929e-01 -5.27634342e-01 1.08438005e-01 2.70784493e+02] [ 2.91366950e-01 2.77079543e-01 -9.15604843e-01 6.80302494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.02, Y:270.70, Z:68.14 [[ 3.80197551e-01 9.05926401e-01 1.86405950e-01 4.49015281e+02] [ 8.75360884e-01 -4.17525335e-01 2.43753807e-01 2.70696539e+02] [ 2.98652216e-01 7.04978765e-02 -9.51754645e-01 6.81380556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.97, Y:270.74, Z:68.07 [[ 3.13469446e-01 8.90222389e-01 3.30516271e-01 4.48971079e+02] [ 9.09515150e-01 -3.81521469e-01 1.64995640e-01 2.70741462e+02] [ 2.72981866e-01 2.48888464e-01 -9.29266072e-01 6.80659019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.07, Y:270.67, Z:68.17 [[ 2.34218837e-01 9.66783268e-01 1.02331074e-01 4.49066995e+02] [ 9.30928901e-01 -2.53371363e-01 2.63010139e-01 2.70671325e+02] [ 2.80201566e-01 3.36610256e-02 -9.59350832e-01 6.81651400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.08, Y:270.66, Z:68.17 [[ 1.56990136e-01 9.84346205e-01 8.01039639e-02 4.49083610e+02] [ 9.47419978e-01 -1.73007095e-01 2.69191251e-01 2.70661428e+02] [ 2.78835941e-01 3.36317245e-02 -9.59749668e-01 6.81725563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:449.10, Y:270.65, Z:68.18 [[ 7.84227766e-02 9.95255783e-01 5.75829322e-02 4.49101289e+02] [ 9.57497879e-01 -9.12783361e-02 2.73616660e-01 2.70653325e+02] [ 2.77574638e-01 3.36777572e-02 -9.60113602e-01 6.81808544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.4992541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:449.12, Y:270.65, Z:68.19 [[-1.77022297e-04 9.99391495e-01 3.48799240e-02 4.49117641e+02] [ 9.61076220e-01 -9.46671277e-03 2.76121134e-01 2.70647914e+02] [ 2.76283311e-01 3.35711451e-02 -9.60489724e-01 6.81892390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:449.14, Y:270.64, Z:68.20 [[-7.88203613e-02 9.96814793e-01 1.21498555e-02 4.49137665e+02] [ 9.58140377e-01 7.23860631e-02 2.76996889e-01 2.70644757e+02] [ 2.75235116e-01 3.34742620e-02 -9.60793997e-01 6.81967054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5592541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:449.19, Y:270.62, Z:68.20 [[-1.55880732e-01 9.87720550e-01 -1.04552944e-02 4.49185742e+02] [ 9.48988121e-01 1.52688261e-01 2.75876495e-01 2.70616334e+02] [ 2.74085284e-01 3.30818798e-02 -9.61136227e-01 6.81977663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.23, Y:270.60, Z:68.20 [[-2.33206277e-01 9.71865041e-01 -3.30631831e-02 4.49234901e+02] [ 9.32941472e-01 2.33197959e-01 2.74297143e-01 2.70596139e+02] [ 2.74290071e-01 3.31218009e-02 -9.61076430e-01 6.81959787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:449.29, Y:270.58, Z:68.20 [[-3.07395552e-01 9.49984302e-01 -5.51162471e-02 4.49287203e+02] [ 9.11503302e-01 3.10586985e-01 2.69624658e-01 2.70575138e+02] [ 2.73257582e-01 3.26427795e-02 -9.61386885e-01 6.81968886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6492541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:449.34, Y:270.57, Z:68.20 [[-3.79882517e-01 9.21843828e-01 -7.67673744e-02 4.49339415e+02] [ 8.83955463e-01 3.86216605e-01 2.63551654e-01 2.70565882e+02] [ 2.72602300e-01 3.22597255e-02 -9.61585824e-01 6.81973346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.40, Y:270.55, Z:68.19 [[-4.50666273e-01 8.87311864e-01 -9.78650440e-02 4.49396191e+02] [ 8.50213082e-01 4.60049551e-01 2.55914296e-01 2.70549612e+02] [ 2.72098560e-01 3.21258011e-02 -9.61732970e-01 6.81946413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.44, Y:270.55, Z:68.20 [[-5.15029608e-01 8.50859617e-01 -1.03838404e-01 4.49441688e+02] [ 8.11971973e-01 5.23096665e-01 2.58981457e-01 2.70548406e+02] [ 2.74674386e-01 4.90692446e-02 -9.60284432e-01 6.81954148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.46, Y:270.53, Z:68.16 [[-5.83005783e-01 8.11403110e-01 -4.15842569e-02 4.49457609e+02] [ 7.70348459e-01 5.68323102e-01 2.89088401e-01 2.70527903e+02] [ 2.58200521e-01 1.36505841e-01 -9.56398790e-01 6.81596497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.43, Y:270.71, Z:68.26 [[-6.43813424e-01 7.50096916e-01 -1.51191576e-01 4.49434250e+02] [ 7.18841309e-01 6.60616123e-01 2.16456716e-01 2.70709576e+02] [ 2.62243108e-01 3.06749894e-02 -9.64514177e-01 6.82568082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.7992541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:449.44, Y:270.77, Z:68.28 [[-7.00009400e-01 6.92270407e-01 -1.75352569e-01 4.49444076e+02] [ 6.65170959e-01 7.21408029e-01 1.92660459e-01 2.70765266e+02] [ 2.59873886e-01 1.82246956e-02 -9.65470571e-01 6.82806947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.72, Y:270.61, Z:68.22 [[-7.50123589e-01 6.15674214e-01 -2.41370802e-01 4.49717029e+02] [ 6.04577313e-01 7.86367429e-01 1.26935177e-01 2.70613198e+02] [ 2.67956852e-01 -5.07102406e-02 -9.62095420e-01 6.82231138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8592541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:449.74, Y:270.60, Z:68.20 [[-7.96622108e-01 5.70572268e-01 -1.99600864e-01 4.49735443e+02] [ 5.44169692e-01 8.20694009e-01 1.74185794e-01 2.70604150e+02] [ 2.63196817e-01 3.01435134e-02 -9.64271126e-01 6.81982913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.8892541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:449.66, Y:270.69, Z:68.24 [[-8.34209547e-01 5.12655102e-01 -2.03172779e-01 4.49662245e+02] [ 4.81996342e-01 8.56848135e-01 1.83004918e-01 2.70692648e+02] [ 2.67906622e-01 5.47359129e-02 -9.61888778e-01 6.82356653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9192541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:449.42, Y:270.81, Z:68.27 [[-8.75966319e-01 4.58416569e-01 -1.50124138e-01 4.49419171e+02] [ 4.12583499e-01 8.73266901e-01 2.59190616e-01 2.70810050e+02] [ 2.49915714e-01 1.65103508e-01 -9.54087505e-01 6.82719883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.92, Y:271.38, Z:67.30 [[-8.45663807e-01 -4.75798940e-01 2.41801766e-01 4.49920698e+02] [ 4.62240418e-01 -8.79417435e-01 -1.13836599e-01 2.71382242e+02] [ 2.66808022e-01 1.55030577e-02 9.63624997e-01 6.72963084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 798.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.93, Y:271.38, Z:67.30 [[-8.45833048e-01 -4.77368035e-01 2.38088669e-01 4.49925182e+02] [ 4.61798835e-01 -8.78671665e-01 -1.21152553e-01 2.71384424e+02] [ 2.67036123e-01 7.47423676e-03 9.63657535e-01 6.72983239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.89, Y:270.69, Z:68.21 [[-9.05922237e-01 3.59751747e-01 -2.23346326e-01 4.49886960e+02] [ 3.42198253e-01 9.32654982e-01 1.14258659e-01 2.70694121e+02] [ 2.49409816e-01 2.70807376e-02 -9.68019306e-01 6.82059024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.93, Y:270.72, Z:68.20 [[-9.30635992e-01 2.83921138e-01 -2.30879704e-01 4.49933975e+02] [ 2.68750933e-01 9.58475314e-01 9.53834852e-02 2.70723571e+02] [ 2.48373884e-01 2.67181686e-02 -9.68295695e-01 6.82046402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:449.97, Y:270.76, Z:68.21 [[-9.49083550e-01 2.07460635e-01 -2.37066448e-01 4.49971542e+02] [ 1.94749417e-01 9.77896200e-01 7.61031273e-02 2.70757804e+02] [ 2.47614782e-01 2.60596736e-02 -9.68508035e-01 6.82064300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.0992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:450.01, Y:270.79, Z:68.21 [[-9.61831719e-01 1.28220686e-01 -2.41742012e-01 4.50013723e+02] [ 1.17969378e-01 9.91409960e-01 5.64758099e-02 2.70793862e+02] [ 2.46906806e-01 2.58020706e-02 -9.68695660e-01 6.82051927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.05, Y:270.82, Z:68.20 [[-9.66329119e-01 6.09054813e-02 -2.49997111e-01 4.50053632e+02] [ 4.51776071e-02 9.96649574e-01 6.81807266e-02 2.70821695e+02] [ 2.53312094e-01 5.45907503e-02 -9.65843069e-01 6.81994180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1592541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:450.07, Y:270.79, Z:68.14 [[-9.71470784e-01 2.34342688e-02 -2.35998624e-01 4.50069023e+02] [-2.99114431e-02 9.75052614e-01 2.19949325e-01 2.70787467e+02] [ 2.35265427e-01 2.20733403e-01 -9.46534175e-01 6.81402152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.08, Y:270.83, Z:68.15 [[-9.68434719e-01 -5.18966056e-02 -2.43805122e-01 4.50077683e+02] [-1.05341026e-01 9.71662165e-01 2.11603179e-01 2.70825319e+02] [ 2.25914726e-01 2.30606547e-01 -9.46458217e-01 6.81500755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2192541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:450.08, Y:270.84, Z:68.14 [[-9.62499202e-01 -1.16844926e-01 -2.44831675e-01 4.50082655e+02] [-1.80337000e-01 9.49796313e-01 2.55666833e-01 2.70839507e+02] [ 2.02666850e-01 2.90231333e-01 -9.35249657e-01 6.81355832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.13, Y:270.91, Z:68.16 [[-9.48542954e-01 -2.19357916e-01 -2.28360173e-01 4.50127541e+02] [-2.61372554e-01 9.49498754e-01 1.73598689e-01 2.70914258e+02] [ 1.78747453e-01 2.24352895e-01 -9.57974492e-01 6.81590045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.2792541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:450.14, Y:271.05, Z:68.24 [[-9.23131693e-01 -3.40918598e-01 -1.77770603e-01 4.50135429e+02] [-3.38603720e-01 9.39892098e-01 -4.41629313e-02 2.71053056e+02] [ 1.82141149e-01 1.94255859e-02 -9.83080489e-01 6.82425358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:450.15, Y:271.10, Z:68.24 [[-8.92554003e-01 -4.16276200e-01 -1.73382458e-01 4.50146934e+02] [-4.12666270e-01 9.09025536e-01 -5.81302414e-02 2.71101306e+02] [ 1.81807318e-01 1.96647126e-02 -9.83137528e-01 6.82422772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3392541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:450.15, Y:271.15, Z:68.24 [[-8.55190170e-01 -4.90586013e-01 -1.67257699e-01 4.50152031e+02] [-4.85795051e-01 8.71157396e-01 -7.13299408e-02 2.71149276e+02] [ 1.80701253e-01 2.02522984e-02 -9.83329498e-01 6.82430706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3692541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:450.16, Y:271.20, Z:68.24 [[-8.13084340e-01 -5.59651856e-01 -1.60261213e-01 4.50156284e+02] [-5.53693180e-01 8.28475373e-01 -8.39786887e-02 2.71199312e+02] [ 1.79771297e-01 2.04537840e-02 -9.83495767e-01 6.82438129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.3992541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:449.64, Y:271.68, Z:67.31 [[-8.45253837e-01 5.07441285e-01 1.67479233e-01 4.49635203e+02] [-4.96199689e-01 -8.61658978e-01 1.06440943e-01 2.71676545e+02] [ 1.98322514e-01 6.86647245e-03 9.80112765e-01 6.73108565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.15, Y:271.24, Z:68.24 [[-7.64172951e-01 -6.26815760e-01 -1.52123973e-01 4.50149870e+02] [-6.19826384e-01 7.78880384e-01 -9.57110317e-02 2.71243128e+02] [ 1.78479562e-01 2.11506709e-02 -9.83716268e-01 6.82436302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4592541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:450.15, Y:271.29, Z:68.25 [[-7.12867119e-01 -6.86482176e-01 -1.43396974e-01 4.50145387e+02] [-6.78414346e-01 7.26843497e-01 -1.07016383e-01 2.71291315e+02] [ 1.77691998e-01 2.09941034e-02 -9.83862186e-01 6.82454609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.55, Y:271.69, Z:67.31 [[-7.57101669e-01 6.36384638e-01 1.47687698e-01 4.49554284e+02] [-6.22827800e-01 -7.71339390e-01 1.30847537e-01 2.71685256e+02] [ 1.97186702e-01 7.08088498e-03 9.80340383e-01 6.73137190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5192541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:449.55, Y:271.68, Z:67.31 [[-7.56506752e-01 6.36975513e-01 1.48188158e-01 4.49550346e+02] [-6.23358502e-01 -7.70853450e-01 1.31183601e-01 2.71683440e+02] [ 1.97792094e-01 6.86693146e-03 9.80219941e-01 6.73137229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5492541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:449.55, Y:271.69, Z:67.31 [[-7.54641901e-01 6.39214896e-01 1.48053769e-01 4.49549443e+02] [-6.25686866e-01 -7.69003244e-01 1.30957843e-01 2.71686289e+02] [ 1.97564033e-01 6.19097728e-03 9.80270435e-01 6.73136708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.56, Y:271.69, Z:67.30 [[-7.50972641e-01 6.47411251e-01 1.29995251e-01 4.49558889e+02] [-6.33616168e-01 -7.61918282e-01 1.34205377e-01 2.71686403e+02] [ 1.85931829e-01 1.84174733e-02 9.82390020e-01 6.73026057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:449.54, Y:271.70, Z:67.32 [[-7.50468443e-01 6.42222441e-01 1.56036699e-01 4.49543055e+02] [-6.30979885e-01 -7.66471793e-01 1.19939051e-01 2.71695909e+02] [ 1.96625279e-01 -8.44554593e-03 9.80442335e-01 6.73181182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.14, Y:271.31, Z:68.25 [[-6.69465374e-01 -7.27379828e-01 -1.50780301e-01 4.50136028e+02] [-7.19805516e-01 6.85357530e-01 -1.10295400e-01 2.71313240e+02] [ 1.83565064e-01 3.46935408e-02 -9.82395147e-01 6.82453891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.16, Y:271.05, Z:67.69 [[-6.71192429e-01 -2.19674643e-01 -7.07985716e-01 4.50156770e+02] [-7.33709428e-01 3.33049218e-01 5.92240402e-01 2.71046694e+02] [ 1.05693891e-01 9.16963069e-01 -3.84717470e-01 6.76850958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.6992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:449.45, Y:271.65, Z:67.35 [[-6.81607298e-01 7.26399563e-01 8.80634168e-02 4.49445808e+02] [-7.20022719e-01 -6.87269521e-01 9.60619091e-02 2.71651219e+02] [ 1.30302631e-01 2.06883754e-03 9.91472110e-01 6.73547027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.45, Y:271.65, Z:67.35 [[-6.78840850e-01 7.30094141e-01 7.83431306e-02 4.49454119e+02] [-7.23648704e-01 -6.83282990e-01 9.72466439e-02 2.71654623e+02] [ 1.24529733e-01 9.32208948e-03 9.92172084e-01 6.73477727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.45, Y:271.66, Z:67.35 [[-6.78314996e-01 7.29223572e-01 9.01207479e-02 4.49445010e+02] [-7.23494378e-01 -6.84267659e-01 9.12888573e-02 2.71659848e+02] [ 1.28236700e-01 -3.27925357e-03 9.91738169e-01 6.73545854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.44, Y:271.66, Z:67.36 [[-6.80127663e-01 7.27469158e-01 9.06365594e-02 4.49439403e+02] [-7.21265751e-01 -6.86139800e-01 9.48044910e-02 2.71656718e+02] [ 1.31156694e-01 -8.93889231e-04 9.91361247e-01 6.73569782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.45, Y:271.66, Z:67.35 [[-6.78864454e-01 7.29437656e-01 8.40461751e-02 4.49445748e+02] [-7.22924451e-01 -6.84026236e-01 9.74081414e-02 2.71659412e+02] [ 1.28542955e-01 5.36788970e-03 9.91689414e-01 6.73502432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.43, Y:271.65, Z:67.36 [[-6.82586124e-01 7.24948387e-01 9.23364497e-02 4.49428861e+02] [-7.18656946e-01 -6.88801963e-01 9.53102856e-02 2.71651156e+02] [ 1.32696566e-01 -1.30075257e-03 9.91155855e-01 6.73581420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.44, Y:271.66, Z:67.35 [[-6.80615166e-01 7.28166392e-01 8.08498701e-02 4.49441995e+02] [-7.21482140e-01 -6.85342069e-01 9.88421510e-02 2.71655326e+02] [ 1.27383350e-01 8.94172979e-03 9.91813252e-01 6.73479806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.44, Y:271.66, Z:67.35 [[-6.82349462e-01 7.26056524e-01 8.50948646e-02 4.49436282e+02] [-7.19799857e-01 -6.87625083e-01 9.51835632e-02 2.71656019e+02] [ 1.27622010e-01 3.69718177e-03 9.91815988e-01 6.73496378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.42, Y:271.65, Z:67.36 [[-6.86922686e-01 7.20294843e-01 9.65016177e-02 4.49420380e+02] [-7.14246227e-01 -6.93651062e-01 9.32766343e-02 2.71651614e+02] [ 1.34125128e-01 -4.85208020e-03 9.90952525e-01 6.73599655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.42, Y:271.65, Z:67.36 [[-6.87984964e-01 7.20078431e-01 9.03534331e-02 4.49418013e+02] [-7.13385847e-01 -6.93886369e-01 9.79915326e-02 2.71645334e+02] [ 1.33256605e-01 2.95984053e-03 9.91077150e-01 6.73576822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 799.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.40, Y:271.62, Z:67.36 [[-6.86741803e-01 7.22384289e-01 8.09112820e-02 4.49396712e+02] [-7.15727192e-01 -6.91425083e-01 9.83155205e-02 2.71617022e+02] [ 1.26965677e-01 9.60697313e-03 9.91860586e-01 6.73560511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:449.41, Y:271.65, Z:67.36 [[-6.90783374e-01 7.16936974e-01 9.39132927e-02 4.49411500e+02] [-7.10995377e-01 -6.97131062e-01 9.21621240e-02 2.71648223e+02] [ 1.31544308e-01 -3.10785395e-03 9.91305420e-01 6.73613138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.42, Y:271.64, Z:67.35 [[-6.87893858e-01 7.21864401e-01 7.55898604e-02 4.49418868e+02] [-7.15309196e-01 -6.91906246e-01 9.79719421e-02 2.71640753e+02] [ 1.23023554e-01 1.33241750e-02 9.92314301e-01 6.73492284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.0892541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:449.40, Y:271.65, Z:67.36 [[-6.93437625e-01 7.13976809e-01 9.68575086e-02 4.49404380e+02] [-7.08292358e-01 -7.00142699e-01 9.01228979e-02 2.71649384e+02] [ 1.32159737e-01 -6.10882489e-03 9.91209608e-01 6.73625574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.40, Y:271.64, Z:67.36 [[-6.94251541e-01 7.14149278e-01 8.94740524e-02 4.49397417e+02] [-7.07573519e-01 -6.99982729e-01 9.67672168e-02 2.71636274e+02] [ 1.31736529e-01 3.87131932e-03 9.91277206e-01 6.73621796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.39, Y:271.63, Z:67.36 [[-6.94281086e-01 7.14000997e-01 9.04231697e-02 4.49394914e+02] [-7.07293749e-01 -7.00133902e-01 9.77142380e-02 2.71634397e+02] [ 1.33076390e-01 3.88540457e-03 9.91098168e-01 6.73620618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.41, Y:271.65, Z:67.36 [[-6.89358100e-01 7.18571518e-01 9.18715627e-02 4.49414595e+02] [-7.11764023e-01 -6.95447995e-01 9.87120133e-02 2.71653615e+02] [ 1.34823535e-01 2.65705286e-03 9.90866063e-01 6.73555101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.40, Y:271.64, Z:67.36 [[-6.92459613e-01 7.15605900e-01 9.16944932e-02 4.49400505e+02] [-7.08488660e-01 -6.98487559e-01 1.00791605e-01 2.71642825e+02] [ 1.36174530e-01 4.82960725e-03 9.90673091e-01 6.73592492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.40, Y:271.64, Z:67.36 [[-6.91120426e-01 7.16749953e-01 9.28550571e-02 4.49397597e+02] [-7.09731197e-01 -6.97322512e-01 1.00114643e-01 2.71643248e+02] [ 1.36507087e-01 3.28914359e-03 9.90633634e-01 6.73599350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.42, Y:271.66, Z:67.35 [[-6.86021865e-01 7.22376734e-01 8.68668773e-02 4.49415288e+02] [-7.15408664e-01 -6.91467515e-01 1.00315099e-01 2.71655226e+02] [ 1.32530917e-01 6.67303474e-03 9.91156409e-01 6.73518512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.39, Y:271.64, Z:67.36 [[-6.89930487e-01 7.17587515e-01 9.52054723e-02 4.49393397e+02] [-7.10944103e-01 -6.96468186e-01 9.74194429e-02 2.71644513e+02] [ 1.36214559e-01 -4.73125444e-04 9.90679247e-01 6.73625124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:449.39, Y:271.64, Z:67.36 [[-6.88796504e-01 7.19123022e-01 9.17684889e-02 4.49392194e+02] [-7.12314864e-01 -6.94877714e-01 9.87547349e-02 2.71642390e+02] [ 1.34784681e-01 2.65385754e-03 9.90871357e-01 6.73615910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:449.39, Y:271.64, Z:67.36 [[-6.88520684e-01 7.19526375e-01 9.06700794e-02 4.49391668e+02] [-7.12894785e-01 -6.94460652e-01 9.74957851e-02 2.71641655e+02] [ 1.33117591e-01 2.48963783e-03 9.91097124e-01 6.73623881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.39, Y:271.64, Z:67.36 [[-6.88197652e-01 7.19892216e-01 9.02174564e-02 4.49390797e+02] [-7.13340380e-01 -6.94081884e-01 9.69321458e-02 2.71640798e+02] [ 1.32398999e-01 2.35272056e-03 9.91193710e-01 6.73628620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4192541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:449.39, Y:271.64, Z:67.36 [[-6.87691736e-01 7.20473579e-01 8.94309656e-02 4.49386822e+02] [-7.14050919e-01 -6.93478999e-01 9.60112654e-02 2.71636352e+02] [ 1.31192076e-01 2.16789063e-03 9.91354598e-01 6.73624405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4492541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:449.38, Y:271.63, Z:67.36 [[-6.88067257e-01 7.20100526e-01 8.95470956e-02 4.49383882e+02] [-7.13668117e-01 -6.93866301e-01 9.60592310e-02 2.71632966e+02] [ 1.31306015e-01 2.18830459e-03 9.91339469e-01 6.73635072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.39, Y:271.63, Z:67.36 [[-6.88924994e-01 7.19313518e-01 8.92771855e-02 4.49385367e+02] [-7.12923483e-01 -6.94681851e-01 9.56934340e-02 2.71634099e+02] [ 1.30852821e-01 2.27779638e-03 9.91399188e-01 6.73641590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.38, Y:271.62, Z:67.36 [[-6.87371106e-01 7.21538611e-01 8.30842669e-02 4.49384594e+02] [-7.15065360e-01 -6.92338284e-01 9.66914285e-02 2.71623025e+02] [ 1.27289018e-01 7.05221292e-03 9.91840598e-01 6.73587271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.38, Y:271.63, Z:67.37 [[-6.92379377e-01 7.15480750e-01 9.32635796e-02 4.49380801e+02] [-7.09344873e-01 -6.98631024e-01 9.35122608e-02 2.71628335e+02] [ 1.32063053e-01 -1.41008118e-03 9.91240315e-01 6.73662332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.38, Y:271.62, Z:67.36 [[-6.94306448e-01 7.13972840e-01 9.04507605e-02 4.49381273e+02] [-7.07391596e-01 -7.00166062e-01 9.67709459e-02 2.71623637e+02] [ 1.32422380e-01 3.20458383e-03 9.91188198e-01 6.73645193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.5992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.38, Y:271.62, Z:67.36 [[-6.96309931e-01 7.11959269e-01 9.09201822e-02 4.49380789e+02] [-7.05302579e-01 -7.02211781e-01 9.71950947e-02 2.71620911e+02] [ 1.33044172e-01 3.55167068e-03 9.91103745e-01 6.73647040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:449.38, Y:271.61, Z:67.36 [[-6.99876124e-01 7.08273100e-01 9.23180799e-02 4.49378599e+02] [-7.01388004e-01 -7.05925660e-01 9.86094848e-02 2.71614315e+02] [ 1.35012147e-01 4.26363024e-03 9.90834770e-01 6.73637865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6592541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:449.38, Y:271.61, Z:67.36 [[-7.03828798e-01 7.04219356e-01 9.32744405e-02 4.49376072e+02] [-6.97165675e-01 -7.09964583e-01 9.95505534e-02 2.71608168e+02] [ 1.36326976e-01 5.03880802e-03 9.90651082e-01 6.73648015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.6892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:449.37, Y:271.60, Z:67.37 [[-7.05779137e-01 7.02262958e-01 9.32874425e-02 4.49371954e+02] [-6.95201287e-01 -7.11897466e-01 9.94845137e-02 2.71602135e+02] [ 1.36275383e-01 5.36054416e-03 9.90656492e-01 6.73662756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:449.37, Y:271.60, Z:67.37 [[-7.07755507e-01 7.00302072e-01 9.30545587e-02 4.49373085e+02] [-6.93269862e-01 -7.13824137e-01 9.91564474e-02 2.71601695e+02] [ 1.35864055e-01 5.66660067e-03 9.90711284e-01 6.73675136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7492541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:449.37, Y:271.60, Z:67.37 [[-7.08808476e-01 6.99181443e-01 9.34657957e-02 4.49372376e+02] [-6.92088039e-01 -7.14920338e-01 9.95141059e-02 2.71599324e+02] [ 1.36399014e-01 5.84988250e-03 9.90636708e-01 6.73667690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.7792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:449.37, Y:271.59, Z:67.37 [[-7.09962885e-01 6.98110985e-01 9.27025061e-02 4.49368073e+02] [-6.91135236e-01 -7.15964852e-01 9.86225959e-02 2.71593552e+02] [ 1.35221254e-01 5.94841424e-03 9.90797572e-01 6.73684611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:449.35, Y:271.57, Z:67.37 [[-7.10584817e-01 6.97522985e-01 9.23628855e-02 4.49350494e+02] [-6.90604317e-01 -7.16537450e-01 9.81822823e-02 2.71574085e+02] [ 1.34665865e-01 5.98063168e-03 9.90873018e-01 6.73724098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8392541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:449.36, Y:271.59, Z:67.37 [[-7.10306692e-01 6.97781744e-01 9.25475021e-02 4.49362991e+02] [-6.90848368e-01 -7.16286254e-01 9.82981927e-02 2.71587435e+02] [ 1.34881188e-01 5.88557332e-03 9.90844299e-01 6.73700201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:449.34, Y:271.57, Z:67.37 [[-7.09060128e-01 6.99061273e-01 9.24503761e-02 4.49344810e+02] [-6.92164168e-01 -7.15040010e-01 9.81149755e-02 2.71569425e+02] [ 1.34694098e-01 5.57857940e-03 9.90871525e-01 6.73738554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.8992541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:449.34, Y:271.57, Z:67.37 [[-7.09345153e-01 6.98766753e-01 9.24904247e-02 4.49343239e+02] [-6.91872071e-01 -7.15327826e-01 9.80772097e-02 2.71567685e+02] [ 1.34694068e-01 5.57905167e-03 9.90871527e-01 6.73741683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:449.36, Y:271.59, Z:67.37 [[-7.08396408e-01 6.99708918e-01 9.26388674e-02 4.49362296e+02] [-6.92810995e-01 -7.14408009e-01 9.81535616e-02 2.71588710e+02] [ 1.34860871e-01 5.35040458e-03 9.90850099e-01 6.73708194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.36, Y:271.59, Z:67.37 [[-7.07838494e-01 7.00304652e-01 9.24016284e-02 4.49360875e+02] [-6.93458046e-01 -7.13825405e-01 9.78224414e-02 2.71588783e+02] [ 1.34464141e-01 5.16583690e-03 9.90904995e-01 6.73719854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 800.9892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:449.36, Y:271.59, Z:67.37 [[-7.05667866e-01 7.02482396e-01 9.24734948e-02 4.49355634e+02] [-6.95654293e-01 -7.11685609e-01 9.78197242e-02 2.71586165e+02] [ 1.34528690e-01 4.69865234e-03 9.90898559e-01 6.73727837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0192541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:449.35, Y:271.58, Z:67.37 [[-7.03939851e-01 7.04084945e-01 9.34509282e-02 4.49345466e+02] [-6.97136524e-01 -7.10102251e-01 9.87697355e-02 2.71576376e+02] [ 1.35901998e-01 4.37989776e-03 9.90712604e-01 6.73736613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:449.35, Y:271.59, Z:67.37 [[-7.02640916e-01 7.05362337e-01 9.35933642e-02 4.49352722e+02] [-6.98420063e-01 -7.08835334e-01 9.88022524e-02 2.71585719e+02] [ 1.36033671e-01 4.05502179e-03 9.90695916e-01 6.73722182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.0792541539998 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:449.35, Y:271.59, Z:67.37 [[-6.99825877e-01 7.08088671e-01 9.40966347e-02 4.49350513e+02] [-7.01106671e-01 -7.06114911e-01 9.92530551e-02 2.71586621e+02] [ 1.36723001e-01 3.48807805e-03 9.90603177e-01 6.73718691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1092541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:449.35, Y:271.59, Z:67.37 [[-6.98593107e-01 7.09295043e-01 9.41711887e-02 4.49350173e+02] [-7.02323804e-01 -7.04904471e-01 9.92520079e-02 2.71587870e+02] [ 1.36780649e-01 3.19810111e-03 9.90596197e-01 6.73715622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1392541539999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:449.34, Y:271.58, Z:67.37 [[-6.98079318e-01 7.09851109e-01 9.37905564e-02 4.49337807e+02] [-7.02952215e-01 -7.04345285e-01 9.87719739e-02 2.71577416e+02] [ 1.36174331e-01 3.02039276e-03 9.90680286e-01 6.73742087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.33, Y:271.58, Z:67.37 [[-6.95555217e-01 7.12318711e-01 9.38349309e-02 4.49333723e+02] [-7.05446441e-01 -7.01851757e-01 9.87392051e-02 2.71577118e+02] [ 1.36191994e-01 2.48305120e-03 9.90679350e-01 6.73749640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.1992541539998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:449.35, Y:271.59, Z:67.37 [[-6.94350570e-01 7.13411572e-01 9.44521812e-02 4.49345691e+02] [-7.06469360e-01 -7.00741728e-01 9.93079794e-02 2.71591039e+02] [ 1.37034046e-01 2.22698011e-03 9.90563835e-01 6.73714367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:449.35, Y:271.59, Z:67.37 [[-6.94842054e-01 7.13056091e-01 9.35175504e-02 4.49345026e+02] [-7.06258730e-01 -7.01103480e-01 9.82472243e-02 2.71591920e+02] [ 1.35621262e-01 2.21871667e-03 9.90758271e-01 6.73728455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2592541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:449.34, Y:271.59, Z:67.37 [[-6.95239728e-01 7.12655807e-01 9.36131432e-02 4.49343531e+02] [-7.05851583e-01 -7.01510275e-01 9.82694076e-02 2.71589550e+02] [ 1.35702846e-01 2.24381087e-03 9.90747043e-01 6.73725309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.2892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:449.34, Y:271.58, Z:67.37 [[-6.98098147e-01 7.09904380e-01 9.32456378e-02 4.49337546e+02] [-7.03140221e-01 -7.04292851e-01 9.78029141e-02 2.71583282e+02] [ 1.35102953e-01 2.71127477e-03 9.90827856e-01 6.73745184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:449.34, Y:271.58, Z:67.37 [[-6.99688320e-01 7.08315168e-01 9.34124059e-02 4.49336430e+02] [-7.01528288e-01 -7.05890195e-01 9.78626290e-02 2.71581180e+02] [ 1.35256486e-01 2.94189330e-03 9.90806252e-01 6.73748353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.33, Y:271.57, Z:67.38 [[-7.02494991e-01 7.05536103e-01 9.33787743e-02 4.49326775e+02] [-6.98742161e-01 -7.08665770e-01 9.77354558e-02 2.71569920e+02] [ 1.35130234e-01 3.41098154e-03 9.90821975e-01 6.73772423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.3792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:449.33, Y:271.57, Z:67.38 [[-7.05261958e-01 7.02613602e-01 9.45499760e-02 4.49325724e+02] [-6.95654596e-01 -7.11561183e-01 9.87186221e-02 2.71565315e+02] [ 1.36639139e-01 3.84836337e-03 9.90613414e-01 6.73771113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4092541539999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:449.32, Y:271.56, Z:67.38 [[-7.06225386e-01 7.01481365e-01 9.57580202e-02 4.49322769e+02] [-6.94343405e-01 -7.12676218e-01 9.98991767e-02 2.71559766e+02] [ 1.38321875e-01 4.06238485e-03 9.90378996e-01 6.73763036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4392541539999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:449.32, Y:271.56, Z:67.38 [[-7.07489548e-01 7.00175213e-01 9.59854716e-02 4.49324377e+02] [-6.93002398e-01 -7.13958286e-01 1.00056201e-01 2.71559113e+02] [ 1.38586495e-01 4.27055446e-03 9.90341126e-01 6.73761749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4692541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:449.32, Y:271.55, Z:67.38 [[-7.09471104e-01 6.98121603e-01 9.63170796e-02 4.49318108e+02] [-6.90891345e-01 -7.15964236e-01 1.00321300e-01 2.71548952e+02] [ 1.38996051e-01 4.63042657e-03 9.90282110e-01 6.73783917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.4992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:449.32, Y:271.55, Z:67.38 [[-7.10251654e-01 6.97316764e-01 9.63945989e-02 4.49320603e+02] [-6.90078750e-01 -7.16747462e-01 1.00321459e-01 2.71549772e+02] [ 1.39046419e-01 4.73361799e-03 9.90274551e-01 6.73786708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:449.32, Y:271.55, Z:67.38 [[-7.10736162e-01 6.96832402e-01 9.63260665e-02 4.49318213e+02] [-6.89611599e-01 -7.17218155e-01 1.00169658e-01 2.71545655e+02] [ 1.38888267e-01 4.76662584e-03 9.90296586e-01 6.73790017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:449.32, Y:271.54, Z:67.38 [[-7.11293875e-01 6.96265649e-01 9.63076750e-02 4.49316359e+02] [-6.89053722e-01 -7.17768020e-01 1.00070160e-01 2.71541096e+02] [ 1.38801984e-01 4.81813034e-03 9.90308434e-01 6.73801241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.32, Y:271.54, Z:67.38 [[-7.12014200e-01 6.95590717e-01 9.58610094e-02 4.49317541e+02] [-6.88450916e-01 -7.18421778e-01 9.95263007e-02 2.71541714e+02] [ 1.38098208e-01 4.86853958e-03 9.90406574e-01 6.73812475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.32, Y:271.54, Z:67.38 [[-7.12090525e-01 6.95583444e-01 9.53454606e-02 4.49317923e+02] [-6.88531531e-01 -7.18429376e-01 9.89118988e-02 2.71541252e+02] [ 1.37300459e-01 4.78587006e-03 9.90517885e-01 6.73813568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6492541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:449.32, Y:271.54, Z:67.38 [[-7.10631924e-01 6.97058833e-01 9.54528758e-02 4.49316982e+02] [-6.90015159e-01 -7.17000134e-01 9.89438661e-02 2.71538700e+02] [ 1.37409421e-01 4.44873870e-03 9.90504346e-01 6.73803630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.6792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:449.31, Y:271.54, Z:67.38 [[-7.10297494e-01 6.97454258e-01 9.50527694e-02 4.49314739e+02] [-6.90484181e-01 -7.16616422e-01 9.84504881e-02 2.71536233e+02] [ 1.36781088e-01 4.29670131e-03 9.90591981e-01 6.73817749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7092541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:449.31, Y:271.53, Z:67.38 [[-7.09217717e-01 6.98544174e-01 9.51118660e-02 4.49312659e+02] [-6.91586022e-01 -7.15555573e-01 9.84327020e-02 2.71534157e+02] [ 1.36817416e-01 4.03217914e-03 9.90588076e-01 6.73814924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:449.31, Y:271.53, Z:67.38 [[-7.07182422e-01 7.00719477e-01 9.42615356e-02 4.49310284e+02] [-6.93915557e-01 -7.13428204e-01 9.74751139e-02 2.71532584e+02] [ 1.35551549e-01 3.52314111e-03 9.90764031e-01 6.73837735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7692541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:449.31, Y:271.54, Z:67.38 [[-7.05950925e-01 7.01960039e-01 9.42623767e-02 4.49314246e+02] [-6.95177669e-01 -7.12209013e-01 9.73977955e-02 2.71537152e+02] [ 1.35503875e-01 3.22896443e-03 9.90771555e-01 6.73826136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.7992541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:449.31, Y:271.54, Z:67.38 [[-7.04751763e-01 7.03190111e-01 9.40671121e-02 4.49314232e+02] [-6.96457410e-01 -7.10995836e-01 9.71184701e-02 2.71537595e+02] [ 1.35174073e-01 2.93067579e-03 9.90817532e-01 6.73832956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8292541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:449.31, Y:271.54, Z:67.38 [[-7.03516936e-01 7.04473778e-01 9.37049486e-02 4.49312834e+02] [-6.97814805e-01 -7.09725185e-01 9.66677821e-02 2.71536531e+02] [ 1.34604680e-01 2.61872139e-03 9.90895919e-01 6.73844140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8592541539999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:449.31, Y:271.54, Z:67.38 [[-7.00658830e-01 7.07249169e-01 9.42115576e-02 4.49311276e+02] [-7.00553456e-01 -7.06961419e-01 9.71102856e-02 2.71536154e+02] [ 1.35285105e-01 2.04094678e-03 9.90804610e-01 6.73840640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.8892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:449.31, Y:271.53, Z:67.39 [[-6.99837707e-01 7.08076783e-01 9.40981031e-02 4.49306310e+02] [-7.01418930e-01 -7.06133142e-01 9.68889619e-02 2.71532194e+02] [ 1.35050614e-01 1.80435818e-03 9.90837058e-01 6.73864983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.30, Y:271.53, Z:67.39 [[-6.98093860e-01 7.09708059e-01 9.47598771e-02 4.49304254e+02] [-7.02981408e-01 -7.04494418e-01 9.74923328e-02 2.71531884e+02] [ 1.35948899e-01 1.44436704e-03 9.90714798e-01 6.73883709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:449.31, Y:271.53, Z:67.39 [[-6.96848014e-01 7.10887696e-01 9.50869579e-02 4.49306053e+02] [-7.04135996e-01 -7.03304579e-01 9.77505358e-02 2.71534027e+02] [ 1.36364746e-01 1.16311691e-03 9.90658015e-01 6.73865682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 801.9792541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:449.30, Y:271.53, Z:67.39 [[-6.95793611e-01 7.11840451e-01 9.56787545e-02 4.49303212e+02] [-7.05023863e-01 -7.02340596e-01 9.82804133e-02 2.71531455e+02] [ 1.37159047e-01 9.27078548e-04 9.90548604e-01 6.73859265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:449.13, Y:271.36, Z:67.42 [[-6.98080813e-01 7.09165859e-01 9.88279426e-02 4.49125712e+02] [-7.02132616e-01 -7.05041672e-01 9.96294695e-02 2.71357461e+02] [ 1.40331636e-01 1.59099253e-04 9.90104543e-01 6.74187572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:449.87, Y:271.00, Z:68.29 [[-6.42783842e-01 -7.51687736e-01 -1.47629538e-01 4.49867600e+02] [-7.58944275e-01 6.51069417e-01 -1.05925861e-02 2.70999628e+02] [ 1.04079394e-01 1.05233849e-01 -9.88986004e-01 6.82933385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0692541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:449.17, Y:271.44, Z:67.41 [[-6.43228838e-01 7.61020208e-01 8.42906029e-02 4.49170838e+02] [-7.54522544e-01 -6.48728132e-01 9.92347743e-02 2.71440051e+02] [ 1.30201354e-01 2.31508318e-04 9.91487546e-01 6.74051767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.0992541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:449.18, Y:271.45, Z:67.40 [[-6.41915753e-01 7.62156484e-01 8.40336860e-02 4.49175302e+02] [-7.55718602e-01 -6.47392842e-01 9.88529330e-02 2.71447318e+02] [ 1.29744211e-01 -5.05647736e-05 9.91547496e-01 6.74048646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:449.17, Y:271.45, Z:67.41 [[-6.42018022e-01 7.62106437e-01 8.37056638e-02 4.49174357e+02] [-7.55728743e-01 -6.47451752e-01 9.83884998e-02 2.71447299e+02] [ 1.29177888e-01 -9.15859963e-05 9.91621432e-01 6.74061279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:448.99, Y:271.23, Z:67.44 [[-6.45700115e-01 7.59523634e-01 7.87096605e-02 4.48986917e+02] [-7.52993561e-01 -6.50460613e-01 9.95072230e-02 2.71229365e+02] [ 1.26775622e-01 4.98395775e-03 9.91918899e-01 6.74367904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.41, Y:270.96, Z:68.49 [[-5.88161417e-01 -7.57459496e-01 2.83410054e-01 4.49414736e+02] [-7.95989088e-01 4.80186725e-01 -3.68540474e-01 2.70958269e+02] [ 1.43064736e-01 -4.42352598e-01 -8.85356798e-01 6.84921259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2192541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:449.05, Y:271.34, Z:67.40 [[-5.91703214e-01 8.01405808e-01 8.73844289e-02 4.49049762e+02] [-7.90207424e-01 -5.98034494e-01 1.33891638e-01 2.71342822e+02] [ 1.59560439e-01 1.01722883e-02 9.87135751e-01 6.73988732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2492541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:449.53, Y:270.72, Z:68.38 [[-5.32702378e-01 -8.41143882e-01 -9.33013708e-02 4.49532632e+02] [-8.35059914e-01 5.40331962e-01 -1.03519619e-01 2.70716799e+02] [ 1.37488607e-01 2.27670875e-02 -9.90241659e-01 6.83784727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.2792541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:449.57, Y:270.45, Z:67.78 [[-5.20261432e-01 -2.90027667e-01 -8.03250891e-01 4.49568510e+02] [-8.50805885e-01 2.57384518e-01 4.58129410e-01 2.70445308e+02] [ 7.38741395e-02 9.21757649e-01 -3.80664483e-01 6.77766422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3092541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:448.79, Y:271.35, Z:68.12 [[-5.16806876e-01 1.83535699e-01 8.36196927e-01 4.48785272e+02] [-8.42975905e-01 -2.79482338e-01 -4.59653397e-01 2.71346181e+02] [ 1.49339465e-01 -9.42445898e-01 2.99154566e-01 6.81233876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.66, Y:270.82, Z:67.50 [[-5.28475084e-01 8.44005847e-01 9.14779574e-02 4.48655873e+02] [-8.33540887e-01 -5.36298669e-01 1.32639843e-01 2.70818251e+02] [ 1.61008310e-01 -6.15376531e-03 9.86933866e-01 6.75028028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.66, Y:270.67, Z:68.14 [[-4.79448404e-01 -7.30221235e-01 -4.86730085e-01 4.49662112e+02] [-8.71139107e-01 4.63045463e-01 1.63418345e-01 2.70670634e+02] [ 1.06046612e-01 5.02360276e-01 -8.58130683e-01 6.81432139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.3992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:448.78, Y:271.06, Z:67.47 [[-4.76986889e-01 8.76971141e-01 5.83534501e-02 4.48782246e+02] [-8.70430726e-01 -4.80543003e-01 1.06905442e-01 2.71060741e+02] [ 1.21794330e-01 1.99858516e-04 9.92555339e-01 6.74712360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.78, Y:271.06, Z:67.47 [[-4.78639042e-01 8.76070156e-01 5.83587970e-02 4.48781576e+02] [-8.69534186e-01 -4.82183509e-01 1.06814621e-01 2.71058155e+02] [ 1.21716751e-01 3.80678581e-04 9.92564803e-01 6.74721113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.78, Y:271.05, Z:67.47 [[-4.79275524e-01 8.75698580e-01 5.87108931e-02 4.48780160e+02] [-8.69092958e-01 -4.82857964e-01 1.07357425e-01 2.71053771e+02] [ 1.22361767e-01 4.28562381e-04 9.92485473e-01 6.74716188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.4892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:448.78, Y:271.05, Z:67.47 [[-4.79900269e-01 8.75331755e-01 5.90766462e-02 4.48781171e+02] [-8.68653160e-01 -4.83522587e-01 1.07924028e-01 2.71053426e+02] [ 1.23034222e-01 4.75654593e-04 9.92402315e-01 6.74707183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5192541539999 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:449.22, Y:270.29, Z:68.48 [[-3.99039312e-01 -9.16762805e-01 -1.77084106e-02 4.49222799e+02] [-9.12009237e-01 3.98821053e-01 -9.58171179e-02 2.70291193e+02] [ 9.49040567e-02 -2.20845627e-02 -9.95241424e-01 6.84750179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5492541539999 meters Centerline goodness : 0.999538 Centerline is valid? [True, True] Translation: X:448.50, Y:270.58, Z:67.55 [[-4.25407549e-01 9.00791916e-01 8.71914068e-02 4.48500150e+02] [-8.92280866e-01 -4.33573701e-01 1.25891627e-01 2.70575967e+02] [ 1.51206060e-01 -2.42439757e-02 9.88204917e-01 6.75495582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.5792541539998 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:449.36, Y:270.11, Z:67.87 [[-4.06822694e-01 -3.80028220e-01 -8.30706837e-01 4.49361005e+02] [-9.12825790e-01 2.04231655e-01 3.53607845e-01 2.70110906e+02] [ 3.52756725e-02 9.02146320e-01 -4.29985632e-01 6.78746408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:448.85, Y:270.85, Z:68.55 [[-3.42251292e-01 -5.94984666e-01 7.27225756e-01 4.48854972e+02] [-9.33041821e-01 1.23864873e-01 -3.37772784e-01 2.70851313e+02] [ 1.10891901e-01 -7.94135216e-01 -5.97538489e-01 6.85545904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.59, Y:270.82, Z:67.50 [[-3.56451687e-01 9.33383508e-01 4.16824034e-02 4.48591626e+02] [-9.26838755e-01 -3.58879841e-01 1.10341206e-01 2.70820762e+02] [ 1.17949636e-01 6.98442041e-04 9.93019333e-01 6.75042608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6692541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:448.59, Y:270.82, Z:67.50 [[-3.57137159e-01 9.33106481e-01 4.20160055e-02 4.48591010e+02] [-9.26472541e-01 -3.59599424e-01 1.11071529e-01 2.70817496e+02] [ 1.18750495e-01 7.41095167e-04 9.92923849e-01 6.75041185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.6992541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:448.59, Y:270.81, Z:67.50 [[-3.59128199e-01 9.32340684e-01 4.20450452e-02 4.48591125e+02] [-9.25713840e-01 -3.61579844e-01 1.10968028e-01 2.70812668e+02] [ 1.18662648e-01 9.30067719e-04 9.92934193e-01 6.75043463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:448.59, Y:270.80, Z:67.51 [[-3.60666798e-01 9.31743339e-01 4.21166320e-02 4.48589253e+02] [-9.25105655e-01 -3.63115935e-01 1.11024075e-01 2.70803680e+02] [ 1.18739163e-01 1.08036330e-03 9.92924893e-01 6.75056622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7592541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:448.59, Y:270.80, Z:67.51 [[-3.62595853e-01 9.30973515e-01 4.25741956e-02 4.48590776e+02] [-9.24201365e-01 -3.65084415e-01 1.12094633e-01 2.70803938e+02] [ 1.19900310e-01 1.29791950e-03 9.92785088e-01 6.75052170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.7892541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:448.59, Y:270.80, Z:67.51 [[-3.63008792e-01 9.30810518e-01 4.26191979e-02 4.48589691e+02] [-9.24039257e-01 -3.65499768e-01 1.12077521e-01 2.70800963e+02] [ 1.19900243e-01 1.30331359e-03 9.92785089e-01 6.75055880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8192541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:448.59, Y:270.80, Z:67.50 [[-3.66396035e-01 9.29450104e-01 4.33180168e-02 4.48591996e+02] [-9.22463425e-01 -3.68943814e-01 1.13761557e-01 2.70797896e+02] [ 1.21717605e-01 1.72249729e-03 9.92563276e-01 6.75044550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8492541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:448.59, Y:270.79, Z:67.51 [[-3.68475897e-01 9.28612490e-01 4.36389353e-02 4.48591906e+02] [-9.21532822e-01 -3.71045806e-01 1.14465137e-01 2.70793679e+02] [ 1.22485800e-01 1.96293281e-03 9.92468325e-01 6.75052409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.8792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.59, Y:270.79, Z:67.51 [[-3.69756507e-01 9.28095620e-01 4.38023564e-02 4.48592437e+02] [-9.20977921e-01 -3.72336102e-01 1.14740995e-01 2.70790061e+02] [ 1.22799814e-01 2.08522662e-03 9.92429271e-01 6.75058397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:448.59, Y:270.78, Z:67.51 [[-3.71994518e-01 9.27176362e-01 4.43178596e-02 4.48590719e+02] [-9.19900453e-01 -3.74617671e-01 1.15951534e-01 2.70780945e+02] [ 1.24109775e-01 2.36531606e-03 9.92265675e-01 6.75067426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:448.59, Y:270.78, Z:67.51 [[-3.72833682e-01 9.26840658e-01 4.42881587e-02 4.48591588e+02] [-9.19589668e-01 -3.75447102e-01 1.15733816e-01 2.70781731e+02] [ 1.23894667e-01 2.42253162e-03 9.92292418e-01 6.75070351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.59, Y:270.78, Z:67.51 [[-3.73265341e-01 9.26682147e-01 4.39679770e-02 4.48591786e+02] [-9.19553698e-01 -3.75838316e-01 1.14745620e-01 2.70779353e+02] [ 1.22857568e-01 2.39964730e-03 9.92421412e-01 6.75077841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 802.9992541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:448.59, Y:270.77, Z:67.51 [[-3.73928630e-01 9.26405489e-01 4.41616257e-02 4.48589347e+02] [-9.19229073e-01 -3.76519415e-01 1.15113167e-01 2.70771714e+02] [ 1.23269179e-01 2.44945847e-03 9.92370248e-01 6.75087079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:449.25, Y:270.53, Z:68.45 [[-2.74330109e-01 -9.60650890e-01 -4.35069892e-02 4.49254169e+02] [-9.56553527e-01 2.77246094e-01 -9.02216917e-02 2.70528816e+02] [ 9.87336913e-02 1.68662374e-02 -9.94970948e-01 6.84507341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0592541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:448.51, Y:270.64, Z:67.52 [[-3.12272303e-01 9.49307411e-01 3.60755960e-02 4.48514898e+02] [-9.42051647e-01 -3.14338434e-01 1.17175266e-01 2.70636176e+02] [ 1.22575295e-01 2.60551556e-03 9.92455797e-01 6.75241876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.0892541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:448.51, Y:270.63, Z:67.52 [[-3.12724099e-01 9.49150089e-01 3.63007904e-02 4.48514607e+02] [-9.41889413e-01 -3.14814319e-01 1.17201871e-01 2.70632473e+02] [ 1.22670175e-01 2.46051926e-03 9.92444444e-01 6.75249835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1192541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:448.52, Y:270.63, Z:67.53 [[-3.14036539e-01 9.48707313e-01 3.65443086e-02 4.48515277e+02] [-9.41368878e-01 -3.16145087e-01 1.17800336e-01 2.70628114e+02] [ 1.23311344e-01 2.59193505e-03 9.92364648e-01 6.75256546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1492541539999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:448.52, Y:270.63, Z:67.53 [[-3.14967748e-01 9.48387033e-01 3.68422826e-02 4.48515759e+02] [-9.40949172e-01 -3.17103850e-01 1.18574041e-01 2.70626801e+02] [ 1.24136912e-01 2.68028311e-03 9.92261479e-01 6.75257293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.1792541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:448.52, Y:270.62, Z:67.53 [[-3.16051716e-01 9.48024460e-01 3.68908686e-02 4.48516102e+02] [-9.40585339e-01 -3.18185375e-01 1.18563434e-01 2.70623791e+02] [ 1.24139170e-01 2.77316669e-03 9.92260942e-01 6.75262092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2092541539998 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:448.52, Y:270.62, Z:67.53 [[-3.16963014e-01 9.47718782e-01 3.69264029e-02 4.48516491e+02] [-9.40284337e-01 -3.19094088e-01 1.18508774e-01 2.70620897e+02] [ 1.24095988e-01 2.84157991e-03 9.92266149e-01 6.75266427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:448.50, Y:270.56, Z:67.53 [[-3.20820837e-01 9.46505573e-01 3.46582093e-02 4.48500954e+02] [-9.39126328e-01 -3.22643374e-01 1.18080457e-01 2.70557075e+02] [ 1.22946053e-01 5.33423429e-03 9.92399020e-01 6.75331487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.51, Y:270.59, Z:67.53 [[-3.21757723e-01 9.46026160e-01 3.88133094e-02 4.48509162e+02] [-9.38880657e-01 -3.24089020e-01 1.16057832e-01 2.70585699e+02] [ 1.22372712e-01 9.01438144e-04 9.92483807e-01 6.75308861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.50, Y:270.55, Z:67.53 [[-3.22190205e-01 9.45957390e-01 3.68522457e-02 4.48500076e+02] [-9.38672361e-01 -3.24275413e-01 1.17216273e-01 2.70551017e+02] [ 1.22831877e-01 3.17375063e-03 9.92422419e-01 6.75342915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3292541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:448.49, Y:270.56, Z:67.54 [[-3.30345425e-01 9.42534383e-01 5.00083618e-02 4.48494959e+02] [-9.34158484e-01 -3.34067728e-01 1.25485776e-01 2.70562631e+02] [ 1.34980838e-01 -5.26208347e-03 9.90834236e-01 6.75438145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3592541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:449.37, Y:270.27, Z:68.11 [[-2.50362221e-01 -6.72301222e-01 -6.96656174e-01 4.49371600e+02] [-9.67493288e-01 2.00281681e-01 1.54414981e-01 2.70269466e+02] [ 3.57140893e-02 7.12669850e-01 -7.00589886e-01 6.81083973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.3892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:448.44, Y:270.46, Z:67.57 [[-2.87268439e-01 9.57282767e-01 3.29628107e-02 4.48444581e+02] [-9.54135118e-01 -2.89012747e-01 7.80884747e-02 2.70455603e+02] [ 8.42794236e-02 -9.01862098e-03 9.96401347e-01 6.75737605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4192541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:449.31, Y:270.16, Z:68.19 [[-1.92116352e-01 -7.55768778e-01 -6.26023052e-01 4.49310896e+02] [-9.81320202e-01 1.41379916e-01 1.30469846e-01 2.70163818e+02] [-1.00979493e-02 6.39394459e-01 -7.68812563e-01 6.81913129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:448.40, Y:270.33, Z:67.59 [[-2.38442260e-01 9.71108496e-01 9.67356668e-03 4.48400510e+02] [-9.70660210e-01 -2.38627004e-01 2.95957842e-02 2.70331528e+02] [ 3.10490917e-02 -2.33286058e-03 9.99515138e-01 6.75894573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.4792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:448.96, Y:270.13, Z:68.58 [[-1.09554975e-01 -9.77405326e-01 1.80766523e-01 4.48955599e+02] [-9.93630793e-01 1.02864795e-01 -4.60073997e-02 2.70134678e+02] [ 2.63733661e-02 -1.84655523e-01 -9.82449380e-01 6.85799087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.35, Y:270.19, Z:67.58 [[-1.75793237e-01 9.84422138e-01 -3.12938627e-03 4.48354952e+02] [-9.83608377e-01 -1.75516522e-01 4.13341462e-02 2.70185643e+02] [ 4.01409895e-02 1.03443539e-02 9.99140478e-01 6.75809560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:448.74, Y:270.06, Z:68.63 [[-5.39527554e-02 -8.83438040e-01 4.65431338e-01 4.48741262e+02] [-9.95949769e-01 1.40357262e-02 -8.88091035e-02 2.70061689e+02] [ 7.19246735e-02 -4.68337729e-01 -8.80617177e-01 6.86251552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:449.09, Y:269.87, Z:67.69 [[-1.03140855e-01 8.28826783e-02 -9.91207559e-01 4.49085798e+02] [-9.94010210e-01 -4.47901726e-02 9.96872278e-02 2.69869741e+02] [-3.61340132e-02 9.95552260e-01 8.70059251e-02 6.76935670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.5992541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:448.31, Y:269.93, Z:67.60 [[-1.17458951e-01 9.92970326e-01 -1.46056900e-02 4.48312715e+02] [-9.93059169e-01 -1.17533993e-01 -4.38725901e-03 2.69931308e+02] [-6.07308308e-03 1.39889915e-02 9.99883706e-01 6.75962610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6292541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:448.15, Y:269.85, Z:68.39 [[-9.56532412e-02 6.48394628e-03 9.95393599e-01 4.48154091e+02] [-9.91557902e-01 -8.85628008e-02 -9.47077526e-02 2.69848569e+02] [ 8.75407650e-02 -9.96049491e-01 1.49005271e-02 6.83859858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.83, Y:269.71, Z:68.60 [[-1.18090942e-02 -9.78699894e-01 2.04956247e-01 4.48827847e+02] [-9.94895677e-01 -9.04247971e-03 -1.00502868e-01 2.69709458e+02] [ 1.00215459e-01 -2.05096932e-01 -9.73597509e-01 6.86019326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.6892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:449.17, Y:269.57, Z:68.05 [[ 3.04237010e-02 -5.30486035e-01 -8.47147547e-01 4.49172769e+02] [-9.99522233e-01 -1.15252566e-02 -2.86788033e-02 2.69565765e+02] [ 5.45011180e-03 8.47615323e-01 -5.30583227e-01 6.80548581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7192541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:448.25, Y:269.50, Z:67.61 [[ 2.21771477e-03 9.99558537e-01 -2.96279085e-02 4.48254044e+02] [-9.99452979e-01 3.19318110e-03 3.29172678e-02 2.69495768e+02] [ 3.29973433e-02 2.95387003e-02 9.99018839e-01 6.76062821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:448.95, Y:269.53, Z:68.54 [[ 1.12613137e-01 -9.89130269e-01 -9.45494214e-02 4.48954971e+02] [-9.93585526e-01 -1.11109788e-01 -2.10337421e-02 2.69527511e+02] [ 1.02997448e-02 9.63116122e-02 -9.95297940e-01 6.85374076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.7792541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:448.26, Y:269.42, Z:67.60 [[ 8.40186718e-02 9.95298951e-01 -4.81753207e-02 4.48258333e+02] [-9.96212766e-01 8.49852116e-02 1.83749376e-02 2.69419554e+02] [ 2.23827460e-02 4.64490316e-02 9.98669865e-01 6.76023507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8092541539999 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:448.24, Y:269.39, Z:67.62 [[ 8.80863368e-02 9.96110075e-01 -2.34840487e-03 4.48239054e+02] [-9.95832158e-01 8.81172345e-02 2.35300969e-02 2.69389175e+02] [ 2.36455016e-02 2.65937050e-04 9.99720371e-01 6.76177380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8392541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:448.26, Y:269.36, Z:67.59 [[ 9.21816145e-02 9.94886014e-01 -4.12840005e-02 4.48263901e+02] [-9.95654046e-01 9.26459120e-02 9.47400182e-03 2.69362217e+02] [ 1.32503458e-02 4.02312533e-02 9.99102535e-01 6.75895737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.23, Y:269.33, Z:67.63 [[ 9.06631460e-02 9.95170077e-01 3.76392319e-02 4.48225742e+02] [-9.95591597e-01 8.96599190e-02 2.75403539e-02 2.69329599e+02] [ 2.40326056e-02 -3.99701981e-02 9.98911817e-01 6.76331345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.26, Y:269.30, Z:67.60 [[ 9.30674370e-02 9.95225737e-01 -2.93970319e-02 4.48260421e+02] [-9.95490753e-01 9.35551275e-02 1.56715722e-02 2.69302805e+02] [ 1.83469951e-02 2.78059604e-02 9.99444954e-01 6.75989711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.25, Y:269.27, Z:67.61 [[ 9.31826324e-02 9.95644510e-01 -3.00126909e-03 4.48249581e+02] [-9.95436362e-01 9.32246058e-02 2.03868182e-02 2.69272117e+02] [ 2.05778158e-02 1.08787500e-03 9.99787663e-01 6.76094154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.74, Y:269.33, Z:68.66 [[ 1.81169769e-01 -9.19854722e-01 3.47914941e-01 4.48736487e+02] [-9.82894625e-01 -1.81265135e-01 3.25746338e-02 2.69328614e+02] [ 3.31009180e-02 -3.47865265e-01 -9.36960024e-01 6.86565641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 803.9892541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:448.98, Y:269.37, Z:68.52 [[ 2.53692109e-01 -9.61614121e-01 -1.04587742e-01 4.48982237e+02] [-9.67185838e-01 -2.50630559e-01 -4.16638787e-02 2.69366090e+02] [ 1.38516899e-02 1.11725580e-01 -9.93642554e-01 6.85166032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.96, Y:269.36, Z:68.55 [[ 3.30413184e-01 -9.43379327e-01 -2.93695963e-02 4.48961738e+02] [-9.43733954e-01 -3.29758899e-01 -2.50058659e-02 2.69361073e+02] [ 1.39051313e-02 3.59793530e-02 -9.99255790e-01 6.85523516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.31, Y:269.08, Z:67.62 [[ 3.12111971e-01 9.49804471e-01 -2.13912110e-02 4.48313587e+02] [-9.49196468e-01 3.12705646e-01 3.52312941e-02 2.69084442e+02] [ 4.01519931e-02 9.30835334e-03 9.99150225e-01 6.76164057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.02, Y:269.35, Z:68.52 [[ 4.05477273e-01 -9.09474675e-01 -9.18912199e-02 4.49019191e+02] [-9.14104392e-01 -4.03295558e-01 -4.20220674e-02 2.69349147e+02] [ 1.15868533e-03 1.01037161e-01 -9.94881978e-01 6.85209665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:448.37, Y:269.02, Z:67.60 [[ 3.80799766e-01 9.24002386e-01 -3.48012757e-02 4.48371658e+02] [-9.24147840e-01 3.81569689e-01 1.88505196e-02 2.69017889e+02] [ 3.06970370e-02 2.49832503e-02 9.99216458e-01 6.76040721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.36, Y:268.98, Z:67.62 [[ 3.76789498e-01 9.26291874e-01 3.61079283e-03 4.48363280e+02] [-9.25699699e-01 3.76402708e-01 3.74308572e-02 2.68980593e+02] [ 3.33127867e-02 -1.74460637e-02 9.99292696e-01 6.76247960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:448.98, Y:269.26, Z:68.58 [[ 4.85574440e-01 -8.72712144e-01 5.09016457e-02 4.48982814e+02] [-8.74113056e-01 -4.85503784e-01 1.45753540e-02 2.69263614e+02] [ 1.19928532e-02 -5.15712124e-02 -9.98597307e-01 6.85828154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.1992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:448.42, Y:268.90, Z:67.62 [[ 4.40714214e-01 8.97242729e-01 -2.69530663e-02 4.48420072e+02] [-8.96959806e-01 4.41353118e-01 2.58946475e-02 2.68904852e+02] [ 3.51296040e-02 1.27636779e-02 9.99301256e-01 6.76175803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:448.43, Y:268.87, Z:67.63 [[ 4.37569214e-01 8.99143368e-01 -8.62481661e-03 4.48425218e+02] [-8.98346820e-01 4.37555341e-01 3.89655597e-02 2.68870086e+02] [ 3.88094591e-02 -9.30205273e-03 9.99203332e-01 6.76292661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2592541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:448.44, Y:268.84, Z:67.63 [[ 4.33333716e-01 9.01117371e-01 -1.44697981e-02 4.48442145e+02] [-9.00297232e-01 4.33559394e-01 3.86153621e-02 2.68842129e+02] [ 4.10704905e-02 -3.70621915e-03 9.99149378e-01 6.76293869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.08, Y:269.19, Z:68.54 [[ 5.58964315e-01 -8.26317196e-01 -6.89839576e-02 4.49080309e+02] [-8.29188878e-01 -5.56807186e-01 -4.91076689e-02 2.69194151e+02] [ 2.16774799e-03 8.46501649e-02 -9.96408375e-01 6.85358948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3192541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:448.99, Y:269.13, Z:68.61 [[ 6.25051221e-01 -7.73194656e-01 1.07149406e-01 4.48990288e+02] [-7.80417242e-01 -6.21837369e-01 6.53239217e-02 2.69131644e+02] [ 1.61213975e-02 -1.24452041e-01 -9.92094648e-01 6.86060450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.51, Y:268.69, Z:67.64 [[ 5.62366790e-01 8.26830278e-01 -9.76135845e-03 4.48509549e+02] [-8.25588863e-01 5.62105639e-01 4.93991819e-02 2.68694000e+02] [ 4.63316540e-02 -1.97215906e-02 9.98731414e-01 6.76388910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.3792541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:448.54, Y:268.67, Z:67.63 [[ 5.61168642e-01 8.27201696e-01 -2.87595121e-02 4.48536753e+02] [-8.26437854e-01 5.61892830e-01 3.57340342e-02 2.68674446e+02] [ 4.57190174e-02 3.71513001e-03 9.98947431e-01 6.76303090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:448.56, Y:268.65, Z:67.63 [[ 5.60711756e-01 8.27579697e-01 -2.67240197e-02 4.48555627e+02] [-8.26811650e-01 5.61344406e-01 3.57065030e-02 2.68647179e+02] [ 4.45513558e-02 2.07467482e-03 9.99004941e-01 6.76311419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:448.58, Y:268.62, Z:67.63 [[ 5.60928619e-01 8.27402339e-01 -2.76487600e-02 4.48575363e+02] [-8.26759402e-01 5.61592385e-01 3.29071950e-02 2.68622503e+02] [ 4.27548232e-02 4.40028485e-03 9.99075904e-01 6.76305894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.59, Y:268.60, Z:67.63 [[ 5.62126427e-01 8.26584373e-01 -2.77876512e-02 4.48594387e+02] [-8.26174387e-01 5.62760171e-01 2.71453892e-02 2.68600503e+02] [ 3.80757379e-02 7.69830508e-03 9.99245202e-01 6.76281210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.4992541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:448.61, Y:268.57, Z:67.63 [[ 5.63209886e-01 8.26002224e-01 -2.26924985e-02 4.48610597e+02] [-8.25431169e-01 5.63665076e-01 3.07419584e-02 2.68571369e+02] [ 3.81838949e-02 1.41692069e-03 9.99269725e-01 6.76302603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:449.16, Y:269.01, Z:68.58 [[ 6.80192560e-01 -7.32874102e-01 1.52850034e-02 4.49164172e+02] [-7.32756213e-01 -6.80360908e-01 -1.33179501e-02 2.69007334e+02] [ 2.01596995e-02 -2.14141069e-03 -9.99794479e-01 6.85764788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:449.16, Y:269.00, Z:68.59 [[ 7.33545059e-01 -6.78194603e-01 4.43139524e-02 4.49161054e+02] [-6.79134217e-01 -7.33955555e-01 9.27141626e-03 2.69000256e+02] [ 2.62366470e-02 -3.68961229e-02 -9.98974632e-01 6.85905605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.72, Y:268.46, Z:67.64 [[ 6.89216128e-01 7.24165053e-01 -2.37929675e-02 4.48718358e+02] [-7.23601058e-01 6.89621955e-01 2.86891762e-02 2.68463489e+02] [ 3.71838516e-02 -2.55642651e-03 9.99305172e-01 6.76350477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:448.74, Y:268.44, Z:67.63 [[ 6.91839348e-01 7.21549770e-01 -2.69118327e-02 4.48740351e+02] [-7.21061893e-01 6.92361795e-01 2.65497959e-02 2.68440040e+02] [ 3.77897239e-02 1.03690352e-03 9.99285175e-01 6.76339282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.76, Y:268.41, Z:67.64 [[ 6.92540708e-01 7.20929786e-01 -2.54482001e-02 4.48760984e+02] [-7.20281375e-01 6.93001882e-01 3.07104452e-02 2.68412702e+02] [ 3.97757253e-02 -2.93836884e-03 9.99204312e-01 6.76374449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.79, Y:268.39, Z:67.63 [[ 6.94314928e-01 7.18790754e-01 -3.55897835e-02 4.48787075e+02] [-7.18444137e-01 6.95169651e-01 2.40245374e-02 2.68393520e+02] [ 4.20095527e-02 8.88867631e-03 9.99077669e-01 6.76339442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.81, Y:268.37, Z:67.64 [[ 6.94265661e-01 7.19100260e-01 -2.98330022e-02 4.48807338e+02] [-7.18476280e-01 6.94906045e-01 2.99570254e-02 2.68367941e+02] [ 4.22732384e-02 6.36170380e-04 9.99105885e-01 6.76379741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.83, Y:268.34, Z:67.64 [[ 6.95489258e-01 7.18117972e-01 -2.45208292e-02 4.48827204e+02] [-7.17405036e-01 6.95903999e-01 3.23672547e-02 2.68341846e+02] [ 4.03076504e-02 -4.91971158e-03 9.99175205e-01 6.76386004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.85, Y:268.32, Z:67.64 [[ 6.99667071e-01 7.13703900e-01 -3.30565107e-02 4.48850283e+02] [-7.13164180e-01 7.00436328e-01 2.80321830e-02 2.68321160e+02] [ 4.31606593e-02 3.96152397e-03 9.99060290e-01 6.76374155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.87, Y:268.30, Z:67.63 [[ 7.02398778e-01 7.11106434e-01 -3.10418470e-02 4.48872582e+02] [-7.10720104e-01 7.03065148e-01 2.40069070e-02 2.68299522e+02] [ 3.88959069e-02 5.19964258e-03 9.99229739e-01 6.76338816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8292541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:448.89, Y:268.28, Z:67.63 [[ 7.05290000e-01 7.08311984e-01 -2.93283161e-02 4.48892304e+02] [-7.07877222e-01 7.05892616e-01 2.50090553e-02 2.68276955e+02] [ 3.84168553e-02 3.12221036e-03 9.99256922e-01 6.76341404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.91, Y:268.25, Z:67.63 [[ 7.09282057e-01 7.04380640e-01 -2.76925483e-02 4.48913250e+02] [-7.04013453e-01 7.09815209e-01 2.29657817e-02 2.68252966e+02] [ 3.58332439e-02 3.20670965e-03 9.99352638e-01 6.76348509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.8892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:448.93, Y:268.23, Z:67.64 [[ 7.10747268e-01 7.03081123e-01 -2.26992537e-02 4.48932497e+02] [-7.02523734e-01 7.11097443e-01 2.82989404e-02 2.68225735e+02] [ 3.60378321e-02 -4.16663005e-03 9.99341740e-01 6.76398730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:448.95, Y:268.20, Z:67.65 [[ 7.11200620e-01 7.02683187e-01 -2.07368429e-02 4.48952140e+02] [-7.01993253e-01 7.11453647e-01 3.22363163e-02 2.68198931e+02] [ 3.74052200e-02 -8.36936430e-03 9.99265132e-01 6.76450659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:448.98, Y:268.18, Z:67.64 [[ 7.13709927e-01 6.99932751e-01 -2.66886484e-02 4.48976153e+02] [-6.99433836e-01 7.14208728e-01 2.64235223e-02 2.68177061e+02] [ 3.75559543e-02 -1.91786485e-04 9.99294508e-01 6.76431015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 804.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:448.99, Y:268.15, Z:67.66 [[ 7.13897735e-01 7.00037293e-01 -1.72572550e-02 4.48991702e+02] [-6.98957817e-01 7.13860427e-01 4.31423365e-02 2.68146404e+02] [ 4.25205158e-02 -1.87371231e-02 9.98919880e-01 6.76587843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:449.02, Y:268.13, Z:67.65 [[ 7.15173680e-01 6.98093728e-01 -3.45217922e-02 4.49022613e+02] [-6.97744623e-01 7.15967837e-01 2.32915844e-02 2.68133103e+02] [ 4.09762019e-02 7.42986673e-03 9.99132498e-01 6.76467080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0392541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:449.05, Y:268.11, Z:67.64 [[ 7.14000033e-01 6.99251753e-01 -3.53686119e-02 4.49045852e+02] [-6.99055719e-01 7.14795967e-01 1.96933376e-02 2.68110056e+02] [ 3.90519420e-02 1.06635867e-02 9.99180281e-01 6.76422409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:449.06, Y:268.07, Z:67.67 [[ 7.12220673e-01 7.01820403e-01 -1.37780260e-02 4.49055475e+02] [-7.00433090e-01 7.11831026e-01 5.18659494e-02 2.68073500e+02] [ 4.62082079e-02 -2.72894161e-02 9.98559006e-01 6.76681172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.10, Y:268.07, Z:67.64 [[ 7.10073081e-01 7.02523438e-01 -4.75083084e-02 4.49097868e+02] [-7.02989727e-01 7.11144614e-01 8.87588119e-03 2.68071356e+02] [ 4.00207922e-02 2.70953284e-02 9.98831407e-01 6.76374569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:449.11, Y:268.04, Z:67.65 [[ 7.08828766e-01 7.04794974e-01 -2.87371832e-02 4.49110999e+02] [-7.04217701e-01 7.09411055e-01 2.85199125e-02 2.68040134e+02] [ 4.04871664e-02 2.14987482e-05 9.99180058e-01 6.76486800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.13, Y:268.02, Z:67.65 [[ 7.07346329e-01 7.06276559e-01 -2.88893247e-02 4.49133767e+02] [-7.05693761e-01 7.07936024e-01 2.86862836e-02 2.68017307e+02] [ 4.07122433e-02 9.58787993e-05 9.99170908e-01 6.76498881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.1892541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:449.16, Y:267.99, Z:67.65 [[ 7.06541208e-01 7.07042092e-01 -2.98496445e-02 4.49157169e+02] [-7.06419875e-01 7.07171452e-01 2.96563268e-02 2.67993965e+02] [ 4.20770878e-02 1.32965136e-04 9.99114358e-01 6.76511594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.18, Y:267.97, Z:67.65 [[ 7.04534771e-01 7.09091972e-01 -2.86239929e-02 4.49180287e+02] [-7.08520878e-01 7.05115963e-01 2.84542544e-02 2.67971702e+02] [ 4.03599177e-02 2.33684959e-04 9.99185179e-01 6.76521624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:449.20, Y:267.95, Z:67.65 [[ 7.04398185e-01 7.09232288e-01 -2.85089101e-02 4.49203078e+02] [-7.08665332e-01 7.04974828e-01 2.83538347e-02 2.67949058e+02] [ 4.02075191e-02 2.30886591e-04 9.99191324e-01 6.76532931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.2792541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:449.23, Y:267.93, Z:67.65 [[ 7.04171576e-01 7.09458005e-01 -2.84908924e-02 4.49225258e+02] [-7.08891505e-01 7.04747673e-01 2.83469719e-02 2.67926792e+02] [ 4.01898763e-02 2.35819757e-04 9.99192033e-01 6.76545924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3092541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:449.25, Y:267.90, Z:67.66 [[ 7.03881456e-01 7.09806727e-01 -2.69315001e-02 4.49248528e+02] [-7.09300306e-01 7.04396448e-01 2.68089382e-02 2.67904041e+02] [ 3.79996177e-02 2.32206790e-04 9.99277727e-01 6.76558245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.27, Y:267.88, Z:67.66 [[ 7.03597862e-01 7.10121537e-01 -2.60278981e-02 4.49270833e+02] [-7.09648242e-01 7.04079079e-01 2.59234165e-02 2.67881866e+02] [ 3.67344749e-02 2.30991739e-04 9.99325035e-01 6.76570672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3692541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:449.31, Y:267.88, Z:67.63 [[ 7.07760875e-01 7.04855311e-01 -4.74714103e-02 4.49309651e+02] [-7.05953944e-01 7.08186236e-01 -1.00639940e-02 2.67880998e+02] [ 2.65249397e-02 4.06355306e-02 9.98821897e-01 6.76292927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.3992541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:449.30, Y:267.82, Z:67.67 [[ 7.03616804e-01 7.10576255e-01 2.18594520e-03 4.49302460e+02] [-7.09607112e-01 7.02489613e-01 5.44618246e-02 2.67824330e+02] [ 3.71636755e-02 -3.98714172e-02 9.98513461e-01 6.76746356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.34, Y:267.81, Z:67.66 [[ 7.02997438e-01 7.10693511e-01 -2.66333567e-02 4.49339258e+02] [-7.10197216e-01 7.03501722e-01 2.65563921e-02 2.67814434e+02] [ 3.76100679e-02 2.45860139e-04 9.99292461e-01 6.76597256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.36, Y:267.79, Z:67.66 [[ 7.02531884e-01 7.11141885e-01 -2.69475825e-02 4.49362497e+02] [-7.10633550e-01 7.03048470e-01 2.68850465e-02 2.67791777e+02] [ 3.80645393e-02 2.62253859e-04 9.99275248e-01 6.76598768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.4892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:449.39, Y:267.77, Z:67.66 [[ 7.01971627e-01 7.11619609e-01 -2.88680870e-02 4.49386049e+02] [-7.11035900e-01 7.02564904e-01 2.88184760e-02 2.67768862e+02] [ 4.07894974e-02 2.96493670e-04 9.99167718e-01 6.76599771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:449.41, Y:267.75, Z:67.66 [[ 7.01630445e-01 7.11917016e-01 -2.98141029e-02 4.49408612e+02] [-7.11294012e-01 7.02263529e-01 2.97785889e-02 2.67746384e+02] [ 4.21372412e-02 3.13028328e-04 9.99111783e-01 6.76607487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.43, Y:267.72, Z:67.66 [[ 7.01049860e-01 7.12501870e-01 -2.94988105e-02 4.49432308e+02] [-7.11891996e-01 7.01670131e-01 2.94756279e-02 2.67723486e+02] [ 4.16998742e-02 3.36082249e-04 9.99130125e-01 6.76610631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.5792541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:449.46, Y:267.70, Z:67.66 [[ 7.01219379e-01 7.12321181e-01 -2.98315026e-02 4.49455307e+02] [-7.11696585e-01 7.01853571e-01 2.98250997e-02 2.67700250e+02] [ 4.21823969e-02 3.17040638e-04 9.99109876e-01 6.76618040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.49, Y:267.69, Z:67.65 [[ 7.03011530e-01 7.10106511e-01 -3.90324633e-02 4.49485790e+02] [-7.10250890e-01 7.03838594e-01 1.24461345e-02 2.67687649e+02] [ 3.63106353e-02 1.89730658e-02 9.99160428e-01 6.76483314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.50, Y:267.66, Z:67.66 [[ 7.03051117e-01 7.10677664e-01 -2.56200010e-02 4.49502418e+02] [-7.10204728e-01 7.03517773e-01 2.59227283e-02 2.67657562e+02] [ 3.64468301e-02 -2.95572656e-05 9.99335593e-01 6.76569701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.52, Y:267.62, Z:67.67 [[ 7.02043331e-01 7.11984416e-01 -1.46066403e-02 4.49517107e+02] [-7.11044786e-01 7.01955977e-01 4.09037787e-02 2.67624836e+02] [ 3.93760714e-02 -1.83302496e-02 9.99056318e-01 6.76729486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.6992541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:449.55, Y:267.62, Z:67.65 [[ 7.04851175e-01 7.08374376e-01 -3.72902637e-02 4.49553618e+02] [-7.08503421e-01 7.05606791e-01 1.19146562e-02 2.67617114e+02] [ 3.47523005e-02 1.80222200e-02 9.99233445e-01 6.76523580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:449.56, Y:267.58, Z:67.67 [[ 7.02804726e-01 7.11234193e-01 -1.45409658e-02 4.49562114e+02] [-7.10330794e-01 7.02730002e-01 4.00088444e-02 2.67578661e+02] [ 3.86740311e-02 -1.77895092e-02 9.99093516e-01 6.76748945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.59, Y:267.56, Z:67.67 [[ 7.02883618e-01 7.10803318e-01 -2.67069691e-02 4.49591268e+02] [-7.10297998e-01 7.03390805e-01 2.67979442e-02 2.67560682e+02] [ 3.78335042e-02 1.34070715e-04 9.99284048e-01 6.76686974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.7892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:449.61, Y:267.54, Z:67.67 [[ 7.03109512e-01 7.10556494e-01 -2.73218403e-02 4.49613288e+02] [-7.10026882e-01 7.03640146e-01 2.74294003e-02 2.67537721e+02] [ 3.87148823e-02 1.13368823e-04 9.99250292e-01 6.76693356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8192541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:449.64, Y:267.51, Z:67.67 [[ 7.02078380e-01 7.11570055e-01 -2.74591679e-02 4.49636389e+02] [-7.11035466e-01 7.02615137e-01 2.75777984e-02 2.67514176e+02] [ 3.89167625e-02 1.62666239e-04 9.99242443e-01 6.76697771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.66, Y:267.50, Z:67.67 [[ 7.02516977e-01 7.11128228e-01 -2.76864676e-02 4.49661422e+02] [-7.10704746e-01 7.03058375e-01 2.46512915e-02 2.67496074e+02] [ 3.69954321e-02 2.35895314e-03 9.99312650e-01 6.76679219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.8792541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:449.68, Y:267.47, Z:67.67 [[ 6.99762613e-01 7.13901958e-01 -2.60053916e-02 4.49682429e+02] [-7.13315731e-01 7.00243538e-01 2.89768128e-02 2.67469026e+02] [ 3.88967108e-02 -1.72683537e-03 9.99241745e-01 6.76719373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.71, Y:267.45, Z:67.67 [[ 6.97867064e-01 7.15707123e-01 -2.72923797e-02 4.49706263e+02] [-7.15180793e-01 6.98400444e-01 2.74454733e-02 2.67447862e+02] [ 3.87039309e-02 3.65693887e-04 9.99250655e-01 6.76723565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:449.73, Y:267.43, Z:67.67 [[ 6.94946288e-01 7.18513336e-01 -2.80756404e-02 4.49730276e+02] [-7.17958178e-01 6.95512980e-01 2.82444497e-02 2.67426051e+02] [ 3.98209862e-02 5.28760138e-04 9.99206690e-01 6.76732773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:449.75, Y:267.40, Z:67.67 [[ 6.93546421e-01 7.19831069e-01 -2.89239412e-02 4.49753887e+02] [-7.19242351e-01 6.94149017e-01 2.91132774e-02 2.67402699e+02] [ 4.10341669e-02 6.11914211e-04 9.99157557e-01 6.76738975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 805.9992541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:449.78, Y:267.38, Z:67.67 [[ 6.92171784e-01 7.21124447e-01 -2.96269035e-02 4.49777264e+02] [-7.20507244e-01 6.92805204e-01 2.98372293e-02 2.67379795e+02] [ 4.20420284e-02 6.93910390e-04 9.99115602e-01 6.76748342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:449.80, Y:267.36, Z:67.68 [[ 6.90126323e-01 7.23092600e-01 -2.93726063e-02 4.49800576e+02] [-7.22487060e-01 6.90750649e-01 2.95971116e-02 2.67358233e+02] [ 4.16905993e-02 7.95582113e-04 9.99130252e-01 6.76756145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.82, Y:267.34, Z:67.68 [[ 6.89476792e-01 7.23739344e-01 -2.86899815e-02 4.49824467e+02] [-7.23161585e-01 6.90072977e-01 2.89241693e-02 2.67335367e+02] [ 4.07317403e-02 8.04949077e-04 9.99169794e-01 6.76767437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.0892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:449.85, Y:267.31, Z:67.68 [[ 6.89183251e-01 7.24032260e-01 -2.83501672e-02 4.49847242e+02] [-7.23467726e-01 6.89765644e-01 2.85973209e-02 2.67312568e+02] [ 4.02603542e-02 8.01636362e-04 9.99188902e-01 6.76774944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1192541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:449.87, Y:267.29, Z:67.68 [[ 6.89394698e-01 7.23821343e-01 -2.85939514e-02 4.49869860e+02] [-7.23246240e-01 6.89986991e-01 2.88587690e-02 2.67288468e+02] [ 4.06180474e-02 7.85385509e-04 9.99174438e-01 6.76785986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1492541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:449.89, Y:267.26, Z:67.68 [[ 6.89717667e-01 7.23520873e-01 -2.84092713e-02 4.49892958e+02] [-7.22952261e-01 6.90302095e-01 2.86887923e-02 2.67264566e+02] [ 4.03679195e-02 7.51379980e-04 9.99184601e-01 6.76798661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.1792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:449.92, Y:267.24, Z:67.68 [[ 6.89884942e-01 7.23358373e-01 -2.84856301e-02 4.49915092e+02] [-7.22785892e-01 6.90472395e-01 2.87823988e-02 2.67240925e+02] [ 4.04885304e-02 7.32467990e-04 9.99179735e-01 6.76807974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:449.92, Y:267.21, Z:67.71 [[ 6.89142585e-01 7.24596454e-01 -6.51744948e-03 4.49922968e+02] [-7.23000674e-01 6.88171287e-01 6.07478836e-02 2.67205745e+02] [ 4.85028227e-02 -3.71518332e-02 9.98131864e-01 6.77086641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2392541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:449.96, Y:267.20, Z:67.69 [[ 6.89171076e-01 7.23449405e-01 -4.07944557e-02 4.49961322e+02] [-7.23029791e-01 6.90290990e-01 2.69494224e-02 2.67197333e+02] [ 4.76565888e-02 1.09228443e-02 9.98804055e-01 6.76885953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2692541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:449.99, Y:267.18, Z:67.67 [[ 6.90310695e-01 7.21702721e-01 -5.11500340e-02 4.49991586e+02] [-7.22232205e-01 6.91569253e-01 1.06118419e-02 2.67180421e+02] [ 4.30323859e-02 2.96167339e-02 9.98634599e-01 6.76729192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.00, Y:267.15, Z:67.68 [[ 6.89967817e-01 7.23189698e-01 -3.06768968e-02 4.50004360e+02] [-7.22523397e-01 6.90649047e-01 3.10456891e-02 2.67147314e+02] [ 4.36388921e-02 7.44249365e-04 9.99047093e-01 6.76847807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.02, Y:267.12, Z:67.70 [[ 6.89691062e-01 7.23755886e-01 -2.24423022e-02 4.50021595e+02] [-7.22602259e-01 6.89925167e-01 4.30027847e-02 2.67121151e+02] [ 4.66070276e-02 -1.34417780e-02 9.98822859e-01 6.76955663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.06, Y:267.11, Z:67.68 [[ 6.89294137e-01 7.23282842e-01 -4.16596175e-02 4.50055063e+02] [-7.23126947e-01 6.90381670e-01 2.14608720e-02 2.67106308e+02] [ 4.42833168e-02 1.53323388e-02 9.98901350e-01 6.76811680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.3892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:450.07, Y:267.08, Z:67.69 [[ 6.88835010e-01 7.24237738e-01 -3.14010805e-02 4.50073130e+02] [-7.23538761e-01 6.89549896e-01 3.18214195e-02 2.67077732e+02] [ 4.46988846e-02 8.00191093e-04 9.99000185e-01 6.76882580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.10, Y:267.05, Z:67.69 [[ 6.87462779e-01 7.25571345e-01 -3.06781973e-02 4.50096653e+02] [-7.24904744e-01 6.88146419e-01 3.11065730e-02 2.67054221e+02] [ 4.36811297e-02 8.54159632e-04 9.99045159e-01 6.76903228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.12, Y:267.03, Z:67.69 [[ 6.86524058e-01 7.26483137e-01 -3.01159397e-02 4.50119080e+02] [-7.25840895e-01 6.87183725e-01 3.05536124e-02 2.67032062e+02] [ 4.28918678e-02 8.83590673e-04 9.99079330e-01 6.76913451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.4792541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:450.14, Y:267.01, Z:67.69 [[ 6.85656913e-01 7.27291122e-01 -3.03681107e-02 4.50142189e+02] [-7.26638135e-01 6.86328463e-01 3.08263219e-02 2.67008936e+02] [ 4.32622089e-02 9.30346644e-04 9.99063319e-01 6.76924627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.17, Y:266.99, Z:67.69 [[ 6.82882897e-01 7.29910137e-01 -3.00356620e-02 4.50166667e+02] [-7.29273165e-01 6.83542276e-01 3.05058746e-02 2.66986669e+02] [ 4.27971918e-02 1.07226228e-03 9.99083205e-01 6.76939998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5392541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:450.19, Y:266.96, Z:67.69 [[ 6.81813856e-01 7.30871762e-01 -3.09246586e-02 4.50189717e+02] [-7.30196682e-01 6.82513837e-01 3.14272014e-02 2.66963784e+02] [ 4.40757614e-02 1.15358171e-03 9.99027525e-01 6.76942485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.21, Y:266.94, Z:67.70 [[ 6.80341934e-01 7.32231825e-01 -3.11674187e-02 4.50212432e+02] [-7.31546775e-01 6.81054342e-01 3.16906677e-02 2.66942056e+02] [ 4.44316214e-02 1.23993451e-03 9.99011658e-01 6.76958831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.5992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.24, Y:266.92, Z:67.70 [[ 6.80250046e-01 7.32317415e-01 -3.11621278e-02 4.50235812e+02] [-7.31632217e-01 6.80962312e-01 3.16958698e-02 2.66918144e+02] [ 4.44316721e-02 1.23809973e-03 9.99011658e-01 6.76969808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:450.26, Y:266.90, Z:67.70 [[ 6.78745945e-01 7.33674149e-01 -3.20341166e-02 4.50259717e+02] [-7.32951038e-01 6.79500112e-01 3.25940766e-02 2.66895626e+02] [ 4.56806173e-02 1.35634166e-03 9.98955175e-01 6.76968070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:450.28, Y:266.87, Z:67.70 [[ 6.77650830e-01 7.34668291e-01 -3.24323024e-02 4.50283238e+02] [-7.33927338e-01 6.78424987e-01 3.30181731e-02 2.66872669e+02] [ 4.62602891e-02 1.42816091e-03 9.98928399e-01 6.76977738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.31, Y:266.85, Z:67.70 [[ 6.76514368e-01 7.35711561e-01 -3.25085856e-02 4.50305967e+02] [-7.34967535e-01 6.77293344e-01 3.31126711e-02 2.66850654e+02] [ 4.63792236e-02 1.49155727e-03 9.98922791e-01 6.76991355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:450.33, Y:266.83, Z:67.70 [[ 6.76143580e-01 7.36031486e-01 -3.29774353e-02 4.50329519e+02] [-7.35265535e-01 6.76945585e-01 3.36045798e-02 2.66827305e+02] [ 4.70579580e-02 1.52565066e-03 9.98890996e-01 6.76996535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.35, Y:266.81, Z:67.70 [[ 6.74988469e-01 7.37099849e-01 -3.27777226e-02 4.50351942e+02] [-7.36343608e-01 6.75782006e-01 3.34181304e-02 2.66805216e+02] [ 4.67830940e-02 1.57881382e-03 9.98903824e-01 6.77015114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.37, Y:266.78, Z:67.70 [[ 6.74673401e-01 7.37402372e-01 -3.24583302e-02 4.50374765e+02] [-7.36660502e-01 6.75451895e-01 3.31065414e-02 2.66782171e+02] [ 4.63368828e-02 1.57466696e-03 9.98924629e-01 6.77027514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:450.40, Y:266.76, Z:67.70 [[ 6.75002681e-01 7.37115179e-01 -3.21340048e-02 4.50397290e+02] [-7.36386879e-01 6.75765405e-01 3.27945414e-02 2.66759811e+02] [ 4.58884030e-02 1.52665617e-03 9.98945406e-01 6.77041157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.43, Y:266.75, Z:67.69 [[ 6.77914400e-01 7.33786625e-01 -4.46010712e-02 4.50429458e+02] [-7.34176499e-01 6.78884509e-01 1.00345577e-02 2.66750865e+02] [ 3.76422006e-02 2.59424871e-02 9.98954480e-01 6.76863773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:450.43, Y:266.71, Z:67.72 [[ 6.75833001e-01 7.36912436e-01 -1.44850283e-02 4.50433159e+02] [-7.35577107e-01 6.75591619e-01 5.00228460e-02 2.66706935e+02] [ 4.66484210e-02 -2.31522349e-02 9.98643029e-01 6.77156172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.46, Y:266.69, Z:67.71 [[ 6.76139403e-01 7.36087476e-01 -3.17920687e-02 4.50464815e+02] [-7.35371849e-01 6.76884938e-01 3.24811384e-02 2.66692557e+02] [ 4.54285316e-02 1.41721488e-03 9.98966586e-01 6.77074065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:450.49, Y:266.67, Z:67.71 [[ 6.76714765e-01 7.35566136e-01 -3.16162237e-02 4.50487743e+02] [-7.34857049e-01 6.77451550e-01 3.23189557e-02 2.66669382e+02] [ 4.51911891e-02 1.36269032e-03 9.98977427e-01 6.77080265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:450.51, Y:266.65, Z:67.71 [[ 6.76670866e-01 7.35625253e-01 -3.11773392e-02 4.50510333e+02] [-7.34934997e-01 6.77387410e-01 3.18880230e-02 2.66646747e+02] [ 4.45767721e-02 1.33562152e-03 9.99005069e-01 6.77089788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 806.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.54, Y:266.63, Z:67.70 [[ 6.79215464e-01 7.32739164e-01 -4.19484328e-02 4.50541111e+02] [-7.32919668e-01 6.80174585e-01 1.38308849e-02 2.66634841e+02] [ 3.86666889e-02 2.13506805e-02 9.99024042e-01 6.76951342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.55, Y:266.60, Z:67.71 [[ 6.79255025e-01 7.33530807e-01 -2.33488022e-02 4.50553283e+02] [-7.32736386e-01 6.79625220e-01 3.47411746e-02 2.66602645e+02] [ 4.13521567e-02 -6.48960044e-03 9.99123558e-01 6.77089504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.57, Y:266.57, Z:67.72 [[ 6.77146279e-01 7.35511703e-01 -2.22587484e-02 4.50573191e+02] [-7.34458939e-01 6.77416394e-01 4.09523652e-02 2.66574902e+02] [ 4.51993849e-02 -1.13826050e-02 9.98913135e-01 6.77175526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.60, Y:266.56, Z:67.71 [[ 6.76519801e-01 7.35753477e-01 -3.14289580e-02 4.50601068e+02] [-7.35049439e-01 6.77248178e-01 3.22060178e-02 2.66555955e+02] [ 4.49808941e-02 1.31382921e-03 9.98986983e-01 6.77146013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.62, Y:266.53, Z:67.72 [[ 6.75780305e-01 7.36424866e-01 -3.16132230e-02 4.50623775e+02] [-7.35712445e-01 6.76517984e-01 3.24131866e-02 2.66533202e+02] [ 4.52567905e-02 1.35404845e-03 9.98974469e-01 6.77161184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.65, Y:266.51, Z:67.72 [[ 6.74963780e-01 7.37168323e-01 -3.17294697e-02 4.50647563e+02] [-7.36450662e-01 6.75707712e-01 3.25501257e-02 2.66509925e+02] [ 4.54347689e-02 1.39703306e-03 9.98966331e-01 6.77173257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.67, Y:266.49, Z:67.72 [[ 6.73168632e-01 7.38789117e-01 -3.21657090e-02 4.50672007e+02] [-7.38052533e-01 6.73934973e-01 3.30168145e-02 2.66487202e+02] [ 4.60700594e-02 1.51409913e-03 9.98937064e-01 6.77185353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.69, Y:266.47, Z:67.72 [[ 6.72367710e-01 7.39508652e-01 -3.23823486e-02 4.50694527e+02] [-7.38762057e-01 6.73145242e-01 3.32581750e-02 2.66465273e+02] [ 4.63927320e-02 1.56112753e-03 9.98922058e-01 6.77197791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.72, Y:266.44, Z:67.72 [[ 6.71047165e-01 7.40704378e-01 -3.24457733e-02 4.50718332e+02] [-7.39955390e-01 6.71829110e-01 3.33416762e-02 2.66443200e+02] [ 4.64943406e-02 1.63458754e-03 9.98917216e-01 6.77207351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.74, Y:266.42, Z:67.72 [[ 6.70536142e-01 7.41173835e-01 -3.22897604e-02 4.50741460e+02] [-7.40431699e-01 6.71311132e-01 3.32003542e-02 2.66419875e+02] [ 4.62837095e-02 1.64632474e-03 9.98926978e-01 6.77217268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.76, Y:266.40, Z:67.72 [[ 6.70531430e-01 7.41170560e-01 -3.24623070e-02 4.50764913e+02] [-7.40419570e-01 6.71314758e-01 3.33969445e-02 2.66396245e+02] [ 4.65452578e-02 1.64202647e-03 9.98914833e-01 6.77233101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.79, Y:266.38, Z:67.72 [[ 6.72347726e-01 7.39231912e-01 -3.85319922e-02 4.50792092e+02] [-7.38994556e-01 6.73323433e-01 2.28604608e-02 2.66381723e+02] [ 4.28436754e-02 1.31047536e-02 9.98995838e-01 6.77150713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:450.81, Y:266.35, Z:67.73 [[ 6.70984379e-01 7.41054876e-01 -2.48522413e-02 4.50806761e+02] [-7.39926408e-01 6.71372621e-01 4.20442102e-02 2.66347407e+02] [ 4.78421814e-02 -9.82217868e-03 9.98806613e-01 6.77300704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.3792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:450.83, Y:266.33, Z:67.73 [[ 6.70345477e-01 7.41331462e-01 -3.26282897e-02 4.50834224e+02] [-7.40570696e-01 6.71137102e-01 3.36159995e-02 2.66327697e+02] [ 4.68186539e-02 1.62922202e-03 9.98902077e-01 6.77274693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.86, Y:266.31, Z:67.72 [[ 6.71810306e-01 7.39936775e-01 -3.41244964e-02 4.50859281e+02] [-7.39369846e-01 6.72654461e-01 2.94653485e-02 2.66309472e+02] [ 4.47564897e-02 5.43549881e-03 9.98983139e-01 6.77247068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:450.88, Y:266.29, Z:67.72 [[ 6.72864817e-01 7.38931878e-01 -3.51086486e-02 4.50883629e+02] [-7.38474262e-01 6.73736332e-01 2.71130863e-02 2.66288968e+02] [ 4.36886959e-02 7.68339151e-03 9.99015647e-01 6.77232572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.90, Y:266.26, Z:67.73 [[ 6.72397461e-01 7.39703863e-01 -2.68300105e-02 4.50902212e+02] [-7.38834595e-01 6.72917692e-01 3.61278447e-02 2.66262022e+02] [ 4.47782951e-02 -4.46933110e-03 9.98986952e-01 6.77306208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.92, Y:266.24, Z:67.73 [[ 6.70904204e-01 7.40939862e-01 -2.99277405e-02 4.50924803e+02] [-7.40073326e-01 6.71568637e-01 3.58753161e-02 2.66236650e+02] [ 4.66799836e-02 -1.92017795e-03 9.98908050e-01 6.77342268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.95, Y:266.22, Z:67.73 [[ 6.73740812e-01 7.38027193e-01 -3.72717047e-02 4.50952493e+02] [-7.37631864e-01 6.74698272e-01 2.61050678e-02 2.66223058e+02] [ 4.44134047e-02 9.90474748e-03 9.98964136e-01 6.77268653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.97, Y:266.19, Z:67.74 [[ 6.72347926e-01 7.39728464e-01 -2.73873429e-02 4.50968671e+02] [-7.38662391e-01 6.72870550e-01 4.02876503e-02 2.66190697e+02] [ 4.82300582e-02 -6.85731793e-03 9.98812715e-01 6.77384514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:450.99, Y:266.17, Z:67.74 [[ 6.72877158e-01 7.39003352e-01 -3.33223184e-02 4.50994492e+02] [-7.38200941e-01 6.73700267e-01 3.44575176e-02 2.66171006e+02] [ 4.79134758e-02 1.41289033e-03 9.98850491e-01 6.77362051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:451.02, Y:266.15, Z:67.74 [[ 6.74794756e-01 7.37244827e-01 -3.34977904e-02 4.51018649e+02] [-7.36430855e-01 6.75624468e-01 3.46579538e-02 2.66147980e+02] [ 4.81833239e-02 1.28180098e-03 9.98837687e-01 6.77370584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.04, Y:266.12, Z:67.74 [[ 6.75290924e-01 7.36794657e-01 -3.34036209e-02 4.51041057e+02] [-7.35983787e-01 6.76115459e-01 3.45796506e-02 2.66124853e+02] [ 4.80628062e-02 1.23319919e-03 9.98843554e-01 6.77385871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.6792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:451.06, Y:266.10, Z:67.74 [[ 6.76675608e-01 7.35491053e-01 -3.41032674e-02 4.51064162e+02] [-7.34643237e-01 6.77533457e-01 3.53232156e-02 2.66101420e+02] [ 4.90860137e-02 1.15137635e-03 9.98793891e-01 6.77396327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.09, Y:266.08, Z:67.74 [[ 6.77600496e-01 7.34663486e-01 -3.35727688e-02 4.51086703e+02] [-7.33839920e-01 6.78430863e-01 3.47927680e-02 2.66079138e+02] [ 4.83377787e-02 1.06144112e-03 9.98830482e-01 6.77411227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.11, Y:266.06, Z:67.74 [[ 6.77848418e-01 7.34424067e-01 -3.38055058e-02 4.51109543e+02] [-7.33587815e-01 6.78690069e-01 3.50529250e-02 2.66055742e+02] [ 4.86871728e-02 1.03873740e-03 9.98813536e-01 6.77423439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7692541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:451.13, Y:266.03, Z:67.74 [[ 6.78161946e-01 7.34127203e-01 -3.39650628e-02 4.51132739e+02] [-7.33281673e-01 6.79011217e-01 3.52385528e-02 2.66032316e+02] [ 4.89322388e-02 1.00851254e-03 9.98801591e-01 6.77432885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.16, Y:266.01, Z:67.74 [[ 6.78338765e-01 7.33946074e-01 -3.43464656e-02 4.51156411e+02] [-7.33080196e-01 6.79207019e-01 3.56546133e-02 2.66010349e+02] [ 4.94969240e-02 9.92807364e-04 9.98773783e-01 6.77439150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.18, Y:265.99, Z:67.74 [[ 6.78175754e-01 7.34113402e-01 -3.39876445e-02 4.51179940e+02] [-7.33264798e-01 6.79026178e-01 3.53013712e-02 2.65987199e+02] [ 4.89937101e-02 9.81409224e-04 9.98798605e-01 6.77445116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.20, Y:265.96, Z:67.75 [[ 6.77511914e-01 7.34715356e-01 -3.42191815e-02 4.51203570e+02] [-7.33854897e-01 6.78374756e-01 3.55623459e-02 2.65964897e+02] [ 4.93416305e-02 1.01800093e-03 9.98781441e-01 6.77455099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.23, Y:265.94, Z:67.74 [[ 6.78152106e-01 7.34092376e-01 -3.49013749e-02 4.51227337e+02] [-7.33284314e-01 6.79046076e-01 3.45042371e-02 2.65944827e+02] [ 4.90289390e-02 2.19350966e-03 9.98794950e-01 6.77447822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9192541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:451.25, Y:265.92, Z:67.75 [[ 6.78040025e-01 7.34185112e-01 -3.51275726e-02 4.51249204e+02] [-7.33354829e-01 6.78946250e-01 3.49668892e-02 2.65923237e+02] [ 4.95219032e-02 2.05202463e-03 9.98770930e-01 6.77454485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.27, Y:265.90, Z:67.75 [[ 6.75759567e-01 7.36563147e-01 -2.87008538e-02 4.51267936e+02] [-7.35261771e-01 6.76307490e-01 4.47024167e-02 2.65896060e+02] [ 5.23367551e-02 -9.10544507e-03 9.98587981e-01 6.77540918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 807.9792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:451.30, Y:265.88, Z:67.75 [[ 6.74377048e-01 7.37248179e-01 -4.09965921e-02 4.51297671e+02] [-7.36687398e-01 6.75551922e-01 3.03525643e-02 2.65877780e+02] [ 5.00726994e-02 9.73260008e-03 9.98698153e-01 6.77463775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.32, Y:265.85, Z:67.75 [[ 6.74907067e-01 7.37132864e-01 -3.36985484e-02 4.51317489e+02] [-7.36220470e-01 6.75747836e-01 3.66644525e-02 2.65854356e+02] [ 4.97982940e-02 6.44630181e-05 9.98759293e-01 6.77500585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0392541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:451.34, Y:265.83, Z:67.75 [[ 6.73453495e-01 7.38384463e-01 -3.53380152e-02 4.51341020e+02] [-7.37562862e-01 6.74375181e-01 3.49161925e-02 2.65830477e+02] [ 4.96126544e-02 2.54957576e-03 9.98765280e-01 6.77509270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.36, Y:265.81, Z:67.75 [[ 6.73166385e-01 7.38724435e-01 -3.36634441e-02 4.51363287e+02] [-7.37889784e-01 6.74006516e-01 3.51266829e-02 2.65806553e+02] [ 4.86383197e-02 1.19380934e-03 9.98815743e-01 6.77525297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.0992541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:451.39, Y:265.78, Z:67.75 [[ 6.73323656e-01 7.38556367e-01 -3.42015784e-02 4.51385636e+02] [-7.37693584e-01 6.74190688e-01 3.57084277e-02 2.65783705e+02] [ 4.94310723e-02 1.18695589e-03 9.98776832e-01 6.77541214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.41, Y:265.76, Z:67.76 [[ 6.73933218e-01 7.38036605e-01 -3.34063846e-02 4.51407741e+02] [-7.37211986e-01 6.74759763e-01 3.48962817e-02 2.65760686e+02] [ 4.82960174e-02 1.10982364e-03 9.98832450e-01 6.77552851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1592541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:451.43, Y:265.74, Z:67.76 [[ 6.75052332e-01 7.36985155e-01 -3.40180891e-02 4.51430052e+02] [-7.36127762e-01 6.75908129e-01 3.55544652e-02 2.65737002e+02] [ 4.91962160e-02 1.04053512e-03 9.98788591e-01 6.77569516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.45, Y:265.71, Z:67.76 [[ 6.75803446e-01 7.36323851e-01 -3.34198934e-02 4.51452055e+02] [-7.35494700e-01 6.76628598e-01 3.49469117e-02 2.65713323e+02] [ 4.83451002e-02 9.62911164e-04 9.98830228e-01 6.77576369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.47, Y:265.69, Z:67.76 [[ 6.78225156e-01 7.34075877e-01 -3.38118979e-02 4.51473925e+02] [-7.33223610e-01 6.79066981e-01 3.53719438e-02 2.65688936e+02] [ 4.89262341e-02 8.01539678e-04 9.98802073e-01 6.77587212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.50, Y:265.66, Z:67.76 [[ 6.79689356e-01 7.32712682e-01 -3.39779982e-02 4.51496163e+02] [-7.31849301e-01 6.80537762e-01 3.55662004e-02 2.65664418e+02] [ 4.91831170e-02 6.92806394e-04 9.98789538e-01 6.77599788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.2792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:451.52, Y:265.64, Z:67.76 [[ 6.81294313e-01 7.31212100e-01 -3.41602615e-02 4.51517436e+02] [-7.30336532e-01 6.82149936e-01 3.57772918e-02 2.65640143e+02] [ 4.94632088e-02 5.73621451e-04 9.98775782e-01 6.77614167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:451.54, Y:265.62, Z:67.76 [[ 6.83071827e-01 7.29550041e-01 -3.41996721e-02 4.51538604e+02] [-7.28669412e-01 6.83927294e-01 3.58377417e-02 2.65615911e+02] [ 4.95355151e-02 4.40503299e-04 9.98772266e-01 6.77631720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.56, Y:265.59, Z:67.76 [[ 6.87029362e-01 7.25866478e-01 -3.32943251e-02 4.51559286e+02] [-7.24996543e-01 6.87835578e-01 3.55278679e-02 2.65591744e+02] [ 4.86895097e-02 -2.70417802e-04 9.98813926e-01 6.77648340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:451.58, Y:265.57, Z:67.77 [[ 6.88481640e-01 7.24460330e-01 -3.39155078e-02 4.51580632e+02] [-7.23622935e-01 6.89316264e-01 3.48272329e-02 2.65567710e+02] [ 4.86094597e-02 5.64128840e-04 9.98817702e-01 6.77664022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.60, Y:265.54, Z:67.77 [[ 6.91175372e-01 7.21963955e-01 -3.23211028e-02 4.51601602e+02] [-7.21166798e-01 6.91930654e-01 3.39178362e-02 2.65542046e+02] [ 4.68514169e-02 -1.34266795e-04 9.98901860e-01 6.77678297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.62, Y:265.52, Z:67.77 [[ 6.92394144e-01 7.20815923e-01 -3.18552023e-02 4.51623164e+02] [-7.20039505e-01 6.93126507e-01 3.34478143e-02 2.65518020e+02] [ 4.61894023e-02 -2.22066652e-04 9.98932675e-01 6.77689750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.64, Y:265.49, Z:67.77 [[ 6.93249302e-01 7.19993052e-01 -3.18655046e-02 4.51644559e+02] [-7.19214428e-01 6.93981211e-01 3.34766354e-02 2.65493853e+02] [ 4.62170064e-02 -2.89523443e-04 9.98931381e-01 6.77701681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.4892541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:451.67, Y:265.47, Z:67.77 [[ 6.94670215e-01 7.18613157e-01 -3.20690374e-02 4.51665502e+02] [-7.17822222e-01 6.95409932e-01 3.37088138e-02 2.65468799e+02] [ 4.65247242e-02 -3.96641257e-04 9.98917060e-01 6.77710679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5192541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:451.69, Y:265.44, Z:67.77 [[ 6.94579540e-01 7.18701167e-01 -3.20608036e-02 4.51688483e+02] [-7.17909965e-01 6.95318970e-01 3.37166437e-02 2.65444501e+02] [ 4.65246761e-02 -4.02120512e-04 9.98917060e-01 6.77722055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.71, Y:265.43, Z:67.77 [[ 6.96187014e-01 7.16825212e-01 -3.85390423e-02 4.51714807e+02] [-7.16511144e-01 6.97166426e-01 2.38905021e-02 2.65426749e+02] [ 4.39934406e-02 1.09813959e-02 9.98971464e-01 6.77651007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.73, Y:265.39, Z:67.78 [[ 6.94931418e-01 7.18670158e-01 -2.41563371e-02 4.51727732e+02] [-7.17543827e-01 6.95251113e-01 4.19135514e-02 2.65392365e+02] [ 4.69167388e-02 -1.17938132e-02 9.98829177e-01 6.77789330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6092541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:451.75, Y:265.37, Z:67.78 [[ 6.94881230e-01 7.18372090e-01 -3.28879241e-02 4.51753694e+02] [-7.17536689e-01 6.95658909e-01 3.46378784e-02 2.65371797e+02] [ 4.77616625e-02 -4.70919351e-04 9.98858650e-01 6.77761164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.78, Y:265.35, Z:67.78 [[ 6.94115325e-01 7.19141036e-01 -3.22503572e-02 4.51775679e+02] [-7.18337650e-01 6.94864009e-01 3.39857211e-02 2.65347634e+02] [ 4.68501392e-02 -4.23363988e-04 9.98901840e-01 6.77773261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.80, Y:265.33, Z:67.78 [[ 6.94629277e-01 7.18609282e-01 -3.30282786e-02 4.51798385e+02] [-7.17930788e-01 6.95411224e-01 3.12827968e-02 2.65326892e+02] [ 4.54483438e-02 1.98207159e-03 9.98964724e-01 6.77758212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.82, Y:265.30, Z:67.78 [[ 6.93894637e-01 7.19404631e-01 -3.11000022e-02 4.51818639e+02] [-7.18636975e-01 6.94590867e-01 3.32328926e-02 2.65302219e+02] [ 4.55096743e-02 -7.10514487e-04 9.98963645e-01 6.77782084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.84, Y:265.28, Z:67.78 [[ 6.93350960e-01 7.19883397e-01 -3.21300646e-02 4.51840756e+02] [-7.19225205e-01 6.94092848e-01 3.08256732e-02 2.65279357e+02] [ 4.44921384e-02 1.73574216e-03 9.99008227e-01 6.77772453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.86, Y:265.26, Z:67.78 [[ 6.93009332e-01 7.20292981e-01 -3.02669318e-02 4.51861009e+02] [-7.19556444e-01 6.93669509e-01 3.25750974e-02 2.65255116e+02] [ 4.44588618e-02 -7.96080684e-04 9.99010899e-01 6.77792986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.88, Y:265.23, Z:67.78 [[ 6.92091274e-01 7.21234673e-01 -2.88134535e-02 4.51880554e+02] [-7.20377486e-01 6.92680880e-01 3.53479193e-02 2.65228495e+02] [ 4.54526733e-02 -3.70742327e-03 9.98959614e-01 6.77832315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.90, Y:265.21, Z:67.78 [[ 6.92231984e-01 7.20918620e-01 -3.30336819e-02 4.51904271e+02] [-7.20380890e-01 6.93006405e-01 2.81690655e-02 2.65208493e+02] [ 4.32001569e-02 4.29730503e-03 9.99057195e-01 6.77792527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8492541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:451.92, Y:265.18, Z:67.78 [[ 6.92055384e-01 7.21192765e-01 -3.06649870e-02 4.51924804e+02] [-7.20490842e-01 6.92734429e-01 3.18112810e-02 2.65182053e+02] [ 4.41847580e-02 7.86739747e-05 9.99023374e-01 6.77824276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.8792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:451.94, Y:265.16, Z:67.79 [[ 6.90763602e-01 7.22592124e-01 -2.65756944e-02 4.51942612e+02] [-7.21756068e-01 6.91255986e-01 3.51189432e-02 2.65155256e+02] [ 4.37472797e-02 -5.07771902e-03 9.99029725e-01 6.77878916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:451.97, Y:265.13, Z:67.79 [[ 6.90002976e-01 7.23201247e-01 -2.95947552e-02 4.51965953e+02] [-7.22523305e-01 6.90637320e-01 3.13076074e-02 2.65132374e+02] [ 4.30809431e-02 -2.19442003e-04 9.99071561e-01 6.77871722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9392541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:451.99, Y:265.11, Z:67.78 [[ 6.90838651e-01 7.22237704e-01 -3.33864841e-02 4.51990900e+02] [-7.21831875e-01 6.91612088e-01 2.51289546e-02 2.65112490e+02] [ 4.12395745e-02 6.73937533e-03 9.99126558e-01 6.77821810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9692541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:452.01, Y:265.08, Z:67.79 [[ 6.87646674e-01 7.25647271e-01 -2.40435057e-02 4.52006388e+02] [-7.24808547e-01 6.88030856e-01 3.55824525e-02 2.65082193e+02] [ 4.23629834e-02 -7.04121664e-03 9.99077474e-01 6.77910634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 808.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.03, Y:265.06, Z:67.79 [[ 6.86032874e-01 7.26992335e-01 -2.90007125e-02 4.52030738e+02] [-7.26342981e-01 6.86645574e-01 3.07201745e-02 2.65060029e+02] [ 4.22465423e-02 -1.05855881e-05 9.99107216e-01 6.77894353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:452.05, Y:265.04, Z:67.79 [[ 6.84848697e-01 7.28095557e-01 -2.93108028e-02 4.52053010e+02] [-7.27432491e-01 6.85475644e-01 3.10662710e-02 2.65035750e+02] [ 4.27110553e-02 4.59350432e-05 9.99087466e-01 6.77901536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:452.07, Y:265.01, Z:67.79 [[ 6.83000433e-01 7.29818535e-01 -2.95857012e-02 4.52073558e+02] [-7.29143790e-01 6.83640904e-01 3.13759185e-02 2.65011912e+02] [ 4.31247224e-02 1.42464387e-04 9.99069686e-01 6.77904990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.10, Y:264.99, Z:67.79 [[ 6.82426102e-01 7.30355898e-01 -2.95783125e-02 4.52095810e+02] [-7.29681248e-01 6.83066786e-01 3.13853853e-02 2.64987067e+02] [ 4.31264641e-02 1.64533837e-04 9.99069608e-01 6.77910880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1192541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:452.12, Y:264.96, Z:67.79 [[ 6.82340448e-01 7.30434210e-01 -2.96205639e-02 4.52118214e+02] [-7.29756922e-01 6.82983045e-01 3.14482912e-02 2.64962326e+02] [ 4.32012507e-02 1.57370411e-04 9.99066378e-01 6.77919267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1492541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:452.14, Y:264.94, Z:67.79 [[ 6.83058403e-01 7.29778391e-01 -2.92355576e-02 4.52139121e+02] [-7.29117252e-01 6.83683764e-01 3.10571176e-02 2.64937035e+02] [ 4.26526894e-02 1.02324228e-04 9.99089955e-01 6.77929093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.16, Y:264.91, Z:67.79 [[ 6.83334250e-01 7.29527865e-01 -2.90412984e-02 4.52159960e+02] [-7.28874527e-01 6.83951087e-01 3.08680163e-02 2.64912509e+02] [ 4.23819056e-02 7.42899268e-05 9.99101481e-01 6.77944998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.18, Y:264.89, Z:67.80 [[ 6.86141642e-01 7.26896721e-01 -2.88236891e-02 4.52179647e+02] [-7.26250132e-01 6.86746786e-01 3.06528658e-02 2.64887329e+02] [ 4.20760435e-02 -9.89996722e-05 9.99114406e-01 6.77954459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.20, Y:264.86, Z:67.80 [[ 6.87977157e-01 7.25161937e-01 -2.87679709e-02 4.52200917e+02] [-7.24515648e-01 6.88578331e-01 3.06097768e-02 2.64862247e+02] [ 4.20060464e-02 -2.15982148e-04 9.99117333e-01 6.77966022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.22, Y:264.84, Z:67.80 [[ 6.89906018e-01 7.23312619e-01 -2.91297388e-02 4.52222403e+02] [-7.22647566e-01 6.90520627e-01 3.10122435e-02 2.64837111e+02] [ 4.25462326e-02 -3.44998537e-04 9.99094440e-01 6.77977164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.24, Y:264.81, Z:67.80 [[ 6.92061419e-01 7.21249011e-01 -2.91694470e-02 4.52243210e+02] [-7.20579570e-01 6.92675702e-01 3.10717673e-02 2.64812781e+02] [ 4.26154486e-02 -4.84663781e-04 9.99091432e-01 6.77986768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:452.26, Y:264.79, Z:67.80 [[ 6.96125572e-01 7.17349825e-01 -2.86079884e-02 4.52263252e+02] [-7.16701941e-01 6.96712787e-01 3.04896536e-02 2.64787039e+02] [ 4.18032990e-02 -7.21226701e-04 9.99125600e-01 6.77992022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.28, Y:264.76, Z:67.80 [[ 6.97700680e-01 7.15828350e-01 -2.83466781e-02 4.52283996e+02] [-7.15190293e-01 6.98275810e-01 3.02281126e-02 2.64762849e+02] [ 4.14319395e-02 -8.16905714e-04 9.99140995e-01 6.78005117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.31, Y:264.74, Z:67.80 [[ 6.98917090e-01 7.14655946e-01 -2.79603389e-02 4.52305283e+02] [-7.14033586e-01 6.99475586e-01 2.98319151e-02 2.64738190e+02] [ 4.08771299e-02 -8.85414256e-04 9.99163789e-01 6.78018010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:452.33, Y:264.71, Z:67.80 [[ 7.00345993e-01 7.13284812e-01 -2.72078358e-02 4.52326873e+02] [-7.12693853e-01 7.00873650e-01 2.90447799e-02 2.64712929e+02] [ 3.97864555e-02 -9.50537885e-04 9.99207753e-01 6.78025574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:452.35, Y:264.69, Z:67.80 [[ 7.00065788e-01 7.13565605e-01 -2.70558444e-02 4.52349212e+02] [-7.12980791e-01 7.00587783e-01 2.88989672e-02 2.64688159e+02] [ 3.95763031e-02 -9.40880919e-04 9.99216108e-01 6.78037097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.37, Y:264.66, Z:67.81 [[ 6.98099157e-01 7.15492660e-01 -2.69781496e-02 4.52370198e+02] [-7.14912013e-01 6.98619744e-01 2.88316996e-02 2.64664696e+02] [ 3.94763374e-02 -8.40381975e-04 9.99220152e-01 6.78052203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.39, Y:264.64, Z:67.81 [[ 6.96887941e-01 7.16669937e-01 -2.70443982e-02 4.52392328e+02] [-7.16086874e-01 6.97412064e-01 2.89136852e-02 2.64640943e+02] [ 3.95826586e-02 -7.83459939e-04 9.99215992e-01 6.78059829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:452.41, Y:264.62, Z:67.81 [[ 6.95375192e-01 7.18123058e-01 -2.74338289e-02 4.52414125e+02] [-7.17523558e-01 6.95915765e-01 2.93460755e-02 2.64617275e+02] [ 4.01657275e-02 -7.22114381e-04 9.99192771e-01 6.78070408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:452.44, Y:264.59, Z:67.81 [[ 6.92237031e-01 7.21133975e-01 -2.78151569e-02 4.52436059e+02] [-7.20519635e-01 6.92795404e-01 2.97654739e-02 2.64594128e+02] [ 4.07351074e-02 -5.63396585e-04 9.99169822e-01 6.78070127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.5992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.46, Y:264.57, Z:67.81 [[ 6.90286857e-01 7.22995180e-01 -2.79647273e-02 4.52458671e+02] [-7.22375080e-01 6.90852916e-01 2.99414804e-02 2.64569825e+02] [ 4.09670594e-02 -4.67188248e-04 9.99160388e-01 6.78083108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.48, Y:264.55, Z:67.80 [[ 6.89632017e-01 7.23491361e-01 -3.11115988e-02 4.52483181e+02] [-7.23060618e-01 6.90315713e-01 2.54471815e-02 2.64549245e+02] [ 3.98876415e-02 4.94638072e-03 9.99191928e-01 6.78044066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:452.50, Y:264.52, Z:67.81 [[ 6.87519244e-01 7.25763052e-01 -2.41925938e-02 4.52500660e+02] [-7.24998556e-01 6.87921240e-01 3.37855305e-02 2.64521692e+02] [ 4.11628888e-02 -5.68860680e-03 9.99136255e-01 6.78119812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.6892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:452.52, Y:264.50, Z:67.81 [[ 6.85271817e-01 7.27751380e-01 -2.79368050e-02 4.52523894e+02] [-7.27134882e-01 6.85841005e-01 2.99496036e-02 2.64500189e+02] [ 4.09560718e-02 -2.09793920e-04 9.99160926e-01 6.78111825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:452.55, Y:264.48, Z:67.81 [[ 6.84661965e-01 7.28326071e-01 -2.79128592e-02 4.52546401e+02] [-7.27710644e-01 6.85230692e-01 2.99352298e-02 2.64475938e+02] [ 4.09293561e-02 -1.83028557e-04 9.99162026e-01 6.78112771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.57, Y:264.45, Z:67.81 [[ 6.83462319e-01 7.29459419e-01 -2.77166970e-02 4.52567999e+02] [-7.28852864e-01 6.84024079e-01 2.97415839e-02 2.64451505e+02] [ 4.06541666e-02 -1.25857904e-04 9.99173270e-01 6.78134614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.7792541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:452.59, Y:264.43, Z:67.81 [[ 6.82722365e-01 7.30165434e-01 -2.73607703e-02 4.52589483e+02] [-7.29574257e-01 6.83270393e-01 2.93763929e-02 2.64428016e+02] [ 4.01444310e-02 -9.42067302e-05 9.99193883e-01 6.78130556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8092541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:452.61, Y:264.40, Z:67.81 [[ 6.82152212e-01 7.30698600e-01 -2.73480498e-02 4.52611478e+02] [-7.30107758e-01 6.82700191e-01 2.93787553e-02 2.64404083e+02] [ 4.01375342e-02 -7.37595854e-05 9.99194162e-01 6.78138466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.63, Y:264.38, Z:67.82 [[ 6.81298583e-01 7.31481536e-01 -2.76948252e-02 4.52633053e+02] [-7.30875559e-01 6.81861247e-01 2.97683781e-02 2.64379244e+02] [ 4.06590470e-02 -3.96829577e-05 9.99173078e-01 6.78163088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8692541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:452.66, Y:264.36, Z:67.82 [[ 6.81969793e-01 7.30855983e-01 -2.76899573e-02 4.52655309e+02] [-7.30249026e-01 6.82531702e-01 2.97797912e-02 2.64355740e+02] [ 4.06640122e-02 -8.83536581e-05 9.99172873e-01 6.78150577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.8992541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:452.68, Y:264.33, Z:67.82 [[ 6.82117762e-01 7.30699343e-01 -2.81749583e-02 4.52677617e+02] [-7.30070114e-01 6.82699390e-01 3.03178380e-02 2.64330934e+02] [ 4.13882512e-02 -1.10640758e-04 9.99143133e-01 6.78166222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.70, Y:264.31, Z:67.82 [[ 6.83069303e-01 7.29791953e-01 -2.86362138e-02 4.52698133e+02] [-7.29140394e-01 6.83669271e-01 3.08320077e-02 2.64306018e+02] [ 4.20786505e-02 -1.80577772e-04 9.99114285e-01 6.78193033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9592541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:452.72, Y:264.28, Z:67.82 [[ 6.84523654e-01 7.28443163e-01 -2.82475887e-02 4.52719359e+02] [-7.27807356e-01 6.85106185e-01 3.04297167e-02 2.64282637e+02] [ 4.15189168e-02 -2.71057981e-04 9.99137681e-01 6.78188715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 809.9892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:452.74, Y:264.26, Z:67.82 [[ 6.85809874e-01 7.27235854e-01 -2.81572126e-02 4.52740264e+02] [-7.26602429e-01 6.86387563e-01 3.03483764e-02 2.64258922e+02] [ 4.13971880e-02 -3.54117158e-04 9.99142706e-01 6.78205478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:452.76, Y:264.23, Z:67.82 [[ 6.88740508e-01 7.24483603e-01 -2.75684876e-02 4.52761579e+02] [-7.23873556e-01 6.89291839e-01 2.97293750e-02 2.64234021e+02] [ 4.05411782e-02 -5.19725730e-04 9.99177733e-01 6.78216307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0492541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:452.78, Y:264.21, Z:67.82 [[ 6.90127347e-01 7.23175274e-01 -2.72354282e-02 4.52783526e+02] [-7.22578196e-01 6.90664290e-01 2.93868910e-02 2.64209540e+02] [ 4.00624106e-02 -6.00970553e-04 9.99196999e-01 6.78220152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.80, Y:264.18, Z:67.83 [[ 6.91800823e-01 7.21569981e-01 -2.73566125e-02 4.52804664e+02] [-7.20965628e-01 6.92341144e-01 2.95347875e-02 2.64184778e+02] [ 4.02515245e-02 -7.09013001e-04 9.99189327e-01 6.78255934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:452.83, Y:264.16, Z:67.83 [[ 6.92869224e-01 7.20566371e-01 -2.67645935e-02 4.52826646e+02] [-7.19986542e-01 6.93385553e-01 2.89111432e-02 2.64161805e+02] [ 3.93905800e-02 -7.61494274e-04 9.99223600e-01 6.78256897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:452.85, Y:264.14, Z:67.83 [[ 6.93380944e-01 7.20081409e-01 -2.65637119e-02 4.52849092e+02] [-7.19509471e-01 6.93889140e-01 2.87050955e-02 2.64137998e+02] [ 3.91022768e-02 -7.90723867e-04 9.99234901e-01 6.78269433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.87, Y:264.11, Z:67.83 [[ 6.94077850e-01 7.19413703e-01 -2.64548995e-02 4.52871216e+02] [-7.18845324e-01 6.94581330e-01 2.86037725e-02 2.64113998e+02] [ 3.89530252e-02 -8.36264116e-04 9.99240693e-01 6.78294148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.89, Y:264.09, Z:67.83 [[ 6.94670969e-01 7.18836824e-01 -2.65681308e-02 4.52893890e+02] [-7.18262500e-01 6.95178279e-01 2.87426665e-02 2.64090556e+02] [ 3.91308745e-02 -8.83803909e-04 9.99233703e-01 6.78304787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:452.92, Y:264.07, Z:67.83 [[ 6.95073837e-01 7.18447380e-01 -2.65654722e-02 4.52916034e+02] [-7.17872244e-01 6.95580708e-01 2.87562228e-02 2.64067354e+02] [ 3.91382628e-02 -9.17083006e-04 9.99233384e-01 6.78312598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.94, Y:264.04, Z:67.83 [[ 6.95339710e-01 7.18177189e-01 -2.69112000e-02 4.52938537e+02] [-7.17586145e-01 6.95859621e-01 2.91463984e-02 2.64043896e+02] [ 3.96586959e-02 -9.55543984e-04 9.99212828e-01 6.78322714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:452.96, Y:264.02, Z:67.83 [[ 6.95579294e-01 7.17912435e-01 -2.77701386e-02 4.52962115e+02] [-7.17282110e-01 6.96132679e-01 3.00943213e-02 2.64021001e+02] [ 4.09367885e-02 -1.01396313e-03 9.99161224e-01 6.78331320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:452.98, Y:264.00, Z:67.83 [[ 6.95405079e-01 7.18069126e-01 -2.80803499e-02 4.52984524e+02] [-7.17424039e-01 6.95971029e-01 3.04479141e-02 2.63998621e+02] [ 4.14068171e-02 -1.02811609e-03 9.99141841e-01 6.78337359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.01, Y:263.98, Z:67.82 [[ 6.97045065e-01 7.16162786e-01 -3.52000294e-02 4.53013829e+02] [-7.16035805e-01 6.97822700e-01 1.83359219e-02 2.63982629e+02] [ 3.76948844e-02 1.24235175e-02 9.99212066e-01 6.78220156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.03, Y:263.96, Z:67.83 [[ 6.95516635e-01 7.18083277e-01 -2.47591911e-02 4.53031869e+02] [-7.17465805e-01 6.95950496e-01 2.99286733e-02 2.63955414e+02] [ 3.87224512e-02 -3.05201718e-03 9.99245344e-01 6.78298737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.06, Y:263.93, Z:67.83 [[ 6.95318264e-01 7.18215157e-01 -2.64480470e-02 4.53055261e+02] [-7.17643755e-01 6.95820445e-01 2.86592005e-02 2.63931388e+02] [ 3.89865640e-02 -9.46989785e-04 9.99239286e-01 6.78303501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:453.08, Y:263.91, Z:67.83 [[ 6.94622792e-01 7.18719064e-01 -3.06933907e-02 4.53081453e+02] [-7.18388196e-01 6.95272171e-01 2.26938045e-02 2.63911188e+02] [ 3.76507303e-02 6.28613570e-03 9.99271188e-01 6.78261176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:453.10, Y:263.89, Z:67.83 [[ 6.93388683e-01 7.20034970e-01 -2.76002962e-02 4.53103421e+02] [-7.19575680e-01 6.93934960e-01 2.57897774e-02 2.63886759e+02] [ 3.77223521e-02 1.97816214e-03 9.99286301e-01 6.78282972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.13, Y:263.87, Z:67.83 [[ 6.90399157e-01 7.22995783e-01 -2.50220132e-02 4.53126661e+02] [-7.22545416e-01 6.90852289e-01 2.55193553e-02 2.63865575e+02] [ 3.57369014e-02 4.60999498e-04 9.99361127e-01 6.78301392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5292541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:453.15, Y:263.84, Z:67.83 [[ 6.88637842e-01 7.24638818e-01 -2.60097320e-02 4.53150656e+02] [-7.24234489e-01 6.89125639e-01 2.42952568e-02 2.63843664e+02] [ 3.55292594e-02 2.10651172e-03 9.99366417e-01 6.78294932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.16, Y:263.81, Z:67.85 [[ 6.82541396e-01 7.30792524e-01 -8.91794519e-03 4.53162611e+02] [-7.29713343e-01 6.82111353e-01 4.73554683e-02 2.63810933e+02] [ 4.06900539e-02 -2.58145239e-02 9.98838290e-01 6.78531508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.21, Y:263.81, Z:67.82 [[ 6.83706891e-01 7.28494128e-01 -4.29091215e-02 4.53206863e+02] [-7.29004963e-01 6.84489107e-01 5.14057977e-03 2.63809911e+02] [ 3.31157085e-02 2.77663127e-02 9.99065755e-01 6.78228315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.22, Y:263.78, Z:67.83 [[ 6.81243620e-01 7.31717445e-01 -2.22869912e-02 4.53219233e+02] [-7.31310645e-01 6.81608008e-01 2.43980267e-02 2.63777070e+02] [ 3.30434535e-02 -3.22286127e-04 9.99453864e-01 6.78344528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.24, Y:263.75, Z:67.84 [[ 6.79240275e-01 7.33550443e-01 -2.31602384e-02 4.53242186e+02] [-7.33166197e-01 6.79634485e-01 2.37548783e-02 2.63754800e+02] [ 3.31658983e-02 8.45033838e-04 9.99449503e-01 6.78353273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.27, Y:263.73, Z:67.84 [[ 6.75357707e-01 7.37091718e-01 -2.42438953e-02 4.53267003e+02] [-7.36702284e-01 6.75790722e-01 2.40134162e-02 2.63733174e+02] [ 3.40838898e-02 1.64288735e-03 9.99417625e-01 6.78360424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.28, Y:263.70, Z:67.86 [[ 6.70462885e-01 7.41917071e-01 -6.21124324e-03 4.53275717e+02] [-7.40733863e-01 6.69824480e-01 5.14636810e-02 2.63697579e+02] [ 4.23422263e-02 -2.99036099e-02 9.98655551e-01 6.78611252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.31, Y:263.68, Z:67.85 [[ 6.68462260e-01 7.43193816e-01 -2.86558718e-02 4.53309680e+02] [-7.42534079e-01 6.69076102e-01 3.13099185e-02 2.63683593e+02] [ 4.24422968e-02 3.48462433e-04 9.99098859e-01 6.78513013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.33, Y:263.66, Z:67.85 [[ 6.65477281e-01 7.45859932e-01 -2.88608912e-02 4.53332928e+02] [-7.45192409e-01 6.66102622e-01 3.15526566e-02 2.63661366e+02] [ 4.27581776e-02 5.09340880e-04 9.99085321e-01 6.78522134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.36, Y:263.64, Z:67.85 [[ 6.64100624e-01 7.47088752e-01 -2.87881367e-02 4.53355529e+02] [-7.46424996e-01 6.64724052e-01 3.14906284e-02 2.63637697e+02] [ 4.26624612e-02 5.75238812e-04 9.99089377e-01 6.78532078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.38, Y:263.61, Z:67.85 [[ 6.62430394e-01 7.48551550e-01 -2.92668983e-02 4.53378533e+02] [-7.47866127e-01 6.63076264e-01 3.20331893e-02 2.63614679e+02] [ 4.33846791e-02 6.67963673e-04 9.99058218e-01 6.78543744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:453.40, Y:263.59, Z:67.85 [[ 6.61979667e-01 7.48937049e-01 -2.96009655e-02 4.53401311e+02] [-7.48235429e-01 6.62640795e-01 3.24179043e-02 2.63591134e+02] [ 4.38937769e-02 6.88497596e-04 9.99035967e-01 6.78542604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.42, Y:263.57, Z:67.86 [[ 6.61013236e-01 7.49803761e-01 -2.92544393e-02 4.53422828e+02] [-7.49118503e-01 6.61659878e-01 3.20573512e-02 2.63567128e+02] [ 4.33932112e-02 7.24708321e-04 9.99057808e-01 6.78564740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.44, Y:263.54, Z:67.86 [[ 6.60554402e-01 7.50199512e-01 -2.94715893e-02 4.53444149e+02] [-7.49503636e-01 6.61211115e-01 3.23134865e-02 2.63543485e+02] [ 4.37285042e-02 7.44247625e-04 9.99043174e-01 6.78574869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.47, Y:263.53, Z:67.84 [[ 6.63604907e-01 7.47038029e-01 -3.95311420e-02 4.53474474e+02] [-7.47140282e-01 6.64494823e-01 1.51006420e-02 2.63530686e+02] [ 3.75489931e-02 1.95144484e-02 9.99104229e-01 6.78424801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 810.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.48, Y:263.49, Z:67.87 [[ 6.60641977e-01 7.50538453e-01 -1.56271578e-02 4.53479410e+02] [-7.49411275e-01 6.60583725e-01 4.48540165e-02 2.63489957e+02] [ 4.39877102e-02 -1.79212779e-02 9.98871318e-01 6.78662677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.51, Y:263.47, Z:67.86 [[ 6.60527402e-01 7.50203451e-01 -2.99722087e-02 4.53507547e+02] [-7.49481800e-01 6.61206663e-01 3.29056155e-02 2.63471209e+02] [ 4.45037304e-02 7.28564197e-04 9.99008953e-01 6.78613836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.53, Y:263.45, Z:67.86 [[ 6.61090986e-01 7.49695589e-01 -3.02528201e-02 4.53528609e+02] [-7.48958946e-01 6.61782480e-01 3.32332087e-02 2.63446032e+02] [ 4.49355763e-02 6.87945538e-04 9.98989650e-01 6.78621086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.55, Y:263.42, Z:67.86 [[ 6.61463929e-01 7.49339542e-01 -3.09147427e-02 4.53550390e+02] [-7.48568981e-01 6.62185630e-01 3.39804631e-02 2.63421001e+02] [ 4.59342030e-02 6.64966825e-04 9.98944246e-01 6.78633067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.0992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:453.57, Y:263.40, Z:67.86 [[ 6.62315925e-01 7.48538341e-01 -3.20619555e-02 4.53570106e+02] [-7.47707569e-01 6.63091223e-01 3.52621644e-02 2.63395679e+02] [ 4.76550833e-02 6.18273805e-04 9.98863660e-01 6.78646267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.59, Y:263.37, Z:67.87 [[ 6.62565778e-01 7.48293875e-01 -3.26016345e-02 4.53591162e+02] [-7.47433625e-01 6.63367107e-01 3.58755879e-02 2.63370339e+02] [ 4.84723347e-02 5.97621069e-04 9.98824347e-01 6.78661525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1592541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:453.61, Y:263.35, Z:67.87 [[ 6.63178054e-01 7.47711444e-01 -3.35032063e-02 4.53612275e+02] [-7.46801122e-01 6.64023559e-01 3.68889837e-02 2.63346275e+02] [ 4.98292335e-02 5.56267593e-04 9.98757597e-01 6.78654205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.1892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:453.63, Y:263.32, Z:67.87 [[ 6.63356696e-01 7.47581862e-01 -3.28519908e-02 4.53631593e+02] [-7.46705516e-01 6.64169471e-01 3.61909633e-02 2.63320825e+02] [ 4.88749971e-02 5.23244855e-04 9.98804766e-01 6.78689971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.65, Y:263.30, Z:67.87 [[ 6.63604485e-01 7.47368717e-01 -3.26969054e-02 4.53652889e+02] [-7.46499435e-01 6.64409330e-01 3.60393615e-02 2.63295090e+02] [ 4.86588204e-02 4.92339445e-04 9.98815337e-01 6.78705802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.67, Y:263.27, Z:67.87 [[ 6.64162964e-01 7.46880663e-01 -3.25089580e-02 4.53673948e+02] [-7.46019786e-01 6.64957954e-01 3.58524430e-02 2.63270040e+02] [ 4.83945866e-02 4.40461097e-04 9.98828198e-01 6.78720193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.2792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:453.69, Y:263.24, Z:67.87 [[ 6.65536197e-01 7.45676592e-01 -3.20622909e-02 4.53694292e+02] [-7.44836856e-01 6.66307968e-01 3.53800826e-02 2.63244054e+02] [ 4.77454593e-02 3.34450307e-04 9.98859479e-01 6.78733926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.72, Y:263.22, Z:67.87 [[ 6.65909513e-01 7.45354683e-01 -3.17949238e-02 4.53715014e+02] [-7.44527580e-01 6.66668065e-01 3.51051794e-02 2.63218712e+02] [ 4.73624702e-02 2.95324809e-04 9.98877725e-01 6.78748499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3392541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:453.74, Y:263.19, Z:67.88 [[ 6.66597593e-01 7.44720930e-01 -3.22239803e-02 4.53736384e+02] [-7.43869605e-01 6.67375965e-01 3.55996152e-02 2.63193241e+02] [ 4.80172885e-02 2.39821645e-04 9.98846476e-01 6.78757517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.76, Y:263.17, Z:67.88 [[ 6.67207620e-01 7.44186933e-01 -3.19343378e-02 4.53756400e+02] [-7.43349261e-01 6.67971388e-01 3.53001609e-02 2.63166647e+02] [ 4.76011424e-02 1.85830015e-04 9.98866406e-01 6.78776159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.78, Y:263.14, Z:67.88 [[ 6.67420387e-01 7.43976601e-01 -3.23858756e-02 4.53776969e+02] [-7.43113755e-01 6.68205651e-01 3.58211444e-02 2.63142740e+02] [ 4.82905183e-02 1.58627569e-04 9.98833320e-01 6.78799073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:453.80, Y:263.12, Z:67.88 [[ 6.67906963e-01 7.43522974e-01 -3.27700662e-02 4.53797567e+02] [-7.42637954e-01 6.68710382e-01 3.62669791e-02 2.63116859e+02] [ 4.88790157e-02 1.13327065e-04 9.98804700e-01 6.78814925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:453.82, Y:263.09, Z:67.88 [[ 6.68240345e-01 7.43199135e-01 -3.33149694e-02 4.53818589e+02] [-7.42282954e-01 6.69070280e-01 3.68914292e-02 2.63092081e+02] [ 4.97077342e-02 7.67925066e-05 9.98763804e-01 6.78827670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.84, Y:263.07, Z:67.88 [[ 6.68622947e-01 7.42876397e-01 -3.28331001e-02 4.53839134e+02] [-7.41985151e-01 6.69428605e-01 3.63782783e-02 2.63067514e+02] [ 4.90039808e-02 3.83210453e-05 9.98798583e-01 6.78844204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:453.86, Y:263.04, Z:67.89 [[ 6.69949320e-01 7.41647196e-01 -3.35759552e-02 4.53859686e+02] [-7.40712556e-01 6.70790155e-01 3.72219979e-02 2.63041557e+02] [ 5.01280106e-02 -6.67205786e-05 9.98742799e-01 6.78861829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.88, Y:263.02, Z:67.89 [[ 6.70529897e-01 7.41146495e-01 -3.30383092e-02 4.53879700e+02] [-7.40239957e-01 6.71343324e-01 3.66462345e-02 2.63016645e+02] [ 4.93402767e-02 -1.16119247e-04 9.98782020e-01 6.78883099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.5792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:453.90, Y:262.99, Z:67.89 [[ 6.71392591e-01 7.40353971e-01 -3.32864374e-02 4.53901126e+02] [-7.39431787e-01 6.72217199e-01 3.69414386e-02 2.62991777e+02] [ 4.97254564e-02 -1.89158245e-04 9.98762906e-01 6.78893040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:453.92, Y:262.97, Z:67.89 [[ 6.71663231e-01 7.40131585e-01 -3.27679924e-02 4.53922186e+02] [-7.39236664e-01 6.72462037e-01 3.63863231e-02 2.62966338e+02] [ 4.89658978e-02 -2.16053953e-04 9.98800428e-01 6.78914380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:453.94, Y:262.94, Z:67.89 [[ 6.72595227e-01 7.39275023e-01 -3.29863855e-02 4.53943770e+02] [-7.38366066e-01 6.73403560e-01 3.66496692e-02 2.62940833e+02] [ 4.93073344e-02 -2.94364846e-04 9.98783610e-01 6.78922115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6692541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:453.96, Y:262.92, Z:67.89 [[ 6.72160797e-01 7.39699577e-01 -3.23171769e-02 4.53964879e+02] [-7.38826661e-01 6.72937191e-01 3.59263470e-02 2.62915351e+02] [ 4.83221339e-02 -2.71490123e-04 9.98831766e-01 6.78938733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.6992541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:453.99, Y:262.89, Z:67.89 [[ 6.71877602e-01 7.39926328e-01 -3.30078358e-02 4.53986186e+02] [-7.39014987e-01 6.72687858e-01 3.67136952e-02 2.62891490e+02] [ 4.93694001e-02 -2.73824170e-04 9.98780550e-01 6.78948020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.01, Y:262.87, Z:67.90 [[ 6.70070302e-01 7.41610348e-01 -3.19355952e-02 4.54006741e+02] [-7.40758525e-01 6.70830879e-01 3.55350596e-02 2.62865566e+02] [ 4.77765513e-02 -1.54423689e-04 9.98858037e-01 6.78960737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.03, Y:262.84, Z:67.90 [[ 6.69042255e-01 7.42526044e-01 -3.22108008e-02 4.54027878e+02] [-7.41659538e-01 6.69817187e-01 3.58617637e-02 2.62840846e+02] [ 4.82036415e-02 -1.03587640e-04 9.98837523e-01 6.78972865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.05, Y:262.82, Z:67.90 [[ 6.67125152e-01 7.44254296e-01 -3.20869896e-02 4.54049182e+02] [-7.43395461e-01 6.67896357e-01 3.57441668e-02 2.62815298e+02] [ 4.80335331e-02 7.48970378e-06 9.98845724e-01 6.78982249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.07, Y:262.79, Z:67.90 [[ 6.65608295e-01 7.45599470e-01 -3.23578152e-02 4.54071133e+02] [-7.44726643e-01 6.66394345e-01 3.60666627e-02 2.62790191e+02] [ 4.84543496e-02 9.14572621e-05 9.98825394e-01 6.78994484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:454.09, Y:262.77, Z:67.90 [[ 6.64346635e-01 7.46722369e-01 -3.23921629e-02 4.54092310e+02] [-7.45848033e-01 6.65135834e-01 3.61252562e-02 2.62766534e+02] [ 4.85207251e-02 1.59938608e-04 9.98822163e-01 6.79002675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.8792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.11, Y:262.74, Z:67.90 [[ 6.61113064e-01 7.49600274e-01 -3.20771826e-02 4.54114566e+02] [-7.48745313e-01 6.61890703e-01 3.57931899e-02 2.62741657e+02] [ 4.80621740e-02 3.54294684e-04 9.98844283e-01 6.79010434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.14, Y:262.72, Z:67.90 [[ 6.59283075e-01 7.51209121e-01 -3.21042687e-02 4.54136039e+02] [-7.50353619e-01 6.60064123e-01 3.58441122e-02 2.62717258e+02] [ 4.81173000e-02 4.58137616e-04 9.98841587e-01 6.79023316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.16, Y:262.69, Z:67.90 [[ 6.57960189e-01 7.52367315e-01 -3.21218556e-02 4.54157278e+02] [-7.51511253e-01 6.58743610e-01 3.58844356e-02 2.62693509e+02] [ 4.81583436e-02 5.29405923e-04 9.98839574e-01 6.79031664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.18, Y:262.67, Z:67.90 [[ 6.56785218e-01 7.53401523e-01 -3.19268452e-02 4.54178628e+02] [-7.52556191e-01 6.57560490e-01 3.56844819e-02 2.62669454e+02] [ 4.78785750e-02 5.89704771e-04 9.98852989e-01 6.79041335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 811.9992541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:454.20, Y:262.64, Z:67.91 [[ 6.55060508e-01 7.54862833e-01 -3.28303903e-02 4.54200436e+02] [-7.53970016e-01 6.55882311e-01 3.67098051e-02 2.62644993e+02] [ 4.92437397e-02 7.05986305e-04 9.98786542e-01 6.79053074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:454.22, Y:262.62, Z:67.91 [[ 6.54181091e-01 7.55653306e-01 -3.21742377e-02 4.54222389e+02] [-7.54795794e-01 6.54971403e-01 3.59968243e-02 2.62620268e+02] [ 4.82743249e-02 7.36537555e-04 9.98833844e-01 6.79063631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.24, Y:262.60, Z:67.91 [[ 6.53066448e-01 7.56659341e-01 -3.11585669e-02 4.54243854e+02] [-7.55855358e-01 6.53808876e-01 3.48802583e-02 2.62595569e+02] [ 4.67642209e-02 7.72243333e-04 9.98905657e-01 6.79082734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.0892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.27, Y:262.57, Z:67.91 [[ 6.51164901e-01 7.58310198e-01 -3.08206871e-02 4.54265558e+02] [-7.57524501e-01 6.51893311e-01 3.45216075e-02 2.62572005e+02] [ 4.62698868e-02 8.68166512e-04 9.98928598e-01 6.79092257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:454.29, Y:262.55, Z:67.91 [[ 6.50036035e-01 7.59281586e-01 -3.07347834e-02 4.54288037e+02] [-7.58500480e-01 6.50761572e-01 3.44441513e-02 2.62547445e+02] [ 4.61538257e-02 9.22408397e-04 9.98933919e-01 6.79101040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.31, Y:262.52, Z:67.91 [[ 6.48737443e-01 7.60382986e-01 -3.09426070e-02 4.54310047e+02] [-7.59591592e-01 6.49474192e-01 3.46970899e-02 2.62523063e+02] [ 4.64795015e-02 9.94442687e-04 9.98918749e-01 6.79115018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.1792541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:454.33, Y:262.50, Z:67.91 [[ 6.46423826e-01 7.62286595e-01 -3.24866794e-02 4.54332149e+02] [-7.61415547e-01 6.47238572e-01 3.64499081e-02 2.62500195e+02] [ 4.88119083e-02 1.17377366e-03 9.98807299e-01 6.79109972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2092541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:454.35, Y:262.48, Z:67.91 [[ 6.45181447e-01 7.63322088e-01 -3.28677698e-02 4.54354423e+02] [-7.62430811e-01 6.46016887e-01 3.68976987e-02 2.62475781e+02] [ 4.93979628e-02 1.25368975e-03 9.98778389e-01 6.79122049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:454.38, Y:262.45, Z:67.91 [[ 6.43284812e-01 7.64867577e-01 -3.40916428e-02 4.54376482e+02] [-7.63909647e-01 6.44186001e-01 3.82942174e-02 2.62451828e+02] [ 5.12513644e-02 1.40884638e-03 9.98684792e-01 6.79122487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.40, Y:262.43, Z:67.91 [[ 6.42487479e-01 7.65542787e-01 -3.39717580e-02 4.54398279e+02] [-7.64591386e-01 6.43383368e-01 3.81818566e-02 2.62426925e+02] [ 5.10867090e-02 1.44314873e-03 9.98693179e-01 6.79137496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.2992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:454.42, Y:262.40, Z:67.91 [[ 6.42363650e-01 7.65609731e-01 -3.47948471e-02 4.54419793e+02] [-7.64610537e-01 6.43303647e-01 3.91298426e-02 2.62403227e+02] [ 5.23418403e-02 1.46891824e-03 9.98628146e-01 6.79144865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3292541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:454.44, Y:262.38, Z:67.92 [[ 6.42266921e-01 7.65691288e-01 -3.47858407e-02 4.54441934e+02] [-7.64691780e-01 6.43206585e-01 3.91378478e-02 2.62378173e+02] [ 5.23419909e-02 1.46350146e-03 9.98628146e-01 6.79157450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.46, Y:262.35, Z:67.92 [[ 6.42021849e-01 7.65921219e-01 -3.42437104e-02 4.54462837e+02] [-7.64952287e-01 6.42932797e-01 3.85411003e-02 2.62353404e+02] [ 5.15358511e-02 1.45057612e-03 9.98670092e-01 6.79173072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.48, Y:262.33, Z:67.92 [[ 6.43427036e-01 7.64768151e-01 -3.36351837e-02 4.54482764e+02] [-7.63830794e-01 6.44304222e-01 3.78759669e-02 2.62328041e+02] [ 5.06376240e-02 1.32116797e-03 9.98716219e-01 6.79195272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4192541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:454.50, Y:262.30, Z:67.92 [[ 6.44487003e-01 7.63860734e-01 -3.39600009e-02 4.54504359e+02] [-7.62903080e-01 6.45379898e-01 3.82580430e-02 2.62302680e+02] [ 5.11409187e-02 1.25137779e-03 9.98690663e-01 6.79203050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.52, Y:262.28, Z:67.92 [[ 6.45420481e-01 7.63118004e-01 -3.29137580e-02 4.54524454e+02] [-7.62216479e-01 6.46258159e-01 3.71002902e-02 2.62277515e+02] [ 4.95826841e-02 1.14212161e-03 9.98769369e-01 6.79230928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.4792541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:454.55, Y:262.25, Z:67.92 [[ 6.48043148e-01 7.60927893e-01 -3.20752252e-02 4.54545551e+02] [-7.60068102e-01 6.48835776e-01 3.61747889e-02 2.62252202e+02] [ 4.83379596e-02 9.36531526e-04 9.98830599e-01 6.79234916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.57, Y:262.23, Z:67.93 [[ 6.48927047e-01 7.60206455e-01 -3.13022938e-02 4.54565583e+02] [-7.59385839e-01 6.49681019e-01 3.53231013e-02 2.62227648e+02] [ 4.71893557e-02 8.48402814e-04 9.98885602e-01 6.79264026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.59, Y:262.20, Z:67.93 [[ 6.50364341e-01 7.59016508e-01 -3.03342156e-02 4.54586528e+02] [-7.58243752e-01 6.51070974e-01 3.42490840e-02 2.62202316e+02] [ 4.57453474e-02 7.26346445e-04 9.98952870e-01 6.79283443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5692541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:454.61, Y:262.18, Z:67.93 [[ 6.50634716e-01 7.58790932e-01 -3.01792744e-02 4.54608537e+02] [-7.58024914e-01 6.51333893e-01 3.40938311e-02 2.62177474e+02] [ 4.55268742e-02 6.94011780e-04 9.98962873e-01 6.79284966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.5992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.63, Y:262.15, Z:67.93 [[ 6.50561360e-01 7.58862503e-01 -2.99602852e-02 4.54628703e+02] [-7.58106768e-01 6.51250518e-01 3.38657744e-02 2.62153455e+02] [ 4.52111176e-02 6.81330749e-04 9.98977222e-01 6.79310519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6292541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:454.65, Y:262.13, Z:67.93 [[ 6.50023713e-01 7.59293959e-01 -3.06896993e-02 4.54649694e+02] [-7.58500559e-01 6.50747394e-01 3.47092274e-02 2.62129781e+02] [ 4.63257485e-02 7.16333259e-04 9.98926129e-01 6.79316069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:454.67, Y:262.10, Z:67.93 [[ 6.48384493e-01 7.60681905e-01 -3.09933830e-02 4.54671011e+02] [-7.59873427e-01 6.49124319e-01 3.50712549e-02 2.62104847e+02] [ 4.67966276e-02 8.11390308e-04 9.98904108e-01 6.79342216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.6892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:454.69, Y:262.08, Z:67.93 [[ 6.47274220e-01 7.61602506e-01 -3.15864988e-02 4.54692808e+02] [-7.60762924e-01 6.48043860e-01 3.57621260e-02 2.62081078e+02] [ 4.77059614e-02 8.81934995e-04 9.98861033e-01 6.79349284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7192541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:454.72, Y:262.06, Z:67.94 [[ 6.44368638e-01 7.64012345e-01 -3.27749165e-02 4.54715204e+02] [-7.63110668e-01 6.45200705e-01 3.71235521e-02 2.62057627e+02] [ 4.95092513e-02 1.08963576e-03 9.98773071e-01 6.79362932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.74, Y:262.03, Z:67.94 [[ 6.42665081e-01 7.65423212e-01 -3.33001475e-02 4.54736708e+02] [-7.64493181e-01 6.43526113e-01 3.77401443e-02 2.62034124e+02] [ 5.03166969e-02 1.20346275e-03 9.98732588e-01 6.79384911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.76, Y:262.01, Z:67.94 [[ 6.40810698e-01 7.66968477e-01 -3.34814114e-02 4.54759246e+02] [-7.66029322e-01 6.41683425e-01 3.79665642e-02 2.62010051e+02] [ 5.06036246e-02 1.31836236e-03 9.98717946e-01 6.79393807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:454.78, Y:261.99, Z:67.94 [[ 6.37257523e-01 7.69896895e-01 -3.40825624e-02 4.54782112e+02] [-7.68926661e-01 6.38166379e-01 3.86712166e-02 2.61987009e+02] [ 5.15231950e-02 1.56346721e-03 9.98670574e-01 6.79409482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.81, Y:261.96, Z:67.94 [[ 6.36606303e-01 7.70391798e-01 -3.50555607e-02 4.54805624e+02] [-7.69364823e-01 6.37568669e-01 3.97990242e-02 2.61963690e+02] [ 5.30111689e-02 1.63420554e-03 9.98592582e-01 6.79432332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:454.83, Y:261.94, Z:67.94 [[ 6.34819923e-01 7.71826809e-01 -3.58753761e-02 4.54829618e+02] [-7.70942306e-01 6.35819822e-01 3.71633606e-02 2.61942925e+02] [ 5.14939532e-02 4.06580349e-03 9.98665030e-01 6.79410917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.8992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:454.85, Y:261.92, Z:67.94 [[ 6.34731980e-01 7.71836629e-01 -3.71958686e-02 4.54852887e+02] [-7.71010731e-01 6.35795076e-01 3.61534889e-02 2.61920194e+02] [ 5.15535371e-02 5.73063827e-03 9.98653790e-01 6.79402798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.87, Y:261.90, Z:67.94 [[ 6.34926838e-01 7.71806914e-01 -3.43802092e-02 4.54873403e+02] [-7.70935334e-01 6.35849230e-01 3.68030865e-02 2.61896779e+02] [ 5.02655062e-02 3.13765074e-03 9.98730962e-01 6.79421757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.89, Y:261.87, Z:67.95 [[ 6.33230210e-01 7.73407904e-01 -2.93208920e-02 4.54890725e+02] [-7.72155713e-01 6.33885436e-01 4.43261661e-02 2.61867029e+02] [ 5.28682936e-02 -5.42837322e-03 9.98586740e-01 6.79511947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 812.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.92, Y:261.85, Z:67.94 [[ 6.35565941e-01 7.70808746e-01 -4.37013944e-02 4.54922528e+02] [-7.70563737e-01 6.36834754e-01 2.59426962e-02 2.61854721e+02] [ 4.78274239e-02 1.71864156e-02 9.98707747e-01 6.79378418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:454.93, Y:261.82, Z:67.96 [[ 6.33128277e-01 7.73697491e-01 -2.32546155e-02 4.54931665e+02] [-7.72207430e-01 6.33408543e-01 4.98929148e-02 2.61816913e+02] [ 5.33316952e-02 -1.36312283e-02 9.98483811e-01 6.79568100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:454.96, Y:261.80, Z:67.95 [[ 6.32966816e-01 7.73398516e-01 -3.47526302e-02 4.54958346e+02] [-7.72385796e-01 6.33917652e-01 3.96054608e-02 2.61798006e+02] [ 5.26611104e-02 1.77349552e-03 9.98610866e-01 6.79521197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:454.99, Y:261.79, Z:67.94 [[ 6.36700683e-01 7.69650662e-01 -4.74352184e-02 4.54989524e+02] [-7.69674572e-01 6.38064089e-01 2.18007400e-02 2.61786950e+02] [ 4.70456634e-02 2.26291354e-02 9.98636384e-01 6.79366905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:455.00, Y:261.76, Z:67.95 [[ 6.37161689e-01 7.70054628e-01 -3.22622374e-02 4.55003493e+02] [-7.69190760e-01 6.37976046e-01 3.64984941e-02 2.61755959e+02] [ 4.86883689e-02 1.56037278e-03 9.98812799e-01 6.79456753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:455.01, Y:261.72, Z:67.96 [[ 6.36245809e-01 7.71236467e-01 -1.96362461e-02 4.55014742e+02] [-7.69597829e-01 6.36262526e-01 5.37510958e-02 2.61720451e+02] [ 5.39486128e-02 -1.90868971e-02 9.98361276e-01 6.79641353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.05, Y:261.71, Z:67.95 [[ 6.39473738e-01 7.67629577e-01 -4.26400031e-02 4.55049500e+02] [-7.67319212e-01 6.40704553e-01 2.68123864e-02 2.61711373e+02] [ 4.79016249e-02 1.55726766e-02 9.98730657e-01 6.79455830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.06, Y:261.67, Z:67.97 [[ 6.38426109e-01 7.69319122e-01 -2.36683766e-02 4.55057751e+02] [-7.67906176e-01 6.38739310e-01 4.82928497e-02 2.61673955e+02] [ 5.22705353e-02 -1.26563236e-02 9.98552757e-01 6.79653674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.08, Y:261.65, Z:67.96 [[ 6.39615158e-01 7.67960363e-01 -3.36055003e-02 4.55083294e+02] [-7.66999434e-01 6.40496248e-01 3.84242694e-02 2.61653862e+02] [ 5.10325128e-02 1.19865461e-03 9.98696273e-01 6.79613910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2592541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:455.11, Y:261.64, Z:67.95 [[ 6.44787714e-01 7.63188550e-01 -4.23325182e-02 4.55111858e+02] [-7.63071079e-01 6.45928080e-01 2.23482566e-02 2.61638989e+02] [ 4.43996957e-02 1.78928390e-02 9.98853600e-01 6.79480431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.12, Y:261.60, Z:67.97 [[ 6.43297523e-01 7.65358257e-01 -1.98754780e-02 4.55117998e+02] [-7.63991526e-01 6.43406362e-01 4.84272883e-02 2.61599678e+02] [ 4.98522339e-02 -1.59684579e-02 9.98628942e-01 6.79712359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.15, Y:261.58, Z:67.97 [[ 6.44920109e-01 7.63569702e-01 -3.22391621e-02 4.55145311e+02] [-7.62677406e-01 6.45724940e-01 3.69117468e-02 2.61579376e+02] [ 4.90023226e-02 7.82952754e-04 9.98798358e-01 6.79661156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.17, Y:261.55, Z:67.97 [[ 6.45621412e-01 7.62984387e-01 -3.20595815e-02 4.55166656e+02] [-7.62100257e-01 6.46416511e-01 3.67272825e-02 2.61554554e+02] [ 4.87461859e-02 7.20695259e-04 9.98810938e-01 6.79673554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.3792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:455.19, Y:261.53, Z:67.97 [[ 6.46141243e-01 7.62540371e-01 -3.21508398e-02 4.55187761e+02] [-7.61649604e-01 6.46940280e-01 3.68531477e-02 2.61529873e+02] [ 4.89016863e-02 6.75335769e-04 9.98803369e-01 6.79679475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.22, Y:261.52, Z:67.95 [[ 6.50081396e-01 7.58731161e-01 -4.14874043e-02 4.55217062e+02] [-7.58661399e-01 6.51155204e-01 2.07311746e-02 2.61515527e+02] [ 4.27441274e-02 1.79979413e-02 9.98923928e-01 6.79538521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:455.23, Y:261.48, Z:67.96 [[ 6.49382716e-01 7.59997055e-01 -2.65812791e-02 4.55229529e+02] [-7.59079130e-01 6.49912773e-01 3.75800703e-02 2.61482796e+02] [ 4.58362556e-02 -4.22655394e-03 9.98940025e-01 6.79648711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.25, Y:261.46, Z:67.96 [[ 6.49789429e-01 7.59437704e-01 -3.20635567e-02 4.55254148e+02] [-7.58844440e-01 6.50563754e-01 3.03630902e-02 2.61461970e+02] [ 4.39182633e-02 4.60163674e-03 9.99024530e-01 6.79610340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.27, Y:261.43, Z:67.98 [[ 6.46963419e-01 7.62257983e-01 -2.00275411e-02 4.55265415e+02] [-7.60909025e-01 6.47079926e-01 4.80106792e-02 2.61426844e+02] [ 4.95559433e-02 -1.58220164e-02 9.98646020e-01 6.79783948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:455.30, Y:261.42, Z:67.96 [[ 6.49175681e-01 7.59370007e-01 -4.39104657e-02 4.55301218e+02] [-7.59291487e-01 6.50379431e-01 2.19780236e-02 2.61418046e+02] [ 4.52479157e-02 1.90732443e-02 9.98793691e-01 6.79574250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.31, Y:261.38, Z:67.98 [[ 6.46297672e-01 7.62855695e-01 -1.87218643e-02 4.55306568e+02] [-7.61443778e-01 6.46321619e-01 4.97165812e-02 2.61377916e+02] [ 5.00269228e-02 -1.78760636e-02 9.98587880e-01 6.79818031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.5892541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:455.34, Y:261.37, Z:67.96 [[ 6.47764985e-01 7.60838050e-01 -3.90638602e-02 4.55340464e+02] [-7.60418539e-01 6.48836732e-01 2.78305814e-02 2.61367141e+02] [ 4.65206326e-02 1.16772073e-02 9.98849075e-01 6.79642459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6192541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:455.35, Y:261.34, Z:67.98 [[ 6.46468492e-01 7.62484442e-01 -2.63811498e-02 4.55354140e+02] [-7.61286889e-01 6.46956920e-01 4.34628106e-02 2.61335503e+02] [ 5.02071843e-02 -8.01371418e-03 9.98706673e-01 6.79756898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:455.38, Y:261.32, Z:67.97 [[ 6.46533152e-01 7.62106094e-01 -3.44845733e-02 4.55379190e+02] [-7.61262706e-01 6.47445227e-01 3.59690266e-02 2.61315428e+02] [ 4.97390868e-02 2.99665143e-03 9.98757750e-01 6.79729391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.40, Y:261.28, Z:67.98 [[ 6.44285053e-01 7.64144848e-01 -3.12957117e-02 4.55396904e+02] [-7.62971705e-01 6.45035276e-01 4.24696341e-02 2.61284380e+02] [ 5.26397901e-02 -3.48480794e-03 9.98607485e-01 6.79796266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.42, Y:261.26, Z:67.98 [[ 6.44595549e-01 7.63723224e-01 -3.49773474e-02 4.55420126e+02] [-7.62656481e-01 6.45543491e-01 4.03570603e-02 2.61260305e+02] [ 5.34010231e-02 6.61719264e-04 9.98572928e-01 6.79792840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.44, Y:261.24, Z:67.98 [[ 6.46936006e-01 7.61704696e-01 -3.57737372e-02 4.55442392e+02] [-7.60584349e-01 6.47924159e-01 4.13005112e-02 2.61235710e+02] [ 5.46374619e-02 4.90156871e-04 9.98506138e-01 6.79806977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.46, Y:261.21, Z:67.98 [[ 6.47865533e-01 7.61040357e-01 -3.29822135e-02 4.55461511e+02] [-7.59873889e-01 6.48700581e-01 4.21809067e-02 2.61211644e+02] [ 5.34969533e-02 -2.26523271e-03 9.98565443e-01 6.79820763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.7992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:455.48, Y:261.19, Z:67.98 [[ 6.47787024e-01 7.60906156e-01 -3.73335418e-02 4.55483799e+02] [-7.59934818e-01 6.48853154e-01 3.85831244e-02 2.61186143e+02] [ 5.35821232e-02 3.37741097e-03 9.98557735e-01 6.79816468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.50, Y:261.16, Z:67.99 [[ 6.49980300e-01 7.59212790e-01 -3.34895338e-02 4.55502202e+02] [-7.58224301e-01 6.50842447e-01 3.87300689e-02 2.61160333e+02] [ 5.12007738e-02 2.18796531e-04 9.98688356e-01 6.79850370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:455.52, Y:261.14, Z:67.99 [[ 6.51088884e-01 7.58264118e-01 -3.34483656e-02 4.55523045e+02] [-7.57275728e-01 6.51947476e-01 3.87035070e-02 2.61135448e+02] [ 5.11540581e-02 1.30212226e-04 9.98690766e-01 6.79864439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.54, Y:261.11, Z:67.99 [[ 6.53330261e-01 7.56537827e-01 -2.84620108e-02 4.55541179e+02] [-7.55482885e-01 6.53932490e-01 4.02232513e-02 2.61110027e+02] [ 4.90426448e-02 -4.77650522e-03 9.98785264e-01 6.79914794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.56, Y:261.09, Z:67.99 [[ 6.53723835e-01 7.55926059e-01 -3.49419678e-02 4.55564741e+02] [-7.55223631e-01 6.54638999e-01 3.29400589e-02 2.61088317e+02] [ 4.77746238e-02 4.85529817e-03 9.98846340e-01 6.79879353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.58, Y:261.06, Z:67.99 [[ 6.54329556e-01 7.55581636e-01 -3.08094608e-02 4.55583889e+02] [-7.54737581e-01 6.55054486e-01 3.57044151e-02 2.61061735e+02] [ 4.71594759e-02 -1.09396137e-04 9.98887367e-01 6.79909704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 813.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.60, Y:261.04, Z:67.99 [[ 6.54656585e-01 7.55316115e-01 -3.03697465e-02 4.55604213e+02] [-7.54494808e-01 6.55360623e-01 3.52141718e-02 2.61037558e+02] [ 4.65009674e-02 -1.39373335e-04 9.98918235e-01 6.79922897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.63, Y:261.01, Z:67.99 [[ 6.54689854e-01 7.55286945e-01 -3.03780478e-02 4.55625498e+02] [-7.54464288e-01 6.55394238e-01 3.52424659e-02 2.61012652e+02] [ 4.65277719e-02 -1.53732641e-04 9.98916985e-01 6.79937591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0392541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:455.65, Y:260.99, Z:67.99 [[ 6.54668383e-01 7.55281229e-01 -3.09769777e-02 4.55647598e+02] [-7.54424795e-01 6.55400821e-01 3.59582022e-02 2.60987604e+02] [ 4.74608918e-02 -1.70897987e-04 9.98873082e-01 6.79941117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.67, Y:260.96, Z:68.00 [[ 6.54216762e-01 7.55681596e-01 -3.07531108e-02 4.55667856e+02] [-7.54836998e-01 6.54939159e-01 3.57184149e-02 2.60963220e+02] [ 4.71331653e-02 -1.53999924e-04 9.98888603e-01 6.79957071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.69, Y:260.94, Z:68.00 [[ 6.54374618e-01 7.55526897e-01 -3.11924241e-02 4.55688746e+02] [-7.54656864e-01 6.55117604e-01 3.62483454e-02 2.60938329e+02] [ 4.78213061e-02 -1.80420208e-04 9.98855891e-01 6.79972338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:455.71, Y:260.91, Z:68.00 [[ 6.55248565e-01 7.54730624e-01 -3.21092410e-02 4.55709858e+02] [-7.53806647e-01 6.56034769e-01 3.73352650e-02 2.60913037e+02] [ 4.92428463e-02 -2.59719523e-04 9.98786801e-01 6.79978839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.73, Y:260.89, Z:68.00 [[ 6.55171595e-01 7.54808628e-01 -3.18451969e-02 4.55731133e+02] [-7.53898870e-01 6.55945017e-01 3.70490084e-02 2.60887391e+02] [ 4.88536094e-02 -2.65399953e-04 9.98805914e-01 6.79994453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.1892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:455.75, Y:260.86, Z:68.00 [[ 6.55196454e-01 7.54773539e-01 -3.21638298e-02 4.55751722e+02] [-7.53844397e-01 6.55985384e-01 3.74406433e-02 2.60863441e+02] [ 4.93582091e-02 -2.84453851e-04 9.98781100e-01 6.80006478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:455.77, Y:260.84, Z:68.00 [[ 6.55107456e-01 7.54851156e-01 -3.21551622e-02 4.55773426e+02] [-7.53921742e-01 6.55896065e-01 3.74480862e-02 2.60838008e+02] [ 4.93581755e-02 -2.90044548e-04 9.98781100e-01 6.80019855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:455.79, Y:260.81, Z:68.00 [[ 6.54602868e-01 7.55275129e-01 -3.24740672e-02 4.55794865e+02] [-7.54327126e-01 6.55407818e-01 3.78309258e-02 2.60813165e+02] [ 4.98565148e-02 -2.68162765e-04 9.98756355e-01 6.80034811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.2792541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:455.82, Y:260.79, Z:68.00 [[ 6.53944531e-01 7.55823622e-01 -3.29727722e-02 4.55818048e+02] [-7.54845869e-01 6.54775224e-01 3.84333352e-02 2.60789084e+02] [ 5.06385769e-02 -2.43908429e-04 9.98717015e-01 6.80045920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:455.84, Y:260.76, Z:68.01 [[ 6.53452820e-01 7.56262925e-01 -3.26465941e-02 4.55839605e+02] [-7.55303896e-01 6.54267789e-01 3.80747336e-02 2.60764861e+02] [ 5.01541243e-02 -2.21942364e-04 9.98741465e-01 6.80062515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:455.86, Y:260.74, Z:68.01 [[ 6.53231640e-01 7.56470660e-01 -3.22578025e-02 4.55861332e+02] [-7.55533539e-01 6.54027594e-01 3.76427586e-02 2.60739675e+02] [ 4.95731354e-02 -2.17589267e-04 9.98770473e-01 6.80078373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:455.88, Y:260.72, Z:68.01 [[ 6.54305589e-01 7.55496957e-01 -3.32948105e-02 4.55882504e+02] [-7.54496149e-01 6.55152081e-01 3.88755981e-02 2.60715515e+02] [ 5.11835604e-02 -3.15714820e-04 9.98689213e-01 6.80100167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.3992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:455.90, Y:260.69, Z:68.01 [[ 6.54717239e-01 7.55158496e-01 -3.28783051e-02 4.55903226e+02] [-7.54181128e-01 6.55542159e-01 3.84096973e-02 2.60690853e+02] [ 5.05585244e-02 -3.51293665e-04 9.98721038e-01 6.80120426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4292541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:455.92, Y:260.67, Z:68.01 [[ 6.56089079e-01 7.53959254e-01 -3.30539487e-02 4.55924441e+02] [-7.52968841e-01 6.56921024e-01 3.86353901e-02 2.60667039e+02] [ 5.08433437e-02 -4.59664081e-04 9.98706535e-01 6.80134442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4592541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:455.95, Y:260.64, Z:68.02 [[ 6.56251731e-01 7.53819168e-01 -3.30201091e-02 4.55946184e+02] [-7.52829564e-01 6.57081752e-01 3.86163076e-02 2.60642338e+02] [ 5.08066240e-02 -4.83504418e-04 9.98708393e-01 6.80151757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.4892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:455.97, Y:260.62, Z:68.02 [[ 6.55951227e-01 7.54087832e-01 -3.28562058e-02 4.55968553e+02] [-7.53107302e-01 6.56773414e-01 3.84457338e-02 2.60617591e+02] [ 5.05705425e-02 -4.74277742e-04 9.98720379e-01 6.80164896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:455.99, Y:260.59, Z:68.02 [[ 6.54922301e-01 7.54974570e-01 -3.30178360e-02 4.55992258e+02] [-7.53984390e-01 6.55753932e-01 3.86564342e-02 2.60594798e+02] [ 5.08362006e-02 -4.22027885e-04 9.98706915e-01 6.80175014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.01, Y:260.57, Z:68.02 [[ 6.53964659e-01 7.55824159e-01 -3.25586449e-02 4.56013712e+02] [-7.54861309e-01 6.54774547e-01 3.81405066e-02 2.60571447e+02] [ 5.01460883e-02 -3.65282090e-04 9.98741827e-01 6.80183332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.04, Y:260.55, Z:68.02 [[ 6.53023909e-01 7.56625493e-01 -3.28273992e-02 4.56036023e+02] [-7.55646601e-01 6.53848423e-01 3.84766691e-02 2.60546978e+02] [ 5.05765719e-02 -3.20272224e-04 9.98720135e-01 6.80197942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.06, Y:260.52, Z:68.02 [[ 6.52338394e-01 7.57212906e-01 -3.29125504e-02 4.56057396e+02] [-7.56228542e-01 6.53168073e-01 3.85987230e-02 2.60522870e+02] [ 5.07248783e-02 -2.90018989e-04 9.98712623e-01 6.80214420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.08, Y:260.50, Z:68.02 [[ 6.51761968e-01 7.57731923e-01 -3.23831848e-02 4.56079531e+02] [-7.56778600e-01 6.52565909e-01 3.79984811e-02 2.60498297e+02] [ 4.99248246e-02 -2.59063552e-04 9.98752945e-01 6.80235096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6692541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:456.10, Y:260.47, Z:68.02 [[ 6.52332363e-01 7.57209517e-01 -3.31094481e-02 4.56101336e+02] [-7.56211095e-01 6.53171987e-01 3.88733218e-02 2.60473836e+02] [ 5.10614132e-02 -3.20593869e-04 9.98695464e-01 6.80246253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.6992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:456.12, Y:260.45, Z:68.03 [[ 6.52965875e-01 7.56708652e-01 -3.20559290e-02 4.56123648e+02] [-7.55771142e-01 6.53752159e-01 3.76576241e-02 2.60449683e+02] [ 4.94524827e-02 -3.62197366e-04 9.98776412e-01 6.80266030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:456.15, Y:260.43, Z:68.03 [[ 6.52629476e-01 7.57034949e-01 -3.11905853e-02 4.56145800e+02] [-7.56146775e-01 6.53374295e-01 3.66617784e-02 2.60425060e+02] [ 4.81333742e-02 -3.41896770e-04 9.98840859e-01 6.80278965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:456.17, Y:260.40, Z:68.03 [[ 6.52306663e-01 7.57329309e-01 -3.07950655e-02 4.56168526e+02] [-7.56462886e-01 6.53033085e-01 3.62172998e-02 2.60402231e+02] [ 4.75386192e-02 -3.29461847e-04 9.98869346e-01 6.80290094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.19, Y:260.38, Z:68.03 [[ 6.51428454e-01 7.58104777e-01 -3.03004563e-02 4.56190431e+02] [-7.57265922e-01 6.52132708e-01 3.56546615e-02 2.60377681e+02] [ 4.67898878e-02 -2.80958015e-04 9.98904714e-01 6.80303127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:456.21, Y:260.35, Z:68.03 [[ 6.51050709e-01 7.58385697e-01 -3.13705219e-02 4.56213013e+02] [-7.57485787e-01 6.51805995e-01 3.69354590e-02 2.60353678e+02] [ 4.84588180e-02 -2.84132325e-04 9.98825141e-01 6.80310542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.23, Y:260.33, Z:68.03 [[ 6.49870144e-01 7.59411608e-01 -3.10291149e-02 4.56234432e+02] [-7.58531366e-01 6.50610454e-01 3.65541421e-02 2.60329650e+02] [ 4.79475063e-02 -2.18888728e-04 9.98849833e-01 6.80321135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.8792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:456.26, Y:260.31, Z:68.03 [[ 6.48528586e-01 7.60514740e-01 -3.20624884e-02 4.56257471e+02] [-7.59575171e-01 6.49320649e-01 3.77922522e-02 2.60306952e+02] [ 4.95604006e-02 -1.55485781e-04 9.98771116e-01 6.80323987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.30, Y:260.30, Z:68.00 [[ 6.51988844e-01 7.55775232e-01 -6.09454309e-02 4.56301139e+02] [-7.57284193e-01 6.53080278e-01 -2.60802610e-03 2.60303320e+02] [ 3.78311774e-02 4.78534154e-02 9.98137692e-01 6.79975865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9392541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:456.29, Y:260.25, Z:68.05 [[ 6.48254178e-01 7.61416197e-01 3.44915847e-03 4.56285117e+02] [-7.59694183e-01 6.46469647e-01 7.02975347e-02 2.60247987e+02] [ 5.12959052e-02 -4.81909761e-02 9.97520105e-01 6.80515838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9692541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:456.32, Y:260.24, Z:68.04 [[ 6.47548066e-01 7.61303693e-01 -3.31389231e-02 4.56324863e+02] [-7.60298499e-01 6.48395458e-01 3.91091167e-02 2.60237671e+02] [ 5.12610422e-02 -1.29559386e-04 9.98685280e-01 6.80354528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 814.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.37, Y:260.23, Z:68.00 [[ 6.50871914e-01 7.56707959e-01 -6.13091838e-02 4.56367065e+02] [-7.58202810e-01 6.52016457e-01 -1.74316518e-03 2.60233800e+02] [ 3.86555298e-02 4.76193727e-02 9.98117300e-01 6.80010374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.35, Y:260.18, Z:68.06 [[ 6.47284001e-01 7.62234546e-01 4.68168629e-03 4.56349795e+02] [-7.60654453e-01 6.45520774e-01 6.86129268e-02 2.60176747e+02] [ 4.92770174e-02 -4.79731953e-02 9.97632371e-01 6.80567834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.41, Y:260.19, Z:68.01 [[ 6.50613480e-01 7.56995223e-01 -6.05006798e-02 4.56410645e+02] [-7.58561777e-01 6.51584171e-01 -4.70098828e-03 2.60186331e+02] [ 3.58626596e-02 4.89520295e-02 9.98157086e-01 6.80051233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.0892541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:456.41, Y:260.15, Z:68.02 [[ 6.51322576e-01 7.58487372e-01 -2.18130354e-02 4.56413324e+02] [-7.58101908e-01 6.51687270e-01 2.41909033e-02 2.60149779e+02] [ 3.25637721e-02 7.80422301e-04 9.99469355e-01 6.80196152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.44, Y:260.13, Z:68.01 [[ 6.50337658e-01 7.59062445e-01 -2.97512222e-02 4.56439068e+02] [-7.58953604e-01 6.50917923e-01 1.71838545e-02 2.60129475e+02] [ 3.24092223e-02 1.14044896e-02 9.99409616e-01 6.80135465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1492541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:456.45, Y:260.10, Z:68.02 [[ 6.48595485e-01 7.60868324e-01 -2.00820974e-02 4.56453907e+02] [-7.60257843e-01 6.48889036e-01 3.08388024e-02 2.60098596e+02] [ 3.64953207e-02 -4.73433593e-03 9.99322609e-01 6.80224671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.1792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:456.48, Y:260.07, Z:68.02 [[ 6.48312063e-01 7.60932051e-01 -2.59592377e-02 4.56478757e+02] [-7.60401863e-01 6.48830258e-01 2.84306834e-02 2.60074928e+02] [ 3.84769571e-02 1.30749769e-03 9.99258632e-01 6.80221326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2092541539998 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:456.50, Y:260.05, Z:68.02 [[ 6.48015677e-01 7.61231717e-01 -2.45347880e-02 4.56499166e+02] [-7.60677300e-01 6.48479952e-01 2.90482034e-02 2.60051201e+02] [ 3.80227318e-02 -1.60634933e-04 9.99276862e-01 6.80234568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2392541539999 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:456.52, Y:260.02, Z:68.03 [[ 6.47052447e-01 7.62168708e-01 -2.05424444e-02 4.56517387e+02] [-7.61386093e-01 6.47338632e-01 3.52691630e-02 2.60022752e+02] [ 4.01789703e-02 -7.18026675e-03 9.99166700e-01 6.80299686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:456.54, Y:260.00, Z:68.03 [[ 6.46967098e-01 7.62206476e-01 -2.17913462e-02 4.56539643e+02] [-7.61400368e-01 6.47301713e-01 3.56366778e-02 2.59998284e+02] [ 4.12680823e-02 -6.46381901e-03 9.99127201e-01 6.80349379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.2992541539999 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:456.56, Y:259.98, Z:68.03 [[ 6.46308711e-01 7.62566822e-01 -2.78727814e-02 4.56562931e+02] [-7.61943049e-01 6.46908169e-01 3.08644154e-02 2.59975271e+02] [ 4.15673091e-02 1.28953150e-03 9.99134874e-01 6.80321704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3292541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:456.49, Y:259.91, Z:68.93 [[ 6.52593100e-01 -1.48781947e-02 7.57562463e-01 4.56489544e+02] [-7.50456570e-01 -1.50687623e-01 6.43512375e-01 2.59912554e+02] [ 1.04580985e-01 -9.88469463e-01 -1.09503142e-01 6.89313196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:456.66, Y:259.89, Z:68.04 [[ 6.49787580e-01 7.54436747e-01 -9.27431696e-02 4.56660671e+02] [-7.53002895e-01 6.55550348e-01 5.69243391e-02 2.59892075e+02] [ 1.03743630e-01 3.28471467e-02 9.94061529e-01 6.80412936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.3892541539999 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:456.67, Y:259.86, Z:68.05 [[ 6.49627315e-01 7.56292905e-01 -7.74944706e-02 4.56673282e+02] [-7.53331686e-01 6.54083310e-01 6.83110140e-02 2.59863090e+02] [ 1.02350975e-01 1.40023396e-02 9.94649794e-01 6.80465671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4192541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:456.68, Y:259.84, Z:68.06 [[ 6.49203305e-01 7.58209224e-01 -6.04470208e-02 4.56682214e+02] [-7.53657453e-01 6.51954787e-01 8.33990373e-02 2.59835102e+02] [ 1.02642644e-01 -8.58658281e-03 9.94681235e-01 6.80596844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4492541539998 meters Centerline goodness : 0.998209 Centerline is valid? [True, True] Translation: X:456.56, Y:259.80, Z:68.94 [[ 6.46930706e-01 4.47188485e-02 7.61236420e-01 4.56563575e+02] [-7.44342359e-01 -1.79806400e-01 6.43136153e-01 2.59800802e+02] [ 1.65635488e-01 -9.82685038e-01 -8.30361481e-02 6.89435277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.4792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:457.20, Y:260.37, Z:69.01 [[ 7.04359383e-01 -7.08232102e-01 4.78032343e-02 4.57201951e+02] [-6.91718485e-01 -6.99937098e-01 -1.77802127e-01 2.60371293e+02] [ 1.59384431e-01 9.21702156e-02 -9.82904499e-01 6.90134559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:457.20, Y:260.37, Z:69.03 [[ 7.57735298e-01 -6.48449648e-01 7.31455538e-02 4.57199765e+02] [-6.32939409e-01 -7.57599429e-01 -1.59470405e-01 2.60368528e+02] [ 1.58823558e-01 7.45396510e-02 -9.84489166e-01 6.90342899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5392541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:457.38, Y:260.49, Z:68.72 [[ 7.98881213e-01 -5.07171708e-01 -3.23366148e-01 4.57377543e+02] [-5.91157789e-01 -5.62829263e-01 -5.77715924e-01 2.60489553e+02] [ 1.11001240e-01 6.52686816e-01 -7.49452230e-01 6.87160730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.20, Y:260.32, Z:69.05 [[ 8.44925121e-01 -5.27180470e-01 9.04560293e-02 4.57203500e+02] [-5.22956506e-01 -8.49699757e-01 -6.72816213e-02 2.60315653e+02] [ 1.12330023e-01 9.54336303e-03 -9.93625126e-01 6.90524358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.5992541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:457.20, Y:260.30, Z:69.06 [[ 8.84588930e-01 -4.56831599e-01 9.38472961e-02 4.57200425e+02] [-4.53102236e-01 -8.89500086e-01 -5.90589642e-02 2.60302650e+02] [ 1.10457179e-01 9.72048624e-03 -9.93833348e-01 6.90587838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6292541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:457.22, Y:260.32, Z:69.05 [[ 9.17661059e-01 -3.89888778e-01 7.67132514e-02 4.57217129e+02] [-3.82463510e-01 -9.19005691e-01 -9.56566911e-02 2.60315763e+02] [ 1.07795385e-01 5.84404010e-02 -9.92453966e-01 6.90529922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:457.28, Y:260.42, Z:68.91 [[ 9.45460156e-01 -3.22267703e-01 -4.74196309e-02 4.57281109e+02] [-3.16192105e-01 -8.72992960e-01 -3.71356761e-01 2.60424558e+02] [ 7.82792865e-02 3.66096734e-01 -9.27278564e-01 6.89134613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.6892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:457.22, Y:260.28, Z:69.07 [[ 9.67573041e-01 -2.40669554e-01 7.66849133e-02 4.57218249e+02] [-2.39309345e-01 -9.70579035e-01 -2.65965310e-02 2.60275522e+02] [ 8.08297444e-02 7.38267004e-03 -9.96700581e-01 6.90708166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:457.22, Y:260.27, Z:69.07 [[ 9.83210652e-01 -1.64546751e-01 7.88744597e-02 4.57218227e+02] [-1.63424153e-01 -9.86342328e-01 -2.05270229e-02 2.60266522e+02] [ 8.11748731e-02 7.29239581e-03 -9.96673197e-01 6.90732121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7492541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:457.22, Y:260.26, Z:69.08 [[ 9.92665637e-01 -8.98533817e-02 8.08783249e-02 4.57217712e+02] [-8.89832235e-02 -9.95930367e-01 -1.43069641e-02 2.60259105e+02] [ 8.18347089e-02 7.00521757e-03 -9.96621296e-01 6.90764501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.22, Y:260.28, Z:69.07 [[ 9.96511328e-01 -1.92825709e-02 8.11994845e-02 4.57224348e+02] [-1.42616890e-02 -9.97976356e-01 -6.19660980e-02 2.60281868e+02] [ 8.22300313e-02 6.05918768e-02 -9.94769745e-01 6.90683905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8092541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:457.24, Y:260.42, Z:68.92 [[ 9.96977050e-01 3.17544956e-02 7.09113137e-02 4.57240543e+02] [ 5.63987802e-02 -9.23520224e-01 -3.79380513e-01 2.60415626e+02] [ 5.34409956e-02 3.82232976e-01 -9.22519383e-01 6.89176495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8392541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:457.24, Y:260.25, Z:69.08 [[ 9.89747557e-01 1.32170110e-01 5.41371873e-02 4.57241108e+02] [ 1.32204048e-01 -9.91218074e-01 2.96965951e-03 2.60249820e+02] [ 5.40542588e-02 4.21794205e-03 -9.98529091e-01 6.90841582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8692541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:457.24, Y:260.24, Z:69.09 [[ 9.76467240e-01 2.08729778e-01 5.42550313e-02 4.57243572e+02] [ 2.08642449e-01 -9.77964504e-01 7.33198079e-03 2.60243028e+02] [ 5.45898975e-02 4.16046358e-03 -9.98500192e-01 6.90854742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.25, Y:260.24, Z:69.08 [[ 9.57437449e-01 2.81532621e-01 6.36625108e-02 4.57246547e+02] [ 2.83074462e-01 -9.58956501e-01 -1.64704989e-02 2.60243353e+02] [ 5.64125959e-02 3.37907035e-02 -9.97835561e-01 6.90807145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.23, Y:260.30, Z:69.02 [[ 9.32656902e-01 3.44675322e-01 1.06536502e-01 4.57233336e+02] [ 3.58262645e-01 -9.19601568e-01 -1.61185712e-01 2.60298672e+02] [ 4.24143972e-02 1.88499015e-01 -9.81157042e-01 6.90165262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9592541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:457.27, Y:260.21, Z:69.09 [[ 9.00909234e-01 4.32181977e-01 3.97654463e-02 4.57267041e+02] [ 4.31913417e-01 -9.01780882e-01 1.55576772e-02 2.60209169e+02] [ 4.25834669e-02 3.15917475e-03 -9.99087918e-01 6.90903360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 815.9892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:457.26, Y:260.22, Z:69.09 [[ 8.64442979e-01 4.99375618e-01 5.79855943e-02 4.57262712e+02] [ 5.00919411e-01 -8.65362232e-01 -1.50980373e-02 2.60222439e+02] [ 4.26389517e-02 4.20975021e-02 -9.98203246e-01 6.90873041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:457.22, Y:260.30, Z:69.00 [[ 8.20924084e-01 5.49850983e-01 1.54102385e-01 4.57220960e+02] [ 5.70703492e-01 -7.99230997e-01 -1.88486971e-01 2.60300834e+02] [ 1.95236565e-02 2.42680263e-01 -9.69909850e-01 6.90005340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0492541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:457.29, Y:260.20, Z:69.10 [[ 7.71413161e-01 6.36132373e-01 1.60418254e-02 4.57285438e+02] [ 6.36043790e-01 -7.71577636e-01 1.07819116e-02 2.60204428e+02] [ 1.92362367e-02 1.88599492e-03 -9.99813188e-01 6.90966331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.0792541539998 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:457.75, Y:259.72, Z:68.11 [[ 7.84298489e-01 -6.20357865e-01 -5.65685037e-03 4.57747339e+02] [ 6.19992150e-01 7.84094847e-01 -2.83726068e-02 2.59715014e+02] [ 2.20366770e-02 1.87453898e-02 9.99581410e-01 6.81074106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:457.78, Y:259.72, Z:68.12 [[ 7.86629365e-01 -6.16558343e-01 -3.27116587e-02 4.57778199e+02] [ 6.16816742e-01 7.87102172e-01 -2.69778993e-03 2.59717142e+02] [ 2.74107625e-02 -1.80549379e-02 9.99461190e-01 6.81233597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:457.79, Y:259.74, Z:68.12 [[ 7.86590012e-01 -6.17115627e-01 -2.10821244e-02 4.57794747e+02] [ 6.16879674e-01 7.86872370e-01 -1.70687276e-02 2.59742284e+02] [ 2.71223197e-02 4.20956642e-04 9.99632034e-01 6.81176200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.81, Y:259.77, Z:68.11 [[ 7.86645233e-01 -6.17353950e-01 -7.96106046e-03 4.57810810e+02] [ 6.16997926e-01 7.86529185e-01 -2.61801729e-02 2.59766224e+02] [ 2.24240395e-02 1.56825504e-02 9.99625540e-01 6.81090350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.1992541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:457.84, Y:259.77, Z:68.12 [[ 7.87774059e-01 -6.15228209e-01 -3.01045200e-02 4.57843444e+02] [ 6.15384354e-01 7.88212159e-01 -4.86719025e-03 2.59771192e+02] [ 2.67231814e-02 -1.46916044e-02 9.99534906e-01 6.81240199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2292541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:457.86, Y:259.79, Z:68.12 [[ 7.87844409e-01 -6.15536458e-01 -2.03974486e-02 4.57861064e+02] [ 6.15314534e-01 7.88108268e-01 -1.65342636e-02 2.59794389e+02] [ 2.62528400e-02 4.75580529e-04 9.99655222e-01 6.81192245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2592541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:457.88, Y:259.81, Z:68.12 [[ 7.87561380e-01 -6.15926219e-01 -1.95439581e-02 4.57884496e+02] [ 6.15722373e-01 7.87803713e-01 -1.58514932e-02 2.59810455e+02] [ 2.51601530e-02 4.50371606e-04 9.99683332e-01 6.81207889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.91, Y:259.83, Z:68.12 [[ 7.87357128e-01 -6.16188733e-01 -1.94986721e-02 4.57906450e+02] [ 6.15985681e-01 7.87598403e-01 -1.58239273e-02 2.59826425e+02] [ 2.51076487e-02 4.48179124e-04 9.99684653e-01 6.81229693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:457.93, Y:259.84, Z:68.12 [[ 7.86386710e-01 -6.17429347e-01 -1.94150592e-02 4.57929288e+02] [ 6.17228238e-01 7.86626234e-01 -1.57629314e-02 2.59842192e+02] [ 2.50048913e-02 4.12236954e-04 9.99687244e-01 6.81223756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3492541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:457.95, Y:259.86, Z:68.12 [[ 7.86435771e-01 -6.17360885e-01 -1.96039692e-02 4.57951844e+02] [ 6.17155581e-01 7.86679958e-01 -1.59258528e-02 2.59858614e+02] [ 2.52540482e-02 4.25961338e-04 9.99680975e-01 6.81245637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.3792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:457.97, Y:259.88, Z:68.12 [[ 7.86053633e-01 -6.17851535e-01 -1.94721866e-02 4.57974290e+02] [ 6.17648895e-01 7.86294670e-01 -1.58282619e-02 2.59875694e+02] [ 2.50903925e-02 4.14888234e-04 9.99685101e-01 6.81232721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:457.99, Y:259.90, Z:68.12 [[ 7.85552816e-01 -6.18702042e-01 -1.07031069e-02 4.57992882e+02] [ 6.18363841e-01 7.85533807e-01 -2.37233532e-02 2.59896717e+02] [ 2.30853394e-02 1.20175326e-02 9.99661266e-01 6.81168551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:458.02, Y:259.90, Z:68.13 [[ 7.86781833e-01 -6.16612267e-01 -2.76343888e-02 4.58023843e+02] [ 6.16666555e-01 7.87188473e-01 -7.52778945e-03 2.59903461e+02] [ 2.63951996e-02 -1.11184753e-02 9.99589752e-01 6.81285185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:458.04, Y:259.92, Z:68.13 [[ 7.87439372e-01 -6.16038800e-01 -2.08670277e-02 4.58043291e+02] [ 6.15804807e-01 7.87715635e-01 -1.69858545e-02 2.59924256e+02] [ 2.69012294e-02 5.25314664e-04 9.99637958e-01 6.81257412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.4992541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:458.07, Y:259.94, Z:68.13 [[ 7.88586638e-01 -6.14527346e-01 -2.20738451e-02 4.58066227e+02] [ 6.14264635e-01 7.88895278e-01 -1.79777479e-02 2.59938975e+02] [ 2.84617699e-02 6.17829345e-04 9.99594691e-01 6.81257183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.09, Y:259.96, Z:68.13 [[ 7.89575563e-01 -6.13238218e-01 -2.25681012e-02 4.58088839e+02] [ 6.12962899e-01 7.89897728e-01 -1.83865368e-02 2.59955338e+02] [ 2.91018190e-02 6.84151395e-04 9.99576218e-01 6.81281365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.11, Y:259.97, Z:68.13 [[ 7.90208315e-01 -6.12401544e-01 -2.31336941e-02 4.58110645e+02] [ 6.12111587e-01 7.90546520e-01 -1.88575217e-02 2.59971452e+02] [ 2.98366368e-02 7.40968291e-04 9.99554514e-01 6.81281489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.13, Y:259.99, Z:68.13 [[ 7.91064472e-01 -6.11267331e-01 -2.38590044e-02 4.58134360e+02] [ 6.10958113e-01 7.91423771e-01 -1.94576259e-02 2.59986158e+02] [ 3.07763943e-02 8.15384269e-04 9.99525962e-01 6.81284467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.16, Y:260.00, Z:68.13 [[ 7.91278899e-01 -6.10990959e-01 -2.38275719e-02 4.58157139e+02] [ 6.10682084e-01 7.91637135e-01 -1.94432218e-02 2.60001980e+02] [ 3.07424235e-02 8.33939853e-04 9.99526992e-01 6.81292631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:458.18, Y:260.02, Z:68.13 [[ 7.91411067e-01 -6.10825369e-01 -2.36831647e-02 4.58179249e+02] [ 6.10519864e-01 7.91764901e-01 -1.93348858e-02 2.60017155e+02] [ 3.05617373e-02 8.42800060e-04 9.99532526e-01 6.81300559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.6792541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:458.20, Y:260.03, Z:68.13 [[ 7.91030423e-01 -6.11323365e-01 -2.35502341e-02 4.58202252e+02] [ 6.11021296e-01 7.91380480e-01 -1.92330858e-02 2.60033730e+02] [ 3.03948302e-02 8.24261416e-04 9.99537631e-01 6.81287339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.23, Y:260.05, Z:68.13 [[ 7.91666219e-01 -6.10534737e-01 -2.26259154e-02 4.58226415e+02] [ 6.10255288e-01 7.91989045e-01 -1.84888149e-02 2.60047699e+02] [ 2.92075409e-02 8.29385665e-04 9.99573025e-01 6.81324296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.25, Y:260.06, Z:68.13 [[ 7.91884171e-01 -6.10270839e-01 -2.21124997e-02 4.58249276e+02] [ 6.10003526e-01 7.92192411e-01 -1.80798871e-02 2.60064472e+02] [ 2.85509824e-02 8.28473643e-04 9.99591994e-01 6.81334321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.27, Y:260.08, Z:68.13 [[ 7.93120911e-01 -6.08698849e-01 -2.10934252e-02 4.58272584e+02] [ 6.08454785e-01 7.93400898e-01 -1.72565820e-02 2.60079535e+02] [ 2.72396041e-02 8.52160571e-04 9.99628570e-01 6.81347008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.7992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:458.29, Y:260.10, Z:68.13 [[ 7.93840756e-01 -6.07751681e-01 -2.13248332e-02 4.58293561e+02] [ 6.07501636e-01 7.94126615e-01 -1.74551180e-02 2.60095988e+02] [ 2.75429949e-02 9.01712977e-04 9.99620213e-01 6.81338499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:458.31, Y:260.11, Z:68.13 [[ 7.94446016e-01 -6.06948877e-01 -2.16469015e-02 4.58314500e+02] [ 6.06690778e-01 7.94740311e-01 -1.77239170e-02 2.60112596e+02] [ 2.79611767e-02 9.47719792e-04 9.99608561e-01 6.81339303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.34, Y:260.13, Z:68.14 [[ 7.94727242e-01 -6.06525475e-01 -2.31399875e-02 4.58336797e+02] [ 6.06230089e-01 7.95063378e-01 -1.89553444e-02 2.60129666e+02] [ 2.98946559e-02 1.03617193e-03 9.99552518e-01 6.81366477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.8892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:458.36, Y:260.15, Z:68.13 [[ 7.94589028e-01 -6.06672790e-01 -2.40083934e-02 4.58357346e+02] [ 6.06354569e-01 7.94950920e-01 -1.96766632e-02 2.60147860e+02] [ 3.10227906e-02 1.07726163e-03 9.99518097e-01 6.81347686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.38, Y:260.17, Z:68.14 [[ 7.94979399e-01 -6.06150852e-01 -2.42672559e-02 4.58378875e+02] [ 6.05825260e-01 7.95348917e-01 -1.98960681e-02 2.60165932e+02] [ 3.13609543e-02 1.11524762e-03 9.99507502e-01 6.81370820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:458.40, Y:260.18, Z:68.14 [[ 7.95489085e-01 -6.05463663e-01 -2.47157569e-02 4.58398246e+02] [ 6.05125266e-01 7.95872088e-01 -2.02739210e-02 2.60184660e+02] [ 3.19457035e-02 1.17155389e-03 9.99488919e-01 6.81354332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 816.9792541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:458.42, Y:260.20, Z:68.14 [[ 7.95474852e-01 -6.05479540e-01 -2.47848023e-02 4.58418961e+02] [ 6.05139056e-01 7.95859998e-01 -2.03368124e-02 2.60202662e+02] [ 3.20387566e-02 1.17917095e-03 9.99485932e-01 6.81351631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.44, Y:260.22, Z:68.14 [[ 7.95753500e-01 -6.05127739e-01 -2.44292245e-02 4.58440961e+02] [ 6.04796499e-01 7.96127514e-01 -2.00543589e-02 2.60220303e+02] [ 3.15842266e-02 1.18361681e-03 9.99500393e-01 6.81387109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0392541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:458.46, Y:260.24, Z:68.14 [[ 7.95035871e-01 -6.06055366e-01 -2.47963341e-02 4.58461624e+02] [ 6.05714214e-01 7.95421599e-01 -2.03659534e-02 2.60237833e+02] [ 3.20664351e-02 1.17217150e-03 9.99485052e-01 6.81365114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0692541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:458.48, Y:260.26, Z:68.14 [[ 7.94731715e-01 -6.06460580e-01 -2.46387123e-02 4.58483294e+02] [ 6.06123709e-01 7.95112717e-01 -2.02439453e-02 2.60255517e+02] [ 3.18677083e-02 1.15439769e-03 9.99491429e-01 6.81381193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.0992541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:458.50, Y:260.27, Z:68.14 [[ 7.94393343e-01 -6.06902598e-01 -2.46668450e-02 4.58504863e+02] [ 6.06564783e-01 7.94775389e-01 -2.02791745e-02 2.60273414e+02] [ 3.19120850e-02 1.14760174e-03 9.99490021e-01 6.81385470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.51, Y:260.31, Z:68.12 [[ 7.90683304e-01 -6.12205406e-01 4.94503294e-03 4.58505945e+02] [ 6.11913593e-01 7.89997115e-01 -3.82924634e-02 2.60305279e+02] [ 1.95362913e-02 3.33031444e-02 9.99254339e-01 6.81158419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.56, Y:260.30, Z:68.16 [[ 7.94186655e-01 -6.06022403e-01 -4.47705643e-02 4.58557653e+02] [ 6.06807582e-01 7.94831782e-01 5.19576146e-03 2.60297126e+02] [ 3.24363196e-02 -3.12935223e-02 9.98983784e-01 6.81556553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.1892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:458.57, Y:260.33, Z:68.14 [[ 7.93801749e-01 -6.07693240e-01 -2.42427279e-02 4.58568456e+02] [ 6.07367024e-01 7.94171082e-01 -1.99396622e-02 2.60327269e+02] [ 3.13700714e-02 1.10390518e-03 9.99507229e-01 6.81432565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.59, Y:260.35, Z:68.14 [[ 7.93384242e-01 -6.08271704e-01 -2.33875827e-02 4.58589525e+02] [ 6.07968097e-01 7.93728185e-01 -1.92447488e-02 2.60345195e+02] [ 3.02694197e-02 1.04957632e-03 9.99541225e-01 6.81440890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:458.61, Y:260.36, Z:68.14 [[ 7.92398164e-01 -6.09590613e-01 -2.24595891e-02 4.58610310e+02] [ 6.09310852e-01 7.92715805e-01 -1.84915876e-02 2.60363802e+02] [ 2.90763695e-02 9.67828711e-04 9.99576724e-01 6.81441769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.2792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:458.63, Y:260.38, Z:68.15 [[ 7.91971445e-01 -6.10152652e-01 -2.22479530e-02 4.58631871e+02] [ 6.09878052e-01 7.92283311e-01 -1.83280247e-02 2.60382062e+02] [ 2.88095747e-02 9.46733988e-04 9.99584470e-01 6.81450572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:458.65, Y:260.40, Z:68.14 [[ 7.91546708e-01 -6.10706707e-01 -2.21613957e-02 4.58652784e+02] [ 6.10434151e-01 7.91856332e-01 -1.82673871e-02 2.60400669e+02] [ 2.87046573e-02 9.31417376e-04 9.99587503e-01 6.81444046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:458.67, Y:260.42, Z:68.15 [[ 7.91916118e-01 -6.10241034e-01 -2.17885839e-02 4.58673545e+02] [ 6.09977138e-01 7.92215247e-01 -1.79692315e-02 2.60418527e+02] [ 2.82268108e-02 9.39585998e-04 9.99601103e-01 6.81455758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.69, Y:260.44, Z:68.15 [[ 7.92326705e-01 -6.09713865e-01 -2.16193244e-02 4.58694964e+02] [ 6.09453699e-01 7.92621025e-01 -1.78353482e-02 2.60436936e+02] [ 2.80103902e-02 9.55445383e-04 9.99607175e-01 6.81470394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.3992541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:458.72, Y:260.46, Z:68.14 [[ 7.92186929e-01 -6.09852576e-01 -2.27970512e-02 4.58715853e+02] [ 6.09563007e-01 7.92514235e-01 -1.88182581e-02 2.60456511e+02] [ 2.95433508e-02 1.01133901e-03 9.99562988e-01 6.81444371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4292541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:458.73, Y:260.48, Z:68.14 [[ 7.93627553e-01 -6.07933397e-01 -2.39226215e-02 4.58734743e+02] [ 6.07613338e-01 7.93987201e-01 -1.97574291e-02 2.60476420e+02] [ 3.10054563e-02 1.14433620e-03 9.99518560e-01 6.81437841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.76, Y:260.49, Z:68.15 [[ 7.94897475e-01 -6.06280535e-01 -2.37047938e-02 4.58755631e+02] [ 6.05965342e-01 7.95249939e-01 -1.95841586e-02 2.60494663e+02] [ 3.07247300e-02 1.20311469e-03 9.99527160e-01 6.81477047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.4892541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:458.78, Y:260.51, Z:68.15 [[ 7.95112754e-01 -6.05957411e-01 -2.47249770e-02 4.58775954e+02] [ 6.05613954e-01 7.95496061e-01 -2.04390622e-02 2.60513861e+02] [ 3.20538230e-02 1.27756792e-03 9.99485328e-01 6.81450077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.80, Y:260.53, Z:68.15 [[ 7.97107763e-01 -6.03343169e-01 -2.44179153e-02 4.58795534e+02] [ 6.03006664e-01 7.97480492e-01 -2.01947547e-02 2.60532259e+02] [ 3.16571784e-02 1.37323004e-03 9.99497843e-01 6.81485572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.82, Y:260.55, Z:68.15 [[ 7.97553426e-01 -6.02743303e-01 -2.46788168e-02 4.58815821e+02] [ 6.02399117e-01 7.97933898e-01 -2.04156349e-02 2.60550922e+02] [ 3.19974517e-02 1.41606215e-03 9.99486947e-01 6.81490421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.5792541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:458.84, Y:260.57, Z:68.15 [[ 7.98003166e-01 -6.02097813e-01 -2.58683292e-02 4.58835151e+02] [ 6.01719040e-01 7.98420891e-01 -2.14073968e-02 2.60571481e+02] [ 3.35431613e-02 1.51770415e-03 9.99436118e-01 6.81459556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.86, Y:260.59, Z:68.15 [[ 7.98684737e-01 -6.01213335e-01 -2.54011267e-02 4.58856270e+02] [ 6.00847289e-01 7.99087083e-01 -2.10325609e-02 2.60589841e+02] [ 3.29427684e-02 1.53618722e-03 9.99456059e-01 6.81494797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:458.88, Y:260.61, Z:68.15 [[ 7.98684511e-01 -6.01197808e-01 -2.57729872e-02 4.58876772e+02] [ 6.00820540e-01 7.99098700e-01 -2.13528988e-02 2.60608362e+02] [ 3.34324766e-02 1.56928941e-03 9.99439747e-01 6.81492543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:458.90, Y:260.63, Z:68.15 [[ 7.99141276e-01 -6.00544092e-01 -2.68331103e-02 4.58896417e+02] [ 6.00134404e-01 7.99589896e-01 -2.22417230e-02 2.60626448e+02] [ 3.48126192e-02 1.67080620e-03 9.99392460e-01 6.81501622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:458.92, Y:260.65, Z:68.15 [[ 7.99206554e-01 -6.00454741e-01 -2.68884417e-02 4.58917885e+02] [ 6.00043021e-01 7.99656967e-01 -2.22959244e-02 2.60645049e+02] [ 3.48892233e-02 1.68482707e-03 9.99389766e-01 6.81515686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7292541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:458.94, Y:260.66, Z:68.15 [[ 7.98941654e-01 -6.00789175e-01 -2.72873725e-02 4.58938081e+02] [ 6.00364958e-01 7.99405695e-01 -2.26374020e-02 2.60663592e+02] [ 3.54139871e-02 1.70358110e-03 9.99371276e-01 6.81493044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7592541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:458.96, Y:260.68, Z:68.15 [[ 7.99215253e-01 -6.00464854e-01 -2.63995796e-02 4.58959493e+02] [ 6.00067347e-01 7.99649408e-01 -2.19089819e-02 2.60682143e+02] [ 3.42659818e-02 1.66846687e-03 9.99411356e-01 6.81528873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.7892541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:458.98, Y:260.70, Z:68.15 [[ 7.99056397e-01 -6.00647330e-01 -2.70491938e-02 4.58979018e+02] [ 6.00229740e-01 7.99512264e-01 -2.24588477e-02 2.60701271e+02] [ 3.51160091e-02 1.71015536e-03 9.99381780e-01 6.81511775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.00, Y:260.72, Z:68.16 [[ 7.99129208e-01 -6.00578122e-01 -2.64277945e-02 4.59000272e+02] [ 6.00179187e-01 7.99564317e-01 -2.19510020e-02 2.60719100e+02] [ 3.43140130e-02 1.68027462e-03 9.99409688e-01 6.81550461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.02, Y:260.74, Z:68.16 [[ 7.98317288e-01 -6.01647499e-01 -2.66419637e-02 4.59021903e+02] [ 6.01242212e-01 7.98760000e-01 -2.21419241e-02 2.60737306e+02] [ 3.46021682e-02 1.65800762e-03 9.99399790e-01 6.81556360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.8792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:459.04, Y:260.75, Z:68.16 [[ 7.95937310e-01 -6.04770981e-01 -2.71267271e-02 4.59042510e+02] [ 6.04352234e-01 7.96397910e-01 -2.25553925e-02 2.60754165e+02] [ 3.52445156e-02 1.55858035e-03 9.99377504e-01 6.81561454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:459.06, Y:260.77, Z:68.16 [[ 7.94205890e-01 -6.07040312e-01 -2.71857477e-02 4.59064265e+02] [ 6.06620765e-01 7.94669683e-01 -2.26128690e-02 2.60771802e+02] [ 3.53306126e-02 1.46783461e-03 9.99374601e-01 6.81571381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9392541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:459.09, Y:260.79, Z:68.16 [[ 7.92124123e-01 -6.09750179e-01 -2.72780879e-02 4.59085858e+02] [ 6.09328914e-01 7.92592496e-01 -2.27026318e-02 2.60789535e+02] [ 3.54633416e-02 1.36197459e-03 9.99370050e-01 6.81562016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9692541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:459.11, Y:260.81, Z:68.16 [[ 7.88489785e-01 -6.14446438e-01 -2.71925318e-02 4.59107664e+02] [ 6.14030228e-01 7.88957692e-01 -2.26415259e-02 2.60805310e+02] [ 3.53657621e-02 1.15557539e-03 9.99373768e-01 6.81570956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 817.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.13, Y:260.82, Z:68.16 [[ 7.86747362e-01 -6.16725102e-01 -2.60525665e-02 4.59129747e+02] [ 6.16344059e-01 7.87177946e-01 -2.16998512e-02 2.60822194e+02] [ 3.38908487e-02 1.01495615e-03 9.99425025e-01 6.81602211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.15, Y:260.84, Z:68.16 [[ 7.86589116e-01 -6.16927167e-01 -2.60467480e-02 4.59151632e+02] [ 6.16546003e-01 7.87019593e-01 -2.17068336e-02 2.60840558e+02] [ 3.38908364e-02 1.01534068e-03 9.99425025e-01 6.81608548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:459.17, Y:260.86, Z:68.16 [[ 7.82751172e-01 -6.21793237e-01 -2.59571303e-02 4.59173648e+02] [ 6.21416954e-01 7.83181021e-01 -2.16438979e-02 2.60857276e+02] [ 3.37871611e-02 8.11585651e-04 9.99428721e-01 6.81601658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.0892541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:459.19, Y:260.87, Z:68.16 [[ 7.81146469e-01 -6.23827868e-01 -2.54751710e-02 4.59194836e+02] [ 6.23466180e-01 7.81561434e-01 -2.12520092e-02 2.60873601e+02] [ 3.31680068e-02 7.18024424e-04 9.99449532e-01 6.81616853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:459.22, Y:260.89, Z:68.16 [[ 7.79460247e-01 -6.25910836e-01 -2.60259194e-02 4.59216821e+02] [ 6.25534220e-01 7.79894354e-01 -2.17194804e-02 2.60890845e+02] [ 3.38919257e-02 6.49368408e-04 9.99425293e-01 6.81612819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1492541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:459.24, Y:260.91, Z:68.16 [[ 7.77891354e-01 -6.27856714e-01 -2.60957485e-02 4.59239583e+02] [ 6.27478734e-01 7.78328732e-01 -2.17904394e-02 2.60907237e+02] [ 3.39923445e-02 5.76067197e-04 9.99421927e-01 6.81621817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.1792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:459.26, Y:260.92, Z:68.16 [[ 7.77645276e-01 -6.28147502e-01 -2.64299339e-02 4.59261088e+02] [ 6.27759585e-01 7.78094070e-01 -2.20799069e-02 2.60924407e+02] [ 3.44344132e-02 5.78690999e-04 9.99406792e-01 6.81635559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2092541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:459.28, Y:260.94, Z:68.16 [[ 7.77206565e-01 -6.28675650e-01 -2.67746721e-02 4.59283025e+02] [ 6.28277564e-01 7.77667412e-01 -2.23762956e-02 2.60942295e+02] [ 3.48892221e-02 5.69078081e-04 9.99391024e-01 6.81622606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:459.30, Y:260.96, Z:68.16 [[ 7.77443124e-01 -6.28356484e-01 -2.73919406e-02 4.59304555e+02] [ 6.27939201e-01 7.77925293e-01 -2.29041166e-02 2.60959357e+02] [ 3.57008336e-02 6.06174682e-04 9.99362338e-01 6.81631673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2692541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:459.33, Y:260.98, Z:68.16 [[ 7.78466239e-01 -6.27038958e-01 -2.85036897e-02 4.59326808e+02] [ 6.26585795e-01 7.78987581e-01 -2.38451170e-02 2.60976927e+02] [ 3.71558377e-02 7.02611446e-04 9.99309237e-01 6.81634385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.2992541539999 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:459.35, Y:260.99, Z:68.16 [[ 7.79160103e-01 -6.26154706e-01 -2.89795981e-02 4.59347734e+02] [ 6.25685259e-01 7.79698466e-01 -2.42540634e-02 2.60993980e+02] [ 3.77821441e-02 7.65691243e-04 9.99285707e-01 6.81635221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3292541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:459.37, Y:261.01, Z:68.17 [[ 7.80006668e-01 -6.25075197e-01 -2.95058787e-02 4.59369447e+02] [ 6.24587397e-01 7.80564086e-01 -2.47040898e-02 2.61011312e+02] [ 3.84731431e-02 8.40354832e-04 9.99259281e-01 6.81652206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.39, Y:261.03, Z:68.17 [[ 7.81702879e-01 -6.22949039e-01 -2.95821592e-02 4.59391251e+02] [ 6.22456773e-01 7.82261837e-01 -2.47787177e-02 2.61027439e+02] [ 3.85768725e-02 9.55979644e-04 9.99255178e-01 6.81677746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.3892541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:459.41, Y:261.04, Z:68.17 [[ 7.81526801e-01 -6.23095257e-01 -3.11152891e-02 4.59412364e+02] [ 6.22550470e-01 7.82145316e-01 -2.60694734e-02 2.61044669e+02] [ 4.05804428e-02 1.00315425e-03 9.99175771e-01 6.81656303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.43, Y:261.06, Z:68.17 [[ 7.81473528e-01 -6.23203897e-01 -3.02659361e-02 4.59434988e+02] [ 6.22688302e-01 7.82058791e-01 -2.53638883e-02 2.61059678e+02] [ 3.94766154e-02 9.74962874e-04 9.99220019e-01 6.81691423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:459.46, Y:261.08, Z:68.17 [[ 7.80235324e-01 -6.24729274e-01 -3.07599408e-02 4.59457276e+02] [ 6.24197484e-01 7.80840885e-01 -2.57878561e-02 2.61077160e+02] [ 4.01290480e-02 9.20318588e-04 9.99194082e-01 6.81688898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.4792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:459.48, Y:261.09, Z:68.17 [[ 7.78981818e-01 -6.26294225e-01 -3.07062113e-02 4.59479212e+02] [ 6.25765006e-01 7.79586317e-01 -2.57552463e-02 2.61093700e+02] [ 4.00685042e-02 8.47996053e-04 9.99196575e-01 6.81694304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:459.50, Y:261.11, Z:68.17 [[ 7.75987978e-01 -6.30072665e-01 -2.91735325e-02 4.59501792e+02] [ 6.29597344e-01 7.76535926e-01 -2.44773501e-02 2.61108010e+02] [ 3.80768053e-02 6.26550818e-04 9.99274619e-01 6.81716584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.51, Y:261.14, Z:68.15 [[ 7.71797124e-01 -6.35862208e-01 2.90729675e-03 4.59507865e+02] [ 6.35314894e-01 7.70925876e-01 -4.52579179e-02 2.61140711e+02] [ 2.65364893e-02 3.67769798e-02 9.98971105e-01 6.81473423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:459.54, Y:261.15, Z:68.15 [[ 7.69358295e-01 -6.38722994e-01 -1.09886642e-02 4.59537715e+02] [ 6.38396730e-01 7.69362009e-01 -2.30589092e-02 2.61147417e+02] [ 2.31825163e-02 1.07254358e-02 9.99673715e-01 6.81528295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.5992541539999 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:459.57, Y:261.15, Z:68.16 [[ 7.68228085e-01 -6.39675321e-01 -2.53198269e-02 4.59566781e+02] [ 6.39786783e-01 7.68539380e-01 -4.48263988e-03 2.61152784e+02] [ 2.23267181e-02 -1.27556007e-02 9.99669352e-01 6.81633559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6292541539999 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:459.58, Y:261.18, Z:68.15 [[ 7.64488843e-01 -6.44596320e-01 -7.23835839e-03 4.59582483e+02] [ 6.44254551e-01 7.64373876e-01 -2.58582897e-02 2.61181981e+02] [ 2.22009704e-02 1.51050286e-02 9.99639413e-01 6.81513914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6592541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:459.63, Y:261.18, Z:68.19 [[ 7.64633030e-01 -6.42451871e-01 -5.09109310e-02 4.59625329e+02] [ 6.43767824e-01 7.65093688e-01 1.39512421e-02 2.61175405e+02] [ 2.99886304e-02 -4.34423998e-02 9.98605748e-01 6.81890993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.6892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:459.63, Y:261.21, Z:68.17 [[ 7.63792457e-01 -6.45068638e-01 -2.25285290e-02 4.59633926e+02] [ 6.44788045e-01 7.64124632e-01 -1.90243230e-02 2.61208240e+02] [ 2.94865981e-02 4.50829256e-06 9.99565176e-01 6.81723164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:459.66, Y:261.23, Z:68.17 [[ 7.63898736e-01 -6.44951820e-01 -2.22681677e-02 4.59656126e+02] [ 6.44677421e-01 7.64223233e-01 -1.88115156e-02 2.61226128e+02] [ 2.91503724e-02 1.43080641e-05 9.99575038e-01 6.81741127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7492541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:459.68, Y:261.24, Z:68.17 [[ 7.63531832e-01 -6.45365944e-01 -2.28460200e-02 4.59677009e+02] [ 6.45076963e-01 7.63873549e-01 -1.93109573e-02 2.61244609e+02] [ 2.99141045e-02 7.08942855e-06 9.99552473e-01 6.81730146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.7792541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:459.70, Y:261.26, Z:68.17 [[ 7.64111619e-01 -6.44667704e-01 -2.31729438e-02 4.59698375e+02] [ 6.44369723e-01 7.64462916e-01 -1.95987398e-02 2.61263301e+02] [ 3.03495307e-02 4.36814119e-05 9.99539346e-01 6.81737727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:459.72, Y:261.28, Z:68.17 [[ 7.64467424e-01 -6.44235587e-01 -2.34534909e-02 4.59718389e+02] [ 6.43929869e-01 7.64827108e-01 -1.98449023e-02 2.61281188e+02] [ 3.07226578e-02 6.83780297e-05 9.99527945e-01 6.81737922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.74, Y:261.30, Z:68.18 [[ 7.65084950e-01 -6.43533184e-01 -2.25845233e-02 4.59739849e+02] [ 6.43249188e-01 7.65418207e-01 -1.91167859e-02 2.61299315e+02] [ 2.95888915e-02 9.84888999e-05 9.99562148e-01 6.81761341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:459.76, Y:261.32, Z:68.18 [[ 7.64938476e-01 -6.43700342e-01 -2.27815254e-02 4.59760480e+02] [ 6.43411108e-01 7.65277636e-01 -1.92947129e-02 2.61318181e+02] [ 2.98542052e-02 1.01381818e-04 9.99554259e-01 6.81764732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.78, Y:261.34, Z:68.18 [[ 7.64677400e-01 -6.44029370e-01 -2.22405949e-02 4.59781849e+02] [ 6.43753539e-01 7.65000759e-01 -1.88472864e-02 2.61336511e+02] [ 2.91522780e-02 9.46323059e-05 9.99574978e-01 6.81772610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.79, Y:261.37, Z:68.16 [[ 7.62657804e-01 -6.46801380e-01 -1.02377488e-03 4.59793160e+02] [ 6.46388703e-01 7.62225886e-01 -3.45448050e-02 2.61366531e+02] [ 2.31239753e-02 2.56841086e-02 9.99402626e-01 6.81589315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9592541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:459.83, Y:261.37, Z:68.19 [[ 7.62929531e-01 -6.45387596e-01 -3.75949729e-02 4.59831771e+02] [ 6.45884512e-01 7.63433796e-01 1.42746816e-03 2.61365122e+02] [ 2.77800026e-02 -2.53710683e-02 9.99292040e-01 6.81877575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 818.9892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:459.85, Y:261.39, Z:68.18 [[ 7.63151823e-01 -6.45896773e-01 -2.04121203e-02 4.59845490e+02] [ 6.45664433e-01 7.63424756e-01 -1.73228862e-02 2.61392843e+02] [ 2.67719142e-02 4.06120717e-05 9.99641567e-01 6.81795277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:459.87, Y:261.41, Z:68.18 [[ 7.62661249e-01 -6.46458074e-01 -2.09708929e-02 4.59865585e+02] [ 6.46212762e-01 7.62949512e-01 -1.78075212e-02 2.61412967e+02] [ 2.75115483e-02 2.94477583e-05 9.99621485e-01 6.81782447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:459.89, Y:261.43, Z:68.18 [[ 7.62813001e-01 -6.46251626e-01 -2.17981960e-02 4.59885388e+02] [ 6.45986243e-01 7.63124390e-01 -1.85186361e-02 2.61431514e+02] [ 2.86024337e-02 4.49216128e-05 9.99590866e-01 6.81784747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.91, Y:261.45, Z:68.18 [[ 7.63451093e-01 -6.45511682e-01 -2.13798219e-02 4.59905975e+02] [ 6.45255965e-01 7.63750393e-01 -1.81680337e-02 2.61449714e+02] [ 2.80565254e-02 7.49475848e-05 9.99606335e-01 6.81800568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:459.93, Y:261.47, Z:68.18 [[ 7.63973870e-01 -6.44816743e-01 -2.35646779e-02 4.59925244e+02] [ 6.44505475e-01 7.64337200e-01 -2.00334360e-02 2.61470175e+02] [ 3.09292549e-02 1.17457743e-04 9.99521569e-01 6.81778992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1392541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:459.95, Y:261.49, Z:68.18 [[ 7.64689890e-01 -6.43951955e-01 -2.39844056e-02 4.59945855e+02] [ 6.43628699e-01 7.65065914e-01 -2.04020781e-02 2.61489439e+02] [ 3.14876093e-02 1.64211087e-04 9.99504129e-01 6.81784871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:459.97, Y:261.51, Z:68.18 [[ 7.65739921e-01 -6.42719855e-01 -2.35278720e-02 4.59966246e+02] [ 6.42407861e-01 7.66101259e-01 -2.00250094e-02 2.61508136e+02] [ 3.08952035e-02 2.19459224e-04 9.99522605e-01 6.81806316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.1992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:459.99, Y:261.53, Z:68.18 [[ 7.65999599e-01 -6.42375798e-01 -2.44529790e-02 4.59985518e+02] [ 6.42038311e-01 7.66389765e-01 -2.08214973e-02 2.61526734e+02] [ 3.21157388e-02 2.49509245e-04 9.99484126e-01 6.81794889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:460.01, Y:261.55, Z:68.18 [[ 7.66646999e-01 -6.41606569e-01 -2.43595900e-02 4.60005374e+02] [ 6.41271106e-01 7.67033851e-01 -2.07470476e-02 2.61545107e+02] [ 3.19960722e-02 2.84560625e-04 9.99487954e-01 6.81803820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.01, Y:261.58, Z:68.15 [[ 7.64333392e-01 -6.44727282e-01 1.10090116e-02 4.60005878e+02] [ 6.44506839e-01 7.63316234e-01 -4.42635343e-02 2.61582845e+02] [ 2.01345509e-02 4.09274805e-02 9.98959229e-01 6.81519121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.2892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:460.06, Y:261.57, Z:68.20 [[ 7.67441498e-01 -6.39092037e-01 -5.09403069e-02 4.60059608e+02] [ 6.40285481e-01 7.68070838e-01 1.00841994e-02 2.61569425e+02] [ 3.26810326e-02 -4.03553720e-02 9.98650787e-01 6.81973161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:460.07, Y:261.60, Z:68.18 [[ 7.68202974e-01 -6.39777950e-01 -2.34172127e-02 4.60067669e+02] [ 6.39466735e-01 7.68559723e-01 -1.99561226e-02 2.61604066e+02] [ 3.07650137e-02 3.55824210e-04 9.99526582e-01 6.81825093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.09, Y:261.62, Z:68.18 [[ 7.68523867e-01 -6.39426849e-01 -2.24581788e-02 4.60088239e+02] [ 6.39140211e-01 7.68851854e-01 -1.91472479e-02 2.61622035e+02] [ 2.95102768e-02 3.61191856e-04 9.99564412e-01 6.81848145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.11, Y:261.64, Z:68.19 [[ 7.68811773e-01 -6.39105833e-01 -2.17299736e-02 4.60108590e+02] [ 6.38837167e-01 7.69118717e-01 -1.85330442e-02 2.61640772e+02] [ 2.85575061e-02 3.66507770e-04 9.99592084e-01 6.81856211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4092541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:460.13, Y:261.66, Z:68.18 [[ 7.68449832e-01 -6.39517495e-01 -2.24104774e-02 4.60129021e+02] [ 6.39231583e-01 7.68776454e-01 -1.91245271e-02 2.61660267e+02] [ 2.94591170e-02 3.70754705e-04 9.99565917e-01 6.81839642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.13, Y:261.70, Z:68.16 [[ 7.65888341e-01 -6.42876389e-01 1.11802273e-02 4.60131293e+02] [ 6.42727215e-01 7.64997780e-01 -4.09893001e-02 2.61695591e+02] [ 1.77982042e-02 3.85790634e-02 9.99097032e-01 6.81578668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:460.18, Y:261.68, Z:68.20 [[ 7.69956519e-01 -6.36375724e-01 -4.68283770e-02 4.60182997e+02] [ 6.37415266e-01 7.70450560e-01 1.03784701e-02 2.61683725e+02] [ 2.94743429e-02 -3.78400931e-02 9.98849033e-01 6.82013787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.19, Y:261.72, Z:68.19 [[ 7.70877120e-01 -6.36689511e-01 -1.93631916e-02 4.60190689e+02] [ 6.36216106e-01 7.71084197e-01 -2.56559411e-02 2.61718773e+02] [ 3.12655196e-02 7.45840363e-03 9.99483286e-01 6.81852511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:460.22, Y:261.73, Z:68.19 [[ 7.70543968e-01 -6.36780803e-01 -2.77885233e-02 4.60216156e+02] [ 6.36632875e-01 7.71020643e-01 -1.50250142e-02 2.61732865e+02] [ 3.09931657e-02 -6.11365340e-03 9.99500899e-01 6.81892689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:460.24, Y:261.75, Z:68.19 [[ 7.71132067e-01 -6.36211490e-01 -2.42955732e-02 4.60235414e+02] [ 6.35872631e-01 7.71514496e-01 -2.07696574e-02 2.61753601e+02] [ 3.19582816e-02 5.67258831e-04 9.99489043e-01 6.81867375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.26, Y:261.77, Z:68.19 [[ 7.71575626e-01 -6.35691010e-01 -2.38326022e-02 4.60255815e+02] [ 6.35364416e-01 7.71943390e-01 -2.03828723e-02 2.61770739e+02] [ 3.13546285e-02 5.84540077e-04 9.99508152e-01 6.81888273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:460.28, Y:261.79, Z:68.19 [[ 7.71491435e-01 -6.35750615e-01 -2.49423760e-02 4.60277211e+02] [ 6.35392639e-01 7.71894278e-01 -2.13405219e-02 2.61789082e+02] [ 3.28201272e-02 6.15827702e-04 9.99461085e-01 6.81885369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6492541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:460.30, Y:261.81, Z:68.19 [[ 7.70838333e-01 -6.36499279e-01 -2.60179198e-02 4.60298329e+02] [ 6.36109718e-01 7.71277048e-01 -2.22742620e-02 2.61807373e+02] [ 3.42445761e-02 6.19603330e-04 9.99413290e-01 6.81875479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.32, Y:261.83, Z:68.19 [[ 7.70854580e-01 -6.36507575e-01 -2.53243606e-02 4.60320601e+02] [ 6.36138092e-01 7.71270206e-01 -2.16932396e-02 2.61825212e+02] [ 3.33398361e-02 6.12542676e-04 9.99443885e-01 6.81904608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7092541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:460.34, Y:261.84, Z:68.19 [[ 7.70143480e-01 -6.37342963e-01 -2.59416031e-02 4.60341147e+02] [ 6.36955372e-01 7.70580034e-01 -2.22320739e-02 2.61843101e+02] [ 3.41595372e-02 5.98243312e-04 9.99416214e-01 6.81884775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.36, Y:261.86, Z:68.19 [[ 7.69885511e-01 -6.37738539e-01 -2.37877263e-02 4.60363106e+02] [ 6.37412603e-01 7.70252729e-01 -2.03938154e-02 2.61859863e+02] [ 3.13284831e-02 5.38306476e-04 9.99508998e-01 6.81919617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7692541539999 meters Centerline goodness : 0.997681 Centerline is valid? [True, True] Translation: X:460.38, Y:261.89, Z:68.18 [[ 7.68444078e-01 -6.39876174e-01 -7.22362527e-03 4.60376513e+02] [ 6.39283026e-01 7.68136257e-01 -3.58316086e-02 2.61887896e+02] [ 2.84765211e-02 2.29166464e-02 9.99331734e-01 6.81759133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.7992541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:460.41, Y:261.89, Z:68.20 [[ 7.68837786e-01 -6.38354325e-01 -3.73123892e-02 4.60412989e+02] [ 6.38720069e-01 7.69434550e-01 -2.67333264e-03 2.61887260e+02] [ 3.04159749e-02 -2.17768127e-02 9.99300075e-01 6.82016153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:460.42, Y:261.92, Z:68.17 [[ 7.66067888e-01 -6.42759194e-01 -7.80376100e-04 4.60415024e+02] [ 6.42357060e-01 7.65630444e-01 -3.44591116e-02 2.61924907e+02] [ 2.27463905e-02 2.58967387e-02 9.99405804e-01 6.81735372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8592541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:460.46, Y:261.92, Z:68.20 [[ 7.68241832e-01 -6.38909524e-01 -3.99888472e-02 4.60457872e+02] [ 6.39399003e-01 7.68874770e-01 -7.08978505e-04 2.61922082e+02] [ 3.11993889e-02 -2.50241621e-02 9.99199875e-01 6.82028666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.46, Y:261.96, Z:68.17 [[ 7.66266331e-01 -6.42514922e-01 3.23801451e-03 4.60455395e+02] [ 6.42153410e-01 7.65644816e-01 -3.77758386e-02 2.61962672e+02] [ 2.17923710e-02 3.10256553e-02 9.99280992e-01 6.81714696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:460.50, Y:261.96, Z:68.21 [[ 7.69398397e-01 -6.37274120e-01 -4.36784003e-02 4.60503114e+02] [ 6.37975126e-01 7.70051827e-01 2.81463866e-03 2.61956436e+02] [ 3.18409356e-02 -3.00313114e-02 9.99041678e-01 6.82069164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:460.52, Y:261.99, Z:68.20 [[ 7.69531428e-01 -6.38167197e-01 -2.37489172e-02 4.60515337e+02] [ 6.37841237e-01 7.69897607e-01 -2.04017480e-02 2.61986374e+02] [ 3.13039608e-02 5.51747540e-04 9.99509759e-01 6.81958932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 819.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.52, Y:262.02, Z:68.18 [[ 7.67699304e-01 -6.40810123e-01 -4.04776224e-04 4.60522126e+02] [ 6.40373451e-01 7.67199177e-01 -3.64316702e-02 2.62016688e+02] [ 2.36563270e-02 2.77093599e-02 9.99336064e-01 6.81755957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0092541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:460.57, Y:262.01, Z:68.21 [[ 7.71249322e-01 -6.35096852e-01 -4.27372538e-02 4.60566944e+02] [ 6.35640989e-01 7.71984020e-01 -1.09831625e-03 2.62013791e+02] [ 3.36900141e-02 -2.63184746e-02 9.99085743e-01 6.82061856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:460.56, Y:262.05, Z:68.17 [[ 7.69510405e-01 -6.38633864e-01 7.24018167e-04 4.60563417e+02] [ 6.38166808e-01 7.68903277e-01 -3.91264122e-02 2.62054937e+02] [ 2.44307519e-02 3.05702257e-02 9.99234007e-01 6.81742257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:460.61, Y:262.05, Z:68.21 [[ 7.72632312e-01 -6.33296805e-01 -4.44349916e-02 4.60610473e+02] [ 6.33965021e-01 7.73360732e-01 1.23730800e-03 2.62048750e+02] [ 3.35806944e-02 -2.91262145e-02 9.99011512e-01 6.82099956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.0992541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:460.62, Y:262.08, Z:68.20 [[ 7.73192063e-01 -6.33651910e-01 -2.56766498e-02 4.60621525e+02] [ 6.33267652e-01 7.73617864e-01 -2.20790159e-02 2.62077562e+02] [ 3.38543255e-02 8.11128167e-04 9.99426449e-01 6.81975826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1292541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:460.64, Y:262.10, Z:68.20 [[ 7.73960194e-01 -6.32707807e-01 -2.58156730e-02 4.60642989e+02] [ 6.32318558e-01 7.74390137e-01 -2.22071447e-02 2.62095217e+02] [ 3.40420364e-02 8.63716883e-04 9.99420029e-01 6.81978820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:460.67, Y:262.11, Z:68.20 [[ 7.74579199e-01 -6.31998013e-01 -2.46084563e-02 4.60665233e+02] [ 6.31643577e-01 7.74969527e-01 -2.11807390e-02 2.62113068e+02] [ 3.24569887e-02 8.62386429e-04 9.99472761e-01 6.82010933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.1892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:460.69, Y:262.13, Z:68.20 [[ 7.75237568e-01 -6.31230823e-01 -2.35448752e-02 4.60686195e+02] [ 6.30905695e-01 7.75594547e-01 -2.02756802e-02 2.62130871e+02] [ 3.10599111e-02 8.63873173e-04 9.99517151e-01 6.82022520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2192541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:460.71, Y:262.15, Z:68.20 [[ 7.75449882e-01 -6.30957367e-01 -2.38805723e-02 4.60707215e+02] [ 6.30622462e-01 7.75816989e-01 -2.05744811e-02 2.62149699e+02] [ 3.15085741e-02 8.94853659e-04 9.99503081e-01 6.82012366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.73, Y:262.17, Z:68.20 [[ 7.76274585e-01 -6.29974855e-01 -2.30097931e-02 4.60727898e+02] [ 6.29663225e-01 7.76615000e-01 -1.98334261e-02 2.62167684e+02] [ 3.03643102e-02 9.07764147e-04 9.99538486e-01 6.82034966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.2792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:460.75, Y:262.19, Z:68.20 [[ 7.77410152e-01 -6.28560787e-01 -2.33407744e-02 4.60747002e+02] [ 6.28239330e-01 7.77759844e-01 -2.01238530e-02 2.62186520e+02] [ 3.08025819e-02 9.80895163e-04 9.99525007e-01 6.82023591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:460.78, Y:262.19, Z:68.22 [[ 7.78823630e-01 -6.25406034e-01 -4.79692198e-02 4.60780094e+02] [ 6.26040204e-01 7.79787478e-01 -2.26999134e-03 2.62194880e+02] [ 3.88254632e-02 -2.82627373e-02 9.98846235e-01 6.82210741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.78, Y:262.24, Z:68.19 [[ 7.79261261e-01 -6.26684448e-01 -4.30009256e-03 4.60781457e+02] [ 6.25900343e-01 7.78595949e-01 -4.51343523e-02 2.62238400e+02] [ 3.16330313e-02 3.24800228e-02 9.98971671e-01 6.81933308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.81, Y:262.24, Z:68.21 [[ 7.80346812e-01 -6.24627233e-01 -2.99945647e-02 4.60812684e+02] [ 6.24355646e-01 7.80912724e-01 -1.88506111e-02 2.62242328e+02] [ 3.51977423e-02 -4.01726158e-03 9.99372293e-01 6.82093800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.3992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:460.84, Y:262.26, Z:68.21 [[ 7.81030536e-01 -6.23404042e-01 -3.68605808e-02 4.60836131e+02] [ 6.23307348e-01 7.81823960e-01 -1.54675950e-02 2.62258462e+02] [ 3.84610465e-02 -1.08948068e-02 9.99200706e-01 6.82148151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.85, Y:262.29, Z:68.20 [[ 7.81682556e-01 -6.23399151e-01 -1.85978648e-02 4.60848349e+02] [ 6.22711312e-01 7.81784110e-01 -3.23145073e-02 2.62286437e+02] [ 3.46843516e-02 1.36785859e-02 9.99304704e-01 6.82041264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:460.87, Y:262.30, Z:68.21 [[ 7.82904393e-01 -6.21565508e-01 -2.67774351e-02 4.60872095e+02] [ 6.21137063e-01 7.83360812e-01 -2.31211538e-02 2.62301116e+02] [ 3.53477050e-02 1.46919549e-03 9.99373995e-01 6.82091522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.89, Y:262.32, Z:68.21 [[ 7.83515042e-01 -6.20799246e-01 -2.66922172e-02 4.60892387e+02] [ 6.20372710e-01 7.83968127e-01 -2.30581193e-02 2.62319697e+02] [ 3.52403106e-02 1.50726022e-03 9.99377731e-01 6.82097261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.91, Y:262.34, Z:68.21 [[ 7.83910309e-01 -6.20332210e-01 -2.59341097e-02 4.60912482e+02] [ 6.19929043e-01 7.84337763e-01 -2.24110380e-02 2.62339826e+02] [ 3.42433903e-02 1.49093591e-03 9.99412411e-01 6.82097442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5492541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:460.93, Y:262.36, Z:68.21 [[ 7.83687794e-01 -6.20610855e-01 -2.59924790e-02 4.60933031e+02] [ 6.20205587e-01 7.84117300e-01 -2.24741931e-02 2.62358655e+02] [ 3.43288807e-02 1.49207016e-03 9.99409477e-01 6.82087128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.5792541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:460.95, Y:262.38, Z:68.21 [[ 7.83707756e-01 -6.20607339e-01 -2.54692684e-02 4.60953105e+02] [ 6.20217885e-01 7.84120125e-01 -2.20319071e-02 2.62376588e+02] [ 3.36441292e-02 1.47008066e-03 9.99432795e-01 6.82098964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:460.97, Y:262.40, Z:68.21 [[ 7.83654799e-01 -6.20732129e-01 -2.40162667e-02 4.60973599e+02] [ 6.20385698e-01 7.84021493e-01 -2.07818200e-02 2.62395094e+02] [ 3.17292127e-02 1.38642460e-03 9.99495540e-01 6.82125534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6392541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:460.99, Y:262.41, Z:68.21 [[ 7.83477408e-01 -6.20976762e-01 -2.34736430e-02 4.60994349e+02] [ 6.20645566e-01 7.83827804e-01 -2.03237551e-02 2.62414026e+02] [ 3.10198737e-02 1.35439054e-03 9.99517850e-01 6.82128127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6692541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:461.02, Y:262.43, Z:68.21 [[ 7.82991383e-01 -6.21579240e-01 -2.37432943e-02 4.61015226e+02] [ 6.21240282e-01 7.83350121e-01 -2.05694110e-02 2.62433366e+02] [ 3.13848313e-02 1.35538069e-03 9.99506456e-01 6.82120025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.04, Y:262.45, Z:68.21 [[ 7.82974451e-01 -6.21631359e-01 -2.29229586e-02 4.61035245e+02] [ 6.21315148e-01 7.83308832e-01 -1.98685749e-02 2.62451682e+02] [ 3.03066852e-02 1.31420515e-03 9.99539783e-01 6.82137959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:461.05, Y:262.47, Z:68.21 [[ 7.82593685e-01 -6.22098145e-01 -2.32598784e-02 4.61054140e+02] [ 6.21772613e-01 7.82938157e-01 -2.01658131e-02 2.62470621e+02] [ 3.07561612e-02 1.31928256e-03 9.99526047e-01 6.82116489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.07, Y:262.49, Z:68.21 [[ 7.82384621e-01 -6.22394439e-01 -2.23487460e-02 4.61074465e+02] [ 6.22093853e-01 7.82702735e-01 -1.93821152e-02 2.62489552e+02] [ 2.95557453e-02 1.26125137e-03 9.99562338e-01 6.82140800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.09, Y:262.51, Z:68.21 [[ 7.81933980e-01 -6.22955892e-01 -2.24768324e-02 4.61094378e+02] [ 6.22651780e-01 7.82255957e-01 -1.95033213e-02 2.62508544e+02] [ 2.97323449e-02 1.25506998e-03 9.99557108e-01 6.82143015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8192541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:461.12, Y:262.53, Z:68.21 [[ 7.81397465e-01 -6.23597007e-01 -2.33403931e-02 4.61115021e+02] [ 6.23269137e-01 7.81744923e-01 -2.02597452e-02 2.62527301e+02] [ 3.08801503e-02 1.28356684e-03 9.99522270e-01 6.82132174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.14, Y:262.55, Z:68.22 [[ 7.81206490e-01 -6.23870008e-01 -2.24194896e-02 4.61136002e+02] [ 6.23567291e-01 7.81527158e-01 -1.94714184e-02 2.62546030e+02] [ 2.96690740e-02 1.23113806e-03 9.99559018e-01 6.82157289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.8792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:461.15, Y:262.57, Z:68.21 [[ 7.80862936e-01 -6.24257691e-01 -2.35671508e-02 4.61154979e+02] [ 6.23923028e-01 7.81217434e-01 -2.04786917e-02 2.62565211e+02] [ 3.11950499e-02 1.28696327e-03 9.99512488e-01 6.82143459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.18, Y:262.58, Z:68.22 [[ 7.80755696e-01 -6.24421588e-01 -2.27645148e-02 4.61175687e+02] [ 6.24109211e-01 7.81086511e-01 -1.97877485e-02 2.62584511e+02] [ 3.01369528e-02 1.24185404e-03 9.99545007e-01 6.82160707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:461.20, Y:262.60, Z:68.21 [[ 7.80017174e-01 -6.25309726e-01 -2.36844834e-02 4.61195070e+02] [ 6.24971655e-01 7.80375645e-01 -2.05981309e-02 2.62603359e+02] [ 3.13630056e-02 1.26476508e-03 9.99507260e-01 6.82146885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.22, Y:262.62, Z:68.22 [[ 7.79162750e-01 -6.26344897e-01 -2.44433964e-02 4.61215866e+02] [ 6.25985067e-01 7.79545035e-01 -2.12657976e-02 2.62622767e+02] [ 3.23744521e-02 1.26831619e-03 9.99475005e-01 6.82160390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 820.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.24, Y:262.64, Z:68.22 [[ 7.78664480e-01 -6.26936039e-01 -2.51561304e-02 4.61235530e+02] [ 6.26554862e-01 7.79069665e-01 -2.18966267e-02 2.62640647e+02] [ 3.33261625e-02 1.28842965e-03 9.99443699e-01 6.82165671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.26, Y:262.66, Z:68.22 [[ 7.78001481e-01 -6.27726825e-01 -2.59370309e-02 4.61255823e+02] [ 6.27321845e-01 7.78432623e-01 -2.25821541e-02 2.62659239e+02] [ 3.43656548e-02 1.29808321e-03 9.99408483e-01 6.82175803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.28, Y:262.68, Z:68.22 [[ 7.77410411e-01 -6.28464192e-01 -2.58033573e-02 4.61276299e+02] [ 6.28063509e-01 7.77837489e-01 -2.24737446e-02 2.62678057e+02] [ 3.41947624e-02 1.26517589e-03 9.99414387e-01 6.82180419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.0892541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:461.30, Y:262.70, Z:68.22 [[ 7.76834286e-01 -6.29165769e-01 -2.60562469e-02 4.61297145e+02] [ 6.28757136e-01 7.77270131e-01 -2.27069858e-02 2.62697377e+02] [ 3.45392006e-02 1.25651393e-03 9.99402554e-01 6.82181581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.32, Y:262.72, Z:68.22 [[ 7.75920515e-01 -6.30339762e-01 -2.48824908e-02 4.61316993e+02] [ 6.29967332e-01 7.76318517e-01 -2.16960927e-02 2.62716641e+02] [ 3.29926483e-02 1.15928711e-03 9.99454922e-01 6.82197852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.34, Y:262.74, Z:68.22 [[ 7.75304716e-01 -6.31102999e-01 -2.47305913e-02 4.61337404e+02] [ 6.30735087e-01 7.75698220e-01 -2.15759583e-02 2.62735203e+02] [ 3.28001277e-02 1.12949058e-03 9.99461293e-01 6.82204684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.36, Y:262.75, Z:68.22 [[ 7.74456860e-01 -6.32157512e-01 -2.43608543e-02 4.61358157e+02] [ 6.31800645e-01 7.74839156e-01 -2.12656439e-02 2.62753910e+02] [ 3.23189803e-02 1.07812031e-03 9.99477024e-01 6.82213483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.38, Y:262.77, Z:68.22 [[ 7.73366112e-01 -6.33514819e-01 -2.37451228e-02 4.61378245e+02] [ 6.33176090e-01 7.73729906e-01 -2.07381641e-02 2.62771840e+02] [ 3.15102459e-02 1.00334926e-03 9.99502925e-01 6.82222246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.40, Y:262.79, Z:68.22 [[ 7.72846843e-01 -6.34140173e-01 -2.39582506e-02 4.61399121e+02] [ 6.33795401e-01 7.73217470e-01 -2.09316416e-02 2.62790766e+02] [ 3.17985328e-02 9.92324108e-04 9.99493806e-01 6.82231629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:461.41, Y:262.82, Z:68.21 [[ 7.70591762e-01 -6.37276146e-01 -8.21276605e-03 4.61410279e+02] [ 6.36754022e-01 7.70379838e-01 -3.25456726e-02 2.62818184e+02] [ 2.70675302e-02 1.98499154e-02 9.99436506e-01 6.82092575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.45, Y:262.82, Z:68.23 [[ 7.72375038e-01 -6.34108883e-01 -3.66432073e-02 4.61445413e+02] [ 6.34325239e-01 7.73035739e-01 -6.87300131e-03 2.62822185e+02] [ 3.26847400e-02 -1.79351765e-02 9.99304777e-01 6.82313979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:461.45, Y:262.86, Z:68.21 [[ 7.70872377e-01 -6.36936076e-01 -8.25909285e-03 4.61450950e+02] [ 6.36391328e-01 7.70645424e-01 -3.33422748e-02 2.62857250e+02] [ 2.76017298e-02 2.04466235e-02 9.99409866e-01 6.82106657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.48, Y:262.87, Z:68.22 [[ 7.70874614e-01 -6.36659025e-01 -2.04356478e-02 4.61477766e+02] [ 6.36368995e-01 7.71143150e-01 -1.93065707e-02 2.62869901e+02] [ 2.80505122e-02 1.87833257e-03 9.99604742e-01 6.82179962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.50, Y:262.89, Z:68.22 [[ 7.71439011e-01 -6.36001560e-01 -1.95925268e-02 4.61497197e+02] [ 6.35682554e-01 7.71680762e-01 -2.04081502e-02 2.62890049e+02] [ 2.80987914e-02 3.28901569e-03 9.99599740e-01 6.82175435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:461.53, Y:262.90, Z:68.23 [[ 7.73190058e-01 -6.32851693e-01 -4.09373738e-02 4.61529107e+02] [ 6.33185431e-01 7.73977839e-01 -5.87495415e-03 2.62898856e+02] [ 3.54025948e-02 -2.13784925e-02 9.99144442e-01 6.82347794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4492541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:461.54, Y:262.93, Z:68.23 [[ 7.73819274e-01 -6.32886245e-01 -2.56657805e-02 4.61541130e+02] [ 6.32488489e-01 7.74243940e-01 -2.24640231e-02 2.62925683e+02] [ 3.40887462e-02 1.14978334e-03 9.99418148e-01 6.82279049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.4792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:461.55, Y:262.95, Z:68.21 [[ 7.72388154e-01 -6.35104232e-01 -7.69120063e-03 4.61553122e+02] [ 6.34507893e-01 7.72094460e-01 -3.56353647e-02 2.62954730e+02] [ 2.85705043e-02 2.26442060e-02 9.99335262e-01 6.82141012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.58, Y:262.97, Z:68.22 [[ 7.72323989e-01 -6.34897915e-01 -2.05010729e-02 4.61580092e+02] [ 6.34593324e-01 7.72592677e-01 -1.97956790e-02 2.62966312e+02] [ 2.84072141e-02 2.27883375e-03 9.99593836e-01 6.82208363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:461.61, Y:262.98, Z:68.24 [[ 7.73709063e-01 -6.32157451e-01 -4.18478428e-02 4.61610396e+02] [ 6.32530620e-01 7.74517167e-01 -5.30791426e-03 2.62975380e+02] [ 3.57673102e-02 -2.23632606e-02 9.99109896e-01 6.82372907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.62, Y:263.00, Z:68.23 [[ 7.74214904e-01 -6.32409512e-01 -2.54851306e-02 4.61623290e+02] [ 6.32016102e-01 7.74633336e-01 -2.23347568e-02 2.63002249e+02] [ 3.38663444e-02 1.18488871e-03 9.99425668e-01 6.82320275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.5992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:461.64, Y:263.02, Z:68.23 [[ 7.74587581e-01 -6.31955112e-01 -2.54325745e-02 4.61643398e+02] [ 6.31562812e-01 7.75004049e-01 -2.22966083e-02 2.63021544e+02] [ 3.38008038e-02 1.20840761e-03 9.99427859e-01 6.82325841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.66, Y:263.04, Z:68.23 [[ 7.75238901e-01 -6.31156913e-01 -2.54086051e-02 4.61663255e+02] [ 6.30764561e-01 7.75654168e-01 -2.22863254e-02 2.63039999e+02] [ 3.37744588e-02 1.25037881e-03 9.99428698e-01 6.82340410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:461.68, Y:263.06, Z:68.23 [[ 7.75641879e-01 -6.30651429e-01 -2.56602787e-02 4.61683650e+02] [ 6.30250720e-01 7.76065144e-01 -2.25149408e-02 2.63059884e+02] [ 3.41131274e-02 1.29112188e-03 9.99417144e-01 6.82327942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.70, Y:263.08, Z:68.23 [[ 7.76552823e-01 -6.29539595e-01 -2.54089026e-02 4.61703635e+02] [ 6.29145686e-01 7.76967253e-01 -2.23068042e-02 2.63079110e+02] [ 3.37849017e-02 1.33651033e-03 9.99428234e-01 6.82348509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7192541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:461.72, Y:263.10, Z:68.23 [[ 7.77739958e-01 -6.28041916e-01 -2.61516615e-02 4.61723526e+02] [ 6.27623317e-01 7.78178154e-01 -2.29724382e-02 2.63099726e+02] [ 3.47783058e-02 1.45319053e-03 9.99393995e-01 6.82326252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.74, Y:263.12, Z:68.24 [[ 7.78793938e-01 -6.26756230e-01 -2.56248094e-02 4.61743301e+02] [ 6.26353267e-01 7.79213971e-01 -2.25205017e-02 2.63117916e+02] [ 3.40820742e-02 1.48864713e-03 9.99417929e-01 6.82362673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.7792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:461.76, Y:263.14, Z:68.24 [[ 7.80216967e-01 -6.24974598e-01 -2.58502651e-02 4.61762896e+02] [ 6.24563251e-01 7.80643474e-01 -2.27268948e-02 2.63137688e+02] [ 3.43835727e-02 1.58678331e-03 9.99407451e-01 6.82356912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8092541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:461.78, Y:263.16, Z:68.24 [[ 7.80622939e-01 -6.24477698e-01 -2.56014127e-02 4.61782663e+02] [ 6.24073570e-01 7.81040996e-01 -2.25198284e-02 2.63156302e+02] [ 3.40588835e-02 1.60232962e-03 9.99418543e-01 6.82365134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8392541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:461.80, Y:263.18, Z:68.24 [[ 7.80460604e-01 -6.24680768e-01 -2.55965434e-02 4.61804041e+02] [ 6.24276568e-01 7.80878592e-01 -2.25253621e-02 2.63175242e+02] [ 3.40589532e-02 1.60083547e-03 9.99418544e-01 6.82371820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8692541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:461.82, Y:263.19, Z:68.24 [[ 7.80393317e-01 -6.24748527e-01 -2.59913164e-02 4.61824542e+02] [ 6.24331363e-01 7.80824316e-01 -2.28852925e-02 2.63194559e+02] [ 3.45922046e-02 1.63233535e-03 9.99400178e-01 6.82362971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:461.84, Y:263.21, Z:68.24 [[ 7.81107019e-01 -6.23871656e-01 -2.56121514e-02 4.61843802e+02] [ 6.23465746e-01 7.81525059e-01 -2.25620423e-02 2.63213077e+02] [ 3.40923568e-02 1.65507052e-03 9.99417316e-01 6.82395948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9292541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:461.86, Y:263.23, Z:68.24 [[ 7.80908763e-01 -6.24107058e-01 -2.59207298e-02 4.61864202e+02] [ 6.23691149e-01 7.81337051e-01 -2.28421340e-02 2.63232238e+02] [ 3.45087637e-02 1.67109285e-03 9.99402998e-01 6.82379080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9592541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:461.89, Y:263.25, Z:68.24 [[ 7.80854160e-01 -6.24178895e-01 -2.58357892e-02 4.61885203e+02] [ 6.23765286e-01 7.81279661e-01 -2.27807051e-02 2.63251129e+02] [ 3.44042120e-02 1.67293996e-03 9.99406600e-01 6.82396105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 821.9892541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:461.90, Y:263.27, Z:68.24 [[ 7.80133573e-01 -6.25082035e-01 -2.57693127e-02 4.61904631e+02] [ 6.24670665e-01 7.80557344e-01 -2.27330739e-02 2.63269651e+02] [ 3.43244624e-02 1.63750045e-03 9.99409401e-01 6.82396018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0192541539999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:461.92, Y:263.29, Z:68.24 [[ 7.79629335e-01 -6.25700553e-01 -2.60176595e-02 4.61924893e+02] [ 6.25281352e-01 7.80061638e-01 -2.29580458e-02 2.63288008e+02] [ 3.46602401e-02 1.63040863e-03 9.99397824e-01 6.82391906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0492541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:461.95, Y:263.31, Z:68.24 [[ 7.78228127e-01 -6.27466627e-01 -2.54285945e-02 4.61946017e+02] [ 6.27066871e-01 7.78641967e-01 -2.24460671e-02 2.63306833e+02] [ 3.38839288e-02 1.52273155e-03 9.99424615e-01 6.82410675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.0792541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:461.97, Y:263.32, Z:68.24 [[ 7.77289164e-01 -6.28643334e-01 -2.50821683e-02 4.61966348e+02] [ 6.28254659e-01 7.77692374e-01 -2.21507371e-02 2.63324642e+02] [ 3.34311243e-02 1.45953878e-03 9.99439958e-01 6.82418419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:461.99, Y:263.34, Z:68.24 [[ 7.76083948e-01 -6.30139166e-01 -2.48663720e-02 4.61987635e+02] [ 6.29757667e-01 7.76480973e-01 -2.19676684e-02 2.63343204e+02] [ 3.31509529e-02 1.38896642e-03 9.99449391e-01 6.82445548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:462.00, Y:263.37, Z:68.23 [[ 7.72415043e-01 -6.35106024e-01 -3.91661903e-03 4.61996035e+02] [ 6.34582203e-01 7.72001899e-01 -3.63111051e-02 2.63372748e+02] [ 2.60850389e-02 2.55618270e-02 9.99332859e-01 6.82274583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.04, Y:263.37, Z:68.25 [[ 7.71916735e-01 -6.34378959e-01 -4.13266270e-02 4.62038851e+02] [ 6.34791441e-01 7.72673610e-01 -3.91378791e-03 2.63371321e+02] [ 3.44148188e-02 -2.32126707e-02 9.99138025e-01 6.82546095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.04, Y:263.41, Z:68.23 [[ 7.68284611e-01 -6.40065950e-01 -7.37136014e-03 4.62041389e+02] [ 6.39494926e-01 7.68001456e-01 -3.49285535e-02 2.63408358e+02] [ 2.80177931e-02 2.21211227e-02 9.99362627e-01 6.82318296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2292541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:462.07, Y:263.42, Z:68.24 [[ 7.65601944e-01 -6.42901372e-01 -2.30540507e-02 4.62070246e+02] [ 6.42587473e-01 7.65948758e-01 -2.00957686e-02 2.63417868e+02] [ 3.05778188e-02 5.71115329e-04 9.99532226e-01 6.82377791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.09, Y:263.44, Z:68.24 [[ 7.64107537e-01 -6.44916412e-01 -1.49162218e-02 4.62087596e+02] [ 6.44513504e-01 7.64198278e-01 -2.45628766e-02 2.63439607e+02] [ 2.72399533e-02 9.15497272e-03 9.99587000e-01 6.82353118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.2892541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:462.12, Y:263.45, Z:68.24 [[ 7.63519281e-01 -6.45055988e-01 -3.06770198e-02 4.62116382e+02] [ 6.44991649e-01 7.64074345e-01 -1.32728524e-02 2.63450633e+02] [ 3.20012568e-02 -9.65234284e-03 9.99441220e-01 6.82438531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.14, Y:263.47, Z:68.24 [[ 7.62654352e-01 -6.46359245e-01 -2.40430009e-02 4.62135685e+02] [ 6.46041741e-01 7.63033237e-01 -2.02570765e-02 2.63472636e+02] [ 3.14389575e-02 -8.36346025e-05 9.99505670e-01 6.82447884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.16, Y:263.49, Z:68.24 [[ 7.62098448e-01 -6.47044946e-01 -2.32119410e-02 4.62155702e+02] [ 6.46699976e-01 7.62451050e-01 -2.11550645e-02 2.63491826e+02] [ 3.13862464e-02 1.11108012e-03 9.99506713e-01 6.82445479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.3792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:462.19, Y:263.50, Z:68.26 [[ 7.63733424e-01 -6.44355871e-01 -3.89457278e-02 4.62187395e+02] [ 6.44428220e-01 7.64565188e-01 -1.23427220e-02 2.63503182e+02] [ 3.77296530e-02 -1.56711767e-02 9.99165095e-01 6.82576626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.20, Y:263.53, Z:68.24 [[ 7.62845183e-01 -6.46341536e-01 -1.76024133e-02 4.62195298e+02] [ 6.45710417e-01 7.62947882e-01 -3.11221327e-02 2.63532802e+02] [ 3.35452510e-02 1.23753074e-02 9.99360580e-01 6.82449479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.23, Y:263.54, Z:68.26 [[ 7.64742024e-01 -6.43325216e-01 -3.60874425e-02 4.62228125e+02] [ 6.43190727e-01 7.65522490e-01 -1.67632587e-02 2.63541910e+02] [ 3.84099759e-02 -1.03915400e-02 9.99208031e-01 6.82589044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4692541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:462.25, Y:263.57, Z:68.25 [[ 7.65142178e-01 -6.43162659e-01 -2.99873590e-02 4.62245218e+02] [ 6.42615087e-01 7.65728866e-01 -2.65547471e-02 2.63565462e+02] [ 4.00412082e-02 1.04782772e-03 9.99197480e-01 6.82530396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.4992541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:462.26, Y:263.58, Z:68.25 [[ 7.65533338e-01 -6.42686701e-01 -3.02078235e-02 4.62264835e+02] [ 6.42130173e-01 7.66128328e-01 -2.67623960e-02 2.63583318e+02] [ 4.03429053e-02 1.09015138e-03 9.99185299e-01 6.82542517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5292541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:462.29, Y:263.60, Z:68.26 [[ 7.65839893e-01 -6.42311491e-01 -3.04172256e-02 4.62285897e+02] [ 6.41746508e-01 7.66442876e-01 -2.69580670e-02 2.63602138e+02] [ 4.06285421e-02 1.12541484e-03 9.99173686e-01 6.82552185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.31, Y:263.62, Z:68.26 [[ 7.66424128e-01 -6.41635910e-01 -2.99568921e-02 4.62307213e+02] [ 6.41086781e-01 7.67008490e-01 -2.65652916e-02 2.63619999e+02] [ 4.00224356e-02 1.15531292e-03 9.99198113e-01 6.82581719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.5892541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:462.33, Y:263.64, Z:68.26 [[ 7.65972949e-01 -6.42182185e-01 -2.97906552e-02 4.62328012e+02] [ 6.41638939e-01 7.66551211e-01 -2.64331600e-02 2.63638236e+02] [ 3.98109672e-02 1.13224111e-03 9.99206588e-01 6.82592052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.35, Y:263.66, Z:68.26 [[ 7.65309410e-01 -6.42991211e-01 -2.93906473e-02 4.62349712e+02] [ 6.42462457e-01 7.65872783e-01 -2.60935155e-02 2.63656645e+02] [ 3.92873980e-02 1.08722553e-03 9.99227361e-01 6.82601610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6492541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:462.37, Y:263.67, Z:68.26 [[ 7.62956394e-01 -6.45751533e-01 -3.00416115e-02 4.62370366e+02] [ 6.45200644e-01 7.63546988e-01 -2.66856951e-02 2.63673975e+02] [ 4.01705105e-02 9.77154575e-04 9.99192362e-01 6.82591546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.6792541539999 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:462.39, Y:263.69, Z:68.26 [[ 7.61477000e-01 -6.47470912e-01 -3.05646309e-02 4.62391042e+02] [ 6.46901659e-01 7.62089622e-01 -2.71597630e-02 2.63692020e+02] [ 4.08781445e-02 9.09224419e-04 9.99163726e-01 6.82591671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7092541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:462.41, Y:263.71, Z:68.26 [[ 7.58955101e-01 -6.50445319e-01 -3.01337405e-02 4.62413139e+02] [ 6.49893943e-01 7.59552717e-01 -2.67868053e-02 2.63710132e+02] [ 4.03115166e-02 7.46247078e-04 9.99186882e-01 6.82604266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.42, Y:263.73, Z:68.25 [[ 7.56089832e-01 -6.54289854e-01 -1.52627756e-02 4.62424481e+02] [ 6.53593074e-01 7.56079236e-01 -3.40629235e-02 2.63734025e+02] [ 3.38268930e-02 1.57789857e-02 9.99303140e-01 6.82524438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.45, Y:263.74, Z:68.26 [[ 7.54873444e-01 -6.55278957e-01 -2.78490973e-02 4.62452707e+02] [ 6.54951131e-01 7.55382898e-01 -2.08732746e-02 2.63744907e+02] [ 3.47145495e-02 -2.48311706e-03 9.99394184e-01 6.82608069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.47, Y:263.76, Z:68.26 [[ 7.52923888e-01 -6.57687734e-01 -2.35045325e-02 4.62474213e+02] [ 6.57264720e-01 7.53286852e-01 -2.37066715e-02 2.63764170e+02] [ 3.32972424e-02 2.40061931e-03 9.99442610e-01 6.82603089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8292541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:462.50, Y:263.78, Z:68.27 [[ 7.53152009e-01 -6.56776834e-01 -3.74998940e-02 4.62504101e+02] [ 6.56720827e-01 7.53974026e-01 -1.55217196e-02 2.63776111e+02] [ 3.84682519e-02 -1.29367471e-02 9.99176078e-01 6.82705768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:462.52, Y:263.80, Z:68.26 [[ 7.51238208e-01 -6.59795468e-01 -1.76378974e-02 4.62515021e+02] [ 6.59166758e-01 7.51353618e-01 -3.10954407e-02 2.63804322e+02] [ 3.37689289e-02 1.17337675e-02 9.99360785e-01 6.82595050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.53, Y:263.82, Z:68.25 [[ 7.49764584e-01 -6.61593617e-01 -1.21224361e-02 4.62533765e+02] [ 6.61018891e-01 7.49695693e-01 -3.17866903e-02 2.63824015e+02] [ 3.01180096e-02 1.58193754e-02 9.99421159e-01 6.82545339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9192541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:462.57, Y:263.83, Z:68.28 [[ 7.51028383e-01 -6.58667802e-01 -4.59684211e-02 4.62572828e+02] [ 6.59120931e-01 7.52007743e-01 -6.62977656e-03 2.63826410e+02] [ 3.89354289e-02 -2.53195981e-02 9.98920893e-01 6.82768573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:462.59, Y:263.85, Z:68.27 [[ 7.51463775e-01 -6.59102723e-01 -2.97623264e-02 4.62586392e+02] [ 6.58568611e-01 7.52052849e-01 -2.65310467e-02 2.63853614e+02] [ 3.98695275e-02 3.36586581e-04 9.99204838e-01 6.82692308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 822.9792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:462.61, Y:263.87, Z:68.27 [[ 7.51469528e-01 -6.59064532e-01 -3.04547567e-02 4.62607626e+02] [ 6.58504580e-01 7.52086308e-01 -2.71643956e-02 2.63872132e+02] [ 4.08076951e-02 3.58618747e-04 9.99166955e-01 6.82696406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0092541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:462.63, Y:263.89, Z:68.27 [[ 7.52879964e-01 -6.57566708e-01 -2.78888021e-02 4.62625039e+02] [ 6.56864258e-01 7.53380733e-01 -3.07704108e-02 2.63889756e+02] [ 4.12444839e-02 4.84726842e-03 9.99137326e-01 6.82698078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.65, Y:263.91, Z:68.27 [[ 7.53111697e-01 -6.57091834e-01 -3.24513905e-02 4.62650884e+02] [ 6.56680323e-01 7.53801978e-01 -2.35272432e-02 2.63907101e+02] [ 3.99214817e-02 -3.59154753e-03 9.99196365e-01 6.82741051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:462.67, Y:263.93, Z:68.27 [[ 7.53380417e-01 -6.56875861e-01 -3.05294971e-02 4.62670322e+02] [ 6.56310094e-01 7.53998575e-01 -2.72618794e-02 2.63927375e+02] [ 4.09268678e-02 5.01748987e-04 9.99162019e-01 6.82721193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.69, Y:263.95, Z:68.27 [[ 7.53800505e-01 -6.56439752e-01 -2.95237450e-02 4.62691354e+02] [ 6.55909802e-01 7.54378276e-01 -2.63770350e-02 2.63945118e+02] [ 3.95870062e-02 5.18108539e-04 9.99215993e-01 6.82742644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:462.71, Y:263.97, Z:68.27 [[ 7.53360055e-01 -6.57390742e-01 -1.69127129e-02 4.62707144e+02] [ 6.56624476e-01 7.53390462e-01 -3.53144271e-02 2.63969664e+02] [ 3.59572540e-02 1.54991775e-02 9.99233132e-01 6.82652552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.74, Y:263.98, Z:68.28 [[ 7.53830042e-01 -6.55903757e-01 -3.91219786e-02 4.62737972e+02] [ 6.55888050e-01 7.54708514e-01 -1.50307734e-02 2.63975732e+02] [ 3.93844311e-02 -1.43289897e-02 9.99121387e-01 6.82810186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.75, Y:264.00, Z:68.28 [[ 7.53684481e-01 -6.56590990e-01 -2.91200149e-02 4.62754662e+02] [ 6.56074187e-01 7.54246638e-01 -2.60513101e-02 2.63999417e+02] [ 3.90687288e-02 5.29578038e-04 9.99236385e-01 6.82769964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2192541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:462.77, Y:264.02, Z:68.28 [[ 7.53019530e-01 -6.57325516e-01 -2.97448073e-02 4.62774878e+02] [ 6.56786355e-01 7.53606598e-01 -2.66229151e-02 2.64017429e+02] [ 3.99158045e-02 5.11591413e-04 9.99202916e-01 6.82763436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.80, Y:264.04, Z:68.28 [[ 7.52368419e-01 -6.58123732e-01 -2.85467185e-02 4.62796419e+02] [ 6.57627372e-01 7.52909652e-01 -2.55596502e-02 2.64035106e+02] [ 3.83145123e-02 4.57170119e-04 9.99265625e-01 6.82790368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.2792541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:462.82, Y:264.05, Z:68.28 [[ 7.51318902e-01 -6.59268069e-01 -2.97577081e-02 4.62816888e+02] [ 6.58729017e-01 7.51907861e-01 -2.66580149e-02 2.64053238e+02] [ 3.99498326e-02 4.26404643e-04 9.99201596e-01 6.82784902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3092541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:462.84, Y:264.07, Z:68.28 [[ 7.50956195e-01 -6.59740612e-01 -2.84098271e-02 4.62838377e+02] [ 6.59249215e-01 7.51493294e-01 -2.54617516e-02 2.64071438e+02] [ 3.81479462e-02 3.91503861e-04 9.99272026e-01 6.82805166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3392541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:462.86, Y:264.09, Z:68.28 [[ 7.50135865e-01 -6.60613139e-01 -2.97735576e-02 4.62860258e+02] [ 6.60073468e-01 7.50726408e-01 -2.66997603e-02 2.64089265e+02] [ 3.99900084e-02 3.75712418e-04 9.99200009e-01 6.82806391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:462.88, Y:264.11, Z:68.28 [[ 7.49848973e-01 -6.60900393e-01 -3.06135490e-02 4.62880858e+02] [ 6.60329544e-01 7.50473535e-01 -2.74657301e-02 2.64107379e+02] [ 4.11267702e-02 3.80118678e-04 9.99153864e-01 6.82809447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:462.90, Y:264.13, Z:68.27 [[ 7.49133850e-01 -6.62188785e-01 -1.74495486e-02 4.62895900e+02] [ 6.61432274e-01 7.49195785e-01 -3.48284646e-02 2.64131653e+02] [ 3.61361470e-02 1.45494872e-02 9.99240958e-01 6.82722682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:462.93, Y:264.14, Z:68.29 [[ 7.49547678e-01 -6.60718237e-01 -4.03694177e-02 4.62927675e+02] [ 6.60628474e-01 7.50510683e-01 -1.74279623e-02 2.64138766e+02] [ 4.18126518e-02 -1.36060982e-02 9.99032820e-01 6.82876962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4592541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:462.94, Y:264.16, Z:68.28 [[ 7.49543662e-01 -6.61221720e-01 -3.11470200e-02 4.62943326e+02] [ 6.60629828e-01 7.50190432e-01 -2.79740250e-02 2.64161726e+02] [ 4.18632293e-02 3.91102644e-04 9.99123274e-01 6.82834463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.4892541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:462.96, Y:264.18, Z:68.28 [[ 7.49333217e-01 -6.61460366e-01 -3.11434426e-02 4.62964905e+02] [ 6.60868375e-01 7.49980023e-01 -2.79813549e-02 2.64179722e+02] [ 4.18655171e-02 3.85642457e-04 9.99123181e-01 6.82842985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:462.99, Y:264.20, Z:68.29 [[ 7.49488501e-01 -6.61356547e-01 -2.95720452e-02 4.62986255e+02] [ 6.60822140e-01 7.50071578e-01 -2.65843581e-02 2.64197577e+02] [ 3.97628899e-02 3.82808516e-04 9.99209070e-01 6.82866624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:463.01, Y:264.22, Z:68.29 [[ 7.49718520e-01 -6.61240989e-01 -2.61246167e-02 4.63006039e+02] [ 6.60515854e-01 7.50145789e-01 -3.16243827e-02 2.64218363e+02] [ 4.05086093e-02 6.45366188e-03 9.99158347e-01 6.82854679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.5792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:463.03, Y:264.23, Z:68.29 [[ 7.49289429e-01 -6.61418039e-01 -3.30383013e-02 4.63031097e+02] [ 6.61079742e-01 7.49997500e-01 -2.18477741e-02 2.64232947e+02] [ 3.92291553e-02 -5.47064554e-03 9.99215265e-01 6.82897690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:463.05, Y:264.25, Z:68.29 [[ 7.49766623e-01 -6.61061530e-01 -2.91146753e-02 4.63049905e+02] [ 6.60542030e-01 7.50331580e-01 -2.62058688e-02 2.64252868e+02] [ 3.91693520e-02 4.16819001e-04 9.99232500e-01 6.82882131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:463.07, Y:264.27, Z:68.29 [[ 7.50406402e-01 -6.60369699e-01 -2.83212323e-02 4.63071423e+02] [ 6.59877301e-01 7.50940517e-01 -2.55007372e-02 2.64271594e+02] [ 3.81074749e-02 4.47378155e-04 9.99273546e-01 6.82896267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:463.09, Y:264.29, Z:68.29 [[ 7.52103769e-01 -6.58427511e-01 -2.85155149e-02 4.63091496e+02] [ 6.57926464e-01 7.52643940e-01 -2.56878798e-02 2.64289488e+02] [ 3.83756363e-02 5.58839319e-04 9.99263228e-01 6.82898210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.6992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:463.11, Y:264.31, Z:68.29 [[ 7.53293138e-01 -6.57082038e-01 -2.81539205e-02 4.63112614e+02] [ 6.56592340e-01 7.53818813e-01 -2.53711509e-02 2.64308294e+02] [ 3.78938824e-02 6.26265343e-04 9.99281573e-01 6.82908793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7292541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:463.13, Y:264.33, Z:68.29 [[ 7.53971906e-01 -6.56246075e-01 -2.94525618e-02 4.63132946e+02] [ 6.55708878e-01 7.54546608e-01 -2.65571927e-02 2.64327337e+02] [ 3.96513840e-02 7.11070950e-04 9.99213322e-01 6.82908699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:463.15, Y:264.35, Z:68.29 [[ 7.53796276e-01 -6.56448139e-01 -2.94451402e-02 4.63154104e+02] [ 6.55910774e-01 7.54370821e-01 -2.65654195e-02 2.64346534e+02] [ 3.96513748e-02 7.11529556e-04 9.99213322e-01 6.82916011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.7892541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:463.17, Y:264.37, Z:68.28 [[ 7.55174873e-01 -6.55282619e-01 -1.77651629e-02 4.63167391e+02] [ 6.54544929e-01 7.55250883e-01 -3.41619688e-02 2.64370997e+02] [ 3.58028994e-02 1.41701632e-02 9.99258405e-01 6.82815134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.20, Y:264.38, Z:68.30 [[ 7.57753942e-01 -6.51420071e-01 -3.82211317e-02 4.63199169e+02] [ 6.51324316e-01 7.58617509e-01 -1.66165445e-02 2.64379533e+02] [ 3.98195703e-02 -1.23031003e-02 9.99131140e-01 6.82973471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.21, Y:264.41, Z:68.28 [[ 7.58649200e-01 -6.51257070e-01 -1.77657164e-02 4.63208803e+02] [ 6.50485285e-01 7.58707546e-01 -3.50963462e-02 2.64409589e+02] [ 3.63357267e-02 1.50694779e-02 9.99226013e-01 6.82820738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.24, Y:264.42, Z:68.30 [[ 7.60386625e-01 -6.48249522e-01 -3.98087632e-02 4.63241012e+02] [ 6.48148781e-01 7.61320867e-01 -1.71375366e-02 2.64417151e+02] [ 4.14166421e-02 -1.27708477e-02 9.99060342e-01 6.82984097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:463.26, Y:264.44, Z:68.29 [[ 7.60651979e-01 -6.48415067e-01 -3.10880773e-02 4.63257025e+02] [ 6.47807087e-01 7.61286001e-01 -2.80998787e-02 2.64440634e+02] [ 4.18873028e-02 1.23515160e-03 9.99121578e-01 6.82939744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.28, Y:264.46, Z:68.29 [[ 7.60778694e-01 -6.48312340e-01 -3.01145795e-02 4.63278067e+02] [ 6.47741389e-01 7.61373527e-01 -2.72294862e-02 2.64459107e+02] [ 4.05816556e-02 1.20915340e-03 9.99175494e-01 6.82947999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9692541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:463.29, Y:264.48, Z:68.28 [[ 7.58429665e-01 -6.51512487e-01 -1.77742158e-02 4.63292821e+02] [ 6.50676274e-01 7.58461202e-01 -3.68373597e-02 2.64484390e+02] [ 3.74810529e-02 1.63732859e-02 9.99163193e-01 6.82839360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 823.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.32, Y:264.50, Z:68.29 [[ 7.57723559e-01 -6.52148090e-01 -2.36193931e-02 4.63318104e+02] [ 6.51636139e-01 7.58078378e-01 -2.62204913e-02 2.64498724e+02] [ 3.50049945e-02 4.47663386e-03 9.99377111e-01 6.82881147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.34, Y:264.52, Z:68.29 [[ 7.56034826e-01 -6.53995437e-01 -2.64822620e-02 4.63341864e+02] [ 6.53619189e-01 7.56498303e-01 -2.21872509e-02 2.64515319e+02] [ 3.45441471e-02 -5.34980171e-04 9.99403030e-01 6.82912697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.37, Y:264.53, Z:68.30 [[ 7.56101722e-01 -6.53257605e-01 -3.95561331e-02 4.63369821e+02] [ 6.53292470e-01 7.56979359e-01 -1.38274779e-02 2.64526727e+02] [ 3.89760813e-02 -1.53867441e-02 9.99121671e-01 6.83042355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.38, Y:264.56, Z:68.28 [[ 7.53659413e-01 -6.57186621e-01 -1.01604608e-02 4.63377550e+02] [ 6.56480763e-01 7.53425042e-01 -3.71982974e-02 2.64559858e+02] [ 3.21013690e-02 2.13647000e-02 9.99256249e-01 6.82839509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:463.40, Y:264.57, Z:68.29 [[ 7.50986873e-01 -6.60083157e-01 -1.75767397e-02 4.63403037e+02] [ 6.59587997e-01 7.51142381e-01 -2.69962627e-02 2.64573029e+02] [ 3.10224124e-02 8.68043239e-03 9.99480995e-01 6.82867522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.43, Y:264.59, Z:68.29 [[ 7.50267458e-01 -6.60670598e-01 -2.47608964e-02 4.63427957e+02] [ 6.60394564e-01 7.50673403e-01 -1.91953926e-02 2.64586873e+02] [ 3.12691779e-02 -1.95028297e-03 9.99509097e-01 6.82923666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.1792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:463.45, Y:264.61, Z:68.29 [[ 7.48717809e-01 -6.62647622e-01 -1.78821802e-02 4.63447109e+02] [ 6.62161835e-01 7.48887552e-01 -2.66296742e-02 2.64609123e+02] [ 3.10378324e-02 8.09721413e-03 9.99485412e-01 6.82867048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2092541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:463.47, Y:264.63, Z:68.29 [[ 7.47302950e-01 -6.64229323e-01 -1.83768192e-02 4.63467901e+02] [ 6.63762404e-01 7.47494518e-01 -2.59117299e-02 2.64627872e+02] [ 3.09479024e-02 7.16607051e-03 9.99495310e-01 6.82850286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.50, Y:264.64, Z:68.30 [[ 7.48166439e-01 -6.62879463e-01 -2.89447314e-02 4.63497946e+02] [ 6.62756861e-01 7.48683978e-01 -1.50214777e-02 2.64640735e+02] [ 3.16278858e-02 -7.94475384e-03 9.99468137e-01 6.82950272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2692541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:463.52, Y:264.65, Z:68.31 [[ 7.46430523e-01 -6.63903724e-01 -4.55337169e-02 4.63524227e+02] [ 6.64400278e-01 7.47357584e-01 -5.37701839e-03 2.64650227e+02] [ 3.75997912e-02 -2.62390436e-02 9.98948331e-01 6.83083993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.2992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:463.53, Y:264.69, Z:68.28 [[ 7.44917641e-01 -6.67156285e-01 -4.46369714e-04 4.63526365e+02] [ 6.66488766e-01 7.44201911e-01 -4.42294166e-02 2.64691524e+02] [ 2.98401225e-02 3.26497723e-02 9.99021301e-01 6.82790388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:463.57, Y:264.68, Z:68.31 [[ 7.44753463e-01 -6.65579538e-01 -4.84371534e-02 4.63569110e+02] [ 6.66339624e-01 7.45648132e-01 -6.06917684e-04 2.64684511e+02] [ 3.65210249e-02 -3.18235905e-02 9.98826048e-01 6.83134445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.58, Y:264.71, Z:68.30 [[ 7.43435478e-01 -6.68306166e-01 -2.58951406e-02 4.63581298e+02] [ 6.67890686e-01 7.43886294e-01 -2.35629681e-02 2.64713621e+02] [ 3.50103171e-02 2.22423246e-04 9.99386926e-01 6.83033703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.60, Y:264.73, Z:68.30 [[ 7.42634823e-01 -6.69198034e-01 -2.58362324e-02 4.63603037e+02] [ 6.68784507e-01 7.43084083e-01 -2.35229362e-02 2.64732118e+02] [ 3.49399958e-02 1.90079636e-04 9.99389394e-01 6.83049608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:463.61, Y:264.77, Z:68.28 [[ 7.40400231e-01 -6.72141835e-01 5.73159162e-03 4.63611960e+02] [ 6.71667641e-01 7.39495699e-01 -4.48184236e-02 2.64765515e+02] [ 2.58858502e-02 3.70332958e-02 9.98978707e-01 6.82811979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.66, Y:264.76, Z:68.32 [[ 7.41413490e-01 -6.69258852e-01 -4.89757638e-02 4.63656889e+02] [ 6.70236849e-01 7.42130363e-01 5.00913898e-03 2.64755107e+02] [ 3.29939907e-02 -3.65392048e-02 9.98787406e-01 6.83205202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.67, Y:264.79, Z:68.31 [[ 7.41499262e-01 -6.70521826e-01 -2.40691800e-02 4.63666671e+02] [ 6.70162624e-01 7.41889790e-01 -2.19453129e-02 2.64786667e+02] [ 3.25714902e-02 1.42168532e-04 9.99469398e-01 6.83077325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:463.69, Y:264.80, Z:68.31 [[ 7.41423326e-01 -6.70600354e-01 -2.42201895e-02 4.63687788e+02] [ 6.70236256e-01 7.41818808e-01 -2.20956411e-02 2.64804830e+02] [ 3.27843368e-02 1.48974524e-04 9.99462438e-01 6.83079611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5392541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:463.71, Y:264.82, Z:68.31 [[ 7.41438535e-01 -6.70561834e-01 -2.48138182e-02 4.63708260e+02] [ 6.70179199e-01 7.41853624e-01 -2.26504100e-02 2.64823527e+02] [ 3.35967214e-02 1.64182052e-04 9.99435457e-01 6.83067456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.72, Y:264.85, Z:68.29 [[ 7.41398340e-01 -6.71056559e-01 -3.40535333e-03 4.63721072e+02] [ 6.70469108e-01 7.40944077e-01 -3.83803460e-02 2.64853766e+02] [ 2.82785593e-02 2.61719406e-02 9.99257401e-01 6.82911664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.5992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:463.76, Y:264.85, Z:68.32 [[ 7.42852420e-01 -6.68027924e-01 -4.36918173e-02 4.63757704e+02] [ 6.68502828e-01 7.43694141e-01 -4.79517652e-03 2.64852359e+02] [ 3.56966604e-02 -2.56459950e-02 9.99033549e-01 6.83174767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.77, Y:264.88, Z:68.31 [[ 7.43930338e-01 -6.67727453e-01 -2.66026481e-02 4.63770010e+02] [ 6.67284671e-01 7.44405759e-01 -2.43153130e-02 2.64880351e+02] [ 3.60391664e-02 3.37359718e-04 9.99350321e-01 6.83100363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6592541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:463.79, Y:264.90, Z:68.31 [[ 7.44120549e-01 -6.67484761e-01 -2.73624242e-02 4.63789934e+02] [ 6.67015704e-01 7.44623367e-01 -2.50218456e-02 2.64899433e+02] [ 3.70764010e-02 3.68102869e-04 9.99312366e-01 6.83080326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.6892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:463.81, Y:264.92, Z:68.31 [[ 7.44271135e-01 -6.67345231e-01 -2.66612013e-02 4.63810979e+02] [ 6.66899514e-01 7.44748417e-01 -2.43892158e-02 2.64918493e+02] [ 3.61319143e-02 3.71847149e-04 9.99346960e-01 6.83113181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7192541539998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:463.83, Y:264.94, Z:68.31 [[ 7.43818442e-01 -6.67829915e-01 -2.71538123e-02 4.63831193e+02] [ 6.67367457e-01 7.44313826e-01 -2.48516783e-02 2.64937017e+02] [ 3.68076521e-02 3.63566012e-04 9.99322303e-01 6.83105969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.85, Y:264.96, Z:68.31 [[ 7.43576815e-01 -6.68124978e-01 -2.65053670e-02 4.63851749e+02] [ 6.67684228e-01 7.44048986e-01 -2.42668097e-02 2.64955400e+02] [ 3.59345531e-02 3.47021494e-04 9.99354085e-01 6.83135220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.7792541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:463.87, Y:264.97, Z:68.31 [[ 7.41575175e-01 -6.70350209e-01 -2.63980503e-02 4.63871568e+02] [ 6.69914008e-01 7.42044835e-01 -2.41802589e-02 2.64973129e+02] [ 3.57977785e-02 2.47056101e-04 9.99359024e-01 6.83132337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.89, Y:264.99, Z:68.32 [[ 7.40740902e-01 -6.71279535e-01 -2.62049914e-02 4.63892883e+02] [ 6.70849968e-01 7.41204252e-01 -2.40120173e-02 2.64991736e+02] [ 3.55420268e-02 2.07065759e-04 9.99368161e-01 6.83152740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8392541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:463.91, Y:265.01, Z:68.31 [[ 7.38368373e-01 -6.73888724e-01 -2.61941504e-02 4.63913658e+02] [ 6.73460696e-01 7.38832849e-01 -2.40148363e-02 2.65009779e+02] [ 3.55364262e-02 9.10648379e-05 9.99368378e-01 6.83140151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:463.93, Y:265.03, Z:68.32 [[ 7.37378304e-01 -6.74971058e-01 -2.62165609e-02 4.63934814e+02] [ 6.74542593e-01 7.37844204e-01 -2.40462482e-02 2.65028742e+02] [ 3.55742591e-02 4.69947335e-05 9.99367035e-01 6.83150808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.96, Y:265.05, Z:68.32 [[ 7.36982665e-01 -6.75422154e-01 -2.57189697e-02 4.63955370e+02] [ 6.75009617e-01 7.37431294e-01 -2.36030588e-02 2.65047418e+02] [ 3.49080019e-02 3.44933021e-05 9.99390529e-01 6.83178351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:463.98, Y:265.07, Z:68.32 [[ 7.36292600e-01 -6.76170875e-01 -2.58099639e-02 4.63976352e+02] [ 6.75755397e-01 7.36744832e-01 -2.37001314e-02 2.65066159e+02] [ 3.50406961e-02 9.00902286e-06 9.99385886e-01 6.83187565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.00, Y:265.08, Z:68.32 [[ 7.36284025e-01 -6.76176055e-01 -2.59186535e-02 4.63997418e+02] [ 6.75756594e-01 7.36740078e-01 -2.38135275e-02 2.65084999e+02] [ 3.51974479e-02 1.88188654e-05 9.99380378e-01 6.83199247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 824.9892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:464.02, Y:265.10, Z:68.32 [[ 7.36741667e-01 -6.75677013e-01 -2.59285600e-02 4.64017559e+02] [ 6.75256510e-01 7.37197783e-01 -2.38343283e-02 2.65103234e+02] [ 3.52187847e-02 5.13138695e-05 9.99379625e-01 6.83208714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0192541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:464.04, Y:265.12, Z:68.32 [[ 7.38087251e-01 -6.74178080e-01 -2.66669753e-02 4.64038055e+02] [ 6.73731942e-01 7.38568818e-01 -2.45228704e-02 2.65122063e+02] [ 3.62281781e-02 1.33624910e-04 9.99343535e-01 6.83195333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0492541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:464.06, Y:265.14, Z:68.32 [[ 7.39143818e-01 -6.73023623e-01 -2.65634881e-02 4.64058396e+02] [ 6.72579701e-01 7.39620959e-01 -2.44414164e-02 2.65140871e+02] [ 3.60965632e-02 1.99658986e-04 9.99348287e-01 6.83203845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.0792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:464.08, Y:265.16, Z:68.32 [[ 7.41839418e-01 -6.70059172e-01 -2.63625333e-02 4.64078013e+02] [ 6.69619658e-01 7.42307607e-01 -2.42678881e-02 2.65159011e+02] [ 3.58300300e-02 3.50005501e-04 9.99357837e-01 6.83217951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.10, Y:265.18, Z:68.32 [[ 7.43371763e-01 -6.68373054e-01 -2.59977460e-02 4.64098884e+02] [ 6.67944296e-01 7.43826105e-01 -2.39403913e-02 2.65178462e+02] [ 3.53389146e-02 4.31564774e-04 9.99375292e-01 6.83234303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1392541539999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:464.12, Y:265.20, Z:68.32 [[ 7.44366673e-01 -6.67227961e-01 -2.69277669e-02 4.64119171e+02] [ 6.66766680e-01 7.44853398e-01 -2.48115139e-02 2.65197487e+02] [ 3.66121745e-02 5.14326342e-04 9.99329417e-01 6.83219178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1692541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:464.14, Y:265.22, Z:68.32 [[ 7.47293702e-01 -6.63943703e-01 -2.70348164e-02 4.64138929e+02] [ 6.63476156e-01 7.47782246e-01 -2.49219446e-02 2.65216054e+02] [ 3.67629239e-02 6.87056141e-04 9.99323779e-01 6.83222057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.1992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:464.16, Y:265.23, Z:68.32 [[ 7.48580367e-01 -6.62503115e-01 -2.67779130e-02 4.64159159e+02] [ 6.62043174e-01 7.49058775e-01 -2.46938770e-02 2.65234873e+02] [ 3.64180011e-02 7.57216990e-04 9.99336358e-01 6.83239148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2292541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:464.14, Y:265.28, Z:68.28 [[ 7.43520648e-01 -6.68256678e-01 2.46993593e-02 4.64144721e+02] [ 6.68373200e-01 7.41458486e-01 -5.93007499e-02 2.65277719e+02] [ 2.13145726e-02 6.05997218e-02 9.97934548e-01 6.82802463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.21, Y:265.26, Z:68.33 [[ 7.49482323e-01 -6.59952896e-01 -5.23299360e-02 4.64210425e+02] [ 6.61255507e-01 7.50077966e-01 1.11444320e-02 2.65257394e+02] [ 3.18967318e-02 -4.29560132e-02 9.98567664e-01 6.83343480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.2892541539999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:464.22, Y:265.29, Z:68.32 [[ 7.51227058e-01 -6.59604579e-01 -2.40770795e-02 4.64218697e+02] [ 6.59211555e-01 7.51611747e-01 -2.28014792e-02 2.65291509e+02] [ 3.31365759e-02 1.25719915e-03 9.99450042e-01 6.83193954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:464.25, Y:265.30, Z:68.33 [[ 7.52246672e-01 -6.57909461e-01 -3.57783035e-02 4.64247384e+02] [ 6.57927137e-01 7.52970452e-01 -1.29375862e-02 2.65304521e+02] [ 3.54517657e-02 -1.38072607e-02 9.99276004e-01 6.83307339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.26, Y:265.33, Z:68.33 [[ 7.52670648e-01 -6.57895097e-01 -2.57086917e-02 4.64263616e+02] [ 6.57463847e-01 7.53108862e-01 -2.38397145e-02 2.65328093e+02] [ 3.50454748e-02 1.04091805e-03 9.99385177e-01 6.83256366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.3792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:464.27, Y:265.36, Z:68.31 [[ 7.51808560e-01 -6.59341459e-01 -7.26152110e-03 4.64274614e+02] [ 6.58716299e-01 7.51499158e-01 -3.66313148e-02 2.65355151e+02] [ 2.96095715e-02 2.27564537e-02 9.99302465e-01 6.83107530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.31, Y:265.36, Z:68.34 [[ 7.52749743e-01 -6.57069363e-01 -4.03444694e-02 4.64313054e+02] [ 6.57338725e-01 7.53552305e-01 -8.04513340e-03 2.65356896e+02] [ 3.56878786e-02 -2.04640100e-02 9.99153442e-01 6.83353135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.33, Y:265.38, Z:68.33 [[ 7.52831747e-01 -6.57728970e-01 -2.52381256e-02 4.64327179e+02] [ 6.57312096e-01 7.53253934e-01 -2.34375630e-02 2.65382901e+02] [ 3.44262816e-02 1.05521622e-03 9.99406683e-01 6.83277035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.35, Y:265.40, Z:68.33 [[ 7.52743885e-01 -6.57844986e-01 -2.48318056e-02 4.64347626e+02] [ 6.57441136e-01 7.53152634e-01 -2.30707984e-02 2.65401138e+02] [ 3.38791489e-02 1.04095190e-03 9.99425395e-01 6.83285607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.4992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:464.37, Y:265.42, Z:68.33 [[ 7.52286403e-01 -6.58389816e-01 -2.42490943e-02 4.64368996e+02] [ 6.58004721e-01 7.52676460e-01 -2.25374048e-02 2.65419888e+02] [ 3.30901202e-02 9.98564661e-04 9.99451873e-01 6.83280988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:464.39, Y:265.44, Z:68.33 [[ 7.51872464e-01 -6.58849976e-01 -2.45867517e-02 4.64390211e+02] [ 6.58453878e-01 7.52273691e-01 -2.28645008e-02 2.65438852e+02] [ 3.35602422e-02 1.00194654e-03 9.99436194e-01 6.83285918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:464.41, Y:265.46, Z:68.33 [[ 7.51493791e-01 -6.59270944e-01 -2.48778010e-02 4.64410881e+02] [ 6.58865267e-01 7.51904792e-01 -2.31461216e-02 2.65456858e+02] [ 3.39653032e-02 1.00304769e-03 9.99422509e-01 6.83290048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.5892541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:464.43, Y:265.48, Z:68.33 [[ 7.51185895e-01 -6.59609047e-01 -2.52122434e-02 4.64431348e+02] [ 6.59192271e-01 7.51608203e-01 -2.34661319e-02 2.65475460e+02] [ 3.44282018e-02 1.00771130e-03 9.99406666e-01 6.83292438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:464.45, Y:265.49, Z:68.33 [[ 7.50843440e-01 -6.59994581e-01 -2.53235283e-02 4.64451558e+02] [ 6.59573957e-01 7.51269690e-01 -2.35806829e-02 2.65493802e+02] [ 3.45879222e-02 1.00266126e-03 9.99401156e-01 6.83298527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6492541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:464.47, Y:265.51, Z:68.33 [[ 7.50666914e-01 -6.60195513e-01 -2.53193262e-02 4.64472417e+02] [ 6.59774851e-01 7.51093127e-01 -2.35851942e-02 2.65513342e+02] [ 3.45880113e-02 9.99570316e-04 9.99401156e-01 6.83304781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.49, Y:265.53, Z:68.33 [[ 7.50627978e-01 -6.60267037e-01 -2.45983322e-02 4.64492817e+02] [ 6.59869621e-01 7.51030282e-01 -2.29259311e-02 2.65532240e+02] [ 3.36113289e-02 9.77153190e-04 9.99434502e-01 6.83327488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.50, Y:265.56, Z:68.31 [[ 7.48688446e-01 -6.62919678e-01 1.76373169e-03 4.64499697e+02] [ 6.62441538e-01 7.48041870e-01 -4.00570829e-02 2.65564035e+02] [ 2.52352834e-02 3.11586443e-02 9.99195836e-01 6.83107052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7392541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:464.54, Y:265.56, Z:68.34 [[ 7.49408636e-01 -6.60536176e-01 -4.55922821e-02 4.64543563e+02] [ 6.61173014e-01 7.50232038e-01 -1.46155028e-03 2.65560414e+02] [ 3.51701975e-02 -2.90490882e-02 9.98959062e-01 6.83438664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:464.55, Y:265.59, Z:68.33 [[ 7.49828978e-01 -6.61182813e-01 -2.43678354e-02 4.64554106e+02] [ 6.60792275e-01 7.50224223e-01 -2.27416872e-02 2.65589180e+02] [ 3.33177531e-02 9.50298723e-04 9.99444358e-01 6.83328240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.57, Y:265.61, Z:68.33 [[ 7.49970477e-01 -6.61027892e-01 -2.42158869e-02 4.64574621e+02] [ 6.60641832e-01 7.50360719e-01 -2.26089001e-02 2.65608413e+02] [ 3.31157638e-02 9.57979711e-04 9.99451064e-01 6.83348249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:464.60, Y:265.63, Z:68.34 [[ 7.49851829e-01 -6.61157188e-01 -2.43599539e-02 4.64595022e+02] [ 6.60766146e-01 7.50246784e-01 -2.27566339e-02 2.65627501e+02] [ 3.33216892e-02 9.67870734e-04 9.99444210e-01 6.83353524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.61, Y:265.65, Z:68.32 [[ 7.48178036e-01 -6.63390696e-01 -1.19335934e-02 4.64608531e+02] [ 6.62849705e-01 7.48120973e-01 -3.07453898e-02 2.65652730e+02] [ 2.93239770e-02 1.50928465e-02 9.99456007e-01 6.83230148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.8892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:464.64, Y:265.66, Z:68.34 [[ 7.48587354e-01 -6.62080161e-01 -3.55926216e-02 4.64641286e+02] [ 6.62066375e-01 7.49316989e-01 -1.38623326e-02 2.65660795e+02] [ 3.58481314e-02 -1.31875111e-02 9.99270234e-01 6.83402861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.66, Y:265.69, Z:68.34 [[ 7.48250991e-01 -6.62912805e-01 -2.58276508e-02 4.64657638e+02] [ 6.62473257e-01 7.48695989e-01 -2.41557677e-02 2.65685281e+02] [ 3.53502263e-02 9.64449188e-04 9.99374520e-01 6.83369037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:464.68, Y:265.70, Z:68.34 [[ 7.46035982e-01 -6.65394875e-01 -2.60763337e-02 4.64678802e+02] [ 6.64947821e-01 7.46491066e-01 -2.44025458e-02 2.65704266e+02] [ 3.57030791e-02 8.65775944e-04 9.99362067e-01 6.83364531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 825.9792541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:464.70, Y:265.72, Z:68.34 [[ 7.44715929e-01 -6.66860554e-01 -2.63663822e-02 4.64699602e+02] [ 6.66403894e-01 7.45182083e-01 -2.46883105e-02 2.65723182e+02] [ 3.61114161e-02 8.15118326e-04 9.99347438e-01 6.83364986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.72, Y:265.74, Z:68.34 [[ 7.42889788e-01 -6.68936154e-01 -2.52821292e-02 4.64719718e+02] [ 6.68517125e-01 7.43319543e-01 -2.36835551e-02 2.65740700e+02] [ 3.46354870e-02 6.92734883e-04 9.99399771e-01 6.83393922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:464.74, Y:265.76, Z:68.34 [[ 7.41562999e-01 -6.70422319e-01 -2.48642853e-02 4.64740458e+02] [ 6.70017578e-01 7.41979468e-01 -2.33005160e-02 2.65759527e+02] [ 3.40699751e-02 6.19292304e-04 9.99419258e-01 6.83396647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:464.75, Y:265.79, Z:68.32 [[ 7.38293078e-01 -6.74429633e-01 -8.24630893e-03 4.64750342e+02] [ 6.73844851e-01 7.38073140e-01 -3.43679629e-02 2.65786032e+02] [ 2.92651518e-02 1.98168963e-02 9.99375226e-01 6.83242598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.0992541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:464.78, Y:265.80, Z:68.33 [[ 7.36036139e-01 -6.76712514e-01 -1.76345255e-02 4.64775713e+02] [ 6.76358693e-01 7.36233503e-01 -2.23415953e-02 2.65799921e+02] [ 2.81019656e-02 4.51695694e-03 9.99594856e-01 6.83302058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1292541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:464.81, Y:265.81, Z:68.35 [[ 7.36958569e-01 -6.74687159e-01 -4.11011518e-02 4.64810322e+02] [ 6.75013076e-01 7.37768188e-01 -7.44630848e-03 2.65808650e+02] [ 3.53470510e-02 -2.22561941e-02 9.99127243e-01 6.83494933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:464.82, Y:265.84, Z:68.34 [[ 7.36174403e-01 -6.76314680e-01 -2.54106666e-02 4.64823696e+02] [ 6.75894728e-01 7.36612732e-01 -2.38327585e-02 2.65835900e+02] [ 3.48362649e-02 3.70131195e-04 9.99392965e-01 6.83413880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.1892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:464.84, Y:265.85, Z:68.34 [[ 7.34710976e-01 -6.77941540e-01 -2.43936373e-02 4.64843322e+02] [ 6.77555071e-01 7.35115763e-01 -2.28897706e-02 2.65853784e+02] [ 3.34500736e-02 2.89333032e-04 9.99440348e-01 6.83425769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.86, Y:265.88, Z:68.33 [[ 7.33438724e-01 -6.79610029e-01 -1.40658115e-02 4.64858683e+02] [ 6.79102150e-01 7.33483886e-01 -2.86645787e-02 2.65878223e+02] [ 2.97977812e-02 1.14715892e-02 9.99490117e-01 6.83349159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2492541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:464.89, Y:265.89, Z:68.35 [[ 7.34235009e-01 -6.78195722e-01 -3.08141997e-02 4.64887717e+02] [ 6.78144515e-01 7.34801214e-01 -1.36818692e-02 2.65889442e+02] [ 3.19212965e-02 -1.08507732e-02 9.99431484e-01 6.83476006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.2792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:464.90, Y:265.91, Z:68.35 [[ 7.34834544e-01 -6.77857926e-01 -2.29526657e-02 4.64904051e+02] [ 6.77514980e-01 7.35192863e-01 -2.15616724e-02 2.65912765e+02] [ 3.14903866e-02 2.93486818e-04 9.99504012e-01 6.83458983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3092541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:464.91, Y:265.94, Z:68.33 [[ 7.32678328e-01 -6.80534980e-01 -7.38974772e-03 4.64914168e+02] [ 6.80008595e-01 7.32468233e-01 -3.28420125e-02 2.65940464e+02] [ 2.77628938e-02 1.90375388e-02 9.99433236e-01 6.83288066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.95, Y:265.95, Z:68.35 [[ 7.35938048e-01 -6.76024534e-01 -3.72292753e-02 4.64949304e+02] [ 6.76206905e-01 7.36652253e-01 -9.36377103e-03 2.65945890e+02] [ 3.37551685e-02 -1.82835377e-02 9.99262879e-01 6.83535989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:464.96, Y:265.97, Z:68.35 [[ 7.36855700e-01 -6.75567712e-01 -2.55332026e-02 4.64962410e+02] [ 6.75173878e-01 7.37297909e-01 -2.30657164e-02 2.65971033e+02] [ 3.44080302e-02 -2.43246839e-04 9.99407839e-01 6.83456520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:464.98, Y:265.99, Z:68.35 [[ 7.37839234e-01 -6.74510388e-01 -2.50798806e-02 4.64982057e+02] [ 6.74058978e-01 7.38264166e-01 -2.47086125e-02 2.65991751e+02] [ 3.51817930e-02 1.32566506e-03 9.99380050e-01 6.83469177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:465.00, Y:266.01, Z:68.35 [[ 7.38090701e-01 -6.74215293e-01 -2.56096745e-02 4.65002222e+02] [ 6.73784524e-01 7.38534665e-01 -2.41031785e-02 2.66011052e+02] [ 3.51643640e-02 5.34929611e-04 9.99381399e-01 6.83464849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:465.02, Y:266.03, Z:68.35 [[ 7.38800530e-01 -6.73455891e-01 -2.51185203e-02 4.65021622e+02] [ 6.73040681e-01 7.39227191e-01 -2.36516844e-02 2.66030443e+02] [ 3.44966594e-02 5.68090997e-04 9.99404652e-01 6.83475324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.4892541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:465.04, Y:266.05, Z:68.35 [[ 7.39415944e-01 -6.72827702e-01 -2.38106187e-02 4.65040527e+02] [ 6.72454018e-01 7.39798997e-01 -2.24285160e-02 2.66051252e+02] [ 3.27055987e-02 5.72456053e-04 9.99464865e-01 6.83472291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.06, Y:266.07, Z:68.35 [[ 7.40201779e-01 -6.71989126e-01 -2.30638518e-02 4.65060247e+02] [ 6.71637729e-01 7.40560771e-01 -2.17371906e-02 2.66070993e+02] [ 3.16873395e-02 5.99354104e-04 9.99497651e-01 6.83505259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:465.08, Y:266.09, Z:68.35 [[ 7.40126739e-01 -6.72083174e-01 -2.27292265e-02 4.65079725e+02] [ 6.71741569e-01 7.40475424e-01 -2.14338772e-02 2.66091042e+02] [ 3.12357818e-02 5.95619321e-04 9.99511866e-01 6.83504503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.10, Y:266.11, Z:68.35 [[ 7.40840199e-01 -6.71299684e-01 -2.26392211e-02 4.65099957e+02] [ 6.70960038e-01 7.41185760e-01 -2.13610955e-02 2.66111016e+02] [ 3.11195650e-02 6.35145642e-04 9.99515467e-01 6.83514935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:465.12, Y:266.13, Z:68.35 [[ 7.42520951e-01 -6.69420710e-01 -2.32066849e-02 4.65119106e+02] [ 6.69062495e-01 7.42883143e-01 -2.19092318e-02 2.66131750e+02] [ 3.19063485e-02 7.41341098e-04 9.99490588e-01 6.83513418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:465.14, Y:266.15, Z:68.35 [[ 7.43520103e-01 -6.68289949e-01 -2.37991929e-02 4.65138165e+02] [ 6.67912264e-01 7.43900447e-01 -2.24796128e-02 2.66151303e+02] [ 3.27271296e-02 8.18271227e-04 9.99463989e-01 6.83518555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6692541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:465.16, Y:266.17, Z:68.35 [[ 7.44020583e-01 -6.67698191e-01 -2.47487002e-02 4.65157299e+02] [ 6.67289228e-01 7.44431559e-01 -2.33824708e-02 2.66171086e+02] [ 3.40361470e-02 8.82498520e-04 9.99420213e-01 6.83500352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.6992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:465.18, Y:266.19, Z:68.35 [[ 7.45718115e-01 -6.65754677e-01 -2.59846798e-02 4.65175691e+02] [ 6.65302322e-01 7.46169991e-01 -2.45594166e-02 2.66192324e+02] [ 3.57395348e-02 1.02673406e-03 9.99360611e-01 6.83535397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.19, Y:266.21, Z:68.35 [[ 7.46028868e-01 -6.65405929e-01 -2.59976432e-02 4.65194207e+02] [ 6.64952508e-01 7.46480973e-01 -2.45829104e-02 2.66212074e+02] [ 3.57643603e-02 1.05236276e-03 9.99359697e-01 6.83534719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:465.21, Y:266.23, Z:68.35 [[ 7.45317498e-01 -6.66237403e-01 -2.50908381e-02 4.65213171e+02] [ 6.65815252e-01 7.45739067e-01 -2.37338158e-02 2.66232694e+02] [ 3.45235740e-02 9.83365444e-04 9.99403400e-01 6.83519915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.23, Y:266.25, Z:68.36 [[ 7.44862556e-01 -6.66758172e-01 -2.47651321e-02 4.65233521e+02] [ 6.66346745e-01 7.45273523e-01 -2.34390943e-02 2.66252251e+02] [ 3.40850049e-02 9.56738561e-04 9.99418480e-01 6.83555600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8192541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:465.25, Y:266.27, Z:68.35 [[ 7.41527850e-01 -6.70511290e-01 -2.34746222e-02 4.65253676e+02] [ 6.70143098e-01 7.41898944e-01 -2.22302813e-02 2.66271396e+02] [ 3.23214520e-02 7.53016660e-04 9.99477242e-01 6.83544445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8492541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:465.27, Y:266.29, Z:68.36 [[ 7.41344528e-01 -6.70714196e-01 -2.34682492e-02 4.65274370e+02] [ 6.70345893e-01 7.41715511e-01 -2.22370077e-02 2.66291107e+02] [ 3.23214412e-02 7.53439457e-04 9.99477242e-01 6.83550925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.29, Y:266.31, Z:68.36 [[ 7.37772299e-01 -6.74689229e-01 -2.20562736e-02 4.65293915e+02] [ 6.74365401e-01 7.38101714e-01 -2.09085000e-02 2.66308985e+02] [ 3.03865131e-02 5.51724301e-04 9.99538071e-01 6.83590568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.31, Y:266.33, Z:68.36 [[ 7.33452325e-01 -6.79400970e-01 -2.14943835e-02 4.65313622e+02] [ 6.79095296e-01 7.33767128e-01 -2.03808968e-02 2.66327538e+02] [ 2.96186731e-02 3.51681432e-04 9.99561209e-01 6.83602418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:465.33, Y:266.35, Z:68.36 [[ 7.30693221e-01 -6.82370011e-01 -2.14146035e-02 4.65334073e+02] [ 6.82067678e-01 7.31006917e-01 -2.03117968e-02 2.66346951e+02] [ 2.95143843e-02 2.35483350e-04 9.99564328e-01 6.83583270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.35, Y:266.37, Z:68.36 [[ 7.29010285e-01 -6.84177123e-01 -2.11108914e-02 4.65353560e+02] [ 6.83883768e-01 7.29315869e-01 -2.00338443e-02 2.66365287e+02] [ 2.91032061e-02 1.67482549e-04 9.99576398e-01 6.83617942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 826.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.38, Y:266.38, Z:68.36 [[ 7.26137877e-01 -6.87186089e-01 -2.23396913e-02 4.65375665e+02] [ 6.86836588e-01 7.26481210e-01 -2.19215094e-02 2.66383598e+02] [ 3.12935223e-02 5.74320940e-04 9.99510073e-01 6.83630571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:465.40, Y:266.40, Z:68.36 [[ 7.22995757e-01 -6.90372889e-01 -2.57373202e-02 4.65399535e+02] [ 6.90136152e-01 7.23440795e-01 -1.85878659e-02 2.66403298e+02] [ 3.14519860e-02 -4.32330690e-03 9.99495914e-01 6.83641139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0592541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:465.41, Y:266.42, Z:68.36 [[ 7.20744779e-01 -6.92926553e-01 -1.94872971e-02 4.65413258e+02] [ 6.92541223e-01 7.21000490e-01 -2.33441242e-02 2.66424888e+02] [ 3.02261143e-02 3.32939906e-03 9.99537542e-01 6.83600185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.0892541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:465.43, Y:266.44, Z:68.36 [[ 7.18348539e-01 -6.95281760e-01 -2.36357934e-02 4.65433243e+02] [ 6.94918607e-01 7.18737222e-01 -2.24707670e-02 2.66442622e+02] [ 3.26114389e-02 -2.83109945e-04 9.99468066e-01 6.83624073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1192541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:465.45, Y:266.46, Z:68.36 [[ 7.17225853e-01 -6.96416793e-01 -2.43048571e-02 4.65452740e+02] [ 6.96033120e-01 7.17637468e-01 -2.31162355e-02 2.66462642e+02] [ 3.35406108e-02 -3.37423796e-04 9.99437299e-01 6.83628267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1492541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:465.47, Y:266.48, Z:68.36 [[ 7.16359453e-01 -6.97292337e-01 -2.47493515e-02 4.65471266e+02] [ 6.96894547e-01 7.16786757e-01 -2.35528242e-02 2.66484097e+02] [ 3.41632112e-02 -3.75399827e-04 9.99416197e-01 6.83636179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.49, Y:266.50, Z:68.37 [[ 7.16538056e-01 -6.97133227e-01 -2.40515833e-02 4.65490006e+02] [ 6.96757112e-01 7.16941519e-01 -2.28994623e-02 2.66503710e+02] [ 3.32075547e-02 -3.49775517e-04 9.99448416e-01 6.83670911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2092541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:465.51, Y:266.52, Z:68.36 [[ 7.15866985e-01 -6.97832486e-01 -2.37546010e-02 4.65508333e+02] [ 6.97465790e-01 7.16260904e-01 -2.26227669e-02 2.66524039e+02] [ 3.28013937e-02 -3.73129629e-04 9.99461820e-01 6.83648679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2392541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:465.53, Y:266.55, Z:68.37 [[ 7.16294074e-01 -6.97447135e-01 -2.21425737e-02 4.65526363e+02] [ 6.97128110e-01 7.16636162e-01 -2.10952547e-02 2.66545101e+02] [ 3.05809940e-02 -3.25804609e-04 9.99532239e-01 6.83678394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2692541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:465.54, Y:266.56, Z:68.37 [[ 7.16487709e-01 -6.97272721e-01 -2.13568845e-02 4.65544417e+02] [ 6.96975548e-01 7.16805876e-01 -2.03573486e-02 2.66564765e+02] [ 2.95033641e-02 -2.99436191e-04 9.99564636e-01 6.83688095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.2992541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:465.56, Y:266.58, Z:68.37 [[ 7.17187067e-01 -6.96558469e-01 -2.11898754e-02 4.65563502e+02] [ 6.96265360e-01 7.17499987e-01 -2.02068500e-02 2.66584997e+02] [ 2.92789878e-02 -2.61684737e-04 9.99571244e-01 6.83707230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3292541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:465.58, Y:266.61, Z:68.37 [[ 7.18861490e-01 -6.94832673e-01 -2.11119765e-02 4.65580654e+02] [ 6.94540637e-01 7.19171415e-01 -2.01439836e-02 2.66607329e+02] [ 2.91798280e-02 -1.82391505e-04 9.99574162e-01 6.83702313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:465.60, Y:266.63, Z:68.37 [[ 7.20237032e-01 -6.93408676e-01 -2.10481525e-02 4.65598953e+02] [ 6.93117463e-01 7.20544512e-01 -2.00945062e-02 2.66628321e+02] [ 2.90998357e-02 -1.16034571e-04 9.99576503e-01 6.83718352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.3892541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:465.61, Y:266.65, Z:68.37 [[ 7.23475844e-01 -6.89986483e-01 -2.23909912e-02 4.65614863e+02] [ 6.89654926e-01 7.23822251e-01 -2.13876429e-02 2.66651352e+02] [ 3.09642822e-02 3.13856383e-05 9.99520491e-01 6.83714149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4192541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:465.63, Y:266.67, Z:68.37 [[ 7.25172746e-01 -6.88175034e-01 -2.32295207e-02 4.65633515e+02] [ 6.87816990e-01 7.25544698e-01 -2.21963955e-02 2.66672950e+02] [ 3.21290608e-02 1.18562024e-04 9.99483721e-01 6.83720886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4492541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:465.65, Y:266.69, Z:68.37 [[ 7.26595644e-01 -6.86644144e-01 -2.40538837e-02 4.65651614e+02] [ 6.86258940e-01 7.26993657e-01 -2.29976073e-02 2.66693971e+02] [ 3.32781933e-02 2.02768578e-04 9.99446107e-01 6.83719980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.4792541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:465.67, Y:266.72, Z:68.37 [[ 7.29384676e-01 -6.83623518e-01 -2.56296641e-02 4.65668320e+02] [ 6.83183777e-01 7.29834739e-01 -2.45189995e-02 2.66717393e+02] [ 3.54671839e-02 3.74011783e-04 9.99370772e-01 6.83720468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5092541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:465.69, Y:266.74, Z:68.37 [[ 7.30511028e-01 -6.82407308e-01 -2.59596836e-02 4.65685924e+02] [ 6.81954980e-01 7.30972001e-01 -2.48462999e-02 2.66738120e+02] [ 3.59310985e-02 4.47160544e-04 9.99354170e-01 6.83727876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.70, Y:266.76, Z:68.38 [[ 7.32266721e-01 -6.80528336e-01 -2.58192528e-02 4.65702809e+02] [ 6.80079395e-01 7.32721563e-01 -2.47209949e-02 2.66760753e+02] [ 3.57416608e-02 5.43220061e-04 9.99360915e-01 6.83753381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.72, Y:266.78, Z:68.38 [[ 7.32083533e-01 -6.80725661e-01 -2.58123073e-02 4.65723384e+02] [ 6.80276587e-01 7.32538244e-01 -2.47282456e-02 2.66780570e+02] [ 3.57416536e-02 5.43633045e-04 9.99360915e-01 6.83759875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.5992541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:465.74, Y:266.80, Z:68.37 [[ 7.32104717e-01 -6.80670835e-01 -2.66439007e-02 4.65742297e+02] [ 6.80191782e-01 7.32589165e-01 -2.55393097e-02 2.66801163e+02] [ 3.69028962e-02 5.74486875e-04 9.99318691e-01 6.83738054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6292541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:465.76, Y:266.82, Z:68.38 [[ 7.32503151e-01 -6.80256900e-01 -2.62618261e-02 4.65759835e+02] [ 6.79790815e-01 7.32973530e-01 -2.51843696e-02 2.66821574e+02] [ 3.63810646e-02 5.95081958e-04 9.99337813e-01 6.83751349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.78, Y:266.84, Z:68.38 [[ 7.32592723e-01 -6.80200067e-01 -2.52145109e-02 4.65778118e+02] [ 6.79770189e-01 7.33026285e-01 -2.41858600e-02 2.66841247e+02] [ 3.49341228e-02 5.78312118e-04 9.99389450e-01 6.83787082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.80, Y:266.86, Z:68.38 [[ 7.32421554e-01 -6.80395118e-01 -2.49229008e-02 4.65797712e+02] [ 6.79974952e-01 7.32845250e-01 -2.39145172e-02 2.66861624e+02] [ 3.45359502e-02 5.68559543e-04 9.99403294e-01 6.83795365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.82, Y:266.88, Z:68.38 [[ 7.32340686e-01 -6.80502527e-01 -2.43604255e-02 4.65816560e+02] [ 6.80100742e-01 7.32745520e-01 -2.33876805e-02 2.66883051e+02] [ 3.37653683e-02 5.60206544e-04 9.99429630e-01 6.83803803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7492541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:465.84, Y:266.90, Z:68.38 [[ 7.32259098e-01 -6.80557824e-01 -2.52519436e-02 4.65836217e+02] [ 6.80125628e-01 7.32694139e-01 -2.42575584e-02 2.66903197e+02] [ 3.50106222e-02 5.88323846e-04 9.99386767e-01 6.83779895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.7792541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:465.85, Y:266.92, Z:68.38 [[ 7.32441162e-01 -6.80372285e-01 -2.49699472e-02 4.65854830e+02] [ 6.79949165e-01 7.32866423e-01 -2.39987230e-02 2.66923066e+02] [ 3.46277018e-02 5.99357799e-04 9.99400102e-01 6.83794448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8092541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:465.87, Y:266.94, Z:68.38 [[ 7.33429237e-01 -6.79301591e-01 -2.51177885e-02 4.65872662e+02] [ 6.78872531e-01 7.33858919e-01 -2.41489851e-02 2.66943433e+02] [ 3.48373571e-02 6.59795003e-04 9.99392777e-01 6.83803354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:465.89, Y:266.97, Z:68.38 [[ 7.33039034e-01 -6.79919497e-01 -1.90592035e-02 4.65887931e+02] [ 6.79427485e-01 7.33256888e-01 -2.66951013e-02 2.66966793e+02] [ 3.21258120e-02 6.61920457e-03 9.99461914e-01 6.83778986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:465.91, Y:266.98, Z:68.38 [[ 7.35199127e-01 -6.77207572e-01 -2.95321569e-02 4.65912862e+02] [ 6.76921353e-01 7.35774704e-01 -2.03240594e-02 2.66982081e+02] [ 3.54926209e-02 -5.04871689e-03 9.99357186e-01 6.83842520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.8992541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:465.93, Y:267.00, Z:68.38 [[ 7.35382894e-01 -6.77171872e-01 -2.55000901e-02 4.65930749e+02] [ 6.76727384e-01 7.35824454e-01 -2.45442558e-02 2.67004387e+02] [ 3.53842695e-02 7.92816606e-04 9.99373466e-01 6.83818190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9292541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:465.95, Y:267.02, Z:68.38 [[ 7.35376652e-01 -6.77192995e-01 -2.51162793e-02 4.65950411e+02] [ 6.76761335e-01 7.35805018e-01 -2.41882488e-02 2.67024888e+02] [ 3.48607970e-02 7.89746701e-04 9.99391866e-01 6.83830841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9592541539998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:465.97, Y:267.05, Z:68.38 [[ 7.35301453e-01 -6.77293047e-01 -2.46150599e-02 4.65968825e+02] [ 6.76878131e-01 7.35712936e-01 -2.37164857e-02 2.67045153e+02] [ 3.41726289e-02 7.77370677e-04 9.99415643e-01 6.83830715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 827.9892541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:465.99, Y:267.06, Z:68.38 [[ 7.34894025e-01 -6.77740216e-01 -2.44738820e-02 4.65988359e+02] [ 6.77330006e-01 7.35301043e-01 -2.35889602e-02 2.67064837e+02] [ 3.39828579e-02 7.58491270e-04 9.99422128e-01 6.83834630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:466.01, Y:267.08, Z:68.39 [[ 7.34806204e-01 -6.77856480e-01 -2.38837925e-02 4.66007468e+02] [ 6.77465483e-01 7.35193879e-01 -2.30321493e-02 2.67083997e+02] [ 3.31717097e-02 7.43721163e-04 9.99449391e-01 6.83856197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0492541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:466.03, Y:267.10, Z:68.38 [[ 7.33876108e-01 -6.78840934e-01 -2.45121502e-02 4.66026081e+02] [ 6.78429347e-01 7.34285001e-01 -2.36465417e-02 2.67103211e+02] [ 3.40511447e-02 7.23869908e-04 9.99419830e-01 6.83848471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.0792541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:466.05, Y:267.12, Z:68.39 [[ 7.33442795e-01 -6.79304496e-01 -2.46387551e-02 4.66046167e+02] [ 6.78888610e-01 7.33856181e-01 -2.37773199e-02 2.67122997e+02] [ 3.42333430e-02 7.12333728e-04 9.99413614e-01 6.83853054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1092541539999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:466.07, Y:267.14, Z:68.39 [[ 7.32716338e-01 -6.80080431e-01 -2.48470332e-02 4.66065770e+02] [ 6.79657532e-01 7.33137184e-01 -2.39897564e-02 2.67141959e+02] [ 3.45312478e-02 6.90213236e-04 9.99403380e-01 6.83850572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1392541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:466.09, Y:267.16, Z:68.39 [[ 7.32439262e-01 -6.80391242e-01 -2.45047959e-02 4.66086034e+02] [ 6.79979802e-01 7.32848760e-01 -2.36677659e-02 2.67161302e+02] [ 3.40616500e-02 6.72434685e-04 9.99419507e-01 6.83857451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1692541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:466.11, Y:267.18, Z:68.39 [[ 7.32629118e-01 -6.80200882e-01 -2.41108951e-02 4.66105242e+02] [ 6.79802104e-01 7.33025443e-01 -2.32980592e-02 2.67180306e+02] [ 3.35212600e-02 6.78199371e-04 9.99437775e-01 6.83868808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.1992541539998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:466.12, Y:267.21, Z:68.38 [[ 7.32191882e-01 -6.81024190e-01 -1.00548787e-02 4.66116897e+02] [ 6.80452986e-01 7.32060859e-01 -3.27205284e-02 2.67206409e+02] [ 2.96442545e-02 1.71158330e-02 9.99413962e-01 6.83758275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2292541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:466.14, Y:267.22, Z:68.38 [[ 7.33006784e-01 -6.79889538e-01 -2.12431331e-02 4.66143017e+02] [ 6.79567367e-01 7.33313965e-01 -2.09480694e-02 2.67220665e+02] [ 2.98202594e-02 9.18936905e-04 9.99554855e-01 6.83832437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2592541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:466.16, Y:267.24, Z:68.38 [[ 7.33549769e-01 -6.79296812e-01 -2.14610948e-02 4.66162914e+02] [ 6.78941656e-01 7.33861934e-01 -2.20201940e-02 2.67240741e+02] [ 3.07077281e-02 1.58207696e-03 9.99527154e-01 6.83816414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.2892541539999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:466.19, Y:267.25, Z:68.39 [[ 7.35860947e-01 -6.76056589e-01 -3.81596006e-02 4.66192240e+02] [ 6.76139920e-01 7.36664878e-01 -1.26359389e-02 2.67253087e+02] [ 3.66534473e-02 -1.65029354e-02 9.99191762e-01 6.83945647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3192541539999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:466.21, Y:267.28, Z:68.39 [[ 7.37368565e-01 -6.74970756e-01 -2.64967610e-02 4.66206520e+02] [ 6.74485394e-01 7.37843784e-01 -2.56125662e-02 2.67278050e+02] [ 3.68382036e-02 1.01422289e-03 9.99320728e-01 6.83893746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3492541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:466.23, Y:267.30, Z:68.39 [[ 7.38417403e-01 -6.73831472e-01 -2.62847310e-02 4.66226646e+02] [ 6.73352787e-01 7.38884297e-01 -2.54169319e-02 2.67296929e+02] [ 3.65481036e-02 1.06940800e-03 9.99331323e-01 6.83905996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.25, Y:267.32, Z:68.39 [[ 7.39242663e-01 -6.72963908e-01 -2.52955174e-02 4.66246209e+02] [ 6.72519682e-01 7.39674533e-01 -2.44716962e-02 2.67315946e+02] [ 3.51790183e-02 1.07878858e-03 9.99380445e-01 6.83940440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4092541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:466.27, Y:267.33, Z:68.39 [[ 7.39459832e-01 -6.72716242e-01 -2.55345800e-02 4.66266142e+02] [ 6.72263166e-01 7.39899746e-01 -2.47103679e-02 2.67334849e+02] [ 3.55160951e-02 1.10636689e-03 9.99368492e-01 6.83925268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4392541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:466.29, Y:267.35, Z:68.39 [[ 7.39954690e-01 -6.72166572e-01 -2.56740486e-02 4.66286760e+02] [ 6.71707797e-01 7.40399071e-01 -2.48566298e-02 2.67354529e+02] [ 3.57168374e-02 1.14732116e-03 9.99361292e-01 6.83933287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4692541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:466.31, Y:267.37, Z:68.39 [[ 7.41582762e-01 -6.70396770e-01 -2.49635288e-02 4.66305800e+02] [ 6.69961651e-01 7.42001829e-01 -2.41799797e-02 2.67373559e+02] [ 3.47331643e-02 1.20684913e-03 9.99395893e-01 6.83945479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.32, Y:267.39, Z:68.40 [[ 7.43956635e-01 -6.67814449e-01 -2.35029123e-02 4.66324732e+02] [ 6.67427239e-01 7.44326733e-01 -2.27726749e-02 2.67393595e+02] [ 3.27017673e-02 1.25539871e-03 9.99464366e-01 6.83979421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5292541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:466.34, Y:267.41, Z:68.40 [[ 7.44369843e-01 -6.67327714e-01 -2.42334121e-02 4.66344074e+02] [ 6.66915326e-01 7.44763024e-01 -2.34943988e-02 2.67413579e+02] [ 3.37266127e-02 1.32688803e-03 9.99430215e-01 6.83960391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5592541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:466.36, Y:267.43, Z:68.40 [[ 7.45437053e-01 -6.66137687e-01 -2.41698609e-02 4.66363125e+02] [ 6.65726454e-01 7.45827502e-01 -2.34441117e-02 2.67433092e+02] [ 3.36435533e-02 1.38559372e-03 9.99432935e-01 6.83958693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.5892541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:466.38, Y:267.45, Z:68.40 [[ 7.47527945e-01 -6.63816415e-01 -2.34465224e-02 4.66382469e+02] [ 6.63428049e-01 7.47894151e-01 -2.27500122e-02 2.67453607e+02] [ 3.26373485e-02 1.45118920e-03 9.99466206e-01 6.83972293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6192541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:466.40, Y:267.47, Z:68.40 [[ 7.48607846e-01 -6.62588010e-01 -2.37365103e-02 4.66401056e+02] [ 6.62188988e-01 7.48982498e-01 -2.30426161e-02 2.67472930e+02] [ 3.30459919e-02 1.53182746e-03 9.99452658e-01 6.83973946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6492541539999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:466.42, Y:267.49, Z:68.40 [[ 7.50654452e-01 -6.60253904e-01 -2.41386760e-02 4.66420084e+02] [ 6.59839769e-01 7.51040610e-01 -2.34410263e-02 2.67494240e+02] [ 3.36061551e-02 1.66845235e-03 9.99433761e-01 6.83977285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.6792541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:466.44, Y:267.51, Z:68.40 [[ 7.51558423e-01 -6.59253554e-01 -2.33385581e-02 4.66439858e+02] [ 6.58865541e-01 7.51918863e-01 -2.26764770e-02 2.67514562e+02] [ 3.24982501e-02 1.66572555e-03 9.99470404e-01 6.83988834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7092541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:466.46, Y:267.53, Z:68.40 [[ 7.52169274e-01 -6.58537368e-01 -2.38729844e-02 4.66459185e+02] [ 6.58130577e-01 7.52546004e-01 -2.32089576e-02 2.67534571e+02] [ 3.32494849e-02 1.74552377e-03 9.99445559e-01 6.83990148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7392541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:466.48, Y:267.55, Z:68.40 [[ 7.53181381e-01 -6.57368539e-01 -2.41745796e-02 4.66478162e+02] [ 6.56950356e-01 7.53567021e-01 -2.35154135e-02 2.67554756e+02] [ 3.36754590e-02 1.82987289e-03 9.99431146e-01 6.84000135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7692541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:466.50, Y:267.57, Z:68.40 [[ 7.53314454e-01 -6.57198830e-01 -2.46379909e-02 4.66498224e+02] [ 6.56763901e-01 7.53714901e-01 -2.39797087e-02 2.67574715e+02] [ 3.43294574e-02 1.88291811e-03 9.99408797e-01 6.83998392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.7992541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:466.52, Y:267.59, Z:68.40 [[ 7.53268325e-01 -6.57246532e-01 -2.47755392e-02 4.66518526e+02] [ 6.56806291e-01 7.53673259e-01 -2.41270631e-02 2.67594783e+02] [ 3.45300899e-02 1.90142244e-03 9.99401850e-01 6.84009151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8292541539998 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:466.54, Y:267.61, Z:68.40 [[ 7.52663070e-01 -6.57943287e-01 -2.46765889e-02 4.66537791e+02] [ 6.57506514e-01 7.53065157e-01 -2.40427380e-02 2.67614501e+02] [ 3.44018373e-02 1.87106304e-03 9.99406330e-01 6.84005725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8592541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:466.56, Y:267.63, Z:68.40 [[ 7.52317737e-01 -6.58387560e-01 -2.33204695e-02 4.66557506e+02] [ 6.57997400e-01 7.52677048e-01 -2.27306752e-02 2.67633851e+02] [ 3.25183759e-02 1.75588180e-03 9.99469595e-01 6.84035848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.58, Y:267.65, Z:68.41 [[ 7.50626152e-01 -6.60315149e-01 -2.33298830e-02 4.66577379e+02] [ 6.59925258e-01 7.50986736e-01 -2.27503148e-02 2.67652523e+02] [ 3.25428102e-02 1.68100221e-03 9.99468929e-01 6.84054689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9192541539999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:466.60, Y:267.67, Z:68.40 [[ 7.48802090e-01 -6.62349452e-01 -2.42617689e-02 4.66597367e+02] [ 6.61928633e-01 7.49193196e-01 -2.36651685e-02 2.67671466e+02] [ 3.38513636e-02 1.66096815e-03 9.99425498e-01 6.84017968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9492541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:466.62, Y:267.69, Z:68.40 [[ 7.45726126e-01 -6.65822263e-01 -2.39428486e-02 4.66618863e+02] [ 6.65413920e-01 7.46108902e-01 -2.33628470e-02 2.67690117e+02] [ 3.34194761e-02 1.49038064e-03 9.99440302e-01 6.84032895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 828.9792541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:466.63, Y:267.71, Z:68.40 [[ 7.44869119e-01 -6.66942261e-01 -1.89213044e-02 4.66634786e+02] [ 6.66263688e-01 7.45023168e-01 -3.21430876e-02 2.67710570e+02] [ 3.55343937e-02 1.13358153e-02 9.99304161e-01 6.84009973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0092541539999 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:466.66, Y:267.72, Z:68.41 [[ 7.41203823e-01 -6.70542981e-01 -3.14484223e-02 4.66663933e+02] [ 6.70380621e-01 7.41822313e-01 -1.70140879e-02 2.67723174e+02] [ 3.47378186e-02 -8.47150583e-03 9.99360554e-01 6.84072191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0392541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:466.68, Y:267.75, Z:68.41 [[ 7.40182843e-01 -6.71959518e-01 -2.44901006e-02 4.66680881e+02] [ 6.71534412e-01 7.40586793e-01 -2.39318774e-02 2.67745028e+02] [ 3.42182979e-02 1.26801975e-03 9.99413578e-01 6.84059423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0692541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:466.70, Y:267.76, Z:68.41 [[ 7.39196426e-01 -6.73041657e-01 -2.45676795e-02 4.66701700e+02] [ 6.72614165e-01 7.39603556e-01 -2.40159343e-02 2.67764122e+02] [ 3.43340673e-02 1.22792360e-03 9.99409658e-01 6.84072332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.0992541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:466.72, Y:267.78, Z:68.41 [[ 7.37975684e-01 -6.74354546e-01 -2.52554369e-02 4.66722049e+02] [ 6.73903042e-01 7.38406719e-01 -2.47023750e-02 2.67783048e+02] [ 3.53069432e-02 1.21003630e-03 9.99375783e-01 6.84074220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1292541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:466.74, Y:267.80, Z:68.41 [[ 7.36350402e-01 -6.76137297e-01 -2.50288166e-02 4.66742842e+02] [ 6.75694406e-01 7.36774790e-01 -2.44944748e-02 2.67801305e+02] [ 3.50022290e-02 1.12468501e-03 9.99386601e-01 6.84091742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1592541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:466.76, Y:267.82, Z:68.41 [[ 7.34638106e-01 -6.78031406e-01 -2.40887208e-02 4.66762564e+02] [ 6.77621781e-01 7.35032247e-01 -2.35864039e-02 2.67819256e+02] [ 3.36983091e-02 1.00442920e-03 9.99431546e-01 6.84108290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.78, Y:267.84, Z:68.41 [[ 7.33690130e-01 -6.79063470e-01 -2.39081060e-02 4.66783176e+02] [ 6.78660167e-01 7.34078938e-01 -2.34198795e-02 2.67838465e+02] [ 3.34540217e-02 9.57455249e-04 9.99439799e-01 6.84134428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2192541539998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:466.80, Y:267.86, Z:68.41 [[ 7.32394719e-01 -6.80429984e-01 -2.47590910e-02 4.66802999e+02] [ 6.79997786e-01 7.32812500e-01 -2.42662413e-02 2.67857148e+02] [ 3.46552496e-02 9.36339914e-04 9.99398888e-01 6.84111348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2492541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:466.82, Y:267.88, Z:68.41 [[ 7.31902126e-01 -6.80951101e-01 -2.49975461e-02 4.66822925e+02] [ 6.80510544e-01 7.32328301e-01 -2.45083544e-02 2.67875083e+02] [ 3.49954013e-02 9.26622951e-04 9.99387044e-01 6.84129328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.2792541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:466.84, Y:267.89, Z:68.41 [[ 7.31074625e-01 -6.81800336e-01 -2.60421785e-02 4.66843691e+02] [ 6.81322375e-01 7.31537721e-01 -2.55418098e-02 2.67893479e+02] [ 3.64652504e-02 9.29850075e-04 9.99334489e-01 6.84138229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3092541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:466.86, Y:267.91, Z:68.42 [[ 7.31089603e-01 -6.81807532e-01 -2.54259898e-02 4.66862984e+02] [ 6.81351492e-01 7.31531031e-01 -2.49498601e-02 2.67911775e+02] [ 3.56109031e-02 9.16547280e-04 9.99365310e-01 6.84162262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3392541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:466.88, Y:267.93, Z:68.42 [[ 7.31306897e-01 -6.81554772e-01 -2.59483300e-02 4.66883304e+02] [ 6.81079219e-01 7.31766478e-01 -2.54738846e-02 2.67931417e+02] [ 3.63499656e-02 9.56359123e-04 9.99338664e-01 6.84157506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3692541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:466.90, Y:267.95, Z:68.42 [[ 7.31620594e-01 -6.81204259e-01 -2.63071137e-02 4.66902987e+02] [ 6.80714691e-01 7.32092728e-01 -2.58407974e-02 2.67950828e+02] [ 3.68621079e-02 9.98020785e-04 9.99319863e-01 6.84164021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:466.92, Y:267.97, Z:68.42 [[ 7.32731872e-01 -6.80042096e-01 -2.54313062e-02 4.66922314e+02] [ 6.79583491e-01 7.33172345e-01 -2.49918176e-02 2.67969154e+02] [ 3.56410184e-02 1.02960549e-03 9.99364127e-01 6.84204171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4292541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:466.94, Y:267.99, Z:68.42 [[ 7.32815418e-01 -6.79950200e-01 -2.54811573e-02 4.66942637e+02] [ 6.79489422e-01 7.33257553e-01 -2.50496905e-02 2.67989245e+02] [ 3.57167931e-02 1.04262253e-03 9.99361408e-01 6.84201432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4592541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:466.96, Y:268.01, Z:68.42 [[ 7.32635307e-01 -6.80144522e-01 -2.54742296e-02 4.66962937e+02] [ 6.79683617e-01 7.33077309e-01 -2.50567342e-02 2.68009335e+02] [ 3.57167803e-02 1.04303163e-03 9.99361408e-01 6.84208195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.4892541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:466.98, Y:268.03, Z:68.42 [[ 7.33212059e-01 -6.79501201e-01 -2.60421612e-02 4.66982982e+02] [ 6.79018587e-01 7.33673557e-01 -2.56294720e-02 2.68028404e+02] [ 3.65217021e-02 1.10872648e-03 9.99332245e-01 6.84197801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5192541539999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:467.00, Y:268.05, Z:68.42 [[ 7.33393367e-01 -6.79274675e-01 -2.68344074e-02 4.67003335e+02] [ 6.78761507e-01 7.33883204e-01 -2.64245890e-02 2.68047881e+02] [ 3.76428750e-02 1.16545553e-03 9.99290576e-01 6.84193492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5492541539999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:467.02, Y:268.07, Z:68.42 [[ 7.33479305e-01 -6.79162714e-01 -2.73151615e-02 4.67023386e+02] [ 6.78630430e-01 7.33986761e-01 -2.69104769e-02 2.68065465e+02] [ 3.83255594e-02 1.20137812e-03 9.99264584e-01 6.84195731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.5792541539998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:467.04, Y:268.08, Z:68.42 [[ 7.33174525e-01 -6.79514944e-01 -2.67312083e-02 4.67043980e+02] [ 6.79005060e-01 7.33660742e-01 -2.63447261e-02 2.68083888e+02] [ 3.75132732e-02 1.16465630e-03 9.99295451e-01 6.84213234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6092541539999 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:467.07, Y:268.10, Z:68.42 [[ 7.31996020e-01 -6.80799535e-01 -2.63404768e-02 4.67065710e+02] [ 6.80304743e-01 7.32468974e-01 -2.59742088e-02 2.68101456e+02] [ 3.69768113e-02 1.09346618e-03 9.99315526e-01 6.84219565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6392541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:467.09, Y:268.12, Z:68.43 [[ 7.31769593e-01 -6.81090549e-01 -2.50784134e-02 4.67086077e+02] [ 6.80641829e-01 7.32198465e-01 -2.47408199e-02 2.68119261e+02] [ 3.52131144e-02 1.03516251e-03 9.99379290e-01 6.84252210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6692541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:467.11, Y:268.14, Z:68.42 [[ 7.31061371e-01 -6.81862697e-01 -2.47494542e-02 4.67106810e+02] [ 6.81425820e-01 7.31479515e-01 -2.44248200e-02 2.68138099e+02] [ 3.47580924e-02 9.91125297e-04 9.99395264e-01 6.84245985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.13, Y:268.16, Z:68.43 [[ 7.31187833e-01 -6.81780017e-01 -2.32456819e-02 4.67128876e+02] [ 6.81394178e-01 7.31556640e-01 -2.29533393e-02 2.68155830e+02] [ 3.26546611e-02 9.43730105e-04 9.99466249e-01 6.84285847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7292541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:467.15, Y:268.18, Z:68.43 [[ 7.30508508e-01 -6.82462258e-01 -2.45476507e-02 4.67149868e+02] [ 6.82031861e-01 7.30920185e-01 -2.42533488e-02 2.68175166e+02] [ 3.44943686e-02 9.74997706e-04 9.99404417e-01 6.84256155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7592541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:467.17, Y:268.19, Z:68.43 [[ 7.31014990e-01 -6.81898890e-01 -2.51194806e-02 4.67170513e+02] [ 6.81447452e-01 7.31445716e-01 -2.48301027e-02 2.68192031e+02] [ 3.53051559e-02 1.03357121e-03 9.99376044e-01 6.84261319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.7892541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:467.19, Y:268.21, Z:68.43 [[ 7.31151372e-01 -6.81715457e-01 -2.61095367e-02 4.67191102e+02] [ 6.81227255e-01 7.31616598e-01 -2.58182038e-02 2.68210453e+02] [ 3.67028390e-02 1.09048705e-03 9.99325629e-01 6.84261620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8192541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:467.21, Y:268.23, Z:68.43 [[ 7.31754452e-01 -6.81030646e-01 -2.70680974e-02 4.67212298e+02] [ 6.80504991e-01 7.32253971e-01 -2.67783182e-02 2.68226842e+02] [ 3.80575772e-02 1.17517812e-03 9.99274857e-01 6.84260479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8492541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:467.23, Y:268.25, Z:68.43 [[ 7.31952499e-01 -6.80815668e-01 -2.71213234e-02 4.67233177e+02] [ 6.80287424e-01 7.32453819e-01 -2.68407181e-02 2.68245060e+02] [ 3.81386983e-02 1.19583548e-03 9.99271740e-01 6.84270721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.8792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:467.26, Y:268.26, Z:68.43 [[ 7.33056751e-01 -6.79615419e-01 -2.73985870e-02 4.67255887e+02] [ 6.79074890e-01 7.33567473e-01 -2.71303472e-02 2.68262059e+02] [ 3.85369145e-02 1.28239172e-03 9.99256354e-01 6.84288335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.28, Y:268.28, Z:68.43 [[ 7.33887532e-01 -6.78735554e-01 -2.69654855e-02 4.67276823e+02] [ 6.78210926e-01 7.34381586e-01 -2.67137826e-02 2.68279884e+02] [ 3.79345500e-02 1.31662516e-03 9.99279359e-01 6.84306792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9392541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:467.30, Y:268.30, Z:68.43 [[ 7.33890055e-01 -6.78711415e-01 -2.74991260e-02 4.67297671e+02] [ 6.78165351e-01 7.34403830e-01 -2.72538120e-02 2.68298386e+02] [ 3.86929368e-02 1.35234711e-03 9.99250233e-01 6.84301948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:467.32, Y:268.32, Z:68.43 [[ 7.34898420e-01 -6.77617063e-01 -2.75577412e-02 4.67320019e+02] [ 6.77067287e-01 7.35413548e-01 -2.73276813e-02 2.68315395e+02] [ 3.87840394e-02 1.42462474e-03 9.99246601e-01 6.84312294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 829.9992541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:467.34, Y:268.33, Z:68.43 [[ 7.35166755e-01 -6.77310271e-01 -2.79399010e-02 4.67340092e+02] [ 6.76744424e-01 7.35696021e-01 -2.77191175e-02 2.68333378e+02] [ 3.93297170e-02 1.47000147e-03 9.99225206e-01 6.84308996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0292541539999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:467.36, Y:268.35, Z:68.43 [[ 7.35789157e-01 -6.76638600e-01 -2.78302459e-02 4.67362837e+02] [ 6.76076309e-01 7.36313746e-01 -2.76204937e-02 2.68351006e+02] [ 3.91808848e-02 1.50748984e-03 9.99230997e-01 6.84308315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:467.38, Y:268.37, Z:68.43 [[ 7.36203021e-01 -6.76222457e-01 -2.69870470e-02 4.67384086e+02] [ 6.75692905e-01 7.36695973e-01 -2.67981629e-02 2.68369082e+02] [ 3.80027684e-02 1.49393234e-03 9.99276517e-01 6.84338885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.41, Y:268.39, Z:68.44 [[ 7.36529115e-01 -6.75895788e-01 -2.62630290e-02 4.67405381e+02] [ 6.75393542e-01 7.36995720e-01 -2.60935303e-02 2.68387402e+02] [ 3.69922472e-02 1.48076458e-03 9.99314456e-01 6.84356507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.43, Y:268.40, Z:68.44 [[ 7.37095158e-01 -6.75305496e-01 -2.55580798e-02 4.67427146e+02] [ 6.74829072e-01 7.37536644e-01 -2.54051788e-02 2.68403607e+02] [ 3.60062772e-02 1.47869900e-03 9.99350470e-01 6.84370585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1492541539999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:467.44, Y:268.43, Z:68.43 [[ 7.36217129e-01 -6.76446894e-01 -2.00982280e-02 4.67444545e+02] [ 6.75837970e-01 7.36443081e-01 -2.99103259e-02 2.68425376e+02] [ 3.50339480e-02 8.43734865e-03 9.99350506e-01 6.84290913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.47, Y:268.44, Z:68.44 [[ 7.37556158e-01 -6.74889032e-01 -2.31453852e-02 4.67469256e+02] [ 6.74475792e-01 7.37916890e-01 -2.36869153e-02 2.68440106e+02] [ 3.30654100e-02 1.85942819e-03 9.99451460e-01 6.84356521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2092541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:467.49, Y:268.46, Z:68.44 [[ 7.38733792e-01 -6.73321719e-01 -3.01702999e-02 4.67494259e+02] [ 6.73049279e-01 7.39328630e-01 -1.99460457e-02 2.68455853e+02] [ 3.57358723e-02 -5.57128062e-03 9.99345740e-01 6.84428277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.51, Y:268.48, Z:68.44 [[ 7.40568020e-01 -6.71495272e-01 -2.55559757e-02 4.67513211e+02] [ 6.71015363e-01 7.41006910e-01 -2.54389785e-02 2.68475805e+02] [ 3.60193084e-02 1.69084166e-03 9.99349664e-01 6.84407990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2692541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:467.53, Y:268.49, Z:68.44 [[ 7.41222507e-01 -6.70731035e-01 -2.66284359e-02 4.67532614e+02] [ 6.70209173e-01 7.41698466e-01 -2.65151114e-02 2.68493999e+02] [ 3.75347782e-02 1.80697537e-03 9.99293688e-01 6.84397251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.55, Y:268.52, Z:68.44 [[ 7.41668760e-01 -6.70422244e-01 -2.14817267e-02 4.67551321e+02] [ 6.69854255e-01 7.41949887e-01 -2.83838533e-02 2.68515736e+02] [ 3.49675313e-02 6.66179121e-03 9.99366245e-01 6.84372348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.58, Y:268.53, Z:68.44 [[ 7.43174782e-01 -6.68421177e-01 -3.00727855e-02 4.67576663e+02] [ 6.68029869e-01 7.43777123e-01 -2.30583162e-02 2.68529941e+02] [ 3.77801167e-02 -2.95315977e-03 9.99281713e-01 6.84439181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:467.60, Y:268.55, Z:68.44 [[ 7.42425788e-01 -6.69358564e-01 -2.76235886e-02 4.67595713e+02] [ 6.68794736e-01 7.42936894e-01 -2.75385745e-02 2.68550771e+02] [ 3.89557637e-02 1.97083721e-03 9.99238993e-01 6.84406652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.3892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:467.62, Y:268.57, Z:68.44 [[ 7.41436737e-01 -6.70451159e-01 -2.76913040e-02 4.67616237e+02] [ 6.69884705e-01 7.41951157e-01 -2.76218025e-02 2.68569957e+02] [ 3.90646646e-02 1.92983815e-03 9.99234821e-01 6.84415198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:467.64, Y:268.59, Z:68.44 [[ 7.39465632e-01 -6.72818307e-01 -2.24967677e-02 4.67637109e+02] [ 6.72254267e-01 7.39786022e-01 -2.81219189e-02 2.68590026e+02] [ 3.55637361e-02 5.67164448e-03 9.99351316e-01 6.84407788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.66, Y:268.61, Z:68.45 [[ 7.37733111e-01 -6.74516453e-01 -2.78820953e-02 4.67659834e+02] [ 6.74156890e-01 7.38255747e-01 -2.21571540e-02 2.68605369e+02] [ 3.55294820e-02 -2.45084050e-03 9.99365623e-01 6.84476077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.4792541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:467.68, Y:268.63, Z:68.45 [[ 7.36852760e-01 -6.75557482e-01 -2.58862490e-02 4.67677858e+02] [ 6.75064431e-01 7.37305640e-01 -2.58535793e-02 2.68625574e+02] [ 3.65516564e-02 1.57539533e-03 9.99330523e-01 6.84454535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5092541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:467.70, Y:268.65, Z:68.45 [[ 7.36344304e-01 -6.76124640e-01 -2.55448141e-02 4.67698024e+02] [ 6.75644490e-01 7.36785666e-01 -2.55226763e-02 2.68645458e+02] [ 3.60775631e-02 1.53426442e-03 9.99347815e-01 6.84463789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:467.72, Y:268.66, Z:68.45 [[ 7.36267201e-01 -6.76197756e-01 -2.58302740e-02 4.67717781e+02] [ 6.75706312e-01 7.36718511e-01 -2.58227544e-02 2.68664914e+02] [ 3.64909295e-02 1.55876789e-03 9.99332769e-01 6.84469060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:467.74, Y:268.68, Z:68.45 [[ 7.36843065e-01 -6.75531345e-01 -2.68271952e-02 4.67736145e+02] [ 6.75000276e-01 7.37329394e-01 -2.68326601e-02 2.68684115e+02] [ 3.79067825e-02 1.66309531e-03 9.99279896e-01 6.84469763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.5992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.76, Y:268.70, Z:68.45 [[ 7.37124903e-01 -6.75249640e-01 -2.61687155e-02 4.67755514e+02] [ 6.74743762e-01 7.37587432e-01 -2.61846429e-02 2.68704173e+02] [ 3.69828863e-02 1.64417479e-03 9.99314547e-01 6.84482510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:467.77, Y:268.72, Z:68.45 [[ 7.37061591e-01 -6.75277235e-01 -2.72188617e-02 4.67774278e+02] [ 6.74729449e-01 7.37562000e-01 -2.72482593e-02 2.68723339e+02] [ 3.84757273e-02 1.71827775e-03 9.99258058e-01 6.84482638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:467.79, Y:268.74, Z:68.45 [[ 7.36963281e-01 -6.75382330e-01 -2.72732615e-02 4.67793753e+02] [ 6.74832027e-01 7.37465753e-01 -2.73129744e-02 2.68743032e+02] [ 3.85597966e-02 1.72378886e-03 9.99254808e-01 6.84492519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.6892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:467.81, Y:268.76, Z:68.45 [[ 7.37153412e-01 -6.75203325e-01 -2.65578045e-02 4.67813622e+02] [ 6.74680842e-01 7.37629707e-01 -2.66115938e-02 2.68763136e+02] [ 3.75580621e-02 1.69878528e-03 9.99293003e-01 6.84509168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7192541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:467.83, Y:268.78, Z:68.45 [[ 7.36991387e-01 -6.75353217e-01 -2.72346819e-02 4.67833215e+02] [ 6.74803242e-01 7.37492361e-01 -2.73057154e-02 2.68783963e+02] [ 3.85263727e-02 1.74602544e-03 9.99256058e-01 6.84509040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7492541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:467.85, Y:268.80, Z:68.45 [[ 7.37117334e-01 -6.75217601e-01 -2.71887500e-02 4.67851801e+02] [ 6.74668891e-01 7.37616496e-01 -2.72725626e-02 2.68803254e+02] [ 3.84697848e-02 1.75967476e-03 9.99258215e-01 6.84519116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.7792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:467.87, Y:268.82, Z:68.45 [[ 7.37423182e-01 -6.74932922e-01 -2.59345803e-02 4.67870559e+02] [ 6.74433136e-01 7.37877132e-01 -2.60246738e-02 2.68823492e+02] [ 3.67014429e-02 1.70005744e-03 9.99324829e-01 6.84536548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8092541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:467.89, Y:268.84, Z:68.45 [[ 7.36830934e-01 -6.75539960e-01 -2.69432113e-02 4.67889665e+02] [ 6.75000340e-01 7.37321309e-01 -2.70523366e-02 2.68843671e+02] [ 3.81407382e-02 1.74632166e-03 9.99270851e-01 6.84522919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.91, Y:268.86, Z:68.45 [[ 7.37106219e-01 -6.75281298e-01 -2.58764610e-02 4.67908832e+02] [ 6.74782899e-01 7.37558322e-01 -2.59954071e-02 2.68863778e+02] [ 3.66396114e-02 1.70038286e-03 9.99327097e-01 6.84542746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.93, Y:268.88, Z:68.46 [[ 7.37450342e-01 -6.74915864e-01 -2.56041060e-02 4.67927769e+02] [ 6.74427171e-01 7.37892709e-01 -2.57359969e-02 2.68884872e+02] [ 3.62627157e-02 1.71091496e-03 9.99340827e-01 6.84550356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.8992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:467.95, Y:268.91, Z:68.46 [[ 7.37583751e-01 -6.74785607e-01 -2.51911841e-02 4.67946951e+02] [ 6.74311986e-01 7.38011853e-01 -2.53347546e-02 2.68905789e+02] [ 3.56869202e-02 1.69978587e-03 9.99361573e-01 6.84556151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:467.95, Y:268.94, Z:68.44 [[ 7.36634086e-01 -6.76291172e-01 6.88394563e-04 4.67952419e+02] [ 6.75804425e-01 7.36064520e-01 -3.86962806e-02 2.68938589e+02] [ 2.56632501e-02 2.89702194e-02 9.99250781e-01 6.84362802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9592541539998 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:467.99, Y:268.94, Z:68.47 [[ 7.38689761e-01 -6.72539023e-01 -4.50410890e-02 4.67993838e+02] [ 6.73002031e-01 7.39614523e-01 -6.21478008e-03 2.68939661e+02] [ 3.74927257e-02 -2.57219499e-02 9.98965804e-01 6.84666120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 830.9892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:468.00, Y:268.97, Z:68.46 [[ 7.39802463e-01 -6.72383120e-01 -2.43568252e-02 4.68003611e+02] [ 6.71938287e-01 7.40201188e-01 -2.45181723e-02 2.68969780e+02] [ 3.45145562e-02 1.77232089e-03 9.99402624e-01 6.84581179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0192541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:468.02, Y:268.99, Z:68.46 [[ 7.40998046e-01 -6.71042210e-01 -2.49849731e-02 4.68021236e+02] [ 6.70572882e-01 7.41416732e-01 -2.51642290e-02 2.68991842e+02] [ 3.54105369e-02 1.89239908e-03 9.99371059e-01 6.84573666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0492541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:468.04, Y:269.01, Z:68.46 [[ 7.42508906e-01 -6.69336516e-01 -2.58679858e-02 4.68038755e+02] [ 6.68831849e-01 7.42956532e-01 -2.60681952e-02 2.69013630e+02] [ 3.66671840e-02 2.05453435e-03 9.99325421e-01 6.84577990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.0792541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:468.06, Y:269.03, Z:68.46 [[ 7.43159382e-01 -6.68605137e-01 -2.61017868e-02 4.68056631e+02] [ 6.68090401e-01 7.43614606e-01 -2.63160478e-02 2.69034477e+02] [ 3.70047147e-02 2.11866463e-03 9.99312845e-01 6.84577354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1092541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:468.07, Y:269.06, Z:68.46 [[ 7.43487842e-01 -6.68220056e-01 -2.66042576e-02 4.68074660e+02] [ 6.67684762e-01 7.43960472e-01 -2.68304836e-02 2.69055294e+02] [ 3.77211833e-02 2.18488092e-03 9.99285914e-01 6.84575203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:468.09, Y:269.08, Z:68.46 [[ 7.43361790e-01 -6.68348679e-01 -2.68941169e-02 4.68091846e+02] [ 6.67801279e-01 7.43844846e-01 -2.71347926e-02 2.69077185e+02] [ 3.81405530e-02 2.21104238e-03 9.99269938e-01 6.84573995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.11, Y:269.10, Z:68.46 [[ 7.43500122e-01 -6.68230877e-01 -2.59819742e-02 4.68110832e+02] [ 6.67719377e-01 7.43950845e-01 -2.62292388e-02 2.69097780e+02] [ 3.68564989e-02 2.15277466e-03 9.99318250e-01 6.84598037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.1992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:468.13, Y:269.12, Z:68.46 [[ 7.42649368e-01 -6.69183661e-01 -2.57903761e-02 4.68128695e+02] [ 6.68679812e-01 7.43094087e-01 -2.60477803e-02 2.69118545e+02] [ 3.65954250e-02 2.09886371e-03 9.99327959e-01 6.84602226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:468.15, Y:269.14, Z:68.46 [[ 7.41776461e-01 -6.70139958e-01 -2.60790911e-02 4.68147476e+02] [ 6.69624997e-01 7.42231839e-01 -2.63488202e-02 2.69138946e+02] [ 3.70141290e-02 2.08172335e-03 9.99312574e-01 6.84603262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2592541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:468.17, Y:269.16, Z:68.46 [[ 7.41305205e-01 -6.70684598e-01 -2.54708270e-02 4.68165963e+02] [ 6.70193269e-01 7.41739919e-01 -2.57463525e-02 2.69159124e+02] [ 3.61604113e-02 2.01552830e-03 9.99343966e-01 6.84621090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.2892541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:468.18, Y:269.18, Z:68.46 [[ 7.40468592e-01 -6.71586846e-01 -2.60263772e-02 4.68183915e+02] [ 6.71074000e-01 7.40923085e-01 -2.63185851e-02 2.69181332e+02] [ 3.69587592e-02 2.02246066e-03 9.99314745e-01 6.84627343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.20, Y:269.20, Z:68.46 [[ 7.40321739e-01 -6.71772613e-01 -2.54023354e-02 4.68202181e+02] [ 6.71283665e-01 7.40754786e-01 -2.57019053e-02 2.69202356e+02] [ 3.60827376e-02 1.97550644e-03 9.99346853e-01 6.84644271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3492541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:468.22, Y:269.22, Z:68.46 [[ 7.38852760e-01 -6.73364137e-01 -2.60257285e-02 4.68219175e+02] [ 6.72851301e-01 7.39308403e-01 -2.63479259e-02 2.69224993e+02] [ 3.69827882e-02 1.95579252e-03 9.99313989e-01 6.84627987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.3792541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:468.24, Y:269.25, Z:68.46 [[ 7.38730699e-01 -6.73498302e-01 -2.60190595e-02 4.68239167e+02] [ 6.72985318e-01 7.39186176e-01 -2.63545106e-02 2.69245368e+02] [ 3.69826472e-02 1.95844100e-03 9.99313989e-01 6.84634873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:468.26, Y:269.27, Z:68.46 [[ 7.38429160e-01 -6.73833195e-01 -2.59075504e-02 4.68257316e+02] [ 6.73324444e-01 7.38880951e-01 -2.62513573e-02 2.69265961e+02] [ 3.68316314e-02 1.94058076e-03 9.99319601e-01 6.84640638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4392541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:468.28, Y:269.29, Z:68.47 [[ 7.37936041e-01 -6.74375466e-01 -2.58482084e-02 4.68276078e+02] [ 6.73868932e-01 7.38386113e-01 -2.62032487e-02 2.69287256e+02] [ 3.67567862e-02 1.91801703e-03 9.99322400e-01 6.84651795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4692541539998 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:468.29, Y:269.31, Z:68.46 [[ 7.37165250e-01 -6.75566904e-01 -1.40268371e-02 4.68289577e+02] [ 6.74927513e-01 7.37150522e-01 -3.28931760e-02 2.69314942e+02] [ 3.25614313e-02 1.47806081e-02 9.99360439e-01 6.84588613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.32, Y:269.33, Z:68.47 [[ 7.36724497e-01 -6.75335090e-01 -3.40519185e-02 4.68315923e+02] [ 6.75242758e-01 7.37424565e-01 -1.58817373e-02 2.69326626e+02] [ 3.58362156e-02 -1.12928464e-02 9.99293869e-01 6.84726685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5292541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:468.33, Y:269.35, Z:68.47 [[ 7.35345858e-01 -6.77205621e-01 -2.56713065e-02 4.68328354e+02] [ 6.76706196e-01 7.35791631e-01 -2.60652936e-02 2.69353425e+02] [ 3.65402958e-02 1.79507355e-03 9.99330568e-01 6.84669428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5592541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:468.35, Y:269.37, Z:68.47 [[ 7.34740493e-01 -6.77843630e-01 -2.61614558e-02 4.68347368e+02] [ 6.77324772e-01 7.35203879e-01 -2.65783798e-02 2.69374611e+02] [ 3.72499892e-02 1.80840980e-03 9.99304342e-01 6.84678913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.5892541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:468.36, Y:269.40, Z:68.47 [[ 7.34364507e-01 -6.78325523e-01 -2.41506855e-02 4.68363814e+02] [ 6.77740954e-01 7.34747241e-01 -2.85252808e-02 2.69396582e+02] [ 3.70940756e-02 4.58004508e-03 9.99301282e-01 6.84701862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6192541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:468.38, Y:269.42, Z:68.47 [[ 7.33178147e-01 -6.79458051e-01 -2.80457050e-02 4.68384213e+02] [ 6.79007365e-01 7.33713816e-01 -2.47595210e-02 2.69416480e+02] [ 3.74005771e-02 -8.90100566e-04 9.99299957e-01 6.84716878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6492541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:468.40, Y:269.44, Z:68.47 [[ 7.32482103e-01 -6.80277020e-01 -2.63276347e-02 4.68402042e+02] [ 6.79751782e-01 7.32953077e-01 -2.67825070e-02 2.69438891e+02] [ 3.75164449e-02 1.72145045e-03 9.99294528e-01 6.84709782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.42, Y:269.46, Z:68.47 [[ 7.31746806e-01 -6.81095044e-01 -2.56154982e-02 4.68418933e+02] [ 6.80597855e-01 7.32193171e-01 -2.60714475e-02 2.69460810e+02] [ 3.65126265e-02 1.64384528e-03 9.99331840e-01 6.84731830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7092541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:468.44, Y:269.48, Z:68.47 [[ 7.29986646e-01 -6.82952185e-01 -2.63782185e-02 4.68436184e+02] [ 6.82425667e-01 7.30461315e-01 -2.68603223e-02 2.69483119e+02] [ 3.76125840e-02 1.60650317e-03 9.99291105e-01 6.84721804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7392541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:468.45, Y:269.50, Z:68.47 [[ 7.28654461e-01 -6.84343824e-01 -2.71331398e-02 4.68454277e+02] [ 6.83787057e-01 7.29157734e-01 -2.76452443e-02 2.69504576e+02] [ 3.87031909e-02 1.59054079e-03 9.99249485e-01 6.84722489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7692541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:468.47, Y:269.53, Z:68.47 [[ 7.28530419e-01 -6.84476147e-01 -2.71262289e-02 4.68474201e+02] [ 6.83919221e-01 7.29033515e-01 -2.76520244e-02 2.69525011e+02] [ 3.87030811e-02 1.59319154e-03 9.99249485e-01 6.84729396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.7992541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:468.49, Y:269.55, Z:68.47 [[ 7.26847888e-01 -6.86267015e-01 -2.70135386e-02 4.68492779e+02] [ 6.85715468e-01 7.27348151e-01 -2.75493160e-02 2.69545872e+02] [ 3.85544342e-02 1.50056092e-03 9.99255375e-01 6.84747208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8292541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:468.51, Y:269.57, Z:68.48 [[ 7.26002580e-01 -6.87186170e-01 -2.63708676e-02 4.68510922e+02] [ 6.86660709e-01 7.26479962e-01 -2.69060645e-02 2.69565415e+02] [ 3.76473823e-02 1.42603360e-03 9.99290069e-01 6.84766834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.53, Y:269.59, Z:68.48 [[ 7.24203384e-01 -6.89100017e-01 -2.58964423e-02 4.68529053e+02] [ 6.88594170e-01 7.24665062e-01 -2.64313475e-02 2.69586364e+02] [ 3.69800890e-02 1.30953206e-03 9.99315145e-01 6.84779138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.8892541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:468.55, Y:269.61, Z:68.48 [[ 7.22860960e-01 -6.90493700e-01 -2.62770443e-02 4.68548397e+02] [ 6.89973218e-01 7.23337296e-01 -2.68349439e-02 2.69607262e+02] [ 3.75365258e-02 1.26747649e-03 9.99294453e-01 6.84766967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9192541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:468.57, Y:269.63, Z:68.48 [[ 7.21926972e-01 -6.91462876e-01 -2.64676900e-02 4.68567577e+02] [ 6.90934885e-01 7.22410936e-01 -2.70448453e-02 2.69627526e+02] [ 3.78210553e-02 1.23695293e-03 9.99283762e-01 6.84772025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9492541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:468.59, Y:269.65, Z:68.48 [[ 7.20813098e-01 -6.92645839e-01 -2.58886124e-02 4.68586595e+02] [ 6.92140983e-01 7.21276923e-01 -2.64662074e-02 2.69647379e+02] [ 3.70045671e-02 1.15861931e-03 9.99314425e-01 6.84782327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 831.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.61, Y:269.67, Z:68.48 [[ 7.20755869e-01 -6.92735892e-01 -2.50591549e-02 4.68605857e+02] [ 6.92262536e-01 7.21190486e-01 -2.56293595e-02 2.69667165e+02] [ 3.58268013e-02 1.12499711e-03 9.99357381e-01 6.84810383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0092541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:468.63, Y:269.69, Z:68.48 [[ 7.20104856e-01 -6.93395617e-01 -2.55247781e-02 4.68625603e+02] [ 6.92904366e-01 7.20556213e-01 -2.61205732e-02 2.69687612e+02] [ 3.65039284e-02 1.12332143e-03 9.99332878e-01 6.84808076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0392541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:468.64, Y:269.71, Z:68.48 [[ 7.19718429e-01 -6.93754754e-01 -2.66406693e-02 4.68644296e+02] [ 6.93219351e-01 7.20210379e-01 -2.72752923e-02 2.69706813e+02] [ 3.81092502e-02 1.16270302e-03 9.99272902e-01 6.84798778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0692541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:468.66, Y:269.73, Z:68.48 [[ 7.19328950e-01 -6.94159000e-01 -2.66297636e-02 4.68663822e+02] [ 6.93624012e-01 7.19820789e-01 -2.72720076e-02 2.69726081e+02] [ 3.80997670e-02 1.14650111e-03 9.99273283e-01 6.84805487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.0992541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:468.68, Y:269.75, Z:68.48 [[ 7.19168795e-01 -6.94331765e-01 -2.64507946e-02 4.68683592e+02] [ 6.93803624e-01 7.19654157e-01 -2.71002883e-02 2.69745837e+02] [ 3.78520152e-02 1.13802454e-03 9.99282708e-01 6.84815890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1292541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:468.70, Y:269.77, Z:68.48 [[ 7.18926433e-01 -6.94599012e-01 -2.60191685e-02 4.68704231e+02] [ 6.94087612e-01 7.19396252e-01 -2.66724529e-02 2.69765464e+02] [ 3.72447517e-02 1.11594884e-03 9.99305550e-01 6.84825966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1592541539999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:468.72, Y:269.78, Z:68.48 [[ 7.18617069e-01 -6.94926588e-01 -2.58175633e-02 4.68724485e+02] [ 6.94422760e-01 7.19079847e-01 -2.64802593e-02 2.69784961e+02] [ 3.69667257e-02 1.10086273e-03 9.99315891e-01 6.84831280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.1892541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:468.74, Y:269.80, Z:68.48 [[ 7.18357343e-01 -6.95215240e-01 -2.52685106e-02 4.68744108e+02] [ 6.94732361e-01 7.18800822e-01 -2.59292155e-02 2.69804103e+02] [ 3.61894119e-02 1.07159030e-03 9.99344374e-01 6.84844189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2192541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:468.76, Y:269.82, Z:68.49 [[ 7.17697391e-01 -6.95911128e-01 -2.48627603e-02 4.68764018e+02] [ 6.95443781e-01 7.18127183e-01 -2.55205307e-02 2.69822730e+02] [ 3.56146453e-02 1.02536623e-03 9.99365071e-01 6.84856826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:468.78, Y:269.84, Z:68.49 [[ 7.17314946e-01 -6.96310840e-01 -2.47079440e-02 4.68784443e+02] [ 6.95849188e-01 7.17739648e-01 -2.53713531e-02 2.69842562e+02] [ 3.54002192e-02 1.00624799e-03 9.99372709e-01 6.84873187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.2792541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:468.80, Y:269.86, Z:68.49 [[ 7.15617708e-01 -6.98030278e-01 -2.53973978e-02 4.68804376e+02] [ 6.97543115e-01 7.16067607e-01 -2.60918582e-02 2.69860376e+02] [ 3.63991609e-02 9.56015788e-04 9.99336874e-01 6.84857976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3092541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:468.82, Y:269.88, Z:68.48 [[ 7.14067523e-01 -6.99929327e-01 -1.43704671e-02 4.68820022e+02] [ 6.99251383e-01 7.14071816e-01 -3.38961076e-02 2.69884823e+02] [ 3.39864253e-02 1.41555406e-02 9.99322042e-01 6.84773596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3392541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:468.85, Y:269.90, Z:68.48 [[ 7.11992537e-01 -7.01712444e-01 -2.58122759e-02 4.68846787e+02] [ 7.01349890e-01 7.12457517e-01 -2.26410927e-02 2.69897439e+02] [ 3.42776865e-02 -1.98314780e-03 9.99410380e-01 6.84848632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:468.86, Y:269.92, Z:68.48 [[ 7.10699830e-01 -7.03287274e-01 -1.71103169e-02 4.68863030e+02] [ 7.02826636e-01 7.10874446e-01 -2.63104790e-02 2.69919620e+02] [ 3.06671121e-02 6.67326651e-03 9.99507377e-01 6.84814776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.3992541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:468.89, Y:269.93, Z:68.50 [[ 7.10364095e-01 -7.02884305e-01 -3.65582754e-02 4.68892483e+02] [ 7.02940058e-01 7.11121401e-01 -1.34769373e-02 2.69930683e+02] [ 3.54700997e-02 -1.61247439e-02 9.99240644e-01 6.84951517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4292541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:468.91, Y:269.96, Z:68.49 [[ 7.08126106e-01 -7.05697055e-01 -2.34325598e-02 4.68908203e+02] [ 7.05285024e-01 7.08513487e-01 -2.41179132e-02 2.69955267e+02] [ 3.36222250e-02 5.51890482e-04 9.99434461e-01 6.84904500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.92, Y:269.98, Z:68.48 [[ 7.05773388e-01 -7.08404945e-01 -6.80877354e-03 4.68920285e+02] [ 7.07861439e-01 7.05554318e-01 -3.35453160e-02 2.69981634e+02] [ 2.85676273e-02 1.88557231e-02 9.99414005e-01 6.84792560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.4892541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:468.95, Y:269.99, Z:68.50 [[ 7.04356528e-01 -7.09004304e-01 -3.45655597e-02 4.68954513e+02] [ 7.09016515e-01 7.05052400e-01 -1.40248218e-02 2.69988745e+02] [ 3.43141899e-02 -1.46290779e-02 9.99304021e-01 6.84952489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5192541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:468.97, Y:270.01, Z:68.49 [[ 7.03807815e-01 -7.09950862e-01 -2.49866586e-02 4.68970136e+02] [ 7.09595819e-01 7.04248719e-01 -2.25281135e-02 2.70011991e+02] [ 3.35906759e-02 -1.87496612e-03 9.99433915e-01 6.84909635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:468.99, Y:270.03, Z:68.49 [[ 7.03185048e-01 -7.10647022e-01 -2.26185590e-02 4.68989791e+02] [ 7.10264199e-01 7.03548646e-01 -2.33253426e-02 2.70032335e+02] [ 3.24893418e-02 3.36879472e-04 9.99472025e-01 6.84923439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.5792541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:469.00, Y:270.06, Z:68.48 [[ 6.99531730e-01 -7.14560579e-01 -7.65103903e-03 4.69003682e+02] [ 7.14041034e-01 6.99366959e-01 -3.21132278e-02 2.70058061e+02] [ 2.82977305e-02 1.70010659e-02 9.99454953e-01 6.84795721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:469.03, Y:270.07, Z:68.49 [[ 6.97942260e-01 -7.15946124e-01 -1.72554389e-02 4.69028015e+02] [ 7.15590108e-01 6.98146207e-01 -2.28620109e-02 2.70072603e+02] [ 2.84147873e-02 3.60854219e-03 9.99589705e-01 6.84854014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6392541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:469.06, Y:270.08, Z:68.50 [[ 6.97529439e-01 -7.15617782e-01 -3.66588567e-02 4.69058494e+02] [ 7.15920200e-01 6.98152673e-01 -6.41185614e-03 2.70080915e+02] [ 3.01819171e-02 -2.17723576e-02 9.99307268e-01 6.85009084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6692541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:469.07, Y:270.11, Z:68.49 [[ 6.96859936e-01 -7.16912663e-01 -2.05539090e-02 4.69071385e+02] [ 7.16598079e-01 6.97162985e-01 -2.12359213e-02 2.70107423e+02] [ 2.95537255e-02 6.95710418e-05 9.99563191e-01 6.84943279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.6992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:469.09, Y:270.13, Z:68.50 [[ 6.96431456e-01 -7.17327361e-01 -2.06078532e-02 4.69091101e+02] [ 7.17010982e-01 6.96736287e-01 -2.13025300e-02 2.70125882e+02] [ 2.96391267e-02 5.96949046e-05 9.99560663e-01 6.84954793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7292541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:469.11, Y:270.15, Z:68.49 [[ 6.96315031e-01 -7.17430789e-01 -2.09389693e-02 4.69110981e+02] [ 7.17103931e-01 6.96629786e-01 -2.16539250e-02 2.70146226e+02] [ 3.01219023e-02 6.25362566e-05 9.99546231e-01 6.84947318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7592541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:469.13, Y:270.17, Z:68.49 [[ 6.97532175e-01 -7.16248556e-01 -2.09014419e-02 4.69130833e+02] [ 7.15921987e-01 6.97845249e-01 -2.16267885e-02 2.70166187e+02] [ 3.00761280e-02 1.21579053e-04 9.99547604e-01 6.84949171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.14, Y:270.19, Z:68.48 [[ 6.96873767e-01 -7.17185949e-01 -3.35666585e-03 4.69141835e+02] [ 7.16764845e-01 6.96611183e-01 -3.13211795e-02 2.70194144e+02] [ 2.48014008e-02 1.94209683e-02 9.99503735e-01 6.84826214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8192541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:469.18, Y:270.20, Z:68.50 [[ 6.98539119e-01 -7.14726035e-01 -3.47820954e-02 4.69177210e+02] [ 7.14927261e-01 6.99147621e-01 -8.46262997e-03 2.70200504e+02] [ 3.03662812e-02 -1.89551901e-02 9.99359090e-01 6.85020873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:469.19, Y:270.23, Z:68.50 [[ 6.99521682e-01 -7.14316293e-01 -2.05341216e-02 4.69190406e+02] [ 7.13999701e-01 6.99822969e-01 -2.12659101e-02 2.70225091e+02] [ 2.95608360e-02 2.14608526e-04 9.99562960e-01 6.84981544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.8792541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:469.21, Y:270.24, Z:68.50 [[ 6.99173259e-01 -7.14637644e-01 -2.12082882e-02 4.69210522e+02] [ 7.14299763e-01 6.99494812e-01 -2.19740017e-02 2.70244734e+02] [ 3.05385364e-02 2.14559138e-04 9.99533567e-01 6.84976397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:469.22, Y:270.27, Z:68.49 [[ 6.97445547e-01 -7.16616811e-01 -5.48222351e-03 4.69223095e+02] [ 7.16167727e-01 6.97244716e-01 -3.08802906e-02 2.70270982e+02] [ 2.59517867e-02 1.76111296e-02 9.99508055e-01 6.84869204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:469.26, Y:270.28, Z:68.51 [[ 6.98139795e-01 -7.15168696e-01 -3.36832636e-02 4.69256451e+02] [ 7.15300659e-01 6.98743952e-01 -1.00924315e-02 2.70278484e+02] [ 3.07537678e-02 -1.70477326e-02 9.99381599e-01 6.85059781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9692541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:469.27, Y:270.30, Z:68.50 [[ 6.97834625e-01 -7.15939616e-01 -2.13846158e-02 4.69269758e+02] [ 7.15595795e-01 6.98162183e-01 -2.21861470e-02 2.70303678e+02] [ 3.08138716e-02 1.79520430e-04 9.99525124e-01 6.84992452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 832.9992541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:469.29, Y:270.32, Z:68.50 [[ 6.97707531e-01 -7.16060917e-01 -2.14700589e-02 4.69288675e+02] [ 7.15714183e-01 6.98037771e-01 -2.22817845e-02 2.70323141e+02] [ 3.09420272e-02 1.79743191e-04 9.99521165e-01 6.84991909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0292541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:469.31, Y:270.34, Z:68.50 [[ 6.97241618e-01 -7.16519995e-01 -2.12890348e-02 4.69308563e+02] [ 7.16179039e-01 6.97566535e-01 -2.21023512e-02 2.70343108e+02] [ 3.06872948e-02 1.63918580e-04 9.99529021e-01 6.84993728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0592541539999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:469.33, Y:270.36, Z:68.50 [[ 6.96613496e-01 -7.17134526e-01 -2.11591246e-02 4.69328441e+02] [ 7.16797621e-01 6.96934754e-01 -2.19799955e-02 2.70363332e+02] [ 3.05091430e-02 1.44751398e-04 9.99534477e-01 6.84996423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.0892541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:469.35, Y:270.38, Z:68.50 [[ 6.95993258e-01 -7.17762547e-01 -2.02561310e-02 4.69348668e+02] [ 7.17453711e-01 6.96287951e-01 -2.10537873e-02 2.70383290e+02] [ 2.92157200e-02 1.20457659e-04 9.99573123e-01 6.85020891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1192541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:469.37, Y:270.40, Z:68.50 [[ 6.95310333e-01 -7.18423581e-01 -2.02755865e-02 4.69367201e+02] [ 7.18114098e-01 6.95605886e-01 -2.10854161e-02 2.70402637e+02] [ 2.92520775e-02 1.00723157e-04 9.99572061e-01 6.85018770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.39, Y:270.42, Z:68.51 [[ 6.95430762e-01 -7.18316114e-01 -1.99503332e-02 4.69387130e+02] [ 7.18016178e-01 6.95716860e-01 -2.07561937e-02 2.70422743e+02] [ 2.87892916e-02 1.09833635e-04 9.99585496e-01 6.85051371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.40, Y:270.44, Z:68.50 [[ 6.94372268e-01 -7.19478950e-01 -1.40425382e-02 4.69402723e+02] [ 7.19108278e-01 6.94483139e-01 -2.40094765e-02 2.70444926e+02] [ 2.70266190e-02 6.57340920e-03 9.99613101e-01 6.84998127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2092541539998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:469.42, Y:270.46, Z:68.50 [[ 6.95143997e-01 -7.18571814e-01 -2.07212783e-02 4.69424864e+02] [ 7.18203477e-01 6.95451849e-01 -2.30324059e-02 2.70462529e+02] [ 3.09610890e-02 1.12874458e-03 9.99519953e-01 6.85025023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.45, Y:270.48, Z:68.51 [[ 6.96164594e-01 -7.17445734e-01 -2.50295338e-02 4.69446923e+02] [ 7.17303388e-01 6.96580179e-01 -1.58714796e-02 2.70480067e+02] [ 2.88220025e-02 -6.90460725e-03 9.99560713e-01 6.85088662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.46, Y:270.50, Z:68.51 [[ 6.96075168e-01 -7.17692382e-01 -1.99249931e-02 4.69464276e+02] [ 7.17391807e-01 6.96360265e-01 -2.07696148e-02 2.70503053e+02] [ 2.87811678e-02 1.63186303e-04 9.99585723e-01 6.85069639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.48, Y:270.52, Z:68.51 [[ 6.96585787e-01 -7.17194200e-01 -2.00180147e-02 4.69483660e+02] [ 7.16890358e-01 6.96873334e-01 -2.08751341e-02 2.70523472e+02] [ 2.89215458e-02 1.90599975e-04 9.99581666e-01 6.85075772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3292541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:469.50, Y:270.54, Z:68.51 [[ 6.97056007e-01 -7.16712946e-01 -2.08680521e-02 4.69502679e+02] [ 7.16382188e-01 6.97368268e-01 -2.17729380e-02 2.70543257e+02] [ 3.01576639e-02 2.27456463e-04 9.99545128e-01 6.85062992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:469.52, Y:270.56, Z:68.51 [[ 6.97654303e-01 -7.16144282e-01 -2.03921813e-02 4.69521430e+02] [ 7.15828001e-01 6.97952222e-01 -2.12830579e-02 2.70562280e+02] [ 2.94745085e-02 2.50922537e-04 9.99565501e-01 6.85081060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.3892541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:469.54, Y:270.58, Z:68.51 [[ 6.97594670e-01 -7.16192031e-01 -2.07521590e-02 4.69540950e+02] [ 7.15864252e-01 6.97903223e-01 -2.16671376e-02 2.70582070e+02] [ 3.00008300e-02 2.59150911e-04 9.99549840e-01 6.85069139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4192541539999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:469.56, Y:270.60, Z:68.51 [[ 6.97660893e-01 -7.16123060e-01 -2.09055233e-02 4.69560599e+02] [ 7.15790011e-01 6.97973989e-01 -2.18396803e-02 2.70602038e+02] [ 3.02314102e-02 2.72726095e-04 9.99542889e-01 6.85072243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.58, Y:270.62, Z:68.51 [[ 6.98135058e-01 -7.15674987e-01 -2.04145667e-02 4.69580693e+02] [ 7.15356859e-01 6.98433409e-01 -2.13386465e-02 2.70622149e+02] [ 2.95297510e-02 2.93556910e-04 9.99563859e-01 6.85104715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.4792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:469.60, Y:270.64, Z:68.50 [[ 6.97568592e-01 -7.16338676e-01 -1.60300321e-02 4.69598324e+02] [ 7.15920518e-01 6.97725903e-01 -2.52265004e-02 2.70644578e+02] [ 2.92552865e-02 6.12098546e-03 9.99553231e-01 6.85043626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:469.62, Y:270.66, Z:68.51 [[ 6.97956145e-01 -7.15673838e-01 -2.58491405e-02 4.69622231e+02] [ 7.15450166e-01 6.98413450e-01 -1.87006253e-02 2.70659970e+02] [ 3.14369357e-02 -5.44155550e-03 9.99490925e-01 6.85118443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.64, Y:270.68, Z:68.51 [[ 6.98367741e-01 -7.15551979e-01 -1.63665293e-02 4.69639646e+02] [ 7.15137510e-01 6.98535637e-01 -2.50261202e-02 2.70683809e+02] [ 2.93400938e-02 5.77311603e-03 9.99552815e-01 6.85078859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:469.66, Y:270.70, Z:68.51 [[ 6.97521528e-01 -7.16120881e-01 -2.51912935e-02 4.69661809e+02] [ 7.15901424e-01 6.97957229e-01 -1.84623631e-02 2.70699325e+02] [ 3.08037291e-02 -5.15658710e-03 9.99512151e-01 6.85133805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.5992541539999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:469.68, Y:270.72, Z:68.51 [[ 6.96338777e-01 -7.17387289e-01 -2.16283495e-02 4.69680966e+02] [ 7.17029461e-01 6.96674534e-01 -2.26571429e-02 2.70720572e+02] [ 3.13218667e-02 2.68883395e-04 9.99509314e-01 6.85105553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6292541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:469.70, Y:270.74, Z:68.51 [[ 6.95302652e-01 -7.18393412e-01 -2.15668326e-02 4.69701498e+02] [ 7.18037732e-01 6.95637012e-01 -2.26044870e-02 2.70738845e+02] [ 3.12416015e-02 2.31160193e-04 9.99511835e-01 6.85111459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:469.72, Y:270.76, Z:68.51 [[ 6.95070017e-01 -7.18632839e-01 -2.10835217e-02 4.69722116e+02] [ 7.18292790e-01 6.95389671e-01 -2.21059911e-02 2.70756582e+02] [ 3.05473543e-02 2.21069923e-04 9.99533296e-01 6.85134935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.74, Y:270.77, Z:68.52 [[ 6.94946126e-01 -7.18767094e-01 -2.05850993e-02 4.69743279e+02] [ 7.18442747e-01 6.95250903e-01 -2.15917196e-02 2.70774729e+02] [ 2.98312264e-02 2.15866656e-04 9.99554927e-01 6.85157367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7192541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:469.76, Y:270.79, Z:68.52 [[ 6.94724681e-01 -7.18982456e-01 -2.05388749e-02 4.69762613e+02] [ 7.18659329e-01 6.95028188e-01 -2.15542785e-02 2.70793429e+02] [ 2.97722451e-02 2.13835180e-04 9.99556686e-01 6.85155305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:469.78, Y:270.81, Z:68.52 [[ 6.94597806e-01 -7.19105131e-01 -2.05353040e-02 4.69782241e+02] [ 7.18781957e-01 6.94901263e-01 -2.15576803e-02 2.70814160e+02] [ 2.97722472e-02 2.13511436e-04 9.99556686e-01 6.85161482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.7792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:469.80, Y:270.83, Z:68.52 [[ 6.95203396e-01 -7.18541932e-01 -1.97415917e-02 4.69803410e+02] [ 7.18242801e-01 6.95483600e-01 -2.07326259e-02 2.70833415e+02] [ 2.86272143e-02 2.34135861e-04 9.99590130e-01 6.85171437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.82, Y:270.85, Z:68.52 [[ 6.95795040e-01 -7.17977811e-01 -1.94197208e-02 4.69823813e+02] [ 7.17687814e-01 6.96065942e-01 -2.04060310e-02 2.70853402e+02] [ 2.81684837e-02 2.61118165e-04 9.99603155e-01 6.85192248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.84, Y:270.87, Z:68.52 [[ 6.96287744e-01 -7.17511632e-01 -1.89851379e-02 4.69842509e+02] [ 7.17234009e-01 6.96546465e-01 -1.99599235e-02 2.70872285e+02] [ 2.75455080e-02 2.81063559e-04 9.99620511e-01 6.85198510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:469.86, Y:270.89, Z:68.52 [[ 6.96794228e-01 -7.17034522e-01 -1.84200482e-02 4.69862546e+02] [ 7.16772799e-01 6.97037593e-01 -1.93739173e-02 2.70892643e+02] [ 2.67312336e-02 2.96644205e-04 9.99642613e-01 6.85175420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.88, Y:270.91, Z:68.52 [[ 6.97430341e-01 -7.16429145e-01 -1.78941202e-02 4.69882064e+02] [ 7.16181680e-01 6.97659788e-01 -1.88314149e-02 2.70912743e+02] [ 2.59753826e-02 3.18159026e-04 9.99662532e-01 6.85198263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9292541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:469.90, Y:270.93, Z:68.52 [[ 6.97409668e-01 -7.16429669e-01 -1.86623749e-02 4.69901313e+02] [ 7.16160202e-01 6.97659239e-01 -1.96507416e-02 2.70931736e+02] [ 2.70983526e-02 3.39367040e-04 9.99632715e-01 6.85174201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:469.92, Y:270.95, Z:68.52 [[ 6.97213297e-01 -7.16618332e-01 -1.87559248e-02 4.69921241e+02] [ 7.16346022e-01 6.97465448e-01 -1.97566352e-02 2.70951900e+02] [ 2.72395765e-02 3.38856653e-04 9.99628877e-01 6.85184771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 833.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.94, Y:270.97, Z:68.52 [[ 6.96744104e-01 -7.17063714e-01 -1.91646470e-02 4.69941789e+02] [ 7.16779251e-01 6.97007544e-01 -2.01987268e-02 2.70971196e+02] [ 2.78416776e-02 3.36522409e-04 9.99612289e-01 6.85203285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:469.96, Y:270.99, Z:68.52 [[ 6.95991063e-01 -7.17790564e-01 -1.93170348e-02 4.69961915e+02] [ 7.17501516e-01 6.96259008e-01 -2.03707870e-02 2.70991479e+02] [ 2.80716181e-02 3.17883921e-04 9.99605864e-01 6.85198508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:469.98, Y:271.01, Z:68.52 [[ 6.95459557e-01 -7.18301603e-01 -1.94631079e-02 4.69981422e+02] [ 7.18008042e-01 6.95731782e-01 -2.05362844e-02 2.71011544e+02] [ 2.82923488e-02 3.07487270e-04 9.99599644e-01 6.85212791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.0792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:470.00, Y:271.03, Z:68.52 [[ 6.93812248e-01 -7.19888646e-01 -1.96189073e-02 4.70001211e+02] [ 7.19590667e-01 6.94089528e-01 -2.07122813e-02 2.71031135e+02] [ 2.85278143e-02 2.52851885e-04 9.99592967e-01 6.85205718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1092541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:470.02, Y:271.05, Z:68.52 [[ 6.91718551e-01 -7.21894313e-01 -1.98506061e-02 4.70021018e+02] [ 7.21589728e-01 6.92003300e-01 -2.09689315e-02 2.71050614e+02] [ 2.88740373e-02 1.80605433e-04 9.99583042e-01 6.85199299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:470.04, Y:271.07, Z:68.52 [[ 6.90760180e-01 -7.22803977e-01 -2.01192516e-02 4.70040394e+02] [ 7.22491157e-01 6.91053100e-01 -2.12635886e-02 2.71069712e+02] [ 2.92728776e-02 1.52058915e-04 9.99571446e-01 6.85203968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.06, Y:271.09, Z:68.52 [[ 6.89926438e-01 -7.23610305e-01 -1.97392204e-02 4.70060608e+02] [ 7.23309300e-01 6.90208745e-01 -2.08697051e-02 2.71089715e+02] [ 2.87257162e-02 1.20999580e-04 9.99587324e-01 6.85232102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.08, Y:271.11, Z:68.52 [[ 6.87040968e-01 -7.26347861e-01 -1.98366551e-02 4.70081853e+02] [ 7.26044670e-01 6.87327276e-01 -2.09846062e-02 2.71108805e+02] [ 2.88763979e-02 1.49864869e-05 9.99582990e-01 6.85245387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:470.10, Y:271.13, Z:68.53 [[ 6.84158549e-01 -7.29079358e-01 -1.92449836e-02 4.70103080e+02] [ 7.28794742e-01 6.84429165e-01 -2.03701564e-02 2.71127815e+02] [ 2.80232886e-02 -8.92262437e-05 9.99607267e-01 6.85261172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.12, Y:271.15, Z:68.53 [[ 6.82565355e-01 -7.30576416e-01 -1.90430362e-02 4.70123075e+02] [ 7.30298005e-01 6.82830931e-01 -2.01678566e-02 2.71147857e+02] [ 2.77373345e-02 -1.41211120e-04 9.99615236e-01 6.85272759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.2892541539999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:470.14, Y:271.17, Z:68.53 [[ 6.80846613e-01 -7.32183536e-01 -1.88456890e-02 4.70142828e+02] [ 7.31911168e-01 6.81107357e-01 -1.99702520e-02 2.71167484e+02] [ 2.74578271e-02 -1.96691881e-04 9.99622943e-01 6.85262305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3192541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:470.16, Y:271.19, Z:68.53 [[ 6.79172242e-01 -7.33751026e-01 -1.82892816e-02 4.70162116e+02] [ 7.33494807e-01 6.79418407e-01 -1.93906031e-02 2.71186034e+02] [ 2.66539495e-02 -2.45533736e-04 9.99644690e-01 6.85273227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.18, Y:271.21, Z:68.52 [[ 6.78199819e-01 -7.34868933e-01 -3.55777046e-03 4.70176383e+02] [ 7.34516113e-01 6.78010139e-01 -2.80772425e-02 2.71213098e+02] [ 2.30452976e-02 1.64287410e-02 9.99599425e-01 6.85177799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.3792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:470.21, Y:271.22, Z:68.54 [[ 6.78544626e-01 -7.33933121e-01 -3.03210114e-02 4.70207087e+02] [ 7.34082398e-01 6.79013249e-01 -8.00259840e-03 2.71222324e+02] [ 2.64617405e-02 -1.68280006e-02 9.99508176e-01 6.85365945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4092541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:470.22, Y:271.25, Z:68.53 [[ 6.78534520e-01 -7.34327038e-01 -1.88336445e-02 4.70219764e+02] [ 7.34054921e-01 6.78795797e-01 -1.99909829e-02 2.71247180e+02] [ 2.74641180e-02 -2.60357406e-04 9.99622756e-01 6.85290343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:470.24, Y:271.27, Z:68.52 [[ 6.79899990e-01 -7.33245516e-01 -9.32829867e-03 4.70237988e+02] [ 7.32873067e-01 6.79881147e-01 -2.56650176e-02 2.71272462e+02] [ 2.51608934e-02 1.06131863e-02 9.99627075e-01 6.85227504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4692541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:470.26, Y:271.29, Z:68.53 [[ 6.80810098e-01 -7.32025624e-01 -2.52209515e-02 4.70264087e+02] [ 7.31940008e-01 6.81220576e-01 -1.42250410e-02 2.71286058e+02] [ 2.75941257e-02 -8.77567190e-03 9.99580688e-01 6.85332662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.4992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:470.28, Y:271.31, Z:68.53 [[ 6.80862676e-01 -7.32120442e-01 -2.06318876e-02 4.70277355e+02] [ 7.31892924e-01 6.81170419e-01 -1.84284480e-02 2.71308548e+02] [ 2.75456751e-02 -2.55309014e-03 9.99617286e-01 6.85347620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:470.29, Y:271.33, Z:68.53 [[ 6.81464707e-01 -7.31573178e-01 -2.01627913e-02 4.70294058e+02] [ 7.31259387e-01 6.81762909e-01 -2.14253249e-02 2.71329559e+02] [ 2.94204363e-02 -1.43627687e-04 9.99567115e-01 6.85313555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5592541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:470.31, Y:271.35, Z:68.53 [[ 6.81398666e-01 -7.31616597e-01 -2.08089642e-02 4.70312812e+02] [ 7.31282125e-01 6.81716315e-01 -2.21205639e-02 2.71350350e+02] [ 3.03695820e-02 -1.44300849e-04 9.99538727e-01 6.85319185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.5892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:470.33, Y:271.37, Z:68.53 [[ 6.81429622e-01 -7.31598011e-01 -2.04455500e-02 4.70330685e+02] [ 7.31274799e-01 6.81736263e-01 -2.17447997e-02 2.71370826e+02] [ 2.98469250e-02 -1.33764804e-04 9.99554472e-01 6.85336499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.35, Y:271.39, Z:68.54 [[ 6.80833977e-01 -7.32152619e-01 -2.04361997e-02 4.70349506e+02] [ 7.31829709e-01 6.81140602e-01 -2.17429839e-02 2.71391908e+02] [ 2.98391080e-02 -1.52455835e-04 9.99554703e-01 6.85354873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.37, Y:271.41, Z:68.54 [[ 6.78871987e-01 -7.33966625e-01 -2.06353877e-02 4.70367044e+02] [ 7.33637899e-01 6.79185499e-01 -2.19656795e-02 2.71412374e+02] [ 3.01373318e-02 -2.27018031e-04 9.99545742e-01 6.85357468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.6792541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:470.39, Y:271.43, Z:68.53 [[ 6.77132617e-01 -7.35549467e-01 -2.14102879e-02 4.70385984e+02] [ 7.35196092e-01 6.77470951e-01 -2.27994950e-02 2.71433024e+02] [ 3.12750045e-02 -3.02478252e-04 9.99510772e-01 6.85333136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7092541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:470.40, Y:271.45, Z:68.53 [[ 6.74113388e-01 -7.38317739e-01 -2.14022500e-02 4.70404304e+02] [ 7.37965611e-01 6.74452918e-01 -2.28039134e-02 2.71453736e+02] [ 3.12713438e-02 -4.21701193e-04 9.99510843e-01 6.85346178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:470.42, Y:271.47, Z:68.54 [[ 6.72608376e-01 -7.39711621e-01 -2.06080154e-02 4.70423158e+02] [ 7.39385437e-01 6.72923849e-01 -2.19697527e-02 2.71474673e+02] [ 3.01189064e-02 -4.60226788e-04 9.99546217e-01 6.85369846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:470.44, Y:271.50, Z:68.54 [[ 6.69484452e-01 -7.42563074e-01 -1.97648707e-02 4.70441245e+02] [ 7.42263943e-01 6.69775912e-01 -2.10823799e-02 2.71496409e+02] [ 2.88930311e-02 -5.56425258e-04 9.99582354e-01 6.85379743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.7992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:470.46, Y:271.52, Z:68.53 [[ 6.67894501e-01 -7.44187328e-01 -1.01072634e-02 4.70456956e+02] [ 7.43793870e-01 6.67896745e-01 -2.61652008e-02 2.71522515e+02] [ 2.62224192e-02 9.95787315e-03 9.99606535e-01 6.85327094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8292541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:470.48, Y:271.54, Z:68.54 [[ 6.67081094e-01 -7.44511869e-01 -2.65497920e-02 4.70480933e+02] [ 7.44483493e-01 6.67516041e-01 -1.29098035e-02 2.71535826e+02] [ 2.73339140e-02 -1.11539960e-02 9.99564128e-01 6.85430662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:470.49, Y:271.56, Z:68.54 [[ 6.65875462e-01 -7.45835962e-01 -1.84007565e-02 4.70494282e+02] [ 7.45577236e-01 6.66129356e-01 -1.96536676e-02 2.71562307e+02] [ 2.69156961e-02 -6.32290111e-04 9.99637507e-01 6.85411149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.8892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:470.51, Y:271.59, Z:68.54 [[ 6.66173942e-01 -7.45553483e-01 -1.90337595e-02 4.70510209e+02] [ 7.45276200e-01 6.66445498e-01 -2.03416922e-02 2.71585668e+02] [ 2.78507828e-02 -6.34302691e-04 9.99611891e-01 6.85409859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:470.52, Y:271.61, Z:68.53 [[ 6.65238977e-01 -7.46603459e-01 -6.35451619e-03 4.70520632e+02] [ 7.46179553e-01 6.65108866e-01 -2.90907401e-02 2.71613726e+02] [ 2.59456922e-02 1.46106841e-02 9.99556576e-01 6.85289089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9492541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:470.54, Y:271.63, Z:68.53 [[ 6.65937499e-01 -7.45803614e-01 -1.74418171e-02 4.70539080e+02] [ 7.45513347e-01 6.66165312e-01 -2.08237064e-02 2.71632881e+02] [ 2.71495290e-02 8.64179513e-04 9.99631010e-01 6.85324528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 834.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.56, Y:271.65, Z:68.54 [[ 6.66665608e-01 -7.45116527e-01 -1.89295588e-02 4.70557101e+02] [ 7.44876680e-01 6.66932702e-01 -1.89605509e-02 2.71654821e+02] [ 2.67525616e-02 -1.45983967e-03 9.99641020e-01 6.85364902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.58, Y:271.67, Z:68.55 [[ 6.68754647e-01 -7.42747941e-01 -3.30562867e-02 4.70580324e+02] [ 7.42817626e-01 6.69376107e-01 -1.25539398e-02 2.71673137e+02] [ 3.14515015e-02 -1.61592868e-02 9.99374645e-01 6.85483621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.59, Y:271.70, Z:68.54 [[ 6.67527682e-01 -7.44300194e-01 -2.05916383e-02 4.70590135e+02] [ 7.43879686e-01 6.67843725e-01 -2.50553850e-02 2.71701120e+02] [ 3.24007243e-02 1.40746161e-03 9.99473968e-01 6.85416310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:470.61, Y:271.72, Z:68.54 [[ 6.68121525e-01 -7.43659210e-01 -2.41786625e-02 4.70609949e+02] [ 7.43307329e-01 6.68553860e-01 -2.30206766e-02 2.71722791e+02] [ 3.32842763e-02 -2.59156750e-03 9.99442565e-01 6.85436181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.0992541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:470.62, Y:271.75, Z:68.54 [[ 6.68342452e-01 -7.43514624e-01 -2.24582181e-02 4.70624376e+02] [ 7.43125639e-01 6.68719395e-01 -2.40552698e-02 2.71745724e+02] [ 3.29036909e-02 -6.12119676e-04 9.99458340e-01 6.85433235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1292541539999 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:470.64, Y:271.77, Z:68.54 [[ 6.68319625e-01 -7.43618582e-01 -1.95008431e-02 4.70640013e+02] [ 7.43239451e-01 6.68602602e-01 -2.37840008e-02 2.71768871e+02] [ 3.07245393e-02 1.40151858e-03 9.99526907e-01 6.85440851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:470.66, Y:271.79, Z:68.55 [[ 6.70066842e-01 -7.41935113e-01 -2.32962531e-02 4.70657985e+02] [ 7.41644553e-01 6.70464049e-01 -2.10075316e-02 2.71790378e+02] [ 3.12055255e-02 -3.20108889e-03 9.99507863e-01 6.85456671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.1892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:470.68, Y:271.81, Z:68.55 [[ 6.70025848e-01 -7.42033541e-01 -2.12505772e-02 4.70675770e+02] [ 7.41680362e-01 6.70362623e-01 -2.28952817e-02 2.71811433e+02] [ 3.12346596e-02 -4.20705298e-04 9.99511990e-01 6.85453266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2192541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:470.69, Y:271.84, Z:68.54 [[ 6.75673240e-01 -7.36908388e-01 -2.07774080e-02 4.70692930e+02] [ 7.36520040e-01 6.75992064e-01 -2.39365989e-02 2.71835681e+02] [ 3.16844434e-02 8.70341966e-04 9.99497543e-01 6.85444198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2492541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:470.71, Y:271.86, Z:68.55 [[ 6.77507447e-01 -7.35196382e-01 -2.16780776e-02 4.70711562e+02] [ 7.34829137e-01 6.77854147e-01 -2.32356479e-02 2.71856992e+02] [ 3.17773391e-02 -1.87358600e-04 9.99494955e-01 6.85454661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.2792541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:470.73, Y:271.88, Z:68.55 [[ 6.79535030e-01 -7.33331305e-01 -2.13855230e-02 4.70729799e+02] [ 7.32972569e-01 6.79871451e-01 -2.29352091e-02 2.71878832e+02] [ 3.13585134e-02 -8.97237513e-05 9.99508197e-01 6.85462402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3092541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:470.75, Y:271.90, Z:68.55 [[ 6.79403335e-01 -7.33453489e-01 -2.13796109e-02 4.70749198e+02] [ 7.33094641e-01 6.79739635e-01 -2.29407193e-02 2.71899770e+02] [ 3.13585195e-02 -8.72769961e-05 9.99508197e-01 6.85468802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3392541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:470.77, Y:271.92, Z:68.55 [[ 6.81384983e-01 -7.31686555e-01 -1.86893149e-02 4.70765192e+02] [ 7.31186300e-01 6.81622232e-01 -2.75268701e-02 2.71922909e+02] [ 3.28800933e-02 5.09102492e-03 9.99446337e-01 6.85455888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.79, Y:271.94, Z:68.56 [[ 6.85749672e-01 -7.27104930e-01 -3.26467131e-02 4.70790354e+02] [ 7.27140252e-01 6.86366083e-01 -1.29867179e-02 2.71938763e+02] [ 3.18503032e-02 -1.48331017e-02 9.99382578e-01 6.85572302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.3992541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:470.80, Y:271.97, Z:68.54 [[ 6.86617034e-01 -7.26883274e-01 -1.40625493e-02 4.70798845e+02] [ 7.26317784e-01 6.86675693e-01 -3.06426206e-02 2.71967647e+02] [ 3.19300191e-02 1.08258656e-02 9.99431476e-01 6.85439619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4292541539999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:470.82, Y:271.99, Z:68.55 [[ 6.87892800e-01 -7.25470190e-01 -2.22822777e-02 4.70821563e+02] [ 7.25074889e-01 6.88253517e-01 -2.39478969e-02 2.71985037e+02] [ 3.27093413e-02 3.17265817e-04 9.99464856e-01 6.85476060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.85, Y:272.00, Z:68.56 [[ 6.89403367e-01 -7.23585001e-01 -3.38783748e-02 4.70848726e+02] [ 7.23553455e-01 6.90095832e-01 -1.54317980e-02 2.72000600e+02] [ 3.45455428e-02 -1.38740817e-02 9.99306817e-01 6.85601102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.4892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:470.86, Y:272.03, Z:68.54 [[ 6.86663234e-01 -7.26875335e-01 -1.20768514e-02 4.70856699e+02] [ 7.26239213e-01 6.86620532e-01 -3.35983913e-02 2.72029939e+02] [ 3.27140561e-02 1.43000970e-02 9.99362446e-01 6.85448219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.88, Y:272.04, Z:68.55 [[ 6.85318675e-01 -7.27837045e-01 -2.43217883e-02 4.70882824e+02] [ 7.27506204e-01 6.85745367e-01 -2.20910578e-02 2.72044476e+02] [ 3.27572438e-02 -2.55483743e-03 9.99460072e-01 6.85535907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5492541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:470.90, Y:272.07, Z:68.55 [[ 6.83138477e-01 -7.29989266e-01 -2.09163202e-02 4.70899762e+02] [ 7.29513150e-01 6.83452648e-01 -2.65149401e-02 2.72065672e+02] [ 3.36509361e-02 2.85464516e-03 9.99429570e-01 6.85501872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.5792541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:470.92, Y:272.08, Z:68.55 [[ 6.78987319e-01 -7.33774717e-01 -2.34709583e-02 4.70921167e+02] [ 7.33339162e-01 6.79392863e-01 -2.52786562e-02 2.72083040e+02] [ 3.44948404e-02 -4.82859070e-05 9.99404875e-01 6.85515907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.94, Y:272.10, Z:68.55 [[ 6.75559846e-01 -7.36955086e-01 -2.27177370e-02 4.70942530e+02] [ 7.36548467e-01 6.75941686e-01 -2.44784073e-02 2.72101742e+02] [ 3.33953522e-02 -1.96085326e-04 9.99442200e-01 6.85539365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:470.97, Y:272.12, Z:68.56 [[ 6.74532772e-01 -7.37370236e-01 -3.59259617e-02 4.70970587e+02] [ 7.37367684e-01 6.75304660e-01 -1.58907082e-02 2.72116490e+02] [ 3.59783046e-02 -1.57718397e-02 9.99228107e-01 6.85649837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:470.98, Y:272.15, Z:68.55 [[ 6.72029485e-01 -7.40429397e-01 -1.18608231e-02 4.70977821e+02] [ 7.39740087e-01 6.71968578e-01 -3.52538575e-02 2.72146681e+02] [ 3.40730929e-02 1.49177054e-02 9.99308004e-01 6.85497730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.00, Y:272.16, Z:68.56 [[ 6.69510965e-01 -7.42460041e-01 -2.25423076e-02 4.71003003e+02] [ 7.42061648e-01 6.69890208e-01 -2.43232261e-02 2.72161538e+02] [ 3.31598946e-02 -4.43115378e-04 9.99449961e-01 6.85568286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7292541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:471.02, Y:272.18, Z:68.56 [[ 6.67804629e-01 -7.43979351e-01 -2.30586768e-02 4.71022438e+02] [ 7.43562890e-01 6.68202406e-01 -2.48952466e-02 2.72181229e+02] [ 3.39294127e-02 -5.20415408e-04 9.99424096e-01 6.85552398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.04, Y:272.20, Z:68.56 [[ 6.65693286e-01 -7.45870050e-01 -2.30286354e-02 4.71042672e+02] [ 7.45455308e-01 6.66091211e-01 -2.48773344e-02 2.72200208e+02] [ 3.38944303e-02 -6.06144031e-04 9.99425235e-01 6.85578154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.7892541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:471.06, Y:272.22, Z:68.56 [[ 6.61943075e-01 -7.49182130e-01 -2.36114677e-02 4.71061595e+02] [ 7.48764535e-01 6.62363125e-01 -2.50352176e-02 2.72219814e+02] [ 3.43953032e-02 -1.10754071e-03 9.99407693e-01 6.85560446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.08, Y:272.24, Z:68.56 [[ 6.61576572e-01 -7.49557665e-01 -2.19031354e-02 4.71081563e+02] [ 7.49163127e-01 6.61938974e-01 -2.43188223e-02 2.72240471e+02] [ 3.27268986e-02 -3.20258325e-04 9.99464280e-01 6.85593215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8492541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:471.10, Y:272.26, Z:68.57 [[ 6.60336518e-01 -7.50363105e-01 -3.01810119e-02 4.71104662e+02] [ 7.50170306e-01 6.60954579e-01 -1.95846113e-02 2.72258186e+02] [ 3.46438478e-02 -9.70846492e-03 9.99352565e-01 6.85654175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.8792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:471.13, Y:272.28, Z:68.57 [[ 6.60623331e-01 -7.49887280e-01 -3.52970492e-02 4.71126400e+02] [ 7.49743166e-01 6.61430976e-01 -1.98557126e-02 2.72276864e+02] [ 3.82361080e-02 -1.33465744e-02 9.99179598e-01 6.85720516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.13, Y:272.31, Z:68.56 [[ 6.61709859e-01 -7.49648871e-01 -1.29086666e-02 4.71133241e+02] [ 7.48927877e-01 6.61688419e-01 -3.57137319e-02 2.72305764e+02] [ 3.53142740e-02 1.39644682e-02 9.99278688e-01 6.85604694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.16, Y:272.32, Z:68.57 [[ 6.63890769e-01 -7.47329729e-01 -2.73372153e-02 4.71159277e+02] [ 7.46992482e-01 6.64433544e-01 -2.30282079e-02 2.72320510e+02] [ 3.53734272e-02 -5.13247967e-03 9.99360985e-01 6.85695553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.18, Y:272.34, Z:68.57 [[ 6.64856722e-01 -7.46461115e-01 -2.75924458e-02 4.71178178e+02] [ 7.46014658e-01 6.65420935e-01 -2.60213420e-02 2.72341671e+02] [ 3.77845110e-02 -3.28390484e-03 9.99280515e-01 6.85714536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 835.9992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:471.19, Y:272.37, Z:68.56 [[ 6.63957035e-01 -7.47699704e-01 -1.03057095e-02 4.71188795e+02] [ 7.47099845e-01 6.63882016e-01 -3.32037786e-02 2.72370987e+02] [ 3.16682306e-02 1.43464885e-02 9.99395468e-01 6.85569036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.22, Y:272.39, Z:68.57 [[ 6.64572181e-01 -7.46648132e-01 -2.93323111e-02 4.71216989e+02] [ 7.46475583e-01 6.65151345e-01 -1.86518922e-02 2.72385078e+02] [ 3.34368266e-02 -9.50032532e-03 9.99395679e-01 6.85693641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:471.23, Y:272.41, Z:68.56 [[ 6.63615333e-01 -7.47883665e-01 -1.68734646e-02 4.71227675e+02] [ 7.47365924e-01 6.63799687e-01 -2.85333524e-02 2.72411246e+02] [ 3.25402287e-02 6.32451767e-03 9.99450416e-01 6.85609735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.0892541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:471.25, Y:272.43, Z:68.56 [[ 6.62862379e-01 -7.48415302e-01 -2.20907650e-02 4.71248858e+02] [ 7.48031338e-01 6.63230080e-01 -2.39787143e-02 2.72430297e+02] [ 3.25972966e-02 -6.29996892e-04 9.99468368e-01 6.85631460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1192541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:471.27, Y:272.45, Z:68.57 [[ 6.61635877e-01 -7.49512693e-01 -2.16492434e-02 4.71266621e+02] [ 7.49144154e-01 6.61989640e-01 -2.35106992e-02 2.72450831e+02] [ 3.19531423e-02 -6.62882088e-04 9.99489148e-01 6.85653509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:471.28, Y:272.47, Z:68.57 [[ 6.60312859e-01 -7.50670503e-01 -2.19253971e-02 4.71284838e+02] [ 7.50292828e-01 6.60676376e-01 -2.38201071e-02 2.72471542e+02] [ 3.23666437e-02 -7.21745145e-04 9.99475802e-01 6.85662182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.29, Y:272.50, Z:68.55 [[ 6.57141259e-01 -7.53766385e-01 1.26618608e-03 4.71290318e+02] [ 7.53325427e-01 6.56697455e-01 -3.53447982e-02 2.72501072e+02] [ 2.58102196e-02 2.41803753e-02 9.99374375e-01 6.85501880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2092541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:471.33, Y:272.51, Z:68.57 [[ 6.56642034e-01 -7.53079203e-01 -4.11455254e-02 4.71328859e+02] [ 7.53460284e-01 6.57438524e-01 -8.49635427e-03 2.72506574e+02] [ 3.34490812e-02 -2.54224559e-02 9.99117039e-01 6.85741461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2392541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:471.34, Y:272.54, Z:68.56 [[ 6.54478533e-01 -7.55857275e-01 -1.83746943e-02 4.71336181e+02] [ 7.55303490e-01 6.54714323e-01 -2.94243601e-02 2.72539169e+02] [ 3.42707922e-02 5.37914129e-03 9.99398108e-01 6.85622603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:471.35, Y:272.56, Z:68.56 [[ 6.53015280e-01 -7.57104066e-01 -1.90913132e-02 4.71353434e+02] [ 7.56619987e-01 6.53285610e-01 -2.72783121e-02 2.72559864e+02] [ 3.31246012e-02 3.36828550e-03 9.99445554e-01 6.85634434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.2992541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:471.38, Y:272.58, Z:68.57 [[ 6.53647715e-01 -7.56079073e-01 -3.30015090e-02 4.71378580e+02] [ 7.55936079e-01 6.54363142e-01 -1.92229924e-02 2.72575401e+02] [ 3.61290734e-02 -1.23819662e-02 9.99270422e-01 6.85730326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3292541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:471.39, Y:272.60, Z:68.57 [[ 6.53767644e-01 -7.56323256e-01 -2.37276299e-02 4.71391914e+02] [ 7.55882920e-01 6.54197239e-01 -2.58260203e-02 2.72600732e+02] [ 3.50553697e-02 -1.05109375e-03 9.99384819e-01 6.85722977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3592541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:471.41, Y:272.62, Z:68.57 [[ 6.53581818e-01 -7.56487072e-01 -2.36245087e-02 4.71410315e+02] [ 7.56050158e-01 6.54007811e-01 -2.57282381e-02 2.72622470e+02] [ 3.49136928e-02 -1.04580490e-03 9.99389784e-01 6.85727257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.3892541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:471.43, Y:272.65, Z:68.57 [[ 6.54027846e-01 -7.56130137e-01 -2.26890576e-02 4.71427278e+02] [ 7.55726472e-01 6.54420554e-01 -2.47232309e-02 2.72645392e+02] [ 3.35421656e-02 -9.77040014e-04 9.99436826e-01 6.85732259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:471.44, Y:272.67, Z:68.58 [[ 6.55094565e-01 -7.55232244e-01 -2.18029332e-02 4.71444914e+02] [ 7.54858573e-01 6.55456690e-01 -2.37710400e-02 2.72666819e+02] [ 3.22435344e-02 -8.85851932e-04 9.99479650e-01 6.85758349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.46, Y:272.69, Z:68.58 [[ 6.57348348e-01 -7.53264399e-01 -2.20430036e-02 4.71460943e+02] [ 7.52880952e-01 6.57717356e-01 -2.40447911e-02 2.72689227e+02] [ 3.26101512e-02 -7.89953824e-04 9.99467835e-01 6.85768831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.4792541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:471.48, Y:272.71, Z:68.57 [[ 6.57749859e-01 -7.52880865e-01 -2.31414310e-02 4.71478603e+02] [ 7.52457639e-01 6.58156333e-01 -2.52535820e-02 2.72710929e+02] [ 3.42436180e-02 -8.02406499e-04 9.99413193e-01 6.85739608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5092541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:471.50, Y:272.73, Z:68.58 [[ 6.59267251e-01 -7.51550067e-01 -2.32204336e-02 4.71495494e+02] [ 7.51122670e-01 6.59675654e-01 -2.53528325e-02 2.72731492e+02] [ 3.43718777e-02 -7.27101849e-04 9.99408848e-01 6.85753464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.51, Y:272.75, Z:68.58 [[ 6.62478014e-01 -7.48719396e-01 -2.32840356e-02 4.71512724e+02] [ 7.48287499e-01 6.62886820e-01 -2.54338924e-02 2.72754161e+02] [ 3.44775289e-02 -5.73758255e-04 9.99405309e-01 6.85774000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5692541539999 meters Centerline goodness : 0.995597 Centerline is valid? [True, True] Translation: X:471.53, Y:272.78, Z:68.57 [[ 6.62864792e-01 -7.48532970e-01 -1.75687523e-02 4.71530038e+02] [ 7.47947802e-01 6.63060421e-01 -3.04132127e-02 2.72779759e+02] [ 3.44144367e-02 7.01933823e-03 9.99382997e-01 6.85713308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.5992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.55, Y:272.80, Z:68.58 [[ 6.65493065e-01 -7.46097136e-01 -2.14019466e-02 4.71548256e+02] [ 7.45650832e-01 6.65835974e-01 -2.58320173e-02 2.72799963e+02] [ 3.35233801e-02 1.23264911e-03 9.99437173e-01 6.85757210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6292541539999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:471.57, Y:272.82, Z:68.57 [[ 6.65885117e-01 -7.45768635e-01 -2.06434919e-02 4.71566872e+02] [ 7.45242686e-01 6.66196356e-01 -2.82091146e-02 2.72822626e+02] [ 3.47900920e-02 3.39961825e-03 9.99388859e-01 6.85716433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.59, Y:272.84, Z:68.59 [[ 6.69943256e-01 -7.41519969e-01 -3.63891415e-02 4.71591430e+02] [ 7.41461720e-01 6.70760823e-01 -1.77323739e-02 2.72837045e+02] [ 3.75573198e-02 -1.51014711e-02 9.99180361e-01 6.85865129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.6892541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:471.60, Y:272.86, Z:68.58 [[ 6.70432711e-01 -7.41499797e-01 -2.64202624e-02 4.71604914e+02] [ 7.40936380e-01 6.70953062e-01 -2.89010295e-02 2.72862715e+02] [ 3.91568635e-02 -1.99538051e-04 9.99233056e-01 6.85799463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.61, Y:272.89, Z:68.57 [[ 6.72191131e-01 -7.40338720e-01 -7.59364142e-03 4.71613866e+02] [ 7.39730580e-01 6.71997033e-01 -3.49092626e-02 2.72890048e+02] [ 3.09475833e-02 1.78484479e-02 9.99361636e-01 6.85700206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.64, Y:272.91, Z:68.57 [[ 6.73487654e-01 -7.39036763e-01 -1.54610350e-02 4.71636875e+02] [ 7.38621513e-01 6.73640992e-01 -2.54179894e-02 2.72907432e+02] [ 2.92000156e-02 5.69884899e-03 9.99557343e-01 6.85731044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.7792541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:471.67, Y:272.92, Z:68.59 [[ 6.78583767e-01 -7.33330201e-01 -4.18436081e-02 4.71670371e+02] [ 7.33593681e-01 6.79489363e-01 -1.15981441e-02 2.72918711e+02] [ 3.69375560e-02 -2.28258941e-02 9.99056853e-01 6.85905630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.68, Y:272.95, Z:68.58 [[ 6.79441288e-01 -7.33481263e-01 -1.90990373e-02 4.71678361e+02] [ 7.32978572e-01 6.79693243e-01 -2.75591840e-02 2.72948923e+02] [ 3.31956317e-02 4.72566237e-03 9.99437701e-01 6.85818542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8392541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:471.69, Y:272.97, Z:68.57 [[ 6.79258447e-01 -7.33854666e-01 -8.08032866e-03 4.71690784e+02] [ 7.33320465e-01 6.79118851e-01 -3.22285843e-02 2.72974054e+02] [ 2.91386005e-02 1.59660678e-02 9.99447861e-01 6.85735229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.73, Y:272.98, Z:68.59 [[ 6.82530557e-01 -7.30030345e-01 -3.47524711e-02 4.71725412e+02] [ 7.30057301e-01 6.83236364e-01 -1.42971886e-02 2.72983667e+02] [ 3.41815334e-02 -1.56130271e-02 9.99293679e-01 6.85905796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.8992541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:471.74, Y:273.01, Z:68.58 [[ 6.82073177e-01 -7.31029837e-01 -1.92758557e-02 4.71737226e+02] [ 7.30483668e-01 6.82322849e-01 -2.87948173e-02 2.73011314e+02] [ 3.42022274e-02 5.55947479e-03 9.99399470e-01 6.85806602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9292541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:471.76, Y:273.03, Z:68.58 [[ 6.83765054e-01 -7.29495895e-01 -1.73519781e-02 4.71757364e+02] [ 7.28980223e-01 6.83952908e-01 -2.82179693e-02 2.73032076e+02] [ 3.24528287e-02 6.64521241e-03 9.99451177e-01 6.85808501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9592541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:471.78, Y:273.05, Z:68.59 [[ 6.85104761e-01 -7.27629509e-01 -3.44494413e-02 4.71784734e+02] [ 7.27541421e-01 6.85843961e-01 -1.73649513e-02 2.73045895e+02] [ 3.62621923e-02 -1.31665847e-02 9.99255570e-01 6.85926451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 836.9892541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:471.80, Y:273.07, Z:68.59 [[ 6.85414436e-01 -7.27727199e-01 -2.49033268e-02 4.71799175e+02] [ 7.27214533e-01 6.85866421e-01 -2.73180635e-02 2.73069804e+02] [ 3.69604534e-02 6.14133896e-04 9.99316540e-01 6.85881093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:471.82, Y:273.09, Z:68.59 [[ 6.85792686e-01 -7.27402788e-01 -2.39494407e-02 4.71818524e+02] [ 7.26928045e-01 6.86210467e-01 -2.62833174e-02 2.73089886e+02] [ 3.55529153e-02 6.15386724e-04 9.99367606e-01 6.85906513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0492541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:471.84, Y:273.11, Z:68.59 [[ 6.85024330e-01 -7.28083635e-01 -2.52168285e-02 4.71838459e+02] [ 7.27557239e-01 6.85488028e-01 -2.76880596e-02 2.73108410e+02] [ 3.74450571e-02 6.20308352e-04 9.99298495e-01 6.85890057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.0792541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:471.86, Y:273.13, Z:68.59 [[ 6.84826503e-01 -7.28269878e-01 -2.52120181e-02 4.71857633e+02] [ 7.27743447e-01 6.85290161e-01 -2.76924393e-02 2.73129580e+02] [ 3.74451174e-02 6.16635405e-04 9.99298495e-01 6.85897273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1092541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:471.88, Y:273.15, Z:68.59 [[ 6.84560989e-01 -7.28529056e-01 -2.49332579e-02 4.71876796e+02] [ 7.28013899e-01 6.85014634e-01 -2.73991436e-02 2.73148769e+02] [ 3.70407187e-02 6.04626535e-04 9.99313574e-01 6.85907607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1392541539999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:471.90, Y:273.17, Z:68.59 [[ 6.83303877e-01 -7.29644118e-01 -2.67445907e-02 4.71898274e+02] [ 7.29051715e-01 6.83826813e-01 -2.94021680e-02 2.73167281e+02] [ 3.97417872e-02 5.92425624e-04 9.99209808e-01 6.85897153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:471.92, Y:273.19, Z:68.59 [[ 6.83058880e-01 -7.29889281e-01 -2.63097846e-02 4.71918589e+02] [ 7.29315533e-01 6.83565141e-01 -2.89404811e-02 2.73187133e+02] [ 3.91077986e-02 5.79918008e-04 9.99234829e-01 6.85913852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.1992541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:471.94, Y:273.20, Z:68.59 [[ 6.82368438e-01 -7.30478251e-01 -2.78359562e-02 4.71939756e+02] [ 7.29835812e-01 6.82935706e-01 -3.06350785e-02 2.73204229e+02] [ 4.13884270e-02 5.88732923e-04 9.99142959e-01 6.85912206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2292541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:471.96, Y:273.23, Z:68.59 [[ 6.82234038e-01 -7.30663364e-01 -2.62252885e-02 4.71959988e+02] [ 7.29917931e-01 6.82728961e-01 -3.31810109e-02 2.73225047e+02] [ 4.21489131e-02 3.49490670e-03 9.99105227e-01 6.85908918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:471.98, Y:273.24, Z:68.60 [[ 6.83428272e-01 -7.29441665e-01 -2.89940487e-02 4.71984053e+02] [ 7.28920751e-01 6.84039370e-01 -2.76528403e-02 2.73241464e+02] [ 4.00042047e-02 -2.23563089e-03 9.99197010e-01 6.85959181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.2892541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:472.00, Y:273.26, Z:68.59 [[ 6.83636397e-01 -7.29296244e-01 -2.77175946e-02 4.72003261e+02] [ 7.28656803e-01 6.84197722e-01 -3.05408052e-02 2.73261485e+02] [ 4.12376096e-02 6.82192104e-04 9.99149135e-01 6.85940189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.01, Y:273.29, Z:68.58 [[ 6.83772579e-01 -7.29679826e-01 -4.73421190e-03 4.72012719e+02] [ 7.28951583e-01 6.83354226e-01 -4.07012498e-02 2.73287960e+02] [ 3.29340245e-02 2.43793873e-02 9.99160145e-01 6.85800522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:472.05, Y:273.29, Z:68.61 [[ 6.86736979e-01 -7.25551937e-01 -4.43475838e-02 4.72053165e+02] [ 7.25777667e-01 6.87791705e-01 -1.37604228e-02 2.73291104e+02] [ 4.04858017e-02 -2.27366947e-02 9.98921390e-01 6.86059664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.3792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:472.07, Y:273.32, Z:68.60 [[ 6.88797380e-01 -7.24575277e-01 -2.34272696e-02 4.72065803e+02] [ 7.23793072e-01 6.89163296e-01 -3.43153094e-02 2.73317656e+02] [ 4.10092391e-02 6.67979977e-03 9.99136438e-01 6.85955131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:472.08, Y:273.34, Z:68.59 [[ 6.87961119e-01 -7.25658465e-01 -1.13706217e-02 4.72081274e+02] [ 7.24852150e-01 6.87806031e-01 -3.88873261e-02 2.73342467e+02] [ 3.60396995e-02 1.85109488e-02 9.99178905e-01 6.85863731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4392541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:472.12, Y:273.35, Z:68.61 [[ 6.91212606e-01 -7.21185186e-01 -4.60115345e-02 4.72121721e+02] [ 7.21480575e-01 6.92315458e-01 -1.28485888e-02 2.73345251e+02] [ 4.11207085e-02 -2.43153218e-02 9.98858275e-01 6.86129749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4692541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:472.13, Y:273.37, Z:68.60 [[ 6.91837936e-01 -7.21553547e-01 -2.68467600e-02 4.72133517e+02] [ 7.20946857e-01 6.92357718e-01 -2.96043789e-02 2.73372752e+02] [ 3.99487061e-02 1.12634519e-03 9.99201097e-01 6.86035595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.4992541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:472.15, Y:273.39, Z:68.60 [[ 6.93079961e-01 -7.20366721e-01 -2.66824864e-02 4.72154461e+02] [ 7.19765954e-01 6.93592353e-01 -2.94384024e-02 2.73389886e+02] [ 3.97132139e-02 1.19802152e-03 9.99210401e-01 6.86040290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5292541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:472.16, Y:273.42, Z:68.59 [[ 6.92612164e-01 -7.21306188e-01 -2.40291985e-03 4.72163078e+02] [ 7.20527636e-01 6.92012041e-01 -4.42635389e-02 2.73419385e+02] [ 3.35904140e-02 2.89260953e-02 9.99016999e-01 6.85856597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:472.20, Y:273.42, Z:68.62 [[ 6.94586137e-01 -7.17882273e-01 -4.68523190e-02 4.72204245e+02] [ 7.18284519e-01 6.95668432e-01 -1.06198826e-02 2.73419718e+02] [ 4.02175047e-02 -2.62768722e-02 9.98845373e-01 6.86165489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.5892541539998 meters Centerline goodness : 0.999477 Centerline is valid? [True, True] Translation: X:472.21, Y:273.45, Z:68.60 [[ 6.96372029e-01 -7.17301934e-01 -2.33223574e-02 4.72213664e+02] [ 7.16452305e-01 6.96713408e-01 -3.58681203e-02 2.73447275e+02] [ 4.19772711e-02 8.26819899e-03 9.99084354e-01 6.86038768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6192541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:472.24, Y:273.46, Z:68.61 [[ 6.96435650e-01 -7.16839267e-01 -3.34492229e-02 4.72240824e+02] [ 7.16365079e-01 6.97217403e-01 -2.66264126e-02 2.73461644e+02] [ 4.24082384e-02 -5.41827229e-03 9.99085674e-01 6.86080016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6492541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:472.26, Y:273.48, Z:68.61 [[ 6.96267622e-01 -7.17219251e-01 -2.84243513e-02 4.72259221e+02] [ 7.16531241e-01 6.96845904e-01 -3.14446574e-02 2.73483632e+02] [ 4.23601064e-02 1.52696116e-03 9.99101241e-01 6.86059833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.6792541539999 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:472.27, Y:273.51, Z:68.59 [[ 6.94095530e-01 -7.19878864e-01 -2.41180438e-03 4.72269578e+02] [ 7.19092089e-01 6.93486146e-01 -4.45368689e-02 2.73511602e+02] [ 3.37337035e-02 2.91785322e-02 9.99004830e-01 6.85883993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7092541539998 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:472.31, Y:273.51, Z:68.62 [[ 6.93110116e-01 -7.19209695e-01 -4.83299319e-02 4.72311158e+02] [ 7.19591462e-01 6.94292014e-01 -1.21131181e-02 2.73511631e+02] [ 4.22669577e-02 -2.63820817e-02 9.98757974e-01 6.86196528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7392541539999 meters Centerline goodness : 0.998255 Centerline is valid? [True, True] Translation: X:472.32, Y:273.54, Z:68.61 [[ 6.89235117e-01 -7.24020306e-01 -2.73779129e-02 4.72323952e+02] [ 7.23385893e-01 6.89777789e-01 -3.03224606e-02 2.73537898e+02] [ 4.08387534e-02 1.09450871e-03 9.99165151e-01 6.86097176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7692541539999 meters Centerline goodness : 0.997772 Centerline is valid? [True, True] Translation: X:472.32, Y:273.57, Z:68.58 [[ 6.83195018e-01 -7.30157844e-01 1.06813302e-02 4.72322799e+02] [ 7.29630879e-01 6.81960538e-01 -5.06814096e-02 2.73572402e+02] [ 2.97211831e-02 4.24187148e-02 9.98657751e-01 6.85799018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.7992541539999 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:472.38, Y:273.56, Z:68.63 [[ 6.83785915e-01 -7.27353726e-01 -5.82527283e-02 4.72377951e+02] [ 7.28456633e-01 6.85084143e-01 -3.26367734e-03 2.73564087e+02] [ 4.22818683e-02 -4.02029297e-02 9.98296533e-01 6.86271178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8292541539998 meters Centerline goodness : 0.996251 Centerline is valid? [True, True] Translation: X:472.37, Y:273.61, Z:68.59 [[ 6.81401163e-01 -7.31909330e-01 -1.08987713e-03 4.72373564e+02] [ 7.31100992e-01 6.80717099e-01 -4.59953240e-02 2.73609721e+02] [ 3.44063048e-02 3.05444571e-02 9.98941061e-01 6.85930790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8592541539999 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:472.41, Y:273.61, Z:68.63 [[ 6.82122972e-01 -7.29615665e-01 -4.86747608e-02 4.72411900e+02] [ 7.30133037e-01 6.83239228e-01 -9.48185685e-03 2.73610212e+02] [ 4.01746173e-02 -2.90712585e-02 9.98769674e-01 6.86257109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.8892541539999 meters Centerline goodness : 0.998158 Centerline is valid? [True, True] Translation: X:472.42, Y:273.64, Z:68.61 [[ 6.83884901e-01 -7.29122511e-01 -2.61114083e-02 4.72418215e+02] [ 7.28546521e-01 6.84382732e-01 -2.89869437e-02 2.73642811e+02] [ 3.90052302e-02 8.00357461e-04 9.99238686e-01 6.86141751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9192541539999 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:472.43, Y:273.67, Z:68.61 [[ 6.86059493e-01 -7.27080386e-01 -2.60093002e-02 4.72434240e+02] [ 7.26506789e-01 6.86551715e-01 -2.88899282e-02 2.73666401e+02] [ 3.88620299e-02 9.24276338e-04 9.99244159e-01 6.86145529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9492541539998 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:472.45, Y:273.69, Z:68.62 [[ 6.85866947e-01 -7.27262309e-01 -2.60012748e-02 4.72453291e+02] [ 7.26688568e-01 6.86359002e-01 -2.88971500e-02 2.73687701e+02] [ 3.88620170e-02 9.24770911e-04 9.99244159e-01 6.86153530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 837.9792541539999 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:472.46, Y:273.72, Z:68.59 [[ 6.85859234e-01 -7.27725271e-01 3.61130075e-03 4.72455149e+02] [ 7.27116511e-01 6.85064201e-01 -4.45939403e-02 2.73722025e+02] [ 2.99781644e-02 3.32110021e-02 9.98998668e-01 6.85910574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0092541539999 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:472.50, Y:273.72, Z:68.63 [[ 6.90611014e-01 -7.21480480e-01 -5.02229549e-02 4.72500504e+02] [ 7.22104404e-01 6.91741652e-01 -7.66271543e-03 2.73720945e+02] [ 4.02698093e-02 -3.09742612e-02 9.98708635e-01 6.86300925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0392541539999 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:472.51, Y:273.75, Z:68.62 [[ 6.90611044e-01 -7.22727785e-01 -2.68502425e-02 4.72506830e+02] [ 7.22111190e-01 6.91131685e-01 -2.98734483e-02 2.73751911e+02] [ 4.01474245e-02 1.24207271e-03 9.99192995e-01 6.86160363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0692541539999 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:472.51, Y:273.78, Z:68.60 [[ 6.89334116e-01 -7.24440228e-01 -2.19847220e-03 4.72511456e+02] [ 7.23732484e-01 6.88788752e-01 -4.22059979e-02 2.73783386e+02] [ 3.20900056e-02 2.75029285e-02 9.99106511e-01 6.85969535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.0992541539999 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:472.55, Y:273.79, Z:68.63 [[ 6.91838378e-01 -7.20531053e-01 -4.68471909e-02 4.72551231e+02] [ 7.20847709e-01 6.92975141e-01 -1.28075681e-02 2.73787698e+02] [ 4.16921893e-02 -2.49089231e-02 9.98819957e-01 6.86266597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1292541539999 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:472.56, Y:273.82, Z:68.62 [[ 6.92678872e-01 -7.20739401e-01 -2.70314094e-02 4.72560728e+02] [ 7.20111944e-01 6.93204733e-01 -3.00996046e-02 2.73817283e+02] [ 4.04322719e-02 1.38371936e-03 9.99181323e-01 6.86185197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1592541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:472.58, Y:273.84, Z:68.62 [[ 6.92320997e-01 -7.21071665e-01 -2.73366258e-02 4.72578541e+02] [ 7.20429618e-01 6.92859093e-01 -3.04539609e-02 2.73837004e+02] [ 4.08999180e-02 1.38980174e-03 9.99162282e-01 6.86199864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.1892541539999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:472.60, Y:273.86, Z:68.62 [[ 6.90455804e-01 -7.22878185e-01 -2.67938930e-02 4.72597719e+02] [ 7.22262285e-01 6.90974333e-01 -2.98607153e-02 2.73857581e+02] [ 4.00995520e-02 1.26528581e-03 9.99194888e-01 6.86209752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2192541539998 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:472.62, Y:273.88, Z:68.62 [[ 6.89365708e-01 -7.23955210e-01 -2.57638179e-02 4.72615699e+02] [ 7.23385964e-01 6.89845993e-01 -2.87272174e-02 2.73877423e+02] [ 3.85702853e-02 1.16637435e-03 9.99255209e-01 6.86225190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2492541539999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:472.64, Y:273.90, Z:68.62 [[ 6.85790333e-01 -7.27379089e-01 -2.47240843e-02 4.72635117e+02] [ 7.26856703e-01 6.86235217e-01 -2.75782606e-02 2.73898249e+02] [ 3.70263875e-02 9.42038084e-04 9.99313844e-01 6.86240765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.2792541539999 meters Centerline goodness : 0.999540 Centerline is valid? [True, True] Translation: X:472.65, Y:273.92, Z:68.62 [[ 6.83156434e-01 -7.29864391e-01 -2.43978841e-02 4.72653530e+02] [ 7.29356756e-01 6.83591486e-01 -2.72287260e-02 2.73918450e+02] [ 3.65514634e-02 8.06717749e-04 9.99331446e-01 6.86237045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3092541539999 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:472.67, Y:273.94, Z:68.62 [[ 6.81024831e-01 -7.31861971e-01 -2.41502465e-02 4.72671806e+02] [ 7.31365527e-01 6.81452542e-01 -2.69610674e-02 2.73938602e+02] [ 3.61890268e-02 6.98498613e-04 9.99344719e-01 6.86241311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3392541539998 meters Centerline goodness : 0.999584 Centerline is valid? [True, True] Translation: X:472.68, Y:273.97, Z:68.61 [[ 6.75750665e-01 -7.37117269e-01 -4.37839544e-03 4.72680723e+02] [ 7.36530549e-01 6.75428520e-01 -3.63189352e-02 2.73966150e+02] [ 2.97286075e-02 2.13177226e-02 9.99330658e-01 6.86105761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3692541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:472.72, Y:273.97, Z:68.63 [[ 6.73596693e-01 -7.38046603e-01 -3.94297844e-02 4.72717421e+02] [ 7.38218738e-01 6.74439346e-01 -1.28321099e-02 2.73972384e+02] [ 3.60636931e-02 -2.04641390e-02 9.99139945e-01 6.86349110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.3992541539999 meters Centerline goodness : 0.999539 Centerline is valid? [True, True] Translation: X:472.73, Y:274.00, Z:68.63 [[ 6.72175573e-01 -7.40012408e-01 -2.36988364e-02 4.72729163e+02] [ 7.39538313e-01 6.72593160e-01 -2.64863030e-02 2.74000372e+02] [ 3.55398681e-02 2.77248410e-04 9.99368221e-01 6.86277869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4292541539999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:472.75, Y:274.02, Z:68.63 [[ 6.70961322e-01 -7.41105417e-01 -2.39513136e-02 4.72747702e+02] [ 7.40621303e-01 6.71388641e-01 -2.67839208e-02 2.74021142e+02] [ 3.59303487e-02 2.32121769e-04 9.99354270e-01 6.86302730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4592541539998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:472.77, Y:274.04, Z:68.63 [[ 6.67455503e-01 -7.44252902e-01 -2.43057642e-02 4.72765882e+02] [ 7.43755905e-01 6.67897906e-01 -2.71945006e-02 2.74041452e+02] [ 3.64733550e-02 7.35634653e-05 9.99334623e-01 6.86284633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.4892541539999 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:472.78, Y:274.06, Z:68.63 [[ 6.66600875e-01 -7.45026824e-01 -2.40479824e-02 4.72784806e+02] [ 7.44540467e-01 6.67034505e-01 -2.69158398e-02 2.74061862e+02] [ 3.60938567e-02 3.74263171e-05 9.99348404e-01 6.86312967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:472.80, Y:274.08, Z:68.63 [[ 6.63766849e-01 -7.47526383e-01 -2.48571306e-02 4.72803284e+02] [ 7.47007943e-01 6.64232111e-01 -2.78358550e-02 2.74081537e+02] [ 3.73189404e-02 -9.19562468e-05 9.99303402e-01 6.86300603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5492541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:472.82, Y:274.10, Z:68.63 [[ 6.62761646e-01 -7.48408267e-01 -2.51409316e-02 4.72822281e+02] [ 7.47878156e-01 6.63238304e-01 -2.81640984e-02 2.74102425e+02] [ 3.77526729e-02 -1.36269285e-04 9.99287104e-01 6.86313247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.5792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:472.84, Y:274.12, Z:68.63 [[ 6.61943277e-01 -7.49121700e-01 -2.54514540e-02 4.72840542e+02] [ 7.48578344e-01 6.62432374e-01 -2.85274176e-02 2.74122733e+02] [ 3.82303747e-02 -1.68874999e-04 9.99268938e-01 6.86333490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6092541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:472.86, Y:274.14, Z:68.63 [[ 6.59851215e-01 -7.50953206e-01 -2.58003211e-02 4.72858117e+02] [ 7.50395681e-01 6.60355366e-01 -2.89328853e-02 2.74142849e+02] [ 3.87646235e-02 -2.69050029e-04 9.99248333e-01 6.86313574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6392541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:472.88, Y:274.16, Z:68.63 [[ 6.58980712e-01 -7.51721320e-01 -2.56803104e-02 4.72876555e+02] [ 7.51168986e-01 6.59480830e-01 -2.88130167e-02 2.74163728e+02] [ 3.85950313e-02 -3.03030442e-04 9.99254888e-01 6.86316333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:472.89, Y:274.18, Z:68.63 [[ 6.59058015e-01 -7.51691535e-01 -2.45431860e-02 4.72894876e+02] [ 7.51186520e-01 6.59514790e-01 -2.75509530e-02 2.74183636e+02] [ 3.68964123e-02 -2.78834056e-04 9.99319057e-01 6.86347033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.6992541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:472.91, Y:274.20, Z:68.63 [[ 6.59012375e-01 -7.51741562e-01 -2.42345423e-02 4.72913705e+02] [ 7.51248839e-01 6.59457770e-01 -2.72145549e-02 2.74204690e+02] [ 3.64399692e-02 -2.71443335e-04 9.99335807e-01 6.86347095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:472.93, Y:274.23, Z:68.64 [[ 6.59527380e-01 -7.51289189e-01 -2.42526083e-02 4.72932317e+02] [ 7.50794856e-01 6.59973105e-01 -2.72504269e-02 2.74225742e+02] [ 3.64790203e-02 -2.36330893e-04 9.99334391e-01 6.86354929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:472.95, Y:274.25, Z:68.64 [[ 6.60345816e-01 -7.50560466e-01 -2.45436268e-02 4.72949594e+02] [ 7.50053155e-01 6.60801748e-01 -2.75919071e-02 2.74246054e+02] [ 3.69278662e-02 -1.88824359e-04 9.99317916e-01 6.86365850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.7892541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:472.97, Y:274.27, Z:68.64 [[ 6.62200511e-01 -7.48896268e-01 -2.53941535e-02 4.72966220e+02] [ 7.48351592e-01 6.62687235e-01 -2.85573718e-02 2.74267413e+02] [ 3.82148905e-02 -9.30489638e-05 9.99269540e-01 6.86355091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:472.97, Y:274.30, Z:68.62 [[ 6.63053191e-01 -7.48556959e-01 -4.79023038e-03 4.72972324e+02] [ 7.47808953e-01 6.62652415e-01 -4.09090091e-02 2.74298195e+02] [ 3.37969811e-02 2.35426718e-02 9.99151393e-01 6.86191342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:473.00, Y:274.31, Z:68.63 [[ 6.64591244e-01 -7.46800191e-01 -2.46567203e-02 4.73000055e+02] [ 7.46365587e-01 6.65046905e-01 -2.55151981e-02 2.74311504e+02] [ 3.54526303e-02 -1.44575024e-03 9.99370312e-01 6.86306274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.8792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:473.02, Y:274.33, Z:68.63 [[ 6.65682301e-01 -7.45934988e-01 -2.11676153e-02 4.73017036e+02] [ 7.45361185e-01 6.66007551e-01 -2.95067140e-02 2.74334822e+02] [ 3.61078820e-02 3.86457841e-03 9.99340425e-01 6.86267199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9092541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:473.03, Y:274.36, Z:68.63 [[ 6.66788915e-01 -7.45048994e-01 -1.71621220e-02 4.73033037e+02] [ 7.44470106e-01 6.66968489e-01 -3.02868850e-02 2.74356843e+02] [ 3.40118078e-02 7.41827239e-03 9.99393899e-01 6.86252248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9392541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:473.07, Y:274.36, Z:68.65 [[ 6.70394079e-01 -7.40305757e-01 -5.01912791e-02 4.73067202e+02] [ 7.40846599e-01 6.71592850e-01 -1.04575889e-02 2.74364317e+02] [ 4.14499174e-02 -3.01733327e-02 9.98684872e-01 6.86503792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9692541539998 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:473.08, Y:274.39, Z:68.64 [[ 6.71841769e-01 -7.40230461e-01 -2.62202512e-02 4.73075542e+02] [ 7.39639965e-01 6.72353065e-01 -2.95647990e-02 2.74394884e+02] [ 3.95140310e-02 4.69321200e-04 9.99218906e-01 6.86392250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 838.9992541539999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:473.09, Y:274.42, Z:68.64 [[ 6.71642788e-01 -7.40411305e-01 -2.62119133e-02 4.73094439e+02] [ 7.39820659e-01 6.72153910e-01 -2.95721900e-02 2.74416322e+02] [ 3.95140238e-02 4.69833226e-04 9.99218906e-01 6.86400312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:473.11, Y:274.44, Z:68.64 [[ 6.72345211e-01 -7.39811221e-01 -2.51251607e-02 4.73112379e+02] [ 7.39267631e-01 6.72814323e-01 -2.83594217e-02 2.74435863e+02] [ 3.78851864e-02 4.93103369e-04 9.99281977e-01 6.86435113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0592541539999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:473.13, Y:274.46, Z:68.64 [[ 6.72333623e-01 -7.39851046e-01 -2.42472392e-02 4.73131361e+02] [ 7.39344449e-01 6.72770539e-01 -2.73785905e-02 2.74456941e+02] [ 3.65689071e-02 4.80485251e-04 9.99331018e-01 6.86428850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.15, Y:274.48, Z:68.65 [[ 6.73861309e-01 -7.38504850e-01 -2.28368938e-02 4.73150159e+02] [ 7.38054269e-01 6.74247956e-01 -2.57990349e-02 2.74475908e+02] [ 3.44504414e-02 5.30104511e-04 9.99406267e-01 6.86484660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:473.17, Y:274.50, Z:68.65 [[ 6.73633027e-01 -7.38720375e-01 -2.25998385e-02 4.73168700e+02] [ 7.38278913e-01 6.74011823e-01 -2.55403404e-02 2.74497285e+02] [ 3.40997282e-02 5.19832602e-04 9.99418300e-01 6.86466359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1492541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:473.19, Y:274.52, Z:68.65 [[ 6.74717764e-01 -7.37718654e-01 -2.29592113e-02 4.73186015e+02] [ 7.37261982e-01 6.75108021e-01 -2.59601503e-02 2.74517876e+02] [ 3.46512349e-02 5.88820892e-04 9.99399292e-01 6.86460302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.1792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:473.19, Y:274.55, Z:68.62 [[ 6.72843459e-01 -7.39743523e-01 7.82297121e-03 4.73187649e+02] [ 7.39344341e-01 6.72040291e-01 -4.16148193e-02 2.74551858e+02] [ 2.55269412e-02 3.37841285e-02 9.99103102e-01 6.86242697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2092541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:473.23, Y:274.55, Z:68.66 [[ 6.77045026e-01 -7.34346580e-01 -4.84265826e-02 4.73233806e+02] [ 7.35027214e-01 6.78017435e-01 -5.22988869e-03 2.74551216e+02] [ 3.66746182e-02 -3.20539860e-02 9.98813053e-01 6.86601942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:473.24, Y:274.58, Z:68.65 [[ 6.77996589e-01 -7.34666639e-01 -2.41982372e-02 4.73241215e+02] [ 7.34156069e-01 6.78427796e-01 -2.73969345e-02 2.74582977e+02] [ 3.65443705e-02 8.09745418e-04 9.99331703e-01 6.86489996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:473.26, Y:274.60, Z:68.65 [[ 6.79704723e-01 -7.33055620e-01 -2.51186640e-02 4.73259116e+02] [ 7.32503737e-01 6.80168046e-01 -2.84552943e-02 2.74604309e+02] [ 3.79442260e-02 9.41682627e-04 9.99279415e-01 6.86510682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.2992541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:473.28, Y:274.63, Z:68.65 [[ 6.79704338e-01 -7.33026257e-01 -2.59715144e-02 4.73276958e+02] [ 7.32435539e-01 6.80199626e-01 -2.94389180e-02 2.74625490e+02] [ 3.92453143e-02 9.87300087e-04 9.99229118e-01 6.86491952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:473.28, Y:274.66, Z:68.63 [[ 6.77335815e-01 -7.35671760e-01 1.80400535e-03 4.73279148e+02] [ 7.35015916e-01 6.76624213e-01 -4.39463029e-02 2.74657824e+02] [ 3.11094203e-02 3.10923775e-02 9.99032266e-01 6.86279960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.32, Y:274.66, Z:68.67 [[ 6.80401393e-01 -7.31231542e-01 -4.85219177e-02 4.73324458e+02] [ 7.31738940e-01 6.81516193e-01 -9.68515744e-03 2.74658354e+02] [ 4.01505653e-02 -2.89155820e-02 9.98775161e-01 6.86661003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.3892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:473.33, Y:274.69, Z:68.65 [[ 6.78900306e-01 -7.33776727e-01 -2.58087182e-02 4.73333179e+02] [ 7.33192353e-01 6.79390008e-01 -2.92948994e-02 2.74688961e+02] [ 3.90301007e-02 9.65561377e-04 9.99237569e-01 6.86536271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:473.35, Y:274.71, Z:68.65 [[ 6.77729982e-01 -7.34876153e-01 -2.52806462e-02 4.73352156e+02] [ 7.34315587e-01 6.78200736e-01 -2.87120360e-02 2.74709792e+02] [ 3.82451434e-02 8.95035129e-04 9.99267986e-01 6.86538899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:473.37, Y:274.73, Z:68.66 [[ 6.76637372e-01 -7.35899050e-01 -2.47882120e-02 4.73371182e+02] [ 7.35360194e-01 6.77090760e-01 -2.81689166e-02 2.74730461e+02] [ 3.75133483e-02 8.31877271e-04 9.99295780e-01 6.86556193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.4792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:473.39, Y:274.75, Z:68.66 [[ 6.74575634e-01 -7.37813811e-01 -2.40519102e-02 4.73390153e+02] [ 7.37307208e-01 6.75003905e-01 -2.73461086e-02 2.74749742e+02] [ 3.64114699e-02 7.13371788e-04 9.99336628e-01 6.86582654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:473.41, Y:274.77, Z:68.66 [[ 6.72812444e-01 -7.39418143e-01 -2.41707636e-02 4.73408705e+02] [ 7.38907167e-01 6.73246170e-01 -2.74917045e-02 2.74770362e+02] [ 3.66007391e-02 6.36810447e-04 9.99329766e-01 6.86566818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:473.43, Y:274.79, Z:68.66 [[ 6.71308682e-01 -7.40800358e-01 -2.36533904e-02 4.73428364e+02] [ 7.40311331e-01 6.71725030e-01 -2.69187277e-02 2.74790552e+02] [ 3.58299775e-02 5.59902705e-04 9.99357743e-01 6.86599877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5692541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:473.45, Y:274.81, Z:68.66 [[ 6.70273314e-01 -7.41726737e-01 -2.39819339e-02 4.73446151e+02] [ 7.41224085e-01 6.70701998e-01 -2.73072614e-02 2.74811108e+02] [ 3.63392569e-02 5.27341595e-04 9.99339372e-01 6.86585739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.5992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.47, Y:274.83, Z:68.66 [[ 6.70225029e-01 -7.41760477e-01 -2.42858976e-02 4.73465277e+02] [ 7.41244623e-01 6.70664673e-01 -2.76641639e-02 2.74832032e+02] [ 3.68078770e-02 5.39424062e-04 9.99322215e-01 6.86631745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:473.48, Y:274.85, Z:68.66 [[ 6.69390768e-01 -7.42502893e-01 -2.46059457e-02 4.73482634e+02] [ 7.41973285e-01 6.69842659e-01 -2.80438428e-02 2.74853574e+02] [ 3.73047465e-02 5.15335126e-04 9.99303803e-01 6.86601745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.50, Y:274.87, Z:68.66 [[ 6.70568296e-01 -7.41412874e-01 -2.53990158e-02 4.73500136e+02] [ 7.40847385e-01 6.71048872e-01 -2.89579822e-02 2.74873651e+02] [ 3.85138017e-02 6.01510387e-04 9.99257887e-01 6.86638035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.52, Y:274.90, Z:68.66 [[ 6.70536407e-01 -7.41431238e-01 -2.57030171e-02 4.73518389e+02] [ 7.40851626e-01 6.71028568e-01 -2.93177484e-02 2.74895047e+02] [ 3.89845533e-02 6.16495667e-04 9.99239623e-01 6.86640585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7192541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:473.54, Y:274.92, Z:68.66 [[ 6.69886905e-01 -7.41997035e-01 -2.63046470e-02 4.73535755e+02] [ 7.41389775e-01 6.70402887e-01 -3.00195150e-02 2.74916127e+02] [ 3.99091024e-02 6.07683721e-04 9.99203130e-01 6.86616517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:473.55, Y:274.94, Z:68.66 [[ 6.69488544e-01 -7.42358864e-01 -2.62375142e-02 4.73553864e+02] [ 7.41754507e-01 6.70002214e-01 -2.99547148e-02 2.74937145e+02] [ 3.98163406e-02 5.92544002e-04 9.99206839e-01 6.86625783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.7792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:473.57, Y:274.96, Z:68.66 [[ 6.68994686e-01 -7.42821224e-01 -2.57437090e-02 4.73572829e+02] [ 7.42239093e-01 6.69489588e-01 -2.94078283e-02 2.74958451e+02] [ 3.90799042e-02 5.65693675e-04 9.99235929e-01 6.86639472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.59, Y:274.98, Z:68.67 [[ 6.68099921e-01 -7.43652418e-01 -2.49715149e-02 4.73591139e+02] [ 7.43104730e-01 6.68566242e-01 -2.85401663e-02 2.74977683e+02] [ 3.79190755e-02 5.11232016e-04 9.99280683e-01 6.86671086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.61, Y:275.00, Z:68.67 [[ 6.66741184e-01 -7.44882598e-01 -2.46192842e-02 4.73609964e+02] [ 7.44350693e-01 6.67195413e-01 -2.81482896e-02 2.74998984e+02] [ 3.73930446e-02 4.42242692e-04 9.99300538e-01 6.86683428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.63, Y:275.02, Z:68.67 [[ 6.65622576e-01 -7.45895310e-01 -2.42233828e-02 4.73628672e+02] [ 7.45380473e-01 6.66063086e-01 -2.77113034e-02 2.75020101e+02] [ 3.68040324e-02 3.89632649e-04 9.99322426e-01 6.86691108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.8992541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:473.65, Y:275.04, Z:68.67 [[ 6.63416239e-01 -7.47863021e-01 -2.40789385e-02 4.73647021e+02] [ 7.47355080e-01 6.63853009e-01 -2.75602214e-02 2.75040622e+02] [ 3.65961463e-02 2.88381388e-04 9.99330095e-01 6.86674161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.67, Y:275.06, Z:68.67 [[ 6.63309618e-01 -7.47972439e-01 -2.36131676e-02 4.73666200e+02] [ 7.47483681e-01 6.63729727e-01 -2.70369553e-02 2.75061049e+02] [ 3.58956586e-02 2.83415069e-04 9.99355503e-01 6.86712175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:473.68, Y:275.08, Z:68.67 [[ 6.62898944e-01 -7.48324616e-01 -2.39845553e-02 4.73684263e+02] [ 7.47820012e-01 6.63332640e-01 -2.74779512e-02 2.75082061e+02] [ 3.64721657e-02 2.78974380e-04 9.99334630e-01 6.86702314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 839.9892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:473.70, Y:275.10, Z:68.67 [[ 6.63139848e-01 -7.48103324e-01 -2.42272504e-02 4.73702242e+02] [ 7.47587715e-01 6.63582191e-01 -2.77719929e-02 2.75103111e+02] [ 3.68530920e-02 3.04720369e-04 9.99320648e-01 6.86701187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:473.72, Y:275.12, Z:68.67 [[ 6.64753937e-01 -7.46649938e-01 -2.48208250e-02 4.73719815e+02] [ 7.46107101e-01 6.65217036e-01 -2.84690895e-02 2.75124469e+02] [ 3.77676795e-02 4.05945564e-04 9.99286464e-01 6.86699039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0492541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:473.74, Y:275.15, Z:68.67 [[ 6.65627704e-01 -7.45862851e-01 -2.50672511e-02 4.73737761e+02] [ 7.45307983e-01 6.66099384e-01 -2.87683873e-02 2.75145732e+02] [ 3.81545519e-02 4.66213244e-04 9.99271741e-01 6.86702398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.76, Y:275.17, Z:68.67 [[ 6.67294054e-01 -7.44383659e-01 -2.47308293e-02 4.73756002e+02] [ 7.43842027e-01 6.67751947e-01 -2.83967775e-02 2.75166241e+02] [ 3.76521565e-02 5.53170618e-04 9.99290753e-01 6.86736704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:473.77, Y:275.19, Z:68.67 [[ 6.69435518e-01 -7.42453639e-01 -2.48732879e-02 4.73772929e+02] [ 7.41904065e-01 6.69897113e-01 -2.85694996e-02 2.75187177e+02] [ 3.78740727e-02 6.71844355e-04 9.99282294e-01 6.86730959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:473.79, Y:275.21, Z:68.67 [[ 6.70331652e-01 -7.41639133e-01 -2.50374334e-02 4.73790747e+02] [ 7.41081290e-01 6.70798676e-01 -2.87690580e-02 2.75208412e+02] [ 3.81313364e-02 7.30036702e-04 9.99272470e-01 6.86730995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.81, Y:275.23, Z:68.68 [[ 6.72368065e-01 -7.39813596e-01 -2.44341719e-02 4.73809128e+02] [ 7.39280527e-01 6.72811389e-01 -2.80916057e-02 2.75229957e+02] [ 3.72221409e-02 8.24191094e-04 9.99306676e-01 6.86756332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.1992541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:473.83, Y:275.25, Z:68.67 [[ 6.73435456e-01 -7.38825259e-01 -2.49383851e-02 4.73825737e+02] [ 7.38268717e-01 6.73896441e-01 -2.86860237e-02 2.75251392e+02] [ 3.79998478e-02 9.06955889e-04 9.99277333e-01 6.86732276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2292541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:473.84, Y:275.27, Z:68.67 [[ 6.73945318e-01 -7.38364518e-01 -2.48102321e-02 4.73843985e+02] [ 7.37812963e-01 6.74401189e-01 -2.85493896e-02 2.75273137e+02] [ 3.78119063e-02 9.35416566e-04 9.99284436e-01 6.86738529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2592541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:473.86, Y:275.29, Z:68.67 [[ 6.74421816e-01 -7.37937765e-01 -2.45574657e-02 4.73861451e+02] [ 7.37396575e-01 6.74868086e-01 -2.82729139e-02 2.75293842e+02] [ 3.74367008e-02 9.59278824e-04 9.99298541e-01 6.86745819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.2892541539999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:473.88, Y:275.31, Z:68.67 [[ 6.74602707e-01 -7.37771082e-01 -2.45971007e-02 4.73879395e+02] [ 7.37227629e-01 6.75050276e-01 -2.83292846e-02 2.75314990e+02] [ 3.75048066e-02 9.77349819e-04 9.99295969e-01 6.86748271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3192541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:473.90, Y:275.34, Z:68.68 [[ 6.75403400e-01 -7.37039338e-01 -2.45613845e-02 4.73898017e+02] [ 7.36496375e-01 6.75849065e-01 -2.83042662e-02 2.75336205e+02] [ 3.74611464e-02 1.02742697e-03 9.99297557e-01 6.86758933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:473.91, Y:275.36, Z:68.67 [[ 6.74214979e-01 -7.38396723e-01 -1.42982844e-02 4.73909010e+02] [ 7.37760381e-01 6.74268025e-01 -3.27452257e-02 2.75360998e+02] [ 3.38198433e-02 1.15286139e-02 9.99361451e-01 6.86687637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.3792541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:473.94, Y:275.38, Z:68.68 [[ 6.75398979e-01 -7.36634896e-01 -3.47167121e-02 4.73937536e+02] [ 7.36369202e-01 6.76209860e-01 -2.23746059e-02 2.75375057e+02] [ 3.99576985e-02 -1.04525316e-02 9.99146699e-01 6.86810348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:473.95, Y:275.40, Z:68.68 [[ 6.76579345e-01 -7.35969625e-01 -2.42714029e-02 4.73953178e+02] [ 7.35360335e-01 6.77010021e-01 -3.00434752e-02 2.75400507e+02] [ 3.85430681e-02 2.47856787e-03 9.99253866e-01 6.86799203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:473.97, Y:275.42, Z:68.68 [[ 6.76502832e-01 -7.35989870e-01 -2.57454811e-02 4.73970837e+02] [ 7.35391001e-01 6.76991548e-01 -2.97072450e-02 2.75420853e+02] [ 3.92937045e-02 1.16404027e-03 9.99227026e-01 6.86801375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:473.99, Y:275.44, Z:68.68 [[ 6.76460171e-01 -7.36049039e-01 -2.51684297e-02 4.73988157e+02] [ 7.35476417e-01 6.76927257e-01 -2.90504484e-02 2.75441220e+02] [ 3.84197507e-02 1.14068472e-03 9.99261038e-01 6.86817019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.4992541539999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:474.01, Y:275.46, Z:68.68 [[ 6.75134528e-01 -7.37247734e-01 -2.56738915e-02 4.74006617e+02] [ 7.36652292e-01 6.75621614e-01 -2.96451623e-02 2.75462533e+02] [ 3.92016647e-02 1.10174170e-03 9.99230712e-01 6.86793568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5292541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:474.03, Y:275.48, Z:68.68 [[ 6.74345394e-01 -7.37994948e-01 -2.49348394e-02 4.74025038e+02] [ 7.37433229e-01 6.74805438e-01 -2.88071832e-02 2.75483772e+02] [ 3.80857209e-02 1.03821218e-03 9.99273936e-01 6.86809589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5592541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:474.04, Y:275.51, Z:68.68 [[ 6.73688849e-01 -7.38623356e-01 -2.40597642e-02 4.74043342e+02] [ 7.38100243e-01 6.74117633e-01 -2.78109580e-02 2.75505008e+02] [ 3.67609344e-02 9.77414445e-04 9.99323610e-01 6.86828286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.06, Y:275.53, Z:68.69 [[ 6.72605104e-01 -7.39637683e-01 -2.32050242e-02 4.74061520e+02] [ 7.39151181e-01 6.73004673e-01 -2.68373267e-02 2.75526692e+02] [ 3.54669879e-02 8.98901915e-04 9.99370444e-01 6.86857173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.07, Y:275.56, Z:68.67 [[ 6.70067447e-01 -7.42282257e-01 -5.16406357e-03 4.74069844e+02] [ 7.41693300e-01 6.69784648e-01 -3.57711308e-02 2.75555595e+02] [ 3.00110862e-02 2.01389190e-02 9.99346666e-01 6.86708382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:474.10, Y:275.56, Z:68.70 [[ 6.71013422e-01 -7.40465159e-01 -3.81095148e-02 4.74104996e+02] [ 7.40555712e-01 6.71839469e-01 -1.44556238e-02 2.75564821e+02] [ 3.63073619e-02 -1.85223013e-02 9.99169005e-01 6.86950953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.6792541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:474.12, Y:275.59, Z:68.69 [[ 6.70564495e-01 -7.41459362e-01 -2.41095837e-02 4.74115800e+02] [ 7.40934049e-01 6.70997227e-01 -2.79187477e-02 2.75592577e+02] [ 3.68780807e-02 8.57709544e-04 9.99319404e-01 6.86853872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7092541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:474.13, Y:275.62, Z:68.69 [[ 6.70615509e-01 -7.41410845e-01 -2.41825935e-02 4.74133188e+02] [ 7.40881714e-01 6.71050814e-01 -2.80194673e-02 2.75615207e+02] [ 3.70016860e-02 8.73847985e-04 9.99314821e-01 6.86866513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.14, Y:275.65, Z:68.67 [[ 6.69280589e-01 -7.43005403e-01 -2.54259018e-03 4.74141083e+02] [ 7.42427037e-01 6.68887281e-01 -3.73081658e-02 2.75645412e+02] [ 2.94208750e-02 2.30819435e-02 9.99300573e-01 6.86728926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7692541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:474.17, Y:275.65, Z:68.70 [[ 6.69497459e-01 -7.41680141e-01 -4.10331625e-02 4.74174580e+02] [ 7.41861273e-01 6.70414902e-01 -1.36275784e-02 2.75653309e+02] [ 3.76165479e-02 -2.13172850e-02 9.99064847e-01 6.86953415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.18, Y:275.69, Z:68.68 [[ 6.69290732e-01 -7.42959185e-01 -7.84633606e-03 4.74179872e+02] [ 7.42318620e-01 6.69091473e-01 -3.57724411e-02 2.75688474e+02] [ 3.18273803e-02 1.81176820e-02 9.99329159e-01 6.86784900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.21, Y:275.70, Z:68.70 [[ 6.69005290e-01 -7.42342778e-01 -3.68662689e-02 4.74209033e+02] [ 7.42350393e-01 6.69816212e-01 -1.61906230e-02 2.75698000e+02] [ 3.67126166e-02 -1.65360768e-02 9.99189042e-01 6.86990940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.22, Y:275.73, Z:68.69 [[ 6.67586990e-01 -7.44154835e-01 -2.36895196e-02 4.74219870e+02] [ 7.43646733e-01 6.68006756e-01 -2.75047215e-02 2.75726168e+02] [ 3.62925307e-02 7.45160359e-04 9.99340931e-01 6.86928945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.24, Y:275.75, Z:68.69 [[ 6.67389896e-01 -7.44331847e-01 -2.36818320e-02 4.74238444e+02] [ 7.43823622e-01 6.67809513e-01 -2.75113394e-02 2.75747879e+02] [ 3.62925188e-02 7.45683915e-04 9.99340931e-01 6.86937171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9192541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:474.26, Y:275.77, Z:68.69 [[ 6.65931504e-01 -7.45623236e-01 -2.41085666e-02 4.74255755e+02] [ 7.45096791e-01 6.66367394e-01 -2.80226443e-02 2.75770603e+02] [ 3.69594974e-02 6.97946102e-04 9.99316521e-01 6.86913961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:474.27, Y:275.79, Z:68.69 [[ 6.64152410e-01 -7.47223771e-01 -2.36265184e-02 4.74272725e+02] [ 7.46718607e-01 6.64572244e-01 -2.74782718e-02 2.75792677e+02] [ 3.62339462e-02 6.07399541e-04 9.99343150e-01 6.86939655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 840.9792541539999 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:474.29, Y:275.81, Z:68.69 [[ 6.62629678e-01 -7.48559208e-01 -2.41043971e-02 4.74289169e+02] [ 7.48033718e-01 6.63067722e-01 -2.80491372e-02 2.75814098e+02] [ 3.69792876e-02 5.55288964e-04 9.99315878e-01 6.86929773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:474.31, Y:275.84, Z:68.70 [[ 6.60156143e-01 -7.50768478e-01 -2.32499178e-02 4.74305815e+02] [ 7.50280625e-01 6.60565299e-01 -2.70641927e-02 2.75835207e+02] [ 3.56770317e-02 4.22630262e-04 9.99363283e-01 6.86960086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.32, Y:275.86, Z:68.70 [[ 6.58622554e-01 -7.52121841e-01 -2.30014682e-02 4.74323766e+02] [ 7.51644712e-01 6.59023983e-01 -2.67883716e-02 2.75856440e+02] [ 3.53066386e-02 3.54493747e-04 9.99376463e-01 6.86980853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:474.34, Y:275.88, Z:68.70 [[ 6.56966371e-01 -7.53567306e-01 -2.30543419e-02 4.74341729e+02] [ 7.53088312e-01 6.57370696e-01 -2.68656207e-02 2.75878621e+02] [ 3.54003022e-02 2.87853881e-04 9.99373171e-01 6.86991689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.0992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.36, Y:275.90, Z:68.70 [[ 6.54203526e-01 -7.55956182e-01 -2.34093647e-02 4.74357824e+02] [ 7.55463298e-01 6.54622198e-01 -2.72943829e-02 2.75900300e+02] [ 3.59576472e-02 1.71165635e-04 9.99353300e-01 6.86999379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:474.37, Y:275.92, Z:68.70 [[ 6.52725512e-01 -7.57220221e-01 -2.38105850e-02 4.74374844e+02] [ 7.56710684e-01 6.53159648e-01 -2.77743681e-02 2.75922103e+02] [ 3.65834265e-02 1.11314542e-04 9.99330596e-01 6.86997560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:474.39, Y:275.94, Z:68.70 [[ 6.50746950e-01 -7.58912696e-01 -2.40816804e-02 4.74391428e+02] [ 7.58392092e-01 6.51192382e-01 -2.81054516e-02 2.75943648e+02] [ 3.70113909e-02 2.61809743e-05 9.99314843e-01 6.87002712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.41, Y:275.97, Z:68.70 [[ 6.50052058e-01 -7.59520921e-01 -2.36704838e-02 4.74409102e+02] [ 7.59017981e-01 6.50482875e-01 -2.76357479e-02 2.75965080e+02] [ 3.63871730e-02 -1.64799670e-06 9.99337768e-01 6.87028951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2192541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:474.42, Y:275.99, Z:68.70 [[ 6.49103451e-01 -7.60325611e-01 -2.38678630e-02 4.74424948e+02] [ 7.59814248e-01 6.49542119e-01 -2.78808944e-02 2.75986805e+02] [ 3.67017403e-02 -3.75575990e-05 9.99326264e-01 6.87026684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2492541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:474.44, Y:276.01, Z:68.70 [[ 6.48870978e-01 -7.60526243e-01 -2.37967778e-02 4.74442310e+02] [ 7.60017678e-01 6.49307193e-01 -2.78082377e-02 2.76008928e+02] [ 3.66003136e-02 -4.20133767e-05 9.99329983e-01 6.87032623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.2792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:474.46, Y:276.03, Z:68.70 [[ 6.49870426e-01 -7.59682383e-01 -2.34756647e-02 4.74458053e+02] [ 7.59186389e-01 6.50294300e-01 -2.74472189e-02 2.76031145e+02] [ 3.61172596e-02 1.47307105e-05 9.99347559e-01 6.87044926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:474.47, Y:276.06, Z:68.70 [[ 6.48722496e-01 -7.60920726e-01 -1.26005235e-02 4.74467878e+02] [ 7.60333404e-01 6.48749814e-01 -3.18872053e-02 2.76057029e+02] [ 3.24382227e-02 1.11053485e-02 9.99412044e-01 6.86971593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3392541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:474.50, Y:276.07, Z:68.71 [[ 6.51248157e-01 -7.58146570e-01 -3.30093489e-02 4.74495422e+02] [ 7.57905119e-01 6.51995866e-01 -2.19367393e-02 2.76072084e+02] [ 3.81532227e-02 -1.07316935e-02 9.99214273e-01 6.87084707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:474.51, Y:276.10, Z:68.71 [[ 6.54203327e-01 -7.55901470e-01 -2.51191979e-02 4.74508302e+02] [ 7.55329404e-01 6.54685343e-01 -2.94039655e-02 2.76098735e+02] [ 3.86716714e-02 2.62903304e-04 9.99251937e-01 6.87071961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.3992541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:474.52, Y:276.12, Z:68.71 [[ 6.56863765e-01 -7.53539594e-01 -2.66096730e-02 4.74524495e+02] [ 7.52894878e-01 6.57402380e-01 -3.11675069e-02 2.76122377e+02] [ 4.09792128e-02 4.38519366e-04 9.99159903e-01 6.87069236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4292541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:474.54, Y:276.14, Z:68.71 [[ 6.58131033e-01 -7.52425985e-01 -2.68082126e-02 4.74540816e+02] [ 7.51770020e-01 6.58676600e-01 -3.14161202e-02 2.76144267e+02] [ 4.12962475e-02 5.22313058e-04 9.99146810e-01 6.87074143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.56, Y:276.17, Z:68.71 [[ 6.60465141e-01 -7.50384279e-01 -2.66313996e-02 4.74557474e+02] [ 7.49734765e-01 6.61001518e-01 -3.12214069e-02 2.76167484e+02] [ 4.10314484e-02 6.54164826e-04 9.99157641e-01 6.87100098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.58, Y:276.19, Z:68.71 [[ 6.61095109e-01 -7.49825596e-01 -2.67363577e-02 4.74575136e+02] [ 7.49169735e-01 6.61635156e-01 -3.13628575e-02 2.76189733e+02] [ 4.12063875e-02 7.03761711e-04 9.99150408e-01 6.87111978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.59, Y:276.21, Z:68.71 [[ 6.61823658e-01 -7.49183273e-01 -2.67183239e-02 4.74592194e+02] [ 7.48527112e-01 6.62362329e-01 -3.13577236e-02 2.76211054e+02] [ 4.11898932e-02 7.53893538e-04 9.99151052e-01 6.87123721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5492541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:474.61, Y:276.23, Z:68.71 [[ 6.62367124e-01 -7.48699981e-01 -2.67979865e-02 4.74608534e+02] [ 7.48038975e-01 6.62908521e-01 -3.14640336e-02 2.76233522e+02] [ 4.13217350e-02 7.94803060e-04 9.99145576e-01 6.87119523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.5792541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:474.63, Y:276.26, Z:68.71 [[ 6.62359416e-01 -7.48712552e-01 -2.66368041e-02 4.74626112e+02] [ 7.48058730e-01 6.62894315e-01 -3.12931900e-02 2.76255848e+02] [ 4.10869901e-02 8.01445209e-04 9.99155252e-01 6.87119894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6092541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:474.64, Y:276.28, Z:68.71 [[ 6.62279288e-01 -7.48778727e-01 -2.67687119e-02 4.74641929e+02] [ 7.48117767e-01 6.62819552e-01 -3.14650417e-02 2.76277509e+02] [ 4.13031795e-02 8.12496500e-04 9.99146329e-01 6.87118836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.66, Y:276.30, Z:68.72 [[ 6.62207892e-01 -7.48891765e-01 -2.53344165e-02 4.74659612e+02] [ 7.48299339e-01 6.62691882e-01 -2.97920935e-02 2.76298979e+02] [ 3.90999656e-02 7.70832349e-04 9.99235007e-01 6.87154120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.66, Y:276.33, Z:68.70 [[ 6.59312793e-01 -7.51857218e-01 -4.16710883e-03 4.74664519e+02] [ 7.51190218e-01 6.58943070e-01 -3.88238051e-02 2.76328401e+02] [ 3.19358456e-02 2.24667400e-02 9.99237383e-01 6.86989101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.6992541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:474.70, Y:276.34, Z:68.72 [[ 6.60888100e-01 -7.49314636e-01 -4.18867162e-02 4.74702546e+02] [ 7.49442477e-01 6.61881853e-01 -1.57602581e-02 2.76335709e+02] [ 3.95334495e-02 -2.09759173e-02 9.98998057e-01 6.87238137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7292541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:474.71, Y:276.36, Z:68.72 [[ 6.60401450e-01 -7.50471301e-01 -2.57439626e-02 4.74711856e+02] [ 7.49859579e-01 6.60902660e-01 -3.03032440e-02 2.76363267e+02] [ 3.97559683e-02 7.07949274e-04 9.99209168e-01 6.87153200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7592541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:474.73, Y:276.39, Z:68.72 [[ 6.60136258e-01 -7.50707432e-01 -2.56607039e-02 4.74729957e+02] [ 7.50099372e-01 6.60634439e-01 -3.02170580e-02 2.76385056e+02] [ 3.96365147e-02 6.99297739e-04 9.99213920e-01 6.87155429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.7892541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:474.75, Y:276.41, Z:68.72 [[ 6.59906576e-01 -7.50908953e-01 -2.56720719e-02 4.74747837e+02] [ 7.50299806e-01 6.60405372e-01 -3.02480922e-02 2.76406734e+02] [ 3.96675375e-02 6.99164414e-04 9.99212689e-01 6.87163620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:474.76, Y:276.43, Z:68.72 [[ 6.60253467e-01 -7.50606174e-01 -2.56072499e-02 4.74764929e+02] [ 7.49999249e-01 6.60749457e-01 -3.01874432e-02 2.76427716e+02] [ 3.95788577e-02 7.25945812e-04 9.99216186e-01 6.87173730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.78, Y:276.45, Z:68.72 [[ 6.60608539e-01 -7.50307370e-01 -2.52033642e-02 4.74782969e+02] [ 7.49718782e-01 6.61088726e-01 -2.97227957e-02 2.76449083e+02] [ 3.89628926e-02 7.39697093e-04 9.99240384e-01 6.87202123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.8792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:474.80, Y:276.47, Z:68.72 [[ 6.60871395e-01 -7.50064603e-01 -2.55360625e-02 4.74800081e+02] [ 7.49459554e-01 6.61364114e-01 -3.01311590e-02 2.76469941e+02] [ 3.94889512e-02 7.74575040e-04 9.99219707e-01 6.87196318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.82, Y:276.49, Z:68.72 [[ 6.61089721e-01 -7.49883478e-01 -2.52021889e-02 4.74818162e+02] [ 7.49293516e-01 6.61569464e-01 -2.97501622e-02 2.76490748e+02] [ 3.89821537e-02 7.83689636e-04 9.99239600e-01 6.87218128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9392541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:474.84, Y:276.51, Z:68.72 [[ 6.61151767e-01 -7.49802830e-01 -2.59626206e-02 4.74835554e+02] [ 7.49176004e-01 6.61660819e-01 -3.06639114e-02 2.76512148e+02] [ 4.01703363e-02 8.22926814e-04 9.99192507e-01 6.87196813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9692541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:474.85, Y:276.53, Z:68.72 [[ 6.61206412e-01 -7.49756680e-01 -2.59037134e-02 4.74852766e+02] [ 7.49132242e-01 6.61713103e-01 -3.06047940e-02 2.76532636e+02] [ 4.00869753e-02 8.30779148e-04 9.99195849e-01 6.87207785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 841.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.87, Y:276.55, Z:68.72 [[ 6.61617869e-01 -7.49401608e-01 -2.56715117e-02 4.74871131e+02] [ 7.48787523e-01 6.62115173e-01 -3.03437587e-02 2.76553508e+02] [ 3.97371590e-02 8.53465325e-04 9.99209803e-01 6.87233581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:474.89, Y:276.58, Z:68.72 [[ 6.61962761e-01 -7.49109112e-01 -2.53148372e-02 4.74889821e+02] [ 7.48511087e-01 6.62446059e-01 -2.99394624e-02 2.76575097e+02] [ 3.91976382e-02 8.70372911e-04 9.99231098e-01 6.87240531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0592541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:474.89, Y:276.61, Z:68.69 [[ 6.60511513e-01 -7.50675114e-01 1.45401230e-02 4.74888619e+02] [ 7.50304255e-01 6.59222779e-01 -4.96875524e-02 2.76611666e+02] [ 2.77140288e-02 4.37287165e-02 9.98658967e-01 6.86948455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.0892541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:474.94, Y:276.61, Z:68.74 [[ 6.63103223e-01 -7.46260183e-01 -5.82224528e-02 4.74941687e+02] [ 7.47416192e-01 6.64350138e-01 -2.81625767e-03 2.76605133e+02] [ 4.07817555e-02 -4.16489344e-02 9.98299662e-01 6.87391866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:474.93, Y:276.65, Z:68.70 [[ 6.63073248e-01 -7.48454939e-01 1.22095062e-02 4.74928492e+02] [ 7.48006273e-01 6.61875318e-01 -4.90681052e-02 2.76654668e+02] [ 2.86440949e-02 4.16685351e-02 9.98720806e-01 6.86975520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1492541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:474.98, Y:276.65, Z:68.74 [[ 6.65552765e-01 -7.44228779e-01 -5.62409312e-02 4.74978697e+02] [ 7.45263703e-01 6.66759454e-01 -3.72070496e-03 2.76649184e+02] [ 4.02682283e-02 -3.94379992e-02 9.98410293e-01 6.87399668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.1792541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:474.98, Y:276.68, Z:68.73 [[ 6.66545510e-01 -7.45037239e-01 -2.52308385e-02 4.74982140e+02] [ 7.44438149e-01 6.67021893e-01 -2.98937606e-02 2.76681838e+02] [ 3.91014865e-02 1.14275322e-03 9.99234591e-01 6.87263920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2092541539998 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:475.00, Y:276.70, Z:68.73 [[ 6.67748412e-01 -7.43946699e-01 -2.56001498e-02 4.75001237e+02] [ 7.43328647e-01 6.68237824e-01 -3.03435894e-02 2.76702998e+02] [ 3.96810016e-02 1.23255892e-03 9.99211639e-01 6.87264661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2392541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:475.01, Y:276.74, Z:68.70 [[ 6.67158313e-01 -7.44869655e-01 8.30558874e-03 4.75005684e+02] [ 7.44317291e-01 6.66133779e-01 -4.75137861e-02 2.76738212e+02] [ 2.98589442e-02 3.78812107e-02 9.98836051e-01 6.87029208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:475.05, Y:276.73, Z:68.74 [[ 6.69645053e-01 -7.40814401e-01 -5.26262961e-02 4.75052237e+02] [ 7.41634091e-01 6.70781539e-01 -5.56801865e-03 2.76734115e+02] [ 3.94256163e-02 -3.53008591e-02 9.98598753e-01 6.87426729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.06, Y:276.77, Z:68.73 [[ 6.70567846e-01 -7.41449076e-01 -2.43316975e-02 4.75058647e+02] [ 7.40887660e-01 6.71007806e-01 -2.88790460e-02 2.76765572e+02] [ 3.77391009e-02 1.33830528e-03 9.99286730e-01 6.87319794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3292541539998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:475.08, Y:276.79, Z:68.73 [[ 6.70204837e-01 -7.41745411e-01 -2.52828538e-02 4.75075847e+02] [ 7.41138815e-01 6.70680125e-01 -3.00237725e-02 2.76786250e+02] [ 3.92267030e-02 1.38397325e-03 9.99229378e-01 6.87297882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3592541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:475.09, Y:276.81, Z:68.73 [[ 6.71025914e-01 -7.41021203e-01 -2.47345771e-02 4.75094898e+02] [ 7.40439796e-01 6.71480165e-01 -2.93818947e-02 2.76805997e+02] [ 3.83813849e-02 1.40154752e-03 9.99262180e-01 6.87319390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.3892541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:475.11, Y:276.83, Z:68.73 [[ 6.71060184e-01 -7.41001232e-01 -2.44009151e-02 4.75113357e+02] [ 7.40434982e-01 6.71502226e-01 -2.89965207e-02 2.76827240e+02] [ 3.78717264e-02 1.39111936e-03 9.99281641e-01 6.87318537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:475.13, Y:276.85, Z:68.73 [[ 6.71707904e-01 -7.40440890e-01 -2.35749960e-02 4.75132538e+02] [ 7.39911454e-01 6.72120058e-01 -2.80297670e-02 2.76846825e+02] [ 3.65996133e-02 1.38440647e-03 9.99329051e-01 6.87341937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4492541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:475.15, Y:276.87, Z:68.74 [[ 6.72364964e-01 -7.39846900e-01 -2.34929761e-02 4.75151676e+02] [ 7.39320392e-01 6.72773774e-01 -2.79429300e-02 2.76866858e+02] [ 3.64789484e-02 1.41901080e-03 9.99333414e-01 6.87361856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.17, Y:276.89, Z:68.74 [[ 6.72686331e-01 -7.39571600e-01 -2.29553390e-02 4.75169588e+02] [ 7.39068247e-01 6.73076413e-01 -2.73179214e-02 2.76887118e+02] [ 3.56542561e-02 1.41083012e-03 9.99363189e-01 6.87369245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5092541539999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:475.19, Y:276.91, Z:68.73 [[ 6.72510338e-01 -7.39702928e-01 -2.38625902e-02 4.75186632e+02] [ 7.39158718e-01 6.72931965e-01 -2.84070538e-02 2.76908162e+02] [ 3.70706806e-02 1.46579574e-03 9.99311571e-01 6.87348397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.21, Y:276.93, Z:68.74 [[ 6.73698475e-01 -7.38647435e-01 -2.30289423e-02 4.75205938e+02] [ 7.38139634e-01 6.74090339e-01 -2.74243683e-02 2.76928481e+02] [ 3.57805268e-02 1.47718009e-03 9.99358580e-01 6.87391380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:475.22, Y:276.95, Z:68.74 [[ 6.74953306e-01 -7.37497151e-01 -2.31513955e-02 4.75223540e+02] [ 7.36982693e-01 6.75348450e-01 -2.75859063e-02 2.76950149e+02] [ 3.59797863e-02 1.55702085e-03 9.99351305e-01 6.87384609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.5992541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:475.24, Y:276.97, Z:68.74 [[ 6.77016855e-01 -7.35617952e-01 -2.26805160e-02 4.75241415e+02] [ 7.35122666e-01 6.77394687e-01 -2.70389283e-02 2.76970997e+02] [ 3.52539821e-02 1.63284880e-03 9.99377051e-01 6.87400618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6292541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:475.26, Y:276.99, Z:68.74 [[ 6.77612536e-01 -7.35053589e-01 -2.31834578e-02 4.75258742e+02] [ 7.34535384e-01 6.78006866e-01 -2.76488662e-02 2.76992582e+02] [ 3.60419419e-02 1.70614821e-03 9.99348822e-01 6.87381519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6592541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:475.28, Y:277.01, Z:68.74 [[ 6.78603940e-01 -7.34144044e-01 -2.30046924e-02 4.75276799e+02] [ 7.33632726e-01 6.78991499e-01 -2.74511846e-02 2.77014092e+02] [ 3.57731143e-02 1.75148680e-03 9.99358403e-01 6.87393025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.6892541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:475.29, Y:277.04, Z:68.74 [[ 6.80920396e-01 -7.31981461e-01 -2.34639213e-02 4.75293984e+02] [ 7.31447704e-01 6.81321865e-01 -2.80138106e-02 2.77035541e+02] [ 3.64920726e-02 1.91254369e-03 9.99332112e-01 6.87398151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.31, Y:277.06, Z:68.74 [[ 6.82242439e-01 -7.30754930e-01 -2.32913202e-02 4.75312441e+02] [ 7.30227926e-01 6.82637055e-01 -2.78177571e-02 2.77056668e+02] [ 3.62274814e-02 1.97048202e-03 9.99341627e-01 6.87431130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7492541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:475.33, Y:277.08, Z:68.74 [[ 6.83092387e-01 -7.29930807e-01 -2.42034742e-02 4.75329904e+02] [ 7.29360561e-01 6.83517804e-01 -2.89237729e-02 2.77079073e+02] [ 3.76558585e-02 2.10454956e-03 9.99288551e-01 6.87416258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.7792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:475.35, Y:277.10, Z:68.74 [[ 6.83163293e-01 -7.29852572e-01 -2.45588686e-02 4.75346614e+02] [ 7.29264838e-01 6.83601200e-01 -2.93631688e-02 2.77099718e+02] [ 3.82192563e-02 2.14991979e-03 9.99267065e-01 6.87417555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8092541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:475.36, Y:277.12, Z:68.74 [[ 6.82978461e-01 -7.30025710e-01 -2.45537092e-02 4.75364855e+02] [ 7.29437933e-01 6.83416310e-01 -2.93674827e-02 2.77121697e+02] [ 3.82194227e-02 2.14695120e-03 9.99267065e-01 6.87425832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.38, Y:277.14, Z:68.75 [[ 6.83211478e-01 -7.29820460e-01 -2.41696658e-02 4.75383540e+02] [ 7.29250243e-01 6.83635531e-01 -2.89230794e-02 2.77142421e+02] [ 3.76318974e-02 2.13484521e-03 9.99289389e-01 6.87457651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:475.40, Y:277.16, Z:68.74 [[ 6.82100906e-01 -7.30840174e-01 -2.47183101e-02 4.75402174e+02] [ 7.30243793e-01 6.82545290e-01 -2.95961164e-02 2.77163514e+02] [ 3.85013970e-02 2.13714532e-03 9.99256261e-01 6.87448079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.42, Y:277.18, Z:68.75 [[ 6.81589714e-01 -7.31340494e-01 -2.40113120e-02 4.75421380e+02] [ 7.30777483e-01 6.82009415e-01 -2.87650424e-02 2.77184180e+02] [ 3.74129812e-02 2.05903090e-03 9.99297768e-01 6.87481989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:475.44, Y:277.21, Z:68.75 [[ 6.80825902e-01 -7.32061986e-01 -2.36926066e-02 4.75439181e+02] [ 7.31513689e-01 6.81235081e-01 -2.83987327e-02 2.77206066e+02] [ 3.69298674e-02 2.00312676e-03 9.99315852e-01 6.87485450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9592541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:475.46, Y:277.23, Z:68.75 [[ 6.80093012e-01 -7.32744647e-01 -2.36384788e-02 4.75456665e+02] [ 7.32198688e-01 6.80500840e-01 -2.83494023e-02 2.77227681e+02] [ 3.68588774e-02 1.97216726e-03 9.99318535e-01 6.87477353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 842.9892541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:475.47, Y:277.25, Z:68.75 [[ 6.79392946e-01 -7.33400997e-01 -2.34137297e-02 4.75473979e+02] [ 7.32865201e-01 6.79793541e-01 -2.80951956e-02 2.77249173e+02] [ 3.65215466e-02 1.92857000e-03 9.99331005e-01 6.87478709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.49, Y:277.27, Z:68.75 [[ 6.79684607e-01 -7.33150478e-01 -2.27862392e-02 4.75491590e+02] [ 7.32642401e-01 6.80063799e-01 -2.73558500e-02 2.77269527e+02] [ 3.55520509e-02 1.89918522e-03 9.99366021e-01 6.87516567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0492541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:475.51, Y:277.29, Z:68.75 [[ 6.79399464e-01 -7.33386277e-01 -2.36841101e-02 4.75508486e+02] [ 7.32837102e-01 6.79809307e-01 -2.84444635e-02 2.77291868e+02] [ 3.69614577e-02 1.96855866e-03 9.99314753e-01 6.87493724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.0792541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:475.53, Y:277.31, Z:68.75 [[ 6.79345376e-01 -7.33431565e-01 -2.38327455e-02 4.75525678e+02] [ 7.32874876e-01 6.79760384e-01 -2.86397544e-02 2.77313506e+02] [ 3.72058561e-02 1.98986432e-03 9.99305641e-01 6.87497809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1092541539999 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:475.54, Y:277.33, Z:68.75 [[ 6.79513317e-01 -7.33260722e-01 -2.42974551e-02 4.75542037e+02] [ 7.32681402e-01 6.79944495e-01 -2.92138350e-02 2.77334676e+02] [ 3.79422786e-02 2.04889644e-03 9.99277832e-01 6.87493374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.56, Y:277.36, Z:68.75 [[ 6.81069676e-01 -7.31828028e-01 -2.39130588e-02 4.75559143e+02] [ 7.31265614e-01 6.81486110e-01 -2.87625430e-02 2.77356763e+02] [ 3.73456525e-02 2.10249817e-03 9.99300196e-01 6.87540221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1692541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:475.57, Y:277.38, Z:68.75 [[ 6.81677031e-01 -7.31238236e-01 -2.46387403e-02 4.75574738e+02] [ 7.30640171e-01 6.82118579e-01 -2.96510584e-02 2.77378778e+02] [ 3.84885302e-02 2.21039200e-03 9.99256597e-01 6.87514874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.59, Y:277.40, Z:68.76 [[ 6.82350484e-01 -7.30620343e-01 -2.43255176e-02 4.75592658e+02] [ 7.30036585e-01 6.82780321e-01 -2.92851005e-02 2.77400185e+02] [ 3.80052749e-02 2.22418468e-03 9.99275063e-01 6.87556590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2292541539999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:475.61, Y:277.42, Z:68.75 [[ 6.81832361e-01 -7.31084541e-01 -2.49002976e-02 4.75609482e+02] [ 7.30472485e-01 6.82283135e-01 -2.99945470e-02 2.77423040e+02] [ 3.89176027e-02 2.26227059e-03 9.99239862e-01 6.87523255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2592541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:475.63, Y:277.44, Z:68.75 [[ 6.81975336e-01 -7.30964487e-01 -2.45063461e-02 4.75626150e+02] [ 7.30370960e-01 6.82411813e-01 -2.95360336e-02 2.77444667e+02] [ 3.83132117e-02 2.24412294e-03 9.99263260e-01 6.87539721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.2892541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:475.64, Y:277.47, Z:68.76 [[ 6.81952545e-01 -7.30987721e-01 -2.44474698e-02 4.75643000e+02] [ 7.30396623e-01 6.82386922e-01 -2.94764689e-02 2.77466020e+02] [ 3.82295705e-02 2.24520359e-03 9.99266461e-01 6.87554977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:475.66, Y:277.49, Z:68.76 [[ 6.81378444e-01 -7.31537609e-01 -2.40029768e-02 4.75659461e+02] [ 7.30967742e-01 6.81797600e-01 -2.89515675e-02 2.77488237e+02] [ 3.75443324e-02 2.18157230e-03 9.99292582e-01 6.87567421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3492541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:475.68, Y:277.51, Z:68.76 [[ 6.80862014e-01 -7.32013411e-01 -2.41512827e-02 4.75676980e+02] [ 7.31436122e-01 6.81286733e-01 -2.91476804e-02 2.77510665e+02] [ 3.77904414e-02 2.18042780e-03 9.99283307e-01 6.87568582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.3792541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:475.69, Y:277.53, Z:68.76 [[ 6.80186386e-01 -7.32642244e-01 -2.41210241e-02 4.75694313e+02] [ 7.32066143e-01 6.80610535e-01 -2.91283573e-02 2.77532547e+02] [ 3.77576881e-02 2.15452698e-03 9.99284602e-01 6.87584977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4092541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:475.71, Y:277.55, Z:68.76 [[ 6.78510953e-01 -7.34213443e-01 -2.35267335e-02 4.75711747e+02] [ 7.33665719e-01 6.78915687e-01 -2.84271586e-02 2.77554341e+02] [ 3.68442704e-02 2.02738060e-03 9.99318963e-01 6.87612350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4392541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:475.73, Y:277.58, Z:68.76 [[ 6.76944360e-01 -7.35621284e-01 -2.46507742e-02 4.75728278e+02] [ 7.35020238e-01 6.77389919e-01 -2.98018122e-02 2.77575782e+02] [ 3.86210333e-02 2.05535074e-03 9.99251816e-01 6.87591601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.72, Y:277.61, Z:68.73 [[ 6.70326826e-01 -7.41899207e-01 1.57325227e-02 4.75721742e+02] [ 7.41674791e-01 6.69134523e-01 -4.66636392e-02 2.77610160e+02] [ 2.40925429e-02 4.29483046e-02 9.98786760e-01 6.87338901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.4992541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:475.78, Y:277.61, Z:68.78 [[ 6.72338161e-01 -7.38053353e-01 -5.69090992e-02 4.75779575e+02] [ 7.39099134e-01 6.73585804e-01 -3.82554285e-03 2.77606655e+02] [ 4.11566161e-02 -3.94894075e-02 9.98372035e-01 6.87759709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.77, Y:277.65, Z:68.75 [[ 6.68204451e-01 -7.43959327e-01 -5.22785315e-03 4.75774273e+02] [ 7.43250700e-01 6.67845587e-01 -3.95053009e-02 2.77647055e+02] [ 3.28817358e-02 2.25120124e-02 9.99205685e-01 6.87506239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:475.81, Y:277.65, Z:68.77 [[ 6.66114372e-01 -7.44723964e-01 -4.09617147e-02 4.75808487e+02] [ 7.44780567e-01 6.67095142e-01 -1.69108932e-02 2.77654801e+02] [ 3.99193083e-02 -1.92429001e-02 9.99017597e-01 6.87700259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.81, Y:277.69, Z:68.75 [[ 6.59284503e-01 -7.51885870e-01 -3.40341725e-03 4.75807970e+02] [ 7.51231657e-01 6.58887256e-01 -3.89689735e-02 2.77688670e+02] [ 3.15426888e-02 2.31348856e-02 9.99234625e-01 6.87488195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.84, Y:277.70, Z:68.76 [[ 6.56844790e-01 -7.53738193e-01 -2.08244732e-02 4.75835425e+02] [ 7.53318504e-01 6.57174276e-01 -2.51635220e-02 2.77702528e+02] [ 3.26520157e-02 8.41067292e-04 9.99466427e-01 6.87576770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6492541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:475.85, Y:277.73, Z:68.75 [[ 6.53372858e-01 -7.56914939e-01 -1.35529898e-02 4.75849625e+02] [ 7.56342336e-01 6.53435693e-01 -3.11137637e-02 2.77726902e+02] [ 3.24064798e-02 1.00781887e-02 9.99423959e-01 6.87522345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.6792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:475.89, Y:277.73, Z:68.78 [[ 6.51501758e-01 -7.57051746e-01 -4.91743266e-02 4.75890339e+02] [ 7.57524295e-01 6.52694725e-01 -1.21053349e-02 2.77734079e+02] [ 4.12601885e-02 -2.93641001e-02 9.98716850e-01 6.87793957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.88, Y:277.77, Z:68.75 [[ 6.46534144e-01 -7.62884735e-01 -6.94251098e-04 4.75883771e+02] [ 7.62175990e-01 6.45972185e-01 -4.25170065e-02 2.77772961e+02] [ 3.28840421e-02 2.69595549e-02 9.99095502e-01 6.87504424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.91, Y:277.79, Z:68.76 [[ 6.44622663e-01 -7.64192028e-01 -2.17293841e-02 4.75913017e+02] [ 7.63739629e-01 6.44988697e-01 -2.62937473e-02 2.77785633e+02] [ 3.41086792e-02 3.53953698e-04 9.99418067e-01 6.87610221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.95, Y:277.80, Z:68.78 [[ 6.43571071e-01 -7.63982551e-01 -4.63350660e-02 4.75946293e+02] [ 7.64237387e-01 6.44742205e-01 -1.57703865e-02 2.77797690e+02] [ 4.19224728e-02 -2.52616253e-02 9.98801460e-01 6.87812261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:475.96, Y:277.83, Z:68.77 [[ 6.42363404e-01 -7.65939648e-01 -2.65652572e-02 4.75956069e+02] [ 7.65263107e-01 6.42912385e-01 -3.21876163e-02 2.77826688e+02] [ 4.17329043e-02 3.46735494e-04 9.99128743e-01 6.87728751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:475.98, Y:277.85, Z:68.77 [[ 6.40436645e-01 -7.67534401e-01 -2.70526667e-02 4.75975139e+02] [ 7.66833385e-01 6.41007703e-01 -3.27976400e-02 2.77847201e+02] [ 4.25142848e-02 2.59922536e-04 9.99095825e-01 6.87738478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8592541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:475.99, Y:277.87, Z:68.77 [[ 6.39722913e-01 -7.68123778e-01 -2.72113492e-02 4.75993537e+02] [ 7.67414208e-01 6.40301341e-01 -3.30094759e-02 2.77868880e+02] [ 4.27788267e-02 2.34542059e-04 9.99084540e-01 6.87738482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.8892541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:475.99, Y:277.90, Z:68.75 [[ 6.36418241e-01 -7.71323897e-01 5.59180654e-03 4.75993324e+02] [ 7.70609240e-01 6.35478780e-01 -4.82505941e-02 2.77902525e+02] [ 3.36633619e-02 3.50166560e-02 9.98819609e-01 6.87494255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:476.03, Y:277.91, Z:68.76 [[ 6.37153832e-01 -7.70405202e-01 -2.26012907e-02 4.76027091e+02] [ 7.69974725e-01 6.37553807e-01 -2.57694786e-02 2.77913387e+02] [ 3.42624793e-02 -9.83300537e-04 9.99412385e-01 6.87645285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9492541539998 meters Centerline goodness : 0.997030 Centerline is valid? [True, True] Translation: X:476.05, Y:277.93, Z:68.77 [[ 6.38020143e-01 -7.69484043e-01 -2.87159267e-02 4.76048213e+02] [ 7.69187721e-01 6.38620549e-01 -2.26725372e-02 2.77932288e+02] [ 3.57847365e-02 -7.62240276e-03 9.99330452e-01 6.87683420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 843.9792541539999 meters Centerline goodness : 0.999589 Centerline is valid? [True, True] Translation: X:476.06, Y:277.96, Z:68.76 [[ 6.39144763e-01 -7.68865968e-01 -1.84145561e-02 4.76061933e+02] [ 7.68296041e-01 6.39390098e-01 -3.00249263e-02 2.77957987e+02] [ 3.48592289e-02 5.04244386e-03 9.99379512e-01 6.87648012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.09, Y:277.97, Z:68.79 [[ 6.41160392e-01 -7.66175957e-01 -4.34482884e-02 4.76091691e+02] [ 7.66415350e-01 6.42182026e-01 -1.44830047e-02 2.77968911e+02] [ 3.89982399e-02 -2.40135062e-02 9.98950694e-01 6.87850550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.10, Y:278.00, Z:68.78 [[ 6.43300767e-01 -7.65218750e-01 -2.45842938e-02 4.76100617e+02] [ 7.64631612e-01 6.43770168e-01 -2.99744836e-02 2.77996604e+02] [ 3.87636718e-02 4.84680111e-04 9.99248289e-01 6.87766191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:476.12, Y:278.02, Z:68.78 [[ 6.44272727e-01 -7.64400030e-01 -2.46017642e-02 4.76117711e+02] [ 7.63811082e-01 6.44742043e-01 -3.00055021e-02 2.78017093e+02] [ 3.87979985e-02 5.40626558e-04 9.99246928e-01 6.87768514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.0992541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:476.14, Y:278.04, Z:68.78 [[ 6.45382687e-01 -7.63426821e-01 -2.57036297e-02 4.76135880e+02] [ 7.62782610e-01 6.45894022e-01 -3.13624416e-02 2.78038534e+02] [ 4.05447498e-02 6.34495132e-04 9.99177522e-01 6.87763730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.15, Y:278.06, Z:68.78 [[ 6.45943572e-01 -7.62965201e-01 -2.53180710e-02 4.76153413e+02] [ 7.62339179e-01 6.46439217e-01 -3.09081584e-02 2.78058666e+02] [ 3.99484433e-02 6.63968776e-04 9.99201522e-01 6.87781353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:476.17, Y:278.08, Z:68.78 [[ 6.45751715e-01 -7.63124159e-01 -2.54212620e-02 4.76172516e+02] [ 7.62492632e-01 6.46251557e-01 -3.10469076e-02 2.78079563e+02] [ 4.01211754e-02 6.65068875e-04 9.99194600e-01 6.87788187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.1892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:476.19, Y:278.10, Z:68.78 [[ 6.44862979e-01 -7.63891155e-01 -2.49407619e-02 4.76190895e+02] [ 7.63283155e-01 6.45344809e-01 -3.04779230e-02 2.78100557e+02] [ 3.93772071e-02 6.17220806e-04 9.99224226e-01 6.87798984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2192541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:476.21, Y:278.12, Z:68.78 [[ 6.42431493e-01 -7.65950827e-01 -2.45174840e-02 4.76209126e+02] [ 7.65364188e-01 6.42898972e-01 -2.99761949e-02 2.78120040e+02] [ 3.87225565e-02 4.92847458e-04 9.99249879e-01 6.87798164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.23, Y:278.14, Z:68.78 [[ 6.41056241e-01 -7.67124443e-01 -2.38114346e-02 4.76228055e+02] [ 7.66571502e-01 6.41498180e-01 -2.91241763e-02 2.78140911e+02] [ 3.76168595e-02 4.17067778e-04 9.99292148e-01 6.87822105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.2792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:476.25, Y:278.16, Z:68.78 [[ 6.37110798e-01 -7.70392448e-01 -2.41931120e-02 4.76246874e+02] [ 7.69823370e-01 6.37569932e-01 -2.96067710e-02 2.78160574e+02] [ 3.82336336e-02 2.38370435e-04 9.99268799e-01 6.87823756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.27, Y:278.18, Z:68.78 [[ 6.35316036e-01 -7.71890244e-01 -2.36428759e-02 4.76265551e+02] [ 7.71347385e-01 6.35755793e-01 -2.89444921e-02 2.78181555e+02] [ 3.73730664e-02 1.52029482e-04 9.99301371e-01 6.87841207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3392541539998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:476.28, Y:278.20, Z:68.78 [[ 6.33266157e-01 -7.73543717e-01 -2.45782957e-02 4.76283142e+02] [ 7.72957644e-01 6.33742940e-01 -3.01059304e-02 2.78201875e+02] [ 3.88645747e-02 6.70853420e-05 9.99244485e-01 6.87834299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.30, Y:278.22, Z:68.79 [[ 6.30583984e-01 -7.75773103e-01 -2.32364373e-02 4.76302685e+02] [ 7.75250415e-01 6.31011957e-01 -2.84728787e-02 2.78221863e+02] [ 3.67509632e-02 -5.95163998e-05 9.99324453e-01 6.87853015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.3992541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:476.30, Y:278.26, Z:68.75 [[ 6.24845219e-01 -7.80568198e-01 1.67851512e-02 4.76297418e+02] [ 7.80237958e-01 6.23514717e-01 -4.95795015e-02 2.78258212e+02] [ 2.82343933e-02 4.40759266e-02 9.98629126e-01 6.87524992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4292541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:476.36, Y:278.25, Z:68.80 [[ 6.26546181e-01 -7.77217582e-01 -5.80750725e-02 4.76355348e+02] [ 7.78441797e-01 6.27712212e-01 -2.39745614e-03 2.78250726e+02] [ 3.83177773e-02 -4.37059468e-02 9.98309340e-01 6.88024515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:476.36, Y:278.29, Z:68.79 [[ 6.26328059e-01 -7.79202339e-01 -2.35982501e-02 4.76358802e+02] [ 7.78664090e-01 6.26772414e-01 -2.89581855e-02 2.78285206e+02] [ 3.73550180e-02 -2.37785863e-04 9.99302030e-01 6.87871428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.4892541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:476.38, Y:278.31, Z:68.79 [[ 6.24803769e-01 -7.80404240e-01 -2.42790650e-02 4.76376682e+02] [ 7.79834722e-01 6.25275241e-01 -2.98107105e-02 2.78305234e+02] [ 3.84455031e-02 -3.07813663e-04 9.99260651e-01 6.87862988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5192541539999 meters Centerline goodness : 0.997909 Centerline is valid? [True, True] Translation: X:476.38, Y:278.34, Z:68.77 [[ 6.22561022e-01 -7.82541572e-01 6.81637437e-03 4.76380274e+02] [ 7.81888980e-01 6.21631014e-01 -4.71646592e-02 2.78338859e+02] [ 3.26710368e-02 3.46925264e-02 9.98863871e-01 6.87650884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5492541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:476.43, Y:278.34, Z:68.80 [[ 6.22881097e-01 -7.80648440e-01 -5.10602864e-02 4.76425562e+02] [ 7.81387346e-01 6.23994862e-01 -8.01421817e-03 2.78337697e+02] [ 3.81176433e-02 -3.49059567e-02 9.98663417e-01 6.88010548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.41, Y:278.38, Z:68.76 [[ 6.19287292e-01 -7.85140895e-01 6.08481075e-03 4.76414333e+02] [ 7.84510491e-01 6.18436654e-01 -4.56003784e-02 2.78379254e+02] [ 3.20396519e-02 3.30133327e-02 9.98941230e-01 6.87648657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.46, Y:278.38, Z:68.80 [[ 6.21604359e-01 -7.81779017e-01 -4.92908730e-02 4.76462044e+02] [ 7.82470887e-01 6.22639625e-01 -7.69473444e-03 2.78379151e+02] [ 3.67060326e-02 -3.37855927e-02 9.98754825e-01 6.88044653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.47, Y:278.41, Z:68.79 [[ 6.21745964e-01 -7.82882602e-01 -2.29518518e-02 4.76468196e+02] [ 7.82373233e-01 6.22169327e-01 -2.82392185e-02 2.78410597e+02] [ 3.63879311e-02 -3.99294310e-04 9.99337660e-01 6.87915328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:476.48, Y:278.43, Z:68.79 [[ 6.21804394e-01 -7.82843128e-01 -2.27141524e-02 4.76484999e+02] [ 7.82343703e-01 6.22219005e-01 -2.79613998e-02 2.78432072e+02] [ 3.60225670e-02 -3.83752875e-04 9.99350903e-01 6.87913852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.6992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:476.50, Y:278.45, Z:68.79 [[ 6.21599195e-01 -7.83006216e-01 -2.27091554e-02 4.76502949e+02] [ 7.82506753e-01 6.22013758e-01 -2.79654577e-02 2.78454307e+02] [ 3.60225343e-02 -3.86761473e-04 9.99350903e-01 6.87922014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:476.52, Y:278.48, Z:68.79 [[ 6.22859852e-01 -7.82013684e-01 -2.23652328e-02 4.76519891e+02] [ 7.81528072e-01 6.23261180e-01 -2.75567408e-02 2.78476685e+02] [ 3.54891298e-02 -3.15069765e-04 9.99370013e-01 6.87917585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:476.54, Y:278.50, Z:68.79 [[ 6.24054808e-01 -7.81080983e-01 -2.16354732e-02 4.76537737e+02] [ 7.80625475e-01 6.24429690e-01 -2.66726302e-02 2.78498941e+02] [ 3.43433160e-02 -2.44018433e-04 9.99410065e-01 6.87933712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.55, Y:278.52, Z:68.79 [[ 6.26970014e-01 -7.78742246e-01 -2.16590848e-02 4.76554310e+02] [ 7.78283840e-01 6.27344007e-01 -2.67163252e-02 2.78520156e+02] [ 3.43928281e-02 -1.06580910e-04 9.99408386e-01 6.87941449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:476.57, Y:278.54, Z:68.79 [[ 6.28059617e-01 -7.77863508e-01 -2.16675097e-02 4.76571553e+02] [ 7.77403879e-01 6.28433259e-01 -2.67366593e-02 2.78541993e+02] [ 3.44140553e-02 -5.21900791e-05 9.99407660e-01 6.87940676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.59, Y:278.56, Z:68.80 [[ 6.29656864e-01 -7.76571647e-01 -2.16497343e-02 4.76588257e+02] [ 7.76111503e-01 6.30028949e-01 -2.67293467e-02 2.78562618e+02] [ 3.43972121e-02 2.77087431e-05 9.99408240e-01 6.87959884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.8792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:476.59, Y:278.60, Z:68.77 [[ 6.30349017e-01 -7.76166264e-01 1.50348619e-02 4.76586425e+02] [ 7.75875831e-01 6.29227778e-01 -4.57066532e-02 2.78599901e+02] [ 2.60156095e-02 4.04763299e-02 9.98841757e-01 6.87679140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:476.64, Y:278.60, Z:68.81 [[ 6.34211399e-01 -7.71350999e-01 -5.28539315e-02 4.76636554e+02] [ 7.72365795e-01 6.35175182e-01 -1.88859254e-03 2.78596460e+02] [ 3.50282733e-02 -3.96248019e-02 9.98600468e-01 6.88119408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:476.64, Y:278.63, Z:68.80 [[ 6.37732819e-01 -7.69929100e-01 -2.24951775e-02 4.76638335e+02] [ 7.69427012e-01 6.38129299e-01 -2.78041537e-02 2.78630093e+02] [ 3.57620589e-02 4.23224086e-04 9.99360243e-01 6.87954364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9692541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:476.66, Y:278.65, Z:68.80 [[ 6.39125615e-01 -7.68783197e-01 -2.21550042e-02 4.76655395e+02] [ 7.68295141e-01 6.39509311e-01 -2.73937453e-02 2.78652054e+02] [ 3.52281826e-02 4.86462253e-04 9.99379177e-01 6.87960772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 844.9992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:476.67, Y:278.67, Z:68.80 [[ 6.42036065e-01 -7.66354742e-01 -2.21382273e-02 4.76672022e+02] [ 7.65865450e-01 6.42417321e-01 -2.73879393e-02 2.78672862e+02] [ 3.52108578e-02 6.29141389e-04 9.99379708e-01 6.87969177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0292541539999 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:476.69, Y:278.70, Z:68.80 [[ 6.43155685e-01 -7.65486097e-01 -1.95397344e-02 4.76688187e+02] [ 7.64862348e-01 6.43431377e-01 -3.13313357e-02 2.78696349e+02] [ 3.65561801e-02 5.20571952e-03 9.99318041e-01 6.87966105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.71, Y:278.72, Z:68.80 [[ 6.43639370e-01 -7.64906154e-01 -2.54349629e-02 4.76709375e+02] [ 7.64509507e-01 6.44132557e-01 -2.48689061e-02 2.78715968e+02] [ 3.54058670e-02 -3.43866396e-03 9.99367100e-01 6.88005580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.0892541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:476.73, Y:278.74, Z:68.80 [[ 6.44167387e-01 -7.64556729e-01 -2.23916536e-02 4.76725477e+02] [ 7.64053735e-01 6.44555995e-01 -2.77391197e-02 2.78737770e+02] [ 3.56408052e-02 7.60209682e-04 9.99364376e-01 6.87980426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.74, Y:278.76, Z:68.80 [[ 6.43373703e-01 -7.65230720e-01 -2.21861248e-02 4.76744428e+02] [ 7.64736972e-01 6.43755717e-01 -2.74943859e-02 2.78757827e+02] [ 3.53219934e-02 7.22614971e-04 9.99375722e-01 6.88003604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1492541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:476.76, Y:278.78, Z:68.80 [[ 6.42210184e-01 -7.66213028e-01 -2.19926308e-02 4.76762896e+02] [ 7.65727935e-01 6.42586294e-01 -2.72687472e-02 2.78779192e+02] [ 3.50258325e-02 6.71895335e-04 9.99386181e-01 6.88011302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.78, Y:278.80, Z:68.80 [[ 6.39458695e-01 -7.68521672e-01 -2.16105635e-02 4.76781753e+02] [ 7.68054129e-01 6.39823524e-01 -2.68088229e-02 2.78798655e+02] [ 3.44301083e-02 5.45052402e-04 9.99406959e-01 6.88018613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.80, Y:278.82, Z:68.80 [[ 6.37446515e-01 -7.70197510e-01 -2.13947834e-02 4.76800227e+02] [ 7.69739833e-01 6.37805290e-01 -2.65518858e-02 2.78819906e+02] [ 3.40959023e-02 4.56990069e-04 9.99418461e-01 6.88025754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:476.82, Y:278.84, Z:68.80 [[ 6.33419640e-01 -7.73521187e-01 -2.10839499e-02 4.76819017e+02] [ 7.73078068e-01 6.33770378e-01 -2.61803063e-02 2.78840201e+02] [ 3.36134045e-02 2.83580928e-04 9.99434870e-01 6.88007758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.84, Y:278.86, Z:68.80 [[ 6.31796555e-01 -7.74848778e-01 -2.10353288e-02 4.76838071e+02] [ 7.74408121e-01 6.32146600e-01 -2.61292611e-02 2.78861311e+02] [ 3.35436376e-02 2.18447662e-04 9.99437230e-01 6.88037556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.86, Y:278.88, Z:68.80 [[ 6.29802147e-01 -7.76474402e-01 -2.08987837e-02 4.76856640e+02] [ 7.76039851e-01 6.30148779e-01 -2.59743383e-02 2.78882082e+02] [ 3.33377519e-02 1.40405053e-04 9.99444133e-01 6.88042183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3292541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:476.88, Y:278.90, Z:68.80 [[ 6.26090419e-01 -7.79471418e-01 -2.08589457e-02 4.76875733e+02] [ 7.79039682e-01 6.26437793e-01 -2.59396567e-02 2.78902334e+02] [ 3.32860529e-02 -9.37585357e-06 9.99445866e-01 6.88027749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3592541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:476.89, Y:278.92, Z:68.81 [[ 6.24943778e-01 -7.80393059e-01 -2.07833670e-02 4.76893814e+02] [ 7.79964474e-01 6.25289270e-01 -2.58601679e-02 2.78922825e+02] [ 3.31767119e-02 -4.91368616e-05 9.99449500e-01 6.88055885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.91, Y:278.94, Z:68.81 [[ 6.22307245e-01 -7.82504298e-01 -2.05113873e-02 4.76912628e+02] [ 7.82087702e-01 6.22645164e-01 -2.55308853e-02 2.78943661e+02] [ 3.27493436e-02 -1.53648870e-04 9.99463585e-01 6.88062774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4192541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:476.93, Y:278.97, Z:68.81 [[ 6.20967817e-01 -7.83568456e-01 -2.04803637e-02 4.76930539e+02] [ 7.83153206e-01 6.21305428e-01 -2.55072908e-02 2.78965519e+02] [ 3.27112696e-02 -2.00055767e-04 9.99464823e-01 6.88056318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4492541539998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:476.95, Y:278.99, Z:68.81 [[ 6.19934771e-01 -7.84390855e-01 -2.02944954e-02 4.76948145e+02] [ 7.83983072e-01 6.20266824e-01 -2.52904990e-02 2.78986943e+02] [ 3.24256384e-02 -2.32081173e-04 9.99474124e-01 6.88059776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.4792541539999 meters Centerline goodness : 0.999888 Centerline is valid? [True, True] Translation: X:476.97, Y:279.01, Z:68.81 [[ 6.19553358e-01 -7.84687130e-01 -2.04876583e-02 4.76965573e+02] [ 7.84271207e-01 6.19891966e-01 -2.55465227e-02 2.79008794e+02] [ 3.27461624e-02 -2.40446596e-04 9.99463672e-01 6.88061888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:476.98, Y:279.03, Z:68.80 [[ 6.18393875e-01 -7.85775779e-01 -1.20598774e-02 4.76978373e+02] [ 7.85292221e-01 6.18455273e-01 -2.87958874e-02 2.79033740e+02] [ 3.00856056e-02 8.33667243e-03 9.99512559e-01 6.88000061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5392541539999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:477.00, Y:279.05, Z:68.81 [[ 6.18668371e-01 -7.85149862e-01 -2.80916463e-02 4.77002981e+02] [ 7.84907038e-01 6.19243299e-01 -2.14167675e-02 2.79050364e+02] [ 3.42109358e-02 -8.79945426e-03 9.99375896e-01 6.88095851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:477.02, Y:279.07, Z:68.81 [[ 6.18657919e-01 -7.85357671e-01 -2.18107177e-02 4.77016783e+02] [ 7.84885365e-01 6.19042208e-01 -2.72343265e-02 2.79074104e+02] [ 3.48904420e-02 -2.70181330e-04 9.99391107e-01 6.88089737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.5992541539999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:477.03, Y:279.10, Z:68.81 [[ 6.17504593e-01 -7.86265628e-01 -2.17816578e-02 4.77033654e+02] [ 7.85794638e-01 6.17888554e-01 -2.72125326e-02 2.79096855e+02] [ 3.48549161e-02 -3.12046030e-04 9.99392334e-01 6.88091375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.05, Y:279.12, Z:68.81 [[ 6.17074104e-01 -7.86609163e-01 -2.15772138e-02 4.77050316e+02] [ 7.86146652e-01 6.17451151e-01 -2.69725490e-02 2.79117951e+02] [ 3.45397296e-02 -3.18792846e-04 9.99403275e-01 6.88113709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6592541539999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:477.07, Y:279.14, Z:68.81 [[ 6.15696518e-01 -7.87704470e-01 -2.09634350e-02 4.77066922e+02] [ 7.87268079e-01 6.16053194e-01 -2.62189749e-02 2.79140814e+02] [ 3.35673948e-02 -3.60911665e-04 9.99436391e-01 6.88109333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.08, Y:279.17, Z:68.81 [[ 6.14703904e-01 -7.88624494e-01 -1.45092474e-02 4.77080826e+02] [ 7.88147204e-01 6.14847753e-01 -2.80397037e-02 2.79165564e+02] [ 3.10337753e-02 5.80069261e-03 9.99501504e-01 6.88086323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.09, Y:279.19, Z:68.80 [[ 6.14971420e-01 -7.88486569e-01 -9.95404828e-03 4.77093945e+02] [ 7.88038244e-01 6.14978257e-01 -2.82395119e-02 2.79190447e+02] [ 2.83879991e-02 9.52232204e-03 9.99551623e-01 6.88049343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.12, Y:279.21, Z:68.82 [[ 6.16314889e-01 -7.87064697e-01 -2.61748304e-02 4.77118454e+02] [ 7.86891849e-01 6.16804617e-01 -1.87957895e-02 2.79207808e+02] [ 3.09382586e-02 -9.01263584e-03 9.99480663e-01 6.88157792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.7792541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:477.13, Y:279.24, Z:68.80 [[ 6.17104333e-01 -7.86794907e-01 -1.16626213e-02 4.77126216e+02] [ 7.86278784e-01 6.17143965e-01 -2.99833264e-02 2.79237738e+02] [ 3.07882448e-02 9.33276897e-03 9.99482358e-01 6.88044248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8092541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:477.15, Y:279.26, Z:68.81 [[ 6.19497057e-01 -7.84565404e-01 -2.60868421e-02 4.77152141e+02] [ 7.84280302e-01 6.20009724e-01 -2.21889752e-02 2.79256387e+02] [ 3.35827980e-02 -6.71339156e-03 9.99413391e-01 6.88140920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8392541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:477.17, Y:279.28, Z:68.82 [[ 6.21887364e-01 -7.82550408e-01 -2.95121138e-02 4.77166743e+02] [ 7.82247239e-01 6.22528693e-01 -2.33940945e-02 2.79278005e+02] [ 3.66791959e-02 -8.53727776e-03 9.99290624e-01 6.88183294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.18, Y:279.30, Z:68.82 [[ 6.24848108e-01 -7.80400199e-01 -2.32458788e-02 4.77179141e+02] [ 7.79855233e-01 6.25280354e-01 -2.91598325e-02 2.79303611e+02] [ 3.72915305e-02 9.20459727e-05 9.99304425e-01 6.88178753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.20, Y:279.33, Z:68.82 [[ 6.26135897e-01 -7.79362420e-01 -2.34106073e-02 4.77195286e+02] [ 7.78808342e-01 6.26573372e-01 -2.93832645e-02 2.79326112e+02] [ 3.75686753e-02 1.65540439e-04 9.99294034e-01 6.88188586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:477.21, Y:279.35, Z:68.82 [[ 6.27398441e-01 -7.78349415e-01 -2.33106171e-02 4.77211098e+02] [ 7.77798786e-01 6.27831294e-01 -2.92731162e-02 2.79348505e+02] [ 3.74198477e-02 2.34937771e-04 9.99299605e-01 6.88194023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.23, Y:279.37, Z:68.82 [[ 6.28696946e-01 -7.77309553e-01 -2.30219172e-02 4.77227953e+02] [ 7.76771378e-01 6.29118247e-01 -2.89215773e-02 2.79371586e+02] [ 3.69645265e-02 3.00140942e-04 9.99316533e-01 6.88202705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 845.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.24, Y:279.39, Z:68.82 [[ 6.29780101e-01 -7.76435245e-01 -2.29202038e-02 4.77243952e+02] [ 7.75900679e-01 6.30196939e-01 -2.88089414e-02 2.79393413e+02] [ 3.68125198e-02 3.59496308e-04 9.99322125e-01 6.88211892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0192541539999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:477.26, Y:279.42, Z:68.82 [[ 6.31271792e-01 -7.75211376e-01 -2.33076684e-02 4.77260776e+02] [ 7.74657316e-01 6.31701768e-01 -2.93073099e-02 2.79416487e+02] [ 3.74428554e-02 4.45422222e-04 9.99298671e-01 6.88195639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.28, Y:279.44, Z:68.82 [[ 6.33578093e-01 -7.73351207e-01 -2.25102444e-02 4.77276994e+02] [ 7.72832687e-01 6.33977612e-01 -2.83200660e-02 2.79437606e+02] [ 3.61723483e-02 5.46320723e-04 9.99345417e-01 6.88235893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.29, Y:279.46, Z:68.82 [[ 6.34046857e-01 -7.72968173e-01 -2.24674423e-02 4.77293832e+02] [ 7.72450852e-01 6.34444537e-01 -2.82809318e-02 2.79459502e+02] [ 3.61146062e-02 5.76441021e-04 9.99347489e-01 6.88243658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.30, Y:279.49, Z:68.81 [[ 6.31738199e-01 -7.75180265e-01 1.55043198e-03 4.77297069e+02] [ 7.74629843e-01 6.31211639e-01 -3.89932605e-02 2.79490137e+02] [ 2.92481553e-02 2.58345430e-02 9.99238271e-01 6.88062174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:477.33, Y:279.50, Z:68.82 [[ 6.32152444e-01 -7.74559382e-01 -2.10012086e-02 4.77325386e+02] [ 7.74258098e-01 6.32496205e-01 -2.17473810e-02 2.79502776e+02] [ 3.01278228e-02 -2.51269577e-03 9.99542896e-01 6.88181988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.35, Y:279.52, Z:68.84 [[ 6.34817076e-01 -7.71699248e-01 -3.85687864e-02 4.77353549e+02] [ 7.71899535e-01 6.35617353e-01 -1.27156595e-02 2.79517875e+02] [ 3.43276548e-02 -2.16991105e-02 9.99175040e-01 6.88368774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.34, Y:279.56, Z:68.80 [[ 6.30970600e-01 -7.75682989e-01 1.38564966e-02 4.77342083e+02] [ 7.75443789e-01 6.30028527e-01 -4.18447658e-02 2.79558393e+02] [ 2.37282848e-02 3.71477512e-02 9.99028034e-01 6.88013048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2292541539999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:477.39, Y:279.56, Z:68.84 [[ 6.34925540e-01 -7.70906438e-01 -5.07229969e-02 4.77393429e+02] [ 7.71715402e-01 6.35945335e-01 -5.37301023e-03 2.79557654e+02] [ 3.63991415e-02 -3.57322565e-02 9.98698307e-01 6.88413294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.40, Y:279.59, Z:68.83 [[ 6.35616003e-01 -7.71670878e-01 -2.27233941e-02 4.77397173e+02] [ 7.71138553e-01 6.36021673e-01 -2.86664064e-02 2.79589873e+02] [ 3.65736022e-02 6.97941387e-04 9.99330718e-01 6.88294225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.41, Y:279.62, Z:68.83 [[ 6.35456935e-01 -7.71958828e-01 -1.65544795e-02 4.77411242e+02] [ 7.71094422e-01 6.35567013e-01 -3.83140214e-02 2.79616066e+02] [ 4.00983282e-02 1.15818438e-02 9.99128613e-01 6.88254951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:477.44, Y:279.63, Z:68.83 [[ 6.34728727e-01 -7.72025584e-01 -3.31049916e-02 4.77436131e+02] [ 7.71705008e-01 6.35511956e-01 -2.44117710e-02 2.79630587e+02] [ 3.98851298e-02 -1.00524355e-02 9.99153704e-01 6.88316062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3492541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:477.43, Y:279.67, Z:68.80 [[ 6.31184164e-01 -7.75539507e-01 1.20425649e-02 4.77429269e+02] [ 7.75058723e-01 6.30043460e-01 -4.82619339e-02 2.79668768e+02] [ 2.98416971e-02 3.97958634e-02 9.98762115e-01 6.88002833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.48, Y:279.66, Z:68.85 [[ 6.33393392e-01 -7.71949157e-01 -5.39194771e-02 4.77482780e+02] [ 7.72861837e-01 6.34547772e-01 -5.80564615e-03 2.79664383e+02] [ 3.86961477e-02 -3.79950483e-02 9.98528409e-01 6.88469997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.49, Y:279.70, Z:68.83 [[ 6.32719551e-01 -7.74030790e-01 -2.32874648e-02 4.77487128e+02] [ 7.73471125e-01 6.33147662e-01 -2.94356458e-02 2.79697906e+02] [ 3.75285001e-02 6.12327001e-04 9.99295370e-01 6.88324708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4392541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:477.51, Y:279.72, Z:68.83 [[ 6.31020048e-01 -7.75396947e-01 -2.39431463e-02 4.77505774e+02] [ 7.74805583e-01 6.31473882e-01 -3.02827612e-02 2.79719119e+02] [ 3.86006321e-02 5.57745972e-04 9.99254562e-01 6.88312079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.52, Y:279.74, Z:68.83 [[ 6.30840842e-01 -7.75578859e-01 -2.27434599e-02 4.77523623e+02] [ 7.75044863e-01 6.31250468e-01 -2.87803286e-02 2.79739775e+02] [ 3.66782342e-02 5.28604960e-04 9.99326987e-01 6.88341923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.4992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:477.54, Y:279.76, Z:68.83 [[ 6.30098233e-01 -7.76172727e-01 -2.30676101e-02 4.77540786e+02] [ 7.75623430e-01 6.30520135e-01 -2.92002482e-02 2.79760613e+02] [ 3.72090289e-02 5.07245884e-04 9.99307376e-01 6.88335843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:477.56, Y:279.78, Z:68.84 [[ 6.30147280e-01 -7.76137971e-01 -2.28966053e-02 4.77559424e+02] [ 7.75596363e-01 6.30562913e-01 -2.89947302e-02 2.79781898e+02] [ 3.69416612e-02 5.12426599e-04 9.99317293e-01 6.88350240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:477.58, Y:279.80, Z:68.84 [[ 6.30315092e-01 -7.75990266e-01 -2.32807371e-02 4.77577109e+02] [ 7.75429569e-01 6.30744651e-01 -2.94986300e-02 2.79803812e+02] [ 3.75748501e-02 5.40859791e-04 9.99293670e-01 6.88352972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.59, Y:279.83, Z:68.84 [[ 6.32143106e-01 -7.74492905e-01 -2.35761333e-02 4.77594309e+02] [ 7.73916161e-01 6.32582262e-01 -2.98907673e-02 2.79825516e+02] [ 3.80640309e-02 6.49291892e-04 9.99275091e-01 6.88369857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.61, Y:279.85, Z:68.84 [[ 6.31935802e-01 -7.74662317e-01 -2.35677156e-02 4.77611937e+02] [ 7.74085443e-01 6.32374788e-01 -2.98974033e-02 2.79848009e+02] [ 3.80640209e-02 6.49813991e-04 9.99275091e-01 6.88378148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.63, Y:279.87, Z:68.84 [[ 6.33072720e-01 -7.73732852e-01 -2.35882504e-02 4.77628858e+02] [ 7.73153687e-01 6.33511610e-01 -2.99401931e-02 2.79869806e+02] [ 3.81091415e-02 7.16976736e-04 9.99273326e-01 6.88382740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.63, Y:279.90, Z:68.82 [[ 6.32116060e-01 -7.74863044e-01 -4.06818247e-03 4.77634885e+02] [ 7.74195205e-01 6.31773505e-01 -3.85230191e-02 2.79898828e+02] [ 3.24202337e-02 2.12014517e-02 9.99249432e-01 6.88226894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7092541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:477.67, Y:279.91, Z:68.85 [[ 6.36269141e-01 -7.70410514e-01 -4.03636029e-02 4.77670033e+02] [ 7.70429539e-01 6.37255763e-01 -1.85315298e-02 2.79908361e+02] [ 3.99988240e-02 -1.93062714e-02 9.99013194e-01 6.88459468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:477.68, Y:279.94, Z:68.84 [[ 6.37822341e-01 -7.69822001e-01 -2.35955092e-02 4.77679414e+02] [ 7.69238099e-01 6.38257884e-01 -2.99936877e-02 2.79936346e+02] [ 3.81498205e-02 9.80079431e-04 9.99271550e-01 6.88406465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:477.70, Y:279.96, Z:68.84 [[ 6.38302090e-01 -7.69396780e-01 -2.44752383e-02 4.77695570e+02] [ 7.68767459e-01 6.38770290e-01 -3.11305600e-02 2.79958929e+02] [ 3.95858077e-02 1.05493477e-03 9.99215618e-01 6.88402074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.7992541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:477.71, Y:279.98, Z:68.84 [[ 6.38164193e-01 -7.69500583e-01 -2.48055594e-02 4.77712366e+02] [ 7.68853476e-01 6.38645205e-01 -3.15695276e-02 2.79981131e+02] [ 4.01347215e-02 1.07470152e-03 9.99193700e-01 6.88402231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.73, Y:280.00, Z:68.84 [[ 6.37729100e-01 -7.69878600e-01 -2.42597500e-02 4.77729146e+02] [ 7.69259310e-01 6.38189520e-01 -3.08909483e-02 2.80002829e+02] [ 3.92645983e-02 1.03801813e-03 9.99228309e-01 6.88424006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8592541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:477.75, Y:280.02, Z:68.84 [[ 6.36894141e-01 -7.70547651e-01 -2.49433635e-02 4.77746329e+02] [ 7.69892936e-01 6.37381558e-01 -3.17744753e-02 2.80024802e+02] [ 4.03821872e-02 1.03325782e-03 9.99183773e-01 6.88407548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.76, Y:280.05, Z:68.84 [[ 6.35759617e-01 -7.71497466e-01 -2.45228379e-02 4.77763295e+02] [ 7.70864720e-01 6.36231660e-01 -3.12547294e-02 2.80045445e+02] [ 3.97151504e-02 9.66704211e-04 9.99210575e-01 6.88438994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:477.78, Y:280.07, Z:68.84 [[ 6.34742983e-01 -7.72324868e-01 -2.48121752e-02 4.77781092e+02] [ 7.71677220e-01 6.35227067e-01 -3.16360902e-02 2.80067586e+02] [ 4.01947045e-02 9.33795931e-04 9.99191430e-01 6.88436379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.79, Y:280.10, Z:68.83 [[ 6.31544335e-01 -7.75327008e-01 -4.44784734e-03 4.77786727e+02] [ 7.74603763e-01 6.31184349e-01 -3.99415700e-02 2.80096478e+02] [ 3.37751896e-02 2.17795530e-02 9.99192118e-01 6.88290159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 846.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.83, Y:280.10, Z:68.86 [[ 6.32440706e-01 -7.73518152e-01 -4.10904155e-02 4.77825278e+02] [ 7.73553730e-01 6.33457760e-01 -1.85982267e-02 2.80104987e+02] [ 4.04151085e-02 -2.00233685e-02 9.98982324e-01 6.88555524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:477.84, Y:280.13, Z:68.85 [[ 6.31788869e-01 -7.74755650e-01 -2.44235174e-02 4.77835663e+02] [ 7.74128384e-01 6.32260275e-01 -3.11799575e-02 2.80133116e+02] [ 3.95988681e-02 7.92211965e-04 9.99215343e-01 6.88478956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.85, Y:280.15, Z:68.85 [[ 6.31704557e-01 -7.74838693e-01 -2.39656555e-02 4.77852181e+02] [ 7.74234179e-01 6.32158515e-01 -3.06112453e-02 2.80154121e+02] [ 3.88688705e-02 7.82233488e-04 9.99244014e-01 6.88496834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0692541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:477.87, Y:280.18, Z:68.84 [[ 6.30754565e-01 -7.75820220e-01 -1.58639711e-02 4.77865513e+02] [ 7.75134518e-01 6.30889116e-01 -3.38438016e-02 2.80179483e+02] [ 3.62651123e-02 9.05042079e-03 9.99301222e-01 6.88438227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.0992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:477.89, Y:280.20, Z:68.85 [[ 6.31164518e-01 -7.75061017e-01 -3.01955412e-02 4.77889309e+02] [ 7.74687931e-01 6.31841944e-01 -2.51866590e-02 2.80196300e+02] [ 3.86000070e-02 -7.49519583e-03 9.99226632e-01 6.88540121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:477.90, Y:280.22, Z:68.85 [[ 6.31398814e-01 -7.75108722e-01 -2.32810264e-02 4.77903427e+02] [ 7.74537016e-01 6.31827413e-01 -2.97746717e-02 2.80221222e+02] [ 3.77881984e-02 7.67675680e-04 9.99285476e-01 6.88521190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1592541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:477.92, Y:280.24, Z:68.85 [[ 6.31331150e-01 -7.75147086e-01 -2.38322137e-02 4.77920371e+02] [ 7.74547283e-01 6.31780312e-01 -3.04982618e-02 2.80243220e+02] [ 3.86973622e-02 7.95326368e-04 9.99250660e-01 6.88515695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.1892541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:477.94, Y:280.26, Z:68.85 [[ 6.31242415e-01 -7.75215339e-01 -2.39622882e-02 4.77936935e+02] [ 7.74608363e-01 6.31696547e-01 -3.06815392e-02 2.80264496e+02] [ 3.89216945e-02 8.06100087e-04 9.99241939e-01 6.88519396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2192541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:477.95, Y:280.29, Z:68.85 [[ 6.31692153e-01 -7.74845105e-01 -2.40849869e-02 4.77954075e+02] [ 7.74231136e-01 6.32150580e-01 -3.08511474e-02 2.80287307e+02] [ 3.91301990e-02 8.41080986e-04 9.99233767e-01 6.88522916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2492541539999 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:477.98, Y:280.30, Z:68.86 [[ 6.33070829e-01 -7.73320784e-01 -3.45874434e-02 4.77975680e+02] [ 7.73215284e-01 6.33848968e-01 -1.93289874e-02 2.80303702e+02] [ 3.68707230e-02 -1.45069218e-02 9.99214741e-01 6.88581840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.2792541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:477.98, Y:280.34, Z:68.85 [[ 6.33414526e-01 -7.73719735e-01 -1.19920697e-02 4.77982375e+02] [ 7.72846616e-01 6.33321922e-01 -4.01428817e-02 2.80336642e+02] [ 3.86541804e-02 1.61590539e-02 9.99121984e-01 6.88486935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3092541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:478.00, Y:280.35, Z:68.86 [[ 6.34777979e-01 -7.72288526e-01 -2.50469577e-02 4.78003074e+02] [ 7.71620691e-01 6.35271039e-01 -3.21281176e-02 2.80354289e+02] [ 4.07237834e-02 1.06747082e-03 9.99169872e-01 6.88550515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.02, Y:280.38, Z:68.86 [[ 6.35771024e-01 -7.71481950e-01 -2.47144898e-02 4.78019670e+02] [ 7.70830615e-01 6.36250237e-01 -3.17143352e-02 2.80377368e+02] [ 4.01916371e-02 1.11237003e-03 9.99191371e-01 6.88572283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.04, Y:280.40, Z:68.86 [[ 6.37343429e-01 -7.70166815e-01 -2.52275703e-02 4.78035612e+02] [ 7.69486311e-01 6.37841326e-01 -3.23922932e-02 2.80401091e+02] [ 4.10386562e-02 1.23274522e-03 9.99156799e-01 6.88576423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.3992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:478.05, Y:280.42, Z:68.86 [[ 6.37447958e-01 -7.70063886e-01 -2.57237660e-02 4.78052230e+02] [ 7.69355417e-01 6.37965502e-01 -3.30493600e-02 2.80423962e+02] [ 4.18609938e-02 1.27652831e-03 9.99122629e-01 6.88573716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4292541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:478.07, Y:280.45, Z:68.86 [[ 6.38096502e-01 -7.69506982e-01 -2.63032017e-02 4.78068196e+02] [ 7.68764994e-01 6.38636964e-01 -3.38114147e-02 2.80446321e+02] [ 4.28163165e-02 1.35396477e-03 9.99082044e-01 6.88570939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4592541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:478.09, Y:280.47, Z:68.86 [[ 6.38144217e-01 -7.69469382e-01 -2.62455464e-02 4.78085295e+02] [ 7.68730010e-01 6.38682248e-01 -3.37514119e-02 2.80468658e+02] [ 4.27332426e-02 1.36252920e-03 9.99085589e-01 6.88583948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.4892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:478.10, Y:280.49, Z:68.86 [[ 6.37826709e-01 -7.69723017e-01 -2.65248374e-02 4.78101381e+02] [ 7.68967226e-01 6.38376531e-01 -3.41292990e-02 2.80489896e+02] [ 4.32029407e-02 1.37184785e-03 9.99065375e-01 6.88591680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:478.12, Y:280.51, Z:68.86 [[ 6.37379220e-01 -7.70086088e-01 -2.67422423e-02 4.78118344e+02] [ 7.69317450e-01 6.37938511e-01 -3.44255334e-02 2.80512789e+02] [ 4.35705305e-02 1.36884598e-03 9.99049416e-01 6.88596662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.13, Y:280.53, Z:68.86 [[ 6.37626425e-01 -7.69915155e-01 -2.57525995e-02 4.78134700e+02] [ 7.69201537e-01 6.38144856e-01 -3.31683145e-02 2.80533735e+02] [ 4.19706769e-02 1.34005463e-03 9.99117944e-01 6.88626778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.5792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:478.15, Y:280.56, Z:68.86 [[ 6.36169558e-01 -7.71117273e-01 -2.58156165e-02 4.78151999e+02] [ 7.70400561e-01 6.36691866e-01 -3.32632550e-02 2.80556366e+02] [ 4.20864635e-02 1.27270474e-03 9.99113162e-01 6.88633544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:478.17, Y:280.58, Z:68.86 [[ 6.35538157e-01 -7.71650295e-01 -2.54376216e-02 4.78168703e+02] [ 7.70954163e-01 6.36045839e-01 -3.27928176e-02 2.80577503e+02] [ 4.14840808e-02 1.22984655e-03 9.99138408e-01 6.88646873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.19, Y:280.60, Z:68.87 [[ 6.34804974e-01 -7.72277396e-01 -2.47036206e-02 4.78186190e+02] [ 7.71620842e-01 6.35284403e-01 -3.18591261e-02 2.80599795e+02] [ 4.02979078e-02 1.16250318e-03 9.99187033e-01 6.88670246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6692541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:478.20, Y:280.62, Z:68.87 [[ 6.32772108e-01 -7.73963392e-01 -2.40858421e-02 4.78203310e+02] [ 7.73339783e-01 6.33229489e-01 -3.10804382e-02 2.80621628e+02] [ 3.93069868e-02 1.04029450e-03 9.99226640e-01 6.88671223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.6992541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:478.22, Y:280.64, Z:68.87 [[ 6.31424028e-01 -7.75090894e-01 -2.31905922e-02 4.78220225e+02] [ 7.74512901e-01 6.31849043e-01 -2.99424826e-02 2.80643873e+02] [ 3.78610991e-02 9.44990166e-04 9.99282565e-01 6.88681102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:478.24, Y:280.66, Z:68.87 [[ 6.31043713e-01 -7.75423414e-01 -2.24134048e-02 4.78236345e+02] [ 7.74883166e-01 6.31440980e-01 -2.89545858e-02 2.80664964e+02] [ 3.66048061e-02 9.03839268e-04 9.99329411e-01 6.88701886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:478.25, Y:280.69, Z:68.87 [[ 6.30298456e-01 -7.76012229e-01 -2.29973286e-02 4.78253505e+02] [ 7.75443399e-01 6.30717220e-01 -2.97207626e-02 2.80687218e+02] [ 3.75684864e-02 8.99824173e-04 9.99293650e-01 6.88699286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.7892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:478.27, Y:280.71, Z:68.87 [[ 6.29697205e-01 -7.76511852e-01 -2.26002914e-02 4.78270581e+02] [ 7.75962203e-01 6.30102051e-01 -2.92243811e-02 2.80709050e+02] [ 3.69335683e-02 8.65539229e-04 9.99317348e-01 6.88713976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.29, Y:280.73, Z:68.87 [[ 6.29713128e-01 -7.76486079e-01 -2.30379074e-02 4.78288101e+02] [ 7.75914237e-01 6.30133770e-01 -2.98082189e-02 2.80731394e+02] [ 3.76626305e-02 8.95186405e-04 9.99290111e-01 6.88725068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:478.30, Y:280.75, Z:68.87 [[ 6.29520247e-01 -7.76613945e-01 -2.39799675e-02 4.78304568e+02] [ 7.75993786e-01 6.29976116e-01 -3.10441242e-02 2.80753107e+02] [ 3.92161066e-02 9.34598964e-04 9.99230316e-01 6.88719855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.8792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:478.32, Y:280.78, Z:68.87 [[ 6.29962104e-01 -7.76246950e-01 -2.42574003e-02 4.78321504e+02] [ 7.75611575e-01 6.30428203e-01 -3.14159962e-02 2.80775939e+02] [ 3.96791205e-02 9.76566598e-04 9.99211996e-01 6.88725745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.32, Y:280.81, Z:68.85 [[ 6.27359435e-01 -7.78643554e-01 1.15911897e-02 4.78317537e+02] [ 7.78207367e-01 6.26323930e-01 -4.59524721e-02 2.80810860e+02] [ 2.85207567e-02 3.78490661e-02 9.98876376e-01 6.88465190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:478.37, Y:280.81, Z:68.89 [[ 6.31531119e-01 -7.73386704e-01 -5.51493553e-02 4.78368499e+02] [ 7.74125021e-01 6.32933460e-01 -1.12110539e-02 2.80810749e+02] [ 4.35763523e-02 -3.56123664e-02 9.98415175e-01 6.88883641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9692541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:478.37, Y:280.84, Z:68.87 [[ 6.33189196e-01 -7.73559166e-01 -2.60318778e-02 4.78370994e+02] [ 7.72823717e-01 6.33722852e-01 -3.37468450e-02 2.80843649e+02] [ 4.26021771e-02 1.25008508e-03 9.99091333e-01 6.88743558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 847.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.37, Y:280.88, Z:68.85 [[ 6.30432668e-01 -7.76222044e-01 5.83004152e-03 4.78369093e+02] [ 7.75541295e-01 6.29524754e-01 -4.72682156e-02 2.80877214e+02] [ 3.30204755e-02 3.43208652e-02 9.98865219e-01 6.88504669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:478.42, Y:280.88, Z:68.89 [[ 6.32866617e-01 -7.72456220e-01 -5.28321261e-02 4.78417432e+02] [ 7.72979559e-01 6.34270659e-01 -1.42594475e-02 2.80878744e+02] [ 4.45246664e-02 -3.18138253e-02 9.98501595e-01 6.88889067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:478.42, Y:280.91, Z:68.88 [[ 6.33150614e-01 -7.73603932e-01 -2.56370125e-02 4.78422505e+02] [ 7.72889230e-01 6.33668205e-01 -3.32692595e-02 2.80911263e+02] [ 4.19825897e-02 1.24988117e-03 9.99117561e-01 6.88780318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.0892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:478.43, Y:280.94, Z:68.86 [[ 6.30176236e-01 -7.76451917e-01 -5.76564240e-04 4.78425360e+02] [ 7.75685920e-01 6.29587178e-01 -4.39469967e-02 2.80942521e+02] [ 3.44857273e-02 2.72471202e-02 9.99033698e-01 6.88589527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:478.47, Y:280.95, Z:68.89 [[ 6.32675561e-01 -7.73089878e-01 -4.53174869e-02 4.78466341e+02] [ 7.73321610e-01 6.33809335e-01 -1.61063271e-02 2.80948389e+02] [ 4.11742847e-02 -2.48549124e-02 9.98842786e-01 6.88915971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1492541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:478.47, Y:280.98, Z:68.88 [[ 6.32334547e-01 -7.74300766e-01 -2.47253715e-02 4.78473019e+02] [ 7.73635101e-01 6.32816659e-01 -3.21217625e-02 2.80978351e+02] [ 4.05185323e-02 1.18328486e-03 9.99178086e-01 6.88817320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.47, Y:281.01, Z:68.86 [[ 6.29510727e-01 -7.76985444e-01 3.14070266e-03 4.78473303e+02] [ 7.76389990e-01 6.28858955e-01 -4.18927006e-02 2.81009737e+02] [ 3.05749596e-02 2.88103145e-02 9.99117179e-01 6.88627688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2092541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:478.52, Y:281.02, Z:68.89 [[ 6.32549749e-01 -7.73131792e-01 -4.63470368e-02 4.78515299e+02] [ 7.73443806e-01 6.33692119e-01 -1.47978980e-02 2.81015696e+02] [ 4.08104773e-02 -2.64864218e-02 9.98815786e-01 6.88941730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:478.52, Y:281.05, Z:68.88 [[ 6.33400121e-01 -7.73431759e-01 -2.46495802e-02 4.78521144e+02] [ 7.72767921e-01 6.33878322e-01 -3.20626547e-02 2.81047421e+02] [ 4.04231099e-02 1.26008454e-03 9.99181858e-01 6.88837014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2692541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:478.54, Y:281.07, Z:68.88 [[ 6.33514280e-01 -7.73330657e-01 -2.48867754e-02 4.78537477e+02] [ 7.72653188e-01 6.34001602e-01 -3.23885685e-02 2.81069410e+02] [ 4.08253284e-02 1.28977437e-03 9.99165466e-01 6.88838125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.2992541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:478.55, Y:281.09, Z:68.88 [[ 6.33474751e-01 -7.73359766e-01 -2.49882247e-02 4.78554051e+02] [ 7.72676260e-01 6.33966071e-01 -3.25333595e-02 2.81091822e+02] [ 4.10016779e-02 1.30125380e-03 9.99158230e-01 6.88843904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:478.57, Y:281.11, Z:68.89 [[ 6.33894270e-01 -7.73026258e-01 -2.46669555e-02 4.78569863e+02] [ 7.72359244e-01 6.34372658e-01 -3.21329879e-02 2.81114553e+02] [ 4.04876855e-02 1.31716580e-03 9.99179169e-01 6.88861116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:478.59, Y:281.14, Z:68.89 [[ 6.33604151e-01 -7.73271105e-01 -2.44454140e-02 4.78586037e+02] [ 7.72615539e-01 6.34074213e-01 -3.18609804e-02 2.81136787e+02] [ 4.01373822e-02 1.30034269e-03 9.99193325e-01 6.88868840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.3892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:478.60, Y:281.16, Z:68.89 [[ 6.31335091e-01 -7.75095858e-01 -2.53458824e-02 4.78603338e+02] [ 7.74391998e-01 6.31842450e-01 -3.30477134e-02 2.81158655e+02] [ 4.16297502e-02 1.23653260e-03 9.99132341e-01 6.88862834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4192541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:478.62, Y:281.18, Z:68.89 [[ 6.29085995e-01 -7.76918799e-01 -2.54556519e-02 4.78620456e+02] [ 7.76209527e-01 6.29599791e-01 -3.32095510e-02 2.81180475e+02] [ 4.18279977e-02 1.13274392e-03 9.99124184e-01 6.88863364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.64, Y:281.20, Z:68.89 [[ 6.25470998e-01 -7.79883133e-01 -2.38396555e-02 4.78638470e+02] [ 7.79262603e-01 6.25924528e-01 -3.11172152e-02 2.81201267e+02] [ 3.91896163e-02 8.85563650e-04 9.99231400e-01 6.88890763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.65, Y:281.23, Z:68.88 [[ 6.21375114e-01 -7.83494382e-01 -5.43336518e-03 4.78646909e+02] [ 7.82786529e-01 6.21082474e-01 -3.87532071e-02 2.81230342e+02] [ 3.37374880e-02 1.98271134e-02 9.99234040e-01 6.88755594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.67, Y:281.25, Z:68.88 [[ 6.21310480e-01 -7.83293847e-01 -2.05921593e-02 4.78671975e+02] [ 7.82810136e-01 6.21650839e-01 -2.75413434e-02 2.81248010e+02] [ 3.43740979e-02 9.91974279e-04 9.99408544e-01 6.88835722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.69, Y:281.27, Z:68.89 [[ 6.19456964e-01 -7.84693514e-01 -2.30034507e-02 4.78692437e+02] [ 7.84272857e-01 6.19880459e-01 -2.57740753e-02 2.81269458e+02] [ 3.44841393e-02 -2.07505161e-03 9.99403091e-01 6.88866732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.71, Y:281.29, Z:68.89 [[ 6.15707768e-01 -7.87599807e-01 -2.42999844e-02 4.78711757e+02] [ 7.87206240e-01 6.16176363e-01 -2.51600100e-02 2.81291439e+02] [ 3.47890950e-02 -3.63788578e-03 9.99388055e-01 6.88897489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.5992541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:478.73, Y:281.31, Z:68.90 [[ 6.14164506e-01 -7.88498882e-01 -3.27333513e-02 4.78732626e+02] [ 7.88262304e-01 6.14921496e-01 -2.26736238e-02 2.81310043e+02] [ 3.80065683e-02 -1.18771320e-02 9.99206903e-01 6.88962277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.75, Y:281.34, Z:68.89 [[ 6.12047902e-01 -7.90487310e-01 -2.29603835e-02 4.78747593e+02] [ 7.89909501e-01 6.12478313e-01 -3.02207948e-02 2.81337155e+02] [ 3.79518917e-02 3.59949024e-04 9.99279503e-01 6.88936819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:478.76, Y:281.36, Z:68.89 [[ 6.10277182e-01 -7.91835744e-01 -2.36202469e-02 4.78762771e+02] [ 7.91252510e-01 6.10734094e-01 -3.03863745e-02 2.81357660e+02] [ 3.84867075e-02 -1.45468678e-04 9.99259102e-01 6.88931497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.6892541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:478.78, Y:281.38, Z:68.89 [[ 6.09176863e-01 -7.92678106e-01 -2.37691090e-02 4.78779259e+02] [ 7.92067761e-01 6.09640391e-01 -3.11007217e-02 2.81378912e+02] [ 3.91434700e-02 1.19095142e-04 9.99233594e-01 6.88932640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.80, Y:281.40, Z:68.89 [[ 6.08196842e-01 -7.93484613e-01 -2.18808235e-02 4.78798486e+02] [ 7.92789594e-01 6.08583281e-01 -3.33324170e-02 2.81403831e+02] [ 3.97650633e-02 2.92578158e-03 9.99204774e-01 6.88944738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7492541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:478.82, Y:281.42, Z:68.90 [[ 6.06331713e-01 -7.94704572e-01 -2.83989008e-02 4.78817619e+02] [ 7.94075246e-01 6.06987573e-01 -3.17897728e-02 2.81424697e+02] [ 4.25012576e-02 -3.27571675e-03 9.99091043e-01 6.88973453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.7792541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:478.83, Y:281.45, Z:68.90 [[ 6.04815368e-01 -7.95972400e-01 -2.50261616e-02 4.78830773e+02] [ 7.95290621e-01 6.05332915e-01 -3.29376903e-02 2.81447442e+02] [ 4.13666518e-02 1.81497185e-05 9.99144034e-01 6.88960628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.85, Y:281.47, Z:68.90 [[ 6.04211182e-01 -7.96453170e-01 -2.43145219e-02 4.78847002e+02] [ 7.95814544e-01 6.04700208e-01 -3.18884105e-02 2.81469738e+02] [ 4.01006221e-02 -8.25159301e-05 9.99195643e-01 6.88994685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8392541539998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:478.86, Y:281.49, Z:68.90 [[ 6.01561119e-01 -7.98447213e-01 -2.46225194e-02 4.78864005e+02] [ 7.97793184e-01 6.02064785e-01 -3.23114659e-02 2.81491721e+02] [ 4.06233518e-02 -2.06356521e-04 9.99174510e-01 6.88977610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.88, Y:281.51, Z:68.90 [[ 6.01012846e-01 -7.98884488e-01 -2.38145777e-02 4.78880071e+02] [ 7.98272343e-01 6.01484437e-01 -3.12688201e-02 2.81513383e+02] [ 3.93042731e-02 -2.17556151e-04 9.99227265e-01 6.89018345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.89, Y:281.54, Z:68.90 [[ 5.98939140e-01 -8.00634934e-01 -1.59877731e-02 4.78893299e+02] [ 7.99917079e-01 5.99097974e-01 -3.48465818e-02 2.81539055e+02] [ 3.74776331e-02 8.08208897e-03 9.99264783e-01 6.88964543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9292541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:478.92, Y:281.56, Z:68.90 [[ 5.97707592e-01 -8.01137237e-01 -3.04099057e-02 4.78917196e+02] [ 8.00758569e-01 5.98416975e-01 -2.61311725e-02 2.81555009e+02] [ 3.91324591e-02 -8.73219242e-03 9.99195876e-01 6.89046806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9592541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:478.93, Y:281.58, Z:68.90 [[ 5.97273744e-01 -8.01706232e-01 -2.30476308e-02 4.78931132e+02] [ 8.01133488e-01 5.97718148e-01 -3.03009956e-02 2.81580179e+02] [ 3.80684842e-02 -3.66239791e-04 9.99275065e-01 6.89035303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 848.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:478.95, Y:281.60, Z:68.91 [[ 5.97478722e-01 -8.01563588e-01 -2.26934066e-02 4.78946324e+02] [ 8.01007605e-01 5.97909439e-01 -2.98516181e-02 2.81602014e+02] [ 3.74965721e-02 -3.41884627e-04 9.99296698e-01 6.89060660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:478.96, Y:281.63, Z:68.91 [[ 5.97369209e-01 -8.01667270e-01 -2.19001583e-02 4.78964167e+02] [ 8.01069547e-01 5.97769752e-01 -3.09661775e-02 2.81626686e+02] [ 3.79158231e-02 9.54691087e-04 9.99280481e-01 6.89052243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:478.98, Y:281.65, Z:68.91 [[ 5.98239821e-01 -8.00981760e-01 -2.31805372e-02 4.78981727e+02] [ 8.00436200e-01 5.98688127e-01 -2.95705216e-02 2.81649411e+02] [ 3.75633608e-02 -8.64277619e-04 9.99293874e-01 6.89069783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.0792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:478.99, Y:281.68, Z:68.90 [[ 6.00093285e-01 -7.99805396e-01 -1.41201251e-02 4.78993236e+02] [ 7.99190743e-01 6.00203996e-01 -3.23932037e-02 2.81676918e+02] [ 3.43832146e-02 8.15427077e-03 9.99375456e-01 6.89015368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:479.01, Y:281.70, Z:68.90 [[ 6.01580939e-01 -7.98637595e-01 -1.66843131e-02 4.79010236e+02] [ 7.98102498e-01 6.01795631e-01 -2.95706212e-02 2.81699502e+02] [ 3.36567565e-02 4.47333010e-03 9.99423440e-01 6.89023648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1392541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:479.03, Y:281.72, Z:68.91 [[ 6.05703550e-01 -7.94969724e-01 -3.38577594e-02 4.79031088e+02] [ 7.94806039e-01 6.06487989e-01 -2.13466684e-02 2.81716908e+02] [ 3.75042795e-02 -1.39805988e-02 9.99198665e-01 6.89127496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1692541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:479.04, Y:281.74, Z:68.91 [[ 6.07316040e-01 -7.94128936e-01 -2.29447355e-02 4.79041542e+02] [ 7.93551884e-01 6.07749293e-01 -3.02688702e-02 2.81744688e+02] [ 3.79820324e-02 1.74932322e-04 9.99278407e-01 6.89077704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.1992541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:479.06, Y:281.77, Z:68.91 [[ 6.10201621e-01 -7.91902164e-01 -2.33440403e-02 4.79055974e+02] [ 7.91302481e-01 6.10647896e-01 -3.08144559e-02 2.81769128e+02] [ 3.86570234e-02 3.30833973e-04 9.99252483e-01 6.89083034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2292541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:479.06, Y:281.80, Z:68.89 [[ 6.09776460e-01 -7.92570271e-01 2.24375074e-03 4.79059671e+02] [ 7.91930432e-01 6.09165294e-01 -4.19980284e-02 2.81801548e+02] [ 3.19195737e-02 2.73863036e-02 9.99115174e-01 6.88911551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.09, Y:281.81, Z:68.91 [[ 6.11281754e-01 -7.90904936e-01 -2.83548792e-02 4.79092487e+02] [ 7.90633125e-01 6.11877489e-01 -2.24766760e-02 2.81814154e+02] [ 3.51266263e-02 -8.67872481e-03 9.99345186e-01 6.89088658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.2892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:479.11, Y:281.83, Z:68.92 [[ 6.11645528e-01 -7.90249946e-01 -3.73466300e-02 4.79111138e+02] [ 7.90175396e-01 6.12545604e-01 -2.02664275e-02 2.81832775e+02] [ 3.88920573e-02 -1.71145184e-02 9.99096843e-01 6.89183324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3192541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:479.12, Y:281.86, Z:68.91 [[ 6.11281028e-01 -7.91078509e-01 -2.30281906e-02 4.79120656e+02] [ 7.90492629e-01 6.11714499e-01 -3.04429926e-02 2.81859602e+02] [ 3.81694753e-02 4.05608877e-04 9.99271198e-01 6.89132698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3492541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:479.13, Y:281.89, Z:68.90 [[ 6.07891751e-01 -7.94019695e-01 -5.85890314e-04 4.79127185e+02] [ 7.93345301e-01 6.07405523e-01 -4.07647487e-02 2.81890980e+02] [ 3.27238863e-02 2.43157411e-02 9.99168600e-01 6.88964894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.15, Y:281.91, Z:68.91 [[ 6.07101759e-01 -7.94358816e-01 -2.05310936e-02 4.79153443e+02] [ 7.93969577e-01 6.07447660e-01 -2.48928100e-02 2.81905277e+02] [ 3.22453878e-02 -1.18859498e-03 9.99479276e-01 6.89080539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4092541539999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:479.17, Y:281.93, Z:68.90 [[ 6.03912300e-01 -7.96814870e-01 -1.93906270e-02 4.79170075e+02] [ 7.96330180e-01 6.04221989e-01 -2.78214591e-02 2.81929266e+02] [ 3.38847955e-02 1.36037981e-03 9.99424820e-01 6.89049685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4392541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:479.19, Y:281.95, Z:68.92 [[ 6.03457149e-01 -7.96838375e-01 -2.98005752e-02 4.79192309e+02] [ 7.96605577e-01 6.04101255e-01 -2.19368980e-02 2.81947534e+02] [ 3.54827270e-02 -1.05013265e-02 9.99315115e-01 6.89152034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4692541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:479.21, Y:281.97, Z:68.92 [[ 6.02653153e-01 -7.97311546e-01 -3.32186036e-02 4.79210376e+02] [ 7.97085200e-01 6.03434239e-01 -2.28539730e-02 2.81968363e+02] [ 3.82669793e-02 -1.27050384e-02 9.99186780e-01 6.89204128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.4992541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:479.22, Y:281.99, Z:68.92 [[ 6.00913584e-01 -7.99011266e-01 -2.19968231e-02 4.79223168e+02] [ 7.98479840e-01 6.01316051e-01 -2.91367870e-02 2.81993948e+02] [ 3.65076639e-02 -5.53286083e-05 9.99333372e-01 6.89191080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.24, Y:282.02, Z:68.92 [[ 5.99400636e-01 -8.00148087e-01 -2.19525939e-02 4.79240760e+02] [ 7.99618928e-01 5.99802489e-01 -2.90954455e-02 2.82015609e+02] [ 3.64478855e-02 -1.13881012e-04 9.99335549e-01 6.89206247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5592541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:479.26, Y:282.04, Z:68.92 [[ 5.98301762e-01 -8.00959095e-01 -2.23501589e-02 4.79256706e+02] [ 8.00410513e-01 5.98719053e-01 -2.96396196e-02 2.82036964e+02] [ 3.71215889e-02 -1.55865536e-04 9.99310744e-01 6.89185143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.5892541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:479.27, Y:282.06, Z:68.92 [[ 5.97887356e-01 -8.01282789e-01 -2.18312059e-02 4.79273279e+02] [ 8.00759232e-01 5.98285772e-01 -2.89618263e-02 2.82059256e+02] [ 3.62679128e-02 -1.65629903e-04 9.99342089e-01 6.89203468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:479.29, Y:282.08, Z:68.92 [[ 5.96992982e-01 -8.01962936e-01 -2.13266995e-02 4.79290128e+02] [ 8.01463155e-01 5.97373763e-01 -2.83089985e-02 2.82081294e+02] [ 3.54427783e-02 -1.92290415e-04 9.99371689e-01 6.89216804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6492541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:479.31, Y:282.10, Z:68.92 [[ 5.95873970e-01 -8.02798667e-01 -2.11781137e-02 4.79306305e+02] [ 8.02305785e-01 5.96250155e-01 -2.81279200e-02 2.82102636e+02] [ 3.52085102e-02 -2.30627813e-04 9.99379962e-01 6.89211893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.6792541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:479.32, Y:282.13, Z:68.92 [[ 5.94406427e-01 -8.03886511e-01 -2.11536356e-02 4.79323454e+02] [ 8.03395042e-01 5.94782644e-01 -2.81071710e-02 2.82125505e+02] [ 3.51767910e-02 -2.87642871e-04 9.99381064e-01 6.89216964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:479.34, Y:282.15, Z:68.92 [[ 5.94039567e-01 -8.04169716e-01 -2.06896422e-02 4.79339955e+02] [ 8.03699204e-01 5.94399685e-01 -2.75064315e-02 2.82147963e+02] [ 3.44177560e-02 -2.88340277e-04 9.99407492e-01 6.89246441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:479.36, Y:282.17, Z:68.92 [[ 5.93390822e-01 -8.04736284e-01 -1.69365474e-02 4.79356809e+02] [ 8.04181116e-01 5.93616923e-01 -3.01940629e-02 2.82173411e+02] [ 3.43520791e-02 4.29682822e-03 9.99400556e-01 6.89216062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7692541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:479.37, Y:282.19, Z:68.93 [[ 5.91772001e-01 -8.05720854e-01 -2.48958517e-02 4.79374802e+02] [ 8.05341666e-01 5.92273380e-01 -2.52397459e-02 2.82192583e+02] [ 3.50813399e-02 -5.11349173e-03 9.99371378e-01 6.89258037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.7992541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:479.39, Y:282.22, Z:68.92 [[ 5.90898164e-01 -8.06468278e-01 -2.11725189e-02 4.79389440e+02] [ 8.05975601e-01 5.91277219e-01 -2.81883256e-02 2.82216659e+02] [ 3.52518186e-02 -4.08103792e-04 9.99378378e-01 6.89245738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8292541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:479.41, Y:282.24, Z:68.93 [[ 5.89417146e-01 -8.07549035e-01 -2.12599127e-02 4.79406028e+02] [ 8.07052385e-01 5.89800255e-01 -2.83215002e-02 2.82239664e+02] [ 3.54101021e-02 -4.64685390e-04 9.99372758e-01 6.89259232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:479.42, Y:282.26, Z:68.93 [[ 5.88545484e-01 -8.08183014e-01 -2.13173399e-02 4.79422416e+02] [ 8.07683500e-01 5.88931211e-01 -2.84146559e-02 2.82261816e+02] [ 3.55186890e-02 -4.94346299e-04 9.99368890e-01 6.89266909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.8892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:479.44, Y:282.28, Z:68.93 [[ 5.86843079e-01 -8.09414873e-01 -2.15119600e-02 4.79439022e+02] [ 8.08906460e-01 5.87236958e-01 -2.86896352e-02 2.82284663e+02] [ 3.58544354e-02 -5.64849505e-04 9.99356863e-01 6.89279307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:479.45, Y:282.31, Z:68.93 [[ 5.85749985e-01 -8.10202279e-01 -2.16615569e-02 4.79454793e+02] [ 8.09686696e-01 5.86150065e-01 -2.89059643e-02 2.82306288e+02] [ 3.61166012e-02 -6.07406278e-04 9.99347398e-01 6.89283749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:479.47, Y:282.33, Z:68.93 [[ 5.84101866e-01 -8.11389776e-01 -2.17173232e-02 4.79471149e+02] [ 8.10871968e-01 5.84505068e-01 -2.89909880e-02 2.82329127e+02] [ 3.62168768e-02 -6.76278400e-04 9.99343725e-01 6.89286552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 849.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.49, Y:282.35, Z:68.93 [[ 5.83679456e-01 -8.11709636e-01 -2.11130241e-02 4.79487746e+02] [ 8.11219888e-01 5.84060804e-01 -2.82005426e-02 2.82352130e+02] [ 3.52219420e-02 -6.67227712e-04 9.99379292e-01 6.89308819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:479.50, Y:282.38, Z:68.93 [[ 5.82916971e-01 -8.12254116e-01 -2.12380707e-02 4.79504423e+02] [ 8.11758313e-01 5.83303324e-01 -2.83843876e-02 2.82375274e+02] [ 3.54435729e-02 -6.94439255e-04 9.99371438e-01 6.89300212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:479.52, Y:282.40, Z:68.93 [[ 5.83236817e-01 -8.12058070e-01 -1.99124841e-02 4.79518674e+02] [ 8.11502021e-01 5.83574997e-01 -3.00781142e-02 2.82398502e+02] [ 3.60456032e-02 1.38364249e-03 9.99349188e-01 6.89297024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:479.54, Y:282.42, Z:68.93 [[ 5.83135652e-01 -8.12054142e-01 -2.28228421e-02 4.79536507e+02] [ 8.11601692e-01 5.83576119e-01 -2.72324547e-02 2.82420568e+02] [ 3.54330933e-02 -2.64284206e-03 9.99368556e-01 6.89318310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.0992541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:479.55, Y:282.44, Z:68.93 [[ 5.84733073e-01 -8.10937573e-01 -2.16214494e-02 4.79551504e+02] [ 8.10421337e-01 5.85132371e-01 -2.89372631e-02 2.82444775e+02] [ 3.61177239e-02 -6.01909192e-04 9.99347361e-01 6.89325572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.57, Y:282.47, Z:68.94 [[ 5.85925603e-01 -8.10089095e-01 -2.11387524e-02 4.79567527e+02] [ 8.09594538e-01 5.86306558e-01 -2.83073138e-02 2.82467560e+02] [ 3.53252354e-02 -5.27838535e-04 9.99375730e-01 6.89351449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1592541539999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:479.58, Y:282.49, Z:68.93 [[ 5.87161607e-01 -8.09170371e-01 -2.20126693e-02 4.79582371e+02] [ 8.08632766e-01 5.87573892e-01 -2.94952836e-02 2.82491476e+02] [ 3.68007793e-02 -4.81667601e-04 9.99322506e-01 6.89338706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.60, Y:282.51, Z:68.94 [[ 5.88570208e-01 -8.08171348e-01 -2.10756389e-02 4.79598057e+02] [ 8.07677355e-01 5.88947297e-01 -2.82554703e-02 2.82514149e+02] [ 3.52477020e-02 -3.91988263e-04 9.99378530e-01 6.89372294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2192541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:479.61, Y:282.54, Z:68.94 [[ 5.88830858e-01 -8.07961185e-01 -2.18390797e-02 4.79613888e+02] [ 8.07429958e-01 5.89235588e-01 -2.92965134e-02 2.82537470e+02] [ 3.65388086e-02 -3.82836122e-04 9.99332161e-01 6.89362962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2492541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:479.63, Y:282.56, Z:68.94 [[ 5.90617656e-01 -8.06652811e-01 -2.19551012e-02 4.79628689e+02] [ 8.06114396e-01 5.91025513e-01 -2.94690294e-02 2.82560269e+02] [ 3.67473003e-02 -2.93394087e-04 9.99324547e-01 6.89375416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.2792541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:479.64, Y:282.58, Z:68.94 [[ 5.91069814e-01 -8.06309490e-01 -2.23937800e-02 4.79644718e+02] [ 8.05748666e-01 5.91493815e-01 -3.00691451e-02 2.82583206e+02] [ 3.74908195e-02 -2.70794363e-04 9.99296935e-01 6.89377923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:479.66, Y:282.61, Z:68.94 [[ 5.91732322e-01 -8.05824977e-01 -2.23375248e-02 4.79660993e+02] [ 8.05265954e-01 5.92153741e-01 -3.00114838e-02 2.82606260e+02] [ 3.74112522e-02 -2.28883214e-04 9.99299928e-01 6.89396364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.68, Y:282.63, Z:68.94 [[ 5.92377946e-01 -8.05436408e-01 -1.89884850e-02 4.79675823e+02] [ 8.04829389e-01 5.92672772e-01 -3.14426645e-02 2.82631225e+02] [ 3.65790248e-02 3.34345025e-03 9.99325170e-01 6.89385128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3692541539999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:479.69, Y:282.65, Z:68.94 [[ 5.92439876e-01 -8.05204765e-01 -2.56959118e-02 4.79694136e+02] [ 8.04706177e-01 5.92985033e-01 -2.85783054e-02 2.82651184e+02] [ 3.82486787e-02 -3.74673120e-03 9.99261227e-01 6.89414029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.3992541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:479.71, Y:282.67, Z:68.94 [[ 5.92125098e-01 -8.05506056e-01 -2.34064426e-02 4.79708354e+02] [ 8.04890133e-01 5.92587510e-01 -3.14947047e-02 2.82674946e+02] [ 3.92395409e-02 -1.90809590e-04 9.99229814e-01 6.89410266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:479.73, Y:282.70, Z:68.94 [[ 5.91906979e-01 -8.05666543e-01 -2.33997861e-02 4.79725328e+02] [ 8.05050550e-01 5.92369297e-01 -3.14996497e-02 2.82697919e+02] [ 3.92395288e-02 -1.93148170e-04 9.99229814e-01 6.89419446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.74, Y:282.72, Z:68.94 [[ 5.91849030e-01 -8.05733705e-01 -2.25371274e-02 4.79741179e+02] [ 8.05161767e-01 5.92277945e-01 -3.03539858e-02 2.82719331e+02] [ 3.78054729e-02 -1.81056248e-04 9.99285101e-01 6.89447543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.76, Y:282.74, Z:68.95 [[ 5.91134748e-01 -8.06266285e-01 -2.22348243e-02 4.79757822e+02] [ 8.05709559e-01 5.91552732e-01 -2.99578405e-02 2.82742030e+02] [ 3.73070678e-02 -2.05689912e-04 9.99303828e-01 6.89458836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5192541539999 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:479.77, Y:282.76, Z:68.94 [[ 5.89599400e-01 -8.07376636e-01 -2.27049610e-02 4.79774044e+02] [ 8.06796268e-01 5.90036350e-01 -3.06086243e-02 2.82764257e+02] [ 3.81094404e-02 -2.71451254e-04 9.99273535e-01 6.89444091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5492541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:479.79, Y:282.79, Z:68.95 [[ 5.89368587e-01 -8.07561553e-01 -2.21134930e-02 4.79790721e+02] [ 8.07010772e-01 5.89783236e-01 -2.98219573e-02 2.82786770e+02] [ 3.71252336e-02 -2.69702173e-04 9.99310585e-01 6.89465048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.5792541539998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:479.81, Y:282.81, Z:68.95 [[ 5.88970839e-01 -8.07835861e-01 -2.26841729e-02 4.79806089e+02] [ 8.07255814e-01 5.89407448e-01 -3.06089984e-02 2.82808606e+02] [ 3.80972670e-02 -2.84123015e-04 9.99273995e-01 6.89463661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:479.82, Y:282.83, Z:68.95 [[ 5.88965757e-01 -8.07834518e-01 -2.28632852e-02 4.79822137e+02] [ 8.07244838e-01 5.89409292e-01 -3.08619144e-02 2.82830697e+02] [ 3.84071525e-02 -2.79658150e-04 9.99262134e-01 6.89471588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6392541539999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:479.84, Y:282.85, Z:68.95 [[ 5.88742995e-01 -8.07985172e-01 -2.32733351e-02 4.79838272e+02] [ 8.07373596e-01 5.89202751e-01 -3.14323947e-02 2.82853212e+02] [ 3.91096219e-02 -2.84674033e-04 9.99234886e-01 6.89472644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6692541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:479.85, Y:282.88, Z:68.95 [[ 5.88453931e-01 -8.08204563e-01 -2.29642314e-02 4.79854485e+02] [ 8.07608607e-01 5.88901778e-01 -3.10327906e-02 2.82875601e+02] [ 3.86045197e-02 -2.84743330e-04 9.99254527e-01 6.89488668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.87, Y:282.90, Z:68.95 [[ 5.87863329e-01 -8.08642222e-01 -2.26817803e-02 4.79870905e+02] [ 8.08060474e-01 5.88300660e-01 -3.06692569e-02 2.82898250e+02] [ 3.81441624e-02 -2.98918686e-04 9.99272202e-01 6.89518601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7292541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:479.89, Y:282.92, Z:68.95 [[ 5.86410829e-01 -8.09681708e-01 -2.31920308e-02 4.79887173e+02] [ 8.09073545e-01 5.86869150e-01 -3.13783255e-02 2.82920653e+02] [ 3.90171436e-02 -3.63468704e-04 9.99238475e-01 6.89507441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7592541539999 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:479.90, Y:282.94, Z:68.95 [[ 5.84882373e-01 -8.10773841e-01 -2.36302519e-02 4.79903642e+02] [ 8.10142588e-01 5.85359370e-01 -3.19905537e-02 2.82943030e+02] [ 3.97692935e-02 -4.33162472e-04 9.99208795e-01 6.89503634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.92, Y:282.97, Z:68.95 [[ 5.83998648e-01 -8.11425627e-01 -2.31091022e-02 4.79920847e+02] [ 8.10821722e-01 5.84455510e-01 -3.13032163e-02 2.82965713e+02] [ 3.89064741e-02 -4.56326022e-04 9.99242752e-01 6.89541459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8192541539999 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:479.94, Y:282.99, Z:68.95 [[ 5.79803865e-01 -8.14395435e-01 -2.42395165e-02 4.79937738e+02] [ 8.13732730e-01 5.80309935e-01 -3.28545954e-02 2.82988100e+02] [ 4.08230647e-02 -6.75266527e-04 9.99166163e-01 6.89526321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.95, Y:283.01, Z:68.96 [[ 5.78193308e-01 -8.15551609e-01 -2.38342787e-02 4.79954196e+02] [ 8.14911122e-01 5.78683882e-01 -3.23237859e-02 2.83009330e+02] [ 4.01542285e-02 -7.33422144e-04 9.99193225e-01 6.89556961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:479.97, Y:283.03, Z:68.96 [[ 5.74697699e-01 -8.18029258e-01 -2.34667326e-02 4.79971951e+02] [ 8.17409756e-01 5.75175934e-01 -3.18423743e-02 2.83031645e+02] [ 3.95454937e-02 -8.82196945e-04 9.99217382e-01 6.89570630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9092541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:479.99, Y:283.05, Z:68.96 [[ 5.72579938e-01 -8.19512668e-01 -2.34776948e-02 4.79988153e+02] [ 8.18893091e-01 5.73060240e-01 -3.18758141e-02 2.83053542e+02] [ 3.95767668e-02 -9.74270382e-04 9.99216058e-01 6.89554381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9392541539999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:480.00, Y:283.08, Z:68.96 [[ 5.71398530e-01 -8.20337160e-01 -2.34662381e-02 4.80004974e+02] [ 8.19718191e-01 5.71879273e-01 -3.18776496e-02 2.83075713e+02] [ 3.95702757e-02 -1.02086012e-03 9.99216268e-01 6.89567255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9692541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:480.02, Y:283.10, Z:68.96 [[ 5.69810912e-01 -8.21455889e-01 -2.29291830e-02 4.80021929e+02] [ 8.20865175e-01 5.70271069e-01 -3.11652342e-02 2.83097402e+02] [ 3.86767149e-02 -1.06347732e-03 9.99251210e-01 6.89579224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 850.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.04, Y:283.12, Z:68.96 [[ 5.69513603e-01 -8.21679111e-01 -2.23090606e-02 4.80038911e+02] [ 8.21119680e-01 5.69949428e-01 -3.03334903e-02 2.83119795e+02] [ 3.76394317e-02 -1.04307338e-03 9.99290841e-01 6.89615846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:480.05, Y:283.14, Z:68.96 [[ 5.68536408e-01 -8.22347785e-01 -2.25936519e-02 4.80054542e+02] [ 8.21773836e-01 5.68984121e-01 -3.07381472e-02 2.83141822e+02] [ 3.81328765e-02 -1.09111618e-03 9.99272082e-01 6.89607072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.06, Y:283.17, Z:68.95 [[ 5.66657043e-01 -8.23951169e-01 -2.06581043e-03 4.80059386e+02] [ 8.23303044e-01 5.66307371e-01 -3.83152692e-02 2.83171294e+02] [ 3.27397945e-02 2.00108291e-02 9.99263565e-01 6.89476956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.09, Y:283.18, Z:68.97 [[ 5.68682839e-01 -8.21632536e-01 -3.89846772e-02 4.80094446e+02] [ 8.21716591e-01 5.69605218e-01 -1.82137186e-02 2.83181064e+02] [ 3.71708594e-02 -2.16765269e-02 9.99073799e-01 6.89720804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:480.10, Y:283.21, Z:68.97 [[ 5.68585911e-01 -8.22312913e-01 -2.26171509e-02 4.80101050e+02] [ 8.21736221e-01 5.69034563e-01 -3.08098783e-02 2.83210142e+02] [ 3.82053014e-02 -1.06726936e-03 9.99269341e-01 6.89650495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1492541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:480.11, Y:283.23, Z:68.96 [[ 5.69065721e-01 -8.21989844e-01 -2.22912746e-02 4.80114590e+02] [ 8.21428813e-01 5.69501231e-01 -3.03817801e-02 2.83233251e+02] [ 3.76684231e-02 -1.02146565e-03 9.99289771e-01 6.89648011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.1792541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:480.13, Y:283.26, Z:68.97 [[ 5.69602614e-01 -8.21625745e-01 -2.19999549e-02 4.80129938e+02] [ 8.21078433e-01 5.70026477e-01 -3.00003964e-02 2.83257046e+02] [ 3.71896548e-02 -9.75384279e-04 9.99307750e-01 6.89650181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2092541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:480.14, Y:283.28, Z:68.97 [[ 5.70395260e-01 -8.21084517e-01 -2.16671143e-02 4.80144955e+02] [ 8.20552646e-01 5.70805901e-01 -2.95631300e-02 2.83280449e+02] [ 3.66415451e-02 -9.16338715e-04 9.99328053e-01 6.89658224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2392541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:480.16, Y:283.31, Z:68.97 [[ 5.73651921e-01 -8.18815672e-01 -2.15492192e-02 4.80159004e+02] [ 8.18287361e-01 5.74056027e-01 -2.94189114e-02 2.83305076e+02] [ 3.64591249e-02 -7.57238674e-04 9.99334858e-01 6.89671145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2692541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:480.17, Y:283.33, Z:68.97 [[ 5.75665198e-01 -8.17391635e-01 -2.19202056e-02 4.80174343e+02] [ 8.16843288e-01 5.76081999e-01 -2.99428421e-02 2.83328864e+02] [ 3.71028645e-02 -6.68320709e-04 9.99311228e-01 6.89673203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.2992541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:480.19, Y:283.35, Z:68.97 [[ 5.80437142e-01 -8.13994480e-01 -2.24880295e-02 4.80187213e+02] [ 8.13414078e-01 5.80872433e-01 -3.07368691e-02 2.83353010e+02] [ 3.80823182e-02 -4.51259341e-04 9.99274504e-01 6.89667187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3292541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:480.20, Y:283.38, Z:68.97 [[ 5.83406993e-01 -8.11872748e-01 -2.23365794e-02 4.80202144e+02] [ 8.11298067e-01 5.83834352e-01 -3.05433558e-02 2.83376172e+02] [ 3.78381805e-02 -3.02416316e-04 9.99283834e-01 6.89702892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3592541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:480.22, Y:283.40, Z:68.97 [[ 5.85543736e-01 -8.10324428e-01 -2.26462939e-02 4.80217316e+02] [ 8.09731814e-01 5.85981471e-01 -3.09855703e-02 2.83400147e+02] [ 3.83786731e-02 -1.94018008e-04 9.99263249e-01 6.89686294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.3892541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:480.23, Y:283.42, Z:68.97 [[ 5.90211930e-01 -8.06932943e-01 -2.25633231e-02 4.80231492e+02] [ 8.06341467e-01 5.90643060e-01 -3.08903656e-02 2.83423977e+02] [ 3.82533238e-02 3.81192232e-05 9.99268073e-01 6.89697604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4192541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:480.25, Y:283.45, Z:68.97 [[ 5.92117688e-01 -8.05539902e-01 -2.24078024e-02 4.80246733e+02] [ 8.04954898e-01 5.92541516e-01 -3.06947140e-02 2.83446854e+02] [ 3.80033701e-02 1.37612828e-04 9.99277602e-01 6.89711298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4492541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:480.26, Y:283.47, Z:68.97 [[ 5.94958984e-01 -8.03435997e-01 -2.26805178e-02 4.80262315e+02] [ 8.02834597e-01 5.95391063e-01 -3.10820144e-02 2.83470589e+02] [ 3.84761869e-02 2.83819333e-04 9.99259477e-01 6.89712265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.28, Y:283.49, Z:68.97 [[ 5.96226048e-01 -8.02492691e-01 -2.28030697e-02 4.80278599e+02] [ 8.01883345e-01 5.96661841e-01 -3.12689611e-02 2.83493723e+02] [ 3.86988343e-02 3.57967327e-04 9.99250855e-01 6.89744931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5092541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:480.29, Y:283.52, Z:68.97 [[ 5.96950401e-01 -8.01941680e-01 -2.32327415e-02 4.80294791e+02] [ 8.01307957e-01 5.97402185e-01 -3.18776856e-02 2.83516973e+02] [ 3.94433353e-02 4.12816560e-04 9.99221724e-01 6.89744452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.31, Y:283.54, Z:68.98 [[ 5.98586260e-01 -8.00717254e-01 -2.33745060e-02 4.80311061e+02] [ 8.00074055e-01 5.99042252e-01 -3.20918340e-02 2.83539675e+02] [ 3.96988019e-02 5.08395066e-04 9.99211563e-01 6.89756763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.33, Y:283.56, Z:68.98 [[ 5.98895907e-01 -8.00476390e-01 -2.36905504e-02 4.80327297e+02] [ 7.99814679e-01 5.99364041e-01 -3.25457495e-02 2.83562217e+02] [ 4.02513681e-02 5.43466223e-04 9.99189438e-01 6.89768291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.5992541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:480.34, Y:283.58, Z:68.98 [[ 5.99696617e-01 -7.99891357e-01 -2.31901733e-02 4.80343839e+02] [ 7.99256184e-01 6.00144549e-01 -3.18758970e-02 2.83584282e+02] [ 3.94147106e-02 5.80978134e-04 9.99222770e-01 6.89755137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6292541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:480.36, Y:283.61, Z:68.98 [[ 5.99965579e-01 -7.99689905e-01 -2.31810344e-02 4.80360456e+02] [ 7.99054658e-01 6.00412938e-01 -3.18740777e-02 2.83606258e+02] [ 3.94075711e-02 6.00435961e-04 9.99223040e-01 6.89758351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6592541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:480.37, Y:283.63, Z:68.97 [[ 5.99333550e-01 -8.00289142e-01 -1.83462527e-02 4.80374069e+02] [ 7.99618340e-01 5.99591639e-01 -3.31719378e-02 2.83629773e+02] [ 3.75474014e-02 5.21105515e-03 9.99281261e-01 6.89732875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.6892541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:480.40, Y:283.65, Z:68.98 [[ 6.01440555e-01 -7.98487779e-01 -2.62016414e-02 4.80396561e+02] [ 7.97995424e-01 6.01998481e-01 -2.83042789e-02 2.83648180e+02] [ 3.83739691e-02 -3.88544876e-03 9.99255894e-01 6.89800427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7192541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:480.41, Y:283.67, Z:68.98 [[ 6.02457086e-01 -7.97824217e-01 -2.28468359e-02 4.80412374e+02] [ 7.97204360e-01 6.02889690e-01 -3.14520204e-02 2.83671191e+02] [ 3.88673053e-02 7.34895378e-04 9.99244111e-01 6.89783656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7492541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:480.43, Y:283.69, Z:68.98 [[ 6.03252028e-01 -7.97214862e-01 -2.31399002e-02 4.80429849e+02] [ 7.96577781e-01 6.03695148e-01 -3.18748824e-02 2.83693308e+02] [ 3.93805755e-02 7.95857106e-04 9.99223967e-01 6.89792736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.7792541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:480.45, Y:283.72, Z:68.98 [[ 6.04179584e-01 -7.96499530e-01 -2.35696727e-02 4.80447213e+02] [ 7.95837211e-01 6.04638522e-01 -3.24867880e-02 2.83715373e+02] [ 4.01268434e-02 8.70231506e-04 9.99194215e-01 6.89799542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8092541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:480.46, Y:283.74, Z:68.98 [[ 6.06786045e-01 -7.94486976e-01 -2.45181681e-02 4.80464871e+02] [ 7.93767795e-01 6.07280273e-01 -3.38135607e-02 2.83736446e+02] [ 4.17538334e-02 1.05586457e-03 9.99127371e-01 6.89795835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8392541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:480.48, Y:283.76, Z:68.98 [[ 6.08166401e-01 -7.93411203e-01 -2.51454147e-02 4.80482112e+02] [ 7.92653129e-01 6.08684892e-01 -3.46946715e-02 2.83758050e+02] [ 4.28327751e-02 1.16854182e-03 9.99081572e-01 6.89805515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8692541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:480.50, Y:283.78, Z:68.98 [[ 6.10500780e-01 -7.91608490e-01 -2.53928371e-02 4.80501328e+02] [ 7.90832938e-01 6.11027212e-01 -3.50572345e-02 2.83778433e+02] [ 4.32673189e-02 1.32097707e-03 9.99062658e-01 6.89814094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.8992541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:480.52, Y:283.80, Z:68.98 [[ 6.11299682e-01 -7.91003161e-01 -2.50339473e-02 4.80518967e+02] [ 7.90248070e-01 6.11810559e-01 -3.45807261e-02 2.83799407e+02] [ 4.26694969e-02 1.35615833e-03 9.99088322e-01 6.89832764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9292541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:480.54, Y:283.82, Z:68.98 [[ 6.12151010e-01 -7.90359141e-01 -2.45676294e-02 4.80538877e+02] [ 7.89630783e-01 6.12642238e-01 -3.39516613e-02 2.83819356e+02] [ 4.18851734e-02 1.38418737e-03 9.99121472e-01 6.89847415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.56, Y:283.84, Z:68.99 [[ 6.12146401e-01 -7.90389779e-01 -2.36808249e-02 4.80557595e+02] [ 7.89712336e-01 6.12602801e-01 -3.27449892e-02 2.83840824e+02] [ 4.03882444e-02 1.34368771e-03 9.99183159e-01 6.89887402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 851.9892541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:480.58, Y:283.86, Z:68.99 [[ 6.11082640e-01 -7.91217290e-01 -2.35203475e-02 4.80577122e+02] [ 7.90548856e-01 6.11533753e-01 -3.25418877e-02 2.83860206e+02] [ 4.01311906e-02 1.29179879e-03 9.99193584e-01 6.89864368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:480.60, Y:283.88, Z:68.99 [[ 6.10562434e-01 -7.91644311e-01 -2.26450727e-02 4.80596372e+02] [ 7.91024497e-01 6.10981002e-01 -3.13442331e-02 2.83879504e+02] [ 3.86491930e-02 1.22480399e-03 9.99252090e-01 6.89880533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0492541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:480.61, Y:283.90, Z:68.99 [[ 6.10223470e-01 -7.91900636e-01 -2.28188230e-02 4.80614426e+02] [ 7.91270781e-01 6.10648732e-01 -3.16018759e-02 2.83900772e+02] [ 3.89598310e-02 1.22833846e-03 9.99240023e-01 6.89884817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.63, Y:283.92, Z:68.99 [[ 6.10409430e-01 -7.91786374e-01 -2.17868385e-02 4.80631932e+02] [ 7.91211524e-01 6.10796957e-01 -3.01894369e-02 2.83921071e+02] [ 3.72109194e-02 1.18991925e-03 9.99306726e-01 6.89923884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:480.65, Y:283.94, Z:68.99 [[ 6.10174033e-01 -7.91948263e-01 -2.24854945e-02 4.80649279e+02] [ 7.91335518e-01 6.10586967e-01 -3.11713542e-02 2.83942414e+02] [ 3.84154497e-02 1.22638046e-03 9.99261102e-01 6.89908023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:480.67, Y:283.96, Z:68.99 [[ 6.10469351e-01 -7.91721311e-01 -2.24619199e-02 4.80666302e+02] [ 7.91109056e-01 6.10881171e-01 -3.11553574e-02 2.83962958e+02] [ 3.83879243e-02 1.24956259e-03 9.99262131e-01 6.89917058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1692541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:480.69, Y:283.98, Z:68.99 [[ 6.11736253e-01 -7.90718061e-01 -2.33174706e-02 4.80685332e+02] [ 7.90056829e-01 6.12178945e-01 -3.23596362e-02 2.83983768e+02] [ 3.98618133e-02 1.37343571e-03 9.99204258e-01 6.89915911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.1992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:480.70, Y:284.01, Z:68.99 [[ 6.12632346e-01 -7.90029871e-01 -2.31173672e-02 4.80702899e+02] [ 7.89378739e-01 6.13066714e-01 -3.21000125e-02 2.84005557e+02] [ 3.95324571e-02 1.41714780e-03 9.99217282e-01 6.89933243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:480.72, Y:284.03, Z:68.99 [[ 6.14187017e-01 -7.88789491e-01 -2.41960155e-02 4.80722055e+02] [ 7.88074335e-01 6.14661406e-01 -3.36184222e-02 2.84026757e+02] [ 4.13902150e-02 1.57973962e-03 9.99141809e-01 6.89937777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:480.74, Y:284.05, Z:68.99 [[ 6.14721760e-01 -7.88370823e-01 -2.42611472e-02 4.80739562e+02] [ 7.87650657e-01 6.15198185e-01 -3.37288666e-02 2.84048755e+02] [ 4.15162680e-02 1.62455967e-03 9.99136507e-01 6.89944826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.2892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:480.76, Y:284.07, Z:68.99 [[ 6.15120260e-01 -7.88036544e-01 -2.50094188e-02 4.80758644e+02] [ 7.87270068e-01 6.15626086e-01 -3.47902745e-02 2.84069944e+02] [ 4.28124583e-02 1.71103589e-03 9.99081661e-01 6.89945241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:480.78, Y:284.09, Z:69.00 [[ 6.14909361e-01 -7.88201431e-01 -2.49996307e-02 4.80775244e+02] [ 7.87434805e-01 6.15414961e-01 -3.47973072e-02 2.84093198e+02] [ 4.28124341e-02 1.71161056e-03 9.99081661e-01 6.89954410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3492541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:480.79, Y:284.11, Z:69.00 [[ 6.13676746e-01 -7.89153866e-01 -2.52393973e-02 4.80794357e+02] [ 7.88372401e-01 6.14193273e-01 -3.51508418e-02 2.84112829e+02] [ 4.32412908e-02 1.67320999e-03 9.99063257e-01 6.89950314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.3792541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:480.81, Y:284.13, Z:69.00 [[ 6.12228884e-01 -7.90288168e-01 -2.49079354e-02 4.80811781e+02] [ 7.89527243e-01 6.12733305e-01 -3.47077711e-02 2.84133608e+02] [ 4.26910624e-02 1.58360637e-03 9.99087066e-01 6.89964211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4092541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:480.83, Y:284.15, Z:69.00 [[ 6.09030671e-01 -7.92774236e-01 -2.43033607e-02 4.80831587e+02] [ 7.92051039e-01 6.09513814e-01 -3.38830566e-02 2.84153270e+02] [ 4.16748484e-02 1.38631859e-03 9.99130264e-01 6.89974714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4392541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:480.85, Y:284.18, Z:69.00 [[ 6.06814266e-01 -7.94471725e-01 -2.43130489e-02 4.80850060e+02] [ 7.93748531e-01 6.07299790e-01 -3.39151084e-02 2.84175135e+02] [ 4.17099042e-02 1.28172475e-03 9.99128941e-01 6.89987857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4692541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:480.87, Y:284.20, Z:69.00 [[ 6.04574806e-01 -7.96186883e-01 -2.39948126e-02 4.80868312e+02] [ 7.95483015e-01 6.05049667e-01 -3.34913876e-02 2.84196965e+02] [ 4.11834569e-02 1.16058326e-03 9.99150928e-01 6.89997212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.4992541539999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:480.89, Y:284.22, Z:69.00 [[ 5.99927089e-01 -7.99711216e-01 -2.34405378e-02 4.80887225e+02] [ 7.99041385e-01 6.00384162e-01 -3.27371776e-02 2.84217688e+02] [ 4.02536158e-02 9.09959859e-04 9.99189080e-01 6.90009061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5292541539999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:480.90, Y:284.24, Z:69.00 [[ 5.97585094e-01 -8.01469787e-01 -2.31999211e-02 4.80904718e+02] [ 8.00814187e-01 5.98034739e-01 -3.24204985e-02 2.84239174e+02] [ 3.98584088e-02 7.95180666e-04 9.99205022e-01 6.90021071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.92, Y:284.26, Z:69.01 [[ 5.95608674e-01 -8.02956095e-01 -2.26233663e-02 4.80921892e+02] [ 8.02333028e-01 5.96037779e-01 -3.16334960e-02 2.84260929e+02] [ 3.88846894e-02 6.89710572e-04 9.99243466e-01 6.90064557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.5892541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:480.94, Y:284.28, Z:69.00 [[ 5.93285343e-01 -8.04665312e-01 -2.29398818e-02 4.80938422e+02] [ 8.04025184e-01 5.93728371e-01 -3.20955461e-02 2.84282807e+02] [ 3.94462313e-02 5.97574401e-04 9.99221516e-01 6.90048255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6192541539999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:480.96, Y:284.31, Z:69.01 [[ 5.89901094e-01 -8.07147165e-01 -2.30250618e-02 4.80955305e+02] [ 8.06503435e-01 5.90350114e-01 -3.22327990e-02 2.84305018e+02] [ 3.96094602e-02 4.44372008e-04 9.99215139e-01 6.90062014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:480.97, Y:284.33, Z:69.01 [[ 5.88381604e-01 -8.08270552e-01 -2.24900570e-02 4.80970995e+02] [ 8.07656493e-01 5.88811155e-01 -3.15025731e-02 2.84327924e+02] [ 3.87049986e-02 3.71293950e-04 9.99250612e-01 6.90099884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.6792541539999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:480.99, Y:284.35, Z:69.01 [[ 5.87051106e-01 -8.09223961e-01 -2.29691083e-02 4.80986275e+02] [ 8.08583393e-01 5.87500191e-01 -3.21935287e-02 2.84351949e+02] [ 3.95461303e-02 3.26807070e-04 9.99217692e-01 6.90078308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7092541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:481.00, Y:284.38, Z:69.01 [[ 5.86227201e-01 -8.09829432e-01 -2.26706916e-02 4.81001732e+02] [ 8.09205112e-01 5.86665326e-01 -3.17943805e-02 2.84375163e+02] [ 3.90481338e-02 2.93491176e-04 9.99237288e-01 6.90093513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7392541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:481.02, Y:284.40, Z:69.01 [[ 5.84247139e-01 -8.11253850e-01 -2.28576400e-02 4.81017127e+02] [ 8.10619501e-01 5.84694062e-01 -3.20761281e-02 2.84398947e+02] [ 3.93866087e-02 2.11537320e-04 9.99224024e-01 6.90096595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7692541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:481.03, Y:284.42, Z:69.01 [[ 5.83036758e-01 -8.12119646e-01 -2.30177920e-02 4.81032132e+02] [ 8.11476285e-01 5.83490919e-01 -3.23200631e-02 2.84421040e+02] [ 3.96784308e-02 1.65392450e-04 9.99212487e-01 6.90101046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.7992541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:481.05, Y:284.44, Z:69.01 [[ 5.80661860e-01 -8.13832334e-01 -2.25551784e-02 4.81047721e+02] [ 8.13215204e-01 5.81099758e-01 -3.16875885e-02 2.84444717e+02] [ 3.88951928e-02 5.75601014e-05 9.99243294e-01 6.90107106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:481.06, Y:284.47, Z:69.01 [[ 5.79818885e-01 -8.14436775e-01 -2.24232093e-02 4.81063385e+02] [ 8.13826584e-01 5.80252306e-01 -3.15206646e-02 2.84467412e+02] [ 3.86827074e-02 2.76727864e-05 9.99251544e-01 6.90144086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8592541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:481.08, Y:284.49, Z:69.01 [[ 5.78037317e-01 -8.15696040e-01 -2.26457667e-02 4.81078526e+02] [ 8.15073883e-01 5.78480741e-01 -3.18527498e-02 2.84491393e+02] [ 3.90823018e-02 -4.58949718e-05 9.99235994e-01 6.90119294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.8892541539999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:481.09, Y:284.51, Z:69.01 [[ 5.75640227e-01 -8.17385344e-01 -2.27931644e-02 4.81092374e+02] [ 8.16755630e-01 5.76091292e-01 -3.20790312e-02 2.84514690e+02] [ 3.93518735e-02 -1.50464514e-04 9.99225404e-01 6.90117219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9192541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:481.11, Y:284.54, Z:69.01 [[ 5.74414920e-01 -8.18246109e-01 -2.28211471e-02 4.81108039e+02] [ 8.17614826e-01 5.74868042e-01 -3.21361242e-02 2.84538248e+02] [ 3.94144068e-02 -1.99438986e-04 9.99222931e-01 6.90130115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9492541539998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:481.12, Y:284.56, Z:69.01 [[ 5.72372838e-01 -8.19669192e-01 -2.30596928e-02 4.81122765e+02] [ 8.19025010e-01 5.72837090e-01 -3.24915691e-02 2.84561482e+02] [ 3.98417855e-02 -2.89173522e-04 9.99205959e-01 6.90124301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 852.9792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:481.14, Y:284.58, Z:69.02 [[ 5.71769791e-01 -8.20100128e-01 -2.26955196e-02 4.81138638e+02] [ 8.19475789e-01 5.72219965e-01 -3.19959988e-02 2.84584219e+02] [ 3.92267521e-02 -3.04083271e-04 9.99230289e-01 6.90158665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0092541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:481.15, Y:284.61, Z:69.01 [[ 5.70460370e-01 -8.21001319e-01 -2.30607766e-02 4.81153926e+02] [ 8.20356655e-01 5.70926181e-01 -3.25308241e-02 2.84607934e+02] [ 3.98738506e-02 -3.60515562e-04 9.99204657e-01 6.90149789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0392541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:481.17, Y:284.63, Z:69.02 [[ 5.70293526e-01 -8.21129263e-01 -2.26280296e-02 4.81169533e+02] [ 8.20507931e-01 5.70742157e-01 -3.19393891e-02 2.84631273e+02] [ 3.91411375e-02 -3.51650883e-04 9.99233630e-01 6.90164436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0692541539999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:481.18, Y:284.65, Z:69.02 [[ 5.70273181e-01 -8.21136653e-01 -2.28713033e-02 4.81184769e+02] [ 8.20501107e-01 5.70731530e-01 -3.23025381e-02 2.84654808e+02] [ 3.95781720e-02 -3.44658515e-04 9.99216418e-01 6.90162076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.0992541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:481.20, Y:284.68, Z:69.02 [[ 5.71690257e-01 -8.20162414e-01 -2.24469439e-02 4.81198614e+02] [ 8.19548762e-01 5.72130708e-01 -3.17219221e-02 2.84678278e+02] [ 3.88597141e-02 -2.61251271e-04 9.99244642e-01 6.90179973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1292541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:481.21, Y:284.70, Z:69.02 [[ 5.72457248e-01 -8.19632551e-01 -2.22526505e-02 4.81213968e+02] [ 8.19028410e-01 5.72889549e-01 -3.14647106e-02 2.84701758e+02] [ 3.85378119e-02 -2.13351316e-04 9.99257120e-01 6.90185950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1592541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:481.23, Y:284.73, Z:69.02 [[ 5.74446702e-01 -8.18247434e-01 -2.19572873e-02 4.81228938e+02] [ 8.17657520e-01 5.74866180e-01 -3.10653451e-02 2.84725451e+02] [ 3.80416408e-02 -1.08156048e-04 9.99276149e-01 6.90199812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.1892541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:481.24, Y:284.75, Z:69.02 [[ 5.75455664e-01 -8.17537593e-01 -2.19787038e-02 4.81243815e+02] [ 8.16945301e-01 5.75875231e-01 -3.11142021e-02 2.84747675e+02] [ 3.80940210e-02 -5.05549674e-05 9.99274158e-01 6.90209606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2192541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:481.26, Y:284.77, Z:69.02 [[ 5.76178082e-01 -8.17035416e-01 -2.17243466e-02 4.81259349e+02] [ 8.16455766e-01 5.76587486e-01 -3.07709841e-02 2.84771686e+02] [ 3.76669702e-02 -7.40143653e-06 9.99290348e-01 6.90211568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:481.27, Y:284.79, Z:69.03 [[ 5.78607272e-01 -8.15327455e-01 -2.13252512e-02 4.81273849e+02] [ 8.14767086e-01 5.79000111e-01 -3.02236080e-02 2.84794500e+02] [ 3.69894602e-02 1.12486557e-04 9.99315649e-01 6.90259577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.29, Y:284.82, Z:69.03 [[ 5.79592309e-01 -8.14627159e-01 -2.13388566e-02 4.81289432e+02] [ 8.14064977e-01 5.79984968e-01 -3.02596966e-02 2.84818372e+02] [ 3.70265867e-02 1.67071639e-04 9.99314267e-01 6.90277317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:481.30, Y:284.84, Z:69.03 [[ 5.81083467e-01 -8.13556033e-01 -2.16468321e-02 4.81303653e+02] [ 8.12976054e-01 5.81486473e-01 -3.07151071e-02 2.84842727e+02] [ 3.75758007e-02 2.49684789e-04 9.99293749e-01 6.90258787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3392541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:481.32, Y:284.87, Z:69.02 [[ 5.81632197e-01 -8.13161836e-01 -2.17213274e-02 4.81318813e+02] [ 8.12576878e-01 5.82037582e-01 -3.08394493e-02 2.84866162e+02] [ 3.77200921e-02 2.86968238e-04 9.99288303e-01 6.90246003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.33, Y:284.89, Z:69.03 [[ 5.83376575e-01 -8.11907993e-01 -2.18445012e-02 4.81334136e+02] [ 8.11314782e-01 5.83785290e-01 -3.10332036e-02 2.84889176e+02] [ 3.79486046e-02 3.81277311e-04 9.99279620e-01 6.90304226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.35, Y:284.91, Z:69.03 [[ 5.83759383e-01 -8.11630323e-01 -2.19363124e-02 4.81349755e+02] [ 8.11031197e-01 5.84171250e-01 -3.11824968e-02 2.84912021e+02] [ 3.81232230e-02 4.12041423e-04 9.99272961e-01 6.90315537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.36, Y:284.94, Z:69.03 [[ 5.83507916e-01 -8.11801454e-01 -2.22915352e-02 4.81364858e+02] [ 8.11182135e-01 5.83933408e-01 -3.17067629e-02 2.84935827e+02] [ 3.87563683e-02 4.18651949e-04 9.99248602e-01 6.90323188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4592541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:481.38, Y:284.96, Z:69.03 [[ 5.82396281e-01 -8.12581942e-01 -2.29163603e-02 4.81380372e+02] [ 8.11927196e-01 5.82846838e-01 -3.26158111e-02 2.84959387e+02] [ 3.98597473e-02 3.88910960e-04 9.99205209e-01 6.90304068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.4892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:481.40, Y:284.98, Z:69.03 [[ 5.80284734e-01 -8.14066651e-01 -2.37721556e-02 4.81395213e+02] [ 8.13362444e-01 5.80771376e-01 -3.38547450e-02 2.84981541e+02] [ 4.13662064e-02 3.10013153e-04 9.99144004e-01 6.90302418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5192541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:481.41, Y:285.00, Z:69.03 [[ 5.78513421e-01 -8.15319998e-01 -2.39900433e-02 4.81410654e+02] [ 8.14603099e-01 5.79010575e-01 -3.41839996e-02 2.85003510e+02] [ 4.17613872e-02 2.33538970e-04 9.99127585e-01 6.90305387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:481.43, Y:285.03, Z:69.03 [[ 5.74603325e-01 -8.18069081e-01 -2.43720969e-02 4.81427253e+02] [ 8.17330778e-01 5.75119968e-01 -3.47479771e-02 2.85025688e+02] [ 4.24431252e-02 4.62382055e-05 9.99098884e-01 6.90341896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.5792541539998 meters Centerline goodness : 0.997234 Centerline is valid? [True, True] Translation: X:481.44, Y:285.05, Z:69.03 [[ 5.72321677e-01 -8.19869357e-01 -1.61905941e-02 4.81443621e+02] [ 8.18952583e-01 5.72470255e-01 -3.99308704e-02 2.85053157e+02] [ 4.20067306e-02 9.59397384e-03 9.99071264e-01 6.90319888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:481.47, Y:285.07, Z:69.04 [[ 5.66477896e-01 -8.23418731e-01 -3.29300183e-02 4.81465051e+02] [ 8.22947580e-01 5.67341059e-01 -2.96884586e-02 2.85068095e+02] [ 4.31285844e-02 -1.02818233e-02 9.99016621e-01 6.90405457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:481.48, Y:285.09, Z:69.04 [[ 5.63599691e-01 -8.25672181e-01 -2.49166218e-02 4.81477707e+02] [ 8.24904965e-01 5.64149984e-01 -3.55892560e-02 2.85093399e+02] [ 4.34417704e-02 -4.95751370e-04 9.99055838e-01 6.90374890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:481.49, Y:285.12, Z:69.04 [[ 5.61077108e-01 -8.27401397e-01 -2.44827803e-02 4.81493768e+02] [ 8.26661464e-01 5.61610683e-01 -3.49894823e-02 2.85115506e+02] [ 4.27001375e-02 -6.07173482e-04 9.99087749e-01 6.90404944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.6992541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:481.51, Y:285.14, Z:69.04 [[ 5.58494526e-01 -8.29144102e-01 -2.45748401e-02 4.81510151e+02] [ 8.28399449e-01 5.59034455e-01 -3.51401742e-02 2.85137945e+02] [ 4.28744505e-02 -7.32189024e-04 9.99080200e-01 6.90397100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:481.53, Y:285.16, Z:69.04 [[ 5.54587279e-01 -8.31767350e-01 -2.44136299e-02 4.81526220e+02] [ 8.31034120e-01 5.55123620e-01 -3.49293150e-02 2.85159323e+02] [ 4.26056464e-02 -9.17205719e-04 9.99091546e-01 6.90411680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7592541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:481.54, Y:285.18, Z:69.04 [[ 5.53000469e-01 -8.32820405e-01 -2.45082460e-02 4.81542481e+02] [ 8.32081704e-01 5.53542401e-01 -3.50834497e-02 2.85181892e+02] [ 4.27845661e-02 -9.91698910e-04 9.99083829e-01 6.90418164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.7892541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:481.56, Y:285.20, Z:69.04 [[ 5.51210390e-01 -8.34014465e-01 -2.42276455e-02 4.81558740e+02] [ 8.33292967e-01 5.51741557e-01 -3.46999352e-02 2.85204036e+02] [ 4.23076467e-02 -1.06176181e-03 9.99104067e-01 6.90438975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8192541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:481.57, Y:285.23, Z:69.05 [[ 5.50666467e-01 -8.34375226e-01 -2.41748562e-02 4.81574839e+02] [ 8.33656589e-01 5.51195807e-01 -3.46391999e-02 2.85226977e+02] [ 4.22271696e-02 -1.07888229e-03 9.99107453e-01 6.90450016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.59, Y:285.25, Z:69.05 [[ 5.51653680e-01 -8.33726731e-01 -2.40406949e-02 4.81590200e+02] [ 8.33014672e-01 5.52176341e-01 -3.44651279e-02 2.85249115e+02] [ 4.20092013e-02 -1.01343690e-03 9.99116710e-01 6.90486351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.8792541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:481.61, Y:285.27, Z:69.05 [[ 5.51370653e-01 -8.33895291e-01 -2.46788721e-02 4.81605416e+02] [ 8.33144379e-01 5.51921690e-01 -3.53962096e-02 2.85272258e+02] [ 4.31375373e-02 -1.04463244e-03 9.99068597e-01 6.90461096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:481.62, Y:285.30, Z:69.05 [[ 5.52323961e-01 -8.33259989e-01 -2.48200070e-02 4.81621123e+02] [ 8.32498955e-01 5.52880468e-01 -3.56185227e-02 2.85295857e+02] [ 4.34019869e-02 -9.89666362e-04 9.99057200e-01 6.90479517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:481.64, Y:285.32, Z:69.05 [[ 5.54978055e-01 -8.31480630e-01 -2.52847762e-02 4.81635543e+02] [ 8.30688047e-01 5.55553086e-01 -3.63061752e-02 2.85319317e+02] [ 4.42349169e-02 -8.54630799e-04 9.99020791e-01 6.90486357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9692541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:481.65, Y:285.34, Z:69.05 [[ 5.58815240e-01 -8.28891452e-01 -2.57776668e-02 4.81650051e+02] [ 8.28063885e-01 5.59409098e-01 -3.70359745e-02 2.85343533e+02] [ 4.51190640e-02 -6.49287894e-04 9.98981406e-01 6.90476969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 853.9992541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:481.67, Y:285.37, Z:69.05 [[ 5.61137241e-01 -8.27327333e-01 -2.55828167e-02 4.81665235e+02] [ 8.26509628e-01 5.61719883e-01 -3.67778099e-02 2.85367309e+02] [ 4.47976642e-02 -5.07045535e-04 9.98995952e-01 6.90490197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0292541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:481.68, Y:285.39, Z:69.05 [[ 5.63628714e-01 -8.25634338e-01 -2.55071227e-02 4.81680199e+02] [ 8.24818751e-01 5.64205469e-01 -3.66908371e-02 2.85390739e+02] [ 4.46844731e-02 -3.58743778e-04 9.99001086e-01 6.90494804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0592541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:481.69, Y:285.41, Z:69.05 [[ 5.68437509e-01 -8.22336059e-01 -2.53417534e-02 4.81694626e+02] [ 8.21526753e-01 5.69002108e-01 -3.64745848e-02 2.85414814e+02] [ 4.44138774e-02 -8.54062726e-05 9.99013213e-01 6.90510571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.0892541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:481.71, Y:285.44, Z:69.05 [[ 5.70383411e-01 -8.20987850e-01 -2.53320840e-02 4.81709182e+02] [ 8.20176946e-01 5.70945662e-01 -3.64805310e-02 2.85437971e+02] [ 4.44133162e-02 3.10983792e-05 9.99013241e-01 6.90522570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1192541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:481.72, Y:285.46, Z:69.05 [[ 5.74001247e-01 -8.18475554e-01 -2.49065483e-02 4.81723794e+02] [ 8.17688590e-01 5.74541308e-01 -3.58839180e-02 2.85462550e+02] [ 4.36799505e-02 2.31613304e-04 9.99045549e-01 6.90528744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:481.74, Y:285.49, Z:69.06 [[ 5.75401108e-01 -8.17510091e-01 -2.43067043e-02 4.81739048e+02] [ 8.16758845e-01 5.75914191e-01 -3.50404571e-02 2.85485688e+02] [ 4.26445032e-02 3.09602158e-04 9.99090261e-01 6.90553329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:481.75, Y:285.51, Z:69.06 [[ 5.77863485e-01 -8.15789574e-01 -2.36888735e-02 4.81753087e+02] [ 8.15073760e-01 5.78348666e-01 -3.41699577e-02 2.85508433e+02] [ 4.15759236e-02 4.37391640e-04 9.99135252e-01 6.90575870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2092541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:481.77, Y:285.53, Z:69.05 [[ 5.79051255e-01 -8.14927467e-01 -2.43488640e-02 4.81767925e+02] [ 8.14169559e-01 5.79562721e-01 -3.51423106e-02 2.85532481e+02] [ 4.27501280e-02 5.25095188e-04 9.99085657e-01 6.90548598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2392541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:481.78, Y:285.56, Z:69.06 [[ 5.78833501e-01 -8.15082445e-01 -2.43389887e-02 4.81784121e+02] [ 8.14324386e-01 5.79344743e-01 -3.51491492e-02 2.85556013e+02] [ 4.27501196e-02 5.25672981e-04 9.99085658e-01 6.90557790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2692541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:481.80, Y:285.58, Z:69.06 [[ 5.79247763e-01 -8.14786243e-01 -2.44009639e-02 4.81800030e+02] [ 8.14023172e-01 5.79761213e-01 -3.52592041e-02 2.85579555e+02] [ 4.28754469e-02 5.60865099e-04 9.99080268e-01 6.90566949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.2992541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:481.82, Y:285.60, Z:69.06 [[ 5.79433881e-01 -8.14646694e-01 -2.46402419e-02 4.81815968e+02] [ 8.13867497e-01 5.79957254e-01 -3.56269780e-02 2.85603071e+02] [ 4.33136869e-02 5.89586144e-04 9.99061348e-01 6.90578249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:481.83, Y:285.63, Z:69.06 [[ 5.79576547e-01 -8.14548471e-01 -2.45319327e-02 4.81831999e+02] [ 8.13775088e-01 5.80095183e-01 -3.54920474e-02 2.85626267e+02] [ 4.31408488e-02 6.06882583e-04 9.99068816e-01 6.90596258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:481.85, Y:285.65, Z:69.06 [[ 5.78851066e-01 -8.15057297e-01 -2.47597624e-02 4.81848036e+02] [ 8.14268983e-01 5.79380064e-01 -3.58436342e-02 2.85649061e+02] [ 4.35599283e-02 5.87019369e-04 9.99050643e-01 6.90621483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.3892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:481.86, Y:285.67, Z:69.06 [[ 5.76435093e-01 -8.16749919e-01 -2.53407252e-02 4.81863925e+02] [ 8.15924802e-01 5.76991626e-01 -3.67067087e-02 2.85670733e+02] [ 4.46015875e-02 4.82908872e-04 9.99004737e-01 6.90618668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:481.88, Y:285.69, Z:69.06 [[ 5.74455276e-01 -8.18137140e-01 -2.55491019e-02 4.81880429e+02] [ 8.17298809e-01 5.75023015e-01 -3.70295602e-02 2.85694036e+02] [ 4.49865801e-02 3.90575681e-04 9.98987515e-01 6.90627150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4492541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:481.90, Y:285.72, Z:69.06 [[ 5.70217543e-01 -8.21087908e-01 -2.58186039e-02 4.81897571e+02] [ 8.20233739e-01 5.70801732e-01 -3.74432514e-02 2.85716534e+02] [ 4.54815048e-02 1.73508786e-04 9.98965166e-01 6.90629899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.4792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:481.91, Y:285.74, Z:69.06 [[ 5.65000831e-01 -8.24684768e-01 -2.58668691e-02 4.81914318e+02] [ 8.23830116e-01 5.65592630e-01 -3.75355422e-02 2.85737820e+02] [ 4.55851004e-02 -1.02293164e-04 9.98960454e-01 6.90648719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5092541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:481.93, Y:285.76, Z:69.07 [[ 5.62314566e-01 -8.26528330e-01 -2.55587279e-02 4.81931156e+02] [ 8.25694889e-01 5.62895074e-01 -3.71091162e-02 2.85760798e+02] [ 4.50586178e-02 -2.36714449e-04 9.98984317e-01 6.90660072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:481.95, Y:285.78, Z:69.07 [[ 5.59669371e-01 -8.28332268e-01 -2.52160362e-02 4.81946969e+02] [ 8.27521920e-01 5.60237022e-01 -3.66326669e-02 2.85782674e+02] [ 4.44709771e-02 -3.64641001e-04 9.99010610e-01 6.90692690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:481.96, Y:285.80, Z:69.07 [[ 5.56955055e-01 -8.30160408e-01 -2.51945307e-02 4.81963185e+02] [ 8.29352411e-01 5.57524393e-01 -3.66214410e-02 2.85804979e+02] [ 4.44482359e-02 -4.98648130e-04 9.99011564e-01 6.90702868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.5992541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:481.98, Y:285.83, Z:69.07 [[ 5.53956483e-01 -8.32156373e-01 -2.54555665e-02 4.81979376e+02] [ 8.31332656e-01 5.54540661e-01 -3.70225694e-02 2.85827947e+02] [ 4.49247137e-02 -6.53151354e-04 9.98990162e-01 6.90696953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:481.99, Y:285.85, Z:69.07 [[ 5.51921176e-01 -8.33519706e-01 -2.50582278e-02 4.81994916e+02] [ 8.32721971e-01 5.52489232e-01 -3.64659815e-02 2.85849951e+02] [ 4.42395152e-02 -7.40189435e-04 9.99020679e-01 6.90720559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:482.01, Y:285.87, Z:69.07 [[ 5.48384590e-01 -8.35855597e-01 -2.48950403e-02 4.82010682e+02] [ 8.35069723e-01 5.48948624e-01 -3.62486750e-02 2.85872687e+02] [ 4.39647560e-02 -9.10879584e-04 9.99032667e-01 6.90725130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.6892541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:482.03, Y:285.89, Z:69.07 [[ 5.45858840e-01 -8.37498614e-01 -2.51832842e-02 4.82025998e+02] [ 8.36695210e-01 5.46438453e-01 -3.66898240e-02 2.85894854e+02] [ 4.44887917e-02 -1.04326846e-03 9.99009339e-01 6.90724151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:482.04, Y:285.92, Z:69.08 [[ 5.45236198e-01 -8.37915457e-01 -2.48027344e-02 4.82041874e+02] [ 8.37135732e-01 5.45799033e-01 -3.61549803e-02 2.85918122e+02] [ 4.38321253e-02 -1.05025128e-03 9.99038359e-01 6.90761430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7492541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:482.06, Y:285.94, Z:69.08 [[ 5.43715756e-01 -8.38881392e-01 -2.55183754e-02 4.82057179e+02] [ 8.38056052e-01 5.44313045e-01 -3.72204563e-02 2.85941823e+02] [ 4.51135328e-02 -1.14848039e-03 9.98981206e-01 6.90751999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.7792541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:482.07, Y:285.96, Z:69.08 [[ 5.42092695e-01 -8.39922789e-01 -2.57918417e-02 4.82071971e+02] [ 8.39079822e-01 5.42704506e-01 -3.76413487e-02 2.85964824e+02] [ 4.56131753e-02 -1.23631373e-03 9.98958412e-01 6.90752369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8092541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:482.09, Y:285.99, Z:69.08 [[ 5.40989612e-01 -8.40630701e-01 -2.58894555e-02 4.82087088e+02] [ 8.39781181e-01 5.41607203e-01 -3.78048468e-02 2.85988272e+02] [ 4.58018305e-02 -1.28944812e-03 9.98949713e-01 6.90755827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8392541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:482.10, Y:286.01, Z:69.08 [[ 5.40167329e-01 -8.41154771e-01 -2.60366804e-02 4.82102062e+02] [ 8.40295210e-01 5.40792827e-01 -3.80404841e-02 2.86011005e+02] [ 4.60783847e-02 -1.33027112e-03 9.98936941e-01 6.90764019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:482.12, Y:286.04, Z:69.08 [[ 5.38707728e-01 -8.42092317e-01 -2.59713900e-02 4.82117205e+02] [ 8.41237345e-01 5.39331602e-01 -3.79625266e-02 2.86035233e+02] [ 4.59751434e-02 -1.39739668e-03 9.98941607e-01 6.90773271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.8992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:482.13, Y:286.06, Z:69.08 [[ 5.38087122e-01 -8.42492663e-01 -2.58526783e-02 4.82132422e+02] [ 8.41644933e-01 5.38705964e-01 -3.78112637e-02 2.86058796e+02] [ 4.57827043e-02 -1.41302162e-03 9.98950423e-01 6.90794319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.13, Y:286.09, Z:69.06 [[ 5.34418381e-01 -8.45214466e-01 3.08232560e-03 4.82128199e+02] [ 8.44423921e-01 5.33753182e-01 -4.53407408e-02 2.86091091e+02] [ 3.66774489e-02 2.68337148e-02 9.98966825e-01 6.90592427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9592541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:482.17, Y:286.10, Z:69.09 [[ 5.38371277e-01 -8.41314520e-01 -4.84380736e-02 4.82172561e+02] [ 8.41526654e-01 5.39770017e-01 -2.19367313e-02 2.86098850e+02] [ 4.46011104e-02 -2.89518239e-02 9.98585266e-01 6.90909170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 854.9892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:482.18, Y:286.13, Z:69.08 [[ 5.41016490e-01 -8.40640537e-01 -2.49929045e-02 4.82176182e+02] [ 8.39844875e-01 5.41592149e-01 -3.65859266e-02 2.86131018e+02] [ 4.42915739e-02 -1.19657313e-03 9.99017930e-01 6.90828379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:482.17, Y:286.16, Z:69.06 [[ 5.38621998e-01 -8.42538068e-01 3.99340600e-03 4.82172583e+02] [ 8.41805387e-01 5.37942625e-01 -4.45131712e-02 2.86163353e+02] [ 3.53558179e-02 2.73374439e-02 9.99000816e-01 6.90614594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0492541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:482.21, Y:286.17, Z:69.09 [[ 5.46363348e-01 -8.36200246e-01 -4.74999093e-02 4.82214743e+02] [ 8.36432982e-01 5.47683391e-01 -2.05613449e-02 2.86172512e+02] [ 4.32083131e-02 -2.84965255e-02 9.98659597e-01 6.90935382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.0792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:482.22, Y:286.20, Z:69.09 [[ 5.49465163e-01 -8.35156775e-01 -2.45192830e-02 4.82217696e+02] [ 8.34383027e-01 5.50011511e-01 -3.59485963e-02 2.86203020e+02] [ 4.35086016e-02 -7.05972218e-04 9.99052803e-01 6.90857190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:482.23, Y:286.23, Z:69.09 [[ 5.54939479e-01 -8.31506592e-01 -2.52776983e-02 4.82230781e+02] [ 8.30679432e-01 5.55514727e-01 -3.70819346e-02 2.86228721e+02] [ 4.48760068e-02 -4.19434608e-04 9.98992477e-01 6.90852271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1392541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:482.24, Y:286.25, Z:69.09 [[ 5.57487589e-01 -8.29786757e-01 -2.57201706e-02 4.82244050e+02] [ 8.28927530e-01 5.58080517e-01 -3.77529748e-02 2.86251903e+02] [ 4.56808446e-02 -2.73342589e-04 9.98956048e-01 6.90852154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1692541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:482.26, Y:286.28, Z:69.08 [[ 5.62477394e-01 -8.26390732e-01 -2.64109690e-02 4.82256681e+02] [ 8.25479902e-01 5.63097112e-01 -3.87888484e-02 2.86276814e+02] [ 4.69266852e-02 1.61262285e-05 9.98898336e-01 6.90847765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.1992541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:482.27, Y:286.30, Z:69.09 [[ 5.64437850e-01 -8.25043868e-01 -2.66932485e-02 4.82271350e+02] [ 8.24110794e-01 5.65068665e-01 -3.92275811e-02 2.86301114e+02] [ 4.74479935e-02 1.43337344e-04 9.98873699e-01 6.90856348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:482.29, Y:286.33, Z:69.09 [[ 5.65899260e-01 -8.24052566e-01 -2.63703750e-02 4.82286131e+02] [ 8.23139746e-01 5.66513295e-01 -3.87768645e-02 2.86325057e+02] [ 4.68933427e-02 2.37295133e-04 9.98899874e-01 6.90876068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:482.30, Y:286.35, Z:69.09 [[ 5.67165112e-01 -8.23174148e-01 -2.66093556e-02 4.82299840e+02] [ 8.22242612e-01 5.67788883e-01 -3.91519017e-02 2.86347988e+02] [ 4.73373296e-02 3.26246665e-04 9.98878907e-01 6.90879760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.2892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:482.32, Y:286.37, Z:69.09 [[ 5.67255071e-01 -8.23113860e-01 -2.65566941e-02 4.82315395e+02] [ 8.22184901e-01 5.67876268e-01 -3.90964490e-02 2.86371437e+02] [ 4.72617454e-02 3.43146008e-04 9.98882480e-01 6.90895083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.33, Y:286.39, Z:69.09 [[ 5.65829718e-01 -8.24109283e-01 -2.60886932e-02 4.82330656e+02] [ 8.23212830e-01 5.66430771e-01 -3.84293947e-02 2.86393963e+02] [ 4.64474595e-02 2.67946606e-04 9.98920698e-01 6.90921852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3492541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:482.35, Y:286.42, Z:69.09 [[ 5.62163653e-01 -8.26619074e-01 -2.59409846e-02 4.82346333e+02] [ 8.25734386e-01 5.62761852e-01 -3.82337804e-02 2.86417434e+02] [ 4.62033687e-02 7.32786548e-05 9.98932051e-01 6.90913069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.3792541539999 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:482.36, Y:286.44, Z:69.09 [[ 5.57174082e-01 -8.29988287e-01 -2.60093407e-02 4.82362501e+02] [ 8.29101479e-01 5.57780787e-01 -3.83579383e-02 2.86440314e+02] [ 4.63441500e-02 -1.92333820e-04 9.98925514e-01 6.90917214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:482.38, Y:286.46, Z:69.09 [[ 5.54584305e-01 -8.31730984e-01 -2.56869284e-02 4.82378611e+02] [ 8.30866832e-01 5.55178770e-01 -3.79056814e-02 2.86462966e+02] [ 4.57881670e-02 -3.20520872e-04 9.98951120e-01 6.90939784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:482.39, Y:286.49, Z:69.09 [[ 5.52008088e-01 -8.33429202e-01 -2.61311371e-02 4.82394220e+02] [ 8.32535788e-01 5.52626055e-01 -3.85824538e-02 2.86485227e+02] [ 4.65964909e-02 -4.57280263e-04 9.98913689e-01 6.90949750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4692541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:482.41, Y:286.51, Z:69.10 [[ 5.47158189e-01 -8.36604355e-01 -2.66658954e-02 4.82410664e+02] [ 8.35676889e-01 5.47807099e-01 -3.93893312e-02 2.86508029e+02] [ 4.75610529e-02 -7.31877401e-04 9.98868065e-01 6.90954800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.4992541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:482.43, Y:286.53, Z:69.10 [[ 5.45185160e-01 -8.37885640e-01 -2.68476320e-02 4.82426896e+02] [ 8.36945834e-01 5.45845176e-01 -3.96826775e-02 2.86531293e+02] [ 4.79041960e-02 -8.35606894e-04 9.98851586e-01 6.90968151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5292541539999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:482.44, Y:286.55, Z:69.10 [[ 5.42279466e-01 -8.39737881e-01 -2.78077475e-02 4.82442143e+02] [ 8.38730916e-01 5.42991018e-01 -4.11242632e-02 2.86553864e+02] [ 4.96329588e-02 -1.02237399e-03 9.98767002e-01 6.90975369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:482.46, Y:286.58, Z:69.10 [[ 5.41508749e-01 -8.40251645e-01 -2.73028903e-02 4.82457671e+02] [ 8.39280725e-01 5.42195621e-01 -4.03952162e-02 2.86577082e+02] [ 4.87456544e-02 -1.04042662e-03 9.98810682e-01 6.91005997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.5892541539998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:482.47, Y:286.60, Z:69.10 [[ 5.40218826e-01 -8.41063150e-01 -2.78639224e-02 4.82472127e+02] [ 8.40051863e-01 5.40935776e-01 -4.12474621e-02 2.86599912e+02] [ 4.97643129e-02 -1.12448434e-03 9.98760356e-01 6.90999093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6192541539999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:482.49, Y:286.62, Z:69.10 [[ 5.39679596e-01 -8.41417519e-01 -2.76132708e-02 4.82487919e+02] [ 8.40423945e-01 5.40384368e-01 -4.08940886e-02 2.86623664e+02] [ 4.93307825e-02 -1.13714876e-03 9.98781848e-01 6.91013825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6492541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:482.50, Y:286.65, Z:69.10 [[ 5.39026324e-01 -8.41836600e-01 -2.76000271e-02 4.82503136e+02] [ 8.40843301e-01 5.39731220e-01 -4.08992974e-02 2.86646763e+02] [ 4.93271218e-02 -1.16149997e-03 9.98782001e-01 6.91024036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.6792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:482.52, Y:286.67, Z:69.10 [[ 5.38892449e-01 -8.41927191e-01 -2.74505672e-02 4.82517693e+02] [ 8.40943571e-01 5.39589919e-01 -4.07017161e-02 2.86669146e+02] [ 4.90799309e-02 -1.15053050e-03 9.98794191e-01 6.91040160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.52, Y:286.70, Z:69.09 [[ 5.35519511e-01 -8.44506776e-01 -5.21147613e-03 4.82518196e+02] [ 8.43475747e-01 5.35152545e-01 -4.64802969e-02 2.86698476e+02] [ 4.20418604e-02 2.04953522e-02 9.98905612e-01 6.90896744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7392541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:482.56, Y:286.71, Z:69.11 [[ 5.38084240e-01 -8.41681581e-01 -4.51382987e-02 4.82556626e+02] [ 8.41481024e-01 5.39509539e-01 -2.89679702e-02 2.86711274e+02] [ 4.87343497e-02 -2.23958136e-02 9.98560660e-01 6.91137780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:482.55, Y:286.75, Z:69.09 [[ 5.36606524e-01 -8.43811080e-01 -6.02498850e-03 4.82551415e+02] [ 8.42830766e-01 5.36303605e-01 -4.48858987e-02 2.86747035e+02] [ 4.11064417e-02 1.90080204e-02 9.98973951e-01 6.90940950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.7992541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:482.59, Y:286.76, Z:69.12 [[ 5.38838463e-01 -8.41357275e-01 -4.20838156e-02 4.82585888e+02] [ 8.41163550e-01 5.40085561e-01 -2.74129357e-02 2.86759634e+02] [ 4.57929340e-02 -2.06282276e-02 9.98737945e-01 6.91173000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.59, Y:286.79, Z:69.11 [[ 5.39678556e-01 -8.41486393e-01 -2.54500938e-02 4.82593721e+02] [ 8.40637462e-01 5.40277396e-01 -3.78020349e-02 2.86788757e+02] [ 4.55600084e-02 -9.93354649e-04 9.98961110e-01 6.91127514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:482.59, Y:286.82, Z:69.09 [[ 5.37861301e-01 -8.43033266e-01 3.65052036e-04 4.82591567e+02] [ 8.42159737e-01 5.37284174e-01 -4.57459789e-02 2.86820913e+02] [ 3.83692453e-02 2.49124238e-02 9.98953038e-01 6.90939684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.8892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:482.63, Y:286.83, Z:69.12 [[ 5.41960296e-01 -8.39114568e-01 -4.65379324e-02 4.82632570e+02] [ 8.39197007e-01 5.43318375e-01 -2.35271576e-02 2.86831150e+02] [ 4.50268945e-02 -2.63037082e-02 9.98639421e-01 6.91231667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9192541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:482.64, Y:286.86, Z:69.11 [[ 5.44563660e-01 -8.38309884e-01 -2.62099095e-02 4.82635959e+02] [ 8.37404155e-01 5.45193550e-01 -3.89650393e-02 2.86862497e+02] [ 4.69542512e-02 -7.29342683e-04 9.98896775e-01 6.91133880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9492541539998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:482.65, Y:286.89, Z:69.11 [[ 5.46822489e-01 -8.36820991e-01 -2.67543505e-02 4.82649620e+02] [ 8.35874320e-01 5.47476272e-01 -3.97976437e-02 2.86887735e+02] [ 4.79508757e-02 -6.01027940e-04 9.98849514e-01 6.91131306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 855.9792541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:482.65, Y:286.92, Z:69.10 [[ 5.45127947e-01 -8.38351480e-01 -1.52230620e-03 4.82648757e+02] [ 8.37365943e-01 5.44573400e-01 -4.75193568e-02 2.86918432e+02] [ 4.06669306e-02 2.46294020e-02 9.98869157e-01 6.90967581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:482.69, Y:286.93, Z:69.12 [[ 5.48859943e-01 -8.34579032e-01 -4.72292499e-02 4.82688151e+02] [ 8.34555949e-01 5.50312420e-01 -2.59347092e-02 2.86929340e+02] [ 4.76354073e-02 -2.51809284e-02 9.98547339e-01 6.91246101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0392541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:482.69, Y:286.96, Z:69.12 [[ 5.48564192e-01 -8.35690443e-01 -2.64350122e-02 4.82692890e+02] [ 8.34762489e-01 5.49200568e-01 -3.93741374e-02 2.86959851e+02] [ 4.74227141e-02 -4.67714684e-04 9.98874801e-01 6.91164470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:482.71, Y:286.98, Z:69.12 [[ 5.46590717e-01 -8.36993819e-01 -2.60755824e-02 4.82707670e+02] [ 8.36091333e-01 5.47212056e-01 -3.88619223e-02 2.86982197e+02] [ 4.67960618e-02 -5.60002517e-04 9.98904307e-01 6.91184005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.72, Y:287.01, Z:69.12 [[ 5.43744470e-01 -8.38861458e-01 -2.55618173e-02 4.82723467e+02] [ 8.37995271e-01 5.44344535e-01 -3.81176280e-02 2.87005269e+02] [ 4.58898445e-02 -6.94432600e-04 9.98946265e-01 6.91208686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.74, Y:287.03, Z:69.12 [[ 5.43524773e-01 -8.39004142e-01 -2.55513352e-02 4.82739295e+02] [ 8.38137783e-01 5.44124589e-01 -3.81246537e-02 2.87029036e+02] [ 4.58898521e-02 -6.93845682e-04 9.98946265e-01 6.91218174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1592541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:482.75, Y:287.05, Z:69.12 [[ 5.40999768e-01 -8.40619439e-01 -2.60424700e-02 4.82753729e+02] [ 8.39720262e-01 5.41625574e-01 -3.88795388e-02 2.87051880e+02] [ 4.67881638e-02 -8.34568289e-04 9.98904486e-01 6.91207348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.1892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:482.77, Y:287.08, Z:69.12 [[ 5.40782510e-01 -8.40759526e-01 -2.60326242e-02 4.82769541e+02] [ 8.39860194e-01 5.41408093e-01 -3.88861306e-02 2.87075656e+02] [ 4.67881582e-02 -8.34825547e-04 9.98904486e-01 6.91216838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:482.79, Y:287.10, Z:69.12 [[ 5.39198762e-01 -8.41786389e-01 -2.56976743e-02 4.82785632e+02] [ 8.40910218e-01 5.39810027e-01 -3.84075553e-02 2.87098814e+02] [ 4.62028196e-02 -9.00130632e-04 9.98931674e-01 6.91245685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2492541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:482.80, Y:287.12, Z:69.12 [[ 5.34153991e-01 -8.44979320e-01 -2.62576185e-02 4.82801291e+02] [ 8.44067196e-01 5.34797661e-01 -3.92686897e-02 2.87122246e+02] [ 4.72237437e-02 -1.18766708e-03 9.98883631e-01 6.91241429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.2792541539999 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:482.82, Y:287.15, Z:69.12 [[ 5.31337512e-01 -8.46736872e-01 -2.67790722e-02 4.82816658e+02] [ 8.45789138e-01 5.32010178e-01 -4.00737525e-02 2.87145287e+02] [ 4.81786628e-02 -1.35676047e-03 9.98837813e-01 6.91235654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3092541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:482.83, Y:287.17, Z:69.12 [[ 5.29175520e-01 -8.48086584e-01 -2.68777740e-02 4.82831799e+02] [ 8.47132487e-01 5.29855619e-01 -4.02439301e-02 2.87167437e+02] [ 4.83716768e-02 -1.47293288e-03 9.98828319e-01 6.91246837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3392541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:482.85, Y:287.19, Z:69.13 [[ 5.25306168e-01 -8.50494734e-01 -2.66859137e-02 4.82846814e+02] [ 8.49556488e-01 5.25980902e-01 -3.99733044e-02 2.87189376e+02] [ 4.80333658e-02 -1.67296771e-03 9.98844331e-01 6.91266657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3692541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:482.86, Y:287.21, Z:69.13 [[ 5.23417419e-01 -8.51646383e-01 -2.70673955e-02 4.82861874e+02] [ 8.50681675e-01 5.24113748e-01 -4.05643519e-02 2.87212727e+02] [ 4.87328777e-02 -1.79364896e-03 9.98810237e-01 6.91266175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.3992541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:482.88, Y:287.24, Z:69.13 [[ 5.21551244e-01 -8.52797514e-01 -2.68458649e-02 4.82876558e+02] [ 8.51848893e-01 5.22238349e-01 -4.02563138e-02 2.87235539e+02] [ 4.83504245e-02 -1.87288974e-03 9.98828678e-01 6.91286386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4292541539999 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:482.89, Y:287.26, Z:69.13 [[ 5.20607818e-01 -8.53365630e-01 -2.71035304e-02 4.82891434e+02] [ 8.52398308e-01 5.21309285e-01 -4.06663815e-02 2.87258926e+02] [ 4.88326143e-02 -1.93176728e-03 9.98805108e-01 6.91281101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4592541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:482.91, Y:287.28, Z:69.13 [[ 5.20677907e-01 -8.53349748e-01 -2.62435513e-02 4.82905734e+02] [ 8.52441857e-01 5.21335549e-01 -3.93970166e-02 2.87281507e+02] [ 4.73011304e-02 -1.85794546e-03 9.98878947e-01 6.91305240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.4892541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:482.92, Y:287.31, Z:69.13 [[ 5.19711381e-01 -8.54019411e-01 -2.34718144e-02 4.82918579e+02] [ 8.53132806e-01 5.20241105e-01 -3.89051109e-02 2.87306018e+02] [ 4.54367225e-02 1.94854023e-04 9.98967200e-01 6.91299580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5192541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:482.94, Y:287.33, Z:69.13 [[ 5.21465980e-01 -8.52851073e-01 -2.68007305e-02 4.82936254e+02] [ 8.52061773e-01 5.22141730e-01 -3.68612102e-02 2.87328710e+02] [ 4.54309024e-02 -3.61401082e-03 9.98960946e-01 6.91340926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5492541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:482.95, Y:287.35, Z:69.14 [[ 5.23802999e-01 -8.51225629e-01 -3.23318356e-02 4.82953841e+02] [ 8.50537105e-01 5.24723319e-01 -3.53846362e-02 2.87352906e+02] [ 4.70855773e-02 -8.96484727e-03 9.98850629e-01 6.91393558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.5792541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:482.96, Y:287.38, Z:69.13 [[ 5.25207289e-01 -8.50753913e-01 -1.93670751e-02 4.82960877e+02] [ 8.49729992e-01 5.25533778e-01 -4.21092412e-02 2.87380428e+02] [ 4.60026539e-02 5.65929583e-03 9.98925287e-01 6.91326082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6092541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:482.98, Y:287.40, Z:69.14 [[ 5.27003311e-01 -8.49481824e-01 -2.54586127e-02 4.82977352e+02] [ 8.48618655e-01 5.27615987e-01 -3.83111942e-02 2.87401771e+02] [ 4.59770342e-02 -1.41452748e-03 9.98941496e-01 6.91353274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6392541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:482.99, Y:287.43, Z:69.14 [[ 5.31782076e-01 -8.46506588e-01 -2.51877037e-02 4.82990248e+02] [ 8.45657620e-01 5.32377036e-01 -3.79194082e-02 2.87426489e+02] [ 4.55083839e-02 -1.13531191e-03 9.98963312e-01 6.91362224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6692541539999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:483.00, Y:287.45, Z:69.14 [[ 5.34381372e-01 -8.44863920e-01 -2.53279705e-02 4.83004136e+02] [ 8.44002558e-01 5.34980355e-01 -3.81536710e-02 2.87450204e+02] [ 4.57846267e-02 -9.88260865e-04 9.98950845e-01 6.91376842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.6992541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:483.02, Y:287.48, Z:69.14 [[ 5.39805776e-01 -8.41406690e-01 -2.53871323e-02 4.83016696e+02] [ 8.40536433e-01 5.40401994e-01 -3.82647287e-02 2.87475494e+02] [ 4.59154557e-02 -6.83288064e-04 9.98945096e-01 6.91392557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7292541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:483.03, Y:287.50, Z:69.14 [[ 5.41805410e-01 -8.40122445e-01 -2.53214247e-02 4.83030538e+02] [ 8.39254210e-01 5.42396500e-01 -3.81890942e-02 2.87499533e+02] [ 4.58177673e-02 -5.60054422e-04 9.98949658e-01 6.91396171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7592541539999 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:483.04, Y:287.52, Z:69.14 [[ 5.45234276e-01 -8.37884288e-01 -2.58747698e-02 4.83043280e+02] [ 8.36974020e-01 5.45847768e-01 -3.90474610e-02 2.87523053e+02] [ 4.68409394e-02 -3.66495989e-04 9.98902294e-01 6.91394549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.7892541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:483.06, Y:287.55, Z:69.14 [[ 5.46616410e-01 -8.36993943e-01 -2.55272270e-02 4.83057969e+02] [ 8.36105986e-01 5.47212083e-01 -3.85449948e-02 2.87546425e+02] [ 4.62307342e-02 -2.74140621e-04 9.98930750e-01 6.91413149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8192541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:483.07, Y:287.57, Z:69.14 [[ 5.47099138e-01 -8.36664676e-01 -2.59759987e-02 4.83073243e+02] [ 8.35743659e-01 5.47715403e-01 -3.92476022e-02 2.87570563e+02] [ 4.70645370e-02 -2.36946873e-04 9.98891823e-01 6.91416081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8492541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:483.09, Y:287.59, Z:69.14 [[ 5.47797733e-01 -8.36209339e-01 -2.59149565e-02 4.83087609e+02] [ 8.35291138e-01 5.48410345e-01 -3.91766363e-02 2.87593633e+02] [ 4.69718994e-02 -1.85660937e-04 9.98896194e-01 6.91440050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.8792541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:483.10, Y:287.62, Z:69.14 [[ 5.47173298e-01 -8.36616609e-01 -2.59621046e-02 4.83102717e+02] [ 8.35694720e-01 5.47788832e-01 -3.92648871e-02 2.87617260e+02] [ 4.70714077e-02 -2.11695989e-04 9.98891505e-01 6.91444476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9092541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:483.11, Y:287.64, Z:69.14 [[ 5.44624124e-01 -8.38450234e-01 -1.96410208e-02 4.83114510e+02] [ 8.37466745e-01 5.44946296e-01 -4.10242147e-02 2.87643322e+02] [ 4.51000640e-02 5.89407524e-03 9.98965087e-01 6.91412233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9392541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:483.13, Y:287.67, Z:69.14 [[ 5.43386784e-01 -8.39208634e-01 -2.14399571e-02 4.83131037e+02] [ 8.38330555e-01 5.43801628e-01 -3.84924644e-02 2.87666282e+02] [ 4.39622920e-02 2.94252534e-03 9.99028858e-01 6.91422688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9692541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:483.15, Y:287.69, Z:69.14 [[ 5.41906608e-01 -8.40234736e-01 -1.85153152e-02 4.83145034e+02] [ 8.39432332e-01 5.42204139e-01 -3.69869122e-02 2.87690195e+02] [ 4.11167690e-02 4.50109786e-03 9.99144210e-01 6.91436698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 856.9992541539999 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:483.17, Y:287.71, Z:69.15 [[ 5.41313781e-01 -8.39996058e-01 -3.72291884e-02 4.83171038e+02] [ 8.39543364e-01 5.42401033e-01 -3.11136688e-02 2.87708597e+02] [ 4.63285094e-02 -1.44132603e-02 9.98822270e-01 6.91532887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0292541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:483.17, Y:287.74, Z:69.14 [[ 5.38390917e-01 -8.42673097e-01 -6.10503494e-03 4.83169306e+02] [ 8.41628468e-01 5.38059682e-01 -4.64036769e-02 2.87741409e+02] [ 4.23880033e-02 1.98451470e-02 9.98904113e-01 6.91360919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0592541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:483.20, Y:287.76, Z:69.15 [[ 5.37605283e-01 -8.42442587e-01 -3.56517553e-02 4.83199139e+02] [ 8.41887498e-01 5.38645778e-01 -3.29570349e-02 2.87756258e+02] [ 4.69680772e-02 -1.22968910e-02 9.98820698e-01 6.91518273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.0892541539998 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:483.22, Y:287.78, Z:69.15 [[ 5.38149045e-01 -8.42150566e-01 -3.43224330e-02 4.83215013e+02] [ 8.41390200e-01 5.39166981e-01 -3.68984870e-02 2.87780596e+02] [ 4.95796042e-02 -9.02167321e-03 9.98729429e-01 6.91541276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1192541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:483.23, Y:287.81, Z:69.15 [[ 5.36611028e-01 -8.43379440e-01 -2.75631153e-02 4.83227288e+02] [ 8.42343649e-01 5.37317871e-01 -4.17933283e-02 2.87805932e+02] [ 5.00577882e-02 -7.90854253e-04 9.98746010e-01 6.91544761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1492541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:483.24, Y:287.83, Z:69.16 [[ 5.35398745e-01 -8.44139501e-01 -2.78691067e-02 4.83242378e+02] [ 8.43080295e-01 5.36122904e-01 -4.22829496e-02 2.87828953e+02] [ 5.06339744e-02 -8.57656502e-04 9.98716909e-01 6.91550110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.1792541539999 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:483.26, Y:287.85, Z:69.16 [[ 5.32990010e-01 -8.45649256e-01 -2.82663166e-02 4.83257928e+02] [ 8.44560447e-01 5.33738074e-01 -4.29106093e-02 2.87852464e+02] [ 5.13741342e-02 -1.00168687e-03 9.98678975e-01 6.91557046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2092541539998 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:483.27, Y:287.87, Z:69.16 [[ 5.31568196e-01 -8.46546630e-01 -2.81790008e-02 4.83272634e+02] [ 8.45464497e-01 5.32313494e-01 -4.28033808e-02 2.87874668e+02] [ 5.12351201e-02 -1.07142879e-03 9.98686044e-01 6.91575927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2392541539999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:483.29, Y:287.90, Z:69.16 [[ 5.30130944e-01 -8.47456460e-01 -2.79057551e-02 4.83288144e+02] [ 8.46395264e-01 5.30863692e-01 -4.24122303e-02 2.87898382e+02] [ 5.07566707e-02 -1.13526333e-03 9.98710404e-01 6.91589717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2692541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:483.30, Y:287.92, Z:69.16 [[ 5.27240608e-01 -8.49299045e-01 -2.66171552e-02 4.83303323e+02] [ 8.48334825e-01 5.27910596e-01 -4.04774902e-02 2.87922014e+02] [ 4.84289720e-02 -1.23888319e-03 9.98825861e-01 6.91604762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.2992541539999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:483.32, Y:287.95, Z:69.16 [[ 5.25643761e-01 -8.50287775e-01 -2.66333755e-02 4.83318603e+02] [ 8.49322412e-01 5.26316411e-01 -4.05274703e-02 2.87945283e+02] [ 4.84775951e-02 -1.31731087e-03 9.98823402e-01 6.91613515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3292541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:483.33, Y:287.97, Z:69.16 [[ 5.23308527e-01 -8.51745299e-01 -2.60409547e-02 4.83332780e+02] [ 8.50823188e-01 5.23954161e-01 -3.96477135e-02 2.87967679e+02] [ 4.74140202e-02 -1.40826155e-03 9.98874330e-01 6.91631348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3592541539999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:483.35, Y:287.99, Z:69.16 [[ 5.22044718e-01 -8.52517028e-01 -2.61539703e-02 4.83347675e+02] [ 8.51587027e-01 5.22697370e-01 -3.98371061e-02 2.87992010e+02] [ 4.76324228e-02 -1.47563103e-03 9.98863842e-01 6.91632873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.3892541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:483.36, Y:288.02, Z:69.16 [[ 5.21423060e-01 -8.52903543e-01 -2.59526240e-02 4.83362368e+02] [ 8.51987113e-01 5.22066411e-01 -3.95552965e-02 2.88016100e+02] [ 4.72858458e-02 -1.48625742e-03 9.98880293e-01 6.91642992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.38, Y:288.04, Z:69.17 [[ 5.22315690e-01 -8.52383192e-01 -2.50841583e-02 4.83376180e+02] [ 8.51525424e-01 5.22915858e-01 -3.82551709e-02 2.88040200e+02] [ 4.57249688e-02 -1.37852253e-03 9.98953116e-01 6.91678556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4492541539998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:483.39, Y:288.07, Z:69.17 [[ 5.24769363e-01 -8.50835027e-01 -2.63983318e-02 4.83389547e+02] [ 8.49881737e-01 5.25431328e-01 -4.02858814e-02 2.88065196e+02] [ 4.81471495e-02 -1.29466371e-03 9.98839414e-01 6.91660712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.4792541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:483.40, Y:288.09, Z:69.17 [[ 5.26908467e-01 -8.49516649e-01 -2.62474955e-02 4.83403330e+02] [ 8.48571527e-01 5.27560545e-01 -4.00778649e-02 2.88088735e+02] [ 4.78939565e-02 -1.15551103e-03 9.98851758e-01 6.91674878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:483.42, Y:288.11, Z:69.17 [[ 5.29655653e-01 -8.47828899e-01 -2.55156175e-02 4.83417050e+02] [ 8.46933186e-01 5.30269009e-01 -3.89737854e-02 2.88112338e+02] [ 4.65732428e-02 -9.67337463e-04 9.98914409e-01 6.91701827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5392541539999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:483.43, Y:288.14, Z:69.17 [[ 5.34489492e-01 -8.44765149e-01 -2.63215960e-02 4.83429590e+02] [ 8.43807329e-01 5.35136746e-01 -4.02225594e-02 2.88137475e+02] [ 4.80642696e-02 -7.11820238e-04 9.98843992e-01 6.91687700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5692541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:483.44, Y:288.16, Z:69.17 [[ 5.37093982e-01 -8.43117247e-01 -2.61412014e-02 4.83443666e+02] [ 8.42169354e-01 5.37729495e-01 -3.99721155e-02 2.88162286e+02] [ 4.77580750e-02 -5.46535992e-04 9.98858783e-01 6.91697143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.5992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:483.46, Y:288.19, Z:69.17 [[ 5.41471025e-01 -8.40339484e-01 -2.52721318e-02 4.83455991e+02] [ 8.39449566e-01 5.42060397e-01 -3.86646291e-02 2.88186612e+02] [ 4.61904362e-02 -2.78903747e-04 9.98932613e-01 6.91716995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6292541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:483.47, Y:288.21, Z:69.17 [[ 5.42468974e-01 -8.39685090e-01 -2.56195786e-02 4.83470625e+02] [ 8.38768993e-01 5.43073570e-01 -3.92131749e-02 2.88210769e+02] [ 4.68400343e-02 -2.16977452e-04 9.98902380e-01 6.91715410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6592541539999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:483.49, Y:288.23, Z:69.17 [[ 5.43083294e-01 -8.39277302e-01 -2.59643138e-02 4.83485403e+02] [ 8.38334713e-01 5.43703578e-01 -3.97659140e-02 2.88234781e+02] [ 4.74915194e-02 -1.70581989e-04 9.98871627e-01 6.91725167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.6892541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:483.50, Y:288.26, Z:69.17 [[ 5.43677611e-01 -8.38916153e-01 -2.51861720e-02 4.83499950e+02] [ 8.38027758e-01 5.44260667e-01 -3.85979872e-02 2.88258342e+02] [ 4.60883177e-02 -1.21849760e-04 9.98937362e-01 6.91739579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7192541539998 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:483.51, Y:288.28, Z:69.17 [[ 5.43790367e-01 -8.38849058e-01 -2.49859159e-02 4.83513792e+02] [ 8.37973681e-01 5.44364077e-01 -3.83126887e-02 2.88281167e+02] [ 4.57399978e-02 -1.03468862e-04 9.98953373e-01 6.91748581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7492541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:483.53, Y:288.30, Z:69.18 [[ 5.43645637e-01 -8.38946856e-01 -2.48514392e-02 4.83528579e+02] [ 8.38080251e-01 5.44213342e-01 -3.81225705e-02 2.88304534e+02] [ 4.55072955e-02 -1.02331266e-04 9.98964001e-01 6.91758867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.7792541539999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:483.54, Y:288.33, Z:69.18 [[ 5.43172796e-01 -8.39254953e-01 -2.47878619e-02 4.83542982e+02] [ 8.38392015e-01 5.43738091e-01 -3.80488943e-02 2.88328724e+02] [ 4.54108277e-02 -1.14821204e-04 9.98968390e-01 6.91763576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8092541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:483.56, Y:288.35, Z:69.18 [[ 5.42833148e-01 -8.39474016e-01 -2.48102612e-02 4.83557362e+02] [ 8.38608768e-01 5.43399817e-01 -3.81047664e-02 2.88351714e+02] [ 4.54698527e-02 -1.21572308e-04 9.98965704e-01 6.91775498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8392541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:483.57, Y:288.38, Z:69.18 [[ 5.42337340e-01 -8.39792233e-01 -2.48840351e-02 4.83572220e+02] [ 8.38921426e-01 5.42907898e-01 -3.82342098e-02 2.88375598e+02] [ 4.56185316e-02 -1.39910591e-04 9.98958923e-01 6.91782351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8692541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:483.59, Y:288.40, Z:69.18 [[ 5.42101062e-01 -8.39953944e-01 -2.45725506e-02 4.83587520e+02] [ 8.39103923e-01 5.42657675e-01 -3.77790169e-02 2.88399286e+02] [ 4.50671174e-02 -1.38878438e-04 9.98983952e-01 6.91804748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.8992541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:483.60, Y:288.42, Z:69.18 [[ 5.41104136e-01 -8.40583875e-01 -2.50012769e-02 4.83602263e+02] [ 8.39703601e-01 5.41681379e-01 -3.84596846e-02 2.88421978e+02] [ 4.58713168e-02 -1.82967873e-04 9.98947340e-01 6.91801393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9292541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:483.62, Y:288.44, Z:69.18 [[ 5.40607698e-01 -8.40900590e-01 -2.50901519e-02 4.83617273e+02] [ 8.40013737e-01 5.41189576e-01 -3.86104231e-02 2.88444668e+02] [ 4.60460562e-02 -2.02980274e-04 9.98939297e-01 6.91815454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9592541539998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:483.63, Y:288.47, Z:69.18 [[ 5.39218261e-01 -8.41778954e-01 -2.55315481e-02 4.83633329e+02] [ 8.40860711e-01 5.39822302e-01 -3.93083432e-02 2.88468282e+02] [ 4.68714351e-02 -2.72699201e-04 9.98900893e-01 6.91822167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 857.9892541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:483.65, Y:288.49, Z:69.18 [[ 5.38738074e-01 -8.42092894e-01 -2.53149414e-02 4.83648897e+02] [ 8.41189411e-01 5.39332437e-01 -3.89986800e-02 2.88491296e+02] [ 4.64936804e-02 -2.84586918e-04 9.98918544e-01 6.91841171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0192541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:483.66, Y:288.51, Z:69.18 [[ 5.37738418e-01 -8.42711059e-01 -2.59897078e-02 4.83664316e+02] [ 8.41758302e-01 5.38366009e-01 -4.00624705e-02 2.88513141e+02] [ 4.77530622e-02 -3.33922804e-04 9.98859116e-01 6.91847335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0492541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:483.68, Y:288.54, Z:69.19 [[ 5.37593318e-01 -8.42803913e-01 -2.59805537e-02 4.83679755e+02] [ 8.41850977e-01 5.38220638e-01 -4.00684064e-02 2.88537125e+02] [ 4.77530799e-02 -3.31246945e-04 9.98859116e-01 6.91857032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.0792541539998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:483.70, Y:288.56, Z:69.19 [[ 5.36881791e-01 -8.43245710e-01 -2.63555309e-02 4.83695595e+02] [ 8.42264812e-01 5.37528173e-01 -4.06626392e-02 2.88558959e+02] [ 4.84554365e-02 -3.67305664e-04 9.98825278e-01 6.91860266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1092541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:483.71, Y:288.58, Z:69.19 [[ 5.36739025e-01 -8.43336822e-01 -2.63481105e-02 4.83711023e+02] [ 8.42355797e-01 5.37385215e-01 -4.06674471e-02 2.88582950e+02] [ 4.84554407e-02 -3.66677730e-04 9.98825278e-01 6.91869969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1392541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:483.73, Y:288.61, Z:69.19 [[ 5.36476414e-01 -8.43497090e-01 -2.65653093e-02 4.83727289e+02] [ 8.42499127e-01 5.37133613e-01 -4.10207664e-02 2.88605410e+02] [ 4.88700177e-02 -3.74576260e-04 9.98805077e-01 6.91881115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1692541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:483.74, Y:288.63, Z:69.19 [[ 5.36238967e-01 -8.43645404e-01 -2.66496217e-02 4.83742723e+02] [ 8.42640076e-01 5.36900634e-01 -4.11753828e-02 2.88628477e+02] [ 4.90456212e-02 -3.76194470e-04 9.98796469e-01 6.91888987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.1992541539998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:483.76, Y:288.65, Z:69.19 [[ 5.36058094e-01 -8.43761534e-01 -2.66118858e-02 4.83758572e+02] [ 8.42758010e-01 5.36718114e-01 -4.11412519e-02 2.88651763e+02] [ 4.89964869e-02 -3.73278820e-04 9.98798881e-01 6.91903458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2292541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:483.78, Y:288.67, Z:69.19 [[ 5.36433092e-01 -8.43559869e-01 -2.54221333e-02 4.83775096e+02] [ 8.42642875e-01 5.37035045e-01 -3.93235908e-02 2.88673628e+02] [ 4.68243796e-02 -3.27304099e-04 9.98903084e-01 6.91928165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2592541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:483.79, Y:288.70, Z:69.19 [[ 5.36856452e-01 -8.43273820e-01 -2.59694825e-02 4.83791169e+02] [ 8.42315531e-01 5.37484117e-01 -4.01916716e-02 2.88695633e+02] [ 4.78507688e-02 -2.97340211e-04 9.98854452e-01 6.91941518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.2892541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:483.81, Y:288.72, Z:69.19 [[ 5.37257866e-01 -8.43014882e-01 -2.60747778e-02 4.83806925e+02] [ 8.42047455e-01 5.37890174e-01 -4.03762892e-02 2.88719231e+02] [ 4.80631794e-02 -2.63721303e-04 9.98844263e-01 6.91948478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3192541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:483.82, Y:288.74, Z:69.20 [[ 5.37933770e-01 -8.42589014e-01 -2.59039052e-02 4.83822603e+02] [ 8.41632652e-01 5.38557061e-01 -4.01344189e-02 2.88742764e+02] [ 4.77675515e-02 -2.11913115e-04 9.98858457e-01 6.91960030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3492541539998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:483.84, Y:288.76, Z:69.20 [[ 5.39565281e-01 -8.41553316e-01 -2.56383262e-02 4.83837727e+02] [ 8.40614225e-01 5.40174051e-01 -3.97456926e-02 2.88764620e+02] [ 4.72972779e-02 -1.06545899e-04 9.98880852e-01 6.91972005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.3792541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:483.85, Y:288.79, Z:69.20 [[ 5.40628876e-01 -8.40869532e-01 -2.56680289e-02 4.83852757e+02] [ 8.39926362e-01 5.41237867e-01 -3.98155435e-02 2.88786988e+02] [ 4.73721866e-02 -3.38216159e-05 9.98877307e-01 6.91979014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4092541539999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:483.87, Y:288.81, Z:69.20 [[ 5.40572391e-01 -8.40878068e-01 -2.65624762e-02 4.83868646e+02] [ 8.39866787e-01 5.41224606e-01 -4.12275022e-02 2.88810665e+02] [ 4.90435681e-02 -2.24921254e-05 9.98796640e-01 6.91980804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4392541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:483.88, Y:288.83, Z:69.20 [[ 5.41023700e-01 -8.40613766e-01 -2.57265157e-02 4.83884653e+02] [ 8.39663796e-01 5.41635022e-01 -3.99526249e-02 2.88834112e+02] [ 4.75191084e-02 1.36930553e-05 9.98870329e-01 6.91995747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4692541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:483.90, Y:288.86, Z:69.20 [[ 5.41426991e-01 -8.40349675e-01 -2.58696375e-02 4.83901104e+02] [ 8.39387555e-01 5.42044668e-01 -4.02008750e-02 2.88856674e+02] [ 4.78052913e-02 5.11870432e-05 9.98856672e-01 6.92004911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:483.92, Y:288.88, Z:69.20 [[ 5.40754038e-01 -8.40813722e-01 -2.48466307e-02 4.83915735e+02] [ 8.39925598e-01 5.41324565e-01 -3.86355391e-02 2.88880105e+02] [ 4.59353830e-02 2.30026200e-05 9.98944413e-01 6.92018459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5292541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:483.93, Y:288.90, Z:69.20 [[ 5.42511567e-01 -8.39667662e-01 -2.52867117e-02 4.83932795e+02] [ 8.38745456e-01 5.43100543e-01 -3.93428668e-02 2.88901546e+02] [ 4.67681598e-02 1.34845732e-04 9.98905762e-01 6.92029061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5592541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:483.94, Y:288.93, Z:69.20 [[ 5.41171866e-01 -8.40747890e-01 -1.66131277e-02 4.83943272e+02] [ 8.39729462e-01 5.41352724e-01 -4.23280017e-02 2.88927319e+02] [ 4.45807400e-02 8.95619093e-03 9.98965637e-01 6.91974462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.5892541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:483.97, Y:288.95, Z:69.21 [[ 5.42764489e-01 -8.39263504e-01 -3.23029426e-02 4.83968178e+02] [ 8.38606328e-01 5.43658664e-01 -3.42736656e-02 2.88945575e+02] [ 4.63264113e-02 -8.48692346e-03 9.98890302e-01 6.92069048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:483.97, Y:288.98, Z:69.19 [[ 5.40788365e-01 -8.41127136e-01 -7.28593136e-03 4.83970628e+02] [ 8.40185141e-01 5.40558814e-01 -4.34177057e-02 2.88975060e+02] [ 4.04582849e-02 1.73582588e-02 9.99030439e-01 6.91941212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.00, Y:288.99, Z:69.21 [[ 5.43614588e-01 -8.38454487e-01 -3.84350368e-02 4.84004247e+02] [ 8.38146477e-01 5.44711415e-01 -2.82835158e-02 2.88989759e+02] [ 4.46504440e-02 -1.68388589e-02 9.98860746e-01 6.92134955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.01, Y:289.02, Z:69.21 [[ 5.44266577e-01 -8.38562905e-01 -2.42105042e-02 4.84014471e+02] [ 8.37713830e-01 5.44804728e-01 -3.77272793e-02 2.89017205e+02] [ 4.48266941e-02 2.52222991e-04 9.98994747e-01 6.92087980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.03, Y:289.04, Z:69.21 [[ 5.44233507e-01 -8.38591645e-01 -2.39571198e-02 4.84030656e+02] [ 8.37759231e-01 5.44760485e-01 -3.73561864e-02 2.89040581e+02] [ 4.43774780e-02 2.60190113e-04 9.99014801e-01 6.92094269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.04, Y:289.06, Z:69.21 [[ 5.43265937e-01 -8.39289633e-01 -2.13315380e-02 4.84044616e+02] [ 8.38431852e-01 5.43677466e-01 -3.80373796e-02 2.89063353e+02] [ 4.35218549e-02 2.77937177e-03 9.99048609e-01 6.92077926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.06, Y:289.09, Z:69.21 [[ 5.43246418e-01 -8.39252840e-01 -2.31948243e-02 4.84060849e+02] [ 8.38445132e-01 5.43741083e-01 -3.68157036e-02 2.89085586e+02] [ 4.35096627e-02 5.52411595e-04 9.99052854e-01 6.92090983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.7992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:484.08, Y:289.11, Z:69.21 [[ 5.43757551e-01 -8.38863951e-01 -2.51991421e-02 4.84079280e+02] [ 8.38047688e-01 5.44340229e-01 -3.70106603e-02 2.89108168e+02] [ 4.47638155e-02 -9.93256719e-04 9.98997104e-01 6.92104457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8292541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:484.10, Y:289.13, Z:69.21 [[ 5.44733080e-01 -8.38208685e-01 -2.59243401e-02 4.84096715e+02] [ 8.37348705e-01 5.45348655e-01 -3.79735627e-02 2.89130413e+02] [ 4.59675740e-02 -1.02225678e-03 9.98942409e-01 6.92117923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8592541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:484.11, Y:289.15, Z:69.21 [[ 5.44006354e-01 -8.38723178e-01 -2.45054681e-02 4.84113364e+02] [ 8.37848989e-01 5.44557935e-01 -3.82848321e-02 2.89151998e+02] [ 4.54550231e-02 2.95310291e-04 9.98966343e-01 6.92126256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.13, Y:289.18, Z:69.22 [[ 5.43213880e-01 -8.39268290e-01 -2.33969590e-02 4.84129252e+02] [ 8.38471299e-01 5.43717460e-01 -3.65678113e-02 2.89175149e+02] [ 4.34115396e-02 2.46464012e-04 9.99057244e-01 6.92153257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.15, Y:289.20, Z:69.22 [[ 5.42230044e-01 -8.39916309e-01 -2.29602523e-02 4.84145598e+02] [ 8.39148425e-01 5.42715904e-01 -3.59077726e-02 2.89198027e+02] [ 4.26204179e-02 2.03213597e-04 9.99091317e-01 6.92164953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9492541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:484.16, Y:289.22, Z:69.22 [[ 5.40088595e-01 -8.41287577e-01 -2.32276381e-02 4.84162878e+02] [ 8.40502029e-01 5.40587830e-01 -3.63474479e-02 2.89218938e+02] [ 4.31352348e-02 1.07965172e-04 9.99069237e-01 6.92159538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 858.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.18, Y:289.24, Z:69.22 [[ 5.39568601e-01 -8.41643430e-01 -2.24067355e-02 4.84178292e+02] [ 8.40912194e-01 5.40033637e-01 -3.50763774e-02 2.89241062e+02] [ 4.16221935e-02 8.40147638e-05 9.99133418e-01 6.92181057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.20, Y:289.26, Z:69.22 [[ 5.38120825e-01 -8.42557192e-01 -2.28769644e-02 4.84195637e+02] [ 8.41794852e-01 5.38606886e-01 -3.58336427e-02 2.89263193e+02] [ 4.25135839e-02 2.51185013e-05 9.99095889e-01 6.92186417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:484.21, Y:289.29, Z:69.22 [[ 5.37469117e-01 -8.42973607e-01 -2.28570854e-02 4.84212195e+02] [ 8.42212012e-01 5.37954922e-01 -3.58249808e-02 2.89285845e+02] [ 4.24955948e-02 4.30887023e-06 9.99096654e-01 6.92190054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.23, Y:289.31, Z:69.22 [[ 5.37174632e-01 -8.43161454e-01 -2.28511852e-02 4.84228405e+02] [ 8.42399458e-01 5.37660452e-01 -3.58383980e-02 2.89308986e+02] [ 4.25037344e-02 1.65221700e-06 9.99096308e-01 6.92206571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.0992541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:484.25, Y:289.33, Z:69.22 [[ 5.36473810e-01 -8.43594972e-01 -2.33104075e-02 4.84245437e+02] [ 8.42801479e-01 5.36980002e-01 -3.65806603e-02 2.89330094e+02] [ 4.33764838e-02 -2.14797438e-05 9.99058797e-01 6.92202371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.26, Y:289.35, Z:69.22 [[ 5.36503134e-01 -8.43591615e-01 -2.27502746e-02 4.84260849e+02] [ 8.42835116e-01 5.36985277e-01 -3.57180697e-02 2.89352897e+02] [ 4.23480266e-02 -1.18739786e-05 9.99102920e-01 6.92228145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:484.28, Y:289.38, Z:69.22 [[ 5.35117223e-01 -8.44479434e-01 -2.24509123e-02 4.84278284e+02] [ 8.43722647e-01 5.35587950e-01 -3.57441279e-02 2.89376307e+02] [ 4.22096190e-02 1.84955285e-04 9.99108760e-01 6.92231636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.29, Y:289.40, Z:69.22 [[ 5.33832336e-01 -8.45470961e-01 -1.42088367e-02 4.84289821e+02] [ 8.44656323e-01 5.33956960e-01 -3.80218615e-02 2.89401496e+02] [ 3.97332870e-02 8.29571538e-03 9.99175884e-01 6.92186385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.32, Y:289.42, Z:69.23 [[ 5.32424790e-01 -8.45965619e-01 -2.94281398e-02 4.84315356e+02] [ 8.45472495e-01 5.33164741e-01 -3.01930382e-02 2.89418400e+02] [ 4.12323188e-02 -8.80516073e-03 9.99110787e-01 6.92286003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2492541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:484.33, Y:289.44, Z:69.23 [[ 5.30777591e-01 -8.47214412e-01 -2.24251863e-02 4.84328232e+02] [ 8.46480147e-01 5.31251043e-01 -3.52659984e-02 2.89442418e+02] [ 4.17912657e-02 -2.64073298e-04 9.99126329e-01 6.92259136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.2792541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:484.35, Y:289.46, Z:69.23 [[ 5.27115720e-01 -8.49497670e-01 -2.24215782e-02 4.84345617e+02] [ 8.48764837e-01 5.27592192e-01 -3.52807376e-02 2.89464715e+02] [ 4.18003539e-02 -4.33615747e-04 9.99125889e-01 6.92259436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3092541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:484.36, Y:289.49, Z:69.23 [[ 5.25489188e-01 -8.50508506e-01 -2.22799039e-02 4.84361869e+02] [ 8.49784886e-01 5.25961056e-01 -3.50801405e-02 2.89487706e+02] [ 4.15543197e-02 -4.98891071e-04 9.99136122e-01 6.92270718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3392541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:484.38, Y:289.51, Z:69.23 [[ 5.23216523e-01 -8.51915540e-01 -2.20087044e-02 4.84378390e+02] [ 8.51209790e-01 5.23678874e-01 -3.46746394e-02 2.89509175e+02] [ 4.10653577e-02 -5.91680403e-04 9.99156287e-01 6.92279189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.39, Y:289.53, Z:69.23 [[ 5.22654222e-01 -8.52278479e-01 -2.13063065e-02 4.84393518e+02] [ 8.51616634e-01 5.23087990e-01 -3.35866494e-02 2.89531897e+02] [ 3.97702515e-02 -5.90600924e-04 9.99208676e-01 6.92299828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.41, Y:289.55, Z:69.23 [[ 5.21478613e-01 -8.52939520e-01 -2.35421087e-02 4.84411188e+02] [ 8.52270255e-01 5.22004215e-01 -3.38675626e-02 2.89554914e+02] [ 4.11760625e-02 -2.40302939e-03 9.99149017e-01 6.92319239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.43, Y:289.58, Z:69.23 [[ 5.21717168e-01 -8.52789374e-01 -2.36955499e-02 4.84426029e+02] [ 8.52075645e-01 5.22251310e-01 -3.49380085e-02 2.89576894e+02] [ 4.21697944e-02 -1.96264209e-03 9.99108531e-01 6.92330424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.45, Y:289.60, Z:69.24 [[ 5.22345635e-01 -8.52157951e-01 -3.13347233e-02 4.84446033e+02] [ 8.51545302e-01 5.23204748e-01 -3.35766268e-02 2.89599078e+02] [ 4.50070655e-02 -9.14433201e-03 9.98944816e-01 6.92392924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.4892541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:484.45, Y:289.63, Z:69.23 [[ 5.22020359e-01 -8.52817404e-01 -1.40434901e-02 4.84453088e+02] [ 8.51772447e-01 5.22098016e-01 -4.35587052e-02 2.89625922e+02] [ 4.44797002e-02 1.07766730e-02 9.98952161e-01 6.92264094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5192541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:484.47, Y:289.65, Z:69.23 [[ 5.21885507e-01 -8.52679768e-01 -2.39318099e-02 4.84473301e+02] [ 8.51841670e-01 5.22433518e-01 -3.78019622e-02 2.89645854e+02] [ 4.47357480e-02 -6.57816758e-04 9.98998639e-01 6.92312508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.49, Y:289.67, Z:69.23 [[ 5.22132750e-01 -8.52552162e-01 -2.30695302e-02 4.84488459e+02] [ 8.51772330e-01 5.22641787e-01 -3.64617683e-02 2.89669798e+02] [ 4.31426599e-02 -6.12104117e-04 9.99068735e-01 6.92336814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.5792541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:484.51, Y:289.69, Z:69.23 [[ 5.21669617e-01 -8.52815023e-01 -2.38190599e-02 4.84505090e+02] [ 8.51982876e-01 5.22212720e-01 -3.76703405e-02 2.89692728e+02] [ 4.45644483e-02 -6.41959085e-04 9.99006305e-01 6.92334841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:484.52, Y:289.72, Z:69.24 [[ 5.21785092e-01 -8.52756209e-01 -2.33915802e-02 4.84520392e+02] [ 8.51952654e-01 5.22308789e-01 -3.70162666e-02 2.89715493e+02] [ 4.37834790e-02 -6.13982763e-04 9.99040855e-01 6.92350532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6392541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:484.54, Y:289.74, Z:69.24 [[ 5.21459653e-01 -8.52945599e-01 -2.37410198e-02 4.84536720e+02] [ 8.52117082e-01 5.21999436e-01 -3.75907920e-02 2.89737981e+02] [ 4.44556996e-02 -6.28047165e-04 9.99011159e-01 6.92354974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:484.55, Y:289.76, Z:69.24 [[ 5.21366926e-01 -8.53017182e-01 -2.31994612e-02 4.84552177e+02] [ 8.52225155e-01 5.21882474e-01 -3.67555184e-02 2.89761597e+02] [ 4.34604810e-02 -6.08052785e-04 9.99054962e-01 6.92368039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.6992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:484.57, Y:289.78, Z:69.24 [[ 5.21012910e-01 -8.53113621e-01 -2.72524665e-02 4.84568858e+02] [ 8.52346141e-01 5.21707862e-01 -3.64274980e-02 2.89783651e+02] [ 4.52946207e-02 -4.24933791e-03 9.98964634e-01 6.92407329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.58, Y:289.81, Z:69.24 [[ 5.22453338e-01 -8.52438569e-01 -1.97735909e-02 4.84581396e+02] [ 8.51589523e-01 5.22818209e-01 -3.81628782e-02 2.89808225e+02] [ 4.28695026e-02 3.09934027e-03 9.99075873e-01 6.92381070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.60, Y:289.83, Z:69.24 [[ 5.23067206e-01 -8.51928219e-01 -2.48798561e-02 4.84599358e+02] [ 8.51167971e-01 5.23653457e-01 -3.60574782e-02 2.89831405e+02] [ 4.37468058e-02 -2.31645223e-03 9.99039965e-01 6.92420857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.7892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:484.62, Y:289.86, Z:69.24 [[ 5.25328489e-01 -8.50566804e-01 -2.37926501e-02 4.84615198e+02] [ 8.49770275e-01 5.25866274e-01 -3.68122625e-02 2.89855306e+02] [ 4.38230407e-02 -8.79756602e-04 9.99038922e-01 6.92419626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8192541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:484.63, Y:289.88, Z:69.24 [[ 5.26444897e-01 -8.49942809e-01 -2.12835880e-02 4.84628840e+02] [ 8.49096440e-01 5.26871470e-01 -3.79695991e-02 2.89879000e+02] [ 4.34857030e-02 1.91708290e-03 9.99052210e-01 6.92399971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:484.65, Y:289.90, Z:69.24 [[ 5.28426942e-01 -8.48641736e-01 -2.39200838e-02 4.84645608e+02] [ 8.47887276e-01 5.28966301e-01 -3.58025225e-02 2.89902158e+02] [ 4.30364331e-02 -1.36251717e-03 9.99072574e-01 6.92439705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.66, Y:289.93, Z:69.24 [[ 5.32063574e-01 -8.46399652e-01 -2.27152549e-02 4.84660670e+02] [ 8.45593551e-01 5.32548057e-01 -3.69339136e-02 2.89926103e+02] [ 4.33578165e-02 4.43316996e-04 9.99059509e-01 6.92442739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:484.68, Y:289.95, Z:69.24 [[ 5.32615259e-01 -8.46018300e-01 -2.39587378e-02 4.84676203e+02] [ 8.45186505e-01 5.33153788e-01 -3.75074827e-02 2.89949461e+02] [ 4.45057086e-02 -2.72544253e-04 9.99009093e-01 6.92437167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:484.69, Y:289.97, Z:69.24 [[ 5.32369820e-01 -8.46179402e-01 -2.37232669e-02 4.84691241e+02] [ 8.45341864e-01 5.32898132e-01 -3.76392668e-02 2.89973759e+02] [ 4.44916569e-02 -1.62609410e-05 9.99009756e-01 6.92445850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9692541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:484.71, Y:290.00, Z:69.25 [[ 5.34577667e-01 -8.44799163e-01 -2.32613816e-02 4.84706064e+02] [ 8.43912893e-01 5.35082475e-01 -3.87010946e-02 2.89996230e+02] [ 4.51414099e-02 1.05816102e-03 9.98980047e-01 6.92450243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 859.9992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:484.72, Y:290.02, Z:69.25 [[ 5.35120588e-01 -8.44439991e-01 -2.38129997e-02 4.84721130e+02] [ 8.43587941e-01 5.35650128e-01 -3.79252675e-02 2.90018517e+02] [ 4.47810489e-02 2.06232022e-04 9.98996804e-01 6.92468797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:484.74, Y:290.04, Z:69.25 [[ 5.35018285e-01 -8.44506745e-01 -2.37443288e-02 4.84737677e+02] [ 8.43658685e-01 5.35544875e-01 -3.78379469e-02 2.90041467e+02] [ 4.46705550e-02 2.11884218e-04 9.99001750e-01 6.92482793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:484.75, Y:290.06, Z:69.25 [[ 5.34167286e-01 -8.45053544e-01 -2.34482003e-02 4.84753317e+02] [ 8.44226007e-01 5.34681659e-01 -3.73894822e-02 2.90064636e+02] [ 4.41334371e-02 1.76657745e-04 9.99025630e-01 6.92491329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.0892541539998 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:484.77, Y:290.09, Z:69.25 [[ 5.32533121e-01 -8.46123808e-01 -2.19767420e-02 4.84772674e+02] [ 8.45288119e-01 5.32984400e-01 -3.76247927e-02 2.90089379e+02] [ 4.35484935e-02 1.45976931e-03 9.99050248e-01 6.92491003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1192541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:484.79, Y:290.11, Z:69.25 [[ 5.29499610e-01 -8.47910065e-01 -2.60515958e-02 4.84788375e+02] [ 8.47160387e-01 5.30130903e-01 -3.57841247e-02 2.90111942e+02] [ 4.41524755e-02 -3.12219991e-03 9.99019925e-01 6.92531580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1492541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:484.80, Y:290.14, Z:69.25 [[ 5.26953857e-01 -8.49728924e-01 -1.67447729e-02 4.84800962e+02] [ 8.48838138e-01 5.27178840e-01 -3.94497923e-02 2.90136736e+02] [ 4.23491196e-02 6.57461836e-03 9.99081241e-01 6.92463513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.1792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:484.82, Y:290.16, Z:69.25 [[ 5.25974609e-01 -8.50054074e-01 -2.75459986e-02 4.84820141e+02] [ 8.49419126e-01 5.26662954e-01 -3.33658882e-02 2.90156310e+02] [ 4.28702661e-02 -5.84848804e-03 9.99063529e-01 6.92548094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2092541539998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:484.83, Y:290.18, Z:69.25 [[ 5.24295298e-01 -8.51207839e-01 -2.36570278e-02 4.84834015e+02] [ 8.50364531e-01 5.24828686e-01 -3.78816062e-02 2.90181372e+02] [ 4.46610070e-02 -2.55949272e-04 9.99002167e-01 6.92524260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:484.84, Y:290.21, Z:69.24 [[ 5.21307726e-01 -8.53337441e-01 -7.31206137e-03 4.84842017e+02] [ 8.52395512e-01 5.21103176e-01 -4.32824590e-02 2.90209276e+02] [ 4.07448812e-02 1.63307120e-02 9.99036117e-01 6.92430848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2692541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:484.87, Y:290.22, Z:69.26 [[ 5.21443970e-01 -8.52415861e-01 -3.85147427e-02 4.84873008e+02] [ 8.52041475e-01 5.22589521e-01 -3.04223042e-02 2.90223379e+02] [ 4.60598556e-02 -1.69526311e-02 9.98794823e-01 6.92617014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.2992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:484.88, Y:290.25, Z:69.26 [[ 5.20599882e-01 -8.53469621e-01 -2.37774954e-02 4.84881777e+02] [ 8.52617477e-01 5.21142426e-01 -3.81314803e-02 2.90250060e+02] [ 4.49355217e-02 -4.21864049e-04 9.98989800e-01 6.92579820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:484.90, Y:290.27, Z:69.26 [[ 5.19181333e-01 -8.54328871e-01 -2.39358149e-02 4.84897164e+02] [ 8.53465157e-01 5.19732569e-01 -3.84094068e-02 2.90273366e+02] [ 4.52544877e-02 -4.86936963e-04 9.98975372e-01 6.92584320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:484.91, Y:290.30, Z:69.26 [[ 5.18386157e-01 -8.54816258e-01 -2.37688405e-02 4.84912782e+02] [ 8.53964058e-01 5.18930536e-01 -3.81639484e-02 2.90296761e+02] [ 4.49575407e-02 -5.14072914e-04 9.98988766e-01 6.92600435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.3892541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:484.93, Y:290.32, Z:69.26 [[ 5.15423485e-01 -8.56593814e-01 -2.42006000e-02 4.84928697e+02] [ 8.55711216e-01 5.15990883e-01 -3.88809014e-02 2.90318363e+02] [ 4.57924285e-02 -6.68595142e-04 9.98950753e-01 6.92601380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4192541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:484.94, Y:290.34, Z:69.26 [[ 5.13955150e-01 -8.57482984e-01 -2.39381544e-02 4.84944604e+02] [ 8.56619312e-01 5.14511810e-01 -3.84831286e-02 2.90341989e+02] [ 4.53150911e-02 -7.27283213e-04 9.98972479e-01 6.92615200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:484.96, Y:290.36, Z:69.26 [[ 5.11106954e-01 -8.59203009e-01 -2.32351254e-02 4.84961388e+02] [ 8.58390104e-01 5.11634128e-01 -3.73757754e-02 2.90364810e+02] [ 4.40012618e-02 -8.41783029e-04 9.99031121e-01 6.92643611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.4792541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:484.98, Y:290.39, Z:69.26 [[ 5.08958867e-01 -8.60468488e-01 -2.35553316e-02 4.84976217e+02] [ 8.59633314e-01 5.09502772e-01 -3.79142441e-02 2.90387326e+02] [ 4.46255190e-02 -9.52157021e-04 9.99003332e-01 6.92645278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5092541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:484.99, Y:290.41, Z:69.27 [[ 5.07529850e-01 -8.61318614e-01 -2.33172869e-02 4.84991314e+02] [ 8.60500183e-01 5.08064202e-01 -3.75526512e-02 2.90411329e+02] [ 4.41914763e-02 -1.00543825e-03 9.99022574e-01 6.92655043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.01, Y:290.43, Z:69.27 [[ 5.06132770e-01 -8.62168872e-01 -2.22363531e-02 4.85005728e+02] [ 8.61424505e-01 5.06619975e-01 -3.58332773e-02 2.90434635e+02] [ 4.21597169e-02 -1.01854361e-03 9.99110365e-01 6.92683373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:485.02, Y:290.46, Z:69.27 [[ 5.04902545e-01 -8.62888509e-01 -2.22899356e-02 4.85020346e+02] [ 8.62140359e-01 5.05393188e-01 -3.59405970e-02 2.90458692e+02] [ 4.22779098e-02 -1.07055416e-03 9.99105316e-01 6.92699700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.5992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:485.03, Y:290.48, Z:69.27 [[ 5.04622577e-01 -8.63048409e-01 -2.24387587e-02 4.85034425e+02] [ 8.62289481e-01 5.05120061e-01 -3.62018609e-02 2.90482171e+02] [ 4.25782256e-02 -1.08042930e-03 9.99092552e-01 6.92708668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:485.04, Y:290.51, Z:69.26 [[ 5.04376449e-01 -8.63418189e-01 -1.06502965e-02 4.85044316e+02] [ 8.62519934e-01 5.04357709e-01 -4.10202900e-02 2.90510654e+02] [ 4.07892236e-02 1.15035752e-02 9.99101550e-01 6.92627169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.07, Y:290.53, Z:69.28 [[ 5.06399483e-01 -8.61648979e-01 -3.34753753e-02 4.85065710e+02] [ 8.61226318e-01 5.07324043e-01 -3.01917822e-02 2.90527616e+02] [ 4.29975810e-02 -1.35407713e-02 9.98983411e-01 6.92775783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.6892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:485.07, Y:290.56, Z:69.27 [[ 5.07251598e-01 -8.61487649e-01 -2.31267744e-02 4.85074232e+02] [ 8.60677318e-01 5.07777638e-01 -3.73687590e-02 2.90555512e+02] [ 4.39359832e-02 -9.49327470e-04 9.99033897e-01 6.92722135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:485.08, Y:290.59, Z:69.26 [[ 5.10081361e-01 -8.60082438e-01 -8.67209191e-03 4.85079272e+02] [ 8.59141816e-01 5.09953938e-01 -4.26886544e-02 2.90585591e+02] [ 4.11381294e-02 1.43241301e-02 9.99050786e-01 6.92624135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.11, Y:290.60, Z:69.28 [[ 5.13008766e-01 -8.57632675e-01 -3.58915187e-02 4.85105039e+02] [ 8.57270584e-01 5.14024031e-01 -2.94353832e-02 2.90601590e+02] [ 4.36938495e-02 -1.56681336e-02 9.98922098e-01 6.92805307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.7792541539999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:485.11, Y:290.63, Z:69.27 [[ 5.14504047e-01 -8.57164264e-01 -2.35586800e-02 4.85112501e+02] [ 8.56316331e-01 5.15042825e-01 -3.81212609e-02 2.90629374e+02] [ 4.48099116e-02 -5.60139451e-04 9.98995374e-01 6.92746868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:485.12, Y:290.65, Z:69.28 [[ 5.19264157e-01 -8.54307506e-01 -2.28783626e-02 4.85124528e+02] [ 8.53504378e-01 5.19767830e-01 -3.70361942e-02 2.90653129e+02] [ 4.35317356e-02 -2.95214458e-04 9.99052001e-01 6.92768188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8392541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:485.14, Y:290.68, Z:69.28 [[ 5.22776524e-01 -8.52144137e-01 -2.35600367e-02 4.85137006e+02] [ 8.51289359e-01 5.23307135e-01 -3.81584878e-02 2.90677902e+02] [ 4.48456670e-02 -1.08046973e-04 9.98993921e-01 6.92770838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.15, Y:290.70, Z:69.28 [[ 5.25222686e-01 -8.50663217e-01 -2.26543867e-02 4.85150209e+02] [ 8.49870562e-01 5.25711033e-01 -3.67142740e-02 2.90702464e+02] [ 4.31411435e-02 2.98733066e-05 9.99068987e-01 6.92787987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.8992541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:485.16, Y:290.73, Z:69.28 [[ 5.26120653e-01 -8.50090913e-01 -2.32916037e-02 4.85163777e+02] [ 8.49251365e-01 5.26635958e-01 -3.77715113e-02 2.90727030e+02] [ 4.43754146e-02 9.19459824e-05 9.99014922e-01 6.92783072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.17, Y:290.76, Z:69.27 [[ 5.29537772e-01 -8.48223629e-01 -1.03161912e-02 4.85172739e+02] [ 8.47317329e-01 5.29474865e-01 -4.13486571e-02 2.90756867e+02] [ 4.05350719e-02 1.31545882e-02 9.99091520e-01 6.92716075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9592541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:485.19, Y:290.77, Z:69.29 [[ 5.30134904e-01 -8.47252834e-01 -3.34607131e-02 4.85194528e+02] [ 8.46835101e-01 5.31037828e-01 -2.94811493e-02 2.90772552e+02] [ 4.27468916e-02 -1.27067201e-02 9.99005126e-01 6.92860513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 860.9892541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:485.20, Y:290.80, Z:69.28 [[ 5.30928172e-01 -8.47103395e-01 -2.30459163e-02 4.85202410e+02] [ 8.46276030e-01 5.31427982e-01 -3.74323608e-02 2.90800217e+02] [ 4.39563247e-02 3.70688310e-04 9.99033385e-01 6.92806487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.22, Y:290.82, Z:69.28 [[ 5.31702027e-01 -8.46641624e-01 -2.21565929e-02 4.85216298e+02] [ 8.45875643e-01 5.32163318e-01 -3.60083177e-02 2.90824648e+02] [ 4.22770666e-02 4.03973264e-04 9.99105844e-01 6.92827820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.23, Y:290.85, Z:69.28 [[ 5.32129877e-01 -8.46374063e-01 -2.21074626e-02 4.85229610e+02] [ 8.45610251e-01 5.32588729e-01 -3.59520398e-02 2.90849738e+02] [ 4.22030594e-02 4.36857535e-04 9.99108959e-01 6.92835993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.0792541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:485.24, Y:290.87, Z:69.28 [[ 5.31854491e-01 -8.46523870e-01 -2.29812645e-02 4.85242507e+02] [ 8.45697558e-01 5.32350572e-01 -3.73966387e-02 2.90873688e+02] [ 4.38912366e-02 4.54371012e-04 9.99036212e-01 6.92825325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1092541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:485.26, Y:290.90, Z:69.28 [[ 5.31685366e-01 -8.46622065e-01 -2.32755416e-02 4.85256983e+02] [ 8.45773710e-01 5.32194387e-01 -3.78941311e-02 2.90898286e+02] [ 4.44691201e-02 4.61913749e-04 9.99010653e-01 6.92834790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:485.27, Y:290.93, Z:69.28 [[ 5.31748373e-01 -8.46824235e-01 -1.15058057e-02 4.85267737e+02] [ 8.45745116e-01 5.31682729e-01 -4.50408133e-02 2.90926808e+02] [ 4.42590904e-02 1.42194002e-02 9.98918886e-01 6.92762975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:485.29, Y:290.94, Z:69.29 [[ 5.30286377e-01 -8.47092158e-01 -3.50889570e-02 4.85292046e+02] [ 8.46566503e-01 5.31298015e-01 -3.23662678e-02 2.90944476e+02] [ 4.60599049e-02 -1.25417448e-02 9.98859945e-01 6.92897582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.30, Y:290.97, Z:69.29 [[ 5.29831725e-01 -8.47824884e-01 -2.17096299e-02 4.85302572e+02] [ 8.46911469e-01 5.30270408e-01 -3.94240866e-02 2.90973678e+02] [ 4.49366960e-02 2.50199724e-03 9.98986703e-01 6.92855324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2292541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:485.32, Y:290.99, Z:69.29 [[ 5.27679232e-01 -8.49055491e-01 -2.56787987e-02 4.85317848e+02] [ 8.48230092e-01 5.28299879e-01 -3.74826533e-02 2.90994804e+02] [ 4.53909589e-02 -2.00271201e-03 9.98967292e-01 6.92887475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:485.33, Y:291.02, Z:69.29 [[ 5.26065512e-01 -8.50099336e-01 -2.42114923e-02 4.85332330e+02] [ 8.49180199e-01 5.26622319e-01 -3.95211733e-02 2.91018874e+02] [ 4.63472354e-02 2.30806458e-04 9.98925363e-01 6.92883961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.2892541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:485.35, Y:291.04, Z:69.29 [[ 5.23489567e-01 -8.51686113e-01 -2.42783615e-02 4.85347623e+02] [ 8.50762424e-01 5.24052244e-01 -3.96553134e-02 2.91041590e+02] [ 4.64970096e-02 1.04025178e-04 9.98918424e-01 6.92892377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:485.36, Y:291.07, Z:69.29 [[ 5.22131091e-01 -8.52518024e-01 -2.43339628e-02 4.85362689e+02] [ 8.51589895e-01 5.22697825e-01 -3.97697773e-02 2.91065652e+02] [ 4.66237614e-02 4.24804079e-05 9.98912520e-01 6.92903568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3492541539998 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:485.38, Y:291.09, Z:69.29 [[ 5.19138363e-01 -8.54332470e-01 -2.47263125e-02 4.85378102e+02] [ 8.53375001e-01 5.19726870e-01 -4.04362368e-02 2.91088350e+02] [ 4.73969191e-02 -1.08815202e-04 9.98876129e-01 6.92907337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.3792541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:485.39, Y:291.11, Z:69.29 [[ 5.17745192e-01 -8.55178055e-01 -2.47064812e-02 4.85393729e+02] [ 8.54221958e-01 5.18334317e-01 -4.04275000e-02 2.91112098e+02] [ 4.73789279e-02 -1.73675019e-04 9.98876973e-01 6.92922931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4092541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:485.41, Y:291.14, Z:69.29 [[ 5.16030355e-01 -8.56445010e-01 -1.46498398e-02 4.85406602e+02] [ 8.55376531e-01 5.16138447e-01 -4.39555890e-02 2.91140171e+02] [ 4.52068904e-02 1.01512890e-02 9.98926068e-01 6.92864012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:485.43, Y:291.16, Z:69.30 [[ 5.13679766e-01 -8.57365882e-01 -3.25091086e-02 4.85428588e+02] [ 8.56801855e-01 5.14591490e-01 -3.29572493e-02 2.91156176e+02] [ 4.49853318e-02 -1.09243924e-02 9.98927914e-01 6.92995376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4692541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:485.44, Y:291.18, Z:69.30 [[ 5.10771644e-01 -8.59411763e-01 -2.28855665e-02 4.85439699e+02] [ 8.58593370e-01 5.11283851e-01 -3.74999907e-02 2.91182167e+02] [ 4.39289537e-02 -4.95463720e-04 9.99034535e-01 6.92976345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.4992541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:485.45, Y:291.21, Z:69.30 [[ 5.08789633e-01 -8.60573535e-01 -2.33730700e-02 4.85454805e+02] [ 8.59719968e-01 5.09325865e-01 -3.83241384e-02 2.91206056e+02] [ 4.48852484e-02 -5.95370642e-04 9.98991972e-01 6.92983598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:485.47, Y:291.23, Z:69.30 [[ 5.06963610e-01 -8.61654681e-01 -2.32187026e-02 4.85468864e+02] [ 8.60812416e-01 5.07494587e-01 -3.80950070e-02 2.91229449e+02] [ 4.46081070e-02 -6.74165210e-04 9.99004336e-01 6.92993571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5592541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:485.48, Y:291.25, Z:69.30 [[ 5.03258684e-01 -8.63818474e-01 -2.34166845e-02 4.85483888e+02] [ 8.62963061e-01 5.03802444e-01 -3.84428612e-02 2.91252720e+02] [ 4.50050366e-02 -8.61030045e-04 9.98986389e-01 6.93004030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.5892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:485.50, Y:291.28, Z:69.30 [[ 5.01483498e-01 -8.64855144e-01 -2.32353366e-02 4.85498125e+02] [ 8.64012981e-01 5.02020624e-01 -3.81688752e-02 2.91275564e+02] [ 4.46751662e-02 -9.34571319e-04 9.99001129e-01 6.93016525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6192541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:485.51, Y:291.30, Z:69.30 [[ 4.97631968e-01 -8.67061585e-01 -2.38040431e-02 4.85512859e+02] [ 8.66179094e-01 4.98199649e-01 -3.91265560e-02 2.91299581e+02] [ 4.57842995e-02 -1.14793942e-03 9.98950690e-01 6.93023042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6492541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:485.53, Y:291.32, Z:69.30 [[ 4.95867615e-01 -8.68070606e-01 -2.38480869e-02 4.85526252e+02] [ 8.67184891e-01 4.96439228e-01 -3.92231720e-02 2.91322683e+02] [ 4.58876085e-02 -1.23119993e-03 9.98945850e-01 6.93029696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.6792541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:485.54, Y:291.35, Z:69.30 [[ 4.94497795e-01 -8.68858272e-01 -2.36058017e-02 4.85540703e+02] [ 8.67990344e-01 4.95059254e-01 -3.88471038e-02 2.91347182e+02] [ 4.54388980e-02 -1.27980076e-03 9.98966300e-01 6.93042453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:485.55, Y:291.37, Z:69.31 [[ 4.93372625e-01 -8.69525738e-01 -2.25487005e-02 4.85553652e+02] [ 8.68733580e-01 4.93885997e-01 -3.71293635e-02 2.91370822e+02] [ 4.34214246e-02 -1.27020178e-03 9.99056038e-01 6.93063991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.57, Y:291.40, Z:69.31 [[ 4.93469569e-01 -8.69481629e-01 -2.21242409e-02 4.85567573e+02] [ 8.68718107e-01 4.93963743e-01 -3.64509449e-02 2.91395393e+02] [ 4.26219998e-02 -1.23229655e-03 9.99090510e-01 6.93075129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7692541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:485.58, Y:291.42, Z:69.31 [[ 4.94788696e-01 -8.68731771e-01 -2.21191275e-02 4.85579794e+02] [ 8.67966947e-01 4.95281508e-01 -3.64637835e-02 2.91419068e+02] [ 4.26324420e-02 -1.15680362e-03 9.99090154e-01 6.93078896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.7992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:485.59, Y:291.44, Z:69.31 [[ 4.96496177e-01 -8.67769065e-01 -2.16424440e-02 4.85593085e+02] [ 8.67035244e-01 4.96966561e-01 -3.56948711e-02 2.91444184e+02] [ 4.17304759e-02 -1.04239462e-03 9.99128361e-01 6.93090625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.60, Y:291.47, Z:69.30 [[ 5.00162362e-01 -8.65881378e-01 -9.33016142e-03 4.85598611e+02] [ 8.65012354e-01 5.00098728e-01 -4.06803348e-02 2.91473863e+02] [ 3.98903462e-02 1.22760674e-02 9.99128650e-01 6.92995437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.62, Y:291.50, Z:69.31 [[ 4.99892857e-01 -8.65846432e-01 -2.04227302e-02 4.85618552e+02] [ 8.65171265e-01 5.00309528e-01 -3.41915046e-02 2.91495096e+02] [ 3.98222788e-02 -5.77070439e-04 9.99206612e-01 6.93053553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.8892541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:485.64, Y:291.52, Z:69.32 [[ 5.03558875e-01 -8.63284865e-01 -3.41716268e-02 4.85638071e+02] [ 8.62829925e-01 5.04529304e-01 -3.12202195e-02 2.91515951e+02] [ 4.41925301e-02 -1.37630836e-02 9.98928225e-01 6.93151754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9192541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:485.65, Y:291.54, Z:69.31 [[ 5.06891319e-01 -8.61703035e-01 -2.30015329e-02 4.85645207e+02] [ 8.60864304e-01 5.07412649e-01 -3.80138528e-02 2.91542970e+02] [ 4.44279210e-02 -5.32306585e-04 9.99012451e-01 6.93106694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:485.66, Y:291.57, Z:69.31 [[ 5.12884203e-01 -8.58140345e-01 -2.33440182e-02 4.85656604e+02] [ 8.57271674e-01 5.13415138e-01 -3.86027609e-02 2.91568083e+02] [ 4.51117588e-02 -2.13419326e-04 9.98981924e-01 6.93112026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 861.9792541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:485.67, Y:291.59, Z:69.31 [[ 5.17593965e-01 -8.55305034e-01 -2.34475356e-02 4.85668395e+02] [ 8.54424654e-01 5.18124789e-01 -3.87970747e-02 2.91593371e+02] [ 4.53320827e-02 4.69791731e-05 9.98971972e-01 6.93117012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.67, Y:291.63, Z:69.30 [[ 5.18022507e-01 -8.55358085e-01 3.90253050e-03 4.85668236e+02] [ 8.54537479e-01 5.17313877e-01 -4.63901943e-02 2.91625816e+02] [ 3.76613946e-02 2.73660233e-02 9.98915772e-01 6.92951083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0392541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:485.71, Y:291.64, Z:69.32 [[ 5.20451511e-01 -8.52615470e-01 -4.66592451e-02 4.85706089e+02] [ 8.52677249e-01 5.21847836e-01 -2.48262961e-02 2.91635853e+02] [ 4.55163103e-02 -2.68643935e-02 9.98602308e-01 6.93240736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0692541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:485.69, Y:291.68, Z:69.29 [[ 5.19077236e-01 -8.54691682e-01 7.80718668e-03 4.85693357e+02] [ 8.53932480e-01 5.18179049e-01 -4.78517785e-02 2.91676048e+02] [ 3.68529964e-02 3.15055792e-02 9.98823936e-01 6.92929106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.0992541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:485.72, Y:291.69, Z:69.31 [[ 5.19131673e-01 -8.54258517e-01 -2.72890421e-02 4.85723944e+02] [ 8.53881057e-01 5.19765785e-01 -2.70308930e-02 2.91689996e+02] [ 3.72752810e-02 -9.26900339e-03 9.99262047e-01 6.93104976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1292541539999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:485.74, Y:291.71, Z:69.33 [[ 5.19123036e-01 -8.53686783e-01 -4.15950780e-02 4.85743980e+02] [ 8.53643764e-01 5.20285601e-01 -2.43970946e-02 2.91709245e+02] [ 4.24687973e-02 -2.28422852e-02 9.98836639e-01 6.93254800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1592541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:485.75, Y:291.74, Z:69.32 [[ 5.15566844e-01 -8.56589451e-01 -2.11031341e-02 4.85748941e+02] [ 8.55872603e-01 5.15998559e-01 -3.50367653e-02 2.91739385e+02] [ 4.09013103e-02 2.20020410e-06 9.99163191e-01 6.93182005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.1892541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:485.76, Y:291.76, Z:69.32 [[ 5.12979737e-01 -8.58149372e-01 -2.07712442e-02 4.85763199e+02] [ 8.57455318e-01 5.13400081e-01 -3.45070316e-02 2.91763515e+02] [ 4.02761459e-02 -1.09005825e-04 9.99188581e-01 6.93189922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2192541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:485.78, Y:291.79, Z:69.32 [[ 5.07357470e-01 -8.61479240e-01 -2.10218093e-02 4.85776952e+02] [ 8.60770274e-01 5.07792660e-01 -3.49449674e-02 2.91787085e+02] [ 4.07790844e-02 -3.65358271e-04 9.99168120e-01 6.93194154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2492541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:485.79, Y:291.81, Z:69.32 [[ 5.04127925e-01 -8.63362058e-01 -2.14707285e-02 4.85790910e+02] [ 8.62623309e-01 5.04584670e-01 -3.57118852e-02 2.91811269e+02] [ 4.16660871e-02 -5.17792252e-04 9.99131457e-01 6.93203076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.2792541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:485.80, Y:291.83, Z:69.32 [[ 4.98853571e-01 -8.66411471e-01 -2.18237929e-02 4.85804028e+02] [ 8.65650200e-01 4.99330117e-01 -3.63203295e-02 2.91834484e+02] [ 4.23656272e-02 -7.73244579e-04 9.99101875e-01 6.93210275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3092541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:485.82, Y:291.86, Z:69.32 [[ 4.96144230e-01 -8.67955502e-01 -2.22294825e-02 4.85817562e+02] [ 8.67166416e-01 4.96641132e-01 -3.70134072e-02 2.91858862e+02] [ 4.31660658e-02 -9.12672274e-04 9.99067494e-01 6.93215113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.83, Y:291.88, Z:69.32 [[ 4.94358170e-01 -8.68982206e-01 -2.19071776e-02 4.85831504e+02] [ 8.68215912e-01 4.94842370e-01 -3.64987526e-02 2.91883758e+02] [ 4.25573662e-02 -9.76703618e-04 9.99093548e-01 6.93237228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:485.84, Y:291.91, Z:69.32 [[ 4.90250099e-01 -8.71287664e-01 -2.26417032e-02 4.85843808e+02] [ 8.70470441e-01 4.90771187e-01 -3.77472229e-02 2.91908068e+02] [ 4.40005852e-02 -1.20335367e-03 9.99030781e-01 6.93238532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.3992541539999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:485.86, Y:291.93, Z:69.32 [[ 4.87816008e-01 -8.72631828e-01 -2.34357740e-02 4.85857771e+02] [ 8.71756684e-01 4.88376746e-01 -3.90952423e-02 2.91932892e+02] [ 4.55612398e-02 -1.35900763e-03 9.98960623e-01 6.93233735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4292541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:485.87, Y:291.96, Z:69.32 [[ 4.84218584e-01 -8.74641946e-01 -2.31047691e-02 4.85870449e+02] [ 8.73792532e-01 4.84767135e-01 -3.85672952e-02 2.91957361e+02] [ 4.49330068e-02 -1.51377369e-03 9.98988856e-01 6.93247854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4592541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:485.88, Y:291.98, Z:69.33 [[ 4.82497062e-01 -8.75602622e-01 -2.27295548e-02 4.85884345e+02] [ 8.74780648e-01 4.83029600e-01 -3.79634375e-02 2.91981821e+02] [ 4.42199331e-02 -1.56612761e-03 9.99020593e-01 6.93263299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.90, Y:292.01, Z:69.33 [[ 4.79043458e-01 -8.77521062e-01 -2.17750026e-02 4.85897120e+02] [ 8.76767701e-01 4.79535228e-01 -3.63918035e-02 2.92006450e+02] [ 4.23764549e-02 -1.65836363e-03 9.99100338e-01 6.93285192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5192541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:485.91, Y:292.03, Z:69.33 [[ 4.76455627e-01 -8.78927622e-01 -2.18236305e-02 4.85910349e+02] [ 8.78171356e-01 4.76951865e-01 -3.64964135e-02 2.92030081e+02] [ 4.24865272e-02 -1.77596559e-03 9.99095461e-01 6.93283790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5492541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:485.92, Y:292.06, Z:69.33 [[ 4.73733661e-01 -8.80417599e-01 -2.10064183e-02 4.85923224e+02] [ 8.79717546e-01 4.74195646e-01 -3.51500992e-02 2.92055054e+02] [ 4.09079180e-02 -1.82792956e-03 9.99161249e-01 6.93305323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.94, Y:292.08, Z:69.34 [[ 4.73282232e-01 -8.80567188e-01 -2.46039652e-02 4.85938094e+02] [ 8.79963637e-01 4.73883768e-01 -3.31386877e-02 2.92078543e+02] [ 4.08402608e-02 -5.96664260e-03 9.99147873e-01 6.93360645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.95, Y:292.10, Z:69.33 [[ 4.73537470e-01 -8.80617533e-01 -1.65839128e-02 4.85947475e+02] [ 8.79889809e-01 4.73821721e-01 -3.58734035e-02 2.92104826e+02] [ 3.94485662e-02 2.39538488e-03 9.99218731e-01 6.93325168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.96, Y:292.13, Z:69.33 [[ 4.75345257e-01 -8.79569622e-01 -2.01038983e-02 4.85960805e+02] [ 8.78925488e-01 4.75767327e-01 -3.36962484e-02 2.92129930e+02] [ 3.92029744e-02 -1.65247678e-03 9.99229902e-01 6.93348719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:485.97, Y:292.16, Z:69.34 [[ 4.77013562e-01 -8.78663671e-01 -2.02043343e-02 4.85973641e+02] [ 8.78011406e-01 4.77438658e-01 -3.38865694e-02 2.92155290e+02] [ 3.94212277e-02 -1.57528279e-03 9.99221440e-01 6.93355571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.6992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:485.99, Y:292.18, Z:69.34 [[ 4.81102114e-01 -8.76303237e-01 -2.51672973e-02 4.85986477e+02] [ 8.75696966e-01 4.81721468e-01 -3.31549643e-02 2.92181112e+02] [ 4.11774300e-02 -6.08800241e-03 9.99133302e-01 6.93397373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7292541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:485.99, Y:292.21, Z:69.33 [[ 4.83822337e-01 -8.74999859e-01 -1.70643892e-02 4.85994434e+02] [ 8.74193778e-01 4.84111784e-01 -3.76964160e-02 2.92207968e+02] [ 4.12454306e-02 3.32078521e-03 9.99143527e-01 6.93339905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7592541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:486.01, Y:292.23, Z:69.34 [[ 4.89768376e-01 -8.71596532e-01 -2.11287272e-02 4.86006012e+02] [ 8.70874431e-01 4.90222851e-01 -3.54863661e-02 2.92232136e+02] [ 4.12875785e-02 -1.02036836e-03 9.99146783e-01 6.93367096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.7892541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:486.02, Y:292.26, Z:69.34 [[ 4.92178112e-01 -8.70232155e-01 -2.13705892e-02 4.86018022e+02] [ 8.69491255e-01 4.92641021e-01 -3.59135480e-02 2.92257411e+02] [ 4.17811531e-02 -9.05678173e-04 9.99126376e-01 6.93373905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:486.03, Y:292.28, Z:69.34 [[ 4.94419935e-01 -8.68950524e-01 -2.17695644e-02 4.86030104e+02] [ 8.68179422e-01 4.94898319e-01 -3.66079944e-02 2.92282356e+02] [ 4.25842568e-02 -8.00165601e-04 9.99092559e-01 6.93379614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8492541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:486.04, Y:292.31, Z:69.34 [[ 4.98360179e-01 -8.66590754e-01 -2.56436668e-02 4.86042663e+02] [ 8.65867285e-01 4.98999899e-01 -3.56783536e-02 2.92308057e+02] [ 4.37147185e-02 -4.42334151e-03 9.99034262e-01 6.93425063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.8792541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:486.06, Y:292.33, Z:69.34 [[ 4.99032041e-01 -8.66207104e-01 -2.55396729e-02 4.86055169e+02] [ 8.65392115e-01 4.99674365e-01 -3.77096408e-02 2.92332773e+02] [ 4.54258786e-02 -3.28351250e-03 9.98962316e-01 6.93421891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.06, Y:292.36, Z:69.34 [[ 5.00014070e-01 -8.65867923e-01 -1.60832194e-02 4.86062787e+02] [ 8.64991694e-01 5.00239349e-01 -3.93695589e-02 2.92360174e+02] [ 4.21342975e-02 5.77348215e-03 9.99095275e-01 6.93389485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.08, Y:292.38, Z:69.35 [[ 5.00228034e-01 -8.65168415e-01 -3.54334290e-02 4.86084742e+02] [ 8.64711224e-01 5.01264347e-01 -3.17577424e-02 2.92381499e+02] [ 4.52373103e-02 -1.47535707e-02 9.98867318e-01 6.93523349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9692541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:486.09, Y:292.41, Z:69.34 [[ 4.98383026e-01 -8.66809969e-01 -1.59636143e-02 4.86088491e+02] [ 8.65837817e-01 4.98590587e-01 -4.16209317e-02 2.92411337e+02] [ 4.40367463e-02 6.92126493e-03 9.99005937e-01 6.93422120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 862.9992541539999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:486.10, Y:292.44, Z:69.34 [[ 4.95403434e-01 -8.68521849e-01 -1.56600220e-02 4.86099855e+02] [ 8.67668268e-01 4.95618213e-01 -3.89148364e-02 2.92437062e+02] [ 4.15597778e-02 5.69083939e-03 9.99119812e-01 6.93393500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0292541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:486.12, Y:292.46, Z:69.34 [[ 4.95001419e-01 -8.68619876e-01 -2.17510160e-02 4.86115342e+02] [ 8.67843698e-01 4.95478577e-01 -3.67191385e-02 2.92459299e+02] [ 4.26721360e-02 -7.00456533e-04 9.99088884e-01 6.93428814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0592541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:486.13, Y:292.48, Z:69.34 [[ 4.92679985e-01 -8.69927774e-01 -2.21833439e-02 4.86127131e+02] [ 8.69121033e-01 4.93178460e-01 -3.74651457e-02 2.92483502e+02] [ 4.35323182e-02 -8.21683350e-04 9.99051681e-01 6.93439467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.0892541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:486.14, Y:292.51, Z:69.34 [[ 4.90991054e-01 -8.70871957e-01 -2.25791929e-02 4.86140535e+02] [ 8.70036135e-01 4.91509112e-01 -3.81564934e-02 2.92508038e+02] [ 4.43272991e-02 -9.10216811e-04 9.99016648e-01 6.93446282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1192541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:486.15, Y:292.53, Z:69.35 [[ 4.89586954e-01 -8.71666064e-01 -2.24251377e-02 4.86153922e+02] [ 8.70841391e-01 4.90099321e-01 -3.79200233e-02 2.92532261e+02] [ 4.40441422e-02 -9.63589354e-04 9.99029121e-01 6.93460953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1492541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:486.17, Y:292.56, Z:69.35 [[ 4.86329321e-01 -8.73484540e-01 -2.25510628e-02 4.86167178e+02] [ 8.72651439e-01 4.86850593e-01 -3.81571252e-02 2.92557229e+02] [ 4.43086572e-02 -1.12228856e-03 9.99017259e-01 6.93478557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.18, Y:292.58, Z:69.35 [[ 4.85180495e-01 -8.74141528e-01 -2.18283398e-02 4.86180800e+02] [ 8.73360675e-01 4.85669955e-01 -3.69570954e-02 2.92581643e+02] [ 4.29071006e-02 -1.13315179e-03 9.99078424e-01 6.93495919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2092541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:486.20, Y:292.60, Z:69.36 [[ 4.82170726e-01 -8.75242898e-01 -3.82264279e-02 4.86202073e+02] [ 8.74785825e-01 4.83369741e-01 -3.32182781e-02 2.92601995e+02] [ 4.75515606e-02 -1.74230560e-02 9.98716820e-01 6.93607538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2392541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:486.21, Y:292.63, Z:69.36 [[ 4.80883488e-01 -8.76451679e-01 -2.41562724e-02 4.86209297e+02] [ 8.75399951e-01 4.81489564e-01 -4.29269789e-02 2.92630071e+02] [ 4.92544158e-02 -5.03524322e-04 9.98786138e-01 6.93559947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.23, Y:292.65, Z:69.36 [[ 4.79271506e-01 -8.77239791e-01 -2.73710091e-02 4.86225006e+02] [ 8.76336172e-01 4.80028730e-01 -4.00915427e-02 2.92653512e+02] [ 4.83087673e-02 -4.77147132e-03 9.98821053e-01 6.93602745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.2992541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:486.24, Y:292.68, Z:69.36 [[ 4.78078146e-01 -8.78030736e-01 -2.24346468e-02 4.86236828e+02] [ 8.77008102e-01 4.78603897e-01 -4.23686174e-02 2.92678669e+02] [ 4.79382577e-02 5.80143056e-04 9.98850132e-01 6.93575859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.26, Y:292.70, Z:69.36 [[ 4.78407537e-01 -8.77592782e-01 -3.09376439e-02 4.86255502e+02] [ 8.76802764e-01 4.79325647e-01 -3.82601210e-02 2.92700759e+02] [ 4.84060123e-02 -8.82228146e-03 9.98788779e-01 6.93644722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.25, Y:292.73, Z:69.35 [[ 4.78526829e-01 -8.78070421e-01 -2.09982114e-03 4.86254689e+02] [ 8.76998712e-01 4.78058295e-01 -4.83065843e-02 2.92731945e+02] [ 4.34204197e-02 2.12744562e-02 9.98830348e-01 6.93480301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.3892541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:486.28, Y:292.75, Z:69.35 [[ 4.78859111e-01 -8.77610234e-01 -2.22312792e-02 4.86277750e+02] [ 8.76798061e-01 4.79372826e-01 -3.77737166e-02 2.92749960e+02] [ 4.38076714e-02 -1.40405417e-03 9.99038997e-01 6.93542933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:486.29, Y:292.77, Z:69.36 [[ 4.83158070e-01 -8.75258838e-01 -2.19145233e-02 4.86290728e+02] [ 8.74466348e-01 4.83653403e-01 -3.72557518e-02 2.92773299e+02] [ 4.32074598e-02 -1.16309599e-03 9.99065445e-01 6.93557224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.31, Y:292.80, Z:69.36 [[ 4.85617759e-01 -8.73600625e-01 -3.15806829e-02 4.86307986e+02] [ 8.73046493e-01 4.86508374e-01 -3.31575400e-02 2.92795009e+02] [ 4.43307144e-02 -1.14695142e-02 9.98951069e-01 6.93638434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.31, Y:292.82, Z:69.35 [[ 4.88902365e-01 -8.72255127e-01 -1.20611410e-02 4.86313367e+02] [ 8.71332825e-01 4.88955765e-01 -4.12476459e-02 2.92824591e+02] [ 4.18758350e-02 9.65680361e-03 9.99076154e-01 6.93548267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.33, Y:292.85, Z:69.36 [[ 4.94841853e-01 -8.68732175e-01 -2.08793891e-02 4.86329760e+02] [ 8.68005183e-01 4.95281858e-01 -3.55370812e-02 2.92845877e+02] [ 4.12133885e-02 -5.38182864e-04 9.99150222e-01 6.93588167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5392541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:486.34, Y:292.87, Z:69.36 [[ 4.97063349e-01 -8.67458629e-01 -2.10607234e-02 4.86343259e+02] [ 8.66716909e-01 4.97509142e-01 -3.58671611e-02 2.92870181e+02] [ 4.15911808e-02 -4.25433905e-04 9.99134622e-01 6.93594841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5692541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:486.36, Y:292.89, Z:69.36 [[ 5.00981097e-01 -8.65189116e-01 -2.15808493e-02 4.86355644e+02] [ 8.64407210e-01 5.01445650e-01 -3.67754858e-02 2.92893776e+02] [ 4.26393731e-02 -2.30818529e-04 9.99090502e-01 6.93594033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.37, Y:292.92, Z:69.36 [[ 5.03082667e-01 -8.63987557e-01 -2.08166409e-02 4.86368977e+02] [ 8.63258447e-01 5.03513146e-01 -3.54875343e-02 2.92917740e+02] [ 4.11422404e-02 -1.16977665e-04 9.99153293e-01 6.93600267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.38, Y:292.94, Z:69.36 [[ 5.02491760e-01 -8.64303197e-01 -2.19548386e-02 4.86382830e+02] [ 8.63578049e-01 5.02969811e-01 -3.54164184e-02 2.92941432e+02] [ 4.16531446e-02 -1.16325827e-03 9.99131454e-01 6.93614511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.40, Y:292.97, Z:69.36 [[ 5.02799802e-01 -8.64171131e-01 -2.00153817e-02 4.86397112e+02] [ 8.63405228e-01 5.03197005e-01 -3.63893763e-02 2.92965087e+02] [ 4.15183286e-02 1.01518602e-03 9.99137227e-01 6.93617015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.41, Y:292.99, Z:69.36 [[ 5.01114649e-01 -8.65128796e-01 -2.08872084e-02 4.86411719e+02] [ 8.64393697e-01 5.01549731e-01 -3.56567612e-02 2.92987761e+02] [ 4.13236647e-02 -1.86645880e-04 9.99145795e-01 6.93627898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7192541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:486.43, Y:293.01, Z:69.36 [[ 4.99635314e-01 -8.65977156e-01 -2.11688180e-02 4.86425708e+02] [ 8.65222002e-01 5.00083496e-01 -3.61577772e-02 2.93010523e+02] [ 4.18979856e-02 -2.50024681e-04 9.99121863e-01 6.93628071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7492541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:486.44, Y:293.04, Z:69.36 [[ 4.99494493e-01 -8.66058546e-01 -2.11624070e-02 4.86440024e+02] [ 8.65303306e-01 4.99942530e-01 -3.61615293e-02 2.93035193e+02] [ 4.18979887e-02 -2.49415990e-04 9.99121863e-01 6.93637439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.7792541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:486.46, Y:293.06, Z:69.36 [[ 4.96871337e-01 -8.67571938e-01 -2.09238181e-02 4.86455236e+02] [ 8.66834339e-01 4.97311571e-01 -3.57691119e-02 2.93059272e+02] [ 4.14379345e-02 -3.64837554e-04 9.99141013e-01 6.93642232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.47, Y:293.08, Z:69.37 [[ 4.94651520e-01 -8.68866039e-01 -1.97908907e-02 4.86469498e+02] [ 8.68206404e-01 4.95047083e-01 -3.38530068e-02 2.93081760e+02] [ 3.92111506e-02 -4.37136793e-04 9.99230852e-01 6.93655007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.48, Y:293.11, Z:69.37 [[ 4.94424151e-01 -8.68995640e-01 -1.97822512e-02 4.86483826e+02] [ 8.68335906e-01 4.94819550e-01 -3.38580549e-02 2.93106450e+02] [ 3.92111467e-02 -4.37398947e-04 9.99230852e-01 6.93664375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8692541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:486.50, Y:293.13, Z:69.37 [[ 4.91090857e-01 -8.70861673e-01 -2.07296338e-02 4.86499735e+02] [ 8.70137954e-01 4.91527805e-01 -3.55015237e-02 2.93128966e+02] [ 4.11061078e-02 -6.03167442e-04 9.99154605e-01 6.93664575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.8992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:486.51, Y:293.15, Z:69.37 [[ 4.89961912e-01 -8.71506814e-01 -2.03272607e-02 4.86514661e+02] [ 8.70810664e-01 4.90382984e-01 -3.48327080e-02 2.93153127e+02] [ 4.03250852e-02 -6.34495168e-04 9.99186412e-01 6.93675261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:486.53, Y:293.18, Z:69.37 [[ 4.87670832e-01 -8.72781103e-01 -2.07438117e-02 4.86530175e+02] [ 8.72056282e-01 4.88111251e-01 -3.55703248e-02 2.93176954e+02] [ 4.11703952e-02 -7.43161384e-04 9.99151864e-01 6.93681335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9592541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:486.54, Y:293.20, Z:69.37 [[ 4.86441798e-01 -8.73451180e-01 -2.13872263e-02 4.86544515e+02] [ 8.72680340e-01 4.86911055e-01 -3.66967121e-02 2.93199727e+02] [ 4.24664634e-02 -8.13397316e-04 9.99097562e-01 6.93683129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 863.9892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:486.57, Y:293.22, Z:69.39 [[ 4.86574130e-01 -8.72115876e-01 -5.15704874e-02 4.86574885e+02] [ 8.72238670e-01 4.88288159e-01 -2.78276110e-02 2.93216311e+02] [ 4.94501598e-02 -3.14415777e-02 9.98281578e-01 6.93900855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0192541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:486.56, Y:293.25, Z:69.36 [[ 4.83930357e-01 -8.75106068e-01 8.83242898e-04 4.86563227e+02] [ 8.73960806e-01 4.83244910e-01 -5.16417173e-02 2.93254274e+02] [ 4.47651575e-02 2.57629144e-02 9.98665286e-01 6.93633097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.59, Y:293.27, Z:69.37 [[ 4.82315279e-01 -8.75813536e-01 -1.79616527e-02 4.86588407e+02] [ 8.75038391e-01 4.82645134e-01 -3.68983704e-02 2.93271988e+02] [ 4.09851966e-02 2.07951214e-03 9.99157590e-01 6.93711802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.60, Y:293.29, Z:69.37 [[ 4.80943057e-01 -8.76515468e-01 -2.03570748e-02 4.86603855e+02] [ 8.75817392e-01 4.81372655e-01 -3.49894851e-02 2.93294039e+02] [ 4.04681640e-02 -1.00113026e-03 9.99180327e-01 6.93733004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1092541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:486.62, Y:293.32, Z:69.37 [[ 4.78054625e-01 -8.78096873e-01 -2.02400071e-02 4.86619960e+02] [ 8.77407379e-01 4.78481590e-01 -3.48089067e-02 2.93317502e+02] [ 4.02500628e-02 -1.11817275e-03 9.99189012e-01 6.93738281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1392541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:486.63, Y:293.34, Z:69.37 [[ 4.76543435e-01 -8.78911493e-01 -2.05168756e-02 4.86634487e+02] [ 8.78202795e-01 4.76983403e-01 -3.53084120e-02 2.93341234e+02] [ 4.08191782e-02 -1.19198559e-03 9.99165839e-01 6.93748216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.65, Y:293.37, Z:69.38 [[ 4.75202483e-01 -8.79664412e-01 -1.93163890e-02 4.86647943e+02] [ 8.79036065e-01 4.75593468e-01 -3.32633449e-02 2.93365419e+02] [ 3.84473292e-02 -1.17297845e-03 9.99259940e-01 6.93756349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.1992541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:486.66, Y:293.39, Z:69.37 [[ 4.72106874e-01 -8.81509456e-01 -7.49526599e-03 4.86655651e+02] [ 8.80751388e-01 4.72026640e-01 -3.83124538e-02 2.93392424e+02] [ 3.73107555e-02 1.14861068e-02 9.99237698e-01 6.93684874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.69, Y:293.41, Z:69.38 [[ 4.75124383e-01 -8.79327332e-01 -3.22531129e-02 4.86685053e+02] [ 8.79012741e-01 4.75979116e-01 -2.79371315e-02 2.93410726e+02] [ 3.99176914e-02 -1.50772848e-02 9.99089212e-01 6.93841612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2592541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:486.69, Y:293.44, Z:69.38 [[ 4.74930654e-01 -8.79771741e-01 -2.10370843e-02 4.86693209e+02] [ 8.79028442e-01 4.75394543e-01 -3.61804723e-02 2.93437067e+02] [ 4.18314721e-02 -1.30898014e-03 9.99123823e-01 6.93801970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.2892541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:486.71, Y:293.46, Z:69.38 [[ 4.76495590e-01 -8.78927423e-01 -2.09413100e-02 4.86706047e+02] [ 8.78189359e-01 4.76953975e-01 -3.60326971e-02 2.93460555e+02] [ 4.16581666e-02 -1.22101433e-03 9.99131176e-01 6.93806746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.72, Y:293.48, Z:69.38 [[ 4.78192580e-01 -8.78016730e-01 -2.04567516e-02 4.86718811e+02] [ 8.77310784e-01 4.78628666e-01 -3.52191408e-02 2.93483941e+02] [ 4.07141826e-02 -1.10539699e-03 9.99170223e-01 6.93826143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3492541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:486.73, Y:293.51, Z:69.38 [[ 4.80754038e-01 -8.76599447e-01 -2.11887931e-02 4.86732397e+02] [ 8.75839735e-01 4.81219691e-01 -3.65016173e-02 2.93508702e+02] [ 4.21937620e-02 -1.00968701e-03 9.99108937e-01 6.93822031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.3792541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:486.75, Y:293.53, Z:69.38 [[ 4.82696116e-01 -8.75539664e-01 -2.08508423e-02 4.86745907e+02] [ 8.74802071e-01 4.83145427e-01 -3.59420806e-02 2.93532833e+02] [ 4.15427063e-02 -8.91257303e-04 9.99136332e-01 6.93842699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4092541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:486.76, Y:293.56, Z:69.38 [[ 4.84259632e-01 -8.74654156e-01 -2.17420395e-02 4.86760337e+02] [ 8.73850164e-01 4.84746743e-01 -3.75031458e-02 2.93557246e+02] [ 4.33416652e-02 -8.38025187e-04 9.99059957e-01 6.93844611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4392541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:486.77, Y:293.58, Z:69.39 [[ 4.84973561e-01 -8.74258693e-01 -2.17343734e-02 4.86773821e+02] [ 8.73453878e-01 4.85459691e-01 -3.75128147e-02 2.93580423e+02] [ 4.33470665e-02 -7.91249393e-04 9.99059761e-01 6.93854020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.79, Y:293.60, Z:69.39 [[ 4.85839205e-01 -8.73789686e-01 -2.12568017e-02 4.86788307e+02] [ 8.73018673e-01 4.86303465e-01 -3.67060715e-02 2.93604744e+02] [ 4.24106430e-02 -7.24336244e-04 9.99100001e-01 6.93873093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.4992541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:486.80, Y:293.63, Z:69.39 [[ 4.84702039e-01 -8.74407206e-01 -2.18167788e-02 4.86802395e+02] [ 8.73594557e-01 4.85192146e-01 -3.76978940e-02 2.93627857e+02] [ 4.35486399e-02 -7.86773159e-04 9.99050998e-01 6.93874204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:486.82, Y:293.65, Z:69.39 [[ 4.84735846e-01 -8.74396003e-01 -2.15125570e-02 4.86816310e+02] [ 8.73604902e-01 4.85212373e-01 -3.71944618e-02 2.93651123e+02] [ 4.29608476e-02 -7.63986371e-04 9.99076465e-01 6.93892144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:486.83, Y:293.67, Z:69.39 [[ 4.84306540e-01 -8.74639652e-01 -2.12756721e-02 4.86831520e+02] [ 8.73865111e-01 4.84773032e-01 -3.68086243e-02 2.93674749e+02] [ 4.25081544e-02 -7.65410077e-04 9.99095827e-01 6.93906058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.5892541539998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:486.85, Y:293.70, Z:69.39 [[ 4.82932466e-01 -8.75380877e-01 -2.20125729e-02 4.86845900e+02] [ 8.74551374e-01 4.83433141e-01 -3.81089419e-02 2.93698611e+02] [ 4.40014463e-02 -8.47080592e-04 9.99031108e-01 6.93902440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6192541539999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:486.86, Y:293.72, Z:69.39 [[ 4.83045481e-01 -8.75319763e-01 -2.19630377e-02 4.86860075e+02] [ 8.74492840e-01 4.83543821e-01 -3.80479490e-02 2.93721614e+02] [ 4.39242129e-02 -8.27629379e-04 9.99034523e-01 6.93913353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6492541539999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:486.87, Y:293.75, Z:69.39 [[ 4.83300829e-01 -8.75180016e-01 -2.19145549e-02 4.86874330e+02] [ 8.74355574e-01 4.83796751e-01 -3.79872872e-02 2.93746211e+02] [ 4.38479051e-02 -8.01825876e-04 9.99037896e-01 6.93925285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.6792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:486.89, Y:293.77, Z:69.39 [[ 4.84511301e-01 -8.74521023e-01 -2.14890630e-02 4.86888183e+02] [ 8.73726607e-01 4.84987080e-01 -3.72739709e-02 2.93769797e+02] [ 4.30187890e-02 -7.15905951e-04 9.99074007e-01 6.93946530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7092541539998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:486.90, Y:293.79, Z:69.39 [[ 4.85380637e-01 -8.74023076e-01 -2.21201533e-02 4.86902897e+02] [ 8.73179696e-01 4.85883938e-01 -3.83929389e-02 2.93793835e+02] [ 4.43041417e-02 -6.79679623e-04 9.99017858e-01 6.93940814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7392541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:486.92, Y:293.82, Z:69.40 [[ 4.87858593e-01 -8.72393302e-01 -3.03960570e-02 4.86920347e+02] [ 8.71765600e-01 4.88708742e-01 -3.44746950e-02 2.93815623e+02] [ 4.49303118e-02 -9.67946072e-03 9.98943229e-01 6.94025733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7692541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:486.93, Y:293.84, Z:69.39 [[ 4.89936615e-01 -8.71633212e-01 -1.47531993e-02 4.86927912e+02] [ 8.70564263e-01 4.90080988e-01 -4.40282758e-02 2.93844248e+02] [ 4.56067699e-02 8.72745632e-03 9.98921345e-01 6.93937373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.7992541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:486.95, Y:293.86, Z:69.41 [[ 4.92942215e-01 -8.69108796e-01 -4.07169917e-02 4.86953638e+02] [ 8.68714863e-01 4.94242935e-01 -3.25331914e-02 2.93861342e+02] [ 4.83989682e-02 -1.93344724e-02 9.98640936e-01 6.94097818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8292541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:486.95, Y:293.89, Z:69.39 [[ 4.94651091e-01 -8.69067107e-01 -6.53162195e-03 4.86951770e+02] [ 8.67866548e-01 4.94338770e-01 -4.93643117e-02 2.93894967e+02] [ 4.61297335e-02 1.87495345e-02 9.98759482e-01 6.93921399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8592541539999 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:486.97, Y:293.91, Z:69.40 [[ 4.97238460e-01 -8.67306694e-01 -2.30870598e-02 4.86974616e+02] [ 8.66375610e-01 4.97774144e-01 -4.01771677e-02 2.93913854e+02] [ 4.63380679e-02 -2.44325089e-05 9.98925815e-01 6.94020495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.8892541539999 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:486.99, Y:293.94, Z:69.40 [[ 4.96739034e-01 -8.67568147e-01 -2.39967042e-02 4.86988553e+02] [ 8.66560819e-01 4.97318318e-01 -4.17952027e-02 2.93937047e+02] [ 4.81941871e-02 -3.32950468e-05 9.98837985e-01 6.93998944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9192541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:487.00, Y:293.96, Z:69.40 [[ 4.97054682e-01 -8.67388298e-01 -2.39621147e-02 4.87003287e+02] [ 8.66382005e-01 4.97631932e-01 -4.17693785e-02 2.93960703e+02] [ 4.81545836e-02 1.32016675e-06 9.98839895e-01 6.94014015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9492541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:487.02, Y:293.98, Z:69.40 [[ 4.96790109e-01 -8.67537587e-01 -2.40441693e-02 4.87018246e+02] [ 8.66523216e-01 4.97371627e-01 -4.19402093e-02 2.93984457e+02] [ 4.83435956e-02 6.50279483e-07 9.98830765e-01 6.94025169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 864.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.04, Y:294.00, Z:69.42 [[ 4.96861138e-01 -8.66679254e-01 -4.46775106e-02 4.87044929e+02] [ 8.66241971e-01 4.98407319e-01 -3.48567414e-02 2.94002281e+02] [ 5.24772129e-02 -2.13825747e-02 9.98393173e-01 6.94202398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0092541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:487.04, Y:294.04, Z:69.40 [[ 4.94905780e-01 -8.68927313e-01 -5.79595835e-03 4.87041025e+02] [ 8.67584992e-01 4.94492525e-01 -5.26633164e-02 2.94035895e+02] [ 4.86266522e-02 2.10348932e-02 9.98595505e-01 6.93985753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0392541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:487.06, Y:294.05, Z:69.41 [[ 4.93366337e-01 -8.69494478e-01 -2.38539214e-02 4.87064299e+02] [ 8.68495123e-01 4.93942636e-01 -4.16760464e-02 2.94053480e+02] [ 4.80195611e-02 -1.55456055e-04 9.98846383e-01 6.94068918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:487.08, Y:294.08, Z:69.41 [[ 4.89858975e-01 -8.71465975e-01 -2.41917180e-02 4.87081265e+02] [ 8.70439192e-01 4.90455848e-01 -4.22927241e-02 2.94076053e+02] [ 4.87216396e-02 -3.39948998e-04 9.98812338e-01 6.94085448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.0992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:487.10, Y:294.10, Z:69.41 [[ 4.88152630e-01 -8.72424092e-01 -2.41498281e-02 4.87097064e+02] [ 8.71400678e-01 4.88749452e-01 -4.22472784e-02 2.94099587e+02] [ 4.86607587e-02 -4.21056575e-04 9.98815275e-01 6.94104005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1292541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:487.12, Y:294.12, Z:69.41 [[ 4.84706902e-01 -8.74195930e-01 -2.89947511e-02 4.87116411e+02] [ 8.73320374e-01 4.85534646e-01 -3.95933403e-02 2.94118833e+02] [ 4.86902932e-02 -6.13054153e-03 9.98795110e-01 6.94128303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1592541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:487.13, Y:294.15, Z:69.41 [[ 4.81576738e-01 -8.76195036e-01 -1.91338419e-02 4.87128384e+02] [ 8.75044584e-01 4.81930689e-01 -4.51640074e-02 2.94147297e+02] [ 4.87936647e-02 5.00697063e-03 9.98796330e-01 6.94115456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.1892541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:487.14, Y:294.17, Z:69.41 [[ 4.75665806e-01 -8.79549437e-01 -1.16116173e-02 4.87140522e+02] [ 8.78413337e-01 4.75661554e-01 -4.62179014e-02 2.94171037e+02] [ 4.61741291e-02 1.17844759e-02 9.98863893e-01 6.94062166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2192541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:487.17, Y:294.19, Z:69.42 [[ 4.75322994e-01 -8.79097932e-01 -3.54242493e-02 4.87168532e+02] [ 8.78438430e-01 4.76444890e-01 -3.66904911e-02 2.94188320e+02] [ 4.91322374e-02 -1.36781879e-02 9.98698618e-01 6.94203971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2492541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:487.18, Y:294.22, Z:69.42 [[ 4.73724977e-01 -8.80330071e-01 -2.45685153e-02 4.87178939e+02] [ 8.79275699e-01 4.74360148e-01 -4.30893842e-02 2.94215377e+02] [ 4.95872052e-02 -1.18998090e-03 9.98769089e-01 6.94166760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.2792541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:487.20, Y:294.24, Z:69.42 [[ 4.71076499e-01 -8.81733304e-01 -2.51657025e-02 4.87195652e+02] [ 8.80627525e-01 4.71746268e-01 -4.41658262e-02 2.94238104e+02] [ 5.08143060e-02 -1.35612751e-03 9.98707198e-01 6.94175756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.21, Y:294.26, Z:69.42 [[ 4.70345297e-01 -8.82143550e-01 -2.44552520e-02 4.87211992e+02] [ 8.81098555e-01 4.70978705e-01 -4.29464388e-02 2.94260147e+02] [ 4.94028269e-02 -1.34783168e-03 9.98778025e-01 6.94202040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3392541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:487.23, Y:294.28, Z:69.42 [[ 4.69229544e-01 -8.82725573e-01 -2.48837117e-02 4.87226717e+02] [ 8.81643036e-01 4.69886736e-01 -4.37265533e-02 2.94283527e+02] [ 5.02910729e-02 -1.42076044e-03 9.98733593e-01 6.94207956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:487.24, Y:294.31, Z:69.42 [[ 4.69030351e-01 -8.82833189e-01 -2.48211702e-02 4.87241690e+02] [ 8.81754770e-01 4.69684531e-01 -4.36459219e-02 2.94307550e+02] [ 5.01901881e-02 -1.41492322e-03 9.98738676e-01 6.94219461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.3992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:487.26, Y:294.33, Z:69.42 [[ 4.70314203e-01 -8.82174148e-01 -2.39441806e-02 4.87257033e+02] [ 8.81168442e-01 4.70921570e-01 -4.21313546e-02 2.94331613e+02] [ 4.84430229e-02 -1.28388189e-03 9.98825122e-01 6.94233879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4292541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:487.24, Y:294.37, Z:69.39 [[ 4.65354310e-01 -8.84718256e-01 2.68136952e-02 4.87240847e+02] [ 8.84309317e-01 4.63412509e-01 -5.69726094e-02 2.94368283e+02] [ 3.79789059e-02 5.02240498e-02 9.98015605e-01 6.93880013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4592541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:487.30, Y:294.37, Z:69.44 [[ 4.73245895e-01 -8.78288633e-01 -6.81718362e-02 4.87304777e+02] [ 8.79590164e-01 4.75375965e-01 -1.84074839e-02 2.94368271e+02] [ 4.85743363e-02 -5.12520104e-02 9.97503767e-01 6.94434245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.30, Y:294.40, Z:69.43 [[ 4.76563533e-01 -8.78820466e-01 -2.37020589e-02 4.87298092e+02] [ 8.77827443e-01 4.77151740e-01 -4.17755576e-02 2.94403374e+02] [ 4.80226936e-02 -8.97610453e-04 9.98845842e-01 6.94264894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5192541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:487.31, Y:294.43, Z:69.43 [[ 4.80325899e-01 -8.76743598e-01 -2.46514626e-02 4.87311527e+02] [ 8.75665258e-01 4.80957554e-01 -4.34762893e-02 2.94428285e+02] [ 4.99738654e-02 -7.03641603e-04 9.98750278e-01 6.94265844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5492541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:487.30, Y:294.46, Z:69.40 [[ 4.78450103e-01 -8.77941352e-01 1.74493917e-02 4.87300366e+02] [ 8.77221461e-01 4.76972921e-01 -5.45833467e-02 2.94463383e+02] [ 3.95980898e-02 4.14223887e-02 9.98356738e-01 6.93971184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.5792541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:487.36, Y:294.47, Z:69.44 [[ 4.86372428e-01 -8.71616745e-01 -6.10418859e-02 4.87355214e+02] [ 8.72294093e-01 4.88408256e-01 -2.36725665e-02 2.94468043e+02] [ 5.04467664e-02 -4.17327928e-02 9.97854447e-01 6.94433614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6092541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:487.35, Y:294.50, Z:69.43 [[ 4.88381158e-01 -8.72257816e-01 -2.54979827e-02 4.87352562e+02] [ 8.71095082e-01 4.89046268e-01 -4.50233826e-02 2.94502378e+02] [ 5.17416907e-02 -2.22595647e-04 9.98660477e-01 6.94293524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6392541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:487.37, Y:294.53, Z:69.43 [[ 4.89874700e-01 -8.71423333e-01 -2.53801831e-02 4.87366300e+02] [ 8.70268714e-01 4.90531712e-01 -4.48442351e-02 2.94526766e+02] [ 5.15280975e-02 -1.19523072e-04 9.98671538e-01 6.94303702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6692541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:487.38, Y:294.55, Z:69.43 [[ 4.89649435e-01 -8.71550281e-01 -2.53680527e-02 4.87380282e+02] [ 8.70395477e-01 4.90306122e-01 -4.48510969e-02 2.94551669e+02] [ 5.15280976e-02 -1.18924068e-04 9.98671538e-01 6.94313659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.6992541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:487.39, Y:294.58, Z:69.43 [[ 4.92226835e-01 -8.70105449e-01 -2.50848634e-02 4.87394451e+02] [ 8.68973016e-01 4.92865606e-01 -4.43778363e-02 2.94575932e+02] [ 5.09768636e-02 4.58925186e-05 9.98699833e-01 6.94325834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:487.41, Y:294.60, Z:69.43 [[ 4.92798491e-01 -8.69789829e-01 -2.48052437e-02 4.87408257e+02] [ 8.68680658e-01 4.93422380e-01 -4.39120776e-02 2.94599836e+02] [ 5.04337408e-02 9.19702273e-05 9.98727405e-01 6.94334009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.42, Y:294.62, Z:69.43 [[ 4.93439065e-01 -8.69447331e-01 -2.40671572e-02 4.87422848e+02] [ 8.68401458e-01 4.94025627e-01 -4.26331787e-02 2.94623925e+02] [ 4.89570958e-02 1.36921395e-04 9.98800873e-01 6.94347413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.44, Y:294.65, Z:69.44 [[ 4.92808405e-01 -8.69817572e-01 -2.36065282e-02 4.87437029e+02] [ 8.68810485e-01 4.93373469e-01 -4.18444934e-02 2.94648130e+02] [ 4.80439103e-02 1.11718846e-04 9.98845218e-01 6.94354807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8192541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:487.43, Y:294.68, Z:69.41 [[ 4.86600994e-01 -8.73494204e-01 1.50781090e-02 4.87426798e+02] [ 8.72769457e-01 4.85289083e-01 -5.26116116e-02 2.94680850e+02] [ 3.86386960e-02 3.87605755e-02 9.98501211e-01 6.94070742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.46, Y:294.69, Z:69.43 [[ 4.86254001e-01 -8.73337553e-01 -2.89579879e-02 4.87464763e+02] [ 8.72887530e-01 4.86998223e-01 -3.00015146e-02 2.94692548e+02] [ 4.03039381e-02 -1.06887100e-02 9.99130294e-01 6.94295592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.8792541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:487.48, Y:294.72, Z:69.43 [[ 4.85193890e-01 -8.74044229e-01 -2.51709103e-02 4.87478713e+02] [ 8.73337990e-01 4.85822835e-01 -3.54531870e-02 2.94717214e+02] [ 4.32162565e-02 -4.78104244e-03 9.99054301e-01 6.94296525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.50, Y:294.74, Z:69.43 [[ 4.83657562e-01 -8.74892605e-01 -2.52644605e-02 4.87495105e+02] [ 8.74170360e-01 4.84293750e-01 -3.58572851e-02 2.94740430e+02] [ 4.36066939e-02 -4.74279546e-03 9.99037518e-01 6.94327969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:487.51, Y:294.77, Z:69.43 [[ 4.82655878e-01 -8.75540722e-01 -2.17197767e-02 4.87508408e+02] [ 8.74640997e-01 4.83144306e-01 -3.96825768e-02 2.94765358e+02] [ 4.52374984e-02 1.56021773e-04 9.98976248e-01 6.94320994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9692541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:487.54, Y:294.79, Z:69.45 [[ 4.85102271e-01 -8.73603403e-01 -3.86378034e-02 4.87535096e+02] [ 8.73006685e-01 4.86368598e-01 -3.61236086e-02 2.94785782e+02] [ 5.03499217e-02 -1.62074160e-02 9.98600123e-01 6.94465491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 865.9992541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:487.55, Y:294.81, Z:69.44 [[ 4.84260337e-01 -8.74550323e-01 -2.55667612e-02 4.87545313e+02] [ 8.73373490e-01 4.84934634e-01 -4.53557860e-02 2.94813025e+02] [ 5.20641253e-02 -3.65323311e-04 9.98643677e-01 6.94411349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:487.56, Y:294.84, Z:69.44 [[ 4.83014460e-01 -8.75336227e-01 -2.19891069e-02 4.87557860e+02] [ 8.74185503e-01 4.83508350e-01 -4.49375274e-02 2.94837243e+02] [ 4.99673625e-02 2.48291708e-03 9.98747765e-01 6.94394542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.58, Y:294.86, Z:69.44 [[ 4.83277190e-01 -8.75065393e-01 -2.65276548e-02 4.87575086e+02] [ 8.73996896e-01 4.83999413e-01 -4.32896474e-02 2.94860019e+02] [ 5.07206416e-02 -2.26418887e-03 9.98710313e-01 6.94432352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.0892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:487.59, Y:294.88, Z:69.44 [[ 4.84628407e-01 -8.74334212e-01 -2.59806108e-02 4.87591461e+02] [ 8.73184124e-01 4.85323370e-01 -4.48409585e-02 2.94883892e+02] [ 5.18149817e-02 -9.54654578e-04 9.98656245e-01 6.94449272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1192541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:487.61, Y:294.91, Z:69.44 [[ 4.81551423e-01 -8.76031390e-01 -2.60236558e-02 4.87606231e+02] [ 8.74810454e-01 4.82253827e-01 -4.62376035e-02 2.94907996e+02] [ 5.30555997e-02 -4.99982338e-04 9.98591435e-01 6.94447395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1492541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:487.62, Y:294.93, Z:69.45 [[ 4.81069381e-01 -8.76314565e-01 -2.53975149e-02 4.87621295e+02] [ 8.75150517e-01 4.81739068e-01 -4.51557709e-02 2.94931440e+02] [ 5.18056349e-02 -5.03589564e-04 9.98657060e-01 6.94462146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.1792541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:487.64, Y:294.95, Z:69.44 [[ 4.78546653e-01 -8.77814875e-01 -2.08361727e-02 4.87635268e+02] [ 8.76596117e-01 4.78983812e-01 -4.64085655e-02 2.94954301e+02] [ 5.07183185e-02 3.94375560e-03 9.98705211e-01 6.94437188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2092541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:487.66, Y:294.98, Z:69.45 [[ 4.78935662e-01 -8.77377056e-01 -2.88120220e-02 4.87656113e+02] [ 8.76369147e-01 4.79775743e-01 -4.23362013e-02 2.94975359e+02] [ 5.09681209e-02 -4.97365051e-03 9.98687896e-01 6.94501633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:487.67, Y:295.00, Z:69.45 [[ 4.77254223e-01 -8.78421765e-01 -2.45684431e-02 4.87670219e+02] [ 8.77332068e-01 4.77885702e-01 -4.37458333e-02 2.94997942e+02] [ 5.01681998e-02 -6.76799298e-04 9.98740554e-01 6.94501494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2692541539999 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:487.69, Y:295.02, Z:69.45 [[ 4.75875551e-01 -8.79159309e-01 -2.49272660e-02 4.87685607e+02] [ 8.78037365e-01 4.76527375e-01 -4.44077253e-02 2.95022038e+02] [ 5.09199898e-02 -7.54520235e-04 9.98702451e-01 6.94507452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.2992541539999 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:487.70, Y:295.05, Z:69.45 [[ 4.74230902e-01 -8.80133829e-01 -2.16678237e-02 4.87697811e+02] [ 8.78954980e-01 4.74718611e-01 -4.56112175e-02 2.95046814e+02] [ 5.04300947e-02 2.58520733e-03 9.98724247e-01 6.94496208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.72, Y:295.07, Z:69.46 [[ 4.75391726e-01 -8.79294898e-01 -2.90377349e-02 4.87716783e+02] [ 8.78351895e-01 4.76240621e-01 -4.11438821e-02 2.95068916e+02] [ 5.00065544e-02 -5.94588834e-03 9.98731191e-01 6.94565585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3592541539999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:487.73, Y:295.10, Z:69.46 [[ 4.76247515e-01 -8.78974088e-01 -2.43486381e-02 4.87728636e+02] [ 8.77873434e-01 4.76869338e-01 -4.39757794e-02 2.95095168e+02] [ 5.02646895e-02 -4.31666825e-04 9.98735838e-01 6.94553205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.3892541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:487.74, Y:295.12, Z:69.46 [[ 4.78322212e-01 -8.77800875e-01 -2.59515914e-02 4.87743400e+02] [ 8.76717600e-01 4.79022014e-01 -4.36366792e-02 2.95119693e+02] [ 5.07356988e-02 -1.87982400e-03 9.98710346e-01 6.94569293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:487.76, Y:295.14, Z:69.46 [[ 4.79585649e-01 -8.77231871e-01 -2.14906786e-02 4.87755076e+02] [ 8.76103091e-01 4.80060185e-01 -4.45599990e-02 2.95144887e+02] [ 4.94062705e-02 2.54228613e-03 9.98775529e-01 6.94555169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:487.77, Y:295.17, Z:69.46 [[ 4.80368333e-01 -8.76726781e-01 -2.44216310e-02 4.87769349e+02] [ 8.75640616e-01 4.80988534e-01 -4.36296012e-02 2.95168250e+02] [ 4.99977643e-02 -4.26293239e-04 9.98749239e-01 6.94576132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.78, Y:295.19, Z:69.46 [[ 4.80739582e-01 -8.76528994e-01 -2.42152080e-02 4.87782992e+02] [ 8.75459556e-01 4.81348907e-01 -4.32873603e-02 2.95193189e+02] [ 4.95985903e-02 -3.89487757e-04 9.98769157e-01 6.94586201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.80, Y:295.22, Z:69.46 [[ 4.80538460e-01 -8.76493965e-01 -2.90020538e-02 4.87799050e+02] [ 8.75440008e-01 4.81390665e-01 -4.32182973e-02 2.95217309e+02] [ 5.18418947e-02 -4.62150422e-03 9.98644611e-01 6.94633896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.81, Y:295.24, Z:69.46 [[ 4.80182483e-01 -8.76931657e-01 -2.03875354e-02 4.87807816e+02] [ 8.75787534e-01 4.80600682e-01 -4.49352946e-02 2.95243393e+02] [ 4.92034458e-02 3.72199200e-03 9.98781842e-01 6.94590198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:487.82, Y:295.27, Z:69.46 [[ 4.79346486e-01 -8.77297219e-01 -2.40111828e-02 4.87822588e+02] [ 8.76243705e-01 4.79947289e-01 -4.29833562e-02 2.95266735e+02] [ 4.92332809e-02 -4.35727032e-04 9.98787212e-01 6.94617343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.84, Y:295.29, Z:69.47 [[ 4.78546513e-01 -8.77325825e-01 -3.59531830e-02 4.87841939e+02] [ 8.76452679e-01 4.79746798e-01 -4.09110309e-02 2.95289363e+02] [ 5.31407283e-02 -1.19334323e-02 9.98515727e-01 6.94729304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6292541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:487.84, Y:295.32, Z:69.46 [[ 4.77011418e-01 -8.78782108e-01 -1.42166493e-02 4.87843853e+02] [ 8.77509422e-01 4.77104573e-01 -4.84607083e-02 2.95318333e+02] [ 4.93692319e-02 1.06410675e-02 9.98723909e-01 6.94593452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.87, Y:295.34, Z:69.48 [[ 4.77562117e-01 -8.77837995e-01 -3.65359949e-02 4.87868227e+02] [ 8.77004172e-01 4.78787097e-01 -4.03310962e-02 2.95338275e+02] [ 5.28971316e-02 -1.27816163e-02 9.98518164e-01 6.94759390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.6892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:487.88, Y:295.36, Z:69.47 [[ 4.76534073e-01 -8.78694870e-01 -2.84710738e-02 4.87876957e+02] [ 8.77502042e-01 4.77373625e-01 -4.58757911e-02 2.95364986e+02] [ 5.39021620e-02 -3.12204785e-03 9.98541341e-01 6.94734396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7192541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:487.89, Y:295.39, Z:69.47 [[ 4.75095558e-01 -8.79720117e-01 -1.94094388e-02 4.87885374e+02] [ 8.78369513e-01 4.75450203e-01 -4.91335198e-02 2.95392359e+02] [ 5.24519674e-02 6.29445763e-03 9.98603611e-01 6.94682603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7492541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:487.90, Y:295.42, Z:69.47 [[ 4.73285050e-01 -8.80513108e-01 -2.64183518e-02 4.87900746e+02] [ 8.79331824e-01 4.74018973e-01 -4.56240818e-02 2.95415747e+02] [ 5.26954020e-02 -1.63730167e-03 9.98609290e-01 6.94715150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.7792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:487.91, Y:295.44, Z:69.47 [[ 4.72481401e-01 -8.81016672e-01 -2.38945327e-02 4.87912511e+02] [ 8.79830118e-01 4.73084868e-01 -4.57129276e-02 2.95441177e+02] [ 5.15779932e-02 5.75378599e-04 9.98668804e-01 6.94718007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:487.92, Y:295.47, Z:69.47 [[ 4.70071305e-01 -8.82344968e-01 -2.23679618e-02 4.87923118e+02] [ 8.80978830e-01 4.70590744e-01 -4.92001315e-02 2.95465348e+02] [ 5.39376442e-02 3.42186927e-03 9.98538443e-01 6.94716883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8392541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:487.94, Y:295.49, Z:69.48 [[ 4.67577537e-01 -8.83443656e-01 -2.99758928e-02 4.87941476e+02] [ 8.82379917e-01 4.68499090e-01 -4.37525296e-02 2.95489056e+02] [ 5.26965732e-02 -5.99242576e-03 9.98592591e-01 6.94759972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:487.95, Y:295.51, Z:69.48 [[ 4.66039633e-01 -8.84431506e-01 -2.42481391e-02 4.87951715e+02] [ 8.83261109e-01 4.66669973e-01 -4.54857061e-02 2.95514467e+02] [ 5.15448700e-02 -2.19296441e-04 9.98670656e-01 6.94753969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.8992541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:487.96, Y:295.54, Z:69.47 [[ 4.62687278e-01 -8.86338915e-01 -1.79947069e-02 4.87962332e+02] [ 8.85135836e-01 4.63003347e-01 -4.65021919e-02 2.95540948e+02] [ 4.95483119e-02 5.58821271e-03 9.98756095e-01 6.94706011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:487.98, Y:295.56, Z:69.48 [[ 4.60734699e-01 -8.87207446e-01 -2.42174350e-02 4.87977615e+02] [ 8.86198426e-01 4.61366601e-01 -4.23463052e-02 2.95563939e+02] [ 4.87430730e-02 -1.95104062e-03 9.98809444e-01 6.94765372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9592541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:487.99, Y:295.59, Z:69.47 [[ 4.58568280e-01 -8.88366861e-01 -2.27915095e-02 4.87990907e+02] [ 8.87354170e-01 4.59133662e-01 -4.24129297e-02 2.95589006e+02] [ 4.81425905e-02 -7.74916755e-04 9.98840173e-01 6.94749566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 866.9892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:488.00, Y:295.61, Z:69.48 [[ 4.57320667e-01 -8.89003731e-01 -2.30255141e-02 4.88004130e+02] [ 8.88035143e-01 4.57897617e-01 -4.15133313e-02 2.95613547e+02] [ 4.74488344e-02 -1.46256138e-03 9.98872599e-01 6.94773757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.01, Y:295.64, Z:69.47 [[ 4.55104591e-01 -8.90388344e-01 -9.40252499e-03 4.88009201e+02] [ 8.89324779e-01 4.55038131e-01 -4.51855746e-02 2.95640875e+02] [ 4.45112164e-02 1.22022640e-02 9.98934360e-01 6.94690769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:488.04, Y:295.66, Z:69.48 [[ 4.56498671e-01 -8.89034601e-01 -3.50205896e-02 4.88036294e+02] [ 8.88453064e-01 4.57596462e-01 -3.54490012e-02 2.95659113e+02] [ 4.75406866e-02 -1.49317282e-02 9.98757692e-01 6.94842771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.04, Y:295.69, Z:69.47 [[ 4.56930741e-01 -8.89440865e-01 -1.04520659e-02 4.88036153e+02] [ 8.88363800e-01 4.56908727e-01 -4.52125460e-02 2.95691275e+02] [ 4.49895261e-02 1.13737651e-02 9.98922710e-01 6.94716804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:488.05, Y:295.72, Z:69.47 [[ 4.56342584e-01 -8.89753578e-01 -9.48770465e-03 4.88047596e+02] [ 8.88839149e-01 4.56318215e-01 -4.16971702e-02 2.95716467e+02] [ 4.14296189e-02 1.05951511e-02 9.99085246e-01 6.94683192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.06, Y:295.74, Z:69.47 [[ 4.58349615e-01 -8.88539963e-01 -2.03067594e-02 4.88064483e+02] [ 8.87828504e-01 4.58796024e-01 -3.55915225e-02 2.95739015e+02] [ 4.09411505e-02 -1.71555918e-03 9.99160087e-01 6.94745425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.08, Y:295.76, Z:69.48 [[ 4.60688284e-01 -8.87241760e-01 -2.38403813e-02 4.88081016e+02] [ 8.86557118e-01 4.61278474e-01 -3.51943991e-02 2.95763869e+02] [ 4.22229953e-02 -4.92221239e-03 9.99096087e-01 6.94791457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.09, Y:295.79, Z:69.48 [[ 4.61377104e-01 -8.87000115e-01 -1.90253307e-02 4.88091335e+02] [ 8.86215232e-01 4.61769067e-01 -3.73080703e-02 2.95790140e+02] [ 4.18775718e-02 3.52551600e-04 9.99122688e-01 6.94778914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2292541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:488.12, Y:295.81, Z:69.50 [[ 4.66071109e-01 -8.83831927e-01 -4.02348901e-02 4.88115193e+02] [ 8.83479757e-01 4.67355284e-01 -3.22886626e-02 2.95809839e+02] [ 4.73417394e-02 -2.04978981e-02 9.98668411e-01 6.94951404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:488.11, Y:295.84, Z:69.47 [[ 4.64658199e-01 -8.85480633e-01 -4.09951815e-03 4.88108696e+02] [ 8.84477525e-01 4.64343211e-01 -4.56605989e-02 2.95844117e+02] [ 4.23351594e-02 1.75906400e-02 9.98948599e-01 6.94738346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.2892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:488.13, Y:295.87, Z:69.48 [[ 4.66560505e-01 -8.84297581e-01 -1.84141988e-02 4.88126570e+02] [ 8.83519451e-01 4.66922587e-01 -3.71036115e-02 2.95865798e+02] [ 4.14086393e-02 1.04177692e-03 9.99141751e-01 6.94811576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:488.15, Y:295.89, Z:69.50 [[ 4.70167488e-01 -8.81681275e-01 -3.97575531e-02 4.88152381e+02] [ 8.81309279e-01 4.71429214e-01 -3.23797927e-02 2.95885750e+02] [ 4.72915290e-02 -1.98147747e-02 9.98684578e-01 6.94980069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:488.15, Y:295.92, Z:69.48 [[ 4.67928115e-01 -8.83722616e-01 -8.81009970e-03 4.88146699e+02] [ 8.82711933e-01 4.67833372e-01 -4.41766798e-02 2.95918565e+02] [ 4.31615896e-02 1.28947303e-02 9.98984886e-01 6.94807798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.3792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:488.16, Y:295.94, Z:69.48 [[ 4.67110790e-01 -8.84016453e-01 -1.79560577e-02 4.88163349e+02] [ 8.83160966e-01 4.67449944e-01 -3.89520062e-02 2.95941328e+02] [ 4.28277725e-02 2.33681308e-03 9.99079737e-01 6.94848638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4092541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:488.18, Y:295.97, Z:69.49 [[ 4.65533947e-01 -8.84665234e-01 -2.54080185e-02 4.88179904e+02] [ 8.83864461e-01 4.66202121e-01 -3.79367572e-02 2.95965629e+02] [ 4.54066023e-02 -4.79639620e-03 9.98957074e-01 6.94893010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.20, Y:295.99, Z:69.50 [[ 4.65858708e-01 -8.84351221e-01 -2.99763735e-02 4.88195485e+02] [ 8.83588994e-01 4.66737473e-01 -3.77706449e-02 2.95990211e+02] [ 4.73936128e-02 -8.89100984e-03 9.98836721e-01 6.94966219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.21, Y:296.02, Z:69.49 [[ 4.65167770e-01 -8.84932150e-01 -2.26723649e-02 4.88205367e+02] [ 8.83934482e-01 4.65719703e-01 -4.20117711e-02 2.96017360e+02] [ 4.77365340e-02 -4.98363275e-04 9.98859838e-01 6.94947481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.4992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:488.22, Y:296.04, Z:69.50 [[ 4.63969577e-01 -8.85505164e-01 -2.47555380e-02 4.88219568e+02] [ 8.84518800e-01 4.64622937e-01 -4.18571313e-02 2.96042744e+02] [ 4.85666966e-02 -2.47630332e-03 9.98816872e-01 6.94969411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.22, Y:296.07, Z:69.49 [[ 4.60866338e-01 -8.87380884e-01 -1.25453674e-02 4.88224152e+02] [ 8.86301280e-01 4.60938758e-01 -4.47828459e-02 2.96070816e+02] [ 4.55220875e-02 9.51993097e-03 9.98917970e-01 6.94900919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.24, Y:296.09, Z:69.49 [[ 4.60680662e-01 -8.87305774e-01 -2.14893260e-02 4.88242106e+02] [ 8.86400838e-01 4.61181217e-01 -4.00679361e-02 2.96093421e+02] [ 4.54629846e-02 -5.89633288e-04 9.98965850e-01 6.94949435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.5892541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:488.26, Y:296.12, Z:69.50 [[ 4.59743300e-01 -8.87377400e-01 -3.46041558e-02 4.88261756e+02] [ 8.86721875e-01 4.60837926e-01 -3.67793786e-02 2.96115700e+02] [ 4.85840968e-02 -1.37751891e-02 9.98724101e-01 6.95047100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:488.26, Y:296.15, Z:69.49 [[ 4.57310692e-01 -8.89303694e-01 -2.42277234e-03 4.88257390e+02] [ 8.88261344e-01 4.56903363e-01 -4.72345454e-02 2.96148661e+02] [ 4.31128286e-02 1.94488077e-02 9.98880888e-01 6.94880369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.28, Y:296.17, Z:69.50 [[ 4.56874816e-01 -8.89083728e-01 -2.82050692e-02 4.88283617e+02] [ 8.88415891e-01 4.57659813e-01 -3.55626231e-02 2.96167833e+02] [ 4.45264763e-02 -8.81016479e-03 9.98969356e-01 6.95027380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.30, Y:296.19, Z:69.51 [[ 4.56656202e-01 -8.88970460e-01 -3.45923950e-02 4.88299288e+02] [ 8.88328058e-01 4.57749794e-01 -3.65839931e-02 2.96192066e+02] [ 4.83567508e-02 -1.40230877e-02 9.98731685e-01 6.95111674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:488.31, Y:296.22, Z:69.51 [[ 4.56054840e-01 -8.89641452e-01 -2.34961731e-02 4.88306241e+02] [ 8.88618741e-01 4.56657499e-01 -4.26692177e-02 2.96219367e+02] [ 4.86900085e-02 -1.41963654e-03 9.98812929e-01 6.95076512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.30, Y:296.25, Z:69.49 [[ 4.53368924e-01 -8.91321553e-01 -1.58334460e-03 4.88304804e+02] [ 8.90224762e-01 4.52897769e-01 -4.88209338e-02 2.96251472e+02] [ 4.42322438e-02 2.07243617e-02 9.98806292e-01 6.94919156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:488.33, Y:296.27, Z:69.50 [[ 4.52807203e-01 -8.91312414e-01 -2.29742820e-02 4.88327285e+02] [ 8.90461151e-01 4.53381146e-01 -3.90445288e-02 2.96271747e+02] [ 4.52169795e-02 -2.77806166e-03 9.98973327e-01 6.95003382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.7992541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:488.35, Y:296.29, Z:69.52 [[ 4.54585970e-01 -8.89712464e-01 -4.19919987e-02 4.88347300e+02] [ 8.89307960e-01 4.56006830e-01 -3.44836665e-02 2.96293246e+02] [ 4.98291861e-02 -2.16680278e-02 9.98522683e-01 6.95166073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.35, Y:296.32, Z:69.51 [[ 4.55047185e-01 -8.90135477e-01 -2.43082847e-02 4.88351132e+02] [ 8.89036928e-01 4.55693578e-01 -4.42346525e-02 2.96323150e+02] [ 5.04519627e-02 -1.48210867e-03 9.98725389e-01 6.95120203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.36, Y:296.35, Z:69.51 [[ 4.54304965e-01 -8.90512147e-01 -2.43949836e-02 4.88362580e+02] [ 8.89404788e-01 4.54956941e-01 -4.44219000e-02 2.96347855e+02] [ 5.06569086e-02 -1.51592552e-03 9.98714964e-01 6.95132094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.8892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:488.37, Y:296.37, Z:69.51 [[ 4.52096523e-01 -8.91643461e-01 -2.40971638e-02 4.88373272e+02] [ 8.90563230e-01 4.52735405e-01 -4.39065741e-02 2.96374090e+02] [ 5.00586489e-02 -1.61003855e-03 9.98744982e-01 6.95127537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9192541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:488.39, Y:296.40, Z:69.51 [[ 4.50562424e-01 -8.92426719e-01 -2.38338650e-02 4.88385076e+02] [ 8.91369598e-01 4.51189294e-01 -4.34564217e-02 2.96399375e+02] [ 4.95352566e-02 -1.66495196e-03 9.98770988e-01 6.95133946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:488.40, Y:296.42, Z:69.52 [[ 4.49162004e-01 -8.93143145e-01 -2.34268424e-02 4.88395105e+02] [ 8.92121415e-01 4.49769307e-01 -4.27428673e-02 2.96424475e+02] [ 4.87121736e-02 -1.70111584e-03 9.98811409e-01 6.95156649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 867.9792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.41, Y:296.45, Z:69.52 [[ 4.48816134e-01 -8.93320878e-01 -2.32784891e-02 4.88407250e+02] [ 8.92311004e-01 4.49416208e-01 -4.24987460e-02 2.96449874e+02] [ 4.84267474e-02 -1.69752909e-03 9.98825294e-01 6.95185162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0092541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:488.42, Y:296.48, Z:69.52 [[ 4.47528589e-01 -8.93965469e-01 -2.33217135e-02 4.88417660e+02] [ 8.92951304e-01 4.48132404e-01 -4.26065431e-02 2.96476252e+02] [ 4.85399938e-02 -1.75750838e-03 9.98819694e-01 6.95191861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0392541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:488.43, Y:296.50, Z:69.52 [[ 4.47045155e-01 -8.94202021e-01 -2.35239129e-02 4.88429040e+02] [ 8.93169074e-01 4.47660091e-01 -4.30052201e-02 2.96501598e+02] [ 4.89860718e-02 -1.78555622e-03 9.98797866e-01 6.95197915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:488.44, Y:296.53, Z:69.52 [[ 4.47549672e-01 -8.93941422e-01 -2.38332807e-02 4.88438298e+02] [ 8.92879260e-01 4.48180335e-01 -4.36006358e-02 2.96528226e+02] [ 4.96580221e-02 -1.76679177e-03 9.98764717e-01 6.95217789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.0992541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:488.45, Y:296.55, Z:69.52 [[ 4.47272861e-01 -8.94075196e-01 -2.40110665e-02 4.88449040e+02] [ 8.92995826e-01 4.47913350e-01 -4.39554983e-02 2.96553724e+02] [ 5.00543980e-02 -1.78168072e-03 9.98744904e-01 6.95216604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.45, Y:296.58, Z:69.52 [[ 4.47224473e-01 -8.94208290e-01 -1.95398479e-02 4.88454086e+02] [ 8.93081165e-01 4.47643244e-01 -4.49617591e-02 2.96581470e+02] [ 4.89520586e-02 2.65732894e-03 9.98797594e-01 6.95211293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1592541539999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:488.47, Y:296.61, Z:69.52 [[ 4.47660724e-01 -8.93757371e-01 -2.82424822e-02 4.88470118e+02] [ 8.92741579e-01 4.48511169e-01 -4.30139995e-02 2.96605223e+02] [ 5.11111478e-02 -5.95755999e-03 9.98675202e-01 6.95243987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.1892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:488.48, Y:296.63, Z:69.53 [[ 4.48499218e-01 -8.93445456e-01 -2.45696575e-02 4.88480007e+02] [ 8.92310876e-01 4.49168403e-01 -4.50449404e-02 2.96631493e+02] [ 5.12811112e-02 -1.72115201e-03 9.98682775e-01 6.95274633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2192541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:488.49, Y:296.66, Z:69.53 [[ 4.47806019e-01 -8.93790347e-01 -2.46695205e-02 4.88489017e+02] [ 8.92645416e-01 4.48481595e-01 -4.52594934e-02 2.96658236e+02] [ 5.15163242e-02 -1.75366081e-03 9.98670613e-01 6.95278958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2492541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:488.50, Y:296.68, Z:69.53 [[ 4.47287557e-01 -8.94052545e-01 -2.45741192e-02 4.88500045e+02] [ 8.92915280e-01 4.47958634e-01 -4.51150245e-02 2.96683422e+02] [ 5.13433913e-02 -1.76321744e-03 9.98679502e-01 6.95284140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.2792541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:488.51, Y:296.71, Z:69.53 [[ 4.46416031e-01 -8.94498736e-01 -2.41813623e-02 4.88507927e+02] [ 8.93396829e-01 4.47066960e-01 -4.44211656e-02 2.96709446e+02] [ 5.05453647e-02 -1.77323195e-03 9.98720192e-01 6.95292208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3092541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:488.52, Y:296.73, Z:69.53 [[ 4.46149439e-01 -8.94642813e-01 -2.37679532e-02 4.88518388e+02] [ 8.93577183e-01 4.46778676e-01 -4.36879077e-02 2.96734301e+02] [ 4.97040873e-02 -1.74716510e-03 9.98762460e-01 6.95303259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.53, Y:296.76, Z:69.53 [[ 4.46346736e-01 -8.94545543e-01 -2.37247384e-02 4.88529850e+02] [ 8.93482324e-01 4.46973499e-01 -4.36351738e-02 2.96759737e+02] [ 4.96379796e-02 -1.72121705e-03 9.98765793e-01 6.95339188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3692541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:488.54, Y:296.79, Z:69.53 [[ 4.45086141e-01 -8.95175376e-01 -2.36510672e-02 4.88538684e+02] [ 8.94118160e-01 4.45710561e-01 -4.35294256e-02 2.96786671e+02] [ 4.95080003e-02 -1.77250460e-03 9.98772154e-01 6.95326451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.3992541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:488.55, Y:296.81, Z:69.53 [[ 4.45196173e-01 -8.95125922e-01 -2.34510297e-02 4.88546944e+02] [ 8.94085083e-01 4.45810001e-01 -4.31891932e-02 2.96812901e+02] [ 4.91144700e-02 -1.73955227e-03 9.98791641e-01 6.95326306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4292541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:488.56, Y:296.84, Z:69.53 [[ 4.45320670e-01 -8.95067049e-01 -2.33340621e-02 4.88558022e+02] [ 8.94035574e-01 4.45928282e-01 -4.29925531e-02 2.96839210e+02] [ 4.88865358e-02 -1.71600907e-03 9.98802864e-01 6.95340320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4592541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:488.57, Y:296.86, Z:69.53 [[ 4.45563220e-01 -8.94946701e-01 -2.33199615e-02 4.88568390e+02] [ 8.93914878e-01 4.46169868e-01 -4.29958005e-02 2.96864159e+02] [ 4.88836140e-02 -1.68871327e-03 9.98803054e-01 6.95347735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.4892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:488.58, Y:296.89, Z:69.54 [[ 4.47283750e-01 -8.94091543e-01 -2.31853479e-02 4.88577499e+02] [ 8.93069224e-01 4.47881496e-01 -4.27729784e-02 2.96890458e+02] [ 4.86272465e-02 -1.57446246e-03 9.98815755e-01 6.95369557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.59, Y:296.92, Z:69.54 [[ 4.48051305e-01 -8.93707257e-01 -2.31811987e-02 4.88588897e+02] [ 8.92683753e-01 4.48647992e-01 -4.27866376e-02 2.96916270e+02] [ 4.86389268e-02 -1.52287063e-03 9.98815266e-01 6.95391520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5492541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:488.60, Y:296.94, Z:69.54 [[ 4.48750002e-01 -8.93362399e-01 -2.29577779e-02 4.88597272e+02] [ 8.92356730e-01 4.49334504e-01 -4.24024809e-02 2.96942527e+02] [ 4.81965039e-02 -1.45841425e-03 9.98836809e-01 6.95382432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.5792541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:488.61, Y:296.97, Z:69.54 [[ 4.49116875e-01 -8.93177452e-01 -2.29798257e-02 4.88607842e+02] [ 8.92168354e-01 4.49702123e-01 -4.24691598e-02 2.96967656e+02] [ 4.82665723e-02 -1.42825694e-03 9.98833469e-01 6.95389198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.62, Y:296.99, Z:69.54 [[ 4.51539399e-01 -8.91973137e-01 -2.22731812e-02 4.88616663e+02] [ 8.91022556e-01 4.52086680e-01 -4.11878492e-02 2.96994353e+02] [ 4.68078636e-02 -1.24797021e-03 9.98903132e-01 6.95419284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6392541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:488.63, Y:297.02, Z:69.54 [[ 4.51761087e-01 -8.91860570e-01 -2.22855237e-02 4.88626719e+02] [ 8.90907529e-01 4.52308771e-01 -4.12377283e-02 2.97019735e+02] [ 4.68582417e-02 -1.22473983e-03 9.98900799e-01 6.95391019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6692541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:488.64, Y:297.05, Z:69.54 [[ 4.53031372e-01 -8.91221356e-01 -2.20696758e-02 4.88638146e+02] [ 8.90285150e-01 4.53567190e-01 -4.08553002e-02 2.97045715e+02] [ 4.64211969e-02 -1.13957193e-03 9.98921305e-01 6.95428350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.6992541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:488.65, Y:297.07, Z:69.54 [[ 4.54751639e-01 -8.90348463e-01 -2.19216842e-02 4.88647086e+02] [ 8.89422514e-01 4.55278542e-01 -4.06083879e-02 2.97071534e+02] [ 4.61360882e-02 -1.03090853e-03 9.98934632e-01 6.95424267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:488.66, Y:297.10, Z:69.55 [[ 4.55897345e-01 -8.89762601e-01 -2.19117775e-02 4.88658523e+02] [ 8.88835884e-01 4.56422600e-01 -4.06101220e-02 2.97096968e+02] [ 4.61343982e-02 -9.61927367e-04 9.98934779e-01 6.95455949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7592541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:488.67, Y:297.12, Z:69.54 [[ 4.56292543e-01 -8.89565352e-01 -2.16933342e-02 4.88668127e+02] [ 8.88655562e-01 4.56807004e-01 -4.02324852e-02 2.97124160e+02] [ 4.56990918e-02 -9.20119120e-04 9.98954827e-01 6.95449092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.7892541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:488.68, Y:297.15, Z:69.55 [[ 4.55961605e-01 -8.89739977e-01 -2.14892680e-02 4.88679416e+02] [ 8.88846181e-01 4.56466795e-01 -3.98814765e-02 2.97149488e+02] [ 4.52932812e-02 -9.16231718e-04 9.98973313e-01 6.95450313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.69, Y:297.17, Z:69.55 [[ 4.56750755e-01 -8.89349045e-01 -2.09051260e-02 4.88688892e+02] [ 8.88501672e-01 4.57228135e-01 -3.88228301e-02 2.97174487e+02] [ 4.40854586e-02 -8.41882437e-04 9.99027409e-01 6.95490867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8492541539998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:488.70, Y:297.20, Z:69.55 [[ 4.56213222e-01 -8.89620814e-01 -2.10785268e-02 4.88700320e+02] [ 8.88758894e-01 4.56699085e-01 -3.91608796e-02 2.97200212e+02] [ 4.44648775e-02 -8.68017072e-04 9.99010571e-01 6.95469791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.8792541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:488.71, Y:297.23, Z:69.55 [[ 4.56035116e-01 -8.89714025e-01 -2.09982705e-02 4.88710272e+02] [ 8.88857598e-01 4.56517483e-01 -3.90379117e-02 2.97225236e+02] [ 4.43186551e-02 -8.61813683e-04 9.99017074e-01 6.95480289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9092541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:488.72, Y:297.25, Z:69.55 [[ 4.56223313e-01 -8.89618169e-01 -2.09714781e-02 4.88722239e+02] [ 8.88762992e-01 4.56704285e-01 -3.90069395e-02 2.97250941e+02] [ 4.42790460e-02 -8.42798510e-04 9.99018847e-01 6.95480735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9392541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:488.73, Y:297.28, Z:69.55 [[ 4.57497053e-01 -8.88962316e-01 -2.10344322e-02 4.88732086e+02] [ 8.88100112e-01 4.57979704e-01 -3.91507564e-02 2.97277310e+02] [ 4.44368901e-02 -7.69325945e-04 9.99011897e-01 6.95505236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9692541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:488.74, Y:297.30, Z:69.55 [[ 4.58333818e-01 -8.88530366e-01 -2.10689346e-02 4.88743108e+02] [ 8.87663687e-01 4.58817258e-01 -3.92416057e-02 2.97301781e+02] [ 4.45341490e-02 -7.16373172e-04 9.99007606e-01 6.95523660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 868.9992541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:488.75, Y:297.33, Z:69.55 [[ 4.59120527e-01 -8.88115838e-01 -2.14149540e-02 4.88754835e+02] [ 8.87218854e-01 4.59619192e-01 -3.99111972e-02 2.97327427e+02] [ 4.52884903e-02 -6.75701083e-04 9.98973721e-01 6.95521188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0292541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:488.77, Y:297.35, Z:69.55 [[ 4.61488588e-01 -8.86878248e-01 -2.18003566e-02 4.88765385e+02] [ 8.85946040e-01 4.62002888e-01 -4.06564458e-02 2.97352801e+02] [ 4.61291451e-02 -5.51453810e-04 9.98935332e-01 6.95532527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0592541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:488.78, Y:297.38, Z:69.55 [[ 4.62364646e-01 -8.86432518e-01 -2.13617720e-02 4.88777568e+02] [ 8.85536132e-01 4.62857595e-01 -3.98573230e-02 2.97378038e+02] [ 4.52182856e-02 -4.88003897e-04 9.98977011e-01 6.95547535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.0892541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:488.79, Y:297.40, Z:69.56 [[ 4.63701922e-01 -8.85735581e-01 -2.12839831e-02 4.88788090e+02] [ 8.84843768e-01 4.64189956e-01 -3.97390325e-02 2.97402681e+02] [ 4.50780862e-02 -4.05934063e-04 9.98983384e-01 6.95550074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1192541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:488.80, Y:297.43, Z:69.56 [[ 4.64136892e-01 -8.85506833e-01 -2.13212276e-02 4.88800468e+02] [ 8.84610532e-01 4.64626205e-01 -3.98333534e-02 2.97428227e+02] [ 4.51791077e-02 -3.72853663e-04 9.98978833e-01 6.95571029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:488.81, Y:297.45, Z:69.56 [[ 4.64793069e-01 -8.85170929e-01 -2.09721125e-02 4.88812386e+02] [ 8.84302246e-01 4.65265863e-01 -3.92073418e-02 2.97452575e+02] [ 4.44628071e-02 -3.22385402e-04 9.99010988e-01 6.95603170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.1792541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:488.82, Y:297.48, Z:69.56 [[ 4.64242843e-01 -8.85441977e-01 -2.17045551e-02 4.88823725e+02] [ 8.84510869e-01 4.64749806e-01 -4.05973088e-02 2.97478280e+02] [ 4.60337491e-02 -3.50904791e-04 9.98939823e-01 6.95582927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.84, Y:297.50, Z:69.56 [[ 4.63729610e-01 -8.85733728e-01 -2.07511812e-02 4.88836548e+02] [ 8.84881844e-01 4.64193536e-01 -3.88391873e-02 2.97503488e+02] [ 4.40337424e-02 -3.51462313e-04 9.99029983e-01 6.95628213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2392541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:488.85, Y:297.53, Z:69.56 [[ 4.62733523e-01 -8.86244661e-01 -2.11680910e-02 4.88848615e+02] [ 8.85357465e-01 4.63217277e-01 -3.96473768e-02 2.97527660e+02] [ 4.49427015e-02 -3.95157048e-04 9.98989488e-01 6.95611988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2692541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:488.86, Y:297.55, Z:69.56 [[ 4.61120968e-01 -8.87088620e-01 -2.10055338e-02 4.88860707e+02] [ 8.86215141e-01 4.61598920e-01 -3.93593885e-02 2.97553222e+02] [ 4.46113974e-02 -4.65982752e-04 9.99004307e-01 6.95619583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.2992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:488.87, Y:297.58, Z:69.56 [[ 4.60674106e-01 -8.87327537e-01 -2.07174103e-02 4.88873435e+02] [ 8.86476901e-01 4.61139482e-01 -3.88468973e-02 2.97577558e+02] [ 4.40235375e-02 -4.69746030e-04 9.99030384e-01 6.95646503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3292541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:488.89, Y:297.60, Z:69.56 [[ 4.59491829e-01 -8.87936572e-01 -2.08783058e-02 4.88886274e+02] [ 8.87072045e-01 4.59965623e-01 -3.91766733e-02 2.97602749e+02] [ 4.43897039e-02 -5.19200163e-04 9.99014156e-01 6.95646366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3592541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:488.90, Y:297.63, Z:69.56 [[ 4.58910836e-01 -8.88221364e-01 -2.15326009e-02 4.88898636e+02] [ 8.87300797e-01 4.59415394e-01 -4.04325645e-02 2.97626765e+02] [ 4.58054760e-02 -5.50951984e-04 9.98950226e-01 6.95639424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:488.91, Y:297.65, Z:69.57 [[ 4.58895324e-01 -8.88246625e-01 -2.08090110e-02 4.88911339e+02] [ 8.87386249e-01 4.59366580e-01 -3.90895290e-02 2.97652049e+02] [ 4.42801064e-02 -5.27628177e-04 9.99019016e-01 6.95683021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:488.92, Y:297.68, Z:69.57 [[ 4.58646216e-01 -8.88373215e-01 -2.08968807e-02 4.88923769e+02] [ 8.87504478e-01 4.59121717e-01 -3.92816944e-02 2.97677060e+02] [ 4.44910169e-02 -5.29674732e-04 9.99009644e-01 6.95683459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4492541539998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:488.94, Y:297.70, Z:69.57 [[ 4.58197980e-01 -8.88591477e-01 -2.14429289e-02 4.88936100e+02] [ 8.87675620e-01 4.58699120e-01 -4.03374709e-02 2.97702013e+02] [ 4.56793854e-02 -5.51817488e-04 9.98956000e-01 6.95673598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.4792541539999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:488.95, Y:297.73, Z:69.57 [[ 4.57952064e-01 -8.88718525e-01 -2.14310803e-02 4.88949420e+02] [ 8.87802512e-01 4.58452920e-01 -4.03437652e-02 2.97727229e+02] [ 4.56793929e-02 -5.51056347e-04 9.98956000e-01 6.95685288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5092541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:488.96, Y:297.75, Z:69.57 [[ 4.57501344e-01 -8.88959490e-01 -2.10605187e-02 4.88961312e+02] [ 8.88074020e-01 4.57985501e-01 -3.96713642e-02 2.97751116e+02] [ 4.49116479e-02 -5.53597016e-04 9.98990810e-01 6.95701776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5392541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:488.97, Y:297.78, Z:69.57 [[ 4.56675034e-01 -8.89381483e-01 -2.11776143e-02 4.88974560e+02] [ 8.88485820e-01 4.57165428e-01 -3.99088866e-02 2.97775747e+02] [ 4.51758978e-02 -5.90617836e-04 9.98978873e-01 6.95701160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5692541539999 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:488.99, Y:297.80, Z:69.57 [[ 4.54732293e-01 -8.90384629e-01 -2.08267800e-02 4.88986906e+02] [ 8.89518277e-01 4.55208489e-01 -3.92742488e-02 2.97799495e+02] [ 4.44497145e-02 -6.66532248e-04 9.99011401e-01 6.95717068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.5992541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:489.00, Y:297.82, Z:69.57 [[ 4.53636250e-01 -8.90949811e-01 -2.05569449e-02 4.88999936e+02] [ 8.90105523e-01 4.54101244e-01 -3.87842564e-02 2.97824493e+02] [ 4.38897601e-02 -7.03905529e-04 9.99036132e-01 6.95737422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6292541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:489.01, Y:297.85, Z:69.57 [[ 4.52307938e-01 -8.91617954e-01 -2.08555473e-02 4.89012165e+02] [ 8.90748428e-01 4.52787849e-01 -3.93751516e-02 2.97849375e+02] [ 4.45507305e-02 -7.67352359e-04 9.99006829e-01 6.95736935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.02, Y:297.87, Z:69.58 [[ 4.52147661e-01 -8.91716241e-01 -2.01156175e-02 4.89024584e+02] [ 8.90906369e-01 4.52594301e-01 -3.80031721e-02 2.97873073e+02] [ 4.29922596e-02 -7.38086324e-04 9.99075133e-01 6.95778662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.6892541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:489.04, Y:297.90, Z:69.58 [[ 4.51414908e-01 -8.92086146e-01 -2.01714807e-02 4.89037281e+02] [ 8.91271474e-01 4.51864711e-01 -3.81240404e-02 2.97898286e+02] [ 4.31247086e-02 -7.68505179e-04 9.99069401e-01 6.95774681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7192541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:489.05, Y:297.92, Z:69.58 [[ 4.51198910e-01 -8.92195250e-01 -2.01786911e-02 4.89050380e+02] [ 8.91378935e-01 4.51649253e-01 -3.81647388e-02 2.97923545e+02] [ 4.31640894e-02 -7.66971572e-04 9.99067702e-01 6.95782915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:489.06, Y:297.95, Z:69.58 [[ 4.51530429e-01 -8.92018835e-01 -2.05589354e-02 4.89063054e+02] [ 8.91170068e-01 4.51997603e-01 -3.89111354e-02 2.97947584e+02] [ 4.40020552e-02 -7.51946181e-04 9.99031158e-01 6.95790432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.7792541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:489.08, Y:297.97, Z:69.58 [[ 4.52572472e-01 -8.91495757e-01 -2.03340373e-02 4.89075700e+02] [ 8.90664259e-01 4.53028525e-01 -3.85010771e-02 2.97972126e+02] [ 4.35354458e-02 -6.86272618e-04 9.99051647e-01 6.95807724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8092541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:489.09, Y:298.00, Z:69.58 [[ 4.52988627e-01 -8.91282107e-01 -2.04330418e-02 4.89088230e+02] [ 8.90441083e-01 4.53448756e-01 -3.87156682e-02 2.97997380e+02] [ 4.37719197e-02 -6.56662457e-04 9.99041334e-01 6.95812275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8392541539998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:489.10, Y:298.02, Z:69.58 [[ 4.54129157e-01 -8.90699228e-01 -2.05327817e-02 4.89100145e+02] [ 8.89848158e-01 4.54592716e-01 -3.89322353e-02 2.98022278e+02] [ 4.40109649e-02 -5.90794772e-04 9.99030873e-01 6.95825168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8692541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:489.11, Y:298.05, Z:69.58 [[ 4.54510047e-01 -8.90514146e-01 -2.01288992e-02 4.89112672e+02] [ 8.89694917e-01 4.54955221e-01 -3.81929457e-02 2.98046801e+02] [ 4.31691063e-02 -5.49501785e-04 9.99067629e-01 6.95844283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.8992541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:489.13, Y:298.07, Z:69.58 [[ 4.55425913e-01 -8.90033171e-01 -2.06928133e-02 4.89125029e+02] [ 8.89165605e-01 4.55895492e-01 -3.92915698e-02 2.98071911e+02] [ 4.44045608e-02 -5.04938810e-04 9.99013503e-01 6.95842246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9292541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:489.14, Y:298.10, Z:69.59 [[ 4.56328715e-01 -8.89571384e-01 -2.06605241e-02 4.89137480e+02] [ 8.88704853e-01 4.56795965e-01 -3.92572361e-02 2.98095984e+02] [ 4.43597579e-02 -4.46903903e-04 9.99015522e-01 6.95857323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.15, Y:298.12, Z:69.59 [[ 4.57632741e-01 -8.88910063e-01 -2.02774397e-02 4.89150374e+02] [ 8.88074082e-01 4.58081613e-01 -3.85442665e-02 2.98119943e+02] [ 4.35511087e-02 -3.68750313e-04 9.99051132e-01 6.95893489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 869.9892541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:489.16, Y:298.15, Z:69.59 [[ 4.59071322e-01 -8.88158406e-01 -2.06921899e-02 4.89162658e+02] [ 8.87286356e-01 4.59537331e-01 -3.93492534e-02 2.98145078e+02] [ 4.44572039e-02 -2.95784009e-04 9.99011246e-01 6.95879887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0192541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:489.18, Y:298.17, Z:69.59 [[ 4.59723208e-01 -8.87826674e-01 -2.04540686e-02 4.89175439e+02] [ 8.86973065e-01 4.60177939e-01 -3.89236041e-02 2.98170273e+02] [ 4.39699251e-02 -2.48123784e-04 9.99032824e-01 6.95895274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0492541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:489.19, Y:298.20, Z:69.59 [[ 4.61265536e-01 -8.87025348e-01 -2.04972388e-02 4.89187147e+02] [ 8.86166145e-01 4.61720702e-01 -3.90327792e-02 2.98195162e+02] [ 4.40870640e-02 -1.59483229e-04 9.99027680e-01 6.95891877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.0792541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:489.20, Y:298.22, Z:69.59 [[ 4.62075145e-01 -8.86607288e-01 -2.03488781e-02 4.89199952e+02] [ 8.85759378e-01 4.62522977e-01 -3.87662373e-02 2.98220061e+02] [ 4.37822522e-02 -1.11294913e-04 9.99041091e-01 6.95908334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1092541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:489.21, Y:298.24, Z:69.59 [[ 4.63100185e-01 -8.86066862e-01 -2.05848222e-02 4.89212432e+02] [ 8.85197419e-01 4.63557455e-01 -3.92430213e-02 2.98244459e+02] [ 4.43141885e-02 -4.81810841e-05 9.99017643e-01 6.95912462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.23, Y:298.27, Z:69.60 [[ 4.63047416e-01 -8.86098074e-01 -2.04277840e-02 4.89226083e+02] [ 8.85241175e-01 4.63497791e-01 -3.89597150e-02 2.98269297e+02] [ 4.39903612e-02 -4.33201608e-05 9.99031955e-01 6.95954083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1692541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:489.24, Y:298.29, Z:69.59 [[ 4.60768846e-01 -8.87273101e-01 -2.09407677e-02 4.89238947e+02] [ 8.86372576e-01 4.61244430e-01 -3.99653930e-02 2.98292880e+02] [ 4.51190306e-02 -1.46514187e-04 9.98981607e-01 6.95937589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.1992541539998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:489.25, Y:298.32, Z:69.59 [[ 4.58556403e-01 -8.88409882e-01 -2.13051063e-02 4.89251729e+02] [ 8.87478177e-01 4.59050996e-01 -4.06776219e-02 2.98316203e+02] [ 4.59185315e-02 -2.54832931e-04 9.98945155e-01 6.95946275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.27, Y:298.34, Z:69.60 [[ 4.54260053e-01 -8.90626737e-01 -2.07802693e-02 4.89266222e+02] [ 8.89741608e-01 4.54734877e-01 -3.96996432e-02 2.98339930e+02] [ 4.48070769e-02 -4.55108144e-04 9.98995555e-01 6.95988729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.28, Y:298.36, Z:69.60 [[ 4.51655048e-01 -8.91953574e-01 -2.06528631e-02 4.89279396e+02] [ 8.91079452e-01 4.52126638e-01 -3.94830676e-02 2.98364246e+02] [ 4.45547728e-02 -5.70615135e-04 9.99006780e-01 6.96000299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.2892541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:489.29, Y:298.39, Z:69.60 [[ 4.46858407e-01 -8.94360588e-01 -2.08974236e-02 4.89292868e+02] [ 8.93466963e-01 4.47346050e-01 -3.99787128e-02 2.98388878e+02] [ 4.51037650e-02 -8.06333699e-04 9.98981982e-01 6.95990641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3192541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:489.31, Y:298.41, Z:69.60 [[ 4.44601241e-01 -8.95479373e-01 -2.11288729e-02 4.89306464e+02] [ 8.94565752e-01 4.45102070e-01 -4.04507505e-02 2.98413879e+02] [ 4.56273177e-02 -9.16712185e-04 9.98958111e-01 6.95992353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3492541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:489.32, Y:298.44, Z:69.60 [[ 4.40917119e-01 -8.97301761e-01 -2.10153269e-02 4.89320120e+02] [ 8.96398686e-01 4.41416323e-01 -4.02619555e-02 2.98438602e+02] [ 4.54036319e-02 -1.08592606e-03 9.98968133e-01 6.96008607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.33, Y:298.46, Z:69.60 [[ 4.39713533e-01 -8.97900480e-01 -2.06576221e-02 4.89332975e+02] [ 8.97027335e-01 4.40197095e-01 -3.96040170e-02 2.98462141e+02] [ 4.46538911e-02 -1.11602945e-03 9.99001894e-01 6.96041802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.35, Y:298.49, Z:69.61 [[ 4.38144594e-01 -8.98664616e-01 -2.07659002e-02 4.89346229e+02] [ 8.97782368e-01 4.38634798e-01 -3.98288107e-02 2.98486977e+02] [ 4.49013893e-02 -1.19248094e-03 9.98990712e-01 6.96050540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4392541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:489.36, Y:298.51, Z:69.60 [[ 4.37721667e-01 -8.98850412e-01 -2.16259164e-02 4.89358225e+02] [ 8.97892385e-01 4.38253783e-01 -4.15076787e-02 2.98511142e+02] [ 4.67868337e-02 -1.24893538e-03 9.98904116e-01 6.96026901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4692541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:489.37, Y:298.54, Z:69.60 [[ 4.37813161e-01 -8.98812081e-01 -2.13653797e-02 4.89370424e+02] [ 8.97876152e-01 4.38332465e-01 -4.10251954e-02 2.98536017e+02] [ 4.62390808e-02 -1.22209437e-03 9.98929654e-01 6.96042993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.4992541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:489.38, Y:298.56, Z:69.61 [[ 4.37924519e-01 -8.98771485e-01 -2.07830058e-02 4.89382224e+02] [ 8.97884633e-01 4.38415833e-01 -3.99342396e-02 2.98561865e+02] [ 4.50033546e-02 -1.17255883e-03 9.98986148e-01 6.96063741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:489.39, Y:298.59, Z:69.61 [[ 4.37060629e-01 -8.99199738e-01 -2.04411046e-02 4.89394323e+02] [ 8.98341088e-01 4.37536774e-01 -3.93047192e-02 2.98586726e+02] [ 4.42865281e-02 -1.18453890e-03 9.99018168e-01 6.96072596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5592541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:489.41, Y:298.61, Z:69.61 [[ 4.36361772e-01 -8.99538741e-01 -2.04562546e-02 4.89406398e+02] [ 8.98677985e-01 4.36839324e-01 -3.93609441e-02 2.98610649e+02] [ 4.43427905e-02 -1.20797437e-03 9.99015644e-01 6.96083030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.5892541539998 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:489.42, Y:298.64, Z:69.61 [[ 4.35423444e-01 -8.99991649e-01 -2.05294081e-02 4.89418823e+02] [ 8.99124486e-01 4.35905341e-01 -3.95182573e-02 2.98636134e+02] [ 4.45149802e-02 -1.25131784e-03 9.99007933e-01 6.96079429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6192541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:489.43, Y:298.66, Z:69.61 [[ 4.34994800e-01 -9.00206722e-01 -2.01836855e-02 4.89430836e+02] [ 8.99367584e-01 4.35461042e-01 -3.88796868e-02 2.98661142e+02] [ 4.37889641e-02 -1.24009087e-03 9.99040034e-01 6.96109207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:489.44, Y:298.69, Z:69.61 [[ 4.34786626e-01 -9.00295749e-01 -2.06918898e-02 4.89442737e+02] [ 8.99412617e-01 4.35276873e-01 -3.98871800e-02 2.98686293e+02] [ 4.49169597e-02 -1.26813434e-03 9.98989919e-01 6.96103068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.6792541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:489.45, Y:298.71, Z:69.61 [[ 4.35739551e-01 -8.99832785e-01 -2.07846672e-02 4.89453742e+02] [ 8.98939964e-01 4.36233291e-01 -4.00930913e-02 2.98711231e+02] [ 4.51440418e-02 -1.21402244e-03 9.98979750e-01 6.96117276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7092541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:489.47, Y:298.74, Z:69.61 [[ 4.36447488e-01 -8.99494969e-01 -2.05521482e-02 4.89465684e+02] [ 8.98620957e-01 4.36929579e-01 -3.96600451e-02 2.98735689e+02] [ 4.46538525e-02 -1.15906400e-03 9.99001847e-01 6.96138191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7392541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:489.48, Y:298.76, Z:69.61 [[ 4.37056961e-01 -8.99192112e-01 -2.08508584e-02 4.89477841e+02] [ 8.98291242e-01 4.37552575e-01 -4.02565327e-02 2.98761157e+02] [ 4.53217035e-02 -1.13574566e-03 9.98971798e-01 6.96142471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:489.49, Y:298.79, Z:69.62 [[ 4.39008348e-01 -8.98238621e-01 -2.09535037e-02 4.89489336e+02] [ 8.97326500e-01 4.39506904e-01 -4.04825156e-02 2.98786555e+02] [ 4.55721686e-02 -1.02997186e-03 9.98960518e-01 6.96157397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.7992541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:489.50, Y:298.81, Z:69.62 [[ 4.39712321e-01 -8.97905162e-01 -2.04791455e-02 4.89501723e+02] [ 8.97032340e-01 4.40187911e-01 -3.95927265e-02 2.98811877e+02] [ 4.45651858e-02 -9.61046106e-04 9.99006016e-01 6.96174900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8292541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:489.51, Y:298.84, Z:69.62 [[ 4.40723619e-01 -8.97414881e-01 -2.02292653e-02 4.89513142e+02] [ 8.96561564e-01 4.41186743e-01 -3.91359185e-02 2.98836325e+02] [ 4.40460393e-02 -8.88658122e-04 9.99029107e-01 6.96202900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8592541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:489.52, Y:298.86, Z:69.62 [[ 4.40453338e-01 -8.97535302e-01 -2.07663100e-02 4.89524568e+02] [ 8.96635029e-01 4.40941660e-01 -4.02004560e-02 2.98861984e+02] [ 4.52380596e-02 -9.13375981e-04 9.98975817e-01 6.96191215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.8892541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:489.54, Y:298.89, Z:69.62 [[ 4.40114073e-01 -8.97699256e-01 -2.08722018e-02 4.89536805e+02] [ 8.96788704e-01 4.40607756e-01 -4.04329697e-02 2.98887199e+02] [ 4.54931008e-02 -9.22835783e-04 9.98964227e-01 6.96204902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9192541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:489.55, Y:298.91, Z:69.62 [[ 4.39844237e-01 -8.97832618e-01 -2.08239558e-02 4.89548745e+02] [ 8.96925162e-01 4.40335940e-01 -4.03672383e-02 2.98911941e+02] [ 4.54125594e-02 -9.22232742e-04 9.98967892e-01 6.96212287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9492541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:489.56, Y:298.94, Z:69.62 [[ 4.38340259e-01 -8.98568614e-01 -2.07909509e-02 4.89560608e+02] [ 8.97664075e-01 4.38831936e-01 -4.03204679e-02 2.98937876e+02] [ 4.53544402e-02 -9.89205349e-04 9.98970468e-01 6.96228525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 870.9792541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:489.57, Y:298.96, Z:69.62 [[ 4.36997909e-01 -8.99225234e-01 -2.06592786e-02 4.89572540e+02] [ 8.98331614e-01 4.37484742e-01 -4.00925358e-02 2.98962507e+02] [ 4.50903391e-02 -1.03852878e-03 9.98982374e-01 6.96244407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0092541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:489.59, Y:298.99, Z:69.63 [[ 4.33467052e-01 -9.00922512e-01 -2.10936516e-02 4.89585273e+02] [ 8.99992059e-01 4.33978236e-01 -4.09534545e-02 2.98987911e+02] [ 4.60500748e-02 -1.23214568e-03 9.98938373e-01 6.96253810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.60, Y:299.01, Z:69.63 [[ 4.31394381e-01 -9.01933697e-01 -2.03591629e-02 4.89597822e+02] [ 9.01066877e-01 4.31872626e-01 -3.95540019e-02 2.99011425e+02] [ 4.44676522e-02 -1.28159314e-03 9.99010003e-01 6.96298493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.61, Y:299.04, Z:69.63 [[ 4.25881712e-01 -9.04539797e-01 -2.07971760e-02 4.89609808e+02] [ 9.03637406e-01 4.26386290e-01 -4.04248598e-02 2.99035266e+02] [ 4.54335253e-02 -1.57689768e-03 9.98966120e-01 6.96314242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.0992541539998 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:489.62, Y:299.06, Z:69.63 [[ 4.22624473e-01 -9.06045195e-01 -2.16946801e-02 4.89621806e+02] [ 9.05064105e-01 4.23177091e-01 -4.21914219e-02 2.99060369e+02] [ 4.74080267e-02 -1.80394876e-03 9.98873978e-01 6.96301651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1292541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:489.63, Y:299.09, Z:69.63 [[ 4.17395523e-01 -9.08459084e-01 -2.19788587e-02 4.89633031e+02] [ 9.07453929e-01 4.17968565e-01 -4.27743632e-02 2.99086160e+02] [ 4.80452308e-02 -2.09097399e-03 9.98842973e-01 6.96315791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.65, Y:299.11, Z:69.64 [[ 4.15516101e-01 -9.09160559e-01 -2.78109346e-02 4.89647707e+02] [ 9.08299142e-01 4.16360051e-01 -4.04595762e-02 2.99109484e+02] [ 4.83636130e-02 -8.44904270e-03 9.98794060e-01 6.96377602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.1892541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:489.65, Y:299.14, Z:69.63 [[ 4.12675806e-01 -9.10723319e-01 -1.67843903e-02 4.89653046e+02] [ 9.09547224e-01 4.12998622e-01 -4.64325889e-02 2.99137199e+02] [ 4.92191716e-02 3.89541045e-03 9.98780406e-01 6.96336138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2192541539998 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:489.67, Y:299.16, Z:69.64 [[ 4.12387073e-01 -9.10712606e-01 -2.32261012e-02 4.89666819e+02] [ 9.09601972e-01 4.13032717e-01 -4.50358496e-02 2.99162886e+02] [ 5.06078556e-02 -2.55430522e-03 9.98715335e-01 6.96369069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:489.68, Y:299.19, Z:69.64 [[ 4.12685862e-01 -9.10581383e-01 -2.30634845e-02 4.89676903e+02] [ 9.09465292e-01 4.13323144e-01 -4.51315963e-02 2.99187543e+02] [ 5.06286633e-02 -2.35026697e-03 9.98714782e-01 6.96377568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.2792541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:489.69, Y:299.21, Z:69.64 [[ 4.13701089e-01 -9.10122934e-01 -2.29707198e-02 4.89688012e+02] [ 9.09020037e-01 4.14331796e-01 -4.48523682e-02 2.99213391e+02] [ 5.03386686e-02 -2.32537098e-03 9.98729499e-01 6.96405204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3092541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:489.70, Y:299.24, Z:69.64 [[ 4.16091146e-01 -9.09028997e-01 -2.31179847e-02 4.89695562e+02] [ 9.07908701e-01 4.16727091e-01 -4.51699335e-02 2.99239561e+02] [ 5.06946698e-02 -2.19421004e-03 9.98711788e-01 6.96414946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3392541539998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:489.71, Y:299.26, Z:69.64 [[ 4.17339354e-01 -9.08456450e-01 -2.31245180e-02 4.89705644e+02] [ 9.07333589e-01 4.17974162e-01 -4.52035280e-02 2.99264949e+02] [ 5.07308876e-02 -2.11644070e-03 9.98710117e-01 6.96430225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3692541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:489.72, Y:299.29, Z:69.64 [[ 4.17100794e-01 -9.08566208e-01 -2.31165112e-02 4.89718555e+02] [ 9.07443289e-01 4.17735500e-01 -4.52076223e-02 2.99290363e+02] [ 5.07307054e-02 -2.12078777e-03 9.98710117e-01 6.96441912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.73, Y:299.32, Z:69.65 [[ 4.20490417e-01 -9.07030651e-01 -2.19819735e-02 4.89727420e+02] [ 9.06011906e-01 4.21060632e-01 -4.30159407e-02 2.99316797e+02] [ 4.82725204e-02 -1.82813882e-03 9.98832529e-01 6.96493423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:489.74, Y:299.34, Z:69.65 [[ 4.21506853e-01 -9.06545151e-01 -2.25357789e-02 4.89737109e+02] [ 9.05472146e-01 4.22105004e-01 -4.41311438e-02 2.99342841e+02] [ 4.95193395e-02 -1.80394053e-03 9.98771536e-01 6.96492662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4592541539998 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:489.74, Y:299.37, Z:69.65 [[ 4.24774102e-01 -9.05011447e-01 -2.28307556e-02 4.89744576e+02] [ 9.03906348e-01 4.25384081e-01 -4.47403300e-02 2.99370334e+02] [ 5.02023508e-02 -1.63233149e-03 9.98737733e-01 6.96505823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.4892541539999 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:489.75, Y:299.40, Z:69.65 [[ 4.26137609e-01 -9.04381778e-01 -2.23682375e-02 4.89754030e+02] [ 9.03318744e-01 4.26721581e-01 -4.38627310e-02 2.99395613e+02] [ 4.92136643e-02 -1.51408885e-03 9.98787126e-01 6.96526201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5192541539999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:489.76, Y:299.42, Z:69.65 [[ 4.28025936e-01 -9.03464506e-01 -2.33599063e-02 4.89761397e+02] [ 9.02302425e-01 4.28660419e-01 -4.58320729e-02 2.99423656e+02] [ 5.14211183e-02 -1.46038421e-03 9.98675991e-01 6.96536118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5492541539999 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:489.77, Y:299.45, Z:69.66 [[ 4.28818034e-01 -9.03105322e-01 -2.27127873e-02 4.89771867e+02] [ 9.02004856e-01 4.29416944e-01 -4.45906784e-02 2.99448205e+02] [ 5.00233347e-02 -1.36575739e-03 9.98747116e-01 6.96569734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.5792541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:489.78, Y:299.47, Z:69.66 [[ 4.27809148e-01 -9.03579907e-01 -2.28622853e-02 4.89782400e+02] [ 9.02464402e-01 4.28417242e-01 -4.49073503e-02 2.99473958e+02] [ 5.03719766e-02 -1.42062340e-03 9.98729516e-01 6.96580792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6092541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:489.79, Y:299.50, Z:69.66 [[ 4.24654426e-01 -9.05053091e-01 -2.33991726e-02 4.89791890e+02] [ 9.03885034e-01 4.25295526e-01 -4.59952236e-02 2.99500529e+02] [ 5.15796827e-02 -1.61808665e-03 9.98667571e-01 6.96599274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6392541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:489.80, Y:299.53, Z:69.66 [[ 4.22533560e-01 -9.06040665e-01 -2.35733867e-02 4.89802724e+02] [ 9.04854914e-01 4.23187070e-01 -4.63712021e-02 2.99526464e+02] [ 5.19901472e-02 -1.73710570e-03 9.98646087e-01 6.96609062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6692541539999 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:489.81, Y:299.55, Z:69.66 [[ 4.20179535e-01 -9.07105878e-01 -2.46593899e-02 4.89811625e+02] [ 9.05808326e-01 4.20898038e-01 -4.85398679e-02 2.99552290e+02] [ 5.44098883e-02 -1.94122155e-03 9.98516798e-01 6.96616850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.6992541539998 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:489.82, Y:299.58, Z:69.66 [[ 4.19472307e-01 -9.07418251e-01 -2.52012111e-02 4.89822301e+02] [ 9.06062454e-01 4.20223809e-01 -4.96264100e-02 2.99577204e+02] [ 5.56220591e-02 -2.01696647e-03 9.98449858e-01 6.96626425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7292541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:489.83, Y:299.60, Z:69.66 [[ 4.19185978e-01 -9.07546615e-01 -2.53427815e-02 4.89833732e+02] [ 9.06174423e-01 4.19946423e-01 -4.99291217e-02 2.99602595e+02] [ 5.59556158e-02 -2.03539271e-03 9.98431183e-01 6.96642574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.84, Y:299.63, Z:69.67 [[ 4.19800848e-01 -9.07282395e-01 -2.46151222e-02 4.89844175e+02] [ 9.05985839e-01 4.20517457e-01 -4.85255316e-02 2.99627810e+02] [ 5.43774491e-02 -1.92989282e-03 9.98518587e-01 6.96661563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.7892541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:489.85, Y:299.65, Z:69.67 [[ 4.19541373e-01 -9.07370995e-01 -2.57471009e-02 4.89853491e+02] [ 9.05951089e-01 4.20325820e-01 -5.07821729e-02 2.99654789e+02] [ 5.69004420e-02 -2.02039154e-03 9.98377813e-01 6.96670868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8192541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:489.86, Y:299.68, Z:69.67 [[ 4.19838216e-01 -9.07239748e-01 -2.55325697e-02 4.89864963e+02] [ 9.05841188e-01 4.20609266e-01 -5.03943175e-02 2.99680604e+02] [ 5.64589633e-02 -1.97099297e-03 9.98402975e-01 6.96686965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8492541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:489.86, Y:299.71, Z:69.66 [[ 4.19549498e-01 -9.07724040e-01 -3.90974920e-03 4.89863284e+02] [ 9.06326505e-01 4.19135418e-01 -5.38309228e-02 2.99711214e+02] [ 5.05023371e-02 1.90412273e-02 9.98542411e-01 6.96587856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.8792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:489.90, Y:299.73, Z:69.67 [[ 4.21069527e-01 -9.06027799e-01 -4.25920216e-02 4.89895758e+02] [ 9.05471014e-01 4.22633408e-01 -3.87716938e-02 2.99728010e+02] [ 5.31290437e-02 -2.22402622e-02 9.98339960e-01 6.96743361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9092541539999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:489.90, Y:299.76, Z:69.67 [[ 4.22421291e-01 -9.06124250e-01 -2.23404553e-02 4.89896987e+02] [ 9.04730786e-01 4.23010425e-01 -5.02432683e-02 2.99756061e+02] [ 5.49768893e-02 1.01172859e-03 9.98487115e-01 6.96726529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9392541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:489.91, Y:299.78, Z:69.67 [[ 4.22318146e-01 -9.06042078e-01 -2.71134126e-02 4.89908778e+02] [ 9.04766515e-01 4.23167176e-01 -4.82399748e-02 2.99782493e+02] [ 5.51809532e-02 -4.15869115e-03 9.98467710e-01 6.96736989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:489.92, Y:299.81, Z:69.67 [[ 4.24164239e-01 -9.05279137e-01 -2.35453328e-02 4.89919755e+02] [ 9.04080265e-01 4.24814513e-01 -4.65994034e-02 2.99807991e+02] [ 5.21878667e-02 -1.52107024e-03 9.98636126e-01 6.96743768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 871.9992541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:489.93, Y:299.83, Z:69.67 [[ 4.25072636e-01 -9.04832810e-01 -2.43072156e-02 4.89930362e+02] [ 9.03552441e-01 4.25764418e-01 -4.81419541e-02 2.99834105e+02] [ 5.39095671e-02 -1.49901658e-03 9.98544697e-01 6.96749629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0292541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:489.94, Y:299.86, Z:69.68 [[ 4.28448455e-01 -9.03259407e-01 -2.35449502e-02 4.89941098e+02] [ 9.02054078e-01 4.29093104e-01 -4.66642143e-02 2.99859575e+02] [ 5.22528663e-02 -1.24560784e-03 9.98633109e-01 6.96755813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0592541539999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:489.94, Y:299.89, Z:69.66 [[ 4.28311091e-01 -9.03535798e-01 1.31404604e-02 4.89935361e+02] [ 9.02588756e-01 4.27073334e-01 -5.42393294e-02 2.99893877e+02] [ 4.33952355e-02 3.50917382e-02 9.98441497e-01 6.96570493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.0892541539998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:489.98, Y:299.90, Z:69.68 [[ 4.30955322e-01 -9.00694757e-01 -5.50133198e-02 4.89979496e+02] [ 9.00977815e-01 4.32877666e-01 -2.92558194e-02 2.99903084e+02] [ 5.01646006e-02 -3.69578296e-02 9.98056928e-01 6.96824199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1192541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:489.96, Y:299.94, Z:69.66 [[ 4.30418444e-01 -9.02522076e-01 1.39235346e-02 4.89961346e+02] [ 9.01856642e-01 4.29360564e-01 -4.80010890e-02 2.99943764e+02] [ 3.73438258e-02 3.32175862e-02 9.98750234e-01 6.96602700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1492541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:490.00, Y:299.95, Z:69.68 [[ 4.33233081e-01 -8.99795665e-01 -5.17383815e-02 4.90004151e+02] [ 9.00047768e-01 4.34929517e-01 -2.73921635e-02 2.99954168e+02] [ 4.71498992e-02 -3.46998234e-02 9.98284934e-01 6.96848475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.1792541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:489.98, Y:300.00, Z:69.66 [[ 4.32931203e-01 -9.01289696e-01 1.57308061e-02 4.89984683e+02] [ 9.00561214e-01 4.31684892e-01 -5.13580982e-02 2.99995709e+02] [ 3.94977734e-02 3.64010770e-02 9.98556402e-01 6.96611684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2092541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:490.02, Y:300.01, Z:69.67 [[ 4.32948029e-01 -9.00685223e-01 -3.63611554e-02 4.90019622e+02] [ 9.00473696e-01 4.33988803e-01 -2.82991480e-02 3.00006551e+02] [ 4.12689587e-02 -2.04902037e-02 9.98937948e-01 6.96727410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2392541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:490.03, Y:300.04, Z:69.67 [[ 4.33119538e-01 -9.01132843e-01 -1.91589330e-02 4.90025239e+02] [ 9.00349828e-01 4.33541974e-01 -3.75705288e-02 3.00035349e+02] [ 4.21622391e-02 -9.77211992e-04 9.99110300e-01 6.96713765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2692541539999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:490.04, Y:300.06, Z:69.67 [[ 4.32752790e-01 -9.01259036e-01 -2.13816057e-02 4.90039207e+02] [ 9.00359909e-01 4.33276877e-01 -4.02887426e-02 3.00060433e+02] [ 4.55747487e-02 -1.81607479e-03 9.98959281e-01 6.96745678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.2992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:490.05, Y:300.08, Z:69.68 [[ 4.32360599e-01 -9.01478227e-01 -2.00329582e-02 4.90052836e+02] [ 9.00649504e-01 4.32822427e-01 -3.86680469e-02 3.00084634e+02] [ 4.35291160e-02 -1.32413395e-03 9.99051281e-01 6.96765140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3292541539998 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:490.07, Y:300.11, Z:69.68 [[ 4.32146991e-01 -9.01584015e-01 -1.98807189e-02 4.90067944e+02] [ 9.00538290e-01 4.32603195e-01 -4.34196175e-02 3.00111704e+02] [ 4.77468956e-02 8.60308472e-04 9.98859096e-01 6.96772387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3592541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:490.09, Y:300.13, Z:69.69 [[ 4.32172753e-01 -9.01021761e-01 -3.72357057e-02 4.90089449e+02] [ 9.00328692e-01 4.33454428e-01 -3.90577327e-02 3.00131904e+02] [ 5.13318486e-02 -1.66446863e-02 9.98542936e-01 6.96877262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.3892541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:490.10, Y:300.16, Z:69.68 [[ 4.29816351e-01 -9.02701587e-01 -1.96913311e-02 4.90095560e+02] [ 9.01595859e-01 4.30264719e-01 -4.46898104e-02 3.00160363e+02] [ 4.88140478e-02 1.45478868e-03 9.98806824e-01 6.96834856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4192541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:490.11, Y:300.18, Z:69.69 [[ 4.28711458e-01 -9.03103679e-01 -2.47028466e-02 4.90111169e+02] [ 9.02051086e-01 4.29408027e-01 -4.37331058e-02 3.00183033e+02] [ 5.01031294e-02 -3.53434608e-03 9.98737796e-01 6.96874379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4492541539998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:490.12, Y:300.21, Z:69.69 [[ 4.26035556e-01 -9.04437810e-01 -2.20443600e-02 4.90123305e+02] [ 9.03373883e-01 4.26603743e-01 -4.38733826e-02 3.00206857e+02] [ 4.90849525e-02 -1.22267815e-03 9.98793859e-01 6.96880747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.4792541539999 meters Centerline goodness : 0.999687 Centerline is valid? [True, True] Translation: X:490.14, Y:300.23, Z:69.69 [[ 4.24908942e-01 -9.04971158e-01 -2.18996612e-02 4.90136017e+02] [ 9.03920949e-01 4.25471029e-01 -4.36041500e-02 3.00231372e+02] [ 4.87781694e-02 -1.26776933e-03 9.98808832e-01 6.96878534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5092541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:490.14, Y:300.26, Z:69.68 [[ 4.23795939e-01 -9.05712757e-01 -9.02243231e-03 4.90143342e+02] [ 9.04596317e-01 4.23735817e-01 -4.64054046e-02 3.00260024e+02] [ 4.58530946e-02 1.15047630e-02 9.98881942e-01 6.96828164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5392541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:490.17, Y:300.28, Z:69.69 [[ 4.23589637e-01 -9.05255035e-01 -3.29414724e-02 4.90166205e+02] [ 9.04590609e-01 4.24639072e-01 -3.73830077e-02 3.00278829e+02] [ 4.78293922e-02 -1.39634919e-02 9.98757914e-01 6.96915150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5692541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:490.17, Y:300.30, Z:69.69 [[ 4.24034092e-01 -9.05409258e-01 -2.07163050e-02 4.90173338e+02] [ 9.04466838e-01 4.24538096e-01 -4.13176114e-02 3.00304962e+02] [ 4.62042086e-02 -1.21713500e-03 9.98931274e-01 6.96917514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.5992541539998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:490.19, Y:300.33, Z:69.69 [[ 4.23822634e-01 -9.05519021e-01 -2.02404915e-02 4.90186759e+02] [ 9.04618812e-01 4.24303991e-01 -4.03847442e-02 3.00329844e+02] [ 4.51572754e-02 -1.19396076e-03 9.98979176e-01 6.96937246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6292541539999 meters Centerline goodness : 0.999543 Centerline is valid? [True, True] Translation: X:490.20, Y:300.36, Z:69.69 [[ 4.23409411e-01 -9.05712236e-01 -2.02439286e-02 4.90199023e+02] [ 9.04810617e-01 4.23891378e-01 -4.04208817e-02 3.00355392e+02] [ 4.51909139e-02 -1.20233977e-03 9.98977645e-01 6.96937553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6592541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:490.21, Y:300.38, Z:69.69 [[ 4.22466191e-01 -9.06162262e-01 -1.98058887e-02 4.90211214e+02] [ 9.05298520e-01 4.22928466e-01 -3.95740175e-02 3.00379662e+02] [ 4.42369553e-02 -1.21155725e-03 9.99020332e-01 6.96948492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.6892541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:490.22, Y:300.40, Z:69.70 [[ 4.21782299e-01 -9.06476614e-01 -1.99960311e-02 4.90223126e+02] [ 9.05595650e-01 4.22254179e-01 -3.99740820e-02 3.00404523e+02] [ 4.46789781e-02 -1.24795857e-03 9.99000616e-01 6.96952115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7192541539998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:490.24, Y:300.43, Z:69.70 [[ 4.21975198e-01 -9.06397097e-01 -1.95252218e-02 4.90235225e+02] [ 9.05555836e-01 4.22424983e-01 -3.90610132e-02 3.00428171e+02] [ 4.36527304e-02 -1.19839978e-03 9.99046047e-01 6.96970411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7492541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:490.25, Y:300.45, Z:69.70 [[ 4.22912185e-01 -9.05949705e-01 -2.00103996e-02 4.90246607e+02] [ 9.05064681e-01 4.23383701e-01 -4.00520287e-02 3.00453292e+02] [ 4.47572007e-02 -1.17221491e-03 9.98997207e-01 6.96963530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.7792541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:490.26, Y:300.48, Z:69.70 [[ 4.26047383e-01 -9.04472635e-01 -2.03194788e-02 4.90258395e+02] [ 9.03557578e-01 4.26530425e-01 -4.06878464e-02 3.00479108e+02] [ 4.54679195e-02 -1.02486857e-03 9.98965274e-01 6.96976794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8092541539999 meters Centerline goodness : 0.999542 Centerline is valid? [True, True] Translation: X:490.27, Y:300.51, Z:69.69 [[ 4.28277671e-01 -9.03544810e-01 -1.36019659e-02 4.90269125e+02] [ 9.02546772e-01 4.28450291e-01 -4.28914031e-02 3.00507985e+02] [ 4.45820709e-02 6.09301982e-03 9.98987144e-01 6.96937975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8392541539998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:490.29, Y:300.53, Z:69.70 [[ 4.31131011e-01 -9.01867323e-01 -2.75931510e-02 4.90286665e+02] [ 9.01103839e-01 4.31930307e-01 -3.80536639e-02 3.00530552e+02] [ 4.62376742e-02 -8.45817966e-03 9.98894657e-01 6.96988079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8692541539999 meters Centerline goodness : 0.999585 Centerline is valid? [True, True] Translation: X:490.30, Y:300.56, Z:69.70 [[ 4.31966799e-01 -9.01645005e-01 -2.09992800e-02 4.90295676e+02] [ 9.00673443e-01 4.32476115e-01 -4.18540189e-02 3.00557609e+02] [ 4.68191542e-02 -8.33947289e-04 9.98903034e-01 6.96990188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.8992541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:490.31, Y:300.58, Z:69.70 [[ 4.32727622e-01 -9.01327706e-01 -1.88459873e-02 4.90309161e+02] [ 9.00401813e-01 4.33137236e-01 -4.08498502e-02 3.00582897e+02] [ 4.49820007e-02 7.07897392e-04 9.98987547e-01 6.97000034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9292541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:490.32, Y:300.61, Z:69.70 [[ 4.31891527e-01 -9.01665999e-01 -2.16364123e-02 4.90321912e+02] [ 9.00723579e-01 4.32429907e-01 -4.12481433e-02 3.00607010e+02] [ 4.65482801e-02 -1.67370308e-03 9.98914639e-01 6.97026417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9592541539998 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:490.33, Y:300.63, Z:69.70 [[ 4.31199214e-01 -9.02032322e-01 -2.01228266e-02 4.90333550e+02] [ 9.01125021e-01 4.31667945e-01 -4.04534506e-02 3.00631223e+02] [ 4.51766991e-02 -6.89686424e-04 9.98978774e-01 6.97020370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 872.9892541539999 meters Centerline goodness : 0.999582 Centerline is valid? [True, True] Translation: X:490.35, Y:300.65, Z:69.71 [[ 4.28593879e-01 -9.02935136e-01 -3.18657690e-02 4.90351302e+02] [ 9.02212253e-01 4.29598420e-01 -3.81870141e-02 3.00652836e+02] [ 4.81698807e-02 -1.23829667e-02 9.98762397e-01 6.97080065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0192541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:490.36, Y:300.68, Z:69.70 [[ 4.26217052e-01 -9.04572609e-01 -9.34984183e-03 4.90356087e+02] [ 9.03511375e-01 4.26183295e-01 -4.51109109e-02 3.00683488e+02] [ 4.47908408e-02 1.07793510e-02 9.98938229e-01 6.97016867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0492541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:490.37, Y:300.70, Z:69.70 [[ 4.25223404e-01 -9.04871223e-01 -1.98274348e-02 4.90374107e+02] [ 9.03991315e-01 4.25684342e-01 -3.99066974e-02 3.00704352e+02] [ 4.45506506e-02 -9.54567190e-04 9.99006671e-01 6.97044166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.0792541539998 meters Centerline goodness : 0.999688 Centerline is valid? [True, True] Translation: X:490.39, Y:300.73, Z:69.71 [[ 4.24006823e-01 -9.04979820e-01 -3.50676382e-02 4.90394041e+02] [ 9.04430125e-01 4.25130372e-01 -3.56415072e-02 3.00725025e+02] [ 4.71631629e-02 -1.66039862e-02 9.98749190e-01 6.97137845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1092541539999 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:490.40, Y:300.75, Z:69.71 [[ 4.23200892e-01 -9.05920537e-01 -1.44563150e-02 4.90398826e+02] [ 9.04930918e-01 4.23418732e-01 -4.26217325e-02 3.00754073e+02] [ 4.47329774e-02 4.95558880e-03 9.98986688e-01 6.97099572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1392541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:490.41, Y:300.78, Z:69.71 [[ 4.23893549e-01 -9.05659061e-01 -9.79404566e-03 4.90410925e+02] [ 9.04757348e-01 4.23918352e-01 -4.13203675e-02 3.00779230e+02] [ 4.15740409e-02 8.65420246e-03 9.99097945e-01 6.97082920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1692541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:490.43, Y:300.80, Z:69.71 [[ 4.24646125e-01 -9.04999697e-01 -2.55189412e-02 4.90430399e+02] [ 9.04331155e-01 4.25338300e-01 -3.56720109e-02 3.00800799e+02] [ 4.31373421e-02 -7.92959237e-03 9.99037683e-01 6.97127947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.1992541539998 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:490.44, Y:300.83, Z:69.71 [[ 4.27042718e-01 -9.04150042e-01 -1.21333921e-02 4.90438698e+02] [ 9.03258557e-01 4.27167133e-01 -4.06475077e-02 3.00829512e+02] [ 4.19344321e-02 6.39863195e-03 9.99099875e-01 6.97090093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2292541539999 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:490.46, Y:300.85, Z:69.72 [[ 4.29317422e-01 -9.02628943e-01 -3.07821882e-02 4.90460145e+02] [ 9.02069082e-01 4.30222564e-01 -3.43499110e-02 3.00849763e+02] [ 4.42484158e-02 -1.30206450e-02 9.98935704e-01 6.97159215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2592541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:490.46, Y:300.88, Z:69.71 [[ 4.31173880e-01 -9.02240651e-01 -7.13387417e-03 4.90463497e+02] [ 9.01318980e-01 4.31069200e-01 -4.24669374e-02 3.00880254e+02] [ 4.13905907e-02 1.18807380e-02 9.99072403e-01 6.97098865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.2892541539999 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:490.48, Y:300.90, Z:69.71 [[ 4.30947369e-01 -9.02191646e-01 -1.82920431e-02 4.90481365e+02] [ 9.01434998e-01 4.31335035e-01 -3.69463561e-02 3.00903127e+02] [ 4.12226929e-02 -5.67152880e-04 9.99149823e-01 6.97127148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3192541539999 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:490.49, Y:300.93, Z:69.71 [[ 4.32198631e-01 -9.01590340e-01 -1.84174536e-02 4.90494133e+02] [ 9.00821660e-01 4.32590576e-01 -3.72253904e-02 3.00927163e+02] [ 4.15292693e-02 -5.02078331e-04 9.99137162e-01 6.97134442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3492541539998 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:490.51, Y:300.95, Z:69.71 [[ 4.34553646e-01 -9.00449158e-01 -1.88266330e-02 4.90507934e+02] [ 8.99644192e-01 4.34961099e-01 -3.80679723e-02 3.00951648e+02] [ 4.24671266e-02 -3.94694858e-04 9.99097787e-01 6.97145548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.3792541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:490.52, Y:300.98, Z:69.72 [[ 4.35578847e-01 -8.99947506e-01 -1.91194962e-02 4.90521396e+02] [ 8.99115612e-01 4.35998133e-01 -3.86877821e-02 3.00976696e+02] [ 4.31530377e-02 -3.39057967e-04 9.99068416e-01 6.97155787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4092541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:490.54, Y:301.00, Z:69.72 [[ 4.37629419e-01 -8.98955035e-01 -1.89825130e-02 4.90536445e+02] [ 8.98132905e-01 4.38040858e-01 -3.84381670e-02 3.01000723e+02] [ 4.28693001e-02 -2.27146827e-04 9.99080663e-01 6.97161796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4392541539999 meters Centerline goodness : 0.999647 Centerline is valid? [True, True] Translation: X:490.55, Y:301.03, Z:69.72 [[ 4.38627385e-01 -8.98461758e-01 -1.92999155e-02 4.90550399e+02] [ 8.97610162e-01 4.39051752e-01 -3.91095488e-02 3.01025083e+02] [ 4.36120957e-02 -1.69281153e-04 9.99048526e-01 6.97177922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4692541539998 meters Centerline goodness : 0.999665 Centerline is valid? [True, True] Translation: X:490.57, Y:301.05, Z:69.72 [[ 4.40381584e-01 -8.97607248e-01 -1.91125217e-02 4.90566022e+02] [ 8.96770117e-01 4.40796124e-01 -3.87573752e-02 3.01048906e+02] [ 4.32136264e-02 -7.15040743e-05 9.99065852e-01 6.97188018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.4992541539999 meters Centerline goodness : 0.999583 Centerline is valid? [True, True] Translation: X:490.58, Y:301.07, Z:69.72 [[ 4.41467376e-01 -8.97071921e-01 -1.91970157e-02 4.90580337e+02] [ 8.96225621e-01 4.41884565e-01 -3.89572515e-02 3.01073267e+02] [ 4.34303214e-02 -6.50173296e-06 9.99056458e-01 6.97200495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5292541539999 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:490.59, Y:301.10, Z:69.72 [[ 4.42775631e-01 -8.96429953e-01 -1.90546548e-02 4.90594542e+02] [ 8.95594369e-01 4.43185440e-01 -3.86961516e-02 3.01097109e+02] [ 4.31331350e-02 6.84714289e-05 9.99069331e-01 6.97214258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5592541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:490.61, Y:301.12, Z:69.72 [[ 4.46160189e-01 -8.94760038e-01 -1.85892296e-02 4.90610971e+02] [ 8.93962200e-01 4.46547218e-01 -3.77778792e-02 3.01120441e+02] [ 4.21031053e-02 2.36917146e-04 9.99113243e-01 6.97233636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.5892541539998 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:490.62, Y:301.14, Z:69.72 [[ 4.47971781e-01 -8.93848539e-01 -1.88698649e-02 4.90624696e+02] [ 8.93024370e-01 4.48368902e-01 -3.83771049e-02 3.01143494e+02] [ 4.27639797e-02 3.40610845e-04 9.99085145e-01 6.97239204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6192541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:490.64, Y:301.17, Z:69.73 [[ 4.51843474e-01 -8.91895277e-01 -1.89813150e-02 4.90642455e+02] [ 8.91058909e-01 4.52241669e-01 -3.86198556e-02 3.01166415e+02] [ 4.30290084e-02 5.36659914e-04 9.99073679e-01 6.97254339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6492541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:490.66, Y:301.19, Z:69.73 [[ 4.53216027e-01 -8.91199664e-01 -1.89312337e-02 4.90657182e+02] [ 8.90365898e-01 4.53610826e-01 -3.85458880e-02 3.01189974e+02] [ 4.29394950e-02 6.13889291e-04 9.99077486e-01 6.97266744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.6792541539999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:490.67, Y:301.21, Z:69.73 [[ 4.55023536e-01 -8.90280818e-01 -1.88055219e-02 4.90674403e+02] [ 8.89456110e-01 4.55411422e-01 -3.83179518e-02 3.01211537e+02] [ 4.26779869e-02 7.08883584e-04 9.99088628e-01 6.97278981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7092541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:490.69, Y:301.23, Z:69.73 [[ 4.56177216e-01 -8.89698246e-01 -1.84222557e-02 4.90692507e+02] [ 8.88905733e-01 4.56548423e-01 -3.75517645e-02 3.01233359e+02] [ 4.18203908e-02 7.54610707e-04 9.99124860e-01 6.97304413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7392541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:490.73, Y:301.25, Z:69.75 [[ 4.56951068e-01 -8.87599606e-01 -5.79884665e-02 4.90725755e+02] [ 8.87928936e-01 4.59040744e-01 -2.93904745e-02 3.01248667e+02] [ 5.27060423e-02 -3.80596286e-02 9.97884531e-01 6.97522023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7692541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:490.71, Y:301.29, Z:69.73 [[ 4.56540575e-01 -8.89546217e-01 1.66802866e-02 4.90707105e+02] [ 8.88743047e-01 4.55097543e-01 -5.49729278e-02 3.01289633e+02] [ 4.13098025e-02 3.99218608e-02 9.98348509e-01 6.97261345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.74, Y:301.30, Z:69.73 [[ 4.56923869e-01 -8.89303781e-01 -1.89568773e-02 4.90743293e+02] [ 8.88461095e-01 4.57316158e-01 -3.87145263e-02 3.01303143e+02] [ 4.30982609e-02 8.47143189e-04 9.99070479e-01 6.97345711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8292541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:490.76, Y:301.33, Z:69.73 [[ 4.56638158e-01 -8.89439149e-01 -1.94831283e-02 4.90758886e+02] [ 8.88547794e-01 4.57052777e-01 -3.98192970e-02 3.01326564e+02] [ 4.43216595e-02 8.71319744e-04 9.99016932e-01 6.97337703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:490.78, Y:301.35, Z:69.74 [[ 4.56080782e-01 -8.89712864e-01 -2.00334525e-02 4.90778137e+02] [ 8.88769285e-01 4.56519704e-01 -4.09746085e-02 3.01346836e+02] [ 4.56013021e-02 8.82614298e-04 9.98959330e-01 6.97360416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.8892541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:490.79, Y:301.37, Z:69.73 [[ 4.54854316e-01 -8.90329814e-01 -2.05030341e-02 4.90794044e+02] [ 8.89340746e-01 4.55315380e-01 -4.19635889e-02 3.01370380e+02] [ 4.66967810e-02 8.53135897e-04 9.98908746e-01 6.97348603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:490.81, Y:301.39, Z:69.74 [[ 4.53828328e-01 -8.90859503e-01 -2.02285684e-02 4.90810034e+02] [ 8.89895924e-01 4.54278223e-01 -4.14311546e-02 3.01392291e+02] [ 4.60987359e-02 8.01311048e-04 9.98936567e-01 6.97381106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9492541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:490.83, Y:301.41, Z:69.74 [[ 4.50812232e-01 -8.92381782e-01 -2.05690825e-02 4.90831209e+02] [ 8.91386172e-01 4.51280747e-01 -4.21471230e-02 3.01412032e+02] [ 4.68937557e-02 6.65442854e-04 9.98899661e-01 6.97399437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 873.9792541539999 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:490.85, Y:301.44, Z:69.74 [[ 4.48703613e-01 -8.93431695e-01 -2.10920617e-02 4.90848086e+02] [ 8.92384531e-01 4.49198694e-01 -4.32479109e-02 3.01435007e+02] [ 4.81135808e-02 5.83264293e-04 9.98841701e-01 6.97384662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:490.87, Y:301.45, Z:69.74 [[ 4.45734393e-01 -8.94923139e-01 -2.08189051e-02 4.90869497e+02] [ 8.93903125e-01 4.46220114e-01 -4.27178194e-02 3.01454984e+02] [ 4.75189792e-02 4.30716914e-04 9.98870242e-01 6.97424953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0392541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:490.89, Y:301.48, Z:69.74 [[ 4.41760350e-01 -8.96884374e-01 -2.11237709e-02 4.90890546e+02] [ 8.95835508e-01 4.42265041e-01 -4.33633075e-02 3.01475980e+02] [ 4.82341783e-02 2.32765836e-04 9.98836028e-01 6.97421926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0692541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:490.91, Y:301.50, Z:69.75 [[ 4.39852641e-01 -8.97827497e-01 -2.08672068e-02 4.90906775e+02] [ 8.96803557e-01 4.40347325e-01 -4.28674059e-02 3.01498052e+02] [ 4.76763544e-02 1.41556460e-04 9.98862826e-01 6.97456705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.0992541539998 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:490.93, Y:301.52, Z:69.75 [[ 4.35270837e-01 -9.00064829e-01 -2.05572717e-02 4.90927066e+02] [ 8.99072260e-01 4.35756004e-01 -4.22584409e-02 3.01519613e+02] [ 4.69932910e-02 -8.86057495e-05 9.98895201e-01 6.97462305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1292541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:490.94, Y:301.54, Z:69.75 [[ 4.33164422e-01 -9.01079198e-01 -2.06121800e-02 4.90943188e+02] [ 9.00081018e-01 4.33654522e-01 -4.24018549e-02 3.01542967e+02] [ 4.71459945e-02 -1.85656999e-04 9.98887992e-01 6.97474521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:490.96, Y:301.56, Z:69.75 [[ 4.30481454e-01 -9.02373066e-01 -2.02130362e-02 4.90961865e+02] [ 9.01413254e-01 4.30955629e-01 -4.16099843e-02 3.01564313e+02] [ 4.62586508e-02 -3.07972178e-04 9.98929448e-01 6.97514066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:490.98, Y:301.58, Z:69.76 [[ 4.28730521e-01 -9.02811886e-01 -3.34789375e-02 4.90981752e+02] [ 9.02095175e-01 4.29817402e-01 -3.84876207e-02 3.01584890e+02] [ 4.91369114e-02 -1.37003703e-02 9.98698084e-01 6.97601959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2192541539998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:490.99, Y:301.61, Z:69.75 [[ 4.27339770e-01 -9.04051256e-01 -8.48803785e-03 4.90988872e+02] [ 9.02855705e-01 4.27227658e-01 -4.82504336e-02 3.01613437e+02] [ 4.72471897e-02 1.29558558e-02 9.98799204e-01 6.97474280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2492541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:491.01, Y:301.63, Z:69.75 [[ 4.26354816e-01 -9.04324791e-01 -2.04510024e-02 4.91008995e+02] [ 9.03341285e-01 4.26844734e-01 -4.21674689e-02 3.01633994e+02] [ 4.68624901e-02 -4.95931334e-04 9.98901227e-01 6.97526233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.2792541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:491.02, Y:301.66, Z:69.75 [[ 4.25204585e-01 -9.04861958e-01 -2.06372842e-02 4.91023733e+02] [ 9.03859759e-01 4.25704752e-01 -4.25793361e-02 3.01658339e+02] [ 4.73138114e-02 -5.48281837e-04 9.98879924e-01 6.97539335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3092541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:491.04, Y:301.68, Z:69.75 [[ 4.22798168e-01 -9.05980092e-01 -2.10186218e-02 4.91040313e+02] [ 9.04940364e-01 4.23319763e-01 -4.33971867e-02 3.01681181e+02] [ 4.82145852e-02 -6.72348240e-04 9.98836774e-01 6.97542443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3392541539998 meters Centerline goodness : 0.999666 Centerline is valid? [True, True] Translation: X:491.05, Y:301.70, Z:69.75 [[ 4.21461144e-01 -9.06595654e-01 -2.13266044e-02 4.91054149e+02] [ 9.05524457e-01 4.21999730e-01 -4.40645658e-02 3.01704855e+02] [ 4.89485652e-02 -7.40259546e-04 9.98801026e-01 6.97543564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.07, Y:301.73, Z:69.76 [[ 4.20678322e-01 -9.06957161e-01 -2.14116176e-02 4.91070182e+02] [ 9.05876255e-01 4.21222165e-01 -4.42730034e-02 3.01727162e+02] [ 4.91727654e-02 -7.71583162e-04 9.98789990e-01 6.97584263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.3992541539999 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:491.08, Y:301.75, Z:69.76 [[ 4.19334201e-01 -9.07565552e-01 -2.19908539e-02 4.91083774e+02] [ 9.06424463e-01 4.19909567e-01 -4.55043858e-02 3.01751479e+02] [ 5.05323829e-02 -8.51502685e-04 9.98722060e-01 6.97565157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4292541539999 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:491.10, Y:301.78, Z:69.76 [[ 4.19105508e-01 -9.07678233e-01 -2.16978861e-02 4.91097957e+02] [ 9.06565975e-01 4.19665961e-01 -4.49289919e-02 3.01776181e+02] [ 4.98869321e-02 -8.40577281e-04 9.98754518e-01 6.97582329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4592541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:491.11, Y:301.80, Z:69.76 [[ 4.19223400e-01 -9.07616312e-01 -2.20084311e-02 4.91112715e+02] [ 9.06470194e-01 4.19799880e-01 -4.56053638e-02 3.01799517e+02] [ 5.06313088e-02 -8.31151130e-04 9.98717067e-01 6.97602503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.4892541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:491.13, Y:301.82, Z:69.76 [[ 4.19383322e-01 -9.07539770e-01 -2.21177453e-02 4.91125148e+02] [ 9.06380579e-01 4.19965360e-01 -4.58622131e-02 3.01823228e+02] [ 5.09104692e-02 -8.13247463e-04 9.98702890e-01 6.97598931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:491.14, Y:301.85, Z:69.76 [[ 4.21446214e-01 -9.06592341e-01 -2.17581322e-02 4.91138238e+02] [ 9.05467818e-01 4.22006957e-01 -4.51459705e-02 3.01846677e+02] [ 5.01110743e-02 -6.74690166e-04 9.98743423e-01 6.97625678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5492541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:491.15, Y:301.87, Z:69.76 [[ 4.22187678e-01 -9.06247990e-01 -2.17289027e-02 4.91150964e+02] [ 9.05124452e-01 4.22746019e-01 -4.51168565e-02 3.01872191e+02] [ 5.00728676e-02 -6.19580255e-04 9.98745375e-01 6.97621894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.5792541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:491.16, Y:301.90, Z:69.76 [[ 4.24858707e-01 -9.05013608e-01 -2.11056684e-02 4.91164191e+02] [ 9.03950716e-01 4.25382380e-01 -4.38512733e-02 3.01896117e+02] [ 4.86639785e-02 -4.47888771e-04 9.98815106e-01 6.97635248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6092541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:491.18, Y:301.92, Z:69.77 [[ 4.26352998e-01 -9.04317055e-01 -2.08275325e-02 4.91176875e+02] [ 9.03279730e-01 4.26861268e-01 -4.33034398e-02 3.01920544e+02] [ 4.80505060e-02 -3.50536537e-04 9.98844846e-01 6.97662890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:491.19, Y:301.95, Z:69.77 [[ 4.29277677e-01 -9.02938165e-01 -2.05753852e-02 4.91189827e+02] [ 9.01922737e-01 4.29770448e-01 -4.28104964e-02 3.01945069e+02] [ 4.74979235e-02 -1.79817296e-04 9.98871321e-01 6.97691034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6692541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:491.20, Y:301.97, Z:69.77 [[ 4.30326896e-01 -9.02443820e-01 -2.03448918e-02 4.91201656e+02] [ 9.01449028e-01 4.30807544e-01 -4.23616542e-02 3.01969575e+02] [ 4.69937459e-02 -1.10523814e-04 9.98895178e-01 6.97685737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.6992541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:491.21, Y:301.99, Z:69.77 [[ 4.32384348e-01 -9.01450072e-01 -2.07736514e-02 4.91214207e+02] [ 9.00410320e-01 4.32883089e-01 -4.32838063e-02 3.01994073e+02] [ 4.80107527e-02 1.04302270e-05 9.98846819e-01 6.97703213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.23, Y:302.02, Z:69.77 [[ 4.32975505e-01 -9.01161054e-01 -2.09992088e-02 4.91226898e+02] [ 9.00096812e-01 4.33484431e-01 -4.37833010e-02 3.02019250e+02] [ 4.85586357e-02 5.57759780e-05 9.98820332e-01 6.97723460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7592541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:491.24, Y:302.04, Z:69.77 [[ 4.32975544e-01 -9.01156068e-01 -2.12113110e-02 4.91239728e+02] [ 9.00068618e-01 4.33494794e-01 -4.42577262e-02 3.02044143e+02] [ 4.90781114e-02 7.08776844e-05 9.98794941e-01 6.97714652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.7892541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:491.25, Y:302.07, Z:69.77 [[ 4.32289257e-01 -9.01476205e-01 -2.16020893e-02 4.91253252e+02] [ 9.00347044e-01 4.32828661e-01 -4.51059981e-02 3.02067933e+02] [ 5.00119874e-02 4.94612258e-05 9.98748616e-01 6.97707582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8192541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:491.27, Y:302.09, Z:69.77 [[ 4.31305992e-01 -9.01943094e-01 -2.17668823e-02 4.91266505e+02] [ 9.00795679e-01 4.31854901e-01 -4.54806472e-02 3.02092533e+02] [ 5.04210904e-02 8.56215722e-06 9.98728048e-01 6.97723045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.28, Y:302.12, Z:69.78 [[ 4.28398360e-01 -9.03319264e-01 -2.21167783e-02 4.91280673e+02] [ 9.02134814e-01 4.28968865e-01 -4.62438255e-02 3.02115276e+02] [ 5.12603477e-02 -1.41536621e-04 9.98685314e-01 6.97755459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.8792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:491.29, Y:302.14, Z:69.77 [[ 4.25926524e-01 -9.04485069e-01 -2.22116107e-02 4.91294223e+02] [ 9.03290729e-01 4.26505200e-01 -4.64669002e-02 3.02140240e+02] [ 5.15019849e-02 -2.72056725e-04 9.98672855e-01 6.97747093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9092541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:491.31, Y:302.16, Z:69.78 [[ 4.21164649e-01 -9.06706325e-01 -2.24494673e-02 4.91309701e+02] [ 9.05487606e-01 4.21762202e-01 -4.69983027e-02 3.02163749e+02] [ 5.20819951e-02 -5.33690809e-04 9.98642669e-01 6.97754227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:491.32, Y:302.19, Z:69.78 [[ 4.18588130e-01 -9.07898889e-01 -2.24406877e-02 4.91323260e+02] [ 9.06681081e-01 4.19188695e-01 -4.70133612e-02 3.02187508e+02] [ 5.20902610e-02 -6.67312065e-04 9.98642158e-01 6.97768075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9692541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:491.34, Y:302.21, Z:69.78 [[ 4.16434380e-01 -9.08888971e-01 -2.24331442e-02 4.91337169e+02] [ 9.07671782e-01 4.17037449e-01 -4.70287448e-02 3.02211827e+02] [ 5.20993687e-02 -7.77545821e-04 9.98641603e-01 6.97787773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 874.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.35, Y:302.24, Z:69.78 [[ 4.13448199e-01 -9.10264851e-01 -2.18743844e-02 4.91352718e+02] [ 9.09107854e-01 4.14025443e-01 -4.58894637e-02 3.02235259e+02] [ 5.08281175e-02 -9.13258534e-04 9.98706998e-01 6.97829036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0292541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:491.36, Y:302.26, Z:69.78 [[ 4.10868017e-01 -9.11584254e-01 -1.41993306e-02 4.91361093e+02] [ 9.10348848e-01 4.11057664e-01 -4.79225582e-02 3.02261824e+02] [ 4.95221931e-02 6.76350222e-03 9.98750123e-01 6.97767385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.38, Y:302.28, Z:69.79 [[ 4.12130609e-01 -9.10672285e-01 -2.87114997e-02 4.91383676e+02] [ 9.09715316e-01 4.13040820e-01 -4.26066221e-02 3.02282742e+02] [ 5.06596913e-02 -8.55979794e-03 9.98679291e-01 6.97882756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.0892541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:491.39, Y:302.31, Z:69.79 [[ 4.12587991e-01 -9.10655722e-01 -2.18473135e-02 4.91393027e+02] [ 9.09498241e-01 4.13164971e-01 -4.59092162e-02 3.02308685e+02] [ 5.08340351e-02 -9.28501858e-04 9.98706683e-01 6.97853005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:491.39, Y:302.34, Z:69.77 [[ 4.12116951e-01 -9.11120678e-01 4.32781476e-03 4.91391054e+02] [ 9.09972996e-01 4.11349148e-01 -5.23548112e-02 3.02338491e+02] [ 4.59213082e-02 2.55144997e-02 9.98619169e-01 6.97672133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1492541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:491.43, Y:302.35, Z:69.80 [[ 4.15813396e-01 -9.08279275e-01 -4.61300079e-02 4.91430725e+02] [ 9.07935923e-01 4.17512413e-01 -3.65478491e-02 3.02351699e+02] [ 5.24555048e-02 -2.66860061e-02 9.98266636e-01 6.97962897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.1792541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:491.43, Y:302.38, Z:69.79 [[ 4.15803333e-01 -9.09171971e-01 -2.26697145e-02 4.91432062e+02] [ 9.07919482e-01 4.16420190e-01 -4.77120556e-02 3.02383107e+02] [ 5.28185905e-02 -7.43443707e-04 9.98603847e-01 6.97883208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2092541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:491.45, Y:302.41, Z:69.79 [[ 4.18259741e-01 -9.08033525e-01 -2.31064324e-02 4.91445370e+02] [ 9.06728720e-01 4.18897078e-01 -4.86648460e-02 3.02406195e+02] [ 5.38685287e-02 -5.96720051e-04 9.98547858e-01 6.97904177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.46, Y:302.43, Z:69.79 [[ 4.19376192e-01 -9.07520870e-01 -2.30104304e-02 4.91458312e+02] [ 9.06224366e-01 4.20006673e-01 -4.84952966e-02 3.02430967e+02] [ 5.36750281e-02 -5.14839833e-04 9.98558324e-01 6.97934466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:491.47, Y:302.45, Z:69.79 [[ 4.20807570e-01 -9.06864483e-01 -2.27552085e-02 4.91472045e+02] [ 9.05593767e-01 4.21422165e-01 -4.79925753e-02 3.02454961e+02] [ 5.31123112e-02 -4.11336053e-04 9.98588460e-01 6.97946868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.2992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:491.49, Y:302.48, Z:69.80 [[ 4.21048707e-01 -9.06757395e-01 -2.25612976e-02 4.91485225e+02] [ 9.05506246e-01 4.21652561e-01 -4.76188698e-02 3.02480188e+02] [ 5.26917913e-02 -3.79532361e-04 9.98610751e-01 6.97971166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.48, Y:302.51, Z:69.78 [[ 4.18705561e-01 -9.08108115e-01 5.03034798e-03 4.91483832e+02] [ 9.06999371e-01 4.17906162e-01 -5.20248003e-02 3.02511543e+02] [ 4.51419300e-02 2.63455957e-02 9.98633124e-01 6.97782510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:491.51, Y:302.53, Z:69.79 [[ 4.17286647e-01 -9.08527733e-01 -2.11946423e-02 4.91510397e+02] [ 9.07649170e-01 4.17816864e-01 -4.00256479e-02 3.02528162e+02] [ 4.52198901e-02 -2.53513109e-03 9.98973841e-01 6.97893986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.3892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:491.54, Y:302.55, Z:69.81 [[ 4.18639477e-01 -9.07069241e-01 -4.43438897e-02 4.91536736e+02] [ 9.06715250e-01 4.20224393e-01 -3.57619333e-02 3.02547198e+02] [ 5.10729338e-02 -2.52359239e-02 9.98376033e-01 6.98101271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.53, Y:302.58, Z:69.79 [[ 4.15317849e-01 -9.09646447e-01 -7.37737968e-03 4.91534664e+02] [ 9.08450328e-01 4.15165369e-01 -4.85357371e-02 3.02579869e+02] [ 4.72131934e-02 1.34557749e-02 9.98794201e-01 6.97919953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.55, Y:302.60, Z:69.79 [[ 4.12286598e-01 -9.10966930e-01 -1.26100439e-02 4.91548401e+02] [ 9.09881796e-01 4.12418559e-01 -4.50116548e-02 3.02602860e+02] [ 4.62047452e-02 7.08405259e-03 9.98906871e-01 6.97936133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.4792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:491.58, Y:302.62, Z:69.82 [[ 4.11514553e-01 -9.10360641e-01 -4.35806758e-02 4.91579286e+02] [ 9.09878572e-01 4.13120881e-01 -3.81067125e-02 3.02620390e+02] [ 5.26949384e-02 -2.39716563e-02 9.98322895e-01 6.98153325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.58, Y:302.65, Z:69.80 [[ 4.08824782e-01 -9.12509658e-01 -1.37266974e-02 4.91577547e+02] [ 9.11226038e-01 4.08986231e-01 -4.89629423e-02 3.02651994e+02] [ 5.02931879e-02 7.50914007e-03 9.98706267e-01 6.98014296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.60, Y:302.67, Z:69.81 [[ 4.07091654e-01 -9.12874832e-01 -3.05929040e-02 4.91600351e+02] [ 9.11806504e-01 4.08128804e-01 -4.51639176e-02 3.02672623e+02] [ 5.37148491e-02 -9.50895492e-03 9.98511039e-01 6.98132064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:491.60, Y:302.70, Z:69.80 [[ 4.03190008e-01 -9.14959566e-01 -1.69354978e-02 4.91604557e+02] [ 9.13601438e-01 4.03518044e-01 -5.00559814e-02 3.02700315e+02] [ 5.26329779e-02 4.70977635e-03 9.98602818e-01 6.98041200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.5992541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:491.62, Y:302.72, Z:69.81 [[ 4.02856164e-01 -9.14798217e-01 -2.91741871e-02 4.91624638e+02] [ 9.13554491e-01 4.03846578e-01 -4.82300135e-02 3.02722861e+02] [ 5.59026260e-02 -7.22245137e-03 9.98410102e-01 6.98120530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.63, Y:302.75, Z:69.80 [[ 3.96400326e-01 -9.17965991e-01 -1.43255354e-02 4.91628723e+02] [ 9.16522723e-01 3.96588531e-01 -5.19964989e-02 3.02750801e+02] [ 5.34123607e-02 7.48175042e-03 9.98544512e-01 6.98044771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6592541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:491.65, Y:302.77, Z:69.81 [[ 3.93425012e-01 -9.18946025e-01 -2.74766135e-02 4.91647818e+02] [ 9.17657201e-01 3.94338717e-01 -4.90126309e-02 3.02773687e+02] [ 5.58750549e-02 -5.93131733e-03 9.98420151e-01 6.98106826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.66, Y:302.80, Z:69.82 [[ 3.89284801e-01 -9.20664919e-01 -2.88695340e-02 4.91664758e+02] [ 9.19334397e-01 3.90289556e-01 -4.99832817e-02 3.02798579e+02] [ 5.72853317e-02 -7.08302378e-03 9.98332721e-01 6.98176985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7192541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:491.68, Y:302.82, Z:69.82 [[ 3.81814978e-01 -9.23918519e-01 -2.43288600e-02 4.91675803e+02] [ 9.22480231e-01 3.82579493e-01 -5.16057758e-02 3.02824296e+02] [ 5.69872548e-02 -2.73903424e-03 9.98371149e-01 6.98166522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.68, Y:302.85, Z:69.81 [[ 3.75427722e-01 -9.26715494e-01 -1.58876933e-02 4.91681147e+02] [ 9.25285383e-01 3.75734341e-01 -5.16784899e-02 3.02851250e+02] [ 5.38608093e-02 4.70088732e-03 9.98537388e-01 6.98118979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.7792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:491.70, Y:302.87, Z:69.82 [[ 3.74422442e-01 -9.26767103e-01 -3.01756859e-02 4.91702775e+02] [ 9.25625812e-01 3.75495483e-01 -4.71168603e-02 3.02873374e+02] [ 5.49971899e-02 -1.02897839e-02 9.98433488e-01 6.98228235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:491.71, Y:302.90, Z:69.82 [[ 3.70908408e-01 -9.28368019e-01 -2.36595555e-02 4.91711366e+02] [ 9.27011840e-01 3.71647703e-01 -5.02696044e-02 3.02900820e+02] [ 5.54617125e-02 -3.28726917e-03 9.98455403e-01 6.98206306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8392541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:491.72, Y:302.93, Z:69.82 [[ 3.64930734e-01 -9.30741707e-01 -2.33545210e-02 4.91721765e+02] [ 9.29423056e-01 3.65659708e-01 -4.96564410e-02 3.02926298e+02] [ 5.47571280e-02 -3.58506880e-03 9.98493267e-01 6.98219816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:491.73, Y:302.95, Z:69.82 [[ 3.60197134e-01 -9.32718081e-01 -1.71757656e-02 4.91728702e+02] [ 9.31370589e-01 3.60600463e-01 -5.01610568e-02 3.02953943e+02] [ 5.29797136e-02 2.07086594e-03 9.98593442e-01 6.98197783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.8992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:491.74, Y:302.98, Z:69.83 [[ 3.59420882e-01 -9.32745228e-01 -2.83367255e-02 4.91744666e+02] [ 9.31611236e-01 3.60410422e-01 -4.69556444e-02 3.02977406e+02] [ 5.40105044e-02 -9.52197280e-03 9.98494966e-01 6.98279039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:491.74, Y:303.01, Z:69.81 [[ 3.56470313e-01 -9.34288514e-01 5.82131163e-03 4.91736911e+02] [ 9.32986979e-01 3.55628863e-01 -5.53480722e-02 3.03011882e+02] [ 4.96408417e-02 2.51611526e-02 9.98450151e-01 6.98060986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9592541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:491.77, Y:303.03, Z:69.84 [[ 3.58049721e-01 -9.32414635e-01 -4.90239310e-02 4.91770562e+02] [ 9.32190406e-01 3.59963739e-01 -3.80414849e-02 3.03026397e+02] [ 5.31172747e-02 -3.20788951e-02 9.98072893e-01 6.98367994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 875.9892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:491.77, Y:303.06, Z:69.83 [[ 3.58308296e-01 -9.33312471e-01 -2.33022904e-02 4.91767940e+02] [ 9.31995974e-01 3.59043966e-01 -4.97084937e-02 3.03058391e+02] [ 5.47601039e-02 -3.90667518e-03 9.98491897e-01 6.98282587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0192541539999 meters Centerline goodness : 0.995566 Centerline is valid? [True, True] Translation: X:491.77, Y:303.09, Z:69.82 [[ 3.58070543e-01 -9.33644838e-01 -9.63338701e-03 4.91768294e+02] [ 9.32101407e-01 3.58043012e-01 -5.47007129e-02 3.03089840e+02] [ 5.45202051e-02 1.06074204e-02 9.98456324e-01 6.98186322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0492541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:491.79, Y:303.11, Z:69.83 [[ 3.58364530e-01 -9.32852854e-01 -3.68838154e-02 4.91788643e+02] [ 9.31955376e-01 3.59791930e-01 -4.48212528e-02 3.03107645e+02] [ 5.50821327e-02 -1.83117229e-02 9.98313898e-01 6.98347601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.0792541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:491.79, Y:303.14, Z:69.83 [[ 3.58500344e-01 -9.33215715e-01 -2.42060343e-02 4.91788332e+02] [ 9.31788242e-01 3.59294328e-01 -5.17518833e-02 3.03137832e+02] [ 5.69927616e-02 -4.00183019e-03 9.98366571e-01 6.98299475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.80, Y:303.16, Z:69.83 [[ 3.58958786e-01 -9.33051980e-01 -2.37190430e-02 4.91797587e+02] [ 9.31679165e-01 3.59720617e-01 -5.07445722e-02 3.03164784e+02] [ 5.58795524e-02 -3.88332812e-03 9.98429965e-01 6.98329195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:491.81, Y:303.19, Z:69.83 [[ 3.58255596e-01 -9.33382399e-01 -2.12185138e-02 4.91805259e+02] [ 9.31966427e-01 3.58880840e-01 -5.14113065e-02 3.03192747e+02] [ 5.56013266e-02 -1.35655417e-03 9.98452128e-01 6.98309083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:491.81, Y:303.22, Z:69.83 [[ 3.59487850e-01 -9.32793378e-01 -2.57876007e-02 4.91814484e+02] [ 9.31504558e-01 3.60357274e-01 -4.94155154e-02 3.03219453e+02] [ 5.53872151e-02 -6.25699023e-03 9.98445345e-01 6.98347689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.1992541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:491.82, Y:303.25, Z:69.83 [[ 3.59838232e-01 -9.32706825e-01 -2.39671800e-02 4.91822532e+02] [ 9.31299410e-01 3.60615096e-01 -5.13630419e-02 3.03246297e+02] [ 5.65495867e-02 -3.83823439e-03 9.98392414e-01 6.98340600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2292541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:491.83, Y:303.27, Z:69.84 [[ 3.60894437e-01 -9.32300558e-01 -2.38929937e-02 4.91831323e+02] [ 9.30898913e-01 3.61665053e-01 -5.12406322e-02 3.03272112e+02] [ 5.64129309e-02 -3.74950281e-03 9.98400482e-01 6.98351070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2592541539999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:491.84, Y:303.30, Z:69.84 [[ 3.63629923e-01 -9.31234552e-01 -2.39893358e-02 4.91837439e+02] [ 9.29817335e-01 3.64402736e-01 -5.14817514e-02 3.03300061e+02] [ 5.66833653e-02 -3.58539504e-03 9.98385768e-01 6.98360817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.2892541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:491.85, Y:303.33, Z:69.84 [[ 3.65271485e-01 -9.30593687e-01 -2.39193044e-02 4.91846194e+02] [ 9.29181299e-01 3.66037437e-01 -5.13683565e-02 3.03326964e+02] [ 5.65584291e-02 -3.46197452e-03 9.98393289e-01 6.98377887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3192541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:491.85, Y:303.36, Z:69.84 [[ 3.69760246e-01 -9.28904072e-01 -2.03613921e-02 4.91849543e+02] [ 9.27301877e-01 3.70318193e-01 -5.45496509e-02 3.03355327e+02] [ 5.82115868e-02 1.28913521e-03 9.98303436e-01 6.98370899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3492541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:491.86, Y:303.38, Z:69.84 [[ 3.72133403e-01 -9.27746918e-01 -2.83264304e-02 4.91862220e+02] [ 9.26439176e-01 3.73130586e-01 -4.98399395e-02 3.03379109e+02] [ 5.68083078e-02 -7.69560859e-03 9.98355445e-01 6.98412748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.3792541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:491.87, Y:303.41, Z:69.84 [[ 3.74698629e-01 -9.26830155e-01 -2.42239857e-02 4.91869865e+02] [ 9.25367109e-01 3.75469792e-01 -5.21358655e-02 3.03407059e+02] [ 5.74164672e-02 -2.88084229e-03 9.98346157e-01 6.98404133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4092541539999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:491.88, Y:303.44, Z:69.84 [[ 3.80422654e-01 -9.24491473e-01 -2.43745915e-02 4.91877002e+02] [ 9.23003036e-01 3.81194357e-01 -5.25000695e-02 3.03435037e+02] [ 5.78273234e-02 -2.52560619e-03 9.98323406e-01 6.98413873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4392541539999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:491.88, Y:303.46, Z:69.84 [[ 3.86582394e-01 -9.21942019e-01 -2.40201126e-02 4.91883914e+02] [ 9.20489434e-01 3.87322249e-01 -5.17752530e-02 3.03462568e+02] [ 5.70373053e-02 -2.09485857e-03 9.98369850e-01 6.98437813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4692541539998 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:491.89, Y:303.49, Z:69.84 [[ 3.89405023e-01 -9.20744850e-01 -2.43443792e-02 4.91893196e+02] [ 9.19248091e-01 3.90160478e-01 -5.25142730e-02 3.03488962e+02] [ 5.78504611e-02 -1.92920245e-03 9.98323396e-01 6.98443449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.4992541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:491.90, Y:303.51, Z:69.85 [[ 3.92201378e-01 -9.19561233e-01 -2.41912868e-02 4.91901993e+02] [ 9.18078783e-01 3.92942940e-01 -5.22225526e-02 3.03514337e+02] [ 5.75276302e-02 -1.72775000e-03 9.98342420e-01 6.98454248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5292541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:491.91, Y:303.54, Z:69.85 [[ 3.97592367e-01 -9.17252258e-01 -2.38454274e-02 4.91909831e+02] [ 9.15805726e-01 3.98304472e-01 -5.15113560e-02 3.03541188e+02] [ 5.67466480e-02 -1.35725701e-03 9.98387688e-01 6.98474284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5592541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:491.92, Y:303.57, Z:69.85 [[ 3.99683542e-01 -9.16339115e-01 -2.39935917e-02 4.91919645e+02] [ 9.14870700e-01 4.00401222e-01 -5.18696716e-02 3.03565972e+02] [ 5.71372724e-02 -1.21957999e-03 9.98365587e-01 6.98483430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.5892541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:491.93, Y:303.59, Z:69.85 [[ 4.03871059e-01 -9.14508873e-01 -2.36999796e-02 4.91929155e+02] [ 9.13071052e-01 4.04564766e-01 -5.12699103e-02 3.03592504e+02] [ 5.64749646e-02 -9.33332340e-04 9.98403579e-01 6.98503580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:491.94, Y:303.62, Z:69.85 [[ 4.05823060e-01 -9.13652228e-01 -2.33933633e-02 4.91939503e+02] [ 9.12247883e-01 4.06495984e-01 -5.06440089e-02 3.03618555e+02] [ 5.57803198e-02 -7.88039490e-04 9.98442755e-01 6.98514397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6492541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:491.95, Y:303.64, Z:69.85 [[ 4.07692901e-01 -9.12829832e-01 -2.29825518e-02 4.91950120e+02] [ 9.11471082e-01 4.08339661e-01 -4.97914548e-02 3.03644575e+02] [ 5.48358127e-02 -6.48308672e-04 9.98495174e-01 6.98536796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:491.96, Y:303.67, Z:69.86 [[ 4.11325025e-01 -9.11210297e-01 -2.25281909e-02 4.91960570e+02] [ 9.09900390e-01 4.11941293e-01 -4.88431365e-02 3.03670974e+02] [ 5.37866609e-02 -4.08005360e-04 9.98552367e-01 6.98561393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7092541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:491.97, Y:303.70, Z:69.86 [[ 4.12114612e-01 -9.10840676e-01 -2.30392851e-02 4.91970871e+02] [ 9.09467933e-01 4.12757966e-01 -4.99894119e-02 3.03695826e+02] [ 5.50420382e-02 -3.52123885e-04 9.98483976e-01 6.98552633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:491.98, Y:303.72, Z:69.86 [[ 4.15307460e-01 -9.09407150e-01 -2.23237208e-02 4.91982132e+02] [ 9.08114560e-01 4.15906978e-01 -4.84698999e-02 3.03721677e+02] [ 5.33634648e-02 -1.42584853e-04 9.98575145e-01 6.98587092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7692541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:491.99, Y:303.75, Z:69.86 [[ 4.15912500e-01 -9.09124191e-01 -2.25831468e-02 4.91993437e+02] [ 9.07798966e-01 4.16525146e-01 -4.90697391e-02 3.03746428e+02] [ 5.40169354e-02 -9.22394977e-05 9.98540015e-01 6.98583820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.7992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:492.01, Y:303.77, Z:69.86 [[ 4.17246528e-01 -9.08523750e-01 -2.21343718e-02 4.92005388e+02] [ 9.07248445e-01 4.17833215e-01 -4.81213391e-02 3.03771548e+02] [ 5.29678552e-02 -2.91278172e-06 9.98596218e-01 6.98613175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8292541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:492.02, Y:303.80, Z:69.86 [[ 4.17965955e-01 -9.08186386e-01 -2.24041913e-02 4.92017185e+02] [ 9.06877271e-01 4.18565986e-01 -4.87455836e-02 3.03797161e+02] [ 5.36477078e-02 5.61425822e-05 9.98559923e-01 6.98610040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8592541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:492.03, Y:303.82, Z:69.86 [[ 4.17411070e-01 -9.08431000e-01 -2.28279980e-02 4.92029998e+02] [ 9.07070084e-01 4.18034827e-01 -4.97065958e-02 3.03821875e+02] [ 5.46979107e-02 4.14892736e-05 9.98502948e-01 6.98614662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.8892541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:492.04, Y:303.85, Z:69.86 [[ 4.16024574e-01 -9.09046260e-01 -2.36315841e-02 4.92042568e+02] [ 9.07586442e-01 4.16695209e-01 -5.14971154e-02 3.03846725e+02] [ 5.66604280e-02 -2.36398796e-05 9.98393507e-01 6.98625674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9192541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:492.06, Y:303.87, Z:69.86 [[ 4.14063175e-01 -9.09931556e-01 -2.40052287e-02 4.92055227e+02] [ 9.08424265e-01 4.14758420e-01 -5.23527183e-02 3.03871380e+02] [ 5.75937611e-02 -1.29599443e-04 9.98340093e-01 6.98639784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.07, Y:303.89, Z:69.87 [[ 4.10121505e-01 -9.11722281e-01 -2.37241188e-02 4.92069309e+02] [ 9.10250943e-01 4.10806953e-01 -5.17771073e-02 3.03894077e+02] [ 5.69523754e-02 -3.59996328e-04 9.98376831e-01 6.98665762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 876.9792541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:492.08, Y:303.92, Z:69.87 [[ 4.06653333e-01 -9.13249113e-01 -2.46804567e-02 4.92082097e+02] [ 9.11657576e-01 4.07401175e-01 -5.38957063e-02 3.03918165e+02] [ 5.92750530e-02 -5.83256725e-04 9.98241518e-01 6.98660011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:492.10, Y:303.94, Z:69.87 [[ 4.01118568e-01 -9.15793127e-01 -2.06601718e-02 4.92095217e+02] [ 9.14282307e-01 4.01644138e-01 -5.26293575e-02 3.03943328e+02] [ 5.64956408e-02 2.22138293e-03 9.98400375e-01 6.98664226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:492.11, Y:303.97, Z:69.87 [[ 4.00081763e-01 -9.16101037e-01 -2.63338806e-02 4.92111463e+02] [ 9.14728907e-01 4.00927807e-01 -5.02784336e-02 3.03965949e+02] [ 5.66181101e-02 -3.97287748e-03 9.98388004e-01 6.98711235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.12, Y:303.99, Z:69.87 [[ 3.96933320e-01 -9.17560082e-01 -2.29659611e-02 4.92124926e+02] [ 9.16184979e-01 3.97595620e-01 -5.02275663e-02 3.03990839e+02] [ 5.52179754e-02 -1.10407387e-03 9.98473713e-01 6.98722501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.14, Y:304.02, Z:69.87 [[ 3.96688053e-01 -9.17666500e-01 -2.29517673e-02 4.92136714e+02] [ 9.16291200e-01 3.97349943e-01 -5.02340519e-02 3.04016826e+02] [ 5.52179900e-02 -1.10325420e-03 9.98473713e-01 6.98735354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1292541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:492.15, Y:304.04, Z:69.87 [[ 3.94645723e-01 -9.18535768e-01 -2.33836540e-02 4.92149781e+02] [ 9.17107595e-01 3.95335961e-01 -5.12165708e-02 3.04042063e+02] [ 5.62886515e-02 -1.23292607e-03 9.98413776e-01 6.98734352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1592541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:492.16, Y:304.07, Z:69.88 [[ 3.92813161e-01 -9.19332389e-01 -2.29298916e-02 4.92163492e+02] [ 9.17958478e-01 3.93479673e-01 -5.02591289e-02 3.04065803e+02] [ 5.52272913e-02 -1.30624108e-03 9.98472954e-01 6.98750849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.1892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:492.18, Y:304.09, Z:69.88 [[ 3.92256003e-01 -9.19579816e-01 -2.25430887e-02 4.92176007e+02] [ 9.18250479e-01 3.92901081e-01 -4.94448952e-02 3.04091051e+02] [ 5.43257315e-02 -1.30514500e-03 9.98522414e-01 6.98775822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2192541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:492.19, Y:304.12, Z:69.88 [[ 3.91779470e-01 -9.19789180e-01 -2.22870168e-02 4.92188025e+02] [ 9.18488353e-01 3.92410704e-01 -4.89181486e-02 3.04115560e+02] [ 5.37400478e-02 -1.30523903e-03 9.98554107e-01 6.98793782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2492541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:492.20, Y:304.14, Z:69.88 [[ 3.89666129e-01 -9.20686145e-01 -2.23009044e-02 4.92200821e+02] [ 9.19383688e-01 3.90301177e-01 -4.89757719e-02 3.04140724e+02] [ 5.37953839e-02 -1.41888832e-03 9.98550972e-01 6.98798487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.2792541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:492.21, Y:304.17, Z:69.88 [[ 3.88776502e-01 -9.21065828e-01 -2.21488373e-02 4.92212619e+02] [ 9.19779749e-01 3.89404219e-01 -4.86782167e-02 3.04166150e+02] [ 5.34606927e-02 -1.44710523e-03 9.98568906e-01 6.98813257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:492.22, Y:304.19, Z:69.88 [[ 3.87775356e-01 -9.21614234e-01 -1.60461229e-02 4.92221891e+02] [ 9.20345956e-01 3.88086181e-01 -4.85019326e-02 3.04192710e+02] [ 5.09273500e-02 4.03986982e-03 9.98694190e-01 6.98791205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3392541539998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:492.24, Y:304.21, Z:69.89 [[ 3.87308234e-01 -9.21550929e-01 -2.71333280e-02 4.92237918e+02] [ 9.20405081e-01 3.88194819e-01 -4.64679396e-02 3.04214622e+02] [ 5.33555902e-02 -6.97623736e-03 9.98551207e-01 6.98850542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3692541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:492.25, Y:304.24, Z:69.88 [[ 3.86834135e-01 -9.21877879e-01 -2.23724849e-02 4.92246940e+02] [ 9.20561456e-01 3.87477509e-01 -4.92725571e-02 3.04240647e+02] [ 5.40921152e-02 -1.53494026e-03 9.98534770e-01 6.98848408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.3992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:492.26, Y:304.27, Z:69.89 [[ 3.86176256e-01 -9.22147096e-01 -2.26413807e-02 4.92258299e+02] [ 9.20797391e-01 3.86836195e-01 -4.98991222e-02 3.04266017e+02] [ 5.47728362e-02 -1.57826810e-03 9.98497594e-01 6.98862335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4292541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:492.27, Y:304.29, Z:69.89 [[ 3.85013537e-01 -9.22621916e-01 -2.30949309e-02 4.92269920e+02] [ 9.21216243e-01 3.85701998e-01 -5.09372362e-02 3.04292072e+02] [ 5.59035715e-02 -1.66389998e-03 9.98434786e-01 6.98868286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.28, Y:304.32, Z:69.89 [[ 3.82534003e-01 -9.23645894e-01 -2.33666228e-02 4.92281482e+02] [ 9.22206749e-01 3.83242676e-01 -5.15729041e-02 3.04316920e+02] [ 5.65901881e-02 -1.82046777e-03 9.98395832e-01 6.98888559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.4892541539999 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:492.29, Y:304.34, Z:69.89 [[ 3.79422242e-01 -9.24908213e-01 -2.41569890e-02 4.92292510e+02] [ 9.23370848e-01 3.80184866e-01 -5.33455300e-02 3.04341797e+02] [ 5.85238404e-02 -2.06537881e-03 9.98283875e-01 6.98871671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5192541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:492.31, Y:304.37, Z:69.90 [[ 3.78327082e-01 -9.25090835e-01 -3.27958365e-02 4.92309888e+02] [ 9.23708084e-01 3.79594037e-01 -5.16888978e-02 3.04366052e+02] [ 6.02660295e-02 -1.07384694e-02 9.98124587e-01 6.98956370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5492541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:492.31, Y:304.39, Z:69.89 [[ 3.73025661e-01 -9.27707152e-01 -1.45360361e-02 4.92310335e+02] [ 9.26072695e-01 3.73238385e-01 -5.55200089e-02 3.04393614e+02] [ 5.69317160e-02 7.24896187e-03 9.98351758e-01 6.98886373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.5792541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:492.33, Y:304.42, Z:69.89 [[ 3.73071574e-01 -9.27479514e-01 -2.44816614e-02 4.92327104e+02] [ 9.26095752e-01 3.73855400e-01 -5.07818655e-02 3.04416229e+02] [ 5.62517412e-02 -3.72709210e-03 9.98409661e-01 6.98947923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6092541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:492.34, Y:304.44, Z:69.89 [[ 3.72731477e-01 -9.27652925e-01 -2.30498841e-02 4.92336836e+02] [ 9.26252568e-01 3.73436182e-01 -5.10058643e-02 3.04442603e+02] [ 5.59233999e-02 -2.33852327e-03 9.98432324e-01 6.98948719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6392541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:492.35, Y:304.47, Z:69.90 [[ 3.73391464e-01 -9.27392290e-01 -2.28550810e-02 4.92347541e+02] [ 9.26012854e-01 3.74083425e-01 -5.06140887e-02 3.04468390e+02] [ 5.54888226e-02 -2.26523008e-03 9.98456739e-01 6.98963531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.36, Y:304.49, Z:69.90 [[ 3.76741215e-01 -9.26049239e-01 -2.23352653e-02 4.92356510e+02] [ 9.24727503e-01 3.77397384e-01 -4.95001022e-02 3.04494105e+02] [ 5.42688027e-02 -2.00530548e-03 9.98524349e-01 6.98999755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.6992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:492.37, Y:304.52, Z:69.90 [[ 3.78175963e-01 -9.25461814e-01 -2.24359486e-02 4.92366470e+02] [ 9.24125196e-01 3.78836057e-01 -4.97580519e-02 3.04519205e+02] [ 5.45487233e-02 -1.91632626e-03 9.98509271e-01 6.99010498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7292541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:492.38, Y:304.55, Z:69.90 [[ 3.78497248e-01 -9.25262043e-01 -2.50994973e-02 4.92378248e+02] [ 9.23865369e-01 3.79308535e-01 -5.09687598e-02 3.04545259e+02] [ 5.66799124e-02 -3.89702095e-03 9.98384796e-01 6.99014621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7592541539999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:492.39, Y:304.57, Z:69.90 [[ 3.81419531e-01 -9.24159716e-01 -2.11650681e-02 4.92385284e+02] [ 9.22722845e-01 3.82006288e-01 -5.15145288e-02 3.04571861e+02] [ 5.56928414e-02 1.19155576e-04 9.98447942e-01 6.99009073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.7892541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:492.40, Y:304.60, Z:69.90 [[ 3.82656715e-01 -9.23613308e-01 -2.26339552e-02 4.92396107e+02] [ 9.22244920e-01 3.83322049e-01 -5.02843476e-02 3.04596707e+02] [ 5.51193866e-02 -1.63240688e-03 9.98478437e-01 6.99032399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8192541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:492.41, Y:304.62, Z:69.90 [[ 3.85277662e-01 -9.22531430e-01 -2.22909033e-02 4.92405191e+02] [ 9.21200538e-01 3.85919272e-01 -4.95568898e-02 3.04623263e+02] [ 5.43202776e-02 -1.44122945e-03 9.98522524e-01 6.99043703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8492541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:492.42, Y:304.65, Z:69.91 [[ 3.86939290e-01 -9.21851206e-01 -2.16411662e-02 4.92415433e+02] [ 9.20593854e-01 3.87541848e-01 -4.81484292e-02 3.04648856e+02] [ 5.27725451e-02 -1.29220562e-03 9.98605722e-01 6.99070800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.8792541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:492.43, Y:304.67, Z:69.91 [[ 3.87987517e-01 -9.21099185e-01 -3.22796931e-02 4.92429722e+02] [ 9.19957896e-01 3.89161880e-01 -4.72281767e-02 3.04674170e+02] [ 5.60638611e-02 -1.13720155e-02 9.98362420e-01 6.99136740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9092541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:492.43, Y:304.70, Z:69.91 [[ 3.88676035e-01 -9.21289177e-01 -1.25376759e-02 4.92431159e+02] [ 9.19850260e-01 3.88779512e-01 -5.22110133e-02 3.04703666e+02] [ 5.29758329e-02 8.76038517e-03 9.98557368e-01 6.99052786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9392541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:492.45, Y:304.73, Z:69.91 [[ 3.87197912e-01 -9.21464246e-01 -3.13276290e-02 4.92449718e+02] [ 9.20292763e-01 3.88323940e-01 -4.75998767e-02 3.04726512e+02] [ 5.60268528e-02 -1.04000174e-02 9.98375096e-01 6.99149914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9692541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:492.46, Y:304.75, Z:69.92 [[ 3.86457184e-01 -9.21958009e-01 -2.53825654e-02 4.92457658e+02] [ 9.20527426e-01 3.87274226e-01 -5.14580551e-02 3.04753537e+02] [ 5.72721794e-02 -3.47901248e-03 9.98352540e-01 6.99153116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 877.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.46, Y:304.78, Z:69.91 [[ 3.85827461e-01 -9.22565000e-01 -3.31514639e-03 4.92458845e+02] [ 9.20861379e-01 3.85328670e-01 -5.94654276e-02 3.04784562e+02] [ 5.61381431e-02 1.98906047e-02 9.98224861e-01 6.99064216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0292541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:492.48, Y:304.80, Z:69.91 [[ 3.82222975e-01 -9.23527677e-01 -3.16579789e-02 4.92483074e+02] [ 9.22466107e-01 3.83353223e-01 -4.57885141e-02 3.04802940e+02] [ 5.44231483e-02 -1.17019905e-02 9.98449390e-01 6.99146433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0592541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:492.49, Y:304.83, Z:69.91 [[ 3.80741497e-01 -9.24415799e-01 -2.21662515e-02 4.92490128e+02] [ 9.23091249e-01 3.81382769e-01 -4.94947385e-02 3.04829791e+02] [ 5.42075446e-02 -1.61677198e-03 9.98528381e-01 6.99133234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.0892541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:492.50, Y:304.86, Z:69.92 [[ 3.77561468e-01 -9.25717317e-01 -2.22438274e-02 4.92501880e+02] [ 9.24383820e-01 3.78211877e-01 -4.97024107e-02 3.04855645e+02] [ 5.44232620e-02 -1.79611900e-03 9.98516341e-01 6.99159381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1192541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:492.51, Y:304.88, Z:69.92 [[ 3.75129304e-01 -9.26696075e-01 -2.26360139e-02 4.92513122e+02] [ 9.25314706e-01 3.75806537e-01 -5.06176067e-02 3.04881550e+02] [ 5.54138994e-02 -1.95728891e-03 9.98461551e-01 6.99153873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1492541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:492.52, Y:304.91, Z:69.92 [[ 3.71921319e-01 -9.27991022e-01 -2.25209857e-02 4.92523799e+02] [ 9.26623848e-01 3.72596500e-01 -5.03993284e-02 3.04907425e+02] [ 5.51613647e-02 -2.12389766e-03 9.98475194e-01 6.99164033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.1792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:492.53, Y:304.93, Z:69.92 [[ 3.70814023e-01 -9.28448094e-01 -2.19339222e-02 4.92534319e+02] [ 9.27150107e-01 3.71456107e-01 -4.91227075e-02 3.04931812e+02] [ 5.37553735e-02 -2.12064950e-03 9.98551883e-01 6.99197393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2092541539998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:492.55, Y:304.96, Z:69.92 [[ 3.68642160e-01 -9.29305837e-01 -2.22175278e-02 4.92545008e+02] [ 9.27973605e-01 3.69304141e-01 -4.97939820e-02 3.04957426e+02] [ 5.44788631e-02 -2.26111829e-03 9.98512364e-01 6.99187726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2392541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:492.56, Y:304.98, Z:69.92 [[ 3.66722756e-01 -9.30085557e-01 -2.13372310e-02 4.92555350e+02] [ 9.28856300e-01 3.67335961e-01 -4.78567252e-02 3.04983949e+02] [ 5.23487812e-02 -2.26907134e-03 9.98626285e-01 6.99220556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2692541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:492.56, Y:305.01, Z:69.92 [[ 3.66231195e-01 -9.30287617e-01 -2.09681217e-02 4.92564492e+02] [ 9.29099036e-01 3.66824086e-01 -4.70645402e-02 3.05009240e+02] [ 5.14751711e-02 -2.24495883e-03 9.98671751e-01 6.99234174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.2992541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:492.59, Y:305.03, Z:69.94 [[ 3.68161356e-01 -9.28451910e-01 -4.93382857e-02 4.92589004e+02] [ 9.27998379e-01 3.70212136e-01 -4.19759752e-02 3.05030267e+02] [ 5.72383065e-02 -3.03319172e-02 9.97899670e-01 6.99434090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3292541539998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:492.57, Y:305.07, Z:69.92 [[ 3.69279924e-01 -9.29306509e-01 4.66378879e-03 4.92572288e+02] [ 9.27866649e-01 3.68418093e-01 -5.77199263e-02 3.05067028e+02] [ 5.19212790e-02 2.56421841e-02 9.98321922e-01 6.99182933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3592541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:492.60, Y:305.08, Z:69.94 [[ 3.75560448e-01 -9.25877276e-01 -4.12991572e-02 4.92602301e+02] [ 9.25141314e-01 3.77179893e-01 -4.29985903e-02 3.05084997e+02] [ 5.53886293e-02 -2.20589867e-02 9.98221168e-01 6.99393559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.3892541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:492.59, Y:305.12, Z:69.92 [[ 3.78835679e-01 -9.25462785e-01 1.47052768e-03 4.92590606e+02] [ 9.23998936e-01 3.78146130e-01 -5.68460284e-02 3.05120047e+02] [ 5.20528094e-02 2.28940698e-02 9.98381874e-01 6.99207909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4192541539999 meters Centerline goodness : 0.999959 Centerline is valid? [True, True] Translation: X:492.61, Y:305.14, Z:69.93 [[ 3.85502570e-01 -9.22399083e-01 -2.38264501e-02 4.92610096e+02] [ 9.21408927e-01 3.86201077e-01 -4.30617987e-02 3.05141622e+02] [ 4.89219643e-02 -5.35346972e-03 9.98788257e-01 6.99309445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.62, Y:305.17, Z:69.93 [[ 3.88317679e-01 -9.21313211e-01 -1.97824875e-02 4.92617747e+02] [ 9.20236888e-01 3.88820182e-01 -4.45301658e-02 3.05169067e+02] [ 4.87180604e-02 -9.12724070e-04 9.98812153e-01 6.99315580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.4792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.63, Y:305.20, Z:69.93 [[ 3.90298400e-01 -9.20472870e-01 -1.99212289e-02 4.92627514e+02] [ 9.19378566e-01 3.90805651e-01 -4.48775614e-02 3.05195094e+02] [ 4.90939066e-02 -7.99510425e-04 9.98793847e-01 6.99325168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.64, Y:305.22, Z:69.93 [[ 3.93514635e-01 -9.19099285e-01 -2.00683162e-02 4.92636056e+02] [ 9.17985229e-01 3.94025536e-01 -4.52437512e-02 3.05220667e+02] [ 4.94909284e-02 -6.18339659e-04 9.98774382e-01 6.99332403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5392541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:492.65, Y:305.25, Z:69.93 [[ 3.95663893e-01 -9.18158453e-01 -2.08599965e-02 4.92645734e+02] [ 9.16951626e-01 3.96213073e-01 -4.70629030e-02 3.05246743e+02] [ 5.14762056e-02 -5.06516293e-04 9.98674093e-01 6.99315532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5692541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:492.66, Y:305.27, Z:69.93 [[ 3.96728290e-01 -9.17698832e-01 -2.08690680e-02 4.92656297e+02] [ 9.16488423e-01 3.97276563e-01 -4.71200855e-02 3.05272636e+02] [ 5.15328390e-02 -4.32388269e-04 9.98671207e-01 6.99331357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.5992541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:492.67, Y:305.30, Z:69.93 [[ 3.97684164e-01 -9.17279564e-01 -2.11070558e-02 4.92667101e+02] [ 9.16038832e-01 3.98243728e-01 -4.76947762e-02 3.05298689e+02] [ 5.21551961e-02 -3.67425613e-04 9.98638924e-01 6.99345339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6292541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:492.68, Y:305.32, Z:69.93 [[ 3.99883932e-01 -9.16315178e-01 -2.14321008e-02 4.92677078e+02] [ 9.15032536e-01 4.00457789e-01 -4.84666680e-02 3.05323870e+02] [ 5.29933953e-02 -2.30027783e-04 9.98594836e-01 6.99346853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6592541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:492.69, Y:305.35, Z:69.94 [[ 4.01143918e-01 -9.15775783e-01 -2.09349476e-02 4.92688568e+02] [ 9.14549557e-01 4.01689799e-01 -4.73752482e-02 3.05349534e+02] [ 5.17944600e-02 -1.41754419e-04 9.98657756e-01 6.99374261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.6892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:492.70, Y:305.37, Z:69.94 [[ 4.03381270e-01 -9.14803399e-01 -2.04521849e-02 4.92699960e+02] [ 9.13630116e-01 4.03899419e-01 -4.63170704e-02 3.05373750e+02] [ 5.06316391e-02 -2.29338860e-06 9.98717396e-01 6.99402777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7192541539998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:492.72, Y:305.40, Z:69.95 [[ 4.04335691e-01 -9.13701393e-01 -4.07727059e-02 4.92721196e+02] [ 9.12889258e-01 4.05907270e-01 -4.32722987e-02 3.05395569e+02] [ 5.60878973e-02 -1.97244305e-02 9.98230983e-01 6.99515690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.72, Y:305.43, Z:69.94 [[ 4.07587619e-01 -9.13164483e-01 -1.72057116e-03 4.92716262e+02] [ 9.11849906e-01 4.07100545e-01 -5.29045851e-02 3.05428694e+02] [ 4.90110335e-02 1.99943512e-02 9.98598090e-01 6.99384416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.74, Y:305.45, Z:69.94 [[ 4.08680531e-01 -9.12459779e-01 -1.99342737e-02 4.92736708e+02] [ 9.11338553e-01 4.09166290e-01 -4.52215518e-02 3.05449762e+02] [ 4.94192800e-02 3.14295658e-04 9.98778071e-01 6.99446428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8092541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:492.75, Y:305.47, Z:69.94 [[ 4.10941461e-01 -9.11424378e-01 -2.08018982e-02 4.92749708e+02] [ 9.10200069e-01 4.11467348e-01 -4.72277059e-02 3.05473433e+02] [ 5.16037844e-02 4.73933298e-04 9.98667525e-01 6.99425859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8392541539998 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:492.76, Y:305.50, Z:69.94 [[ 4.12031426e-01 -9.10935964e-01 -2.06343037e-02 4.92762148e+02] [ 9.09729344e-01 4.12547424e-01 -4.68736958e-02 3.05497971e+02] [ 5.12115641e-02 5.41804098e-04 9.98687680e-01 6.99438418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.78, Y:305.52, Z:69.95 [[ 4.13799034e-01 -9.10147833e-01 -2.00320036e-02 4.92775273e+02] [ 9.09008155e-01 4.14283140e-01 -4.55373963e-02 3.05523191e+02] [ 4.97446839e-02 6.34075970e-04 9.98761766e-01 6.99481917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.8992541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:492.79, Y:305.55, Z:69.95 [[ 4.15609603e-01 -9.09318342e-01 -2.02190788e-02 4.92789637e+02] [ 9.08154500e-01 4.16100448e-01 -4.59980516e-02 3.05546049e+02] [ 5.02400397e-02 7.55184574e-04 9.98736886e-01 6.99470137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.80, Y:305.57, Z:69.95 [[ 4.16987871e-01 -9.08702047e-01 -1.95372733e-02 4.92802798e+02] [ 9.07613575e-01 4.17444525e-01 -4.44709792e-02 3.05570955e+02] [ 4.85665976e-02 8.11564543e-04 9.98819617e-01 6.99508910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.82, Y:305.59, Z:69.95 [[ 4.17401431e-01 -9.08512337e-01 -1.95289355e-02 4.92815511e+02] [ 9.07422910e-01 4.17857170e-01 -4.44864929e-02 3.05594378e+02] [ 4.85768334e-02 8.47722300e-04 9.98819089e-01 6.99520141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 878.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.83, Y:305.62, Z:69.95 [[ 4.17159107e-01 -9.08623878e-01 -1.95173978e-02 4.92826894e+02] [ 9.07534336e-01 4.17614572e-01 -4.44915544e-02 3.05620540e+02] [ 4.85768384e-02 8.47348468e-04 9.98819089e-01 6.99532872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0192541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:492.84, Y:305.64, Z:69.95 [[ 4.17005298e-01 -9.08674728e-01 -2.04161909e-02 4.92843064e+02] [ 9.07480716e-01 4.17503818e-01 -4.65758847e-02 3.05644191e+02] [ 5.08461670e-02 8.95091182e-04 9.98706096e-01 6.99521171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0492541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:492.86, Y:305.67, Z:69.95 [[ 4.16980217e-01 -9.08694612e-01 -2.00400077e-02 4.92856658e+02] [ 9.07542507e-01 4.17460548e-01 -4.57524812e-02 3.05668697e+02] [ 4.99409458e-02 8.90720680e-04 9.98751775e-01 6.99544495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.0792541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:492.87, Y:305.69, Z:69.95 [[ 4.14882659e-01 -9.09625953e-01 -2.12839129e-02 4.92873027e+02] [ 9.08325384e-01 4.15427387e-01 -4.86321135e-02 3.05692215e+02] [ 5.30789529e-02 8.43902222e-04 9.98589962e-01 6.99536639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1092541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:492.89, Y:305.72, Z:69.95 [[ 4.11095055e-01 -9.11333362e-01 -2.17338116e-02 4.92890160e+02] [ 9.09977343e-01 4.11668646e-01 -4.97007095e-02 3.05715028e+02] [ 5.42410435e-02 6.54439807e-04 9.98527657e-01 6.99549093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.90, Y:305.74, Z:69.96 [[ 4.09338163e-01 -9.12134882e-01 -2.12656076e-02 4.92904437e+02] [ 9.10835778e-01 4.09889806e-01 -4.86675676e-02 3.05738463e+02] [ 5.31079417e-02 5.52016501e-04 9.98588625e-01 6.99584966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.92, Y:305.76, Z:69.96 [[ 4.06306832e-01 -9.13491884e-01 -2.11503309e-02 4.92918916e+02] [ 9.12206805e-01 4.06856766e-01 -4.84387973e-02 3.05762738e+02] [ 5.28536034e-02 3.87538450e-04 9.98602196e-01 6.99600781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.1992541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:492.94, Y:305.79, Z:69.96 [[ 3.98953943e-01 -9.16722188e-01 -2.13584236e-02 4.92937218e+02] [ 9.15414147e-01 3.99525256e-01 -4.89541636e-02 3.05785260e+02] [ 5.34105976e-02 -2.13465144e-05 9.98572635e-01 6.99598792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:492.94, Y:305.81, Z:69.96 [[ 3.93966228e-01 -9.19069346e-01 -1.01068609e-02 4.92944302e+02] [ 9.17799622e-01 3.93964675e-01 -4.93526915e-02 3.05810787e+02] [ 4.93402921e-02 1.01672207e-02 9.98730276e-01 6.99551861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2592541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:492.97, Y:305.83, Z:69.97 [[ 3.88077282e-01 -9.21128177e-01 -3.03134586e-02 4.92974574e+02] [ 9.20136946e-01 3.89109759e-01 -4.40635545e-02 3.05829692e+02] [ 5.23834442e-02 -1.07924688e-02 9.98568724e-01 6.99665314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.2892541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:492.98, Y:305.85, Z:69.97 [[ 3.84829350e-01 -9.22759924e-01 -2.05059472e-02 4.92984646e+02] [ 9.21558300e-01 3.85374514e-01 -4.70827402e-02 3.05854720e+02] [ 5.13485352e-02 -7.78605564e-04 9.98680490e-01 6.99654775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3192541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:493.00, Y:305.88, Z:69.96 [[ 3.77049005e-01 -9.26085788e-01 -1.41124723e-02 4.92998435e+02] [ 9.24834236e-01 3.77277165e-01 -4.84104999e-02 3.05878818e+02] [ 5.01565895e-02 5.20143331e-03 9.98727822e-01 6.99603538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3492541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:493.02, Y:305.90, Z:69.96 [[ 3.74719419e-01 -9.26953244e-01 -1.85213412e-02 4.93015710e+02] [ 9.25808232e-01 3.75176852e-01 -4.60591811e-02 3.05903411e+02] [ 4.96434858e-02 1.12059444e-04 9.98766996e-01 6.99632403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.3792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:493.03, Y:305.93, Z:69.96 [[ 3.69889541e-01 -9.28967816e-01 -1.41606257e-02 4.93028807e+02] [ 9.27873425e-01 3.70143114e-01 -4.52214752e-02 3.05926861e+02] [ 4.72507531e-02 3.58768248e-03 9.98876616e-01 6.99629411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:493.05, Y:305.95, Z:69.97 [[ 3.68473157e-01 -9.29363298e-01 -2.26140245e-02 4.93046790e+02] [ 9.28414211e-01 3.69127008e-01 -4.23356130e-02 3.05950993e+02] [ 4.76926121e-02 -5.39564477e-03 9.98847487e-01 6.99697472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4392541539999 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:493.06, Y:305.98, Z:69.97 [[ 3.63499558e-01 -9.31415234e-01 -1.82683870e-02 4.93060000e+02] [ 9.30326108e-01 3.63957788e-01 -4.50340139e-02 3.05977276e+02] [ 4.85942883e-02 -6.25713211e-04 9.98818404e-01 6.99675933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.07, Y:306.00, Z:69.97 [[ 3.61492538e-01 -9.32143370e-01 -2.07817821e-02 4.93073630e+02] [ 9.31143570e-01 3.62070589e-01 -4.33190677e-02 3.06001529e+02] [ 4.79040538e-02 -3.69130309e-03 9.98845121e-01 6.99738623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.09, Y:306.03, Z:69.98 [[ 3.59061140e-01 -9.33095692e-01 -2.01872967e-02 4.93086618e+02] [ 9.32036008e-01 3.59617123e-01 -4.45466573e-02 3.06027409e+02] [ 4.88259916e-02 -2.82031385e-03 9.98803318e-01 6.99755810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5292541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:493.10, Y:306.05, Z:69.98 [[ 3.52913599e-01 -9.35298719e-01 -2.58514543e-02 4.93101235e+02] [ 9.34247374e-01 3.53763264e-01 -4.50931972e-02 3.06049979e+02] [ 5.13209044e-02 -8.23765084e-03 9.98648239e-01 6.99794610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:493.11, Y:306.08, Z:69.98 [[ 3.49700759e-01 -9.36635320e-01 -2.05829011e-02 4.93110675e+02] [ 9.35436351e-01 3.50295875e-01 -4.74513766e-02 3.06077094e+02] [ 5.16547406e-02 -2.66021147e-03 9.98661460e-01 6.99787736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.5892541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:493.12, Y:306.10, Z:69.98 [[ 3.43384900e-01 -9.38962904e-01 -2.08680546e-02 4.93122627e+02] [ 9.37732747e-01 3.44005005e-01 -4.81440814e-02 3.06102830e+02] [ 5.23842217e-02 -3.03670759e-03 9.98622387e-01 6.99790402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6192541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:493.13, Y:306.13, Z:69.98 [[ 3.40763110e-01 -9.39912897e-01 -2.10772312e-02 4.93133827e+02] [ 9.38657656e-01 3.41399327e-01 -4.86652253e-02 3.06128314e+02] [ 5.29368254e-02 -3.20099088e-03 9.98592733e-01 6.99810907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6492541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:493.15, Y:306.15, Z:69.99 [[ 3.39024057e-01 -9.40462971e-01 -2.43328657e-02 4.93147220e+02] [ 9.39200780e-01 3.39839488e-01 -4.91021200e-02 3.06154242e+02] [ 5.44479943e-02 -6.20664645e-03 9.98497318e-01 6.99860396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.6792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:493.15, Y:306.18, Z:69.98 [[ 3.37426449e-01 -9.41157187e-01 -1.91452607e-02 4.93154553e+02] [ 9.39762447e-01 3.37968414e-01 -5.12239645e-02 3.06180506e+02] [ 5.46802957e-02 -7.07676575e-04 9.98503663e-01 6.99827337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7092541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:493.17, Y:306.21, Z:69.99 [[ 3.37525622e-01 -9.41067243e-01 -2.16540571e-02 4.93166270e+02] [ 9.39739818e-01 3.38201983e-01 -5.00848635e-02 3.06205882e+02] [ 5.44566695e-02 -3.44425498e-03 9.98510194e-01 6.99858088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7392541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:493.18, Y:306.23, Z:69.99 [[ 3.38632356e-01 -9.40657056e-01 -2.21907747e-02 4.93175351e+02] [ 9.39259872e-01 3.39341141e-01 -5.13661717e-02 3.06231880e+02] [ 5.58481946e-02 -3.44865641e-03 9.98433316e-01 6.99859275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7692541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:493.19, Y:306.26, Z:69.99 [[ 3.39437097e-01 -9.40366602e-01 -2.22061168e-02 4.93185324e+02] [ 9.38965177e-01 3.40145768e-01 -5.14320291e-02 3.06257857e+02] [ 5.59182791e-02 -3.39283171e-03 9.98429584e-01 6.99871139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.7992541539999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:493.19, Y:306.28, Z:69.99 [[ 3.40874665e-01 -9.39836264e-01 -2.26331747e-02 4.93193613e+02] [ 9.38376847e-01 3.41608753e-01 -5.24628679e-02 3.06284142e+02] [ 5.70381964e-02 -3.35518464e-03 9.98366359e-01 6.99880030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.20, Y:306.31, Z:69.99 [[ 3.42006789e-01 -9.39436499e-01 -2.21454509e-02 4.93203640e+02] [ 9.38036471e-01 3.42708031e-01 -5.13691021e-02 3.06309941e+02] [ 5.58474333e-02 -3.20465894e-03 9.98434171e-01 6.99927055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.21, Y:306.34, Z:69.99 [[ 3.41788268e-01 -9.39518323e-01 -2.20476881e-02 4.93213546e+02] [ 9.38128576e-01 3.42483787e-01 -5.11823263e-02 3.06336158e+02] [ 5.56377091e-02 -3.19004757e-03 9.98445927e-01 6.99938350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.22, Y:306.36, Z:70.00 [[ 3.40135145e-01 -9.40125563e-01 -2.17257472e-02 4.93222187e+02] [ 9.38775191e-01 3.40813010e-01 -5.04740895e-02 3.06363132e+02] [ 5.48563991e-02 -3.22758067e-03 9.98489038e-01 6.99954497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:493.23, Y:306.39, Z:70.00 [[ 3.38177899e-01 -9.40836005e-01 -2.15249002e-02 4.93232023e+02] [ 9.39509765e-01 3.38846181e-01 -5.00466462e-02 3.06389740e+02] [ 5.43793168e-02 -3.29818424e-03 9.98514903e-01 6.99960826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:493.24, Y:306.42, Z:70.00 [[ 3.34239125e-01 -9.42245448e-01 -2.13944609e-02 4.93240755e+02] [ 9.40935898e-01 3.34904949e-01 -4.97826484e-02 3.06416547e+02] [ 5.40725846e-02 -3.49150744e-03 9.98530903e-01 6.99954077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 879.9792541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:493.25, Y:306.44, Z:70.00 [[ 3.33086405e-01 -9.42655961e-01 -2.12881637e-02 4.93249758e+02] [ 9.41358135e-01 3.33747354e-01 -4.95738367e-02 3.06441661e+02] [ 5.38359410e-02 -3.52741506e-03 9.98543564e-01 6.99975424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0092541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:493.26, Y:306.47, Z:70.00 [[ 3.32555040e-01 -9.42842865e-01 -2.13184832e-02 4.93258510e+02] [ 9.41539772e-01 3.33218734e-01 -4.96803047e-02 3.06468048e+02] [ 5.39444388e-02 -3.55076411e-03 9.98537626e-01 6.99975457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:493.26, Y:306.49, Z:70.00 [[ 3.35781903e-01 -9.41697245e-01 -2.13731595e-02 4.93264737e+02] [ 9.40383055e-01 3.36444646e-01 -4.98468604e-02 3.06494237e+02] [ 5.41315362e-02 -3.36128342e-03 9.98528156e-01 7.00013809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:493.27, Y:306.52, Z:70.00 [[ 3.41831421e-01 -9.39517279e-01 -2.14140516e-02 4.93270534e+02] [ 9.38191586e-01 3.42488326e-01 -4.99829470e-02 3.06522237e+02] [ 5.42939051e-02 -3.00474120e-03 9.98520477e-01 7.00029236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.0992541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:493.28, Y:306.55, Z:70.00 [[ 3.44966302e-01 -9.38369307e-01 -2.14777485e-02 4.93277774e+02] [ 9.37031359e-01 3.45622774e-01 -5.01710113e-02 3.06548401e+02] [ 5.45021362e-02 -2.81801565e-03 9.98509677e-01 7.00026622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.28, Y:306.58, Z:70.00 [[ 3.49393957e-01 -9.36809807e-01 -1.76422223e-02 4.93283793e+02] [ 9.35366601e-01 3.49835103e-01 -5.20069532e-02 3.06576259e+02] [ 5.48924924e-02 1.66896968e-03 9.98490876e-01 7.00040878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1592541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:493.29, Y:306.60, Z:70.00 [[ 3.55503275e-01 -9.34343685e-01 -2.48857571e-02 4.93292287e+02] [ 9.33139095e-01 3.56319009e-01 -4.78350630e-02 3.06603853e+02] [ 5.35616573e-02 -6.21635136e-03 9.98545195e-01 7.00043647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.1892541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:493.30, Y:306.63, Z:70.01 [[ 3.58874302e-01 -9.33155293e-01 -2.07469087e-02 4.93298627e+02] [ 9.31892319e-01 3.59468465e-01 -4.85708689e-02 3.06631549e+02] [ 5.27820228e-02 -1.90304813e-03 9.98604244e-01 7.00052183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2192541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:493.30, Y:306.66, Z:70.01 [[ 3.63151999e-01 -9.31500587e-01 -2.06707925e-02 4.93304565e+02] [ 9.30242169e-01 3.63736117e-01 -4.84308162e-02 3.06659885e+02] [ 5.26320475e-02 -1.64109517e-03 9.98612625e-01 7.00069062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2492541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:493.31, Y:306.69, Z:70.01 [[ 3.63699624e-01 -9.31280229e-01 -2.09694589e-02 4.93312616e+02] [ 9.29982724e-01 3.64300035e-01 -4.91692682e-02 3.06685780e+02] [ 5.34295420e-02 -1.61839011e-03 9.98570310e-01 7.00061954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.2792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:493.32, Y:306.71, Z:70.01 [[ 3.64479533e-01 -9.30980392e-01 -2.07407752e-02 4.93321343e+02] [ 9.29708742e-01 3.65065918e-01 -4.86675530e-02 3.06712672e+02] [ 5.28802877e-02 -1.54455307e-03 9.98599664e-01 7.00106481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.33, Y:306.74, Z:70.01 [[ 3.64831054e-01 -9.30842698e-01 -2.07406459e-02 4.93326912e+02] [ 9.29568848e-01 3.65417008e-01 -4.87048892e-02 3.06739873e+02] [ 5.29155752e-02 -1.51080225e-03 9.98597847e-01 7.00116027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3392541539998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:493.33, Y:306.77, Z:70.01 [[ 3.65018491e-01 -9.30764420e-01 -2.09546212e-02 4.93333721e+02] [ 9.29462098e-01 3.65616382e-01 -4.92429705e-02 3.06767760e+02] [ 5.34949577e-02 -1.50193135e-03 9.98566990e-01 7.00090011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.34, Y:306.79, Z:70.01 [[ 3.65605806e-01 -9.30550405e-01 -2.02074056e-02 4.93342726e+02] [ 9.29337196e-01 3.66161127e-01 -4.75226774e-02 3.06792712e+02] [ 5.16214131e-02 -1.40492686e-03 9.98665738e-01 7.00142032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.3992541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:493.35, Y:306.82, Z:70.01 [[ 3.64065238e-01 -9.31158485e-01 -2.00094426e-02 4.93351029e+02] [ 9.29968495e-01 3.64611745e-01 -4.70836850e-02 3.06820036e+02] [ 5.11380505e-02 -1.46661823e-03 9.98690517e-01 7.00121235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4292541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:493.36, Y:306.85, Z:70.01 [[ 3.62821010e-01 -9.31640451e-01 -2.01738697e-02 4.93359932e+02] [ 9.30429580e-01 3.63378205e-01 -4.75087110e-02 3.06845442e+02] [ 5.15917815e-02 -1.53320662e-03 9.98667080e-01 7.00124865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4592541539998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:493.37, Y:306.87, Z:70.01 [[ 3.61267902e-01 -9.32238949e-01 -2.03971733e-02 4.93369461e+02] [ 9.31000197e-01 3.61839613e-01 -4.80700396e-02 3.06871753e+02] [ 5.21932684e-02 -1.62360998e-03 9.98635683e-01 7.00130131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.38, Y:306.90, Z:70.02 [[ 3.58012768e-01 -9.33493943e-01 -2.03940233e-02 4.93377952e+02] [ 9.32255573e-01 3.58588689e-01 -4.81009263e-02 3.06898343e+02] [ 5.22149894e-02 -1.79169606e-03 9.98634260e-01 7.00172303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5192541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:493.39, Y:306.92, Z:70.01 [[ 3.55354310e-01 -9.34489588e-01 -2.12726431e-02 4.93387543e+02] [ 9.33141632e-01 3.55984810e-01 -5.02146321e-02 3.06924314e+02] [ 5.44977886e-02 -2.00640300e-03 9.98511875e-01 7.00145007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5492541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:493.40, Y:306.95, Z:70.02 [[ 3.52675116e-01 -9.35510944e-01 -2.09651373e-02 4.93396994e+02] [ 9.34201540e-01 3.53291356e-01 -4.95247575e-02 3.06950378e+02] [ 5.37377544e-02 -2.11951394e-03 9.98552834e-01 7.00178399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.5792541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:493.41, Y:306.98, Z:70.02 [[ 3.51985015e-01 -9.35768072e-01 -2.10870840e-02 4.93406803e+02] [ 9.34441660e-01 3.52609504e-01 -4.98529935e-02 3.06976837e+02] [ 5.40863458e-02 -2.15714317e-03 9.98533932e-01 7.00188748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.43, Y:307.00, Z:70.04 [[ 3.52197496e-01 -9.34991361e-01 -4.18100305e-02 4.93425797e+02] [ 9.34144412e-01 3.53931073e-01 -4.59022098e-02 3.06999353e+02] [ 5.77160385e-02 -2.28899630e-02 9.98070593e-01 7.00372577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6392541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:493.41, Y:307.03, Z:70.02 [[ 3.52915876e-01 -9.35652883e-01 -2.01678004e-03 4.93414231e+02] [ 9.34053193e-01 3.52436932e-01 -5.77307760e-02 3.07034958e+02] [ 5.47267547e-02 1.84903275e-02 9.98330151e-01 7.00164419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6692541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:493.43, Y:307.06, Z:70.02 [[ 3.53843096e-01 -9.35054535e-01 -2.16351386e-02 4.93431963e+02] [ 9.33650705e-01 3.54497906e-01 -5.12600765e-02 3.07056875e+02] [ 5.56005783e-02 -2.06163822e-03 9.98450963e-01 7.00227617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.44, Y:307.08, Z:70.03 [[ 3.58181913e-01 -9.33403313e-01 -2.15400127e-02 4.93439409e+02] [ 9.32006783e-01 3.58824577e-01 -5.10713176e-02 3.07083240e+02] [ 5.53992230e-02 -1.78261572e-03 9.98462693e-01 7.00270470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.45, Y:307.11, Z:70.03 [[ 3.60510661e-01 -9.32503289e-01 -2.16720820e-02 4.93448707e+02] [ 9.31085973e-01 3.61157753e-01 -5.14197319e-02 3.07109129e+02] [ 5.57761095e-02 -1.64121007e-03 9.98441952e-01 7.00285755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7592541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:493.46, Y:307.14, Z:70.03 [[ 3.64337938e-01 -9.30996369e-01 -2.24416386e-02 4.93456638e+02] [ 9.29471799e-01 3.65025567e-01 -5.32776704e-02 3.07136243e+02] [ 5.77930895e-02 -1.44779365e-03 9.98327533e-01 7.00273045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.7892541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:493.47, Y:307.16, Z:70.03 [[ 3.66022211e-01 -9.30336872e-01 -2.23840439e-02 4.93465330e+02] [ 9.28816490e-01 3.66703626e-01 -5.31825108e-02 3.07161647e+02] [ 5.76859609e-02 -1.32468892e-03 9.98333900e-01 7.00286272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8192541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:493.47, Y:307.19, Z:70.03 [[ 3.67483154e-01 -9.29773224e-01 -2.18605657e-02 4.93472812e+02] [ 9.28320062e-01 3.68130858e-01 -5.19762856e-02 3.07188445e+02] [ 5.63737074e-02 -1.19319237e-03 9.98409025e-01 7.00301740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8492541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:493.48, Y:307.21, Z:70.03 [[ 3.67809152e-01 -9.29660523e-01 -2.11598731e-02 4.93482235e+02] [ 9.28296759e-01 3.68415595e-01 -5.03495499e-02 3.07213353e+02] [ 5.46036161e-02 -1.12361632e-03 9.98507478e-01 7.00335082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.8792541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:493.49, Y:307.24, Z:70.03 [[ 3.67010379e-01 -9.29980956e-01 -2.09476387e-02 4.93492500e+02] [ 9.28642956e-01 3.67605915e-01 -4.98813797e-02 3.07239716e+02] [ 5.40892091e-02 -1.14589301e-03 9.98535450e-01 7.00349379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9092541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:493.50, Y:307.27, Z:70.04 [[ 3.66841090e-01 -9.30048058e-01 -2.09338378e-02 4.93503455e+02] [ 9.28709837e-01 3.67436129e-01 -4.98871712e-02 3.07266033e+02] [ 5.40893150e-02 -1.14079686e-03 9.98535450e-01 7.00362549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.51, Y:307.29, Z:70.04 [[ 3.65104595e-01 -9.30751685e-01 -1.99983873e-02 4.93513360e+02] [ 9.29530221e-01 3.65649981e-01 -4.76829031e-02 3.07292595e+02] [ 5.16933524e-02 -1.17985837e-03 9.98662308e-01 7.00400510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9692541539998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:493.52, Y:307.32, Z:70.04 [[ 3.63274662e-01 -9.31450159e-01 -2.07875317e-02 4.93523073e+02] [ 9.30129198e-01 3.63866561e-01 -4.96064558e-02 3.07317926e+02] [ 5.37698288e-02 -1.31432179e-03 9.98552491e-01 7.00387884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 880.9992541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:493.53, Y:307.34, Z:70.04 [[ 3.60999149e-01 -9.32332130e-01 -2.08905411e-02 4.93531813e+02] [ 9.30997445e-01 3.61600235e-01 -4.98901621e-02 3.07344937e+02] [ 5.40682256e-02 -1.43873437e-03 9.98536207e-01 7.00396233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0292541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:493.54, Y:307.37, Z:70.04 [[ 3.60332780e-01 -9.32585678e-01 -2.10770411e-02 4.93540551e+02] [ 9.31225235e-01 3.60945671e-01 -5.03764266e-02 3.07370507e+02] [ 5.45880007e-02 -1.47519470e-03 9.98507874e-01 7.00403889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.55, Y:307.40, Z:70.04 [[ 3.60429297e-01 -9.32568661e-01 -2.01597280e-02 4.93548768e+02] [ 9.31322309e-01 3.60989950e-01 -4.82183855e-02 3.07397000e+02] [ 5.22444144e-02 -1.39588571e-03 9.98633353e-01 7.00442130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.0892541539998 meters Centerline goodness : 0.999667 Centerline is valid? [True, True] Translation: X:493.56, Y:307.42, Z:70.04 [[ 3.60144556e-01 -9.32659381e-01 -2.10327894e-02 4.93558707e+02] [ 9.31300513e-01 3.60755266e-01 -5.03486998e-02 3.07422968e+02] [ 5.45458767e-02 -1.45503745e-03 9.98510205e-01 7.00427188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1192541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:493.57, Y:307.45, Z:70.04 [[ 3.61073210e-01 -9.32293483e-01 -2.13306929e-02 4.93568285e+02] [ 9.30892999e-01 3.61699995e-01 -5.11012516e-02 3.07448477e+02] [ 5.53566754e-02 -1.40529976e-03 9.98465655e-01 7.00439686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1492541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:493.58, Y:307.48, Z:70.05 [[ 3.63740862e-01 -9.31245686e-01 -2.17728480e-02 4.93576284e+02] [ 9.29782838e-01 3.64389743e-01 -5.21918480e-02 3.07475284e+02] [ 5.65372358e-02 -1.25971262e-03 9.98399697e-01 7.00450853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.1792541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:493.58, Y:307.50, Z:70.05 [[ 3.65597104e-01 -9.30509151e-01 -2.21693047e-02 4.93584305e+02] [ 9.28988682e-01 3.66266837e-01 -5.31848878e-02 3.07502396e+02] [ 5.76089059e-02 -1.15079216e-03 9.98338565e-01 7.00453785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.60, Y:307.53, Z:70.06 [[ 3.67043383e-01 -9.29443179e-01 -3.76102535e-02 4.93602505e+02] [ 9.28370983e-01 3.68557522e-01 -4.78818412e-02 3.07526638e+02] [ 5.83649926e-02 -1.73415550e-02 9.98144678e-01 7.00582273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2392541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:493.61, Y:307.56, Z:70.06 [[ 3.66054768e-01 -9.30209407e-01 -2.67276403e-02 4.93606262e+02] [ 9.28664960e-01 3.66993549e-01 -5.38249734e-02 3.07555334e+02] [ 5.98773681e-02 -5.11813488e-03 9.98192619e-01 7.00560770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.61, Y:307.58, Z:70.05 [[ 3.64921009e-01 -9.30895259e-01 -1.63301564e-02 4.93612707e+02] [ 9.29361661e-01 3.65259951e-01 -5.35917042e-02 3.07584356e+02] [ 5.58530154e-02 4.38011748e-03 9.98429394e-01 7.00544429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.2992541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:493.62, Y:307.61, Z:70.05 [[ 3.62636276e-01 -9.31904159e-01 -7.04053032e-03 4.93617580e+02] [ 9.30392787e-01 3.62461334e-01 -5.46904307e-02 3.07611658e+02] [ 5.35181599e-02 1.32822755e-02 9.98478536e-01 7.00474384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3292541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:493.63, Y:307.64, Z:70.05 [[ 3.60485527e-01 -9.32541769e-01 -2.03969044e-02 4.93633173e+02] [ 9.31247739e-01 3.61059825e-01 -4.91268883e-02 3.07635505e+02] [ 5.31773781e-02 -1.28503892e-03 9.98584255e-01 7.00517470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3592541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:493.64, Y:307.66, Z:70.05 [[ 3.59944625e-01 -9.32752756e-01 -2.03017935e-02 4.93642878e+02] [ 9.31469041e-01 3.60514377e-01 -4.89367873e-02 3.07661492e+02] [ 5.29650117e-02 -1.29595857e-03 9.98595528e-01 7.00522435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.3892541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:493.65, Y:307.69, Z:70.05 [[ 3.60835484e-01 -9.32413190e-01 -2.00847262e-02 4.93651388e+02] [ 9.31154293e-01 3.61391971e-01 -4.84512725e-02 3.07687711e+02] [ 5.24350643e-02 -1.21904062e-03 9.98623592e-01 7.00539658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:493.66, Y:307.71, Z:70.05 [[ 3.61932499e-01 -9.31990958e-01 -1.99429460e-02 4.93660535e+02] [ 9.30747660e-01 3.62479733e-01 -4.81376807e-02 3.07714131e+02] [ 5.20927968e-02 -1.13925925e-03 9.98641599e-01 7.00546410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.67, Y:307.74, Z:70.06 [[ 3.65374053e-01 -9.30664488e-01 -1.91157526e-02 4.93669266e+02] [ 9.29518620e-01 3.65872665e-01 -4.61771341e-02 3.07740766e+02] [ 4.99693502e-02 -8.96521274e-04 9.98750349e-01 7.00581344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.4792541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:493.68, Y:307.77, Z:70.06 [[ 3.66231043e-01 -9.30313083e-01 -1.98088763e-02 4.93679240e+02] [ 9.29080047e-01 3.66765347e-01 -4.78899391e-02 3.07765794e+02] [ 5.18178463e-02 -8.65249383e-04 9.98656178e-01 7.00570562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5092541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:493.69, Y:307.79, Z:70.06 [[ 3.68477627e-01 -9.29427692e-01 -1.97079570e-02 4.93688401e+02] [ 9.28204491e-01 3.69003574e-01 -4.76737441e-02 3.07792852e+02] [ 5.15816046e-02 -7.26306150e-04 9.98668519e-01 7.00582926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:493.70, Y:307.82, Z:70.06 [[ 3.69558114e-01 -9.29005021e-01 -1.94028493e-02 4.93697763e+02] [ 9.27816940e-01 3.70066557e-01 -4.69730732e-02 3.07818291e+02] [ 5.08185665e-02 -6.43011916e-04 9.98707695e-01 7.00609434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5692541539999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:493.71, Y:307.84, Z:70.06 [[ 3.69576804e-01 -9.29014135e-01 -1.85936291e-02 4.93706985e+02] [ 9.27648573e-01 3.70041709e-01 -5.03712134e-02 3.07844770e+02] [ 5.36759876e-02 1.36767855e-03 9.98557469e-01 7.00590840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.5992541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:493.72, Y:307.87, Z:70.06 [[ 3.69388804e-01 -9.29011301e-01 -2.21340067e-02 4.93718441e+02] [ 9.27755569e-01 3.70041711e-01 -4.83604820e-02 3.07868850e+02] [ 5.31179400e-02 -2.67112737e-03 9.98584673e-01 7.00612361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6292541539999 meters Centerline goodness : 0.999644 Centerline is valid? [True, True] Translation: X:493.73, Y:307.89, Z:70.06 [[ 3.68112026e-01 -9.29556000e-01 -2.04738968e-02 4.93727973e+02] [ 9.28228952e-01 3.68680239e-01 -4.96577751e-02 3.07894827e+02] [ 5.37080039e-02 -7.24839585e-04 9.98556421e-01 7.00605036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6592541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:493.74, Y:307.92, Z:70.06 [[ 3.65581882e-01 -9.30555587e-01 -2.04006657e-02 4.93738953e+02] [ 9.29237434e-01 3.66149657e-01 -4.95198951e-02 3.07919981e+02] [ 5.35507118e-02 -8.53485833e-04 9.98564767e-01 7.00621006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.6892541539999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:493.75, Y:307.95, Z:70.06 [[ 3.63556013e-01 -9.31342696e-01 -2.06835130e-02 4.93749598e+02] [ 9.29986917e-01 3.64142615e-01 -5.02442981e-02 3.07945452e+02] [ 5.43264086e-02 -9.68779795e-04 9.98522760e-01 7.00618331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7192541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:493.76, Y:307.97, Z:70.06 [[ 3.62111489e-01 -9.31916332e-01 -2.01796832e-02 4.93760551e+02] [ 9.30624691e-01 3.62671918e-01 -4.90587849e-02 3.07971562e+02] [ 5.30372873e-02 -1.01496177e-03 9.98592017e-01 7.00641118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.77, Y:308.00, Z:70.07 [[ 3.60175433e-01 -9.32692632e-01 -1.89238473e-02 4.93771108e+02] [ 9.31556154e-01 3.60670710e-01 -4.60409766e-02 3.07996484e+02] [ 4.97673571e-02 -1.04579774e-03 9.98760290e-01 7.00670050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.7792541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:493.78, Y:308.02, Z:70.07 [[ 3.57364079e-01 -9.33777731e-01 -1.87099831e-02 4.93782132e+02] [ 9.32666966e-01 3.57851606e-01 -4.55473280e-02 3.08022639e+02] [ 4.92264781e-02 -1.17320426e-03 9.98786953e-01 7.00669434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.79, Y:308.05, Z:70.07 [[ 3.56606284e-01 -9.34078587e-01 -1.81425502e-02 4.93792759e+02] [ 9.33032899e-01 3.57065592e-01 -4.42015100e-02 3.08048779e+02] [ 4.77657644e-02 -1.16505999e-03 9.98857885e-01 7.00700613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8392541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:493.80, Y:308.07, Z:70.07 [[ 3.54887522e-01 -9.34726510e-01 -1.84715521e-02 4.93802965e+02] [ 9.33641577e-01 3.55365671e-01 -4.50404912e-02 3.08074064e+02] [ 4.86646966e-02 -1.26150080e-03 9.98814375e-01 7.00693789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8692541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:493.81, Y:308.10, Z:70.07 [[ 3.52284219e-01 -9.35719346e-01 -1.80314887e-02 4.93812963e+02] [ 9.34685812e-01 3.52742771e-01 -4.39882947e-02 3.08100756e+02] [ 4.75211757e-02 -1.35739460e-03 9.98869308e-01 7.00709288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.8992541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:493.82, Y:308.13, Z:70.07 [[ 3.50802138e-01 -9.36275962e-01 -1.80328474e-02 4.93822826e+02] [ 9.35241292e-01 3.51262447e-01 -4.40274896e-02 3.08126692e+02] [ 4.75561423e-02 -1.42012596e-03 9.98867557e-01 7.00719914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.83, Y:308.15, Z:70.07 [[ 3.48978255e-01 -9.36959210e-01 -1.79336480e-02 4.93831932e+02] [ 9.35935086e-01 3.49435562e-01 -4.38212710e-02 3.08152761e+02] [ 4.73253979e-02 -1.49205971e-03 9.98878411e-01 7.00740156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9592541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:493.84, Y:308.18, Z:70.08 [[ 3.48141410e-01 -9.37266133e-01 -1.81591486e-02 4.93841857e+02] [ 9.36214702e-01 3.48611279e-01 -4.44095533e-02 3.08179221e+02] [ 4.79540543e-02 -1.54005741e-03 9.98848355e-01 7.00750361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 881.9892541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:493.85, Y:308.20, Z:70.07 [[ 3.47465973e-01 -9.37509740e-01 -1.85171430e-02 4.93851556e+02] [ 9.36414941e-01 3.47955390e-01 -4.53222290e-02 3.08204933e+02] [ 4.89331709e-02 -1.59179700e-03 9.98800786e-01 7.00742812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0192541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:493.86, Y:308.23, Z:70.08 [[ 3.48014314e-01 -9.37299083e-01 -1.88803273e-02 4.93860296e+02] [ 9.36159208e-01 3.48522485e-01 -4.62386741e-02 3.08231700e+02] [ 4.99196854e-02 -1.58327183e-03 9.98751980e-01 7.00756555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0492541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:493.87, Y:308.26, Z:70.08 [[ 3.49872683e-01 -9.36600494e-01 -1.91995022e-02 4.93868071e+02] [ 9.35418733e-01 3.50395890e-01 -4.70586311e-02 3.08257691e+02] [ 5.08025638e-02 -1.49504455e-03 9.98707597e-01 7.00757904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.0792541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:493.88, Y:308.28, Z:70.08 [[ 3.50865200e-01 -9.36226549e-01 -1.93251218e-02 4.93877495e+02] [ 9.35026900e-01 3.51394054e-01 -4.74016344e-02 3.08284479e+02] [ 5.11694015e-02 -1.43792475e-03 9.98688953e-01 7.00777297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.89, Y:308.31, Z:70.08 [[ 3.52405622e-01 -9.35652089e-01 -1.91166337e-02 4.93886682e+02] [ 9.34475491e-01 3.52921249e-01 -4.69270598e-02 3.08310013e+02] [ 5.06540678e-02 -1.32666602e-03 9.98715378e-01 7.00808311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.90, Y:308.34, Z:70.08 [[ 3.53934721e-01 -9.35077158e-01 -1.89979603e-02 4.93895344e+02] [ 9.33912596e-01 3.54442110e-01 -4.66696124e-02 3.08336828e+02] [ 5.03733657e-02 -1.22443823e-03 9.98729706e-01 7.00819744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1692541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:493.90, Y:308.36, Z:70.08 [[ 3.53943779e-01 -9.35070368e-01 -1.91626984e-02 4.93904665e+02] [ 9.33883551e-01 3.54460037e-01 -4.71125736e-02 3.08363015e+02] [ 5.08459823e-02 -1.22052647e-03 9.98705761e-01 7.00823758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.1992541539998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:493.91, Y:308.39, Z:70.08 [[ 3.54736508e-01 -9.34765814e-01 -1.93619035e-02 4.93913421e+02] [ 9.33551728e-01 3.55262568e-01 -4.76411560e-02 3.08389811e+02] [ 5.14118835e-02 -1.17528113e-03 9.98676843e-01 7.00819057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2292541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:493.92, Y:308.42, Z:70.08 [[ 3.55746450e-01 -9.34392396e-01 -1.88497572e-02 4.93922712e+02] [ 9.33239385e-01 3.56243858e-01 -4.64172769e-02 3.08415226e+02] [ 5.00870608e-02 -1.07855430e-03 9.98744273e-01 7.00849048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2592541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:493.93, Y:308.44, Z:70.08 [[ 3.55905305e-01 -9.34330055e-01 -1.89410410e-02 4.93932073e+02] [ 9.33164014e-01 3.56407379e-01 -4.66765713e-02 3.08441276e+02] [ 5.03620502e-02 -1.06265849e-03 9.98730462e-01 7.00847279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.2892541539999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:493.94, Y:308.47, Z:70.09 [[ 3.57167709e-01 -9.33856432e-01 -1.85308459e-02 4.93940169e+02] [ 9.32738009e-01 3.57646809e-01 -4.57008399e-02 3.08466914e+02] [ 4.93055212e-02 -9.61559997e-04 9.98783280e-01 7.00856389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3192541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:493.95, Y:308.49, Z:70.09 [[ 3.57690135e-01 -9.33665769e-01 -1.80554467e-02 4.93949885e+02] [ 9.32602602e-01 3.58144409e-01 -4.45529828e-02 3.08493313e+02] [ 4.80640523e-02 -9.02394112e-04 9.98843848e-01 7.00874724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3492541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:493.96, Y:308.52, Z:70.09 [[ 3.58839821e-01 -9.33230946e-01 -1.77195872e-02 4.93959311e+02] [ 9.32204829e-01 3.59276127e-01 -4.37586838e-02 3.08520148e+02] [ 4.72031826e-02 -8.15926460e-04 9.98884975e-01 7.00907199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.3792541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:493.97, Y:308.55, Z:70.09 [[ 3.57650128e-01 -9.33682115e-01 -1.80026140e-02 4.93968852e+02] [ 9.32621726e-01 3.58101858e-01 -4.44946752e-02 3.08546090e+02] [ 4.79906520e-02 -8.76102623e-04 9.98847401e-01 7.00895417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:493.98, Y:308.57, Z:70.09 [[ 3.57431280e-01 -9.33766229e-01 -1.79863567e-02 4.93979199e+02] [ 9.32706061e-01 3.57882476e-01 -4.44919820e-02 3.08572016e+02] [ 4.79821121e-02 -8.73157807e-04 9.98847814e-01 7.00930425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4392541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:493.99, Y:308.60, Z:70.09 [[ 3.55010503e-01 -9.34682893e-01 -1.83147826e-02 4.93989578e+02] [ 9.33582920e-01 3.55481205e-01 -4.53436252e-02 3.08597685e+02] [ 4.88924717e-02 -1.00090504e-03 9.98803546e-01 7.00913102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.00, Y:308.62, Z:70.10 [[ 3.54578423e-01 -9.34850503e-01 -1.81294865e-02 4.93999494e+02] [ 9.33771108e-01 3.55040189e-01 -4.49219660e-02 3.08622563e+02] [ 4.84320188e-02 -1.00043081e-03 9.98825980e-01 7.00956386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.01, Y:308.65, Z:70.10 [[ 3.53389699e-01 -9.35302833e-01 -1.80091998e-02 4.94010151e+02] [ 9.34237234e-01 3.53846738e-01 -4.46461276e-02 3.08648523e+02] [ 4.81301463e-02 -1.04738337e-03 9.98840524e-01 7.00972172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5292541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:494.02, Y:308.67, Z:70.10 [[ 3.51548152e-01 -9.35996852e-01 -1.79941644e-02 4.94020178e+02] [ 9.34932140e-01 3.52006564e-01 -4.46460906e-02 3.08673365e+02] [ 4.81226642e-02 -1.12807199e-03 9.98840796e-01 7.00967107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5592541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:494.03, Y:308.70, Z:70.10 [[ 3.50487929e-01 -9.36388818e-01 -1.82809679e-02 4.94030964e+02] [ 9.35288685e-01 3.50962348e-01 -4.53927904e-02 3.08699001e+02] [ 4.89212327e-02 -1.18835737e-03 9.98801933e-01 7.00983446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.5892541539998 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:494.04, Y:308.72, Z:70.10 [[ 3.50087662e-01 -9.36527089e-01 -1.88584167e-02 4.94040797e+02] [ 9.35354544e-01 3.50593058e-01 -4.68656077e-02 3.08724080e+02] [ 5.05025412e-02 -1.23223477e-03 9.98723172e-01 7.00964644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6192541539999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:494.05, Y:308.75, Z:70.10 [[ 3.52105406e-01 -9.35763147e-01 -1.92123660e-02 4.94050984e+02] [ 9.34543801e-01 3.52627343e-01 -4.77686284e-02 3.08748733e+02] [ 5.14749276e-02 -1.13520529e-03 9.98673642e-01 7.00985831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6492541539999 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:494.06, Y:308.78, Z:70.10 [[ 3.53514148e-01 -9.35228336e-01 -1.93831615e-02 4.94061573e+02] [ 9.33984896e-01 3.54043562e-01 -4.82220830e-02 3.08775116e+02] [ 5.19611420e-02 -1.05639145e-03 9.98648549e-01 7.00996112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.07, Y:308.80, Z:70.10 [[ 3.58006075e-01 -9.33526421e-01 -1.89755671e-02 4.94071216e+02] [ 9.32330424e-01 3.58507766e-01 -4.72457660e-02 3.08800439e+02] [ 5.09080590e-02 -7.77227315e-04 9.98703042e-01 7.01045716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7092541539998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:494.08, Y:308.83, Z:70.10 [[ 3.59170141e-01 -9.33074770e-01 -1.91907060e-02 4.94081467e+02] [ 9.31849322e-01 3.59681760e-01 -4.78107978e-02 3.08826352e+02] [ 5.15135961e-02 -7.10635380e-04 9.98672041e-01 7.01028755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7392541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:494.09, Y:308.85, Z:70.11 [[ 3.63580315e-01 -9.31370654e-01 -1.89224601e-02 4.94092141e+02] [ 9.30174912e-01 3.64072115e-01 -4.71818571e-02 3.08851872e+02] [ 5.08329372e-02 -4.46803228e-04 9.98707071e-01 7.01062788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7692541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:494.10, Y:308.88, Z:70.11 [[ 3.65527042e-01 -9.30606898e-01 -1.89943106e-02 4.94102401e+02] [ 9.29398990e-01 3.66020075e-01 -4.74006685e-02 3.08877232e+02] [ 5.10636881e-02 -3.27066973e-04 9.98695345e-01 7.01071957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.7992541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:494.11, Y:308.90, Z:70.11 [[ 3.65292409e-01 -9.30699275e-01 -1.89819525e-02 4.94112904e+02] [ 9.29491235e-01 3.65785117e-01 -4.74056172e-02 3.08903734e+02] [ 5.10636893e-02 -3.26646392e-04 9.98695345e-01 7.01084771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8292541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:494.12, Y:308.93, Z:70.11 [[ 3.67001874e-01 -9.30026548e-01 -1.89801207e-02 4.94123308e+02] [ 9.28816030e-01 3.67492275e-01 -4.74363932e-02 3.08930130e+02] [ 5.10921528e-02 -2.19795110e-04 9.98693919e-01 7.01090328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.13, Y:308.96, Z:70.11 [[ 3.71650748e-01 -9.28188545e-01 -1.84864066e-02 4.94134594e+02] [ 9.27036016e-01 3.72110230e-01 -4.62406984e-02 3.08955730e+02] [ 4.97990675e-02 4.78253917e-05 9.98759256e-01 7.01131657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.8892541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:494.15, Y:308.98, Z:70.11 [[ 3.72593207e-01 -9.27807210e-01 -1.86569704e-02 4.94145093e+02] [ 9.26630869e-01 3.73060005e-01 -4.67061602e-02 3.08980773e+02] [ 5.02944817e-02 1.14273326e-04 9.98734425e-01 7.01111376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9192541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:494.16, Y:309.01, Z:70.11 [[ 3.74689772e-01 -9.26970906e-01 -1.82349738e-02 4.94156048e+02] [ 9.25845105e-01 3.75133158e-01 -4.56722536e-02 3.09005251e+02] [ 4.91773936e-02 2.30165032e-04 9.98790034e-01 7.01123303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9492541539998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:494.17, Y:309.03, Z:70.11 [[ 3.74926140e-01 -9.26869810e-01 -1.85133621e-02 4.94167040e+02] [ 9.25707510e-01 3.75382855e-01 -4.64038674e-02 3.09030367e+02] [ 4.99599425e-02 2.60064549e-04 9.98751189e-01 7.01128322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 882.9792541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:494.18, Y:309.06, Z:70.11 [[ 3.74382479e-01 -9.27084736e-01 -1.87523820e-02 4.94180802e+02] [ 9.25891057e-01 3.74851747e-01 -4.70310470e-02 3.09055296e+02] [ 5.06311289e-02 2.44937159e-04 9.98717392e-01 7.01147964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0092541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:494.19, Y:309.08, Z:70.12 [[ 3.73162250e-01 -9.27575492e-01 -1.88053741e-02 4.94192668e+02] [ 9.26373701e-01 3.73635745e-01 -4.72027237e-02 3.09079603e+02] [ 5.08104496e-02 1.93470603e-04 9.98708296e-01 7.01159359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0392541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:494.21, Y:309.10, Z:70.12 [[ 3.68940416e-01 -9.29261825e-01 -1.88528448e-02 4.94207013e+02] [ 9.28054945e-01 3.69421791e-01 -4.73451150e-02 3.09103092e+02] [ 5.09606596e-02 -2.89494237e-05 9.98700661e-01 7.01168440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.22, Y:309.13, Z:70.12 [[ 3.66441794e-01 -9.30257635e-01 -1.84700835e-02 4.94220028e+02] [ 9.29099169e-01 3.66906948e-01 -4.64114739e-02 3.09127824e+02] [ 4.99514299e-02 -1.53435541e-04 9.98751636e-01 7.01208031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.0992541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:494.23, Y:309.15, Z:70.12 [[ 3.62400011e-01 -9.31837753e-01 -1.85643397e-02 4.94233010e+02] [ 9.30667498e-01 3.62875012e-01 -4.66876292e-02 3.09153295e+02] [ 5.02418305e-02 -3.57630243e-04 9.98737018e-01 7.01203305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.25, Y:309.18, Z:70.12 [[ 3.55420856e-01 -9.34527555e-01 -1.82829110e-02 4.94247607e+02] [ 9.33394108e-01 3.55890077e-01 -4.60183911e-02 3.09176568e+02] [ 4.95121611e-02 -7.09265421e-04 9.98773269e-01 7.01233824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1592541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:494.26, Y:309.20, Z:70.12 [[ 3.50741614e-01 -9.36288622e-01 -1.85455493e-02 4.94259643e+02] [ 9.35122929e-01 3.51230268e-01 -4.67162373e-02 3.09202157e+02] [ 5.02536397e-02 -9.57039888e-04 9.98736029e-01 7.01220111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.1892541539999 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:494.27, Y:309.23, Z:70.12 [[ 3.43702976e-01 -9.38888703e-01 -1.88750810e-02 4.94273899e+02] [ 9.37682949e-01 3.44218245e-01 -4.75866375e-02 3.09225932e+02] [ 5.11757036e-02 -1.34317266e-03 9.98688762e-01 7.01224762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2192541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:494.29, Y:309.25, Z:70.13 [[ 3.40992025e-01 -9.39883314e-01 -1.85416977e-02 4.94286050e+02] [ 9.38719472e-01 3.41492669e-01 -4.67815070e-02 3.09251402e+02] [ 5.03010117e-02 -1.45333189e-03 9.98733045e-01 7.01259383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.30, Y:309.28, Z:70.13 [[ 3.38042781e-01 -9.40951378e-01 -1.83734225e-02 4.94299133e+02] [ 9.39808166e-01 3.38538029e-01 -4.63962760e-02 3.09275886e+02] [ 4.98767421e-02 -1.58356635e-03 9.98754125e-01 7.01285912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.31, Y:309.30, Z:70.13 [[ 3.37732849e-01 -9.41059864e-01 -1.85163699e-02 4.94310172e+02] [ 9.39896939e-01 3.38236275e-01 -4.67970779e-02 3.09300947e+02] [ 5.03017597e-02 -1.59856895e-03 9.98732786e-01 7.01299894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3092541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:494.32, Y:309.33, Z:70.13 [[ 3.37709228e-01 -9.41055567e-01 -1.91545822e-02 4.94321052e+02] [ 9.39809016e-01 3.38248032e-01 -4.84487599e-02 3.09327091e+02] [ 5.20719749e-02 -1.64005574e-03 9.98641988e-01 7.01278398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3392541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:494.33, Y:309.35, Z:70.13 [[ 3.41367199e-01 -9.39744957e-01 -1.86507664e-02 4.94331408e+02] [ 9.38559260e-01 3.41873498e-01 -4.72125751e-02 3.09351985e+02] [ 5.07439821e-02 -1.38802505e-03 9.98710730e-01 7.01301400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3692541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:494.34, Y:309.38, Z:70.13 [[ 3.43939749e-01 -9.38810918e-01 -1.84257558e-02 4.94341876e+02] [ 9.37650576e-01 3.44430784e-01 -4.66779547e-02 3.09378414e+02] [ 5.01681710e-02 -1.22251649e-03 9.98740036e-01 7.01329003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.3992541539999 meters Centerline goodness : 0.999876 Centerline is valid? [True, True] Translation: X:494.35, Y:309.40, Z:70.13 [[ 3.49537148e-01 -9.36740033e-01 -1.84903602e-02 4.94351880e+02] [ 9.35566687e-01 3.50024682e-01 -4.68795983e-02 3.09403985e+02] [ 5.03860789e-02 -9.12803903e-04 9.98729398e-01 7.01322408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4292541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:494.36, Y:309.43, Z:70.13 [[ 3.52530375e-01 -9.35613266e-01 -1.87123234e-02 4.94361960e+02] [ 9.34407888e-01 3.53025863e-01 -4.74830395e-02 3.09429924e+02] [ 5.10316958e-02 -7.45728830e-04 9.98696756e-01 7.01330898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4592541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:494.37, Y:309.46, Z:70.13 [[ 3.59158127e-01 -9.33093831e-01 -1.84754711e-02 4.94371729e+02] [ 9.31913410e-01 3.59632826e-01 -4.69215008e-02 3.09456009e+02] [ 5.04265488e-02 -3.65300917e-04 9.98727706e-01 7.01342159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.4892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:494.38, Y:309.48, Z:70.14 [[ 3.62745477e-01 -9.31711408e-01 -1.81540930e-02 4.94382033e+02] [ 9.30568068e-01 3.63199433e-01 -4.61437117e-02 3.09482129e+02] [ 4.95861789e-02 -1.55196538e-04 9.98769837e-01 7.01365126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5192541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:494.39, Y:309.51, Z:70.14 [[ 3.65618641e-01 -9.30579356e-01 -1.85760859e-02 4.94392510e+02] [ 9.29378667e-01 3.66090237e-01 -4.72570835e-02 3.09508679e+02] [ 5.07769901e-02 1.38526791e-05 9.98710017e-01 7.01360576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5492541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:494.40, Y:309.53, Z:70.14 [[ 3.71568628e-01 -9.28219805e-01 -1.85674126e-02 4.94403207e+02] [ 9.27015280e-01 3.72032081e-01 -4.72736854e-02 3.09533294e+02] [ 5.07880442e-02 3.53143257e-04 9.98709392e-01 7.01373500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.5792541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:494.41, Y:309.56, Z:70.14 [[ 3.74207814e-01 -9.27164617e-01 -1.82834515e-02 4.94413843e+02] [ 9.25994022e-01 3.74653871e-01 -4.65784144e-02 3.09558820e+02] [ 5.00358236e-02 4.99639861e-04 9.98747299e-01 7.01390990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6092541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:494.42, Y:309.58, Z:70.14 [[ 3.78978014e-01 -9.25231142e-01 -1.79721558e-02 4.94424605e+02] [ 9.24096041e-01 3.79403162e-01 -4.58230184e-02 3.09584072e+02] [ 4.92155764e-02 7.57918463e-04 9.98787892e-01 7.01427314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6392541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:494.44, Y:309.61, Z:70.14 [[ 3.82547770e-01 -9.23761237e-01 -1.79549681e-02 4.94437182e+02] [ 9.22624697e-01 3.82967689e-01 -4.58194005e-02 3.09608757e+02] [ 4.92023587e-02 9.62412482e-04 9.98788367e-01 7.01417544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6692541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:494.45, Y:309.63, Z:70.14 [[ 3.87397931e-01 -9.21738851e-01 -1.78978883e-02 4.94450062e+02] [ 9.20605571e-01 3.87809200e-01 -4.57100358e-02 3.09632911e+02] [ 4.90736816e-02 1.23107760e-03 9.98794402e-01 7.01425424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.6992541539998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:494.46, Y:309.66, Z:70.14 [[ 3.89312742e-01 -9.20929364e-01 -1.80192989e-02 4.94462133e+02] [ 9.19778024e-01 3.89727170e-01 -4.60556252e-02 3.09658711e+02] [ 4.94365880e-02 1.35628656e-03 9.98776344e-01 7.01427082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7292541539998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:494.48, Y:309.68, Z:70.14 [[ 3.92825285e-01 -9.19440241e-01 -1.78308091e-02 4.94476625e+02] [ 9.18309521e-01 3.93226731e-01 -4.56109777e-02 3.09681773e+02] [ 4.89481192e-02 1.54294354e-03 9.98800131e-01 7.01437677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.49, Y:309.71, Z:70.15 [[ 3.94561595e-01 -9.18700890e-01 -1.76017738e-02 4.94489415e+02] [ 9.17596694e-01 3.94950665e-01 -4.50586310e-02 3.09706635e+02] [ 4.83472367e-02 1.62707591e-03 9.98829263e-01 7.01477801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.50, Y:309.73, Z:70.15 [[ 3.95319278e-01 -9.18369386e-01 -1.78980392e-02 4.94502119e+02] [ 9.17225395e-01 3.95720536e-01 -4.58566418e-02 3.09731114e+02] [ 4.91959576e-02 1.71147846e-03 9.98787679e-01 7.01486522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8192541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:494.52, Y:309.75, Z:70.15 [[ 3.95387513e-01 -9.18328508e-01 -1.84788121e-02 4.94518648e+02] [ 9.17107041e-01 3.95815054e-01 -4.73826768e-02 3.09754200e+02] [ 5.08270549e-02 1.78747003e-03 9.98705870e-01 7.01467267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8492541539998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:494.53, Y:309.78, Z:70.15 [[ 3.94814394e-01 -9.18563102e-01 -1.90636378e-02 4.94532666e+02] [ 9.17261061e-01 3.95270134e-01 -4.89251167e-02 3.09779038e+02] [ 5.24760936e-02 1.83000772e-03 9.98620504e-01 7.01473687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.55, Y:309.80, Z:70.15 [[ 3.94774020e-01 -9.18584224e-01 -1.88811346e-02 4.94546705e+02] [ 9.17305014e-01 3.95221069e-01 -4.84955492e-02 3.09803434e+02] [ 5.20094686e-02 1.82502349e-03 9.98644924e-01 7.01517565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9092541539999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:494.56, Y:309.83, Z:70.15 [[ 3.92517745e-01 -9.19530484e-01 -1.98370780e-02 4.94564888e+02] [ 9.18117161e-01 3.93014551e-01 -5.09945263e-02 3.09826829e+02] [ 5.46872818e-02 1.80349474e-03 9.98501902e-01 7.01497058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9392541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:494.58, Y:309.85, Z:70.15 [[ 3.90738965e-01 -9.20289411e-01 -1.97600976e-02 4.94583276e+02] [ 9.18885699e-01 3.91234565e-01 -5.08388357e-02 3.09848879e+02] [ 5.45172754e-02 1.70744296e-03 9.98511368e-01 7.01522141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9692541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:494.60, Y:309.87, Z:70.16 [[ 3.89680417e-01 -9.20742803e-01 -1.95413276e-02 4.94597565e+02] [ 9.19368978e-01 3.90166643e-01 -5.03057916e-02 3.09872741e+02] [ 5.39430697e-02 1.63749149e-03 9.98542670e-01 7.01550399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 883.9992541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:494.61, Y:309.90, Z:70.15 [[ 3.87561592e-01 -9.21634675e-01 -1.96351162e-02 4.94612515e+02] [ 9.20246986e-01 3.88055632e-01 -5.05797569e-02 3.09897648e+02] [ 5.42355753e-02 1.53361457e-03 9.98526990e-01 7.01537009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.63, Y:309.92, Z:70.16 [[ 3.84080994e-01 -9.23104253e-01 -1.89823356e-02 4.94632268e+02] [ 9.21806995e-01 3.84547595e-01 -4.89388491e-02 3.09918997e+02] [ 5.24752712e-02 1.29843205e-03 9.98621380e-01 7.01586966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.65, Y:309.94, Z:70.16 [[ 3.81388426e-01 -9.24222440e-01 -1.88613068e-02 4.94647131e+02] [ 9.22941036e-01 3.81852789e-01 -4.86650884e-02 3.09943388e+02] [ 5.21796094e-02 1.15242747e-03 9.98637051e-01 7.01601614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.66, Y:309.97, Z:70.16 [[ 3.73659023e-01 -9.27479499e-01 -1.26772733e-02 4.94660466e+02] [ 9.26220286e-01 3.73817990e-01 -4.87451738e-02 3.09966565e+02] [ 4.99491422e-02 6.47212629e-03 9.98730792e-01 7.01557949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.68, Y:309.99, Z:70.16 [[ 3.70622381e-01 -9.28606716e-01 -1.81278444e-02 4.94677766e+02] [ 9.27404073e-01 3.71064789e-01 -4.72504765e-02 3.09989358e+02] [ 5.06037146e-02 7.00247361e-04 9.98718566e-01 7.01590741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.69, Y:310.01, Z:70.16 [[ 3.67132893e-01 -9.30025288e-01 -1.63218302e-02 4.94691584e+02] [ 9.28825915e-01 3.67488982e-01 -4.72680376e-02 3.10013713e+02] [ 4.99585631e-02 2.19351250e-03 9.98748883e-01 7.01591071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.71, Y:310.04, Z:70.16 [[ 3.60964509e-01 -9.32525415e-01 -1.00485662e-02 4.94707769e+02] [ 9.31309289e-01 3.61014112e-01 -4.82889074e-02 3.10037404e+02] [ 4.86583076e-02 8.07225874e-03 9.98782863e-01 7.01567820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.72, Y:310.06, Z:70.16 [[ 3.57900635e-01 -9.33620776e-01 -1.61053794e-02 4.94724793e+02] [ 9.32507108e-01 3.58260445e-01 -4.56064424e-02 3.10060517e+02] [ 4.83490425e-02 1.30419390e-03 9.98829650e-01 7.01603997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.75, Y:310.08, Z:70.17 [[ 3.52476402e-01 -9.35501458e-01 -2.44419190e-02 4.94747220e+02] [ 9.34503124e-01 3.53245532e-01 -4.38349845e-02 3.10082261e+02] [ 4.96416906e-02 -7.39025202e-03 9.98739749e-01 7.01669041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.76, Y:310.11, Z:70.17 [[ 3.49057289e-01 -9.36917833e-01 -1.85468130e-02 4.94757937e+02] [ 9.35768858e-01 3.49547753e-01 -4.64005700e-02 3.10108100e+02] [ 4.99565183e-02 -1.15907284e-03 9.98750721e-01 7.01664179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.2992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:494.78, Y:310.13, Z:70.17 [[ 3.45464538e-01 -9.38095828e-01 -2.51091687e-02 4.94780939e+02] [ 9.36980374e-01 3.46294288e-01 -4.63470093e-02 3.10130590e+02] [ 5.21730978e-02 -7.51555018e-03 9.98609776e-01 7.01737025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:494.79, Y:310.16, Z:70.17 [[ 3.42530702e-01 -9.39315753e-01 -1.89376403e-02 4.94791272e+02] [ 9.38035691e-01 3.43052439e-01 -4.90312743e-02 3.10156384e+02] [ 5.25524520e-02 -9.69465703e-04 9.98617695e-01 7.01713830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.80, Y:310.18, Z:70.16 [[ 3.37610813e-01 -9.41242025e-01 -9.07687934e-03 4.94796485e+02] [ 9.39996221e-01 3.37637202e-01 -4.90736701e-02 3.10182038e+02] [ 4.92548928e-02 8.03556937e-03 9.98753916e-01 7.01649196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.3892541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:494.82, Y:310.20, Z:70.18 [[ 3.36617363e-01 -9.41247924e-01 -2.72230852e-02 4.94824367e+02] [ 9.40155901e-01 3.37569133e-01 -4.64107954e-02 3.10203644e+02] [ 5.28737381e-02 -9.97126468e-03 9.98551422e-01 7.01761925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.83, Y:310.23, Z:70.18 [[ 3.35833328e-01 -9.41728556e-01 -1.90605026e-02 4.94832560e+02] [ 9.40430538e-01 3.36371201e-01 -4.94450997e-02 3.10229095e+02] [ 5.29752665e-02 -1.31976633e-03 9.98594953e-01 7.01764193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.85, Y:310.25, Z:70.18 [[ 3.35379858e-01 -9.41887260e-01 -1.92026006e-02 4.94846501e+02] [ 9.40567691e-01 3.35926470e-01 -4.98580597e-02 3.10254007e+02] [ 5.34113331e-02 -1.33995670e-03 9.98571697e-01 7.01773199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.86, Y:310.28, Z:70.18 [[ 3.36921493e-01 -9.41340214e-01 -1.90396805e-02 4.94856708e+02] [ 9.40039891e-01 3.37456801e-01 -4.94763716e-02 3.10280629e+02] [ 5.29991679e-02 -1.22840616e-03 9.98593801e-01 7.01788775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.86, Y:310.31, Z:70.17 [[ 3.36894777e-01 -9.41485463e-01 -1.03456297e-02 4.94859887e+02] [ 9.40221013e-01 3.36983609e-01 -4.92594656e-02 3.10307347e+02] [ 4.98633784e-02 6.86807821e-03 9.98732433e-01 7.01719968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:494.88, Y:310.33, Z:70.18 [[ 3.44291768e-01 -9.38501494e-01 -2.60408234e-02 4.94880417e+02] [ 9.37393173e-01 3.45171886e-01 -4.63724920e-02 3.10331321e+02] [ 5.25092131e-02 -8.44482282e-03 9.98584732e-01 7.01827216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5692541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:494.89, Y:310.36, Z:70.18 [[ 3.48878553e-01 -9.36968600e-01 -1.93286809e-02 4.94886915e+02] [ 9.35615952e-01 3.49413175e-01 -5.03311312e-02 3.10358838e+02] [ 5.39123853e-02 -5.24770038e-04 9.98545532e-01 7.01797700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.90, Y:310.38, Z:70.18 [[ 3.50742184e-01 -9.36275942e-01 -1.91645759e-02 4.94896723e+02] [ 9.34942906e-01 3.51265144e-01 -4.99455882e-02 3.10384602e+02] [ 5.34947001e-02 -3.99759552e-04 9.98568053e-01 7.01830712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.91, Y:310.41, Z:70.18 [[ 3.51981896e-01 -9.35808899e-01 -1.92470547e-02 4.94906302e+02] [ 9.34461358e-01 3.52507596e-01 -5.02032354e-02 3.10410666e+02] [ 5.37653674e-02 -3.14998900e-04 9.98553547e-01 7.01844987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:494.91, Y:310.44, Z:70.18 [[ 3.54138230e-01 -9.34992877e-01 -1.93502907e-02 4.94913332e+02] [ 9.33627252e-01 3.54666447e-01 -5.05159971e-02 3.10436645e+02] [ 5.40949963e-02 -1.76312911e-04 9.98535778e-01 7.01837645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.92, Y:310.46, Z:70.19 [[ 3.55270484e-01 -9.34566025e-01 -1.92153265e-02 4.94921990e+02] [ 9.33216383e-01 3.55789736e-01 -5.02080309e-02 3.10463176e+02] [ 5.37593358e-02 -9.46260342e-05 9.98553917e-01 7.01860388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.93, Y:310.49, Z:70.19 [[ 3.55024120e-01 -9.34659930e-01 -1.92012669e-02 4.94932110e+02] [ 9.33310135e-01 3.55542973e-01 -5.02134075e-02 3.10489881e+02] [ 5.37593355e-02 -9.37661613e-05 9.98553917e-01 7.01873507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.94, Y:310.52, Z:70.19 [[ 3.56898977e-01 -9.33950739e-01 -1.89509013e-02 4.94940277e+02] [ 9.32632850e-01 3.57401757e-01 -4.95979058e-02 3.10517348e+02] [ 5.30950862e-02 2.72087713e-05 9.98589461e-01 7.01881187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.95, Y:310.54, Z:70.19 [[ 3.57446572e-01 -9.33739240e-01 -1.90520279e-02 4.94949886e+02] [ 9.32404644e-01 3.57953944e-01 -4.99054530e-02 3.10543755e+02] [ 5.34184283e-02 7.43338067e-05 9.98572214e-01 7.01896144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:494.96, Y:310.57, Z:70.19 [[ 3.57114324e-01 -9.33861866e-01 -1.92710932e-02 4.94959475e+02] [ 9.32494185e-01 3.57633905e-01 -5.05231209e-02 3.10570738e+02] [ 5.40736122e-02 7.23478332e-05 9.98536949e-01 7.01884864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:494.97, Y:310.60, Z:70.19 [[ 3.57775725e-01 -9.33607671e-01 -1.93196161e-02 4.94968352e+02] [ 9.32230334e-01 3.58296945e-01 -5.06942155e-02 3.10596119e+02] [ 5.42506679e-02 1.26827543e-04 9.98527340e-01 7.01896472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:494.98, Y:310.62, Z:70.19 [[ 3.58534992e-01 -9.33322654e-01 -1.90127339e-02 4.94978274e+02] [ 9.31985994e-01 3.59038704e-01 -4.99331149e-02 3.10622730e+02] [ 5.34300146e-02 1.83167179e-04 9.98571580e-01 7.01931919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.8992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:494.99, Y:310.65, Z:70.19 [[ 3.59683363e-01 -9.32874480e-01 -1.93153789e-02 4.94987364e+02] [ 9.31491868e-01 3.60201517e-01 -5.07717112e-02 3.10649675e+02] [ 5.43210625e-02 2.69621400e-04 9.98523485e-01 7.01933741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:495.00, Y:310.68, Z:70.19 [[ 3.60404869e-01 -9.32594039e-01 -1.94084580e-02 4.94996674e+02] [ 9.31195249e-01 3.60926931e-01 -5.10603531e-02 3.10676559e+02] [ 5.46236161e-02 3.29336013e-04 9.98506962e-01 7.01936555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9592541539998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:495.01, Y:310.70, Z:70.19 [[ 3.62315295e-01 -9.31846568e-01 -1.97382868e-02 4.95005561e+02] [ 9.30396286e-01 3.62852251e-01 -5.19710993e-02 3.10702479e+02] [ 5.55911723e-02 4.65495421e-04 9.98453507e-01 7.01925133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 884.9892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:495.02, Y:310.73, Z:70.20 [[ 3.63697481e-01 -9.31310439e-01 -1.96216534e-02 4.95015868e+02] [ 9.29874589e-01 3.64225970e-01 -5.16980894e-02 3.10728363e+02] [ 5.52936861e-02 5.56788070e-04 9.98469979e-01 7.01958747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.03, Y:310.75, Z:70.20 [[ 3.65034937e-01 -9.30788781e-01 -1.95381956e-02 4.95025577e+02] [ 9.29362084e-01 3.65556870e-01 -5.15198229e-02 3.10753061e+02] [ 5.50963947e-02 6.48477145e-04 9.98480829e-01 7.01984818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0492541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:495.04, Y:310.78, Z:70.20 [[ 3.66825384e-01 -9.30078627e-01 -1.98213429e-02 4.95035966e+02] [ 9.28607239e-01 3.67359688e-01 -5.23015878e-02 3.10778709e+02] [ 5.59261513e-02 7.79307524e-04 9.98434604e-01 7.01978715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.0792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:495.05, Y:310.81, Z:70.20 [[ 3.67975649e-01 -9.29629475e-01 -1.95693773e-02 4.95046725e+02] [ 9.28192175e-01 3.68494655e-01 -5.16814888e-02 3.10805080e+02] [ 5.52558463e-02 8.53386542e-04 9.98471864e-01 7.02003155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:495.06, Y:310.83, Z:70.20 [[ 3.68793337e-01 -9.29302961e-01 -1.96845222e-02 4.95056986e+02] [ 9.27845675e-01 3.69317142e-01 -5.20312579e-02 3.10830706e+02] [ 5.56226335e-02 9.24582451e-04 9.98451435e-01 7.02017283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.07, Y:310.86, Z:70.20 [[ 3.70552160e-01 -9.28603547e-01 -1.96608473e-02 4.95067508e+02] [ 9.27146231e-01 3.71071905e-01 -5.20144869e-02 3.10855598e+02] [ 5.55964251e-02 1.04560001e-03 9.98452775e-01 7.02038039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:495.08, Y:310.88, Z:70.20 [[ 3.69662077e-01 -9.28952359e-01 -1.99365094e-02 4.95078326e+02] [ 9.27451618e-01 3.70197872e-01 -5.27923540e-02 3.10881122e+02] [ 5.64220352e-02 1.02518336e-03 9.98406482e-01 7.02029136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.09, Y:310.91, Z:70.21 [[ 3.68803870e-01 -9.29295261e-01 -1.98500458e-02 4.95089279e+02] [ 9.27805484e-01 3.69336362e-01 -5.26083196e-02 3.10906601e+02] [ 5.62200057e-02 9.85170459e-04 9.98417919e-01 7.02057478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2292541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:495.10, Y:310.93, Z:70.20 [[ 3.67120850e-01 -9.30004150e-01 -1.77359303e-02 4.95098783e+02] [ 9.28394874e-01 3.67530839e-01 -5.48091294e-02 3.10933529e+02] [ 5.74912191e-02 3.65562736e-03 9.98339319e-01 7.02039691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:495.11, Y:310.96, Z:70.21 [[ 3.62133851e-01 -9.31858081e-01 -2.23515416e-02 4.95113590e+02] [ 9.30411989e-01 3.62817528e-01 -5.19323755e-02 3.10957555e+02] [ 5.65031348e-02 -1.98967120e-03 9.98400439e-01 7.02073604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.12, Y:310.98, Z:70.21 [[ 3.60301122e-01 -9.32630185e-01 -1.95969175e-02 4.95123362e+02] [ 9.31177435e-01 3.60833323e-01 -5.20374692e-02 3.10982795e+02] [ 5.56029354e-02 5.00951135e-04 9.98452834e-01 7.02107540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.13, Y:311.01, Z:70.21 [[ 3.57286550e-01 -9.33805529e-01 -1.88030855e-02 4.95132792e+02] [ 9.32467527e-01 3.57780843e-01 -4.99717885e-02 3.11008207e+02] [ 5.33913161e-02 3.20981226e-04 9.98573615e-01 7.02126680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:495.14, Y:311.03, Z:70.21 [[ 3.52692615e-01 -9.35556616e-01 -1.84861260e-02 4.95141917e+02] [ 9.34264082e-01 3.53176745e-01 -4.91610870e-02 3.11034510e+02] [ 5.25218500e-02 6.78288738e-05 9.98619773e-01 7.02124314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.3792541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:495.15, Y:311.06, Z:70.21 [[ 3.49559129e-01 -9.36728067e-01 -1.86800380e-02 4.95151515e+02] [ 9.35407639e-01 3.50057880e-01 -4.97195008e-02 3.11060657e+02] [ 5.31127464e-02 -9.35448618e-05 9.98588518e-01 7.02125475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4092541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:495.16, Y:311.09, Z:70.21 [[ 3.46528796e-01 -9.37859793e-01 -1.83521610e-02 4.95161481e+02] [ 9.36584771e-01 3.47014333e-01 -4.88878208e-02 3.11086705e+02] [ 5.22183844e-02 -2.47316868e-04 9.98635659e-01 7.02147239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4392541539999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:495.17, Y:311.11, Z:70.22 [[ 3.40623873e-01 -9.40021514e-01 -1.83010768e-02 4.95171859e+02] [ 9.38754455e-01 3.41114701e-01 -4.87937933e-02 3.11112847e+02] [ 5.21099818e-02 -5.59886474e-04 9.98641195e-01 7.02166600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.18, Y:311.14, Z:70.22 [[ 3.38378472e-01 -9.40834361e-01 -1.81855886e-02 4.95181318e+02] [ 9.39582255e-01 3.38866142e-01 -4.85275514e-02 3.11139240e+02] [ 5.18188681e-02 -6.66177672e-04 9.98656278e-01 7.02194678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.19, Y:311.17, Z:70.22 [[ 3.33156319e-01 -9.42688153e-01 -1.85987505e-02 4.95189029e+02] [ 9.41378981e-01 3.33673682e-01 -4.96738133e-02 3.11165156e+02] [ 5.30328288e-02 -9.59328033e-04 9.98592309e-01 7.02200022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.20, Y:311.19, Z:70.22 [[ 3.30571190e-01 -9.43589252e-01 -1.90266302e-02 4.95197961e+02] [ 9.42218057e-01 3.31116422e-01 -5.08630409e-02 3.11191636e+02] [ 5.42938485e-02 -1.11337857e-03 9.98524381e-01 7.02209475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.21, Y:311.22, Z:70.22 [[ 3.26248416e-01 -9.45081355e-01 -1.95755915e-02 4.95206113e+02] [ 9.43629914e-01 3.26832244e-01 -5.23762278e-02 3.11218308e+02] [ 5.58977308e-02 -1.38445241e-03 9.98435540e-01 7.02213541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.5892541539998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:495.22, Y:311.25, Z:70.22 [[ 3.23927926e-01 -9.45869506e-01 -2.00393805e-02 4.95215198e+02] [ 9.44347146e-01 3.24543533e-01 -5.36652885e-02 3.11245541e+02] [ 5.72640113e-02 -1.54044621e-03 9.98357882e-01 7.02193039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6192541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:495.22, Y:311.27, Z:70.22 [[ 3.21937329e-01 -9.46552830e-01 -1.98518862e-02 4.95223211e+02] [ 9.45057634e-01 3.22544692e-01 -5.32070565e-02 3.11271430e+02] [ 5.67664104e-02 -1.63183896e-03 9.98386154e-01 7.02217203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.23, Y:311.30, Z:70.23 [[ 3.22002219e-01 -9.46543539e-01 -1.92327662e-02 4.95232163e+02] [ 9.45138323e-01 3.22572269e-01 -5.15817978e-02 3.11298331e+02] [ 5.50283745e-02 -1.56817101e-03 9.98483560e-01 7.02262231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.6792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:495.24, Y:311.32, Z:70.23 [[ 3.21553839e-01 -9.46697994e-01 -1.91320682e-02 4.95239825e+02] [ 9.45305377e-01 3.22118666e-01 -5.13547371e-02 3.11324154e+02] [ 5.47802229e-02 -1.57233405e-03 9.98497198e-01 7.02252304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:495.25, Y:311.35, Z:70.23 [[ 3.23554382e-01 -9.46027707e-01 -1.85509790e-02 4.95246662e+02] [ 9.44715620e-01 3.24082717e-01 -4.98275974e-02 3.11351616e+02] [ 5.31503394e-02 -1.40346211e-03 9.98585536e-01 7.02278309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:495.25, Y:311.38, Z:70.23 [[ 3.24857769e-01 -9.45580439e-01 -1.85758901e-02 4.95254697e+02] [ 9.44261773e-01 3.25385767e-01 -4.99380261e-02 3.11378110e+02] [ 5.32647509e-02 -1.31774718e-03 9.98579556e-01 7.02280726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7692541539999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:495.26, Y:311.41, Z:70.23 [[ 3.29220392e-01 -9.44072255e-01 -1.84800092e-02 4.95261129e+02] [ 9.42762504e-01 3.29736970e-01 -4.97231448e-02 3.11405501e+02] [ 5.30357837e-02 -1.05238659e-03 9.98592058e-01 7.02284461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.27, Y:311.43, Z:70.23 [[ 3.32433717e-01 -9.42955560e-01 -1.79620578e-02 4.95269380e+02] [ 9.41714505e-01 3.32917578e-01 -4.83702032e-02 3.11432300e+02] [ 5.15908368e-02 -8.35243930e-04 9.98667957e-01 7.02326826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:495.28, Y:311.46, Z:70.23 [[ 3.34718815e-01 -9.42145652e-01 -1.80245701e-02 4.95277413e+02] [ 9.40892567e-01 3.35203047e-01 -4.85808075e-02 3.11459494e+02] [ 5.18120874e-02 -6.98273724e-04 9.98656608e-01 7.02323738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:495.28, Y:311.49, Z:70.23 [[ 3.39948280e-01 -9.40269600e-01 -1.81175800e-02 4.95283811e+02] [ 9.38998692e-01 3.40430494e-01 -4.88726394e-02 3.11485773e+02] [ 5.21212337e-02 -3.98214198e-04 9.98640685e-01 7.02338074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.8892541539999 meters Centerline goodness : 0.999566 Centerline is valid? [True, True] Translation: X:495.29, Y:311.51, Z:70.23 [[ 3.43590612e-01 -9.38940207e-01 -1.83515291e-02 4.95290491e+02] [ 9.37632581e-01 3.44080299e-01 -4.95367575e-02 3.11512948e+02] [ 5.28264530e-02 -1.86626746e-04 9.98603691e-01 7.02340512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:495.30, Y:311.54, Z:70.24 [[ 3.45227410e-01 -9.38339229e-01 -1.83719104e-02 4.95299321e+02] [ 9.37025602e-01 3.45715902e-01 -4.96340182e-02 3.11539867e+02] [ 5.29250080e-02 -7.99268742e-05 9.98598487e-01 7.02359938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.31, Y:311.57, Z:70.24 [[ 3.47813159e-01 -9.37384962e-01 -1.83150352e-02 4.95307461e+02] [ 9.36075919e-01 3.48295029e-01 -4.95221882e-02 3.11566950e+02] [ 5.28003902e-02 8.02053019e-05 9.98605083e-01 7.02382229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 885.9792541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:495.32, Y:311.59, Z:70.24 [[ 3.48010039e-01 -9.37304184e-01 -1.87050551e-02 4.95316198e+02] [ 9.35936277e-01 3.48512344e-01 -5.06204699e-02 3.11593783e+02] [ 5.39657209e-02 1.09692063e-04 9.98542783e-01 7.02364803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:495.32, Y:311.62, Z:70.24 [[ 3.48589874e-01 -9.37094896e-01 -1.83917067e-02 4.95323864e+02] [ 9.35769871e-01 3.49074679e-01 -4.98158289e-02 3.11619715e+02] [ 5.31022382e-02 1.54888518e-04 9.98589069e-01 7.02396764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.33, Y:311.65, Z:70.24 [[ 3.48018485e-01 -9.37306515e-01 -1.84291019e-02 4.95332808e+02] [ 9.35973923e-01 3.48506067e-01 -4.99633496e-02 3.11645660e+02] [ 5.32536269e-02 1.39010461e-04 9.98581009e-01 7.02415448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:495.34, Y:311.67, Z:70.24 [[ 3.46640678e-01 -9.37811433e-01 -1.87071343e-02 4.95342115e+02] [ 9.36436503e-01 3.47145086e-01 -5.07638256e-02 3.11671747e+02] [ 5.41009858e-02 7.87634726e-05 9.98535466e-01 7.02407712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.35, Y:311.70, Z:70.24 [[ 3.46261317e-01 -9.37959088e-01 -1.83262073e-02 4.95351842e+02] [ 9.36637592e-01 3.46745937e-01 -4.97722546e-02 3.11697895e+02] [ 5.30388765e-02 6.91917695e-05 9.98592446e-01 7.02444055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1292541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:495.36, Y:311.72, Z:70.25 [[ 3.44986341e-01 -9.38426236e-01 -1.84560276e-02 4.95361178e+02] [ 9.37084268e-01 3.45479667e-01 -5.01684723e-02 3.11724152e+02] [ 5.34555929e-02 1.25845589e-05 9.98570228e-01 7.02455014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1592541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:495.37, Y:311.75, Z:70.24 [[ 3.44816215e-01 -9.38472922e-01 -1.92445282e-02 4.95370782e+02] [ 9.37011139e-01 3.45352825e-01 -5.23598262e-02 3.11750777e+02] [ 5.57844313e-02 2.21798108e-05 9.98442836e-01 7.02440427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.1892541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:495.38, Y:311.78, Z:70.25 [[ 3.45218804e-01 -9.38317623e-01 -1.95963081e-02 4.95380530e+02] [ 9.36798852e-01 3.45774542e-01 -5.33655065e-02 3.11777241e+02] [ 5.68496997e-02 6.49773522e-05 9.98382746e-01 7.02450989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2192541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:495.39, Y:311.80, Z:70.25 [[ 3.45967431e-01 -9.38037745e-01 -1.97920870e-02 4.95389904e+02] [ 9.36485216e-01 3.46533077e-01 -5.39468897e-02 3.11803043e+02] [ 5.74628316e-02 1.28869925e-04 9.98347638e-01 7.02469848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2492541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:495.40, Y:311.83, Z:70.25 [[ 3.48026626e-01 -9.37272343e-01 -1.99505086e-02 4.95399698e+02] [ 9.35690941e-01 3.48597877e-01 -5.44241088e-02 3.11829177e+02] [ 5.79649169e-02 2.73528814e-04 9.98318583e-01 7.02477531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.41, Y:311.85, Z:70.25 [[ 3.50922071e-01 -9.36199987e-01 -1.95776762e-02 4.95409649e+02] [ 9.34672794e-01 3.51467458e-01 -5.34546039e-02 3.11854690e+02] [ 5.69251156e-02 4.59678992e-04 9.98378345e-01 7.02518535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:495.42, Y:311.88, Z:70.25 [[ 3.51357215e-01 -9.36038077e-01 -1.95147465e-02 4.95419049e+02] [ 9.34517630e-01 3.51898375e-01 -5.33322978e-02 3.11880762e+02] [ 5.67882691e-02 5.01813025e-04 9.98386118e-01 7.02520078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.43, Y:311.91, Z:70.25 [[ 3.51905160e-01 -9.35840077e-01 -1.91339750e-02 4.95428746e+02] [ 9.34375611e-01 3.52424544e-01 -5.23369684e-02 3.11906663e+02] [ 5.57223149e-02 5.39329626e-04 9.98446159e-01 7.02543667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3692541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:495.44, Y:311.93, Z:70.25 [[ 3.51328346e-01 -9.36050003e-01 -1.94624260e-02 4.95438507e+02] [ 9.34532397e-01 3.51866609e-01 -5.32831027e-02 3.11932322e+02] [ 5.67238262e-02 5.31596681e-04 9.98389766e-01 7.02525468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.3992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:495.45, Y:311.96, Z:70.26 [[ 3.50479506e-01 -9.36383657e-01 -1.87019257e-02 4.95450070e+02] [ 9.34980674e-01 3.50977809e-01 -5.12417564e-02 3.11957964e+02] [ 5.45459042e-02 4.73246375e-04 9.98511152e-01 7.02564490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:495.46, Y:311.98, Z:70.26 [[ 3.48132169e-01 -9.37271725e-01 -1.80473567e-02 4.95461945e+02] [ 9.35964241e-01 3.48599484e-01 -4.94908074e-02 3.11983326e+02] [ 5.26776336e-02 3.37661626e-04 9.98611513e-01 7.02594904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4592541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:495.47, Y:312.01, Z:70.26 [[ 3.45896748e-01 -9.38096557e-01 -1.81738605e-02 4.95471966e+02] [ 9.36769384e-01 3.46373782e-01 -4.98831037e-02 3.12008050e+02] [ 5.30901166e-02 2.29687248e-04 9.98589699e-01 7.02594395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.4892541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:495.48, Y:312.03, Z:70.26 [[ 3.44209451e-01 -9.38717441e-01 -1.81499465e-02 4.95482438e+02] [ 9.37392136e-01 3.44687604e-01 -4.98642054e-02 3.12034451e+02] [ 5.30644609e-02 1.50113686e-04 9.98591078e-01 7.02601547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:495.48, Y:312.06, Z:70.24 [[ 3.38728982e-01 -9.40848394e-01 8.18385036e-03 4.95476020e+02] [ 9.39821905e-01 3.37920655e-01 -5.04422293e-02 3.12064094e+02] [ 4.46929983e-02 2.47776068e-02 9.98693450e-01 7.02422535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:495.51, Y:312.08, Z:70.27 [[ 3.42230267e-01 -9.38755345e-01 -4.02100203e-02 4.95513792e+02] [ 9.38214297e-01 3.43743371e-01 -3.99302786e-02 3.12081686e+02] [ 5.13066904e-02 -2.40602661e-02 9.98393073e-01 7.02733035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.5792541539998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:495.51, Y:312.11, Z:70.26 [[ 3.41892427e-01 -9.39565461e-01 -1.80641471e-02 4.95512426e+02] [ 9.38248248e-01 3.42369307e-01 -4.97341290e-02 3.12111385e+02] [ 5.29130794e-02 5.50677033e-05 9.98599120e-01 7.02627731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6092541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:495.52, Y:312.14, Z:70.26 [[ 3.41726697e-01 -9.39626026e-01 -1.80498288e-02 4.95522070e+02] [ 9.38308623e-01 3.42203051e-01 -4.97393253e-02 3.12138232e+02] [ 5.29130710e-02 6.09453823e-05 9.98599120e-01 7.02640829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.52, Y:312.17, Z:70.25 [[ 3.39310852e-01 -9.40647361e-01 7.11958196e-03 4.95515619e+02] [ 9.39586105e-01 3.38544673e-01 -5.06503271e-02 3.12167711e+02] [ 4.52338000e-02 2.38756659e-02 9.98691071e-01 7.02478098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6692541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:495.55, Y:312.19, Z:70.28 [[ 3.43738924e-01 -9.38185548e-01 -4.06377797e-02 4.95552147e+02] [ 9.37480595e-01 3.45350364e-01 -4.31654970e-02 3.12186723e+02] [ 5.45315175e-02 -2.32594684e-02 9.98241109e-01 7.02750327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.6992541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:495.54, Y:312.22, Z:70.25 [[ 3.41818360e-01 -9.39760398e-01 3.25623711e-03 4.95537354e+02] [ 9.38430146e-01 3.41145725e-01 -5.44835303e-02 3.12220530e+02] [ 5.00906127e-02 2.16792220e-02 9.98509360e-01 7.02498252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:495.56, Y:312.24, Z:70.26 [[ 3.42702013e-01 -9.39335594e-01 -1.42818862e-02 4.95555894e+02] [ 9.38124382e-01 3.42986569e-01 -4.77792681e-02 3.12243187e+02] [ 4.97792623e-02 2.97586577e-03 9.98755811e-01 7.02574185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:495.58, Y:312.26, Z:70.28 [[ 3.45670166e-01 -9.37463229e-01 -4.09246880e-02 4.95581762e+02] [ 9.36649315e-01 3.47342410e-01 -4.51808780e-02 3.12264610e+02] [ 5.65702915e-02 -2.27143994e-02 9.98140200e-01 7.02778009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.57, Y:312.30, Z:70.26 [[ 3.43842091e-01 -9.39019428e-01 -3.88983984e-03 4.95572455e+02] [ 9.37624625e-01 3.43551810e-01 -5.32185783e-02 3.12296899e+02] [ 5.13096405e-02 1.46515777e-02 9.98575311e-01 7.02588863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:495.60, Y:312.32, Z:70.28 [[ 3.45807227e-01 -9.37756280e-01 -3.21017150e-02 4.95599098e+02] [ 9.36631960e-01 3.47030841e-01 -4.78556821e-02 3.12317921e+02] [ 5.60172516e-02 -1.35186516e-02 9.98338276e-01 7.02775367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.60, Y:312.34, Z:70.27 [[ 3.45570180e-01 -9.38211134e-01 -1.84693963e-02 4.95603722e+02] [ 9.36817236e-01 3.46063195e-01 -5.11246657e-02 3.12344985e+02] [ 5.43573089e-02 3.64711184e-04 9.98521482e-01 7.02741265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.61, Y:312.37, Z:70.27 [[ 3.43224848e-01 -9.39211186e-01 -8.89112321e-03 4.95607887e+02] [ 9.37865106e-01 3.43216692e-01 -5.11013183e-02 3.12373065e+02] [ 5.10465116e-02 9.20056797e-03 9.98653896e-01 7.02670720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.63, Y:312.40, Z:70.28 [[ 3.44722235e-01 -9.38332821e-01 -2.64215467e-02 4.95628821e+02] [ 9.37170069e-01 3.45631127e-01 -4.74487652e-02 3.12395624e+02] [ 5.36548426e-02 -8.40483839e-03 9.98524169e-01 7.02805595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:495.64, Y:312.42, Z:70.28 [[ 3.42643747e-01 -9.39286908e-01 -1.83130258e-02 4.95635962e+02] [ 9.37913047e-01 3.43132706e-01 -5.07844664e-02 3.12422944e+02] [ 5.39849825e-02 2.24954032e-04 9.98541722e-01 7.02772076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.65, Y:312.45, Z:70.28 [[ 3.41290823e-01 -9.39782873e-01 -1.81307740e-02 4.95647050e+02] [ 9.38434511e-01 3.41772037e-01 -5.03243772e-02 3.12447404e+02] [ 5.34905793e-02 1.60704090e-04 9.98568341e-01 7.02798525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 886.9992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:495.66, Y:312.47, Z:70.28 [[ 3.39934668e-01 -9.40272178e-01 -1.82387812e-02 4.95657258e+02] [ 9.38905799e-01 3.40423591e-01 -5.06722777e-02 3.12473444e+02] [ 5.38546443e-02 1.00766502e-04 9.98548781e-01 7.02809832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.67, Y:312.50, Z:70.28 [[ 3.38552753e-01 -9.40771416e-01 -1.81982519e-02 4.95668382e+02] [ 9.39409358e-01 3.39041505e-01 -5.06054915e-02 3.12498155e+02] [ 5.37781626e-02 3.70203729e-05 9.98552907e-01 7.02826046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.68, Y:312.52, Z:70.28 [[ 3.37966621e-01 -9.40980032e-01 -1.83068874e-02 4.95678684e+02] [ 9.39599348e-01 3.38462078e-01 -5.09557429e-02 3.12524225e+02] [ 5.41445238e-02 2.02008134e-05 9.98533109e-01 7.02840407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.0892541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:495.69, Y:312.55, Z:70.28 [[ 3.36662028e-01 -9.41438155e-01 -1.87850651e-02 4.95688790e+02] [ 9.39982434e-01 3.37185703e-01 -5.23337826e-02 3.12550214e+02] [ 5.56030751e-02 -3.88338500e-05 9.98452952e-01 7.02832177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1192541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:495.70, Y:312.58, Z:70.28 [[ 3.36856132e-01 -9.41372919e-01 -1.85734965e-02 4.95698054e+02] [ 9.39947348e-01 3.37367794e-01 -5.17875965e-02 3.12575919e+02] [ 5.50175404e-02 -1.31393617e-05 9.98485388e-01 7.02848568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.71, Y:312.60, Z:70.29 [[ 3.38516074e-01 -9.40783679e-01 -1.82465402e-02 4.95706910e+02] [ 9.39405203e-01 3.39007463e-01 -5.09097742e-02 3.12602858e+02] [ 5.40807980e-02 9.28820768e-05 9.98536559e-01 7.02872382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.72, Y:312.63, Z:70.29 [[ 3.39087847e-01 -9.40578045e-01 -1.82311391e-02 4.95715379e+02] [ 9.39199185e-01 3.39577565e-01 -5.09113728e-02 3.12628194e+02] [ 5.40770053e-02 1.40756788e-04 9.98536758e-01 7.02880824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.72, Y:312.65, Z:70.29 [[ 3.39630974e-01 -9.40380311e-01 -1.83213529e-02 4.95724653e+02] [ 9.38984919e-01 3.40124734e-01 -5.12102287e-02 3.12654723e+02] [ 5.43886361e-02 1.89105779e-04 9.98519825e-01 7.02890094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:495.73, Y:312.68, Z:70.29 [[ 3.40293101e-01 -9.40128743e-01 -1.89354948e-02 4.95733611e+02] [ 9.38635037e-01 3.40819429e-01 -5.29753139e-02 3.12681630e+02] [ 5.62571998e-02 2.53614945e-04 9.98416278e-01 7.02883728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:495.74, Y:312.71, Z:70.29 [[ 3.41556014e-01 -9.39670849e-01 -1.89257771e-02 4.95742630e+02] [ 9.38175324e-01 3.42079781e-01 -5.29951426e-02 3.12707980e+02] [ 5.62721163e-02 3.45112580e-04 9.98415409e-01 7.02901360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.2992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:495.75, Y:312.73, Z:70.29 [[ 3.42189006e-01 -9.39444415e-01 -1.87316519e-02 4.95751701e+02] [ 9.37976511e-01 3.42701087e-01 -5.24979116e-02 3.12734608e+02] [ 5.57382273e-02 3.94358666e-04 9.98445339e-01 7.02917098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:495.76, Y:312.76, Z:70.29 [[ 3.42675334e-01 -9.39271946e-01 -1.84885527e-02 4.95760209e+02] [ 9.37839147e-01 3.43173460e-01 -5.18624176e-02 3.12760079e+02] [ 5.50576945e-02 4.32682761e-04 9.98483081e-01 7.02927493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.77, Y:312.79, Z:70.29 [[ 3.43636192e-01 -9.38925798e-01 -1.82349727e-02 4.95768357e+02] [ 9.37529008e-01 3.44119309e-01 -5.11982408e-02 3.12786952e+02] [ 5.43463553e-02 4.97752620e-04 9.98522021e-01 7.02948613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.78, Y:312.81, Z:70.30 [[ 3.43745442e-01 -9.38887085e-01 -1.81689989e-02 4.95776709e+02] [ 9.37497780e-01 3.44224887e-01 -5.10601533e-02 3.12812231e+02] [ 5.41939401e-02 5.18298825e-04 9.98530294e-01 7.02962133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:495.79, Y:312.84, Z:70.30 [[ 3.43120098e-01 -9.39114655e-01 -1.82280867e-02 4.95785096e+02] [ 9.37713913e-01 3.43603570e-01 -5.12757565e-02 3.12838837e+02] [ 5.44170500e-02 5.01012092e-04 9.98518169e-01 7.02961266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.79, Y:312.86, Z:70.30 [[ 3.43065325e-01 -9.39136661e-01 -1.81249545e-02 4.95793980e+02] [ 9.37749311e-01 3.43543405e-01 -5.10309661e-02 3.12864515e+02] [ 5.41517597e-02 5.10291340e-04 9.98532587e-01 7.02985442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.80, Y:312.89, Z:70.30 [[ 3.41666649e-01 -9.39646952e-01 -1.80971454e-02 4.95802789e+02] [ 9.38262589e-01 3.42145306e-01 -5.09892522e-02 3.12889870e+02] [ 5.41037488e-02 4.41452444e-04 9.98535222e-01 7.03001139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.81, Y:312.92, Z:70.30 [[ 3.40549951e-01 -9.40054074e-01 -1.80019284e-02 4.95812201e+02] [ 9.38682221e-01 3.41025198e-01 -5.07691131e-02 3.12916379e+02] [ 5.38648228e-02 3.91328850e-04 9.98548160e-01 7.03017144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:495.82, Y:312.94, Z:70.30 [[ 3.38740849e-01 -9.40707660e-01 -1.79926551e-02 4.95821085e+02] [ 9.39335686e-01 3.39218229e-01 -5.07884136e-02 3.12943119e+02] [ 5.38804863e-02 3.02967385e-04 9.98547346e-01 7.03009554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:495.83, Y:312.97, Z:70.30 [[ 3.36768761e-01 -9.41421312e-01 -1.76837558e-02 4.95829982e+02] [ 9.40094612e-01 3.37232669e-01 -4.99624652e-02 3.12968645e+02] [ 5.29992696e-02 2.01393941e-04 9.98594531e-01 7.03031480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.84, Y:312.99, Z:70.31 [[ 3.35886776e-01 -9.41740479e-01 -1.74626607e-02 4.95838958e+02] [ 9.40444784e-01 3.36340368e-01 -4.93838478e-02 3.12994459e+02] [ 5.23801662e-02 1.64713271e-04 9.98627203e-01 7.03059606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6292541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:495.85, Y:313.02, Z:70.30 [[ 3.32964841e-01 -9.42772654e-01 -1.77239342e-02 4.95847766e+02] [ 9.41437454e-01 3.33436235e-01 -5.01577181e-02 3.13021687e+02] [ 5.31971269e-02 1.47811385e-05 9.98584030e-01 7.03045599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6592541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:495.86, Y:313.05, Z:70.31 [[ 3.31798494e-01 -9.43180013e-01 -1.79226737e-02 4.95856976e+02] [ 9.41812766e-01 3.32282202e-01 -5.07666418e-02 3.13047666e+02] [ 5.38374673e-02 -3.55076451e-05 9.98549711e-01 7.03058639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.6892541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:495.87, Y:313.07, Z:70.31 [[ 3.29189912e-01 -9.44092422e-01 -1.79861485e-02 4.95865563e+02] [ 9.42714407e-01 3.29680862e-01 -5.09909536e-02 3.13072830e+02] [ 5.40698618e-02 -1.70093781e-04 9.98537141e-01 7.03071206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7192541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:495.87, Y:313.10, Z:70.31 [[ 3.27897155e-01 -9.44541720e-01 -1.80109414e-02 4.95874857e+02] [ 9.43158652e-01 3.28391358e-01 -5.10967049e-02 3.13099339e+02] [ 5.41776071e-02 -2.32711011e-04 9.98531288e-01 7.03098803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.88, Y:313.13, Z:70.31 [[ 3.26828637e-01 -9.44911831e-01 -1.80187024e-02 4.95883981e+02] [ 9.43525639e-01 3.27324844e-01 -5.11645842e-02 3.13125389e+02] [ 5.42439899e-02 -2.79056367e-04 9.98527672e-01 7.03121186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.7792541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:495.89, Y:313.15, Z:70.31 [[ 3.23608906e-01 -9.46011242e-01 -1.84392699e-02 4.95892148e+02] [ 9.44558518e-01 3.24133494e-01 -5.24088202e-02 3.13151615e+02] [ 5.55561180e-02 -4.57008518e-04 9.98455462e-01 7.03106609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.90, Y:313.18, Z:70.31 [[ 3.21962998e-01 -9.46578214e-01 -1.81524750e-02 4.95901105e+02] [ 9.45168547e-01 3.22473880e-01 -5.16431416e-02 3.13178578e+02] [ 5.47379717e-02 -5.29967714e-04 9.98500613e-01 7.03143442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:495.91, Y:313.20, Z:70.32 [[ 3.20730873e-01 -9.46997066e-01 -1.81180506e-02 4.95909809e+02] [ 9.45590776e-01 3.21241676e-01 -5.15933178e-02 3.13204492e+02] [ 5.46789935e-02 -5.84691641e-04 9.98503814e-01 7.03155603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:495.92, Y:313.23, Z:70.32 [[ 3.18983110e-01 -9.47586057e-01 -1.81780052e-02 4.95918554e+02] [ 9.46168625e-01 3.19499942e-01 -5.18142859e-02 3.13231189e+02] [ 5.49063665e-02 -6.71576119e-04 9.98491282e-01 7.03152694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.8992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:495.93, Y:313.26, Z:70.32 [[ 3.15912834e-01 -9.48614783e-01 -1.81404000e-02 4.95927182e+02] [ 9.47202293e-01 3.16432140e-01 -5.17543871e-02 3.13256950e+02] [ 5.48351823e-02 -8.32753340e-04 9.98495072e-01 7.03167270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:495.94, Y:313.28, Z:70.32 [[ 3.13910872e-01 -9.49277842e-01 -1.82083397e-02 4.95935914e+02] [ 9.47853119e-01 3.14437120e-01 -5.19977129e-02 3.13283238e+02] [ 5.50856545e-02 -9.36184163e-04 9.98481194e-01 7.03177706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9592541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:495.94, Y:313.31, Z:70.32 [[ 3.10947259e-01 -9.50253976e-01 -1.81433983e-02 4.95944221e+02] [ 9.48838587e-01 3.11474224e-01 -5.18569512e-02 3.13309021e+02] [ 5.49284750e-02 -1.09037952e-03 9.98489696e-01 7.03192045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 887.9892541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:495.95, Y:313.33, Z:70.32 [[ 3.09658502e-01 -9.50680312e-01 -1.78481733e-02 4.95952674e+02] [ 9.49309442e-01 3.10170364e-01 -5.10482948e-02 3.13334434e+02] [ 5.40665832e-02 -1.13590097e-03 9.98536687e-01 7.03223992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:495.96, Y:313.36, Z:70.32 [[ 3.08218893e-01 -9.51147859e-01 -1.78567666e-02 4.95961258e+02] [ 9.49773859e-01 3.08733383e-01 -5.11206000e-02 3.13361559e+02] [ 5.41362292e-02 -1.20355533e-03 9.98532834e-01 7.03239478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0492541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:495.97, Y:313.39, Z:70.32 [[ 3.05457707e-01 -9.52034437e-01 -1.80560223e-02 4.95967397e+02] [ 9.50628562e-01 3.05987873e-01 -5.17373966e-02 3.13387873e+02] [ 5.47807071e-02 -1.36098396e-03 9.98497482e-01 7.03224530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.0792541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:495.97, Y:313.41, Z:70.32 [[ 3.04160052e-01 -9.52454956e-01 -1.77825816e-02 4.95973873e+02] [ 9.51089555e-01 3.04676215e-01 -5.10006161e-02 3.13414051e+02] [ 5.39937192e-02 -1.40047759e-03 9.98540293e-01 7.03241729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1092541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:495.98, Y:313.44, Z:70.33 [[ 3.03380589e-01 -9.52703734e-01 -1.77711405e-02 4.95981552e+02] [ 9.51337996e-01 3.03897271e-01 -5.10143768e-02 3.13441036e+02] [ 5.40021884e-02 -1.42958950e-03 9.98539794e-01 7.03251577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:495.99, Y:313.47, Z:70.33 [[ 3.03200361e-01 -9.52762285e-01 -1.77078868e-02 4.95989497e+02] [ 9.51403995e-01 3.03713693e-01 -5.08766199e-02 3.13468301e+02] [ 5.38514523e-02 -1.42154477e-03 9.98547946e-01 7.03273833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:496.00, Y:313.49, Z:70.33 [[ 3.03505635e-01 -9.52673195e-01 -1.72659745e-02 4.95995570e+02] [ 9.51379546e-01 3.03993324e-01 -4.96489613e-02 3.13494921e+02] [ 5.25479755e-02 -1.35775547e-03 9.98617478e-01 7.03285642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.1992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:496.00, Y:313.52, Z:70.33 [[ 3.03941713e-01 -9.52535613e-01 -1.71854682e-02 4.96003562e+02] [ 9.51251445e-01 3.04424339e-01 -4.94622073e-02 3.13522179e+02] [ 5.23461888e-02 -1.31407347e-03 9.98628134e-01 7.03301184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:496.01, Y:313.55, Z:70.33 [[ 3.05779489e-01 -9.51944380e-01 -1.73436135e-02 4.96009380e+02] [ 9.50633046e-01 3.06268565e-01 -4.99637701e-02 3.13549535e+02] [ 5.28745338e-02 -1.20951607e-03 9.98600431e-01 7.03308688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:496.02, Y:313.58, Z:70.33 [[ 3.06968933e-01 -9.51559787e-01 -1.74369055e-02 4.96016400e+02] [ 9.50231257e-01 3.07461676e-01 -5.02779964e-02 3.13576091e+02] [ 5.32036997e-02 -1.13530974e-03 9.98583035e-01 7.03319330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.2892541539999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:496.02, Y:313.60, Z:70.33 [[ 3.10715912e-01 -9.50336330e-01 -1.77899263e-02 4.96022233e+02] [ 9.48949354e-01 3.11223379e-01 -5.13335463e-02 3.13603128e+02] [ 5.43207750e-02 -9.31589453e-04 9.98523102e-01 7.03329247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.03, Y:313.63, Z:70.33 [[ 3.12985518e-01 -9.49589947e-01 -1.78605079e-02 4.96029724e+02] [ 9.48187986e-01 3.13493716e-01 -5.15871389e-02 3.13629848e+02] [ 5.45857855e-02 -7.89091607e-04 9.98508773e-01 7.03346366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3492541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:496.04, Y:313.66, Z:70.33 [[ 3.14850244e-01 -9.48967158e-01 -1.81839869e-02 4.96037345e+02] [ 9.47510139e-01 3.15374181e-01 -5.25705443e-02 3.13657200e+02] [ 5.56224800e-02 -6.77663270e-04 9.98451642e-01 7.03340124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.3792541539999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:496.04, Y:313.68, Z:70.33 [[ 3.19443431e-01 -9.47423929e-01 -1.85416849e-02 4.96043829e+02] [ 9.45903525e-01 3.19980844e-01 -5.36542819e-02 3.13684977e+02] [ 5.67663345e-02 -3.99137185e-04 9.98387412e-01 7.03342272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:496.05, Y:313.71, Z:70.34 [[ 3.21823331e-01 -9.46621905e-01 -1.83497342e-02 4.96051807e+02] [ 9.45128846e-01 3.22345950e-01 -5.31465253e-02 3.13712373e+02] [ 5.62246275e-02 -2.39071333e-04 9.98418116e-01 7.03366652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4392541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:496.06, Y:313.74, Z:70.34 [[ 3.26708460e-01 -9.44951902e-01 -1.80965792e-02 4.96058273e+02] [ 9.43494559e-01 3.27209260e-01 -5.24606367e-02 3.13738607e+02] [ 5.54941466e-02 6.53098213e-05 9.98459010e-01 7.03376818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4692541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:496.07, Y:313.77, Z:70.34 [[ 3.28875923e-01 -9.44199844e-01 -1.80909373e-02 4.96066245e+02] [ 9.42739488e-01 3.29373057e-01 -5.24942505e-02 3.13765304e+02] [ 5.55237305e-02 2.09054114e-04 9.98457346e-01 7.03383523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.05, Y:313.80, Z:70.32 [[ 3.31046711e-01 -9.43422794e-01 1.90133500e-02 4.96053721e+02] [ 9.42560545e-01 3.29657849e-01 -5.39010284e-02 3.13799154e+02] [ 4.45835587e-02 3.57649917e-02 9.98365250e-01 7.03190765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.08, Y:313.82, Z:70.33 [[ 3.31101280e-01 -9.43494960e-01 -1.37551429e-02 4.96079513e+02] [ 9.42501172e-01 3.31384013e-01 -4.33148468e-02 3.13821056e+02] [ 4.54255741e-02 1.37736287e-03 9.98966776e-01 7.03324109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:496.11, Y:313.84, Z:70.36 [[ 3.35438654e-01 -9.40695051e-01 -5.07319495e-02 4.96106989e+02] [ 9.40496012e-01 3.37498931e-01 -3.95186326e-02 3.13840856e+02] [ 5.42969608e-02 -3.44571193e-02 9.97930131e-01 7.03566510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.5892541539998 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:496.08, Y:313.88, Z:70.33 [[ 3.36182266e-01 -9.41692761e-01 1.40081112e-02 4.96083355e+02] [ 9.40647161e-01 3.34999957e-01 -5.43870199e-02 3.13879340e+02] [ 4.65231463e-02 3.14606416e-02 9.98421667e-01 7.03273865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:496.12, Y:313.89, Z:70.36 [[ 3.40647922e-01 -9.39062634e-01 -4.60474004e-02 4.96120593e+02] [ 9.38646146e-01 3.42486502e-01 -4.05759710e-02 3.13894028e+02] [ 5.38739913e-02 -2.94000947e-02 9.98114837e-01 7.03572569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6492541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:496.12, Y:313.93, Z:70.35 [[ 3.41701542e-01 -9.39640417e-01 -1.77747811e-02 4.96115215e+02] [ 9.38211630e-01 3.42161998e-01 -5.18083421e-02 3.13925465e+02] [ 5.47630668e-02 1.02648402e-03 9.98498850e-01 7.03467846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.6792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:496.12, Y:313.95, Z:70.35 [[ 3.42665942e-01 -9.39284030e-01 -1.80433554e-02 4.96123102e+02] [ 9.37809125e-01 3.43138852e-01 -5.26286375e-02 3.13950562e+02] [ 5.56246150e-02 1.11281826e-03 9.98451132e-01 7.03471954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:496.13, Y:313.98, Z:70.35 [[ 3.42484940e-01 -9.39344735e-01 -1.83176251e-02 4.96132489e+02] [ 9.37821610e-01 3.42972555e-01 -5.34832178e-02 3.13976976e+02] [ 5.65216217e-02 1.13853195e-03 9.98400726e-01 7.03492043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.14, Y:314.00, Z:70.35 [[ 3.40888475e-01 -9.39917377e-01 -1.87182104e-02 4.96143272e+02] [ 9.38324644e-01 3.41400274e-01 -5.47057163e-02 3.14003097e+02] [ 5.78092555e-02 1.08479007e-03 9.98327057e-01 7.03508937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.15, Y:314.03, Z:70.35 [[ 3.39516745e-01 -9.40409987e-01 -1.89060171e-02 4.96153093e+02] [ 9.38782916e-01 3.40041174e-01 -5.53049424e-02 3.14028142e+02] [ 5.84381444e-02 1.02830814e-03 9.98290502e-01 7.03516341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.7992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:496.16, Y:314.05, Z:70.35 [[ 3.37409199e-01 -9.41161324e-01 -1.92456502e-02 4.96163236e+02] [ 9.39474208e-01 3.37956362e-01 -5.63356988e-02 3.14053681e+02] [ 5.95251708e-02 9.27391010e-04 9.98226374e-01 7.03518977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8292541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:496.18, Y:314.08, Z:70.35 [[ 3.31867083e-01 -9.43116870e-01 -1.98698098e-02 4.96176532e+02] [ 9.41319277e-01 3.32460817e-01 -5.82050189e-02 3.14079152e+02] [ 6.15000684e-02 6.12494856e-04 9.98106891e-01 7.03529177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:496.19, Y:314.10, Z:70.36 [[ 3.28165890e-01 -9.44414204e-01 -1.97220955e-02 4.96187920e+02] [ 9.42642329e-01 3.28757758e-01 -5.78253851e-02 3.14104586e+02] [ 6.10949070e-02 3.85436933e-04 9.98131887e-01 7.03555217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.20, Y:314.13, Z:70.36 [[ 3.19498077e-01 -9.47388014e-01 -1.94147032e-02 4.96202404e+02] [ 9.45673154e-01 3.20087375e-01 -5.69768274e-02 3.14128783e+02] [ 6.01935647e-02 -1.55976843e-04 9.98186711e-01 7.03578033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9192541539999 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:496.21, Y:314.15, Z:70.36 [[ 3.14101688e-01 -9.49184661e-01 -1.97131808e-02 4.96214447e+02] [ 9.47416745e-01 3.14719306e-01 -5.79074186e-02 3.14153990e+02] [ 6.11689521e-02 -4.87779689e-04 9.98127307e-01 7.03582089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.23, Y:314.18, Z:70.36 [[ 3.05088056e-01 -9.52140047e-01 -1.87245608e-02 4.96229035e+02] [ 9.50547668e-01 3.05660475e-01 -5.50527547e-02 3.14178202e+02] [ 5.81412906e-02 -1.00264970e-03 9.98307861e-01 7.03623182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 888.9792541539998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:496.24, Y:314.20, Z:70.36 [[ 2.99937981e-01 -9.53769252e-01 -1.90110859e-02 4.96240671e+02] [ 9.52127777e-01 3.00536972e-01 -5.59484060e-02 3.14204276e+02] [ 5.90754036e-02 -1.31993107e-03 9.98252651e-01 7.03620884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0092541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:496.24, Y:314.23, Z:70.35 [[ 2.93972390e-01 -9.55813901e-01 -1.43615128e-04 4.96241365e+02] [ 9.54275258e-01 2.93507677e-01 -5.66742948e-02 3.14233573e+02] [ 5.42122309e-02 1.65236296e-02 9.98392710e-01 7.03506549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0392541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:496.26, Y:314.26, Z:70.35 [[ 2.86367857e-01 -9.58109855e-01 -4.35385422e-03 4.96255056e+02] [ 9.56748477e-01 2.86198085e-01 -5.21824556e-02 3.14257578e+02] [ 5.12425897e-02 1.07778346e-02 9.98628077e-01 7.03499347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0692541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:496.29, Y:314.28, Z:70.38 [[ 2.87751674e-01 -9.56456841e-01 -4.88803305e-02 4.96291223e+02] [ 9.55910697e-01 2.89961066e-01 -4.64469579e-02 3.14275992e+02] [ 5.85979034e-02 -3.33600409e-02 9.97724107e-01 7.03819680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.0992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:496.29, Y:314.31, Z:70.37 [[ 2.88666317e-01 -9.57243605e-01 -1.88795687e-02 4.96285697e+02] [ 9.55629408e-01 2.89276194e-01 -5.56032173e-02 3.14307072e+02] [ 5.86872339e-02 -1.99109517e-03 9.98274433e-01 7.03719759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:496.29, Y:314.33, Z:70.37 [[ 2.89395813e-01 -9.57022056e-01 -1.89432718e-02 4.96294582e+02] [ 9.55394109e-01 2.90008649e-01 -5.58308122e-02 3.14334185e+02] [ 5.89250314e-02 -1.94108700e-03 9.98260524e-01 7.03727028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:496.30, Y:314.36, Z:70.37 [[ 2.91017419e-01 -9.56530393e-01 -1.89332595e-02 4.96303442e+02] [ 9.54900111e-01 2.91626945e-01 -5.58525118e-02 3.14360661e+02] [ 5.89460737e-02 -1.82531772e-03 9.98259500e-01 7.03746947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.1892541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:496.31, Y:314.39, Z:70.37 [[ 2.92823064e-01 -9.55968284e-01 -1.94754513e-02 4.96311711e+02] [ 9.54238622e-01 2.93464811e-01 -5.75070145e-02 3.14386785e+02] [ 6.06902416e-02 -1.74484768e-03 9.98155123e-01 7.03738999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2192541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:496.32, Y:314.41, Z:70.38 [[ 2.93772289e-01 -9.55676377e-01 -1.95065265e-02 4.96320098e+02] [ 9.53937116e-01 2.94414455e-01 -5.76550645e-02 3.14412021e+02] [ 6.08425865e-02 -1.67053934e-03 9.98145976e-01 7.03755918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2492541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:496.33, Y:314.44, Z:70.38 [[ 2.94625658e-01 -9.55411798e-01 -1.95963712e-02 4.96328096e+02] [ 9.53652442e-01 2.95272273e-01 -5.79767716e-02 3.14438145e+02] [ 6.11779567e-02 -1.60668270e-03 9.98125581e-01 7.03768331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.33, Y:314.47, Z:70.37 [[ 2.92587865e-01 -9.56185969e-01 -1.00366674e-02 4.96329716e+02] [ 9.54526032e-01 2.92675655e-01 -5.67539840e-02 3.14466414e+02] [ 5.72048513e-02 7.02526673e-03 9.98337744e-01 7.03713771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:496.35, Y:314.49, Z:70.38 [[ 2.93598587e-01 -9.55540484e-01 -2.72443277e-02 4.96347739e+02] [ 9.54031937e-01 2.94691515e-01 -5.45891436e-02 3.14489729e+02] [ 6.01908089e-02 -9.96466326e-03 9.98137151e-01 7.03832182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.35, Y:314.52, Z:70.38 [[ 2.90726948e-01 -9.56746122e-01 -1.07098463e-02 4.96348442e+02] [ 9.55037199e-01 2.90851609e-01 -5.75264312e-02 3.14520281e+02] [ 5.81531659e-02 6.49618216e-03 9.98286537e-01 7.03757357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.36, Y:314.54, Z:70.39 [[ 2.86587274e-01 -9.57677386e-01 -2.68655502e-02 4.96364017e+02] [ 9.56225389e-01 2.87659538e-01 -5.37121630e-02 3.14543039e+02] [ 5.91670556e-02 -1.02962988e-02 9.98194994e-01 7.03874869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.3992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:496.37, Y:314.57, Z:70.39 [[ 2.84268237e-01 -9.58556162e-01 -1.90172048e-02 4.96368713e+02] [ 9.56891760e-01 2.84895639e-01 -5.65034028e-02 3.14570171e+02] [ 5.95796036e-02 -2.13528391e-03 9.98221274e-01 7.03859259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.38, Y:314.60, Z:70.39 [[ 2.82269391e-01 -9.59148312e-01 -1.89342806e-02 4.96377061e+02] [ 9.57497239e-01 2.82894868e-01 -5.62985823e-02 3.14596469e+02] [ 5.93551010e-02 -2.23815486e-03 9.98234423e-01 7.03875058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4592541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:496.38, Y:314.62, Z:70.39 [[ 2.78582034e-01 -9.60220736e-01 -1.91882457e-02 4.96383914e+02] [ 9.58524146e-01 2.79231041e-01 -5.71094270e-02 3.14622805e+02] [ 6.01956099e-02 -2.48273649e-03 9.98183513e-01 7.03874585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.39, Y:314.65, Z:70.39 [[ 2.78475846e-01 -9.60254480e-01 -1.90403946e-02 4.96391891e+02] [ 9.58580682e-01 2.79115220e-01 -5.67253945e-02 3.14649873e+02] [ 5.97852781e-02 -2.45510221e-03 9.98208241e-01 7.03903675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5192541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:496.40, Y:314.68, Z:70.39 [[ 2.78360239e-01 -9.60279706e-01 -1.94541297e-02 4.96397652e+02] [ 9.58528946e-01 2.79028032e-01 -5.80139444e-02 3.14676776e+02] [ 6.11378610e-02 -2.49857105e-03 9.98126204e-01 7.03897919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5492541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:496.40, Y:314.70, Z:70.39 [[ 2.79382857e-01 -9.59985151e-01 -1.93320745e-02 4.96404959e+02] [ 9.58252163e-01 2.80040599e-01 -5.77066303e-02 3.14703142e+02] [ 6.08112739e-02 -2.40275891e-03 9.98146390e-01 7.03911881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.5792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:496.41, Y:314.73, Z:70.39 [[ 2.81092223e-01 -9.59486991e-01 -1.92841259e-02 4.96412496e+02] [ 9.57758049e-01 2.81743762e-01 -5.76191976e-02 3.14729955e+02] [ 6.07180527e-02 -2.27321844e-03 9.98152368e-01 7.03937293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6092541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:496.42, Y:314.76, Z:70.39 [[ 2.85541827e-01 -9.58171566e-01 -1.93161829e-02 4.96418343e+02] [ 9.56430517e-01 2.86187585e-01 -5.77696490e-02 3.14756985e+02] [ 6.08812868e-02 -1.97893560e-03 9.98143052e-01 7.03949490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:496.43, Y:314.78, Z:70.40 [[ 2.88403714e-01 -9.57315207e-01 -1.92585574e-02 4.96425458e+02] [ 9.55579396e-01 2.89040548e-01 -5.76505033e-02 3.14782978e+02] [ 6.07562075e-02 -1.77646139e-03 9.98151054e-01 7.03967475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.43, Y:314.81, Z:70.40 [[ 2.95562762e-01 -9.55057629e-01 -2.25294923e-02 4.96433202e+02] [ 9.53366160e-01 2.96384012e-01 -5.70042384e-02 3.14810295e+02] [ 6.11197141e-02 -4.63052538e-03 9.98119702e-01 7.04023796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.6992541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:496.44, Y:314.84, Z:70.40 [[ 2.98743480e-01 -9.54187029e-01 -1.67166572e-02 4.96436313e+02] [ 9.52290264e-01 2.99203753e-01 -6.01694945e-02 3.14837630e+02] [ 6.24146378e-02 2.05613430e-03 9.98048188e-01 7.03986958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.44, Y:314.86, Z:70.40 [[ 3.03161010e-01 -9.52739702e-01 -1.95054249e-02 4.96444321e+02] [ 9.50939262e-01 3.03786804e-01 -5.85499579e-02 3.14863136e+02] [ 6.17083601e-02 -7.98409965e-04 9.98093904e-01 7.04019962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:496.45, Y:314.89, Z:70.40 [[ 3.10827283e-01 -9.50254350e-01 -2.00766348e-02 4.96450033e+02] [ 9.48337562e-01 3.11474859e-01 -6.03264452e-02 3.14890534e+02] [ 6.35788339e-02 -2.88321861e-04 9.97976778e-01 7.04030983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.7892541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:496.46, Y:314.92, Z:70.40 [[ 3.13714100e-01 -9.49290719e-01 -2.07507717e-02 4.96457314e+02] [ 9.47236763e-01 3.14399627e-01 -6.24130541e-02 3.14917604e+02] [ 6.57721678e-02 -7.60386827e-05 9.97834664e-01 7.04042056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.46, Y:314.94, Z:70.41 [[ 3.20548595e-01 -9.47004982e-01 -2.07403595e-02 4.96463928e+02] [ 9.44944223e-01 3.21218602e-01 -6.24421806e-02 3.14944178e+02] [ 6.57952454e-02 4.17270399e-04 9.97833058e-01 7.04069408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8492541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:496.47, Y:314.97, Z:70.41 [[ 3.22018628e-01 -9.46491494e-01 -2.13975501e-02 4.96472006e+02] [ 9.44292329e-01 3.22728273e-01 -6.44861133e-02 3.14971209e+02] [ 6.79411522e-02 5.60187304e-04 9.97689173e-01 7.04077410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.8792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:496.48, Y:315.00, Z:70.41 [[ 3.25895911e-01 -9.45167050e-01 -2.12391702e-02 4.96479647e+02] [ 9.42993425e-01 3.26586164e-01 -6.40693170e-02 3.14998552e+02] [ 6.74926265e-02 8.51530557e-04 9.97719410e-01 7.04107600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.49, Y:315.03, Z:70.41 [[ 3.27612748e-01 -9.44588394e-01 -2.05585346e-02 4.96487687e+02] [ 9.42547068e-01 3.28255764e-01 -6.20739814e-02 3.15025107e+02] [ 6.53828199e-02 9.58841144e-04 9.97859794e-01 7.04125890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:496.50, Y:315.05, Z:70.41 [[ 3.28182589e-01 -9.44391646e-01 -2.05087234e-02 4.96495888e+02] [ 9.42355955e-01 3.28821211e-01 -6.19827804e-02 3.15051483e+02] [ 6.52797233e-02 1.01515177e-03 9.97866488e-01 7.04141611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9692541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:496.50, Y:315.08, Z:70.42 [[ 3.28553026e-01 -9.44266891e-01 -2.03211224e-02 4.96504830e+02] [ 9.42264206e-01 3.29179186e-01 -6.14754371e-02 3.15077401e+02] [ 6.47385104e-02 1.05007462e-03 9.97901710e-01 7.04164504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 889.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.50, Y:315.11, Z:70.40 [[ 3.25829177e-01 -9.45405250e-01 6.65286725e-03 4.96498172e+02] [ 9.43729202e-01 3.24813694e-01 -6.22194346e-02 3.15106859e+02] [ 5.66616377e-02 2.65514123e-02 9.98040321e-01 7.04013651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.53, Y:315.13, Z:70.43 [[ 3.26589218e-01 -9.44145690e-01 -4.39135267e-02 4.96534731e+02] [ 9.43002661e-01 3.28631671e-01 -5.24137924e-02 3.15125777e+02] [ 6.39176319e-02 -2.42927931e-02 9.97659459e-01 7.04296728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.53, Y:315.16, Z:70.42 [[ 3.25635782e-01 -9.45285134e-01 -1.99336930e-02 4.96532865e+02] [ 9.43351469e-01 3.26244152e-01 -6.04380542e-02 3.15156782e+02] [ 6.36344450e-02 8.76314534e-04 9.97972890e-01 7.04220312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.54, Y:315.18, Z:70.42 [[ 3.24384016e-01 -9.45712339e-01 -2.00793828e-02 4.96542042e+02] [ 9.43747205e-01 3.25003850e-01 -6.09402262e-02 3.15183491e+02] [ 6.41578006e-02 8.18173961e-04 9.97939431e-01 7.04234675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.55, Y:315.21, Z:70.42 [[ 3.22896584e-01 -9.46217820e-01 -2.02393822e-02 4.96550885e+02] [ 9.44218198e-01 3.23529417e-01 -6.14874966e-02 3.15209666e+02] [ 6.47286005e-02 7.43709563e-04 9.97902628e-01 7.04247231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1492541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:496.56, Y:315.24, Z:70.43 [[ 3.17891929e-01 -9.47884171e-01 -2.14550498e-02 4.96560385e+02] [ 9.45636035e-01 3.18614803e-01 -6.52464360e-02 3.15235437e+02] [ 6.86819604e-02 4.52647172e-04 9.97638503e-01 7.04265029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.1792541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:496.55, Y:315.27, Z:70.40 [[ 3.11889885e-01 -9.49827406e-01 2.35074001e-02 4.96545014e+02] [ 9.48257790e-01 3.09636299e-01 -7.02319418e-02 3.15269299e+02] [ 5.94294787e-02 4.41957075e-02 9.97253667e-01 7.03973133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2092541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:496.58, Y:315.29, Z:70.41 [[ 3.04853014e-01 -9.52241404e-01 -1.73478871e-02 4.96575827e+02] [ 9.50589796e-01 3.05345622e-01 -5.60632812e-02 3.15288542e+02] [ 5.86828789e-02 6.00335750e-04 9.98276494e-01 7.04134673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.61, Y:315.31, Z:70.45 [[ 3.05556409e-01 -9.50071246e-01 -6.32448278e-02 4.96611884e+02] [ 9.49674422e-01 3.08890918e-01 -5.20085858e-02 3.15307282e+02] [ 6.89476149e-02 -4.41704386e-02 9.96641961e-01 7.04493211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.60, Y:315.34, Z:70.43 [[ 3.02269450e-01 -9.52977113e-01 -2.16287126e-02 4.96602371e+02] [ 9.50695919e-01 3.03041596e-01 -6.59019009e-02 3.15339902e+02] [ 6.93574029e-02 -6.42197482e-04 9.97591669e-01 7.04347998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.2992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:496.61, Y:315.37, Z:70.44 [[ 2.94225886e-01 -9.55498481e-01 -2.13021454e-02 4.96613195e+02] [ 9.53287719e-01 2.94993619e-01 -6.49714582e-02 3.15365850e+02] [ 6.83641266e-02 -1.19078871e-03 9.97659726e-01 7.04362136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3292541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:496.60, Y:315.40, Z:70.41 [[ 2.85687644e-01 -9.58049499e-01 2.28850973e-02 4.96596877e+02] [ 9.56453339e-01 2.83558136e-01 -6.92227793e-02 3.15399269e+02] [ 5.98295935e-02 4.16646204e-02 9.97338698e-01 7.04054309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.63, Y:315.42, Z:70.43 [[ 2.83314202e-01 -9.58723304e-01 -2.41389413e-02 4.96631662e+02] [ 9.57228710e-01 2.84234064e-01 -5.40758180e-02 3.15418810e+02] [ 5.87048563e-02 -7.78604038e-03 9.98245019e-01 7.04274600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.3892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:496.64, Y:315.45, Z:70.43 [[ 2.77093916e-01 -9.60650003e-01 -1.92492285e-02 4.96640295e+02] [ 9.58915034e-01 2.77750885e-01 -5.77616099e-02 3.15445485e+02] [ 6.08351810e-02 -2.45298397e-03 9.98144811e-01 7.04284351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:496.65, Y:315.47, Z:70.43 [[ 2.77052604e-01 -9.60678074e-01 -1.84253269e-02 4.96648745e+02] [ 9.58891683e-01 2.77660884e-01 -5.85762247e-02 3.15472943e+02] [ 6.13888873e-02 -1.43919717e-03 9.98112886e-01 7.04298270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:496.68, Y:315.49, Z:70.46 [[ 2.77180225e-01 -9.59270056e-01 -5.45168013e-02 4.96677524e+02] [ 9.58368687e-01 2.80077031e-01 -5.55546353e-02 3.15492763e+02] [ 6.85608020e-02 -3.68485489e-02 9.96966199e-01 7.04590824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.4792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:496.67, Y:315.52, Z:70.45 [[ 2.75396006e-01 -9.61105244e-01 -2.08266410e-02 4.96671888e+02] [ 9.58995907e-01 2.76171663e-01 -6.36872288e-02 3.15523633e+02] [ 6.69618576e-02 -2.43345505e-03 9.97752569e-01 7.04479455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.68, Y:315.55, Z:70.45 [[ 2.74335292e-01 -9.61411071e-01 -2.07099215e-02 4.96680124e+02] [ 9.59321840e-01 2.75104750e-01 -6.33954537e-02 3.15549040e+02] [ 6.66464888e-02 -2.47586964e-03 9.97773579e-01 7.04494582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.68, Y:315.58, Z:70.43 [[ 2.70898860e-01 -9.62606427e-01 1.63531299e-03 4.96675246e+02] [ 9.60648321e-01 2.70238684e-01 -6.42328335e-02 3.15579632e+02] [ 6.13890136e-02 1.89715621e-02 9.97933599e-01 7.04330302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.69, Y:315.61, Z:70.44 [[ 2.70660106e-01 -9.62568870e-01 -1.42925865e-02 4.96691553e+02] [ 9.60757086e-01 2.71027814e-01 -5.90740709e-02 3.15605218e+02] [ 6.07365502e-02 2.25729055e-03 9.98151279e-01 7.04395915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.72, Y:315.63, Z:70.46 [[ 2.73980866e-01 -9.60711535e-01 -4.43602393e-02 4.96716256e+02] [ 9.59394843e-01 2.76239119e-01 -5.70393291e-02 3.15626562e+02] [ 6.70523749e-02 -2.69313000e-02 9.97385925e-01 7.04629740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.71, Y:315.66, Z:70.46 [[ 2.74568930e-01 -9.61333253e-01 -2.12197913e-02 4.96713087e+02] [ 9.59135339e-01 2.75376329e-01 -6.50175304e-02 3.15656462e+02] [ 6.83469422e-02 -2.50085789e-03 9.97658479e-01 7.04550879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.72, Y:315.68, Z:70.46 [[ 2.74955376e-01 -9.61223088e-01 -2.12065426e-02 4.96720651e+02] [ 9.59023501e-01 2.75761033e-01 -6.50367375e-02 3.15682577e+02] [ 6.83627517e-02 -2.45537216e-03 9.97657509e-01 7.04562448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.71, Y:315.71, Z:70.43 [[ 2.73073167e-01 -9.61952127e-01 8.89664339e-03 4.96708189e+02] [ 9.59985139e-01 2.71894238e-01 -6.70973664e-02 3.15714049e+02] [ 6.21255083e-02 2.68631358e-02 9.97706767e-01 7.04343116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.73, Y:315.74, Z:70.45 [[ 2.75662624e-01 -9.60920621e-01 -2.53313595e-02 4.96734490e+02] [ 9.59010253e-01 2.76723207e-01 -6.10213240e-02 3.15737224e+02] [ 6.56464236e-02 -7.47173517e-03 9.97814973e-01 7.04525453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.75, Y:315.76, Z:70.47 [[ 2.80867926e-01 -9.58825004e-01 -4.20454531e-02 4.96751084e+02] [ 9.57188761e-01 2.83046679e-01 -6.06156203e-02 3.15760957e+02] [ 7.00205982e-02 -2.32204516e-02 9.97275251e-01 7.04689048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.73, Y:315.80, Z:70.44 [[ 2.77704961e-01 -9.60541942e-01 1.54639337e-02 4.96726731e+02] [ 9.58656877e-01 2.76047518e-01 -6.90996447e-02 3.15797229e+02] [ 6.21043264e-02 3.40139205e-02 9.97489903e-01 7.04361685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.75, Y:315.82, Z:70.45 [[ 2.80092272e-01 -9.59790937e-01 -1.86996658e-02 4.96750050e+02] [ 9.57992339e-01 2.80712005e-01 -5.87490407e-02 3.15818186e+02] [ 6.16360175e-02 -1.45898432e-03 9.98097627e-01 7.04507487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.78, Y:315.84, Z:70.48 [[ 2.85977327e-01 -9.56658095e-01 -5.49750752e-02 4.96779756e+02] [ 9.55603951e-01 2.88971606e-01 -5.75890590e-02 3.15840601e+02] [ 7.09792753e-02 -3.60652340e-02 9.96825582e-01 7.04799462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8692541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:496.77, Y:315.87, Z:70.47 [[ 2.86617340e-01 -9.57786694e-01 -2.22519698e-02 4.96771710e+02] [ 9.55350902e-01 2.87474876e-01 -6.82850684e-02 3.15873724e+02] [ 7.17994122e-02 -1.68675479e-03 9.97417665e-01 7.04684355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.78, Y:315.90, Z:70.47 [[ 2.88130877e-01 -9.57339143e-01 -2.19627595e-02 4.96779327e+02] [ 9.54960452e-01 2.88962639e-01 -6.74620481e-02 3.15900299e+02] [ 7.09304763e-02 -1.53566767e-03 9.97480080e-01 7.04705725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.78, Y:315.93, Z:70.47 [[ 2.89185394e-01 -9.57032037e-01 -2.14822879e-02 4.96784821e+02] [ 9.54751164e-01 2.89978781e-01 -6.60493886e-02 3.15927252e+02] [ 6.94407886e-02 -1.40972092e-03 9.97585079e-01 7.04721248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.79, Y:315.95, Z:70.47 [[ 2.89603149e-01 -9.56911850e-01 -2.12067691e-02 4.96791957e+02] [ 9.54684392e-01 2.90375454e-01 -6.52671957e-02 3.15954500e+02] [ 6.86128782e-02 -1.34418607e-03 9.97642454e-01 7.04735321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 890.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.80, Y:315.98, Z:70.48 [[ 2.90167459e-01 -9.56741435e-01 -2.11819077e-02 4.96799106e+02] [ 9.54514503e-01 2.90936725e-01 -6.52524837e-02 3.15981975e+02] [ 6.85923497e-02 -1.28429070e-03 9.97643945e-01 7.04751256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:496.80, Y:316.01, Z:70.48 [[ 2.91104023e-01 -9.56449916e-01 -2.14943264e-02 4.96804094e+02] [ 9.54151497e-01 2.91893957e-01 -6.62784987e-02 3.16009965e+02] [ 6.96661285e-02 -1.21490611e-03 9.97569624e-01 7.04756432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0492541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:496.81, Y:316.04, Z:70.48 [[ 2.91728969e-01 -9.56249990e-01 -2.19126758e-02 4.96811191e+02] [ 9.53855847e-01 2.92548434e-01 -6.76345816e-02 3.16037255e+02] [ 7.10860869e-02 -1.17056718e-03 9.97469497e-01 7.04771738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.0792541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:496.82, Y:316.06, Z:70.48 [[ 2.93190121e-01 -9.55806643e-01 -2.17534753e-02 4.96818826e+02] [ 9.53441400e-01 2.93994196e-01 -6.72079510e-02 3.16064154e+02] [ 7.06332015e-02 -1.03595672e-03 9.97501818e-01 7.04791185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1092541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:496.82, Y:316.09, Z:70.48 [[ 2.94685671e-01 -9.55430916e-01 -1.76669096e-02 4.96822010e+02] [ 9.52803317e-01 2.95186746e-01 -7.09268894e-02 3.16091262e+02] [ 7.29807805e-02 4.06804789e-03 9.97325051e-01 7.04783222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.81, Y:316.12, Z:70.45 [[ 2.89574998e-01 -9.57038836e-01 1.49327241e-02 4.96807957e+02] [ 9.55078975e-01 2.87884599e-01 -7.03321361e-02 3.16122377e+02] [ 6.30116844e-02 3.46283590e-02 9.97411853e-01 7.04546511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:496.86, Y:316.14, Z:70.50 [[ 2.91934153e-01 -9.54387593e-01 -6.26001062e-02 4.96858839e+02] [ 9.53540084e-01 2.95516960e-01 -5.85750364e-02 3.16138195e+02] [ 7.44026810e-02 -4.25916569e-02 9.96318319e-01 7.05014220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.1992541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:496.85, Y:316.17, Z:70.49 [[ 2.90344313e-01 -9.56642562e-01 -2.31341273e-02 4.96848592e+02] [ 9.53974615e-01 2.91261433e-01 -7.14087682e-02 3.16171316e+02] [ 7.50507461e-02 -1.33624044e-03 9.97178821e-01 7.04885639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.84, Y:316.20, Z:70.47 [[ 2.84232975e-01 -9.58704863e-01 9.82857938e-03 4.96835715e+02] [ 9.56534227e-01 2.82862253e-01 -7.09310815e-02 3.16200831e+02] [ 6.52218386e-02 2.95623249e-02 9.97432795e-01 7.04683804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:496.86, Y:316.22, Z:70.48 [[ 2.81239766e-01 -9.59542022e-01 -1.35389064e-02 4.96855265e+02] [ 9.57515636e-01 2.81527666e-01 -6.24978455e-02 3.16224064e+02] [ 6.37808857e-02 4.61316494e-03 9.97953264e-01 7.04766192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.87, Y:316.25, Z:70.49 [[ 2.79379956e-01 -9.59796856e-01 -2.71447240e-02 4.96871653e+02] [ 9.57902870e-01 2.80551915e-01 -6.09320547e-02 3.16250228e+02] [ 6.60978988e-02 -8.97881427e-03 9.97772744e-01 7.04885608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.88, Y:316.28, Z:70.49 [[ 2.77334330e-01 -9.60405199e-01 -2.65992890e-02 4.96878402e+02] [ 9.58441704e-01 2.78482871e-01 -6.19418359e-02 3.16276071e+02] [ 6.68967077e-02 -8.31527034e-03 9.97725256e-01 7.04915860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.90, Y:316.30, Z:70.51 [[ 2.79556485e-01 -9.59236897e-01 -4.13853521e-02 4.96898313e+02] [ 9.57263752e-01 2.81790794e-01 -6.51157235e-02 3.16302984e+02] [ 7.41234157e-02 -2.14131747e-02 9.97019155e-01 7.05085004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.88, Y:316.33, Z:70.49 [[ 2.76671975e-01 -9.60940262e-01 -6.81411418e-03 4.96883741e+02] [ 9.58322909e-01 2.76429920e-01 -7.21366915e-02 3.16333071e+02] [ 7.12026762e-02 1.34280792e-02 9.97371478e-01 7.04904584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.91, Y:316.36, Z:70.51 [[ 2.79807533e-01 -9.59326868e-01 -3.74126198e-02 4.96911150e+02] [ 9.57084959e-01 2.81793189e-01 -6.76829384e-02 3.16357377e+02] [ 7.54726827e-02 -1.68688596e-02 9.97005173e-01 7.05107163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4392541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:496.91, Y:316.39, Z:70.51 [[ 2.81490053e-01 -9.59263133e-01 -2.40331527e-02 4.96909533e+02] [ 9.56382685e-01 2.82506584e-01 -7.43114350e-02 3.16387794e+02] [ 7.80737438e-02 -2.06696130e-03 9.96945444e-01 7.05070210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4692541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:496.92, Y:316.41, Z:70.51 [[ 2.83455472e-01 -9.58684047e-01 -2.40394259e-02 4.96916422e+02] [ 9.55794664e-01 2.84466755e-01 -7.43990954e-02 3.16414728e+02] [ 7.81636433e-02 -1.88792430e-03 9.96938755e-01 7.05085841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.4992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:496.92, Y:316.44, Z:70.51 [[ 2.86131886e-01 -9.57894494e-01 -2.38051123e-02 4.96923788e+02] [ 9.55052936e-01 2.87115776e-01 -7.37456526e-02 3.16440816e+02] [ 7.74753779e-02 -1.63415976e-03 9.96992926e-01 7.05107518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5292541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:496.93, Y:316.47, Z:70.51 [[ 2.89347175e-01 -9.56917851e-01 -2.42164888e-02 4.96928546e+02] [ 9.53967521e-01 2.90355544e-01 -7.50974523e-02 3.16468854e+02] [ 7.88934845e-02 -1.37250815e-03 9.96882107e-01 7.05122256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:496.94, Y:316.50, Z:70.51 [[ 2.91232661e-01 -9.56346553e-01 -2.41828149e-02 4.96935981e+02] [ 9.53396565e-01 2.92232521e-01 -7.50675937e-02 3.16495569e+02] [ 7.88576394e-02 -1.19367756e-03 9.96885173e-01 7.05141786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.5892541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:496.94, Y:316.52, Z:70.52 [[ 2.93029233e-01 -9.55794022e-01 -2.43239707e-02 4.96943112e+02] [ 9.52801666e-01 2.94035250e-01 -7.55794801e-02 3.16522012e+02] [ 7.93905201e-02 -1.02892269e-03 9.96843060e-01 7.05162571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6192541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:496.95, Y:316.55, Z:70.52 [[ 2.94173648e-01 -9.55434563e-01 -2.46304777e-02 4.96948779e+02] [ 9.52359229e-01 2.95201532e-01 -7.66025783e-02 3.16549748e+02] [ 8.04597057e-02 -9.22602840e-04 9.96757435e-01 7.05169274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6492541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:496.96, Y:316.57, Z:70.53 [[ 2.93942867e-01 -9.55146262e-01 -3.59612185e-02 4.96959421e+02] [ 9.52397271e-01 2.95864501e-01 -7.35094255e-02 3.16571973e+02] [ 8.08519009e-02 -1.26417951e-02 9.96645953e-01 7.05261394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.6792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:496.97, Y:316.60, Z:70.53 [[ 2.95569744e-01 -9.54484713e-01 -3.99682356e-02 4.96971589e+02] [ 9.51670766e-01 2.97836467e-01 -7.49412620e-02 3.16599375e+02] [ 8.34342870e-02 -1.58862318e-02 9.96386646e-01 7.05344313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7092541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:496.96, Y:316.63, Z:70.51 [[ 2.95574631e-01 -9.55317369e-01 2.08851775e-03 4.96961841e+02] [ 9.52093569e-01 2.94396266e-01 -8.27567175e-02 3.16634315e+02] [ 7.84440778e-02 2.64492506e-02 9.96567591e-01 7.05145074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.99, Y:316.65, Z:70.54 [[ 2.94440657e-01 -9.54458726e-01 -4.80961608e-02 4.96991952e+02] [ 9.52204952e-01 2.97283019e-01 -7.02035375e-02 3.16650893e+02] [ 8.13045508e-02 -2.51266268e-02 9.96372532e-01 7.05413502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:496.99, Y:316.68, Z:70.54 [[ 2.95190031e-01 -9.54933603e-01 -3.10589819e-02 4.96993946e+02] [ 9.51964566e-01 2.96730873e-01 -7.55926901e-02 3.16681435e+02] [ 8.14021587e-02 -7.25284166e-03 9.96654948e-01 7.05387203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.7992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:497.00, Y:316.71, Z:70.54 [[ 2.94233649e-01 -9.55447332e-01 -2.33870997e-02 4.96999025e+02] [ 9.52234400e-01 2.95160649e-01 -7.82932916e-02 3.16710282e+02] [ 8.17080681e-02 7.66519993e-04 9.96656011e-01 7.05387549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8292541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:497.00, Y:316.74, Z:70.52 [[ 2.93920177e-01 -9.55817441e-01 4.89382582e-03 4.96995095e+02] [ 9.52786577e-01 2.92572237e-01 -8.12356169e-02 3.16742344e+02] [ 7.62146219e-02 2.85395585e-02 9.96682911e-01 7.05215931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8592541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:497.02, Y:316.76, Z:70.53 [[ 2.93325177e-01 -9.55729337e-01 -2.32760417e-02 4.97016562e+02] [ 9.52961926e-01 2.94245972e-01 -7.26833992e-02 3.16763857e+02] [ 7.63145384e-02 -8.61310558e-04 9.97083422e-01 7.05323234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.8892541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:497.02, Y:316.79, Z:70.53 [[ 2.94067551e-01 -9.55582103e-01 -1.96753771e-02 4.97022444e+02] [ 9.52590394e-01 2.94704253e-01 -7.56369222e-02 3.16790038e+02] [ 7.80757064e-02 3.49978928e-03 9.96941290e-01 7.05327579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9192541539999 meters Centerline goodness : 0.995641 Centerline is valid? [True, True] Translation: X:497.04, Y:316.81, Z:70.55 [[ 2.92021842e-01 -9.55334030e-01 -4.53886970e-02 4.97040610e+02] [ 9.53144950e-01 2.94615545e-01 -6.86759386e-02 3.16812117e+02] [ 7.89806769e-02 -2.32071332e-02 9.96605981e-01 7.05463576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9492541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:497.03, Y:316.85, Z:70.53 [[ 2.92103410e-01 -9.56373013e-01 -5.12423978e-03 4.97030773e+02] [ 9.53276984e-01 2.91581158e-01 -7.90153105e-02 3.16845601e+02] [ 7.70622424e-02 1.81958218e-02 9.96860232e-01 7.05302905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 891.9792541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:497.05, Y:316.87, Z:70.54 [[ 2.91094746e-01 -9.56402828e-01 -2.36110037e-02 4.97047269e+02] [ 9.53521251e-01 2.92049294e-01 -7.41918766e-02 3.16869417e+02] [ 7.78528976e-02 -9.16728373e-04 9.96964436e-01 7.05378309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:497.06, Y:316.90, Z:70.54 [[ 2.90746492e-01 -9.56512571e-01 -2.34558796e-02 4.97056443e+02] [ 9.53663626e-01 2.91689658e-01 -7.37755488e-02 3.16895563e+02] [ 7.74090774e-02 -9.19037177e-04 9.96998992e-01 7.05397432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0392541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:497.07, Y:316.92, Z:70.54 [[ 2.89675277e-01 -9.56828307e-01 -2.38290698e-02 4.97065379e+02] [ 9.53883134e-01 2.90652017e-01 -7.50224770e-02 3.16922276e+02] [ 7.87095968e-02 -9.97990920e-04 9.96897088e-01 7.05421883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:497.07, Y:316.95, Z:70.54 [[ 2.89187176e-01 -9.56974603e-01 -2.38827660e-02 4.97073444e+02] [ 9.54010797e-01 2.90169902e-01 -7.52650439e-02 3.16947560e+02] [ 7.89567954e-02 -1.01873112e-03 9.96877518e-01 7.05439352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.0992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:497.08, Y:316.97, Z:70.55 [[ 2.89494118e-01 -9.56882754e-01 -2.38443068e-02 4.97082271e+02] [ 9.53922186e-01 2.90472812e-01 -7.52197398e-02 3.16973659e+02] [ 7.89025946e-02 -9.69941084e-04 9.96881859e-01 7.05460549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1292541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:497.09, Y:317.00, Z:70.55 [[ 2.89735923e-01 -9.56811013e-01 -2.37861321e-02 4.97090574e+02] [ 9.53858679e-01 2.90709180e-01 -7.51118770e-02 3.16998923e+02] [ 7.87827182e-02 -9.25999586e-04 9.96891381e-01 7.05479475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.10, Y:317.03, Z:70.55 [[ 2.91408121e-01 -9.56311003e-01 -2.34642742e-02 4.97099790e+02] [ 9.53430556e-01 2.92350290e-01 -7.41719882e-02 3.17025627e+02] [ 7.77912758e-02 -7.57236258e-04 9.96969380e-01 7.05501351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.1892541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:497.11, Y:317.05, Z:70.55 [[ 2.92110092e-01 -9.56087753e-01 -2.38307245e-02 4.97107904e+02] [ 9.53109776e-01 2.93079747e-01 -7.54056791e-02 3.17051793e+02] [ 7.90787490e-02 -6.86536571e-04 9.96868136e-01 7.05525821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2192541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:497.12, Y:317.08, Z:70.55 [[ 2.93152675e-01 -9.55763656e-01 -2.40279600e-02 4.97116659e+02] [ 9.52729358e-01 2.94135162e-01 -7.61004419e-02 3.17078734e+02] [ 7.98015045e-02 -5.83094798e-04 9.96810604e-01 7.05546604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.13, Y:317.10, Z:70.56 [[ 2.94899558e-01 -9.55237896e-01 -2.35544896e-02 4.97125904e+02] [ 9.52314892e-01 2.95838460e-01 -7.46722944e-02 3.17104890e+02] [ 7.82981292e-02 -4.10464606e-04 9.96929905e-01 7.05560372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.13, Y:317.13, Z:70.56 [[ 2.95894641e-01 -9.54930995e-01 -2.35192544e-02 4.97134085e+02] [ 9.52009919e-01 2.96827728e-01 -7.46352018e-02 3.17130229e+02] [ 7.82526344e-02 -3.06407219e-04 9.96933514e-01 7.05579192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3092541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:497.14, Y:317.16, Z:70.56 [[ 2.98320903e-01 -9.54175753e-01 -2.35217155e-02 4.97142650e+02] [ 9.51245613e-01 2.99246763e-01 -7.47205360e-02 3.17157388e+02] [ 7.83353210e-02 -8.42309203e-05 9.96927064e-01 7.05602086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3392541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:497.15, Y:317.18, Z:70.56 [[ 2.98059731e-01 -9.54257899e-01 -2.35001807e-02 4.97151135e+02] [ 9.51327480e-01 2.98984707e-01 -7.47273091e-02 3.17184618e+02] [ 7.83353196e-02 -8.31660399e-05 9.96927064e-01 7.05619046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:497.16, Y:317.21, Z:70.56 [[ 2.99698721e-01 -9.53742200e-01 -2.35900887e-02 4.97159209e+02] [ 9.50782031e-01 3.00625698e-01 -7.50847495e-02 3.17210077e+02] [ 7.87032811e-02 7.37708899e-05 9.96898083e-01 7.05642126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.17, Y:317.24, Z:70.57 [[ 3.02313448e-01 -9.52964396e-01 -2.15740434e-02 4.97166480e+02] [ 9.49975883e-01 3.03073433e-01 -7.54474376e-02 3.17235240e+02] [ 7.84372412e-02 2.31395410e-03 9.96916368e-01 7.05657868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4292541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:497.18, Y:317.26, Z:70.57 [[ 3.03102694e-01 -9.52633789e-01 -2.48519822e-02 4.97176901e+02] [ 9.49749786e-01 3.04117647e-01 -7.40796919e-02 3.17262754e+02] [ 7.81287439e-02 -1.14941057e-03 9.96942615e-01 7.05688293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4592541539998 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:497.18, Y:317.29, Z:70.57 [[ 3.05867573e-01 -9.51787297e-01 -2.33659825e-02 4.97184421e+02] [ 9.48863007e-01 3.06758114e-01 -7.45550421e-02 3.17290271e+02] [ 7.81282467e-02 6.32853328e-04 9.96943116e-01 7.05699021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.4892541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:497.19, Y:317.32, Z:70.57 [[ 3.08003771e-01 -9.51110047e-01 -2.28769713e-02 4.97192549e+02] [ 9.48299630e-01 3.08851131e-01 -7.30670309e-02 3.17315863e+02] [ 7.65603657e-02 8.10697573e-04 9.97064618e-01 7.05707071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:497.20, Y:317.34, Z:70.57 [[ 3.08210970e-01 -9.51040946e-01 -2.29590435e-02 4.97201148e+02] [ 9.48204781e-01 3.09063737e-01 -7.33982321e-02 3.17342382e+02] [ 7.69005319e-02 8.52265550e-04 9.97038405e-01 7.05721518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:497.21, Y:317.37, Z:70.57 [[ 3.07777456e-01 -9.51184494e-01 -2.28275164e-02 4.97210115e+02] [ 9.48375635e-01 3.08621714e-01 -7.30499370e-02 3.17368695e+02] [ 7.65290346e-02 8.34063431e-04 9.97067004e-01 7.05733140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.5792541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:497.22, Y:317.40, Z:70.57 [[ 3.09671071e-01 -9.50652000e-01 -1.90945867e-02 4.97222772e+02] [ 9.47520671e-01 3.10204040e-01 -7.73177354e-02 3.17401005e+02] [ 7.94254777e-02 5.85055028e-03 9.96823638e-01 7.05730323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:497.23, Y:317.42, Z:70.58 [[ 3.06004271e-01 -9.51587006e-01 -2.90440286e-02 4.97231982e+02] [ 9.48814914e-01 3.07334026e-01 -7.27740088e-02 3.17420426e+02] [ 7.81770194e-02 -5.28824999e-03 9.96925468e-01 7.05775121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6392541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:497.24, Y:317.45, Z:70.58 [[ 3.05629885e-01 -9.51857979e-01 -2.35957834e-02 4.97238642e+02] [ 9.48844153e-01 3.06538470e-01 -7.56897597e-02 3.17448138e+02] [ 7.92789170e-02 7.44331452e-04 9.96852195e-01 7.05771152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:497.25, Y:317.48, Z:70.58 [[ 3.07076037e-01 -9.51472255e-01 -2.01209961e-02 4.97251771e+02] [ 9.48275786e-01 3.07695587e-01 -7.80798263e-02 3.17480245e+02] [ 8.04819302e-02 4.89619023e-03 9.96744043e-01 7.05773680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.6992541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:497.26, Y:317.50, Z:70.58 [[ 3.03191054e-01 -9.52508546e-01 -2.83311448e-02 4.97260378e+02] [ 9.49712175e-01 3.04474854e-01 -7.30879433e-02 3.17499693e+02] [ 7.82430118e-02 -4.74682258e-03 9.96923016e-01 7.05814391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.27, Y:317.53, Z:70.58 [[ 3.02393385e-01 -9.52909162e-01 -2.28554189e-02 4.97267456e+02] [ 9.50070022e-01 3.03255447e-01 -7.35057029e-02 3.17526090e+02] [ 7.69752880e-02 5.13389958e-04 9.97032869e-01 7.05810596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:497.28, Y:317.55, Z:70.58 [[ 3.00727343e-01 -9.53444263e-01 -2.25189393e-02 4.97278658e+02] [ 9.50683966e-01 3.01569034e-01 -7.24990699e-02 3.17552393e+02] [ 7.59148370e-02 3.94058147e-04 9.97114227e-01 7.05825506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.29, Y:317.58, Z:70.58 [[ 2.99508596e-01 -9.53835784e-01 -2.21787930e-02 4.97288135e+02] [ 9.51154292e-01 3.00328489e-01 -7.14724538e-02 3.17577806e+02] [ 7.48339074e-02 3.11160132e-04 9.97195963e-01 7.05839777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.30, Y:317.60, Z:70.59 [[ 2.98404931e-01 -9.54185237e-01 -2.20233949e-02 4.97298108e+02] [ 9.51537955e-01 2.99216436e-01 -7.10284786e-02 3.17604546e+02] [ 7.43640874e-02 2.39152113e-04 9.97231129e-01 7.05855750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8492541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:497.31, Y:317.63, Z:70.59 [[ 2.96270764e-01 -9.54852025e-01 -2.19373027e-02 4.97309301e+02] [ 9.52221819e-01 2.97081811e-01 -7.08237676e-02 3.17629698e+02] [ 7.41433915e-02 9.38334612e-05 9.97247587e-01 7.05864720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.8792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:497.32, Y:317.66, Z:70.59 [[ 2.97488709e-01 -9.54561107e-01 -1.77076684e-02 4.97324559e+02] [ 9.51797691e-01 2.97976841e-01 -7.27389742e-02 3.17662274e+02] [ 7.47102708e-02 4.78490559e-03 9.97193803e-01 7.05861616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.33, Y:317.69, Z:70.59 [[ 2.95158219e-01 -9.55296235e-01 -1.70507928e-02 4.97334056e+02] [ 9.52701698e-01 2.95615040e-01 -7.05069064e-02 3.17689245e+02] [ 7.23954530e-02 4.56637368e-03 9.97365553e-01 7.05853972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:497.35, Y:317.72, Z:70.58 [[ 2.92560684e-01 -9.56108078e-01 -1.62969187e-02 4.97345734e+02] [ 9.53678312e-01 2.92980758e-01 -6.82638444e-02 3.17715612e+02] [ 7.00422966e-02 4.42929910e-03 9.97534189e-01 7.05847039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.36, Y:317.74, Z:70.59 [[ 2.91554498e-01 -9.56385873e-01 -1.79453838e-02 4.97357279e+02] [ 9.54136127e-01 2.92099397e-01 -6.55911128e-02 3.17743314e+02] [ 6.79722495e-02 2.00104498e-03 9.97685205e-01 7.05868255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 892.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.37, Y:317.76, Z:70.60 [[ 2.89396299e-01 -9.56356681e-01 -4.03940636e-02 4.97372649e+02] [ 9.54709512e-01 2.91431253e-01 -5.99797635e-02 3.17759551e+02] [ 6.91341401e-02 -2.12066752e-02 9.97381947e-01 7.06023186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:497.36, Y:317.80, Z:70.57 [[ 2.91766748e-01 -9.56307212e-01 1.86729927e-02 4.97358710e+02] [ 9.54118249e-01 2.89614141e-01 -7.60395757e-02 3.17799440e+02] [ 6.73092319e-02 4.00020628e-02 9.96929939e-01 7.05724369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.39, Y:317.82, Z:70.59 [[ 2.89469360e-01 -9.56967626e-01 -2.05049371e-02 4.97387160e+02] [ 9.55186060e-01 2.90182387e-01 -5.84275111e-02 3.17822242e+02] [ 6.18634082e-02 -2.67305586e-03 9.98081046e-01 7.05866770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.40, Y:317.85, Z:70.59 [[ 2.92394829e-01 -9.56153182e-01 -1.66239594e-02 4.97395976e+02] [ 9.54123084e-01 2.92857509e-01 -6.23186892e-02 3.17846760e+02] [ 6.44546643e-02 2.36035901e-03 9.97917845e-01 7.05872515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.41, Y:317.88, Z:70.59 [[ 2.91013707e-01 -9.56537499e-01 -1.86288750e-02 4.97406866e+02] [ 9.54691472e-01 2.91608924e-01 -5.94005830e-02 3.17876461e+02] [ 6.22512313e-02 -4.98444275e-04 9.98060387e-01 7.05887984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1492541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:497.42, Y:317.90, Z:70.59 [[ 2.94159781e-01 -9.55506985e-01 -2.18271682e-02 4.97417471e+02] [ 9.53555866e-01 2.94954794e-01 -6.10973041e-02 3.17898292e+02] [ 6.48169287e-02 -2.84105462e-03 9.97893128e-01 7.05907791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.1792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:497.43, Y:317.93, Z:70.59 [[ 2.93335785e-01 -9.55804185e-01 -1.98110379e-02 4.97426828e+02] [ 9.53829592e-01 2.94002691e-01 -6.14127602e-02 3.17929725e+02] [ 6.45230716e-02 -8.81794012e-04 9.97915826e-01 7.05930989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2092541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:497.44, Y:317.96, Z:70.59 [[ 2.93572587e-01 -9.55700280e-01 -2.12629189e-02 4.97436710e+02] [ 9.53680169e-01 2.94334558e-01 -6.21393887e-02 3.17956595e+02] [ 6.56450430e-02 -2.03560297e-03 9.97840962e-01 7.05948494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.45, Y:317.98, Z:70.60 [[ 2.95402178e-01 -9.54930514e-01 -2.90734696e-02 4.97451554e+02] [ 9.53007090e-01 2.96674498e-01 -6.13329393e-02 3.17983008e+02] [ 6.71940523e-02 -9.58933878e-03 9.97693843e-01 7.06040954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:497.46, Y:318.01, Z:70.61 [[ 2.96612380e-01 -9.54349819e-01 -3.51783767e-02 4.97464578e+02] [ 9.52379671e-01 2.98324239e-01 -6.30524473e-02 3.18009088e+02] [ 7.06686541e-02 -1.48010343e-02 9.97390029e-01 7.06122090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.47, Y:318.04, Z:70.62 [[ 2.98031900e-01 -9.54103310e-01 -2.93914946e-02 4.97473102e+02] [ 9.51819199e-01 2.99366438e-01 -6.64826964e-02 3.18037756e+02] [ 7.22301878e-02 -8.16142449e-03 9.97354597e-01 7.06158474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.48, Y:318.07, Z:70.62 [[ 2.98604235e-01 -9.54086691e-01 -2.35392752e-02 4.97479455e+02] [ 9.51594849e-01 2.99525107e-01 -6.89344202e-02 3.18065326e+02] [ 7.28200168e-02 -1.81574325e-03 9.97343446e-01 7.06159936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:497.49, Y:318.09, Z:70.62 [[ 2.99944938e-01 -9.53354887e-01 -3.38746675e-02 4.97493945e+02] [ 9.50972534e-01 3.01624572e-01 -6.83656191e-02 3.18090634e+02] [ 7.53941292e-02 -1.17079570e-02 9.97085076e-01 7.06236496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.3892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:497.50, Y:318.12, Z:70.62 [[ 3.01792936e-01 -9.52998628e-01 -2.67327311e-02 4.97500000e+02] [ 9.50318854e-01 3.02950522e-01 -7.15196303e-02 3.18118534e+02] [ 7.62568044e-02 -3.82049912e-03 9.97080891e-01 7.06239591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.50, Y:318.15, Z:70.62 [[ 3.01463025e-01 -9.53433732e-01 -9.17406151e-03 4.97499981e+02] [ 9.50198313e-01 3.01209557e-01 -7.99747985e-02 3.18150116e+02] [ 7.90139856e-02 1.53922669e-02 9.96754668e-01 7.06174041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:497.52, Y:318.17, Z:70.63 [[ 3.03429563e-01 -9.52260225e-01 -3.36298060e-02 4.97523828e+02] [ 9.50053293e-01 3.05053238e-01 -6.58882603e-02 3.18172806e+02] [ 7.30016508e-02 -1.19576619e-02 9.97260133e-01 7.06292183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.52, Y:318.20, Z:70.62 [[ 3.01489797e-01 -9.53254478e-01 -2.02435598e-02 4.97524076e+02] [ 9.50807110e-01 3.02165703e-01 -6.82768424e-02 3.18200192e+02] [ 7.12021152e-02 1.33705078e-03 9.97461012e-01 7.06243991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:497.52, Y:318.22, Z:70.62 [[ 2.98860458e-01 -9.54258649e-01 -8.53563629e-03 4.97521417e+02] [ 9.52110997e-01 2.98769029e-01 -6.49747437e-02 3.18223472e+02] [ 6.45528950e-02 1.12915085e-02 9.97850402e-01 7.06169465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:497.54, Y:318.25, Z:70.62 [[ 2.99149843e-01 -9.54035405e-01 -1.80503980e-02 4.97535720e+02] [ 9.52117707e-01 2.99692561e-01 -6.04668615e-02 3.18247878e+02] [ 6.30970967e-02 9.02548625e-04 9.98006985e-01 7.06215775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:497.54, Y:318.27, Z:70.62 [[ 2.99641097e-01 -9.53873612e-01 -1.84484862e-02 4.97544626e+02] [ 9.51865643e-01 3.00206891e-01 -6.18677653e-02 3.18274894e+02] [ 6.45523914e-02 9.77644856e-04 9.97913841e-01 7.06247793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.55, Y:318.30, Z:70.63 [[ 2.99690169e-01 -9.53858675e-01 -1.84236576e-02 4.97553153e+02] [ 9.51851856e-01 3.00254276e-01 -6.18499244e-02 3.18302149e+02] [ 6.45278689e-02 9.99221584e-04 9.97915405e-01 7.06257520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:497.56, Y:318.33, Z:70.63 [[ 3.00647743e-01 -9.53561824e-01 -1.81874404e-02 4.97562245e+02] [ 9.51601572e-01 3.01195462e-01 -6.11207098e-02 3.18328193e+02] [ 6.37603500e-02 1.06860657e-03 9.97964667e-01 7.06250369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.57, Y:318.36, Z:70.63 [[ 3.00716284e-01 -9.53533759e-01 -1.85226312e-02 4.97570762e+02] [ 9.51497243e-01 3.01284153e-01 -6.22965134e-02 3.18355234e+02] [ 6.49824038e-02 1.10934352e-03 9.97885793e-01 7.06274909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.58, Y:318.38, Z:70.63 [[ 3.00677266e-01 -9.53544732e-01 -1.85909992e-02 4.97579770e+02] [ 9.51488850e-01 3.01249340e-01 -6.25923611e-02 3.18381910e+02] [ 6.52851424e-02 1.13097159e-03 9.97866009e-01 7.06285923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.59, Y:318.41, Z:70.63 [[ 3.00384981e-01 -9.53636898e-01 -1.85884395e-02 4.97587755e+02] [ 9.51577374e-01 3.00957452e-01 -6.26507348e-02 3.18408218e+02] [ 6.53403818e-02 1.13100132e-03 9.97862393e-01 7.06300680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.60, Y:318.43, Z:70.63 [[ 3.00112012e-01 -9.53722830e-01 -1.85887980e-02 4.97595165e+02] [ 9.51658756e-01 3.00685015e-01 -6.27226782e-02 3.18433864e+02] [ 6.54094232e-02 1.13363674e-03 9.97857867e-01 7.06314776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.7792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:497.60, Y:318.46, Z:70.63 [[ 3.00328056e-01 -9.53661059e-01 -1.82659078e-02 4.97603098e+02] [ 9.51663706e-01 3.00880821e-01 -6.17002650e-02 3.18460923e+02] [ 6.43370014e-02 1.14731916e-03 9.97927570e-01 7.06303815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.61, Y:318.49, Z:70.63 [[ 3.00619105e-01 -9.53712320e-01 -7.80796251e-03 4.97605748e+02] [ 9.51668182e-01 3.00494543e-01 -6.34878008e-02 3.18489540e+02] [ 6.28953480e-02 1.16550564e-02 9.97952070e-01 7.06263736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.62, Y:318.51, Z:70.64 [[ 3.01520178e-01 -9.53019965e-01 -2.89573617e-02 4.97623268e+02] [ 9.51110892e-01 3.02769135e-01 -6.09829625e-02 3.18512535e+02] [ 6.68853761e-02 -9.15406844e-03 9.97718673e-01 7.06404112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.63, Y:318.54, Z:70.64 [[ 3.01332233e-01 -9.53330594e-01 -1.89648284e-02 4.97626044e+02] [ 9.51165446e-01 3.01925569e-01 -6.42280684e-02 3.18540446e+02] [ 6.69565492e-02 1.31529777e-03 9.97755025e-01 7.06383291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.8992541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:497.63, Y:318.57, Z:70.64 [[ 3.00600269e-01 -9.53569385e-01 -1.85716591e-02 4.97633962e+02] [ 9.51489083e-01 3.01170797e-01 -6.29656754e-02 3.18567168e+02] [ 6.56353818e-02 1.25676807e-03 9.97842882e-01 7.06374188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.64, Y:318.59, Z:70.64 [[ 2.99836780e-01 -9.53803336e-01 -1.88971364e-02 4.97641521e+02] [ 9.51645163e-01 3.00429091e-01 -6.41392593e-02 3.18592855e+02] [ 6.68534890e-02 1.24794050e-03 9.97762023e-01 7.06420073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9592541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:497.65, Y:318.62, Z:70.64 [[ 2.98295564e-01 -9.54294121e-01 -1.85064052e-02 4.97649197e+02] [ 9.52220736e-01 2.98866929e-01 -6.28826545e-02 3.18619594e+02] [ 6.55395000e-02 1.13543406e-03 9.97849330e-01 7.06414213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 893.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.66, Y:318.64, Z:70.65 [[ 2.97329651e-01 -9.54591209e-01 -1.87270428e-02 4.97656881e+02] [ 9.52464049e-01 2.97916777e-01 -6.37010943e-02 3.18644977e+02] [ 6.63876048e-02 1.10338912e-03 9.97793300e-01 7.06460709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:497.66, Y:318.67, Z:70.64 [[ 2.93713318e-01 -9.55839338e-01 -1.01806818e-02 4.97661861e+02] [ 9.53745395e-01 2.93750260e-01 -6.38788344e-02 3.18674723e+02] [ 6.40484807e-02 9.05228604e-03 9.97905731e-01 7.06409434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:497.67, Y:318.70, Z:70.65 [[ 2.91493995e-01 -9.56391781e-01 -1.86013756e-02 4.97674134e+02] [ 9.54403369e-01 2.92086827e-01 -6.16400407e-02 3.18700388e+02] [ 6.43852451e-02 2.14486159e-04 9.97925095e-01 7.06460878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.69, Y:318.72, Z:70.66 [[ 2.88488181e-01 -9.57116422e-01 -2.65089305e-02 4.97686175e+02] [ 9.55093732e-01 2.89612699e-01 -6.26134760e-02 3.18723942e+02] [ 6.76057091e-02 -7.25526552e-03 9.97685737e-01 7.06559249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.69, Y:318.75, Z:70.66 [[ 2.86407668e-01 -9.57918357e-01 -1.90543954e-02 4.97691528e+02] [ 9.55706687e-01 2.87040491e-01 -6.50575514e-02 3.18751852e+02] [ 6.77892058e-02 4.22568443e-04 9.97699577e-01 7.06551172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:497.70, Y:318.78, Z:70.65 [[ 2.82076962e-01 -9.59325526e-01 -1.12748434e-02 4.97695232e+02] [ 9.57184100e-01 2.82205234e-01 -6.44887916e-02 3.18779869e+02] [ 6.50475638e-02 7.39870161e-03 9.97854736e-01 7.06493607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1692541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:497.71, Y:318.81, Z:70.65 [[ 2.79263250e-01 -9.59983130e-01 -2.10814512e-02 4.97708221e+02] [ 9.57968151e-01 2.80043668e-01 -6.22299494e-02 3.18805365e+02] [ 6.56434285e-02 -2.81682087e-03 9.97839168e-01 7.06547854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.1992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:497.72, Y:318.83, Z:70.66 [[ 2.76739774e-01 -9.60667914e-01 -2.30706884e-02 4.97718693e+02] [ 9.58508351e-01 2.77667111e-01 -6.45191114e-02 3.18831551e+02] [ 6.83874116e-02 -4.25844319e-03 9.97649752e-01 7.06615659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:497.72, Y:318.86, Z:70.66 [[ 2.76589719e-01 -9.60796623e-01 -1.91827414e-02 4.97724789e+02] [ 9.58550748e-01 2.77254032e-01 -6.56556543e-02 3.18859566e+02] [ 6.84002233e-02 -2.27952114e-04 9.97657936e-01 7.06618194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:497.73, Y:318.89, Z:70.66 [[ 2.74677759e-01 -9.61341024e-01 -1.93794855e-02 4.97732337e+02] [ 9.59047097e-01 2.75360327e-01 -6.63728606e-02 3.18885502e+02] [ 6.91432953e-02 -3.54690659e-04 9.97606676e-01 7.06644970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.2892541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:497.74, Y:318.91, Z:70.66 [[ 2.70813460e-01 -9.62435582e-01 -1.94376078e-02 4.97740537e+02] [ 9.60127018e-01 2.71509422e-01 -6.66238983e-02 3.18912954e+02] [ 6.93987040e-02 -6.19923975e-04 9.97588811e-01 7.06635223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.74, Y:318.94, Z:70.66 [[ 2.68374261e-01 -9.63238011e-01 -1.21569166e-02 4.97742272e+02] [ 9.60829221e-01 2.68566465e-01 -6.84051360e-02 3.18938883e+02] [ 6.91553672e-02 6.67745715e-03 9.97583554e-01 7.06616390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:497.76, Y:318.96, Z:70.67 [[ 2.69307399e-01 -9.62682807e-01 -2.67457932e-02 4.97759263e+02] [ 9.60433765e-01 2.70518358e-01 -6.62329333e-02 3.18963721e+02] [ 7.09965342e-02 -7.85054384e-03 9.97445668e-01 7.06715613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.3792541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:497.76, Y:318.99, Z:70.67 [[ 2.68597046e-01 -9.63045209e-01 -1.99887913e-02 4.97763482e+02] [ 9.60592636e-01 2.69338747e-01 -6.86908152e-02 3.18992050e+02] [ 7.15361165e-02 -7.50935673e-04 9.97437727e-01 7.06699320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:497.77, Y:319.02, Z:70.67 [[ 2.67667234e-01 -9.63437143e-01 -1.19634693e-02 4.97765284e+02] [ 9.60980126e-01 2.67842892e-01 -6.91186106e-02 3.19019599e+02] [ 6.97957669e-02 7.00413102e-03 9.97536713e-01 7.06674188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:497.77, Y:319.05, Z:70.67 [[ 2.68569839e-01 -9.63164043e-01 -1.36113043e-02 4.97771422e+02] [ 9.60794944e-01 2.68866051e-01 -6.77061520e-02 3.19045913e+02] [ 6.88717487e-02 5.10615799e-03 9.97612455e-01 7.06689218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.79, Y:319.07, Z:70.68 [[ 2.72456212e-01 -9.61592741e-01 -3.32718132e-02 4.97790676e+02] [ 9.59409716e-01 2.74129220e-01 -6.62281545e-02 3.19070757e+02] [ 7.28052887e-02 -1.38770287e-02 9.97249627e-01 7.06843407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.79, Y:319.10, Z:70.68 [[ 2.73932906e-01 -9.61532490e-01 -2.03968854e-02 4.97791730e+02] [ 9.58964435e-01 2.74691038e-01 -7.02285298e-02 3.19099901e+02] [ 7.31298548e-02 -3.21982347e-04 9.97322376e-01 7.06809745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:497.80, Y:319.13, Z:70.68 [[ 2.75023109e-01 -9.61220349e-01 -2.04384510e-02 4.97798808e+02] [ 9.58635497e-01 2.75781422e-01 -7.04456573e-02 3.19126772e+02] [ 7.33503444e-02 -2.18840969e-04 9.97306211e-01 7.06807078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:497.81, Y:319.15, Z:70.69 [[ 2.80119443e-01 -9.59742879e-01 -2.06568182e-02 4.97805295e+02] [ 9.57092671e-01 2.80879989e-01 -7.12744792e-02 3.19153989e+02] [ 7.42072608e-02 1.94878125e-04 9.97242821e-01 7.06852710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.81, Y:319.18, Z:70.69 [[ 2.82270471e-01 -9.59113340e-01 -2.06151165e-02 4.97811820e+02] [ 9.56466479e-01 2.83022006e-01 -7.12068709e-02 3.19180541e+02] [ 7.41299913e-02 3.81929086e-04 9.97248514e-01 7.06870055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.82, Y:319.21, Z:70.69 [[ 2.84216993e-01 -9.58540068e-01 -2.05338721e-02 4.97818604e+02] [ 9.55906694e-01 2.84957249e-01 -7.10053414e-02 3.19208216e+02] [ 7.39127405e-02 5.52458851e-04 9.97264560e-01 7.06890403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:497.82, Y:319.23, Z:70.69 [[ 2.87145413e-01 -9.57675282e-01 -2.01386587e-02 4.97823872e+02] [ 9.55134945e-01 2.87849686e-01 -6.97122280e-02 3.19234421e+02] [ 7.25585842e-02 7.82409828e-04 9.97363845e-01 7.06893497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.6792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:497.81, Y:319.26, Z:70.67 [[ 2.84026559e-01 -9.58802166e-01 5.22691539e-03 4.97813616e+02] [ 9.56595811e-01 2.82993747e-01 -6.95628841e-02 3.19263703e+02] [ 6.52178596e-02 2.47577520e-02 9.97563875e-01 7.06723733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.85, Y:319.28, Z:70.70 [[ 2.89244889e-01 -9.56309641e-01 -4.25354543e-02 4.97848074e+02] [ 9.54493173e-01 2.91498493e-01 -6.30191398e-02 3.19284380e+02] [ 7.26648318e-02 -2.23718367e-02 9.97105472e-01 7.07049127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:497.84, Y:319.31, Z:70.70 [[ 2.89608921e-01 -9.56938621e-01 -1.98783587e-02 4.97844664e+02] [ 9.54450010e-01 2.90288598e-01 -6.89761507e-02 3.19314967e+02] [ 7.17764034e-02 1.00320891e-03 9.97420243e-01 7.06978406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.85, Y:319.34, Z:70.70 [[ 2.89129729e-01 -9.57082002e-01 -1.99509559e-02 4.97852013e+02] [ 9.54570100e-01 2.89815553e-01 -6.93027442e-02 3.19342208e+02] [ 7.21105065e-02 9.92897693e-04 9.97396155e-01 7.06998751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.7992541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:497.86, Y:319.37, Z:70.70 [[ 2.87462372e-01 -9.57584761e-01 -1.99200985e-02 4.97858722e+02] [ 9.55076452e-01 2.88150375e-01 -6.92699962e-02 3.19369507e+02] [ 7.20718766e-02 8.87300400e-04 9.97399046e-01 7.06978874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:497.86, Y:319.40, Z:70.70 [[ 2.85240164e-01 -9.58246174e-01 -2.00578769e-02 4.97864811e+02] [ 9.55699033e-01 2.85943544e-01 -6.98258444e-02 3.19395480e+02] [ 7.26457687e-02 7.47841785e-04 9.97357525e-01 7.07002606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:497.87, Y:319.42, Z:70.70 [[ 2.83632026e-01 -9.58721615e-01 -2.01429635e-02 4.97872147e+02] [ 9.56148111e-01 2.84345635e-01 -7.02022107e-02 3.19422615e+02] [ 7.30319406e-02 6.51938740e-04 9.97329389e-01 7.07028267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.88, Y:319.45, Z:70.71 [[ 2.78424885e-01 -9.60242990e-01 -2.03219953e-02 4.97879210e+02] [ 9.57621777e-01 2.79165401e-01 -7.09028327e-02 3.19449469e+02] [ 7.37571460e-02 2.80327789e-04 9.97276193e-01 7.07057277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:497.89, Y:319.48, Z:70.71 [[ 2.74046731e-01 -9.61500815e-01 -2.03610211e-02 4.97886346e+02] [ 9.58867252e-01 2.74802076e-01 -7.11154881e-02 3.19476904e+02] [ 7.39728506e-02 -3.45492589e-05 9.97260255e-01 7.07053029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:497.89, Y:319.50, Z:70.71 [[ 2.69869009e-01 -9.62681842e-01 -2.03565502e-02 4.97894028e+02] [ 9.60046977e-01 2.70635473e-01 -7.11775486e-02 3.19504179e+02] [ 7.40305381e-02 -3.34629959e-04 9.97255919e-01 7.07074894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 894.9792541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:497.90, Y:319.53, Z:70.71 [[ 2.60040301e-01 -9.65380662e-01 -2.04748689e-02 4.97900903e+02] [ 9.62717176e-01 2.60842910e-01 -7.16701837e-02 3.19530361e+02] [ 7.45297337e-02 -1.07437181e-03 9.97218213e-01 7.07081707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0092541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:497.91, Y:319.56, Z:70.71 [[ 2.54875033e-01 -9.66758934e-01 -2.03931859e-02 4.97908420e+02] [ 9.64114970e-01 2.55685493e-01 -7.14650565e-02 3.19556985e+02] [ 7.43037236e-02 -1.44671720e-03 9.97234608e-01 7.07103307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.92, Y:319.58, Z:70.72 [[ 2.50178406e-01 -9.67984028e-01 -2.04373732e-02 4.97916069e+02] [ 9.65326810e-01 2.51005400e-01 -7.16968535e-02 3.19583710e+02] [ 7.45313001e-02 -1.79173975e-03 9.97217065e-01 7.07151979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:497.92, Y:319.61, Z:70.72 [[ 2.40305704e-01 -9.70485431e-01 -2.02780146e-02 4.97922614e+02] [ 9.67872311e-01 2.41146661e-01 -7.12143053e-02 3.19610593e+02] [ 7.40024213e-02 -2.51332513e-03 9.97254895e-01 7.07151653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.0992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:497.92, Y:319.64, Z:70.71 [[ 2.35139550e-01 -9.71921670e-01 -8.81242781e-03 4.97921049e+02] [ 9.69333625e-01 2.35160418e-01 -7.13575594e-02 3.19637572e+02] [ 7.14262925e-02 8.23680182e-03 9.97411871e-01 7.07082130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:497.94, Y:319.66, Z:70.72 [[ 2.34396540e-01 -9.71683637e-01 -2.98189902e-02 4.97941194e+02] [ 9.69324666e-01 2.35940664e-01 -6.88599606e-02 3.19662707e+02] [ 7.39456093e-02 -1.27637462e-02 9.97180592e-01 7.07227717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.94, Y:319.69, Z:70.72 [[ 2.31008494e-01 -9.72742854e-01 -2.01597641e-02 4.97941817e+02] [ 9.70165078e-01 2.31864494e-01 -7.08419263e-02 3.19691833e+02] [ 7.35853111e-02 -3.19321241e-03 9.97283814e-01 7.07211751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.1892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:497.95, Y:319.72, Z:70.72 [[ 2.30256154e-01 -9.72918026e-01 -2.03129842e-02 4.97947249e+02] [ 9.70295839e-01 2.31127477e-01 -7.14567997e-02 3.19718787e+02] [ 7.42164973e-02 -3.25623614e-03 9.97236837e-01 7.07239617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.95, Y:319.74, Z:70.73 [[ 2.32058493e-01 -9.72487875e-01 -2.04006886e-02 4.97954157e+02] [ 9.69834928e-01 2.32932716e-01 -7.18509691e-02 3.19744828e+02] [ 7.46261841e-02 -3.11167271e-03 9.97206724e-01 7.07271026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.95, Y:319.77, Z:70.72 [[ 2.31698583e-01 -9.72736728e-01 -9.95107107e-03 4.97953537e+02] [ 9.70119043e-01 2.31808072e-01 -7.16523562e-02 3.19773362e+02] [ 7.20056172e-02 6.94802586e-03 9.97380026e-01 7.07199842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.2792541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:497.97, Y:319.80, Z:70.73 [[ 2.34472648e-01 -9.71660515e-01 -2.99736586e-02 4.97969726e+02] [ 9.69163023e-01 2.36051811e-01 -7.07289036e-02 3.19798035e+02] [ 7.57998193e-02 -1.24653683e-02 9.97045135e-01 7.07308959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.96, Y:319.83, Z:70.73 [[ 2.39127511e-01 -9.70905318e-01 -1.26845354e-02 4.97962691e+02] [ 9.68237255e-01 2.39412341e-01 -7.20995851e-02 3.19827813e+02] [ 7.30387049e-02 4.95935462e-03 9.97316776e-01 7.07263919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3392541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:497.98, Y:319.85, Z:70.73 [[ 2.44844345e-01 -9.69177401e-01 -2.73205404e-02 4.97976894e+02] [ 9.66585726e-01 2.46202059e-01 -7.13903376e-02 3.19854748e+02] [ 7.59162752e-02 -8.92812395e-03 9.97074224e-01 7.07349283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3692541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:497.98, Y:319.88, Z:70.73 [[ 2.54055841e-01 -9.66968703e-01 -2.06677726e-02 4.97975471e+02] [ 9.64203056e-01 2.54891513e-01 -7.30943418e-02 3.19884115e+02] [ 7.59479807e-02 -1.35788502e-03 9.97110857e-01 7.07342396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.3992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:497.98, Y:319.91, Z:70.74 [[ 2.58944185e-01 -9.65676009e-01 -2.04390544e-02 4.97980048e+02] [ 9.62961518e-01 2.59747866e-01 -7.23613210e-02 3.19911577e+02] [ 7.51865925e-02 -9.44479577e-04 9.97169035e-01 7.07378738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:497.98, Y:319.94, Z:70.74 [[ 2.63678998e-01 -9.64397333e-01 -2.02773503e-02 4.97984293e+02] [ 9.61715983e-01 2.64456955e-01 -7.18671466e-02 3.19937980e+02] [ 7.46709708e-02 -5.51194622e-04 9.97208074e-01 7.07405743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4592541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:497.99, Y:319.97, Z:70.74 [[ 2.72279032e-01 -9.61994620e-01 -2.07480246e-02 4.97986264e+02] [ 9.59173393e-01 2.73068363e-01 -7.36211311e-02 3.19966822e+02] [ 7.64887611e-02 1.44537181e-04 9.97070433e-01 7.07393258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.4892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:497.99, Y:319.99, Z:70.74 [[ 2.74832467e-01 -9.61268535e-01 -2.07344912e-02 4.97990035e+02] [ 9.58442728e-01 2.75613257e-01 -7.36537211e-02 3.19994959e+02] [ 7.65157052e-02 3.69611601e-04 9.97068308e-01 7.07433688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.00, Y:320.02, Z:70.75 [[ 2.80410187e-01 -9.59657439e-01 -2.06815321e-02 4.97996477e+02] [ 9.56835272e-01 2.81170592e-01 -7.35483521e-02 3.20021660e+02] [ 7.63962619e-02 8.34887766e-04 9.97077186e-01 7.07460601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5492541539999 meters Centerline goodness : 0.996811 Centerline is valid? [True, True] Translation: X:498.00, Y:320.05, Z:70.75 [[ 2.86499521e-01 -9.57809144e-01 -2.27962446e-02 4.97999867e+02] [ 9.55007389e-01 2.87403916e-01 -7.32111775e-02 3.20049423e+02] [ 7.66740652e-02 -7.95614827e-04 9.97055894e-01 7.07493141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.00, Y:320.07, Z:70.75 [[ 2.88791843e-01 -9.57126341e-01 -2.25485798e-02 4.98003664e+02] [ 9.54253279e-01 2.89670768e-01 -7.41048295e-02 3.20074144e+02] [ 7.74593487e-02 -1.16185864e-04 9.96995504e-01 7.07515369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.01, Y:320.10, Z:70.75 [[ 2.91929817e-01 -9.56296688e-01 -1.65416475e-02 4.98007703e+02] [ 9.53321198e-01 2.92329934e-01 -7.56432648e-02 3.20103424e+02] [ 7.71730223e-02 6.31302124e-03 9.96997728e-01 7.07498091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6392541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:498.01, Y:320.13, Z:70.75 [[ 2.93600754e-01 -9.55687427e-01 -2.14508297e-02 4.98014195e+02] [ 9.52621347e-01 2.94376314e-01 -7.65189814e-02 3.20130803e+02] [ 7.94428447e-02 2.03151239e-03 9.96837353e-01 7.07516783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6692541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:498.02, Y:320.16, Z:70.75 [[ 2.93440307e-01 -9.55735296e-01 -2.15135064e-02 4.98020277e+02] [ 9.52644952e-01 2.94220750e-01 -7.68228251e-02 3.20157634e+02] [ 7.97520055e-02 2.04818018e-03 9.96812632e-01 7.07528551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.6992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:498.03, Y:320.18, Z:70.76 [[ 2.93188317e-01 -9.55815426e-01 -2.13888368e-02 4.98026993e+02] [ 9.52755915e-01 2.93960432e-01 -7.64423374e-02 3.20184298e+02] [ 7.93522370e-02 2.03365950e-03 9.96844565e-01 7.07561650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7292541539998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:498.03, Y:320.21, Z:70.76 [[ 2.90723489e-01 -9.56564134e-01 -2.15617789e-02 4.98032807e+02] [ 9.53450064e-01 2.91515970e-01 -7.71454079e-02 3.20211241e+02] [ 8.00801332e-02 1.86990270e-03 9.96786675e-01 7.07567355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7592541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:498.04, Y:320.24, Z:70.76 [[ 2.88830817e-01 -9.57134081e-01 -2.17051010e-02 4.98039518e+02] [ 9.53972839e-01 2.89639934e-01 -7.77465831e-02 3.20237940e+02] [ 8.07005684e-02 1.74953223e-03 9.96736855e-01 7.07592232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.7892541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:498.05, Y:320.27, Z:70.76 [[ 2.86511608e-01 -9.57826475e-01 -2.18984689e-02 4.98046644e+02] [ 9.54603587e-01 2.87342834e-01 -7.85244415e-02 3.20265146e+02] [ 8.15051571e-02 1.59380710e-03 9.96671646e-01 7.07610071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8192541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:498.05, Y:320.29, Z:70.76 [[ 2.81755496e-01 -9.59233969e-01 -2.20007628e-02 4.98053968e+02] [ 9.55978064e-01 2.82610518e-01 -7.89761796e-02 3.20292197e+02] [ 8.19742812e-02 1.21972599e-03 9.96633699e-01 7.07632555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8492541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:498.06, Y:320.32, Z:70.77 [[ 2.78513646e-01 -9.60176078e-01 -2.21821422e-02 4.98061505e+02] [ 9.56861959e-01 2.79393890e-01 -7.97135246e-02 3.20318639e+02] [ 8.27365745e-02 9.76056330e-04 9.96570974e-01 7.07660172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.07, Y:320.34, Z:70.77 [[ 2.75725102e-01 -9.60991788e-01 -2.16899147e-02 4.98069147e+02] [ 9.57818919e-01 2.76575915e-01 -7.80300079e-02 3.20344333e+02] [ 8.09851048e-02 7.39821196e-04 9.96715037e-01 7.07692866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.08, Y:320.37, Z:70.77 [[ 2.68840129e-01 -9.62938603e-01 -2.17768798e-02 4.98078072e+02] [ 9.59739026e-01 2.69720620e-01 -7.84333360e-02 3.20370775e+02] [ 8.14001605e-02 1.85906746e-04 9.96681483e-01 7.07721892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9392541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:498.09, Y:320.40, Z:70.77 [[ 2.63912009e-01 -9.64285638e-01 -2.24423728e-02 4.98085777e+02] [ 9.60884178e-01 2.64864428e-01 -8.09223778e-02 3.20396555e+02] [ 8.39764729e-02 -2.08133631e-04 9.96467716e-01 7.07726859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9692541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:498.09, Y:320.42, Z:70.78 [[ 2.59934916e-01 -9.65366056e-01 -2.24101986e-02 4.98093975e+02] [ 9.61970514e-01 2.60898634e-01 -8.08989036e-02 3.20423501e+02] [ 8.39438457e-02 -5.29500630e-04 9.96470346e-01 7.07755744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 895.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.10, Y:320.45, Z:70.78 [[ 2.56267581e-01 -9.66360081e-01 -2.17972746e-02 4.98102064e+02] [ 9.63144656e-01 2.57191645e-01 -7.87707352e-02 3.20450580e+02] [ 8.17269710e-02 -8.07542811e-04 9.96654429e-01 7.07787356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0292541539999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:498.11, Y:320.48, Z:70.78 [[ 2.47492797e-01 -9.68622871e-01 -2.27387010e-02 4.98110209e+02] [ 9.65124838e-01 2.48530109e-01 -8.22607610e-02 3.20476444e+02] [ 8.53309064e-02 -1.58673929e-03 9.96351403e-01 7.07796249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0592541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:498.12, Y:320.50, Z:70.78 [[ 2.43769167e-01 -9.69569610e-01 -2.26133869e-02 4.98117650e+02] [ 9.66107945e-01 2.44808517e-01 -8.18793499e-02 3.20502067e+02] [ 8.49236790e-02 -1.88731182e-03 9.96385672e-01 7.07821500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.12, Y:320.53, Z:70.78 [[ 2.36509286e-01 -9.71596306e-01 -7.99851957e-03 4.98117541e+02] [ 9.68414730e-01 2.36387910e-01 -7.93326357e-02 3.20531140e+02] [ 7.89700491e-02 1.10170209e-02 9.96816110e-01 7.07767367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:498.14, Y:320.55, Z:70.79 [[ 2.34216380e-01 -9.71556308e-01 -3.49432089e-02 4.98138617e+02] [ 9.68575731e-01 2.36290259e-01 -7.76399854e-02 3.20554658e+02] [ 8.36883575e-02 -1.56605878e-02 9.96368910e-01 7.07908567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1492541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:498.14, Y:320.58, Z:70.79 [[ 2.34187566e-01 -9.71934667e-01 -2.23425117e-02 4.98140371e+02] [ 9.68547353e-01 2.35236089e-01 -8.11172451e-02 3.20584033e+02] [ 8.40964276e-02 -2.64313039e-03 9.96454116e-01 7.07884837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.1792541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:498.14, Y:320.61, Z:70.78 [[ 2.30275442e-01 -9.73104613e-01 -6.37442281e-03 4.98138943e+02] [ 9.69755133e-01 2.30017683e-01 -8.16507674e-02 3.20613413e+02] [ 8.09209683e-02 1.26205373e-02 9.96640617e-01 7.07803158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.16, Y:320.64, Z:70.80 [[ 2.28103230e-01 -9.72848820e-01 -3.91674651e-02 4.98162594e+02] [ 9.70200766e-01 2.30490966e-01 -7.47287658e-02 3.20637317e+02] [ 8.17275385e-02 -2.09544318e-02 9.96434404e-01 7.08013049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.16, Y:320.67, Z:70.79 [[ 2.25685173e-01 -9.74110731e-01 -1.32093415e-02 4.98156412e+02] [ 9.70887346e-01 2.26014291e-01 -7.93429376e-02 3.20667505e+02] [ 8.02743069e-02 5.08174207e-03 9.96759857e-01 7.07920233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.17, Y:320.69, Z:70.80 [[ 2.23254967e-01 -9.74295295e-01 -3.00981528e-02 4.98170490e+02] [ 9.71315948e-01 2.24953429e-01 -7.70797213e-02 3.20693362e+02] [ 8.18690924e-02 -1.20263852e-02 9.96570528e-01 7.08026661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.2992541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:498.17, Y:320.72, Z:70.80 [[ 2.22579013e-01 -9.74740571e-01 -1.84228951e-02 4.98171957e+02] [ 9.71404992e-01 2.23340142e-01 -8.05699859e-02 3.20722723e+02] [ 8.26494060e-02 3.70956907e-05 9.96578685e-01 7.07987427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:498.18, Y:320.75, Z:70.80 [[ 2.21564349e-01 -9.74905083e-01 -2.16637642e-02 4.98179862e+02] [ 9.71705388e-01 2.22592673e-01 -7.90008990e-02 3.20749023e+02] [ 8.18405732e-02 -3.54701368e-03 9.96639122e-01 7.08018197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3592541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:498.19, Y:320.78, Z:70.80 [[ 2.20388361e-01 -9.75159939e-01 -2.21824978e-02 4.98185796e+02] [ 9.71798315e-01 2.21470854e-01 -8.09857803e-02 3.20775200e+02] [ 8.38868654e-02 -3.70859059e-03 9.96468384e-01 7.08034490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.19, Y:320.80, Z:70.81 [[ 2.21074856e-01 -9.75026909e-01 -2.11763050e-02 4.98189173e+02] [ 9.71956165e-01 2.22059627e-01 -7.73998471e-02 3.20802185e+02] [ 8.01693360e-02 -3.47128013e-03 9.96775214e-01 7.08061077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.19, Y:320.83, Z:70.81 [[ 2.19983860e-01 -9.75239152e-01 -2.27089767e-02 4.98193202e+02] [ 9.72230561e-01 2.21091717e-01 -7.67215093e-02 3.20829046e+02] [ 7.98425863e-02 -5.20086739e-03 9.96793917e-01 7.08085087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.20, Y:320.86, Z:70.81 [[ 2.22157358e-01 -9.74792065e-01 -2.06528161e-02 4.98195397e+02] [ 9.71752753e-01 2.23095529e-01 -7.69738452e-02 3.20856743e+02] [ 7.96410444e-02 -2.96912479e-03 9.96819185e-01 7.08095806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.4792541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:498.21, Y:320.88, Z:70.82 [[ 2.24181331e-01 -9.74065828e-01 -3.06348434e-02 4.98206551e+02] [ 9.71084645e-01 2.25921974e-01 -7.71613569e-02 3.20884233e+02] [ 8.20813253e-02 -1.24508903e-02 9.96547857e-01 7.08177438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5092541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:498.20, Y:320.91, Z:70.81 [[ 2.26787410e-01 -9.73887427e-01 -1.05237682e-02 4.98202875e+02] [ 9.70529846e-01 2.26883140e-01 -8.12148893e-02 3.20914968e+02] [ 8.14818252e-02 8.20488325e-03 9.96641055e-01 7.08089222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5392541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:498.21, Y:320.94, Z:70.82 [[ 2.31550288e-01 -9.72345548e-01 -3.04729185e-02 4.98214149e+02] [ 9.69307542e-01 2.33260898e-01 -7.76675164e-02 3.20940551e+02] [ 8.26278041e-02 -1.15536939e-02 9.96513501e-01 7.08197736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.22, Y:320.97, Z:70.82 [[ 2.35651070e-01 -9.71407720e-01 -2.89069925e-02 4.98218810e+02] [ 9.68279178e-01 2.37227421e-01 -7.84766519e-02 3.20968830e+02] [ 8.30903568e-02 -9.49693186e-03 9.96496764e-01 7.08239336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.5992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:498.21, Y:321.00, Z:70.81 [[ 2.37443613e-01 -9.71383724e-01 -5.84730959e-03 4.98211633e+02] [ 9.68175748e-01 2.37141020e-01 -7.99991128e-02 3.21000251e+02] [ 7.90964731e-02 1.33340551e-02 9.96777784e-01 7.08133836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6292541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:498.22, Y:321.03, Z:70.82 [[ 2.44285094e-01 -9.69471078e-01 -2.12278608e-02 4.98220333e+02] [ 9.66322938e-01 2.45201462e-01 -7.80783145e-02 3.21025743e+02] [ 8.08997702e-02 -1.43960038e-03 9.96721202e-01 7.08191563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6592541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:498.22, Y:321.05, Z:70.82 [[ 2.46852005e-01 -9.68838731e-01 -2.03863070e-02 4.98224669e+02] [ 9.65737624e-01 2.47691728e-01 -7.74574090e-02 3.21053990e+02] [ 8.00932574e-02 -5.67306952e-04 9.96787213e-01 7.08201401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.6892541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:498.22, Y:321.09, Z:70.81 [[ 2.51857909e-01 -9.67755721e-01 -4.05676486e-03 4.98218054e+02] [ 9.64812297e-01 2.51414634e-01 -7.69929497e-02 3.21085051e+02] [ 7.55302976e-02 1.54772667e-02 9.97023384e-01 7.08119733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7192541539998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:498.23, Y:321.11, Z:70.82 [[ 2.54745359e-01 -9.66863454e-01 -1.67291145e-02 4.98229485e+02] [ 9.64125231e-01 2.55282740e-01 -7.27548057e-02 3.21112071e+02] [ 7.46146169e-02 2.40498774e-03 9.97209544e-01 7.08162917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7492541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:498.24, Y:321.14, Z:70.82 [[ 2.57886131e-01 -9.66003226e-01 -1.82349119e-02 4.98235366e+02] [ 9.63355586e-01 2.58528563e-01 -7.14772434e-02 3.21139591e+02] [ 7.37614933e-02 8.66285459e-04 9.97275535e-01 7.08182416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.7792541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:498.24, Y:321.17, Z:70.82 [[ 2.59982417e-01 -9.65482223e-01 -1.59128783e-02 4.98237612e+02] [ 9.62913725e-01 2.60451783e-01 -7.04416637e-02 3.21165795e+02] [ 7.21547116e-02 2.99086506e-03 9.97388967e-01 7.08182137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8092541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:498.24, Y:321.20, Z:70.82 [[ 2.65210457e-01 -9.64005677e-01 -1.88803441e-02 4.98243261e+02] [ 9.61324834e-01 2.65880114e-01 -7.18493474e-02 3.21195735e+02] [ 7.42830869e-02 9.05054594e-04 9.97236784e-01 7.08193939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8392541539998 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:498.26, Y:321.22, Z:70.84 [[ 2.68482172e-01 -9.62345990e-01 -4.25149322e-02 4.98259767e+02] [ 9.59901087e-01 2.70974404e-01 -7.18524606e-02 3.21219136e+02] [ 8.06673857e-02 -2.15190249e-02 9.96508758e-01 7.08355428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8692541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:498.26, Y:321.25, Z:70.83 [[ 2.70698206e-01 -9.62439732e-01 -2.07904469e-02 4.98255829e+02] [ 9.59357670e-01 2.71493960e-01 -7.69668193e-02 3.21249107e+02] [ 7.97204057e-02 8.89305247e-04 9.96816867e-01 7.08316252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.26, Y:321.28, Z:70.83 [[ 2.72582854e-01 -9.61995382e-01 -1.62318282e-02 4.98258142e+02] [ 9.59089312e-01 2.73022785e-01 -7.48749051e-02 3.21277786e+02] [ 7.64609719e-02 4.84184244e-03 9.97060819e-01 7.08288560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9292541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:498.27, Y:321.30, Z:70.84 [[ 2.74338059e-01 -9.61327580e-01 -2.42469257e-02 4.98268716e+02] [ 9.58365149e-01 2.75395799e-01 -7.54545894e-02 3.21303783e+02] [ 7.92140793e-02 -2.53734294e-03 9.96854398e-01 7.08351056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9592541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:498.27, Y:321.33, Z:70.84 [[ 2.75102801e-01 -9.61189597e-01 -2.08088251e-02 4.98273500e+02] [ 9.58081927e-01 2.75885547e-01 -7.72410916e-02 3.21331551e+02] [ 7.99841879e-02 1.31268137e-03 9.96795268e-01 7.08355389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 896.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.28, Y:321.36, Z:70.83 [[ 2.74646190e-01 -9.61424022e-01 -1.52748147e-02 4.98275168e+02] [ 9.58439295e-01 2.75000284e-01 -7.59536802e-02 3.21358958e+02] [ 7.72242711e-02 6.22040623e-03 9.96994342e-01 7.08329470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0192541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:498.29, Y:321.38, Z:70.84 [[ 2.76508800e-01 -9.60683171e-01 -2.51142946e-02 4.98288319e+02] [ 9.57756299e-01 2.77627207e-01 -7.50067096e-02 3.21383539e+02] [ 7.90300951e-02 -3.31335856e-03 9.96866724e-01 7.08404457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0492541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:498.29, Y:321.41, Z:70.84 [[ 2.75599256e-01 -9.61050494e-01 -2.06639401e-02 4.98293673e+02] [ 9.57968782e-01 2.76369286e-01 -7.69144399e-02 3.21411525e+02] [ 7.96295388e-02 1.40215288e-03 9.96823540e-01 7.08398404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.0792541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:498.30, Y:321.44, Z:70.84 [[ 2.75198062e-01 -9.61173315e-01 -2.02949520e-02 4.98301273e+02] [ 9.58194500e-01 2.75942011e-01 -7.56260987e-02 3.21436993e+02] [ 7.82900179e-02 1.36564440e-03 9.96929691e-01 7.08432060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1092541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:498.31, Y:321.46, Z:70.84 [[ 2.73961832e-01 -9.61523437e-01 -2.04351285e-02 4.98308928e+02] [ 9.58497823e-01 2.74719854e-01 -7.62294204e-02 3.21463798e+02] [ 7.89103098e-02 1.29692553e-03 9.96880876e-01 7.08443232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1392541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:498.32, Y:321.49, Z:70.85 [[ 2.72277607e-01 -9.62006662e-01 -2.02011718e-02 4.98317238e+02] [ 9.59044741e-01 2.73023480e-01 -7.54411304e-02 3.21489792e+02] [ 7.80902642e-02 1.16710289e-03 9.96945610e-01 7.08468556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1692541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:498.33, Y:321.52, Z:70.85 [[ 2.71348437e-01 -9.62273615e-01 -1.99878727e-02 4.98325128e+02] [ 9.59367979e-01 2.72081373e-01 -7.47315676e-02 3.21516158e+02] [ 7.73505436e-02 1.10256900e-03 9.97003349e-01 7.08497890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.33, Y:321.54, Z:70.85 [[ 2.71082964e-01 -9.62351738e-01 -1.98282660e-02 4.98333178e+02] [ 9.59486088e-01 2.71804958e-01 -7.42193528e-02 3.21542211e+02] [ 7.68145441e-02 1.09465671e-03 9.97044797e-01 7.08531230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2292541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:498.34, Y:321.57, Z:70.85 [[ 2.69138358e-01 -9.62892750e-01 -2.00523633e-02 4.98341601e+02] [ 9.59956316e-01 2.69882568e-01 -7.51483251e-02 3.21569395e+02] [ 7.77715607e-02 9.75904019e-04 9.96970728e-01 7.08538607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2592541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:498.35, Y:321.60, Z:70.86 [[ 2.68255743e-01 -9.63139969e-01 -2.00064299e-02 4.98349496e+02] [ 9.60211140e-01 2.68999156e-01 -7.50601104e-02 3.21596457e+02] [ 7.76751051e-02 9.24908879e-04 9.96978296e-01 7.08557331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.36, Y:321.62, Z:70.86 [[ 2.67767177e-01 -9.63283062e-01 -1.96591391e-02 4.98358721e+02] [ 9.60449363e-01 2.68486408e-01 -7.38381277e-02 3.21622348e+02] [ 7.64052293e-02 8.89819440e-04 9.97076451e-01 7.08593273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3192541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:498.37, Y:321.65, Z:70.86 [[ 2.65899820e-01 -9.63795675e-01 -1.98792254e-02 4.98366486e+02] [ 9.60892979e-01 2.66640768e-01 -7.47488051e-02 3.21649854e+02] [ 7.73431869e-02 7.73885732e-04 9.97004229e-01 7.08598096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3492541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:498.37, Y:321.68, Z:70.86 [[ 2.64774469e-01 -9.64107224e-01 -1.97924594e-02 4.98374464e+02] [ 9.61224115e-01 2.65512273e-01 -7.45079481e-02 3.21675483e+02] [ 7.70887919e-02 7.02813118e-04 9.97023984e-01 7.08615932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.3792541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:498.38, Y:321.70, Z:70.87 [[ 2.62762904e-01 -9.64659862e-01 -1.96724897e-02 4.98384573e+02] [ 9.61806401e-01 2.63497696e-01 -7.41445317e-02 3.21701461e+02] [ 7.67079095e-02 5.61305971e-04 9.97053450e-01 7.08653817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4092541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:498.39, Y:321.73, Z:70.87 [[ 2.60450501e-01 -9.65287552e-01 -1.96336123e-02 4.98392716e+02] [ 9.62440559e-01 2.61189171e-01 -7.40836596e-02 3.21727510e+02] [ 7.66401214e-02 3.98941415e-04 9.97058741e-01 7.08659583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4392541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:498.40, Y:321.75, Z:70.87 [[ 2.58343232e-01 -9.65855729e-01 -1.95316325e-02 4.98401287e+02] [ 9.63033152e-01 2.59080385e-01 -7.37868706e-02 3.21754592e+02] [ 7.63277346e-02 2.52729006e-04 9.97082751e-01 7.08665962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4692541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:498.41, Y:321.78, Z:70.87 [[ 2.56894911e-01 -9.66243032e-01 -1.94783814e-02 4.98410121e+02] [ 9.63430669e-01 2.57632252e-01 -7.36679676e-02 3.21780692e+02] [ 7.61994196e-02 1.58855931e-04 9.97092585e-01 7.08691049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.4992541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:498.42, Y:321.81, Z:70.87 [[ 2.53909467e-01 -9.67037947e-01 -1.91726610e-02 4.98419616e+02] [ 9.64309358e-01 2.54632294e-01 -7.25937771e-02 3.21806138e+02] [ 7.50829159e-02 -5.61291715e-05 9.97177293e-01 7.08705298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5292541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:498.43, Y:321.83, Z:70.87 [[ 2.53823450e-01 -9.67090737e-01 -1.75830462e-02 4.98429755e+02] [ 9.64251569e-01 2.54425030e-01 -7.40730476e-02 3.21834999e+02] [ 7.61089252e-02 1.84699659e-03 9.97097799e-01 7.08717193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5592541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:498.44, Y:321.86, Z:70.87 [[ 2.50432717e-01 -9.67904758e-01 -2.10673649e-02 4.98438342e+02] [ 9.65337957e-01 2.51302966e-01 -7.04943143e-02 3.21858575e+02] [ 7.35260735e-02 -2.68304438e-03 9.97289686e-01 7.08748641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.5892541539998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:498.44, Y:321.89, Z:70.87 [[ 2.49546862e-01 -9.68287001e-01 -1.21098018e-02 4.98441879e+02] [ 9.65450080e-01 2.49746016e-01 -7.43846191e-02 3.21885661e+02] [ 7.50500345e-02 6.87103921e-03 9.97156097e-01 7.08737747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:498.46, Y:321.91, Z:70.88 [[ 2.48891210e-01 -9.68195264e-01 -2.55165705e-02 4.98456853e+02] [ 9.65762768e-01 2.50084215e-01 -6.89939287e-02 3.21911225e+02] [ 7.31808866e-02 -7.47097133e-03 9.97290701e-01 7.08821823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:498.46, Y:321.94, Z:70.88 [[ 2.47325141e-01 -9.68754754e-01 -1.85607214e-02 4.98461292e+02] [ 9.66180958e-01 2.48020154e-01 -7.05716589e-02 3.21939019e+02] [ 7.29700631e-02 -4.78870102e-04 9.97334017e-01 7.08794877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.6792541539999 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:498.47, Y:321.97, Z:70.88 [[ 2.45556817e-01 -9.69203546e-01 -1.86101377e-02 4.98469438e+02] [ 9.66611176e-01 2.46260301e-01 -7.08427804e-02 3.21965226e+02] [ 7.32440120e-02 -5.92839455e-04 9.97313874e-01 7.08806790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.48, Y:321.99, Z:70.89 [[ 2.45726293e-01 -9.69158512e-01 -1.87180996e-02 4.98477530e+02] [ 9.66529338e-01 2.46437545e-01 -7.13412672e-02 3.21991757e+02] [ 7.37538388e-02 -5.61167271e-04 9.97276319e-01 7.08858630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7392541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:498.49, Y:322.02, Z:70.88 [[ 2.44206960e-01 -9.69544035e-01 -1.86366758e-02 4.98485219e+02] [ 9.66932840e-01 2.44916183e-01 -7.11122051e-02 3.22018856e+02] [ 7.35108377e-02 -6.54318396e-04 9.97294204e-01 7.08844096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.49, Y:322.04, Z:70.89 [[ 2.44622024e-01 -9.69437243e-01 -1.87482488e-02 4.98493245e+02] [ 9.66788217e-01 2.45338673e-01 -7.16203881e-02 3.22044957e+02] [ 7.40311421e-02 -6.05661704e-04 9.97255746e-01 7.08898531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.7992541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:498.50, Y:322.07, Z:70.89 [[ 2.43490852e-01 -9.69726884e-01 -1.84926106e-02 4.98500435e+02] [ 9.67144493e-01 2.44191177e-01 -7.07262263e-02 3.22072135e+02] [ 7.31008554e-02 -6.63837477e-04 9.97324333e-01 7.08880157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8292541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:498.51, Y:322.10, Z:70.89 [[ 2.43352109e-01 -9.69762784e-01 -1.84362280e-02 4.98508103e+02] [ 9.67190130e-01 2.44048598e-01 -7.05941538e-02 3.22099158e+02] [ 7.29589187e-02 -6.52101518e-04 9.97334734e-01 7.08909194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.52, Y:322.12, Z:70.90 [[ 2.43154714e-01 -9.69809215e-01 -1.85976095e-02 4.98515656e+02] [ 9.67185133e-01 2.43864024e-01 -7.12969598e-02 3.22124903e+02] [ 7.36797365e-02 -6.51139488e-04 9.97281742e-01 7.08951456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.8892541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:498.52, Y:322.15, Z:70.89 [[ 2.39745164e-01 -9.70662057e-01 -1.83692101e-02 4.98522644e+02] [ 9.68099068e-01 2.40446239e-01 -7.04968161e-02 3.22152450e+02] [ 7.28453920e-02 -8.81944397e-04 9.97342855e-01 7.08937533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.53, Y:322.18, Z:70.90 [[ 2.38452989e-01 -9.70977320e-01 -1.85260657e-02 4.98530693e+02] [ 9.68365005e-01 2.39169626e-01 -7.11836231e-02 3.22179299e+02] [ 7.35485558e-02 -9.66045947e-04 9.97291170e-01 7.08992961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9492541539998 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:498.54, Y:322.21, Z:70.90 [[ 2.35007827e-01 -9.71820913e-01 -1.83148968e-02 4.98537146e+02] [ 9.69264338e-01 2.35717389e-01 -7.04553447e-02 3.22206133e+02] [ 7.27871171e-02 -1.19441891e-03 9.97346785e-01 7.08970553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 897.9792541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:498.54, Y:322.23, Z:70.90 [[ 2.32317978e-01 -9.72467683e-01 -1.83019985e-02 4.98544556e+02] [ 9.69910259e-01 2.33033726e-01 -7.04937777e-02 3.22231770e+02] [ 7.28179035e-02 -1.37432424e-03 9.97344306e-01 7.09005221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0092541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:498.55, Y:322.26, Z:70.90 [[ 2.26453280e-01 -9.73855031e-01 -1.80358314e-02 4.98552663e+02] [ 9.71369713e-01 2.27163488e-01 -6.95530789e-02 3.22258107e+02] [ 7.18316981e-02 -1.76893755e-03 9.97415198e-01 7.09046547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0392541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:498.56, Y:322.29, Z:70.91 [[ 2.26283794e-01 -9.73894776e-01 -1.80169309e-02 4.98559713e+02] [ 9.71409197e-01 2.26993085e-01 -6.95579747e-02 3.22285700e+02] [ 7.18318669e-02 -1.76196991e-03 9.97415199e-01 7.09065307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0692541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:498.57, Y:322.31, Z:70.91 [[ 2.22982853e-01 -9.74657135e-01 -1.79475955e-02 4.98566439e+02] [ 9.72189338e-01 2.23695158e-01 -6.93423884e-02 3.22312622e+02] [ 7.15998438e-02 -1.98629739e-03 9.97431460e-01 7.09074512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.0992541539998 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:498.57, Y:322.34, Z:70.91 [[ 2.20136560e-01 -9.75305625e-01 -1.78559090e-02 4.98573194e+02] [ 9.72859423e-01 2.20848913e-01 -6.90673626e-02 3.22339904e+02] [ 7.13052453e-02 -2.16703774e-03 9.97452187e-01 7.09084893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1292541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:498.58, Y:322.37, Z:70.91 [[ 2.17081868e-01 -9.75995313e-01 -1.75673430e-02 4.98579518e+02] [ 9.73624400e-01 2.17778995e-01 -6.80282092e-02 3.22365807e+02] [ 7.02210117e-02 -2.33630305e-03 9.97528722e-01 7.09114448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:498.59, Y:322.39, Z:70.92 [[ 2.16840632e-01 -9.76048475e-01 -1.75930295e-02 4.98586494e+02] [ 9.73664989e-01 2.17540579e-01 -6.82098686e-02 3.22392340e+02] [ 7.04033360e-02 -2.33904580e-03 9.97515864e-01 7.09160462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.1892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:498.59, Y:322.42, Z:70.92 [[ 2.16330265e-01 -9.76162684e-01 -1.75394144e-02 4.98592310e+02] [ 9.73788674e-01 2.17027376e-01 -6.80788954e-02 3.22419359e+02] [ 7.02626104e-02 -2.35215760e-03 9.97525756e-01 7.09173697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2192541539998 meters Centerline goodness : 0.999770 Centerline is valid? [True, True] Translation: X:498.59, Y:322.45, Z:70.91 [[ 2.17572575e-01 -9.75967845e-01 -1.22040751e-02 4.98594233e+02] [ 9.73308652e-01 2.17881307e-01 -7.20971927e-02 3.22449663e+02] [ 7.30235817e-02 3.80804004e-03 9.97322944e-01 7.09141808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.61, Y:322.48, Z:70.92 [[ 2.20216409e-01 -9.75158946e-01 -2.38697349e-02 4.98605993e+02] [ 9.72809899e-01 2.21353901e-01 -6.81421370e-02 3.22475358e+02] [ 7.17330734e-02 -8.21469768e-03 9.97390037e-01 7.09232805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.2792541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:498.61, Y:322.50, Z:70.92 [[ 2.21709056e-01 -9.74946604e-01 -1.80059398e-02 4.98608135e+02] [ 9.72426652e-01 2.22430281e-01 -7.00797947e-02 3.22504090e+02] [ 7.23291241e-02 -1.97213063e-03 9.97378869e-01 7.09198353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3092541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:498.61, Y:322.53, Z:70.92 [[ 2.27031991e-01 -9.73717601e-01 -1.81799127e-02 4.98611880e+02] [ 9.71138360e-01 2.27753297e-01 -7.08429352e-02 3.22530574e+02] [ 7.31215479e-02 -1.57159799e-03 9.97321798e-01 7.09212777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3392541539998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:498.62, Y:322.56, Z:70.92 [[ 2.29688602e-01 -9.73094314e-01 -1.81824604e-02 4.98617347e+02] [ 9.70506638e-01 2.30403173e-01 -7.09312547e-02 3.22558213e+02] [ 7.32120972e-02 -1.35409786e-03 9.97315474e-01 7.09233250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3692541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:498.62, Y:322.58, Z:70.93 [[ 2.32874973e-01 -9.72334787e-01 -1.82841271e-02 4.98622674e+02] [ 9.69709353e-01 2.33589068e-01 -7.14137103e-02 3.22584672e+02] [ 7.37090070e-02 -1.09982323e-03 9.97279185e-01 7.09262177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.3992541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:498.63, Y:322.61, Z:70.93 [[ 2.38244386e-01 -9.71029105e-01 -1.84956835e-02 4.98626529e+02] [ 9.68332454e-01 2.38960280e-01 -7.23204251e-02 3.22612449e+02] [ 7.46449713e-02 -6.80035286e-04 9.97209941e-01 7.09263865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4292541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:498.63, Y:322.64, Z:70.93 [[ 2.41096605e-01 -9.70329198e-01 -1.82667658e-02 4.98632534e+02] [ 9.67690635e-01 2.41787216e-01 -7.15106804e-02 3.22640106e+02] [ 7.38055716e-02 -4.35595947e-04 9.97272555e-01 7.09303594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4592541539998 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:498.64, Y:322.67, Z:70.93 [[ 2.44553570e-01 -9.69465117e-01 -1.81917263e-02 4.98636822e+02] [ 9.66839482e-01 2.45229208e-01 -7.13025299e-02 3.22667952e+02] [ 7.35864581e-02 -1.51190984e-04 9.97288830e-01 7.09304986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.4892541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:498.64, Y:322.70, Z:70.93 [[ 2.45718200e-01 -9.69280056e-01 -1.08967918e-02 4.98639272e+02] [ 9.66395914e-01 2.45831763e-01 -7.51377544e-02 3.22696228e+02] [ 7.55083043e-02 7.93209871e-03 9.97113623e-01 7.09309184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5192541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:498.65, Y:322.72, Z:70.94 [[ 2.46093003e-01 -9.68907645e-01 -2.56165869e-02 4.98652617e+02] [ 9.66513202e-01 2.47296717e-01 -6.85314903e-02 3.22721233e+02] [ 7.27355827e-02 -7.89364922e-03 9.97320022e-01 7.09383528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:498.65, Y:322.75, Z:70.94 [[ 2.44818376e-01 -9.69397496e-01 -1.82334244e-02 4.98654726e+02] [ 9.66746006e-01 2.45496410e-01 -7.16496454e-02 3.22750155e+02] [ 7.39332271e-02 -8.59404363e-05 9.97263190e-01 7.09369123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.66, Y:322.78, Z:70.94 [[ 2.44100963e-01 -9.69582424e-01 -1.80178593e-02 4.98661861e+02] [ 9.66987678e-01 2.44765008e-01 -7.08866812e-02 3.22777228e+02] [ 7.31406216e-02 -1.19540759e-04 9.97321631e-01 7.09417275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6092541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:498.67, Y:322.80, Z:70.94 [[ 2.41731876e-01 -9.70169882e-01 -1.83330468e-02 4.98667452e+02] [ 9.67478564e-01 2.42425911e-01 -7.22143093e-02 3.22804461e+02] [ 7.45045535e-02 -2.80329300e-04 9.97220634e-01 7.09405216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6392541539999 meters Centerline goodness : 0.999729 Centerline is valid? [True, True] Translation: X:498.67, Y:322.83, Z:70.94 [[ 2.37011117e-01 -9.71331333e-01 -1.84708289e-02 4.98673518e+02] [ 9.68596231e-01 2.37728941e-01 -7.28443015e-02 3.22831432e+02] [ 7.51470031e-02 -6.25866052e-04 9.97172270e-01 7.09414361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6692541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:498.68, Y:322.86, Z:70.94 [[ 2.34609924e-01 -9.71913837e-01 -1.84845220e-02 4.98679954e+02] [ 9.69169877e-01 2.35335649e-01 -7.29854871e-02 3.22858602e+02] [ 7.52856717e-02 -7.91522320e-04 9.97161693e-01 7.09445051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.6992541539998 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:498.69, Y:322.89, Z:70.95 [[ 2.31967414e-01 -9.72547587e-01 -1.85016035e-02 4.98686213e+02] [ 9.69793900e-01 2.32702034e-01 -7.31406479e-02 3.22886243e+02] [ 7.54381215e-02 -9.76495330e-04 9.97150007e-01 7.09458431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7292541539998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:498.69, Y:322.91, Z:70.95 [[ 2.27306944e-01 -9.73645873e-01 -1.85813628e-02 4.98692322e+02] [ 9.70865178e-01 2.28061316e-01 -7.35448261e-02 3.22913999e+02] [ 7.58443065e-02 -1.32274849e-03 9.97118795e-01 7.09474893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7592541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:498.70, Y:322.94, Z:70.95 [[ 2.25265103e-01 -9.74125304e-01 -1.83173703e-02 4.98698888e+02] [ 9.71418258e-01 2.26004007e-01 -7.25862110e-02 3.22940589e+02] [ 7.48478639e-02 -1.44268771e-03 9.97193921e-01 7.09506460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.7892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:498.71, Y:322.97, Z:70.95 [[ 2.21914306e-01 -9.74894355e-01 -1.83040145e-02 4.98705204e+02] [ 9.72186999e-01 2.22661579e-01 -7.26241019e-02 3.22968299e+02] [ 7.48764278e-02 -1.67859775e-03 9.97191407e-01 7.09532275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:498.71, Y:322.99, Z:70.95 [[ 2.20403180e-01 -9.75232334e-01 -1.85562198e-02 4.98711038e+02] [ 9.72444174e-01 2.21175635e-01 -7.37134137e-02 3.22994310e+02] [ 7.59918882e-02 -1.79821699e-03 9.97106814e-01 7.09534657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8492541539998 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:498.72, Y:323.02, Z:70.96 [[ 2.18298722e-01 -9.75365740e-01 -3.17386375e-02 4.98720860e+02] [ 9.72747680e-01 2.20087015e-01 -7.29633982e-02 3.23018304e+02] [ 7.81512609e-02 -1.49458694e-02 9.96829475e-01 7.09615930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.8792541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:498.72, Y:323.05, Z:70.95 [[ 2.19834193e-01 -9.75522111e-01 -5.43494238e-03 4.98717981e+02] [ 9.72558155e-01 2.19594527e-01 -7.68692333e-02 3.23050999e+02] [ 7.61811204e-02 1.16126883e-02 9.97026370e-01 7.09548638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9092541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:498.73, Y:323.08, Z:70.96 [[ 2.19931975e-01 -9.75338530e-01 -1.85654985e-02 4.98730097e+02] [ 9.72531382e-01 2.20706944e-01 -7.39672660e-02 3.23077083e+02] [ 7.62406589e-02 -1.78776309e-03 9.97087843e-01 7.09595778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9392541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:498.74, Y:323.10, Z:70.96 [[ 2.20521379e-01 -9.75204507e-01 -1.86142675e-02 4.98735933e+02] [ 9.72375114e-01 2.21298873e-01 -7.42525872e-02 3.23103512e+02] [ 7.65307741e-02 -1.72576753e-03 9.97065726e-01 7.09605963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9692541539998 meters Centerline goodness : 0.999751 Centerline is valid? [True, True] Translation: X:498.74, Y:323.13, Z:70.96 [[ 2.21671629e-01 -9.74943296e-01 -1.86348764e-02 4.98742106e+02] [ 9.72100228e-01 2.22447635e-01 -7.44190582e-02 3.23130450e+02] [ 7.66996460e-02 -1.61837373e-03 9.97052930e-01 7.09620174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 898.9992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:498.75, Y:323.16, Z:70.97 [[ 2.26496420e-01 -9.73844248e-01 -1.80762756e-02 4.98748023e+02] [ 9.71159312e-01 2.27213503e-01 -7.22745857e-02 3.23156499e+02] [ 7.44913635e-02 -1.18500843e-03 9.97220955e-01 7.09665020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0292541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:498.75, Y:323.18, Z:70.97 [[ 2.28283488e-01 -9.73419374e-01 -1.84762359e-02 4.98753445e+02] [ 9.70606233e-01 2.29027555e-01 -7.39589068e-02 3.23183840e+02] [ 7.62245999e-02 -1.04955244e-03 9.97090121e-01 7.09663828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0592541539999 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:498.76, Y:323.21, Z:70.97 [[ 2.33381087e-01 -9.72216766e-01 -1.81060200e-02 4.98758834e+02] [ 9.69505165e-01 2.34081560e-01 -7.25641699e-02 3.23211133e+02] [ 7.47863880e-02 -6.18775023e-04 9.97199385e-01 7.09684473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.0892541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:498.76, Y:323.24, Z:70.97 [[ 2.36007203e-01 -9.71589138e-01 -1.77523882e-02 4.98764803e+02] [ 9.68974441e-01 2.36673604e-01 -7.12329905e-02 3.23238207e+02] [ 7.34107215e-02 -3.90111638e-04 9.97301717e-01 7.09713036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1192541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:498.77, Y:323.26, Z:70.97 [[ 2.38384801e-01 -9.71004900e-01 -1.79491032e-02 4.98770116e+02] [ 9.68323484e-01 2.39059507e-01 -7.21122985e-02 3.23264384e+02] [ 7.43122990e-02 -1.90062216e-04 9.97235000e-01 7.09714793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1492541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:498.78, Y:323.29, Z:70.97 [[ 2.41177613e-01 -9.70319421e-01 -1.77081979e-02 4.98776250e+02] [ 9.67701857e-01 2.41826838e-01 -7.12242742e-02 3.23291777e+02] [ 7.33926140e-02 4.14444569e-05 9.97303125e-01 7.09744191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.1792541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:498.78, Y:323.32, Z:70.98 [[ 2.46444288e-01 -9.68992870e-01 -1.78334437e-02 4.98782379e+02] [ 9.66327904e-01 2.47088247e-01 -7.18176904e-02 3.23319416e+02] [ 7.39972643e-02 4.66105335e-04 9.97258336e-01 7.09758378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2092541539998 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:498.79, Y:323.35, Z:70.98 [[ 2.48810866e-01 -9.68382939e-01 -1.81007150e-02 4.98788788e+02] [ 9.65628858e-01 2.49467471e-01 -7.29855504e-02 3.23345936e+02] [ 7.51935014e-02 6.81025266e-04 9.97168729e-01 7.09769755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2392541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:498.80, Y:323.37, Z:70.98 [[ 2.52611071e-01 -9.67396660e-01 -1.82029937e-02 4.98795628e+02] [ 9.64602318e-01 2.53264081e-01 -7.34824686e-02 3.23373574e+02] [ 7.56968591e-02 1.00383512e-03 9.97130372e-01 7.09787070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2692541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:498.80, Y:323.40, Z:70.97 [[ 2.52391075e-01 -9.67555068e-01 -1.16591775e-02 4.98798387e+02] [ 9.64793944e-01 2.52555375e-01 -7.34059163e-02 3.23400883e+02] [ 7.39688543e-02 7.27829427e-03 9.97233992e-01 7.09749305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.81, Y:323.43, Z:70.98 [[ 2.53470491e-01 -9.67103819e-01 -2.15154423e-02 4.98811537e+02] [ 9.64589586e-01 2.54363455e-01 -6.97578970e-02 3.23426751e+02] [ 7.29358708e-02 -3.07200319e-03 9.97331901e-01 7.09826086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3292541539998 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:498.82, Y:323.45, Z:70.99 [[ 2.54535154e-01 -9.66869533e-01 -1.93690885e-02 4.98820889e+02] [ 9.64231677e-01 2.55270537e-01 -7.13738446e-02 3.23453384e+02] [ 7.39535534e-02 -5.09136201e-04 9.97261557e-01 7.09851409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3592541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:498.83, Y:323.48, Z:70.99 [[ 2.53953615e-01 -9.67058091e-01 -1.74988563e-02 4.98828671e+02] [ 9.64455295e-01 2.54553271e-01 -7.09127453e-02 3.23480573e+02] [ 7.30311352e-02 1.13168334e-03 9.97329019e-01 7.09873004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.3892541539999 meters Centerline goodness : 0.999709 Centerline is valid? [True, True] Translation: X:498.84, Y:323.51, Z:70.99 [[ 2.52974378e-01 -9.67312635e-01 -1.76133855e-02 4.98836402e+02] [ 9.64669771e-01 2.53584472e-01 -7.14643177e-02 3.23506079e+02] [ 7.35948184e-02 1.08754075e-03 9.97287632e-01 7.09877386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4192541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:498.85, Y:323.53, Z:70.99 [[ 2.51306388e-01 -9.67751365e-01 -1.73894846e-02 4.98846877e+02] [ 9.65171856e-01 2.51905473e-01 -7.06181421e-02 3.23532372e+02] [ 7.27213098e-02 9.62949057e-04 9.97351836e-01 7.09891398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.85, Y:323.56, Z:70.98 [[ 2.48319214e-01 -9.68652492e-01 -7.06523991e-03 4.98849198e+02] [ 9.66219641e-01 2.48201692e-01 -6.93939879e-02 3.23560207e+02] [ 6.89722638e-02 1.04052870e-02 9.97564312e-01 7.09845818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.4792541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:498.87, Y:323.58, Z:71.00 [[ 2.49500224e-01 -9.68009398e-01 -2.65978029e-02 4.98868691e+02] [ 9.65606192e-01 2.50768495e-01 -6.87011197e-02 3.23584431e+02] [ 7.31732206e-02 -8.54205835e-03 9.97282665e-01 7.09956470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5092541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:498.88, Y:323.61, Z:70.99 [[ 2.47771282e-01 -9.68662823e-01 -1.73702742e-02 4.98875138e+02] [ 9.66078077e-01 2.48378310e-01 -7.07203310e-02 3.23610680e+02] [ 7.28185549e-02 7.41425972e-04 9.97344930e-01 7.09948742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5392541539999 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:498.88, Y:323.64, Z:71.00 [[ 2.46722472e-01 -9.68926734e-01 -1.75785949e-02 4.98883587e+02] [ 9.66273271e-01 2.47346927e-01 -7.16621475e-02 3.23637671e+02] [ 7.37833819e-02 6.94935802e-04 9.97274049e-01 7.09957427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.89, Y:323.66, Z:71.00 [[ 2.47042729e-01 -9.68900430e-01 -1.42072874e-02 4.98890868e+02] [ 9.66282799e-01 2.47420487e-01 -7.12787174e-02 3.23662831e+02] [ 7.25771539e-02 3.88063139e-03 9.97355251e-01 7.09994061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.5992541539998 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:498.90, Y:323.69, Z:71.00 [[ 2.45294164e-01 -9.69242620e-01 -1.99879234e-02 4.98902133e+02] [ 9.66738942e-01 2.46097016e-01 -6.96568515e-02 3.23690178e+02] [ 7.24333575e-02 -2.23668472e-03 9.97370747e-01 7.10007322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6292541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:498.91, Y:323.72, Z:71.00 [[ 2.43955675e-01 -9.69636432e-01 -1.70534204e-02 4.98911360e+02] [ 9.67123541e-01 2.44550430e-01 -6.97649131e-02 3.23715622e+02] [ 7.18170227e-02 5.26782153e-04 9.97417685e-01 7.10022878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6592541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:498.92, Y:323.74, Z:71.00 [[ 2.42664248e-01 -9.69959798e-01 -1.70895795e-02 4.98919909e+02] [ 9.67431140e-01 2.43264848e-01 -6.99943128e-02 3.23742016e+02] [ 7.20489634e-02 4.52125910e-04 9.97400994e-01 7.10044419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.6892541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:498.93, Y:323.77, Z:71.01 [[ 2.40961977e-01 -9.70382520e-01 -1.71782044e-02 4.98928493e+02] [ 9.67822116e-01 2.41573266e-01 -7.04464964e-02 3.23768454e+02] [ 7.25098436e-02 3.49480888e-04 9.97367636e-01 7.10057058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7192541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:498.94, Y:323.80, Z:71.01 [[ 2.36508177e-01 -9.71475081e-01 -1.73219170e-02 4.98939288e+02] [ 9.68867828e-01 2.37141656e-01 -7.11264222e-02 3.23795165e+02] [ 7.32052949e-02 3.93323370e-05 9.97316892e-01 7.10073950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7492541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:498.95, Y:323.82, Z:71.01 [[ 2.34021579e-01 -9.72076357e-01 -1.73625281e-02 4.98947438e+02] [ 9.69451725e-01 2.34664741e-01 -7.13849599e-02 3.23820438e+02] [ 7.34660049e-02 -1.26511747e-04 9.97297714e-01 7.10096193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.7792541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:498.96, Y:323.85, Z:71.01 [[ 2.31266552e-01 -9.72731917e-01 -1.75613212e-02 4.98956083e+02] [ 9.70042208e-01 2.31932140e-01 -7.22882876e-02 3.23847484e+02] [ 7.43901593e-02 -3.17359789e-04 9.97229163e-01 7.10103041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8092541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:498.96, Y:323.87, Z:71.01 [[ 2.28785295e-01 -9.73316968e-01 -1.76456605e-02 4.98964512e+02] [ 9.70596024e-01 2.29464252e-01 -7.27290565e-02 3.23873542e+02] [ 7.48374731e-02 -4.87469280e-04 9.97195625e-01 7.10117207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8392541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:498.98, Y:323.90, Z:71.01 [[ 2.24098594e-01 -9.74410338e-01 -1.74446089e-02 4.98975169e+02] [ 9.71748212e-01 2.24775045e-01 -7.19832676e-02 3.23899187e+02] [ 7.40623529e-02 -8.20418477e-04 9.97253275e-01 7.10136027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:498.98, Y:323.93, Z:71.02 [[ 2.22159514e-01 -9.74858449e-01 -1.72091640e-02 4.98984163e+02] [ 9.72263122e-01 2.22823082e-01 -7.10935675e-02 3.23925964e+02] [ 7.31407639e-02 -9.37723122e-04 9.97321187e-01 7.10188329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.8992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:498.99, Y:323.95, Z:71.02 [[ 2.18154756e-01 -9.75762783e-01 -1.71899342e-02 4.98993958e+02] [ 9.73169392e-01 2.18827582e-01 -7.11043164e-02 3.23951834e+02] [ 7.31425774e-02 -1.21697302e-03 9.97320752e-01 7.10202521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9292541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:499.00, Y:323.98, Z:71.02 [[ 2.15858892e-01 -9.76272792e-01 -1.72155078e-02 4.99001463e+02] [ 9.73666303e-01 2.16539966e-01 -7.13047910e-02 3.23978564e+02] [ 7.33407729e-02 -1.37038666e-03 9.97305998e-01 7.10192031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9592541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:499.01, Y:324.01, Z:71.02 [[ 2.15596083e-01 -9.76331224e-01 -1.71950780e-02 4.99008068e+02] [ 9.73724528e-01 2.16276367e-01 -7.13097176e-02 3.24006295e+02] [ 7.33407929e-02 -1.36917345e-03 9.97305998e-01 7.10210911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 899.9892541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:499.02, Y:324.03, Z:71.02 [[ 2.13066000e-01 -9.76885110e-01 -1.72731416e-02 4.99016385e+02] [ 9.74250053e-01 2.13759415e-01 -7.17199137e-02 3.24031715e+02] [ 7.37544125e-02 -1.54728403e-03 9.97275234e-01 7.10230394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0192541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:499.02, Y:324.06, Z:71.02 [[ 2.12047468e-01 -9.77105056e-01 -1.73660996e-02 4.99023581e+02] [ 9.74435077e-01 2.12751292e-01 -7.22022709e-02 3.24058968e+02] [ 7.42438641e-02 -1.61182786e-03 9.97238813e-01 7.10240499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0492541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:499.03, Y:324.08, Z:71.03 [[ 2.12359964e-01 -9.77040122e-01 -1.72001954e-02 4.99031009e+02] [ 9.74414091e-01 2.13049723e-01 -7.16030323e-02 3.24084371e+02] [ 7.36235322e-02 -1.55449543e-03 9.97284894e-01 7.10289596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.0792541539998 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:499.04, Y:324.11, Z:71.03 [[ 2.12117810e-01 -9.77092986e-01 -1.71852354e-02 4.99037606e+02] [ 9.74464670e-01 2.12807170e-01 -7.16359931e-02 3.24112023e+02] [ 7.36521677e-02 -1.55113484e-03 9.97282785e-01 7.10273322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1092541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:499.05, Y:324.14, Z:71.03 [[ 2.14005722e-01 -9.76688172e-01 -1.67858758e-02 4.99045124e+02] [ 9.74173265e-01 2.14658720e-01 -7.00577189e-02 3.24138909e+02] [ 7.20277800e-02 -1.35959873e-03 9.97401700e-01 7.10317878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1392541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:499.05, Y:324.17, Z:71.03 [[ 2.13790802e-01 -9.76841025e-01 -8.66626328e-03 4.99047978e+02] [ 9.74399820e-01 2.13871429e-01 -6.93109131e-02 3.24167351e+02] [ 6.95592095e-02 6.37363035e-03 9.97557464e-01 7.10270847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1692541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:499.06, Y:324.19, Z:71.04 [[ 2.15211612e-01 -9.76266799e-01 -2.42301221e-02 4.99062055e+02] [ 9.73913373e-01 2.16388654e-01 -6.83278363e-02 3.24191912e+02] [ 7.19493216e-02 -8.89309617e-03 9.97368642e-01 7.10373606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.1992541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:499.07, Y:324.22, Z:71.03 [[ 2.16581234e-01 -9.76161936e-01 -1.41577950e-02 4.99065079e+02] [ 9.73624030e-01 2.17038613e-01 -7.03597072e-02 3.24221298e+02] [ 7.17552561e-02 1.45422283e-03 9.97421209e-01 7.10345678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2292541539998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:499.07, Y:324.25, Z:71.04 [[ 2.17346767e-01 -9.75917765e-01 -1.85714755e-02 4.99073723e+02] [ 9.73384532e-01 2.18120888e-01 -7.03266063e-02 3.24248646e+02] [ 7.26838112e-02 -2.79192651e-03 9.97351126e-01 7.10382493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2592541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:499.08, Y:324.28, Z:71.04 [[ 2.18388569e-01 -9.75716429e-01 -1.68488429e-02 4.99079265e+02] [ 9.73224057e-01 2.19034404e-01 -6.97055557e-02 3.24276214e+02] [ 7.17033321e-02 -1.17480273e-03 9.97425312e-01 7.10415003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.2892541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:499.08, Y:324.30, Z:71.04 [[ 2.19422566e-01 -9.75516690e-01 -1.48635441e-02 4.99083966e+02] [ 9.73044956e-01 2.19924080e-01 -6.94039816e-02 3.24303269e+02] [ 7.09735937e-02 7.65903119e-04 9.97477901e-01 7.10428346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3192541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:499.09, Y:324.33, Z:71.05 [[ 2.23388595e-01 -9.74399250e-01 -2.53700220e-02 4.99094776e+02] [ 9.71939517e-01 2.24641603e-01 -6.97834120e-02 3.24330215e+02] [ 7.36960667e-02 -9.06930863e-03 9.97239509e-01 7.10497362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3492541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:499.09, Y:324.36, Z:71.04 [[ 2.23256540e-01 -9.74742940e-01 -5.72000316e-03 4.99089734e+02] [ 9.72154276e-01 2.23084722e-01 -7.17584244e-02 3.24359098e+02] [ 7.12220629e-02 1.04598120e-02 9.97405640e-01 7.10404530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.3792541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:499.11, Y:324.38, Z:71.06 [[ 2.26331127e-01 -9.73428419e-01 -3.48042386e-02 4.99111673e+02] [ 9.71032809e-01 2.28296283e-01 -7.05414137e-02 3.24383957e+02] [ 7.66126951e-02 -1.78303399e-02 9.96901487e-01 7.10579058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.11, Y:324.41, Z:71.05 [[ 2.27668595e-01 -9.73647660e-01 -1.33133709e-02 4.99107166e+02] [ 9.70768594e-01 2.28020017e-01 -7.49346965e-02 3.24413052e+02] [ 7.59957069e-02 4.13607477e-03 9.97099567e-01 7.10523570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4392541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:499.11, Y:324.44, Z:71.05 [[ 2.27935318e-01 -9.73621853e-01 -1.02945365e-02 4.99110681e+02] [ 9.70815268e-01 2.28062777e-01 -7.41962620e-02 3.24438970e+02] [ 7.45869027e-02 6.91785534e-03 9.97190522e-01 7.10471885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4692541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:499.12, Y:324.47, Z:71.05 [[ 2.27868861e-01 -9.73538998e-01 -1.72511224e-02 4.99120454e+02] [ 9.70805078e-01 2.28520899e-01 -7.29088397e-02 3.24465343e+02] [ 7.49218407e-02 -1.33823012e-04 9.97189400e-01 7.10521957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.4992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:499.13, Y:324.49, Z:71.05 [[ 2.27550250e-01 -9.73613135e-01 -1.72727124e-02 4.99126827e+02] [ 9.70865674e-01 2.28204829e-01 -7.30917208e-02 3.24492315e+02] [ 7.51047759e-02 -1.37444240e-04 9.97175638e-01 7.10546878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5292541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:499.13, Y:324.52, Z:71.06 [[ 2.26194174e-01 -9.73926716e-01 -1.74054140e-02 4.99133427e+02] [ 9.71130663e-01 2.26862741e-01 -7.37464015e-02 3.24518468e+02] [ 7.57722305e-02 -2.21924877e-04 9.97125128e-01 7.10551256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5592541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:499.14, Y:324.54, Z:71.06 [[ 2.25116680e-01 -9.73982652e-01 -2.60820521e-02 4.99144409e+02] [ 9.71207763e-01 2.26456401e-01 -7.39795926e-02 3.24544388e+02] [ 7.79612875e-02 -8.67705125e-03 9.96918626e-01 7.10646241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.14, Y:324.57, Z:71.06 [[ 2.23903614e-01 -9.74548992e-01 -1.10197332e-02 4.99144326e+02] [ 9.71661931e-01 2.24090739e-01 -7.52092537e-02 3.24573659e+02] [ 7.57645225e-02 6.13216844e-03 9.97106882e-01 7.10614860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6192541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:499.16, Y:324.60, Z:71.07 [[ 2.22136547e-01 -9.74675541e-01 -2.57477020e-02 4.99158740e+02] [ 9.71977746e-01 2.23450167e-01 -7.30019493e-02 3.24598052e+02] [ 7.69065428e-02 -8.80979243e-03 9.96999384e-01 7.10696128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6492541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:499.16, Y:324.63, Z:71.07 [[ 2.20974066e-01 -9.75117865e-01 -1.77654463e-02 4.99161248e+02] [ 9.72277627e-01 2.21685468e-01 -7.43758597e-02 3.24625866e+02] [ 7.64635708e-02 -8.37809932e-04 9.97072024e-01 7.10685902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.6792541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:499.16, Y:324.65, Z:71.07 [[ 2.19475883e-01 -9.75560194e-01 -1.06134327e-02 4.99163268e+02] [ 9.72772219e-01 2.19653050e-01 -7.39374611e-02 3.24652495e+02] [ 7.44617167e-02 5.90303709e-03 9.97206401e-01 7.10651868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.17, Y:324.68, Z:71.07 [[ 2.20047481e-01 -9.75401569e-01 -1.30723352e-02 4.99172456e+02] [ 9.72819635e-01 2.20416321e-01 -7.09831224e-02 3.24680173e+02] [ 7.21184050e-02 2.90263297e-03 9.97391854e-01 7.10693959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.18, Y:324.71, Z:71.07 [[ 2.18838123e-01 -9.75647369e-01 -1.49026036e-02 4.99179187e+02] [ 9.73064009e-01 2.19342554e-01 -7.09596973e-02 3.24707421e+02] [ 7.25004171e-02 1.02749971e-03 9.97367853e-01 7.10708636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7692541539999 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:499.19, Y:324.73, Z:71.07 [[ 2.19503053e-01 -9.75439844e-01 -1.83172425e-02 4.99187824e+02] [ 9.72856741e-01 2.20254607e-01 -7.09765492e-02 3.24733889e+02] [ 7.32678111e-02 -2.24048355e-03 9.97309785e-01 7.10709721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.19, Y:324.76, Z:71.07 [[ 2.19291505e-01 -9.75549275e-01 -1.46577126e-02 4.99191793e+02] [ 9.72969813e-01 2.19777056e-01 -7.09068968e-02 3.24761561e+02] [ 7.23946007e-02 1.28776825e-03 9.97375237e-01 7.10743295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.19, Y:324.79, Z:71.07 [[ 2.19547232e-01 -9.75578981e-01 -6.68320932e-03 4.99193059e+02] [ 9.73069626e-01 2.19465487e-01 -7.05010819e-02 3.24789843e+02] [ 7.02461074e-02 8.97508936e-03 9.97489314e-01 7.10697991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8592541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:499.21, Y:324.82, Z:71.07 [[ 2.20394659e-01 -9.75250274e-01 -1.76945488e-02 4.99205016e+02] [ 9.72761670e-01 2.21095989e-01 -6.96512489e-02 3.24816885e+02] [ 7.18395934e-02 -1.86181559e-03 9.97414461e-01 7.10736222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.8892541539999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:499.21, Y:324.84, Z:71.07 [[ 2.21618264e-01 -9.74990129e-01 -1.67210424e-02 4.99211147e+02] [ 9.72460475e-01 2.22247051e-01 -7.01916862e-02 3.24843294e+02] [ 7.21524035e-02 -7.04793131e-04 9.97393370e-01 7.10739781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:499.22, Y:324.87, Z:71.07 [[ 2.22255631e-01 -9.74923432e-01 -1.12577255e-02 4.99215026e+02] [ 9.72466955e-01 2.22495940e-01 -6.93078524e-02 3.24871262e+02] [ 7.00746475e-02 4.45629447e-03 9.97531797e-01 7.10749852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.22, Y:324.90, Z:71.08 [[ 2.23427620e-01 -9.74574950e-01 -1.68453442e-02 4.99224764e+02] [ 9.72175049e-01 2.24059033e-01 -6.83609830e-02 3.24898355e+02] [ 7.03972532e-02 -1.10289161e-03 9.97518426e-01 7.10803390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 900.9792541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:499.23, Y:324.93, Z:71.08 [[ 2.23054717e-01 -9.74751671e-01 -1.02846045e-02 4.99227449e+02] [ 9.72288815e-01 2.23224068e-01 -6.94656509e-02 3.24926586e+02] [ 7.00075306e-02 5.49503516e-03 9.97531328e-01 7.10752267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.24, Y:324.95, Z:71.08 [[ 2.24932453e-01 -9.74256812e-01 -1.51345719e-02 4.99237790e+02] [ 9.71905399e-01 2.25440472e-01 -6.76497487e-02 3.24953835e+02] [ 6.93201736e-02 5.07251816e-04 9.97594335e-01 7.10820095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:499.25, Y:324.98, Z:71.09 [[ 2.25742946e-01 -9.74004275e-01 -1.88625446e-02 4.99246426e+02] [ 9.71667029e-01 2.26508566e-01 -6.75059618e-02 3.24979776e+02] [ 7.00236233e-02 -3.08911800e-03 9.97540550e-01 7.10859239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:499.25, Y:325.01, Z:71.08 [[ 2.25802926e-01 -9.74119743e-01 -1.01865514e-02 4.99248703e+02] [ 9.71734536e-01 2.25964792e-01 -6.83513322e-02 3.25008215e+02] [ 6.88841841e-02 5.53530696e-03 9.97609307e-01 7.10818265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.0992541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:499.26, Y:325.03, Z:71.08 [[ 2.27750139e-01 -9.73616818e-01 -1.41480249e-02 4.99257654e+02] [ 9.71320205e-01 2.28184341e-01 -6.68503197e-02 3.25034949e+02] [ 6.83149533e-02 1.48290718e-03 9.97662703e-01 7.10844329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1292541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:499.28, Y:325.06, Z:71.10 [[ 2.31127884e-01 -9.72272943e-01 -3.55700101e-02 4.99275735e+02] [ 9.70167019e-01 2.33069057e-01 -6.67440663e-02 3.25058851e+02] [ 7.31837185e-02 -1.90824358e-02 9.97135901e-01 7.11005833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1592541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:499.27, Y:325.09, Z:71.10 [[ 2.34244977e-01 -9.72038369e-01 -1.64529733e-02 4.99273619e+02] [ 9.69452494e-01 2.34821187e-01 -7.08581179e-02 3.25088450e+02] [ 7.27403161e-02 6.47782185e-04 9.97350704e-01 7.10967629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.1892541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:499.27, Y:325.12, Z:71.08 [[ 2.32775109e-01 -9.72512500e-01 5.93179738e-03 4.99267106e+02] [ 9.70226282e-01 2.31799630e-01 -7.02131988e-02 3.25118181e+02] [ 6.69082251e-02 2.20990707e-02 9.97514371e-01 7.10833797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2192541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:499.30, Y:325.14, Z:71.11 [[ 2.36726307e-01 -9.70876382e-01 -3.68742062e-02 4.99296077e+02] [ 9.68821593e-01 2.38741026e-01 -6.62377777e-02 3.25140655e+02] [ 7.31120798e-02 -2.00443027e-02 9.97122284e-01 7.11065410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2492541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:499.29, Y:325.17, Z:71.10 [[ 2.39607875e-01 -9.70729924e-01 -1.64766719e-02 4.99293444e+02] [ 9.68115942e-01 2.40171159e-01 -7.11992862e-02 3.25170286e+02] [ 7.30724991e-02 1.10858090e-03 9.97326015e-01 7.11011801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.2792541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:499.30, Y:325.20, Z:71.10 [[ 2.40846850e-01 -9.70424067e-01 -1.64293921e-02 4.99300040e+02] [ 9.67817398e-01 2.41403477e-01 -7.10904054e-02 3.25196982e+02] [ 7.29539527e-02 1.22124870e-03 9.97334562e-01 7.11027166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3092541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:499.31, Y:325.22, Z:71.10 [[ 2.41689767e-01 -9.70213591e-01 -1.64816418e-02 4.99306577e+02] [ 9.67583353e-01 2.42247541e-01 -7.14043651e-02 3.25224054e+02] [ 7.32701227e-02 1.31034214e-03 9.97311271e-01 7.11039886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3392541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:499.31, Y:325.25, Z:71.11 [[ 2.42360045e-01 -9.70046120e-01 -1.64965079e-02 4.99313590e+02] [ 9.67403723e-01 2.42916871e-01 -7.15641698e-02 3.25251347e+02] [ 7.34278253e-02 1.38551226e-03 9.97299571e-01 7.11058750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:499.32, Y:325.28, Z:71.11 [[ 2.42552216e-01 -9.69999072e-01 -1.64384810e-02 4.99321741e+02] [ 9.67368066e-01 2.43104483e-01 -7.14089374e-02 3.25276845e+02] [ 7.32628714e-02 1.41833444e-03 9.97311656e-01 7.11089354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.3992541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:499.33, Y:325.30, Z:71.11 [[ 2.41562235e-01 -9.70243719e-01 -1.65774521e-02 4.99329119e+02] [ 9.67561059e-01 2.42126456e-01 -7.21136380e-02 3.25302892e+02] [ 7.39816441e-02 1.38023447e-03 9.97258648e-01 7.11092205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4292541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:499.34, Y:325.33, Z:71.11 [[ 2.38732288e-01 -9.70944091e-01 -1.65670722e-02 4.99338367e+02] [ 9.68261077e-01 2.39303527e-01 -7.21408984e-02 3.25329671e+02] [ 7.40093378e-02 1.18111055e-03 9.97256849e-01 7.11116909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4592541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:499.35, Y:325.36, Z:71.11 [[ 2.36973101e-01 -9.71375345e-01 -1.65435609e-02 4.99346405e+02] [ 9.68693923e-01 2.37547467e-01 -7.21337951e-02 3.25356359e+02] [ 7.39988711e-02 1.06812221e-03 9.97257753e-01 7.11141495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.4892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:499.35, Y:325.38, Z:71.12 [[ 2.35064543e-01 -9.71841914e-01 -1.63693096e-02 4.99354205e+02] [ 9.69211018e-01 2.35631961e-01 -7.14673502e-02 3.25382698e+02] [ 7.33120990e-02 9.34124765e-04 9.97308610e-01 7.11177277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:499.36, Y:325.41, Z:71.12 [[ 2.30780319e-01 -9.72869106e-01 -1.63139934e-02 4.99363693e+02] [ 9.70251587e-01 2.31355364e-01 -7.13200819e-02 3.25408235e+02] [ 7.31594342e-02 6.30593243e-04 9.97320059e-01 7.11202604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.37, Y:325.43, Z:71.12 [[ 2.28523132e-01 -9.73401452e-01 -1.63337421e-02 4.99371499e+02] [ 9.70771625e-01 2.29105605e-01 -7.15057603e-02 3.25434881e+02] [ 7.33459627e-02 4.84386941e-04 9.97306440e-01 7.11229101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.5792541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:499.38, Y:325.46, Z:71.12 [[ 2.25654841e-01 -9.74067570e-01 -1.65003850e-02 4.99379092e+02] [ 9.71378438e-01 2.26257118e-01 -7.23301286e-02 3.25462392e+02] [ 7.41877622e-02 2.93525459e-04 9.97244248e-01 7.11219173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6092541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:499.39, Y:325.49, Z:71.12 [[ 2.22452299e-01 -9.74799506e-01 -1.67600124e-02 4.99388824e+02] [ 9.72019630e-01 2.23082760e-01 -7.35657561e-02 3.25487728e+02] [ 7.54507326e-02 7.38104542e-05 9.97149528e-01 7.11243032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6392541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:499.40, Y:325.51, Z:71.13 [[ 2.21287838e-01 -9.75063992e-01 -1.67900283e-02 4.99396720e+02] [ 9.72267257e-01 2.21923888e-01 -7.37981678e-02 3.25514516e+02] [ 7.56840444e-02 6.24224076e-06 9.97131850e-01 7.11274516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:499.40, Y:325.54, Z:71.13 [[ 2.20132081e-01 -9.75325413e-01 -1.67989775e-02 4.99404244e+02] [ 9.72519291e-01 2.20772133e-01 -7.39316849e-02 3.25541203e+02] [ 7.58161972e-02 -6.25939997e-05 9.97121808e-01 7.11285612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.6992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:499.41, Y:325.57, Z:71.13 [[ 2.20245988e-01 -9.75300291e-01 -1.67644974e-02 4.99413390e+02] [ 9.72498430e-01 2.20883097e-01 -7.38746381e-02 3.25567259e+02] [ 7.57529501e-02 -3.28547582e-05 9.97126617e-01 7.11322461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:499.42, Y:325.59, Z:71.13 [[ 2.20519148e-01 -9.75236694e-01 -1.68729246e-02 4.99420487e+02] [ 9.72390153e-01 2.21163718e-01 -7.44580461e-02 3.25593891e+02] [ 7.63458975e-02 1.23592057e-05 9.97081393e-01 7.11343711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:499.43, Y:325.62, Z:71.14 [[ 2.21399509e-01 -9.75039436e-01 -1.67438277e-02 4.99427704e+02] [ 9.72228433e-01 2.22031728e-01 -7.39850425e-02 3.25621257e+02] [ 7.58559951e-02 1.01426743e-04 9.97118778e-01 7.11374029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.43, Y:325.65, Z:71.14 [[ 2.21987938e-01 -9.74904371e-01 -1.68173416e-02 4.99434674e+02] [ 9.72060718e-01 2.22623985e-01 -7.44078060e-02 3.25648308e+02] [ 7.62844389e-02 1.70158271e-04 9.97086082e-01 7.11396911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8192541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:499.44, Y:325.67, Z:71.14 [[ 2.23159430e-01 -9.74633475e-01 -1.70134918e-02 4.99442341e+02] [ 9.71714280e-01 2.23806851e-01 -7.53780564e-02 3.25674757e+02] [ 7.72737130e-02 2.89071165e-04 9.97009874e-01 7.11393678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8492541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:499.45, Y:325.70, Z:71.14 [[ 2.22900865e-01 -9.74693034e-01 -1.69910169e-02 4.99448525e+02] [ 9.71773626e-01 2.23547323e-01 -7.53831226e-02 3.25702593e+02] [ 7.72737007e-02 2.91541114e-04 9.97009875e-01 7.11413044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.8792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:499.46, Y:325.73, Z:71.14 [[ 2.23686402e-01 -9.74512589e-01 -1.70178381e-02 4.99455550e+02] [ 9.71576047e-01 2.24332503e-01 -7.55970489e-02 3.25729446e+02] [ 7.74879301e-02 3.75907973e-04 9.96993219e-01 7.11434085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9092541539999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:499.46, Y:325.76, Z:71.14 [[ 2.25206277e-01 -9.74159641e-01 -1.71792377e-02 4.99463348e+02] [ 9.71158177e-01 2.25859952e-01 -7.64138588e-02 3.25755471e+02] [ 7.83193990e-02 5.25123445e-04 9.96928180e-01 7.11444769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9392541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:499.47, Y:325.78, Z:71.15 [[ 2.26250530e-01 -9.73921763e-01 -1.69439533e-02 4.99470624e+02] [ 9.70995494e-01 2.26883273e-01 -7.54435656e-02 3.25782826e+02] [ 7.73204299e-02 6.16644382e-04 9.97006104e-01 7.11486349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9692541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:499.48, Y:325.81, Z:71.15 [[ 2.26335759e-01 -9.73897652e-01 -1.71897742e-02 4.99477555e+02] [ 9.70877452e-01 2.26986632e-01 -7.66422987e-02 3.25809132e+02] [ 7.85436037e-02 6.57728629e-04 9.96910462e-01 7.11482463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 901.9992541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:499.49, Y:325.84, Z:71.15 [[ 2.28407227e-01 -9.73420947e-01 -1.67868503e-02 4.99485720e+02] [ 9.70531659e-01 2.29021781e-01 -7.49487995e-02 3.25835653e+02] [ 7.68012858e-02 8.26677798e-04 9.97046077e-01 7.11518906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0292541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:499.49, Y:325.86, Z:71.15 [[ 2.28671064e-01 -9.73357833e-01 -1.68545015e-02 4.99492617e+02] [ 9.70437018e-01 2.29289695e-01 -7.53540292e-02 3.25862559e+02] [ 7.72109980e-02 8.75053874e-04 9.97014391e-01 7.11527727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:499.49, Y:325.89, Z:71.14 [[ 2.29187056e-01 -9.73374688e-01 3.87420928e-03 4.99491383e+02] [ 9.70715659e-01 2.28262931e-01 -7.48808690e-02 3.25894257e+02] [ 7.20028041e-02 2.09224815e-02 9.97184961e-01 7.11426049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.51, Y:325.92, Z:71.15 [[ 2.29034542e-01 -9.73347546e-01 -1.17359500e-02 4.99505368e+02] [ 9.70809652e-01 2.29286219e-01 -7.04020526e-02 3.25918809e+02] [ 7.12165568e-02 4.73112835e-03 9.97449657e-01 7.11512675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:499.53, Y:325.94, Z:71.17 [[ 2.30509254e-01 -9.72158056e-01 -4.21212301e-02 4.99526892e+02] [ 9.69885413e-01 2.33038765e-01 -7.08182112e-02 3.25941197e+02] [ 7.86623740e-02 -2.45285137e-02 9.96599510e-01 7.11720328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.52, Y:325.97, Z:71.17 [[ 2.31407423e-01 -9.72711450e-01 -1.68237853e-02 4.99522620e+02] [ 9.69773460e-01 2.32015236e-01 -7.55537392e-02 3.25971506e+02] [ 7.73953618e-02 1.16843554e-03 9.96999796e-01 7.11658614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.53, Y:326.00, Z:71.17 [[ 2.31735873e-01 -9.72634049e-01 -1.67777205e-02 4.99529602e+02] [ 9.69703991e-01 2.32339258e-01 -7.54495854e-02 3.25998781e+02] [ 7.72829589e-02 1.21495300e-03 9.97008459e-01 7.11674222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2092541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:499.54, Y:326.02, Z:71.17 [[ 2.31503859e-01 -9.72681474e-01 -1.72253750e-02 4.99536801e+02] [ 9.69584483e-01 2.32140417e-01 -7.75677582e-02 3.26024671e+02] [ 7.94474271e-02 1.25577900e-03 9.96838266e-01 7.11656086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:499.54, Y:326.05, Z:71.17 [[ 2.31707136e-01 -9.72634580e-01 -1.71399420e-02 4.99543715e+02] [ 9.69561825e-01 2.32336665e-01 -7.72628080e-02 3.26051598e+02] [ 7.91307157e-02 1.28411058e-03 9.96863421e-01 7.11689555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2692541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:499.55, Y:326.08, Z:71.17 [[ 2.30874206e-01 -9.72829003e-01 -1.73445214e-02 4.99550959e+02] [ 9.69674324e-01 2.31521385e-01 -7.82914629e-02 3.26078605e+02] [ 8.01798334e-02 1.25694231e-03 9.96779622e-01 7.11689139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.56, Y:326.11, Z:71.17 [[ 2.30570743e-01 -9.72904367e-01 -1.71529830e-02 4.99560122e+02] [ 9.69811103e-01 2.31204569e-01 -7.75298198e-02 3.26105345e+02] [ 7.93949483e-02 1.24095488e-03 9.96842466e-01 7.11733137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.57, Y:326.13, Z:71.18 [[ 2.29826692e-01 -9.73082445e-01 -1.70366277e-02 4.99567420e+02] [ 9.70023352e-01 2.30454173e-01 -7.71075307e-02 3.26131169e+02] [ 7.89581464e-02 1.19544200e-03 9.96877215e-01 7.11750286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.58, Y:326.16, Z:71.18 [[ 2.28859166e-01 -9.73311621e-01 -1.69696722e-02 4.99576625e+02] [ 9.70268657e-01 2.29484629e-01 -7.69125430e-02 3.26157855e+02] [ 7.87541509e-02 1.13699944e-03 9.96893420e-01 7.11774764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.58, Y:326.19, Z:71.18 [[ 2.28204758e-01 -9.73466491e-01 -1.68990949e-02 4.99584034e+02] [ 9.70441275e-01 2.28826956e-01 -7.66939113e-02 3.26185106e+02] [ 7.85259211e-02 1.10233629e-03 9.96911463e-01 7.11793921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:499.59, Y:326.21, Z:71.18 [[ 2.27606640e-01 -9.73604538e-01 -1.70123598e-02 4.99591510e+02] [ 9.70530641e-01 2.28238962e-01 -7.73126884e-02 3.26212309e+02] [ 7.91548677e-02 1.08586482e-03 9.96861740e-01 7.11803889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:499.60, Y:326.24, Z:71.18 [[ 2.27968285e-01 -9.73522667e-01 -1.68545939e-02 4.99599890e+02] [ 9.70497186e-01 2.28587717e-01 -7.66998503e-02 3.26238218e+02] [ 7.85217960e-02 1.12779739e-03 9.96911759e-01 7.11819808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.61, Y:326.27, Z:71.18 [[ 2.28587579e-01 -9.73379185e-01 -1.67535572e-02 4.99607379e+02] [ 9.70381037e-01 2.29197589e-01 -7.63486018e-02 3.26265501e+02] [ 7.81560146e-02 1.19500784e-03 9.96940424e-01 7.11846148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:499.61, Y:326.29, Z:71.18 [[ 2.28318809e-01 -9.73438315e-01 -1.69814310e-02 4.99614236e+02] [ 9.70349550e-01 2.28946216e-01 -7.74944003e-02 3.26291739e+02] [ 7.93238528e-02 1.21550522e-03 9.96848157e-01 7.11840255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.62, Y:326.32, Z:71.19 [[ 2.30707310e-01 -9.72880241e-01 -1.66785582e-02 4.99622431e+02] [ 9.69890979e-01 2.31305111e-01 -7.62196494e-02 3.26318312e+02] [ 7.80104267e-02 1.40804712e-03 9.96951549e-01 7.11877407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5692541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:499.63, Y:326.35, Z:71.19 [[ 2.30763879e-01 -9.72862276e-01 -1.69418068e-02 4.99629705e+02] [ 9.69768980e-01 2.31380326e-01 -7.75323780e-02 3.26345908e+02] [ 7.93483265e-02 1.46203362e-03 9.96845879e-01 7.11880764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.64, Y:326.37, Z:71.19 [[ 2.32697715e-01 -9.72405332e-01 -1.67225312e-02 4.99638058e+02] [ 9.69382147e-01 2.33292171e-01 -7.66356091e-02 3.26371861e+02] [ 7.84221106e-02 1.62240788e-03 9.96918924e-01 7.11913772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:499.64, Y:326.40, Z:71.19 [[ 2.33103216e-01 -9.72307116e-01 -1.67858208e-02 4.99644307e+02] [ 9.69251741e-01 2.33700711e-01 -7.70392110e-02 3.26399105e+02] [ 7.88286312e-02 1.68840179e-03 9.96886752e-01 7.11934124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:499.65, Y:326.43, Z:71.19 [[ 2.33623462e-01 -9.72182216e-01 -1.67874065e-02 4.99649373e+02] [ 9.69117425e-01 2.34219246e-01 -7.71541439e-02 3.26426954e+02] [ 7.89398203e-02 1.75605009e-03 9.96877837e-01 7.11940712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.6892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:499.65, Y:326.45, Z:71.20 [[ 2.34581220e-01 -9.71953071e-01 -1.66996916e-02 4.99654165e+02] [ 9.68911221e-01 2.35167620e-01 -7.68585556e-02 3.26454956e+02] [ 7.86301358e-02 1.84905511e-03 9.96902143e-01 7.11955396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:499.66, Y:326.48, Z:71.20 [[ 2.34976040e-01 -9.71858504e-01 -1.66525779e-02 4.99659116e+02] [ 9.68825160e-01 2.35557711e-01 -7.67487721e-02 3.26482315e+02] [ 7.85115900e-02 1.90068615e-03 9.96911389e-01 7.11983893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:499.66, Y:326.51, Z:71.20 [[ 2.34430901e-01 -9.71988752e-01 -1.67337776e-02 4.99664076e+02] [ 9.68917468e-01 2.35019761e-01 -7.72311652e-02 3.26510295e+02] [ 7.90005923e-02 1.89172224e-03 9.96872774e-01 7.11988095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.7792541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:499.67, Y:326.54, Z:71.20 [[ 2.33883573e-01 -9.72120200e-01 -1.67568391e-02 4.99668863e+02] [ 9.69032483e-01 2.34475594e-01 -7.74418644e-02 3.26537321e+02] [ 7.92118704e-02 1.87445857e-03 9.96856041e-01 7.11996302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:499.67, Y:326.56, Z:71.20 [[ 2.33393333e-01 -9.72242970e-01 -1.64669229e-02 4.99674603e+02] [ 9.69255490e-01 2.33966445e-01 -7.61806877e-02 3.26564590e+02] [ 7.79188455e-02 1.81940916e-03 9.96958045e-01 7.12032619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8392541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:499.68, Y:326.59, Z:71.20 [[ 2.32212976e-01 -9.72524163e-01 -1.65495290e-02 4.99680468e+02] [ 9.69499048e-01 2.32795320e-01 -7.66676872e-02 3.26592342e+02] [ 7.84138312e-02 1.75847916e-03 9.96919344e-01 7.12039776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.69, Y:326.62, Z:71.21 [[ 2.31613441e-01 -9.72673845e-01 -1.61494892e-02 4.99686637e+02] [ 9.69785985e-01 2.32169628e-01 -7.49160045e-02 3.26619623e+02] [ 7.66182591e-02 1.69000529e-03 9.97059069e-01 7.12075242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.69, Y:326.65, Z:71.21 [[ 2.30828787e-01 -9.72862112e-01 -1.60431191e-02 4.99692530e+02] [ 9.70004996e-01 2.31379818e-01 -7.45230667e-02 3.26646179e+02] [ 7.62127221e-02 1.64016337e-03 9.97090232e-01 7.12089389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:499.69, Y:326.67, Z:71.19 [[ 2.25712885e-01 -9.74192433e-01 1.67257956e-03 4.99687158e+02] [ 9.71622857e-01 2.24992219e-01 -7.29899008e-02 3.26674137e+02] [ 7.07298916e-02 1.80998776e-02 9.97331277e-01 7.11941545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.70, Y:326.70, Z:71.20 [[ 2.24187577e-01 -9.74502388e-01 -9.22098874e-03 4.99697896e+02] [ 9.72018273e-01 2.24277119e-01 -6.98587919e-02 3.26700089e+02] [ 7.01456163e-02 6.69850372e-03 9.97514272e-01 7.11987049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 902.9892541539999 meters Centerline goodness : 0.999778 Centerline is valid? [True, True] Translation: X:499.72, Y:326.72, Z:71.22 [[ 2.25048020e-01 -9.73651484e-01 -3.68262929e-02 4.99719813e+02] [ 9.71180987e-01 2.27201071e-01 -7.20219635e-02 3.26724435e+02] [ 7.84912649e-02 -1.95565953e-02 9.96722961e-01 7.12184977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:499.72, Y:326.75, Z:71.21 [[ 2.23994311e-01 -9.74455874e-01 -1.61956028e-02 4.99716230e+02] [ 9.71512045e-01 2.24575726e-01 -7.56973626e-02 3.26754260e+02] [ 7.74008790e-02 1.22155536e-03 9.96999304e-01 7.12136500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.72, Y:326.78, Z:71.22 [[ 2.21312155e-01 -9.75073449e-01 -1.58965128e-02 4.99722090e+02] [ 9.72231259e-01 2.21880029e-01 -7.44018258e-02 3.26780862e+02] [ 7.60743636e-02 1.01094178e-03 9.97101634e-01 7.12165321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.73, Y:326.81, Z:71.22 [[ 2.19483916e-01 -9.75490045e-01 -1.56838594e-02 4.99727752e+02] [ 9.72716553e-01 2.20041815e-01 -7.35126307e-02 3.26807864e+02] [ 7.51619443e-02 8.78890440e-04 9.97170953e-01 7.12183897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.73, Y:326.84, Z:71.22 [[ 2.17614727e-01 -9.75911708e-01 -1.54973958e-02 4.99733472e+02] [ 9.73197594e-01 2.18164574e-01 -7.27369396e-02 3.26835088e+02] [ 7.43658137e-02 7.46600924e-04 9.97230750e-01 7.12201945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1392541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:499.74, Y:326.86, Z:71.22 [[ 2.13763347e-01 -9.76767278e-01 -1.51959220e-02 4.99739359e+02] [ 9.74153028e-01 2.14302286e-01 -7.14171444e-02 3.26862262e+02] [ 7.30144505e-02 4.63214399e-04 9.97330775e-01 7.12215420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1692541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:499.75, Y:326.89, Z:71.22 [[ 2.11506521e-01 -9.77258329e-01 -1.52036031e-02 4.99745122e+02] [ 9.74635520e-01 2.12052018e-01 -7.15509949e-02 3.26889156e+02] [ 7.31477605e-02 3.15530393e-04 9.97321064e-01 7.12209138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.1992541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:499.75, Y:326.92, Z:71.22 [[ 2.08508839e-01 -9.77903051e-01 -1.51554639e-02 4.99750565e+02] [ 9.75290590e-01 2.09058870e-01 -7.14328671e-02 3.26915152e+02] [ 7.30228027e-02 1.13402851e-04 9.97330265e-01 7.12214751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2292541539998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:499.76, Y:326.94, Z:71.22 [[ 2.07472835e-01 -9.78126069e-01 -1.49804964e-02 4.99756053e+02] [ 9.75566193e-01 2.08012955e-01 -7.07192661e-02 3.26942150e+02] [ 7.22884951e-02 5.78608733e-05 9.97383763e-01 7.12243418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2592541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:499.76, Y:326.97, Z:71.22 [[ 2.06185022e-01 -9.78398054e-01 -1.49994922e-02 4.99761291e+02] [ 9.75824623e-01 2.06729891e-01 -7.09158536e-02 3.26970030e+02] [ 7.24847765e-02 -1.50869636e-05 9.97369519e-01 7.12247987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.77, Y:327.00, Z:71.23 [[ 2.06076384e-01 -9.78423628e-01 -1.48232061e-02 4.99766362e+02] [ 9.75903531e-01 2.06608818e-01 -7.01790184e-02 3.26996793e+02] [ 7.17274149e-02 -3.78075838e-06 9.97424272e-01 7.12289444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.77, Y:327.02, Z:71.23 [[ 2.04576162e-01 -9.78735979e-01 -1.49826035e-02 4.99770779e+02] [ 9.76154522e-01 2.05124050e-01 -7.10385400e-02 3.27024537e+02] [ 7.26012673e-02 -9.25442708e-05 9.97361042e-01 7.12301407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3492541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:499.76, Y:327.05, Z:71.21 [[ 2.01086728e-01 -9.79545666e-01 7.37670251e-03 4.99762288e+02] [ 9.77210526e-01 2.00073243e-01 -7.09245018e-02 3.27054248e+02] [ 6.79979076e-02 2.14705674e-02 9.97454410e-01 7.12131118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.3792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:499.79, Y:327.08, Z:71.24 [[ 2.03295458e-01 -9.78471715e-01 -3.55536248e-02 4.99789983e+02] [ 9.76420951e-01 2.05294944e-01 -6.67541273e-02 3.27077257e+02] [ 7.26160048e-02 -2.11444932e-02 9.97135811e-01 7.12411318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:499.78, Y:327.11, Z:71.23 [[ 2.02039344e-01 -9.79262892e-01 -1.49763624e-02 4.99784599e+02] [ 9.76663941e-01 2.02593531e-01 -7.12980277e-02 3.27106388e+02] [ 7.28536269e-02 -2.21866403e-04 9.97342619e-01 7.12339061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.79, Y:327.13, Z:71.24 [[ 2.01767889e-01 -9.79321205e-01 -1.48221350e-02 4.99789844e+02] [ 9.76768139e-01 2.02311465e-01 -7.06687605e-02 3.27133882e+02] [ 7.22061035e-02 -2.19102632e-04 9.97389709e-01 7.12368358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4692541539998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:499.79, Y:327.16, Z:71.24 [[ 2.00201674e-01 -9.79643966e-01 -1.47305596e-02 4.99794292e+02] [ 9.77116156e-01 2.00742625e-01 -7.03307624e-02 3.27161365e+02] [ 7.18561583e-02 -3.13131361e-04 9.97414956e-01 7.12378403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.4992541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:499.80, Y:327.19, Z:71.24 [[ 1.99018750e-01 -9.79884418e-01 -1.47670453e-02 4.99799020e+02] [ 9.77337384e-01 1.99565487e-01 -7.06063308e-02 3.27188715e+02] [ 7.21330359e-02 -3.80401712e-04 9.97394947e-01 7.12386088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:499.79, Y:327.22, Z:71.23 [[ 1.96537750e-01 -9.80472154e-01 6.87518075e-03 4.99791241e+02] [ 9.78246295e-01 1.95607176e-01 -6.90798101e-02 3.27218136e+02] [ 6.63859955e-02 2.03024105e-02 9.97587446e-01 7.12250561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:499.82, Y:327.24, Z:71.25 [[ 1.98328145e-01 -9.79532444e-01 -3.43822324e-02 4.99817719e+02] [ 9.77543611e-01 2.00231410e-01 -6.56952886e-02 3.27240862e+02] [ 7.12350695e-02 -2.05809069e-02 9.97247207e-01 7.12498779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.81, Y:327.27, Z:71.25 [[ 1.98967740e-01 -9.79898117e-01 -1.45436732e-02 4.99813638e+02] [ 9.77406242e-01 1.99498316e-01 -6.98388128e-02 3.27270806e+02] [ 7.13363595e-02 -3.19406268e-04 9.97452265e-01 7.12451437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6192541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:499.82, Y:327.30, Z:71.24 [[ 1.98512038e-01 -9.79988750e-01 -1.46635983e-02 4.99818260e+02] [ 9.77448464e-01 1.99052602e-01 -7.05163910e-02 3.27297908e+02] [ 7.20240972e-02 -3.34559202e-04 9.97402836e-01 7.12440793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6492541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:499.82, Y:327.32, Z:71.25 [[ 1.99682876e-01 -9.79749206e-01 -1.47730474e-02 4.99822278e+02] [ 9.77164535e-01 2.00228467e-01 -7.11198532e-02 3.27324603e+02] [ 7.26376043e-02 -2.34281170e-04 9.97358373e-01 7.12454626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.6792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:499.82, Y:327.35, Z:71.24 [[ 1.98488608e-01 -9.80090241e-01 -5.03917187e-03 4.99821161e+02] [ 9.77622621e-01 1.98349197e-01 -7.00828554e-02 3.27353492e+02] [ 6.96870383e-02 8.98423996e-03 9.97528446e-01 7.12388069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.84, Y:327.38, Z:71.25 [[ 2.01152883e-01 -9.79278037e-01 -2.34955997e-02 4.99836460e+02] [ 9.76892287e-01 2.02316339e-01 -6.89170445e-02 3.27378658e+02] [ 7.22424917e-02 -9.08980790e-03 9.97345676e-01 7.12542456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:499.84, Y:327.41, Z:71.25 [[ 2.01725674e-01 -9.79330829e-01 -1.47607822e-02 4.99837001e+02] [ 9.76732612e-01 2.02264992e-01 -7.12900951e-02 3.27406248e+02] [ 7.28021774e-02 -3.62948250e-05 9.97346400e-01 7.12500623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7692541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:499.84, Y:327.43, Z:71.25 [[ 2.01442526e-01 -9.79389333e-01 -1.47459790e-02 4.99842480e+02] [ 9.76791049e-01 2.01981517e-01 -7.12931570e-02 3.27433397e+02] [ 7.28021727e-02 -4.22666692e-05 9.97346400e-01 7.12519798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.85, Y:327.46, Z:71.26 [[ 2.02423729e-01 -9.79190044e-01 -1.45427615e-02 4.99847656e+02] [ 9.76655120e-01 2.02945449e-01 -7.04125134e-02 3.27459734e+02] [ 7.18986194e-02 4.99010352e-05 9.97411944e-01 7.12560207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.85, Y:327.49, Z:71.26 [[ 2.02661928e-01 -9.79142972e-01 -1.43938620e-02 4.99852840e+02] [ 9.76652025e-01 2.03172421e-01 -6.97982060e-02 3.27486813e+02] [ 7.12668587e-02 8.76445484e-05 9.97457281e-01 7.12576741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.86, Y:327.51, Z:71.26 [[ 2.03367143e-01 -9.78996801e-01 -1.43898796e-02 4.99857846e+02] [ 9.76499187e-01 2.03875545e-01 -6.98863424e-02 3.27514278e+02] [ 7.13522502e-02 1.60880096e-04 9.97451167e-01 7.12595239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.86, Y:327.54, Z:71.26 [[ 2.03411311e-01 -9.78987422e-01 -1.44036991e-02 4.99863100e+02] [ 9.76477677e-01 2.03920557e-01 -7.00553536e-02 3.27541201e+02] [ 7.15205204e-02 1.85160682e-04 9.97439111e-01 7.12613244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:499.87, Y:327.57, Z:71.26 [[ 2.03086395e-01 -9.79055138e-01 -1.43858635e-02 4.99868602e+02] [ 9.76544085e-01 2.03595195e-01 -7.00760030e-02 3.27568659e+02] [ 7.15371635e-02 1.83052861e-04 9.97437918e-01 7.12618789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.87, Y:327.60, Z:71.27 [[ 2.03695979e-01 -9.78928363e-01 -1.43947072e-02 4.99874638e+02] [ 9.76406660e-01 2.04203814e-01 -7.02199117e-02 3.27596101e+02] [ 7.16797173e-02 2.48425703e-04 9.97427670e-01 7.12651689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 903.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.88, Y:327.62, Z:71.27 [[ 2.03444194e-01 -9.78980424e-01 -1.44149437e-02 4.99879998e+02] [ 9.76444264e-01 2.03954081e-01 -7.04225246e-02 3.27622889e+02] [ 7.18822596e-02 2.51664614e-04 9.97413093e-01 7.12669222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:499.89, Y:327.65, Z:71.27 [[ 2.02738278e-01 -9.79126293e-01 -1.44531551e-02 4.99885414e+02] [ 9.76571370e-01 2.03252690e-01 -7.06873644e-02 3.27650889e+02] [ 7.21494997e-02 2.16497040e-04 9.97393805e-01 7.12668983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:499.88, Y:327.68, Z:71.26 [[ 2.00352453e-01 -9.79722563e-01 1.61062801e-03 4.99881252e+02] [ 9.77277857e-01 1.99735877e-01 -7.09476530e-02 3.27679824e+02] [ 6.91873163e-02 1.57885674e-02 9.97478740e-01 7.12572648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:499.90, Y:327.70, Z:71.28 [[ 2.01497066e-01 -9.79031485e-01 -2.99380070e-02 4.99903474e+02] [ 9.76671191e-01 2.03140312e-01 -6.96232651e-02 3.27702907e+02] [ 7.42449846e-02 -1.52107052e-02 9.97124023e-01 7.12766022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.90, Y:327.73, Z:71.27 [[ 2.01192766e-01 -9.79438669e-01 -1.48783565e-02 4.99902180e+02] [ 9.76712712e-01 2.01742085e-01 -7.30233461e-02 3.27731995e+02] [ 7.45234796e-02 1.59889094e-04 9.97219246e-01 7.12736744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:499.91, Y:327.76, Z:71.27 [[ 1.98724305e-01 -9.79938420e-01 -1.51440796e-02 4.99907802e+02] [ 9.77106942e-01 1.99300508e-01 -7.44401150e-02 3.27758330e+02] [ 7.59649515e-02 -4.32521192e-06 9.97110488e-01 7.12737058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:499.91, Y:327.79, Z:71.28 [[ 1.97640861e-01 -9.80159271e-01 -1.50297814e-02 4.99913796e+02] [ 9.77362422e-01 1.98211503e-01 -7.39925388e-02 3.27785813e+02] [ 7.55035485e-02 -6.55945056e-05 9.97145531e-01 7.12757023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.1892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:499.92, Y:327.81, Z:71.28 [[ 1.95158122e-01 -9.80659245e-01 -1.48577210e-02 4.99919644e+02] [ 9.77919679e-01 1.95722737e-01 -7.32510224e-02 3.27813023e+02] [ 7.47422862e-02 -2.34125728e-04 9.97202856e-01 7.12786874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2192541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:499.93, Y:327.84, Z:71.28 [[ 1.92922313e-01 -9.81102219e-01 -1.48127138e-02 4.99925092e+02] [ 9.78372579e-01 1.93489764e-01 -7.31355472e-02 3.27840168e+02] [ 7.46195561e-02 -3.82874016e-04 9.97212001e-01 7.12802967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:499.92, Y:327.87, Z:71.27 [[ 1.89121265e-01 -9.81943381e-01 -4.51037235e-03 4.99924101e+02] [ 9.79371999e-01 1.88954900e-01 -7.15998218e-02 3.27868852e+02] [ 7.11592281e-02 9.12371649e-03 9.97423241e-01 7.12746052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.2792541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:499.94, Y:327.89, Z:71.29 [[ 1.88198745e-01 -9.81835719e-01 -2.40801483e-02 4.99941030e+02] [ 9.79278185e-01 1.89463081e-01 -7.15400407e-02 3.27893680e+02] [ 7.48028663e-02 -1.01174180e-02 9.97147015e-01 7.12868899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3092541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:499.94, Y:327.92, Z:71.29 [[ 1.83683510e-01 -9.82873805e-01 -1.48138709e-02 4.99943129e+02] [ 9.80125814e-01 1.84277039e-01 -7.34531310e-02 3.27922060e+02] [ 7.49250147e-02 -1.02732831e-03 9.97188642e-01 7.12860979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:499.94, Y:327.95, Z:71.28 [[ 1.79420266e-01 -9.83769921e-01 -2.26079692e-03 4.99940382e+02] [ 9.81264508e-01 1.79126375e-01 -7.09486200e-02 3.27949494e+02] [ 7.02020866e-02 1.05111805e-02 9.97477409e-01 7.12792867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.96, Y:327.98, Z:71.29 [[ 1.79831038e-01 -9.83378403e-01 -2.50542445e-02 4.99959314e+02] [ 9.80955986e-01 1.81171873e-01 -7.00150430e-02 3.27975326e+02] [ 7.33904056e-02 -1.19862333e-02 9.97231256e-01 7.12949611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.3992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:499.96, Y:328.00, Z:71.29 [[ 1.78228893e-01 -9.83880815e-01 -1.45946748e-02 4.99959422e+02] [ 9.81190396e-01 1.78820292e-01 -7.27235230e-02 3.28003408e+02] [ 7.41611030e-02 -1.35872174e-03 9.97245348e-01 7.12928142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:499.96, Y:328.03, Z:71.29 [[ 1.76089930e-01 -9.84265025e-01 -1.46525246e-02 4.99964233e+02] [ 9.81544889e-01 1.76692109e-01 -7.31404791e-02 3.28029767e+02] [ 7.45786010e-02 -1.50280875e-03 9.97214006e-01 7.12944287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.97, Y:328.06, Z:71.30 [[ 1.75287028e-01 -9.84411036e-01 -1.44696250e-02 4.99969367e+02] [ 9.81750884e-01 1.75876615e-01 -7.23368328e-02 3.28057407e+02] [ 7.37540452e-02 -1.52585879e-03 9.97275294e-01 7.12973408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.97, Y:328.08, Z:71.30 [[ 1.73695834e-01 -9.84691953e-01 -1.45435409e-02 4.99973947e+02] [ 9.81997545e-01 1.74295972e-01 -7.28130188e-02 3.28083837e+02] [ 7.42332743e-02 -1.63440342e-03 9.97239565e-01 7.12992068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.98, Y:328.11, Z:71.30 [[ 1.72701708e-01 -9.84866488e-01 -1.45643630e-02 4.99979277e+02] [ 9.82156574e-01 1.73306484e-01 -7.30296345e-02 3.28110685e+02] [ 7.44485381e-02 -1.69214221e-03 9.97223421e-01 7.13015838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5492541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:499.98, Y:328.14, Z:71.30 [[ 1.71153381e-01 -9.85133256e-01 -1.47982633e-02 4.99984320e+02] [ 9.82327417e-01 1.71782331e-01 -7.43214380e-02 3.28138811e+02] [ 7.57586003e-02 -1.81637441e-03 9.97124534e-01 7.13016445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.5792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:499.99, Y:328.17, Z:71.30 [[ 1.70730272e-01 -9.85208031e-01 -1.47074917e-02 4.99988311e+02] [ 9.82428733e-01 1.71352925e-01 -7.39727005e-02 3.28165757e+02] [ 7.53986703e-02 -1.81968311e-03 9.97151809e-01 7.13048099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6092541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:499.99, Y:328.19, Z:71.31 [[ 1.70249343e-01 -9.85288863e-01 -1.48666872e-02 4.99992545e+02] [ 9.82442776e-01 1.70887078e-01 -7.48585260e-02 3.28193519e+02] [ 7.62977966e-02 -1.86105459e-03 9.97083338e-01 7.13060165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:500.00, Y:328.22, Z:71.31 [[ 1.70501527e-01 -9.85246042e-01 -1.48143997e-02 4.99996576e+02] [ 9.82411428e-01 1.71134268e-01 -7.47050754e-02 3.28219712e+02] [ 7.61381313e-02 -1.81650614e-03 9.97095625e-01 7.13087373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:500.00, Y:328.25, Z:71.31 [[ 1.71458586e-01 -9.85080159e-01 -1.47997528e-02 4.99999694e+02] [ 9.82244052e-01 1.72087477e-01 -7.47162795e-02 3.28247480e+02] [ 7.61483766e-02 -1.72622147e-03 9.97095003e-01 7.13113957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:499.99, Y:328.28, Z:71.30 [[ 1.69231388e-01 -9.85539428e-01 8.53074884e-03 4.99990417e+02] [ 9.83033788e-01 1.68167158e-01 -7.32419137e-02 3.28277302e+02] [ 7.07482020e-02 2.07808451e-02 9.97277719e-01 7.12968518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.02, Y:328.30, Z:71.32 [[ 1.72528550e-01 -9.84335480e-01 -3.62982422e-02 5.00018144e+02] [ 9.82065374e-01 1.74741563e-01 -7.08024491e-02 3.28299996e+02] [ 7.60361742e-02 -2.34318029e-02 9.96829700e-01 7.13247149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.01, Y:328.33, Z:71.32 [[ 1.74758559e-01 -9.84501649e-01 -1.46951979e-02 5.00011003e+02] [ 9.81681819e-01 1.75369642e-01 -7.44734541e-02 3.28329479e+02] [ 7.58963300e-02 -1.41113508e-03 9.97114716e-01 7.13185349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.01, Y:328.36, Z:71.32 [[ 1.75922363e-01 -9.84294504e-01 -1.46851182e-02 5.00014788e+02] [ 9.81468883e-01 1.76529434e-01 -7.45398609e-02 3.28357460e+02] [ 7.59615310e-02 -1.29975810e-03 9.97109902e-01 7.13204784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:500.02, Y:328.38, Z:71.32 [[ 1.76586512e-01 -9.84174022e-01 -1.47884724e-02 5.00018179e+02] [ 9.81299030e-01 1.77200360e-01 -7.51814221e-02 3.28384648e+02] [ 7.66121252e-02 -1.23588849e-03 9.97060206e-01 7.13205959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:500.02, Y:328.41, Z:71.32 [[ 1.77793797e-01 -9.83955264e-01 -1.48796388e-02 5.00021924e+02] [ 9.81034382e-01 1.78411797e-01 -7.57678820e-02 3.28412070e+02] [ 7.72069095e-02 -1.12637782e-03 9.97014456e-01 7.13223254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.02, Y:328.44, Z:71.33 [[ 1.81483945e-01 -9.83282408e-01 -1.48082589e-02 5.00024850e+02] [ 9.80378622e-01 1.82085272e-01 -7.55162995e-02 3.28439371e+02] [ 7.69502147e-02 -8.12704547e-04 9.97034605e-01 7.13257413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9092541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:500.03, Y:328.47, Z:71.33 [[ 1.82016153e-01 -9.83179235e-01 -1.51232615e-02 5.00028295e+02] [ 9.80142763e-01 1.82641732e-01 -7.72150390e-02 3.28466006e+02] [ 7.86783616e-02 -7.68570944e-04 9.96899757e-01 7.13252197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:500.03, Y:328.49, Z:71.33 [[ 1.85263972e-01 -9.82572582e-01 -1.51123241e-02 5.00031261e+02] [ 9.79528796e-01 1.85878687e-01 -7.72816385e-02 3.28494086e+02] [ 7.87438780e-02 -4.85453312e-04 9.96894762e-01 7.13276705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.04, Y:328.52, Z:71.33 [[ 1.87072631e-01 -9.82232025e-01 -1.49692794e-02 5.00035368e+02] [ 9.79235660e-01 1.87670318e-01 -7.66640401e-02 3.28521482e+02] [ 7.81111648e-02 -3.16708522e-04 9.96944605e-01 7.13308079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 904.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.04, Y:328.55, Z:71.33 [[ 1.88355902e-01 -9.81986120e-01 -1.50104703e-02 5.00039569e+02] [ 9.78963335e-01 1.88952964e-01 -7.69906950e-02 3.28549469e+02] [ 7.84400667e-02 -1.93048303e-04 9.96918813e-01 7.13328410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0292541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:500.04, Y:328.58, Z:71.33 [[ 1.90327992e-01 -9.81604772e-01 -1.50773875e-02 5.00042377e+02] [ 9.78544461e-01 1.90924257e-01 -7.74510608e-02 3.28577820e+02] [ 7.89049698e-02 -1.27891697e-05 9.96882142e-01 7.13322560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0592541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:500.05, Y:328.61, Z:71.33 [[ 1.91508554e-01 -9.81374753e-01 -1.51019375e-02 5.00046533e+02] [ 9.78294309e-01 1.92103055e-01 -7.76959563e-02 3.28605558e+02] [ 7.91499782e-02 1.05300679e-04 9.96862714e-01 7.13336682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.0892541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:500.05, Y:328.63, Z:71.34 [[ 1.93730409e-01 -9.80943075e-01 -1.48058166e-02 5.00050895e+02] [ 9.77971955e-01 1.94295119e-01 -7.62906401e-02 3.28631814e+02] [ 7.77134730e-02 3.00143532e-04 9.96975690e-01 7.13380200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:500.06, Y:328.66, Z:71.34 [[ 1.95178223e-01 -9.80656567e-01 -1.47701917e-02 5.00055257e+02] [ 9.77689202e-01 1.95735805e-01 -7.62320074e-02 3.28659987e+02] [ 7.76484741e-02 4.38170746e-04 9.96980703e-01 7.13393049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:500.06, Y:328.69, Z:71.34 [[ 1.99168049e-01 -9.79856885e-01 -1.45799131e-02 5.00058666e+02] [ 9.76954577e-01 1.99699520e-01 -7.53648187e-02 3.28687537e+02] [ 7.67583381e-02 7.66351053e-04 9.97049432e-01 7.13420135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.1792541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:500.06, Y:328.72, Z:71.34 [[ 2.00593340e-01 -9.79565986e-01 -1.45873938e-02 5.00062306e+02] [ 9.76650995e-01 2.01121025e-01 -7.55193127e-02 3.28715161e+02] [ 7.69099815e-02 9.01878534e-04 9.97037633e-01 7.13423699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.07, Y:328.74, Z:71.35 [[ 2.04495143e-01 -9.78761084e-01 -1.44387142e-02 5.00065388e+02] [ 9.75894570e-01 2.05000622e-01 -7.48634335e-02 3.28741767e+02] [ 7.62333607e-02 1.21854571e-03 9.97089259e-01 7.13456353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:500.07, Y:328.77, Z:71.35 [[ 2.05216929e-01 -9.78607839e-01 -1.45845728e-02 5.00069836e+02] [ 9.75673177e-01 2.05730338e-01 -7.57421997e-02 3.28769103e+02] [ 7.71223995e-02 1.31380517e-03 9.97020767e-01 7.13461645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2692541539999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:500.07, Y:328.80, Z:71.35 [[ 2.05778957e-01 -9.78486361e-01 -1.48142321e-02 5.00074692e+02] [ 9.75448668e-01 2.06306724e-01 -7.70547362e-02 3.28797076e+02] [ 7.84532841e-02 1.40572027e-03 9.96916800e-01 7.13473771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.2992541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:500.08, Y:328.82, Z:71.35 [[ 2.07480916e-01 -9.78126510e-01 -1.48391160e-02 5.00079200e+02] [ 9.75068275e-01 2.08004965e-01 -7.73032537e-02 3.28823880e+02] [ 7.86989716e-02 1.56979862e-03 9.96897190e-01 7.13508291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3292541539998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:500.08, Y:328.85, Z:71.35 [[ 2.07269901e-01 -9.78166922e-01 -1.51215637e-02 5.00083781e+02] [ 9.74980673e-01 2.07814527e-01 -7.89037939e-02 3.28851222e+02] [ 8.03235618e-02 1.61114925e-03 9.96767540e-01 7.13514060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:500.09, Y:328.88, Z:71.35 [[ 2.08467427e-01 -9.77986557e-01 -9.14476512e-03 5.00085565e+02] [ 9.74651302e-01 2.08514773e-01 -8.10951850e-02 3.28878906e+02] [ 8.12168194e-02 7.99274730e-03 9.96664409e-01 7.13536424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.3892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:500.10, Y:328.91, Z:71.36 [[ 2.07726466e-01 -9.77954214e-01 -2.13370590e-02 5.00096047e+02] [ 9.74790862e-01 2.08772080e-01 -7.87209873e-02 3.28905206e+02] [ 8.14401035e-02 -4.44673759e-03 9.96668318e-01 7.13590201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4192541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:500.10, Y:328.93, Z:71.36 [[ 2.06893174e-01 -9.78241128e-01 -1.54761016e-02 5.00098200e+02] [ 9.74877808e-01 2.07464350e-01 -8.10666571e-02 3.28932370e+02] [ 8.25134775e-02 1.68482998e-03 9.96588525e-01 7.13581057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4492541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:500.10, Y:328.96, Z:71.36 [[ 2.05694219e-01 -9.78492989e-01 -1.55357503e-02 5.00103720e+02] [ 9.75092964e-01 2.06273729e-01 -8.15160114e-02 3.28959385e+02] [ 8.29674628e-02 1.61857151e-03 9.96550942e-01 7.13603613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.4792541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:500.11, Y:328.99, Z:71.36 [[ 2.02911160e-01 -9.79074840e-01 -1.54764309e-02 5.00110761e+02] [ 9.75691578e-01 2.03495672e-01 -8.13354515e-02 3.28985608e+02] [ 8.27828808e-02 1.40364747e-03 9.96566618e-01 7.13648585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5092541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:500.12, Y:329.01, Z:71.37 [[ 2.00130102e-01 -9.79645759e-01 -1.55605154e-02 5.00116546e+02] [ 9.76215779e-01 2.00730515e-01 -8.19146684e-02 3.29013042e+02] [ 8.33708277e-02 1.20317030e-03 9.96517866e-01 7.13661181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:500.12, Y:329.04, Z:71.37 [[ 1.97863864e-01 -9.80110822e-01 -1.52534415e-02 5.00122797e+02] [ 9.76806201e-01 1.98448355e-01 -8.04232375e-02 3.29039825e+02] [ 8.18507058e-02 1.01319635e-03 9.96644087e-01 7.13700096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:500.13, Y:329.07, Z:71.37 [[ 1.94593893e-01 -9.80764209e-01 -1.53226520e-02 5.00128882e+02] [ 9.77420880e-01 1.95194711e-01 -8.09163053e-02 3.29067164e+02] [ 8.23507167e-02 7.69138862e-04 9.96603115e-01 7.13717660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.14, Y:329.09, Z:71.38 [[ 1.88279475e-01 -9.81999891e-01 -1.50682702e-02 5.00136932e+02] [ 9.78760590e-01 1.88881305e-01 -7.96966788e-02 3.29094490e+02] [ 8.11082445e-02 2.57019775e-04 9.96705266e-01 7.13751434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.13, Y:329.12, Z:71.36 [[ 1.81159311e-01 -9.83420569e-01 8.08009676e-03 5.00128320e+02] [ 9.80544780e-01 1.79985892e-01 -7.83390940e-02 3.29122581e+02] [ 7.55859730e-02 2.21147530e-02 9.96894026e-01 7.13608961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.14, Y:329.15, Z:71.37 [[ 1.81089846e-01 -9.83383632e-01 -1.27711022e-02 5.00143740e+02] [ 9.80536229e-01 1.81536750e-01 -7.47871200e-02 3.29149082e+02] [ 7.58628541e-02 1.02065958e-03 9.97117739e-01 7.13705477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.6892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:500.17, Y:329.17, Z:71.39 [[ 1.77614009e-01 -9.83403209e-01 -3.70323256e-02 5.00166687e+02] [ 9.80573205e-01 1.80035200e-01 -7.78685867e-02 3.29174988e+02] [ 8.32433402e-02 -2.24823543e-02 9.96275610e-01 7.13899935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7192541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:500.16, Y:329.21, Z:71.38 [[ 1.74779638e-01 -9.84484070e-01 -1.55946813e-02 5.00163043e+02] [ 9.81000559e-01 1.75471986e-01 -8.27495349e-02 3.29205097e+02] [ 8.42020286e-02 -8.35457360e-04 9.96448353e-01 7.13839900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7492541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:500.17, Y:329.23, Z:71.39 [[ 1.72030992e-01 -9.84967477e-01 -1.56335465e-02 5.00168960e+02] [ 9.81457808e-01 1.72736694e-01 -8.30819265e-02 3.29231264e+02] [ 8.45334827e-02 -1.05100007e-03 9.96420085e-01 7.13863038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.18, Y:329.26, Z:71.39 [[ 1.67294770e-01 -9.85783366e-01 -1.56081651e-02 5.00175644e+02] [ 9.82279865e-01 1.68015140e-01 -8.30492618e-02 3.29258575e+02] [ 8.44909889e-02 -1.43787918e-03 9.96423206e-01 7.13897275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:500.18, Y:329.29, Z:71.39 [[ 1.64323197e-01 -9.86278511e-01 -1.58929631e-02 5.00181127e+02] [ 9.82636251e-01 1.65081233e-01 -8.47005599e-02 3.29286172e+02] [ 8.61619720e-02 -1.69873490e-03 9.96279694e-01 7.13907915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8392541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:500.19, Y:329.31, Z:71.39 [[ 1.61505230e-01 -9.86740462e-01 -1.61034704e-02 5.00186650e+02] [ 9.82990990e-01 1.62294400e-01 -8.59606951e-02 3.29313155e+02] [ 8.74343990e-02 -1.94646445e-03 9.96168378e-01 7.13922001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:500.17, Y:329.34, Z:71.37 [[ 1.53828956e-01 -9.87987269e-01 1.47583136e-02 5.00174144e+02] [ 9.84940672e-01 1.52127421e-01 -8.21530323e-02 3.29342102e+02] [ 7.89210059e-02 2.71735785e-02 9.96510447e-01 7.13714925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.19, Y:329.37, Z:71.38 [[ 1.51858073e-01 -9.88327395e-01 -1.21690899e-02 5.00193642e+02] [ 9.85282011e-01 1.52344721e-01 -7.75270586e-02 3.29367395e+02] [ 7.84760124e-02 -2.16875660e-04 9.96915979e-01 7.13843867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:500.20, Y:329.40, Z:71.39 [[ 1.50677561e-01 -9.88489923e-01 -1.35626230e-02 5.00201152e+02] [ 9.85318923e-01 1.51279860e-01 -7.91266340e-02 3.29396342e+02] [ 8.02676320e-02 -1.44090084e-03 9.96772307e-01 7.13866651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.22, Y:329.42, Z:71.41 [[ 1.49666137e-01 -9.87790978e-01 -4.32322989e-02 5.00222185e+02] [ 9.85155971e-01 1.52699331e-01 -7.84259381e-02 3.29419961e+02] [ 8.40699772e-02 -3.08528502e-02 9.95982099e-01 7.14105298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 905.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.20, Y:329.45, Z:71.38 [[ 1.48117580e-01 -9.88915204e-01 1.03875560e-02 5.00201163e+02] [ 9.85685365e-01 1.46762230e-01 -8.29771552e-02 3.29454072e+02] [ 8.05328695e-02 2.25292373e-02 9.96497311e-01 7.13839622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:500.21, Y:329.48, Z:71.39 [[ 1.45077673e-01 -9.89395619e-01 -6.98414268e-03 5.00212075e+02] [ 9.86290129e-01 1.45176142e-01 -7.84580716e-02 3.29478938e+02] [ 7.86400031e-02 4.49412344e-03 9.96892950e-01 7.13888198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0492541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:500.24, Y:329.50, Z:71.42 [[ 1.48412989e-01 -9.87637755e-01 -5.04504667e-02 5.00240301e+02] [ 9.85079337e-01 1.52138223e-01 -8.04528550e-02 3.29501635e+02] [ 8.71337214e-02 -3.77574636e-02 9.95480833e-01 7.14206073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.23, Y:329.53, Z:71.41 [[ 1.50358739e-01 -9.88505736e-01 -1.57689443e-02 5.00229671e+02] [ 9.84851708e-01 1.51158252e-01 -8.49605623e-02 3.29533244e+02] [ 8.63676092e-02 -2.75550875e-03 9.96259526e-01 7.14102498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1092541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:500.23, Y:329.56, Z:71.41 [[ 1.52369548e-01 -9.88194828e-01 -1.59531372e-02 5.00232927e+02] [ 9.84440974e-01 1.53180573e-01 -8.60911240e-02 3.29561505e+02] [ 8.75185142e-02 -2.58725623e-03 9.96159533e-01 7.14114580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1392541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:500.22, Y:329.59, Z:71.39 [[ 1.52869067e-01 -9.88168814e-01 1.23872513e-02 5.00222740e+02] [ 9.84784746e-01 1.51273388e-01 -8.55299153e-02 3.29593379e+02] [ 8.26441334e-02 2.52736545e-02 9.96258596e-01 7.13931508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:500.24, Y:329.62, Z:71.41 [[ 1.52930649e-01 -9.88050253e-01 -1.92071640e-02 5.00240111e+02] [ 9.84907225e-01 1.53980711e-01 -7.90423925e-02 3.29617546e+02] [ 8.10553887e-02 -6.82927024e-03 9.96686202e-01 7.14089016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.25, Y:329.64, Z:71.43 [[ 1.56261921e-01 -9.86943010e-01 -3.90602968e-02 5.00254457e+02] [ 9.83983405e-01 1.58984294e-01 -8.06266246e-02 3.29642657e+02] [ 8.57838573e-02 -2.58358126e-02 9.95978735e-01 7.14280970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.25, Y:329.67, Z:71.42 [[ 1.58653070e-01 -9.87212350e-01 -1.55235483e-02 5.00245536e+02] [ 9.83625553e-01 1.59399074e-01 -8.40993898e-02 3.29672649e+02] [ 8.54983954e-02 -1.92673248e-03 9.96336445e-01 7.14210422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:500.25, Y:329.70, Z:71.42 [[ 1.59023582e-01 -9.87151138e-01 -1.56246640e-02 5.00249328e+02] [ 9.83504755e-01 1.59778230e-01 -8.47898242e-02 3.29700760e+02] [ 8.61968527e-02 -1.88334978e-03 9.96276345e-01 7.14233787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.2892541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:500.25, Y:329.73, Z:71.42 [[ 1.58535774e-01 -9.87300807e-01 -1.01747536e-02 5.00249995e+02] [ 9.83591827e-01 1.58822084e-01 -8.55725589e-02 3.29729052e+02] [ 8.61018320e-02 3.55850740e-03 9.96279987e-01 7.14203939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.26, Y:329.76, Z:71.43 [[ 1.59722059e-01 -9.86946914e-01 -2.06071193e-02 5.00257888e+02] [ 9.83554597e-01 1.60886702e-01 -8.20720669e-02 3.29755847e+02] [ 8.43161846e-02 -7.15950743e-03 9.96413329e-01 7.14285714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3492541539998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:500.26, Y:329.78, Z:71.43 [[ 1.58683671e-01 -9.87204307e-01 -1.57210026e-02 5.00258614e+02] [ 9.83484976e-01 1.59449523e-01 -8.56338246e-02 3.29783731e+02] [ 8.70447868e-02 -1.87268025e-03 9.96202639e-01 7.14284338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.3792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:500.26, Y:329.81, Z:71.43 [[ 1.58504041e-01 -9.87240576e-01 -1.52483970e-02 5.00262374e+02] [ 9.83730415e-01 1.59225490e-01 -8.31968361e-02 3.29811300e+02] [ 8.45632259e-02 -1.81327713e-03 9.96416466e-01 7.14305520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.26, Y:329.84, Z:71.43 [[ 1.57226122e-01 -9.87449415e-01 -1.49532332e-02 5.00264812e+02] [ 9.84064063e-01 1.57924563e-01 -8.17175182e-02 3.29839008e+02] [ 8.30533984e-02 -1.86681095e-03 9.96543350e-01 7.14322660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.27, Y:329.87, Z:71.43 [[ 1.56056260e-01 -9.87636140e-01 -1.48761349e-02 5.00268778e+02] [ 9.84275529e-01 1.56751753e-01 -8.14283236e-02 3.29866555e+02] [ 8.27534154e-02 -1.93481588e-03 9.96568176e-01 7.14343469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.27, Y:329.89, Z:71.44 [[ 1.54659249e-01 -9.87856325e-01 -1.48457775e-02 5.00272508e+02] [ 9.84499328e-01 1.55356917e-01 -8.13959596e-02 3.29893175e+02] [ 8.27139077e-02 -2.02701994e-03 9.96571272e-01 7.14361147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.27, Y:329.92, Z:71.44 [[ 1.51485955e-01 -9.88348090e-01 -1.48343477e-02 5.00274997e+02] [ 9.84986921e-01 1.52193631e-01 -8.14730891e-02 3.29921317e+02] [ 8.27814653e-02 -2.26960980e-03 9.96565140e-01 7.14376625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5292541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:500.28, Y:329.95, Z:71.44 [[ 1.49174211e-01 -9.88695967e-01 -1.50777797e-02 5.00278289e+02] [ 9.85213774e-01 1.49913727e-01 -8.29439262e-02 3.29948654e+02] [ 8.42666915e-02 -2.48174157e-03 9.96440147e-01 7.14393211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5592541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:500.28, Y:329.98, Z:71.44 [[ 1.46873688e-01 -9.89041010e-01 -1.50333107e-02 5.00281938e+02] [ 9.85572266e-01 1.47617185e-01 -8.28038332e-02 3.29976947e+02] [ 8.41155618e-02 -2.65470974e-03 9.96452470e-01 7.14411269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.5892541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:500.28, Y:330.00, Z:71.44 [[ 1.42489805e-01 -9.89684738e-01 -1.48584858e-02 5.00284056e+02] [ 9.86288482e-01 1.43231535e-01 -8.19741337e-02 3.30004068e+02] [ 8.32567528e-02 -2.97427505e-03 9.96523691e-01 7.14422963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.29, Y:330.03, Z:71.45 [[ 1.40575233e-01 -9.89815459e-01 -2.24490582e-02 5.00291536e+02] [ 9.86461833e-01 1.41960940e-01 -8.20983761e-02 3.30030907e+02] [ 8.44491312e-02 -1.06041407e-02 9.96371365e-01 7.14505992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.29, Y:330.06, Z:71.44 [[ 1.38656876e-01 -9.90314257e-01 -7.20715719e-03 5.00288121e+02] [ 9.86928512e-01 1.38779083e-01 -8.19297144e-02 3.30059840e+02] [ 8.21363669e-02 4.24716934e-03 9.96612050e-01 7.14438503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.6792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:500.29, Y:330.09, Z:71.45 [[ 1.35042523e-01 -9.90733531e-01 -1.45116443e-02 5.00294050e+02] [ 9.87465767e-01 1.35775860e-01 -8.04753024e-02 3.30086395e+02] [ 8.16999115e-02 -3.46216417e-03 9.96650961e-01 7.14483143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.31, Y:330.11, Z:71.47 [[ 1.35240504e-01 -9.89948801e-01 -4.13687934e-02 5.00312478e+02] [ 9.86932823e-01 1.38284825e-01 -8.27097982e-02 3.30113113e+02] [ 8.75991419e-02 -2.96425053e-02 9.95714674e-01 7.14692542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7392541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:500.30, Y:330.14, Z:71.46 [[ 1.33212056e-01 -9.90923432e-01 -1.80360915e-02 5.00302769e+02] [ 9.87134052e-01 1.34282547e-01 -8.68018463e-02 3.30143792e+02] [ 8.84359157e-02 -6.24098769e-03 9.96062317e-01 7.14619451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7692541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:500.29, Y:330.17, Z:71.44 [[ 1.31703989e-01 -9.91206573e-01 1.27901680e-02 5.00288522e+02] [ 9.87983998e-01 1.30201206e-01 -8.32782433e-02 3.30173335e+02] [ 8.08806469e-02 2.36045581e-02 9.96444251e-01 7.14437035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.32, Y:330.20, Z:71.48 [[ 1.34500721e-01 -9.89656488e-01 -4.98958193e-02 5.00323744e+02] [ 9.87120977e-01 1.38217205e-01 -8.05492493e-02 3.30195953e+02] [ 8.66125479e-02 -3.84192778e-02 9.95500992e-01 7.14802918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8292541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:500.31, Y:330.23, Z:71.47 [[ 1.35697863e-01 -9.90700576e-01 -9.92268633e-03 5.00305677e+02] [ 9.86907668e-01 1.36046012e-01 -8.66298840e-02 3.30228072e+02] [ 8.71742178e-02 1.96271490e-03 9.96191148e-01 7.14659167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.29, Y:330.26, Z:71.45 [[ 1.35152134e-01 -9.90723372e-01 1.41809762e-02 5.00293725e+02] [ 9.87740240e-01 1.33589116e-01 -8.07661213e-02 3.30255922e+02] [ 7.81224600e-02 2.49228345e-02 9.96632196e-01 7.14489266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.31, Y:330.28, Z:71.47 [[ 1.35960127e-01 -9.90508922e-01 -2.01722629e-02 5.00314030e+02] [ 9.87548906e-01 1.37123979e-01 -7.70984624e-02 3.30281791e+02] [ 7.91328158e-02 -9.43877944e-03 9.96819395e-01 7.14654037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9192541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:500.31, Y:330.31, Z:71.46 [[ 1.37236080e-01 -9.90448424e-01 -1.33483385e-02 5.00312135e+02] [ 9.87335799e-01 1.37862715e-01 -7.84977169e-02 3.30311053e+02] [ 7.95881782e-02 -2.40657349e-03 9.96824925e-01 7.14637629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9492541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:500.32, Y:330.34, Z:71.47 [[ 1.37435830e-01 -9.90389249e-01 -1.55089704e-02 5.00315324e+02] [ 9.87287915e-01 1.38233901e-01 -7.84471859e-02 3.30337474e+02] [ 7.98371150e-02 -4.53036496e-03 9.96797628e-01 7.14666949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 906.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.31, Y:330.37, Z:71.46 [[ 1.38308713e-01 -9.90361630e-01 -7.38520681e-03 5.00312111e+02] [ 9.87438640e-01 1.38468004e-01 -7.61022014e-02 3.30365196e+02] [ 7.63913151e-02 3.23315896e-03 9.97072672e-01 7.14635362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0092541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:500.31, Y:330.39, Z:71.47 [[ 1.38948368e-01 -9.90211902e-01 -1.31810486e-02 5.00314791e+02] [ 9.87415934e-01 1.39546503e-01 -7.44079731e-02 3.30391994e+02] [ 7.55190298e-02 -2.67631099e-03 9.97140769e-01 7.14665290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0392541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:500.32, Y:330.42, Z:71.47 [[ 1.39141106e-01 -9.90184311e-01 -1.32205743e-02 5.00317615e+02] [ 9.87361568e-01 1.39742627e-01 -7.47605016e-02 3.30419883e+02] [ 7.58741536e-02 -2.65122811e-03 9.97113877e-01 7.14685479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.32, Y:330.45, Z:71.47 [[ 1.38400277e-01 -9.90331818e-01 -9.39434194e-03 5.00318415e+02] [ 9.87522236e-01 1.38714840e-01 -7.45521790e-02 3.30447547e+02] [ 7.51345296e-02 1.04092069e-03 9.97172863e-01 7.14693498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.0992541539998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:500.31, Y:330.47, Z:71.47 [[ 1.39273881e-01 -9.90247650e-01 -3.51819006e-03 5.00314340e+02] [ 9.87071291e-01 1.39110002e-01 -7.96157921e-02 3.30474508e+02] [ 7.93287665e-02 7.61569591e-03 9.96819416e-01 7.14674968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1292541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:500.33, Y:330.50, Z:71.48 [[ 1.40057955e-01 -9.89782998e-01 -2.67092955e-02 5.00328609e+02] [ 9.87273260e-01 1.41653552e-01 -7.22895635e-02 3.30500615e+02] [ 7.53344475e-02 -1.62446448e-02 9.97025994e-01 7.14777583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.32, Y:330.53, Z:71.48 [[ 1.40370616e-01 -9.90011400e-01 -1.31726349e-02 5.00324308e+02] [ 9.87175877e-01 1.40965386e-01 -7.49169421e-02 3.30529819e+02] [ 7.60255123e-02 -2.48757008e-03 9.97102770e-01 7.14761952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.1892541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:500.32, Y:330.56, Z:71.48 [[ 1.37630035e-01 -9.90393326e-01 -1.33803047e-02 5.00323728e+02] [ 9.87459248e-01 1.38252137e-01 -7.62271691e-02 3.30557990e+02] [ 7.73447353e-02 -2.72135766e-03 9.97000695e-01 7.14764034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2192541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:500.32, Y:330.59, Z:71.48 [[ 1.36288709e-01 -9.90620302e-01 -9.83896010e-03 5.00323528e+02] [ 9.87733708e-01 1.36642158e-01 -7.55714444e-02 3.30585635e+02] [ 7.62070238e-02 5.81262048e-04 9.97091847e-01 7.14755579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2492541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:500.33, Y:330.61, Z:71.48 [[ 1.38652386e-01 -9.90208603e-01 -1.61999271e-02 5.00329273e+02] [ 9.87382541e-01 1.39483153e-01 -7.49677825e-02 3.30613545e+02] [ 7.64933601e-02 -5.60106324e-03 9.97054359e-01 7.14810461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.2792541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:500.33, Y:330.64, Z:71.48 [[ 1.38644295e-01 -9.90254680e-01 -1.31692125e-02 5.00330010e+02] [ 9.87393523e-01 1.39244655e-01 -7.52659024e-02 3.30640459e+02] [ 7.63661545e-02 -2.56800723e-03 9.97076535e-01 7.14821617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3092541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:500.33, Y:330.67, Z:71.48 [[ 1.38710591e-01 -9.90245515e-01 -1.31602357e-02 5.00332144e+02] [ 9.87377807e-01 1.39310291e-01 -7.53505758e-02 3.30668332e+02] [ 7.64489260e-02 -2.54220177e-03 9.97070258e-01 7.14843398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3392541539998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:500.33, Y:330.70, Z:71.49 [[ 1.39416155e-01 -9.90147102e-01 -1.31092485e-02 5.00331843e+02] [ 9.87291589e-01 1.40009504e-01 -7.51841593e-02 3.30697052e+02] [ 7.62787968e-02 -2.46076436e-03 9.97083492e-01 7.14852819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3692541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:500.33, Y:330.72, Z:71.49 [[ 1.39989855e-01 -9.90067202e-01 -1.30298207e-02 5.00334061e+02] [ 9.87236250e-01 1.40574713e-01 -7.48554415e-02 3.30724812e+02] [ 7.59435808e-02 -2.38450893e-03 9.97109265e-01 7.14874637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.3992541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:500.34, Y:330.75, Z:71.49 [[ 1.40999919e-01 -9.89924926e-01 -1.29485119e-02 5.00336636e+02] [ 9.87119113e-01 1.41574943e-01 -7.45143767e-02 3.30752324e+02] [ 7.55968237e-02 -2.27520250e-03 9.97135870e-01 7.14897128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4292541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:500.34, Y:330.78, Z:71.49 [[ 1.42844686e-01 -9.89659596e-01 -1.30107449e-02 5.00336639e+02] [ 9.86815864e-01 1.43420239e-01 -7.50005716e-02 3.30781240e+02] [ 7.60910396e-02 -2.12577632e-03 9.97098608e-01 7.14907985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4592541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:500.34, Y:330.81, Z:71.49 [[ 1.44199419e-01 -9.89464223e-01 -1.29259090e-02 5.00339573e+02] [ 9.86647198e-01 1.44763907e-01 -7.46372380e-02 3.30809051e+02] [ 7.57220818e-02 -1.99066557e-03 9.97126975e-01 7.14935509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.34, Y:330.84, Z:71.50 [[ 1.47027631e-01 -9.89048345e-01 -1.28936720e-02 5.00340701e+02] [ 9.86234185e-01 1.47581517e-01 -7.45776683e-02 3.30836891e+02] [ 7.56637871e-02 -1.75120217e-03 9.97131849e-01 7.14970687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5192541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:500.34, Y:330.86, Z:71.50 [[ 1.47679575e-01 -9.88950986e-01 -1.29108714e-02 5.00343153e+02] [ 9.86118993e-01 1.48233301e-01 -7.48078920e-02 3.30863436e+02] [ 7.58951596e-02 -1.68405777e-03 9.97114381e-01 7.14988407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5492541539999 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:500.35, Y:330.89, Z:71.50 [[ 1.48067754e-01 -9.88893405e-01 -1.28753032e-02 5.00346056e+02] [ 9.86066448e-01 1.48617555e-01 -7.47380964e-02 3.30891324e+02] [ 7.58215068e-02 -1.62960238e-03 9.97120075e-01 7.15003533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.5792541539998 meters Centerline goodness : 0.999938 Centerline is valid? [True, True] Translation: X:500.35, Y:330.92, Z:71.50 [[ 1.47801364e-01 -9.88933534e-01 -1.28538625e-02 5.00350806e+02] [ 9.86106410e-01 1.48350307e-01 -7.47417840e-02 3.30919408e+02] [ 7.58215311e-02 -1.62833853e-03 9.97120075e-01 7.15023392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6092541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:500.35, Y:330.95, Z:71.50 [[ 1.47438075e-01 -9.88988177e-01 -1.28218560e-02 5.00352189e+02] [ 9.86166085e-01 1.47985525e-01 -7.46775551e-02 3.30946375e+02] [ 7.57526681e-02 -1.63416452e-03 9.97125299e-01 7.15031999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6392541539999 meters Centerline goodness : 0.999792 Centerline is valid? [True, True] Translation: X:500.36, Y:330.97, Z:71.51 [[ 1.46755635e-01 -9.89090650e-01 -1.27463754e-02 5.00355313e+02] [ 9.86291957e-01 1.47298814e-01 -7.43722689e-02 3.30973954e+02] [ 7.54384417e-02 -1.65709797e-03 9.97149084e-01 7.15053257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6692541539999 meters Centerline goodness : 0.999855 Centerline is valid? [True, True] Translation: X:500.36, Y:331.00, Z:71.51 [[ 1.45932417e-01 -9.89213271e-01 -1.26820414e-02 5.00358694e+02] [ 9.86433786e-01 1.46472652e-01 -7.41225214e-02 3.31002211e+02] [ 7.51805541e-02 -1.69311541e-03 9.97168500e-01 7.15077033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.6992541539998 meters Centerline goodness : 0.999772 Centerline is valid? [True, True] Translation: X:500.36, Y:331.03, Z:71.51 [[ 1.44498990e-01 -9.89423783e-01 -1.26735729e-02 5.00361672e+02] [ 9.86639076e-01 1.45042757e-01 -7.42019729e-02 3.31028917e+02] [ 7.52554067e-02 -1.78213215e-03 9.97162699e-01 7.15090761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7292541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:500.36, Y:331.06, Z:71.51 [[ 1.41956775e-01 -9.89793183e-01 -1.25589807e-02 5.00363852e+02] [ 9.87050106e-01 1.42498047e-01 -7.36640687e-02 3.31057048e+02] [ 7.47018233e-02 -1.93922957e-03 9.97204030e-01 7.15115810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7592541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:500.37, Y:331.08, Z:71.51 [[ 1.40594355e-01 -9.89988224e-01 -1.25117619e-02 5.00367425e+02] [ 9.87257114e-01 1.41135571e-01 -7.35128682e-02 3.31084985e+02] [ 7.45427284e-02 -2.01683161e-03 9.97215781e-01 7.15138563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.7892541539999 meters Centerline goodness : 0.999624 Centerline is valid? [True, True] Translation: X:500.37, Y:331.11, Z:71.51 [[ 1.37202608e-01 -9.90463907e-01 -1.25177285e-02 5.00369334e+02] [ 9.87722554e-01 1.37753988e-01 -7.36749288e-02 3.31112809e+02] [ 7.46967248e-02 -2.25565035e-03 9.97203746e-01 7.15138967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8192541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:500.37, Y:331.14, Z:71.52 [[ 1.36769677e-01 -9.90524825e-01 -1.24348910e-02 5.00373532e+02] [ 9.87810455e-01 1.37315262e-01 -7.33145498e-02 3.31140833e+02] [ 7.43273820e-02 -2.25610801e-03 9.97231342e-01 7.15172911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.38, Y:331.17, Z:71.52 [[ 1.36708548e-01 -9.90533541e-01 -1.24127678e-02 5.00376109e+02] [ 9.87819299e-01 1.37252651e-01 -7.33126416e-02 3.31168572e+02] [ 7.43223158e-02 -2.23910676e-03 9.97231758e-01 7.15208408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.8792541539999 meters Centerline goodness : 0.999834 Centerline is valid? [True, True] Translation: X:500.38, Y:331.20, Z:71.52 [[ 1.35864041e-01 -9.90649127e-01 -1.24606870e-02 5.00378595e+02] [ 9.87904530e-01 1.36414983e-01 -7.37264623e-02 3.31196112e+02] [ 7.47368800e-02 -2.29319403e-03 9.97200652e-01 7.15203512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.38, Y:331.22, Z:71.52 [[ 1.37339974e-01 -9.90446560e-01 -1.23832027e-02 5.00382085e+02] [ 9.87725152e-01 1.37880346e-01 -7.34032378e-02 3.31224150e+02] [ 7.44093846e-02 -2.15000196e-03 9.97225462e-01 7.15244846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9392541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:500.39, Y:331.25, Z:71.52 [[ 1.37591017e-01 -9.90411283e-01 -1.24178654e-02 5.00385104e+02] [ 9.87664822e-01 1.38133996e-01 -7.37373606e-02 3.31251940e+02] [ 7.47456432e-02 -2.11909032e-03 9.97200380e-01 7.15246177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9692541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:500.39, Y:331.28, Z:71.53 [[ 1.38424935e-01 -9.90295570e-01 -1.23782421e-02 5.00388041e+02] [ 9.87556629e-01 1.38962421e-01 -7.36298201e-02 3.31279027e+02] [ 7.46353952e-02 -2.03201197e-03 9.97208819e-01 7.15270216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 907.9992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:500.39, Y:331.31, Z:71.53 [[ 1.39962838e-01 -9.90079964e-01 -1.23316139e-02 5.00390179e+02] [ 9.87350835e-01 1.40492319e-01 -7.34863083e-02 3.31307070e+02] [ 7.44898185e-02 -1.89027704e-03 9.97219983e-01 7.15297866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:500.39, Y:331.33, Z:71.53 [[ 1.38646132e-01 -9.90265023e-01 -1.23464493e-02 5.00392923e+02] [ 9.87520237e-01 1.39180783e-01 -7.37054318e-02 3.31334221e+02] [ 7.47062996e-02 -1.97339558e-03 9.97203627e-01 7.15299450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0592541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:500.40, Y:331.36, Z:71.53 [[ 1.38011439e-01 -9.90354742e-01 -1.22608001e-02 5.00395139e+02] [ 9.87639534e-01 1.38540676e-01 -7.33118858e-02 3.31361871e+02] [ 7.43033933e-02 -1.99137201e-03 9.97233694e-01 7.15324061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.0892541539998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:500.40, Y:331.39, Z:71.53 [[ 1.36739454e-01 -9.90531403e-01 -1.22418161e-02 5.00397994e+02] [ 9.87815685e-01 1.37270800e-01 -7.33273488e-02 3.31388640e+02] [ 7.43134855e-02 -2.06591624e-03 9.97232790e-01 7.15332338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1192541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:500.40, Y:331.42, Z:71.53 [[ 1.35737175e-01 -9.90669397e-01 -1.22297031e-02 5.00401328e+02] [ 9.87952357e-01 1.36270420e-01 -7.33519800e-02 3.31416555e+02] [ 7.43341086e-02 -2.12577343e-03 9.97231127e-01 7.15347901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:500.40, Y:331.44, Z:71.54 [[ 1.35080743e-01 -9.90759958e-01 -1.21613771e-02 5.00402973e+02] [ 9.88064101e-01 1.35610108e-01 -7.30700454e-02 3.31444668e+02] [ 7.40440807e-02 -2.14586414e-03 9.97252661e-01 7.15377505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.1792541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:500.41, Y:331.47, Z:71.54 [[ 1.35319889e-01 -9.90728185e-01 -1.20909718e-02 5.00405668e+02] [ 9.88053877e-01 1.35842777e-01 -7.27755147e-02 3.31472463e+02] [ 7.37432248e-02 -2.09855699e-03 9.97275054e-01 7.15404041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.41, Y:331.50, Z:71.55 [[ 1.37764188e-01 -9.90393123e-01 -1.19369343e-02 5.00406714e+02] [ 9.87776144e-01 1.38267655e-01 -7.19746200e-02 3.31500607e+02] [ 7.29336606e-02 -1.87549383e-03 9.97335031e-01 7.15450246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2392541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:500.41, Y:331.53, Z:71.54 [[ 1.38627513e-01 -9.90271907e-01 -1.19984506e-02 5.00409262e+02] [ 9.87617878e-01 1.39134108e-01 -7.24750052e-02 3.31528366e+02] [ 7.34393553e-02 -1.80285459e-03 9.97298055e-01 7.15441082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2692541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:500.41, Y:331.56, Z:71.55 [[ 1.40270152e-01 -9.90041724e-01 -1.19024559e-02 5.00411708e+02] [ 9.87419677e-01 1.40764565e-01 -7.20258155e-02 3.31556101e+02] [ 7.29840067e-02 -1.64964710e-03 9.97331747e-01 7.15463915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.2992541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:500.41, Y:331.58, Z:71.55 [[ 1.41855717e-01 -9.89815679e-01 -1.19112484e-02 5.00413759e+02] [ 9.87179246e-01 1.42346856e-01 -7.22115584e-02 3.31582647e+02] [ 7.31716615e-02 -1.51491480e-03 9.97318211e-01 7.15480095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3292541539998 meters Centerline goodness : 0.999730 Centerline is valid? [True, True] Translation: X:500.41, Y:331.61, Z:71.55 [[ 1.45554095e-01 -9.89278275e-01 -1.19373629e-02 5.00414011e+02] [ 9.86619528e-01 1.46037637e-01 -7.24908017e-02 3.31610760e+02] [ 7.34568795e-02 -1.22630233e-03 9.97297640e-01 7.15499087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3592541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:500.42, Y:331.64, Z:71.55 [[ 1.47611799e-01 -9.88972589e-01 -1.19989712e-02 5.00416813e+02] [ 9.86275417e-01 1.48094893e-01 -7.29979749e-02 3.31639078e+02] [ 7.39699826e-02 -1.05892790e-03 9.97259906e-01 7.15514037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.3892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:500.42, Y:331.67, Z:71.56 [[ 1.52345483e-01 -9.88254103e-01 -1.20283875e-02 5.00418177e+02] [ 9.85531470e-01 1.52818055e-01 -7.33100482e-02 3.31667165e+02] [ 7.42871107e-02 -6.85899677e-04 9.97236659e-01 7.15553563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.42, Y:331.69, Z:71.56 [[ 1.54414338e-01 -9.87932924e-01 -1.20312182e-02 5.00420944e+02] [ 9.85198087e-01 1.54881497e-01 -7.34605387e-02 3.31694286e+02] [ 7.44374979e-02 -5.09772693e-04 9.97225551e-01 7.15581528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4492541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:500.42, Y:331.72, Z:71.56 [[ 1.55767836e-01 -9.87720811e-01 -1.19992238e-02 5.00423874e+02] [ 9.84990838e-01 1.56228838e-01 -7.33866403e-02 3.31721100e+02] [ 7.43601367e-02 -3.87847359e-04 9.97231377e-01 7.15592136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.4792541539998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:500.43, Y:331.75, Z:71.56 [[ 1.57310869e-01 -9.87475759e-01 -1.20381303e-02 5.00425961e+02] [ 9.84716710e-01 1.57770605e-01 -7.37661028e-02 3.31748696e+02] [ 7.47415014e-02 -2.49938320e-04 9.97202911e-01 7.15589607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5092541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:500.43, Y:331.78, Z:71.56 [[ 1.57534067e-01 -9.87441042e-01 -1.19668923e-02 5.00429897e+02] [ 9.84704182e-01 1.57987799e-01 -7.34678753e-02 3.31776178e+02] [ 7.44358183e-02 -2.10155686e-04 9.97225784e-01 7.15609609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.43, Y:331.80, Z:71.57 [[ 1.57790886e-01 -9.87403879e-01 -1.16454413e-02 5.00434121e+02] [ 9.84802947e-01 1.58219948e-01 -7.16212582e-02 3.31804023e+02] [ 7.25616492e-02 -1.67283114e-04 9.97363915e-01 7.15661115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5692541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:500.44, Y:331.83, Z:71.57 [[ 1.54953265e-01 -9.87852439e-01 -1.17065668e-02 5.00437698e+02] [ 9.85215682e-01 1.55394436e-01 -7.21292538e-02 3.31832411e+02] [ 7.30721947e-02 -3.56829806e-04 9.97326590e-01 7.15650690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.5992541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:500.44, Y:331.86, Z:71.57 [[ 1.53872353e-01 -9.88022497e-01 -1.16122560e-02 5.00442560e+02] [ 9.85418962e-01 1.54309348e-01 -7.16805009e-02 3.31859084e+02] [ 7.26138271e-02 -4.13289917e-04 9.97360046e-01 7.15684897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6292541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:500.45, Y:331.89, Z:71.57 [[ 1.49532412e-01 -9.88687556e-01 -1.17036003e-02 5.00447276e+02] [ 9.86035796e-01 1.49987998e-01 -7.23671883e-02 3.31886884e+02] [ 7.33039382e-02 -7.18928620e-04 9.97309388e-01 7.15690691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6592541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:500.45, Y:331.91, Z:71.57 [[ 1.47807051e-01 -9.88948646e-01 -1.15608085e-02 5.00451891e+02] [ 9.86352611e-01 1.48256223e-01 -7.16143821e-02 3.31914639e+02] [ 7.25369080e-02 -8.17923062e-04 9.97365393e-01 7.15727902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.46, Y:331.94, Z:71.58 [[ 1.45702924e-01 -9.89261144e-01 -1.15346220e-02 5.00455935e+02] [ 9.86668329e-01 1.46155688e-01 -7.15829892e-02 3.31941009e+02] [ 7.25001204e-02 -9.50995390e-04 9.97367950e-01 7.15753588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7192541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:500.46, Y:331.97, Z:71.57 [[ 1.42897226e-01 -9.89668460e-01 -1.16927848e-02 5.00460199e+02] [ 9.86994811e-01 1.43370196e-01 -7.27064652e-02 3.31968668e+02] [ 7.36316924e-02 -1.15116577e-03 9.97284838e-01 7.15745580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7492541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:500.46, Y:332.00, Z:71.57 [[ 1.39539017e-01 -9.90198267e-01 -6.02120060e-03 5.00461706e+02] [ 9.87261435e-01 1.39589440e-01 -7.63521287e-02 3.31996123e+02] [ 7.64442416e-02 4.70960184e-03 9.97062735e-01 7.15749103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.7792541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:500.47, Y:332.02, Z:71.58 [[ 1.37252674e-01 -9.90379106e-01 -1.76332291e-02 5.00471813e+02] [ 9.87700670e-01 1.38184079e-01 -7.31611009e-02 3.32023854e+02] [ 7.48938571e-02 -7.37479545e-03 9.97164241e-01 7.15807044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8092541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:500.47, Y:332.05, Z:71.58 [[ 1.35848477e-01 -9.90658535e-01 -1.18683749e-02 5.00473074e+02] [ 9.87879041e-01 1.36355974e-01 -7.41757912e-02 3.32050793e+02] [ 7.51012045e-02 -1.64785054e-03 9.97174555e-01 7.15811968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8392541539998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:500.48, Y:332.08, Z:71.58 [[ 1.33644554e-01 -9.90956209e-01 -1.20384768e-02 5.00476422e+02] [ 9.88089824e-01 1.34173232e-01 -7.53395205e-02 3.32077096e+02] [ 7.62734070e-02 -1.82637982e-03 9.97085268e-01 7.15828300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8692541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:500.48, Y:332.11, Z:71.58 [[ 1.32904174e-01 -9.91055545e-01 -1.20576307e-02 5.00480475e+02] [ 9.88169287e-01 1.33436955e-01 -7.56044910e-02 3.32105277e+02] [ 7.65371835e-02 -1.86682792e-03 9.97064980e-01 7.15844934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.8992541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:500.48, Y:332.13, Z:71.59 [[ 1.32186238e-01 -9.91151236e-01 -1.20841547e-02 5.00484206e+02] [ 9.88241998e-01 1.32723728e-01 -7.59089232e-02 3.32132111e+02] [ 7.68410771e-02 -1.90795417e-03 9.97041528e-01 7.15864844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9292541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:500.49, Y:332.16, Z:71.59 [[ 1.30786225e-01 -9.91336356e-01 -1.21323166e-02 5.00487940e+02] [ 9.88396256e-01 1.31332364e-01 -7.63194025e-02 3.32159354e+02] [ 7.72515641e-02 -2.01000972e-03 9.97009607e-01 7.15884859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9592541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:500.49, Y:332.19, Z:71.59 [[ 1.30587122e-01 -9.91365275e-01 -1.19119935e-02 5.00491758e+02] [ 9.88520846e-01 1.31114466e-01 -7.50701993e-02 3.32185476e+02] [ 7.59838235e-02 -1.97205263e-03 9.97107100e-01 7.15924966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 908.9892541539999 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:500.51, Y:332.21, Z:71.60 [[ 1.31986059e-01 -9.90770528e-01 -3.08778305e-02 5.00505902e+02] [ 9.87767743e-01 1.34067709e-01 -7.96287312e-02 3.32212678e+02] [ 8.30335200e-02 -1.99902425e-02 9.96346237e-01 7.16031137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0192541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:500.49, Y:332.24, Z:71.59 [[ 1.32100607e-01 -9.91222330e-01 5.26522863e-03 5.00491173e+02] [ 9.88198643e-01 1.31278391e-01 -7.89267161e-02 3.32242222e+02] [ 7.75427127e-02 1.56293589e-02 9.96866516e-01 7.15923017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0492541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:500.50, Y:332.27, Z:71.60 [[ 1.33106251e-01 -9.91029114e-01 -1.20008980e-02 5.00503015e+02] [ 9.88115431e-01 1.33634730e-01 -7.59582356e-02 3.32268526e+02] [ 7.68805597e-02 -1.74775645e-03 9.97038778e-01 7.15981598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.0792541539998 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:500.51, Y:332.30, Z:71.60 [[ 1.36248892e-01 -9.90601920e-01 -1.20031632e-02 5.00506186e+02] [ 9.87674899e-01 1.36768527e-01 -7.61095461e-02 3.32295245e+02] [ 7.70359175e-02 -1.48538173e-03 9.97027212e-01 7.15996541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.51, Y:332.32, Z:71.60 [[ 1.37981758e-01 -9.90366211e-01 -1.16534551e-02 5.00510256e+02] [ 9.87599184e-01 1.38466891e-01 -7.39917007e-02 3.32323056e+02] [ 7.48924980e-02 -1.29943778e-03 9.97190767e-01 7.16048212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.51, Y:332.35, Z:71.61 [[ 1.39027125e-01 -9.90221202e-01 -1.15511709e-02 5.00513992e+02] [ 9.87491956e-01 1.39501083e-01 -7.34784714e-02 3.32350707e+02] [ 7.43713412e-02 -1.19118775e-03 9.97229906e-01 7.16072029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:500.52, Y:332.38, Z:71.61 [[ 1.40546641e-01 -9.90007172e-01 -1.15083126e-02 5.00516473e+02] [ 9.87287259e-01 1.41013080e-01 -7.33428956e-02 3.32378688e+02] [ 7.42328152e-02 -1.05391278e-03 9.97240382e-01 7.16086944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.1992541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:500.52, Y:332.41, Z:71.61 [[ 1.40453402e-01 -9.90019699e-01 -1.15687928e-02 5.00519394e+02] [ 9.87260613e-01 1.40925159e-01 -7.38686813e-02 3.32405349e+02] [ 7.47617836e-02 -1.04630588e-03 9.97200873e-01 7.16085468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2292541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:500.52, Y:332.43, Z:71.61 [[ 1.40294456e-01 -9.90040872e-01 -1.16848940e-02 5.00522914e+02] [ 9.87214749e-01 1.40776329e-01 -7.47600442e-02 3.32433421e+02] [ 7.56604558e-02 -1.04707994e-03 9.97133090e-01 7.16106297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2592541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:500.53, Y:332.46, Z:71.61 [[ 1.39564252e-01 -9.90142602e-01 -1.18088125e-02 5.00526182e+02] [ 9.87245188e-01 1.40058679e-01 -7.57001061e-02 3.32460226e+02] [ 7.66078267e-02 -1.09316464e-03 9.97060703e-01 7.16119339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.2892541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:500.53, Y:332.49, Z:71.61 [[ 1.38656299e-01 -9.90270226e-01 -1.18030150e-02 5.00529871e+02] [ 9.87365818e-01 1.39153050e-01 -7.57969014e-02 3.32486836e+02] [ 7.67018402e-02 -1.14417569e-03 9.97053418e-01 7.16140253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3192541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:500.53, Y:332.51, Z:71.62 [[ 1.36206195e-01 -9.90612200e-01 -1.16336869e-02 5.00533798e+02] [ 9.87780894e-01 1.36695979e-01 -7.48539604e-02 3.32514686e+02] [ 7.57415246e-02 -1.29596046e-03 9.97126643e-01 7.16172388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3492541539998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:500.54, Y:332.54, Z:71.62 [[ 1.34063323e-01 -9.90903803e-01 -1.16909379e-02 5.00537775e+02] [ 9.88034227e-01 1.34564335e-01 -7.53711198e-02 3.32541981e+02] [ 7.62587125e-02 -1.44654400e-03 9.97087015e-01 7.16186403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.54, Y:332.57, Z:71.62 [[ 1.32814903e-01 -9.91074975e-01 -1.14278072e-02 5.00541939e+02] [ 9.88323342e-01 1.33297305e-01 -7.38159824e-02 3.32568617e+02] [ 7.46804688e-02 -1.49050607e-03 9.97206401e-01 7.16230245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.55, Y:332.60, Z:71.62 [[ 1.31447953e-01 -9.91257607e-01 -1.13926500e-02 5.00546048e+02] [ 9.88513796e-01 1.31931373e-01 -7.37196537e-02 3.32596324e+02] [ 7.45782154e-02 -1.57149409e-03 9.97213929e-01 7.16248680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4392541539999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:500.55, Y:332.62, Z:71.62 [[ 1.29922557e-01 -9.91453912e-01 -1.18012650e-02 5.00549427e+02] [ 9.88498459e-01 1.30446031e-01 -7.65155521e-02 3.32624257e+02] [ 7.74010716e-02 -1.72443601e-03 9.96998546e-01 7.16238818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4692541539998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:500.55, Y:332.65, Z:71.63 [[ 1.29741121e-01 -9.91477929e-01 -1.17795215e-02 5.00553674e+02] [ 9.88522276e-01 1.30263458e-01 -7.65188997e-02 3.32652391e+02] [ 7.74012414e-02 -1.71667158e-03 9.96998546e-01 7.16258723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.4992541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:500.56, Y:332.68, Z:71.63 [[ 1.30385606e-01 -9.91393453e-01 -1.17735237e-02 5.00557496e+02] [ 9.88433147e-01 1.30905650e-01 -7.65743096e-02 3.32679130e+02] [ 7.74564899e-02 -1.65315332e-03 9.96994363e-01 7.16282901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5292541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:500.56, Y:332.71, Z:71.63 [[ 1.32302539e-01 -9.91139837e-01 -1.17414382e-02 5.00561146e+02] [ 9.88186453e-01 1.32814220e-01 -7.64716729e-02 3.32707204e+02] [ 7.73535513e-02 -1.48533366e-03 9.97002619e-01 7.16305370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.57, Y:332.73, Z:71.63 [[ 1.33977435e-01 -9.90918178e-01 -1.14548027e-02 5.00565397e+02] [ 9.88096021e-01 1.34459898e-01 -7.47448337e-02 3.32734709e+02] [ 7.56062260e-02 -1.30432394e-03 9.97136900e-01 7.16342310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.5892541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:500.57, Y:332.76, Z:71.63 [[ 1.33785379e-01 -9.90943555e-01 -1.15040158e-02 5.00569103e+02] [ 9.88086121e-01 1.34272735e-01 -7.52107033e-02 3.32762459e+02] [ 7.60742374e-02 -1.30486586e-03 9.97101303e-01 7.16347416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6192541539999 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:500.57, Y:332.79, Z:71.64 [[ 1.34356671e-01 -9.90866459e-01 -1.14867175e-02 5.00572783e+02] [ 9.88006228e-01 1.34841105e-01 -7.52434112e-02 3.32788770e+02] [ 7.61050541e-02 -1.23949411e-03 9.97099034e-01 7.16359546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6492541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:500.58, Y:332.82, Z:71.64 [[ 1.34485225e-01 -9.90849092e-01 -1.14804338e-02 5.00577021e+02] [ 9.87981716e-01 1.34968922e-01 -7.53360461e-02 3.32816823e+02] [ 7.61961546e-02 -1.21087360e-03 9.97092112e-01 7.16387482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.6792541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:500.58, Y:332.84, Z:71.64 [[ 1.34501125e-01 -9.90847063e-01 -1.14693166e-02 5.00581045e+02] [ 9.87974055e-01 1.34984016e-01 -7.54094354e-02 3.32843102e+02] [ 7.62673920e-02 -1.18873332e-03 9.97086692e-01 7.16408101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7092541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:500.59, Y:332.87, Z:71.64 [[ 1.34257563e-01 -9.90877676e-01 -1.16763869e-02 5.00585284e+02] [ 9.87889091e-01 1.34758930e-01 -7.69101796e-02 3.32870845e+02] [ 7.77820774e-02 -1.20920197e-03 9.96969652e-01 7.16419926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7392541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:500.59, Y:332.90, Z:71.64 [[ 1.34228074e-01 -9.90880627e-01 -1.17646718e-02 5.00589410e+02] [ 9.87834622e-01 1.34737317e-01 -7.76441580e-02 3.32897658e+02] [ 7.85212323e-02 -1.19952433e-03 9.96911720e-01 7.16430531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7692541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:500.59, Y:332.92, Z:71.65 [[ 1.34245007e-01 -9.90879335e-01 -1.16799841e-02 5.00593569e+02] [ 9.87866353e-01 1.34747065e-01 -7.72223884e-02 3.32924888e+02] [ 7.80919124e-02 -1.17154318e-03 9.96945475e-01 7.16454573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.7992541539999 meters Centerline goodness : 0.999750 Centerline is valid? [True, True] Translation: X:500.60, Y:332.95, Z:71.65 [[ 1.34519804e-01 -9.90841846e-01 -1.16986575e-02 5.00597433e+02] [ 9.87807507e-01 1.35022796e-01 -7.74930526e-02 3.32953030e+02] [ 7.83629447e-02 -1.13167149e-03 9.96924254e-01 7.16465836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8292541539998 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:500.60, Y:332.98, Z:71.65 [[ 1.35092064e-01 -9.90765557e-01 -1.15648278e-02 5.00601436e+02] [ 9.87788897e-01 1.35582069e-01 -7.67502248e-02 3.32980775e+02] [ 7.76094625e-02 -1.05526231e-03 9.96983279e-01 7.16483741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8592541539998 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:500.61, Y:333.01, Z:71.65 [[ 1.36730025e-01 -9.90542350e-01 -1.14346997e-02 5.00606147e+02] [ 9.87620443e-01 1.37204398e-01 -7.60316698e-02 3.33008639e+02] [ 7.68814800e-02 -8.97331099e-04 9.97039835e-01 7.16509884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.8892541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:500.61, Y:333.04, Z:71.65 [[ 1.37587017e-01 -9.90424438e-01 -1.13686074e-02 5.00610814e+02] [ 9.87524500e-01 1.38053551e-01 -7.57402097e-02 3.33036196e+02] [ 7.65844312e-02 -8.05908768e-04 9.97062774e-01 7.16538478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9192541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:500.62, Y:333.06, Z:71.65 [[ 1.38258066e-01 -9.90330188e-01 -1.14379473e-02 5.00615570e+02] [ 9.87382714e-01 1.38728425e-01 -7.63531290e-02 3.33062830e+02] [ 7.72015770e-02 -7.37195542e-04 9.97015232e-01 7.16546999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9492541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:500.62, Y:333.09, Z:71.66 [[ 1.38912961e-01 -9.90237980e-01 -1.14861350e-02 5.00620152e+02] [ 9.87252920e-01 1.39385429e-01 -7.68334132e-02 3.33090685e+02] [ 7.76843638e-02 -6.66563333e-04 9.96977781e-01 7.16563163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 909.9792541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:500.63, Y:333.12, Z:71.66 [[ 1.40633177e-01 -9.89995658e-01 -1.14414477e-02 5.00625300e+02] [ 9.87021234e-01 1.41096913e-01 -7.66860218e-02 3.33117425e+02] [ 7.75331815e-02 -5.08352883e-04 9.96989643e-01 7.16579482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.63, Y:333.14, Z:71.66 [[ 1.41712295e-01 -9.89844330e-01 -1.12173004e-02 5.00629907e+02] [ 9.86973278e-01 1.42155008e-01 -7.53372555e-02 3.33144555e+02] [ 7.61667506e-02 -3.94960426e-04 9.97095016e-01 7.16613719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0392541539999 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:500.64, Y:333.17, Z:71.66 [[ 1.43174097e-01 -9.89632353e-01 -1.13570833e-02 5.00635868e+02] [ 9.86676860e-01 1.43623591e-01 -7.64266900e-02 3.33171793e+02] [ 7.72654702e-02 -2.63448957e-04 9.97010520e-01 7.16605900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0692541539999 meters Centerline goodness : 0.999896 Centerline is valid? [True, True] Translation: X:500.64, Y:333.20, Z:71.66 [[ 1.44130526e-01 -9.89496781e-01 -1.10685312e-02 5.00640980e+02] [ 9.86678711e-01 1.44554811e-01 -7.46259152e-02 3.33198645e+02] [ 7.54421123e-02 -1.65211688e-04 9.97150169e-01 7.16638684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.0992541539998 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:500.65, Y:333.23, Z:71.67 [[ 1.44771776e-01 -9.89403117e-01 -1.10727278e-02 5.00646410e+02] [ 9.86574219e-01 1.45194567e-01 -7.47652820e-02 3.33225939e+02] [ 7.55807030e-02 -1.00165207e-04 9.97139683e-01 7.16652476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1292541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:500.65, Y:333.25, Z:71.67 [[ 1.46397630e-01 -9.89165254e-01 -1.09468546e-02 5.00653700e+02] [ 9.86388795e-01 1.46806328e-01 -7.40611010e-02 3.33253372e+02] [ 7.48657353e-02 4.45149324e-05 9.97193622e-01 7.16678124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1592541539999 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:500.66, Y:333.28, Z:71.67 [[ 1.47254102e-01 -9.89038610e-01 -1.09021660e-02 5.00659382e+02] [ 9.86273330e-01 1.47657072e-01 -7.39074298e-02 3.33280965e+02] [ 7.47070835e-02 1.30656676e-04 9.97205513e-01 7.16701452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.1892541539999 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:500.66, Y:333.31, Z:71.67 [[ 1.48342470e-01 -9.88876132e-01 -1.08861046e-02 5.00664503e+02] [ 9.86107553e-01 1.48741188e-01 -7.39456081e-02 3.33307477e+02] [ 7.47422591e-02 2.34404171e-04 9.97202858e-01 7.16720112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2192541539998 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:500.67, Y:333.34, Z:71.67 [[ 1.50823729e-01 -9.88499074e-01 -1.10355743e-02 5.00671021e+02] [ 9.85644536e-01 1.51226264e-01 -7.50697425e-02 3.33335160e+02] [ 7.58752396e-02 4.45144981e-04 9.97117220e-01 7.16723506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2492541539999 meters Centerline goodness : 0.999749 Centerline is valid? [True, True] Translation: X:500.68, Y:333.36, Z:71.67 [[ 1.52048900e-01 -9.88310395e-01 -1.11218376e-02 5.00676547e+02] [ 9.85398622e-01 1.52454062e-01 -7.58110492e-02 3.33363074e+02] [ 7.66204173e-02 5.67543138e-04 9.97060174e-01 7.16739794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.2792541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:500.68, Y:333.39, Z:71.68 [[ 1.53396029e-01 -9.88102011e-01 -1.11388705e-02 5.00682384e+02] [ 9.85168851e-01 1.53798344e-01 -7.60815665e-02 3.33389633e+02] [ 7.68894887e-02 6.96941963e-04 9.97039378e-01 7.16765455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.69, Y:333.42, Z:71.68 [[ 1.56329136e-01 -9.87645210e-01 -1.08692310e-02 5.00690783e+02] [ 9.84839803e-01 1.56703804e-01 -7.43940925e-02 3.33416643e+02] [ 7.51782190e-02 9.25512840e-04 9.97169684e-01 7.16807666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3392541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:500.70, Y:333.44, Z:71.68 [[ 1.56530992e-01 -9.87610862e-01 -1.10830609e-02 5.00696826e+02] [ 9.84681830e-01 1.56919774e-01 -7.60123542e-02 3.33443424e+02] [ 7.68097781e-02 9.85000519e-04 9.97045279e-01 7.16804438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3692541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:500.70, Y:333.47, Z:71.68 [[ 1.57304492e-01 -9.87487325e-01 -1.11391201e-02 5.00703556e+02] [ 9.84515783e-01 1.57694721e-01 -7.65574889e-02 3.33470558e+02] [ 7.73561304e-02 1.07619736e-03 9.97002944e-01 7.16821840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.3992541539999 meters Centerline goodness : 0.999875 Centerline is valid? [True, True] Translation: X:500.71, Y:333.50, Z:71.68 [[ 1.59297200e-01 -9.87211116e-01 -6.21410190e-03 5.00710497e+02] [ 9.84070518e-01 1.59287375e-01 -7.89477548e-02 3.33497264e+02] [ 7.89279291e-02 6.46104180e-03 9.96859387e-01 7.16829136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4292541539999 meters Centerline goodness : 0.999728 Centerline is valid? [True, True] Translation: X:500.72, Y:333.52, Z:71.69 [[ 1.58796156e-01 -9.87180809e-01 -1.60570945e-02 5.00721966e+02] [ 9.84108539e-01 1.59569016e-01 -7.78980920e-02 3.33524430e+02] [ 7.94617163e-02 -3.43200625e-03 9.96832010e-01 7.16861067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4592541539998 meters Centerline goodness : 0.999917 Centerline is valid? [True, True] Translation: X:500.73, Y:333.55, Z:71.69 [[ 1.59197327e-01 -9.87182492e-01 -1.12667213e-02 5.00726577e+02] [ 9.84111570e-01 1.59590215e-01 -7.78163353e-02 3.33551121e+02] [ 7.86169823e-02 1.30044177e-03 9.96904047e-01 7.16880379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.4892541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:500.74, Y:333.58, Z:71.69 [[ 1.59260167e-01 -9.87171734e-01 -1.13210434e-02 5.00737030e+02] [ 9.84059130e-01 1.59656449e-01 -7.83418568e-02 3.33577626e+02] [ 7.91443442e-02 1.33616110e-03 9.96862271e-01 7.16889272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5192541539999 meters Centerline goodness : 0.999771 Centerline is valid? [True, True] Translation: X:500.74, Y:333.60, Z:71.69 [[ 1.58961383e-01 -9.87219775e-01 -1.13311398e-02 5.00744327e+02] [ 9.84088672e-01 1.59359096e-01 -7.85758466e-02 3.33604228e+02] [ 7.93773498e-02 1.33967894e-03 9.96843740e-01 7.16906147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5492541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:500.75, Y:333.63, Z:71.69 [[ 1.58551170e-01 -9.87287110e-01 -1.12110981e-02 5.00751842e+02] [ 9.84208996e-01 1.58941570e-01 -7.79116783e-02 3.33631851e+02] [ 7.87031052e-02 1.31892416e-03 9.96897227e-01 7.16928317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.76, Y:333.66, Z:71.70 [[ 1.58789044e-01 -9.87252700e-01 -1.08694936e-02 5.00759618e+02] [ 9.84347725e-01 1.59155160e-01 -7.56914201e-02 3.33657890e+02] [ 7.64564949e-02 1.31960690e-03 9.97072045e-01 7.16971450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.77, Y:333.68, Z:71.70 [[ 1.57895174e-01 -9.87397083e-01 -1.07756136e-02 5.00771868e+02] [ 9.84530041e-01 1.58257384e-01 -7.52010626e-02 3.33684858e+02] [ 7.59586303e-02 1.26496954e-03 9.97110168e-01 7.16993832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:500.78, Y:333.71, Z:71.70 [[ 1.56875383e-01 -9.87559984e-01 -1.07420597e-02 5.00779482e+02] [ 9.84699168e-01 1.57238098e-01 -7.51247555e-02 3.33711300e+02] [ 7.58792634e-02 1.20752758e-03 9.97116282e-01 7.17009978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.79, Y:333.74, Z:71.70 [[ 1.55521068e-01 -9.87774661e-01 -1.06965859e-02 5.00791204e+02] [ 9.84927658e-01 1.55884454e-01 -7.49502860e-02 3.33737411e+02] [ 7.57014248e-02 1.12098522e-03 9.97129900e-01 7.17031691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.6992541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:500.80, Y:333.76, Z:71.70 [[ 1.54206831e-01 -9.87980088e-01 -1.07516726e-02 5.00798903e+02] [ 9.85092015e-01 1.54577624e-01 -7.54948990e-02 3.33763982e+02] [ 7.62494250e-02 1.05044234e-03 9.97088222e-01 7.17044485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7292541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:500.81, Y:333.79, Z:71.71 [[ 1.52889260e-01 -9.88183166e-01 -1.09043359e-02 5.00806423e+02] [ 9.85199706e-01 1.53274433e-01 -7.67364799e-02 3.33791144e+02] [ 7.75010536e-02 9.89235089e-04 9.96991779e-01 7.17051292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7592541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:500.82, Y:333.82, Z:71.71 [[ 1.51246395e-01 -9.88435756e-01 -1.09217714e-02 5.00817768e+02] [ 9.85430973e-01 1.51637634e-01 -7.70183482e-02 3.33817552e+02] [ 7.77838408e-02 8.86095687e-04 9.96969854e-01 7.17065908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.7892541539999 meters Centerline goodness : 0.999813 Centerline is valid? [True, True] Translation: X:500.83, Y:333.84, Z:71.71 [[ 1.50238472e-01 -9.88588571e-01 -1.10017762e-02 5.00825066e+02] [ 9.85526687e-01 1.50638422e-01 -7.77509857e-02 3.33844158e+02] [ 7.85210260e-02 8.38645242e-04 9.96912105e-01 7.17084244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8192541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:500.84, Y:333.87, Z:71.71 [[ 1.49062965e-01 -9.88765788e-01 -1.10656762e-02 5.00836000e+02] [ 9.85654592e-01 1.49471113e-01 -7.83799219e-02 3.33869754e+02] [ 7.91533842e-02 7.76608948e-04 9.96862146e-01 7.17099872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8492541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:500.84, Y:333.90, Z:71.71 [[ 1.48737050e-01 -9.88815817e-01 -1.09804195e-02 5.00843543e+02] [ 9.85739388e-01 1.49139827e-01 -7.79433889e-02 3.33897067e+02] [ 7.87092737e-02 7.69237803e-04 9.96897316e-01 7.17130102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.8792541539999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:500.85, Y:333.92, Z:71.71 [[ 1.47557507e-01 -9.88991088e-01 -1.11090088e-02 5.00850672e+02] [ 9.85829668e-01 1.47973399e-01 -7.90173296e-02 3.33924023e+02] [ 7.97912725e-02 7.08009688e-04 9.96811342e-01 7.17139729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9092541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:500.86, Y:333.95, Z:71.72 [[ 1.47566658e-01 -9.88991782e-01 -1.09241617e-02 5.00858250e+02] [ 9.85922387e-01 1.47968708e-01 -7.78608290e-02 3.33951199e+02] [ 7.86201540e-02 7.19286713e-04 9.96904386e-01 7.17171910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:500.87, Y:333.98, Z:71.72 [[ 1.47446228e-01 -9.89010574e-01 -1.08487469e-02 5.00868988e+02] [ 9.85971050e-01 1.47843009e-01 -7.74824757e-02 3.33977465e+02] [ 7.82348992e-02 7.27948413e-04 9.96934687e-01 7.17195127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9692541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:500.88, Y:334.00, Z:71.72 [[ 1.47035082e-01 -9.89070217e-01 -1.09904971e-02 5.00876143e+02] [ 9.85937523e-01 1.47443458e-01 -7.86614751e-02 3.34004166e+02] [ 7.94221991e-02 7.30052940e-04 9.96840800e-01 7.17205995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 910.9992541539999 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:500.88, Y:334.03, Z:71.72 [[ 1.47140937e-01 -9.89053435e-01 -1.10836813e-02 5.00883329e+02] [ 9.85856709e-01 1.47555815e-01 -7.94596252e-02 3.34031259e+02] [ 8.02252769e-02 7.64842137e-04 9.96776464e-01 7.17221095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0292541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:500.89, Y:334.06, Z:71.72 [[ 1.47604494e-01 -9.88986360e-01 -1.09037864e-02 5.00890595e+02] [ 9.85879856e-01 1.48004458e-01 -7.83300078e-02 3.34058987e+02] [ 7.90811184e-02 8.12037780e-04 9.96867854e-01 7.17245174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0592541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:500.90, Y:334.09, Z:71.73 [[ 1.49171192e-01 -9.88751317e-01 -1.08989861e-02 5.00900962e+02] [ 9.85633787e-01 1.49565729e-01 -7.84610146e-02 3.34085749e+02] [ 7.92085464e-02 9.61714060e-04 9.96857603e-01 7.17259621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.91, Y:334.11, Z:71.73 [[ 1.50842849e-01 -9.88501349e-01 -1.05601639e-02 5.00908028e+02] [ 9.85561816e-01 1.51208158e-01 -7.61839841e-02 3.34111958e+02] [ 7.69047540e-02 1.08411488e-03 9.97037855e-01 7.17288089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1192541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:500.92, Y:334.14, Z:71.73 [[ 1.51850213e-01 -9.88345718e-01 -1.06889788e-02 5.00918311e+02] [ 9.85319566e-01 1.52221188e-01 -7.72920639e-02 3.34138844e+02] [ 7.80183695e-02 1.20475645e-03 9.96951194e-01 7.17297270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1492541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:500.93, Y:334.17, Z:71.73 [[ 1.53209947e-01 -9.88138342e-01 -1.04560885e-02 5.00925588e+02] [ 9.85229926e-01 1.53560767e-01 -7.57699416e-02 3.34165222e+02] [ 7.64768294e-02 1.30705742e-03 9.97070502e-01 7.17324572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.1792541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:500.93, Y:334.19, Z:71.73 [[ 1.53488136e-01 -9.88093826e-01 -1.05822322e-02 5.00932252e+02] [ 9.85100779e-01 1.53846375e-01 -7.68618810e-02 3.34191206e+02] [ 7.75747881e-02 1.37282171e-03 9.96985591e-01 7.17331540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2092541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:500.94, Y:334.22, Z:71.74 [[ 1.55895357e-01 -9.87719390e-01 -1.03461811e-02 5.00942439e+02] [ 9.84845070e-01 1.56230592e-01 -7.53139410e-02 3.34218443e+02] [ 7.60054299e-02 1.55170827e-03 9.97106196e-01 7.17352609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:500.95, Y:334.25, Z:71.74 [[ 1.57278259e-01 -9.87501829e-01 -1.01827313e-02 5.00949165e+02] [ 9.84705490e-01 1.57598848e-01 -7.42812263e-02 3.34245974e+02] [ 7.49576335e-02 1.65583052e-03 9.97185345e-01 7.17377013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.96, Y:334.27, Z:71.74 [[ 1.59935640e-01 -9.87077513e-01 -9.92848166e-03 5.00958517e+02] [ 9.84407223e-01 1.60233014e-01 -7.25796158e-02 3.34271931e+02] [ 7.32325771e-02 1.83439826e-03 9.97313203e-01 7.17401690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.2992541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:500.97, Y:334.30, Z:71.74 [[ 1.59631785e-01 -9.87126234e-01 -9.97456567e-03 5.00965123e+02] [ 9.84418849e-01 1.59932443e-01 -7.30831310e-02 3.34299182e+02] [ 7.37375325e-02 1.84724017e-03 9.97275972e-01 7.17408057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3292541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:500.97, Y:334.33, Z:71.74 [[ 1.59483596e-01 -9.87150864e-01 -9.90730650e-03 5.00971820e+02] [ 9.84468498e-01 1.59780336e-01 -7.27462810e-02 3.34325797e+02] [ 7.33945469e-02 1.84840738e-03 9.97301270e-01 7.17424907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.98, Y:334.35, Z:71.75 [[ 1.59955725e-01 -9.87076178e-01 -9.73572381e-03 5.00978786e+02] [ 9.84474305e-01 1.60240757e-01 -7.16466534e-02 3.34353549e+02] [ 7.22807646e-02 1.87572248e-03 9.97382561e-01 7.17454174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.98, Y:334.38, Z:71.75 [[ 1.59692518e-01 -9.87118996e-01 -9.71531589e-03 5.00982527e+02] [ 9.84517037e-01 1.59976762e-01 -7.16494207e-02 3.34381814e+02] [ 7.22807291e-02 1.87698236e-03 9.97382561e-01 7.17474140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:500.99, Y:334.41, Z:71.75 [[ 1.58887303e-01 -9.87248698e-01 -9.73827914e-03 5.00989067e+02] [ 9.84624044e-01 1.59174754e-01 -7.19645053e-02 3.34408448e+02] [ 7.25969523e-02 1.84570234e-03 9.97359652e-01 7.17488563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4492541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:501.00, Y:334.44, Z:71.75 [[ 1.56963178e-01 -9.87553133e-01 -1.00682884e-02 5.00998499e+02] [ 9.84734793e-01 1.57275557e-01 -7.45773810e-02 3.34435121e+02] [ 7.52326220e-02 1.79130881e-03 9.97164402e-01 7.17487341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.4792541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:501.01, Y:334.46, Z:71.75 [[ 1.56044936e-01 -9.87697662e-01 -1.01639589e-02 5.01005218e+02] [ 9.84812990e-01 1.56365644e-01 -7.54530302e-02 3.34462939e+02] [ 7.61140755e-02 1.76446447e-03 9.97097555e-01 7.17502884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.01, Y:334.49, Z:71.75 [[ 1.55701831e-01 -9.87750828e-01 -1.02587303e-02 5.01014232e+02] [ 9.84798801e-01 1.56029249e-01 -7.63295200e-02 3.34489257e+02] [ 7.69952086e-02 1.78186065e-03 9.97029871e-01 7.17529198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:501.02, Y:334.52, Z:71.75 [[ 1.54017540e-01 -9.88012062e-01 -1.05243562e-02 5.01020419e+02] [ 9.84890612e-01 1.54367070e-01 -7.84938852e-02 3.34516451e+02] [ 7.91775195e-02 1.72409546e-03 9.96859041e-01 7.17532801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.03, Y:334.54, Z:71.76 [[ 1.53585301e-01 -9.88078561e-01 -1.05977414e-02 5.01029562e+02] [ 9.84899654e-01 1.53940798e-01 -7.92142848e-02 3.34543580e+02] [ 7.99013613e-02 1.72843795e-03 9.96801277e-01 7.17562613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.01, Y:334.57, Z:71.72 [[ 1.46231767e-01 -9.88574914e-01 3.65501055e-02 5.01005774e+02] [ 9.86959546e-01 1.43280553e-01 -7.33589596e-02 3.34571842e+02] [ 6.72839079e-02 4.68008858e-02 9.96635617e-01 7.17236372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.06, Y:334.59, Z:71.78 [[ 1.50836442e-01 -9.87042065e-01 -5.47387504e-02 5.01063517e+02] [ 9.85232435e-01 1.54636861e-01 -7.35152338e-02 3.34594389e+02] [ 8.10272567e-02 -4.28416161e-02 9.95790731e-01 7.17792619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.05, Y:334.63, Z:71.76 [[ 1.48437231e-01 -9.88865423e-01 -1.05624180e-02 5.01049055e+02] [ 9.85685931e-01 1.48806414e-01 -7.92458005e-02 3.34625811e+02] [ 7.99351876e-02 1.35180041e-03 9.96799147e-01 7.17634754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.6892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.06, Y:334.65, Z:71.77 [[ 1.41791903e-01 -9.89841608e-01 -1.04233600e-02 5.01057306e+02] [ 9.86734527e-01 1.42172099e-01 -7.83713409e-02 3.34652736e+02] [ 7.90571251e-02 8.27332359e-04 9.96869744e-01 7.17654142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.06, Y:334.68, Z:71.77 [[ 1.38624903e-01 -9.90291616e-01 -1.02787147e-02 5.01062804e+02] [ 9.87258529e-01 1.39004205e-01 -7.74495140e-02 3.34680605e+02] [ 7.81263889e-02 5.88682545e-04 9.96943289e-01 7.17680509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7492541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:501.07, Y:334.71, Z:71.77 [[ 1.35768751e-01 -9.90687917e-01 -1.02126182e-02 5.01067075e+02] [ 9.87681984e-01 1.36151770e-01 -7.71167569e-02 3.34708279e+02] [ 7.77891053e-02 3.83226722e-04 9.96969763e-01 7.17687069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.7792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:501.05, Y:334.74, Z:71.75 [[ 1.29784576e-01 -9.91271724e-01 2.31588860e-02 5.01049096e+02] [ 9.89225168e-01 1.27850168e-01 -7.13295313e-02 3.34738452e+02] [ 6.77460800e-02 3.21668259e-02 9.97183917e-01 7.17475725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8092541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:501.09, Y:334.76, Z:71.79 [[ 1.33572207e-01 -9.90181393e-01 -4.12222499e-02 5.01086143e+02] [ 9.88129236e-01 1.36249884e-01 -7.09688779e-02 3.34761258e+02] [ 7.58885892e-02 -3.12534406e-02 9.96626382e-01 7.17867454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.05, Y:334.79, Z:71.75 [[ 1.30918887e-01 -9.91106585e-01 2.38323831e-02 5.01050467e+02] [ 9.89068222e-01 1.28928785e-01 -7.15640981e-02 3.34794618e+02] [ 6.78549686e-02 3.29409448e-02 9.97151241e-01 7.17509775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.07, Y:334.82, Z:71.77 [[ 1.31996100e-01 -9.91198129e-01 -1.01635976e-02 5.01068854e+02] [ 9.88904334e-01 1.32381789e-01 -6.74038540e-02 3.34818373e+02] [ 6.81560492e-02 -1.15377982e-03 9.97674006e-01 7.17650987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.07, Y:334.85, Z:71.76 [[ 1.33666775e-01 -9.91023834e-01 -2.22574211e-03 5.01067061e+02] [ 9.88555726e-01 1.33491697e-01 -7.02676545e-02 3.34846505e+02] [ 6.99340385e-02 7.19218063e-03 9.97525690e-01 7.17632751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.07, Y:334.87, Z:71.77 [[ 1.37772436e-01 -9.90445726e-01 -6.00165219e-03 5.01071335e+02] [ 9.87926354e-01 1.37850410e-01 -7.07020805e-02 3.34873785e+02] [ 7.08539037e-02 3.81160749e-03 9.97479421e-01 7.17652432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.09, Y:334.90, Z:71.79 [[ 1.43468450e-01 -9.88693740e-01 -4.36061020e-02 5.01094707e+02] [ 9.86528377e-01 1.46375950e-01 -7.30468565e-02 3.34897833e+02] [ 7.86038544e-02 -3.25387378e-02 9.96374761e-01 7.17930772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 911.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.08, Y:334.93, Z:71.78 [[ 1.45461753e-01 -9.89312635e-01 -1.00692341e-02 5.01081824e+02] [ 9.86263396e-01 1.45803496e-01 -7.76263715e-02 3.34928614e+02] [ 7.82648796e-02 1.36075109e-03 9.96931671e-01 7.17814061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:501.08, Y:334.96, Z:71.78 [[ 1.47433413e-01 -9.89020284e-01 -1.01126821e-02 5.01084042e+02] [ 9.85930010e-01 1.47771702e-01 -7.81379553e-02 3.34956568e+02] [ 7.87743910e-02 1.54974865e-03 9.96891265e-01 7.17818759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:501.06, Y:334.99, Z:71.75 [[ 1.42182390e-01 -9.89361342e-01 3.07945370e-02 5.01060554e+02] [ 9.87541929e-01 1.39664636e-01 -7.24895004e-02 3.34985261e+02] [ 6.74174016e-02 4.07176269e-02 9.96893660e-01 7.17538859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.0792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:501.11, Y:335.01, Z:71.80 [[ 1.47484882e-01 -9.87885900e-01 -4.82665351e-02 5.01108406e+02] [ 9.85914221e-01 1.50731698e-01 -7.24782996e-02 3.35008898e+02] [ 7.88755870e-02 -3.68972098e-02 9.96201404e-01 7.18018145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.09, Y:335.04, Z:71.79 [[ 1.45718895e-01 -9.89277866e-01 -9.76258352e-03 5.01094603e+02] [ 9.86373440e-01 1.46038743e-01 -7.57635944e-02 3.35039647e+02] [ 7.63769624e-02 1.41063413e-03 9.97078016e-01 7.17901501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1392541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:501.08, Y:335.07, Z:71.77 [[ 1.39029204e-01 -9.89983411e-01 2.45708450e-02 5.01076697e+02] [ 9.88015196e-01 1.36987214e-01 -7.11370266e-02 3.35068402e+02] [ 6.70585847e-02 3.41664924e-02 9.97163877e-01 7.17665264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.12, Y:335.09, Z:71.81 [[ 1.41749624e-01 -9.89017346e-01 -4.18537156e-02 5.01117434e+02] [ 9.86977082e-01 1.44452482e-01 -7.07793740e-02 3.35091329e+02] [ 7.60479017e-02 -3.12757085e-02 9.96613539e-01 7.18073864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.1992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:501.11, Y:335.12, Z:71.79 [[ 1.37969077e-01 -9.90390211e-01 -9.57930366e-03 5.01106156e+02] [ 9.87566458e-01 1.38298605e-01 -7.47394576e-02 3.35122192e+02] [ 7.53460316e-02 8.51534957e-04 9.97157084e-01 7.17942131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.11, Y:335.15, Z:71.80 [[ 1.37082328e-01 -9.90514101e-01 -9.50007915e-03 5.01109412e+02] [ 9.87724746e-01 1.37408791e-01 -7.42876226e-02 3.35148479e+02] [ 7.48883321e-02 8.00056958e-04 9.97191605e-01 7.17967901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2592541539999 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:501.10, Y:335.18, Z:71.78 [[ 1.34567035e-01 -9.90791351e-01 1.49736970e-02 5.01099823e+02] [ 9.88411835e-01 1.33142040e-01 -7.29057011e-02 3.35178847e+02] [ 7.02407095e-02 2.46108833e-02 9.97226427e-01 7.17833801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.2892541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:501.12, Y:335.20, Z:71.80 [[ 1.31591358e-01 -9.91215872e-01 -1.32215624e-02 5.01116730e+02] [ 9.88630330e-01 1.32203692e-01 -7.16397540e-02 3.35203281e+02] [ 7.27584005e-02 -3.64406511e-03 9.97342938e-01 7.17953862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3192541539999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:501.13, Y:335.23, Z:71.81 [[ 1.33951058e-01 -9.90475251e-01 -3.18730395e-02 5.01131677e+02] [ 9.87891845e-01 1.36003888e-01 -7.46501567e-02 3.35229799e+02] [ 7.82739900e-02 -2.14876484e-02 9.96700288e-01 7.18138858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:501.12, Y:335.26, Z:71.81 [[ 1.33709473e-01 -9.90970173e-01 -9.99467246e-03 5.01124460e+02] [ 9.87875405e-01 1.34081200e-01 -7.82586439e-02 3.35258196e+02] [ 7.88920796e-02 5.90430963e-04 9.96882988e-01 7.18067771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.3792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.13, Y:335.29, Z:71.81 [[ 1.34008792e-01 -9.90930720e-01 -9.89702693e-03 5.01127388e+02] [ 9.87880377e-01 1.34372261e-01 -7.76946375e-02 3.35285569e+02] [ 7.83198890e-02 6.34685800e-04 9.96928078e-01 7.18092711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.13, Y:335.31, Z:71.81 [[ 1.33443165e-01 -9.91005927e-01 -1.00087486e-02 5.01130257e+02] [ 9.87870797e-01 1.33816532e-01 -7.87681666e-02 3.35312322e+02] [ 7.93990559e-02 6.23723052e-04 9.96842716e-01 7.18103671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.13, Y:335.34, Z:71.81 [[ 1.32888110e-01 -9.91111688e-01 -6.19457815e-03 5.01129377e+02] [ 9.87989296e-01 1.32961531e-01 -7.87298051e-02 3.35339595e+02] [ 7.88536706e-02 4.34207806e-03 9.96876745e-01 7.18084847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4692541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.14, Y:335.37, Z:71.81 [[ 1.34704222e-01 -9.90791881e-01 -1.36463163e-02 5.01137621e+02] [ 9.87613195e-01 1.35364966e-01 -7.93505077e-02 3.35366858e+02] [ 8.04670719e-02 -2.78843360e-03 9.96753367e-01 7.18148786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.14, Y:335.39, Z:71.82 [[ 1.35718056e-01 -9.90696360e-01 -1.00663569e-02 5.01139316e+02] [ 9.87487936e-01 1.36088063e-01 -7.96719279e-02 3.35393508e+02] [ 8.03006000e-02 8.72513189e-04 9.96770311e-01 7.18159035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:501.14, Y:335.42, Z:71.82 [[ 1.35594657e-01 -9.90712324e-01 -1.01577560e-02 5.01142764e+02] [ 9.87434109e-01 1.35971686e-01 -8.05331069e-02 3.35419597e+02] [ 8.11663087e-02 8.89744252e-04 9.96700175e-01 7.18168730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5592541539999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:501.15, Y:335.45, Z:71.82 [[ 1.35390949e-01 -9.90753683e-01 -8.74241230e-03 5.01145048e+02] [ 9.87603908e-01 1.35657314e-01 -7.89659037e-02 3.35447394e+02] [ 7.94217321e-02 2.05722810e-03 9.96838982e-01 7.18170671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.5892541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:501.15, Y:335.47, Z:71.82 [[ 1.36649486e-01 -9.90557956e-01 -1.10387641e-02 5.01149380e+02] [ 9.87456669e-01 1.37094484e-01 -7.83226022e-02 3.35473012e+02] [ 7.90964304e-02 -1.97557873e-04 9.96866950e-01 7.18216645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.15, Y:335.50, Z:71.82 [[ 1.37774911e-01 -9.90416841e-01 -9.62053793e-03 5.01151268e+02] [ 9.87428495e-01 1.38106064e-01 -7.68874661e-02 3.35500707e+02] [ 7.74792960e-02 1.09357051e-03 9.96993362e-01 7.18247887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.15, Y:335.53, Z:71.83 [[ 1.36500062e-01 -9.90594631e-01 -9.48742599e-03 5.01153336e+02] [ 9.87675531e-01 1.36825697e-01 -7.59985205e-02 3.35528612e+02] [ 7.65818501e-02 1.00330425e-03 9.97062793e-01 7.18257191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.6792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.15, Y:335.56, Z:71.82 [[ 1.35240690e-01 -9.90812455e-01 7.97086095e-04 5.01150136e+02] [ 9.88055449e-01 1.34804310e-01 -7.46607572e-02 3.35555462e+02] [ 7.38673575e-02 1.08847376e-02 9.97208672e-01 7.18198851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.17, Y:335.58, Z:71.83 [[ 1.38158754e-01 -9.90228140e-01 -1.89839436e-02 5.01165167e+02] [ 9.87387966e-01 1.39208122e-01 -7.54062553e-02 3.35582468e+02] [ 7.73121150e-02 -8.32648321e-03 9.96972169e-01 7.18337079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.16, Y:335.61, Z:71.83 [[ 1.37396000e-01 -9.90469512e-01 -9.61693819e-03 5.01164347e+02] [ 9.87429907e-01 1.37727283e-01 -7.75459560e-02 3.35611078e+02] [ 7.81314199e-02 1.15845181e-03 9.96942395e-01 7.18311783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:501.15, Y:335.64, Z:71.81 [[ 1.31711840e-01 -9.91192206e-01 1.37841304e-02 5.01152637e+02] [ 9.88630518e-01 1.30328518e-01 -7.49945127e-02 3.35638056e+02] [ 7.25375112e-02 2.35050773e-02 9.97088673e-01 7.18143959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.7992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:501.18, Y:335.66, Z:71.84 [[ 1.34190764e-01 -9.90452923e-01 -3.15570353e-02 5.01183432e+02] [ 9.87743960e-01 1.36249775e-01 -7.61437391e-02 3.35663744e+02] [ 7.97164279e-02 -2.09524845e-02 9.96597353e-01 7.18435617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8292541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:501.18, Y:335.69, Z:71.84 [[ 1.32542670e-01 -9.91129946e-01 -9.68864883e-03 5.01177103e+02] [ 9.88010620e-01 1.32893641e-01 -7.85766829e-02 3.35693070e+02] [ 7.91672633e-02 8.42275417e-04 9.96860991e-01 7.18364482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.18, Y:335.72, Z:71.84 [[ 1.31500682e-01 -9.91271158e-01 -9.43727030e-03 5.01179808e+02] [ 9.88298417e-01 1.31836686e-01 -7.67158896e-02 3.35719884e+02] [ 7.72904272e-02 7.61352468e-04 9.97008330e-01 7.18401700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.8892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:501.17, Y:335.75, Z:71.83 [[ 1.24529609e-01 -9.92165955e-01 9.95462230e-03 5.01170655e+02] [ 9.89586322e-01 1.23463393e-01 -7.39979841e-02 3.35748097e+02] [ 7.21892492e-02 1.90658981e-02 9.97208706e-01 7.18271919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.18, Y:335.78, Z:71.83 [[ 1.22640831e-01 -9.92450798e-01 -7.99640163e-04 5.01178713e+02] [ 9.89978124e-01 1.22392039e-01 -7.04521330e-02 3.35775412e+02] [ 7.00181453e-02 7.84868189e-03 9.97514841e-01 7.18325556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.19, Y:335.80, Z:71.84 [[ 1.19612787e-01 -9.92763466e-01 -1.06528245e-02 5.01188346e+02] [ 9.90204966e-01 1.20069146e-01 -7.12567634e-02 3.35802703e+02] [ 7.20201869e-02 -2.02525967e-03 9.97401118e-01 7.18402167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 912.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.19, Y:335.83, Z:71.84 [[ 1.18214698e-01 -9.92904225e-01 -1.29029553e-02 5.01193991e+02] [ 9.90292607e-01 1.18840625e-01 -7.20934008e-02 3.35830316e+02] [ 7.31152374e-02 -4.25520165e-03 9.97314422e-01 7.18447485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0092541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:501.21, Y:335.86, Z:71.86 [[ 1.18486969e-01 -9.92591814e-01 -2.68761643e-02 5.01207429e+02] [ 9.89798402e-01 1.20223673e-01 -7.64551651e-02 3.35857896e+02] [ 7.91199222e-02 -1.75430437e-02 9.96710730e-01 7.18575916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0392541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:501.20, Y:335.89, Z:71.85 [[ 1.16806865e-01 -9.93108005e-01 -9.62526950e-03 5.01201830e+02] [ 9.89985664e-01 1.17202286e-01 -7.86893234e-02 3.35887049e+02] [ 7.92751006e-02 -3.37425619e-04 9.96852720e-01 7.18531605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:501.20, Y:335.91, Z:71.86 [[ 1.16597531e-01 -9.93132736e-01 -9.61170475e-03 5.01203937e+02] [ 9.90004347e-01 1.16992560e-01 -7.87663263e-02 3.35913510e+02] [ 7.93499151e-02 -3.31670312e-04 9.96846769e-01 7.18553633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.0992541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:501.21, Y:335.94, Z:71.86 [[ 1.15876157e-01 -9.93215955e-01 -9.73563244e-03 5.01206496e+02] [ 9.89990176e-01 1.16283832e-01 -7.99845072e-02 3.35941745e+02] [ 8.05739853e-02 -3.69883165e-04 9.96748562e-01 7.18555767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.20, Y:335.97, Z:71.85 [[ 1.14785733e-01 -9.93367265e-01 6.76112929e-03 5.01196463e+02] [ 9.90456546e-01 1.13921402e-01 -7.75741242e-02 3.35970340e+02] [ 7.62893582e-02 1.56010075e-02 9.96963662e-01 7.18469202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1592541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:501.22, Y:336.00, Z:71.87 [[ 1.17825373e-01 -9.92712575e-01 -2.52769654e-02 5.01217811e+02] [ 9.89654658e-01 1.19484590e-01 -7.94171964e-02 3.35996351e+02] [ 8.18586574e-02 -1.56581058e-02 9.96520940e-01 7.18661975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.1892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:501.21, Y:336.03, Z:71.86 [[ 1.20274394e-01 -9.92691393e-01 -9.89285408e-03 5.01212040e+02] [ 9.89323897e-01 1.20680557e-01 -8.16971912e-02 3.36026035e+02] [ 8.22939737e-02 3.88432043e-05 9.96608098e-01 7.18632858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2192541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:501.21, Y:336.05, Z:71.86 [[ 1.21240625e-01 -9.92573532e-01 -9.92442727e-03 5.01214234e+02] [ 9.89167213e-01 1.21646054e-01 -8.21611940e-02 3.36052767e+02] [ 8.27582939e-02 1.44356426e-04 9.96569638e-01 7.18649374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.20, Y:336.08, Z:71.85 [[ 1.18389390e-01 -9.92885166e-01 1.27670923e-02 5.01200477e+02] [ 9.90079368e-01 1.17055426e-01 -7.77230460e-02 3.36080532e+02] [ 7.56756020e-02 2.18420187e-02 9.96893239e-01 7.18505762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.21, Y:336.11, Z:71.86 [[ 1.18467204e-01 -9.92929354e-01 -7.53784868e-03 5.01214012e+02] [ 9.90043185e-01 1.18697278e-01 -7.56666972e-02 3.36107944e+02] [ 7.60264069e-02 1.50122631e-03 9.97104674e-01 7.18604745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.23, Y:336.14, Z:71.88 [[ 1.24296302e-01 -9.91756273e-01 -3.11436213e-02 5.01232415e+02] [ 9.88717541e-01 1.26437675e-01 -8.03189800e-02 3.36136558e+02] [ 8.35945793e-02 -2.08088925e-02 9.96282559e-01 7.18811086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.21, Y:336.17, Z:71.85 [[ 1.21859342e-01 -9.92419806e-01 1.59131992e-02 5.01205562e+02] [ 9.89623373e-01 1.20254988e-01 -7.86404334e-02 3.36165671e+02] [ 7.61306820e-02 2.53311453e-02 9.96776029e-01 7.18541992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.24, Y:336.19, Z:71.89 [[ 1.27579521e-01 -9.91246989e-01 -3.39539735e-02 5.01237932e+02] [ 9.88266213e-01 1.29945592e-01 -8.02747447e-02 3.36191466e+02] [ 8.39842682e-02 -2.33141513e-02 9.96194305e-01 7.18865359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.23, Y:336.22, Z:71.88 [[ 1.29228776e-01 -9.91565581e-01 -9.88035837e-03 5.01228908e+02] [ 9.88141326e-01 1.29602963e-01 -8.23394936e-02 3.36220010e+02] [ 8.29255316e-02 8.77441553e-04 9.96555360e-01 7.18793998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.23, Y:336.25, Z:71.88 [[ 1.29697432e-01 -9.91505257e-01 -9.79292657e-03 5.01232165e+02] [ 9.88128790e-01 1.30063311e-01 -8.17620292e-02 3.36248111e+02] [ 8.23411823e-02 9.27652569e-04 9.96603767e-01 7.18818057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.24, Y:336.28, Z:71.88 [[ 1.29558330e-01 -9.91524167e-01 -9.71937086e-03 5.01235521e+02] [ 9.88182099e-01 1.29919027e-01 -8.13460864e-02 3.36275767e+02] [ 8.19193417e-02 9.34554826e-04 9.96638524e-01 7.18834822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.22, Y:336.30, Z:71.86 [[ 1.24561577e-01 -9.91948801e-01 2.28470788e-02 5.01216382e+02] [ 9.89600161e-01 1.22531149e-01 -7.53501101e-02 3.36302919e+02] [ 7.19439726e-02 3.19952014e-02 9.96895367e-01 7.18612745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:501.23, Y:336.33, Z:71.87 [[ 1.23884684e-01 -9.92294605e-01 -2.00042766e-03 5.01231286e+02] [ 9.89628702e-01 1.23699083e-01 -7.30312851e-02 3.36328846e+02] [ 7.27160013e-02 7.06777707e-03 9.97327644e-01 7.18693916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.24, Y:336.36, Z:71.88 [[ 1.25482986e-01 -9.92056450e-01 -8.83289926e-03 5.01238612e+02] [ 9.89444676e-01 1.25793152e-01 -7.19396665e-02 3.36355876e+02] [ 7.24793284e-02 2.87539001e-04 9.97369873e-01 7.18769248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.5792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.26, Y:336.38, Z:71.90 [[ 1.31048452e-01 -9.90447812e-01 -4.28886268e-02 5.01264967e+02] [ 9.87943825e-01 1.34069210e-01 -7.74108903e-02 3.36382973e+02] [ 8.24214913e-02 -3.22269766e-02 9.96076362e-01 7.19049219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.25, Y:336.41, Z:71.89 [[ 1.30689102e-01 -9.91375671e-01 -9.72814629e-03 5.01252629e+02] [ 9.88008012e-01 1.31046387e-01 -8.16517774e-02 3.36413941e+02] [ 8.22224240e-02 1.05951098e-03 9.96613441e-01 7.18942140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:501.26, Y:336.44, Z:71.90 [[ 1.30755510e-01 -9.91366443e-01 -9.77608719e-03 5.01256087e+02] [ 9.87948547e-01 1.31115869e-01 -8.22575062e-02 3.36441662e+02] [ 8.28291315e-02 1.09735101e-03 9.96563160e-01 7.18958141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.26, Y:336.47, Z:71.90 [[ 1.30569660e-01 -9.91390555e-01 -9.81490154e-03 5.01259389e+02] [ 9.87928332e-01 1.30933299e-01 -8.27893803e-02 3.36468123e+02] [ 8.33617071e-02 1.11336189e-03 9.96518734e-01 7.18979511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.6992541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:501.26, Y:336.50, Z:71.90 [[ 1.29145992e-01 -9.91576112e-01 -9.90590560e-03 5.01262856e+02] [ 9.88031314e-01 1.29521231e-01 -8.37757348e-02 3.36495624e+02] [ 8.43530424e-02 1.03195541e-03 9.96435397e-01 7.18975810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.27, Y:336.52, Z:71.90 [[ 1.29722356e-01 -9.91500606e-01 -9.93275676e-03 5.01267140e+02] [ 9.87918661e-01 1.30097327e-01 -8.42104838e-02 3.36522906e+02] [ 8.47869708e-02 1.11122660e-03 9.96398482e-01 7.19011292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.27, Y:336.55, Z:71.90 [[ 1.29173526e-01 -9.91571969e-01 -9.96143835e-03 5.01270648e+02] [ 9.87951496e-01 1.29552427e-01 -8.46641034e-02 3.36549598e+02] [ 8.52410802e-02 1.09494286e-03 9.96359754e-01 7.19023572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.7892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.27, Y:336.58, Z:71.90 [[ 1.29106523e-01 -9.91580500e-01 -9.98084880e-03 5.01274347e+02] [ 9.87926962e-01 1.29486899e-01 -8.50497565e-02 3.36577162e+02] [ 8.56260692e-02 1.12012873e-03 9.96326714e-01 7.19043995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.28, Y:336.61, Z:71.91 [[ 1.29363483e-01 -9.91546411e-01 -1.00401170e-02 5.01278821e+02] [ 9.87830883e-01 1.29747174e-01 -8.57660630e-02 3.36605076e+02] [ 8.63437088e-02 1.17705898e-03 9.96264713e-01 7.19067746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:501.28, Y:336.63, Z:71.91 [[ 1.27909396e-01 -9.91734367e-01 -1.01060272e-02 5.01282405e+02] [ 9.87951087e-01 1.28303411e-01 -8.65498981e-02 3.36632423e+02] [ 8.71311461e-02 1.08628458e-03 9.96196258e-01 7.19073979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.8792541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:501.29, Y:336.66, Z:71.91 [[ 1.26512902e-01 -9.91913621e-01 -1.00922906e-02 5.01286975e+02] [ 9.88121174e-01 1.26910937e-01 -8.66611794e-02 3.36660369e+02] [ 8.72412263e-02 9.91351256e-04 9.96186722e-01 7.19087843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.29, Y:336.69, Z:71.91 [[ 1.26688563e-01 -9.91893379e-01 -9.87587569e-03 5.01290948e+02] [ 9.88244116e-01 1.27068896e-01 -8.50121332e-02 3.36687764e+02] [ 8.55778887e-02 1.01028896e-03 9.96330971e-01 7.19133813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.29, Y:336.72, Z:71.92 [[ 1.25280363e-01 -9.92073151e-01 -9.78236167e-03 5.01294951e+02] [ 9.88475437e-01 1.25658437e-01 -8.44172271e-02 3.36715734e+02] [ 8.49773007e-02 9.06196653e-04 9.96382475e-01 7.19150943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9692541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:501.30, Y:336.74, Z:71.92 [[ 1.23005386e-01 -9.92359691e-01 -9.58748409e-03 5.01299758e+02] [ 9.88887935e-01 1.23376354e-01 -8.29392981e-02 3.36743466e+02] [ 8.34884850e-02 7.21032993e-04 9.96508481e-01 7.19182069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 913.9992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:501.30, Y:336.77, Z:71.92 [[ 1.20691892e-01 -9.92643965e-01 -9.56168663e-03 5.01303083e+02] [ 9.89174437e-01 1.21068807e-01 -8.29233224e-02 3.36771070e+02] [ 8.34709575e-02 5.49996676e-04 9.96510059e-01 7.19185831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.30, Y:336.80, Z:71.91 [[ 1.16726171e-01 -9.93161105e-01 2.45367029e-03 5.01295486e+02] [ 9.90098435e-01 1.16171538e-01 -7.87988822e-02 3.36795973e+02] [ 7.79749383e-02 1.16272669e-02 9.96887514e-01 7.19109728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:501.30, Y:336.82, Z:71.91 [[ 1.13952681e-01 -9.93485265e-01 -1.34728090e-03 5.01301214e+02] [ 9.90393461e-01 1.13704763e-01 -7.86893903e-02 3.36823341e+02] [ 7.83299420e-02 7.63252878e-03 9.96898272e-01 7.19113037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.0892541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:501.32, Y:336.85, Z:71.93 [[ 1.17145169e-01 -9.92783279e-01 -2.56587395e-02 5.01321844e+02] [ 9.89606276e-01 1.18862195e-01 -8.09394720e-02 3.36851175e+02] [ 8.34052084e-02 -1.59103815e-02 9.96388695e-01 7.19311929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.32, Y:336.88, Z:71.93 [[ 1.17285830e-01 -9.93053152e-01 -9.45896299e-03 5.01317005e+02] [ 9.89627613e-01 1.17666244e-01 -8.24126375e-02 3.36879312e+02] [ 8.29531301e-02 3.04983626e-04 9.96553403e-01 7.19286041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.32, Y:336.91, Z:71.93 [[ 1.16797366e-01 -9.93111311e-01 -9.39676014e-03 5.01319443e+02] [ 9.89712250e-01 1.17174402e-01 -8.20964234e-02 3.36906286e+02] [ 8.26319465e-02 2.88557385e-04 9.96580091e-01 7.19305215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.1792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:501.32, Y:336.93, Z:71.93 [[ 1.15624556e-01 -9.93248059e-01 -9.44750375e-03 5.01321921e+02] [ 9.89793493e-01 1.16009678e-01 -8.27683228e-02 3.36934189e+02] [ 8.33054778e-02 2.18972828e-04 9.96524034e-01 7.19311689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.32, Y:336.96, Z:71.93 [[ 1.16330235e-01 -9.93166299e-01 -9.37971842e-03 5.01324464e+02] [ 9.89743587e-01 1.16707380e-01 -8.23833721e-02 3.36961935e+02] [ 8.29150712e-02 3.00160849e-04 9.96556572e-01 7.19347853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.31, Y:336.99, Z:71.92 [[ 1.12785640e-01 -9.93609432e-01 4.43800274e-03 5.01314638e+02] [ 9.90480631e-01 1.12073508e-01 -7.99227658e-02 3.36988645e+02] [ 7.89146314e-02 1.34098960e-02 9.96791180e-01 7.19242903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.33, Y:337.02, Z:71.94 [[ 1.15680768e-01 -9.93045009e-01 -2.18990978e-02 5.01334288e+02] [ 9.89772026e-01 1.17096435e-01 -8.14847355e-02 3.37016046e+02] [ 8.34823162e-02 -1.22488976e-02 9.96433975e-01 7.19424177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.2992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:501.33, Y:337.05, Z:71.94 [[ 1.14787763e-01 -9.93344784e-01 -9.48210724e-03 5.01330884e+02] [ 9.89806718e-01 1.15178506e-01 -8.37649863e-02 3.37045054e+02] [ 8.42996471e-02 2.29741966e-04 9.96440423e-01 7.19391630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.33, Y:337.07, Z:71.94 [[ 1.14803756e-01 -9.93343922e-01 -9.37819638e-03 5.01333842e+02] [ 9.89865380e-01 1.15185890e-01 -8.30586557e-02 3.37073150e+02] [ 8.35860467e-02 2.52293733e-04 9.96500531e-01 7.19426573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.34, Y:337.10, Z:71.94 [[ 1.14400915e-01 -9.93390790e-01 -9.33643485e-03 5.01336330e+02] [ 9.89926007e-01 1.14781010e-01 -8.28964409e-02 3.37100532e+02] [ 8.34202063e-02 2.41049009e-04 9.96514431e-01 7.19445811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.3892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.34, Y:337.13, Z:71.95 [[ 1.13855910e-01 -9.93453865e-01 -9.28703912e-03 5.01338643e+02] [ 9.90012599e-01 1.14233850e-01 -8.26176836e-02 3.37126501e+02] [ 8.31377513e-02 2.12225835e-04 9.96538042e-01 7.19464453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.34, Y:337.15, Z:71.95 [[ 1.14041579e-01 -9.93434063e-01 -9.12587590e-03 5.01339797e+02] [ 9.90092546e-01 1.14405862e-01 -8.14128282e-02 3.37154181e+02] [ 8.19223304e-02 2.48985761e-04 9.96638686e-01 7.19490769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:501.34, Y:337.18, Z:71.95 [[ 1.13029969e-01 -9.93549703e-01 -9.12211665e-03 5.01341514e+02] [ 9.90194071e-01 1.13397315e-01 -8.15889121e-02 3.37182471e+02] [ 8.20970629e-02 1.89326403e-04 9.96624321e-01 7.19490007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.4792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.34, Y:337.21, Z:71.95 [[ 1.14308636e-01 -9.93404252e-01 -9.02930071e-03 5.01343388e+02] [ 9.90099237e-01 1.14664263e-01 -8.09667054e-02 3.37209908e+02] [ 8.14680075e-02 3.15289917e-04 9.96675907e-01 7.19522652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.32, Y:337.24, Z:71.93 [[ 1.09671489e-01 -9.93694084e-01 2.33287812e-02 5.01323196e+02] [ 9.91322757e-01 1.07638373e-01 -7.54531106e-02 3.37236579e+02] [ 7.24662376e-02 3.14014067e-02 9.96876420e-01 7.19294775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.36, Y:337.26, Z:71.97 [[ 1.14903390e-01 -9.92608676e-01 -3.90541627e-02 5.01362919e+02] [ 9.90018389e-01 1.17656407e-01 -7.75922713e-02 3.37261868e+02] [ 8.16137341e-02 -2.97487242e-02 9.96219962e-01 7.19683368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:501.35, Y:337.29, Z:71.96 [[ 1.14772738e-01 -9.93350010e-01 -9.10914843e-03 5.01350144e+02] [ 9.89946854e-01 1.15132917e-01 -8.21561800e-02 3.37292143e+02] [ 8.26586051e-02 4.11716918e-04 9.96577837e-01 7.19567847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.33, Y:337.32, Z:71.94 [[ 1.11892940e-01 -9.93570953e-01 1.72258929e-02 5.01334583e+02] [ 9.90872056e-01 1.10243946e-01 -7.75811865e-02 3.37318939e+02] [ 7.51833630e-02 2.57494429e-02 9.96837212e-01 7.19396751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.37, Y:337.34, Z:71.97 [[ 1.16129019e-01 -9.92666593e-01 -3.35721124e-02 5.01367186e+02] [ 9.89797100e-01 1.18470554e-01 -7.91607795e-02 3.37343389e+02] [ 8.25575680e-02 -2.40367158e-02 9.96296384e-01 7.19722363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.34, Y:337.37, Z:71.95 [[ 1.12689759e-01 -9.93541363e-01 1.32883010e-02 5.01342734e+02] [ 9.90673978e-01 1.11313590e-01 -7.85770569e-02 3.37374097e+02] [ 7.65903877e-02 2.20192036e-02 9.96819476e-01 7.19472901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.6892541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:501.36, Y:337.40, Z:71.96 [[ 1.12376880e-01 -9.93620648e-01 -9.45754574e-03 5.01355750e+02] [ 9.90488048e-01 1.12773004e-01 -7.88395664e-02 3.37400946e+02] [ 7.94031769e-02 -5.07841552e-04 9.96842454e-01 7.19561082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.36, Y:337.43, Z:71.96 [[ 1.13539520e-01 -9.93484840e-01 -9.83108846e-03 5.01358925e+02] [ 9.90408321e-01 1.13961059e-01 -7.81295981e-02 3.37428999e+02] [ 7.87409325e-02 -8.65994777e-04 9.96894737e-01 7.19611490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7492541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:501.37, Y:337.46, Z:71.97 [[ 1.13937919e-01 -9.93258765e-01 -2.13348825e-02 5.01368579e+02] [ 9.89960576e-01 1.15315202e-01 -8.17340976e-02 3.37456494e+02] [ 8.36433451e-02 -1.18080795e-02 9.96425793e-01 7.19708819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.7792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.36, Y:337.49, Z:71.97 [[ 1.13842543e-01 -9.93468250e-01 -7.79176937e-03 5.01364740e+02] [ 9.90096408e-01 1.14097697e-01 -8.17974293e-02 3.37485172e+02] [ 8.21521719e-02 1.59742452e-03 9.96618517e-01 7.19688118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.37, Y:337.51, Z:71.98 [[ 1.14955552e-01 -9.93264123e-01 -1.45465544e-02 5.01372828e+02] [ 9.89802130e-01 1.15770426e-01 -8.29997097e-02 3.37513084e+02] [ 8.41246947e-02 -4.85693311e-03 9.96443398e-01 7.19759406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8392541539998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:501.37, Y:337.54, Z:71.97 [[ 1.14891838e-01 -9.93346503e-01 -7.91145139e-03 5.01372386e+02] [ 9.89786586e-01 1.15149444e-01 -8.40423735e-02 3.37539891e+02] [ 8.43941970e-02 1.82513429e-03 9.96430775e-01 7.19737172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.37, Y:337.57, Z:71.97 [[ 1.12953452e-01 -9.93590301e-01 -4.45317836e-03 5.01373282e+02] [ 9.90237727e-01 1.12938476e-01 -8.16954457e-02 3.37568658e+02] [ 8.16747377e-02 4.81807742e-03 9.96647392e-01 7.19748606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.38, Y:337.60, Z:71.98 [[ 1.12799231e-01 -9.93580460e-01 -8.61415616e-03 5.01378353e+02] [ 9.90246850e-01 1.13125843e-01 -8.13247743e-02 3.37596643e+02] [ 8.17771903e-02 6.43230993e-04 9.96650429e-01 7.19787128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.38, Y:337.62, Z:71.98 [[ 1.11878287e-01 -9.93692365e-01 -7.66379105e-03 5.01380153e+02] [ 9.90324641e-01 1.12129658e-01 -8.17560110e-02 3.37624504e+02] [ 8.20996621e-02 1.55708133e-03 9.96622908e-01 7.19785868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9592541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:501.39, Y:337.65, Z:71.99 [[ 1.14685782e-01 -9.93290339e-01 -1.48819899e-02 5.01388459e+02] [ 9.89887970e-01 1.15526205e-01 -8.23134445e-02 3.37652236e+02] [ 8.34804090e-02 -5.29132109e-03 9.96495370e-01 7.19857385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 914.9892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.39, Y:337.68, Z:71.99 [[ 1.15541949e-01 -9.93261982e-01 -8.98296377e-03 5.01388613e+02] [ 9.89807435e-01 1.15888670e-01 -8.27711185e-02 3.37680676e+02] [ 8.32544289e-02 6.72132004e-04 9.96528097e-01 7.19856725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.38, Y:337.71, Z:71.98 [[ 1.14609677e-01 -9.93395021e-01 5.56374309e-03 5.01382007e+02] [ 9.90232063e-01 1.13793511e-01 -8.05698379e-02 3.37708914e+02] [ 7.94045580e-02 1.47434799e-02 9.96733438e-01 7.19780862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.40, Y:337.73, Z:72.00 [[ 1.19758106e-01 -9.92546127e-01 -2.25872094e-02 5.01402366e+02] [ 9.89269710e-01 1.21218749e-01 -8.15564562e-02 3.37734836e+02] [ 8.36865379e-02 -1.25777954e-02 9.96412747e-01 7.19969294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.0792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.40, Y:337.76, Z:71.99 [[ 1.20213312e-01 -9.92707085e-01 -9.02233410e-03 5.01399107e+02] [ 9.89172132e-01 1.20546038e-01 -8.37086987e-02 3.37764277e+02] [ 8.41858249e-02 1.13825847e-03 9.96449422e-01 7.19928294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1092541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:501.40, Y:337.79, Z:71.99 [[ 1.19752143e-01 -9.92762339e-01 -9.07543466e-03 5.01402064e+02] [ 9.89166532e-01 1.20090196e-01 -8.44269939e-02 3.37792579e+02] [ 8.49058106e-02 1.13319721e-03 9.96388338e-01 7.19927887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.41, Y:337.82, Z:72.00 [[ 1.21018726e-01 -9.92609587e-01 -8.98199238e-03 5.01406174e+02] [ 9.89067846e-01 1.21345090e-01 -8.37864260e-02 3.37818626e+02] [ 8.42571304e-02 1.25592668e-03 9.96443254e-01 7.19979968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.40, Y:337.85, Z:71.98 [[ 1.17039912e-01 -9.93068540e-01 1.07950541e-02 5.01396682e+02] [ 9.89901778e-01 1.15777569e-01 -8.17925663e-02 3.37847293e+02] [ 7.99757993e-02 2.02590380e-02 9.96590911e-01 7.19831853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.1992541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.41, Y:337.87, Z:71.99 [[ 1.16847142e-01 -9.93120928e-01 -7.58740830e-03 5.01408920e+02] [ 9.89883964e-01 1.17078556e-01 -8.01395609e-02 3.37874221e+02] [ 8.04765979e-02 1.85342487e-03 9.96754775e-01 7.19923913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.41, Y:337.90, Z:71.99 [[ 1.15780815e-01 -9.93270561e-01 -2.89757788e-03 5.01410514e+02] [ 9.90193343e-01 1.15650744e-01 -7.83712220e-02 3.37902567e+02] [ 7.81789347e-02 6.20472162e-03 9.96920035e-01 7.19935772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.43, Y:337.93, Z:72.02 [[ 1.18422209e-01 -9.92441156e-01 -3.21983382e-02 5.01432087e+02] [ 9.89425763e-01 1.20672987e-01 -8.04654590e-02 3.37927963e+02] [ 8.37427028e-02 -2.23289679e-02 9.96237209e-01 7.20166704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.2892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:501.40, Y:337.96, Z:71.98 [[ 1.11957134e-01 -9.93372965e-01 2.59952508e-02 5.01400851e+02] [ 9.90878819e-01 1.09625260e-01 -7.83675175e-02 3.37958482e+02] [ 7.49984371e-02 3.45319460e-02 9.96585560e-01 7.19827465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.43, Y:337.98, Z:72.00 [[ 1.12359242e-01 -9.93597239e-01 -1.18290685e-02 5.01425014e+02] [ 9.90761598e-01 1.12932483e-01 -7.50846827e-02 3.37984793e+02] [ 7.59398195e-02 -3.28332881e-03 9.97106997e-01 7.20027157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:501.44, Y:338.01, Z:72.02 [[ 1.15169483e-01 -9.92668683e-01 -3.66725579e-02 5.01444144e+02] [ 9.89857659e-01 1.17778002e-01 -7.94365002e-02 3.38011208e+02] [ 8.31733466e-02 -2.71519516e-02 9.96165130e-01 7.20240617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.3792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:501.43, Y:338.04, Z:72.02 [[ 1.14677923e-01 -9.93364148e-01 -8.75464784e-03 5.01433461e+02] [ 9.89936376e-01 1.15008900e-01 -8.24555902e-02 3.38041219e+02] [ 8.29152895e-02 7.89291491e-04 9.96556286e-01 7.20154910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.42, Y:338.07, Z:72.00 [[ 1.10765708e-01 -9.93622430e-01 2.11051009e-02 5.01417202e+02] [ 9.91034380e-01 1.08831000e-01 -7.75027148e-02 3.38070535e+02] [ 7.47115465e-02 2.95005237e-02 9.96768731e-01 7.19973883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.43, Y:338.10, Z:72.00 [[ 1.10150344e-01 -9.93914734e-01 6.34292829e-04 5.01427594e+02] [ 9.91253969e-01 1.09808754e-01 -7.31956726e-02 3.38096397e+02] [ 7.26806066e-02 8.69127382e-03 9.97317397e-01 7.20038129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4692541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:501.44, Y:338.12, Z:72.01 [[ 1.10969265e-01 -9.93745966e-01 -1.24409847e-02 5.01437082e+02] [ 9.90925687e-01 1.11592312e-01 -7.49228862e-02 3.38123435e+02] [ 7.58426342e-02 -4.01395370e-03 9.97111720e-01 7.20108317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.46, Y:338.15, Z:72.04 [[ 1.15737457e-01 -9.92496297e-01 -3.94454161e-02 5.01456529e+02] [ 9.89787943e-01 1.18566602e-01 -7.91314641e-02 3.38149251e+02] [ 8.32145941e-02 -2.98841228e-02 9.96083466e-01 7.20376892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.43, Y:338.18, Z:72.01 [[ 1.13559078e-01 -9.93383198e-01 1.71510193e-02 5.01426695e+02] [ 9.90492703e-01 1.11845842e-01 -8.00919098e-02 3.38181120e+02] [ 7.76436873e-02 2.60831229e-02 9.96639919e-01 7.20073021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:501.44, Y:338.21, Z:72.01 [[ 1.13783393e-01 -9.93498501e-01 -3.75083815e-03 5.01439823e+02] [ 9.90332838e-01 1.13720700e-01 -7.94258960e-02 3.38208955e+02] [ 7.93360565e-02 5.32276977e-03 9.96833717e-01 7.20149592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.45, Y:338.24, Z:72.02 [[ 1.14908789e-01 -9.93267441e-01 -1.46887817e-02 5.01448550e+02] [ 9.90102308e-01 1.15717061e-01 -7.94165014e-02 3.38235331e+02] [ 8.05815678e-02 -5.41774265e-03 9.96733294e-01 7.20246297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.46, Y:338.26, Z:72.04 [[ 1.17949184e-01 -9.92553495e-01 -3.04228465e-02 5.01461718e+02] [ 9.89235526e-01 1.20116615e-01 -8.35767480e-02 3.38261434e+02] [ 8.66086826e-02 -2.02375513e-02 9.96036836e-01 7.20418944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.43, Y:338.29, Z:72.01 [[ 1.13467675e-01 -9.93265849e-01 2.34102573e-02 5.01433167e+02] [ 9.90461231e-01 1.11230453e-01 -8.13285694e-02 3.38292924e+02] [ 7.81769570e-02 3.24151159e-02 9.96412376e-01 7.20119283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.47, Y:338.32, Z:72.05 [[ 1.17398578e-01 -9.92285340e-01 -3.98419091e-02 5.01471246e+02] [ 9.89244132e-01 1.20375420e-01 -8.31011783e-02 3.38316474e+02] [ 8.72560675e-02 -2.96574146e-02 9.95744353e-01 7.20506247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7092541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.46, Y:338.35, Z:72.04 [[ 1.16467543e-01 -9.93154191e-01 -8.94783448e-03 5.01458244e+02] [ 9.89456084e-01 1.16805384e-01 -8.56338762e-02 3.38347438e+02] [ 8.60927983e-02 1.12007785e-03 9.96286493e-01 7.20386607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7392541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:501.46, Y:338.37, Z:72.04 [[ 1.15742410e-01 -9.93239174e-01 -8.92400396e-03 5.01460861e+02] [ 9.89540555e-01 1.16080889e-01 -8.56429690e-02 3.38374268e+02] [ 8.60998581e-02 1.08185978e-03 9.96285925e-01 7.20404064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.46, Y:338.40, Z:72.05 [[ 1.14987454e-01 -9.93328302e-01 -8.76183623e-03 5.01463606e+02] [ 9.89742795e-01 1.15316235e-01 -8.43289097e-02 3.38402202e+02] [ 8.47766746e-02 1.02480230e-03 9.96399451e-01 7.20460963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.7992541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.47, Y:338.43, Z:72.05 [[ 1.14173203e-01 -9.93422162e-01 -8.76860066e-03 5.01466161e+02] [ 9.89810984e-01 1.14505202e-01 -8.46331747e-02 3.38429375e+02] [ 8.50805218e-02 9.83583411e-04 9.96373593e-01 7.20474319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.47, Y:338.46, Z:72.05 [[ 1.13541111e-01 -9.93495229e-01 -8.69749448e-03 5.01468675e+02] [ 9.89927845e-01 1.13869856e-01 -8.41220463e-02 3.38457377e+02] [ 8.45652341e-02 9.41418659e-04 9.96417500e-01 7.20497478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.46, Y:338.48, Z:72.04 [[ 1.09954932e-01 -9.93885445e-01 1.00814597e-02 5.01458111e+02] [ 9.90844261e-01 1.08807731e-01 -7.99282759e-02 3.38484971e+02] [ 7.83426093e-02 1.87776647e-02 9.96749635e-01 7.20377063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.48, Y:338.51, Z:72.06 [[ 1.13161053e-01 -9.93237588e-01 -2.59551515e-02 5.01481309e+02] [ 9.90121083e-01 1.14905806e-01 -8.03548176e-02 3.38510928e+02] [ 8.27938228e-02 -1.66057070e-02 9.96428338e-01 7.20614611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:501.47, Y:338.54, Z:72.05 [[ 1.12173709e-01 -9.93652088e-01 -8.51986392e-03 5.01474520e+02] [ 9.90184000e-01 1.12493442e-01 -8.29510151e-02 3.38539193e+02] [ 8.33828781e-02 8.68690087e-04 9.96517206e-01 7.20543405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.48, Y:338.57, Z:72.06 [[ 1.12221892e-01 -9.93647051e-01 -8.47258201e-03 5.01476893e+02] [ 9.90196712e-01 1.12537707e-01 -8.27389654e-02 3.38565934e+02] [ 8.31668140e-02 8.95600365e-04 9.96535237e-01 7.20577044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 915.9792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.48, Y:338.59, Z:72.06 [[ 1.11663501e-01 -9.93709021e-01 -8.58156970e-03 5.01479288e+02] [ 9.90147779e-01 1.11989241e-01 -8.40582234e-02 3.38594197e+02] [ 8.44904584e-02 8.89213350e-04 9.96423892e-01 7.20583061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.48, Y:338.62, Z:72.06 [[ 1.09734281e-01 -9.93917828e-01 -9.25948619e-03 5.01480208e+02] [ 9.90384078e-01 1.10124249e-01 -8.37378543e-02 3.38619755e+02] [ 8.42482403e-02 1.84655774e-05 9.96444797e-01 7.20602665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.48, Y:338.65, Z:72.06 [[ 1.11365448e-01 -9.93751206e-01 -7.50187705e-03 5.01484776e+02] [ 9.90017536e-01 1.11596926e-01 -8.60895208e-02 3.38648901e+02] [ 8.63887515e-02 2.16040827e-03 9.96259161e-01 7.20626652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:501.49, Y:338.68, Z:72.06 [[ 1.10706448e-01 -9.93813268e-01 -8.90341952e-03 5.01487891e+02] [ 9.89927251e-01 1.11060192e-01 -8.78047405e-02 3.38677163e+02] [ 8.82503316e-02 9.06813331e-04 9.96097915e-01 7.20636507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.49, Y:338.70, Z:72.07 [[ 1.11144127e-01 -9.93765502e-01 -8.78128444e-03 5.01490780e+02] [ 9.89963402e-01 1.11486351e-01 -8.68519274e-02 3.38704166e+02] [ 8.72894426e-02 9.59931404e-04 9.96182529e-01 7.20679503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:501.49, Y:338.73, Z:72.07 [[ 1.10366452e-01 -9.93851455e-01 -8.86184501e-03 5.01493196e+02] [ 9.89955213e-01 1.10717748e-01 -8.79218741e-02 3.38732668e+02] [ 8.83624460e-02 9.30795651e-04 9.96087954e-01 7.20688653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1592541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:501.50, Y:338.76, Z:72.07 [[ 1.09575373e-01 -9.93939505e-01 -8.80333148e-03 5.01496268e+02] [ 9.90072749e-01 1.09924897e-01 -8.75926320e-02 3.38760558e+02] [ 8.80294825e-02 8.82056706e-04 9.96117479e-01 7.20719453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.50, Y:338.79, Z:72.07 [[ 1.08538064e-01 -9.94053063e-01 -8.83159177e-03 5.01499311e+02] [ 9.90138789e-01 1.08893682e-01 -8.81325423e-02 3.38787390e+02] [ 8.85701282e-02 8.21233985e-04 9.96069605e-01 7.20747198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.50, Y:338.81, Z:72.08 [[ 1.07069726e-01 -9.94212676e-01 -8.78797014e-03 5.01502100e+02] [ 9.90313681e-01 1.07427382e-01 -8.79668770e-02 3.38813930e+02] [ 8.84018528e-02 7.15742330e-04 9.96084635e-01 7.20768168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.51, Y:338.84, Z:72.08 [[ 1.03826013e-01 -9.94557378e-01 -8.70518446e-03 5.01505745e+02] [ 9.90709609e-01 1.04189340e-01 -8.74016717e-02 3.38841646e+02] [ 8.78329649e-02 4.50257212e-04 9.96135115e-01 7.20795439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.2792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.51, Y:338.87, Z:72.08 [[ 1.01864951e-01 -9.94760791e-01 -8.63139407e-03 5.01508773e+02] [ 9.90957261e-01 1.02229543e-01 -8.69069997e-02 3.38869765e+02] [ 8.73340592e-02 2.99434638e-04 9.96179036e-01 7.20820575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.51, Y:338.90, Z:72.08 [[ 9.95072195e-02 -9.95000107e-01 -8.54991208e-03 5.01511432e+02] [ 9.91247646e-01 9.98737921e-02 -8.63326761e-02 3.38897685e+02] [ 8.67549341e-02 1.15644335e-04 9.96229676e-01 7.20840226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.53, Y:338.92, Z:72.11 [[ 9.79431834e-02 -9.94115170e-01 -4.62834888e-02 5.01534475e+02] [ 9.90716859e-01 1.01802759e-01 -9.00905356e-02 3.38923191e+02] [ 9.42721550e-02 -3.70300788e-02 9.94857545e-01 7.21136744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.50, Y:338.96, Z:72.08 [[ 9.45101816e-02 -9.95121681e-01 2.82960372e-02 5.01497656e+02] [ 9.91876647e-01 9.16950944e-02 -8.81630712e-02 3.38955327e+02] [ 8.51383758e-02 3.63984863e-02 9.95704076e-01 7.20757845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.54, Y:338.98, Z:72.12 [[ 9.35405812e-02 -9.94642096e-01 -4.40143186e-02 5.01538284e+02] [ 9.91331264e-01 9.71437568e-02 -8.84613770e-02 3.38977562e+02] [ 9.22631257e-02 -3.53580414e-02 9.95106690e-01 7.21155810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:501.50, Y:339.01, Z:72.08 [[ 8.94447880e-02 -9.95663497e-01 2.55700983e-02 5.01502945e+02] [ 9.92225551e-01 8.68466718e-02 -8.91409618e-02 3.39009040e+02] [ 8.65337239e-02 3.33444993e-02 9.95690745e-01 7.20795031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4592541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:501.52, Y:339.03, Z:72.09 [[ 8.76493809e-02 -9.96114726e-01 -8.54625824e-03 5.01521831e+02] [ 9.92270616e-01 8.80612581e-02 -8.74313395e-02 3.39033008e+02] [ 8.78442390e-02 -8.16898159e-04 9.96133888e-01 7.20931921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.4892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.52, Y:339.06, Z:72.10 [[ 8.65735072e-02 -9.96208722e-01 -8.55632341e-03 5.01523930e+02] [ 9.92331665e-01 8.69907635e-02 -8.78093070e-02 3.39060757e+02] [ 8.82207186e-02 -8.88750978e-04 9.96100555e-01 7.20960330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.53, Y:339.09, Z:72.10 [[ 8.44907863e-02 -9.96386663e-01 -8.65591846e-03 5.01525437e+02] [ 9.92395691e-01 8.49263776e-02 -8.90971505e-02 3.39088566e+02] [ 8.95103282e-02 -1.06220788e-03 9.95985328e-01 7.20987267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.55, Y:339.12, Z:72.13 [[ 8.51738149e-02 -9.95399868e-01 -4.38694004e-02 5.01547043e+02] [ 9.91488841e-01 8.90258438e-02 -9.49961946e-02 3.39115114e+02] [ 9.84647099e-02 -3.54048326e-02 9.94510532e-01 7.21272133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.53, Y:339.15, Z:72.11 [[ 8.41635401e-02 -9.96445666e-01 -3.54032960e-03 5.01528968e+02] [ 9.91612768e-01 8.41040077e-02 -9.81357993e-02 3.39146784e+02] [ 9.80847478e-02 4.74882025e-03 9.95166735e-01 7.21116479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.52, Y:339.17, Z:72.09 [[ 8.05673443e-02 -9.96582911e-01 1.82045405e-02 5.01516116e+02] [ 9.92384756e-01 7.84939164e-02 -9.49273450e-02 3.39173981e+02] [ 9.31740241e-02 2.57139526e-02 9.95317735e-01 7.20946051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.53, Y:339.20, Z:72.11 [[ 7.88838033e-02 -9.96844055e-01 -8.90364610e-03 5.01531352e+02] [ 9.92520151e-01 7.93701405e-02 -9.27584584e-02 3.39198760e+02] [ 9.31724014e-02 -1.51990819e-03 9.95648830e-01 7.21058257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.53, Y:339.22, Z:72.11 [[ 7.61918651e-02 -9.97054193e-01 -8.81680281e-03 5.01533079e+02] [ 9.92787909e-01 7.66807466e-02 -9.21533048e-02 3.39224426e+02] [ 9.25579180e-02 -1.73188305e-03 9.95705796e-01 7.21093209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.6992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.54, Y:339.25, Z:72.11 [[ 7.44535646e-02 -9.97185369e-01 -8.83213340e-03 5.01535337e+02] [ 9.92875588e-01 7.49522061e-02 -9.26295498e-02 3.39251533e+02] [ 9.30308197e-02 -1.87260947e-03 9.95661469e-01 7.21118662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.54, Y:339.28, Z:72.11 [[ 7.29484700e-02 -9.97297222e-01 -8.76200754e-03 5.01537597e+02] [ 9.93029055e-01 7.34462263e-02 -9.21897419e-02 3.39278707e+02] [ 9.25841099e-02 -1.97582744e-03 9.95702907e-01 7.21141577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.54, Y:339.30, Z:72.12 [[ 7.13321806e-02 -9.97416775e-01 -8.45557025e-03 5.01539097e+02] [ 9.93418123e-01 7.18027868e-02 -8.92456833e-02 3.39304317e+02] [ 8.96222751e-02 -2.03382754e-03 9.95973750e-01 7.21174438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.7892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.54, Y:339.33, Z:72.12 [[ 7.06328707e-02 -9.97465776e-01 -8.54538937e-03 5.01540824e+02] [ 9.93353948e-01 7.11170277e-02 -9.05002931e-02 3.39332329e+02] [ 9.08786678e-02 -2.09630076e-03 9.95859766e-01 7.21197698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.54, Y:339.36, Z:72.12 [[ 7.13711829e-02 -9.97415439e-01 -8.28223894e-03 5.01542507e+02] [ 9.93530769e-01 7.18236523e-02 -8.79657609e-02 3.39358761e+02] [ 8.83332687e-02 -1.95043881e-03 9.96089067e-01 7.21225032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.54, Y:339.39, Z:72.12 [[ 7.24943789e-02 -9.97334721e-01 -8.24743859e-03 5.01543822e+02] [ 9.93464547e-01 7.29390879e-02 -8.77956947e-02 3.39385487e+02] [ 8.81632553e-02 -1.82884348e-03 9.96104360e-01 7.21244719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.8792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.54, Y:339.41, Z:72.13 [[ 7.67981104e-02 -9.97011056e-01 -8.42636575e-03 5.01543409e+02] [ 9.92941106e-01 7.72453080e-02 -9.00062416e-02 3.39414001e+02] [ 9.03881153e-02 -1.45457564e-03 9.95905554e-01 7.21258388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:501.54, Y:339.44, Z:72.13 [[ 7.95127197e-02 -9.96797534e-01 -8.50900093e-03 5.01544759e+02] [ 9.92619317e-01 7.99577675e-02 -9.11792067e-02 3.39441224e+02] [ 9.15675692e-02 -1.19629198e-03 9.95798147e-01 7.21276744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9392541539999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:501.55, Y:339.47, Z:72.13 [[ 8.60622891e-02 -9.96251820e-01 -8.69446907e-03 5.01545423e+02] [ 9.91856563e-01 8.64984202e-02 -9.34803810e-02 3.39468776e+02] [ 9.38820576e-02 -5.78530639e-04 9.95583158e-01 7.21300045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.57, Y:339.50, Z:72.15 [[ 9.28394460e-02 -9.95035867e-01 -3.58393714e-02 5.01565220e+02] [ 9.90933960e-01 9.58476272e-02 -9.41441451e-02 3.39497469e+02] [ 9.71119198e-02 -2.67741599e-02 9.94913272e-01 7.21520607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 916.9992541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:501.55, Y:339.53, Z:72.14 [[ 9.65517909e-02 -9.95308494e-01 -6.22529135e-03 5.01552695e+02] [ 9.90301184e-01 9.66900891e-02 -9.97727046e-02 3.39528440e+02] [ 9.99065443e-02 3.46831991e-03 9.94990780e-01 7.21421742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.55, Y:339.55, Z:72.14 [[ 1.00494534e-01 -9.94937430e-01 5.98615852e-04 5.01546213e+02] [ 9.90277774e-01 9.99656818e-02 -9.67305134e-02 3.39553605e+02] [ 9.61809674e-02 1.03136838e-02 9.95310429e-01 7.21368441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.54, Y:339.58, Z:72.13 [[ 1.02146812e-01 -9.94766610e-01 2.32825854e-03 5.01544855e+02] [ 9.90464593e-01 1.01487002e-01 -9.31680110e-02 3.39579161e+02] [ 9.24441385e-02 1.18228729e-02 9.95647679e-01 7.21327393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.0892541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.55, Y:339.61, Z:72.14 [[ 1.01759526e-01 -9.94773536e-01 -8.40309855e-03 5.01552716e+02] [ 9.90492665e-01 1.02100406e-01 -9.21942926e-02 3.39606742e+02] [ 9.25704022e-02 1.05844000e-03 9.95705579e-01 7.21387741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1192541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:501.55, Y:339.63, Z:72.14 [[ 1.03613901e-01 -9.94581843e-01 -8.43312887e-03 5.01554593e+02] [ 9.90243473e-01 1.03948825e-01 -9.28035921e-02 3.39634408e+02] [ 9.31773814e-02 1.26489143e-03 9.95648721e-01 7.21405521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.56, Y:339.66, Z:72.15 [[ 1.06179230e-01 -9.94256272e-01 -1.34326651e-02 5.01560616e+02] [ 9.90009925e-01 1.06966819e-01 -9.18610275e-02 3.39662746e+02] [ 9.27702522e-02 -3.54473852e-03 9.95681232e-01 7.21468569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.56, Y:339.69, Z:72.14 [[ 1.06606148e-01 -9.94295945e-01 -3.27158804e-03 5.01557919e+02] [ 9.90230600e-01 1.06466554e-01 -9.00457167e-02 3.39689443e+02] [ 8.98804057e-02 6.35980044e-03 9.95932260e-01 7.21432284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2092541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:501.56, Y:339.72, Z:72.15 [[ 1.06593274e-01 -9.94268618e-01 -8.23343381e-03 5.01563424e+02] [ 9.90066741e-01 1.06899062e-01 -9.13260094e-02 3.39716458e+02] [ 9.16827315e-02 1.58308939e-03 9.95787011e-01 7.21475919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2392541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.57, Y:339.74, Z:72.15 [[ 1.07118077e-01 -9.94216876e-01 -7.64985212e-03 5.01565258e+02] [ 9.90250025e-01 1.07373525e-01 -8.87457812e-02 3.39742195e+02] [ 8.90539450e-02 1.93101120e-03 9.96024933e-01 7.21475535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.57, Y:339.77, Z:72.15 [[ 1.06876975e-01 -9.94227775e-01 -9.40441340e-03 5.01569747e+02] [ 9.90227723e-01 1.07289733e-01 -8.90952835e-02 3.39771802e+02] [ 8.95900025e-02 2.09723554e-04 9.95978708e-01 7.21524922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.2992541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:501.57, Y:339.80, Z:72.15 [[ 1.07277386e-01 -9.94206960e-01 -6.63954066e-03 5.01572883e+02] [ 9.90032618e-01 1.07435127e-01 -9.10665096e-02 3.39799275e+02] [ 9.12522775e-02 3.19601531e-03 9.95822679e-01 7.21532428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.59, Y:339.83, Z:72.17 [[ 1.07356399e-01 -9.93869966e-01 -2.64025615e-02 5.01587011e+02] [ 9.89722308e-01 1.09356281e-01 -9.21463896e-02 3.39826510e+02] [ 9.44688150e-02 -1.62386996e-02 9.95395373e-01 7.21681540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.58, Y:339.86, Z:72.16 [[ 1.05618714e-01 -9.94406694e-01 1.17595194e-04 5.01576399e+02] [ 9.90127738e-01 1.05153274e-01 -9.26814564e-02 3.39856027e+02] [ 9.21506951e-02 9.90533047e-03 9.95695804e-01 7.21581110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.3892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.58, Y:339.88, Z:72.16 [[ 1.02174197e-01 -9.94765599e-01 1.35529112e-03 5.01580553e+02] [ 9.90711919e-01 1.01634763e-01 -9.03342003e-02 3.39882715e+02] [ 8.97236101e-02 1.05725275e-02 9.95910586e-01 7.21567001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.59, Y:339.91, Z:72.16 [[ 9.97855841e-02 -9.94977152e-01 -7.95642704e-03 5.01589073e+02] [ 9.90927177e-01 1.00096616e-01 -8.96883323e-02 3.39908721e+02] [ 9.00342528e-02 1.06536284e-03 9.95938100e-01 7.21626835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.59, Y:339.94, Z:72.16 [[ 9.67003400e-02 -9.95280880e-01 -8.06310804e-03 5.01592934e+02] [ 9.91093554e-01 9.70323838e-02 -9.12046291e-02 3.39936577e+02] [ 9.15566062e-02 8.28224239e-04 9.95799529e-01 7.21643962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.60, Y:339.96, Z:72.17 [[ 9.39003002e-02 -9.95550187e-01 -7.90943571e-03 5.01596438e+02] [ 9.91496566e-01 9.42310080e-02 -8.97500804e-02 3.39964601e+02] [ 9.00960234e-02 5.85381142e-04 9.95932911e-01 7.21668393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.60, Y:339.99, Z:72.17 [[ 8.87375394e-02 -9.96023734e-01 -7.89751964e-03 5.01600408e+02] [ 9.91957426e-01 8.90881635e-02 -8.99097536e-02 3.39991537e+02] [ 9.02558241e-02 1.44367052e-04 9.95918604e-01 7.21693506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.60, Y:340.02, Z:72.17 [[ 8.53514333e-02 -9.96320300e-01 -7.80983234e-03 5.01600991e+02] [ 9.92317864e-01 8.57078898e-02 -8.92155464e-02 3.40020074e+02] [ 8.95566242e-02 -1.35161387e-04 9.95981723e-01 7.21713050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.60, Y:340.05, Z:72.17 [[ 8.39775029e-02 -9.96438130e-01 -7.67025834e-03 5.01602405e+02] [ 9.92552726e-01 8.43267492e-02 -8.79095329e-02 3.40046941e+02] [ 8.82432185e-02 -2.30712770e-04 9.96098931e-01 7.21740565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.60, Y:340.08, Z:72.18 [[ 8.21066504e-02 -9.96593902e-01 -7.68712960e-03 5.01604576e+02] [ 9.92664472e-01 8.24648774e-02 -8.84126084e-02 3.40075322e+02] [ 8.87453846e-02 -3.71477324e-04 9.96054275e-01 7.21764345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.61, Y:340.10, Z:72.18 [[ 8.00339951e-02 -9.96762411e-01 -7.69772186e-03 5.01606760e+02] [ 9.92796964e-01 8.04015602e-02 -8.88244256e-02 3.40101873e+02] [ 8.91557575e-02 -5.33301254e-04 9.96017553e-01 7.21786594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.64, Y:340.13, Z:72.22 [[ 7.98822408e-02 -9.94549175e-01 -6.70131806e-02 5.01642393e+02] [ 9.91487180e-01 8.62109378e-02 -9.75748258e-02 3.40128047e+02] [ 1.02820232e-01 -5.86482137e-02 9.92969479e-01 7.22215377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.58, Y:340.16, Z:72.16 [[ 7.59853566e-02 -9.95931086e-01 4.84509909e-02 5.01582629e+02] [ 9.92970491e-01 7.11580640e-02 -9.45840090e-02 3.40160741e+02] [ 9.07514761e-02 5.52974039e-02 9.94337149e-01 7.21636924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.64, Y:340.18, Z:72.22 [[ 7.73974762e-02 -9.95212896e-01 -5.96734604e-02 5.01642556e+02] [ 9.91742037e-01 8.29903058e-02 -9.77769986e-02 3.40183080e+02] [ 1.02261249e-01 -5.16129863e-02 9.93417705e-01 7.22225855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7492541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:501.62, Y:340.22, Z:72.20 [[ 7.65719042e-02 -9.97043089e-01 -6.46700485e-03 5.01616946e+02] [ 9.91772178e-01 7.68312617e-02 -1.02395817e-01 3.40215667e+02] [ 1.02589910e-01 1.42684723e-03 9.94722712e-01 7.22017750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.7792541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.61, Y:340.24, Z:72.19 [[ 7.33917370e-02 -9.97266316e-01 8.57605682e-03 5.01607463e+02] [ 9.92675938e-01 7.22211087e-02 -9.68431445e-02 3.40242364e+02] [ 9.59590335e-02 1.56207318e-02 9.95262707e-01 7.21918555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.62, Y:340.27, Z:72.20 [[ 7.33895502e-02 -9.97242854e-01 -1.09846974e-02 5.01618182e+02] [ 9.92709654e-01 7.41030263e-02 -9.50593780e-02 3.40268502e+02] [ 9.56112847e-02 -3.92825016e-03 9.95410996e-01 7.22029174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8392541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:501.60, Y:340.30, Z:72.18 [[ 7.20202718e-02 -9.97210325e-01 1.96124446e-02 5.01600088e+02] [ 9.93331126e-01 6.99373515e-02 -9.16626518e-02 3.40296597e+02] [ 9.00353004e-02 2.60832207e-02 9.95596962e-01 7.21840106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.65, Y:340.32, Z:72.24 [[ 7.72400594e-02 -9.94351581e-01 -7.27935942e-02 5.01652343e+02] [ 9.91816937e-01 8.40765048e-02 -9.60744745e-02 3.40321360e+02] [ 1.01652037e-01 -6.47771216e-02 9.92708813e-01 7.22410543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.58, Y:340.35, Z:72.18 [[ 7.58361752e-02 -9.95614236e-01 5.47829138e-02 5.01583509e+02] [ 9.93239215e-01 7.05841540e-02 -9.21614837e-02 3.40353559e+02] [ 8.78904796e-02 6.14017127e-02 9.94235934e-01 7.21788550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9292541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:501.62, Y:340.38, Z:72.20 [[ 7.59156589e-02 -9.97087818e-01 -7.25926779e-03 5.01616065e+02] [ 9.93251236e-01 7.62597676e-02 -8.73866750e-02 3.40376409e+02] [ 8.76857791e-02 -5.76259690e-04 9.96148017e-01 7.22002015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.63, Y:340.40, Z:72.22 [[ 7.65883684e-02 -9.96675779e-01 -2.77779368e-02 5.01626164e+02] [ 9.92987809e-01 7.87619747e-02 -8.81576031e-02 3.40400626e+02] [ 9.00523929e-02 -2.08313056e-02 9.95719149e-01 7.22163590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 917.9892541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:501.61, Y:340.43, Z:72.20 [[ 7.81268160e-02 -9.96853414e-01 1.33966813e-02 5.01607548e+02] [ 9.93199190e-01 7.66628293e-02 -8.76252256e-02 3.40432783e+02] [ 8.63224778e-02 2.01514529e-02 9.96063426e-01 7.21972799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.62, Y:340.46, Z:72.21 [[ 8.05309717e-02 -9.96727952e-01 -6.93919899e-03 5.01618555e+02] [ 9.93134916e-01 8.08293457e-02 -8.45556392e-02 3.40459360e+02] [ 8.48398600e-02 -8.22130267e-05 9.96394596e-01 7.22071032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.62, Y:340.49, Z:72.21 [[ 8.12094230e-02 -9.96672998e-01 -6.92563171e-03 5.01620518e+02] [ 9.93068092e-01 8.15042008e-02 -8.46925658e-02 3.40485959e+02] [ 8.49752615e-02 2.10526458e-07 9.96383061e-01 7.22090933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.62, Y:340.51, Z:72.21 [[ 8.27327119e-02 -9.96547872e-01 -6.90200924e-03 5.01622479e+02] [ 9.92940064e-01 8.30199677e-02 -8.47213932e-02 3.40514143e+02] [ 8.50019287e-02 1.55949127e-04 9.96380775e-01 7.22106644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.62, Y:340.54, Z:72.21 [[ 8.35647036e-02 -9.96478398e-01 -6.90961401e-03 5.01624765e+02] [ 9.92836086e-01 8.38494985e-02 -8.51220812e-02 3.40542257e+02] [ 8.54016827e-02 2.53087357e-04 9.96346571e-01 7.22128299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.65, Y:340.57, Z:72.24 [[ 8.80661419e-02 -9.95178728e-01 -4.31700610e-02 5.01649071e+02] [ 9.91683221e-01 9.16753795e-02 -9.03327952e-02 3.40569561e+02] [ 9.38549079e-02 -3.48557644e-02 9.94975543e-01 7.22399451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:501.61, Y:340.60, Z:72.20 [[ 8.55710940e-02 -9.95956977e-01 2.73365756e-02 5.01611710e+02] [ 9.92511222e-01 8.28102664e-02 -8.97994152e-02 3.40598943e+02] [ 8.71726050e-02 3.48160923e-02 9.95584641e-01 7.22046822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.1992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.65, Y:340.62, Z:72.24 [[ 8.80992587e-02 -9.95222119e-01 -4.20886551e-02 5.01652057e+02] [ 9.91580367e-01 9.16458286e-02 -9.14845193e-02 3.40623792e+02] [ 9.49046669e-02 -3.36745657e-02 9.94916644e-01 7.22420198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.62, Y:340.65, Z:72.21 [[ 8.47100030e-02 -9.96060224e-01 2.62344553e-02 5.01616730e+02] [ 9.92436703e-01 8.19956594e-02 -9.13570054e-02 3.40654184e+02] [ 8.88459678e-02 3.37748886e-02 9.95472577e-01 7.22092131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.64, Y:340.68, Z:72.22 [[ 8.25940536e-02 -9.96558087e-01 -7.08533671e-03 5.01636580e+02] [ 9.92586130e-01 8.28968297e-02 -8.88869573e-02 3.40679900e+02] [ 8.91683681e-02 3.08727172e-04 9.96016519e-01 7.22224203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.2892541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:501.64, Y:340.71, Z:72.22 [[ 7.96010897e-02 -9.96801063e-01 -7.16295640e-03 5.01639767e+02] [ 9.92712433e-01 7.99226922e-02 -9.01908456e-02 3.40707533e+02] [ 9.04748135e-02 6.85337127e-05 9.95898742e-01 7.22233582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.64, Y:340.74, Z:72.23 [[ 7.68404352e-02 -9.97018198e-01 -7.08947108e-03 5.01642871e+02] [ 9.92985158e-01 7.71666301e-02 -8.95867571e-02 3.40735094e+02] [ 8.98666977e-02 -1.55854154e-04 9.95953790e-01 7.22269418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.65, Y:340.76, Z:72.23 [[ 6.97802670e-02 -9.97537298e-01 -7.07485273e-03 5.01647849e+02] [ 9.93494009e-01 7.01337999e-02 -8.97268342e-02 3.40762484e+02] [ 9.00020500e-02 -7.67661363e-04 9.95941284e-01 7.22294388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.65, Y:340.79, Z:72.23 [[ 6.62051428e-02 -9.97781129e-01 -7.04970141e-03 5.01651759e+02] [ 9.93737669e-01 6.65709160e-02 -8.97427299e-02 3.40790584e+02] [ 9.00129074e-02 -1.06412360e-03 9.95940030e-01 7.22315872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.66, Y:340.82, Z:72.23 [[ 5.96980733e-02 -9.98191875e-01 -7.00859189e-03 5.01656619e+02] [ 9.94167506e-01 6.00862028e-02 -8.95579020e-02 3.40817021e+02] [ 8.98170898e-02 -1.62128012e-03 9.95956958e-01 7.22342234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.66, Y:340.84, Z:72.24 [[ 5.60122984e-02 -9.98405542e-01 -6.99971157e-03 5.01659871e+02] [ 9.94360632e-01 5.64149594e-02 -8.98013705e-02 3.40843996e+02] [ 9.00530745e-02 -1.93025646e-03 9.95935097e-01 7.22353361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.66, Y:340.87, Z:72.24 [[ 5.37135837e-02 -9.98531934e-01 -6.98762722e-03 5.01663241e+02] [ 9.94470279e-01 5.41248830e-02 -8.99964474e-02 3.40871990e+02] [ 9.02425312e-02 -2.11495589e-03 9.95917573e-01 7.22385075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.67, Y:340.90, Z:72.24 [[ 5.01564580e-02 -9.98716439e-01 -7.05719156e-03 5.01665735e+02] [ 9.94543253e-01 5.05915820e-02 -9.12371057e-02 3.40899545e+02] [ 9.14770318e-02 -2.44255219e-03 9.95804191e-01 7.22406365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.67, Y:340.93, Z:72.24 [[ 4.97953288e-02 -9.98734301e-01 -7.08671693e-03 5.01666271e+02] [ 9.94493968e-01 5.02364869e-02 -9.19676169e-02 3.40926559e+02] [ 9.22072253e-02 -2.46813952e-03 9.95736780e-01 7.22427187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.67, Y:340.95, Z:72.24 [[ 4.86692904e-02 -9.98789277e-01 -7.16097137e-03 5.01667503e+02] [ 9.94425250e-01 4.91255754e-02 -9.33011221e-02 3.40954280e+02] [ 9.35399472e-02 -2.58015134e-03 9.95612184e-01 7.22439556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.69, Y:340.98, Z:72.27 [[ 4.98220012e-02 -9.98249278e-01 -3.18770500e-02 5.01685593e+02] [ 9.93746472e-01 5.27400998e-02 -9.84196684e-02 3.40983214e+02] [ 9.99285618e-02 -2.67742411e-02 9.94634316e-01 7.22653984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.66, Y:341.01, Z:72.24 [[ 4.60063372e-02 -9.98814580e-01 1.59013168e-02 5.01659412e+02] [ 9.94343176e-01 4.42632438e-02 -9.65526430e-02 3.41010550e+02] [ 9.57343437e-02 2.02533993e-02 9.95200852e-01 7.22406160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6492541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:501.67, Y:341.04, Z:72.25 [[ 4.21325055e-02 -9.99086491e-01 -7.14397371e-03 5.01672346e+02] [ 9.94654212e-01 4.26181459e-02 -9.40568556e-02 3.41037059e+02] [ 9.42753967e-02 -3.14293255e-03 9.95541195e-01 7.22504007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.6792541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.67, Y:341.06, Z:72.25 [[ 4.05013843e-02 -9.99154268e-01 -7.09833839e-03 5.01673369e+02] [ 9.94745432e-01 4.09891695e-02 -9.38158460e-02 3.41064521e+02] [ 9.40274580e-02 -3.26136805e-03 9.95564262e-01 7.22533699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.67, Y:341.09, Z:72.26 [[ 3.96182571e-02 -9.99190601e-01 -6.96679969e-03 5.01673609e+02] [ 9.94911666e-01 4.00930594e-02 -9.24301022e-02 3.41091853e+02] [ 9.26346097e-02 -3.26943074e-03 9.95694803e-01 7.22561327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7392541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:501.67, Y:341.12, Z:72.26 [[ 3.83833047e-02 -9.99239242e-01 -6.90358229e-03 5.01673781e+02] [ 9.95004285e-01 3.88559677e-02 -9.19602461e-02 3.41119822e+02] [ 9.21585320e-02 -3.33935582e-03 9.95738748e-01 7.22575178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.67, Y:341.15, Z:72.26 [[ 4.01272912e-02 -9.99172197e-01 -6.68743831e-03 5.01672919e+02] [ 9.95167927e-01 4.05649393e-02 -8.94163440e-02 3.41146811e+02] [ 8.96136004e-02 -3.06708844e-03 9.95971885e-01 7.22614812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.7992541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:501.67, Y:341.17, Z:72.26 [[ 4.11836243e-02 -9.99129697e-01 -6.61501489e-03 5.01673738e+02] [ 9.95179816e-01 4.16087524e-02 -8.88022894e-02 3.41174694e+02] [ 8.90002470e-02 -2.92592917e-03 9.96027306e-01 7.22625653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8292541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:501.69, Y:341.21, Z:72.28 [[ 4.83032737e-02 -9.98445856e-01 -2.77968825e-02 5.01691645e+02] [ 9.94332786e-01 5.07057044e-02 -9.34411151e-02 3.41206421e+02] [ 9.47053546e-02 -2.31258399e-02 9.95236701e-01 7.22815248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.67, Y:341.24, Z:72.27 [[ 5.60728807e-02 -9.98424607e-01 2.03356333e-03 5.01673842e+02] [ 9.94165714e-01 5.56454938e-02 -9.24019075e-02 3.41235218e+02] [ 9.21431796e-02 7.20294007e-03 9.95719716e-01 7.22707002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.8892541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:501.68, Y:341.26, Z:72.28 [[ 6.01292041e-02 -9.98133881e-01 -1.06411514e-02 5.01680242e+02] [ 9.93823904e-01 6.08588180e-02 -9.27914503e-02 3.41263159e+02] [ 9.32658984e-02 -4.99595461e-03 9.95628702e-01 7.22771364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9192541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:501.68, Y:341.29, Z:72.28 [[ 7.02718228e-02 -9.97470195e-01 -1.07276019e-02 5.01677000e+02] [ 9.93166598e-01 7.09650699e-02 -9.26502410e-02 3.41291434e+02] [ 9.31771389e-02 -4.14359457e-03 9.95640925e-01 7.22793881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.67, Y:341.32, Z:72.27 [[ 7.40507396e-02 -9.97243819e-01 4.61016992e-03 5.01666499e+02] [ 9.93317052e-01 7.33471868e-02 -8.91146676e-02 3.41319786e+02] [ 8.85309085e-02 1.11783674e-02 9.96010704e-01 7.22725580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 918.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.68, Y:341.35, Z:72.28 [[ 8.00448359e-02 -9.96693758e-01 -1.39419305e-02 5.01676501e+02] [ 9.92673051e-01 8.09764327e-02 -8.96829492e-02 3.41346145e+02] [ 9.05154034e-02 -6.66112175e-03 9.95872779e-01 7.22830758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.68, Y:341.37, Z:72.28 [[ 7.96818015e-02 -9.96789970e-01 -7.78244510e-03 5.01675314e+02] [ 9.92716942e-01 8.00590430e-02 -9.00201302e-02 3.41374965e+02] [ 9.03542180e-02 -5.52798948e-04 9.95909539e-01 7.22832434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.67, Y:341.40, Z:72.28 [[ 8.78777873e-02 -9.96131000e-01 -7.24994841e-04 5.01669439e+02] [ 9.92247131e-01 8.75993188e-02 -8.81588944e-02 3.41402943e+02] [ 8.78813167e-02 7.02783451e-03 9.96106161e-01 7.22804678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.67, Y:341.43, Z:72.28 [[ 9.08304106e-02 -9.95860222e-01 -3.50062080e-03 5.01670830e+02] [ 9.92070548e-01 9.07902618e-02 -8.69088992e-02 3.41428843e+02] [ 8.68669380e-02 4.42110821e-03 9.96210113e-01 7.22810226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.0992541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:501.68, Y:341.46, Z:72.29 [[ 9.33515907e-02 -9.95585218e-01 -9.77521856e-03 5.01675492e+02] [ 9.91627101e-01 9.38513584e-02 -8.86995749e-02 3.41457772e+02] [ 8.92254031e-02 -1.41312522e-03 9.96010457e-01 7.22858570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:501.67, Y:341.49, Z:72.29 [[ 9.56803902e-02 -9.95404013e-01 -4.01433605e-03 5.01673219e+02] [ 9.91543771e-01 9.56629781e-02 -8.76900542e-02 3.41486524e+02] [ 8.76710551e-02 4.40982869e-03 9.96139719e-01 7.22860483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1592541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:501.68, Y:341.51, Z:72.29 [[ 9.54413688e-02 -9.95394904e-01 -8.94034769e-03 5.01677664e+02] [ 9.91412613e-01 9.58584623e-02 -8.89504670e-02 3.41513809e+02] [ 8.93978495e-02 -3.74019154e-04 9.95995926e-01 7.22892774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.1892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:501.68, Y:341.54, Z:72.29 [[ 9.51185564e-02 -9.95432641e-01 -8.14361325e-03 5.01677840e+02] [ 9.91546930e-01 9.54661093e-02 -8.78686947e-02 3.41539227e+02] [ 8.82448058e-02 2.83168674e-04 9.96098777e-01 7.22912399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2192541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.68, Y:341.57, Z:72.30 [[ 9.23165103e-02 -9.95690655e-01 -8.81935451e-03 5.01682247e+02] [ 9.91694036e-01 9.27353776e-02 -8.91240094e-02 3.41568280e+02] [ 8.95578095e-02 -5.18483734e-04 9.95981491e-01 7.22956215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.68, Y:341.60, Z:72.30 [[ 9.02474709e-02 -9.95900117e-01 -6.19274320e-03 5.01683243e+02] [ 9.91946715e-01 9.04405833e-02 -8.86691409e-02 3.41595404e+02] [ 8.88656832e-02 1.85929445e-03 9.96041883e-01 7.22975628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.68, Y:341.62, Z:72.30 [[ 8.58175914e-02 -9.96303019e-01 -3.95427174e-03 5.01684946e+02] [ 9.92454455e-01 8.58336120e-02 -8.75599572e-02 3.41621319e+02] [ 8.75756591e-02 3.58975002e-03 9.96151403e-01 7.22976651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.69, Y:341.65, Z:72.30 [[ 8.23339874e-02 -9.96554410e-01 -1.00211260e-02 5.01690810e+02] [ 9.92621609e-01 8.28988795e-02 -8.84879454e-02 3.41648356e+02] [ 8.90137924e-02 -2.66162083e-03 9.96026837e-01 7.23024611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3392541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:501.69, Y:341.68, Z:72.30 [[ 7.82350615e-02 -9.96916977e-01 -5.98470434e-03 5.01692410e+02] [ 9.92670144e-01 7.84536543e-02 -9.19293723e-02 3.41677410e+02] [ 9.21154739e-02 1.25126278e-03 9.95747545e-01 7.23031098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.70, Y:341.71, Z:72.31 [[ 7.49230155e-02 -9.97167403e-01 -6.61152514e-03 5.01695637e+02] [ 9.92977368e-01 7.52136555e-02 -9.13173186e-02 3.41705090e+02] [ 9.15559304e-02 2.76674049e-04 9.95799897e-01 7.23066156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.70, Y:341.73, Z:72.31 [[ 6.66681219e-02 -9.97772208e-01 -2.44611349e-03 5.01698298e+02] [ 9.93261956e-01 6.65992756e-02 -9.48431522e-02 3.41732011e+02] [ 9.47947708e-02 3.89338336e-03 9.95489223e-01 7.23070074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.70, Y:341.76, Z:72.31 [[ 6.37605596e-02 -9.97945529e-01 -6.27002952e-03 5.01704869e+02] [ 9.93610375e-01 6.40673780e-02 -9.29182091e-02 3.41760049e+02] [ 9.31290157e-02 -3.05449371e-04 9.95654003e-01 7.23097764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.71, Y:341.79, Z:72.31 [[ 5.91938588e-02 -9.98246012e-01 -9.93625077e-04 5.01706361e+02] [ 9.93680297e-01 5.90181591e-02 -9.54794498e-02 3.41788764e+02] [ 9.53706219e-02 4.66445141e-03 9.95430905e-01 7.23107836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.72, Y:341.81, Z:72.32 [[ 5.15294142e-02 -9.98600390e-01 -1.19155450e-02 5.01717609e+02] [ 9.94091106e-01 5.24308486e-02 -9.50467244e-02 3.41813714e+02] [ 9.55384382e-02 -6.94743528e-03 9.95401497e-01 7.23181911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.72, Y:341.84, Z:72.33 [[ 4.67149533e-02 -9.98723442e-01 -1.92145649e-02 5.01723900e+02] [ 9.93879139e-01 4.83989347e-02 -9.93066028e-02 3.41839665e+02] [ 1.00109797e-01 -1.44578519e-02 9.94871348e-01 7.23280394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.72, Y:341.87, Z:72.32 [[ 4.42942645e-02 -9.98997064e-01 6.54859086e-03 5.01716075e+02] [ 9.94245103e-01 4.34416476e-02 -9.79259816e-02 3.41870769e+02] [ 9.75432866e-02 1.08484637e-02 9.95172155e-01 7.23181370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.73, Y:341.90, Z:72.33 [[ 3.71775200e-02 -9.99287757e-01 -6.46618641e-03 5.01728478e+02] [ 9.94519542e-01 3.76313083e-02 -9.75436606e-02 3.41897093e+02] [ 9.77175168e-02 -2.80431736e-03 9.95210241e-01 7.23265826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.73, Y:341.93, Z:72.33 [[ 3.27392100e-02 -9.99456349e-01 -3.89238460e-03 5.01731260e+02] [ 9.94615360e-01 3.29632812e-02 -9.82532816e-02 3.41927030e+02] [ 9.83281719e-02 -6.54690696e-04 9.95153828e-01 7.23291087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.74, Y:341.95, Z:72.34 [[ 2.86498642e-02 -9.99493119e-01 -1.38813272e-02 5.01736863e+02] [ 9.94747547e-01 2.98735404e-02 -9.79024486e-02 3.41949690e+02] [ 9.82675080e-02 -1.10035243e-02 9.95099201e-01 7.23366564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.74, Y:341.98, Z:72.34 [[ 2.50968958e-02 -9.99671088e-01 -5.27842240e-03 5.01736842e+02] [ 9.94833655e-01 2.54943070e-02 -9.82651513e-02 3.41978562e+02] [ 9.83674005e-02 -2.78500197e-03 9.95146270e-01 7.23375790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.74, Y:342.01, Z:72.34 [[ 2.60015480e-02 -9.99660371e-01 -1.74982844e-03 5.01739821e+02] [ 9.94943589e-01 2.60486512e-02 -9.69985731e-02 3.42008362e+02] [ 9.70112102e-02 7.81132467e-04 9.95282982e-01 7.23374634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.74, Y:342.03, Z:72.34 [[ 2.49796740e-02 -9.99687949e-01 1.43902334e-04 5.01736748e+02] [ 9.95116743e-01 2.48517006e-02 -9.55251811e-02 3.42033823e+02] [ 9.54917961e-02 2.52938751e-03 9.95427003e-01 7.23370548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.75, Y:342.06, Z:72.35 [[ 2.92427783e-02 -9.99504177e-01 -1.16730174e-02 5.01747790e+02] [ 9.94882148e-01 3.02335379e-02 -9.64128868e-02 3.42063148e+02] [ 9.67179997e-02 -8.79389599e-03 9.95272976e-01 7.23469738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.7892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.74, Y:342.09, Z:72.34 [[ 2.90085228e-02 -9.99562360e-01 5.79605157e-03 5.01735870e+02] [ 9.95178718e-01 2.83368434e-02 -9.38953840e-02 3.42088842e+02] [ 9.36900498e-02 8.49187356e-03 9.95565198e-01 7.23376909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:501.75, Y:342.12, Z:72.35 [[ 3.16836456e-02 -9.99444516e-01 -1.03346589e-02 5.01745075e+02] [ 9.95275062e-01 3.24975708e-02 -9.14956801e-02 3.42117089e+02] [ 9.17807070e-02 -7.38691155e-03 9.95751844e-01 7.23455975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.75, Y:342.15, Z:72.36 [[ 4.25671286e-02 -9.99021605e-01 -1.19946712e-02 5.01748343e+02] [ 9.94539540e-01 4.35150266e-02 -9.48553937e-02 3.42146579e+02] [ 9.52845361e-02 -7.89145301e-03 9.95418797e-01 7.23554947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.8792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.75, Y:342.18, Z:72.36 [[ 4.56956685e-02 -9.98936956e-01 -6.07159837e-03 5.01745602e+02] [ 9.94408886e-01 4.60660751e-02 -9.50204463e-02 3.42175306e+02] [ 9.51991300e-02 -1.69562856e-03 9.95456805e-01 7.23556546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.75, Y:342.20, Z:72.36 [[ 4.85978289e-02 -9.98800363e-01 -6.00718918e-03 5.01745757e+02] [ 9.94327468e-01 4.89481332e-02 -9.44296907e-02 3.42203071e+02] [ 9.46104501e-02 -1.38403525e-03 9.95513409e-01 7.23576842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.74, Y:342.23, Z:72.36 [[ 5.20831791e-02 -9.98624845e-01 -5.98006021e-03 5.01744563e+02] [ 9.94150054e-01 5.24153121e-02 -9.44367833e-02 3.42230570e+02] [ 9.46203649e-02 -1.02650928e-03 9.95512899e-01 7.23596407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.75, Y:342.26, Z:72.36 [[ 5.29153911e-02 -9.98581129e-01 -5.97405700e-03 5.01745458e+02] [ 9.94071897e-01 5.32435626e-02 -9.47954959e-02 3.42258127e+02] [ 9.49790734e-02 -9.22501439e-04 9.95478842e-01 7.23614581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 919.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.75, Y:342.29, Z:72.36 [[ 5.33670775e-02 -9.98557247e-01 -5.94801707e-03 5.01745679e+02] [ 9.94046229e-01 5.36907506e-02 -9.48124351e-02 3.42286026e+02] [ 9.49949977e-02 -8.52741373e-04 9.95477385e-01 7.23633330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.75, Y:342.31, Z:72.37 [[ 5.29702959e-02 -9.98578558e-01 -5.91710400e-03 5.01746514e+02] [ 9.94073027e-01 5.32927760e-02 -9.47559834e-02 3.42312913e+02] [ 9.49366321e-02 -8.62781012e-04 9.95482944e-01 7.23654176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.75, Y:342.34, Z:72.37 [[ 5.24088827e-02 -9.98608451e-01 -5.87113718e-03 5.01747111e+02] [ 9.94130225e-01 5.27292804e-02 -9.44707327e-02 3.42341355e+02] [ 9.46488529e-02 -8.85569370e-04 9.95510327e-01 7.23673631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.75, Y:342.37, Z:72.37 [[ 5.18627661e-02 -9.98637286e-01 -5.81597247e-03 5.01747657e+02] [ 9.94202929e-01 5.21799771e-02 -9.40095033e-02 3.42369642e+02] [ 9.41848725e-02 -9.06663979e-04 9.95554312e-01 7.23693746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.75, Y:342.40, Z:72.37 [[ 5.07153720e-02 -9.98696393e-01 -5.78499723e-03 5.01747608e+02] [ 9.94268283e-01 5.10346983e-02 -9.39470125e-02 3.42396752e+02] [ 9.41197781e-02 -9.87281574e-04 9.95560391e-01 7.23707021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.75, Y:342.42, Z:72.37 [[ 5.00698589e-02 -9.98729338e-01 -5.72001834e-03 5.01748807e+02] [ 9.94357266e-01 5.03853366e-02 -9.33538709e-02 3.42423168e+02] [ 9.35234548e-02 -1.01352665e-03 9.95616561e-01 7.23729147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.75, Y:342.45, Z:72.37 [[ 4.91432391e-02 -9.98775970e-01 -5.61281514e-03 5.01750128e+02] [ 9.94521658e-01 4.94514498e-02 -9.20935773e-02 3.42450129e+02] [ 9.22584138e-02 -1.05628953e-03 9.95734538e-01 7.23748058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2092541539998 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:501.75, Y:342.48, Z:72.38 [[ 4.84216900e-02 -9.98811294e-01 -5.59810005e-03 5.01751198e+02] [ 9.94535682e-01 4.87318733e-02 -9.23254153e-02 3.42477193e+02] [ 9.24884735e-02 -1.09695761e-03 9.95713151e-01 7.23766206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:501.75, Y:342.50, Z:72.38 [[ 4.89382859e-02 -9.98786456e-01 -5.53710088e-03 5.01752151e+02] [ 9.94560628e-01 4.92400728e-02 -9.17854753e-02 3.42504799e+02] [ 9.19467368e-02 -1.01515869e-03 9.95763409e-01 7.23789752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.75, Y:342.53, Z:72.38 [[ 5.07158171e-02 -9.98710164e-01 -2.43209046e-03 5.01751458e+02] [ 9.94483287e-01 5.07247615e-02 -9.18149804e-02 3.42532203e+02] [ 9.18199213e-02 2.23779844e-03 9.95773114e-01 7.23801184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.2992541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:501.75, Y:342.56, Z:72.38 [[ 5.39461309e-02 -9.98508410e-01 -8.41251684e-03 5.01754019e+02] [ 9.94417087e-01 5.44864254e-02 -9.03652919e-02 3.42559106e+02] [ 9.06888719e-02 -3.49069262e-03 9.95873156e-01 7.23836987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.75, Y:342.59, Z:72.38 [[ 5.54114098e-02 -9.98448908e-01 -5.41783546e-03 5.01752911e+02] [ 9.94293982e-01 5.56745756e-02 -9.09935089e-02 3.42587015e+02] [ 9.11540053e-02 -3.44842589e-04 9.95836748e-01 7.23842427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3592541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:501.75, Y:342.61, Z:72.39 [[ 5.99698227e-02 -9.98185261e-01 -5.45938694e-03 5.01752980e+02] [ 9.93923399e-01 6.02177270e-02 -9.21417509e-02 3.42614201e+02] [ 9.23032895e-02 9.95120456e-05 9.95730934e-01 7.23853112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.3892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.75, Y:342.64, Z:72.39 [[ 6.25870163e-02 -9.98024482e-01 -5.47710648e-03 5.01754066e+02] [ 9.93689585e-01 6.28251078e-02 -9.29193971e-02 3.42641172e+02] [ 9.30799330e-02 3.73004158e-04 9.95658570e-01 7.23871856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.76, Y:342.67, Z:72.39 [[ 6.50199647e-02 -9.97868824e-01 -5.49684502e-03 5.01755070e+02] [ 9.93455481e-01 6.52488186e-02 -9.37485960e-02 3.42669530e+02] [ 9.39074638e-02 6.34659588e-04 9.95580728e-01 7.23888197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:501.76, Y:342.70, Z:72.39 [[ 6.65815564e-02 -9.97765663e-01 -5.52978234e-03 5.01756086e+02] [ 9.93254466e-01 6.68057874e-02 -9.47763332e-02 3.42697938e+02] [ 9.49339923e-02 8.17874771e-04 9.95483234e-01 7.23903274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.4792541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:501.76, Y:342.73, Z:72.39 [[ 6.94674259e-02 -9.97568760e-01 -5.55385129e-03 5.01756181e+02] [ 9.92971343e-01 6.96799051e-02 -9.56693396e-02 3.42726130e+02] [ 9.58237363e-02 1.13108758e-03 9.95397675e-01 7.23912230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.76, Y:342.75, Z:72.39 [[ 7.10638657e-02 -9.97456741e-01 -5.47513349e-03 5.01757519e+02] [ 9.92943761e-01 7.12626257e-02 -9.47856831e-02 3.42753967e+02] [ 9.49347910e-02 1.29933741e-03 9.95482645e-01 7.23931945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:501.76, Y:342.78, Z:72.40 [[ 7.08304173e-02 -9.97473348e-01 -5.47472762e-03 5.01759128e+02] [ 9.92914554e-01 7.10295711e-02 -9.52653565e-02 3.42781825e+02] [ 9.54135216e-02 1.31174821e-03 9.95436859e-01 7.23953052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:501.76, Y:342.81, Z:72.40 [[ 7.07877650e-02 -9.97476970e-01 -5.36533064e-03 5.01761409e+02] [ 9.93054533e-01 7.09786399e-02 -9.38335053e-02 3.42810077e+02] [ 9.39775845e-02 1.31419821e-03 9.95573446e-01 7.23965499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.76, Y:342.84, Z:72.40 [[ 6.94800284e-02 -9.97569189e-01 -5.31407697e-03 5.01763966e+02] [ 9.93186974e-01 6.96724065e-02 -9.34098046e-02 3.42837527e+02] [ 9.35529876e-02 1.21224386e-03 9.95613564e-01 7.23985728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6292541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:501.77, Y:342.86, Z:72.40 [[ 6.34574656e-02 -9.97970474e-01 -5.29938017e-03 5.01768183e+02] [ 9.93568500e-01 6.36747660e-02 -9.36331131e-02 3.42864494e+02] [ 9.37805190e-02 6.76422850e-04 9.95592666e-01 7.24008938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.77, Y:342.89, Z:72.40 [[ 6.10619556e-02 -9.98120461e-01 -5.19442756e-03 5.01771402e+02] [ 9.93846947e-01 6.12806840e-02 -9.22655119e-02 3.42892358e+02] [ 9.24104134e-02 4.71446623e-04 9.95720891e-01 7.24027646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.6892541539999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:501.77, Y:342.92, Z:72.41 [[ 5.57078733e-02 -9.98433772e-01 -5.16100857e-03 5.01774350e+02] [ 9.94172913e-01 5.59464311e-02 -9.21423643e-02 3.42918999e+02] [ 9.22867884e-02 2.12022805e-06 9.95732468e-01 7.24053741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7192541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:501.78, Y:342.95, Z:72.41 [[ 4.83077771e-02 -9.98820062e-01 -4.98429998e-03 5.01779479e+02] [ 9.94806524e-01 4.85600520e-02 -8.94533526e-02 3.42946701e+02] [ 8.95898410e-02 -6.37121518e-04 9.95978541e-01 7.24081496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.78, Y:342.97, Z:72.41 [[ 4.44515807e-02 -9.98999645e-01 -4.87513871e-03 5.01782618e+02] [ 9.95121445e-01 4.47081939e-02 -8.79459344e-02 3.42973584e+02] [ 8.80759159e-02 -9.42019283e-04 9.96113320e-01 7.24101967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.7792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:501.79, Y:343.00, Z:72.41 [[ 3.97909682e-02 -9.99196356e-01 -4.82924616e-03 5.01785428e+02] [ 9.95350360e-01 4.00611639e-02 -8.75943194e-02 3.43001384e+02] [ 8.77173900e-02 -1.32132913e-03 9.96144524e-01 7.24127928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:501.79, Y:343.03, Z:72.41 [[ 3.46887272e-02 -9.99386664e-01 -4.79467405e-03 5.01789866e+02] [ 9.95557603e-01 3.49752153e-02 -8.74173523e-02 3.43028794e+02] [ 8.75314308e-02 -1.74097752e-03 9.96160237e-01 7.24147541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.79, Y:343.06, Z:72.42 [[ 3.34651754e-02 -9.99428487e-01 -4.77291498e-03 5.01792181e+02] [ 9.95594968e-01 3.37545461e-02 -8.74716601e-02 3.43056505e+02] [ 8.75827765e-02 -1.82463569e-03 9.96155574e-01 7.24165080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.79, Y:343.08, Z:72.42 [[ 3.26523885e-02 -9.99455434e-01 -4.75984220e-03 5.01794134e+02] [ 9.95602539e-01 3.29441515e-02 -8.76941691e-02 3.43082751e+02] [ 8.78032228e-02 -1.87548690e-03 9.96136073e-01 7.24180040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.80, Y:343.11, Z:72.42 [[ 3.23590320e-02 -9.99465112e-01 -4.73109593e-03 5.01795496e+02] [ 9.95612112e-01 3.26494048e-02 -8.76957204e-02 3.43110383e+02] [ 8.78032804e-02 -1.87258778e-03 9.96136074e-01 7.24201944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.80, Y:343.14, Z:72.42 [[ 3.24764106e-02 -9.99461212e-01 -4.75074158e-03 5.01797558e+02] [ 9.95532330e-01 3.27696622e-02 -8.85524116e-02 3.43137987e+02] [ 8.86603807e-02 -1.85365236e-03 9.96060189e-01 7.24223179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9592541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.80, Y:343.17, Z:72.42 [[ 3.39267802e-02 -9.99412964e-01 -4.76456835e-03 5.01800334e+02] [ 9.95413960e-01 3.42169069e-02 -8.93322571e-02 3.43165886e+02] [ 8.94428447e-02 -1.71196200e-03 9.95990485e-01 7.24240910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 920.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.80, Y:343.19, Z:72.43 [[ 3.48413026e-02 -9.99381561e-01 -4.75169241e-03 5.01801861e+02] [ 9.95360283e-01 3.51270140e-02 -8.95767880e-02 3.43193593e+02] [ 8.96883031e-02 -1.60867392e-03 9.95968584e-01 7.24259354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.80, Y:343.22, Z:72.43 [[ 3.82278456e-02 -9.99257709e-01 -4.76056426e-03 5.01803615e+02] [ 9.95175520e-01 3.85015903e-02 -9.02403076e-02 3.43220902e+02] [ 9.03566124e-02 -1.28790446e-03 9.95908642e-01 7.24277962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.81, Y:343.25, Z:72.43 [[ 4.01560848e-02 -9.99182299e-01 -4.71405686e-03 5.01805245e+02] [ 9.95133125e-01 4.04173487e-02 -8.98693586e-02 3.43248729e+02] [ 8.99864020e-02 -1.08231255e-03 9.95942406e-01 7.24299796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.0792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.81, Y:343.28, Z:72.43 [[ 4.52348490e-02 -9.98965536e-01 -4.65471757e-03 5.01806525e+02] [ 9.94974039e-01 4.54698039e-02 -8.92141134e-02 3.43276654e+02] [ 8.93334738e-02 -5.95736184e-04 9.96001594e-01 7.24321965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1092541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.81, Y:343.30, Z:72.43 [[ 4.84669316e-02 -9.98814196e-01 -4.59986166e-03 5.01807782e+02] [ 9.94872574e-01 4.86839183e-02 -8.86478323e-02 3.43303200e+02] [ 8.87666526e-02 -2.79787790e-04 9.96052410e-01 7.24347369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:501.81, Y:343.33, Z:72.44 [[ 5.11803908e-02 -9.98678983e-01 -4.56683898e-03 5.01809008e+02] [ 9.94747588e-01 5.13837355e-02 -8.85265405e-02 3.43330570e+02] [ 8.86442567e-02 -1.20291193e-05 9.96063349e-01 7.24368133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.81, Y:343.36, Z:72.44 [[ 5.45660882e-02 -9.98500045e-01 -4.49477864e-03 5.01810454e+02] [ 9.94645136e-01 5.47500089e-02 -8.76555161e-02 3.43358123e+02] [ 8.77701259e-02 3.12308911e-04 9.96140707e-01 7.24396763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.1992541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:501.81, Y:343.39, Z:72.44 [[ 6.06746178e-02 -9.98147673e-01 -4.45122837e-03 5.01812613e+02] [ 9.94323804e-01 6.08314484e-02 -8.72909428e-02 3.43385941e+02] [ 8.74000261e-02 8.70382266e-04 9.96172916e-01 7.24420614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.81, Y:343.41, Z:72.45 [[ 6.35229888e-02 -9.97970658e-01 -4.40401857e-03 5.01814020e+02] [ 9.94185264e-01 6.36652936e-02 -8.68469407e-02 3.43413964e+02] [ 8.69510817e-02 1.13836688e-03 9.96211932e-01 7.24450815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.82, Y:343.44, Z:72.45 [[ 6.56530095e-02 -9.97832939e-01 -4.37132073e-03 5.01815836e+02] [ 9.94061080e-01 6.57846056e-02 -8.66888456e-02 3.43442108e+02] [ 8.67885512e-02 1.34602381e-03 9.96225846e-01 7.24474373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.82, Y:343.47, Z:72.45 [[ 6.88540685e-02 -9.97617259e-01 -4.34992668e-03 5.01817760e+02] [ 9.93838829e-01 6.89715880e-02 -8.67600273e-02 3.43468735e+02] [ 8.68533220e-02 1.65065483e-03 9.96219743e-01 7.24497377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.82, Y:343.50, Z:72.45 [[ 6.96359170e-02 -9.97563119e-01 -4.31994887e-03 5.01818940e+02] [ 9.93791109e-01 6.97480014e-02 -8.66859172e-02 3.43495908e+02] [ 8.67759818e-02 1.74332655e-03 9.96226325e-01 7.24518491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.82, Y:343.52, Z:72.45 [[ 7.09246015e-02 -9.97472302e-01 -4.32528547e-03 5.01820020e+02] [ 9.93642028e-01 7.10310259e-02 -8.73505182e-02 3.43521858e+02] [ 8.74369519e-02 1.89751526e-03 9.96168248e-01 7.24536762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.82, Y:343.55, Z:72.46 [[ 7.09380957e-02 -9.97471286e-01 -4.33834470e-03 5.01821353e+02] [ 9.93566185e-01 7.10439789e-02 -8.81985780e-02 3.43549506e+02] [ 8.82837623e-02 1.94620658e-03 9.96093464e-01 7.24555239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.82, Y:343.58, Z:72.46 [[ 7.02716277e-02 -9.97518395e-01 -4.35313297e-03 5.01822589e+02] [ 9.93540145e-01 7.03798564e-02 -8.90205419e-02 3.43577097e+02] [ 8.91060010e-02 1.93060602e-03 9.96020278e-01 7.24575200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.82, Y:343.60, Z:72.46 [[ 6.85977353e-02 -9.97634717e-01 -4.39560867e-03 5.01824058e+02] [ 9.93529086e-01 6.87138867e-02 -9.04342690e-02 3.43604578e+02] [ 9.05224057e-02 1.83642098e-03 9.95892726e-01 7.24592427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.83, Y:343.63, Z:72.46 [[ 6.43494571e-02 -9.97917621e-01 -4.42363353e-03 5.01827073e+02] [ 9.93707108e-01 6.44839360e-02 -9.15860533e-02 3.43632481e+02] [ 9.16805897e-02 1.49771672e-03 9.95787340e-01 7.24614754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.4992541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.83, Y:343.66, Z:72.46 [[ 6.09194098e-02 -9.98133007e-01 -4.39617117e-03 5.01829623e+02] [ 9.93925006e-01 6.10658671e-02 -9.15644211e-02 3.43659887e+02] [ 9.16619270e-02 1.20858604e-03 9.95789451e-01 7.24638730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.83, Y:343.69, Z:72.47 [[ 5.31133037e-02 -9.98579103e-01 -4.33031229e-03 5.01833870e+02] [ 9.94443657e-01 5.32870400e-02 -9.07871363e-02 3.43686639e+02] [ 9.08888867e-02 5.15753149e-04 9.95860906e-01 7.24665170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.84, Y:343.71, Z:72.47 [[ 4.81673214e-02 -9.98830082e-01 -4.28673325e-03 5.01836419e+02] [ 9.94724505e-01 4.83576072e-02 -9.04693356e-02 3.43714048e+02] [ 9.05707901e-02 9.35469484e-05 9.95890016e-01 7.24692761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.84, Y:343.74, Z:72.47 [[ 4.44248012e-02 -9.99003932e-01 -4.19290586e-03 5.01837336e+02] [ 9.95025218e-01 4.46217119e-02 -8.90714267e-02 3.43741266e+02] [ 8.91698002e-02 -2.15066640e-04 9.96016416e-01 7.24717464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.84, Y:343.77, Z:72.47 [[ 3.74383886e-02 -9.99290365e-01 -4.13927189e-03 5.01837769e+02] [ 9.95362001e-01 3.76578946e-02 -8.85232698e-02 3.43768672e+02] [ 8.86163268e-02 -8.05905377e-04 9.96065509e-01 7.24742906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.83, Y:343.80, Z:72.46 [[ 3.16476737e-02 -9.99399223e-01 1.41286184e-02 5.01827735e+02] [ 9.95936163e-01 3.03392120e-02 -8.47979422e-02 3.43797591e+02] [ 8.43183464e-02 1.67548596e-02 9.96297993e-01 7.24625584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.84, Y:343.82, Z:72.48 [[ 2.64370841e-02 -9.99551645e-01 -1.40566501e-02 5.01842855e+02] [ 9.95748327e-01 2.75725134e-02 -8.78921232e-02 3.43824187e+02] [ 8.82402935e-02 -1.16732744e-02 9.96030815e-01 7.24783203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7092541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:501.84, Y:343.85, Z:72.48 [[ 2.50679040e-02 -9.99617202e-01 -1.17067951e-02 5.01843788e+02] [ 9.95309115e-01 2.60510366e-02 -9.31724703e-02 3.43853165e+02] [ 9.34417782e-02 -9.31624138e-03 9.95581158e-01 7.24840729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7392541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:501.84, Y:343.88, Z:72.48 [[ 2.30000076e-02 -9.99726025e-01 -4.34442453e-03 5.01840501e+02] [ 9.95244863e-01 2.33078985e-02 -9.45748615e-02 3.43880643e+02] [ 9.46502098e-02 -2.14854366e-03 9.95508273e-01 7.24835193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.84, Y:343.91, Z:72.49 [[ 2.15407293e-02 -9.99758597e-01 -4.32959553e-03 5.01840825e+02] [ 9.95248366e-01 2.18544629e-02 -9.48845210e-02 3.43907699e+02] [ 9.49562365e-02 -2.26514110e-03 9.95478871e-01 7.24851689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.7992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.84, Y:343.93, Z:72.49 [[ 1.67791662e-02 -9.99849516e-01 -4.40510881e-03 5.01839430e+02] [ 9.95116175e-01 1.71280324e-02 -9.72133189e-02 3.43934224e+02] [ 9.72741407e-02 -2.75243660e-03 9.95253820e-01 7.24865254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.84, Y:343.96, Z:72.49 [[ 1.39672533e-02 -9.99892865e-01 -4.37896532e-03 5.01839497e+02] [ 9.95149787e-01 1.43272151e-02 -9.73223154e-02 3.43961149e+02] [ 9.73746271e-02 -2.99840097e-03 9.95243283e-01 7.24882977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:501.84, Y:343.99, Z:72.49 [[ 8.10875108e-03 -9.99957727e-01 -4.33499350e-03 5.01838006e+02] [ 9.95248650e-01 8.49105514e-03 -9.69949858e-02 3.43988774e+02] [ 9.70276943e-02 -3.52788823e-03 9.95275430e-01 7.24908761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.84, Y:344.02, Z:72.49 [[ 5.93974886e-03 -9.99973413e-01 -4.22997550e-03 5.01838065e+02] [ 9.95433174e-01 6.31570380e-03 -9.52518099e-02 3.44015775e+02] [ 9.52759927e-02 -3.64488611e-03 9.95444223e-01 7.24934256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.84, Y:344.04, Z:72.50 [[ 3.96089449e-03 -9.99983592e-01 -4.13840559e-03 5.01837623e+02] [ 9.95580419e-01 4.33169602e-03 -9.38129275e-02 3.44044153e+02] [ 9.38293145e-02 -3.74853246e-03 9.95581241e-01 7.24959596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9492541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:501.83, Y:344.07, Z:72.50 [[ 2.06447609e-03 -9.99989854e-01 -4.00378713e-03 5.01834462e+02] [ 9.95817459e-01 2.42154396e-03 -9.13330395e-02 3.44071905e+02] [ 9.13418081e-02 -3.79848625e-03 9.95812355e-01 7.24995967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 921.9792541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:501.83, Y:344.10, Z:72.50 [[ 2.82901269e-03 -9.99988416e-01 -3.89426268e-03 5.01833351e+02] [ 9.95990473e-01 3.16586641e-03 -8.94033304e-02 3.44099993e+02] [ 8.94146235e-02 -3.62572537e-03 9.95987891e-01 7.25013607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.83, Y:344.13, Z:72.50 [[ 3.91346378e-03 -9.99984887e-01 -3.86139806e-03 5.01831547e+02] [ 9.96001837e-01 4.24244133e-03 -8.92319560e-02 3.44127975e+02] [ 8.92469892e-02 -3.49675353e-03 9.96003387e-01 7.25044835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0392541539999 meters Centerline goodness : 0.995711 Centerline is valid? [True, True] Translation: X:501.83, Y:344.16, Z:72.50 [[ 9.91694203e-03 -9.99941520e-01 -4.31403205e-03 5.01827997e+02] [ 9.96190805e-01 1.02533411e-02 -8.65953203e-02 3.44155113e+02] [ 8.66344894e-02 -3.43883828e-03 9.96234229e-01 7.25042268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.83, Y:344.18, Z:72.50 [[ 1.45205114e-02 -9.99889016e-01 -3.33312533e-03 5.01826171e+02] [ 9.96271023e-01 1.47513459e-02 -8.50085093e-02 3.44180820e+02] [ 8.50482428e-02 -2.08632916e-03 9.96374650e-01 7.25049621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.0992541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:501.82, Y:344.21, Z:72.51 [[ 2.33852525e-02 -9.99719925e-01 -3.63349011e-03 5.01821452e+02] [ 9.96009681e-01 2.36112680e-02 -8.60652309e-02 3.44208838e+02] [ 8.61269174e-02 -1.60633417e-03 9.96282878e-01 7.25062849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.82, Y:344.24, Z:72.51 [[ 2.84050350e-02 -9.99590109e-01 -3.57319970e-03 5.01820148e+02] [ 9.95953109e-01 2.86062459e-02 -8.52002790e-02 3.44237016e+02] [ 8.52675720e-02 -1.13862245e-03 9.96357438e-01 7.25072090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1592541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:501.82, Y:344.26, Z:72.51 [[ 3.28777632e-02 -9.99452817e-01 -3.62210894e-03 5.01818596e+02] [ 9.95661152e-01 3.30682537e-02 -8.69790894e-02 3.44264358e+02] [ 8.70512727e-02 -7.46715250e-04 9.96203553e-01 7.25090825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.82, Y:344.29, Z:72.51 [[ 3.76509521e-02 -9.99284599e-01 -3.56308472e-03 5.01817424e+02] [ 9.95560639e-01 3.78179652e-02 -8.61905820e-02 3.44290465e+02] [ 8.62636698e-02 -3.02109432e-04 9.96272296e-01 7.25101252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2192541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:501.81, Y:344.32, Z:72.51 [[ 4.51074647e-02 -9.98980885e-01 -1.58353022e-03 5.01812812e+02] [ 9.95169280e-01 4.50736061e-02 -8.72151010e-02 3.44318724e+02] [ 8.71975943e-02 2.35817147e-03 9.96188245e-01 7.25107284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2492541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:501.81, Y:344.34, Z:72.51 [[ 4.84840260e-02 -9.98807974e-01 -5.65063794e-03 5.01814002e+02] [ 9.95054188e-01 4.87913149e-02 -8.65249752e-02 3.44344999e+02] [ 8.66975373e-02 -1.42761180e-03 9.96233657e-01 7.25140484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.2792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:501.81, Y:344.37, Z:72.51 [[ 5.33659745e-02 -9.98569204e-01 -3.40846138e-03 5.01810215e+02] [ 9.95007360e-01 5.34632755e-02 -8.42735556e-02 3.44371919e+02] [ 8.43352048e-02 1.10589625e-03 9.96436827e-01 7.25142149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.81, Y:344.40, Z:72.52 [[ 5.51684401e-02 -9.98471532e-01 -3.32309011e-03 5.01809590e+02] [ 9.95030575e-01 5.52539971e-02 -8.28320650e-02 3.44398798e+02] [ 8.28890729e-02 1.26313956e-03 9.96557979e-01 7.25156605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3392541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:501.81, Y:344.43, Z:72.52 [[ 5.60166144e-02 -9.98424402e-01 -3.29416828e-03 5.01809579e+02] [ 9.94989529e-01 5.60969514e-02 -8.27584992e-02 3.44426531e+02] [ 8.28128979e-02 1.35818799e-03 9.96564187e-01 7.25174720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.81, Y:344.45, Z:72.52 [[ 5.71805618e-02 -9.98358820e-01 -3.17015148e-03 5.01810187e+02] [ 9.95132459e-01 5.72504718e-02 -8.02107999e-02 3.44454010e+02] [ 8.02606522e-02 1.43177796e-03 9.96772882e-01 7.25184674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.3992541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:501.81, Y:344.48, Z:72.52 [[ 5.44371360e-02 -9.98513012e-01 -2.89199657e-03 5.01808296e+02] [ 9.95354011e-01 5.44948128e-02 -7.93769979e-02 3.44479536e+02] [ 7.94165641e-02 1.44249605e-03 9.96840473e-01 7.25192757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4292541539999 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:501.81, Y:344.51, Z:72.52 [[ 5.37411971e-02 -9.98552458e-01 -2.20742284e-03 5.01809290e+02] [ 9.95316232e-01 5.37446634e-02 -8.03561366e-02 3.44507986e+02] [ 8.03584549e-02 2.12135119e-03 9.96763773e-01 7.25208614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4592541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:501.82, Y:344.54, Z:72.53 [[ 5.30893128e-02 -9.98471868e-01 -1.53444796e-02 5.01819044e+02] [ 9.95075204e-01 5.41842884e-02 -8.30024134e-02 3.44535382e+02] [ 8.37070045e-02 -1.08623700e-02 9.96431205e-01 7.25303606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.4892541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:501.81, Y:344.56, Z:72.53 [[ 5.16913070e-02 -9.98660788e-01 -2.15412593e-03 5.01813675e+02] [ 9.95061000e-01 5.16877793e-02 -8.47465603e-02 3.44562719e+02] [ 8.47444086e-02 2.23717376e-03 9.96400211e-01 7.25277556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.82, Y:344.59, Z:72.54 [[ 5.03048701e-02 -9.98655146e-01 -1.25427464e-02 5.01821347e+02] [ 9.94917787e-01 5.12055086e-02 -8.66982861e-02 3.44590350e+02] [ 8.72239473e-02 -8.11765551e-03 9.96155654e-01 7.25352083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:501.81, Y:344.62, Z:72.53 [[ 4.87427986e-02 -9.98808539e-01 2.37550518e-03 5.01814382e+02] [ 9.95027872e-01 4.83512096e-02 -8.70729286e-02 3.44618528e+02] [ 8.68543260e-02 6.60787209e-03 9.96199108e-01 7.25308065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.5792541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:501.82, Y:344.65, Z:72.54 [[ 4.84265989e-02 -9.98784612e-01 -9.17406038e-03 5.01822777e+02] [ 9.94717606e-01 4.90576196e-02 -9.01678162e-02 3.44645620e+02] [ 9.05082849e-02 -4.75907870e-03 9.95884331e-01 7.25384435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6092541539998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:501.81, Y:344.68, Z:72.52 [[ 4.62557230e-02 -9.98743566e-01 1.92794719e-02 5.01811468e+02] [ 9.95188251e-01 4.44050462e-02 -8.73414946e-02 3.44676394e+02] [ 8.63756500e-02 2.32267479e-02 9.95991850e-01 7.25237739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6392541539999 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:501.82, Y:344.70, Z:72.53 [[ 4.43594817e-02 -9.99015477e-01 -5.60501749e-04 5.01823734e+02] [ 9.95136672e-01 4.42366299e-02 -8.80120694e-02 3.44701780e+02] [ 8.79502141e-02 3.34639393e-03 9.96119251e-01 7.25315819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6692541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:501.83, Y:344.73, Z:72.54 [[ 4.05819027e-02 -9.99159434e-01 -5.79088912e-03 5.01829314e+02] [ 9.95283746e-01 4.09342068e-02 -8.79468970e-02 3.44730618e+02] [ 8.81100173e-02 -2.19452539e-03 9.96108332e-01 7.25354533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.6992541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:501.83, Y:344.76, Z:72.54 [[ 3.24866138e-02 -9.99466628e-01 -3.32870531e-03 5.01832511e+02] [ 9.95538569e-01 3.26537675e-02 -8.85250770e-02 3.44759028e+02] [ 8.85865550e-02 -4.37974531e-04 9.96068386e-01 7.25369976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7292541539998 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:501.84, Y:344.79, Z:72.54 [[ 2.74790148e-02 -9.99616937e-01 -3.29907100e-03 5.01835750e+02] [ 9.95700080e-01 2.76631206e-02 -8.84087208e-02 3.44786280e+02] [ 8.84661173e-02 -8.55500717e-04 9.96078819e-01 7.25390264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7592541539999 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:501.84, Y:344.81, Z:72.54 [[ 1.76053418e-02 -9.99839778e-01 -3.23595113e-03 5.01841957e+02] [ 9.96013190e-01 1.78208557e-02 -8.74079120e-02 3.44814078e+02] [ 8.74515747e-02 -1.68420384e-03 9.96167348e-01 7.25422107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.7892541539999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:501.84, Y:344.84, Z:72.54 [[ 1.34792071e-02 -9.99901286e-01 3.96603205e-03 5.01841749e+02] [ 9.95949598e-01 1.30730919e-02 -8.89578111e-02 3.44839748e+02] [ 8.88971814e-02 5.14904879e-03 9.96027499e-01 7.25416128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8192541539999 meters Centerline goodness : 0.999503 Centerline is valid? [True, True] Translation: X:501.85, Y:344.87, Z:72.55 [[ 1.31665002e-02 -9.99909225e-01 -2.86104889e-03 5.01846158e+02] [ 9.95958951e-01 1.33685943e-02 -8.88090630e-02 3.44867119e+02] [ 8.88392495e-02 -1.68018271e-03 9.96044560e-01 7.25461140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8492541539998 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:501.85, Y:344.89, Z:72.56 [[ 5.18792133e-03 -9.99798384e-01 -1.93978697e-02 5.01854138e+02] [ 9.96105341e-01 6.87422828e-03 -8.79027541e-02 3.44890975e+02] [ 8.80183769e-02 -1.88662891e-02 9.95940173e-01 7.25573830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.8792541539999 meters Centerline goodness : 0.999567 Centerline is valid? [True, True] Translation: X:501.85, Y:344.92, Z:72.55 [[-1.43073984e-03 -9.99990902e-01 4.01846337e-03 5.01846453e+02] [ 9.96059524e-01 -1.78143272e-03 -8.86693340e-02 3.44919343e+02] [ 8.86756860e-02 3.87576596e-03 9.96053011e-01 7.25525260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9092541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:501.89, Y:344.95, Z:72.60 [[ 1.53576431e-03 -9.97859120e-01 -6.53820914e-02 5.01891098e+02] [ 9.95358341e-01 7.81682895e-03 -9.59201228e-02 3.44946682e+02] [ 9.62258500e-02 -6.49312994e-02 9.93239403e-01 7.25980495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:501.88, Y:344.98, Z:72.59 [[ 9.72992916e-04 -9.99388439e-01 -3.49542806e-02 5.01880716e+02] [ 9.95298813e-01 4.35304516e-03 -9.67539383e-02 3.44977649e+02] [ 9.68469249e-02 -3.46958131e-02 9.94694362e-01 7.25931704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9692541539998 meters Centerline goodness : 0.999478 Centerline is valid? [True, True] Translation: X:501.87, Y:345.01, Z:72.58 [[-4.34489560e-04 -9.99996707e-01 -2.52937388e-03 5.01867593e+02] [ 9.95426996e-01 -1.90884363e-04 -9.55251817e-02 3.45005599e+02] [ 9.55243842e-02 -2.55931174e-03 9.95423800e-01 7.25811159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 922.9992541539999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:501.88, Y:345.04, Z:72.59 [[ 2.58019599e-03 -9.99938354e-01 -1.07996046e-02 5.01875115e+02] [ 9.95140236e-01 3.63057107e-03 -9.84008624e-02 3.45035033e+02] [ 9.84340051e-02 -1.04932275e-02 9.95088257e-01 7.25900189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0292541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:501.86, Y:345.06, Z:72.58 [[ 5.82176180e-03 -9.99944171e-01 8.81830619e-03 5.01864775e+02] [ 9.95364478e-01 4.94807716e-03 -9.60472416e-02 3.45060920e+02] [ 9.59982457e-02 9.33659290e-03 9.95337714e-01 7.25799147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0592541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:501.86, Y:345.09, Z:72.58 [[ 7.36787679e-03 -9.99898776e-01 1.21717422e-02 5.01861391e+02] [ 9.95559319e-01 6.19246432e-03 -9.39323964e-02 3.45085661e+02] [ 9.38475151e-02 1.28097737e-02 9.95504171e-01 7.25765424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.0892541539998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:501.83, Y:345.11, Z:72.54 [[ 7.26871304e-03 -9.98458667e-01 5.50223291e-02 5.01834726e+02] [ 9.96594303e-01 2.71340827e-03 -8.24162133e-02 3.45112231e+02] [ 8.21398844e-02 5.54339995e-02 9.95077942e-01 7.25433357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1192541539999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:501.90, Y:345.14, Z:72.61 [[ 1.31562482e-02 -9.97608284e-01 -6.78573885e-02 5.01901340e+02] [ 9.95478746e-01 1.94520863e-02 -9.29714075e-02 3.45136500e+02] [ 9.40690141e-02 -6.63274331e-02 9.93353760e-01 7.26117083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1492541539999 meters Centerline goodness : 0.999373 Centerline is valid? [True, True] Translation: X:501.83, Y:345.17, Z:72.55 [[ 2.01680076e-02 -9.98006505e-01 5.98019098e-02 5.01833606e+02] [ 9.96026632e-01 1.48665282e-02 -8.78062402e-02 3.45168730e+02] [ 8.67421521e-02 6.13351717e-02 9.94340885e-01 7.25543035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.1792541539999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:501.87, Y:345.19, Z:72.58 [[ 2.47550191e-02 -9.99674013e-01 -6.24956110e-03 5.01868079e+02] [ 9.96119313e-01 2.51941918e-02 -8.43301138e-02 3.45193526e+02] [ 8.44600759e-02 -4.13771493e-03 9.96418273e-01 7.25783575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2092541539998 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:501.87, Y:345.22, Z:72.58 [[ 2.92069651e-02 -9.99542711e-01 -7.83080389e-03 5.01869300e+02] [ 9.96146093e-01 2.97541183e-02 -8.25085110e-02 3.45217284e+02] [ 8.27037794e-02 -5.39080150e-03 9.96559594e-01 7.25809373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2392541539999 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:501.86, Y:345.25, Z:72.58 [[ 2.92951000e-02 -9.99566681e-01 2.87196892e-03 5.01863945e+02] [ 9.95989449e-01 2.89470168e-02 -8.46586568e-02 3.45246314e+02] [ 8.45388376e-02 5.34053455e-03 9.96405873e-01 7.25799870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2692541539999 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:501.87, Y:345.27, Z:72.58 [[ 3.00961037e-02 -9.99543534e-01 -2.63602259e-03 5.01867609e+02] [ 9.95897448e-01 3.02112677e-02 -8.52968529e-02 3.45274402e+02] [ 8.53375553e-02 -5.81052440e-05 9.96352096e-01 7.25833674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.2992541539999 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:501.87, Y:345.30, Z:72.59 [[ 3.04066771e-02 -9.99534151e-01 -2.62957961e-03 5.01868223e+02] [ 9.95835262e-01 3.05201681e-02 -8.59107085e-02 3.45301841e+02] [ 8.59509423e-02 -6.36892541e-06 9.96299370e-01 7.25859642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3292541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:501.87, Y:345.33, Z:72.59 [[ 2.95273828e-02 -9.99560524e-01 -2.62521494e-03 5.01869523e+02] [ 9.95798090e-01 2.96438017e-02 -8.66453029e-02 3.45328933e+02] [ 8.66850457e-02 -5.57750013e-05 9.96235765e-01 7.25881483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3592541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:501.90, Y:345.36, Z:72.63 [[ 2.81800588e-02 -9.97715717e-01 -6.13940792e-02 5.01903760e+02] [ 9.94333466e-01 3.42766595e-02 -1.00628374e-01 3.45355191e+02] [ 1.02502895e-01 -5.82104741e-02 9.93028045e-01 7.26340326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.3892541539999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:501.88, Y:345.39, Z:72.62 [[ 2.75155065e-02 -9.99600633e-01 -6.43990071e-03 5.01879932e+02] [ 9.94286532e-01 2.80327856e-02 -1.02997355e-01 3.45387113e+02] [ 1.03136750e-01 -3.56908215e-03 9.94660783e-01 7.26171836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4192541539999 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:501.88, Y:345.41, Z:72.61 [[ 2.08761458e-02 -9.99774017e-01 4.01268407e-03 5.01876477e+02] [ 9.94558828e-01 2.03571871e-02 -1.02168106e-01 3.45414925e+02] [ 1.02063331e-01 6.12372664e-03 9.94759055e-01 7.26120598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4492541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:501.85, Y:345.44, Z:72.58 [[ 1.52099719e-02 -9.98715675e-01 4.83286407e-02 5.01849791e+02] [ 9.95812658e-01 1.07728206e-02 -9.07804903e-02 3.45441774e+02] [ 9.01432629e-02 4.95070408e-02 9.94697565e-01 7.25793370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.4792541539998 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:501.88, Y:345.47, Z:72.60 [[ 1.12578302e-02 -9.99933219e-01 -2.61114359e-03 5.01877813e+02] [ 9.95842089e-01 1.14477654e-02 -9.03741287e-02 3.45467626e+02] [ 9.03979852e-02 -1.58287009e-03 9.95904463e-01 7.25981867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5092541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:501.88, Y:345.49, Z:72.60 [[ 4.82593368e-03 -9.99984999e-01 -2.59088384e-03 5.01880083e+02] [ 9.95877590e-01 5.04076390e-03 -9.05671929e-02 3.45494700e+02] [ 9.05788944e-02 -2.14313189e-03 9.95886977e-01 7.26005991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.88, Y:345.52, Z:72.60 [[-1.93885437e-03 -9.99994817e-01 -2.57026435e-03 5.01883100e+02] [ 9.95869325e-01 -1.69752015e-03 -9.07821950e-02 3.45522878e+02] [ 9.07773615e-02 -2.73566088e-03 9.95867454e-01 7.26037717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5692541539999 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:501.89, Y:345.55, Z:72.61 [[-5.50237967e-03 -9.99981594e-01 -2.55641886e-03 5.01885008e+02] [ 9.95818580e-01 -5.24631757e-03 -9.12021509e-02 3.45550626e+02] [ 9.11870604e-02 -3.04755826e-03 9.95829118e-01 7.26060139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.5992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.89, Y:345.58, Z:72.61 [[-8.17518849e-03 -9.99963436e-01 -2.50865632e-03 5.01886278e+02] [ 9.95872082e-01 -7.91489347e-03 -9.04220742e-02 3.45576799e+02] [ 9.03989122e-02 -3.23751829e-03 9.95900374e-01 7.26083097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6292541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:501.89, Y:345.60, Z:72.61 [[-1.04308984e-02 -9.99942447e-01 -2.50977101e-03 5.01888068e+02] [ 9.95750736e-01 -1.01574461e-02 -9.15275775e-02 3.45604912e+02] [ 9.14968170e-02 -3.45382120e-03 9.95799379e-01 7.26112595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.90, Y:345.63, Z:72.63 [[-9.95985586e-03 -9.99795526e-01 -1.75985054e-02 5.01898537e+02] [ 9.95433206e-01 -8.24236601e-03 -9.51041325e-02 3.45632914e+02] [ 9.49396328e-02 -1.84653601e-02 9.95311759e-01 7.26275387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.6892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.89, Y:345.66, Z:72.62 [[-9.00446203e-03 -9.99955436e-01 -2.83665211e-03 5.01891976e+02] [ 9.95277547e-01 -8.68807706e-03 -9.66805182e-02 3.45662482e+02] [ 9.66515646e-02 -3.69381221e-03 9.95311424e-01 7.26243823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7192541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:501.88, Y:345.69, Z:72.61 [[-6.19817719e-03 -9.99910745e-01 1.18357183e-02 5.01881299e+02] [ 9.95541684e-01 -7.28423582e-03 -9.40409267e-02 3.45689961e+02] [ 9.41187473e-02 1.12000686e-02 9.95497976e-01 7.26136062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.89, Y:345.71, Z:72.62 [[-2.42537922e-03 -9.99928303e-01 -1.17263466e-02 5.01892473e+02] [ 9.95865354e-01 -1.35032549e-03 -9.08315685e-02 3.45714440e+02] [ 9.08092217e-02 -1.18981633e-02 9.95797228e-01 7.26240877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.7792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.88, Y:345.74, Z:72.62 [[ 7.21997898e-05 -9.99976349e-01 6.87721132e-03 5.01882418e+02] [ 9.95608503e-01 -5.71926741e-04 -9.36129359e-02 3.45744454e+02] [ 9.36146551e-02 6.85376890e-03 9.95584915e-01 7.26196270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:501.89, Y:345.77, Z:72.64 [[ 6.25793764e-03 -9.99882572e-01 -1.39886017e-02 5.01892309e+02] [ 9.95074876e-01 7.61055338e-03 -9.88335495e-02 3.45771793e+02] [ 9.89284047e-02 -1.33012119e-02 9.95005653e-01 7.26351653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.89, Y:345.80, Z:72.64 [[ 1.06585780e-02 -9.99833684e-01 -1.47986405e-02 5.01893121e+02] [ 9.94883578e-01 1.20903881e-02 -1.00301986e-01 3.45801105e+02] [ 1.00464225e-01 -1.36538479e-02 9.94846979e-01 7.26419374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:501.88, Y:345.83, Z:72.64 [[ 1.53685827e-02 -9.99881896e-01 -1.10782737e-05 5.01883633e+02] [ 9.94707977e-01 1.52901831e-02 -1.01598483e-01 3.45829540e+02] [ 1.01586653e-01 1.55040504e-03 9.94825486e-01 7.26393571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.8992541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:501.87, Y:345.86, Z:72.63 [[ 1.58518250e-02 -9.99719921e-01 1.75726969e-02 5.01871139e+02] [ 9.95333981e-01 1.41044386e-02 -9.54532966e-02 3.45855830e+02] [ 9.51787091e-02 1.90038113e-02 9.95278789e-01 7.26264314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9292541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:501.88, Y:345.88, Z:72.64 [[ 1.76931646e-02 -9.99840544e-01 -2.41641296e-03 5.01879686e+02] [ 9.95209982e-01 1.78435204e-02 -9.61181630e-02 3.45881954e+02] [ 9.61459537e-02 -7.04203819e-04 9.95366998e-01 7.26360479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9592541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:501.89, Y:345.91, Z:72.65 [[ 1.88043539e-02 -9.99710368e-01 -1.50192104e-02 5.01885905e+02] [ 9.95066512e-01 2.01763442e-02 -9.71367670e-02 3.45909998e+02] [ 9.74116658e-02 -1.31185192e-02 9.95157712e-01 7.26484083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 923.9892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:501.87, Y:345.94, Z:72.64 [[ 1.94734177e-02 -9.99758134e-01 1.02205406e-02 5.01872643e+02] [ 9.95364198e-01 1.84228146e-02 -9.43965758e-02 3.45938877e+02] [ 9.41854533e-02 1.20113842e-02 9.95482208e-01 7.26358080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:345.97, Z:72.64 [[ 1.96157360e-02 -9.99804992e-01 -2.28067926e-03 5.01878350e+02] [ 9.95448237e-01 1.97429422e-02 -9.32363890e-02 3.45966255e+02] [ 9.32632344e-02 -4.41397758e-04 9.95641388e-01 7.26418452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:345.99, Z:72.65 [[ 2.12603513e-02 -9.99695994e-01 -1.24866610e-02 5.01882292e+02] [ 9.95205265e-01 2.23541842e-02 -9.52195938e-02 3.45993031e+02] [ 9.54697756e-02 -1.04023888e-02 9.95377975e-01 7.26531609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.0792541539998 meters Centerline goodness : 0.996944 Centerline is valid? [True, True] Translation: X:501.88, Y:346.02, Z:72.65 [[ 2.14815843e-02 -9.99742237e-01 -7.34852080e-03 5.01878665e+02] [ 9.95646188e-01 2.20592639e-02 -9.05652117e-02 3.46022351e+02] [ 9.07039704e-02 -5.37104249e-03 9.95863415e-01 7.26500385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.87, Y:346.05, Z:72.65 [[ 2.52252783e-02 -9.99679347e-01 2.21122864e-03 5.01872543e+02] [ 9.95343774e-01 2.49099142e-02 -9.31142733e-02 3.46046644e+02] [ 9.30293343e-02 4.54976611e-03 9.95652973e-01 7.26527402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.87, Y:346.08, Z:72.65 [[ 2.72878787e-02 -9.99596392e-01 7.90098046e-03 5.01869412e+02] [ 9.95532982e-01 2.64605918e-02 -9.06306708e-02 3.46075213e+02] [ 9.03850268e-02 1.03388054e-02 9.95853230e-01 7.26483616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1692541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:501.87, Y:346.10, Z:72.65 [[ 2.86028035e-02 -9.99588801e-01 -2.02692355e-03 5.01874201e+02] [ 9.95532499e-01 2.86691549e-02 -8.99617829e-02 3.46102263e+02] [ 8.99829009e-02 5.55290934e-04 9.95943156e-01 7.26532628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:346.13, Z:72.66 [[ 2.98723892e-02 -9.99474983e-01 -1.25458463e-02 5.01879634e+02] [ 9.95160547e-01 3.09142386e-02 -9.32726919e-02 3.46129261e+02] [ 9.36115675e-02 -9.69885314e-03 9.95561553e-01 7.26641073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.87, Y:346.16, Z:72.66 [[ 3.34581115e-02 -9.99440121e-01 -4.99400963e-07 5.01872629e+02] [ 9.95022678e-01 3.33102764e-02 -9.39164285e-02 3.46157076e+02] [ 9.38638632e-02 3.14176942e-03 9.95580084e-01 7.26608852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.87, Y:346.19, Z:72.66 [[ 3.53583892e-02 -9.99370700e-01 -2.82639647e-03 5.01874074e+02] [ 9.94893872e-01 3.54672290e-02 -9.44894700e-02 3.46185519e+02] [ 9.45302522e-02 5.29030927e-04 9.95521849e-01 7.26637882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.87, Y:346.21, Z:72.66 [[ 3.86996990e-02 -9.99249472e-01 -1.68133555e-03 5.01871806e+02] [ 9.94620308e-01 3.86821056e-02 -9.60944222e-02 3.46212988e+02] [ 9.60873382e-02 2.04653474e-03 9.95370803e-01 7.26646949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.87, Y:346.24, Z:72.66 [[ 4.12732088e-02 -9.99121277e-01 7.29355680e-03 5.01867406e+02] [ 9.94650995e-01 4.03945595e-02 -9.50666990e-02 3.46241906e+02] [ 9.46885417e-02 1.11782512e-02 9.95444186e-01 7.26593255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:346.27, Z:72.67 [[ 4.31050723e-02 -9.99031644e-01 -8.81625985e-03 5.01875365e+02] [ 9.94622894e-01 4.37432449e-02 -9.38713343e-02 3.46267194e+02] [ 9.41660853e-02 -4.72252323e-03 9.95545301e-01 7.26659082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.87, Y:346.30, Z:72.66 [[ 4.40239505e-02 -9.99018583e-01 4.87477059e-03 5.01869183e+02] [ 9.94340384e-01 4.33444918e-02 -9.69971909e-02 3.46295636e+02] [ 9.66907017e-02 9.11738079e-03 9.95272717e-01 7.26638412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.89, Y:346.32, Z:72.69 [[ 4.34495917e-02 -9.98754258e-01 -2.45370264e-02 5.01885668e+02] [ 9.93703055e-01 4.57427002e-02 -1.02283156e-01 3.46322460e+02] [ 1.03278127e-01 -1.99383567e-02 9.94452659e-01 7.26853708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4392541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:501.86, Y:346.35, Z:72.66 [[ 4.28987793e-02 -9.98876362e-01 2.01422052e-02 5.01863177e+02] [ 9.94359842e-01 4.07301376e-02 -9.79263046e-02 3.46351326e+02] [ 9.69958761e-02 2.42295189e-02 9.94989814e-01 7.26642880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4692541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:501.88, Y:346.38, Z:72.68 [[ 3.94470582e-02 -9.99219588e-01 -2.03590122e-03 5.01875887e+02] [ 9.94263451e-01 3.94539601e-02 -9.94161769e-02 3.46378789e+02] [ 9.94189157e-02 1.89745354e-03 9.95043858e-01 7.26753925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:346.41, Z:72.68 [[ 3.79105474e-02 -9.99279286e-01 -1.92343308e-03 5.01876252e+02] [ 9.94733615e-01 3.79213772e-02 -9.52208165e-02 3.46407133e+02] [ 9.52251287e-02 1.69656974e-03 9.95454317e-01 7.26758891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:346.43, Z:72.68 [[ 3.46399610e-02 -9.99396918e-01 2.42350304e-03 5.01876607e+02] [ 9.94922665e-01 3.42553970e-02 -9.46332861e-02 3.46433341e+02] [ 9.44931964e-02 5.68929145e-03 9.95509251e-01 7.26771170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:346.46, Z:72.68 [[ 3.13793996e-02 -9.99491025e-01 -5.74675428e-03 5.01881798e+02] [ 9.95185585e-01 3.17773037e-02 -9.27138341e-02 3.46460914e+02] [ 9.28492613e-02 -2.80978257e-03 9.95676212e-01 7.26821651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:346.49, Z:72.68 [[ 2.92294840e-02 -9.99571118e-01 -1.79370445e-03 5.01881155e+02] [ 9.95333053e-01 2.92705616e-02 -9.19529616e-02 3.46489306e+02] [ 9.19660273e-02 9.02404287e-04 9.95761736e-01 7.26832870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:346.52, Z:72.69 [[ 2.61509618e-02 -9.99656476e-01 -1.74839294e-03 5.01882605e+02] [ 9.95506016e-01 2.62015468e-02 -9.10013807e-02 3.46516294e+02] [ 9.10159302e-02 6.39237941e-04 9.95849232e-01 7.26856616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6492541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:501.89, Y:346.54, Z:72.70 [[ 2.46195548e-02 -9.99453841e-01 -2.20430681e-02 5.01894500e+02] [ 9.94881260e-01 2.66566642e-02 -9.74715356e-02 3.46543692e+02] [ 9.80058954e-02 -1.95305296e-02 9.94994172e-01 7.27030782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.89, Y:346.57, Z:72.70 [[ 2.47030760e-02 -9.99671191e-01 -6.87515034e-03 5.01888185e+02] [ 9.94819128e-01 2.52604110e-02 -9.84724014e-02 3.46572584e+02] [ 9.86136919e-02 -4.40695985e-03 9.95116033e-01 7.27014025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.89, Y:346.60, Z:72.70 [[ 2.44926529e-02 -9.99697387e-01 -2.29009876e-03 5.01886410e+02] [ 9.94863347e-01 2.45991576e-02 -9.81926778e-02 3.46601096e+02] [ 9.82192979e-02 1.26663859e-04 9.95164787e-01 7.27017242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:501.89, Y:346.63, Z:72.71 [[ 2.36827012e-02 -9.99661310e-01 -1.07886962e-02 5.01892120e+02] [ 9.94464035e-01 2.46619309e-02 -1.02142416e-01 3.46629434e+02] [ 1.02373892e-01 -8.30996202e-03 9.94711280e-01 7.27097600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:501.87, Y:346.66, Z:72.69 [[ 2.21614580e-02 -9.99333394e-01 2.90109932e-02 5.01872841e+02] [ 9.94975731e-01 1.92124252e-02 -9.82556793e-02 3.46656880e+02] [ 9.76328100e-02 3.10427233e-02 9.94738249e-01 7.26886111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.7992541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:501.89, Y:346.68, Z:72.70 [[ 2.02023086e-02 -9.99794387e-01 -1.74657078e-03 5.01889065e+02] [ 9.94893662e-01 2.02760031e-02 -9.88710553e-02 3.46682774e+02] [ 9.88861396e-02 2.59771365e-04 9.95098721e-01 7.27006793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.90, Y:346.71, Z:72.72 [[ 1.88610260e-02 -9.99547324e-01 -2.34394911e-02 5.01900079e+02] [ 9.94596977e-01 2.11509457e-02 -1.01634105e-01 3.46709619e+02] [ 1.02083865e-01 -2.13959235e-02 9.94545675e-01 7.27154735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:346.74, Z:72.70 [[ 1.87456673e-02 -9.99627966e-01 1.98123445e-02 5.01880309e+02] [ 9.95085313e-01 1.67261067e-02 -9.75984540e-02 3.46738829e+02] [ 9.72307607e-02 2.15445211e-02 9.95028649e-01 7.26965221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.8892541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:501.92, Y:346.77, Z:72.74 [[ 1.93837086e-02 -9.98186934e-01 -5.69834845e-02 5.01923786e+02] [ 9.93670635e-01 2.55407954e-02 -1.09390752e-01 3.46766524e+02] [ 1.10647823e-01 -5.45024167e-02 9.92364120e-01 7.27440643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.87, Y:346.79, Z:72.70 [[ 1.94670520e-02 -9.98622516e-01 4.87247766e-02 5.01869329e+02] [ 9.95030139e-01 1.45910430e-02 -9.84993609e-02 3.46794001e+02] [ 9.76527344e-02 5.04001134e-02 9.93943546e-01 7.26959324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.89, Y:346.82, Z:72.71 [[ 1.68625174e-02 -9.99857634e-01 -6.05332566e-04 5.01894861e+02] [ 9.95084368e-01 1.68410984e-02 -9.75883103e-02 3.46819727e+02] [ 9.75846116e-02 1.04322760e-03 9.95226685e-01 7.27143538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 924.9792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.90, Y:346.85, Z:72.73 [[ 1.59157042e-02 -9.99725913e-01 -1.71694229e-02 5.01903404e+02] [ 9.94834253e-01 1.75549525e-02 -9.99831604e-02 3.46845677e+02] [ 1.00257165e-01 -1.54894276e-02 9.94840982e-01 7.27265366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.89, Y:346.87, Z:72.71 [[ 1.56214203e-02 -9.99789171e-01 1.33260653e-02 5.01888310e+02] [ 9.95315506e-01 1.42770117e-02 -9.56201366e-02 3.46872171e+02] [ 9.54097207e-02 1.47573618e-02 9.95328692e-01 7.27133044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.90, Y:346.90, Z:72.72 [[ 1.74581496e-02 -9.99847526e-01 3.71418966e-04 5.01897501e+02] [ 9.95312979e-01 1.73436312e-02 -9.51381795e-02 3.46900648e+02] [ 9.51172316e-02 2.03061469e-03 9.95464007e-01 7.27197339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.89, Y:346.93, Z:72.72 [[ 1.69831737e-02 -9.99834825e-01 6.47264102e-03 5.01892924e+02] [ 9.95640918e-01 1.63174498e-02 -9.18308379e-02 3.46926957e+02] [ 9.17100528e-02 8.00400532e-03 9.95753585e-01 7.27167581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.0992541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:501.89, Y:346.95, Z:72.72 [[ 1.64051123e-02 -9.99831068e-01 8.28897756e-03 5.01891696e+02] [ 9.95728439e-01 1.55833253e-02 -9.10056876e-02 3.46954247e+02] [ 9.08611440e-02 9.74652922e-03 9.95815875e-01 7.27159477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1292541539999 meters Centerline goodness : 0.999329 Centerline is valid? [True, True] Translation: X:501.90, Y:346.98, Z:72.72 [[ 1.89997259e-02 -9.99812525e-01 -3.73159801e-03 5.01897740e+02] [ 9.95832072e-01 1.92568172e-02 -8.91496524e-02 3.46981183e+02] [ 8.92047977e-02 -2.02222602e-03 9.96011252e-01 7.27214493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.90, Y:347.01, Z:72.72 [[ 2.07235351e-02 -9.99784314e-01 -1.36376702e-03 5.01897165e+02] [ 9.95545441e-01 2.07611227e-02 -9.19687542e-02 3.47008488e+02] [ 9.19772312e-02 5.48225668e-04 9.95760960e-01 7.27239538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.1892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:501.89, Y:347.04, Z:72.72 [[ 2.34121341e-02 -9.99699269e-01 7.29676720e-03 5.01890535e+02] [ 9.95779701e-01 2.26712337e-02 -8.89314517e-02 3.47036404e+02] [ 8.87392806e-02 9.34804773e-03 9.96011021e-01 7.27187272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.91, Y:347.07, Z:72.74 [[ 2.80311593e-02 -9.99394095e-01 -2.06324052e-02 5.01908549e+02] [ 9.95106319e-01 2.98554734e-02 -9.41916409e-02 3.47065898e+02] [ 9.47505600e-02 -1.78911359e-02 9.95340263e-01 7.27375663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.86, Y:347.09, Z:72.70 [[ 2.27280242e-02 -9.98502082e-01 4.97697532e-02 5.01864211e+02] [ 9.96457689e-01 1.85935318e-02 -8.20143562e-02 3.47090074e+02] [ 8.09661100e-02 5.14574775e-02 9.95387672e-01 7.26994174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.92, Y:347.12, Z:72.75 [[ 2.95628977e-02 -9.98299598e-01 -5.02389012e-02 5.01923982e+02] [ 9.94950587e-01 3.42120874e-02 -9.43549844e-02 3.47120215e+02] [ 9.59133207e-02 -4.71958175e-02 9.94270179e-01 7.27528695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.89, Y:347.15, Z:72.72 [[ 2.64551881e-02 -9.99402974e-01 2.22220373e-02 5.01885029e+02] [ 9.95715751e-01 2.43742688e-02 -8.91966285e-02 3.47148793e+02] [ 8.86017298e-02 2.44865461e-02 9.95766108e-01 7.27218378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3392541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:501.91, Y:347.18, Z:72.75 [[ 2.71837156e-02 -9.99339312e-01 -2.41243510e-02 5.01914031e+02] [ 9.95045286e-01 2.93599690e-02 -9.49888005e-02 3.47176752e+02] [ 9.56343328e-02 -2.14226732e-02 9.95185984e-01 7.27488796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.90, Y:347.21, Z:72.74 [[ 2.67473100e-02 -9.99641229e-01 -1.41250406e-03 5.01903866e+02] [ 9.95197993e-01 2.67614619e-02 -9.41529534e-02 3.47205256e+02] [ 9.41569747e-02 1.11261703e-03 9.95556742e-01 7.27431501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.3992541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:501.91, Y:347.23, Z:72.75 [[ 2.47442616e-02 -9.99692852e-01 -1.38651694e-03 5.01905640e+02] [ 9.95241839e-01 2.47647904e-02 -9.42358046e-02 3.47232894e+02] [ 9.42411971e-02 9.51875727e-04 9.95548939e-01 7.27458976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.91, Y:347.26, Z:72.75 [[ 2.28004013e-02 -9.99739151e-01 -1.33144998e-03 5.01906974e+02] [ 9.95469983e-01 2.28259563e-02 -9.22956596e-02 3.47261159e+02] [ 9.23019760e-02 7.78959591e-04 9.95730756e-01 7.27475608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.91, Y:347.29, Z:72.75 [[ 2.16913475e-02 -9.99763868e-01 -1.30151088e-03 5.01907981e+02] [ 9.95521066e-01 2.17190757e-02 -9.20113532e-02 3.47287716e+02] [ 9.20178940e-02 7.00168730e-04 9.95757107e-01 7.27494989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.4892541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:501.88, Y:347.31, Z:72.72 [[ 1.28220205e-02 -9.98711615e-01 4.90989389e-02 5.01877656e+02] [ 9.96708763e-01 8.83467169e-03 -8.05828206e-02 3.47313842e+02] [ 8.00452259e-02 4.99705773e-02 9.95537896e-01 7.27183845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5192541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:501.94, Y:347.34, Z:72.77 [[ 1.94614853e-02 -9.98564651e-01 -4.98987731e-02 5.01935817e+02] [ 9.95391997e-01 2.40382851e-02 -9.28274336e-02 3.47342208e+02] [ 9.38936748e-02 -4.78622797e-02 9.94431084e-01 7.27724379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.88, Y:347.37, Z:72.72 [[ 1.47264106e-02 -9.98853716e-01 4.55454294e-02 5.01882706e+02] [ 9.96587194e-01 1.09623922e-02 -8.18155883e-02 3.47369475e+02] [ 8.12225176e-02 4.65948416e-02 9.95606259e-01 7.27248643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.5792541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:501.91, Y:347.39, Z:72.74 [[ 1.70130420e-02 -9.99843192e-01 -4.91397572e-03 5.01910617e+02] [ 9.96459449e-01 1.73597671e-02 -8.22630193e-02 3.47394830e+02] [ 8.23354253e-02 -3.49703334e-03 9.96598539e-01 7.27441039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.91, Y:347.42, Z:72.75 [[ 1.93765015e-02 -9.99812166e-01 -4.28545564e-04 5.01909221e+02] [ 9.96335201e-01 1.93448298e-02 -8.33183347e-02 3.47423860e+02] [ 8.33109749e-02 1.18744281e-03 9.96522891e-01 7.27451821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.91, Y:347.45, Z:72.75 [[ 2.24819551e-02 -9.99747014e-01 -6.85351239e-04 5.01909263e+02] [ 9.96208445e-01 2.24599988e-02 -8.40492880e-02 3.47451260e+02] [ 8.40434177e-02 1.20683962e-03 9.96461363e-01 7.27465477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.91, Y:347.48, Z:72.75 [[ 2.51775803e-02 -9.99680182e-01 2.37147677e-03 5.01909116e+02] [ 9.95854901e-01 2.48736938e-02 -8.74889424e-02 3.47478520e+02] [ 8.74019744e-02 4.56440664e-03 9.96162668e-01 7.27500374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.91, Y:347.51, Z:72.76 [[ 2.65792007e-02 -9.99627527e-01 -6.19295470e-03 5.01914751e+02] [ 9.95775962e-01 2.70204277e-02 -8.77503880e-02 3.47507434e+02] [ 8.78850397e-02 -3.83446025e-03 9.96123244e-01 7.27563010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7292541539998 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:501.91, Y:347.53, Z:72.75 [[ 2.56104220e-02 -9.99648844e-01 6.80409352e-03 5.01909663e+02] [ 9.95973821e-01 2.49301755e-02 -8.61082680e-02 3.47534876e+02] [ 8.59084033e-02 8.98196810e-03 9.96262551e-01 7.27523298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.92, Y:347.56, Z:72.76 [[ 2.63857383e-02 -9.99616292e-01 -8.42979330e-03 5.01920784e+02] [ 9.95675270e-01 2.70312589e-02 -8.88823257e-02 3.47563316e+02] [ 8.90760888e-02 -6.04811093e-03 9.96006461e-01 7.27642298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.7892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:501.92, Y:347.59, Z:72.76 [[ 2.29601511e-02 -9.99736350e-01 2.47149193e-04 5.01918746e+02] [ 9.95829156e-01 2.28485812e-02 -8.83302565e-02 3.47590228e+02] [ 8.83013213e-02 2.27419441e-03 9.96091213e-01 7.27633159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.92, Y:347.62, Z:72.77 [[ 2.22145835e-02 -9.99750441e-01 -2.35971802e-03 5.01922002e+02] [ 9.95802853e-01 2.23363608e-02 -8.87567726e-02 3.47619312e+02] [ 8.87873301e-02 -3.78119200e-04 9.96050534e-01 7.27685743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.92, Y:347.65, Z:72.77 [[ 1.86706651e-02 -9.99817185e-01 -4.12334931e-03 5.01924782e+02] [ 9.95934364e-01 1.89613407e-02 -8.80636745e-02 3.47646682e+02] [ 8.81257595e-02 -2.46237789e-03 9.96106313e-01 7.27732624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.8792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.94, Y:347.68, Z:72.80 [[ 2.30736258e-02 -9.99407458e-01 -2.55409528e-02 5.01942912e+02] [ 9.95190842e-01 2.53940404e-02 -9.46061893e-02 3.47677039e+02] [ 9.51987192e-02 -2.32352145e-02 9.95187082e-01 7.27960242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.93, Y:347.70, Z:72.79 [[ 2.24835580e-02 -9.99746431e-01 -1.25006636e-03 5.01932442e+02] [ 9.95317998e-01 2.25015003e-02 -9.39987552e-02 3.47704526e+02] [ 9.40030485e-02 8.69212923e-04 9.95571530e-01 7.27901509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.94, Y:347.73, Z:72.79 [[ 2.08288255e-02 -9.99782320e-01 -1.21380262e-03 5.01935005e+02] [ 9.95406966e-01 2.08511092e-02 -9.34355602e-02 3.47732743e+02] [ 9.34405303e-02 7.37925395e-04 9.95624589e-01 7.27931721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9692541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:501.92, Y:347.76, Z:72.78 [[ 1.49138031e-02 -9.99646451e-01 2.20125505e-02 5.01917537e+02] [ 9.96154830e-01 1.29537083e-02 -8.66473154e-02 3.47757167e+02] [ 8.63315371e-02 2.32201494e-02 9.95995829e-01 7.27761334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 925.9992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.95, Y:347.79, Z:72.81 [[ 1.90744845e-02 -9.99558409e-01 -2.27848996e-02 5.01947102e+02] [ 9.95296385e-01 2.11481947e-02 -9.45402611e-02 3.47787520e+02] [ 9.49803725e-02 -2.08744215e-02 9.95260261e-01 7.28051705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.94, Y:347.82, Z:72.80 [[ 1.90655142e-02 -9.99817530e-01 -1.18895037e-03 5.01937041e+02] [ 9.95226144e-01 1.90917764e-02 -9.57101184e-02 3.47816079e+02] [ 9.57153533e-02 6.41488122e-04 9.95408539e-01 7.27990924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.94, Y:347.84, Z:72.80 [[ 1.99443708e-02 -9.99800396e-01 -1.17893186e-03 5.01937976e+02] [ 9.95064525e-01 1.99645140e-02 -9.72008734e-02 3.47843228e+02] [ 9.72050085e-02 7.65496989e-04 9.95264086e-01 7.28013832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.0892541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.94, Y:347.87, Z:72.80 [[ 1.91211997e-02 -9.99816474e-01 -1.18281516e-03 5.01938589e+02] [ 9.94797238e-01 1.91435824e-02 -1.00059872e-01 3.47871374e+02] [ 1.00064152e-01 7.36603550e-04 9.94980715e-01 7.28029213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.93, Y:347.90, Z:72.79 [[ 1.63337150e-02 -9.99808548e-01 1.07739584e-02 5.01929100e+02] [ 9.95149675e-01 1.52102891e-02 -9.71893548e-02 3.47896572e+02] [ 9.70068726e-02 1.23091644e-02 9.95207592e-01 7.27949383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1492541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:501.93, Y:347.93, Z:72.79 [[ 1.42299632e-02 -9.99841586e-01 1.06916558e-02 5.01930374e+02] [ 9.95366821e-01 1.31477659e-02 -9.52471903e-02 3.47925389e+02] [ 9.50915304e-02 1.19974835e-02 9.95396233e-01 7.27947262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.1792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.95, Y:347.95, Z:72.82 [[ 1.85692207e-02 -9.99596126e-01 -2.15120739e-02 5.01951975e+02] [ 9.94715176e-01 2.06430267e-02 -1.00576260e-01 3.47954249e+02] [ 1.00979714e-01 -1.95307636e-02 9.94696761e-01 7.28193242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.93, Y:347.98, Z:72.80 [[ 1.50239363e-02 -9.99627667e-01 2.27773747e-02 5.01925201e+02] [ 9.95405731e-01 1.27983901e-02 -9.48874691e-02 3.47980319e+02] [ 9.45606257e-02 2.40983126e-02 9.95227391e-01 7.27963277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.94, Y:348.01, Z:72.81 [[ 1.39442049e-02 -9.99899618e-01 2.51274950e-03 5.01936262e+02] [ 9.95474835e-01 1.36461745e-02 -9.40406030e-02 3.48008638e+02] [ 9.39968736e-02 3.81270034e-03 9.95565192e-01 7.28062494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.94, Y:348.04, Z:72.81 [[ 1.15175741e-02 -9.99932808e-01 -1.31333753e-03 5.01938497e+02] [ 9.95742663e-01 1.15894171e-02 -9.14452552e-02 3.48036716e+02] [ 9.14543316e-02 -2.54518704e-04 9.95809239e-01 7.28104806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.2992541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.96, Y:348.07, Z:72.83 [[ 1.29191234e-02 -9.99636491e-01 -2.36639497e-02 5.01955130e+02] [ 9.95185326e-01 1.51538693e-02 -9.68324688e-02 3.48065954e+02] [ 9.71558697e-02 -2.22990248e-02 9.95019342e-01 7.28311872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.92, Y:348.09, Z:72.80 [[ 5.87523582e-03 -9.99350949e-01 3.55410059e-02 5.01920573e+02] [ 9.96275824e-01 2.79230713e-03 -8.61782202e-02 3.48092325e+02] [ 8.60230447e-02 3.59149623e-02 9.95645595e-01 7.27988683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3592541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.96, Y:348.12, Z:72.84 [[ 8.79233764e-03 -9.99305835e-01 -3.62014261e-02 5.01963399e+02] [ 9.95393330e-01 1.22029081e-02 -9.50957846e-02 3.48120615e+02] [ 9.54715351e-02 -3.51985438e-02 9.94809654e-01 7.28423048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.3892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:501.92, Y:348.15, Z:72.81 [[ 3.63101011e-03 -9.99456350e-01 3.27692122e-02 5.01924018e+02] [ 9.96218989e-01 7.70900327e-04 -8.68742274e-02 3.48148109e+02] [ 8.68017364e-02 3.29607527e-02 9.95680193e-01 7.28062448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.96, Y:348.18, Z:72.85 [[ 7.18404474e-03 -9.99407670e-01 -3.36555954e-02 5.01962553e+02] [ 9.95411030e-01 1.03588452e-02 -9.51292610e-02 3.48176440e+02] [ 9.54215462e-02 -3.28177380e-02 9.94895836e-01 7.28459363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.95, Y:348.21, Z:72.84 [[ 7.82780902e-03 -9.99968775e-01 -1.08371845e-03 5.01946549e+02] [ 9.95329701e-01 7.89576236e-03 -9.62104136e-02 3.48205753e+02] [ 9.62159662e-02 -3.25540415e-04 9.95360428e-01 7.28362015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.92, Y:348.23, Z:72.81 [[ 5.06522357e-03 -9.99479356e-01 3.18647353e-02 5.01924960e+02] [ 9.96087603e-01 2.23153804e-03 -8.83431224e-02 3.48232511e+02] [ 8.82260197e-02 3.21875455e-02 9.95580299e-01 7.28147371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.93, Y:348.26, Z:72.82 [[ 4.86234804e-03 -9.99953739e-01 8.29928795e-03 5.01933711e+02] [ 9.96268482e-01 4.12891831e-03 -8.62094205e-02 3.48257308e+02] [ 8.61711653e-02 8.68749922e-03 9.96242469e-01 7.28204072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.95, Y:348.29, Z:72.83 [[ 7.37342892e-03 -9.99891197e-01 -1.27760058e-02 5.01946049e+02] [ 9.95959922e-01 8.48669871e-03 -8.93969254e-02 3.48285845e+02] [ 8.94956249e-02 -1.20652279e-02 9.95914135e-01 7.28341379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.93, Y:348.31, Z:72.83 [[ 8.69302268e-03 -9.99938582e-01 6.87482890e-03 5.01934532e+02] [ 9.95832997e-01 8.03277477e-03 -9.08411575e-02 3.48313728e+02] [ 9.07803543e-02 7.63586571e-03 9.95841665e-01 7.28280886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.94, Y:348.34, Z:72.83 [[ 9.28320716e-03 -9.99956402e-01 -1.00768145e-03 5.01938630e+02] [ 9.95726072e-01 9.33652688e-03 -9.18826329e-02 3.48342570e+02] [ 9.18880353e-02 -1.50409172e-04 9.95769334e-01 7.28340159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.94, Y:348.37, Z:72.84 [[ 9.20847411e-03 -9.99957394e-01 6.43208159e-04 5.01938110e+02] [ 9.95682187e-01 9.10968244e-03 -9.23796323e-02 3.48370257e+02] [ 9.23698370e-02 1.49110636e-03 9.95723651e-01 7.28360942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6592541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:501.94, Y:348.40, Z:72.84 [[ 9.20331458e-03 -9.99955375e-01 2.13251502e-03 5.01938280e+02] [ 9.95565091e-01 8.96319449e-03 -9.36472732e-02 3.48399733e+02] [ 9.36239800e-02 2.98492282e-03 9.95603154e-01 7.28375320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.6892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.94, Y:348.43, Z:72.85 [[ 7.76569670e-03 -9.99932795e-01 -8.60816583e-03 5.01943024e+02] [ 9.95433707e-01 8.54920455e-03 -9.50717905e-02 3.48427287e+02] [ 9.51389941e-02 -7.83055973e-03 9.95433199e-01 7.28475440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7192541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:501.96, Y:348.46, Z:72.87 [[ 8.53868993e-03 -9.99654315e-01 -2.48664559e-02 5.01955583e+02] [ 9.94985060e-01 1.09718864e-02 -9.94200643e-02 3.48455547e+02] [ 9.96585283e-02 -2.38928350e-02 9.94734794e-01 7.28672576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.94, Y:348.48, Z:72.85 [[ 4.40154751e-03 -9.99938896e-01 1.01405820e-02 5.01935797e+02] [ 9.95402322e-01 3.41084851e-03 -9.57213815e-02 3.48483892e+02] [ 9.56809445e-02 1.05152811e-02 9.95356512e-01 7.28518229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.94, Y:348.51, Z:72.86 [[ 2.43624982e-03 -9.99989975e-01 3.75705452e-03 5.01939603e+02] [ 9.95562762e-01 2.07200770e-03 -9.40770683e-02 3.48511943e+02] [ 9.40683404e-02 3.96957882e-03 9.95557828e-01 7.28570692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.94, Y:348.54, Z:72.86 [[ 2.25448518e-03 -9.99997458e-01 -3.55059530e-05 5.01941755e+02] [ 9.95544269e-01 2.24779261e-03 -9.42685329e-02 3.48540340e+02] [ 9.42683731e-02 1.77179262e-04 9.95546806e-01 7.28610808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.94, Y:348.57, Z:72.87 [[ 1.13106824e-03 -9.99997316e-01 -2.02210999e-03 5.01942515e+02] [ 9.95452033e-01 1.31854376e-03 -9.52549774e-02 3.48569343e+02] [ 9.52573880e-02 -1.90517362e-03 9.95450853e-01 7.28651679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8692541539999 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:501.95, Y:348.60, Z:72.88 [[ 2.71911513e-03 -9.99906976e-01 -1.33658222e-02 5.01950036e+02] [ 9.95058990e-01 4.03199243e-03 -9.92035793e-02 3.48597593e+02] [ 9.92482419e-02 -1.30300356e-02 9.94977389e-01 7.28762062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.8992541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:501.94, Y:348.63, Z:72.87 [[ 2.46237815e-03 -9.99971148e-01 7.18604622e-03 5.01938400e+02] [ 9.95095994e-01 1.73966282e-03 -9.88986145e-02 3.48627968e+02] [ 9.88832598e-02 7.39433159e-03 9.95071568e-01 7.28681679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9292541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:501.95, Y:348.65, Z:72.88 [[ 2.92694747e-03 -9.99955322e-01 -8.98814279e-03 5.01946063e+02] [ 9.94935131e-01 3.81512214e-03 -1.00446648e-01 3.48653964e+02] [ 1.00476452e-01 -8.64861696e-03 9.94901847e-01 7.28792657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.94, Y:348.68, Z:72.88 [[ 4.29225793e-03 -9.99990420e-01 -8.57970091e-04 5.01941308e+02] [ 9.94881541e-01 4.35694555e-03 -1.00954130e-01 3.48681045e+02] [ 1.00956901e-01 -4.20257442e-04 9.94890711e-01 7.28809583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 926.9892541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:501.94, Y:348.71, Z:72.88 [[ 3.18426777e-03 -9.99994580e-01 -8.36598103e-04 5.01940654e+02] [ 9.94876862e-01 3.25250336e-03 -1.01041831e-01 3.48709101e+02] [ 1.01044005e-01 -5.10567848e-04 9.94881826e-01 7.28806781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.94, Y:348.74, Z:72.88 [[ 3.15788586e-03 -9.99994687e-01 -8.08302781e-04 5.01940508e+02] [ 9.94865780e-01 3.22345100e-03 -1.01151809e-01 3.48737133e+02] [ 1.01153877e-01 -4.84726909e-04 9.94870674e-01 7.28849410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0492541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:501.94, Y:348.76, Z:72.88 [[ 2.90361191e-03 -9.99984954e-01 4.65413539e-03 5.01936988e+02] [ 9.94739961e-01 2.41177269e-03 -1.02404068e-01 3.48764296e+02] [ 1.02391303e-01 4.92699613e-03 9.94731997e-01 7.28840273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.0792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.94, Y:348.79, Z:72.89 [[ 3.08320445e-03 -9.99977331e-01 -5.98600443e-03 5.01940823e+02] [ 9.94955332e-01 3.66784192e-03 -1.00251857e-01 3.48790359e+02] [ 1.00271540e-01 -5.64671005e-03 9.94944085e-01 7.28921613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.92, Y:348.82, Z:72.88 [[ 5.82115450e-05 -9.99728022e-01 2.33212073e-02 5.01922543e+02] [ 9.95548090e-01 -2.14020280e-03 -9.42306751e-02 3.48818646e+02] [ 9.42549585e-02 2.32228687e-02 9.95277198e-01 7.28757424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:501.95, Y:348.85, Z:72.90 [[ 2.31680184e-03 -9.99709892e-01 -2.39742270e-02 5.01948085e+02] [ 9.94922510e-01 4.71661582e-03 -1.00533343e-01 3.48845245e+02] [ 1.00617255e-01 -2.36195823e-02 9.94644803e-01 7.29025827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1692541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:501.92, Y:348.87, Z:72.87 [[-1.17231602e-03 -9.99537523e-01 3.03869293e-02 5.01916116e+02] [ 9.95632236e-01 -4.00342021e-03 -9.32760621e-02 3.48874669e+02] [ 9.33545757e-02 3.01448574e-02 9.95176472e-01 7.28744765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.1992541539998 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:501.95, Y:348.90, Z:72.91 [[ 1.04832120e-03 -9.99566925e-01 -2.94085773e-02 5.01948337e+02] [ 9.95013112e-01 3.97581909e-03 -9.96649338e-02 3.48900139e+02] [ 9.97386946e-02 -2.91574392e-02 9.94586365e-01 7.29069500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2292541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:501.93, Y:348.93, Z:72.90 [[ 1.64908786e-03 -9.99998479e-01 -5.67847852e-04 5.01932506e+02] [ 9.95099975e-01 1.69714691e-03 -9.88592907e-02 3.48927825e+02] [ 9.88601040e-02 -4.02037727e-04 9.95101260e-01 7.29000643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.93, Y:348.95, Z:72.91 [[ 2.50263223e-03 -9.99996727e-01 -5.31943237e-04 5.01931959e+02] [ 9.95144239e-01 2.54282866e-03 -9.83944965e-02 3.48954311e+02] [ 9.83955271e-02 -2.83115009e-04 9.95147346e-01 7.29051566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.2892541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:501.91, Y:348.98, Z:72.88 [[-7.03490787e-04 -9.99300506e-01 3.73898776e-02 5.01908327e+02] [ 9.95922559e-01 -4.07305796e-03 -9.01202881e-02 3.48984060e+02] [ 9.02095407e-02 3.71740238e-02 9.95228783e-01 7.28802833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:501.94, Y:349.01, Z:72.92 [[ 2.63343333e-03 -9.99514419e-01 -3.10481971e-02 5.01941885e+02] [ 9.95047110e-01 5.70440384e-03 -9.92406631e-02 3.49009147e+02] [ 9.93695852e-02 -3.06330751e-02 9.94578956e-01 7.29198521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3492541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:501.93, Y:349.04, Z:72.91 [[ 3.41826936e-03 -9.99968993e-01 -7.09430707e-03 5.01928550e+02] [ 9.95268341e-01 4.09092533e-03 -9.70782906e-02 3.49036939e+02] [ 9.71043027e-02 -6.72889948e-03 9.95251464e-01 7.29142617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.3792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:501.92, Y:349.07, Z:72.91 [[ 3.18816356e-03 -9.99994824e-01 -4.32801251e-04 5.01923462e+02] [ 9.95262789e-01 3.21513169e-03 -9.71681268e-02 3.49065147e+02] [ 9.71690154e-02 -1.20963098e-04 9.95267888e-01 7.29137584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:501.92, Y:349.09, Z:72.92 [[ 3.18673120e-03 -9.99994840e-01 -4.05237512e-04 5.01921041e+02] [ 9.95261341e-01 3.21102917e-03 -9.71830848e-02 3.49092546e+02] [ 9.71838846e-02 -9.36208605e-05 9.95266439e-01 7.29173320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4392541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:501.92, Y:349.12, Z:72.92 [[ 2.26305612e-03 -9.99997367e-01 -3.79381102e-04 5.01919429e+02] [ 9.95191504e-01 2.28932984e-03 -9.79215495e-02 3.49119831e+02] [ 9.79221602e-02 -1.55954888e-04 9.95194065e-01 7.29187401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4692541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:501.92, Y:349.15, Z:72.92 [[ 1.05225888e-03 -9.99999386e-01 -3.47339047e-04 5.01916145e+02] [ 9.95256267e-01 1.08105776e-03 -9.72820328e-02 3.49147485e+02] [ 9.72823486e-02 -2.43325480e-04 9.95256794e-01 7.29218578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.4992541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:501.91, Y:349.17, Z:72.93 [[ 3.46456530e-04 -9.99999889e-01 -3.18413378e-04 5.01914293e+02] [ 9.95288495e-01 3.75696667e-04 -9.69570539e-02 3.49174637e+02] [ 9.69571628e-02 -2.83321767e-04 9.95288515e-01 7.29250026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5292541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:501.91, Y:349.20, Z:72.93 [[-6.07228904e-04 -9.99999773e-01 -2.91339643e-04 5.01912185e+02] [ 9.95214588e-01 -5.75855875e-04 -9.77117811e-02 3.49202322e+02] [ 9.77115912e-02 -3.49278880e-04 9.95214712e-01 7.29269704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5592541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:501.91, Y:349.23, Z:72.93 [[-7.96999408e-04 -9.99999648e-01 -2.61297119e-04 5.01910645e+02] [ 9.95282087e-01 -7.67888323e-04 -9.70205007e-02 3.49230691e+02] [ 9.70202659e-02 -3.37389623e-04 9.95282349e-01 7.29301216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.91, Y:349.26, Z:72.94 [[ 8.19627579e-05 -9.99999970e-01 -2.32859606e-04 5.01907728e+02] [ 9.95303006e-01 1.04120610e-04 -9.68086504e-02 3.49258169e+02] [ 9.68086717e-02 -2.23831161e-04 9.95302985e-01 7.29350786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.91, Y:349.28, Z:72.94 [[ 6.90442127e-04 -9.99999741e-01 -2.05751144e-04 5.01905964e+02] [ 9.95257630e-01 7.07181710e-04 -9.72715267e-02 3.49284829e+02] [ 9.72716470e-02 -1.37615036e-04 9.95257860e-01 7.29377910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.90, Y:349.31, Z:72.94 [[ 2.61156650e-03 -9.99996574e-01 -1.77372648e-04 5.01901579e+02] [ 9.95196312e-01 2.61638879e-03 -9.78644695e-02 3.49313036e+02] [ 9.78645983e-02 7.90589646e-05 9.95199736e-01 7.29400741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.90, Y:349.34, Z:72.94 [[ 3.70478452e-03 -9.99993126e-01 -1.49576751e-04 5.01898676e+02] [ 9.95172687e-01 3.70159473e-03 -9.80694744e-02 3.49341065e+02] [ 9.80693539e-02 2.14471574e-04 9.95179560e-01 7.29422595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7092541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:501.90, Y:349.37, Z:72.94 [[ 4.82469013e-03 -9.99988354e-01 -1.21528103e-04 5.01895367e+02] [ 9.95093186e-01 4.81308235e-03 -9.88250258e-02 3.49367921e+02] [ 9.88244598e-02 3.55868340e-04 9.95104818e-01 7.29432299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.89, Y:349.40, Z:72.95 [[ 8.78326964e-03 -9.99961422e-01 -9.29065344e-05 5.01890647e+02] [ 9.94970166e-01 8.74869981e-03 -9.97889237e-02 3.49395236e+02] [ 9.97858868e-02 7.84033794e-04 9.95008624e-01 7.29464261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7692541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:501.89, Y:349.42, Z:72.95 [[ 9.91862210e-03 -9.99950807e-01 -7.14422924e-05 5.01887825e+02] [ 9.94868831e-01 9.87540731e-03 -1.00690049e-01 3.49423564e+02] [ 1.00685801e-01 9.27630832e-04 9.94917840e-01 7.29469018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.7992541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:501.89, Y:349.45, Z:72.95 [[ 1.15918471e-02 -9.99932811e-01 -4.20040501e-05 5.01886234e+02] [ 9.94872499e-01 1.15374055e-02 -1.00476856e-01 3.49450379e+02] [ 1.00470589e-01 1.12292367e-03 9.94939395e-01 7.29499638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:349.48, Z:72.95 [[ 1.51741294e-02 -9.99854432e-01 7.80134315e-03 5.01879821e+02] [ 9.94585395e-01 1.42910149e-02 -1.02935217e-01 3.49477044e+02] [ 1.02808744e-01 9.32105425e-03 9.94657469e-01 7.29519540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:349.43, Z:72.95 [[ 1.59382667e-02 -9.99859072e-01 -5.27325755e-03 5.01884421e+02] [ 9.94556132e-01 1.63964515e-02 -1.02904116e-01 3.49431015e+02] [ 1.02976076e-01 -3.60443739e-03 9.94677302e-01 7.29521335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:349.46, Z:72.95 [[ 1.64347569e-02 -9.99864936e-01 -9.01370083e-05 5.01879731e+02] [ 9.94636814e-01 1.63580291e-02 -1.02127482e-01 3.49459002e+02] [ 1.02115163e-01 1.58878676e-03 9.94771315e-01 7.29534781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:349.49, Z:72.96 [[ 1.61476592e-02 -9.99869616e-01 -6.01514957e-05 5.01878920e+02] [ 9.94657499e-01 1.60696193e-02 -1.01971697e-01 3.49486531e+02] [ 1.01959368e-01 1.58677407e-03 9.94787299e-01 7.29562563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9492541539998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:501.88, Y:349.51, Z:72.96 [[ 1.54410792e-02 -9.99880779e-01 -3.01405894e-05 5.01877717e+02] [ 9.94579022e-01 1.53623047e-02 -1.02842443e-01 3.49513911e+02] [ 1.02830645e-01 1.55802111e-03 9.94697658e-01 7.29567989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 927.9792541539998 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:501.88, Y:349.54, Z:72.96 [[ 1.53047387e-02 -9.99882876e-01 1.42810718e-06 5.01876277e+02] [ 9.94611761e-01 1.52239097e-02 -1.02545980e-01 3.49540377e+02] [ 1.02533948e-01 1.57085984e-03 9.94728265e-01 7.29594603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:501.88, Y:349.54, Z:72.96 [[ 1.57222939e-02 -9.99876397e-01 3.29640982e-05 5.01876566e+02] [ 9.94706264e-01 1.56376492e-02 -1.01562357e-01 3.49541611e+02] [ 1.01549288e-01 1.62958283e-03 9.94829175e-01 7.29608294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0392541539999 meters Centerline goodness : 0.999833 Centerline is valid? [True, True] Translation: X:501.88, Y:349.53, Z:72.96 [[ 1.55907458e-02 -9.99878454e-01 7.42962334e-05 5.01875875e+02] [ 9.94612991e-01 1.55010276e-02 -1.02492521e-01 3.49534552e+02] [ 1.02478912e-01 1.67183084e-03 9.94733772e-01 7.29584044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0692541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:501.88, Y:349.53, Z:72.96 [[ 1.61641151e-02 -9.99869346e-01 1.14622413e-04 5.01875567e+02] [ 9.94628527e-01 1.60676687e-02 -1.02254215e-01 3.49532901e+02] [ 1.02239013e-01 1.76685562e-03 9.94758294e-01 7.29587563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:349.53, Z:72.96 [[ 1.78899072e-02 -9.99839951e-01 1.52877060e-04 5.01875217e+02] [ 9.94724239e-01 1.77829250e-02 -1.01031958e-01 3.49532700e+02] [ 1.01013069e-01 1.95952287e-03 9.94883169e-01 7.29602423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:349.53, Z:72.96 [[ 1.84280077e-02 -9.99830171e-01 1.93944448e-04 5.01875158e+02] [ 9.94670998e-01 1.83132372e-02 -1.01460488e-01 3.49532016e+02] [ 1.01439705e-01 2.06262557e-03 9.94839551e-01 7.29601034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1592541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:501.88, Y:349.53, Z:72.96 [[ 1.94596151e-02 -9.99810615e-01 2.38827160e-04 5.01875043e+02] [ 9.94475689e-01 1.93311350e-02 -1.03171758e-01 3.49530379e+02] [ 1.03147603e-01 2.24519052e-03 9.94663527e-01 7.29577900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.84, Y:349.50, Z:72.92 [[-9.09908861e-04 -9.98636399e-01 5.21968804e-02 5.01839134e+02] [ 9.97808087e-01 -4.36043901e-03 -6.60303579e-02 3.49498949e+02] [ 6.61679201e-02 5.20223878e-02 9.96451443e-01 7.29225310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.90, Y:349.53, Z:72.97 [[ 2.07023051e-02 -9.98578313e-01 -4.91199265e-02 5.01899464e+02] [ 9.94317863e-01 2.56954908e-02 -1.03304065e-01 3.49530351e+02] [ 1.04419360e-01 -4.67021881e-02 9.93436210e-01 7.29746054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2492541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:501.88, Y:349.53, Z:72.96 [[ 2.26915189e-02 -9.99742461e-01 3.27197167e-04 5.01875484e+02] [ 9.94248451e-01 2.25325526e-02 -1.04701016e-01 3.49530384e+02] [ 1.04666679e-01 2.70114036e-03 9.94503690e-01 7.29571826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.2792541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:501.88, Y:349.53, Z:72.96 [[ 2.31346752e-02 -9.99732290e-01 3.68250226e-04 5.01875795e+02] [ 9.94258364e-01 2.29695070e-02 -1.04511759e-01 3.49527837e+02] [ 1.04475322e-01 2.78398148e-03 9.94523583e-01 7.29572665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:501.88, Y:349.53, Z:72.96 [[ 2.35568932e-02 -9.99722414e-01 4.09368490e-04 5.01876411e+02] [ 9.94263652e-01 2.33855288e-02 -1.04369094e-01 3.49527797e+02] [ 1.04330550e-01 2.86563182e-03 9.94538549e-01 7.29573870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3392541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:501.88, Y:349.53, Z:72.96 [[ 2.32902069e-02 -9.99728645e-01 4.49408964e-04 5.01878204e+02] [ 9.94307335e-01 2.31171525e-02 -1.04012115e-01 3.49526558e+02] [ 1.03973502e-01 2.86931431e-03 9.94575929e-01 7.29575969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.87, Y:349.51, Z:72.94 [[ 1.54823666e-02 -9.99685570e-01 1.97245185e-02 5.01866300e+02] [ 9.95982259e-01 1.36788458e-02 -8.84998868e-02 3.49510996e+02] [ 8.82022512e-02 2.10154581e-02 9.95880873e-01 7.29412802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.3992541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:501.89, Y:349.52, Z:72.96 [[ 1.92456131e-02 -9.99655045e-01 -1.78716859e-02 5.01890743e+02] [ 9.94494143e-01 2.09817764e-02 -1.02670175e-01 3.49516396e+02] [ 1.03009738e-01 -1.57973365e-02 9.94554894e-01 7.29605341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.87, Y:349.51, Z:72.94 [[ 1.10248029e-02 -9.99648714e-01 2.41019207e-02 5.01868092e+02] [ 9.96445458e-01 8.96995264e-03 -8.37615042e-02 3.49505108e+02] [ 8.35158869e-02 2.49397035e-02 9.96194312e-01 7.29386892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4592541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:501.88, Y:349.74, Z:72.96 [[ 1.13485830e-02 -9.99896658e-01 8.82509430e-03 5.01878492e+02] [ 9.96389537e-01 1.05652811e-02 -8.42393358e-02 3.49739457e+02] [ 8.41373908e-02 9.74922871e-03 9.96406469e-01 7.29623487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.4892541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:501.88, Y:349.60, Z:72.95 [[ 5.09192699e-03 -9.99982225e-01 3.10197154e-03 5.01882033e+02] [ 9.96844323e-01 4.83016202e-03 -7.92342390e-02 3.49597054e+02] [ 7.92178476e-02 3.49563768e-03 9.96851199e-01 7.29495628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:501.88, Y:349.59, Z:72.95 [[ 4.65804215e-03 -9.99987701e-01 1.70283676e-03 5.01882815e+02] [ 9.96851555e-01 4.50863175e-03 -7.91621749e-02 3.49594612e+02] [ 7.91535238e-02 2.06621622e-03 9.96860296e-01 7.29497491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:349.67, Z:72.96 [[ 4.59569936e-03 -9.99987434e-01 2.00287404e-03 5.01884090e+02] [ 9.96896402e-01 4.42406545e-03 -7.86002024e-02 3.49671003e+02] [ 7.85903539e-02 2.35788082e-03 9.96904206e-01 7.29566493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.5792541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:501.90, Y:349.74, Z:72.98 [[ 1.33454081e-02 -9.99679949e-01 -2.14918513e-02 5.01901090e+02] [ 9.94469986e-01 1.55089243e-02 -1.03869733e-01 3.49736379e+02] [ 1.04169804e-01 -1.99868171e-02 9.94358677e-01 7.29840018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6092541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:501.90, Y:349.50, Z:72.95 [[ 1.06026414e-02 -9.99926582e-01 -5.86636192e-03 5.01897708e+02] [ 9.94314974e-01 1.11643848e-02 -1.05891873e-01 3.49498586e+02] [ 1.05949593e-01 -4.71027795e-03 9.94360346e-01 7.29542215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:349.70, Z:72.95 [[ 4.51742738e-03 -9.99635301e-01 2.66243995e-02 5.01878960e+02] [ 9.96282632e-01 2.20864181e-03 -8.61164259e-02 3.49701760e+02] [ 8.60262155e-02 2.69144516e-02 9.95929266e-01 7.29526109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6692541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:501.91, Y:349.50, Z:72.96 [[ 8.41559965e-03 -9.99659688e-01 -2.46918099e-02 5.01912284e+02] [ 9.94388395e-01 1.09701951e-02 -1.05220604e-01 3.49496471e+02] [ 1.05455670e-01 -2.36677547e-02 9.94142313e-01 7.29622814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.90, Y:349.58, Z:72.96 [[ 7.76714327e-03 -9.99960075e-01 4.41809777e-03 5.01899474e+02] [ 9.94435006e-01 7.25986056e-03 -1.05101444e-01 3.49582918e+02] [ 1.05065173e-01 5.20984906e-03 9.94451692e-01 7.29614615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7292541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:501.91, Y:349.49, Z:72.96 [[ 6.45098648e-03 -9.99974241e-01 -3.14675421e-03 5.01905683e+02] [ 9.94461377e-01 6.74548106e-03 -1.04885981e-01 3.49492232e+02] [ 1.04904505e-01 -2.45270748e-03 9.94479275e-01 7.29552692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.91, Y:349.49, Z:72.95 [[ 4.13971246e-03 -9.99991180e-01 7.08428108e-04 5.01907378e+02] [ 9.94614344e-01 4.04408388e-03 -1.03566176e-01 3.49488555e+02] [ 1.03562397e-01 1.13334695e-03 9.94622313e-01 7.29542869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.91, Y:349.48, Z:72.95 [[ 2.97359270e-03 -9.99995297e-01 7.50252047e-04 5.01909103e+02] [ 9.94608327e-01 2.87980036e-03 -1.03662830e-01 3.49483043e+02] [ 1.03660182e-01 1.05445797e-03 9.94612213e-01 7.29542626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.91, Y:349.48, Z:72.95 [[ 1.89918938e-03 -9.99997886e-01 7.88345347e-04 5.01910691e+02] [ 9.94649339e-01 1.80760080e-03 -1.03292912e-01 3.49477645e+02] [ 1.03291268e-01 9.80299980e-04 9.94650669e-01 7.29539351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.91, Y:349.48, Z:72.95 [[ 5.54683036e-04 -9.99999503e-01 8.28215005e-04 5.01913464e+02] [ 9.94662629e-01 4.66267802e-04 -1.03179632e-01 3.49476650e+02] [ 1.03179195e-01 8.81026507e-04 9.94662394e-01 7.29539065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.8792541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:501.91, Y:349.47, Z:72.95 [[-1.92494576e-04 -9.99999605e-01 8.67699386e-04 5.01914645e+02] [ 9.94677800e-01 -2.80872684e-04 -1.03033950e-01 3.49474563e+02] [ 1.03034153e-01 8.43247840e-04 9.94677461e-01 7.29537347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.92, Y:349.47, Z:72.95 [[-2.90282331e-04 -9.99999548e-01 9.05138339e-04 5.01916803e+02] [ 9.94714714e-01 -3.81684837e-04 -1.02676639e-01 3.49470403e+02] [ 1.02676938e-01 8.70549210e-04 9.94714375e-01 7.29538180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.92, Y:349.47, Z:72.95 [[-2.97274663e-04 -9.99999507e-01 9.47205042e-04 5.01917794e+02] [ 9.94698463e-01 -3.93103643e-04 -1.02833915e-01 3.49467771e+02] [ 1.02834237e-01 9.11613482e-04 9.94698089e-01 7.29537250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9692541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.92, Y:349.47, Z:72.95 [[-8.69601922e-05 -9.99999506e-01 9.89776415e-04 5.01918228e+02] [ 9.94678006e-01 -1.88476300e-04 -1.03032178e-01 3.49467693e+02] [ 1.03032314e-01 9.75549132e-04 9.94677531e-01 7.29528424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 928.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.93, Y:349.74, Z:72.98 [[-1.12299208e-03 -9.99877634e-01 -1.56030882e-02 5.01925369e+02] [ 9.94355009e-01 5.38946078e-04 -1.06102901e-01 3.49742444e+02] [ 1.06098327e-01 -1.56341617e-02 9.94232728e-01 7.29837599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.91, Y:349.47, Z:72.95 [[ 3.05731863e-03 -9.99814436e-01 1.90196272e-02 5.01911853e+02] [ 9.94535592e-01 1.05529719e-03 -1.04392732e-01 3.49468006e+02] [ 1.04353289e-01 1.92348580e-02 9.94354269e-01 7.29477714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0592541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:501.92, Y:349.46, Z:72.95 [[ 3.23015239e-03 -9.99994159e-01 1.11695073e-03 5.01920562e+02] [ 9.94351077e-01 3.09341954e-03 -1.06096026e-01 3.49464696e+02] [ 1.06091951e-01 1.45334749e-03 9.94355261e-01 7.29514348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.0892541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:501.92, Y:349.46, Z:72.95 [[ 6.37411671e-03 -9.99979010e-01 1.16196884e-03 5.01921325e+02] [ 9.94308118e-01 6.21437779e-03 -1.06361406e-01 3.49463988e+02] [ 1.06351952e-01 1.83331507e-03 9.94326858e-01 7.29512624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.92, Y:349.47, Z:72.95 [[ 8.08219698e-03 -9.99966636e-01 1.18521562e-03 5.01922388e+02] [ 9.94468010e-01 7.91360928e-03 -1.04741361e-01 3.49465733e+02] [ 1.04728487e-01 2.02519932e-03 9.94498790e-01 7.29532743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.92, Y:349.47, Z:72.95 [[ 9.42293711e-03 -9.99954847e-01 1.22944203e-03 5.01923114e+02] [ 9.94433716e-01 9.24186393e-03 -1.04957959e-01 3.49468533e+02] [ 1.04941858e-01 2.21161085e-03 9.94475900e-01 7.29539282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.1792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:501.92, Y:349.47, Z:72.95 [[ 1.16048924e-02 -9.99931841e-01 1.28097117e-03 5.01923919e+02] [ 9.94329004e-01 1.14044156e-02 -1.05734436e-01 3.49465008e+02] [ 1.05712620e-01 2.50074354e-03 9.94393578e-01 7.29521319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.93, Y:349.46, Z:72.95 [[ 1.26867808e-02 -9.99918665e-01 1.30745436e-03 5.01925694e+02] [ 9.94445237e-01 1.24806783e-02 -1.04512695e-01 3.49458065e+02] [ 1.04487876e-01 2.62612140e-03 9.94522693e-01 7.29529550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.93, Y:349.46, Z:72.95 [[ 1.38206694e-02 -9.99903584e-01 1.34575390e-03 5.01929085e+02] [ 9.94456814e-01 1.36050597e-02 -1.04261915e-01 3.49455544e+02] [ 1.04233554e-01 2.77926360e-03 9.94548964e-01 7.29526742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.94, Y:349.45, Z:72.96 [[ 1.13078320e-02 -9.99886941e-01 -9.91153603e-03 5.01935413e+02] [ 9.93798969e-01 1.23343858e-02 -1.10505529e-01 3.49445766e+02] [ 1.10615288e-01 -8.60049634e-03 9.93826086e-01 7.29587214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.93, Y:349.46, Z:72.95 [[ 1.39166358e-02 -9.99817084e-01 1.31196530e-02 5.01926144e+02] [ 9.94484888e-01 1.24759472e-02 -1.04135289e-01 3.49464636e+02] [ 1.03952560e-01 1.44965095e-02 9.94476604e-01 7.29497182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.93, Y:349.45, Z:72.95 [[ 1.43566334e-02 -9.99895863e-01 1.46672190e-03 5.01933537e+02] [ 9.94430077e-01 1.41249434e-02 -1.04447635e-01 3.49454003e+02] [ 1.04416041e-01 2.95806878e-03 9.94529306e-01 7.29525290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3592541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.93, Y:349.45, Z:72.95 [[ 1.44689609e-02 -9.99894170e-01 1.51565679e-03 5.01934507e+02] [ 9.94377846e-01 1.42300830e-02 -1.04929521e-01 3.49449961e+02] [ 1.04896849e-01 3.02535668e-03 9.94478506e-01 7.29519583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.3892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.94, Y:349.45, Z:72.95 [[ 1.53152503e-02 -9.99881502e-01 1.55746186e-03 5.01936257e+02] [ 9.94365901e-01 1.50673301e-02 -1.04925831e-01 3.49454395e+02] [ 1.04889930e-01 3.15565232e-03 9.94478831e-01 7.29527746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:501.94, Y:349.45, Z:72.95 [[ 1.52672200e-02 -9.99882128e-01 1.62548471e-03 5.01936768e+02] [ 9.94188979e-01 1.50069979e-02 -1.06597678e-01 3.49450563e+02] [ 1.06560720e-01 3.24348919e-03 9.94300907e-01 7.29514942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.94, Y:349.44, Z:72.95 [[ 1.56258594e-02 -9.99876528e-01 1.66158811e-03 5.01938238e+02] [ 9.94227494e-01 1.53611163e-02 -1.06187220e-01 3.49444254e+02] [ 1.06148585e-01 3.31126316e-03 9.94344766e-01 7.29513579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.96, Y:349.43, Z:72.97 [[ 1.88633839e-02 -9.99485060e-01 -2.59574166e-02 5.01955773e+02] [ 9.91749050e-01 2.19973124e-02 -1.26293076e-01 3.49433199e+02] [ 1.26799036e-01 -2.33609285e-02 9.91653302e-01 7.29713373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.93, Y:349.64, Z:72.96 [[ 1.68615909e-02 -9.99460295e-01 2.81922878e-02 5.01925184e+02] [ 9.94177008e-01 1.37577095e-02 -1.06877513e-01 3.49642486e+02] [ 1.06431969e-01 2.98302492e-02 9.93872423e-01 7.29620702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.95, Y:349.44, Z:72.96 [[ 1.82930691e-02 -9.99697634e-01 -1.64317826e-02 5.01952881e+02] [ 9.92212425e-01 2.01763782e-02 -1.22912234e-01 3.49435906e+02] [ 1.23206603e-01 -1.40553769e-02 9.92281502e-01 7.29643292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5692541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:501.93, Y:349.44, Z:72.94 [[ 1.57169302e-02 -9.99656264e-01 2.09840742e-02 5.01934308e+02] [ 9.93645805e-01 1.32763085e-02 -1.11766516e-01 3.49443760e+02] [ 1.11449506e-01 2.26073639e-02 9.93512916e-01 7.29448451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.96, Y:349.44, Z:72.97 [[ 1.57112063e-02 -9.99754230e-01 -1.56408766e-02 5.01956035e+02] [ 9.92494582e-01 1.74906219e-02 -1.21031327e-01 3.49443945e+02] [ 1.21275150e-01 -1.36219371e-02 9.92525456e-01 7.29662987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.94, Y:349.44, Z:72.95 [[ 1.24436653e-02 -9.99736974e-01 1.92649438e-02 5.01940077e+02] [ 9.93892546e-01 1.02536315e-02 -1.09874791e-01 3.49435192e+02] [ 1.09648355e-01 2.05145292e-02 9.93758719e-01 7.29464287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6592541539999 meters Centerline goodness : 0.997324 Centerline is valid? [True, True] Translation: X:501.94, Y:350.06, Z:73.01 [[ 8.71520799e-03 -9.99914319e-01 9.76726036e-03 5.01938209e+02] [ 9.93999662e-01 7.59777160e-03 -1.09118949e-01 3.50055496e+02] [ 1.09035391e-01 1.06596478e-02 9.93980712e-01 7.30092720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.32, Y:349.30, Z:73.93 [[-1.19693908e-01 9.88388642e-01 -9.36016113e-02 5.01317570e+02] [ 9.89320740e-01 1.26640207e-01 7.21576900e-02 3.49304532e+02] [ 8.31735686e-02 -8.39651794e-02 -9.92991443e-01 7.39340715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.31, Y:349.27, Z:73.90 [[-1.92050340e-01 9.81364452e-01 -6.36241410e-03 5.01310219e+02] [ 9.78076732e-01 1.91930781e-01 8.07990193e-02 3.49268909e+02] [ 8.05144284e-02 9.29454992e-03 -9.96710107e-01 7.38997671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.35, Y:349.25, Z:73.90 [[-2.67256102e-01 9.63543266e-01 -1.25917040e-02 5.01351850e+02] [ 9.60299935e-01 2.67395695e-01 7.95209221e-02 3.49246785e+02] [ 7.99888164e-02 9.16063912e-03 -9.96753667e-01 7.38996768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.40, Y:349.22, Z:73.90 [[-3.41008242e-01 9.39875525e-01 -1.86380190e-02 5.01396513e+02] [ 9.36700244e-01 3.41397398e-01 7.77204607e-02 3.49224640e+02] [ 7.94105301e-02 9.04508074e-03 -9.96800960e-01 7.38989786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.44, Y:349.21, Z:73.90 [[-4.12443297e-01 9.10654814e-01 -2.44609393e-02 5.01441152e+02] [ 9.07571274e-01 4.13072152e-01 7.54041139e-02 3.49205331e+02] [ 7.87712522e-02 8.89987550e-03 -9.96852989e-01 7.38977233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.49, Y:349.19, Z:73.90 [[-4.82280405e-01 8.75499476e-01 -3.01044644e-02 5.01488048e+02] [ 8.72513772e-01 4.83138305e-01 7.27811505e-02 3.49192556e+02] [ 7.82644791e-02 8.83436292e-03 -9.96893488e-01 7.38974368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:501.54, Y:349.18, Z:73.90 [[-5.49602364e-01 8.34701349e-01 -3.47979711e-02 5.01535108e+02] [ 8.31918682e-01 5.50632730e-01 6.86651535e-02 3.49184746e+02] [ 7.64757981e-02 8.78944845e-03 -9.97032697e-01 7.38970346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.58, Y:349.18, Z:73.90 [[-6.13733027e-01 7.88477288e-01 -4.04393127e-02 5.01581896e+02] [ 7.85748420e-01 6.15000735e-01 6.61325732e-02 3.49179172e+02] [ 7.70142390e-02 8.81261821e-03 -9.96991046e-01 7.38966562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.63, Y:349.18, Z:73.90 [[-6.74168006e-01 7.37209390e-01 -4.49423667e-02 5.01625996e+02] [ 7.34645101e-01 6.75606703e-01 6.20657604e-02 3.49182990e+02] [ 7.61188255e-02 8.82606037e-03 -9.97059690e-01 7.38971920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.68, Y:349.17, Z:73.89 [[-7.28262043e-01 6.84231593e-01 -3.82298935e-02 5.01675939e+02] [ 6.80731031e-01 7.28711615e-01 7.47304870e-02 3.49172002e+02] [ 7.89915276e-02 2.83991023e-02 -9.96470687e-01 7.38923617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 929.9892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.69, Y:349.15, Z:73.85 [[-7.80320573e-01 6.24755671e-01 2.79312457e-02 5.01688631e+02] [ 6.22211454e-01 7.71102580e-01 1.35106323e-01 3.49150965e+02] [ 6.28705860e-02 1.22805384e-01 -9.90437341e-01 7.38527742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.76, Y:349.20, Z:73.90 [[-8.28208322e-01 5.58211822e-01 -4.97044924e-02 5.01764537e+02] [ 5.56609631e-01 8.29660383e-01 4.30042740e-02 3.49203649e+02] [ 6.52433424e-02 7.95049844e-03 -9.97837710e-01 7.39014164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0492541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:501.82, Y:349.21, Z:73.90 [[-8.68785993e-01 4.92531444e-01 -5.12218297e-02 5.01820705e+02] [ 4.91130416e-01 8.70259697e-01 3.79338196e-02 3.49209717e+02] [ 6.32598930e-02 7.79977260e-03 -9.97966607e-01 7.38991655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.0792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:501.87, Y:349.23, Z:73.90 [[-9.04195048e-01 4.23680836e-01 -5.40912590e-02 5.01866178e+02] [ 4.22401500e-01 9.05778773e-01 3.37903519e-02 3.49226498e+02] [ 6.33110388e-02 7.70483990e-03 -9.97964102e-01 7.38984674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1092541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:501.91, Y:349.25, Z:73.90 [[-9.33984389e-01 3.52737879e-01 -5.70013258e-02 5.01909583e+02] [ 3.51577311e-01 9.35691419e-01 2.95797811e-02 3.49247342e+02] [ 6.37695607e-02 7.58668090e-03 -9.97935812e-01 7.38979157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.95, Y:349.27, Z:73.90 [[-9.57577109e-01 2.81223683e-01 -6.29231346e-02 5.01951940e+02] [ 2.80104994e-01 9.59613765e-01 2.61268995e-02 3.49269983e+02] [ 6.77294090e-02 7.39343660e-03 -9.97676332e-01 7.38978935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1692541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:502.00, Y:349.30, Z:73.90 [[-9.76423848e-01 2.06519323e-01 -6.28190957e-02 5.02000193e+02] [ 2.05612493e-01 9.78415732e-01 2.06436145e-02 3.49295778e+02] [ 6.57264968e-02 7.24052669e-03 -9.97811406e-01 7.38958497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.04, Y:349.33, Z:73.90 [[-9.89076600e-01 1.31294769e-01 -6.70012225e-02 5.02035308e+02] [ 1.30508221e-01 9.91318060e-01 1.60034100e-02 3.49327343e+02] [ 6.85206859e-02 7.08438801e-03 -9.97624542e-01 7.38968551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.07, Y:349.36, Z:73.90 [[-9.96237608e-01 5.38209766e-02 -6.79259219e-02 5.02072355e+02] [ 5.32179612e-02 9.98526048e-01 1.06573849e-02 3.49361236e+02] [ 6.83993932e-02 7.00240856e-03 -9.97633444e-01 7.38970618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.11, Y:349.40, Z:73.90 [[-9.97410611e-01 -2.41699311e-02 -6.77339460e-02 5.02111336e+02] [-2.45835202e-02 9.99683841e-01 5.27910110e-03 3.49397919e+02] [ 6.75849358e-02 6.93057028e-03 -9.97689453e-01 7.38966828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.2892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:502.14, Y:349.44, Z:73.90 [[-9.92643196e-01 -1.01994366e-01 -6.52428891e-02 5.02139145e+02] [-1.02224310e-01 9.94761356e-01 1.87175124e-04 3.49437538e+02] [ 6.48820140e-02 6.85520741e-03 -9.97869396e-01 7.38964392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.17, Y:349.48, Z:73.90 [[-9.81511005e-01 -1.79589334e-01 -6.62104047e-02 5.02168486e+02] [-1.79644140e-01 9.83718056e-01 -5.17395894e-03 3.49479235e+02] [ 6.60615585e-02 6.81601356e-03 -9.97792269e-01 7.38968122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3492541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:502.19, Y:349.52, Z:73.90 [[-9.64533699e-01 -2.56113498e-01 -6.38797365e-02 5.02189704e+02] [-2.56010489e-01 9.66622981e-01 -9.93192813e-03 3.49523630e+02] [ 6.42913221e-02 6.77420318e-03 -9.97908180e-01 7.38962729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.3792541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:502.21, Y:349.57, Z:73.90 [[-9.41385638e-01 -3.31521560e-01 -6.23420923e-02 5.02209888e+02] [-3.31263050e-01 9.43423309e-01 -1.47394781e-02 3.49569928e+02] [ 6.37014378e-02 6.77609866e-03 -9.97945996e-01 7.38954711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.87, Y:350.28, Z:72.96 [[-9.41550875e-01 3.23420967e-01 9.42381424e-02 5.01871599e+02] [-3.21756686e-01 -9.46255035e-01 3.27725938e-02 3.50281772e+02] [ 9.97726607e-02 5.35311998e-04 9.95010115e-01 7.29590949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.22, Y:349.61, Z:73.90 [[-9.11949936e-01 -4.05327121e-01 -6.36964681e-02 5.02216775e+02] [-4.04852885e-01 9.14146039e-01 -2.07644148e-02 3.49613232e+02] [ 6.66442545e-02 6.85159214e-03 -9.97753276e-01 7.38972482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4692541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:501.83, Y:350.30, Z:72.96 [[-9.13634506e-01 3.95736001e-01 9.30860215e-02 5.01832116e+02] [-3.93630996e-01 -9.18364117e-01 4.07674865e-02 3.50297678e+02] [ 1.01620024e-01 6.05039071e-04 9.94823102e-01 7.29601338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.4992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:501.83, Y:350.29, Z:72.96 [[-9.15070779e-01 3.92721841e-01 9.17334453e-02 5.01829907e+02] [-3.90666874e-01 -9.19656876e-01 4.01325881e-02 3.50294454e+02] [ 1.00124238e-01 8.86940367e-04 9.94974548e-01 7.29592463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5292541539999 meters Centerline goodness : 0.995814 Centerline is valid? [True, True] Translation: X:501.55, Y:349.33, Z:73.96 [[-8.75136739e-01 -4.80060307e-01 -6.06447801e-02 5.01553054e+02] [-4.79354809e-01 8.77216628e-01 -2.66449958e-02 3.49327167e+02] [ 6.59898144e-02 5.75235220e-03 -9.97803716e-01 7.39618254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.76, Y:350.31, Z:72.96 [[-8.85240596e-01 4.56548706e-01 8.89514890e-02 5.01760915e+02] [-4.54154642e-01 -8.89697918e-01 4.67030618e-02 3.50312915e+02] [ 1.00462177e-01 9.45714612e-04 9.94940429e-01 7.29602028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.5892541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:501.76, Y:350.31, Z:72.96 [[-8.85596796e-01 4.55584998e-01 9.03361749e-02 5.01758676e+02] [-4.53066483e-01 -8.90191097e-01 4.78599348e-02 3.50309678e+02] [ 1.02220727e-01 1.45631185e-03 9.94760676e-01 7.29606254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.76, Y:350.31, Z:72.96 [[-8.86768642e-01 4.53642071e-01 8.86016189e-02 5.01756163e+02] [-4.51214372e-01 -8.91182520e-01 4.68967590e-02 3.50308138e+02] [ 1.00234557e-01 1.60825146e-03 9.94962536e-01 7.29601410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6492541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:501.76, Y:350.31, Z:72.96 [[-8.87819073e-01 4.51566943e-01 8.86825229e-02 5.01758105e+02] [-4.49128998e-01 -8.92235418e-01 4.68945807e-02 3.50306513e+02] [ 1.00301730e-01 1.80401056e-03 9.94955430e-01 7.29606801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.78, Y:350.30, Z:72.94 [[-8.85850229e-01 4.59987821e-01 6.06677554e-02 5.01780819e+02] [-4.56922569e-01 -8.87607962e-01 5.80850505e-02 3.50298437e+02] [ 8.05675985e-02 2.37341887e-02 9.96466533e-01 7.29386485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7092541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:501.75, Y:350.31, Z:72.97 [[-8.88961408e-01 4.47589142e-01 9.70132688e-02 5.01749058e+02] [-4.47263521e-01 -8.94015424e-01 2.63014180e-02 3.50311405e+02] [ 9.85035877e-02 -2.00095506e-02 9.94935506e-01 7.29705969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7392541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:501.78, Y:350.30, Z:72.94 [[-8.86592487e-01 4.58524019e-01 6.09055447e-02 5.01778512e+02] [-4.55452864e-01 -8.88365168e-01 5.80518531e-02 3.50296600e+02] [ 8.07245334e-02 2.37287321e-02 9.96453961e-01 7.29402015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.75, Y:350.31, Z:72.97 [[-8.89718973e-01 4.46637832e-01 9.44181966e-02 5.01747742e+02] [-4.46394292e-01 -8.94490772e-01 2.48675442e-02 3.50311005e+02] [ 9.55629916e-02 -2.00226181e-02 9.95221990e-01 7.29707364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.7992541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:501.75, Y:350.30, Z:72.96 [[-8.89775739e-01 4.48531512e-01 8.43718964e-02 5.01749854e+02] [-4.46324381e-01 -8.93764950e-01 4.44832743e-02 3.50298542e+02] [ 9.53607940e-02 1.92290387e-03 9.95440918e-01 7.29628268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8292541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:501.77, Y:350.30, Z:72.95 [[-8.86883169e-01 4.57261891e-01 6.59530676e-02 5.01772899e+02] [-4.54533156e-01 -8.89175963e-01 5.25900769e-02 3.50295977e+02] [ 8.26913205e-02 1.66633981e-02 9.96435887e-01 7.29456503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8592541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:501.74, Y:350.30, Z:72.97 [[-8.89433702e-01 4.48103589e-01 9.00603274e-02 5.01743301e+02] [-4.47256900e-01 -8.93885014e-01 3.05098037e-02 3.50300725e+02] [ 9.41751296e-02 -1.31436551e-02 9.95468879e-01 7.29676202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.17, Y:349.71, Z:73.90 [[-8.34327773e-01 -5.47381908e-01 -6.53468722e-02 5.02165540e+02] [-5.46410594e-01 8.36847023e-01 -3.35040683e-02 3.49705557e+02] [ 7.30248563e-02 7.75284856e-03 -9.97299987e-01 7.39047526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.72, Y:350.30, Z:72.94 [[-8.47682031e-01 5.27331503e-01 5.79366885e-02 5.01716939e+02] [-5.24415490e-01 -8.49439437e-01 5.86603568e-02 3.50297144e+02] [ 8.01471621e-02 1.93424336e-02 9.96595356e-01 7.29442793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.68, Y:350.30, Z:72.97 [[-8.49858739e-01 5.19471005e-01 8.88256684e-02 5.01683070e+02] [-5.18560833e-01 -8.54329950e-01 3.48568384e-02 3.50303408e+02] [ 9.39935457e-02 -1.64381239e-02 9.95437091e-01 7.29695163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 930.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.69, Y:350.30, Z:72.96 [[-8.49252481e-01 5.21924014e-01 7.97843754e-02 5.01690375e+02] [-5.19506509e-01 -8.52991173e-01 5.01900893e-02 3.50298446e+02] [ 9.42507808e-02 1.17555552e-03 9.95547793e-01 7.29623659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.72, Y:350.30, Z:72.94 [[-8.43980366e-01 5.32982330e-01 6.02243982e-02 5.01716211e+02] [-5.29994657e-01 -8.45934582e-01 5.91637315e-02 3.50298988e+02] [ 8.24791246e-02 1.80144185e-02 9.96429965e-01 7.29445267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.70, Y:350.30, Z:72.95 [[-8.44283912e-01 5.31074519e-01 7.17253873e-02 5.01698892e+02] [-5.29222684e-01 -8.47324943e-01 4.43146981e-02 3.50299661e+02] [ 8.43091166e-02 -5.44515270e-04 9.96439500e-01 7.29535276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0692541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:501.69, Y:350.31, Z:72.97 [[-8.46208690e-01 5.25367951e-01 8.89908378e-02 5.01691298e+02] [-5.24245348e-01 -8.50743532e-01 3.74467472e-02 3.50307296e+02] [ 9.53817005e-02 -1.49652698e-02 9.95328273e-01 7.29673005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.71, Y:350.30, Z:72.95 [[-8.42295836e-01 5.35453834e-01 6.18620818e-02 5.01713026e+02] [-5.32596622e-01 -8.44425105e-01 5.73330708e-02 3.50299195e+02] [ 8.29371075e-02 1.53438709e-02 9.96436652e-01 7.29471508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.71, Y:350.30, Z:72.95 [[-8.41518783e-01 5.36188513e-01 6.59394932e-02 5.01708295e+02] [-5.34216926e-01 -8.44090808e-01 4.60758507e-02 3.50302366e+02] [ 8.03642620e-02 3.54770049e-03 9.96759248e-01 7.29504939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.70, Y:350.30, Z:72.95 [[-8.40391924e-01 5.37963610e-01 6.58526240e-02 5.01701137e+02] [-5.36196508e-01 -8.42967028e-01 4.35877816e-02 3.50299402e+02] [ 7.89602310e-02 1.32087263e-03 9.96876892e-01 7.29517542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.70, Y:350.30, Z:72.95 [[-8.39440357e-01 5.38958933e-01 6.97363371e-02 5.01704605e+02] [-5.37470572e-01 -8.42323759e-01 4.02003534e-02 3.50304471e+02] [ 8.04069132e-02 -3.73542996e-03 9.96755123e-01 7.29540045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:501.70, Y:350.30, Z:72.95 [[-8.38251443e-01 5.41784359e-01 6.16784165e-02 5.01703441e+02] [-5.39806910e-01 -8.40497698e-01 4.66060118e-02 3.50297393e+02] [ 7.70909753e-02 5.77312125e-03 9.97007348e-01 7.29491087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.69, Y:350.31, Z:72.97 [[-8.40886583e-01 5.33856108e-01 8.89236153e-02 5.01685280e+02] [-5.33440791e-01 -8.45291849e-01 3.03745332e-02 3.50307810e+02] [ 9.13820373e-02 -2.18939462e-02 9.95575200e-01 7.29710072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.2792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.71, Y:350.30, Z:72.95 [[-8.35702527e-01 5.45454354e-01 6.38814067e-02 5.01711093e+02] [-5.42791987e-01 -8.38064525e-01 5.49973676e-02 3.50299300e+02] [ 8.35352944e-02 1.12871233e-02 9.96440894e-01 7.29504180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3092541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:501.71, Y:350.30, Z:72.95 [[-8.34653492e-01 5.46540916e-01 6.81657938e-02 5.01708795e+02] [-5.44626070e-01 -8.37431759e-01 4.57219013e-02 3.50302648e+02] [ 8.20730905e-02 1.03707616e-03 9.96625773e-01 7.29537295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.70, Y:350.30, Z:72.96 [[-8.34819687e-01 5.45211141e-01 7.62948388e-02 5.01704897e+02] [-5.43757651e-01 -8.38263739e-01 4.05156886e-02 3.50304716e+02] [ 8.60448016e-02 -7.66260785e-03 9.96261801e-01 7.29609581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.70, Y:350.30, Z:72.96 [[-8.34812660e-01 5.46018435e-01 7.03682474e-02 5.01703739e+02] [-5.43924021e-01 -8.37771566e-01 4.78065112e-02 3.50296305e+02] [ 8.50557533e-02 1.63450065e-03 9.96374853e-01 7.29567881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.3992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:501.70, Y:350.29, Z:72.96 [[-8.34589615e-01 5.46047328e-01 7.27495079e-02 5.01699333e+02] [-5.44195845e-01 -8.37751811e-01 4.49753943e-02 3.50290921e+02] [ 8.55047259e-02 -2.05398295e-03 9.96335648e-01 7.29582520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4292541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:501.69, Y:350.29, Z:72.97 [[-8.37351500e-01 5.40296089e-01 8.32021773e-02 5.01688583e+02] [-5.38825287e-01 -8.41411175e-01 4.11648410e-02 3.50290897e+02] [ 9.22484443e-02 -1.03619957e-02 9.95682105e-01 7.29669418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.70, Y:350.29, Z:72.96 [[-8.35067466e-01 5.45843284e-01 6.86836006e-02 5.01703965e+02] [-5.43346664e-01 -8.37861519e-01 5.25592814e-02 3.50285799e+02] [ 8.62364766e-02 6.57154063e-03 9.96253023e-01 7.29561984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.4892541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:501.70, Y:350.29, Z:72.96 [[-8.35192754e-01 5.44633524e-01 7.63373335e-02 5.01699552e+02] [-5.42857964e-01 -8.38661835e-01 4.41764512e-02 3.50286436e+02] [ 8.80811844e-02 -4.54447745e-03 9.96102933e-01 7.29620991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.70, Y:350.29, Z:72.96 [[-8.35221409e-01 5.44479300e-01 7.71199653e-02 5.01699923e+02] [-5.42619751e-01 -8.38764084e-01 4.51510568e-02 3.50285292e+02] [ 8.92692729e-02 -4.13568709e-03 9.95998942e-01 7.29636228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5492541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:501.70, Y:350.28, Z:72.96 [[-8.35468206e-01 5.45115720e-01 6.95825284e-02 5.01697860e+02] [-5.42875414e-01 -8.38353164e-01 4.95000736e-02 3.50276138e+02] [ 8.53180011e-02 3.58109383e-03 9.96347336e-01 7.29591375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.69, Y:350.27, Z:72.96 [[-8.35862398e-01 5.44082699e-01 7.28564876e-02 5.01693049e+02] [-5.42219449e-01 -8.39029518e-01 4.50281916e-02 3.50274794e+02] [ 8.56278037e-02 -1.86683228e-03 9.96325446e-01 7.29623068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.70, Y:350.27, Z:72.96 [[-8.35237029e-01 5.45127014e-01 7.22194127e-02 5.01696300e+02] [-5.43259252e-01 -8.38352030e-01 4.51138377e-02 3.50273654e+02] [ 8.51380628e-02 -1.55311637e-03 9.96367953e-01 7.29610320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6392541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:501.68, Y:350.27, Z:72.97 [[-8.36700563e-01 5.41850412e-01 7.95631754e-02 5.01680460e+02] [-5.40262328e-01 -8.40439619e-01 4.21647271e-02 3.50267028e+02] [ 8.97150195e-02 -7.70573548e-03 9.95937667e-01 7.29667389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.66, Y:350.24, Z:72.97 [[-8.36328515e-01 5.42874226e-01 7.64342162e-02 5.01656821e+02] [-5.40806497e-01 -8.39812248e-01 4.73679218e-02 3.50244120e+02] [ 8.99052149e-02 -1.72097702e-03 9.95948839e-01 7.29665025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.58, Y:350.20, Z:72.97 [[-8.36028969e-01 5.43219596e-01 7.72530515e-02 5.01583334e+02] [-5.41129470e-01 -8.39588348e-01 4.76476988e-02 3.50196471e+02] [ 9.07439256e-02 -1.96904635e-03 9.95872313e-01 7.29737259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7292541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:501.96, Y:349.65, Z:73.92 [[-8.17192465e-01 -5.71502392e-01 -7.47093754e-02 5.01960073e+02] [-5.70916241e-01 8.20419240e-01 -3.10952795e-02 3.49645006e+02] [ 7.90640356e-02 1.72419676e-02 -9.96720419e-01 7.39247188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.61, Y:350.24, Z:72.97 [[-7.90960355e-01 6.07988962e-01 6.87832835e-02 5.01609524e+02] [-6.05328081e-01 -7.93938260e-01 5.69205864e-02 3.50244876e+02] [ 8.92167687e-02 3.38547420e-03 9.96006479e-01 7.29666305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.7892541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:502.04, Y:349.74, Z:73.91 [[-7.78774931e-01 -6.22365885e-01 -7.85513425e-02 5.02037039e+02] [-6.22720961e-01 7.82108950e-01 -2.28952838e-02 3.49742370e+02] [ 7.56849515e-02 3.10852945e-02 -9.96647125e-01 7.39112093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.54, Y:350.22, Z:72.97 [[-7.42436920e-01 6.66832764e-01 6.41987972e-02 5.01537143e+02] [-6.64629999e-01 -7.45203466e-01 5.42103186e-02 3.50218579e+02] [ 8.39903827e-02 -2.42070456e-03 9.96463625e-01 7.29724121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.55, Y:350.21, Z:72.96 [[-7.40259848e-01 6.70993277e-01 4.22300718e-02 5.01545515e+02] [-6.68424859e-01 -7.41269161e-01 6.10593045e-02 3.50208182e+02] [ 7.22742327e-02 1.69721217e-02 9.97240383e-01 7.29592246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.8792541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:501.54, Y:350.21, Z:72.97 [[-7.39571597e-01 6.70826275e-01 5.50087474e-02 5.01537465e+02] [-6.69252855e-01 -7.41609273e-01 4.60032952e-02 3.50207627e+02] [ 7.16552163e-02 -2.79203081e-03 9.97425553e-01 7.29651760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9092541539999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:501.52, Y:350.19, Z:72.97 [[-7.39174733e-01 6.71317482e-01 5.43465961e-02 5.01524501e+02] [-6.69716124e-01 -7.41166916e-01 4.63887539e-02 3.50191113e+02] [ 7.14214805e-02 -2.10739684e-03 9.97443999e-01 7.29658879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.52, Y:350.20, Z:72.98 [[-7.41698260e-01 6.66217409e-01 7.77049276e-02 5.01516405e+02] [-6.65537521e-01 -7.45389437e-01 3.81365420e-02 3.50196009e+02] [ 8.33276604e-02 -2.34297381e-02 9.96246731e-01 7.29816395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9692541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:501.54, Y:350.17, Z:72.96 [[-7.39754866e-01 6.71824825e-01 3.76050924e-02 5.01539861e+02] [-6.69225740e-01 -7.40405172e-01 6.27462413e-02 3.50174389e+02] [ 6.99974875e-02 2.12505415e-02 9.97320794e-01 7.29555520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 931.9992541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:501.53, Y:350.18, Z:72.96 [[-7.41186754e-01 6.69056613e-01 5.48219358e-02 5.01529387e+02] [-6.67532144e-01 -7.43205136e-01 4.52433674e-02 3.50176973e+02] [ 7.10143184e-02 -3.06161973e-03 9.97470598e-01 7.29634237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0292541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:501.53, Y:350.17, Z:72.96 [[-7.42823779e-01 6.66951280e-01 5.82136045e-02 5.01525599e+02] [-6.65457762e-01 -7.45082026e-01 4.49304190e-02 3.50171486e+02] [ 7.33403108e-02 -5.36331132e-03 9.97292552e-01 7.29648439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.52, Y:350.17, Z:72.97 [[-7.44789759e-01 6.64316059e-01 6.30268891e-02 5.01524582e+02] [-6.62825643e-01 -7.47407832e-01 4.52072987e-02 3.50169524e+02] [ 7.71387251e-02 -8.10590524e-03 9.96987418e-01 7.29689563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.0892541539998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:501.51, Y:350.15, Z:72.98 [[-7.49677493e-01 6.57674974e-01 7.38057251e-02 5.01508925e+02] [-6.56185325e-01 -7.53177072e-01 4.63154038e-02 3.50154685e+02] [ 8.60492620e-02 -1.37086179e-02 9.96196566e-01 7.29766343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.88, Y:349.76, Z:73.95 [[-7.31777539e-01 -6.80931205e-01 -2.88847271e-02 5.01883533e+02] [-6.76993204e-01 7.31127901e-01 -8.44523203e-02 3.49762090e+02] [ 7.86246501e-02 -4.22455471e-02 -9.96008774e-01 7.39465667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.38, Y:350.06, Z:72.99 [[-7.06752327e-01 7.03431804e-01 7.53979159e-02 5.01378113e+02] [-7.00715956e-01 -7.10708869e-01 6.23702832e-02 3.50064686e+02] [ 9.74592084e-02 -8.75217992e-03 9.95201036e-01 7.29926819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.1792541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:501.71, Y:349.55, Z:73.93 [[-6.68546875e-01 -7.35497699e-01 -1.09946402e-01 5.01712939e+02] [-7.40728382e-01 6.71721489e-01 1.05691055e-02 3.49553783e+02] [ 6.60798079e-02 8.85063628e-02 -9.93881322e-01 7.39280094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.38, Y:350.11, Z:72.99 [[-6.50361696e-01 7.57063566e-01 6.23251192e-02 5.01381350e+02] [-7.55236374e-01 -6.53230960e-01 5.39196834e-02 3.50110344e+02] [ 8.15333253e-02 -1.20029003e-02 9.96598338e-01 7.29872071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2392541539999 meters Centerline goodness : 0.999812 Centerline is valid? [True, True] Translation: X:501.38, Y:350.10, Z:72.98 [[-6.54834087e-01 7.53906018e-01 5.30851538e-02 5.01383923e+02] [-7.51527047e-01 -6.56981902e-01 5.98487903e-02 3.50095956e+02] [ 7.99963485e-02 -7.03900878e-04 9.96794908e-01 7.29820389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2692541539999 meters Centerline goodness : 0.999563 Centerline is valid? [True, True] Translation: X:501.38, Y:350.09, Z:72.98 [[-6.57546711e-01 7.51567469e-01 5.27130232e-02 5.01383176e+02] [-7.49218869e-01 -6.59656072e-01 5.93713147e-02 3.50090791e+02] [ 7.93940145e-02 -4.54178853e-04 9.96843209e-01 7.29826531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.2992541539999 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:501.38, Y:350.08, Z:72.98 [[-6.64402420e-01 7.45536702e-01 5.23875043e-02 5.01380670e+02] [-7.43201799e-01 -6.66464530e-01 5.89585973e-02 3.50081587e+02] [ 7.88702116e-02 2.37747248e-04 9.96884865e-01 7.29846350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3292541539998 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:501.38, Y:350.08, Z:72.98 [[-6.64694036e-01 7.45275096e-01 5.24105840e-02 5.01379116e+02] [-7.42941000e-01 -6.66757058e-01 5.89380738e-02 3.50079750e+02] [ 7.88702054e-02 2.37814542e-04 9.96884865e-01 7.29848314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3592541539998 meters Centerline goodness : 0.998021 Centerline is valid? [True, True] Translation: X:501.78, Y:349.78, Z:73.94 [[-5.99375451e-01 -7.98813257e-01 -5.14436502e-02 5.01783660e+02] [-7.96750338e-01 6.01545155e-01 -5.77262937e-02 3.49780748e+02] [ 7.70582072e-02 6.38802232e-03 -9.97006131e-01 7.39437346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.3892541539999 meters Centerline goodness : 0.996841 Centerline is valid? [True, True] Translation: X:501.31, Y:350.04, Z:72.99 [[-6.13743903e-01 7.88091142e-01 4.72310749e-02 5.01310437e+02] [-7.85657940e-01 -6.15557947e-01 6.18871199e-02 3.50036417e+02] [ 7.78461545e-02 8.75373544e-04 9.96964999e-01 7.29869352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4192541539999 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:501.31, Y:350.03, Z:72.99 [[-6.20636091e-01 7.82685021e-01 4.70637966e-02 5.01310171e+02] [-7.80257271e-01 -6.22416137e-01 6.16177202e-02 3.50028323e+02] [ 7.75205331e-02 1.52031152e-03 9.96989597e-01 7.29856675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4492541539998 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:501.31, Y:350.02, Z:72.99 [[-6.24191075e-01 7.79835976e-01 4.73429269e-02 5.01308299e+02] [-7.77375078e-01 -6.25981160e-01 6.19320184e-02 3.50023497e+02] [ 7.79325963e-02 1.85420165e-03 9.96956906e-01 7.29862198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.4792541539998 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:501.31, Y:350.02, Z:72.99 [[-6.28229179e-01 7.76576338e-01 4.75109393e-02 5.01308329e+02] [-7.74092587e-01 -6.30019201e-01 6.21005085e-02 3.50018999e+02] [ 7.81585896e-02 2.23548556e-03 9.96938432e-01 7.29851036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5092541539999 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:501.30, Y:350.01, Z:72.99 [[-6.30543309e-01 7.74696625e-01 4.75423417e-02 5.01303121e+02] [-7.72208256e-01 -6.32328392e-01 6.20903698e-02 3.50012385e+02] [ 7.81635724e-02 2.43807847e-03 9.96937567e-01 7.29866689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5392541539999 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:501.30, Y:350.01, Z:72.99 [[-6.31024319e-01 7.74297621e-01 4.76602982e-02 5.01302083e+02] [-7.71799782e-01 -6.32816828e-01 6.21929118e-02 3.50009337e+02] [ 7.83160624e-02 2.46103201e-03 9.96925543e-01 7.29852242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5692541539999 meters Centerline goodness : 0.994293 Centerline is valid? [True, True] Translation: X:501.30, Y:350.01, Z:72.99 [[-6.32103343e-01 7.73421931e-01 4.75802593e-02 5.01302413e+02] [-7.70934033e-01 -6.33886506e-01 6.20371957e-02 3.50010739e+02] [ 7.81414120e-02 2.53267760e-03 9.96939068e-01 7.29861723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.5992541539998 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:501.30, Y:350.01, Z:72.98 [[-6.31551109e-01 7.73821912e-01 4.84029464e-02 5.01299459e+02] [-7.71252489e-01 -6.33398322e-01 6.30568324e-02 3.50006232e+02] [ 7.94531036e-02 2.49271958e-03 9.96835488e-01 7.29841538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6292541539999 meters Centerline goodness : 0.993660 Centerline is valid? [True, True] Translation: X:501.30, Y:350.01, Z:72.98 [[-6.31128573e-01 7.74135062e-01 4.89042873e-02 5.01297880e+02] [-7.71517260e-01 -6.33015739e-01 6.36568296e-02 3.50006362e+02] [ 8.02361673e-02 2.44514237e-03 9.96772882e-01 7.29835712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6592541539999 meters Centerline goodness : 0.993605 Centerline is valid? [True, True] Translation: X:501.30, Y:350.01, Z:72.98 [[-6.31380381e-01 7.73906287e-01 4.92734612e-02 5.01296139e+02] [-7.71252375e-01 -6.33295359e-01 6.40840233e-02 3.50006850e+02] [ 8.07996828e-02 2.45912099e-03 9.96727327e-01 7.29839206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.6892541539999 meters Centerline goodness : 0.994184 Centerline is valid? [True, True] Translation: X:501.29, Y:350.01, Z:72.98 [[-6.31289067e-01 7.73967611e-01 4.94798071e-02 5.01293422e+02] [-7.71295910e-01 -6.33220533e-01 6.42991139e-02 3.50005247e+02] [ 8.10970614e-02 2.42775474e-03 9.96703252e-01 7.29840013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7192541539998 meters Centerline goodness : 0.993801 Centerline is valid? [True, True] Translation: X:501.29, Y:350.01, Z:72.98 [[-6.31227920e-01 7.74002441e-01 4.97145353e-02 5.01291680e+02] [-7.71309766e-01 -6.33178061e-01 6.45506593e-02 3.50005160e+02] [ 8.14405209e-02 2.40087181e-03 9.96675312e-01 7.29840643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7492541539999 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:501.29, Y:350.00, Z:72.99 [[-6.31676800e-01 7.73679252e-01 4.90391284e-02 5.01285625e+02] [-7.71062566e-01 -6.33573018e-01 6.36219345e-02 3.50003928e+02] [ 8.02928392e-02 2.37626380e-03 9.96768485e-01 7.29857586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.7792541539999 meters Centerline goodness : 0.993848 Centerline is valid? [True, True] Translation: X:501.28, Y:350.00, Z:72.99 [[-6.31583356e-01 7.73754429e-01 4.90565894e-02 5.01283225e+02] [-7.71140328e-01 -6.33481362e-01 6.35921370e-02 3.50002450e+02] [ 8.02811326e-02 2.33422087e-03 9.96769528e-01 7.29855065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8092541539999 meters Centerline goodness : 0.994337 Centerline is valid? [True, True] Translation: X:501.28, Y:350.01, Z:72.99 [[-6.31878892e-01 7.72738555e-01 6.00349148e-02 5.01278411e+02] [-7.70244878e-01 -6.34687907e-01 6.24026271e-02 3.50007621e+02] [ 8.63243504e-02 -6.81068276e-03 9.96243806e-01 7.29941610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8392541539998 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:501.26, Y:349.96, Z:72.99 [[-6.39519317e-01 7.67798197e-01 3.87423715e-02 5.01255189e+02] [-7.64874863e-01 -6.40536241e-01 6.84088355e-02 3.49964301e+02] [ 7.73400736e-02 1.41157057e-02 9.96904840e-01 7.29877420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8692541539999 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:501.25, Y:349.97, Z:72.99 [[-6.40678051e-01 7.66314153e-01 4.78983797e-02 5.01246602e+02] [-7.63882657e-01 -6.42461086e-01 6.10494807e-02 3.49966061e+02] [ 7.75559262e-02 2.52432068e-03 9.96984807e-01 7.29921302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.8992541539999 meters Centerline goodness : 0.994579 Centerline is valid? [True, True] Translation: X:501.24, Y:349.97, Z:72.99 [[-6.41662611e-01 7.65451060e-01 4.85156486e-02 5.01242172e+02] [-7.62957977e-01 -6.43488741e-01 6.17848304e-02 3.49965400e+02] [ 7.85125376e-02 2.62961453e-03 9.96909658e-01 7.29908435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9292541539999 meters Centerline goodness : 0.994957 Centerline is valid? [True, True] Translation: X:501.24, Y:349.96, Z:72.99 [[-6.42238657e-01 7.64935325e-01 4.90250642e-02 5.01238796e+02] [-7.62392164e-01 -6.44101488e-01 6.23815911e-02 3.49964127e+02] [ 7.92949994e-02 2.68754452e-03 9.96847571e-01 7.29911983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9592541539998 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:501.24, Y:349.96, Z:72.99 [[-6.42970994e-01 7.64285780e-01 4.95534856e-02 5.01236373e+02] [-7.61690210e-01 -6.44871794e-01 6.29951795e-02 3.49964287e+02] [ 8.01019651e-02 2.75966834e-03 9.96782855e-01 7.29908965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 932.9892541539999 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:501.23, Y:349.96, Z:72.99 [[-6.44370113e-01 7.62987841e-01 5.13489207e-02 5.01229693e+02] [-7.60200932e-01 -6.46405912e-01 6.52222336e-02 3.49962494e+02] [ 8.29560171e-02 2.99176063e-03 9.96548719e-01 7.29913145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0192541539999 meters Centerline goodness : 0.995422 Centerline is valid? [True, True] Translation: X:501.23, Y:349.96, Z:72.99 [[-6.45688796e-01 7.61881128e-01 5.12164576e-02 5.01226655e+02] [-7.59109559e-01 -6.47709496e-01 6.50006713e-02 3.49962660e+02] [ 8.26961707e-02 3.09130267e-03 9.96570011e-01 7.29928130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0492541539999 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:501.22, Y:349.96, Z:72.99 [[-6.46374380e-01 7.61234649e-01 5.21725102e-02 5.01222191e+02] [-7.58361027e-01 -6.48468646e-01 6.61586524e-02 3.49960239e+02] [ 8.41944955e-02 3.19765952e-03 9.96444209e-01 7.29931731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.0792541539998 meters Centerline goodness : 0.995367 Centerline is valid? [True, True] Translation: X:501.22, Y:349.96, Z:72.99 [[-6.46906187e-01 7.60728305e-01 5.29606599e-02 5.01219895e+02] [-7.57770151e-01 -6.49062176e-01 6.71020818e-02 3.49960844e+02] [ 8.54212142e-02 3.27674461e-03 9.96339540e-01 7.29931076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1092541539998 meters Centerline goodness : 0.995459 Centerline is valid? [True, True] Translation: X:501.21, Y:349.96, Z:72.99 [[-6.46701502e-01 7.60780830e-01 5.46781179e-02 5.01213965e+02] [-7.57632677e-01 -6.49000296e-01 6.92195282e-02 3.49960571e+02] [ 8.81470048e-02 3.33844403e-03 9.96101883e-01 7.29926560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1392541539999 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:501.21, Y:349.96, Z:72.99 [[-6.46139581e-01 7.61222555e-01 5.51712190e-02 5.01212751e+02] [-7.58024013e-01 -6.48482480e-01 6.97858858e-02 3.49963080e+02] [ 8.89001593e-02 3.27031422e-03 9.96035173e-01 7.29924137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1692541539999 meters Centerline goodness : 0.995642 Centerline is valid? [True, True] Translation: X:501.21, Y:349.97, Z:72.99 [[-6.43754499e-01 7.63234198e-01 5.52603315e-02 5.01207821e+02] [-7.60037779e-01 -6.46115155e-01 6.98411110e-02 3.49966796e+02] [ 8.90096620e-02 2.96058978e-03 9.96026363e-01 7.29941946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.1992541539998 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:501.20, Y:349.97, Z:73.00 [[-6.42285263e-01 7.64491178e-01 5.49807210e-02 5.01202933e+02] [-7.61336704e-01 -6.44628385e-01 6.94310308e-02 3.49965715e+02] [ 8.85215439e-02 2.73568700e-03 9.96070506e-01 7.29955871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2292541539998 meters Centerline goodness : 0.995767 Centerline is valid? [True, True] Translation: X:501.20, Y:349.97, Z:73.00 [[-6.40016297e-01 7.66364702e-01 5.53559660e-02 5.01201072e+02] [-7.63179042e-01 -6.42401048e-01 6.98472870e-02 3.49967501e+02] [ 8.90892259e-02 2.45688885e-03 9.96020619e-01 7.29951463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2592541539999 meters Centerline goodness : 0.995957 Centerline is valid? [True, True] Translation: X:501.20, Y:349.97, Z:73.00 [[-6.34973975e-01 7.70577059e-01 5.49458692e-02 5.01196139e+02] [-7.67459119e-01 -6.37344249e-01 6.92734432e-02 3.49972242e+02] [ 8.83999598e-02 1.81812520e-03 9.96083401e-01 7.29969459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.2892541539999 meters Centerline goodness : 0.996186 Centerline is valid? [True, True] Translation: X:501.20, Y:349.98, Z:73.00 [[-6.29244779e-01 7.75477588e-01 5.18219880e-02 5.01202028e+02] [-7.72457504e-01 -6.31367798e-01 6.84405556e-02 3.49979739e+02] [ 8.57928514e-02 3.03557881e-03 9.96308372e-01 7.29958396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3192541539999 meters Centerline goodness : 0.996309 Centerline is valid? [True, True] Translation: X:501.20, Y:349.98, Z:72.99 [[-6.25821239e-01 7.78448673e-01 4.86357999e-02 5.01200554e+02] [-7.75510861e-01 -6.27690908e-01 6.77276071e-02 3.49981119e+02] [ 8.32507153e-02 4.66778390e-03 9.96517702e-01 7.29945011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3492541539998 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:501.19, Y:349.99, Z:73.00 [[-6.23370406e-01 7.79802060e-01 5.76028172e-02 5.01187819e+02] [-7.77139390e-01 -6.26009769e-01 6.45456258e-02 3.49986601e+02] [ 8.63927382e-02 -4.52958529e-03 9.96250861e-01 7.30002223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.3792541539999 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:501.19, Y:349.99, Z:73.00 [[-6.20834048e-01 7.82053594e-01 5.43807124e-02 5.01188078e+02] [-7.79063520e-01 -6.23211179e-01 6.83217190e-02 3.49987578e+02] [ 8.73219138e-02 5.04201038e-05 9.96180145e-01 7.29991290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4092541539999 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:501.19, Y:349.99, Z:73.00 [[-6.18483500e-01 7.83904365e-01 5.45170286e-02 5.01186294e+02] [-7.80911256e-01 -6.20881540e-01 6.84377344e-02 3.49989008e+02] [ 8.74972554e-02 -2.45351762e-04 9.96164730e-01 7.29989313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4392541539999 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:501.19, Y:349.99, Z:72.99 [[-6.10155774e-01 7.91183375e-01 4.16989062e-02 5.01194696e+02] [-7.88044096e-01 -6.11487416e-01 7.12014311e-02 3.49991474e+02] [ 8.18317450e-02 1.05833875e-02 9.96589965e-01 7.29878489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4692541539998 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:501.19, Y:349.99, Z:72.99 [[-6.08742509e-01 7.91891563e-01 4.83767547e-02 5.01188832e+02] [-7.89351565e-01 -6.10661606e-01 6.33759371e-02 3.49994967e+02] [ 7.97286966e-02 3.93359933e-04 9.96816523e-01 7.29907243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.4992541539999 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:501.19, Y:350.00, Z:72.99 [[-6.05643209e-01 7.94333282e-01 4.72328430e-02 5.01190506e+02] [-7.91716082e-01 -6.07480003e-01 6.44491408e-02 3.50001563e+02] [ 7.98871051e-02 1.63818298e-03 9.96802572e-01 7.29890073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5292541539999 meters Centerline goodness : 0.996584 Centerline is valid? [True, True] Translation: X:501.18, Y:350.00, Z:72.99 [[-6.05300145e-01 7.94311945e-01 5.17713136e-02 5.01182531e+02] [-7.91778241e-01 -6.07504599e-01 6.34458800e-02 3.49998295e+02] [ 8.18471315e-02 -2.58759931e-03 9.96641536e-01 7.29909526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5592541539999 meters Centerline goodness : 0.996776 Centerline is valid? [True, True] Translation: X:501.18, Y:350.00, Z:72.99 [[-6.04778147e-01 7.94908966e-01 4.86120274e-02 5.01181159e+02] [-7.92332348e-01 -6.06728696e-01 6.39510710e-02 3.49996628e+02] [ 8.03295917e-02 1.59328387e-04 9.96768344e-01 7.29898252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.5892541539998 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:501.17, Y:350.00, Z:73.00 [[-6.04794062e-01 7.94034088e-01 6.11065446e-02 5.01173169e+02] [-7.91764615e-01 -6.07765473e-01 6.10730992e-02 3.50000879e+02] [ 8.56325706e-02 -1.14453521e-02 9.96261044e-01 7.29975440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6192541539999 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:501.17, Y:350.00, Z:73.00 [[-6.05769104e-01 7.93374297e-01 6.00084731e-02 5.01170049e+02] [-7.90652385e-01 -6.08688935e-01 6.60801555e-02 3.49997711e+02] [ 8.89527905e-02 -7.41652582e-03 9.96008231e-01 7.29998969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6492541539999 meters Centerline goodness : 0.997132 Centerline is valid? [True, True] Translation: X:501.17, Y:350.00, Z:73.00 [[-6.05263566e-01 7.94145166e-01 5.46760480e-02 5.01170640e+02] [-7.91202993e-01 -6.07725119e-01 6.83227947e-02 3.49996976e+02] [ 8.74862249e-02 -1.90655443e-03 9.96163905e-01 7.29977014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.6792541539999 meters Centerline goodness : 0.997120 Centerline is valid? [True, True] Translation: X:501.17, Y:349.99, Z:73.00 [[-6.05788663e-01 7.93791026e-01 5.39990930e-02 5.01167630e+02] [-7.90924579e-01 -6.08187742e-01 6.74238806e-02 3.49994840e+02] [ 8.63620579e-02 -1.86458741e-03 9.96262073e-01 7.29986294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7092541539998 meters Centerline goodness : 0.997190 Centerline is valid? [True, True] Translation: X:501.16, Y:349.99, Z:73.00 [[-6.06530651e-01 7.93233416e-01 5.38638733e-02 5.01163476e+02] [-7.90383744e-01 -6.08914986e-01 6.72017646e-02 3.49990781e+02] [ 8.61052049e-02 -1.81319983e-03 9.96284400e-01 7.29996102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7392541539999 meters Centerline goodness : 0.997419 Centerline is valid? [True, True] Translation: X:501.16, Y:349.99, Z:73.00 [[-6.08936792e-01 7.91417610e-01 5.34242484e-02 5.01161204e+02] [-7.88611860e-01 -6.11273822e-01 6.66006636e-02 3.49988243e+02] [ 8.53657825e-02 -1.57540146e-03 9.96348434e-01 7.30001026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7692541539999 meters Centerline goodness : 0.997464 Centerline is valid? [True, True] Translation: X:501.16, Y:349.98, Z:73.00 [[-6.11157139e-01 7.89708821e-01 5.33566370e-02 5.01158907e+02] [-7.86908189e-01 -6.13480325e-01 6.64634706e-02 3.49984371e+02] [ 8.52200360e-02 -1.36715010e-03 9.96361218e-01 7.29999881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.7992541539999 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:501.16, Y:349.98, Z:73.00 [[-6.13801726e-01 7.87638055e-01 5.36072365e-02 5.01157514e+02] [-7.84807797e-01 -6.16137196e-01 6.67208865e-02 3.49981028e+02] [ 8.55813217e-02 -1.11798191e-03 9.96330561e-01 7.30002276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8292541539998 meters Centerline goodness : 0.997620 Centerline is valid? [True, True] Translation: X:501.15, Y:349.97, Z:73.00 [[-6.19198826e-01 7.83378387e-01 5.39547671e-02 5.01153614e+02] [-7.80500700e-01 -6.21544831e-01 6.70871124e-02 3.49973911e+02] [ 8.60899005e-02 -5.71472204e-04 9.96287209e-01 7.30000896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8592541539998 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:501.15, Y:349.97, Z:73.00 [[-6.21968682e-01 7.81148409e-01 5.44253875e-02 5.01151291e+02] [-7.78216527e-01 -6.24345316e-01 6.76162966e-02 3.49969907e+02] [ 8.67985982e-02 -2.99517187e-04 9.96225835e-01 7.30002871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.8892541539999 meters Centerline goodness : 0.997759 Centerline is valid? [True, True] Translation: X:501.15, Y:349.97, Z:73.00 [[-6.26168098e-01 7.77735292e-01 5.51482524e-02 5.01147937e+02] [-7.74717565e-01 -6.28591917e-01 6.84462999e-02 3.49965073e+02] [ 8.78988487e-02 1.34569577e-04 9.96129396e-01 7.30000879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9192541539999 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:501.15, Y:349.97, Z:72.99 [[-6.26530048e-01 7.77925957e-01 4.78675651e-02 5.01154072e+02] [-7.74848062e-01 -6.28323268e-01 6.94287534e-02 3.49965622e+02] [ 8.40867344e-02 6.40911011e-03 9.96437828e-01 7.29933757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9492541539998 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:501.15, Y:349.96, Z:73.00 [[-6.28020328e-01 7.76409628e-01 5.27120250e-02 5.01147659e+02] [-7.73600736e-01 -6.30228253e-01 6.59867517e-02 3.49962061e+02] [ 8.44533567e-02 6.62960093e-04 9.96427213e-01 7.29956672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 933.9792541539998 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:501.13, Y:349.94, Z:73.00 [[-6.29377389e-01 7.75115336e-01 5.55006146e-02 5.01130053e+02] [-7.72389845e-01 -6.31816679e-01 6.49739324e-02 3.49942279e+02] [ 8.54285054e-02 -1.97498718e-03 9.96342346e-01 7.29982839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0092541539999 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:501.11, Y:349.92, Z:73.00 [[-6.33113438e-01 7.71918568e-01 5.75247708e-02 5.01108909e+02] [-7.69013665e-01 -6.35718692e-01 6.69307654e-02 3.49918710e+02] [ 8.82346726e-02 -1.86256776e-03 9.96097974e-01 7.30042693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0392541539999 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:501.14, Y:349.92, Z:73.96 [[-5.92322213e-01 -3.76224669e-01 7.12467118e-01 5.01137069e+02] [-7.92428007e-01 1.12181089e-01 -5.99560887e-01 3.49918169e+02] [ 1.45644259e-01 -9.19712130e-01 -3.64578316e-01 7.39636176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0692541539999 meters Centerline goodness : 0.998162 Centerline is valid? [True, True] Translation: X:501.02, Y:349.83, Z:72.99 [[-6.12312253e-01 7.85194188e-01 9.24326331e-02 5.01023587e+02] [-7.75971584e-01 -6.19247129e-01 1.20004558e-01 3.49829726e+02] [ 1.51465524e-01 1.75516483e-03 9.88460983e-01 7.29896558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.0992541539998 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:501.02, Y:349.83, Z:72.99 [[-6.13590738e-01 7.84191237e-01 9.24689649e-02 5.01021207e+02] [-7.74965122e-01 -6.20516182e-01 1.19953024e-01 3.49828019e+02] [ 1.51444599e-01 1.94184178e-03 9.88463840e-01 7.29908434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1292541539999 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:501.01, Y:349.83, Z:73.00 [[-6.17536682e-01 7.79515995e-01 1.04896428e-01 5.01010342e+02] [-7.70300306e-01 -6.26344561e-01 1.19707684e-01 3.49827361e+02] [ 1.59015362e-01 -6.87786477e-03 9.87252151e-01 7.30000163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1592541539999 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:501.72, Y:349.21, Z:73.50 [[-5.79943682e-01 -4.62845906e-01 -6.70402113e-01 5.01724132e+02] [-8.12659096e-01 3.86278304e-01 4.36318996e-01 3.49211563e+02] [ 5.70133305e-02 7.97848820e-01 -6.00155598e-01 7.35024251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.1892541539999 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:500.91, Y:349.71, Z:73.97 [[-5.31911308e-01 -3.29306337e-01 7.80145946e-01 5.00906124e+02] [-8.29651293e-01 1.81922060e-02 -5.57985462e-01 3.49707031e+02] [ 1.69555573e-01 -9.44047870e-01 -2.82886068e-01 7.39692780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2192541539998 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:500.85, Y:349.65, Z:73.02 [[-5.76487943e-01 8.11180248e-01 9.82255392e-02 5.00853914e+02] [-7.98465135e-01 -5.84781993e-01 1.43120404e-01 3.49648309e+02] [ 1.73536971e-01 4.07751872e-03 9.84818914e-01 7.30161223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2492541539999 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:501.63, Y:349.14, Z:73.63 [[-5.15108010e-01 -6.09674795e-01 -6.02461934e-01 5.01628159e+02] [-8.53780756e-01 4.27000330e-01 2.97874368e-01 3.49138570e+02] [ 7.56449505e-02 6.67807879e-01 -7.40479898e-01 7.36261602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.2792541539999 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:500.66, Y:349.68, Z:73.78 [[-5.08575718e-01 2.41194953e-02 8.60679376e-01 5.00662260e+02] [-8.37549987e-01 -2.45646063e-01 -4.88024622e-01 3.49683376e+02] [ 1.99651592e-01 -9.69059473e-01 1.45130906e-01 7.37781163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3092541539999 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:501.35, Y:349.17, Z:73.99 [[-4.29249634e-01 -9.00189822e-01 -7.35053457e-02 5.01353353e+02] [-8.89984530e-01 4.35436309e-01 -1.35361578e-01 3.49167931e+02] [ 1.53858011e-01 7.31471277e-03 -9.88065892e-01 7.39879781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3392541539998 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:500.68, Y:349.45, Z:73.03 [[-4.74808002e-01 8.75237386e-01 9.22869391e-02 5.00676864e+02] [-8.58724193e-01 -4.83692376e-01 1.69217154e-01 3.49453979e+02] [ 1.92743668e-01 1.09663135e-03 9.81248529e-01 7.30330271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3692541539999 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:501.28, Y:349.08, Z:74.01 [[-3.60055759e-01 -9.30678925e-01 -6.47810832e-02 5.01284341e+02] [-9.20026698e-01 3.65727702e-01 -1.40691588e-01 3.49080706e+02] [ 1.54630933e-01 8.94350944e-03 -9.87931824e-01 7.40109968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.3992541539999 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:500.63, Y:349.44, Z:73.03 [[-4.02140014e-01 9.12246877e-01 7.80323287e-02 5.00626873e+02] [-8.95090899e-01 -4.09639721e-01 1.76089698e-01 3.49440921e+02] [ 1.92602418e-01 9.66686335e-04 9.81276400e-01 7.30348638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4292541539999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:500.62, Y:349.44, Z:73.04 [[-3.96214909e-01 9.15096276e-01 7.49169620e-02 5.00621808e+02] [-8.98051501e-01 -4.03228394e-01 1.75813437e-01 3.49439199e+02] [ 1.91094868e-01 2.38061482e-03 9.81568685e-01 7.30352568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4592541539998 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:500.62, Y:349.44, Z:73.04 [[-3.92283598e-01 9.16793250e-01 7.48579691e-02 5.00619928e+02] [-8.99848164e-01 -3.99359464e-01 1.75457407e-01 3.49442105e+02] [ 1.90753405e-01 1.46825692e-03 9.81636890e-01 7.30351111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.4892541539999 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:500.62, Y:349.44, Z:73.04 [[-3.88088424e-01 9.18568533e-01 7.49614968e-02 5.00617015e+02] [-9.01646800e-01 -3.95261405e-01 1.75503477e-01 3.49442873e+02] [ 1.90841358e-01 5.22074260e-04 9.81620753e-01 7.30352218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5192541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:500.61, Y:349.45, Z:73.03 [[-3.79059982e-01 9.22373314e-01 7.44378855e-02 5.00614974e+02] [-9.05801501e-01 -3.86297010e-01 1.74063956e-01 3.49451897e+02] [ 1.89307081e-01 -1.44526814e-03 9.81916870e-01 7.30349588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5492541539999 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:500.61, Y:349.45, Z:73.04 [[-3.75022848e-01 9.24035362e-01 7.42732344e-02 5.00611389e+02] [-9.07606019e-01 -3.82299795e-01 1.73488274e-01 3.49450257e+02] [ 1.88703942e-01 -2.34876810e-03 9.82031214e-01 7.30358127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.5792541539998 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:500.61, Y:349.46, Z:73.04 [[-3.68506741e-01 9.26616314e-01 7.47327737e-02 5.00609639e+02] [-9.10069794e-01 -3.75989497e-01 1.74369918e-01 3.49456869e+02] [ 1.89672749e-01 -3.75554980e-03 9.81840183e-01 7.30351561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6092541539998 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:500.61, Y:349.46, Z:73.04 [[-3.67769999e-01 9.26902521e-01 7.48127228e-02 5.00608953e+02] [-9.10362980e-01 -3.75281059e-01 1.74365624e-01 3.49455857e+02] [ 1.89695734e-01 -3.98028788e-03 9.81834857e-01 7.30359307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6392541539999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:500.61, Y:349.45, Z:73.04 [[-3.67969516e-01 9.26850181e-01 7.44793790e-02 5.00607374e+02] [-9.10494116e-01 -3.75410026e-01 1.73400625e-01 3.49450814e+02] [ 1.88676706e-01 -4.00689231e-03 9.82031082e-01 7.30367225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6692541539999 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:500.60, Y:349.44, Z:73.04 [[-3.70209923e-01 9.25857383e-01 7.57147284e-02 5.00601086e+02] [-9.08966587e-01 -3.77855653e-01 1.76081937e-01 3.49435175e+02] [ 1.91635999e-01 -3.63487801e-03 9.81459338e-01 7.30393240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.6992541539998 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:500.61, Y:349.45, Z:73.04 [[-3.72073875e-01 9.25114862e-01 7.56539728e-02 5.00605187e+02] [-9.08273687e-01 -3.79672818e-01 1.75748288e-01 3.49445057e+02] [ 1.91311110e-01 -3.32316653e-03 9.81523823e-01 7.30381742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.7292541539998 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:500.58, Y:349.38, Z:73.05 [[-3.83730265e-01 9.20306863e-01 7.60681415e-02 5.00578097e+02] [-9.03306482e-01 -3.91195558e-01 1.76077926e-01 3.49376384e+02] [ 1.91803243e-01 -1.14641590e-03 9.81432729e-01 7.30511514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.7592541539999 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:500.58, Y:349.37, Z:73.05 [[-3.86988342e-01 9.18762336e-01 7.82035342e-02 5.00576579e+02] [-9.01761687e-01 -3.94803559e-01 1.75943199e-01 3.49374629e+02] [ 1.92525018e-01 -2.43298415e-03 9.81289049e-01 7.30527784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.7892541539999 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:501.15, Y:348.74, Z:74.07 [[-3.39682882e-01 -9.37733049e-01 -7.26103837e-02 5.01150671e+02] [-9.27100434e-01 3.46834008e-01 -1.42094885e-01 3.48739074e+02] [ 1.58430820e-01 1.90499182e-02 -9.87186292e-01 7.40723582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8192541539999 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:501.44, Y:349.02, Z:73.55 [[-3.08031006e-01 -5.43861411e-01 -7.80596993e-01 5.01444890e+02] [-9.44027462e-01 2.76512856e-01 1.79868816e-01 3.49021299e+02] [ 1.18021396e-01 7.92310171e-01 -5.98594640e-01 7.35466680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8492541539998 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:500.47, Y:349.26, Z:73.10 [[-2.84015458e-01 9.57990552e-01 3.98663133e-02 5.00473185e+02] [-9.49113740e-01 -2.86798402e-01 1.30114512e-01 3.49261319e+02] [ 1.36082068e-01 -8.83133079e-04 9.90697174e-01 7.31046635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.8792541539999 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:500.47, Y:349.25, Z:73.11 [[-2.86124725e-01 9.57370910e-01 3.96684034e-02 5.00472632e+02] [-9.48601487e-01 -2.88860751e-01 1.29285286e-01 3.49254583e+02] [ 1.35232616e-01 -6.37789742e-04 9.90813672e-01 7.31056782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9092541539999 meters Centerline goodness : 0.999519 Centerline is valid? [True, True] Translation: X:500.47, Y:349.23, Z:73.11 [[-2.91419235e-01 9.55788486e-01 3.92835766e-02 5.00468584e+02] [-9.47209539e-01 -2.94055045e-01 1.27772143e-01 3.49233916e+02] [ 1.33674677e-01 2.54818886e-05 9.91025267e-01 7.31088086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9392541539999 meters Centerline goodness : 0.999518 Centerline is valid? [True, True] Translation: X:500.47, Y:349.23, Z:73.11 [[-2.93414001e-01 9.55178416e-01 3.92736202e-02 5.00467390e+02] [-9.46700703e-01 -2.96030720e-01 1.26978706e-01 3.49226243e+02] [ 1.32913518e-01 7.69663567e-05 9.91127636e-01 7.31100232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9692541539998 meters Centerline goodness : 0.999497 Centerline is valid? [True, True] Translation: X:500.47, Y:349.22, Z:73.11 [[-2.95481183e-01 9.54540382e-01 3.92877876e-02 5.00468182e+02] [-9.46080508e-01 -2.98081483e-01 1.26803400e-01 3.49224946e+02] [ 1.32749928e-01 2.98608501e-04 9.91149518e-01 7.31103205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 934.9992541539999 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:500.47, Y:349.22, Z:73.11 [[-2.99272267e-01 9.53339171e-01 3.97559430e-02 5.00470518e+02] [-9.44692234e-01 -3.01900333e-01 1.28112340e-01 3.49224734e+02] [ 1.34136844e-01 7.83339660e-04 9.90962509e-01 7.31096781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0292541539999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:501.17, Y:349.04, Z:74.07 [[-2.28426564e-01 -9.72475480e-01 -4.59646089e-02 5.01174200e+02] [-9.65246245e-01 2.32380423e-01 -1.19578531e-01 3.49037710e+02] [ 1.26968465e-01 1.70522532e-02 -9.91760167e-01 7.40691086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0592541539999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:501.31, Y:348.81, Z:73.44 [[-2.13287666e-01 -3.23654349e-01 -9.21822235e-01 5.01306653e+02] [-9.76254156e-01 1.07203568e-01 1.88242443e-01 3.48809021e+02] [ 3.78971471e-02 9.40082580e-01 -3.38834102e-01 7.34409175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.0892541539998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:500.38, Y:348.99, Z:73.16 [[-2.22249738e-01 9.74895124e-01 1.35849866e-02 5.00375536e+02] [-9.72789474e-01 -2.22662207e-01 6.40482772e-02 3.48989660e+02] [ 6.54652163e-02 1.01938085e-03 9.97854331e-01 7.31624592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1192541539999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:500.38, Y:348.99, Z:73.16 [[-2.24259245e-01 9.74434087e-01 1.36381971e-02 5.00375462e+02] [-9.72319646e-01 -2.24670722e-01 6.41683093e-02 3.48985493e+02] [ 6.55918915e-02 1.12964961e-03 9.97845894e-01 7.31625953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1492541539999 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:501.02, Y:348.39, Z:74.13 [[-1.16067227e-01 -9.91907151e-01 -5.14645833e-02 5.01024827e+02] [-9.91905435e-01 1.18441910e-01 -4.57725148e-02 3.48393274e+02] [ 5.14976482e-02 4.57353110e-02 -9.97625317e-01 7.41304491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.1792541539999 meters Centerline goodness : 0.999501 Centerline is valid? [True, True] Translation: X:501.20, Y:348.76, Z:73.39 [[-1.28280397e-01 -1.55812184e-01 -9.79421617e-01 5.01199779e+02] [-9.90940334e-01 -1.94621039e-02 1.32885216e-01 3.48755871e+02] [-3.97667409e-02 9.87594952e-01 -1.51903971e-01 7.33866005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2092541539998 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:500.31, Y:348.87, Z:73.21 [[-1.41580947e-01 9.89926210e-01 -9.66592950e-04 5.00308003e+02] [-9.89893938e-01 -1.41584138e-01 -7.99526206e-03 3.48865541e+02] [-8.05157370e-03 -1.75152269e-04 9.99967570e-01 7.32093724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2392541539999 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:500.31, Y:348.86, Z:73.21 [[-1.42522327e-01 9.89791286e-01 -7.72273817e-04 5.00308017e+02] [-9.89770643e-01 -1.42524344e-01 -6.39421986e-03 3.48859499e+02] [-6.43901092e-03 -1.46945143e-04 9.99979259e-01 7.32085473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2692541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:500.31, Y:348.85, Z:73.21 [[-1.43662426e-01 9.89626392e-01 -8.44061814e-04 5.00306716e+02] [-9.89602005e-01 -1.43664813e-01 -6.94933033e-03 3.48852559e+02] [-6.99850268e-03 -1.63072392e-04 9.99975497e-01 7.32080667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.2992541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:500.31, Y:348.85, Z:73.21 [[-1.44344484e-01 9.89527228e-01 -7.30989687e-04 5.00306098e+02] [-9.89509034e-01 -1.44346264e-01 -6.00229480e-03 3.48850005e+02] [-6.04494977e-03 -1.43077249e-04 9.99981719e-01 7.32075048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3292541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:500.30, Y:348.84, Z:73.21 [[-1.43676159e-01 9.89624607e-01 -5.46508422e-04 5.00304074e+02] [-9.89614435e-01 -1.43677161e-01 -4.48807987e-03 3.48843014e+02] [-4.52003506e-03 -1.03997453e-04 9.99989779e-01 7.32069767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3592541539998 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:500.30, Y:348.84, Z:73.21 [[-1.43043705e-01 9.89716232e-01 -5.28229498e-04 5.00303128e+02] [-9.89706803e-01 -1.43044648e-01 -4.32130475e-03 3.48841242e+02] [-4.35242585e-03 -9.53431116e-05 9.99990524e-01 7.32071818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.3892541539999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:500.31, Y:348.84, Z:73.19 [[-1.35554417e-01 9.90623394e-01 -1.70379196e-02 5.00313714e+02] [-9.90605243e-01 -1.35825355e-01 -1.58973696e-02 3.48837952e+02] [-1.80624877e-02 1.47228938e-02 9.99728455e-01 7.31914799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4192541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:500.29, Y:348.82, Z:73.21 [[-1.40824262e-01 9.89919503e-01 1.50965459e-02 5.00290392e+02] [-9.90024534e-01 -1.40737662e-01 -6.65835432e-03 3.48823399e+02] [-4.46658222e-03 -1.58836087e-02 9.99863871e-01 7.32125893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4492541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:500.30, Y:348.81, Z:73.21 [[-1.39464256e-01 9.90226912e-01 -6.20517031e-04 5.00295072e+02] [-9.90214563e-01 -1.39465616e-01 -4.94578987e-03 3.48812113e+02] [-4.98399502e-03 -7.53159027e-05 9.99987577e-01 7.32062458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.4792541539998 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:500.29, Y:348.82, Z:73.21 [[-1.36720259e-01 9.90609572e-01 -4.97284961e-04 5.00294655e+02] [-9.90601650e-01 -1.36721155e-01 -3.96189355e-03 3.48816578e+02] [-3.99267905e-03 -4.90598096e-05 9.99992028e-01 7.32062046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5092541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:500.29, Y:348.82, Z:73.21 [[-1.30561679e-01 9.91439924e-01 -7.24848579e-04 5.00290993e+02] [-9.91423461e-01 -1.30563688e-01 -5.71361746e-03 3.48820718e+02] [-5.75934736e-03 -2.73476033e-05 9.99983415e-01 7.32071080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5392541539999 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:500.29, Y:348.81, Z:73.21 [[-1.27393171e-01 9.91852032e-01 -7.26116563e-04 5.00288001e+02] [-9.91835253e-01 -1.27395239e-01 -5.76932407e-03 3.48811063e+02] [-5.81481959e-03 -1.47844813e-05 9.99983094e-01 7.32071280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5692541539999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:501.01, Y:348.59, Z:74.16 [[-7.17487707e-02 -9.97414479e-01 4.05836960e-03 5.01013196e+02] [-9.97006074e-01 7.18358012e-02 2.86095509e-02 3.48592646e+02] [-2.88271166e-02 -1.99351903e-03 -9.99582424e-01 7.41553443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.5992541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:500.23, Y:348.66, Z:73.21 [[-4.76046688e-02 9.98866113e-01 -5.33765518e-04 5.00234169e+02] [-9.98827633e-01 -4.76075204e-02 -8.76830320e-03 3.48655580e+02] [-8.78377218e-03 1.15727579e-04 9.99961415e-01 7.32055062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.6292541539999 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:500.23, Y:348.65, Z:73.21 [[-4.45287134e-02 9.99007951e-01 -5.54913051e-04 5.00232774e+02] [-9.98967148e-01 -4.45319107e-02 -9.03033885e-03 3.48653238e+02] [-9.04609165e-03 1.52230538e-04 9.99959072e-01 7.32054788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.6592541539999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:500.23, Y:348.65, Z:73.21 [[-4.10517858e-02 9.99156871e-01 -5.45565100e-04 5.00233108e+02] [-9.99118095e-01 -4.10550001e-02 -8.80449944e-03 3.48651097e+02] [-8.81947429e-03 1.83643538e-04 9.99961091e-01 7.32050352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.6892541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:500.23, Y:348.61, Z:73.20 [[-4.54111855e-02 9.98968265e-01 -4.80140386e-04 5.00231883e+02] [-9.98933174e-01 -4.54136151e-02 -8.37364121e-03 3.48614351e+02] [-8.38680674e-03 9.93711851e-05 9.99964825e-01 7.32040582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7192541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:500.23, Y:348.61, Z:73.20 [[-4.74544985e-02 9.98873242e-01 -5.63991971e-04 5.00230558e+02] [-9.98838196e-01 -4.74575589e-02 -8.36888132e-03 3.48608189e+02] [-8.38621729e-03 1.66195657e-04 9.99964821e-01 7.32045128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7492541539999 meters Centerline goodness : 0.995890 Centerline is valid? [True, True] Translation: X:500.98, Y:347.90, Z:74.14 [[-1.14500790e-02 -9.99761241e-01 -1.86106438e-02 5.00977544e+02] [-9.99727015e-01 1.10666386e-02 2.05773094e-02 3.47897431e+02] [-2.03664391e-02 1.88411752e-02 -9.99615035e-01 7.41428219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.7792541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:501.11, Y:347.91, Z:74.04 [[ 6.50805082e-02 -9.73838165e-01 -2.17724037e-01 5.01105960e+02] [-9.97367700e-01 -7.04705688e-02 1.70754348e-02 3.47906134e+02] [-3.19718468e-02 2.16039644e-01 -9.75860991e-01 7.40406031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:500.24, Y:347.83, Z:73.17 [[ 1.03003458e-01 9.94592209e-01 -1.32900885e-02 5.00243243e+02] [-9.94544457e-01 1.02758748e-01 -1.79433068e-02 3.47827967e+02] [-1.64806003e-02 1.50658064e-02 9.99750675e-01 7.31718766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8392541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:500.23, Y:347.80, Z:73.19 [[ 9.77094670e-02 9.95087232e-01 1.59455460e-02 5.00231708e+02] [-9.95112471e-01 9.79168220e-02 -1.27854067e-02 3.47797241e+02] [-1.42839322e-02 -1.46183564e-02 9.99791115e-01 7.31890345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:501.03, Y:347.84, Z:74.14 [[ 1.54008393e-01 -9.88061679e-01 -3.94122521e-03 5.01025081e+02] [-9.87409347e-01 -1.54050056e-01 3.59355271e-02 3.47843710e+02] [-3.61136632e-02 -1.64277015e-03 -9.99346339e-01 7.41367824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.8992541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:501.03, Y:347.85, Z:74.14 [[ 2.35691158e-01 -9.71805145e-01 -6.66615486e-03 5.01034893e+02] [-9.71169840e-01 -2.35778402e-01 3.51807894e-02 3.47849556e+02] [-3.57606075e-02 -1.81783244e-03 -9.99358732e-01 7.41367490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.05, Y:347.86, Z:74.14 [[ 3.13891867e-01 -9.49415703e-01 -9.03986167e-03 5.01048729e+02] [-9.48828247e-01 -3.14016129e-01 3.34488990e-02 3.47855484e+02] [-3.45955723e-02 -1.92206125e-03 -9.99399546e-01 7.41357780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9592541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:501.06, Y:347.86, Z:74.14 [[ 3.89151955e-01 -9.21097136e-01 -1.18668256e-02 5.01061010e+02] [-9.20501423e-01 -3.89327765e-01 3.31816598e-02 3.47862869e+02] [-3.51836165e-02 -1.98927800e-03 -9.99378885e-01 7.41351829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 935.9892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.07, Y:347.87, Z:74.13 [[ 4.64867671e-01 -8.85273717e-01 -1.37293488e-02 5.01073658e+02] [-8.84740888e-01 -4.65065330e-01 3.07863726e-02 3.47872266e+02] [-3.36394106e-02 -2.16467304e-03 -9.99431691e-01 7.41340741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:500.40, Y:347.52, Z:73.18 [[ 4.53436743e-01 8.91260098e-01 7.11039385e-03 5.00402701e+02] [-8.91154201e-01 4.53492477e-01 -1.37391098e-02 3.47519774e+02] [-1.54696305e-02 -1.06640129e-04 9.99880332e-01 7.31783669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.43, Y:347.50, Z:73.16 [[ 4.53895026e-01 8.91044346e-01 -4.39081354e-03 5.00427724e+02] [-8.90823642e-01 4.53659258e-01 -2.50303111e-02 3.47500835e+02] [-2.03111840e-02 1.52725742e-02 9.99677050e-01 7.31643639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.0792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:500.43, Y:347.47, Z:73.17 [[ 4.53243045e-01 8.91276097e-01 1.40591952e-02 5.00433902e+02] [-8.91194647e-01 4.53416509e-01 -1.36224436e-02 3.47467490e+02] [-1.85160296e-02 -6.35520163e-03 9.99808366e-01 7.31731611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:500.45, Y:347.43, Z:73.18 [[ 4.50078856e-01 8.92864794e-01 1.48822928e-02 5.00445263e+02] [-8.92873999e-01 4.50225728e-01 -8.53322092e-03 3.47432475e+02] [-1.43194037e-02 -9.44739003e-03 9.99852840e-01 7.31791119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.12, Y:347.75, Z:74.13 [[ 5.34375837e-01 -8.45099116e-01 -1.58097580e-02 5.01124434e+02] [-8.44602512e-01 -5.34605251e-01 2.90486249e-02 3.47753821e+02] [-3.30009469e-02 -2.16992188e-03 -9.99452965e-01 7.41313906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.12, Y:347.75, Z:74.13 [[ 5.96257904e-01 -8.02581327e-01 -1.84316662e-02 5.01122174e+02] [-8.02086308e-01 -5.96539139e-01 2.82596977e-02 3.47750702e+02] [-3.36759159e-02 -2.06628102e-03 -9.99430670e-01 7.41304275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.13, Y:347.75, Z:74.13 [[ 6.55197340e-01 -7.55189000e-01 -2.01499450e-02 5.01125351e+02] [-7.54736303e-01 -6.55504150e-01 2.62187224e-02 3.47751585e+02] [-3.30084633e-02 -1.97054218e-03 -9.99453130e-01 7.41294944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.2292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:501.13, Y:347.75, Z:74.13 [[ 7.07517453e-01 -7.06330599e-01 -2.27186704e-02 5.01125598e+02] [-7.05885506e-01 -7.07879962e-01 2.51318786e-02 3.47749328e+02] [-3.38335065e-02 -1.74446255e-03 -9.99425961e-01 7.41282204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.2592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.13, Y:347.75, Z:74.13 [[ 7.58222819e-01 -6.51553366e-01 -2.40076625e-02 5.01126420e+02] [-6.51157844e-01 -7.58601068e-01 2.27570272e-02 3.47746287e+02] [-3.30396561e-02 -1.62211953e-03 -9.99452725e-01 7.41275978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.13, Y:347.74, Z:74.13 [[ 8.04954334e-01 -5.92814207e-01 -2.48965201e-02 5.01127395e+02] [-5.92471465e-01 -8.05337821e-01 2.02127984e-02 3.47744274e+02] [-3.20325433e-02 -1.51990190e-03 -9.99485671e-01 7.41269516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.13, Y:347.74, Z:74.13 [[ 8.46976089e-01 -5.30958885e-01 -2.67238923e-02 5.01128596e+02] [-5.30642001e-01 -8.47396427e-01 1.83946344e-02 3.47741961e+02] [-3.24125254e-02 -1.39899583e-03 -9.99473597e-01 7.41262379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.13, Y:347.74, Z:74.13 [[ 8.83102947e-01 -4.68315685e-01 -2.84535328e-02 5.01129753e+02] [-4.68028852e-01 -8.83560408e-01 1.64316827e-02 3.47741145e+02] [-3.28356298e-02 -1.19379308e-03 -9.99460052e-01 7.41261427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.3792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:501.13, Y:347.74, Z:74.13 [[ 9.15861991e-01 -4.00347830e-01 -3.03055928e-02 5.01130710e+02] [-4.00089532e-01 -9.16362617e-01 1.44194729e-02 3.47736698e+02] [-3.35437170e-02 -1.08129676e-03 -9.99436666e-01 7.41255570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.14, Y:347.75, Z:74.11 [[ 9.42306800e-01 -3.31327428e-01 -4.77496618e-02 5.01136977e+02] [-3.33352823e-01 -9.41798117e-01 -4.34994607e-02 3.47752774e+02] [-3.05579771e-02 5.69073222e-02 -9.97911703e-01 7.41149978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:501.17, Y:347.86, Z:73.98 [[ 9.63277544e-01 -2.32207302e-01 -1.34818927e-01 5.01171306e+02] [-2.64555235e-01 -9.06620618e-01 -3.28708964e-01 3.47863230e+02] [-4.59009972e-02 3.52305017e-01 -9.34758939e-01 7.39776098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4692541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:501.18, Y:347.92, Z:73.84 [[ 9.76302229e-01 -1.22831853e-01 -1.78174899e-01 5.01182405e+02] [-2.01458416e-01 -8.16572655e-01 -5.40946952e-01 3.47920199e+02] [-7.90472336e-02 5.64022548e-01 -8.21967214e-01 7.38420452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.18, Y:347.87, Z:73.92 [[ 9.84198746e-01 -7.22411405e-02 -1.61660282e-01 5.01183388e+02] [-1.31938998e-01 -9.08085839e-01 -3.97457180e-01 3.47873761e+02] [-1.18088653e-01 4.12506153e-01 -9.03268367e-01 7.39246029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.19, Y:347.70, Z:74.12 [[ 9.90287144e-01 -5.08581223e-02 -1.29401795e-01 5.01185952e+02] [-4.96575268e-02 -9.98688208e-01 1.24897548e-02 3.47703344e+02] [-1.29867252e-01 -5.94267057e-03 -9.91513581e-01 7.41220405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.18, Y:347.72, Z:74.11 [[ 9.91712068e-01 3.34870678e-02 -1.24039473e-01 5.01181759e+02] [ 2.60671079e-02 -9.97799347e-01 -6.09669540e-02 3.47721732e+02] [-1.25808109e-01 5.72283137e-02 -9.90402565e-01 7.41078856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.5892541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:501.16, Y:347.83, Z:73.96 [[ 9.83539502e-01 1.48170476e-01 -1.03419334e-01 5.01157507e+02] [ 1.01864723e-01 -9.27397256e-01 -3.59941534e-01 3.47834035e+02] [-1.49243514e-01 3.43481935e-01 -9.27225180e-01 7.39551741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.20, Y:347.69, Z:74.11 [[ 9.70281354e-01 1.86435690e-01 -1.54258962e-01 5.01197398e+02] [ 1.85480360e-01 -9.82430092e-01 -2.06918116e-02 3.47693166e+02] [-1.55406338e-01 -8.53512886e-03 -9.87813759e-01 7.41127659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.20, Y:347.69, Z:74.11 [[ 9.51317693e-01 2.68857263e-01 -1.50699769e-01 5.01196418e+02] [ 2.67057583e-01 -9.63134332e-01 -3.24423646e-02 3.47689323e+02] [-1.53866486e-01 -9.38252045e-03 -9.88047101e-01 7.41085908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.6792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.19, Y:347.69, Z:74.10 [[ 9.26263841e-01 3.47089859e-01 -1.46846612e-01 5.01194760e+02] [ 3.44432317e-01 -9.37780270e-01 -4.39834518e-02 3.47686361e+02] [-1.52976065e-01 -9.83843782e-03 -9.88180919e-01 7.41049994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.19, Y:347.68, Z:74.10 [[ 8.94694005e-01 4.23707311e-01 -1.41402803e-01 5.01194369e+02] [ 4.20279823e-01 -9.05739286e-01 -5.47833474e-02 3.47684302e+02] [-1.51286179e-01 -1.04144128e-02 -9.88435143e-01 7.41007697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.19, Y:347.68, Z:74.10 [[ 8.54977656e-01 5.00822538e-01 -1.34870284e-01 5.01193087e+02] [ 4.96745260e-01 -8.65472551e-01 -6.48182909e-02 3.47681313e+02] [-1.49188990e-01 -1.15779840e-02 -9.88740914e-01 7.40966927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.19, Y:347.68, Z:74.09 [[ 8.11024040e-01 5.70662750e-01 -1.28779008e-01 5.01192747e+02] [ 5.65847978e-01 -8.21095663e-01 -7.49531769e-02 3.47678650e+02] [-1.48512871e-01 -1.20805128e-02 -9.88836684e-01 7.40930503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.19, Y:347.68, Z:74.09 [[ 7.61160409e-01 6.37188533e-01 -1.20936370e-01 5.01192184e+02] [ 6.31792005e-01 -7.70603609e-01 -8.37194153e-02 3.47677068e+02] [-1.46539055e-01 -1.26827275e-02 -9.89123579e-01 7.40886367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.19, Y:347.67, Z:74.09 [[ 7.03411370e-01 7.01720766e-01 -1.13138902e-01 5.01191480e+02] [ 6.95759386e-01 -7.12318684e-01 -9.23090939e-02 3.47673803e+02] [-1.45366162e-01 -1.37861868e-02 -9.89281871e-01 7.40852613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.18, Y:347.68, Z:74.07 [[ 6.45470961e-01 7.60961529e-01 -6.56108964e-02 5.01178751e+02] [ 7.49936230e-01 -6.47708848e-01 -1.34420602e-01 3.47683553e+02] [-1.44785665e-01 3.75606066e-02 -9.88749873e-01 7.40728210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.8892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:501.08, Y:347.75, Z:73.94 [[ 5.81891586e-01 7.95758473e-01 1.67841100e-01 5.01081270e+02] [ 7.94141496e-01 -5.11482112e-01 -3.28215378e-01 3.47746075e+02] [-1.75332447e-01 3.24275349e-01 -9.29571961e-01 7.39394031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.06, Y:347.75, Z:73.88 [[ 5.18627780e-01 8.19214158e-01 2.44772118e-01 5.01059071e+02] [ 8.28522753e-01 -4.10839134e-01 -3.80475038e-01 3.47751659e+02] [-2.11128572e-01 4.00124193e-01 -8.91810157e-01 7.38797508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9492541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:501.72, Y:347.16, Z:73.10 [[ 5.65104781e-01 -8.14137098e-01 1.33556626e-01 5.01717604e+02] [ 8.01836372e-01 5.80087311e-01 1.43377629e-01 3.47162635e+02] [-1.94203551e-01 2.60671771e-02 9.80614850e-01 7.31003613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 936.9792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.75, Y:347.18, Z:73.11 [[ 5.65582193e-01 -8.18115971e-01 1.03937682e-01 5.01748154e+02] [ 8.01777129e-01 5.74985727e-01 1.62925902e-01 3.47178118e+02] [-1.93054966e-01 -8.81313297e-03 9.81148362e-01 7.31070752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.78, Y:347.20, Z:73.12 [[ 5.68612384e-01 -8.19136677e-01 7.54656321e-02 5.01782159e+02] [ 8.01506847e-01 5.72336302e-01 1.73256838e-01 3.47196086e+02] [-1.85112752e-01 -3.80297632e-02 9.81981164e-01 7.31237402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.76, Y:347.23, Z:73.08 [[ 5.59734069e-01 -8.17317022e-01 1.36713779e-01 5.01760317e+02] [ 8.05286254e-01 5.75401749e-01 1.42922626e-01 3.47230470e+02] [-1.95478442e-01 3.00950636e-02 9.80246125e-01 7.30819309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:501.82, Y:347.24, Z:73.12 [[ 5.62547390e-01 -8.23772984e-01 7.02744912e-02 5.01817122e+02] [ 8.06005813e-01 5.65365530e-01 1.75261081e-01 3.47240100e+02] [-1.84106119e-01 -4.19510153e-02 9.82010718e-01 7.31156113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.0992541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:501.82, Y:347.27, Z:73.10 [[ 5.59505492e-01 -8.22547455e-01 1.01829705e-01 5.01816555e+02] [ 8.08053438e-01 5.68684071e-01 1.53779285e-01 3.47270781e+02] [-1.84399691e-01 -3.75651124e-03 9.82844160e-01 7.30964110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.1292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:501.83, Y:347.29, Z:73.09 [[ 5.56052829e-01 -8.24861641e-01 1.02022182e-01 5.01832896e+02] [ 8.10332851e-01 5.65326420e-01 1.54164551e-01 3.47292884e+02] [-1.84840260e-01 -3.05170938e-03 9.82763840e-01 7.30912900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.1592541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:501.85, Y:347.31, Z:73.09 [[ 5.48788263e-01 -8.29774610e-01 1.01516199e-01 5.01849872e+02] [ 8.15455244e-01 5.58096749e-01 1.53495161e-01 3.47313592e+02] [-1.84022248e-01 -1.45442626e-03 9.82921002e-01 7.30864565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.85, Y:347.34, Z:73.06 [[ 5.40558832e-01 -8.31924347e-01 1.25291777e-01 5.01848707e+02] [ 8.19223564e-01 5.54397531e-01 1.46683776e-01 3.47338542e+02] [-1.91491257e-01 2.33507653e-02 9.81216511e-01 7.30633880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.90, Y:347.35, Z:73.09 [[ 5.36816363e-01 -8.39951416e-01 7.94343177e-02 5.01895760e+02] [ 8.23338397e-01 5.42093575e-01 1.68072724e-01 3.47351474e+02] [-1.84233756e-01 -2.48228647e-02 9.82568954e-01 7.30856418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:501.90, Y:347.38, Z:73.07 [[ 5.32929648e-01 -8.40107181e-01 1.01024328e-01 5.01899934e+02] [ 8.26089402e-01 5.42416738e-01 1.52841035e-01 3.47378425e+02] [-1.83200137e-01 2.00160780e-03 9.83073600e-01 7.30705083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.92, Y:347.40, Z:73.07 [[ 5.28940773e-01 -8.42594754e-01 1.01270626e-01 5.01916285e+02] [ 8.28542867e-01 5.38540645e-01 1.53266733e-01 3.47399599e+02] [-1.83680094e-01 2.83803066e-03 9.82981978e-01 7.30654238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.94, Y:347.42, Z:73.07 [[ 5.19406616e-01 -8.49855478e-01 8.92324777e-02 5.01936714e+02] [ 8.34891250e-01 5.26953895e-01 1.58984888e-01 3.47417689e+02] [-1.82135579e-01 -8.07838779e-03 9.83240240e-01 7.30682679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:501.95, Y:347.44, Z:73.06 [[ 5.15587101e-01 -8.50881000e-01 1.00853683e-01 5.01947198e+02] [ 8.37343928e-01 5.25319058e-01 1.51311052e-01 3.47443724e+02] [-1.81728061e-01 6.43519268e-03 9.83327769e-01 7.30578127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:501.96, Y:347.47, Z:73.05 [[ 5.09851760e-01 -8.53229611e-01 1.09774377e-01 5.01961676e+02] [ 8.40593312e-01 5.21252668e-01 1.47304242e-01 3.47468213e+02] [-1.82904528e-01 1.71722801e-02 9.82980695e-01 7.30456830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:501.98, Y:347.49, Z:73.04 [[ 5.06669219e-01 -8.56159961e-01 1.01372695e-01 5.01982242e+02] [ 8.42305512e-01 5.16655419e-01 1.53585812e-01 3.47488629e+02] [-1.83868776e-01 7.56957659e-03 9.82921653e-01 7.30443933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.01, Y:347.51, Z:73.06 [[ 5.04777492e-01 -8.60633328e-01 6.71562228e-02 5.02014403e+02] [ 8.44830853e-01 5.08494624e-01 1.66415285e-01 3.47506430e+02] [-1.77371119e-01 -2.72670411e-02 9.83766230e-01 7.30643961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.02, Y:347.54, Z:73.05 [[ 5.03343847e-01 -8.59618721e-01 8.77532132e-02 5.02019235e+02] [ 8.46004969e-01 5.10930085e-01 1.52400925e-01 3.47535869e+02] [-1.75842445e-01 -2.47041360e-03 9.84415223e-01 7.30514970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.4892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.01, Y:347.57, Z:73.01 [[ 5.00812358e-01 -8.54030437e-01 1.40779948e-01 5.02005263e+02] [ 8.45764297e-01 5.17427256e-01 1.30199035e-01 3.47569005e+02] [-1.84037321e-01 5.38613679e-02 9.81442417e-01 7.30108051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:502.04, Y:347.58, Z:73.02 [[ 4.99431826e-01 -8.60327774e-01 1.01999869e-01 5.02038775e+02] [ 8.46333104e-01 5.09661593e-01 1.54807423e-01 3.47583813e+02] [-1.85170541e-01 9.01011194e-03 9.82665095e-01 7.30220306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.05, Y:347.61, Z:73.02 [[ 4.99614739e-01 -8.60156682e-01 1.02545573e-01 5.02052305e+02] [ 8.45988597e-01 5.09951424e-01 1.55733228e-01 3.47606443e+02] [-1.86248238e-01 8.94576952e-03 9.82461993e-01 7.30167014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.07, Y:347.63, Z:73.01 [[ 5.00004336e-01 -8.59924526e-01 1.02593729e-01 5.02066128e+02] [ 8.45728539e-01 5.10344702e-01 1.55857382e-01 3.47630661e+02] [-1.86383752e-01 8.83707806e-03 9.82437277e-01 7.30111806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6092541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:502.08, Y:347.66, Z:73.01 [[ 5.02501230e-01 -8.58478128e-01 1.02507645e-01 5.02076589e+02] [ 8.44257811e-01 5.12783964e-01 1.55824754e-01 3.47656160e+02] [-1.86336420e-01 8.24074940e-03 9.82451438e-01 7.30052186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:502.09, Y:347.68, Z:73.00 [[ 5.03818260e-01 -8.58441304e-01 9.61545023e-02 5.02091985e+02] [ 8.43608393e-01 5.12910712e-01 1.58894561e-01 3.47679938e+02] [-1.85720328e-01 1.06276379e-03 9.82602071e-01 7.30049074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.10, Y:347.71, Z:73.00 [[ 5.09490653e-01 -8.54725311e-01 9.93172601e-02 5.02103477e+02] [ 8.40171217e-01 5.19069411e-01 1.57096379e-01 3.47707679e+02] [-1.85826803e-01 3.40436648e-03 9.82576618e-01 7.29987301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.11, Y:347.73, Z:72.99 [[ 5.10995511e-01 -8.52330020e-01 1.11432151e-01 5.02110119e+02] [ 8.38661085e-01 5.22778454e-01 1.52807962e-01 3.47734671e+02] [-1.88497141e-01 1.53696261e-02 9.81953462e-01 7.29856713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.7292541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:502.13, Y:347.76, Z:72.98 [[ 5.13562469e-01 -8.51728854e-01 1.03978597e-01 5.02126304e+02] [ 8.37073300e-01 5.23946333e-01 1.57443739e-01 3.47756877e+02] [-1.88578580e-01 6.18051203e-03 9.82038655e-01 7.29833892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.14, Y:347.78, Z:72.98 [[ 5.15978183e-01 -8.50305705e-01 1.03666403e-01 5.02139440e+02] [ 8.35517520e-01 5.26264351e-01 1.57975653e-01 3.47781674e+02] [-1.88883532e-01 5.10310546e-03 9.81986237e-01 7.29779515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.14, Y:347.81, Z:72.96 [[ 5.19378301e-01 -8.46074211e-01 1.20019209e-01 5.02139455e+02] [ 8.32589600e-01 5.32650321e-01 1.51915088e-01 3.47811422e+02] [-1.92459709e-01 2.10253442e-02 9.81079607e-01 7.29603310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.17, Y:347.83, Z:72.97 [[ 5.26506778e-01 -8.45552773e-01 8.84936212e-02 5.02165889e+02] [ 8.28947781e-01 5.33687177e-01 1.67402431e-01 3.47831312e+02] [-1.88775501e-01 -1.47819238e-02 9.81909011e-01 7.29723771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.17, Y:347.86, Z:72.96 [[ 5.28856962e-01 -8.42394149e-01 1.03355756e-01 5.02170300e+02] [ 8.27496590e-01 5.38857743e-01 1.57739423e-01 3.47859736e+02] [-1.88572816e-01 2.10494403e-03 9.82056955e-01 7.29606557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.8792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:502.18, Y:347.88, Z:72.95 [[ 5.30940926e-01 -8.41096855e-01 1.03236688e-01 5.02182631e+02] [ 8.26190937e-01 5.40882204e-01 1.57654610e-01 3.47884280e+02] [-1.88441684e-01 1.58793123e-03 9.82083097e-01 7.29549445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.20, Y:347.91, Z:72.95 [[ 5.33059807e-01 -8.39747000e-01 1.03306429e-01 5.02195281e+02] [ 8.24775925e-01 5.42976855e-01 1.57863260e-01 3.47908114e+02] [-1.88658199e-01 1.05409653e-03 9.82042246e-01 7.29499130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:502.19, Y:347.94, Z:72.92 [[ 5.35122988e-01 -8.33864363e-01 1.35327795e-01 5.02189944e+02] [ 8.21886314e-01 5.50937733e-01 1.44811949e-01 3.47940605e+02] [-1.95310712e-01 3.37318597e-02 9.80161154e-01 7.29218632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9692541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:502.22, Y:347.96, Z:72.93 [[ 5.35571247e-01 -8.38025077e-01 1.04294824e-01 5.02216423e+02] [ 8.21904402e-01 5.45628425e-01 1.63593325e-01 3.47957385e+02] [-1.94001529e-01 -1.89550572e-03 9.80999395e-01 7.29285749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 937.9992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:502.22, Y:347.98, Z:72.91 [[ 5.35195639e-01 -8.36510540e-01 1.17540395e-01 5.02219423e+02] [ 8.21432573e-01 5.47825889e-01 1.58541233e-01 3.47984018e+02] [-1.97013084e-01 1.17009326e-02 9.80331032e-01 7.29144562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:502.27, Y:348.00, Z:72.95 [[ 5.43760242e-01 -8.37083914e-01 6.01275382e-02 5.02265476e+02] [ 8.18559253e-01 5.44804700e-01 1.82067536e-01 3.48000570e+02] [-1.85163571e-01 -4.97831347e-02 9.81445919e-01 7.29457436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:502.26, Y:348.03, Z:72.92 [[ 5.43752045e-01 -8.33085102e-01 1.01503330e-01 5.02259514e+02] [ 8.18482389e-01 5.53143147e-01 1.55303697e-01 3.48034252e+02] [-1.85527067e-01 -1.36801498e-03 9.82638202e-01 7.29243301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.26, Y:348.06, Z:72.90 [[ 5.41681430e-01 -8.30564300e-01 1.29399270e-01 5.02256115e+02] [ 8.18357751e-01 5.56238209e-01 1.44532512e-01 3.48064322e+02] [-1.92020363e-01 2.76043182e-02 9.81002641e-01 7.28994577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.29, Y:348.08, Z:72.91 [[ 5.45422047e-01 -8.32517443e-01 9.71056044e-02 5.02286240e+02] [ 8.16526858e-01 5.53918593e-01 1.62659409e-01 3.48082135e+02] [-1.89205395e-01 -9.42869362e-03 9.81892264e-01 7.29069985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1492541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:502.31, Y:348.10, Z:72.91 [[ 5.49150926e-01 -8.31745416e-01 8.14421510e-02 5.02309308e+02] [ 8.15372466e-01 5.54603111e-01 1.66081699e-01 3.48103839e+02] [-1.83305762e-01 -2.47982312e-02 9.82743123e-01 7.29141328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.1792541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:502.31, Y:348.13, Z:72.89 [[ 5.48142810e-01 -8.28889733e-01 1.11719603e-01 5.02305646e+02] [ 8.15317023e-01 5.59338788e-01 1.49660524e-01 3.48134255e+02] [-1.86541180e-01 9.05155403e-03 9.82405445e-01 7.28924568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.33, Y:348.15, Z:72.90 [[ 5.52173441e-01 -8.28947838e-01 8.91626263e-02 5.02333207e+02] [ 8.13587411e-01 5.59108699e-01 1.59602595e-01 3.48153067e+02] [-1.82153826e-01 -1.55867238e-02 9.83146499e-01 7.29020233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.34, Y:348.18, Z:72.89 [[ 5.52624946e-01 -8.26854796e-01 1.04483561e-01 5.02337386e+02] [ 8.13345633e-01 5.62408943e-01 1.48879356e-01 3.48182367e+02] [-1.81864099e-01 2.70680167e-03 9.83319949e-01 7.28864747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.35, Y:348.20, Z:72.88 [[ 5.52450439e-01 -8.27704607e-01 9.85068306e-02 5.02354437e+02] [ 8.13746740e-01 5.61153229e-01 1.51404415e-01 3.48204149e+02] [-1.80595558e-01 -3.48382326e-03 9.83551273e-01 7.28832437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.2992541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:502.37, Y:348.23, Z:72.88 [[ 5.53074077e-01 -8.27922552e-01 9.30231821e-02 5.02372662e+02] [ 8.13664466e-01 5.60769039e-01 1.53258676e-01 3.48225914e+02] [-1.79050835e-01 -9.07374321e-03 9.83797980e-01 7.28816800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3292541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:502.39, Y:348.25, Z:72.88 [[ 5.51945152e-01 -8.28109313e-01 9.79362834e-02 5.02385530e+02] [ 8.14353682e-01 5.60557358e-01 1.50344705e-01 3.48250096e+02] [-1.79400755e-01 -3.22725813e-03 9.83770783e-01 7.28756632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3592541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:502.40, Y:348.27, Z:72.87 [[ 5.48535036e-01 -8.30314327e-01 9.84247539e-02 5.02400307e+02] [ 8.16436854e-01 5.57289401e-01 1.51193211e-01 3.48272938e+02] [-1.80388961e-01 -2.57717694e-03 9.83591979e-01 7.28707977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.42, Y:348.29, Z:72.87 [[ 5.46939221e-01 -8.31348856e-01 9.85726514e-02 5.02415595e+02] [ 8.17427429e-01 5.55746169e-01 1.51520936e-01 3.48294617e+02] [-1.80748130e-01 -2.29675395e-03 9.83526735e-01 7.28675762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.43, Y:348.32, Z:72.86 [[ 5.44798193e-01 -8.32699731e-01 9.90256917e-02 5.02430955e+02] [ 8.18658760e-01 5.53721559e-01 1.52283518e-01 3.48317068e+02] [-1.81639105e-01 -1.89553536e-03 9.83363434e-01 7.28625511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.45, Y:348.34, Z:72.86 [[ 5.40528512e-01 -8.35455036e-01 9.92159816e-02 5.02446963e+02] [ 8.21386419e-01 5.49557838e-01 1.52677874e-01 3.48338313e+02] [-1.82080419e-01 -1.03208409e-03 9.83283101e-01 7.28582903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.4792541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:502.46, Y:348.36, Z:72.85 [[ 5.38285737e-01 -8.36892866e-01 9.92914720e-02 5.02462808e+02] [ 8.22819284e-01 5.47366427e-01 1.52834619e-01 3.48361333e+02] [-1.82255021e-01 -5.69757570e-04 9.83251129e-01 7.28526577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.48, Y:348.38, Z:72.85 [[ 5.36254276e-01 -8.38211800e-01 9.91581025e-02 5.02479196e+02] [ 8.24180601e-01 5.45344796e-01 1.52726520e-01 3.48384143e+02] [-1.82092526e-01 -1.76064735e-04 9.83281384e-01 7.28482691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.50, Y:348.41, Z:72.84 [[ 5.32948901e-01 -8.40343531e-01 9.89354253e-02 5.02495164e+02] [ 8.26394001e-01 5.42053968e-01 1.52480987e-01 3.48406234e+02] [-1.81764751e-01 4.95067461e-04 9.83341919e-01 7.28431654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.50, Y:348.43, Z:72.83 [[ 5.29084444e-01 -8.41514773e-01 1.09190371e-01 5.02502299e+02] [ 8.28425157e-01 5.40101343e-01 1.48331717e-01 3.48431050e+02] [-1.83797197e-01 1.19760463e-02 9.82891227e-01 7.28290800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.5992541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:502.53, Y:348.45, Z:72.83 [[ 5.29156817e-01 -8.43926265e-01 8.82129400e-02 5.02531481e+02] [ 8.29026697e-01 5.36354437e-01 1.58236068e-01 3.48449256e+02] [-1.80852976e-01 -1.06008117e-02 9.83453011e-01 7.28338640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.53, Y:348.48, Z:72.82 [[ 5.25679374e-01 -8.43292969e-01 1.11884605e-01 5.02531623e+02] [ 8.30330541e-01 5.37242838e-01 1.48058524e-01 3.48475590e+02] [-1.84965915e-01 1.50698925e-02 9.82629385e-01 7.28168964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.6592541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:502.55, Y:348.50, Z:72.81 [[ 5.25001683e-01 -8.45226262e-01 9.98288451e-02 5.02553289e+02] [ 8.30856216e-01 5.34406612e-01 1.55201548e-01 3.48495191e+02] [-1.84529619e-01 1.46234256e-03 9.82825865e-01 7.28141403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.57, Y:348.52, Z:72.81 [[ 5.24435699e-01 -8.45229197e-01 1.02736567e-01 5.02567969e+02] [ 8.30895189e-01 5.34388646e-01 1.55054699e-01 3.48518828e+02] [-1.85958014e-01 4.04709997e-03 9.82549357e-01 7.28082139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.58, Y:348.54, Z:72.80 [[ 5.24054852e-01 -8.45374152e-01 1.03484560e-01 5.02583463e+02] [ 8.30948015e-01 5.34156002e-01 1.55572370e-01 3.48540283e+02] [-1.86793759e-01 4.46183443e-03 9.82389019e-01 7.28016270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.60, Y:348.56, Z:72.80 [[ 5.24450835e-01 -8.45446015e-01 1.00858106e-01 5.02600511e+02] [ 8.30647814e-01 5.34059589e-01 1.57494651e-01 3.48562355e+02] [-1.87017463e-01 1.17936401e-03 9.82355881e-01 7.27970211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.62, Y:348.58, Z:72.79 [[ 5.25707351e-01 -8.45109134e-01 9.70686990e-02 5.02618602e+02] [ 8.30091528e-01 5.34586379e-01 1.58636245e-01 3.48584988e+02] [-1.85956544e-01 -2.82033526e-03 9.82553922e-01 7.27937677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8092541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:502.63, Y:348.61, Z:72.79 [[ 5.26830875e-01 -8.43915711e-01 1.01269452e-01 5.02631492e+02] [ 8.29183708e-01 5.36474316e-01 1.57002190e-01 3.48608505e+02] [-1.86825075e-01 1.25737894e-03 9.82392391e-01 7.27851374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8392541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:502.66, Y:348.63, Z:72.80 [[ 5.31078554e-01 -8.43651433e-01 7.87897847e-02 5.02662470e+02] [ 8.27786231e-01 5.36438294e-01 1.64328671e-01 3.48628439e+02] [-1.80901977e-01 -2.20503343e-02 9.83253913e-01 7.27962721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:502.66, Y:348.66, Z:72.77 [[ 5.29969131e-01 -8.39771917e-01 1.17965453e-01 5.02655188e+02] [ 8.27285206e-01 5.42557085e-01 1.45708605e-01 3.48659377e+02] [-1.86364986e-01 2.03700113e-02 9.82269390e-01 7.27690937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.8992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:502.69, Y:348.67, Z:72.79 [[ 5.35807405e-01 -8.40520412e-01 8.02238297e-02 5.02693787e+02] [ 8.24764144e-01 5.41357904e-01 1.63388272e-01 3.48674452e+02] [-1.80760982e-01 -2.13789077e-02 9.83294671e-01 7.27870036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:502.70, Y:348.70, Z:72.77 [[ 5.37801802e-01 -8.37323546e-01 9.82776770e-02 5.02699592e+02] [ 8.23391971e-01 5.46706959e-01 1.52109048e-01 3.48701458e+02] [-1.81093577e-01 -8.83469876e-04 9.83465473e-01 7.27746754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.71, Y:348.72, Z:72.77 [[ 5.43461927e-01 -8.33706226e-01 9.78931181e-02 5.02714508e+02] [ 8.19806980e-01 5.52204069e-01 1.51615246e-01 3.48723692e+02] [-1.80459553e-01 -2.14365241e-03 9.83580070e-01 7.27703731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 938.9892541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:502.73, Y:348.75, Z:72.76 [[ 5.45668628e-01 -8.32262541e-01 9.79020463e-02 5.02728052e+02] [ 8.18330194e-01 5.54375383e-01 1.51669469e-01 3.48746794e+02] [-1.80503302e-01 -2.64507059e-03 9.83570822e-01 7.27617314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0192541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:502.73, Y:348.77, Z:72.74 [[ 5.45223324e-01 -8.29207983e-01 1.23067658e-01 5.02726765e+02] [ 8.16925589e-01 5.58503824e-01 1.43896004e-01 3.48774326e+02] [-1.88053473e-01 2.20816612e-02 9.81910531e-01 7.27408309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.77, Y:348.79, Z:72.76 [[ 5.51851966e-01 -8.30618354e-01 7.43811630e-02 5.02771429e+02] [ 8.14425022e-01 5.55972185e-01 1.66152979e-01 3.48788218e+02] [-1.79363572e-01 -3.11139678e-02 9.83290715e-01 7.27625946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.0792541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:502.78, Y:348.82, Z:72.75 [[ 5.56622281e-01 -8.25017545e-01 9.75586332e-02 5.02775123e+02] [ 8.11041472e-01 5.65084166e-01 1.51299757e-01 3.48815938e+02] [-1.79953793e-01 -5.09271842e-03 9.83661881e-01 7.27483403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1092541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:502.78, Y:348.84, Z:72.73 [[ 5.56011876e-01 -8.22631218e-01 1.18864091e-01 5.02775665e+02] [ 8.10360122e-01 5.68319718e-01 1.42580406e-01 3.48841591e+02] [-1.84843900e-01 1.70463203e-02 9.82620047e-01 7.27282659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1392541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:502.82, Y:348.86, Z:72.74 [[ 5.58777513e-01 -8.25700079e-01 7.73761699e-02 5.02816638e+02] [ 8.09636817e-01 5.63342945e-01 1.64720831e-01 3.48857150e+02] [-1.79599323e-01 -2.93957005e-02 9.83300552e-01 7.27443237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:502.82, Y:348.88, Z:72.73 [[ 5.59398735e-01 -8.23088092e-01 9.79747326e-02 5.02822320e+02] [ 8.08941386e-01 5.67884050e-01 1.52057686e-01 3.48883431e+02] [-1.80795158e-01 -5.80506112e-03 9.83503641e-01 7.27313443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.82, Y:348.91, Z:72.71 [[ 5.56007582e-01 -8.22444735e-01 1.20167495e-01 5.02823220e+02] [ 8.09785849e-01 5.68595679e-01 1.44726750e-01 3.48909085e+02] [-1.87356472e-01 1.68407668e-02 9.82147617e-01 7.27124792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.2292541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:502.87, Y:348.92, Z:72.73 [[ 5.58229862e-01 -8.26096803e-01 7.70940554e-02 5.02865777e+02] [ 8.09981937e-01 5.62744994e-01 1.65067667e-01 3.48922496e+02] [-1.79746166e-01 -2.97009086e-02 9.83264548e-01 7.27309820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.87, Y:348.95, Z:72.72 [[ 5.57460551e-01 -8.24457663e-01 9.75053683e-02 5.02870928e+02] [ 8.10441161e-01 5.65897687e-01 1.51475851e-01 3.48949884e+02] [-1.80063488e-01 -5.41944722e-03 9.83640061e-01 7.27173580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.2892541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:502.89, Y:348.97, Z:72.71 [[ 5.56505415e-01 -8.25134867e-01 9.72325816e-02 5.02885491e+02] [ 8.11189613e-01 5.64911474e-01 1.51150386e-01 3.48971356e+02] [-1.79647255e-01 -5.24194812e-03 9.83717127e-01 7.27087352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.90, Y:348.99, Z:72.71 [[ 5.56223959e-01 -8.25388003e-01 9.66930850e-02 5.02903302e+02] [ 8.11592942e-01 5.64542311e-01 1.50362482e-01 3.48993308e+02] [-1.78694726e-01 -5.15978971e-03 9.83891036e-01 7.27064927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3492541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:502.92, Y:349.02, Z:72.70 [[ 5.55594541e-01 -8.25827206e-01 9.65615433e-02 5.02917701e+02] [ 8.12059115e-01 5.63900483e-01 1.50253915e-01 3.49015071e+02] [-1.78534872e-01 -5.06657340e-03 9.83920540e-01 7.26984611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.3792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:502.93, Y:349.04, Z:72.69 [[ 5.55356795e-01 -8.26009548e-01 9.63693791e-02 5.02933421e+02] [ 8.12288102e-01 5.63633651e-01 1.50017156e-01 3.49037543e+02] [-1.78232628e-01 -5.03334705e-03 9.83975506e-01 7.26942281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4092541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:502.95, Y:349.06, Z:72.69 [[ 5.54825816e-01 -8.26402042e-01 9.60623699e-02 5.02950295e+02] [ 8.12757404e-01 5.63058799e-01 1.49633524e-01 3.49059412e+02] [-1.77746213e-01 -4.94513980e-03 9.84063936e-01 7.26872901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.94, Y:349.09, Z:72.66 [[ 5.50798540e-01 -8.24045895e-01 1.32549355e-01 5.02940517e+02] [ 8.14133397e-01 5.65434085e-01 1.32178319e-01 3.49086986e+02] [-1.83868924e-01 3.51092319e-02 9.82323552e-01 7.26599163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4692541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:503.00, Y:349.09, Z:72.69 [[ 5.53988940e-01 -8.30411448e-01 5.92712463e-02 5.03004089e+02] [ 8.13799534e-01 5.55169463e-01 1.71805665e-01 3.49094359e+02] [-1.75574977e-01 -4.69435259e-02 9.83346192e-01 7.26942801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:502.98, Y:349.13, Z:72.65 [[ 5.49298594e-01 -8.26163835e-01 1.25396857e-01 5.02980588e+02] [ 8.14863246e-01 5.62828590e-01 1.38642953e-01 3.49129302e+02] [-1.85118730e-01 2.60249105e-02 9.82371498e-01 7.26529266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.01, Y:349.15, Z:72.66 [[ 5.49300301e-01 -8.30093029e-01 9.59934502e-02 5.03013496e+02] [ 8.15307215e-01 5.57574317e-01 1.56157057e-01 3.49145129e+02] [-1.83148366e-01 -7.51296559e-03 9.83056576e-01 7.26598218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.03, Y:349.17, Z:72.66 [[ 5.49002748e-01 -8.30343126e-01 9.55315434e-02 5.03030148e+02] [ 8.15501134e-01 5.57194849e-01 1.56498565e-01 3.49167415e+02] [-1.83177192e-01 -8.01206043e-03 9.83047264e-01 7.26552110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.07, Y:349.19, Z:72.67 [[ 5.52795054e-01 -8.30390271e-01 6.97827106e-02 5.03067085e+02] [ 8.14578506e-01 5.56125240e-01 1.64883522e-01 3.49185154e+02] [-1.75725599e-01 -3.43032991e-02 9.83841348e-01 7.26708776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.07, Y:349.21, Z:72.65 [[ 5.52416439e-01 -8.28066893e-01 9.56101404e-02 5.03070561e+02] [ 8.14548029e-01 5.60611424e-01 1.49085005e-01 3.49213668e+02] [-1.77052494e-01 -4.47795627e-03 9.84191222e-01 7.26549289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.07, Y:349.24, Z:72.63 [[ 5.47058546e-01 -8.28174554e-01 1.21876395e-01 5.03069758e+02] [ 8.16287645e-01 5.60036157e-01 1.41541458e-01 3.49238810e+02] [-1.85476221e-01 2.20547311e-02 9.82401222e-01 7.26300569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.10, Y:349.26, Z:72.63 [[ 5.47302519e-01 -8.31086849e-01 9.87653843e-02 5.03099667e+02] [ 8.16429696e-01 5.56124860e-01 1.55459615e-01 3.49256063e+02] [-1.84126328e-01 -4.44844656e-03 9.82892521e-01 7.26346410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.14, Y:349.27, Z:72.65 [[ 5.50910076e-01 -8.31587999e-01 7.04236393e-02 5.03137581e+02] [ 8.15911686e-01 5.54416915e-01 1.64042696e-01 3.49273935e+02] [-1.75459994e-01 -3.29133037e-02 9.83936230e-01 7.26506459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7392541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:503.12, Y:349.31, Z:72.62 [[ 5.46715154e-01 -8.28881632e-01 1.18565511e-01 5.03123665e+02] [ 8.17387742e-01 5.59035336e-01 1.39128622e-01 3.49305880e+02] [-1.81603469e-01 2.08502689e-02 9.83150775e-01 7.26154855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.17, Y:349.32, Z:72.64 [[ 5.49502506e-01 -8.32329520e-01 7.26262114e-02 5.03169061e+02] [ 8.16885703e-01 5.53474341e-01 1.62369646e-01 3.49319384e+02] [-1.75341794e-01 -2.98952133e-02 9.84053622e-01 7.26391739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.7992541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:503.15, Y:349.35, Z:72.60 [[ 5.43983287e-01 -8.30275781e-01 1.21343774e-01 5.03153377e+02] [ 8.18653055e-01 5.56878084e-01 1.40335227e-01 3.49350407e+02] [-1.84090628e-01 2.29984329e-02 9.82640175e-01 7.26037262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.20, Y:349.36, Z:72.63 [[ 5.47404084e-01 -8.33951432e-01 6.98124427e-02 5.03204410e+02] [ 8.18389330e-01 5.50884598e-01 1.63600320e-01 3.49363150e+02] [-1.74893320e-01 -3.24217250e-02 9.84053433e-01 7.26299541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.20, Y:349.39, Z:72.60 [[ 5.44231776e-01 -8.32219432e-01 1.05936732e-01 5.03198595e+02] [ 8.19551378e-01 5.54389037e-01 1.44873514e-01 3.49392777e+02] [-1.79296717e-01 7.97582456e-03 9.83762712e-01 7.26044637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.23, Y:349.41, Z:72.61 [[ 5.45498469e-01 -8.33870445e-01 8.42110553e-02 5.03231213e+02] [ 8.19514618e-01 5.51743913e-01 1.54836833e-01 3.49411090e+02] [-1.75576796e-01 -1.54510647e-02 9.84344479e-01 7.26137395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.24, Y:349.44, Z:72.60 [[ 5.44977661e-01 -8.33070194e-01 9.48335420e-02 5.03241152e+02] [ 8.19787677e-01 5.53159034e-01 1.48200024e-01 3.49436073e+02] [-1.75919054e-01 -3.02233343e-03 9.84399996e-01 7.26037740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.26, Y:349.46, Z:72.60 [[ 5.44745670e-01 -8.33227019e-01 9.47886585e-02 5.03256261e+02] [ 8.19941867e-01 5.52922761e-01 1.48228726e-01 3.49459773e+02] [-1.75918986e-01 -3.02576708e-03 9.84399998e-01 7.25985274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 939.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.27, Y:349.48, Z:72.59 [[ 5.44443975e-01 -8.33429201e-01 9.47445288e-02 5.03271057e+02] [ 8.20142725e-01 5.52618038e-01 1.48253889e-01 3.49481231e+02] [-1.75916656e-01 -3.01190063e-03 9.84400456e-01 7.25931948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.29, Y:349.50, Z:72.59 [[ 5.44286340e-01 -8.33587913e-01 9.42527013e-02 5.03287529e+02] [ 8.20432812e-01 5.52378801e-01 1.47538680e-01 3.49502734e+02] [-1.75049655e-01 -2.97527965e-03 9.84555111e-01 7.25880994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.30, Y:349.53, Z:72.58 [[ 5.44057395e-01 -8.33750870e-01 9.41330894e-02 5.03302930e+02] [ 8.20622900e-01 5.52132956e-01 1.47401682e-01 3.49525364e+02] [-1.74870261e-01 -2.94720614e-03 9.84587074e-01 7.25825211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:503.32, Y:349.55, Z:72.58 [[ 5.43849474e-01 -8.33940864e-01 9.36503315e-02 5.03318325e+02] [ 8.20934563e-01 5.51846074e-01 1.46739067e-01 3.49548039e+02] [-1.74052273e-01 -2.92317068e-03 9.84732076e-01 7.25775345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.33, Y:349.57, Z:72.57 [[ 5.43594055e-01 -8.34148979e-01 9.32790700e-02 5.03333785e+02] [ 8.21232942e-01 5.51531583e-01 1.46251043e-01 3.49570241e+02] [-1.73441512e-01 -2.89735268e-03 9.84839910e-01 7.25719412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.35, Y:349.59, Z:72.57 [[ 5.43491881e-01 -8.34227293e-01 9.31740233e-02 5.03348985e+02] [ 8.21325097e-01 5.51412990e-01 1.46180710e-01 3.49593644e+02] [-1.73325305e-01 -2.92186531e-03 9.84860295e-01 7.25665937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.36, Y:349.62, Z:72.56 [[ 5.43275293e-01 -8.34358222e-01 9.32647457e-02 5.03363625e+02] [ 8.21415880e-01 5.51214782e-01 1.46417949e-01 3.49617162e+02] [-1.73573926e-01 -2.93611095e-03 9.84816466e-01 7.25612426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.1892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:503.38, Y:349.64, Z:72.56 [[ 5.43062752e-01 -8.34523977e-01 9.30192384e-02 5.03377727e+02] [ 8.21635798e-01 5.50963840e-01 1.46128237e-01 3.49639587e+02] [-1.73197755e-01 -2.92886658e-03 9.84882714e-01 7.25552206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2192541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:503.39, Y:349.66, Z:72.55 [[ 5.42752677e-01 -8.34700829e-01 9.32419315e-02 5.03393283e+02] [ 8.21741971e-01 5.50695953e-01 1.46540439e-01 3.49663161e+02] [-1.73665380e-01 -2.91440683e-03 9.84800407e-01 7.25512949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.40, Y:349.69, Z:72.54 [[ 5.43158858e-01 -8.33762114e-01 9.90918371e-02 5.03404874e+02] [ 8.21679066e-01 5.52104994e-01 1.41504727e-01 3.49687665e+02] [-1.72690378e-01 4.56214233e-03 9.84965593e-01 7.25428531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.2792541539999 meters Centerline goodness : 0.997472 Centerline is valid? [True, True] Translation: X:503.42, Y:349.71, Z:72.54 [[ 5.43016368e-01 -8.34236334e-01 9.58277822e-02 5.03421256e+02] [ 8.21737945e-01 5.51406701e-01 1.43865907e-01 3.49710398e+02] [-1.72858248e-01 6.23782587e-04 9.84946515e-01 7.25386504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.44, Y:349.73, Z:72.54 [[ 5.41821288e-01 -8.36243372e-01 8.44198754e-02 5.03443280e+02] [ 8.21955789e-01 5.48170137e-01 1.54590368e-01 3.49732126e+02] [-1.75551625e-01 -1.43709469e-02 9.84365330e-01 7.25388978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.45, Y:349.76, Z:72.53 [[ 5.41857348e-01 -8.35175217e-01 9.41964451e-02 5.03452818e+02] [ 8.21887710e-01 5.49975771e-01 1.48415781e-01 3.49758110e+02] [-1.75758945e-01 -3.00128097e-03 9.84428660e-01 7.25290759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.47, Y:349.78, Z:72.52 [[ 5.42311329e-01 -8.34872557e-01 9.42668327e-02 5.03466136e+02] [ 8.21543153e-01 5.50434241e-01 1.48623667e-01 3.49780579e+02] [-1.75969513e-01 -3.15602754e-03 9.84390558e-01 7.25234736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.48, Y:349.80, Z:72.52 [[ 5.42215022e-01 -8.34951904e-01 9.41179466e-02 5.03480421e+02] [ 8.21657185e-01 5.50313889e-01 1.48438856e-01 3.49804281e+02] [-1.75733719e-01 -3.15309073e-03 9.84432688e-01 7.25181639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.49, Y:349.83, Z:72.51 [[ 5.42124872e-01 -8.35019277e-01 9.40395112e-02 5.03494505e+02] [ 8.21731177e-01 5.50211494e-01 1.48408843e-01 3.49827962e+02] [-1.75665864e-01 -3.18092657e-03 9.84444709e-01 7.25128022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.51, Y:349.85, Z:72.51 [[ 5.41842390e-01 -8.35200269e-01 9.40602761e-02 5.03508231e+02] [ 8.21891498e-01 5.49936737e-01 1.48539392e-01 3.49850217e+02] [-1.75787341e-01 -3.17759798e-03 9.84423036e-01 7.25079812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.4892541539998 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:503.52, Y:349.87, Z:72.50 [[ 5.41829037e-01 -8.34570584e-01 9.95652313e-02 5.03519499e+02] [ 8.22158450e-01 5.50885561e-01 1.43459341e-01 3.49874266e+02] [-1.74575994e-01 4.12795964e-03 9.84635050e-01 7.25002469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5192541539999 meters Centerline goodness : 0.998025 Centerline is valid? [True, True] Translation: X:503.54, Y:349.89, Z:72.50 [[ 5.40578820e-01 -8.36728269e-01 8.75233915e-02 5.03541220e+02] [ 8.22630726e-01 5.47510012e-01 1.53334524e-01 3.49894955e+02] [-1.76219264e-01 -1.08899648e-02 9.84290699e-01 7.25003422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5492541539999 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:503.55, Y:349.92, Z:72.49 [[ 5.38709957e-01 -8.37225604e-01 9.40471710e-02 5.03552079e+02] [ 8.23901975e-01 5.46851128e-01 1.48793075e-01 3.49920356e+02] [-1.76003173e-01 -2.67066089e-03 9.84385976e-01 7.24915632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.5792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:503.57, Y:349.94, Z:72.49 [[ 5.36762175e-01 -8.38500804e-01 9.38230716e-02 5.03565416e+02] [ 8.25240171e-01 5.44895461e-01 1.48551663e-01 3.49943047e+02] [-1.75684455e-01 -2.31034612e-03 9.84443820e-01 7.24851650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.58, Y:349.97, Z:72.48 [[ 5.34041517e-01 -8.40173839e-01 9.43799699e-02 5.03580076e+02] [ 8.26757838e-01 5.42314056e-01 1.49555813e-01 3.49966484e+02] [-1.76836466e-01 -1.83963351e-03 9.84238528e-01 7.24814443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.59, Y:349.99, Z:72.48 [[ 5.32300225e-01 -8.41278145e-01 9.43798385e-02 5.03594623e+02] [ 8.27861791e-01 5.40600362e-01 1.49653279e-01 3.49989731e+02] [-1.76921808e-01 -1.52701177e-03 9.84223726e-01 7.24758849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:503.61, Y:350.01, Z:72.47 [[ 5.27972664e-01 -8.44099406e-01 9.34936316e-02 5.03608547e+02] [ 8.30962016e-01 5.36186342e-01 1.48345322e-01 3.50012587e+02] [-1.75348207e-01 -6.32618432e-04 9.84506275e-01 7.24694992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.6992541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:503.62, Y:350.04, Z:72.46 [[ 5.25562857e-01 -8.45630462e-01 9.32352151e-02 5.03623482e+02] [ 8.32578696e-01 5.33768767e-01 1.47998711e-01 3.50036280e+02] [-1.74918265e-01 -1.56971870e-04 9.84582945e-01 7.24645608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.64, Y:350.06, Z:72.46 [[ 5.23485486e-01 -8.46867712e-01 9.36911130e-02 5.03638960e+02] [ 8.33689479e-01 5.31803570e-01 1.48818062e-01 3.50059584e+02] [-1.75854480e-01 2.05199582e-04 9.84416152e-01 7.24605646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.65, Y:350.08, Z:72.46 [[ 5.18620179e-01 -8.49892099e-01 9.33623603e-02 5.03653077e+02] [ 8.36837882e-01 5.26955455e-01 1.48392411e-01 3.50082178e+02] [-1.75315342e-01 1.16986136e-03 9.84511636e-01 7.24556386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.7892541539999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:503.67, Y:350.11, Z:72.45 [[ 5.16123203e-01 -8.51511512e-01 9.24390804e-02 5.03667017e+02] [ 8.38733205e-01 5.24333232e-01 1.46973717e-01 3.50105580e+02] [-1.73618693e-01 1.67518080e-03 9.84811527e-01 7.24494272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.68, Y:350.13, Z:72.45 [[ 5.14462366e-01 -8.52454415e-01 9.30050770e-02 5.03682071e+02] [ 8.39516602e-01 5.22797901e-01 1.47966992e-01 3.50129119e+02] [-1.74757974e-01 1.95585754e-03 9.84609478e-01 7.24455577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.69, Y:350.15, Z:72.44 [[ 5.08741131e-01 -8.55397731e-01 9.73508271e-02 5.03689975e+02] [ 8.42593574e-01 5.17925368e-01 1.47612272e-01 3.50152763e+02] [-1.76687665e-01 6.93074719e-03 9.84242569e-01 7.24363823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.71, Y:350.18, Z:72.44 [[ 5.10684774e-01 -8.55258154e-01 8.79462965e-02 5.03713197e+02] [ 8.41868316e-01 5.18193722e-01 1.50774686e-01 3.50175207e+02] [-1.74524499e-01 -2.95913617e-03 9.84648385e-01 7.24378159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.72, Y:350.20, Z:72.43 [[ 5.10305925e-01 -8.54994757e-01 9.25841669e-02 5.03724011e+02] [ 8.42179891e-01 5.18629602e-01 1.47500399e-01 3.50199517e+02] [-1.74128957e-01 2.70219607e-03 9.84719150e-01 7.24313415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9392541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:503.74, Y:350.22, Z:72.43 [[ 5.10094248e-01 -8.55210229e-01 9.17568698e-02 5.03737174e+02] [ 8.42619527e-01 5.18274106e-01 1.46233662e-01 3.50222268e+02] [-1.72615733e-01 2.72318065e-03 9.84985479e-01 7.24257375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.75, Y:350.25, Z:72.42 [[ 5.11434934e-01 -8.54315500e-01 9.26247015e-02 5.03751817e+02] [ 8.41460316e-01 5.19749150e-01 1.47666375e-01 3.50245552e+02] [-1.74295283e-01 2.41826779e-03 9.84690462e-01 7.24223970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 940.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.76, Y:350.27, Z:72.41 [[ 5.10669245e-01 -8.54359594e-01 9.63670429e-02 5.03761407e+02] [ 8.41510641e-01 5.19651510e-01 1.47723216e-01 3.50269550e+02] [-1.76286026e-01 5.65618904e-03 9.84322734e-01 7.24142969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.77, Y:350.30, Z:72.40 [[ 5.14113418e-01 -8.51020938e-01 1.07008209e-01 5.03767530e+02] [ 8.38767360e-01 5.24907181e-01 1.44712707e-01 3.50295480e+02] [-1.79322921e-01 1.53562484e-02 9.83670410e-01 7.24005099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0592541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:503.79, Y:350.32, Z:72.40 [[ 5.16574509e-01 -8.50611060e-01 9.80387762e-02 5.03785181e+02] [ 8.37552795e-01 5.25768052e-01 1.48570761e-01 3.50317996e+02] [-1.77921589e-01 5.36478303e-03 9.84030044e-01 7.23958024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.82, Y:350.34, Z:72.41 [[ 5.27192096e-01 -8.46902219e-01 6.94631237e-02 5.03817402e+02] [ 8.32096574e-01 5.31088673e-01 1.59875309e-01 3.50338661e+02] [-1.72289832e-01 -2.64849722e-02 9.84690185e-01 7.24122121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.82, Y:350.37, Z:72.40 [[ 5.30727807e-01 -8.42595813e-01 9.14346312e-02 5.03819472e+02] [ 8.29854512e-01 5.38544086e-01 1.45985465e-01 3.50367472e+02] [-1.72248322e-01 -1.60110448e-03 9.85052259e-01 7.23973286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.83, Y:350.39, Z:72.39 [[ 5.32203001e-01 -8.40768975e-01 9.93352759e-02 5.03827128e+02] [ 8.28377107e-01 5.41364198e-01 1.43931143e-01 3.50392383e+02] [-1.74789402e-01 5.68648215e-03 9.84589422e-01 7.23856982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.85, Y:350.41, Z:72.39 [[ 5.39217385e-01 -8.37975722e-01 8.39124667e-02 5.03850065e+02] [ 8.24396303e-01 5.45573332e-01 1.50733127e-01 3.50414067e+02] [-1.72091105e-01 -1.21007954e-02 9.85006712e-01 7.23909186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.86, Y:350.44, Z:72.38 [[ 5.41145735e-01 -8.35917911e-01 9.16653702e-02 5.03859286e+02] [ 8.22978206e-01 5.48840819e-01 1.46562710e-01 3.50438509e+02] [-1.72824091e-01 -3.87318353e-03 9.84945091e-01 7.23831055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2392541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:503.87, Y:350.46, Z:72.38 [[ 5.43667186e-01 -8.34285446e-01 9.16176022e-02 5.03872120e+02] [ 8.21327664e-01 5.51315039e-01 1.46535308e-01 3.50462052e+02] [-1.72762437e-01 -4.41836739e-03 9.84953612e-01 7.23779445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2692541539999 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:503.88, Y:350.49, Z:72.37 [[ 5.45060726e-01 -8.31868726e-01 1.04418517e-01 5.03879063e+02] [ 8.21071750e-01 5.54829479e-01 1.34184320e-01 3.50490066e+02] [-1.69558210e-01 1.25964915e-02 9.85439669e-01 7.23683711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.91, Y:350.51, Z:72.37 [[ 5.45012322e-01 -8.34816537e-01 7.77362102e-02 5.03908258e+02] [ 8.20458797e-01 5.50126877e-01 1.55588502e-01 3.50507408e+02] [-1.72652633e-01 -2.10182934e-02 9.84758498e-01 7.23746127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.92, Y:350.53, Z:72.37 [[ 5.46680085e-01 -8.33535015e-01 7.97512626e-02 5.03921250e+02] [ 8.20511112e-01 5.52256621e-01 1.47560634e-01 3.50532884e+02] [-1.67040118e-01 -1.52316629e-02 9.85832438e-01 7.23724950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.94, Y:350.56, Z:72.37 [[ 5.47661621e-01 -8.33657679e-01 7.12855055e-02 5.03940785e+02] [ 8.20259163e-01 5.51754714e-01 1.50803322e-01 3.50555711e+02] [-1.65050461e-01 -2.41166027e-02 9.85990231e-01 7.23746302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.3892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:503.93, Y:350.59, Z:72.34 [[ 5.45720655e-01 -8.29862394e-01 1.16264239e-01 5.03929499e+02] [ 8.20138480e-01 5.57412023e-01 1.29091869e-01 3.50587604e+02] [-1.71935572e-01 2.49046767e-02 9.84793337e-01 7.23414688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:503.96, Y:350.60, Z:72.35 [[ 5.45037432e-01 -8.33495533e-01 9.06608798e-02 5.03957633e+02] [ 8.20714609e-01 5.52504568e-01 1.45486195e-01 3.50604808e+02] [-1.71352644e-01 -4.88871370e-03 9.85197631e-01 7.23474221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:503.98, Y:350.63, Z:72.35 [[ 5.43858590e-01 -8.36101618e-01 7.17768612e-02 5.03981818e+02] [ 8.22375470e-01 5.48046419e-01 1.52786480e-01 3.50625255e+02] [-1.67082075e-01 -2.40667096e-02 9.85649214e-01 7.23548247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.4792541539998 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:503.99, Y:350.65, Z:72.34 [[ 5.43868523e-01 -8.34685343e-01 8.66452964e-02 5.03991005e+02] [ 8.22332703e-01 5.50687070e-01 1.43222473e-01 3.50653115e+02] [-1.67260143e-01 -6.64293390e-03 9.85890418e-01 7.23430492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:504.01, Y:350.68, Z:72.34 [[ 5.41839861e-01 -8.36767146e-01 7.89323076e-02 5.04009421e+02] [ 8.24379205e-01 5.47405156e-01 1.44036532e-01 3.50675135e+02] [-1.63732990e-01 -1.29745815e-02 9.86419367e-01 7.23415361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.00, Y:350.71, Z:72.31 [[ 5.38042957e-01 -8.34129538e-01 1.21398895e-01 5.03998210e+02] [ 8.25073149e-01 5.50639640e-01 1.26689724e-01 3.50705110e+02] [-1.72522684e-01 3.19984548e-02 9.84485664e-01 7.23093645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.05, Y:350.72, Z:72.35 [[ 5.37015831e-01 -8.41978194e-01 5.18335570e-02 5.04054078e+02] [ 8.27985847e-01 5.37854721e-01 1.58592991e-01 3.50716568e+02] [-1.61410764e-01 -4.22494955e-02 9.85982528e-01 7.23450034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.03, Y:350.75, Z:72.30 [[ 5.33084072e-01 -8.36874714e-01 1.24346635e-01 5.04028132e+02] [ 8.28573611e-01 5.46123816e-01 1.23347271e-01 3.50752727e+02] [-1.71134871e-01 3.72758748e-02 9.84542211e-01 7.22977327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.06, Y:350.77, Z:72.31 [[ 5.30162476e-01 -8.43139439e-01 8.96863174e-02 5.04061356e+02] [ 8.30617538e-01 5.37690198e-01 1.44788663e-01 3.50767191e+02] [-1.70300486e-01 -2.26648814e-03 9.85389571e-01 7.23076998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.08, Y:350.79, Z:72.30 [[ 5.24862805e-01 -8.46403005e-01 9.01165308e-02 5.04077520e+02] [ 8.33796573e-01 5.32541442e-01 1.45543423e-01 3.50789455e+02] [-1.71179178e-01 -1.25147462e-03 9.85239120e-01 7.23027370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.09, Y:350.81, Z:72.30 [[ 5.21757720e-01 -8.48317624e-01 9.01448304e-02 5.04093289e+02] [ 8.35715626e-01 5.29487256e-01 1.45679918e-01 3.50812468e+02] [-1.71313381e-01 -6.74178356e-04 9.85216358e-01 7.22978487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.11, Y:350.83, Z:72.29 [[ 5.18917258e-01 -8.50059356e-01 9.01330770e-02 5.04108578e+02] [ 8.37470407e-01 5.26686880e-01 1.45754069e-01 3.50834233e+02] [-1.71371519e-01 -1.50517434e-04 9.85206466e-01 7.22934690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:504.13, Y:350.86, Z:72.29 [[ 5.13585102e-01 -8.53275009e-01 9.02889922e-02 5.04125481e+02] [ 8.40680758e-01 5.21460422e-01 1.46064685e-01 3.50856120e+02] [-1.71715481e-01 8.87572284e-04 9.85146185e-01 7.22888403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.7792541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:504.14, Y:350.88, Z:72.28 [[ 5.11155329e-01 -8.54783743e-01 8.98052527e-02 5.04141188e+02] [ 8.42331609e-01 5.18982630e-01 1.45377062e-01 3.50879130e+02] [-1.70873315e-01 1.33554333e-03 9.85292102e-01 7.22838497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8092541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:504.16, Y:350.90, Z:72.28 [[ 5.09529132e-01 -8.55705733e-01 9.02649593e-02 5.04156232e+02] [ 8.43121737e-01 5.17460276e-01 1.46221061e-01 3.50901596e+02] [-1.71830731e-01 1.60045926e-03 9.85125189e-01 7.22792110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8392541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:504.17, Y:350.92, Z:72.27 [[ 5.07960251e-01 -8.56669534e-01 8.99649542e-02 5.04171643e+02] [ 8.44175451e-01 5.15862123e-01 1.45787785e-01 3.50923520e+02] [-1.71301467e-01 1.89180575e-03 9.85216844e-01 7.22742015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8692541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:504.19, Y:350.95, Z:72.27 [[ 5.07736753e-01 -8.56804274e-01 8.99434626e-02 5.04186327e+02] [ 8.44309939e-01 5.15638228e-01 1.45801043e-01 3.50947456e+02] [-1.71301245e-01 1.91161113e-03 9.85216844e-01 7.22688555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.20, Y:350.97, Z:72.26 [[ 5.07787266e-01 -8.56670764e-01 9.09246686e-02 5.04201062e+02] [ 8.43882713e-01 5.15860263e-01 1.47479342e-01 3.50970852e+02] [-1.73245664e-01 1.84162409e-03 9.84876920e-01 7.22637483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:504.22, Y:350.99, Z:72.26 [[ 5.09626962e-01 -8.55631385e-01 9.04173259e-02 5.04215806e+02] [ 8.42952897e-01 5.17583712e-01 1.46756650e-01 3.50993340e+02] [-1.72368131e-01 1.42640117e-03 9.85031570e-01 7.22584940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.23, Y:351.02, Z:72.25 [[ 5.11403170e-01 -8.54604874e-01 9.00960928e-02 5.04229770e+02] [ 8.41991760e-01 5.19277779e-01 1.46288980e-01 3.51015664e+02] [-1.71804175e-01 1.04751930e-03 9.85130564e-01 7.22537032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 941.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.24, Y:351.04, Z:72.25 [[ 5.13373904e-01 -8.53455370e-01 8.97840021e-02 5.04244543e+02] [ 8.40904245e-01 5.21165550e-01 1.45830451e-01 3.51039548e+02] [-1.71252110e-01 6.34200554e-04 9.85227036e-01 7.22483784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.26, Y:351.06, Z:72.24 [[ 5.18491800e-01 -8.50432162e-01 8.90583570e-02 5.04258421e+02] [ 8.38023479e-01 5.26084560e-01 1.44746968e-01 3.51062524e+02] [-1.69949704e-01 -4.17122015e-04 9.85452649e-01 7.22441802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.27, Y:351.09, Z:72.24 [[ 5.21151399e-01 -8.48839921e-01 8.87243365e-02 5.04272687e+02] [ 8.36491579e-01 5.28649085e-01 1.44263589e-01 3.51086345e+02] [-1.69360733e-01 -9.66010929e-04 9.85553656e-01 7.22394820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.29, Y:351.11, Z:72.24 [[ 5.26798298e-01 -8.45420048e-01 8.80255428e-02 5.04287114e+02] [ 8.33203557e-01 5.34097854e-01 1.43217718e-01 3.51110278e+02] [-1.68093384e-01 -2.10365484e-03 9.85768831e-01 7.22358087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.30, Y:351.13, Z:72.23 [[ 5.29143500e-01 -8.43957874e-01 8.79901345e-02 5.04301257e+02] [ 8.31715172e-01 5.36403065e-01 1.43253707e-01 3.51133555e+02] [-1.68098272e-01 -2.61903801e-03 9.85766763e-01 7.22312855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.32, Y:351.16, Z:72.23 [[ 5.31422132e-01 -8.42527474e-01 8.79657457e-02 5.04315874e+02] [ 8.30256210e-01 5.38644322e-01 1.43307087e-01 3.51157289e+02] [-1.68122408e-01 -3.12245126e-03 9.85761181e-01 7.22269992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.33, Y:351.18, Z:72.22 [[ 5.33673461e-01 -8.41096959e-01 8.80258124e-02 5.04330065e+02] [ 8.28772444e-01 5.40872186e-01 1.43504408e-01 3.51180444e+02] [-1.68311834e-01 -3.63112614e-03 9.85727113e-01 7.22231362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.34, Y:351.20, Z:72.22 [[ 5.37116629e-01 -8.38844271e-01 8.85777348e-02 5.04344029e+02] [ 8.26324703e-01 5.44353729e-01 1.44452426e-01 3.51204539e+02] [-1.69390711e-01 -4.39382990e-03 9.85539183e-01 7.22190752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.2292541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:504.36, Y:351.23, Z:72.21 [[ 5.38553820e-01 -8.37992821e-01 8.79079971e-02 5.04357593e+02] [ 8.25635147e-01 5.45661182e-01 1.43458975e-01 3.51227708e+02] [-1.68185572e-01 -4.68044660e-03 9.85744240e-01 7.22149190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.2592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:504.37, Y:351.25, Z:72.21 [[ 5.40333696e-01 -8.36848544e-01 8.78863522e-02 5.04371159e+02] [ 8.24473021e-01 5.47411051e-01 1.43476058e-01 3.51251262e+02] [-1.68177691e-01 -5.06502240e-03 9.85743684e-01 7.22109154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.39, Y:351.27, Z:72.21 [[ 5.40549407e-01 -8.36657645e-01 8.83760332e-02 5.04385175e+02] [ 8.24132072e-01 5.47701698e-01 1.44323175e-01 3.51274643e+02] [-1.69152791e-01 -5.18028325e-03 9.85576226e-01 7.22061935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3192541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:504.40, Y:351.30, Z:72.20 [[ 5.40418908e-01 -8.36828080e-01 8.75566634e-02 5.04399111e+02] [ 8.24520630e-01 5.47441697e-01 1.43085011e-01 3.51297781e+02] [-1.67669723e-01 -5.13356981e-03 9.85829859e-01 7.22014700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.41, Y:351.32, Z:72.20 [[ 5.39920213e-01 -8.37168190e-01 8.73818414e-02 5.04413577e+02] [ 8.24906431e-01 5.46922276e-01 1.42847487e-01 3.51321687e+02] [-1.67378448e-01 -5.04440284e-03 9.85879815e-01 7.21973441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.3792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:504.43, Y:351.34, Z:72.19 [[ 5.39197268e-01 -8.37714345e-01 8.66082125e-02 5.04427497e+02] [ 8.25660557e-01 5.46086812e-01 1.41682176e-01 3.51344786e+02] [-1.65984794e-01 -4.88565729e-03 9.86116209e-01 7.21926917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:504.44, Y:351.37, Z:72.19 [[ 5.38398588e-01 -8.38292667e-01 8.59788673e-02 5.04442006e+02] [ 8.26414182e-01 5.45200269e-01 1.40699205e-01 3.51368148e+02] [-1.64822813e-01 -4.69809785e-03 9.86312004e-01 7.21873404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.46, Y:351.39, Z:72.18 [[ 5.36774615e-01 -8.39468722e-01 8.46479586e-02 5.04456590e+02] [ 8.27957621e-01 5.43390861e-01 1.38609347e-01 3.51391934e+02] [-1.62355139e-01 -4.31705675e-03 9.86722946e-01 7.21830255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.47, Y:351.42, Z:72.18 [[ 5.35377706e-01 -8.40397602e-01 8.42768213e-02 5.04471670e+02] [ 8.28984713e-01 5.41955104e-01 1.38090587e-01 3.51415516e+02] [-1.61725251e-01 -4.06642506e-03 9.86827446e-01 7.21774807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.49, Y:351.44, Z:72.17 [[ 5.31453511e-01 -8.43005809e-01 8.30564302e-02 5.04487056e+02] [ 8.31940115e-01 5.37894483e-01 1.36180651e-01 3.51438190e+02] [-1.59476675e-01 -3.27570903e-03 9.87196262e-01 7.21728018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.50, Y:351.46, Z:72.17 [[ 5.28518166e-01 -8.44875864e-01 8.27847945e-02 5.04502141e+02] [ 8.33891132e-01 5.34955324e-01 1.35824821e-01 3.51461682e+02] [-1.59041280e-01 -2.75237942e-03 9.87268097e-01 7.21673531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:504.52, Y:351.48, Z:72.16 [[ 5.24785033e-01 -8.47232131e-01 8.24523173e-02 5.04516707e+02] [ 8.36349249e-01 5.31218761e-01 1.35375635e-01 3.51483782e+02] [-1.58494806e-01 -2.08417349e-03 9.87357611e-01 7.21619363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.5892541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:504.52, Y:351.51, Z:72.14 [[ 5.16332319e-01 -8.50588403e-01 9.95002771e-02 5.04524518e+02] [ 8.41054708e-01 5.25540969e-01 1.28193872e-01 3.51509449e+02] [-1.61331693e-01 1.74945370e-02 9.86745168e-01 7.21429879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.56, Y:351.53, Z:72.16 [[ 5.13215473e-01 -8.55619397e-01 6.72705419e-02 5.04555748e+02] [ 8.43389310e-01 5.17299109e-01 1.45244979e-01 3.51526560e+02] [-1.59073413e-01 -1.78067148e-02 9.87106160e-01 7.21607428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:504.56, Y:351.55, Z:72.15 [[ 5.10470332e-01 -8.55887650e-01 8.29238835e-02 5.04562164e+02] [ 8.44959795e-01 5.17161586e-01 1.36333561e-01 3.51553799e+02] [-1.59571258e-01 4.73109733e-04 9.87186300e-01 7.21489597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.6792541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:504.58, Y:351.58, Z:72.14 [[ 5.04913467e-01 -8.59150725e-01 8.32010933e-02 5.04576594e+02] [ 8.48176987e-01 5.11720547e-01 1.36886380e-01 3.51576084e+02] [-1.60181741e-01 1.45347607e-03 9.87086469e-01 7.21445392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.59, Y:351.60, Z:72.14 [[ 5.02878054e-01 -8.60286288e-01 8.37923952e-02 5.04590665e+02] [ 8.49162277e-01 5.09808060e-01 1.37910007e-01 3.51599159e+02] [-1.61360126e-01 1.80142512e-03 9.86893948e-01 7.21402150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.60, Y:351.62, Z:72.13 [[ 4.98930292e-01 -8.62560184e-01 8.40148409e-02 5.04604723e+02] [ 8.51401216e-01 5.05948206e-01 1.38319856e-01 3.51623132e+02] [-1.61816358e-01 2.51837170e-03 9.86817675e-01 7.21349576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7692541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:504.62, Y:351.65, Z:72.13 [[ 4.96861776e-01 -8.63758060e-01 8.39665985e-02 5.04617758e+02] [ 8.52614185e-01 5.03898634e-01 1.38330107e-01 3.51646218e+02] [-1.61794399e-01 2.86017021e-03 9.86820344e-01 7.21287862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.63, Y:351.67, Z:72.12 [[ 4.95686577e-01 -8.64395620e-01 8.43506398e-02 5.04630971e+02] [ 8.53144900e-01 5.02803103e-01 1.39042510e-01 3.51670262e+02] [-1.62599500e-01 3.04181210e-03 9.86687463e-01 7.21237968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:504.64, Y:351.69, Z:72.12 [[ 4.93154603e-01 -8.65813256e-01 8.46518938e-02 5.04642017e+02] [ 8.54487199e-01 5.00355203e-01 1.39629143e-01 3.51694764e+02] [-1.63248779e-01 3.47520484e-03 9.86578816e-01 7.21182702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8592541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:504.66, Y:351.72, Z:72.11 [[ 4.92085891e-01 -8.66399957e-01 8.48680824e-02 5.04655212e+02] [ 8.55011293e-01 4.99337428e-01 1.40063637e-01 3.51719540e+02] [-1.63728939e-01 3.63982928e-03 9.86498650e-01 7.21132289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.67, Y:351.74, Z:72.11 [[ 4.91546663e-01 -8.66632317e-01 8.56172010e-02 5.04667968e+02] [ 8.55028045e-01 4.98933575e-01 1.41394235e-01 3.51743701e+02] [-1.65254109e-01 3.70324381e-03 9.86244070e-01 7.21085862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.68, Y:351.77, Z:72.10 [[ 4.90896195e-01 -8.66946993e-01 8.61616898e-02 5.04679488e+02] [ 8.55182462e-01 4.98385971e-01 1.42388135e-01 3.51769050e+02] [-1.66384743e-01 3.78617220e-03 9.86053641e-01 7.21038372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.69, Y:351.79, Z:72.10 [[ 4.90905495e-01 -8.66921389e-01 8.63660822e-02 5.04691594e+02] [ 8.55083311e-01 4.98430883e-01 1.42825717e-01 3.51792670e+02] [-1.66866192e-01 3.73626624e-03 9.85972471e-01 7.20984775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 942.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.70, Y:351.82, Z:72.09 [[ 4.91411934e-01 -8.66588683e-01 8.68237651e-02 5.04702213e+02] [ 8.54609964e-01 4.99009993e-01 1.43634382e-01 3.51817674e+02] [-1.67797856e-01 3.61680547e-03 9.85814789e-01 7.20932115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.71, Y:351.84, Z:72.09 [[ 4.91672452e-01 -8.66427463e-01 8.69577578e-02 5.04714768e+02] [ 8.54398645e-01 4.99290440e-01 1.43916685e-01 3.51842758e+02] [-1.68110545e-01 3.53672104e-03 9.85761805e-01 7.20876632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.73, Y:351.87, Z:72.08 [[ 4.92076309e-01 -8.66177787e-01 8.71604666e-02 5.04725839e+02] [ 8.54071789e-01 4.99724337e-01 1.44350153e-01 3.51866487e+02] [-1.68589102e-01 3.41000536e-03 9.85680520e-01 7.20820823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.74, Y:351.89, Z:72.08 [[ 4.93610679e-01 -8.65257282e-01 8.76261036e-02 5.04735339e+02] [ 8.52997986e-01 5.01318564e-01 1.45169327e-01 3.51892617e+02] [-1.69537410e-01 3.08775976e-03 9.85518915e-01 7.20763488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.0992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:504.75, Y:351.92, Z:72.07 [[ 4.94335686e-01 -8.64800908e-01 8.80432765e-02 5.04746687e+02] [ 8.52399938e-01 5.02106562e-01 1.45956661e-01 3.51916850e+02] [-1.70430560e-01 2.89649716e-03 9.85365432e-01 7.20710485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.76, Y:351.94, Z:72.07 [[ 4.96093809e-01 -8.63745542e-01 8.85131178e-02 5.04756870e+02] [ 8.51183583e-01 5.03921927e-01 1.46796454e-01 3.51943460e+02] [-1.71398484e-01 2.51610063e-03 9.85198573e-01 7.20664815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.77, Y:351.97, Z:72.06 [[ 4.96671003e-01 -8.63374854e-01 8.88919320e-02 5.04768626e+02] [ 8.50681342e-01 5.04557574e-01 1.47522571e-01 3.51967780e+02] [-1.72218376e-01 2.34852464e-03 9.85055996e-01 7.20611179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.78, Y:351.99, Z:72.06 [[ 4.96984471e-01 -8.63189736e-01 8.89377031e-02 5.04780374e+02] [ 8.50469284e-01 5.04874637e-01 1.47660411e-01 3.51992512e+02] [-1.72361341e-01 2.25385363e-03 9.85031212e-01 7.20557894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2192541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:504.79, Y:352.02, Z:72.05 [[ 4.97570939e-01 -8.62829176e-01 8.91570210e-02 5.04790292e+02] [ 8.50022984e-01 5.05491310e-01 1.48119757e-01 3.52018618e+02] [-1.72870147e-01 2.08543066e-03 9.84942416e-01 7.20500663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.80, Y:352.04, Z:72.04 [[ 4.97693014e-01 -8.62736312e-01 8.93740459e-02 5.04801526e+02] [ 8.49847562e-01 5.05650112e-01 1.48583602e-01 3.52042579e+02] [-1.73380465e-01 2.00529400e-03 9.84852879e-01 7.20447362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.81, Y:352.07, Z:72.04 [[ 4.98009016e-01 -8.62551184e-01 8.94006400e-02 5.04810935e+02] [ 8.49642654e-01 5.05966192e-01 1.48679428e-01 3.52068669e+02] [-1.73477318e-01 1.91490165e-03 9.84836003e-01 7.20392335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.82, Y:352.09, Z:72.03 [[ 4.97817365e-01 -8.62650802e-01 8.95067886e-02 5.04822390e+02] [ 8.49695722e-01 5.05796379e-01 1.48953692e-01 3.52093393e+02] [-1.73767231e-01 1.90180108e-03 9.84784917e-01 7.20337253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.83, Y:352.12, Z:72.03 [[ 4.97955471e-01 -8.62560930e-01 8.96046381e-02 5.04833998e+02] [ 8.49558524e-01 5.05949920e-01 1.49214588e-01 3.52118094e+02] [-1.74042133e-01 1.82216356e-03 9.84736521e-01 7.20284476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.84, Y:352.14, Z:72.02 [[ 4.99095154e-01 -8.61865309e-01 8.99567449e-02 5.04844244e+02] [ 8.48731079e-01 5.07134925e-01 1.49899043e-01 3.52144481e+02] [-1.74812992e-01 1.53519936e-03 9.84600458e-01 7.20230324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.3992541539999 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:504.86, Y:352.17, Z:72.02 [[ 4.99407280e-01 -8.61676335e-01 9.00347791e-02 5.04855566e+02] [ 8.48497870e-01 5.07456287e-01 1.50131545e-01 3.52168541e+02] [-1.75053514e-01 1.41753199e-03 9.84557900e-01 7.20173717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.87, Y:352.19, Z:72.01 [[ 5.00664787e-01 -8.60951487e-01 8.99850415e-02 5.04867892e+02] [ 8.47766904e-01 5.08685802e-01 1.50100071e-01 3.52193446e+02] [-1.75002993e-01 1.13651978e-03 9.84567246e-01 7.20127379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.88, Y:352.22, Z:72.01 [[ 5.02737028e-01 -8.59766339e-01 8.97625943e-02 5.04877180e+02] [ 8.46610171e-01 5.10687181e-01 1.49832644e-01 3.52219257e+02] [-1.74661670e-01 6.67507313e-04 9.84628283e-01 7.20072303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.89, Y:352.24, Z:72.00 [[ 5.03785286e-01 -8.59167823e-01 8.96160542e-02 5.04888837e+02] [ 8.46035608e-01 5.11693724e-01 1.49643856e-01 3.52243386e+02] [-1.74425159e-01 4.29999920e-04 9.84670340e-01 7.20021036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:504.90, Y:352.27, Z:72.00 [[ 5.05369260e-01 -8.58257035e-01 8.94246805e-02 5.04898415e+02] [ 8.45157393e-01 5.13220085e-01 1.49379134e-01 3.52268274e+02] [-1.74100235e-01 8.63073855e-05 9.84727932e-01 7.19970182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.91, Y:352.29, Z:71.99 [[ 5.05765202e-01 -8.57995269e-01 8.96977104e-02 5.04910632e+02] [ 8.44801703e-01 5.13657588e-01 1.49886506e-01 3.52292679e+02] [-1.74675823e-01 -3.06006054e-05 9.84625998e-01 7.19917777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.5792541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:504.92, Y:352.32, Z:71.99 [[ 5.06129071e-01 -8.57803941e-01 8.94749238e-02 5.04922899e+02] [ 8.44655657e-01 5.13977020e-01 1.49614318e-01 3.52317196e+02] [-1.74327806e-01 -1.48655324e-04 9.84687663e-01 7.19863472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.93, Y:352.34, Z:71.98 [[ 5.06683418e-01 -8.57497653e-01 8.92731102e-02 5.04934516e+02] [ 8.44386754e-01 5.14487785e-01 1.49376468e-01 3.52342784e+02] [-1.74019895e-01 -3.05547528e-04 9.84742089e-01 7.19814345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6392541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:504.95, Y:352.37, Z:71.98 [[ 5.06584603e-01 -8.57568912e-01 8.91493226e-02 5.04947095e+02] [ 8.44478065e-01 5.14368983e-01 1.49269380e-01 3.52367581e+02] [-1.73864426e-01 -3.32921978e-04 9.84769542e-01 7.19754168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.96, Y:352.39, Z:71.97 [[ 5.06787430e-01 -8.57436803e-01 8.92671795e-02 5.04959066e+02] [ 8.44290589e-01 5.14589099e-01 1.49570919e-01 3.52391903e+02] [-1.74183528e-01 -4.33221990e-04 9.84713111e-01 7.19708794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.6992541539998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:504.97, Y:352.42, Z:71.96 [[ 5.06078611e-01 -8.57823906e-01 8.95688909e-02 5.04971944e+02] [ 8.44584617e-01 5.13943615e-01 1.50129231e-01 3.52416219e+02] [-1.74817803e-01 -3.28685389e-04 9.84600745e-01 7.19646467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:504.99, Y:352.44, Z:71.96 [[ 5.06255890e-01 -8.57719317e-01 8.95686741e-02 5.04985694e+02] [ 8.44460805e-01 5.14118079e-01 1.50228325e-01 3.52440361e+02] [-1.74902611e-01 -4.16739646e-04 9.84585650e-01 7.19606097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.00, Y:352.46, Z:71.96 [[ 5.06101652e-01 -8.57815047e-01 8.95235296e-02 5.04999996e+02] [ 8.44553263e-01 5.13958319e-01 1.50255222e-01 3.52464480e+02] [-1.74902553e-01 -4.37027137e-04 9.84585652e-01 7.19552752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.01, Y:352.49, Z:71.95 [[ 5.06270650e-01 -8.57660779e-01 9.00445264e-02 5.05011299e+02] [ 8.44229322e-01 5.14215627e-01 1.51192399e-01 3.52488207e+02] [-1.75974094e-01 -5.26044844e-04 9.84394657e-01 7.19505858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.02, Y:352.51, Z:71.95 [[ 5.06363675e-01 -8.57568352e-01 9.04010536e-02 5.05024494e+02] [ 8.44015956e-01 5.14369680e-01 1.51858151e-01 3.52511922e+02] [-1.76728305e-01 -5.95519501e-04 9.84259494e-01 7.19455060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8492541539998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:505.04, Y:352.54, Z:71.94 [[ 5.06707969e-01 -8.57364808e-01 9.04025425e-02 5.05036470e+02] [ 8.43790921e-01 5.14708723e-01 1.51959905e-01 3.52536280e+02] [-1.76816052e-01 -7.18450112e-04 9.84243653e-01 7.19395780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.05, Y:352.56, Z:71.94 [[ 5.07383200e-01 -8.56878332e-01 9.12239694e-02 5.05050750e+02] [ 8.43028118e-01 5.15517818e-01 1.53443711e-01 3.52559947e+02] [-1.78510173e-01 -9.50389897e-04 9.83937607e-01 7.19351127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.06, Y:352.58, Z:71.93 [[ 5.07858515e-01 -8.56605892e-01 9.11376662e-02 5.05064170e+02] [ 8.42758542e-01 5.15970090e-01 1.53404387e-01 3.52583281e+02] [-1.78431412e-01 -1.10067740e-03 9.83951737e-01 7.19301150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9392541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:505.08, Y:352.61, Z:71.92 [[ 5.07401866e-01 -8.56868027e-01 9.12169433e-02 5.05077334e+02] [ 8.42990562e-01 5.15534777e-01 1.53592987e-01 3.52607611e+02] [-1.78634426e-01 -1.03834570e-03 9.83914968e-01 7.19235153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9692541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:505.09, Y:352.63, Z:71.92 [[ 5.08277759e-01 -8.56272495e-01 9.19300539e-02 5.05091207e+02] [ 8.42146577e-01 5.16522692e-01 1.54898194e-01 3.52630860e+02] [-1.80119022e-01 -1.31272668e-03 9.83643947e-01 7.19193270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 943.9992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:505.10, Y:352.65, Z:71.91 [[ 5.08214285e-01 -8.56315286e-01 9.18823785e-02 5.05104708e+02] [ 8.42194904e-01 5.16451716e-01 1.54872106e-01 3.52654398e+02] [-1.80072164e-01 -1.32534582e-03 9.83652509e-01 7.19136895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.12, Y:352.68, Z:71.91 [[ 5.08230002e-01 -8.56324209e-01 9.17121246e-02 5.05119638e+02] [ 8.42237755e-01 5.16436793e-01 1.54688729e-01 3.52678148e+02] [-1.79827219e-01 -1.37403937e-03 9.83697252e-01 7.19083109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.13, Y:352.70, Z:71.90 [[ 5.08193034e-01 -8.56360301e-01 9.15798791e-02 5.05133861e+02] [ 8.42295634e-01 5.16376829e-01 1.54573726e-01 3.52701085e+02] [-1.79660530e-01 -1.41595836e-03 9.83727650e-01 7.19035280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.15, Y:352.72, Z:71.90 [[ 5.08049004e-01 -8.56465570e-01 9.13944054e-02 5.05147365e+02] [ 8.42446787e-01 5.16202217e-01 1.54333023e-01 3.52723480e+02] [-1.79358915e-01 -1.41381549e-03 9.83782690e-01 7.18987237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:505.16, Y:352.75, Z:71.89 [[ 5.07634444e-01 -8.56691203e-01 9.15830411e-02 5.05161563e+02] [ 8.42605092e-01 5.15827779e-01 1.54720271e-01 3.52747071e+02] [-1.79788572e-01 -1.37300191e-03 9.83704318e-01 7.18926153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.18, Y:352.77, Z:71.89 [[ 5.07305995e-01 -8.56888782e-01 9.15545914e-02 5.05176254e+02] [ 8.42796522e-01 5.15499545e-01 1.54771579e-01 3.52769967e+02] [-1.79818380e-01 -1.35465847e-03 9.83698895e-01 7.18877359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.1792541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:505.19, Y:352.79, Z:71.88 [[ 5.06225468e-01 -8.57587675e-01 9.09898700e-02 5.05191138e+02] [ 8.43663275e-01 5.14336519e-01 1.53916286e-01 3.52792609e+02] [-1.78796123e-01 -1.15153239e-03 9.83885471e-01 7.18819795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2092541539998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:505.21, Y:352.81, Z:71.88 [[ 5.06318688e-01 -8.57507677e-01 9.12248291e-02 5.05206088e+02] [ 8.43489423e-01 5.14469674e-01 1.54423275e-01 3.52814769e+02] [-1.79351552e-01 -1.24021150e-03 9.83784266e-01 7.18774874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.22, Y:352.84, Z:71.87 [[ 5.06066462e-01 -8.57689916e-01 9.09106401e-02 5.05221903e+02] [ 8.43763966e-01 5.14165910e-01 1.53934360e-01 3.52837786e+02] [-1.78771100e-01 -1.19389456e-03 9.83889968e-01 7.18724206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2692541539999 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:505.24, Y:352.86, Z:71.87 [[ 5.05880560e-01 -8.57843236e-01 9.04977432e-02 5.05235220e+02] [ 8.44027434e-01 5.13910074e-01 1.53343167e-01 3.52860450e+02] [-1.78052101e-01 -1.19074929e-03 9.84020341e-01 7.18660345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.2992541539999 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:505.25, Y:352.88, Z:71.86 [[ 5.05986379e-01 -8.57770295e-01 9.05974886e-02 5.05249599e+02] [ 8.43914863e-01 5.14031694e-01 1.53554946e-01 3.52883462e+02] [-1.78284852e-01 -1.24014398e-03 9.83978137e-01 7.18606673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.27, Y:352.91, Z:71.86 [[ 5.07061795e-01 -8.57110694e-01 9.08272748e-02 5.05266523e+02] [ 8.43154766e-01 5.15129997e-01 1.54049105e-01 3.52905592e+02] [-1.78824990e-01 -1.53096630e-03 9.83879708e-01 7.18570616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.28, Y:352.93, Z:71.85 [[ 5.07214948e-01 -8.57049978e-01 9.05446334e-02 5.05281212e+02] [ 8.43161360e-01 5.15230789e-01 1.53675487e-01 3.52928288e+02] [-1.78358956e-01 -1.60276782e-03 9.83964183e-01 7.18520172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.3892541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:505.30, Y:352.95, Z:71.85 [[ 5.07638122e-01 -8.56843859e-01 9.01229097e-02 5.05297009e+02] [ 8.43072347e-01 5.15573202e-01 1.53014026e-01 3.52950557e+02] [-1.77574086e-01 -1.69562004e-03 9.84105974e-01 7.18460389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.31, Y:352.97, Z:71.84 [[ 5.08024152e-01 -8.56569219e-01 9.05573498e-02 5.05312420e+02] [ 8.42639749e-01 5.16028803e-01 1.53858791e-01 3.52972320e+02] [-1.78520905e-01 -1.85675908e-03 9.83934367e-01 7.18415476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4492541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:505.33, Y:353.00, Z:71.84 [[ 5.07701719e-01 -8.56830931e-01 8.98872687e-02 5.05327011e+02] [ 8.43102828e-01 5.15594404e-01 1.52774447e-01 3.52995179e+02] [-1.77247245e-01 -1.77963906e-03 9.84164746e-01 7.18356142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.34, Y:353.02, Z:71.83 [[ 5.08351051e-01 -8.56378345e-01 9.05281162e-02 5.05343911e+02] [ 8.42425784e-01 5.16344944e-01 1.53969793e-01 3.53016732e+02] [-1.78600131e-01 -2.00748670e-03 9.83919693e-01 7.18321485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.36, Y:353.04, Z:71.83 [[ 5.08360784e-01 -8.56340096e-01 9.08347560e-02 5.05359201e+02] [ 8.42278767e-01 5.16408150e-01 1.54560996e-01 3.53039813e+02] [-1.79264587e-01 -2.06456310e-03 9.83798732e-01 7.18268229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5392541539999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:505.37, Y:353.06, Z:71.82 [[ 5.09390242e-01 -8.55747512e-01 9.06519521e-02 5.05374921e+02] [ 8.41715027e-01 5.17388441e-01 1.54353538e-01 3.53061417e+02] [-1.78989928e-01 -2.32307556e-03 9.83848164e-01 7.18207336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.39, Y:353.08, Z:71.82 [[ 5.10252130e-01 -8.55179027e-01 9.11679582e-02 5.05391033e+02] [ 8.40963336e-01 5.18326352e-01 1.55301191e-01 3.53084475e+02] [-1.80065077e-01 -2.57385338e-03 9.83651332e-01 7.18166369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.5992541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:505.41, Y:353.11, Z:71.81 [[ 5.10981904e-01 -8.54821655e-01 9.04291559e-02 5.05405522e+02] [ 8.40813601e-01 5.18914718e-01 1.54142804e-01 3.53107343e+02] [-1.78689627e-01 -2.73011917e-03 9.83901704e-01 7.18102922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.6292541539999 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:505.42, Y:353.13, Z:71.81 [[ 5.13063247e-01 -8.53604404e-01 9.01422560e-02 5.05422673e+02] [ 8.39649029e-01 5.20911987e-01 1.53753735e-01 3.53129812e+02] [-1.78201047e-01 -3.19753276e-03 9.83988904e-01 7.18050052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.6592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:505.44, Y:353.15, Z:71.80 [[ 5.14190869e-01 -8.52896127e-01 9.04209451e-02 5.05437941e+02] [ 8.38823826e-01 5.22068846e-01 1.54333112e-01 3.53151405e+02] [-1.78836072e-01 -3.50943376e-03 9.83872626e-01 7.18010260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.6892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:505.45, Y:353.17, Z:71.80 [[ 5.14988612e-01 -8.52434643e-01 9.02325289e-02 5.05452995e+02] [ 8.38404641e-01 5.22820772e-01 1.54065238e-01 3.53174047e+02] [-1.78505987e-01 -3.69047229e-03 9.83931905e-01 7.17959448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7192541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:505.47, Y:353.20, Z:71.79 [[ 5.15892821e-01 -8.51928007e-01 8.98513686e-02 5.05469403e+02] [ 8.37991811e-01 5.23644391e-01 1.53513118e-01 3.53195795e+02] [-1.77832290e-01 -3.90160426e-03 9.84053075e-01 7.17900364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.48, Y:353.22, Z:71.79 [[ 5.16650336e-01 -8.51471560e-01 8.98254555e-02 5.05484908e+02] [ 8.37517010e-01 5.24384634e-01 1.53577385e-01 3.53217245e+02] [-1.77869865e-01 -4.11546076e-03 9.84045413e-01 7.17862201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.7792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:505.50, Y:353.24, Z:71.78 [[ 5.17171936e-01 -8.51197914e-01 8.94164419e-02 5.05500514e+02] [ 8.37356958e-01 5.24827879e-01 1.52934700e-01 3.53238423e+02] [-1.77105939e-01 -4.22005488e-03 9.84182746e-01 7.17801938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:505.52, Y:353.26, Z:71.77 [[ 5.17331736e-01 -8.51124064e-01 8.91947494e-02 5.05515583e+02] [ 8.37335354e-01 5.24947138e-01 1.52643399e-01 3.53261033e+02] [-1.76740998e-01 -4.28135738e-03 9.84248083e-01 7.17747562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8392541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:505.53, Y:353.28, Z:71.77 [[ 5.17462016e-01 -8.51028756e-01 8.93482991e-02 5.05531571e+02] [ 8.37173158e-01 5.25100874e-01 1.53003840e-01 3.53283967e+02] [-1.77127538e-01 -4.37367802e-03 9.84178188e-01 7.17701553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.55, Y:353.30, Z:71.77 [[ 5.17518107e-01 -8.51034980e-01 8.89633127e-02 5.05548470e+02] [ 8.37282283e-01 5.25090535e-01 1.52441164e-01 3.53304827e+02] [-1.76446556e-01 -4.40365695e-03 9.84300371e-01 7.17652620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.8992541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:505.56, Y:353.33, Z:71.76 [[ 5.17217216e-01 -8.51313371e-01 8.80448533e-02 5.05563440e+02] [ 8.37834490e-01 5.24639865e-01 1.50951580e-01 3.53327473e+02] [-1.74698938e-01 -4.30774095e-03 9.84612474e-01 7.17592233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.58, Y:353.35, Z:71.76 [[ 5.17282351e-01 -8.51219272e-01 8.85704234e-02 5.05581369e+02] [ 8.37558906e-01 5.24791606e-01 1.51950153e-01 3.53347700e+02] [-1.75823914e-01 -4.41818559e-03 9.84411718e-01 7.17554377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9592541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:505.60, Y:353.37, Z:71.75 [[ 5.16719481e-01 -8.51586093e-01 8.83295247e-02 5.05596569e+02] [ 8.37994858e-01 5.24197019e-01 1.51598492e-01 3.53370459e+02] [-1.75401241e-01 -4.31420670e-03 9.84487579e-01 7.17494334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 944.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.61, Y:353.39, Z:71.75 [[ 5.16489791e-01 -8.51687241e-01 8.86968954e-02 5.05612228e+02] [ 8.37964590e-01 5.24032335e-01 1.52333378e-01 3.53392017e+02] [-1.76220435e-01 -4.35377686e-03 9.84341101e-01 7.17454447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.63, Y:353.41, Z:71.74 [[ 5.16742389e-01 -8.51908221e-01 8.50275667e-02 5.05634779e+02] [ 8.37949632e-01 5.23626468e-01 1.53804214e-01 3.53414091e+02] [-1.75549759e-01 -8.22833867e-03 9.84436172e-01 7.17425320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:505.64, Y:353.44, Z:71.73 [[ 5.14438479e-01 -8.52460776e-01 9.30788754e-02 5.05642940e+02] [ 8.39001785e-01 5.22790974e-01 1.50882745e-01 3.53438407e+02] [-1.77282418e-01 4.73452533e-04 9.84159906e-01 7.17324423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.66, Y:353.46, Z:71.73 [[ 5.12661544e-01 -8.53927493e-01 8.93642981e-02 5.05663073e+02] [ 8.39957979e-01 5.20377958e-01 1.53874543e-01 3.53459455e+02] [-1.77900913e-01 -3.82330538e-03 9.84040979e-01 7.17294614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1092541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:505.68, Y:353.48, Z:71.72 [[ 5.11333681e-01 -8.54773369e-01 8.88839358e-02 5.05677935e+02] [ 8.40949456e-01 5.18989205e-01 1.53147700e-01 3.53482505e+02] [-1.77036379e-01 -3.56267968e-03 9.84197860e-01 7.17227965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.69, Y:353.51, Z:71.72 [[ 5.10391609e-01 -8.55284195e-01 8.93831729e-02 5.05694220e+02] [ 8.41292522e-01 5.18147644e-01 1.54110065e-01 3.53505596e+02] [-1.78121583e-01 -3.45908899e-03 9.84002407e-01 7.17184202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.71, Y:353.53, Z:71.71 [[ 5.08324830e-01 -8.56499026e-01 8.95281242e-02 5.05711375e+02] [ 8.42461722e-01 5.16139374e-01 1.54461626e-01 3.53527464e+02] [-1.78505223e-01 -3.09266230e-03 9.83934104e-01 7.17123776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.1992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:505.73, Y:353.55, Z:71.71 [[ 5.05940826e-01 -8.57946026e-01 8.91767771e-02 5.05728062e+02] [ 8.44022694e-01 5.13733113e-01 1.53960972e-01 3.53548837e+02] [-1.77903267e-01 -2.62791750e-03 9.84044471e-01 7.17067285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.74, Y:353.57, Z:71.70 [[ 5.04721845e-01 -8.58661455e-01 8.91984642e-02 5.05743983e+02] [ 8.44732477e-01 5.12537533e-01 1.54052979e-01 3.53571167e+02] [-1.77996916e-01 -2.40506406e-03 9.84028106e-01 7.17021939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.76, Y:353.59, Z:71.70 [[ 5.03285004e-01 -8.59507752e-01 8.91663040e-02 5.05759990e+02] [ 8.45583417e-01 5.11118151e-01 1.54100358e-01 3.53594171e+02] [-1.78024969e-01 -2.15885128e-03 9.84023602e-01 7.16971179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.78, Y:353.62, Z:71.69 [[ 5.02284526e-01 -8.60095328e-01 8.91419190e-02 5.05775632e+02] [ 8.46168529e-01 5.10129400e-01 1.54164899e-01 3.53616394e+02] [-1.78070423e-01 -2.00555677e-03 9.84015702e-01 7.16923129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.79, Y:353.64, Z:71.69 [[ 5.00710972e-01 -8.60972943e-01 8.95215812e-02 5.05792597e+02] [ 8.46929893e-01 5.08647811e-01 1.54877891e-01 3.53637813e+02] [-1.78880630e-01 -1.73055613e-03 9.83869262e-01 7.16874659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.81, Y:353.66, Z:71.68 [[ 5.00254724e-01 -8.61250450e-01 8.94028752e-02 5.05808779e+02] [ 8.47232880e-01 5.08177975e-01 1.54763021e-01 3.53660050e+02] [-1.78722294e-01 -1.67587719e-03 9.83898132e-01 7.16822024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.82, Y:353.68, Z:71.68 [[ 5.00431446e-01 -8.61172293e-01 8.91664173e-02 5.05823425e+02] [ 8.47209346e-01 5.08310151e-01 1.54457484e-01 3.53683405e+02] [-1.78338701e-01 -1.75276010e-03 9.83967599e-01 7.16767352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.84, Y:353.71, Z:71.67 [[ 5.00711115e-01 -8.61028020e-01 8.89894851e-02 5.05837552e+02] [ 8.47099687e-01 5.08554136e-01 1.54255669e-01 3.53707042e+02] [-1.78074424e-01 -1.85456308e-03 9.84015274e-01 7.16706770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.85, Y:353.73, Z:71.67 [[ 5.01496360e-01 -8.60587391e-01 8.88298516e-02 5.05851973e+02] [ 8.46683647e-01 5.09298628e-01 1.54083451e-01 3.53730771e+02] [-1.77843197e-01 -2.06150727e-03 9.84056679e-01 7.16651384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.89, Y:353.75, Z:71.69 [[ 5.07737099e-01 -8.59984731e-01 5.12767067e-02 5.05889990e+02] [ 8.44962796e-01 5.08710961e-01 1.65078866e-01 3.53752818e+02] [-1.68050327e-01 -4.04897552e-02 9.84946530e-01 7.16883484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.86, Y:353.79, Z:71.64 [[ 5.04026422e-01 -8.54770411e-01 1.23793820e-01 5.05860430e+02] [ 8.44842651e-01 5.17716349e-01 1.34946943e-01 3.53786748e+02] [-1.79438738e-01 3.65694744e-02 9.83089219e-01 7.16376357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.89, Y:353.80, Z:71.65 [[ 5.02696197e-01 -8.59871518e-01 8.89803681e-02 5.05889127e+02] [ 8.45857555e-01 5.10504543e-01 1.54628938e-01 3.53803807e+02] [-1.78385901e-01 -2.46666226e-03 9.83957512e-01 7.16467813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.90, Y:353.83, Z:71.64 [[ 5.01422210e-01 -8.60593288e-01 8.91905835e-02 5.05901732e+02] [ 8.46513679e-01 5.09287891e-01 1.55049781e-01 3.53827985e+02] [-1.78858485e-01 -2.24435516e-03 9.83872250e-01 7.16407357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.5892541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:505.91, Y:353.85, Z:71.64 [[ 4.99104575e-01 -8.61913380e-01 8.94424300e-02 5.05913864e+02] [ 8.47755382e-01 5.07052237e-01 1.55591904e-01 3.53851567e+02] [-1.79458728e-01 -1.83132982e-03 9.83763798e-01 7.16353157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.93, Y:353.88, Z:71.63 [[ 4.99275058e-01 -8.62329554e-01 8.43336097e-02 5.05933488e+02] [ 8.47594057e-01 5.06286307e-01 1.58929201e-01 3.53875360e+02] [-1.79746299e-01 -7.86871982e-03 9.83681529e-01 7.16349875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6492541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:505.94, Y:353.90, Z:71.62 [[ 4.97101548e-01 -8.62286887e-01 9.67025127e-02 5.05939157e+02] [ 8.48149997e-01 5.06398447e-01 1.55570550e-01 3.53900859e+02] [-1.83116448e-01 4.68387453e-03 9.83080072e-01 7.16219048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.6792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:505.96, Y:353.92, Z:71.62 [[ 4.96924170e-01 -8.63001173e-01 9.10787819e-02 5.05955903e+02] [ 8.48266556e-01 5.05199212e-01 1.58800526e-01 3.53924137e+02] [-1.83057969e-01 -1.65273520e-03 9.83100732e-01 7.16190045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.97, Y:353.95, Z:71.61 [[ 4.96270952e-01 -8.63238855e-01 9.23786833e-02 5.05969735e+02] [ 8.48068167e-01 5.04793072e-01 1.61134539e-01 3.53947776e+02] [-1.85729715e-01 -1.62297080e-03 9.82599531e-01 7.16128136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:505.98, Y:353.97, Z:71.61 [[ 4.96099811e-01 -8.63289014e-01 9.28281012e-02 5.05982659e+02] [ 8.47948946e-01 5.04707136e-01 1.62028678e-01 3.53971893e+02] [-1.86728582e-01 -1.66890580e-03 9.82410124e-01 7.16059362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.00, Y:354.00, Z:71.60 [[ 4.95781219e-01 -8.63501583e-01 9.25526802e-02 5.05995585e+02] [ 8.48236251e-01 5.04343461e-01 1.61656847e-01 3.53996123e+02] [-1.86269282e-01 -1.63989020e-03 9.82497362e-01 7.15997820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.01, Y:354.02, Z:71.59 [[ 4.94608149e-01 -8.64224205e-01 9.20831303e-02 5.06007874e+02] [ 8.49106855e-01 5.03104878e-01 1.60944182e-01 3.54020540e+02] [-1.85419330e-01 -1.41588679e-03 9.82658469e-01 7.15921933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.02, Y:354.04, Z:71.59 [[ 4.93850837e-01 -8.64688654e-01 9.17871621e-02 5.06021352e+02] [ 8.49657056e-01 5.02306542e-01 1.60533562e-01 3.54044438e+02] [-1.84916842e-01 -1.29202383e-03 9.82753322e-01 7.15862143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.03, Y:354.07, Z:71.58 [[ 4.93064863e-01 -8.65160383e-01 9.15672020e-02 5.06034596e+02] [ 8.50188964e-01 5.01493916e-01 1.60257851e-01 3.54067760e+02] [-1.84569138e-01 -1.16809063e-03 9.82818838e-01 7.15807167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.8892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:506.05, Y:354.09, Z:71.58 [[ 4.92786165e-01 -8.65378860e-01 9.10012287e-02 5.06048653e+02] [ 8.50586488e-01 5.01116952e-01 1.59324910e-01 3.54091051e+02] [-1.83478667e-01 -1.10869597e-03 9.83023067e-01 7.15759378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.06, Y:354.11, Z:71.57 [[ 4.92658792e-01 -8.65415567e-01 9.13411809e-02 5.06062562e+02] [ 8.50492088e-01 5.01053456e-01 1.60027005e-01 3.54114990e+02] [-1.84256676e-01 -1.15375945e-03 9.82877483e-01 7.15700493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.08, Y:354.14, Z:71.56 [[ 4.93245723e-01 -8.65087550e-01 9.12808199e-02 5.06076394e+02] [ 8.50158264e-01 5.01619140e-01 1.60028635e-01 3.54139409e+02] [-1.84226986e-01 -1.33029641e-03 9.82882825e-01 7.15647021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 945.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.09, Y:354.16, Z:71.56 [[ 4.94448745e-01 -8.64388756e-01 9.13921028e-02 5.06089310e+02] [ 8.49390641e-01 5.02821402e-01 1.60331459e-01 3.54163201e+02] [-1.84542615e-01 -1.64809168e-03 9.82823131e-01 7.15593011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:506.10, Y:354.19, Z:71.55 [[ 4.95279317e-01 -8.63983148e-01 9.07277169e-02 5.06102075e+02] [ 8.49177256e-01 5.03517358e-01 1.59274160e-01 3.54186437e+02] [-1.83293170e-01 -1.84128344e-03 9.83056572e-01 7.15543749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:506.12, Y:354.21, Z:71.55 [[ 4.96206806e-01 -8.63497244e-01 9.02846335e-02 5.06115124e+02] [ 8.48817932e-01 5.04349426e-01 1.58555272e-01 3.54209717e+02] [-1.82447044e-01 -2.04098926e-03 9.83213563e-01 7.15487538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.13, Y:354.23, Z:71.54 [[ 4.95776430e-01 -8.63679248e-01 9.09059280e-02 5.06128494e+02] [ 8.48784970e-01 5.04037752e-01 1.59718561e-01 3.54233173e+02] [-1.83765626e-01 -2.02511280e-03 9.82968002e-01 7.15426742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.0992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:506.14, Y:354.26, Z:71.54 [[ 4.97045419e-01 -8.62647214e-01 9.37317228e-02 5.06143476e+02] [ 8.48660787e-01 5.05799197e-01 1.54732160e-01 3.54259517e+02] [-1.80888697e-01 2.63752618e-03 9.83500037e-01 7.15350103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.16, Y:354.28, Z:71.53 [[ 4.96340342e-01 -8.63161176e-01 9.27310532e-02 5.06159732e+02] [ 8.48458324e-01 5.04928490e-01 1.58636983e-01 3.54282277e+02] [-1.83751836e-01 -5.95005748e-05 9.82972665e-01 7.15307234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.1592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:506.18, Y:354.31, Z:71.53 [[ 4.95573646e-01 -8.64155571e-01 8.74180241e-02 5.06176159e+02] [ 8.48923980e-01 5.03190238e-01 1.61640528e-01 3.54305578e+02] [-1.83670459e-01 -5.89352874e-03 9.82970208e-01 7.15294643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.19, Y:354.33, Z:71.52 [[ 4.94580005e-01 -8.64229501e-01 9.21845364e-02 5.06187711e+02] [ 8.49273082e-01 5.03096992e-01 1.60089503e-01 3.54329306e+02] [-1.84731834e-01 -8.87221928e-04 9.82788564e-01 7.15228223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.18, Y:354.35, Z:71.50 [[ 4.88877447e-01 -8.64802454e-01 1.14523176e-01 5.06182310e+02] [ 8.50876979e-01 5.01665604e-01 1.56012785e-01 3.54354943e+02] [-1.92372578e-01 2.11740019e-02 9.81093499e-01 7.14993986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.23, Y:354.37, Z:71.52 [[ 4.93168467e-01 -8.66709499e-01 7.48298501e-02 5.06225528e+02] [ 8.50189702e-01 4.98411275e-01 1.69598560e-01 3.54373785e+02] [-1.84288724e-01 -2.00210940e-02 9.82668216e-01 7.15188503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.23, Y:354.40, Z:71.51 [[ 4.91573698e-01 -8.66138666e-01 9.03278002e-02 5.06229886e+02] [ 8.50262765e-01 4.99784650e-01 1.65131868e-01 3.54399576e+02] [-1.88171543e-01 -4.37211760e-03 9.82126445e-01 7.15056122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.25, Y:354.43, Z:71.50 [[ 4.91679890e-01 -8.65970406e-01 9.13572234e-02 5.06245870e+02] [ 8.50526510e-01 5.00089676e-01 1.62834185e-01 3.54425306e+02] [-1.86696390e-01 -2.36055372e-03 9.82414824e-01 7.14997870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.24, Y:354.45, Z:71.48 [[ 4.87408490e-01 -8.66406591e-01 1.08501536e-01 5.06243592e+02] [ 8.51885328e-01 4.99111160e-01 1.58680305e-01 3.54448892e+02] [-1.91635989e-01 1.50887388e-02 9.81350079e-01 7.14814078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:506.28, Y:354.47, Z:71.50 [[ 4.91908836e-01 -8.67282474e-01 7.64644190e-02 5.06280469e+02] [ 8.50311994e-01 4.97433841e-01 1.71840294e-01 3.54469232e+02] [-1.87070065e-01 -1.95111466e-02 9.82152792e-01 7.14952133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.27, Y:354.50, Z:71.47 [[ 4.87808111e-01 -8.66219834e-01 1.08196328e-01 5.06272810e+02] [ 8.51786626e-01 4.99437939e-01 1.58181187e-01 3.54497548e+02] [-1.91057033e-01 1.49981193e-02 9.81464348e-01 7.14698750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4292541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:506.31, Y:354.52, Z:71.48 [[ 4.92917678e-01 -8.66774024e-01 7.57294823e-02 5.06307752e+02] [ 8.50062172e-01 4.98312639e-01 1.70525126e-01 3.54516721e+02] [-1.85543707e-01 -1.96800807e-02 9.82438918e-01 7.14848227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4592541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:506.31, Y:354.54, Z:71.47 [[ 4.93235588e-01 -8.65098926e-01 9.12277557e-02 5.06312911e+02] [ 8.49939411e-01 5.01597303e-01 1.61254900e-01 3.54543427e+02] [-1.85261037e-01 -1.99859062e-03 9.82687312e-01 7.14721550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.32, Y:354.57, Z:71.46 [[ 4.90285242e-01 -8.66747415e-01 9.14838817e-02 5.06323471e+02] [ 8.51509062e-01 4.98745276e-01 1.61819242e-01 3.54568403e+02] [-1.85883563e-01 -1.43823177e-03 9.82570726e-01 7.14645733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.34, Y:354.59, Z:71.46 [[ 4.92324163e-01 -8.65704012e-01 9.04073152e-02 5.06338329e+02] [ 8.50787276e-01 5.00552774e-01 1.60024786e-01 3.54592570e+02] [-1.83787731e-01 -1.86667515e-03 9.82964183e-01 7.14608718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.35, Y:354.61, Z:71.46 [[ 4.93662407e-01 -8.65355776e-01 8.63528215e-02 5.06351658e+02] [ 8.49976551e-01 5.01111163e-01 1.62565266e-01 3.54613753e+02] [-1.83949155e-01 -6.85448727e-03 9.82911860e-01 7.14588227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.5792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:506.36, Y:354.64, Z:71.45 [[ 4.96880922e-01 -8.62814045e-01 9.30659635e-02 5.06364514e+02] [ 8.48077699e-01 5.05521437e-01 1.58783798e-01 3.54640559e+02] [-1.84047731e-01 3.05282445e-05 9.82917307e-01 7.14492069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:506.37, Y:354.66, Z:71.44 [[ 4.94525879e-01 -8.64124906e-01 9.34467846e-02 5.06373282e+02] [ 8.49129302e-01 5.03277398e-01 1.60285024e-01 3.54663544e+02] [-1.85535936e-01 8.33107713e-05 9.82637476e-01 7.14421065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.40, Y:354.69, Z:71.44 [[ 4.97299359e-01 -8.63202890e-01 8.70294074e-02 5.06395053e+02] [ 8.47587112e-01 5.04799886e-01 1.63625066e-01 3.54687260e+02] [-1.85174065e-01 -7.60563655e-03 9.82676305e-01 7.14414036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:506.39, Y:354.71, Z:71.42 [[ 4.91468479e-01 -8.64570899e-01 1.04765902e-01 5.06393574e+02] [ 8.50118668e-01 5.02379465e-01 1.57838919e-01 3.54712613e+02] [-1.89095174e-01 1.14905960e-02 9.81891532e-01 7.14249298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.6992541539998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:506.42, Y:354.73, Z:71.43 [[ 4.90850273e-01 -8.67418192e-01 8.15578933e-02 5.06421115e+02] [ 8.50926855e-01 4.97396811e-01 1.68878360e-01 3.54733302e+02] [-1.87054798e-01 -1.34941874e-02 9.82256794e-01 7.14325243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.7292541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:506.43, Y:354.76, Z:71.42 [[ 4.88545963e-01 -8.66891447e-01 9.91063093e-02 5.06426163e+02] [ 8.51820122e-01 4.98463891e-01 1.61047286e-01 3.54760606e+02] [-1.89011432e-01 5.74174694e-03 9.81958101e-01 7.14172949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.7592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:506.45, Y:354.78, Z:71.43 [[ 4.85694084e-01 -8.70544204e-01 7.90825302e-02 5.06453017e+02] [ 8.53784823e-01 4.91849693e-01 1.70690821e-01 3.54779575e+02] [-1.87490623e-01 -1.53840581e-02 9.82145914e-01 7.14256088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.46, Y:354.81, Z:71.41 [[ 4.84179236e-01 -8.69335979e-01 9.91232734e-02 5.06456317e+02] [ 8.54163335e-01 4.94181265e-01 1.61832862e-01 3.54806722e+02] [-1.89671994e-01 6.31135418e-03 9.81827226e-01 7.14089516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8192541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:506.47, Y:354.83, Z:71.41 [[ 4.83038657e-01 -8.70811569e-01 9.14377736e-02 5.06471961e+02] [ 8.55069208e-01 4.91614834e-01 1.64837817e-01 3.54829825e+02] [-1.88494844e-01 -1.43741309e-03 9.82073128e-01 7.14068818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8492541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:506.49, Y:354.85, Z:71.40 [[ 4.83214665e-01 -8.70877823e-01 8.98632552e-02 5.06486419e+02] [ 8.55150431e-01 4.91491702e-01 1.64783636e-01 3.54854388e+02] [-1.87673459e-01 -2.77926818e-03 9.82227544e-01 7.14020378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.8792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:506.50, Y:354.88, Z:71.39 [[ 4.82622164e-01 -8.70903217e-01 9.27546920e-02 5.06497483e+02] [ 8.55595991e-01 4.91453735e-01 1.62569141e-01 3.54879047e+02] [-1.87166628e-01 9.01071893e-04 9.82327767e-01 7.13936263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9092541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:506.51, Y:354.90, Z:71.39 [[ 4.82475416e-01 -8.71248491e-01 9.02415624e-02 5.06511847e+02] [ 8.55942552e-01 4.90840717e-01 1.62596858e-01 3.54902885e+02] [-1.85956500e-01 -1.20739337e-03 9.82557236e-01 7.13891912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:506.52, Y:354.93, Z:71.38 [[ 4.82033283e-01 -8.71458094e-01 9.05798223e-02 5.06524820e+02] [ 8.56131000e-01 4.90469159e-01 1.62725892e-01 3.54926567e+02] [-1.86235405e-01 -8.91102213e-04 9.82504748e-01 7.13840921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.54, Y:354.95, Z:71.38 [[ 4.80930517e-01 -8.71852346e-01 9.26246459e-02 5.06536727e+02] [ 8.56579483e-01 4.89767342e-01 1.62479353e-01 3.54951511e+02] [-1.87022531e-01 1.19909214e-03 9.82354893e-01 7.13772281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 946.9992541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:506.56, Y:354.98, Z:71.38 [[ 4.81044707e-01 -8.72663260e-01 8.39930005e-02 5.06555530e+02] [ 8.56893303e-01 4.88264018e-01 1.65324274e-01 3.54975738e+02] [-1.85283180e-01 -7.55532762e-03 9.82656125e-01 7.13765098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.57, Y:355.00, Z:71.37 [[ 4.80703480e-01 -8.72439222e-01 8.81701144e-02 5.06566067e+02] [ 8.56957210e-01 4.88712708e-01 1.63658883e-01 3.55001320e+02] [-1.85872284e-01 -3.11337908e-03 9.82568980e-01 7.13696358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0592541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:506.58, Y:355.02, Z:71.36 [[ 4.80315987e-01 -8.72847566e-01 8.62187835e-02 5.06579820e+02] [ 8.56690645e-01 4.87949805e-01 1.67290547e-01 3.55023640e+02] [-1.88089585e-01 -6.48949898e-03 9.82130437e-01 7.13645913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.58, Y:355.05, Z:71.35 [[ 4.80600372e-01 -8.71228952e-01 9.99169455e-02 5.06583919e+02] [ 8.56669129e-01 4.90789959e-01 1.58881151e-01 3.55050517e+02] [-1.87460092e-01 9.23742250e-03 9.82228784e-01 7.13518414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1192541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:506.60, Y:355.07, Z:71.35 [[ 4.80382820e-01 -8.72496135e-01 8.93467466e-02 5.06601473e+02] [ 8.56231059e-01 4.88604023e-01 1.67733367e-01 3.55071312e+02] [-1.90001894e-01 -4.07476826e-03 9.81775268e-01 7.13494429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1492541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:506.62, Y:355.10, Z:71.34 [[ 4.82588121e-01 -8.71350550e-01 8.86392933e-02 5.06615437e+02] [ 8.55427014e-01 4.90642816e-01 1.65874203e-01 3.55096453e+02] [-1.88024810e-01 -4.22447389e-03 9.82155194e-01 7.13444876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.1792541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:506.63, Y:355.12, Z:71.34 [[ 4.84054825e-01 -8.70965446e-01 8.43215128e-02 5.06629992e+02] [ 8.54014639e-01 4.91222713e-01 1.71345392e-01 3.55118850e+02] [-1.90656558e-01 -1.09287573e-02 9.81595965e-01 7.13407606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2092541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:506.63, Y:355.15, Z:71.33 [[ 4.87908285e-01 -8.66819632e-01 1.02806762e-01 5.06630113e+02] [ 8.51737979e-01 4.98542482e-01 1.61238362e-01 3.55148240e+02] [-1.91018116e-01 8.89489108e-03 9.81546209e-01 7.13255419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.65, Y:355.17, Z:71.33 [[ 4.91176610e-01 -8.67064238e-01 8.33375388e-02 5.06653434e+02] [ 8.50357287e-01 4.98037952e-01 1.69854887e-01 3.55169507e+02] [-1.88780355e-01 -1.25620641e-02 9.81938986e-01 7.13309333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:506.66, Y:355.19, Z:71.32 [[ 4.95328584e-01 -8.64277181e-01 8.76045006e-02 5.06661968e+02] [ 8.47726499e-01 5.02931000e-01 1.68582896e-01 3.55194093e+02] [-1.89761369e-01 -9.23927053e-03 9.81786768e-01 7.13238803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.2992541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:506.68, Y:355.22, Z:71.32 [[ 4.97668508e-01 -8.63355957e-01 8.33219546e-02 5.06680134e+02] [ 8.46897446e-01 5.04422995e-01 1.68291884e-01 3.55220116e+02] [-1.87325310e-01 -1.31884201e-02 9.82209394e-01 7.13212810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3292541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:506.69, Y:355.25, Z:71.32 [[ 4.98018451e-01 -8.62747597e-01 8.74311549e-02 5.06692176e+02] [ 8.47496088e-01 5.05594354e-01 1.61631466e-01 3.55246708e+02] [-1.83651857e-01 -6.39789046e-03 9.82970530e-01 7.13188259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3592541539998 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:506.72, Y:355.27, Z:71.33 [[ 4.99843443e-01 -8.63952383e-01 6.11785310e-02 5.06716975e+02] [ 8.47736967e-01 5.02488977e-01 1.69843645e-01 3.55265731e+02] [-1.77478359e-01 -3.30319299e-02 9.83570193e-01 7.13327945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.3892541539999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:506.71, Y:355.30, Z:71.30 [[ 4.98753399e-01 -8.59921019e-01 1.08539800e-01 5.06706407e+02] [ 8.46739561e-01 5.10155837e-01 1.50907713e-01 3.55298651e+02] [-1.85140927e-01 1.66392075e-02 9.82571104e-01 7.13014785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:506.73, Y:355.32, Z:71.30 [[ 4.96614187e-01 -8.62850511e-01 9.41453386e-02 5.06726852e+02] [ 8.48440336e-01 5.05455677e-01 1.57046344e-01 3.55322405e+02] [-1.83093814e-01 1.88526027e-03 9.83093638e-01 7.13019455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:506.74, Y:355.35, Z:71.30 [[ 4.96141330e-01 -8.63821259e-01 8.75020750e-02 5.06741657e+02] [ 8.48868958e-01 5.03771985e-01 1.60110214e-01 3.55345045e+02] [-1.82387700e-01 -5.15949918e-03 9.83213154e-01 7.12993748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.4792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:506.76, Y:355.37, Z:71.30 [[ 4.93546225e-01 -8.65667293e-01 8.38585846e-02 5.06755066e+02] [ 8.50801441e-01 5.00562356e-01 1.59919465e-01 3.55368924e+02] [-1.80413501e-01 -7.58064369e-03 9.83561641e-01 7.12966212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5092541539999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:506.77, Y:355.39, Z:71.29 [[ 4.93421534e-01 -8.65088187e-01 9.03195352e-02 5.06766441e+02] [ 8.50640399e-01 5.01619071e-01 1.57445925e-01 3.55392472e+02] [-1.81510611e-01 -8.57764195e-04 9.83388612e-01 7.12872237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.78, Y:355.42, Z:71.28 [[ 4.89658147e-01 -8.67318236e-01 8.94090358e-02 5.06781947e+02] [ 8.53054482e-01 4.97753843e-01 1.56649809e-01 3.55419250e+02] [-1.80368927e-01 -4.34076531e-04 9.83598933e-01 7.12819129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:506.80, Y:355.44, Z:71.28 [[ 4.89418682e-01 -8.67585148e-01 8.81213104e-02 5.06796282e+02] [ 8.53194992e-01 4.97285272e-01 1.57371102e-01 3.55443540e+02] [-1.80354261e-01 -1.83569664e-03 9.83600006e-01 7.12771806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.5992541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:506.81, Y:355.47, Z:71.27 [[ 4.87952066e-01 -8.68426578e-01 8.79662466e-02 5.06810735e+02] [ 8.54082391e-01 4.95815291e-01 1.57195632e-01 3.55466725e+02] [-1.80127875e-01 -1.57351139e-03 9.83641943e-01 7.12723900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.6292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:506.82, Y:355.48, Z:71.27 [[ 4.86154399e-01 -8.70103942e-01 8.10742315e-02 5.06824993e+02] [ 8.54974946e-01 4.92779501e-01 1.61821522e-01 3.55484804e+02] [-1.80753264e-01 -9.35380821e-03 9.83483993e-01 7.12720736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.6592541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:506.83, Y:355.51, Z:71.26 [[ 4.85367145e-01 -8.69526003e-01 9.13414738e-02 5.06832946e+02] [ 8.55724147e-01 4.93876474e-01 1.54344461e-01 3.55510751e+02] [-1.79317928e-01 3.24937436e-03 9.83785811e-01 7.12621925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.6892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:506.85, Y:355.54, Z:71.26 [[ 4.80396937e-01 -8.72660126e-01 8.76532233e-02 5.06851880e+02] [ 8.58257215e-01 4.88327674e-01 1.57894382e-01 3.55537315e+02] [-1.80591626e-01 -6.22966394e-04 9.83557968e-01 7.12570137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7192541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:506.86, Y:355.56, Z:71.25 [[ 4.78884119e-01 -8.73082465e-01 9.16351994e-02 5.06863983e+02] [ 8.59031973e-01 4.87556278e-01 1.56054301e-01 3.55562104e+02] [-1.80925590e-01 3.98563997e-03 9.83488711e-01 7.12495229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7492541539999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:506.88, Y:355.58, Z:71.24 [[ 4.77323550e-01 -8.74140589e-01 8.96686095e-02 5.06878979e+02] [ 8.59782857e-01 4.85669714e-01 1.57792167e-01 3.55584085e+02] [-1.81481865e-01 1.77761604e-03 9.83392685e-01 7.12449800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.7792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:506.90, Y:355.61, Z:71.24 [[ 4.75699514e-01 -8.75360755e-01 8.63337804e-02 5.06895586e+02] [ 8.60788733e-01 4.83468431e-01 1.59062989e-01 3.55606609e+02] [-1.80977155e-01 -1.35104088e-03 9.83486372e-01 7.12420488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8092541539999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:506.91, Y:355.63, Z:71.24 [[ 4.76100038e-01 -8.75382229e-01 8.38731578e-02 5.06911710e+02] [ 8.60770739e-01 4.83417625e-01 1.59314579e-01 3.55630614e+02] [-1.80006914e-01 -3.65411736e-03 9.83658558e-01 7.12388099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8392541539998 meters Centerline goodness : 0.999648 Centerline is valid? [True, True] Translation: X:506.92, Y:355.66, Z:71.23 [[ 4.75251164e-01 -8.75666610e-01 8.56990059e-02 5.06924692e+02] [ 8.61734552e-01 4.82916121e-01 1.55581430e-01 3.55655735e+02] [-1.77622895e-01 -9.04612694e-05 9.84098623e-01 7.12324787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8692541539999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:506.93, Y:355.68, Z:71.22 [[ 4.73957447e-01 -8.75257369e-01 9.63788221e-02 5.06931974e+02] [ 8.62176916e-01 4.83522152e-01 1.51186290e-01 3.55682128e+02] [-1.78928210e-01 1.14397275e-02 9.83795623e-01 7.12194439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.8992541539999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:506.96, Y:355.70, Z:71.22 [[ 4.74863904e-01 -8.76595490e-01 7.80039743e-02 5.06955319e+02] [ 8.62036573e-01 4.81154399e-01 1.59321662e-01 3.55702169e+02] [-1.77192606e-01 -8.41382806e-03 9.84140228e-01 7.12249562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9292541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:506.96, Y:355.73, Z:71.22 [[ 4.74730336e-01 -8.75897821e-01 8.62213166e-02 5.06964972e+02] [ 8.62099161e-01 4.82495955e-01 1.54863456e-01 3.55727935e+02] [-1.77246000e-01 8.12944282e-04 9.84166243e-01 7.12168352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9592541539998 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:506.97, Y:355.75, Z:71.21 [[ 4.73556880e-01 -8.75906213e-01 9.23698407e-02 5.06974838e+02] [ 8.62590046e-01 4.82422540e-01 1.52338130e-01 3.55752805e+02] [-1.77995208e-01 7.53653559e-03 9.84002493e-01 7.12071685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 947.9892541539998 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:507.00, Y:355.77, Z:71.21 [[ 4.74273710e-01 -8.76729543e-01 8.00609546e-02 5.06995029e+02] [ 8.62446267e-01 4.80949293e-01 1.57715611e-01 3.55773989e+02] [-1.76779195e-01 -5.75209666e-03 9.84233727e-01 7.12093132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0192541539999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:507.01, Y:355.80, Z:71.20 [[ 4.74510517e-01 -8.76046351e-01 8.59218288e-02 5.07005419e+02] [ 8.62300531e-01 4.82226341e-01 1.54581853e-01 3.55799709e+02] [-1.76854637e-01 7.39723642e-04 9.84236704e-01 7.12019141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0492541539999 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:507.01, Y:355.83, Z:71.19 [[ 4.73977647e-01 -8.75281281e-01 9.60618030e-02 5.07013859e+02] [ 8.62362594e-01 4.83474744e-01 1.50276176e-01 3.55826784e+02] [-1.77977380e-01 1.16125572e-02 9.83966057e-01 7.11893876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.0792541539998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:507.04, Y:355.85, Z:71.20 [[ 4.75656319e-01 -8.76323897e-01 7.62069138e-02 5.07036695e+02] [ 8.61752028e-01 4.81614748e-01 1.59469985e-01 3.55846587e+02] [-1.76449732e-01 -1.01814434e-02 9.84256994e-01 7.11961448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1092541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:507.04, Y:355.87, Z:71.19 [[ 4.76167949e-01 -8.75185892e-01 8.55203967e-02 5.07044999e+02] [ 8.61510567e-01 4.83786696e-01 1.54110272e-01 3.55872667e+02] [-1.76248766e-01 2.94353337e-04 9.84345613e-01 7.11868779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1392541539999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:507.06, Y:355.90, Z:71.18 [[ 4.76742615e-01 -8.74891509e-01 8.53306879e-02 5.07057618e+02] [ 8.61253365e-01 4.84318934e-01 1.53875963e-01 3.55895734e+02] [-1.75952041e-01 1.32113191e-04 9.84398731e-01 7.11819875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1692541539999 meters Centerline goodness : 0.999627 Centerline is valid? [True, True] Translation: X:507.07, Y:355.92, Z:71.18 [[ 4.76749653e-01 -8.74905860e-01 8.51440230e-02 5.07071187e+02] [ 8.61315509e-01 4.84293016e-01 1.53609465e-01 3.55919676e+02] [-1.75628477e-01 1.02608320e-04 9.84456514e-01 7.11762008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.1992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:507.08, Y:355.94, Z:71.17 [[ 4.77106647e-01 -8.74681180e-01 8.54522145e-02 5.07084627e+02] [ 8.60968822e-01 4.84698702e-01 1.54272020e-01 3.55943117e+02] [-1.76357410e-01 -3.25138797e-05 9.84326197e-01 7.11719683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.2292541539998 meters Centerline goodness : 0.997582 Centerline is valid? [True, True] Translation: X:507.09, Y:355.97, Z:71.16 [[ 4.75760870e-01 -8.74099889e-01 9.79845875e-02 5.07090918e+02] [ 8.61635603e-01 4.85540755e-01 1.47764216e-01 3.55970732e+02] [-1.76736195e-01 1.41265771e-02 9.84156876e-01 7.11573559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.2592541539999 meters Centerline goodness : 0.997966 Centerline is valid? [True, True] Translation: X:507.11, Y:355.99, Z:71.16 [[ 4.75579195e-01 -8.75663776e-01 8.38890964e-02 5.07110526e+02] [ 8.61568647e-01 4.82916481e-01 1.56496450e-01 3.55991244e+02] [-1.77549699e-01 -2.15024014e-03 9.84109486e-01 7.11589393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.2892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:507.12, Y:356.02, Z:71.15 [[ 4.74634877e-01 -8.75696422e-01 8.87553373e-02 5.07119612e+02] [ 8.62021943e-01 4.82850607e-01 1.54186453e-01 3.56016201e+02] [-1.77876094e-01 3.32678015e-03 9.84047269e-01 7.11505276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:507.14, Y:356.04, Z:71.16 [[ 4.74383893e-01 -8.77453748e-01 7.09566309e-02 5.07141867e+02] [ 8.62800132e-01 4.79431005e-01 1.60380310e-01 3.56038242e+02] [-1.74745113e-01 -1.48604451e-02 9.84501556e-01 7.11580983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3492541539998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:507.14, Y:356.07, Z:71.14 [[ 4.73201338e-01 -8.75546529e-01 9.74616297e-02 5.07143089e+02] [ 8.62889343e-01 4.82942050e-01 1.48959583e-01 3.56068599e+02] [-1.77489365e-01 1.36107276e-02 9.84028594e-01 7.11365164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.3792541539999 meters Centerline goodness : 0.999649 Centerline is valid? [True, True] Translation: X:507.17, Y:356.09, Z:71.15 [[ 4.70315391e-01 -8.79402984e-01 7.38500115e-02 5.07166528e+02] [ 8.64967574e-01 4.75952637e-01 1.59060317e-01 3.56087078e+02] [-1.75027225e-01 -1.09306501e-02 9.84502916e-01 7.11456262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4092541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:507.17, Y:356.12, Z:71.13 [[ 4.69589433e-01 -8.77506410e-01 9.73050072e-02 5.07170584e+02] [ 8.64932564e-01 4.79350764e-01 1.48709464e-01 3.56116943e+02] [-1.77136737e-01 1.43298766e-02 9.84081923e-01 7.11261482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4392541539999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:507.19, Y:356.14, Z:71.14 [[ 4.67163333e-01 -8.81057437e-01 7.41364455e-02 5.07192794e+02] [ 8.66572963e-01 4.72898532e-01 1.59431106e-01 3.56136114e+02] [-1.75526978e-01 -1.02357274e-02 9.84421409e-01 7.11362738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4692541539998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:507.20, Y:356.16, Z:71.13 [[ 4.66679368e-01 -8.80387439e-01 8.44294043e-02 5.07199457e+02] [ 8.66927241e-01 4.74252392e-01 1.53368277e-01 3.56161346e+02] [-1.75064351e-01 1.62034009e-03 9.84555660e-01 7.11261919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.4992541539999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:507.21, Y:356.19, Z:71.12 [[ 4.66309030e-01 -8.80597948e-01 8.42801381e-02 5.07211702e+02] [ 8.67179161e-01 4.73861231e-01 1.53152984e-01 3.56185732e+02] [-1.74803293e-01 1.66936019e-03 9.84601961e-01 7.11207845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5292541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:507.22, Y:356.21, Z:71.12 [[ 4.67440005e-01 -8.80071208e-01 8.35135317e-02 5.07222666e+02] [ 8.66870737e-01 4.74839641e-01 1.51863231e-01 3.56209696e+02] [-1.73305993e-01 1.40848734e-03 9.84867021e-01 7.11160370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5592541539999 meters Centerline goodness : 0.999673 Centerline is valid? [True, True] Translation: X:507.24, Y:356.23, Z:71.11 [[ 4.67911392e-01 -8.79895694e-01 8.27193869e-02 5.07235285e+02] [ 8.66928345e-01 4.75165143e-01 1.50510239e-01 3.56234118e+02] [-1.71738681e-01 1.28632566e-03 9.85141701e-01 7.11095103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.5892541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:507.25, Y:356.26, Z:71.10 [[ 4.70017390e-01 -8.78854667e-01 8.18420870e-02 5.07246973e+02] [ 8.66130087e-01 4.77088835e-01 1.49013139e-01 3.56258983e+02] [-1.70006839e-01 8.47127265e-04 9.85442519e-01 7.11041945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6192541539999 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:507.26, Y:356.28, Z:71.10 [[ 4.70714434e-01 -8.78516138e-01 8.14697306e-02 5.07259417e+02] [ 8.65885480e-01 4.77712197e-01 1.48436496e-01 3.56282712e+02] [-1.69322941e-01 6.72255495e-04 9.85560394e-01 7.10982655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6492541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:507.27, Y:356.31, Z:71.09 [[ 4.71398742e-01 -8.78147333e-01 8.14891845e-02 5.07271629e+02] [ 8.65489503e-01 4.78390024e-01 1.48562797e-01 3.56306477e+02] [-1.69443637e-01 4.95718284e-04 9.85539755e-01 7.10937307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.6792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:507.28, Y:356.33, Z:71.09 [[ 4.72495670e-01 -8.77520533e-01 8.18874541e-02 5.07283996e+02] [ 8.64712803e-01 4.79539010e-01 1.49379069e-01 3.56331042e+02] [-1.70351429e-01 2.28166703e-04 9.85383346e-01 7.10896628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7092541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:507.30, Y:356.35, Z:71.08 [[ 4.72624557e-01 -8.77446395e-01 8.19380985e-02 5.07296456e+02] [ 8.64603853e-01 4.79674682e-01 1.49573982e-01 3.56354456e+02] [-1.70546783e-01 1.51658730e-04 9.85349568e-01 7.10843924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7392541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:507.31, Y:356.38, Z:71.08 [[ 4.74410706e-01 -8.76401750e-01 8.27916320e-02 5.07308460e+02] [ 8.63256013e-01 4.81580624e-01 1.51225524e-01 3.56378518e+02] [-1.72405159e-01 -2.72633228e-04 9.85026084e-01 7.10805869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7692541539999 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:507.32, Y:356.40, Z:71.07 [[ 4.74819107e-01 -8.76201624e-01 8.25683322e-02 5.07321102e+02] [ 8.63108551e-01 4.81944564e-01 1.50907473e-01 3.56402542e+02] [-1.72018732e-01 -3.88318043e-04 9.85093602e-01 7.10746248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.7992541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:507.33, Y:356.43, Z:71.07 [[ 4.76237891e-01 -8.75361478e-01 8.33051861e-02 5.07333775e+02] [ 8.62001155e-01 4.83468430e-01 1.52355791e-01 3.56427639e+02] [-1.73641818e-01 -7.48433774e-04 9.84808590e-01 7.10706796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8292541539998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:507.35, Y:356.45, Z:71.07 [[ 4.79355827e-01 -8.73617997e-01 8.37232763e-02 5.07345404e+02] [ 8.60077082e-01 4.86610234e-01 1.53224977e-01 3.56452123e+02] [-1.74600700e-01 -1.44081439e-03 9.84638268e-01 7.10658734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8592541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:507.36, Y:356.48, Z:71.06 [[ 4.80784321e-01 -8.72836571e-01 8.36824763e-02 5.07358073e+02] [ 8.59280799e-01 4.88009413e-01 1.53242687e-01 3.56476929e+02] [-1.74593658e-01 -1.76993628e-03 9.84638981e-01 7.10607818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.8892541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:507.37, Y:356.50, Z:71.06 [[ 4.83777618e-01 -8.71181957e-01 8.36732610e-02 5.07369059e+02] [ 8.57586152e-01 4.90954317e-01 1.53329226e-01 3.56500786e+02] [-1.74657404e-01 -2.42021782e-03 9.84626292e-01 7.10560943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9192541539999 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:507.38, Y:356.53, Z:71.05 [[ 4.84672264e-01 -8.70698290e-01 8.35301383e-02 5.07380950e+02] [ 8.57125953e-01 4.91810471e-01 1.53158613e-01 3.56525047e+02] [-1.74435939e-01 -2.63588220e-03 9.84664997e-01 7.10500161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9492541539998 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:507.39, Y:356.55, Z:71.04 [[ 4.85760268e-01 -8.70107281e-01 8.33683519e-02 5.07392709e+02] [ 8.56561457e-01 4.92853883e-01 1.52962478e-01 3.56549709e+02] [-1.74182182e-01 -2.89297718e-03 9.84709195e-01 7.10446897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 948.9792541539998 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:507.40, Y:356.58, Z:71.04 [[ 4.88451748e-01 -8.68040971e-01 8.89930456e-02 5.07403771e+02] [ 8.54948108e-01 4.96485180e-01 1.50220501e-01 3.56577280e+02] [-1.74581278e-01 2.70896954e-03 9.84639040e-01 7.10352557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:507.42, Y:356.60, Z:71.03 [[ 4.88869578e-01 -8.68508219e-01 8.18535807e-02 5.07418699e+02] [ 8.54847440e-01 4.95648748e-01 1.53519294e-01 3.56601181e+02] [-1.73903393e-01 -5.07858852e-03 9.84749622e-01 7.10346031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0392541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:507.43, Y:356.62, Z:71.03 [[ 4.89664160e-01 -8.68229818e-01 8.00374544e-02 5.07429210e+02] [ 8.54780112e-01 4.96123657e-01 1.52355757e-01 3.56623962e+02] [-1.71988286e-01 -6.18872945e-03 9.85079555e-01 7.10301633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0692541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:507.44, Y:356.65, Z:71.02 [[ 4.90102010e-01 -8.67528740e-01 8.48168856e-02 5.07442010e+02] [ 8.54717043e-01 4.97386963e-01 1.48542875e-01 3.56651830e+02] [-1.71052026e-01 -3.06723791e-04 9.85261950e-01 7.10221227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.0992541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:507.46, Y:356.68, Z:71.02 [[ 4.88475748e-01 -8.68642645e-01 8.27731772e-02 5.07455021e+02] [ 8.55727940e-01 4.95434825e-01 1.49244856e-01 3.56675656e+02] [-1.70649161e-01 -2.07117203e-03 9.85329678e-01 7.10174287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.1292541539999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:507.47, Y:356.70, Z:71.01 [[ 4.84822077e-01 -8.71038573e-01 7.89896147e-02 5.07468021e+02] [ 8.57844642e-01 4.91183699e-01 1.51132872e-01 3.56696766e+02] [-1.70440972e-01 -5.51173498e-03 9.85352473e-01 7.10144569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.1592541539999 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:507.48, Y:356.72, Z:71.01 [[ 4.82434993e-01 -8.72146582e-01 8.13438248e-02 5.07480393e+02] [ 8.59125446e-01 4.89237962e-01 1.50165524e-01 3.56720604e+02] [-1.70762836e-01 -2.56055395e-03 9.85308834e-01 7.10091058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.1892541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:507.50, Y:356.74, Z:71.01 [[ 4.77966478e-01 -8.74540699e-01 8.20159213e-02 5.07495305e+02] [ 8.61324286e-01 4.84948939e-01 1.51476073e-01 3.56743430e+02] [-1.72245525e-01 -1.75818033e-03 9.85052480e-01 7.10064582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2192541539998 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:507.51, Y:356.77, Z:71.00 [[ 4.74398820e-01 -8.76476941e-01 8.20605398e-02 5.07508712e+02] [ 8.63259151e-01 4.81442581e-01 1.51646560e-01 3.56766929e+02] [-1.72422151e-01 -1.10143711e-03 9.85022532e-01 7.10001948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2492541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:507.52, Y:356.79, Z:71.00 [[ 4.69968966e-01 -8.78804072e-01 8.26593842e-02 5.07523085e+02] [ 8.65407699e-01 4.77182679e-01 1.52860082e-01 3.56790234e+02] [-1.73777689e-01 -3.05426968e-04 9.84784861e-01 7.09970671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.2792541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:507.54, Y:356.81, Z:70.99 [[ 4.67534497e-01 -8.80113319e-01 8.25350833e-02 5.07536714e+02] [ 8.66761099e-01 4.74763655e-01 1.52724164e-01 3.56814022e+02] [-1.73599228e-01 1.34384364e-04 9.84816374e-01 7.09923451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:507.55, Y:356.84, Z:70.99 [[ 4.65305341e-01 -8.81301045e-01 8.24585261e-02 5.07550283e+02] [ 8.67973804e-01 4.72554962e-01 1.52686882e-01 3.56838280e+02] [-1.73529294e-01 5.25818797e-04 9.84828568e-01 7.09871632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3392541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:507.56, Y:356.86, Z:70.98 [[ 4.62076843e-01 -8.83000867e-01 8.24285124e-02 5.07564209e+02] [ 8.69691572e-01 4.69370038e-01 1.52736165e-01 3.56862063e+02] [-1.73555641e-01 1.11153746e-03 9.84823438e-01 7.09818333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3692541539999 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:507.58, Y:356.89, Z:70.98 [[ 4.60158211e-01 -8.84046108e-01 8.19566978e-02 5.07576982e+02] [ 8.70888112e-01 4.67397461e-01 1.51965491e-01 3.56885141e+02] [-1.72650853e-01 1.44694539e-03 9.84982025e-01 7.09759627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.3992541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:507.59, Y:356.91, Z:70.97 [[ 4.59573600e-01 -8.84344793e-01 8.20145933e-02 5.07589687e+02] [ 8.71156413e-01 4.66831864e-01 1.52166078e-01 3.56908840e+02] [-1.72854304e-01 1.51602687e-03 9.84946238e-01 7.09723018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:507.60, Y:356.93, Z:70.97 [[ 4.59523185e-01 -8.84372847e-01 8.19945805e-02 5.07601976e+02] [ 8.71175312e-01 4.66778823e-01 1.52220586e-01 3.56932977e+02] [-1.72893087e-01 1.48276588e-03 9.84939481e-01 7.09673460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:507.61, Y:356.96, Z:70.96 [[ 4.60442610e-01 -8.83909664e-01 8.18309763e-02 5.07614249e+02] [ 8.70742187e-01 4.67655973e-01 1.52006366e-01 3.56957851e+02] [-1.72628641e-01 1.26347528e-03 9.84986171e-01 7.09624977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.4892541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:507.63, Y:356.98, Z:70.96 [[ 4.60206126e-01 -8.84036900e-01 8.17868008e-02 5.07627517e+02] [ 8.70867193e-01 4.67415416e-01 1.52030131e-01 3.56982624e+02] [-1.72628657e-01 1.26024408e-03 9.84986172e-01 7.09572794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:507.64, Y:357.01, Z:70.95 [[ 4.60769514e-01 -8.83753016e-01 8.16826896e-02 5.07639499e+02] [ 8.70595298e-01 4.67952332e-01 1.51935650e-01 3.57006340e+02] [-1.72497194e-01 1.10524977e-03 9.85009389e-01 7.09522221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5492541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:507.65, Y:357.03, Z:70.95 [[ 4.62862121e-01 -8.82655826e-01 8.17150561e-02 5.07651111e+02] [ 8.69453657e-01 4.70019438e-01 1.52092299e-01 3.57030312e+02] [-1.72652819e-01 6.49690025e-04 9.84982529e-01 7.09469688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.5792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:507.66, Y:357.05, Z:70.94 [[ 4.63839003e-01 -8.82158862e-01 8.15421414e-02 5.07663887e+02] [ 8.68993520e-01 4.70951755e-01 1.51837767e-01 3.57054811e+02] [-1.72347446e-01 4.31313993e-04 9.85036127e-01 7.09417050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6092541539998 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:507.68, Y:357.08, Z:70.94 [[ 4.64247501e-01 -8.81983315e-01 8.11152926e-02 5.07676266e+02] [ 8.68936468e-01 4.71280524e-01 1.51142590e-01 3.57079198e+02] [-1.71533300e-01 3.16466306e-04 9.85178272e-01 7.09353093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:507.69, Y:357.10, Z:70.93 [[ 4.67117556e-01 -8.80466687e-01 8.11147493e-02 5.07688193e+02] [ 8.67379313e-01 4.74107929e-01 1.51244171e-01 3.57103882e+02] [-1.71622600e-01 -2.91551913e-04 9.85162727e-01 7.09310715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6692541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:507.70, Y:357.13, Z:70.93 [[ 4.68179608e-01 -8.79904527e-01 8.10917847e-02 5.07700369e+02] [ 8.66797147e-01 4.75150208e-01 1.51310893e-01 3.57127183e+02] [-1.71669918e-01 -5.50546908e-04 9.85154372e-01 7.09262717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.6992541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:507.71, Y:357.15, Z:70.92 [[ 4.68730611e-01 -8.79591598e-01 8.13033521e-02 5.07712173e+02] [ 8.66400674e-01 4.75729060e-01 1.51762093e-01 3.57151505e+02] [-1.72167029e-01 -6.94259519e-04 9.85067527e-01 7.09200811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.7292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:507.72, Y:357.18, Z:70.92 [[ 4.69559783e-01 -8.79135032e-01 8.14567664e-02 5.07724509e+02] [ 8.65868413e-01 4.76571881e-01 1.52154970e-01 3.57175591e+02] [-1.72584768e-01 -9.15013570e-04 9.84994244e-01 7.09162283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.7592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:507.74, Y:357.20, Z:70.91 [[ 4.69535416e-01 -8.79124340e-01 8.17122308e-02 5.07737050e+02] [ 8.65756847e-01 4.76591501e-01 1.52727282e-01 3.57199856e+02] [-1.73209626e-01 -9.67944789e-04 9.84884505e-01 7.09114186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.7892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:507.75, Y:357.22, Z:70.91 [[ 4.69408499e-01 -8.79173138e-01 8.19161459e-02 5.07749778e+02] [ 8.65721103e-01 4.76501407e-01 1.53210249e-01 3.57224132e+02] [-1.73731494e-01 -1.00165683e-03 9.84792549e-01 7.09064768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.76, Y:357.25, Z:70.90 [[ 4.69377370e-01 -8.79170813e-01 8.21192162e-02 5.07762066e+02] [ 8.65632467e-01 4.76505576e-01 1.53697328e-01 3.57247980e+02] [-1.74256469e-01 -1.05698806e-03 9.84699734e-01 7.09023599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8492541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:507.77, Y:357.27, Z:70.90 [[ 4.68552900e-01 -8.79611709e-01 8.21061616e-02 5.07774735e+02] [ 8.66067564e-01 4.75691454e-01 1.53768055e-01 3.57272688e+02] [-1.74313381e-01 -9.38984522e-04 9.84689780e-01 7.08958411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.8792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:507.79, Y:357.30, Z:70.89 [[ 4.68284024e-01 -8.79733387e-01 8.23361479e-02 5.07786403e+02] [ 8.66095346e-01 4.75466370e-01 1.54306782e-01 3.57297317e+02] [-1.74896897e-01 -9.48446370e-04 9.84586297e-01 7.08918677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:507.79, Y:357.32, Z:70.87 [[ 4.65425267e-01 -8.79305703e-01 1.00999018e-01 5.07787356e+02] [ 8.66647362e-01 4.75923457e-01 1.49730469e-01 3.57324315e+02] [-1.79726657e-01 1.78421886e-02 9.83554770e-01 7.08732143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.81, Y:357.35, Z:70.88 [[ 4.65313743e-01 -8.81777468e-01 7.71467315e-02 5.07813942e+02] [ 8.67150378e-01 4.71604268e-01 1.60123816e-01 3.57345987e+02] [-1.77576301e-01 -7.60999467e-03 9.84077612e-01 7.08791854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9692541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:507.83, Y:357.37, Z:70.88 [[ 4.63157857e-01 -8.83511537e-01 6.99440037e-02 5.07829688e+02] [ 8.69283841e-01 4.68240670e-01 1.58418054e-01 3.57369946e+02] [-1.72714805e-01 -1.25713741e-02 9.84891647e-01 7.08792162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 949.9992541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:507.83, Y:357.40, Z:70.86 [[ 4.60016139e-01 -8.82439186e-01 9.84186742e-02 5.07826792e+02] [ 8.70160152e-01 4.70094556e-01 1.47757976e-01 3.57399087e+02] [-1.76653511e-01 1.76689550e-02 9.84114498e-01 7.08576308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:507.85, Y:357.42, Z:70.86 [[ 4.57273400e-01 -8.85630148e-01 8.09955442e-02 5.07848897e+02] [ 8.71731032e-01 4.64390460e-01 1.56289820e-01 3.57420322e+02] [-1.76028535e-01 -8.60848070e-04 9.84384688e-01 7.08601552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0592541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:507.86, Y:357.45, Z:70.85 [[ 4.55752252e-01 -8.86417365e-01 8.09576425e-02 5.07861818e+02] [ 8.72853648e-01 4.62886796e-01 1.54474345e-01 3.57445254e+02] [-1.74402966e-01 2.62142968e-04 9.84674330e-01 7.08544481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.87, Y:357.47, Z:70.85 [[ 4.54303494e-01 -8.86638125e-01 8.64937600e-02 5.07870741e+02] [ 8.73337332e-01 4.62425253e-01 1.53116918e-01 3.57470760e+02] [-1.75756196e-01 5.97667868e-03 9.84415582e-01 7.08463126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:507.89, Y:357.49, Z:70.84 [[ 4.52751125e-01 -8.88043597e-01 7.99686694e-02 5.07885976e+02] [ 8.74580560e-01 4.59759211e-01 1.54046462e-01 3.57494337e+02] [-1.73566307e-01 1.94334438e-04 9.84822166e-01 7.08434249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:507.91, Y:357.52, Z:70.85 [[ 4.54105962e-01 -8.88778226e-01 6.21372790e-02 5.07907499e+02] [ 8.74858061e-01 4.58013961e-01 1.57627991e-01 3.57516288e+02] [-1.68556068e-01 -1.72185111e-02 9.85541666e-01 7.08523769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.1792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:507.91, Y:357.54, Z:70.84 [[ 4.54608585e-01 -8.87192508e-01 7.88700761e-02 5.07911574e+02] [ 8.74681355e-01 4.61397054e-01 1.48476552e-01 3.57544030e+02] [-1.68117705e-01 1.48746993e-03 9.85765806e-01 7.08404936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2092541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:507.92, Y:357.57, Z:70.82 [[ 4.54684692e-01 -8.85846731e-01 9.23980544e-02 5.07919451e+02] [ 8.74481939e-01 4.63699432e-01 1.42352296e-01 3.57572285e+02] [-1.68947241e-01 1.60750201e-02 9.85494000e-01 7.08236309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:507.94, Y:357.59, Z:70.83 [[ 4.54474143e-01 -8.87185034e-01 7.97243280e-02 5.07935643e+02] [ 8.74351430e-01 4.61411784e-01 1.50362038e-01 3.57593109e+02] [-1.70184694e-01 1.37142201e-03 9.85411229e-01 7.08263435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:507.96, Y:357.62, Z:70.83 [[ 4.56213483e-01 -8.87548813e-01 6.42367697e-02 5.07957433e+02] [ 8.74146919e-01 4.60493317e-01 1.54314838e-01 3.57615724e+02] [-1.66542554e-01 -1.42481354e-02 9.85931320e-01 7.08331265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.2992541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:507.96, Y:357.64, Z:70.82 [[ 4.57944173e-01 -8.85525286e-01 7.83077394e-02 5.07962212e+02] [ 8.73119394e-01 4.64590610e-01 1.47709473e-01 3.57642062e+02] [-1.67181513e-01 7.29313782e-04 9.85925864e-01 7.08228744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3292541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:507.97, Y:357.67, Z:70.81 [[ 4.59773501e-01 -8.83665006e-01 8.80027585e-02 5.07972481e+02] [ 8.71706294e-01 4.68014243e-01 1.45226739e-01 3.57668739e+02] [-1.69518331e-01 9.94115252e-03 9.85476894e-01 7.08115070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3592541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:507.99, Y:357.69, Z:70.82 [[ 4.61936433e-01 -8.84055291e-01 7.11405317e-02 5.07991122e+02] [ 8.70774703e-01 4.67301611e-01 1.52907228e-01 3.57687539e+02] [-1.68422529e-01 -8.68604402e-03 9.85676623e-01 7.08174780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.3892541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:508.00, Y:357.71, Z:70.81 [[ 4.63449105e-01 -8.82609967e-01 7.88325687e-02 5.08000175e+02] [ 8.69945441e-01 4.70105765e-01 1.48981540e-01 3.57713341e+02] [-1.68552237e-01 -4.65327586e-04 9.85692613e-01 7.08090714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.01, Y:357.74, Z:70.81 [[ 4.67524028e-01 -8.80354658e-01 7.99809982e-02 5.08013109e+02] [ 8.67265312e-01 4.74314091e-01 1.51251519e-01 3.57737147e+02] [-1.71091094e-01 -1.34897418e-03 9.85254291e-01 7.08062154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.03, Y:357.76, Z:70.80 [[ 4.69562037e-01 -8.79256262e-01 8.01244066e-02 5.08025733e+02] [ 8.66091540e-01 4.76345708e-01 1.51592254e-01 3.57761347e+02] [-1.71455356e-01 -1.78689685e-03 9.85190270e-01 7.08009933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.04, Y:357.78, Z:70.80 [[ 4.73665162e-01 -8.77081256e-01 7.98109274e-02 5.08037819e+02] [ 8.63972525e-01 4.80334921e-01 1.51095469e-01 3.57784499e+02] [-1.70858979e-01 -2.61421121e-03 9.85292025e-01 7.07956104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:508.05, Y:357.81, Z:70.79 [[ 4.74957839e-01 -8.76463676e-01 7.89080184e-02 5.08050665e+02] [ 8.63632241e-01 4.81459636e-01 1.49452238e-01 3.57809002e+02] [-1.68980484e-01 -2.83600320e-03 9.85615317e-01 7.07894234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.06, Y:357.83, Z:70.79 [[ 4.76692060e-01 -8.75490950e-01 7.92481939e-02 5.08064016e+02] [ 8.62518294e-01 4.83223643e-01 1.50190227e-01 3.57833776e+02] [-1.69784786e-01 -3.24147171e-03 9.85475834e-01 7.07851519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:508.08, Y:357.86, Z:70.78 [[ 4.79297709e-01 -8.74090217e-01 7.89936601e-02 5.08076911e+02] [ 8.61166629e-01 4.85748972e-01 1.49799775e-01 3.57857067e+02] [-1.69309607e-01 -3.77198489e-03 9.85555696e-01 7.07802687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.5992541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:508.09, Y:357.88, Z:70.77 [[ 4.80330208e-01 -8.73625352e-01 7.78565116e-02 5.08090029e+02] [ 8.61051624e-01 4.86583333e-01 1.47738826e-01 3.57880859e+02] [-1.66952065e-01 -3.92494536e-03 9.85957201e-01 7.07742270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.10, Y:357.90, Z:70.77 [[ 4.82356767e-01 -8.72509293e-01 7.78426849e-02 5.08103442e+02] [ 8.59910364e-01 4.88578101e-01 1.47802587e-01 3.57904598e+02] [-1.66991362e-01 -4.35584678e-03 9.85948737e-01 7.07699410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.12, Y:357.93, Z:70.76 [[ 4.82857609e-01 -8.72258529e-01 7.75473358e-02 5.08116517e+02] [ 8.59737507e-01 4.89024625e-01 1.47330699e-01 3.57928632e+02] [-1.66433016e-01 -4.46939604e-03 9.86042634e-01 7.07643735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.6892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:508.13, Y:357.95, Z:70.76 [[ 4.83038688e-01 -8.72216548e-01 7.68890060e-02 5.08130150e+02] [ 8.59893585e-01 4.89099326e-01 1.46167277e-01 3.57952842e+02] [-1.65095879e-01 -4.48808660e-03 9.86267311e-01 7.07585190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7192541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:508.14, Y:357.98, Z:70.75 [[ 4.82447585e-01 -8.72637822e-01 7.58126607e-02 5.08144580e+02] [ 8.60650967e-01 4.88348788e-01 1.44206013e-01 3.57975673e+02] [-1.62862642e-01 -4.32360305e-03 9.86639279e-01 7.07528321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.16, Y:358.00, Z:70.75 [[ 4.81137587e-01 -8.73302703e-01 7.64788272e-02 5.08160141e+02] [ 8.61095509e-01 4.87160035e-01 1.45566563e-01 3.57998163e+02] [-1.64381101e-01 -4.18197028e-03 9.86388040e-01 7.07492763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.17, Y:358.02, Z:70.74 [[ 4.79812099e-01 -8.74029033e-01 7.65088146e-02 5.08173938e+02] [ 8.61806061e-01 4.85857394e-01 1.45715156e-01 3.58021002e+02] [-1.64531650e-01 -3.98013453e-03 9.86363774e-01 7.07446393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.19, Y:358.04, Z:70.74 [[ 4.78355103e-01 -8.74811608e-01 7.66879813e-02 5.08187923e+02] [ 8.62524640e-01 4.84448608e-01 1.46153315e-01 3.58043677e+02] [-1.65008003e-01 -3.76791067e-03 9.86285031e-01 7.07401246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:508.20, Y:358.06, Z:70.74 [[ 4.75402882e-01 -8.76413271e-01 7.67585713e-02 5.08203333e+02] [ 8.64107952e-01 4.81548675e-01 1.46384152e-01 3.58064697e+02] [-1.65256002e-01 -3.26375596e-03 9.86245305e-01 7.07366664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8692541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:508.22, Y:358.09, Z:70.73 [[ 4.73566676e-01 -8.77446723e-01 7.63010612e-02 5.08217349e+02] [ 8.65285168e-01 4.79665127e-01 1.45612309e-01 3.58087805e+02] [-1.64366001e-01 -2.93496047e-03 9.86395055e-01 7.07312436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.23, Y:358.11, Z:70.72 [[ 4.70342619e-01 -8.78610294e-01 8.25940228e-02 5.08227481e+02] [ 8.66278279e-01 4.77532698e-01 1.46712186e-01 3.58109370e+02] [-1.68344184e-01 2.54441400e-03 9.85724993e-01 7.07232962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9292541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:508.25, Y:358.13, Z:70.72 [[ 4.69912112e-01 -8.79808403e-01 7.15526497e-02 5.08248638e+02] [ 8.67144286e-01 4.75262037e-01 1.48952286e-01 3.58131553e+02] [-1.65055731e-01 -7.94801191e-03 9.86252217e-01 7.07242807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.26, Y:358.16, Z:70.72 [[ 4.69155799e-01 -8.79725294e-01 7.73061666e-02 5.08260007e+02] [ 8.67232352e-01 4.75476846e-01 1.47749165e-01 3.58156046e+02] [-1.66735970e-01 -2.27496897e-03 9.85998956e-01 7.07179814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 950.9892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:508.27, Y:358.18, Z:70.71 [[ 4.67759589e-01 -8.79973388e-01 8.27514577e-02 5.08272588e+02] [ 8.67836617e-01 4.75008840e-01 1.45692171e-01 3.58180759e+02] [-1.67512907e-01 3.66583526e-03 9.85863067e-01 7.07084473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.29, Y:358.20, Z:70.70 [[ 4.66316980e-01 -8.81007097e-01 7.98434009e-02 5.08285951e+02] [ 8.68644166e-01 4.73102420e-01 1.47076214e-01 3.58202983e+02] [-1.67349294e-01 7.71368554e-04 9.85897367e-01 7.07041407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:508.31, Y:358.22, Z:70.71 [[ 4.66591093e-01 -8.81983182e-01 6.63205716e-02 5.08308496e+02] [ 8.69415668e-01 4.71133599e-01 1.48827178e-01 3.58224826e+02] [-1.62508918e-01 -1.17812919e-02 9.86636738e-01 7.07073757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.32, Y:358.25, Z:70.70 [[ 4.66525738e-01 -8.81262658e-01 7.56958629e-02 5.08317530e+02] [ 8.69282872e-01 4.72623548e-01 1.44824963e-01 3.58250210e+02] [-1.63404479e-01 -1.76345543e-03 9.86557584e-01 7.06989708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:508.33, Y:358.27, Z:70.69 [[ 4.64458217e-01 -8.82390771e-01 7.52668028e-02 5.08330543e+02] [ 8.70544959e-01 4.70515188e-01 1.44107360e-01 3.58273542e+02] [-1.62573179e-01 -1.40871185e-03 9.86695484e-01 7.06937468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:508.34, Y:358.30, Z:70.69 [[ 4.63682178e-01 -8.82779102e-01 7.54976548e-02 5.08343300e+02] [ 8.70849898e-01 4.69786456e-01 1.44641426e-01 3.58298026e+02] [-1.63154204e-01 -1.32052638e-03 9.86599697e-01 7.06886120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.36, Y:358.32, Z:70.68 [[ 4.63215867e-01 -8.82989744e-01 7.58957966e-02 5.08356191e+02] [ 8.70919253e-01 4.69390473e-01 1.45506835e-01 3.58323008e+02] [-1.64105807e-01 -1.30196423e-03 9.86441883e-01 7.06836620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.1992541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:508.37, Y:358.35, Z:70.68 [[ 4.63006695e-01 -8.83140591e-01 7.54154980e-02 5.08367964e+02] [ 8.71208879e-01 4.69106639e-01 1.44686043e-01 3.58348027e+02] [-1.63156028e-01 -1.28795517e-03 9.86599438e-01 7.06782672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.38, Y:358.37, Z:70.67 [[ 4.63739369e-01 -8.82701098e-01 7.60563594e-02 5.08379702e+02] [ 8.70541387e-01 4.69932453e-01 1.46017751e-01 3.58373580e+02] [-1.64631381e-01 -1.50397126e-03 9.86354017e-01 7.06729379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.39, Y:358.40, Z:70.67 [[ 4.63865511e-01 -8.82636065e-01 7.60418579e-02 5.08391992e+02] [ 8.70462915e-01 4.70054350e-01 1.46093197e-01 3.58398675e+02] [-1.64690931e-01 -1.57597812e-03 9.86343963e-01 7.06677673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.2892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:508.40, Y:358.42, Z:70.66 [[ 4.63582319e-01 -8.82807723e-01 7.57757013e-02 5.08403817e+02] [ 8.70705277e-01 4.69731938e-01 1.45685371e-01 3.58423036e+02] [-1.64206438e-01 -1.55885931e-03 9.86424764e-01 7.06628407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.42, Y:358.45, Z:70.66 [[ 4.63702177e-01 -8.82684784e-01 7.64713202e-02 5.08416231e+02] [ 8.70340205e-01 4.69962562e-01 1.47116001e-01 3.58448081e+02] [-1.65795713e-01 -1.66194542e-03 9.86158719e-01 7.06579948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3492541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:508.43, Y:358.47, Z:70.65 [[ 4.62930500e-01 -8.83087589e-01 7.64961629e-02 5.08427324e+02] [ 8.70722946e-01 4.69205555e-01 1.47267440e-01 3.58472298e+02] [-1.65942473e-01 -1.56762533e-03 9.86134189e-01 7.06530886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.3792541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:508.44, Y:358.50, Z:70.65 [[ 4.62776991e-01 -8.83171394e-01 7.64574755e-02 5.08440204e+02] [ 8.70804570e-01 4.69047745e-01 1.47287523e-01 3.58497264e+02] [-1.65942333e-01 -1.58175751e-03 9.86134190e-01 7.06479626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:508.45, Y:358.52, Z:70.64 [[ 4.62614257e-01 -8.83210372e-01 7.69901798e-02 5.08452168e+02] [ 8.70659530e-01 4.68974256e-01 1.48374963e-01 3.58522608e+02] [-1.67152718e-01 -1.60813936e-03 9.85929705e-01 7.06441677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:508.46, Y:358.55, Z:70.64 [[ 4.62401951e-01 -8.83313404e-01 7.70835063e-02 5.08463858e+02] [ 8.70715342e-01 4.68780115e-01 1.48660680e-01 3.58546909e+02] [-1.67449186e-01 -1.62319678e-03 9.85879372e-01 7.06392296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.45, Y:358.58, Z:70.60 [[ 4.56830384e-01 -8.81144374e-01 1.22027014e-01 5.08445668e+02] [ 8.71280520e-01 4.70877899e-01 1.38362783e-01 3.58577025e+02] [-1.79377412e-01 4.31114368e-02 9.82835260e-01 7.06021353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.51, Y:358.59, Z:70.65 [[ 4.60943309e-01 -8.86730355e-01 3.52213574e-02 5.08507753e+02] [ 8.71370317e-01 4.59761676e-01 1.71268713e-01 3.58590442e+02] [-1.68062597e-01 -4.82543217e-02 9.84594579e-01 7.06465570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5292541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:508.46, Y:358.63, Z:70.58 [[ 4.51881140e-01 -8.82149933e-01 1.32721250e-01 5.08460076e+02] [ 8.73477382e-01 4.67757902e-01 1.35054835e-01 3.58628459e+02] [-1.81220027e-01 5.49002774e-02 9.81908988e-01 7.05824995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.50, Y:358.64, Z:70.60 [[ 4.52495451e-01 -8.88425944e-01 7.71181421e-02 5.08504951e+02] [ 8.73092961e-01 4.58965010e-01 1.64498634e-01 3.58643884e+02] [-1.81539383e-01 -7.10357636e-03 9.83358018e-01 7.06012367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.52, Y:358.67, Z:70.60 [[ 4.50721295e-01 -8.89140766e-01 7.92402169e-02 5.08515613e+02] [ 8.74122024e-01 4.57615393e-01 1.62784643e-01 3.58670009e+02] [-1.81000005e-01 -4.10488613e-03 9.83474529e-01 7.05959383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.56, Y:358.69, Z:70.63 [[ 4.54350852e-01 -8.90272631e-01 3.13040892e-02 5.08558843e+02] [ 8.74537977e-01 4.52457994e-01 1.74542516e-01 3.58690686e+02] [-1.69554211e-01 -5.19269262e-02 9.84151901e-01 7.06276893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.52, Y:358.73, Z:70.58 [[ 4.48756701e-01 -8.86687312e-01 1.11368915e-01 5.08524994e+02] [ 8.75617713e-01 4.61183117e-01 1.43540078e-01 3.58726618e+02] [-1.78636630e-01 3.31020229e-02 9.83358129e-01 7.05767972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.6792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:508.57, Y:358.74, Z:70.61 [[ 4.50178491e-01 -8.91706028e-01 4.69008126e-02 5.08574047e+02] [ 8.76734781e-01 4.51359908e-01 1.66163645e-01 3.58742251e+02] [-1.69338270e-01 -3.36837253e-02 9.84982212e-01 7.06087136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7092541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:508.57, Y:358.77, Z:70.59 [[ 4.48970638e-01 -8.90162127e-01 7.76965513e-02 5.08570273e+02] [ 8.77401950e-01 4.55643320e-01 1.50183166e-01 3.58771527e+02] [-1.69089281e-01 7.43273816e-04 9.85600458e-01 7.05902815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.58, Y:358.80, Z:70.58 [[ 4.46423368e-01 -8.91398730e-01 7.81951492e-02 5.08582382e+02] [ 8.78475008e-01 4.53218410e-01 1.51243951e-01 3.58796145e+02] [-1.70258147e-01 1.17365032e-03 9.85398795e-01 7.05839453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.60, Y:358.82, Z:70.58 [[ 4.45284986e-01 -8.91967774e-01 7.81970068e-02 5.08595113e+02] [ 8.79033749e-01 4.52096991e-01 1.51353819e-01 3.58819959e+02] [-1.70355361e-01 1.34222489e-03 9.85381779e-01 7.05790168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.61, Y:358.84, Z:70.57 [[ 4.44043116e-01 -8.92563160e-01 7.84647509e-02 5.08607713e+02] [ 8.79532407e-01 4.50919792e-01 1.51967386e-01 3.58844250e+02] [-1.71021800e-01 1.53221947e-03 9.85266054e-01 7.05738329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8292541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:508.61, Y:358.87, Z:70.56 [[ 4.40503011e-01 -8.93442094e-01 8.78539787e-02 5.08612293e+02] [ 8.80927828e-01 4.49029734e-01 1.49460563e-01 3.58868874e+02] [-1.72983407e-01 1.15551866e-02 9.84856953e-01 7.05599544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8592541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:508.63, Y:358.89, Z:70.56 [[ 4.41680711e-01 -8.93872854e-01 7.68730832e-02 5.08630058e+02] [ 8.80561264e-01 4.48320516e-01 1.53689865e-01 3.58892074e+02] [-1.71842978e-01 -1.90389507e-04 9.85124335e-01 7.05591927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.8892541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:508.65, Y:358.92, Z:70.56 [[ 4.44709387e-01 -8.92940309e-01 6.99368763e-02 5.08648162e+02] [ 8.79413568e-01 4.50113717e-01 1.55014254e-01 3.58916188e+02] [-1.69898023e-01 -7.43285609e-03 9.85433617e-01 7.05597151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.66, Y:358.94, Z:70.55 [[ 4.46388216e-01 -8.91415558e-01 7.82039911e-02 5.08656828e+02] [ 8.78400192e-01 4.53185848e-01 1.51775127e-01 3.58942545e+02] [-1.70735652e-01 9.43772440e-04 9.85316420e-01 7.05514465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:508.68, Y:358.96, Z:70.56 [[ 4.49707904e-01 -8.91280746e-01 5.81500970e-02 5.08680244e+02] [ 8.77509366e-01 4.53023003e-01 1.57313287e-01 3.58964647e+02] [-1.66553635e-01 -1.97177738e-02 9.85835228e-01 7.05599604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 951.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.67, Y:358.99, Z:70.53 [[ 4.51633350e-01 -8.86953414e-01 9.66486377e-02 5.08673154e+02] [ 8.75573965e-01 4.61424542e-01 1.43030152e-01 3.58994889e+02] [-1.71457135e-01 2.00258444e-02 9.84988029e-01 7.05349383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:508.69, Y:359.02, Z:70.54 [[ 4.55323539e-01 -8.86869437e-01 7.83777784e-02 5.08694834e+02] [ 8.73682427e-01 4.62019252e-01 1.52372007e-01 3.59016623e+02] [-1.71346119e-01 -9.01273851e-04 9.85210483e-01 7.05373404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:508.71, Y:359.04, Z:70.53 [[ 4.57253364e-01 -8.85832085e-01 7.88725478e-02 5.08706326e+02] [ 8.72441955e-01 4.64003978e-01 1.53444919e-01 3.59041767e+02] [-1.72523608e-01 -1.35148549e-03 9.85004456e-01 7.05325792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:508.72, Y:359.07, Z:70.53 [[ 4.59888841e-01 -8.84470223e-01 7.88332327e-02 5.08717624e+02] [ 8.71054072e-01 4.66592708e-01 1.53479798e-01 3.59066401e+02] [-1.72531323e-01 -1.91563826e-03 9.85002169e-01 7.05271653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.0992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:508.73, Y:359.09, Z:70.52 [[ 4.61110455e-01 -8.83800300e-01 7.92097047e-02 5.08729673e+02] [ 8.70224883e-01 4.67859007e-01 1.54326284e-01 3.59090376e+02] [-1.73452590e-01 -2.23120681e-03 9.84839693e-01 7.05224367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.1292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:508.74, Y:359.11, Z:70.52 [[ 4.62376629e-01 -8.83125273e-01 7.93574534e-02 5.08743009e+02] [ 8.69478056e-01 4.69130481e-01 1.54675471e-01 3.59114005e+02] [-1.73826818e-01 -2.51875876e-03 9.84773016e-01 7.05172482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.76, Y:359.14, Z:70.51 [[ 4.62860297e-01 -8.82853223e-01 7.95646428e-02 5.08756355e+02] [ 8.69110386e-01 4.69641351e-01 1.55190651e-01 3.59138908e+02] [-1.74377413e-01 -2.68113349e-03 9.84675241e-01 7.05128741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.77, Y:359.16, Z:70.51 [[ 4.63586592e-01 -8.82502663e-01 7.92244962e-02 5.08769700e+02] [ 8.68853151e-01 4.70298738e-01 1.54639258e-01 3.59163037e+02] [-1.73728738e-01 -2.85423352e-03 9.84789409e-01 7.05075708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2192541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:508.78, Y:359.19, Z:70.50 [[ 4.63977884e-01 -8.82358389e-01 7.85378650e-02 5.08781528e+02] [ 8.68924659e-01 4.70568863e-01 1.53410828e-01 3.59186226e+02] [-1.72320805e-01 -2.93574374e-03 9.85036508e-01 7.05020376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.79, Y:359.21, Z:70.50 [[ 4.64778758e-01 -8.81983438e-01 7.80123123e-02 5.08793017e+02] [ 8.68712216e-01 4.71270276e-01 1.52457903e-01 3.59211558e+02] [-1.71230230e-01 -3.08894636e-03 9.85226201e-01 7.04963801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.2792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:508.80, Y:359.24, Z:70.49 [[ 4.65069929e-01 -8.81889261e-01 7.73388237e-02 5.08804967e+02] [ 8.68827205e-01 4.71446085e-01 1.51254344e-01 3.59235503e+02] [-1.69850667e-01 -3.14977288e-03 9.85464779e-01 7.04914122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.82, Y:359.26, Z:70.49 [[ 4.64718186e-01 -8.82121354e-01 7.68044582e-02 5.08817282e+02] [ 8.69233263e-01 4.71012185e-01 1.50269941e-01 3.59259323e+02] [-1.68732160e-01 -3.07218469e-03 9.85657151e-01 7.04862648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3392541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:508.83, Y:359.28, Z:70.48 [[ 4.63488419e-01 -8.82811134e-01 7.63085035e-02 5.08830078e+02] [ 8.70089662e-01 4.69719590e-01 1.49356913e-01 3.59282365e+02] [-1.67697545e-01 -2.82995955e-03 9.85834431e-01 7.04800769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:508.84, Y:359.31, Z:70.48 [[ 4.61860737e-01 -8.83702193e-01 7.58623284e-02 5.08843538e+02] [ 8.71125737e-01 4.68042727e-01 1.48579798e-01 3.59305261e+02] [-1.66807105e-01 -2.53754851e-03 9.85986283e-01 7.04763882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.3992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:508.86, Y:359.33, Z:70.47 [[ 4.60472833e-01 -8.84427748e-01 7.58441082e-02 5.08856494e+02] [ 8.71855440e-01 4.66671443e-01 1.48613109e-01 3.59329526e+02] [-1.66831836e-01 -2.30720077e-03 9.85982665e-01 7.04721037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.87, Y:359.35, Z:70.47 [[ 4.57511985e-01 -8.85964465e-01 7.58271032e-02 5.08869892e+02] [ 8.73399818e-01 4.63749635e-01 1.48691070e-01 3.59352379e+02] [-1.66899795e-01 -1.80056835e-03 9.85972219e-01 7.04677959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.88, Y:359.38, Z:70.46 [[ 4.55759896e-01 -8.86859974e-01 7.59098448e-02 5.08883168e+02] [ 8.74267738e-01 4.62035833e-01 1.48925523e-01 3.59376670e+02] [-1.67149154e-01 -1.50875279e-03 9.85930466e-01 7.04631377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.4892541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:508.90, Y:359.40, Z:70.46 [[ 4.53711703e-01 -8.87928180e-01 7.56917274e-02 5.08896191e+02] [ 8.75405217e-01 4.59980646e-01 1.48605219e-01 3.59400880e+02] [-1.66767492e-01 -1.16299411e-03 9.85995564e-01 7.04576963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:508.91, Y:359.43, Z:70.45 [[ 4.51064172e-01 -8.89237259e-01 7.61459757e-02 5.08910033e+02] [ 8.76562261e-01 4.57445687e-01 1.49606306e-01 3.59425352e+02] [-1.67868150e-01 -7.35355914e-04 9.85809182e-01 7.04537735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.92, Y:359.45, Z:70.45 [[ 4.50412077e-01 -8.89564808e-01 7.61801325e-02 5.08922646e+02] [ 8.76864406e-01 4.56808505e-01 1.49782522e-01 3.59449154e+02] [-1.68040993e-01 -6.64210219e-04 9.85779785e-01 7.04506167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.93, Y:359.47, Z:70.45 [[ 4.47615348e-01 -8.90935538e-01 7.66444291e-02 5.08932511e+02] [ 8.78199563e-01 4.54129776e-01 1.50105542e-01 3.59472648e+02] [-1.68540879e-01 1.19559642e-04 9.85694657e-01 7.04454453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6092541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:508.95, Y:359.50, Z:70.44 [[ 4.48352713e-01 -8.90777096e-01 7.41350890e-02 5.08948210e+02] [ 8.78249164e-01 4.54437534e-01 1.48878921e-01 3.59497709e+02] [-1.66307700e-01 -1.64118815e-03 9.86072541e-01 7.04405872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.96, Y:359.52, Z:70.44 [[ 4.50134281e-01 -8.89779685e-01 7.53076456e-02 5.08959883e+02] [ 8.77341816e-01 4.56389823e-01 1.48255411e-01 3.59522784e+02] [-1.66284296e-01 -6.64296257e-04 9.86077630e-01 7.04362438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:508.97, Y:359.55, Z:70.43 [[ 4.51397878e-01 -8.89187518e-01 7.47362958e-02 5.08971953e+02] [ 8.76913512e-01 4.57542025e-01 1.47234465e-01 3.59547195e+02] [-1.65114045e-01 -9.24057545e-04 9.86274048e-01 7.04317723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.6992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:508.98, Y:359.57, Z:70.43 [[ 4.53986881e-01 -8.87932288e-01 7.39740820e-02 5.08982333e+02] [ 8.75875222e-01 4.59972008e-01 1.45836716e-01 3.59571577e+02] [-1.63519136e-01 -1.41589029e-03 9.86539146e-01 7.04266063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.7292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:508.99, Y:359.60, Z:70.42 [[ 4.54948477e-01 -8.87484877e-01 7.34334810e-02 5.08993876e+02] [ 8.75583806e-01 4.60834036e-01 1.44861971e-01 3.59596830e+02] [-1.62403456e-01 -1.60756632e-03 9.86723129e-01 7.04215074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.01, Y:359.62, Z:70.42 [[ 4.57160201e-01 -8.86343163e-01 7.34870686e-02 5.09005229e+02] [ 8.74392868e-01 4.63024338e-01 1.45070930e-01 3.59622607e+02] [-1.62608928e-01 -2.06408664e-03 9.86688439e-01 7.04180075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.7892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:509.02, Y:359.65, Z:70.41 [[ 4.57163466e-01 -8.86334283e-01 7.35738032e-02 5.09016595e+02] [ 8.74338040e-01 4.63041087e-01 1.45347663e-01 3.59646552e+02] [-1.62894311e-01 -2.11926665e-03 9.86641248e-01 7.04137608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.03, Y:359.67, Z:70.41 [[ 4.56568528e-01 -8.86597485e-01 7.40950665e-02 5.09028555e+02] [ 8.74417212e-01 4.62537085e-01 1.46471786e-01 3.59671565e+02] [-1.64133233e-01 -2.08440626e-03 9.86435977e-01 7.04089311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:509.04, Y:359.70, Z:70.41 [[ 4.53767680e-01 -8.88002177e-01 7.44783658e-02 5.09040429e+02] [ 8.75695247e-01 4.59836335e-01 1.47337638e-01 3.59695802e+02] [-1.65084002e-01 -1.63670702e-03 9.86278152e-01 7.04050005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.8792541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:509.05, Y:359.72, Z:70.40 [[ 4.51639691e-01 -8.89073356e-01 7.46334802e-02 5.09052738e+02] [ 8.76713186e-01 4.57762925e-01 1.47739958e-01 3.59720393e+02] [-1.65516101e-01 -1.29307295e-03 9.86206240e-01 7.04002259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.05, Y:359.75, Z:70.39 [[ 4.44772611e-01 -8.91188719e-01 8.92187880e-02 5.09054559e+02] [ 8.79272079e-01 4.53429949e-01 1.45883143e-01 3.59745718e+02] [-1.70463882e-01 1.35627628e-02 9.85270580e-01 7.03867661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.07, Y:359.77, Z:70.39 [[ 4.41512684e-01 -8.94056974e-01 7.56880239e-02 5.09073503e+02] [ 8.80857203e-01 4.47952339e-01 1.53066293e-01 3.59767594e+02] [-1.70754614e-01 -9.10368766e-04 9.85313165e-01 7.03875826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.10, Y:359.79, Z:70.39 [[ 4.37352449e-01 -8.97197883e-01 6.13090117e-02 5.09096501e+02] [ 8.83554935e-01 4.41397668e-01 1.56520848e-01 3.59792396e+02] [-1.67491828e-01 -1.42848963e-02 9.85769968e-01 7.03933947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 952.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.09, Y:359.82, Z:70.37 [[ 4.31645071e-01 -8.97575571e-01 8.96695469e-02 5.09090529e+02] [ 8.85666503e-01 4.40565444e-01 1.46618334e-01 3.59820599e+02] [-1.71106339e-01 1.61302328e-02 9.85120519e-01 7.03720832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:509.11, Y:359.84, Z:70.38 [[ 4.25925832e-01 -9.02025974e-01 7.02590105e-02 5.09112486e+02] [ 8.88875514e-01 4.31671854e-01 1.53491798e-01 3.59842171e+02] [-1.68782426e-01 -2.92460777e-03 9.85648994e-01 7.03766374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.12, Y:359.87, Z:70.37 [[ 4.23984179e-01 -9.02463549e-01 7.61377639e-02 5.09121187e+02] [ 8.89918880e-01 4.30746181e-01 1.50007052e-01 3.59868012e+02] [-1.68171947e-01 4.15581697e-03 9.85748916e-01 7.03695982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.0892541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:509.13, Y:359.89, Z:70.36 [[ 4.20828601e-01 -9.04150613e-01 7.35863912e-02 5.09133515e+02] [ 8.91806380e-01 4.27203636e-01 1.48924255e-01 3.59893721e+02] [-1.66086331e-01 2.95322708e-03 9.86106794e-01 7.03644619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:509.15, Y:359.92, Z:70.37 [[ 4.21090064e-01 -9.04782868e-01 6.36484065e-02 5.09151063e+02] [ 8.92376834e-01 4.25829047e-01 1.49442996e-01 3.59918719e+02] [-1.62316803e-01 -6.13059741e-03 9.86719652e-01 7.03662969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1492541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:509.16, Y:359.94, Z:70.36 [[ 4.20771697e-01 -9.04209435e-01 7.31879568e-02 5.09157373e+02] [ 8.92593095e-01 4.27065545e-01 1.44542683e-01 3.59944930e+02] [-1.61952912e-01 4.50759475e-03 9.86788192e-01 7.03568486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.1792541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:509.17, Y:359.97, Z:70.35 [[ 4.20401490e-01 -9.04414750e-01 7.27773821e-02 5.09166340e+02] [ 8.92802577e-01 4.26633535e-01 1.44524686e-01 3.59970059e+02] [-1.61759530e-01 4.21744098e-03 9.86821193e-01 7.03522866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.18, Y:360.00, Z:70.35 [[ 4.21187205e-01 -9.04009729e-01 7.32649255e-02 5.09175356e+02] [ 8.92223406e-01 4.27492595e-01 1.45559180e-01 3.59996148e+02] [-1.62907128e-01 4.06101728e-03 9.86633050e-01 7.03474326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2392541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:509.19, Y:360.02, Z:70.34 [[ 4.21460732e-01 -9.03910881e-01 7.29107039e-02 5.09186251e+02] [ 8.92221112e-01 4.27702515e-01 1.44955325e-01 3.60020686e+02] [-1.62210787e-01 3.95949208e-03 9.86748186e-01 7.03428831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.20, Y:360.05, Z:70.34 [[ 4.22563008e-01 -9.03361436e-01 7.33390729e-02 5.09197431e+02] [ 8.91509946e-01 4.28863834e-01 1.45896639e-01 3.60046130e+02] [-1.63249874e-01 3.73199004e-03 9.86577696e-01 7.03381699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.21, Y:360.07, Z:70.33 [[ 4.22330516e-01 -9.03473461e-01 7.32983010e-02 5.09210002e+02] [ 8.91620095e-01 4.28627811e-01 1.45917120e-01 3.60071298e+02] [-1.63249935e-01 3.72898566e-03 9.86577698e-01 7.03331550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3292541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:509.22, Y:360.10, Z:70.33 [[ 4.24985979e-01 -9.02297090e-01 7.24353399e-02 5.09219590e+02] [ 8.90690979e-01 4.31102943e-01 1.44290794e-01 3.60097123e+02] [-1.61420252e-01 3.19593943e-03 9.86880585e-01 7.03286088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3592541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:509.23, Y:360.12, Z:70.32 [[ 4.26753318e-01 -9.01453202e-01 7.25515724e-02 5.09229749e+02] [ 8.89780110e-01 4.32867291e-01 1.44628025e-01 3.60122745e+02] [-1.61780599e-01 2.83445645e-03 9.86822681e-01 7.03237262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.3892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:509.23, Y:360.15, Z:70.31 [[ 4.30102231e-01 -8.98935793e-01 8.32256679e-02 5.09231649e+02] [ 8.87666747e-01 4.37898932e-01 1.42450947e-01 3.60150677e+02] [-1.64498686e-01 1.26081877e-02 9.86296718e-01 7.03119898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.25, Y:360.17, Z:70.31 [[ 4.32954651e-01 -8.98606896e-01 7.11049670e-02 5.09248896e+02] [ 8.86267258e-01 4.38752908e-01 1.48412374e-01 3.60174726e+02] [-1.64561894e-01 -1.23782356e-03 9.86365982e-01 7.03127181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.26, Y:360.20, Z:70.31 [[ 4.38991161e-01 -8.96107967e-01 6.54008577e-02 5.09260895e+02] [ 8.83623242e-01 4.43768722e-01 1.49262482e-01 3.60200331e+02] [-1.62778154e-01 -7.73519230e-03 9.86632373e-01 7.03122823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.4792541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:509.27, Y:360.23, Z:70.30 [[ 4.42824881e-01 -8.93604177e-01 7.33328065e-02 5.09266450e+02] [ 8.81999041e-01 4.48854477e-01 1.43552604e-01 3.60225507e+02] [-1.61194965e-01 1.11080017e-03 9.86921957e-01 7.03046515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:509.27, Y:360.25, Z:70.29 [[ 4.44652128e-01 -8.91922939e-01 8.22067932e-02 5.09270310e+02] [ 8.80303582e-01 4.52108488e-01 1.43748105e-01 3.60254651e+02] [-1.65378621e-01 8.44903377e-03 9.86193959e-01 7.02947149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5392541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:509.29, Y:360.28, Z:70.30 [[ 4.47459485e-01 -8.92204049e-01 6.12531206e-02 5.09292676e+02] [ 8.79637161e-01 4.51441100e-01 1.49797855e-01 3.60277429e+02] [-1.61302429e-01 -1.31479499e-02 9.86817439e-01 7.02999054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:509.30, Y:360.30, Z:70.29 [[ 4.48958688e-01 -8.90567801e-01 7.29731980e-02 5.09297091e+02] [ 8.78598760e-01 4.54848881e-01 1.45522212e-01 3.60304913e+02] [-1.62789174e-01 -1.21930038e-03 9.86660123e-01 7.02909380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.5992541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:509.31, Y:360.33, Z:70.29 [[ 4.50565524e-01 -8.90009737e-01 6.98095760e-02 5.09308033e+02] [ 8.78010555e-01 4.55920652e-01 1.45718308e-01 3.60331267e+02] [-1.61518340e-01 -4.36210118e-03 9.86860070e-01 7.02877768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.32, Y:360.36, Z:70.28 [[ 4.51807044e-01 -8.89115968e-01 7.30971324e-02 5.09318200e+02] [ 8.77115570e-01 4.57678946e-01 1.45596222e-01 3.60357668e+02] [-1.62906944e-01 -1.66676571e-03 9.86640030e-01 7.02818411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.6592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:509.32, Y:360.38, Z:70.27 [[ 4.51474240e-01 -8.89048161e-01 7.59235067e-02 5.09324785e+02] [ 8.77319983e-01 4.57810803e-01 1.43940671e-01 3.60382109e+02] [-1.62728790e-01 1.62370449e-03 9.86669501e-01 7.02745823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.6892541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:509.34, Y:360.41, Z:70.27 [[ 4.50702769e-01 -8.89978442e-01 6.93208951e-02 5.09338716e+02] [ 8.78285004e-01 4.55985494e-01 1.43849506e-01 3.60407036e+02] [-1.59632282e-01 -3.94986805e-03 9.87168645e-01 7.02720863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7192541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:509.35, Y:360.43, Z:70.26 [[ 4.50572517e-01 -8.89634260e-01 7.43995355e-02 5.09346338e+02] [ 8.78121580e-01 4.56672505e-01 1.42662938e-01 3.60432076e+02] [-1.60894059e-01 1.05183888e-03 9.86971122e-01 7.02648938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.36, Y:360.46, Z:70.26 [[ 4.50516144e-01 -8.90169707e-01 6.80668572e-02 5.09361472e+02] [ 8.78357139e-01 4.55597424e-01 1.44636522e-01 3.60457596e+02] [-1.59762135e-01 -5.37407826e-03 9.87140912e-01 7.02633587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.37, Y:360.48, Z:70.25 [[ 4.50511307e-01 -8.89586307e-01 7.53376728e-02 5.09366881e+02] [ 8.78250028e-01 4.56760922e-01 1.41585129e-01 3.60483795e+02] [-1.60363497e-01 2.37961190e-03 9.87055159e-01 7.02542663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:509.38, Y:360.51, Z:70.25 [[ 4.50164781e-01 -8.90451525e-01 6.66914639e-02 5.09383619e+02] [ 8.78942710e-01 4.55042759e-01 1.42813863e-01 3.60508679e+02] [-1.57516290e-01 -5.67179552e-03 9.87500101e-01 7.02537104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8392541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:509.39, Y:360.53, Z:70.24 [[ 4.49655793e-01 -8.90096208e-01 7.44204892e-02 5.09390300e+02] [ 8.79135614e-01 4.55764107e-01 1.39282628e-01 3.60534092e+02] [-1.57893127e-01 2.79646201e-03 9.87452247e-01 7.02437566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8692541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:509.41, Y:360.56, Z:70.24 [[ 4.48978099e-01 -8.91054524e-01 6.66370923e-02 5.09407774e+02] [ 8.79811563e-01 4.53871327e-01 1.41182268e-01 3.60559262e+02] [-1.56045764e-01 -4.75966217e-03 9.87738359e-01 7.02426451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.8992541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:509.42, Y:360.58, Z:70.24 [[ 4.47314762e-01 -8.91681560e-01 6.93793850e-02 5.09418516e+02] [ 8.80527774e-01 4.52659628e-01 1.40606192e-01 3.60584593e+02] [-1.56781196e-01 -1.80475013e-03 9.87631713e-01 7.02377921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9292541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:509.42, Y:360.61, Z:70.23 [[ 4.44785150e-01 -8.91860946e-01 8.21597393e-02 5.09422683e+02] [ 8.81050431e-01 4.52184785e-01 1.38849049e-01 3.60610550e+02] [-1.60985428e-01 1.06288785e-02 9.86899549e-01 7.02253354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9592541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:509.45, Y:360.63, Z:70.23 [[ 4.43913246e-01 -8.93986341e-01 6.10692509e-02 5.09448387e+02] [ 8.81820305e-01 4.47944060e-01 1.47441750e-01 3.60633675e+02] [-1.59166519e-01 -1.15992403e-02 9.87183609e-01 7.02315140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 953.9892541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:509.45, Y:360.66, Z:70.22 [[ 4.43179062e-01 -8.93157134e-01 7.65679577e-02 5.09451487e+02] [ 8.81554349e-01 4.49728002e-01 1.43550182e-01 3.60659253e+02] [-1.62647624e-01 3.88038119e-03 9.86676590e-01 7.02203282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0192541539999 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:509.47, Y:360.68, Z:70.22 [[ 4.42296851e-01 -8.93947448e-01 7.23288024e-02 5.09465499e+02] [ 8.82054839e-01 4.48171538e-01 1.45332492e-01 3.60682990e+02] [-1.62335321e-01 -4.82133219e-04 9.86735533e-01 7.02172293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0492541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:509.48, Y:360.71, Z:70.21 [[ 4.42261051e-01 -8.93908930e-01 7.30204593e-02 5.09477660e+02] [ 8.81768334e-01 4.48248284e-01 1.46826705e-01 3.60708356e+02] [-1.63980999e-01 -5.48604278e-04 9.86463345e-01 7.02124297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.0792541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:509.49, Y:360.73, Z:70.20 [[ 4.41799803e-01 -8.93781412e-01 7.72510335e-02 5.09485705e+02] [ 8.82177466e-01 4.48478281e-01 1.43631997e-01 3.60734310e+02] [-1.63021020e-01 4.69253281e-03 9.86611437e-01 7.02029470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1092541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:509.50, Y:360.76, Z:70.20 [[ 4.44230854e-01 -8.93333057e-01 6.79337759e-02 5.09502928e+02] [ 8.80892674e-01 4.49352252e-01 1.48696504e-01 3.60756860e+02] [-1.63361698e-01 -6.21320951e-03 9.86546680e-01 7.02035605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.52, Y:360.78, Z:70.20 [[ 4.45588164e-01 -8.92691201e-01 6.74804284e-02 5.09516446e+02] [ 8.80699023e-01 4.50634081e-01 1.45938879e-01 3.60783552e+02] [-1.60687334e-01 -5.59869002e-03 9.86989481e-01 7.02000048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1692541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:509.52, Y:360.81, Z:70.19 [[ 4.48156950e-01 -8.90725048e-01 7.59225739e-02 5.09522659e+02] [ 8.79426788e-01 4.54529998e-01 1.41460265e-01 3.60808206e+02] [-1.60511289e-01 3.37194434e-03 9.87028245e-01 7.01892323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.1992541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:509.54, Y:360.83, Z:70.19 [[ 4.49537989e-01 -8.90416614e-01 7.12309594e-02 5.09536776e+02] [ 8.78765245e-01 4.55142220e-01 1.43586920e-01 3.60831633e+02] [-1.60272396e-01 -1.95248363e-03 9.87070893e-01 7.01855871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.2292541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:509.55, Y:360.86, Z:70.18 [[ 4.52287986e-01 -8.89010771e-01 7.13822582e-02 5.09549313e+02] [ 8.77280955e-01 4.57879519e-01 1.43959970e-01 3.60856702e+02] [-1.60666438e-01 -2.48906950e-03 9.87005623e-01 7.01805697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.56, Y:360.88, Z:70.18 [[ 4.53406061e-01 -8.88405809e-01 7.18196547e-02 5.09561105e+02] [ 8.76504492e-01 4.59050568e-01 1.44956722e-01 3.60880234e+02] [-1.61749247e-01 -2.77400617e-03 9.86827992e-01 7.01767469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.2892541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:509.57, Y:360.90, Z:70.17 [[ 4.54132908e-01 -8.88052674e-01 7.15943453e-02 5.09574761e+02] [ 8.76212787e-01 4.59732465e-01 1.44558684e-01 3.60904691e+02] [-1.61289971e-01 -2.91697474e-03 9.86902749e-01 7.01709686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:509.59, Y:360.93, Z:70.17 [[ 4.54638015e-01 -8.87739525e-01 7.22690180e-02 5.09587254e+02] [ 8.75651247e-01 4.60335596e-01 1.46034352e-01 3.60928614e+02] [-1.62908468e-01 -3.11031238e-03 9.86636284e-01 7.01668839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.60, Y:360.95, Z:70.16 [[ 4.54795181e-01 -8.87613684e-01 7.28237027e-02 5.09601431e+02] [ 8.75326599e-01 4.60577531e-01 1.47213052e-01 3.60952128e+02] [-1.64209280e-01 -3.20726243e-03 9.86420309e-01 7.01626064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.61, Y:360.98, Z:70.16 [[ 4.54918912e-01 -8.87537709e-01 7.29767015e-02 5.09614806e+02] [ 8.75179544e-01 4.60723319e-01 1.47630584e-01 3.60976241e+02] [-1.64649778e-01 -3.29222819e-03 9.86346598e-01 7.01579641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4092541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:509.63, Y:361.00, Z:70.15 [[ 4.54302918e-01 -8.87357622e-01 7.87737923e-02 5.09625626e+02] [ 8.75417039e-01 4.61071840e-01 1.45112940e-01 3.61001167e+02] [-1.65087451e-01 3.03468800e-03 9.86274264e-01 7.01476717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4392541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:509.64, Y:361.02, Z:70.14 [[ 4.55439092e-01 -8.87224655e-01 7.35366918e-02 5.09641812e+02] [ 8.74765450e-01 4.61326753e-01 1.48199307e-01 3.61024817e+02] [-1.65410522e-01 -3.16840046e-03 9.86219712e-01 7.01447379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4692541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:509.66, Y:361.05, Z:70.14 [[ 4.57316971e-01 -8.86854250e-01 6.59600406e-02 5.09659830e+02] [ 8.74203073e-01 4.61923612e-01 1.49651476e-01 3.61049178e+02] [-1.63187547e-01 -1.07756895e-02 9.86536218e-01 7.01437963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.67, Y:361.07, Z:70.14 [[ 4.58994380e-01 -8.85363356e-01 7.38639744e-02 5.09667333e+02] [ 8.72926581e-01 4.64887155e-01 1.47915911e-01 3.61073388e+02] [-1.65297740e-01 -3.41474509e-03 9.86237799e-01 7.01375889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5292541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:509.68, Y:361.10, Z:70.13 [[ 4.59862435e-01 -8.84404692e-01 7.97175111e-02 5.09678602e+02] [ 8.72431726e-01 4.66712197e-01 1.45060706e-01 3.61098885e+02] [-1.65497503e-01 2.84011647e-03 9.86206120e-01 7.01269434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5592541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:509.69, Y:361.12, Z:70.12 [[ 4.60042705e-01 -8.84735029e-01 7.48641315e-02 5.09693905e+02] [ 8.72281270e-01 4.66086159e-01 1.47949579e-01 3.61122498e+02] [-1.65789311e-01 -2.76054475e-03 9.86157332e-01 7.01238933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.5892541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:509.71, Y:361.15, Z:70.12 [[ 4.61010112e-01 -8.84655704e-01 6.96703857e-02 5.09711977e+02] [ 8.71908076e-01 4.66170165e-01 1.49872229e-01 3.61147021e+02] [-1.65063578e-01 -8.34644123e-03 9.86247612e-01 7.01216716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:509.72, Y:361.17, Z:70.11 [[ 4.59977105e-01 -8.84657253e-01 7.61748483e-02 5.09721729e+02] [ 8.72247366e-01 4.66239591e-01 1.47665763e-01 3.61172913e+02] [-1.66149319e-01 -1.47955954e-03 9.86099495e-01 7.01137306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6492541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:509.74, Y:361.19, Z:70.12 [[ 4.57959201e-01 -8.86572837e-01 6.52837966e-02 5.09743158e+02] [ 8.73594080e-01 4.62422262e-01 1.51654329e-01 3.61194479e+02] [-1.64641290e-01 -1.24199572e-02 9.86275312e-01 7.01153205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.6792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:509.75, Y:361.22, Z:70.11 [[ 4.55318040e-01 -8.87338916e-01 7.29049508e-02 5.09753388e+02] [ 8.74865974e-01 4.61102633e-01 1.48303373e-01 3.61219883e+02] [-1.65212019e-01 -3.74314029e-03 9.86250971e-01 7.01077143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.77, Y:361.24, Z:70.10 [[ 4.48978801e-01 -8.90565490e-01 7.28776045e-02 5.09771819e+02] [ 8.78189123e-01 4.54848510e-01 1.47975324e-01 3.61244414e+02] [-1.64929987e-01 -2.43746404e-03 9.86302265e-01 7.01034442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7392541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:509.79, Y:361.27, Z:70.10 [[ 4.39843351e-01 -8.95072497e-01 7.33692813e-02 5.09787619e+02] [ 8.82707176e-01 4.45920421e-01 1.48266719e-01 3.61265319e+02] [-1.65426323e-01 -4.50539304e-04 9.86222048e-01 7.00980578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7692541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:509.80, Y:361.29, Z:70.09 [[ 4.35451681e-01 -8.97246150e-01 7.30149255e-02 5.09802258e+02] [ 8.84822428e-01 4.41530646e-01 1.48795027e-01 3.61289240e+02] [-1.65744092e-01 -1.87800979e-04 9.86168779e-01 7.00932891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.82, Y:361.31, Z:70.09 [[ 4.31894304e-01 -8.98958754e-01 7.30785052e-02 5.09816727e+02] [ 8.86518956e-01 4.38033084e-01 1.49034084e-01 3.61313786e+02] [-1.65986297e-01 4.18508219e-04 9.86127970e-01 7.00898537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:509.84, Y:361.34, Z:70.09 [[ 4.26508904e-01 -9.02531161e-01 5.93940883e-02 5.09841585e+02] [ 8.89941790e-01 4.30473703e-01 1.50651923e-01 3.61336885e+02] [-1.61535648e-01 -1.13971052e-02 9.86801064e-01 7.00932851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:509.85, Y:361.36, Z:70.08 [[ 4.23928303e-01 -9.03006404e-01 6.97440171e-02 5.09850364e+02] [ 8.91285619e-01 4.29626544e-01 1.45020611e-01 3.61363845e+02] [-1.60918421e-01 6.83497894e-04 9.86967474e-01 7.00848157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.8892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:509.85, Y:361.39, Z:70.07 [[ 4.20188000e-01 -9.03227701e-01 8.73027166e-02 5.09853181e+02] [ 8.92269210e-01 4.28764886e-01 1.41479077e-01 3.61387439e+02] [-1.65220161e-01 1.84497157e-02 9.86084128e-01 7.00684996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.88, Y:361.41, Z:70.08 [[ 4.20675964e-01 -9.05381868e-01 5.75795609e-02 5.09883582e+02] [ 8.92926824e-01 4.24435991e-01 1.50119208e-01 3.61409182e+02] [-1.60354047e-01 -1.17372082e-02 9.86989776e-01 7.00806195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:509.89, Y:361.44, Z:70.06 [[ 4.18542794e-01 -9.04609883e-01 8.06404938e-02 5.09885306e+02] [ 8.93555708e-01 4.26048111e-01 1.41566958e-01 3.61436643e+02] [-1.62419599e-01 1.28049435e-02 9.86638691e-01 7.00632552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 954.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.90, Y:361.46, Z:70.06 [[ 4.18835310e-01 -9.04728876e-01 7.77344457e-02 5.09898409e+02] [ 8.92867624e-01 4.25909835e-01 1.46247115e-01 3.61458495e+02] [-1.65421853e-01 8.15311400e-03 9.86189200e-01 7.00591426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:509.91, Y:361.48, Z:70.06 [[ 4.18990472e-01 -9.05104419e-01 7.23393093e-02 5.09913471e+02] [ 8.92874549e-01 4.25182297e-01 1.48307294e-01 3.61482370e+02] [-1.64990981e-01 2.45058489e-03 9.86292031e-01 7.00551753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.93, Y:361.51, Z:70.05 [[ 4.20701418e-01 -9.04566242e-01 6.90668585e-02 5.09928979e+02] [ 8.92362705e-01 4.26332580e-01 1.48085561e-01 3.61507868e+02] [-1.63398652e-01 -6.67116904e-04 9.86559900e-01 7.00535705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0692541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:509.94, Y:361.53, Z:70.04 [[ 4.23382865e-01 -9.02804728e-01 7.54358857e-02 5.09935691e+02] [ 8.90795270e-01 4.30021381e-01 1.46851625e-01 3.61531805e+02] [-1.65017385e-01 5.02346857e-03 9.86277865e-01 7.00442800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.0992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:509.95, Y:361.56, Z:70.04 [[ 4.25588582e-01 -9.02021792e-01 7.23259742e-02 5.09949315e+02] [ 8.89710480e-01 4.31688998e-01 1.48525657e-01 3.61556532e+02] [-1.65195706e-01 1.13835363e-03 9.86260150e-01 7.00413900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:509.96, Y:361.58, Z:70.04 [[ 4.30368612e-01 -8.99750579e-01 7.23308630e-02 5.09960721e+02] [ 8.87386736e-01 4.36404458e-01 1.48647001e-01 3.61581058e+02] [-1.65310736e-01 2.12444931e-04 9.86241510e-01 7.00371343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.1592541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:509.97, Y:361.61, Z:70.03 [[ 4.31553649e-01 -8.99198678e-01 7.21331110e-02 5.09972482e+02] [ 8.86878684e-01 4.37540553e-01 1.48339016e-01 3.61606059e+02] [-1.64947409e-01 -4.29251890e-05 9.86302363e-01 7.00301045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.1892541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:509.98, Y:361.63, Z:70.03 [[ 4.31314616e-01 -8.99316790e-01 7.20903144e-02 5.09984732e+02] [ 8.86994959e-01 4.37297736e-01 1.48359812e-01 3.61631397e+02] [-1.64947401e-01 -4.60097822e-05 9.86302364e-01 7.00251246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.00, Y:361.66, Z:70.02 [[ 4.36370866e-01 -8.96858056e-01 7.22917396e-02 5.09996944e+02] [ 8.84415789e-01 4.42317271e-01 1.48876268e-01 3.61656168e+02] [-1.65496765e-01 -1.02931013e-03 9.86209796e-01 7.00227567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.01, Y:361.68, Z:70.02 [[ 4.38247991e-01 -8.95947627e-01 7.22256722e-02 5.10008616e+02] [ 8.83497300e-01 4.44157434e-01 1.48851251e-01 3.61680369e+02] [-1.65442494e-01 -1.42257542e-03 9.86218413e-01 7.00180762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.02, Y:361.71, Z:70.01 [[ 4.41746468e-01 -8.94219644e-01 7.23276386e-02 5.10020757e+02] [ 8.81694076e-01 4.47623429e-01 1.49160392e-01 3.61705455e+02] [-1.65757698e-01 -2.12022583e-03 9.86164231e-01 7.00130132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3092541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:510.03, Y:361.73, Z:70.01 [[ 4.42654769e-01 -8.93766395e-01 7.23766930e-02 5.10032236e+02] [ 8.81198295e-01 4.48526627e-01 1.49376802e-01 3.61729042e+02] [-1.65970840e-01 -2.34413532e-03 9.86127875e-01 7.00059940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3392541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:510.05, Y:361.75, Z:70.00 [[ 4.45299865e-01 -8.92429885e-01 7.26424902e-02 5.10045107e+02] [ 8.79740733e-01 4.51176900e-01 1.49985489e-01 3.61754359e+02] [-1.66626146e-01 -2.88196041e-03 9.86015934e-01 7.00025519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3692541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:510.06, Y:361.78, Z:70.00 [[ 4.45625509e-01 -8.92269278e-01 7.26184677e-02 5.10057543e+02] [ 8.79567578e-01 4.51493724e-01 1.50047638e-01 3.61779086e+02] [-1.66669680e-01 -2.99220520e-03 9.86008248e-01 6.99963034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.06, Y:361.81, Z:69.98 [[ 4.45090516e-01 -8.90581011e-01 9.35943115e-02 5.10057977e+02] [ 8.78761096e-01 4.54491113e-01 1.45659757e-01 3.61806332e+02] [-1.72259597e-01 1.74152632e-02 9.84897629e-01 6.99793174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.08, Y:361.83, Z:69.98 [[ 4.46055776e-01 -8.91635323e-01 7.75931448e-02 5.10078705e+02] [ 8.78300093e-01 4.52754137e-01 1.53631501e-01 3.61828009e+02] [-1.72113891e-01 -3.78152205e-04 9.85076985e-01 6.99796121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.09, Y:361.85, Z:69.97 [[ 4.46093723e-01 -8.91556195e-01 7.82811725e-02 5.10089704e+02] [ 8.78108713e-01 4.52910086e-01 1.54264519e-01 3.61851529e+02] [-1.72989820e-01 -7.70538123e-05 9.84923609e-01 6.99728612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.11, Y:361.87, Z:69.97 [[ 4.48438175e-01 -8.91070972e-01 6.99694654e-02 5.10107090e+02] [ 8.77367165e-01 4.53783906e-01 1.55907104e-01 3.61874734e+02] [-1.70675312e-01 -8.52578554e-03 9.85290439e-01 6.99711109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:510.13, Y:361.90, Z:69.98 [[ 4.51207716e-01 -8.91102513e-01 4.84552223e-02 5.10132596e+02] [ 8.77294690e-01 4.52860422e-01 1.58970014e-01 3.61897624e+02] [-1.63602032e-01 -2.92189878e-02 9.86093619e-01 6.99812556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5492541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:510.13, Y:361.92, Z:69.97 [[ 4.51637914e-01 -8.89392978e-01 7.07341830e-02 5.10133226e+02] [ 8.77246589e-01 4.57124754e-01 1.46544812e-01 3.61924889e+02] [-1.62670273e-01 -4.13387242e-03 9.86671827e-01 6.99655082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.5792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:510.14, Y:361.95, Z:69.95 [[ 4.51669564e-01 -8.87553731e-01 9.07908534e-02 5.10135785e+02] [ 8.76754720e-01 4.60397923e-01 1.39050044e-01 3.61951959e+02] [-1.65214306e-01 1.67966365e-02 9.86114652e-01 6.99466298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.17, Y:361.97, Z:69.97 [[ 4.53867565e-01 -8.89677506e-01 4.97812068e-02 5.10171410e+02] [ 8.76844146e-01 4.55867099e-01 1.52740079e-01 3.61969993e+02] [-1.58583027e-01 -2.56734080e-02 9.87011803e-01 6.99658732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.17, Y:362.00, Z:69.95 [[ 4.53870869e-01 -8.88383835e-01 6.91042424e-02 5.10174812e+02] [ 8.76750180e-01 4.59079569e-01 1.43370399e-01 3.61997269e+02] [-1.59092291e-01 -4.48449069e-03 9.87253530e-01 6.99530077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6692541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:510.19, Y:362.02, Z:69.95 [[ 4.52237750e-01 -8.89197483e-01 6.93458992e-02 5.10189609e+02] [ 8.77473419e-01 4.57503713e-01 1.43981775e-01 3.62020188e+02] [-1.59754238e-01 -4.26481063e-03 9.87147605e-01 6.99466093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.6992541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:510.20, Y:362.04, Z:69.94 [[ 4.51268998e-01 -8.89657372e-01 6.97570952e-02 5.10202817e+02] [ 8.77779497e-01 4.56609552e-01 1.44951272e-01 3.62043857e+02] [-1.60808724e-01 -4.18066744e-03 9.86976736e-01 6.99423110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.7292541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:510.22, Y:362.07, Z:69.94 [[ 4.48918414e-01 -8.90787705e-01 7.04948346e-02 5.10218364e+02] [ 8.78659500e-01 4.54403432e-01 1.46543522e-01 3.62067739e+02] [-1.62572263e-01 -3.84512941e-03 9.86689148e-01 6.99390219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.7592541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:510.23, Y:362.09, Z:69.94 [[ 4.46041488e-01 -8.92183758e-01 7.10994569e-02 5.10233574e+02] [ 8.79843562e-01 4.51659658e-01 1.47915043e-01 3.62092101e+02] [-1.64080155e-01 -3.41984617e-03 9.86441082e-01 6.99362807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.7892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:510.25, Y:362.12, Z:69.93 [[ 4.44030379e-01 -8.93167476e-01 7.13364047e-02 5.10246751e+02] [ 8.80737854e-01 4.49713386e-01 1.48521729e-01 3.62116682e+02] [-1.64735714e-01 -3.11948781e-03 9.86332811e-01 6.99307743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:510.26, Y:362.14, Z:69.93 [[ 4.40930044e-01 -8.94711249e-01 7.12213334e-02 5.10260652e+02] [ 8.82322448e-01 4.46637502e-01 1.48398250e-01 3.62139883e+02] [-1.64583702e-01 -2.59306573e-03 9.86359712e-01 6.99264132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:510.27, Y:362.16, Z:69.92 [[ 4.38670335e-01 -8.95832501e-01 7.10807132e-02 5.10274278e+02] [ 8.83497523e-01 4.44386440e-01 1.48164839e-01 3.62164667e+02] [-1.64318183e-01 -2.19588538e-03 9.86404944e-01 6.99221870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.8792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:510.29, Y:362.19, Z:69.92 [[ 4.38428488e-01 -8.95954336e-01 7.10372394e-02 5.10286402e+02] [ 8.83617571e-01 4.44140735e-01 1.48185679e-01 3.62190079e+02] [-1.64318133e-01 -2.19907009e-03 9.86404945e-01 6.99172221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:510.30, Y:362.21, Z:69.91 [[ 4.38587366e-01 -8.95917080e-01 7.05245235e-02 5.10296789e+02] [ 8.83741475e-01 4.44215663e-01 1.47219056e-01 3.62214852e+02] [-1.63224165e-01 -2.24297172e-03 9.86586459e-01 6.99110221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:510.31, Y:362.24, Z:69.91 [[ 4.39548503e-01 -8.95460426e-01 7.03401717e-02 5.10307805e+02] [ 8.83326861e-01 4.45134386e-01 1.46932074e-01 3.62240039e+02] [-1.62882687e-01 -2.45041011e-03 9.86642400e-01 6.99074678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9692541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:510.32, Y:362.26, Z:69.90 [[ 4.40660825e-01 -8.94971233e-01 6.96026536e-02 5.10316968e+02] [ 8.83068376e-01 4.46115964e-01 1.45501855e-01 3.62264243e+02] [-1.61270829e-01 -2.65306507e-03 9.86906622e-01 6.98998678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 955.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.33, Y:362.29, Z:69.90 [[ 4.42558540e-01 -8.94040842e-01 6.95191514e-02 5.10329087e+02] [ 8.82143690e-01 4.47975272e-01 1.45398298e-01 3.62290233e+02] [-1.61134877e-01 -3.02137750e-03 9.86927770e-01 6.98980119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0292541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:510.34, Y:362.31, Z:69.89 [[ 4.41719342e-01 -8.94482851e-01 6.91697415e-02 5.10340244e+02] [ 8.82693374e-01 4.47092886e-01 1.44776932e-01 3.62314273e+02] [-1.60425782e-01 -2.89509861e-03 9.87043660e-01 6.98910262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:510.35, Y:362.34, Z:69.89 [[ 4.41371491e-01 -8.94649824e-01 6.92307652e-02 5.10352068e+02] [ 8.82825592e-01 4.46758762e-01 1.45002008e-01 3.62339441e+02] [-1.60655472e-01 -2.88106131e-03 9.87006342e-01 6.98874912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.0892541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:510.36, Y:362.36, Z:69.88 [[ 4.39108938e-01 -8.95756621e-01 6.93066792e-02 5.10363486e+02] [ 8.83902251e-01 4.44537604e-01 1.45269165e-01 3.62364333e+02] [-1.60935241e-01 -2.52865890e-03 9.86961729e-01 6.98824038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:510.37, Y:362.39, Z:69.88 [[ 4.37416680e-01 -8.96580777e-01 6.93509840e-02 5.10374805e+02] [ 8.84703301e-01 4.42874390e-01 1.45472827e-01 3.62387882e+02] [-1.61141915e-01 -2.27719668e-03 9.86928618e-01 6.98774070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.39, Y:362.41, Z:69.88 [[ 4.34045619e-01 -8.98176616e-01 6.98796613e-02 5.10387074e+02] [ 8.86119950e-01 4.39631347e-01 1.46682355e-01 3.62411995e+02] [-1.62467951e-01 -1.74507174e-03 9.86712278e-01 6.98758543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.40, Y:362.44, Z:69.87 [[ 4.31635078e-01 -8.99331132e-01 6.99619522e-02 5.10399479e+02] [ 8.87244707e-01 4.37266138e-01 1.46952900e-01 3.62437139e+02] [-1.62751310e-01 -1.35665470e-03 9.86666190e-01 6.98711544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.41, Y:362.46, Z:69.87 [[ 4.26989509e-01 -9.01500936e-01 7.05409187e-02 5.10412514e+02] [ 8.89223212e-01 4.32776754e-01 1.48277988e-01 3.62462002e+02] [-1.64201214e-01 -5.86522940e-04 9.86426691e-01 6.98668316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2392541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:510.42, Y:362.49, Z:69.86 [[ 4.23826031e-01 -9.03011963e-01 7.02914651e-02 5.10423945e+02] [ 8.90823511e-01 4.29615400e-01 1.47865076e-01 3.62485250e+02] [-1.63722229e-01 -5.17787941e-05 9.86506477e-01 6.98595497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:510.44, Y:362.51, Z:69.86 [[ 4.20369805e-01 -9.04594859e-01 7.06920612e-02 5.10435571e+02] [ 8.92271297e-01 4.26272059e-01 1.48808818e-01 3.62510101e+02] [-1.64745743e-01 5.21763129e-04 9.86335931e-01 6.98575674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.2992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:510.45, Y:362.53, Z:69.85 [[ 4.17377927e-01 -9.05986658e-01 7.05963350e-02 5.10446824e+02] [ 8.93700226e-01 4.23305000e-01 1.48703679e-01 3.62534961e+02] [-1.64607331e-01 1.02632731e-03 9.86358643e-01 6.98501168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.46, Y:362.56, Z:69.85 [[ 4.13720440e-01 -9.07682159e-01 7.03455526e-02 5.10457977e+02] [ 8.95489151e-01 4.19655089e-01 1.48286162e-01 3.62559035e+02] [-1.64117573e-01 1.64466308e-03 9.86439414e-01 6.98474437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.47, Y:362.58, Z:69.84 [[ 4.10032359e-01 -9.09377247e-01 7.00463271e-02 5.10469466e+02] [ 8.97296617e-01 4.15966195e-01 1.47752853e-01 3.62584767e+02] [-1.63499987e-01 2.26888132e-03 9.86540727e-01 6.98426080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.3892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:510.48, Y:362.61, Z:69.84 [[ 4.07796229e-01 -9.10398102e-01 6.98393256e-02 5.10480806e+02] [ 8.98385793e-01 4.13725050e-01 1.47426421e-01 3.62610091e+02] [-1.63111012e-01 2.62271944e-03 9.86604236e-01 6.98355276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4192541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:510.49, Y:362.63, Z:69.83 [[ 4.06313629e-01 -9.11076885e-01 6.96286179e-02 5.10491537e+02] [ 8.99128600e-01 4.12226701e-01 1.47094893e-01 3.62633906e+02] [-1.62717533e-01 2.83842181e-03 9.86668611e-01 6.98303933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.49, Y:362.66, Z:69.82 [[ 4.02853487e-01 -9.11245700e-01 8.56757983e-02 5.10490638e+02] [ 9.00064983e-01 4.11412528e-01 1.43606262e-01 3.62660090e+02] [-1.66108686e-01 1.92615026e-02 9.85919317e-01 6.98157204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.4792541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:510.52, Y:362.68, Z:69.83 [[ 4.03665637e-01 -9.13294614e-01 5.42862869e-02 5.10521634e+02] [ 9.00020004e-01 4.07058048e-01 1.55781055e-01 3.62683460e+02] [-1.64371669e-01 -1.40247147e-02 9.86298769e-01 6.98299334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:510.52, Y:362.71, Z:69.82 [[ 4.02753090e-01 -9.12601320e-01 7.03475602e-02 5.10524022e+02] [ 9.00396848e-01 4.08836357e-01 1.48789613e-01 3.62711534e+02] [-1.64546237e-01 3.41524511e-03 9.86363458e-01 6.98167645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.53, Y:362.74, Z:69.81 [[ 4.02801411e-01 -9.12567271e-01 7.05124074e-02 5.10534549e+02] [ 9.00285857e-01 4.08912786e-01 1.49250492e-01 3.62735944e+02] [-1.65034539e-01 3.36301428e-03 9.86282055e-01 6.98136691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5692541539999 meters Centerline goodness : 0.999694 Centerline is valid? [True, True] Translation: X:510.54, Y:362.76, Z:69.81 [[ 4.03218554e-01 -9.12393979e-01 7.03706210e-02 5.10544211e+02] [ 9.00143076e-01 4.09300259e-01 1.49049456e-01 3.62761160e+02] [-1.64794539e-01 3.24412127e-03 9.86322582e-01 6.98055617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.5992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:510.56, Y:362.79, Z:69.80 [[ 4.04301920e-01 -9.11899151e-01 7.05683830e-02 5.10555367e+02] [ 8.99553014e-01 4.10403346e-01 1.49577638e-01 3.62787046e+02] [-1.65361221e-01 3.00547554e-03 9.86228490e-01 6.98023858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.6292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:510.56, Y:362.81, Z:69.80 [[ 4.07325915e-01 -9.10569681e-01 7.03452582e-02 5.10564508e+02] [ 8.98263246e-01 4.13348591e-01 1.49218242e-01 3.62811836e+02] [-1.64950721e-01 2.40810281e-03 9.86298870e-01 6.97974401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.6592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:510.58, Y:362.84, Z:69.79 [[ 4.09206446e-01 -9.09736325e-01 7.02132694e-02 5.10575375e+02] [ 8.97451829e-01 4.15181492e-01 1.49011888e-01 3.62837665e+02] [-1.64712778e-01 2.03640192e-03 9.86339472e-01 6.97928291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.6892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:510.59, Y:362.86, Z:69.79 [[ 4.11282557e-01 -9.08814353e-01 7.00223613e-02 5.10585648e+02] [ 8.96564204e-01 4.17197644e-01 1.48723750e-01 3.62862553e+02] [-1.64375442e-01 1.61205866e-03 9.86396530e-01 6.97870494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:510.60, Y:362.89, Z:69.78 [[ 4.15896829e-01 -9.06700667e-01 7.01692764e-02 5.10595029e+02] [ 8.94358283e-01 4.21774040e-01 1.49097020e-01 3.62889021e+02] [-1.64781947e-01 7.47495734e-04 9.86329738e-01 6.97834702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7492541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:510.60, Y:362.92, Z:69.78 [[ 4.19797790e-01 -9.04905671e-01 7.01109253e-02 5.10604527e+02] [ 8.92540154e-01 4.25612178e-01 1.49085032e-01 3.62915581e+02] [-1.64747955e-01 -8.75096472e-06 9.86335699e-01 6.97782061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.7792541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:510.62, Y:362.94, Z:69.77 [[ 4.20990371e-01 -9.04344258e-01 7.02037773e-02 5.10615224e+02] [ 8.91918783e-01 4.26803685e-01 1.49397121e-01 3.62941175e+02] [-1.65069660e-01 -2.78681915e-04 9.86281871e-01 6.97724715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.63, Y:362.97, Z:69.77 [[ 4.23778166e-01 -9.03000817e-01 7.07219239e-02 5.10625648e+02] [ 8.90351565e-01 4.29637969e-01 1.50616425e-01 3.62967352e+02] [-1.66391579e-01 -8.60576853e-04 9.86059381e-01 6.97703548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.64, Y:362.99, Z:69.77 [[ 4.24701853e-01 -9.02565615e-01 7.07364569e-02 5.10636282e+02] [ 8.89885731e-01 4.30550973e-01 1.50762213e-01 3.62992689e+02] [-1.66528440e-01 -1.08162743e-03 9.86036059e-01 6.97653822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8692541539999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:510.65, Y:363.02, Z:69.76 [[ 4.25034240e-01 -9.02437766e-01 7.03702631e-02 5.10645886e+02] [ 8.89868277e-01 4.30818633e-01 1.50099155e-01 3.63016763e+02] [-1.65771967e-01 -1.17701578e-03 9.86163409e-01 6.97571893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.8992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:510.66, Y:363.04, Z:69.76 [[ 4.27176587e-01 -9.01379177e-01 7.09629738e-02 5.10656076e+02] [ 8.88567580e-01 4.33027597e-01 1.51442254e-01 3.63043023e+02] [-1.67235820e-01 -1.63718707e-03 9.85915564e-01 6.97556224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:510.67, Y:363.07, Z:69.75 [[ 4.27967340e-01 -9.01009843e-01 7.08887720e-02 5.10666205e+02] [ 8.88200629e-01 4.33794781e-01 1.51399246e-01 3.63068760e+02] [-1.67163390e-01 -1.83048063e-03 9.85927508e-01 6.97489635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.68, Y:363.09, Z:69.75 [[ 4.28697584e-01 -9.00653103e-01 7.10096416e-02 5.10677470e+02] [ 8.87775416e-01 4.34534108e-01 1.51772595e-01 3.63094214e+02] [-1.67550570e-01 -2.02393060e-03 9.85861405e-01 6.97463465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 956.9892541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:510.69, Y:363.12, Z:69.74 [[ 4.28334514e-01 -9.00872924e-01 7.04096449e-02 5.10687543e+02] [ 8.88197050e-01 4.34078434e-01 1.50605157e-01 3.63117836e+02] [-1.66239416e-01 -1.97174769e-03 9.86083449e-01 6.97386999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.69, Y:363.14, Z:69.73 [[ 4.28340453e-01 -9.00350195e-01 7.67722766e-02 5.10694138e+02] [ 8.87862727e-01 4.35146486e-01 1.49490178e-01 3.63144268e+02] [-1.68000697e-01 4.13055232e-03 9.85778223e-01 6.97318585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.71, Y:363.17, Z:69.73 [[ 4.28887813e-01 -9.00603050e-01 7.04939023e-02 5.10707054e+02] [ 8.87856025e-01 4.34637106e-01 1.51004189e-01 3.63169333e+02] [-1.66634099e-01 -2.17542041e-03 9.86016402e-01 6.97285850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.72, Y:363.19, Z:69.73 [[ 4.29266233e-01 -9.00630733e-01 6.77848290e-02 5.10719375e+02] [ 8.87996569e-01 4.34563270e-01 1.50389025e-01 3.63194211e+02] [-1.64901775e-01 -4.36423463e-03 9.86300339e-01 6.97251510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.73, Y:363.22, Z:69.72 [[ 4.29088762e-01 -9.00597295e-01 6.93350308e-02 5.10730426e+02] [ 8.88092119e-01 4.34646650e-01 1.49581677e-01 3.63220021e+02] [-1.64849092e-01 -2.60792198e-03 9.86315353e-01 6.97196069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.74, Y:363.25, Z:69.71 [[ 4.28744303e-01 -9.00615144e-01 7.12087420e-02 5.10740459e+02] [ 8.88289231e-01 4.34617295e-01 1.48492592e-01 3.63245838e+02] [-1.64683228e-01 -4.11394135e-04 9.86346423e-01 6.97126399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.76, Y:363.27, Z:69.71 [[ 4.28362442e-01 -9.01231815e-01 6.54739148e-02 5.10755309e+02] [ 8.88921940e-01 4.33303270e-01 1.48546493e-01 3.63271027e+02] [-1.62244887e-01 -5.43053925e-03 9.86735581e-01 6.97109985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.77, Y:363.30, Z:69.71 [[ 4.27836598e-01 -9.01672283e-01 6.27928274e-02 5.10769392e+02] [ 8.89692620e-01 4.32365348e-01 1.46653495e-01 3.63296337e+02] [-1.59382835e-01 -6.87741736e-03 9.87192896e-01 6.97102299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.2292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:510.79, Y:363.32, Z:69.71 [[ 4.23627266e-01 -9.04321733e-01 5.23654681e-02 5.10789013e+02] [ 8.92155605e-01 4.26540577e-01 1.48733028e-01 3.63320585e+02] [-1.56838506e-01 -1.62892200e-02 9.87489921e-01 6.97123283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.80, Y:363.35, Z:69.71 [[ 4.20686174e-01 -9.04940254e-01 6.40802568e-02 5.10796264e+02] [ 8.93274742e-01 4.25522481e-01 1.44882207e-01 3.63348074e+02] [-1.58377331e-01 -3.70866649e-03 9.87371696e-01 6.97052471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.80, Y:363.37, Z:69.69 [[ 4.12114428e-01 -9.06961513e-01 8.70776232e-02 5.10796780e+02] [ 8.96217223e-01 4.20734406e-01 1.40631609e-01 3.63374437e+02] [-1.64184009e-01 2.00841507e-02 9.86225247e-01 6.96882539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.82, Y:363.40, Z:69.69 [[ 4.07735824e-01 -9.10455444e-01 6.94433717e-02 5.10817597e+02] [ 8.98124010e-01 4.13604533e-01 1.49347089e-01 3.63396496e+02] [-1.64695964e-01 1.47460108e-03 9.86343280e-01 6.96907600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.84, Y:363.42, Z:69.70 [[ 4.04727087e-01 -9.12797004e-01 5.47504764e-02 5.10837469e+02] [ 8.99987737e-01 4.08218855e-01 1.52903369e-01 3.63420002e+02] [-1.61919914e-01 -1.26093779e-02 9.86723338e-01 6.96958110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.83, Y:363.45, Z:69.68 [[ 3.97603933e-01 -9.13753485e-01 8.34606599e-02 5.10833847e+02] [ 9.02595859e-01 4.05858313e-01 1.43526112e-01 3.63448103e+02] [-1.65020688e-01 1.82646994e-02 9.86120973e-01 6.96759383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:510.87, Y:363.47, Z:69.69 [[ 3.96741367e-01 -9.16705119e-01 4.74132100e-02 5.10866900e+02] [ 9.03779325e-01 3.99138360e-01 1.54504051e-01 3.63470788e+02] [-1.60559086e-01 -1.84470697e-02 9.86853832e-01 6.96897562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.87, Y:363.50, Z:69.68 [[ 3.91722795e-01 -9.18197114e-01 5.88838803e-02 5.10870435e+02] [ 9.06350768e-01 3.96101050e-01 1.47079040e-01 3.63498259e+02] [-1.58371517e-01 -4.24476236e-03 9.87370470e-01 6.96832295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.87, Y:363.53, Z:69.67 [[ 3.88650104e-01 -9.18457563e-01 7.33948366e-02 5.10873190e+02] [ 9.07436462e-01 3.95358256e-01 1.42305720e-01 3.63525396e+02] [-1.59719019e-01 1.12940181e-02 9.87097908e-01 6.96699585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.87, Y:363.55, Z:69.65 [[ 3.82156614e-01 -9.19020756e-01 9.67324802e-02 5.10868831e+02] [ 9.09318036e-01 3.92625191e-01 1.37790306e-01 3.63552033e+02] [-1.64611760e-01 3.53031121e-02 9.85726463e-01 6.96476325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5292541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:510.89, Y:363.57, Z:69.65 [[ 3.79358305e-01 -9.22690221e-01 6.87752345e-02 5.10893204e+02] [ 9.10625494e-01 3.85492931e-01 1.48850294e-01 3.63572130e+02] [-1.63855077e-01 6.16088690e-03 9.86465183e-01 6.96512086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.90, Y:363.60, Z:69.65 [[ 3.75422663e-01 -9.24264036e-01 6.92373945e-02 5.10903613e+02] [ 9.12049338e-01 3.81692140e-01 1.49923700e-01 3.63598052e+02] [-1.64996453e-01 6.86316513e-03 9.86270281e-01 6.96484233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.5892541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:510.93, Y:363.62, Z:69.66 [[ 3.74698391e-01 -9.25811331e-01 4.97443016e-02 5.10925777e+02] [ 9.13076395e-01 3.77792276e-01 1.53507309e-01 3.63622401e+02] [-1.60911819e-01 -1.20985940e-02 9.86894630e-01 6.96571285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.92, Y:363.65, Z:69.64 [[ 3.71097672e-01 -9.25720549e-01 7.29930413e-02 5.10923437e+02] [ 9.14566002e-01 3.77972276e-01 1.43895752e-01 3.63651195e+02] [-1.60796600e-01 1.33575754e-02 9.86897172e-01 6.96410965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.93, Y:363.68, Z:69.63 [[ 3.68904672e-01 -9.25859247e-01 8.18168482e-02 5.10928049e+02] [ 9.14929698e-01 3.77232821e-01 1.43523681e-01 3.63676569e+02] [-1.63746728e-01 2.19101078e-02 9.86259072e-01 6.96283495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.6792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:510.94, Y:363.70, Z:69.63 [[ 3.67398793e-01 -9.27523071e-01 6.86955643e-02 5.10944024e+02] [ 9.15488057e-01 3.73678303e-01 1.49151408e-01 3.63699724e+02] [-1.64011414e-01 8.09192130e-03 9.86425252e-01 6.96268784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.95, Y:363.73, Z:69.62 [[ 3.67325271e-01 -9.27489703e-01 6.95341347e-02 5.10953305e+02] [ 9.15139160e-01 3.73760079e-01 1.51075220e-01 3.63726383e+02] [-1.66109794e-01 8.13966355e-03 9.86073670e-01 6.96238229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.96, Y:363.75, Z:69.62 [[ 3.69033272e-01 -9.26764002e-01 7.01635910e-02 5.10961287e+02] [ 9.14154884e-01 3.75562240e-01 1.52557704e-01 3.63753078e+02] [-1.67735783e-01 7.84152078e-03 9.85800800e-01 6.96189059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7692541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:510.97, Y:363.78, Z:69.61 [[ 3.70689403e-01 -9.26162213e-01 6.93752254e-02 5.10969846e+02] [ 9.13807268e-01 3.77052039e-01 1.50957067e-01 3.63778100e+02] [-1.65968802e-01 7.43740004e-03 9.86102957e-01 6.96124086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.98, Y:363.80, Z:69.61 [[ 3.73737527e-01 -9.24900753e-01 6.98488297e-02 5.10978879e+02] [ 9.12335683e-01 3.80146324e-01 1.52093306e-01 3.63803717e+02] [-1.67223989e-01 6.88260358e-03 9.85894907e-01 6.96093342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8292541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:510.98, Y:363.83, Z:69.60 [[ 3.81213515e-01 -9.21913016e-01 6.89394409e-02 5.10984325e+02] [ 9.09613951e-01 3.87358529e-01 1.50185985e-01 3.63831077e+02] [-1.65162695e-01 5.45534989e-03 9.86251248e-01 6.96019139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:510.99, Y:363.86, Z:69.60 [[ 3.85718981e-01 -9.20000099e-01 6.94311633e-02 5.10992864e+02] [ 9.07473667e-01 3.91890891e-01 1.51370653e-01 3.63857580e+02] [-1.66470456e-01 4.62041826e-03 9.86035618e-01 6.95986165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.8892541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:511.00, Y:363.88, Z:69.59 [[ 3.94650349e-01 -9.16275757e-01 6.84824077e-02 5.10997715e+02] [ 9.04015226e-01 4.00537254e-01 1.49420143e-01 3.63883766e+02] [-1.64339810e-01 2.94042767e-03 9.86399402e-01 6.95910272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:511.01, Y:363.91, Z:69.59 [[ 3.98820044e-01 -9.14430718e-01 6.89857549e-02 5.11006089e+02] [ 9.01950023e-01 4.04736661e-01 1.50580183e-01 3.63909103e+02] [-1.65616209e-01 2.16730814e-03 9.86187900e-01 6.95875253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9492541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:511.01, Y:363.94, Z:69.58 [[ 4.05490675e-01 -9.11498967e-01 6.88980855e-02 5.11012609e+02] [ 8.98990324e-01 4.11301343e-01 1.50491201e-01 3.63936217e+02] [-1.65510449e-01 9.15933556e-04 9.86207611e-01 6.95823276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 957.9792541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:511.02, Y:363.96, Z:69.58 [[ 4.07856059e-01 -9.10460838e-01 6.86622042e-02 5.11021443e+02] [ 8.98003494e-01 4.13595053e-01 1.50096158e-01 3.63961365e+02] [-1.65055022e-01 4.41271697e-04 9.86284262e-01 6.95759243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0092541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:511.03, Y:363.99, Z:69.57 [[ 4.08729674e-01 -9.09898093e-01 7.08908653e-02 5.11029603e+02] [ 8.97552765e-01 4.14823921e-01 1.49399294e-01 3.63987494e+02] [-1.65345359e-01 2.56436747e-03 9.86232395e-01 6.95679275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.05, Y:364.01, Z:69.57 [[ 4.12470486e-01 -9.09010886e-01 5.97269439e-02 5.11046293e+02] [ 8.95882151e-01 4.16649428e-01 1.54267384e-01 3.64014109e+02] [-1.65115928e-01 -1.01224397e-02 9.86222220e-01 6.95720458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.05, Y:364.04, Z:69.56 [[ 4.13531985e-01 -9.07312897e-01 7.59908218e-02 5.11048225e+02] [ 8.95106043e-01 4.20403961e-01 1.48477886e-01 3.64041191e+02] [-1.66662743e-01 6.61948881e-03 9.85991741e-01 6.95602722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.0992541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:511.06, Y:364.06, Z:69.56 [[ 4.14387035e-01 -9.07476028e-01 6.90698457e-02 5.11061194e+02] [ 8.94773388e-01 4.20102906e-01 1.51308071e-01 3.64064562e+02] [-1.66324890e-01 -8.98243197e-04 9.86070598e-01 6.95562656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.1292541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:511.07, Y:364.09, Z:69.55 [[ 4.14806406e-01 -9.07239073e-01 6.96628380e-02 5.11072290e+02] [ 8.94301814e-01 4.20614083e-01 1.52669773e-01 3.64090458e+02] [-1.67809154e-01 -1.02879759e-03 9.85818964e-01 6.95522955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.08, Y:364.12, Z:69.55 [[ 4.16012555e-01 -9.06661387e-01 6.99906019e-02 5.11083174e+02] [ 8.93572658e-01 4.21857072e-01 1.53507378e-01 3.64116508e+02] [-1.68705243e-01 -1.31930848e-03 9.85665664e-01 6.95485523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.1892541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:511.09, Y:364.14, Z:69.54 [[ 4.16436591e-01 -9.06511543e-01 6.94074094e-02 5.11094047e+02] [ 8.93619151e-01 4.22178644e-01 1.52348304e-01 3.64141615e+02] [-1.67407822e-01 -1.41961820e-03 9.85886710e-01 6.95424087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.11, Y:364.17, Z:69.54 [[ 4.17188711e-01 -9.06149449e-01 6.96186522e-02 5.11105143e+02] [ 8.93152263e-01 4.22954544e-01 1.52932955e-01 3.64167166e+02] [-1.68025638e-01 -1.62184567e-03 9.85781291e-01 6.95381256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.12, Y:364.19, Z:69.53 [[ 4.19058979e-01 -9.05335828e-01 6.89681893e-02 5.11115292e+02] [ 8.92550752e-01 4.24691783e-01 1.51624684e-01 3.64191361e+02] [-1.66561482e-01 -1.98207616e-03 9.86029079e-01 6.95328757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.2792541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:511.13, Y:364.22, Z:69.53 [[ 4.20089535e-01 -9.04938602e-01 6.79036793e-02 5.11126804e+02] [ 8.92529428e-01 4.25536774e-01 1.49364236e-01 3.64215243e+02] [-1.64060976e-01 -2.14032057e-03 9.86447878e-01 6.95271060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.14, Y:364.24, Z:69.52 [[ 4.20094991e-01 -9.04935011e-01 6.79177772e-02 5.11138985e+02] [ 8.92510647e-01 4.25544270e-01 1.49455076e-01 3.64240475e+02] [-1.64149152e-01 -2.16798947e-03 9.86433148e-01 6.95226053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.15, Y:364.27, Z:69.52 [[ 4.19616812e-01 -9.05176720e-01 6.76523273e-02 5.11151148e+02] [ 8.92834166e-01 4.25030159e-01 1.48984950e-01 3.64265636e+02] [-1.63611988e-01 -2.11428057e-03 9.86522502e-01 6.95179485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3692541539999 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:511.16, Y:364.29, Z:69.51 [[ 4.17670721e-01 -9.06108324e-01 6.72225684e-02 5.11163429e+02] [ 8.93915579e-01 4.23041963e-01 1.48156791e-01 3.64289222e+02] [-1.62684069e-01 -1.78945244e-03 9.86676589e-01 6.95117494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.3992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:511.18, Y:364.31, Z:69.51 [[ 4.16415057e-01 -9.06648461e-01 6.77278995e-02 5.11176144e+02] [ 8.94267589e-01 4.21883817e-01 1.49330255e-01 3.64314612e+02] [-1.63963351e-01 -1.61650127e-03 9.86465107e-01 6.95083629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4292541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:511.19, Y:364.34, Z:69.50 [[ 4.13161872e-01 -9.08119361e-01 6.79447866e-02 5.11189720e+02] [ 8.95658313e-01 4.18709972e-01 1.49927137e-01 3.64338791e+02] [-1.64600895e-01 -1.08886359e-03 9.86359650e-01 6.95038152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4592541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:511.20, Y:364.36, Z:69.50 [[ 4.11270138e-01 -9.09002796e-01 6.76076274e-02 5.11202176e+02] [ 8.96657666e-01 4.16789280e-01 1.49304143e-01 3.64362438e+02] [-1.63896018e-01 -7.83438238e-04 9.86477309e-01 6.94987175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.22, Y:364.39, Z:69.50 [[ 4.07737955e-01 -9.10567509e-01 6.79453576e-02 5.11216871e+02] [ 8.98108316e-01 4.13360348e-01 1.50115542e-01 3.64385198e+02] [-1.64776252e-01 -1.85513469e-04 9.86330955e-01 6.94955408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.23, Y:364.41, Z:69.49 [[ 4.05600622e-01 -9.11521409e-01 6.79474552e-02 5.11229515e+02] [ 8.99064385e-01 4.11252587e-01 1.50181698e-01 3.64409071e+02] [-1.64837400e-01 1.75346835e-04 9.86320739e-01 6.94907035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5492541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:511.24, Y:364.43, Z:69.49 [[ 4.02166085e-01 -9.13092601e-01 6.72632341e-02 5.11244277e+02] [ 9.00891960e-01 4.07751535e-01 1.48769494e-01 3.64433101e+02] [-1.63267011e-01 7.66861778e-04 9.86581621e-01 6.94860118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.5792541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:511.26, Y:364.46, Z:69.48 [[ 4.01108764e-01 -9.13556634e-01 6.72758204e-02 5.11257002e+02] [ 9.01338896e-01 4.06710525e-01 1.48911866e-01 3.64457704e+02] [-1.63401207e-01 9.08459097e-04 9.86559284e-01 6.94811796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6092541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:511.27, Y:364.48, Z:69.48 [[ 4.00892183e-01 -9.13612825e-01 6.78016467e-02 5.11269762e+02] [ 9.01183206e-01 4.06584324e-01 1.50193267e-01 3.64482051e+02] [-1.64785581e-01 8.90398860e-04 9.86329012e-01 6.94771034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6392541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:511.28, Y:364.51, Z:69.47 [[ 4.00559720e-01 -9.13807073e-01 6.71456907e-02 5.11282350e+02] [ 9.01601290e-01 4.06147513e-01 1.48860038e-01 3.64505135e+02] [-1.63300411e-01 9.11306433e-04 9.86575970e-01 6.94720673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.30, Y:364.53, Z:69.47 [[ 4.01160674e-01 -9.13496849e-01 6.77762593e-02 5.11295309e+02] [ 9.01044474e-01 4.06845080e-01 1.50319448e-01 3.64529408e+02] [-1.64890780e-01 7.67172837e-04 9.86311534e-01 6.94684874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.6992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:511.31, Y:364.55, Z:69.46 [[ 4.01431619e-01 -9.13412937e-01 6.73012802e-02 5.11307737e+02] [ 9.01115526e-01 4.07033591e-01 1.49380268e-01 3.64553430e+02] [-1.63839751e-01 6.80265778e-04 9.86486732e-01 6.94633111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.7292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:511.32, Y:364.58, Z:69.46 [[ 4.01628300e-01 -9.13330718e-01 6.72436443e-02 5.11319679e+02] [ 9.01036330e-01 4.07218165e-01 1.49354939e-01 3.64577510e+02] [-1.63793287e-01 6.03796223e-04 9.86494498e-01 6.94588350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.33, Y:364.60, Z:69.45 [[ 4.01263251e-01 -9.13475927e-01 6.74502387e-02 5.11332825e+02] [ 9.01090515e-01 4.06892299e-01 1.49915110e-01 3.64602317e+02] [-1.64388827e-01 6.23345724e-04 9.86395420e-01 6.94538796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.7892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:511.33, Y:364.63, Z:69.44 [[ 3.98109666e-01 -9.13430294e-01 8.45800945e-02 5.11333906e+02] [ 9.02055064e-01 4.06569631e-01 1.44906170e-01 3.64628440e+02] [-1.66749383e-01 1.86073558e-02 9.85823721e-01 6.94362534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.37, Y:364.65, Z:69.45 [[ 3.98948632e-01 -9.15581950e-01 5.04943735e-02 5.11366418e+02] [ 9.02129146e-01 4.01762998e-01 1.57319728e-01 3.64648224e+02] [-1.64325874e-01 -1.72100442e-02 9.86255962e-01 6.94515777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8492541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:511.37, Y:364.67, Z:69.44 [[ 3.97543788e-01 -9.15169099e-01 6.65165902e-02 5.11369544e+02] [ 9.03105739e-01 4.03068355e-01 1.48107818e-01 3.64674549e+02] [-1.62354431e-01 1.19217131e-03 9.86731786e-01 6.94401598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.38, Y:364.70, Z:69.44 [[ 3.96052337e-01 -9.15768229e-01 6.71647102e-02 5.11382598e+02] [ 9.03458182e-01 4.01704575e-01 1.49655429e-01 3.64698711e+02] [-1.64030059e-01 1.40912467e-03 9.86454335e-01 6.94364360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.39, Y:364.72, Z:69.43 [[ 3.95462427e-01 -9.16028750e-01 6.70879877e-02 5.11394443e+02] [ 9.03730397e-01 4.01109937e-01 1.49606781e-01 3.64723075e+02] [-1.63953771e-01 1.46559288e-03 9.86466935e-01 6.94322256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.41, Y:364.75, Z:69.43 [[ 3.94278430e-01 -9.16528273e-01 6.72342527e-02 5.11406125e+02] [ 9.04172690e-01 3.99966496e-01 1.49995161e-01 3.64747450e+02] [-1.64366254e-01 1.65151859e-03 9.86397996e-01 6.94279333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.42, Y:364.77, Z:69.42 [[ 3.93897768e-01 -9.16691375e-01 6.72418809e-02 5.11417364e+02] [ 9.04317877e-01 3.99592428e-01 1.50116849e-01 3.64772298e+02] [-1.64480167e-01 1.67734331e-03 9.86378964e-01 6.94231752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 958.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.43, Y:364.80, Z:69.42 [[ 3.93654993e-01 -9.16798827e-01 6.71986437e-02 5.11428801e+02] [ 9.04423581e-01 3.99345850e-01 1.50136201e-01 3.64797989e+02] [-1.64480192e-01 1.67417286e-03 9.86378966e-01 6.94181117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.44, Y:364.82, Z:69.41 [[ 3.91521633e-01 -9.17411861e-01 7.11778681e-02 5.11435340e+02] [ 9.05092059e-01 3.97898024e-01 1.49951749e-01 3.64822292e+02] [-1.65889046e-01 5.71316967e-03 9.86127874e-01 6.94090467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0592541539999 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:511.45, Y:364.85, Z:69.41 [[ 3.93907669e-01 -9.17100223e-01 6.13508669e-02 5.11454718e+02] [ 9.04787956e-01 3.98641331e-01 1.49812700e-01 3.64847439e+02] [-1.61850252e-01 -3.50284613e-03 9.86809113e-01 6.94095685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.0892541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:511.46, Y:364.87, Z:69.40 [[ 3.95902586e-01 -9.15894872e-01 6.63153529e-02 5.11463909e+02] [ 9.03795295e-01 4.01416456e-01 1.48387648e-01 3.64871923e+02] [-1.62527559e-01 1.18845043e-03 9.86703289e-01 6.94029924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:511.48, Y:364.90, Z:69.40 [[ 3.97130694e-01 -9.15385739e-01 6.60012145e-02 5.11475239e+02] [ 9.03377424e-01 4.02576798e-01 1.47787526e-01 3.64897202e+02] [-1.61853151e-01 9.33044236e-04 9.86814414e-01 6.93980853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1492541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:511.49, Y:364.92, Z:69.39 [[ 3.98392187e-01 -9.14863016e-01 6.56454643e-02 5.11486366e+02] [ 9.02959267e-01 4.03763807e-01 1.47103197e-01 3.64922231e+02] [-1.61084538e-01 6.70415778e-04 9.86940384e-01 6.93928069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.1792541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:511.50, Y:364.95, Z:69.39 [[ 4.01775584e-01 -9.13375144e-01 6.57436356e-02 5.11497209e+02] [ 9.01396971e-01 4.07118957e-01 1.47436955e-01 3.64946382e+02] [-1.61430730e-01 2.45453692e-05 9.86884045e-01 6.93882084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.51, Y:364.97, Z:69.38 [[ 4.05860430e-01 -9.11555993e-01 6.59013121e-02 5.11508979e+02] [ 8.99479400e-01 4.11175284e-01 1.47890819e-01 3.64971423e+02] [-1.61907753e-01 -7.46158453e-04 9.86805616e-01 6.93834497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2392541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:511.51, Y:365.00, Z:69.37 [[ 4.04080113e-01 -9.10937800e-01 8.31359494e-02 5.11506185e+02] [ 8.99501715e-01 4.12222870e-01 1.44806668e-01 3.64996309e+02] [-1.66180407e-01 1.62674344e-02 9.85961177e-01 6.93655214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.53, Y:365.02, Z:69.37 [[ 4.05553756e-01 -9.11547729e-01 6.78740675e-02 5.11525224e+02] [ 8.98526286e-01 4.11192297e-01 1.53529832e-01 3.65019112e+02] [-1.67859064e-01 -1.27796641e-03 9.85810175e-01 6.93658395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.54, Y:365.04, Z:69.37 [[ 4.10644245e-01 -9.10007776e-01 5.70714597e-02 5.11544093e+02] [ 8.96530342e-01 4.14383027e-01 1.56588803e-01 3.65044259e+02] [-1.66146473e-01 -1.31359957e-02 9.86013588e-01 6.93675935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.56, Y:365.07, Z:69.37 [[ 4.15177015e-01 -9.08073481e-01 5.50508755e-02 5.11561456e+02] [ 8.95217825e-01 4.18569876e-01 1.52919278e-01 3.65071602e+02] [-1.61904579e-01 -1.42060444e-02 9.86704158e-01 6.93681747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3592541539998 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:511.57, Y:365.10, Z:69.36 [[ 4.18290377e-01 -9.05937451e-01 6.56543573e-02 5.11567627e+02] [ 8.93849757e-01 4.23400742e-01 1.47527706e-01 3.65096582e+02] [-1.61448978e-01 -3.02428846e-03 9.86876427e-01 6.93583975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.3892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:511.58, Y:365.12, Z:69.35 [[ 4.19560927e-01 -9.05306982e-01 6.62412088e-02 5.11579714e+02] [ 8.92975380e-01 4.24744740e-01 1.48952597e-01 3.65122112e+02] [-1.62983431e-01 -3.34292116e-03 9.86623143e-01 6.93543086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:511.59, Y:365.15, Z:69.35 [[ 4.22290241e-01 -9.04033690e-01 6.62875637e-02 5.11591655e+02] [ 8.91649285e-01 4.27443508e-01 1.49176407e-01 3.65146093e+02] [-1.63194687e-01 -3.89048211e-03 9.86586214e-01 6.93495664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4492541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:511.58, Y:365.17, Z:69.32 [[ 4.18208534e-01 -9.02832110e-01 9.99790128e-02 5.11578546e+02] [ 8.91847950e-01 4.29001141e-01 1.43405911e-01 3.65171536e+02] [-1.72362571e-01 2.91925020e-02 9.84600905e-01 6.93202168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.4792541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:511.60, Y:365.19, Z:69.32 [[ 4.20884315e-01 -9.04049161e-01 7.45084444e-02 5.11603259e+02] [ 8.90369301e-01 4.27428306e-01 1.56676581e-01 3.65192631e+02] [-1.73490350e-01 3.97316089e-04 9.84835489e-01 6.93221161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:511.62, Y:365.22, Z:69.32 [[ 4.22272314e-01 -9.03847319e-01 6.88920660e-02 5.11617926e+02] [ 8.89643463e-01 4.27810819e-01 1.59726050e-01 3.65217400e+02] [-1.73840733e-01 -6.15851264e-03 9.84754524e-01 6.93191449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:511.66, Y:365.24, Z:69.35 [[ 4.29777425e-01 -9.02632655e-01 2.33592895e-02 5.11660636e+02] [ 8.88616866e-01 4.27409642e-01 1.66376273e-01 3.65241642e+02] [-1.60160643e-01 -5.07473075e-02 9.85785615e-01 6.93454767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:511.63, Y:365.27, Z:69.30 [[ 4.26921809e-01 -8.98647851e-01 1.00845469e-01 5.11627421e+02] [ 8.87849414e-01 4.37713558e-01 1.41881147e-01 3.65271753e+02] [-1.71642617e-01 2.89634342e-02 9.84733432e-01 6.92988044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.5992541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:511.66, Y:365.29, Z:69.31 [[ 4.27743295e-01 -9.01697162e-01 6.30706031e-02 5.11659889e+02] [ 8.87964369e-01 4.32222432e-01 1.57172035e-01 3.65291376e+02] [-1.68982107e-01 -1.12248357e-02 9.85555199e-01 6.93078729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.6292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:511.67, Y:365.32, Z:69.30 [[ 4.29054004e-01 -9.01109031e-01 6.25713728e-02 5.11674710e+02] [ 8.87614141e-01 4.33445369e-01 1.55776278e-01 3.65316248e+02] [-1.67492683e-01 -1.12972005e-02 9.85808589e-01 6.93049738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.6592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:511.69, Y:365.34, Z:69.30 [[ 4.29173722e-01 -9.00881528e-01 6.49799157e-02 5.11686463e+02] [ 8.87699048e-01 4.33985426e-01 1.53775973e-01 3.65341199e+02] [-1.66734269e-01 -8.31399711e-03 9.85966815e-01 6.92996783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.6892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:511.70, Y:365.36, Z:69.30 [[ 4.27517395e-01 -9.01942983e-01 6.10551500e-02 5.11703699e+02] [ 8.88569250e-01 4.31685408e-01 1.55217255e-01 3.65363645e+02] [-1.66353731e-01 -1.21063477e-02 9.85991822e-01 6.92977651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7192541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:511.72, Y:365.39, Z:69.30 [[ 4.26888709e-01 -9.02592831e-01 5.56076598e-02 5.11721109e+02] [ 8.89218317e-01 4.30158054e-01 1.55739636e-01 3.65388425e+02] [-1.64489562e-01 -1.70361424e-02 9.86231694e-01 6.92976748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.75, Y:365.41, Z:69.30 [[ 4.27383739e-01 -9.02668085e-01 5.03335794e-02 5.11746406e+02] [ 8.89772228e-01 4.29834608e-01 1.53452245e-01 3.65414448e+02] [-1.60151558e-01 -2.07975731e-02 9.86873315e-01 6.93016791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.7792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:511.75, Y:365.44, Z:69.29 [[ 4.23978803e-01 -9.03325650e-01 6.51517048e-02 5.11753890e+02] [ 8.91377939e-01 4.28936479e-01 1.46488455e-01 3.65438949e+02] [-1.60272722e-01 -4.03320756e-03 9.87064531e-01 6.92908470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.77, Y:365.46, Z:69.28 [[ 4.23399217e-01 -9.03348938e-01 6.85113139e-02 5.11765392e+02] [ 8.91729091e-01 4.28906393e-01 1.44424843e-01 3.65462926e+02] [-1.59850969e-01 -5.58336916e-05 9.87141157e-01 6.92847978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8392541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:511.78, Y:365.49, Z:69.28 [[ 4.20373441e-01 -9.05292113e-01 6.10930436e-02 5.11783699e+02] [ 8.93233438e-01 4.24724851e-01 1.47454492e-01 3.65486135e+02] [-1.59437122e-01 -7.41560295e-03 9.87180233e-01 6.92823257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8692541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:511.79, Y:365.51, Z:69.28 [[ 4.19219651e-01 -9.05578428e-01 6.46729948e-02 5.11794932e+02] [ 8.93792431e-01 4.24166332e-01 1.45664041e-01 3.65511495e+02] [-1.59342320e-01 -3.26099500e-03 9.87218006e-01 6.92756778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.81, Y:365.54, Z:69.27 [[ 4.18585299e-01 -9.05857680e-01 6.48707273e-02 5.11808685e+02] [ 8.93983706e-01 4.23569987e-01 1.46224487e-01 3.65535987e+02] [-1.59935867e-01 -3.21404727e-03 9.87122175e-01 6.92713969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9292541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:511.82, Y:365.56, Z:69.27 [[ 4.16815273e-01 -9.06684340e-01 6.47188952e-02 5.11823853e+02] [ 8.94857099e-01 4.21799549e-01 1.45999701e-01 3.65559545e+02] [-1.59674044e-01 -2.94074256e-03 9.87165413e-01 6.92671345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:511.84, Y:365.58, Z:69.26 [[ 4.15837939e-01 -9.07138083e-01 6.46475671e-02 5.11836442e+02] [ 8.95323431e-01 4.20823694e-01 1.45956750e-01 3.65583527e+02] [-1.59608154e-01 -2.81387238e-03 9.87176438e-01 6.92625135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 959.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.85, Y:365.61, Z:69.26 [[ 4.14484941e-01 -9.07772615e-01 6.44291252e-02 5.11851260e+02] [ 8.96029034e-01 4.19454517e-01 1.45567434e-01 3.65607225e+02] [-1.59167218e-01 -2.60514257e-03 9.87248201e-01 6.92579307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.86, Y:365.63, Z:69.25 [[ 4.13403773e-01 -9.08262620e-01 6.44696280e-02 5.11863981e+02] [ 8.96491737e-01 4.18393271e-01 1.45772550e-01 3.65631987e+02] [-1.59373417e-01 -2.46643343e-03 9.87215291e-01 6.92528393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.88, Y:365.66, Z:69.25 [[ 4.12476262e-01 -9.08685544e-01 6.44508707e-02 5.11876743e+02] [ 8.96908288e-01 4.17474617e-01 1.45843980e-01 3.65656536e+02] [-1.59432919e-01 -2.35065973e-03 9.87205966e-01 6.92479482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.0792541539998 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:511.89, Y:365.68, Z:69.24 [[ 4.10489370e-01 -9.09316302e-01 6.81347117e-02 5.11887495e+02] [ 8.97767967e-01 4.16101412e-01 1.44472465e-01 3.65681180e+02] [-1.59722117e-01 1.86475060e-03 9.87160255e-01 6.92387410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:511.90, Y:365.71, Z:69.24 [[ 4.12069207e-01 -9.09134622e-01 6.06069865e-02 5.11902910e+02] [ 8.97021131e-01 4.16449344e-01 1.48064293e-01 3.65705316e+02] [-1.59850115e-01 -6.64698846e-03 9.87118918e-01 6.92396334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.91, Y:365.73, Z:69.23 [[ 4.11901492e-01 -9.08938238e-01 6.45634561e-02 5.11911369e+02] [ 8.97077787e-01 4.16924026e-01 1.46375545e-01 3.65731264e+02] [-1.59964386e-01 -2.37386289e-03 9.87119932e-01 6.92328776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.92, Y:365.76, Z:69.23 [[ 4.11772516e-01 -9.09008320e-01 6.43992911e-02 5.11922285e+02] [ 8.97190910e-01 4.16771122e-01 1.46117428e-01 3.65756757e+02] [-1.59661723e-01 -2.38868256e-03 9.87168896e-01 6.92280778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.93, Y:365.78, Z:69.22 [[ 4.10813809e-01 -9.09441249e-01 6.44098521e-02 5.11932208e+02] [ 8.97606813e-01 4.15826246e-01 1.46255061e-01 3.65783083e+02] [-1.59793692e-01 -2.26887653e-03 9.87147825e-01 6.92230749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.94, Y:365.81, Z:69.22 [[ 4.10374203e-01 -9.09626853e-01 6.45910374e-02 5.11942717e+02] [ 8.97709104e-01 4.15420176e-01 1.46780254e-01 3.65808630e+02] [-1.60347680e-01 -2.25086746e-03 9.87058030e-01 6.92182444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.95, Y:365.83, Z:69.21 [[ 4.10497978e-01 -9.09527503e-01 6.52007008e-02 5.11952576e+02] [ 8.97361512e-01 4.15637033e-01 1.48284095e-01 3.65834781e+02] [-1.61968288e-01 -2.36172157e-03 9.86793137e-01 6.92135467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.2892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:511.96, Y:365.86, Z:69.21 [[ 4.12204204e-01 -9.08733453e-01 6.55072909e-02 5.11960656e+02] [ 8.96421964e-01 4.17367956e-01 1.49102822e-01 3.65860516e+02] [-1.62835367e-01 -2.73863579e-03 9.86649453e-01 6.92086248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:511.97, Y:365.89, Z:69.20 [[ 4.13541423e-01 -9.08112158e-01 6.56947473e-02 5.11970810e+02] [ 8.95708767e-01 4.18716076e-01 1.49608330e-01 3.65886346e+02] [-1.63368590e-01 -3.02588064e-03 9.86560463e-01 6.92036677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.98, Y:365.91, Z:69.20 [[ 4.14876831e-01 -9.07512314e-01 6.55638243e-02 5.11980551e+02] [ 8.95131646e-01 4.20012464e-01 1.49428469e-01 3.65911395e+02] [-1.63145799e-01 -3.30615564e-03 9.86596431e-01 6.91990098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:511.99, Y:365.94, Z:69.19 [[ 4.15592671e-01 -9.07204960e-01 6.52831698e-02 5.11990443e+02] [ 8.94909838e-01 4.20674713e-01 1.48893145e-01 3.65937336e+02] [-1.62539579e-01 -3.45634906e-03 9.86695971e-01 6.91941267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.00, Y:365.96, Z:69.19 [[ 4.17068893e-01 -9.06561769e-01 6.48019880e-02 5.11999070e+02] [ 8.94421663e-01 4.22056692e-01 1.47912263e-01 3.65962536e+02] [-1.61441716e-01 -3.72930209e-03 9.86875202e-01 6.91885948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:512.01, Y:365.99, Z:69.18 [[ 4.16469044e-01 -9.06865782e-01 6.44048929e-02 5.12007977e+02] [ 8.94861921e-01 4.21403914e-01 1.47108411e-01 3.65988362e+02] [-1.60548058e-01 -3.63261326e-03 9.87021340e-01 6.91834746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4692541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:512.02, Y:366.01, Z:69.18 [[ 4.15824445e-01 -9.07147873e-01 6.45969627e-02 5.12018915e+02] [ 8.95056558e-01 4.20796741e-01 1.47661307e-01 3.66013682e+02] [-1.61132832e-01 -3.58324602e-03 9.86926224e-01 6.91790380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.4992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:512.03, Y:366.04, Z:69.17 [[ 4.13232914e-01 -9.08345261e-01 6.44006627e-02 5.12028575e+02] [ 8.96323074e-01 4.18209177e-01 1.47329668e-01 3.66038234e+02] [-1.60759154e-01 -3.15766793e-03 9.86988614e-01 6.91744004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5292541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:512.04, Y:366.06, Z:69.17 [[ 4.11321395e-01 -9.09229234e-01 6.41631550e-02 5.12039488e+02] [ 8.97289997e-01 4.16286081e-01 1.46889620e-01 3.66064231e+02] [-1.60266565e-01 -2.84588646e-03 9.87069668e-01 6.91696432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:512.05, Y:366.09, Z:69.16 [[ 4.07622468e-01 -9.10903093e-01 6.40271674e-02 5.12050410e+02] [ 8.99016366e-01 4.12614303e-01 1.46693594e-01 3.66088854e+02] [-1.60042174e-01 -2.23413363e-03 9.87107649e-01 6.91648588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.06, Y:366.11, Z:69.16 [[ 4.05367512e-01 -9.11887782e-01 6.43261469e-02 5.12061774e+02] [ 8.99884435e-01 4.10435219e-01 1.47481979e-01 3.66113563e+02] [-1.60888731e-01 -1.89830439e-03 9.86970725e-01 6.91600144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.07, Y:366.14, Z:69.15 [[ 4.01304419e-01 -9.13728176e-01 6.36834578e-02 5.12074155e+02] [ 9.01969878e-01 4.06324236e-01 1.46119658e-01 3.66137862e+02] [-1.59389781e-01 -1.19790386e-03 9.87215003e-01 6.91549584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.09, Y:366.16, Z:69.15 [[ 3.99119867e-01 -9.14702036e-01 6.34312025e-02 5.12085746e+02] [ 9.03031265e-01 4.04128021e-01 1.45653963e-01 3.66162343e+02] [-1.58864303e-01 -8.53031218e-04 9.87300059e-01 6.91502100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.10, Y:366.19, Z:69.15 [[ 3.95550423e-01 -9.16266345e-01 6.32127182e-02 5.12098102e+02] [ 9.04679915e-01 4.00569487e-01 1.45252670e-01 3.66185495e+02] [-1.58411219e-01 -2.67478627e-04 9.87373189e-01 6.91454430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7092541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:512.11, Y:366.21, Z:69.14 [[ 3.93531420e-01 -9.17173414e-01 6.26574024e-02 5.12109706e+02] [ 9.05786939e-01 3.98488300e-01 1.44073232e-01 3.66210918e+02] [-1.57108379e-01 5.69133848e-05 9.87581366e-01 6.91407670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:512.12, Y:366.24, Z:69.14 [[ 3.92251996e-01 -9.17689926e-01 6.31155456e-02 5.12121996e+02] [ 9.06124221e-01 3.97297309e-01 1.45236860e-01 3.66235867e+02] [-1.58358040e-01 2.21076308e-04 9.87381731e-01 6.91360381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.13, Y:366.26, Z:69.13 [[ 3.90419709e-01 -9.18428866e-01 6.37249503e-02 5.12134747e+02] [ 9.06628494e-01 3.95585880e-01 1.46753483e-01 3.66261072e+02] [-1.59991325e-01 4.79403672e-04 9.87118304e-01 6.91314059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.7992541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:512.15, Y:366.29, Z:69.13 [[ 3.89825515e-01 -9.18699802e-01 6.34566196e-02 5.12145714e+02] [ 9.06984217e-01 3.94956176e-01 1.46250639e-01 3.66285318e+02] [-1.59423017e-01 5.41921770e-04 9.87210215e-01 6.91267290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:512.16, Y:366.31, Z:69.12 [[ 3.90060390e-01 -9.18554077e-01 6.41194278e-02 5.12158216e+02] [ 9.06571837e-01 3.95295092e-01 1.47882708e-01 3.66309928e+02] [-1.61184360e-01 4.45680487e-04 9.86924214e-01 6.91228072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.17, Y:366.33, Z:69.12 [[ 3.90519795e-01 -9.18333412e-01 6.44828177e-02 5.12169425e+02] [ 9.06191506e-01 3.95807591e-01 1.48839864e-01 3.66333967e+02] [-1.62207409e-01 3.08868403e-04 9.86756637e-01 6.91184307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.8892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:512.18, Y:366.36, Z:69.11 [[ 3.90804294e-01 -9.18219921e-01 6.43753163e-02 5.12180440e+02] [ 9.06100065e-01 3.96070864e-01 1.48696140e-01 3.66359480e+02] [-1.62032945e-01 2.19388290e-04 9.86785325e-01 6.91137126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9192541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:512.19, Y:366.39, Z:69.11 [[ 3.90554197e-01 -9.18329408e-01 6.43313175e-02 5.12191578e+02] [ 9.06207893e-01 3.95816943e-01 1.48715173e-01 3.66385349e+02] [-1.62032942e-01 2.16212855e-04 9.86785326e-01 6.91087866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9492541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:512.20, Y:366.41, Z:69.10 [[ 3.92352803e-01 -9.17553283e-01 6.44612368e-02 5.12202115e+02] [ 9.05353287e-01 3.97612815e-01 1.49129058e-01 3.66409671e+02] [-1.62464471e-01 -1.51011455e-04 9.86714383e-01 6.91040304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 960.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.21, Y:366.43, Z:69.10 [[ 3.94994769e-01 -9.16372421e-01 6.51208000e-02 5.12212703e+02] [ 9.03885031e-01 4.00326254e-01 1.50767179e-01 3.66434179e+02] [-1.64228451e-01 -6.90530811e-04 9.86422090e-01 6.90993924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:512.22, Y:366.46, Z:69.09 [[ 3.95932738e-01 -9.15971629e-01 6.50633672e-02 5.12223659e+02] [ 9.03488021e-01 4.01242054e-01 1.50712343e-01 3.66459955e+02] [-1.64154390e-01 -8.87977878e-04 9.86434259e-01 6.90943164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:512.23, Y:366.48, Z:69.09 [[ 3.96762771e-01 -9.15619057e-01 6.49695811e-02 5.12233812e+02] [ 9.03146653e-01 4.02045484e-01 1.50617236e-01 3.66484443e+02] [-1.64028739e-01 -1.08225229e-03 9.86454967e-01 6.90890383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.24, Y:366.51, Z:69.08 [[ 3.98895362e-01 -9.14685758e-01 6.50573176e-02 5.12243710e+02] [ 9.02148751e-01 4.04162928e-01 1.50930310e-01 3.66508800e+02] [-1.64347561e-01 -1.51402279e-03 9.86401332e-01 6.90846620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.0992541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:512.25, Y:366.53, Z:69.08 [[ 3.99615628e-01 -9.14407478e-01 6.45469929e-02 5.12253975e+02] [ 9.02046676e-01 4.04791567e-01 1.49851865e-01 3.66534644e+02] [-1.63153744e-01 -1.65874653e-03 9.86599262e-01 6.90793348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.26, Y:366.56, Z:69.07 [[ 4.01661712e-01 -9.13500506e-01 6.46892153e-02 5.12263524e+02] [ 9.01052795e-01 4.06832259e-01 1.50304274e-01 3.66559505e+02] [-1.63620690e-01 -2.08307373e-03 9.86521125e-01 6.90746017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.27, Y:366.59, Z:69.07 [[ 4.02988095e-01 -9.12905012e-01 6.48462384e-02 5.12272833e+02] [ 9.00375428e-01 4.08165224e-01 1.50748925e-01 3.66585264e+02] [-1.64087429e-01 -2.36406233e-03 9.86442967e-01 6.90690614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.1892541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:512.28, Y:366.61, Z:69.06 [[ 4.03134232e-01 -9.12855198e-01 6.46388363e-02 5.12283180e+02] [ 9.00385917e-01 4.08276260e-01 1.50385156e-01 3.66611063e+02] [-1.63670374e-01 -2.42550656e-03 9.86512101e-01 6.90636670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.29, Y:366.64, Z:69.06 [[ 4.03192332e-01 -9.12806669e-01 6.49609851e-02 5.12293783e+02] [ 9.00190777e-01 4.08384246e-01 1.51257634e-01 3.66635850e+02] [-1.64598020e-01 -2.50863852e-03 9.86357541e-01 6.90593859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:512.30, Y:366.66, Z:69.05 [[ 4.02145973e-01 -9.13252132e-01 6.51855804e-02 5.12304641e+02] [ 9.00540532e-01 4.07387943e-01 1.51861171e-01 3.66661200e+02] [-1.65243358e-01 -2.36810135e-03 9.86249981e-01 6.90544705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.2792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:512.32, Y:366.69, Z:69.05 [[ 4.01200881e-01 -9.13650150e-01 6.54313076e-02 5.12315566e+02] [ 9.00826365e-01 4.06495115e-01 1.52556812e-01 3.66686575e+02] [-1.65981061e-01 -2.26368018e-03 9.86126342e-01 6.90490934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.33, Y:366.71, Z:69.04 [[ 4.00188723e-01 -9.14086068e-01 6.55411796e-02 5.12326658e+02] [ 9.01203946e-01 4.05514602e-01 1.52935790e-01 3.66711456e+02] [-1.66374380e-01 -2.13720885e-03 9.86060342e-01 6.90441812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.34, Y:366.74, Z:69.04 [[ 3.99698604e-01 -9.14304882e-01 6.54798402e-02 5.12337348e+02] [ 9.01429066e-01 4.05021227e-01 1.52916462e-01 3.66736125e+02] [-1.66332993e-01 -2.09506518e-03 9.86067415e-01 6.90389433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:512.35, Y:366.76, Z:69.03 [[ 3.99751771e-01 -9.14306627e-01 6.51299767e-02 5.12348008e+02] [ 9.01550741e-01 4.05017117e-01 1.52208397e-01 3.66761300e+02] [-1.65543902e-01 -2.12759758e-03 9.86200127e-01 6.90337498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.3992541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:512.36, Y:366.79, Z:69.03 [[ 3.99906372e-01 -9.14255505e-01 6.48981145e-02 5.12358929e+02] [ 9.01570227e-01 4.05132170e-01 1.51786200e-01 3.66786949e+02] [-1.65063683e-01 -2.19006082e-03 9.86280479e-01 6.90280229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:512.37, Y:366.81, Z:69.02 [[ 4.00367558e-01 -9.14053042e-01 6.49065116e-02 5.12369267e+02] [ 9.01341213e-01 4.05588010e-01 1.51928881e-01 3.66811215e+02] [-1.65196358e-01 -2.32448103e-03 9.86257958e-01 6.90238425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:512.37, Y:366.84, Z:69.01 [[ 3.99213968e-01 -9.13318977e-01 8.04776599e-02 5.12369227e+02] [ 9.01110060e-01 4.07041226e-01 1.49392435e-01 3.66837047e+02] [-1.69200672e-01 1.28796822e-02 9.85497461e-01 6.90071669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.40, Y:366.86, Z:69.02 [[ 4.03253537e-01 -9.13742687e-01 4.96073321e-02 5.12398647e+02] [ 9.00123211e-01 4.05839469e-01 1.58343077e-01 3.66859765e+02] [-1.64817442e-01 -1.91996949e-02 9.86137203e-01 6.90219324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:512.40, Y:366.89, Z:69.01 [[ 4.03562330e-01 -9.12656642e-01 6.47711410e-02 5.12401936e+02] [ 8.99936970e-01 4.08716111e-01 1.51870311e-01 3.66887584e+02] [-1.65078457e-01 -2.99919237e-03 9.86275878e-01 6.90101387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.41, Y:366.91, Z:69.01 [[ 4.04884614e-01 -9.12061930e-01 6.48959563e-02 5.12412663e+02] [ 8.99265218e-01 4.10039215e-01 1.52282339e-01 3.66913012e+02] [-1.65500811e-01 -3.29809956e-03 9.86204139e-01 6.90062935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.5792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:512.42, Y:366.94, Z:69.00 [[ 4.04762421e-01 -9.12124579e-01 6.47775763e-02 5.12423595e+02] [ 8.99355652e-01 4.09899691e-01 1.52123812e-01 3.66938736e+02] [-1.65308176e-01 -3.31592299e-03 9.86236387e-01 6.90002270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.43, Y:366.96, Z:69.00 [[ 4.04596335e-01 -9.12199088e-01 6.47659554e-02 5.12434209e+02] [ 8.99415144e-01 4.09733689e-01 1.52219259e-01 3.66963717e+02] [-1.65391063e-01 -3.33587304e-03 9.86222423e-01 6.89962109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6392541539999 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:512.45, Y:366.99, Z:68.99 [[ 4.03359853e-01 -9.12766282e-01 6.44867702e-02 5.12445338e+02] [ 9.00082145e-01 4.08470179e-01 1.51671503e-01 3.66989031e+02] [-1.64781556e-01 -3.13480450e-03 9.86325105e-01 6.89901699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:512.46, Y:367.01, Z:68.99 [[ 4.00652631e-01 -9.13953549e-01 6.45475010e-02 5.12456995e+02] [ 9.01239296e-01 4.05809814e-01 1.51941194e-01 3.67012999e+02] [-1.65061203e-01 -2.70289471e-03 9.86279623e-01 6.89860272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.47, Y:367.04, Z:68.98 [[ 3.98837646e-01 -9.14748734e-01 6.45235325e-02 5.12468439e+02] [ 9.02035483e-01 4.04015964e-01 1.51997000e-01 3.67038057e+02] [-1.65107601e-01 -2.41960997e-03 9.86272592e-01 6.89820888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.7292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:512.48, Y:367.06, Z:68.98 [[ 3.96117389e-01 -9.15929711e-01 6.45273447e-02 5.12479781e+02] [ 9.03209642e-01 4.01333833e-01 1.52129872e-01 3.67062762e+02] [-1.65237277e-01 -1.97956788e-03 9.86251856e-01 6.89767108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.49, Y:367.09, Z:68.97 [[ 3.90915671e-01 -9.18146412e-01 6.47464651e-02 5.12492122e+02] [ 9.05348056e-01 3.96239764e-01 1.52770894e-01 3.67088319e+02] [-1.65921172e-01 -1.10245009e-03 9.86138403e-01 6.89728516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.7892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:512.50, Y:367.11, Z:68.97 [[ 3.85185478e-01 -9.20546628e-01 6.50081038e-02 5.12502824e+02] [ 9.07656288e-01 3.90632679e-01 1.53512776e-01 3.67112769e+02] [-1.66709958e-01 -1.25877994e-04 9.86005971e-01 6.89676866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:512.51, Y:367.14, Z:68.96 [[ 3.82267861e-01 -9.21745245e-01 6.52455834e-02 5.12512883e+02] [ 9.08758118e-01 3.87795796e-01 1.54185291e-01 3.67137207e+02] [-1.67421521e-01 3.52372348e-04 9.85885343e-01 6.89636337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.52, Y:367.16, Z:68.96 [[ 3.79287593e-01 -9.22972527e-01 6.52888686e-02 5.12523269e+02] [ 9.09967181e-01 3.84864902e-01 1.54397985e-01 3.67162802e+02] [-1.67632492e-01 8.49487562e-04 9.85849190e-01 6.89592222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.51, Y:367.19, Z:68.93 [[ 3.68040021e-01 -9.24876699e-01 9.56537271e-02 5.12510731e+02] [ 9.13195494e-01 3.78906486e-01 1.50012883e-01 3.67187453e+02] [-1.74987238e-01 3.21398077e-02 9.84045984e-01 6.89317184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.56, Y:367.21, Z:68.96 [[ 3.68986379e-01 -9.28795617e-01 3.44638016e-02 5.12558851e+02] [ 9.14286264e-01 3.69390203e-01 1.66227273e-01 3.67209526e+02] [-1.67121754e-01 -2.98258192e-02 9.85485028e-01 6.89633164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9392541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:512.55, Y:367.24, Z:68.94 [[ 3.60752718e-01 -9.30426693e-01 6.45263161e-02 5.12553762e+02] [ 9.17807252e-01 3.66455033e-01 1.52776168e-01 3.67238598e+02] [-1.65793018e-01 4.10830307e-03 9.86152015e-01 6.89435817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.56, Y:367.26, Z:68.94 [[ 3.56676199e-01 -9.32005264e-01 6.44071225e-02 5.12563764e+02] [ 9.19438141e-01 3.62413144e-01 1.52611331e-01 3.67264539e+02] [-1.65576551e-01 4.78553578e-03 9.86185330e-01 6.89403419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 961.9992541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:512.56, Y:367.29, Z:68.92 [[ 3.44876178e-01 -9.35028828e-01 8.23499443e-02 5.12559627e+02] [ 9.23172396e-01 3.53747672e-01 1.50383880e-01 3.67290981e+02] [-1.69744364e-01 2.41593776e-02 9.85191948e-01 6.89212037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:512.58, Y:367.32, Z:68.93 [[ 3.42842930e-01 -9.37538197e-01 5.89987757e-02 5.12582482e+02] [ 9.24138346e-01 3.47882151e-01 1.57944063e-01 3.67315601e+02] [-1.68603213e-01 3.73025512e-04 9.85683934e-01 6.89288176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0592541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:512.58, Y:367.34, Z:68.91 [[ 3.35319534e-01 -9.38944819e-01 7.70936891e-02 5.12579797e+02] [ 9.26114878e-01 3.43535420e-01 1.55867408e-01 3.67342161e+02] [-1.72835308e-01 1.91322258e-02 9.84764903e-01 6.89110351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.60, Y:367.37, Z:68.91 [[ 3.34950596e-01 -9.40100714e-01 6.33935791e-02 5.12596574e+02] [ 9.26300251e-01 3.40861038e-01 1.60566490e-01 3.67367456e+02] [-1.72557074e-01 4.93964666e-03 9.84987135e-01 6.89148820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:512.61, Y:367.40, Z:68.91 [[ 3.36649575e-01 -9.39820069e-01 5.83549702e-02 5.12607911e+02] [ 9.26035724e-01 3.41669777e-01 1.60373322e-01 3.67395662e+02] [-1.70660196e-01 4.91764395e-05 9.85329942e-01 6.89144802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.61, Y:367.42, Z:68.90 [[ 3.36790369e-01 -9.38970351e-01 7.00494669e-02 5.12608806e+02] [ 9.25684252e-01 3.43799472e-01 1.57830887e-01 3.67422208e+02] [-1.72281493e-01 1.16877655e-02 9.84978418e-01 6.89033297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.1792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:512.62, Y:367.45, Z:68.90 [[ 3.41912672e-01 -9.37732072e-01 6.12722356e-02 5.12618951e+02] [ 9.24018301e-01 3.47353773e-01 1.59798425e-01 3.67449712e+02] [-1.71131251e-01 1.97956050e-03 9.85246252e-01 6.89025041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:512.63, Y:367.48, Z:68.91 [[ 3.47559111e-01 -9.36330676e-01 4.98751373e-02 5.12634181e+02] [ 9.22786159e-01 3.50998337e-01 1.58952421e-01 3.67475980e+02] [-1.66338118e-01 -9.22127566e-03 9.86025658e-01 6.89076154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2392541539998 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:512.63, Y:367.51, Z:68.90 [[ 3.55386665e-01 -9.32528638e-01 6.39582469e-02 5.12631085e+02] [ 9.20059028e-01 3.61064079e-01 1.52066158e-01 3.67505096e+02] [-1.64899073e-01 4.80307779e-03 9.86298751e-01 6.88953190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:512.64, Y:367.53, Z:68.89 [[ 3.59762933e-01 -9.30847334e-01 6.39833761e-02 5.12638746e+02] [ 9.18323037e-01 3.65386547e-01 1.52234921e-01 3.67531816e+02] [-1.65086135e-01 3.98892674e-03 9.86271087e-01 6.88902754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.65, Y:367.56, Z:68.89 [[ 3.64805661e-01 -9.28896217e-01 6.37859516e-02 5.12646218e+02] [ 9.16399014e-01 3.70327633e-01 1.51889074e-01 3.67557536e+02] [-1.64710887e-01 3.04338905e-03 9.86337195e-01 6.88869081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3292541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:512.65, Y:367.59, Z:68.88 [[ 3.72907629e-01 -9.25635400e-01 6.43351159e-02 5.12650060e+02] [ 9.12852384e-01 3.78413371e-01 1.53309640e-01 3.67585206e+02] [-1.66254098e-01 1.55812943e-03 9.86081714e-01 6.88802621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.66, Y:367.61, Z:68.88 [[ 3.80976074e-01 -9.22317592e-01 6.47108215e-02 5.12655416e+02] [ 9.09313966e-01 3.86432733e-01 1.54330344e-01 3.67613715e+02] [-1.67347971e-01 4.62850852e-05 9.85897893e-01 6.88771010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.3892541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:512.66, Y:367.64, Z:68.87 [[ 3.82985521e-01 -9.21467452e-01 6.49601832e-02 5.12662670e+02] [ 9.08328972e-01 3.88455393e-01 1.55051237e-01 3.67639783e+02] [-1.68108802e-01 -3.77162541e-04 9.85768375e-01 6.88702028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4192541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:512.66, Y:367.67, Z:68.85 [[ 3.84629517e-01 -9.19247034e-01 8.39346494e-02 5.12657829e+02] [ 9.06705689e-01 3.93291576e-01 1.52336896e-01 3.67667950e+02] [-1.73046031e-01 1.75107573e-02 9.84758064e-01 6.88519190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4492541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:512.69, Y:367.69, Z:68.87 [[ 3.87917974e-01 -9.20484680e-01 4.71974449e-02 5.12686304e+02] [ 9.06190715e-01 3.90245248e-01 1.62871222e-01 3.67690085e+02] [-1.68339043e-01 -2.04107882e-02 9.85517816e-01 6.88674996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.4792541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:512.67, Y:367.72, Z:68.84 [[ 3.86199974e-01 -9.18344941e-01 8.65572018e-02 5.12673581e+02] [ 9.05979004e-01 3.95280087e-01 1.51511375e-01 3.67720159e+02] [-1.73354043e-01 1.99053186e-02 9.84658395e-01 6.88417648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.70, Y:367.74, Z:68.86 [[ 3.89091944e-01 -9.20130862e-01 4.43469912e-02 5.12703677e+02] [ 9.05832301e-01 3.90914137e-01 1.63260468e-01 3.67742763e+02] [-1.67556861e-01 -2.33523960e-02 9.85585797e-01 6.88593174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5392541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:512.70, Y:367.77, Z:68.84 [[ 3.88175374e-01 -9.19308388e-01 6.47454022e-02 5.12702068e+02] [ 9.06142630e-01 3.93535007e-01 1.55034615e-01 3.67771927e+02] [-1.68004205e-01 -1.51205078e-03 9.85785119e-01 6.88446389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:512.71, Y:367.80, Z:68.84 [[ 3.88559895e-01 -9.19183076e-01 6.42158997e-02 5.12710262e+02] [ 9.06210007e-01 3.93827247e-01 1.53894522e-01 3.67799063e+02] [-1.66747211e-01 -1.60414824e-03 9.85998375e-01 6.88400102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.5992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:512.72, Y:367.82, Z:68.83 [[ 3.88751520e-01 -9.19124847e-01 6.38887417e-02 5.12719344e+02] [ 9.06262157e-01 3.93962842e-01 1.53238970e-01 3.67824235e+02] [-1.66015535e-01 -1.67193362e-03 9.86121720e-01 6.88347370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.73, Y:367.85, Z:68.83 [[ 3.89507826e-01 -9.18842455e-01 6.33418969e-02 5.12729652e+02] [ 9.06185619e-01 3.94620438e-01 1.51994522e-01 3.67850454e+02] [-1.64655027e-01 -1.80353989e-03 9.86349568e-01 6.88312648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.6592541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:512.73, Y:367.88, Z:68.81 [[ 3.87686405e-01 -9.18344597e-01 7.96395190e-02 5.12727895e+02] [ 9.06597063e-01 3.95492312e-01 1.47199175e-01 3.67878389e+02] [-1.66676384e-01 1.51338350e-02 9.85895507e-01 6.88109654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.6892541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:512.75, Y:367.90, Z:68.81 [[ 3.87617906e-01 -9.19595505e-01 6.40036448e-02 5.12745001e+02] [ 9.06836979e-01 3.92864897e-01 1.52656039e-01 3.67903131e+02] [-1.65526593e-01 -1.13134242e-03 9.86204678e-01 6.88126460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7192541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:512.75, Y:367.93, Z:68.80 [[ 3.86818428e-01 -9.19661667e-01 6.77784787e-02 5.12752790e+02] [ 9.06945847e-01 3.92703595e-01 1.52424137e-01 3.67928869e+02] [-1.66795488e-01 2.51094478e-03 9.85988317e-01 6.88049736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7492541539999 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:512.78, Y:367.95, Z:68.82 [[ 3.87012337e-01 -9.21166319e-01 4.09153253e-02 5.12778394e+02] [ 9.07806995e-01 3.88424388e-01 1.58154843e-01 3.67951716e+02] [-1.61579425e-01 -2.40646570e-02 9.86566258e-01 6.88155705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.78, Y:367.98, Z:68.81 [[ 3.86533720e-01 -9.20177530e-01 6.21690946e-02 5.12779267e+02] [ 9.07939306e-01 3.91498951e-01 1.49582047e-01 3.67980500e+02] [-1.61981174e-01 -1.37274058e-03 9.86792894e-01 6.88066262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.79, Y:368.01, Z:68.80 [[ 3.86367113e-01 -9.20250527e-01 6.21242457e-02 5.12790000e+02] [ 9.08010246e-01 3.91327270e-01 1.49600671e-01 3.68006502e+02] [-1.61981008e-01 -1.39132797e-03 9.86792895e-01 6.88017583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8392541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:512.80, Y:368.03, Z:68.79 [[ 3.84593613e-01 -9.20986138e-01 6.22276960e-02 5.12800204e+02] [ 9.08701927e-01 3.89593753e-01 1.49925034e-01 3.68031353e+02] [-1.62322400e-01 -1.11378324e-03 9.86737147e-01 6.87944353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8692541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:512.81, Y:368.06, Z:68.79 [[ 3.82219478e-01 -9.21955097e-01 6.25065537e-02 5.12811285e+02] [ 9.09551771e-01 3.87296045e-01 1.50722756e-01 3.68056844e+02] [-1.63168154e-01 -7.56226569e-04 9.86597984e-01 6.87903276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.82, Y:368.08, Z:68.79 [[ 3.80853341e-01 -9.22511630e-01 6.26340530e-02 5.12822846e+02] [ 9.10044029e-01 3.85968871e-01 1.51155204e-01 3.68082524e+02] [-1.63617229e-01 -5.68218649e-04 9.86523735e-01 6.87893951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.83, Y:368.11, Z:68.79 [[ 3.80086435e-01 -9.22817882e-01 6.27810326e-02 5.12833097e+02] [ 9.10274331e-01 3.85236186e-01 1.51636817e-01 3.68106926e+02] [-1.64118692e-01 -4.87134815e-04 9.86440479e-01 6.87851357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:512.84, Y:368.13, Z:68.78 [[ 3.79040816e-01 -9.23251084e-01 6.27335332e-02 5.12843360e+02] [ 9.10713784e-01 3.84196979e-01 1.51634708e-01 3.68132042e+02] [-1.64098942e-01 -3.43449970e-04 9.86443825e-01 6.87796918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 962.9892541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:512.85, Y:368.16, Z:68.78 [[ 3.77544370e-01 -9.23851647e-01 6.29156770e-02 5.12854207e+02] [ 9.11228210e-01 3.82750723e-01 1.52200637e-01 3.68158004e+02] [-1.64691830e-01 -1.31953750e-04 9.86345063e-01 6.87757438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:512.86, Y:368.18, Z:68.77 [[ 3.76349609e-01 -9.24334932e-01 6.29754354e-02 5.12864423e+02] [ 9.11672822e-01 3.81582144e-01 1.52472072e-01 3.68182700e+02] [-1.64965564e-01 3.01883634e-05 9.86299327e-01 6.87704775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0492541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:512.88, Y:368.21, Z:68.76 [[ 3.72802612e-01 -9.25764253e-01 6.30774216e-02 5.12875300e+02] [ 9.13066854e-01 3.78100719e-01 1.52803032e-01 3.68207688e+02] [-1.65309203e-01 6.28533552e-04 9.86241589e-01 6.87648149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.89, Y:368.23, Z:68.76 [[ 3.70589849e-01 -9.26653305e-01 6.30619964e-02 5.12886745e+02] [ 9.13954150e-01 3.75915813e-01 1.52889218e-01 3.68233430e+02] [-1.65381301e-01 9.76581085e-04 9.86229219e-01 6.87624144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1092541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:512.90, Y:368.26, Z:68.75 [[ 3.63986960e-01 -9.29280038e-01 6.28657582e-02 5.12898114e+02] [ 9.16677815e-01 3.69369970e-01 1.52537235e-01 3.68257061e+02] [-1.64970531e-01 2.10608148e-03 9.86296248e-01 6.87545251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:512.92, Y:368.28, Z:68.76 [[ 3.61455396e-01 -9.30987096e-01 5.11177432e-02 5.12917529e+02] [ 9.18334816e-01 3.64954727e-01 1.53196650e-01 3.68283071e+02] [-1.61279766e-01 -8.43055256e-03 9.86872719e-01 6.87583502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1692541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:512.92, Y:368.31, Z:68.74 [[ 3.52783661e-01 -9.32800124e-01 7.36723577e-02 5.12916076e+02] [ 9.21236218e-01 3.60042787e-01 1.47285511e-01 3.68307871e+02] [-1.63913144e-01 1.59097224e-02 9.86346472e-01 6.87422589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.94, Y:368.33, Z:68.75 [[ 3.50497588e-01 -9.34954540e-01 5.48766743e-02 5.12940368e+02] [ 9.22410473e-01 3.54755765e-01 1.52667175e-01 3.68333200e+02] [-1.62204685e-01 -2.89065747e-03 9.86752899e-01 6.87470026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.2292541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:512.94, Y:368.36, Z:68.73 [[ 3.44817303e-01 -9.36000118e-01 7.07446566e-02 5.12939669e+02] [ 9.24257293e-01 3.51713626e-01 1.48478890e-01 3.68357363e+02] [-1.63858119e-01 1.41881742e-02 9.86381880e-01 6.87329426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.2592541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:512.96, Y:368.38, Z:68.73 [[ 3.38077453e-01 -9.39047097e-01 6.24034097e-02 5.12955189e+02] [ 9.26707666e-01 3.43727337e-01 1.51869747e-01 3.68381374e+02] [-1.64062602e-01 6.48598095e-03 9.86428606e-01 6.87307628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.2892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:512.97, Y:368.41, Z:68.73 [[ 3.35641917e-01 -9.39918113e-01 6.24375230e-02 5.12966114e+02] [ 9.27558900e-01 3.41330828e-01 1.52078113e-01 3.68406651e+02] [-1.64252824e-01 6.87069075e-03 9.86394345e-01 6.87270933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:512.98, Y:368.43, Z:68.73 [[ 3.33949944e-01 -9.41164860e-01 5.18280026e-02 5.12983268e+02] [ 9.28704037e-01 3.37935758e-01 1.52670352e-01 3.68432933e+02] [-1.61202505e-01 -2.85138006e-03 9.86917232e-01 6.87293778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:512.98, Y:368.46, Z:68.72 [[ 3.34071744e-01 -9.39780581e-01 7.21701404e-02 5.12981581e+02] [ 9.28247782e-01 3.41324603e-01 1.47829535e-01 3.68459414e+02] [-1.63560771e-01 1.76061021e-02 9.86376145e-01 6.87163928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.3792541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:512.99, Y:368.48, Z:68.71 [[ 3.37484231e-01 -9.39298199e-01 6.18327342e-02 5.12994193e+02] [ 9.27118009e-01 3.43042247e-01 1.50911279e-01 3.68483242e+02] [-1.62961933e-01 6.39606438e-03 9.86611625e-01 6.87127142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.00, Y:368.51, Z:68.71 [[ 3.40674737e-01 -9.38147964e-01 6.17990380e-02 5.13003290e+02] [ 9.25948919e-01 3.46185825e-01 1.50910482e-01 3.68509662e+02] [-1.62970312e-01 5.81136371e-03 9.86613858e-01 6.87097248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4392541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:513.01, Y:368.54, Z:68.71 [[ 3.48469683e-01 -9.35718194e-01 5.47753701e-02 5.13013871e+02] [ 9.23550744e-01 3.52743699e-01 1.50419102e-01 3.68536025e+02] [-1.60071557e-01 -1.82866288e-03 9.87103719e-01 6.87061242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4692541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:513.01, Y:368.56, Z:68.70 [[ 3.52152710e-01 -9.33510369e-01 6.74304095e-02 5.13014767e+02] [ 9.21913732e-01 3.58400118e-01 1.47052460e-01 3.68562736e+02] [-1.61442063e-01 1.03800983e-02 9.86827601e-01 6.86951354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.03, Y:368.59, Z:68.70 [[ 3.60350581e-01 -9.30968553e-01 5.86942204e-02 5.13026937e+02] [ 9.18606575e-01 3.65098926e-01 1.51210894e-01 3.68589574e+02] [-1.62201784e-01 -5.72036523e-04 9.86757445e-01 6.86959105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5292541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:513.03, Y:368.62, Z:68.69 [[ 3.63674908e-01 -9.29299454e-01 6.43668075e-02 5.13031453e+02] [ 9.17294734e-01 3.69295050e-01 1.48968244e-01 3.68615365e+02] [-1.62206451e-01 4.86732106e-03 9.86744839e-01 6.86870270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.04, Y:368.64, Z:68.68 [[ 3.69382007e-01 -9.26925331e-01 6.60784662e-02 5.13038576e+02] [ 9.14671437e-01 3.75213560e-01 1.50302852e-01 3.68643470e+02] [-1.64113057e-01 4.92091651e-03 9.86429262e-01 6.86816454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.05, Y:368.67, Z:68.68 [[ 3.74055300e-01 -9.25600254e-01 5.78515632e-02 5.13050607e+02] [ 9.12867439e-01 3.78476452e-01 1.53064086e-01 3.68667804e+02] [-1.63571611e-01 -4.44362433e-03 9.86521456e-01 6.86818719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6192541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:513.06, Y:368.69, Z:68.67 [[ 3.75120803e-01 -9.24938468e-01 6.14264944e-02 5.13058222e+02] [ 9.12586839e-01 3.80116591e-01 1.50654033e-01 3.68693826e+02] [-1.62694940e-01 -4.56451535e-04 9.86676314e-01 6.86725906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6492541539999 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:513.07, Y:368.72, Z:68.67 [[ 3.75822748e-01 -9.24629829e-01 6.17814052e-02 5.13068205e+02] [ 9.12109193e-01 3.80866470e-01 1.51649441e-01 3.68720189e+02] [-1.63750062e-01 -6.41922080e-04 9.86501650e-01 6.86689303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.08, Y:368.75, Z:68.67 [[ 3.76552073e-01 -9.24329876e-01 6.18289367e-02 5.13077646e+02] [ 9.11764566e-01 3.81593507e-01 1.51893951e-01 3.68746726e+02] [-1.63993637e-01 -8.22548314e-04 9.86461054e-01 6.86659310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7092541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:513.09, Y:368.77, Z:68.66 [[ 3.76381984e-01 -9.24415496e-01 6.15840246e-02 5.13088068e+02] [ 9.11930273e-01 3.81386024e-01 1.51419544e-01 3.68772694e+02] [-1.63461859e-01 -8.31251949e-04 9.86549304e-01 6.86605231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7392541539998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:513.10, Y:368.80, Z:68.65 [[ 3.75068128e-01 -9.24973067e-01 6.12268338e-02 5.13098421e+02] [ 9.12619477e-01 3.80032134e-01 1.50669395e-01 3.68797498e+02] [-1.62633296e-01 -6.34486727e-04 9.86686378e-01 6.86532861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7692541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:513.11, Y:368.82, Z:68.65 [[ 3.73999731e-01 -9.25394101e-01 6.13999964e-02 5.13109223e+02] [ 9.12954341e-01 3.79005944e-01 1.51224555e-01 3.68823019e+02] [-1.63213275e-01 -5.02549787e-04 9.86590682e-01 6.86491747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.12, Y:368.85, Z:68.65 [[ 3.72297837e-01 -9.26066370e-01 6.16068026e-02 5.13120859e+02] [ 9.13529842e-01 3.77360585e-01 1.51862495e-01 3.68848351e+02] [-1.63882729e-01 -2.58425901e-04 9.86479794e-01 6.86473553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8292541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:513.13, Y:368.87, Z:68.64 [[ 3.70247433e-01 -9.26929619e-01 6.09780259e-02 5.13131058e+02] [ 9.14640287e-01 3.75235227e-01 1.50438260e-01 3.68873685e+02] [-1.62326783e-01 7.35794873e-05 9.86737052e-01 6.86404089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.14, Y:368.90, Z:68.63 [[ 3.69041464e-01 -9.26863121e-01 6.87979082e-02 5.13138792e+02] [ 9.15392155e-01 3.75286178e-01 1.45662235e-01 3.68898557e+02] [-1.60827858e-01 9.22166103e-03 9.86939391e-01 6.86338516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.8892541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:513.16, Y:368.92, Z:68.63 [[ 3.68549112e-01 -9.28198937e-01 5.11691900e-02 5.13160306e+02] [ 9.15596189e-01 3.71964603e-01 1.52728362e-01 3.68921998e+02] [-1.60795431e-01 -9.43758690e-03 9.86942633e-01 6.86337201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9192541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:513.17, Y:368.95, Z:68.63 [[ 3.68208806e-01 -9.27814944e-01 5.98473464e-02 5.13167718e+02] [ 9.15943701e-01 3.73040632e-01 1.47945339e-01 3.68948163e+02] [-1.59591388e-01 3.42023272e-04 9.87183099e-01 6.86256635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.18, Y:368.97, Z:68.62 [[ 3.68271263e-01 -9.27785540e-01 5.99188516e-02 5.13180730e+02] [ 9.15864762e-01 3.73113807e-01 1.48249203e-01 3.68972812e+02] [-1.59900017e-01 2.81643701e-04 9.87133175e-01 6.86239090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 963.9792541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:513.19, Y:369.00, Z:68.62 [[ 3.68840515e-01 -9.27580721e-01 5.95875863e-02 5.13191667e+02] [ 9.15768569e-01 3.73622785e-01 1.47559963e-01 3.68996778e+02] [-1.59137057e-01 1.42345967e-04 9.87256490e-01 6.86189504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:513.21, Y:369.02, Z:68.62 [[ 3.71449957e-01 -9.26955812e-01 5.27053308e-02 5.13208698e+02] [ 9.15129159e-01 3.75111595e-01 1.47749500e-01 3.69022344e+02] [-1.56727639e-01 -6.64936048e-03 9.87619478e-01 6.86170131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0392541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:513.21, Y:369.05, Z:68.61 [[ 3.71922538e-01 -9.25941051e-01 6.56261863e-02 5.13212020e+02] [ 9.14726578e-01 3.77611453e-01 1.43822388e-01 3.69046951e+02] [-1.57952252e-01 6.53922934e-03 9.87425098e-01 6.86054220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.23, Y:369.07, Z:68.61 [[ 3.74452712e-01 -9.25335259e-01 5.94964259e-02 5.13229261e+02] [ 9.13489050e-01 3.79148805e-01 1.47593836e-01 3.69070817e+02] [-1.59131780e-01 -9.17578673e-04 9.87256924e-01 6.86060135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.0992541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:513.24, Y:369.09, Z:68.60 [[ 3.75508136e-01 -9.24926720e-01 5.91962996e-02 5.13241108e+02] [ 9.13175543e-01 3.80143760e-01 1.46973293e-01 3.69094932e+02] [-1.58442630e-01 -1.13305429e-03 9.87367535e-01 6.85996149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.25, Y:369.12, Z:68.59 [[ 3.76954865e-01 -9.23950763e-01 6.49616521e-02 5.13252941e+02] [ 9.12026430e-01 3.82495803e-01 1.48002541e-01 3.69120688e+02] [-1.61594620e-01 3.45646584e-03 9.86851170e-01 6.85937322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.1592541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:513.27, Y:369.14, Z:68.59 [[ 3.78024126e-01 -9.24165953e-01 5.49094853e-02 5.13269566e+02] [ 9.12007399e-01 3.81936628e-01 1.49555731e-01 3.69144101e+02] [-1.59186258e-01 -6.45781754e-03 9.87227447e-01 6.85922800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.28, Y:369.17, Z:68.59 [[ 3.78459301e-01 -9.23664963e-01 6.00965459e-02 5.13279651e+02] [ 9.11490410e-01 3.83196831e-01 1.49483851e-01 3.69169757e+02] [-1.61101802e-01 -1.79612853e-03 9.86936160e-01 6.85884708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2192541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:513.29, Y:369.19, Z:68.58 [[ 3.78253975e-01 -9.23749482e-01 6.00901349e-02 5.13294122e+02] [ 9.11557400e-01 3.82992972e-01 1.49597759e-01 3.69193419e+02] [-1.61204952e-01 -1.81033972e-03 9.86919291e-01 6.85819429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.31, Y:369.22, Z:68.58 [[ 3.78387098e-01 -9.23650256e-01 6.07734212e-02 5.13309316e+02] [ 9.11154315e-01 3.83231650e-01 1.51430901e-01 3.69218138e+02] [-1.63159489e-01 -1.92553445e-03 9.86597828e-01 6.85802964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.2792541539999 meters Centerline goodness : 0.997207 Centerline is valid? [True, True] Translation: X:513.32, Y:369.25, Z:68.57 [[ 3.78715386e-01 -9.23137678e-01 6.62682786e-02 5.13321505e+02] [ 9.10857529e-01 3.84453513e-01 1.50113487e-01 3.69246050e+02] [-1.64052488e-01 3.51067346e-03 9.86445364e-01 6.85715269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.34, Y:369.27, Z:68.57 [[ 3.78033809e-01 -9.24048105e-01 5.67938338e-02 5.13337997e+02] [ 9.11303800e-01 3.82227447e-01 1.53060653e-01 3.69266528e+02] [-1.63143569e-01 -6.10566520e-03 9.86583447e-01 6.85724408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.35, Y:369.29, Z:68.57 [[ 3.77681707e-01 -9.23945961e-01 6.06662106e-02 5.13348054e+02] [ 9.11429259e-01 3.82518018e-01 1.51580581e-01 3.69290767e+02] [-1.63258184e-01 -1.95625306e-03 9.86581440e-01 6.85661973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:513.36, Y:369.32, Z:68.56 [[ 3.76967742e-01 -9.24272551e-01 6.01296401e-02 5.13360354e+02] [ 9.11963241e-01 3.81728775e-01 1.50353550e-01 3.69315302e+02] [-1.61920873e-01 -1.84241671e-03 9.86802025e-01 6.85604274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.3992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:513.38, Y:369.34, Z:68.56 [[ 3.75792856e-01 -9.24774162e-01 5.97702207e-02 5.13375341e+02] [ 9.12598293e-01 3.80512782e-01 1.49580673e-01 3.69339494e+02] [-1.61071675e-01 -1.66514698e-03 9.86941307e-01 6.85559488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:513.39, Y:369.36, Z:68.55 [[ 3.74796046e-01 -9.25200776e-01 5.94259861e-02 5.13387703e+02] [ 9.13150643e-01 3.79474913e-01 1.48844532e-01 3.69363658e+02] [-1.60261748e-01 -1.52146477e-03 9.87073380e-01 6.85505984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4592541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:513.41, Y:369.39, Z:68.55 [[ 3.74520319e-01 -9.25948076e-01 4.85251519e-02 5.13410992e+02] [ 9.13920964e-01 3.77474760e-01 1.49202135e-01 3.69388541e+02] [-1.56470450e-01 -1.15310775e-02 9.87615326e-01 6.85525998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.4892541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:513.41, Y:369.41, Z:68.54 [[ 3.73162169e-01 -9.25600420e-01 6.33550144e-02 5.13414936e+02] [ 9.14425661e-01 3.78476565e-01 1.43461496e-01 3.69413678e+02] [-1.56766410e-01 4.39904777e-03 9.87625912e-01 6.85398094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.43, Y:369.44, Z:68.54 [[ 3.71386438e-01 -9.26481652e-01 6.08593658e-02 5.13431280e+02] [ 9.15062262e-01 3.76335492e-01 1.45026396e-01 3.69438647e+02] [-1.57267834e-01 1.82927225e-03 9.87554293e-01 6.85366212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5492541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:513.45, Y:369.46, Z:68.53 [[ 3.70808228e-01 -9.27016613e-01 5.60487034e-02 5.13446780e+02] [ 9.15675946e-01 3.75013285e-01 1.44577311e-01 3.69462988e+02] [-1.55044578e-01 -2.28800694e-03 9.87904825e-01 6.85323998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.46, Y:369.49, Z:68.53 [[ 3.68711724e-01 -9.27565768e-01 6.06086768e-02 5.13460756e+02] [ 9.16269305e-01 3.73652771e-01 1.44340459e-01 3.69487812e+02] [-1.56531869e-01 2.31385063e-03 9.87670198e-01 6.85268909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:513.47, Y:369.51, Z:68.52 [[ 3.67485271e-01 -9.28209222e-01 5.81568272e-02 5.13473850e+02] [ 9.16958483e-01 3.72058459e-01 1.44082073e-01 3.69510968e+02] [-1.55376048e-01 3.79356481e-04 9.87855323e-01 6.85233624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.48, Y:369.53, Z:68.52 [[ 3.64657708e-01 -9.28863758e-01 6.50912888e-02 5.13482366e+02] [ 9.17439094e-01 3.70360951e-01 1.45390082e-01 3.69532980e+02] [-1.59154850e-01 6.69967901e-03 9.87230899e-01 6.85159396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6692541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:513.50, Y:369.56, Z:68.51 [[ 3.63754613e-01 -9.29666761e-01 5.83291934e-02 5.13497129e+02] [ 9.17951777e-01 3.68401564e-01 1.47121796e-01 3.69556223e+02] [-1.58262810e-01 2.71548019e-05 9.87397024e-01 6.85119951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.52, Y:369.58, Z:68.51 [[ 3.65207282e-01 -9.29551721e-01 5.05691476e-02 5.13516860e+02] [ 9.17485580e-01 3.68600394e-01 1.49512408e-01 3.69583627e+02] [-1.57619324e-01 -8.20655659e-03 9.87465848e-01 6.85148840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.52, Y:369.61, Z:68.51 [[ 3.64946763e-01 -9.29129754e-01 5.94286167e-02 5.13522400e+02] [ 9.17566226e-01 3.69751897e-01 1.46136089e-01 3.69609959e+02] [-1.57753232e-01 1.19779908e-03 9.87477839e-01 6.85063168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.7592541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:513.53, Y:369.63, Z:68.50 [[ 3.64175441e-01 -9.28838043e-01 6.80891911e-02 5.13528204e+02] [ 9.17233702e-01 3.70375475e-01 1.46643596e-01 3.69631622e+02] [-1.61426717e-01 9.04970456e-03 9.86843208e-01 6.84952947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.7892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:513.55, Y:369.66, Z:68.50 [[ 3.65352396e-01 -9.28940667e-01 5.98904428e-02 5.13546171e+02] [ 9.16484493e-01 3.70228286e-01 1.51615270e-01 3.69655664e+02] [-1.63014726e-01 -5.04339987e-04 9.86623507e-01 6.84950665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.56, Y:369.68, Z:68.49 [[ 3.66072894e-01 -9.28652123e-01 5.99655834e-02 5.13557938e+02] [ 9.16139347e-01 3.70951169e-01 1.51933958e-01 3.69681134e+02] [-1.63338096e-01 -6.82073258e-04 9.86569917e-01 6.84906515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.57, Y:369.71, Z:68.49 [[ 3.67702103e-01 -9.28001177e-01 6.00747788e-02 5.13568048e+02] [ 9.15412553e-01 3.72575859e-01 1.52338725e-01 3.69706459e+02] [-1.63752928e-01 -1.02206273e-03 9.86500854e-01 6.84860445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.8792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:513.58, Y:369.73, Z:68.48 [[ 3.72062261e-01 -9.26522152e-01 5.59140089e-02 5.13582482e+02] [ 9.14015725e-01 3.76201781e-01 1.51813948e-01 3.69734372e+02] [-1.61693935e-01 -5.37795717e-03 9.86826301e-01 6.84821002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:513.58, Y:369.76, Z:68.47 [[ 3.71698187e-01 -9.25840186e-01 6.82671870e-02 5.13583988e+02] [ 9.13758163e-01 3.77852164e-01 1.49243968e-01 3.69760440e+02] [-1.63970968e-01 6.90598698e-03 9.86440991e-01 6.84698981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.60, Y:369.78, Z:68.47 [[ 3.73513129e-01 -9.25945734e-01 5.57892514e-02 5.13598980e+02] [ 9.13224292e-01 3.77605164e-01 1.53087335e-01 3.69783986e+02] [-1.62816874e-01 -6.23203002e-03 9.86636624e-01 6.84726439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.60, Y:369.81, Z:68.46 [[ 3.72270624e-01 -9.25609067e-01 6.82820418e-02 5.13601650e+02] [ 9.13461406e-01 3.78422111e-01 1.49616063e-01 3.69810675e+02] [-1.64325419e-01 6.67534469e-03 9.86383595e-01 6.84586009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 964.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.62, Y:369.83, Z:68.46 [[ 3.73121499e-01 -9.26402982e-01 5.05753233e-02 5.13620415e+02] [ 9.13630625e-01 3.76368602e-01 1.53706721e-01 3.69834288e+02] [-1.61429328e-01 -1.11441178e-02 9.86821352e-01 6.84643920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.63, Y:369.86, Z:68.46 [[ 3.72473267e-01 -9.26173574e-01 5.88742388e-02 5.13625647e+02] [ 9.13935862e-01 3.77091676e-01 1.50077008e-01 3.69860739e+02] [-1.61198344e-01 -2.09239536e-03 9.86919812e-01 6.84558259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0592541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:513.64, Y:369.89, Z:68.45 [[ 3.71460493e-01 -9.26608889e-01 5.84214714e-02 5.13635144e+02] [ 9.14545041e-01 3.76021565e-01 1.49047477e-01 3.69886796e+02] [-1.60076450e-01 -1.93618228e-03 9.87102721e-01 6.84487329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.0892541539998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:513.64, Y:369.91, Z:68.44 [[ 3.70611391e-01 -9.26942631e-01 5.85197009e-02 5.13644591e+02] [ 9.14821277e-01 3.75198559e-01 1.49425809e-01 3.69911844e+02] [-1.60465660e-01 -1.84383944e-03 9.87039701e-01 6.84446224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1192541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:513.65, Y:369.94, Z:68.44 [[ 3.70132328e-01 -9.27145795e-01 5.83329648e-02 5.13654558e+02] [ 9.15086499e-01 3.74696493e-01 1.49061189e-01 3.69937451e+02] [-1.60058611e-01 -1.79265624e-03 9.87105885e-01 6.84397943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1492541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:513.66, Y:369.96, Z:68.43 [[ 3.69232130e-01 -9.27503951e-01 5.83442848e-02 5.13664187e+02] [ 9.15424126e-01 3.73809553e-01 1.49214905e-01 3.69963670e+02] [-1.60207065e-01 -1.68517145e-03 9.87081991e-01 6.84343404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.66, Y:369.99, Z:68.41 [[ 3.65869314e-01 -9.26997210e-01 8.25579724e-02 5.13658647e+02] [ 9.15347619e-01 3.74457216e-01 1.48055831e-01 3.69990381e+02] [-1.68161771e-01 2.14001581e-02 9.85527094e-01 6.84142264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.68, Y:370.01, Z:68.42 [[ 3.65643341e-01 -9.28868597e-01 5.92290157e-02 5.13680092e+02] [ 9.15473683e-01 3.70395055e-01 1.57211444e-01 3.70014146e+02] [-1.67966908e-01 -3.26071251e-03 9.85787242e-01 6.84196459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:513.70, Y:370.04, Z:68.43 [[ 3.68459146e-01 -9.28915414e-01 3.67968967e-02 5.13703784e+02] [ 9.15477484e-01 3.69443688e-01 1.59412475e-01 3.70039047e+02] [-1.61675086e-01 -2.50502539e-02 9.86526052e-01 6.84318903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2692541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:513.70, Y:370.07, Z:68.42 [[ 3.68616375e-01 -9.27734986e-01 5.85641877e-02 5.13701672e+02] [ 9.15505824e-01 3.73235582e-01 1.50147550e-01 3.70066922e+02] [-1.61155374e-01 -1.73099086e-03 9.86927530e-01 6.84162099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.70, Y:370.09, Z:68.40 [[ 3.65929596e-01 -9.27032603e-01 8.18906801e-02 5.13696370e+02] [ 9.15313391e-01 3.74411281e-01 1.48383247e-01 3.70093911e+02] [-1.68216902e-01 2.06578143e-02 9.85533525e-01 6.83959571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3292541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:513.72, Y:370.12, Z:68.40 [[ 3.66537301e-01 -9.28562928e-01 5.84918509e-02 5.13717013e+02] [ 9.15282863e-01 3.71155181e-01 1.56528313e-01 3.70116953e+02] [-1.67055942e-01 -3.83687654e-03 9.85939953e-01 6.84001254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:513.73, Y:370.14, Z:68.40 [[ 3.67467059e-01 -9.28337907e-01 5.61844440e-02 5.13728804e+02] [ 9.15202740e-01 3.71692168e-01 1.55720512e-01 3.70143700e+02] [-1.65444572e-01 -5.80200151e-03 9.86202023e-01 6.83978657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.3892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:513.73, Y:370.17, Z:68.39 [[ 3.67207594e-01 -9.27892786e-01 6.46031013e-02 5.13732686e+02] [ 9.15179731e-01 3.72835814e-01 1.53099693e-01 3.70169438e+02] [-1.66146451e-01 2.90407879e-03 9.86096812e-01 6.83875007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.75, Y:370.19, Z:68.39 [[ 3.68126411e-01 -9.28318539e-01 5.20349522e-02 5.13749111e+02] [ 9.14925679e-01 3.71641526e-01 1.57459765e-01 3.70193688e+02] [-1.65511168e-01 -1.03569842e-02 9.86153531e-01 6.83909382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:513.77, Y:370.22, Z:68.40 [[ 3.70299171e-01 -9.27994013e-01 4.12993442e-02 5.13766684e+02] [ 9.14904535e-01 3.72046439e-01 1.56624196e-01 3.70220829e+02] [-1.60711590e-01 -2.02128526e-02 9.86794419e-01 6.83967805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.4792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:513.76, Y:370.25, Z:68.37 [[ 3.68428566e-01 -9.26475467e-01 7.68349019e-02 5.13756100e+02] [ 9.14605226e-01 3.76035460e-01 1.48642567e-01 3.70249874e+02] [-1.66606339e-01 1.55094353e-02 9.85901509e-01 6.83706703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:513.79, Y:370.27, Z:68.39 [[ 3.69905806e-01 -9.28155412e-01 4.11974103e-02 5.13785543e+02] [ 9.14923309e-01 3.71623828e-01 1.57515299e-01 3.70272966e+02] [-1.61508617e-01 -2.05733527e-02 9.86656832e-01 6.83864242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.79, Y:370.30, Z:68.38 [[ 3.69867348e-01 -9.27233334e-01 5.86215822e-02 5.13786616e+02] [ 9.14853965e-01 3.74477469e-01 1.51025985e-01 3.70300794e+02] [-1.61988789e-01 -2.22939362e-03 9.86790080e-01 6.83759165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.78, Y:370.33, Z:68.36 [[ 3.67261457e-01 -9.26877324e-01 7.75722130e-02 5.13784659e+02] [ 9.15047419e-01 3.75004445e-01 1.48525716e-01 3.70327409e+02] [-1.66755043e-01 1.64344824e-02 9.85861382e-01 6.83559689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.82, Y:370.35, Z:68.37 [[ 3.69304852e-01 -9.28441201e-01 4.01355483e-02 5.13815433e+02] [ 9.15275389e-01 3.70865915e-01 1.57255955e-01 3.70351252e+02] [-1.60887815e-01 -2.13403077e-02 9.86741963e-01 6.83742219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.6292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:513.81, Y:370.38, Z:68.35 [[ 3.66707280e-01 -9.27476815e-01 7.28870951e-02 5.13806134e+02] [ 9.15711870e-01 3.73670075e-01 1.47791898e-01 3.70378760e+02] [-1.64309285e-01 1.25472132e-02 9.86329066e-01 6.83475377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.6592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:513.83, Y:370.40, Z:68.36 [[ 3.67986759e-01 -9.28817000e-01 4.34134356e-02 5.13833265e+02] [ 9.16011712e-01 3.70142002e-01 1.54652650e-01 3.70403212e+02] [-1.59713146e-01 -1.71429119e-02 9.87014606e-01 6.83603825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.6892541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:513.84, Y:370.43, Z:68.35 [[ 3.67431946e-01 -9.28276638e-01 5.74129649e-02 5.13836088e+02] [ 9.16346629e-01 3.71885560e-01 1.48357628e-01 3.70429372e+02] [-1.59067973e-01 -1.90115516e-03 9.87265803e-01 6.83489890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7192541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:513.85, Y:370.45, Z:68.34 [[ 3.65069904e-01 -9.29204276e-01 5.74750308e-02 5.13846623e+02] [ 9.17246461e-01 3.69563352e-01 1.48599656e-01 3.70454920e+02] [-1.59320101e-01 -1.53049341e-03 9.87225791e-01 6.83441033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7492541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:513.86, Y:370.48, Z:68.34 [[ 3.63734793e-01 -9.29718260e-01 5.76277467e-02 5.13857067e+02] [ 9.17681685e-01 3.68269076e-01 1.49124821e-01 3.70479837e+02] [-1.59866587e-01 -1.35795828e-03 9.87137696e-01 6.83405609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.86, Y:370.51, Z:68.33 [[ 3.61312807e-01 -9.29633379e-01 7.23521731e-02 5.13860594e+02] [ 9.17982343e-01 3.68249562e-01 1.47311500e-01 3.70508026e+02] [-1.63589343e-01 1.31924858e-02 9.86440310e-01 6.83256206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8092541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:513.89, Y:370.53, Z:68.34 [[ 3.58407349e-01 -9.32513949e-01 4.42934190e-02 5.13885148e+02] [ 9.19790317e-01 3.60841639e-01 1.54204682e-01 3.70529718e+02] [-1.59780927e-01 -1.45274333e-02 9.87045596e-01 6.83361796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8392541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:513.89, Y:370.56, Z:68.33 [[ 3.55068852e-01 -9.33050448e-01 5.78184404e-02 5.13889359e+02] [ 9.20927987e-01 3.59745551e-01 1.49915913e-01 3.70556738e+02] [-1.60679037e-01 1.61486379e-05 9.87006711e-01 6.83273756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.90, Y:370.58, Z:68.32 [[ 3.53426246e-01 -9.33663400e-01 5.79874486e-02 5.13899531e+02] [ 9.21456356e-01 3.58151635e-01 1.50484519e-01 3.70581784e+02] [-1.61270188e-01 2.47724351e-04 9.86910262e-01 6.83241987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.8992541539999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:513.91, Y:370.61, Z:68.32 [[ 3.51400402e-01 -9.34447092e-01 5.76748597e-02 5.13909775e+02] [ 9.22363983e-01 3.56101554e-01 1.49787737e-01 3.70607370e+02] [-1.60506822e-01 5.61742509e-04 9.87034571e-01 6.83168391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9292541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:513.92, Y:370.63, Z:68.32 [[ 3.49778058e-01 -9.35032208e-01 5.80523883e-02 5.13920654e+02] [ 9.22776208e-01 3.54561909e-01 1.50897061e-01 3.70632213e+02] [-1.61676778e-01 7.88881914e-04 9.86843451e-01 6.83154259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:513.93, Y:370.66, Z:68.31 [[ 3.48835688e-01 -9.35388926e-01 5.79760319e-02 5.13930531e+02] [ 9.23151675e-01 3.53619464e-01 1.50812003e-01 3.70657731e+02] [-1.61569331e-01 9.12062189e-04 9.86860942e-01 6.83103781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 965.9892541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:513.94, Y:370.68, Z:68.30 [[ 3.48198085e-01 -9.35637412e-01 5.77990280e-02 5.13939491e+02] [ 9.23457790e-01 3.52961296e-01 1.50479347e-01 3.70682406e+02] [-1.61194926e-01 9.78342421e-04 9.86922104e-01 6.83045488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.95, Y:370.71, Z:68.30 [[ 3.49051333e-01 -9.35302153e-01 5.80779542e-02 5.13949177e+02] [ 9.22980400e-01 3.53849211e-01 1.51320582e-01 3.70708688e+02] [-1.62081304e-01 7.86162513e-04 9.86777094e-01 6.83019750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:513.96, Y:370.73, Z:68.30 [[ 3.50556339e-01 -9.34739587e-01 5.80702814e-02 5.13957944e+02] [ 9.22391957e-01 3.55333190e-01 1.51431182e-01 3.70734178e+02] [-1.62183018e-01 4.78399759e-04 9.86760579e-01 6.82968995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.0792541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:513.97, Y:370.76, Z:68.29 [[ 3.51106767e-01 -9.34556254e-01 5.76944247e-02 5.13967219e+02] [ 9.22347871e-01 3.55815241e-01 1.50565334e-01 3.70760158e+02] [-1.61240331e-01 3.49822019e-04 9.86915110e-01 6.82898772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1092541539998 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:513.98, Y:370.78, Z:68.28 [[ 3.52315183e-01 -9.34124578e-01 5.73174008e-02 5.13976015e+02] [ 9.22049713e-01 3.56947141e-01 1.49709940e-01 3.70784793e+02] [-1.60307016e-01 1.04408171e-04 9.87067196e-01 6.82847726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1392541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:513.99, Y:370.81, Z:68.28 [[ 3.55459432e-01 -9.32954339e-01 5.69630824e-02 5.13985098e+02] [ 9.20995864e-01 3.59994424e-01 1.48898063e-01 3.70811256e+02] [-1.59421486e-01 -4.64457558e-04 9.87210502e-01 6.82807051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1692541539999 meters Centerline goodness : 0.999713 Centerline is valid? [True, True] Translation: X:513.99, Y:370.84, Z:68.27 [[ 3.58046556e-01 -9.31983035e-01 5.66593848e-02 5.13993741e+02] [ 9.20120158e-01 3.62500675e-01 1.48230078e-01 3.70837613e+02] [-1.58686983e-01 -9.39826888e-04 9.87328496e-01 6.82749048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.1992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:514.00, Y:370.86, Z:68.27 [[ 3.59128091e-01 -9.31535785e-01 5.71672544e-02 5.14002907e+02] [ 9.19430538e-01 3.63647696e-01 1.49692481e-01 3.70863176e+02] [-1.60232644e-01 -1.19745565e-03 9.87078551e-01 6.82714661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.2292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:514.01, Y:370.89, Z:68.27 [[ 3.60091775e-01 -9.31150666e-01 5.73790069e-02 5.14012138e+02] [ 9.18930613e-01 3.64631903e-01 1.50366561e-01 3.70888606e+02] [-1.60936140e-01 -1.41843600e-03 9.86963802e-01 6.82676740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.2592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:514.02, Y:370.91, Z:68.26 [[ 3.60477229e-01 -9.30985761e-01 5.76340202e-02 5.14021576e+02] [ 9.18635113e-01 3.65052238e-01 1.51150232e-01 3.70914556e+02] [-1.61758142e-01 -1.54158234e-03 9.86829229e-01 6.82635136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.2892541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:514.03, Y:370.94, Z:68.26 [[ 3.60266018e-01 -9.31068803e-01 5.76132009e-02 5.14030688e+02] [ 9.18706564e-01 3.64840341e-01 1.51227561e-01 3.70940486e+02] [-1.61822884e-01 -1.55252536e-03 9.86818597e-01 6.82566350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:514.04, Y:370.97, Z:68.25 [[ 3.60543984e-01 -9.30933058e-01 5.80661441e-02 5.14039454e+02] [ 9.18350256e-01 3.65186023e-01 1.52551554e-01 3.70965631e+02] [-1.63220229e-01 -1.67648685e-03 9.86588235e-01 6.82531293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:514.05, Y:370.99, Z:68.25 [[ 3.60826528e-01 -9.30823851e-01 5.80618281e-02 5.14048821e+02] [ 9.18221772e-01 3.65463851e-01 1.52659592e-01 3.70991407e+02] [-1.63318688e-01 -1.76999569e-03 9.86571778e-01 6.82492627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.3792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:514.06, Y:371.02, Z:68.24 [[ 3.60481581e-01 -9.30987468e-01 5.75791987e-02 5.14057848e+02] [ 9.18576265e-01 3.65047043e-01 1.51519973e-01 3.71017737e+02] [-1.62082312e-01 -1.72927406e-03 9.86775726e-01 6.82432892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.07, Y:371.04, Z:68.24 [[ 3.60791263e-01 -9.30857251e-01 5.77446340e-02 5.14067255e+02] [ 9.18350541e-01 3.65378412e-01 1.52088465e-01 3.71043472e+02] [-1.62671293e-01 -1.84237329e-03 9.86678598e-01 6.82401428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4392541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:514.08, Y:371.07, Z:68.23 [[ 3.59819627e-01 -9.31276412e-01 5.70445470e-02 5.14076153e+02] [ 9.19064468e-01 3.64309587e-01 1.50329734e-01 3.71068609e+02] [-1.60780411e-01 -1.66397261e-03 9.86988800e-01 6.82331476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.09, Y:371.09, Z:68.23 [[ 3.60261666e-01 -9.31085126e-01 5.73761314e-02 5.14085570e+02] [ 9.18708128e-01 3.64797527e-01 1.51321310e-01 3.71094044e+02] [-1.61823692e-01 -1.80334896e-03 9.86818038e-01 6.82304151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.09, Y:371.12, Z:68.23 [[ 3.60202315e-01 -9.31110797e-01 5.73321629e-02 5.14094582e+02] [ 9.18738345e-01 3.64731899e-01 1.51296050e-01 3.71119723e+02] [-1.61784255e-01 -1.82393112e-03 9.86824467e-01 6.82253729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:514.10, Y:371.15, Z:68.22 [[ 3.60330885e-01 -9.31092030e-01 5.68268006e-02 5.14103435e+02] [ 9.18916989e-01 3.64779604e-01 1.50091330e-01 3.71146213e+02] [-1.60478099e-01 -1.86342935e-03 9.87037642e-01 6.82191598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.11, Y:371.17, Z:68.22 [[ 3.60392364e-01 -9.31077375e-01 5.66768509e-02 5.14112507e+02] [ 9.18945577e-01 3.64816751e-01 1.49825782e-01 3.71171096e+02] [-1.60176061e-01 -1.91312637e-03 9.87086607e-01 6.82150380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.12, Y:371.20, Z:68.21 [[ 3.59967613e-01 -9.31266540e-01 5.62667707e-02 5.14122073e+02] [ 9.19294643e-01 3.64333887e-01 1.48856232e-01 3.71197131e+02] [-1.59124719e-01 -1.85768168e-03 9.87256741e-01 6.82094100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.13, Y:371.22, Z:68.20 [[ 3.59716385e-01 -9.31366246e-01 5.62231062e-02 5.14131978e+02] [ 9.19392985e-01 3.64078910e-01 1.48872722e-01 3.71223509e+02] [-1.59124676e-01 -1.86082804e-03 9.87256742e-01 6.82045686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6492541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:514.14, Y:371.25, Z:68.20 [[ 3.58894850e-01 -9.31727088e-01 5.54898288e-02 5.14141436e+02] [ 9.20051199e-01 3.63155156e-01 1.47051434e-01 3.71247994e+02] [-1.57163222e-01 -1.72251866e-03 9.87571139e-01 6.81977195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.6792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:514.15, Y:371.27, Z:68.19 [[ 3.57955508e-01 -9.32092360e-01 5.54227987e-02 5.14153015e+02] [ 9.20430834e-01 3.62217149e-01 1.46989170e-01 3.71273599e+02] [-1.57082570e-01 -1.60273007e-03 9.87584172e-01 6.81938294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.16, Y:371.30, Z:68.19 [[ 3.55996688e-01 -9.32825842e-01 5.56983508e-02 5.14163989e+02] [ 9.21035277e-01 3.60325086e-01 1.47850773e-01 3.71299633e+02] [-1.57988535e-01 -1.33423946e-03 9.87440045e-01 6.81896096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.17, Y:371.33, Z:68.18 [[ 3.54460099e-01 -9.33400804e-01 5.58657183e-02 5.14174452e+02] [ 9.21524917e-01 3.58833756e-01 1.48425612e-01 3.71325775e+02] [-1.58587091e-01 -1.12930578e-03 9.87344347e-01 6.81847852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:514.19, Y:371.35, Z:68.18 [[ 3.52707194e-01 -9.34065641e-01 5.58481289e-02 5.14185046e+02] [ 9.22184562e-01 3.57100276e-01 1.48509352e-01 3.71351787e+02] [-1.58660866e-01 -8.78034655e-04 9.87332750e-01 6.81794968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.7992541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:514.20, Y:371.38, Z:68.17 [[ 3.50103706e-01 -9.35020321e-01 5.62529551e-02 5.14196585e+02] [ 9.22955965e-01 3.54593785e-01 1.49718187e-01 3.71377246e+02] [-1.59936495e-01 -4.97891590e-04 9.87127180e-01 6.81749593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8292541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:514.21, Y:371.40, Z:68.17 [[ 3.49140219e-01 -9.35360215e-01 5.65895335e-02 5.14206854e+02] [ 9.23132729e-01 3.53696358e-01 1.50747638e-01 3.71403324e+02] [-1.61018855e-01 -3.92412881e-04 9.86951252e-01 6.81704326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.22, Y:371.43, Z:68.17 [[ 3.49410423e-01 -9.35202584e-01 5.75194179e-02 5.14216619e+02] [ 9.22542211e-01 3.54112771e-01 1.53362367e-01 3.71428753e+02] [-1.63793242e-01 -5.22318606e-04 9.86494552e-01 6.81673515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.23, Y:371.45, Z:68.16 [[ 3.49541411e-01 -9.35159494e-01 5.74240634e-02 5.14226395e+02] [ 9.22520827e-01 3.54226451e-01 1.53228409e-01 3.71454414e+02] [-1.63634124e-01 -5.84779807e-04 9.86520923e-01 6.81626564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.23, Y:371.48, Z:68.16 [[ 3.50353380e-01 -9.34867568e-01 5.72288379e-02 5.14234960e+02] [ 9.22289454e-01 3.54995835e-01 1.52840176e-01 3.71478958e+02] [-1.63201323e-01 -7.66518476e-04 9.86592490e-01 6.81569119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:514.24, Y:371.50, Z:68.15 [[ 3.50689982e-01 -9.34759836e-01 5.69261512e-02 5.14244346e+02] [ 9.22294602e-01 3.55279214e-01 1.52149099e-01 3.71504513e+02] [-1.62447545e-01 -8.54482806e-04 9.86716811e-01 6.81518003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 966.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.25, Y:371.53, Z:68.15 [[ 3.51743959e-01 -9.34365520e-01 5.68969394e-02 5.14253530e+02] [ 9.21886645e-01 3.56314329e-01 1.52200896e-01 3.71530040e+02] [-1.62484465e-01 -1.08321729e-03 9.86710507e-01 6.81467419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.26, Y:371.56, Z:68.14 [[ 3.52718037e-01 -9.34009245e-01 5.67161058e-02 5.14262162e+02] [ 9.21582968e-01 3.57246494e-01 1.51854457e-01 3.71556298e+02] [-1.62095096e-01 -1.29320866e-03 9.86774294e-01 6.81419171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.27, Y:371.58, Z:68.14 [[ 3.53136650e-01 -9.33855639e-01 5.66405468e-02 5.14271307e+02] [ 9.21438897e-01 3.57647392e-01 1.51785054e-01 3.71582559e+02] [-1.62002672e-01 -1.41006234e-03 9.86789312e-01 6.81371535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.28, Y:371.61, Z:68.13 [[ 3.53540362e-01 -9.33695131e-01 5.67680713e-02 5.14280666e+02] [ 9.21198020e-01 3.58065698e-01 1.52260189e-01 3.71608908e+02] [-1.62491296e-01 -1.53548739e-03 9.86708782e-01 6.81320332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.0992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:514.29, Y:371.64, Z:68.13 [[ 3.54178802e-01 -9.33471191e-01 5.64704487e-02 5.14289462e+02] [ 9.21081285e-01 3.58648466e-01 1.51593355e-01 3.71635401e+02] [-1.61761069e-01 -1.67727930e-03 9.86828528e-01 6.81262076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.1292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:514.30, Y:371.66, Z:68.12 [[ 3.55656811e-01 -9.32878779e-01 5.69685669e-02 5.14297907e+02] [ 9.20818609e-01 3.60189764e-01 1.49520646e-01 3.71660524e+02] [-1.60004132e-01 -7.20319605e-04 9.87116082e-01 6.81207090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.1592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:514.31, Y:371.69, Z:68.12 [[ 3.55094196e-01 -9.33248123e-01 5.43695978e-02 5.14309557e+02] [ 9.20868096e-01 3.59212880e-01 1.51552158e-01 3.71687313e+02] [-1.60966027e-01 -3.74806388e-03 9.86952831e-01 6.81178535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.32, Y:371.71, Z:68.11 [[ 3.54859837e-01 -9.33102818e-01 5.82548425e-02 5.14317104e+02] [ 9.20939527e-01 3.59609512e-01 1.50171190e-01 3.71713608e+02] [-1.61074156e-01 3.59462901e-04 9.86942241e-01 6.81117717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.33, Y:371.74, Z:68.11 [[ 3.53541579e-01 -9.33836706e-01 5.43815970e-02 5.14328196e+02] [ 9.21257431e-01 3.57678063e-01 1.52810831e-01 3.71738128e+02] [-1.62151467e-01 -3.92553207e-03 9.86758072e-01 6.81085979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.34, Y:371.76, Z:68.10 [[ 3.52287274e-01 -9.34186663e-01 5.64708330e-02 5.14336606e+02] [ 9.21711917e-01 3.56781246e-01 1.52165319e-01 3.71764166e+02] [-1.62298546e-01 -1.55606571e-03 9.86740473e-01 6.81029654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.2792541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:514.35, Y:371.79, Z:68.10 [[ 3.49526629e-01 -9.35230949e-01 5.63401089e-02 5.14346152e+02] [ 9.22805676e-01 3.54036469e-01 1.51946910e-01 3.71788764e+02] [-1.62051906e-01 -1.11851886e-03 9.86781601e-01 6.80979156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.36, Y:371.82, Z:68.09 [[ 3.48587430e-01 -9.35564716e-01 5.66168332e-02 5.14356329e+02] [ 9.23005873e-01 3.53153877e-01 1.52782517e-01 3.71815002e+02] [-1.62932387e-01 -1.00039544e-03 9.86636730e-01 6.80945442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.37, Y:371.84, Z:68.09 [[ 3.46962465e-01 -9.36160723e-01 5.67463559e-02 5.14366657e+02] [ 9.23530081e-01 3.51571485e-01 1.53263434e-01 3.71841002e+02] [-1.63429608e-01 -7.69692167e-04 9.86554697e-01 6.80898219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.38, Y:371.87, Z:68.09 [[ 3.43842948e-01 -9.37306321e-01 5.68233125e-02 5.14377199e+02] [ 9.24634858e-01 3.48506508e-01 1.53602061e-01 3.71866819e+02] [-1.63775477e-01 -2.74170150e-04 9.86497602e-01 6.80856485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.3992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:514.39, Y:371.89, Z:68.08 [[ 3.40175978e-01 -9.38648517e-01 5.67385763e-02 5.14387057e+02] [ 9.26011405e-01 3.44875135e-01 1.53505761e-01 3.71892260e+02] [-1.63655679e-01 3.21596324e-04 9.86517468e-01 6.80796240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:514.40, Y:371.92, Z:68.07 [[ 3.38571557e-01 -9.39229581e-01 5.67194456e-02 5.14396642e+02] [ 9.26587209e-01 3.43289217e-01 1.53585998e-01 3.71918319e+02] [-1.63723687e-01 5.55662192e-04 9.86506080e-01 6.80748220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.41, Y:371.94, Z:68.07 [[ 3.36266168e-01 -9.40070638e-01 5.65000961e-02 5.14406418e+02] [ 9.27516716e-01 3.40978532e-01 1.53122118e-01 3.71943111e+02] [-1.63210926e-01 9.14995898e-04 9.86590775e-01 6.80709154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.4892541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:514.42, Y:371.97, Z:68.07 [[ 3.34300728e-01 -9.40787514e-01 5.62305682e-02 5.14416069e+02] [ 9.28341324e-01 3.38994672e-01 1.52528680e-01 3.71968659e+02] [-1.62558941e-01 1.21071138e-03 9.86698092e-01 6.80650234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5192541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:514.43, Y:371.99, Z:68.06 [[ 3.33338609e-01 -9.41137490e-01 5.60856254e-02 5.14425609e+02] [ 9.28738682e-01 3.38021379e-01 1.52269525e-01 3.71994649e+02] [-1.62264699e-01 1.33157818e-03 9.86746368e-01 6.80602932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.43, Y:372.02, Z:68.06 [[ 3.33559416e-01 -9.41049674e-01 5.62461230e-02 5.14434425e+02] [ 9.28555788e-01 3.38266104e-01 1.52840414e-01 3.72020503e+02] [-1.62856579e-01 1.24630378e-03 9.86648966e-01 6.80567412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.44, Y:372.05, Z:68.05 [[ 3.33531820e-01 -9.41074664e-01 5.59910959e-02 5.14443817e+02] [ 9.28675395e-01 3.38196701e-01 1.52266223e-01 3.72046518e+02] [-1.62229888e-01 1.21192266e-03 9.86752246e-01 6.80519284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.45, Y:372.07, Z:68.05 [[ 3.33468673e-01 -9.41118994e-01 5.56208913e-02 5.14453064e+02] [ 9.28863608e-01 3.38073432e-01 1.51389403e-01 3.72072721e+02] [-1.61279389e-01 1.18059830e-03 9.86908083e-01 6.80476158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:514.45, Y:372.10, Z:68.02 [[ 3.29216622e-01 -9.40794456e-01 8.07601875e-02 5.14445051e+02] [ 9.29267715e-01 3.37981844e-01 1.49096572e-01 3.72098400e+02] [-1.67564705e-01 2.59627652e-02 9.85519155e-01 6.80236547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6692541539999 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:514.48, Y:372.12, Z:68.05 [[ 3.31579657e-01 -9.42931573e-01 3.05774298e-02 5.14483089e+02] [ 9.29577409e-01 3.32073504e-01 1.60040709e-01 3.72122038e+02] [-1.61061392e-01 -2.46421555e-02 9.86636707e-01 6.80479814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.6992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:514.48, Y:372.15, Z:68.03 [[ 3.31297518e-01 -9.41885824e-01 5.56151917e-02 5.14479388e+02] [ 9.29599804e-01 3.35929992e-01 1.51641832e-01 3.72149535e+02] [-1.61512102e-01 1.46130890e-03 9.86869650e-01 6.80332535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.49, Y:372.18, Z:68.03 [[ 3.30645478e-01 -9.42099482e-01 5.58760666e-02 5.14487793e+02] [ 9.29680474e-01 3.35330015e-01 1.52472941e-01 3.72176033e+02] [-1.62381601e-01 1.53239965e-03 9.86726845e-01 6.80289057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.7592541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:514.50, Y:372.20, Z:68.02 [[ 3.29397692e-01 -9.42567010e-01 5.53587596e-02 5.14496052e+02] [ 9.30363906e-01 3.34012776e-01 1.51190174e-01 3.72202609e+02] [-1.60997404e-01 1.70209722e-03 9.86953362e-01 6.80234861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.7892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:514.50, Y:372.23, Z:68.02 [[ 3.29695518e-01 -9.42428768e-01 5.59364104e-02 5.14504375e+02] [ 9.29944070e-01 3.34403101e-01 1.52900596e-01 3.72228098e+02] [-1.62803230e-01 1.60709195e-03 9.86657248e-01 6.80197394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8192541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:514.51, Y:372.25, Z:68.01 [[ 3.30334214e-01 -9.42218626e-01 5.57078779e-02 5.14512558e+02] [ 9.29810769e-01 3.34995459e-01 1.52413831e-01 3.72254708e+02] [-1.62269037e-01 1.45028165e-03 9.86745487e-01 6.80144010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.51, Y:372.28, Z:68.00 [[ 3.29279546e-01 -9.42066174e-01 6.39242025e-02 5.14514665e+02] [ 9.29446114e-01 3.35313510e-01 1.53931064e-01 3.72280669e+02] [-1.66447897e-01 8.72775072e-03 9.86011625e-01 6.80036849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.8792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:514.52, Y:372.31, Z:68.00 [[ 3.29853491e-01 -9.41954912e-01 6.25908789e-02 5.14523725e+02] [ 9.29060292e-01 3.35669185e-01 1.55477238e-01 3.72306472e+02] [-1.67462378e-01 6.86599042e-03 9.85854558e-01 6.79978844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.55, Y:372.33, Z:68.01 [[ 3.35437212e-01 -9.41142219e-01 4.16317270e-02 5.14545584e+02] [ 9.27813901e-01 3.37697984e-01 1.58497437e-01 3.72333746e+02] [-1.63227579e-01 -1.45394432e-02 9.86481303e-01 6.80072953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:514.55, Y:372.36, Z:68.00 [[ 3.37084803e-01 -9.39834024e-01 5.55503749e-02 5.14545799e+02] [ 9.27409860e-01 3.41631347e-01 1.52312093e-01 3.72361843e+02] [-1.62125836e-01 1.75873742e-04 9.86770076e-01 6.79953470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9692541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:514.55, Y:372.39, Z:67.99 [[ 3.37652969e-01 -9.39640599e-01 5.53716309e-02 5.14554104e+02] [ 9.27272165e-01 3.42163037e-01 1.51956532e-01 3.72387843e+02] [-1.61730652e-01 3.59978892e-05 9.86834938e-01 6.79900715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 967.9992541539999 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:514.56, Y:372.41, Z:67.98 [[ 3.38723582e-01 -9.39046746e-01 5.88008879e-02 5.14561245e+02] [ 9.26978356e-01 3.43769991e-01 1.50111032e-01 3.72414918e+02] [-1.61175257e-01 3.66100377e-03 9.86919011e-01 6.79848330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.57, Y:372.44, Z:67.98 [[ 3.39553728e-01 -9.39157027e-01 5.18395984e-02 5.14572499e+02] [ 9.26482047e-01 3.43462351e-01 1.53833121e-01 3.72439294e+02] [-1.62278407e-01 -4.20615268e-03 9.86736047e-01 6.79829694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:514.58, Y:372.46, Z:67.98 [[ 3.39115460e-01 -9.39137923e-01 5.49605981e-02 5.14579250e+02] [ 9.26869590e-01 3.43540139e-01 1.51304121e-01 3.72464883e+02] [-1.60976609e-01 -3.68259438e-04 9.86958153e-01 6.79758740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.59, Y:372.49, Z:67.97 [[ 3.39608954e-01 -9.38955260e-01 5.50343367e-02 5.14587527e+02] [ 9.26631450e-01 3.44038910e-01 1.51629101e-01 3.72491289e+02] [-1.61306895e-01 -4.98053259e-04 9.86904168e-01 6.79711992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:514.60, Y:372.52, Z:67.97 [[ 3.39081109e-01 -9.39178372e-01 5.44792276e-02 5.14596464e+02] [ 9.27085033e-01 3.43429464e-01 1.50231639e-01 3.72517614e+02] [-1.59804078e-01 -4.33834259e-04 9.87148656e-01 6.79659921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1492541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:514.60, Y:372.54, Z:67.96 [[ 3.38995370e-01 -9.39230870e-01 5.41064931e-02 5.14604502e+02] [ 9.27282487e-01 3.43285840e-01 1.49338612e-01 3.72542457e+02] [-1.58837428e-01 -4.53094664e-04 9.87304647e-01 6.79606941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.1792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:514.61, Y:372.57, Z:67.96 [[ 3.38910950e-01 -9.39269804e-01 5.39592800e-02 5.14613664e+02] [ 9.27373292e-01 3.43179284e-01 1.49019315e-01 3.72568837e+02] [-1.58487050e-01 -4.63882497e-04 9.87360947e-01 6.79562120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.61, Y:372.59, Z:67.94 [[ 3.37594651e-01 -9.38938692e-01 6.65130406e-02 5.14613594e+02] [ 9.27204388e-01 3.43890179e-01 1.48430348e-01 3.72594481e+02] [-1.62240178e-01 1.15618917e-02 9.86683560e-01 6.79425260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.64, Y:372.62, Z:67.95 [[ 3.40092997e-01 -9.39477618e-01 4.14554941e-02 5.14637281e+02] [ 9.27011309e-01 3.42338047e-01 1.53149256e-01 3.72619255e+02] [-1.58072091e-01 -1.36552778e-02 9.87333149e-01 6.79520540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.63, Y:372.65, Z:67.93 [[ 3.38535092e-01 -9.38538333e-01 6.73779542e-02 5.14630747e+02] [ 9.26961573e-01 3.44947666e-01 1.47490172e-01 3.72646387e+02] [-1.61667049e-01 1.25261754e-02 9.86765859e-01 6.79322418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.66, Y:372.67, Z:67.94 [[ 3.41244886e-01 -9.39120878e-01 4.00487629e-02 5.14655037e+02] [ 9.26701858e-01 3.43255557e-01 1.52968263e-01 3.72671410e+02] [-1.57402649e-01 -1.50863744e-02 9.87419266e-01 6.79427115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.66, Y:372.70, Z:67.93 [[ 3.41414923e-01 -9.38389225e-01 5.34931142e-02 5.14657377e+02] [ 9.26620767e-01 3.45578696e-01 1.48153029e-01 3.72699007e+02] [-1.57511287e-01 -1.01382457e-03 9.87516667e-01 6.79327576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3592541539998 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:514.67, Y:372.73, Z:67.93 [[ 3.40807223e-01 -9.38635072e-01 5.30531667e-02 5.14665993e+02] [ 9.27042555e-01 3.44910597e-01 1.47067271e-01 3.72725550e+02] [-1.56341098e-01 -9.39044963e-04 9.87702678e-01 6.79272018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.68, Y:372.75, Z:67.92 [[ 3.41600419e-01 -9.38315207e-01 5.36071459e-02 5.14675818e+02] [ 9.26451869e-01 3.45779208e-01 1.48740290e-01 3.72752089e+02] [-1.58101513e-01 -1.14530506e-03 9.87422199e-01 6.79237717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:514.68, Y:372.78, Z:67.92 [[ 3.41664947e-01 -9.38293934e-01 5.35682580e-02 5.14684038e+02] [ 9.26425941e-01 3.45836739e-01 1.48768030e-01 3.72777078e+02] [-1.58114012e-01 -1.20179741e-03 9.87420131e-01 6.79194014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.69, Y:372.80, Z:67.92 [[ 3.41645053e-01 -9.38304104e-01 5.35169817e-02 5.14692839e+02] [ 9.26439873e-01 3.45809018e-01 1.48745707e-01 3.72803052e+02] [-1.58075362e-01 -1.23796914e-03 9.87426274e-01 6.79150972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.70, Y:372.83, Z:67.91 [[ 3.40761770e-01 -9.38624945e-01 5.35222344e-02 5.14700809e+02] [ 9.26740825e-01 3.44937563e-01 1.48894327e-01 3.72828190e+02] [-1.58217759e-01 -1.13625474e-03 9.87403590e-01 6.79102315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5092541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:514.71, Y:372.85, Z:67.90 [[ 3.39098394e-01 -9.39255713e-01 5.30187230e-02 5.14709599e+02] [ 9.27584649e-01 3.43217045e-01 1.47610228e-01 3.72854525e+02] [-1.56840680e-01 -8.75037802e-04 9.87623529e-01 6.79049481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5392541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:514.72, Y:372.88, Z:67.90 [[ 3.38853976e-01 -9.39346273e-01 5.29769915e-02 5.14719052e+02] [ 9.27673968e-01 3.42969106e-01 1.47625204e-01 3.72881064e+02] [-1.56840656e-01 -8.78011287e-04 9.87623530e-01 6.79001255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.73, Y:372.91, Z:67.90 [[ 3.37341357e-01 -9.39869988e-01 5.33405511e-02 5.14728093e+02] [ 9.28022678e-01 3.41531755e-01 1.48761452e-01 3.72906302e+02] [-1.58033916e-01 -6.82148951e-04 9.87433449e-01 6.78961060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.74, Y:372.93, Z:67.89 [[ 3.34980012e-01 -9.40684367e-01 5.38638395e-02 5.14735224e+02] [ 9.28851138e-01 3.39282889e-01 1.48736967e-01 3.72931166e+02] [-1.58189619e-01 2.07577674e-04 9.87408731e-01 6.78910136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.75, Y:372.96, Z:67.89 [[ 3.34541841e-01 -9.40930653e-01 5.22614797e-02 5.14746396e+02] [ 9.29101156e-01 3.38597193e-01 1.48737965e-01 3.72957776e+02] [-1.57647701e-01 -1.20287157e-03 9.87494686e-01 6.78872261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.6592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:514.75, Y:372.98, Z:67.88 [[ 3.33862011e-01 -9.41148115e-01 5.26913990e-02 5.14754869e+02] [ 9.29555755e-01 3.37994367e-01 1.47261358e-01 3.72984248e+02] [-1.56404146e-01 -1.85380105e-04 9.87693125e-01 6.78820202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.6892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:514.76, Y:373.01, Z:67.88 [[ 3.33577664e-01 -9.41284273e-01 5.20563117e-02 5.14763383e+02] [ 9.29952582e-01 3.37615004e-01 1.45616979e-01 3.73010047e+02] [-1.54641964e-01 -1.64670306e-04 9.87970564e-01 6.78770871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7192541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:514.77, Y:373.04, Z:67.87 [[ 3.33856723e-01 -9.41197331e-01 5.18389026e-02 5.14771367e+02] [ 9.29938882e-01 3.37857250e-01 1.45141844e-01 3.73035563e+02] [-1.54121265e-01 -2.49569396e-04 9.88051908e-01 6.78716420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.78, Y:373.06, Z:67.87 [[ 3.34008674e-01 -9.41117548e-01 5.23064750e-02 5.14780505e+02] [ 9.29634148e-01 3.38079359e-01 1.46569770e-01 3.73061859e+02] [-1.55623122e-01 -3.29689077e-04 9.87816448e-01 6.78675652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.7792541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:514.79, Y:373.09, Z:67.86 [[ 3.34140763e-01 -9.41103689e-01 5.17087804e-02 5.14789103e+02] [ 9.29860436e-01 3.38117882e-01 1.45037466e-01 3.73087080e+02] [-1.53978957e-01 -3.80980374e-04 9.88074054e-01 6.78627651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.80, Y:373.11, Z:67.86 [[ 3.35856069e-01 -9.40450203e-01 5.24796846e-02 5.14798136e+02] [ 9.28836279e-01 3.39930679e-01 1.47344158e-01 3.73113272e+02] [-1.56409298e-01 -7.41394513e-04 9.87692048e-01 6.78591813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8392541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:514.81, Y:373.14, Z:67.85 [[ 3.36938312e-01 -9.40059972e-01 5.25340210e-02 5.14806000e+02] [ 9.28395441e-01 3.41007781e-01 1.47633328e-01 3.73138797e+02] [-1.56698692e-01 -9.70978622e-04 9.87645978e-01 6.78545823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8692541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:514.81, Y:373.17, Z:67.85 [[ 3.37892853e-01 -9.39692165e-01 5.29816488e-02 5.14814768e+02] [ 9.27802552e-01 3.42019310e-01 1.49014146e-01 3.73165073e+02] [-1.58148173e-01 -1.19430604e-03 9.87414669e-01 6.78500160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.82, Y:373.19, Z:67.85 [[ 3.39139263e-01 -9.39225397e-01 5.32936518e-02 5.14823040e+02] [ 9.27166756e-01 3.43297972e-01 1.50027696e-01 3.73191265e+02] [-1.59205425e-01 -1.46818018e-03 9.87244386e-01 6.78452217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:514.83, Y:373.22, Z:67.84 [[ 3.39202703e-01 -9.39235114e-01 5.27155351e-02 5.14832101e+02] [ 9.27417125e-01 3.43271277e-01 1.48533858e-01 3.73217169e+02] [-1.57603944e-01 -1.49379625e-03 9.87501274e-01 6.78405313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.84, Y:373.24, Z:67.84 [[ 3.39076350e-01 -9.39268302e-01 5.29366208e-02 5.14841202e+02] [ 9.27328718e-01 3.43180285e-01 1.49294144e-01 3.73242463e+02] [-1.58394062e-01 -1.53246458e-03 9.87374788e-01 6.78360404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 968.9892541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:514.85, Y:373.27, Z:67.83 [[ 3.37923532e-01 -9.39717472e-01 5.23331622e-02 5.14850088e+02] [ 9.28036832e-01 3.41949202e-01 1.47710468e-01 3.73268414e+02] [-1.56701390e-01 -1.34774091e-03 9.87645107e-01 6.78310042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:514.86, Y:373.29, Z:67.83 [[ 3.37298071e-01 -9.39941456e-01 5.23456811e-02 5.14859141e+02] [ 9.28236357e-01 3.41333258e-01 1.47881282e-01 3.73294345e+02] [-1.56867070e-01 -1.29090696e-03 9.87618882e-01 6.78261893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:514.87, Y:373.32, Z:67.82 [[ 3.35851855e-01 -9.40478931e-01 5.19895256e-02 5.14868127e+02] [ 9.28918842e-01 3.39850283e-01 1.47008741e-01 3.73319507e+02] [-1.55927279e-01 -1.07910851e-03 9.87767948e-01 6.78216993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.88, Y:373.35, Z:67.82 [[ 3.34814311e-01 -9.40836210e-01 5.22168770e-02 5.14877384e+02] [ 9.29159471e-01 3.38860306e-01 1.47771342e-01 3.73346093e+02] [-1.56722857e-01 -9.58154389e-04 9.87642156e-01 6.78168475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:514.89, Y:373.37, Z:67.81 [[ 3.32560911e-01 -9.41672386e-01 5.15398713e-02 5.14886957e+02] [ 9.30287202e-01 3.36530464e-01 1.45989621e-01 3.73372416e+02] [-1.54819132e-01 -6.03558793e-04 9.87942646e-01 6.78118258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:514.90, Y:373.40, Z:67.81 [[ 3.31106442e-01 -9.42181621e-01 5.15976409e-02 5.14896977e+02] [ 9.30755272e-01 3.35102405e-01 1.46290811e-01 3.73398737e+02] [-1.55123007e-01 -4.13053614e-04 9.87895077e-01 6.78069344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:514.91, Y:373.42, Z:67.80 [[ 3.27547161e-01 -9.43430178e-01 5.15010457e-02 5.14907356e+02] [ 9.32040352e-01 3.31571235e-01 1.46155050e-01 3.73423557e+02] [-1.54963350e-01 1.28380988e-04 9.87920211e-01 6.78020758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.1992541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:514.92, Y:373.45, Z:67.80 [[ 3.26112803e-01 -9.44067128e-01 4.88640802e-02 5.14918498e+02] [ 9.32365613e-01 3.29741675e-01 1.48205235e-01 3.73447281e+02] [-1.56028215e-01 -2.77243659e-03 9.87748708e-01 6.77985970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.2292541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:514.93, Y:373.47, Z:67.79 [[ 3.21213189e-01 -9.45492600e-01 5.35334510e-02 5.14927123e+02] [ 9.34353856e-01 3.25624507e-01 1.44746510e-01 3.73474423e+02] [-1.54288558e-01 3.52469822e-03 9.88019543e-01 6.77925963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.94, Y:373.50, Z:67.79 [[ 3.19290525e-01 -9.46232399e-01 5.19404216e-02 5.14938666e+02] [ 9.34618112e-01 3.23484807e-01 1.47805834e-01 3.73500280e+02] [-1.56660606e-01 1.35145666e-03 9.87651572e-01 6.77887230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.2892541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:514.95, Y:373.52, Z:67.78 [[ 3.15813127e-01 -9.47415151e-01 5.16391376e-02 5.14948443e+02] [ 9.35929437e-01 3.20001569e-01 1.47088697e-01 3.73524697e+02] [-1.55878666e-01 1.87804759e-03 9.87774425e-01 6.77845874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.96, Y:373.55, Z:67.78 [[ 3.14475782e-01 -9.47831614e-01 5.21556671e-02 5.14958268e+02] [ 9.36104532e-01 3.18764682e-01 1.48651883e-01 3.73550566e+02] [-1.57522339e-01 2.07573925e-03 9.87513243e-01 6.77793506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3492541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:514.97, Y:373.58, Z:67.78 [[ 3.12699179e-01 -9.48464233e-01 5.13305187e-02 5.14968071e+02] [ 9.37094727e-01 3.16875774e-01 1.46435023e-01 3.73576480e+02] [-1.55153780e-01 2.31144691e-03 9.87887626e-01 6.77750654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.3792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:514.96, Y:373.60, Z:67.75 [[ 3.06581973e-01 -9.48688856e-01 7.74399690e-02 5.14961843e+02] [ 9.37675568e-01 3.15002510e-01 1.46758128e-01 3.73601338e+02] [-1.63621585e-01 2.76201706e-02 9.86136453e-01 6.77515134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:514.99, Y:373.63, Z:67.76 [[ 3.05050698e-01 -9.51141840e-01 4.76788487e-02 5.14988654e+02] [ 9.38430648e-01 3.08743827e-01 1.55000544e-01 3.73625349e+02] [-1.62148053e-01 -2.53973142e-03 9.86763173e-01 6.77599449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4392541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:515.00, Y:373.65, Z:67.75 [[ 3.04379400e-01 -9.50988870e-01 5.45284277e-02 5.14995297e+02] [ 9.39052125e-01 3.09176969e-01 1.50302060e-01 3.73653520e+02] [-1.59794520e-01 5.45618521e-03 9.87135219e-01 6.77519244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4692541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:515.02, Y:373.68, Z:67.77 [[ 3.05639739e-01 -9.51718177e-01 2.85807904e-02 5.15019187e+02] [ 9.39430422e-01 3.06311281e-01 1.53765669e-01 3.73678745e+02] [-1.55096201e-01 -2.01472349e-02 9.87693909e-01 6.77657994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.02, Y:373.71, Z:67.75 [[ 3.05611595e-01 -9.50749028e-01 5.17478328e-02 5.15017011e+02] [ 9.39168218e-01 3.09943369e-01 1.47980291e-01 3.73705935e+02] [-1.56731015e-01 3.37542719e-03 9.87635558e-01 6.77515405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.02, Y:373.73, Z:67.74 [[ 3.03892647e-01 -9.50734908e-01 6.12567904e-02 5.15020210e+02] [ 9.39270307e-01 3.09747311e-01 1.47742663e-01 3.73731651e+02] [-1.59438233e-01 1.26387753e-02 9.87126999e-01 6.77399253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.04, Y:373.76, Z:67.75 [[ 3.05354897e-01 -9.51260688e-01 4.31449875e-02 5.15039932e+02] [ 9.38973997e-01 3.08328367e-01 1.52517054e-01 3.73755910e+02] [-1.58386301e-01 -6.05980782e-03 9.87358627e-01 6.77463168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.5892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:515.04, Y:373.78, Z:67.74 [[ 3.06332860e-01 -9.50491438e-01 5.22130773e-02 5.15044565e+02] [ 9.38649089e-01 3.10734470e-01 1.49606070e-01 3.73783396e+02] [-1.58423692e-01 3.18050214e-03 9.87366102e-01 6.77379854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:515.05, Y:373.81, Z:67.73 [[ 3.06638806e-01 -9.50225202e-01 5.51788760e-02 5.15051445e+02] [ 9.38337863e-01 3.11509961e-01 1.49945320e-01 3.73809665e+02] [-1.59670591e-01 5.79737488e-03 9.87153328e-01 6.77306091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.06, Y:373.84, Z:67.73 [[ 3.08907211e-01 -9.49789909e-01 4.97540317e-02 5.15062828e+02] [ 9.37628410e-01 3.12888328e-01 1.51505311e-01 3.73835392e+02] [-1.59465671e-01 -1.50289293e-04 9.87203463e-01 6.77289922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.07, Y:373.86, Z:67.73 [[ 3.13850677e-01 -9.48368349e-01 4.57736559e-02 5.15073326e+02] [ 9.36223115e-01 3.17136952e-01 1.51361929e-01 3.73862607e+02] [-1.58063380e-01 -4.65068912e-03 9.87418016e-01 6.77266039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.07, Y:373.89, Z:67.71 [[ 3.18881520e-01 -9.45885971e-01 6.01191055e-02 5.15072964e+02] [ 9.34280670e-01 3.24374994e-01 1.47988153e-01 3.73890320e+02] [-1.59481052e-01 8.97743108e-03 9.87160169e-01 6.77133112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7392541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:515.09, Y:373.92, Z:67.71 [[ 3.21627522e-01 -9.45544745e-01 5.00087189e-02 5.15085850e+02] [ 9.33885193e-01 3.25490871e-01 1.48034251e-01 3.73915968e+02] [-1.56250390e-01 -9.09487276e-04 9.87717059e-01 6.77136370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.10, Y:373.94, Z:67.71 [[ 3.27738285e-01 -9.43830013e-01 4.21013547e-02 5.15098501e+02] [ 9.31815793e-01 3.30277662e-01 1.50452632e-01 3.73942748e+02] [-1.55906847e-01 -1.00783805e-02 9.87720346e-01 6.77130174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.10, Y:373.97, Z:67.70 [[ 3.28833792e-01 -9.42368861e-01 6.17192539e-02 5.15095627e+02] [ 9.31041460e-01 3.34441985e-01 1.45980676e-01 3.73970405e+02] [-1.58209154e-01 9.45980484e-03 9.87360307e-01 6.76976673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.11, Y:374.00, Z:67.70 [[ 3.30337728e-01 -9.42464058e-01 5.13661936e-02 5.15108839e+02] [ 9.30462850e-01 3.34302993e-01 1.49934636e-01 3.73995488e+02] [-1.58479877e-01 -1.73473197e-03 9.87360683e-01 6.76970219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.12, Y:374.02, Z:67.69 [[ 3.32887939e-01 -9.41550701e-01 5.16517019e-02 5.15117934e+02] [ 9.29489682e-01 3.36865360e-01 1.50235353e-01 3.74022206e+02] [-1.58853871e-01 -2.00181308e-03 9.87300076e-01 6.76929334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.13, Y:374.05, Z:67.69 [[ 3.32483335e-01 -9.41743205e-01 5.07402122e-02 5.15126716e+02] [ 9.29583847e-01 3.36319433e-01 1.50874485e-01 3.74048745e+02] [-1.59149941e-01 -2.99597028e-03 9.87249878e-01 6.76894033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:515.13, Y:374.08, Z:67.68 [[ 3.31410120e-01 -9.41562480e-01 6.02281352e-02 5.15130300e+02] [ 9.29505863e-01 3.36781976e-01 1.50322160e-01 3.74075133e+02] [-1.61821456e-01 6.16411971e-03 9.86800801e-01 6.76796012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9492541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:515.14, Y:374.10, Z:67.68 [[ 3.30226723e-01 -9.42416851e-01 5.29224997e-02 5.15142651e+02] [ 9.30079554e-01 3.34439139e-01 1.51995019e-01 3.74100850e+02] [-1.60942023e-01 -9.70682295e-04 9.86963385e-01 6.76772033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 969.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.15, Y:374.13, Z:67.67 [[ 3.27828404e-01 -9.43144120e-01 5.48425588e-02 5.15149831e+02] [ 9.30583083e-01 3.32383241e-01 1.53416121e-01 3.74126573e+02] [-1.62922260e-01 7.41395348e-04 9.86638631e-01 6.76710892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.17, Y:374.15, Z:67.67 [[ 3.28436593e-01 -9.43578012e-01 4.23076913e-02 5.15167641e+02] [ 9.30840491e-01 3.30950308e-01 1.54944743e-01 3.74152655e+02] [-1.60204196e-01 -1.15078112e-02 9.87016811e-01 6.76740802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.17, Y:374.18, Z:67.67 [[ 3.26075552e-01 -9.43901403e-01 5.22003381e-02 5.15172134e+02] [ 9.31741033e-01 3.30226847e-01 1.51026079e-01 3.74178995e+02] [-1.59791681e-01 -6.08715122e-04 9.87150570e-01 6.76657730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:515.17, Y:374.21, Z:67.65 [[ 3.21446128e-01 -9.44120458e-01 7.28625237e-02 5.15167359e+02] [ 9.32559271e-01 3.28983552e-01 1.48670874e-01 3.74205000e+02] [-1.64333786e-01 2.01589451e-02 9.86198775e-01 6.76469596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.0992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:515.20, Y:374.23, Z:67.66 [[ 3.21252751e-01 -9.46486990e-01 3.09684968e-02 5.15200561e+02] [ 9.33632502e-01 3.22024744e-01 1.56940803e-01 3.74229050e+02] [-1.58515050e-01 -2.15044695e-02 9.87122351e-01 6.76643870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.18, Y:374.26, Z:67.64 [[ 3.16579354e-01 -9.45703162e-01 7.36413068e-02 5.15184258e+02] [ 9.34370081e-01 3.24281287e-01 1.47628581e-01 3.74257132e+02] [-1.63493313e-01 2.20720730e-02 9.86297501e-01 6.76359946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.1592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:515.22, Y:374.28, Z:67.66 [[ 3.15702018e-01 -9.48423167e-01 2.87355445e-02 5.15220208e+02] [ 9.35970809e-01 3.16245626e-01 1.54749309e-01 3.74281649e+02] [-1.55855320e-01 -2.19590382e-02 9.87535782e-01 6.76552873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.22, Y:374.31, Z:67.64 [[ 3.13941890e-01 -9.48079765e-01 5.08453398e-02 5.15219024e+02] [ 9.36528365e-01 3.18030000e-01 1.47551826e-01 3.74309988e+02] [-1.56061244e-01 1.29540377e-03 9.87746531e-01 6.76414041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:515.23, Y:374.34, Z:67.64 [[ 3.09356094e-01 -9.49598850e-01 5.06046489e-02 5.15229000e+02] [ 9.38155900e-01 3.13461337e-01 1.46988084e-01 3.74335523e+02] [-1.55442317e-01 2.00339034e-03 9.87842939e-01 6.76366961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2492541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:515.24, Y:374.36, Z:67.63 [[ 3.06262707e-01 -9.50629860e-01 5.00602001e-02 5.15237844e+02] [ 9.39425417e-01 3.10317340e-01 1.45543925e-01 3.74361597e+02] [-1.53892949e-01 2.45314782e-03 9.88084481e-01 6.76326549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.2792541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:515.25, Y:374.39, Z:67.63 [[ 3.03291477e-01 -9.51740591e-01 4.69481419e-02 5.15250387e+02] [ 9.40472809e-01 3.06903618e-01 1.46017344e-01 3.74388308e+02] [-1.53379188e-01 -1.32364915e-04 9.88167398e-01 6.76301038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.27, Y:374.41, Z:67.63 [[ 3.03009142e-01 -9.52361225e-01 3.45478944e-02 5.15266952e+02] [ 9.40912648e-01 3.04725824e-01 1.47734765e-01 3.74414588e+02] [-1.51224497e-01 -1.22584336e-02 9.88423433e-01 6.76348756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.27, Y:374.44, Z:67.62 [[ 3.01141603e-01 -9.51939856e-01 5.58949434e-02 5.15266010e+02] [ 9.41333571e-01 3.06126926e-01 1.42047219e-01 3.74442981e+02] [-1.52331357e-01 9.83945941e-03 9.88280498e-01 6.76206327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3692541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:515.27, Y:374.47, Z:67.61 [[ 2.97441758e-01 -9.52674107e-01 6.27729785e-02 5.15271076e+02] [ 9.41809962e-01 3.03562733e-01 1.44373342e-01 3.74467409e+02] [-1.56596282e-01 1.61775558e-02 9.87530198e-01 6.76094255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.3992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:515.31, Y:374.49, Z:67.64 [[ 2.98204803e-01 -9.54463809e-01 8.52841187e-03 5.15310176e+02] [ 9.43104382e-01 2.96008882e-01 1.51436017e-01 3.74492441e+02] [-1.47064683e-01 -3.71157649e-02 9.88430270e-01 6.76401468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:515.30, Y:374.52, Z:67.62 [[ 2.98798701e-01 -9.53080291e-01 4.85519776e-02 5.15300633e+02] [ 9.42969820e-01 3.02685761e-01 1.38525267e-01 3.74523201e+02] [-1.46721695e-01 4.39187959e-03 9.89168062e-01 6.76186381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4592541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:515.28, Y:374.55, Z:67.59 [[ 2.94291608e-01 -9.51332465e-01 9.14275200e-02 5.15284400e+02] [ 9.42591181e-01 3.04718555e-01 1.36632600e-01 3.74548685e+02] [-1.57842689e-01 4.59689466e-02 9.86393705e-01 6.75851417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.4892541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:515.35, Y:374.57, Z:67.64 [[ 2.96867298e-01 -9.54900504e-01 -5.90214204e-03 5.15345474e+02] [ 9.43689951e-01 2.92425798e-01 1.54714025e-01 3.74571975e+02] [-1.46010561e-01 -5.14993266e-02 9.87941666e-01 6.76370176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:515.29, Y:374.60, Z:67.57 [[ 2.94864587e-01 -9.49659554e-01 1.05837645e-01 5.15293699e+02] [ 9.42340039e-01 3.07348606e-01 1.32408781e-01 3.74603122e+02] [-1.58272317e-01 6.06923900e-02 9.85528441e-01 6.75702936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.37, Y:374.63, Z:67.63 [[ 2.99077973e-01 -9.54142728e-01 -1.28070655e-02 5.15365203e+02] [ 9.43176150e-01 2.93550389e-01 1.55714220e-01 3.74625748e+02] [-1.44814072e-01 -5.86500121e-02 9.87719120e-01 6.76325008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.5792541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:515.36, Y:374.66, Z:67.61 [[ 3.04538654e-01 -9.51905462e-01 3.36481720e-02 5.15355619e+02] [ 9.42242828e-01 3.06241496e-01 1.35626693e-01 3.74661301e+02] [-1.39408256e-01 -9.59882175e-03 9.90188467e-01 6.76113673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.35, Y:374.69, Z:67.60 [[ 3.06999520e-01 -9.50030087e-01 5.65166158e-02 5.15351273e+02] [ 9.40919558e-01 3.11900108e-01 1.31866255e-01 3.74689289e+02] [-1.42904448e-01 1.26947122e-02 9.89655073e-01 6.75952564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6392541539999 meters Centerline goodness : 0.995366 Centerline is valid? [True, True] Translation: X:515.35, Y:374.72, Z:67.58 [[ 3.07034660e-01 -9.48912095e-01 7.27705547e-02 5.15350641e+02] [ 9.40429653e-01 3.14242853e-01 1.29782498e-01 3.74718197e+02] [-1.46019809e-01 2.85878622e-02 9.88868520e-01 6.75803641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6692541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:515.37, Y:374.74, Z:67.59 [[ 3.07399786e-01 -9.50754799e-01 3.96318581e-02 5.15373609e+02] [ 9.40272517e-01 3.09884906e-01 1.40921749e-01 3.74738955e+02] [-1.46263344e-01 -6.05456860e-03 9.89227161e-01 6.75886493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.6992541539998 meters Centerline goodness : 0.996159 Centerline is valid? [True, True] Translation: X:515.37, Y:374.77, Z:67.57 [[ 3.10355147e-01 -9.48711827e-01 6.02125591e-02 5.15372171e+02] [ 9.39083887e-01 3.15811143e-01 1.35590469e-01 3.74769591e+02] [-1.47652079e-01 1.44634442e-02 9.88933604e-01 6.75731806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.37, Y:374.79, Z:67.56 [[ 3.10461526e-01 -9.47510716e-01 7.64008155e-02 5.15368200e+02] [ 9.38096710e-01 3.18376983e-01 1.36420892e-01 3.74792781e+02] [-1.53584519e-01 2.93179152e-02 9.87700489e-01 6.75565788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.39, Y:374.82, Z:67.56 [[ 3.13503546e-01 -9.48295410e-01 4.95110280e-02 5.15389194e+02] [ 9.37129663e-01 3.17387756e-01 1.45096546e-01 3.74816574e+02] [-1.53308582e-01 9.09971303e-04 9.88177945e-01 6.75618979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.7892541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:515.40, Y:374.84, Z:67.56 [[ 3.14456736e-01 -9.47998758e-01 4.91458681e-02 5.15397277e+02] [ 9.36972865e-01 3.18273224e-01 1.44166591e-01 3.74841625e+02] [-1.52311563e-01 7.14189102e-04 9.88332271e-01 6.75571744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:515.41, Y:374.87, Z:67.55 [[ 3.17393196e-01 -9.47015707e-01 4.92220433e-02 5.15405449e+02] [ 9.35924146e-01 3.21187189e-01 1.44515683e-01 3.74868469e+02] [-1.52668112e-01 1.99804232e-04 9.88277495e-01 6.75521607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8492541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:515.41, Y:374.90, Z:67.55 [[ 3.18543739e-01 -9.46635520e-01 4.91027311e-02 5.15413613e+02] [ 9.35572517e-01 3.22306052e-01 1.44301331e-01 3.74895252e+02] [-1.52426873e-01 -2.71198319e-05 9.88314751e-01 6.75472406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.8792541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:515.43, Y:374.92, Z:67.55 [[ 3.21609065e-01 -9.45911223e-01 4.26563964e-02 5.15426307e+02] [ 9.34749451e-01 3.24354854e-01 1.45042729e-01 3.74921939e+02] [-1.51033354e-01 -6.77401342e-03 9.88505457e-01 6.75470182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:515.43, Y:374.95, Z:67.54 [[ 3.23487337e-01 -9.44597840e-01 5.55955461e-02 5.15428756e+02] [ 9.33681052e-01 3.28183024e-01 1.43302467e-01 3.74948442e+02] [-1.53608715e-01 5.55197463e-03 9.88116156e-01 6.75352874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.44, Y:374.97, Z:67.53 [[ 3.25099742e-01 -9.44384620e-01 4.94757284e-02 5.15440830e+02] [ 9.33073568e-01 3.28840720e-01 1.45730908e-01 3.74972531e+02] [-1.53895662e-01 -1.21258612e-03 9.88086360e-01 6.75334108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9692541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:515.45, Y:375.00, Z:67.53 [[ 3.27162085e-01 -9.43665142e-01 4.96091830e-02 5.15451255e+02] [ 9.32264929e-01 3.30898092e-01 1.46248265e-01 3.74998723e+02] [-1.54424974e-01 -1.59798580e-03 9.88003226e-01 6.75289817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 970.9992541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:515.46, Y:375.02, Z:67.52 [[ 3.28009533e-01 -9.43372966e-01 4.95700818e-02 5.15460604e+02] [ 9.31965564e-01 3.31729217e-01 1.46273420e-01 3.75024182e+02] [-1.54434235e-01 -1.78146706e-03 9.88001464e-01 6.75244416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:515.44, Y:375.05, Z:67.49 [[ 3.23109296e-01 -9.41001780e-01 1.00578492e-01 5.15436252e+02] [ 9.31555404e-01 3.34979039e-01 1.41398632e-01 3.75048775e+02] [-1.66748051e-01 4.80072259e-02 9.84830135e-01 6.74872085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0592541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:515.51, Y:375.07, Z:67.54 [[ 3.31741547e-01 -9.43367410e-01 -2.33980294e-03 5.15505606e+02] [ 9.30969117e-01 3.26978750e-01 1.62423523e-01 3.75071217e+02] [-1.52459992e-01 -5.60609151e-02 9.86718361e-01 6.75358156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.0892541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:515.49, Y:375.10, Z:67.51 [[ 3.33483765e-01 -9.41481970e-01 4.89926394e-02 5.15490080e+02] [ 9.30293056e-01 3.37052599e-01 1.44742445e-01 3.75101610e+02] [-1.52785499e-01 -2.69174319e-03 9.88255709e-01 6.75104271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.50, Y:375.13, Z:67.51 [[ 3.36512276e-01 -9.40421474e-01 4.86511924e-02 5.15501137e+02] [ 9.29357097e-01 3.39995905e-01 1.43868587e-01 3.75126723e+02] [-1.51838315e-01 -3.19921490e-03 9.88400168e-01 6.75056405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:515.51, Y:375.15, Z:67.50 [[ 3.38552541e-01 -9.39721247e-01 4.80224366e-02 5.15512455e+02] [ 9.28915108e-01 3.41923420e-01 1.42144634e-01 3.75152171e+02] [-1.49996328e-01 -3.51466013e-03 9.88680307e-01 6.75007670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.1792541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:515.52, Y:375.18, Z:67.50 [[ 3.38574561e-01 -9.39740609e-01 4.74853123e-02 5.15522123e+02] [ 9.29155889e-01 3.41870216e-01 1.40691470e-01 3.75176691e+02] [-1.48447302e-01 -3.51329522e-03 9.88914079e-01 6.74958994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2092541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:515.53, Y:375.20, Z:67.49 [[ 3.39219090e-01 -9.39516662e-01 4.73164932e-02 5.15533368e+02] [ 9.28986573e-01 3.42483838e-01 1.40316674e-01 3.75200847e+02] [-1.48034987e-01 -3.64170747e-03 9.88975420e-01 6.74916922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2392541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:515.54, Y:375.23, Z:67.49 [[ 3.39046405e-01 -9.39575268e-01 4.73904124e-02 5.15543999e+02] [ 9.28999342e-01 3.42322910e-01 1.40624492e-01 3.75227062e+02] [-1.48350118e-01 -3.65256643e-03 9.88928158e-01 6.74873809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.56, Y:375.25, Z:67.48 [[ 3.38236907e-01 -9.39852045e-01 4.76857332e-02 5.15556629e+02] [ 9.29125200e-01 3.41562830e-01 1.41637549e-01 3.75252282e+02] [-1.49406014e-01 -3.60103008e-03 9.88769374e-01 6.74839568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.55, Y:375.28, Z:67.46 [[ 3.31695780e-01 -9.40174487e-01 7.77807347e-02 5.15545407e+02] [ 9.30011640e-01 3.39713994e-01 1.40259590e-01 3.75275976e+02] [-1.58291692e-01 2.58134746e-02 9.87054915e-01 6.74583632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:515.59, Y:375.30, Z:67.49 [[ 3.31874721e-01 -9.43159976e-01 1.75621519e-02 5.15594826e+02] [ 9.31376579e-01 3.30568430e-01 1.52519446e-01 3.75300232e+02] [-1.49655730e-01 -3.42603718e-02 9.88144417e-01 6.74895563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3592541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:515.59, Y:375.33, Z:67.47 [[ 3.29617872e-01 -9.42893074e-01 4.80073838e-02 5.15590237e+02] [ 9.32014856e-01 3.33087362e-01 1.42832482e-01 3.75329067e+02] [-1.50666411e-01 -2.33654391e-03 9.88581900e-01 6.74725002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.3892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:515.58, Y:375.35, Z:67.45 [[ 3.22941128e-01 -9.43235062e-01 7.75670366e-02 5.15578050e+02] [ 9.32803099e-01 3.31076557e-01 1.42361131e-01 3.75353492e+02] [-1.59960638e-01 2.63805079e-02 9.86770826e-01 6.74471672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:515.60, Y:375.38, Z:67.46 [[ 3.19669110e-01 -9.46441271e-01 4.53936330e-02 5.15603003e+02] [ 9.34043027e-01 3.22811490e-01 1.52827897e-01 3.75376807e+02] [-1.59296215e-01 -6.45475121e-03 9.87209731e-01 6.74563785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:515.61, Y:375.40, Z:67.45 [[ 3.18394431e-01 -9.46690001e-01 4.90207029e-02 5.15610685e+02] [ 9.34668647e-01 3.22139352e-01 1.50401987e-01 3.75404656e+02] [-1.58175555e-01 -2.06904105e-03 9.87408838e-01 6.74501997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.4792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:515.64, Y:375.43, Z:67.47 [[ 3.19822606e-01 -9.47263600e-01 2.01288893e-02 5.15638707e+02] [ 9.35552089e-01 3.19085963e-01 1.51414785e-01 3.75432613e+02] [-1.49852560e-01 -2.95942467e-02 9.88265344e-01 6.74670132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.61, Y:375.46, Z:67.43 [[ 3.13488285e-01 -9.46211700e-01 8.00531956e-02 5.15610770e+02] [ 9.36103968e-01 3.22093809e-01 1.41297342e-01 3.75459932e+02] [-1.59481837e-01 3.06430525e-02 9.86725163e-01 6.74278076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:515.64, Y:375.48, Z:67.44 [[ 3.11506030e-01 -9.49438773e-01 3.91153342e-02 5.15642059e+02] [ 9.37200839e-01 3.13766661e-01 1.52332102e-01 3.75483630e+02] [-1.56903092e-01 -1.07934441e-02 9.87555022e-01 6.74427094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:515.64, Y:375.51, Z:67.43 [[ 3.10479465e-01 -9.49115333e-01 5.27502310e-02 5.15642689e+02] [ 9.37454597e-01 3.14910467e-01 1.48358610e-01 3.75510802e+02] [-1.57421031e-01 3.38864470e-03 9.87525765e-01 6.74314526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.5992541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:515.66, Y:375.54, Z:67.43 [[ 3.09569412e-01 -9.49797927e-01 4.52844095e-02 5.15655023e+02] [ 9.38207697e-01 3.12846420e-01 1.47964306e-01 3.75537138e+02] [-1.54703256e-01 -3.31904151e-03 9.87955407e-01 6.74299037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.6292541539999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:515.66, Y:375.56, Z:67.42 [[ 3.08494612e-01 -9.50119658e-01 4.58662083e-02 5.15662164e+02] [ 9.38883112e-01 3.11879911e-01 1.45703202e-01 3.75564826e+02] [-1.52740225e-01 -1.88564434e-03 9.88264574e-01 6.74240742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.6592541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:515.67, Y:375.59, Z:67.42 [[ 3.06238013e-01 -9.50732847e-01 4.82217105e-02 5.15667062e+02] [ 9.39440451e-01 3.10010870e-01 1.46098936e-01 3.75590612e+02] [-1.53850312e-01 5.60377649e-04 9.88094007e-01 6.74170994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.67, Y:375.62, Z:67.41 [[ 3.05308168e-01 -9.50905892e-01 5.06449182e-02 5.15673289e+02] [ 9.39592254e-01 3.09466353e-01 1.46277040e-01 3.75616601e+02] [-1.54768597e-01 2.92599771e-03 9.87946415e-01 6.74113478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7192541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:515.69, Y:375.64, Z:67.41 [[ 3.04649364e-01 -9.51367731e-01 4.56968877e-02 5.15685420e+02] [ 9.39911754e-01 3.08051696e-01 1.47207499e-01 3.75643683e+02] [-1.54125468e-01 -1.89562926e-03 9.88049466e-01 6.74089780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.71, Y:375.67, Z:67.43 [[ 3.08129973e-01 -9.51194181e-01 1.68982377e-02 5.15714281e+02] [ 9.39836419e-01 3.07109098e-01 1.49637919e-01 3.75671758e+02] [-1.47524321e-01 -3.02263488e-02 9.88596451e-01 6.74286056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.7792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:515.71, Y:375.70, Z:67.41 [[ 3.07228244e-01 -9.50468069e-01 4.71302005e-02 5.15707218e+02] [ 9.40053348e-01 3.10819924e-01 1.40323477e-01 3.75700065e+02] [-1.48021990e-01 1.19356731e-03 9.88983350e-01 6.74113010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8092541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:515.71, Y:375.73, Z:67.41 [[ 3.07270574e-01 -9.50429817e-01 4.76230746e-02 5.15713202e+02] [ 9.39775515e-01 3.10937042e-01 1.41915955e-01 3.75725832e+02] [-1.49688933e-01 1.14840254e-03 9.88732474e-01 6.74057537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:515.70, Y:375.75, Z:67.38 [[ 3.03751228e-01 -9.50099155e-01 7.10407365e-02 5.15703794e+02] [ 9.39793196e-01 3.11041749e-01 1.41568992e-01 3.75751990e+02] [-1.56601215e-01 2.37618457e-02 9.87376035e-01 6.73839013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8692541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:515.72, Y:375.78, Z:67.39 [[ 3.06318986e-01 -9.50636877e-01 4.95803073e-02 5.15721644e+02] [ 9.38811022e-01 3.10304615e-01 1.49482141e-01 3.75775992e+02] [-1.57488234e-01 7.57321012e-04 9.87520573e-01 6.73866203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.73, Y:375.80, Z:67.38 [[ 3.07320983e-01 -9.50068568e-01 5.40696723e-02 5.15726400e+02] [ 9.38289896e-01 3.12003124e-01 1.49218368e-01 3.75802694e+02] [-1.58637588e-01 4.87509162e-03 9.87324845e-01 6.73800567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:515.74, Y:375.83, Z:67.38 [[ 3.11019583e-01 -9.49535851e-01 4.06015674e-02 5.15741818e+02] [ 9.37397918e-01 3.13526648e-01 1.51611954e-01 3.75829643e+02] [-1.56690659e-01 -9.09446208e-03 9.87605857e-01 6.73812933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.75, Y:375.86, Z:67.37 [[ 3.12530466e-01 -9.48689804e-01 4.80870481e-02 5.15745333e+02] [ 9.36795647e-01 3.16203360e-01 1.49764318e-01 3.75856902e+02] [-1.57285168e-01 -1.75817472e-03 9.87551662e-01 6.73747477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 971.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.77, Y:375.88, Z:67.39 [[ 3.19133033e-01 -9.47344485e-01 2.63160556e-02 5.15767246e+02] [ 9.35491419e-01 3.19341630e-01 1.51250548e-01 3.75884016e+02] [-1.51690185e-01 -2.36506021e-02 9.88145099e-01 6.73879672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:515.76, Y:375.91, Z:67.37 [[ 3.21646883e-01 -9.45625709e-01 4.83249541e-02 5.15763139e+02] [ 9.34519828e-01 3.25254173e-01 1.44507488e-01 3.75913537e+02] [-1.52367889e-01 -1.31975537e-03 9.88322966e-01 6.73740292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.76, Y:375.94, Z:67.36 [[ 3.20775978e-01 -9.45295357e-01 5.93250351e-02 5.15763436e+02] [ 9.34353511e-01 3.26082248e-01 1.43714595e-01 3.75939742e+02] [-1.55197580e-01 9.33036507e-03 9.87839388e-01 6.73599609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.0792541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:515.78, Y:375.96, Z:67.37 [[ 3.22628926e-01 -9.45788285e-01 3.73509993e-02 5.15784034e+02] [ 9.34256350e-01 3.24531939e-01 1.47797473e-01 3.75964450e+02] [-1.51906711e-01 -1.27883316e-02 9.88312102e-01 6.73666723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.78, Y:375.99, Z:67.35 [[ 3.22644944e-01 -9.44704309e-01 5.86004099e-02 5.15779525e+02] [ 9.33972387e-01 3.27804525e-01 1.42266558e-01 3.75991915e+02] [-1.53609310e-01 8.82957905e-03 9.88092212e-01 6.73501035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.80, Y:376.02, Z:67.36 [[ 3.25021288e-01 -9.44989002e-01 3.68367926e-02 5.15800481e+02] [ 9.33796026e-01 3.26846787e-01 1.45589012e-01 3.76016790e+02] [-1.49620003e-01 -1.29214777e-02 9.88659138e-01 6.73587328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:515.80, Y:376.04, Z:67.35 [[ 3.24948713e-01 -9.44544272e-01 4.73756464e-02 5.15803666e+02] [ 9.33781713e-01 3.28378207e-01 1.42195171e-01 3.76043771e+02] [-1.49866764e-01 -1.96762549e-03 9.88704244e-01 6.73490803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.80, Y:376.07, Z:67.33 [[ 3.23030388e-01 -9.44472581e-01 6.01906284e-02 5.15803909e+02] [ 9.33895263e-01 3.28420770e-01 1.41348636e-01 3.76070513e+02] [-1.53267763e-01 1.05518380e-02 9.88128358e-01 6.73345779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.2292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:515.83, Y:376.10, Z:67.34 [[ 3.24987670e-01 -9.45089184e-01 3.44883846e-02 5.15827991e+02] [ 9.33842771e-01 3.26454377e-01 1.46168462e-01 3.76095366e+02] [-1.49401116e-01 -1.52962192e-02 9.88658350e-01 6.73445501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.2592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:515.82, Y:376.12, Z:67.33 [[ 3.22924482e-01 -9.44624106e-01 5.83530454e-02 5.15824504e+02] [ 9.34241664e-01 3.28022194e-01 1.39978405e-01 3.76124070e+02] [-1.51368069e-01 9.31339250e-03 9.88433593e-01 6.73265123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.2892541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:515.85, Y:376.15, Z:67.34 [[ 3.23684296e-01 -9.45478911e-01 3.60292186e-02 5.15846154e+02] [ 9.34450806e-01 3.25418467e-01 1.44583933e-01 3.76148182e+02] [-1.48425633e-01 -1.31320163e-02 9.88836378e-01 6.73355993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.84, Y:376.18, Z:67.32 [[ 3.21527094e-01 -9.45080089e-01 5.86852132e-02 5.15843152e+02] [ 9.34752466e-01 3.26687583e-01 1.39689121e-01 3.76176057e+02] [-1.51189137e-01 9.94231068e-03 9.88454852e-01 6.73175233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.86, Y:376.20, Z:67.32 [[ 3.21311708e-01 -9.45789697e-01 4.73353535e-02 5.15857418e+02] [ 9.34874839e-01 3.24774782e-01 1.43284249e-01 3.76200834e+02] [-1.50890096e-01 -1.78627585e-03 9.88548931e-01 6.73176247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.87, Y:376.23, Z:67.31 [[ 3.19809779e-01 -9.46285446e-01 4.75979050e-02 5.15868118e+02] [ 9.35344285e-01 3.23329526e-01 1.43488978e-01 3.76226416e+02] [-1.51171339e-01 -1.36874991e-03 9.88506628e-01 6.73135839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4092541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:515.89, Y:376.25, Z:67.32 [[ 3.20574857e-01 -9.46568788e-01 3.52035652e-02 5.15885865e+02] [ 9.35465213e-01 3.22214450e-01 1.45198773e-01 3.76251926e+02] [-1.48783724e-01 -1.36153651e-02 9.88776024e-01 6.73174401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.88, Y:376.28, Z:67.30 [[ 3.18735125e-01 -9.45938188e-01 6.00738220e-02 5.15883762e+02] [ 9.35490096e-01 3.24147819e-01 1.40664396e-01 3.76280391e+02] [-1.52532623e-01 1.13637815e-02 9.88233102e-01 6.73012208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4692541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:515.91, Y:376.30, Z:67.31 [[ 3.19232128e-01 -9.47020294e-01 3.52620493e-02 5.15906460e+02] [ 9.35594565e-01 3.20866577e-01 1.47334484e-01 3.76303707e+02] [-1.50843159e-01 -1.40429190e-02 9.88457960e-01 6.73101089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.91, Y:376.33, Z:67.30 [[ 3.19658604e-01 -9.46340763e-01 4.75135562e-02 5.15910613e+02] [ 9.35394063e-01 3.23167290e-01 1.43529959e-01 3.76330865e+02] [-1.51183078e-01 -1.43668800e-03 9.88504736e-01 6.73030569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5292541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:515.92, Y:376.36, Z:67.30 [[ 3.18624592e-01 -9.46669684e-01 4.79048829e-02 5.15919309e+02] [ 9.35522990e-01 3.22202918e-01 1.44851700e-01 3.76356963e+02] [-1.52561806e-01 -1.33719446e-03 9.88293027e-01 6.72950763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.92, Y:376.38, Z:67.28 [[ 3.17660101e-01 -9.46454603e-01 5.75824984e-02 5.15922618e+02] [ 9.35629298e-01 3.22726215e-01 1.42988136e-01 3.76384445e+02] [-1.53915162e-01 8.45424672e-03 9.88047898e-01 6.72848222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.94, Y:376.41, Z:67.29 [[ 3.20204883e-01 -9.46600648e-01 3.76303808e-02 5.15944531e+02] [ 9.35233996e-01 3.22192817e-01 1.46728192e-01 3.76408043e+02] [-1.51017240e-01 -1.17898720e-02 9.88460820e-01 6.72931514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.94, Y:376.44, Z:67.27 [[ 3.18797329e-01 -9.45805237e-01 6.18119416e-02 5.15941593e+02] [ 9.35277027e-01 3.24483512e-01 1.41305814e-01 3.76435412e+02] [-1.53704734e-01 1.27633730e-02 9.88034388e-01 6.72729931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:515.97, Y:376.46, Z:67.29 [[ 3.21150031e-01 -9.46455694e-01 3.29283525e-02 5.15967147e+02] [ 9.35081032e-01 3.22412361e-01 1.47220017e-01 3.76458808e+02] [-1.49953732e-01 -1.64890353e-02 9.88555507e-01 6.72867103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.96, Y:376.49, Z:67.27 [[ 3.19835256e-01 -9.45784049e-01 5.65503514e-02 5.15963806e+02] [ 9.35102788e-01 3.24709911e-01 1.41937485e-01 3.76487397e+02] [-1.52604669e-01 7.48377931e-03 9.88258978e-01 6.72684008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7092541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:515.98, Y:376.51, Z:67.27 [[ 3.21928926e-01 -9.45974085e-01 3.86626120e-02 5.15982419e+02] [ 9.34453036e-01 3.24041853e-01 1.47629271e-01 3.76511961e+02] [-1.52181769e-01 -1.13977375e-02 9.88286801e-01 6.72726164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.98, Y:376.54, Z:67.26 [[ 3.21618190e-01 -9.44908480e-01 6.09073488e-02 5.15978886e+02] [ 9.34161633e-01 3.27147893e-01 1.42535255e-01 3.76540800e+02] [-1.54608482e-01 1.10553779e-02 9.87913962e-01 6.72571368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.00, Y:376.56, Z:67.27 [[ 3.24016022e-01 -9.45399835e-01 3.51108360e-02 5.16000642e+02] [ 9.33713196e-01 3.25544273e-01 1.48998637e-01 3.76564575e+02] [-1.52293418e-01 -1.54944945e-02 9.88213861e-01 6.72686673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.99, Y:376.59, Z:67.25 [[ 3.21422187e-01 -9.44731588e-01 6.45755691e-02 5.15992474e+02] [ 9.33982759e-01 3.27528306e-01 1.42833518e-01 3.76593518e+02] [-1.56089663e-01 1.44026066e-02 9.87637880e-01 6.72452842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.01, Y:376.62, Z:67.25 [[ 3.21541560e-01 -9.45862779e-01 4.42111754e-02 5.16013625e+02] [ 9.34361959e-01 3.24511081e-01 1.47174345e-01 3.76618967e+02] [-1.53553751e-01 -6.01342802e-03 9.88121999e-01 6.72496497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.03, Y:376.64, Z:67.25 [[ 3.21502374e-01 -9.46208044e-01 3.64219866e-02 5.16027000e+02] [ 9.34667327e-01 3.23276094e-01 1.47951193e-01 3.76643575e+02] [-1.51766967e-01 -1.35242190e-02 9.88323775e-01 6.72531611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.03, Y:376.67, Z:67.24 [[ 3.18712804e-01 -9.46658285e-01 4.75419785e-02 5.16031177e+02] [ 9.35496666e-01 3.22234579e-01 1.44951246e-01 3.76670781e+02] [-1.52538968e-01 -1.72245579e-03 9.88295956e-01 6.72446407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:516.04, Y:376.70, Z:67.24 [[ 3.17132286e-01 -9.47171718e-01 4.78837072e-02 5.16039468e+02] [ 9.35831760e-01 3.20723223e-01 1.46135320e-01 3.76697302e+02] [-1.53772659e-01 -1.53313406e-03 9.88105065e-01 6.72389018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.05, Y:376.72, Z:67.24 [[ 3.15143680e-01 -9.47819720e-01 4.81896136e-02 5.16047871e+02] [ 9.36318289e-01 3.18804263e-01 1.47213805e-01 3.76722835e+02] [-1.54895201e-01 -1.27268367e-03 9.87930087e-01 6.72357933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 972.9792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:516.06, Y:376.75, Z:67.23 [[ 3.13561389e-01 -9.48340133e-01 4.82726354e-02 5.16056448e+02] [ 9.36784497e-01 3.17253635e-01 1.47597213e-01 3.76749423e+02] [-1.55287030e-01 -1.05973061e-03 9.87868825e-01 6.72298670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.07, Y:376.78, Z:67.23 [[ 3.12810338e-01 -9.48602959e-01 4.79804047e-02 5.16065150e+02] [ 9.37168822e-01 3.16467200e-01 1.46843829e-01 3.76776462e+02] [-1.54480715e-01 -9.68528266e-04 9.87995329e-01 6.72270784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.07, Y:376.80, Z:67.22 [[ 3.12639293e-01 -9.48667521e-01 4.78184830e-02 5.16073364e+02] [ 9.37289730e-01 3.16273580e-01 1.46488853e-01 3.76802819e+02] [-1.54092940e-01 -9.78398536e-04 9.88055873e-01 6.72228901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0692541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:516.08, Y:376.83, Z:67.21 [[ 3.12290976e-01 -9.48781837e-01 4.78264858e-02 5.16080796e+02] [ 9.37378931e-01 3.15930512e-01 1.46658283e-01 3.76829065e+02] [-1.54256562e-01 -9.68518307e-04 9.88030351e-01 6.72146961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.0992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:516.09, Y:376.86, Z:67.21 [[ 3.14872299e-01 -9.47948930e-01 4.74158450e-02 5.16087321e+02] [ 9.36710749e-01 3.18419273e-01 1.45540849e-01 3.76856666e+02] [-1.53063411e-01 -1.41185000e-03 9.88215361e-01 6.72120489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.09, Y:376.88, Z:67.21 [[ 3.16132864e-01 -9.47535643e-01 4.72886743e-02 5.16094065e+02] [ 9.36331338e-01 3.19645851e-01 1.45293345e-01 3.76883199e+02] [-1.52786252e-01 -1.65413359e-03 9.88257874e-01 6.72093967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.10, Y:376.91, Z:67.20 [[ 3.17858026e-01 -9.46962402e-01 4.72068194e-02 5.16099253e+02] [ 9.35770988e-01 3.21338347e-01 1.45169990e-01 3.76910875e+02] [-1.52639884e-01 -1.96867448e-03 9.88279915e-01 6.72047295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.11, Y:376.94, Z:67.20 [[ 3.18130172e-01 -9.46876190e-01 4.71028142e-02 5.16106447e+02] [ 9.35711516e-01 3.21591779e-01 1.44992026e-01 3.76937744e+02] [-1.52437375e-01 -2.05169259e-03 9.88311002e-01 6.72002153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2192541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:516.11, Y:376.96, Z:67.19 [[ 3.17990694e-01 -9.46927263e-01 4.70178392e-02 5.16112423e+02] [ 9.35781744e-01 3.21441247e-01 1.44872543e-01 3.76963263e+02] [-1.52297233e-01 -2.06968481e-03 9.88332570e-01 6.71933966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.12, Y:376.99, Z:67.19 [[ 3.17906057e-01 -9.46967785e-01 4.67734140e-02 5.16120327e+02] [ 9.35919763e-01 3.21321781e-01 1.44244623e-01 3.76989637e+02] [-1.51624328e-01 -2.08007699e-03 9.88436005e-01 6.71914005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.12, Y:377.02, Z:67.18 [[ 3.15941799e-01 -9.46978044e-01 5.84240001e-02 5.16121234e+02] [ 9.36210867e-01 3.21154647e-01 1.42719674e-01 3.77017156e+02] [-1.53915537e-01 9.60607310e-03 9.88037312e-01 6.71781344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3092541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:516.14, Y:377.04, Z:67.18 [[ 3.16285994e-01 -9.48016801e-01 3.50330572e-02 5.16139547e+02] [ 9.36691908e-01 3.17929846e-01 1.46727241e-01 3.77041268e+02] [-1.50237944e-01 -1.35925901e-02 9.88556423e-01 6.71838475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.14, Y:377.07, Z:67.18 [[ 3.16182148e-01 -9.47567966e-01 4.63011789e-02 5.16141743e+02] [ 9.36704424e-01 3.19548824e-01 1.43085188e-01 3.77069387e+02] [-1.50378428e-01 -1.87046294e-03 9.88626739e-01 6.71779069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.14, Y:377.10, Z:67.17 [[ 3.12921577e-01 -9.48029522e-01 5.76204205e-02 5.16142387e+02] [ 9.37230980e-01 3.18047561e-01 1.42981953e-01 3.77096538e+02] [-1.53877147e-01 9.26150490e-03 9.88046582e-01 6.71659044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.16, Y:377.12, Z:67.17 [[ 3.11778076e-01 -9.49009862e-01 4.66338220e-02 5.16156265e+02] [ 9.37609755e-01 3.15240015e-01 1.46668605e-01 3.77122173e+02] [-1.53890799e-01 -2.00372903e-03 9.88085830e-01 6.71666654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4292541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:516.17, Y:377.15, Z:67.17 [[ 3.11368864e-01 -9.49600792e-01 3.61630694e-02 5.16171405e+02] [ 9.38081445e-01 3.13226435e-01 1.47960818e-01 3.77147682e+02] [-1.51830939e-01 -1.21464874e-02 9.88331841e-01 6.71686651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.17, Y:377.18, Z:67.16 [[ 3.08399929e-01 -9.49580783e-01 5.64430749e-02 5.16167882e+02] [ 9.38633664e-01 3.13405550e-01 1.44027101e-01 3.77175809e+02] [-1.54454941e-01 8.56142234e-03 9.87962739e-01 6.71551866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.18, Y:377.20, Z:67.16 [[ 3.06037242e-01 -9.50923749e-01 4.56643225e-02 5.16180544e+02] [ 9.39435193e-01 3.09417444e-01 1.47385088e-01 3.77200221e+02] [-1.54281319e-01 -2.20665422e-03 9.88024496e-01 6.71558940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5192541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:516.19, Y:377.23, Z:67.16 [[ 3.07234270e-01 -9.50890735e-01 3.76020323e-02 5.16194940e+02] [ 9.39439828e-01 3.09365781e-01 1.47463974e-01 3.77226527e+02] [-1.51854908e-01 -9.98113959e-03 9.88352399e-01 6.71552830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.20, Y:377.25, Z:67.15 [[ 3.06877904e-01 -9.50610364e-01 4.65391036e-02 5.16199166e+02] [ 9.39574552e-01 3.10386181e-01 1.44430188e-01 3.77254265e+02] [-1.51741928e-01 -5.95475806e-04 9.88419968e-01 6.71509614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.21, Y:377.28, Z:67.15 [[ 3.06426199e-01 -9.50771528e-01 4.62221297e-02 5.16207425e+02] [ 9.39866998e-01 3.09892226e-01 1.43585637e-01 3.77280774e+02] [-1.50841015e-01 -5.55746844e-04 9.88557879e-01 6.71467659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:516.21, Y:377.31, Z:67.14 [[ 3.06195119e-01 -9.50864042e-01 4.58489176e-02 5.16214821e+02] [ 9.40115710e-01 3.09608255e-01 1.42566404e-01 3.77306292e+02] [-1.49756470e-01 -5.49849168e-04 9.88722761e-01 6.71403117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.22, Y:377.33, Z:67.14 [[ 3.06726787e-01 -9.50698001e-01 4.57382586e-02 5.16223591e+02] [ 9.39981018e-01 3.10117499e-01 1.42347545e-01 3.77333447e+02] [-1.49513761e-01 -6.68710295e-04 9.88759419e-01 6.71379595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:516.23, Y:377.36, Z:67.13 [[ 3.06392180e-01 -9.50810024e-01 4.56522738e-02 5.16231418e+02] [ 9.40113739e-01 3.09773897e-01 1.42219167e-01 3.77359738e+02] [-1.49365293e-01 -6.56510971e-04 9.88781866e-01 6.71318550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.6992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.24, Y:377.39, Z:67.13 [[ 3.07386590e-01 -9.50486811e-01 4.56979994e-02 5.16239170e+02] [ 9.39744166e-01 3.10763714e-01 1.42501991e-01 3.77385309e+02] [-1.49647543e-01 -8.58772967e-04 9.88739033e-01 6.71288118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.24, Y:377.41, Z:67.12 [[ 3.06260352e-01 -9.50443579e-01 5.34939287e-02 5.16242816e+02] [ 9.39727457e-01 3.10826285e-01 1.42475708e-01 3.77412762e+02] [-1.52042441e-01 6.63505299e-03 9.88351695e-01 6.71186487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.26, Y:377.44, Z:67.12 [[ 3.08721259e-01 -9.50375246e-01 3.84457678e-02 5.16260290e+02] [ 9.39160203e-01 3.10978052e-01 1.45845000e-01 3.77437587e+02] [-1.50563268e-01 -8.91871703e-03 9.88560144e-01 6.71242732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.25, Y:377.47, Z:67.10 [[ 3.06909996e-01 -9.49657555e-01 6.29029657e-02 5.16254184e+02] [ 9.39085335e-01 3.12908956e-01 1.42150342e-01 3.77465173e+02] [-1.54677047e-01 1.54438917e-02 9.87844369e-01 6.71049406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.27, Y:377.49, Z:67.11 [[ 3.08609221e-01 -9.49971545e-01 4.81083439e-02 5.16270700e+02] [ 9.38524093e-01 3.12336379e-01 1.47032357e-01 3.77491226e+02] [-1.54702541e-01 -2.24701398e-04 9.87961069e-01 6.71057701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.28, Y:377.52, Z:67.10 [[ 3.08638991e-01 -9.49806184e-01 5.10899753e-02 5.16277371e+02] [ 9.38400573e-01 3.12827798e-01 1.46775794e-01 3.77518742e+02] [-1.55390922e-01 2.64212912e-03 9.87849523e-01 6.70988778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.30, Y:377.54, Z:67.11 [[ 3.12702876e-01 -9.49567936e-01 2.31872199e-02 5.16301844e+02] [ 9.37953651e-01 3.12545702e-01 1.50193653e-01 3.77543304e+02] [-1.49866143e-01 -2.52174497e-02 9.88384652e-01 6.71134917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.30, Y:377.57, Z:67.10 [[ 3.13206251e-01 -9.48584941e-01 4.56996050e-02 5.16299327e+02] [ 9.37728319e-01 3.16516542e-01 1.43118408e-01 3.77571752e+02] [-1.50224648e-01 -1.97176617e-03 9.88649922e-01 6.71003867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.31, Y:377.60, Z:67.10 [[ 3.13201911e-01 -9.48589487e-01 4.56349409e-02 5.16308564e+02] [ 9.37741892e-01 3.16502658e-01 1.43060167e-01 3.77597860e+02] [-1.50148951e-01 -2.01292184e-03 9.88661338e-01 6.70963520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:516.32, Y:377.62, Z:67.09 [[ 3.12325257e-01 -9.48882818e-01 4.55448348e-02 5.16317207e+02] [ 9.38059505e-01 3.15622771e-01 1.42921768e-01 3.77624253e+02] [-1.49990997e-01 -1.91431289e-03 9.88685509e-01 6.70904117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 973.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.33, Y:377.65, Z:67.09 [[ 3.10896999e-01 -9.49342945e-01 4.57277649e-02 5.16326854e+02] [ 9.38414826e-01 3.14237051e-01 1.43640838e-01 3.77650670e+02] [-1.50733774e-01 -1.74589269e-03 9.88572851e-01 6.70876821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:516.34, Y:377.68, Z:67.08 [[ 3.09238104e-01 -9.49886282e-01 4.56929579e-02 5.16335770e+02] [ 9.38958496e-01 3.12591939e-01 1.43677496e-01 3.77676937e+02] [-1.50760533e-01 -1.52676535e-03 9.88569133e-01 6.70808121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0592541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:516.34, Y:377.70, Z:67.08 [[ 3.07895984e-01 -9.50322540e-01 4.56851550e-02 5.16344576e+02] [ 9.39380939e-01 3.11263911e-01 1.43799271e-01 3.77702117e+02] [-1.50875828e-01 -1.35945413e-03 9.88551787e-01 6.70766785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.35, Y:377.73, Z:67.08 [[ 3.04999229e-01 -9.51244098e-01 4.59362308e-02 5.16354583e+02] [ 9.40171139e-01 3.08437612e-01 1.44722039e-01 3.77728366e+02] [-1.51834446e-01 -9.52191817e-04 9.88405481e-01 6.70755700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1192541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:516.36, Y:377.75, Z:67.07 [[ 3.00969632e-01 -9.52532026e-01 4.58259812e-02 5.16363334e+02] [ 9.41504695e-01 3.04438198e-01 1.44520908e-01 3.77753843e+02] [-1.51611972e-01 -3.51027986e-04 9.88440027e-01 6.70692921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.37, Y:377.78, Z:67.07 [[ 2.99455465e-01 -9.53012468e-01 4.57565326e-02 5.16372316e+02] [ 9.42004234e-01 3.02931038e-01 1.44432719e-01 3.77780717e+02] [-1.51507256e-01 -1.48319547e-04 9.88456134e-01 6.70663930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.38, Y:377.81, Z:67.06 [[ 2.97771033e-01 -9.53541615e-01 4.57252707e-02 5.16381025e+02] [ 9.42533170e-01 3.01261319e-01 1.44474359e-01 3.77807225e+02] [-1.51537569e-01 7.73052013e-05 9.88451496e-01 6.70618719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2092541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:516.39, Y:377.83, Z:67.05 [[ 2.94904377e-01 -9.54454159e-01 4.52621925e-02 5.16389847e+02] [ 9.43658095e-01 2.98357188e-01 1.43151628e-01 3.77833381e+02] [-1.50135967e-01 4.95992633e-04 9.88665234e-01 6.70542370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2392541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:516.40, Y:377.86, Z:67.05 [[ 2.94650382e-01 -9.54534556e-01 4.52209407e-02 5.16398300e+02] [ 9.43737433e-01 2.98099879e-01 1.43164658e-01 3.77860332e+02] [-1.50135970e-01 4.93173302e-04 9.88665235e-01 6.70498423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.41, Y:377.89, Z:67.05 [[ 2.94221733e-01 -9.54661103e-01 4.53403762e-02 5.16407288e+02] [ 9.43787490e-01 2.97694321e-01 1.43677643e-01 3.77887431e+02] [-1.50661029e-01 5.18594856e-04 9.88585346e-01 6.70481970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.2992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:516.42, Y:377.91, Z:67.04 [[ 2.93999681e-01 -9.54743979e-01 4.50346873e-02 5.16415701e+02] [ 9.43996638e-01 2.97428430e-01 1.42851940e-01 3.77913732e+02] [-1.49781626e-01 5.14168414e-04 9.88718969e-01 6.70437951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3292541539998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:516.42, Y:377.94, Z:67.04 [[ 2.93425786e-01 -9.54939291e-01 4.46347167e-02 5.16423253e+02] [ 9.44363961e-01 2.96800657e-01 1.41725363e-01 3.77940369e+02] [-1.48586731e-01 5.65541863e-04 9.88899218e-01 6.70367339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:516.43, Y:377.97, Z:67.03 [[ 2.94723762e-01 -9.54549280e-01 4.44249580e-02 5.16431738e+02] [ 9.44047881e-01 2.98052961e-01 1.41202091e-01 3.77967479e+02] [-1.48025344e-01 3.23676204e-04 9.88983515e-01 6.70347699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.3892541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:516.44, Y:377.99, Z:67.03 [[ 2.94501776e-01 -9.54640971e-01 4.39240258e-02 5.16439272e+02] [ 9.44356689e-01 2.97759150e-01 1.39749538e-01 3.77993318e+02] [-1.46489415e-01 3.23460480e-04 9.89212185e-01 6.70273422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:516.45, Y:378.02, Z:67.02 [[ 2.95157200e-01 -9.54451603e-01 4.36390374e-02 5.16447342e+02] [ 9.44278344e-01 2.98365721e-01 1.38983115e-01 3.78019533e+02] [-1.45673050e-01 1.85530851e-04 9.89332769e-01 6.70242269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.46, Y:378.05, Z:67.02 [[ 2.97198434e-01 -9.53839637e-01 4.31629253e-02 5.16455894e+02] [ 9.43864026e-01 3.00316373e-01 1.37589157e-01 3.78046641e+02] [-1.44200525e-01 -1.51349378e-04 9.89548476e-01 6.70217437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.46, Y:378.07, Z:67.02 [[ 2.99247177e-01 -9.53202662e-01 4.30791459e-02 5.16462657e+02] [ 9.43239035e-01 3.02331663e-01 1.37461593e-01 3.78073032e+02] [-1.44052946e-01 -5.01061531e-04 9.89569855e-01 6.70175024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:516.47, Y:378.10, Z:67.01 [[ 2.99715713e-01 -9.53062495e-01 4.29228603e-02 5.16470155e+02] [ 9.43152149e-01 3.02773043e-01 1.37085771e-01 3.78099977e+02] [-1.43647192e-01 -6.03971713e-04 9.89628779e-01 6.70120056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.48, Y:378.13, Z:67.01 [[ 3.00713063e-01 -9.52730630e-01 4.33128197e-02 5.16478440e+02] [ 9.42614143e-01 3.03815215e-01 1.38473436e-01 3.78127145e+02] [-1.45086978e-01 -8.13494880e-04 9.89418570e-01 6.70096399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.49, Y:378.15, Z:67.01 [[ 3.01311783e-01 -9.52528787e-01 4.35903739e-02 5.16486412e+02] [ 9.42258267e-01 3.04447020e-01 1.39504016e-01 3.78153557e+02] [-1.46152551e-01 -9.60813738e-04 9.89261598e-01 6.70057618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.5992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:516.49, Y:378.18, Z:67.00 [[ 3.01884554e-01 -9.52323071e-01 4.41189929e-02 5.16494076e+02] [ 9.41776470e-01 3.05089360e-01 1.41342007e-01 3.78179650e+02] [-1.48063490e-01 -1.11873934e-03 9.88977225e-01 6.70024625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.50, Y:378.21, Z:67.00 [[ 3.01494667e-01 -9.52437360e-01 4.43175165e-02 5.16501874e+02] [ 9.41776714e-01 3.04732422e-01 1.42108309e-01 3.78206824e+02] [-1.48854247e-01 -1.10769223e-03 9.88858527e-01 6.69986488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.51, Y:378.23, Z:66.99 [[ 3.01078366e-01 -9.52567628e-01 4.43478575e-02 5.16509957e+02] [ 9.41872171e-01 3.04325041e-01 1.42348458e-01 3.78233579e+02] [-1.49092696e-01 -1.08802812e-03 9.88822625e-01 6.69944885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.52, Y:378.26, Z:66.99 [[ 3.00753938e-01 -9.52673108e-01 4.42833856e-02 5.16517949e+02] [ 9.41988567e-01 3.03994716e-01 1.42284058e-01 3.78260429e+02] [-1.49012111e-01 -1.07804778e-03 9.88834783e-01 6.69900343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:516.53, Y:378.29, Z:66.99 [[ 3.00688331e-01 -9.52702735e-01 4.40911148e-02 5.16525422e+02] [ 9.42090447e-01 3.03901768e-01 1.41807283e-01 3.78286978e+02] [-1.48499554e-01 -1.10197713e-03 9.88911861e-01 6.69857305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.53, Y:378.31, Z:66.98 [[ 3.01468386e-01 -9.52484640e-01 4.34721033e-02 5.16532304e+02] [ 9.42146051e-01 3.04584112e-01 1.39961913e-01 3.78312740e+02] [-1.46552484e-01 -1.23702143e-03 9.89202123e-01 6.69806603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.54, Y:378.34, Z:66.98 [[ 3.01405874e-01 -9.52522924e-01 4.30648164e-02 5.16539872e+02] [ 9.42364743e-01 3.04464370e-01 1.38744872e-01 3.78339392e+02] [-1.45269374e-01 -1.23575489e-03 9.89391370e-01 6.69756990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8092541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:516.55, Y:378.37, Z:66.97 [[ 3.01563884e-01 -9.52507951e-01 4.22827143e-02 5.16547559e+02] [ 9.42697464e-01 3.04511103e-01 1.36361579e-01 3.78366281e+02] [-1.42761044e-01 -1.26191979e-03 9.89756380e-01 6.69698501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.56, Y:378.39, Z:66.97 [[ 3.01752688e-01 -9.52472497e-01 4.17307734e-02 5.16555407e+02] [ 9.42898094e-01 3.04621804e-01 1.34717267e-01 3.78393127e+02] [-1.41026595e-01 -1.30343080e-03 9.90004950e-01 6.69658852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.56, Y:378.42, Z:66.96 [[ 3.01428061e-01 -9.52580198e-01 4.16183972e-02 5.16563629e+02] [ 9.43039035e-01 3.04284896e-01 1.34491933e-01 3.78419742e+02] [-1.40778202e-01 -1.29186950e-03 9.90040317e-01 6.69613780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.8992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:516.57, Y:378.45, Z:66.96 [[ 3.00927622e-01 -9.52751516e-01 4.13172518e-02 5.16571853e+02] [ 9.43330552e-01 3.03748247e-01 1.33658041e-01 3.78445734e+02] [-1.39892944e-01 -1.24557047e-03 9.90165851e-01 6.69577865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.58, Y:378.47, Z:66.95 [[ 3.00213140e-01 -9.52981101e-01 4.12200411e-02 5.16579738e+02] [ 9.43589187e-01 3.03027461e-01 1.33468362e-01 3.78471169e+02] [-1.39683631e-01 -1.17417083e-03 9.90195488e-01 6.69540483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.59, Y:378.50, Z:66.95 [[ 2.98480743e-01 -9.53516315e-01 4.14232179e-02 5.16587574e+02] [ 9.44018947e-01 3.01339847e-01 1.34247995e-01 3.78497632e+02] [-1.40490120e-01 -9.66138919e-04 9.90081609e-01 6.69500317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 974.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.60, Y:378.52, Z:66.95 [[ 2.97394812e-01 -9.53850964e-01 4.15290707e-02 5.16595768e+02] [ 9.44288435e-01 3.00279223e-01 1.34728390e-01 3.78524644e+02] [-1.40981122e-01 -8.52103046e-04 9.90011918e-01 6.69459046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0192541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:516.60, Y:378.55, Z:66.94 [[ 2.96231841e-01 -9.54229217e-01 4.11497061e-02 5.16603583e+02] [ 9.44825538e-01 2.99075410e-01 1.33636079e-01 3.78550554e+02] [-1.39826316e-01 -7.07968466e-04 9.90175793e-01 6.69407555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0492541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:516.61, Y:378.58, Z:66.94 [[ 2.94497335e-01 -9.54754840e-01 4.14067185e-02 5.16613155e+02] [ 9.45225198e-01 2.97393607e-01 1.34559907e-01 3.78576997e+02] [-1.40785815e-01 -4.88860141e-04 9.90039956e-01 6.69378539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.0792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.65, Y:378.61, Z:66.96 [[ 2.97713753e-01 -9.54633739e-01 6.39882066e-03 5.16645550e+02] [ 9.45217615e-01 2.95704136e-01 1.38284938e-01 3.78605900e+02] [-1.33903625e-01 -3.51210500e-02 9.90371815e-01 6.69579700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.63, Y:378.64, Z:66.93 [[ 2.96254326e-01 -9.53547721e-01 5.45904586e-02 5.16630598e+02] [ 9.45295344e-01 3.00903415e-01 1.25991459e-01 3.78635598e+02] [-1.36565324e-01 1.42785916e-02 9.90528159e-01 6.69320788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:516.64, Y:378.66, Z:66.93 [[ 2.94065231e-01 -9.54833949e-01 4.26353097e-02 5.16643852e+02] [ 9.46101155e-01 2.97129878e-01 1.28865980e-01 3.78661014e+02] [-1.35713837e-01 2.44231167e-03 9.90745068e-01 6.69301329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.64, Y:378.68, Z:66.91 [[ 2.93106929e-01 -9.54026110e-01 6.26299464e-02 5.16639903e+02] [ 9.45857175e-01 2.98903843e-01 1.26533382e-01 3.78684458e+02] [-1.39436482e-01 2.21511732e-02 9.89983229e-01 6.69142437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.66, Y:378.71, Z:66.92 [[ 2.89271473e-01 -9.56413875e-01 3.99313709e-02 5.16656539e+02] [ 9.46913034e-01 2.92012522e-01 1.34478226e-01 3.78709119e+02] [-1.40277301e-01 -1.08917887e-03 9.90111657e-01 6.69169307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.66, Y:378.73, Z:66.91 [[ 2.88619155e-01 -9.56572728e-01 4.08362442e-02 5.16664593e+02] [ 9.47203799e-01 2.91493735e-01 1.33552860e-01 3.78734491e+02] [-1.39656533e-01 1.34331989e-04 9.90199997e-01 6.69128700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.2592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:516.67, Y:378.76, Z:66.91 [[ 2.88296463e-01 -9.56680318e-01 4.05945691e-02 5.16673142e+02] [ 9.47403655e-01 2.91140428e-01 1.32904351e-01 3.78761098e+02] [-1.38965697e-01 1.43588806e-04 9.90297185e-01 6.69081612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.2892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:516.68, Y:378.79, Z:66.90 [[ 2.87292946e-01 -9.56986821e-01 4.04844154e-02 5.16681597e+02] [ 9.47744790e-01 2.90131283e-01 1.32678756e-01 3.78787106e+02] [-1.38717617e-01 2.51222920e-04 9.90331944e-01 6.69034491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.69, Y:378.81, Z:66.90 [[ 2.86882768e-01 -9.57091423e-01 4.09180316e-02 5.16690618e+02] [ 9.47630620e-01 2.89786021e-01 1.34239598e-01 3.78813902e+02] [-1.40337041e-01 2.64152346e-04 9.90103755e-01 6.68996725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.70, Y:378.84, Z:66.90 [[ 2.85602032e-01 -9.57459435e-01 4.12663375e-02 5.16700461e+02] [ 9.47819364e-01 2.88567611e-01 1.35525598e-01 3.78838903e+02] [-1.41668390e-01 4.06647665e-04 9.89914088e-01 6.68950271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.3792541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:516.71, Y:378.87, Z:66.89 [[ 2.85151278e-01 -9.57615912e-01 4.07493929e-02 5.16709421e+02] [ 9.48201375e-01 2.88047858e-01 1.33949935e-01 3.78865423e+02] [-1.40010365e-01 4.42635100e-04 9.90149939e-01 6.68900890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.72, Y:378.89, Z:66.89 [[ 2.86274000e-01 -9.57252307e-01 4.14151836e-02 5.16719930e+02] [ 9.47502054e-01 2.89254159e-01 1.36278720e-01 3.78891434e+02] [-1.42432634e-01 2.27917151e-04 9.89804472e-01 6.68857390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.73, Y:378.92, Z:66.88 [[ 2.87424780e-01 -9.56903013e-01 4.15164873e-02 5.16728430e+02] [ 9.47080550e-01 2.90407684e-01 1.36754559e-01 3.78917736e+02] [-1.42917556e-01 1.28085999e-05 9.89734597e-01 6.68812451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4692541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:516.74, Y:378.94, Z:66.88 [[ 2.90948684e-01 -9.55834972e-01 4.15736592e-02 5.16736652e+02] [ 9.45953784e-01 2.93903376e-01 1.37084808e-01 3.78944649e+02] [-1.43249093e-01 -5.57884384e-04 9.89686509e-01 6.68761601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.73, Y:378.97, Z:66.86 [[ 2.91537311e-01 -9.54371418e-01 6.46621487e-02 5.16732803e+02] [ 9.44919815e-01 2.97844433e-01 1.35702754e-01 3.78973023e+02] [-1.48770091e-01 2.15381296e-02 9.88637228e-01 6.68553891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:516.76, Y:379.00, Z:66.87 [[ 2.95311331e-01 -9.55139782e-01 2.23431062e-02 5.16761937e+02] [ 9.44798585e-01 2.95428634e-01 1.41695294e-01 3.78995511e+02] [-1.41939606e-01 -2.07344908e-02 9.89658138e-01 6.68746912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:516.76, Y:379.02, Z:66.86 [[ 2.99451208e-01 -9.53340283e-01 3.83572492e-02 5.16762585e+02] [ 9.43284566e-01 3.01853015e-01 1.38199075e-01 3.79023891e+02] [-1.43328997e-01 -5.20207877e-03 9.89661426e-01 6.68638839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.77, Y:379.05, Z:66.86 [[ 3.02682317e-01 -9.52174480e-01 4.17992294e-02 5.16769424e+02] [ 9.42075087e-01 3.05544662e-01 1.38336514e-01 3.79050395e+02] [-1.44492030e-01 -2.49400392e-03 9.89502821e-01 6.68584716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.78, Y:379.08, Z:66.85 [[ 3.03542699e-01 -9.51904924e-01 4.16994751e-02 5.16777279e+02] [ 9.41830320e-01 3.06382009e-01 1.38151048e-01 3.79077112e+02] [-1.44282632e-01 -2.66091201e-03 9.89532941e-01 6.68543892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.78, Y:379.10, Z:66.85 [[ 3.04294010e-01 -9.51674948e-01 4.14722765e-02 5.16783473e+02] [ 9.41686954e-01 3.07094370e-01 1.37545372e-01 3.79102511e+02] [-1.43634388e-01 -2.80033105e-03 9.89626859e-01 6.68491772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.6792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:516.79, Y:379.13, Z:66.84 [[ 3.03900007e-01 -9.51819772e-01 4.10354358e-02 5.16790851e+02] [ 9.42025095e-01 3.06645727e-01 1.36224514e-01 3.79129257e+02] [-1.42244527e-01 -2.74222054e-03 9.89827750e-01 6.68446071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7092541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:516.80, Y:379.16, Z:66.84 [[ 3.03302144e-01 -9.52026936e-01 4.06512288e-02 5.16798506e+02] [ 9.42397192e-01 3.06002639e-01 1.35092253e-01 3.79155971e+02] [-1.41050847e-01 -2.66416593e-03 9.89998768e-01 6.68396693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.81, Y:379.18, Z:66.84 [[ 3.01626976e-01 -9.52534569e-01 4.12196730e-02 5.16806472e+02] [ 9.42614786e-01 3.04420103e-01 1.37134117e-01 3.79181073e+02] [-1.43173084e-01 -2.50907586e-03 9.89694484e-01 6.68356128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.81, Y:379.21, Z:66.83 [[ 3.00568734e-01 -9.52866603e-01 4.12755769e-02 5.16814528e+02] [ 9.42908829e-01 3.03380212e-01 1.37416840e-01 3.79207402e+02] [-1.43462111e-01 -2.38409974e-03 9.89652939e-01 6.68315382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.82, Y:379.23, Z:66.83 [[ 2.99253702e-01 -9.53272522e-01 4.14574679e-02 5.16823053e+02] [ 9.43208777e-01 3.02103395e-01 1.38169248e-01 3.79233795e+02] [-1.44237389e-01 -2.24461132e-03 9.89540569e-01 6.68276294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.83, Y:379.26, Z:66.82 [[ 2.98258234e-01 -9.53580616e-01 4.15455747e-02 5.16830803e+02] [ 9.43455266e-01 3.01130216e-01 1.38610081e-01 3.79259394e+02] [-1.44686514e-01 -2.14520666e-03 9.89475220e-01 6.68234683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.84, Y:379.29, Z:66.82 [[ 2.97486323e-01 -9.53826606e-01 4.14329898e-02 5.16838819e+02] [ 9.43739825e-01 3.00350734e-01 1.38363938e-01 3.79285788e+02] [-1.44419634e-01 -2.05941646e-03 9.89514390e-01 6.68187337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.8892541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:516.85, Y:379.31, Z:66.81 [[ 2.95480714e-01 -9.54472747e-01 4.09013831e-02 5.16847288e+02] [ 9.44630075e-01 2.98292912e-01 1.36730979e-01 3.79311939e+02] [-1.42706586e-01 -1.76469088e-03 9.89763465e-01 6.68143700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.86, Y:379.34, Z:66.81 [[ 2.94123486e-01 -9.54874624e-01 4.13016679e-02 5.16855574e+02] [ 9.44819767e-01 2.97004706e-01 1.38216543e-01 3.79338240e+02] [-1.44246259e-01 -1.63009905e-03 9.89540479e-01 6.68095892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.86, Y:379.36, Z:66.81 [[ 2.92527510e-01 -9.55364514e-01 4.13073934e-02 5.16863334e+02] [ 9.45289835e-01 2.95426113e-01 1.38385478e-01 3.79363536e+02] [-1.44411858e-01 -1.43410029e-03 9.89516629e-01 6.68054861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 975.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.87, Y:379.39, Z:66.80 [[ 2.91200882e-01 -9.55769588e-01 4.13102946e-02 5.16871705e+02] [ 9.45683441e-01 2.94113754e-01 1.38491620e-01 3.79389962e+02] [-1.44516005e-01 -1.26242056e-03 9.89501658e-01 6.68013684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.88, Y:379.42, Z:66.80 [[ 2.88925455e-01 -9.56451372e-01 4.15072793e-02 5.16879750e+02] [ 9.46253673e-01 2.91890100e-01 1.39298799e-01 3.79416404e+02] [-1.45348091e-01 -9.70553203e-04 9.89380104e-01 6.67971455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0392541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:516.89, Y:379.44, Z:66.79 [[ 2.88049683e-01 -9.56743940e-01 4.08462176e-02 5.16887827e+02] [ 9.46852785e-01 2.90930076e-01 1.37220607e-01 3.79443454e+02] [-1.43168378e-01 -8.50997502e-04 9.89697980e-01 6.67933909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0692541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:516.89, Y:379.47, Z:66.79 [[ 2.86584886e-01 -9.57189203e-01 4.07177317e-02 5.16894672e+02] [ 9.47344400e-01 2.89462231e-01 1.36931386e-01 3.79470264e+02] [-1.42855490e-01 -6.68750481e-04 9.89743331e-01 6.67886734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.0992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:516.90, Y:379.50, Z:66.78 [[ 2.86031925e-01 -9.57336874e-01 4.11320725e-02 5.16901307e+02] [ 9.47269978e-01 2.88973520e-01 1.38469827e-01 3.79497008e+02] [-1.44448351e-01 -6.43613640e-04 9.89512132e-01 6.67832383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.93, Y:379.52, Z:66.81 [[ 2.88501250e-01 -9.57479513e-01 -1.06265385e-04 5.16932003e+02] [ 9.47899569e-01 2.85599023e-01 1.41136835e-01 3.79523907e+02] [-1.35105278e-01 -4.08188822e-02 9.89990092e-01 6.68078181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.92, Y:379.55, Z:66.79 [[ 2.88942521e-01 -9.56538518e-01 3.93228187e-02 5.16921329e+02] [ 9.47635289e-01 2.91605789e-01 1.30205312e-01 3.79554541e+02] [-1.36013158e-01 -3.58160394e-04 9.90706966e-01 6.67869497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.92, Y:379.58, Z:66.78 [[ 2.88113995e-01 -9.56504176e-01 4.57174806e-02 5.16924435e+02] [ 9.47648378e-01 2.91659524e-01 1.29989515e-01 3.79580829e+02] [-1.37669453e-01 5.87229775e-03 9.90460821e-01 6.67777111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.93, Y:379.61, Z:66.77 [[ 2.87020534e-01 -9.56747118e-01 4.74780601e-02 5.16929995e+02] [ 9.47698358e-01 2.90830295e-01 1.31474569e-01 3.79607541e+02] [-1.39595973e-01 7.25897859e-03 9.90181939e-01 6.67703228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2492541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:516.94, Y:379.63, Z:66.77 [[ 2.85962850e-01 -9.57292632e-01 4.26153278e-02 5.16938333e+02] [ 9.47998378e-01 2.89111300e-01 1.33092944e-01 3.79633923e+02] [-1.39729467e-01 2.33962412e-03 9.90186953e-01 6.67658971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.2792541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:516.95, Y:379.66, Z:66.76 [[ 2.84964525e-01 -9.57737261e-01 3.91734384e-02 5.16947186e+02] [ 9.48279848e-01 2.87642310e-01 1.34265526e-01 3.79660193e+02] [-1.39859035e-01 -1.11352947e-03 9.90170799e-01 6.67619878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.94, Y:379.69, Z:66.74 [[ 2.82410737e-01 -9.57091820e-01 6.49570863e-02 5.16940185e+02] [ 9.47900344e-01 2.88821200e-01 1.34414478e-01 3.79687901e+02] [-1.47407981e-01 2.36127528e-02 9.88793874e-01 6.67398353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.97, Y:379.71, Z:66.76 [[ 2.81759153e-01 -9.59352464e-01 1.59571257e-02 5.16973147e+02] [ 9.48971322e-01 2.81088427e-01 1.42978062e-01 3.79712226e+02] [-1.41651719e-01 -2.51425230e-02 9.89597213e-01 6.67628418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.97, Y:379.74, Z:66.75 [[ 2.80989954e-01 -9.58986631e-01 3.72731523e-02 5.16970711e+02] [ 9.49330650e-01 2.83437805e-01 1.35773074e-01 3.79740711e+02] [-1.40769184e-01 -2.76632396e-03 9.90038577e-01 6.67506103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.3992541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:516.97, Y:379.77, Z:66.74 [[ 2.77199089e-01 -9.59615087e-01 4.79536238e-02 5.16972390e+02] [ 9.50449738e-01 2.81178062e-01 1.32605402e-01 3.79767244e+02] [-1.40733652e-01 8.81941249e-03 9.90008211e-01 6.67388145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.99, Y:379.79, Z:66.74 [[ 2.76176772e-01 -9.60543371e-01 3.29062718e-02 5.16988033e+02] [ 9.50632324e-01 2.78047734e-01 1.37795651e-01 3.79793149e+02] [-1.41508214e-01 -6.77419251e-03 9.89913903e-01 6.67423648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4592541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:516.98, Y:379.82, Z:66.72 [[ 2.72390254e-01 -9.60430797e-01 5.81053661e-02 5.16980635e+02] [ 9.51099927e-01 2.77901183e-01 1.34832718e-01 3.79820554e+02] [-1.45645045e-01 1.85368912e-02 9.89163235e-01 6.67218078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.4892541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:517.00, Y:379.85, Z:66.73 [[ 2.72137462e-01 -9.61822842e-01 2.89486050e-02 5.17003864e+02] [ 9.51598996e-01 2.73466505e-01 1.40269102e-01 3.79845834e+02] [-1.42830500e-01 -1.06250140e-02 9.89690132e-01 6.67321664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5192541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:517.00, Y:379.87, Z:66.72 [[ 2.70402542e-01 -9.61864784e-01 4.12141117e-02 5.17004974e+02] [ 9.51830358e-01 2.73519758e-01 1.38585394e-01 3.79873312e+02] [-1.44573284e-01 1.75499979e-03 9.89492539e-01 6.67221164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.01, Y:379.90, Z:66.72 [[ 2.70486419e-01 -9.61835698e-01 4.13423125e-02 5.17013283e+02] [ 9.51597590e-01 2.73623641e-01 1.39971889e-01 3.79900141e+02] [-1.45942194e-01 1.48074987e-03 9.89292011e-01 6.67181453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.5792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.01, Y:379.93, Z:66.70 [[ 2.69717049e-01 -9.61100728e-01 5.94819632e-02 5.17011376e+02] [ 9.51091027e-01 2.75549953e-01 1.39635533e-01 3.79926823e+02] [-1.50594064e-01 1.89106776e-02 9.88414799e-01 6.67005239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6092541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:517.03, Y:379.95, Z:66.71 [[ 2.68455712e-01 -9.62538809e-01 3.80863837e-02 5.17028210e+02] [ 9.51765925e-01 2.71134133e-01 1.43624181e-01 3.79951043e+02] [-1.48570367e-01 -2.30740962e-03 9.88899147e-01 6.67056402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:517.03, Y:379.98, Z:66.70 [[ 2.69357771e-01 -9.62205370e-01 4.00901139e-02 5.17034509e+02] [ 9.51222210e-01 2.72323319e-01 1.44970054e-01 3.79978456e+02] [-1.50408437e-01 -9.14203731e-04 9.88623521e-01 6.67008596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.04, Y:380.01, Z:66.69 [[ 2.71702490e-01 -9.61463373e-01 4.20230895e-02 5.17040738e+02] [ 9.50490051e-01 2.74932426e-01 1.44847589e-01 3.80006409e+02] [-1.50819161e-01 5.87077894e-04 9.88561195e-01 6.66947963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.05, Y:380.03, Z:66.69 [[ 2.73490194e-01 -9.60840972e-01 4.45840774e-02 5.17045091e+02] [ 9.49853257e-01 2.77087095e-01 1.44919052e-01 3.80032301e+02] [-1.51597835e-01 2.71439169e-03 9.88438531e-01 6.66879491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.7292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:517.04, Y:380.06, Z:66.67 [[ 2.72934285e-01 -9.60156513e-01 6.00528737e-02 5.17041396e+02] [ 9.49518168e-01 2.78894336e-01 1.43642606e-01 3.80056317e+02] [-1.54667790e-01 1.78163027e-02 9.87805879e-01 6.66723581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.06, Y:380.08, Z:66.68 [[ 2.75469824e-01 -9.60606415e-01 3.67653457e-02 5.17061719e+02] [ 9.49192711e-01 2.77851796e-01 1.47755125e-01 3.80083709e+02] [-1.52149838e-01 -5.80468014e-03 9.88340393e-01 6.66781263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.7892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:517.06, Y:380.11, Z:66.67 [[ 2.75065715e-01 -9.60278937e-01 4.69384290e-02 5.17063523e+02] [ 9.48871018e-01 2.79014187e-01 1.47630877e-01 3.80111230e+02] [-1.54863309e-01 3.93032215e-03 9.87928089e-01 6.66664757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:517.08, Y:380.14, Z:66.67 [[ 2.77438093e-01 -9.60284601e-01 2.96915813e-02 5.17082586e+02] [ 9.48961008e-01 2.78729965e-01 1.47589338e-01 3.80138294e+02] [-1.50003702e-01 -1.27707514e-02 9.88602952e-01 6.66724061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.09, Y:380.16, Z:66.66 [[ 2.76962397e-01 -9.60072735e-01 3.93976453e-02 5.17085133e+02] [ 9.48754150e-01 2.79730543e-01 1.47025120e-01 3.80164545e+02] [-1.52175534e-01 -3.34175021e-03 9.88347833e-01 6.66643974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.08, Y:380.19, Z:66.65 [[ 2.73675703e-01 -9.60366968e-01 5.28857002e-02 5.17083403e+02] [ 9.49279239e-01 2.78549077e-01 1.45874391e-01 3.80190435e+02] [-1.54824209e-01 1.02810208e-02 9.87888539e-01 6.66515930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.10, Y:380.22, Z:66.66 [[ 2.73414347e-01 -9.61373319e-01 3.17165104e-02 5.17102885e+02] [ 9.49784401e-01 2.75040858e-01 1.49204954e-01 3.80216281e+02] [-1.52164998e-01 -1.06709283e-02 9.88297498e-01 6.66583605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:517.11, Y:380.24, Z:66.65 [[ 2.70865448e-01 -9.61633995e-01 4.34967675e-02 5.17105005e+02] [ 9.50604927e-01 2.74328320e-01 1.45238579e-01 3.80242821e+02] [-1.51598750e-01 2.00812862e-03 9.88440077e-01 6.66488700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.12, Y:380.27, Z:66.65 [[ 2.71047964e-01 -9.62154089e-01 2.81515589e-02 5.17121562e+02] [ 9.50917458e-01 2.72189508e-01 1.47203462e-01 3.80269221e+02] [-1.49294971e-01 -1.31293897e-02 9.88705533e-01 6.66545475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 976.9992541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:517.12, Y:380.30, Z:66.64 [[ 2.70806618e-01 -9.61170598e-01 5.30552278e-02 5.17117285e+02] [ 9.50775790e-01 2.75688333e-01 1.41496787e-01 3.80296822e+02] [-1.50629259e-01 1.21253598e-02 9.88515960e-01 6.66374843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.14, Y:380.32, Z:66.65 [[ 2.70495600e-01 -9.62557242e-01 1.77675605e-02 5.17144124e+02] [ 9.51598390e-01 2.70122200e-01 1.46610029e-01 3.80323246e+02] [-1.45919958e-01 -2.27497859e-02 9.89034789e-01 6.66537151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0592541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:517.13, Y:380.35, Z:66.62 [[ 2.69192979e-01 -9.60888091e-01 6.50324294e-02 5.17126604e+02] [ 9.51244989e-01 2.75832552e-01 1.38019472e-01 3.80350964e+02] [-1.50559328e-01 2.47078996e-02 9.88292168e-01 6.66243637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.0892541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:517.14, Y:380.37, Z:66.63 [[ 2.69242243e-01 -9.62088736e-01 4.35187179e-02 5.17144629e+02] [ 9.51399448e-01 2.72721312e-01 1.43046067e-01 3.80374387e+02] [-1.49491491e-01 2.88964030e-03 9.88758790e-01 6.66281651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1192541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:517.15, Y:380.40, Z:66.63 [[ 2.70044160e-01 -9.62007940e-01 4.02103861e-02 5.17153767e+02] [ 9.51160097e-01 2.73020681e-01 1.44063102e-01 3.80399068e+02] [-1.49568115e-01 -6.56884678e-04 9.88751206e-01 6.66254592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.16, Y:380.43, Z:66.62 [[ 2.69610209e-01 -9.62138552e-01 3.99967745e-02 5.17162032e+02] [ 9.51127613e-01 2.72558646e-01 1.45148369e-01 3.80427111e+02] [-1.50554308e-01 -1.09144535e-03 9.88601138e-01 6.66211301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.19, Y:380.45, Z:66.64 [[ 2.70880939e-01 -9.62535700e-01 1.21877945e-02 5.17185260e+02] [ 9.51846553e-01 2.69718143e-01 1.45740398e-01 3.80453554e+02] [-1.43567605e-01 -2.78773856e-02 9.89247792e-01 6.66366795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.16, Y:380.48, Z:66.60 [[ 2.71012457e-01 -9.60044834e-01 6.97578975e-02 5.17162484e+02] [ 9.50747929e-01 2.78304346e-01 1.36473686e-01 3.80482343e+02] [-1.50434784e-01 2.93361075e-02 9.88184582e-01 6.66010625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2392541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:517.20, Y:380.51, Z:66.63 [[ 2.72856158e-01 -9.62031631e-01 6.68263948e-03 5.17204189e+02] [ 9.51570982e-01 2.70898909e-01 1.45349400e-01 3.80507742e+02] [-1.41641040e-01 -3.33004731e-02 9.89357819e-01 6.66309936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:517.20, Y:380.54, Z:66.61 [[ 2.74540400e-01 -9.60748554e-01 3.98720985e-02 5.17196125e+02] [ 9.51013147e-01 2.77420258e-01 1.36425786e-01 3.80536903e+02] [-1.42132205e-01 4.64499989e-04 9.89847574e-01 6.66132780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.2992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:517.20, Y:380.56, Z:66.61 [[ 2.74834129e-01 -9.60564842e-01 4.22064819e-02 5.17202198e+02] [ 9.50908650e-01 2.78042105e-01 1.35887188e-01 3.80562785e+02] [-1.42263635e-01 2.78807173e-03 9.89824876e-01 6.66078723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.20, Y:380.59, Z:66.60 [[ 2.74397840e-01 -9.60157404e-01 5.29488914e-02 5.17203326e+02] [ 9.50382854e-01 2.79172714e-01 1.37240759e-01 3.80588961e+02] [-1.46554616e-01 1.26631508e-02 9.89121524e-01 6.65954437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.22, Y:380.61, Z:66.59 [[ 2.73764260e-01 -9.60818852e-01 4.33620165e-02 5.17215456e+02] [ 9.50452934e-01 2.77164194e-01 1.40780786e-01 3.80613612e+02] [-1.47283231e-01 2.67280819e-03 9.89090747e-01 6.65939821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.3892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:517.23, Y:380.64, Z:66.59 [[ 2.73073653e-01 -9.61108504e-01 4.12458815e-02 5.17225465e+02] [ 9.50639922e-01 2.76170433e-01 1.41469541e-01 3.80640103e+02] [-1.47358472e-01 5.78377020e-04 9.89082982e-01 6.65897062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:517.22, Y:380.67, Z:66.57 [[ 2.72269059e-01 -9.60481454e-01 5.78354277e-02 5.17223715e+02] [ 9.50107652e-01 2.77862736e-01 1.41731259e-01 3.80665692e+02] [-1.52200556e-01 1.63608460e-02 9.88214204e-01 6.65733957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.24, Y:380.69, Z:66.58 [[ 2.72778037e-01 -9.61359096e-01 3.71595324e-02 5.17242032e+02] [ 9.50064909e-01 2.75255671e-01 1.47006749e-01 3.80690832e+02] [-1.51554648e-01 -4.79624476e-03 9.88437244e-01 6.65798403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.4792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:517.25, Y:380.72, Z:66.57 [[ 2.73154835e-01 -9.61066394e-01 4.16871990e-02 5.17247642e+02] [ 9.49949006e-01 2.76317464e-01 1.45758517e-01 3.80718693e+02] [-1.51602513e-01 -2.13930504e-04 9.88441517e-01 6.65732809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.25, Y:380.75, Z:66.57 [[ 2.75063134e-01 -9.60501231e-01 4.21622671e-02 5.17253926e+02] [ 9.49223758e-01 2.78275521e-01 1.46754872e-01 3.80745160e+02] [-1.52690962e-01 -3.45429427e-04 9.88273925e-01 6.65683603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:517.26, Y:380.77, Z:66.56 [[ 2.75607984e-01 -9.60173878e-01 4.58951365e-02 5.17259010e+02] [ 9.49012737e-01 2.79383516e-01 1.46012591e-01 3.80771965e+02] [-1.53019820e-01 3.31283335e-03 9.88217567e-01 6.65604769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.26, Y:380.80, Z:66.55 [[ 2.76625810e-01 -9.59588556e-01 5.16523482e-02 5.17262208e+02] [ 9.48223698e-01 2.81287843e-01 1.47475313e-01 3.80798522e+02] [-1.56044800e-01 8.18250266e-03 9.87716086e-01 6.65514066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.28, Y:380.82, Z:66.56 [[ 2.78849904e-01 -9.59784228e-01 3.25110340e-02 5.17280397e+02] [ 9.48024992e-01 2.80520833e-01 1.50188805e-01 3.80824358e+02] [-1.53268869e-01 -1.10588612e-02 9.88122642e-01 6.65568985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.28, Y:380.85, Z:66.54 [[ 2.79489618e-01 -9.58558379e-01 5.52393622e-02 5.17275217e+02] [ 9.47388477e-01 2.84666869e-01 1.46355213e-01 3.80852759e+02] [-1.56014832e-01 1.14283725e-02 9.87688597e-01 6.65392140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.6592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.30, Y:380.88, Z:66.55 [[ 2.81574691e-01 -9.59112220e-01 2.86259306e-02 5.17297111e+02] [ 9.47360642e-01 2.82615179e-01 1.50454230e-01 3.80878517e+02] [-1.52392613e-01 -1.52450234e-02 9.88202449e-01 6.65485758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.6892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:517.28, Y:380.91, Z:66.52 [[ 2.79637737e-01 -9.57669488e-01 6.83512134e-02 5.17281532e+02] [ 9.46950283e-01 2.86851007e-01 1.44919501e-01 3.80906453e+02] [-1.58391598e-01 2.42002397e-02 9.87079759e-01 6.65207565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.32, Y:380.93, Z:66.54 [[ 2.81966268e-01 -9.59306638e-01 1.50265538e-02 5.17318755e+02] [ 9.47448359e-01 2.80879400e-01 1.53128607e-01 3.80931135e+02] [-1.51117938e-01 -2.89402180e-02 9.88092016e-01 6.65445351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.31, Y:380.96, Z:66.53 [[ 2.80118383e-01 -9.59078191e-01 4.12639844e-02 5.17313590e+02] [ 9.47988003e-01 2.83136704e-01 1.45438488e-01 3.80959240e+02] [-1.51170231e-01 -1.62223197e-03 9.88506414e-01 6.65300164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.7792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.32, Y:380.99, Z:66.53 [[ 2.78327952e-01 -9.59592863e-01 4.14136268e-02 5.17321516e+02] [ 9.48402635e-01 2.81388687e-01 1.46126138e-01 3.80985872e+02] [-1.51874925e-01 -1.39419592e-03 9.88398737e-01 6.65252501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.33, Y:381.01, Z:66.52 [[ 2.75896690e-01 -9.60295365e-01 4.13984229e-02 5.17329697e+02] [ 9.49096392e-01 2.78983335e-01 1.46233843e-01 3.81012217e+02] [-1.51977151e-01 -1.05433933e-03 9.88383445e-01 6.65208289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.34, Y:381.04, Z:66.52 [[ 2.70581581e-01 -9.61803650e-01 4.14650101e-02 5.17338710e+02] [ 9.50560068e-01 2.73740151e-01 1.46635220e-01 3.81037873e+02] [-1.52384928e-01 -2.61806820e-04 9.88321185e-01 6.65168367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8692541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:517.33, Y:381.07, Z:66.49 [[ 2.64102420e-01 -9.61559194e-01 7.51919354e-02 5.17327819e+02] [ 9.51307687e-01 2.72546217e-01 1.43986960e-01 3.81065087e+02] [-1.58945263e-01 3.35033615e-02 9.86718769e-01 6.64882262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.8992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:517.35, Y:381.09, Z:66.49 [[ 2.57042035e-01 -9.64919336e-01 5.34795969e-02 5.17346540e+02] [ 9.52925531e-01 2.62278560e-01 1.52127871e-01 3.81089568e+02] [-1.60817676e-01 1.18588158e-02 9.86912886e-01 6.64901542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.36, Y:381.11, Z:66.49 [[ 2.54691496e-01 -9.66354173e-01 3.59423679e-02 5.17364024e+02] [ 9.53583553e-01 2.57153430e-01 1.56686058e-01 3.81114412e+02] [-1.60656929e-01 -5.63255565e-03 9.86994238e-01 6.64946013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:517.37, Y:381.14, Z:66.49 [[ 2.50011685e-01 -9.67430447e-01 3.96546149e-02 5.17370844e+02] [ 9.55079063e-01 2.53136139e-01 1.54097630e-01 3.81141928e+02] [-1.59116755e-01 -6.52915500e-04 9.87259557e-01 6.64892121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 977.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.38, Y:381.17, Z:66.49 [[ 2.50412671e-01 -9.67485251e-01 3.55778476e-02 5.17383686e+02] [ 9.55442721e-01 2.52893754e-01 1.52229947e-01 3.81171819e+02] [-1.56277644e-01 -4.12771204e-03 9.87704541e-01 6.64894798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.38, Y:381.20, Z:66.47 [[ 2.47892506e-01 -9.67219801e-01 5.50923155e-02 5.17379910e+02] [ 9.55390764e-01 2.53493411e-01 1.51557177e-01 3.81196170e+02] [-1.60554642e-01 1.50648010e-02 9.86911981e-01 6.64729843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.39, Y:381.22, Z:66.47 [[ 2.47803749e-01 -9.67854120e-01 4.30314432e-02 5.17393676e+02] [ 9.55475389e-01 2.51495825e-01 1.54326381e-01 3.81222564e+02] [-1.60187652e-01 2.87282919e-03 9.87082399e-01 6.64733470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.42, Y:381.25, Z:66.50 [[ 2.49234017e-01 -9.68436019e-01 3.75256193e-03 5.17422263e+02] [ 9.56181131e-01 2.46691099e-01 1.57674178e-01 3.81247206e+02] [-1.53623077e-01 -3.57096399e-02 9.87484062e-01 6.64972892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1092541539998 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:517.40, Y:381.28, Z:66.46 [[ 2.50656026e-01 -9.66264898e-01 5.91920935e-02 5.17403133e+02] [ 9.55546301e-01 2.56754538e-01 1.44942656e-01 3.81278634e+02] [-1.55250839e-01 2.02300359e-02 9.87667921e-01 6.64643074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.43, Y:381.30, Z:66.48 [[ 2.51980895e-01 -9.67406950e-01 2.50882695e-02 5.17425100e+02] [ 9.55669370e-01 2.52836864e-01 1.50895906e-01 3.81300664e+02] [-1.52320988e-01 -1.40467947e-02 9.88231250e-01 6.64797238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1692541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:517.42, Y:381.33, Z:66.47 [[ 2.56324600e-01 -9.65743833e-01 4.04542675e-02 5.17422794e+02] [ 9.54896404e-01 2.59492184e-01 1.44349103e-01 3.81328371e+02] [-1.49901822e-01 1.62940839e-03 9.88699544e-01 6.64682614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.1992541539998 meters Centerline goodness : 0.995837 Centerline is valid? [True, True] Translation: X:517.42, Y:381.36, Z:66.46 [[ 2.58789366e-01 -9.64546004e-01 5.17597414e-02 5.17423722e+02] [ 9.54104583e-01 2.63613333e-01 1.42100160e-01 3.81357513e+02] [-1.50706699e-01 1.26101962e-02 9.88498090e-01 6.64563384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.44, Y:381.38, Z:66.46 [[ 2.65515258e-01 -9.63648277e-01 2.97261732e-02 5.17439042e+02] [ 9.52657530e-01 2.66975037e-01 1.45492129e-01 3.81380509e+02] [-1.48139385e-01 -1.03115173e-02 9.88912734e-01 6.64630096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.2592541539999 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:517.44, Y:381.41, Z:66.45 [[ 2.67353767e-01 -9.62216441e-01 5.15895717e-02 5.17435196e+02] [ 9.52117482e-01 2.72029408e-01 1.39543189e-01 3.81410439e+02] [-1.48304631e-01 1.18119361e-02 9.88871182e-01 6.64458478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.45, Y:381.43, Z:66.45 [[ 2.73871911e-01 -9.61335448e-01 2.87807760e-02 5.17451999e+02] [ 9.50481833e-01 2.75107980e-01 1.44567922e-01 3.81433842e+02] [-1.46896090e-01 -1.22374885e-02 9.89076227e-01 6.64546773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:517.45, Y:381.46, Z:66.44 [[ 2.74506570e-01 -9.60189256e-01 5.17951218e-02 5.17447536e+02] [ 9.49977474e-01 2.79143312e-01 1.40077876e-01 3.81463037e+02] [-1.48959533e-01 1.07519017e-02 9.88784837e-01 6.64369493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.46, Y:381.49, Z:66.44 [[ 2.77296682e-01 -9.59776434e-01 4.39971205e-02 5.17457060e+02] [ 9.48698187e-01 2.80761796e-01 1.45411705e-01 3.81489116e+02] [-1.51915438e-01 1.41780528e-03 9.88392478e-01 6.64367458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.48, Y:381.52, Z:66.45 [[ 2.80593735e-01 -9.59523932e-01 2.41035210e-02 5.17475659e+02] [ 9.48180856e-01 2.81001858e-01 1.48293699e-01 3.81515611e+02] [-1.49064487e-01 -1.87557857e-02 9.88649584e-01 6.64452959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.47, Y:381.54, Z:66.43 [[ 2.80780496e-01 -9.58901462e-01 4.08692884e-02 5.17473935e+02] [ 9.47587317e-01 2.83728132e-01 1.46889837e-01 3.81543392e+02] [-1.52448647e-01 -2.51658210e-03 9.88308189e-01 6.64344167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.47, Y:381.57, Z:66.42 [[ 2.79261045e-01 -9.58236864e-01 6.16066755e-02 5.17468634e+02] [ 9.47415529e-01 2.85411679e-01 1.44720383e-01 3.81571132e+02] [-1.56259671e-01 1.79523556e-02 9.87552848e-01 6.64168358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4692541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:517.49, Y:381.60, Z:66.42 [[ 2.79254293e-01 -9.59433750e-01 3.87804054e-02 5.17487523e+02] [ 9.47395673e-01 2.81878602e-01 1.51610993e-01 3.81595620e+02] [-1.56392070e-01 -5.59763238e-03 9.87679192e-01 6.64208154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.49, Y:381.62, Z:66.42 [[ 2.80049329e-01 -9.59159053e-01 3.98281946e-02 5.17494707e+02] [ 9.47180466e-01 2.82829663e-01 1.51183817e-01 3.81623550e+02] [-1.56273921e-01 -4.61443844e-03 9.87702976e-01 6.64169912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:517.50, Y:381.65, Z:66.41 [[ 2.80746245e-01 -9.58986656e-01 3.90658303e-02 5.17501924e+02] [ 9.47339549e-01 2.83409777e-01 1.49086141e-01 3.81651088e+02] [-1.54043258e-01 -4.84676827e-03 9.88052217e-01 6.64119057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:517.51, Y:381.68, Z:66.41 [[ 2.81771033e-01 -9.58638704e-01 4.02109392e-02 5.17508955e+02] [ 9.47293880e-01 2.84606036e-01 1.47084024e-01 3.81678481e+02] [-1.52444714e-01 -3.35244081e-03 9.88306314e-01 6.64066856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.51, Y:381.71, Z:66.40 [[ 2.82527029e-01 -9.58340435e-01 4.19772321e-02 5.17514295e+02] [ 9.47155020e-01 2.85624562e-01 1.45999925e-01 3.81706158e+02] [-1.51907360e-01 -1.48997902e-03 9.88393613e-01 6.64013364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.52, Y:381.73, Z:66.40 [[ 2.84192382e-01 -9.58133687e-01 3.48500696e-02 5.17524285e+02] [ 9.47150519e-01 2.86204683e-01 1.44888830e-01 3.81732113e+02] [-1.48797122e-01 -8.16804019e-03 9.88834010e-01 6.63997995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.54, Y:381.76, Z:66.40 [[ 2.86436220e-01 -9.57756944e-01 2.56110798e-02 5.17537086e+02] [ 9.47110337e-01 2.87086724e-01 1.43398821e-01 3.81758777e+02] [-1.44693817e-01 -1.68180978e-02 9.89333539e-01 6.64030677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.6792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:517.54, Y:381.78, Z:66.39 [[ 2.85192909e-01 -9.57710962e-01 3.81407576e-02 5.17538157e+02] [ 9.47738662e-01 2.87714488e-01 1.37883292e-01 3.81784786e+02] [-1.43025989e-01 -3.17586660e-03 9.89713838e-01 6.63924756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.55, Y:381.81, Z:66.39 [[ 2.83768496e-01 -9.58136457e-01 3.80784685e-02 5.17546362e+02] [ 9.48180785e-01 2.86296260e-01 1.37795685e-01 3.81811730e+02] [-1.42928793e-01 -2.99680226e-03 9.89728437e-01 6.63888616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7392541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:517.54, Y:381.84, Z:66.37 [[ 2.73639102e-01 -9.60011657e-01 5.91545403e-02 5.17541242e+02] [ 9.50238018e-01 2.79349383e-01 1.37882671e-01 3.81836330e+02] [-1.48893756e-01 1.84808029e-02 9.88680489e-01 6.63688694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:517.58, Y:381.86, Z:66.39 [[ 2.73552719e-01 -9.61707810e-01 1.69410008e-02 5.17576215e+02] [ 9.51116305e-01 2.73080853e-01 1.44238076e-01 3.81862461e+02] [-1.43341147e-01 -2.33438558e-02 9.89397989e-01 6.63891738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.57, Y:381.89, Z:66.37 [[ 2.62805437e-01 -9.63364222e-01 5.35040084e-02 5.17565883e+02] [ 9.53122945e-01 2.67831171e-01 1.40794589e-01 3.81889417e+02] [-1.49966511e-01 1.39943144e-02 9.88592032e-01 6.63672225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8292541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:517.59, Y:381.91, Z:66.38 [[ 2.59513868e-01 -9.65423190e-01 2.47106603e-02 5.17591323e+02] [ 9.54402747e-01 2.60292582e-01 1.46161445e-01 3.81914700e+02] [-1.47539650e-01 -1.43469999e-02 9.88952079e-01 6.63792817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.59, Y:381.94, Z:66.37 [[ 2.47876826e-01 -9.67754267e-01 4.48191720e-02 5.17588184e+02] [ 9.56836540e-01 2.51801299e-01 1.45120436e-01 3.81940472e+02] [-1.51726447e-01 6.91262837e-03 9.88398351e-01 6.63660528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.8892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:517.61, Y:381.97, Z:66.37 [[ 2.40937148e-01 -9.69935182e-01 3.42787617e-02 5.17605721e+02] [ 9.58887802e-01 2.43352476e-01 1.45992316e-01 3.81967100e+02] [-1.49944905e-01 -2.30548579e-03 9.88691666e-01 6.63681925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9192541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:517.61, Y:381.99, Z:66.36 [[ 2.36894354e-01 -9.70726629e-01 3.96342886e-02 5.17611086e+02] [ 9.59959046e-01 2.40155714e-01 1.44235443e-01 3.81994214e+02] [-1.49531586e-01 3.87873176e-03 9.88749341e-01 6.63615609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.62, Y:382.02, Z:66.36 [[ 2.30358370e-01 -9.72308762e-01 3.93788450e-02 5.17618630e+02] [ 9.61679963e-01 2.33650171e-01 1.43454684e-01 3.82020351e+02] [-1.48683120e-01 4.82385908e-03 9.88873126e-01 6.63581703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 978.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.63, Y:382.05, Z:66.35 [[ 2.27156072e-01 -9.73070055e-01 3.91763492e-02 5.17625453e+02] [ 9.62538315e-01 2.30449695e-01 1.42873824e-01 3.82047268e+02] [-1.48054417e-01 5.25408062e-03 9.88965259e-01 6.63534792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.63, Y:382.07, Z:66.35 [[ 2.24453354e-01 -9.73705068e-01 3.89760587e-02 5.17631860e+02] [ 9.63266319e-01 2.27743374e-01 1.42305852e-01 3.82073495e+02] [-1.47440468e-01 5.60329881e-03 9.89055060e-01 6.63488435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.64, Y:382.10, Z:66.34 [[ 2.20117831e-01 -9.74709915e-01 3.85839750e-02 5.17637540e+02] [ 9.64474982e-01 2.23388619e-01 1.41016075e-01 3.82101014e+02] [-1.46068988e-01 6.17312602e-03 9.89255146e-01 6.63444580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.63, Y:382.13, Z:66.33 [[ 2.14857977e-01 -9.75499290e-01 4.72988845e-02 5.17634278e+02] [ 9.65369450e-01 2.19466135e-01 1.41054745e-01 3.82125730e+02] [-1.47979307e-01 1.53541609e-02 9.88871263e-01 6.63335764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.0992541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:517.65, Y:382.15, Z:66.34 [[ 2.15205885e-01 -9.76225663e-01 2.58820694e-02 5.17653882e+02] [ 9.65755592e-01 2.16681299e-01 1.42707226e-01 3.82153575e+02] [-1.44922616e-01 -5.71568152e-03 9.89426484e-01 6.63402716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.64, Y:382.18, Z:66.32 [[ 2.13917851e-01 -9.75477640e-01 5.17931165e-02 5.17643714e+02] [ 9.65647387e-01 2.19174137e-01 1.39598791e-01 3.82182188e+02] [-1.47527211e-01 2.01512142e-02 9.88852694e-01 6.63231955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.1592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:517.66, Y:382.21, Z:66.33 [[ 2.15056907e-01 -9.76068938e-01 3.22483422e-02 5.17660264e+02] [ 9.65563966e-01 2.17460914e-01 1.42817993e-01 3.82208504e+02] [-1.46412961e-01 4.23841356e-04 9.89223466e-01 6.63274073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.1892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:517.67, Y:382.24, Z:66.33 [[ 2.20186429e-01 -9.74958341e-01 3.12116827e-02 5.17666168e+02] [ 9.64347802e-01 2.22382596e-01 1.43454867e-01 3.82238007e+02] [-1.46803455e-01 -1.48789741e-03 9.89164563e-01 6.63254514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2192541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:517.67, Y:382.27, Z:66.32 [[ 2.22394313e-01 -9.74189166e-01 3.86812383e-02 5.17667320e+02] [ 9.63773066e-01 2.25662268e-01 1.42190076e-01 3.82266434e+02] [-1.47248928e-01 5.65767129e-03 9.89083285e-01 6.63179535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2492541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:517.67, Y:382.29, Z:66.31 [[ 2.29028587e-01 -9.72636541e-01 3.90392718e-02 5.17668516e+02] [ 9.61977988e-01 2.32285466e-01 1.43672593e-01 3.82294236e+02] [-1.48809469e-01 4.64978918e-03 9.88854955e-01 6.63141806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.2792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:517.67, Y:382.32, Z:66.31 [[ 2.32881284e-01 -9.71712649e-01 3.92534837e-02 5.17672495e+02] [ 9.60900647e-01 2.36131724e-01 1.44608977e-01 3.82321463e+02] [-1.49787364e-01 4.04197375e-03 9.88709972e-01 6.63096711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:517.67, Y:382.35, Z:66.31 [[ 2.42301281e-01 -9.69402125e-01 3.93650691e-02 5.17673150e+02] [ 9.58471318e-01 2.45464890e-01 1.45188566e-01 3.82348894e+02] [-1.50408847e-01 2.55091417e-03 9.88620590e-01 6.63054616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.67, Y:382.38, Z:66.30 [[ 2.53389535e-01 -9.66554183e-01 3.95822435e-02 5.17674295e+02] [ 9.55448693e-01 2.56461251e-01 1.46100726e-01 3.82377203e+02] [-1.51365579e-01 7.98407851e-04 9.88477528e-01 6.63015847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3692541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:517.68, Y:382.40, Z:66.30 [[ 2.58331693e-01 -9.65247520e-01 3.95216583e-02 5.17677531e+02] [ 9.54135169e-01 2.61337377e-01 1.46044017e-01 3.82403831e+02] [-1.51297112e-01 -1.87940799e-05 9.88488333e-01 6.62970403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.3992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:517.68, Y:382.43, Z:66.29 [[ 2.67706688e-01 -9.62682433e-01 3.96946153e-02 5.17677879e+02] [ 9.51419861e-01 2.70629184e-01 1.46833554e-01 3.82432744e+02] [-1.52096604e-01 -1.54207893e-03 9.88364429e-01 6.62915749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4292541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:517.68, Y:382.46, Z:66.29 [[ 2.70754551e-01 -9.61832907e-01 3.96160541e-02 5.17681678e+02] [ 9.50579660e-01 2.73629664e-01 1.46714407e-01 3.82458831e+02] [-1.51954872e-01 -2.06537810e-03 9.88385275e-01 6.62856869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.68, Y:382.49, Z:66.28 [[ 2.73936191e-01 -9.60668987e-01 4.55418524e-02 5.17683427e+02] [ 9.49828904e-01 2.77669761e-01 1.43960261e-01 3.82487333e+02] [-1.50943753e-01 3.82104225e-03 9.88534968e-01 6.62801317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.69, Y:382.51, Z:66.28 [[ 2.75020396e-01 -9.60866443e-01 3.31581217e-02 5.17694221e+02] [ 9.49337070e-01 2.76851920e-01 1.48701521e-01 3.82514824e+02] [-1.52062191e-01 -9.41771698e-03 9.88326058e-01 6.62795229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5192541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:517.70, Y:382.54, Z:66.27 [[ 2.71868995e-01 -9.61528357e-01 3.93759905e-02 5.17696925e+02] [ 9.50336449e-01 2.74695615e-01 1.46297482e-01 3.82541889e+02] [-1.51485589e-01 -2.35331047e-03 9.88456665e-01 6.62702581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5492541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:517.70, Y:382.57, Z:66.27 [[ 2.68437258e-01 -9.62495693e-01 3.92871312e-02 5.17703422e+02] [ 9.51338541e-01 2.71290627e-01 1.46138211e-01 3.82567391e+02] [-1.51315630e-01 -1.85357874e-03 9.88483760e-01 6.62662182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.5792541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:517.71, Y:382.59, Z:66.26 [[ 2.68267573e-01 -9.62544588e-01 3.92482486e-02 5.17710666e+02] [ 9.51386431e-01 2.71117006e-01 1.46148653e-01 3.82594632e+02] [-1.51315463e-01 -1.86669331e-03 9.88483761e-01 6.62617028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6092541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:517.72, Y:382.62, Z:66.26 [[ 2.65039859e-01 -9.63447480e-01 3.90234074e-02 5.17717278e+02] [ 9.52412001e-01 2.67893761e-01 1.45410840e-01 3.82621580e+02] [-1.50549835e-01 -1.37330707e-03 9.88601467e-01 6.62568870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6392541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:517.72, Y:382.65, Z:66.25 [[ 2.63693590e-01 -9.63827112e-01 3.87684088e-02 5.17724228e+02] [ 9.52914507e-01 2.66525553e-01 1.44630813e-01 3.82647293e+02] [-1.49731870e-01 -1.19523909e-03 9.88725917e-01 6.62518592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6692541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:517.73, Y:382.67, Z:66.25 [[ 2.62938919e-01 -9.64062127e-01 3.80439194e-02 5.17732467e+02] [ 9.53541918e-01 2.65674741e-01 1.42037822e-01 3.82672995e+02] [-1.47040593e-01 -1.07079934e-03 9.89129879e-01 6.62492585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.6992541539998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:517.74, Y:382.70, Z:66.24 [[ 2.60996021e-01 -9.64602184e-01 3.77320098e-02 5.17739895e+02] [ 9.54244816e-01 2.63708181e-01 1.40978109e-01 3.82699217e+02] [-1.45938031e-01 -7.89150570e-04 9.89293419e-01 6.62422922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.7292541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:517.75, Y:382.73, Z:66.24 [[ 2.59969182e-01 -9.64891477e-01 3.74227585e-02 5.17747767e+02] [ 9.54683736e-01 2.62648049e-01 1.39982022e-01 3.82725213e+02] [-1.44896474e-01 -6.64112783e-04 9.89446598e-01 6.62385480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.7592541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:517.76, Y:382.75, Z:66.24 [[ 2.57083361e-01 -9.65668326e-01 3.73206409e-02 5.17756917e+02] [ 9.55503953e-01 2.59778010e-01 1.39741125e-01 3.82752041e+02] [-1.44638660e-01 -2.65098191e-04 9.89484506e-01 6.62351214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.7892541539999 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:517.76, Y:382.78, Z:66.23 [[ 2.54336985e-01 -9.66396735e-01 3.72833668e-02 5.17764748e+02] [ 9.56237619e-01 2.57055130e-01 1.39757918e-01 3.82778858e+02] [-1.44645476e-01 1.06150353e-04 9.89483540e-01 6.62293864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8192541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:517.77, Y:382.81, Z:66.23 [[ 2.49033883e-01 -9.67758250e-01 3.77636807e-02 5.17774403e+02] [ 9.57324601e-01 2.51879406e-01 1.41726401e-01 3.82805176e+02] [-1.46668788e-01 8.57424472e-04 9.89185287e-01 6.62266769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8492541539998 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:517.78, Y:382.83, Z:66.22 [[ 2.45890886e-01 -9.68557723e-01 3.78630455e-02 5.17783344e+02] [ 9.58053394e-01 2.48785582e-01 1.42265344e-01 3.82832019e+02] [-1.47211978e-01 1.29306780e-03 9.89104121e-01 6.62225190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.8792541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:517.79, Y:382.86, Z:66.22 [[ 2.39191009e-01 -9.70220859e-01 3.81987708e-02 5.17792607e+02] [ 9.59522827e-01 2.42211236e-01 1.43699903e-01 3.82856979e+02] [-1.48672815e-01 2.28086771e-03 9.88883811e-01 6.62188821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:517.80, Y:382.88, Z:66.22 [[ 2.36095082e-01 -9.70975152e-01 3.82931620e-02 5.17800766e+02] [ 9.60210334e-01 2.39164885e-01 1.44209128e-01 3.82882385e+02] [-1.49181860e-01 2.72242395e-03 9.88806028e-01 6.62163002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9392541539999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:517.81, Y:382.91, Z:66.21 [[ 2.29719932e-01 -9.72498792e-01 3.84038191e-02 5.17809698e+02] [ 9.61668869e-01 2.32878950e-01 1.44777008e-01 3.82908098e+02] [-1.49738906e-01 3.67359296e-03 9.88718749e-01 6.62111728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9692541539998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:517.82, Y:382.94, Z:66.21 [[ 2.29457700e-01 -9.72562368e-01 3.83615034e-02 5.17816878e+02] [ 9.61731462e-01 2.32613342e-01 1.44788219e-01 3.82935386e+02] [-1.49738970e-01 3.67069315e-03 9.88718750e-01 6.62066551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 979.9992541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:517.83, Y:382.96, Z:66.20 [[ 2.24934860e-01 -9.73613840e-01 3.84759548e-02 5.17825139e+02] [ 9.62708302e-01 2.28160590e-01 1.45380433e-01 3.82961634e+02] [-1.50323099e-01 4.33999362e-03 9.88627397e-01 6.62025751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0292541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:517.84, Y:382.99, Z:66.20 [[ 2.24464877e-01 -9.73889312e-01 3.39871523e-02 5.17836721e+02] [ 9.63039458e-01 2.27023283e-01 1.44967002e-01 3.82989313e+02] [-1.48897688e-01 1.90968576e-04 9.88852589e-01 6.62012965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.84, Y:383.02, Z:66.20 [[ 2.24184267e-01 -9.73683110e-01 4.10197053e-02 5.17840820e+02] [ 9.63068564e-01 2.27788558e-01 1.43566412e-01 3.83017007e+02] [-1.49132010e-01 7.31945779e-03 9.88790205e-01 6.61961935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.0892541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:517.85, Y:383.04, Z:66.19 [[ 2.24167527e-01 -9.73701152e-01 4.06815333e-02 5.17846969e+02] [ 9.62808943e-01 2.27734037e-01 1.45382766e-01 3.83041825e+02] [-1.50823936e-01 6.57844889e-03 9.88538752e-01 6.61908181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.86, Y:383.07, Z:66.19 [[ 2.25438968e-01 -9.73655600e-01 3.42351326e-02 5.17857730e+02] [ 9.62785970e-01 2.28023481e-01 1.45080904e-01 3.83069172e+02] [-1.49065249e-01 2.54215995e-04 9.88827329e-01 6.61913535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1492541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:517.86, Y:383.09, Z:66.18 [[ 2.28399787e-01 -9.72637741e-01 4.25366096e-02 5.17858190e+02] [ 9.61860940e-01 2.32193065e-01 1.44602606e-01 3.83094958e+02] [-1.50522658e-01 7.88709886e-03 9.88575097e-01 6.61805519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.87, Y:383.12, Z:66.18 [[ 2.30594920e-01 -9.72292107e-01 3.83932408e-02 5.17867140e+02] [ 9.61290461e-01 2.33746424e-01 1.45887831e-01 3.83121575e+02] [-1.50819869e-01 3.26606349e-03 9.88555866e-01 6.61799493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2092541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:517.87, Y:383.15, Z:66.17 [[ 2.32187641e-01 -9.71917378e-01 3.82819737e-02 5.17873820e+02] [ 9.60948557e-01 2.35303586e-01 1.45636855e-01 3.83148270e+02] [-1.50554876e-01 2.97192971e-03 9.88597187e-01 6.61733970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2392541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:517.88, Y:383.17, Z:66.17 [[ 2.36635916e-01 -9.70843923e-01 3.82821222e-02 5.17879634e+02] [ 9.59834450e-01 2.39702019e-01 1.45810738e-01 3.83174086e+02] [-1.50735771e-01 2.24044215e-03 9.88571549e-01 6.61699445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2692541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:517.88, Y:383.20, Z:66.17 [[ 2.41071977e-01 -9.69758894e-01 3.81049913e-02 5.17884556e+02] [ 9.58814301e-01 2.44060257e-01 1.45291871e-01 3.83200179e+02] [-1.50197998e-01 1.50981199e-03 9.88654784e-01 6.61653513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.2992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:517.88, Y:383.23, Z:66.15 [[ 2.40191242e-01 -9.69383451e-01 5.10283417e-02 5.17881902e+02] [ 9.58450514e-01 2.45159361e-01 1.45840665e-01 3.83227617e+02] [-1.53885602e-01 1.38784900e-02 9.87991199e-01 6.61526617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.90, Y:383.25, Z:66.16 [[ 2.44772472e-01 -9.69246501e-01 2.54491306e-02 5.17903064e+02] [ 9.57755412e-01 2.45790725e-01 1.49303349e-01 3.83254139e+02] [-1.50966909e-01 -1.21713071e-02 9.88463885e-01 6.61621911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3592541539998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:517.89, Y:383.28, Z:66.14 [[ 2.45074034e-01 -9.68048135e-01 5.31180321e-02 5.17892254e+02] [ 9.57086456e-01 2.50312611e-01 1.46044897e-01 3.83280493e+02] [-1.54674604e-01 1.50467369e-02 9.87850881e-01 6.61405921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.3892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:517.92, Y:383.31, Z:66.15 [[ 2.49256661e-01 -9.68156014e-01 2.33462802e-02 5.17916666e+02] [ 9.56569969e-01 2.49893098e-01 1.50091088e-01 3.83307556e+02] [-1.51145664e-01 -1.50788530e-02 9.88396488e-01 6.61521148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4192541539999 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:517.92, Y:383.34, Z:66.14 [[ 2.53420717e-01 -9.66595725e-01 3.83489874e-02 5.17915400e+02] [ 9.55372150e-01 2.56305218e-01 1.46873042e-01 3.83335730e+02] [-1.51795900e-01 -5.83117107e-04 9.88411688e-01 6.61421862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4492541539998 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:517.92, Y:383.36, Z:66.14 [[ 2.54358599e-01 -9.66350114e-01 3.83296150e-02 5.17921759e+02] [ 9.55108315e-01 2.57229189e-01 1.46973642e-01 3.83362370e+02] [-1.51887492e-01 -7.75075738e-04 9.88397485e-01 6.61367624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.93, Y:383.39, Z:66.13 [[ 2.55463601e-01 -9.66048193e-01 3.85906523e-02 5.17928440e+02] [ 9.54620615e-01 2.58359967e-01 1.48154003e-01 3.83389251e+02] [-1.53094187e-01 -1.00852285e-03 9.88211087e-01 6.61346953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:517.94, Y:383.41, Z:66.13 [[ 2.56578422e-01 -9.65752725e-01 3.85899995e-02 5.17936124e+02] [ 9.54294621e-01 2.59461282e-01 1.48329428e-01 3.83414803e+02] [-1.53262160e-01 -1.23190159e-03 9.88184797e-01 6.61279161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.94, Y:383.44, Z:66.13 [[ 2.57599537e-01 -9.65475938e-01 3.87129351e-02 5.17943724e+02] [ 9.53916243e-01 2.60488251e-01 1.48961982e-01 3.83441786e+02] [-1.53903474e-01 -1.44363985e-03 9.88084833e-01 6.61256382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5692541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:517.95, Y:383.47, Z:66.12 [[ 2.58766079e-01 -9.65165853e-01 3.86651273e-02 5.17951507e+02] [ 9.53603856e-01 2.61633476e-01 1.48955058e-01 3.83467280e+02] [-1.53882428e-01 -1.67330185e-03 9.88087748e-01 6.61192019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.96, Y:383.49, Z:66.12 [[ 2.59627967e-01 -9.64928378e-01 3.88142380e-02 5.17958869e+02] [ 9.53248858e-01 2.62506671e-01 1.49689220e-01 3.83493925e+02] [-1.54628373e-01 -1.86387987e-03 9.87970947e-01 6.61164359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.6292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:517.96, Y:383.52, Z:66.10 [[ 2.58991253e-01 -9.64339164e-01 5.45298874e-02 5.17958566e+02] [ 9.52951615e-01 2.64323233e-01 1.48379404e-01 3.83521087e+02] [-1.57501586e-01 1.35353766e-02 9.87425969e-01 6.61000158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.98, Y:383.55, Z:66.11 [[ 2.60870507e-01 -9.65096441e-01 2.31395330e-02 5.17982858e+02] [ 9.53044272e-01 2.61283374e-01 1.53093483e-01 3.83545708e+02] [-1.53795951e-01 -1.78845752e-02 9.87940761e-01 6.61132128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.6892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:517.98, Y:383.57, Z:66.10 [[ 2.61315667e-01 -9.64491948e-01 3.83328179e-02 5.17983407e+02] [ 9.53031746e-01 2.64103012e-01 1.48256841e-01 3.83573042e+02] [-1.53116342e-01 -2.20944296e-03 9.88205699e-01 6.61023446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7192541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:517.99, Y:383.60, Z:66.09 [[ 2.63020987e-01 -9.63717985e-01 4.54709443e-02 5.17991303e+02] [ 9.52495118e-01 2.66880819e-01 1.46723138e-01 3.83601932e+02] [-1.53535050e-01 4.71958789e-03 9.88131932e-01 6.60924023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7492541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:518.00, Y:383.63, Z:66.09 [[ 2.62813626e-01 -9.63924327e-01 4.21768901e-02 5.17999929e+02] [ 9.52563838e-01 2.66172774e-01 1.47560801e-01 3.83628289e+02] [-1.53463785e-01 1.39519123e-03 9.88153288e-01 6.60876438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.7792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:518.01, Y:383.65, Z:66.09 [[ 2.63819694e-01 -9.64164996e-01 2.80183796e-02 5.18013962e+02] [ 9.52892681e-01 2.65021882e-01 1.47509123e-01 3.83652706e+02] [-1.49648616e-01 -1.22173026e-02 9.88663759e-01 6.60911485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8092541539999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:518.02, Y:383.68, Z:66.08 [[ 2.63878807e-01 -9.63845033e-01 3.70233341e-02 5.18017105e+02] [ 9.53066935e-01 2.66450236e-01 1.43762615e-01 3.83679044e+02] [-1.48429759e-01 -2.65019181e-03 9.88919402e-01 6.60806052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:518.03, Y:383.70, Z:66.08 [[ 2.64663503e-01 -9.63619576e-01 3.72899855e-02 5.18026967e+02] [ 9.52655588e-01 2.67262448e-01 1.44976253e-01 3.83704198e+02] [-1.49668169e-01 -2.84540990e-03 9.88732190e-01 6.60785959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8692541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:518.04, Y:383.73, Z:66.07 [[ 2.64498531e-01 -9.63671738e-01 3.71121018e-02 5.18035628e+02] [ 9.52789723e-01 2.67074317e-01 1.44440481e-01 3.83730242e+02] [-1.49104899e-01 -2.84426593e-03 9.88817293e-01 6.60732846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.8992541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:518.04, Y:383.76, Z:66.07 [[ 2.64739648e-01 -9.63591993e-01 3.74618391e-02 5.18044146e+02] [ 9.52474985e-01 2.67360581e-01 1.45978501e-01 3.83755740e+02] [-1.50679534e-01 -2.96483242e-03 9.88578215e-01 6.60708901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:518.05, Y:383.78, Z:66.07 [[ 2.65546437e-01 -9.63360373e-01 3.77078424e-02 5.18054828e+02] [ 9.52069483e-01 2.68191733e-01 1.47094846e-01 3.83781929e+02] [-1.51818277e-01 -3.16002623e-03 9.88403372e-01 6.60660019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9592541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:518.06, Y:383.81, Z:66.06 [[ 2.67459576e-01 -9.62817689e-01 3.80456814e-02 5.18064173e+02] [ 9.51288272e-01 2.70128648e-01 1.48597229e-01 3.83806785e+02] [-1.53349269e-01 -3.55134135e-03 9.88165669e-01 6.60613003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 980.9892541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:518.07, Y:383.83, Z:66.06 [[ 2.69069224e-01 -9.62364004e-01 3.81742897e-02 5.18072239e+02] [ 9.50725738e-01 2.71736181e-01 1.49264932e-01 3.83832183e+02] [-1.54020534e-01 -3.86931982e-03 9.88060071e-01 6.60577790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:518.08, Y:383.86, Z:66.05 [[ 2.69956249e-01 -9.62116681e-01 3.81459896e-02 5.18080423e+02] [ 9.50468282e-01 2.72607913e-01 1.49315006e-01 3.83858954e+02] [-1.54057356e-01 -4.05196551e-03 9.88053598e-01 6.60521565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0492541539999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:518.09, Y:383.88, Z:66.05 [[ 2.72596358e-01 -9.61389938e-01 3.76910108e-02 5.18090583e+02] [ 9.49985469e-01 2.75153598e-01 1.47709537e-01 3.83884746e+02] [-1.52377280e-01 -4.45916925e-03 9.88312340e-01 6.60466774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.0792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:518.10, Y:383.91, Z:66.04 [[ 2.74845950e-01 -9.60755165e-01 3.75395459e-02 5.18100813e+02] [ 9.49409381e-01 2.77355474e-01 1.47294837e-01 3.83910625e+02] [-1.51926074e-01 -4.84299237e-03 9.88379995e-01 6.60426313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1092541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:518.11, Y:383.94, Z:66.04 [[ 2.75504268e-01 -9.60571912e-01 3.74032071e-02 5.18109095e+02] [ 9.49279287e-01 2.77987103e-01 1.46942188e-01 3.83935778e+02] [-1.51546147e-01 -4.97711007e-03 9.88437653e-01 6.60393236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1392541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:518.12, Y:383.96, Z:66.03 [[ 2.75166643e-01 -9.60683476e-01 3.70213075e-02 5.18119140e+02] [ 9.49598190e-01 2.77602511e-01 1.45602620e-01 3.83960575e+02] [-1.50155239e-01 -4.90961753e-03 9.88650241e-01 6.60321791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.13, Y:383.99, Z:66.03 [[ 2.74624888e-01 -9.60838430e-01 3.70227305e-02 5.18127422e+02] [ 9.49729227e-01 2.77066405e-01 1.45769003e-01 3.83986529e+02] [-1.50318215e-01 -4.87022695e-03 9.88625670e-01 6.60303343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.13, Y:384.01, Z:66.03 [[ 2.71989886e-01 -9.61593697e-01 3.68654838e-02 5.18134900e+02] [ 9.50562142e-01 2.74440339e-01 1.45306968e-01 3.84012831e+02] [-1.49843640e-01 -4.47909236e-03 9.88699561e-01 6.60253293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.14, Y:384.04, Z:66.02 [[ 2.70552446e-01 -9.61997794e-01 3.69001306e-02 5.18140834e+02] [ 9.50922236e-01 2.73023223e-01 1.45620123e-01 3.84039600e+02] [-1.50160829e-01 -4.30872566e-03 9.88652194e-01 6.60206339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.2592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:518.15, Y:384.07, Z:66.02 [[ 2.68934845e-01 -9.62450477e-01 3.69205806e-02 5.18147221e+02] [ 9.51339663e-01 2.71426243e-01 1.45878853e-01 3.84066867e+02] [-1.50422386e-01 -4.10789399e-03 9.88613287e-01 6.60153011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.2892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:518.15, Y:384.09, Z:66.01 [[ 2.65642987e-01 -9.63364502e-01 3.69139660e-02 5.18152985e+02] [ 9.52239362e-01 2.68170807e-01 1.46029500e-01 3.84094414e+02] [-1.50578885e-01 -3.64078113e-03 9.88591293e-01 6.60110865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3192541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:518.16, Y:384.12, Z:66.00 [[ 2.63646959e-01 -9.63915716e-01 3.68344106e-02 5.18159480e+02] [ 9.52817268e-01 2.66186316e-01 1.45890707e-01 3.84120218e+02] [-1.50431162e-01 -3.36717881e-03 9.88614752e-01 6.60049153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3492541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:518.17, Y:384.15, Z:66.00 [[ 2.61620977e-01 -9.64451911e-01 3.72421278e-02 5.18166855e+02] [ 9.53080821e-01 2.64239693e-01 1.47696764e-01 3.84146578e+02] [-1.52287275e-01 -3.14581388e-03 9.88331265e-01 6.60012161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.17, Y:384.17, Z:66.00 [[ 2.61697978e-01 -9.64415553e-01 3.76405312e-02 5.18173450e+02] [ 9.52768095e-01 2.64371064e-01 1.49468718e-01 3.84172859e+02] [-1.54101024e-01 -3.25296418e-03 9.88049742e-01 6.59994237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4092541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:518.18, Y:384.20, Z:65.99 [[ 2.61790842e-01 -9.64394390e-01 3.75368571e-02 5.18179657e+02] [ 9.52784823e-01 2.64447652e-01 1.49226408e-01 3.84199989e+02] [-1.53839644e-01 -3.30155921e-03 9.88090311e-01 6.59932753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4392541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:518.18, Y:384.23, Z:65.99 [[ 2.63527562e-01 -9.63937531e-01 3.71168386e-02 5.18184214e+02] [ 9.52554934e-01 2.66104553e-01 1.47741209e-01 3.84225876e+02] [-1.52290256e-01 -3.57805302e-03 9.88329336e-01 6.59875189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4692541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:518.19, Y:384.25, Z:65.98 [[ 2.64376242e-01 -9.63717864e-01 3.67842509e-02 5.18189870e+02] [ 9.52512460e-01 2.66897128e-01 1.46580820e-01 3.84252654e+02] [-1.51080165e-01 -3.71502900e-03 9.88514533e-01 6.59828726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.4992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:518.19, Y:384.28, Z:65.98 [[ 2.66381250e-01 -9.63196853e-01 3.59562592e-02 5.18194793e+02] [ 9.52462326e-01 2.68767719e-01 1.43455324e-01 3.84278633e+02] [-1.47839599e-01 -3.96682621e-03 9.89003396e-01 6.59786074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:518.20, Y:384.31, Z:65.97 [[ 2.66125144e-01 -9.63269040e-01 3.59188448e-02 5.18201585e+02] [ 9.52533912e-01 2.68508900e-01 1.43464691e-01 3.84306028e+02] [-1.47839625e-01 -3.96564397e-03 9.89003397e-01 6.59740919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:518.21, Y:384.33, Z:65.97 [[ 2.66952813e-01 -9.63056105e-01 3.54842781e-02 5.18206636e+02] [ 9.52555281e-01 2.69269976e-01 1.41887691e-01 3.84333149e+02] [-1.46200658e-01 -4.07658165e-03 9.89246556e-01 6.59685980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.5892541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:518.21, Y:384.36, Z:65.96 [[ 2.67281626e-01 -9.62967760e-01 3.54065732e-02 5.18211860e+02] [ 9.52485543e-01 2.69584390e-01 1.41758761e-01 3.84358883e+02] [-1.46054176e-01 -4.16526311e-03 9.89267824e-01 6.59637183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.22, Y:384.39, Z:65.96 [[ 2.67466701e-01 -9.62908703e-01 3.56145104e-02 5.18218687e+02] [ 9.52284325e-01 2.69793859e-01 1.42708927e-01 3.84386379e+02] [-1.47024244e-01 -4.25474583e-03 9.89123738e-01 6.59616684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.23, Y:384.41, Z:65.96 [[ 2.66323996e-01 -9.63216426e-01 3.58558939e-02 5.18225459e+02] [ 9.52422542e-01 2.68694606e-01 1.43855870e-01 3.84413268e+02] [-1.48198622e-01 -4.16230853e-03 9.88948858e-01 6.59576926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.21, Y:384.44, Z:65.93 [[ 2.62303892e-01 -9.62782772e-01 6.51613492e-02 5.18214241e+02] [ 9.52159484e-01 2.69199647e-01 1.44650845e-01 3.84439085e+02] [-1.56808753e-01 2.41015171e-02 9.87334863e-01 6.59334460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:518.25, Y:384.46, Z:65.96 [[ 2.63873809e-01 -9.64530959e-01 7.11634698e-03 5.18253087e+02] [ 9.53158311e-01 2.61879218e-01 1.51355576e-01 3.84464455e+02] [-1.47850762e-01 -3.31557670e-02 9.88453766e-01 6.59606071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7392541539998 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:518.23, Y:384.49, Z:65.93 [[ 2.59663791e-01 -9.63591605e-01 6.37646752e-02 5.18230718e+02] [ 9.53134265e-01 2.66342767e-01 1.43515171e-01 3.84493076e+02] [-1.55273274e-01 2.35106035e-02 9.87591749e-01 6.59273205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7692541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:518.27, Y:384.52, Z:65.95 [[ 2.57981054e-01 -9.66110661e-01 8.71589134e-03 5.18266174e+02] [ 9.54733089e-01 2.56304907e-01 1.50971930e-01 3.84517033e+02] [-1.48089516e-01 -3.06265476e-02 9.88499626e-01 6.59494272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.26, Y:384.55, Z:65.94 [[ 2.57696556e-01 -9.65559419e-01 3.58816744e-02 5.18259049e+02] [ 9.54650126e-01 2.60164752e-01 1.44766845e-01 3.84545231e+02] [-1.49116138e-01 -3.05147241e-03 9.88814981e-01 6.59370933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.27, Y:384.57, Z:65.93 [[ 2.56999747e-01 -9.65747662e-01 3.58131694e-02 5.18265605e+02] [ 9.54864165e-01 2.59466078e-01 1.44609066e-01 3.84572045e+02] [-1.48948170e-01 -2.96778137e-03 9.88840551e-01 6.59326849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.27, Y:384.60, Z:65.93 [[ 2.56824181e-01 -9.65795983e-01 3.57695399e-02 5.18272317e+02] [ 9.54911456e-01 2.59285960e-01 1.44619857e-01 3.84599434e+02] [-1.48947817e-01 -2.98513301e-03 9.88840552e-01 6.59281734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.8892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:518.28, Y:384.62, Z:65.92 [[ 2.56410168e-01 -9.65907425e-01 3.57305605e-02 5.18278918e+02] [ 9.55030765e-01 2.58870940e-01 1.44575496e-01 3.84624564e+02] [-1.48896149e-01 -2.94684281e-03 9.88848448e-01 6.59219075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:518.29, Y:384.65, Z:65.92 [[ 2.55947205e-01 -9.66034375e-01 3.56176305e-02 5.18286069e+02] [ 9.55210007e-01 2.58397380e-01 1.44238122e-01 3.84651846e+02] [-1.48542487e-01 -2.89502712e-03 9.88901789e-01 6.59173794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9492541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:518.29, Y:384.68, Z:65.91 [[ 2.55233919e-01 -9.66239689e-01 3.51640339e-02 5.18293212e+02] [ 9.55665687e-01 2.57629764e-01 1.42583309e-01 3.84677819e+02] [-1.46828954e-01 -2.78703621e-03 9.89157971e-01 6.59113132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 981.9792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:518.30, Y:384.70, Z:65.91 [[ 2.54531673e-01 -9.66437783e-01 3.48086069e-02 5.18301126e+02] [ 9.56055889e-01 2.56886730e-01 1.41302319e-01 3.84704323e+02] [-1.45501769e-01 -2.68694213e-03 9.89354343e-01 6.59070140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:518.31, Y:384.73, Z:65.90 [[ 2.54191886e-01 -9.66533027e-01 3.46466986e-02 5.18308229e+02] [ 9.56222987e-01 2.56528365e-01 1.40821864e-01 3.84730087e+02] [-1.44996843e-01 -2.66580543e-03 9.89428527e-01 6.59039954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.32, Y:384.76, Z:65.90 [[ 2.53033349e-01 -9.66841157e-01 3.45297168e-02 5.18316207e+02] [ 9.56581168e-01 2.55366054e-01 1.40501414e-01 3.84756002e+02] [-1.44660267e-01 -2.52106657e-03 9.89478171e-01 6.59007370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.32, Y:384.78, Z:65.90 [[ 2.52944762e-01 -9.66814266e-01 3.59043588e-02 5.18322539e+02] [ 9.56672164e-01 2.55478399e-01 1.39675193e-01 3.84781354e+02] [-1.44212757e-01 -9.81407616e-04 9.89546218e-01 6.58961536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.0992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:518.33, Y:384.81, Z:65.89 [[ 2.50123532e-01 -9.67671698e-01 3.23991346e-02 5.18331787e+02] [ 9.57307965e-01 2.52176016e-01 1.41310713e-01 3.84809854e+02] [-1.44912662e-01 -4.32918495e-03 9.89434980e-01 6.58914522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.1292541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:518.34, Y:384.84, Z:65.89 [[ 2.46937077e-01 -9.68404965e-01 3.48411276e-02 5.18338681e+02] [ 9.57910390e-01 2.49376830e-01 1.42193115e-01 3.84835707e+02] [-1.46389088e-01 -1.73807399e-03 9.89225563e-01 6.58857078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.35, Y:384.86, Z:65.88 [[ 2.45968573e-01 -9.68640337e-01 3.51476850e-02 5.18346424e+02] [ 9.57942797e-01 2.48461657e-01 1.43570199e-01 3.84862833e+02] [-1.47800738e-01 -1.64428535e-03 9.89015793e-01 6.58847328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.35, Y:384.89, Z:65.88 [[ 2.44271415e-01 -9.69060747e-01 3.53941410e-02 5.18353661e+02] [ 9.58188163e-01 2.46818101e-01 1.44762802e-01 3.84888327e+02] [-1.49019863e-01 -1.44716746e-03 9.88833144e-01 6.58809443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2192541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:518.36, Y:384.91, Z:65.87 [[ 2.41475057e-01 -9.69649776e-01 3.83289480e-02 5.18359296e+02] [ 9.58849077e-01 2.44490712e-01 1.44335513e-01 3.84914224e+02] [-1.49325970e-01 1.89825010e-03 9.88786201e-01 6.58741351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:518.37, Y:384.94, Z:65.87 [[ 2.39493611e-01 -9.70359497e-01 3.23304286e-02 5.18369154e+02] [ 9.59184408e-01 2.41629979e-01 1.46902091e-01 3.84940594e+02] [-1.50359840e-01 -4.17126916e-03 9.88622536e-01 6.58737296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.2792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:518.37, Y:384.97, Z:65.87 [[ 2.37376818e-01 -9.70769194e-01 3.54882804e-02 5.18374418e+02] [ 9.59791810e-01 2.40014430e-01 1.45577317e-01 3.84967503e+02] [-1.49839674e-01 -4.95319479e-04 9.88710183e-01 6.58678080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:518.38, Y:384.99, Z:65.86 [[ 2.36025118e-01 -9.71112790e-01 3.51011664e-02 5.18380351e+02] [ 9.60352367e-01 2.38620720e-01 1.44164780e-01 3.84993047e+02] [-1.48376127e-01 -3.17020986e-04 9.88930950e-01 6.58613311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3392541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:518.39, Y:385.02, Z:65.86 [[ 2.35674334e-01 -9.71208649e-01 3.48047114e-02 5.18386075e+02] [ 9.60603629e-01 2.38230288e-01 1.43132796e-01 3.85020757e+02] [-1.47303346e-01 -2.99194197e-04 9.89091318e-01 6.58587147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.39, Y:385.05, Z:65.85 [[ 2.35537918e-01 -9.71060964e-01 3.95283875e-02 5.18389505e+02] [ 9.60988728e-01 2.38777142e-01 1.39592766e-01 3.85047649e+02] [-1.44991562e-01 5.10694519e-03 9.89419712e-01 6.58520063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.3992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:518.40, Y:385.07, Z:65.85 [[ 2.34630937e-01 -9.71657052e-01 2.88252729e-02 5.18400665e+02] [ 9.61204202e-01 2.36326941e-01 1.42253503e-01 3.85073710e+02] [-1.45033808e-01 -5.67009918e-03 9.89410453e-01 6.58512996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.40, Y:385.10, Z:65.85 [[ 2.34333000e-01 -9.71559004e-01 3.40755933e-02 5.18403642e+02] [ 9.61341052e-01 2.36797531e-01 1.40535802e-01 3.85101612e+02] [-1.44607840e-01 -1.73909401e-04 9.89489031e-01 6.58458243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.40, Y:385.13, Z:65.83 [[ 2.30422858e-01 -9.72014679e-01 4.57468136e-02 5.18399875e+02] [ 9.61826794e-01 2.34636099e-01 1.40837210e-01 3.85127329e+02] [-1.47629690e-01 1.15483985e-02 9.88975282e-01 6.58322040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.4892541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:518.42, Y:385.15, Z:65.84 [[ 2.31951865e-01 -9.72479932e-01 2.19343371e-02 5.18420819e+02] [ 9.61988322e-01 2.32674206e-01 1.42972665e-01 3.85154509e+02] [-1.44141602e-01 -1.20622002e-02 9.89483553e-01 6.58414056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.42, Y:385.18, Z:65.83 [[ 2.29387522e-01 -9.72734069e-01 3.42022744e-02 5.18420516e+02] [ 9.62395641e-01 2.31922852e-01 1.41444054e-01 3.85182462e+02] [-1.45519739e-01 4.70618914e-04 9.89355237e-01 6.58331196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5492541539999 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:518.43, Y:385.21, Z:65.83 [[ 2.27237861e-01 -9.73245952e-01 3.39892944e-02 5.18426777e+02] [ 9.63016654e-01 2.29764560e-01 1.40737951e-01 3.85209303e+02] [-1.44782177e-01 7.51265562e-04 9.89463267e-01 6.58267522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.43, Y:385.24, Z:65.82 [[ 2.23601617e-01 -9.73919419e-01 3.85134007e-02 5.18429848e+02] [ 9.63363776e-01 2.26836694e-01 1.43092098e-01 3.85237039e+02] [-1.48096426e-01 5.10679053e-03 9.88959741e-01 6.58223119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6092541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:518.44, Y:385.26, Z:65.82 [[ 2.23831613e-01 -9.74151531e-01 3.04664395e-02 5.18441069e+02] [ 9.63449639e-01 2.25877112e-01 1.44028897e-01 3.85263493e+02] [-1.47187642e-01 -2.88534013e-03 9.89104379e-01 6.58211741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.44, Y:385.29, Z:65.82 [[ 2.22152473e-01 -9.74307591e-01 3.70539667e-02 5.18442333e+02] [ 9.63529078e-01 2.25192928e-01 1.44567841e-01 3.85291446e+02] [-1.49197836e-01 3.58647098e-03 9.88800861e-01 6.58152453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.45, Y:385.32, Z:65.81 [[ 2.23890255e-01 -9.74072195e-01 3.25040320e-02 5.18450053e+02] [ 9.63093937e-01 2.26233383e-01 1.45837327e-01 3.85318291e+02] [-1.49409583e-01 -1.34712024e-03 9.88774475e-01 6.58139700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.45, Y:385.35, Z:65.81 [[ 2.24293785e-01 -9.73898265e-01 3.48492194e-02 5.18454276e+02] [ 9.63017034e-01 2.26982764e-01 1.45179258e-01 3.85345824e+02] [-1.49300000e-01 9.97586493e-04 9.88791442e-01 6.58086178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.46, Y:385.37, Z:65.80 [[ 2.24391914e-01 -9.73780399e-01 3.74166280e-02 5.18455430e+02] [ 9.63001149e-01 2.27461589e-01 1.44533776e-01 3.85372649e+02] [-1.49255003e-01 3.60004531e-03 9.88792184e-01 6.58009796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.46, Y:385.40, Z:65.80 [[ 2.25803055e-01 -9.73570702e-01 3.42501035e-02 5.18462765e+02] [ 9.62789517e-01 2.28385565e-01 1.44486607e-01 3.85400563e+02] [-1.48490157e-01 3.50123251e-04 9.88913824e-01 6.57972700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.47, Y:385.43, Z:65.79 [[ 2.29154696e-01 -9.72829956e-01 3.30151780e-02 5.18467884e+02] [ 9.62194973e-01 2.31518144e-01 1.43457947e-01 3.85427811e+02] [-1.47203801e-01 -1.10702379e-03 9.89105563e-01 6.57934435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.47, Y:385.46, Z:65.79 [[ 2.30916189e-01 -9.72372184e-01 3.42059963e-02 5.18472619e+02] [ 9.61893459e-01 2.33435935e-01 1.42367968e-01 3.85455791e+02] [-1.46419560e-01 2.74555581e-05 9.89222579e-01 6.57883372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.48, Y:385.48, Z:65.78 [[ 2.34346255e-01 -9.71600050e-01 3.27898631e-02 5.18476997e+02] [ 9.61190430e-01 2.36622832e-01 1.41854128e-01 3.85483671e+02] [-1.45584309e-01 -1.72568119e-03 9.89344344e-01 6.57842578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.8792541539999 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:518.48, Y:385.51, Z:65.78 [[ 2.36214305e-01 -9.71180772e-01 3.17916737e-02 5.18483318e+02] [ 9.61064208e-01 2.38331224e-01 1.39834961e-01 3.85510420e+02] [-1.43381974e-01 -2.47717850e-03 9.89664324e-01 6.57779999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:518.48, Y:385.54, Z:65.77 [[ 2.35606641e-01 -9.70949928e-01 4.17821566e-02 5.18482250e+02] [ 9.60824527e-01 2.39175878e-01 1.40039736e-01 3.85537302e+02] [-1.45964856e-01 7.15102898e-03 9.89263930e-01 6.57689983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:518.49, Y:385.56, Z:65.77 [[ 2.35867694e-01 -9.71114280e-01 3.61038105e-02 5.18490197e+02] [ 9.60540200e-01 2.38612900e-01 1.42920990e-01 3.85563875e+02] [-1.47407449e-01 9.68716979e-04 9.89075379e-01 6.57662973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.50, Y:385.59, Z:65.76 [[ 2.34702764e-01 -9.71404390e-01 3.58904290e-02 5.18495542e+02] [ 9.60484026e-01 2.37430757e-01 1.45248309e-01 3.85590138e+02] [-1.49616336e-01 3.82004165e-04 9.88744055e-01 6.57629997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 982.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.51, Y:385.62, Z:65.77 [[ 2.36899473e-01 -9.71323370e-01 2.02373488e-02 5.18513207e+02] [ 9.60461479e-01 2.37284622e-01 1.45635694e-01 3.85618388e+02] [-1.46261365e-01 -1.50638252e-02 9.89131283e-01 6.57696837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.51, Y:385.65, Z:65.76 [[ 2.34185083e-01 -9.71535565e-01 3.57210332e-02 5.18509913e+02] [ 9.60966820e-01 2.36892189e-01 1.42915578e-01 3.85645373e+02] [-1.47309601e-01 8.58031136e-04 9.89090059e-01 6.57583946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:518.51, Y:385.67, Z:65.75 [[ 2.31456267e-01 -9.71993130e-01 4.07105901e-02 5.18512829e+02] [ 9.61591658e-01 2.34925071e-01 1.41956662e-01 3.85672030e+02] [-1.47544838e-01 6.29020490e-03 9.89035366e-01 6.57487778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.52, Y:385.70, Z:65.74 [[ 2.29464664e-01 -9.72518346e-01 3.94212531e-02 5.18518381e+02] [ 9.61584627e-01 2.32782342e-01 1.45490162e-01 3.85697670e+02] [-1.50668423e-01 4.52201986e-03 9.88574012e-01 6.57446385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1192541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:518.53, Y:385.72, Z:65.74 [[ 2.27393510e-01 -9.73324777e-01 3.05134436e-02 5.18529543e+02] [ 9.62408476e-01 2.29401815e-01 1.45412287e-01 3.85724857e+02] [-1.48533221e-01 -3.69941357e-03 9.88900499e-01 6.57436361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1492541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:518.54, Y:385.75, Z:65.74 [[ 2.26361667e-01 -9.73647551e-01 2.77640440e-02 5.18537863e+02] [ 9.62960928e-01 2.27982799e-01 1.43979496e-01 3.85752757e+02] [-1.46515009e-01 -5.85574922e-03 9.89191115e-01 6.57418742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.54, Y:385.78, Z:65.74 [[ 2.25795986e-01 -9.73643702e-01 3.21576611e-02 5.18542372e+02] [ 9.62981925e-01 2.28069622e-01 1.43701289e-01 3.85780972e+02] [-1.47248041e-01 -1.47992798e-03 9.89098491e-01 6.57374875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.55, Y:385.81, Z:65.74 [[ 2.25371351e-01 -9.73917289e-01 2.63223972e-02 5.18553873e+02] [ 9.63439675e-01 2.26801820e-01 1.42635646e-01 3.85808950e+02] [-1.44885289e-01 -6.78594649e-03 9.89425189e-01 6.57382929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2392541539998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:518.56, Y:385.83, Z:65.73 [[ 2.23786180e-01 -9.74076407e-01 3.30892480e-02 5.18556363e+02] [ 9.64027458e-01 2.26218273e-01 1.39557707e-01 3.85834531e+02] [-1.43425262e-01 6.67857516e-04 9.89660926e-01 6.57285891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2692541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:518.56, Y:385.86, Z:65.73 [[ 2.21780770e-01 -9.74540638e-01 3.29216522e-02 5.18562703e+02] [ 9.64572436e-01 2.24209050e-01 1.39033515e-01 3.85861263e+02] [-1.42875142e-01 9.20358337e-04 9.89740293e-01 6.57251390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.57, Y:385.89, Z:65.72 [[ 2.19926907e-01 -9.74882297e-01 3.51662195e-02 5.18566494e+02] [ 9.64793034e-01 2.22698358e-01 1.39927995e-01 3.85888264e+02] [-1.44244784e-01 3.15419253e-03 9.89537010e-01 6.57211114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3292541539998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:518.57, Y:385.91, Z:65.71 [[ 2.17754486e-01 -9.75456002e-01 3.26890150e-02 5.18574485e+02] [ 9.65500831e-01 2.20190648e-01 1.39011597e-01 3.85914697e+02] [-1.42797512e-01 1.29087241e-03 9.89751082e-01 6.57148094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3592541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:518.57, Y:385.94, Z:65.71 [[ 2.16268896e-01 -9.75234247e-01 4.63241653e-02 5.18573133e+02] [ 9.65661925e-01 2.20660142e-01 1.37135513e-01 3.85942821e+02] [-1.43961145e-01 1.50753366e-02 9.89468505e-01 6.57063893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.3892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:518.59, Y:385.97, Z:65.71 [[ 2.15661857e-01 -9.76130729e-01 2.56663875e-02 5.18590565e+02] [ 9.65526236e-01 2.17095471e-01 1.43626754e-01 3.85968804e+02] [-1.45770544e-01 -6.19324188e-03 9.89299041e-01 6.57098151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4192541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:518.59, Y:386.00, Z:65.70 [[ 2.13987763e-01 -9.76257091e-01 3.36352519e-02 5.18593935e+02] [ 9.65999331e-01 2.16603044e-01 1.41168037e-01 3.85996478e+02] [-1.45101795e-01 2.28339840e-03 9.89414097e-01 6.57007014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:518.61, Y:386.02, Z:65.70 [[ 2.13024261e-01 -9.76779502e-01 2.28575588e-02 5.18607029e+02] [ 9.66354747e-01 2.14086939e-01 1.42566776e-01 3.86023364e+02] [-1.44149810e-01 -8.28167169e-03 9.89521221e-01 6.57049894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.4792541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:518.61, Y:386.05, Z:65.70 [[ 2.12635920e-01 -9.76445015e-01 3.66210153e-02 5.18606986e+02] [ 9.66704647e-01 2.15679594e-01 1.37711434e-01 3.86051133e+02] [-1.42366049e-01 6.11930814e-03 9.89795162e-01 6.56951170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.61, Y:386.08, Z:65.69 [[ 2.11540026e-01 -9.76800020e-01 3.33547374e-02 5.18614811e+02] [ 9.66903057e-01 2.14133802e-01 1.38727049e-01 3.86078166e+02] [-1.42650961e-01 2.90447408e-03 9.89768795e-01 6.56947431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5392541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:518.61, Y:386.10, Z:65.68 [[ 2.07394531e-01 -9.76968757e-01 5.01951781e-02 5.18610419e+02] [ 9.67104629e-01 2.12485886e-01 1.39851299e-01 3.86103492e+02] [-1.47296116e-01 1.95395946e-02 9.88899418e-01 6.56751421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5692541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:518.64, Y:386.13, Z:65.69 [[ 2.08795846e-01 -9.77904541e-01 1.03442326e-02 5.18638039e+02] [ 9.67311184e-01 2.08067532e-01 1.44972328e-01 3.86130848e+02] [-1.43921397e-01 -2.02635280e-02 9.89381636e-01 6.56934834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.63, Y:386.16, Z:65.68 [[ 2.09377078e-01 -9.77277267e-01 3.30209404e-02 5.18632775e+02] [ 9.67056563e-01 2.11951223e-01 1.40990362e-01 3.86159329e+02] [-1.44785504e-01 2.41296712e-03 9.89460123e-01 6.56829940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.6292541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:518.64, Y:386.19, Z:65.68 [[ 2.08556796e-01 -9.77454373e-01 3.29698572e-02 5.18638567e+02] [ 9.67240879e-01 2.11132033e-01 1.40955124e-01 3.86186668e+02] [-1.44738195e-01 2.49264453e-03 9.89466847e-01 6.56776483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.64, Y:386.21, Z:65.68 [[ 2.08801879e-01 -9.77398481e-01 3.30754316e-02 5.18644213e+02] [ 9.67091026e-01 2.11391443e-01 1.41593096e-01 3.86212604e+02] [-1.45384741e-01 2.42204861e-03 9.89372231e-01 6.56751333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.65, Y:386.24, Z:65.67 [[ 2.08577957e-01 -9.77445871e-01 3.30878313e-02 5.18649999e+02] [ 9.67106984e-01 2.11172224e-01 1.41811045e-01 3.86239306e+02] [-1.45599851e-01 2.42081479e-03 9.89340600e-01 6.56711089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7192541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:518.65, Y:386.27, Z:65.67 [[ 2.08221029e-01 -9.77533836e-01 3.27353498e-02 5.18654290e+02] [ 9.67390036e-01 2.10764700e-01 1.40480460e-01 3.86266763e+02] [-1.44223859e-01 2.41686530e-03 9.89542135e-01 6.56651072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7492541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:518.66, Y:386.30, Z:65.65 [[ 2.09205118e-01 -9.77027103e-01 4.06356910e-02 5.18658331e+02] [ 9.67046556e-01 2.12876603e-01 1.39658550e-01 3.86296617e+02] [-1.45100576e-01 1.00793216e-02 9.89365570e-01 6.56539799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.7792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:518.67, Y:386.32, Z:65.65 [[ 2.08747975e-01 -9.77377496e-01 3.40222503e-02 5.18667563e+02] [ 9.67149027e-01 2.11474080e-01 1.41072579e-01 3.86322952e+02] [-1.45075988e-01 3.45597118e-03 9.89414480e-01 6.56521131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.67, Y:386.35, Z:65.65 [[ 2.08835700e-01 -9.77424950e-01 3.20642706e-02 5.18673172e+02] [ 9.67058709e-01 2.11278549e-01 1.41981789e-01 3.86350891e+02] [-1.45551036e-01 1.35716580e-03 9.89349814e-01 6.56513101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.68, Y:386.38, Z:65.65 [[ 2.07722085e-01 -9.77847564e-01 2.58007344e-02 5.18680352e+02] [ 9.67600268e-01 2.09272485e-01 1.41261279e-01 3.86378709e+02] [-1.43531382e-01 -4.37829001e-03 9.89636081e-01 6.56508561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.68, Y:386.41, Z:65.64 [[ 2.05794110e-01 -9.77970291e-01 3.49699051e-02 5.18679567e+02] [ 9.68027181e-01 2.08679211e-01 1.39199010e-01 3.86405704e+02] [-1.43429989e-01 5.20548219e-03 9.89646776e-01 6.56426346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.8992541539999 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:518.68, Y:386.43, Z:65.63 [[ 2.06559996e-01 -9.77382306e-01 4.53519083e-02 5.18680442e+02] [ 9.67836236e-01 2.10906695e-01 1.37154607e-01 3.86431469e+02] [-1.43617507e-01 1.55625652e-02 9.89510899e-01 6.56327933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.70, Y:386.46, Z:65.64 [[ 2.03957016e-01 -9.78832352e-01 1.69930128e-02 5.18699342e+02] [ 9.68500324e-01 2.04276323e-01 1.42401918e-01 3.86459844e+02] [-1.42858875e-01 -1.25861319e-02 9.89663039e-01 6.56413478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9592541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:518.69, Y:386.49, Z:65.63 [[ 2.02097744e-01 -9.78688708e-01 3.63993811e-02 5.18691362e+02] [ 9.68964774e-01 2.05215500e-01 1.37818230e-01 3.86487050e+02] [-1.42350863e-01 7.41696476e-03 9.89788473e-01 6.56282888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 983.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.70, Y:386.51, Z:65.63 [[ 2.01939366e-01 -9.78869169e-01 3.21813960e-02 5.18697640e+02] [ 9.68779945e-01 2.04467486e-01 1.40208649e-01 3.86514627e+02] [-1.43825973e-01 2.86304538e-03 9.89598854e-01 6.56268617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.70, Y:386.54, Z:65.62 [[ 2.01713451e-01 -9.78916508e-01 3.21582524e-02 5.18702523e+02] [ 9.68814798e-01 2.04240830e-01 1.40298147e-01 3.86540970e+02] [-1.43908201e-01 2.85536733e-03 9.89586922e-01 6.56229401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0492541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:518.71, Y:386.57, Z:65.62 [[ 2.01276639e-01 -9.78963699e-01 3.34333789e-02 5.18705838e+02] [ 9.68910767e-01 2.03990945e-01 1.39998642e-01 3.86568982e+02] [-1.43873694e-01 4.21550478e-03 9.89587080e-01 6.56170887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.72, Y:386.60, Z:65.62 [[ 2.02731821e-01 -9.78957846e-01 2.32668072e-02 5.18716838e+02] [ 9.68817651e-01 2.03975058e-01 1.40664618e-01 3.86597475e+02] [-1.42450580e-01 -5.97590063e-03 9.89783876e-01 6.56188763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.71, Y:386.62, Z:65.61 [[ 2.03124421e-01 -9.78329135e-01 4.01568648e-02 5.18711431e+02] [ 9.68578583e-01 2.06772778e-01 1.38204731e-01 3.86623565e+02] [-1.43513062e-01 1.08223231e-02 9.89589247e-01 6.56070059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.72, Y:386.65, Z:65.61 [[ 2.06040416e-01 -9.78125574e-01 2.85956140e-02 5.18722498e+02] [ 9.68052298e-01 2.08012015e-01 1.40020537e-01 3.86653373e+02] [-1.42905900e-01 -1.16783999e-03 9.89735591e-01 6.56068869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1692541539999 meters Centerline goodness : 0.995935 Centerline is valid? [True, True] Translation: X:518.72, Y:386.68, Z:65.60 [[ 2.06440473e-01 -9.77823828e-01 3.52546714e-02 5.18723677e+02] [ 9.68113215e-01 2.09350789e-01 1.37582882e-01 3.86680626e+02] [-1.41912414e-01 5.72783789e-03 9.89862646e-01 6.55967585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.1992541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:518.72, Y:386.70, Z:65.59 [[ 2.08636441e-01 -9.77434805e-01 3.30459941e-02 5.18724468e+02] [ 9.67546304e-01 2.11215547e-01 1.38716051e-01 3.86704482e+02] [-1.42565724e-01 3.03230635e-03 9.89780693e-01 6.55939262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.2292541539998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:518.73, Y:386.73, Z:65.59 [[ 2.09711655e-01 -9.77249583e-01 3.16902935e-02 5.18729578e+02] [ 9.67335509e-01 2.12087000e-01 1.38856464e-01 3.86731415e+02] [-1.42418521e-01 1.53532724e-03 9.89805338e-01 6.55891670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.2592541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:518.73, Y:386.76, Z:65.59 [[ 2.11884277e-01 -9.76767891e-01 3.20864418e-02 5.18733908e+02] [ 9.66818401e-01 2.14294348e-01 1.39068732e-01 3.86759863e+02] [-1.42713815e-01 1.55528462e-03 9.89762774e-01 6.55856585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.2892541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:518.74, Y:386.79, Z:65.58 [[ 2.13420928e-01 -9.76437553e-01 3.19564256e-02 5.18738333e+02] [ 9.66307151e-01 2.15798111e-01 1.40291356e-01 3.86785806e+02] [-1.43881884e-01 9.38611178e-04 9.89594423e-01 6.55827280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3192541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:518.74, Y:386.81, Z:65.58 [[ 2.15727171e-01 -9.75929245e-01 3.19983803e-02 5.18741575e+02] [ 9.65737669e-01 2.18086682e-01 1.40673219e-01 3.86812285e+02] [-1.44265529e-01 5.55005621e-04 9.89538857e-01 6.55780666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3492541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:518.75, Y:386.84, Z:65.58 [[ 2.19956772e-01 -9.74974839e-01 3.22967743e-02 5.18745158e+02] [ 9.64561919e-01 2.22315208e-01 1.42113523e-01 3.86839160e+02] [-1.45737174e-01 -1.06593287e-04 9.89323337e-01 6.55754996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.75, Y:386.87, Z:65.57 [[ 2.22324127e-01 -9.74436869e-01 3.23229088e-02 5.18750156e+02] [ 9.63976183e-01 2.24660939e-01 1.42398670e-01 3.86867031e+02] [-1.46020209e-01 -5.00145581e-04 9.89281481e-01 6.55715879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:518.75, Y:386.89, Z:65.57 [[ 2.27382002e-01 -9.73273314e-01 3.21944290e-02 5.18753924e+02] [ 9.62856529e-01 2.29646208e-01 1.42020859e-01 3.86894739e+02] [-1.45618441e-01 -1.29437125e-03 9.89339979e-01 6.55662181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4392541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:518.76, Y:386.92, Z:65.56 [[ 2.31476020e-01 -9.72128890e-01 3.72058319e-02 5.18755507e+02] [ 9.62269043e-01 2.34415902e-01 1.38157426e-01 3.86918340e+02] [-1.43028464e-01 3.82188897e-03 9.89711196e-01 6.55585697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.76, Y:386.95, Z:65.56 [[ 2.32292810e-01 -9.72109878e-01 3.22867592e-02 5.18764091e+02] [ 9.61613463e-01 2.34516909e-01 1.42482869e-01 3.86948103e+02] [-1.46080795e-01 -2.05036363e-03 9.89270538e-01 6.55550121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.4992541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:518.77, Y:386.97, Z:65.55 [[ 2.36286728e-01 -9.71359569e-01 2.50832727e-02 5.18771451e+02] [ 9.61132234e-01 2.37436939e-01 1.40884805e-01 3.86973657e+02] [-1.42805499e-01 -9.18086773e-03 9.89708190e-01 6.55531815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.77, Y:387.00, Z:65.54 [[ 2.37913584e-01 -9.70476682e-01 3.96501685e-02 5.18770718e+02] [ 9.60329427e-01 2.41148055e-01 1.40053587e-01 3.87002992e+02] [-1.45480302e-01 4.75657275e-03 9.89349714e-01 6.55433133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.78, Y:387.03, Z:65.55 [[ 2.40206489e-01 -9.70416645e-01 2.43388016e-02 5.18782843e+02] [ 9.60142176e-01 2.41205503e-01 1.41233519e-01 3.87028189e+02] [-1.42926010e-01 -1.05564977e-02 9.89677077e-01 6.55471138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.5892541539998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:518.78, Y:387.06, Z:65.54 [[ 2.40749372e-01 -9.69937354e-01 3.55143589e-02 5.18782949e+02] [ 9.60308566e-01 2.43351364e-01 1.36336248e-01 3.87055365e+02] [-1.40880088e-01 1.28187693e-03 9.90025837e-01 6.55372338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6192541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:518.79, Y:387.08, Z:65.53 [[ 2.40608890e-01 -9.70258352e-01 2.65724051e-02 5.18793237e+02] [ 9.60247770e-01 2.41939928e-01 1.39245437e-01 3.87082290e+02] [-1.41532974e-01 -7.98759735e-03 9.89901316e-01 6.55348359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6492541539999 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:518.80, Y:387.11, Z:65.53 [[ 2.41306784e-01 -9.69952668e-01 3.10299503e-02 5.18797425e+02] [ 9.60134886e-01 2.43269449e-01 1.37698861e-01 3.87108383e+02] [-1.41110016e-01 -3.43473144e-03 9.89987963e-01 6.55300187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.6792541539999 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:518.80, Y:387.13, Z:65.52 [[ 2.40507390e-01 -9.70162019e-01 3.06896090e-02 5.18804673e+02] [ 9.60537747e-01 2.42434862e-01 1.36354591e-01 3.87134581e+02] [-1.39726276e-01 -3.31575878e-03 9.90184616e-01 6.55245583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.80, Y:387.16, Z:65.52 [[ 2.41515507e-01 -9.69399669e-01 4.39834260e-02 5.18804507e+02] [ 9.60520169e-01 2.45261957e-01 1.31330033e-01 3.87160119e+02] [-1.38098752e-01 1.05287283e-02 9.90362500e-01 6.55198571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7392541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:518.82, Y:387.19, Z:65.52 [[ 2.39011869e-01 -9.70862457e-01 1.73036722e-02 5.18824704e+02] [ 9.60844302e-01 2.39043098e-01 1.40130745e-01 3.87185124e+02] [-1.40184003e-01 -1.68667765e-02 9.89981796e-01 6.55221354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7692541539999 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:518.83, Y:387.21, Z:65.51 [[ 2.37214954e-01 -9.70972306e-01 3.06895278e-02 5.18827439e+02] [ 9.61278768e-01 2.39173477e-01 1.36891115e-01 3.87212086e+02] [-1.40257603e-01 -2.97142808e-03 9.90110588e-01 6.55130779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.7992541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:518.84, Y:387.24, Z:65.51 [[ 2.36197060e-01 -9.71212908e-01 3.09263044e-02 5.18835483e+02] [ 9.61343620e-01 2.38195506e-01 1.38135244e-01 3.87238873e+02] [-1.41525238e-01 -2.89633309e-03 9.89930411e-01 6.55100534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8292541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:518.85, Y:387.27, Z:65.51 [[ 2.34219850e-01 -9.71690801e-01 3.09523745e-02 5.18845405e+02] [ 9.61782113e-01 2.36241265e-01 1.38438548e-01 3.87265582e+02] [-1.41831691e-01 -2.65561561e-03 9.89887225e-01 6.55060000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.85, Y:387.29, Z:65.50 [[ 2.34004186e-01 -9.71736370e-01 3.11523489e-02 5.18853238e+02] [ 9.61670462e-01 2.36053338e-01 1.39530444e-01 3.87291743e+02] [-1.42940423e-01 -2.69241417e-03 9.89727632e-01 6.55042030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.84, Y:387.32, Z:65.47 [[ 2.27868929e-01 -9.71192047e-01 6.97263162e-02 5.18838663e+02] [ 9.61475639e-01 2.35740224e-01 1.41390038e-01 3.87315857e+02] [-1.53754178e-01 3.48217578e-02 9.87495366e-01 6.54737096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9192541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:518.89, Y:387.34, Z:65.51 [[ 2.30315269e-01 -9.73084230e-01 -7.87139724e-03 5.18891800e+02] [ 9.62893417e-01 2.26718949e-01 1.46406238e-01 3.87342188e+02] [-1.40681006e-01 -4.12989085e-02 9.89193234e-01 6.55065674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:518.88, Y:387.37, Z:65.49 [[ 2.30037889e-01 -9.72698050e-01 3.06769069e-02 5.18881396e+02] [ 9.62904128e-01 2.32064503e-01 1.37701511e-01 3.87370763e+02] [-1.41061013e-01 -2.13764474e-03 9.89998597e-01 6.54897396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 984.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.89, Y:387.40, Z:65.49 [[ 2.29357452e-01 -9.72855003e-01 3.07945189e-02 5.18889271e+02] [ 9.62959400e-01 2.31406046e-01 1.38421228e-01 3.87397179e+02] [-1.41789822e-01 -2.09406875e-03 9.89894571e-01 6.54875368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.88, Y:387.42, Z:65.46 [[ 2.24590105e-01 -9.72216579e-01 6.59864233e-02 5.18876234e+02] [ 9.62684606e-01 2.31860840e-01 1.39566830e-01 3.87422971e+02] [-1.50988854e-01 3.21787849e-02 9.88011585e-01 6.54595219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:518.92, Y:387.45, Z:65.49 [[ 2.25921653e-01 -9.74138792e-01 -3.60842334e-03 5.18924177e+02] [ 9.63682285e-01 2.22952068e-01 1.46999420e-01 3.87448329e+02] [-1.42393332e-01 -3.66877256e-02 9.89129996e-01 6.54916705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0692541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:518.92, Y:387.47, Z:65.47 [[ 2.23981030e-01 -9.74106500e-01 3.08062510e-02 5.18917763e+02] [ 9.64152558e-01 2.26085242e-01 1.38907553e-01 3.87474923e+02] [-1.42275589e-01 -1.41073120e-03 9.89826079e-01 6.54730361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.0992541539998 meters Centerline goodness : 0.999654 Centerline is valid? [True, True] Translation: X:518.93, Y:387.50, Z:65.47 [[ 2.22738444e-01 -9.74393929e-01 3.07255217e-02 5.18925595e+02] [ 9.64470781e-01 2.24844118e-01 1.38712777e-01 3.87501689e+02] [-1.42069341e-01 -1.26280027e-03 9.89855903e-01 6.54680748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.94, Y:387.53, Z:65.47 [[ 2.23226368e-01 -9.74286685e-01 3.05850390e-02 5.18936104e+02] [ 9.64425075e-01 2.25307742e-01 1.38277608e-01 3.87527463e+02] [-1.41613079e-01 -1.37022990e-03 9.89921138e-01 6.54665690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.1592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:518.94, Y:387.55, Z:65.46 [[ 2.22502988e-01 -9.74460246e-01 3.03257331e-02 5.18944107e+02] [ 9.64749941e-01 2.24556448e-01 1.37229561e-01 3.87553883e+02] [-1.40534590e-01 -1.27723808e-03 9.90074945e-01 6.54610188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.95, Y:387.58, Z:65.46 [[ 2.23462592e-01 -9.74243333e-01 3.02390198e-02 5.18954284e+02] [ 9.64559985e-01 2.25494606e-01 1.37026342e-01 3.87579956e+02] [-1.40315736e-01 -1.45291310e-03 9.90105744e-01 6.54585332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.96, Y:387.61, Z:65.45 [[ 2.23698514e-01 -9.74191285e-01 3.01714121e-02 5.18961897e+02] [ 9.64523759e-01 2.25718876e-01 1.36912043e-01 3.87605639e+02] [-1.40188777e-01 -1.52597687e-03 9.90123618e-01 6.54546061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.97, Y:387.63, Z:65.45 [[ 2.23680898e-01 -9.74197296e-01 3.01078794e-02 5.18969678e+02] [ 9.64546839e-01 2.25692718e-01 1.36792514e-01 3.87632257e+02] [-1.40058027e-01 -1.55741251e-03 9.90142072e-01 6.54504463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.2792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:518.98, Y:387.66, Z:65.44 [[ 2.23137651e-01 -9.74329812e-01 2.98497335e-02 5.18979052e+02] [ 9.64819396e-01 2.25120309e-01 1.35810087e-01 3.87657805e+02] [-1.39043598e-01 -1.50474188e-03 9.90285117e-01 6.54449880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3092541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:518.99, Y:387.68, Z:65.44 [[ 2.21816285e-01 -9.74638514e-01 2.96192899e-02 5.18986671e+02] [ 9.65254587e-01 2.23781084e-01 1.34928166e-01 3.87684122e+02] [-1.38134424e-01 -1.33910913e-03 9.90412585e-01 6.54387752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3392541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:519.00, Y:387.71, Z:65.43 [[ 2.19740681e-01 -9.75105934e-01 2.97060622e-02 5.18997225e+02] [ 9.65644654e-01 2.21736838e-01 1.35510799e-01 3.87709928e+02] [-1.38724313e-01 -1.09173524e-03 9.90330436e-01 6.54346707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3692541539998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:519.01, Y:387.74, Z:65.43 [[ 2.17976379e-01 -9.75500223e-01 2.97592374e-02 5.19005417e+02] [ 9.65982050e-01 2.19996660e-01 1.35941714e-01 3.87736623e+02] [-1.39158105e-01 -8.85193374e-04 9.90269781e-01 6.54305727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.02, Y:387.76, Z:65.43 [[ 2.15916393e-01 -9.75946632e-01 3.01377235e-02 5.19016085e+02] [ 9.66160525e-01 2.18008601e-01 1.37862576e-01 3.87762349e+02] [-1.41116800e-01 -6.48911352e-04 9.89992741e-01 6.54303539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:519.02, Y:387.79, Z:65.42 [[ 2.13266174e-01 -9.76529712e-01 3.01207669e-02 5.19023824e+02] [ 9.66731759e-01 2.15382511e-01 1.37985797e-01 3.87788620e+02] [-1.41234717e-01 -3.09000945e-04 9.89976090e-01 6.54241584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:519.03, Y:387.81, Z:65.42 [[ 2.11740435e-01 -9.76857909e-01 3.02425741e-02 5.19031650e+02] [ 9.66954681e-01 2.13889240e-01 1.38744507e-01 3.87814817e+02] [-1.42002230e-01 -1.34623627e-04 9.89866329e-01 6.54214267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.4892541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:519.04, Y:387.84, Z:65.42 [[ 2.08808896e-01 -9.77488700e-01 3.02437838e-02 5.19040865e+02] [ 9.67565692e-01 2.10987623e-01 1.38927515e-01 3.87841521e+02] [-1.42181140e-01 2.53546557e-04 9.89840623e-01 6.54157424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.05, Y:387.87, Z:65.41 [[ 2.09694520e-01 -9.77289802e-01 3.05426013e-02 5.19048579e+02] [ 9.67138078e-01 2.11907141e-01 1.40496629e-01 3.87867869e+02] [-1.43778118e-01 7.75395152e-05 9.89609947e-01 6.54142642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.05, Y:387.90, Z:65.41 [[ 2.11233802e-01 -9.76958407e-01 3.05377204e-02 5.19054117e+02] [ 9.66776326e-01 2.13429693e-01 1.40681558e-01 3.87895007e+02] [-1.43957687e-01 -1.93555275e-04 9.89583825e-01 6.54099382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.5792541539998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:519.06, Y:387.92, Z:65.40 [[ 2.13846134e-01 -9.76403277e-01 3.01076830e-02 5.19059176e+02] [ 9.66475097e-01 2.15954345e-01 1.38887033e-01 3.87921806e+02] [-1.42111639e-01 -6.02129153e-04 9.89850453e-01 6.54023700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.07, Y:387.95, Z:65.40 [[ 2.16460975e-01 -9.75823953e-01 3.02036382e-02 5.19065095e+02] [ 9.65798286e-01 2.18555601e-01 1.39524624e-01 3.87948601e+02] [-1.42752644e-01 -1.03101421e-03 9.89757859e-01 6.54010625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:519.07, Y:387.98, Z:65.40 [[ 2.17090790e-01 -9.75692065e-01 2.99430019e-02 5.19070762e+02] [ 9.65809244e-01 2.19143024e-01 1.38523786e-01 3.87975778e+02] [-1.41718359e-01 -1.15301010e-03 9.89906348e-01 6.53951752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:519.08, Y:388.00, Z:65.39 [[ 2.16827853e-01 -9.75751771e-01 2.99025575e-02 5.19076668e+02] [ 9.65868313e-01 2.18877008e-01 1.38532516e-01 3.88003406e+02] [-1.41718330e-01 -1.15577523e-03 9.89906349e-01 6.53907888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.6992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:519.08, Y:388.03, Z:65.39 [[ 2.18463094e-01 -9.75393599e-01 2.96850608e-02 5.19082713e+02] [ 9.65625296e-01 2.20466128e-01 1.37704297e-01 3.88030147e+02] [-1.40860441e-01 -1.41866124e-03 9.90028446e-01 6.53869536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.7292541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:519.09, Y:388.06, Z:65.38 [[ 2.17454076e-01 -9.75625912e-01 2.94585210e-02 5.19087382e+02] [ 9.65982067e-01 2.19436522e-01 1.36843921e-01 3.88056422e+02] [-1.39972750e-01 -1.30086524e-03 9.90154502e-01 6.53807126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.09, Y:388.08, Z:65.38 [[ 2.17314275e-01 -9.75654507e-01 2.95429951e-02 5.19092930e+02] [ 9.65925866e-01 2.19309161e-01 1.37443490e-01 3.88083657e+02] [-1.40576410e-01 -1.33208922e-03 9.90068936e-01 6.53790565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.7892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:519.10, Y:388.11, Z:65.37 [[ 2.13571188e-01 -9.76481161e-01 2.95277681e-02 5.19098460e+02] [ 9.66743042e-01 2.15601126e-01 1.37564694e-01 3.88110777e+02] [-1.40695552e-01 -8.34090697e-04 9.90052557e-01 6.53731193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8192541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:519.10, Y:388.14, Z:65.37 [[ 2.11354872e-01 -9.76963545e-01 2.95186354e-02 5.19104265e+02] [ 9.67208337e-01 2.13405534e-01 1.37717507e-01 3.88138002e+02] [-1.40844424e-01 -5.56595829e-04 9.90031585e-01 6.53684658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8492541539998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:519.11, Y:388.16, Z:65.36 [[ 2.07735061e-01 -9.77739577e-01 2.95205745e-02 5.19110436e+02] [ 9.67962815e-01 2.09822101e-01 1.37922714e-01 3.88164958e+02] [-1.41046565e-01 -7.65649021e-05 9.90002960e-01 6.53641955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.10, Y:388.19, Z:65.35 [[ 2.03757576e-01 -9.77737396e-01 5.01241937e-02 5.19102551e+02] [ 9.67768976e-01 2.08891605e-01 1.40668074e-01 3.88189919e+02] [-1.48006960e-01 1.98464538e-02 9.88787165e-01 6.53473445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9092541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:519.13, Y:388.22, Z:65.37 [[ 2.04825505e-01 -9.78758046e-01 8.89942382e-03 5.19132303e+02] [ 9.68479967e-01 2.03974583e-01 1.42971757e-01 3.88218304e+02] [-1.41750014e-01 -2.06653486e-02 9.89686757e-01 6.53660241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:519.13, Y:388.25, Z:65.35 [[ 2.03741712e-01 -9.78573467e-01 2.97201215e-02 5.19127177e+02] [ 9.68615164e-01 2.05897541e-01 1.39251093e-01 3.88246753e+02] [-1.42386725e-01 4.16104335e-04 9.89811016e-01 6.53538161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9692541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:519.13, Y:388.27, Z:65.35 [[ 2.02886859e-01 -9.78756125e-01 2.95528430e-02 5.19132496e+02] [ 9.68884060e-01 2.05027310e-01 1.38663194e-01 3.88273957e+02] [-1.41776590e-01 5.00338624e-04 9.89898555e-01 6.53477469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 985.9992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:519.14, Y:388.30, Z:65.35 [[ 2.03422316e-01 -9.78640664e-01 2.96953254e-02 5.19137611e+02] [ 9.68642675e-01 2.05577982e-01 1.39531583e-01 3.88301347e+02] [-1.42655987e-01 3.80321498e-04 9.89772259e-01 6.53457111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.14, Y:388.33, Z:65.34 [[ 2.03953159e-01 -9.78530743e-01 2.96765008e-02 5.19142951e+02] [ 9.68515577e-01 2.06100746e-01 1.39642617e-01 3.88328164e+02] [-1.42760942e-01 2.61600456e-04 9.89757165e-01 6.53422350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0592541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:519.15, Y:388.36, Z:65.34 [[ 2.04149370e-01 -9.78498959e-01 2.93738497e-02 5.19147684e+02] [ 9.68657912e-01 2.06251669e-01 1.38427233e-01 3.88355141e+02] [-1.41509309e-01 1.93379484e-04 9.89936906e-01 6.53353680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.15, Y:388.38, Z:65.33 [[ 2.05529911e-01 -9.78204477e-01 2.95543011e-02 5.19152645e+02] [ 9.68208933e-01 2.07643922e-01 1.39482844e-01 3.88381402e+02] [-1.42579513e-01 -5.31580291e-05 9.89783350e-01 6.53338007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:519.14, Y:388.41, Z:65.31 [[ 2.02303096e-01 -9.77836249e-01 5.39418838e-02 5.19141004e+02] [ 9.67884855e-01 2.08030523e-01 1.41146056e-01 3.88405978e+02] [-1.49239288e-01 2.36552484e-02 9.88518115e-01 6.53099392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:519.17, Y:388.43, Z:65.33 [[ 2.07865014e-01 -9.78144962e-01 4.95670915e-03 5.19173674e+02] [ 9.67637760e-01 2.06368040e-01 1.45221893e-01 3.88434272e+02] [-1.43070970e-01 -2.53902519e-02 9.89386695e-01 6.53345981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.17, Y:388.46, Z:65.32 [[ 2.09276515e-01 -9.77407258e-01 2.96376835e-02 5.19167074e+02] [ 9.67289172e-01 2.11363617e-01 1.40275014e-01 3.88461941e+02] [-1.43370145e-01 -6.88055848e-04 9.89668898e-01 6.53210080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.17, Y:388.49, Z:65.32 [[ 2.10637280e-01 -9.77115676e-01 2.96123546e-02 5.19171934e+02] [ 9.66981192e-01 2.12706573e-01 1.40368400e-01 3.88489513e+02] [-1.43454906e-01 -9.32227973e-04 9.89656416e-01 6.53162595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.18, Y:388.52, Z:65.31 [[ 2.10788037e-01 -9.77087491e-01 2.94692775e-02 5.19177458e+02] [ 9.67022290e-01 2.12835748e-01 1.39888650e-01 3.88516973e+02] [-1.42955566e-01 -9.89405657e-04 9.89728613e-01 6.53118266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.18, Y:388.54, Z:65.31 [[ 2.10441143e-01 -9.77169788e-01 2.92186581e-02 5.19183415e+02] [ 9.67248390e-01 2.12457685e-01 1.38896672e-01 3.88542962e+02] [-1.41933360e-01 -9.67874341e-04 9.89875742e-01 6.53073090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.2992541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:519.19, Y:388.57, Z:65.30 [[ 2.09182550e-01 -9.77451312e-01 2.88373537e-02 5.19189072e+02] [ 9.67761860e-01 2.11159357e-01 1.37290599e-01 3.88569260e+02] [-1.40284153e-01 -8.11106518e-04 9.90110953e-01 6.53010601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.20, Y:388.60, Z:65.30 [[ 2.08362500e-01 -9.77620931e-01 2.90238372e-02 5.19195356e+02] [ 9.67776567e-01 2.10372900e-01 1.38389880e-01 3.88596298e+02] [-1.41398673e-01 -7.46671914e-04 9.89952452e-01 6.52986411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3592541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:519.20, Y:388.62, Z:65.29 [[ 2.07223000e-01 -9.77867063e-01 2.88900525e-02 5.19201516e+02] [ 9.68087818e-01 2.09226252e-01 1.37950544e-01 3.88623265e+02] [-1.40941851e-01 -6.18417730e-04 9.90017683e-01 6.52925056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.3892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:519.20, Y:388.65, Z:65.29 [[ 2.07317866e-01 -9.77589641e-01 3.65759006e-02 5.19204397e+02] [ 9.68190959e-01 2.10391752e-01 1.35431084e-01 3.88649731e+02] [-1.40091293e-01 7.33517284e-03 9.90111421e-01 6.52858457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:519.21, Y:388.68, Z:65.28 [[ 2.04279738e-01 -9.78461238e-01 2.97219437e-02 5.19212078e+02] [ 9.68214984e-01 2.06430618e-01 1.41230820e-01 3.88676180e+02] [-1.44324402e-01 -7.33635930e-05 9.89530425e-01 6.52818399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:519.23, Y:388.70, Z:65.29 [[ 2.06573698e-01 -9.78246696e-01 1.89923405e-02 5.19227395e+02] [ 9.68041209e-01 2.07162893e-01 1.41349757e-01 3.88704125e+02] [-1.42209441e-01 -1.08137739e-02 9.89777519e-01 6.52870649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.4792541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:519.23, Y:388.73, Z:65.28 [[ 2.06652158e-01 -9.77979972e-01 2.91557828e-02 5.19228504e+02] [ 9.68008261e-01 2.08698001e-01 1.39302372e-01 3.88731131e+02] [-1.42319683e-01 -5.64097081e-04 9.89820585e-01 6.52785811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:519.23, Y:388.76, Z:65.27 [[ 2.07993294e-01 -9.77696694e-01 2.91198210e-02 5.19234315e+02] [ 9.67718108e-01 2.10020318e-01 1.39331010e-01 3.88757697e+02] [-1.42339222e-01 -8.00137655e-04 9.89817612e-01 6.52741939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:519.24, Y:388.79, Z:65.27 [[ 2.08772111e-01 -9.77533591e-01 2.90221411e-02 5.19240122e+02] [ 9.67590147e-01 2.10777536e-01 1.39076014e-01 3.88785198e+02] [-1.42068691e-01 -9.53655146e-04 9.89856342e-01 6.52694604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:519.25, Y:388.81, Z:65.27 [[ 2.11771475e-01 -9.76887627e-01 2.90414579e-02 5.19246565e+02] [ 9.66895459e-01 2.13748695e-01 1.39372405e-01 3.88812586e+02] [-1.42358751e-01 -1.43504601e-03 9.89814087e-01 6.52668334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.25, Y:388.84, Z:65.26 [[ 2.10677338e-01 -9.76875476e-01 3.64604391e-02 5.19245822e+02] [ 9.66790096e-01 2.13732293e-01 1.40126432e-01 3.88837831e+02] [-1.44678848e-01 5.72812776e-03 9.89462086e-01 6.52563712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.26, Y:388.87, Z:65.26 [[ 2.15319923e-01 -9.76318429e-01 2.09679930e-02 5.19261761e+02] [ 9.66225594e-01 2.16108795e-01 1.40374819e-01 3.88866054e+02] [-1.41581891e-01 -9.96568373e-03 9.89876383e-01 6.52625034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.6592541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:519.26, Y:388.89, Z:65.25 [[ 2.15537209e-01 -9.76079067e-01 2.85195851e-02 5.19263389e+02] [ 9.66373034e-01 2.17406309e-01 1.37323179e-01 3.88893551e+02] [-1.40238618e-01 -2.03769667e-03 9.90115639e-01 6.52538695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.27, Y:388.92, Z:65.25 [[ 2.16344591e-01 -9.75898114e-01 2.85987721e-02 5.19268984e+02] [ 9.66107981e-01 2.18215510e-01 1.37903446e-01 3.88919888e+02] [-1.40820408e-01 -2.20516254e-03 9.90032701e-01 6.52511607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.28, Y:388.95, Z:65.25 [[ 2.17083968e-01 -9.75735234e-01 2.85535397e-02 5.19275046e+02] [ 9.65944876e-01 2.18941118e-01 1.37895913e-01 3.88947324e+02] [-1.40801445e-01 -2.35384670e-03 9.90035056e-01 6.52467629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.28, Y:388.97, Z:65.24 [[ 2.16514923e-01 -9.75863895e-01 2.84771154e-02 5.19280958e+02] [ 9.66098742e-01 2.18367419e-01 1.37727598e-01 3.88973887e+02] [-1.40621865e-01 -2.30837512e-03 9.90060686e-01 6.52427018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.7792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:519.29, Y:389.00, Z:65.24 [[ 2.14284447e-01 -9.76362569e-01 2.82543660e-02 5.19287154e+02] [ 9.66724799e-01 2.16129778e-01 1.36861542e-01 3.89001175e+02] [-1.39733097e-01 -2.01310354e-03 9.90187159e-01 6.52374773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:519.29, Y:389.03, Z:65.23 [[ 2.13030193e-01 -9.76633662e-01 2.83694905e-02 5.19293570e+02] [ 9.66890620e-01 2.14902605e-01 1.37620494e-01 3.89028712e+02] [-1.40501485e-01 -1.88712618e-03 9.90078669e-01 6.52338881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.30, Y:389.06, Z:65.23 [[ 2.11618546e-01 -9.76943125e-01 2.82793589e-02 5.19299897e+02] [ 9.67236769e-01 2.13492795e-01 1.37382169e-01 3.89056075e+02] [-1.40252005e-01 -1.71977907e-03 9.90114346e-01 6.52305742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8692541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:519.31, Y:389.08, Z:65.23 [[ 2.08603204e-01 -9.77594465e-01 2.81738431e-02 5.19306593e+02] [ 9.67938423e-01 2.10493024e-01 1.37068950e-01 3.89082676e+02] [-1.39928244e-01 -1.32247680e-03 9.90160764e-01 6.52257064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.31, Y:389.11, Z:65.22 [[ 2.06930909e-01 -9.77945496e-01 2.83232332e-02 5.19313701e+02] [ 9.68161029e-01 2.08857177e-01 1.37996020e-01 3.89108455e+02] [-1.40868097e-01 -1.13419126e-03 9.90027723e-01 6.52235450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:519.32, Y:389.14, Z:65.22 [[ 2.05593216e-01 -9.78230191e-01 2.82333655e-02 5.19319385e+02] [ 9.68480802e-01 2.07520436e-01 1.37768662e-01 3.89135056e+02] [-1.40628465e-01 -9.80829662e-04 9.90061954e-01 6.52185102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:519.32, Y:389.16, Z:65.21 [[ 2.04447999e-01 -9.78468760e-01 2.82825262e-02 5.19324786e+02] [ 9.68658557e-01 2.06393179e-01 1.38211635e-01 3.89160901e+02] [-1.41073087e-01 -8.60981161e-04 9.89998810e-01 6.52144985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 986.9892541539998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:519.33, Y:389.19, Z:65.21 [[ 2.04531363e-01 -9.78446643e-01 2.84444719e-02 5.19330499e+02] [ 9.68491701e-01 2.06497718e-01 1.39221109e-01 3.89188369e+02] [-1.42094145e-01 -9.26848175e-04 9.89852714e-01 6.52107583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.34, Y:389.21, Z:65.21 [[ 2.04461762e-01 -9.78461858e-01 2.84214871e-02 5.19335125e+02] [ 9.68493200e-01 2.06425466e-01 1.39317797e-01 3.89214567e+02] [-1.42184069e-01 -9.59145201e-04 9.89839770e-01 6.52063651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0492541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:519.34, Y:389.24, Z:65.20 [[ 2.05376303e-01 -9.78275819e-01 2.82311202e-02 5.19339706e+02] [ 9.68418683e-01 2.07304577e-01 1.38528220e-01 3.89241823e+02] [-1.41371248e-01 -1.11086938e-03 9.89956027e-01 6.52006033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.0792541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:519.34, Y:389.27, Z:65.20 [[ 2.07199690e-01 -9.77899257e-01 2.79523236e-02 5.19344383e+02] [ 9.68204711e-01 2.09071972e-01 1.37362831e-01 3.89269079e+02] [-1.40171058e-01 -1.39796461e-03 9.90126315e-01 6.51954138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.35, Y:389.30, Z:65.19 [[ 2.08322201e-01 -9.77656595e-01 2.80970132e-02 5.19349494e+02] [ 9.67829331e-01 2.10202230e-01 1.38280182e-01 3.89296540e+02] [-1.41096587e-01 -1.61371835e-03 9.89994520e-01 6.51932696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:519.35, Y:389.32, Z:65.19 [[ 2.09158191e-01 -9.77483474e-01 2.79089333e-02 5.19354071e+02] [ 9.67757817e-01 2.11004627e-01 1.37556738e-01 3.89323356e+02] [-1.40348352e-01 -1.76203006e-03 9.90100619e-01 6.51882607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:519.36, Y:389.35, Z:65.18 [[ 2.10390848e-01 -9.77222912e-01 2.77681623e-02 5.19358513e+02] [ 9.67564709e-01 2.12206265e-01 1.37065806e-01 3.89350588e+02] [-1.39836424e-01 -1.96989722e-03 9.90172659e-01 6.51831521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.36, Y:389.38, Z:65.18 [[ 2.11785380e-01 -9.76918986e-01 2.78612256e-02 5.19363265e+02] [ 9.67164138e-01 2.13598585e-01 1.37728627e-01 3.89377117e+02] [-1.40500829e-01 -2.22253144e-03 9.90078066e-01 6.51801990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.2292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:519.37, Y:389.40, Z:65.17 [[ 2.11446339e-01 -9.76999088e-01 2.76265815e-02 5.19367879e+02] [ 9.67379368e-01 2.13232167e-01 1.36781585e-01 3.89404137e+02] [-1.39526360e-01 -2.19658039e-03 9.90215921e-01 6.51741406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.37, Y:389.43, Z:65.17 [[ 2.11878034e-01 -9.76901084e-01 2.77843574e-02 5.19373194e+02] [ 9.67140977e-01 2.13679428e-01 1.37765861e-01 3.89430436e+02] [-1.40520564e-01 -2.31816905e-03 9.90075046e-01 6.51719941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.38, Y:389.46, Z:65.17 [[ 2.11635152e-01 -9.76954104e-01 2.77712407e-02 5.19378454e+02] [ 9.67173124e-01 2.13436778e-01 1.37916246e-01 3.89457873e+02] [-1.40665247e-01 -2.32832809e-03 9.90054477e-01 6.51678431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.38, Y:389.49, Z:65.16 [[ 2.10369286e-01 -9.77223970e-01 2.78940292e-02 5.19382925e+02] [ 9.67328824e-01 2.12199113e-01 1.38731696e-01 3.89485459e+02] [-1.41491027e-01 -2.20218944e-03 9.89937089e-01 6.51636864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:519.39, Y:389.51, Z:65.16 [[ 2.07865813e-01 -9.77758237e-01 2.79398077e-02 5.19386750e+02] [ 9.67803924e-01 2.09726625e-01 1.39177250e-01 3.89511460e+02] [-1.41941424e-01 -1.88993678e-03 9.89873255e-01 6.51581446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.39, Y:389.54, Z:65.15 [[ 2.06557038e-01 -9.78026485e-01 2.82556915e-02 5.19392409e+02] [ 9.67826215e-01 2.08473283e-01 1.40894667e-01 3.89538799e+02] [-1.43689272e-01 -1.75618596e-03 9.89621296e-01 6.51549332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4092541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:519.40, Y:389.57, Z:65.15 [[ 2.04194459e-01 -9.78526005e-01 2.81332743e-02 5.19397509e+02] [ 9.68388300e-01 2.06118342e-01 1.40496723e-01 3.89566379e+02] [-1.43278481e-01 -1.44471857e-03 9.89681358e-01 6.51497411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.40, Y:389.59, Z:65.15 [[ 2.00741716e-01 -9.79227324e-01 2.85764230e-02 5.19403386e+02] [ 9.68740108e-01 2.02762989e-01 1.42932762e-01 3.89592808e+02] [-1.45757907e-01 -1.00944077e-03 9.89319773e-01 6.51476329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.41, Y:389.62, Z:65.14 [[ 1.98665427e-01 -9.79651680e-01 2.85417785e-02 5.19408773e+02] [ 9.69165581e-01 2.00703861e-01 1.42954670e-01 3.89619809e+02] [-1.45774228e-01 -7.38441301e-04 9.89317608e-01 6.51435276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.4992541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:519.41, Y:389.65, Z:65.14 [[ 1.93991543e-01 -9.80594960e-01 2.82985278e-02 5.19413210e+02] [ 9.70266888e-01 1.96044686e-01 1.41945930e-01 3.89646884e+02] [-1.44739240e-01 -7.91854443e-05 9.89469831e-01 6.51367347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5292541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:519.42, Y:389.67, Z:65.13 [[ 1.91836139e-01 -9.81022282e-01 2.81811694e-02 5.19417973e+02] [ 9.70754020e-01 1.93894928e-01 1.41567617e-01 3.89673857e+02] [-1.44345173e-01 1.99198286e-04 9.89527378e-01 6.51318215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:519.42, Y:389.70, Z:65.13 [[ 1.88700399e-01 -9.81636197e-01 2.79738551e-02 5.19422081e+02] [ 9.71494421e-01 1.90761618e-01 1.40743012e-01 3.89699915e+02] [-1.43494773e-01 6.18181537e-04 9.89650882e-01 6.51269181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.5892541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:519.43, Y:389.73, Z:65.12 [[ 1.88526802e-01 -9.81670633e-01 2.79358667e-02 5.19427509e+02] [ 9.71528116e-01 1.90584369e-01 1.40750552e-01 3.89727617e+02] [-1.43494823e-01 6.05228467e-04 9.89650883e-01 6.51225842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.43, Y:389.76, Z:65.12 [[ 1.87321685e-01 -9.81899545e-01 2.79976786e-02 5.19432982e+02] [ 9.71695839e-01 1.89400924e-01 1.41189539e-01 3.89755572e+02] [-1.43936731e-01 7.57365327e-04 9.89586603e-01 6.51197779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.44, Y:389.78, Z:65.12 [[ 1.84296556e-01 -9.82476839e-01 2.78215715e-02 5.19437586e+02] [ 9.72377145e-01 1.86381123e-01 1.40516069e-01 3.89782799e+02] [-1.43239199e-01 1.15643271e-03 9.89687423e-01 6.51151607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.6792541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:519.44, Y:389.81, Z:65.11 [[ 1.82559461e-01 -9.82810348e-01 2.74929557e-02 5.19442336e+02] [ 9.72922765e-01 1.84613022e-01 1.39065903e-01 3.89809555e+02] [-1.41750966e-01 1.36072621e-03 9.89901415e-01 6.51087236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7092541539998 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:519.43, Y:389.84, Z:65.09 [[ 1.80359525e-01 -9.82125992e-01 5.38421533e-02 5.19434043e+02] [ 9.72719018e-01 1.86216704e-01 1.38351185e-01 3.89837658e+02] [-1.45904604e-01 2.74203325e-02 9.88918587e-01 6.50876221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:519.46, Y:389.86, Z:65.11 [[ 1.80100836e-01 -9.83645167e-01 2.42386893e-03 5.19462864e+02] [ 9.73270063e-01 1.78557126e-01 1.44439387e-01 3.89862075e+02] [-1.42509904e-01 -2.36545753e-02 9.89510681e-01 6.51108920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.46, Y:389.89, Z:65.10 [[ 1.80505055e-01 -9.83183902e-01 2.77009088e-02 5.19455264e+02] [ 9.73057279e-01 1.82611668e-01 1.40756919e-01 3.89889608e+02] [-1.43448446e-01 1.54723557e-03 9.89656582e-01 6.50981952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.7992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:519.46, Y:389.92, Z:65.09 [[ 1.81202060e-01 -9.83057821e-01 2.76248707e-02 5.19458971e+02] [ 9.72953312e-01 1.83290356e-01 1.40593379e-01 3.89917590e+02] [-1.43274793e-01 1.40189956e-03 9.89681953e-01 6.50934913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.46, Y:389.94, Z:65.09 [[ 1.81866567e-01 -9.82936014e-01 2.75924854e-02 5.19463511e+02] [ 9.72823491e-01 1.83943450e-01 1.40638770e-01 3.89943971e+02] [-1.43314368e-01 1.26512772e-03 9.89676407e-01 6.50898474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:519.47, Y:389.97, Z:65.08 [[ 1.81970789e-01 -9.82920864e-01 2.74446343e-02 5.19467299e+02] [ 9.72885045e-01 1.84024790e-01 1.40105556e-01 3.89969937e+02] [-1.42763168e-01 1.20535558e-03 9.89756144e-01 6.50845665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.8892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:519.47, Y:390.00, Z:65.08 [[ 1.83579558e-01 -9.82621285e-01 2.74582725e-02 5.19470923e+02] [ 9.72540266e-01 1.85619355e-01 1.40395463e-01 3.89997847e+02] [-1.43052357e-01 9.30538470e-04 9.89714685e-01 6.50801793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:519.48, Y:390.03, Z:65.08 [[ 1.84870492e-01 -9.82378586e-01 2.74811747e-02 5.19475433e+02] [ 9.72247623e-01 1.86900560e-01 1.40722208e-01 3.90025184e+02] [-1.43378731e-01 7.03122880e-04 9.89667644e-01 6.50773909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:519.48, Y:390.05, Z:65.07 [[ 1.86789739e-01 -9.82016791e-01 2.74338431e-02 5.19477963e+02] [ 9.71884390e-01 1.88793215e-01 1.40704849e-01 3.90052445e+02] [-1.43353848e-01 3.80301815e-04 9.89671425e-01 6.50733010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 987.9792541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:519.48, Y:390.08, Z:65.07 [[ 1.86951578e-01 -9.81989997e-01 2.72901720e-02 5.19481593e+02] [ 9.71935130e-01 1.88932643e-01 1.40166188e-01 3.90079307e+02] [-1.42797799e-01 3.19986859e-04 9.89751831e-01 6.50671860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0092541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:519.48, Y:390.11, Z:65.06 [[ 1.87917891e-01 -9.81802840e-01 2.73870475e-02 5.19484869e+02] [ 9.71641668e-01 1.89903043e-01 1.40887559e-01 3.90106236e+02] [-1.43524689e-01 1.35103489e-04 9.89646728e-01 6.50640149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.49, Y:390.13, Z:65.06 [[ 1.87991437e-01 -9.81785906e-01 2.74891568e-02 5.19489891e+02] [ 9.71525199e-01 1.89990594e-01 1.41571047e-01 3.90134150e+02] [-1.44215140e-01 9.22638902e-05 9.89546353e-01 6.50620745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0692541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:519.49, Y:390.16, Z:65.06 [[ 1.86481557e-01 -9.82072047e-01 2.75521867e-02 5.19493630e+02] [ 9.71735042e-01 1.88505757e-01 1.42114700e-01 3.90161629e+02] [-1.44760621e-01 2.71654665e-04 9.89466669e-01 6.50561218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.0992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:519.50, Y:390.19, Z:65.05 [[ 1.85585069e-01 -9.82239612e-01 2.76319908e-02 5.19498577e+02] [ 9.71811338e-01 1.87630526e-01 1.42749814e-01 3.90189576e+02] [-1.45399127e-01 3.60847957e-04 9.89373015e-01 6.50540477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.1292541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:519.50, Y:390.22, Z:65.05 [[ 1.82853327e-01 -9.82751312e-01 2.76499400e-02 5.19501673e+02] [ 9.72282460e-01 1.84930621e-01 1.43064615e-01 3.90217395e+02] [-1.45710258e-01 7.23710929e-04 9.89327042e-01 6.50484522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.1592541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:519.51, Y:390.24, Z:65.04 [[ 1.81158512e-01 -9.83065567e-01 2.76348514e-02 5.19505547e+02] [ 9.72579084e-01 1.83251793e-01 1.43208612e-01 3.90244321e+02] [-1.45847591e-01 9.33619459e-04 9.89306630e-01 6.50434981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.1892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:519.50, Y:390.27, Z:65.03 [[ 1.77027373e-01 -9.83422868e-01 3.92526680e-02 5.19501567e+02] [ 9.73102767e-01 1.80864802e-01 1.42684717e-01 3.90270909e+02] [-1.47418839e-01 1.29377793e-02 9.88989535e-01 6.50305711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2192541539998 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:519.51, Y:390.30, Z:65.03 [[ 1.77213494e-01 -9.83724308e-01 2.96961717e-02 5.19511971e+02] [ 9.73129670e-01 1.79652708e-01 1.44026216e-01 3.90298968e+02] [-1.47017087e-01 3.37483681e-03 9.89128195e-01 6.50288306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2492541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:519.52, Y:390.32, Z:65.03 [[ 1.77103522e-01 -9.84051285e-01 1.66556603e-02 5.19520462e+02] [ 9.73516619e-01 1.77643214e-01 1.43903726e-01 3.90323347e+02] [-1.44567411e-01 -9.27129442e-03 9.89451518e-01 6.50310854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.52, Y:390.35, Z:65.02 [[ 1.76666088e-01 -9.83752679e-01 3.19336870e-02 5.19517033e+02] [ 9.73448763e-01 1.79429550e-01 1.42135645e-01 3.90351470e+02] [-1.45556169e-01 5.97525961e-03 9.89331945e-01 6.50211951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3092541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:519.52, Y:390.38, Z:65.02 [[ 1.79373644e-01 -9.83529707e-01 2.22353547e-02 5.19524491e+02] [ 9.73318023e-01 1.80708202e-01 1.41409236e-01 3.90378238e+02] [-1.43098296e-01 -3.72301858e-03 9.89701479e-01 6.50206071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3392541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:519.52, Y:390.41, Z:65.01 [[ 1.80455399e-01 -9.83041204e-01 3.26472021e-02 5.19523888e+02] [ 9.72948392e-01 1.83273692e-01 1.40649139e-01 3.90407431e+02] [-1.44247272e-01 6.38314634e-03 9.89521086e-01 6.50114155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3692541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:519.53, Y:390.43, Z:65.01 [[ 1.81128361e-01 -9.83177694e-01 2.35401769e-02 5.19530896e+02] [ 9.73107038e-01 1.82634256e-01 1.40383126e-01 3.90434263e+02] [-1.42320801e-01 -2.52025369e-03 9.89817376e-01 6.50097555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.3992541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:519.53, Y:390.46, Z:65.00 [[ 1.85795492e-01 -9.82031326e-01 3.30833695e-02 5.19531113e+02] [ 9.72054979e-01 1.88616365e-01 1.39760455e-01 3.90463254e+02] [-1.43489210e-01 6.19199153e-03 9.89632511e-01 6.50032521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4292541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:519.54, Y:390.49, Z:65.00 [[ 1.88002181e-01 -9.81890846e-01 2.33569323e-02 5.19536826e+02] [ 9.71700569e-01 1.89408609e-01 1.41146671e-01 3.90490984e+02] [-1.43014628e-01 -3.83993755e-03 9.89713126e-01 6.50022657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.53, Y:390.52, Z:64.99 [[ 1.87820228e-01 -9.81464767e-01 3.80850825e-02 5.19531307e+02] [ 9.71196980e-01 1.91364442e-01 1.41972097e-01 3.90518033e+02] [-1.46628742e-01 1.03228855e-02 9.89137731e-01 6.49910426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.54, Y:390.55, Z:64.99 [[ 1.90082332e-01 -9.81518710e-01 2.21298151e-02 5.19544335e+02] [ 9.71066685e-01 1.91281682e-01 1.42971364e-01 3.90546974e+02] [-1.44562097e-01 -5.68680406e-03 9.89479389e-01 6.49942144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5192541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:519.55, Y:390.57, Z:65.00 [[ 1.92814536e-01 -9.81108942e-01 1.57416475e-02 5.19551638e+02] [ 9.70913226e-01 1.93082516e-01 1.41586195e-01 3.90573419e+02] [-1.41950919e-01 -1.20161028e-02 9.89800763e-01 6.49964795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5492541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:519.55, Y:390.60, Z:64.99 [[ 1.95128775e-01 -9.80419685e-01 2.64953345e-02 5.19549634e+02] [ 9.70319034e-01 1.96912184e-01 1.40380072e-01 3.90601576e+02] [-1.42848640e-01 -1.68326407e-03 9.89743115e-01 6.49881736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.5792541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:519.55, Y:390.63, Z:64.99 [[ 1.96644443e-01 -9.80111095e-01 2.67058802e-02 5.19552984e+02] [ 9.69812722e-01 1.98439825e-01 1.41721281e-01 3.90628080e+02] [-1.44202110e-01 -1.96899990e-03 9.89546297e-01 6.49852244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6092541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:519.56, Y:390.65, Z:64.98 [[ 1.96721260e-01 -9.80095134e-01 2.67259034e-02 5.19557557e+02] [ 9.69746185e-01 1.98518025e-01 1.42066644e-01 3.90654859e+02] [-1.44544400e-01 -2.03018627e-03 9.89496233e-01 6.49814794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.56, Y:390.68, Z:64.98 [[ 1.96371233e-01 -9.80166465e-01 2.66840705e-02 5.19562107e+02] [ 9.69818002e-01 1.98165645e-01 1.42068367e-01 3.90681904e+02] [-1.44538515e-01 -2.01944844e-03 9.89497115e-01 6.49780986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.57, Y:390.71, Z:64.97 [[ 1.95216379e-01 -9.80399066e-01 2.66127185e-02 5.19566027e+02] [ 9.70074967e-01 1.97012960e-01 1.41917065e-01 3.90708967e+02] [-1.44378408e-01 -1.88820353e-03 9.89520748e-01 6.49735823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.6992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:519.57, Y:390.73, Z:64.97 [[ 1.93859732e-01 -9.80670729e-01 2.65202873e-02 5.19570319e+02] [ 9.70387771e-01 1.95657718e-01 1.41653208e-01 3.90734705e+02] [-1.44104054e-01 -1.72589060e-03 9.89561036e-01 6.49678617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.7292541539998 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:519.58, Y:390.76, Z:64.96 [[ 1.91142399e-01 -9.81211068e-01 2.62568869e-02 5.19575036e+02] [ 9.71108531e-01 1.92932699e-01 1.40446414e-01 3.90761565e+02] [-1.42873388e-01 -1.34697766e-03 9.89740057e-01 6.49624646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.58, Y:390.79, Z:64.96 [[ 1.89946159e-01 -9.81441741e-01 2.63166604e-02 5.19580461e+02] [ 9.71261422e-01 1.91756661e-01 1.40998702e-01 3.90789397e+02] [-1.43428406e-01 -1.22180490e-03 9.89659941e-01 6.49607560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.59, Y:390.82, Z:64.96 [[ 1.86566924e-01 -9.82093407e-01 2.61786897e-02 5.19585770e+02] [ 9.71992366e-01 1.88393083e-01 1.40495149e-01 3.90815747e+02] [-1.42911243e-01 -7.66261187e-04 9.89735212e-01 6.49567193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:519.59, Y:390.84, Z:64.95 [[ 1.84839335e-01 -9.82423561e-01 2.60454673e-02 5.19591317e+02] [ 9.72407062e-01 1.86664557e-01 1.39931586e-01 3.90842766e+02] [-1.42333853e-01 -5.38065043e-04 9.89818562e-01 6.49521511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.60, Y:390.87, Z:64.95 [[ 1.81645910e-01 -9.83023377e-01 2.58805659e-02 5.19597059e+02] [ 9.73107546e-01 1.83480319e-01 1.39271949e-01 3.90870396e+02] [-1.41656156e-01 -1.13605929e-04 9.89915916e-01 6.49483484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.60, Y:390.90, Z:64.94 [[ 1.80253276e-01 -9.83281652e-01 2.58060101e-02 5.19602632e+02] [ 9.73393619e-01 1.82091163e-01 1.39095904e-01 3.90897728e+02] [-1.41469496e-01 4.69131855e-05 9.89942614e-01 6.49440138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:519.61, Y:390.92, Z:64.94 [[ 1.77978310e-01 -9.83704076e-01 2.54953563e-02 5.19608140e+02] [ 9.74026061e-01 1.79794827e-01 1.37648297e-01 3.90923613e+02] [-1.39989124e-01 3.34730176e-04 9.90152985e-01 6.49385644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9392541539999 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:519.61, Y:390.95, Z:64.93 [[ 1.76907630e-01 -9.83903725e-01 2.52418421e-02 5.19613081e+02] [ 9.74392017e-01 1.78698788e-01 1.36480549e-01 3.90949445e+02] [-1.38794408e-01 4.50998872e-04 9.90321114e-01 6.49329242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9692541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:519.62, Y:390.98, Z:64.93 [[ 1.76754628e-01 -9.83928628e-01 2.53427627e-02 5.19618758e+02] [ 9.74312359e-01 1.78561653e-01 1.37226684e-01 3.90977132e+02] [-1.39546509e-01 4.36315412e-04 9.90215422e-01 6.49304251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 988.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.62, Y:391.00, Z:64.92 [[ 1.73568476e-01 -9.84186192e-01 3.53768696e-02 5.19615823e+02] [ 9.74188092e-01 1.76848134e-01 1.40293617e-01 3.91000532e+02] [-1.44331374e-01 1.01131758e-02 9.89477730e-01 6.49197895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0292541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:519.63, Y:391.03, Z:64.92 [[ 1.73667305e-01 -9.84603581e-01 1.98860752e-02 5.19629841e+02] [ 9.74554461e-01 1.74730525e-01 1.40402448e-01 3.91028379e+02] [-1.41715457e-01 -5.00325146e-03 9.89894791e-01 6.49217081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0592541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:519.63, Y:391.05, Z:64.92 [[ 1.73226786e-01 -9.84525576e-01 2.64928373e-02 5.19632147e+02] [ 9.74262776e-01 1.75236495e-01 1.41789331e-01 3.91054910e+02] [-1.44237734e-01 1.24927521e-03 9.89542276e-01 6.49159962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.0892541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:519.65, Y:391.08, Z:64.92 [[ 1.75264936e-01 -9.84374577e-01 1.69968776e-02 5.19646640e+02] [ 9.74547655e-01 1.75914721e-01 1.38963589e-01 3.91084736e+02] [-1.39782226e-01 -7.79117742e-03 9.90151618e-01 6.49172720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.64, Y:391.11, Z:64.91 [[ 1.73381092e-01 -9.84317941e-01 3.25144212e-02 5.19641635e+02] [ 9.74187902e-01 1.76255602e-01 1.41038628e-01 3.91109779e+02] [-1.44557701e-01 7.22172437e-03 9.89470019e-01 6.49065495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.65, Y:391.14, Z:64.90 [[ 1.74430546e-01 -9.84222307e-01 2.96721141e-02 5.19648903e+02] [ 9.73785879e-01 1.76892191e-01 1.43004244e-01 3.91135794e+02] [-1.45996733e-01 3.94997735e-03 9.89277187e-01 6.49021115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.66, Y:391.16, Z:64.90 [[ 1.75771739e-01 -9.84215768e-01 2.05819732e-02 5.19659093e+02] [ 9.73694438e-01 1.76896131e-01 1.43620679e-01 3.91162410e+02] [-1.44994608e-01 -5.20390364e-03 9.89418760e-01 6.49024525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2092541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:519.66, Y:391.19, Z:64.89 [[ 1.75760497e-01 -9.83836588e-01 3.42609879e-02 5.19656412e+02] [ 9.73358843e-01 1.78883584e-01 1.43433703e-01 3.91189355e+02] [-1.47244053e-01 8.13825661e-03 9.89066710e-01 6.48901395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2392541539998 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:519.66, Y:391.22, Z:64.88 [[ 1.77148119e-01 -9.83789024e-01 2.78872608e-02 5.19664711e+02] [ 9.73434769e-01 1.79319399e-01 1.42370307e-01 3.91215561e+02] [-1.45063073e-01 1.92579705e-03 9.89420536e-01 6.48844784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2692541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:519.66, Y:391.24, Z:64.87 [[ 1.76475496e-01 -9.83590763e-01 3.74914817e-02 5.19663524e+02] [ 9.73185935e-01 1.80064316e-01 1.43129236e-01 3.91241526e+02] [-1.47531473e-01 1.12273797e-02 9.88993635e-01 6.48733471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.68, Y:391.27, Z:64.87 [[ 1.78906427e-01 -9.83479537e-01 2.75770101e-02 5.19675662e+02] [ 9.72653036e-01 1.81017629e-01 1.45528997e-01 3.91270224e+02] [-1.48116715e-01 7.86789725e-04 9.88969575e-01 6.48738095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3292541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:519.69, Y:391.30, Z:64.87 [[ 1.80596677e-01 -9.83364583e-01 1.94662937e-02 5.19686298e+02] [ 9.72750875e-01 1.81503257e-01 1.44264697e-01 3.91298430e+02] [-1.45397990e-01 -7.11787080e-03 9.89347644e-01 6.48738876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3592541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:519.69, Y:391.33, Z:64.87 [[ 1.82599882e-01 -9.82915121e-01 2.31332821e-02 5.19691107e+02] [ 9.72606233e-01 1.84027369e-01 1.42024800e-01 3.91325514e+02] [-1.43855480e-01 -3.43413738e-03 9.89592748e-01 6.48675326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.3892541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:519.71, Y:391.35, Z:64.88 [[ 1.84944402e-01 -9.82748601e-01 -8.68628497e-04 5.19709805e+02] [ 9.72987560e-01 1.82983051e-01 1.40756564e-01 3.91353499e+02] [-1.38169372e-01 -2.68773033e-02 9.90043855e-01 6.48798158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:519.68, Y:391.38, Z:64.84 [[ 1.82485380e-01 -9.81564188e-01 5.68403911e-02 5.19682230e+02] [ 9.71869905e-01 1.88833670e-01 1.40750605e-01 3.91377851e+02] [-1.48889133e-01 2.95565378e-02 9.88412079e-01 6.48445245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4492541539998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:519.70, Y:391.40, Z:64.85 [[ 1.83025155e-01 -9.82634521e-01 3.05154249e-02 5.19700992e+02] [ 9.71695511e-01 1.85529165e-01 1.46242137e-01 3.91403803e+02] [-1.49364074e-01 2.88571167e-03 9.88778057e-01 6.48477220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.4792541539998 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:519.71, Y:391.43, Z:64.85 [[ 1.82850762e-01 -9.82813620e-01 2.53572067e-02 5.19708471e+02] [ 9.71818561e-01 1.84587912e-01 1.46615101e-01 3.91431741e+02] [-1.48775952e-01 -2.16607886e-03 9.88868558e-01 6.48455051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.73, Y:391.46, Z:64.86 [[ 1.84786385e-01 -9.82750506e-01 -7.44543559e-03 5.19732395e+02] [ 9.72390336e-01 1.81729257e-01 1.46395054e-01 3.91460500e+02] [-1.42516760e-01 -3.42916824e-02 9.89198187e-01 6.48633410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.72, Y:391.49, Z:64.85 [[ 1.85190570e-01 -9.82376965e-01 2.52972794e-02 5.19723049e+02] [ 9.72199359e-01 1.86904166e-01 1.41050485e-01 3.91488147e+02] [-1.43292914e-01 -1.52722087e-03 9.89679144e-01 6.48473948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5692541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:519.73, Y:391.51, Z:64.84 [[ 1.84799953e-01 -9.82458027e-01 2.50040509e-02 5.19728393e+02] [ 9.72484206e-01 1.86477893e-01 1.39644065e-01 3.91514718e+02] [-1.41857136e-01 -1.49017211e-03 9.89886020e-01 6.48424388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.5992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:519.73, Y:391.54, Z:64.84 [[ 1.84734860e-01 -9.82471369e-01 2.49607761e-02 5.19733750e+02] [ 9.72497092e-01 1.86407316e-01 1.39648554e-01 3.91542332e+02] [-1.41853577e-01 -1.52367396e-03 9.89886479e-01 6.48377284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.71, Y:391.57, Z:64.80 [[ 1.80130406e-01 -9.81474512e-01 6.52749484e-02 5.19713951e+02] [ 9.71748383e-01 1.87848651e-01 1.42891445e-01 3.91565672e+02] [-1.52506122e-01 3.76917315e-02 9.87583524e-01 6.48048262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.6592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:519.77, Y:391.60, Z:64.84 [[ 1.84848395e-01 -9.82629742e-01 -1.64274429e-02 5.19765074e+02] [ 9.72740969e-01 1.80555455e-01 1.45515411e-01 3.91595538e+02] [-1.40021706e-01 -4.28779369e-02 9.89219594e-01 6.48446896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.6892541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:519.75, Y:391.62, Z:64.82 [[ 1.85424910e-01 -9.82353702e-01 2.44705402e-02 5.19751054e+02] [ 9.72699181e-01 1.87025136e-01 1.37396878e-01 3.91622350e+02] [-1.39548937e-01 -1.67432934e-03 9.90213760e-01 6.48247614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7192541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:519.76, Y:391.65, Z:64.82 [[ 1.85871092e-01 -9.82266561e-01 2.45833447e-02 5.19757448e+02] [ 9.72491554e-01 1.87481215e-01 1.38242441e-01 3.91649129e+02] [-1.40399842e-01 -1.78817828e-03 9.90093272e-01 6.48206174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7492541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:519.76, Y:391.68, Z:64.82 [[ 1.86032781e-01 -9.82237474e-01 2.45224097e-02 5.19762929e+02] [ 9.72477882e-01 1.87632947e-01 1.38132716e-01 3.91676200e+02] [-1.40280342e-01 -1.84971237e-03 9.90110097e-01 6.48157030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.7792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:519.77, Y:391.70, Z:64.81 [[ 1.86739547e-01 -9.82100924e-01 2.46194228e-02 5.19769068e+02] [ 9.72228891e-01 1.88344774e-01 1.38914468e-01 3.91702553e+02] [-1.41064967e-01 -2.00511074e-03 9.89998310e-01 6.48114479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8092541539999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:519.77, Y:391.73, Z:64.81 [[ 1.86738656e-01 -9.82098991e-01 2.47031577e-02 5.19774899e+02] [ 9.72123294e-01 1.88354246e-01 1.39638750e-01 3.91729722e+02] [-1.41792020e-01 -2.06143736e-03 9.89894325e-01 6.48068042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8392541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:519.78, Y:391.76, Z:64.80 [[ 1.86836696e-01 -9.82082171e-01 2.46304429e-02 5.19782035e+02] [ 9.72130535e-01 1.88441343e-01 1.39470724e-01 3.91755372e+02] [-1.41613105e-01 -2.11424364e-03 9.89919824e-01 6.48025281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8692541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:519.79, Y:391.78, Z:64.80 [[ 1.86550602e-01 -9.82132801e-01 2.47797017e-02 5.19788340e+02] [ 9.72028491e-01 1.88177105e-01 1.40534656e-01 3.91782810e+02] [-1.42686668e-01 -2.13024868e-03 9.89765617e-01 6.47991301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.79, Y:391.81, Z:64.80 [[ 1.86129326e-01 -9.82212955e-01 2.47706706e-02 5.19794681e+02] [ 9.72081616e-01 1.87758466e-01 1.40727009e-01 3.91810123e+02] [-1.42874794e-01 -2.11430977e-03 9.89738512e-01 6.47951423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.80, Y:391.84, Z:64.79 [[ 1.84780570e-01 -9.82469500e-01 2.46945894e-02 5.19802294e+02] [ 9.72368114e-01 1.86413131e-01 1.40536103e-01 3.91837150e+02] [-1.42675831e-01 -1.95610997e-03 9.89767539e-01 6.47909021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9592541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:519.81, Y:391.86, Z:64.78 [[ 1.83283120e-01 -9.82752777e-01 2.45820576e-02 5.19809056e+02] [ 9.72711786e-01 1.84915753e-01 1.40135458e-01 3.91863893e+02] [-1.42264120e-01 -1.77320697e-03 9.89827144e-01 6.47849674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 989.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.82, Y:391.89, Z:64.78 [[ 1.83432601e-01 -9.82721737e-01 2.47076534e-02 5.19815503e+02] [ 9.72542069e-01 1.85079868e-01 1.41093471e-01 3.91891676e+02] [-1.43228510e-01 -1.85191000e-03 9.89687913e-01 6.47823009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0192541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:519.82, Y:391.92, Z:64.78 [[ 1.82888571e-01 -9.82824065e-01 2.46703957e-02 5.19821786e+02] [ 9.72640281e-01 1.84536073e-01 1.41128745e-01 3.91917771e+02] [-1.43257304e-01 -1.81541388e-03 9.89683813e-01 6.47763839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:519.80, Y:391.94, Z:64.74 [[ 1.79802867e-01 -9.81286727e-01 6.89005687e-02 5.19802303e+02] [ 9.71783458e-01 1.88058431e-01 1.42376044e-01 3.91944097e+02] [-1.52669055e-01 4.13568121e-02 9.87411654e-01 6.47428700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.85, Y:391.97, Z:64.79 [[ 1.83031776e-01 -9.82924014e-01 -1.89671207e-02 5.19854755e+02] [ 9.72712444e-01 1.78264718e-01 1.48499802e-01 3.91971050e+02] [-1.42582853e-01 -4.56297369e-02 9.88730528e-01 6.47857884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.82, Y:392.00, Z:64.73 [[ 1.79604450e-01 -9.81535587e-01 6.58037467e-02 5.19817251e+02] [ 9.71850536e-01 1.87404449e-01 1.42779931e-01 3.91997875e+02] [-1.52475498e-01 3.83074955e-02 9.87564559e-01 6.47335305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.87, Y:392.03, Z:64.78 [[ 1.82435841e-01 -9.83086882e-01 -1.60420127e-02 5.19865885e+02] [ 9.72794550e-01 1.78108348e-01 1.48149185e-01 3.92025005e+02] [-1.42786304e-01 -4.26333035e-02 9.88834907e-01 6.47750272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1692541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:519.85, Y:392.05, Z:64.75 [[ 1.81669149e-01 -9.83058497e-01 2.43374740e-02 5.19852036e+02] [ 9.72986309e-01 1.83283043e-01 1.40374391e-01 3.92052392e+02] [-1.42456884e-01 -1.82166709e-03 9.89799332e-01 6.47526007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.1992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:519.86, Y:392.08, Z:64.75 [[ 1.81123280e-01 -9.83154466e-01 2.45286368e-02 5.19859078e+02] [ 9.72887698e-01 1.82767710e-01 1.41723292e-01 3.92080049e+02] [-1.43818931e-01 -1.80577867e-03 9.89602372e-01 6.47500175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.2292541539998 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:519.85, Y:392.11, Z:64.73 [[ 1.79212050e-01 -9.82326180e-01 5.40214542e-02 5.19849897e+02] [ 9.72345942e-01 1.85214831e-01 1.42263261e-01 3.92108359e+02] [-1.49754500e-01 2.70322513e-02 9.88353604e-01 6.47255277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.2592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:519.88, Y:392.13, Z:64.75 [[ 1.78229667e-01 -9.83984016e-01 -3.10530497e-03 5.19883601e+02] [ 9.73150247e-01 1.75798471e-01 1.48571515e-01 3.92132448e+02] [-1.45646088e-01 -2.95017800e-02 9.88896790e-01 6.47511558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.88, Y:392.16, Z:64.74 [[ 1.77885952e-01 -9.83735793e-01 2.49094071e-02 5.19876394e+02] [ 9.73044798e-01 1.79615321e-01 1.44644936e-01 3.92160440e+02] [-1.46766512e-01 -1.49233326e-03 9.89170038e-01 6.47375386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.88, Y:392.19, Z:64.73 [[ 1.76403557e-01 -9.84004021e-01 2.48570405e-02 5.19882315e+02] [ 9.73323224e-01 1.78141414e-01 1.44594396e-01 3.92186724e+02] [-1.46709535e-01 -1.31303092e-03 9.89178744e-01 6.47333746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3492541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:519.89, Y:392.21, Z:64.73 [[ 1.74954817e-01 -9.84264833e-01 2.47699494e-02 5.19886532e+02] [ 9.73635341e-01 1.76696002e-01 1.44266230e-01 3.92212964e+02] [-1.46372928e-01 -1.12317372e-03 9.89228843e-01 6.47271536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.89, Y:392.24, Z:64.72 [[ 1.75465905e-01 -9.84174759e-01 2.47337683e-02 5.19891342e+02] [ 9.73536712e-01 1.77196208e-01 1.44318310e-01 3.92240729e+02] [-1.46417168e-01 -1.24371136e-03 9.89222152e-01 6.47240319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.89, Y:392.27, Z:64.72 [[ 1.76162015e-01 -9.84055892e-01 2.45142168e-02 5.19894370e+02] [ 9.73570016e-01 1.77854192e-01 1.43280533e-01 3.92268570e+02] [-1.45356009e-01 -1.37428102e-03 9.89378462e-01 6.47189263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.90, Y:392.30, Z:64.71 [[ 1.76069901e-01 -9.84075582e-01 2.43852025e-02 5.19898139e+02] [ 9.73664569e-01 1.77745049e-01 1.42772567e-01 3.92296201e+02] [-1.44833346e-01 -1.39494397e-03 9.89455080e-01 6.47145536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4692541539998 meters Centerline goodness : 0.999626 Centerline is valid? [True, True] Translation: X:519.90, Y:392.32, Z:64.71 [[ 1.75796639e-01 -9.84128407e-01 2.42243764e-02 5.19900615e+02] [ 9.73818261e-01 1.77452392e-01 1.42086745e-01 3.92322512e+02] [-1.44130276e-01 -1.38823213e-03 9.89557748e-01 6.47085062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.91, Y:392.35, Z:64.71 [[ 1.76303084e-01 -9.84034126e-01 2.43733642e-02 5.19905416e+02] [ 9.73561139e-01 1.77973422e-01 1.43192769e-01 3.92350446e+02] [-1.45244383e-01 -1.51636650e-03 9.89394648e-01 6.47065559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5292541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:519.91, Y:392.38, Z:64.70 [[ 1.75123095e-01 -9.84239756e-01 2.45764876e-02 5.19909109e+02] [ 9.73554686e-01 1.76833629e-01 1.44641421e-01 3.92378167e+02] [-1.46707786e-01 -1.40349856e-03 9.89178880e-01 6.47007676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.90, Y:392.40, Z:64.68 [[ 1.72372894e-01 -9.83778970e-01 4.96641158e-02 5.19899110e+02] [ 9.73002112e-01 1.77906837e-01 1.47023967e-01 3.92404601e+02] [-1.53474672e-01 2.29803429e-02 9.87885332e-01 6.46792652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.5892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:519.91, Y:392.43, Z:64.68 [[ 1.71438069e-01 -9.84791730e-01 2.81822079e-02 5.19913039e+02] [ 9.73149363e-01 1.73732195e-01 1.50988219e-01 3.92431115e+02] [-1.53588106e-01 1.54036900e-03 9.88133757e-01 6.46822040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6192541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:519.93, Y:392.46, Z:64.70 [[ 1.73559510e-01 -9.84818462e-01 -3.11354875e-03 5.19933125e+02] [ 9.73763541e-01 1.71137049e-01 1.49988926e-01 3.92458752e+02] [-1.47179020e-01 -2.90638647e-02 9.88682774e-01 6.47009360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.92, Y:392.49, Z:64.69 [[ 1.73523896e-01 -9.84522221e-01 2.46059778e-02 5.19923774e+02] [ 9.73675160e-01 1.75254732e-01 1.45747942e-01 3.92486439e+02] [-1.47804402e-01 -1.33252145e-03 9.89015714e-01 6.46853945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.6792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:519.93, Y:392.51, Z:64.68 [[ 1.73182517e-01 -9.84582462e-01 2.46006335e-02 5.19927568e+02] [ 9.73702032e-01 1.74916024e-01 1.45975124e-01 3.92512731e+02] [-1.48027592e-01 -1.32665261e-03 9.88982342e-01 6.46804362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.93, Y:392.54, Z:64.68 [[ 1.72971187e-01 -9.84618959e-01 2.46267020e-02 5.19931378e+02] [ 9.73687883e-01 1.74710441e-01 1.46315308e-01 3.92540817e+02] [-1.48367368e-01 -1.32961125e-03 9.88931421e-01 6.46771013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7392541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:519.94, Y:392.57, Z:64.67 [[ 1.72130734e-01 -9.84769054e-01 2.45136660e-02 5.19935033e+02] [ 9.73901259e-01 1.73863079e-01 1.45903967e-01 3.92567200e+02] [-1.47943733e-01 -1.24066674e-03 9.88995001e-01 6.46707428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.94, Y:392.59, Z:64.67 [[ 1.71840904e-01 -9.84819168e-01 2.45338590e-02 5.19939079e+02] [ 9.73892180e-01 1.73578947e-01 1.46302325e-01 3.92593510e+02] [-1.48339896e-01 -1.24739047e-03 9.88935650e-01 6.46687003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.93, Y:392.62, Z:64.64 [[ 1.68822285e-01 -9.84237882e-01 5.26766291e-02 5.19927708e+02] [ 9.73458732e-01 1.74874975e-01 1.47637532e-01 3.92620765e+02] [-1.54522276e-01 2.63540191e-02 9.87637753e-01 6.46432173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.96, Y:392.65, Z:64.67 [[ 1.71416199e-01 -9.85193005e-01 -3.35108008e-03 5.19961196e+02] [ 9.74056394e-01 1.68966434e-01 1.50547286e-01 3.92647948e+02] [-1.47751913e-01 -2.90703845e-02 9.88597130e-01 6.46705538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8592541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:519.94, Y:392.68, Z:64.64 [[ 1.69971272e-01 -9.84481779e-01 4.36508244e-02 5.19942923e+02] [ 9.73834079e-01 1.74583856e-01 1.45491116e-01 3.92677492e+02] [-1.50854082e-01 1.77793502e-02 9.88396146e-01 6.46420718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.8892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:519.96, Y:392.70, Z:64.66 [[ 1.70029039e-01 -9.85417684e-01 6.48948072e-03 5.19964989e+02] [ 9.74162681e-01 1.69073141e-01 1.49737582e-01 3.92701329e+02] [-1.48651258e-01 -1.91379272e-02 9.88704477e-01 6.46573500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:519.95, Y:392.73, Z:64.63 [[ 1.68272076e-01 -9.84652061e-01 4.63122753e-02 5.19949644e+02] [ 9.73828138e-01 1.73336990e-01 1.47013760e-01 3.92730141e+02] [-1.52785032e-01 2.03618862e-02 9.88049658e-01 6.46306565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:519.97, Y:392.76, Z:64.65 [[ 1.68955496e-01 -9.85616682e-01 3.71429560e-03 5.19974713e+02] [ 9.74255322e-01 1.67576260e-01 1.50813675e-01 3.92755903e+02] [-1.49266901e-01 -2.18621269e-02 9.88555228e-01 6.46504740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 990.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.97, Y:392.78, Z:64.64 [[ 1.68469499e-01 -9.85400028e-01 2.45929434e-02 5.19969217e+02] [ 9.74187526e-01 1.70252035e-01 1.48232615e-01 3.92783653e+02] [-1.50255421e-01 -1.01453560e-03 9.88646691e-01 6.46376299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:519.97, Y:392.81, Z:64.63 [[ 1.67895815e-01 -9.85500515e-01 2.44893942e-02 5.19973995e+02] [ 9.74343962e-01 1.69669685e-01 1.47871707e-01 3.92810976e+02] [-1.49882751e-01 -9.65947455e-04 9.88703306e-01 6.46330159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.98, Y:392.84, Z:64.63 [[ 1.67636106e-01 -9.85546796e-01 2.44059402e-02 5.19978801e+02] [ 9.74427393e-01 1.69400650e-01 1.47630201e-01 3.92838738e+02] [-1.49630854e-01 -9.66335341e-04 9.88741460e-01 6.46287911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.98, Y:392.87, Z:64.62 [[ 1.67646701e-01 -9.85550621e-01 2.41776264e-02 5.19983667e+02] [ 9.74600415e-01 1.69378208e-01 1.46509567e-01 3.92866068e+02] [-1.48487758e-01 -9.98320819e-04 9.88913742e-01 6.46237605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.99, Y:392.89, Z:64.62 [[ 1.67651162e-01 -9.85554200e-01 2.40001558e-02 5.19988111e+02] [ 9.74726479e-01 1.69357180e-01 1.45692951e-01 3.92892945e+02] [-1.47652898e-01 -1.03200509e-03 9.89038703e-01 6.46190847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.99, Y:392.92, Z:64.61 [[ 1.68580507e-01 -9.85399902e-01 2.38253371e-02 5.19993095e+02] [ 9.74689836e-01 1.70251533e-01 1.44893542e-01 3.92920108e+02] [-1.46834382e-01 -1.20391283e-03 9.89160359e-01 6.46145573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.00, Y:392.95, Z:64.61 [[ 1.69920572e-01 -9.85171348e-01 2.37573947e-02 5.19998199e+02] [ 9.74481213e-01 1.71567274e-01 1.44744730e-01 3.92947816e+02] [-1.46674352e-01 -1.44397250e-03 9.89183779e-01 6.46104672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.1892541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:520.00, Y:392.97, Z:64.60 [[ 1.70216109e-01 -9.85120727e-01 2.37408674e-02 5.20002476e+02] [ 9.74404389e-01 1.71856914e-01 1.44918211e-01 3.92974293e+02] [-1.46841965e-01 -1.53420862e-03 9.89158776e-01 6.46040616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.01, Y:393.00, Z:64.60 [[ 1.70828144e-01 -9.85016060e-01 2.36876916e-02 5.20007053e+02] [ 9.74320320e-01 1.72454726e-01 1.44773208e-01 3.93002407e+02] [-1.46688990e-01 -1.65193924e-03 9.89181283e-01 6.46011825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.01, Y:393.03, Z:64.60 [[ 1.71684020e-01 -9.84868932e-01 2.36174390e-02 5.20012266e+02] [ 9.74196390e-01 1.73291309e-01 1.44608149e-01 3.93029606e+02] [-1.46512771e-01 -1.81888468e-03 9.89207107e-01 6.45979370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.2792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:520.02, Y:393.06, Z:64.59 [[ 1.70987825e-01 -9.84989154e-01 2.36543866e-02 5.20017074e+02] [ 9.74244703e-01 1.72607214e-01 1.45099995e-01 3.93056825e+02] [-1.47004839e-01 -1.76517167e-03 9.89134198e-01 6.45907764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:520.02, Y:393.08, Z:64.59 [[ 1.69529518e-01 -9.85239175e-01 2.37383864e-02 5.20023317e+02] [ 9.74380564e-01 1.71175949e-01 1.45881155e-01 3.93084505e+02] [-1.47791269e-01 -1.60093954e-03 9.89017279e-01 6.45870850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:520.03, Y:393.11, Z:64.59 [[ 1.68608080e-01 -9.85396068e-01 2.37887497e-02 5.20028636e+02] [ 9.74452095e-01 1.70271250e-01 1.46460974e-01 3.93111609e+02] [-1.48372608e-01 -1.51350672e-03 9.88930371e-01 6.45856455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.03, Y:393.14, Z:64.58 [[ 1.67395423e-01 -9.85602403e-01 2.38049336e-02 5.20033624e+02] [ 9.74602686e-01 1.69073935e-01 1.46845528e-01 3.93139234e+02] [-1.48756099e-01 -1.38091704e-03 9.88872952e-01 6.45816941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.04, Y:393.17, Z:64.58 [[ 1.67221997e-01 -9.85632867e-01 2.37624951e-02 5.20038066e+02] [ 9.74632482e-01 1.68896122e-01 1.46852395e-01 3.93167108e+02] [-1.48755941e-01 -1.39725130e-03 9.88872953e-01 6.45773376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.04, Y:393.19, Z:64.57 [[ 1.65095397e-01 -9.85989380e-01 2.38422412e-02 5.20042958e+02] [ 9.74893120e-01 1.66804409e-01 1.47511672e-01 3.93193883e+02] [-1.49421933e-01 -1.10986122e-03 9.88772903e-01 6.45732625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.05, Y:393.22, Z:64.57 [[ 1.63125181e-01 -9.86316560e-01 2.38708766e-02 5.20048025e+02] [ 9.75167511e-01 1.64860331e-01 1.47883050e-01 3.93220520e+02] [-1.49794862e-01 -8.45346040e-04 9.88716736e-01 6.45689735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.05, Y:393.25, Z:64.56 [[ 1.62462452e-01 -9.86428169e-01 2.37785480e-02 5.20052659e+02] [ 9.75324685e-01 1.64191504e-01 1.47590340e-01 3.93247544e+02] [-1.49491504e-01 -7.86083623e-04 9.88762698e-01 6.45649904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5192541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:520.06, Y:393.27, Z:64.56 [[ 1.61271408e-01 -9.86627828e-01 2.36021770e-02 5.20056425e+02] [ 9.75652907e-01 1.62988101e-01 1.46752462e-01 3.93273450e+02] [-1.48636937e-01 -6.39443663e-04 9.88891628e-01 6.45578842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5492541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:520.06, Y:393.30, Z:64.55 [[ 1.61278299e-01 -9.86628923e-01 2.35091086e-02 5.20060647e+02] [ 9.75700073e-01 1.62981301e-01 1.46446108e-01 3.93300820e+02] [-1.48319511e-01 -6.80740295e-04 9.88939260e-01 6.45535390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.07, Y:393.33, Z:64.55 [[ 1.62100259e-01 -9.86499454e-01 2.32880426e-02 5.20065029e+02] [ 9.75737741e-01 1.63762427e-01 1.45319405e-01 3.93327516e+02] [-1.47171220e-01 -8.33291052e-04 9.89110680e-01 6.45510337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.07, Y:393.35, Z:64.55 [[ 1.63008045e-01 -9.86355273e-01 2.30576146e-02 5.20069204e+02] [ 9.75766556e-01 1.64627704e-01 1.44143497e-01 3.93354047e+02] [-1.45972621e-01 -9.97700465e-04 9.89288127e-01 6.45468286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:520.07, Y:393.38, Z:64.54 [[ 1.63509944e-01 -9.86273398e-01 2.30061326e-02 5.20073083e+02] [ 9.75690138e-01 1.65116748e-01 1.44101401e-01 3.93381471e+02] [-1.45922076e-01 -1.11515528e-03 9.89295459e-01 6.45409075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:520.08, Y:393.41, Z:64.54 [[ 1.64408578e-01 -9.86127015e-01 2.28764238e-02 5.20077230e+02] [ 9.75623094e-01 1.65987547e-01 1.43553869e-01 3.93409435e+02] [-1.45359549e-01 -1.28271995e-03 9.89378065e-01 6.45369850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.08, Y:393.44, Z:64.53 [[ 1.66989896e-01 -9.85695846e-01 2.27612466e-02 5.20081278e+02] [ 9.75255382e-01 1.68525424e-01 1.43094802e-01 3.93436382e+02] [-1.44883800e-01 -1.69735785e-03 9.89447221e-01 6.45342228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.09, Y:393.46, Z:64.53 [[ 1.68104291e-01 -9.85507761e-01 2.27024097e-02 5.20085232e+02] [ 9.75078934e-01 1.69619665e-01 1.43004339e-01 3.93463419e+02] [-1.44782661e-01 -1.90300165e-03 9.89461651e-01 6.45300326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.7592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:520.09, Y:393.49, Z:64.52 [[ 1.69916306e-01 -9.85195251e-01 2.27764404e-02 5.20089026e+02] [ 9.74655129e-01 1.71421604e-01 1.43742870e-01 3.93489641e+02] [-1.45519167e-01 -2.22508304e-03 9.89352931e-01 6.45245938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.7892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.09, Y:393.52, Z:64.52 [[ 1.70849470e-01 -9.85034654e-01 2.27417741e-02 5.20093804e+02] [ 9.74482985e-01 1.72339570e-01 1.43812326e-01 3.93517376e+02] [-1.45579433e-01 -2.40878789e-03 9.89343634e-01 6.45222883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8192541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:520.10, Y:393.55, Z:64.52 [[ 1.72175554e-01 -9.84801187e-01 2.28517013e-02 5.20098151e+02] [ 9.74104427e-01 1.73664925e-01 1.44779344e-01 3.93545060e+02] [-1.46547409e-01 -2.66752047e-03 9.89200051e-01 6.45168073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.10, Y:393.57, Z:64.51 [[ 1.72852470e-01 -9.84680318e-01 2.29498536e-02 5.20103034e+02] [ 9.73849226e-01 1.74346381e-01 1.45674380e-01 3.93573086e+02] [-1.47443919e-01 -2.83047929e-03 9.89066368e-01 6.45146906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.8792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:520.11, Y:393.60, Z:64.51 [[ 1.73395958e-01 -9.84583328e-01 2.30111467e-02 5.20106238e+02] [ 9.73652190e-01 1.74890977e-01 1.46337144e-01 3.93599307e+02] [-1.48105554e-01 -2.96941590e-03 9.88967101e-01 6.45089044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.11, Y:393.63, Z:64.51 [[ 1.73773173e-01 -9.84516313e-01 2.30328959e-02 5.20110235e+02] [ 9.73520262e-01 1.75265906e-01 1.46765668e-01 3.93627294e+02] [-1.48530075e-01 -3.08094495e-03 9.88903092e-01 6.45059860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.11, Y:393.66, Z:64.50 [[ 1.75014976e-01 -9.84298854e-01 2.29243034e-02 5.20113713e+02] [ 9.73363528e-01 1.76479109e-01 1.46350833e-01 3.93655416e+02] [-1.48098618e-01 -3.29990660e-03 9.88967093e-01 6.45020698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.12, Y:393.68, Z:64.50 [[ 1.75844883e-01 -9.84156499e-01 2.26839782e-02 5.20116950e+02] [ 9.73409034e-01 1.77268738e-01 1.45088414e-01 3.93682911e+02] [-1.46810865e-01 -3.43226585e-03 9.89158627e-01 6.44975068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 991.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.12, Y:393.71, Z:64.49 [[ 1.76001039e-01 -9.84132025e-01 2.25342293e-02 5.20120521e+02] [ 9.73485924e-01 1.77403649e-01 1.44406027e-01 3.93709692e+02] [-1.46112251e-01 -3.47885589e-03 9.89261901e-01 6.44932368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.12, Y:393.74, Z:64.49 [[ 1.76290892e-01 -9.84083632e-01 2.23814126e-02 5.20124285e+02] [ 9.73539146e-01 1.77670554e-01 1.43717449e-01 3.93736335e+02] [-1.45406507e-01 -3.54689600e-03 9.89365639e-01 6.44890579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.13, Y:393.76, Z:64.48 [[ 1.76203674e-01 -9.84101771e-01 2.22703960e-02 5.20127857e+02] [ 9.73619994e-01 1.77569673e-01 1.43293817e-01 3.93763849e+02] [-1.44970246e-01 -3.56599409e-03 9.89429589e-01 6.44831289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.0892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.13, Y:393.79, Z:64.48 [[ 1.76137825e-01 -9.84117016e-01 2.21171019e-02 5.20131376e+02] [ 9.73740143e-01 1.77484932e-01 1.42580621e-01 3.93791518e+02] [-1.44241467e-01 -3.57753045e-03 9.89536053e-01 6.44790049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.13, Y:393.82, Z:64.48 [[ 1.75269518e-01 -9.84275134e-01 2.19785473e-02 5.20134917e+02] [ 9.73989399e-01 1.76607990e-01 1.41965731e-01 3.93818621e+02] [-1.43614926e-01 -3.47539326e-03 9.89627543e-01 6.44752538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1492541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:520.14, Y:393.85, Z:64.47 [[ 1.74122207e-01 -9.84483560e-01 2.17618327e-02 5.20138494e+02] [ 9.74366994e-01 1.75445534e-01 1.40811310e-01 3.93845452e+02] [-1.42444437e-01 -3.31436464e-03 9.89797251e-01 6.44684019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.1792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:520.14, Y:393.87, Z:64.47 [[ 1.72458953e-01 -9.84776806e-01 2.17382698e-02 5.20143241e+02] [ 9.74646261e-01 1.73795656e-01 1.40924573e-01 3.93872828e+02] [-1.42557268e-01 -3.11658101e-03 9.89781649e-01 6.44653630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2092541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:520.15, Y:393.90, Z:64.46 [[ 1.71566116e-01 -9.84933467e-01 2.17056135e-02 5.20147751e+02] [ 9.74795387e-01 1.72907159e-01 1.40986056e-01 3.93900426e+02] [-1.42614941e-01 -3.02989823e-03 9.89773610e-01 6.44611825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.15, Y:393.93, Z:64.46 [[ 1.71317029e-01 -9.84974641e-01 2.18044020e-02 5.20152424e+02] [ 9.74703827e-01 1.72671961e-01 1.41904348e-01 3.93927769e+02] [-1.43537193e-01 -3.05779717e-03 9.89640199e-01 6.44591358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.16, Y:393.96, Z:64.45 [[ 1.70735567e-01 -9.85073969e-01 2.18778911e-02 5.20156372e+02] [ 9.74693981e-01 1.72104848e-01 1.42658910e-01 3.93955768e+02] [-1.44294870e-01 -3.03270116e-03 9.89530087e-01 6.44549286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.16, Y:393.98, Z:64.45 [[ 1.70638048e-01 -9.85090800e-01 2.18808769e-02 5.20160462e+02] [ 9.74667380e-01 1.72007870e-01 1.42957308e-01 3.93982511e+02] [-1.44589612e-01 -3.06737906e-03 9.89486956e-01 6.44512501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.16, Y:394.01, Z:64.45 [[ 1.70088320e-01 -9.85185715e-01 2.18876917e-02 5.20164702e+02] [ 9.74713014e-01 1.71463904e-01 1.43299232e-01 3.94010446e+02] [-1.44929305e-01 -3.03930761e-03 9.89437345e-01 6.44468852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.17, Y:394.04, Z:64.44 [[ 1.69488591e-01 -9.85289674e-01 2.18603881e-02 5.20168985e+02] [ 9.74803134e-01 1.70866288e-01 1.43400006e-01 3.94037250e+02] [-1.45025748e-01 -2.99509009e-03 9.89423348e-01 6.44425019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.17, Y:394.07, Z:64.44 [[ 1.68293184e-01 -9.85493834e-01 2.18930793e-02 5.20173409e+02] [ 9.74933447e-01 1.69686872e-01 1.43913653e-01 3.94065227e+02] [-1.45540986e-01 -2.87539158e-03 9.89348045e-01 6.44388105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.18, Y:394.09, Z:64.43 [[ 1.67502162e-01 -9.85629088e-01 2.18706926e-02 5.20177219e+02] [ 9.75051083e-01 1.68900707e-01 1.44041438e-01 3.94091681e+02] [-1.45665407e-01 -2.80220981e-03 9.89329943e-01 6.44348330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.18, Y:394.12, Z:64.43 [[ 1.66650275e-01 -9.85776472e-01 2.17355149e-02 5.20181060e+02] [ 9.75288473e-01 1.68039950e-01 1.43439778e-01 3.94119342e+02] [-1.45051993e-01 -2.70588128e-03 9.89420334e-01 6.44304533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.18, Y:394.15, Z:64.43 [[ 1.66145159e-01 -9.85866838e-01 2.15026530e-02 5.20184618e+02] [ 9.75563782e-01 1.67509935e-01 1.42182028e-01 3.94147229e+02] [-1.43774454e-01 -2.64564604e-03 9.89606946e-01 6.44254194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.19, Y:394.17, Z:64.42 [[ 1.65664282e-01 -9.85950748e-01 2.13651215e-02 5.20188344e+02] [ 9.75740216e-01 1.67016006e-01 1.41550996e-01 3.94173518e+02] [-1.43130627e-01 -2.60313572e-03 9.89700383e-01 6.44212472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:520.19, Y:394.20, Z:64.42 [[ 1.64865550e-01 -9.86086132e-01 2.12953064e-02 5.20192136e+02] [ 9.75900876e-01 1.66215979e-01 1.41385035e-01 3.94200829e+02] [-1.42957442e-01 -2.52741332e-03 9.89725609e-01 6.44165437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:520.20, Y:394.23, Z:64.41 [[ 1.63968458e-01 -9.86237135e-01 2.12287231e-02 5.20196177e+02] [ 9.76076836e-01 1.65319038e-01 1.41221904e-01 3.94228349e+02] [-1.42787798e-01 -2.43507293e-03 9.89750330e-01 6.44121474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.5992541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:520.20, Y:394.25, Z:64.41 [[ 1.61271254e-01 -9.86689505e-01 2.08663138e-02 5.20200179e+02] [ 9.76840064e-01 1.62602677e-01 1.39082201e-01 3.94254233e+02] [-1.40623867e-01 -2.04690964e-03 9.90060977e-01 6.44054419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.6292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:520.21, Y:394.28, Z:64.40 [[ 1.58055651e-01 -9.87208722e-01 2.09129311e-02 5.20205113e+02] [ 9.77277143e-01 1.59424736e-01 1.39689438e-01 3.94282262e+02] [-1.41236670e-01 -1.64097544e-03 9.89974500e-01 6.44025638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.21, Y:394.31, Z:64.40 [[ 1.56249951e-01 -9.87494442e-01 2.09923831e-02 5.20209804e+02] [ 9.77449528e-01 1.57647300e-01 1.40498220e-01 3.94309799e+02] [-1.42050603e-01 -1.43384488e-03 9.89858359e-01 6.43996915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.6892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:520.21, Y:394.34, Z:64.39 [[ 1.53618386e-01 -9.87910203e-01 2.08523863e-02 5.20213780e+02] [ 9.77963764e-01 1.55023369e-01 1.39837876e-01 3.94337231e+02] [-1.41379871e-01 -1.08879060e-03 9.89954821e-01 6.43937225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7192541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:520.22, Y:394.36, Z:64.39 [[ 1.48743029e-01 -9.88653044e-01 2.09921250e-02 5.20218468e+02] [ 9.78538811e-01 1.50216393e-01 1.41056127e-01 3.94364842e+02] [-1.42608931e-01 -4.39506491e-04 9.89779016e-01 6.43904365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.22, Y:394.39, Z:64.39 [[ 1.45917360e-01 -9.89073729e-01 2.10067493e-02 5.20222859e+02] [ 9.78908706e-01 1.47421687e-01 1.41437588e-01 3.94392569e+02] [-1.42989053e-01 -7.45096393e-05 9.89724267e-01 6.43863770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.7792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.23, Y:394.42, Z:64.38 [[ 1.39805977e-01 -9.89955315e-01 2.10419284e-02 5.20227340e+02] [ 9.79723360e-01 1.41378516e-01 1.41965678e-01 3.94419431e+02] [-1.43514554e-01 7.67618416e-04 9.89647909e-01 6.43822384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.23, Y:394.45, Z:64.38 [[ 1.36875379e-01 -9.90365166e-01 2.10230525e-02 5.20232013e+02] [ 9.80118898e-01 1.38475640e-01 1.42096600e-01 3.94447338e+02] [-1.43638704e-01 1.15556499e-03 9.89629520e-01 6.43784625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8392541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:520.24, Y:394.48, Z:64.37 [[ 1.31852859e-01 -9.91046940e-01 2.09949032e-02 5.20236398e+02] [ 9.80795011e-01 1.33501179e-01 1.42192057e-01 3.94475138e+02] [-1.43721847e-01 1.84326700e-03 9.89616407e-01 6.43741677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8692541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:520.24, Y:394.50, Z:64.37 [[ 1.29578783e-01 -9.91350639e-01 2.08146355e-02 5.20240262e+02] [ 9.81238191e-01 1.31222758e-01 1.41252259e-01 3.94502525e+02] [-1.42761871e-01 2.12081947e-03 9.89754793e-01 6.43685190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.24, Y:394.53, Z:64.37 [[ 1.27483728e-01 -9.91619586e-01 2.09403064e-02 5.20243665e+02] [ 9.81346004e-01 1.29169853e-01 1.42390908e-01 3.94529959e+02] [-1.43902470e-01 2.39716226e-03 9.89588972e-01 6.43657059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9292541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:520.25, Y:394.56, Z:64.36 [[ 1.26802306e-01 -9.91711559e-01 2.07210033e-02 5.20246428e+02] [ 9.81614208e-01 1.28461042e-01 1.41178281e-01 3.94555941e+02] [-1.42669974e-01 2.43829974e-03 9.89767313e-01 6.43596807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.25, Y:394.58, Z:64.36 [[ 1.27823658e-01 -9.91579880e-01 2.07474093e-02 5.20248312e+02] [ 9.81411477e-01 1.29476872e-01 1.41658928e-01 3.94583695e+02] [-1.43152452e-01 2.25438323e-03 9.89698082e-01 6.43566121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 992.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.25, Y:394.61, Z:64.35 [[ 1.28542557e-01 -9.91489246e-01 2.06370330e-02 5.20250834e+02] [ 9.81387554e-01 1.30171609e-01 1.41187188e-01 3.94609871e+02] [-1.42671934e-01 2.10436518e-03 9.89767797e-01 6.43523314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.25, Y:394.64, Z:64.35 [[ 1.31137324e-01 -9.91154146e-01 2.04073840e-02 5.20252262e+02] [ 9.81230874e-01 1.32705116e-01 1.39911844e-01 3.94638115e+02] [-1.41382368e-01 1.67669039e-03 9.89953643e-01 6.43474317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.25, Y:394.67, Z:64.34 [[ 1.33221293e-01 -9.90660350e-01 2.90544135e-02 5.20250852e+02] [ 9.81313186e-01 1.35957700e-01 1.36161434e-01 3.94666201e+02] [-1.38839905e-01 1.03718767e-02 9.90260524e-01 6.43397642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.26, Y:394.69, Z:64.34 [[ 1.34170541e-01 -9.90894533e-01 1.12378604e-02 5.20262249e+02] [ 9.80749700e-01 1.34403408e-01 1.41653625e-01 3.94694086e+02] [-1.41874210e-01 -7.98421538e-03 9.89852495e-01 6.43423771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.26, Y:394.72, Z:64.33 [[ 1.36863410e-01 -9.90230857e-01 2.66694102e-02 5.20255272e+02] [ 9.80174146e-01 1.39269176e-01 1.40935237e-01 3.94721601e+02] [-1.43272647e-01 6.85178923e-03 9.89659538e-01 6.43293112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:520.26, Y:394.75, Z:64.33 [[ 1.39707069e-01 -9.90093224e-01 1.40479060e-02 5.20264752e+02] [ 9.80006369e-01 1.40285668e-01 1.41093757e-01 3.94749367e+02] [-1.41666693e-01 -5.94475794e-03 9.89896564e-01 6.43318028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:520.26, Y:394.78, Z:64.33 [[ 1.43458984e-01 -9.89445439e-01 2.04265157e-02 5.20262893e+02] [ 9.79315122e-01 1.44905684e-01 1.41224060e-01 3.94777051e+02] [-1.42693420e-01 -2.55864414e-04 9.89766903e-01 6.43253326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.27, Y:394.81, Z:64.32 [[ 1.45501462e-01 -9.89144866e-01 2.05367628e-02 5.20265881e+02] [ 9.78858506e-01 1.46942420e-01 1.42281240e-01 3.94805167e+02] [-1.43754480e-01 -5.99543571e-04 9.89613202e-01 6.43228524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.2292541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:520.27, Y:394.83, Z:64.32 [[ 1.49024237e-01 -9.88623126e-01 2.03983027e-02 5.20267302e+02] [ 9.78429034e-01 1.50409450e-01 1.41610819e-01 3.94833149e+02] [-1.43067828e-01 -1.14515262e-03 9.89712224e-01 6.43167116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.2592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:520.27, Y:394.86, Z:64.31 [[ 1.50587935e-01 -9.88384522e-01 2.04770934e-02 5.20270186e+02] [ 9.78066334e-01 1.51967139e-01 1.42450814e-01 3.94861269e+02] [-1.43908024e-01 -1.42341820e-03 9.89590044e-01 6.43134730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.2892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:520.27, Y:394.89, Z:64.31 [[ 1.50324955e-01 -9.88425403e-01 2.04360266e-02 5.20274138e+02] [ 9.78106793e-01 1.51700986e-01 1.42456704e-01 3.94889240e+02] [-1.43907991e-01 -1.42618114e-03 9.89590045e-01 6.43091138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3192541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:520.28, Y:394.92, Z:64.30 [[ 1.52451309e-01 -9.88099883e-01 2.04259404e-02 5.20275058e+02] [ 9.77748996e-01 1.53803325e-01 1.42658469e-01 3.94916718e+02] [-1.44102394e-01 -1.77702756e-03 9.89561187e-01 6.43043085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.28, Y:394.94, Z:64.30 [[ 1.53319842e-01 -9.87963039e-01 2.05441153e-02 5.20277528e+02] [ 9.77446675e-01 1.54677661e-01 1.43780452e-01 3.94944765e+02] [-1.45227488e-01 -1.96361897e-03 9.89396342e-01 6.43016920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.27, Y:394.97, Z:64.28 [[ 1.51483263e-01 -9.87533298e-01 4.27879285e-02 5.20265083e+02] [ 9.76943299e-01 1.56166546e-01 1.45580908e-01 3.94971515e+02] [-1.50448037e-01 1.97483091e-02 9.88420656e-01 6.42808709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.29, Y:395.00, Z:64.30 [[ 1.53813759e-01 -9.88098224e-01 -1.79636395e-03 5.20291985e+02] [ 9.77426179e-01 1.51885481e-01 1.46863425e-01 3.94999597e+02] [-1.44842648e-01 -2.43454286e-02 9.89155148e-01 6.43009134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.28, Y:395.03, Z:64.29 [[ 1.53323660e-01 -9.87966952e-01 2.03262722e-02 5.20284147e+02] [ 9.77565213e-01 1.54651475e-01 1.43000613e-01 3.95027916e+02] [-1.44423368e-01 -2.05512082e-03 9.89513854e-01 6.42880481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4692541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:520.29, Y:395.05, Z:64.28 [[ 1.52226197e-01 -9.88139285e-01 2.01974695e-02 5.20286059e+02] [ 9.77828018e-01 1.53548178e-01 1.42391448e-01 3.95054347e+02] [-1.43803868e-01 -1.92605699e-03 9.89604334e-01 6.42824894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.4992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.29, Y:395.08, Z:64.28 [[ 1.51716142e-01 -9.88217930e-01 2.01875123e-02 5.20287797e+02] [ 9.77871201e-01 1.53041542e-01 1.42640108e-01 3.95082519e+02] [-1.44049040e-01 -1.90002005e-03 9.89568726e-01 6.42796842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.29, Y:395.11, Z:64.28 [[ 1.51300829e-01 -9.88284155e-01 2.00621131e-02 5.20290275e+02] [ 9.78023978e-01 1.52613658e-01 1.42049885e-01 3.95109974e+02] [-1.43447403e-01 -1.87103769e-03 9.89656174e-01 6.42751370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.28, Y:395.13, Z:64.26 [[ 1.47426344e-01 -9.88249857e-01 4.03446790e-02 5.20278529e+02] [ 9.77715729e-01 1.51775955e-01 1.45037971e-01 3.95133506e+02] [-1.49457106e-01 1.80632095e-02 9.88603204e-01 6.42555031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.5892541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:520.29, Y:395.16, Z:64.26 [[ 1.47893450e-01 -9.88825917e-01 1.87305663e-02 5.20292200e+02] [ 9.78116458e-01 1.49041568e-01 1.45171645e-01 3.95161237e+02] [-1.46341118e-01 -3.14926035e-03 9.89229174e-01 6.42575702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6192541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:520.31, Y:395.19, Z:64.27 [[ 1.51233403e-01 -9.88496314e-01 -1.86935896e-03 5.20310072e+02] [ 9.78526067e-01 1.49439546e-01 1.41966753e-01 3.95193578e+02] [-1.40054256e-01 -2.32993316e-02 9.89869661e-01 6.42677712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6492541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:520.29, Y:395.22, Z:64.24 [[ 1.46587020e-01 -9.88184016e-01 4.47727115e-02 5.20285593e+02] [ 9.78273450e-01 1.51527687e-01 1.41493522e-01 3.95217087e+02] [-1.46605942e-01 2.30588412e-02 9.88926179e-01 6.42381038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.31, Y:395.25, Z:64.25 [[ 1.46289520e-01 -9.89111915e-01 1.60311030e-02 5.20305308e+02] [ 9.78386486e-01 1.47059380e-01 1.45373389e-01 3.95246747e+02] [-1.46148075e-01 -5.58198871e-03 9.89246977e-01 6.42466900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.30, Y:395.27, Z:64.24 [[ 1.44491811e-01 -9.89234914e-01 2.31603271e-02 5.20304246e+02] [ 9.78384473e-01 1.46328035e-01 1.46122994e-01 3.95272370e+02] [-1.47938973e-01 1.54612835e-03 9.88995283e-01 6.42386373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.31, Y:395.30, Z:64.24 [[ 1.44271999e-01 -9.89376129e-01 1.79015503e-02 5.20311786e+02] [ 9.78438870e-01 1.45332396e-01 1.46751057e-01 3.95300735e+02] [-1.47793668e-01 -3.65649574e-03 9.89011457e-01 6.42372689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.33, Y:395.33, Z:64.25 [[ 1.46285283e-01 -9.89223659e-01 -6.09653982e-03 5.20332254e+02] [ 9.79026113e-01 1.43888362e-01 1.44235949e-01 3.95331678e+02] [-1.41804392e-01 -2.70682682e-02 9.89524544e-01 6.42524011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.31, Y:395.36, Z:64.22 [[ 1.41504464e-01 -9.88961166e-01 4.39579294e-02 5.20307342e+02] [ 9.78533003e-01 1.46457171e-01 1.44994689e-01 3.95356056e+02] [-1.49832070e-01 2.24968889e-02 9.88455482e-01 6.42213303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.34, Y:395.39, Z:64.24 [[ 1.44144383e-01 -9.89544016e-01 -5.00365052e-03 5.20339332e+02] [ 9.79111880e-01 1.41888387e-01 1.45628339e-01 3.95386643e+02] [-1.43395691e-01 -2.58906407e-02 9.89326716e-01 6.42444620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8592541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:520.33, Y:395.41, Z:64.23 [[ 1.42828387e-01 -9.89548416e-01 1.98490343e-02 5.20329896e+02] [ 9.79373245e-01 1.44198921e-01 1.41544053e-01 3.95414604e+02] [-1.42926903e-01 -7.76895751e-04 9.89732942e-01 6.42283925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.33, Y:395.44, Z:64.23 [[ 1.43494269e-01 -9.89449867e-01 1.99588589e-02 5.20333598e+02] [ 9.79117504e-01 1.44872733e-01 1.42621192e-01 3.95442376e+02] [-1.44008014e-01 -9.23255573e-04 9.89576091e-01 6.42263860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:520.34, Y:395.47, Z:64.22 [[ 1.43741218e-01 -9.89415468e-01 1.98870547e-02 5.20336695e+02] [ 9.79113723e-01 1.45106981e-01 1.42408855e-01 3.95470286e+02] [-1.43787275e-01 -9.98334132e-04 9.89608116e-01 6.42217285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:520.34, Y:395.50, Z:64.22 [[ 1.43617147e-01 -9.89438279e-01 1.96470798e-02 5.20339647e+02] [ 9.79342527e-01 1.44951298e-01 1.40987004e-01 3.95497308e+02] [-1.42345808e-01 -1.00693046e-03 9.89816476e-01 6.42152408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 993.9792541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:520.34, Y:395.52, Z:64.21 [[ 1.45604002e-01 -9.89147865e-01 1.96462760e-02 5.20342213e+02] [ 9.79005834e-01 1.46917357e-01 1.41290011e-01 3.95523681e+02] [-1.42643091e-01 -1.33857214e-03 9.89773286e-01 6.42112944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0092541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:520.34, Y:395.55, Z:64.21 [[ 1.48554300e-01 -9.88712096e-01 1.94938756e-02 5.20344740e+02] [ 9.78685076e-01 1.49817199e-01 1.40464690e-01 3.95550888e+02] [-1.41799656e-01 -1.78826857e-03 9.89893762e-01 6.42068923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0392541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:520.35, Y:395.58, Z:64.20 [[ 1.49680110e-01 -9.88544072e-01 1.94031568e-02 5.20347779e+02] [ 9.78566565e-01 1.50919449e-01 1.40109953e-01 3.95577381e+02] [-1.41433177e-01 -1.98439268e-03 9.89945816e-01 6.42024806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.35, Y:395.60, Z:64.19 [[ 1.50638932e-01 -9.88261864e-01 2.54244232e-02 5.20345287e+02] [ 9.78180590e-01 1.52725722e-01 1.40845973e-01 3.95604441e+02] [-1.43075667e-01 3.65279039e-03 9.89705012e-01 6.41941185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.36, Y:395.63, Z:64.20 [[ 1.53669655e-01 -9.88041115e-01 1.26645808e-02 5.20357165e+02] [ 9.78073104e-01 1.53917602e-01 1.40293892e-01 3.95633310e+02] [-1.40565435e-01 -9.17202808e-03 9.90028905e-01 6.41973470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.35, Y:395.66, Z:64.19 [[ 1.52517161e-01 -9.88022456e-01 2.34551157e-02 5.20354130e+02] [ 9.78061320e-01 1.54301919e-01 1.39953465e-01 3.95660021e+02] [-1.41896335e-01 1.59523621e-03 9.89880238e-01 6.41868338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.1592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.36, Y:395.69, Z:64.19 [[ 1.54592158e-01 -9.87870732e-01 1.45835936e-02 5.20364154e+02] [ 9.77868573e-01 1.55099853e-01 1.40417552e-01 3.95687099e+02] [-1.40976304e-01 -7.44661449e-03 9.89984964e-01 6.41877696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.37, Y:395.72, Z:64.18 [[ 1.53705748e-01 -9.87929055e-01 1.92542242e-02 5.20365711e+02] [ 9.77926900e-01 1.54882986e-01 1.40250627e-01 3.95715143e+02] [-1.41539821e-01 -2.72810367e-03 9.89928804e-01 6.41822887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.37, Y:395.74, Z:64.18 [[ 1.52816970e-01 -9.88195959e-01 1.07573345e-02 5.20374641e+02] [ 9.78142936e-01 1.52797569e-01 1.41029426e-01 3.95742597e+02] [-1.41008404e-01 -1.10294789e-02 9.89946959e-01 6.41839642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2492541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:520.37, Y:395.77, Z:64.17 [[ 1.52124111e-01 -9.87955229e-01 2.83323106e-02 5.20370042e+02] [ 9.77929209e-01 1.54610537e-01 1.40534851e-01 3.95769110e+02] [-1.43222615e-01 6.32825473e-03 9.89670266e-01 6.41702779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.38, Y:395.80, Z:64.17 [[ 1.50912212e-01 -9.88354175e-01 1.95327558e-02 5.20379022e+02] [ 9.77944686e-01 1.52150632e-01 1.43088703e-01 3.95796534e+02] [-1.44394239e-01 -2.49187809e-03 9.89517102e-01 6.41709689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3092541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:520.38, Y:395.82, Z:64.17 [[ 1.49396931e-01 -9.88587577e-01 1.93690586e-02 5.20382741e+02] [ 9.78310230e-01 1.50629804e-01 1.42196189e-01 3.95822779e+02] [-1.43490943e-01 -2.29472604e-03 9.89648970e-01 6.41660355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.39, Y:395.85, Z:64.16 [[ 1.47431716e-01 -9.88882939e-01 1.93499656e-02 5.20387051e+02] [ 9.78580782e-01 1.48681885e-01 1.42384518e-01 3.95850587e+02] [-1.43678610e-01 -2.05648939e-03 9.89622265e-01 6.41631696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3692541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:520.39, Y:395.88, Z:64.16 [[ 1.45918567e-01 -9.89111413e-01 1.91411844e-02 5.20390618e+02] [ 9.78990231e-01 1.47156937e-01 1.41148730e-01 3.95877974e+02] [-1.42428578e-01 -1.85718789e-03 9.89803340e-01 6.41578295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.39, Y:395.91, Z:64.16 [[ 1.44302911e-01 -9.89348942e-01 1.91138995e-02 5.20394833e+02] [ 9.79215133e-01 1.45553752e-01 1.41250945e-01 3.95905106e+02] [-1.42528572e-01 -1.66630281e-03 9.89789285e-01 6.41551586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.40, Y:395.93, Z:64.15 [[ 1.43287920e-01 -9.89497494e-01 1.90599183e-02 5.20398693e+02] [ 9.79376025e-01 1.44541583e-01 1.41174830e-01 3.95932359e+02] [-1.42447091e-01 -1.56182068e-03 9.89801186e-01 6.41507423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.40, Y:395.96, Z:64.15 [[ 1.40677603e-01 -9.89929789e-01 1.57741880e-02 5.20403116e+02] [ 9.80051988e-01 1.41497694e-01 1.39558244e-01 3.95959713e+02] [-1.40384874e-01 -4.17319489e-03 9.90088214e-01 6.41483819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.41, Y:395.99, Z:64.14 [[ 1.40749504e-01 -9.89814352e-01 2.13804785e-02 5.20405001e+02] [ 9.79993574e-01 1.42357494e-01 1.39093272e-01 3.95986645e+02] [-1.40720188e-01 1.37542244e-03 9.90048452e-01 6.41412374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:520.41, Y:396.01, Z:64.14 [[ 1.38902210e-01 -9.90132529e-01 1.85405527e-02 5.20411066e+02] [ 9.80465666e-01 1.40130615e-01 1.38023506e-01 3.96014032e+02] [-1.39259662e-01 -9.93394705e-04 9.90255401e-01 6.41370474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.42, Y:396.04, Z:64.14 [[ 1.37460348e-01 -9.90386300e-01 1.54799833e-02 5.20416180e+02] [ 9.80732157e-01 1.38277367e-01 1.37999300e-01 3.96041863e+02] [-1.38813148e-01 -3.78771440e-03 9.90311347e-01 6.41361448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.5792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:520.42, Y:396.07, Z:64.13 [[ 1.36662254e-01 -9.90393703e-01 2.10651668e-02 5.20418314e+02] [ 9.80875386e-01 1.38262601e-01 1.36992449e-01 3.96069219e+02] [-1.38588983e-01 1.94060684e-03 9.90348084e-01 6.41280033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6092541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:520.42, Y:396.10, Z:64.12 [[ 1.35780360e-01 -9.90571639e-01 1.82077600e-02 5.20423499e+02] [ 9.81157242e-01 1.36994254e-01 1.36246250e-01 3.96096261e+02] [-1.37456030e-01 -6.34889308e-04 9.90507666e-01 6.41241509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:520.43, Y:396.12, Z:64.12 [[ 1.34932905e-01 -9.90688492e-01 1.81500390e-02 5.20427800e+02] [ 9.81293075e-01 1.36146992e-01 1.36117221e-01 3.96123751e+02] [-1.37320837e-01 -5.56184433e-04 9.90526465e-01 6.41203582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.43, Y:396.15, Z:64.12 [[ 1.34634865e-01 -9.90729690e-01 1.81144660e-02 5.20431989e+02] [ 9.81329579e-01 1.35846873e-01 1.36153899e-01 3.96151173e+02] [-1.37352504e-01 -5.54800487e-04 9.90522076e-01 6.41167126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.6992541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:520.44, Y:396.18, Z:64.11 [[ 1.34225596e-01 -9.90787985e-01 1.79626907e-02 5.20435735e+02] [ 9.81504948e-01 1.35421143e-01 1.35311314e-01 3.96177940e+02] [-1.36497353e-01 -5.31772008e-04 9.90640293e-01 6.41121685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.7292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.44, Y:396.20, Z:64.11 [[ 1.34658638e-01 -9.90726918e-01 1.80893838e-02 5.20439518e+02] [ 9.81264778e-01 1.35866699e-01 1.36600425e-01 3.96204343e+02] [-1.37791463e-01 -6.43952028e-04 9.90461053e-01 6.41085226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.43, Y:396.23, Z:64.09 [[ 1.33099676e-01 -9.90398800e-01 3.73455938e-02 5.20431389e+02] [ 9.80704644e-01 1.37053639e-01 1.39408401e-01 3.96230048e+02] [-1.43188263e-01 1.80697842e-02 9.89530497e-01 6.40914966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.7892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.46, Y:396.26, Z:64.11 [[ 1.35595178e-01 -9.90762589e-01 -1.85455556e-03 5.20456973e+02] [ 9.81257037e-01 1.34035091e-01 1.38452957e-01 3.96259277e+02] [-1.36925435e-01 -2.05933491e-02 9.90367275e-01 6.41082278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.44, Y:396.28, Z:64.09 [[ 1.34093662e-01 -9.90367502e-01 3.45123365e-02 5.20440514e+02] [ 9.80856458e-01 1.37607433e-01 1.37785355e-01 3.96284420e+02] [-1.41207292e-01 1.53755053e-02 9.89860644e-01 6.40852156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.45, Y:396.31, Z:64.09 [[ 1.34541750e-01 -9.90733380e-01 1.85980267e-02 5.20452944e+02] [ 9.80559440e-01 1.35818633e-01 1.41620918e-01 3.96313173e+02] [-1.42834529e-01 -8.17455489e-04 9.89746245e-01 6.40871780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.8792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.47, Y:396.34, Z:64.10 [[ 1.37319065e-01 -9.90526706e-01 5.65582861e-04 5.20468437e+02] [ 9.80663775e-01 1.36032077e-01 1.40690565e-01 3.96342177e+02] [-1.39434699e-01 -1.87648501e-02 9.90053456e-01 6.40968215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.46, Y:396.37, Z:64.09 [[ 1.37654516e-01 -9.90313917e-01 1.81543238e-02 5.20463850e+02] [ 9.80640637e-01 1.38841252e-01 1.38083485e-01 3.96369789e+02] [-1.39266566e-01 -1.20494768e-03 9.90254195e-01 6.40864970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.46, Y:396.40, Z:64.07 [[ 1.36613505e-01 -9.90035070e-01 3.41659221e-02 5.20457413e+02] [ 9.80203294e-01 1.40085441e-01 1.39919878e-01 3.96395512e+02] [-1.43311734e-01 1.43746044e-02 9.89573200e-01 6.40705433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.47, Y:396.42, Z:64.07 [[ 1.37563206e-01 -9.90380581e-01 1.49221031e-02 5.20471436e+02] [ 9.80295695e-01 1.38287722e-01 1.41056215e-01 3.96424248e+02] [-1.41762880e-01 -4.77607181e-03 9.89889123e-01 6.40740887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 994.9992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.48, Y:396.45, Z:64.08 [[ 1.39518021e-01 -9.90209161e-01 4.53210784e-03 5.20481867e+02] [ 9.80585127e-01 1.38796025e-01 1.38522463e-01 3.96452850e+02] [-1.37795251e-01 -1.48822624e-02 9.90348922e-01 6.40786253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.47, Y:396.48, Z:64.06 [[ 1.39089874e-01 -9.89783611e-01 3.13434358e-02 5.20472205e+02] [ 9.80099474e-01 1.42117771e-01 1.38591347e-01 3.96479283e+02] [-1.41629903e-01 1.14430320e-02 9.89853539e-01 6.40599307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:520.49, Y:396.51, Z:64.07 [[ 1.41901226e-01 -9.89873687e-01 3.75841473e-03 5.20492196e+02] [ 9.80630535e-01 1.41092020e-01 1.35855793e-01 3.96507454e+02] [-1.35010357e-01 -1.55924873e-02 9.90721494e-01 6.40709951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.49, Y:396.54, Z:64.06 [[ 1.43217047e-01 -9.89534054e-01 1.76417970e-02 5.20490140e+02] [ 9.80243926e-01 1.44284501e-01 1.35291640e-01 3.96535364e+02] [-1.36421123e-01 -2.08280470e-03 9.90648747e-01 6.40618507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.49, Y:396.56, Z:64.06 [[ 1.44219661e-01 -9.89390068e-01 1.75494587e-02 5.20494315e+02] [ 9.80153827e-01 1.45266023e-01 1.34893509e-01 3.96562920e+02] [-1.36011638e-01 -2.25312700e-03 9.90704677e-01 6.40574577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.50, Y:396.59, Z:64.05 [[ 1.45924127e-01 -9.89034409e-01 2.27395565e-02 5.20495354e+02] [ 9.79791193e-01 1.47662536e-01 1.34925886e-01 3.96589765e+02] [-1.36804124e-01 2.59107515e-03 9.90594729e-01 6.40485832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.51, Y:396.62, Z:64.06 [[ 1.49751192e-01 -9.88711514e-01 4.91157820e-03 5.20510598e+02] [ 9.79728962e-01 1.49055565e-01 1.33841693e-01 3.96617963e+02] [-1.33062921e-01 -1.52309376e-02 9.90990554e-01 6.40550068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.51, Y:396.65, Z:64.05 [[ 1.49583839e-01 -9.88590919e-01 1.76824782e-02 5.20507902e+02] [ 9.79700504e-01 1.50605136e-01 1.32306518e-01 3.96645069e+02] [-1.33460095e-01 -2.46738413e-03 9.91051116e-01 6.40460632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.51, Y:396.67, Z:64.04 [[ 1.49522193e-01 -9.88443982e-01 2.49320834e-02 5.20507425e+02] [ 9.79495312e-01 1.51517783e-01 1.32782891e-01 3.96670540e+02] [-1.35026103e-01 4.56686978e-03 9.90831517e-01 6.40384530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:520.52, Y:396.70, Z:64.04 [[ 1.49521605e-01 -9.88610741e-01 1.70906868e-02 5.20515679e+02] [ 9.79657501e-01 1.50463024e-01 1.32785763e-01 3.96696967e+02] [-1.33844948e-01 -3.11132095e-03 9.90997401e-01 6.40372422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.2992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:520.52, Y:396.72, Z:64.03 [[ 1.49395275e-01 -9.88629096e-01 1.71336696e-02 5.20521532e+02] [ 9.79587232e-01 1.50341543e-01 1.33440157e-01 3.96724067e+02] [-1.34498724e-01 -3.15140500e-03 9.90908756e-01 6.40343473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.53, Y:396.75, Z:64.03 [[ 1.49078271e-01 -9.88674147e-01 1.72945218e-02 5.20525759e+02] [ 9.79416700e-01 1.50044186e-01 1.35017295e-01 3.96749416e+02] [-1.36083051e-01 -3.18960128e-03 9.90692298e-01 6.40310808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3592541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:520.53, Y:396.78, Z:64.03 [[ 1.48503931e-01 -9.88766559e-01 1.69491629e-02 5.20530900e+02] [ 9.79833458e-01 1.49436059e-01 1.32647126e-01 3.96775012e+02] [-1.33689858e-01 -3.09126269e-03 9.91018398e-01 6.40275957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.3892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:520.54, Y:396.80, Z:64.02 [[ 1.48287852e-01 -9.88797911e-01 1.70118872e-02 5.20535471e+02] [ 9.79752959e-01 1.49227763e-01 1.33473647e-01 3.96802819e+02] [-1.34517109e-01 -3.12507344e-03 9.90906343e-01 6.40239938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.54, Y:396.83, Z:64.02 [[ 1.48043084e-01 -9.88833189e-01 1.70929550e-02 5.20539880e+02] [ 9.79659365e-01 1.48993196e-01 1.34419327e-01 3.96829504e+02] [-1.35465026e-01 -3.15457833e-03 9.90777107e-01 6.40201659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.55, Y:396.86, Z:64.02 [[ 1.47948798e-01 -9.88852095e-01 1.68133372e-02 5.20545769e+02] [ 9.79934593e-01 1.48868129e-01 1.32538576e-01 3.96856757e+02] [-1.33564018e-01 -3.13295215e-03 9.91035235e-01 6.40166935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.4792541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:520.55, Y:396.88, Z:64.01 [[ 1.47505983e-01 -9.88924603e-01 1.64351758e-02 5.20551196e+02] [ 9.80366992e-01 1.48387598e-01 1.29852538e-01 3.96883828e+02] [-1.30853145e-01 -3.04152232e-03 9.91397097e-01 6.40131799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.56, Y:396.91, Z:64.01 [[ 1.47335776e-01 -9.88947301e-01 1.65953405e-02 5.20555409e+02] [ 9.80179646e-01 1.48235076e-01 1.31431442e-01 3.96911274e+02] [-1.32438782e-01 -3.09813853e-03 9.91186345e-01 6.40089473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.56, Y:396.94, Z:64.00 [[ 1.47107919e-01 -9.88983261e-01 1.64733221e-02 5.20559872e+02] [ 9.80304392e-01 1.47995176e-01 1.30769749e-01 3.96938711e+02] [-1.31767065e-01 -3.08839569e-03 9.91275896e-01 6.40048927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.57, Y:396.96, Z:64.00 [[ 1.46333169e-01 -9.89100464e-01 1.63363167e-02 5.20565159e+02] [ 9.80526765e-01 1.47211598e-01 1.29984649e-01 3.96964735e+02] [-1.30972772e-01 -3.00286983e-03 9.91381418e-01 6.40009109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.57, Y:396.99, Z:64.00 [[ 1.45362184e-01 -9.89245684e-01 1.62114889e-02 5.20569753e+02] [ 9.80761606e-01 1.46234674e-01 1.29313927e-01 3.96992301e+02] [-1.30293926e-01 -2.89774885e-03 9.91471178e-01 6.39971246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.6292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.58, Y:397.02, Z:63.99 [[ 1.42859883e-01 -9.89610636e-01 1.61815474e-02 5.20575926e+02] [ 9.81119936e-01 1.43749747e-01 1.29381921e-01 3.97019610e+02] [-1.30363818e-01 -2.60744726e-03 9.91462796e-01 6.39936622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.58, Y:397.05, Z:63.99 [[ 1.39176880e-01 -9.90136875e-01 1.60861744e-02 5.20581886e+02] [ 9.81709824e-01 1.40086904e-01 1.28924322e-01 3.97045545e+02] [-1.29906187e-01 -2.15132934e-03 9.91523956e-01 6.39906334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.59, Y:397.07, Z:63.99 [[ 1.37112941e-01 -9.90423059e-01 1.61927427e-02 5.20586750e+02] [ 9.81841373e-01 1.38052145e-01 1.30111969e-01 3.97072494e+02] [-1.31101337e-01 -1.94132994e-03 9.91367072e-01 6.39868675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7192541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:520.59, Y:397.10, Z:63.98 [[ 1.34829244e-01 -9.90740304e-01 1.59600850e-02 5.20591403e+02] [ 9.82364796e-01 1.35760483e-01 1.28563214e-01 3.97100109e+02] [-1.29539507e-01 -1.65545520e-03 9.91572880e-01 6.39838807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.60, Y:397.13, Z:63.98 [[ 1.31499112e-01 -9.91180322e-01 1.64180645e-02 5.20597087e+02] [ 9.82275282e-01 1.32513635e-01 1.32572272e-01 3.97127535e+02] [-1.33578644e-01 -1.30607703e-03 9.91037356e-01 6.39790741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.60, Y:397.15, Z:63.98 [[ 1.29318249e-01 -9.91466443e-01 1.64646091e-02 5.20601797e+02] [ 9.82469335e-01 1.30357865e-01 1.33269775e-01 3.97154539e+02] [-1.34278801e-01 -1.05824034e-03 9.90943028e-01 6.39756286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.61, Y:397.18, Z:63.97 [[ 1.28791130e-01 -9.91534733e-01 1.64838643e-02 5.20605451e+02] [ 9.82470124e-01 1.29837609e-01 1.33770891e-01 3.97181860e+02] [-1.34778711e-01 -1.03360004e-03 9.90875184e-01 6.39714392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.61, Y:397.21, Z:63.97 [[ 1.28648087e-01 -9.91554212e-01 1.64290649e-02 5.20608256e+02] [ 9.82506536e-01 1.29688619e-01 1.33647932e-01 3.97208512e+02] [-1.34649833e-01 -1.05188718e-03 9.90892686e-01 6.39674226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.61, Y:397.24, Z:63.96 [[ 1.29985807e-01 -9.91381866e-01 1.62999051e-02 5.20610032e+02] [ 9.82429033e-01 1.30997681e-01 1.32939094e-01 3.97235923e+02] [-1.33928657e-01 -1.26669537e-03 9.90990167e-01 6.39628338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.61, Y:397.26, Z:63.96 [[ 1.30685167e-01 -9.91291591e-01 1.61977881e-02 5.20612230e+02] [ 9.82408379e-01 1.31677799e-01 1.32418781e-01 3.97264005e+02] [-1.33398513e-01 -1.39232776e-03 9.91061501e-01 6.39585470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.61, Y:397.29, Z:63.95 [[ 1.33062569e-01 -9.90979565e-01 1.59328462e-02 5.20613430e+02] [ 9.82342881e-01 1.34002017e-01 1.30560038e-01 3.97290810e+02] [-1.31517363e-01 -1.72113588e-03 9.91312373e-01 6.39542764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.62, Y:397.32, Z:63.95 [[ 1.33745055e-01 -9.90889325e-01 1.58305268e-02 5.20615876e+02] [ 9.82319218e-01 1.34666058e-01 1.30053865e-01 3.97318940e+02] [-1.31000821e-01 -1.84343066e-03 9.91380546e-01 6.39499594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 995.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.62, Y:397.35, Z:63.95 [[ 1.34827848e-01 -9.90743048e-01 1.58007590e-02 5.20617913e+02] [ 9.82162573e-01 1.35735439e-01 1.30125209e-01 3.97346339e+02] [-1.31065369e-01 -2.02558776e-03 9.91371659e-01 6.39452127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0192541539999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:520.62, Y:397.37, Z:63.94 [[ 1.34630529e-01 -9.90774338e-01 1.55187663e-02 5.20620088e+02] [ 9.82458887e-01 1.35507222e-01 1.28110612e-01 3.97373571e+02] [-1.29031612e-01 -2.00104962e-03 9.91638462e-01 6.39427404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.62, Y:397.40, Z:63.94 [[ 1.34150387e-01 -9.90833893e-01 1.58703967e-02 5.20623104e+02] [ 9.82088613e-01 1.35070522e-01 1.31369369e-01 3.97400662e+02] [-1.32308846e-01 -2.03711575e-03 9.91206446e-01 6.39372796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.63, Y:397.43, Z:63.93 [[ 1.32018855e-01 -9.91118607e-01 1.59664965e-02 5.20625512e+02] [ 9.82224652e-01 1.32968551e-01 1.32491876e-01 3.97428282e+02] [-1.33438205e-01 -1.80873928e-03 9.91055485e-01 6.39333357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.63, Y:397.46, Z:63.93 [[ 1.30713161e-01 -9.91290880e-01 1.60143744e-02 5.20628343e+02] [ 9.82300526e-01 1.31679769e-01 1.33214546e-01 3.97456023e+02] [-1.34163134e-01 -1.68196613e-03 9.90957832e-01 6.39290620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.59, Y:397.48, Z:63.88 [[ 1.23116358e-01 -9.89464342e-01 7.61753155e-02 5.20594700e+02] [ 9.81118420e-01 1.32895881e-01 1.40518084e-01 3.97478257e+02] [-1.49161019e-01 5.74369305e-02 9.87143348e-01 6.38812631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.66, Y:397.51, Z:63.94 [[ 1.26405530e-01 -9.90981888e-01 -4.44582988e-02 5.20661427e+02] [ 9.82850696e-01 1.19050567e-01 1.40824261e-01 3.97511331e+02] [-1.34261507e-01 -6.14968353e-02 9.89035888e-01 6.39444958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.1992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.64, Y:397.54, Z:63.92 [[ 1.26144352e-01 -9.91882297e-01 1.60346719e-02 5.20637043e+02] [ 9.82745701e-01 1.27153849e-01 1.34323440e-01 3.97538033e+02] [-1.35271912e-01 -1.18613834e-03 9.90807803e-01 6.39156116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.64, Y:397.56, Z:63.91 [[ 1.24229737e-01 -9.92124164e-01 1.60192029e-02 5.20640360e+02] [ 9.82960123e-01 1.25254566e-01 1.34538809e-01 3.97564288e+02] [-1.35485682e-01 -9.67483242e-04 9.90778832e-01 6.39111338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.64, Y:397.59, Z:63.91 [[ 1.22978606e-01 -9.92280262e-01 1.60044949e-02 5.20643714e+02] [ 9.83092746e-01 1.24012847e-01 1.34719958e-01 3.97592228e+02] [-1.35664719e-01 -8.33769820e-04 9.90754454e-01 6.39066477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.65, Y:397.62, Z:63.90 [[ 1.20923673e-01 -9.92533700e-01 1.59473827e-02 5.20647008e+02] [ 9.83369158e-01 1.21969280e-01 1.34568175e-01 3.97620102e+02] [-1.35508539e-01 -5.90313677e-04 9.90776003e-01 6.39023617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.65, Y:397.65, Z:63.90 [[ 1.19904424e-01 -9.92657366e-01 1.59462626e-02 5.20650318e+02] [ 9.83449930e-01 1.20959136e-01 1.34889298e-01 3.97647990e+02] [-1.35827702e-01 -4.91472720e-04 9.90732352e-01 6.38976934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3492541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:520.65, Y:397.68, Z:63.89 [[ 1.17488202e-01 -9.92948351e-01 1.58143733e-02 5.20653024e+02] [ 9.83852040e-01 1.18547601e-01 1.34095599e-01 3.97675165e+02] [-1.35024760e-01 -1.95647388e-04 9.90842205e-01 6.38940778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.66, Y:397.70, Z:63.89 [[ 1.17194723e-01 -9.92980692e-01 1.59606562e-02 5.20656904e+02] [ 9.83665997e-01 1.18276391e-01 1.35690464e-01 3.97702775e+02] [-1.36625780e-01 -2.02251606e-04 9.90622711e-01 6.38891079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.66, Y:397.73, Z:63.88 [[ 1.16046129e-01 -9.93114467e-01 1.60297133e-02 5.20660593e+02] [ 9.83672901e-01 1.17147976e-01 1.36616159e-01 3.97730045e+02] [-1.37553333e-01 -8.57818252e-05 9.90494358e-01 6.38843558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.66, Y:397.76, Z:63.88 [[ 1.15705090e-01 -9.93155051e-01 1.59805240e-02 5.20664078e+02] [ 9.83724678e-01 1.16803420e-01 1.36538345e-01 3.97757994e+02] [-1.37470327e-01 -7.77456173e-05 9.90505883e-01 6.38801769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.67, Y:397.79, Z:63.88 [[ 1.15078435e-01 -9.93227923e-01 1.59764688e-02 5.20667296e+02] [ 9.83754335e-01 1.16182153e-01 1.36854357e-01 3.97785876e+02] [-1.37783749e-01 -3.20647381e-05 9.90462335e-01 6.38755375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.4992541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:520.67, Y:397.81, Z:63.87 [[ 1.14668126e-01 -9.93275628e-01 1.59607939e-02 5.20670904e+02] [ 9.83772680e-01 1.15773597e-01 1.37068553e-01 3.97812562e+02] [-1.37994691e-01 -1.56010978e-05 9.90432968e-01 6.38714778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.67, Y:397.84, Z:63.87 [[ 1.14847100e-01 -9.93254843e-01 1.59675009e-02 5.20674598e+02] [ 9.83691437e-01 1.15951758e-01 1.37500349e-01 3.97840591e+02] [-1.38424347e-01 -8.44223469e-05 9.90373007e-01 6.38673071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.65, Y:397.87, Z:63.83 [[ 1.13082288e-01 -9.91841599e-01 5.88441867e-02 5.20654830e+02] [ 9.83009854e-01 1.20300283e-01 1.38634297e-01 3.97867420e+02] [-1.44582235e-01 4.21673319e-02 9.88593897e-01 6.38329288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.5892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.70, Y:397.90, Z:63.88 [[ 1.15002433e-01 -9.93017639e-01 -2.62756344e-02 5.20699903e+02] [ 9.83658090e-01 1.10149979e-01 1.42421011e-01 3.97896815e+02] [-1.38532316e-01 -4.22250032e-02 9.89457350e-01 6.38760739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6192541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:520.66, Y:397.92, Z:63.83 [[ 1.15998072e-01 -9.91516491e-01 5.86472145e-02 5.20660348e+02] [ 9.82770803e-01 1.23128248e-01 1.37844056e-01 3.97923033e+02] [-1.43895784e-01 4.16471252e-02 9.88716097e-01 6.38254631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.71, Y:397.95, Z:63.87 [[ 1.18973936e-01 -9.92574281e-01 -2.53278497e-02 5.20705092e+02] [ 9.83044106e-01 1.14170121e-01 1.43490308e-01 3.97951833e+02] [-1.39533106e-01 -4.19700001e-02 9.89327565e-01 6.38658907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.6792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.69, Y:397.98, Z:63.84 [[ 1.22041993e-01 -9.92397691e-01 1.58925878e-02 5.20687778e+02] [ 9.82683730e-01 1.23065690e-01 1.38519034e-01 3.97977818e+02] [-1.39421802e-01 -1.28775154e-03 9.90232247e-01 6.38447614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7092541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:520.69, Y:398.01, Z:63.84 [[ 1.24554672e-01 -9.92085006e-01 1.59208945e-02 5.20690792e+02] [ 9.82280681e-01 1.25556676e-01 1.39140886e-01 3.98005248e+02] [-1.40038561e-01 -1.69186034e-03 9.90144605e-01 6.38398418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.69, Y:398.03, Z:63.84 [[ 1.25456153e-01 -9.91970582e-01 1.59724193e-02 5.20694101e+02] [ 9.82051566e-01 1.26454989e-01 1.39942338e-01 3.98033147e+02] [-1.40838474e-01 -1.87088788e-03 9.90030820e-01 6.38354139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:520.70, Y:398.06, Z:63.83 [[ 1.25542826e-01 -9.91960405e-01 1.59233892e-02 5.20696268e+02] [ 9.82051768e-01 1.26534032e-01 1.39869454e-01 3.98059521e+02] [-1.40759811e-01 -1.92201402e-03 9.90041909e-01 6.38317137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.7992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:520.70, Y:398.09, Z:63.83 [[ 1.26729466e-01 -9.91807753e-01 1.60319479e-02 5.20699663e+02] [ 9.81706227e-01 1.27721296e-01 1.41209614e-01 3.98087093e+02] [-1.42100411e-01 -2.15675598e-03 9.89849899e-01 6.38271033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.70, Y:398.11, Z:63.82 [[ 1.27852043e-01 -9.91661607e-01 1.61590035e-02 5.20703692e+02] [ 9.81342452e-01 1.28847026e-01 1.42707518e-01 3.98113589e+02] [-1.43599606e-01 -2.38793159e-03 9.89632988e-01 6.38223045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:520.71, Y:398.14, Z:63.82 [[ 1.27573231e-01 -9.91698597e-01 1.60923403e-02 5.20706020e+02] [ 9.81407832e-01 1.28562010e-01 1.42514832e-01 3.98141065e+02] [-1.43400622e-01 -2.38792869e-03 9.89661841e-01 6.38180185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.8892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:520.71, Y:398.17, Z:63.81 [[ 1.27874126e-01 -9.91659941e-01 1.60863068e-02 5.20709235e+02] [ 9.81322070e-01 1.28858116e-01 1.42837606e-01 3.98169099e+02] [-1.43719183e-01 -2.47938611e-03 9.89615405e-01 6.38135852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.71, Y:398.20, Z:63.81 [[ 1.28291023e-01 -9.91603138e-01 1.62674338e-02 5.20713257e+02] [ 9.80972805e-01 1.29291678e-01 1.44831001e-01 3.98195683e+02] [-1.45718119e-01 -2.62260712e-03 9.89322673e-01 6.38085833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.72, Y:398.22, Z:63.80 [[ 1.27938215e-01 -9.91649495e-01 1.62201009e-02 5.20716227e+02] [ 9.81022530e-01 1.28935807e-01 1.44811443e-01 3.98223112e+02] [-1.45693546e-01 -2.61463307e-03 9.89326313e-01 6.38046084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 996.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.72, Y:398.25, Z:63.80 [[ 1.27269679e-01 -9.91734000e-01 1.63126494e-02 5.20719120e+02] [ 9.80928616e-01 1.28284857e-01 1.46020707e-01 3.98249921e+02] [-1.46906366e-01 -2.58246389e-03 9.89147032e-01 6.37996263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.72, Y:398.28, Z:63.80 [[ 1.26640257e-01 -9.91814997e-01 1.62866922e-02 5.20722341e+02] [ 9.80984691e-01 1.27658039e-01 1.46193233e-01 3.98277711e+02] [-1.47075768e-01 -2.53695285e-03 9.89121976e-01 6.37952396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.73, Y:398.31, Z:63.79 [[ 1.25568174e-01 -9.91952834e-01 1.61928875e-02 5.20725394e+02] [ 9.81193354e-01 1.26585020e-01 1.45725206e-01 3.98305558e+02] [-1.46602308e-01 -2.41009437e-03 9.89192577e-01 6.37901014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:520.73, Y:398.33, Z:63.79 [[ 1.24676332e-01 -9.92067506e-01 1.60584981e-02 5.20727854e+02] [ 9.81430891e-01 1.25685112e-01 1.44902242e-01 3.98332117e+02] [-1.45771120e-01 -2.30557387e-03 9.89315655e-01 6.37859826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.0992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:520.73, Y:398.36, Z:63.78 [[ 1.24504972e-01 -9.92089766e-01 1.60127472e-02 5.20730885e+02] [ 9.81452693e-01 1.25508909e-01 1.44907297e-01 3.98360190e+02] [-1.45770789e-01 -2.32592511e-03 9.89315656e-01 6.37817096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.1292541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:520.72, Y:398.39, Z:63.76 [[ 1.22564781e-01 -9.91624038e-01 4.07386941e-02 5.20722072e+02] [ 9.81994415e-01 1.27115662e-01 1.39744684e-01 3.98387984e+02] [-1.43752714e-01 2.28773934e-02 9.89349171e-01 6.37628105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.75, Y:398.42, Z:63.78 [[ 1.22983202e-01 -9.92368242e-01 -8.96682172e-03 5.20750150e+02] [ 9.81811355e-01 1.20348058e-01 1.46842804e-01 3.98415175e+02] [-1.44642996e-01 -2.68629255e-02 9.89119198e-01 6.37822712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.1892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.74, Y:398.44, Z:63.77 [[ 1.22168607e-01 -9.92384108e-01 1.57675139e-02 5.20741016e+02] [ 9.81947929e-01 1.23164762e-01 1.43557330e-01 3.98441623e+02] [-1.44406015e-01 -2.05532139e-03 9.89516386e-01 6.37681352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2192541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:520.74, Y:398.47, Z:63.76 [[ 1.20629284e-01 -9.92573832e-01 1.56768430e-02 5.20744029e+02] [ 9.82220189e-01 1.21629589e-01 1.43002603e-01 3.98469356e+02] [-1.43847410e-01 -1.85218989e-03 9.89598147e-01 6.37640202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.75, Y:398.50, Z:63.76 [[ 1.18731528e-01 -9.92801047e-01 1.57767147e-02 5.20748290e+02] [ 9.82259567e-01 1.19763948e-01 1.44300869e-01 3.98495494e+02] [-1.45151535e-01 -1.63623371e-03 9.89408083e-01 6.37592643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.75, Y:398.52, Z:63.76 [[ 1.17096651e-01 -9.92995239e-01 1.57743521e-02 5.20751516e+02] [ 9.82398572e-01 1.18145527e-01 1.44688217e-01 3.98523072e+02] [-1.45538380e-01 -1.44580471e-03 9.89351550e-01 6.37552298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.76, Y:398.55, Z:63.75 [[ 1.15221786e-01 -9.93214021e-01 1.58065964e-02 5.20755089e+02] [ 9.82518575e-01 1.16294544e-01 1.45371349e-01 3.98550676e+02] [-1.46223083e-01 -1.21967195e-03 9.89250890e-01 6.37509248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.76, Y:398.58, Z:63.75 [[ 1.10806321e-01 -9.93715287e-01 1.58709633e-02 5.20759390e+02] [ 9.82879111e-01 1.11935458e-01 1.46352681e-01 3.98578038e+02] [-1.47209420e-01 -6.17563871e-04 9.89105154e-01 6.37470521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3692541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:520.76, Y:398.61, Z:63.74 [[ 1.06370293e-01 -9.94200851e-01 1.58122760e-02 5.20762858e+02] [ 9.83393219e-01 1.07539143e-01 1.46195452e-01 3.98605434e+02] [-1.47048081e-01 -1.16808367e-06 9.89129345e-01 6.37434538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.77, Y:398.63, Z:63.74 [[ 1.04400584e-01 -9.94409467e-01 1.58218015e-02 5.20766686e+02] [ 9.83532007e-01 1.05592377e-01 1.46680062e-01 3.98632701e+02] [-1.47530704e-01 2.47763989e-04 9.89057445e-01 6.37388354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.77, Y:398.66, Z:63.73 [[ 1.02681279e-01 -9.94589455e-01 1.57597798e-02 5.20769898e+02] [ 9.83740622e-01 1.03882644e-01 1.46501826e-01 3.98659579e+02] [-1.47346339e-01 4.60540661e-04 9.89084852e-01 6.37347061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:520.77, Y:398.69, Z:63.73 [[ 1.00072520e-01 -9.94857576e-01 1.56171218e-02 5.20772054e+02] [ 9.84147090e-01 1.01280620e-01 1.45591007e-01 3.98686844e+02] [-1.46424028e-01 7.99885957e-04 9.89221595e-01 6.37307869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.77, Y:398.71, Z:63.72 [[ 9.91717706e-02 -9.94684903e-01 2.76930177e-02 5.20768907e+02] [ 9.84539802e-01 1.02122365e-01 1.42310932e-01 3.98714760e+02] [-1.44382612e-01 1.31516510e-02 9.89434533e-01 6.37205543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.78, Y:398.74, Z:63.72 [[ 9.84652161e-02 -9.95022615e-01 1.53165523e-02 5.20776840e+02] [ 9.84705329e-01 9.96442491e-02 1.42921096e-01 3.98742078e+02] [-1.43735929e-01 1.00953411e-03 9.89615564e-01 6.37214610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:520.78, Y:398.77, Z:63.72 [[ 9.84606982e-02 -9.95134931e-01 3.45841071e-03 5.20784301e+02] [ 9.84439792e-01 9.79096100e-02 1.45917797e-01 3.98768491e+02] [-1.45546508e-01 -1.09625710e-02 9.89290673e-01 6.37228029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.5792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:520.78, Y:398.80, Z:63.71 [[ 9.91577763e-02 -9.94953933e-01 1.53103247e-02 5.20780234e+02] [ 9.84459395e-01 1.00329762e-01 1.44130632e-01 3.98796015e+02] [-1.44939420e-01 7.80720010e-04 9.89440223e-01 6.37131390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.78, Y:398.82, Z:63.71 [[ 9.99988640e-02 -9.94871263e-01 1.52117569e-02 5.20782340e+02] [ 9.84454376e-01 1.01147371e-01 1.43592446e-01 3.98823937e+02] [-1.44394628e-01 6.16199116e-04 9.89519991e-01 6.37088164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:520.78, Y:398.85, Z:63.70 [[ 1.00944881e-01 -9.94778802e-01 1.50088944e-02 5.20782704e+02] [ 9.84583283e-01 1.02053636e-01 1.42059191e-01 3.98851866e+02] [-1.42849184e-01 4.37358295e-04 9.89744371e-01 6.37047270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6692541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:520.78, Y:398.88, Z:63.70 [[ 1.01248225e-01 -9.94749985e-01 1.48749301e-02 5.20784428e+02] [ 9.84680893e-01 1.02334461e-01 1.41177889e-01 3.98879784e+02] [-1.41958921e-01 3.53048733e-04 9.89872487e-01 6.37013468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.79, Y:398.91, Z:63.70 [[ 1.01511498e-01 -9.94722322e-01 1.49304542e-02 5.20787232e+02] [ 9.84520547e-01 1.02603251e-01 1.42098083e-01 3.98905848e+02] [-1.42880048e-01 2.74749672e-04 9.89739974e-01 6.36966696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.79, Y:398.93, Z:63.69 [[ 1.01861487e-01 -9.94685561e-01 1.49957176e-02 5.20788653e+02] [ 9.84332413e-01 1.02959223e-01 1.43140137e-01 3.98933604e+02] [-1.43923375e-01 1.80303622e-04 9.89588819e-01 6.36932756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.79, Y:398.96, Z:63.69 [[ 1.02126832e-01 -9.94657970e-01 1.50211018e-02 5.20789779e+02] [ 9.84209668e-01 1.03225547e-01 1.43790873e-01 3.98960453e+02] [-1.44573300e-01 9.90072471e-05 9.89494089e-01 6.36896214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.7892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.79, Y:398.99, Z:63.69 [[ 1.01766175e-01 -9.94694540e-01 1.50471719e-02 5.20791617e+02] [ 9.84167365e-01 1.02872529e-01 1.44332396e-01 3.98988562e+02] [-1.45114587e-01 1.20779528e-04 9.89414848e-01 6.36851319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.79, Y:399.02, Z:63.68 [[ 1.01671295e-01 -9.94703961e-01 1.50658004e-02 5.20792882e+02] [ 9.84090617e-01 1.02781428e-01 1.44919412e-01 3.99015030e+02] [-1.45700398e-01 9.19685560e-05 9.89328755e-01 6.36817188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.79, Y:399.04, Z:63.67 [[ 9.92932503e-02 -9.94703877e-01 2.65527517e-02 5.20786608e+02] [ 9.83776323e-01 1.02139412e-01 1.47484535e-01 3.99039796e+02] [-1.49415521e-01 1.14777496e-02 9.88707876e-01 6.36702670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.8792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.80, Y:399.07, Z:63.68 [[ 1.01095024e-01 -9.94873579e-01 2.52159124e-03 5.20801434e+02] [ 9.84176989e-01 1.00378163e-01 1.46013285e-01 3.99070258e+02] [-1.45517872e-01 -1.22795246e-02 9.89279416e-01 6.36782202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.80, Y:399.10, Z:63.67 [[ 1.00992375e-01 -9.94775859e-01 1.48838912e-02 5.20797246e+02] [ 9.84258421e-01 1.02083220e-01 1.44271888e-01 3.99097702e+02] [-1.45037587e-01 7.92345595e-05 9.89426143e-01 6.36690733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.80, Y:399.13, Z:63.66 [[ 1.01332931e-01 -9.94743027e-01 1.47630204e-02 5.20797445e+02] [ 9.84338005e-01 1.02402683e-01 1.43500463e-01 3.99125510e+02] [-1.44257858e-01 -9.52052193e-06 9.89540131e-01 6.36648704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.80, Y:399.15, Z:63.66 [[ 1.01590606e-01 -9.94717926e-01 1.46832276e-02 5.20798749e+02] [ 9.84367420e-01 1.02646193e-01 1.43124215e-01 3.99153203e+02] [-1.43875400e-01 -8.63848715e-05 9.89595807e-01 6.36604764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 997.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.80, Y:399.18, Z:63.66 [[ 1.01514597e-01 -9.94726782e-01 1.46087807e-02 5.20799772e+02] [ 9.84423806e-01 1.02560308e-01 1.42797595e-01 3.99180194e+02] [-1.43542874e-01 -1.14808910e-04 9.89644093e-01 6.36557625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0292541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:520.78, Y:399.21, Z:63.64 [[ 1.00503209e-01 -9.94184704e-01 3.86766130e-02 5.20784923e+02] [ 9.83903920e-01 1.05086669e-01 1.44533279e-01 3.99206178e+02] [-1.47757172e-01 2.35280127e-02 9.88743774e-01 6.36351255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0592541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:520.81, Y:399.24, Z:63.66 [[ 1.02861104e-01 -9.94644536e-01 -1.00915876e-02 5.20811809e+02] [ 9.84506442e-01 1.00353769e-01 1.43792165e-01 3.99236187e+02] [-1.42009362e-01 -2.47258538e-02 9.89556453e-01 6.36558250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.0892541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:520.80, Y:399.26, Z:63.64 [[ 1.03566229e-01 -9.94520682e-01 1.42355062e-02 5.20799858e+02] [ 9.84613649e-01 1.04538881e-01 1.40027087e-01 3.99264281e+02] [-1.40747998e-01 -4.85603629e-04 9.90045335e-01 6.36421488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.79, Y:399.29, Z:63.62 [[ 1.01634960e-01 -9.94285536e-01 3.26589782e-02 5.20790179e+02] [ 9.84194434e-01 1.05280768e-01 1.42398300e-01 3.99289273e+02] [-1.45022932e-01 1.76701391e-02 9.89270497e-01 6.36248810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1492541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:520.81, Y:399.32, Z:63.64 [[ 1.04616869e-01 -9.94499932e-01 -5.01952537e-03 5.20809288e+02] [ 9.84728207e-01 1.02880039e-01 1.40449477e-01 3.99319533e+02] [-1.39160587e-01 -1.96362528e-02 9.90075123e-01 6.36400739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.1792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.80, Y:399.35, Z:63.63 [[ 1.04681295e-01 -9.94407830e-01 1.39604462e-02 5.20801764e+02] [ 9.84753944e-01 1.05605615e-01 1.38228518e-01 3.99347368e+02] [-1.38929822e-01 -7.22335897e-04 9.90301965e-01 6.36289094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2092541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.80, Y:399.38, Z:63.63 [[ 1.03449703e-01 -9.94536161e-01 1.39993874e-02 5.20802855e+02] [ 9.84772116e-01 1.04390945e-01 1.39019458e-01 3.99375448e+02] [-1.39721288e-01 -5.95315266e-04 9.90190693e-01 6.36251979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2392541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:520.80, Y:399.40, Z:63.62 [[ 1.02219108e-01 -9.94663342e-01 1.40031894e-02 5.20804942e+02] [ 9.84837885e-01 1.03172764e-01 1.39462255e-01 3.99401894e+02] [-1.40162740e-01 -4.64835814e-04 9.90128371e-01 6.36217673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.81, Y:399.43, Z:63.62 [[ 1.00804550e-01 -9.94806413e-01 1.40940621e-02 5.20807884e+02] [ 9.84791086e-01 1.01784582e-01 1.40806306e-01 3.99429190e+02] [-1.41509574e-01 -3.14209488e-04 9.89936837e-01 6.36181990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.2992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.81, Y:399.46, Z:63.61 [[ 9.97940715e-02 -9.94798343e-01 2.04303747e-02 5.20808417e+02] [ 9.84534453e-01 1.01694158e-01 1.42654160e-01 3.99458863e+02] [-1.43989772e-01 5.87836834e-03 9.89561716e-01 6.36099034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3292541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:520.81, Y:399.48, Z:63.61 [[ 9.77167625e-02 -9.95173042e-01 9.05823167e-03 5.20813648e+02] [ 9.84865696e-01 9.80058226e-02 1.42949011e-01 3.99483621e+02] [-1.43146762e-01 -5.04737294e-03 9.89688602e-01 6.36125278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.81, Y:399.51, Z:63.61 [[ 9.65481272e-02 -9.95227412e-01 1.41723926e-02 5.20812164e+02] [ 9.84947082e-01 9.75825999e-02 1.42677545e-01 3.99511507e+02] [-1.43379583e-01 1.83806930e-04 9.89667753e-01 6.36060591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.81, Y:399.54, Z:63.60 [[ 9.62080784e-02 -9.95260995e-01 1.41264972e-02 5.20813966e+02] [ 9.84986684e-01 9.72394756e-02 1.42638417e-01 3.99537795e+02] [-1.43336106e-01 1.91443704e-04 9.89674050e-01 6.36016890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4192541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:520.81, Y:399.57, Z:63.60 [[ 9.61493670e-02 -9.95268990e-01 1.39619830e-02 5.20814786e+02] [ 9.85170444e-01 9.71576705e-02 1.41419882e-01 3.99565682e+02] [-1.42107337e-01 1.57500937e-04 9.89851241e-01 6.35965122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4492541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:520.82, Y:399.59, Z:63.59 [[ 9.54590224e-02 -9.95337015e-01 1.38492552e-02 5.20816477e+02] [ 9.85343518e-01 9.64581783e-02 1.40691052e-01 3.99593850e+02] [-1.41370886e-01 2.16043575e-04 9.89956679e-01 6.35918758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.4792541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:520.82, Y:399.62, Z:63.59 [[ 9.53168822e-02 -9.95351733e-01 1.37702467e-02 5.20818321e+02] [ 9.85414112e-01 9.63062259e-02 1.40300172e-01 3.99621354e+02] [-1.40974180e-01 1.96420441e-04 9.90013254e-01 6.35874572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.82, Y:399.65, Z:63.58 [[ 9.47530705e-02 -9.95405809e-01 1.37524828e-02 5.20819989e+02] [ 9.85435734e-01 9.57455966e-02 1.40531833e-01 3.99649367e+02] [-1.41202942e-01 2.36365301e-04 9.89980643e-01 6.35832739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5392541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:520.82, Y:399.68, Z:63.58 [[ 9.50012086e-02 -9.95383163e-01 1.36795294e-02 5.20821349e+02] [ 9.85460114e-01 9.59808996e-02 1.40199968e-01 3.99677041e+02] [-1.40865661e-01 1.61464131e-04 9.90028706e-01 6.35789302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.82, Y:399.70, Z:63.58 [[ 9.47490587e-02 -9.95407336e-01 1.36693487e-02 5.20823765e+02] [ 9.85440072e-01 9.57298835e-02 1.40512114e-01 3.99704059e+02] [-1.41175354e-01 1.56933456e-04 9.89984593e-01 6.35751210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.82, Y:399.73, Z:63.57 [[ 9.58911883e-02 -9.95297501e-01 1.37027114e-02 5.20824496e+02] [ 9.85216233e-01 9.68652768e-02 1.41301427e-01 3.99730503e+02] [-1.41964274e-01 -4.94280276e-05 9.89871781e-01 6.35706444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.6292541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:520.83, Y:399.76, Z:63.57 [[ 9.71090159e-02 -9.95180483e-01 1.36251916e-02 5.20825563e+02] [ 9.85149499e-01 9.80598652e-02 1.40942282e-01 3.99757837e+02] [-1.41599093e-01 -2.63915652e-04 9.89924051e-01 6.35663066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.83, Y:399.78, Z:63.56 [[ 1.00024487e-01 -9.94892980e-01 1.35299775e-02 5.20827010e+02] [ 9.84940904e-01 1.00932889e-01 1.40370823e-01 3.99784715e+02] [-1.41019566e-01 -7.14291252e-04 9.90006551e-01 6.35621834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.6892541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:520.83, Y:399.81, Z:63.56 [[ 1.01731817e-01 -9.94723113e-01 1.32877839e-02 5.20827912e+02] [ 9.85064288e-01 1.02591274e-01 1.38287304e-01 3.99812721e+02] [-1.38920788e-01 -9.78897234e-04 9.90303012e-01 6.35577218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.83, Y:399.84, Z:63.55 [[ 1.03880551e-01 -9.94499552e-01 1.33967166e-02 5.20829734e+02] [ 9.84620058e-01 1.04732311e-01 1.39837351e-01 3.99840082e+02] [-1.40471252e-01 -1.33570528e-03 9.90083857e-01 6.35534959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7492541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:520.83, Y:399.87, Z:63.55 [[ 1.08988516e-01 -9.93954259e-01 1.32828999e-02 5.20829385e+02] [ 9.84167237e-01 1.09774989e-01 1.39155676e-01 3.99868181e+02] [-1.39772507e-01 -2.09377568e-03 9.90181429e-01 6.35489445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.7792541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:520.83, Y:399.90, Z:63.54 [[ 1.11127126e-01 -9.93717743e-01 1.32592679e-02 5.20830913e+02] [ 9.83904699e-01 1.11888810e-01 1.39328526e-01 3.99896276e+02] [-1.39936792e-01 -2.43732270e-03 9.90157439e-01 6.35445482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.83, Y:399.92, Z:63.54 [[ 1.14877324e-01 -9.93291080e-01 1.32676890e-02 5.20832395e+02] [ 9.83403067e-01 1.15601602e-01 1.39838044e-01 3.99923984e+02] [-1.40433648e-01 -3.01673414e-03 9.90085496e-01 6.35407441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8392541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.83, Y:399.95, Z:63.54 [[ 1.16262240e-01 -9.93130024e-01 1.32607203e-02 5.20834016e+02] [ 9.83190496e-01 1.16970586e-01 1.40193902e-01 3.99951911e+02] [-1.40781887e-01 -3.26144285e-03 9.90035264e-01 6.35362132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8692541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:520.84, Y:399.98, Z:63.53 [[ 1.18207973e-01 -9.92899583e-01 1.33151597e-02 5.20835579e+02] [ 9.82813499e-01 1.18900868e-01 1.41209810e-01 3.99979578e+02] [-1.41790346e-01 -3.60580675e-03 9.89890143e-01 6.35319890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.8992541539999 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:520.84, Y:400.01, Z:63.53 [[ 1.18559782e-01 -9.92856883e-01 1.33711682e-02 5.20838026e+02] [ 9.82620186e-01 1.19253179e-01 1.42254170e-01 4.00005961e+02] [-1.42832586e-01 -3.72684360e-03 9.89739846e-01 6.35280621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9292541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:520.84, Y:400.03, Z:63.52 [[ 1.19226741e-01 -9.92777089e-01 1.33654998e-02 5.20839130e+02] [ 9.82479465e-01 1.19910822e-01 1.42672688e-01 4.00034151e+02] [-1.43244844e-01 -3.87907060e-03 9.89679679e-01 6.35232342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.84, Y:400.06, Z:63.52 [[ 1.18930963e-01 -9.92812371e-01 1.33799488e-02 5.20841800e+02] [ 9.82427043e-01 1.19617820e-01 1.43278338e-01 4.00061366e+02] [-1.43848987e-01 -3.89540718e-03 9.89591984e-01 6.35190369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 998.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.84, Y:400.09, Z:63.51 [[ 1.18720113e-01 -9.92838365e-01 1.33234851e-02 5.20844260e+02] [ 9.82475294e-01 1.19401649e-01 1.43127714e-01 4.00087870e+02] [-1.43693531e-01 -3.90214350e-03 9.89614542e-01 6.35147879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.85, Y:400.12, Z:63.51 [[ 1.18545995e-01 -9.92859777e-01 1.32782050e-02 5.20846798e+02] [ 9.82496399e-01 1.19222825e-01 1.43131914e-01 4.00115980e+02] [-1.43692985e-01 -3.92192650e-03 9.89614543e-01 6.35105029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0492541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.85, Y:400.14, Z:63.51 [[ 1.18186091e-01 -9.92903974e-01 1.31813210e-02 5.20849178e+02] [ 9.82653356e-01 1.18855824e-01 1.42357559e-01 4.00142789e+02] [-1.42914062e-01 -3.87201415e-03 9.89727527e-01 6.35060265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.85, Y:400.17, Z:63.50 [[ 1.18025777e-01 -9.92923603e-01 1.31390677e-02 5.20851956e+02] [ 9.82693776e-01 1.18691684e-01 1.42215423e-01 4.00170043e+02] [-1.42768549e-01 -3.87340579e-03 9.89748523e-01 6.35013810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1092541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:520.85, Y:400.20, Z:63.50 [[ 1.18366212e-01 -9.92885879e-01 1.29255856e-02 5.20854113e+02] [ 9.82925583e-01 1.19005758e-01 1.40338622e-01 4.00197099e+02] [-1.40878455e-01 -3.90646233e-03 9.90019192e-01 6.34963515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1392541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:520.86, Y:400.22, Z:63.49 [[ 1.18577116e-01 -9.92862204e-01 1.28105993e-02 5.20856939e+02] [ 9.83016572e-01 1.19201605e-01 1.39532778e-01 4.00223668e+02] [-1.40063866e-01 -3.95236302e-03 9.90134583e-01 6.34921417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:520.86, Y:400.25, Z:63.49 [[ 1.19102422e-01 -9.92800704e-01 1.27033336e-02 5.20859906e+02] [ 9.83053843e-01 1.19709567e-01 1.38833575e-01 4.00251591e+02] [-1.39354782e-01 -4.04735411e-03 9.90234247e-01 6.34872264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.1992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:520.86, Y:400.28, Z:63.48 [[ 1.19054112e-01 -9.92807479e-01 1.26265007e-02 5.20862903e+02] [ 9.83117327e-01 1.19652683e-01 1.38432499e-01 4.00278332e+02] [-1.38947615e-01 -4.06762665e-03 9.90291379e-01 6.34835120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.2292541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:520.87, Y:400.31, Z:63.48 [[ 1.18860497e-01 -9.92831054e-01 1.25968185e-02 5.20866877e+02] [ 9.83120665e-01 1.19456233e-01 1.38578375e-01 4.00306174e+02] [-1.39089683e-01 -4.08730199e-03 9.90271354e-01 6.34795054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.87, Y:400.33, Z:63.48 [[ 1.18171539e-01 -9.92913041e-01 1.26166859e-02 5.20870684e+02] [ 9.83110312e-01 1.18774110e-01 1.39236583e-01 4.00333357e+02] [-1.39748354e-01 -4.05020722e-03 9.90178768e-01 6.34757211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.88, Y:400.36, Z:63.47 [[ 1.16373877e-01 -9.93125017e-01 1.26420826e-02 5.20875597e+02] [ 9.83218655e-01 1.16994892e-01 1.39975966e-01 4.00360055e+02] [-1.40492692e-01 -3.85961429e-03 9.90074193e-01 6.34724594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3192541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:520.88, Y:400.39, Z:63.47 [[ 1.15057121e-01 -9.93278635e-01 1.26258193e-02 5.20878594e+02] [ 9.83329343e-01 1.15687829e-01 1.40284463e-01 4.00386679e+02] [-1.40802213e-01 -3.72538778e-03 9.90030736e-01 6.34683488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3492541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:520.88, Y:400.41, Z:63.46 [[ 1.13850974e-01 -9.93417771e-01 1.26130218e-02 5.20882081e+02] [ 9.83420200e-01 1.14490712e-01 1.40629253e-01 4.00413739e+02] [-1.41147673e-01 -3.60687712e-03 9.89981982e-01 6.34641279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.89, Y:400.44, Z:63.46 [[ 1.11721459e-01 -9.93658759e-01 1.26722501e-02 5.20887513e+02] [ 9.83500664e-01 1.12387207e-01 1.41758807e-01 4.00441665e+02] [-1.42284079e-01 -3.37433437e-03 9.89820112e-01 6.34610568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4092541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:520.89, Y:400.47, Z:63.46 [[ 1.10790206e-01 -9.93763590e-01 1.26276918e-02 5.20890398e+02] [ 9.83609126e-01 1.11459199e-01 1.41738963e-01 4.00467880e+02] [-1.42262494e-01 -3.28257597e-03 9.89823524e-01 6.34564931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:520.89, Y:400.49, Z:63.45 [[ 1.11012951e-01 -9.93740245e-01 1.25079934e-02 5.20894318e+02] [ 9.83718289e-01 1.11665794e-01 1.40815758e-01 4.00494953e+02] [-1.41331001e-01 -3.32803097e-03 9.89956803e-01 6.34525265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.90, Y:400.52, Z:63.45 [[ 1.12542957e-01 -9.93569687e-01 1.23838422e-02 5.20898130e+02] [ 9.83680679e-01 1.13166248e-01 1.39877524e-01 4.00521541e+02] [-1.40379500e-01 -3.56048383e-03 9.90091369e-01 6.34480815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.4992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.90, Y:400.55, Z:63.44 [[ 1.13946986e-01 -9.93410805e-01 1.22905487e-02 5.20900952e+02] [ 9.83601197e-01 1.14545384e-01 1.39312743e-01 4.00548841e+02] [-1.39802610e-01 -3.78526875e-03 9.90172158e-01 6.34435852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5292541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:520.90, Y:400.58, Z:63.44 [[ 1.15403910e-01 -9.93243474e-01 1.22204322e-02 5.20903433e+02] [ 9.83480037e-01 1.15979470e-01 1.38981219e-01 4.00576735e+02] [-1.39459508e-01 -4.02042494e-03 9.90219613e-01 6.34387318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5592541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:520.91, Y:400.60, Z:63.43 [[ 1.18782666e-01 -9.92845405e-01 1.21934310e-02 5.20906491e+02] [ 9.83057604e-01 1.19320506e-01 1.39141529e-01 4.00603203e+02] [-1.39600954e-01 -4.54075677e-03 9.90197432e-01 6.34343079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.91, Y:400.63, Z:63.43 [[ 1.20491698e-01 -9.92639502e-01 1.21889113e-02 5.20909983e+02] [ 9.82787473e-01 1.21009876e-01 1.39590093e-01 4.00630185e+02] [-1.40037619e-01 -4.84033802e-03 9.90134353e-01 6.34306601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.91, Y:400.66, Z:63.43 [[ 1.23526570e-01 -9.92266437e-01 1.21862168e-02 5.20913264e+02] [ 9.82346189e-01 1.24011720e-01 1.40060908e-01 4.00658158e+02] [-1.40488972e-01 -5.33015992e-03 9.90067896e-01 6.34263307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.92, Y:400.69, Z:63.42 [[ 1.24484793e-01 -9.92146831e-01 1.21738231e-02 5.20915974e+02] [ 9.82180373e-01 1.24956831e-01 1.40383426e-01 4.00685651e+02] [-1.40802174e-01 -5.51871168e-03 9.90022369e-01 6.34222803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.6792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.92, Y:400.71, Z:63.42 [[ 1.25545187e-01 -9.92013607e-01 1.21412650e-02 5.20919711e+02] [ 9.82033698e-01 1.26001455e-01 1.40475795e-01 4.00713191e+02] [-1.40883717e-01 -5.71292862e-03 9.90009667e-01 6.34174845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7092541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:520.92, Y:400.74, Z:63.41 [[ 1.25561628e-01 -9.92011620e-01 1.21335849e-02 5.20923166e+02] [ 9.81977740e-01 1.26014449e-01 1.40854808e-01 4.00741054e+02] [-1.41258613e-01 -5.77104877e-03 9.89955908e-01 6.34126401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7392541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:520.93, Y:400.77, Z:63.41 [[ 1.25394037e-01 -9.92033473e-01 1.20798828e-02 5.20927986e+02] [ 9.82020765e-01 1.25841820e-01 1.40709113e-01 4.00767652e+02] [-1.41108305e-01 -5.78138804e-03 9.89977284e-01 6.34084870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7692541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:520.93, Y:400.79, Z:63.40 [[ 1.24974383e-01 -9.92087276e-01 1.20100241e-02 5.20931327e+02] [ 9.82118855e-01 1.25418334e-01 1.40402264e-01 4.00794900e+02] [-1.40797577e-01 -5.75141526e-03 9.90021699e-01 6.34036601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.94, Y:400.82, Z:63.40 [[ 1.25062461e-01 -9.92076426e-01 1.19893898e-02 5.20936494e+02] [ 9.82074116e-01 1.25501223e-01 1.40640937e-01 4.00822169e+02] [-1.41031241e-01 -5.81443229e-03 9.89988071e-01 6.34003560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8292541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:520.94, Y:400.85, Z:63.40 [[ 1.24627698e-01 -9.92132039e-01 1.19144922e-02 5.20939024e+02] [ 9.82183213e-01 1.25062459e-01 1.40269444e-01 4.00848964e+02] [-1.40655865e-01 -5.77924369e-03 9.90041680e-01 6.33954847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8592541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:520.94, Y:400.88, Z:63.38 [[ 1.25174315e-01 -9.91872506e-01 2.28105710e-02 5.20938101e+02] [ 9.81804833e-01 1.27147383e-01 1.41041887e-01 4.00878120e+02] [-1.42795874e-01 4.74070738e-03 9.89740807e-01 6.33838101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.8892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.95, Y:400.90, Z:63.39 [[ 1.26368685e-01 -9.91981053e-01 2.13200379e-03 5.20950796e+02] [ 9.81817836e-01 1.25380312e-01 1.42525487e-01 4.00903248e+02] [-1.41649894e-01 -1.59175191e-02 9.89788836e-01 6.33912793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:520.95, Y:400.93, Z:63.38 [[ 1.26855684e-01 -9.91849500e-01 1.19249876e-02 5.20948876e+02] [ 9.81685612e-01 1.27260217e-01 1.41768107e-01 4.00931063e+02] [-1.42130203e-01 -6.27750145e-03 9.89828065e-01 6.33832664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.95, Y:400.96, Z:63.38 [[ 1.27621052e-01 -9.91751633e-01 1.18981747e-02 5.20952911e+02] [ 9.81564042e-01 1.28012866e-01 1.41932162e-01 4.00958998e+02] [-1.42284573e-01 -6.43471141e-03 9.89804877e-01 6.33791555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 999.9792541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:520.96, Y:400.99, Z:63.37 [[ 1.27092913e-01 -9.91820509e-01 1.18097442e-02 5.20955379e+02] [ 9.81713068e-01 1.27481154e-01 1.41378954e-01 4.00985742e+02] [-1.41728066e-01 -6.37448291e-03 9.89885105e-01 6.33736717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0092541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:520.96, Y:401.01, Z:63.37 [[ 1.26853087e-01 -9.91851402e-01 1.17936977e-02 5.20959704e+02] [ 9.81694378e-01 1.27239260e-01 1.41726208e-01 4.01013564e+02] [-1.42071960e-01 -6.40060027e-03 9.89835638e-01 6.33689243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.96, Y:401.04, Z:63.37 [[ 1.26670545e-01 -9.91874959e-01 1.17745405e-02 5.20963402e+02] [ 9.81678111e-01 1.27054061e-01 1.42004762e-01 4.01041541e+02] [-1.42346971e-01 -6.42901193e-03 9.89795942e-01 6.33656662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:520.97, Y:401.07, Z:63.36 [[ 1.25952525e-01 -9.91966816e-01 1.17387557e-02 5.20966451e+02] [ 9.81759530e-01 1.26337839e-01 1.42080879e-01 4.01068935e+02] [-1.42422566e-01 -6.37081018e-03 9.89785444e-01 6.33610755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.0992541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:520.97, Y:401.10, Z:63.36 [[ 1.25224921e-01 -9.92059588e-01 1.16830593e-02 5.20970253e+02] [ 9.81876047e-01 1.25610814e-01 1.41920234e-01 4.01095092e+02] [-1.42260847e-01 -6.30063393e-03 9.89809150e-01 6.33561445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.1292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:520.97, Y:401.12, Z:63.35 [[ 1.25955295e-01 -9.91968684e-01 1.15496546e-02 5.20974636e+02] [ 9.81966830e-01 1.26322971e-01 1.40654374e-01 4.01123071e+02] [-1.40983721e-01 -6.37478540e-03 9.89991390e-01 6.33528747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.1592541539999 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:520.98, Y:401.15, Z:63.35 [[ 1.25602210e-01 -9.92014954e-01 1.14199459e-02 5.20976730e+02] [ 9.82167309e-01 1.25962126e-01 1.39574063e-01 4.01149377e+02] [-1.39898039e-01 -6.31451332e-03 9.90145780e-01 6.33471955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.1892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:520.98, Y:401.18, Z:63.34 [[ 1.24853194e-01 -9.92070867e-01 1.43901194e-02 5.20979174e+02] [ 9.82486677e-01 1.25642921e-01 1.37600092e-01 4.01179287e+02] [-1.38317059e-01 -3.04171036e-03 9.90383329e-01 6.33411175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.98, Y:401.20, Z:63.34 [[ 1.25762149e-01 -9.92020428e-01 8.90800693e-03 5.20984292e+02] [ 9.82308426e-01 1.25776811e-01 1.38745634e-01 4.01203862e+02] [-1.38758924e-01 -8.69853885e-03 9.90287987e-01 6.33412996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.99, Y:401.23, Z:63.34 [[ 1.25622178e-01 -9.92014747e-01 1.12164833e-02 5.20985978e+02] [ 9.82331214e-01 1.25960967e-01 1.38416838e-01 4.01230387e+02] [-1.38724384e-01 -6.36992299e-03 9.90310542e-01 6.33371713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.2792541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:520.99, Y:401.26, Z:63.33 [[ 1.23842185e-01 -9.92238993e-01 1.11755860e-02 5.20987521e+02] [ 9.82554473e-01 1.24192591e-01 1.38430158e-01 4.01257703e+02] [-1.38743725e-01 -6.16287121e-03 9.90309143e-01 6.33316554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3092541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:520.99, Y:401.29, Z:63.33 [[ 1.21909382e-01 -9.92477329e-01 1.12629391e-02 5.20989543e+02] [ 9.82570477e-01 1.22281355e-01 1.40009030e-01 4.01285886e+02] [-1.40333035e-01 -6.00178279e-03 9.90086167e-01 6.33277578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.99, Y:401.31, Z:63.33 [[ 1.20890423e-01 -9.92602125e-01 1.12484176e-02 5.20992024e+02] [ 9.82651123e-01 1.21268658e-01 1.40323495e-01 4.01314246e+02] [-1.40649480e-01 -5.91049648e-03 9.90041812e-01 6.33256410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3692541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.99, Y:401.34, Z:63.32 [[ 1.19382075e-01 -9.92784654e-01 1.12494741e-02 5.20993983e+02] [ 9.82760915e-01 1.19772598e-01 1.40838589e-01 4.01341541e+02] [-1.41169769e-01 -5.75805950e-03 9.89968657e-01 6.33210064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.3992541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:521.00, Y:401.37, Z:63.32 [[ 1.17786498e-01 -9.92975796e-01 1.11986241e-02 5.20996261e+02] [ 9.82971499e-01 1.18186682e-01 1.40708707e-01 4.01368073e+02] [-1.41043868e-01 -5.56565756e-03 9.89987702e-01 6.33162569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.00, Y:401.40, Z:63.31 [[ 1.16884581e-01 -9.93083289e-01 1.11165152e-02 5.20998421e+02] [ 9.83150219e-01 1.17285015e-01 1.40213663e-01 4.01395853e+02] [-1.40547647e-01 -5.45961096e-03 9.90058863e-01 6.33141732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.00, Y:401.42, Z:63.31 [[ 1.16623275e-01 -9.93113944e-01 1.11223158e-02 5.21000197e+02] [ 9.83097844e-01 1.17023921e-01 1.40797836e-01 4.01421492e+02] [-1.41129872e-01 -5.48598004e-03 9.89975890e-01 6.33103215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.00, Y:401.45, Z:63.31 [[ 1.16039402e-01 -9.93183157e-01 1.10487119e-02 5.21001456e+02] [ 9.83212483e-01 1.16437283e-01 1.40483350e-01 4.01448857e+02] [-1.40812179e-01 -5.43837254e-03 9.90021391e-01 6.33066713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:521.00, Y:401.48, Z:63.30 [[ 1.15431603e-01 -9.93254892e-01 1.09665015e-02 5.21002876e+02] [ 9.83344990e-01 1.15826321e-01 1.40060325e-01 4.01476967e+02] [-1.40385812e-01 -5.38353344e-03 9.90082240e-01 6.33017574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:521.00, Y:401.50, Z:63.30 [[ 1.15512425e-01 -9.93246190e-01 1.09034692e-02 5.21004701e+02] [ 9.83379240e-01 1.15899142e-01 1.39759287e-01 4.01504991e+02] [-1.40079082e-01 -5.42168895e-03 9.90125475e-01 6.32976380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.5792541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:521.01, Y:401.53, Z:63.29 [[ 1.15436260e-01 -9.93256249e-01 1.07932258e-02 5.21006311e+02] [ 9.83518689e-01 1.15813334e-01 1.38846176e-01 4.01532280e+02] [-1.39159832e-01 -5.41254403e-03 9.90255142e-01 6.32933927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.01, Y:401.56, Z:63.29 [[ 1.15506712e-01 -9.93248727e-01 1.07315307e-02 5.21008564e+02] [ 9.83552587e-01 1.15876127e-01 1.38553355e-01 4.01560670e+02] [-1.38861472e-01 -5.44881772e-03 9.90296825e-01 6.32909890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.01, Y:401.59, Z:63.29 [[ 1.15921057e-01 -9.93201500e-01 1.06343131e-02 5.21010113e+02] [ 9.83608123e-01 1.16277038e-01 1.37821302e-01 4.01587506e+02] [-1.38120850e-01 -5.51639420e-03 9.90400020e-01 6.32870354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:521.01, Y:401.62, Z:63.28 [[ 1.15688281e-01 -9.93229951e-01 1.05112665e-02 5.21011444e+02] [ 9.83781983e-01 1.16035344e-01 1.36780152e-01 4.01615184e+02] [-1.37073822e-01 -5.48306607e-03 9.90545659e-01 6.32828201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.6992541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:521.01, Y:401.64, Z:63.28 [[ 1.16079015e-01 -9.93185581e-01 1.03954294e-02 5.21012325e+02] [ 9.83876143e-01 1.16412136e-01 1.35779048e-01 4.01641964e+02] [-1.36063947e-01 -5.53328314e-03 9.90684604e-01 6.32784719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.01, Y:401.67, Z:63.28 [[ 1.16614303e-01 -9.93122858e-01 1.03967877e-02 5.21014657e+02] [ 9.83734666e-01 1.16939342e-01 1.36349908e-01 4.01669891e+02] [-1.36628004e-01 -5.67266899e-03 9.90606183e-01 6.32754279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.7592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:521.02, Y:401.70, Z:63.27 [[ 1.16071638e-01 -9.93188196e-01 1.02265025e-02 5.21015929e+02] [ 9.84040228e-01 1.16388517e-01 1.34605139e-01 4.01698236e+02] [-1.34878483e-01 -5.56054913e-03 9.90846545e-01 6.32718790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.02, Y:401.73, Z:63.27 [[ 1.15810266e-01 -9.93218557e-01 1.02411239e-02 5.21018147e+02] [ 9.83972940e-01 1.16127514e-01 1.35320562e-01 4.01726478e+02] [-1.35592170e-01 -5.59452147e-03 9.90748941e-01 6.32681518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:521.02, Y:401.75, Z:63.26 [[ 1.15036662e-01 -9.93310299e-01 1.00606637e-02 5.21019248e+02] [ 9.84321367e-01 1.15347187e-01 1.33440894e-01 4.01752900e+02] [-1.33708684e-01 -5.44766886e-03 9.91005707e-01 6.32649277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:521.02, Y:401.78, Z:63.26 [[ 1.14334144e-01 -9.93392056e-01 9.99630899e-03 5.21021279e+02] [ 9.84444814e-01 1.14644083e-01 1.33135808e-01 4.01780665e+02] [-1.33402072e-01 -5.38115407e-03 9.91047391e-01 6.32610916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.8792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:521.02, Y:401.81, Z:63.26 [[ 1.13353330e-01 -9.93505377e-01 9.90393369e-03 5.21022842e+02] [ 9.84656750e-01 1.13663676e-01 1.32407151e-01 4.01808665e+02] [-1.32672934e-01 -5.25681636e-03 9.91145932e-01 6.32573028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:521.02, Y:401.84, Z:63.25 [[ 1.13092249e-01 -9.93535507e-01 9.86610184e-03 5.21024871e+02] [ 9.84686786e-01 1.13399886e-01 1.32409970e-01 4.01836850e+02] [-1.32672821e-01 -5.25952112e-03 9.91145933e-01 6.32530120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9392541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:521.03, Y:401.86, Z:63.25 [[ 1.14308604e-01 -9.93404274e-01 9.02732046e-03 5.21028976e+02] [ 9.84317997e-01 1.14482651e-01 1.34208060e-01 4.01864202e+02] [-1.34356332e-01 -6.45538199e-03 9.90912057e-01 6.32494642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9692541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:521.03, Y:401.89, Z:63.25 [[ 1.12169442e-01 -9.93629040e-01 1.09245904e-02 5.21027384e+02] [ 9.84953658e-01 1.12631206e-01 1.31074420e-01 4.01890673e+02] [-1.31469800e-01 -3.94232923e-03 9.91312337e-01 6.32457237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1000.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.03, Y:401.92, Z:63.24 [[ 1.12002510e-01 -9.93659973e-01 9.76192555e-03 5.21029831e+02] [ 9.84762520e-01 1.12304075e-01 1.32780175e-01 4.01917202e+02] [-1.33034649e-01 -5.25853447e-03 9.91097437e-01 6.32422163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.01, Y:401.94, Z:63.22 [[ 1.08676358e-01 -9.93481730e-01 3.44020550e-02 5.21013839e+02] [ 9.84135187e-01 1.12407236e-01 1.37268156e-01 4.01939287e+02] [-1.40240446e-01 1.89384695e-02 9.89936337e-01 6.32217858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.04, Y:401.97, Z:63.24 [[ 1.11442491e-01 -9.93635722e-01 -1.63897063e-02 5.21044041e+02] [ 9.85045588e-01 1.08268326e-01 1.34026709e-01 4.01973060e+02] [-1.31399240e-01 -3.10808783e-02 9.90842177e-01 6.32445573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.03, Y:402.00, Z:63.23 [[ 1.12468842e-01 -9.93609003e-01 9.58686943e-03 5.21032403e+02] [ 9.84841639e-01 1.12748251e-01 1.31813425e-01 4.01999946e+02] [-1.32051909e-01 -5.38335512e-03 9.91228184e-01 6.32318862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1192541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:521.03, Y:402.03, Z:63.23 [[ 1.12359541e-01 -9.93622217e-01 9.49858354e-03 5.21033675e+02] [ 9.84942957e-01 1.12631860e-01 1.31154243e-01 4.02028100e+02] [-1.31387613e-01 -5.38086761e-03 9.91316469e-01 6.32281290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.03, Y:402.05, Z:63.22 [[ 1.11969587e-01 -9.93666924e-01 9.42637206e-03 5.21034986e+02] [ 9.85050868e-01 1.12238394e-01 1.30680257e-01 4.02054709e+02] [-1.30910650e-01 -5.34675848e-03 9.91379753e-01 6.32245152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.04, Y:402.08, Z:63.22 [[ 1.10968801e-01 -9.93779287e-01 9.41560894e-03 5.21035581e+02] [ 9.85108223e-01 1.11242661e-01 1.31098663e-01 4.02081309e+02] [-1.31330553e-01 -5.27246762e-03 9.91324612e-01 6.32201554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2092541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:521.04, Y:402.11, Z:63.22 [[ 1.08259185e-01 -9.94079747e-01 9.24151602e-03 5.21036508e+02] [ 9.85658283e-01 1.08543294e-01 1.29213402e-01 4.02108941e+02] [-1.29451531e-01 -4.87956086e-03 9.91573745e-01 6.32167398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.04, Y:402.14, Z:63.21 [[ 1.06544822e-01 -9.94264147e-01 9.32771632e-03 5.21038590e+02] [ 9.85612965e-01 1.06846386e-01 1.30961572e-01 4.02135657e+02] [-1.31207028e-01 -4.75975926e-03 9.91343563e-01 6.32126647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.04, Y:402.16, Z:63.21 [[ 1.03074326e-01 -9.94629818e-01 9.33859949e-03 5.21040083e+02] [ 9.85882054e-01 1.03404295e-01 1.31697108e-01 4.02163316e+02] [-1.31955521e-01 -4.36783296e-03 9.91246015e-01 6.32085403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.04, Y:402.19, Z:63.20 [[ 1.00818964e-01 -9.94861323e-01 9.29972471e-03 5.21041520e+02] [ 9.86115994e-01 1.01163683e-01 1.31685824e-01 4.02190867e+02] [-1.31949928e-01 -4.10582118e-03 9.91247880e-01 6.32046249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:521.04, Y:402.22, Z:63.20 [[ 9.92176844e-02 -9.95023167e-01 9.20591328e-03 5.21042913e+02] [ 9.86384750e-01 9.95672776e-02 1.30887289e-01 4.02219083e+02] [-1.31152493e-01 -3.90576131e-03 9.91354512e-01 6.32007859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.04, Y:402.25, Z:63.20 [[ 9.59843069e-02 -9.95339798e-01 9.25737385e-03 5.21043650e+02] [ 9.86532488e-01 9.63642146e-02 1.32165005e-01 4.02246491e+02] [-1.32441169e-01 -3.55306631e-03 9.91184500e-01 6.31964455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.04, Y:402.27, Z:63.19 [[ 9.27535161e-02 -9.95646649e-01 9.19428992e-03 5.21044633e+02] [ 9.86888484e-01 9.31547918e-02 1.31807831e-01 4.02273501e+02] [-1.32090517e-01 -3.15190089e-03 9.91232647e-01 6.31922154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.05, Y:402.30, Z:63.19 [[ 9.08386897e-02 -9.95823823e-01 9.12389407e-03 5.21046529e+02] [ 9.87123619e-01 9.12487814e-02 1.31379685e-01 4.02301296e+02] [-1.31663565e-01 -2.92794714e-03 9.91290136e-01 6.31880528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:521.05, Y:402.33, Z:63.18 [[ 8.65242253e-02 -9.96209364e-01 8.97004086e-03 5.21047490e+02] [ 9.87733263e-01 8.69558734e-02 1.29698409e-01 4.02327795e+02] [-1.29986767e-01 -2.36204662e-03 9.91512915e-01 6.31841916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.05, Y:402.36, Z:63.18 [[ 8.42516695e-02 -9.96404195e-01 8.96305042e-03 5.21049306e+02] [ 9.87865362e-01 8.47007170e-02 1.30183776e-01 4.02355550e+02] [-1.30474837e-01 -2.11391344e-03 9.91449367e-01 6.31797959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:521.05, Y:402.38, Z:63.18 [[ 7.99512449e-02 -9.96759283e-01 8.87299385e-03 5.21050901e+02] [ 9.88322559e-01 8.04266203e-02 1.29422093e-01 4.02382984e+02] [-1.29716298e-01 -1.57807750e-03 9.91549894e-01 6.31756277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.05, Y:402.41, Z:63.17 [[ 7.75340193e-02 -9.96950625e-01 8.82761985e-03 5.21052555e+02] [ 9.88529735e-01 7.80241121e-02 1.29310485e-01 4.02409883e+02] [-1.29604936e-01 -1.29959690e-03 9.91564860e-01 6.31715452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.05, Y:402.44, Z:63.17 [[ 7.32955871e-02 -9.97270988e-01 8.85063129e-03 5.21054762e+02] [ 9.88729535e-01 7.38237349e-02 1.30245781e-01 4.02436684e+02] [-1.30543725e-01 -7.95560401e-04 9.91442234e-01 6.31674613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.06, Y:402.46, Z:63.16 [[ 7.12822779e-02 -9.97417371e-01 8.79916476e-03 5.21057028e+02] [ 9.88898720e-01 7.18210444e-02 1.30080973e-01 4.02464276e+02] [-1.30376987e-01 -5.70985281e-04 9.91464329e-01 6.31639302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.06, Y:402.49, Z:63.16 [[ 6.80107339e-02 -9.97645226e-01 8.86250364e-03 5.21059349e+02] [ 9.88930108e-01 6.85854932e-02 1.31579909e-01 4.02492289e+02] [-1.31877907e-01 -1.84449487e-04 9.91265950e-01 6.31600201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.6592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:521.06, Y:402.52, Z:63.16 [[ 6.65725516e-02 -9.97742360e-01 8.84751326e-03 5.21060661e+02] [ 9.88982197e-01 6.71578890e-02 1.31924346e-01 4.02520433e+02] [-1.32220689e-01 -3.25072501e-05 9.91220303e-01 6.31556354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.6892541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:521.06, Y:402.55, Z:63.15 [[ 6.65160229e-02 -9.97745468e-01 8.92186578e-03 5.21061958e+02] [ 9.88757665e-01 6.71116726e-02 1.33620000e-01 4.02547364e+02] [-1.33917511e-01 -6.63078243e-05 9.90992480e-01 6.31521241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.06, Y:402.58, Z:63.15 [[ 6.73776348e-02 -9.97687545e-01 8.93401880e-03 5.21063614e+02] [ 9.88589348e-01 6.79669883e-02 1.34430615e-01 4.02575212e+02] [-1.34726969e-01 -2.25541100e-04 9.90882734e-01 6.31480897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.06, Y:402.60, Z:63.14 [[ 6.95506292e-02 -9.97538113e-01 8.96789176e-03 5.21063507e+02] [ 9.88287743e-01 7.01241421e-02 1.35535763e-01 4.02603433e+02] [-1.35830955e-01 -5.63740069e-04 9.90731868e-01 6.31432148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.7792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:521.06, Y:402.63, Z:63.14 [[ 7.32042200e-02 -9.97276857e-01 8.94504180e-03 5.21063038e+02] [ 9.87987011e-01 7.37404391e-02 1.35808741e-01 4.02629693e+02] [-1.36098525e-01 -1.10418783e-03 9.90694692e-01 6.31378876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.06, Y:402.66, Z:63.13 [[ 7.52195339e-02 -9.97127583e-01 8.86590426e-03 5.21064473e+02] [ 9.87944431e-01 7.57273398e-02 1.35022858e-01 4.02657866e+02] [-1.35306407e-01 -1.39733569e-03 9.90802818e-01 6.31337204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.06, Y:402.68, Z:63.13 [[ 7.84714171e-02 -9.96877775e-01 8.77142072e-03 5.21064549e+02] [ 9.87808975e-01 7.89381142e-02 1.34172293e-01 4.02684805e+02] [-1.34445776e-01 -1.86420183e-03 9.90919199e-01 6.31285231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8692541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:521.06, Y:402.71, Z:63.12 [[ 7.86176776e-02 -9.96866845e-01 8.70367800e-03 5.21064532e+02] [ 9.87852789e-01 7.90747248e-02 1.33768662e-01 4.02712622e+02] [-1.34037786e-01 -1.91862899e-03 9.90974364e-01 6.31227986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.8992541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:521.07, Y:402.74, Z:63.12 [[ 7.91002642e-02 -9.96829216e-01 8.64070261e-03 5.21065761e+02] [ 9.87867036e-01 7.95452950e-02 1.33383906e-01 4.02739423e+02] [-1.33648301e-01 -2.01483689e-03 9.91026777e-01 6.31185222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9292541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:521.07, Y:402.77, Z:63.11 [[ 7.91145204e-02 -9.96827853e-01 8.66744367e-03 5.21067027e+02] [ 9.87723523e-01 7.95608447e-02 1.34433309e-01 4.02767439e+02] [-1.34696456e-01 -2.07458877e-03 9.90884736e-01 6.31141153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.07, Y:402.79, Z:63.11 [[ 7.84534586e-02 -9.96879210e-01 8.76895945e-03 5.21069767e+02] [ 9.87474773e-01 7.89151344e-02 1.36623477e-01 4.02794766e+02] [-1.36889107e-01 -2.05945805e-03 9.90584237e-01 6.31114264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1001.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.07, Y:402.82, Z:63.11 [[ 7.71938650e-02 -9.96977523e-01 8.77071678e-03 5.21072023e+02] [ 9.87479659e-01 7.76663538e-02 1.37302081e-01 4.02821339e+02] [-1.37568279e-01 -1.93797391e-03 9.90490390e-01 6.31079002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.08, Y:402.85, Z:63.10 [[ 7.39707480e-02 -9.97221281e-01 8.83437914e-03 5.21075168e+02] [ 9.87493091e-01 7.44801943e-02 1.38960770e-01 4.02849243e+02] [-1.39232624e-01 -1.55514377e-03 9.90258480e-01 6.31038877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0492541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:521.08, Y:402.88, Z:63.10 [[ 7.18225892e-02 -9.97378195e-01 8.84599286e-03 5.21077271e+02] [ 9.87538916e-01 7.23535829e-02 1.39756388e-01 4.02877304e+02] [-1.40030014e-01 -1.30190345e-03 9.90146404e-01 6.30990902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.0792541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:521.08, Y:402.90, Z:63.09 [[ 6.95816053e-02 -9.97537020e-01 8.84835100e-03 5.21079401e+02] [ 9.87602633e-01 7.01343413e-02 1.40435803e-01 4.02904570e+02] [-1.40710485e-01 -1.03309385e-03 9.90050247e-01 6.30942369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1092541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:521.09, Y:402.94, Z:63.09 [[ 6.95381398e-02 -9.97542364e-01 8.58364325e-03 5.21088116e+02] [ 9.87830425e-01 7.00560212e-02 1.38863979e-01 4.02937965e+02] [-1.39124038e-01 -1.17715885e-03 9.90274263e-01 6.30901998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:521.09, Y:402.97, Z:63.09 [[ 6.84665627e-02 -9.97599485e-01 1.03728845e-02 5.21089552e+02] [ 9.87869574e-01 6.92440107e-02 1.38992707e-01 4.02965954e+02] [-1.39377314e-01 7.30704093e-04 9.90239078e-01 6.30854675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.10, Y:403.00, Z:63.09 [[ 6.84886576e-02 -9.97646560e-01 3.26274732e-03 5.21096197e+02] [ 9.88208453e-01 6.82889196e-02 1.37042610e-01 4.02995716e+02] [-1.36942898e-01 -6.16158989e-03 9.90559780e-01 6.30880175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.10, Y:403.02, Z:63.08 [[ 7.06968941e-02 -9.97450370e-01 9.73188087e-03 5.21097252e+02] [ 9.88105159e-01 7.13635772e-02 1.36218335e-01 4.03022832e+02] [-1.36565531e-01 -1.40915241e-05 9.90631039e-01 6.30822805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.2292541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:521.10, Y:403.05, Z:63.08 [[ 7.01805570e-02 -9.97497512e-01 8.56756907e-03 5.21098720e+02] [ 9.88242876e-01 7.06938253e-02 1.35566964e-01 4.03048865e+02] [-1.35833383e-01 -1.04732592e-03 9.90731142e-01 6.30785532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.2592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.10, Y:403.07, Z:63.07 [[ 7.13138211e-02 -9.97397360e-01 1.06228772e-02 5.21099270e+02] [ 9.88141945e-01 7.20959004e-02 1.35564296e-01 4.03074379e+02] [-1.35977337e-01 8.29302588e-04 9.90711601e-01 6.30748235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.2892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:521.10, Y:403.10, Z:63.07 [[ 7.02128333e-02 -9.97437904e-01 1.37034848e-02 5.21098544e+02] [ 9.88048131e-01 7.14285262e-02 1.36597428e-01 4.03099998e+02] [-1.37226272e-01 3.94881016e-03 9.90531856e-01 6.30689762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.09, Y:403.12, Z:63.06 [[ 6.78533085e-02 -9.97463890e-01 2.14876154e-02 5.21090898e+02] [ 9.87671166e-01 7.02013292e-02 1.39919411e-01 4.03120500e+02] [-1.41073019e-01 1.17287032e-02 9.89929715e-01 6.30590068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.10, Y:403.15, Z:63.06 [[ 6.66783842e-02 -9.97737355e-01 8.61179694e-03 5.21099364e+02] [ 9.87644929e-01 6.72257303e-02 1.41556333e-01 4.03147656e+02] [-1.41814975e-01 -9.33349958e-04 9.89892743e-01 6.30606946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.10, Y:403.17, Z:63.06 [[ 6.55737113e-02 -9.97810355e-01 8.63617380e-03 5.21102135e+02] [ 9.87558255e-01 6.61347992e-02 1.42670533e-01 4.03174024e+02] [-1.42929287e-01 -8.26711637e-04 9.89732558e-01 6.30577836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.10, Y:403.20, Z:63.05 [[ 6.50308905e-02 -9.97846136e-01 8.60648847e-03 5.21104036e+02] [ 9.87598277e-01 6.55933339e-02 1.42643467e-01 4.03201428e+02] [-1.42900761e-01 -7.76478495e-04 9.89736717e-01 6.30539886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.11, Y:403.23, Z:63.05 [[ 6.47337022e-02 -9.97865796e-01 8.56748322e-03 5.21105880e+02] [ 9.87606551e-01 6.52935609e-02 1.42723688e-01 4.03229616e+02] [-1.42978488e-01 -7.77730172e-04 9.89725491e-01 6.30498605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.11, Y:403.26, Z:63.05 [[ 6.50782862e-02 -9.97843997e-01 8.49559677e-03 5.21106778e+02] [ 9.87659753e-01 6.56247879e-02 1.42202669e-01 4.03256233e+02] [-1.42453601e-01 -8.63546990e-04 9.89801104e-01 6.30456147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.11, Y:403.28, Z:63.04 [[ 6.58399827e-02 -9.97794590e-01 8.42933461e-03 5.21108071e+02] [ 9.87665934e-01 6.63696739e-02 1.41813499e-01 4.03283959e+02] [-1.42060194e-01 -1.01163170e-03 9.89857504e-01 6.30412577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.11, Y:403.31, Z:63.04 [[ 6.78949657e-02 -9.97658124e-01 8.27898141e-03 5.21109311e+02] [ 9.87795075e-01 6.83850573e-02 1.39944182e-01 4.03311445e+02] [-1.40182609e-01 -1.32356839e-03 9.90124782e-01 6.30369467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.11, Y:403.34, Z:63.03 [[ 6.88004927e-02 -9.97596768e-01 8.19644505e-03 5.21110662e+02] [ 9.87837460e-01 6.92711832e-02 1.39207244e-01 4.03339160e+02] [-1.39440474e-01 -1.48077151e-03 9.90229348e-01 6.30324384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.5892541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:521.11, Y:403.37, Z:63.03 [[ 7.03243800e-02 -9.97492159e-01 7.99210730e-03 5.21112456e+02] [ 9.88125460e-01 7.07567807e-02 1.36387511e-01 4.03366319e+02] [-1.36610969e-01 -1.69416248e-03 9.90623326e-01 6.30279213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.11, Y:403.39, Z:63.02 [[ 7.05248611e-02 -9.97478191e-01 7.96882811e-03 5.21113903e+02] [ 9.88064794e-01 7.09515998e-02 1.36725393e-01 4.03392591e+02] [-1.36945999e-01 -1.76882085e-03 9.90576935e-01 6.30241120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.12, Y:403.42, Z:63.02 [[ 6.94080926e-02 -9.97556843e-01 7.92850560e-03 5.21116278e+02] [ 9.88175086e-01 6.98402222e-02 1.36500339e-01 4.03420017e+02] [-1.36720576e-01 -1.63947644e-03 9.90608296e-01 6.30202913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.12, Y:403.45, Z:63.02 [[ 6.80321049e-02 -9.97651793e-01 7.90777002e-03 5.21118553e+02] [ 9.88227599e-01 6.84738729e-02 1.36812067e-01 4.03447850e+02] [-1.37032280e-01 -1.49293631e-03 9.90565458e-01 6.30163528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7092541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:521.12, Y:403.47, Z:63.01 [[ 6.46074132e-02 -9.97879647e-01 7.87989934e-03 5.21121662e+02] [ 9.88430298e-01 6.50775003e-02 1.37005350e-01 4.03474151e+02] [-1.37227655e-01 -1.06283003e-03 9.90538965e-01 6.30120966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.12, Y:403.50, Z:63.01 [[ 6.28282348e-02 -9.97993003e-01 7.91064772e-03 5.21124251e+02] [ 9.88367622e-01 6.33183249e-02 1.38275937e-01 4.03501412e+02] [-1.38499306e-01 -8.69004938e-04 9.90362149e-01 6.30079409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7692541539999 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:521.13, Y:403.53, Z:63.00 [[ 5.94339865e-02 -9.98201735e-01 7.80364213e-03 5.21127928e+02] [ 9.88746073e-01 5.99425560e-02 1.37069667e-01 4.03527558e+02] [-1.37290949e-01 -4.30776214e-04 9.90530671e-01 6.30039726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.7992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:521.13, Y:403.55, Z:63.00 [[ 5.79367850e-02 -9.98289933e-01 7.78066455e-03 5.21130428e+02] [ 9.88790706e-01 5.84562983e-02 1.37389232e-01 4.03554832e+02] [-1.37609116e-01 -2.66441583e-04 9.90486578e-01 6.29995948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:521.13, Y:403.58, Z:63.00 [[ 5.76821108e-02 -9.98304976e-01 7.74271056e-03 5.21131941e+02] [ 9.88805597e-01 5.81988241e-02 1.37391370e-01 4.03583047e+02] [-1.37609105e-01 -2.68988710e-04 9.90486578e-01 6.29953100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:521.14, Y:403.61, Z:62.99 [[ 5.58686491e-02 -9.98408639e-01 7.67356437e-03 5.21135390e+02] [ 9.88996021e-01 5.63931452e-02 1.36772381e-01 4.03609268e+02] [-1.36987463e-01 -5.21635352e-05 9.90572780e-01 6.29913837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.8892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.14, Y:403.64, Z:62.99 [[ 5.54013323e-02 -9.98434844e-01 7.65209365e-03 5.21137860e+02] [ 9.88963723e-01 5.59272836e-02 1.37196555e-01 4.03637280e+02] [-1.37409781e-01 -3.32288873e-05 9.90514286e-01 6.29867020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.14, Y:403.67, Z:62.98 [[ 5.40974498e-02 -9.98411714e-01 1.57326070e-02 5.21136689e+02] [ 9.89346673e-01 5.57255338e-02 1.34490985e-01 4.03665551e+02] [-1.35154082e-01 8.28938308e-03 9.90789917e-01 6.29792347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9492541539998 meters Centerline goodness : 0.999672 Centerline is valid? [True, True] Translation: X:521.15, Y:403.69, Z:62.98 [[ 5.59678886e-02 -9.98432509e-01 3.47069539e-04 5.21145487e+02] [ 9.89177181e-01 5.54962892e-02 1.35825871e-01 4.03691210e+02] [-1.35632226e-01 -7.25857394e-03 9.90732664e-01 6.29818637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1002.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.14, Y:403.72, Z:62.97 [[ 5.81263357e-02 -9.98280473e-01 7.57801794e-03 5.21143895e+02] [ 9.88667037e-01 5.86157326e-02 1.38208849e-01 4.03717120e+02] [-1.38415386e-01 -5.41437398e-04 9.90374115e-01 6.29744221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.15, Y:403.75, Z:62.97 [[ 5.90375642e-02 -9.98227253e-01 7.54442115e-03 5.21145101e+02] [ 9.88593982e-01 5.95134363e-02 1.38347717e-01 4.03745219e+02] [-1.38551456e-01 -7.09342876e-04 9.90354982e-01 6.29705098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0392541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:521.15, Y:403.77, Z:62.97 [[ 6.07880241e-02 -9.98122702e-01 7.47584226e-03 5.21145932e+02] [ 9.88565117e-01 6.12380553e-02 1.37800253e-01 4.03772538e+02] [-1.37999367e-01 -9.86248254e-04 9.90431826e-01 6.29674080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.15, Y:403.80, Z:62.96 [[ 6.15561055e-02 -9.98074849e-01 7.57903423e-03 5.21147299e+02] [ 9.88137870e-01 6.20100995e-02 1.40493052e-01 4.03799511e+02] [-1.40692559e-01 -1.15907441e-03 9.90052655e-01 6.29621812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.15, Y:403.83, Z:62.96 [[ 6.33022390e-02 -9.97965419e-01 7.60590293e-03 5.21148515e+02] [ 9.87844078e-01 6.37407825e-02 1.41778667e-01 4.03827178e+02] [-1.41975013e-01 -1.46146090e-03 9.89869163e-01 6.29578555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.15, Y:403.85, Z:62.95 [[ 6.53180001e-02 -9.97835795e-01 7.56871889e-03 5.21149714e+02] [ 9.87707409e-01 6.57307400e-02 1.41822230e-01 4.03852980e+02] [-1.42012795e-01 -1.78786469e-03 9.89863208e-01 6.29537392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.15, Y:403.88, Z:62.95 [[ 6.60384745e-02 -9.97788452e-01 7.55808169e-03 5.21150867e+02] [ 9.87597187e-01 6.64415473e-02 1.42257923e-01 4.03880188e+02] [-1.42445484e-01 -1.93015603e-03 9.89800767e-01 6.29490966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.15, Y:403.91, Z:62.95 [[ 6.67577205e-02 -9.97741023e-01 7.50048197e-03 5.21151863e+02] [ 9.87593714e-01 6.71458871e-02 1.41950997e-01 4.03907304e+02] [-1.42133959e-01 -2.06889611e-03 9.89845269e-01 6.29450614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2192541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:521.15, Y:403.93, Z:62.94 [[ 6.83583814e-02 -9.97634092e-01 7.30418380e-03 5.21152054e+02] [ 9.87902170e-01 6.87094273e-02 1.39026320e-01 4.03933710e+02] [-1.39199263e-01 -2.28779519e-03 9.90261749e-01 6.29426845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.15, Y:403.96, Z:62.94 [[ 6.92752189e-02 -9.97570244e-01 7.38602940e-03 5.21153341e+02] [ 9.87491917e-01 6.96227508e-02 1.41465142e-01 4.03960199e+02] [-1.41635652e-01 -2.50638438e-03 9.89915683e-01 6.29364448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.15, Y:403.99, Z:62.93 [[ 7.08964698e-02 -9.97457103e-01 7.28134427e-03 5.21154637e+02] [ 9.87548797e-01 7.12161719e-02 1.40269851e-01 4.03987859e+02] [-1.40431709e-01 -2.75395451e-03 9.90086537e-01 6.29320975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.16, Y:404.01, Z:62.93 [[ 7.13821920e-02 -9.97423016e-01 7.20482539e-03 5.21156093e+02] [ 9.87615734e-01 7.16883939e-02 1.39556211e-01 4.04014956e+02] [-1.39713079e-01 -2.84622933e-03 9.90187939e-01 6.29276831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.16, Y:404.04, Z:62.92 [[ 7.14875918e-02 -9.97416088e-01 7.11839931e-03 5.21157481e+02] [ 9.87731293e-01 7.17832419e-02 1.38686911e-01 4.04041385e+02] [-1.38839538e-01 -2.88332754e-03 9.90310693e-01 6.29234037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.16, Y:404.07, Z:62.92 [[ 7.07437909e-02 -9.97469659e-01 7.04244917e-03 5.21158822e+02] [ 9.87882038e-01 7.10380949e-02 1.37995173e-01 4.04066701e+02] [-1.38146281e-01 -2.80519264e-03 9.90407864e-01 6.29185651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.16, Y:404.09, Z:62.91 [[ 6.97680792e-02 -9.97538771e-01 6.98686485e-03 5.21160519e+02] [ 9.87980721e-01 7.00646559e-02 1.37786206e-01 4.04094464e+02] [-1.37936615e-01 -2.71019116e-03 9.90437350e-01 6.29144874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.16, Y:404.12, Z:62.91 [[ 6.71725077e-02 -9.97717416e-01 6.91461045e-03 5.21163807e+02] [ 9.88250248e-01 6.74855526e-02 1.37139153e-01 4.04121365e+02] [-1.37292758e-01 -2.37861534e-03 9.90527658e-01 6.29110428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.17, Y:404.15, Z:62.91 [[ 6.51044362e-02 -9.97854640e-01 6.89413578e-03 5.21166580e+02] [ 9.88327840e-01 6.54333575e-02 1.37573821e-01 4.04149452e+02] [-1.37729782e-01 -2.14299974e-03 9.90467523e-01 6.29069066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.4892541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:521.17, Y:404.18, Z:62.90 [[ 6.07071666e-02 -9.98132398e-01 6.80860431e-03 5.21170181e+02] [ 9.88730191e-01 6.10677065e-02 1.36687031e-01 4.04176526e+02] [-1.36847540e-01 -1.56600974e-03 9.90590884e-01 6.29042871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:521.17, Y:404.20, Z:62.90 [[ 5.80852909e-02 -9.98288197e-01 6.83922567e-03 5.21172719e+02] [ 9.88721350e-01 5.84732563e-02 1.37880279e-01 4.04203263e+02] [-1.38044167e-01 -1.24672766e-03 9.90425289e-01 6.28995549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5492541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:521.18, Y:404.23, Z:62.90 [[ 5.56069669e-02 -9.98429820e-01 6.76466199e-03 5.21175067e+02] [ 9.88954796e-01 5.60090189e-02 1.37227556e-01 4.04231567e+02] [-1.37390966e-01 -9.40863252e-04 9.90516450e-01 6.28965238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.18, Y:404.26, Z:62.89 [[ 5.19821733e-02 -9.98624288e-01 6.88366661e-03 5.21178555e+02] [ 9.88693399e-01 5.24336181e-02 1.40485154e-01 4.04259064e+02] [-1.40652822e-01 -4.96887878e-04 9.90058855e-01 6.28901212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6092541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:521.18, Y:404.29, Z:62.89 [[ 4.97523305e-02 -9.98738328e-01 6.81595277e-03 5.21180692e+02] [ 9.88886669e-01 5.02165550e-02 1.39933748e-01 4.04286901e+02] [-1.40099471e-01 -2.21825231e-04 9.90137409e-01 6.28869962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.18, Y:404.31, Z:62.88 [[ 4.95196471e-02 -9.98749610e-01 6.85725324e-03 5.21182691e+02] [ 9.88655904e-01 4.99916243e-02 1.41634534e-01 4.04314839e+02] [-1.41800241e-01 -2.34228231e-04 9.89895266e-01 6.28814756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.18, Y:404.34, Z:62.88 [[ 4.93631153e-02 -9.98757405e-01 6.85049116e-03 5.21184118e+02] [ 9.88560872e-01 4.98355443e-02 1.42351049e-01 4.04341741e+02] [-1.42515562e-01 -2.54763741e-04 9.89792529e-01 6.28769760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:404.37, Z:62.87 [[ 5.03990580e-02 -9.98705655e-01 6.85196036e-03 5.21185069e+02] [ 9.88371223e-01 5.08607108e-02 1.43302178e-01 4.04369276e+02] [-1.43465191e-01 -4.50014325e-04 9.89655262e-01 6.28722144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:404.40, Z:62.87 [[ 5.30093918e-02 -9.98570711e-01 6.82199881e-03 5.21185403e+02] [ 9.88199784e-01 5.34395195e-02 1.43545831e-01 4.04395968e+02] [-1.43705227e-01 -8.67779443e-04 9.89620157e-01 6.28672344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:404.42, Z:62.86 [[ 5.44840891e-02 -9.98491688e-01 6.77006738e-03 5.21186144e+02] [ 9.88144480e-01 5.48916278e-02 1.43378509e-01 4.04423171e+02] [-1.43533870e-01 -1.12204277e-03 9.89644769e-01 6.28624069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.7892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.19, Y:404.45, Z:62.86 [[ 5.80152323e-02 -9.98293027e-01 6.72798706e-03 5.21186563e+02] [ 9.87950504e-01 5.83802023e-02 1.43337200e-01 4.04450351e+02] [-1.43485309e-01 -1.66882275e-03 9.89651040e-01 6.28572969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:404.48, Z:62.85 [[ 5.99460692e-02 -9.98179515e-01 6.64264657e-03 5.21187800e+02] [ 9.87975817e-01 6.02807391e-02 1.42372809e-01 4.04478001e+02] [-1.42514046e-01 -1.97191611e-03 9.89790816e-01 6.28531293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:404.51, Z:62.85 [[ 6.14230976e-02 -9.98090105e-01 6.58372398e-03 5.21188634e+02] [ 9.87944644e-01 6.17351884e-02 1.41965303e-01 4.04505208e+02] [-1.42100611e-01 -2.21559380e-03 9.89849740e-01 6.28485790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:404.53, Z:62.84 [[ 6.44180574e-02 -9.97901802e-01 6.50442652e-03 5.21189158e+02] [ 9.87879363e-01 6.46907841e-02 1.41100913e-01 4.04532763e+02] [-1.41225632e-01 -2.66385799e-03 9.89973851e-01 6.28435118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:521.19, Y:404.56, Z:62.84 [[ 6.54068686e-02 -9.97838020e-01 6.42094201e-03 5.21189814e+02] [ 9.87949177e-01 6.56605846e-02 1.40161018e-01 4.04559092e+02] [-1.40279596e-01 -2.82392893e-03 9.90107904e-01 6.28396745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9392541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:521.19, Y:404.59, Z:62.84 [[ 6.66467524e-02 -9.97756541e-01 6.33215021e-03 5.21190777e+02] [ 9.88010673e-01 6.68788479e-02 1.39147869e-01 4.04587338e+02] [-1.39259184e-01 -3.01752160e-03 9.90251369e-01 6.28355082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:404.61, Z:62.83 [[ 6.67722974e-02 -9.97748079e-01 6.34287271e-03 5.21192659e+02] [ 9.87840640e-01 6.70011218e-02 1.40291554e-01 4.04614471e+02] [-1.40400608e-01 -3.10184191e-03 9.90089919e-01 6.28305347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1003.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:404.64, Z:62.83 [[ 6.62711463e-02 -9.97781332e-01 6.36785822e-03 5.21194517e+02] [ 9.87663475e-01 6.65038976e-02 1.41767742e-01 4.04642457e+02] [-1.41876694e-01 -3.10580982e-03 9.89879466e-01 6.28269554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:521.20, Y:404.67, Z:62.82 [[ 6.58465526e-02 -9.97809691e-01 6.32872019e-03 5.21195700e+02] [ 9.87685571e-01 6.60779156e-02 1.41812980e-01 4.04670742e+02] [-1.41920555e-01 -3.08711026e-03 9.89873237e-01 6.28238279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:404.70, Z:62.82 [[ 6.51897776e-02 -9.97852703e-01 6.34630287e-03 5.21197376e+02] [ 9.87536800e-01 6.54262351e-02 1.43144949e-01 4.04698669e+02] [-1.43252789e-01 -3.06437975e-03 9.89681387e-01 6.28185380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:404.73, Z:62.81 [[ 6.43223438e-02 -9.97909151e-01 6.32166854e-03 5.21199054e+02] [ 9.87538708e-01 6.45631020e-02 1.43523191e-01 4.04725552e+02] [-1.43631252e-01 -2.98885565e-03 9.89626763e-01 6.28144928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:404.75, Z:62.81 [[ 6.42587992e-02 -9.97913528e-01 6.27671656e-03 5.21200222e+02] [ 9.87547141e-01 6.44938437e-02 1.43496305e-01 4.04752867e+02] [-1.43601714e-01 -3.02234679e-03 9.89630948e-01 6.28102260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:404.78, Z:62.81 [[ 6.41442681e-02 -9.97921156e-01 6.23537582e-03 5.21201296e+02] [ 9.87553198e-01 6.43745292e-02 1.43508194e-01 4.04780899e+02] [-1.43611262e-01 -3.04746274e-03 9.89629485e-01 6.28052066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.1792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:521.20, Y:404.81, Z:62.80 [[ 6.41100279e-02 -9.97923859e-01 6.15431752e-03 5.21202155e+02] [ 9.87688537e-01 6.43318643e-02 1.42593005e-01 4.04809057e+02] [-1.42692881e-01 -3.06309266e-03 9.89762274e-01 6.28017012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:404.84, Z:62.80 [[ 6.50130853e-02 -9.97865805e-01 6.09375204e-03 5.21202948e+02] [ 9.87694795e-01 6.52184786e-02 1.42146201e-01 4.04835786e+02] [-1.42240259e-01 -3.22259595e-03 9.89826916e-01 6.27962012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:521.20, Y:404.86, Z:62.79 [[ 6.66621161e-02 -9.97757634e-01 5.98887086e-03 5.21203313e+02] [ 9.87792849e-01 6.68409007e-02 1.40703879e-01 4.04863274e+02] [-1.40788671e-01 -3.46385451e-03 9.90033612e-01 6.27922589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:404.89, Z:62.79 [[ 6.73951216e-02 -9.97708601e-01 5.95353594e-03 5.21204462e+02] [ 9.87726976e-01 6.75611797e-02 1.40822255e-01 4.04890807e+02] [-1.40901803e-01 -3.61026493e-03 9.90016994e-01 6.27880241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.2992541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:521.21, Y:404.92, Z:62.78 [[ 6.77748376e-02 -9.97683318e-01 5.87942589e-03 5.21205229e+02] [ 9.87816443e-01 6.79296789e-02 1.40015123e-01 4.04918888e+02] [-1.40090140e-01 -3.68170864e-03 9.90131909e-01 6.27847126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.21, Y:404.95, Z:62.78 [[ 6.89874208e-02 -9.97600214e-01 5.87788653e-03 5.21205216e+02] [ 9.87598693e-01 6.91263355e-02 1.40962306e-01 4.04945902e+02] [-1.41030343e-01 -3.91963283e-03 9.89997515e-01 6.27801099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.21, Y:404.97, Z:62.78 [[ 6.92528160e-02 -9.97581974e-01 5.85259956e-03 5.21205343e+02] [ 9.87516918e-01 6.93837038e-02 1.41408057e-01 4.04973962e+02] [-1.41472203e-01 -4.01336506e-03 9.89934093e-01 6.27760487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.3892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:521.20, Y:405.00, Z:62.77 [[ 7.05580632e-02 -9.97490404e-01 5.86968283e-03 5.21204162e+02] [ 9.87222403e-01 7.06721637e-02 1.42819371e-01 4.05002123e+02] [-1.42875775e-01 -4.28237583e-03 9.89731365e-01 6.27717405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4192541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:521.20, Y:405.03, Z:62.77 [[ 7.09071716e-02 -9.97465724e-01 5.85676508e-03 5.21203625e+02] [ 9.87096880e-01 7.10127552e-02 1.43516333e-01 4.05029425e+02] [-1.43568528e-01 -4.39514270e-03 9.89630618e-01 6.27681529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:405.06, Z:62.76 [[ 7.23308586e-02 -9.97363401e-01 5.87302868e-03 5.21202673e+02] [ 9.86776855e-01 7.24169857e-02 1.45007654e-01 4.05057546e+02] [-1.45050634e-01 -4.69315934e-03 9.89413103e-01 6.27635526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.4792541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:521.20, Y:405.08, Z:62.76 [[ 7.29122732e-02 -9.97321117e-01 5.86427053e-03 5.21202172e+02] [ 9.86614175e-01 7.29869719e-02 1.45826510e-01 4.05084310e+02] [-1.45863874e-01 -4.84676994e-03 9.89292798e-01 6.27599255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:405.11, Z:62.75 [[ 7.51647900e-02 -9.97153884e-01 5.86395484e-03 5.21200233e+02] [ 9.86283281e-01 7.52094295e-02 1.46931383e-01 4.05111668e+02] [-1.46954224e-01 -5.26054593e-03 9.89129305e-01 6.27548178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:405.14, Z:62.75 [[ 7.59788987e-02 -9.97092450e-01 5.81834812e-03 5.21199314e+02] [ 9.86237910e-01 7.60085460e-02 1.46824679e-01 4.05139490e+02] [-1.46840023e-01 -5.41730194e-03 9.89145419e-01 6.27503126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:405.17, Z:62.75 [[ 7.70053052e-02 -9.97014028e-01 5.76282051e-03 5.21198646e+02] [ 9.86213579e-01 7.70176832e-02 1.46461781e-01 4.05167336e+02] [-1.46468289e-01 -5.59496229e-03 9.89199543e-01 6.27454409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:405.19, Z:62.74 [[ 7.92017058e-02 -9.96842372e-01 5.68996236e-03 5.21195909e+02] [ 9.86162934e-01 7.91845366e-02 1.45645035e-01 4.05194721e+02] [-1.45635699e-01 -5.92410522e-03 9.89320549e-01 6.27402128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:405.22, Z:62.74 [[ 8.11603778e-02 -9.96685123e-01 5.63557215e-03 5.21193772e+02] [ 9.86053752e-01 8.11163517e-02 1.45320805e-01 4.05221763e+02] [-1.45296221e-01 -6.23731437e-03 9.89368538e-01 6.27353390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.6592541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:521.19, Y:405.25, Z:62.73 [[ 8.13418190e-02 -9.96670543e-01 5.59802068e-03 5.21193280e+02] [ 9.86013639e-01 8.12892831e-02 1.45496243e-01 4.05249521e+02] [-1.45466878e-01 -6.31520430e-03 9.89342967e-01 6.27309571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:405.28, Z:62.73 [[ 8.15125168e-02 -9.96657001e-01 5.52550289e-03 5.21193386e+02] [ 9.86119445e-01 8.14528344e-02 1.44685439e-01 4.05277484e+02] [-1.44651824e-01 -6.34486844e-03 9.89462275e-01 6.27265769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:405.31, Z:62.72 [[ 8.12480373e-02 -9.96678827e-01 5.48384584e-03 5.21194389e+02] [ 9.86141290e-01 8.11851154e-02 1.44687018e-01 4.05305721e+02] [-1.44651694e-01 -6.34768940e-03 9.89462275e-01 6.27222928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:405.33, Z:62.72 [[ 8.11738159e-02 -9.96684928e-01 5.47416046e-03 5.21192900e+02] [ 9.86033296e-01 8.11052578e-02 1.45465720e-01 4.05333553e+02] [-1.45427474e-01 -6.41030309e-03 9.89348148e-01 6.27177463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:405.36, Z:62.71 [[ 8.08431210e-02 -9.96711916e-01 5.45402750e-03 5.21192817e+02] [ 9.85975219e-01 8.07714251e-02 1.46043979e-01 4.05360967e+02] [-1.46004304e-01 -6.42911511e-03 9.89263064e-01 6.27135689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:521.19, Y:405.39, Z:62.71 [[ 7.97331772e-02 -9.96801217e-01 5.47308645e-03 5.21191500e+02] [ 9.85813519e-01 7.96654335e-02 1.47733291e-01 4.05388095e+02] [-1.47696740e-01 -6.38380205e-03 9.89012093e-01 6.27091904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:405.42, Z:62.71 [[ 7.90373683e-02 -9.96856837e-01 5.43515054e-03 5.21191711e+02] [ 9.85836676e-01 7.89702934e-02 1.47951818e-01 4.05415277e+02] [-1.47915997e-01 -6.33555162e-03 9.88979635e-01 6.27050454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8692541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:521.19, Y:405.44, Z:62.70 [[ 7.72363589e-02 -9.96998003e-01 5.43381909e-03 5.21190767e+02] [ 9.85802376e-01 7.71817743e-02 1.49119584e-01 4.05443605e+02] [-1.49091319e-01 -6.16078190e-03 9.88804239e-01 6.27009524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:405.47, Z:62.70 [[ 7.62648520e-02 -9.97073054e-01 5.38499796e-03 5.21191086e+02] [ 9.85904911e-01 7.62150048e-02 1.48938844e-01 4.05471227e+02] [-1.48913326e-01 -6.04970296e-03 9.88831746e-01 6.26970987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:405.50, Z:62.69 [[ 7.52252098e-02 -9.97152270e-01 5.34021011e-03 5.21191135e+02] [ 9.85995705e-01 7.51807903e-02 1.48863420e-01 4.05498953e+02] [-1.48840979e-01 -5.93285778e-03 9.88843347e-01 6.26929848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.18, Y:405.52, Z:62.67 [[ 7.05190550e-02 -9.97068919e-01 2.96754583e-02 5.21175264e+02] [ 9.85284505e-01 7.42673791e-02 1.53944152e-01 4.05524415e+02] [-1.55696847e-01 1.83827732e-02 9.87633822e-01 6.26712391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1004.9892541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:521.20, Y:405.56, Z:62.69 [[ 7.37569885e-02 -9.97083276e-01 -1.96175095e-02 5.21200834e+02] [ 9.86015465e-01 6.99622999e-02 1.51257328e-01 4.05555204e+02] [-1.49443666e-01 -3.04994527e-02 9.88299739e-01 6.26923009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.18, Y:405.58, Z:62.67 [[ 6.98583328e-02 -9.97305225e-01 2.24076450e-02 5.21176519e+02] [ 9.85723015e-01 7.24618591e-02 1.51984923e-01 4.05579745e+02] [-1.53199058e-01 1.14703180e-02 9.88128777e-01 6.26673085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:405.61, Z:62.68 [[ 7.27394980e-02 -9.97271300e-01 -1.26063738e-02 5.21194991e+02] [ 9.86310497e-01 7.00530191e-02 1.49278858e-01 4.05609814e+02] [-1.47988406e-01 -2.32922680e-02 9.88714773e-01 6.26808070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:405.64, Z:62.67 [[ 7.27466722e-02 -9.97337096e-01 5.16122075e-03 5.21185758e+02] [ 9.86269491e-01 7.27067274e-02 1.48277519e-01 4.05636861e+02] [-1.48257926e-01 -5.69634154e-03 9.88932323e-01 6.26700947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.18, Y:405.66, Z:62.67 [[ 7.32236622e-02 -9.97302517e-01 5.09764299e-03 5.21183926e+02] [ 9.86329143e-01 7.31726821e-02 1.47650195e-01 4.05663538e+02] [-1.47624919e-01 -5.78353416e-03 9.89026508e-01 6.26650270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1392541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:521.18, Y:405.69, Z:62.66 [[ 7.33050604e-02 -9.97296700e-01 5.06563952e-03 5.21182621e+02] [ 9.86269705e-01 7.32463339e-02 1.48010283e-01 4.05690525e+02] [-1.47981206e-01 -5.85381593e-03 9.88972849e-01 6.26587914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1692541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:521.18, Y:405.72, Z:62.65 [[ 7.24948498e-02 -9.97356182e-01 5.01424984e-03 5.21182646e+02] [ 9.86362245e-01 7.24387581e-02 1.47790895e-01 4.05718301e+02] [-1.47763389e-01 -5.76821202e-03 9.89005919e-01 6.26544420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.18, Y:405.75, Z:62.65 [[ 7.14242553e-02 -9.97433795e-01 4.93967921e-03 5.21181469e+02] [ 9.86589741e-01 7.13746788e-02 1.46786708e-01 4.05746071e+02] [-1.46762591e-01 -5.61069445e-03 9.89155833e-01 6.26512478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.2292541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:521.18, Y:405.77, Z:62.65 [[ 7.11603095e-02 -9.97452599e-01 4.95201471e-03 5.21181048e+02] [ 9.86369196e-01 7.11063049e-02 1.48390373e-01 4.05772274e+02] [-1.48364483e-01 -5.67499013e-03 9.88916465e-01 6.26458037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.2592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:521.18, Y:405.80, Z:62.64 [[ 7.05377551e-02 -9.97497000e-01 4.91524478e-03 5.21180952e+02] [ 9.86419164e-01 7.04854168e-02 1.48354435e-01 4.05798884e+02] [-1.48329557e-01 -5.61609715e-03 9.88922040e-01 6.26422882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.2892541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:521.18, Y:405.83, Z:62.64 [[ 6.94508559e-02 -9.97573359e-01 4.89608836e-03 5.21179774e+02] [ 9.86373723e-01 6.94032389e-02 1.49164572e-01 4.05825011e+02] [-1.49142407e-01 -5.53023427e-03 9.88800262e-01 6.26380820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3192541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:521.18, Y:405.85, Z:62.63 [[ 6.91221609e-02 -9.97596273e-01 4.87880535e-03 5.21180080e+02] [ 9.86312821e-01 6.90725585e-02 1.49719741e-01 4.05850862e+02] [-1.49696847e-01 -5.53692373e-03 9.88716439e-01 6.26337289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3492541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:521.18, Y:405.88, Z:62.63 [[ 6.80912424e-02 -9.97667331e-01 4.84560897e-03 5.21179628e+02] [ 9.86375499e-01 6.80480225e-02 1.49775974e-01 4.05878259e+02] [-1.49756330e-01 -5.41884217e-03 9.88708085e-01 6.26286337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.18, Y:405.90, Z:62.63 [[ 6.72069370e-02 -9.97727628e-01 4.77578858e-03 5.21179619e+02] [ 9.86560648e-01 6.71677108e-02 1.48951625e-01 4.05904890e+02] [-1.48933930e-01 -5.29897741e-03 9.88832951e-01 6.26252428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4092541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:521.18, Y:405.93, Z:62.62 [[ 6.60842634e-02 -9.97802723e-01 4.75363446e-03 5.21179086e+02] [ 9.86591142e-01 6.60527553e-02 1.49247958e-01 4.05932639e+02] [-1.49234009e-01 -5.17304771e-03 9.88788375e-01 6.26188757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4392541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:521.18, Y:405.96, Z:62.61 [[ 6.48205188e-02 -9.97885787e-01 4.71768229e-03 5.21179520e+02] [ 9.86641082e-01 6.47967246e-02 1.49468259e-01 4.05960395e+02] [-1.49457941e-01 -5.03395093e-03 9.88755270e-01 6.26145041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4692541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:521.18, Y:405.99, Z:62.61 [[ 6.34924865e-02 -9.97971406e-01 4.66655039e-03 5.21180239e+02] [ 9.86766771e-01 6.34773157e-02 1.49204459e-01 4.05987033e+02] [-1.49198004e-01 -4.86856526e-03 9.88795354e-01 6.26110952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.18, Y:406.01, Z:62.61 [[ 6.15444647e-02 -9.98093587e-01 4.63373084e-03 5.21181025e+02] [ 9.86897623e-01 6.15465305e-02 1.49147933e-01 4.06014420e+02] [-1.49148785e-01 -4.60621175e-03 9.88804037e-01 6.26074631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.18, Y:406.04, Z:62.60 [[ 5.85395517e-02 -9.98274518e-01 4.59430747e-03 5.21182784e+02] [ 9.87064425e-01 5.85690373e-02 1.49243054e-01 4.06042110e+02] [-1.49254622e-01 -4.20174404e-03 9.88789868e-01 6.26041290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.18, Y:406.07, Z:62.60 [[ 5.52634245e-02 -9.98461381e-01 4.56336901e-03 5.21184563e+02] [ 9.87191985e-01 5.53235813e-02 1.49637181e-01 4.06069535e+02] [-1.49659408e-01 -3.76454174e-03 9.88730444e-01 6.26004518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.5892541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:521.19, Y:406.10, Z:62.60 [[ 5.36425383e-02 -9.98549983e-01 4.51779681e-03 5.21185848e+02] [ 9.87285911e-01 5.37142887e-02 1.49603829e-01 4.06096231e+02] [-1.49629571e-01 -3.56477200e-03 9.88735700e-01 6.25956887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:406.12, Z:62.59 [[ 5.17921534e-02 -9.98647852e-01 4.47677174e-03 5.21186931e+02] [ 9.87389534e-01 5.18787585e-02 1.49567717e-01 4.06124111e+02] [-1.49597728e-01 -3.32611655e-03 9.88741350e-01 6.25925060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6492541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:521.19, Y:406.15, Z:62.59 [[ 4.93094166e-02 -9.98783551e-01 -2.61352944e-05 5.21189674e+02] [ 9.87734178e-01 4.87600334e-02 1.48336284e-01 4.06150744e+02] [-1.48154566e-01 -7.34019032e-03 9.88936978e-01 6.25904875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:406.18, Z:62.58 [[ 4.83823358e-02 -9.98810563e-01 6.05047297e-03 5.21188260e+02] [ 9.87843267e-01 4.87452721e-02 1.47612934e-01 4.06178422e+02] [-1.47732290e-01 -1.16493954e-03 9.89026700e-01 6.25845340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.18, Y:406.20, Z:62.57 [[ 4.64863621e-02 -9.98824956e-01 1.37013104e-02 5.21184915e+02] [ 9.87715435e-01 4.80091711e-02 1.48705543e-01 4.06203320e+02] [-1.49188596e-01 6.62021607e-03 9.88786598e-01 6.25743066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7392541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:521.19, Y:406.23, Z:62.57 [[ 4.65749046e-02 -9.98913614e-01 1.53972542e-03 5.21191932e+02] [ 9.87835849e-01 4.62872207e-02 1.48451437e-01 4.06231121e+02] [-1.48361431e-01 -5.39311556e-03 9.88918500e-01 6.25731821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:406.26, Z:62.57 [[ 4.79241929e-02 -9.98846881e-01 -2.85998820e-03 5.21198688e+02] [ 9.88203156e-01 4.69961599e-02 1.45759676e-01 4.06259930e+02] [-1.45457190e-01 -9.81166422e-03 9.89315894e-01 6.25736078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:406.29, Z:62.57 [[ 4.77243503e-02 -9.98852060e-01 4.11696233e-03 5.21196870e+02] [ 9.88251420e-01 4.78161841e-02 1.45164538e-01 4.06286593e+02] [-1.45194755e-01 -2.85928938e-03 9.89398963e-01 6.25674200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8292541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:521.20, Y:406.31, Z:62.56 [[ 4.75205294e-02 -9.98862025e-01 4.05634158e-03 5.21198274e+02] [ 9.88355704e-01 4.76075918e-02 1.44521694e-01 4.06313827e+02] [-1.44550344e-01 -2.85863904e-03 9.89493318e-01 6.25628725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8592541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:521.20, Y:406.34, Z:62.56 [[ 4.71442235e-02 -9.98880143e-01 3.98524481e-03 5.21200544e+02] [ 9.88530777e-01 4.72280673e-02 1.43444810e-01 4.06340889e+02] [-1.43472387e-01 -2.82305702e-03 9.89650294e-01 6.25586539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:406.37, Z:62.56 [[ 4.68282124e-02 -9.98895146e-01 3.95035406e-03 5.21202261e+02] [ 9.88498751e-01 4.69093987e-02 1.43769705e-01 4.06368803e+02] [-1.43796169e-01 -2.82755821e-03 9.89603288e-01 6.25555210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:521.20, Y:406.40, Z:62.55 [[ 4.61126556e-02 -9.98928670e-01 3.89040713e-03 5.21204750e+02] [ 9.88638914e-01 4.61947218e-02 1.43035472e-01 4.06396520e+02] [-1.43061950e-01 -2.74953758e-03 9.89709916e-01 6.25513434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9492541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:521.21, Y:406.42, Z:62.55 [[ 4.54432899e-02 -9.98959525e-01 3.84388806e-03 5.21206630e+02] [ 9.88695243e-01 4.55260727e-02 1.42860399e-01 4.06423107e+02] [-1.42886754e-01 -2.69161271e-03 9.89735384e-01 6.25478034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1005.9792541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:521.21, Y:406.45, Z:62.55 [[ 4.73817985e-02 -9.98875447e-01 -1.67538925e-03 5.21211023e+02] [ 9.88440759e-01 4.66448745e-02 1.44253674e-01 4.06445539e+02] [-1.44013305e-01 -8.49102153e-03 9.89539323e-01 6.25459894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:521.21, Y:406.48, Z:62.54 [[ 4.26926809e-02 -9.99062096e-01 7.22940414e-03 5.21210070e+02] [ 9.88868116e-01 4.32872005e-02 1.42358939e-01 4.06475948e+02] [-1.42538361e-01 1.07124247e-03 9.89788699e-01 6.25388084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0392541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:521.21, Y:406.50, Z:62.54 [[ 4.10118306e-02 -9.99151111e-01 3.88420705e-03 5.21213866e+02] [ 9.88964693e-01 4.11469926e-02 1.42322738e-01 4.06502995e+02] [-1.42361745e-01 -1.99557240e-03 9.89812685e-01 6.25359199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.22, Y:406.53, Z:62.53 [[ 3.92247872e-02 -9.99230295e-01 4.83674532e-04 5.21219430e+02] [ 9.88986216e-01 3.88917809e-02 1.42806495e-01 4.06528831e+02] [-1.42715387e-01 -5.12320692e-03 9.89750510e-01 6.25340274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.0992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:521.22, Y:406.56, Z:62.53 [[ 3.63930374e-02 -9.99317173e-01 6.38237162e-03 5.21218544e+02] [ 9.89309347e-01 3.69296057e-02 1.41078773e-01 4.06556747e+02] [-1.41218139e-01 1.17985484e-03 9.89977800e-01 6.25285271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.1292541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:521.22, Y:406.58, Z:62.52 [[ 3.50469079e-02 -9.99378851e-01 3.69148685e-03 5.21221722e+02] [ 9.89484889e-01 3.52181146e-02 1.40283066e-01 4.06584849e+02] [-1.40325936e-01 -1.26381723e-03 9.90104557e-01 6.25248769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.1592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:521.23, Y:406.61, Z:62.52 [[ 3.36307913e-02 -9.99427496e-01 3.69456139e-03 5.21225557e+02] [ 9.89296957e-01 3.38146194e-02 1.41944010e-01 4.06610569e+02] [-1.41987677e-01 -1.11867103e-03 9.89867793e-01 6.25218151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.1892541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:521.23, Y:406.64, Z:62.52 [[ 3.14641305e-02 -9.99498307e-01 3.62530672e-03 5.21227320e+02] [ 9.89487993e-01 3.16608184e-02 1.41106712e-01 4.06637355e+02] [-1.41150700e-01 -8.52602522e-04 9.89987754e-01 6.25177481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2192541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:521.23, Y:406.67, Z:62.51 [[ 3.01629079e-02 -9.99538595e-01 3.57713482e-03 5.21229492e+02] [ 9.89522651e-01 3.03657980e-02 1.41148295e-01 4.06665297e+02] [-1.41191791e-01 -7.17787086e-04 9.89982001e-01 6.25136481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2492541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:521.23, Y:406.69, Z:62.51 [[ 2.81273021e-02 -9.99598026e-01 3.55556534e-03 5.21233025e+02] [ 9.89466473e-01 2.83471639e-02 1.41959634e-01 4.06693180e+02] [-1.42003360e-01 -4.74828817e-04 9.89866062e-01 6.25098965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.22, Y:406.72, Z:62.49 [[ 2.58225713e-02 -9.99323310e-01 2.61938282e-02 5.21222497e+02] [ 9.88603684e-01 2.94154438e-02 1.47639725e-01 4.06718435e+02] [-1.48310322e-01 2.20828777e-02 9.88694288e-01 6.24901098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3092541539999 meters Centerline goodness : 0.997048 Centerline is valid? [True, True] Translation: X:521.24, Y:406.75, Z:62.49 [[ 2.56578812e-02 -9.99668318e-01 2.21991160e-03 5.21237599e+02] [ 9.88525925e-01 2.57024364e-02 1.48848516e-01 4.06745563e+02] [-1.48856203e-01 -1.62469738e-03 9.88857518e-01 6.24943422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.25, Y:406.77, Z:62.50 [[ 2.60816100e-02 -9.99522120e-01 -1.65916323e-02 5.21248482e+02] [ 9.89042286e-01 2.33884614e-02 1.45768093e-01 4.06772396e+02] [-1.45310381e-01 -2.02116925e-02 9.89179650e-01 6.25034869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.24, Y:406.80, Z:62.49 [[ 2.73492378e-02 -9.99620069e-01 3.42584283e-03 5.21241514e+02] [ 9.88987982e-01 2.75566811e-02 1.45407707e-01 4.06798570e+02] [-1.45446867e-01 -5.88672568e-04 9.89365889e-01 6.24921474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.24, Y:406.83, Z:62.49 [[ 2.79327928e-02 -9.99604117e-01 3.37180412e-03 5.21243024e+02] [ 9.89036280e-01 2.81264888e-02 1.44969440e-01 4.06826608e+02] [-1.45006886e-01 -7.14564729e-04 9.89430388e-01 6.24881248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.24, Y:406.85, Z:62.48 [[ 2.87186054e-02 -9.99581977e-01 3.33372036e-03 5.21244446e+02] [ 9.88993894e-01 2.88983508e-02 1.45106728e-01 4.06854236e+02] [-1.45142409e-01 -8.70233785e-04 9.89410392e-01 6.24837529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.25, Y:406.88, Z:62.48 [[ 3.10877909e-02 -9.99511282e-01 3.27807430e-03 5.21246028e+02] [ 9.89012572e-01 3.12351430e-02 1.44493941e-01 4.06881992e+02] [-1.44525715e-01 -1.24994072e-03 9.89500255e-01 6.24793254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.25, Y:406.91, Z:62.48 [[ 3.26626186e-02 -9.99461232e-01 3.22489237e-03 5.21247061e+02] [ 9.89032656e-01 3.27864839e-02 1.44011987e-01 4.06908738e+02] [-1.44040131e-01 -1.51428473e-03 9.89570689e-01 6.24752341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.24, Y:406.94, Z:62.46 [[ 3.34191633e-02 -9.99348773e-01 1.36084671e-02 5.21242548e+02] [ 9.88746346e-01 3.50450999e-02 1.45439008e-01 4.06936145e+02] [-1.45821204e-01 8.59487217e-03 9.89273625e-01 6.24626667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5492541539999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:521.25, Y:406.96, Z:62.47 [[ 3.68179681e-02 -9.99295983e-01 -7.20936261e-03 5.21254052e+02] [ 9.89232177e-01 3.54227037e-02 1.42003286e-01 4.06963664e+02] [-1.41647938e-01 -1.23600059e-02 9.89839933e-01 6.24690710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.25, Y:406.99, Z:62.46 [[ 3.79784419e-02 -9.99273734e-01 3.10539189e-03 5.21250056e+02] [ 9.89076630e-01 3.80334536e-02 1.42410945e-01 4.06990241e+02] [-1.42425625e-01 -2.33707525e-03 9.89802748e-01 6.24623041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6092541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:521.24, Y:407.02, Z:62.45 [[ 3.79552004e-02 -9.99077156e-01 2.01057093e-02 5.21242727e+02] [ 9.88659448e-01 4.04697850e-02 1.44619129e-01 4.07017109e+02] [-1.45299341e-01 1.43886514e-02 9.89283108e-01 6.24456819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:521.25, Y:407.05, Z:62.45 [[ 3.75562797e-02 -9.99288665e-01 3.41897503e-03 5.21251278e+02] [ 9.88754354e-01 3.76555504e-02 1.44730392e-01 4.07045285e+02] [-1.44756184e-01 -2.05500865e-03 9.89465221e-01 6.24475635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.25, Y:407.07, Z:62.44 [[ 3.77629600e-02 -9.99239600e-01 9.70471143e-03 5.21249169e+02] [ 9.88436716e-01 3.87784124e-02 1.46591585e-01 4.07072861e+02] [-1.46856450e-01 4.05676092e-03 9.89149496e-01 6.24409803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.6992541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:521.27, Y:407.10, Z:62.46 [[ 4.01807803e-02 -9.98924181e-01 -2.31513469e-02 5.21268235e+02] [ 9.89232341e-01 3.65062200e-02 1.41727454e-01 4.07103424e+02] [-1.40729813e-01 -2.85967807e-02 9.89634955e-01 6.24578636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.26, Y:407.13, Z:62.45 [[ 4.10417221e-02 -9.99152982e-01 2.98259305e-03 5.21257311e+02] [ 9.89006387e-01 4.10490049e-02 1.42061063e-01 4.07129231e+02] [-1.42063167e-01 -2.88062709e-03 9.89853403e-01 6.24455030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.7592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:521.26, Y:407.16, Z:62.44 [[ 4.19372357e-02 -9.99115909e-01 2.94412628e-03 5.21259136e+02] [ 9.88942059e-01 4.19293724e-02 1.42251650e-01 4.07155549e+02] [-1.42249332e-01 -3.05407068e-03 9.89826146e-01 6.24410268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.7892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:521.25, Y:407.18, Z:62.43 [[ 4.17697120e-02 -9.99011759e-01 1.51919775e-02 5.21253986e+02] [ 9.88739110e-01 4.35175771e-02 1.43182374e-01 4.07182644e+02] [-1.43701994e-01 9.04021580e-03 9.89579715e-01 6.24270677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.26, Y:407.21, Z:62.43 [[ 4.42441857e-02 -9.99020652e-01 -4.34370179e-04 5.21263741e+02] [ 9.89062045e-01 4.37418958e-02 1.40864895e-01 4.07213591e+02] [-1.40707939e-01 -6.66207162e-03 9.90028733e-01 6.24305440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:521.27, Y:407.24, Z:62.43 [[ 4.59889260e-02 -9.98922016e-01 -6.31076133e-03 5.21268920e+02] [ 9.89425401e-01 4.46799577e-02 1.37989408e-01 4.07243578e+02] [-1.37558693e-01 -1.25900122e-02 9.90413599e-01 6.24309727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.26, Y:407.27, Z:62.42 [[ 4.59660361e-02 -9.98901838e-01 9.06873814e-03 5.21261742e+02] [ 9.89269590e-01 4.67793784e-02 1.38410142e-01 4.07269973e+02] [-1.38682375e-01 2.60926129e-03 9.90333475e-01 6.24191782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9092541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:521.26, Y:407.30, Z:62.41 [[ 4.66236605e-02 -9.98894321e-01 6.03077972e-03 5.21264487e+02] [ 9.89497449e-01 4.70103336e-02 1.36692457e-01 4.07297801e+02] [-1.36824828e-01 -4.05661545e-04 9.90595176e-01 6.24143284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.27, Y:407.32, Z:62.42 [[ 4.65086007e-02 -9.98916043e-01 -1.92086704e-03 5.21268319e+02] [ 9.89377042e-01 4.57991655e-02 1.37969223e-01 4.07323602e+02] [-1.37731696e-01 -8.31721722e-03 9.90434654e-01 6.24169189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9692541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:521.27, Y:407.35, Z:62.41 [[ 4.63246212e-02 -9.98923315e-01 2.49818489e-03 5.21268295e+02] [ 9.89372552e-01 4.62264770e-02 1.37858862e-01 4.07350915e+02] [-1.37825914e-01 -3.91462400e-03 9.90448733e-01 6.24102432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1006.9992541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:521.27, Y:407.38, Z:62.41 [[ 4.62466275e-02 -9.98927014e-01 2.46383406e-03 5.21269595e+02] [ 9.89322418e-01 4.61429515e-02 1.38246092e-01 4.07377480e+02] [-1.38211444e-01 -3.95588924e-03 9.90394844e-01 6.24062573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:521.28, Y:407.41, Z:62.41 [[ 4.73526171e-02 -9.98844309e-01 -8.23267079e-03 5.21279208e+02] [ 9.89720212e-01 4.58033805e-02 1.35484140e-01 4.07410175e+02] [-1.34950478e-01 -1.45635693e-02 9.90745311e-01 6.24097287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.27, Y:407.43, Z:62.39 [[ 4.57812437e-02 -9.98846499e-01 1.44827090e-02 5.21266744e+02] [ 9.89150493e-01 4.73531946e-02 1.39064650e-01 4.07432520e+02] [-1.39590042e-01 7.95902606e-03 9.90177395e-01 6.23945664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.0892541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:521.27, Y:407.46, Z:62.39 [[ 4.56523616e-02 -9.98954613e-01 2.35432496e-03 5.21274460e+02] [ 9.89305775e-01 4.55379778e-02 1.38565424e-01 4.07460925e+02] [-1.38527780e-01 -3.99669155e-03 9.90350484e-01 6.23940411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.28, Y:407.49, Z:62.39 [[ 4.57198938e-02 -9.98953903e-01 8.89679989e-04 5.21277742e+02] [ 9.89404907e-01 4.54056724e-02 1.37899437e-01 4.07491975e+02] [-1.37795578e-01 -5.42449389e-03 9.90445836e-01 6.23914568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.28, Y:407.52, Z:62.38 [[ 4.49635681e-02 -9.98969764e-01 6.13905706e-03 5.21275460e+02] [ 9.89356172e-01 4.53805033e-02 1.38256914e-01 4.07518314e+02] [-1.38393070e-01 -1.42810148e-04 9.90377371e-01 6.23844095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.28, Y:407.55, Z:62.38 [[ 4.45713771e-02 -9.99003083e-01 2.49659382e-03 5.21277575e+02] [ 9.89460383e-01 4.44899949e-02 1.37799824e-01 4.07546588e+02] [-1.37773522e-01 -3.67164725e-03 9.90456953e-01 6.23819662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:521.28, Y:407.57, Z:62.38 [[ 4.44092803e-02 -9.99004553e-01 4.20939168e-03 5.21276796e+02] [ 9.89471948e-01 4.45657006e-02 1.37692274e-01 4.07574423e+02] [-1.37742803e-01 -1.94973982e-03 9.90466112e-01 6.23764077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.28, Y:407.60, Z:62.38 [[ 4.52032154e-02 -9.98977715e-01 4.39830093e-04 5.21277424e+02] [ 9.89486339e-01 4.48342748e-02 1.37501537e-01 4.07599723e+02] [-1.37380691e-01 -5.78030575e-03 9.90501456e-01 6.23751770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.28, Y:407.63, Z:62.37 [[ 4.57218855e-02 -9.98938200e-01 5.65527909e-03 5.21275863e+02] [ 9.89580714e-01 4.60658508e-02 1.36410952e-01 4.07628533e+02] [-1.36526626e-01 -6.40610814e-04 9.90636195e-01 6.23679262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.28, Y:407.66, Z:62.37 [[ 4.59353161e-02 -9.98943716e-01 -1.18260080e-03 5.21278182e+02] [ 9.89492259e-01 4.53381662e-02 1.37293555e-01 4.07655933e+02] [-1.37094917e-01 -7.47679718e-03 9.90529697e-01 6.23675797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.28, Y:407.68, Z:62.36 [[ 4.63871270e-02 -9.98921583e-01 1.97622069e-03 5.21276508e+02] [ 9.89532562e-01 4.62215824e-02 1.36707255e-01 4.07682530e+02] [-1.36651172e-01 -4.38592206e-03 9.90609520e-01 6.23625445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:521.27, Y:407.71, Z:62.35 [[ 4.47577528e-02 -9.98908669e-01 1.33496819e-02 5.21269496e+02] [ 9.89212008e-01 4.61811946e-02 1.39021223e-01 4.07707401e+02] [-1.39486009e-01 6.98338806e-03 9.90199417e-01 6.23500243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.3892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:521.28, Y:407.74, Z:62.36 [[ 4.63999619e-02 -9.98865329e-01 -1.07284217e-02 5.21282756e+02] [ 9.89671289e-01 4.45092454e-02 1.36270564e-01 4.07739104e+02] [-1.35638428e-01 -1.69405599e-02 9.90613565e-01 6.23584268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:521.28, Y:407.76, Z:62.35 [[ 4.48474164e-02 -9.98992080e-01 1.87966109e-03 5.21275402e+02] [ 9.89725089e-01 4.46869514e-02 1.35820927e-01 4.07764308e+02] [-1.35768027e-01 -4.23086994e-03 9.90731620e-01 6.23494275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.27, Y:407.79, Z:62.34 [[ 4.32493241e-02 -9.99060796e-01 2.64980090e-03 5.21274732e+02] [ 9.89736343e-01 4.32069565e-02 1.36217219e-01 4.07792709e+02] [-1.36203773e-01 -3.26869839e-03 9.90675450e-01 6.23444648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.4792541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:521.28, Y:407.82, Z:62.34 [[ 4.20957595e-02 -9.99112767e-01 1.27492507e-03 5.21275054e+02] [ 9.89637078e-01 4.18717862e-02 1.37350673e-01 4.07819692e+02] [-1.37282195e-01 -4.52016778e-03 9.90521664e-01 6.23413854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5092541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:521.28, Y:407.85, Z:62.34 [[ 4.15732508e-02 -9.99133872e-01 1.78046929e-03 5.21275174e+02] [ 9.89575255e-01 4.14213192e-02 1.37931467e-01 4.07847365e+02] [-1.37885750e-01 -3.97235111e-03 9.90440175e-01 6.23376307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5392541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:521.28, Y:407.87, Z:62.33 [[ 4.11951837e-02 -9.99149590e-01 1.74760850e-03 5.21275563e+02] [ 9.89523216e-01 4.10403920e-02 1.38417816e-01 4.07873868e+02] [-1.38371827e-01 -3.97284819e-03 9.90372382e-01 6.23344553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5692541539999 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:521.27, Y:407.90, Z:62.33 [[ 4.08030534e-02 -9.99135986e-01 7.89887255e-03 5.21271481e+02] [ 9.89738283e-01 4.15002358e-02 1.36732814e-01 4.07901488e+02] [-1.36942480e-01 2.23870025e-03 9.90576471e-01 6.23297434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.27, Y:407.93, Z:62.32 [[ 3.96090349e-02 -9.99175724e-01 8.88798621e-03 5.21268839e+02] [ 9.89427096e-01 4.04614578e-02 1.39272725e-01 4.07927485e+02] [-1.39517546e-01 3.27755618e-03 9.90214175e-01 6.23218219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.27, Y:407.96, Z:62.32 [[ 3.96434167e-02 -9.99213258e-01 -1.12443110e-03 5.21272721e+02] [ 9.89737928e-01 3.91128260e-02 1.37437334e-01 4.07956588e+02] [-1.37285227e-01 -6.56137763e-03 9.90509826e-01 6.23213447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.28, Y:407.99, Z:62.33 [[ 4.15694807e-02 -9.99060331e-01 -1.22651367e-02 5.21280009e+02] [ 9.90212303e-01 3.95581434e-02 1.33845991e-01 4.07986298e+02] [-1.33235034e-01 -1.77089976e-02 9.90926242e-01 6.23265178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.27, Y:408.01, Z:62.32 [[ 4.03093815e-02 -9.99177359e-01 4.44511497e-03 5.21270954e+02] [ 9.90132265e-01 4.05412538e-02 1.34143597e-01 4.08012461e+02] [-1.34213456e-01 -1.00599368e-03 9.90951934e-01 6.23150718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.27, Y:408.04, Z:62.32 [[ 4.23282593e-02 -9.99102324e-01 -1.69267469e-03 5.21274680e+02] [ 9.90311695e-01 4.17314481e-02 1.32443324e-01 4.08041675e+02] [-1.32253795e-01 -7.28237092e-03 9.91189135e-01 6.23157302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.27, Y:408.07, Z:62.31 [[ 4.25381997e-02 -9.99093630e-01 1.55589825e-03 5.21273041e+02] [ 9.90194975e-01 4.23666212e-02 1.33112662e-01 4.08068989e+02] [-1.33057931e-01 -4.12173037e-03 9.91099692e-01 6.23105483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.7792541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:521.28, Y:408.10, Z:62.31 [[ 4.36415567e-02 -9.98969059e-01 -1.24993245e-02 5.21281045e+02] [ 9.90681521e-01 4.16570177e-02 1.29671961e-01 4.08099974e+02] [-1.29017592e-01 -1.80419360e-02 9.91478164e-01 6.23144041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:521.26, Y:408.12, Z:62.30 [[ 4.30331447e-02 -9.98945155e-01 1.60226764e-02 5.21264833e+02] [ 9.89933212e-01 4.47983748e-02 1.34258485e-01 4.08124129e+02] [-1.34834653e-01 1.00838147e-02 9.90816801e-01 6.22981460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8392541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:521.27, Y:408.15, Z:62.30 [[ 4.29087502e-02 -9.99077905e-01 1.47616626e-03 5.21271258e+02] [ 9.90054581e-01 4.27192628e-02 1.34041009e-01 4.08152009e+02] [-1.33980471e-01 -4.29004701e-03 9.90974686e-01 6.22992533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.27, Y:408.18, Z:62.30 [[ 4.33273199e-02 -9.99059858e-01 1.46408879e-03 5.21271153e+02] [ 9.89844350e-01 4.31261670e-02 1.35455887e-01 4.08179883e+02] [-1.35391680e-01 -4.41972052e-03 9.90782297e-01 6.22964240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.8992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.27, Y:408.21, Z:62.29 [[ 4.44902086e-02 -9.99008801e-01 1.42718305e-03 5.21270085e+02] [ 9.89783252e-01 4.42729762e-02 1.35532347e-01 4.08206501e+02] [-1.35461194e-01 -4.61726053e-03 9.90771894e-01 6.22927907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.27, Y:408.23, Z:62.29 [[ 4.49798200e-02 -9.98986936e-01 1.38461113e-03 5.21269285e+02] [ 9.89797896e-01 4.47535620e-02 1.35267308e-01 4.08234033e+02] [-1.35192239e-01 -4.71381396e-03 9.90808174e-01 6.22888919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9592541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:521.27, Y:408.26, Z:62.28 [[ 4.62350543e-02 -9.98929705e-01 1.32864339e-03 5.21267256e+02] [ 9.89979241e-01 4.59983646e-02 1.33511248e-01 4.08261854e+02] [-1.33429467e-01 -4.85757044e-03 9.91046407e-01 6.22839404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1007.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.27, Y:408.29, Z:62.28 [[ 4.72488001e-02 -9.98882304e-01 1.30137682e-03 5.21266096e+02] [ 9.89759512e-01 4.69928830e-02 1.34787901e-01 4.08289107e+02] [-1.34698405e-01 -5.08051653e-03 9.90873619e-01 6.22802286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:521.26, Y:408.32, Z:62.28 [[ 4.80362125e-02 -9.98844814e-01 1.24879683e-03 5.21264724e+02] [ 9.89883583e-01 4.77722802e-02 1.33597536e-01 4.08315328e+02] [-1.33502863e-01 -5.18135613e-03 9.91034883e-01 6.22757199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0492541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:521.26, Y:408.34, Z:62.27 [[ 4.90361637e-02 -9.98796284e-01 1.19936090e-03 5.21263520e+02] [ 9.89945993e-01 4.87610938e-02 1.32775324e-01 4.08342960e+02] [-1.32673983e-01 -5.32349002e-03 9.91145436e-01 6.22713439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.26, Y:408.37, Z:62.27 [[ 5.09498307e-02 -9.98700528e-01 1.17073936e-03 5.21261020e+02] [ 9.89699317e-01 5.06475936e-02 1.33903258e-01 4.08369974e+02] [-1.33788550e-01 -5.66366838e-03 9.90993717e-01 6.22677527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:521.26, Y:408.40, Z:62.26 [[ 5.18711164e-02 -9.98653155e-01 1.12371483e-03 5.21258722e+02] [ 9.89755673e-01 5.15587812e-02 1.33136774e-01 4.08397418e+02] [-1.33015396e-01 -5.79374995e-03 9.91097037e-01 6.22630345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:521.26, Y:408.42, Z:62.26 [[ 5.15534958e-02 -9.98669652e-01 1.07821507e-03 5.21257710e+02] [ 9.89875910e-01 5.12424493e-02 1.32362739e-01 4.08423794e+02] [-1.32241901e-01 -5.75646277e-03 9.91200758e-01 6.22587671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.26, Y:408.45, Z:62.26 [[ 5.11405401e-02 -9.98690914e-01 1.05053596e-03 5.21256979e+02] [ 9.89642689e-01 5.08184287e-02 1.34256605e-01 4.08451556e+02] [-1.34134238e-01 -5.82630004e-03 9.90946043e-01 6.22551752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.26, Y:408.48, Z:62.25 [[ 5.00655704e-02 -9.98745419e-01 1.01311944e-03 5.21255944e+02] [ 9.89683808e-01 4.97476139e-02 1.34354515e-01 4.08479245e+02] [-1.34236357e-01 -5.72386752e-03 9.90932812e-01 6.22508632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.2292541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:521.25, Y:408.51, Z:62.25 [[ 4.78421001e-02 -9.98854438e-01 9.72219226e-04 5.21254083e+02] [ 9.89830556e-01 4.75403807e-02 1.34072305e-01 4.08506120e+02] [-1.33964937e-01 -5.45196836e-03 9.90971075e-01 6.22464463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.25, Y:408.53, Z:62.24 [[ 4.45589252e-02 -9.99006299e-01 9.57303008e-04 5.21252668e+02] [ 9.89744215e-01 4.42759527e-02 1.35816159e-01 4.08533796e+02] [-1.35723584e-01 -5.10433694e-03 9.90733594e-01 6.22421144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.2892541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:521.25, Y:408.56, Z:62.24 [[ 4.19903727e-02 -9.99117599e-01 9.12372000e-04 5.21252019e+02] [ 9.89971759e-01 4.17292401e-02 1.34961432e-01 4.08561050e+02] [-1.34880414e-01 -4.76385831e-03 9.90850433e-01 6.22376736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.25, Y:408.59, Z:62.23 [[ 3.94853264e-02 -9.99219761e-01 8.82687949e-04 5.21251460e+02] [ 9.89850572e-01 3.92357511e-02 1.36588434e-01 4.08588977e+02] [-1.36516495e-01 -4.51950971e-03 9.90627488e-01 6.22334180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.25, Y:408.62, Z:62.23 [[ 3.42595430e-02 -9.99412615e-01 8.41647332e-04 5.21250197e+02] [ 9.90050968e-01 3.40536033e-02 1.36526313e-01 4.08615470e+02] [-1.36474780e-01 -3.84405532e-03 9.90636087e-01 6.22283912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.3792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:521.25, Y:408.64, Z:62.22 [[ 3.16060443e-02 -9.99500080e-01 8.04846297e-04 5.21249778e+02] [ 9.90321658e-01 3.14246647e-02 1.35186924e-01 4.08642250e+02] [-1.35144634e-01 -3.47566719e-03 9.90819786e-01 6.22238954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:521.25, Y:408.67, Z:62.22 [[ 2.66987929e-02 -9.99643220e-01 7.79112076e-04 5.21249055e+02] [ 9.90418905e-01 2.65580481e-02 1.35517758e-01 4.08670094e+02] [-1.35490100e-01 -2.84651323e-03 9.90774611e-01 6.22196066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.25, Y:408.70, Z:62.22 [[ 2.43259207e-02 -9.99703807e-01 7.40888786e-04 5.21248632e+02] [ 9.90458535e-01 2.42015000e-02 1.35669372e-01 4.08698161e+02] [-1.35647118e-01 -2.56646276e-03 9.90753891e-01 6.22153336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4692541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:521.25, Y:408.73, Z:62.21 [[ 2.23229894e-02 -9.99750566e-01 7.00486624e-04 5.21247809e+02] [ 9.90549893e-01 2.22123808e-02 1.35342235e-01 4.08725939e+02] [-1.35324035e-01 -2.32737632e-03 9.90798662e-01 6.22111760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.4992541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:521.25, Y:408.75, Z:62.21 [[ 2.05570738e-02 -9.99788466e-01 6.55487630e-04 5.21247306e+02] [ 9.90784003e-01 2.04597158e-02 1.33897200e-01 4.08753914e+02] [-1.33882287e-01 -2.10308796e-03 9.90995010e-01 6.22068597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5292541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:521.25, Y:408.78, Z:62.20 [[ 2.03815587e-02 -9.99792085e-01 6.16123897e-04 5.21247365e+02] [ 9.90787663e-01 2.02805109e-02 1.33897380e-01 4.08782161e+02] [-1.33882036e-01 -2.11858937e-03 9.90995011e-01 6.22027126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:521.25, Y:408.81, Z:62.20 [[ 1.80390005e-02 -9.99837107e-01 5.95727757e-04 5.21246014e+02] [ 9.90770782e-01 1.79554776e-02 1.34353481e-01 4.08809543e+02] [-1.34342292e-01 -1.83337285e-03 9.90933291e-01 6.21982606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.25, Y:408.84, Z:62.19 [[ 1.81480080e-02 -9.99835270e-01 -2.87260581e-04 5.21246477e+02] [ 9.90659799e-01 1.79426283e-02 1.35171098e-01 4.08839715e+02] [-1.35143677e-01 -2.73766367e-03 9.90822230e-01 6.21946623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6192541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:521.24, Y:408.87, Z:62.19 [[ 1.72817280e-02 -9.99848940e-01 1.85460832e-03 5.21243540e+02] [ 9.90784155e-01 1.73742188e-02 1.34331287e-01 4.08865132e+02] [-1.34343218e-01 -4.83960236e-04 9.90934743e-01 6.21895275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.25, Y:408.90, Z:62.19 [[ 1.93431813e-02 -9.99812767e-01 -5.21579912e-04 5.21246689e+02] [ 9.90628707e-01 1.90949469e-02 1.35241077e-01 4.08895932e+02] [-1.35205796e-01 -3.13268471e-03 9.90812585e-01 6.21868613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.24, Y:408.92, Z:62.18 [[ 1.94126065e-02 -9.99810696e-01 1.31288749e-03 5.21244849e+02] [ 9.90700388e-01 1.94125577e-02 1.34669577e-01 4.08923854e+02] [-1.34669570e-01 -1.31360937e-03 9.90889692e-01 6.21824461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7092541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:521.24, Y:408.95, Z:62.18 [[ 1.87039717e-02 -9.99820929e-01 2.87603678e-03 5.21239441e+02] [ 9.90717093e-01 1.89208951e-02 1.34616646e-01 4.08947304e+02] [-1.34646958e-01 3.31472855e-04 9.90893580e-01 6.21771716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7392541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:521.25, Y:408.98, Z:62.18 [[ 2.18183241e-02 -9.99755228e-01 -3.66668862e-03 5.21245459e+02] [ 9.90792059e-01 2.11322374e-02 1.33733038e-01 4.08979788e+02] [-1.33622818e-01 -6.55075672e-03 9.91010611e-01 6.21763847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.24, Y:409.00, Z:62.17 [[ 2.31498021e-02 -9.99714210e-01 5.96533259e-03 5.21236130e+02] [ 9.90498448e-01 2.37446843e-02 1.35458536e-01 4.09002206e+02] [-1.35561468e-01 2.77281436e-03 9.90765058e-01 6.21687194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.7992541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:521.24, Y:409.03, Z:62.17 [[ 2.46642499e-02 -9.99695754e-01 2.71947956e-04 5.21237813e+02] [ 9.90709333e-01 2.44789301e-02 1.33775187e-01 4.09030590e+02] [-1.33741143e-01 -3.03004326e-03 9.91011668e-01 6.21661892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.24, Y:409.06, Z:62.17 [[ 3.10738624e-02 -9.99494352e-01 -6.74214233e-03 5.21243088e+02] [ 9.90746676e-01 2.99088730e-02 1.32387623e-01 4.09062888e+02] [-1.32119031e-01 -1.07935499e-02 9.91175091e-01 6.21666578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.23, Y:409.09, Z:62.16 [[ 3.06755890e-02 -9.99501182e-01 7.50965558e-03 5.21232512e+02] [ 9.90518011e-01 3.14047700e-02 1.33745317e-01 4.09088376e+02] [-1.33914441e-01 3.33573273e-03 9.90987283e-01 6.21564377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.24, Y:409.32, Z:62.13 [[ 3.43236786e-02 -9.99404199e-01 -3.62371979e-03 5.21238054e+02] [ 9.90748046e-01 3.35495806e-02 1.31501844e-01 4.09320131e+02] [-1.31301921e-01 -8.10382033e-03 9.91309303e-01 6.21275994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9192541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:521.23, Y:409.34, Z:62.12 [[ 3.44958401e-02 -9.99365398e-01 8.87907260e-03 5.21226488e+02] [ 9.90457390e-01 3.53718243e-02 1.33202829e-01 4.09341385e+02] [-1.33432368e-01 4.19939957e-03 9.91049024e-01 6.21168085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9492541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:521.24, Y:409.37, Z:62.12 [[ 3.69026657e-02 -9.99288263e-01 -7.82051899e-03 5.21237441e+02] [ 9.90713355e-01 3.55589470e-02 1.31234939e-01 4.09374778e+02] [-1.30863445e-01 -1.25908117e-02 9.91320448e-01 6.21210661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1008.9792541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:521.22, Y:409.40, Z:62.11 [[ 3.56593928e-02 -9.99316785e-01 9.71447745e-03 5.21224996e+02] [ 9.90304843e-01 3.66403629e-02 1.33991797e-01 4.09395718e+02] [-1.34256194e-01 4.84222795e-03 9.90934825e-01 6.21092167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.23, Y:409.40, Z:62.11 [[ 3.59165791e-02 -9.99354791e-01 -2.29699193e-05 5.21229046e+02] [ 9.90130422e-01 3.55819417e-02 1.35556899e-01 4.09395243e+02] [-1.35468620e-01 -4.89148332e-03 9.90769563e-01 6.21134070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0392541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:521.23, Y:409.40, Z:62.11 [[ 3.53668909e-02 -9.99374393e-01 -7.62953286e-05 5.21228485e+02] [ 9.90321488e-01 3.50362647e-02 1.34297471e-01 4.09398636e+02] [-1.34210781e-01 -4.82524092e-03 9.90941060e-01 6.21123468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:521.23, Y:409.39, Z:62.11 [[ 3.43722947e-02 -9.99409090e-01 -1.29969452e-04 5.21227700e+02] [ 9.90409645e-01 3.40453668e-02 1.33901634e-01 4.09389641e+02] [-1.33818085e-01 -4.73122941e-03 9.90994619e-01 6.21128458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.23, Y:409.39, Z:62.11 [[ 3.40295673e-02 -9.99420809e-01 -1.85070130e-04 5.21228130e+02] [ 9.90345443e-01 3.36956579e-02 1.34463775e-01 4.09385881e+02] [-1.34379659e-01 -4.75902744e-03 9.90918493e-01 6.21137767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.1292541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:521.23, Y:409.73, Z:62.07 [[ 3.46957540e-02 -9.99336902e-01 -1.10436219e-02 5.21234030e+02] [ 9.91699197e-01 3.30574196e-02 1.24257433e-01 4.09725751e+02] [-1.23809964e-01 -1.52631563e-02 9.92188555e-01 6.20731462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.1592541539999 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:520.57, Y:409.49, Z:63.02 [[-1.10923935e-01 9.85561924e-01 1.27920190e-01 5.20566093e+02] [ 9.79676769e-01 1.30079237e-01 -1.52685365e-01 4.09489768e+02] [-1.67120643e-01 1.08383977e-01 -9.79961022e-01 6.30177827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.1892541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:520.65, Y:409.48, Z:63.06 [[-1.89222532e-01 9.81833095e-01 1.40928000e-02 5.20653633e+02] [ 9.68359180e-01 1.88965573e-01 -1.63010768e-01 4.09484576e+02] [-1.62712421e-01 -1.71984179e-02 -9.86523635e-01 6.30608074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2192541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:520.69, Y:409.45, Z:63.06 [[-2.63422208e-01 9.64309072e-01 2.67722721e-02 5.20687682e+02] [ 9.51020174e-01 2.64245837e-01 -1.60420593e-01 4.09453663e+02] [-1.61769495e-01 -1.67973760e-02 -9.86685603e-01 6.30622888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.72, Y:409.43, Z:63.06 [[-3.37052974e-01 9.40677710e-01 3.89966568e-02 5.20722355e+02] [ 9.27720904e-01 3.38897028e-01 -1.56469578e-01 4.09432413e+02] [-1.60403295e-01 -1.65605228e-02 -9.86912626e-01 6.30623078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.2792541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:520.76, Y:409.42, Z:63.06 [[-4.07042299e-01 9.11938953e-01 5.18064865e-02 5.20755248e+02] [ 8.98973810e-01 4.10008244e-01 -1.54075726e-01 4.09419256e+02] [-1.61748743e-01 -1.61426631e-02 -9.86699934e-01 6.30619019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3092541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:520.69, Y:409.61, Z:63.03 [[-4.74944514e-01 8.78018132e-01 5.92610124e-02 5.20694668e+02] [ 8.65009871e-01 4.78168942e-01 -1.52027582e-01 4.09613985e+02] [-1.61819749e-01 -2.09433052e-02 -9.86598068e-01 6.30272455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3392541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:520.85, Y:409.41, Z:63.07 [[-5.43041068e-01 8.38426206e-01 4.63454020e-02 5.20854608e+02] [ 8.25004813e-01 5.43002943e-01 -1.56572229e-01 4.09406017e+02] [-1.56439950e-01 -4.67899708e-02 -9.86578553e-01 6.30711697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3692541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.88, Y:409.39, Z:63.06 [[-6.05766167e-01 7.91254616e-01 8.34474920e-02 5.20881968e+02] [ 7.80201903e-01 6.11296327e-01 -1.32671745e-01 4.09387374e+02] [-1.55988276e-01 -1.52621625e-02 -9.87640990e-01 6.30612256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.3992541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:520.92, Y:409.38, Z:63.06 [[-6.66023521e-01 7.40142237e-01 9.27477221e-02 5.20920782e+02] [ 7.29753123e-01 6.72277512e-01 -1.24512352e-01 4.09384131e+02] [-1.54509059e-01 -1.52452152e-02 -9.87873744e-01 6.30609644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4292541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:520.96, Y:409.38, Z:63.06 [[-7.23043794e-01 6.83098880e-01 1.02876588e-01 5.20960402e+02] [ 6.73134124e-01 7.30160238e-01 -1.17288010e-01 4.09382521e+02] [-1.55235702e-01 -1.55546258e-02 -9.87754995e-01 6.30611061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4592541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:521.00, Y:409.39, Z:63.06 [[-7.74634162e-01 6.22433240e-01 1.11887342e-01 5.20998525e+02] [ 6.13055636e-01 7.82516109e-01 -1.08771900e-01 4.09386248e+02] [-1.55256894e-01 -1.56652639e-02 -9.87749916e-01 6.30611950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.4892541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:521.04, Y:409.39, Z:63.06 [[-8.21291698e-01 5.57671978e-01 1.20340815e-01 5.21036141e+02] [ 5.48921334e-01 8.29911119e-01 -9.96639517e-02 4.09392727e+02] [-1.55451974e-01 -1.57955352e-02 -9.87717158e-01 6.30610513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5192541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:521.07, Y:409.40, Z:63.06 [[-8.62678623e-01 4.89183067e-01 1.28395951e-01 5.21072458e+02] [ 4.81078865e-01 8.72035130e-01 -9.00991545e-02 4.09401695e+02] [-1.56040760e-01 -1.59580363e-02 -9.87621700e-01 6.30607354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.11, Y:409.41, Z:63.06 [[-8.98061060e-01 4.18472876e-01 1.35524112e-01 5.21113794e+02] [ 4.11103563e-01 9.08089240e-01 -7.97984537e-02 4.09410487e+02] [-1.56461476e-01 -1.59494387e-02 -9.87555275e-01 6.30612237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.15, Y:409.42, Z:63.06 [[-9.27501719e-01 3.46140786e-01 1.41163445e-01 5.21150446e+02] [ 3.39625499e-01 9.38050327e-01 -6.86738941e-02 4.09423049e+02] [-1.56189252e-01 -1.57524492e-02 -9.87601528e-01 6.30613477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.09, Y:409.47, Z:63.05 [[-9.51192004e-01 2.72439546e-01 1.44949875e-01 5.21094200e+02] [ 2.66794410e-01 9.62040529e-01 -5.74348542e-02 4.09470724e+02] [-1.55095180e-01 -1.59597577e-02 -9.87770607e-01 6.30470510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6392541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:521.22, Y:409.46, Z:63.06 [[-9.69003617e-01 1.97314995e-01 1.48656595e-01 5.21220649e+02] [ 1.92116494e-01 9.80163120e-01 -4.86981657e-02 4.09464421e+02] [-1.55316590e-01 -1.86293148e-02 -9.87689073e-01 6.30615753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.26, Y:409.48, Z:63.06 [[-9.81158311e-01 1.22201200e-01 1.49650379e-01 5.21256055e+02] [ 1.18586483e-01 9.92399243e-01 -3.28784005e-02 4.09482026e+02] [-1.52530703e-01 -1.45124037e-02 -9.88192175e-01 6.30595645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.29, Y:409.51, Z:63.06 [[-9.87492576e-01 4.53733994e-02 1.50995584e-01 5.21291641e+02] [ 4.27085479e-02 9.98870060e-01 -2.08466775e-02 4.09505782e+02] [-1.51770852e-01 -1.41371372e-02 -9.88314601e-01 6.30598989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.46, Y:410.18, Z:62.12 [[-9.88067278e-01 -8.24953811e-02 -1.30067544e-01 5.21461481e+02] [ 8.21131025e-02 -9.96588384e-01 8.30852041e-03 4.10178648e+02] [-1.30309218e-01 -2.47087243e-03 9.91470324e-01 6.21207811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.7592541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:521.32, Y:409.53, Z:63.06 [[-9.88008179e-01 -2.94475400e-02 1.51567416e-01 5.21317345e+02] [-3.11514029e-02 9.99475240e-01 -8.87891175e-03 4.09530179e+02] [-1.51226417e-01 -1.34939751e-02 -9.88407043e-01 6.30595857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.7892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:521.44, Y:410.22, Z:62.12 [[-9.91386412e-01 -1.83014390e-03 -1.30956608e-01 5.21437437e+02] [ 2.10245024e-03 -9.99995906e-01 -1.94113305e-03 4.10221469e+02] [-1.30952519e-01 -2.19974268e-03 9.91386201e-01 6.21208388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8192541539999 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:520.80, Y:409.52, Z:62.98 [[-9.82741772e-01 -1.08853718e-01 1.49564297e-01 5.20800409e+02] [-1.10411616e-01 9.93883670e-01 -2.12734171e-03 4.09523996e+02] [-1.48417943e-01 -1.86042633e-02 -9.88749713e-01 6.29838618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:521.38, Y:410.27, Z:62.12 [[-9.89127569e-01 7.09659771e-02 -1.28804048e-01 5.21379271e+02] [-6.96069983e-02 -9.97461296e-01 -1.50275906e-02 4.10272932e+02] [-1.29543500e-01 -5.89854104e-03 9.91556196e-01 6.21176301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.8792541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:521.38, Y:410.27, Z:62.12 [[-9.89243814e-01 6.86978992e-02 -1.29140527e-01 5.21378690e+02] [-6.77721475e-02 -9.97633914e-01 -1.15546715e-02 4.10271699e+02] [-1.29628751e-01 -2.67825646e-03 9.91558982e-01 6.21159148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.16, Y:409.56, Z:63.03 [[-9.72118487e-01 -1.89485238e-01 1.38133967e-01 5.21158863e+02] [-1.85846187e-01 9.81808447e-01 3.89020389e-02 4.09562107e+02] [-1.42992458e-01 1.21457201e-02 -9.89649250e-01 6.30261216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9392541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:521.36, Y:409.39, Z:62.45 [[-9.54761842e-01 -2.83022947e-01 -9.12569766e-02 5.21360693e+02] [-1.86667742e-01 3.31525129e-01 9.24795244e-01 4.09392035e+02] [-2.31484294e-01 8.99993945e-01 -3.69358797e-01 6.24538052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.20, Y:409.62, Z:63.06 [[-9.31887143e-01 -2.94836768e-01 2.11323527e-01 5.21198928e+02] [-2.92590891e-01 9.55290314e-01 4.25556904e-02 4.09617252e+02] [-2.14422301e-01 -2.21742384e-02 -9.76489314e-01 6.30636432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1009.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:410.34, Z:62.13 [[-9.52995711e-01 2.40800194e-01 -1.83887038e-01 5.21193977e+02] [-2.35267861e-01 -9.70556314e-01 -5.16669717e-02 4.10342839e+02] [-1.90914142e-01 -5.97569247e-03 9.81588550e-01 6.21290473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:521.19, Y:410.34, Z:62.13 [[-9.53478573e-01 2.39354117e-01 -1.83270887e-01 5.21186636e+02] [-2.33848241e-01 -9.70912769e-01 -5.14139548e-02 4.10341355e+02] [-1.90246186e-01 -6.16452962e-03 9.81717061e-01 6.21273595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.19, Y:410.34, Z:62.13 [[-9.53780666e-01 2.37744535e-01 -1.83793301e-01 5.21188484e+02] [-2.32192983e-01 -9.71306469e-01 -5.14797140e-02 4.10343446e+02] [-1.90758643e-01 -6.42484087e-03 9.81615944e-01 6.21274094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.18, Y:410.34, Z:62.13 [[-9.53728367e-01 2.36996843e-01 -1.85026212e-01 5.21183239e+02] [-2.31371760e-01 -9.71488412e-01 -5.17433505e-02 4.10344431e+02] [-1.92013832e-01 -6.53926084e-03 9.81370433e-01 6.21263492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:410.35, Z:62.12 [[-9.52070135e-01 2.39353011e-01 -1.90453651e-01 5.21196562e+02] [-2.34361712e-01 -9.70931144e-01 -4.86549133e-02 4.10345492e+02] [-1.96563082e-01 -1.68784605e-03 9.80489728e-01 6.21241832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1492541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:521.19, Y:410.34, Z:62.12 [[-9.51136862e-01 2.40085023e-01 -1.94159345e-01 5.21190940e+02] [-2.35081467e-01 -9.70751583e-01 -4.87654469e-02 4.10344584e+02] [-2.00188345e-01 -7.39350499e-04 9.79757154e-01 6.21206718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.1792541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:521.16, Y:410.35, Z:62.12 [[-9.52309945e-01 2.41604794e-01 -1.86367629e-01 5.21158349e+02] [-2.34667136e-01 -9.70297632e-01 -5.87693915e-02 4.10345365e+02] [-1.95031036e-01 -1.22323183e-02 9.80720789e-01 6.21203880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2092541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:521.16, Y:410.34, Z:62.12 [[-9.52124788e-01 2.40454937e-01 -1.88785093e-01 5.21161491e+02] [-2.34682301e-01 -9.70642539e-01 -5.26998958e-02 4.10344318e+02] [-1.95914792e-01 -5.87235722e-03 9.80603340e-01 6.21181735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2392541539998 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:521.17, Y:410.35, Z:62.12 [[-9.53746012e-01 2.38515341e-01 -1.82972613e-01 5.21165126e+02] [-2.31828069e-01 -9.71060161e-01 -5.74274391e-02 4.10352629e+02] [-1.91374740e-01 -1.23530033e-02 9.81439306e-01 6.21243973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:521.17, Y:410.35, Z:62.12 [[-9.54000499e-01 2.36854144e-01 -1.83801966e-01 5.21169535e+02] [-2.31384494e-01 -9.71526070e-01 -5.09736306e-02 4.10351606e+02] [-1.90641717e-01 -6.09994428e-03 9.81640732e-01 6.21225629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.2992541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:521.17, Y:410.35, Z:62.12 [[-9.54219395e-01 2.36506450e-01 -1.83112114e-01 5.21169661e+02] [-2.31087384e-01 -9.71610982e-01 -5.07022745e-02 4.10352604e+02] [-1.89905156e-01 -6.06619427e-03 9.81783700e-01 6.21218507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.16, Y:410.35, Z:62.12 [[-9.54328412e-01 2.36670054e-01 -1.82330930e-01 5.21155191e+02] [-2.31315868e-01 -9.71571994e-01 -5.04066509e-02 4.10350529e+02] [-1.89077370e-01 -5.92846172e-03 9.81944297e-01 6.21180634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:521.16, Y:410.35, Z:62.12 [[-9.54385847e-01 2.36923319e-01 -1.81700291e-01 5.21164500e+02] [-2.31626293e-01 -9.71511167e-01 -5.01528871e-02 4.10354213e+02] [-1.88406250e-01 -5.77864078e-03 9.82074179e-01 6.21200120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.16, Y:410.36, Z:62.12 [[-9.53982818e-01 2.37932425e-01 -1.82496423e-01 5.21162004e+02] [-2.32622145e-01 -9.71265995e-01 -5.02921884e-02 4.10355304e+02] [-1.89218712e-01 -5.52517417e-03 9.81919422e-01 6.21202060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.16, Y:410.36, Z:62.12 [[-9.53761579e-01 2.38263672e-01 -1.83219193e-01 5.21159645e+02] [-2.32932373e-01 -9.71185480e-01 -5.04110438e-02 4.10355076e+02] [-1.89950940e-01 -5.40243540e-03 9.81778720e-01 6.21201954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.16, Y:410.35, Z:62.12 [[-9.53855987e-01 2.37869714e-01 -1.83239610e-01 5.21157445e+02] [-2.32545484e-01 -9.71282046e-01 -5.03367169e-02 4.10354354e+02] [-1.89950924e-01 -5.40243494e-03 9.81778723e-01 6.21196843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.16, Y:410.35, Z:62.12 [[-9.53446934e-01 2.38336771e-01 -1.84755320e-01 5.21157118e+02] [-2.32947646e-01 -9.71168246e-01 -5.06718033e-02 4.10353975e+02] [-1.91505455e-01 -5.27455847e-03 9.81477376e-01 6.21202046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5092541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:521.16, Y:410.35, Z:62.12 [[-9.52668084e-01 2.40573728e-01 -1.85870394e-01 5.21158788e+02] [-2.35176746e-01 -9.70619124e-01 -5.08961147e-02 4.10353455e+02] [-1.92653627e-01 -4.77470979e-03 9.81255208e-01 6.21208669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.16, Y:410.35, Z:62.12 [[-9.50899881e-01 2.44237504e-01 -1.90098547e-01 5.21163739e+02] [-2.38958620e-01 -9.69711778e-01 -5.05751429e-02 4.10352159e+02] [-1.96693147e-01 -2.66621088e-03 9.80461472e-01 6.21198052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5692541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:521.10, Y:410.34, Z:62.11 [[-9.50255842e-01 2.47737724e-01 -1.88785207e-01 5.21096173e+02] [-2.42259578e-01 -9.68820382e-01 -5.19361472e-02 4.10336429e+02] [-1.95765499e-01 -3.61760266e-03 9.80644065e-01 6.21054608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.5992541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:521.16, Y:410.36, Z:62.12 [[-9.50908467e-01 2.47029573e-01 -1.86412116e-01 5.21155931e+02] [-2.41234479e-01 -9.68989821e-01 -5.35224472e-02 4.10356569e+02] [-1.93853071e-01 -5.92591845e-03 9.81012676e-01 6.21207894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.15, Y:410.36, Z:62.12 [[-9.50538872e-01 2.47472088e-01 -1.87705669e-01 5.21151372e+02] [-2.42159384e-01 -9.68890014e-01 -5.10976930e-02 4.10355291e+02] [-1.94511401e-01 -3.11565425e-03 9.80895309e-01 6.21185910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.6592541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:521.15, Y:410.35, Z:62.12 [[-9.50759430e-01 2.47313935e-01 -1.86794872e-01 5.21149176e+02] [-2.42065557e-01 -9.68930587e-01 -5.07718691e-02 4.10353740e+02] [-1.93547856e-01 -3.05522844e-03 9.81086078e-01 6.21172446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.6892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:521.14, Y:410.35, Z:62.12 [[-9.51079065e-01 2.46364343e-01 -1.86422161e-01 5.21144965e+02] [-2.41145707e-01 -9.69172302e-01 -5.05351067e-02 4.10351825e+02] [-1.93125243e-01 -3.10797811e-03 9.81169191e-01 6.21157434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.14, Y:410.35, Z:62.11 [[-9.51975481e-01 2.44232039e-01 -1.84643969e-01 5.21139356e+02] [-2.39089039e-01 -9.69710760e-01 -4.99747341e-02 4.10349038e+02] [-1.91256675e-01 -3.42837240e-03 9.81534070e-01 6.21140859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7492541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:521.14, Y:410.35, Z:62.11 [[-9.52567275e-01 2.43395118e-01 -1.82686625e-01 5.21138474e+02] [-2.38363581e-01 -9.69921018e-01 -4.93560708e-02 4.10347925e+02] [-1.89204624e-01 -3.46913984e-03 9.81931553e-01 6.21135711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.7792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:521.14, Y:410.35, Z:62.11 [[-9.52913817e-01 2.42564038e-01 -1.81983366e-01 5.21135785e+02] [-2.37571605e-01 -9.70128930e-01 -4.90875926e-02 4.10346626e+02] [-1.88454213e-01 -3.54216481e-03 9.82075589e-01 6.21130153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.14, Y:410.35, Z:62.11 [[-9.53005429e-01 2.42085232e-01 -1.82141132e-01 5.21136664e+02] [-2.37090547e-01 -9.70248448e-01 -4.90512105e-02 4.10346452e+02] [-1.88596724e-01 -3.56212943e-03 9.82048159e-01 6.21125405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.13, Y:410.35, Z:62.11 [[-9.52907357e-01 2.42466452e-01 -1.82147163e-01 5.21132985e+02] [-2.37493455e-01 -9.70153801e-01 -4.89740818e-02 4.10345174e+02] [-1.88585335e-01 -3.40900374e-03 9.82050890e-01 6.21118045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8692541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:521.13, Y:410.34, Z:62.11 [[-9.52028740e-01 2.45698897e-01 -1.82409787e-01 5.21127224e+02] [-2.40784876e-01 -9.69342445e-01 -4.89680256e-02 4.10343687e+02] [-1.88848939e-01 -2.69744974e-03 9.82002445e-01 6.21106576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.13, Y:410.35, Z:62.11 [[-9.51265943e-01 2.47472714e-01 -1.83984676e-01 5.21130260e+02] [-2.42527454e-01 -9.68892240e-01 -4.92773888e-02 4.10345258e+02] [-1.90456134e-01 -2.25456658e-03 9.81693118e-01 6.21115059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9292541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:521.13, Y:410.35, Z:62.11 [[-9.50686261e-01 2.50172562e-01 -1.83328458e-01 5.21130031e+02] [-2.45327806e-01 -9.68199893e-01 -4.90227964e-02 4.10346009e+02] [-1.89762752e-01 -1.62973067e-03 9.81828621e-01 6.21118250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:521.13, Y:410.35, Z:62.11 [[-9.48925842e-01 2.55282891e-01 -1.85392535e-01 5.21131804e+02] [-2.50439579e-01 -9.66866257e-01 -4.94940336e-02 4.10347945e+02] [-1.91884766e-01 -5.36539001e-04 9.81417316e-01 6.21127072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1010.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.13, Y:410.35, Z:62.11 [[-9.48264452e-01 2.57397211e-01 -1.85852641e-01 5.21130643e+02] [-2.52585467e-01 -9.66305684e-01 -4.95369240e-02 4.10348365e+02] [-1.92341129e-01 -3.04279201e-05 9.81328125e-01 6.21130369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.13, Y:410.35, Z:62.11 [[-9.47212020e-01 2.61106737e-01 -1.86044782e-01 5.21130550e+02] [-2.56371375e-01 -9.65309603e-01 -4.95084713e-02 4.10349639e+02] [-1.92517810e-01 8.01537441e-04 9.81293152e-01 6.21136664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.13, Y:410.35, Z:62.11 [[-9.46902718e-01 2.62277890e-01 -1.85971911e-01 5.21129040e+02] [-2.57584201e-01 -9.64991741e-01 -4.94097045e-02 4.10349290e+02] [-1.92420431e-01 1.11724261e-03 9.81311943e-01 6.21131721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.0792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:521.13, Y:410.35, Z:62.11 [[-9.46779718e-01 2.63156083e-01 -1.85356527e-01 5.21127895e+02] [-2.58525744e-01 -9.64752301e-01 -4.91674363e-02 4.10348852e+02] [-1.91761846e-01 1.36870264e-03 9.81440534e-01 6.21128907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.11, Y:410.34, Z:62.11 [[-9.47079752e-01 2.62468489e-01 -1.84797826e-01 5.21109872e+02] [-2.57863942e-01 -9.64939716e-01 -4.89645947e-02 4.10344167e+02] [-1.91170425e-01 1.27931969e-03 9.81556026e-01 6.21092879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1392541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:521.11, Y:410.34, Z:62.11 [[-9.47111146e-01 2.63005589e-01 -1.83870981e-01 5.21105824e+02] [-2.58552259e-01 -9.64792515e-01 -4.82299992e-02 4.10342560e+02] [-1.90082106e-01 1.86108767e-03 9.81766433e-01 6.21079312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:520.83, Y:409.49, Z:62.98 [[-9.25808467e-01 -3.21930637e-01 1.98089243e-01 5.20826334e+02] [-3.13493344e-01 9.46744817e-01 7.34586597e-02 4.09489705e+02] [-2.11188557e-01 5.90899000e-03 -9.77427479e-01 6.29772921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.20, Y:409.62, Z:62.11 [[-9.18782882e-01 -1.59618232e-01 -3.61054062e-01 5.21204830e+02] [-3.00894792e-01 -3.08884397e-01 9.02248721e-01 4.09620733e+02] [-2.55539312e-01 9.37609966e-01 2.35769402e-01 6.21137750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.2292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.84, Y:410.29, Z:62.08 [[-9.13344344e-01 3.20397589e-01 -2.51291653e-01 5.20837800e+02] [-3.11725936e-01 -9.47229447e-01 -7.47215865e-02 4.10289006e+02] [-2.61971470e-01 1.00875874e-02 9.65022896e-01 6.20765898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.2592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:520.60, Y:410.34, Z:62.85 [[-9.28100905e-01 2.20465897e-01 3.00039162e-01 5.20602221e+02] [-3.07006880e-01 2.78895886e-03 -9.51703209e-01 4.10344287e+02] [-2.10654898e-01 -9.75390696e-01 6.50961117e-02 6.28475436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.2892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.75, Y:409.62, Z:63.03 [[-9.10232478e-01 -3.13720203e-01 2.70289606e-01 5.20746946e+02] [-3.63762147e-01 9.17666026e-01 -1.59894231e-01 4.09621741e+02] [-1.97873538e-01 -2.43862050e-01 -9.49408955e-01 6.30311331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.68, Y:410.27, Z:62.02 [[-9.13209151e-01 3.73426498e-01 -1.63100269e-01 5.20683112e+02] [-3.67659950e-01 -9.27659733e-01 -6.53726386e-02 4.10274108e+02] [-1.75713428e-01 2.66544955e-04 9.84441324e-01 6.20205098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3492541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:520.68, Y:410.27, Z:62.02 [[-9.14752189e-01 3.69304754e-01 -1.63836600e-01 5.20677438e+02] [-3.63433522e-01 -9.29308232e-01 -6.55918032e-02 4.10269651e+02] [-1.76478066e-01 -4.56532873e-04 9.84304467e-01 6.20182617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.67, Y:410.27, Z:62.02 [[-9.15965341e-01 3.66021593e-01 -1.64425327e-01 5.20673030e+02] [-3.60068952e-01 -9.30605798e-01 -6.57510404e-02 4.10267023e+02] [-1.77081463e-01 -1.02121903e-03 9.84195668e-01 6.20183495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.67, Y:410.26, Z:62.02 [[-9.18344132e-01 3.60097412e-01 -1.64237355e-01 5.20673861e+02] [-3.54077950e-01 -9.32912367e-01 -6.55997022e-02 4.10264697e+02] [-1.76841343e-01 -2.09027555e-03 9.84237151e-01 6.20181955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:520.67, Y:410.26, Z:62.02 [[-9.19340638e-01 3.57446915e-01 -1.64452102e-01 5.20669708e+02] [-3.51383216e-01 -9.33930027e-01 -6.56089925e-02 4.10261232e+02] [-1.77038488e-01 -2.53130445e-03 9.84200674e-01 6.20162889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.67, Y:410.26, Z:62.02 [[-9.20514562e-01 3.54471388e-01 -1.64325821e-01 5.20666495e+02] [-3.48383693e-01 -9.35061955e-01 -6.54823852e-02 4.10258431e+02] [-1.76866455e-01 -3.02905284e-03 9.84230198e-01 6.20161507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.4992541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:520.66, Y:410.25, Z:62.01 [[-9.21953625e-01 3.51110057e-01 -1.63472451e-01 5.20662459e+02] [-3.45046995e-01 -9.36327342e-01 -6.50667323e-02 4.10253698e+02] [-1.75909310e-01 -3.58283164e-03 9.84399857e-01 6.20129840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5292541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:520.65, Y:410.25, Z:62.01 [[-9.22727946e-01 3.49304454e-01 -1.62970967e-01 5.20648629e+02] [-3.43264374e-01 -9.37001404e-01 -6.47915005e-02 4.10247141e+02] [-1.75335984e-01 -3.84280132e-03 9.84501156e-01 6.20103932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.66, Y:410.25, Z:62.01 [[-9.23787803e-01 3.46658210e-01 -1.62616669e-01 5.20658152e+02] [-3.40617392e-01 -9.37981828e-01 -6.45746233e-02 4.10249392e+02] [-1.74916804e-01 -4.26318382e-03 9.84573988e-01 6.20127725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.5892541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:520.65, Y:410.25, Z:62.01 [[-9.24108902e-01 3.45920031e-01 -1.62364002e-01 5.20650242e+02] [-3.39899955e-01 -9.38254029e-01 -6.44002871e-02 4.10245222e+02] [-1.74616028e-01 -4.32536161e-03 9.84627104e-01 6.20095647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6192541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:520.65, Y:410.24, Z:62.01 [[-9.24537784e-01 3.45197186e-01 -1.61458320e-01 5.20645836e+02] [-3.39252433e-01 -9.38520170e-01 -6.39349451e-02 4.10242725e+02] [-1.73602053e-01 -4.33514440e-03 9.84806343e-01 6.20093059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.65, Y:410.24, Z:62.01 [[-9.24594151e-01 3.45360928e-01 -1.60783974e-01 5.20648089e+02] [-3.39481758e-01 -9.38460477e-01 -6.35929904e-02 4.10242396e+02] [-1.72851939e-01 -4.21448069e-03 9.84938803e-01 6.20098551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.6792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:520.65, Y:410.24, Z:62.01 [[-9.24208574e-01 3.46238663e-01 -1.61112693e-01 5.20648983e+02] [-3.40361727e-01 -9.38137992e-01 -6.36474879e-02 4.10242496e+02] [-1.73183159e-01 -3.98695974e-03 9.84881565e-01 6.20089610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.65, Y:410.24, Z:62.01 [[-9.23318481e-01 3.48472395e-01 -1.61400039e-01 5.20645563e+02] [-3.42621399e-01 -9.37312498e-01 -6.36856156e-02 4.10242396e+02] [-1.73474953e-01 -3.50299866e-03 9.84832052e-01 6.20104864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.65, Y:410.24, Z:62.01 [[-9.22731083e-01 3.49813536e-01 -1.61857463e-01 5.20646773e+02] [-3.43962856e-01 -9.36813921e-01 -6.37905228e-02 4.10243904e+02] [-1.73945113e-01 -3.18854284e-03 9.84750187e-01 6.20114124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.65, Y:410.24, Z:62.01 [[-9.21797527e-01 3.51861543e-01 -1.62735290e-01 5.20646092e+02] [-3.45991835e-01 -9.36048031e-01 -6.40603953e-02 4.10244275e+02] [-1.74868438e-01 -2.74563228e-03 9.84587980e-01 6.20116312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.7992541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.64, Y:410.25, Z:62.01 [[-9.19997923e-01 3.56128094e-01 -1.63635577e-01 5.20644519e+02] [-3.50273164e-01 -9.34435267e-01 -6.43384997e-02 4.10245188e+02] [-1.75819602e-01 -1.87413467e-03 9.84420619e-01 6.20119527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.65, Y:410.25, Z:62.01 [[-9.19282089e-01 3.57843041e-01 -1.63917048e-01 5.20645504e+02] [-3.52008408e-01 -9.33780583e-01 -6.43731643e-02 4.10245958e+02] [-1.76098046e-01 -1.47691786e-03 9.84371524e-01 6.20123003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.63, Y:410.24, Z:62.01 [[-9.19233292e-01 3.57878114e-01 -1.64114018e-01 5.20631713e+02] [-3.52040699e-01 -9.33767238e-01 -6.43901564e-02 4.10240804e+02] [-1.76288121e-01 -1.41476180e-03 9.84337593e-01 6.20101513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.63, Y:410.24, Z:62.01 [[-9.18405699e-01 3.59697985e-01 -1.64767511e-01 5.20631438e+02] [-3.53908100e-01 -9.33068505e-01 -6.42823647e-02 4.10241909e+02] [-1.76861612e-01 -7.24733365e-04 9.84235462e-01 6.20105675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.63, Y:410.24, Z:62.01 [[-9.18367136e-01 3.59895216e-01 -1.64551625e-01 5.20628228e+02] [-3.54137303e-01 -9.32992528e-01 -6.41226475e-02 4.10241217e+02] [-1.76602871e-01 -6.14263217e-04 9.84281997e-01 6.20103777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:520.64, Y:410.24, Z:62.00 [[-9.14919464e-01 3.63311786e-01 -1.75860516e-01 5.20640987e+02] [-3.59253503e-01 -9.31585623e-01 -5.55441006e-02 4.10237227e+02] [-1.84008955e-01 1.23601278e-02 9.82846851e-01 6.20016343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1011.9792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:520.63, Y:410.24, Z:62.01 [[-9.16096925e-01 3.64548722e-01 -1.66945063e-01 5.20631093e+02] [-3.57838138e-01 -9.31175034e-01 -6.97489963e-02 4.10242755e+02] [-1.80881982e-01 -4.15753055e-03 9.83496021e-01 6.20086958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.62, Y:410.24, Z:62.01 [[-9.18906949e-01 3.60901137e-01 -1.59249457e-01 5.20617133e+02] [-3.53705528e-01 -9.32547936e-01 -7.24344246e-02 4.10242146e+02] [-1.74649418e-01 -1.02330829e-02 9.84577506e-01 6.20135111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.63, Y:410.24, Z:62.01 [[-9.17574159e-01 3.61356599e-01 -1.65768125e-01 5.20627646e+02] [-3.56187453e-01 -9.32422575e-01 -6.09806459e-02 4.10236578e+02] [-1.76601701e-01 3.09026151e-03 9.84277547e-01 6.20074128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0692541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:520.62, Y:410.24, Z:62.01 [[-9.19188815e-01 3.59514311e-01 -1.60752549e-01 5.20616493e+02] [-3.53335570e-01 -9.33129508e-01 -6.65078594e-02 4.10237425e+02] [-1.73913474e-01 -4.33368690e-03 9.84751401e-01 6.20098274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.0992541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:520.58, Y:410.22, Z:62.00 [[-9.18294402e-01 3.60926026e-01 -1.62689257e-01 5.20575528e+02] [-3.55525339e-01 -9.32594174e-01 -6.22080434e-02 4.10217750e+02] [-1.74175555e-01 7.14855399e-04 9.84714357e-01 6.19985436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.1292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.61, Y:410.23, Z:62.01 [[-9.17145013e-01 3.63903988e-01 -1.62538960e-01 5.20614981e+02] [-3.58273093e-01 -9.31436431e-01 -6.37696374e-02 4.10234060e+02] [-1.74600734e-01 -2.52668812e-04 9.84639284e-01 6.20096817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.1592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.62, Y:410.24, Z:62.01 [[-9.16456311e-01 3.65805723e-01 -1.62154260e-01 5.20621947e+02] [-3.60088525e-01 -9.30691005e-01 -6.44244277e-02 4.10237137e+02] [-1.74482336e-01 -6.52285052e-04 9.84660088e-01 6.20121891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.61, Y:410.23, Z:62.01 [[-9.16753284e-01 3.64539675e-01 -1.63322507e-01 5.20609322e+02] [-3.59033220e-01 -9.31187541e-01 -6.31261454e-02 4.10233559e+02] [-1.75095868e-01 7.67104477e-04 9.84551090e-01 6.20105003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2192541539998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:520.61, Y:410.23, Z:62.01 [[-9.14609022e-01 3.69721770e-01 -1.63695296e-01 5.20606589e+02] [-3.64291688e-01 -9.29140642e-01 -6.31603869e-02 4.10232461e+02] [-1.75447722e-01 1.86577590e-03 9.84486981e-01 6.20093211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2492541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:520.61, Y:410.23, Z:62.01 [[-9.13634234e-01 3.71821756e-01 -1.64380863e-01 5.20611531e+02] [-3.66392737e-01 -9.28301172e-01 -6.33505886e-02 4.10234332e+02] [-1.76150074e-01 2.34868760e-03 9.84360521e-01 6.20115564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.2792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.57, Y:410.22, Z:62.01 [[-9.10703172e-01 3.79847327e-01 -1.62282901e-01 5.20570481e+02] [-3.74249036e-01 -9.25047902e-01 -6.49926080e-02 4.10217370e+02] [-1.74806725e-01 1.54524482e-03 9.84601555e-01 6.20057914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3092541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:520.61, Y:410.23, Z:62.01 [[-9.10759992e-01 3.78741240e-01 -1.64533611e-01 5.20611807e+02] [-3.73766538e-01 -9.25485996e-01 -6.14348919e-02 4.10232413e+02] [-1.75541480e-01 5.54471652e-03 9.84456421e-01 6.20107581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3392541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:520.61, Y:410.23, Z:62.01 [[-9.10894149e-01 3.78676134e-01 -1.63939731e-01 5.20609272e+02] [-3.73421681e-01 -9.25521242e-01 -6.29815712e-02 4.10232185e+02] [-1.75579322e-01 3.84910534e-03 9.84457763e-01 6.20109169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.58, Y:409.46, Z:62.90 [[-8.94195565e-01 -4.03426106e-01 1.94066145e-01 5.20576578e+02] [-4.00101011e-01 9.14644629e-01 5.78306490e-02 4.09464399e+02] [-2.00831950e-01 -2.59341508e-02 -9.79282364e-01 6.29032753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.3992541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:520.31, Y:410.17, Z:62.86 [[-8.83357663e-01 4.84576815e-02 4.66187829e-01 5.20312727e+02] [-4.45135997e-01 2.24668619e-01 -8.66820602e-01 4.10171777e+02] [-1.46741892e-01 -9.73229605e-01 -1.76892488e-01 6.28561671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:520.42, Y:410.20, Z:61.95 [[-8.79427498e-01 4.66801135e-01 -9.32950984e-02 5.20417193e+02] [-4.64532296e-01 -8.84357765e-01 -4.60552988e-02 4.10196286e+02] [-1.04004910e-01 2.83629001e-03 9.94572740e-01 6.19497008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.41, Y:410.19, Z:61.95 [[-8.79933458e-01 4.65918626e-01 -9.29351627e-02 5.20414321e+02] [-4.63667051e-01 -8.84823265e-01 -4.58329017e-02 4.10191412e+02] [-1.03585597e-01 2.76106918e-03 9.94616710e-01 6.19501825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.4892541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:520.41, Y:410.19, Z:61.95 [[-8.80536197e-01 4.65011534e-01 -9.17620818e-02 5.20414167e+02] [-4.62816071e-01 -8.85300630e-01 -4.52114967e-02 4.10189915e+02] [-1.02260896e-01 2.65860685e-03 9.94754061e-01 6.19496761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:520.32, Y:410.18, Z:62.00 [[-8.87421818e-01 4.60642183e-01 -1.70674237e-02 5.20316271e+02] [-4.57504301e-01 -8.84692546e-01 -8.94925336e-02 4.10181342e+02] [-5.63234585e-02 -7.16092071e-02 9.95841247e-01 6.19955444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5492541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:520.69, Y:409.36, Z:62.14 [[-8.89510688e-01 -2.04978950e-01 -4.08355685e-01 5.20686962e+02] [-4.26265138e-01 5.04680553e-02 9.03189353e-01 4.09355488e+02] [-1.64525888e-01 9.77464376e-01 -1.32267255e-01 6.21356659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.5792541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:520.32, Y:410.14, Z:61.97 [[-8.70992257e-01 4.67281158e-01 -1.51726096e-01 5.20323771e+02] [-4.61006175e-01 -8.84102214e-01 -7.63975212e-02 4.10143194e+02] [-1.69840499e-01 3.40501777e-03 9.85465682e-01 6.19675367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6092541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:520.17, Y:410.09, Z:61.98 [[-8.78613744e-01 4.66339520e-01 -1.02787844e-01 5.20165332e+02] [-4.56614061e-01 -8.83442389e-01 -1.05038782e-01 4.10089088e+02] [-1.39790874e-01 -4.53541424e-02 9.89141807e-01 6.19753312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6392541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:520.58, Y:409.31, Z:62.15 [[-8.70647403e-01 -2.70649933e-01 -4.10757486e-01 5.20580902e+02] [-4.29462619e-01 1.10455846e-02 9.03017084e-01 4.09310746e+02] [-2.39864457e-01 9.62614465e-01 -1.25850839e-01 6.21502630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:520.22, Y:410.09, Z:61.98 [[-8.59647306e-01 4.64569083e-01 -2.12560759e-01 5.20222667e+02] [-4.51522786e-01 -8.85534665e-01 -1.09341353e-01 4.10088584e+02] [-2.39026532e-01 1.98102689e-03 9.71011016e-01 6.19787483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.6992541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:520.22, Y:410.08, Z:61.98 [[-8.61533817e-01 4.61128540e-01 -2.12414574e-01 5.20219939e+02] [-4.48023721e-01 -8.87332637e-01 -1.09158312e-01 4.10084915e+02] [-2.38818397e-01 1.12319055e-03 9.71063598e-01 6.19780147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.22, Y:410.08, Z:61.98 [[-8.64527731e-01 4.54420592e-01 -2.14694501e-01 5.20215650e+02] [-4.40851635e-01 -8.90787021e-01 -1.10219411e-01 4.10077357e+02] [-2.41333045e-01 -6.39315288e-04 9.70442143e-01 6.19764900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.21, Y:410.07, Z:61.97 [[-8.66385679e-01 4.50923719e-01 -2.14577853e-01 5.20211729e+02] [-4.37291159e-01 -8.92561209e-01 -1.10049671e-01 4.10072931e+02] [-2.41147875e-01 -1.51246129e-03 9.70487205e-01 6.19749295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.7892541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:520.06, Y:409.28, Z:62.81 [[-8.07220283e-01 -5.21854846e-01 2.75795096e-01 5.20058730e+02] [-5.21412601e-01 8.49435063e-01 8.11724959e-02 4.09276309e+02] [-2.76630285e-01 -7.82789529e-02 -9.57782904e-01 6.28057140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.85, Y:409.93, Z:61.90 [[-8.44439180e-01 5.11605434e-01 -1.58689483e-01 5.19851162e+02] [-4.91546272e-01 -8.57843479e-01 -1.49956091e-01 4.09931213e+02] [-2.12849089e-01 -4.86255745e-02 9.75874387e-01 6.19029769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8492541539998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:520.43, Y:409.24, Z:62.26 [[-8.00484492e-01 -4.39080269e-01 -4.07962126e-01 5.20433222e+02] [-5.03143646e-01 1.22419353e-01 8.55488149e-01 4.09236701e+02] [-3.25685507e-01 8.90068548e-01 -3.18915241e-01 6.22591019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.8792541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:520.01, Y:410.02, Z:61.96 [[-8.18522080e-01 5.21615144e-01 -2.40705725e-01 5.20013832e+02] [-4.98023861e-01 -8.53150440e-01 -1.55262875e-01 4.10015526e+02] [-2.86345662e-01 -7.20889685e-03 9.58099261e-01 6.19575021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9092541539999 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:520.00, Y:410.01, Z:61.95 [[-8.20773733e-01 5.19236706e-01 -2.38167425e-01 5.20004857e+02] [-4.96430321e-01 -8.54603338e-01 -1.52348519e-01 4.10007617e+02] [-2.82643620e-01 -6.81013143e-03 9.59200817e-01 6.19535590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:520.00, Y:410.00, Z:61.95 [[-8.21708654e-01 5.17158686e-01 -2.39461439e-01 5.19996309e+02] [-4.94043915e-01 -8.55856916e-01 -1.53067141e-01 4.10000878e+02] [-2.84104730e-01 -7.47212824e-03 9.58764137e-01 6.19503348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9692541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:519.99, Y:410.00, Z:61.95 [[-8.20388151e-01 5.18148508e-01 -2.41837561e-01 5.19992641e+02] [-4.94903112e-01 -8.55267360e-01 -1.53585977e-01 4.09998037e+02] [-2.86416117e-01 -6.31395407e-03 9.58084517e-01 6.19489858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1012.9992541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:519.99, Y:410.00, Z:61.95 [[-8.20117516e-01 5.19226277e-01 -2.40439877e-01 5.19989686e+02] [-4.96346870e-01 -8.54617395e-01 -1.52541445e-01 4.09997049e+02] [-2.84687628e-01 -5.76033033e-03 9.58603032e-01 6.19485815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0292541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:519.98, Y:409.99, Z:61.95 [[-8.19538800e-01 5.20030004e-01 -2.40676028e-01 5.19983645e+02] [-4.97181557e-01 -8.54131188e-01 -1.52546429e-01 4.09993719e+02] [-2.84897622e-01 -5.35803514e-03 9.58542976e-01 6.19464544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0592541539999 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:519.98, Y:409.99, Z:61.95 [[-8.17319127e-01 5.23152456e-01 -2.41455902e-01 5.19982296e+02] [-5.00401406e-01 -8.52230006e-01 -1.52651398e-01 4.09994724e+02] [-2.85635919e-01 -3.94003428e-03 9.58330109e-01 6.19464874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.98, Y:410.00, Z:61.95 [[-8.15995447e-01 5.24306745e-01 -2.43421172e-01 5.19982953e+02] [-5.01273717e-01 -8.51522581e-01 -1.53733389e-01 4.09995602e+02] [-2.87882078e-01 -3.42510940e-03 9.57659740e-01 6.19468194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1192541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:519.98, Y:409.99, Z:61.95 [[-8.15740329e-01 5.25348520e-01 -2.42026132e-01 5.19978452e+02] [-5.02676057e-01 -8.50882202e-01 -1.52696627e-01 4.09994208e+02] [-2.86154676e-01 -2.90005503e-03 9.58179050e-01 6.19459592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1492541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:519.97, Y:409.99, Z:61.95 [[-8.14700578e-01 5.26602942e-01 -2.42800969e-01 5.19974878e+02] [-5.03889703e-01 -8.50108232e-01 -1.53007064e-01 4.09993846e+02] [-2.86981073e-01 -2.31003511e-03 9.57933467e-01 6.19450684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.1792541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:519.98, Y:410.00, Z:61.95 [[-8.14213554e-01 5.27285322e-01 -2.42953654e-01 5.19976382e+02] [-5.04614458e-01 -8.49686059e-01 -1.52963559e-01 4.09995175e+02] [-2.87089772e-01 -1.94707689e-03 9.57901703e-01 6.19451121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.97, Y:409.99, Z:61.94 [[-8.13757367e-01 5.27390220e-01 -2.44250903e-01 5.19968920e+02] [-5.04523494e-01 -8.49621319e-01 -1.53621802e-01 4.09992274e+02] [-2.88539411e-01 -1.78055424e-03 9.57466364e-01 6.19422200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2392541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:519.96, Y:409.99, Z:61.94 [[-8.15030410e-01 5.26539077e-01 -2.41830584e-01 5.19963863e+02] [-5.04148428e-01 -8.50148793e-01 -1.51925614e-01 4.09990807e+02] [-2.85586751e-01 -1.90548672e-03 9.58350967e-01 6.19415552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:519.96, Y:409.99, Z:61.94 [[-8.15429947e-01 5.25612893e-01 -2.42497603e-01 5.19963562e+02] [-5.03102575e-01 -8.50721275e-01 -1.52187752e-01 4.09991646e+02] [-2.86289715e-01 -2.09728166e-03 9.58140804e-01 6.19413495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.2992541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:519.97, Y:409.99, Z:61.94 [[-8.14170533e-01 5.25282901e-01 -2.47394862e-01 5.19966241e+02] [-5.03284099e-01 -8.50925237e-01 -1.50437215e-01 4.09991843e+02] [-2.89536628e-01 2.02835291e-03 9.57164786e-01 6.19373347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.96, Y:409.99, Z:61.94 [[-8.14651000e-01 5.26346231e-01 -2.43522882e-01 5.19962205e+02] [-5.02735248e-01 -8.50257821e-01 -1.55945211e-01 4.09993349e+02] [-2.89138409e-01 -4.61338525e-03 9.57276186e-01 6.19393976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.95, Y:409.99, Z:61.94 [[-8.17163881e-01 5.23442685e-01 -2.41352329e-01 5.19951085e+02] [-5.00116110e-01 -8.52042171e-01 -1.54622167e-01 4.09988851e+02] [-2.86578205e-01 -5.64746214e-03 9.58040207e-01 6.19375706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.95, Y:409.99, Z:61.94 [[-8.17668748e-01 5.21978559e-01 -2.42808984e-01 5.19948955e+02] [-4.99452321e-01 -8.52954079e-01 -1.51712621e-01 4.09986494e+02] [-2.86295648e-01 -2.77915831e-03 9.58137296e-01 6.19355771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:519.95, Y:409.99, Z:61.93 [[-8.17545928e-01 5.21922897e-01 -2.43341622e-01 5.19945480e+02] [-4.99346015e-01 -8.52988557e-01 -1.51868625e-01 4.09986814e+02] [-2.86831332e-01 -2.64790672e-03 9.57977440e-01 6.19348620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4492541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:519.94, Y:409.98, Z:61.93 [[-8.17806210e-01 5.21608251e-01 -2.43141594e-01 5.19940135e+02] [-4.99102044e-01 -8.53181094e-01 -1.51588820e-01 4.09984789e+02] [-2.86513790e-01 -2.61781231e-03 9.58072542e-01 6.19338146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.4792541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:519.94, Y:409.99, Z:61.93 [[-8.17325052e-01 5.20675749e-01 -2.46731685e-01 5.19938365e+02] [-4.97503770e-01 -8.53749877e-01 -1.53626648e-01 4.09986078e+02] [-2.90636816e-01 -2.81296402e-03 9.56829310e-01 6.19337069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5092541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:519.90, Y:409.96, Z:61.92 [[-8.20224511e-01 5.15631966e-01 -2.47700279e-01 5.19899789e+02] [-4.92074601e-01 -8.56798128e-01 -1.54141345e-01 4.09961646e+02] [-2.91709340e-01 -4.54349299e-03 9.56496219e-01 6.19191023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5392541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:520.21, Y:409.14, Z:62.10 [[-7.88991309e-01 -4.09933139e-01 -4.57654385e-01 5.20213310e+02] [-4.85472602e-01 -4.05920751e-02 8.73309015e-01 4.09139830e+02] [-3.76575447e-01 9.11211888e-01 -1.66984513e-01 6.21047671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5692541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:519.81, Y:409.91, Z:61.92 [[-7.97850067e-01 5.23674809e-01 -2.98663633e-01 5.19808677e+02] [-4.88534754e-01 -8.51905770e-01 -1.88654057e-01 4.09914658e+02] [-3.53226650e-01 -4.61008753e-03 9.35526419e-01 6.19172644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.5992541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:519.80, Y:409.91, Z:61.91 [[-7.98761303e-01 5.21921592e-01 -2.99296230e-01 5.19804094e+02] [-4.86583613e-01 -8.52977515e-01 -1.88853771e-01 4.09912127e+02] [-3.53859815e-01 -5.21644331e-03 9.35283925e-01 6.19144975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.6292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:519.80, Y:409.91, Z:61.91 [[-8.00449634e-01 5.20024757e-01 -2.98084947e-01 5.19795645e+02] [-4.84925803e-01 -8.54131109e-01 -1.87901608e-01 4.09907359e+02] [-3.52317115e-01 -5.85669068e-03 9.35862356e-01 6.19102384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.6592541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:519.53, Y:409.74, Z:61.78 [[-8.02338078e-01 5.16153846e-01 -2.99731241e-01 5.19525824e+02] [-4.82545929e-01 -8.56492607e-01 -1.83220743e-01 4.09737059e+02] [-3.51287683e-01 -2.37088844e-03 9.36264569e-01 6.17834845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.40, Y:409.87, Z:62.48 [[-8.16794672e-01 3.57219358e-01 4.53035091e-01 5.19404988e+02] [-5.03720410e-01 -5.87305650e-02 -8.61868011e-01 4.09865274e+02] [-2.81268931e-01 -9.32172222e-01 2.27909494e-01 6.24823354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.68, Y:409.82, Z:61.81 [[-8.29720799e-01 4.99924692e-01 -2.48271420e-01 5.19676047e+02] [-4.76886932e-01 -8.66046857e-01 -1.50138920e-01 4.09822241e+02] [-2.90072836e-01 -6.17598848e-03 9.56984643e-01 6.18137391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.68, Y:409.82, Z:61.80 [[-8.24069672e-01 4.99030661e-01 -2.68099938e-01 5.19683852e+02] [-4.78757221e-01 -8.66502407e-01 -1.41297917e-01 4.09815100e+02] [-3.02821234e-01 1.19154530e-02 9.52972886e-01 6.17987241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.67, Y:409.82, Z:61.80 [[-8.24928271e-01 5.03550516e-01 -2.56768818e-01 5.19671917e+02] [-4.77651562e-01 -8.63918176e-01 -1.59669567e-01 4.09821098e+02] [-3.02228941e-01 -9.06991302e-03 9.53192218e-01 6.18039302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8092541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:519.61, Y:409.80, Z:61.80 [[-8.34407857e-01 4.97905180e-01 -2.36334425e-01 5.19614890e+02] [-4.70029373e-01 -8.66781061e-01 -1.66622269e-01 4.09798968e+02] [-2.87812294e-01 -2.79468084e-02 9.57278987e-01 6.17998067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.64, Y:409.79, Z:61.78 [[-8.28145448e-01 4.92370457e-01 -2.67855281e-01 5.19635824e+02] [-4.72690575e-01 -8.70302342e-01 -1.38338185e-01 4.09789969e+02] [-3.01228713e-01 1.20485284e-02 9.53475797e-01 6.17800628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8692541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:519.60, Y:409.80, Z:61.79 [[-8.33886366e-01 4.97938410e-01 -2.38098444e-01 5.19603244e+02] [-4.70832244e-01 -8.66864269e-01 -1.63900389e-01 4.09796013e+02] [-2.88011333e-01 -2.45698747e-02 9.57311754e-01 6.17946239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.61, Y:409.79, Z:61.79 [[-8.32959997e-01 4.93271397e-01 -2.50720908e-01 5.19607114e+02] [-4.70685781e-01 -8.69861306e-01 -1.47635374e-01 4.09790762e+02] [-2.90916724e-01 -4.96359420e-03 9.56735503e-01 6.17868784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.60, Y:409.79, Z:61.79 [[-8.32845812e-01 4.93253077e-01 -2.51135932e-01 5.19604733e+02] [-4.70638215e-01 -8.69872419e-01 -1.47721517e-01 4.09791104e+02] [-2.91320313e-01 -4.83507991e-03 9.56613348e-01 6.17861907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.26, Y:409.75, Z:62.45 [[-8.41986121e-01 2.66005248e-01 4.69361887e-01 5.19263470e+02] [-4.92260697e-01 -2.27877885e-02 -8.70149483e-01 4.09754778e+02] [-2.20768609e-01 -9.63702197e-01 1.50130930e-01 6.24542293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1013.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.49, Y:409.72, Z:61.71 [[-8.53207045e-01 4.83064245e-01 -1.96689281e-01 5.19485886e+02] [-4.69740637e-01 -8.75576693e-01 -1.12735038e-01 4.09719599e+02] [-2.26674817e-01 -3.79338017e-03 9.73963109e-01 6.17132924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.48, Y:409.72, Z:61.71 [[-8.53857430e-01 4.81879569e-01 -1.96772891e-01 5.19484196e+02] [-4.68541397e-01 -8.76228320e-01 -1.12662732e-01 4.09719775e+02] [-2.26707848e-01 -4.00166554e-03 9.73954587e-01 6.17125818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0492541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:519.48, Y:409.72, Z:61.71 [[-8.55219592e-01 4.80041982e-01 -1.95343659e-01 5.19478250e+02] [-4.66875713e-01 -8.77234665e-01 -1.11742608e-01 4.09718378e+02] [-2.25003373e-01 -4.36325742e-03 9.74348215e-01 6.17102692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.0792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:519.48, Y:409.72, Z:61.71 [[-8.56192717e-01 4.77969820e-01 -1.96160348e-01 5.19475740e+02] [-4.64675932e-01 -8.78363242e-01 -1.12045945e-01 4.09717843e+02] [-2.25854619e-01 -4.78193014e-03 9.74149282e-01 6.17091675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.47, Y:409.72, Z:61.71 [[-8.57265905e-01 4.75810380e-01 -1.96722267e-01 5.19469209e+02] [-4.62407739e-01 -8.79532091e-01 -1.12260340e-01 4.09715112e+02] [-2.26438182e-01 -5.27106344e-03 9.74011276e-01 6.17075217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.47, Y:409.72, Z:61.71 [[-8.58352810e-01 4.73790487e-01 -1.96857891e-01 5.19467136e+02] [-4.60341413e-01 -8.80619070e-01 -1.12231177e-01 4.09715408e+02] [-2.26530877e-01 -5.71210657e-03 9.73987235e-01 6.17076184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.46, Y:409.71, Z:61.71 [[-8.59902412e-01 4.70597509e-01 -1.97751934e-01 5.19455978e+02] [-4.56965908e-01 -8.82324143e-01 -1.12633322e-01 4.09712422e+02] [-2.27486266e-01 -6.48777296e-03 9.73759677e-01 6.17058027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.1992541539998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:519.46, Y:409.72, Z:61.71 [[-8.60408820e-01 4.69821291e-01 -1.97394570e-01 5.19459677e+02] [-4.56244418e-01 -8.82737001e-01 -1.12322826e-01 4.09715686e+02] [-2.27019146e-01 -6.58337912e-03 9.73868044e-01 6.17066428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.46, Y:409.72, Z:61.71 [[-8.60439285e-01 4.69030890e-01 -1.99133776e-01 5.19456591e+02] [-4.55214914e-01 -8.83155921e-01 -1.13203359e-01 4.09715051e+02] [-2.28962045e-01 -6.75595258e-03 9.73411906e-01 6.17058792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.45, Y:409.71, Z:61.71 [[-8.60625604e-01 4.68669251e-01 -1.99180077e-01 5.19454660e+02] [-4.54862573e-01 -8.83347887e-01 -1.13121834e-01 4.09713816e+02] [-2.28962026e-01 -6.75598465e-03 9.73411911e-01 6.17052811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.2892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:519.44, Y:409.71, Z:61.70 [[-8.60482263e-01 4.69124395e-01 -1.98727394e-01 5.19439564e+02] [-4.55417101e-01 -8.83107978e-01 -1.12763306e-01 4.09705844e+02] [-2.28397765e-01 -6.52697056e-03 9.73546023e-01 6.17006990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3192541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:519.43, Y:409.70, Z:61.70 [[-8.60709429e-01 4.68772508e-01 -1.98573952e-01 5.19428841e+02] [-4.55134833e-01 -8.83295799e-01 -1.12431384e-01 4.09699990e+02] [-2.28104280e-01 -6.39283004e-03 9.73615720e-01 6.16971501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:519.42, Y:409.70, Z:61.70 [[-8.59999082e-01 4.69706571e-01 -1.99442512e-01 5.19423436e+02] [-4.56116151e-01 -8.82804715e-01 -1.12311584e-01 4.09698007e+02] [-2.28822279e-01 -5.61890814e-03 9.73451998e-01 6.16959550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.3792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:519.42, Y:409.70, Z:61.70 [[-8.59724675e-01 4.70328752e-01 -1.99159106e-01 5.19421850e+02] [-4.56819245e-01 -8.82475082e-01 -1.12044223e-01 4.09697619e+02] [-2.28450567e-01 -5.34747062e-03 9.73540828e-01 6.16951665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4092541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:519.43, Y:409.70, Z:61.70 [[-8.59631050e-01 4.70500110e-01 -1.99158492e-01 5.19430399e+02] [-4.57020570e-01 -8.82384590e-01 -1.11935844e-01 4.09703073e+02] [-2.28400212e-01 -5.20399977e-03 9.73553420e-01 6.16971596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:519.42, Y:409.70, Z:61.70 [[-8.59911894e-01 4.69820587e-01 -1.99549871e-01 5.19422987e+02] [-4.56294059e-01 -8.82746016e-01 -1.12049997e-01 4.09699105e+02] [-2.28795249e-01 -5.29970462e-03 9.73460142e-01 6.16957309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.41, Y:409.69, Z:61.69 [[-8.60117327e-01 4.68941316e-01 -2.00729237e-01 5.19414389e+02] [-4.55267638e-01 -8.83212711e-01 -1.12546372e-01 4.09694017e+02] [-2.30064257e-01 -5.41755877e-03 9.73160361e-01 6.16933084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.42, Y:409.70, Z:61.69 [[-8.60461658e-01 4.68149806e-01 -2.01100708e-01 5.19419418e+02] [-4.54428917e-01 -8.83631734e-01 -1.12646870e-01 4.09696467e+02] [-2.30434577e-01 -5.54233550e-03 9.73072036e-01 6.16949580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:519.42, Y:409.70, Z:61.69 [[-8.60464172e-01 4.67777300e-01 -2.01954961e-01 5.19418942e+02] [-4.53956996e-01 -8.83828905e-01 -1.13002268e-01 4.09695256e+02] [-2.31353527e-01 -5.55553560e-03 9.72853885e-01 6.16938384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5592541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:519.39, Y:409.69, Z:61.70 [[-8.66221454e-01 4.63395516e-01 -1.86882287e-01 5.19390887e+02] [-4.47619539e-01 -8.85880548e-01 -1.21870435e-01 4.09691478e+02] [-2.22029596e-01 -2.19146223e-02 9.74793623e-01 6.16974329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.5892541539998 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:519.22, Y:408.65, Z:62.44 [[-7.84908689e-01 -5.98978627e-01 1.58565300e-01 5.19224553e+02] [-5.63912498e-01 7.96605844e-01 2.17765525e-01 4.08645201e+02] [-2.56750939e-01 8.15090981e-02 -9.63034383e-01 6.24372268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.34, Y:409.71, Z:61.70 [[-8.21954844e-01 5.35111947e-01 -1.95052399e-01 5.19337259e+02] [-5.16510905e-01 -8.44650445e-01 -1.40648893e-01 4.09714044e+02] [-2.40013998e-01 -1.48603480e-02 9.70655681e-01 6.16963817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6492541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:519.13, Y:409.57, Z:61.63 [[-8.27303010e-01 5.27293214e-01 -1.93730730e-01 5.19125414e+02] [-5.10023019e-01 -8.49592939e-01 -1.34418592e-01 4.09574860e+02] [-2.35470272e-01 -1.23977741e-02 9.71802473e-01 6.16310202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.6792541539999 meters Centerline goodness : 0.999605 Centerline is valid? [True, True] Translation: X:519.20, Y:408.68, Z:62.46 [[-7.37201445e-01 -6.50302008e-01 1.83415725e-01 5.19204858e+02] [-6.25608891e-01 7.59492569e-01 1.78282228e-01 4.08678568e+02] [-2.55240171e-01 1.66834074e-02 -9.66733738e-01 6.24601996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.24, Y:409.71, Z:61.68 [[-7.81124392e-01 5.95074123e-01 -1.89027701e-01 5.19237613e+02] [-5.75168016e-01 -8.03598307e-01 -1.53008214e-01 4.09709833e+02] [-2.42953569e-01 -1.07957607e-02 9.69977843e-01 6.16818938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7392541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:519.23, Y:409.70, Z:61.68 [[-7.81609615e-01 5.93823957e-01 -1.90943755e-01 5.19232670e+02] [-5.74562324e-01 -8.04558153e-01 -1.50214231e-01 4.09702195e+02] [-2.42826164e-01 -7.69979927e-03 9.70039261e-01 6.16770400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:519.23, Y:409.70, Z:61.67 [[-7.83845954e-01 5.91231937e-01 -1.89816535e-01 5.19225980e+02] [-5.72164934e-01 -8.06458663e-01 -1.49170085e-01 4.09695691e+02] [-2.41273307e-01 -8.32000277e-03 9.70421542e-01 6.16746087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.7992541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:519.23, Y:409.70, Z:61.67 [[-7.84239348e-01 5.90808928e-01 -1.89508456e-01 5.19230012e+02] [-5.71831800e-01 -8.06768769e-01 -1.48770111e-01 4.09697394e+02] [-2.40784214e-01 -8.30441358e-03 9.70543146e-01 6.16741316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8292541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:519.17, Y:408.69, Z:62.46 [[-6.85904008e-01 -7.01343735e-01 1.94042928e-01 5.19171764e+02] [-6.81372944e-01 7.12605963e-01 1.67103716e-01 4.08686713e+02] [-2.55473292e-01 -1.75984927e-02 -9.66655932e-01 6.24639497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8592541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:519.61, Y:409.06, Z:61.69 [[-7.06580061e-01 -1.30993365e-01 -6.95403017e-01 5.19611505e+02] [-6.18081344e-01 -3.64254711e-01 6.96630431e-01 4.09063492e+02] [-3.44557789e-01 9.22040804e-01 1.76410561e-01 6.16928118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.8892541539999 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:518.75, Y:409.32, Z:61.52 [[-7.31733109e-01 6.37246799e-01 -2.41832946e-01 5.18751448e+02] [-6.05639405e-01 -7.70658470e-01 -1.98208058e-01 4.09319551e+02] [-3.12678058e-01 1.42816285e-03 9.49858091e-01 6.15202839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9192541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:518.91, Y:409.22, Z:62.61 [[-6.78755093e-01 -2.57085857e-01 6.87894168e-01 5.18909422e+02] [-6.96521212e-01 5.22195133e-01 -4.92108164e-01 4.09218715e+02] [-2.32700937e-01 -8.13153802e-01 -5.33508359e-01 6.26128531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.96, Y:409.55, Z:61.60 [[-7.16393213e-01 6.73725802e-01 -1.81312735e-01 5.18955594e+02] [-6.50141492e-01 -7.38928233e-01 -1.76921187e-01 4.09545523e+02] [-2.53173467e-01 -8.86620567e-03 9.67380270e-01 6.16045521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1014.9792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:518.96, Y:409.55, Z:61.60 [[-7.14898356e-01 6.75099551e-01 -1.82101449e-01 5.18958602e+02] [-6.51413992e-01 -7.37680708e-01 -1.77445722e-01 4.09547633e+02] [-2.54126253e-01 -8.23222269e-03 9.67136018e-01 6.16040285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.95, Y:409.55, Z:61.60 [[-7.13484331e-01 6.76568041e-01 -1.82197133e-01 5.18954575e+02] [-6.52957435e-01 -7.36341320e-01 -1.77335977e-01 4.09545549e+02] [-2.54139133e-01 -7.55946815e-03 9.67138127e-01 6.16033099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.95, Y:409.53, Z:61.59 [[-7.09285494e-01 6.76449162e-01 -1.98319487e-01 5.18953658e+02] [-6.54190821e-01 -7.36450584e-01 -1.72264065e-01 4.09532579e+02] [-2.62580385e-01 7.55438547e-03 9.64880549e-01 6.15857745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0692541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:518.66, Y:409.38, Z:62.37 [[-7.03120551e-01 1.16540792e-01 7.01455440e-01 5.18663763e+02] [-6.90989724e-01 1.20798852e-01 -7.12699683e-01 4.09381663e+02] [-1.67793597e-01 -9.85812295e-01 -4.40766561e-03 6.23685705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.84, Y:409.43, Z:61.53 [[-7.20647437e-01 6.80748206e-01 -1.31336026e-01 5.18836846e+02] [-6.68714176e-01 -7.32506269e-01 -1.27498695e-01 4.09433257e+02] [-1.82998971e-01 -4.05534550e-03 9.83104741e-01 6.15314937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.1292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.84, Y:409.43, Z:61.53 [[-7.19847013e-01 6.81734651e-01 -1.30606829e-01 5.18835616e+02] [-6.69877334e-01 -7.31590283e-01 -1.26649184e-01 4.09432374e+02] [-1.81891824e-01 -3.67748302e-03 9.83311670e-01 6.15309702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.1592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:518.83, Y:409.43, Z:61.53 [[-7.18930784e-01 6.82866012e-01 -1.29740274e-01 5.18832464e+02] [-6.71208321e-01 -7.30536303e-01 -1.25682539e-01 4.09429454e+02] [-1.80604315e-01 -3.27429458e-03 9.83550385e-01 6.15292554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.1892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:518.83, Y:409.43, Z:61.53 [[-7.17674677e-01 6.84366478e-01 -1.28785023e-01 5.18830922e+02] [-6.72927979e-01 -7.29132898e-01 -1.24632066e-01 4.09429999e+02] [-1.79195405e-01 -2.78223232e-03 9.83809568e-01 6.15301107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.82, Y:409.42, Z:61.53 [[-7.17343110e-01 6.84751081e-01 -1.28587791e-01 5.18824536e+02] [-6.73376814e-01 -7.28772429e-01 -1.24315779e-01 4.09424812e+02] [-1.78836601e-01 -2.58903089e-03 9.83875382e-01 6.15296098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.82, Y:409.42, Z:61.53 [[-7.16175607e-01 6.85834465e-01 -1.29319711e-01 5.18820613e+02] [-6.74369784e-01 -7.27754130e-01 -1.24897243e-01 4.09422637e+02] [-1.79771787e-01 -2.23905289e-03 9.83705795e-01 6.15296496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.2792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:518.82, Y:409.42, Z:61.53 [[-7.15484091e-01 6.86484112e-01 -1.29699958e-01 5.18818435e+02] [-6.74987758e-01 -7.27142112e-01 -1.25123438e-01 4.09420483e+02] [-1.80205554e-01 -1.97794605e-03 9.83626985e-01 6.15286360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.85, Y:409.42, Z:61.51 [[-7.05925789e-01 6.89291207e-01 -1.62930701e-01 5.18847100e+02] [-6.79401826e-01 -7.24000749e-01 -1.19315019e-01 4.09423792e+02] [-2.00204743e-01 2.64678667e-02 9.79396504e-01 6.15106071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:518.83, Y:409.43, Z:61.52 [[-7.05241977e-01 6.93880262e-01 -1.45478304e-01 5.18831527e+02] [-6.79382992e-01 -7.20090084e-01 -1.41099335e-01 4.09427275e+02] [-2.02663528e-01 -6.73688573e-04 9.79248202e-01 6.15192248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3692541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:518.79, Y:409.42, Z:61.54 [[-7.15788066e-01 6.89950575e-01 -1.07775922e-01 5.18793003e+02] [-6.74331813e-01 -7.23023059e-01 -1.50047530e-01 4.09418027e+02] [-1.81449857e-01 -3.47254985e-02 9.82786899e-01 6.15392361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.80, Y:409.41, Z:61.53 [[-7.16676839e-01 6.84939946e-01 -1.31269107e-01 5.18803307e+02] [-6.73275047e-01 -7.28597208e-01 -1.25884151e-01 4.09407063e+02] [-1.81865388e-01 -1.83804128e-03 9.83321719e-01 6.15271269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4292541539999 meters Centerline goodness : 0.997090 Centerline is valid? [True, True] Translation: X:518.79, Y:408.30, Z:62.32 [[-6.46582369e-01 -7.54219861e-01 1.14383751e-01 5.18788328e+02] [-7.38114464e-01 6.56417891e-01 1.55892882e-01 4.08301928e+02] [-1.92661049e-01 1.63692882e-02 -9.81128823e-01 6.23179753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.35, Y:408.71, Z:61.76 [[-6.23393637e-01 -3.45893013e-01 -7.01240613e-01 5.19348217e+02] [-7.39277467e-01 -3.13485980e-02 6.72670865e-01 4.08710361e+02] [-2.54655062e-01 9.37750121e-01 -2.36168394e-01 6.17561816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.4892541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:518.65, Y:409.34, Z:61.54 [[-6.38401342e-01 7.50833524e-01 -1.69389332e-01 5.18654734e+02] [-7.30205648e-01 -6.60385217e-01 -1.75188688e-01 4.09335385e+02] [-2.43399751e-01 1.18483529e-02 9.69853689e-01 6.15390274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5192541539999 meters Centerline goodness : 0.999693 Centerline is valid? [True, True] Translation: X:518.65, Y:409.33, Z:61.54 [[-6.38603402e-01 7.53207975e-01 -1.57681454e-01 5.18645634e+02] [-7.30339893e-01 -6.57777794e-01 -1.84206443e-01 4.09334157e+02] [-2.42465121e-01 -2.47380492e-03 9.70156969e-01 6.15428908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:518.64, Y:409.33, Z:61.54 [[-6.38984973e-01 7.52738790e-01 -1.58374611e-01 5.18639877e+02] [-7.29710347e-01 -6.58314540e-01 -1.84783051e-01 4.09326927e+02] [-2.43353679e-01 -2.50600050e-03 9.69934383e-01 6.15413557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.5792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.63, Y:409.31, Z:61.54 [[-6.40983511e-01 7.51001153e-01 -1.58547805e-01 5.18627853e+02] [-7.27911450e-01 -6.60293823e-01 -1.84816092e-01 4.09311998e+02] [-2.43485234e-01 -3.05530500e-03 9.69899792e-01 6.15365345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.63, Y:409.31, Z:61.54 [[-6.39762962e-01 7.51856466e-01 -1.59421474e-01 5.18627505e+02] [-7.28813984e-01 -6.59323817e-01 -1.84722176e-01 4.09310408e+02] [-2.43994937e-01 -1.98980714e-03 9.69774464e-01 6.15359780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6392541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:518.63, Y:409.31, Z:61.53 [[-6.38618706e-01 7.52800020e-01 -1.59556504e-01 5.18625050e+02] [-7.29805150e-01 -6.58247641e-01 -1.84646920e-01 4.09306919e+02] [-2.44029898e-01 -1.47381921e-03 9.69766589e-01 6.15334580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.62, Y:409.31, Z:61.53 [[-6.35968486e-01 7.54776534e-01 -1.60799468e-01 5.18621842e+02] [-7.31532337e-01 -6.55981745e-01 -1.85871976e-01 4.09305363e+02] [-2.45773322e-01 -5.78708252e-04 9.69327158e-01 6.15342168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.62, Y:409.30, Z:61.53 [[-6.34688571e-01 7.55760676e-01 -1.61233432e-01 5.18619728e+02] [-7.32474026e-01 -6.54847920e-01 -1.86161228e-01 4.09303687e+02] [-2.46276713e-01 -5.51024882e-05 9.69199555e-01 6.15339168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.61, Y:409.29, Z:61.53 [[-6.33353260e-01 7.56769197e-01 -1.61752990e-01 5.18611424e+02] [-7.33416310e-01 -6.53681995e-01 -1.86548560e-01 4.09294363e+02] [-2.46909221e-01 4.81142551e-04 9.69038495e-01 6.15305132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.7592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:518.62, Y:409.30, Z:61.53 [[-6.30833248e-01 7.58858440e-01 -1.61812488e-01 5.18615180e+02] [-7.35609183e-01 -6.51254018e-01 -1.86406368e-01 4.09297657e+02] [-2.46837078e-01 1.43941761e-03 9.69055925e-01 6.15308882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.7892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.62, Y:409.30, Z:61.53 [[-6.26234533e-01 7.61780542e-01 -1.65893687e-01 5.18622388e+02] [-7.38247636e-01 -6.47817580e-01 -1.87943640e-01 4.09300677e+02] [-2.50640655e-01 4.77382430e-03 9.68068424e-01 6.15307317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:518.61, Y:409.29, Z:61.53 [[-6.29517901e-01 7.60525525e-01 -1.59085320e-01 5.18610985e+02] [-7.36714338e-01 -6.49305898e-01 -1.88822233e-01 4.09294372e+02] [-2.46899165e-01 -1.66653947e-03 9.69039744e-01 6.15311127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.61, Y:409.29, Z:61.53 [[-6.25571133e-01 7.62534742e-01 -1.64928852e-01 5.18614948e+02] [-7.39268670e-01 -6.46928326e-01 -1.86990841e-01 4.09291283e+02] [-2.49284159e-01 4.95066051e-03 9.68417730e-01 6.15280717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.8792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:518.61, Y:409.29, Z:61.53 [[-6.29154220e-01 7.60787465e-01 -1.59271468e-01 5.18606190e+02] [-7.37298515e-01 -6.49000836e-01 -1.87586822e-01 4.09287128e+02] [-2.46081018e-01 -5.90424044e-04 9.69249083e-01 6.15284626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:518.60, Y:409.28, Z:61.52 [[-6.28745678e-01 7.60664610e-01 -1.61456566e-01 5.18603416e+02] [-7.37880995e-01 -6.49138418e-01 -1.84799761e-01 4.09279196e+02] [-2.45378297e-01 2.94368050e-03 9.69422935e-01 6.15249123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.61, Y:409.28, Z:61.52 [[-6.25348699e-01 7.62908566e-01 -1.64041229e-01 5.18608041e+02] [-7.39997826e-01 -6.46484648e-01 -1.85636249e-01 4.09279422e+02] [-2.47673621e-01 5.30276607e-03 9.68829014e-01 6.15241397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9692541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:518.52, Y:409.18, Z:61.49 [[-6.24917662e-01 7.62257383e-01 -1.68646369e-01 5.18523935e+02] [-7.39329785e-01 -6.47216788e-01 -1.85746866e-01 4.09179013e+02] [-2.50737681e-01 8.60878653e-03 9.68016789e-01 6.14860654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1015.9992541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:518.59, Y:409.26, Z:61.51 [[-6.23716438e-01 7.63243376e-01 -1.68633787e-01 5.18592013e+02] [-7.39265480e-01 -6.46081200e-01 -1.89909540e-01 4.09256091e+02] [-2.53898318e-01 6.21543572e-03 9.67210945e-01 6.15129286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0292541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:518.47, Y:409.11, Z:61.46 [[-6.25127036e-01 7.61969642e-01 -1.69169897e-01 5.18465592e+02] [-7.37731650e-01 -6.47588816e-01 -1.90737354e-01 4.09112584e+02] [-2.54888607e-01 5.56691021e-03 9.66954398e-01 6.14618740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:518.53, Y:409.20, Z:61.51 [[-6.41625108e-01 7.52301831e-01 -1.49529851e-01 5.18534837e+02] [-7.26085731e-01 -6.58564710e-01 -1.97717055e-01 4.09198033e+02] [-2.47217985e-01 -1.82887357e-02 9.68787278e-01 6.15060053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.0892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:518.55, Y:409.18, Z:61.49 [[-6.38744178e-01 7.48226293e-01 -1.79341267e-01 5.18547954e+02] [-7.26213708e-01 -6.63278955e-01 -1.80761387e-01 4.09184193e+02] [-2.54203711e-01 1.47798027e-02 9.67037761e-01 6.14869597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.40, Y:409.02, Z:61.42 [[-6.37029232e-01 7.47052262e-01 -1.90017569e-01 5.18404644e+02] [-7.24381599e-01 -6.64447247e-01 -1.83796506e-01 4.09019270e+02] [-2.63562246e-01 2.05614834e-02 9.64423231e-01 6.14207687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.37, Y:409.00, Z:61.42 [[-6.42388008e-01 7.46716945e-01 -1.72486090e-01 5.18369499e+02] [-7.19893214e-01 -6.65133960e-01 -1.98369798e-01 4.08995761e+02] [-2.62852445e-01 -3.25881337e-03 9.64830541e-01 6.14189658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.1792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:518.21, Y:409.05, Z:62.11 [[-6.70811550e-01 3.09482348e-01 6.73967759e-01 5.18211817e+02] [-7.16072221e-01 -3.37772995e-02 -6.97208482e-01 4.09054786e+02] [-1.93008907e-01 -9.50305093e-01 2.44269915e-01 6.21067954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2092541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:518.34, Y:408.93, Z:61.37 [[-6.73024726e-01 7.25435161e-01 -1.44158057e-01 5.18337441e+02] [-7.15061754e-01 -6.88007256e-01 -1.23825293e-01 4.08925494e+02] [-1.89009010e-01 1.97444290e-02 9.81776834e-01 6.13689160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2392541539998 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:518.15, Y:408.96, Z:62.08 [[-6.89012234e-01 2.19164189e-01 6.90817776e-01 5.18145614e+02] [-7.14906526e-01 -4.89660166e-02 -6.97503397e-01 4.08956027e+02] [-1.19041172e-01 -9.74458510e-01 1.90420093e-01 6.20765986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.08, Y:408.88, Z:62.03 [[-7.03885890e-01 1.70884784e-01 6.89451264e-01 5.18083089e+02] [-7.08549952e-01 -1.00571992e-01 -6.98457042e-01 4.08883055e+02] [-5.00161944e-02 -9.80144716e-01 1.91871611e-01 6.20339060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.2992541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:518.22, Y:408.79, Z:61.30 [[-7.13313951e-01 7.00161824e-01 -3.09293874e-02 5.18217094e+02] [-6.99492301e-01 -7.13984159e-01 -3.06127750e-02 4.08788616e+02] [-4.35169890e-02 -2.01651184e-04 9.99052667e-01 6.13011453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.22, Y:408.79, Z:61.30 [[-7.15970047e-01 6.97416725e-01 -3.15721877e-02 5.18217922e+02] [-6.96717858e-01 -7.16665743e-01 -3.12160265e-02 4.08786727e+02] [-4.43972843e-02 -3.52832960e-04 9.99013892e-01 6.13023601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3592541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:518.22, Y:408.78, Z:61.30 [[-7.17285057e-01 6.96103359e-01 -3.06962521e-02 5.18216609e+02] [-6.95442476e-01 -7.17941466e-01 -3.03284448e-02 4.08781838e+02] [-4.31498445e-02 -4.06662698e-04 9.99068529e-01 6.13015427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.21, Y:408.78, Z:61.30 [[-7.18277405e-01 6.95045104e-01 -3.14622482e-02 5.18214676e+02] [-6.94351254e-01 -7.18965989e-01 -3.10522487e-02 4.08779621e+02] [-4.42029998e-02 -4.58277109e-04 9.99022465e-01 6.13026731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4192541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:518.52, Y:408.09, Z:62.21 [[-6.48464805e-01 -7.61174130e-01 1.03605292e-02 5.18521341e+02] [-7.59204188e-01 6.47662576e-01 6.43598348e-02 4.08087478e+02] [-5.56991683e-02 3.38693305e-02 -9.97872973e-01 6.22095180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.74, Y:408.13, Z:61.52 [[-6.45821586e-01 -2.13902514e-01 -7.32912132e-01 5.18738492e+02] [-7.50998004e-01 5.04763930e-03 6.60285181e-01 4.08128274e+02] [-1.37537184e-01 9.76841971e-01 -1.63900236e-01 6.15180380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.4792541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:518.09, Y:408.70, Z:61.33 [[-6.51755311e-01 7.54820772e-01 -7.38959916e-02 5.18086156e+02] [-7.49758625e-01 -6.55929417e-01 -8.72846161e-02 4.08700192e+02] [-1.14354796e-01 -1.48405503e-03 9.93438865e-01 6.13312642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5092541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:518.09, Y:408.70, Z:61.33 [[-6.52781705e-01 7.54006109e-01 -7.31493962e-02 5.18087568e+02] [-7.49049794e-01 -6.56865555e-01 -8.63252479e-02 4.08699516e+02] [-1.13139083e-01 -1.55900231e-03 9.93577937e-01 6.13306187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.08, Y:408.69, Z:61.33 [[-6.54475741e-01 7.52573741e-01 -7.27617308e-02 5.18083991e+02] [-7.47669923e-01 -6.58505670e-01 -8.57902673e-02 4.08693958e+02] [-1.12477515e-01 -1.74589109e-03 9.93652736e-01 6.13305897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5692541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:518.08, Y:408.69, Z:61.33 [[-6.55088371e-01 7.52148288e-01 -7.16392272e-02 5.18082817e+02] [-7.47400933e-01 -6.58991596e-01 -8.43914831e-02 4.08691293e+02] [-1.10684558e-01 -1.74065396e-03 9.93854063e-01 6.13297214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.08, Y:408.68, Z:61.33 [[-6.55669474e-01 7.51600411e-01 -7.20719292e-02 5.18075252e+02] [-7.46800741e-01 -6.59616258e-01 -8.48236174e-02 4.08682176e+02] [-1.11293282e-01 -1.79288646e-03 9.93785989e-01 6.13287392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.6292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.08, Y:408.68, Z:61.33 [[-6.55508820e-01 7.51773995e-01 -7.17220177e-02 5.18078042e+02] [-7.47030394e-01 -6.59418649e-01 -8.43364486e-02 4.08684738e+02] [-1.10696785e-01 -1.70475874e-03 9.93852764e-01 6.13299096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.6592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:518.08, Y:408.68, Z:61.33 [[-6.55522368e-01 7.51798787e-01 -7.13372894e-02 5.18077295e+02] [-7.47115758e-01 -6.59390562e-01 -8.37981589e-02 4.08683453e+02] [-1.10038490e-01 -1.63435451e-03 9.93925983e-01 6.13294346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.36, Y:407.94, Z:62.21 [[-5.70113109e-01 -8.20064507e-01 4.96512474e-02 5.18360276e+02] [-8.11398760e-01 5.71506873e-01 1.22523247e-01 4.07935938e+02] [-1.28852996e-01 2.95651489e-02 -9.91222885e-01 6.22059963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7192541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:518.57, Y:408.15, Z:61.40 [[-5.95433473e-01 -6.40107469e-04 -8.03404362e-01 5.18565379e+02] [-7.76315875e-01 -2.57025493e-01 5.75561950e-01 4.08145513e+02] [-2.06863824e-01 9.66404411e-01 1.52544656e-01 6.13960493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.96, Y:408.59, Z:61.35 [[-5.96787606e-01 7.94996390e-01 -1.08744166e-01 5.17959946e+02] [-7.81330482e-01 -6.06608414e-01 -1.46795475e-01 4.08594889e+02] [-1.82666998e-01 -2.64058871e-03 9.83171295e-01 6.13524140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.7792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:517.96, Y:408.59, Z:61.35 [[-5.96922459e-01 7.94914168e-01 -1.08604990e-01 5.17956949e+02] [-7.81320468e-01 -6.06716606e-01 -1.46401114e-01 4.08593076e+02] [-1.82268771e-01 -2.53481129e-03 9.83245478e-01 6.13521045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8092541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:517.96, Y:408.59, Z:61.35 [[-5.97291478e-01 7.94712071e-01 -1.08053763e-01 5.17955942e+02] [-7.81282102e-01 -6.06981492e-01 -1.45505138e-01 4.08591629e+02] [-1.81221324e-01 -2.48850797e-03 9.83439189e-01 6.13505491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8392541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:517.95, Y:408.59, Z:61.35 [[-5.98243888e-01 7.94014973e-01 -1.07909558e-01 5.17952005e+02] [-7.80638008e-01 -6.07892633e-01 -1.45158006e-01 4.08589509e+02] [-1.80855055e-01 -2.60158762e-03 9.83506320e-01 6.13507906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8692541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:517.95, Y:408.58, Z:61.35 [[-5.99120227e-01 7.93319842e-01 -1.08159986e-01 5.17947639e+02] [-7.79897229e-01 -6.08798992e-01 -1.45341320e-01 4.08584907e+02] [-1.81149844e-01 -2.72325114e-03 9.83451737e-01 6.13502995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.8992541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:517.94, Y:408.58, Z:61.35 [[-6.00375582e-01 7.92298162e-01 -1.08686630e-01 5.17944322e+02] [-7.78755141e-01 -6.10126962e-01 -1.45895584e-01 4.08581493e+02] [-1.81905446e-01 -2.95187418e-03 9.83311596e-01 6.13497046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:517.94, Y:408.57, Z:61.35 [[-6.02793222e-01 7.90557983e-01 -1.07974105e-01 5.17936098e+02] [-7.77195920e-01 -6.12378020e-01 -1.44774524e-01 4.08571590e+02] [-1.80573624e-01 -3.35206771e-03 9.83555758e-01 6.13474185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:517.94, Y:408.57, Z:61.35 [[-6.04605822e-01 7.89126242e-01 -1.08312388e-01 5.17936369e+02] [-7.75694689e-01 -6.14220115e-01 -1.45022069e-01 4.08573541e+02] [-1.80968368e-01 -3.66384374e-03 9.83482093e-01 6.13485590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1016.9892541539998 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:517.63, Y:408.17, Z:61.24 [[-6.12302923e-01 7.82398919e-01 -1.13741206e-01 5.17633090e+02] [-7.69405399e-01 -6.22777336e-01 -1.41999021e-01 4.08172734e+02] [-1.81935326e-01 5.66682313e-04 9.83310336e-01 6.12437496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.07, Y:408.00, Z:62.30 [[-5.15765485e-01 -7.26946465e-01 4.53359462e-01 5.18073776e+02] [-8.40882559e-01 5.30848422e-01 -1.05434696e-01 4.07997156e+02] [-1.64019776e-01 -4.35601641e-01 -8.85069897e-01 6.23047149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0492541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:518.37, Y:407.95, Z:61.34 [[-5.54773690e-01 -5.45113185e-03 -8.31983436e-01 5.18371538e+02] [-7.93218658e-01 -2.98280569e-01 5.30879330e-01 4.07951393e+02] [-2.51058386e-01 9.54462670e-01 1.61154272e-01 6.13399595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.0792541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:517.72, Y:408.33, Z:61.30 [[-5.68367884e-01 8.14111156e-01 -1.19083895e-01 5.17718647e+02] [-7.94375524e-01 -5.80669943e-01 -1.78297347e-01 4.08330990e+02] [-2.14302298e-01 -6.74115422e-03 9.76744123e-01 6.13015436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1092541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:517.49, Y:407.99, Z:61.20 [[-5.71936279e-01 8.09919935e-01 -1.30071489e-01 5.17488227e+02] [-7.90231462e-01 -5.86539080e-01 -1.77499704e-01 4.07990197e+02] [-2.20052560e-01 1.26806236e-03 9.75487193e-01 6.11971993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.80, Y:407.86, Z:62.26 [[-4.83653658e-01 -6.12838800e-01 6.24906188e-01 5.17803776e+02] [-8.55615751e-01 4.81457299e-01 -1.90054086e-01 4.07860438e+02] [-1.84393127e-01 -6.26599931e-01 -7.57213114e-01 6.22648177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:517.59, Y:408.21, Z:61.24 [[-5.28919157e-01 8.43855999e-01 -9.02860927e-02 5.17591507e+02] [-8.30460540e-01 -5.36552765e-01 -1.49821302e-01 4.08209506e+02] [-1.74870857e-01 -4.26431923e-03 9.84582144e-01 6.12431765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.59, Y:408.21, Z:61.24 [[-5.29583903e-01 8.43426673e-01 -9.04009829e-02 5.17587649e+02] [-8.30024327e-01 -5.37227032e-01 -1.49822337e-01 4.08205930e+02] [-1.74930007e-01 -4.30848320e-03 9.84571445e-01 6.12425880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.58, Y:408.19, Z:61.24 [[-5.30268078e-01 8.42990111e-01 -9.04623596e-02 5.17578356e+02] [-8.29596760e-01 -5.37911453e-01 -1.49734717e-01 4.08192645e+02] [-1.74885625e-01 -4.35226008e-03 9.84579137e-01 6.12392295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.2592541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:517.58, Y:408.20, Z:61.24 [[-5.30883485e-01 8.42707156e-01 -8.94839386e-02 5.17582083e+02] [-8.29632531e-01 -5.38355086e-01 -1.47931284e-01 4.08200132e+02] [-1.72836885e-01 -4.29548903e-03 9.84941095e-01 6.12393749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.58, Y:408.19, Z:61.24 [[-5.31915283e-01 8.42028475e-01 -8.97450789e-02 5.17577722e+02] [-8.28903799e-01 -5.39415005e-01 -1.48155135e-01 4.08194291e+02] [-1.73160685e-01 -4.41594380e-03 9.84883687e-01 6.12382100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3192541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:517.57, Y:408.19, Z:61.24 [[-5.33053709e-01 8.41370065e-01 -8.91636528e-02 5.17572154e+02] [-8.28438908e-01 -5.40440720e-01 -1.47012940e-01 4.08186838e+02] [-1.71879956e-01 -4.49915402e-03 9.85107628e-01 6.12354617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:517.57, Y:408.18, Z:61.24 [[-5.33587128e-01 8.41016523e-01 -8.93083750e-02 5.17569553e+02] [-8.28073996e-01 -5.40990653e-01 -1.47046151e-01 4.08184292e+02] [-1.71983239e-01 -4.50799061e-03 9.85089561e-01 6.12351944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.3792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:517.57, Y:408.18, Z:61.23 [[-5.33628592e-01 8.40982913e-01 -8.93771031e-02 5.17567687e+02] [-8.28052316e-01 -5.41043623e-01 -1.46973328e-01 4.08182437e+02] [-1.71958969e-01 -4.42025287e-03 9.85094196e-01 6.12345923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4092541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:517.59, Y:408.19, Z:61.22 [[-5.22366253e-01 8.43958435e-01 -1.21933008e-01 5.17593208e+02] [-8.30862879e-01 -5.35914406e-01 -1.49875371e-01 4.08194889e+02] [-1.91834239e-01 2.30197737e-02 9.81157334e-01 6.12181962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4392541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:517.55, Y:408.18, Z:61.24 [[-5.32949954e-01 8.43690585e-01 -6.44247210e-02 5.17546624e+02] [-8.28392850e-01 -5.35768128e-01 -1.63455803e-01 4.08179177e+02] [-1.72422835e-01 -3.37447847e-02 9.84444846e-01 6.12434380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.55, Y:408.17, Z:61.23 [[-5.33163706e-01 8.41094061e-01 -9.10892042e-02 5.17552663e+02] [-8.27802599e-01 -5.40873846e-01 -1.48991070e-01 4.08165584e+02] [-1.74583272e-01 -4.03275092e-03 9.84634154e-01 6.12305714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.55, Y:408.17, Z:61.23 [[-5.32333105e-01 8.41568201e-01 -9.15665212e-02 5.17551648e+02] [-8.28176328e-01 -5.40137536e-01 -1.49584132e-01 4.08166971e+02] [-1.75343764e-01 -3.79536045e-03 9.84499954e-01 6.12303343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:517.55, Y:408.16, Z:61.23 [[-5.32254643e-01 8.41602518e-01 -9.17071224e-02 5.17547690e+02] [-8.28206620e-01 -5.40084888e-01 -1.49606511e-01 4.08161539e+02] [-1.75438847e-01 -3.67631396e-03 9.84483466e-01 6.12283942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.54, Y:408.16, Z:61.23 [[-5.32655097e-01 8.41277192e-01 -9.23646781e-02 5.17544853e+02] [-8.27716167e-01 -5.40591291e-01 -1.50489212e-01 4.08160123e+02] [-1.76534683e-01 -3.70710872e-03 9.84287439e-01 6.12283207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.55, Y:408.16, Z:61.22 [[-5.27809941e-01 8.42704068e-01 -1.06143867e-01 5.17553544e+02] [-8.28919632e-01 -5.38321127e-01 -1.51995419e-01 4.08158919e+02] [-1.85226644e-01 7.76004196e-03 9.82665188e-01 6.12191269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.53, Y:408.15, Z:61.23 [[-5.34785639e-01 8.40994164e-01 -8.20556932e-02 5.17532097e+02] [-8.26281476e-01 -5.40795081e-01 -1.57478898e-01 4.08150851e+02] [-1.76814150e-01 -1.64163541e-02 9.84107342e-01 6.12300424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.43, Y:407.97, Z:61.18 [[-5.33970783e-01 8.38912968e-01 -1.05357654e-01 5.17434633e+02] [-8.25737319e-01 -5.44209577e-01 -1.48303123e-01 4.07967989e+02] [-1.81750058e-01 7.80821225e-03 9.83313759e-01 6.11773993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.6792541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:517.33, Y:407.96, Z:61.98 [[-5.13318854e-01 7.24119399e-02 8.55137571e-01 5.17325487e+02] [-8.52722227e-01 6.93463484e-02 -5.17741139e-01 4.07963539e+02] [-9.67913082e-02 -9.94961102e-01 2.61504825e-02 6.19834158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.34, Y:407.83, Z:61.13 [[-5.43684407e-01 8.37183359e-01 -5.94246565e-02 5.17340268e+02] [-8.32055976e-01 -5.46921650e-01 -9.25178979e-02 4.07826125e+02] [-1.09955076e-01 -8.55897894e-04 9.93936190e-01 6.11319135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7392541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:517.44, Y:407.99, Z:61.16 [[-5.46902624e-01 8.35438141e-01 -5.42276036e-02 5.17441529e+02] [-8.30442341e-01 -5.49562357e-01 -9.13604640e-02 4.07993866e+02] [-1.06127466e-01 -4.93237942e-03 9.94340300e-01 6.11576758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7692541539999 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:517.15, Y:407.53, Z:61.09 [[-5.48883342e-01 8.33979301e-01 -5.66180488e-02 5.17148987e+02] [-8.28961273e-01 -5.51786232e-01 -9.14065772e-02 4.07526308e+02] [-1.07472253e-01 -3.23737777e-03 9.94202813e-01 6.10894456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.7992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.99, Y:407.40, Z:62.01 [[-4.42416163e-01 -8.96465341e-01 -2.48561960e-02 5.17985174e+02] [-8.85372026e-01 4.32193356e-01 1.71246254e-01 4.07395960e+02] [-1.42773649e-01 9.77690911e-02 -9.84914661e-01 6.20129855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8292541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:517.32, Y:407.88, Z:61.15 [[-4.89442090e-01 8.70374677e-01 -5.37992860e-02 5.17318877e+02] [-8.64462861e-01 -4.92380363e-01 -1.01319004e-01 4.07879999e+02] [-1.14675207e-01 -3.08230041e-03 9.93398257e-01 6.11457716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8592541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:517.32, Y:407.88, Z:61.15 [[-4.89475936e-01 8.70331571e-01 -5.41873223e-02 5.17317096e+02] [-8.64362644e-01 -4.92457116e-01 -1.01799849e-01 4.07876870e+02] [-1.15284555e-01 -2.99107937e-03 9.93328005e-01 6.11451997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.8892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.31, Y:407.87, Z:61.14 [[-4.88703426e-01 8.70720212e-01 -5.49115106e-02 5.17313777e+02] [-8.64608957e-01 -4.91770351e-01 -1.03020746e-01 4.07872022e+02] [-1.16706099e-01 -2.86960758e-03 9.93162349e-01 6.11448841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.31, Y:407.87, Z:61.14 [[-4.88338695e-01 8.70896189e-01 -5.53637664e-02 5.17312824e+02] [-8.64701159e-01 -4.91459141e-01 -1.03729541e-01 4.07870456e+02] [-1.17546691e-01 -2.78203584e-03 9.93063460e-01 6.11439898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9492541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:517.31, Y:407.87, Z:61.14 [[-4.86437508e-01 8.71988385e-01 -5.49072542e-02 5.17310312e+02] [-8.65918267e-01 -4.89520528e-01 -1.02738536e-01 4.07866726e+02] [-1.16465038e-01 -2.43068316e-03 9.93191818e-01 6.11430041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1017.9792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:517.31, Y:407.86, Z:61.14 [[-4.85568355e-01 8.72463210e-01 -5.50574231e-02 5.17306397e+02] [-8.66378889e-01 -4.88674593e-01 -1.02882273e-01 4.07860671e+02] [-1.16666162e-01 -2.25578698e-03 9.93168625e-01 6.11420044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:517.31, Y:407.86, Z:61.14 [[-4.84539283e-01 8.73023966e-01 -5.52343919e-02 5.17306135e+02] [-8.66920156e-01 -4.87672954e-01 -1.03075376e-01 4.07861251e+02] [-1.16923592e-01 -2.06026096e-03 9.93138776e-01 6.11417238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.31, Y:407.86, Z:61.14 [[-4.81618208e-01 8.74645952e-01 -5.51213313e-02 5.17305373e+02] [-8.68593697e-01 -4.84759638e-01 -1.02728202e-01 4.07861446e+02] [-1.16571403e-01 -1.59773164e-03 9.93181029e-01 6.11415191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.30, Y:407.86, Z:61.14 [[-4.82096090e-01 8.74379067e-01 -5.51779589e-02 5.17303178e+02] [-8.68328551e-01 -4.85240863e-01 -1.02697775e-01 4.07857205e+02] [-1.16571385e-01 -1.59759888e-03 9.93181031e-01 6.11408758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.0992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.30, Y:407.85, Z:61.14 [[-4.80867972e-01 8.75058697e-01 -5.51205133e-02 5.17300016e+02] [-8.69041067e-01 -4.84014888e-01 -1.02455907e-01 4.07852062e+02] [-1.16334082e-01 -1.36577472e-03 9.93209201e-01 6.11401425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.1292541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:517.30, Y:407.84, Z:61.14 [[-4.79420643e-01 8.75889770e-01 -5.45248425e-02 5.17295607e+02] [-8.70022371e-01 -4.82510028e-01 -1.01218317e-01 4.07844720e+02] [-1.14964871e-01 -1.08831773e-03 9.93368962e-01 6.11389978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.1592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:517.30, Y:407.85, Z:61.14 [[-4.76385114e-01 8.77491362e-01 -5.53726659e-02 5.17296297e+02] [-8.71467875e-01 -4.79592012e-01 -1.02641338e-01 4.07847509e+02] [-1.16623176e-01 -6.41306060e-04 9.93176029e-01 6.11390814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.29, Y:407.85, Z:61.14 [[-4.75316380e-01 8.78068913e-01 -5.54014598e-02 5.17294691e+02] [-8.72060544e-01 -4.78534011e-01 -1.02545639e-01 4.07845098e+02] [-1.16553620e-01 -4.28194654e-04 9.93184308e-01 6.11391022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2192541539998 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:517.29, Y:407.84, Z:61.14 [[-4.72176916e-01 8.79786889e-01 -5.49908275e-02 5.17292280e+02] [-8.73894154e-01 -4.75368307e-01 -1.01656189e-01 4.07842506e+02] [-1.15576679e-01 5.64569115e-05 9.93298559e-01 6.11388604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:517.20, Y:407.67, Z:61.12 [[-4.72398392e-01 8.79762482e-01 -5.34577868e-02 5.17197868e+02] [-8.73787189e-01 -4.75410612e-01 -1.02375285e-01 4.07674422e+02] [-1.15480334e-01 -1.65119066e-03 9.93308394e-01 6.11160148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.2792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:518.05, Y:407.22, Z:61.69 [[-4.33849925e-01 -7.38121645e-01 -5.16672700e-01 5.18049075e+02] [-8.83443073e-01 2.35898134e-01 4.04821451e-01 4.07218426e+02] [-1.76925349e-01 6.32082674e-01 -7.54432843e-01 6.16946143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3092541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:517.25, Y:407.39, Z:62.12 [[-3.88507325e-01 -4.30033806e-01 8.14943546e-01 5.17247966e+02] [-9.12748818e-01 3.00827678e-01 -2.76391576e-01 4.07391474e+02] [-1.26299853e-01 -8.51218911e-01 -5.09386605e-01 6.21184786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.10, Y:407.57, Z:61.09 [[-3.86154445e-01 9.21562668e-01 -4.00873243e-02 5.17103407e+02] [-9.16649544e-01 -3.88229631e-01 -9.50335019e-02 4.07574428e+02] [-1.03142415e-01 4.84183399e-05 9.94666597e-01 6.10928758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3692541539998 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:517.09, Y:407.54, Z:61.09 [[-3.89033061e-01 9.20324861e-01 -4.06869406e-02 5.17087576e+02] [-9.15534211e-01 -3.91154144e-01 -9.37845606e-02 4.07535858e+02] [-1.02227128e-01 7.64991378e-04 9.94760790e-01 6.10883665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.3992541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:517.09, Y:407.54, Z:61.09 [[-3.86552767e-01 9.21334846e-01 -4.14615577e-02 5.17088163e+02] [-9.16513772e-01 -3.88766658e-01 -9.41434658e-02 4.07537147e+02] [-1.02856527e-01 1.60867143e-03 9.94694902e-01 6.10884356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4292541539999 meters Centerline goodness : 0.999800 Centerline is valid? [True, True] Translation: X:517.08, Y:407.53, Z:61.09 [[-3.86304452e-01 9.21462592e-01 -4.09336217e-02 5.17084741e+02] [-9.16779596e-01 -3.88463475e-01 -9.27970926e-02 4.07529597e+02] [-1.01410266e-01 1.67917914e-03 9.94843273e-01 6.10879662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4592541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:516.98, Y:407.28, Z:61.05 [[-3.84208014e-01 9.21647743e-01 -5.43105849e-02 5.16979932e+02] [-9.16956744e-01 -3.87784600e-01 -9.38798922e-02 4.07276274e+02] [-1.07584999e-01 1.37310501e-02 9.94101064e-01 6.10475007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.4892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.92, Y:407.38, Z:61.84 [[-3.96146787e-01 1.14638370e-01 9.11002617e-01 5.16917582e+02] [-9.16027154e-01 1.86725728e-02 -4.00681404e-01 4.07383778e+02] [-6.29442257e-02 -9.93231785e-01 9.76147800e-02 6.18398767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5192541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:516.90, Y:407.10, Z:61.02 [[-3.93530039e-01 9.19139855e-01 -1.77773764e-02 5.16901550e+02] [-9.18772071e-01 -3.93887987e-01 -2.66483842e-02 4.07102608e+02] [-3.14958870e-02 5.84641724e-03 9.99486783e-01 6.10200050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:517.00, Y:407.32, Z:61.04 [[-4.03532362e-01 9.14943548e-01 -6.31954947e-03 5.16996976e+02] [-9.14454811e-01 -4.03528272e-01 -3.06158783e-02 4.07318063e+02] [-3.05619171e-02 -6.57555526e-03 9.99511246e-01 6.10355662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.5792541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:517.00, Y:407.31, Z:61.03 [[-4.04929983e-01 9.14261470e-01 -1.25567679e-02 5.16999007e+02] [-9.13858723e-01 -4.05124336e-01 -2.71386645e-02 4.07314129e+02] [-2.98988876e-02 4.85852871e-04 9.99552810e-01 6.10326604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6092541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:516.99, Y:407.27, Z:61.02 [[-4.06112406e-01 9.13238855e-01 -3.26727290e-02 5.16989599e+02] [-9.12857905e-01 -4.07066951e-01 -3.14156674e-02 4.07267999e+02] [-4.19899963e-02 1.70672666e-02 9.98972246e-01 6.10158883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:516.86, Y:407.21, Z:61.82 [[-4.10495352e-01 4.48816260e-02 9.10757490e-01 5.16861058e+02] [-9.11785311e-01 -3.32142444e-02 -4.09321831e-01 4.07210403e+02] [ 1.18790925e-02 -9.98440010e-01 5.45567002e-02 6.18177162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6692541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:517.67, Y:406.70, Z:61.12 [[-4.34644205e-01 -6.48818145e-02 -8.98262080e-01 5.17671217e+02] [-8.99847240e-01 -9.54564913e-03 4.36100706e-01 4.06696732e+02] [-3.68694997e-02 9.97847298e-01 -5.42347606e-02 6.11217979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.6992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:516.89, Y:407.06, Z:61.03 [[-4.17176000e-01 9.08734905e-01 -1.28475023e-02 5.16887055e+02] [-9.08313058e-01 -4.17373764e-01 -2.76862764e-02 4.07058175e+02] [-3.05216961e-02 1.19504058e-04 9.99534097e-01 6.10291320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.7292541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:516.88, Y:407.04, Z:61.03 [[-4.25289277e-01 9.04964019e-01 -1.30060040e-02 5.16884963e+02] [-9.04531039e-01 -4.25488079e-01 -2.79909661e-02 4.07043651e+02] [-3.08647168e-02 -1.39923428e-04 9.99523561e-01 6.10288330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.88, Y:407.03, Z:61.03 [[-4.33169679e-01 9.01212381e-01 -1.34266431e-02 5.16882522e+02] [-9.00750870e-01 -4.33377533e-01 -2.88406594e-02 4.07029994e+02] [-3.18103648e-02 -3.98838746e-04 9.99493843e-01 6.10285071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.7892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:516.88, Y:407.03, Z:61.03 [[-4.36741591e-01 8.99487903e-01 -1.33527462e-02 5.16883927e+02] [-8.99031760e-01 -4.36945370e-01 -2.86467999e-02 4.07028206e+02] [-3.16018706e-02 -5.06706075e-04 9.99500408e-01 6.10276771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.86, Y:406.98, Z:61.03 [[-4.45724758e-01 8.95070675e-01 -1.33389401e-02 5.16864754e+02] [-8.94609012e-01 -4.45923429e-01 -2.87577925e-02 4.06981814e+02] [-3.16884026e-02 -8.84924030e-04 9.99497405e-01 6.10258636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.86, Y:406.98, Z:61.03 [[-4.48527917e-01 8.93665861e-01 -1.35659878e-02 5.16864812e+02] [-8.93209023e-01 -4.48732477e-01 -2.85798102e-02 4.06977359e+02] [-3.16283000e-02 -7.01580026e-04 9.99499454e-01 6.10253448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.8792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.87, Y:406.97, Z:61.02 [[-4.52860756e-01 8.91473706e-01 -1.38480131e-02 5.16865451e+02] [-8.90997879e-01 -4.53071627e-01 -2.91355390e-02 4.06970902e+02] [-3.22477088e-02 -8.55791859e-04 9.99479541e-01 6.10242202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9092541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:516.86, Y:406.96, Z:61.02 [[-4.54264980e-01 8.90756145e-01 -1.40291816e-02 5.16864340e+02] [-8.90268697e-01 -4.54480668e-01 -2.94782842e-02 4.06964224e+02] [-3.26339546e-02 -9.01210980e-04 9.99466964e-01 6.10225580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.86, Y:406.96, Z:61.02 [[-4.56613210e-01 8.89548209e-01 -1.44346947e-02 5.16864507e+02] [-8.89032872e-01 -4.56840220e-01 -3.02913481e-02 4.06960375e+02] [-3.35399636e-02 -9.98511630e-04 9.99436878e-01 6.10236160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.84, Y:406.87, Z:61.00 [[-4.53179747e-01 8.90402496e-01 -4.25618551e-02 5.16835907e+02] [-8.90055049e-01 -4.54610609e-01 -3.36333771e-02 4.06866295e+02] [-4.92963138e-02 2.26404287e-02 9.98527558e-01 6.10000976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1018.9992541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:516.69, Y:406.88, Z:61.75 [[-4.31550265e-01 8.45573318e-02 8.98117156e-01 5.16687856e+02] [-9.00525287e-01 -9.89747352e-02 -4.23388958e-01 4.06884775e+02] [ 5.30902672e-02 -9.91490827e-01 1.18858589e-01 6.17527317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0292541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:516.80, Y:406.81, Z:60.99 [[-4.62232045e-01 8.86641263e-01 1.44501915e-02 5.16800129e+02] [-8.86147266e-01 -4.62457022e-01 2.96061650e-02 4.06809576e+02] [ 3.29326401e-02 8.79920515e-04 9.99457186e-01 6.09858975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.80, Y:406.81, Z:60.99 [[-4.61472491e-01 8.87034499e-01 1.45924195e-02 5.16798987e+02] [-8.86532055e-01 -4.61702377e-01 2.98635187e-02 4.06806564e+02] [ 3.32273261e-02 8.44544731e-04 9.99447463e-01 6.09871771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.0892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.80, Y:406.80, Z:60.99 [[-4.59900581e-01 8.87850639e-01 1.45841911e-02 5.16797971e+02] [-8.87350289e-01 -4.60131124e-01 2.98129826e-02 4.06803384e+02] [ 3.31801159e-02 7.69721837e-04 9.99449092e-01 6.09868497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.80, Y:406.80, Z:60.99 [[-4.55968340e-01 8.89879345e-01 1.44091859e-02 5.16797505e+02] [-8.89393017e-01 -4.56195563e-01 2.94222792e-02 4.06802863e+02] [ 3.27556852e-02 6.00198474e-04 9.99463208e-01 6.09864821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.79, Y:406.80, Z:60.99 [[-4.53990210e-01 8.90891960e-01 1.42970195e-02 5.16794631e+02] [-8.90414738e-01 -4.54214990e-01 2.91605280e-02 4.06797562e+02] [ 3.24728005e-02 5.08317347e-04 9.99472490e-01 6.09865637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.1792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:516.79, Y:406.80, Z:60.99 [[-4.50430259e-01 8.92702747e-01 1.39423265e-02 5.16793857e+02] [-8.92250832e-01 -4.50645849e-01 2.84037322e-02 4.06797359e+02] [ 3.16391413e-02 3.53848069e-04 9.99499294e-01 6.09862575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.79, Y:406.79, Z:60.99 [[-4.50266856e-01 8.92785295e-01 1.39346822e-02 5.16789987e+02] [-8.92335485e-01 -4.50482309e-01 2.83385261e-02 4.06789649e+02] [ 3.15775472e-02 3.25487637e-04 9.99501252e-01 6.09880611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.79, Y:406.79, Z:60.99 [[-4.48746885e-01 8.93552035e-01 1.38200689e-02 5.16791216e+02] [-8.93112028e-01 -4.48959579e-01 2.80392832e-02 4.06792513e+02] [ 3.12592109e-02 2.39671203e-04 9.99511283e-01 6.09878954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2692541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:516.79, Y:406.79, Z:60.99 [[-4.48997141e-01 8.93424391e-01 1.39436390e-02 5.16788134e+02] [-8.92977708e-01 -4.49213539e-01 2.82490543e-02 4.06786124e+02] [ 3.15020656e-02 2.32385758e-04 9.99503660e-01 6.09881041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.2992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.79, Y:406.78, Z:60.99 [[-4.49216519e-01 8.93312166e-01 1.40674923e-02 5.16786721e+02] [-8.92859347e-01 -4.49436679e-01 2.84404347e-02 4.06783105e+02] [ 3.17286333e-02 2.15621110e-04 9.99496497e-01 6.09881852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3292541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:516.79, Y:406.78, Z:60.99 [[-4.49736641e-01 8.93050930e-01 1.40353076e-02 5.16785243e+02] [-8.92601135e-01 -4.49955541e-01 2.83412259e-02 4.06779418e+02] [ 3.16254225e-02 2.18156196e-04 9.99499767e-01 6.09860139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.78, Y:406.78, Z:60.99 [[-4.51042915e-01 8.92383763e-01 1.45433661e-02 5.16783125e+02] [-8.91901554e-01 -4.51277246e-01 2.93336738e-02 4.06775037e+02] [ 3.27399844e-02 2.59494946e-04 9.99463869e-01 6.09877001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.3892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:517.37, Y:406.39, Z:61.91 [[-3.74518911e-01 -9.27178967e-01 -8.64572292e-03 5.17372506e+02] [-9.27102412e-01 3.74603465e-01 -1.23839409e-02 4.06386570e+02] [ 1.47208473e-02 3.37745050e-03 -9.99885938e-01 6.19059745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4192541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.69, Y:406.65, Z:60.99 [[-3.92209081e-01 9.19795545e-01 1.21734401e-02 5.16691985e+02] [-9.19326504e-01 -3.92397818e-01 2.93723037e-02 4.06648666e+02] [ 3.17933454e-02 3.28718126e-04 9.99494410e-01 6.09902503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4492541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:516.69, Y:406.65, Z:60.99 [[-3.93186911e-01 9.19381068e-01 1.19375785e-02 5.16691442e+02] [-9.18930950e-01 -3.93367940e-01 2.87675766e-02 4.06646158e+02] [ 3.11442260e-02 3.41224194e-04 9.99514843e-01 6.09891390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.68, Y:406.61, Z:60.99 [[-4.00213452e-01 9.16340206e-01 1.22401193e-02 5.16675625e+02] [-9.15870653e-01 -4.00400233e-01 2.93359911e-02 4.06606018e+02] [ 3.17826947e-02 5.30292174e-04 9.99494662e-01 6.09919783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:516.67, Y:406.60, Z:60.99 [[-4.01931003e-01 9.15587514e-01 1.22871101e-02 5.16673726e+02] [-9.15125711e-01 -4.02118524e-01 2.90796490e-02 4.06600074e+02] [ 3.15658381e-02 4.43762139e-04 9.99501576e-01 6.09911404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.65, Y:406.54, Z:60.99 [[-4.10708239e-01 9.11679728e-01 1.26022659e-02 5.16651834e+02] [-9.11199191e-01 -4.10900983e-01 2.96043360e-02 4.06544568e+02] [ 3.21679565e-02 6.75570196e-04 9.99482249e-01 6.09934700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:516.65, Y:406.54, Z:60.99 [[-4.11955861e-01 9.11118343e-01 1.24793443e-02 5.16650413e+02] [-9.10662441e-01 -4.12144520e-01 2.88238231e-02 4.06541347e+02] [ 3.14052073e-02 5.09672666e-04 9.99506605e-01 6.09927542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.65, Y:406.53, Z:60.99 [[-4.12860517e-01 9.10709553e-01 1.24218812e-02 5.16647358e+02] [-9.10258746e-01 -4.13047013e-01 2.86562522e-02 4.06534559e+02] [ 3.12283436e-02 5.23909084e-04 9.99512139e-01 6.09940273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.6292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:516.65, Y:406.54, Z:60.99 [[-4.12984920e-01 9.10656450e-01 1.21772833e-02 5.16648759e+02] [-9.10224235e-01 -4.13164104e-01 2.80582576e-02 4.06537920e+02] [ 3.05826495e-02 5.03578897e-04 9.99532115e-01 6.09938157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.6592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.65, Y:406.53, Z:60.99 [[-4.12852780e-01 9.10723064e-01 1.16654995e-02 5.16646474e+02] [-9.10327375e-01 -4.13017295e-01 2.68474229e-02 4.06533803e+02] [ 2.92686203e-02 4.64609639e-04 9.99571474e-01 6.09948514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.26, Y:406.18, Z:61.91 [[-3.21156694e-01 -9.46985340e-01 -8.78313424e-03 5.17255674e+02] [-9.46868452e-01 3.21258634e-01 -1.52651699e-02 4.06182465e+02] [ 1.72775498e-02 3.41396124e-03 -9.99844904e-01 6.19090061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7192541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:516.56, Y:406.41, Z:61.00 [[-3.48847613e-01 9.37130396e-01 9.58982534e-03 5.16560583e+02] [-9.36744500e-01 -3.48979172e-01 2.68938679e-02 4.06405699e+02] [ 2.85497104e-02 3.98645463e-04 9.99592295e-01 6.09976141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7492541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:516.43, Y:406.09, Z:61.02 [[-3.56934092e-01 9.33820215e-01 2.40387360e-02 5.16434212e+02] [-9.33404704e-01 -3.57552590e-01 3.01960975e-02 4.06085458e+02] [ 3.67928386e-02 -1.16598526e-02 9.99254890e-01 6.10157324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.7792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.38, Y:406.00, Z:61.59 [[-2.80707451e-01 -7.37654405e-01 -6.14059693e-01 5.17382706e+02] [-9.59189348e-01 1.92909020e-01 2.06741153e-01 4.05998644e+02] [-3.40458685e-02 6.47033299e-01 -7.61701247e-01 6.15909255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.49, Y:406.28, Z:61.03 [[-2.99378109e-01 9.54124653e-01 -4.34686896e-03 5.16485548e+02] [-9.54014347e-01 -2.99409600e-01 -1.45092136e-02 4.06282393e+02] [-1.51450926e-02 -1.96765562e-04 9.99885287e-01 6.10254990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8392541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:516.48, Y:406.28, Z:61.02 [[-2.98924897e-01 9.54267798e-01 -4.10805426e-03 5.16484374e+02] [-9.54169599e-01 -2.98953074e-01 -1.36907293e-02 4.06278423e+02] [-1.42927376e-02 -1.72719364e-04 9.99897839e-01 6.10242093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8692541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:516.48, Y:406.27, Z:61.02 [[-2.99440423e-01 9.54106771e-01 -3.96268978e-03 5.16481884e+02] [-9.54015724e-01 -2.99466596e-01 -1.31816722e-02 4.06270927e+02] [-1.37634159e-02 -1.66657117e-04 9.99905266e-01 6.10239379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.8992541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:516.34, Y:405.84, Z:61.03 [[-3.07182731e-01 9.51562870e-01 1.29179390e-02 5.16340561e+02] [-9.51642208e-01 -3.07094901e-01 -8.35636479e-03 4.05843531e+02] [-3.98457327e-03 -1.48601869e-02 9.99881642e-01 6.10251161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:517.23, Y:405.49, Z:61.50 [[-2.42786560e-01 -6.52675437e-01 -7.17683398e-01 5.17230739e+02] [-9.64520938e-01 8.33254225e-02 2.50511944e-01 4.05494214e+02] [-1.03701720e-01 7.53041598e-01 -6.49749417e-01 6.14963944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9592541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:516.23, Y:405.64, Z:61.87 [[-2.18631077e-01 -8.06838972e-02 9.72466226e-01 5.16227015e+02] [-9.75737769e-01 6.15466817e-03 -2.18855947e-01 4.05643223e+02] [ 1.16729438e-02 -9.96720738e-01 -8.00719276e-02 6.18652836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1019.9892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.39, Y:406.04, Z:61.00 [[-2.50990964e-01 9.67919432e-01 -1.16408403e-02 5.16385268e+02] [-9.67985093e-01 -2.50935693e-01 6.01147180e-03 4.06044802e+02] [ 2.89751803e-03 1.27769850e-02 9.99914173e-01 6.09973994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.38, Y:406.04, Z:61.00 [[-2.52504224e-01 9.67595554e-01 6.79082385e-04 5.16376823e+02] [-9.67591684e-01 -2.52505135e-01 2.73668339e-03 4.06041020e+02] [ 2.81947446e-03 3.39496452e-05 9.99996025e-01 6.10019509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.37, Y:406.04, Z:61.00 [[-2.53538769e-01 9.67325013e-01 6.42055968e-04 5.16374991e+02] [-9.67321576e-01 -2.53539580e-01 2.57890410e-03 4.06035951e+02] [ 2.65742504e-03 3.27775816e-05 9.99996469e-01 6.10018611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.0792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.37, Y:406.03, Z:61.00 [[-2.55355312e-01 9.66847176e-01 4.51428289e-04 5.16372222e+02] [-9.66845486e-01 -2.55355709e-01 1.80761411e-03 4.06029773e+02] [ 1.86296139e-03 2.51224616e-05 9.99998264e-01 6.10009981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.37, Y:406.02, Z:61.00 [[-2.57265090e-01 9.66340763e-01 4.50106086e-04 5.16369215e+02] [-9.66339129e-01 -2.57265483e-01 1.77763084e-03 4.06020139e+02] [ 1.83359390e-03 2.23672370e-05 9.99998319e-01 6.10007030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.36, Y:406.00, Z:61.00 [[-2.58669892e-01 9.65965699e-01 3.93958416e-04 5.16363482e+02] [-9.65964432e-01 -2.58670191e-01 1.56478184e-03 4.06000008e+02] [ 1.61343088e-03 2.42121330e-05 9.99998698e-01 6.10007426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.36, Y:406.00, Z:61.00 [[-2.60267015e-01 9.65536648e-01 2.51860807e-04 5.16362429e+02] [-9.65536136e-01 -2.60267136e-01 9.93973515e-04 4.05999050e+02] [ 1.02526895e-03 1.55178088e-05 9.99999474e-01 6.10002340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.1992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:516.36, Y:406.01, Z:61.00 [[-2.63041134e-01 9.64784516e-01 4.46265521e-04 5.16362873e+02] [-9.64782899e-01 -2.63041511e-01 1.76657542e-03 4.06005013e+02] [ 1.82175096e-03 3.41326584e-05 9.99998340e-01 6.09995523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.36, Y:406.00, Z:61.00 [[-2.65111326e-01 9.64217800e-01 1.38026422e-04 5.16360181e+02] [-9.64217651e-01 -2.65111362e-01 5.37222296e-04 4.05996584e+02] [ 5.54591671e-04 9.33620296e-06 9.99999846e-01 6.09986366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.2592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.36, Y:405.99, Z:61.00 [[-2.67538586e-01 9.63547147e-01 -3.62308343e-06 5.16358130e+02] [-9.63547147e-01 -2.67538586e-01 -2.71822781e-05 4.05993865e+02] [-2.71607227e-05 -3.78129650e-06 1.00000000e+00 6.09974746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.30, Y:405.82, Z:61.01 [[-2.77717389e-01 9.60361592e-01 2.40554549e-02 5.16298100e+02] [-9.60544033e-01 -2.77989747e-01 8.76703412e-03 4.05821782e+02] [ 1.51066927e-02 -2.06715659e-02 9.99672183e-01 6.10132022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.26, Y:405.65, Z:61.45 [[-1.94978876e-01 -5.88375538e-01 -7.84727637e-01 5.17257718e+02] [-9.77142238e-01 4.74248833e-02 2.07229166e-01 4.05647043e+02] [-8.47129556e-02 8.07195829e-01 -5.84173441e-01 6.14463320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.30, Y:405.87, Z:61.02 [[-2.30818608e-01 9.72926626e-01 -1.16854828e-02 5.16302070e+02] [-9.71343267e-01 -2.31109599e-01 -5.55032450e-02 4.05867625e+02] [-5.67012122e-02 -1.46056667e-03 9.98390124e-01 6.10209313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.3792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:516.24, Y:405.63, Z:61.02 [[-2.39906750e-01 9.70786039e-01 4.38390503e-03 5.16238095e+02] [-9.69736516e-01 -2.39431587e-01 -4.77870767e-02 4.05627148e+02] [-4.53413815e-02 -1.57156750e-02 9.98847925e-01 6.10169728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.21, Y:405.52, Z:61.58 [[-1.39890842e-01 -7.48898970e-01 -6.47750636e-01 5.17205386e+02] [-9.81876985e-01 2.04442566e-02 1.88413424e-01 4.05521851e+02] [-1.27859839e-01 6.62368754e-01 -7.38186627e-01 6.15820552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.24, Y:405.72, Z:61.03 [[-1.82274601e-01 9.83112981e-01 -1.62737723e-02 5.16240950e+02] [-9.77767408e-01 -1.82978874e-01 -1.02418888e-01 4.05724240e+02] [-1.03667094e-01 -2.75639771e-03 9.94608232e-01 6.10337666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.24, Y:405.72, Z:61.03 [[-1.82830373e-01 9.83007481e-01 -1.64118334e-02 5.16239753e+02] [-9.77612600e-01 -1.83544665e-01 -1.02883240e-01 4.05722513e+02] [-1.04147299e-01 -2.76576598e-03 9.94558038e-01 6.10329263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.24, Y:405.71, Z:61.03 [[-1.83586346e-01 9.82864511e-01 -1.65350171e-02 5.16236085e+02] [-9.77428001e-01 -1.84308241e-01 -1.03271367e-01 4.05712274e+02] [-1.04549301e-01 -2.79742410e-03 9.94515771e-01 6.10309591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5292541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:516.23, Y:405.70, Z:61.03 [[-1.82974987e-01 9.82979779e-01 -1.64592915e-02 5.16233114e+02] [-9.77710497e-01 -1.83696615e-01 -1.01674670e-01 4.05701120e+02] [-1.02967661e-01 -2.51149925e-03 9.94681534e-01 6.10293849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5592541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:516.23, Y:405.70, Z:61.03 [[-1.80790732e-01 9.83383899e-01 -1.64565536e-02 5.16231448e+02] [-9.78157827e-01 -1.81524692e-01 -1.01272171e-01 4.05700939e+02] [-1.02576693e-01 -2.21196317e-03 9.94722639e-01 6.10282870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.5892541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:516.23, Y:405.70, Z:61.03 [[-1.80036122e-01 9.83521377e-01 -1.65135227e-02 5.16230632e+02] [-9.78303142e-01 -1.80780086e-01 -1.01200413e-01 4.05699292e+02] [-1.02518086e-01 -2.06449878e-03 9.94728998e-01 6.10280201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.94, Y:405.36, Z:61.95 [[-7.48166444e-02 -9.96890666e-01 2.47278980e-02 5.16941816e+02] [-9.91195302e-01 7.70600556e-02 1.07673678e-01 4.05361606e+02] [-1.09244418e-01 -1.64543930e-02 -9.93878720e-01 6.19474687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.17, Y:405.52, Z:61.01 [[-1.14714069e-01 9.93350145e-01 -9.80674546e-03 5.16171624e+02] [-9.87905903e-01 -1.15110918e-01 -1.03881685e-01 4.05517129e+02] [-1.04319751e-01 -2.22854906e-03 9.94541313e-01 6.10089026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.6792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.17, Y:405.50, Z:61.01 [[-1.15549905e-01 9.93250606e-01 -1.00723547e-02 5.16171811e+02] [-9.87854871e-01 -1.15970846e-01 -1.03409465e-01 4.05504203e+02] [-1.03879614e-01 -1.99892921e-03 9.94587870e-01 6.10063905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:516.17, Y:405.50, Z:61.01 [[-1.16251439e-01 9.93168997e-01 -1.00472199e-02 5.16172344e+02] [-9.87865764e-01 -1.16667792e-01 -1.02517602e-01 4.05501468e+02] [-1.02989491e-01 -1.99251421e-03 9.94680449e-01 6.10056646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.17, Y:405.49, Z:61.00 [[-1.16916875e-01 9.93089873e-01 -1.01463153e-02 5.16173249e+02] [-9.87753956e-01 -1.17339262e-01 -1.02828108e-01 4.05493827e+02] [-1.03308114e-01 -2.00027800e-03 9.94647391e-01 6.10036312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.17, Y:405.49, Z:61.00 [[-1.17728990e-01 9.92993492e-01 -1.01887143e-02 5.16173250e+02] [-9.87676949e-01 -1.18151783e-01 -1.02637234e-01 4.05490754e+02] [-1.03121920e-01 -2.02021964e-03 9.94666672e-01 6.10030804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.7992541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:516.17, Y:405.48, Z:61.00 [[-1.17738360e-01 9.92993396e-01 -1.00892589e-02 5.16172199e+02] [-9.87880489e-01 -1.18154835e-01 -1.00655719e-01 4.05479844e+02] [-1.01142559e-01 -1.88405728e-03 9.94870159e-01 6.10023600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.17, Y:405.48, Z:61.00 [[-1.15729197e-01 9.93226507e-01 -1.03855433e-02 5.16173138e+02] [-9.87875778e-01 -1.16182444e-01 -1.02971296e-01 4.05482482e+02] [-1.03480439e-01 -1.65715873e-03 9.94630109e-01 6.10017670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:516.17, Y:405.48, Z:61.00 [[-1.14553275e-01 9.93362122e-01 -1.04519025e-02 5.16172978e+02] [-9.88013771e-01 -1.15019751e-01 -1.02952636e-01 4.05478385e+02] [-1.03471424e-01 -1.46693792e-03 9.94631345e-01 6.10010798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.8892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:516.17, Y:405.47, Z:61.00 [[-1.13210297e-01 9.93515232e-01 -1.05315151e-02 5.16172298e+02] [-9.88155592e-01 -1.13692098e-01 -1.03066161e-01 4.05470952e+02] [-1.03595151e-01 -1.26137530e-03 9.94618748e-01 6.10000953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9192541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:516.17, Y:405.46, Z:61.00 [[-1.09114792e-01 9.93972731e-01 -1.05911499e-02 5.16171011e+02] [-9.88623641e-01 -1.09624919e-01 -1.02983848e-01 4.05461248e+02] [-1.03524191e-01 -7.66399942e-04 9.94626641e-01 6.09988252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.17, Y:405.46, Z:61.00 [[-1.07571139e-01 9.94138694e-01 -1.08031575e-02 5.16171371e+02] [-9.88639068e-01 -1.08110835e-01 -1.04426242e-01 4.05463704e+02] [-1.04982106e-01 -5.52826207e-04 9.94473957e-01 6.09985171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1020.9792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.17, Y:405.46, Z:61.00 [[-1.03889326e-01 9.94528381e-01 -1.09684670e-02 5.16170267e+02] [-9.88971726e-01 -1.04466721e-01 -1.04983949e-01 4.05459731e+02] [-1.05555356e-01 -5.92079700e-05 9.94413427e-01 6.09977136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.17, Y:405.45, Z:61.00 [[-1.02531914e-01 9.94667648e-01 -1.11120361e-02 5.16169455e+02] [-9.89031000e-01 -1.03132191e-01 -1.05742297e-01 4.05454054e+02] [-1.06324450e-01 1.48188103e-04 9.94331479e-01 6.09968569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0392541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:516.17, Y:405.45, Z:61.00 [[-1.01356311e-01 9.94788855e-01 -1.10467880e-02 5.16168916e+02] [-9.89281944e-01 -1.01955980e-01 -1.04528528e-01 4.05450859e+02] [-1.05110101e-01 3.33761924e-04 9.94460535e-01 6.09970984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.17, Y:405.44, Z:61.00 [[-1.00660368e-01 9.94856776e-01 -1.12909204e-02 5.16168079e+02] [-9.89175581e-01 -1.01290486e-01 -1.06169242e-01 4.05441493e+02] [-1.06766853e-01 4.81667816e-04 9.94283967e-01 6.09953148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.0992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.17, Y:405.44, Z:60.99 [[-9.93416866e-02 9.94987807e-01 -1.14233258e-02 5.16168478e+02] [-9.89244767e-01 -9.99938964e-02 -1.06752101e-01 4.05440345e+02] [-1.07359302e-01 6.95531428e-04 9.94220044e-01 6.09944758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.1292541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:516.17, Y:405.39, Z:60.99 [[-1.02811116e-01 9.94603763e-01 -1.39006601e-02 5.16167939e+02] [-9.88789588e-01 -1.03711424e-01 -1.07420161e-01 4.05390844e+02] [-1.08282153e-01 2.70084133e-03 9.94116533e-01 6.09864056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.16, Y:405.37, Z:60.99 [[-1.04014021e-01 9.94517158e-01 -1.08030748e-02 5.16163960e+02] [-9.88629254e-01 -1.04572033e-01 -1.08059653e-01 4.05368732e+02] [-1.08596878e-01 -5.59483193e-04 9.94085713e-01 6.09852722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.16, Y:405.35, Z:60.98 [[-1.09647507e-01 9.93915916e-01 -1.04200237e-02 5.16159434e+02] [-9.88228432e-01 -1.10133293e-01 -1.06184862e-01 4.05346314e+02] [-1.06686416e-01 -1.34554180e-03 9.94291807e-01 6.09845972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2192541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:516.17, Y:405.37, Z:60.98 [[-1.07687449e-01 9.94082344e-01 -1.42725896e-02 5.16166544e+02] [-9.88355561e-01 -1.08597344e-01 -1.06582838e-01 4.05371110e+02] [-1.07502083e-01 2.62875932e-03 9.94201384e-01 6.09843747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2492541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:516.16, Y:405.35, Z:60.99 [[-1.15259700e-01 9.93283122e-01 -1.01902148e-02 5.16162448e+02] [-9.87671347e-01 -1.15690405e-01 -1.05456343e-01 4.05354700e+02] [-1.05926916e-01 -2.09028338e-03 9.94371721e-01 6.09853701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.2792541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:516.16, Y:405.34, Z:60.98 [[-1.20780457e-01 9.92599781e-01 -1.25600725e-02 5.16164488e+02] [-9.86961664e-01 -1.21431223e-01 -1.05646262e-01 4.05344472e+02] [-1.06389642e-01 -3.63693794e-04 9.94324450e-01 6.09828172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3092541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:516.16, Y:405.34, Z:60.98 [[-1.24061866e-01 9.92194610e-01 -1.25900525e-02 5.16164921e+02] [-9.86584611e-01 -1.24697366e-01 -1.05363052e-01 4.05338425e+02] [-1.06110599e-01 -6.50384824e-04 9.94354121e-01 6.09822026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.17, Y:405.33, Z:60.98 [[-1.27534395e-01 9.91753092e-01 -1.26800002e-02 5.16165257e+02] [-9.86117802e-01 -1.28159592e-01 -1.05578403e-01 4.05331156e+02] [-1.06332771e-01 -9.60903853e-04 9.94330136e-01 6.09815543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.17, Y:405.32, Z:60.98 [[-1.30624641e-01 9.91349592e-01 -1.27745967e-02 5.16165306e+02] [-9.85685381e-01 -1.31242024e-01 -1.05829399e-01 4.05323458e+02] [-1.06590495e-01 -1.23219404e-03 9.94302242e-01 6.09803819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.3992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.17, Y:405.31, Z:60.98 [[-1.35067674e-01 9.90754106e-01 -1.27680890e-02 5.16165634e+02] [-9.85149367e-01 -1.35659944e-01 -1.05247820e-01 4.05313696e+02] [-1.06006828e-01 -1.63710346e-03 9.94364054e-01 6.09799660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4292541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:516.17, Y:405.31, Z:60.98 [[-1.36944767e-01 9.90496087e-01 -1.27919144e-02 5.16165599e+02] [-9.84925267e-01 -1.37529536e-01 -1.04918282e-01 4.05307690e+02] [-1.05680413e-01 -1.76892998e-03 9.94398573e-01 6.09792362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4592541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:516.17, Y:405.30, Z:60.98 [[-1.39992673e-01 9.90069038e-01 -1.28589254e-02 5.16166529e+02] [-9.84493798e-01 -1.40567327e-01 -1.04941832e-01 4.05301402e+02] [-1.05707204e-01 -2.03155534e-03 9.94395223e-01 6.09786164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.15, Y:405.13, Z:60.95 [[-1.39169637e-01 9.90027073e-01 -2.18679390e-02 5.16152381e+02] [-9.84078538e-01 -1.40731226e-01 -1.08554836e-01 4.05134776e+02] [-1.10549728e-01 6.41223236e-03 9.93849909e-01 6.09543498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:516.16, Y:405.22, Z:60.97 [[-1.53526342e-01 9.88143020e-01 -1.74214635e-03 5.16156000e+02] [-9.82788991e-01 -1.52877328e-01 -1.03703051e-01 4.05218993e+02] [-1.02739780e-01 -1.42089878e-02 9.94606778e-01 6.09733311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.17, Y:405.23, Z:60.96 [[-1.51048459e-01 9.88323590e-01 -2.00211225e-02 5.16167851e+02] [-9.82709849e-01 -1.52322764e-01 -1.05257437e-01 4.05226472e+02] [-1.07078080e-01 3.77598063e-03 9.94243444e-01 6.09643118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.5792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:516.16, Y:405.21, Z:60.97 [[-1.55093508e-01 9.87873198e-01 -7.24906677e-03 5.16158896e+02] [-9.82713158e-01 -1.55026019e-01 -1.01201696e-01 4.05212399e+02] [-1.01098237e-01 -8.57197278e-03 9.94839519e-01 6.09699055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.16, Y:405.21, Z:60.97 [[-1.54221774e-01 9.87942579e-01 -1.36053268e-02 5.16161515e+02] [-9.82919815e-01 -1.54808148e-01 -9.95141909e-02 4.05207455e+02] [-1.00420522e-01 -1.97430980e-03 9.94943125e-01 6.09664359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.16, Y:405.20, Z:60.97 [[-1.53385960e-01 9.88072948e-01 -1.35866129e-02 5.16160607e+02] [-9.83108733e-01 -1.53975783e-01 -9.89377455e-02 4.05201499e+02] [-9.98497192e-02 -1.81854334e-03 9.95000868e-01 6.09655202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.16, Y:405.20, Z:60.96 [[-1.52213493e-01 9.88254057e-01 -1.36004294e-02 5.16159837e+02] [-9.83328523e-01 -1.52811217e-01 -9.85583456e-02 4.05197286e+02] [-9.94789831e-02 -1.62821988e-03 9.95038331e-01 6.09648247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.16, Y:405.17, Z:60.96 [[-1.50308689e-01 9.88546169e-01 -1.35561452e-02 5.16155604e+02] [-9.83684913e-01 -1.50912409e-01 -9.79256670e-02 4.05174219e+02] [-9.88498335e-02 -1.38410315e-03 9.95101399e-01 6.09621504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.7292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:516.15, Y:405.17, Z:60.96 [[-1.48248996e-01 9.88853530e-01 -1.38177993e-02 5.16153672e+02] [-9.84024269e-01 -1.48888994e-01 -9.76130429e-02 4.05166498e+02] [-9.85823202e-02 -8.73985765e-04 9.95128516e-01 6.09612375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.7592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.16, Y:405.17, Z:60.96 [[-1.41071989e-01 9.89861308e-01 -1.65313143e-02 5.16155058e+02] [-9.84861050e-01 -1.42019315e-01 -9.93942975e-02 4.05174383e+02] [-1.00734335e-01 2.25929634e-03 9.94910795e-01 6.09613205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.7892541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:516.15, Y:405.16, Z:60.96 [[-1.41147578e-01 9.89925393e-01 -1.11837981e-02 5.16149125e+02] [-9.85081812e-01 -1.41562391e-01 -9.78463733e-02 4.05164568e+02] [-9.84438148e-02 -2.79382246e-03 9.95138689e-01 6.09629514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8192541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:516.15, Y:405.16, Z:60.96 [[-1.39279507e-01 9.90153260e-01 -1.40620620e-02 5.16149186e+02] [-9.85305806e-01 -1.39987398e-01 -9.78570254e-02 4.05162960e+02] [-9.88619641e-02 2.25953079e-04 9.95101131e-01 6.09625379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8492541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:516.15, Y:405.16, Z:60.96 [[-1.35480511e-01 9.90679410e-01 -1.41187329e-02 5.16147844e+02] [-9.85835096e-01 -1.36212591e-01 -9.78534265e-02 4.05160118e+02] [-9.88645240e-02 6.61510133e-04 9.95100683e-01 6.09626647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.8792541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:516.15, Y:405.15, Z:60.96 [[-1.36067012e-01 9.90597670e-01 -1.42135536e-02 5.16147116e+02] [-9.85754348e-01 -1.36805589e-01 -9.78396492e-02 4.05154561e+02] [-9.88642220e-02 6.98323588e-04 9.95100687e-01 6.09620283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:516.15, Y:405.15, Z:60.96 [[-1.34805942e-01 9.90767866e-01 -1.43663859e-02 5.16146278e+02] [-9.85862065e-01 -1.35566392e-01 -9.84771120e-02 4.05150184e+02] [-9.95155572e-02 8.87975038e-04 9.95035610e-01 6.09614208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9392541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:516.15, Y:405.15, Z:60.96 [[-1.32902918e-01 9.91025571e-01 -1.43224601e-02 5.16145134e+02] [-9.86191443e-01 -1.33667649e-01 -9.77721679e-02 4.05146690e+02] [-9.88091680e-02 1.13048119e-03 9.95105758e-01 6.09608297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.14, Y:405.14, Z:60.96 [[-1.33017147e-01 9.91009083e-01 -1.44026427e-02 5.16143500e+02] [-9.86160918e-01 -1.33789413e-01 -9.79134121e-02 4.05138770e+02] [-9.89600019e-02 1.17916063e-03 9.95090713e-01 6.09610671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1021.9992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:516.14, Y:405.13, Z:60.96 [[-1.32990033e-01 9.91011857e-01 -1.44620502e-02 5.16142217e+02] [-9.86163533e-01 -1.33768314e-01 -9.79159011e-02 4.05134026e+02] [-9.89703830e-02 1.24010764e-03 9.95089607e-01 6.09600971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.83, Y:404.68, Z:61.88 [[-9.37034990e-02 -9.95339536e-01 2.27785409e-02 5.16828278e+02] [-9.89419422e-01 9.56428203e-02 1.09094719e-01 4.04680333e+02] [-1.10764891e-01 -1.23149738e-02 -9.93770336e-01 6.18801670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:517.05, Y:404.75, Z:61.37 [[-5.47630240e-02 -5.52490055e-01 -8.31718552e-01 5.17045439e+02] [-9.86187680e-01 -1.00474596e-01 1.31676556e-01 4.04748855e+02] [-1.56316573e-01 8.27441596e-01 -5.39356593e-01 6.13656657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.0892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:516.05, Y:404.84, Z:60.96 [[-3.23096533e-02 9.99457816e-01 -6.33722556e-03 5.16054533e+02] [-9.87706683e-01 -3.28987365e-02 -1.52817478e-01 4.04838791e+02] [-1.52943110e-01 1.32184029e-03 9.88234111e-01 6.09594765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.05, Y:404.76, Z:60.95 [[-4.55209532e-02 9.98942277e-01 -6.49392696e-03 5.16054040e+02] [-9.87231737e-01 -4.59787545e-02 -1.52510499e-01 4.04762939e+02] [-1.52647768e-01 -5.31412483e-04 9.88280515e-01 6.09470315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.05, Y:404.76, Z:60.95 [[-4.76414639e-02 9.98829201e-01 -8.39749385e-03 5.16054976e+02] [-9.87219719e-01 -4.83643685e-02 -1.51848986e-01 4.04756992e+02] [-1.52077341e-01 1.05586353e-03 9.88368033e-01 6.09453764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.1792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:516.06, Y:404.75, Z:60.94 [[-5.09885610e-02 9.98663406e-01 -8.45977555e-03 5.16055767e+02] [-9.87151876e-01 -5.16816139e-02 -1.51195849e-01 4.04748918e+02] [-1.51430976e-01 6.41824538e-04 9.88467626e-01 6.09433653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.06, Y:404.74, Z:60.94 [[-5.34352791e-02 9.98534497e-01 -8.57497548e-03 5.16055846e+02] [-9.86979459e-01 -5.41176745e-02 -1.51468891e-01 4.04741779e+02] [-1.51710970e-01 3.69542227e-04 9.88424830e-01 6.09425822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2392541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:516.06, Y:404.73, Z:60.94 [[-5.66068175e-02 9.98358782e-01 -8.68391948e-03 5.16056750e+02] [-9.86775882e-01 -5.72690320e-02 -1.51636464e-01 4.04732751e+02] [-1.51884915e-01 -1.45753461e-05 9.88398185e-01 6.09404861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.06, Y:404.71, Z:60.94 [[-6.00055560e-02 9.98159223e-01 -8.80339217e-03 5.16056046e+02] [-9.86510980e-01 -6.06463004e-02 -1.52046419e-01 4.04713763e+02] [-1.52300429e-01 -4.38986890e-04 9.88334147e-01 6.09383805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.2992541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:516.06, Y:404.71, Z:60.94 [[-6.18064892e-02 9.98047860e-01 -8.96815296e-03 5.16056690e+02] [-9.86402656e-01 -6.24513243e-02 -1.52018525e-01 4.04711267e+02] [-1.52281836e-01 -5.49521416e-04 9.88336957e-01 6.09370151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.06, Y:404.52, Z:60.89 [[-6.20750533e-02 9.97805323e-01 -2.30483085e-02 5.16056000e+02] [-9.84650783e-01 -6.49983032e-02 -1.61981654e-01 4.04521289e+02] [-1.63124257e-01 1.26395152e-02 9.86524566e-01 6.08946802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.05, Y:404.60, Z:60.93 [[-9.02179904e-02 9.95855114e-01 1.15458294e-02 5.16049358e+02] [-9.84388767e-01 -8.74080191e-02 -1.52769744e-01 4.04598445e+02] [-1.51127333e-01 -2.51481641e-02 9.88194363e-01 6.09273125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.3892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.77, Y:404.28, Z:61.83 [[ 1.23301307e-03 -9.99998401e-01 1.29524799e-03 5.16771771e+02] [-9.85447957e-01 -9.94912661e-04 1.69974512e-01 4.04280606e+02] [-1.69972952e-01 -1.48598028e-03 -9.85447608e-01 6.18289444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:516.75, Y:404.17, Z:61.81 [[ 7.09493441e-02 -9.97422269e-01 -1.07241762e-02 5.16745828e+02] [-9.82778498e-01 -7.17386738e-02 1.70293826e-01 4.04165604e+02] [-1.70624193e-01 -1.54274546e-03 -9.85334971e-01 6.18062063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:516.74, Y:404.17, Z:61.81 [[ 1.50628095e-01 -9.88537254e-01 -1.02603792e-02 5.16738137e+02] [-9.73848459e-01 -1.50159605e-01 1.70502999e-01 4.04166570e+02] [-1.70089261e-01 -1.56904875e-02 -9.85303736e-01 6.18070570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:515.98, Y:404.19, Z:60.87 [[ 1.11653782e-01 9.93537285e-01 2.04229382e-02 5.15980302e+02] [-9.82115450e-01 1.13458790e-01 -1.50254274e-01 4.04191309e+02] [-1.51600385e-01 -3.28122514e-03 9.88436420e-01 6.08655911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.74, Y:404.14, Z:61.80 [[ 2.32262399e-01 -9.72361622e-01 -2.38128795e-02 5.16741553e+02] [-9.57675906e-01 -2.32897236e-01 1.69161865e-01 4.04143120e+02] [-1.70032459e-01 -1.64849197e-02 -9.85300569e-01 6.17974677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.74, Y:404.15, Z:61.79 [[ 3.08197623e-01 -9.50598030e-01 -3.71161671e-02 5.16742635e+02] [-9.36051991e-01 -3.09982068e-01 1.66486599e-01 4.04146028e+02] [-1.69767179e-01 -1.65681120e-02 -9.85344916e-01 6.17931051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.74, Y:404.15, Z:61.79 [[ 3.81836736e-01 -9.22854463e-01 -5.04018582e-02 5.16743754e+02] [-9.08421717e-01 -3.84790355e-01 1.63420825e-01 4.04145253e+02] [-1.70207786e-01 -1.66139316e-02 -9.85268129e-01 6.17884719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.5992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.01, Y:403.98, Z:60.85 [[ 3.37786303e-01 9.39683315e-01 5.38115265e-02 5.16006578e+02] [-9.29589964e-01 3.42026669e-01 -1.37405449e-01 4.03984618e+02] [-1.47522585e-01 -3.60897620e-03 9.89052103e-01 6.08459770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.6292541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:516.76, Y:404.11, Z:61.78 [[ 4.50899570e-01 -8.90281678e-01 -6.39383355e-02 5.16756004e+02] [-8.75846886e-01 -4.55115936e-01 1.60504573e-01 4.04114977e+02] [-1.71993636e-01 -1.63712510e-02 -9.84962015e-01 6.17798245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.03, Y:403.90, Z:60.84 [[ 4.11922478e-01 9.08991230e-01 6.36774394e-02 5.16032748e+02] [-8.99497341e-01 4.16802292e-01 -1.31073962e-01 4.03895711e+02] [-1.45685984e-01 -3.28537621e-03 9.89325427e-01 6.08356452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.6892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:516.77, Y:404.09, Z:61.77 [[ 5.16645944e-01 -8.52766558e-01 -7.65909051e-02 5.16774180e+02] [-8.38675396e-01 -5.22048606e-01 1.55205778e-01 4.04086201e+02] [-1.72338472e-01 -1.59515280e-02 -9.84908625e-01 6.17693337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7192541539998 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:516.80, Y:404.10, Z:61.76 [[ 5.78430936e-01 -8.08649465e-01 -1.07255285e-01 5.16800503e+02] [-7.97400949e-01 -5.88240995e-01 1.34626364e-01 4.04101909e+02] [-1.71957493e-01 7.65341207e-03 -9.85074640e-01 6.17575555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.86, Y:404.24, Z:60.95 [[ 5.52873316e-01 4.95178388e-02 -8.31792691e-01 5.16862873e+02] [-7.97085798e-01 -2.59522768e-01 -5.45254220e-01 4.04238054e+02] [-2.42868952e-01 9.64466649e-01 -1.04013247e-01 6.09467849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.7792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:516.13, Y:403.72, Z:60.80 [[ 5.56106274e-01 8.21891659e-01 1.23450042e-01 5.16134892e+02] [-8.03336403e-01 5.69637949e-01 -1.73675648e-01 4.03722628e+02] [-2.13064395e-01 -2.58979495e-03 9.77034726e-01 6.07969594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:516.89, Y:404.00, Z:61.72 [[ 6.35423477e-01 -7.62439571e-01 -1.22159344e-01 5.16890531e+02] [-7.36316114e-01 -6.45937213e-01 2.01503592e-01 4.03997231e+02] [-2.32541579e-01 -3.80922191e-02 -9.71840212e-01 6.17234258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.89, Y:403.97, Z:61.75 [[ 6.90946302e-01 -7.19460432e-01 -7.04974777e-02 5.16890281e+02] [-6.86596221e-01 -6.83631724e-01 2.47453622e-01 4.03971158e+02] [-2.26227402e-01 -1.22573863e-01 -9.66331626e-01 6.17451109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8692541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:516.26, Y:403.60, Z:60.78 [[ 6.82193125e-01 7.17177077e-01 1.42371278e-01 5.16259781e+02] [-7.02448360e-01 6.96889657e-01 -1.44606735e-01 4.03603734e+02] [-2.02925707e-01 -1.35875033e-03 9.79193194e-01 6.07750977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.8992541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.28, Y:403.58, Z:60.77 [[ 6.81994509e-01 7.17203262e-01 1.43188584e-01 5.16281253e+02] [-7.02285934e-01 6.96862794e-01 -1.45522209e-01 4.03580520e+02] [-2.04151800e-01 -1.31398118e-03 9.78938362e-01 6.07685623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.30, Y:403.56, Z:60.76 [[ 6.82099511e-01 7.17137699e-01 1.43016704e-01 5.16303432e+02] [-7.02238854e-01 6.96930406e-01 -1.45425590e-01 4.03556976e+02] [-2.03962863e-01 -1.23716184e-03 9.78977845e-01 6.07613321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9592541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:516.32, Y:403.53, Z:60.75 [[ 6.83013151e-01 7.16453620e-01 1.42081826e-01 5.16324415e+02] [-7.01718939e-01 6.97634057e-01 -1.44558824e-01 4.03534610e+02] [-2.02690813e-01 -9.65930234e-04 9.79242310e-01 6.07539372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1022.9892541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:516.35, Y:403.51, Z:60.75 [[ 6.82842706e-01 7.16610259e-01 1.42111136e-01 5.16346256e+02] [-7.01856643e-01 6.97473168e-01 -1.44666626e-01 4.03511503e+02] [-2.02788293e-01 -9.57094804e-04 9.79222136e-01 6.07472942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.37, Y:403.49, Z:60.74 [[ 6.82423377e-01 7.16948304e-01 1.42420026e-01 5.16367215e+02] [-7.02119708e-01 6.97125619e-01 -1.45064767e-01 4.03488264e+02] [-2.03288588e-01 -1.00031863e-03 9.79118353e-01 6.07408720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0492541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:516.39, Y:403.46, Z:60.73 [[ 6.82224432e-01 7.17146395e-01 1.42375818e-01 5.16389457e+02] [-7.02315404e-01 6.96921832e-01 -1.45096633e-01 4.03464935e+02] [-2.03280343e-01 -1.00426240e-03 9.79120061e-01 6.07334370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.0792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:516.41, Y:403.44, Z:60.73 [[ 6.81924119e-01 7.17455834e-01 1.42255482e-01 5.16412005e+02] [-7.02639878e-01 6.96603223e-01 -1.45055684e-01 4.03441367e+02] [-2.03166673e-01 -1.03740496e-03 9.79143619e-01 6.07262986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.43, Y:403.42, Z:60.72 [[ 6.80147302e-01 7.18900728e-01 1.43462158e-01 5.16433619e+02] [-7.03843969e-01 6.95111301e-01 -1.46369213e-01 4.03418234e+02] [-2.04947101e-01 -1.42234927e-03 9.78772018e-01 6.07198871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.46, Y:403.39, Z:60.71 [[ 6.79551859e-01 7.19452184e-01 1.43519429e-01 5.16456292e+02] [-7.04379459e-01 6.94540278e-01 -1.46503854e-01 4.03394991e+02] [-2.05082542e-01 -1.53517135e-03 9.78743477e-01 6.07124879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.48, Y:403.37, Z:60.71 [[ 6.78172577e-01 7.20795540e-01 1.43302984e-01 5.16477765e+02] [-7.05781356e-01 6.93145189e-01 -1.46364015e-01 4.03373058e+02] [-2.04828303e-01 -1.88051310e-03 9.78796113e-01 6.07050885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.1992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.50, Y:403.35, Z:60.70 [[ 6.77679752e-01 7.21346793e-01 1.42859923e-01 5.16500094e+02] [-7.06422838e-01 6.92571190e-01 -1.45986030e-01 4.03350257e+02] [-2.04247222e-01 -1.98773538e-03 9.78917321e-01 6.06981005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.2292541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:516.52, Y:403.33, Z:60.69 [[ 6.77034838e-01 7.22057627e-01 1.42325723e-01 5.16522041e+02] [-7.07245352e-01 6.91829613e-01 -1.45519066e-01 4.03327485e+02] [-2.03538302e-01 -2.13772870e-03 9.79064651e-01 6.06905929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.2592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.54, Y:403.30, Z:60.68 [[ 6.76110124e-01 7.22763150e-01 1.43138144e-01 5.16543373e+02] [-7.07777766e-01 6.91091972e-01 -1.46432648e-01 4.03304931e+02] [-2.04757744e-01 -2.30540046e-03 9.78809967e-01 6.06839273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.2892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.57, Y:403.28, Z:60.68 [[ 6.74668133e-01 7.23958849e-01 1.43897517e-01 5.16565559e+02] [-7.08822992e-01 6.89838153e-01 -1.47286422e-01 4.03281761e+02] [-2.05895306e-01 -2.62841254e-03 9.78570496e-01 6.06766130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.59, Y:403.26, Z:60.67 [[ 6.73672250e-01 7.24814965e-01 1.44253130e-01 5.16587133e+02] [-7.09604416e-01 6.88937750e-01 -1.47737437e-01 4.03259708e+02] [-2.06463732e-01 -2.83604659e-03 9.78450144e-01 6.06696893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.61, Y:403.24, Z:60.66 [[ 6.72440610e-01 7.25854955e-01 1.44769509e-01 5.16610062e+02] [-7.10540747e-01 6.87840761e-01 -1.48347342e-01 4.03237082e+02] [-2.07257022e-01 -3.10985796e-03 9.78281583e-01 6.06625471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.3792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.63, Y:403.21, Z:60.66 [[ 6.71877872e-01 7.26364579e-01 1.44826182e-01 5.16632935e+02] [-7.11032452e-01 6.87302111e-01 -1.48487913e-01 4.03214345e+02] [-2.07395701e-01 -3.21037182e-03 9.78251868e-01 6.06553308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.66, Y:403.19, Z:60.65 [[ 6.71463990e-01 7.26682855e-01 1.45148677e-01 5.16655299e+02] [-7.11270017e-01 6.86965387e-01 -1.48907757e-01 4.03192117e+02] [-2.07920832e-01 -3.25370532e-03 9.78140246e-01 6.06477970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:516.68, Y:403.17, Z:60.64 [[ 6.71489931e-01 7.26692275e-01 1.44981414e-01 5.16678119e+02] [-7.11298102e-01 6.86955696e-01 -1.48818281e-01 4.03169878e+02] [-2.07740903e-01 -3.19502748e-03 9.78178669e-01 6.06398372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.70, Y:403.15, Z:60.63 [[ 6.71688201e-01 7.26546991e-01 1.44790991e-01 5.16700359e+02] [-7.11172177e-01 6.87109852e-01 -1.48708393e-01 4.03146975e+02] [-2.07530951e-01 -3.08565130e-03 9.78223585e-01 6.06326219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.4992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:516.72, Y:403.12, Z:60.63 [[ 6.72175044e-01 7.26234587e-01 1.44097313e-01 5.16722692e+02] [-7.10982851e-01 6.87440789e-01 -1.48082904e-01 4.03123676e+02] [-2.06601297e-01 -2.91308579e-03 9.78420880e-01 6.06255408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.74, Y:403.10, Z:60.62 [[ 6.72749280e-01 7.25578065e-01 1.44723454e-01 5.16743987e+02] [-7.10158179e-01 6.88134718e-01 -1.48815223e-01 4.03101553e+02] [-2.07566295e-01 -2.66121034e-03 9.78217333e-01 6.06185801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:516.77, Y:403.08, Z:60.61 [[ 6.73609333e-01 7.24986516e-01 1.43683744e-01 5.16766682e+02] [-7.09759478e-01 6.88758865e-01 -1.47826619e-01 4.03078514e+02] [-2.06135758e-01 -2.40350897e-03 9.78520451e-01 6.06114526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.5892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:516.79, Y:403.06, Z:60.60 [[ 6.74000871e-01 7.24470801e-01 1.44446822e-01 5.16789604e+02] [-7.09049743e-01 6.89301989e-01 -1.48698457e-01 4.03055937e+02] [-2.07295172e-01 -2.19709218e-03 9.78275976e-01 6.06041218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:516.81, Y:403.02, Z:60.61 [[ 6.72831603e-01 7.23818219e-01 1.52920961e-01 5.16807491e+02] [-7.12566853e-01 6.89635305e-01 -1.29041180e-01 4.03015902e+02] [-1.98862051e-01 -2.21434241e-02 9.79777298e-01 6.06125264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6492541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.65, Y:403.50, Z:61.34 [[ 7.25021594e-01 -5.64927612e-01 -3.93954923e-01 5.17650656e+02] [-6.41970521e-01 -7.61488448e-01 -8.94940968e-02 4.03496549e+02] [-2.49434436e-01 3.17792600e-01 -9.14762442e-01 6.13410482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.6792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.60, Y:403.33, Z:61.50 [[ 7.78559087e-01 -6.10958723e-01 -1.43440535e-01 5.17600081e+02] [-5.77090141e-01 -7.86794777e-01 2.18908539e-01 4.03334590e+02] [-2.46602345e-01 -8.76551138e-02 -9.65144479e-01 6.14990367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.00, Y:402.83, Z:60.58 [[ 7.68308567e-01 6.07763906e-01 2.00810807e-01 5.16995464e+02] [-6.04676184e-01 7.92061057e-01 -8.37018152e-02 4.02827294e+02] [-2.09925362e-01 -5.71166908e-02 9.76047656e-01 6.05752113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7392541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:517.80, Y:403.52, Z:61.03 [[ 7.84402625e-01 -2.42308960e-01 -5.70963125e-01 5.17796410e+02] [-5.48611919e-01 -7.00511396e-01 -4.56408530e-01 4.03521102e+02] [-2.89374299e-01 6.71245225e-01 -6.82416562e-01 6.10306170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:517.76, Y:403.27, Z:61.42 [[ 8.32895366e-01 -5.00053577e-01 -2.37132303e-01 5.17764731e+02] [-4.73277103e-01 -8.65670937e-01 1.63164371e-01 4.03267939e+02] [-2.86869470e-01 -2.36695591e-02 -9.57677221e-01 6.14194207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.7992541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:517.18, Y:402.72, Z:60.49 [[ 8.31326691e-01 5.07643888e-01 2.26260063e-01 5.17183892e+02] [-4.90436292e-01 8.61564656e-01 -1.31067106e-01 4.02724642e+02] [-2.61473088e-01 -2.00656269e-03 9.65208681e-01 6.04896737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8292541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:517.21, Y:402.71, Z:60.48 [[ 8.31544092e-01 5.07646641e-01 2.25453569e-01 5.17211620e+02] [-4.90537032e-01 8.61563250e-01 -1.30698837e-01 4.02708776e+02] [-2.60591336e-01 -1.91147877e-03 9.65447307e-01 6.04807297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8592541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:517.24, Y:402.69, Z:60.47 [[ 8.31819813e-01 5.07207203e-01 2.25425492e-01 5.17239551e+02] [-4.90062393e-01 8.61822476e-01 -1.30770300e-01 4.02693368e+02] [-2.60604394e-01 -1.69522936e-03 9.65444186e-01 6.04720246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.8892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.27, Y:402.68, Z:60.46 [[ 8.31351670e-01 5.07350556e-01 2.26825516e-01 5.17267017e+02] [-4.89968833e-01 8.61738141e-01 -1.31673536e-01 4.02677568e+02] [-2.62268840e-01 -1.67041993e-03 9.64993402e-01 6.04632683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.29, Y:402.66, Z:60.45 [[ 8.31487580e-01 5.06938324e-01 2.27248632e-01 5.17294564e+02] [-4.89450798e-01 8.61981088e-01 -1.32009545e-01 4.02661311e+02] [-2.62804720e-01 -1.46272717e-03 9.64847936e-01 6.04543379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.32, Y:402.62, Z:60.47 [[ 8.33138182e-01 4.99734352e-01 2.36952205e-01 5.17319775e+02] [-4.90874190e-01 8.65533052e-01 -9.94739391e-02 4.02623623e+02] [-2.54800510e-01 -3.34381853e-02 9.66415329e-01 6.04696505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1023.9792541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:517.35, Y:402.65, Z:60.42 [[ 8.32780711e-01 5.12802369e-01 2.08590549e-01 5.17351824e+02] [-4.87526301e-01 8.57846474e-01 -1.62534711e-01 4.02645872e+02] [-2.62286852e-01 3.36623934e-02 9.64402639e-01 6.04249912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.0092541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:517.37, Y:402.60, Z:60.45 [[ 8.34381879e-01 4.99581714e-01 2.32862601e-01 5.17372394e+02] [-4.88031526e-01 8.65972898e-01 -1.09161211e-01 4.02598832e+02] [-2.56187647e-01 -2.25621539e-02 9.66363720e-01 6.04459029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.40, Y:402.59, Z:60.43 [[ 8.33832985e-01 5.04712308e-01 2.23580051e-01 5.17402750e+02] [-4.88257655e-01 8.63283810e-01 -1.27849624e-01 4.02592155e+02] [-2.57540316e-01 -2.55943798e-03 9.66264164e-01 6.04295778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.069254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:517.43, Y:402.58, Z:60.41 [[ 8.33708106e-01 5.07175319e-01 2.18412432e-01 5.17430193e+02] [-4.88005149e-01 8.61797970e-01 -1.38402433e-01 4.02583940e+02] [-2.58421689e-01 8.80083923e-03 9.65992120e-01 6.04139358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.46, Y:402.56, Z:60.41 [[ 8.32836281e-01 5.05741733e-01 2.24964505e-01 5.17456588e+02] [-4.89157920e-01 8.62679594e-01 -1.28485204e-01 4.02563123e+02] [-2.59052617e-01 -3.03603032e-03 9.65858439e-01 6.04102303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.129254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:517.48, Y:402.55, Z:60.40 [[ 8.32740907e-01 5.07246580e-01 2.21908740e-01 5.17484742e+02] [-4.90311074e-01 8.61800782e-01 -1.29978704e-01 4.02548551e+02] [-2.57172379e-01 -5.65728633e-04 9.66365380e-01 6.04006347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.1592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:517.51, Y:402.55, Z:60.38 [[ 8.31104028e-01 5.12398616e-01 2.16133647e-01 5.17512286e+02] [-4.89145266e-01 8.58453404e-01 -1.54255185e-01 4.02549513e+02] [-2.64580808e-01 2.24813551e-02 9.64101439e-01 6.03750144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.1892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:517.54, Y:402.52, Z:60.38 [[ 8.30430858e-01 5.08496439e-01 2.27631198e-01 5.17535606e+02] [-4.90890176e-01 8.61062645e-01 -1.32657290e-01 4.02523515e+02] [-2.63460481e-01 -1.57921128e-03 9.64668897e-01 6.03759311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2192541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:517.56, Y:402.51, Z:60.37 [[ 8.30087987e-01 5.09682340e-01 2.26225210e-01 5.17562823e+02] [-4.92318189e-01 8.60360628e-01 -1.31918120e-01 4.02508009e+02] [-2.61871600e-01 -1.87113888e-03 9.65100909e-01 6.03675813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2492541539998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:517.59, Y:402.49, Z:60.36 [[ 8.29972055e-01 5.10237239e-01 2.25398199e-01 5.17589202e+02] [-4.92997719e-01 8.60031469e-01 -1.31526126e-01 4.02492986e+02] [-2.60959072e-01 -1.95778952e-03 9.65347880e-01 6.03589511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.62, Y:402.48, Z:60.35 [[ 8.29273038e-01 5.10693241e-01 2.26933122e-01 5.17617007e+02] [-4.93207605e-01 8.59760576e-01 -1.32506643e-01 4.02477567e+02] [-2.62778399e-01 -2.04095522e-03 9.64854055e-01 6.03490445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.3092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.64, Y:402.44, Z:60.36 [[ 8.29903144e-01 5.05479372e-01 2.36117293e-01 5.17643039e+02] [-4.95984845e-01 8.62246875e-01 -1.02612673e-01 4.02442272e+02] [-2.55459987e-01 -3.19520188e-02 9.66291500e-01 6.03610527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.68, Y:402.46, Z:60.32 [[ 8.29139283e-01 5.18005764e-01 2.10233389e-01 5.17675616e+02] [-4.93150765e-01 8.54846683e-01 -1.61367505e-01 4.02462652e+02] [-2.63306613e-01 3.01193811e-02 9.64241905e-01 6.03194891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.70, Y:402.43, Z:60.32 [[ 8.29541451e-01 5.09977785e-01 2.27560191e-01 5.17697675e+02] [-4.92315158e-01 8.60185990e-01 -1.33063324e-01 4.02431337e+02] [-2.63603428e-01 -1.64978828e-03 9.64629727e-01 6.03223005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.399254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:517.72, Y:402.41, Z:60.31 [[ 8.30648127e-01 5.08107567e-01 2.27706807e-01 5.17724184e+02] [-4.90327511e-01 8.61293069e-01 -1.33241064e-01 4.02414913e+02] [-2.63823088e-01 -9.74471661e-04 9.64570593e-01 6.03138667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.75, Y:402.40, Z:60.30 [[ 8.30496514e-01 5.07623085e-01 2.29334566e-01 5.17751101e+02] [-4.89549739e-01 8.61578899e-01 -1.34249221e-01 4.02398765e+02] [-2.65737827e-01 -7.77166797e-04 9.64045022e-01 6.03048755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4592541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:517.78, Y:402.38, Z:60.30 [[ 8.31301206e-01 5.06489582e-01 2.28924897e-01 5.17778630e+02] [-4.88414782e-01 8.62246016e-01 -1.34099996e-01 4.02382277e+02] [-2.65309831e-01 -3.32815547e-04 9.64163152e-01 6.02958308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.81, Y:402.37, Z:60.29 [[ 8.31581102e-01 5.05335192e-01 2.30454368e-01 5.17805297e+02] [-4.86944586e-01 8.62923131e-01 -1.35087527e-01 4.02366685e+02] [-2.67128886e-01 1.17727911e-04 9.63660804e-01 6.02869572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.5192541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:517.83, Y:402.35, Z:60.28 [[ 8.32824016e-01 5.03631166e-01 2.29695033e-01 5.17832721e+02] [-4.85277008e-01 8.63918460e-01 -1.34726094e-01 4.02350792e+02] [-2.66290039e-01 7.37408539e-04 9.63892666e-01 6.02767833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.5492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:517.86, Y:402.33, Z:60.27 [[ 8.32930308e-01 5.03275676e-01 2.30088454e-01 5.17860341e+02] [-4.84819017e-01 8.64125409e-01 -1.35047394e-01 4.02334837e+02] [-2.66791348e-01 9.33809762e-04 9.63753861e-01 6.02676127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.89, Y:402.32, Z:60.26 [[ 8.33437645e-01 5.02288931e-01 2.30407296e-01 5.17886672e+02] [-4.83718040e-01 8.64698823e-01 -1.35324811e-01 4.02319612e+02] [-2.67205072e-01 1.33262601e-03 9.63638767e-01 6.02584489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.609254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.91, Y:402.30, Z:60.25 [[ 8.33751788e-01 5.01848598e-01 2.30230191e-01 5.17914165e+02] [-4.83267226e-01 8.64954098e-01 -1.35304091e-01 4.02304009e+02] [-2.67040716e-01 1.54732177e-03 9.63684005e-01 6.02493652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.94, Y:402.29, Z:60.24 [[ 8.33680376e-01 5.02031062e-01 2.30090946e-01 5.17940667e+02] [-4.83453962e-01 8.64848164e-01 -1.35314151e-01 4.02288771e+02] [-2.66925639e-01 1.57037282e-03 9.63715849e-01 6.02402669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:517.97, Y:402.27, Z:60.23 [[ 8.33243046e-01 5.02760555e-01 2.30082270e-01 5.17967999e+02] [-4.84188584e-01 8.64424565e-01 -1.35394190e-01 4.02272850e+02] [-2.66959624e-01 1.41305875e-03 9.63706679e-01 6.02309621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.00, Y:402.26, Z:60.22 [[ 8.33180107e-01 5.02883519e-01 2.30041464e-01 5.17995676e+02] [-4.84297017e-01 8.64352962e-01 -1.35463487e-01 4.02256493e+02] [-2.66959376e-01 1.45708812e-03 9.63706682e-01 6.02216894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.7292541539998 meters Centerline goodness : 0.996484 Centerline is valid? [True, True] Translation: X:518.02, Y:402.24, Z:60.21 [[ 8.32604886e-01 5.04928097e-01 2.27632862e-01 5.18022470e+02] [-4.86048388e-01 8.63155185e-01 -1.36821383e-01 4.02243357e+02] [-2.65567446e-01 3.27756642e-03 9.64086713e-01 6.02123798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.05, Y:402.23, Z:60.20 [[ 8.32045009e-01 5.04433952e-01 2.30754180e-01 5.18049100e+02] [-4.86626261e-01 8.63448516e-01 -1.32859112e-01 4.02225717e+02] [-2.66263001e-01 -1.74628293e-03 9.63898835e-01 6.02048487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.7892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:518.08, Y:402.21, Z:60.19 [[ 8.30929596e-01 5.07024729e-01 2.29089352e-01 5.18077386e+02] [-4.88700049e-01 8.61931460e-01 -1.35079310e-01 4.02211893e+02] [-2.65947870e-01 2.85418464e-04 9.63987370e-01 6.01946816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.819254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.10, Y:402.20, Z:60.19 [[ 8.29935430e-01 5.08420371e-01 2.29599453e-01 5.18104695e+02] [-4.90039921e-01 8.61109006e-01 -1.35470131e-01 4.02196749e+02] [-2.66585930e-01 -8.14362562e-05 9.63811151e-01 6.01855780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.849254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:518.13, Y:402.18, Z:60.18 [[ 8.29350377e-01 5.09516807e-01 2.29282744e-01 5.18131365e+02] [-4.91204209e-01 8.60460632e-01 -1.35373283e-01 4.02181583e+02] [-2.66263738e-01 -3.52766207e-04 9.63900149e-01 6.01762971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.879254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:518.16, Y:402.19, Z:60.15 [[ 8.28216207e-01 5.15169393e-01 2.20586519e-01 5.18160855e+02] [-4.88643125e-01 8.56578526e-01 -1.65834632e-01 4.02188299e+02] [-2.74382602e-01 2.95588441e-02 9.61166199e-01 6.01464615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.18, Y:402.15, Z:60.15 [[ 8.27724753e-01 5.07569174e-01 2.39259833e-01 5.18182304e+02] [-4.90829245e-01 8.61551789e-01 -1.29673309e-01 4.02152439e+02] [-2.71952912e-01 -1.01019158e-02 9.62257536e-01 6.01543523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9392541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:518.21, Y:402.14, Z:60.15 [[ 8.26430815e-01 5.10750008e-01 2.36952605e-01 5.18210488e+02] [-4.93598136e-01 8.59689449e-01 -1.31510195e-01 4.02137960e+02] [-2.70874488e-01 -8.27528706e-03 9.62579104e-01 6.01456661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:518.24, Y:402.12, Z:60.14 [[ 8.25223511e-01 5.12972122e-01 2.36359388e-01 5.18238586e+02] [-4.96267135e-01 8.58348864e-01 -1.30215817e-01 4.02120321e+02] [-2.69675896e-01 -9.84024219e-03 9.62900868e-01 6.01392670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1024.9992541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:518.27, Y:402.11, Z:60.13 [[ 8.24559037e-01 5.16031223e-01 2.31978818e-01 5.18267097e+02] [-4.97414215e-01 8.56567160e-01 -1.37374669e-01 4.02109114e+02] [-2.69595055e-01 -2.11603681e-03 9.62971458e-01 6.01268546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.0292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:518.29, Y:402.09, Z:60.13 [[ 8.22283389e-01 5.17160380e-01 2.37476673e-01 5.18292448e+02] [-5.02174625e-01 8.55725538e-01 -1.24717480e-01 4.02085928e+02] [-2.67713793e-01 -1.67016466e-02 9.63353715e-01 6.01273264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.32, Y:402.09, Z:60.10 [[ 8.21386272e-01 5.23553876e-01 2.26309371e-01 5.18322647e+02] [-5.01461700e-01 8.51928922e-01 -1.50841889e-01 4.02086487e+02] [-2.71773354e-01 1.04139755e-02 9.62304938e-01 6.01036761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.089254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:518.35, Y:402.05, Z:60.11 [[ 8.19723453e-01 5.20653312e-01 2.38691409e-01 5.18345977e+02] [-5.06247813e-01 8.53538069e-01 -1.23231151e-01 4.02054821e+02] [-2.67892912e-01 -1.98215392e-02 9.63244774e-01 6.01101936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.38, Y:402.05, Z:60.10 [[ 8.18306751e-01 5.26241772e-01 2.31178845e-01 5.18376036e+02] [-5.08052075e-01 8.50319507e-01 -1.37258243e-01 4.02046603e+02] [-2.68806902e-01 -5.13154511e-03 9.63180417e-01 6.00955047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.149254154 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:518.40, Y:402.03, Z:60.09 [[ 8.17994290e-01 5.27034365e-01 2.30478025e-01 5.18403971e+02] [-5.08961404e-01 8.49827500e-01 -1.36936154e-01 4.02031117e+02] [-2.68036622e-01 -5.29142745e-03 9.63394192e-01 6.00857620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.1792541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:518.43, Y:402.02, Z:60.08 [[ 8.16490665e-01 5.29401844e-01 2.30383771e-01 5.18432146e+02] [-5.11410094e-01 8.48350101e-01 -1.36973800e-01 4.02016132e+02] [-2.67960278e-01 -5.98275701e-03 9.63411385e-01 6.00761633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2092541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:518.46, Y:402.00, Z:60.07 [[ 8.15805339e-01 5.30500634e-01 2.30284013e-01 5.18459453e+02] [-5.12541805e-01 8.47661432e-01 -1.37007279e-01 4.02000354e+02] [-2.67885325e-01 -6.25891459e-03 9.63430474e-01 6.00672096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2392541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:518.49, Y:401.98, Z:60.06 [[ 8.15337638e-01 5.31675736e-01 2.29227938e-01 5.18486714e+02] [-5.13903379e-01 8.46922832e-01 -1.36473563e-01 4.01984260e+02] [-2.66698056e-01 -6.52897966e-03 9.63758019e-01 6.00573645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2692541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:518.51, Y:401.97, Z:60.05 [[ 8.15074375e-01 5.32178170e-01 2.28998163e-01 5.18512594e+02] [-5.14435199e-01 8.46606639e-01 -1.36431763e-01 4.01968702e+02] [-2.66477371e-01 -6.60268145e-03 9.63818559e-01 6.00485780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.54, Y:401.95, Z:60.04 [[ 8.15114222e-01 5.32336551e-01 2.28487639e-01 5.18539996e+02] [-5.14655825e-01 8.46507380e-01 -1.36215407e-01 4.01952337e+02] [-2.65928912e-01 -6.56137889e-03 9.63970312e-01 6.00395339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.329254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:518.57, Y:401.94, Z:60.03 [[ 8.15616637e-01 5.31849831e-01 2.27827256e-01 5.18567210e+02] [-5.14228520e-01 8.46815246e-01 -1.35915298e-01 4.01936115e+02] [-2.65214122e-01 -6.30049418e-03 9.64168955e-01 6.00296838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.59, Y:401.93, Z:60.01 [[ 8.15600027e-01 5.32694505e-01 2.25905203e-01 5.18594113e+02] [-5.12633562e-01 8.46304436e-01 -1.44829669e-01 4.01926729e+02] [-2.68334545e-01 2.31649329e-03 9.63323002e-01 6.00148998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.389254154 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:518.62, Y:401.90, Z:60.02 [[ 8.16365127e-01 5.28767382e-01 2.32277928e-01 5.18617991e+02] [-5.13400257e-01 8.48630715e-01 -1.27460132e-01 4.01900725e+02] [-2.64514944e-01 -1.51975411e-02 9.64261831e-01 6.00154178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:518.65, Y:401.89, Z:60.00 [[ 8.16340836e-01 5.30823675e-01 2.27626594e-01 5.18645939e+02] [-5.13117678e-01 8.47463018e-01 -1.36076014e-01 4.01889000e+02] [-2.65137490e-01 -5.71482272e-03 9.64193680e-01 6.00031421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:518.67, Y:401.87, Z:59.99 [[ 8.17214809e-01 5.29244195e-01 2.28167785e-01 5.18672099e+02] [-5.10977083e-01 8.48460622e-01 -1.37902115e-01 4.01873121e+02] [-2.66575274e-01 -3.89285901e-03 9.63806240e-01 5.99935313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.4792541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:518.70, Y:401.86, Z:59.99 [[ 8.17693729e-01 5.28016343e-01 2.29293931e-01 5.18697957e+02] [-5.10347783e-01 8.49211941e-01 -1.35588421e-01 4.01855330e+02] [-2.66312046e-01 -6.14984786e-03 9.63867249e-01 5.99863944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.5092541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:518.72, Y:401.84, Z:59.97 [[ 8.18389653e-01 5.27479621e-01 2.28043036e-01 5.18724431e+02] [-5.08557562e-01 8.49566561e-01 -1.40020943e-01 4.01842015e+02] [-2.67595931e-01 -1.38131974e-03 9.63530233e-01 5.99743017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.5392541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:518.75, Y:401.82, Z:59.97 [[ 8.20308193e-01 5.23521444e-01 2.30260215e-01 5.18751365e+02] [-5.06102183e-01 8.51987351e-01 -1.34082567e-01 4.01822321e+02] [-2.66373890e-01 -6.54616888e-03 9.63847549e-01 5.99689943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.569254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.78, Y:401.80, Z:59.97 [[ 8.20806021e-01 5.22085920e-01 2.31740735e-01 5.18778005e+02] [-5.06312182e-01 8.52804127e-01 -1.27957393e-01 4.01801732e+02] [-2.64434208e-01 -1.23049581e-02 9.64325224e-01 5.99654611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.599254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:518.81, Y:401.79, Z:59.95 [[ 8.22488816e-01 5.21468055e-01 2.27119385e-01 5.18805732e+02] [-5.04184500e-01 8.53256581e-01 -1.33233617e-01 4.01787588e+02] [-2.63268185e-01 -4.92691404e-03 9.64710106e-01 5.99542088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.83, Y:401.77, Z:59.95 [[ 8.23172620e-01 5.21129749e-01 2.25412116e-01 5.18831265e+02] [-5.03339583e-01 8.53474332e-01 -1.35021587e-01 4.01773140e+02] [-2.62747221e-01 -2.31276667e-03 9.64861933e-01 5.99455601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.86, Y:401.76, Z:59.93 [[ 8.22895106e-01 5.23357407e-01 2.21225379e-01 5.18857913e+02] [-5.02010995e-01 8.52041960e-01 -1.48355854e-01 4.01764443e+02] [-2.66136441e-01 1.10237335e-02 9.63872332e-01 5.99282685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:518.88, Y:401.74, Z:59.92 [[ 8.22917989e-01 5.20349540e-01 2.28127900e-01 5.18883303e+02] [-5.02021007e-01 8.53951329e-01 -1.36901556e-01 4.01741623e+02] [-2.66046786e-01 -1.86624515e-03 9.63958311e-01 5.99237522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:518.91, Y:401.72, Z:59.92 [[ 8.24514000e-01 5.15877755e-01 2.32479692e-01 5.18907890e+02] [-5.01031588e-01 8.56539979e-01 -1.23719895e-01 4.01718943e+02] [-2.62952492e-01 -1.44708832e-02 9.64700254e-01 5.99239873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:518.94, Y:401.70, Z:59.92 [[ 8.25352799e-01 5.15854468e-01 2.29536326e-01 5.18935259e+02] [-5.01095081e-01 8.56572862e-01 -1.23234132e-01 4.01701710e+02] [-2.60185465e-01 -1.33078881e-02 9.65466946e-01 5.99189704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.7792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:518.96, Y:401.69, Z:59.91 [[ 8.25663908e-01 5.17641425e-01 2.24335609e-01 5.18963150e+02] [-5.01428582e-01 8.55574946e-01 -1.28689118e-01 4.01688356e+02] [-2.58550745e-01 -6.23432606e-03 9.65977560e-01 5.99090690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.8092541539997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:518.99, Y:401.70, Z:59.88 [[ 8.24691457e-01 5.25484827e-01 2.09164284e-01 5.18992282e+02] [-4.99518396e-01 8.50172623e-01 -1.66396766e-01 4.01695495e+02] [-2.65264723e-01 3.27445837e-02 9.63619437e-01 5.98767542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.01, Y:401.66, Z:59.88 [[ 8.24051650e-01 5.18775477e-01 2.27620041e-01 5.19013824e+02] [-5.00403296e-01 8.54909769e-01 -1.36842348e-01 4.01662698e+02] [-2.65585051e-01 -1.13665595e-03 9.64086764e-01 5.98800978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.04, Y:401.65, Z:59.87 [[ 8.23818449e-01 5.19501508e-01 2.26806850e-01 5.19040167e+02] [-5.01264391e-01 8.54468569e-01 -1.36445865e-01 4.01646983e+02] [-2.64683157e-01 -1.28357664e-03 9.64334578e-01 5.98712240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.899254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:519.07, Y:401.63, Z:59.86 [[ 8.24134522e-01 5.20122088e-01 2.24221549e-01 5.19067102e+02] [-5.01926450e-01 8.54091909e-01 -1.36370265e-01 4.01631523e+02] [-2.62434998e-01 -1.55282648e-04 9.64949661e-01 5.98613799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9292541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:519.09, Y:401.62, Z:59.85 [[ 8.23036725e-01 5.21653503e-01 2.24695732e-01 5.19092964e+02] [-5.04068440e-01 8.53153161e-01 -1.34330531e-01 4.01615108e+02] [-2.61773866e-01 -2.70306649e-03 9.65125451e-01 5.98528830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9592541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:519.12, Y:401.60, Z:59.84 [[ 8.22045325e-01 5.22805349e-01 2.25645851e-01 5.19119507e+02] [-5.04826770e-01 8.52449349e-01 -1.35941312e-01 4.01599771e+02] [-2.63422504e-01 -2.16214631e-03 9.64678138e-01 5.98433183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1025.9892541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:519.15, Y:401.58, Z:59.84 [[ 8.20889871e-01 5.25331693e-01 2.23978643e-01 5.19146724e+02] [-5.07688280e-01 8.50892716e-01 -1.35034057e-01 4.01583735e+02] [-2.61519465e-01 -2.86324250e-03 9.65193955e-01 5.98355000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.0192541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:519.17, Y:401.57, Z:59.83 [[ 8.19952020e-01 5.26549806e-01 2.24552859e-01 5.19174072e+02] [-5.08832539e-01 8.50138356e-01 -1.35477759e-01 4.01567149e+02] [-2.62236786e-01 -3.17453970e-03 9.64998337e-01 5.98266281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.20, Y:401.55, Z:59.82 [[ 8.18587051e-01 5.28784225e-01 2.24282150e-01 5.19200028e+02] [-5.10655776e-01 8.48753572e-01 -1.37288209e-01 4.01551933e+02] [-2.62956115e-01 -2.14862520e-03 9.64805403e-01 5.98180317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.079254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:519.23, Y:401.53, Z:59.81 [[ 8.18516190e-01 5.27884264e-01 2.26648297e-01 5.19227144e+02] [-5.10639073e-01 8.49294530e-01 -1.33964690e-01 4.01533281e+02] [-2.63209010e-01 -6.08320891e-03 9.64719654e-01 5.98115722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.109254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.25, Y:401.52, Z:59.80 [[ 8.17647583e-01 5.29208363e-01 2.26695698e-01 5.19254710e+02] [-5.11187870e-01 8.48483019e-01 -1.36980028e-01 4.01518017e+02] [-2.64838427e-01 -3.88270196e-03 9.64284985e-01 5.98015550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.139254154 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:519.28, Y:401.50, Z:59.79 [[ 8.18008307e-01 5.29211224e-01 2.25383872e-01 5.19280942e+02] [-5.11378044e-01 8.48481694e-01 -1.36276599e-01 4.01502657e+02] [-2.63353195e-01 -3.78097394e-03 9.64692075e-01 5.97927326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.31, Y:401.49, Z:59.78 [[ 8.16927733e-01 5.29982020e-01 2.27482171e-01 5.19308082e+02] [-5.11815299e-01 8.47999468e-01 -1.37629947e-01 4.01486608e+02] [-2.65846157e-01 -3.99513469e-03 9.64007189e-01 5.97836996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.1992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:519.33, Y:401.47, Z:59.78 [[ 8.17222667e-01 5.29975377e-01 2.26435889e-01 5.19334096e+02] [-5.11952666e-01 8.48004100e-01 -1.37089441e-01 4.01470841e+02] [-2.64672590e-01 -3.89185817e-03 9.64330479e-01 5.97750223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.2292541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:519.36, Y:401.45, Z:59.77 [[ 8.17275639e-01 5.29963015e-01 2.26273579e-01 5.19360848e+02] [-5.11942501e-01 8.48012201e-01 -1.37077285e-01 4.01454854e+02] [-2.64528647e-01 -3.80913591e-03 9.64370305e-01 5.97659422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.2592541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:519.39, Y:401.44, Z:59.76 [[ 8.17308439e-01 5.29892457e-01 2.26320347e-01 5.19387573e+02] [-5.11836688e-01 8.48056745e-01 -1.37196800e-01 4.01438322e+02] [-2.64632046e-01 -3.70695371e-03 9.64342335e-01 5.97568444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.2892541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:519.41, Y:401.42, Z:59.75 [[ 8.17584729e-01 5.29888461e-01 2.25329604e-01 5.19414817e+02] [-5.11967484e-01 8.48059677e-01 -1.36689720e-01 4.01421560e+02] [-2.63523256e-01 -3.60600240e-03 9.64646303e-01 5.97477822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.319254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.44, Y:401.41, Z:59.74 [[ 8.17641247e-01 5.29574713e-01 2.25861494e-01 5.19441174e+02] [-5.11529875e-01 8.48256362e-01 -1.37107010e-01 4.01405473e+02] [-2.64196855e-01 -3.43055469e-03 9.64462676e-01 5.97384171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.349254154 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:519.47, Y:401.39, Z:59.73 [[ 8.18223258e-01 5.29005154e-01 2.25087198e-01 5.19467620e+02] [-5.11041144e-01 8.48612734e-01 -1.36723727e-01 4.01389247e+02] [-2.63339419e-01 -3.15828577e-03 9.64698075e-01 5.97289093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.49, Y:401.37, Z:59.72 [[ 8.18319570e-01 5.28764676e-01 2.25302017e-01 5.19494361e+02] [-5.10731992e-01 8.48763155e-01 -1.36945024e-01 4.01372960e+02] [-2.63639742e-01 -3.00415482e-03 9.64616536e-01 5.97194166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4092541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:519.52, Y:401.36, Z:59.71 [[ 8.20005358e-01 5.27034528e-01 2.23216979e-01 5.19521375e+02] [-5.09252803e-01 8.49840637e-01 -1.35766252e-01 4.01355719e+02] [-2.61252362e-01 -2.34481822e-03 9.65267686e-01 5.97099891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4392541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:519.55, Y:401.34, Z:59.70 [[ 8.20467769e-01 5.26445932e-01 2.22906528e-01 5.19547859e+02] [-5.08668621e-01 8.50206080e-01 -1.35668184e-01 4.01338939e+02] [-2.60938449e-01 -2.07418420e-03 9.65353212e-01 5.97006859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4692541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:519.57, Y:401.32, Z:59.69 [[ 8.21152464e-01 5.25553535e-01 2.22490704e-01 5.19574673e+02] [-5.07787205e-01 8.50758818e-01 -1.35504939e-01 4.01321682e+02] [-2.60501028e-01 -1.70771822e-03 9.65472060e-01 5.96914414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.4992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:519.60, Y:401.30, Z:59.68 [[ 8.22351451e-01 5.23537270e-01 2.22815659e-01 5.19600653e+02] [-5.05620776e-01 8.52002199e-01 -1.35793539e-01 4.01304227e+02] [-2.60932410e-01 -9.90212664e-04 9.65356565e-01 5.96824705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.5292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:519.63, Y:401.29, Z:59.67 [[ 8.23039772e-01 5.22579084e-01 2.22523338e-01 5.19627329e+02] [-5.04651620e-01 8.52590602e-01 -1.35705594e-01 4.01287134e+02] [-2.60638211e-01 -6.05662117e-04 9.65436355e-01 5.96734558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.5592541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:519.65, Y:401.27, Z:59.66 [[ 8.23994705e-01 5.20743659e-01 2.23290768e-01 5.19653538e+02] [-5.02599360e-01 8.53713089e-01 -1.36263882e-01 4.01269900e+02] [-2.61584804e-01 5.49204827e-05 9.65180495e-01 5.96644955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.68, Y:401.26, Z:59.65 [[ 8.23919479e-01 5.22228710e-01 2.20076957e-01 5.19681031e+02] [-5.00686918e-01 8.52713091e-01 -1.48973132e-01 4.01260831e+02] [-2.65460549e-01 1.25522117e-02 9.64040009e-01 5.96470343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.619254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:519.70, Y:401.23, Z:59.65 [[ 8.24515821e-01 5.16866691e-01 2.30266117e-01 5.19703384e+02] [-5.01672829e-01 8.55975558e-01 -1.25020867e-01 4.01230022e+02] [-2.61721290e-01 -1.24365713e-02 9.65063365e-01 5.96522357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.73, Y:401.22, Z:59.64 [[ 8.23753294e-01 5.21078630e-01 2.23400029e-01 5.19732687e+02] [-5.02177840e-01 8.53505333e-01 -1.39090129e-01 4.01219475e+02] [-2.63150010e-01 2.38940809e-03 9.64751970e-01 5.96369537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.6792541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:519.76, Y:401.20, Z:59.63 [[ 8.23676399e-01 5.20788295e-01 2.24358511e-01 5.19757451e+02] [-5.03028816e-01 8.53684001e-01 -1.34854130e-01 4.01201971e+02] [-2.61761724e-01 -1.78263197e-03 9.65130884e-01 5.96309670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:519.78, Y:401.19, Z:59.62 [[ 8.22536898e-01 5.22800832e-01 2.23857860e-01 5.19784298e+02] [-5.04550893e-01 8.52454801e-01 -1.36927748e-01 4.01186472e+02] [-2.62414648e-01 -3.19557732e-04 9.64955155e-01 5.96211424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.81, Y:401.17, Z:59.61 [[ 8.20318835e-01 5.25960455e-01 2.24594320e-01 5.19811807e+02] [-5.07679043e-01 8.50508101e-01 -1.37469848e-01 4.01170144e+02] [-2.63322992e-01 -1.25272444e-03 9.64706915e-01 5.96118702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:519.84, Y:401.15, Z:59.60 [[ 8.19330682e-01 5.27569915e-01 2.24426424e-01 5.19838636e+02] [-5.09350608e-01 8.49509939e-01 -1.37458437e-01 4.01153678e+02] [-2.63171413e-01 -1.68782080e-03 9.64747614e-01 5.96026768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.7992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:519.87, Y:401.14, Z:59.59 [[ 8.17412195e-01 5.30756798e-01 2.23907405e-01 5.19865318e+02] [-5.12715626e-01 8.47520102e-01 -1.37231061e-01 4.01136296e+02] [-2.62602345e-01 -2.62648239e-03 9.64900570e-01 5.95943422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.829254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:519.89, Y:401.12, Z:59.59 [[ 8.16852522e-01 5.31652338e-01 2.23825266e-01 5.19891894e+02] [-5.13815228e-01 8.46955773e-01 -1.36600987e-01 4.01119328e+02] [-2.62194336e-01 -3.42196943e-03 9.65009026e-01 5.95855832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.859254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:519.92, Y:401.10, Z:59.58 [[ 8.16065099e-01 5.33320428e-01 2.22726459e-01 5.19917967e+02] [-5.15393088e-01 8.45908431e-01 -1.37145513e-01 4.01102881e+02] [-2.61548693e-01 -2.87201056e-03 9.65186009e-01 5.95759619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.94, Y:401.09, Z:59.57 [[ 8.14505073e-01 5.35490557e-01 2.23229365e-01 5.19942491e+02] [-5.17740102e-01 8.44530992e-01 -1.36793975e-01 4.01086085e+02] [-2.61775999e-01 -4.15540785e-03 9.65119712e-01 5.95674276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:519.97, Y:401.07, Z:59.56 [[ 8.13734657e-01 5.36792017e-01 2.22913072e-01 5.19969375e+02] [-5.19039125e-01 8.43703950e-01 -1.36974565e-01 4.01068723e+02] [-2.61599492e-01 -4.23965505e-03 9.65167204e-01 5.95581521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.00, Y:401.05, Z:59.55 [[ 8.13085334e-01 5.37824128e-01 2.22794629e-01 5.19995384e+02] [-5.20212029e-01 8.43043175e-01 -1.36593010e-01 4.01051618e+02] [-2.61288508e-01 -4.83867269e-03 9.65248622e-01 5.95492379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1026.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.02, Y:401.04, Z:59.54 [[ 8.12735207e-01 5.38664392e-01 2.22040890e-01 5.20020886e+02] [-5.21006064e-01 8.42508675e-01 -1.36864215e-01 4.01035787e+02] [-2.60795255e-01 -4.45028420e-03 9.65383877e-01 5.95403986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.05, Y:401.02, Z:59.53 [[ 8.12339802e-01 5.39358986e-01 2.21801555e-01 5.20046339e+02] [-5.22069145e-01 8.42056963e-01 -1.35587166e-01 4.01017505e+02] [-2.59899700e-01 -5.65289693e-03 9.65619071e-01 5.95318658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.0392541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:520.07, Y:401.00, Z:59.52 [[ 8.12344238e-01 5.39697920e-01 2.20959260e-01 5.20072864e+02] [-5.22297547e-01 8.41844454e-01 -1.36026423e-01 4.00999991e+02] [-2.59426505e-01 -4.90619821e-03 9.65750391e-01 5.95229284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.069254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:520.10, Y:400.98, Z:59.51 [[ 8.11985091e-01 5.40398472e-01 2.20566780e-01 5.20097577e+02] [-5.22467300e-01 8.41403467e-01 -1.38087383e-01 4.00984409e+02] [-2.60207864e-01 -3.11403329e-03 9.65547601e-01 5.95129521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.099254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:520.12, Y:400.96, Z:59.51 [[ 8.12424760e-01 5.39143093e-01 2.22015167e-01 5.20123267e+02] [-5.21529213e-01 8.42201195e-01 -1.36764128e-01 4.00964768e+02] [-2.60716874e-01 -4.67683104e-03 9.65403977e-01 5.95053311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.129254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:520.15, Y:400.95, Z:59.50 [[ 8.12498452e-01 5.38669953e-01 2.22892234e-01 5.20149717e+02] [-5.20872025e-01 8.42505044e-01 -1.37395722e-01 4.00947067e+02] [-2.61798778e-01 -4.46451806e-03 9.65112153e-01 5.94966954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.1592541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:520.18, Y:400.93, Z:59.49 [[ 8.13174981e-01 5.37608911e-01 2.22986792e-01 5.20176343e+02] [-5.19731228e-01 8.43184623e-01 -1.37546871e-01 4.00929923e+02] [-2.61965458e-01 -4.04352485e-03 9.65068779e-01 5.94884636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.20, Y:400.91, Z:59.49 [[ 8.14165893e-01 5.34384292e-01 2.27084408e-01 5.20201390e+02] [-5.18105710e-01 8.45173561e-01 -1.31332120e-01 4.00908225e+02] [-2.62107559e-01 -1.07275953e-02 9.64979039e-01 5.94851745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.23, Y:400.90, Z:59.47 [[ 8.13949748e-01 5.37300565e-01 2.20893439e-01 5.20228569e+02] [-5.17283290e-01 8.43381151e-01 -1.45348659e-01 4.00898895e+02] [-2.64393279e-01 4.04201906e-03 9.64406479e-01 5.94682124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2492541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:520.25, Y:400.86, Z:59.48 [[ 8.16676617e-01 5.28434084e-01 2.31941203e-01 5.20251670e+02] [-5.16951032e-01 8.48524800e-01 -1.12992456e-01 4.00862055e+02] [-2.56516928e-01 -2.76239479e-02 9.66144908e-01 5.94794289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.28, Y:400.86, Z:59.45 [[ 8.16682245e-01 5.35286430e-01 2.15635222e-01 5.20282451e+02] [-5.14916993e-01 8.44626611e-01 -1.46514090e-01 4.00864957e+02] [-2.60558251e-01 8.62121584e-03 9.65419636e-01 5.94534835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.3092541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:520.31, Y:400.85, Z:59.44 [[ 8.16918551e-01 5.35155045e-01 2.15065477e-01 5.20308051e+02] [-5.13145285e-01 8.44633240e-01 -1.52566732e-01 4.00852343e+02] [-2.63298307e-01 1.42747586e-02 9.64608850e-01 5.94375429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.33, Y:400.83, Z:59.43 [[ 8.17578923e-01 5.30721454e-01 2.23381832e-01 5.20331404e+02] [-5.12414842e-01 8.47545017e-01 -1.38197227e-01 4.00828057e+02] [-2.62670392e-01 -1.47702647e-03 9.64884492e-01 5.94346906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.36, Y:400.81, Z:59.43 [[ 8.18492186e-01 5.29617732e-01 2.22655787e-01 5.20358442e+02] [-5.11369550e-01 8.48235795e-01 -1.37830404e-01 4.00811041e+02] [-2.61862034e-01 -1.04628113e-03 9.65104751e-01 5.94252920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.399254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:520.39, Y:400.79, Z:59.42 [[ 8.19353977e-01 5.28983012e-01 2.20988762e-01 5.20385829e+02] [-5.10965354e-01 8.48632074e-01 -1.36886853e-01 4.00794363e+02] [-2.59948972e-01 -7.58813391e-04 9.65622057e-01 5.94167885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.41, Y:400.78, Z:59.41 [[ 8.18768473e-01 5.29313071e-01 2.22364255e-01 5.20412010e+02] [-5.11053671e-01 8.48426220e-01 -1.37829950e-01 4.00778581e+02] [-2.61614858e-01 -7.89251267e-04 9.65172028e-01 5.94076138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:520.44, Y:400.76, Z:59.40 [[ 8.18839204e-01 5.29575234e-01 2.21477832e-01 5.20439867e+02] [-5.11450719e-01 8.48262599e-01 -1.37363477e-01 4.00762356e+02] [-2.60615657e-01 -7.96396495e-04 9.65442306e-01 5.93997242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.4892541539998 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:520.46, Y:400.74, Z:59.40 [[ 8.18080724e-01 5.24654546e-01 2.35545190e-01 5.20463832e+02] [-5.10700564e-01 8.51067466e-01 -1.21938930e-01 4.00736708e+02] [-2.64440662e-01 -2.05371731e-02 9.64183261e-01 5.93975643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.5192541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:521.06, Y:401.44, Z:59.48 [[ 7.93835002e-01 2.27272584e-01 -5.64068402e-01 5.21060511e+02] [-5.00134162e-01 -2.83688221e-01 -8.18160628e-01 4.01443891e+02] [-3.45965042e-01 9.31594421e-01 -1.11534856e-01 5.94788306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.57, Y:400.68, Z:59.33 [[ 8.03305590e-01 5.26131703e-01 2.79079845e-01 5.20574893e+02] [-4.97927518e-01 8.50399638e-01 -1.69966596e-01 4.00682871e+02] [-3.26754214e-01 -2.42641741e-03 9.45106235e-01 5.93320024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.60, Y:400.67, Z:59.32 [[ 8.03206521e-01 5.26307788e-01 2.79032968e-01 5.20601716e+02] [-4.98087203e-01 8.50290738e-01 -1.70043522e-01 4.00666464e+02] [-3.26754378e-01 -2.40268471e-03 9.45106239e-01 5.93206231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.609254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.63, Y:400.65, Z:59.31 [[ 8.02603025e-01 5.27535284e-01 2.78450908e-01 5.20627846e+02] [-4.99481125e-01 8.49528417e-01 -1.69764764e-01 4.00651404e+02] [-3.26108862e-01 -2.82725999e-03 9.45327994e-01 5.93103039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.639254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:520.66, Y:400.64, Z:59.30 [[ 8.01021119e-01 5.30477570e-01 2.77414336e-01 5.20655488e+02] [-5.02786177e-01 8.47689776e-01 -1.69198415e-01 4.00636880e+02] [-3.24917261e-01 -3.94858983e-03 9.45734203e-01 5.92996162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:520.68, Y:400.62, Z:59.29 [[ 7.99419282e-01 5.32317307e-01 2.78508700e-01 5.20682707e+02] [-5.04468774e-01 8.46532351e-01 -1.69983043e-01 4.00621911e+02] [-3.26251541e-01 -4.61121994e-03 9.45271743e-01 5.92874044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.71, Y:400.61, Z:59.28 [[ 7.98564823e-01 5.33828862e-01 2.78066483e-01 5.20709207e+02] [-5.06119315e-01 8.45577079e-01 -1.69831216e-01 4.00607097e+02] [-3.25787450e-01 -5.11358281e-03 9.45429209e-01 5.92766753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.7292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:520.74, Y:400.59, Z:59.27 [[ 7.98386276e-01 5.34938537e-01 2.76441885e-01 5.20736195e+02] [-5.07588106e-01 8.44873504e-01 -1.68946969e-01 4.00591462e+02] [-3.23934668e-01 -5.43367158e-03 9.46063849e-01 5.92662418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.7592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:520.76, Y:400.58, Z:59.26 [[ 7.96846612e-01 5.36791165e-01 2.77291766e-01 5.20763382e+02] [-5.09336818e-01 8.43693063e-01 -1.69581898e-01 4.00576955e+02] [-3.24979204e-01 -6.10414470e-03 9.45701463e-01 5.92552265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.7892541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:520.79, Y:400.56, Z:59.25 [[ 7.97023960e-01 5.37040058e-01 2.76298358e-01 5.20789644e+02] [-5.09760742e-01 8.43534875e-01 -1.69094356e-01 4.00561488e+02] [-3.23877744e-01 -6.07380276e-03 9.46079445e-01 5.92450049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.819254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:520.82, Y:400.55, Z:59.23 [[ 7.96966088e-01 5.37325958e-01 2.75909167e-01 5.20816899e+02] [-5.10117751e-01 8.43352477e-01 -1.68927441e-01 4.00545897e+02] [-3.23457779e-01 -6.11672173e-03 9.46222834e-01 5.92342975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.849254154 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:520.84, Y:400.53, Z:59.22 [[ 7.97007681e-01 5.37809829e-01 2.74844220e-01 5.20843481e+02] [-5.09916627e-01 8.43057332e-01 -1.70995232e-01 4.00531558e+02] [-3.23672352e-01 -3.86312418e-03 9.46161342e-01 5.92226901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.87, Y:400.51, Z:59.21 [[ 7.96416475e-01 5.36103407e-01 2.79846272e-01 5.20868026e+02] [-5.09100606e-01 8.44109503e-01 -1.68213317e-01 4.00514547e+02] [-3.26400630e-01 -8.50204932e-03 9.45193284e-01 5.92122176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.90, Y:400.50, Z:59.20 [[ 7.97362017e-01 5.35193853e-01 2.78893085e-01 5.20895615e+02] [-5.07152572e-01 8.44714107e-01 -1.71039020e-01 4.00501074e+02] [-3.27123955e-01 -5.06132726e-03 9.44967884e-01 5.91995091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.92, Y:400.49, Z:59.19 [[ 7.98026722e-01 5.34257343e-01 2.78787451e-01 5.20921312e+02] [-5.06141787e-01 8.45309531e-01 -1.71091461e-01 4.00485866e+02] [-3.27068559e-01 -4.57042063e-03 9.44989560e-01 5.91883708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:520.95, Y:400.47, Z:59.18 [[ 7.99063336e-01 5.33026179e-01 2.78174188e-01 5.20948191e+02] [-5.04927664e-01 8.46089486e-01 -1.70823406e-01 4.00469633e+02] [-3.26413603e-01 -3.95912238e-03 9.45218750e-01 5.91777625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1027.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:520.97, Y:400.45, Z:59.17 [[ 8.00365283e-01 5.30556079e-01 2.79151680e-01 5.20974265e+02] [-5.02067389e-01 8.47645021e-01 -1.71540828e-01 4.00454382e+02] [-3.27633560e-01 -2.85763161e-03 9.44800553e-01 5.91658988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.0292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:521.00, Y:400.44, Z:59.16 [[ 8.01763029e-01 5.29058704e-01 2.77980094e-01 5.21001031e+02] [-5.00703909e-01 8.48582446e-01 -1.70890103e-01 4.00437953e+02] [-3.26299924e-01 -2.17235347e-03 9.45263794e-01 5.91556763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.03, Y:400.42, Z:59.14 [[ 8.03395152e-01 5.26352406e-01 2.78405053e-01 5.21027701e+02] [-4.97710991e-01 8.50265958e-01 -1.71264621e-01 4.00422157e+02] [-3.26863885e-01 -9.72088143e-04 9.45070926e-01 5.91432995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.089254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.05, Y:400.41, Z:59.13 [[ 8.04283123e-01 5.25370720e-01 2.77694552e-01 5.21054425e+02] [-4.96783798e-01 8.50873308e-01 -1.70939967e-01 4.00406166e+02] [-3.26089736e-01 -4.70023453e-04 9.45338703e-01 5.91320663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.08, Y:400.37, Z:59.14 [[ 8.06238530e-01 5.17083635e-01 2.87409024e-01 5.21080332e+02] [-4.98548023e-01 8.55407375e-01 -1.40456725e-01 4.00369602e+02] [-3.18479672e-01 -3.00455771e-02 9.47453409e-01 5.91396379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.149254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:521.11, Y:400.39, Z:59.10 [[ 8.06434777e-01 5.32826810e-01 2.56434282e-01 5.21111149e+02] [-4.95155427e-01 8.45537594e-01 -1.99718001e-01 4.00392903e+02] [-3.23239931e-01 3.40847157e-02 9.45703008e-01 5.90987393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.13, Y:400.36, Z:59.10 [[ 8.06930202e-01 5.22453052e-01 2.75511265e-01 5.21131421e+02] [-4.94078501e-01 8.52667554e-01 -1.69836620e-01 4.00361428e+02] [-3.23651177e-01 9.22105710e-04 9.46176022e-01 5.90990805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.16, Y:400.35, Z:59.09 [[ 8.07416299e-01 5.22057383e-01 2.74836330e-01 5.21157896e+02] [-4.93780202e-01 8.52909603e-01 -1.69488410e-01 4.00345676e+02] [-3.22893221e-01 1.13896608e-03 9.46434716e-01 5.90883974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2392541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:521.18, Y:400.33, Z:59.08 [[ 8.08823376e-01 5.20504269e-01 2.73642199e-01 5.21184262e+02] [-4.92352931e-01 8.53857048e-01 -1.68868981e-01 4.00330167e+02] [-3.21548346e-01 1.85664096e-03 9.46891342e-01 5.90785742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.21, Y:400.31, Z:59.07 [[ 8.08553121e-01 5.20241159e-01 2.74938152e-01 5.21210632e+02] [-4.91776099e-01 8.54016976e-01 -1.69738835e-01 4.00313960e+02] [-3.23106977e-01 2.03485320e-03 9.46360260e-01 5.90663808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.24, Y:400.30, Z:59.06 [[ 8.08911022e-01 5.19393671e-01 2.75487157e-01 5.21237273e+02] [-4.90724690e-01 8.54531484e-01 -1.70191721e-01 4.00297570e+02] [-3.23808952e-01 2.48160867e-03 9.46119234e-01 5.90552235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.329254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:521.26, Y:400.29, Z:59.04 [[ 8.10307955e-01 5.20279240e-01 2.69648902e-01 5.21264835e+02] [-4.86941704e-01 8.53808876e-01 -1.84114587e-01 4.00290134e+02] [-3.26019623e-01 1.78862185e-02 9.45193784e-01 5.90365123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.29, Y:400.27, Z:59.03 [[ 8.10484982e-01 5.15785075e-01 2.77632581e-01 5.21288504e+02] [-4.84685263e-01 8.56675171e-01 -1.76600814e-01 4.00271372e+02] [-3.28929003e-01 8.56788725e-03 9.44315785e-01 5.90271819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.31, Y:400.24, Z:59.03 [[ 8.11541745e-01 5.07830191e-01 2.88978361e-01 5.21312841e+02] [-4.85349746e-01 8.61266901e-01 -1.50515614e-01 4.00237898e+02] [-3.25323870e-01 -1.81058703e-02 9.45429298e-01 5.90338338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4192541539999 meters Centerline goodness : 0.996644 Centerline is valid? [True, True] Translation: X:521.34, Y:400.24, Z:59.01 [[ 8.12740971e-01 5.17092035e-01 2.68454728e-01 5.21344549e+02] [-4.84109086e-01 8.55729987e-01 -1.82659745e-01 4.00241029e+02] [-3.24176660e-01 1.84936862e-02 9.45815773e-01 5.90084623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.59, Y:399.92, Z:59.74 [[ 8.18339827e-01 -1.94251161e-01 5.40912575e-01 5.21587305e+02] [-4.97684673e-01 2.31211879e-01 8.35973106e-01 3.99920151e+02] [-2.87454159e-01 -9.53313985e-01 9.25340631e-02 5.97425974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.4792541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:521.50, Y:400.13, Z:58.97 [[ 8.25357324e-01 5.19696129e-01 2.20683532e-01 5.21503862e+02] [-5.00804790e-01 8.54341194e-01 -1.38908917e-01 4.00133453e+02] [-2.60729459e-01 4.13012212e-03 9.65403072e-01 5.89741660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.5092541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:521.53, Y:400.12, Z:58.97 [[ 8.25550300e-01 5.19964557e-01 2.19325244e-01 5.21532111e+02] [-5.01294418e-01 8.54178004e-01 -1.38144290e-01 4.00118445e+02] [-2.59172934e-01 4.09853912e-03 9.65822237e-01 5.89664416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.5392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:521.56, Y:400.10, Z:58.96 [[ 8.24585333e-01 5.21160071e-01 2.20116355e-01 5.21559554e+02] [-5.02369589e-01 8.53450409e-01 -1.38734265e-01 4.00102663e+02] [-2.60161153e-01 3.81847747e-03 9.65557660e-01 5.89559072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.569254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:521.59, Y:400.09, Z:58.95 [[ 8.24260403e-01 5.21815120e-01 2.19781184e-01 5.21586838e+02] [-5.03081393e-01 8.53050640e-01 -1.38613552e-01 4.00087135e+02] [-2.59815128e-01 3.68583787e-03 9.65651342e-01 5.89469134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.599254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.61, Y:400.07, Z:58.94 [[ 8.23672054e-01 5.22977035e-01 2.19224469e-01 5.21614325e+02] [-5.04355437e-01 8.52340023e-01 -1.38354898e-01 4.00073658e+02] [-2.59210223e-01 3.39201005e-03 9.65814969e-01 5.89383037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.629254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:521.64, Y:400.06, Z:58.93 [[ 8.23920208e-01 5.22961982e-01 2.18326033e-01 5.21642371e+02] [-5.04472236e-01 8.52348998e-01 -1.37872941e-01 4.00058510e+02] [-2.58192282e-01 3.45687942e-03 9.66087364e-01 5.89301586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.67, Y:400.04, Z:58.92 [[ 8.22289853e-01 5.24986445e-01 2.19610179e-01 5.21670733e+02] [-5.06321121e-01 8.51105582e-01 -1.38773957e-01 4.00043921e+02] [-2.59765896e-01 2.91914454e-03 9.65667209e-01 5.89205822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.70, Y:400.03, Z:58.91 [[ 8.21505024e-01 5.25851016e-01 2.20477219e-01 5.21697991e+02] [-5.07040874e-01 8.50572283e-01 -1.39414286e-01 4.00028550e+02] [-2.60842956e-01 2.73857390e-03 9.65377363e-01 5.89117280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.73, Y:400.02, Z:58.90 [[ 8.19962791e-01 5.27756398e-01 2.21662368e-01 5.21726469e+02] [-5.08782513e-01 8.49392854e-01 -1.40257384e-01 4.00015436e+02] [-2.62300164e-01 2.22789950e-03 9.64983762e-01 5.89028293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.75, Y:400.00, Z:58.89 [[ 8.19033865e-01 5.28955554e-01 2.22237597e-01 5.21754421e+02] [-5.09900917e-01 8.48647344e-01 -1.40707995e-01 4.00000742e+02] [-2.63029622e-01 1.92545865e-03 9.64785837e-01 5.88935451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.7792541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:521.78, Y:399.99, Z:58.88 [[ 8.18438921e-01 5.29707152e-01 2.22638867e-01 5.21781847e+02] [-5.10583747e-01 8.48178753e-01 -1.41056867e-01 3.99986657e+02] [-2.63556387e-01 1.77064306e-03 9.64642367e-01 5.88841703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.8092541539997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:521.81, Y:399.97, Z:58.87 [[ 8.17416603e-01 5.31043545e-01 2.23210329e-01 5.21809664e+02] [-5.11844710e-01 8.47343339e-01 -1.41507099e-01 3.99971853e+02] [-2.64282217e-01 1.42122648e-03 9.64444343e-01 5.88745855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.839254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:521.84, Y:399.96, Z:58.87 [[ 8.15060830e-01 5.34241760e-01 2.24190958e-01 5.21837986e+02] [-5.14962279e-01 8.45331603e-01 -1.42226344e-01 3.99958580e+02] [-2.65498954e-01 4.73234955e-04 9.64111032e-01 5.88651744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.87, Y:399.96, Z:58.84 [[ 8.13903366e-01 5.38706888e-01 2.17614796e-01 5.21867722e+02] [-5.14119873e-01 8.42253786e-01 -1.62139807e-01 3.99955936e+02] [-2.70632717e-01 2.00860434e-02 9.62473108e-01 5.88428551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.89, Y:399.92, Z:58.85 [[ 8.12369558e-01 5.34073598e-01 2.34139046e-01 5.21890308e+02] [-5.18527515e-01 8.45274702e-01 -1.28995715e-01 3.99923383e+02] [-2.66805018e-01 -1.66153459e-02 9.63607292e-01 5.88496113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:521.92, Y:399.91, Z:58.84 [[ 8.11112261e-01 5.38993565e-01 2.27118554e-01 5.21920064e+02] [-5.21019181e-01 8.42286635e-01 -1.38174663e-01 3.99913010e+02] [-2.65774177e-01 -6.25795969e-03 9.64015002e-01 5.88387537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.95, Y:399.90, Z:58.83 [[ 8.10306096e-01 5.41605199e-01 2.23758441e-01 5.21949095e+02] [-5.22612424e-01 8.40631203e-01 -1.42180992e-01 3.99900186e+02] [-2.65104292e-01 -1.72881638e-03 9.64218194e-01 5.88277097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1028.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:521.98, Y:399.89, Z:58.82 [[ 8.09016654e-01 5.43731518e-01 2.23266857e-01 5.21976775e+02] [-5.24877071e-01 8.39255964e-01 -1.41962977e-01 3.99886716e+02] [-2.64567787e-01 -2.33724097e-03 9.64364259e-01 5.88172900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.0192541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:522.01, Y:399.90, Z:58.78 [[ 8.09339356e-01 5.49098296e-01 2.08472705e-01 5.22006895e+02] [-5.18402782e-01 8.34681720e-01 -1.85916601e-01 3.99903330e+02] [-2.76094845e-01 4.23967914e-02 9.60194849e-01 5.87812027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.0492541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:522.02, Y:399.83, Z:58.82 [[ 8.08352371e-01 5.32652602e-01 2.50694337e-01 5.22020157e+02] [-5.26275094e-01 8.44677735e-01 -9.77448202e-02 3.99832305e+02] [-2.63819958e-01 -5.29219286e-02 9.63119047e-01 5.88162219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.06, Y:399.84, Z:58.79 [[ 8.06488355e-01 5.47052297e-01 2.24299615e-01 5.22056580e+02] [-5.28063756e-01 8.37092375e-01 -1.42916146e-01 3.99839817e+02] [-2.65942104e-01 -3.18428957e-03 9.63983744e-01 5.87903859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.109254154 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:522.08, Y:399.82, Z:58.78 [[ 8.06231907e-01 5.47288875e-01 2.24644161e-01 5.22082532e+02] [-5.28223342e-01 8.36937721e-01 -1.43231813e-01 3.99824166e+02] [-2.66402350e-01 -3.18423177e-03 9.63856654e-01 5.87807985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.139254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:522.11, Y:399.81, Z:58.77 [[ 8.05465465e-01 5.48042566e-01 2.25554277e-01 5.22110020e+02] [-5.28823452e-01 8.36443655e-01 -1.43901945e-01 3.99808235e+02] [-2.67527835e-01 -3.37034434e-03 9.63544238e-01 5.87712101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.14, Y:399.79, Z:58.76 [[ 8.05085139e-01 5.48708659e-01 2.25292535e-01 5.22136942e+02] [-5.29534615e-01 8.36006288e-01 -1.43828291e-01 3.99791741e+02] [-2.67265805e-01 -3.50617649e-03 9.63616468e-01 5.87623263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.1992541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:522.16, Y:399.78, Z:58.75 [[ 8.04668267e-01 5.49167617e-01 2.25663264e-01 5.22163132e+02] [-5.29920557e-01 8.35704549e-01 -1.44160014e-01 3.99775166e+02] [-2.67755827e-01 -3.58261393e-03 9.63480141e-01 5.87526336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.2292541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:522.19, Y:399.76, Z:58.74 [[ 8.04075152e-01 5.50025582e-01 2.25687860e-01 5.22188733e+02] [-5.30780679e-01 8.35139228e-01 -1.44271762e-01 3.99758793e+02] [-2.67833945e-01 -3.78541701e-03 9.63457653e-01 5.87437206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.2592541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:522.22, Y:399.74, Z:58.73 [[ 8.03813976e-01 5.50555268e-01 2.25326407e-01 5.22216350e+02] [-5.31377280e-01 8.34789586e-01 -1.44099043e-01 3.99743094e+02] [-2.67434625e-01 -3.90450838e-03 9.63568096e-01 5.87349902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.2892541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:522.24, Y:399.73, Z:58.73 [[ 8.02457652e-01 5.52398959e-01 2.25648192e-01 5.22242137e+02] [-5.33208743e-01 8.33568046e-01 -1.44404811e-01 3.99725559e+02] [-2.67862190e-01 -4.43884288e-03 9.63447012e-01 5.87263797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.319254154 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:522.27, Y:399.71, Z:58.72 [[ 8.02241451e-01 5.52343929e-01 2.26549859e-01 5.22268174e+02] [-5.34051426e-01 8.33580520e-01 -1.41182828e-01 3.99707564e+02] [-2.66829027e-01 -7.72655857e-03 9.63712909e-01 5.87188861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.349254154 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:522.29, Y:399.69, Z:58.71 [[ 8.01419548e-01 5.53696469e-01 2.26156867e-01 5.22294772e+02] [-5.35131848e-01 8.32689601e-01 -1.42344422e-01 3.99690551e+02] [-2.67134076e-01 -6.94613949e-03 9.63634338e-01 5.87092333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.379254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:522.32, Y:399.68, Z:58.70 [[ 8.00497987e-01 5.56543475e-01 2.22401290e-01 5.22321537e+02] [-5.36203851e-01 8.30818484e-01 -1.49084131e-01 3.99677512e+02] [-2.67746902e-01 8.91184688e-05 9.63489278e-01 5.86973474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.35, Y:399.65, Z:58.69 [[ 8.00286971e-01 5.55565920e-01 2.25582076e-01 5.22346956e+02] [-5.37470431e-01 8.31429167e-01 -1.40893849e-01 3.99654199e+02] [-2.65831338e-01 -8.48818407e-03 9.63982184e-01 5.86916507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4392541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:522.37, Y:399.64, Z:58.68 [[ 8.00060071e-01 5.57022225e-01 2.22778193e-01 5.22371699e+02] [-5.37054801e-01 8.30496428e-01 -1.47810093e-01 3.99642022e+02] [-2.67350001e-01 -1.38714425e-03 9.63598492e-01 5.86783332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4692541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:522.40, Y:399.62, Z:58.67 [[ 8.00445554e-01 5.55305196e-01 2.25661372e-01 5.22397141e+02] [-5.37385186e-01 8.31597660e-01 -1.40223018e-01 3.99618651e+02] [-2.65526039e-01 -9.02618730e-03 9.64061435e-01 5.86742354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.4992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:522.42, Y:399.60, Z:58.66 [[ 8.00252734e-01 5.56630217e-01 2.23065827e-01 5.22424248e+02] [-5.37589655e-01 8.30748959e-01 -1.44407516e-01 3.99603971e+02] [-2.65693290e-01 -4.35537158e-03 9.64047772e-01 5.86638578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.5292541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:522.45, Y:399.59, Z:58.65 [[ 8.00778970e-01 5.56216264e-01 2.22208256e-01 5.22447863e+02] [-5.36021451e-01 8.31037566e-01 -1.48517906e-01 3.99587846e+02] [-2.67271483e-01 -1.78375929e-04 9.63621255e-01 5.86530577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.5592541539997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:522.47, Y:399.57, Z:58.65 [[ 8.01406645e-01 5.54152207e-01 2.25083807e-01 5.22471302e+02] [-5.34952795e-01 8.32403370e-01 -1.44672515e-01 3.99567668e+02] [-2.67531113e-01 -4.46769665e-03 9.63538864e-01 5.86456707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.50, Y:399.55, Z:58.63 [[ 8.02756857e-01 5.52812336e-01 2.23561959e-01 5.22497026e+02] [-5.32186910e-01 8.33305033e-01 -1.49598847e-01 3.99548935e+02] [-2.68995394e-01 1.11475208e-03 9.63140818e-01 5.86347808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.619254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:522.52, Y:399.53, Z:58.63 [[ 8.03323050e-01 5.50003485e-01 2.28403688e-01 5.22519530e+02] [-5.31414770e-01 8.35130208e-01 -1.41971397e-01 3.99526945e+02] [-2.68831583e-01 -7.32819762e-03 9.63159321e-01 5.86300237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.55, Y:399.51, Z:58.62 [[ 8.03781710e-01 5.50084068e-01 2.26588793e-01 5.22545110e+02] [-5.30401031e-01 8.35104106e-01 -1.45862537e-01 3.99510656e+02] [-2.69461889e-01 -2.94128988e-03 9.63006562e-01 5.86203362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.6792541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:522.57, Y:399.51, Z:58.59 [[ 8.05425720e-01 5.51297248e-01 2.17625259e-01 5.22572661e+02] [-5.24413795e-01 8.33957161e-01 -1.71772018e-01 3.99510726e+02] [-2.76187584e-01 2.42239133e-02 9.60798429e-01 5.85947618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.59, Y:399.46, Z:58.61 [[ 8.06083843e-01 5.39652973e-01 2.42906375e-01 5.22587792e+02] [-5.26826917e-01 8.41333692e-01 -1.20876048e-01 3.99458943e+02] [-2.69596436e-01 -3.05333869e-02 9.62489207e-01 5.86126902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7392541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:522.62, Y:399.46, Z:58.59 [[ 8.07480753e-01 5.46381333e-01 2.22356185e-01 5.22618968e+02] [-5.23441772e-01 8.37472153e-01 -1.57000333e-01 3.99461828e+02] [-2.71999164e-01 1.03842320e-02 9.62241458e-01 5.85868449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.64, Y:399.43, Z:58.59 [[ 8.08253298e-01 5.40995502e-01 2.32487575e-01 5.22639184e+02] [-5.24186136e-01 8.40922041e-01 -1.34458231e-01 3.99428859e+02] [-2.68245225e-01 -1.31904549e-02 9.63260355e-01 5.85896062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.7992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:522.67, Y:399.42, Z:58.58 [[ 8.08803632e-01 5.43267544e-01 2.25160079e-01 5.22667360e+02] [-5.23468107e-01 8.39559571e-01 -1.45330202e-01 3.99416128e+02] [-2.67988482e-01 -3.20525124e-04 9.63422063e-01 5.85756032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.829254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:522.69, Y:399.40, Z:58.57 [[ 8.09801738e-01 5.41897434e-01 2.24874002e-01 5.22692126e+02] [-5.22071004e-01 8.40444599e-01 -1.45240294e-01 3.99395956e+02] [-2.67699483e-01 2.15646472e-04 9.63502434e-01 5.85670943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.72, Y:399.38, Z:58.56 [[ 8.10175359e-01 5.41515109e-01 2.24448822e-01 5.22717100e+02] [-5.21724487e-01 8.40690911e-01 -1.45059825e-01 3.99378144e+02] [-2.67244172e-01 4.23449037e-04 9.63628753e-01 5.85590738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.889254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:522.74, Y:399.36, Z:58.55 [[ 8.10408452e-01 5.41215327e-01 2.24330360e-01 5.22742383e+02] [-5.21410492e-01 8.40883828e-01 -1.45070627e-01 3.99359825e+02] [-2.67150219e-01 5.98258750e-04 9.63654711e-01 5.85500130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.77, Y:399.34, Z:58.54 [[ 8.10783079e-01 5.40784100e-01 2.24016421e-01 5.22766705e+02] [-5.20993078e-01 8.41161031e-01 -1.44963209e-01 3.99340839e+02] [-2.66827682e-01 8.22711857e-04 9.63743903e-01 5.85416315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9492541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:522.79, Y:399.32, Z:58.53 [[ 8.10670893e-01 5.40893511e-01 2.24158232e-01 5.22791823e+02] [-5.21056400e-01 8.41090638e-01 -1.45143950e-01 3.99322335e+02] [-2.67044811e-01 8.64893703e-04 9.63683725e-01 5.85313367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1029.9792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:522.82, Y:399.30, Z:58.52 [[ 8.10371383e-01 5.41444242e-01 2.23911490e-01 5.22817413e+02] [-5.21646008e-01 8.40736313e-01 -1.45078925e-01 3.99304376e+02] [-2.66802669e-01 7.65274328e-04 9.63750876e-01 5.85233043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.0092541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:522.84, Y:399.28, Z:58.51 [[ 8.10153241e-01 5.41783016e-01 2.23881420e-01 5.22842612e+02] [-5.21978556e-01 8.40518073e-01 -1.45147360e-01 3.99284682e+02] [-2.66814754e-01 7.30303479e-04 9.63747557e-01 5.85138106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.87, Y:399.27, Z:58.51 [[ 8.09651103e-01 5.42386358e-01 2.24236773e-01 5.22868678e+02] [-5.22514472e-01 8.40128955e-01 -1.45471526e-01 3.99265887e+02] [-2.67289577e-01 6.14221932e-04 9.63616057e-01 5.85058795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.069254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.89, Y:399.26, Z:58.49 [[ 8.10072056e-01 5.43415644e-01 2.20187882e-01 5.22894044e+02] [-5.20664789e-01 8.39381466e-01 -1.56035034e-01 3.99255432e+02] [-2.69613505e-01 1.17555436e-02 9.62896861e-01 5.84898552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.099254154 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:522.92, Y:399.23, Z:58.49 [[ 8.09840785e-01 5.40508742e-01 2.28053071e-01 5.22916038e+02] [-5.21523756e-01 8.41329367e-01 -1.42048822e-01 3.99228935e+02] [-2.68646376e-01 -3.89816476e-03 9.63230984e-01 5.84866698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.129254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:522.94, Y:399.21, Z:58.48 [[ 8.09341695e-01 5.42439337e-01 2.25223416e-01 5.22942056e+02] [-5.22822252e-01 8.40094637e-01 -1.44561038e-01 3.99211794e+02] [-2.67624577e-01 -7.52538411e-04 9.63522973e-01 5.84768500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.1592541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:522.97, Y:399.19, Z:58.47 [[ 8.08872282e-01 5.43573277e-01 2.24173423e-01 5.22967411e+02] [-5.23841865e-01 8.39361716e-01 -1.45126186e-01 3.99193994e+02] [-2.67049305e-01 -4.28750016e-05 9.63682866e-01 5.84668089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:522.99, Y:399.18, Z:58.46 [[ 8.06806458e-01 5.47458322e-01 2.22154731e-01 5.22992169e+02] [-5.26395009e-01 8.36821105e-01 -1.50461733e-01 3.99178435e+02] [-2.68275295e-01 4.45235623e-03 9.63332000e-01 5.84555904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2192541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:523.01, Y:399.16, Z:58.45 [[ 8.06103886e-01 5.46571692e-01 2.26838954e-01 5.23014682e+02] [-5.27718709e-01 8.37397874e-01 -1.42400018e-01 3.99155876e+02] [-2.67786276e-01 -4.91795172e-03 9.63465788e-01 5.84493084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:523.04, Y:399.12, Z:58.45 [[ 8.03246564e-01 5.48825796e-01 2.31484778e-01 5.23038078e+02] [-5.33878693e-01 8.35694349e-01 -1.28796336e-01 3.99124602e+02] [-2.64137273e-01 -2.01295764e-02 9.64275013e-01 5.84520216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.2792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:523.07, Y:399.13, Z:58.42 [[ 8.02475005e-01 5.56376001e-01 2.15591307e-01 5.23068262e+02] [-5.32463617e-01 8.30790318e-01 -1.62080057e-01 3.99127409e+02] [-2.69288624e-01 1.52706679e-02 9.62938442e-01 5.84246694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.3092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.09, Y:399.10, Z:58.42 [[ 8.00385790e-01 5.55439238e-01 2.25543434e-01 5.23088923e+02] [-5.34850254e-01 8.31556821e-01 -1.49828102e-01 3.99102266e+02] [-2.70772588e-01 -7.11678810e-04 9.62643080e-01 5.84211041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.339254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:523.11, Y:399.07, Z:58.43 [[ 7.99284591e-01 5.52776120e-01 2.35759844e-01 5.23110314e+02] [-5.39712992e-01 8.32825493e-01 -1.22929189e-01 3.99065787e+02] [-2.64299128e-01 -2.89872440e-02 9.64005037e-01 5.84296246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.14, Y:399.08, Z:58.39 [[ 7.98362007e-01 5.63723032e-01 2.11741468e-01 5.23143379e+02] [-5.37426405e-01 8.25634348e-01 -1.71757921e-01 3.99078657e+02] [-2.71644925e-01 2.33295426e-02 9.62114737e-01 5.83929002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.399254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:523.16, Y:399.04, Z:58.40 [[ 7.97808637e-01 5.57792732e-01 2.28841970e-01 5.23163249e+02] [-5.39181331e-01 8.29929753e-01 -1.43178551e-01 3.99044358e+02] [-2.69786715e-01 -9.15823366e-03 9.62876553e-01 5.83969164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.18, Y:399.01, Z:58.41 [[ 7.95939181e-01 5.57677678e-01 2.35534345e-01 5.23184974e+02] [-5.46060066e-01 8.29343849e-01 -1.18351952e-01 3.99006782e+02] [-2.61341202e-01 -3.44149445e-02 9.64632774e-01 5.84073717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4592541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:523.22, Y:399.00, Z:58.39 [[ 7.95300355e-01 5.65400638e-01 2.18676620e-01 5.23215811e+02] [-5.47023020e-01 8.24795924e-01 -1.43099614e-01 3.99001652e+02] [-2.61272198e-01 -5.81397146e-03 9.65247656e-01 5.83868118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.24, Y:398.98, Z:58.38 [[ 7.93816651e-01 5.67518293e-01 2.18582047e-01 5.23241271e+02] [-5.49210181e-01 8.23335699e-01 -1.43131075e-01 3.98981506e+02] [-2.61195906e-01 -6.42765535e-03 9.65264412e-01 5.83784592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.5192541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:523.27, Y:398.96, Z:58.37 [[ 7.93973048e-01 5.67608775e-01 2.17777587e-01 5.23266615e+02] [-5.49415446e-01 8.23273910e-01 -1.42698063e-01 3.98964128e+02] [-2.60287278e-01 -6.35195413e-03 9.65510324e-01 5.83679376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.5492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:523.29, Y:398.95, Z:58.36 [[ 7.93265271e-01 5.68623897e-01 2.17708690e-01 5.23292545e+02] [-5.50454464e-01 8.22571132e-01 -1.42746683e-01 3.98946183e+02] [-2.60250058e-01 -6.60273433e-03 9.65518675e-01 5.83594120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.579254154 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:523.32, Y:398.93, Z:58.35 [[ 7.93321374e-01 5.68891956e-01 2.16802074e-01 5.23317832e+02] [-5.50860918e-01 8.22385932e-01 -1.42244954e-01 3.98928857e+02] [-2.59216986e-01 -6.58182730e-03 9.65796683e-01 5.83498119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.609254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:523.34, Y:398.91, Z:58.34 [[ 7.93374267e-01 5.69064255e-01 2.16155375e-01 5.23344285e+02] [-5.51125719e-01 8.22267018e-01 -1.41906279e-01 3.98911221e+02] [-2.58491227e-01 -6.54399682e-03 9.65991440e-01 5.83406999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.639254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:523.37, Y:398.89, Z:58.33 [[ 7.93627725e-01 5.68952616e-01 2.15517877e-01 5.23371616e+02] [-5.51093134e-01 8.22345327e-01 -1.41578673e-01 3.98894230e+02] [-2.57781676e-01 -6.40966274e-03 9.66181931e-01 5.83318349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:523.40, Y:398.88, Z:58.32 [[ 7.94014062e-01 5.68742972e-01 2.14646458e-01 5.23398445e+02] [-5.50998071e-01 8.22491667e-01 -1.41097779e-01 3.98877140e+02] [-2.56793293e-01 -6.23616371e-03 9.66446230e-01 5.83226021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.43, Y:398.86, Z:58.31 [[ 7.94069475e-01 5.68657065e-01 2.14669076e-01 5.23425035e+02] [-5.50880936e-01 8.22551854e-01 -1.41204258e-01 3.98859969e+02] [-2.56873245e-01 -6.13111080e-03 9.66425654e-01 5.83146780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.45, Y:398.84, Z:58.31 [[ 7.95459912e-01 5.66731822e-01 2.14612606e-01 5.23451244e+02] [-5.48871550e-01 8.23884446e-01 -1.41260193e-01 3.98843309e+02] [-2.56872635e-01 -5.42793288e-03 9.66430022e-01 5.83066014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.48, Y:398.83, Z:58.30 [[ 7.95979069e-01 5.65949617e-01 2.14751839e-01 5.23477725e+02] [-5.48014852e-01 8.24424021e-01 -1.41438169e-01 3.98825566e+02] [-2.57093452e-01 -5.10537491e-03 9.66373061e-01 5.82982998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.7892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:523.50, Y:398.81, Z:58.29 [[ 7.96676751e-01 5.64818276e-01 2.15142907e-01 5.23503777e+02] [-5.46752556e-01 8.25202086e-01 -1.41785617e-01 3.98808134e+02] [-2.57619484e-01 -4.67262988e-03 9.66235152e-01 5.82888856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.819254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:523.53, Y:398.79, Z:58.28 [[ 7.98408295e-01 5.62154936e-01 2.15698916e-01 5.23528833e+02] [-5.43873586e-01 8.27023468e-01 -1.42245231e-01 3.98791137e+02] [-2.58351924e-01 -3.74317046e-03 9.66043618e-01 5.82796840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.56, Y:398.77, Z:58.27 [[ 7.98982745e-01 5.61164023e-01 2.16151595e-01 5.23555481e+02] [-5.42745805e-01 8.27697815e-01 -1.42630004e-01 3.98772714e+02] [-2.58947029e-01 -3.35645912e-03 9.65885692e-01 5.82717722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.879254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:523.58, Y:398.75, Z:58.26 [[ 8.01653218e-01 5.57181100e-01 2.16567172e-01 5.23580877e+02] [-5.38522741e-01 8.30388615e-01 -1.42996527e-01 3.98754600e+02] [-2.59509876e-01 -1.99272128e-03 9.65738398e-01 5.82622165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:523.61, Y:398.74, Z:58.25 [[ 8.03135915e-01 5.55190160e-01 2.16186468e-01 5.23606650e+02] [-5.36502817e-01 8.31722479e-01 -1.42837131e-01 3.98737049e+02] [-2.59108914e-01 -1.26701907e-03 9.65847278e-01 5.82529754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9392541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:523.63, Y:398.72, Z:58.24 [[ 8.04308181e-01 5.53356706e-01 2.16528765e-01 5.23631903e+02] [-5.34518819e-01 8.32944176e-01 -1.43155974e-01 3.98719867e+02] [-2.59572692e-01 -5.97178831e-04 9.65723388e-01 5.82439637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.66, Y:398.70, Z:58.24 [[ 8.05445917e-01 5.51390352e-01 2.17314412e-01 5.23658732e+02] [-5.32319340e-01 8.34247366e-01 -1.43761794e-01 3.98701372e+02] [-2.60562842e-01 1.11685863e-04 9.65456883e-01 5.82381777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1030.9992541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:523.69, Y:398.68, Z:58.23 [[ 8.06290542e-01 5.50305222e-01 2.16932534e-01 5.23685216e+02] [-5.31238843e-01 8.34963394e-01 -1.43601609e-01 3.98684127e+02] [-2.60155440e-01 5.41630920e-04 9.65566597e-01 5.82275141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.0292541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:523.71, Y:398.64, Z:58.25 [[ 8.07348132e-01 5.42402267e-01 2.32354845e-01 5.23708674e+02] [-5.33800913e-01 8.39169439e-01 -1.04169276e-01 3.98642566e+02] [-2.51486737e-01 -3.99303585e-02 9.67036705e-01 5.82477519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.0592541539997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:523.75, Y:398.67, Z:58.20 [[ 8.05635813e-01 5.60035452e-01 1.93161147e-01 5.23746680e+02] [-5.31985710e-01 8.27388018e-01 -1.80056305e-01 3.98670792e+02] [-2.60657133e-01 4.23008374e-02 9.64504276e-01 5.81952546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.089254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:523.76, Y:398.63, Z:58.20 [[ 8.06044106e-01 5.51001391e-01 2.16079537e-01 5.23764433e+02] [-5.32064064e-01 8.34504192e-01 -1.43215173e-01 3.98634677e+02] [-2.59231039e-01 4.69589393e-04 9.65815225e-01 5.82011623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.119254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:523.79, Y:398.62, Z:58.19 [[ 8.05406681e-01 5.52220763e-01 2.15342302e-01 5.23791333e+02] [-5.33434713e-01 8.33697911e-01 -1.42811765e-01 3.98618045e+02] [-2.58394050e-01 1.50490689e-04 9.66039592e-01 5.81924641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.149254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:523.82, Y:398.60, Z:58.18 [[ 8.05005751e-01 5.52943893e-01 2.14985564e-01 5.23817550e+02] [-5.34222326e-01 8.33218489e-01 -1.42665536e-01 3.98601307e+02] [-2.58015983e-01 -3.51113784e-06 9.66140648e-01 5.81840571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.1792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:523.84, Y:398.58, Z:58.17 [[ 8.04571620e-01 5.53597476e-01 2.14928694e-01 5.23844553e+02] [-5.34886599e-01 8.32784375e-01 -1.42711286e-01 3.98584009e+02] [-2.57993866e-01 -1.41027928e-04 9.66146545e-01 5.81748050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2092541539998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:523.87, Y:398.57, Z:58.17 [[ 8.03901650e-01 5.54534555e-01 2.15019916e-01 5.23871681e+02] [-5.35815989e-01 8.32160619e-01 -1.42863327e-01 3.98567727e+02] [-2.58153758e-01 -3.63044962e-04 9.66103776e-01 5.81665410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.90, Y:398.55, Z:58.16 [[ 8.02935285e-01 5.55423508e-01 2.16332278e-01 5.23898065e+02] [-5.36477843e-01 8.31567436e-01 -1.43830191e-01 3.98551387e+02] [-2.59781547e-01 -5.71137804e-04 9.65667242e-01 5.81602450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:523.93, Y:398.53, Z:58.15 [[ 8.02745938e-01 5.55750397e-01 2.16195410e-01 5.23925239e+02] [-5.36825674e-01 8.31348965e-01 -1.43795321e-01 3.98534166e+02] [-2.59648137e-01 -6.28136462e-04 9.65703086e-01 5.81517807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.2992541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:523.95, Y:398.52, Z:58.14 [[ 8.03412342e-01 5.55114336e-01 2.15352460e-01 5.23951921e+02] [-5.36292786e-01 8.31773982e-01 -1.43325124e-01 3.98518003e+02] [-2.58686404e-01 -3.42796915e-04 9.65961297e-01 5.81418376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.329254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:523.98, Y:398.50, Z:58.13 [[ 8.03246832e-01 5.55265069e-01 2.15581143e-01 5.23978483e+02] [-5.36383739e-01 8.31673376e-01 -1.43568382e-01 3.98500893e+02] [-2.59011605e-01 -3.13371474e-04 9.65874159e-01 5.81335660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.359254154 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:524.00, Y:398.49, Z:58.12 [[ 8.02679363e-01 5.56415396e-01 2.14727145e-01 5.24002041e+02] [-5.37417077e-01 8.30904212e-01 -1.44156432e-01 3.98486192e+02] [-2.58628547e-01 3.13358419e-04 9.65976799e-01 5.81249424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.389254154 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:524.03, Y:398.47, Z:58.12 [[ 8.02455698e-01 5.56128941e-01 2.16299453e-01 5.24027292e+02] [-5.37761889e-01 8.31092096e-01 -1.41767698e-01 3.98467382e+02] [-2.58605885e-01 -2.55530534e-03 9.65979537e-01 5.81172418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:524.05, Y:398.44, Z:58.12 [[ 8.03127388e-01 5.50495257e-01 2.27906496e-01 5.24051130e+02] [-5.37917806e-01 8.34424384e-01 -1.19918228e-01 3.98436450e+02] [-2.56185153e-01 -2.62853485e-02 9.66270277e-01 5.81231849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4492541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:524.08, Y:398.43, Z:58.10 [[ 8.02870784e-01 5.57190200e-01 2.11984868e-01 5.24081694e+02] [-5.37914816e-01 8.30380713e-01 -1.45311811e-01 3.98433966e+02] [-2.56994463e-01 2.63680620e-03 9.66409278e-01 5.81015672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.4792541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:524.11, Y:398.42, Z:58.09 [[ 8.02520936e-01 5.58353019e-01 2.10242843e-01 5.24108582e+02] [-5.37212461e-01 8.29549958e-01 -1.52478323e-01 3.98421801e+02] [-2.59543673e-01 9.42197132e-03 9.65685409e-01 5.80881443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.5092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.13, Y:398.41, Z:58.08 [[ 8.01770988e-01 5.58300404e-01 2.13222753e-01 5.24134985e+02] [-5.36439264e-01 8.29579714e-01 -1.55017467e-01 3.98408203e+02] [-2.63431585e-01 9.90745078e-03 9.64627204e-01 5.80767142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.5392541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:524.16, Y:398.39, Z:58.07 [[ 8.01798870e-01 5.56090098e-01 2.18820417e-01 5.24159372e+02] [-5.36949279e-01 8.31120635e-01 -1.44651175e-01 3.98385435e+02] [-2.62305250e-01 -1.51431630e-03 9.64983763e-01 5.80712651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.569254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.19, Y:398.37, Z:58.06 [[ 8.00469766e-01 5.58543977e-01 2.17432240e-01 5.24186416e+02] [-5.38538615e-01 8.29473558e-01 -1.48154570e-01 3.98371470e+02] [-2.63105137e-01 1.49759629e-03 9.64766005e-01 5.80605866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.599254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:524.21, Y:398.35, Z:58.05 [[ 8.00007007e-01 5.60152195e-01 2.14984433e-01 5.24212184e+02] [-5.40233451e-01 8.28386487e-01 -1.48066360e-01 3.98354558e+02] [-2.61029896e-01 2.31234340e-03 9.65327948e-01 5.80485045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.24, Y:398.33, Z:58.04 [[ 7.99251543e-01 5.59715826e-01 2.18895327e-01 5.24237314e+02] [-5.41302645e-01 8.28671695e-01 -1.42459358e-01 3.98334848e+02] [-2.61129119e-01 -4.62775827e-03 9.65292788e-01 5.80444040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:524.26, Y:398.32, Z:58.03 [[ 7.97846388e-01 5.63186133e-01 2.15087238e-01 5.24264089e+02] [-5.43885772e-01 8.26329989e-01 -1.46174609e-01 3.98321491e+02] [-2.60056548e-01 -3.58004514e-04 9.65593322e-01 5.80321122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.6892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:524.29, Y:398.30, Z:58.02 [[ 7.96642813e-01 5.64597577e-01 2.15846718e-01 5.24289523e+02] [-5.45705496e-01 8.25362855e-01 -1.44850508e-01 3.98303854e+02] [-2.59934109e-01 -2.39462405e-03 9.65623387e-01 5.80233059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.32, Y:398.29, Z:58.01 [[ 7.95910701e-01 5.65957710e-01 2.14983781e-01 5.24316039e+02] [-5.45610907e-01 8.24430738e-01 -1.50408433e-01 3.98291211e+02] [-2.62364049e-01 2.41418580e-03 9.64965946e-01 5.80112017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.34, Y:398.27, Z:58.01 [[ 7.94564030e-01 5.65621197e-01 2.20772878e-01 5.24341034e+02] [-5.47717020e-01 8.24621012e-01 -1.41443462e-01 3.98268162e+02] [-2.62057374e-01 -8.53517555e-03 9.65014551e-01 5.80077481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.7792541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:524.37, Y:398.25, Z:58.00 [[ 7.94277942e-01 5.67503070e-01 2.16939661e-01 5.24367586e+02] [-5.49089131e-01 8.23355152e-01 -1.43483171e-01 3.98251737e+02] [-2.60045527e-01 -5.15369200e-03 9.65582603e-01 5.79980801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.39, Y:398.24, Z:57.99 [[ 7.92515449e-01 5.69646949e-01 2.17765050e-01 5.24393675e+02] [-5.50606494e-01 8.21879218e-01 -1.46106260e-01 3.98235729e+02] [-2.62205555e-01 -4.11138237e-03 9.65003287e-01 5.79895041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.42, Y:398.23, Z:57.97 [[ 7.92118399e-01 5.71223686e-01 2.15062648e-01 5.24420291e+02] [-5.49683864e-01 8.20779640e-01 -1.55461998e-01 3.98225117e+02] [-2.65322618e-01 4.92784180e-03 9.64147097e-01 5.79742679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.44, Y:398.20, Z:57.97 [[ 7.91631279e-01 5.69564059e-01 2.21171205e-01 5.24444594e+02] [-5.50837649e-01 8.21916901e-01 -1.45018941e-01 3.98201437e+02] [-2.64381928e-01 -7.02789646e-03 9.64392454e-01 5.79700949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.47, Y:398.18, Z:57.97 [[ 7.91156833e-01 5.70064480e-01 2.21579230e-01 5.24469482e+02] [-5.52879144e-01 8.21509682e-01 -1.39450691e-01 3.98181375e+02] [-2.61525369e-01 -1.21791680e-02 9.65119759e-01 5.79659481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:524.50, Y:398.17, Z:57.95 [[ 7.90557586e-01 5.73173473e-01 2.15617423e-01 5.24496601e+02] [-5.54542905e-01 8.19419324e-01 -1.45031505e-01 3.98167744e+02] [-2.59809295e-01 -4.91335529e-03 9.65647446e-01 5.79541474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:524.52, Y:398.15, Z:57.95 [[ 7.90173571e-01 5.73839493e-01 2.15253254e-01 5.24522782e+02] [-5.55273906e-01 8.18952218e-01 -1.44872887e-01 3.98150259e+02] [-2.59415914e-01 -5.04978825e-03 9.65752496e-01 5.79450881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1031.9892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:524.55, Y:398.13, Z:57.94 [[ 7.89931817e-01 5.74293904e-01 2.14928446e-01 5.24548394e+02] [-5.55775792e-01 8.18633260e-01 -1.44751012e-01 3.98132733e+02] [-2.59077198e-01 -5.10859756e-03 9.65843107e-01 5.79363606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.0192541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:524.57, Y:398.12, Z:57.93 [[ 7.90154914e-01 5.74106221e-01 2.14609548e-01 5.24573324e+02] [-5.55621463e-01 8.18765627e-01 -1.44594737e-01 3.98115340e+02] [-2.58727660e-01 -4.98942926e-03 9.65937422e-01 5.79275394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.60, Y:398.10, Z:57.92 [[ 7.90754301e-01 5.73035833e-01 2.15261630e-01 5.24598941e+02] [-5.54382668e-01 8.19517366e-01 -1.45090126e-01 3.98096279e+02] [-2.59552485e-01 -4.60667581e-03 9.65718016e-01 5.79190929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.079254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:524.62, Y:398.08, Z:57.91 [[ 7.91890862e-01 5.71796551e-01 2.14377163e-01 5.24624660e+02] [-5.53229426e-01 8.20385197e-01 -1.44586758e-01 3.98077369e+02] [-2.58546060e-01 -4.10282252e-03 9.65990218e-01 5.79101923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.109254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:524.65, Y:398.06, Z:57.90 [[ 7.92518399e-01 5.70686477e-01 2.15015192e-01 5.24650535e+02] [-5.51941519e-01 8.21159823e-01 -1.45110665e-01 3.98058067e+02] [-2.59374531e-01 -3.67293986e-03 9.65769829e-01 5.79015241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.139254154 meters Centerline goodness : 0.998510 Centerline is valid? [True, True] Translation: X:524.67, Y:398.03, Z:57.90 [[ 7.93042597e-01 5.63388017e-01 2.31683798e-01 5.24669010e+02] [-5.48736225e-01 8.25840540e-01 -1.29907502e-01 3.98029989e+02] [-2.64522203e-01 -2.41111094e-02 9.64078139e-01 5.79003996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1692541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:524.74, Y:398.01, Z:57.86 [[ 7.91550070e-01 5.77900882e-01 1.98693377e-01 5.24741168e+02] [-5.51307293e-01 8.15569410e-01 -1.75803318e-01 3.98008669e+02] [-2.63645133e-01 2.96160208e-02 9.64164994e-01 5.78551277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.76, Y:397.96, Z:57.87 [[ 7.93763851e-01 5.65686322e-01 2.23467971e-01 5.24757743e+02] [-5.49539541e-01 8.24473441e-01 -1.35091960e-01 3.97964692e+02] [-2.60663081e-01 -1.55733714e-02 9.65304216e-01 5.78694097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:524.79, Y:397.95, Z:57.85 [[ 7.94575484e-01 5.67885040e-01 2.14840361e-01 5.24785424e+02] [-5.48304485e-01 8.23107813e-01 -1.47836803e-01 3.97952918e+02] [-2.60791089e-01 -3.30434332e-04 9.65395204e-01 5.78547399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.2592541539998 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:524.81, Y:397.94, Z:57.84 [[ 7.95509087e-01 5.68783689e-01 2.08926801e-01 5.24812734e+02] [-5.47533755e-01 8.22445205e-01 -1.54242251e-01 3.97936828e+02] [-2.59561323e-01 8.30663606e-03 9.65690903e-01 5.78400550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.2892541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:525.18, Y:397.79, Z:58.79 [[ 8.24508715e-01 -3.60277713e-01 4.36331695e-01 5.25177040e+02] [-5.20267892e-01 -1.79466140e-01 8.34933067e-01 3.97792128e+02] [-2.22501010e-01 -9.15418961e-01 -3.35412323e-01 5.87888646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.319254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:525.68, Y:398.56, Z:58.29 [[ 8.23237502e-01 -1.97925043e-01 -5.32076773e-01 5.25677248e+02] [-4.98638646e-01 -7.00122209e-01 -5.11065939e-01 3.98563519e+02] [-2.71366018e-01 6.86042688e-01 -6.75059934e-01 5.82870422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.349254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:525.66, Y:398.32, Z:58.68 [[ 8.63747092e-01 -4.41283299e-01 -2.43331075e-01 5.25658661e+02] [-4.18761186e-01 -8.97156206e-01 1.40534021e-01 3.98316673e+02] [-2.80321300e-01 -1.94882425e-02 -9.59708381e-01 5.86847209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.68, Y:398.31, Z:58.67 [[ 8.95607121e-01 -3.67327460e-01 -2.50915170e-01 5.25680041e+02] [-3.47998621e-01 -9.29888939e-01 1.19178524e-01 3.98309790e+02] [-2.77100786e-01 -1.94190016e-02 -9.60644605e-01 5.86712232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.69, Y:398.31, Z:58.66 [[ 9.21133036e-01 -2.90383786e-01 -2.59212628e-01 5.25685818e+02] [-2.73885541e-01 -9.56707083e-01 9.84797896e-02 3.98309379e+02] [-2.76587491e-01 -1.97183968e-02 -9.60786420e-01 5.86611858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4392541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:525.69, Y:398.31, Z:58.65 [[ 9.40424016e-01 -2.10121070e-01 -2.67304709e-01 5.25686241e+02] [-1.96405899e-01 -9.77465431e-01 7.73695959e-02 3.98311854e+02] [-2.77538094e-01 -2.02600044e-02 -9.60500983e-01 5.86525032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.69, Y:398.33, Z:58.64 [[ 9.54175643e-01 -1.18679966e-01 -2.74706949e-01 5.25686679e+02] [-1.21178015e-01 -9.92599171e-01 7.92308316e-03 3.98330079e+02] [-2.73614201e-01 2.57284296e-02 -9.61495355e-01 5.86356687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.67, Y:398.43, Z:58.52 [[ 9.54315734e-01 2.93812139e-02 -2.97352021e-01 5.25668921e+02] [-4.67946409e-02 -9.68178437e-01 -2.45847059e-01 3.98429653e+02] [-2.95113100e-01 2.48530197e-01 -9.22573032e-01 5.85154933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.5292541539998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:525.69, Y:398.31, Z:58.63 [[ 9.54253253e-01 3.34389149e-02 -2.97123828e-01 5.25692705e+02] [ 3.89154840e-02 -9.99163887e-01 1.25344069e-02 3.98314702e+02] [-2.96456262e-01 -2.35237161e-02 -9.54756681e-01 5.86279586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.69, Y:398.32, Z:58.62 [[ 9.48748353e-01 1.16859903e-01 -2.93632977e-01 5.25688832e+02] [ 1.18771241e-01 -9.92856446e-01 -1.13784522e-02 3.98317058e+02] [-2.92865079e-01 -2.40798653e-02 -9.55850514e-01 5.86208529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.589254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:525.68, Y:398.32, Z:58.61 [[ 9.35614942e-01 1.98195152e-01 -2.92135862e-01 5.25683057e+02] [ 1.96512353e-01 -9.79861809e-01 -3.54080665e-02 3.98319338e+02] [-2.93270481e-01 -2.42799895e-02 -9.55721145e-01 5.86130402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.619254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:525.68, Y:398.32, Z:58.61 [[ 9.16757840e-01 2.78562455e-01 -2.86283115e-01 5.25678547e+02] [ 2.73438536e-01 -9.60103719e-01 -5.85851106e-02 3.98321168e+02] [-2.91181096e-01 -2.45724765e-02 -9.56352321e-01 5.86054239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.67, Y:398.32, Z:58.60 [[ 8.91717381e-01 3.57907383e-01 -2.77024219e-01 5.25673268e+02] [ 3.49652969e-01 -9.33418982e-01 -8.04475322e-02 3.98324095e+02] [-2.87372430e-01 -2.51258781e-02 -9.57489309e-01 5.85981370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.6792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:525.67, Y:398.32, Z:58.59 [[ 8.59989244e-01 4.33066194e-01 -2.69948460e-01 5.25667918e+02] [ 4.21396116e-01 -9.01010107e-01 -1.02985920e-01 3.98324755e+02] [-2.87826012e-01 -2.51884491e-02 -9.57351414e-01 5.85896376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:525.66, Y:398.33, Z:58.58 [[ 8.22955345e-01 5.06839867e-01 -2.56627843e-01 5.25661537e+02] [ 4.92517543e-01 -8.61657262e-01 -1.22365163e-01 3.98326063e+02] [-2.83144787e-01 -2.56926496e-02 -9.58732975e-01 5.85834836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7392541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:525.66, Y:398.33, Z:58.57 [[ 7.79760304e-01 5.75394552e-01 -2.46769076e-01 5.25655904e+02] [ 5.57788855e-01 -8.17472130e-01 -1.43565003e-01 3.98327213e+02] [-2.84333363e-01 -2.56987502e-02 -9.58380985e-01 5.85748379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7692541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:525.62, Y:398.35, Z:58.55 [[ 7.34746630e-01 6.56344449e-01 -1.71345717e-01 5.25624392e+02] [ 6.16567096e-01 -7.51496472e-01 -2.34729778e-01 3.98350782e+02] [-2.82829289e-01 6.68207826e-02 -9.56839891e-01 5.85474685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.7992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:525.47, Y:398.43, Z:58.29 [[ 6.81992159e-01 7.15311954e-01 1.52366346e-01 5.25474354e+02] [ 6.53300881e-01 -5.02185093e-01 -5.66575760e-01 3.98426361e+02] [-3.28762306e-01 4.85941294e-01 -8.09800226e-01 5.82947606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.829254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:525.98, Y:397.61, Z:57.63 [[ 7.03329681e-01 -6.68165839e-01 2.42655665e-01 5.25981765e+02] [ 6.41987463e-01 7.43612100e-01 1.86797062e-01 3.97608470e+02] [-3.05253104e-01 2.44019762e-02 9.51958553e-01 5.76316958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.04, Y:397.61, Z:57.66 [[ 7.08082716e-01 -6.79034499e-01 1.93729237e-01 5.26036540e+02] [ 6.40283761e-01 7.33104110e-01 2.29336150e-01 3.97611073e+02] [-2.97750857e-01 -3.83472798e-02 9.53873112e-01 5.76553522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.04, Y:397.64, Z:57.63 [[ 7.08182878e-01 -6.71790631e-01 2.17196592e-01 5.26042132e+02] [ 6.40054364e-01 7.40720404e-01 2.04116863e-01 3.97638035e+02] [-2.98005744e-01 -5.53444137e-03 9.54548033e-01 5.76335041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.04, Y:397.66, Z:57.61 [[ 7.03586533e-01 -6.69654538e-01 2.37757841e-01 5.26044357e+02] [ 6.41803539e-01 7.42465101e-01 1.91921315e-01 3.97661278e+02] [-3.05047879e-01 1.75605714e-02 9.52175098e-01 5.76078485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9492541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:526.09, Y:397.67, Z:57.63 [[ 7.07298694e-01 -6.78763142e-01 1.97507354e-01 5.26093364e+02] [ 6.41754085e-01 7.33696091e-01 2.23252637e-01 3.97668144e+02] [-2.96446035e-01 -3.11551470e-02 9.54541306e-01 5.76259442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1032.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.10, Y:397.69, Z:57.61 [[ 7.07208182e-01 -6.72811017e-01 2.17214002e-01 5.26100659e+02] [ 6.41050074e-01 7.39795622e-01 2.04345886e-01 3.97691964e+02] [-2.98180131e-01 -5.27003002e-03 9.54495069e-01 5.76065485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.0092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:526.12, Y:397.71, Z:57.60 [[ 7.06967636e-01 -6.73287554e-01 2.16519358e-01 5.26120416e+02] [ 6.41731340e-01 7.39363054e-01 2.03772327e-01 3.97710247e+02] [-2.97283786e-01 -5.11318268e-03 9.54775474e-01 5.75977135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.0392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:526.13, Y:397.73, Z:57.58 [[ 7.04257334e-01 -6.73005472e-01 2.26020447e-01 5.26131124e+02] [ 6.43606267e-01 7.39605986e-01 1.96860253e-01 3.97730990e+02] [-2.99654103e-01 6.82789922e-03 9.54023479e-01 5.75800695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.069254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.17, Y:397.74, Z:57.59 [[ 7.06451174e-01 -6.77120490e-01 2.05996555e-01 5.26166254e+02] [ 6.42876452e-01 7.35644001e-01 2.13395810e-01 3.97742536e+02] [-2.96034805e-01 -1.83233862e-02 9.55001386e-01 5.75850120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.099254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:526.18, Y:397.77, Z:57.57 [[ 7.06318943e-01 -6.73384309e-01 2.18328019e-01 5.26177866e+02] [ 6.44204464e-01 7.39289504e-01 1.96090891e-01 3.97765695e+02] [-2.93452142e-01 2.14517376e-03 9.55971359e-01 5.75690541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.129254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:526.20, Y:397.78, Z:57.57 [[ 7.05137623e-01 -6.77396594e-01 2.09558556e-01 5.26204524e+02] [ 6.44886656e-01 7.35531621e-01 2.07640157e-01 3.97780648e+02] [-2.94791679e-01 -1.12733705e-02 9.55495043e-01 5.75657397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.1592541539999 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:526.22, Y:397.80, Z:57.56 [[ 7.04680106e-01 -6.76299723e-01 2.14580133e-01 5.26220720e+02] [ 6.45323757e-01 7.36614946e-01 2.02375075e-01 3.97799850e+02] [-2.94929141e-01 -4.13603174e-03 9.55510175e-01 5.75552244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.24, Y:397.82, Z:57.55 [[ 7.03149386e-01 -6.77172200e-01 2.16838081e-01 5.26239681e+02] [ 6.45539004e-01 7.35814355e-01 2.04588929e-01 3.97816943e+02] [-2.98094507e-01 -3.87914073e-03 9.54528479e-01 5.75463302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.26, Y:397.84, Z:57.54 [[ 7.02427004e-01 -6.77838310e-01 2.17097972e-01 5.26259442e+02] [ 6.46133454e-01 7.35201883e-01 2.04914009e-01 3.97835060e+02] [-2.98509403e-01 -3.66287061e-03 9.54399665e-01 5.75378688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.28, Y:397.85, Z:57.53 [[ 7.01000606e-01 -6.79273262e-01 2.17223356e-01 5.26279229e+02] [ 6.47559802e-01 7.33878685e-01 2.05154525e-01 3.97852635e+02] [-2.98771574e-01 -3.14833349e-03 9.54319462e-01 5.75296745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.2792541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:526.31, Y:397.87, Z:57.54 [[ 7.01910132e-01 -6.84491078e-01 1.96962254e-01 5.26312502e+02] [ 6.49088883e-01 7.28566950e-01 2.18800875e-01 3.97866269e+02] [-2.93267436e-01 -2.57325412e-02 9.55684073e-01 5.75378230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.3092541539997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:526.32, Y:397.89, Z:57.52 [[ 7.01919155e-01 -6.79277865e-01 2.14222041e-01 5.26321919e+02] [ 6.48805275e-01 7.33877800e-01 2.01184219e-01 3.97890838e+02] [-2.93872787e-01 -2.22666692e-03 9.55841947e-01 5.75193756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.339254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:526.33, Y:397.91, Z:57.49 [[ 6.99554761e-01 -6.75275843e-01 2.33721356e-01 5.26328009e+02] [ 6.49217290e-01 7.37267717e-01 1.86957813e-01 3.97914193e+02] [-2.98563306e-01 2.09487169e-02 9.54159894e-01 5.74947155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.369254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:526.36, Y:397.93, Z:57.50 [[ 6.98412146e-01 -6.82094847e-01 2.16718928e-01 5.26357981e+02] [ 6.50551643e-01 7.31260361e-01 2.05038642e-01 3.97926272e+02] [-2.98333763e-01 -2.21462310e-03 9.54459041e-01 5.74950488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.38, Y:397.94, Z:57.49 [[ 6.97776684e-01 -6.82801654e-01 2.16540067e-01 5.26376958e+02] [ 6.51307105e-01 7.30601045e-01 2.04990655e-01 3.97944657e+02] [-2.98172358e-01 -2.00361564e-03 9.54509943e-01 5.74866916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.40, Y:397.96, Z:57.48 [[ 6.97373795e-01 -6.83232635e-01 2.16478534e-01 5.26396210e+02] [ 6.51738665e-01 7.30198268e-01 2.05054145e-01 3.97963295e+02] [-2.98171934e-01 -1.91195647e-03 9.54510263e-01 5.74778159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:526.42, Y:397.98, Z:57.47 [[ 6.97181797e-01 -6.83641445e-01 2.15805276e-01 5.26415587e+02] [ 6.52328937e-01 7.29815762e-01 2.04538290e-01 3.97981735e+02] [-2.97328944e-01 -1.82434588e-03 9.54773361e-01 5.74697060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.4892541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:526.43, Y:398.00, Z:57.46 [[ 6.96713071e-01 -6.84560510e-01 2.14401039e-01 5.26434416e+02] [ 6.53668191e-01 7.28954464e-01 2.03330485e-01 3.97999601e+02] [-2.95480615e-01 -1.51586693e-03 9.55347533e-01 5.74627660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.45, Y:398.02, Z:57.45 [[ 6.96132600e-01 -6.84740299e-01 2.15708428e-01 5.26453811e+02] [ 6.53453889e-01 7.28785641e-01 2.04620391e-01 3.98018068e+02] [-2.97317032e-01 -1.48741333e-03 9.54777655e-01 5.74530693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.5492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:526.47, Y:398.04, Z:57.45 [[ 6.95713514e-01 -6.85309409e-01 2.15252692e-01 5.26472795e+02] [ 6.54146740e-01 7.28250804e-01 2.04310573e-01 3.98036132e+02] [-2.96773904e-01 -1.33478001e-03 9.54946841e-01 5.74451559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.49, Y:398.06, Z:57.44 [[ 6.94676322e-01 -6.86449118e-01 2.14970734e-01 5.26491369e+02] [ 6.55408036e-01 7.27177301e-01 2.04091842e-01 3.98055000e+02] [-2.96420504e-01 -8.84223562e-04 9.55057120e-01 5.74364806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.609254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:526.51, Y:398.07, Z:57.43 [[ 6.94410465e-01 -6.86943351e-01 2.14249712e-01 5.26510323e+02] [ 6.56101868e-01 7.26710572e-01 2.03524158e-01 3.98073417e+02] [-2.95507098e-01 -7.59668756e-04 9.55340242e-01 5.74283068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.639254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:526.53, Y:398.09, Z:57.42 [[ 6.93944843e-01 -6.87344898e-01 2.14470383e-01 5.26529098e+02] [ 6.56420927e-01 7.26330869e-01 2.03850523e-01 3.98092021e+02] [-2.95892077e-01 -6.78171694e-04 9.55221136e-01 5.74189547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6692541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:526.55, Y:398.11, Z:57.41 [[ 6.93567852e-01 -6.88375847e-01 2.12373089e-01 5.26548267e+02] [ 6.58080067e-01 7.25354114e-01 2.01970383e-01 3.98110788e+02] [-2.93077228e-01 -3.21668237e-04 9.56088717e-01 5.74116989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.6992541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:526.57, Y:398.13, Z:57.40 [[ 6.92994333e-01 -6.88833787e-01 2.12760120e-01 5.26566660e+02] [ 6.58407087e-01 7.24919281e-01 2.02465169e-01 3.98128759e+02] [-2.93698762e-01 -2.24443474e-04 9.55898000e-01 5.74031636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.7292541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:526.59, Y:398.15, Z:57.40 [[ 6.92287497e-01 -6.89642305e-01 2.12441787e-01 5.26586040e+02] [ 6.59330784e-01 7.24150181e-01 2.02211354e-01 3.98147587e+02] [-2.93293263e-01 8.10175250e-05 9.56022518e-01 5.73950906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.7592541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:526.61, Y:398.17, Z:57.39 [[ 6.90606781e-01 -6.91321590e-01 2.12454075e-01 5.26605516e+02] [ 6.61046807e-01 7.22546862e-01 2.02344142e-01 3.98166704e+02] [-2.93392899e-01 7.01850806e-04 9.55991692e-01 5.73874037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.7892541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:526.62, Y:398.19, Z:57.38 [[ 6.89203469e-01 -6.92633182e-01 2.12738935e-01 5.26624763e+02] [ 6.62298784e-01 7.21289060e-01 2.02737299e-01 3.98185507e+02] [-2.93868847e-01 1.16948857e-03 9.55845036e-01 5.73790425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.819254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:526.64, Y:398.20, Z:57.37 [[ 6.86624203e-01 -6.94965696e-01 2.13471040e-01 5.26643888e+02] [ 6.64488467e-01 7.19039885e-01 2.03560117e-01 3.98204402e+02] [-2.94961491e-01 2.07974097e-03 9.55506878e-01 5.73712015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.849254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:526.66, Y:398.22, Z:57.36 [[ 6.85335590e-01 -6.96068944e-01 2.14016713e-01 5.26662433e+02] [ 6.65444938e-01 7.17970716e-01 2.04208438e-01 3.98222601e+02] [-2.95800885e-01 2.46502790e-03 9.55246440e-01 5.73625990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.879254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:526.68, Y:398.24, Z:57.36 [[ 6.84028307e-01 -6.97665702e-01 2.12997287e-01 5.26681803e+02] [ 6.67399543e-01 7.16416743e-01 2.03285268e-01 3.98241647e+02] [-2.94419982e-01 3.10141427e-03 9.55671102e-01 5.73550385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.70, Y:398.26, Z:57.35 [[ 6.81483403e-01 -6.99864779e-01 2.13938453e-01 5.26699888e+02] [ 6.69390588e-01 7.14264304e-01 2.04310413e-01 3.98259873e+02] [-2.95798262e-01 3.97423172e-03 9.55242165e-01 5.73453952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:526.72, Y:398.28, Z:57.34 [[ 6.80479423e-01 -7.01145429e-01 2.12938586e-01 5.26718317e+02] [ 6.70996639e-01 7.13004446e-01 2.03440829e-01 3.98278079e+02] [-2.94467765e-01 4.44377745e-03 9.55651081e-01 5.73380563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.74, Y:398.30, Z:57.33 [[ 6.78813590e-01 -7.02580386e-01 2.13524965e-01 5.26736306e+02] [ 6.72315283e-01 7.11586512e-01 2.04050965e-01 3.98297167e+02] [-2.95303691e-01 5.04352886e-03 9.55390126e-01 5.73283365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1033.9992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:526.76, Y:398.32, Z:57.32 [[ 6.78503964e-01 -7.03362361e-01 2.11928668e-01 5.26755319e+02] [ 6.73558648e-01 7.10812082e-01 2.02644843e-01 3.98316378e+02] [-2.93174213e-01 5.25105851e-03 9.56044616e-01 5.73211605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.0292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:526.77, Y:398.34, Z:57.31 [[ 6.78014448e-01 -7.03622253e-01 2.12631448e-01 5.26773585e+02] [ 6.73591666e-01 7.10554503e-01 2.03436882e-01 3.98335305e+02] [-2.94228950e-01 5.29362620e-03 9.55720306e-01 5.73113638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.79, Y:398.36, Z:57.30 [[ 6.78840537e-01 -7.02968010e-01 2.12159144e-01 5.26792212e+02] [ 6.73006010e-01 7.11204523e-01 2.03103514e-01 3.98355410e+02] [-2.93663816e-01 4.90948063e-03 9.55896156e-01 5.73031843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.81, Y:398.37, Z:57.29 [[ 6.79226969e-01 -7.02582722e-01 2.12198593e-01 5.26810690e+02] [ 6.72554269e-01 7.11586853e-01 2.03260685e-01 3.98374672e+02] [-2.93805174e-01 4.65493040e-03 9.55853991e-01 5.72945431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.119254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:526.83, Y:398.39, Z:57.29 [[ 6.81627874e-01 -7.00670673e-01 2.10817575e-01 5.26827800e+02] [ 6.70912553e-01 7.13475197e-01 2.02063085e-01 3.98394024e+02] [-2.91992789e-01 3.70832628e-03 9.56413331e-01 5.72875679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.149254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:526.85, Y:398.41, Z:57.28 [[ 6.82673122e-01 -6.99509368e-01 2.11291392e-01 5.26845938e+02] [ 6.69544926e-01 7.14616341e-01 2.02566229e-01 3.98413487e+02] [-2.92689257e-01 3.18255951e-03 9.56202317e-01 5.72779177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.1792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:526.86, Y:398.43, Z:57.27 [[ 6.84385733e-01 -6.98281343e-01 2.09807853e-01 5.26863860e+02] [ 6.68651270e-01 7.15818900e-01 2.01267934e-01 3.98432494e+02] [-2.90726070e-01 2.54338485e-03 9.56802949e-01 5.72708756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2092541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:526.88, Y:398.45, Z:57.26 [[ 6.87472693e-01 -6.95373804e-01 2.09371845e-01 5.26880849e+02] [ 6.65722720e-01 7.18647100e-01 2.00897003e-01 3.98453113e+02] [-2.90162982e-01 1.27239016e-03 9.56976397e-01 5.72620975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:526.90, Y:398.47, Z:57.25 [[ 6.88839163e-01 -6.93678112e-01 2.10502456e-01 5.26898624e+02] [ 6.63584183e-01 7.20284983e-01 2.02102884e-01 3.98472317e+02] [-2.91816105e-01 4.69718584e-04 9.56474328e-01 5.72523100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2692541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:526.92, Y:398.49, Z:57.25 [[ 6.91646923e-01 -6.91005534e-01 2.10085427e-01 5.26916655e+02] [ 6.60875032e-01 7.22849077e-01 2.01825183e-01 3.98492619e+02] [-2.91322375e-01 -7.51554083e-04 9.56624644e-01 5.72453036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.2992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:526.94, Y:398.51, Z:57.24 [[ 6.92488327e-01 -6.89792081e-01 2.11297900e-01 5.26935116e+02] [ 6.59211569e-01 7.24006233e-01 2.03113470e-01 3.98511567e+02] [-2.93087060e-01 -1.36368642e-03 9.56084785e-01 5.72358983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.329254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:526.95, Y:398.53, Z:57.23 [[ 6.94504991e-01 -6.87483793e-01 2.12200027e-01 5.26953006e+02] [ 6.56491155e-01 7.26195604e-01 2.04106122e-01 3.98531515e+02] [-2.94418378e-01 -2.44527956e-03 9.55673500e-01 5.72278582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:526.97, Y:398.55, Z:57.22 [[ 6.95354378e-01 -6.86385399e-01 2.12972704e-01 5.26971486e+02] [ 6.55071934e-01 7.27231721e-01 2.04975086e-01 3.98551109e+02] [-2.95572412e-01 -3.01788217e-03 9.55315572e-01 5.72182353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.389254154 meters Centerline goodness : 0.999695 Centerline is valid? [True, True] Translation: X:526.99, Y:398.57, Z:57.21 [[ 6.96905753e-01 -6.85234222e-01 2.11604425e-01 5.26990013e+02] [ 6.54240280e-01 7.28313979e-01 2.03785193e-01 3.98569740e+02] [-2.93755049e-01 -3.57893512e-03 9.55874031e-01 5.72123578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:527.01, Y:398.59, Z:57.20 [[ 6.99474480e-01 -6.82323944e-01 2.12531145e-01 5.27007097e+02] [ 6.50903958e-01 7.31033767e-01 2.04728281e-01 3.98589461e+02] [-2.95058452e-01 -4.86484417e-03 9.55466820e-01 5.72025475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:527.03, Y:398.61, Z:57.19 [[ 7.00739584e-01 -6.80927187e-01 2.12843139e-01 5.27025154e+02] [ 6.49310802e-01 7.32330030e-01 2.05154113e-01 3.98608541e+02] [-2.95566435e-01 -5.55825866e-03 9.55306018e-01 5.71929330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.04, Y:398.63, Z:57.18 [[ 7.01804071e-01 -6.79537880e-01 2.13773984e-01 5.27042570e+02] [ 6.47534412e-01 7.33613612e-01 2.06180149e-01 3.98626624e+02] [-2.96934725e-01 -6.27205694e-03 9.54877181e-01 5.71827378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.5092541539998 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:527.06, Y:398.64, Z:57.18 [[ 7.03873560e-01 -6.79244937e-01 2.07818017e-01 5.27063767e+02] [ 6.45380546e-01 7.33751176e-01 2.12351507e-01 3.98642732e+02] [-2.96725401e-01 -1.53469062e-02 9.54839520e-01 5.71774069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.08, Y:398.67, Z:57.16 [[ 7.04509879e-01 -6.75080470e-01 2.18934215e-01 5.27076264e+02] [ 6.44723840e-01 7.37744089e-01 2.00162008e-01 3.98666339e+02] [-2.96642885e-01 1.35995527e-04 9.54988471e-01 5.71621074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.569254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:527.10, Y:398.68, Z:57.16 [[ 7.05141041e-01 -6.76514811e-01 2.12376605e-01 5.27098861e+02] [ 6.44733167e-01 7.36389071e-01 2.05061649e-01 3.98682586e+02] [-2.95119053e-01 -7.67114385e-03 9.55429693e-01 5.71566103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.599254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:527.12, Y:398.70, Z:57.15 [[ 7.05269511e-01 -6.76652716e-01 2.11508911e-01 5.27117775e+02] [ 6.45104103e-01 7.36262306e-01 2.04348997e-01 3.98700043e+02] [-2.93999342e-01 -7.67585037e-03 9.55774800e-01 5.71489452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.629254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:527.14, Y:398.72, Z:57.14 [[ 7.04925700e-01 -6.77069013e-01 2.11322761e-01 5.27137395e+02] [ 6.45580472e-01 7.35880975e-01 2.04218131e-01 3.98718585e+02] [-2.93778168e-01 -7.53276164e-03 9.55843944e-01 5.71402712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.6592541539999 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:527.16, Y:398.74, Z:57.13 [[ 7.03408077e-01 -6.78796885e-01 2.10836112e-01 5.27157181e+02] [ 6.47495384e-01 7.34293779e-01 2.03868523e-01 3.98737029e+02] [-2.93200964e-01 -6.88735601e-03 9.56026024e-01 5.71315450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.19, Y:398.75, Z:57.14 [[ 7.03781537e-01 -6.84703883e-01 1.89399422e-01 5.27193960e+02] [ 6.49656779e-01 7.28175603e-01 2.18417859e-01 3.98750624e+02] [-2.87467594e-01 -3.06738383e-02 9.57299064e-01 5.71390763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7192541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:527.19, Y:398.78, Z:57.10 [[ 7.00257003e-01 -6.75309855e-01 2.31509676e-01 5.27185757e+02] [ 6.50173833e-01 7.37212022e-01 1.83827151e-01 3.98780539e+02] [-2.94812003e-01 2.17952837e-02 9.55306678e-01 5.71038539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7492541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:527.22, Y:398.79, Z:57.11 [[ 6.98505349e-01 -6.83598514e-01 2.11620769e-01 5.27216597e+02] [ 6.52195726e-01 7.29840522e-01 2.04874468e-01 3.98790525e+02] [-2.94501294e-01 -5.08775088e-03 9.55637537e-01 5.71054100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.7792541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:527.24, Y:398.81, Z:57.10 [[ 6.96682778e-01 -6.85347597e-01 2.11971173e-01 5.27236461e+02] [ 6.53892150e-01 7.28202681e-01 2.05294696e-01 3.98808758e+02] [-2.95056203e-01 -4.41899341e-03 9.55469680e-01 5.70958626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.8092541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:527.27, Y:398.82, Z:57.11 [[ 6.96324762e-01 -6.92980703e-01 1.86841029e-01 5.27274133e+02] [ 6.57230568e-01 7.20255330e-01 2.21991531e-01 3.98820572e+02] [-2.88409094e-01 -3.17805641e-02 9.56979723e-01 5.71064435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.839254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:527.26, Y:398.85, Z:57.07 [[ 6.91486699e-01 -6.83444518e-01 2.33986616e-01 5.27263112e+02] [ 6.59163475e-01 7.29469018e-01 1.82697743e-01 3.98852229e+02] [-2.95549758e-01 2.79023716e-02 9.54919786e-01 5.70663504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.869254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:527.31, Y:398.86, Z:57.08 [[ 6.89284769e-01 -6.98063014e-01 1.93893104e-01 5.27310345e+02] [ 6.63935437e-01 7.15741437e-01 2.16573153e-01 3.98857619e+02] [-2.89959036e-01 -2.05480727e-02 9.56818444e-01 5.70827302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.899254154 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:527.31, Y:398.88, Z:57.05 [[ 6.85047663e-01 -6.92122774e-01 2.27323044e-01 5.27308012e+02] [ 6.66120109e-01 7.21449950e-01 1.89192946e-01 3.98884878e+02] [-2.94946945e-01 2.18182653e-02 9.55264499e-01 5.70517202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:527.35, Y:398.89, Z:57.07 [[ 6.84954366e-01 -7.02274195e-01 1.94032143e-01 5.27350733e+02] [ 6.68320749e-01 7.11662626e-01 2.16526405e-01 3.98893024e+02] [-2.90146331e-01 -1.86349992e-02 9.56800838e-01 5.70656037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9592541539998 meters Centerline goodness : 0.999714 Centerline is valid? [True, True] Translation: X:527.36, Y:398.92, Z:57.05 [[ 6.80611795e-01 -7.01404904e-01 2.11657142e-01 5.27360242e+02] [ 6.72522079e-01 7.12731687e-01 1.99317826e-01 3.98916123e+02] [-2.90657252e-01 6.68603766e-03 9.56803877e-01 5.70473447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1034.9892541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:527.37, Y:398.94, Z:57.03 [[ 6.76846956e-01 -7.01412746e-01 2.23379406e-01 5.27371498e+02] [ 6.74563602e-01 7.12477655e-01 1.93234411e-01 3.98936692e+02] [-2.94689914e-01 1.98934942e-02 9.55385840e-01 5.70290484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.39, Y:398.95, Z:57.02 [[ 6.70715503e-01 -7.09301648e-01 2.16868364e-01 5.27393081e+02] [ 6.79278739e-01 7.04831321e-01 2.04433860e-01 3.98950015e+02] [-2.97860889e-01 1.01971096e-02 9.54554823e-01 5.70220930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.0492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:527.41, Y:398.97, Z:57.01 [[ 6.65957488e-01 -7.14349486e-01 2.14954498e-01 5.27413037e+02] [ 6.83153371e-01 6.99746738e-01 2.08940124e-01 3.98967066e+02] [-2.99669979e-01 7.70165009e-03 9.54011839e-01 5.70133614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.43, Y:398.99, Z:57.00 [[ 6.65124311e-01 -7.14564618e-01 2.16811110e-01 5.27431584e+02] [ 6.85325022e-01 6.99435061e-01 2.02781188e-01 3.98986488e+02] [-2.96545554e-01 1.37113805e-02 9.54920276e-01 5.70043379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.109254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.46, Y:399.00, Z:57.00 [[ 6.57329158e-01 -7.23652769e-01 2.10345069e-01 5.27456175e+02] [ 6.91475566e-01 6.90145086e-01 2.13450935e-01 3.99000658e+02] [-2.99632976e-01 5.14095230e-03 9.54040697e-01 5.70000070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.139254154 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:527.47, Y:399.02, Z:56.99 [[ 6.54629878e-01 -7.24897606e-01 2.14436901e-01 5.27473910e+02] [ 6.94307825e-01 6.88747667e-01 2.08718219e-01 3.99020590e+02] [-2.98992252e-01 1.22520362e-02 9.54176881e-01 5.69897254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1692541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:527.49, Y:399.04, Z:56.98 [[ 6.48644475e-01 -7.29033374e-01 2.18565060e-01 5.27489988e+02] [ 7.00443976e-01 6.84148464e-01 2.03271042e-01 3.99040018e+02] [-2.97722324e-01 2.12419419e-02 9.54416156e-01 5.69791443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.1992541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:527.51, Y:399.06, Z:56.97 [[ 6.48331994e-01 -7.30814242e-01 2.13485758e-01 5.27512383e+02] [ 7.00631028e-01 6.82422672e-01 2.08363766e-01 3.99057301e+02] [-2.97962729e-01 1.44858498e-02 9.54467586e-01 5.69729671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.2292541539998 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:527.52, Y:399.08, Z:56.96 [[ 6.42936711e-01 -7.31519298e-01 2.26962336e-01 5.27520578e+02] [ 7.03914183e-01 6.81146970e-01 2.01354484e-01 3.99079506e+02] [-3.01889399e-01 3.03038173e-02 9.52861202e-01 5.69555513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.2592541539998 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:527.55, Y:399.09, Z:56.96 [[ 6.42252301e-01 -7.37862046e-01 2.07536943e-01 5.27551408e+02] [ 7.04549248e-01 6.74930012e-01 2.19271148e-01 3.99092552e+02] [-3.01864769e-01 5.39259774e-03 9.53335503e-01 5.69569644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.56, Y:399.12, Z:56.94 [[ 6.40587552e-01 -7.35807692e-01 2.19623836e-01 5.27560941e+02] [ 7.05421252e-01 6.76887839e-01 2.10246788e-01 3.99115154e+02] [-3.03361907e-01 2.02458460e-02 9.52660306e-01 5.69423396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.319254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:527.59, Y:399.13, Z:56.94 [[ 6.43143936e-01 -7.38255147e-01 2.03335231e-01 5.27591681e+02] [ 7.04199319e-01 6.74521257e-01 2.21640234e-01 3.99130330e+02] [-3.00780979e-01 6.41959011e-04 9.53693027e-01 5.69442810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.60, Y:399.16, Z:56.93 [[ 6.47121016e-01 -7.31441181e-01 2.15007418e-01 5.27601118e+02] [ 7.00876438e-01 6.81740650e-01 2.09766311e-01 3.99155739e+02] [-3.00011015e-01 1.49494446e-02 9.53818591e-01 5.69284031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.379254154 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:527.61, Y:399.18, Z:56.92 [[ 6.49432964e-01 -7.27604852e-01 2.20970596e-01 5.27614271e+02] [ 6.99041138e-01 6.85625664e-01 2.03122958e-01 3.99176403e+02] [-2.99296361e-01 2.25527921e-02 9.53893631e-01 5.69153274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:527.64, Y:399.19, Z:56.91 [[ 6.51593955e-01 -7.29625459e-01 2.07537969e-01 5.27639861e+02] [ 6.97105138e-01 6.83833499e-01 2.15444128e-01 3.99193635e+02] [-2.99114936e-01 4.29369360e-03 9.54207430e-01 5.69144256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4392541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:527.65, Y:399.22, Z:56.90 [[ 6.57987723e-01 -7.22104373e-01 2.13582373e-01 5.27650652e+02] [ 6.91357594e-01 6.91707090e-01 2.08724647e-01 3.99217393e+02] [-2.98457422e-01 1.03235401e-02 9.54367116e-01 5.69026564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4692541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:527.67, Y:399.24, Z:56.89 [[ 6.61266373e-01 -7.19019902e-01 2.13862489e-01 5.27667567e+02] [ 6.88016189e-01 6.94932467e-01 2.09051644e-01 3.99238032e+02] [-2.98932280e-01 8.90203189e-03 9.54232805e-01 5.68934840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.4992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:527.67, Y:399.27, Z:56.87 [[ 6.64687737e-01 -7.08128806e-01 2.38209587e-01 5.27665183e+02] [ 6.81651690e-01 7.05311771e-01 1.94643981e-01 3.99266910e+02] [-3.05845035e-01 3.29985007e-02 9.51509282e-01 5.68675340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.71, Y:399.27, Z:56.89 [[ 6.72301054e-01 -7.14683393e-01 1.92973938e-01 5.27713586e+02] [ 6.76352338e-01 6.98976512e-01 2.32334567e-01 3.99274241e+02] [-3.00929907e-01 -2.56804000e-02 9.53300429e-01 5.68867748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.5592541539997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:527.72, Y:399.30, Z:56.87 [[ 6.75481022e-01 -7.05352035e-01 2.14950917e-01 5.27717440e+02] [ 6.73254400e-01 7.08852366e-01 2.10373088e-01 3.99302089e+02] [-3.00755551e-01 2.61362214e-03 9.53697681e-01 5.68680948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.589254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:527.72, Y:399.33, Z:56.85 [[ 6.79732589e-01 -6.96361335e-01 2.30313913e-01 5.27722761e+02] [ 6.66701062e-01 7.17503452e-01 2.01738671e-01 3.99328900e+02] [-3.05734037e-01 1.64221811e-02 9.51975320e-01 5.68489192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.75, Y:399.34, Z:56.85 [[ 6.83001612e-01 -6.97412782e-01 2.17081113e-01 5.27747521e+02] [ 6.63107508e-01 7.16660484e-01 2.16069858e-01 3.99344226e+02] [-3.06263336e-01 -3.62794526e-03 9.51939918e-01 5.68465988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.649254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:527.77, Y:399.36, Z:56.85 [[ 6.89683053e-01 -6.94567840e-01 2.04726162e-01 5.27772312e+02] [ 6.57456834e-01 7.19134032e-01 2.24937226e-01 3.99362574e+02] [-3.03459714e-01 -2.05367783e-02 9.52622928e-01 5.68478741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.6792541539999 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:527.78, Y:399.39, Z:56.83 [[ 6.91226610e-01 -6.89292399e-01 2.16983323e-01 5.27782803e+02] [ 6.55692580e-01 7.24467984e-01 2.12634385e-01 3.99386929e+02] [-3.03764736e-01 -4.70418981e-03 9.52735460e-01 5.68334016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.80, Y:399.41, Z:56.83 [[ 6.93311983e-01 -6.87854673e-01 2.14882393e-01 5.27802332e+02] [ 6.52794911e-01 7.25776716e-01 2.17041383e-01 3.99406070e+02] [-3.05249567e-01 -1.02032594e-02 9.52217725e-01 5.68259024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7392541539998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:527.81, Y:399.43, Z:56.81 [[ 6.93557608e-01 -6.83160653e-01 2.28624948e-01 5.27809581e+02] [ 6.52211676e-01 7.30224224e-01 2.03451498e-01 3.99432302e+02] [-3.05937534e-01 8.00652628e-03 9.52017920e-01 5.68073032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7692541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:527.83, Y:399.45, Z:56.80 [[ 6.92575789e-01 -6.85564348e-01 2.24366446e-01 5.27827295e+02] [ 6.52483257e-01 7.28011716e-01 2.10391401e-01 3.99449099e+02] [-3.07578245e-01 6.83358566e-04 9.51522546e-01 5.67984730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.7992541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:527.86, Y:399.46, Z:56.81 [[ 6.96518508e-01 -6.89422339e-01 1.98893960e-01 5.27864127e+02] [ 6.51152343e-01 7.23754797e-01 2.28428588e-01 3.99461680e+02] [-3.01434229e-01 -2.95944712e-02 9.53027582e-01 5.68053244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.829254154 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:527.87, Y:399.49, Z:56.79 [[ 6.96333604e-01 -6.84822040e-01 2.14798245e-01 5.27872058e+02] [ 6.51616923e-01 7.28678639e-01 2.10767234e-01 3.99487724e+02] [-3.00856940e-01 -6.79813606e-03 9.53645053e-01 5.67880236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.859254154 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:527.89, Y:399.51, Z:56.78 [[ 6.96196408e-01 -6.85133969e-01 2.14247532e-01 5.27890217e+02] [ 6.52076170e-01 7.28385850e-01 2.10358555e-01 3.99506132e+02] [-3.00178662e-01 -6.74515998e-03 9.53859148e-01 5.67798375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.889254154 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:527.91, Y:399.52, Z:56.77 [[ 6.95010154e-01 -6.86558907e-01 2.13536304e-01 5.27908525e+02] [ 6.53774234e-01 7.27048179e-01 2.09714560e-01 3.99524880e+02] [-2.99232580e-01 -6.14921471e-03 9.54160390e-01 5.67710249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9192541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:527.93, Y:399.54, Z:56.76 [[ 6.93962888e-01 -6.87756274e-01 2.13088755e-01 5.27927469e+02] [ 6.55128992e-01 7.25919185e-01 2.09397569e-01 3.99544038e+02] [-2.98699707e-01 -5.71352024e-03 9.54330048e-01 5.67618330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9492541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:527.94, Y:399.57, Z:56.74 [[ 6.90213606e-01 -6.87569013e-01 2.25508384e-01 5.27936126e+02] [ 6.57784238e-01 7.26050195e-01 2.00427073e-01 3.99566351e+02] [-3.01537851e-01 9.99836793e-03 9.53401782e-01 5.67434007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1035.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:527.97, Y:399.58, Z:56.75 [[ 6.90439858e-01 -6.95209849e-01 1.99940161e-01 5.27973752e+02] [ 6.59430859e-01 7.18504802e-01 2.21137496e-01 3.99575680e+02] [-2.97394931e-01 -2.08354296e-02 9.54527181e-01 5.67512085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.0092541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:527.97, Y:399.60, Z:56.72 [[ 6.84866844e-01 -6.91058659e-01 2.31074311e-01 5.27970563e+02] [ 6.62754004e-01 7.22562287e-01 1.96623684e-01 3.99603293e+02] [-3.02844081e-01 1.84843830e-02 9.52860845e-01 5.67226096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.0392541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:528.01, Y:399.61, Z:56.73 [[ 6.83227065e-01 -6.99558910e-01 2.09327754e-01 5.28007820e+02] [ 6.65807997e-01 7.14536803e-01 2.14794945e-01 3.99614125e+02] [-2.99834102e-01 -7.38162743e-03 9.53962800e-01 5.67250477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.069254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:528.02, Y:399.63, Z:56.72 [[ 6.80736672e-01 -7.00506383e-01 2.14215760e-01 5.28023508e+02] [ 6.67787696e-01 7.13645456e-01 2.11588651e-01 3.99633059e+02] [-3.01093304e-01 -9.85505775e-04 9.53594175e-01 5.67154459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.099254154 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:528.04, Y:399.65, Z:56.71 [[ 6.78594259e-01 -7.02711134e-01 2.13791706e-01 5.28044100e+02] [ 6.69779933e-01 7.11474458e-01 2.12600419e-01 3.99650937e+02] [-3.01504020e-01 -1.07602900e-03 9.53464298e-01 5.67071180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.129254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:528.07, Y:399.67, Z:56.71 [[ 6.76828513e-01 -7.06545907e-01 2.06630214e-01 5.28070647e+02] [ 6.71719755e-01 7.07601674e-01 2.19299889e-01 3.99666407e+02] [-3.01157325e-01 -9.63082103e-03 9.53525832e-01 5.67059635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.1592541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:528.08, Y:399.69, Z:56.69 [[ 6.74327251e-01 -7.05662250e-01 2.17539761e-01 5.28082948e+02] [ 6.73336270e-01 7.08536635e-01 2.11173163e-01 3.99687793e+02] [-3.03151819e-01 4.07759338e-03 9.52933548e-01 5.66911179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.1892541539999 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:528.11, Y:399.70, Z:56.69 [[ 6.73930734e-01 -7.07761430e-01 2.11875257e-01 5.28108655e+02] [ 6.74201528e-01 7.06447791e-01 2.15369028e-01 3.99704710e+02] [-3.02108699e-01 -2.29718534e-03 9.53270716e-01 5.66856575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2192541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:528.13, Y:399.72, Z:56.68 [[ 6.73196171e-01 -7.07962843e-01 2.13531094e-01 5.28126881e+02] [ 6.75039935e-01 7.06249510e-01 2.13383966e-01 3.99724065e+02] [-3.01874150e-01 4.92747047e-04 9.53347657e-01 5.66768457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2492541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:528.15, Y:399.74, Z:56.67 [[ 6.72913435e-01 -7.08557013e-01 2.12448743e-01 5.28147626e+02] [ 6.75585636e-01 7.05653533e-01 2.13628510e-01 3.99742447e+02] [-3.01283185e-01 -2.26175579e-04 9.53534683e-01 5.66686465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.2792541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:528.17, Y:399.76, Z:56.66 [[ 6.71952405e-01 -7.09497371e-01 2.12352175e-01 5.28167802e+02] [ 6.76545328e-01 7.04708079e-01 2.13712291e-01 3.99760527e+02] [-3.01274602e-01 6.13839088e-05 9.53537420e-01 5.66603752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.3092541539997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:528.19, Y:399.78, Z:56.65 [[ 6.72065278e-01 -7.09687965e-01 2.11355754e-01 5.28188697e+02] [ 6.76763112e-01 7.04515923e-01 2.13656275e-01 3.99779468e+02] [-3.00532782e-01 -5.53186075e-04 9.53771325e-01 5.66531882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.339254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:528.20, Y:399.80, Z:56.64 [[ 6.70191831e-01 -7.08892694e-01 2.19804592e-01 5.28201799e+02] [ 6.77709662e-01 7.05252893e-01 2.08153720e-01 3.99799073e+02] [-3.02576475e-01 9.46077284e-03 9.53078156e-01 5.66398409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.369254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:528.23, Y:399.82, Z:56.63 [[ 6.70315487e-01 -7.11127527e-01 2.12072604e-01 5.28226406e+02] [ 6.78064307e-01 7.03063028e-01 2.14315594e-01 3.99815025e+02] [-3.01506125e-01 1.39801832e-04 9.53464230e-01 5.66346424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.399254154 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:528.25, Y:399.83, Z:56.63 [[ 6.70768807e-01 -7.10574559e-01 2.12492362e-01 5.28246342e+02] [ 6.77992035e-01 7.03620540e-01 2.12708570e-01 3.99834073e+02] [-3.00659289e-01 1.38985514e-03 9.53730602e-01 5.66253571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4292541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:528.26, Y:399.85, Z:56.61 [[ 6.70532963e-01 -7.09454681e-01 2.16932249e-01 5.28261794e+02] [ 6.78106728e-01 7.04714542e-01 2.08683206e-01 3.99853351e+02] [-3.00926588e-01 7.17424906e-03 9.53620322e-01 5.66137046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4592541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:528.29, Y:399.87, Z:56.61 [[ 6.72397518e-01 -7.10879208e-01 2.06233675e-01 5.28289258e+02] [ 6.76716434e-01 7.03280178e-01 2.17834477e-01 3.99868622e+02] [-2.99894056e-01 -6.90964424e-03 9.53947489e-01 5.66123165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.4892541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:528.30, Y:399.89, Z:56.60 [[ 6.73706864e-01 -7.07410097e-01 2.13752230e-01 5.28303564e+02] [ 6.75284859e-01 7.06799445e-01 2.10772162e-01 3.99889909e+02] [-3.00182313e-01 2.34499217e-03 9.53878965e-01 5.66013746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.5192541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:528.31, Y:399.91, Z:56.58 [[ 6.71294181e-01 -7.06632865e-01 2.23683073e-01 5.28313951e+02] [ 6.76320726e-01 7.07450865e-01 2.05191495e-01 3.99911231e+02] [-3.03239837e-01 1.35376420e-02 9.52818101e-01 5.65836337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.5492541539998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:528.34, Y:399.92, Z:56.58 [[ 6.72782242e-01 -7.10283972e-01 2.07028343e-01 5.28344378e+02] [ 6.75763593e-01 7.03876932e-01 2.18862583e-01 3.99924748e+02] [-3.01177060e-01 -7.34464258e-03 9.53539949e-01 5.65848393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.579254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:528.35, Y:399.95, Z:56.57 [[ 6.71933069e-01 -7.06257875e-01 2.22947897e-01 5.28352389e+02] [ 6.75190800e-01 7.07867172e-01 2.07464336e-01 3.99948454e+02] [-3.04340818e-01 1.11302211e-02 9.52498181e-01 5.65665787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.609254154 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:528.38, Y:399.96, Z:56.56 [[ 6.73701795e-01 -7.08327037e-01 2.10709991e-01 5.28380062e+02] [ 6.74107029e-01 7.05869933e-01 2.17548504e-01 3.99963552e+02] [-3.02829334e-01 -4.52173212e-03 9.53034075e-01 5.65644144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.639254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:528.39, Y:399.99, Z:56.55 [[ 6.73225024e-01 -7.03831090e-01 2.26693327e-01 5.28386876e+02] [ 6.72995117e-01 7.10238176e-01 2.06492873e-01 3.99987418e+02] [-3.06342359e-01 1.35473323e-02 9.51824999e-01 5.65455918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.43, Y:400.00, Z:56.56 [[ 6.78871131e-01 -7.07906343e-01 1.94942548e-01 5.28429461e+02] [ 6.70120396e-01 7.05855947e-01 2.29577953e-01 3.99997575e+02] [-3.00121046e-01 -2.52188674e-02 9.53567704e-01 5.65585243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.6992541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:528.42, Y:400.03, Z:56.52 [[ 6.75692695e-01 -6.99764130e-01 2.31882611e-01 5.28422241e+02] [ 6.70916598e-01 7.14079733e-01 1.99902611e-01 4.00027884e+02] [-3.05467349e-01 2.05011586e-02 9.51981828e-01 5.65249291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.7292541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:528.47, Y:400.04, Z:56.54 [[ 6.82119517e-01 -7.04355574e-01 1.96459133e-01 5.28466336e+02] [ 6.66877231e-01 7.09423623e-01 2.28019476e-01 4.00036374e+02] [-2.99979539e-01 -2.45224116e-02 9.53630394e-01 5.65393903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.48, Y:400.06, Z:56.52 [[ 6.83520894e-01 -6.98016833e-01 2.13475264e-01 5.28476059e+02] [ 6.65375620e-01 7.16078094e-01 2.10967883e-01 4.00061527e+02] [-3.00124093e-01 -2.15971989e-03 9.53897722e-01 5.65232365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.7892541539998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:528.49, Y:400.08, Z:56.51 [[ 6.85657336e-01 -6.95854900e-01 2.13681950e-01 5.28492714e+02] [ 6.63004724e-01 7.18175227e-01 2.11303288e-01 4.00079264e+02] [-3.00497511e-01 -3.20950728e-03 9.53777199e-01 5.65117362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.819254154 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:528.50, Y:400.10, Z:56.49 [[ 6.84252980e-01 -6.93143376e-01 2.26605650e-01 5.28501504e+02] [ 6.62750461e-01 7.20714692e-01 2.03303123e-01 4.00101640e+02] [-3.04236234e-01 1.10722310e-02 9.52532267e-01 5.64933240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.849254154 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:528.54, Y:400.11, Z:56.50 [[ 6.88338782e-01 -6.96849772e-01 2.01469889e-01 5.28537673e+02] [ 6.60348077e-01 7.16914363e-01 2.23549131e-01 4.00112118e+02] [-3.00216818e-01 -2.08372827e-02 9.53643366e-01 5.65009166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.879254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:528.54, Y:400.14, Z:56.48 [[ 6.88832862e-01 -6.89235610e-01 2.24640962e-01 5.28541491e+02] [ 6.58652452e-01 7.24493163e-01 2.03191053e-01 4.00138417e+02] [-3.02797350e-01 7.99564582e-03 9.53021424e-01 5.64780408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9092541539999 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:528.58, Y:400.15, Z:56.48 [[ 6.91749631e-01 -6.93284218e-01 2.02087705e-01 5.28575558e+02] [ 6.57271059e-01 7.20375990e-01 2.21479541e-01 4.00149345e+02] [-2.99127401e-01 -2.03819912e-02 9.53995478e-01 5.64828362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.58, Y:400.18, Z:56.46 [[ 6.91468249e-01 -6.86184908e-01 2.25880351e-01 5.28580360e+02] [ 6.56104024e-01 7.27370063e-01 2.01147463e-01 4.00175708e+02] [-3.02322958e-01 9.11392272e-03 9.53161983e-01 5.64605345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.60, Y:400.19, Z:56.45 [[ 6.91102680e-01 -6.88377188e-01 2.20258784e-01 5.28602637e+02] [ 6.55931360e-01 7.25352898e-01 2.08847372e-01 4.00192180e+02] [-3.03531114e-01 1.39664881e-04 9.52821517e-01 5.64523913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1036.9992541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:528.64, Y:400.20, Z:56.46 [[ 6.94138036e-01 -6.93295423e-01 1.93684908e-01 5.28639267e+02] [ 6.55327339e-01 7.19956953e-01 2.28490842e-01 4.00202717e+02] [-2.97856451e-01 -3.16771692e-02 9.54084950e-01 5.64607212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.0292541539998 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:528.63, Y:400.23, Z:56.42 [[ 6.91045914e-01 -6.83478056e-01 2.35187780e-01 5.28631501e+02] [ 6.55604257e-01 7.29697836e-01 1.94226997e-01 4.00234453e+02] [-3.04365905e-01 1.99703373e-02 9.52345831e-01 5.64247324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.67, Y:400.25, Z:56.43 [[ 6.92665492e-01 -6.89462187e-01 2.11793316e-01 5.28668156e+02] [ 6.54797592e-01 7.24237589e-01 2.16148164e-01 4.00245143e+02] [-3.02414666e-01 -1.10366208e-02 9.53112566e-01 5.64293342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.089254154 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:528.70, Y:400.26, Z:56.43 [[ 6.94843081e-01 -6.93228491e-01 1.91382737e-01 5.28701826e+02] [ 6.55580063e-01 7.19973000e-01 2.27713986e-01 4.00257446e+02] [-2.95648226e-01 -3.27587814e-02 9.54735036e-01 5.64344281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.119254154 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:528.71, Y:400.28, Z:56.42 [[ 6.94695541e-01 -6.87859022e-01 2.10352256e-01 5.28710110e+02] [ 6.55456363e-01 7.25809161e-01 2.08753486e-01 4.00283644e+02] [-2.96268563e-01 -7.14339161e-03 9.55077960e-01 5.64166905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.149254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:528.73, Y:400.30, Z:56.41 [[ 6.94425249e-01 -6.88322072e-01 2.09729108e-01 5.28730886e+02] [ 6.56112411e-01 7.25371611e-01 2.08212707e-01 4.00302222e+02] [-2.95448943e-01 -6.98228985e-03 9.55333015e-01 5.64099900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.1792541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:528.75, Y:400.32, Z:56.40 [[ 6.93011518e-01 -6.89918191e-01 2.09160049e-01 5.28751380e+02] [ 6.57919277e-01 7.23859236e-01 2.07773990e-01 4.00318261e+02] [-2.94749489e-01 -6.37934048e-03 9.55553265e-01 5.63999454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2092541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:528.77, Y:400.33, Z:56.39 [[ 6.91179699e-01 -6.91771930e-01 2.09098591e-01 5.28773198e+02] [ 6.59836201e-01 7.22093693e-01 2.07838608e-01 4.00334447e+02] [-2.94765689e-01 -5.68300669e-03 9.55552663e-01 5.63913638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2392541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:528.79, Y:400.35, Z:56.38 [[ 6.90990806e-01 -6.91979767e-01 2.09035184e-01 5.28792502e+02] [ 6.60034061e-01 7.21894484e-01 2.07902363e-01 4.00353692e+02] [-2.94765575e-01 -5.68827991e-03 9.55552667e-01 5.63827664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.81, Y:400.37, Z:56.38 [[ 6.89171912e-01 -6.93760448e-01 2.09137553e-01 5.28814187e+02] [ 6.61825365e-01 7.20188328e-01 2.08124866e-01 4.00369900e+02] [-2.95007225e-01 -5.02127401e-03 9.55481828e-01 5.63779723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.2992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:528.82, Y:400.39, Z:56.35 [[ 6.84582674e-01 -6.90624189e-01 2.33205471e-01 5.28817843e+02] [ 6.63665477e-01 7.22847437e-01 1.92457056e-01 4.00393937e+02] [-3.01487475e-01 2.30176540e-02 9.53192263e-01 5.63492893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.329254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:528.87, Y:400.40, Z:56.37 [[ 6.86003063e-01 -7.02581412e-01 1.89153794e-01 5.28866688e+02] [ 6.64647704e-01 7.10881401e-01 2.29980571e-01 4.00397768e+02] [-2.96045988e-01 -3.20467414e-02 9.54635941e-01 5.63689787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.359254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:528.88, Y:400.42, Z:56.35 [[ 6.82625151e-01 -6.99661677e-01 2.10941796e-01 5.28875872e+02] [ 6.67380455e-01 7.14469458e-01 2.10087413e-01 4.00420451e+02] [-2.97701583e-01 -2.63252048e-03 9.54655350e-01 5.63501154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:528.90, Y:400.44, Z:56.34 [[ 6.81283367e-01 -7.01057547e-01 2.10644938e-01 5.28896970e+02] [ 6.68907648e-01 7.13101657e-01 2.09877548e-01 4.00437954e+02] [-2.97347493e-01 -2.08407239e-03 9.54767053e-01 5.63448626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4192541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:528.92, Y:400.45, Z:56.33 [[ 6.77766114e-01 -7.04425628e-01 2.10754906e-01 5.28918144e+02] [ 6.72360621e-01 7.09777458e-01 2.10112244e-01 4.00453430e+02] [-2.97597531e-01 -7.03659979e-04 9.54691162e-01 5.63340591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4492541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:528.94, Y:400.47, Z:56.33 [[ 6.76536518e-01 -7.05664816e-01 2.10559984e-01 5.28938283e+02] [ 6.73680073e-01 7.08545767e-01 2.10042985e-01 4.00470655e+02] [-2.97411330e-01 -2.51684295e-04 9.54749411e-01 5.63256905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.4792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:528.96, Y:400.49, Z:56.32 [[ 6.75329632e-01 -7.06775300e-01 2.10709665e-01 5.28958764e+02] [ 6.74757403e-01 7.07438092e-01 2.10318314e-01 4.00488654e+02] [-2.97711833e-01 1.43716462e-04 9.54655772e-01 5.63179598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.5092541539998 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:528.98, Y:400.50, Z:56.31 [[ 6.73760338e-01 -7.08282478e-01 2.10672586e-01 5.28978831e+02] [ 6.76308141e-01 7.05928765e-01 2.10408835e-01 4.00504273e+02] [-2.97748729e-01 7.14457466e-04 9.54644009e-01 5.63075911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.00, Y:400.52, Z:56.30 [[ 6.73675910e-01 -7.08352125e-01 2.10708414e-01 5.28998991e+02] [ 6.76352857e-01 7.05858888e-01 2.10499509e-01 4.00521994e+02] [-2.97838181e-01 7.04789392e-04 9.54616112e-01 5.63029737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.569254154 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:529.02, Y:400.54, Z:56.29 [[ 6.73049055e-01 -7.08912133e-01 2.10828262e-01 5.29019252e+02] [ 6.76885707e-01 7.05296216e-01 2.10672703e-01 4.00538784e+02] [-2.98044811e-01 9.13573262e-04 9.54551442e-01 5.62911584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.599254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:529.04, Y:400.56, Z:56.28 [[ 6.73139640e-01 -7.08856643e-01 2.10725614e-01 5.29039236e+02] [ 6.76820989e-01 7.05352128e-01 2.10693439e-01 4.00557026e+02] [-2.97987204e-01 7.97412484e-04 9.54569531e-01 5.62829970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.629254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:529.06, Y:400.57, Z:56.27 [[ 6.73596535e-01 -7.08465087e-01 2.10582357e-01 5.29058166e+02] [ 6.76414958e-01 7.05745664e-01 2.10679526e-01 4.00574501e+02] [-2.97876674e-01 5.28057443e-04 9.54604216e-01 5.62747783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.08, Y:400.59, Z:56.27 [[ 6.75211776e-01 -7.07185483e-01 2.09708727e-01 5.29078644e+02] [ 6.75329798e-01 7.07028066e-01 2.09859425e-01 4.00592882e+02] [-2.96679494e-01 -7.70027367e-05 9.54977105e-01 5.62688536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.6892541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:529.10, Y:400.61, Z:56.26 [[ 6.75370765e-01 -7.07124158e-01 2.09403332e-01 5.29096922e+02] [ 6.75321444e-01 7.07089377e-01 2.09679660e-01 4.00610968e+02] [-2.96336425e-01 -1.96952392e-04 9.55083601e-01 5.62564396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7192541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:529.12, Y:400.63, Z:56.25 [[ 6.76790957e-01 -7.05887431e-01 2.08990277e-01 5.29117487e+02] [ 6.74116417e-01 7.08323545e-01 2.09391527e-01 4.00629462e+02] [-2.95839580e-01 -8.30515137e-04 9.55237276e-01 5.62492692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7492541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:529.14, Y:400.65, Z:56.24 [[ 6.77117861e-01 -7.05689967e-01 2.08597872e-01 5.29137046e+02] [ 6.73993011e-01 7.08520045e-01 2.09123810e-01 4.00648186e+02] [-2.95372349e-01 -1.00795875e-03 9.55381683e-01 5.62400380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.7792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:529.16, Y:400.67, Z:56.23 [[ 6.77348108e-01 -7.05383065e-01 2.08888180e-01 5.29156644e+02] [ 6.73542590e-01 7.08825227e-01 2.09540395e-01 4.00666625e+02] [-2.95871458e-01 -1.23670471e-03 9.55226963e-01 5.62328730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.8092541539997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:529.18, Y:400.68, Z:56.22 [[ 6.77485948e-01 -7.05213794e-01 2.09012670e-01 5.29176623e+02] [ 6.73287563e-01 7.08993323e-01 2.09791150e-01 4.00684333e+02] [-2.96136200e-01 -1.40492512e-03 9.55144689e-01 5.62239694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.839254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:529.20, Y:400.70, Z:56.22 [[ 6.77421028e-01 -7.05239315e-01 2.09136939e-01 5.29195422e+02] [ 6.73236044e-01 7.08967765e-01 2.10042704e-01 4.00702397e+02] [-2.96401721e-01 -1.48881935e-03 9.55062199e-01 5.62162591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.21, Y:400.72, Z:56.21 [[ 6.77014306e-01 -7.05260508e-01 2.10378816e-01 5.29214533e+02] [ 6.72850946e-01 7.08946597e-01 2.11344098e-01 4.00721436e+02] [-2.98199992e-01 -1.52939181e-03 9.54502188e-01 5.62092969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.899254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:529.23, Y:400.74, Z:56.20 [[ 6.76850499e-01 -7.05278104e-01 2.10846385e-01 5.29231998e+02] [ 6.72681731e-01 7.08928890e-01 2.11941309e-01 4.00739520e+02] [-2.98952658e-01 -1.62006941e-03 9.54266569e-01 5.62004223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:529.25, Y:400.76, Z:56.19 [[ 6.76822574e-01 -7.05313960e-01 2.10816084e-01 5.29249268e+02] [ 6.72701777e-01 7.08893106e-01 2.11997369e-01 4.00757296e+02] [-2.98970772e-01 -1.66825009e-03 9.54260810e-01 5.61907621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9592541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:529.27, Y:400.78, Z:56.18 [[ 6.76828745e-01 -7.05434540e-01 2.10392394e-01 5.29268139e+02] [ 6.72946054e-01 7.08773157e-01 2.11622826e-01 4.00775943e+02] [-2.98406533e-01 -1.64968042e-03 9.54437436e-01 5.61817906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1037.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.29, Y:400.79, Z:56.18 [[ 6.76894708e-01 -7.05322228e-01 2.10556663e-01 5.29286939e+02] [ 6.72736161e-01 7.08884566e-01 2.11916801e-01 4.00794581e+02] [-2.98729999e-01 -1.79628039e-03 9.54335979e-01 5.61762634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.0192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:529.31, Y:400.81, Z:56.17 [[ 6.77046476e-01 -7.05378082e-01 2.09880515e-01 5.29305686e+02] [ 6.72991736e-01 7.08828965e-01 2.11290375e-01 4.00814125e+02] [-2.97808988e-01 -1.80555224e-03 9.54623772e-01 5.61670608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.32, Y:400.83, Z:56.16 [[ 6.77293689e-01 -7.05208388e-01 2.09653020e-01 5.29323768e+02] [ 6.72846161e-01 7.08997347e-01 2.11189031e-01 4.00832952e+02] [-2.97575711e-01 -1.97276808e-03 9.54696184e-01 5.61595703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.079254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:529.34, Y:400.85, Z:56.15 [[ 6.77491077e-01 -7.05139106e-01 2.09247894e-01 5.29341791e+02] [ 6.72884950e-01 7.09066065e-01 2.10834436e-01 4.00852387e+02] [-2.97038187e-01 -2.03869073e-03 9.54863424e-01 5.61499466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.109254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:529.36, Y:400.87, Z:56.14 [[ 6.78412759e-01 -7.04374076e-01 2.08837951e-01 5.29358844e+02] [ 6.72174837e-01 7.09824697e-01 2.10546641e-01 4.00872778e+02] [-2.96541931e-01 -2.46191135e-03 9.55016661e-01 5.61411602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.139254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:529.38, Y:400.89, Z:56.13 [[ 6.79028662e-01 -7.03912064e-01 2.08393578e-01 5.29377224e+02] [ 6.71793085e-01 7.10281805e-01 2.10223235e-01 4.00892639e+02] [-2.95996839e-01 -2.75023744e-03 9.55184960e-01 5.61323915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1692541539999 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:529.39, Y:400.91, Z:56.12 [[ 6.79634429e-01 -7.03536120e-01 2.07687195e-01 5.29394451e+02] [ 6.71582704e-01 7.10653173e-01 2.09639546e-01 4.00911672e+02] [-2.95082557e-01 -2.99912517e-03 9.55467053e-01 5.61224465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.41, Y:400.93, Z:56.12 [[ 6.81185585e-01 -7.02138321e-01 2.07335421e-01 5.29412575e+02] [ 6.70215207e-01 7.12031271e-01 2.09339547e-01 4.00931871e+02] [-2.94614621e-01 -3.63972904e-03 9.55609218e-01 5.61171118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.2292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:529.43, Y:400.95, Z:56.11 [[ 6.81441169e-01 -7.01985150e-01 2.07013966e-01 5.29430485e+02] [ 6.70140356e-01 7.12181770e-01 2.09067045e-01 4.00951214e+02] [-2.94193534e-01 -3.73847838e-03 9.55738557e-01 5.61074799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.2592541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:529.45, Y:400.97, Z:56.10 [[ 6.81977105e-01 -7.01703306e-01 2.06203054e-01 5.29446835e+02] [ 6.70062209e-01 7.12458398e-01 2.08373866e-01 4.00970271e+02] [-2.93127728e-01 -3.93733241e-03 9.56065182e-01 5.60973514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.47, Y:400.99, Z:56.09 [[ 6.82130457e-01 -7.01424590e-01 2.06643617e-01 5.29465733e+02] [ 6.69616407e-01 7.12731850e-01 2.08871198e-01 4.00990175e+02] [-2.93788881e-01 -4.10544969e-03 9.55861516e-01 5.60924467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.319254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:529.48, Y:401.01, Z:56.08 [[ 6.81908790e-01 -7.01738055e-01 2.06310699e-01 5.29483230e+02] [ 6.70011346e-01 7.12423515e-01 2.08656490e-01 4.01009114e+02] [-2.93402793e-01 -4.05418538e-03 9.55980316e-01 5.60820650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.349254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:529.50, Y:401.03, Z:56.07 [[ 6.81530169e-01 -7.02182123e-01 2.06050707e-01 5.29501699e+02] [ 6.70519740e-01 7.11986430e-01 2.08515233e-01 4.01028387e+02] [-2.93120976e-01 -3.94835511e-03 9.56067207e-01 5.60735813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.52, Y:401.05, Z:56.07 [[ 6.80741063e-01 -7.02738670e-01 2.06760653e-01 5.29521491e+02] [ 6.70839868e-01 7.11437850e-01 2.09356292e-01 4.01048316e+02] [-2.94220116e-01 -3.81413527e-03 9.55730075e-01 5.60681357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.54, Y:401.07, Z:56.06 [[ 6.79143825e-01 -7.04242337e-01 2.06897066e-01 5.29540917e+02] [ 6.72331025e-01 7.09952202e-01 2.09615992e-01 4.01067562e+02] [-2.94507483e-01 -3.25609027e-03 9.55643626e-01 5.60601192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.56, Y:401.09, Z:56.05 [[ 6.78094785e-01 -7.05275386e-01 2.06818986e-01 5.29558879e+02] [ 6.73396036e-01 7.08927506e-01 2.09665377e-01 4.01085620e+02] [-2.94491497e-01 -2.90191368e-03 9.55649694e-01 5.60521323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:529.58, Y:401.10, Z:56.04 [[ 6.76689642e-01 -7.06615403e-01 2.06847286e-01 5.29577254e+02] [ 6.74771861e-01 7.07593886e-01 2.09747059e-01 4.01104304e+02] [-2.94574378e-01 -2.35893467e-03 9.55625644e-01 5.60434542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.4992541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:529.60, Y:401.12, Z:56.03 [[ 6.74170801e-01 -7.09184179e-01 2.06280227e-01 5.29595868e+02] [ 6.77597906e-01 7.05022015e-01 2.09296530e-01 4.01122652e+02] [-2.93861889e-01 -1.32655989e-03 9.55846970e-01 5.60332863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.5292541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:529.61, Y:401.14, Z:56.03 [[ 6.72963312e-01 -7.10247213e-01 2.06565431e-01 5.29614729e+02] [ 6.78581328e-01 7.03951689e-01 2.09712664e-01 4.01141611e+02] [-2.94359919e-01 -9.57484038e-04 9.55694157e-01 5.60256702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.5592541539997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:529.63, Y:401.16, Z:56.02 [[ 6.71532904e-01 -7.11618829e-01 2.06499881e-01 5.29634081e+02] [ 6.79998055e-01 7.02565613e-01 2.09771794e-01 4.01161046e+02] [-2.94357273e-01 -4.49144466e-04 9.55695346e-01 5.60182658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.589254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:529.65, Y:401.18, Z:56.01 [[ 6.71150812e-01 -7.12109370e-01 2.06050560e-01 5.29652536e+02] [ 6.80613589e-01 7.02068472e-01 2.09439736e-01 4.01179738e+02] [-2.93805600e-01 -3.24837264e-04 9.55865139e-01 5.60088064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.619254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:529.67, Y:401.20, Z:56.00 [[ 6.70940595e-01 -7.12355331e-01 2.05884921e-01 5.29671493e+02] [ 6.80884158e-01 7.01818914e-01 2.09396696e-01 4.01198823e+02] [-2.93658784e-01 -3.08963234e-04 9.55910259e-01 5.60016147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.649254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:529.69, Y:401.22, Z:55.99 [[ 6.71764539e-01 -7.11921946e-01 2.04693788e-01 5.29689715e+02] [ 6.80763683e-01 7.02258354e-01 2.08312297e-01 4.01217461e+02] [-2.92050019e-01 -5.88716921e-04 9.56402865e-01 5.59932713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.6792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:529.71, Y:401.24, Z:55.99 [[ 6.71952958e-01 -7.11672440e-01 2.04942824e-01 5.29708449e+02] [ 6.80409224e-01 7.02511065e-01 2.08618051e-01 4.01236761e+02] [-2.92442319e-01 -7.36528882e-04 9.56282881e-01 5.59853965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.73, Y:401.26, Z:55.98 [[ 6.72952563e-01 -7.11244550e-01 2.03140440e-01 5.29731170e+02] [ 6.79180975e-01 7.02932415e-01 2.11185281e-01 4.01255977e+02] [-2.92998381e-01 -4.14855399e-03 9.56103937e-01 5.59807232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:529.74, Y:401.28, Z:55.97 [[ 6.73695940e-01 -7.09094925e-01 2.08130171e-01 5.29743516e+02] [ 6.78605952e-01 7.05108043e-01 2.05710013e-01 4.01276452e+02] [-2.92622184e-01 2.65237192e-03 9.56224463e-01 5.59680594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.76, Y:401.30, Z:55.96 [[ 6.74100594e-01 -7.09317652e-01 2.06050621e-01 5.29764492e+02] [ 6.77509083e-01 7.04886175e-01 2.10040288e-01 4.01295459e+02] [-2.94227517e-01 -1.98711543e-03 9.55733341e-01 5.59631078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.7992541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:529.78, Y:401.32, Z:55.95 [[ 6.75857561e-01 -7.07876702e-01 2.05248952e-01 5.29781815e+02] [ 6.76218491e-01 7.06330884e-01 2.09344778e-01 4.01315095e+02] [-2.93163965e-01 -2.69411419e-03 9.56058383e-01 5.59525078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.829254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:529.80, Y:401.33, Z:55.94 [[ 6.76746223e-01 -7.07129036e-01 2.04897721e-01 5.29800467e+02] [ 6.75509560e-01 7.07077705e-01 2.09112299e-01 4.01334543e+02] [-2.92747989e-01 -3.10558886e-03 9.56184590e-01 5.59443873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.859254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:529.82, Y:401.35, Z:55.94 [[ 6.77391700e-01 -7.06603192e-01 2.04578627e-01 5.29818691e+02] [ 6.75022659e-01 7.07601748e-01 2.08911887e-01 4.01353921e+02] [-2.92378000e-01 -3.41996922e-03 9.56296716e-01 5.59356050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.84, Y:401.37, Z:55.93 [[ 6.79005129e-01 -7.04950885e-01 2.04929951e-01 5.29837345e+02] [ 6.73147057e-01 7.09243492e-01 2.09396057e-01 4.01373691e+02] [-2.92959170e-01 -4.23300339e-03 9.56115582e-01 5.59287975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:529.86, Y:401.39, Z:55.92 [[ 6.79578169e-01 -7.04519788e-01 2.04512544e-01 5.29855652e+02] [ 6.72791270e-01 7.09670068e-01 2.09094005e-01 4.01392872e+02] [-2.92447295e-01 -4.50146704e-03 9.56271048e-01 5.59193001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.87, Y:401.41, Z:55.91 [[ 6.79953561e-01 -7.03113102e-01 2.08074797e-01 5.29873334e+02] [ 6.71878845e-01 7.11077162e-01 2.07239206e-01 4.01413291e+02] [-2.93669837e-01 -1.11198157e-03 9.55906267e-01 5.59086465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1038.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.90, Y:401.43, Z:55.90 [[ 6.80738217e-01 -7.04250900e-01 2.01559294e-01 5.29895062e+02] [ 6.71863089e-01 7.09901392e-01 2.11281811e-01 4.01430385e+02] [-2.91882629e-01 -8.40735335e-03 9.56417193e-01 5.59048418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.91, Y:401.45, Z:55.89 [[ 6.80563619e-01 -7.03712735e-01 2.04013597e-01 5.29912616e+02] [ 6.72014378e-01 7.10466589e-01 2.08887295e-01 4.01450778e+02] [-2.91941494e-01 -5.06102266e-03 9.56422789e-01 5.58949516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.0392541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:529.93, Y:401.47, Z:55.88 [[ 6.80904261e-01 -7.03654932e-01 2.03074184e-01 5.29929913e+02] [ 6.72216206e-01 7.10523212e-01 2.08043594e-01 4.01468621e+02] [-2.90679823e-01 -5.14801237e-03 9.56806531e-01 5.58844271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.069254154 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:529.95, Y:401.49, Z:55.87 [[ 6.80181647e-01 -7.01896742e-01 2.11409296e-01 5.29945021e+02] [ 6.71996678e-01 7.12266462e-01 2.02723832e-01 4.01490476e+02] [-2.92870948e-01 4.17731486e-03 9.56142854e-01 5.58710738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:529.97, Y:401.50, Z:55.87 [[ 6.80788988e-01 -7.05185275e-01 1.98091096e-01 5.29971839e+02] [ 6.71397233e-01 7.08882054e-01 2.16129566e-01 4.01504077e+02] [-2.92834610e-01 -1.41408149e-02 9.56058538e-01 5.58729069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.129254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:529.99, Y:401.53, Z:55.86 [[ 6.81093749e-01 -7.03372290e-01 2.03417619e-01 5.29986584e+02] [ 6.71734829e-01 7.10800625e-01 2.08649924e-01 4.01525186e+02] [-2.91347945e-01 -5.46745925e-03 9.56601527e-01 5.58591687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.01, Y:401.54, Z:55.85 [[ 6.80725124e-01 -7.03282715e-01 2.04955428e-01 5.30005796e+02] [ 6.71111762e-01 7.10887881e-01 2.10350718e-01 4.01544019e+02] [-2.93636354e-01 -5.64302058e-03 9.55900543e-01 5.58524589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.1892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:530.02, Y:401.56, Z:55.84 [[ 6.80653476e-01 -7.03457829e-01 2.04592103e-01 5.30023948e+02] [ 6.71372248e-01 7.10714532e-01 2.10105114e-01 4.01562488e+02] [-2.93206668e-01 -5.65131566e-03 9.56032380e-01 5.58424105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.04, Y:401.58, Z:55.84 [[ 6.80595096e-01 -7.03293441e-01 2.05350071e-01 5.30042352e+02] [ 6.70915677e-01 7.10875644e-01 2.11016523e-01 4.01580958e+02] [-2.94384901e-01 -5.84422871e-03 9.55669072e-01 5.58358139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.06, Y:401.60, Z:55.83 [[ 6.80799068e-01 -7.03063138e-01 2.05462536e-01 5.30061226e+02] [ 6.70621874e-01 7.11102219e-01 2.11186971e-01 4.01599505e+02] [-2.94582640e-01 -5.98822203e-03 9.55607246e-01 5.58274305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.08, Y:401.62, Z:55.82 [[ 6.81047077e-01 -7.02807416e-01 2.05515486e-01 5.30078878e+02] [ 6.70297613e-01 7.11353169e-01 2.11371191e-01 4.01617698e+02] [-2.94747333e-01 -6.19719151e-03 9.55555129e-01 5.58194142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.3092541539997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:530.10, Y:401.64, Z:55.81 [[ 6.81951853e-01 -7.02186034e-01 2.04637348e-01 5.30096660e+02] [ 6.69916462e-01 7.11964075e-01 2.10520996e-01 4.01637105e+02] [-2.93519344e-01 -6.47525532e-03 9.55931204e-01 5.58089782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.11, Y:401.66, Z:55.80 [[ 6.82510855e-01 -7.01644892e-01 2.04629857e-01 5.30114352e+02] [ 6.69314186e-01 7.12494314e-01 2.10642761e-01 4.01656026e+02] [-2.93594027e-01 -6.80430460e-03 9.55905983e-01 5.58021012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.369254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:530.13, Y:401.68, Z:55.79 [[ 6.83130031e-01 -7.01264974e-01 2.03864655e-01 5.30131932e+02] [ 6.69148771e-01 7.12866564e-01 2.09907559e-01 4.01675366e+02] [-2.92529115e-01 -6.97837336e-03 9.56231154e-01 5.57920143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.399254154 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:530.15, Y:401.70, Z:55.78 [[ 6.84503116e-01 -7.00266311e-01 2.02688378e-01 5.30148535e+02] [ 6.68448007e-01 7.13842822e-01 2.08819747e-01 4.01695296e+02] [-2.90917078e-01 -7.45112498e-03 9.56719256e-01 5.57820530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4292541539999 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:530.17, Y:401.71, Z:55.77 [[ 6.84859922e-01 -6.99935124e-01 2.02627022e-01 5.30166567e+02] [ 6.68084867e-01 7.14165120e-01 2.08879849e-01 4.01714675e+02] [-2.90911495e-01 -7.68138958e-03 9.56719133e-01 5.57734720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4592541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:530.18, Y:401.73, Z:55.77 [[ 6.85596410e-01 -6.99088718e-01 2.03057940e-01 5.30183965e+02] [ 6.67024181e-01 7.14988431e-01 2.09452347e-01 4.01734387e+02] [-2.91609851e-01 -8.15522095e-03 9.56502581e-01 5.57664399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.20, Y:401.75, Z:55.76 [[ 6.85286794e-01 -6.99098957e-01 2.04065332e-01 5.30201988e+02] [ 6.66692011e-01 7.14977511e-01 2.10544344e-01 4.01754226e+02] [-2.93093454e-01 -8.23453238e-03 9.56048335e-01 5.57592940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.5192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:530.22, Y:401.77, Z:55.75 [[ 6.85387642e-01 -6.99115069e-01 2.03671062e-01 5.30219232e+02] [ 6.66798413e-01 7.14960948e-01 2.10263453e-01 4.01773203e+02] [-2.92615204e-01 -8.30443174e-03 9.56194216e-01 5.57505962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.24, Y:401.79, Z:55.74 [[ 6.84525100e-01 -6.99675376e-01 2.04645441e-01 5.30237670e+02] [ 6.67049548e-01 7.14414449e-01 2.11321783e-01 4.01792686e+02] [-2.94058308e-01 -8.14641573e-03 9.55752765e-01 5.57430754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.579254154 meters Centerline goodness : 0.999716 Centerline is valid? [True, True] Translation: X:530.26, Y:401.81, Z:55.73 [[ 6.84218475e-01 -7.00356485e-01 2.03336846e-01 5.30255811e+02] [ 6.68148786e-01 7.13749640e-01 2.10092007e-01 4.01811736e+02] [-2.92270900e-01 -7.88956585e-03 9.56303025e-01 5.57331839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.609254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:530.25, Y:401.84, Z:55.70 [[ 6.77546512e-01 -6.95187088e-01 2.40095059e-01 5.30248614e+02] [ 6.69386374e-01 7.18126226e-01 1.90306610e-01 4.01840321e+02] [-3.04717257e-01 3.17747815e-02 9.51912683e-01 5.56987411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.31, Y:401.84, Z:55.74 [[ 6.81621012e-01 -7.11138316e-01 1.72264600e-01 5.30314175e+02] [ 6.70191364e-01 7.01255214e-01 2.43073364e-01 4.01840914e+02] [-2.93660232e-01 -5.02336654e-02 9.54589046e-01 5.57359396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.29, Y:401.88, Z:55.69 [[ 6.75686667e-01 -6.98972174e-01 2.34276394e-01 5.30292479e+02] [ 6.71752087e-01 7.14686631e-01 1.94864447e-01 4.01878339e+02] [-3.03639033e-01 2.57083480e-02 9.52440244e-01 5.56869975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.6992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:530.33, Y:401.89, Z:55.69 [[ 6.75575287e-01 -7.07465731e-01 2.07581965e-01 5.30326338e+02] [ 6.73184298e-01 7.06709764e-01 2.17679145e-01 4.01888774e+02] [-3.00700737e-01 -7.31773131e-03 9.53690473e-01 5.56893108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.7292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:530.34, Y:401.91, Z:55.68 [[ 6.73460464e-01 -7.09636638e-01 2.07043101e-01 5.30344120e+02] [ 6.75471069e-01 7.04535775e-01 2.17642312e-01 4.01906890e+02] [-3.00316230e-01 -6.72186766e-03 9.53816009e-01 5.56809754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.37, Y:401.93, Z:55.68 [[ 6.72912285e-01 -7.11296889e-01 2.03090602e-01 5.30366179e+02] [ 6.76451150e-01 7.02809155e-01 2.20166150e-01 4.01925356e+02] [-2.99337431e-01 -1.07716355e-02 9.54086513e-01 5.56755892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.7892541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:530.38, Y:401.95, Z:55.66 [[ 6.72712439e-01 -7.11382668e-01 2.03451896e-01 5.30384190e+02] [ 6.78030994e-01 7.02770610e-01 2.15377439e-01 4.01945107e+02] [-2.96195791e-01 -6.94039149e-03 9.55102028e-01 5.56647083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.819254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.40, Y:401.96, Z:55.66 [[ 6.70449816e-01 -7.13462885e-01 2.03636330e-01 5.30404423e+02] [ 6.80025197e-01 7.00664642e-01 2.15950900e-01 4.01964354e+02] [-2.96753729e-01 -6.30640529e-03 9.54933220e-01 5.56583011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.44, Y:401.98, Z:55.67 [[ 6.73464680e-01 -7.17918737e-01 1.76176083e-01 5.30443707e+02] [ 6.80717681e-01 6.95218743e-01 2.30855666e-01 4.01977875e+02] [-2.88216523e-01 -3.55469630e-02 9.56905246e-01 5.56725162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.879254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:530.43, Y:402.01, Z:55.63 [[ 6.66824744e-01 -7.08149523e-01 2.32096991e-01 5.30425278e+02] [ 6.83070165e-01 7.05330151e-01 1.89537669e-01 4.02011320e+02] [-2.97926016e-01 3.21501222e-02 9.54047409e-01 5.56260459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:530.48, Y:402.01, Z:55.66 [[ 6.71105769e-01 -7.21379540e-01 1.70963757e-01 5.30484822e+02] [ 6.83583435e-01 6.91377681e-01 2.33902948e-01 4.02013960e+02] [-2.86933327e-01 -4.01056254e-02 9.57110655e-01 5.56566650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.49, Y:402.04, Z:55.64 [[ 6.70931682e-01 -7.13825549e-01 2.00757972e-01 5.30486729e+02] [ 6.82816824e-01 7.00318899e-01 2.08121661e-01 4.02041547e+02] [-2.89157160e-01 -2.55449548e-03 9.57278231e-01 5.56352782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:530.51, Y:402.06, Z:55.63 [[ 6.71058343e-01 -7.13611181e-01 2.01096451e-01 5.30505842e+02] [ 6.82470385e-01 7.00536829e-01 2.08524162e-01 4.02060540e+02] [-2.89680643e-01 -2.68950643e-03 9.57119581e-01 5.56269395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1039.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.52, Y:402.08, Z:55.62 [[ 6.71209765e-01 -7.13424255e-01 2.01254277e-01 5.30523634e+02] [ 6.82185861e-01 7.00726486e-01 2.08817726e-01 4.02078881e+02] [-2.89999833e-01 -2.86767468e-03 9.57022400e-01 5.56194929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.0292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:530.54, Y:402.10, Z:55.61 [[ 6.71576696e-01 -7.13098032e-01 2.01186326e-01 5.30540972e+02] [ 6.81850153e-01 7.01057706e-01 2.08802447e-01 4.02097062e+02] [-2.89939839e-01 -3.04792994e-03 9.57040020e-01 5.56105265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.0592541539997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:530.56, Y:402.12, Z:55.60 [[ 6.72342308e-01 -7.12403783e-01 2.01088713e-01 5.30559325e+02] [ 6.81140864e-01 7.01761641e-01 2.08752780e-01 4.02116121e+02] [-2.89832616e-01 -3.38358604e-03 9.57071370e-01 5.56018212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.089254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:530.55, Y:402.14, Z:55.57 [[ 6.67119723e-01 -7.06420196e-01 2.36477868e-01 5.30551969e+02] [ 6.81635962e-01 7.06914767e-01 1.88795995e-01 4.02143743e+02] [-3.00539001e-01 3.52422871e-02 9.53118193e-01 5.55660784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.119254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:530.62, Y:402.15, Z:55.60 [[ 6.73347700e-01 -7.19646291e-01 1.69446426e-01 5.30615951e+02] [ 6.80112156e-01 6.92803485e-01 2.39730652e-01 4.02145106e+02] [-2.89914349e-01 -4.61795093e-02 9.55937824e-01 5.56018146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.149254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.59, Y:402.18, Z:55.55 [[ 6.68452951e-01 -7.05182526e-01 2.36406976e-01 5.30591294e+02] [ 6.80081808e-01 7.08206946e-01 1.89556470e-01 4.02183570e+02] [-3.01096973e-01 3.40665024e-02 9.52984830e-01 5.55506988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.1792541539999 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:530.63, Y:402.19, Z:55.55 [[ 6.70034227e-01 -7.11911947e-01 2.10322406e-01 5.30626712e+02] [ 6.78571639e-01 7.02267025e-01 2.15317340e-01 4.02193077e+02] [-3.00989477e-01 -1.55116735e-03 9.53626200e-01 5.55538287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.66, Y:402.20, Z:55.57 [[ 6.72901707e-01 -7.18211366e-01 1.77131949e-01 5.30664982e+02] [ 6.78658248e-01 6.94659336e-01 2.38477232e-01 4.02204523e+02] [-2.94323420e-01 -4.02596777e-02 9.54857520e-01 5.55701629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:530.67, Y:402.23, Z:55.55 [[ 6.73599449e-01 -7.10311398e-01 2.04258415e-01 5.30667138e+02] [ 6.77576416e-01 7.03868223e-01 2.13212862e-01 4.02232939e+02] [-2.95218534e-01 -5.21938195e-03 9.55415499e-01 5.55477205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.68, Y:402.25, Z:55.54 [[ 6.73981055e-01 -7.09995038e-01 2.04099444e-01 5.30684673e+02] [ 6.77258072e-01 7.04185598e-01 2.13176332e-01 4.02251634e+02] [-2.95078027e-01 -5.44881340e-03 9.55457623e-01 5.55396386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.2992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:530.70, Y:402.27, Z:55.53 [[ 6.74088834e-01 -7.09967325e-01 2.03839744e-01 5.30702323e+02] [ 6.77287884e-01 7.04213010e-01 2.12990982e-01 4.02271356e+02] [-2.94763238e-01 -5.51665412e-03 9.55554394e-01 5.55303987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.329254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:530.72, Y:402.29, Z:55.52 [[ 6.73803350e-01 -7.10267892e-01 2.03736515e-01 5.30720504e+02] [ 6.77597378e-01 7.03910192e-01 2.13007595e-01 4.02290636e+02] [-2.94704665e-01 -5.47390226e-03 9.55572706e-01 5.55217057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.359254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:530.74, Y:402.31, Z:55.51 [[ 6.73237977e-01 -7.10803882e-01 2.03736271e-01 5.30738666e+02] [ 6.78117204e-01 7.03370014e-01 2.13137707e-01 4.02309580e+02] [-2.94801093e-01 -5.33532791e-03 9.55543746e-01 5.55125841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.76, Y:402.33, Z:55.51 [[ 6.72489217e-01 -7.11679024e-01 2.03153192e-01 5.30757391e+02] [ 6.79181398e-01 7.02486738e-01 2.12661732e-01 4.02328191e+02] [-2.94059317e-01 -5.03485241e-03 9.55773911e-01 5.55051999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4192541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:530.78, Y:402.35, Z:55.50 [[ 6.71583673e-01 -7.12695063e-01 2.02586075e-01 5.30775591e+02] [ 6.80411223e-01 7.01458791e-01 2.12122919e-01 4.02346955e+02] [-2.93284740e-01 -4.61645021e-03 9.56013990e-01 5.54951169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.79, Y:402.36, Z:55.49 [[ 6.70530989e-01 -7.13733031e-01 2.02418757e-01 5.30794255e+02] [ 6.81510035e-01 7.00404926e-01 2.12077843e-01 4.02364916e+02] [-2.93142056e-01 -4.25435151e-03 9.56059431e-01 5.54886957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.4792541539998 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:530.81, Y:402.39, Z:55.48 [[ 6.70048778e-01 -7.13131844e-01 2.06100967e-01 5.30810085e+02] [ 6.83071854e-01 7.01021241e-01 2.04895247e-01 4.02386813e+02] [-2.90598480e-01 3.49195974e-03 9.56838717e-01 5.54756804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.5092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.84, Y:402.40, Z:55.47 [[ 6.69118097e-01 -7.16710360e-01 1.96487234e-01 5.30835565e+02] [ 6.83213147e-01 6.97286778e-01 2.16820077e-01 4.02402417e+02] [-2.92405145e-01 -1.08355759e-02 9.56233142e-01 5.54744311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.85, Y:402.42, Z:55.46 [[ 6.68149045e-01 -7.16119631e-01 2.01865123e-01 5.30851190e+02] [ 6.84089814e-01 6.97969174e-01 2.11802169e-01 4.02423344e+02] [-2.92571324e-01 -3.42154291e-03 9.56237582e-01 5.54634537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.569254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.87, Y:402.44, Z:55.46 [[ 6.67617454e-01 -7.16680047e-01 2.01634929e-01 5.30869383e+02] [ 6.84710942e-01 6.97394472e-01 2.11688159e-01 4.02442591e+02] [-2.92331765e-01 -3.26506794e-03 9.56311392e-01 5.54554959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.599254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:530.89, Y:402.46, Z:55.45 [[ 6.67082224e-01 -7.17125369e-01 2.01822973e-01 5.30887214e+02] [ 6.85075053e-01 6.96936988e-01 2.12016523e-01 4.02461186e+02] [-2.92700322e-01 -3.16857013e-03 9.56198976e-01 5.54465393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.629254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:530.90, Y:402.48, Z:55.44 [[ 6.66358636e-01 -7.17857812e-01 2.01609349e-01 5.30904989e+02] [ 6.85893456e-01 6.96183779e-01 2.11845021e-01 4.02480463e+02] [-2.92431762e-01 -2.88222567e-03 9.56282049e-01 5.54357717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:530.92, Y:402.50, Z:55.43 [[ 6.66312238e-01 -7.17861955e-01 2.01747899e-01 5.30924287e+02] [ 6.85813625e-01 6.96179114e-01 2.12118632e-01 4.02500222e+02] [-2.92724569e-01 -2.97578239e-03 9.56192173e-01 5.54291126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.6892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:530.94, Y:402.52, Z:55.42 [[ 6.66206043e-01 -7.17998153e-01 2.01613889e-01 5.30942542e+02] [ 6.85960670e-01 6.96038516e-01 2.12104561e-01 4.02519073e+02] [-2.92621715e-01 -3.00614198e-03 9.56223559e-01 5.54204585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.95, Y:402.54, Z:55.40 [[ 6.64166628e-01 -7.15502494e-01 2.16653807e-01 5.30951517e+02] [ 6.86194842e-01 6.98475004e-01 2.03148487e-01 4.02542602e+02] [-2.96680518e-01 1.37422790e-02 9.54877909e-01 5.54009292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.99, Y:402.55, Z:55.41 [[ 6.67101621e-01 -7.20721426e-01 1.88510090e-01 5.30987888e+02] [ 6.85188839e-01 6.92919633e-01 2.24451860e-01 4.02554298e+02] [-2.92389606e-01 -2.05671898e-02 9.56078087e-01 5.54129099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:530.99, Y:402.58, Z:55.38 [[ 6.65727091e-01 -7.14077472e-01 2.16565935e-01 5.30987967e+02] [ 6.84654503e-01 6.99947002e-01 2.03279134e-01 4.02582655e+02] [-2.96741727e-01 1.29444156e-02 9.54870038e-01 5.53843723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.02, Y:402.59, Z:55.40 [[ 6.69219430e-01 -7.18882376e-01 1.88025222e-01 5.31024224e+02] [ 6.83270548e-01 6.94790490e-01 2.24516222e-01 4.02594321e+02] [-2.92038891e-01 -2.17785215e-02 9.56158450e-01 5.53962405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.839254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:531.03, Y:402.62, Z:55.38 [[ 6.69865900e-01 -7.14713692e-01 2.01156695e-01 5.31033561e+02] [ 6.82566214e-01 6.99401322e-01 2.11993289e-01 4.02617249e+02] [-2.92203764e-01 -4.70431118e-03 9.56344514e-01 5.53804234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.869254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:531.05, Y:402.64, Z:55.37 [[ 6.71358133e-01 -7.13371246e-01 2.00947064e-01 5.31051231e+02] [ 6.81217444e-01 7.00766114e-01 2.11824568e-01 4.02637252e+02] [-2.91926449e-01 -5.32150107e-03 9.56425967e-01 5.53728078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.07, Y:402.66, Z:55.37 [[ 6.72059372e-01 -7.12689004e-01 2.01023840e-01 5.31068972e+02] [ 6.80439714e-01 7.01456837e-01 2.12037974e-01 4.02656439e+02] [-2.92126680e-01 -5.71750327e-03 9.56362543e-01 5.53650985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.09, Y:402.68, Z:55.36 [[ 6.71871001e-01 -7.12874204e-01 2.00996832e-01 5.31087670e+02] [ 6.80625365e-01 7.01268960e-01 2.12063573e-01 4.02676264e+02] [-2.92127490e-01 -5.67582306e-03 9.56362544e-01 5.53564652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:531.11, Y:402.70, Z:55.35 [[ 6.71977199e-01 -7.12830976e-01 2.00795031e-01 5.31105116e+02] [ 6.80610717e-01 7.01312097e-01 2.11967909e-01 4.02695363e+02] [-2.91917276e-01 -5.77435133e-03 9.56426140e-01 5.53463326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1040.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.12, Y:402.72, Z:55.34 [[ 6.72509165e-01 -7.12149604e-01 2.01430795e-01 5.31124070e+02] [ 6.79651801e-01 7.02000505e-01 2.12764469e-01 4.02715434e+02] [-2.92924652e-01 -6.18325302e-03 9.56115535e-01 5.53401346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.13, Y:402.74, Z:55.32 [[ 6.68823248e-01 -7.10091606e-01 2.20103100e-01 5.31128671e+02] [ 6.80919960e-01 7.03954109e-01 2.01981731e-01 4.02739655e+02] [-2.98368014e-01 1.47825167e-02 9.54336422e-01 5.53166056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.0492541539998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:531.17, Y:402.75, Z:55.33 [[ 6.71907743e-01 -7.17437741e-01 1.83910504e-01 5.31171015e+02] [ 6.80555132e-01 6.96034596e-01 2.28867983e-01 4.02748378e+02] [-2.92206602e-01 -2.86169321e-02 9.55926971e-01 5.53291618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.079254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:531.18, Y:402.77, Z:55.31 [[ 6.71936698e-01 -7.12702061e-01 2.01387308e-01 5.31180007e+02] [ 6.80169968e-01 7.01440213e-01 2.12956433e-01 4.02773844e+02] [-2.93035645e-01 -6.11564394e-03 9.56081958e-01 5.53142102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.109254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:531.20, Y:402.79, Z:55.31 [[ 6.71703140e-01 -7.12946761e-01 2.01300294e-01 5.31198276e+02] [ 6.80415389e-01 7.01191642e-01 2.12991030e-01 4.02793463e+02] [-2.93001348e-01 -6.09892580e-03 9.56092576e-01 5.53065140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.139254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:531.22, Y:402.81, Z:55.30 [[ 6.71602386e-01 -7.13126397e-01 2.00999941e-01 5.31215458e+02] [ 6.80662911e-01 7.01008896e-01 2.12801619e-01 4.02812096e+02] [-2.92657198e-01 -6.10487040e-03 9.56197937e-01 5.52978860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:531.23, Y:402.83, Z:55.29 [[ 6.71669745e-01 -7.13117783e-01 2.00805331e-01 5.31234316e+02] [ 6.80702274e-01 7.01017348e-01 2.12647812e-01 4.02831919e+02] [-2.92410957e-01 -6.14045635e-03 9.56273040e-01 5.52898549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.1992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:531.25, Y:402.85, Z:55.28 [[ 6.71718138e-01 -7.13292401e-01 2.00021733e-01 5.31252696e+02] [ 6.81104975e-01 7.00839764e-01 2.11942535e-01 4.02851963e+02] [-2.91360184e-01 -6.12984732e-03 9.56593784e-01 5.52817581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.2292541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:531.27, Y:402.87, Z:55.27 [[ 6.71652634e-01 -7.13571354e-01 1.99245229e-01 5.31269832e+02] [ 6.81612204e-01 7.00556199e-01 2.11248235e-01 4.02870182e+02] [-2.90323169e-01 -6.07745338e-03 9.56909359e-01 5.52715370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.29, Y:402.89, Z:55.27 [[ 6.71555390e-01 -7.13606025e-01 1.99448739e-01 5.31288145e+02] [ 6.81554740e-01 7.00520391e-01 2.11552165e-01 4.02889398e+02] [-2.90682809e-01 -6.13376320e-03 9.56799813e-01 5.52653323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.2892541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:531.31, Y:402.91, Z:55.25 [[ 6.70582919e-01 -7.14531519e-01 1.99407266e-01 5.31306244e+02] [ 6.82518786e-01 6.99579474e-01 2.11557714e-01 4.02907605e+02] [-2.90665885e-01 -5.76778467e-03 9.56807230e-01 5.52549446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.319254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.32, Y:402.93, Z:55.25 [[ 6.69714721e-01 -7.15081824e-01 2.00350138e-01 5.31324323e+02] [ 6.82742680e-01 6.99017902e-01 2.12688518e-01 4.02926875e+02] [-2.92138027e-01 -5.65304148e-03 9.56359460e-01 5.52492301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.34, Y:402.95, Z:55.24 [[ 6.68782538e-01 -7.15821221e-01 2.00823047e-01 5.31342782e+02] [ 6.83341891e-01 6.98262847e-01 2.13243653e-01 4.02946273e+02] [-2.92871605e-01 -5.38283010e-03 9.56136626e-01 5.52409889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.379254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:531.36, Y:402.96, Z:55.23 [[ 6.66946074e-01 -7.17510842e-01 2.00900789e-01 5.31360921e+02] [ 6.85040501e-01 6.96531216e-01 2.13456735e-01 4.02964523e+02] [-2.93091192e-01 -4.73895473e-03 9.56072746e-01 5.52316869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.38, Y:402.98, Z:55.22 [[ 6.65781946e-01 -7.18528897e-01 2.01123409e-01 5.31379403e+02] [ 6.86013746e-01 6.95483594e-01 2.13746839e-01 4.02984330e+02] [-2.93461312e-01 -4.33536285e-03 9.55961120e-01 5.52248157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.39, Y:403.00, Z:55.21 [[ 6.62265116e-01 -7.21128875e-01 2.03415983e-01 5.31394204e+02] [ 6.89155762e-01 6.92800799e-01 2.12347329e-01 4.03004013e+02] [-2.94056546e-01 -4.44931291e-04 9.55787921e-01 5.52142998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.42, Y:403.02, Z:55.21 [[ 6.62993717e-01 -7.22045123e-01 1.97712345e-01 5.31417879e+02] [ 6.88952452e-01 6.91809245e-01 2.16204733e-01 4.03021621e+02] [-2.92888801e-01 -7.12797469e-03 9.56119941e-01 5.52100052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.43, Y:403.04, Z:55.20 [[ 6.62080490e-01 -7.22105988e-01 2.00530214e-01 5.31433939e+02] [ 6.89860293e-01 6.91776155e-01 2.13397580e-01 4.03041278e+02] [-2.92817691e-01 -2.94854180e-03 9.56163744e-01 5.52000073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.45, Y:403.06, Z:55.19 [[ 6.59984238e-01 -7.24127889e-01 2.00148959e-01 5.31451490e+02] [ 6.92081239e-01 6.89662554e-01 2.13047224e-01 4.03060469e+02] [-2.92308679e-01 -2.08847021e-03 9.56321742e-01 5.51916313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.5592541539997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:531.47, Y:403.08, Z:55.18 [[ 6.58767936e-01 -7.25512184e-01 1.99140345e-01 5.31469282e+02] [ 6.93841078e-01 6.88207679e-01 2.12025350e-01 4.03079467e+02] [-2.90876889e-01 -1.50375021e-03 9.56759308e-01 5.51816837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.589254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:531.49, Y:403.10, Z:55.18 [[ 6.56154697e-01 -7.27792338e-01 1.99447551e-01 5.31487664e+02] [ 6.96085806e-01 6.85797324e-01 2.12477250e-01 4.03099370e+02] [-2.91419911e-01 -5.85335831e-04 9.56595052e-01 5.51752122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.619254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:531.51, Y:403.12, Z:55.17 [[ 6.54719041e-01 -7.29259022e-01 1.98807084e-01 5.31505123e+02] [ 6.97788211e-01 6.84237735e-01 2.11920586e-01 4.03117896e+02] [-2.90576308e-01 -2.32034197e-05 9.56851822e-01 5.51653536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.649254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:531.52, Y:403.14, Z:55.16 [[ 6.53294451e-01 -7.30364097e-01 1.99435818e-01 5.31523533e+02] [ 6.98724048e-01 6.83057902e-01 2.12641969e-01 4.03137433e+02] [-2.91532272e-01 4.32783245e-04 9.56560896e-01 5.51584590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.6792541539999 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:531.54, Y:403.16, Z:55.15 [[ 6.52018652e-01 -7.31774749e-01 1.98437381e-01 5.31541536e+02] [ 7.00484701e-01 6.81545871e-01 2.11698864e-01 4.03156221e+02] [-2.90160061e-01 9.70741683e-04 9.56977636e-01 5.51489007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7092541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:531.56, Y:403.18, Z:55.14 [[ 6.49419562e-01 -7.34546954e-01 1.96710459e-01 5.31560388e+02] [ 7.02513265e-01 6.78556893e-01 2.14559212e-01 4.03175632e+02] [-2.91083054e-01 -1.14724226e-03 9.56697099e-01 5.51444665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.58, Y:403.19, Z:55.14 [[ 6.50071687e-01 -7.35329553e-01 1.91565264e-01 5.31583260e+02] [ 7.02385510e-01 6.77673581e-01 2.17745524e-01 4.03194575e+02] [-2.89933438e-01 -6.99753425e-03 9.57021231e-01 5.51417673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7692541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:531.59, Y:403.22, Z:55.12 [[ 6.48743630e-01 -7.33070829e-01 2.04300913e-01 5.31592246e+02] [ 7.03290077e-01 6.80087764e-01 2.07035508e-01 4.03217613e+02] [-2.90714242e-01 9.36983729e-03 9.56764044e-01 5.51234183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.7992541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:531.61, Y:403.24, Z:55.12 [[ 6.48619396e-01 -7.34250820e-01 2.00421088e-01 5.31611746e+02] [ 7.02938822e-01 6.78870403e-01 2.12160290e-01 4.03235890e+02] [-2.91838812e-01 3.27248424e-03 9.56461917e-01 5.51162005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.63, Y:403.26, Z:55.11 [[ 6.49538007e-01 -7.33029347e-01 2.01911746e-01 5.31630177e+02] [ 7.01149308e-01 6.80191768e-01 2.13842950e-01 4.03255777e+02] [-2.94091866e-01 2.67115717e-03 9.55773425e-01 5.51094543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.64, Y:403.28, Z:55.10 [[ 6.50093153e-01 -7.31665716e-01 2.05046756e-01 5.31644542e+02] [ 7.00578840e-01 6.81633438e-01 2.11104585e-01 4.03277067e+02] [-2.94224712e-01 6.41377318e-03 9.55714749e-01 5.50979922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.67, Y:403.29, Z:55.10 [[ 6.52331298e-01 -7.32381613e-01 1.95143665e-01 5.31669461e+02] [ 6.99115337e-01 6.80868148e-01 2.18303253e-01 4.03294681e+02] [-2.92748394e-01 -5.97811499e-03 9.56170821e-01 5.50956438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:531.68, Y:403.32, Z:55.08 [[ 6.53705301e-01 -7.30160649e-01 1.98833613e-01 5.31684365e+02] [ 6.98471029e-01 6.83275480e-01 2.12774155e-01 4.03316049e+02] [-2.91217447e-01 -2.12074301e-04 9.56656863e-01 5.50828912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:531.70, Y:403.34, Z:55.08 [[ 6.57111827e-01 -7.27078882e-01 1.98897829e-01 5.31700631e+02] [ 6.95189448e-01 6.86551884e-01 2.12974508e-01 4.03337192e+02] [-2.91402947e-01 -1.67639594e-03 9.56598930e-01 5.50758192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1041.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.72, Y:403.36, Z:55.07 [[ 6.59073098e-01 -7.25388888e-01 1.98578983e-01 5.31718038e+02] [ 6.93512634e-01 6.88334887e-01 2.12685943e-01 4.03357704e+02] [-2.90968861e-01 -2.45854959e-03 9.56729365e-01 5.50673818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.73, Y:403.38, Z:55.05 [[ 6.61107787e-01 -7.20902932e-01 2.07931375e-01 5.31726899e+02] [ 6.90501313e-01 6.93004970e-01 2.07248759e-01 4.03381197e+02] [-2.93503714e-01 6.56311841e-03 9.55935403e-01 5.50510995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.0392541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:531.75, Y:403.40, Z:55.05 [[ 6.63130040e-01 -7.21284047e-01 2.00019686e-01 5.31746471e+02] [ 6.89683462e-01 6.92636263e-01 2.11167540e-01 4.03398347e+02] [-2.90852666e-01 -2.08127031e-03 9.56765591e-01 5.50456019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.069254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.77, Y:403.42, Z:55.04 [[ 6.64907711e-01 -7.22199076e-01 1.90594411e-01 5.31772568e+02] [ 6.87404404e-01 6.91484734e-01 2.22090182e-01 4.03417386e+02] [-2.92186450e-01 -1.66540367e-02 9.56216357e-01 5.50447953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.099254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:531.78, Y:403.44, Z:55.03 [[ 6.65906862e-01 -7.16665122e-01 2.07265904e-01 5.31778598e+02] [ 6.85694428e-01 6.97409522e-01 2.08430109e-01 4.03443198e+02] [-2.93923805e-01 3.32603614e-03 9.55823067e-01 5.50267669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.129254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:531.81, Y:403.46, Z:55.03 [[ 6.66948554e-01 -7.20082358e-01 1.91470686e-01 5.31806035e+02] [ 6.85382782e-01 6.93693230e-01 2.21450093e-01 4.03459019e+02] [-2.92284224e-01 -1.64651082e-02 9.56189747e-01 5.50260208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.1592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:531.82, Y:403.48, Z:55.01 [[ 6.66758122e-01 -7.17676093e-01 2.00934397e-01 5.31818247e+02] [ 6.84773894e-01 6.96353887e-01 2.14885965e-01 4.03482257e+02] [-2.94139968e-01 -5.68233318e-03 9.55745463e-01 5.50137850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.1892541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:531.84, Y:403.50, Z:55.01 [[ 6.67803839e-01 -7.18345411e-01 1.94981804e-01 5.31839423e+02] [ 6.84629725e-01 6.95583620e-01 2.17820033e-01 4.03501130e+02] [-2.92096170e-01 -1.19707158e-02 9.56314033e-01 5.50093831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.85, Y:403.53, Z:54.99 [[ 6.65734796e-01 -7.15898233e-01 2.10444532e-01 5.31845835e+02] [ 6.84626623e-01 6.98188701e-01 2.09329704e-01 4.03527128e+02] [-2.96788760e-01 4.71786194e-03 9.54931502e-01 5.49928176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.87, Y:403.54, Z:54.99 [[ 6.65974665e-01 -7.19479742e-01 1.97044783e-01 5.31869800e+02] [ 6.85040233e-01 6.94414974e-01 2.20244690e-01 4.03543025e+02] [-2.95292441e-01 -1.16937796e-02 9.55335350e-01 5.49913843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.2792541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:531.89, Y:403.56, Z:54.99 [[ 6.67557718e-01 -7.19295287e-01 1.92304406e-01 5.31890167e+02] [ 6.85278711e-01 6.94554088e-01 2.19060968e-01 4.03562409e+02] [-2.91135333e-01 -1.44537243e-02 9.56572688e-01 5.49854879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.3092541539997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:531.90, Y:403.59, Z:54.97 [[ 6.67633111e-01 -7.17877307e-01 1.97276964e-01 5.31903092e+02] [ 6.85799586e-01 6.96139844e-01 2.12292832e-01 4.03585324e+02] [-2.89732561e-01 -6.44126338e-03 9.57085970e-01 5.49734754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.92, Y:403.61, Z:54.97 [[ 6.67693101e-01 -7.17814341e-01 1.97303056e-01 5.31920345e+02] [ 6.85685266e-01 6.96203610e-01 2.12452936e-01 4.03605200e+02] [-2.89864864e-01 -6.56556097e-03 9.57045064e-01 5.49671223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.94, Y:403.63, Z:54.96 [[ 6.66441323e-01 -7.19119990e-01 1.96780087e-01 5.31937735e+02] [ 6.87204691e-01 6.94859851e-01 2.11942209e-01 4.03625211e+02] [-2.89146461e-01 -6.01884744e-03 9.57265949e-01 5.49590723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.94, Y:403.65, Z:54.93 [[ 6.60596089e-01 -7.16699915e-01 2.23504004e-01 5.31935544e+02] [ 6.89395197e-01 6.96978834e-01 1.97369619e-01 4.03650623e+02] [-2.97232350e-01 2.37009883e-02 9.54510971e-01 5.49313715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:531.99, Y:403.66, Z:54.95 [[ 6.63812662e-01 -7.27955046e-01 1.71563986e-01 5.31988193e+02] [ 6.90159193e-01 6.84612087e-01 2.34492174e-01 4.03657294e+02] [-2.88154540e-01 -3.72524125e-02 9.56859038e-01 5.49547723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4592541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:531.97, Y:403.69, Z:54.91 [[ 6.56345282e-01 -7.18220560e-01 2.31019690e-01 5.31966352e+02] [ 6.92434082e-01 6.95035744e-01 1.93546782e-01 4.03692471e+02] [-2.99576221e-01 3.29323899e-02 9.53503826e-01 5.49096451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.4892541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:532.03, Y:403.69, Z:54.94 [[ 6.58315740e-01 -7.34652049e-01 1.64032782e-01 5.32028897e+02] [ 6.95496524e-01 6.76988350e-01 2.40772421e-01 4.03694868e+02] [-2.87932235e-01 -4.44200450e-02 9.56620033e-01 5.49397860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.5192541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:532.01, Y:403.73, Z:54.90 [[ 6.51493565e-01 -7.24040886e-01 2.26541233e-01 5.32007429e+02] [ 6.97456103e-01 6.89110076e-01 1.96678134e-01 4.03731449e+02] [-2.98514857e-01 2.98680273e-02 9.53937514e-01 5.48956875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.07, Y:403.74, Z:54.92 [[ 6.53181850e-01 -7.37874170e-01 1.69985821e-01 5.32065245e+02] [ 6.99336251e-01 6.73939564e-01 2.38189573e-01 4.03737046e+02] [-2.90314104e-01 -3.67038595e-02 9.56227247e-01 5.49239011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.07, Y:403.77, Z:54.90 [[ 6.51969309e-01 -7.32058459e-01 1.97551091e-01 5.32067969e+02] [ 7.00347411e-01 6.81241554e-01 2.13127776e-01 4.03765309e+02] [-2.90602003e-01 -5.98373929e-04 9.56843832e-01 5.49026720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.609254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:532.09, Y:403.78, Z:54.89 [[ 6.50254251e-01 -7.33675041e-01 1.97206347e-01 5.32085229e+02] [ 7.02110753e-01 6.79500503e-01 2.12883905e-01 4.03784922e+02] [-2.90189420e-01 3.20324573e-05 9.56969226e-01 5.48932504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.639254154 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:532.10, Y:403.80, Z:54.88 [[ 6.48765060e-01 -7.35157682e-01 1.96588606e-01 5.32101840e+02] [ 7.03822020e-01 6.77895879e-01 2.12348159e-01 4.03804250e+02] [-2.89375987e-01 5.99323423e-04 9.57215325e-01 5.48843956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.12, Y:403.82, Z:54.88 [[ 6.48838850e-01 -7.34948764e-01 1.97125498e-01 5.32119942e+02] [ 7.03412214e-01 6.78122477e-01 2.12981603e-01 4.03824738e+02] [-2.90205797e-01 4.69744580e-04 9.56964145e-01 5.48785598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.14, Y:403.85, Z:54.87 [[ 6.48737942e-01 -7.35030856e-01 1.97151527e-01 5.32137355e+02] [ 7.03450759e-01 6.78033530e-01 2.13137425e-01 4.03845293e+02] [-2.90337930e-01 4.16057013e-04 9.56924090e-01 5.48703298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.15, Y:403.87, Z:54.86 [[ 6.49485066e-01 -7.34421755e-01 1.96961504e-01 5.32153904e+02] [ 7.02838068e-01 6.78693364e-01 2.13058602e-01 4.03866418e+02] [-2.90151338e-01 5.36630255e-05 9.56980772e-01 5.48623307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.17, Y:403.89, Z:54.85 [[ 6.49959609e-01 -7.33969699e-01 1.97081169e-01 5.32171112e+02] [ 7.02287479e-01 6.79182172e-01 2.13316370e-01 4.03886955e+02] [-2.90421768e-01 -2.39387104e-04 9.56898709e-01 5.48536744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.7892541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:532.19, Y:403.91, Z:54.84 [[ 6.50886511e-01 -7.33344562e-01 1.96347913e-01 5.32185890e+02] [ 7.01835676e-01 6.79856884e-01 2.12653007e-01 4.03907907e+02] [-2.89436407e-01 -6.09003350e-04 9.57197052e-01 5.48435158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.8192541539997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:532.20, Y:403.93, Z:54.83 [[ 6.50691873e-01 -7.33524342e-01 1.96321490e-01 5.32204334e+02] [ 7.02016100e-01 6.79662945e-01 2.12677399e-01 4.03927980e+02] [-2.89436491e-01 -5.66607866e-04 9.57197052e-01 5.48349385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.849254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:532.22, Y:403.95, Z:54.83 [[ 6.51107422e-01 -7.33334918e-01 1.95650257e-01 5.32221166e+02] [ 7.02002825e-01 6.79867165e-01 2.12067613e-01 4.03948543e+02] [-2.88532771e-01 -7.31763597e-04 9.57469741e-01 5.48262432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.24, Y:403.97, Z:54.82 [[ 6.52220674e-01 -7.32262817e-01 1.95957545e-01 5.32238908e+02] [ 7.00743671e-01 6.81020908e-01 2.12529600e-01 4.03969073e+02] [-2.89078709e-01 -1.30018933e-03 9.57304450e-01 5.48201696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.26, Y:403.99, Z:54.81 [[ 6.53335454e-01 -7.31335338e-01 1.95707453e-01 5.32255204e+02] [ 6.99819155e-01 6.82015678e-01 2.12385886e-01 4.03990817e+02] [-2.88800856e-01 -1.79940504e-03 9.57387502e-01 5.48115625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9392541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:532.27, Y:404.01, Z:54.80 [[ 6.53467420e-01 -7.31423102e-01 1.94937368e-01 5.32271180e+02] [ 7.00123753e-01 6.81921426e-01 2.11683488e-01 4.04010835e+02] [-2.87762162e-01 -1.84798057e-03 9.57700122e-01 5.48013830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9692541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:532.29, Y:404.03, Z:54.79 [[ 6.54345501e-01 -7.30487510e-01 1.95499266e-01 5.32289303e+02] [ 6.98946270e-01 6.82922165e-01 2.12347422e-01 4.04031760e+02] [-2.88627922e-01 -2.30509792e-03 9.57438567e-01 5.47943714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1042.9992541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:532.31, Y:404.05, Z:54.78 [[ 6.55223783e-01 -7.29947136e-01 1.94573825e-01 5.32305446e+02] [ 6.98648159e-01 6.83498573e-01 2.11472105e-01 4.04053235e+02] [-2.87354389e-01 -2.62290817e-03 9.57820743e-01 5.47841777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.32, Y:404.07, Z:54.78 [[ 6.57127367e-01 -7.28159732e-01 1.94851300e-01 5.32322513e+02] [ 6.96652820e-01 6.85398513e-01 2.11904995e-01 4.04074368e+02] [-2.87851476e-01 -3.50486398e-03 9.57668650e-01 5.47774175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.0592541539997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:532.34, Y:404.09, Z:54.77 [[ 6.57193905e-01 -7.28311241e-01 1.94059031e-01 5.32338739e+02] [ 6.97032553e-01 6.85237448e-01 2.11175900e-01 4.04093994e+02] [-2.86778297e-01 -3.51805279e-03 9.57990518e-01 5.47668064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.089254154 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:532.36, Y:404.11, Z:54.76 [[ 6.57717533e-01 -7.27781490e-01 1.94272359e-01 5.32356774e+02] [ 6.96393973e-01 6.85798606e-01 2.11460886e-01 4.04114470e+02] [-2.87129032e-01 -3.79143255e-03 9.57884411e-01 5.47591452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.37, Y:404.13, Z:54.75 [[ 6.58382235e-01 -7.27013959e-01 1.94893654e-01 5.32374952e+02] [ 6.95348881e-01 6.86609627e-01 2.12266703e-01 4.04134834e+02] [-2.88136715e-01 -4.23354179e-03 9.57579924e-01 5.47528189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.149254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:532.39, Y:404.15, Z:54.74 [[ 6.58715474e-01 -7.26656935e-01 1.95099006e-01 5.32390689e+02] [ 6.94868536e-01 6.86985840e-01 2.12622137e-01 4.04154632e+02] [-2.88533605e-01 -4.48933110e-03 9.57459244e-01 5.47438693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.41, Y:404.18, Z:54.74 [[ 6.59304919e-01 -7.26048543e-01 1.95372813e-01 5.32408697e+02] [ 6.94126656e-01 6.87626689e-01 2.12973526e-01 4.04175196e+02] [-2.88972679e-01 -4.80101573e-03 9.57325306e-01 5.47371480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2092541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:532.42, Y:404.20, Z:54.73 [[ 6.60206672e-01 -7.24937868e-01 1.96449073e-01 5.32423722e+02] [ 6.93793935e-01 6.88809757e-01 2.10216781e-01 4.04196480e+02] [-2.87710143e-01 -2.49134661e-03 9.57714293e-01 5.47261480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2392541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:532.44, Y:404.22, Z:54.72 [[ 6.60549834e-01 -7.25617604e-01 1.92751161e-01 5.32444542e+02] [ 6.93140627e-01 6.88048198e-01 2.14815615e-01 4.04216214e+02] [-2.88496081e-01 -8.29275798e-03 9.57445164e-01 5.47193884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2692541539998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:532.46, Y:404.24, Z:54.71 [[ 6.60994687e-01 -7.24717241e-01 1.94604583e-01 5.32459796e+02] [ 6.92904852e-01 6.89023818e-01 2.12435975e-01 4.04236497e+02] [-2.88043207e-01 -5.57659155e-03 9.57601176e-01 5.47091225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.2992541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:532.48, Y:404.26, Z:54.70 [[ 6.62659892e-01 -7.23282671e-01 1.94278268e-01 5.32477584e+02] [ 6.91502841e-01 6.90523996e-01 2.12133053e-01 4.04257148e+02] [-2.87585967e-01 -6.22809201e-03 9.57734578e-01 5.47011322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.50, Y:404.28, Z:54.70 [[ 6.64672077e-01 -7.21326683e-01 1.94676263e-01 5.32495540e+02] [ 6.89291772e-01 6.92557707e-01 2.12698555e-01 4.04276895e+02] [-2.88249690e-01 -7.18604420e-03 9.57528317e-01 5.46953656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.359254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:532.51, Y:404.30, Z:54.69 [[ 6.65211527e-01 -7.21009751e-01 1.94006608e-01 5.32512768e+02] [ 6.89161182e-01 6.92885853e-01 2.12052023e-01 4.04296344e+02] [-2.87316011e-01 -7.35762658e-03 9.57807588e-01 5.46857836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.389254154 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:532.53, Y:404.32, Z:54.68 [[ 6.65407911e-01 -7.21156515e-01 1.92783796e-01 5.32529944e+02] [ 6.89685729e-01 6.92733335e-01 2.10841463e-01 4.04316037e+02] [-2.85597457e-01 -7.33534478e-03 9.58321598e-01 5.46757592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4192541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:532.55, Y:404.34, Z:54.67 [[ 6.65785774e-01 -7.20744137e-01 1.93021224e-01 5.32547895e+02] [ 6.89137732e-01 6.93159333e-01 2.11232869e-01 4.04335065e+02] [-2.86039315e-01 -7.61763043e-03 9.58187603e-01 5.46689449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4492541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:532.57, Y:404.35, Z:54.66 [[ 6.65232581e-01 -7.21347150e-01 1.92675640e-01 5.32567056e+02] [ 6.89865795e-01 6.92534335e-01 2.10906091e-01 4.04353975e+02] [-2.85571004e-01 -7.38126952e-03 9.58329129e-01 5.46600134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.4792541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:532.59, Y:404.37, Z:54.65 [[ 6.64603879e-01 -7.21910310e-01 1.92736058e-01 5.32585974e+02] [ 6.90393669e-01 6.91948818e-01 2.11100485e-01 4.04373269e+02] [-2.85759104e-01 -7.23444656e-03 9.58274177e-01 5.46519652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.5092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.61, Y:404.39, Z:54.65 [[ 6.62842663e-01 -7.23261025e-01 1.93734599e-01 5.32606352e+02] [ 6.91426739e-01 6.90541428e-01 2.12324283e-01 4.04392223e+02] [-2.87347645e-01 -6.78431142e-03 9.57802330e-01 5.46457733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.62, Y:404.41, Z:54.64 [[ 6.61589166e-01 -7.24491966e-01 1.93419664e-01 5.32624615e+02] [ 6.92775416e-01 6.89254144e-01 2.12110699e-01 4.04411063e+02] [-2.86987803e-01 -6.33375234e-03 9.57913297e-01 5.46375465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.65, Y:404.43, Z:54.63 [[ 6.58570458e-01 -7.27269614e-01 1.93297337e-01 5.32645193e+02] [ 6.95695062e-01 6.86332490e-01 2.12028524e-01 4.04429243e+02] [-2.86868145e-01 -5.15972002e-03 9.57956181e-01 5.46291020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.599254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:532.66, Y:404.45, Z:54.62 [[ 6.56522080e-01 -7.29235332e-01 1.92858988e-01 5.32663637e+02] [ 6.97849933e-01 6.84248922e-01 2.11681088e-01 4.04447003e+02] [-2.86328884e-01 -4.38667634e-03 9.58121353e-01 5.46203026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.629254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:532.68, Y:404.47, Z:54.61 [[ 6.54183071e-01 -7.31355402e-01 1.92779112e-01 5.32682822e+02] [ 7.00070661e-01 6.81987576e-01 2.11645969e-01 4.04465443e+02] [-2.86261382e-01 -3.49620964e-03 9.58145186e-01 5.46113643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.6592541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:532.70, Y:404.48, Z:54.60 [[ 6.49882812e-01 -7.35141330e-01 1.92923706e-01 5.32703356e+02] [ 7.03931364e-01 6.77911133e-01 2.11936619e-01 4.04483335e+02] [-2.86588496e-01 -1.92891788e-03 9.58051832e-01 5.46038529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.72, Y:404.50, Z:54.60 [[ 6.47852017e-01 -7.36651307e-01 1.93991278e-01 5.32723220e+02] [ 7.05112900e-01 6.76271388e-01 2.13243542e-01 4.04502792e+02] [-2.88276885e-01 -1.36450623e-03 9.57546122e-01 5.45971116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7192541539998 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:532.74, Y:404.52, Z:54.59 [[ 6.45603121e-01 -7.38946812e-01 1.92754301e-01 5.32740942e+02] [ 7.07877689e-01 6.73763625e-01 2.12018289e-01 4.04520717e+02] [-2.86541075e-01 -4.33200058e-04 9.58067860e-01 5.45866378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7492541539998 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:532.76, Y:404.54, Z:54.58 [[ 6.41073043e-01 -7.42781777e-01 1.93133595e-01 5.32761510e+02] [ 7.11740505e-01 6.69532445e-01 2.12489431e-01 4.04538879e+02] [-2.87142485e-01 1.23975680e-03 9.57887079e-01 5.45786019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.7792541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:532.78, Y:404.56, Z:54.57 [[ 6.39087746e-01 -7.44353301e-01 1.93662119e-01 5.32781441e+02] [ 7.13169379e-01 6.67783427e-01 2.13201152e-01 4.04557772e+02] [-2.88021335e-01 1.85964911e-03 9.57622187e-01 5.45724742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.8092541539997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:532.80, Y:404.58, Z:54.56 [[ 6.36694342e-01 -7.46507059e-01 1.93255081e-01 5.32800442e+02] [ 7.15514456e-01 6.65371874e-01 2.12883380e-01 4.04576398e+02] [-2.87505441e-01 2.73516064e-03 9.57775099e-01 5.45632512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.839254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:532.82, Y:404.59, Z:54.55 [[ 6.32024148e-01 -7.50558985e-01 1.92890349e-01 5.32819335e+02] [ 7.19829281e-01 6.60788331e-01 2.12613707e-01 4.04593749e+02] [-2.87038820e-01 4.47112427e-03 9.57908516e-01 5.45548933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.84, Y:404.61, Z:54.55 [[ 6.29595740e-01 -7.52505675e-01 1.93247027e-01 5.32838391e+02] [ 7.21722914e-01 6.58564376e-01 2.13093871e-01 4.04612902e+02] [-2.87619955e-01 5.30781409e-03 9.57729914e-01 5.45471292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.899254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:532.86, Y:404.63, Z:54.54 [[ 6.24367631e-01 -7.56887964e-01 1.93094978e-01 5.32857655e+02] [ 7.26318331e-01 6.53504739e-01 2.13056889e-01 4.04630214e+02] [-2.87448678e-01 7.22259663e-03 9.57768809e-01 5.45385836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9292541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:532.88, Y:404.65, Z:54.53 [[ 6.21813970e-01 -7.59035389e-01 1.92905843e-01 5.32876703e+02] [ 7.28601592e-01 6.50998399e-01 2.12933804e-01 4.04648871e+02] [-2.87205688e-01 8.14629028e-03 9.57834292e-01 5.45303648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.90, Y:404.67, Z:54.52 [[ 6.19533813e-01 -7.60836971e-01 1.93144918e-01 5.32896088e+02] [ 7.30372983e-01 6.48881954e-01 2.13324907e-01 4.04667863e+02] [-2.87633728e-01 8.90583626e-03 9.57699078e-01 5.45227651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1043.9892541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:532.92, Y:404.69, Z:54.51 [[ 6.15582905e-01 -7.64009437e-01 1.93254411e-01 5.32915559e+02] [ 7.33623391e-01 6.45122781e-01 2.13572743e-01 4.04686623e+02] [-2.87844415e-01 1.03042269e-02 9.57621750e-01 5.45146272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.0192541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:532.93, Y:404.71, Z:54.50 [[ 6.13670944e-01 -7.65655679e-01 1.92819483e-01 5.32933310e+02] [ 7.35449089e-01 6.43157240e-01 2.13221487e-01 4.04705698e+02] [-2.87267488e-01 1.09610818e-02 9.57787683e-01 5.45046387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.0492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:532.95, Y:404.72, Z:54.50 [[ 6.11952030e-01 -7.66764272e-01 1.93874351e-01 5.32951005e+02] [ 7.36233191e-01 6.41826474e-01 2.14521482e-01 4.04724307e+02] [-2.88921099e-01 1.14598759e-02 9.57284320e-01 5.44969531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.97, Y:404.74, Z:54.49 [[ 6.12407172e-01 -7.66183892e-01 1.94729812e-01 5.32969963e+02] [ 7.35332169e-01 6.42523713e-01 2.15522342e-01 4.04744313e+02] [-2.90248269e-01 1.12036671e-02 9.56885793e-01 5.44899908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.109254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:532.99, Y:404.76, Z:54.48 [[ 6.13067865e-01 -7.65188984e-01 1.96554350e-01 5.32986833e+02] [ 7.34787526e-01 6.43669244e-01 2.13956062e-01 4.04764545e+02] [-2.90232812e-01 1.32560986e-02 9.56864249e-01 5.44808759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.139254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:533.01, Y:404.78, Z:54.47 [[ 6.14603507e-01 -7.64783754e-01 1.93308921e-01 5.33005158e+02] [ 7.33093868e-01 6.44240737e-01 2.18007463e-01 4.04783219e+02] [-2.91266048e-01 7.72543303e-03 9.56610896e-01 5.44726345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.00, Y:404.80, Z:54.44 [[ 6.12536865e-01 -7.59495515e-01 2.19009478e-01 5.33002229e+02] [ 7.29946617e-01 6.49818089e-01 2.11930149e-01 4.04804373e+02] [-3.03276318e-01 3.00501983e-02 9.52428717e-01 5.44447704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.1992541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:533.05, Y:404.82, Z:54.46 [[ 6.17918159e-01 -7.66318467e-01 1.75878244e-01 5.33048790e+02] [ 7.29736282e-01 6.42247059e-01 2.34528619e-01 4.04818772e+02] [-2.92680896e-01 -1.65747565e-02 9.56066509e-01 5.44636928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.2292541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:533.05, Y:404.85, Z:54.44 [[ 6.23198701e-01 -7.57135283e-01 1.95881448e-01 5.33053362e+02] [ 7.25318226e-01 6.53224100e-01 2.17282640e-01 4.04846195e+02] [-2.92466836e-01 6.66612565e-03 9.56252431e-01 5.44446304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.2592541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:533.07, Y:404.87, Z:54.44 [[ 6.26265908e-01 -7.54547826e-01 1.96083122e-01 5.33070493e+02] [ 7.22500066e-01 6.56223066e-01 2.17634885e-01 4.04867361e+02] [-2.92890197e-01 5.37275967e-03 9.56130988e-01 5.44362126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.2892541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:533.09, Y:404.89, Z:54.43 [[ 6.33610615e-01 -7.48372515e-01 1.96153427e-01 5.33085262e+02] [ 7.15968344e-01 6.63274278e-01 2.17845273e-01 4.04888737e+02] [-2.93132938e-01 2.41056722e-03 9.56068653e-01 5.44280026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.3192541539997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:533.10, Y:404.91, Z:54.42 [[ 6.37020450e-01 -7.45420440e-01 1.96349979e-01 5.33101701e+02] [ 7.12795214e-01 6.66593838e-01 2.18118405e-01 4.04909945e+02] [-2.93475604e-01 1.01144089e-03 9.55966028e-01 5.44190549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.349254154 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:533.12, Y:404.93, Z:54.41 [[ 6.40334456e-01 -7.42686690e-01 1.95929235e-01 5.33116860e+02] [ 7.10038636e-01 6.69638983e-01 2.17781467e-01 4.04930177e+02] [-2.92945251e-01 -3.35650864e-04 9.56129158e-01 5.44090600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.379254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:533.13, Y:404.95, Z:54.40 [[ 6.46951041e-01 -7.36733211e-01 1.96668570e-01 5.33132202e+02] [ 7.03544003e-01 6.76176450e-01 2.18657824e-01 4.04952635e+02] [-2.94075136e-01 -3.09591400e-03 9.55777291e-01 5.44005093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4092541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:533.15, Y:404.97, Z:54.39 [[ 6.49680001e-01 -7.34444039e-01 1.96234169e-01 5.33147602e+02] [ 7.01261169e-01 6.78656136e-01 2.18308549e-01 4.04972741e+02] [-2.93510936e-01 -4.21929531e-03 9.55946405e-01 5.43915714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4392541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:533.15, Y:405.00, Z:54.36 [[ 6.50290291e-01 -7.26028731e-01 2.23617575e-01 5.33145092e+02] [ 6.97407561e-01 6.87252804e-01 2.03239459e-01 4.05000239e+02] [-3.01239492e-01 2.37879404e-02 9.53251752e-01 5.43617780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4692541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:533.20, Y:405.01, Z:54.39 [[ 6.56120405e-01 -7.34723190e-01 1.72301621e-01 5.33195221e+02] [ 6.95135113e-01 6.77282442e-01 2.40988937e-01 4.05007651e+02] [-2.93757023e-01 -3.83448525e-02 9.55110718e-01 5.43855739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.20, Y:405.03, Z:54.37 [[ 6.58023539e-01 -7.26653821e-01 1.97431626e-01 5.33199093e+02] [ 6.92642720e-01 6.86958176e-01 2.19851148e-01 4.05034917e+02] [-2.95382946e-01 -7.91765151e-03 9.55346129e-01 5.43680344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.22, Y:405.06, Z:54.36 [[ 6.60198156e-01 -7.24641758e-01 1.97566996e-01 5.33216128e+02] [ 6.90476936e-01 6.89068719e-01 2.20058860e-01 4.05055716e+02] [-2.95601076e-01 -8.86699960e-03 9.55270318e-01 5.43597419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.5592541539997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:533.23, Y:405.08, Z:54.35 [[ 6.61114754e-01 -7.24036354e-01 1.96719700e-01 5.33232287e+02] [ 6.90104551e-01 6.89700594e-01 2.19245977e-01 4.05076202e+02] [-2.94419752e-01 -9.18958955e-03 9.55632022e-01 5.43481983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.589254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:533.25, Y:405.10, Z:54.34 [[ 6.61875472e-01 -7.23322990e-01 1.96785953e-01 5.33251222e+02] [ 6.89296278e-01 6.90443031e-01 2.19451730e-01 4.05096470e+02] [-2.94603972e-01 -9.60589222e-03 9.55571152e-01 5.43421014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.619254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:533.27, Y:405.12, Z:54.33 [[ 6.61755145e-01 -7.23611031e-01 1.96130577e-01 5.33268557e+02] [ 6.89788037e-01 6.90142086e-01 2.18852384e-01 4.05116572e+02] [-2.93721965e-01 -9.53816556e-03 9.55843309e-01 5.43318492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.649254154 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:533.29, Y:405.14, Z:54.32 [[ 6.61801663e-01 -7.23804813e-01 1.95256627e-01 5.33285607e+02] [ 6.90257902e-01 6.89939363e-01 2.18008497e-01 4.05135478e+02] [-2.92510832e-01 -9.50095607e-03 9.56215010e-01 5.43226849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.6792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:533.30, Y:405.16, Z:54.32 [[ 6.61294995e-01 -7.24331667e-01 1.95019398e-01 5.33304590e+02] [ 6.90863861e-01 6.89388714e-01 2.17830960e-01 4.05155305e+02] [-2.92226035e-01 -9.31866927e-03 9.56303878e-01 5.43155414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.32, Y:405.17, Z:54.31 [[ 6.60716613e-01 -7.24990319e-01 1.94531732e-01 5.33323266e+02] [ 6.91680396e-01 6.88698938e-01 2.17421257e-01 4.05174867e+02] [-2.91602104e-01 -9.10005093e-03 9.56496420e-01 5.43082359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.34, Y:405.20, Z:54.30 [[ 6.60517315e-01 -7.25189846e-01 1.94464816e-01 5.33341418e+02] [ 6.91870795e-01 6.88488764e-01 2.17481093e-01 4.05195213e+02] [-2.91601921e-01 -9.10550129e-03 9.56496424e-01 5.42996778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.36, Y:405.21, Z:54.29 [[ 6.57728247e-01 -7.27873263e-01 1.93891893e-01 5.33360839e+02] [ 6.94830312e-01 6.85665221e-01 2.16965535e-01 4.05213960e+02] [-2.90868339e-01 -7.98239685e-03 9.56729790e-01 5.42910599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.7992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:533.38, Y:405.23, Z:54.28 [[ 6.55401471e-01 -7.29980591e-01 1.93848520e-01 5.33379369e+02] [ 6.97001986e-01 6.83430555e-01 2.17050474e-01 4.05232860e+02] [-2.90924634e-01 -7.14239664e-03 9.56719313e-01 5.42817500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.829254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:533.40, Y:405.25, Z:54.27 [[ 6.52393801e-01 -7.32624970e-01 1.94017994e-01 5.33398334e+02] [ 6.99660325e-01 6.80605499e-01 2.17374293e-01 4.05251885e+02] [-2.91303549e-01 -6.06694879e-03 9.56611433e-01 5.42722171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.859254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:533.42, Y:405.27, Z:54.26 [[ 6.46398445e-01 -7.37723718e-01 1.94763363e-01 5.33418903e+02] [ 7.04680922e-01 6.75091513e-01 2.18348912e-01 4.05268389e+02] [-2.92564264e-01 -3.89437065e-03 9.56237933e-01 5.42649681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.41, Y:405.29, Z:54.24 [[ 6.37553812e-01 -7.36563557e-01 2.25830166e-01 5.33414128e+02] [ 7.08472506e-01 6.75697549e-01 2.03714337e-01 4.05292451e+02] [-3.02641447e-01 3.01156115e-02 9.52628577e-01 5.42361398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:533.48, Y:405.30, Z:54.26 [[ 6.37932640e-01 -7.51872105e-01 1.66524124e-01 5.33477335e+02] [ 7.11734787e-01 6.58213873e-01 2.45332613e-01 4.05296116e+02] [-2.94067237e-01 -3.79846695e-02 9.55029646e-01 5.42641470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9492541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:533.46, Y:405.33, Z:54.22 [[ 6.31323599e-01 -7.42827832e-01 2.22794358e-01 5.33460441e+02] [ 7.14644627e-01 6.68815221e-01 2.04863997e-01 4.05329329e+02] [-3.01186936e-01 2.98833148e-02 9.53096751e-01 5.42210575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1044.9792541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:533.51, Y:405.34, Z:54.24 [[ 6.32802596e-01 -7.55057298e-01 1.71608133e-01 5.33512270e+02] [ 7.15798768e-01 6.54951809e-01 2.42219431e-01 4.05335131e+02] [-2.95284606e-01 -3.04401946e-02 9.54924288e-01 5.42436594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.0092541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:533.49, Y:405.37, Z:54.20 [[ 6.23932716e-01 -7.46741926e-01 2.30400656e-01 5.33491261e+02] [ 7.19357178e-01 6.64002041e-01 2.04025830e-01 4.05366876e+02] [-3.05341147e-01 3.84419761e-02 9.51466762e-01 5.41994260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.54, Y:405.38, Z:54.21 [[ 6.26093689e-01 -7.56656940e-01 1.88353305e-01 5.33538457e+02] [ 7.18597851e-01 6.53678120e-01 2.37322657e-01 4.05375357e+02] [-3.02694270e-01 -1.32359370e-02 9.52995797e-01 5.42133729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.55, Y:405.40, Z:54.20 [[ 6.26638953e-01 -7.52792257e-01 2.01562498e-01 5.33549613e+02] [ 7.18551729e-01 6.58245041e-01 2.24492490e-01 4.05398162e+02] [-3.01673723e-01 4.15734263e-03 9.53402161e-01 5.41971825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.099254154 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:533.59, Y:405.41, Z:54.21 [[ 6.32696830e-01 -7.55789744e-01 1.68750063e-01 5.33591265e+02] [ 7.17276650e-01 6.54083786e-01 2.40184531e-01 4.05411952e+02] [-2.91905686e-01 -3.09235115e-02 9.55947073e-01 5.42108396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.129254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:533.58, Y:405.44, Z:54.17 [[ 6.29686429e-01 -7.45690635e-01 2.17808355e-01 5.33577112e+02] [ 7.17560564e-01 6.65729530e-01 2.04721837e-01 4.05444134e+02] [-2.97660610e-01 2.73801233e-02 9.54279042e-01 5.41708121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.1592541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:533.63, Y:405.45, Z:54.19 [[ 6.37251120e-01 -7.51452813e-01 1.70966896e-01 5.33627881e+02] [ 7.13734294e-01 6.59153087e-01 2.36855581e-01 4.05452188e+02] [-2.90679150e-01 -2.89115475e-02 9.56383686e-01 5.41923673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.1892541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:533.63, Y:405.48, Z:54.17 [[ 6.39183683e-01 -7.44373578e-01 1.93267162e-01 5.33633231e+02] [ 7.12096902e-01 6.67762720e-01 2.16820092e-01 4.05478095e+02] [-2.90451753e-01 -9.62917194e-04 9.56889153e-01 5.41730201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2192541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:533.65, Y:405.50, Z:54.17 [[ 6.43151025e-01 -7.40912702e-01 1.93404051e-01 5.33651671e+02] [ 7.08393930e-01 6.71596204e-01 2.17109602e-01 4.05496289e+02] [-2.90748689e-01 -2.62800723e-03 9.56795847e-01 5.41655417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:533.67, Y:405.52, Z:54.16 [[ 6.44908761e-01 -7.39341102e-01 1.93565042e-01 5.33670005e+02] [ 7.06680352e-01 6.73322590e-01 2.17346658e-01 4.05515376e+02] [-2.91025033e-01 -3.38015173e-03 9.56709467e-01 5.41571218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.69, Y:405.53, Z:54.15 [[ 6.48869717e-01 -7.35688772e-01 1.94242429e-01 5.33690222e+02] [ 7.02591682e-01 6.77300260e-01 2.18241350e-01 4.05534207e+02] [-2.92118158e-01 -5.13708810e-03 9.56368440e-01 5.41505094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.3092541539997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:533.71, Y:405.55, Z:54.14 [[ 6.50324180e-01 -7.34518743e-01 1.93805770e-01 5.33707325e+02] [ 7.01482587e-01 6.78564096e-01 2.17882876e-01 4.05553400e+02] [-2.91548693e-01 -5.74312929e-03 9.56538748e-01 5.41401841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.339254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:533.73, Y:405.57, Z:54.13 [[ 6.52480633e-01 -7.32468370e-01 1.94317037e-01 5.33726396e+02] [ 6.99123810e-01 6.80767359e-01 2.18590262e-01 4.05572650e+02] [-2.92395149e-01 -6.77424501e-03 9.56273594e-01 5.41335570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.73, Y:405.60, Z:54.10 [[ 6.52790667e-01 -7.24424949e-01 2.21523901e-01 5.33726850e+02] [ 6.95337527e-01 6.89043123e-01 2.04267712e-01 4.05597539e+02] [-3.00616147e-01 2.06898256e-02 9.53520772e-01 5.41043758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.399254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:533.78, Y:405.60, Z:54.13 [[ 6.58886522e-01 -7.32709289e-01 1.70310451e-01 5.33778176e+02] [ 6.93188648e-01 6.79327966e-01 2.40838148e-01 4.05604887e+02] [-2.92161000e-01 -4.06277383e-02 9.55505802e-01 5.41290518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4292541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:533.78, Y:405.63, Z:54.11 [[ 6.61762527e-01 -7.24062051e-01 1.94433804e-01 5.33782330e+02] [ 6.90216494e-01 6.89650943e-01 2.19049695e-01 4.05630593e+02] [-2.92697028e-01 -1.07574617e-02 9.56144721e-01 5.41063809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.80, Y:405.65, Z:54.10 [[ 6.63185471e-01 -7.22654389e-01 1.94822139e-01 5.33802329e+02] [ 6.88569946e-01 6.91113867e-01 2.19620246e-01 4.05650065e+02] [-2.93353817e-01 -1.15002861e-02 9.55934769e-01 5.41010843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.4892541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:533.82, Y:405.67, Z:54.09 [[ 6.63472108e-01 -7.22423352e-01 1.94703012e-01 5.33819637e+02] [ 6.88330075e-01 6.91352130e-01 2.19622266e-01 4.05668746e+02] [-2.93268596e-01 -1.16933090e-02 9.55958575e-01 5.40907535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.84, Y:405.69, Z:54.08 [[ 6.63607406e-01 -7.22233362e-01 1.94946615e-01 5.33839961e+02] [ 6.88016486e-01 6.91547772e-01 2.19988623e-01 4.05687410e+02] [-2.93698020e-01 -1.18595950e-02 9.55824682e-01 5.40841799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.5492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:533.86, Y:405.71, Z:54.07 [[ 6.62683838e-01 -7.23088335e-01 1.94918933e-01 5.33857566e+02] [ 6.88874304e-01 6.90658490e-01 2.20097807e-01 4.05706009e+02] [-2.93772573e-01 -1.15806148e-02 9.55805192e-01 5.40747369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.579254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:533.88, Y:405.72, Z:54.07 [[ 6.60464810e-01 -7.25196802e-01 1.94617145e-01 5.33876620e+02] [ 6.91161854e-01 6.88458976e-01 2.19817039e-01 4.05723212e+02] [-2.93396534e-01 -1.06694726e-02 9.55931293e-01 5.40654417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.609254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:533.90, Y:405.74, Z:54.06 [[ 6.58730072e-01 -7.26883349e-01 1.94204244e-01 5.33895985e+02] [ 6.93050759e-01 6.86689071e-01 2.19405480e-01 4.05742189e+02] [-2.92840122e-01 -9.93558857e-03 9.56109799e-01 5.40568131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.92, Y:405.76, Z:54.05 [[ 6.54966089e-01 -7.30400518e-01 1.93738242e-01 5.33918218e+02] [ 6.96842707e-01 6.82966940e-01 2.19012332e-01 4.05759248e+02] [-2.92283535e-01 -8.44056921e-03 9.56294459e-01 5.40506488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6692541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:533.94, Y:405.78, Z:54.04 [[ 6.52737096e-01 -7.32563673e-01 1.93092591e-01 5.33935630e+02] [ 6.99286230e-01 6.80656744e-01 2.18415124e-01 4.05777716e+02] [-2.91432759e-01 -7.54066382e-03 9.56561595e-01 5.40390087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.6992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:533.95, Y:405.80, Z:54.03 [[ 6.51456616e-01 -7.33742832e-01 1.92939717e-01 5.33954503e+02] [ 7.00528456e-01 6.79390161e-01 2.18377864e-01 4.05796838e+02] [-2.91314538e-01 -7.10394237e-03 9.56600948e-01 5.40327158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.7292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:533.97, Y:405.82, Z:54.02 [[ 6.49645001e-01 -7.35524962e-01 1.92261291e-01 5.33972929e+02] [ 7.02608356e-01 6.77468135e-01 2.17665854e-01 4.05816628e+02] [-2.90349567e-01 -6.32114452e-03 9.56899771e-01 5.40240135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.7592541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:533.99, Y:405.84, Z:54.02 [[ 6.49126339e-01 -7.36005923e-01 1.92172521e-01 5.33990183e+02] [ 7.03100440e-01 6.76946727e-01 2.17699107e-01 4.05835953e+02] [-2.90318391e-01 -6.19764072e-03 9.56910038e-01 5.40158939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.7892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:533.99, Y:405.86, Z:54.00 [[ 6.44088268e-01 -7.36137806e-01 2.07969789e-01 5.33992212e+02] [ 7.05543518e-01 6.76737890e-01 2.10319215e-01 4.05857825e+02] [-2.95564962e-01 1.12675974e-02 9.55256193e-01 5.39962865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.8192541539997 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:534.03, Y:405.87, Z:54.01 [[ 6.47823823e-01 -7.41616989e-01 1.74150902e-01 5.34034731e+02] [ 7.05187741e-01 6.70282499e-01 2.31152809e-01 4.05871126e+02] [-2.88157152e-01 -2.69372153e-02 9.57204180e-01 5.40064345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.04, Y:405.90, Z:53.99 [[ 6.47578794e-01 -7.37633618e-01 1.91150076e-01 5.34043522e+02] [ 7.05109679e-01 6.75178446e-01 2.16689656e-01 4.05895611e+02] [-2.88897986e-01 -5.54185755e-03 9.57343847e-01 5.39928337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.879254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:534.06, Y:405.92, Z:53.98 [[ 6.46241005e-01 -7.38823266e-01 1.91083081e-01 5.34059813e+02] [ 7.06356891e-01 6.73880336e-01 2.16668494e-01 4.05915936e+02] [-2.88846856e-01 -5.04721438e-03 9.57362011e-01 5.39832568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:534.08, Y:405.94, Z:53.97 [[ 6.45257707e-01 -7.39718353e-01 1.90943054e-01 5.34077051e+02] [ 7.07300114e-01 6.72899957e-01 2.16638400e-01 4.05936295e+02] [-2.88736973e-01 -4.73355303e-03 9.57396759e-01 5.39737166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9392541539999 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:534.09, Y:405.96, Z:53.97 [[ 6.42851297e-01 -7.41775371e-01 1.91079850e-01 5.34094905e+02] [ 7.09358344e-01 6.70637037e-01 2.16925573e-01 4.05956116e+02] [-2.89055272e-01 -3.90679970e-03 9.57304438e-01 5.39662860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.11, Y:405.98, Z:53.96 [[ 6.41631373e-01 -7.42755992e-01 1.91370628e-01 5.34113425e+02] [ 7.10238992e-01 6.69552694e-01 2.17393112e-01 4.05975499e+02] [-2.89602757e-01 -3.56735887e-03 9.57140281e-01 5.39608267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1045.9992541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:534.13, Y:406.00, Z:53.95 [[ 6.38149609e-01 -7.45679686e-01 1.91642590e-01 5.34130699e+02] [ 7.13179229e-01 6.66300664e-01 2.17758611e-01 4.05995265e+02] [-2.90069758e-01 -2.28705833e-03 9.57002772e-01 5.39499744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.15, Y:406.02, Z:53.94 [[ 6.36507624e-01 -7.46995094e-01 1.91980140e-01 5.34149273e+02] [ 7.14395194e-01 6.64827154e-01 2.18275886e-01 4.06015428e+02] [-2.90684626e-01 -1.78457641e-03 9.56817257e-01 5.39446707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.0592541539997 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:534.16, Y:406.03, Z:53.93 [[ 6.34896388e-01 -7.48420118e-01 1.91765229e-01 5.34164858e+02] [ 7.15917407e-01 6.63223813e-01 2.18166084e-01 4.06034752e+02] [-2.90463153e-01 -1.22479335e-03 9.56885394e-01 5.39336734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.089254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:534.18, Y:406.06, Z:53.93 [[ 6.32169681e-01 -7.50574349e-01 1.92352905e-01 5.34182197e+02] [ 7.17947536e-01 6.60785948e-01 2.18890991e-01 4.06055534e+02] [-2.91398060e-01 -2.76953482e-04 9.56601847e-01 5.39267554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.20, Y:406.08, Z:53.92 [[ 6.30534975e-01 -7.51787640e-01 1.92979249e-01 5.34200075e+02] [ 7.18958167e-01 6.59405268e-01 2.19735857e-01 4.06076369e+02] [-2.92446235e-01 1.92864388e-04 9.56281947e-01 5.39201752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.149254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:534.22, Y:406.10, Z:53.91 [[ 6.28041249e-01 -7.53770339e-01 1.93376486e-01 5.34215895e+02] [ 7.20852190e-01 6.57137147e-01 2.20324512e-01 4.06096627e+02] [-2.93148955e-01 1.02298169e-03 9.56066234e-01 5.39115769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.1792541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:534.23, Y:406.12, Z:53.90 [[ 6.26404625e-01 -7.55100758e-01 1.93494424e-01 5.34233229e+02] [ 7.22185819e-01 6.55606791e-01 2.20516164e-01 4.06117167e+02] [-2.93368181e-01 1.60658406e-03 9.55998185e-01 5.39036278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2092541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:534.25, Y:406.14, Z:53.89 [[ 6.24798399e-01 -7.56442164e-01 1.93448217e-01 5.34249600e+02] [ 7.23563953e-01 6.54057082e-01 2.20600407e-01 4.06136829e+02] [-2.93397626e-01 2.14137506e-03 9.55988100e-01 5.38941943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.27, Y:406.16, Z:53.89 [[ 6.21335501e-01 -7.59227484e-01 1.93690017e-01 5.34267424e+02] [ 7.26378830e-01 6.50816367e-01 2.20934044e-01 4.06158601e+02] [-2.93795832e-01 3.41816313e-03 9.55862085e-01 5.38884543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.28, Y:406.18, Z:53.88 [[ 6.19636842e-01 -7.60665895e-01 1.93487936e-01 5.34284409e+02] [ 7.27914885e-01 6.49131235e-01 2.20836050e-01 4.06179091e+02] [-2.93581515e-01 4.00459618e-03 9.55925655e-01 5.38798495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.2992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:534.30, Y:406.20, Z:53.87 [[ 6.16723976e-01 -7.63237409e-01 1.92666019e-01 5.34300014e+02] [ 7.30852219e-01 6.46097910e-01 2.20028465e-01 4.06200232e+02] [-2.92415067e-01 5.11355751e-03 9.56277826e-01 5.38698155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.32, Y:406.22, Z:53.86 [[ 6.15378394e-01 -7.64287491e-01 1.92805767e-01 5.34317167e+02] [ 7.31864404e-01 6.44851976e-01 2.20318915e-01 4.06221146e+02] [-2.92718171e-01 5.52817708e-03 9.56182782e-01 5.38633984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.33, Y:406.24, Z:53.86 [[ 6.14026700e-01 -7.65357319e-01 1.92871423e-01 5.34333429e+02] [ 7.32923113e-01 6.43578081e-01 2.20524295e-01 4.06242157e+02] [-2.92907704e-01 5.95211923e-03 9.56122194e-01 5.38551053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.389254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:534.35, Y:406.26, Z:53.85 [[ 6.12453704e-01 -7.66714444e-01 1.92482267e-01 5.34347776e+02] [ 7.34439650e-01 6.41955389e-01 2.20208262e-01 4.06264562e+02] [-2.92401883e-01 6.49924314e-03 9.56273443e-01 5.38457400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.35, Y:406.29, Z:53.82 [[ 6.09114774e-01 -7.64725965e-01 2.10174666e-01 5.34351868e+02] [ 7.35479943e-01 6.43830401e-01 2.11072660e-01 4.06289340e+02] [-2.96729583e-01 2.60117761e-02 9.54607219e-01 5.38235635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.39, Y:406.30, Z:53.84 [[ 6.12471435e-01 -7.70684447e-01 1.75852850e-01 5.34388958e+02] [ 7.34566590e-01 6.37065689e-01 2.33579180e-01 4.06303977e+02] [-2.92045658e-01 -1.38849469e-02 9.56303583e-01 5.38384703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.4792541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:534.40, Y:406.33, Z:53.82 [[ 6.12781847e-01 -7.66719875e-01 1.91413277e-01 5.34395583e+02] [ 7.34731096e-01 6.41951018e-01 2.19246681e-01 4.06330125e+02] [-2.90978735e-01 6.28690084e-03 9.56708864e-01 5.38207772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.5092541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:534.40, Y:406.36, Z:53.79 [[ 6.10198275e-01 -7.62279913e-01 2.15841143e-01 5.34395409e+02] [ 7.34807541e-01 6.46395221e-01 2.05502057e-01 4.06356837e+02] [-2.96168773e-01 3.32046988e-02 9.54558278e-01 5.37933212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.44, Y:406.37, Z:53.82 [[ 6.14970602e-01 -7.70166592e-01 1.69276635e-01 5.34438689e+02] [ 7.32781102e-01 6.37450087e-01 2.38095029e-01 4.06369004e+02] [-2.91278243e-01 -2.23787247e-02 9.56376588e-01 5.38163335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.5692541539997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:534.44, Y:406.40, Z:53.80 [[ 6.18084563e-01 -7.62691091e-01 1.90456749e-01 5.34439872e+02] [ 7.30766652e-01 6.46749340e-01 2.18392747e-01 4.06398592e+02] [-2.89743979e-01 4.19425506e-03 9.57094998e-01 5.37963063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.599254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:534.45, Y:406.42, Z:53.79 [[ 6.19753203e-01 -7.61364876e-01 1.90340470e-01 5.34454511e+02] [ 7.29379095e-01 6.48314279e-01 2.18391235e-01 4.06419554e+02] [-2.89675860e-01 3.48169264e-03 9.57118475e-01 5.37871002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.629254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:534.47, Y:406.44, Z:53.78 [[ 6.19553493e-01 -7.61538287e-01 1.90296891e-01 5.34472396e+02] [ 7.29548842e-01 6.48110462e-01 2.18429201e-01 4.06440165e+02] [-2.89675606e-01 3.50230183e-03 9.57118476e-01 5.37786084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.49, Y:406.46, Z:53.77 [[ 6.21316487e-01 -7.59920387e-01 1.91015258e-01 5.34489421e+02] [ 7.27571726e-01 6.50010650e-01 2.19375337e-01 4.06462178e+02] [-2.90869743e-01 2.67578674e-03 9.56758921e-01 5.37725219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.6892541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:534.50, Y:406.48, Z:53.76 [[ 6.25518617e-01 -7.56473065e-01 1.90984194e-01 5.34501776e+02] [ 7.23935934e-01 6.54024122e-01 2.19474855e-01 4.06484378e+02] [-2.90935086e-01 9.74712783e-04 9.56742298e-01 5.37629055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.52, Y:406.51, Z:53.76 [[ 6.27671747e-01 -7.54482034e-01 1.91794259e-01 5.34518383e+02] [ 7.21553440e-01 6.56320699e-01 2.20462634e-01 4.06505892e+02] [-2.92213639e-01 1.16406732e-05 9.56353067e-01 5.37564940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:534.53, Y:406.53, Z:53.75 [[ 6.32732696e-01 -7.50390482e-01 1.91215742e-01 5.34531756e+02] [ 7.17440367e-01 6.60991861e-01 2.19929715e-01 4.06529340e+02] [-2.91425214e-01 -1.97082985e-03 9.56591585e-01 5.37460848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.7792541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:534.55, Y:406.55, Z:53.74 [[ 6.35235515e-01 -7.48134720e-01 1.91755785e-01 5.34546928e+02] [ 7.14851201e-01 6.63539567e-01 2.20687568e-01 4.06549982e+02] [-2.92341583e-01 -3.11172735e-03 9.56308902e-01 5.37387161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.8092541539997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:534.56, Y:406.57, Z:53.73 [[ 6.37980155e-01 -7.45802755e-01 1.91727860e-01 5.34562360e+02] [ 7.12407842e-01 6.66153450e-01 2.20713949e-01 4.06571071e+02] [-2.92329247e-01 -4.22268818e-03 9.56308413e-01 5.37306901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.58, Y:406.59, Z:53.72 [[ 6.42816330e-01 -7.41490014e-01 1.92301131e-01 5.34577769e+02] [ 7.07682887e-01 6.70934785e-01 2.21430452e-01 4.06594370e+02] [-2.93209987e-01 -6.25089134e-03 9.56027630e-01 5.37238289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.869254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:534.59, Y:406.62, Z:53.71 [[ 6.44710967e-01 -7.40056581e-01 1.91478527e-01 5.34593283e+02] [ 7.06442995e-01 6.72508561e-01 2.20613983e-01 4.06615971e+02] [-2.92037779e-01 -6.96358964e-03 9.56381433e-01 5.37127930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.899254154 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:534.61, Y:406.64, Z:53.70 [[ 6.47265424e-01 -7.37902534e-01 1.91173539e-01 5.34608697e+02] [ 7.04265605e-01 6.74859664e-01 2.20395987e-01 4.06638361e+02] [-2.91646068e-01 -8.01775386e-03 9.56492701e-01 5.37041220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.63, Y:406.66, Z:53.70 [[ 6.47560216e-01 -7.37558128e-01 1.91503979e-01 5.34626044e+02] [ 7.03746476e-01 6.75232852e-01 2.20910598e-01 4.06659499e+02] [-2.92244185e-01 -8.28266408e-03 9.56307866e-01 5.36980102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9592541539998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:534.64, Y:406.68, Z:53.69 [[ 6.47559644e-01 -7.37804264e-01 1.90555441e-01 5.34642016e+02] [ 7.04305024e-01 6.74964662e-01 2.19948035e-01 4.06680296e+02] [-2.90896787e-01 -8.22031686e-03 9.56719126e-01 5.36861244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1046.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.66, Y:406.70, Z:53.68 [[ 6.46409152e-01 -7.38725134e-01 1.90893645e-01 5.34659792e+02] [ 7.05102692e-01 6.73960330e-01 2.20471467e-01 4.06701466e+02] [-2.91522558e-01 -7.91515143e-03 9.56531206e-01 5.36805644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.0192541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:534.68, Y:406.72, Z:53.67 [[ 6.45569368e-01 -7.39745057e-01 1.89782618e-01 5.34676688e+02] [ 7.06524203e-01 6.72845426e-01 2.19323012e-01 4.06721759e+02] [-2.89937480e-01 -7.50220515e-03 9.57016183e-01 5.36692335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.0492541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:534.69, Y:406.74, Z:53.66 [[ 6.43248868e-01 -7.41790599e-01 1.89677623e-01 5.34694859e+02] [ 7.08651908e-01 6.70598351e-01 2.19340662e-01 4.06741003e+02] [-2.89902342e-01 -6.67522350e-03 9.57032953e-01 5.36627317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.079254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:534.71, Y:406.76, Z:53.66 [[ 6.42051542e-01 -7.42929608e-01 1.89276030e-01 5.34712694e+02] [ 7.09964817e-01 6.69340946e-01 2.18935281e-01 4.06760590e+02] [-2.89343699e-01 -6.18841257e-03 9.57205269e-01 5.36552664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.109254154 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:534.73, Y:406.78, Z:53.65 [[ 6.38970868e-01 -7.45678381e-01 1.88891456e-01 5.34730137e+02] [ 7.12949819e-01 6.66287468e-01 2.18548771e-01 4.06778789e+02] [-2.88823103e-01 -4.97616832e-03 9.57369549e-01 5.36459975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.139254154 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:534.75, Y:406.80, Z:53.64 [[ 6.37244010e-01 -7.47133033e-01 1.88976992e-01 5.34748529e+02] [ 7.14420030e-01 6.64660244e-01 2.18702493e-01 4.06798111e+02] [-2.89005351e-01 -4.35790527e-03 9.57317563e-01 5.36383712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1692541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:534.77, Y:406.82, Z:53.63 [[ 6.35367825e-01 -7.48625202e-01 1.89388578e-01 5.34766438e+02] [ 7.15789955e-01 6.62982652e-01 2.19314256e-01 4.06816656e+02] [-2.89745521e-01 -3.78277973e-03 9.57096246e-01 5.36307040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.1992541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:534.79, Y:406.84, Z:53.62 [[ 6.31252422e-01 -7.52095839e-01 1.89399656e-01 5.34786225e+02] [ 7.19391727e-01 6.59049970e-01 2.19382497e-01 4.06835279e+02] [-2.89820501e-01 -2.23318706e-03 9.57078414e-01 5.36226571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.80, Y:406.85, Z:53.62 [[ 6.28996865e-01 -7.53734186e-01 1.90388341e-01 5.34804827e+02] [ 7.20710912e-01 6.57177502e-01 2.20666065e-01 4.06853978e+02] [-2.91442491e-01 -1.58330821e-03 9.56587041e-01 5.36166379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.2592541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:534.82, Y:406.87, Z:53.61 [[ 6.24833142e-01 -7.57388683e-01 1.89594115e-01 5.34823783e+02] [ 7.24782417e-01 6.52964303e-01 2.19836458e-01 4.06871974e+02] [-2.90299834e-01 5.33756841e-05 9.56935736e-01 5.36071217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.2892541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:534.84, Y:406.89, Z:53.60 [[ 6.22583066e-01 -7.59321370e-01 1.89265379e-01 5.34841244e+02] [ 7.26876610e-01 6.50715237e-01 2.19590696e-01 4.06890426e+02] [-2.89897774e-01 8.59127984e-04 9.57057231e-01 5.35987323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.3192541539997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:534.86, Y:406.91, Z:53.59 [[ 6.17749700e-01 -7.63302245e-01 1.89089901e-01 5.34860701e+02] [ 7.31083015e-01 6.46035991e-01 2.19442758e-01 4.06909538e+02] [-2.89660031e-01 2.67971716e-03 9.57125846e-01 5.35907835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.349254154 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:534.88, Y:406.93, Z:53.58 [[ 6.15206487e-01 -7.65451313e-01 1.88693577e-01 5.34878785e+02] [ 7.33428773e-01 6.43483782e-01 2.19113802e-01 4.06929334e+02] [-2.89142203e-01 3.59306604e-03 9.57279414e-01 5.35817823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.90, Y:406.95, Z:53.58 [[ 6.12453328e-01 -7.67484708e-01 1.89388871e-01 5.34897580e+02] [ 7.35275327e-01 6.41051592e-01 2.20052383e-01 4.06949300e+02] [-2.90294876e-01 4.48114994e-03 9.56926750e-01 5.35755512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4092541539999 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:534.91, Y:406.97, Z:53.57 [[ 6.10267773e-01 -7.69483821e-01 1.88329221e-01 5.34914571e+02] [ 7.37693339e-01 6.38644256e-01 2.18956736e-01 4.06968465e+02] [-2.88759041e-01 5.30697214e-03 9.57387096e-01 5.35653132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:534.93, Y:406.99, Z:53.56 [[ 6.06018842e-01 -7.72731362e-01 1.88752232e-01 5.34932981e+02] [ 7.40930198e-01 6.34696484e-01 2.19505843e-01 4.06987377e+02] [-2.89419427e-01 6.82755232e-03 9.57178029e-01 5.35596830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:534.95, Y:407.01, Z:53.55 [[ 6.02923141e-01 -7.75291418e-01 1.88167222e-01 5.34950096e+02] [ 7.43785574e-01 6.31553427e-01 2.18913885e-01 4.07006958e+02] [-2.88559710e-01 7.96781758e-03 9.57428748e-01 5.35502560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.4992541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:534.97, Y:407.03, Z:53.54 [[ 6.01960752e-01 -7.76162116e-01 1.87658261e-01 5.34966577e+02] [ 7.44832832e-01 6.30479086e-01 2.18449479e-01 4.07026838e+02] [-2.87866819e-01 8.27602158e-03 9.57634691e-01 5.35413996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.5292541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:534.98, Y:407.05, Z:53.53 [[ 6.01398300e-01 -7.76529877e-01 1.87939978e-01 5.34984089e+02] [ 7.45106230e-01 6.30024017e-01 2.18829717e-01 4.07047309e+02] [-2.88334513e-01 8.43142871e-03 9.57492621e-01 5.35335449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.5592541539997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:535.00, Y:407.07, Z:53.52 [[ 6.01881166e-01 -7.76239900e-01 1.87591790e-01 5.35000705e+02] [ 7.44884085e-01 6.30384385e-01 2.18547998e-01 4.07068619e+02] [-2.87900611e-01 8.19421508e-03 9.57625236e-01 5.35247200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.589254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:535.02, Y:407.09, Z:53.52 [[ 6.02985342e-01 -7.75396338e-01 1.87534520e-01 5.35017610e+02] [ 7.43981526e-01 6.31427885e-01 2.18609963e-01 4.07089396e+02] [-2.87923891e-01 7.70361505e-03 9.57622310e-01 5.35174520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.619254154 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:535.03, Y:407.11, Z:53.51 [[ 6.06402888e-01 -7.72755660e-01 1.87414588e-01 5.35033321e+02] [ 7.41217957e-01 6.34671828e-01 2.18603779e-01 4.07111129e+02] [-2.87874067e-01 6.35309544e-03 9.57647200e-01 5.35082022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.05, Y:407.13, Z:53.50 [[ 6.08870980e-01 -7.70727438e-01 1.87764073e-01 5.35049848e+02] [ 7.38932784e-01 6.37142856e-01 2.19151366e-01 4.07131792e+02] [-2.88538508e-01 5.31012228e-03 9.57453567e-01 5.35016029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.6792541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:535.06, Y:407.15, Z:53.49 [[ 6.11442065e-01 -7.68840314e-01 1.87144792e-01 5.35064173e+02] [ 7.37155067e-01 6.39425948e-01 2.18487676e-01 4.07152168e+02] [-2.87647370e-01 4.36217539e-03 9.57726455e-01 5.34916439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.08, Y:407.17, Z:53.48 [[ 6.17064525e-01 -7.64108611e-01 1.88067549e-01 5.35079768e+02] [ 7.31869375e-01 6.45084131e-01 2.19621678e-01 4.07174636e+02] [-2.89134207e-01 2.12013270e-03 9.57286225e-01 5.34840674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7392541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:535.09, Y:407.20, Z:53.47 [[ 6.19769148e-01 -7.62044169e-01 1.87549691e-01 5.35094736e+02] [ 7.29852184e-01 6.47524179e-01 2.19153434e-01 4.07195053e+02] [-2.88447556e-01 1.05901408e-03 9.57495110e-01 5.34749429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7692541539998 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:535.11, Y:407.22, Z:53.47 [[ 6.24775913e-01 -7.58028641e-01 1.87210142e-01 5.35110018e+02] [ 7.25761211e-01 6.52220726e-01 2.18812224e-01 4.07217141e+02] [-2.87968268e-01 -8.38747463e-04 9.57639584e-01 5.34658023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.13, Y:407.24, Z:53.46 [[ 6.26895543e-01 -7.55905198e-01 1.88704294e-01 5.35127512e+02] [ 7.22973344e-01 6.54678265e-01 2.20694163e-01 4.07238512e+02] [-2.90364465e-01 -1.92401229e-03 9.56914195e-01 5.34595634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.14, Y:407.26, Z:53.45 [[ 6.28890998e-01 -7.54171282e-01 1.89002089e-01 5.35143208e+02] [ 7.21014762e-01 6.56671685e-01 2.21178685e-01 4.07258933e+02] [-2.90918933e-01 -2.82398793e-03 9.56743539e-01 5.34515340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.859254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:535.16, Y:407.28, Z:53.44 [[ 6.32383221e-01 -7.51261565e-01 1.88937881e-01 5.35157649e+02] [ 7.17972753e-01 6.59991054e-01 2.21194336e-01 4.07280632e+02] [-2.90872115e-01 -4.22733597e-03 9.56752603e-01 5.34411599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.889254154 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:535.17, Y:407.30, Z:53.43 [[ 6.33740642e-01 -7.49965451e-01 1.89537913e-01 5.35173764e+02] [ 7.16361350e-01 6.61458598e-01 2.22033647e-01 4.07301280e+02] [-2.91889046e-01 -4.93411060e-03 9.56439459e-01 5.34334850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9192541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:535.19, Y:407.32, Z:53.42 [[ 6.35654563e-01 -7.48252834e-01 1.89897268e-01 5.35189679e+02] [ 7.14425696e-01 6.63388548e-01 2.22511931e-01 4.07323124e+02] [-2.92470856e-01 -5.77323665e-03 9.56257010e-01 5.34242237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9492541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:535.21, Y:407.34, Z:53.42 [[ 6.36171512e-01 -7.47828565e-01 1.89837415e-01 5.35206735e+02] [ 7.13964685e-01 6.63864253e-01 2.22572872e-01 4.07344045e+02] [-2.92472626e-01 -6.05731055e-03 9.56254711e-01 5.34158106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1047.9792541539998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:535.22, Y:407.36, Z:53.41 [[ 6.36550622e-01 -7.47597883e-01 1.89474827e-01 5.35222921e+02] [ 7.13813816e-01 6.64122262e-01 2.22286881e-01 4.07363492e+02] [-2.92015652e-01 -6.24710329e-03 9.56393137e-01 5.34065180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.0092541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:535.24, Y:407.38, Z:53.40 [[ 6.37036051e-01 -7.47080413e-01 1.89883984e-01 5.35240597e+02] [ 7.13095574e-01 6.64701255e-01 2.22860816e-01 4.07383712e+02] [-2.92711073e-01 -6.56494576e-03 9.56178398e-01 5.33989226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.0392541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:535.26, Y:407.40, Z:53.39 [[ 6.37789196e-01 -7.46708228e-01 1.88816745e-01 5.35257965e+02] [ 7.13056435e-01 6.65117091e-01 2.21742588e-01 4.07403114e+02] [-2.91162259e-01 -6.78803163e-03 9.56649602e-01 5.33893485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.0692541539997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:535.28, Y:407.42, Z:53.38 [[ 6.37998714e-01 -7.46827321e-01 1.87634201e-01 5.35275254e+02] [ 7.13570117e-01 6.64983441e-01 2.20487443e-01 4.07423018e+02] [-2.89439683e-01 -6.78054654e-03 9.57172239e-01 5.33799064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.099254154 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:535.29, Y:407.44, Z:53.37 [[ 6.38069929e-01 -7.46808519e-01 1.87466804e-01 5.35293599e+02] [ 7.13570934e-01 6.65003586e-01 2.20424029e-01 4.07443252e+02] [-2.89280639e-01 -6.87508237e-03 9.57219643e-01 5.33716037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.129254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.31, Y:407.46, Z:53.37 [[ 6.38326383e-01 -7.46605456e-01 1.87402566e-01 5.35312979e+02] [ 7.13340998e-01 6.65229619e-01 2.20486224e-01 4.07461558e+02] [-2.89281956e-01 -7.06024015e-03 9.57217898e-01 5.33651030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.1592541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:535.33, Y:407.48, Z:53.36 [[ 6.38074652e-01 -7.46918648e-01 1.87011422e-01 5.35331273e+02] [ 7.13792386e-01 6.64879200e-01 2.20081984e-01 4.07481119e+02] [-2.88723342e-01 -6.94140621e-03 9.57387408e-01 5.33555068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.1892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:535.35, Y:407.50, Z:53.35 [[ 6.37278124e-01 -7.47653337e-01 1.86791546e-01 5.35351412e+02] [ 7.14596391e-01 6.64055468e-01 2.19959844e-01 4.07498766e+02] [-2.88493659e-01 -6.69503170e-03 9.57458399e-01 5.33469620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.37, Y:407.52, Z:53.34 [[ 6.36483762e-01 -7.48259942e-01 1.87070789e-01 5.35370535e+02] [ 7.15085045e-01 6.63373534e-01 2.20428976e-01 4.07517659e+02] [-2.89035983e-01 -6.52794030e-03 9.57295977e-01 5.33408190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.39, Y:407.54, Z:53.33 [[ 6.34993958e-01 -7.49460362e-01 1.87328159e-01 5.35389281e+02] [ 7.16214764e-01 6.62021521e-01 2.20825537e-01 4.07537012e+02] [-2.89515260e-01 -6.05568829e-03 9.57154242e-01 5.33325491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.2792541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:535.41, Y:407.55, Z:53.32 [[ 6.31172360e-01 -7.52646778e-01 1.87468078e-01 5.35409194e+02] [ 7.19445798e-01 6.58407758e-01 2.21126588e-01 4.07554927e+02] [-2.89860651e-01 -4.69586959e-03 9.57057340e-01 5.33226048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.3092541539997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:535.43, Y:407.57, Z:53.31 [[ 6.28413591e-01 -7.54796118e-01 1.88093537e-01 5.35427968e+02] [ 7.21419446e-01 6.55948366e-01 2.22003883e-01 4.07574194e+02] [-2.90947318e-01 -3.81592168e-03 9.56731466e-01 5.33140182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.45, Y:407.59, Z:53.31 [[ 6.23996538e-01 -7.58132957e-01 1.89374604e-01 5.35449530e+02] [ 7.24395545e-01 6.52095668e-01 2.23656732e-01 4.07592077e+02] [-2.93051898e-01 -2.37890660e-03 9.56093576e-01 5.33091071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.47, Y:407.61, Z:53.30 [[ 6.21723569e-01 -7.59927081e-01 1.89659263e-01 5.35467645e+02] [ 7.26123344e-01 6.50006277e-01 2.24135513e-01 4.07610686e+02] [-2.93606357e-01 -1.63431255e-03 9.55925016e-01 5.33012150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.399254154 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:535.49, Y:407.63, Z:53.29 [[ 6.19447253e-01 -7.61916556e-01 1.89124991e-01 5.35485448e+02] [ 7.28379513e-01 6.47674785e-01 2.23563542e-01 4.07629822e+02] [-2.92828252e-01 -7.31053077e-04 9.56164777e-01 5.32903357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.51, Y:407.65, Z:53.28 [[ 6.16814488e-01 -7.63986448e-01 1.89379499e-01 5.35505486e+02] [ 7.30408883e-01 6.45232271e-01 2.24004866e-01 4.07649147e+02] [-2.93330446e-01 1.55021790e-04 9.56011101e-01 5.32845278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4592541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:535.52, Y:407.67, Z:53.28 [[ 6.15837446e-01 -7.64829164e-01 1.89157578e-01 5.35522657e+02] [ 7.31327313e-01 6.44232984e-01 2.23884396e-01 4.07668330e+02] [-2.93094867e-01 4.59708940e-04 9.56083254e-01 5.32753966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.4892541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:535.54, Y:407.69, Z:53.27 [[ 6.14689492e-01 -7.65842750e-01 1.88790123e-01 5.35540191e+02] [ 7.32502368e-01 6.43027271e-01 2.23508859e-01 4.07687879e+02] [-2.92569837e-01 9.00665727e-04 9.56243734e-01 5.32651742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.5192541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:535.56, Y:407.71, Z:53.26 [[ 6.14492780e-01 -7.66018860e-01 1.88716002e-01 5.35557893e+02] [ 7.32671091e-01 6.42817480e-01 2.23559301e-01 4.07708266e+02] [-2.92560585e-01 8.91182157e-04 9.56246574e-01 5.32564877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.5492541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:535.58, Y:407.73, Z:53.25 [[ 6.14283831e-01 -7.66203187e-01 1.88647956e-01 5.35575473e+02] [ 7.32846285e-01 6.42597768e-01 2.23616707e-01 4.07729148e+02] [-2.92560589e-01 8.85826585e-04 9.56246578e-01 5.32480054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.59, Y:407.75, Z:53.24 [[ 6.14564921e-01 -7.65953850e-01 1.88744953e-01 5.35593624e+02] [ 7.32510732e-01 6.42895199e-01 2.23861097e-01 4.07749357e+02] [-2.92810493e-01 6.80526265e-04 9.56170253e-01 5.32419325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.609254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.61, Y:407.77, Z:53.23 [[ 6.14796049e-01 -7.65790932e-01 1.88653300e-01 5.35611441e+02] [ 7.32330827e-01 6.43089411e-01 2.23891872e-01 4.07769585e+02] [-2.92775305e-01 5.08788808e-04 9.56181135e-01 5.32329201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.639254154 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:535.63, Y:407.79, Z:53.22 [[ 6.14651930e-01 -7.66015851e-01 1.88209248e-01 5.35627387e+02] [ 7.32684247e-01 6.42821472e-01 2.23504695e-01 4.07788819e+02] [-2.92193085e-01 5.20359404e-04 9.56359206e-01 5.32220027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:535.65, Y:407.81, Z:53.22 [[ 6.15419711e-01 -7.65333441e-01 1.88476269e-01 5.35645856e+02] [ 7.31844898e-01 6.43633985e-01 2.23915920e-01 4.07809147e+02] [-2.92680073e-01 1.33125021e-04 9.56210415e-01 5.32154734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.66, Y:407.83, Z:53.21 [[ 6.15862885e-01 -7.65005071e-01 1.88361746e-01 5.35663531e+02] [ 7.31501733e-01 6.44024245e-01 2.23915132e-01 4.07829409e+02] [-2.92605743e-01 -1.14075729e-04 9.56233165e-01 5.32076572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.68, Y:407.85, Z:53.20 [[ 6.17296876e-01 -7.63846610e-01 1.88369113e-01 5.35681078e+02] [ 7.30246351e-01 6.45397386e-01 2.24059102e-01 4.07849477e+02] [-2.92719719e-01 -7.55125995e-04 9.56197990e-01 5.31991004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.70, Y:407.87, Z:53.19 [[ 6.18089333e-01 -7.63172743e-01 1.88501836e-01 5.35698356e+02] [ 7.29451961e-01 6.46193473e-01 2.24352029e-01 4.07870116e+02] [-2.93028009e-01 -1.16656212e-03 9.56103146e-01 5.31906235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.7892541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:535.71, Y:407.89, Z:53.18 [[ 6.18836408e-01 -7.62604493e-01 1.88350437e-01 5.35714555e+02] [ 7.28872138e-01 6.46863247e-01 2.24306369e-01 4.07890290e+02] [-2.92894020e-01 -1.52556183e-03 9.56143695e-01 5.31800710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.8192541539997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:535.73, Y:407.91, Z:53.17 [[ 6.21387467e-01 -7.60282573e-01 1.89335750e-01 5.35731679e+02] [ 7.26040053e-01 6.49586758e-01 2.25616677e-01 4.07910410e+02] [-2.94522424e-01 -2.73003766e-03 9.55640669e-01 5.31732334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.75, Y:407.93, Z:53.17 [[ 6.22853071e-01 -7.59030712e-01 1.89542687e-01 5.35749106e+02] [ 7.24626244e-01 6.51045996e-01 2.25955567e-01 4.07930907e+02] [-2.94908223e-01 -3.38951319e-03 9.55519572e-01 5.31659606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.879254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:535.77, Y:407.95, Z:53.16 [[ 6.25737932e-01 -7.56637984e-01 1.89607491e-01 5.35765891e+02] [ 7.22060169e-01 6.53817772e-01 2.26166826e-01 4.07951338e+02] [-2.95095159e-01 -4.61314463e-03 9.55456732e-01 5.31562624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:535.78, Y:407.97, Z:53.15 [[ 6.27122103e-01 -7.55515999e-01 1.89508424e-01 5.35782999e+02] [ 7.20883532e-01 6.55109314e-01 2.26182935e-01 4.07971663e+02] [-2.95033560e-01 -5.23081628e-03 9.55472573e-01 5.31483299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.80, Y:407.99, Z:53.14 [[ 6.28603064e-01 -7.54228939e-01 1.89728479e-01 5.35800790e+02] [ 7.19415187e-01 6.56584711e-01 2.26579581e-01 4.07992026e+02] [-2.95465696e-01 -5.93506895e-03 9.55334914e-01 5.31412216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.82, Y:408.01, Z:53.13 [[ 6.31325448e-01 -7.51999277e-01 1.89539619e-01 5.35817551e+02] [ 7.17116378e-01 6.59126059e-01 2.26488276e-01 4.08011909e+02] [-2.95249522e-01 -7.06584703e-03 9.55394052e-01 5.31328444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1048.9992541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:535.83, Y:408.03, Z:53.12 [[ 6.33241242e-01 -7.50466996e-01 1.89221611e-01 5.35833331e+02] [ 7.15618991e-01 6.60861814e-01 2.26166141e-01 4.08030740e+02] [-2.94779561e-01 -7.80715017e-03 9.55533390e-01 5.31224615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.0292541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:535.85, Y:408.05, Z:53.11 [[ 6.33774060e-01 -7.50044724e-01 1.89112014e-01 5.35850730e+02] [ 7.15202303e-01 6.61338272e-01 2.26091478e-01 4.08051042e+02] [-2.94645733e-01 -8.03756638e-03 9.55572755e-01 5.31142020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.0592541539997 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:535.87, Y:408.07, Z:53.11 [[ 6.33991945e-01 -7.49953082e-01 1.88744772e-01 5.35868100e+02] [ 7.15205626e-01 6.61440792e-01 2.25780848e-01 4.08070848e+02] [-2.94168534e-01 -8.15191665e-03 9.55718798e-01 5.31055746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.089254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:535.89, Y:408.09, Z:53.10 [[ 6.33950112e-01 -7.50000409e-01 1.88697223e-01 5.35885722e+02] [ 7.15233473e-01 6.61386330e-01 2.25852168e-01 4.08090687e+02] [-2.94190983e-01 -8.21643710e-03 9.55711335e-01 5.30974621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.90, Y:408.11, Z:53.09 [[ 6.33463265e-01 -7.50364628e-01 1.88884136e-01 5.35904883e+02] [ 7.15503090e-01 6.60973961e-01 2.26205109e-01 4.08108871e+02] [-2.94583808e-01 -8.14544417e-03 9.55590933e-01 5.30914305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.149254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:535.92, Y:408.13, Z:53.08 [[ 6.32740313e-01 -7.51176314e-01 1.88079352e-01 5.35922357e+02] [ 7.16632115e-01 6.60055777e-01 2.25310414e-01 4.08128815e+02] [-2.93390709e-01 -7.77927775e-03 9.55960969e-01 5.30809879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:535.94, Y:408.15, Z:53.07 [[ 6.30950295e-01 -7.52656467e-01 1.88175365e-01 5.35941920e+02] [ 7.18101793e-01 6.58374253e-01 2.25550788e-01 4.08147805e+02] [-2.93652075e-01 -7.18226898e-03 9.55885388e-01 5.30739435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2092541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:535.96, Y:408.17, Z:53.06 [[ 6.29552129e-01 -7.53974815e-01 1.87579570e-01 5.35958451e+02] [ 7.19662643e-01 6.56869856e-01 2.24961489e-01 4.08166300e+02] [-2.92830663e-01 -6.63097532e-03 9.56141325e-01 5.30637606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2392541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:535.98, Y:408.19, Z:53.06 [[ 6.28008017e-01 -7.55240157e-01 1.87665222e-01 5.35977058e+02] [ 7.20930281e-01 6.55419869e-01 2.25131796e-01 4.08186342e+02] [-2.93028088e-01 -6.09103177e-03 9.56084431e-01 5.30555469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.00, Y:408.21, Z:53.05 [[ 6.24694077e-01 -7.57847374e-01 1.88214419e-01 5.35997434e+02] [ 7.23408277e-01 6.52412932e-01 2.25915539e-01 4.08205240e+02] [-2.94003019e-01 -4.97223059e-03 9.55791558e-01 5.30479582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.2992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:536.02, Y:408.22, Z:53.04 [[ 6.22636005e-01 -7.59592151e-01 1.88000450e-01 5.36015267e+02] [ 7.25268540e-01 6.50385890e-01 2.25795791e-01 4.08224155e+02] [-2.93785551e-01 -4.23777782e-03 9.55861963e-01 5.30388306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.329254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:536.03, Y:408.24, Z:53.03 [[ 6.17956463e-01 -7.63419407e-01 1.87937805e-01 5.36033991e+02] [ 7.29272838e-01 6.45898396e-01 2.25779516e-01 4.08241587e+02] [-2.93753191e-01 -2.46397505e-03 9.55878126e-01 5.30301790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.359254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:536.05, Y:408.26, Z:53.02 [[ 6.15064036e-01 -7.65677441e-01 1.88239977e-01 5.36052453e+02] [ 7.31503698e-01 6.43223145e-01 2.26199747e-01 4.08261351e+02] [-2.94276354e-01 -1.42909002e-03 9.55719303e-01 5.30214289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.389254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:536.07, Y:408.28, Z:53.01 [[ 6.12126053e-01 -7.68099641e-01 1.87948493e-01 5.36070134e+02] [ 7.34101632e-01 6.40330235e-01 2.25991115e-01 4.08280135e+02] [-2.93932797e-01 -3.61753234e-04 9.55826020e-01 5.30132151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4192541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:536.09, Y:408.30, Z:53.00 [[ 6.05852801e-01 -7.72997768e-01 1.88193607e-01 5.36089079e+02] [ 7.39118989e-01 6.34405697e-01 2.26346044e-01 4.08299540e+02] [-2.94356083e-01 1.96508366e-03 9.55693798e-01 5.30040256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4492541539998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:536.11, Y:408.32, Z:53.00 [[ 6.03428805e-01 -7.74860235e-01 1.88322313e-01 5.36105500e+02] [ 7.40979646e-01 6.32126471e-01 2.26639117e-01 4.08320019e+02] [-2.94657158e-01 2.78242956e-03 9.55598984e-01 5.29951837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.4792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:536.12, Y:408.34, Z:52.99 [[ 5.99895204e-01 -7.77537260e-01 1.88577711e-01 5.36121079e+02] [ 7.43647406e-01 6.28824106e-01 2.27087601e-01 4.08340447e+02] [-2.95151282e-01 4.00656284e-03 9.55442132e-01 5.29874434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.5092541539998 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:536.14, Y:408.36, Z:52.98 [[ 5.98328233e-01 -7.78819035e-01 1.88266397e-01 5.36137274e+02] [ 7.45086615e-01 6.27231889e-01 2.26773218e-01 4.08360881e+02] [-2.94701987e-01 4.58995355e-03 9.55578187e-01 5.29790651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.5392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:536.15, Y:408.38, Z:52.97 [[ 5.96907121e-01 -7.80068562e-01 1.87603113e-01 5.36153857e+02] [ 7.46621203e-01 6.25672862e-01 2.26031523e-01 4.08381512e+02] [-2.93698262e-01 5.14863674e-03 9.55884314e-01 5.29698537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.5692541539997 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:536.17, Y:408.40, Z:52.96 [[ 5.94407376e-01 -7.82180609e-01 1.86744120e-01 5.36170269e+02] [ 7.49104961e-01 6.23022192e-01 2.25133528e-01 4.08402354e+02] [-2.92440811e-01 6.06991736e-03 9.56264361e-01 5.29605472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.599254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:536.19, Y:408.42, Z:52.95 [[ 5.93816553e-01 -7.82604951e-01 1.86845905e-01 5.36186411e+02] [ 7.49470690e-01 6.22487864e-01 2.25394198e-01 4.08424419e+02] [-2.92703923e-01 6.19272379e-03 9.56183070e-01 5.29522699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.20, Y:408.45, Z:52.94 [[ 5.93517489e-01 -7.82826122e-01 1.86869615e-01 5.36200912e+02] [ 7.49651864e-01 6.22209498e-01 2.25560244e-01 4.08447377e+02] [-2.92846501e-01 6.21320559e-03 9.56139280e-01 5.29448352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.6592541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:536.22, Y:408.47, Z:52.94 [[ 5.93305489e-01 -7.83085264e-01 1.86456605e-01 5.36215464e+02] [ 7.50030888e-01 6.21883095e-01 2.25200094e-01 4.08468321e+02] [-2.92305086e-01 6.23576161e-03 9.56304790e-01 5.29358574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.6892541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:536.23, Y:408.49, Z:52.93 [[ 5.93213617e-01 -7.83153409e-01 1.86462710e-01 5.36230083e+02] [ 7.50081916e-01 6.21797326e-01 2.25266965e-01 4.08489395e+02] [-2.92360606e-01 6.23087566e-03 9.56287850e-01 5.29268540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7192541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:536.24, Y:408.51, Z:52.92 [[ 5.94095858e-01 -7.82289253e-01 1.87279565e-01 5.36244965e+02] [ 7.48861140e-01 6.22888383e-01 2.26311854e-01 4.08512786e+02] [-2.93695597e-01 5.79545364e-03 9.55881431e-01 5.29191218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.26, Y:408.53, Z:52.91 [[ 5.94754235e-01 -7.81688242e-01 1.87698940e-01 5.36260887e+02] [ 7.48035493e-01 6.23645802e-01 2.26955536e-01 4.08534899e+02] [-2.94466130e-01 5.42270347e-03 9.55646531e-01 5.29122880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.7792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:536.27, Y:408.56, Z:52.90 [[ 5.97097112e-01 -7.79839479e-01 1.87950597e-01 5.36273767e+02] [ 7.45961751e-01 6.25963904e-01 2.27398894e-01 4.08557097e+02] [-2.94984924e-01 4.42473415e-03 9.55491662e-01 5.29030397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.8092541539997 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:536.29, Y:408.58, Z:52.89 [[ 5.98524433e-01 -7.78812672e-01 1.87668127e-01 5.36288445e+02] [ 7.44960855e-01 6.27244767e-01 2.27150449e-01 4.08578665e+02] [-2.94621499e-01 3.85031493e-03 9.55606272e-01 5.28932037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.30, Y:408.60, Z:52.89 [[ 6.00390169e-01 -7.77191043e-01 1.88429637e-01 5.36304700e+02] [ 7.42936612e-01 6.29257679e-01 2.28210352e-01 4.08600953e+02] [-2.95933837e-01 2.97602451e-03 9.55203804e-01 5.28870005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.869254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:536.32, Y:408.62, Z:52.88 [[ 6.05360216e-01 -7.73486220e-01 1.87771339e-01 5.36317748e+02] [ 7.39258141e-01 6.33812229e-01 2.27551005e-01 4.08623100e+02] [-2.95019337e-01 1.06116537e-03 9.55490693e-01 5.28773182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.899254154 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:536.33, Y:408.64, Z:52.87 [[ 6.07948828e-01 -7.71517528e-01 1.87507139e-01 5.36332819e+02] [ 7.37267391e-01 6.36208066e-01 2.27323759e-01 4.08644834e+02] [-2.94677819e-01 4.16864727e-05 9.55596663e-01 5.28686497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.35, Y:408.67, Z:52.86 [[ 6.14650703e-01 -7.66180038e-01 1.87543761e-01 5.36347422e+02] [ 7.31627215e-01 6.42620612e-01 2.27509051e-01 4.08668380e+02] [-2.94832380e-01 -2.62647832e-03 9.55545378e-01 5.28615171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:536.36, Y:408.69, Z:52.85 [[ 6.17461674e-01 -7.64013934e-01 1.87146439e-01 5.36362820e+02] [ 7.29470087e-01 6.45188851e-01 2.27166765e-01 4.08690680e+02] [-2.94303370e-01 -3.74904177e-03 9.55704699e-01 5.28525589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1049.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.38, Y:408.71, Z:52.84 [[ 6.20477205e-01 -7.61581782e-01 1.87086150e-01 5.36378603e+02] [ 7.26908856e-01 6.48049535e-01 2.27234054e-01 4.08712512e+02] [-2.94298409e-01 -4.99897143e-03 9.55700506e-01 5.28442995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.0192541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:536.39, Y:408.73, Z:52.83 [[ 6.24962611e-01 -7.58094577e-01 1.86317868e-01 5.36391466e+02] [ 7.23516585e-01 6.52110063e-01 2.26442526e-01 4.08734727e+02] [-2.93164608e-01 -6.71404480e-03 9.56038406e-01 5.28331969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.0492541539998 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:536.40, Y:408.76, Z:52.81 [[ 6.26110208e-01 -7.51529389e-01 2.07821041e-01 5.36397876e+02] [ 7.20136988e-01 6.59534329e-01 2.15446483e-01 4.08761384e+02] [-2.98979475e-01 1.47663768e-02 9.54145287e-01 5.28118068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.079254154 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:536.43, Y:408.77, Z:52.82 [[ 6.29518318e-01 -7.58520498e-01 1.68384506e-01 5.36433308e+02] [ 7.19831233e-01 6.50931709e-01 2.41103518e-01 4.08773008e+02] [-2.92488775e-01 -3.05706547e-02 9.55780180e-01 5.28242826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.109254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:536.44, Y:408.80, Z:52.81 [[ 6.30242981e-01 -7.53691264e-01 1.86395451e-01 5.36440022e+02] [ 7.18804388e-01 6.57167346e-01 2.26828860e-01 4.08799028e+02] [-2.93451934e-01 -8.97542878e-03 9.55931694e-01 5.28088770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.139254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:536.46, Y:408.82, Z:52.80 [[ 6.30315393e-01 -7.53721842e-01 1.86026586e-01 5.36456286e+02] [ 7.18935902e-01 6.57131455e-01 2.26515826e-01 4.08820234e+02] [-2.92973846e-01 -9.03522035e-03 9.56077764e-01 5.27985714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.47, Y:408.84, Z:52.79 [[ 6.30662293e-01 -7.53316332e-01 1.86492832e-01 5.36473376e+02] [ 7.18291008e-01 6.57591943e-01 2.27224260e-01 4.08840409e+02] [-2.93807929e-01 -9.34564835e-03 9.55818790e-01 5.27926087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.1992541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:536.49, Y:408.86, Z:52.78 [[ 6.30112983e-01 -7.53952132e-01 1.85778930e-01 5.36489045e+02] [ 7.19209508e-01 6.56866982e-01 2.26414337e-01 4.08860374e+02] [-2.92737617e-01 -9.05264045e-03 9.56149956e-01 5.27818487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.2292541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:536.51, Y:408.88, Z:52.77 [[ 6.29573284e-01 -7.54504398e-01 1.85366106e-01 5.36506826e+02] [ 7.19925830e-01 6.56235810e-01 2.25967611e-01 4.08880755e+02] [-2.92137433e-01 -8.81332336e-03 9.56335739e-01 5.27733676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.2592541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:536.52, Y:408.90, Z:52.76 [[ 6.29053446e-01 -7.55074607e-01 1.84808277e-01 5.36524142e+02] [ 7.20690884e-01 6.55582277e-01 2.25425216e-01 4.08901101e+02] [-2.91369887e-01 -8.61486797e-03 9.56571677e-01 5.27644473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.54, Y:408.92, Z:52.76 [[ 6.29109365e-01 -7.55083924e-01 1.84579721e-01 5.36542388e+02] [ 7.20745759e-01 6.55570512e-01 2.25283942e-01 4.08921347e+02] [-2.91113306e-01 -8.69318659e-03 9.56649085e-01 5.27585843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.3192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.56, Y:408.94, Z:52.75 [[ 6.27937865e-01 -7.56225598e-01 1.83893675e-01 5.36560068e+02] [ 7.22154099e-01 6.54259264e-01 2.24584667e-01 4.08940320e+02] [-2.90150814e-01 -8.22564460e-03 9.56945580e-01 5.27503412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.349254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:536.58, Y:408.96, Z:52.74 [[ 6.26514270e-01 -7.57470936e-01 1.83623664e-01 5.36577161e+02] [ 7.23536656e-01 6.52823757e-01 2.24311947e-01 4.08960604e+02] [-2.89783671e-01 -7.67618389e-03 9.57061388e-01 5.27404385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.379254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:536.59, Y:408.98, Z:52.73 [[ 6.23283455e-01 -7.60226298e-01 1.83231304e-01 5.36594655e+02] [ 7.26515727e-01 6.49626095e-01 2.23966148e-01 4.08979725e+02] [-2.89296792e-01 -6.47397064e-03 9.57217558e-01 5.27304455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4092541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:536.61, Y:409.00, Z:52.72 [[ 6.21213014e-01 -7.61844993e-01 1.83539093e-01 5.36612201e+02] [ 7.28045253e-01 6.47733175e-01 2.24481278e-01 4.08999191e+02] [-2.89904298e-01 -5.82592578e-03 9.57037908e-01 5.27234715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:536.63, Y:409.02, Z:52.71 [[ 6.21012382e-01 -7.62015297e-01 1.83511058e-01 5.36629416e+02] [ 7.28216065e-01 6.47533188e-01 2.24504195e-01 4.09020360e+02] [-2.89905131e-01 -5.78418435e-03 9.57037908e-01 5.27149709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.65, Y:409.04, Z:52.71 [[ 6.18719198e-01 -7.63739829e-01 1.84087011e-01 5.36648103e+02] [ 7.29758970e-01 6.45504193e-01 2.25335712e-01 4.09040153e+02] [-2.90926795e-01 -5.08038360e-03 9.56731827e-01 5.27086192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.4992541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:536.67, Y:409.06, Z:52.70 [[ 6.12257336e-01 -7.68930926e-01 1.84082007e-01 5.36667224e+02] [ 7.35136604e-01 6.39326078e-01 2.25469154e-01 4.09059129e+02] [-2.91058634e-01 -2.71972210e-03 9.56701351e-01 5.26985177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.5292541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:536.68, Y:409.08, Z:52.69 [[ 6.08945386e-01 -7.71467277e-01 1.84455301e-01 5.36684877e+02] [ 7.37602859e-01 6.36266969e-01 2.26067173e-01 4.09078105e+02] [-2.91766242e-01 -1.60780435e-03 9.56488304e-01 5.26908086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.5592541539997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:536.70, Y:409.10, Z:52.68 [[ 6.02383937e-01 -7.76514423e-01 1.84821384e-01 5.36704468e+02] [ 7.42713380e-01 6.30099015e-01 2.26609942e-01 4.09097363e+02] [-2.92421660e-01 7.63125690e-04 9.56289177e-01 5.26838621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.589254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:536.72, Y:409.12, Z:52.68 [[ 5.99379008e-01 -7.78831314e-01 1.84842065e-01 5.36721261e+02] [ 7.45086491e-01 6.27230859e-01 2.26776476e-01 4.09116340e+02] [-2.92559268e-01 1.79826640e-03 9.56245701e-01 5.26754822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.619254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:536.74, Y:409.14, Z:52.67 [[ 5.96676694e-01 -7.80782786e-01 1.85351459e-01 5.36739521e+02] [ 7.46920729e-01 6.24796632e-01 2.27461193e-01 4.09136772e+02] [-2.93404751e-01 2.72205388e-03 9.55984436e-01 5.26686059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.649254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:536.76, Y:409.16, Z:52.66 [[ 5.91187749e-01 -7.84199056e-01 1.88491078e-01 5.36755263e+02] [ 7.51123791e-01 6.20454251e-01 2.25498498e-01 4.09157441e+02] [-2.93785800e-01 8.26818424e-03 9.55835520e-01 5.26562057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.6792541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:536.77, Y:409.18, Z:52.65 [[ 5.89581397e-01 -7.85174623e-01 1.89458669e-01 5.36774052e+02] [ 7.51696740e-01 6.19214902e-01 2.26991004e-01 4.09178073e+02] [-2.95543207e-01 8.58579025e-03 9.55290792e-01 5.26469496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.79, Y:409.20, Z:52.64 [[ 5.86574605e-01 -7.87648436e-01 1.88521016e-01 5.36790323e+02] [ 7.53994652e-01 6.16067072e-01 2.27932948e-01 4.09197457e+02] [-2.95672620e-01 8.44415881e-03 9.55252008e-01 5.26395060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.81, Y:409.22, Z:52.64 [[ 5.87021962e-01 -7.89480682e-01 1.79235794e-01 5.36814266e+02] [ 7.54548227e-01 6.13774440e-01 2.32245368e-01 4.09217060e+02] [-2.93363580e-01 -1.09108139e-03 9.56000324e-01 5.26364984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7692541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:536.82, Y:409.24, Z:52.62 [[ 5.85353308e-01 -7.87620560e-01 1.92393759e-01 5.36821527e+02] [ 7.55536413e-01 6.15982213e-01 2.23003683e-01 4.09241257e+02] [-2.94153419e-01 1.48245475e-02 9.55643238e-01 5.26186065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.7992541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:536.85, Y:409.26, Z:52.62 [[ 5.88595976e-01 -7.89936273e-01 1.71917020e-01 5.36851068e+02] [ 7.54667362e-01 6.13140419e-01 2.33529440e-01 4.09257963e+02] [-2.89882649e-01 -7.71432484e-03 9.57031107e-01 5.26211062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.829254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:536.85, Y:409.29, Z:52.59 [[ 5.87049759e-01 -7.84305807e-01 2.00591579e-01 5.36847226e+02] [ 7.55120327e-01 6.19825233e-01 2.13564916e-01 4.09285334e+02] [-2.91831926e-01 2.60975461e-02 9.56113510e-01 5.25948731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.88, Y:409.30, Z:52.60 [[ 5.89013467e-01 -7.88639562e-01 1.76382475e-01 5.36880995e+02] [ 7.53476352e-01 6.14840869e-01 2.32903611e-01 4.09301033e+02] [-2.92124155e-01 -4.28333955e-03 9.56370812e-01 5.26000490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.889254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:536.89, Y:409.32, Z:52.59 [[ 5.89420090e-01 -7.86547917e-01 1.84191020e-01 5.36892201e+02] [ 7.53411517e-01 6.17504005e-01 2.25964356e-01 4.09323915e+02] [-2.91470486e-01 5.58370447e-03 9.56563526e-01 5.25864810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.92, Y:409.34, Z:52.59 [[ 5.92404211e-01 -7.87470183e-01 1.70141004e-01 5.36919750e+02] [ 7.51913893e-01 6.16257905e-01 2.34204382e-01 4.09342955e+02] [-2.89279706e-01 -1.08122775e-02 9.57183549e-01 5.25912758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9492541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:536.92, Y:409.37, Z:52.57 [[ 5.90892008e-01 -7.84519421e-01 1.88084855e-01 5.36924313e+02] [ 7.52807477e-01 6.20007325e-01 2.21069718e-01 4.09368468e+02] [-2.90047475e-01 1.09633552e-02 9.56949459e-01 5.25702250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1050.9792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:536.94, Y:409.39, Z:52.56 [[ 5.90250200e-01 -7.85559668e-01 1.85743669e-01 5.36942641e+02] [ 7.52867972e-01 6.18741698e-01 2.24384778e-01 4.09389621e+02] [-2.91194984e-01 7.39729939e-03 9.56635124e-01 5.25639365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.0092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:536.97, Y:409.41, Z:52.56 [[ 5.91984418e-01 -7.86924277e-01 1.74082255e-01 5.36967364e+02] [ 7.51769868e-01 6.17011311e-01 2.32678122e-01 4.09408589e+02] [-2.90510784e-01 -6.87202860e-03 9.56847041e-01 5.25643986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.0392541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:536.98, Y:409.43, Z:52.55 [[ 5.91892849e-01 -7.84984246e-01 1.82927824e-01 5.36978161e+02] [ 7.51945131e-01 6.19501818e-01 2.25379720e-01 4.09432053e+02] [-2.90243649e-01 4.15104164e-03 9.56943778e-01 5.25509424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:536.99, Y:409.45, Z:52.55 [[ 5.92581193e-01 -7.84318928e-01 1.83552032e-01 5.36993813e+02] [ 7.50974352e-01 6.20346500e-01 2.26291281e-01 4.09453455e+02] [-2.91350395e-01 3.74691072e-03 9.56609068e-01 5.25452815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.099254154 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:537.01, Y:409.47, Z:52.53 [[ 5.92487414e-01 -7.84491432e-01 1.83117061e-01 5.37008650e+02] [ 7.51298098e-01 6.20128117e-01 2.25814716e-01 4.09474244e+02] [-2.90705748e-01 3.78312260e-03 9.56805025e-01 5.25342938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.129254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:537.02, Y:409.50, Z:52.53 [[ 5.92924594e-01 -7.84149673e-01 1.83165818e-01 5.37024859e+02] [ 7.50880391e-01 6.20561722e-01 2.26012804e-01 4.09495919e+02] [-2.90893562e-01 3.52707088e-03 9.56748920e-01 5.25268807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.04, Y:409.52, Z:52.52 [[ 5.94289805e-01 -7.83143316e-01 1.83046919e-01 5.37039443e+02] [ 7.49828661e-01 6.21834304e-01 2.26006812e-01 4.09517667e+02] [-2.90820577e-01 2.94028229e-03 9.56773090e-01 5.25197465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.1892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:537.06, Y:409.54, Z:52.51 [[ 5.94997196e-01 -7.82718196e-01 1.82566598e-01 5.37055186e+02] [ 7.49544579e-01 6.22370476e-01 2.25472647e-01 4.09539183e+02] [-2.90105604e-01 2.68621108e-03 9.56990869e-01 5.25096663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2192541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:537.07, Y:409.56, Z:52.50 [[ 5.97378044e-01 -7.81150731e-01 1.81502088e-01 5.37069655e+02] [ 7.48258432e-01 6.24339828e-01 2.24296898e-01 4.09560456e+02] [-2.88528668e-01 1.82042551e-03 9.57469526e-01 5.25000327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.09, Y:409.58, Z:52.49 [[ 5.98601632e-01 -7.80252257e-01 1.81335330e-01 5.37086277e+02] [ 7.47363885e-01 6.25463507e-01 2.24148668e-01 4.09582311e+02] [-2.88311136e-01 1.34771846e-03 9.57535834e-01 5.24941181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.2792541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:537.10, Y:409.60, Z:52.48 [[ 5.99561416e-01 -7.79697489e-01 1.80548980e-01 5.37101777e+02] [ 7.47034900e-01 6.26155612e-01 2.23311460e-01 4.09603279e+02] [-2.87167142e-01 9.87453615e-04 9.57879981e-01 5.24827740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.3092541539997 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:537.12, Y:409.62, Z:52.47 [[ 6.02193394e-01 -7.77960526e-01 1.79277819e-01 5.37116587e+02] [ 7.45649485e-01 6.28313151e-01 2.21877060e-01 4.09624093e+02] [-2.85254206e-01 6.55136596e-05 9.58451894e-01 5.24743715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.339254154 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:537.13, Y:409.64, Z:52.47 [[ 6.03063380e-01 -7.77392423e-01 1.78817169e-01 5.37132205e+02] [ 7.45208887e-01 6.29015868e-01 2.21365654e-01 4.09644443e+02] [-2.84566819e-01 -2.41376270e-04 9.58656178e-01 5.24663791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.369254154 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:537.15, Y:409.67, Z:52.46 [[ 6.04686852e-01 -7.76226951e-01 1.78397119e-01 5.37148273e+02] [ 7.44131518e-01 6.30453044e-01 2.20900983e-01 4.09665456e+02] [-2.83940303e-01 -8.25001415e-04 9.58841605e-01 5.24581270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.399254154 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:537.16, Y:409.69, Z:52.45 [[ 6.05204320e-01 -7.75835579e-01 1.78344851e-01 5.37164728e+02] [ 7.43703689e-01 6.30934193e-01 2.20968026e-01 4.09686203e+02] [-2.83958721e-01 -1.09508008e-03 9.58835880e-01 5.24499046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4292541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:537.18, Y:409.71, Z:52.44 [[ 6.06934642e-01 -7.74517676e-01 1.78192902e-01 5.37182083e+02] [ 7.42346467e-01 6.32549708e-01 2.20913081e-01 4.09706944e+02] [-2.83816954e-01 -1.79893039e-03 9.58876791e-01 5.24427074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:537.20, Y:409.73, Z:52.44 [[ 6.07871772e-01 -7.73693072e-01 1.78580344e-01 5.37199471e+02] [ 7.41303450e-01 6.33556497e-01 2.21529594e-01 4.09727586e+02] [-2.84536649e-01 -2.27936231e-03 9.58662454e-01 5.24359657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.4892541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:537.22, Y:409.75, Z:52.43 [[ 6.08906186e-01 -7.72913278e-01 1.78432961e-01 5.37216202e+02] [ 7.40504817e-01 6.34505791e-01 2.21483671e-01 4.09748095e+02] [-2.84404417e-01 -2.73231021e-03 9.58700507e-01 5.24273472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.5192541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:537.23, Y:409.77, Z:52.42 [[ 6.12099146e-01 -7.70384608e-01 1.78443802e-01 5.37233599e+02] [ 7.37825866e-01 6.37566895e-01 2.21633584e-01 4.09768196e+02] [-2.84512963e-01 -4.00127490e-03 9.58663843e-01 5.24190367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.5492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:537.25, Y:409.79, Z:52.41 [[ 6.13608936e-01 -7.69116405e-01 1.78728926e-01 5.37250546e+02] [ 7.36357148e-01 6.39091507e-01 2.22126531e-01 4.09788645e+02] [-2.85065298e-01 -4.69050180e-03 9.58496623e-01 5.24114018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.579254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:537.27, Y:409.81, Z:52.41 [[ 6.15372764e-01 -7.67601855e-01 1.79175205e-01 5.37267633e+02] [ 7.34569811e-01 6.40903359e-01 2.22822974e-01 4.09809016e+02] [-2.85873319e-01 -5.50249315e-03 9.58251621e-01 5.24052563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.609254154 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:537.28, Y:409.83, Z:52.40 [[ 6.18622715e-01 -7.65084449e-01 1.78750447e-01 5.37284080e+02] [ 7.32091910e-01 6.43895199e-01 2.22351991e-01 4.09828961e+02] [-2.85214605e-01 -6.69023599e-03 9.58440332e-01 5.23953155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.639254154 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:537.30, Y:409.85, Z:52.39 [[ 6.20147605e-01 -7.63876593e-01 1.78632302e-01 5.37300891e+02] [ 7.30838021e-01 6.45320655e-01 2.22344418e-01 4.09848767e+02] [-2.85118811e-01 -7.33508007e-03 9.58464115e-01 5.23879114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:537.32, Y:409.87, Z:52.38 [[ 6.22127290e-01 -7.62145506e-01 1.79142020e-01 5.37319165e+02] [ 7.28826361e-01 6.47353920e-01 2.23035956e-01 4.09868970e+02] [-2.85954140e-01 -8.19332845e-03 9.58208276e-01 5.23814104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.6992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:537.34, Y:409.89, Z:52.37 [[ 6.22811115e-01 -7.61650062e-01 1.78872856e-01 5.37335419e+02] [ 7.28371063e-01 6.47932777e-01 2.22842344e-01 4.09888412e+02] [-2.85625472e-01 -8.50287647e-03 9.58303601e-01 5.23730569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.7292541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:537.34, Y:409.91, Z:52.35 [[ 6.21021399e-01 -7.58731756e-01 1.96617760e-01 5.37340145e+02] [ 7.28466252e-01 6.51305372e-01 2.12457600e-01 4.09912523e+02] [-2.89256531e-01 1.12886871e-02 9.57185053e-01 5.23496169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.7592541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:537.37, Y:409.93, Z:52.35 [[ 6.21983888e-01 -7.61816021e-01 1.81031472e-01 5.37368674e+02] [ 7.28349931e-01 6.47754371e-01 2.23429301e-01 4.09928718e+02] [-2.87475948e-01 -7.11516519e-03 9.57761428e-01 5.23480523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.7892541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:537.40, Y:409.94, Z:52.35 [[ 6.23718264e-01 -7.65167534e-01 1.59668948e-01 5.37398911e+02] [ 7.29149381e-01 6.43157852e-01 2.33857131e-01 4.09944644e+02] [-2.81632222e-01 -2.94384493e-02 9.59070732e-01 5.23537184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.8192541539997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:537.41, Y:409.97, Z:52.34 [[ 6.21413728e-01 -7.63383031e-01 1.76327330e-01 5.37408596e+02] [ 7.31043350e-01 6.45899065e-01 2.19977313e-01 4.09968434e+02] [-2.81816605e-01 -7.79399988e-03 9.59436634e-01 5.23367075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.849254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:537.43, Y:409.99, Z:52.33 [[ 6.19180171e-01 -7.65211758e-01 1.76257995e-01 5.37427410e+02] [ 7.32930208e-01 6.43740038e-01 2.20027438e-01 4.09988457e+02] [-2.81831911e-01 -7.05181757e-03 9.59437880e-01 5.23289704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.879254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:537.45, Y:410.01, Z:52.32 [[ 6.16489269e-01 -7.67383121e-01 1.76250180e-01 5.37446424e+02] [ 7.35151014e-01 6.41159340e-01 2.20153783e-01 4.10007770e+02] [-2.81946746e-01 -6.15194593e-03 9.59410333e-01 5.23209414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9092541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:537.47, Y:410.03, Z:52.32 [[ 6.09413805e-01 -7.72773865e-01 1.77300221e-01 5.37467648e+02] [ 7.40327246e-01 6.34670144e-01 2.21606358e-01 4.10025238e+02] [-2.83778758e-01 -3.78978959e-03 9.58882294e-01 5.23150257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.47, Y:410.05, Z:52.29 [[ 6.02269086e-01 -7.72963298e-01 1.99498591e-01 5.37472601e+02] [ 7.43550830e-01 6.34118183e-01 2.12193999e-01 4.10048517e+02] [-2.90523857e-01 2.05394571e-02 9.56647281e-01 5.22919536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.51, Y:410.06, Z:52.29 [[ 5.93143280e-01 -7.84870345e-01 1.79330955e-01 5.37506129e+02] [ 7.50436453e-01 6.19657385e-01 2.29934458e-01 4.10059499e+02] [-2.91592488e-01 -1.80759277e-03 9.56540932e-01 5.22947308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1051.9992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:537.54, Y:410.08, Z:52.30 [[ 5.91002505e-01 -7.90472006e-01 1.60841683e-01 5.37537189e+02] [ 7.54058234e-01 6.12192755e-01 2.37941613e-01 4.10075503e+02] [-2.86552297e-01 -1.93400940e-02 9.57869376e-01 5.22999072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.0292541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:537.55, Y:410.10, Z:52.28 [[ 5.87083156e-01 -7.89489900e-01 1.78994596e-01 5.37545061e+02] [ 7.57025999e-01 6.13750922e-01 2.24101412e-01 4.10099443e+02] [-2.86783900e-01 3.93739866e-03 9.57987209e-01 5.22839375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.55, Y:410.13, Z:52.26 [[ 5.80344753e-01 -7.89119379e-01 2.01222697e-01 5.37547672e+02] [ 7.59407941e-01 6.13631900e-01 2.16230131e-01 4.10125256e+02] [-2.94108053e-01 2.73220921e-02 9.55381576e-01 5.22608848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.089254154 meters Centerline goodness : 0.996183 Centerline is valid? [True, True] Translation: X:537.58, Y:410.14, Z:52.26 [[ 5.79972659e-01 -7.93921925e-01 1.82536823e-01 5.37576968e+02] [ 7.59607847e-01 6.08001386e-01 2.30933394e-01 4.10141039e+02] [-2.94325727e-01 4.72134872e-03 9.55693505e-01 5.22607208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.119254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:537.60, Y:410.16, Z:52.26 [[ 5.78892457e-01 -7.97976861e-01 1.67679612e-01 5.37599086e+02] [ 7.61703680e-01 6.02603557e-01 2.38068179e-01 4.10159583e+02] [-2.91017229e-01 -1.00936956e-02 9.56664565e-01 5.22622666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.149254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:537.61, Y:410.18, Z:52.25 [[ 5.78033673e-01 -7.95795726e-01 1.80516580e-01 5.37607295e+02] [ 7.62840672e-01 6.05528706e-01 2.26735739e-01 4.10183313e+02] [-2.89743303e-01 6.64449735e-03 9.57081328e-01 5.22471234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.1792541539999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:537.62, Y:410.20, Z:52.24 [[ 5.76831010e-01 -7.96839728e-01 1.79756598e-01 5.37623738e+02] [ 7.64199259e-01 6.04149035e-01 2.25839403e-01 4.10204024e+02] [-2.88557583e-01 7.09868849e-03 9.57436228e-01 5.22380261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.64, Y:410.23, Z:52.23 [[ 5.75398250e-01 -7.97806978e-01 1.80057991e-01 5.37638231e+02] [ 7.65057534e-01 6.02866214e-01 2.26360991e-01 4.10226142e+02] [-2.89143258e-01 7.50700415e-03 9.57256403e-01 5.22318197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.65, Y:410.25, Z:52.22 [[ 5.74551454e-01 -7.98419048e-01 1.80049022e-01 5.37650950e+02] [ 7.65684523e-01 6.02051935e-01 2.26408215e-01 4.10249888e+02] [-2.89167493e-01 7.77758062e-03 9.57246922e-01 5.22226372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2692541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:537.66, Y:410.27, Z:52.21 [[ 5.74234936e-01 -7.98605278e-01 1.80232763e-01 5.37664984e+02] [ 7.65768319e-01 6.01804718e-01 2.26781754e-01 4.10271775e+02] [-2.89574033e-01 7.79053372e-03 9.57123914e-01 5.22134327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.68, Y:410.29, Z:52.21 [[ 5.74727267e-01 -7.98134070e-01 1.80750037e-01 5.37679106e+02] [ 7.65063029e-01 6.02432718e-01 2.27493697e-01 4.10293722e+02] [-2.90460206e-01 7.53834008e-03 9.56857378e-01 5.22063100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.69, Y:410.32, Z:52.20 [[ 5.75458105e-01 -7.97536773e-01 1.81060941e-01 5.37693484e+02] [ 7.64302146e-01 6.03227221e-01 2.27945497e-01 4.10315699e+02] [-2.91015805e-01 7.21218171e-03 9.56691061e-01 5.21981853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.71, Y:410.34, Z:52.19 [[ 5.75249591e-01 -7.97693609e-01 1.81032634e-01 5.37710407e+02] [ 7.64459489e-01 6.03019313e-01 2.27967976e-01 4.10337109e+02] [-2.91014773e-01 7.25363012e-03 9.56691061e-01 5.21896904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.389254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:537.72, Y:410.36, Z:52.18 [[ 5.76931335e-01 -7.96374395e-01 1.81488448e-01 5.37723647e+02] [ 7.62866022e-01 6.04768763e-01 2.28670450e-01 4.10360547e+02] [-2.91865836e-01 6.52422237e-03 9.56437017e-01 5.21796690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4192541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:537.74, Y:410.38, Z:52.17 [[ 5.78191763e-01 -7.95318205e-01 1.82107764e-01 5.37738748e+02] [ 7.61481465e-01 6.06163228e-01 2.29591200e-01 4.10382960e+02] [-2.92985091e-01 5.92394605e-03 9.56098658e-01 5.21719578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4492541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:537.75, Y:410.41, Z:52.16 [[ 5.81486527e-01 -7.92765069e-01 1.82748363e-01 5.37750183e+02] [ 7.58517100e-01 6.09510245e-01 2.30540823e-01 4.10407116e+02] [-2.94151711e-01 4.56137583e-03 9.55747856e-01 5.21626752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.4792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:537.76, Y:410.43, Z:52.16 [[ 5.83336097e-01 -7.91286623e-01 1.83260682e-01 5.37764262e+02] [ 7.56726818e-01 6.11433990e-01 2.31328769e-01 4.10430177e+02] [-2.95099171e-01 3.73585159e-03 9.55459326e-01 5.21553171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.5092541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:537.78, Y:410.45, Z:52.15 [[ 5.87100695e-01 -7.88597559e-01 1.82829604e-01 5.37775430e+02] [ 7.54032279e-01 6.14905423e-01 2.30925623e-01 4.10454532e+02] [-2.94530298e-01 2.28282916e-03 9.55639415e-01 5.21452312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.79, Y:410.48, Z:52.14 [[ 5.88973151e-01 -7.87192283e-01 1.82863166e-01 5.37789985e+02] [ 7.52503035e-01 6.16705848e-01 2.31112700e-01 4.10477844e+02] [-2.94702917e-01 1.48591281e-03 9.55587768e-01 5.21375040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.5692541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:537.80, Y:410.50, Z:52.12 [[ 5.90887250e-01 -7.84134444e-01 1.89698263e-01 5.37797499e+02] [ 7.50519944e-01 6.20538372e-01 2.27270638e-01 4.10503893e+02] [-2.95925787e-01 8.08100726e-03 9.55176751e-01 5.21232540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.599254154 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:537.82, Y:410.52, Z:52.12 [[ 5.93285846e-01 -7.85684793e-01 1.75246429e-01 5.37820316e+02] [ 7.49719494e-01 6.18573807e-01 2.35132145e-01 4.10521954e+02] [-2.93142601e-01 -8.11490981e-03 9.56034290e-01 5.21213861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.629254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:537.83, Y:410.55, Z:52.11 [[ 5.93633841e-01 -7.82987888e-01 1.85819348e-01 5.37828628e+02] [ 7.49121316e-01 6.22024356e-01 2.27822199e-01 4.10547630e+02] [-2.93966183e-01 3.95826725e-03 9.55807625e-01 5.21070761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:537.85, Y:410.57, Z:52.11 [[ 5.96099985e-01 -7.82768526e-01 1.78712740e-01 5.37846364e+02] [ 7.46957686e-01 6.22283318e-01 2.34131773e-01 4.10569935e+02] [-2.94480939e-01 -6.07509183e-03 9.55638043e-01 5.21051441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.6892541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:537.86, Y:410.59, Z:52.09 [[ 5.96180372e-01 -7.81924542e-01 1.82107043e-01 5.37858629e+02] [ 7.47137224e-01 6.23371421e-01 2.30638333e-01 4.10592890e+02] [-2.93862099e-01 -1.44309674e-03 9.55846737e-01 5.20938215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7192541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:537.87, Y:410.61, Z:52.08 [[ 5.96200011e-01 -7.81997551e-01 1.81728859e-01 5.37873307e+02] [ 7.47317660e-01 6.23279706e-01 2.30301377e-01 4.10614255e+02] [-2.93363023e-01 -1.49649762e-03 9.55999946e-01 5.20840510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7492541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:537.89, Y:410.64, Z:52.08 [[ 5.96792802e-01 -7.81654146e-01 1.81259888e-01 5.37886918e+02] [ 7.47097554e-01 6.23709642e-01 2.29851099e-01 4.10636082e+02] [-2.92717604e-01 -1.75466215e-03 9.56197326e-01 5.20752195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.7792541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:537.90, Y:410.66, Z:52.07 [[ 5.97219046e-01 -7.81341857e-01 1.81202410e-01 5.37902894e+02] [ 7.46775075e-01 6.24100243e-01 2.29838802e-01 4.10658083e+02] [-2.92671145e-01 -1.94666667e-03 9.56211175e-01 5.20680862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.8092541539997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:537.92, Y:410.68, Z:52.05 [[ 5.97189223e-01 -7.80685548e-01 1.84106237e-01 5.37915177e+02] [ 7.47379832e-01 6.24917496e-01 2.25613631e-01 4.10681963e+02] [-2.91184510e-01 2.86325958e-03 9.56662628e-01 5.20537506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.839254154 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:537.94, Y:410.70, Z:52.05 [[ 5.98585432e-01 -7.81553557e-01 1.75697234e-01 5.37935221e+02] [ 7.46695072e-01 6.23798536e-01 2.30915257e-01 4.10700874e+02] [-2.90072318e-01 -7.03025036e-03 9.56978906e-01 5.20511066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.869254154 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:537.95, Y:410.73, Z:52.04 [[ 6.00486885e-01 -7.78642865e-01 1.82018655e-01 5.37945779e+02] [ 7.46227031e-01 6.27463092e-01 2.22340476e-01 4.10725523e+02] [-2.87333813e-01 2.31470033e-03 9.57827710e-01 5.20385176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.899254154 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:537.97, Y:410.75, Z:52.03 [[ 6.00209743e-01 -7.80876436e-01 1.73148077e-01 5.37969301e+02] [ 7.46456143e-01 6.24628160e-01 2.29440383e-01 4.10746049e+02] [-2.87317753e-01 -8.46490779e-03 9.57797919e-01 5.20329129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9292541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:537.98, Y:410.77, Z:52.02 [[ 5.99856058e-01 -7.79964949e-01 1.78402320e-01 5.37982663e+02] [ 7.46840779e-01 6.25820985e-01 2.24893190e-01 4.10769195e+02] [-2.87056721e-01 -1.66541512e-03 9.57912139e-01 5.20227299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9592541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:538.00, Y:410.79, Z:52.02 [[ 5.98734111e-01 -7.80685864e-01 1.79016889e-01 5.37997509e+02] [ 7.47076022e-01 6.24920652e-01 2.26608906e-01 4.10789073e+02] [-2.88781720e-01 -1.93925679e-03 9.57393001e-01 5.20163444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1052.9892541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:538.01, Y:410.81, Z:52.01 [[ 5.97643064e-01 -7.81713542e-01 1.78176054e-01 5.38013870e+02] [ 7.48084692e-01 6.23633531e-01 2.26827055e-01 4.10808791e+02] [-2.88430342e-01 -2.27083761e-03 9.57498189e-01 5.20079777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.02, Y:410.83, Z:51.99 [[ 5.91893288e-01 -7.82381648e-01 1.93755756e-01 5.38022395e+02] [ 7.50718765e-01 6.22624460e-01 2.20816935e-01 4.10832759e+02] [-2.93400191e-01 1.47560202e-02 9.55875823e-01 5.19917128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.0492541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:538.06, Y:410.85, Z:52.00 [[ 5.90860541e-01 -7.89613393e-01 1.65512874e-01 5.38056272e+02] [ 7.52954172e-01 6.13390525e-01 2.38352845e-01 4.10846420e+02] [-2.89730628e-01 -1.62096821e-02 9.56970956e-01 5.19980555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.07, Y:410.87, Z:51.99 [[ 5.88085415e-01 -7.88636712e-01 1.79464984e-01 5.38065541e+02] [ 7.54749002e-01 6.14858699e-01 2.28697890e-01 4.10870067e+02] [-2.90705159e-01 9.57123735e-04 9.56812204e-01 5.19859904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.109254154 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:538.07, Y:410.89, Z:51.97 [[ 5.79016770e-01 -7.91317161e-01 1.96358678e-01 5.38072946e+02] [ 7.60104964e-01 6.11036613e-01 2.21076233e-01 4.10892711e+02] [-2.94923759e-01 2.12463591e-02 9.55284549e-01 5.19668452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.139254154 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:538.10, Y:410.91, Z:51.96 [[ 5.75615623e-01 -7.97329254e-01 1.81473732e-01 5.38098832e+02] [ 7.62716799e-01 6.03526827e-01 2.32418705e-01 4.10908267e+02] [-2.94838498e-01 4.62922604e-03 9.55535886e-01 5.19629940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.12, Y:410.93, Z:51.96 [[ 5.71930969e-01 -8.01165147e-01 1.76151566e-01 5.38121920e+02] [ 7.65867443e-01 5.98443187e-01 2.35186758e-01 4.10928768e+02] [-2.93840138e-01 3.98159164e-04 9.55854495e-01 5.19602987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.1992541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:538.13, Y:410.95, Z:51.95 [[ 5.69554011e-01 -8.01032306e-01 1.84270112e-01 5.38132865e+02] [ 7.67851843e-01 5.98512904e-01 2.28442228e-01 4.10951905e+02] [-2.93277644e-01 1.13819578e-02 9.55959557e-01 5.19453438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.2292541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:538.15, Y:410.97, Z:51.94 [[ 5.68283218e-01 -8.03726183e-01 1.76290687e-01 5.38154462e+02] [ 7.69325817e-01 5.94989547e-01 2.32648290e-01 4.10970915e+02] [-2.91876638e-01 3.41485762e-03 9.56449877e-01 5.19408970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.2592541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:538.17, Y:410.99, Z:51.93 [[ 5.67682873e-01 -8.02628403e-01 1.83095063e-01 5.38166645e+02] [ 7.69500569e-01 5.96374524e-01 2.28486984e-01 4.10993725e+02] [-2.92583374e-01 1.11836076e-02 9.56174616e-01 5.19295991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.20, Y:411.01, Z:51.94 [[ 5.70449103e-01 -8.04761688e-01 1.64153730e-01 5.38195348e+02] [ 7.68614713e-01 5.93513979e-01 2.38689294e-01 4.11011320e+02] [-2.89515533e-01 -9.98912147e-03 9.57121191e-01 5.19354497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.3192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.20, Y:411.04, Z:51.91 [[ 5.71085308e-01 -7.98746334e-01 1.89382854e-01 5.38196887e+02] [ 7.67654668e-01 6.01371330e-01 2.21492292e-01 4.11038706e+02] [-2.90805575e-01 1.88896383e-02 9.56595682e-01 5.19129100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.349254154 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:538.23, Y:411.05, Z:51.92 [[ 5.73249555e-01 -8.02208461e-01 1.66872802e-01 5.38225258e+02] [ 7.67288875e-01 5.97011748e-01 2.34189572e-01 4.11054447e+02] [-2.87493879e-01 -6.20942347e-03 9.57762347e-01 5.19154810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.379254154 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:538.24, Y:411.08, Z:51.90 [[ 5.76486429e-01 -7.97667231e-01 1.77173319e-01 5.38235305e+02] [ 7.64812599e-01 6.03078253e-01 2.26623717e-01 4.11078334e+02] [-2.87619689e-01 4.85888900e-03 9.57732377e-01 5.19028874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4092541539999 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:538.25, Y:411.10, Z:51.89 [[ 5.78154279e-01 -7.96459652e-01 1.77171251e-01 5.38251324e+02] [ 7.63508368e-01 6.04677303e-01 2.26760516e-01 4.11099315e+02] [-2.87737036e-01 4.16917010e-03 9.57700379e-01 5.18946573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:538.27, Y:411.12, Z:51.89 [[ 5.80058753e-01 -7.94966364e-01 1.77652253e-01 5.38267710e+02] [ 7.61721023e-01 6.06644268e-01 2.27516629e-01 4.11120656e+02] [-2.88639788e-01 3.34844360e-03 9.57431909e-01 5.18882017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4692541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:538.28, Y:411.14, Z:51.88 [[ 5.84206277e-01 -7.92005929e-01 1.77284051e-01 5.38283430e+02] [ 7.58725073e-01 6.10510782e-01 2.27184612e-01 4.11142102e+02] [-2.88165384e-01 1.78717836e-03 9.57578988e-01 5.18788461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.4992541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:538.30, Y:411.16, Z:51.87 [[ 5.86614747e-01 -7.90224728e-01 1.77279492e-01 5.38298831e+02] [ 7.56822493e-01 6.12816620e-01 2.27322465e-01 4.11162839e+02] [-2.88275652e-01 8.18396597e-04 9.57547116e-01 5.18705496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.5292541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:538.31, Y:411.18, Z:51.86 [[ 5.91903613e-01 -7.86324068e-01 1.77043985e-01 5.38314261e+02] [ 7.52822540e-01 6.17813233e-01 2.27079354e-01 4.11184893e+02] [-2.87938078e-01 -1.12638767e-03 9.57648367e-01 5.18619808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.5592541539997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:538.33, Y:411.21, Z:51.85 [[ 5.95068075e-01 -7.83940623e-01 1.77005892e-01 5.38329354e+02] [ 7.50305822e-01 6.20831254e-01 2.27177745e-01 4.11205425e+02] [-2.87984653e-01 -2.37767197e-03 9.57632073e-01 5.18536911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.35, Y:411.23, Z:51.84 [[ 5.98150998e-01 -7.80645072e-01 1.81131596e-01 5.38345160e+02] [ 7.47218707e-01 6.24974594e-01 2.25988851e-01 4.11228768e+02] [-2.89619729e-01 1.69459987e-04 9.57141778e-01 5.18437529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.36, Y:411.25, Z:51.84 [[ 6.04149803e-01 -7.77257618e-01 1.75708879e-01 5.38362884e+02] [ 7.42380033e-01 6.29121706e-01 2.30386125e-01 4.11247893e+02] [-2.89611640e-01 -8.74496887e-03 9.57104291e-01 5.18394880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.649254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:538.37, Y:411.27, Z:51.82 [[ 6.05524007e-01 -7.74115618e-01 1.84623096e-01 5.38374527e+02] [ 7.40696946e-01 6.33044036e-01 2.24996185e-01 4.11271591e+02] [-2.91047611e-01 5.09172365e-04 9.56708435e-01 5.18244627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.40, Y:411.29, Z:51.82 [[ 6.09648448e-01 -7.73691344e-01 1.72425273e-01 5.38397957e+02] [ 7.37758165e-01 6.33381076e-01 2.33540795e-01 4.11288516e+02] [-2.89899396e-01 -1.51696302e-02 9.56936896e-01 5.18243942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.41, Y:411.31, Z:51.81 [[ 6.10209227e-01 -7.71923321e-01 1.78266895e-01 5.38412233e+02] [ 7.37160322e-01 6.35659523e-01 2.29197798e-01 4.11310988e+02] [-2.90240175e-01 -8.44732914e-03 9.56916550e-01 5.18138165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7392541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:538.43, Y:411.33, Z:51.80 [[ 6.09834943e-01 -7.72353407e-01 1.77683866e-01 5.38430193e+02] [ 7.37798824e-01 6.35138759e-01 2.28586205e-01 4.11330510e+02] [-2.89403245e-01 -8.30490760e-03 9.57171244e-01 5.18037225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7692541539998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:538.45, Y:411.35, Z:51.79 [[ 6.08978787e-01 -7.72997787e-01 1.77818047e-01 5.38447702e+02] [ 7.38373245e-01 6.34357001e-01 2.28902046e-01 4.11351140e+02] [-2.89740898e-01 -8.10040179e-03 9.57070841e-01 5.17948737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.46, Y:411.37, Z:51.79 [[ 6.07196063e-01 -7.73512083e-01 1.81636999e-01 5.38463359e+02] [ 7.38933760e-01 6.33764354e-01 2.28734872e-01 4.11372216e+02] [-2.92044243e-01 -4.66920335e-03 9.56393412e-01 5.17860078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.829254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:538.49, Y:411.39, Z:51.78 [[ 6.06866567e-01 -7.75244004e-01 1.75241845e-01 5.38485750e+02] [ 7.39991804e-01 6.31570721e-01 2.31366711e-01 4.11389513e+02] [-2.90043273e-01 -1.07311927e-02 9.56953364e-01 5.17797335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.859254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:538.50, Y:411.41, Z:51.77 [[ 6.06432743e-01 -7.75069522e-01 1.77500886e-01 5.38501739e+02] [ 7.40557171e-01 6.31833587e-01 2.28826124e-01 4.11410444e+02] [-2.89507176e-01 -7.31810031e-03 9.57147868e-01 5.17696251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.52, Y:411.43, Z:51.76 [[ 6.06410812e-01 -7.75226017e-01 1.76891352e-01 5.38520893e+02] [ 7.40920269e-01 6.31641681e-01 2.28179626e-01 4.11430302e+02] [-2.88622734e-01 -7.30820377e-03 9.57415013e-01 5.17616239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9192541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:538.54, Y:411.45, Z:51.75 [[ 6.06713143e-01 -7.75307154e-01 1.75493529e-01 5.38538637e+02] [ 7.41516042e-01 6.31542211e-01 2.26513568e-01 4.11449826e+02] [-2.86449161e-01 -7.29749182e-03 9.58067651e-01 5.17515345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.56, Y:411.47, Z:51.74 [[ 6.07015806e-01 -7.75125005e-01 1.75251357e-01 5.38558653e+02] [ 7.41380704e-01 6.31763824e-01 2.26338515e-01 4.11468133e+02] [-2.86158110e-01 -7.46308155e-03 9.58153348e-01 5.17442431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1053.9792541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:538.58, Y:411.49, Z:51.73 [[ 6.06907999e-01 -7.75469315e-01 1.74097739e-01 5.38576206e+02] [ 7.42150369e-01 6.31342591e-01 2.24987474e-01 4.11486593e+02] [-2.84386200e-01 -7.33999643e-03 9.58681706e-01 5.17342789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.59, Y:411.51, Z:51.73 [[ 6.06827491e-01 -7.75396800e-01 1.74700313e-01 5.38594403e+02] [ 7.41820901e-01 6.31430467e-01 2.25825856e-01 4.11506233e+02] [-2.85415746e-01 -7.44099419e-03 9.58374918e-01 5.17281514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.61, Y:411.53, Z:51.72 [[ 6.06646968e-01 -7.75528167e-01 1.74744149e-01 5.38613147e+02] [ 7.41923695e-01 6.31269383e-01 2.25938480e-01 4.11526023e+02] [-2.85532286e-01 -7.41806877e-03 9.58340381e-01 5.17199041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.0692541539997 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:538.63, Y:411.54, Z:51.71 [[ 6.05967907e-01 -7.76204930e-01 1.74094237e-01 5.38632757e+02] [ 7.42841271e-01 6.30440007e-01 2.25238194e-01 4.11543937e+02] [-2.84586968e-01 -7.16273311e-03 9.58623468e-01 5.17095814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.099254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:538.65, Y:411.56, Z:51.70 [[ 6.05842439e-01 -7.76181719e-01 1.74633558e-01 5.38653056e+02] [ 7.42562670e-01 6.30467100e-01 2.26079448e-01 4.11561547e+02] [-2.85579447e-01 -7.29216359e-03 9.58327295e-01 5.17019571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.129254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:538.67, Y:411.58, Z:51.69 [[ 6.05328425e-01 -7.76371794e-01 1.75568603e-01 5.38671735e+02] [ 7.42373688e-01 6.30233125e-01 2.27348886e-01 4.11581593e+02] [-2.87156412e-01 -7.28323156e-03 9.57856017e-01 5.16946932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.1592541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:538.69, Y:411.60, Z:51.69 [[ 6.04835733e-01 -7.76793786e-01 1.75399975e-01 5.38690032e+02] [ 7.42838757e-01 6.29714275e-01 2.27267492e-01 4.11601564e+02] [-2.86991843e-01 -7.16560046e-03 9.57906225e-01 5.16859339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.1892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:538.71, Y:411.62, Z:51.68 [[ 6.03887839e-01 -7.77480856e-01 1.75621741e-01 5.38710302e+02] [ 7.43424472e-01 6.28868309e-01 2.27694322e-01 4.11619974e+02] [-2.87470924e-01 -6.94033178e-03 9.57764219e-01 5.16770135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.73, Y:411.64, Z:51.67 [[ 6.03494046e-01 -7.77785420e-01 1.75626811e-01 5.38728312e+02] [ 7.43695881e-01 6.28492126e-01 2.27846626e-01 4.11639193e+02] [-2.87595851e-01 -6.89114591e-03 9.57727069e-01 5.16707032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.74, Y:411.66, Z:51.66 [[ 6.03356845e-01 -7.77898565e-01 1.75597098e-01 5.38744908e+02] [ 7.43807059e-01 6.28352242e-01 2.27869523e-01 4.11660844e+02] [-2.87596205e-01 -6.87627544e-03 9.57727070e-01 5.16622578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.76, Y:411.68, Z:51.65 [[ 6.03492737e-01 -7.77711887e-01 1.75956635e-01 5.38763316e+02] [ 7.43443806e-01 6.28581498e-01 2.28421995e-01 4.11681208e+02] [-2.88249586e-01 -7.03714452e-03 9.57529454e-01 5.16542379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.3092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.78, Y:411.70, Z:51.65 [[ 6.03724062e-01 -7.77523124e-01 1.75997299e-01 5.38778635e+02] [ 7.43188176e-01 6.28812873e-01 2.28616944e-01 4.11702358e+02] [-2.88424327e-01 -7.22243826e-03 9.57475453e-01 5.16461218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.339254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:538.79, Y:411.72, Z:51.64 [[ 6.04260364e-01 -7.77340174e-01 1.74961901e-01 5.38793740e+02] [ 7.43381026e-01 6.29037825e-01 2.27367686e-01 4.11722627e+02] [-2.86799690e-01 -7.32592262e-03 9.57962561e-01 5.16367929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.81, Y:411.75, Z:51.63 [[ 6.04445168e-01 -7.77137609e-01 1.75223219e-01 5.38809694e+02] [ 7.43049222e-01 6.29286353e-01 2.27764221e-01 4.11745132e+02] [-2.87269723e-01 -7.47150635e-03 9.57820590e-01 5.16294024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.82, Y:411.77, Z:51.62 [[ 6.03883449e-01 -7.77680725e-01 1.74749739e-01 5.38823823e+02] [ 7.43761102e-01 6.28617247e-01 2.27287879e-01 4.11768084e+02] [-2.86608102e-01 -7.28333033e-03 9.58020224e-01 5.16204015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.84, Y:411.79, Z:51.61 [[ 6.02897795e-01 -7.78451375e-01 1.74721796e-01 5.38839466e+02] [ 7.44532658e-01 6.27665795e-01 2.27391228e-01 4.11789659e+02] [-2.86679909e-01 -7.00758628e-03 9.58000795e-01 5.16121769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.86, Y:411.81, Z:51.60 [[ 6.02259527e-01 -7.78934506e-01 1.74769841e-01 5.38856503e+02] [ 7.44974425e-01 6.27067629e-01 2.27594585e-01 4.11811073e+02] [-2.86873785e-01 -6.87194590e-03 9.57943739e-01 5.16040908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.86, Y:411.83, Z:51.58 [[ 5.98816477e-01 -7.77846130e-01 1.90720278e-01 5.38860838e+02] [ 7.45821440e-01 6.28377791e-01 2.21114746e-01 4.11834717e+02] [-2.91837636e-01 9.83611891e-03 9.56417296e-01 5.15843526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.89, Y:411.85, Z:51.58 [[ 5.98006491e-01 -7.81921691e-01 1.76030414e-01 5.38885366e+02] [ 7.46468949e-01 6.23326844e-01 2.32911472e-01 4.11852083e+02] [-2.91843015e-01 -7.88133368e-03 9.56433761e-01 5.15822270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.5492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:538.92, Y:411.87, Z:51.58 [[ 5.99812557e-01 -7.84350782e-01 1.58173156e-01 5.38915735e+02] [ 7.47408370e-01 6.19802775e-01 2.39217993e-01 4.11870546e+02] [-2.85666981e-01 -2.52660154e-02 9.57995827e-01 5.15849432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.92, Y:411.90, Z:51.57 [[ 5.98975090e-01 -7.81504029e-01 1.74586067e-01 5.38923116e+02] [ 7.47656542e-01 6.23873392e-01 2.27577868e-01 4.11896452e+02] [-2.86772623e-01 -5.78305872e-03 9.57981221e-01 5.15699555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.609254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.93, Y:411.92, Z:51.55 [[ 5.93735121e-01 -7.81877395e-01 1.90121920e-01 5.38926138e+02] [ 7.49807342e-01 6.23338547e-01 2.21896386e-01 4.11919575e+02] [-2.92006090e-01 1.08071341e-02 9.56355399e-01 5.15498947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.639254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:538.96, Y:411.93, Z:51.56 [[ 5.96052339e-01 -7.87083509e-01 1.58811713e-01 5.38964909e+02] [ 7.50408827e-01 6.16416444e-01 2.38573597e-01 4.11934754e+02] [-2.85671495e-01 -2.30286389e-02 9.58050875e-01 5.15584368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:538.97, Y:411.96, Z:51.55 [[ 5.95025358e-01 -7.84449975e-01 1.74880133e-01 5.38973576e+02] [ 7.50514811e-01 6.20175183e-01 2.28276718e-01 4.11959897e+02] [-2.87527985e-01 -4.58030552e-03 9.57761285e-01 5.15453348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.6992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:538.99, Y:411.98, Z:51.54 [[ 5.95078168e-01 -7.84361082e-01 1.75099023e-01 5.38989443e+02] [ 7.50292124e-01 6.20286541e-01 2.28705784e-01 4.11980478e+02] [-2.87999484e-01 -4.72240095e-03 9.57618920e-01 5.15374522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:538.99, Y:412.00, Z:51.51 [[ 5.91428569e-01 -7.82288383e-01 1.95543175e-01 5.38988822e+02] [ 7.50819121e-01 6.22696732e-01 2.20271258e-01 4.12004597e+02] [-2.94079743e-01 1.65428401e-02 9.55637714e-01 5.15145355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.03, Y:412.02, Z:51.53 [[ 5.96109902e-01 -7.87916485e-01 1.54404010e-01 5.39033098e+02] [ 7.49999367e-01 6.15089648e-01 2.43239952e-01 4.12018187e+02] [-2.86625076e-01 -2.91948340e-02 9.57597895e-01 5.15302757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.7892541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:539.02, Y:412.05, Z:51.50 [[ 5.92697898e-01 -7.81233340e-01 1.95917509e-01 5.39020450e+02] [ 7.49996570e-01 6.24009612e-01 2.19356216e-01 4.12047725e+02] [-2.93622798e-01 1.69254915e-02 9.55771511e-01 5.14966638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.8192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.05, Y:412.06, Z:51.50 [[ 5.93813200e-01 -7.85416844e-01 1.74660429e-01 5.39049411e+02] [ 7.49548069e-01 6.18908696e-01 2.34797187e-01 4.12063384e+02] [-2.92512524e-01 -8.50928129e-03 9.56223831e-01 5.14972886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.08, Y:412.08, Z:51.50 [[ 5.96475505e-01 -7.87309287e-01 1.56080293e-01 5.39079577e+02] [ 7.49519053e-01 6.15935367e-01 2.42579498e-01 4.12082581e+02] [-2.87120464e-01 -2.77075746e-02 9.57493671e-01 5.15031857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.08, Y:412.11, Z:51.48 [[ 5.94917362e-01 -7.81445204e-01 1.88193321e-01 5.39075526e+02] [ 7.49267650e-01 6.23910831e-01 2.22110927e-01 4.12110697e+02] [-2.90983370e-01 8.86952074e-03 9.56686997e-01 5.14759783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.11, Y:412.13, Z:51.48 [[ 5.96581391e-01 -7.86205557e-01 1.61156650e-01 5.39109328e+02] [ 7.49636744e-01 6.17603520e-01 2.37929914e-01 4.12127412e+02] [-2.86592735e-01 -2.11356123e-02 9.57819341e-01 5.14836542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.12, Y:412.15, Z:51.47 [[ 5.96668846e-01 -7.83505661e-01 1.73508407e-01 5.39117417e+02] [ 7.49752060e-01 6.21358575e-01 2.27563992e-01 4.12151403e+02] [-2.86108612e-01 -5.69205862e-03 9.58180287e-01 5.14699234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.13, Y:412.17, Z:51.46 [[ 5.95027688e-01 -7.83791429e-01 1.77800580e-01 5.39129227e+02] [ 7.50349479e-01 6.21022646e-01 2.26509453e-01 4.12172946e+02] [-2.87954355e-01 -1.36682364e-03 9.57643160e-01 5.14582682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1054.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.15, Y:412.19, Z:51.46 [[ 5.95965677e-01 -7.85018349e-01 1.69029893e-01 5.39152036e+02] [ 7.50334120e-01 6.19377466e-01 2.31020049e-01 4.12192605e+02] [-2.86048284e-01 -1.08511233e-02 9.58153762e-01 5.14554056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.0292541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:539.17, Y:412.21, Z:51.45 [[ 5.95263287e-01 -7.84643907e-01 1.73192256e-01 5.39165593e+02] [ 7.51021491e-01 6.19924700e-01 2.27288554e-01 4.12214921e+02] [-2.85706737e-01 -5.22542543e-03 9.58302852e-01 5.14451402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.0592541539997 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:539.18, Y:412.24, Z:51.43 [[ 5.94131650e-01 -7.84617977e-01 1.77150255e-01 5.39180147e+02] [ 7.51719634e-01 6.19979408e-01 2.24817983e-01 4.12237250e+02] [-2.86225741e-01 -4.04153653e-04 9.58162127e-01 5.14333865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.20, Y:412.26, Z:51.43 [[ 5.93004782e-01 -7.87375101e-01 1.68480795e-01 5.39200814e+02] [ 7.53415594e-01 6.16411229e-01 2.28915134e-01 4.12255333e+02] [-2.84095531e-01 -8.81171092e-03 9.58755487e-01 5.14307809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.22, Y:412.28, Z:51.42 [[ 5.91922179e-01 -7.87435436e-01 1.71969671e-01 5.39215695e+02] [ 7.54297087e-01 6.16383510e-01 2.26069178e-01 4.12277543e+02] [-2.84014151e-01 -4.09913889e-03 9.58811326e-01 5.14206493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.149254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:539.23, Y:412.30, Z:51.41 [[ 5.89286585e-01 -7.89501276e-01 1.71548988e-01 5.39232957e+02] [ 7.56575956e-01 6.13740685e-01 2.25643956e-01 4.12298659e+02] [-2.83432784e-01 -3.17911713e-03 9.58986835e-01 5.14125837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.1792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:539.25, Y:412.32, Z:51.40 [[ 5.87709485e-01 -7.90710446e-01 1.71390060e-01 5.39248776e+02] [ 7.57854356e-01 6.12184423e-01 2.25581487e-01 4.12319079e+02] [-2.83291963e-01 -2.68767541e-03 9.59029948e-01 5.14040914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:539.26, Y:412.34, Z:51.40 [[ 5.86403278e-01 -7.91563567e-01 1.71925317e-01 5.39264071e+02] [ 7.58514817e-01 6.11082417e-01 2.26348298e-01 4.12339735e+02] [-2.84229605e-01 -2.32348362e-03 9.58753427e-01 5.13972816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2392541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:539.28, Y:412.36, Z:51.39 [[ 5.83218018e-01 -7.93920498e-01 1.71892369e-01 5.39280307e+02] [ 7.60967524e-01 6.08020369e-01 2.26361785e-01 4.12361552e+02] [-2.84227322e-01 -1.21376100e-03 9.58756150e-01 5.13890178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2692541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:539.30, Y:412.38, Z:51.38 [[ 5.82041818e-01 -7.94833966e-01 1.71657477e-01 5.39296017e+02] [ 7.61969034e-01 6.06826359e-01 2.26196732e-01 4.12382179e+02] [-2.83955127e-01 -8.58275411e-04 9.58837186e-01 5.13807156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.2992541539998 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:539.31, Y:412.40, Z:51.37 [[ 5.80429305e-01 -7.96185416e-01 1.70852585e-01 5.39311609e+02] [ 7.63674586e-01 6.05052667e-01 2.25194134e-01 4.12402902e+02] [-2.82671097e-01 -2.33497546e-04 9.59216866e-01 5.13718302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.33, Y:412.43, Z:51.37 [[ 5.80605985e-01 -7.95895263e-01 1.71602504e-01 5.39328196e+02] [ 7.63046826e-01 6.05434167e-01 2.26294083e-01 4.12425274e+02] [-2.84000408e-01 -4.46953074e-04 9.58824055e-01 5.13658683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.34, Y:412.45, Z:51.36 [[ 5.80572801e-01 -7.96057923e-01 1.70959078e-01 5.39343636e+02] [ 7.63431791e-01 6.05220280e-01 2.25566649e-01 4.12446796e+02] [-2.83032019e-01 -4.42266484e-04 9.59110359e-01 5.13578866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.389254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:539.36, Y:412.47, Z:51.35 [[ 5.80638460e-01 -7.96075435e-01 1.70654273e-01 5.39357656e+02] [ 7.63531650e-01 6.05197191e-01 2.25290434e-01 4.12468878e+02] [-2.82627666e-01 -5.12352146e-04 9.59229555e-01 5.13486507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.37, Y:412.49, Z:51.34 [[ 5.81218545e-01 -7.95565122e-01 1.71058877e-01 5.39372969e+02] [ 7.62800918e-01 6.05867488e-01 2.25963152e-01 4.12490958e+02] [-2.83407415e-01 -8.50105572e-04 9.58999226e-01 5.13414137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:539.39, Y:412.51, Z:51.33 [[ 5.81624792e-01 -7.95385731e-01 1.70511411e-01 5.39386700e+02] [ 7.62786626e-01 6.06102709e-01 2.25379834e-01 4.12512399e+02] [-2.82611332e-01 -1.02267529e-03 9.59233960e-01 5.13322765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.40, Y:412.53, Z:51.33 [[ 5.82553269e-01 -7.94571830e-01 1.71135315e-01 5.39402266e+02] [ 7.61666723e-01 6.07168354e-01 2.26297135e-01 4.12534587e+02] [-2.83717276e-01 -1.48206122e-03 9.58906831e-01 5.13259121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.5092541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:539.42, Y:412.56, Z:51.32 [[ 5.83493525e-01 -7.94080990e-01 1.70207779e-01 5.39417013e+02] [ 7.61478715e-01 6.07809306e-01 2.25206603e-01 4.12556817e+02] [-2.82286155e-01 -1.79699391e-03 9.59328566e-01 5.13160626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.5392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:539.43, Y:412.58, Z:51.31 [[ 5.84242376e-01 -7.93521489e-01 1.70248327e-01 5.39432739e+02] [ 7.60840089e-01 6.08538418e-01 2.25395990e-01 4.12578799e+02] [-2.82459209e-01 -2.15413653e-03 9.59276892e-01 5.13079487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.44, Y:412.60, Z:51.29 [[ 5.83264469e-01 -7.90114815e-01 1.88470522e-01 5.39436762e+02] [ 7.59343027e-01 6.12764473e-01 2.18901504e-01 4.12603750e+02] [-2.88445361e-01 1.54363076e-02 9.57371920e-01 5.12878702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.599254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:539.47, Y:412.62, Z:51.30 [[ 5.87286064e-01 -7.94608936e-01 1.53921141e-01 5.39472260e+02] [ 7.58754312e-01 6.06706934e-01 2.37062421e-01 4.12618911e+02] [-2.81756942e-01 -2.24351265e-02 9.59223483e-01 5.12978074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.629254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:539.48, Y:412.64, Z:51.28 [[ 5.88436249e-01 -7.90443739e-01 1.70121945e-01 5.39478203e+02] [ 7.57587288e-01 6.12522575e-01 2.25560625e-01 4.12643706e+02] [-2.82496516e-01 -3.84582513e-03 9.59260615e-01 5.12828518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:539.49, Y:412.67, Z:51.28 [[ 5.90866700e-01 -7.88439211e-01 1.70997528e-01 5.39494455e+02] [ 7.55125656e-01 6.15093217e-01 2.26816178e-01 4.12665988e+02] [-2.84010188e-01 -4.89350579e-03 9.58808775e-01 5.12765000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.6892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:539.51, Y:412.69, Z:51.27 [[ 5.91405628e-01 -7.87963189e-01 1.71328328e-01 5.39509910e+02] [ 7.54455617e-01 6.15700180e-01 2.27398351e-01 4.12686676e+02] [-2.84668412e-01 -5.22504495e-03 9.58611806e-01 5.12685650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.51, Y:412.71, Z:51.24 [[ 5.88463573e-01 -7.84296294e-01 1.96443240e-01 5.39508779e+02] [ 7.54077287e-01 6.20041917e-01 2.16599785e-01 4.12711676e+02] [-2.91681451e-01 2.06723021e-02 9.56292103e-01 5.12423350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:539.54, Y:412.73, Z:51.24 [[ 5.88875645e-01 -7.88157926e-01 1.78976419e-01 5.39535612e+02] [ 7.53238443e-01 6.15470389e-01 2.32008725e-01 4.12728780e+02] [-2.93014202e-01 -1.81236800e-03 9.56106371e-01 5.12400986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.7792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:539.55, Y:412.75, Z:51.23 [[ 5.88618566e-01 -7.89233531e-01 1.75038905e-01 5.39553443e+02] [ 7.53869014e-01 6.14067766e-01 2.33671327e-01 4.12749748e+02] [-2.91906995e-01 -5.58687467e-03 9.56430391e-01 5.12316905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.8092541539997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:539.59, Y:412.77, Z:51.25 [[ 5.92722919e-01 -7.92559000e-01 1.43282143e-01 5.39590325e+02] [ 7.53672932e-01 6.08534117e-01 2.48321044e-01 4.12766502e+02] [-2.84001151e-01 -3.91977015e-02 9.58022383e-01 5.12456037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.57, Y:412.80, Z:51.21 [[ 5.89569046e-01 -7.82259804e-01 2.01191301e-01 5.39571475e+02] [ 7.52446903e-01 6.22472157e-01 2.15295315e-01 4.12800744e+02] [-2.93652854e-01 2.44543177e-02 9.55599282e-01 5.12053514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.869254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:539.62, Y:412.81, Z:51.23 [[ 5.93479531e-01 -7.91940013e-01 1.43572494e-01 5.39622736e+02] [ 7.53308010e-01 6.09374271e-01 2.47366206e-01 4.12810300e+02] [-2.83388580e-01 -3.86524704e-02 9.58225912e-01 5.12291772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.60, Y:412.84, Z:51.19 [[ 5.90815760e-01 -7.81518434e-01 2.00413762e-01 5.39603257e+02] [ 7.51886971e-01 6.23421990e-01 2.14501763e-01 4.12844432e+02] [-2.92579428e-01 2.39574744e-02 9.55941064e-01 5.11880408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.66, Y:412.85, Z:51.21 [[ 5.96042577e-01 -7.90117333e-01 1.42995966e-01 5.39655096e+02] [ 7.51679219e-01 6.11680716e-01 2.46627359e-01 4.12854220e+02] [-2.82332426e-01 -3.95133103e-02 9.58502530e-01 5.12136404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9592541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:539.66, Y:412.88, Z:51.19 [[ 5.96457841e-01 -7.84552353e-01 1.69456925e-01 5.39655101e+02] [ 7.51501713e-01 6.20021798e-01 2.25428803e-01 4.12881390e+02] [-2.81927685e-01 -7.11160799e-03 9.59409300e-01 5.11916452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1055.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.65, Y:412.91, Z:51.16 [[ 5.95172608e-01 -7.77631052e-01 2.02631474e-01 5.39648772e+02] [ 7.49645780e-01 6.28108073e-01 2.08593992e-01 4.12909453e+02] [-2.89483630e-01 2.77523987e-02 9.56780556e-01 5.11596324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.0192541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:539.70, Y:412.92, Z:51.19 [[ 5.98929416e-01 -7.89014915e-01 1.36890536e-01 5.39703976e+02] [ 7.50905608e-01 6.12741802e-01 2.46349858e-01 4.12916243e+02] [-2.78252266e-01 -4.47543058e-02 9.59464814e-01 5.11869524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.70, Y:412.95, Z:51.17 [[ 6.01620086e-01 -7.81008513e-01 1.67567820e-01 5.39704269e+02] [ 7.48516075e-01 6.24458423e-01 2.23103930e-01 4.12945887e+02] [-2.78885205e-01 -8.79659837e-03 9.60284157e-01 5.11675154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.70, Y:412.97, Z:51.14 [[ 5.97264617e-01 -7.77087542e-01 1.98519344e-01 5.39699087e+02] [ 7.48776981e-01 6.28945944e-01 2.09188987e-01 4.12972798e+02] [-2.87416092e-01 2.37055351e-02 9.57512422e-01 5.11363786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.109254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.75, Y:412.98, Z:51.16 [[ 6.01786901e-01 -7.86589276e-01 1.38310653e-01 5.39754119e+02] [ 7.48909933e-01 6.15941149e-01 2.44438978e-01 4.12981654e+02] [-2.77464301e-01 -4.35179528e-02 9.59749837e-01 5.11645369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.139254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.76, Y:413.01, Z:51.14 [[ 6.00680700e-01 -7.81645335e-01 1.67968055e-01 5.39755231e+02] [ 7.48936691e-01 6.23662397e-01 2.23917502e-01 4.13009443e+02] [-2.79779431e-01 -8.70548269e-03 9.60024836e-01 5.11433169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.77, Y:413.03, Z:51.13 [[ 6.00471920e-01 -7.81820090e-01 1.67901221e-01 5.39771588e+02] [ 7.49104160e-01 6.23443237e-01 2.23967606e-01 4.13031332e+02] [-2.79779255e-01 -8.71075495e-03 9.60024839e-01 5.11349317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.1992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:539.79, Y:413.05, Z:51.13 [[ 5.98960006e-01 -7.83002150e-01 1.67793159e-01 5.39788568e+02] [ 7.50336832e-01 6.21964451e-01 2.23952808e-01 4.13051938e+02] [-2.79716910e-01 -8.23738811e-03 9.60047184e-01 5.11260628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.81, Y:413.07, Z:51.12 [[ 5.98326937e-01 -7.83299842e-01 1.68660114e-01 5.39805713e+02] [ 7.50257016e-01 6.21589473e-01 2.25257490e-01 4.13072565e+02] [-2.81281508e-01 -8.23918966e-03 9.59589928e-01 5.11196060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.2592541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:539.82, Y:413.09, Z:51.11 [[ 5.95535876e-01 -7.85213518e-01 1.69637119e-01 5.39823616e+02] [ 7.51836376e-01 6.19180624e-01 2.26621755e-01 4.13092300e+02] [-2.82982483e-01 -7.42202860e-03 9.59096360e-01 5.11119248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.81, Y:413.12, Z:51.08 [[ 5.88557380e-01 -7.81943174e-01 2.05341380e-01 5.39813713e+02] [ 7.53511541e-01 6.22605302e-01 2.11146858e-01 4.13118452e+02] [-2.92951476e-01 3.04550582e-02 9.55642152e-01 5.10777051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.3192541539997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:539.88, Y:413.12, Z:51.11 [[ 5.91656630e-01 -7.94543705e-01 1.36538394e-01 5.39877276e+02] [ 7.54794710e-01 6.05439006e-01 2.52445155e-01 4.13124862e+02] [-2.83244378e-01 -4.63023924e-02 9.57929387e-01 5.11113869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.88, Y:413.15, Z:51.09 [[ 5.91545779e-01 -7.88080201e-01 1.70303223e-01 5.39875414e+02] [ 7.54461043e-01 6.15540602e-01 2.27811988e-01 4.13153992e+02] [-2.84362666e-01 -6.27407262e-03 9.58696255e-01 5.10886372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.89, Y:413.17, Z:51.08 [[ 5.91059757e-01 -7.88449943e-01 1.70279333e-01 5.39891534e+02] [ 7.54812028e-01 6.15067786e-01 2.27926348e-01 4.13174504e+02] [-2.84441848e-01 -6.18920287e-03 9.58673317e-01 5.10805802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4092541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:539.91, Y:413.20, Z:51.07 [[ 5.90606300e-01 -7.88965788e-01 1.69461454e-01 5.39907972e+02] [ 7.55660868e-01 6.14408346e-01 2.26889921e-01 4.13195445e+02] [-2.83126917e-01 -5.94722760e-03 9.59064012e-01 5.10700818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.92, Y:413.22, Z:51.06 [[ 5.91745308e-01 -7.88087339e-01 1.69575460e-01 5.39924359e+02] [ 7.54659055e-01 6.15529497e-01 2.27185275e-01 4.13217090e+02] [-2.83420537e-01 -6.46416401e-03 9.58973938e-01 5.10633347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.92, Y:413.24, Z:51.04 [[ 5.89384766e-01 -7.84238397e-01 1.93896196e-01 5.39922051e+02] [ 7.54345537e-01 6.20157744e-01 2.15330407e-01 4.13242351e+02] [-2.89116600e-01 1.93522682e-02 9.57098261e-01 5.10353687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.97, Y:413.25, Z:51.06 [[ 5.93887772e-01 -7.91334981e-01 1.45211097e-01 5.39970353e+02] [ 7.53818838e-01 6.10378411e-01 2.43300954e-01 4.13254893e+02] [-2.81166274e-01 -3.50306007e-02 9.59019491e-01 5.10571565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.97, Y:413.28, Z:51.04 [[ 5.95085924e-01 -7.85879841e-01 1.68123819e-01 5.39973446e+02] [ 7.52870827e-01 6.18332320e-01 2.25500910e-01 4.13281899e+02] [-2.81173010e-01 -7.61689839e-03 9.59626866e-01 5.10377239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:539.99, Y:413.30, Z:51.03 [[ 5.95043630e-01 -7.85909716e-01 1.68133867e-01 5.39988751e+02] [ 7.52854774e-01 6.18293345e-01 2.25661317e-01 4.13302432e+02] [-2.81305472e-01 -7.69794511e-03 9.59587397e-01 5.10296052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.589254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:540.00, Y:413.32, Z:51.02 [[ 5.94648570e-01 -7.86208441e-01 1.68134962e-01 5.40004691e+02] [ 7.53135357e-01 6.17914398e-01 2.25762995e-01 4.13323083e+02] [-2.81389786e-01 -7.62125759e-03 9.59563289e-01 5.10210039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.02, Y:413.34, Z:51.01 [[ 5.94091006e-01 -7.86553902e-01 1.68489866e-01 5.40022216e+02] [ 7.53334710e-01 6.17475938e-01 2.26296889e-01 4.13343841e+02] [-2.82033139e-01 -7.51168210e-03 9.59375257e-01 5.10142938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.04, Y:413.37, Z:51.01 [[ 5.93418412e-01 -7.87015522e-01 1.68704347e-01 5.40038802e+02] [ 7.53685622e-01 6.16888871e-01 2.26729142e-01 4.13365376e+02] [-2.82511188e-01 -7.39520657e-03 9.59235497e-01 5.10064190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.6792541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:540.05, Y:413.39, Z:51.00 [[ 5.92304753e-01 -7.87906104e-01 1.68460827e-01 5.40054001e+02] [ 7.54666378e-01 6.15754990e-01 2.26549003e-01 4.13385627e+02] [-2.82229937e-01 -7.05432907e-03 9.59320853e-01 5.09968833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.07, Y:413.41, Z:50.99 [[ 5.92461485e-01 -7.87483131e-01 1.69881450e-01 5.40071944e+02] [ 7.53632836e-01 6.16292246e-01 2.28520055e-01 4.13407327e+02] [-2.84652308e-01 -7.36109240e-03 9.58602565e-01 5.09914291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.06, Y:413.43, Z:50.96 [[ 5.85893938e-01 -7.83012638e-01 2.08852823e-01 5.40057869e+02] [ 7.54507769e-01 6.21109693e-01 2.11992399e-01 4.13434526e+02] [-2.95713240e-01 3.33760164e-02 9.54693522e-01 5.09555395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.09, Y:413.45, Z:50.96 [[ 5.86742632e-01 -7.90944244e-01 1.73609580e-01 5.40094432e+02] [ 7.54453567e-01 6.11829986e-01 2.37621302e-01 4.13447869e+02] [-2.94164748e-01 -8.44218116e-03 9.55717443e-01 5.09622745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.11, Y:413.47, Z:50.96 [[ 5.87442428e-01 -7.91739197e-01 1.67512502e-01 5.40114362e+02] [ 7.54330403e-01 6.10670190e-01 2.40972119e-01 4.13468406e+02] [-2.93081963e-01 -1.51974730e-02 9.55966526e-01 5.09573113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.13, Y:413.49, Z:50.95 [[ 5.87388509e-01 -7.90619439e-01 1.72903562e-01 5.40126522e+02] [ 7.54231340e-01 6.12242332e-01 2.37264437e-01 4.13491737e+02] [-2.93444756e-01 -8.95711836e-03 9.55934070e-01 5.09456312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.14, Y:413.51, Z:50.94 [[ 5.88562738e-01 -7.89675737e-01 1.73222788e-01 5.40141821e+02] [ 7.53574780e-01 6.13465896e-01 2.36187734e-01 4.13514998e+02] [-2.92777996e-01 -8.47497469e-03 9.56142887e-01 5.09361806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.889254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:540.19, Y:413.53, Z:50.96 [[ 5.95829523e-01 -7.92390910e-01 1.30781592e-01 5.40187025e+02] [ 7.52867795e-01 6.07792215e-01 2.52544464e-01 4.13531916e+02] [-2.79601971e-01 -5.20121987e-02 9.58706143e-01 5.09573377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.18, Y:413.56, Z:50.94 [[ 5.97431718e-01 -7.84676769e-01 1.65401667e-01 5.40184353e+02] [ 7.50573854e-01 6.19773623e-01 2.29171433e-01 4.13561349e+02] [-2.82337090e-01 -1.27681163e-02 9.59230287e-01 5.09352823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.17, Y:413.59, Z:50.90 [[ 5.90411880e-01 -7.79335534e-01 2.09880770e-01 5.40166395e+02] [ 7.51198437e-01 6.25708086e-01 2.10214891e-01 4.13589467e+02] [-2.95152029e-01 3.35487371e-02 9.54861122e-01 5.08964351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1056.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.21, Y:413.60, Z:50.91 [[ 5.91015690e-01 -7.89144279e-01 1.67187803e-01 5.40206937e+02] [ 7.51213729e-01 6.13954385e-01 2.42359128e-01 4.13599912e+02] [-2.93902004e-01 -1.76442742e-02 9.55672691e-01 5.09071706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.22, Y:413.62, Z:50.90 [[ 5.91979261e-01 -7.87162540e-01 1.73019333e-01 5.40218789e+02] [ 7.50297022e-01 6.16642493e-01 2.38340964e-01 4.13622991e+02] [-2.94304151e-01 -1.12770168e-02 9.55645277e-01 5.08956988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.24, Y:413.64, Z:50.89 [[ 5.93084253e-01 -7.86821809e-01 1.70770345e-01 5.40236845e+02] [ 7.49907430e-01 6.17034313e-01 2.38552935e-01 4.13644989e+02] [-2.93069814e-01 -1.34200389e-02 9.55996855e-01 5.08891845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.26, Y:413.67, Z:50.88 [[ 5.93576858e-01 -7.87788342e-01 1.64487211e-01 5.40256944e+02] [ 7.50218994e-01 6.15628900e-01 2.41189799e-01 4.13666303e+02] [-2.91269592e-01 -1.97632532e-02 9.56436845e-01 5.08846692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.099254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:540.27, Y:413.69, Z:50.87 [[ 5.92651802e-01 -7.87055681e-01 1.71193447e-01 5.40267999e+02] [ 7.51313749e-01 6.16792794e-01 2.34721750e-01 4.13689902e+02] [-2.90329971e-01 -1.04882779e-02 9.56869115e-01 5.08713504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.129254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:540.28, Y:413.71, Z:50.86 [[ 5.92165544e-01 -7.87179650e-01 1.72302543e-01 5.40283766e+02] [ 7.51227970e-01 6.16643492e-01 2.35387640e-01 4.13712287e+02] [-2.91541602e-01 -9.94996051e-03 9.56506400e-01 5.08631537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.1592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:540.34, Y:413.73, Z:50.89 [[ 5.97061686e-01 -7.92691165e-01 1.23118073e-01 5.40335918e+02] [ 7.52729906e-01 6.06667708e-01 2.55640335e-01 4.13728087e+02] [-2.77335594e-01 -5.99583944e-02 9.58900391e-01 5.08903588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.1892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:540.29, Y:413.76, Z:50.83 [[ 5.88497227e-01 -7.81291634e-01 2.07976914e-01 5.40294188e+02] [ 7.54287345e-01 6.23169798e-01 2.06663992e-01 4.13764727e+02] [-2.91069779e-01 3.52531678e-02 9.56052090e-01 5.08308449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2192541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:540.37, Y:413.77, Z:50.87 [[ 5.93495480e-01 -7.95203952e-01 1.24152286e-01 5.40367402e+02] [ 7.55757075e-01 6.03676718e-01 2.53782711e-01 4.13771576e+02] [-2.76756859e-01 -5.67899236e-02 9.59260416e-01 5.08724486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:540.36, Y:413.80, Z:50.85 [[ 5.92821321e-01 -7.88071776e-01 1.65848597e-01 5.40360398e+02] [ 7.55663745e-01 6.15539558e-01 2.23793112e-01 4.13803210e+02] [-2.78451407e-01 -7.34355684e-03 9.60422244e-01 5.08457551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.35, Y:413.83, Z:50.81 [[ 5.84823242e-01 -7.85360615e-01 2.02954380e-01 5.40345701e+02] [ 7.57205621e-01 6.18286611e-01 2.10621258e-01 4.13828910e+02] [-2.90897617e-01 3.05019905e-02 9.56267852e-01 5.08117085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.3092541539997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:540.38, Y:413.84, Z:50.82 [[ 5.83604208e-01 -7.94737282e-01 1.66729664e-01 5.40382428e+02] [ 7.59781820e-01 6.06879599e-01 2.33299673e-01 4.13842481e+02] [-2.86596780e-01 -9.47650294e-03 9.58004427e-01 5.08179405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.40, Y:413.86, Z:50.81 [[ 5.83252646e-01 -7.95466994e-01 1.64464623e-01 5.40400604e+02] [ 7.59945799e-01 6.05872098e-01 2.35374986e-01 4.13863833e+02] [-2.86877559e-01 -1.22988840e-02 9.57888305e-01 5.08134705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.44, Y:413.88, Z:50.83 [[ 5.87645500e-01 -7.98607031e-01 1.29998372e-01 5.40444417e+02] [ 7.60671973e-01 6.00042961e-01 2.47642069e-01 4.13883270e+02] [-2.75773305e-01 -4.66396293e-02 9.60090532e-01 5.08317898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.42, Y:413.92, Z:50.79 [[ 5.81180012e-01 -7.91257600e-01 1.90108402e-01 5.40418270e+02] [ 7.62237013e-01 6.11125350e-01 2.13355439e-01 4.13916113e+02] [-2.84999176e-01 2.09097436e-02 9.58299667e-01 5.07888053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4292541539999 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:540.47, Y:413.93, Z:50.81 [[ 5.84594184e-01 -7.99297245e-01 1.39188915e-01 5.40469623e+02] [ 7.63242375e-01 5.99977116e-01 2.39767675e-01 4.13929628e+02] [-2.75155806e-01 -3.39319105e-02 9.60800660e-01 5.08092771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.45, Y:413.96, Z:50.78 [[ 5.78300486e-01 -7.94324766e-01 1.86055672e-01 5.40452000e+02] [ 7.64634569e-01 6.07242956e-01 2.15847093e-01 4.13958787e+02] [-2.84433689e-01 1.74401199e-02 9.58537072e-01 5.07758122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.4892541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:540.50, Y:413.97, Z:50.79 [[ 5.81433799e-01 -8.00818228e-01 1.43613727e-01 5.40499049e+02] [ 7.65331133e-01 5.98246326e-01 2.37422810e-01 4.13974135e+02] [-2.76048899e-01 -2.81335901e-02 9.60731756e-01 5.07914594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.48, Y:414.00, Z:50.76 [[ 5.75675499e-01 -7.96113866e-01 1.86548743e-01 5.40484047e+02] [ 7.66462493e-01 6.04860740e-01 2.16052617e-01 4.14002437e+02] [-2.84838494e-01 1.86064164e-02 9.58394926e-01 5.07597889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.53, Y:414.02, Z:50.78 [[ 5.79892676e-01 -8.01993925e-01 1.43283734e-01 5.40532413e+02] [ 7.66244138e-01 5.96651544e-01 2.38488694e-01 4.14017351e+02] [-2.76756945e-01 -2.85075255e-02 9.60517004e-01 5.07772335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.51, Y:414.05, Z:50.74 [[ 5.73584536e-01 -7.97367379e-01 1.87632736e-01 5.40514803e+02] [ 7.68286659e-01 6.03122975e-01 2.14425480e-01 4.14047143e+02] [-2.84141497e-01 2.11645886e-02 9.58548731e-01 5.07427428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.609254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.54, Y:414.06, Z:50.74 [[ 5.73891626e-01 -8.02244584e-01 1.64475011e-01 5.40544081e+02] [ 7.68344360e-01 5.96964381e-01 2.30825631e-01 4.14063452e+02] [-2.83364336e-01 -6.09544987e-03 9.58992961e-01 5.07449653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.639254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:540.58, Y:414.08, Z:50.75 [[ 5.78182204e-01 -8.03492274e-01 1.41793883e-01 5.40579164e+02] [ 7.67830826e-01 5.94607577e-01 2.38490360e-01 4.14083999e+02] [-2.75936879e-01 -2.90171676e-02 9.60737656e-01 5.07533677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6692541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:540.58, Y:414.11, Z:50.73 [[ 5.78143234e-01 -7.99187093e-01 1.64470033e-01 5.40581708e+02] [ 7.67770310e-01 6.01079003e-01 2.21884617e-01 4.14111734e+02] [-2.76186805e-01 -2.00588198e-03 9.61101881e-01 5.07348271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.58, Y:414.14, Z:50.71 [[ 5.72895363e-01 -7.98441161e-01 1.85155652e-01 5.40579816e+02] [ 7.68463213e-01 6.01812406e-01 2.17453717e-01 4.14136565e+02] [-2.85052966e-01 1.77070815e-02 9.58348197e-01 5.07149961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.7292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:540.62, Y:414.15, Z:50.73 [[ 5.76989459e-01 -8.03542536e-01 1.46296131e-01 5.40623609e+02] [ 7.67797744e-01 5.94714153e-01 2.38331073e-01 4.14152988e+02] [-2.78513534e-01 -2.51886772e-02 9.60101944e-01 5.07286953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.7592541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:540.63, Y:414.18, Z:50.71 [[ 5.75763838e-01 -8.00541044e-01 1.66222865e-01 5.40626696e+02] [ 7.68416561e-01 5.99275962e-01 2.24509042e-01 4.14181282e+02] [-2.79342070e-01 -1.53578513e-03 9.60190424e-01 5.07111976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.7892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.62, Y:414.21, Z:50.69 [[ 5.70745189e-01 -7.98991181e-01 1.89375345e-01 5.40624121e+02] [ 7.69220544e-01 6.00950070e-01 2.17160697e-01 4.14206727e+02] [-2.87314609e-01 2.17279830e-02 9.57589792e-01 5.06886137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.8192541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:540.67, Y:414.22, Z:50.71 [[ 5.74781569e-01 -8.05538524e-01 1.43992479e-01 5.40669815e+02] [ 7.69081319e-01 5.91886001e-01 2.41215436e-01 4.14221442e+02] [-2.79535459e-01 -2.79042608e-02 9.59729795e-01 5.07055709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.66, Y:414.25, Z:50.68 [[ 5.71327061e-01 -8.00754965e-01 1.79935755e-01 5.40659572e+02] [ 7.70126491e-01 5.98850262e-01 2.19735186e-01 4.14252049e+02] [-2.83708615e-01 1.30326336e-02 9.58821971e-01 5.06785221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.879254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:540.68, Y:414.27, Z:50.67 [[ 5.71180679e-01 -8.03880708e-01 1.65916964e-01 5.40681841e+02] [ 7.70796161e-01 5.94785342e-01 2.28262294e-01 4.14271437e+02] [-2.82180633e-01 -2.49085345e-03 9.59358059e-01 5.06746226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9092541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:540.71, Y:414.29, Z:50.68 [[ 5.74306211e-01 -8.04649489e-01 1.50703607e-01 5.40706362e+02] [ 7.70573676e-01 5.93498054e-01 2.32327936e-01 4.14293247e+02] [-2.76384852e-01 -1.72991443e-02 9.60891333e-01 5.06768772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9392541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:540.71, Y:414.32, Z:50.66 [[ 5.74367591e-01 -8.01917207e-01 1.64410045e-01 5.40713696e+02] [ 7.70436467e-01 5.97434126e-01 2.22486215e-01 4.14319320e+02] [-2.76639695e-01 -1.12137695e-03 9.60973060e-01 5.06636801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.73, Y:414.34, Z:50.66 [[ 5.74198551e-01 -8.02075491e-01 1.64228290e-01 5.40728337e+02] [ 7.70632326e-01 5.97221593e-01 2.22378479e-01 4.14341877e+02] [-2.76445009e-01 -1.12977076e-03 9.61029074e-01 5.06557122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1057.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.74, Y:414.37, Z:50.65 [[ 5.73908000e-01 -8.02300225e-01 1.64146143e-01 5.40742045e+02] [ 7.70858601e-01 5.96919697e-01 2.22404796e-01 4.14365662e+02] [-2.76417484e-01 -1.10642506e-03 9.61037018e-01 5.06479239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.75, Y:414.39, Z:50.64 [[ 5.72209045e-01 -8.02910121e-01 1.67069286e-01 5.40753831e+02] [ 7.71751546e-01 5.96096110e-01 2.21515188e-01 4.14388040e+02] [-2.77446138e-01 2.18298577e-03 9.60738713e-01 5.06379824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.77, Y:414.41, Z:50.63 [[ 5.72002023e-01 -8.03684904e-01 1.64025185e-01 5.40771735e+02] [ 7.71923569e-01 5.95053579e-01 2.23707939e-01 4.14409347e+02] [-2.77394467e-01 -1.34648771e-03 9.60755170e-01 5.06310785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.089254154 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:540.79, Y:414.43, Z:50.62 [[ 5.71666292e-01 -8.04646429e-01 1.60442432e-01 5.40787685e+02] [ 7.72831775e-01 5.93740151e-01 2.24061778e-01 4.14431104e+02] [-2.75551624e-01 -4.09355624e-03 9.61277559e-01 5.06249580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.80, Y:414.46, Z:50.62 [[ 5.72039839e-01 -8.02896532e-01 1.67712797e-01 5.40798503e+02] [ 7.72884641e-01 5.96095843e-01 2.17529489e-01 4.14455025e+02] [-2.74626573e-01 5.18711083e-03 9.61536967e-01 5.06158364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.149254154 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:540.82, Y:414.48, Z:50.61 [[ 5.69906497e-01 -8.06376813e-01 1.57996897e-01 5.40819157e+02] [ 7.74065560e-01 5.91365926e-01 2.26072665e-01 4.14475891e+02] [-2.75733737e-01 -6.54032378e-03 9.61211803e-01 5.06093604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.1792541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:540.83, Y:414.50, Z:50.60 [[ 5.68490576e-01 -8.06217290e-01 1.63805208e-01 5.40830282e+02] [ 7.74890174e-01 5.91619400e-01 2.22557193e-01 4.14501127e+02] [-2.76339796e-01 4.09379651e-04 9.61059910e-01 5.05997969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2092541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:540.84, Y:414.52, Z:50.59 [[ 5.67798692e-01 -8.06705595e-01 1.63800880e-01 5.40842854e+02] [ 7.75359263e-01 5.90953272e-01 2.22693161e-01 4.14523702e+02] [-2.76446485e-01 5.59643777e-04 9.61029150e-01 5.05923358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.86, Y:414.55, Z:50.59 [[ 5.67909800e-01 -8.06607048e-01 1.63900971e-01 5.40857764e+02] [ 7.75200956e-01 5.91087847e-01 2.22887045e-01 4.14546738e+02] [-2.76662134e-01 4.76451739e-04 9.60967136e-01 5.05853500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.86, Y:414.57, Z:50.56 [[ 5.65170139e-01 -8.03564865e-01 1.86724990e-01 5.40856298e+02] [ 7.75273866e-01 5.94712097e-01 2.12762670e-01 4.14573188e+02] [-2.82016217e-01 2.45158971e-02 9.59096358e-01 5.05615166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.2992541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:540.90, Y:414.59, Z:50.58 [[ 5.68572687e-01 -8.10530722e-01 1.40588221e-01 5.40897935e+02] [ 7.75623286e-01 5.85139452e-01 2.36686162e-01 4.14587481e+02] [-2.74105121e-01 -2.55297890e-02 9.61360813e-01 5.05761009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.88, Y:414.62, Z:50.54 [[ 5.68880222e-01 -8.00702955e-01 1.87750025e-01 5.40884515e+02] [ 7.72940005e-01 5.98525325e-01 2.10549719e-01 4.14621503e+02] [-2.80960927e-01 2.53419349e-02 9.59384565e-01 5.05449217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.359254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:540.93, Y:414.63, Z:50.56 [[ 5.72090854e-01 -8.08159379e-01 1.39965968e-01 5.40925246e+02] [ 7.72991822e-01 5.88315205e-01 2.37421277e-01 4.14634446e+02] [-2.74218339e-01 -2.76339928e-02 9.61270339e-01 5.05613840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.389254154 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:540.92, Y:414.66, Z:50.54 [[ 5.74732238e-01 -8.02338505e-01 1.61045892e-01 5.40924637e+02] [ 7.71728662e-01 5.96866318e-01 2.19511893e-01 4.14664571e+02] [-2.72245712e-01 -1.87683076e-03 9.62225935e-01 5.05424804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:540.94, Y:414.69, Z:50.54 [[ 5.75791264e-01 -8.01551558e-01 1.61181638e-01 5.40938529e+02] [ 7.70817711e-01 5.97921080e-01 2.19841850e-01 4.14686350e+02] [-2.72588476e-01 -2.34135577e-03 9.62127871e-01 5.05354829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4492541539998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:540.95, Y:414.71, Z:50.53 [[ 5.77022081e-01 -8.00605951e-01 1.61479502e-01 5.40952455e+02] [ 7.69703352e-01 5.99184531e-01 2.20305806e-01 4.14709454e+02] [-2.73134159e-01 -2.83000058e-03 9.61971789e-01 5.05276511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.4792541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:540.97, Y:414.73, Z:50.52 [[ 5.77295875e-01 -8.00324765e-01 1.61894236e-01 5.40967204e+02] [ 7.69208773e-01 5.99558928e-01 2.21013473e-01 4.14730750e+02] [-2.73947690e-01 -3.05969943e-03 9.61739726e-01 5.05212405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.5092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:540.98, Y:414.75, Z:50.51 [[ 5.77445906e-01 -8.00200145e-01 1.61975166e-01 5.40982870e+02] [ 7.69021075e-01 5.99724625e-01 2.21216999e-01 4.14753280e+02] [-2.74158371e-01 -3.17853404e-03 9.61679305e-01 5.05134818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.5392541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:541.00, Y:414.78, Z:50.50 [[ 5.77013780e-01 -8.00512634e-01 1.61971049e-01 5.40996806e+02] [ 7.69306320e-01 5.99307761e-01 2.21354906e-01 4.14775083e+02] [-2.74267905e-01 -3.11947932e-03 9.61648265e-01 5.05043348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.5692541539997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:541.01, Y:414.80, Z:50.50 [[ 5.76681935e-01 -8.00696592e-01 1.62243379e-01 5.41011977e+02] [ 7.69373789e-01 5.99062202e-01 2.21784694e-01 4.14797089e+02] [-2.74776124e-01 -3.07342290e-03 9.61503321e-01 5.04964232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.599254154 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:541.03, Y:414.82, Z:50.49 [[ 5.76984351e-01 -8.00435824e-01 1.62454764e-01 5.41026256e+02] [ 7.68978108e-01 5.99409419e-01 2.22218402e-01 4.14818607e+02] [-2.75248486e-01 -3.29238394e-03 9.61367480e-01 5.04882953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.629254154 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:541.03, Y:414.84, Z:50.47 [[ 5.75706677e-01 -7.99033112e-01 1.73516304e-01 5.41034976e+02] [ 7.68861537e-01 6.01232365e-01 2.17650135e-01 4.14843138e+02] [-2.78233282e-01 8.10737564e-03 9.60479313e-01 5.04731118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.06, Y:414.86, Z:50.48 [[ 5.78128206e-01 -8.01416710e-01 1.53293947e-01 5.41063021e+02] [ 7.67728057e-01 5.97904548e-01 2.30442577e-01 4.14859832e+02] [-2.76335680e-01 -1.55372898e-02 9.60935578e-01 5.04777634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.07, Y:414.88, Z:50.47 [[ 5.79965435e-01 -7.98230458e-01 1.62690598e-01 5.41072485e+02] [ 7.66526406e-01 6.02335390e-01 2.22776451e-01 4.14884206e+02] [-2.75821253e-01 -4.49600197e-03 9.61198430e-01 5.04659275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.09, Y:414.91, Z:50.46 [[ 5.81129750e-01 -7.97457346e-01 1.62326817e-01 5.41088127e+02] [ 7.65829492e-01 6.03355130e-01 2.22413524e-01 4.14906139e+02] [-2.75306016e-01 -4.93645198e-03 9.61343970e-01 5.04578142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7492541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:541.10, Y:414.93, Z:50.45 [[ 5.83446689e-01 -7.95841181e-01 1.61946831e-01 5.41102679e+02] [ 7.64261468e-01 6.05477855e-01 2.22038231e-01 4.14927624e+02] [-2.74762388e-01 -5.77774839e-03 9.61494799e-01 5.04490200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.7792541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:541.12, Y:414.95, Z:50.44 [[ 5.84433023e-01 -7.95307371e-01 1.61010019e-01 5.41117678e+02] [ 7.64063175e-01 6.06176421e-01 2.20811258e-01 4.14949016e+02] [-2.73213298e-01 -6.02756435e-03 9.61934594e-01 5.04398874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.13, Y:414.97, Z:50.43 [[ 5.85128131e-01 -7.94621793e-01 1.61868084e-01 5.41134231e+02] [ 7.62971015e-01 6.07070268e-01 2.22128163e-01 4.14970537e+02] [-2.74773180e-01 -6.47278069e-03 9.61487287e-01 5.04336128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.839254154 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:541.15, Y:414.99, Z:50.43 [[ 5.86928841e-01 -7.93268654e-01 1.61985736e-01 5.41149574e+02] [ 7.61478681e-01 6.08829150e-01 2.22434901e-01 4.14991559e+02] [-2.75072273e-01 -7.20477390e-03 9.61396555e-01 5.04259752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.869254154 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:541.16, Y:415.01, Z:50.42 [[ 5.87852242e-01 -7.92788132e-01 1.60986705e-01 5.41164398e+02] [ 7.61362112e-01 6.09452160e-01 2.21123947e-01 4.15012644e+02] [-2.73418135e-01 -7.41903023e-03 9.61866665e-01 5.04163073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.18, Y:415.03, Z:50.41 [[ 5.89441774e-01 -7.91361716e-01 1.62188254e-01 5.41181999e+02] [ 7.59385317e-01 6.11293438e-01 2.22832390e-01 4.15034540e+02] [-2.75485638e-01 -8.18334032e-03 9.61270355e-01 5.04106398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9292541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:541.20, Y:415.06, Z:50.40 [[ 5.90135225e-01 -7.90915155e-01 1.61844476e-01 5.41197698e+02] [ 7.59020838e-01 6.11867329e-01 2.22498854e-01 4.15055845e+02] [-2.75005063e-01 -8.46108202e-03 9.61405547e-01 5.04013841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9592541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:541.21, Y:415.08, Z:50.39 [[ 5.90801960e-01 -7.90454262e-01 1.61663550e-01 5.41214360e+02] [ 7.58576395e-01 6.12458524e-01 2.22387973e-01 4.15077420e+02] [-2.74799740e-01 -8.75309719e-03 9.61461641e-01 5.03931481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1058.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.23, Y:415.10, Z:50.39 [[ 5.91741739e-01 -7.89738272e-01 1.61725622e-01 5.41232797e+02] [ 7.57769494e-01 6.13375271e-01 2.22612152e-01 4.15097464e+02] [-2.75003834e-01 -9.17815951e-03 9.61399320e-01 5.03864247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.25, Y:415.12, Z:50.38 [[ 5.91694351e-01 -7.89789049e-01 1.61651024e-01 5.41249944e+02] [ 7.57811164e-01 6.13308936e-01 2.22653067e-01 4.15118822e+02] [-2.74990971e-01 -9.24161104e-03 9.61402392e-01 5.03784116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.0492541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:541.27, Y:415.14, Z:50.37 [[ 5.91021367e-01 -7.89276177e-01 1.66543866e-01 5.41265639e+02] [ 7.57697617e-01 6.14022125e-01 2.21068205e-01 4.15140482e+02] [-2.76745486e-01 -4.46614210e-03 9.60932875e-01 5.03662534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.29, Y:415.16, Z:50.36 [[ 5.91151501e-01 -7.90829706e-01 1.58519015e-01 5.41286935e+02] [ 7.57800481e-01 6.11880188e-01 2.26585670e-01 4.15159483e+02] [-2.76185324e-01 -1.38206730e-02 9.61005024e-01 5.03644814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.109254154 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:541.30, Y:415.18, Z:50.35 [[ 5.90390946e-01 -7.90660257e-01 1.62156990e-01 5.41301884e+02] [ 7.58410858e-01 6.12187727e-01 2.23694340e-01 4.15179690e+02] [-2.76136743e-01 -9.08549145e-03 9.61075415e-01 5.03538948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.139254154 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:541.32, Y:415.20, Z:50.35 [[ 5.89447388e-01 -7.91398430e-01 1.61988586e-01 5.41318763e+02] [ 7.59227570e-01 6.11237800e-01 2.23521473e-01 4.15200410e+02] [-2.75908089e-01 -8.76794800e-03 9.61144032e-01 5.03454648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1692541539999 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:541.34, Y:415.22, Z:50.34 [[ 5.88182574e-01 -7.92304644e-01 1.62156129e-01 5.41335512e+02] [ 7.60057408e-01 6.10067230e-01 2.23898886e-01 4.15220279e+02] [-2.76322267e-01 -8.44545564e-03 9.61027928e-01 5.03382098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.1992541539998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:541.35, Y:415.24, Z:50.33 [[ 5.84546172e-01 -7.95132990e-01 1.61459907e-01 5.41353522e+02] [ 7.63255198e-01 6.06393321e-01 2.22999199e-01 4.15238820e+02] [-2.75222229e-01 -7.11821449e-03 9.61354282e-01 5.03295786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.2292541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:541.37, Y:415.26, Z:50.32 [[ 5.81754622e-01 -7.97100358e-01 1.61841214e-01 5.41371108e+02] [ 7.65126480e-01 6.03814593e-01 2.23583112e-01 4.15259963e+02] [-2.75940265e-01 -6.24151050e-03 9.61154521e-01 5.03228406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.2592541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:541.39, Y:415.28, Z:50.31 [[ 5.75487576e-01 -8.01726940e-01 1.61393817e-01 5.41389803e+02] [ 7.70070661e-01 5.97676371e-01 2.23101173e-01 4.15278760e+02] [-2.75327492e-01 -4.10731056e-03 9.61341720e-01 5.03140336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.2892541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:541.41, Y:415.30, Z:50.31 [[ 5.71950768e-01 -8.04309214e-01 1.61117994e-01 5.41407312e+02] [ 7.72823434e-01 5.94203666e-01 2.22858574e-01 4.15299083e+02] [-2.74984107e-01 -2.94837151e-03 9.61444251e-01 5.03061823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.3192541539997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:541.43, Y:415.32, Z:50.30 [[ 5.68360543e-01 -8.06812942e-01 1.61304589e-01 5.41425231e+02] [ 7.75310428e-01 5.90804137e-01 2.23258175e-01 4.15319399e+02] [-2.75427003e-01 -1.83000747e-03 9.61320247e-01 5.02991016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.349254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:541.44, Y:415.34, Z:50.29 [[ 5.62022759e-01 -8.11294924e-01 1.61030946e-01 5.41444437e+02] [ 7.80037975e-01 5.84637047e-01 2.23025291e-01 4.15338090e+02] [-2.75083943e-01 2.64963111e-04 9.61420176e-01 5.02917916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.45, Y:415.36, Z:50.27 [[ 5.55217878e-01 -8.12978725e-01 1.75495589e-01 5.41448316e+02] [ 7.83557192e-01 5.82050527e-01 2.17382866e-01 4.15359851e+02] [-2.78874946e-01 1.68159776e-02 9.60180185e-01 5.02742554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4092541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:541.49, Y:415.37, Z:50.28 [[ 5.53888882e-01 -8.19876396e-01 1.44947582e-01 5.41488055e+02] [ 7.86312867e-01 5.72346797e-01 2.32661169e-01 4.15374180e+02] [-2.73713685e-01 -1.48942866e-02 9.61695887e-01 5.02811688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4392541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:541.50, Y:415.40, Z:50.27 [[ 5.52002544e-01 -8.18351662e-01 1.59980464e-01 5.41496580e+02] [ 7.87737335e-01 5.74706503e-01 2.21770888e-01 4.15398668e+02] [-2.73428388e-01 3.60449036e-03 9.61885609e-01 5.02669282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4692541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:541.51, Y:415.42, Z:50.26 [[ 5.50585929e-01 -8.19351440e-01 1.59744650e-01 5.41513195e+02] [ 7.88829222e-01 5.73277555e-01 2.21588140e-01 4.15419310e+02] [-2.73136584e-01 4.00793576e-03 9.61966914e-01 5.02597146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.4992541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:541.53, Y:415.44, Z:50.25 [[ 5.49248625e-01 -8.20279036e-01 1.59587757e-01 5.41528799e+02] [ 7.89838873e-01 5.71946413e-01 2.21431379e-01 4.15439311e+02] [-2.72911163e-01 4.42773391e-03 9.62029050e-01 5.02516826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.55, Y:415.46, Z:50.25 [[ 5.47995175e-01 -8.21039502e-01 1.59985698e-01 5.41546845e+02] [ 7.90459951e-01 5.70851326e-01 2.22040152e-01 4.15460118e+02] [-2.73631784e-01 4.78535489e-03 9.61822617e-01 5.02455611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.5592541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:541.56, Y:415.48, Z:50.24 [[ 5.48416354e-01 -8.20808125e-01 1.59729535e-01 5.41563827e+02] [ 7.90277771e-01 5.71185679e-01 2.21828684e-01 4.15480268e+02] [-2.73314009e-01 4.57622258e-03 9.61913983e-01 5.02377950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.589254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:541.58, Y:415.50, Z:50.23 [[ 5.48942899e-01 -8.20544904e-01 1.59272580e-01 5.41579903e+02] [ 7.90154824e-01 5.71565321e-01 2.21288132e-01 4.15501680e+02] [-2.72611533e-01 4.37544874e-03 9.62114238e-01 5.02293649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.619254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:541.59, Y:415.52, Z:50.22 [[ 5.46395449e-01 -8.20337002e-01 1.68817109e-01 5.41585338e+02] [ 7.90902904e-01 5.71702291e-01 2.18240891e-01 4.15523064e+02] [-2.75544206e-01 1.42721124e-02 9.61182448e-01 5.02150182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.649254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:541.62, Y:415.54, Z:50.22 [[ 5.51925629e-01 -8.20560545e-01 1.48521017e-01 5.41617715e+02] [ 7.87998672e-01 5.71482534e-01 2.29054156e-01 4.15541589e+02] [-2.72829970e-01 -9.38649493e-03 9.62016477e-01 5.02177467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.6792541539999 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:541.63, Y:415.57, Z:50.20 [[ 5.53371493e-01 -8.17656681e-01 1.58800325e-01 5.41627175e+02] [ 7.87245538e-01 5.75699552e-01 2.20940012e-01 4.15565789e+02] [-2.72074353e-01 2.75294326e-03 9.62272294e-01 5.02041246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:541.63, Y:415.59, Z:50.19 [[ 5.54105146e-01 -8.15262189e-01 1.68270765e-01 5.41633995e+02] [ 7.85372270e-01 5.78991151e-01 2.18996904e-01 4.15588376e+02] [-2.75967179e-01 1.08078807e-02 9.61106293e-01 5.01914217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7392541539998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:541.66, Y:415.61, Z:50.19 [[ 5.56327349e-01 -8.15849136e-01 1.57765867e-01 5.41655046e+02] [ 7.84075088e-01 5.78262196e-01 2.25475250e-01 4.15607470e+02] [-2.75183825e-01 -1.73776196e-03 9.61390058e-01 5.01872185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7692541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:541.67, Y:415.63, Z:50.18 [[ 5.58312925e-01 -8.13788334e-01 1.61354345e-01 5.41669033e+02] [ 7.82053365e-01 5.81161124e-01 2.25042846e-01 4.15630044e+02] [-2.76910115e-01 5.43378890e-04 9.60895672e-01 5.01777621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.7992541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:541.70, Y:415.65, Z:50.18 [[ 5.65938892e-01 -8.10747272e-01 1.49673082e-01 5.41695469e+02] [ 7.77264021e-01 5.85218715e-01 2.31040466e-01 4.15650537e+02] [-2.74906916e-01 -1.44192832e-02 9.61362716e-01 5.01778356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.829254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:541.70, Y:415.67, Z:50.17 [[ 5.68445486e-01 -8.06920368e-01 1.60465729e-01 5.41704661e+02] [ 7.75295948e-01 5.90653811e-01 2.23705763e-01 4.15674251e+02] [-2.75292431e-01 -2.75610178e-03 9.61356584e-01 5.01657797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.72, Y:415.70, Z:50.16 [[ 5.73106697e-01 -8.03536967e-01 1.60863474e-01 5.41720898e+02] [ 7.71603721e-01 5.95238327e-01 2.24319040e-01 4.15696536e+02] [-2.76000746e-01 -4.43588967e-03 9.61147185e-01 5.01584976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.73, Y:415.72, Z:50.14 [[ 5.71496965e-01 -8.02513792e-01 1.71355869e-01 5.41726161e+02] [ 7.71195003e-01 5.96610577e-01 2.22067752e-01 4.15718479e+02] [-2.80445157e-01 5.23774379e-03 9.59855760e-01 5.01418887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9192541539999 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:541.76, Y:415.74, Z:50.15 [[ 5.76473653e-01 -8.03185214e-01 1.50238609e-01 5.41757897e+02] [ 7.69149236e-01 5.95450845e-01 2.32051166e-01 4.15736593e+02] [-2.75839772e-01 -1.82154715e-02 9.61031018e-01 5.01450011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:541.76, Y:415.76, Z:50.12 [[ 5.75726427e-01 -7.99256961e-01 1.72416333e-01 5.41758202e+02] [ 7.68102684e-01 6.00967142e-01 2.21035656e-01 4.15760949e+02] [-2.80280838e-01 5.17737925e-03 9.59904082e-01 5.01246623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1059.9792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:541.78, Y:415.78, Z:50.12 [[ 5.75796182e-01 -8.01632202e-01 1.60762463e-01 5.41780578e+02] [ 7.68217140e-01 5.97757585e-01 2.29190523e-01 4.15780226e+02] [-2.79823485e-01 -8.46654862e-03 9.60014133e-01 5.01215351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.0092541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:541.81, Y:415.80, Z:50.12 [[ 5.79814253e-01 -8.01007328e-01 1.49005683e-01 5.41807894e+02] [ 7.66634394e-01 5.98289458e-01 2.33069582e-01 4.15800706e+02] [-2.75838972e-01 -2.09041844e-02 9.60976522e-01 5.01228654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.0392541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:541.82, Y:415.82, Z:50.11 [[ 5.80561167e-01 -7.98133696e-01 1.61032094e-01 5.41818301e+02] [ 7.65856363e-01 6.02437591e-01 2.24795419e-01 4.15824311e+02] [-2.76428585e-01 -7.18003655e-03 9.61007640e-01 5.01086952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.83, Y:415.85, Z:50.10 [[ 5.81252685e-01 -7.97671229e-01 1.60828876e-01 5.41834825e+02] [ 7.65417062e-01 6.03046114e-01 2.24659981e-01 4.15845348e+02] [-2.76192031e-01 -7.48305183e-03 9.61073341e-01 5.01021637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.099254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:541.85, Y:415.87, Z:50.09 [[ 5.81032893e-01 -7.97878119e-01 1.60596649e-01 5.41850901e+02] [ 7.65709378e-01 6.02773243e-01 2.24396004e-01 4.15866738e+02] [-2.75844025e-01 -7.41109917e-03 9.61173840e-01 5.00918360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.129254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:541.87, Y:415.89, Z:50.09 [[ 5.81905448e-01 -7.97333047e-01 1.60143875e-01 5.41868212e+02] [ 7.65288071e-01 6.03489987e-01 2.23906238e-01 4.15887191e+02] [-2.75173068e-01 -7.73606274e-03 9.61363582e-01 5.00851184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.88, Y:415.91, Z:50.08 [[ 5.81688444e-01 -7.97553928e-01 1.59832058e-01 5.41884655e+02] [ 7.65627839e-01 6.03199122e-01 2.23528144e-01 4.15908120e+02] [-2.74686307e-01 -7.65186506e-03 9.61503449e-01 5.00767923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.90, Y:415.93, Z:50.07 [[ 5.81502753e-01 -7.97850340e-01 1.59026363e-01 5.41903099e+02] [ 7.66223937e-01 6.02808206e-01 2.22537964e-01 4.15928480e+02] [-2.73414387e-01 -7.55663223e-03 9.61866659e-01 5.00684919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2192541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:541.92, Y:415.95, Z:50.06 [[ 5.80894250e-01 -7.98361252e-01 1.58685797e-01 5.41919084e+02] [ 7.66850898e-01 6.02133467e-01 2.22204835e-01 4.15948446e+02] [-2.72949759e-01 -7.38916507e-03 9.61999911e-01 5.00589680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2492541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:541.94, Y:415.97, Z:50.05 [[ 5.80159118e-01 -7.98932167e-01 1.58501706e-01 5.41936177e+02] [ 7.67490580e-01 6.01378396e-01 2.22041064e-01 4.15969023e+02] [-2.72715250e-01 -7.17058207e-03 9.62068072e-01 5.00516798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.2792541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:541.95, Y:415.99, Z:50.04 [[ 5.78258165e-01 -8.00274781e-01 1.58675046e-01 5.41954842e+02] [ 7.68772148e-01 5.99596748e-01 2.22425547e-01 4.15988461e+02] [-2.73142598e-01 -6.63443289e-03 9.61950677e-01 5.00434423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.3092541539997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:541.97, Y:416.01, Z:50.04 [[ 5.77162732e-01 -8.00995490e-01 1.59026433e-01 5.41972615e+02] [ 7.69336654e-01 5.98636202e-01 2.23060105e-01 4.16009827e+02] [-2.73869118e-01 -6.39711526e-03 9.61745696e-01 5.00364172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:541.99, Y:416.03, Z:50.03 [[ 5.75384169e-01 -8.02165494e-01 1.59573112e-01 5.41991444e+02] [ 7.70286381e-01 5.97072087e-01 2.23972798e-01 4.16029149e+02] [-2.74939901e-01 -5.95340754e-03 9.61442982e-01 5.00299913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.01, Y:416.05, Z:50.02 [[ 5.74126599e-01 -8.03002285e-01 1.59893650e-01 5.42008935e+02] [ 7.70996418e-01 5.95949402e-01 2.24519116e-01 4.16049885e+02] [-2.75577888e-01 -5.62496482e-03 9.61262289e-01 5.00221220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.399254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:542.03, Y:416.07, Z:50.01 [[ 5.71712957e-01 -8.04733570e-01 1.59837968e-01 5.42028393e+02] [ 7.72776427e-01 5.93616121e-01 2.24580710e-01 4.16069382e+02] [-2.75610031e-01 -4.87668756e-03 9.61257161e-01 5.00134271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:542.05, Y:416.09, Z:50.01 [[ 5.70525034e-01 -8.05625528e-01 1.59589142e-01 5.42045469e+02] [ 7.73764317e-01 5.92407834e-01 2.24369651e-01 4.16089927e+02] [-2.75299777e-01 -4.52411926e-03 9.61347786e-01 5.00057730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.06, Y:416.11, Z:50.00 [[ 5.69766157e-01 -8.06241579e-01 1.59188701e-01 5.42062799e+02] [ 7.74527536e-01 5.91570814e-01 2.23944342e-01 4.16110820e+02] [-2.74724630e-01 -4.29987467e-03 9.61513333e-01 4.99994461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.4892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:542.08, Y:416.13, Z:49.99 [[ 5.68971079e-01 -8.06777627e-01 1.59316578e-01 5.42079588e+02] [ 7.74992154e-01 5.90840755e-01 2.24264050e-01 4.16131563e+02] [-2.75061945e-01 -4.13066106e-03 9.61417632e-01 4.99915992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.5192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:542.10, Y:416.15, Z:49.98 [[ 5.68787009e-01 -8.06929122e-01 1.59206568e-01 5.42095249e+02] [ 7.75153705e-01 5.90633762e-01 2.24250961e-01 4.16153346e+02] [-2.74987405e-01 -4.14147204e-03 9.61438909e-01 4.99831039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.11, Y:416.18, Z:49.98 [[ 5.69128016e-01 -8.06672604e-01 1.59287828e-01 5.42110318e+02] [ 7.74813299e-01 5.90982520e-01 2.24508381e-01 4.16175787e+02] [-2.75241082e-01 -4.35568214e-03 9.61365370e-01 4.99766732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.13, Y:416.20, Z:49.97 [[ 5.68737159e-01 -8.06922951e-01 1.59415795e-01 5.42125255e+02] [ 7.74980107e-01 5.90640870e-01 2.24831483e-01 4.16198285e+02] [-2.75579167e-01 -4.32594907e-03 9.61268646e-01 4.99690039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.609254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:542.14, Y:416.22, Z:49.96 [[ 5.68064198e-01 -8.07328986e-01 1.59759117e-01 5.42139210e+02] [ 7.75219320e-01 5.90086459e-01 2.25461698e-01 4.16220514e+02] [-2.76293456e-01 -4.22836519e-03 9.61064018e-01 4.99608308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.15, Y:416.24, Z:49.95 [[ 5.67623328e-01 -8.07616600e-01 1.59872405e-01 5.42154497e+02] [ 7.75454460e-01 5.89693468e-01 2.25681178e-01 4.16242543e+02] [-2.76539579e-01 -4.12813194e-03 9.60993663e-01 4.99541206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.17, Y:416.26, Z:49.95 [[ 5.66923871e-01 -8.08104055e-01 1.59891092e-01 5.42169732e+02] [ 7.75912781e-01 5.89026332e-01 2.25848040e-01 4.16264865e+02] [-2.76688780e-01 -3.97710302e-03 9.60951352e-01 4.99460117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.18, Y:416.29, Z:49.94 [[ 5.65832171e-01 -8.08950379e-01 1.59478017e-01 5.42184520e+02] [ 7.76920192e-01 5.87865649e-01 2.25408505e-01 4.16286491e+02] [-2.76095944e-01 -3.64169279e-03 9.61123180e-01 4.99384065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.7292541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:542.20, Y:416.31, Z:49.93 [[ 5.64347477e-01 -8.10049920e-01 1.59157322e-01 5.42199284e+02] [ 7.78166618e-01 5.86352428e-01 2.25050093e-01 4.16308562e+02] [-2.75624091e-01 -3.15553713e-03 9.61260320e-01 4.99277276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.21, Y:416.33, Z:49.92 [[ 5.62668147e-01 -8.11309015e-01 1.58689125e-01 5.42214115e+02] [ 7.79622974e-01 5.84611670e-01 2.24537781e-01 4.16330340e+02] [-2.74941040e-01 -2.62256992e-03 9.61457512e-01 4.99222610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.7892541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:542.23, Y:416.35, Z:49.91 [[ 5.61226214e-01 -8.12399602e-01 1.58215118e-01 5.42228496e+02] [ 7.80930916e-01 5.83097240e-01 2.23929704e-01 4.16351558e+02] [-2.74175201e-01 -2.12014291e-03 9.61677422e-01 4.99118901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.8192541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:542.24, Y:416.37, Z:49.91 [[ 5.59894065e-01 -8.13349945e-01 1.58052217e-01 5.42244318e+02] [ 7.81962831e-01 5.81772275e-01 2.23774775e-01 4.16373837e+02] [-2.73957599e-01 -1.69920993e-03 9.61740270e-01 4.99065455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.849254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:542.26, Y:416.39, Z:49.90 [[ 5.56618996e-01 -8.15609491e-01 1.57976113e-01 5.42259109e+02] [ 7.84299863e-01 5.78602366e-01 2.23814717e-01 4.16394715e+02] [-2.73950760e-01 -6.78879246e-04 9.61743480e-01 4.98981158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.879254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:542.27, Y:416.42, Z:49.89 [[ 5.54757413e-01 -8.16880082e-01 1.57959313e-01 5.42274774e+02] [ 7.85610669e-01 5.76807528e-01 2.23850291e-01 4.16416794e+02] [-2.73970965e-01 -8.80864961e-05 9.61737960e-01 4.98900135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.29, Y:416.44, Z:49.88 [[ 5.51468756e-01 -8.19089908e-01 1.58031434e-01 5.42290694e+02] [ 7.87838223e-01 5.73664429e-01 2.24098320e-01 4.16438494e+02] [-2.74213684e-01 9.19982218e-04 9.61668347e-01 4.98846864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:542.31, Y:416.46, Z:49.88 [[ 5.49245398e-01 -8.20547518e-01 1.58212721e-01 5.42306171e+02] [ 7.89264901e-01 5.71576040e-01 2.24414233e-01 4.16460417e+02] [-2.74573142e-01 1.61326262e-03 9.61564864e-01 4.98755454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.32, Y:416.48, Z:49.87 [[ 5.47517194e-01 -8.21756139e-01 1.57929635e-01 5.42322242e+02] [ 7.90596042e-01 5.69835338e-01 2.24155275e-01 4.16483124e+02] [-2.74194860e-01 2.12967763e-03 9.61671796e-01 4.98690510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1060.9992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:542.34, Y:416.50, Z:49.86 [[ 5.43791732e-01 -8.24153066e-01 1.58310696e-01 5.42336445e+02] [ 7.92896741e-01 5.66357762e-01 2.24841375e-01 4.16504408e+02] [-2.74964200e-01 3.25715464e-03 9.61448948e-01 4.98605800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.35, Y:416.53, Z:49.85 [[ 5.42100894e-01 -8.25253653e-01 1.58376226e-01 5.42352289e+02] [ 7.93994706e-01 5.64749668e-01 2.25011597e-01 4.16526854e+02] [-2.75134563e-01 3.77089735e-03 9.61398332e-01 4.98538144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.0592541539997 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:542.37, Y:416.55, Z:49.85 [[ 5.38322059e-01 -8.27614387e-01 1.58945864e-01 5.42366542e+02] [ 7.96184802e-01 5.61275625e-01 2.25963347e-01 4.16548032e+02] [-2.76222956e-01 4.90922767e-03 9.61081047e-01 4.98453199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.38, Y:416.57, Z:49.84 [[ 5.37340427e-01 -8.28207602e-01 1.59177367e-01 5.42382197e+02] [ 7.96688128e-01 5.60397501e-01 2.26368434e-01 4.16570402e+02] [-2.76682656e-01 5.17780805e-03 9.60947396e-01 4.98399551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.119254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:542.40, Y:416.59, Z:49.83 [[ 5.35896975e-01 -8.29141385e-01 1.59182274e-01 5.42396912e+02] [ 7.97620217e-01 5.59011127e-01 2.26513905e-01 4.16592903e+02] [-2.76796715e-01 5.57888370e-03 9.60912303e-01 4.98301092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.149254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.41, Y:416.61, Z:49.82 [[ 5.35796943e-01 -8.29269521e-01 1.58851180e-01 5.42411067e+02] [ 7.97847428e-01 5.58821298e-01 2.26181870e-01 4.16614888e+02] [-2.76335154e-01 5.55145117e-03 9.61045298e-01 4.98244344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.42, Y:416.64, Z:49.81 [[ 5.33873443e-01 -8.28669081e-01 1.68186508e-01 5.42416618e+02] [ 7.98639165e-01 5.59510294e-01 2.21638703e-01 4.16638856e+02] [-2.77767223e-01 1.59933151e-02 9.60515270e-01 4.98074619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2092541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:542.44, Y:416.66, Z:49.81 [[ 5.38352345e-01 -8.29642863e-01 1.47883310e-01 5.42444574e+02] [ 7.96877056e-01 5.58256800e-01 2.30946536e-01 4.16659959e+02] [-2.74160009e-01 -6.48579209e-03 9.61662219e-01 4.98098871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2392541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:542.45, Y:416.68, Z:49.80 [[ 5.39691674e-01 -8.27091262e-01 1.57012551e-01 5.42453426e+02] [ 7.96258263e-01 5.62051520e-01 2.23765206e-01 4.16684954e+02] [-2.73323390e-01 4.25832219e-03 9.61912778e-01 4.97964055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:542.47, Y:416.71, Z:49.79 [[ 5.41298147e-01 -8.26088139e-01 1.56763208e-01 5.42467331e+02] [ 7.95272816e-01 5.63529049e-01 2.23553483e-01 4.16706883e+02] [-2.73015502e-01 3.66043208e-03 9.62002670e-01 4.97903802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.2992541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:542.48, Y:416.73, Z:49.78 [[ 5.43858932e-01 -8.24546867e-01 1.56012587e-01 5.42480279e+02] [ 7.93942819e-01 5.65786657e-01 2.22576411e-01 4.16729989e+02] [-2.71794522e-01 2.81490381e-03 9.62351191e-01 4.97799036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.329254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:542.49, Y:416.75, Z:49.77 [[ 5.45579977e-01 -8.23345343e-01 1.56348758e-01 5.42494554e+02] [ 7.92516882e-01 5.67536686e-01 2.23201932e-01 4.16751800e+02] [-2.72505927e-01 2.13452476e-03 9.62151736e-01 4.97740623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.359254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:542.51, Y:416.77, Z:49.77 [[ 5.48865845e-01 -8.21129717e-01 1.56500072e-01 5.42508002e+02] [ 7.90134268e-01 5.70740743e-01 2.23478954e-01 4.16773916e+02] [-2.72826178e-01 9.96104759e-04 9.62062828e-01 4.97660531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.52, Y:416.80, Z:49.76 [[ 5.50656085e-01 -8.19753579e-01 1.57422825e-01 5.42523555e+02] [ 7.88307018e-01 5.72716332e-01 2.24873407e-01 4.16797427e+02] [-2.74499403e-01 2.69607270e-04 9.61587232e-01 4.97611100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.54, Y:416.82, Z:49.75 [[ 5.52178892e-01 -8.18646445e-01 1.57849518e-01 5.42538071e+02] [ 7.86940833e-01 5.74297714e-01 2.25624158e-01 4.16819879e+02] [-2.75359032e-01 -3.66666398e-04 9.61341391e-01 4.97536849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.55, Y:416.84, Z:49.75 [[ 5.55223456e-01 -8.16508304e-01 1.58243810e-01 5.42551889e+02] [ 7.84514673e-01 5.77331692e-01 2.26329063e-01 4.16843511e+02] [-2.76158726e-01 -1.51861405e-03 9.61110843e-01 4.97457764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.4792541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:542.57, Y:416.87, Z:49.74 [[ 5.56321644e-01 -8.15790678e-01 1.58087948e-01 5.42565755e+02] [ 7.83791603e-01 5.78343955e-01 2.26249848e-01 4.16865798e+02] [-2.76001726e-01 -1.95968147e-03 9.61155142e-01 4.97361315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.5092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.58, Y:416.89, Z:49.73 [[ 5.59320124e-01 -8.13769562e-01 1.57924343e-01 5.42580136e+02] [ 7.81717665e-01 5.81179698e-01 2.26158465e-01 4.16888989e+02] [-2.75823297e-01 -3.04273169e-03 9.61203543e-01 4.97297989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.5392541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:542.59, Y:416.91, Z:49.72 [[ 5.60229435e-01 -8.13226401e-01 1.57498575e-01 5.42594185e+02] [ 7.81288178e-01 5.81937574e-01 2.25693248e-01 4.16911003e+02] [-2.75194046e-01 -3.38822622e-03 9.61382732e-01 4.97193823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.61, Y:416.93, Z:49.71 [[ 5.61746613e-01 -8.12213556e-01 1.57320953e-01 5.42608938e+02] [ 7.80267493e-01 5.83346705e-01 2.25586483e-01 4.16933341e+02] [-2.74997059e-01 -3.97001735e-03 9.61436871e-01 4.97139720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.599254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:542.62, Y:416.96, Z:49.70 [[ 5.63411226e-01 -8.11168408e-01 1.56759704e-01 5.42622148e+02] [ 7.79397793e-01 5.84795320e-01 2.24841087e-01 4.16956281e+02] [-2.74056328e-01 -4.49982580e-03 9.61703115e-01 4.97039481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.629254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:542.64, Y:416.98, Z:49.69 [[ 5.63905108e-01 -8.10856854e-01 1.56595632e-01 5.42636908e+02] [ 7.79101639e-01 5.85225395e-01 2.24748468e-01 4.16978867e+02] [-2.73882576e-01 -4.73289558e-03 9.61751493e-01 4.96947886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.6592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:542.65, Y:417.00, Z:49.69 [[ 5.64471112e-01 -8.10508371e-01 1.56360303e-01 5.42651235e+02] [ 7.78795002e-01 5.85705841e-01 2.24559597e-01 4.17000458e+02] [-2.73588576e-01 -4.98478307e-03 9.61833896e-01 4.96873374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.6892541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:542.67, Y:417.02, Z:49.68 [[ 5.64197810e-01 -8.10689580e-01 1.56407275e-01 5.42665933e+02] [ 7.78946536e-01 5.85455421e-01 2.24686992e-01 4.17023087e+02] [-2.73720890e-01 -4.93500353e-03 9.61796507e-01 4.96790671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7192541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:542.68, Y:417.05, Z:49.67 [[ 5.63689486e-01 -8.11045606e-01 1.56394337e-01 5.42681723e+02] [ 7.79280445e-01 5.84962829e-01 2.24812094e-01 4.17045496e+02] [-2.73817735e-01 -4.84916535e-03 9.61769377e-01 4.96719296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7492541539998 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:542.69, Y:417.07, Z:49.65 [[ 5.61822558e-01 -8.09309932e-01 1.71385083e-01 5.42691007e+02] [ 7.79596399e-01 5.87271800e-01 2.17580531e-01 4.17070644e+02] [-2.76739711e-01 1.13695427e-02 9.60877654e-01 4.96535999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.7792541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:542.72, Y:417.09, Z:49.66 [[ 5.60728139e-01 -8.15332140e-01 1.44282555e-01 5.42718942e+02] [ 7.81334174e-01 5.78703842e-01 2.33706595e-01 4.17086149e+02] [-2.74045367e-01 -1.83129729e-02 9.61542392e-01 4.96614323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.8092541539997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:542.73, Y:417.11, Z:49.65 [[ 5.59164665e-01 -8.14124966e-01 1.56637856e-01 5.42727189e+02] [ 7.82272439e-01 5.80678720e-01 2.25526174e-01 4.17110960e+02] [-2.74562759e-01 -3.57279030e-03 9.61562544e-01 4.96482846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.839254154 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:542.74, Y:417.13, Z:49.64 [[ 5.58276692e-01 -8.14830005e-01 1.56138394e-01 5.42741881e+02] [ 7.83169183e-01 5.79690558e-01 2.24955301e-01 4.17132575e+02] [-2.73812282e-01 -3.30452251e-03 9.61777477e-01 4.96395743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.869254154 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:542.76, Y:417.16, Z:49.63 [[ 5.58132028e-01 -8.14934662e-01 1.56109372e-01 5.42757432e+02] [ 7.83272225e-01 5.79543505e-01 2.24975439e-01 4.17155109e+02] [-2.73812456e-01 -3.28986251e-03 9.61777477e-01 4.96314603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.899254154 meters Centerline goodness : 0.999782 Centerline is valid? [True, True] Translation: X:542.77, Y:417.18, Z:49.62 [[ 5.57455745e-01 -8.15450608e-01 1.55831316e-01 5.42772387e+02] [ 7.83897813e-01 5.78818449e-01 2.24662909e-01 4.17176395e+02] [-2.73399546e-01 -3.08380133e-03 9.61895617e-01 4.96237223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.79, Y:417.20, Z:49.62 [[ 5.56659380e-01 -8.15932906e-01 1.56153222e-01 5.42788835e+02] [ 7.84238331e-01 5.78139274e-01 2.25222601e-01 4.17199097e+02] [-2.74044842e-01 -2.91093143e-03 9.61712510e-01 4.96191157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9592541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:542.80, Y:417.22, Z:49.61 [[ 5.53686908e-01 -8.18071206e-01 1.55532345e-01 5.42804206e+02] [ 7.86677300e-01 5.75113716e-01 2.24461667e-01 4.17220022e+02] [-2.73074411e-01 -1.92772124e-03 9.61990982e-01 4.96081563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1061.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:542.81, Y:417.24, Z:49.59 [[ 5.50304464e-01 -8.17599010e-01 1.69401463e-01 5.42811675e+02] [ 7.87632605e-01 5.75651590e-01 2.19681875e-01 4.17244306e+02] [-2.77127905e-01 1.25341987e-02 9.60751278e-01 4.95918114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.0192541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:542.84, Y:417.26, Z:49.60 [[ 5.48343101e-01 -8.23875883e-01 1.43347036e-01 5.42844225e+02] [ 7.90252784e-01 5.66579123e-01 2.33428007e-01 4.17261062e+02] [-2.73533143e-01 -1.47182425e-02 9.61749964e-01 4.95986990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.0492541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:542.85, Y:417.29, Z:49.58 [[ 5.46330514e-01 -8.22955713e-01 1.55778253e-01 5.42853529e+02] [ 7.91559821e-01 5.68105449e-01 2.25142728e-01 4.17285825e+02] [-2.73780969e-01 3.05463982e-04 9.61792019e-01 4.95848091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.079254154 meters Centerline goodness : 0.999674 Centerline is valid? [True, True] Translation: X:542.87, Y:417.31, Z:49.58 [[ 5.44118556e-01 -8.24498600e-01 1.55361050e-01 5.42868419e+02] [ 7.93293884e-01 5.65863126e-01 2.24685862e-01 4.17306993e+02] [-2.73166268e-01 9.91223807e-04 9.61966323e-01 4.95764488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.109254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:542.88, Y:417.33, Z:49.57 [[ 5.39984370e-01 -8.27091467e-01 1.56001879e-01 5.42884400e+02] [ 7.95711267e-01 5.62062759e-01 2.25674622e-01 4.17328125e+02] [-2.74336401e-01 2.27168449e-03 9.61631103e-01 4.95717304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.139254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:542.90, Y:417.35, Z:49.56 [[ 5.37212636e-01 -8.28889952e-01 1.56025737e-01 5.42900250e+02] [ 7.97552251e-01 5.59402862e-01 2.25784953e-01 4.17350122e+02] [-2.74432123e-01 3.14414804e-03 9.61601333e-01 4.95630060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1692541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:542.92, Y:417.37, Z:49.55 [[ 5.34338074e-01 -8.30752447e-01 1.55991009e-01 5.42915491e+02] [ 7.99463599e-01 5.56627602e-01 2.25884191e-01 4.17371457e+02] [-2.74482745e-01 4.01060989e-03 9.61583661e-01 4.95547553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.1992541539998 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:542.93, Y:417.39, Z:49.55 [[ 5.28125643e-01 -8.34674250e-01 1.56212042e-01 5.42931067e+02] [ 8.03443488e-01 5.50711141e-01 2.26264890e-01 4.17393395e+02] [-2.74885189e-01 6.01125769e-03 9.61458266e-01 4.95460463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.2292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:542.95, Y:417.42, Z:49.54 [[ 5.25398818e-01 -8.36324659e-01 1.56579522e-01 5.42946684e+02] [ 8.04973548e-01 5.48192237e-01 2.26942412e-01 4.17415282e+02] [-2.75633213e-01 6.80709843e-03 9.61238782e-01 4.95409925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.2592541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:542.96, Y:417.44, Z:49.53 [[ 5.19506185e-01 -8.40076484e-01 1.56156411e-01 5.42961587e+02] [ 8.09039612e-01 5.42397919e-01 2.26405397e-01 4.17437387e+02] [-2.74896762e-01 8.71771783e-03 9.61434226e-01 4.95316815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.2892541539998 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:542.98, Y:417.46, Z:49.52 [[ 5.16881180e-01 -8.41692390e-01 1.56165831e-01 5.42976674e+02] [ 8.10681930e-01 5.39873854e-01 2.26563525e-01 4.17459656e+02] [-2.75006644e-01 9.49439511e-03 9.61395445e-01 4.95234325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.3192541539997 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:542.99, Y:417.48, Z:49.52 [[ 5.14874814e-01 -8.42965691e-01 1.55925527e-01 5.42991185e+02] [ 8.12066559e-01 5.37873015e-01 2.26363697e-01 4.17481152e+02] [-2.74684964e-01 1.00729398e-02 9.61481517e-01 4.95163173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:543.01, Y:417.51, Z:49.51 [[ 5.11556351e-01 -8.44827254e-01 1.56770567e-01 5.43005534e+02] [ 8.14077426e-01 5.34906275e-01 2.26170780e-01 4.17505425e+02] [-2.74932799e-01 1.19242808e-02 9.61389498e-01 4.95104805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.379254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:543.02, Y:417.53, Z:49.50 [[ 5.10954755e-01 -8.45429817e-01 1.55478819e-01 5.43018596e+02] [ 8.14707461e-01 5.33970425e-01 2.26113551e-01 4.17526721e+02] [-2.74184229e-01 1.11359598e-02 9.61612707e-01 4.95013631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4092541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:543.03, Y:417.55, Z:49.49 [[ 5.10872864e-01 -8.45505951e-01 1.55333847e-01 5.43030300e+02] [ 8.14895807e-01 5.33847181e-01 2.25725524e-01 4.17549989e+02] [-2.73776810e-01 1.12638554e-02 9.61727292e-01 4.94941413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4392541539999 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:543.04, Y:417.57, Z:49.49 [[ 5.10952658e-01 -8.45546436e-01 1.54850268e-01 5.43043749e+02] [ 8.15104884e-01 5.33784512e-01 2.25118018e-01 4.17573446e+02] [-2.73004413e-01 1.11945596e-02 9.61947645e-01 4.94854778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4692541539998 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:543.06, Y:417.60, Z:49.48 [[ 5.11440996e-01 -8.45290176e-01 1.54637081e-01 5.43057145e+02] [ 8.14881659e-01 5.34195070e-01 2.24952237e-01 4.17596945e+02] [-2.72756282e-01 1.09611254e-02 9.62020719e-01 4.94787410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.4992541539998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:543.07, Y:417.62, Z:49.47 [[ 5.12962206e-01 -8.44477292e-01 1.54038560e-01 5.43067810e+02] [ 8.14231202e-01 5.35490315e-01 2.24226831e-01 4.17621065e+02] [-2.71840625e-01 1.04031121e-02 9.62286054e-01 4.94704831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.5292541539998 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:543.08, Y:417.64, Z:49.46 [[ 5.13524432e-01 -8.44117533e-01 1.54137107e-01 5.43080818e+02] [ 8.13794715e-01 5.36061575e-01 2.24446316e-01 4.17644815e+02] [-2.72086051e-01 1.01772957e-02 9.62219104e-01 4.94622709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.5592541539997 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:543.09, Y:417.67, Z:49.46 [[ 5.14138942e-01 -8.43747196e-01 1.54116251e-01 5.43093775e+02] [ 8.13375927e-01 5.36649481e-01 2.24559427e-01 4.17668598e+02] [-2.72177793e-01 9.89970196e-03 9.62196053e-01 4.94554227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.589254154 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:543.10, Y:417.69, Z:49.45 [[ 5.16233002e-01 -8.42375260e-01 1.54620208e-01 5.43102829e+02] [ 8.11699339e-01 5.38814117e-01 2.25440748e-01 4.17693302e+02] [-2.73217259e-01 9.12516640e-03 9.61909071e-01 4.94477569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.619254154 meters Centerline goodness : 0.997907 Centerline is valid? [True, True] Translation: X:543.12, Y:417.72, Z:49.44 [[ 5.17121137e-01 -8.41723295e-01 1.55201880e-01 5.43115621e+02] [ 8.10766085e-01 5.39837712e-01 2.26348403e-01 4.17718036e+02] [-2.74306552e-01 8.78287737e-03 9.61602193e-01 4.94405572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.649254154 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:543.13, Y:417.74, Z:49.43 [[ 5.18491000e-01 -8.40920653e-01 1.54982383e-01 5.43128195e+02] [ 8.09977164e-01 5.41095319e-01 2.26169956e-01 4.17742304e+02] [-2.74051229e-01 8.26510418e-03 9.61679579e-01 4.94316751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.6792541539999 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:543.14, Y:417.77, Z:49.42 [[ 5.21180178e-01 -8.39206360e-01 1.55254333e-01 5.43137060e+02] [ 8.08034922e-01 5.43764218e-01 2.26715769e-01 4.17767639e+02] [-2.74683066e-01 7.29115803e-03 9.61507178e-01 4.94238143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7092541539998 meters Centerline goodness : 0.997978 Centerline is valid? [True, True] Translation: X:543.15, Y:417.79, Z:49.42 [[ 5.22352286e-01 -8.38448011e-01 1.55412426e-01 5.43148740e+02] [ 8.07150023e-01 5.44938636e-01 2.27047844e-01 4.17791451e+02] [-2.75058048e-01 6.84218272e-03 9.61403274e-01 4.94165061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7392541539998 meters Centerline goodness : 0.997870 Centerline is valid? [True, True] Translation: X:543.16, Y:417.82, Z:49.41 [[ 5.24822810e-01 -8.36959654e-01 1.55111431e-01 5.43158379e+02] [ 8.05704396e-01 5.47231552e-01 2.26667278e-01 4.17817331e+02] [-2.74593236e-01 6.01380439e-03 9.61541673e-01 4.94070326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7692541539998 meters Centerline goodness : 0.997679 Centerline is valid? [True, True] Translation: X:543.17, Y:417.84, Z:49.40 [[ 5.25938353e-01 -8.36350485e-01 1.54617964e-01 5.43170101e+02] [ 8.05229825e-01 5.48166580e-01 2.26093632e-01 4.17840427e+02] [-2.73849919e-01 5.59168353e-03 9.61756183e-01 4.93992059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.7992541539998 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:543.18, Y:417.87, Z:49.39 [[ 5.27585936e-01 -8.35367530e-01 1.54318403e-01 5.43179160e+02] [ 8.04311024e-01 5.49668753e-01 2.25716722e-01 4.17865917e+02] [-2.73380424e-01 5.03502477e-03 9.61892817e-01 4.93913079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.829254154 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:543.19, Y:417.89, Z:49.38 [[ 5.28543826e-01 -8.34806530e-01 1.54076221e-01 5.43191798e+02] [ 8.03799206e-01 5.50523506e-01 2.25456660e-01 4.17889716e+02] [-2.73035274e-01 4.68261826e-03 9.61992626e-01 4.93832764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.859254154 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:543.20, Y:417.91, Z:49.38 [[ 5.29268712e-01 -8.34416290e-01 1.53701285e-01 5.43204556e+02] [ 8.03506756e-01 5.51117220e-01 2.25048223e-01 4.17913810e+02] [-2.72491328e-01 4.38903791e-03 9.62148228e-01 4.93752487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.889254154 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:543.22, Y:417.94, Z:49.37 [[ 5.30100681e-01 -8.33950917e-01 1.53359498e-01 5.43217111e+02] [ 8.03122767e-01 5.51823693e-01 2.24687413e-01 4.17937711e+02] [-2.72005679e-01 4.05955359e-03 9.62287083e-01 4.93672524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9192541539999 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:543.23, Y:417.96, Z:49.36 [[ 5.31805860e-01 -8.32700611e-01 1.54247268e-01 5.43227292e+02] [ 8.01414976e-01 5.53713299e-01 2.26131859e-01 4.17963688e+02] [-2.73708901e-01 3.35782299e-03 9.61806718e-01 4.93609530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9492541539998 meters Centerline goodness : 0.997799 Centerline is valid? [True, True] Translation: X:543.24, Y:417.99, Z:49.35 [[ 5.32983340e-01 -8.32144914e-01 1.53178334e-01 5.43240177e+02] [ 8.01237628e-01 5.54550297e-01 2.24704768e-01 4.17987271e+02] [-2.71932021e-01 2.96834702e-03 9.62311886e-01 4.93511136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1062.9792541539998 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:543.25, Y:418.01, Z:49.34 [[ 5.34932466e-01 -8.31012421e-01 1.52530699e-01 5.43250712e+02] [ 8.00286531e-01 5.56249104e-01 2.23893731e-01 4.18012205e+02] [-2.70903536e-01 2.30023827e-03 9.62603752e-01 4.93425509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.0092541539998 meters Centerline goodness : 0.998001 Centerline is valid? [True, True] Translation: X:543.26, Y:418.04, Z:49.34 [[ 5.35692353e-01 -8.30482393e-01 1.52750444e-01 5.43264194e+02] [ 7.99604927e-01 5.57041454e-01 2.24358596e-01 4.18036201e+02] [-2.71414193e-01 1.95282371e-03 9.62460660e-01 4.93354358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.0392541539998 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:543.28, Y:418.06, Z:49.33 [[ 5.36545444e-01 -8.30062260e-01 1.52038253e-01 5.43277531e+02] [ 7.99421853e-01 5.57668288e-01 2.23451966e-01 4.18059269e+02] [-2.70265956e-01 1.65056786e-03 9.62784290e-01 4.93263889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.0692541539997 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:543.29, Y:418.08, Z:49.32 [[ 5.37778938e-01 -8.29080230e-01 1.53035244e-01 5.43289127e+02] [ 7.97947225e-01 5.59128618e-01 2.25067577e-01 4.18082956e+02] [-2.72165463e-01 1.07744580e-03 9.62249863e-01 4.93207891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.099254154 meters Centerline goodness : 0.998054 Centerline is valid? [True, True] Translation: X:543.30, Y:418.11, Z:49.31 [[ 5.38345778e-01 -8.28722538e-01 1.52979665e-01 5.43303208e+02] [ 7.97570713e-01 5.59659048e-01 2.25083778e-01 4.18106642e+02] [-2.72148453e-01 8.39199113e-04 9.62254912e-01 4.93132454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.129254154 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:543.32, Y:418.13, Z:49.30 [[ 5.39207458e-01 -8.28296881e-01 1.52248465e-01 5.43316087e+02] [ 7.97389218e-01 5.60289204e-01 2.24157182e-01 4.18128270e+02] [-2.70971866e-01 5.34060032e-04 9.62587120e-01 4.93041616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.1592541539999 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:543.33, Y:418.15, Z:49.30 [[ 5.41018908e-01 -8.26902988e-01 1.53394885e-01 5.43328341e+02] [ 7.95446482e-01 5.62344564e-01 2.25905923e-01 4.18152597e+02] [-2.73063062e-01 -2.01954439e-04 9.61996114e-01 4.92970810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.1892541539999 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:543.34, Y:418.18, Z:49.29 [[ 5.42132762e-01 -8.26146050e-01 1.53540785e-01 5.43342213e+02] [ 7.94558296e-01 5.63455641e-01 2.26262800e-01 4.18176264e+02] [-2.73439540e-01 -6.67372180e-04 9.61888961e-01 4.92894536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2192541539998 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:543.35, Y:418.20, Z:49.28 [[ 5.45230443e-01 -8.24065335e-01 1.53753333e-01 5.43354126e+02] [ 7.92264466e-01 5.66491898e-01 2.26724383e-01 4.18199254e+02] [-2.73935722e-01 -1.80373396e-03 9.61746311e-01 4.92821862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2492541539998 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:543.37, Y:418.22, Z:49.27 [[ 5.46503591e-01 -8.23234386e-01 1.53684649e-01 5.43368289e+02] [ 7.91413209e-01 5.67697157e-01 2.26682753e-01 4.18222322e+02] [-2.73859376e-01 -2.25487713e-03 9.61767102e-01 4.92734940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.2792541539998 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:543.38, Y:418.25, Z:49.27 [[ 5.47346650e-01 -8.22491308e-01 1.54659927e-01 5.43382345e+02] [ 7.90185831e-01 5.68771122e-01 2.28266866e-01 4.18245882e+02] [-2.75713614e-01 -2.73102197e-03 9.61235947e-01 4.92670993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.3092541539997 meters Centerline goodness : 0.997979 Centerline is valid? [True, True] Translation: X:543.40, Y:418.27, Z:49.26 [[ 5.48915198e-01 -8.21522233e-01 1.54250852e-01 5.43396009e+02] [ 7.89311430e-01 5.70166955e-01 2.27809375e-01 4.18267495e+02] [-2.75099205e-01 -3.29606750e-03 9.61410195e-01 4.92580854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.339254154 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:543.41, Y:418.29, Z:49.25 [[ 5.49158375e-01 -8.21391566e-01 1.54081062e-01 5.43410839e+02] [ 7.89231046e-01 5.70354612e-01 2.27618039e-01 4.18290054e+02] [-2.74844382e-01 -3.39279482e-03 9.61482738e-01 4.92493605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.369254154 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:543.43, Y:418.31, Z:49.24 [[ 5.48495457e-01 -8.21840318e-01 1.54049424e-01 5.43426453e+02] [ 7.89669962e-01 5.69708626e-01 2.27713489e-01 4.18312500e+02] [-2.74907412e-01 -3.25161165e-03 9.61465206e-01 4.92411565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.399254154 meters Centerline goodness : 0.998124 Centerline is valid? [True, True] Translation: X:543.44, Y:418.34, Z:49.23 [[ 5.48185697e-01 -8.21664117e-01 1.56078574e-01 5.43440464e+02] [ 7.90517054e-01 5.69971741e-01 2.24087040e-01 4.18335002e+02] [-2.73084657e-01 5.41464141e-04 9.61989853e-01 4.92327735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4292541539999 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:543.46, Y:418.36, Z:49.23 [[ 5.46018741e-01 -8.24066541e-01 1.50923394e-01 5.43460561e+02] [ 7.91260753e-01 5.66457747e-01 2.30286869e-01 4.18355924e+02] [-2.75263429e-01 -6.32118835e-03 9.61348057e-01 4.92284026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4592541539998 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:543.48, Y:418.38, Z:49.22 [[ 5.44320069e-01 -8.25447975e-01 1.49503520e-01 5.43475961e+02] [ 7.93395793e-01 5.64452284e-01 2.27852442e-01 4.18377946e+02] [-2.72467941e-01 -5.40919313e-03 9.62149657e-01 4.92205442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.4892541539998 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:543.49, Y:418.40, Z:49.21 [[ 5.43811498e-01 -8.24499759e-01 1.56426348e-01 5.43489401e+02] [ 7.93008500e-01 5.65860787e-01 2.25696896e-01 4.18400296e+02] [-2.74602573e-01 1.31085678e-03 9.61556919e-01 4.92095335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.5192541539998 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:543.51, Y:418.42, Z:49.20 [[ 5.40795941e-01 -8.26991221e-01 1.53705142e-01 5.43507917e+02] [ 7.95020720e-01 5.62214028e-01 2.27722293e-01 4.18421227e+02] [-2.74739524e-01 -9.52519534e-04 9.61518220e-01 4.92030536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.5492541539998 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:543.52, Y:418.44, Z:49.20 [[ 5.39101182e-01 -8.28109491e-01 1.53637845e-01 5.43523116e+02] [ 7.96169000e-01 5.60566187e-01 2.27772857e-01 4.18442030e+02] [-2.74745045e-01 -4.70926907e-04 9.61516999e-01 4.91963660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.579254154 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:543.54, Y:418.46, Z:49.19 [[ 5.35205613e-01 -8.30678099e-01 1.53391159e-01 5.43540286e+02] [ 7.98916557e-01 5.56752441e-01 2.27506163e-01 4.18462736e+02] [-2.74385289e-01 7.84161283e-04 9.61619518e-01 4.91880060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.609254154 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:543.56, Y:418.48, Z:49.18 [[ 5.33019122e-01 -8.32164194e-01 1.52948915e-01 5.43556056e+02] [ 8.00608750e-01 5.54527383e-01 2.26991213e-01 4.18483934e+02] [-2.73708322e-01 1.46158260e-03 9.61811634e-01 4.91798931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.639254154 meters Centerline goodness : 0.998321 Centerline is valid? [True, True] Translation: X:543.57, Y:418.50, Z:49.17 [[ 5.31266757e-01 -8.33324888e-01 1.52726109e-01 5.43571410e+02] [ 8.01868017e-01 5.52780018e-01 2.26808144e-01 4.18504550e+02] [-2.73428813e-01 1.97055527e-03 9.61890223e-01 4.91722375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6692541539999 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:543.59, Y:418.53, Z:49.16 [[ 5.28199043e-01 -8.35249907e-01 1.52850792e-01 5.43588234e+02] [ 8.03802244e-01 5.49862703e-01 2.27052771e-01 4.18526131e+02] [-2.73692755e-01 2.93275354e-03 9.61812703e-01 4.91648499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.6992541539998 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:543.60, Y:418.55, Z:49.16 [[ 5.27253269e-01 -8.35848207e-01 1.52845563e-01 5.43603313e+02] [ 8.04385160e-01 5.48951546e-01 2.27193121e-01 4.18546919e+02] [-2.73803771e-01 3.15838684e-03 9.61780391e-01 4.91573792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.7292541539998 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:543.62, Y:418.57, Z:49.15 [[ 5.26397474e-01 -8.36301355e-01 1.53315828e-01 5.43618895e+02] [ 8.04641669e-01 5.48259691e-01 2.27954152e-01 4.18568072e+02] [-2.74695255e-01 3.36981368e-03 9.61525435e-01 4.91505290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.7592541539998 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:543.63, Y:418.59, Z:49.14 [[ 5.26279317e-01 -8.36379325e-01 1.53296136e-01 5.43634224e+02] [ 8.04704328e-01 5.48140820e-01 2.28018828e-01 4.18590134e+02] [-2.74738103e-01 3.35647090e-03 9.61513239e-01 4.91424727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.7892541539998 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:543.65, Y:418.61, Z:49.13 [[ 5.26068102e-01 -8.36523916e-01 1.53232145e-01 5.43649448e+02] [ 8.04842407e-01 5.47920163e-01 2.28061823e-01 4.18612896e+02] [-2.74738151e-01 3.35167861e-03 9.61513242e-01 4.91343694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.8192541539997 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:543.66, Y:418.63, Z:49.13 [[ 5.26210112e-01 -8.36370506e-01 1.53581558e-01 5.43664798e+02] [ 8.04498016e-01 5.48155178e-01 2.28711266e-01 4.18634954e+02] [-2.75473884e-01 3.20587813e-03 9.61303210e-01 4.91270716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.849254154 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:543.68, Y:418.66, Z:49.12 [[ 5.27288119e-01 -8.35770254e-01 1.53151303e-01 5.43680508e+02] [ 8.04012909e-01 5.49072167e-01 2.28216996e-01 4.18657054e+02] [-2.74828095e-01 2.79951386e-03 9.61489304e-01 4.91181019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.879254154 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:543.70, Y:418.68, Z:49.11 [[ 5.28581118e-01 -8.34768206e-01 1.54155908e-01 5.43695563e+02] [ 8.02498627e-01 5.50597106e-01 2.29866875e-01 4.18678893e+02] [-2.76763355e-01 2.20661461e-03 9.60935573e-01 4.91131494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9092541539999 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:543.71, Y:418.70, Z:49.10 [[ 5.31162955e-01 -8.33162833e-01 1.53966260e-01 5.43711056e+02] [ 8.00889901e-01 5.53026151e-01 2.29646343e-01 4.18701141e+02] [-2.76480166e-01 1.33039220e-03 9.61018703e-01 4.91041156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9392541539999 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:543.73, Y:418.72, Z:49.09 [[ 5.33038991e-01 -8.32096262e-01 1.53248967e-01 5.43726084e+02] [ 8.00044257e-01 5.54630813e-01 2.28722209e-01 4.18723170e+02] [-2.75315494e-01 6.88100596e-04 9.61353684e-01 4.90943022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9692541539998 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:543.74, Y:418.74, Z:49.09 [[ 5.35395281e-01 -8.30629419e-01 1.52992359e-01 5.43740121e+02] [ 7.98585049e-01 5.56825597e-01 2.28488893e-01 4.18744591e+02] [-2.74979658e-01 -1.54463980e-04 9.61450032e-01 4.90866298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1063.9992541539998 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:543.75, Y:418.77, Z:49.08 [[ 5.38160623e-01 -8.28747482e-01 1.53495127e-01 5.43754676e+02] [ 7.96394001e-01 5.59621538e-01 2.29304013e-01 4.18766307e+02] [-2.75934302e-01 -1.15979182e-03 9.61175799e-01 4.90802060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.0292541539998 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:543.77, Y:418.79, Z:49.07 [[ 5.42976796e-01 -8.25782177e-01 1.52512278e-01 5.43770477e+02] [ 7.93717385e-01 5.63982765e-01 2.27895050e-01 4.18788059e+02] [-2.74205967e-01 -2.69007798e-03 9.61667225e-01 4.90707881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.0592541539997 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:543.79, Y:418.81, Z:49.06 [[ 5.45423491e-01 -8.24273298e-01 1.51943235e-01 5.43785109e+02] [ 7.92353014e-01 5.66181176e-01 2.27190619e-01 4.18809006e+02] [-2.73294560e-01 -3.52242043e-03 9.61923945e-01 4.90633427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.089254154 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:543.81, Y:418.83, Z:49.07 [[ 5.47565446e-01 -8.25750153e-01 1.35309889e-01 5.43806491e+02] [ 7.92051915e-01 5.63637356e-01 2.34449773e-01 4.18827837e+02] [-2.69862644e-01 -2.12041378e-02 9.62665330e-01 4.90673197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.119254154 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:543.81, Y:418.86, Z:49.04 [[ 5.50555575e-01 -8.18267758e-01 1.65307094e-01 5.43809336e+02] [ 7.88636296e-01 5.74748479e-01 2.18442164e-01 4.18855761e+02] [-2.73754181e-01 1.01026231e-02 9.61746633e-01 4.90432060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.149254154 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:543.83, Y:418.88, Z:49.04 [[ 5.51542145e-01 -8.19992829e-01 1.53013144e-01 5.43832243e+02] [ 7.87382388e-01 5.72344044e-01 2.29022423e-01 4.18875193e+02] [-2.75372907e-01 -5.83566343e-03 9.61319774e-01 4.90418584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.1792541539999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:543.85, Y:418.90, Z:49.03 [[ 5.52216119e-01 -8.19755560e-01 1.51849199e-01 5.43849204e+02] [ 7.87600470e-01 5.72682241e-01 2.27421525e-01 4.18895883e+02] [-2.73391399e-01 -5.98933163e-03 9.61884229e-01 4.90315057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2092541539998 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:543.87, Y:418.92, Z:49.03 [[ 5.52385261e-01 -8.19456224e-01 1.52846396e-01 5.43865832e+02] [ 7.86815892e-01 5.73107508e-01 2.29060114e-01 4.18918111e+02] [-2.75302153e-01 -6.26745807e-03 9.61337320e-01 4.90259333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2392541539998 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:543.88, Y:418.94, Z:49.02 [[ 5.52285627e-01 -8.19729283e-01 1.51738227e-01 5.43882555e+02] [ 7.87536842e-01 5.72717890e-01 2.27552063e-01 4.18937344e+02] [-2.73434287e-01 -6.17428951e-03 9.61870869e-01 4.90162960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2692541539998 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:543.90, Y:418.96, Z:49.01 [[ 5.52363018e-01 -8.19747356e-01 1.51358413e-01 5.43898865e+02] [ 7.87702446e-01 5.72691904e-01 2.27043696e-01 4.18958773e+02] [-2.72800207e-01 -6.18514913e-03 9.62050826e-01 4.90083928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.2992541539998 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:543.92, Y:418.98, Z:49.00 [[ 5.52599961e-01 -8.19745903e-01 1.50498960e-01 5.43916472e+02] [ 7.88029329e-01 5.72693429e-01 2.25902665e-01 4.18979040e+02] [-2.71372550e-01 -6.23620924e-03 9.62454180e-01 4.90003740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.329254154 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:543.93, Y:419.00, Z:48.99 [[ 5.52747595e-01 -8.19672151e-01 1.50358443e-01 5.43933209e+02] [ 7.87971315e-01 5.72797680e-01 2.25840707e-01 4.19000502e+02] [-2.71240305e-01 -6.35476799e-03 9.62490683e-01 4.89935748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.359254154 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:543.95, Y:419.02, Z:48.99 [[ 5.53194274e-01 -8.19370069e-01 1.50362179e-01 5.43949801e+02] [ 7.87613738e-01 5.73227015e-01 2.25998648e-01 4.19020788e+02] [-2.71368190e-01 -6.59384004e-03 9.62453026e-01 4.89866539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.389254154 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:543.97, Y:419.04, Z:48.98 [[ 5.52512451e-01 -8.20175718e-01 1.48464756e-01 5.43968627e+02] [ 7.89243824e-01 5.72078658e-01 2.23204382e-01 4.19039490e+02] [-2.68000333e-01 -6.14830870e-03 9.63399201e-01 4.89769047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4192541539999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:543.99, Y:419.06, Z:48.97 [[ 5.52157529e-01 -8.20434316e-01 1.48356313e-01 5.43985333e+02] [ 7.89516046e-01 5.71708176e-01 2.23190892e-01 4.19060215e+02] [-2.67929984e-01 -6.10684180e-03 9.63419032e-01 4.89695184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4492541539998 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:544.00, Y:419.08, Z:48.96 [[ 5.49211725e-01 -8.21298284e-01 1.54387855e-01 5.43999936e+02] [ 7.90430405e-01 5.70498825e-01 2.23049022e-01 4.19080241e+02] [-2.71267869e-01 -4.68283552e-04 9.62503779e-01 4.89596359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.4792541539998 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:544.03, Y:419.10, Z:48.96 [[ 5.49212846e-01 -8.23486527e-01 1.42250446e-01 5.44025317e+02] [ 7.91633118e-01 5.67205917e-01 2.27144127e-01 4.19099069e+02] [-2.67735423e-01 -1.21403083e-02 9.63415983e-01 4.89559317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.5092541539998 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:544.04, Y:419.12, Z:48.95 [[ 5.47877596e-01 -8.23201493e-01 1.48894064e-01 5.44039566e+02] [ 7.92086870e-01 5.67728024e-01 2.24239341e-01 4.19120795e+02] [-2.69125493e-01 -4.91867750e-03 9.63092558e-01 4.89469859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.5392541539998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:544.06, Y:419.14, Z:48.94 [[ 5.45310958e-01 -8.24678167e-01 1.50139535e-01 5.44059098e+02] [ 7.93066859e-01 5.65586163e-01 2.26179684e-01 4.19139184e+02] [-2.71442291e-01 -4.26757065e-03 9.62445256e-01 4.89398223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.5692541539997 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:544.07, Y:419.16, Z:48.93 [[ 5.43563483e-01 -8.25392402e-01 1.52532366e-01 5.44074472e+02] [ 7.93165086e-01 5.64550543e-01 2.28411539e-01 4.19159732e+02] [-2.74641380e-01 -3.17282433e-03 9.61541495e-01 4.89323712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.599254154 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:544.10, Y:419.18, Z:48.92 [[ 5.43207003e-01 -8.26175001e-01 1.49536018e-01 5.44095398e+02] [ 7.93981614e-01 5.63388051e-01 2.28444962e-01 4.19179015e+02] [-2.72982322e-01 -5.36405412e-03 9.62004095e-01 4.89247787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.629254154 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:544.11, Y:419.20, Z:48.91 [[ 5.42344129e-01 -8.24739903e-01 1.60209045e-01 5.44105450e+02] [ 7.93072418e-01 5.65496053e-01 2.26385412e-01 4.19201430e+02] [-2.77306666e-01 4.27857577e-03 9.60771933e-01 4.89113369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.6592541539999 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:544.13, Y:419.22, Z:48.91 [[ 5.44060730e-01 -8.26817838e-01 1.42724156e-01 5.44131941e+02] [ 7.93390259e-01 5.62305469e-01 2.33118975e-01 4.19219786e+02] [-2.73001500e-01 -1.35949242e-02 9.61917543e-01 4.89117131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.6892541539999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:544.15, Y:419.24, Z:48.90 [[ 5.45804488e-01 -8.24346481e-01 1.50167708e-01 5.44145431e+02] [ 7.92587524e-01 5.66066146e-01 2.26658632e-01 4.19242005e+02] [-2.71850101e-01 -4.69024726e-03 9.62328179e-01 4.88996938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7192541539998 meters Centerline goodness : 0.999352 Centerline is valid? [True, True] Translation: X:544.15, Y:419.27, Z:48.88 [[ 5.43895265e-01 -8.21553173e-01 1.70962933e-01 5.44148089e+02] [ 7.91988241e-01 5.69899491e-01 2.19018714e-01 4.19265602e+02] [-2.77367208e-01 1.62773908e-02 9.60626087e-01 4.88769739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7492541539998 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:544.19, Y:419.28, Z:48.89 [[ 5.48121040e-01 -8.26282386e-01 1.29694814e-01 5.44190334e+02] [ 7.91490056e-01 5.62544167e-01 2.38930017e-01 4.19279532e+02] [-2.70382725e-01 -2.83104133e-02 9.62336585e-01 4.88912788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.7792541539998 meters Centerline goodness : 0.999350 Centerline is valid? [True, True] Translation: X:544.20, Y:419.30, Z:48.88 [[ 5.48947025e-01 -8.22371927e-01 1.49537877e-01 5.44195977e+02] [ 7.90712652e-01 5.68920158e-01 2.26060515e-01 4.19304656e+02] [-2.70980934e-01 -5.85375590e-03 9.62566916e-01 4.88750439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.8092541539997 meters Centerline goodness : 0.999393 Centerline is valid? [True, True] Translation: X:544.21, Y:419.33, Z:48.87 [[ 5.49509061e-01 -8.21959724e-01 1.49739791e-01 5.44212051e+02] [ 7.90155387e-01 5.69512353e-01 2.26517427e-01 4.19325060e+02] [-2.71466862e-01 -6.15567646e-03 9.62428101e-01 4.88677196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.839254154 meters Centerline goodness : 0.999522 Centerline is valid? [True, True] Translation: X:544.22, Y:419.35, Z:48.85 [[ 5.48130556e-01 -8.19560456e-01 1.66953743e-01 5.44218694e+02] [ 7.89715551e-01 5.72876223e-01 2.19458840e-01 4.19346213e+02] [-2.75503616e-01 1.15538710e-02 9.61230600e-01 4.88471771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.869254154 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:544.25, Y:419.36, Z:48.85 [[ 5.46680360e-01 -8.23872477e-01 1.49581836e-01 5.44247885e+02] [ 7.91395972e-01 5.66733349e-01 2.29141282e-01 4.19364012e+02] [-2.73556211e-01 -6.88857654e-03 9.61831351e-01 4.88450779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.899254154 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:544.27, Y:419.39, Z:48.84 [[ 5.46260775e-01 -8.24110774e-01 1.49801864e-01 5.44265764e+02] [ 7.91421546e-01 5.66384963e-01 2.29913048e-01 4.19385741e+02] [-2.74319343e-01 -7.03605676e-03 9.61612912e-01 4.88384559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9292541539999 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:544.29, Y:419.40, Z:48.84 [[ 5.46228962e-01 -8.26479010e-01 1.36258461e-01 5.44289737e+02] [ 7.92802768e-01 5.62612314e-01 2.34373966e-01 4.19404921e+02] [-2.70365851e-01 -1.99957627e-02 9.62549986e-01 4.88406746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9592541539998 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:544.30, Y:419.43, Z:48.83 [[ 5.45343203e-01 -8.24682755e-01 1.49997150e-01 5.44299481e+02] [ 7.92813725e-01 5.65574131e-01 2.27095356e-01 4.19428598e+02] [-2.72116132e-01 -4.92510954e-03 9.62251814e-01 4.88278489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1064.9892541539998 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:544.32, Y:419.45, Z:48.82 [[ 5.42931846e-01 -8.26113388e-01 1.50869750e-01 5.44317879e+02] [ 7.93876649e-01 5.63487339e-01 2.28564837e-01 4.19448661e+02] [-2.73833666e-01 -4.32315769e-03 9.61767349e-01 4.88201751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.0192541539998 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:544.33, Y:419.47, Z:48.81 [[ 5.41486643e-01 -8.26990394e-01 1.51258400e-01 5.44334484e+02] [ 7.94575351e-01 5.62201983e-01 2.29300986e-01 4.19469948e+02] [-2.74667485e-01 -3.97722475e-03 9.61531047e-01 4.88129319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.0492541539998 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:544.35, Y:419.49, Z:48.81 [[ 5.38046664e-01 -8.29184007e-01 1.51524489e-01 5.44351997e+02] [ 7.96694573e-01 5.58967944e-01 2.29853423e-01 4.19489227e+02] [-2.75288114e-01 -2.95312976e-03 9.61357235e-01 4.88051758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.079254154 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:544.37, Y:419.51, Z:48.80 [[ 5.36967235e-01 -8.29844289e-01 1.51738742e-01 5.44368395e+02] [ 7.97257843e-01 5.57988608e-01 2.30279494e-01 4.19510473e+02] [-2.75764612e-01 -2.67764127e-03 9.61221467e-01 4.87985481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.109254154 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:544.38, Y:419.53, Z:48.79 [[ 5.34900708e-01 -8.31218380e-01 1.51516463e-01 5.44384351e+02] [ 7.98760610e-01 5.55942402e-01 2.30020725e-01 4.19531970e+02] [-2.75431881e-01 -2.01286618e-03 9.61318484e-01 4.87896371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.139254154 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:544.40, Y:419.55, Z:48.78 [[ 5.32105044e-01 -8.33062570e-01 1.51231533e-01 5.44401688e+02] [ 8.00760962e-01 5.53177596e-01 2.29731211e-01 4.19552709e+02] [-2.75038368e-01 -1.14082816e-03 9.61432574e-01 4.87819261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1692541539999 meters Centerline goodness : 0.999692 Centerline is valid? [True, True] Translation: X:544.42, Y:419.57, Z:48.77 [[ 5.30279852e-01 -8.34321586e-01 1.50700928e-01 5.44416596e+02] [ 8.02257504e-01 5.51277754e-01 2.29075826e-01 4.19573144e+02] [-2.74200975e-01 -5.73345182e-04 9.61672240e-01 4.87732642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.1992541539998 meters Centerline goodness : 0.999581 Centerline is valid? [True, True] Translation: X:544.43, Y:419.59, Z:48.76 [[ 5.28770524e-01 -8.35383723e-01 1.50119180e-01 5.44431300e+02] [ 8.03590124e-01 5.49667200e-01 2.28273699e-01 4.19593868e+02] [-2.73211722e-01 -7.01129508e-05 9.61953923e-01 4.87646384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.2292541539998 meters Centerline goodness : 0.999602 Centerline is valid? [True, True] Translation: X:544.45, Y:419.62, Z:48.76 [[ 5.27139622e-01 -8.36502588e-01 1.49623659e-01 5.44447176e+02] [ 8.04945152e-01 5.47962778e-01 2.27596347e-01 4.19615724e+02] [-2.72373129e-01 4.63786759e-04 9.62191594e-01 4.87565614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.2592541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:544.46, Y:419.64, Z:48.75 [[ 5.27642247e-01 -8.36165040e-01 1.49738722e-01 5.44461498e+02] [ 8.04505309e-01 5.48477877e-01 2.27910567e-01 4.19638092e+02] [-2.72699225e-01 2.10352808e-04 9.62099313e-01 4.87505493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.2892541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:544.48, Y:419.66, Z:48.74 [[ 5.27290480e-01 -8.36345092e-01 1.49972120e-01 5.44475793e+02] [ 8.04556434e-01 5.48203277e-01 2.28390262e-01 4.19661156e+02] [-2.73228283e-01 2.33023224e-04 9.61949194e-01 4.87426010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.3192541539997 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:544.49, Y:419.68, Z:48.73 [[ 5.26430460e-01 -8.36910435e-01 1.49839564e-01 5.44490173e+02] [ 8.05160801e-01 5.47339681e-01 2.28331685e-01 4.19683488e+02] [-2.73106309e-01 4.44189201e-04 9.61983756e-01 4.87336417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.349254154 meters Centerline goodness : 0.999668 Centerline is valid? [True, True] Translation: X:544.50, Y:419.71, Z:48.73 [[ 5.26117052e-01 -8.37080026e-01 1.49992925e-01 5.44504426e+02] [ 8.05229456e-01 5.47080275e-01 2.28710945e-01 4.19705156e+02] [-2.73507534e-01 4.49993374e-04 9.61869755e-01 4.87261899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.379254154 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:544.52, Y:419.73, Z:48.72 [[ 5.25897617e-01 -8.37149350e-01 1.50375073e-01 5.44518994e+02] [ 8.05107645e-01 5.46974204e-01 2.29392457e-01 4.19726592e+02] [-2.74287032e-01 4.31174650e-04 9.61647772e-01 4.87190651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4092541539999 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:544.53, Y:419.75, Z:48.71 [[ 5.26176553e-01 -8.36958159e-01 1.50463535e-01 5.44533874e+02] [ 8.04848214e-01 5.47266807e-01 2.29604866e-01 4.19749426e+02] [-2.74513364e-01 2.87610356e-04 9.61583242e-01 4.87113900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4392541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:544.55, Y:419.77, Z:48.70 [[ 5.27573694e-01 -8.36154792e-01 1.50037199e-01 5.44546606e+02] [ 8.04158202e-01 5.48493499e-01 2.29094887e-01 4.19771979e+02] [-2.73853216e-01 -2.10791948e-04 9.61771476e-01 4.87036717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4692541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:544.56, Y:419.80, Z:48.70 [[ 5.28241320e-01 -8.35785431e-01 1.49745858e-01 5.44560423e+02] [ 8.03865261e-01 5.49055999e-01 2.28775332e-01 4.19795002e+02] [-2.73425951e-01 -4.73089897e-04 9.61892939e-01 4.86951038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.4992541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:544.57, Y:419.82, Z:48.69 [[ 5.28810650e-01 -8.35550755e-01 1.49044398e-01 5.44573961e+02] [ 8.03886597e-01 5.49412856e-01 2.27841726e-01 4.19817869e+02] [-2.72260234e-01 -6.70337357e-04 9.62223423e-01 4.86858472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.5292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:544.59, Y:419.84, Z:48.68 [[ 5.31451153e-01 -8.33908025e-01 1.48852541e-01 5.44587799e+02] [ 8.02223813e-01 5.51901142e-01 2.27688564e-01 4.19841000e+02] [-2.72023208e-01 -1.59229682e-03 9.62289374e-01 4.86798421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.5592541539997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:544.60, Y:419.86, Z:48.67 [[ 5.31484788e-01 -8.33974854e-01 1.48357214e-01 5.44601755e+02] [ 8.02481987e-01 5.51800114e-01 2.27022674e-01 4.19863845e+02] [-2.71194729e-01 -1.60510555e-03 9.62523165e-01 4.86702694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.62, Y:419.89, Z:48.66 [[ 5.32284018e-01 -8.33382657e-01 1.48818920e-01 5.44616784e+02] [ 8.01628316e-01 5.52692844e-01 2.27865452e-01 4.19887442e+02] [-2.72150268e-01 -1.99167776e-03 9.62252703e-01 4.86641597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.619254154 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:544.63, Y:419.91, Z:48.65 [[ 5.31633707e-01 -8.33843724e-01 1.48560578e-01 5.44630952e+02] [ 8.02180867e-01 5.51997547e-01 2.27606162e-01 4.19909844e+02] [-2.71793045e-01 -1.83065405e-03 9.62353984e-01 4.86548154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.649254154 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:544.64, Y:419.93, Z:48.65 [[ 5.31076708e-01 -8.34156027e-01 1.48799375e-01 5.44644870e+02] [ 8.02362607e-01 5.51525750e-01 2.28108733e-01 4.19931689e+02] [-2.72344961e-01 -1.75218007e-03 9.62198084e-01 4.86472726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.6792541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:544.66, Y:419.95, Z:48.64 [[ 5.30875972e-01 -8.34293753e-01 1.48743525e-01 5.44659778e+02] [ 8.02495435e-01 5.51317394e-01 2.28145146e-01 4.19954703e+02] [-2.72344963e-01 -1.75077661e-03 9.62198086e-01 4.86392189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7092541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:544.67, Y:419.98, Z:48.63 [[ 5.29823526e-01 -8.34801403e-01 1.49645079e-01 5.44674318e+02] [ 8.02592587e-01 5.50548950e-01 2.29654072e-01 4.19977289e+02] [-2.74102482e-01 -1.57209933e-03 9.61699203e-01 4.86323849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.69, Y:420.00, Z:48.63 [[ 5.28223829e-01 -8.35621039e-01 1.50721813e-01 5.44688967e+02] [ 8.02930821e-01 5.49304973e-01 2.31443608e-01 4.19998979e+02] [-2.76191390e-01 -1.23483974e-03 9.61101863e-01 4.86254943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:544.70, Y:420.02, Z:48.62 [[ 5.26903932e-01 -8.36459172e-01 1.50692733e-01 5.44703850e+02] [ 8.03780344e-01 5.48028561e-01 2.31520742e-01 4.20021535e+02] [-2.76241570e-01 -8.65332349e-04 9.61087845e-01 4.86173464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.71, Y:420.05, Z:48.60 [[ 5.22543364e-01 -8.35677315e-01 1.69091271e-01 5.44708227e+02] [ 8.04919438e-01 5.48914693e-01 2.25382691e-01 4.20046265e+02] [-2.81163885e-01 1.83326213e-02 9.59484645e-01 4.85954222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.74, Y:420.06, Z:48.61 [[ 5.24152185e-01 -8.40986998e-01 1.34184041e-01 5.44743112e+02] [ 8.05574051e-01 5.40726547e-01 2.42209103e-01 4.20063123e+02] [-2.76251580e-01 -1.88592486e-02 9.60900304e-01 4.86092428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.859254154 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:544.75, Y:420.09, Z:48.59 [[ 5.23413701e-01 -8.38791354e-01 1.49890501e-01 5.44748208e+02] [ 8.06470522e-01 5.44452965e-01 2.30599797e-01 4.20087108e+02] [-2.75033444e-01 1.83177537e-04 9.61434642e-01 4.85921787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.76, Y:420.11, Z:48.59 [[ 5.23929695e-01 -8.38445355e-01 1.50023539e-01 5.44763223e+02] [ 8.06023507e-01 5.44985673e-01 2.30904142e-01 4.20109856e+02] [-2.75361185e-01 -5.50371955e-05 9.61340842e-01 4.85859430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.78, Y:420.13, Z:48.58 [[ 5.24181000e-01 -8.38388115e-01 1.49464537e-01 5.44777751e+02] [ 8.06168636e-01 5.45073702e-01 2.30188598e-01 4.20132897e+02] [-2.74456573e-01 -1.66867364e-04 9.61599481e-01 4.85773208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9492541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:544.78, Y:420.16, Z:48.55 [[ 5.22275259e-01 -8.36091596e-01 1.67867200e-01 5.44780228e+02] [ 8.06760183e-01 5.48214440e-01 2.20451660e-01 4.20157593e+02] [-2.76345004e-01 2.02921256e-02 9.60844248e-01 4.85525544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1065.9792541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:544.82, Y:420.17, Z:48.57 [[ 5.24319135e-01 -8.41657662e-01 1.29235536e-01 5.44815509e+02] [ 8.07586219e-01 5.39626800e-01 2.37923130e-01 4.20173981e+02] [-2.69988785e-01 -2.03788117e-02 9.62647786e-01 4.85664122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.0092541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:544.82, Y:420.20, Z:48.55 [[ 5.24121344e-01 -8.38943683e-01 1.46527518e-01 5.44821018e+02] [ 8.07929112e-01 5.44218239e-01 2.26002341e-01 4.20200064e+02] [-2.69346184e-01 -6.88027337e-05 9.63043420e-01 4.85500637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.0392541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:544.84, Y:420.22, Z:48.54 [[ 5.22889466e-01 -8.39686419e-01 1.46674211e-01 5.44835779e+02] [ 8.08596885e-01 5.43071509e-01 2.26372290e-01 4.20222526e+02] [-2.69736322e-01 2.32624054e-04 9.62934194e-01 4.85430014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.85, Y:420.24, Z:48.54 [[ 5.22422449e-01 -8.39846854e-01 1.47417931e-01 5.44850416e+02] [ 8.08398704e-01 5.42823367e-01 2.27671533e-01 4.20244309e+02] [-2.71231119e-01 2.31744645e-04 9.62514222e-01 4.85369778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.099254154 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:544.86, Y:420.27, Z:48.53 [[ 5.21390184e-01 -8.40536401e-01 1.47142225e-01 5.44864868e+02] [ 8.09207000e-01 5.41754810e-01 2.27345020e-01 4.20266031e+02] [-2.70806773e-01 5.33056159e-04 9.62633579e-01 4.85278806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.129254154 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:544.88, Y:420.29, Z:48.52 [[ 5.20737569e-01 -8.40693783e-01 1.48547457e-01 5.44879384e+02] [ 8.08714991e-01 5.41510549e-01 2.29665822e-01 4.20288908e+02] [-2.73518644e-01 5.36933475e-04 9.61866552e-01 4.85210372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.88, Y:420.31, Z:48.50 [[ 5.17843265e-01 -8.37992496e-01 1.72066646e-01 5.44879368e+02] [ 8.08041059e-01 5.45179027e-01 2.23269961e-01 4.20314567e+02] [-2.80905679e-01 2.34180694e-02 9.59449631e-01 4.84982118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.92, Y:420.33, Z:48.52 [[ 5.21383380e-01 -8.43531144e-01 1.28897554e-01 5.44920225e+02] [ 8.07315648e-01 5.36542052e-01 2.45691006e-01 4.20331631e+02] [-2.76406973e-01 -2.40381946e-02 9.60740001e-01 4.85170613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.91, Y:420.36, Z:48.48 [[ 5.18215189e-01 -8.37283604e-01 1.74382296e-01 5.44906087e+02] [ 8.07148874e-01 5.46211275e-01 2.23973076e-01 4.20360413e+02] [-2.82778560e-01 2.46862245e-02 9.58867497e-01 4.84817839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2492541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:544.95, Y:420.38, Z:48.50 [[ 5.22554913e-01 -8.43216152e-01 1.26185908e-01 5.44950030e+02] [ 8.06789662e-01 5.36891961e-01 2.46652518e-01 4.20376318e+02] [-2.75729587e-01 -2.70839988e-02 9.60853606e-01 4.85008404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.94, Y:420.41, Z:48.47 [[ 5.22276645e-01 -8.35306527e-01 1.71726851e-01 5.44936290e+02] [ 8.04994228e-01 5.49373579e-01 2.23993224e-01 4.20406014e+02] [-2.81445197e-01 2.12526943e-02 9.59341923e-01 4.84676861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.3092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.96, Y:420.43, Z:48.47 [[ 5.24348655e-01 -8.38663547e-01 1.47315794e-01 5.44963509e+02] [ 8.04263778e-01 5.44614373e-01 2.37812870e-01 4.20425193e+02] [-2.79675284e-01 -6.21610184e-03 9.60074526e-01 4.84713005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.99, Y:420.45, Z:48.48 [[ 5.29578345e-01 -8.38269202e-01 1.29813411e-01 5.44989119e+02] [ 8.02902352e-01 5.44728571e-01 2.42112776e-01 4.20447282e+02] [-2.73668758e-01 -2.39901903e-02 9.61524769e-01 4.84767248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:544.97, Y:420.48, Z:48.44 [[ 5.29881241e-01 -8.30886226e-01 1.69864505e-01 5.44974800e+02] [ 8.00989029e-01 5.56131241e-01 2.21663299e-01 4.20476399e+02] [-2.78643940e-01 1.86043813e-02 9.60214264e-01 4.84436853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.399254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:545.02, Y:420.49, Z:48.46 [[ 5.34785194e-01 -8.35597498e-01 1.25624911e-01 5.45016302e+02] [ 8.00272396e-01 5.48578724e-01 2.42126983e-01 4.20493456e+02] [-2.71235855e-01 -2.89517767e-02 9.62077391e-01 4.84597322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:545.02, Y:420.52, Z:48.44 [[ 5.36693298e-01 -8.30867570e-01 1.47035320e-01 5.45018089e+02] [ 7.98934693e-01 5.56447782e-01 2.28186813e-01 4.20520920e+02] [-2.71410501e-01 -4.99471530e-03 9.62450722e-01 4.84426731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:545.03, Y:420.54, Z:48.44 [[ 5.36598676e-01 -8.31013524e-01 1.46555054e-01 5.45032056e+02] [ 7.99255643e-01 5.56229817e-01 2.27593516e-01 4.20542650e+02] [-2.70651581e-01 -4.99142565e-03 9.62664431e-01 4.84351070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.4892541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:545.05, Y:420.57, Z:48.43 [[ 5.35680410e-01 -8.31628596e-01 1.46425331e-01 5.45046704e+02] [ 7.99928048e-01 5.55312143e-01 2.27472068e-01 4.20565126e+02] [-2.70484041e-01 -4.72260092e-03 9.62712876e-01 4.84266624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.06, Y:420.59, Z:48.42 [[ 5.32947251e-01 -8.33195247e-01 1.47488671e-01 5.45062271e+02] [ 8.01039299e-01 5.52964107e-01 2.29274375e-01 4.20587987e+02] [-2.72586260e-01 -4.04692598e-03 9.62122837e-01 4.84206587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.5492541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:545.08, Y:420.61, Z:48.41 [[ 5.30951746e-01 -8.34437659e-01 1.47661899e-01 5.45076602e+02] [ 8.02208730e-01 5.51091222e-01 2.29694620e-01 4.20608979e+02] [-2.73041017e-01 -3.50109551e-03 9.61996022e-01 4.84124366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.579254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:545.09, Y:420.63, Z:48.41 [[ 5.26970654e-01 -8.36766935e-01 1.48738112e-01 5.45092212e+02] [ 8.04118113e-01 5.47554066e-01 2.31470527e-01 4.20630763e+02] [-2.75129042e-01 -2.37516514e-03 9.61404373e-01 4.84055329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.609254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:545.11, Y:420.65, Z:48.40 [[ 5.24831020e-01 -8.38060338e-01 1.49021038e-01 5.45107537e+02] [ 8.05292281e-01 5.45574627e-01 2.32061778e-01 4.20653041e+02] [-2.75783869e-01 -1.78772776e-03 9.61218009e-01 4.83974380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.12, Y:420.68, Z:48.39 [[ 5.22906363e-01 -8.39131136e-01 1.49759383e-01 5.45122662e+02] [ 8.06030076e-01 5.43927573e-01 2.33363050e-01 4.20675881e+02] [-2.77280459e-01 -1.31645694e-03 9.60788121e-01 4.83901851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6692541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:545.14, Y:420.70, Z:48.38 [[ 5.18784830e-01 -8.41757897e-01 1.49351742e-01 5.45137851e+02] [ 8.08902793e-01 5.39855205e-01 2.32879001e-01 4.20697501e+02] [-2.76656054e-01 -3.05198028e-06 9.60969005e-01 4.83802554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.6992541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:545.15, Y:420.72, Z:48.37 [[ 5.17279712e-01 -8.42669659e-01 1.49430736e-01 5.45152114e+02] [ 8.09771624e-01 5.38430764e-01 2.33157092e-01 4.20719262e+02] [-2.76932513e-01 3.97336313e-04 9.60889289e-01 4.83723943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.7292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:545.16, Y:420.74, Z:48.35 [[ 5.13029416e-01 -8.42373960e-01 1.64945233e-01 5.45156594e+02] [ 8.11287919e-01 5.38619916e-01 2.27377438e-01 4.20743379e+02] [-2.80379621e-01 1.71667600e-02 9.59735678e-01 4.83527453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.19, Y:420.76, Z:48.36 [[ 5.15260020e-01 -8.46621429e-01 1.33188839e-01 5.45190589e+02] [ 8.11701590e-01 5.31950111e-01 2.41183764e-01 4.20761905e+02] [-2.75041160e-01 -1.61627584e-02 9.61296586e-01 4.83631976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.7892541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:545.18, Y:420.79, Z:48.33 [[ 5.13637169e-01 -8.41241693e-01 1.68787657e-01 5.45180446e+02] [ 8.12585730e-01 5.40098203e-01 2.19085287e-01 4.20789417e+02] [-2.75465588e-01 2.46240945e-02 9.60995507e-01 4.83311529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.8192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.22, Y:420.81, Z:48.35 [[ 5.17011574e-01 -8.46717046e-01 1.25575782e-01 5.45221295e+02] [ 8.11650139e-01 5.31531413e-01 2.42277545e-01 4.20807250e+02] [-2.71888000e-01 -2.33366941e-02 9.62045900e-01 4.83490658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.22, Y:420.84, Z:48.32 [[ 5.15966277e-01 -8.41461527e-01 1.60378615e-01 5.45215080e+02] [ 8.11105731e-01 5.40128157e-01 2.24430539e-01 4.20835445e+02] [-2.75474670e-01 1.42854238e-02 9.61202181e-01 4.83212896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.879254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:545.23, Y:420.86, Z:48.31 [[ 5.16340159e-01 -8.42564924e-01 1.53222681e-01 5.45230488e+02] [ 8.10730414e-01 5.38564326e-01 2.29487826e-01 4.20855090e+02] [-2.75878663e-01 5.72850689e-03 9.61175399e-01 4.83131787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9092541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:545.26, Y:420.88, Z:48.32 [[ 5.18857282e-01 -8.45217314e-01 1.28042232e-01 5.45259670e+02] [ 8.10535603e-01 5.34008797e-01 2.40554861e-01 4.20875046e+02] [-2.71696812e-01 -2.10308534e-02 9.62153078e-01 4.83225861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:545.26, Y:420.90, Z:48.31 [[ 5.20414309e-01 -8.41200360e-01 1.46802253e-01 5.45263140e+02] [ 8.09191643e-01 5.40722922e-01 2.29842571e-01 4.20900510e+02] [-2.72722996e-01 -8.22206424e-04 9.62092247e-01 4.83074257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.28, Y:420.92, Z:48.30 [[ 5.21291124e-01 -8.40527689e-01 1.47542430e-01 5.45276712e+02] [ 8.08138244e-01 5.41767196e-01 2.31086314e-01 4.20923377e+02] [-2.74168094e-01 -1.22856396e-03 9.61681001e-01 4.83011344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1066.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.28, Y:420.95, Z:48.28 [[ 5.20276028e-01 -8.38194649e-01 1.63531604e-01 5.45279946e+02] [ 8.06794499e-01 5.45204471e-01 2.27672398e-01 4.20948828e+02] [-2.79991948e-01 1.34839078e-02 9.59907649e-01 4.82817342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.31, Y:420.97, Z:48.29 [[ 5.23387790e-01 -8.41420836e-01 1.34447751e-01 5.45311221e+02] [ 8.06207012e-01 5.40079549e-01 2.41545721e-01 4.20967945e+02] [-2.75854083e-01 -1.80293615e-02 9.61030419e-01 4.82910420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.0592541539997 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:545.32, Y:420.99, Z:48.28 [[ 5.25118093e-01 -8.38124254e-01 1.47643907e-01 5.45317277e+02] [ 8.05522574e-01 5.45472999e-01 2.31500734e-01 4.20993324e+02] [-2.74562145e-01 -2.63472392e-03 9.61565747e-01 4.82750073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.089254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:545.33, Y:421.02, Z:48.27 [[ 5.25933851e-01 -8.37548935e-01 1.48004615e-01 5.45331444e+02] [ 8.04719185e-01 5.46353925e-01 2.32216326e-01 4.21016661e+02] [-2.75355438e-01 -3.02827351e-03 9.61337720e-01 4.82683534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.119254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:545.34, Y:421.04, Z:48.26 [[ 5.25918015e-01 -8.37109566e-01 1.50525137e-01 5.45344425e+02] [ 8.04295951e-01 5.47034366e-01 2.32080646e-01 4.21039489e+02] [-2.76619352e-01 -9.88634058e-04 9.60979062e-01 4.82585345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.149254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:545.35, Y:421.06, Z:48.24 [[ 5.26054962e-01 -8.35623874e-01 1.58110463e-01 5.45353273e+02] [ 8.03877909e-01 5.49257054e-01 2.28247664e-01 4.21062762e+02] [-2.77572485e-01 7.03069221e-03 9.60678971e-01 4.82434858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.1792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:545.38, Y:421.08, Z:48.25 [[ 5.28843071e-01 -8.37786072e-01 1.35792138e-01 5.45381780e+02] [ 8.02890855e-01 5.45706309e-01 2.39939366e-01 4.21082504e+02] [-2.75120485e-01 -1.78640053e-02 9.61243776e-01 4.82497948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:545.39, Y:421.11, Z:48.24 [[ 5.28974812e-01 -8.35689081e-01 1.47680089e-01 5.45389595e+02] [ 8.02785293e-01 5.49186101e-01 2.32229199e-01 4.21106588e+02] [-2.75175258e-01 -4.28799353e-03 9.61384518e-01 4.82370280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:545.40, Y:421.13, Z:48.23 [[ 5.28444550e-01 -8.36009371e-01 1.47765658e-01 5.45404446e+02] [ 8.03054775e-01 5.48699304e-01 2.32448065e-01 4.21129021e+02] [-2.75407674e-01 -4.17199629e-03 9.61318473e-01 4.82287466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2692541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:545.42, Y:421.15, Z:48.22 [[ 5.27906405e-01 -8.36368988e-01 1.47654134e-01 5.45419213e+02] [ 8.03434431e-01 5.48151761e-01 2.32427973e-01 4.21150860e+02] [-2.75332423e-01 -4.06980074e-03 9.61340467e-01 4.82207530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.44, Y:421.17, Z:48.21 [[ 5.27121936e-01 -8.36640646e-01 1.48912371e-01 5.45435957e+02] [ 8.03676795e-01 5.47744457e-01 2.32550250e-01 4.21174667e+02] [-2.76126917e-01 -2.90492112e-03 9.61116792e-01 4.82126051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.45, Y:421.20, Z:48.21 [[ 5.26678576e-01 -8.37161554e-01 1.47547319e-01 5.45450124e+02] [ 8.04186792e-01 5.46941863e-01 2.32676174e-01 4.21195303e+02] [-2.75487352e-01 -3.88995079e-03 9.61296826e-01 4.82056964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.359254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:545.47, Y:421.22, Z:48.20 [[ 5.26519061e-01 -8.37369834e-01 1.46933455e-01 5.45465289e+02] [ 8.04714792e-01 5.46624255e-01 2.31594534e-01 4.21217856e+02] [-2.74247667e-01 -3.69941198e-03 9.61651981e-01 4.81967602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.389254154 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:545.48, Y:421.24, Z:48.19 [[ 5.26672297e-01 -8.37365327e-01 1.46409019e-01 5.45479372e+02] [ 8.04903072e-01 5.46630633e-01 2.30924220e-01 4.21239707e+02] [-2.73399590e-01 -3.77632062e-03 9.61893135e-01 4.81881724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4192541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:545.49, Y:421.26, Z:48.18 [[ 5.27021524e-01 -8.37143079e-01 1.46423288e-01 5.45493858e+02] [ 8.04642256e-01 5.46969786e-01 2.31030070e-01 4.21262339e+02] [-2.73494339e-01 -3.93945429e-03 9.61865546e-01 4.81806235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.51, Y:421.29, Z:48.17 [[ 5.27974182e-01 -8.36549626e-01 1.46383014e-01 5.45507558e+02] [ 8.04000187e-01 5.47874011e-01 2.31122842e-01 4.21285183e+02] [-2.73545176e-01 -4.33492253e-03 9.61849388e-01 4.81739902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.4792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:545.52, Y:421.31, Z:48.17 [[ 5.28680452e-01 -8.36268150e-01 1.45439197e-01 5.45520342e+02] [ 8.04111068e-01 5.48302244e-01 2.29717303e-01 4.21307261e+02] [-2.71849902e-01 -4.49777965e-03 9.62329154e-01 4.81652888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.5092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:545.53, Y:421.33, Z:48.16 [[ 5.28788313e-01 -8.36205461e-01 1.45407524e-01 5.45534011e+02] [ 8.04037382e-01 5.48397205e-01 2.29748546e-01 4.21330643e+02] [-2.71858068e-01 -4.57526056e-03 9.62326482e-01 4.81569334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.55, Y:421.35, Z:48.15 [[ 5.29220534e-01 -8.35984529e-01 1.45105111e-01 5.45547217e+02] [ 8.03901166e-01 5.48732312e-01 2.29424855e-01 4.21353082e+02] [-2.71419492e-01 -4.76617666e-03 9.62449346e-01 4.81496247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.5692541539997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:545.56, Y:421.38, Z:48.14 [[ 5.29764339e-01 -8.35688697e-01 1.44824540e-01 5.45561462e+02] [ 8.03698178e-01 5.49181085e-01 2.29061946e-01 4.21375425e+02] [-2.70959377e-01 -4.95363182e-03 9.62578037e-01 4.81413833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.599254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:545.58, Y:421.40, Z:48.13 [[ 5.29540624e-01 -8.35842294e-01 1.44756304e-01 5.45576083e+02] [ 8.03845632e-01 5.48947239e-01 2.29105060e-01 4.21398642e+02] [-2.70959273e-01 -4.95871403e-03 9.62578040e-01 4.81333539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.59, Y:421.42, Z:48.13 [[ 5.29853896e-01 -8.35593350e-01 1.45046896e-01 5.45590465e+02] [ 8.03416440e-01 5.49324078e-01 2.29706510e-01 4.21421711e+02] [-2.71618984e-01 -5.17782806e-03 9.62390938e-01 4.81260874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.6592541539999 meters Centerline goodness : 0.999735 Centerline is valid? [True, True] Translation: X:545.60, Y:421.44, Z:48.12 [[ 5.29846489e-01 -8.35700576e-01 1.44454995e-01 5.45604463e+02] [ 8.03752636e-01 5.49160863e-01 2.28919304e-01 4.21443658e+02] [-2.70637024e-01 -5.18600696e-03 9.62667496e-01 4.81167157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.6892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:545.62, Y:421.47, Z:48.11 [[ 5.29913186e-01 -8.35613257e-01 1.44715235e-01 5.45619070e+02] [ 8.03501884e-01 5.49292367e-01 2.29483372e-01 4.21467199e+02] [-2.71250323e-01 -5.32730082e-03 9.62494095e-01 4.81097193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7192541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:545.63, Y:421.49, Z:48.10 [[ 5.29915650e-01 -8.35578707e-01 1.44905585e-01 5.45632730e+02] [ 8.03335788e-01 5.49343803e-01 2.29941296e-01 4.21488894e+02] [-2.71737035e-01 -5.44164915e-03 9.62356157e-01 4.81021320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.65, Y:421.51, Z:48.10 [[ 5.29899444e-01 -8.35495847e-01 1.45441638e-01 5.45647158e+02] [ 8.02982320e-01 5.49468694e-01 2.30875612e-01 4.21512344e+02] [-2.72811242e-01 -5.55379472e-03 9.62051548e-01 4.80953466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.65, Y:421.54, Z:48.07 [[ 5.27285821e-01 -8.34031511e-01 1.62361026e-01 5.45651363e+02] [ 8.03439945e-01 5.51580655e-01 2.24149583e-01 4.21537773e+02] [-2.76503016e-01 1.22564368e-02 9.60934890e-01 4.80747556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.8092541539997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:545.69, Y:421.55, Z:48.09 [[ 5.27803119e-01 -8.39667438e-01 1.27993990e-01 5.45685076e+02] [ 8.05388966e-01 5.42620930e-01 2.38560559e-01 4.21554953e+02] [-2.69763751e-01 -2.28280605e-02 9.62655909e-01 4.80854728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.839254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:545.69, Y:421.58, Z:48.07 [[ 5.27499602e-01 -8.37332350e-01 1.43592153e-01 5.45690926e+02] [ 8.05627322e-01 5.46673668e-01 2.28281665e-01 4.21580740e+02] [-2.69645672e-01 -4.73672553e-03 9.62947961e-01 4.80709294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.869254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:545.71, Y:421.60, Z:48.06 [[ 5.27186813e-01 -8.37482685e-01 1.43863881e-01 5.45705103e+02] [ 8.05618480e-01 5.46443176e-01 2.28863978e-01 4.21603960e+02] [-2.70283055e-01 -4.75467036e-03 9.62769164e-01 4.80634171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.899254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:545.72, Y:421.63, Z:48.06 [[ 5.27337978e-01 -8.37448377e-01 1.43509142e-01 5.45718564e+02] [ 8.05700120e-01 5.46494949e-01 2.28452594e-01 4.21627225e+02] [-2.69744275e-01 -4.84639584e-03 9.62919799e-01 4.80556036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:545.73, Y:421.65, Z:48.05 [[ 5.27147329e-01 -8.37622636e-01 1.43192224e-01 5.45732593e+02] [ 8.05980757e-01 5.46227942e-01 2.28100974e-01 4.21650216e+02] [-2.69278132e-01 -4.83264208e-03 9.63050327e-01 4.80472211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9592541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:545.74, Y:421.68, Z:48.03 [[ 5.24956138e-01 -8.35968494e-01 1.59930390e-01 5.45736202e+02] [ 8.06077449e-01 5.48636612e-01 2.21894150e-01 4.21675360e+02] [-2.73240186e-01 1.24315852e-02 9.61865509e-01 4.80267157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1067.9892541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:545.77, Y:421.69, Z:48.04 [[ 5.26374769e-01 -8.40612934e-01 1.27669487e-01 5.45769792e+02] [ 8.06570389e-01 5.41180400e-01 2.37840245e-01 4.21693306e+02] [-2.69023810e-01 -2.22186765e-02 9.62877209e-01 4.80382740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.78, Y:421.72, Z:48.03 [[ 5.25153820e-01 -8.38710854e-01 1.44144264e-01 5.45776727e+02] [ 8.06576164e-01 5.44558304e-01 2.29980752e-01 4.21718435e+02] [-2.71382308e-01 -4.51194310e-03 9.62461056e-01 4.80256137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.0492541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:545.79, Y:421.74, Z:48.02 [[ 5.23844473e-01 -8.39659500e-01 1.43383726e-01 5.45791555e+02] [ 8.07881908e-01 5.43098126e-01 2.28847652e-01 4.21740391e+02] [-2.70025538e-01 -4.04345961e-03 9.62844671e-01 4.80167370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.079254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:545.81, Y:421.76, Z:48.01 [[ 5.23096668e-01 -8.39937715e-01 1.44480142e-01 5.45805559e+02] [ 8.07628149e-01 5.42667912e-01 2.30755952e-01 4.21762699e+02] [-2.72225364e-01 -4.02143999e-03 9.62225119e-01 4.80103691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.109254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:545.82, Y:421.79, Z:48.00 [[ 5.22218710e-01 -8.40606909e-01 1.43762457e-01 5.45820787e+02] [ 8.08625549e-01 5.41633030e-01 2.29691929e-01 4.21785111e+02] [-2.70947118e-01 -3.69942692e-03 9.62587125e-01 4.80023148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.139254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:545.83, Y:421.81, Z:47.98 [[ 5.20320115e-01 -8.39128086e-01 1.58527703e-01 5.45825385e+02] [ 8.09070871e-01 5.43795387e-01 2.22914563e-01 4.21809733e+02] [-2.73260504e-01 1.22732156e-02 9.61861770e-01 4.79825177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1692541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:545.85, Y:421.83, Z:47.98 [[ 5.19430080e-01 -8.42060668e-01 1.45348626e-01 5.45845790e+02] [ 8.09715096e-01 5.39377579e-01 2.31156419e-01 4.21830920e+02] [-2.73045519e-01 -2.37862084e-03 9.61998174e-01 4.79796182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.1992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:545.86, Y:421.85, Z:47.97 [[ 5.18611622e-01 -8.42166340e-01 1.47640922e-01 5.45858260e+02] [ 8.09853071e-01 5.39217758e-01 2.31045912e-01 4.21853955e+02] [-2.74189697e-01 -2.55641295e-04 9.61675592e-01 4.79705307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.2292541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:545.89, Y:421.87, Z:47.98 [[ 5.20329982e-01 -8.45392520e-01 1.20698788e-01 5.45890861e+02] [ 8.10486666e-01 5.33404660e-01 2.42055433e-01 4.21874640e+02] [-2.69013148e-01 -2.81239408e-02 9.62725802e-01 4.79811569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.89, Y:421.90, Z:47.96 [[ 5.19872760e-01 -8.42054686e-01 1.43792279e-01 5.45892983e+02] [ 8.10043452e-01 5.39383328e-01 2.29989634e-01 4.21901472e+02] [-2.71223007e-01 -3.08735148e-03 9.62511584e-01 4.79648883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.91, Y:421.92, Z:47.96 [[ 5.17729730e-01 -8.43248381e-01 1.44527143e-01 5.45907172e+02] [ 8.10918342e-01 5.37518129e-01 2.31269764e-01 4.21923392e+02] [-2.72703813e-01 -2.53552152e-03 9.62094695e-01 4.79574515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.3192541539997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:545.92, Y:421.95, Z:47.95 [[ 5.16277010e-01 -8.44184857e-01 1.44256634e-01 5.45921443e+02] [ 8.11990828e-01 5.36048122e-01 2.30918396e-01 4.21945448e+02] [-2.72266311e-01 -2.08279506e-03 9.62219683e-01 4.79488931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.349254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:545.94, Y:421.97, Z:47.94 [[ 5.14914276e-01 -8.44972857e-01 1.44513528e-01 5.45935557e+02] [ 8.12649258e-01 5.34806316e-01 2.31480860e-01 4.21968484e+02] [-2.72881791e-01 -1.75398792e-03 9.62045972e-01 4.79410376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.95, Y:421.99, Z:47.93 [[ 5.13286695e-01 -8.45816906e-01 1.45363442e-01 5.45949897e+02] [ 8.13092870e-01 5.33471460e-01 2.32998254e-01 4.21991658e+02] [-2.74621110e-01 -1.40092602e-03 9.61551498e-01 4.79334682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4092541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:545.96, Y:422.01, Z:47.92 [[ 5.11409601e-01 -8.46970068e-01 1.45265015e-01 5.45963483e+02] [ 8.14292488e-01 5.31639870e-01 2.32995263e-01 4.22014936e+02] [-2.74568687e-01 -8.67804047e-04 9.61567098e-01 4.79241423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:545.98, Y:422.04, Z:47.92 [[ 5.10795185e-01 -8.47334870e-01 1.45299338e-01 5.45976649e+02] [ 8.14611589e-01 5.31058419e-01 2.33205734e-01 4.22037032e+02] [-2.74765787e-01 -7.57841320e-04 9.61510888e-01 4.79164158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4692541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:545.99, Y:422.06, Z:47.91 [[ 5.10333391e-01 -8.47695975e-01 1.44814931e-01 5.45990327e+02] [ 8.15179764e-01 5.30482000e-01 2.32531288e-01 4.22059591e+02] [-2.73937551e-01 -6.18279133e-04 9.61747283e-01 4.79080479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:545.99, Y:422.09, Z:47.88 [[ 5.06244149e-01 -8.45581545e-01 1.69436457e-01 5.45985183e+02] [ 8.15470903e-01 5.33293498e-01 2.24956111e-01 4.22085597e+02] [-2.80578097e-01 2.42877858e-02 9.59523859e-01 4.78824167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.5292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:546.03, Y:422.10, Z:47.90 [[ 5.10684653e-01 -8.51331396e-01 1.20150068e-01 5.46030405e+02] [ 8.15290684e-01 5.23879570e-01 2.46680556e-01 4.22102348e+02] [-2.72951068e-01 -2.80187437e-02 9.61619813e-01 4.79019628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.5592541539997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:546.03, Y:422.13, Z:47.88 [[ 5.11632984e-01 -8.47159953e-01 1.43358654e-01 5.46030015e+02] [ 8.15200733e-01 5.31336882e-01 2.30497035e-01 4.22130234e+02] [-2.71439597e-01 -1.06380607e-03 9.62454889e-01 4.78819996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.589254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:546.04, Y:422.15, Z:47.87 [[ 5.12114042e-01 -8.46904775e-01 1.43148562e-01 5.46042715e+02] [ 8.14988443e-01 5.31743040e-01 2.30311045e-01 4.22152712e+02] [-2.71169775e-01 -1.28109646e-03 9.62530681e-01 4.78743312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.619254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:546.06, Y:422.18, Z:47.87 [[ 5.12631217e-01 -8.46589161e-01 1.43164342e-01 5.46056329e+02] [ 8.14630887e-01 5.32244835e-01 2.30416912e-01 4.22176126e+02] [-2.71266941e-01 -1.49280704e-03 9.62502996e-01 4.78656778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.649254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:546.07, Y:422.20, Z:47.86 [[ 5.13671141e-01 -8.45905592e-01 1.43477138e-01 5.46068781e+02] [ 8.13734006e-01 5.33329114e-01 2.31077961e-01 4.22198602e+02] [-2.71990674e-01 -1.94585310e-03 9.62297920e-01 4.78578515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.08, Y:422.22, Z:47.85 [[ 5.14456530e-01 -8.45357349e-01 1.43893821e-01 5.46082695e+02] [ 8.12949872e-01 5.34196321e-01 2.31833553e-01 4.22222071e+02] [-2.72849747e-01 -2.28982154e-03 9.62053934e-01 4.78508220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7092541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:546.10, Y:422.24, Z:47.84 [[ 5.14870333e-01 -8.45076826e-01 1.44061441e-01 5.46095894e+02] [ 8.12538140e-01 5.34638921e-01 2.32256314e-01 4.22244867e+02] [-2.73295282e-01 -2.52647076e-03 9.61926871e-01 4.78422265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7392541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:546.11, Y:422.27, Z:47.84 [[ 5.15366934e-01 -8.44668051e-01 1.44681745e-01 5.46109180e+02] [ 8.11781295e-01 5.35282904e-01 2.33416669e-01 4.22267722e+02] [-2.74605268e-01 -2.84529853e-03 9.61552833e-01 4.78352772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7692541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:546.12, Y:422.29, Z:47.83 [[ 5.15114826e-01 -8.44883602e-01 1.44320528e-01 5.46123286e+02] [ 8.12148007e-01 5.34943008e-01 2.32919712e-01 4.22290821e+02] [-2.73993303e-01 -2.77076786e-03 9.61727608e-01 4.78264580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.14, Y:422.31, Z:47.82 [[ 5.15898042e-01 -8.44243762e-01 1.45264176e-01 5.46135747e+02] [ 8.10999413e-01 5.35949712e-01 2.34601489e-01 4.22313662e+02] [-2.75915137e-01 -3.22128710e-03 9.61176602e-01 4.78194413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.829254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:546.15, Y:422.34, Z:47.81 [[ 5.16165120e-01 -8.44068241e-01 1.45335380e-01 5.46149431e+02] [ 8.10753331e-01 5.36225145e-01 2.34822549e-01 4.22336944e+02] [-2.76138741e-01 -3.37606605e-03 9.61111855e-01 4.78111243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.859254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:546.16, Y:422.36, Z:47.80 [[ 5.17153976e-01 -8.43466421e-01 1.45314012e-01 5.46162115e+02] [ 8.10093423e-01 5.37168574e-01 2.34943760e-01 4.22358967e+02] [-2.76225293e-01 -3.78417445e-03 9.61085463e-01 4.78024272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.889254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:546.18, Y:422.38, Z:47.79 [[ 5.17669123e-01 -8.43216403e-01 1.44930250e-01 5.46176292e+02] [ 8.09989460e-01 5.37559736e-01 2.34406922e-01 4.22382256e+02] [-2.75564428e-01 -3.95325045e-03 9.61274476e-01 4.77938191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.17, Y:422.41, Z:47.77 [[ 5.13331482e-01 -8.41149550e-01 1.70171162e-01 5.46170091e+02] [ 8.10007630e-01 5.40396975e-01 2.27725160e-01 4.22406996e+02] [-2.83510897e-01 2.09414452e-02 9.58740334e-01 4.77698757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:546.22, Y:422.42, Z:47.79 [[ 5.18752274e-01 -8.46669699e-01 1.18517932e-01 5.46218533e+02] [ 8.09906831e-01 5.31083251e-01 2.49001018e-01 4.22423969e+02] [-2.73764506e-01 -3.31813613e-02 9.61224216e-01 4.77885173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1068.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.20, Y:422.45, Z:47.76 [[ 5.15014512e-01 -8.41603718e-01 1.62675239e-01 5.46201958e+02] [ 8.10171131e-01 5.39908403e-01 2.28301676e-01 4.22451798e+02] [-2.79969268e-01 1.42161061e-02 9.59903699e-01 4.77576676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.24, Y:422.47, Z:47.77 [[ 5.18230946e-01 -8.46168781e-01 1.24238002e-01 5.46244531e+02] [ 8.10771712e-01 5.32306079e-01 2.43514825e-01 4.22471394e+02] [-2.72187286e-01 -2.54682603e-02 9.61907194e-01 4.77700236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.25, Y:422.50, Z:47.75 [[ 5.17048626e-01 -8.43902717e-01 1.43139519e-01 5.46248643e+02] [ 8.11470938e-01 5.36483720e-01 2.31732895e-01 4.22496599e+02] [-2.72352041e-01 -3.66361517e-03 9.62190700e-01 4.77539734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.25, Y:422.52, Z:47.73 [[ 5.10157604e-01 -8.44710664e-01 1.61873756e-01 5.46247904e+02] [ 8.13814360e-01 5.34985053e-01 2.26929903e-01 4.22518497e+02] [-2.78290149e-01 1.59651720e-02 9.60364361e-01 4.77328817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.29, Y:422.54, Z:47.75 [[ 5.13527826e-01 -8.49116127e-01 1.23656682e-01 5.46289768e+02] [ 8.13688140e-01 5.27630070e-01 2.43963361e-01 4.22537343e+02] [-2.72398208e-01 -2.46639987e-02 9.61868444e-01 4.77472005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.129254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.29, Y:422.56, Z:47.73 [[ 5.12762967e-01 -8.46475144e-01 1.43366556e-01 5.46293497e+02] [ 8.13985746e-01 5.32422806e-01 2.32278199e-01 4.22564016e+02] [-2.72949346e-01 -2.40532551e-03 9.62025399e-01 4.77308690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.1592541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:546.29, Y:422.59, Z:47.71 [[ 5.07729933e-01 -8.46855846e-01 1.58257678e-01 5.46293676e+02] [ 8.15566618e-01 5.31661597e-01 2.28444826e-01 4.22586791e+02] [-2.77599366e-01 1.30814029e-02 9.60607864e-01 4.77123373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.1892541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:546.32, Y:422.61, Z:47.71 [[ 5.08152408e-01 -8.49405565e-01 1.42447588e-01 5.46316851e+02] [ 8.15587116e-01 5.27722107e-01 2.37333171e-01 4.22607557e+02] [-2.76764858e-01 -4.42300469e-03 9.60927495e-01 4.77105772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.33, Y:422.63, Z:47.70 [[ 5.08334690e-01 -8.49335060e-01 1.42217439e-01 5.46331600e+02] [ 8.16160409e-01 5.27842970e-01 2.35082933e-01 4.22630739e+02] [-2.74732652e-01 -3.42856680e-03 9.61514542e-01 4.77022777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2492541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:546.36, Y:422.65, Z:47.70 [[ 5.11742938e-01 -8.49941824e-01 1.25371693e-01 5.46359548e+02] [ 8.16116441e-01 5.26512664e-01 2.38198175e-01 4.22652895e+02] [-2.68464375e-01 -1.95783345e-02 9.63090633e-01 4.77045361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.2792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:546.37, Y:422.68, Z:47.69 [[ 5.12229183e-01 -8.47246245e-01 1.40694933e-01 5.46365182e+02] [ 8.15965227e-01 5.31196426e-01 2.28103280e-01 4.22679323e+02] [-2.67996292e-01 -2.03898393e-03 9.63417786e-01 4.76904856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.3092541539997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:546.37, Y:422.70, Z:47.67 [[ 5.09428934e-01 -8.46973144e-01 1.52048195e-01 5.46368671e+02] [ 8.16740264e-01 5.31544926e-01 2.24489051e-01 4.22702537e+02] [-2.70956644e-01 9.82266446e-03 9.62541434e-01 4.76746770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.40, Y:422.72, Z:47.68 [[ 5.12558309e-01 -8.48957666e-01 1.28665692e-01 5.46398886e+02] [ 8.15719528e-01 5.28222032e-01 2.35760761e-01 4.22723510e+02] [-2.68114959e-01 -1.58860196e-02 9.63255939e-01 4.76820732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.369254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:546.40, Y:422.75, Z:47.67 [[ 5.12146315e-01 -8.47268600e-01 1.40861891e-01 5.46404975e+02] [ 8.15819043e-01 5.31160063e-01 2.28710026e-01 4.22748335e+02] [-2.68599034e-01 -2.21518414e-03 9.63249527e-01 4.76692234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.42, Y:422.77, Z:47.66 [[ 5.12212634e-01 -8.47189627e-01 1.41095548e-01 5.46418430e+02] [ 8.15606922e-01 5.31285621e-01 2.29174472e-01 4.22770996e+02] [-2.69116271e-01 -2.30755406e-03 9.63104931e-01 4.76623481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.43, Y:422.79, Z:47.66 [[ 5.11415702e-01 -8.47666180e-01 1.41124157e-01 5.46432639e+02] [ 8.16065236e-01 5.30525802e-01 2.29303084e-01 4.22794157e+02] [-2.69242476e-01 -2.10267937e-03 9.63070126e-01 4.76553733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:546.45, Y:422.82, Z:47.65 [[ 5.10266225e-01 -8.48358268e-01 1.41126285e-01 5.46446399e+02] [ 8.16739797e-01 5.29419428e-01 2.29458436e-01 4.22817164e+02] [-2.69377959e-01 -1.82143625e-03 9.63032813e-01 4.76470633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.4892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:546.46, Y:422.84, Z:47.64 [[ 5.10041831e-01 -8.48504410e-01 1.41058842e-01 5.46460743e+02] [ 8.16879961e-01 5.29185157e-01 2.29499889e-01 4.22840585e+02] [-2.69377914e-01 -1.82640194e-03 9.63032816e-01 4.76391393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.47, Y:422.86, Z:47.63 [[ 5.08991902e-01 -8.49103926e-01 1.41243644e-01 5.46474402e+02] [ 8.17377922e-01 5.28223435e-01 2.29942027e-01 4.22863847e+02] [-2.69852881e-01 -1.58919351e-03 9.62900253e-01 4.76320235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.49, Y:422.89, Z:47.62 [[ 5.07871424e-01 -8.49783141e-01 1.41192174e-01 5.46488663e+02] [ 8.18063614e-01 5.27130812e-01 2.30010937e-01 4.22887259e+02] [-2.69886162e-01 -1.31180190e-03 9.62891343e-01 4.76242102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.50, Y:422.91, Z:47.62 [[ 5.07219622e-01 -8.50165796e-01 1.41231634e-01 5.46502214e+02] [ 8.18399150e-01 5.26513718e-01 2.30230617e-01 4.22909297e+02] [-2.70094588e-01 -1.19363791e-03 9.62833053e-01 4.76171232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.609254154 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:546.52, Y:422.93, Z:47.61 [[ 5.05208914e-01 -8.51383564e-01 1.41102730e-01 5.46515631e+02] [ 8.19699307e-01 5.24543307e-01 2.30102943e-01 4.22931562e+02] [-2.69920356e-01 -5.88248650e-04 9.62882472e-01 4.76076712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.639254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:546.53, Y:422.96, Z:47.60 [[ 5.04456310e-01 -8.51781524e-01 1.41393304e-01 5.46529835e+02] [ 8.19937045e-01 5.23896960e-01 2.30727583e-01 4.22955127e+02] [-2.70605014e-01 -4.58377574e-04 9.62690353e-01 4.76008581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6692541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:546.54, Y:422.98, Z:47.59 [[ 5.03774773e-01 -8.52173611e-01 1.41460644e-01 5.46543857e+02] [ 8.20269848e-01 5.23259043e-01 2.30992103e-01 4.22978097e+02] [-2.70865936e-01 -3.32093435e-04 9.62617024e-01 4.75932769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.6992541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:546.56, Y:423.00, Z:47.59 [[ 5.02616661e-01 -8.52846581e-01 1.41524565e-01 5.46557883e+02] [ 8.20896124e-01 5.22161572e-01 2.31250614e-01 4.23001413e+02] [-2.71119985e-01 -5.34442421e-05 9.62545558e-01 4.75856501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.7292541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:546.57, Y:423.02, Z:47.57 [[ 5.00416631e-01 -8.53471639e-01 1.45496933e-01 5.46567805e+02] [ 8.21836124e-01 5.21121134e-01 2.30256702e-01 4.23024536e+02] [-2.72339092e-01 4.35035248e-03 9.62191506e-01 4.75745850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.58, Y:423.05, Z:47.57 [[ 4.99746416e-01 -8.53751224e-01 1.46158705e-01 5.46581786e+02] [ 8.21924105e-01 5.20659947e-01 2.30984816e-01 4.23047909e+02] [-2.73302553e-01 4.69752915e-03 9.61916653e-01 4.75668360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.7892541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:546.60, Y:423.07, Z:47.57 [[ 5.00544720e-01 -8.55512078e-01 1.32491763e-01 5.46604746e+02] [ 8.22225429e-01 5.17696719e-01 2.36506767e-01 4.23069116e+02] [-2.70924947e-01 -9.44411705e-03 9.62554145e-01 4.75655917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.8192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.61, Y:423.10, Z:47.55 [[ 4.99638686e-01 -8.53103074e-01 1.50254215e-01 5.46608265e+02] [ 8.22117290e-01 5.21654244e-01 2.28035109e-01 4.23095320e+02] [-2.72918201e-01 9.59142531e-03 9.61989428e-01 4.75486975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.849254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:546.63, Y:423.12, Z:47.55 [[ 5.00696836e-01 -8.55078489e-01 1.34697646e-01 5.46632441e+02] [ 8.22245083e-01 5.18454044e-01 2.34773141e-01 4.23116842e+02] [-2.70584002e-01 -6.79569206e-03 9.62672383e-01 4.75474682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.879254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:546.64, Y:423.14, Z:47.54 [[ 5.00633997e-01 -8.53987890e-01 1.41669637e-01 5.46641175e+02] [ 8.22335008e-01 5.20291550e-01 2.30351554e-01 4.23140740e+02] [-2.70426953e-01 1.17808311e-03 9.62739776e-01 4.75363316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.65, Y:423.16, Z:47.53 [[ 5.02248611e-01 -8.52849293e-01 1.42809020e-01 5.46651772e+02] [ 8.20122178e-01 5.22156991e-01 2.33990789e-01 4.23160705e+02] [-2.74127607e-01 -4.00704665e-04 9.61693243e-01 4.75276020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9392541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:546.67, Y:423.19, Z:47.52 [[ 5.04091329e-01 -8.53113365e-01 1.34497278e-01 5.46673079e+02] [ 8.20919325e-01 5.21683052e-01 2.32246111e-01 4.23185507e+02] [-2.68297212e-01 -6.66183575e-03 9.63313151e-01 4.75243485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9692541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:546.67, Y:423.21, Z:47.50 [[ 5.03786254e-01 -8.50114947e-01 1.53310100e-01 5.46674554e+02] [ 8.20367942e-01 5.26429954e-01 2.23311314e-01 4.23211572e+02] [-2.70547315e-01 1.32695211e-02 9.62615224e-01 4.75044561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1069.9992541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:546.70, Y:423.23, Z:47.51 [[ 5.05611620e-01 -8.53031520e-01 1.29205711e-01 5.46703308e+02] [ 8.20471247e-01 5.21717330e-01 2.33747643e-01 4.23231382e+02] [-2.66802966e-01 -1.21759536e-02 9.63674179e-01 4.75072956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.72, Y:423.26, Z:47.50 [[ 5.08711297e-01 -8.50355077e-01 1.34569904e-01 5.46715283e+02] [ 8.18618963e-01 5.26163157e-01 2.30250573e-01 4.23256212e+02] [-2.66600469e-01 -6.96959215e-03 9.63781933e-01 4.75020449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.72, Y:423.28, Z:47.48 [[ 5.07105538e-01 -8.48299307e-01 1.52421325e-01 5.46717332e+02] [ 8.18584376e-01 5.29386585e-01 2.22866470e-01 4.23281198e+02] [-2.69747276e-01 1.17528939e-02 9.62859427e-01 4.74820824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.74, Y:423.30, Z:47.48 [[ 5.07735851e-01 -8.50058977e-01 1.40014431e-01 5.46738507e+02] [ 8.18443031e-01 5.26683617e-01 2.29685377e-01 4.23302573e+02] [-2.68989424e-01 -2.02566556e-03 9.63141000e-01 4.74789635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.119254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:546.76, Y:423.32, Z:47.48 [[ 5.09315898e-01 -8.51570953e-01 1.24194318e-01 5.46762808e+02] [ 8.18759448e-01 5.23933783e-01 2.34790028e-01 4.23322487e+02] [-2.65009967e-01 -1.78970225e-02 9.64079568e-01 4.74804014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.149254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:546.76, Y:423.35, Z:47.46 [[ 5.06639261e-01 -8.48240641e-01 1.54286987e-01 5.46759366e+02] [ 8.18977306e-01 5.29420094e-01 2.21338059e-01 4.23350246e+02] [-2.69430568e-01 1.42189900e-02 9.62914840e-01 4.74565428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.78, Y:423.37, Z:47.45 [[ 5.03946269e-01 -8.51606184e-01 1.44239607e-01 5.46780843e+02] [ 8.19815971e-01 5.24178002e-01 2.30519403e-01 4.23370695e+02] [-2.71918979e-01 2.08054050e-03 9.62317900e-01 4.74529021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.80, Y:423.39, Z:47.45 [[ 5.02122128e-01 -8.53280987e-01 1.40658897e-01 5.46797433e+02] [ 8.20761998e-01 5.21448588e-01 2.33326193e-01 4.23392983e+02] [-2.72439188e-01 -1.71076738e-03 9.62171483e-01 4.74471070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.81, Y:423.42, Z:47.44 [[ 5.00802923e-01 -8.54185429e-01 1.39870246e-01 5.46813588e+02] [ 8.21392054e-01 5.19962447e-01 2.34423009e-01 4.23415676e+02] [-2.72967994e-01 -2.51141945e-03 9.62019837e-01 4.74405341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.84, Y:423.44, Z:47.45 [[ 5.02885927e-01 -8.56313377e-01 1.17614391e-01 5.46844450e+02] [ 8.21726876e-01 5.15843252e-01 2.42220315e-01 4.23436900e+02] [-2.68087086e-01 -2.51622820e-02 9.63066028e-01 4.74504621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.85, Y:423.46, Z:47.43 [[ 4.99923181e-01 -8.54693935e-01 1.39911010e-01 5.46847581e+02] [ 8.23036288e-01 5.19132231e-01 2.30462569e-01 4.23463609e+02] [-2.69607275e-01 -6.17424032e-05 9.62970360e-01 4.74334851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.86, Y:423.49, Z:47.43 [[ 4.98281226e-01 -8.55640926e-01 1.39980092e-01 5.46861645e+02] [ 8.23944871e-01 5.17569774e-01 2.30730098e-01 4.23486156e+02] [-2.69871580e-01 3.67402821e-04 9.62896254e-01 4.74256295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.359254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:546.88, Y:423.51, Z:47.42 [[ 4.94556111e-01 -8.57822936e-01 1.39835844e-01 5.46875911e+02] [ 8.26235547e-01 5.13943235e-01 2.30645123e-01 4.23508642e+02] [-2.69720362e-01 1.47038993e-03 9.62937570e-01 4.74170877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.389254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:546.89, Y:423.53, Z:47.41 [[ 4.92455825e-01 -8.59075964e-01 1.39555541e-01 5.46889639e+02] [ 8.27623728e-01 5.11843929e-01 2.30336184e-01 4.23531081e+02] [-2.69306935e-01 2.06908163e-03 9.63052176e-01 4.74087018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4192541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:546.88, Y:423.56, Z:47.39 [[ 4.84919823e-01 -8.59218548e-01 1.63083574e-01 5.46883680e+02] [ 8.30151310e-01 5.10889141e-01 2.23251176e-01 4.23555105e+02] [-2.75139178e-01 2.71251224e-02 9.61021675e-01 4.73852453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.91, Y:423.57, Z:47.39 [[ 4.81230944e-01 -8.66044227e-01 1.35588259e-01 5.46913451e+02] [ 8.32514087e-01 4.99963516e-01 2.38656190e-01 4.23572726e+02] [-2.74475998e-01 -1.96960805e-03 9.61591934e-01 4.73904189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.4792541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:546.94, Y:423.60, Z:47.40 [[ 4.84499403e-01 -8.67027205e-01 1.16293399e-01 5.46944677e+02] [ 8.32741933e-01 4.97837194e-01 2.42278769e-01 4.23595494e+02] [-2.67957463e-01 -2.05415287e-02 9.63211734e-01 4.73955316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.5092541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:546.95, Y:423.62, Z:47.38 [[ 4.81715942e-01 -8.65313697e-01 1.38498942e-01 5.46946318e+02] [ 8.34511832e-01 5.01202417e-01 2.28880185e-01 4.23622700e+02] [-2.67469164e-01 5.32377145e-03 9.63551713e-01 4.73787982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.5392541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:546.96, Y:423.65, Z:47.37 [[ 4.80345771e-01 -8.66164667e-01 1.37937339e-01 5.46960124e+02] [ 8.35608840e-01 4.99726286e-01 2.28104156e-01 4.23646023e+02] [-2.66506675e-01 5.69279332e-03 9.63816261e-01 4.73705032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.97, Y:423.67, Z:47.36 [[ 4.79996055e-01 -8.66313444e-01 1.38220128e-01 5.46973745e+02] [ 8.35593529e-01 4.99468143e-01 2.28724787e-01 4.23669603e+02] [-2.67183908e-01 5.70884867e-03 9.63628646e-01 4.73647989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.599254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:546.99, Y:423.69, Z:47.36 [[ 4.79719477e-01 -8.66526295e-01 1.37845582e-01 5.46986052e+02] [ 8.35942349e-01 4.99098514e-01 2.28256572e-01 4.23693605e+02] [-2.66588847e-01 5.73183631e-03 9.63793304e-01 4.73566810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:546.99, Y:423.72, Z:47.34 [[ 4.76060466e-01 -8.66023674e-01 1.52870631e-01 5.46985754e+02] [ 8.36746468e-01 4.99555676e-01 2.24275446e-01 4.23718034e+02] [-2.70595237e-01 2.11452875e-02 9.62460957e-01 4.73373510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.6592541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:547.02, Y:423.74, Z:47.35 [[ 4.80518473e-01 -8.68547984e-01 1.21352364e-01 5.47019268e+02] [ 8.35959394e-01 4.95460972e-01 2.35987960e-01 4.23738389e+02] [-2.65092227e-01 -1.19509258e-02 9.64148996e-01 4.73450064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.6892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:547.02, Y:423.76, Z:47.33 [[ 4.81142832e-01 -8.65911343e-01 1.36744732e-01 5.47023849e+02] [ 8.35715130e-01 5.00170614e-01 2.26736805e-01 4.23764973e+02] [-2.64729668e-01 5.18685288e-03 9.64308716e-01 4.73315886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:547.04, Y:423.79, Z:47.32 [[ 4.81614893e-01 -8.65656068e-01 1.36699184e-01 5.47036343e+02] [ 8.35428186e-01 5.00614542e-01 2.26814518e-01 4.23787684e+02] [-2.64776964e-01 4.96510161e-03 9.64296898e-01 4.73242980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:547.05, Y:423.81, Z:47.32 [[ 4.83678305e-01 -8.64557932e-01 1.36363043e-01 5.47048494e+02] [ 8.34410832e-01 5.02514778e-01 2.26356935e-01 4.23811730e+02] [-2.64223128e-01 4.29886149e-03 9.64451999e-01 4.73171081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.7792541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:547.06, Y:423.83, Z:47.31 [[ 4.85024219e-01 -8.63840689e-01 1.36127774e-01 5.47060449e+02] [ 8.33728953e-01 5.03750614e-01 2.26122427e-01 4.23834930e+02] [-2.63908203e-01 3.81881289e-03 9.64540241e-01 4.73095048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.07, Y:423.86, Z:47.30 [[ 4.89520829e-01 -8.61151204e-01 1.37069187e-01 5.47071589e+02] [ 8.30486557e-01 5.08343532e-01 2.27769473e-01 4.23860811e+02] [-2.65822191e-01 2.33621585e-03 9.64019245e-01 4.73036489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.08, Y:423.88, Z:47.30 [[ 4.92343062e-01 -8.59564262e-01 1.36921836e-01 5.47083408e+02] [ 8.28863306e-01 5.11025773e-01 2.27680213e-01 4.23884005e+02] [-2.65676362e-01 1.39271219e-03 9.64061270e-01 4.72965037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.869254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:547.09, Y:423.91, Z:47.29 [[ 4.94707884e-01 -8.58295341e-01 1.36356949e-01 5.47094925e+02] [ 8.27781541e-01 5.13155600e-01 2.26823833e-01 4.23906424e+02] [-2.64654171e-01 6.62226746e-04 9.64343161e-01 4.72878384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.11, Y:423.93, Z:47.28 [[ 5.00651610e-01 -8.54734140e-01 1.37031075e-01 5.47105961e+02] [ 8.23751870e-01 5.19064428e-01 2.28045998e-01 4.23932194e+02] [-2.66046656e-01 -1.29199209e-03 9.63959287e-01 4.72810856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.12, Y:423.96, Z:47.27 [[ 5.02938157e-01 -8.53424741e-01 1.36818937e-01 5.47118563e+02] [ 8.22450132e-01 5.21211996e-01 2.27846082e-01 4.23956447e+02] [-2.65761155e-01 -2.06573573e-03 9.64036691e-01 4.72733297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9592541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:547.13, Y:423.98, Z:47.26 [[ 5.06042360e-01 -8.51678792e-01 1.36251111e-01 5.47129692e+02] [ 8.20859694e-01 5.24055230e-01 2.27058316e-01 4.23980245e+02] [-2.64783859e-01 -3.05808044e-03 9.64302938e-01 4.72649752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1070.9892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:547.14, Y:424.00, Z:47.26 [[ 5.05781505e-01 -8.51584735e-01 1.37798796e-01 5.47139725e+02] [ 8.20520575e-01 5.24212315e-01 2.27919800e-01 4.24004573e+02] [-2.66328848e-01 -2.21087175e-03 9.63879690e-01 4.72572098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.16, Y:424.03, Z:47.25 [[ 5.08016407e-01 -8.50692431e-01 1.35061907e-01 5.47155858e+02] [ 8.19152740e-01 5.25629644e-01 2.29569741e-01 4.24028332e+02] [-2.66285783e-01 -5.98886351e-03 9.63875519e-01 4.72513934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.0492541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:547.17, Y:424.05, Z:47.24 [[ 5.08461290e-01 -8.50337940e-01 1.35618968e-01 5.47167278e+02] [ 8.19682166e-01 5.26222559e-01 2.26298401e-01 4.24052732e+02] [-2.63795876e-01 -3.89952733e-03 9.64570645e-01 4.72411550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.18, Y:424.08, Z:47.24 [[ 5.08767541e-01 -8.50042171e-01 1.36322767e-01 5.47180741e+02] [ 8.19007791e-01 5.26698198e-01 2.27629627e-01 4.24076529e+02] [-2.65295738e-01 -4.16115729e-03 9.64158108e-01 4.72352179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.109254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:547.19, Y:424.10, Z:47.23 [[ 5.08855986e-01 -8.50142502e-01 1.35363631e-01 5.47192966e+02] [ 8.19512298e-01 5.26536226e-01 2.26183989e-01 4.24099246e+02] [-2.63562478e-01 -4.16291691e-03 9.64633345e-01 4.72278095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.139254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:547.21, Y:424.12, Z:47.22 [[ 5.08567662e-01 -8.50518376e-01 1.34079923e-01 5.47205981e+02] [ 8.20462684e-01 5.25930255e-01 2.24139132e-01 4.24122341e+02] [-2.61151139e-01 -3.98234031e-03 9.65289710e-01 4.72186928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1692541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:547.22, Y:424.15, Z:47.22 [[ 5.08205232e-01 -8.51789726e-01 1.27207329e-01 5.47221363e+02] [ 8.20911998e-01 5.23763844e-01 2.27541046e-01 4.24145138e+02] [-2.60443725e-01 -1.12115271e-02 9.65423932e-01 4.72172397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.1992541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:547.24, Y:424.17, Z:47.21 [[ 5.09241163e-01 -8.51080290e-01 1.27811496e-01 5.47235982e+02] [ 8.21008057e-01 5.24952173e-01 2.24434815e-01 4.24169255e+02] [-2.58106970e-01 -9.35717757e-03 9.66071030e-01 4.72082162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.25, Y:424.19, Z:47.20 [[ 5.09152588e-01 -8.50319627e-01 1.33117141e-01 5.47246315e+02] [ 8.20980306e-01 5.26255137e-01 2.21465275e-01 4.24193420e+02] [-2.58369850e-01 -3.47306688e-03 9.66039833e-01 4.71988818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.25, Y:424.22, Z:47.18 [[ 5.08145600e-01 -8.49058095e-01 1.44528201e-01 5.47253983e+02] [ 8.20824235e-01 5.28235576e-01 2.17289555e-01 4.24216869e+02] [-2.60836394e-01 8.21751886e-03 9.65348045e-01 4.71831352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.27, Y:424.24, Z:47.18 [[ 5.07120996e-01 -8.51430958e-01 1.33767037e-01 5.47273812e+02] [ 8.21385536e-01 5.24452698e-01 2.24221249e-01 4.24236711e+02] [-2.61063396e-01 -3.83299416e-03 9.65314048e-01 4.71804063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.3192541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:547.29, Y:424.26, Z:47.17 [[ 5.06231676e-01 -8.51930839e-01 1.33952736e-01 5.47288365e+02] [ 8.21790363e-01 5.23641701e-01 2.24632965e-01 4.24259651e+02] [-2.61514989e-01 -3.63525473e-03 9.65192569e-01 4.71731007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.349254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:547.30, Y:424.28, Z:47.17 [[ 5.04625122e-01 -8.52906924e-01 1.33803087e-01 5.47302078e+02] [ 8.22826899e-01 5.22053136e-01 2.24536005e-01 4.24281152e+02] [-2.61360634e-01 -3.20972975e-03 9.65235886e-01 4.71655534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.31, Y:424.30, Z:47.16 [[ 5.02696850e-01 -8.52814056e-01 1.41435720e-01 5.47311218e+02] [ 8.22706477e-01 5.22203361e-01 2.24627923e-01 4.24304731e+02] [-2.65424059e-01 3.44033350e-03 9.64125632e-01 4.71552709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.33, Y:424.33, Z:47.15 [[ 5.02452484e-01 -8.54035388e-01 1.34777804e-01 5.47328806e+02] [ 8.22913345e-01 5.20200352e-01 2.28484618e-01 4.24327144e+02] [-2.65245411e-01 -3.89221000e-03 9.64173077e-01 4.71499816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4392541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:547.34, Y:424.35, Z:47.13 [[ 4.99896645e-01 -8.53760846e-01 1.45587643e-01 5.47335077e+02] [ 8.23760139e-01 5.20608155e-01 2.24469112e-01 4.24349769e+02] [-2.67437053e-01 7.71794101e-03 9.63544423e-01 4.71346360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4692541539998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:547.37, Y:424.37, Z:47.14 [[ 5.00403926e-01 -8.58012727e-01 1.15801865e-01 5.47369318e+02] [ 8.25294140e-01 5.13139808e-01 2.35748000e-01 4.24370636e+02] [-2.61697331e-01 -2.23986241e-02 9.64890050e-01 4.71425966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.4992541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:547.37, Y:424.40, Z:47.13 [[ 4.99542689e-01 -8.55937570e-01 1.33521453e-01 5.47373573e+02] [ 8.25946670e-01 5.17075630e-01 2.24599402e-01 4.24396317e+02] [-2.61283756e-01 -1.91538917e-03 9.65260136e-01 4.71274353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.5292541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:547.37, Y:424.42, Z:47.10 [[ 4.94630575e-01 -8.54639450e-01 1.57898717e-01 5.47373568e+02] [ 8.26917549e-01 5.18705049e-01 2.17146127e-01 4.24420584e+02] [-2.67484508e-01 2.31621068e-02 9.63283735e-01 4.71047419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.41, Y:424.44, Z:47.12 [[ 4.93801261e-01 -8.61149251e-01 1.20757124e-01 5.47410201e+02] [ 8.28110687e-01 5.08069317e-01 2.36850711e-01 4.24439363e+02] [-2.65316801e-01 -1.69569147e-02 9.64012167e-01 4.71170773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.589254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:547.40, Y:424.47, Z:47.09 [[ 4.89483831e-01 -8.58279091e-01 1.54151161e-01 5.47404025e+02] [ 8.29642548e-01 5.12799637e-01 2.20748215e-01 4.24465995e+02] [-2.68512237e-01 1.98376802e-02 9.63071983e-01 4.70883330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.619254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:547.45, Y:424.48, Z:47.11 [[ 4.87103767e-01 -8.66883951e-01 1.06028936e-01 5.47448866e+02] [ 8.32963191e-01 4.97634673e-01 2.41933988e-01 4.24482695e+02] [-2.62492366e-01 -2.95287557e-02 9.64482146e-01 4.71084948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.649254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:547.45, Y:424.51, Z:47.09 [[ 4.84852344e-01 -8.64285793e-01 1.33896503e-01 5.47448934e+02] [ 8.34339776e-01 5.02995541e-01 2.25549605e-01 4.24509940e+02] [-2.62288663e-01 2.35692364e-03 9.64986581e-01 4.70892689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.6792541539999 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:547.45, Y:424.53, Z:47.07 [[ 4.79308330e-01 -8.64063778e-01 1.53809340e-01 5.47454819e+02] [ 8.35866610e-01 5.02854513e-01 2.20146198e-01 4.24534744e+02] [-2.67564077e-01 2.30461850e-02 9.63264418e-01 4.70696440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.48, Y:424.55, Z:47.08 [[ 4.77234481e-01 -8.69352587e-01 1.28348470e-01 5.47483733e+02] [ 8.37351196e-01 4.94175548e-01 2.33738106e-01 4.24554757e+02] [-2.66627503e-01 -4.07513876e-03 9.63791040e-01 4.70752998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:547.49, Y:424.58, Z:47.06 [[ 4.75341896e-01 -8.68161573e-01 1.42637881e-01 5.47490284e+02] [ 8.38190650e-01 4.96138650e-01 2.26457225e-01 4.24580093e+02] [-2.67369626e-01 1.19131316e-02 9.63520400e-01 4.70589194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7692541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:547.52, Y:424.60, Z:47.07 [[ 4.77096391e-01 -8.71480286e-01 1.13583209e-01 5.47521517e+02] [ 8.39189402e-01 4.90131952e-01 2.35651899e-01 4.24598933e+02] [-2.61036745e-01 -1.71108455e-02 9.65177205e-01 4.70687748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.7992541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:547.52, Y:424.62, Z:47.05 [[ 4.78112499e-01 -8.68232053e-01 1.32595400e-01 5.47524678e+02] [ 8.38899534e-01 4.96140343e-01 2.23813166e-01 4.24624643e+02] [-2.60107691e-01 4.22634703e-03 9.65570364e-01 4.70529757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.54, Y:424.65, Z:47.05 [[ 4.81573217e-01 -8.66237973e-01 1.33112773e-01 5.47538748e+02] [ 8.36569810e-01 4.99621976e-01 2.24786197e-01 4.24647350e+02] [-2.61224407e-01 3.10711557e-03 9.65273099e-01 4.70454421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.859254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:547.55, Y:424.67, Z:47.04 [[ 4.83571858e-01 -8.65197581e-01 1.32632588e-01 5.47552624e+02] [ 8.35668899e-01 5.01425072e-01 2.24121371e-01 4.24669985e+02] [-2.60414573e-01 2.45814114e-03 9.65493764e-01 4.70372384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.889254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:547.57, Y:424.69, Z:47.03 [[ 4.85866572e-01 -8.63998960e-01 1.32058593e-01 5.47566179e+02] [ 8.34644536e-01 5.03490638e-01 2.23306238e-01 4.24692598e+02] [-2.59426623e-01 1.72494621e-03 9.65761281e-01 4.70293222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9192541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:547.58, Y:424.72, Z:47.02 [[ 4.91260098e-01 -8.60993638e-01 1.31732577e-01 5.47579289e+02] [ 8.31657005e-01 5.08615718e-01 2.22837784e-01 4.24715041e+02] [-2.58863173e-01 8.50085369e-05 9.65913997e-01 4.70215087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9492541539998 meters Centerline goodness : 0.999631 Centerline is valid? [True, True] Translation: X:547.58, Y:424.74, Z:47.00 [[ 4.92574572e-01 -8.55469087e-01 1.59821567e-01 5.47577699e+02] [ 8.28474623e-01 5.17171540e-01 2.14856688e-01 4.24741927e+02] [-2.66458421e-01 2.65751710e-02 9.63479979e-01 4.69961692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1071.9792541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:547.62, Y:424.76, Z:47.02 [[ 4.99074049e-01 -8.59786290e-01 1.08132462e-01 5.47619200e+02] [ 8.26391561e-01 5.09771336e-01 2.39186483e-01 4.24757583e+02] [-2.60772089e-01 -3.00120123e-02 9.64933779e-01 4.70171226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.61, Y:424.79, Z:46.99 [[ 5.00475447e-01 -8.52951882e-01 1.48315255e-01 5.47611695e+02] [ 8.23973805e-01 5.21857807e-01 2.20752344e-01 4.24787361e+02] [-2.65690601e-01 1.17267573e-02 9.63987027e-01 4.69875742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.64, Y:424.81, Z:47.00 [[ 5.03777890e-01 -8.55433486e-01 1.20172332e-01 5.47640516e+02] [ 8.23139801e-01 5.17573059e-01 2.33578675e-01 4.24805882e+02] [-2.62008981e-01 -1.87531426e-02 9.64883212e-01 4.69975498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.0692541539997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:547.65, Y:424.83, Z:46.98 [[ 5.06362677e-01 -8.51935511e-01 1.33426853e-01 5.47647223e+02] [ 8.21367909e-01 5.23623279e-01 2.26215430e-01 4.24831268e+02] [-2.62586364e-01 -4.95451562e-03 9.64895774e-01 4.69833000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.099254154 meters Centerline goodness : 0.999761 Centerline is valid? [True, True] Translation: X:547.66, Y:424.85, Z:46.98 [[ 5.07222942e-01 -8.51412324e-01 1.33498846e-01 5.47660976e+02] [ 8.20751475e-01 5.24470053e-01 2.26491016e-01 4.24854428e+02] [-2.62853389e-01 -5.31206493e-03 9.64821164e-01 4.69751238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.129254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.66, Y:424.88, Z:46.95 [[ 5.05533347e-01 -8.48036297e-01 1.58966895e-01 5.47658954e+02] [ 8.18686617e-01 5.29633544e-01 2.21902079e-01 4.24879486e+02] [-2.72375218e-01 1.79651686e-02 9.62023385e-01 4.69515886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.70, Y:424.90, Z:46.97 [[ 5.09802415e-01 -8.52999532e-01 1.11773416e-01 5.47702165e+02] [ 8.18415396e-01 5.20918294e-01 2.42570340e-01 4.24897257e+02] [-2.65137204e-01 -3.21858611e-02 9.63673354e-01 4.69708671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.1892541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:547.70, Y:424.92, Z:46.95 [[ 5.09490681e-01 -8.49957795e-01 1.34130509e-01 5.47703518e+02] [ 8.18874155e-01 5.26813735e-01 2.27842944e-01 4.24923781e+02] [-2.64318681e-01 -6.24784984e-03 9.64415159e-01 4.69525528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.72, Y:424.95, Z:46.95 [[ 5.10118277e-01 -8.49579634e-01 1.34140929e-01 5.47718659e+02] [ 8.18434444e-01 5.27419928e-01 2.28020351e-01 4.24945411e+02] [-2.64470046e-01 -6.53179184e-03 9.64371780e-01 4.69458177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.71, Y:424.97, Z:46.92 [[ 5.04609774e-01 -8.47656435e-01 1.63852202e-01 5.47711576e+02] [ 8.19345077e-01 5.30004096e-01 2.18561900e-01 4.24970989e+02] [-2.72107740e-01 2.39630243e-02 9.61968373e-01 4.69158358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.2792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:547.76, Y:424.99, Z:46.94 [[ 5.08190095e-01 -8.54963955e-01 1.03824194e-01 5.47764203e+02] [ 8.20633602e-01 5.17277261e-01 2.42867715e-01 4.24986532e+02] [-2.61349037e-01 -3.82213448e-02 9.64487330e-01 4.69413413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.3092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.76, Y:425.01, Z:46.92 [[ 5.07946593e-01 -8.51051542e-01 1.33047106e-01 5.47762815e+02] [ 8.20411758e-01 5.25049738e-01 2.26378707e-01 4.25013025e+02] [-2.62516296e-01 -5.83488323e-03 9.64909917e-01 4.69218467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.339254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:547.78, Y:425.03, Z:46.91 [[ 5.06673809e-01 -8.51918532e-01 1.32349792e-01 5.47776718e+02] [ 8.21611104e-01 5.23646481e-01 2.25276621e-01 4.25034679e+02] [-2.61221831e-01 -5.40170525e-03 9.65263683e-01 4.69137705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.79, Y:425.06, Z:46.91 [[ 5.04663057e-01 -8.53113507e-01 1.32334965e-01 5.47792484e+02] [ 8.22830474e-01 5.21703003e-01 2.25335278e-01 4.25055233e+02] [-2.61276118e-01 -4.82914821e-03 9.65252024e-01 4.69067230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.399254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:547.81, Y:425.08, Z:46.90 [[ 5.02753753e-01 -8.54267828e-01 1.32155748e-01 5.47807242e+02] [ 8.24086069e-01 5.19815616e-01 2.25108588e-01 4.25077538e+02] [-2.60999646e-01 -4.26647661e-03 9.65329468e-01 4.68985672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.82, Y:425.10, Z:46.89 [[ 4.99642303e-01 -8.56109716e-01 1.32036824e-01 5.47823654e+02] [ 8.26004738e-01 5.16783020e-01 2.25058844e-01 4.25099263e+02] [-2.60909452e-01 -3.38587667e-03 9.65357340e-01 4.68912519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4592541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:547.84, Y:425.12, Z:46.88 [[ 4.97446726e-01 -8.57466461e-01 1.31521948e-01 5.47837445e+02] [ 8.27605756e-01 5.14532539e-01 2.24332297e-01 4.25122446e+02] [-2.60029743e-01 -2.74504499e-03 9.65596706e-01 4.68822790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.4892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:547.85, Y:425.15, Z:46.88 [[ 4.96777193e-01 -8.57784119e-01 1.31980399e-01 5.47850702e+02] [ 8.27680200e-01 5.14003182e-01 2.25269208e-01 4.25145235e+02] [-2.61070694e-01 -2.67104142e-03 9.65315989e-01 4.68754496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.86, Y:425.17, Z:46.87 [[ 4.96007401e-01 -8.58133704e-01 1.32601674e-01 5.47864473e+02] [ 8.27730699e-01 5.13419983e-01 2.26410713e-01 4.25168620e+02] [-2.62371013e-01 -2.54291296e-03 9.64963722e-01 4.68685428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.85, Y:425.19, Z:46.84 [[ 4.90662172e-01 -8.55251239e-01 1.66721178e-01 5.47853043e+02] [ 8.28103397e-01 5.17224471e-01 2.16156449e-01 4.25194187e+02] [-2.71100344e-01 3.20025808e-02 9.62018939e-01 4.68366664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.579254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:547.91, Y:425.21, Z:46.87 [[ 4.95608986e-01 -8.62921518e-01 9.86822543e-02 5.47907429e+02] [ 8.28449751e-01 5.03791078e-01 2.44674397e-01 4.25210942e+02] [-2.60850042e-01 -3.95095408e-02 9.64570501e-01 4.68674040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.609254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:547.90, Y:425.24, Z:46.84 [[ 4.96041666e-01 -8.58314689e-01 1.31295700e-01 5.47902655e+02] [ 8.28443186e-01 5.13117169e-01 2.24483094e-01 4.25239803e+02] [-2.60047215e-01 -2.58193990e-03 9.65592450e-01 4.68449911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.90, Y:425.27, Z:46.82 [[ 4.95802294e-01 -8.52757551e-01 1.64270035e-01 5.47895754e+02] [ 8.26009994e-01 5.21467193e-01 2.13961343e-01 4.25267161e+02] [-2.68118585e-01 2.96061660e-02 9.62930890e-01 4.68154061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.94, Y:425.28, Z:46.84 [[ 5.00688614e-01 -8.59662506e-01 1.01445985e-01 5.47943005e+02] [ 8.25471146e-01 5.09452061e-01 2.43014371e-01 4.25282677e+02] [-2.60592209e-01 -3.79337954e-02 9.64703440e-01 4.68437759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.94, Y:425.31, Z:46.82 [[ 5.01950651e-01 -8.54798117e-01 1.31779072e-01 5.47939836e+02] [ 8.24477691e-01 5.18939943e-01 2.25694203e-01 4.25311211e+02] [-2.61308404e-01 -4.63844691e-03 9.65244219e-01 4.68232092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:547.95, Y:425.33, Z:46.82 [[ 5.02795543e-01 -8.54304179e-01 1.31761195e-01 5.47952634e+02] [ 8.23932183e-01 5.19749520e-01 2.25823371e-01 4.25334344e+02] [-2.61404667e-01 -4.98069500e-03 9.65216449e-01 4.68156175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.7592541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:547.96, Y:425.36, Z:46.81 [[ 5.03665613e-01 -8.53821931e-01 1.31563902e-01 5.47964494e+02] [ 8.23503854e-01 5.20538531e-01 2.25568260e-01 4.25358307e+02] [-2.61079207e-01 -5.26759529e-03 9.65303009e-01 4.68077934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.7892541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:547.98, Y:425.38, Z:46.80 [[ 5.03236005e-01 -8.54112143e-01 1.31323918e-01 5.47977292e+02] [ 8.23874745e-01 5.20062989e-01 2.25310658e-01 4.25382272e+02] [-2.60737278e-01 -5.18997609e-03 9.65395844e-01 4.67993290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.8192541539997 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:547.97, Y:425.41, Z:46.77 [[ 5.00452265e-01 -8.49846724e-01 1.65251552e-01 5.47971416e+02] [ 8.23556833e-01 5.26172321e-01 2.11888725e-01 4.25410189e+02] [-2.67023731e-01 3.00538526e-02 9.63221207e-01 4.67686922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.849254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:548.00, Y:425.43, Z:46.78 [[ 4.98213677e-01 -8.57212171e-01 1.30270588e-01 5.48003248e+02] [ 8.25760491e-01 5.14914354e-01 2.30179972e-01 4.25428856e+02] [-2.64391269e-01 -7.10650538e-03 9.64389317e-01 4.67780853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.879254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:548.02, Y:425.45, Z:46.77 [[ 4.96297645e-01 -8.58651956e-01 1.28083823e-01 5.48018358e+02] [ 8.26909730e-01 5.12480588e-01 2.31482064e-01 4.25450921e+02] [-2.64403000e-01 -8.97024372e-03 9.64370566e-01 4.67713259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9092541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:548.06, Y:425.47, Z:46.79 [[ 4.97495710e-01 -8.62167216e-01 9.57377178e-02 5.48056428e+02] [ 8.28556050e-01 5.04960960e-01 2.41886959e-01 4.25471866e+02] [-2.56890816e-01 -4.10136588e-02 9.65569774e-01 4.67900192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.03, Y:425.50, Z:46.75 [[ 4.92066958e-01 -8.55582403e-01 1.60775809e-01 5.48032510e+02] [ 8.28928493e-01 5.16903770e-01 2.13747625e-01 4.25503353e+02] [-2.65984328e-01 2.80935052e-02 9.63567897e-01 4.67470507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9692541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:548.08, Y:425.52, Z:46.77 [[ 4.90769003e-01 -8.65347519e-01 1.01584730e-01 5.48083078e+02] [ 8.31939465e-01 5.00051250e-01 2.40469279e-01 4.25518942e+02] [-2.58887065e-01 -3.35025219e-02 9.65326405e-01 4.67732819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1072.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.08, Y:425.55, Z:46.75 [[ 4.89229241e-01 -8.62291636e-01 1.30797111e-01 5.48082371e+02] [ 8.32600721e-01 5.06411312e-01 2.24329271e-01 4.25547254e+02] [-2.59674391e-01 -8.46669700e-04 9.65695860e-01 4.67542392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.0292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:548.10, Y:425.57, Z:46.75 [[ 4.83759310e-01 -8.65440250e-01 1.30346091e-01 5.48096683e+02] [ 8.36027247e-01 5.01011586e-01 2.23709261e-01 4.25569529e+02] [-2.58911901e-01 7.51445833e-04 9.65900649e-01 4.67460565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.0592541539997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:548.11, Y:425.59, Z:46.74 [[ 4.80813358e-01 -8.67090552e-01 1.30278511e-01 5.48110839e+02] [ 8.37726768e-01 4.98148119e-01 2.23746091e-01 4.25592442e+02] [-2.58906116e-01 1.55768686e-03 9.65901235e-01 4.67382940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.089254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:548.12, Y:425.62, Z:46.73 [[ 4.78032971e-01 -8.68656508e-01 1.30078243e-01 5.48124826e+02] [ 8.39400638e-01 4.95409406e-01 2.23553326e-01 4.25615265e+02] [-2.58633037e-01 2.32189947e-03 9.65972857e-01 4.67305172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.119254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:548.14, Y:425.64, Z:46.72 [[ 4.73192405e-01 -8.71307058e-01 1.30049830e-01 5.48138983e+02] [ 8.42120970e-01 4.90724391e-01 2.23655638e-01 4.25637993e+02] [-2.58691360e-01 3.68553974e-03 9.65953000e-01 4.67226545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.149254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:548.15, Y:425.66, Z:46.72 [[ 4.70961445e-01 -8.72500635e-01 1.30145919e-01 5.48152415e+02] [ 8.43274031e-01 4.88594360e-01 2.23974240e-01 4.25661505e+02] [-2.59006229e-01 4.26544198e-03 9.65866233e-01 4.67154215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.1792541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:548.17, Y:425.68, Z:46.71 [[ 4.69692870e-01 -8.73199051e-01 1.30046245e-01 5.48165763e+02] [ 8.44002798e-01 4.87342331e-01 2.23956981e-01 4.25684375e+02] [-2.58936064e-01 4.56839702e-03 9.65883660e-01 4.67088216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2092541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:548.18, Y:425.71, Z:46.70 [[ 4.66960150e-01 -8.74695715e-01 1.29829217e-01 5.48178459e+02] [ 8.45627706e-01 4.84643107e-01 2.23684693e-01 4.25708263e+02] [-2.58576877e-01 5.33534531e-03 9.65975948e-01 4.67008321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:548.18, Y:425.73, Z:46.68 [[ 4.62865178e-01 -8.75081909e-01 1.41377083e-01 5.48181007e+02] [ 8.47070371e-01 4.83648788e-01 2.20353435e-01 4.25731330e+02] [-2.61204160e-01 1.77624059e-02 9.65120140e-01 4.66836904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2692541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:548.21, Y:425.75, Z:46.69 [[ 4.65041408e-01 -8.77490112e-01 1.17250129e-01 5.48211680e+02] [ 8.46737848e-01 4.79530201e-01 2.30403565e-01 4.25753009e+02] [-2.58401828e-01 -7.86707647e-03 9.66005489e-01 4.66906212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.2992541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:548.22, Y:425.78, Z:46.68 [[ 4.64981504e-01 -8.75805507e-01 1.29448504e-01 5.48218887e+02] [ 8.46862797e-01 4.82629760e-01 2.23364988e-01 4.25778964e+02] [-2.58099987e-01 5.76453401e-03 9.66101013e-01 4.66776830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.329254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:548.23, Y:425.80, Z:46.67 [[ 4.65175459e-01 -8.75667545e-01 1.29684780e-01 5.48232235e+02] [ 8.46575865e-01 4.82881595e-01 2.23907728e-01 4.25802762e+02] [-2.58691124e-01 5.63162468e-03 9.65943677e-01 4.66721888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.359254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:548.24, Y:425.83, Z:46.66 [[ 4.64650026e-01 -8.76016215e-01 1.29212786e-01 5.48244205e+02] [ 8.47111424e-01 4.82247662e-01 2.23247459e-01 4.25825071e+02] [-2.57880958e-01 5.72568975e-03 9.66159732e-01 4.66635548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.389254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:548.26, Y:425.85, Z:46.66 [[ 4.65353905e-01 -8.75649433e-01 1.29165835e-01 5.48255963e+02] [ 8.46730267e-01 4.82916193e-01 2.23248306e-01 4.25849032e+02] [-2.57863526e-01 5.47915141e-03 9.66165814e-01 4.66555811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4192541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:548.27, Y:425.87, Z:46.65 [[ 4.66168101e-01 -8.75217793e-01 1.29155394e-01 5.48267980e+02] [ 8.46246485e-01 4.83701512e-01 2.23382486e-01 4.25872686e+02] [-2.57980986e-01 5.16350906e-03 9.66136196e-01 4.66486585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4492541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:548.28, Y:425.90, Z:46.64 [[ 4.68396495e-01 -8.74020136e-01 1.29203425e-01 5.48278921e+02] [ 8.44955164e-01 4.85869291e-01 2.23566104e-01 4.25897094e+02] [-2.58177253e-01 4.45352179e-03 9.66087301e-01 4.66410841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.4792541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:548.29, Y:425.92, Z:46.63 [[ 4.69423736e-01 -8.73489283e-01 1.29065212e-01 5.48290394e+02] [ 8.44426850e-01 4.86826286e-01 2.23480340e-01 4.25919861e+02] [-2.58040019e-01 4.07915428e-03 9.66125618e-01 4.66329964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.5092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.30, Y:425.94, Z:46.63 [[ 4.72889988e-01 -8.71563137e-01 1.29432440e-01 5.48302712e+02] [ 8.42239091e-01 4.90274152e-01 2.24197612e-01 4.25944624e+02] [-2.58859754e-01 2.99225509e-03 9.65910283e-01 4.66275755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.5392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:548.31, Y:425.97, Z:46.61 [[ 4.71909300e-01 -8.70213220e-01 1.41529379e-01 5.48305452e+02] [ 8.41846078e-01 4.92449636e-01 2.20881275e-01 4.25968814e+02] [-2.61909897e-01 1.49100253e-02 9.64977149e-01 4.66104951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.5692541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:548.33, Y:425.99, Z:46.62 [[ 4.77623423e-01 -8.70716320e-01 1.17170624e-01 5.48332801e+02] [ 8.39550402e-01 4.91637976e-01 2.31186554e-01 4.25990683e+02] [-2.58903434e-01 -1.20494687e-02 9.65828050e-01 4.66170526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.599254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:548.34, Y:426.02, Z:46.60 [[ 4.79318897e-01 -8.68059504e-01 1.29329395e-01 5.48338524e+02] [ 8.38572864e-01 4.96459302e-01 2.24329477e-01 4.26016799e+02] [-2.58938115e-01 9.26763375e-04 9.65893469e-01 4.66032190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.35, Y:426.04, Z:46.59 [[ 4.81573428e-01 -8.65703480e-01 1.36544933e-01 5.48345364e+02] [ 8.36179928e-01 5.00518928e-01 2.24240788e-01 4.26042293e+02] [-2.62469354e-01 6.18772700e-03 9.64920489e-01 4.65924374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.6592541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:548.37, Y:426.06, Z:46.59 [[ 4.84401557e-01 -8.66052599e-01 1.23725618e-01 5.48366062e+02] [ 8.35090903e-01 4.99890251e-01 2.29636499e-01 4.26064203e+02] [-2.60726517e-01 -7.91413948e-03 9.65380262e-01 4.65921506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.6892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:548.37, Y:426.09, Z:46.58 [[ 4.84307666e-01 -8.64353337e-01 1.35423019e-01 5.48371199e+02] [ 8.34771158e-01 5.02865332e-01 2.24239987e-01 4.26089882e+02] [-2.61922122e-01 4.44608617e-03 9.65078771e-01 4.65774740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.39, Y:426.11, Z:46.58 [[ 4.86924110e-01 -8.64441965e-01 1.25079974e-01 5.48390666e+02] [ 8.33458290e-01 5.02676782e-01 2.29484928e-01 4.26112352e+02] [-2.61251201e-01 -7.49280301e-03 9.65241767e-01 4.65783452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.40, Y:426.14, Z:46.57 [[ 4.88068979e-01 -8.63027242e-01 1.30279126e-01 5.48399762e+02] [ 8.32764311e-01 5.05153102e-01 2.26547888e-01 4.26138024e+02] [-2.61327904e-01 -2.07918949e-03 9.65247846e-01 4.65689420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.7792541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:548.41, Y:426.16, Z:46.56 [[ 4.88226527e-01 -8.62978769e-01 1.30009626e-01 5.48410511e+02] [ 8.32798450e-01 5.05235465e-01 2.26238516e-01 4.26160874e+02] [-2.60924510e-01 -2.18382965e-03 9.65356738e-01 4.65595390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.42, Y:426.18, Z:46.55 [[ 4.88990928e-01 -8.62523711e-01 1.30156521e-01 5.48423485e+02] [ 8.32234450e-01 5.06010593e-01 2.26581334e-01 4.26184396e+02] [-2.61292351e-01 -2.47547608e-03 9.65256536e-01 4.65547546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.839254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:548.44, Y:426.21, Z:46.55 [[ 4.89045553e-01 -8.62557114e-01 1.29729227e-01 5.48436422e+02] [ 8.32443381e-01 5.05953516e-01 2.25940384e-01 4.26208456e+02] [-2.60523444e-01 -2.50290361e-03 9.65464277e-01 4.65463223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.43, Y:426.23, Z:46.52 [[ 4.85463689e-01 -8.61047361e-01 1.51401614e-01 5.48432065e+02] [ 8.32979296e-01 5.08138370e-01 2.18954081e-01 4.26233652e+02] [-2.65462803e-01 1.98201546e-02 9.63917352e-01 4.65235615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.899254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:548.46, Y:426.25, Z:46.53 [[ 4.86073562e-01 -8.64727327e-01 1.26408629e-01 5.48458617e+02] [ 8.33323243e-01 5.02193431e-01 2.31028422e-01 4.26252897e+02] [-2.63258173e-01 -6.95755905e-03 9.64700330e-01 4.65252588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9292541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:548.49, Y:426.28, Z:46.53 [[ 4.89523194e-01 -8.65301645e-01 1.07796598e-01 5.48485207e+02] [ 8.33316890e-01 5.00631480e-01 2.34416473e-01 4.26276092e+02] [-2.56807330e-01 -2.49235749e-02 9.66141196e-01 4.65296188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:548.47, Y:426.31, Z:46.50 [[ 4.85924275e-01 -8.60819437e-01 1.51220028e-01 5.48471769e+02] [ 8.33573438e-01 5.08471137e-01 2.15899112e-01 4.26305351e+02] [-2.62741171e-01 2.11423790e-02 9.64634686e-01 4.64994727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1073.9892541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:548.50, Y:426.32, Z:46.50 [[ 4.85673058e-01 -8.64538668e-01 1.29207481e-01 5.48497403e+02] [ 8.34057659e-01 5.02558771e-01 2.27557695e-01 4.26324636e+02] [-2.61666779e-01 -2.75215263e-03 9.65154352e-01 4.64992044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.0192541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:548.53, Y:426.35, Z:46.51 [[ 4.87639120e-01 -8.66664562e-01 1.05359505e-01 5.48527453e+02] [ 8.34243942e-01 4.98138719e-01 2.36420942e-01 4.26345372e+02] [-2.57381301e-01 -2.73925716e-02 9.65921587e-01 4.65086433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.0492541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:548.53, Y:426.37, Z:46.49 [[ 4.87053930e-01 -8.63917246e-01 1.28161856e-01 5.48529551e+02] [ 8.34374207e-01 5.03629127e-01 2.24003091e-01 4.26372704e+02] [-2.58066177e-01 -2.16663906e-03 9.66124813e-01 4.64927150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.54, Y:426.40, Z:46.49 [[ 4.84826669e-01 -8.65101702e-01 1.28616274e-01 5.48544267e+02] [ 8.35343545e-01 5.01593862e-01 2.24955017e-01 4.26396263e+02] [-2.59122102e-01 -1.62541682e-03 9.65843204e-01 4.64871149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.109254154 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:548.55, Y:426.42, Z:46.47 [[ 4.79124328e-01 -8.66571275e-01 1.39621288e-01 5.48550557e+02] [ 8.38149177e-01 4.98922694e-01 2.20413483e-01 4.26419715e+02] [-2.60664222e-01 1.14180062e-02 9.65362001e-01 4.64687330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.139254154 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:548.58, Y:426.44, Z:46.47 [[ 4.79338447e-01 -8.69854286e-01 1.16568326e-01 5.48579604e+02] [ 8.38852595e-01 4.93145035e-01 2.30508780e-01 4.26439865e+02] [-2.57994142e-01 -1.27080778e-02 9.66062900e-01 4.64745158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1692541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:548.59, Y:426.46, Z:46.46 [[ 4.76335852e-01 -8.69922300e-01 1.27825460e-01 5.48588385e+02] [ 8.40619127e-01 4.93188139e-01 2.23886007e-01 4.26463982e+02] [-2.57805430e-01 8.07594479e-04 9.66196516e-01 4.64628697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.1992541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:548.60, Y:426.49, Z:46.46 [[ 4.75067988e-01 -8.70622202e-01 1.27778671e-01 5.48602259e+02] [ 8.41343414e-01 4.91950885e-01 2.23887442e-01 4.26487235e+02] [-2.57782208e-01 1.14398697e-03 9.66202372e-01 4.64551190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.2292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:548.62, Y:426.51, Z:46.45 [[ 4.74028198e-01 -8.71195999e-01 1.27729400e-01 5.48616533e+02] [ 8.41918896e-01 4.90933437e-01 2.23957437e-01 4.26510717e+02] [-2.57817457e-01 1.37565531e-03 9.66192665e-01 4.64499502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.2592541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:548.63, Y:426.53, Z:46.44 [[ 4.73591875e-01 -8.71446197e-01 1.27641148e-01 5.48629434e+02] [ 8.42177683e-01 4.90489018e-01 2.23958197e-01 4.26533853e+02] [-2.57774100e-01 1.43174333e-03 9.66204152e-01 4.64414274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.2892541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:548.64, Y:426.56, Z:46.44 [[ 4.73759768e-01 -8.71368102e-01 1.27551215e-01 5.48641771e+02] [ 8.42095814e-01 4.90628091e-01 2.23961420e-01 4.26556519e+02] [-2.57733047e-01 1.30643418e-03 9.66215281e-01 4.64350273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.3192541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:548.65, Y:426.58, Z:46.43 [[ 4.74283220e-01 -8.71051862e-01 1.27765727e-01 5.48654877e+02] [ 8.41645166e-01 4.91189840e-01 2.24423608e-01 4.26580385e+02] [-2.58241829e-01 1.09305545e-03 9.66079688e-01 4.64276392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.67, Y:426.60, Z:46.42 [[ 4.75609513e-01 -8.70329105e-01 1.27760871e-01 5.48668173e+02] [ 8.40856815e-01 4.92470166e-01 2.24572821e-01 4.26604730e+02] [-2.58370680e-01 6.19629326e-04 9.66045655e-01 4.64221963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.379254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:548.68, Y:426.63, Z:46.41 [[ 4.76908829e-01 -8.69604326e-01 1.27852593e-01 5.48680471e+02] [ 8.40021151e-01 4.93749223e-01 2.24891466e-01 4.26628403e+02] [-2.58693710e-01 1.46156374e-04 9.65959390e-01 4.64136701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:548.69, Y:426.65, Z:46.41 [[ 4.77888132e-01 -8.69091209e-01 1.27684784e-01 5.48693382e+02] [ 8.39526914e-01 4.94651823e-01 2.24753500e-01 4.26652051e+02] [-2.58490802e-01 -2.12217316e-04 9.66013696e-01 4.64071089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:548.69, Y:426.68, Z:46.39 [[ 4.74775698e-01 -8.67983661e-01 1.45576101e-01 5.48691150e+02] [ 8.39796651e-01 4.96275523e-01 2.20118583e-01 4.26676208e+02] [-2.63305189e-01 1.77473680e-02 9.64549329e-01 4.63852226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.72, Y:426.70, Z:46.39 [[ 4.77347370e-01 -8.69871247e-01 1.24352333e-01 5.48715341e+02] [ 8.38351471e-01 4.93235256e-01 2.32133138e-01 4.26697551e+02] [-2.63260897e-01 -6.55718127e-03 9.64702391e-01 4.63869858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.4992541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:548.74, Y:426.72, Z:46.39 [[ 4.82075398e-01 -8.68990828e-01 1.11616534e-01 5.48739846e+02] [ 8.37589810e-01 4.94483670e-01 2.32226637e-01 4.26722100e+02] [-2.56995372e-01 -1.84618769e-02 9.66236275e-01 4.63890229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.5292541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:548.75, Y:426.75, Z:46.38 [[ 4.83274826e-01 -8.66199850e-01 1.27056138e-01 5.48745055e+02] [ 8.36765675e-01 4.99694167e-01 2.23894942e-01 4.26747793e+02] [-2.57426976e-01 -1.88657419e-03 9.66295914e-01 4.63754466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.5592541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:548.76, Y:426.77, Z:46.37 [[ 4.83496221e-01 -8.66071453e-01 1.27089116e-01 5.48758866e+02] [ 8.36575950e-01 4.99916087e-01 2.24108426e-01 4.26771986e+02] [-2.57627803e-01 -2.03587863e-03 9.66242087e-01 4.63693310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.77, Y:426.80, Z:46.36 [[ 4.83711383e-01 -8.65905031e-01 1.27403984e-01 5.48772338e+02] [ 8.36212333e-01 5.00203540e-01 2.24822935e-01 4.26795927e+02] [-2.58403234e-01 -2.21263067e-03 9.66034613e-01 4.63627754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.619254154 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:548.78, Y:426.82, Z:46.35 [[ 4.83935774e-01 -8.65823127e-01 1.27108143e-01 5.48784221e+02] [ 8.36224961e-01 5.00344747e-01 2.24461464e-01 4.26818416e+02] [-2.57941818e-01 -2.33393033e-03 9.66157633e-01 4.63532245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.80, Y:426.84, Z:46.35 [[ 4.84229220e-01 -8.65624505e-01 1.27343151e-01 5.48797220e+02] [ 8.35884494e-01 5.00687541e-01 2.24964661e-01 4.26841400e+02] [-2.58494053e-01 -2.49029699e-03 9.66009639e-01 4.63483029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.6792541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:548.81, Y:426.87, Z:46.33 [[ 4.82346981e-01 -8.65805742e-01 1.33123278e-01 5.48805112e+02] [ 8.36688633e-01 5.00364504e-01 2.22682499e-01 4.26865587e+02] [-2.59409949e-01 3.97250245e-03 9.65759130e-01 4.63347409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7092541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:548.83, Y:426.89, Z:46.33 [[ 4.83970390e-01 -8.66749183e-01 1.20492807e-01 5.48827224e+02] [ 8.36385816e-01 4.98656212e-01 2.27597780e-01 4.26887904e+02] [-2.57354676e-01 -9.37211137e-03 9.66271563e-01 4.63338539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7392541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:548.83, Y:426.91, Z:46.32 [[ 4.82300591e-01 -8.66206812e-01 1.30659479e-01 5.48834281e+02] [ 8.37221705e-01 4.99680742e-01 2.22213799e-01 4.26913237e+02] [-2.57771132e-01 2.21710512e-03 9.66203461e-01 4.63202807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7692541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:548.85, Y:426.94, Z:46.32 [[ 4.82462325e-01 -8.67237006e-01 1.23004392e-01 5.48852641e+02] [ 8.36816443e-01 4.97846808e-01 2.27786736e-01 4.26935791e+02] [-2.58782431e-01 -6.96642038e-03 9.65910515e-01 4.63173237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.87, Y:426.96, Z:46.31 [[ 4.83029650e-01 -8.66410938e-01 1.26548189e-01 5.48865376e+02] [ 8.36953128e-01 4.99326385e-01 2.24014782e-01 4.26960633e+02] [-2.57277707e-01 -2.29087902e-03 9.66334794e-01 4.63114868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:548.87, Y:426.99, Z:46.30 [[ 4.79776404e-01 -8.66570029e-01 1.37371713e-01 5.48871009e+02] [ 8.38120133e-01 4.98967329e-01 2.20422885e-01 4.26985245e+02] [-2.59555862e-01 9.38029975e-03 9.65682538e-01 4.62951700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.859254154 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:548.90, Y:427.00, Z:46.30 [[ 4.81535814e-01 -8.68876246e-01 1.14792547e-01 5.48898137e+02] [ 8.38267240e-01 4.94829768e-01 2.29023002e-01 4.27004901e+02] [-2.55795415e-01 -1.40559459e-02 9.66628748e-01 4.62983144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.889254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:548.89, Y:427.03, Z:46.28 [[ 4.78909758e-01 -8.66450399e-01 1.41099787e-01 5.48894827e+02] [ 8.38870165e-01 4.99058965e-01 2.17340737e-01 4.27031182e+02] [-2.58732082e-01 1.42778015e-02 9.65843597e-01 4.62763800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:548.93, Y:427.05, Z:46.29 [[ 4.81135575e-01 -8.69763131e-01 1.09638750e-01 5.48927619e+02] [ 8.38855362e-01 4.93104627e-01 2.30585143e-01 4.27050879e+02] [-2.54617831e-01 -1.89716620e-02 9.66855644e-01 4.62855585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9492541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:548.92, Y:427.08, Z:46.26 [[ 4.78350417e-01 -8.66530705e-01 1.42497074e-01 5.48920013e+02] [ 8.39427415e-01 4.98852408e-01 2.15656880e-01 4.27077933e+02] [-2.57958316e-01 1.64563923e-02 9.66015887e-01 4.62591814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1074.9792541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:548.96, Y:427.10, Z:46.27 [[ 4.80929175e-01 -8.70201575e-01 1.07034324e-01 5.48956828e+02] [ 8.39237601e-01 4.92235594e-01 2.31050577e-01 4.27097348e+02] [-2.53746680e-01 -2.12917343e-02 9.67036341e-01 4.62714741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.0092541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:548.96, Y:427.12, Z:46.26 [[ 4.80337094e-01 -8.68174317e-01 1.24698165e-01 5.48961552e+02] [ 8.39457668e-01 4.96256479e-01 2.21450516e-01 4.27122274e+02] [-2.54139923e-01 -1.69206640e-03 9.67165982e-01 4.62579788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.0392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:548.96, Y:427.15, Z:46.24 [[ 4.76118622e-01 -8.66801940e-01 1.48207474e-01 5.48959427e+02] [ 8.39779342e-01 4.98180368e-01 2.15840170e-01 4.27147132e+02] [-2.60924732e-01 2.16960510e-02 9.65115312e-01 4.62354302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.0692541539997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:549.00, Y:427.17, Z:46.25 [[ 4.78785143e-01 -8.71936106e-01 1.02431513e-01 5.49002368e+02] [ 8.40064311e-01 4.88901554e-01 2.35089820e-01 4.27165487e+02] [-2.55062228e-01 -2.65084542e-02 9.66561204e-01 4.62531128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.01, Y:427.19, Z:46.24 [[ 4.77533676e-01 -8.69536213e-01 1.25969686e-01 5.49005277e+02] [ 8.40206471e-01 4.93867969e-01 2.23936410e-01 4.27192623e+02] [-2.56933211e-01 -1.09663182e-03 9.66428540e-01 4.62395307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.129254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:549.00, Y:427.22, Z:46.22 [[ 4.73368213e-01 -8.68364902e-01 1.47867957e-01 5.49004126e+02] [ 8.40802468e-01 4.95476692e-01 2.18068930e-01 4.27217070e+02] [-2.62628531e-01 2.11008431e-02 9.64666268e-01 4.62156236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.1592541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:549.04, Y:427.23, Z:46.23 [[ 4.73796108e-01 -8.74255935e-01 1.05800791e-01 5.49043797e+02] [ 8.41980507e-01 4.84922166e-01 2.36472658e-01 4.27234876e+02] [-2.58042774e-01 -2.29576214e-02 9.65860691e-01 4.62309603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.1892541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:549.05, Y:427.26, Z:46.21 [[ 4.72563468e-01 -8.72194893e-01 1.26332253e-01 5.49046931e+02] [ 8.42679876e-01 4.89158512e-01 2.24976839e-01 4.27261561e+02] [-2.58020147e-01 1.41812118e-04 9.66139526e-01 4.62139529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2192541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:549.06, Y:427.29, Z:46.21 [[ 4.72407447e-01 -8.72289191e-01 1.26264684e-01 5.49060362e+02] [ 8.42767350e-01 4.88990341e-01 2.25014755e-01 4.27285593e+02] [-2.58020150e-01 1.13107115e-04 9.66139529e-01 4.62063657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:549.07, Y:427.31, Z:46.20 [[ 4.69805346e-01 -8.73770689e-01 1.25728757e-01 5.49074550e+02] [ 8.44529479e-01 4.86337355e-01 2.24156055e-01 4.27307849e+02] [-2.57007581e-01 8.71928547e-04 9.66408994e-01 4.61992683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.2792541539998 meters Centerline goodness : 0.999717 Centerline is valid? [True, True] Translation: X:549.09, Y:427.33, Z:46.19 [[ 4.67685669e-01 -8.74973917e-01 1.25262763e-01 5.49087790e+02] [ 8.45967663e-01 4.84167814e-01 2.23428379e-01 4.27330562e+02] [-2.56142202e-01 1.47399583e-03 9.66637988e-01 4.61907240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.3092541539997 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:549.10, Y:427.35, Z:46.18 [[ 4.64542489e-01 -8.76672386e-01 1.25083187e-01 5.49101976e+02] [ 8.47769677e-01 4.81082233e-01 2.23263209e-01 4.27352795e+02] [-2.55903989e-01 2.32648576e-03 9.66699403e-01 4.61847832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.339254154 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:549.12, Y:427.38, Z:46.18 [[ 4.62660908e-01 -8.77721019e-01 1.24702434e-01 5.49115544e+02] [ 8.49012959e-01 4.79163496e-01 2.22664185e-01 4.27376038e+02] [-2.55189890e-01 2.85596861e-03 9.66886738e-01 4.61767133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.369254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:549.12, Y:427.40, Z:46.16 [[ 4.58277477e-01 -8.77828887e-01 1.39277418e-01 5.49119575e+02] [ 8.50472687e-01 4.78619035e-01 2.18220137e-01 4.27399577e+02] [-2.58220763e-01 1.84462663e-02 9.65909816e-01 4.61585260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.399254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:549.15, Y:427.42, Z:46.17 [[ 4.58811902e-01 -8.81520665e-01 1.11413445e-01 5.49150615e+02] [ 8.51114891e-01 4.72026533e-01 2.29770309e-01 4.27421208e+02] [-2.55137378e-01 -1.05957104e-02 9.66846756e-01 4.61689716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4292541539999 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:549.14, Y:427.45, Z:46.14 [[ 4.56053032e-01 -8.77899293e-01 1.45974189e-01 5.49144343e+02] [ 8.51400745e-01 4.78142016e-01 2.15631592e-01 4.27449069e+02] [-2.59099215e-01 2.59430918e-02 9.65502228e-01 4.61391774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4592541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:549.18, Y:427.47, Z:46.16 [[ 4.57169917e-01 -8.83164748e-01 1.04955682e-01 5.49182200e+02] [ 8.51649272e-01 4.68724241e-01 2.34501821e-01 4.27468165e+02] [-2.56299013e-01 -1.78217481e-02 9.66433237e-01 4.61583691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.4892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:549.18, Y:427.49, Z:46.14 [[ 4.57103544e-01 -8.80563359e-01 1.25157985e-01 5.49184520e+02] [ 8.51589642e-01 4.73910159e-01 2.24063033e-01 4.27493948e+02] [-2.56615337e-01 4.16323767e-03 9.66504649e-01 4.61423406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.5192541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:549.20, Y:427.52, Z:46.13 [[ 4.57516581e-01 -8.80303987e-01 1.25472977e-01 5.49197457e+02] [ 8.51150157e-01 4.74393282e-01 2.24709645e-01 4.27517430e+02] [-2.57336334e-01 3.98795560e-03 9.66313669e-01 4.61345287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.5492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:549.21, Y:427.54, Z:46.13 [[ 4.57763484e-01 -8.80171519e-01 1.25501755e-01 5.49210444e+02] [ 8.50958821e-01 4.74640235e-01 2.24912723e-01 4.27541610e+02] [-2.57529955e-01 3.83999418e-03 9.66262685e-01 4.61271827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.579254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:549.22, Y:427.56, Z:46.12 [[ 4.59722131e-01 -8.79179756e-01 1.25293735e-01 5.49222418e+02] [ 8.49986765e-01 4.76479512e-01 2.24699299e-01 4.27564179e+02] [-2.57250972e-01 3.19877584e-03 9.66339332e-01 4.61198534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.609254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:549.24, Y:427.59, Z:46.11 [[ 4.60950466e-01 -8.78531794e-01 1.25325793e-01 5.49235237e+02] [ 8.49271852e-01 4.77675758e-01 2.24862607e-01 4.27588127e+02] [-2.57414043e-01 2.78514450e-03 9.66297187e-01 4.61130691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.639254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:549.24, Y:427.61, Z:46.10 [[ 4.59784427e-01 -8.77365371e-01 1.37216206e-01 5.49238869e+02] [ 8.48999756e-01 4.79602795e-01 2.21766935e-01 4.27612671e+02] [-2.60379905e-01 1.45315419e-02 9.65396882e-01 4.60965795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6692541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:549.27, Y:427.63, Z:46.10 [[ 4.64527928e-01 -8.78386657e-01 1.12475261e-01 5.49266602e+02] [ 8.47790306e-01 4.77811514e-01 2.30103792e-01 4.27634496e+02] [-2.55862075e-01 -1.15342017e-02 9.66644485e-01 4.61037623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.26, Y:427.66, Z:46.08 [[ 4.63798539e-01 -8.75689274e-01 1.34384561e-01 5.49264495e+02] [ 8.47363351e-01 4.82743371e-01 2.21210736e-01 4.27661867e+02] [-2.58585125e-01 1.12753359e-02 9.65922668e-01 4.60829972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.7292541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:549.28, Y:427.68, Z:46.08 [[ 4.64487021e-01 -8.77206043e-01 1.21496365e-01 5.49284546e+02] [ 8.47454349e-01 4.80108799e-01 2.26531824e-01 4.27684034e+02] [-2.57046559e-01 -2.25846953e-03 9.66396381e-01 4.60790267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.7592541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:549.29, Y:427.71, Z:46.07 [[ 4.64989510e-01 -8.75790399e-01 1.29521941e-01 5.49294463e+02] [ 8.46785843e-01 4.82657851e-01 2.23595919e-01 4.27710503e+02] [-2.58337941e-01 5.70758922e-03 9.66037749e-01 4.60668340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.7892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.32, Y:427.73, Z:46.07 [[ 4.65702819e-01 -8.77500384e-01 1.14516201e-01 5.49315503e+02] [ 8.46826158e-01 4.79466712e-01 2.30211056e-01 4.27732225e+02] [-2.56916996e-01 -1.02346233e-02 9.66379278e-01 4.60732143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.8192541539997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:549.32, Y:427.76, Z:46.06 [[ 4.65223080e-01 -8.76351256e-01 1.24803694e-01 5.49323115e+02] [ 8.47037634e-01 4.81671217e-01 2.24766735e-01 4.27757318e+02] [-2.57088958e-01 1.14675296e-03 9.66387062e-01 4.60604663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.849254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:549.34, Y:427.78, Z:46.05 [[ 4.64818545e-01 -8.76568292e-01 1.24786815e-01 5.49335766e+02] [ 8.47228805e-01 4.81276029e-01 2.24892720e-01 4.27781120e+02] [-2.57190730e-01 1.18867722e-03 9.66359931e-01 4.60524059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.35, Y:427.81, Z:46.05 [[ 4.65190423e-01 -8.76331167e-01 1.25066208e-01 5.49349202e+02] [ 8.46807383e-01 4.81708130e-01 2.25553840e-01 4.27805905e+02] [-2.57905269e-01 9.81502541e-04 9.66169710e-01 4.60477886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9092541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:549.36, Y:427.83, Z:46.04 [[ 4.65279065e-01 -8.76331919e-01 1.24730750e-01 5.49361563e+02] [ 8.46927445e-01 4.81706920e-01 2.25105191e-01 4.27829635e+02] [-2.57350529e-01 9.01162227e-04 9.66317698e-01 4.60390787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9392541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:549.37, Y:427.85, Z:46.03 [[ 4.67172653e-01 -8.75436541e-01 1.23937788e-01 5.49373405e+02] [ 8.46338925e-01 4.83332966e-01 2.23829552e-01 4.27854013e+02] [-2.55851787e-01 3.26328916e-04 9.66715965e-01 4.60300758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:549.38, Y:427.88, Z:46.01 [[ 4.66988431e-01 -8.73109152e-01 1.40007911e-01 5.49376094e+02] [ 8.45316020e-01 4.87261477e-01 2.19128000e-01 4.27879757e+02] [-2.59543124e-01 1.60206891e-02 9.65598625e-01 4.60126812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1075.9992541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:549.41, Y:427.90, Z:46.02 [[ 4.72816704e-01 -8.74567667e-01 1.07590708e-01 5.49406572e+02] [ 8.43884156e-01 4.84565032e-01 2.30339448e-01 4.27900251e+02] [-2.53582128e-01 -1.81142442e-02 9.67144239e-01 4.60210421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.0292541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:549.41, Y:427.93, Z:46.01 [[ 4.75593640e-01 -8.71089590e-01 1.22530065e-01 5.49411005e+02] [ 8.42433423e-01 4.91119355e-01 2.21602588e-01 4.27926121e+02] [-2.53212594e-01 -2.16935943e-03 9.67408226e-01 4.60094133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.0592541539997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:549.42, Y:427.95, Z:46.00 [[ 4.80116557e-01 -8.68645166e-01 1.22244293e-01 5.49422925e+02] [ 8.40024388e-01 4.95422380e-01 2.21168924e-01 4.27950644e+02] [-2.52679876e-01 -3.49867484e-03 9.67543611e-01 4.60029891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.44, Y:427.97, Z:46.00 [[ 4.81899461e-01 -8.67666082e-01 1.22182160e-01 5.49435270e+02] [ 8.39002679e-01 4.97130595e-01 2.21214096e-01 4.27974533e+02] [-2.52680457e-01 -4.09179444e-03 9.67541133e-01 4.59956890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.44, Y:428.00, Z:45.97 [[ 4.82198528e-01 -8.64559471e-01 1.41497352e-01 5.49436238e+02] [ 8.37073079e-01 5.02337049e-01 2.16716750e-01 4.27999357e+02] [-2.58443881e-01 1.39431268e-02 9.65925644e-01 4.59746022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.149254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.45, Y:428.02, Z:45.97 [[ 4.81987004e-01 -8.66178807e-01 1.31995467e-01 5.49453897e+02] [ 8.36897736e-01 4.99726220e-01 2.23329097e-01 4.28021509e+02] [-2.59404526e-01 2.82498505e-03 9.65764625e-01 4.59697143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.1792541539999 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:549.49, Y:428.04, Z:45.98 [[ 4.84952876e-01 -8.69077083e-01 9.75998557e-02 5.49488072e+02] [ 8.37237260e-01 4.93613928e-01 2.35327560e-01 4.28041263e+02] [-2.52694438e-01 -3.24085414e-02 9.67003210e-01 4.59825336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2092541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:549.49, Y:428.07, Z:45.97 [[ 4.84724334e-01 -8.66010605e-01 1.22751587e-01 5.49488833e+02] [ 8.36896551e-01 4.99998287e-01 2.22723766e-01 4.28068612e+02] [-2.54256726e-01 -5.22924955e-03 9.67122625e-01 4.59664904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2392541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:549.50, Y:428.09, Z:45.96 [[ 4.83915445e-01 -8.66400094e-01 1.23193831e-01 5.49502208e+02] [ 8.37041320e-01 4.99324117e-01 2.23690087e-01 4.28091096e+02] [-2.55318763e-01 -5.12876118e-03 9.66843330e-01 4.59591719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2692541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:549.52, Y:428.12, Z:45.95 [[ 4.83560695e-01 -8.66587363e-01 1.23269610e-01 5.49515841e+02] [ 8.37175052e-01 4.98999559e-01 2.23913761e-01 4.28115023e+02] [-2.55552317e-01 -5.07765197e-03 9.66781894e-01 4.59531068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.2992541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:549.53, Y:428.14, Z:45.94 [[ 4.82877884e-01 -8.67004765e-01 1.23010921e-01 5.49528439e+02] [ 8.37688641e-01 4.98275466e-01 2.23605232e-01 4.28137288e+02] [-2.55160126e-01 -4.92917036e-03 9.66886246e-01 4.59446443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.329254154 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:549.54, Y:428.16, Z:45.94 [[ 4.82494283e-01 -8.67240279e-01 1.22855876e-01 5.49541461e+02] [ 8.37983682e-01 4.97866288e-01 2.23411073e-01 4.28160243e+02] [-2.54916880e-01 -4.84334669e-03 9.66950840e-01 4.59368731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.56, Y:428.18, Z:45.93 [[ 4.82181775e-01 -8.67462118e-01 1.22516161e-01 5.49556559e+02] [ 8.38354888e-01 4.97480513e-01 2.22877143e-01 4.28183658e+02] [-2.54286881e-01 -4.75527448e-03 9.67117144e-01 4.59321256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.389254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:549.57, Y:428.21, Z:45.92 [[ 4.80843942e-01 -8.67612019e-01 1.26643154e-01 5.49567338e+02] [ 8.39811608e-01 4.97239227e-01 2.17875228e-01 4.28207959e+02] [-2.52003111e-01 1.59240670e-03 9.67725114e-01 4.59194773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.59, Y:428.23, Z:45.92 [[ 4.80506213e-01 -8.69069379e-01 1.17610350e-01 5.49585731e+02] [ 8.39406527e-01 4.94598127e-01 2.25320606e-01 4.28228577e+02] [-2.53989098e-01 -9.54505611e-03 9.67159982e-01 4.59197570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4492541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:549.60, Y:428.25, Z:45.91 [[ 4.78534808e-01 -8.69538684e-01 1.22093879e-01 5.49597428e+02] [ 8.40602028e-01 4.93849944e-01 2.22486997e-01 4.28252320e+02] [-2.53757106e-01 -3.83541064e-03 9.67260369e-01 4.59092357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.61, Y:428.28, Z:45.90 [[ 4.77737628e-01 -8.70007529e-01 1.21875588e-01 5.49611728e+02] [ 8.41150286e-01 4.93024859e-01 2.22244649e-01 4.28276098e+02] [-2.53442213e-01 -3.65894547e-03 9.67343609e-01 4.59029627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.5092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:549.63, Y:428.30, Z:45.89 [[ 4.75893085e-01 -8.71087442e-01 1.21377263e-01 5.49625853e+02] [ 8.42463158e-01 4.91117847e-01 2.21492862e-01 4.28297252e+02] [-2.52550190e-01 -3.15104927e-03 9.67578665e-01 4.58948464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.5392541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:549.64, Y:428.32, Z:45.89 [[ 4.73769543e-01 -8.72323026e-01 1.20809599e-01 5.49640515e+02] [ 8.43988680e-01 4.88923489e-01 2.20537820e-01 4.28319237e+02] [-2.51446869e-01 -2.52216855e-03 9.67867817e-01 4.58864449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.65, Y:428.34, Z:45.88 [[ 4.72859982e-01 -8.72822017e-01 1.20769052e-01 5.49654776e+02] [ 8.44484024e-01 4.88033082e-01 2.20613791e-01 4.28342274e+02] [-2.51495867e-01 -2.33189821e-03 9.67855563e-01 4.58806067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.599254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.67, Y:428.37, Z:45.87 [[ 4.71950873e-01 -8.73311580e-01 1.20785997e-01 5.49668655e+02] [ 8.44942281e-01 4.87157340e-01 2.20794629e-01 4.28365135e+02] [-2.51664291e-01 -2.14702185e-03 9.67812211e-01 4.58732681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.629254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:549.68, Y:428.39, Z:45.87 [[ 4.70951632e-01 -8.73847014e-01 1.20813723e-01 5.49682581e+02] [ 8.45442420e-01 4.86197122e-01 2.20996546e-01 4.28388252e+02] [-2.51856457e-01 -1.93763802e-03 9.67762663e-01 4.58655135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.70, Y:428.41, Z:45.86 [[ 4.69501026e-01 -8.74556674e-01 1.21323578e-01 5.49697568e+02] [ 8.45891286e-01 4.84920542e-01 2.22081069e-01 4.28411450e+02] [-2.53054776e-01 -1.64073247e-03 9.67450561e-01 4.58590682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.6892541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:549.71, Y:428.43, Z:45.85 [[ 4.68927945e-01 -8.74864145e-01 1.21323164e-01 5.49711554e+02] [ 8.46169208e-01 4.84365896e-01 2.22232649e-01 4.28432984e+02] [-2.53188180e-01 -1.55117348e-03 9.67415805e-01 4.58493628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.73, Y:428.46, Z:45.84 [[ 4.69015332e-01 -8.74693159e-01 1.22214955e-01 5.49725601e+02] [ 8.45534972e-01 4.84674078e-01 2.23967966e-01 4.28456992e+02] [-2.55137669e-01 -1.70739171e-03 9.66903229e-01 4.58449689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:549.74, Y:428.48, Z:45.84 [[ 4.69111327e-01 -8.74621857e-01 1.22356735e-01 5.49739048e+02] [ 8.45353123e-01 4.84802315e-01 2.24376499e-01 4.28480442e+02] [-2.55563419e-01 -1.82290893e-03 9.66790575e-01 4.58378376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.7792541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:549.75, Y:428.50, Z:45.83 [[ 4.69837080e-01 -8.74231997e-01 1.22358224e-01 5.49751737e+02] [ 8.44907423e-01 4.85503803e-01 2.24538426e-01 4.28502220e+02] [-2.55704059e-01 -2.11510685e-03 9.66752792e-01 4.58284912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.8092541539997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:549.77, Y:428.53, Z:45.82 [[ 4.70997868e-01 -8.73661835e-01 1.21967239e-01 5.49765123e+02] [ 8.44486794e-01 4.86527444e-01 2.23904224e-01 4.28525224e+02] [-2.54956984e-01 -2.45868968e-03 9.66949270e-01 4.58211334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.78, Y:428.55, Z:45.82 [[ 4.71923307e-01 -8.73133562e-01 1.22172728e-01 5.49778498e+02] [ 8.43798714e-01 4.87472845e-01 2.24441433e-01 4.28548406e+02] [-2.55523236e-01 -2.82995254e-03 9.66798773e-01 4.58152210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.79, Y:428.57, Z:45.81 [[ 4.72491599e-01 -8.72869454e-01 1.21863062e-01 5.49791677e+02] [ 8.43654989e-01 4.87944541e-01 2.23956213e-01 4.28571832e+02] [-2.54946953e-01 -3.00704917e-03 9.66950365e-01 4.58079161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.899254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:549.80, Y:428.59, Z:45.80 [[ 4.72542085e-01 -8.72926329e-01 1.21258411e-01 5.49804569e+02] [ 8.43967402e-01 4.87842590e-01 2.22999176e-01 4.28593910e+02] [-2.53816869e-01 -3.03834980e-03 9.67247520e-01 4.57972833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:549.82, Y:428.62, Z:45.79 [[ 4.72526452e-01 -8.72918495e-01 1.21375671e-01 5.49817724e+02] [ 8.43865779e-01 4.87856119e-01 2.23353879e-01 4.28616722e+02] [-2.54183596e-01 -3.11584055e-03 9.67150966e-01 4.57910102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9592541539998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:549.83, Y:428.64, Z:45.78 [[ 4.71884399e-01 -8.73278231e-01 1.21285801e-01 5.49831551e+02] [ 8.44245256e-01 4.87212686e-01 2.23324306e-01 4.28640046e+02] [-2.54116236e-01 -2.98829385e-03 9.67169070e-01 4.57827506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1076.9892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:549.85, Y:428.66, Z:45.78 [[ 4.71638346e-01 -8.73377345e-01 1.21528940e-01 5.49845515e+02] [ 8.44189163e-01 4.87034812e-01 2.23923536e-01 4.28663782e+02] [-2.54758568e-01 -3.01751197e-03 9.66999983e-01 4.57776308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.86, Y:428.69, Z:45.77 [[ 4.70567967e-01 -8.73950128e-01 1.21560531e-01 5.49859811e+02] [ 8.44725011e-01 4.86007630e-01 2.24134422e-01 4.28685776e+02] [-2.54961652e-01 -2.78525866e-03 9.66947154e-01 4.57706195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.87, Y:428.71, Z:45.76 [[ 4.69819983e-01 -8.74361615e-01 1.21494652e-01 5.49873838e+02] [ 8.45155738e-01 4.85267915e-01 2.24113429e-01 4.28709571e+02] [-2.54913636e-01 -2.61106549e-03 9.66960299e-01 4.57632181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.079254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:549.89, Y:428.73, Z:45.75 [[ 4.68273956e-01 -8.75236119e-01 1.21166158e-01 5.49887372e+02] [ 8.46180490e-01 4.83690893e-01 2.23655312e-01 4.28731852e+02] [-2.54358174e-01 -2.20351869e-03 9.67107576e-01 4.57533054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.109254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:549.90, Y:428.76, Z:45.75 [[ 4.68047483e-01 -8.75366105e-01 1.21102172e-01 5.49900451e+02] [ 8.46305795e-01 4.83455589e-01 2.23689953e-01 4.28756127e+02] [-2.54358125e-01 -2.20804911e-03 9.67107579e-01 4.57457548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.139254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.91, Y:428.78, Z:45.74 [[ 4.68276454e-01 -8.75224922e-01 1.21237368e-01 5.49913914e+02] [ 8.46056076e-01 4.83710419e-01 2.24083347e-01 4.28779236e+02] [-2.54767108e-01 -2.35934352e-03 9.66999563e-01 4.57411012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1692541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:549.93, Y:428.80, Z:45.73 [[ 4.68190064e-01 -8.75260464e-01 1.21314400e-01 5.49926654e+02] [ 8.46018916e-01 4.83645852e-01 2.24362840e-01 4.28802942e+02] [-2.55049130e-01 -2.41017539e-03 9.66925091e-01 4.57335051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.94, Y:428.83, Z:45.73 [[ 4.69523618e-01 -8.74555724e-01 1.21242969e-01 5.49938970e+02] [ 8.45286247e-01 4.84916553e-01 2.24381590e-01 4.28825869e+02] [-2.55026927e-01 -2.86744133e-03 9.66929700e-01 4.57266961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.95, Y:428.85, Z:45.72 [[ 4.71395496e-01 -8.73563751e-01 1.21130752e-01 5.49951413e+02] [ 8.44281760e-01 4.86697378e-01 2.24307763e-01 4.28850197e+02] [-2.54901150e-01 -3.46918431e-03 9.66960893e-01 4.57193477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.2592541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:549.96, Y:428.87, Z:45.71 [[ 4.71972980e-01 -8.73272617e-01 1.20981166e-01 5.49962895e+02] [ 8.44012638e-01 4.87217846e-01 2.24190626e-01 4.28872975e+02] [-2.54723718e-01 -3.70228477e-03 9.67006784e-01 4.57099971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:549.98, Y:428.90, Z:45.70 [[ 4.73071325e-01 -8.72657253e-01 1.21131498e-01 5.49975926e+02] [ 8.43281047e-01 4.88316143e-01 2.24553825e-01 4.28897728e+02] [-2.55108990e-01 -4.08207959e-03 9.66903687e-01 4.57045988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.3192541539997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:549.99, Y:428.92, Z:45.70 [[ 4.74402622e-01 -8.72009907e-01 1.20585552e-01 5.49986851e+02] [ 8.42839967e-01 4.89467631e-01 2.23701203e-01 4.28920786e+02] [-2.54092389e-01 -4.49011485e-03 9.67169528e-01 4.56950579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.00, Y:428.94, Z:45.69 [[ 4.75533785e-01 -8.71404058e-01 1.20509696e-01 5.49998994e+02] [ 8.42230184e-01 4.90541955e-01 2.23644604e-01 4.28944379e+02] [-2.53999877e-01 -4.85366165e-03 9.67192072e-01 4.56895374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.01, Y:428.97, Z:45.68 [[ 4.75575681e-01 -8.71411425e-01 1.20290895e-01 5.50011165e+02] [ 8.42309142e-01 4.90528301e-01 2.23377025e-01 4.28968330e+02] [-2.53659380e-01 -4.91056025e-03 9.67281141e-01 4.56818105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.02, Y:428.99, Z:45.67 [[ 4.75106595e-01 -8.71694123e-01 1.20096129e-01 5.50023378e+02] [ 8.42656404e-01 4.90026568e-01 2.23168428e-01 4.28992203e+02] [-2.53384901e-01 -4.82901934e-03 9.67353489e-01 4.56742864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4392541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:550.04, Y:429.01, Z:45.66 [[ 4.73578753e-01 -8.72558046e-01 1.19856671e-01 5.50035026e+02] [ 8.43625181e-01 4.88490313e-01 2.22876129e-01 4.29014612e+02] [-2.53021182e-01 -4.43529343e-03 9.67450572e-01 4.56648295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4692541539998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:550.05, Y:429.04, Z:45.66 [[ 4.72538452e-01 -8.73123393e-01 1.19845537e-01 5.50048127e+02] [ 8.44178280e-01 4.87481172e-01 2.22991340e-01 4.29038832e+02] [-2.53121399e-01 -4.20098333e-03 9.67425403e-01 4.56581776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.04, Y:429.06, Z:45.63 [[ 4.67243467e-01 -8.71548138e-01 1.48618254e-01 5.50042644e+02] [ 8.44433476e-01 4.89718010e-01 2.17044637e-01 4.29064976e+02] [-2.61945885e-01 2.40855400e-02 9.64781965e-01 4.56309815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.09, Y:429.08, Z:45.66 [[ 4.69429623e-01 -8.77935560e-01 9.41540304e-02 5.50088374e+02] [ 8.45280848e-01 4.77651854e-01 2.39476502e-01 4.29083476e+02] [-2.55217784e-01 -3.28307657e-02 9.66326044e-01 4.56591825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.07, Y:429.11, Z:45.62 [[ 4.65332091e-01 -8.73280726e-01 1.44384277e-01 5.50073188e+02] [ 8.45745074e-01 4.86788977e-01 2.18521767e-01 4.29112852e+02] [-2.61115522e-01 2.04271006e-02 9.65091404e-01 4.56210248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.10, Y:429.13, Z:45.62 [[ 4.63628132e-01 -8.77305447e-01 1.24032690e-01 5.50095006e+02] [ 8.46842055e-01 4.79930897e-01 2.29183048e-01 4.29133395e+02] [-2.60590656e-01 -1.21961022e-03 9.65448612e-01 4.56223292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.619254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:550.13, Y:429.16, Z:45.63 [[ 4.64896401e-01 -8.80324529e-01 9.43401289e-02 5.50125777e+02] [ 8.48491428e-01 4.73428905e-01 2.36489679e-01 4.29156052e+02] [-2.52851010e-01 -2.98964099e-02 9.67043211e-01 4.56346349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.649254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:550.13, Y:429.18, Z:45.62 [[ 4.64660640e-01 -8.77373896e-01 1.19605754e-01 5.50125527e+02] [ 8.48586303e-01 4.79802778e-01 2.22913843e-01 4.29184157e+02] [-2.52965960e-01 -2.08348440e-03 9.67472936e-01 4.56178536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.14, Y:429.21, Z:45.61 [[ 4.63886452e-01 -8.77840981e-01 1.19182931e-01 5.50137887e+02] [ 8.49238058e-01 4.78948463e-01 2.22268061e-01 4.29208002e+02] [-2.52198494e-01 -1.89246089e-03 9.67673673e-01 4.56105811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:550.15, Y:429.23, Z:45.60 [[ 4.63171595e-01 -8.78298501e-01 1.18590962e-01 5.50150330e+02] [ 8.49960802e-01 4.78109643e-01 2.21309299e-01 4.29231598e+02] [-2.51075108e-01 -1.70651175e-03 9.67966104e-01 4.56024085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:550.16, Y:429.25, Z:45.59 [[ 4.62197599e-01 -8.78864825e-01 1.18194750e-01 5.50162958e+02] [ 8.50696599e-01 4.77068604e-01 2.20727985e-01 4.29254576e+02] [-2.50377067e-01 -1.47207307e-03 9.68147281e-01 4.55945510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7692541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:550.18, Y:429.28, Z:45.59 [[ 4.60943839e-01 -8.79532495e-01 1.18124372e-01 5.50175769e+02] [ 8.51392998e-01 4.75837413e-01 2.20700521e-01 4.29277980e+02] [-2.50321275e-01 -1.16028205e-03 9.68162132e-01 4.55860743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.7992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:550.19, Y:429.30, Z:45.58 [[ 4.60439894e-01 -8.79774892e-01 1.18284588e-01 5.50188800e+02] [ 8.51529964e-01 4.75389246e-01 2.21137481e-01 4.29301615e+02] [-2.50782424e-01 -1.09764774e-03 9.68042856e-01 4.55793071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.829254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:550.20, Y:429.32, Z:45.57 [[ 4.59895147e-01 -8.80028782e-01 1.18514962e-01 5.50201232e+02] [ 8.51644517e-01 4.74919240e-01 2.21705506e-01 4.29324493e+02] [-2.51392262e-01 -1.02866833e-03 9.67884741e-01 4.55728940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.859254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:550.20, Y:429.35, Z:45.55 [[ 4.56841120e-01 -8.77498997e-01 1.45916765e-01 5.50199329e+02] [ 8.50895432e-01 4.78899653e-01 2.15944639e-01 4.29351244e+02] [-2.59370692e-01 2.55075180e-02 9.65440941e-01 4.55480182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.889254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:550.24, Y:429.37, Z:45.57 [[ 4.58673312e-01 -8.83518915e-01 9.49374582e-02 5.50240589e+02] [ 8.51709726e-01 4.67578993e-01 2.36559566e-01 4.29368566e+02] [-2.53395612e-01 -2.76444028e-02 9.66967658e-01 4.55691518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9192541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:550.24, Y:429.40, Z:45.55 [[ 4.58483822e-01 -8.80617541e-01 1.19604895e-01 5.50240525e+02] [ 8.51646163e-01 4.73826997e-01 2.24024085e-01 4.29395217e+02] [-2.53951567e-01 -8.50369438e-04 9.67216562e-01 4.55512577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.25, Y:429.42, Z:45.55 [[ 4.58615865e-01 -8.80452306e-01 1.20313030e-01 5.50253810e+02] [ 8.51087704e-01 4.74133632e-01 2.25492837e-01 4.29419659e+02] [-2.55580142e-01 -1.01765199e-03 9.66787337e-01 4.55468085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1077.9792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:550.27, Y:429.44, Z:45.54 [[ 4.58040176e-01 -8.80738187e-01 1.20413629e-01 5.50266116e+02] [ 8.51290668e-01 4.73602540e-01 2.25842495e-01 4.29443102e+02] [-2.55936310e-01 -9.37936898e-04 9.66693191e-01 4.55376274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.0092541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:550.28, Y:429.47, Z:45.53 [[ 4.58018482e-01 -8.80721507e-01 1.20617981e-01 5.50278969e+02] [ 8.51128943e-01 4.73633371e-01 2.26386733e-01 4.29467483e+02] [-2.56512366e-01 -1.02785273e-03 9.66540403e-01 4.55306830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.29, Y:429.49, Z:45.52 [[ 4.58901579e-01 -8.80268253e-01 1.20570074e-01 5.50291644e+02] [ 8.50641316e-01 4.74474396e-01 2.26458386e-01 4.29491061e+02] [-2.56551541e-01 -1.36022441e-03 9.66529594e-01 4.55238117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.0692541539997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:550.30, Y:429.51, Z:45.51 [[ 4.59422840e-01 -8.80080844e-01 1.19951499e-01 5.50303633e+02] [ 8.50712920e-01 4.74821383e-01 2.25459935e-01 4.29513755e+02] [-2.55378507e-01 -1.53715350e-03 9.66839933e-01 4.55146829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.099254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:550.32, Y:429.54, Z:45.51 [[ 4.60795821e-01 -8.79467036e-01 1.19184499e-01 5.50316286e+02] [ 8.50437124e-01 4.75955981e-01 2.24104000e-01 4.29537472e+02] [-2.53818656e-01 -1.90726442e-03 9.67249943e-01 4.55075285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.129254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:550.33, Y:429.56, Z:45.50 [[ 4.61078009e-01 -8.79423014e-01 1.18415509e-01 5.50328710e+02] [ 8.50729993e-01 4.76036950e-01 2.22816746e-01 4.29561026e+02] [-2.52320332e-01 -1.99627633e-03 9.67641703e-01 4.54979061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.1592541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:550.34, Y:429.59, Z:45.49 [[ 4.61410227e-01 -8.79275088e-01 1.18219804e-01 5.50341411e+02] [ 8.50632503e-01 4.76309449e-01 2.22606500e-01 4.29585677e+02] [-2.52041559e-01 -2.15130774e-03 9.67714020e-01 4.54914239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.1892541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:550.35, Y:429.61, Z:45.48 [[ 4.61155805e-01 -8.79437475e-01 1.18004454e-01 5.50353674e+02] [ 8.50865089e-01 4.76009627e-01 2.22358800e-01 4.29608975e+02] [-2.51721918e-01 -2.13618074e-03 9.67797248e-01 4.54828358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:550.37, Y:429.63, Z:45.48 [[ 4.60071293e-01 -8.79947595e-01 1.18434094e-01 5.50366706e+02] [ 8.51137286e-01 4.75066783e-01 2.23331306e-01 4.29632660e+02] [-2.52783950e-01 -1.94464921e-03 9.67520797e-01 4.54782223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2492541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:550.38, Y:429.66, Z:45.47 [[ 4.58569613e-01 -8.80720973e-01 1.18509404e-01 5.50379496e+02] [ 8.51876434e-01 4.73632906e-01 2.23558520e-01 4.29656170e+02] [-2.53022631e-01 -1.56177587e-03 9.67459100e-01 4.54705803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.2792541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:550.39, Y:429.68, Z:45.46 [[ 4.55456590e-01 -8.82254648e-01 1.19105122e-01 5.50392560e+02] [ 8.53122961e-01 4.70771816e-01 2.24844638e-01 4.29678812e+02] [-2.54441562e-01 -7.95657879e-04 9.67087824e-01 4.54626621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.3092541539997 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:550.41, Y:429.70, Z:45.46 [[ 4.52513191e-01 -8.83692225e-01 1.19665634e-01 5.50405944e+02] [ 8.54301471e-01 4.68068424e-01 2.26010945e-01 4.29702543e+02] [-2.55735820e-01 -4.24071009e-05 9.66746704e-01 4.54559897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.339254154 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:550.42, Y:429.73, Z:45.45 [[ 4.50945784e-01 -8.84475553e-01 1.19795225e-01 5.50418546e+02] [ 8.55005061e-01 4.66586423e-01 2.26414346e-01 4.29726238e+02] [-2.56152780e-01 3.24929111e-04 9.66636254e-01 4.54484148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.369254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:550.43, Y:429.75, Z:45.44 [[ 4.48652989e-01 -8.85542519e-01 1.20519468e-01 5.50430889e+02] [ 8.55702675e-01 4.64557539e-01 2.27945663e-01 4.29750489e+02] [-2.57843804e-01 8.60327833e-04 9.66186231e-01 4.54424398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.399254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:550.44, Y:429.77, Z:45.43 [[ 4.47670641e-01 -8.86061996e-01 1.20354209e-01 5.50442557e+02] [ 8.56279703e-01 4.63565503e-01 2.27798362e-01 4.29773768e+02] [-2.57635531e-01 1.07822766e-03 9.66241570e-01 4.54343915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4292541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:550.45, Y:429.80, Z:45.43 [[ 4.46895840e-01 -8.86468341e-01 1.20241377e-01 5.50454104e+02] [ 8.56727418e-01 4.62787532e-01 2.27696797e-01 4.29796461e+02] [-2.57492212e-01 1.25733331e-03 9.66279556e-01 4.54265792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4592541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:550.47, Y:429.82, Z:45.42 [[ 4.46011106e-01 -8.86975854e-01 1.19782837e-01 5.50465765e+02] [ 8.57459731e-01 4.61813360e-01 2.26916792e-01 4.29820260e+02] [-2.56587030e-01 1.50154986e-03 9.66519964e-01 4.54191046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.4892541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:550.48, Y:429.84, Z:45.41 [[ 4.45783735e-01 -8.87110505e-01 1.19631997e-01 5.50478335e+02] [ 8.57636755e-01 4.61554631e-01 2.26774161e-01 4.29844738e+02] [-2.56390442e-01 1.50856541e-03 9.66572121e-01 4.54126554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.5192541539998 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:550.49, Y:429.87, Z:45.40 [[ 4.45292712e-01 -8.87388028e-01 1.19402216e-01 5.50489165e+02] [ 8.57996275e-01 4.61020572e-01 2.26500386e-01 4.29868805e+02] [-2.56040608e-01 1.58768513e-03 9.66664723e-01 4.54041078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.50, Y:429.89, Z:45.40 [[ 4.45285744e-01 -8.87325720e-01 1.19890254e-01 5.50500904e+02] [ 8.57642625e-01 4.61140844e-01 2.27592290e-01 4.29892614e+02] [-2.57234785e-01 1.47938980e-03 9.66347803e-01 4.54001635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.51, Y:429.92, Z:45.39 [[ 4.45256461e-01 -8.87328533e-01 1.19978158e-01 5.50512164e+02] [ 8.57571753e-01 4.61135589e-01 2.27869826e-01 4.29917174e+02] [-2.57521597e-01 1.42936635e-03 9.66271486e-01 4.53929624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.609254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:550.52, Y:429.94, Z:45.39 [[ 4.45011819e-01 -8.87435789e-01 1.20092475e-01 5.50523824e+02] [ 8.57581772e-01 4.60929189e-01 2.28249398e-01 4.29941639e+02] [-2.57910811e-01 1.41543739e-03 9.66167693e-01 4.53852865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.639254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:550.53, Y:429.96, Z:45.38 [[ 4.45456693e-01 -8.87264905e-01 1.19705149e-01 5.50534168e+02] [ 8.57557106e-01 4.61258566e-01 2.27675965e-01 4.29964956e+02] [-2.57223919e-01 1.23421928e-03 9.66351040e-01 4.53756500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6692541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:550.54, Y:429.99, Z:45.37 [[ 4.46288160e-01 -8.86833210e-01 1.19807077e-01 5.50544862e+02] [ 8.57029400e-01 4.62088720e-01 2.27979433e-01 4.29988490e+02] [-2.57541231e-01 9.33665869e-04 9.66266859e-01 4.53691518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.56, Y:430.01, Z:45.36 [[ 4.46595403e-01 -8.86625453e-01 1.20199219e-01 5.50556942e+02] [ 8.56576633e-01 4.62487565e-01 2.28870539e-01 4.30013009e+02] [-2.58513090e-01 7.47311425e-04 9.66007466e-01 4.53633679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.7292541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:550.57, Y:430.04, Z:45.35 [[ 4.47346320e-01 -8.86335196e-01 1.19545765e-01 5.50567505e+02] [ 8.56565756e-01 4.63043917e-01 2.27783748e-01 4.30036004e+02] [-2.57247692e-01 5.00587007e-04 9.66345370e-01 4.53539494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.58, Y:430.06, Z:45.35 [[ 4.47723565e-01 -8.86095488e-01 1.19909947e-01 5.50579470e+02] [ 8.56094710e-01 4.63502642e-01 2.28620096e-01 4.30060470e+02] [-2.58157813e-01 2.95666313e-04 9.66102715e-01 4.53485817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.7892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:550.59, Y:430.08, Z:45.34 [[ 4.48188446e-01 -8.85885877e-01 1.19721887e-01 5.50590917e+02] [ 8.55929497e-01 4.63903228e-01 2.28426119e-01 4.30083263e+02] [-2.57898843e-01 9.55465227e-05 9.66171919e-01 4.53404810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.8192541539997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:550.60, Y:430.11, Z:45.33 [[ 4.49287813e-01 -8.85369350e-01 1.19421839e-01 5.50602575e+02] [ 8.55518443e-01 4.64888213e-01 2.27963032e-01 4.30107351e+02] [-2.57349287e-01 -2.53425979e-04 9.66318416e-01 4.53317619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.849254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:550.61, Y:430.13, Z:45.32 [[ 4.49862632e-01 -8.85088135e-01 1.19342392e-01 5.50613877e+02] [ 8.55223053e-01 4.65423193e-01 2.27979783e-01 4.30130727e+02] [-2.57326918e-01 -4.95220447e-04 9.66324279e-01 4.53239935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.61, Y:430.16, Z:45.31 [[ 4.49455825e-01 -8.82793416e-01 1.36620808e-01 5.50613159e+02] [ 8.53806286e-01 4.69503516e-01 2.24902811e-01 4.30155811e+02] [-2.62686671e-01 1.55638262e-02 9.64755658e-01 4.53055598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9092541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:550.65, Y:430.18, Z:45.32 [[ 4.53233745e-01 -8.85415753e-01 1.03044250e-01 5.50645372e+02] [ 8.53340410e-01 4.64392074e-01 2.36960220e-01 4.30177287e+02] [-2.57661244e-01 -1.94665455e-02 9.66039201e-01 4.53178445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9392541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:550.65, Y:430.20, Z:45.30 [[ 4.55929916e-01 -8.81998092e-01 1.19194287e-01 5.50647838e+02] [ 8.52018475e-01 4.71246847e-01 2.28015191e-01 4.30203613e+02] [-2.57278895e-01 -2.40321246e-03 9.66334204e-01 4.53013028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9692541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:550.66, Y:430.23, Z:45.29 [[ 4.56929722e-01 -8.81487302e-01 1.19144307e-01 5.50659688e+02] [ 8.51472177e-01 4.72199597e-01 2.28084793e-01 4.30227818e+02] [-2.57313743e-01 -2.77065833e-03 9.66323942e-01 4.52933681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1078.9992541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:550.67, Y:430.25, Z:45.29 [[ 4.58780214e-01 -8.80451842e-01 1.19688216e-01 5.50672085e+02] [ 8.50077039e-01 4.74123019e-01 2.29295422e-01 4.30252372e+02] [-2.58630515e-01 -3.45199881e-03 9.65970155e-01 4.52878090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.0292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:550.68, Y:430.28, Z:45.28 [[ 4.58541007e-01 -8.80585798e-01 1.19619387e-01 5.50684811e+02] [ 8.50206116e-01 4.73874144e-01 2.29331324e-01 4.30276850e+02] [-2.58630441e-01 -3.45668187e-03 9.65970158e-01 4.52803093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.0592541539997 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:550.70, Y:430.30, Z:45.27 [[ 4.58807380e-01 -8.80472398e-01 1.19432593e-01 5.50696814e+02] [ 8.50143495e-01 4.74083807e-01 2.29130056e-01 4.30300881e+02] [-2.58363748e-01 -3.59171891e-03 9.66041031e-01 4.52723567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.089254154 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:550.71, Y:430.32, Z:45.26 [[ 4.59402142e-01 -8.80177807e-01 1.19317645e-01 5.50707864e+02] [ 8.49853533e-01 4.74628603e-01 2.29077850e-01 4.30324333e+02] [-2.58260807e-01 -3.83633269e-03 9.66067616e-01 4.52629950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.119254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:550.72, Y:430.35, Z:45.26 [[ 4.59898660e-01 -8.79891821e-01 1.19514042e-01 5.50720827e+02] [ 8.49431932e-01 4.75156805e-01 2.29546081e-01 4.30348971e+02] [-2.58763630e-01 -4.04889146e-03 9.65932187e-01 4.52575958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.149254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.73, Y:430.37, Z:45.25 [[ 4.60517192e-01 -8.79640406e-01 1.18981816e-01 5.50733068e+02] [ 8.49403659e-01 4.75620311e-01 2.28689188e-01 4.30371966e+02] [-2.57754418e-01 -4.25171282e-03 9.66201109e-01 4.52513398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.1792541539999 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:550.74, Y:430.40, Z:45.24 [[ 4.59696383e-01 -8.80160005e-01 1.18311457e-01 5.50744889e+02] [ 8.50262511e-01 4.74660431e-01 2.27488765e-01 4.30395981e+02] [-2.56384280e-01 -3.97996615e-03 9.66566739e-01 4.52408787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.76, Y:430.42, Z:45.24 [[ 4.58987591e-01 -8.80547192e-01 1.18182205e-01 5.50758276e+02] [ 8.50686371e-01 4.73942944e-01 2.27400053e-01 4.30419668e+02] [-2.56248100e-01 -3.83781150e-03 9.66603426e-01 4.52355686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2392541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:550.77, Y:430.44, Z:45.23 [[ 4.57004053e-01 -8.81674666e-01 1.17460970e-01 5.50770454e+02] [ 8.52178445e-01 4.71846520e-01 2.26169759e-01 4.30442934e+02] [-2.54831696e-01 -3.26279032e-03 9.66979917e-01 4.52256412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2692541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:550.78, Y:430.47, Z:45.22 [[ 4.53241514e-01 -8.83656477e-01 1.17146747e-01 5.50783781e+02] [ 8.54340595e-01 4.68130604e-01 2.25734104e-01 4.30465478e+02] [-2.54311380e-01 -2.22884568e-03 9.67119824e-01 4.52187878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.80, Y:430.49, Z:45.21 [[ 4.51243868e-01 -8.84638440e-01 1.17447017e-01 5.50797622e+02] [ 8.55177560e-01 4.66274438e-01 2.26405586e-01 4.30488758e+02] [-2.55049626e-01 -1.72607897e-03 9.66926424e-01 4.52137015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.329254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:550.81, Y:430.51, Z:45.21 [[ 4.45279307e-01 -8.87634637e-01 1.17605654e-01 5.50811342e+02] [ 8.58169950e-01 4.60548311e-01 2.26802977e-01 4.30510907e+02] [-2.55481264e-01 -6.50344161e-05 9.66814005e-01 4.52056370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.359254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:550.83, Y:430.53, Z:45.20 [[ 4.42330294e-01 -8.89057518e-01 1.17985769e-01 5.50825091e+02] [ 8.59424644e-01 4.57794954e-01 2.27624828e-01 4.30534890e+02] [-2.56384854e-01 7.14520458e-04 9.66574517e-01 4.51993760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.389254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:550.84, Y:430.56, Z:45.19 [[ 4.35756245e-01 -8.92280238e-01 1.18120584e-01 5.50838873e+02] [ 8.62650085e-01 4.51474924e-01 2.28046541e-01 4.30558152e+02] [-2.56809903e-01 2.52402789e-03 9.66458640e-01 4.51912873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:550.85, Y:430.58, Z:45.18 [[ 4.32734954e-01 -8.93767609e-01 1.17982712e-01 5.50851580e+02] [ 8.64217337e-01 4.48518032e-01 2.27947297e-01 4.30581238e+02] [-2.56649284e-01 3.32194208e-03 9.66498893e-01 4.51840797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4492541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:550.86, Y:430.60, Z:45.17 [[ 4.26956195e-01 -8.96612234e-01 1.17451733e-01 5.50864545e+02] [ 8.67412669e-01 4.42788821e-01 2.27009518e-01 4.30604446e+02] [-2.55545826e-01 4.95600112e-03 9.66784241e-01 4.51749403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.88, Y:430.63, Z:45.17 [[ 4.25080884e-01 -8.97490330e-01 1.17547221e-01 5.50878070e+02] [ 8.68232354e-01 4.41000907e-01 2.27356062e-01 4.30628860e+02] [-2.55888298e-01 5.41358507e-03 9.66691198e-01 4.51697177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.5092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:550.89, Y:430.65, Z:45.16 [[ 4.21132765e-01 -8.99421089e-01 1.16999569e-01 5.50890385e+02] [ 8.70469421e-01 4.37035205e-01 2.26457980e-01 4.30651574e+02] [-2.54814014e-01 6.47567139e-03 9.66968399e-01 4.51623404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.89, Y:430.67, Z:45.14 [[ 4.17490934e-01 -8.98781712e-01 1.33763802e-01 5.50888900e+02] [ 8.71201003e-01 4.37752088e-01 2.22220436e-01 4.30674102e+02] [-2.58283048e-01 2.37601409e-02 9.65777057e-01 4.51418342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.91, Y:430.70, Z:45.14 [[ 4.16276549e-01 -9.02034445e-01 1.14226509e-01 5.50912204e+02] [ 8.72364267e-01 4.31644421e-01 2.29485687e-01 4.30697586e+02] [-2.56309230e-01 4.11761474e-03 9.66586067e-01 4.51439481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.599254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:550.93, Y:430.72, Z:45.15 [[ 4.18513087e-01 -9.02546430e-01 1.01275553e-01 5.50933283e+02] [ 8.72563975e-01 4.30513642e-01 2.30846515e-01 4.30721786e+02] [-2.51950205e-01 -8.24288882e-03 9.67705094e-01 4.51471567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.629254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:550.94, Y:430.75, Z:45.13 [[ 4.19164848e-01 -9.00541909e-01 1.15434396e-01 5.50936115e+02] [ 8.72428980e-01 4.34711563e-01 2.23368602e-01 4.30747302e+02] [-2.51333454e-01 7.08004656e-03 9.67874666e-01 4.51336861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:550.95, Y:430.77, Z:45.13 [[ 4.20046567e-01 -9.00077941e-01 1.15847235e-01 5.50948196e+02] [ 8.71720021e-01 4.35676045e-01 2.24255634e-01 4.30771907e+02] [-2.52319414e-01 6.78854475e-03 9.67620188e-01 4.51279242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.6892541539999 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:550.96, Y:430.80, Z:45.12 [[ 4.22054775e-01 -8.99150480e-01 1.15750511e-01 5.50958361e+02] [ 8.70764174e-01 4.37596324e-01 2.24230264e-01 4.30796578e+02] [-2.52268747e-01 6.15394419e-03 9.67637643e-01 4.51194159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7192541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:550.97, Y:430.82, Z:45.11 [[ 4.23842556e-01 -8.98280560e-01 1.15972077e-01 5.50969678e+02] [ 8.69708918e-01 4.39387055e-01 2.24823075e-01 4.30821011e+02] [-2.52910827e-01 5.57236279e-03 9.67473546e-01 4.51128023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7492541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:550.98, Y:430.85, Z:45.11 [[ 4.25708013e-01 -8.97387324e-01 1.16054637e-01 5.50980705e+02] [ 8.68698625e-01 4.41215702e-01 2.25147513e-01 4.30845846e+02] [-2.53249652e-01 4.96940336e-03 9.67388194e-01 4.51060027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.7792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:550.99, Y:430.87, Z:45.10 [[ 4.30526600e-01 -8.95066073e-01 1.16204868e-01 5.50989587e+02] [ 8.66173851e-01 4.45919620e-01 2.25607075e-01 4.30870334e+02] [-2.53751270e-01 3.52377085e-03 9.67263085e-01 4.50990955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.8092541539997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:551.00, Y:430.90, Z:45.09 [[ 4.35803273e-01 -8.92506821e-01 1.16219973e-01 5.50999391e+02] [ 8.63487273e-01 4.51029581e-01 2.25747752e-01 4.30895602e+02] [-2.53900054e-01 1.97285856e-03 9.67228448e-01 4.50926536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.839254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:551.01, Y:430.92, Z:45.08 [[ 4.37903778e-01 -8.91538479e-01 1.15755875e-01 5.51010040e+02] [ 8.62677684e-01 4.52943021e-01 2.25010741e-01 4.30919693e+02] [-2.53036550e-01 1.32695632e-03 9.67455810e-01 4.50844919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.869254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:551.02, Y:430.95, Z:45.08 [[ 4.42723011e-01 -8.89125891e-01 1.15980538e-01 5.51020450e+02] [ 8.60045660e-01 4.57662692e-01 2.25535635e-01 4.30945521e+02] [-2.53609538e-01 -1.01256877e-04 9.67306669e-01 4.50796047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.03, Y:430.97, Z:45.07 [[ 4.44935822e-01 -8.88029922e-01 1.15909328e-01 5.51031260e+02] [ 8.58906588e-01 4.59784961e-01 2.25559888e-01 4.30969852e+02] [-2.53597295e-01 -8.04388932e-04 9.67309550e-01 4.50721145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9292541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:551.04, Y:430.99, Z:45.06 [[ 4.49107577e-01 -8.86042477e-01 1.15026579e-01 5.51040022e+02] [ 8.57260957e-01 4.63599772e-01 2.24006480e-01 4.30993939e+02] [-2.51805552e-01 -1.99521207e-03 9.67775792e-01 4.50638476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.05, Y:431.02, Z:45.06 [[ 4.51223058e-01 -8.84915871e-01 1.15419471e-01 5.51051836e+02] [ 8.55874706e-01 4.65743207e-01 2.24859405e-01 4.31018814e+02] [-2.52737491e-01 -2.67714265e-03 9.67531185e-01 4.50572614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1079.9892541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:551.06, Y:431.04, Z:45.05 [[ 4.52731618e-01 -8.84269393e-01 1.14462755e-01 5.51062967e+02] [ 8.55653351e-01 4.66966907e-01 2.23157456e-01 4.31043317e+02] [-2.50781627e-01 -3.08999672e-03 9.68038753e-01 4.50486813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.07, Y:431.07, Z:45.04 [[ 4.56432888e-01 -8.82268662e-01 1.15199941e-01 5.51074517e+02] [ 8.53170118e-01 4.70726558e-01 2.24760443e-01 4.31068653e+02] [-2.52526768e-01 -4.30291046e-03 9.67580341e-01 4.50431881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.09, Y:431.09, Z:45.04 [[ 4.58573049e-01 -8.81180784e-01 1.15026890e-01 5.51085946e+02] [ 8.52094505e-01 4.72753285e-01 2.24586923e-01 4.31093129e+02] [-2.52281021e-01 -4.97572942e-03 9.67641219e-01 4.50365144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.10, Y:431.12, Z:45.03 [[ 4.58983345e-01 -8.81005466e-01 1.14732984e-01 5.51098089e+02] [ 8.52021685e-01 4.73078171e-01 2.24178707e-01 4.31117293e+02] [-2.51780336e-01 -5.13930223e-03 9.67770763e-01 4.50293593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.109254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:551.11, Y:431.14, Z:45.02 [[ 4.59468555e-01 -8.80912107e-01 1.13501133e-01 5.51109421e+02] [ 8.52512302e-01 4.73251197e-01 2.21937109e-01 4.31140385e+02] [-2.49221634e-01 -5.21201102e-03 9.68432451e-01 4.50213473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.139254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:551.12, Y:431.16, Z:45.01 [[ 4.59536647e-01 -8.80912275e-01 1.13223820e-01 5.51122089e+02] [ 8.52631205e-01 4.73250568e-01 2.21481216e-01 4.31164925e+02] [-2.48688759e-01 -5.24057331e-03 9.68569273e-01 4.50140315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1692541539999 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:551.13, Y:431.19, Z:45.01 [[ 4.59637477e-01 -8.80977058e-01 1.12306779e-01 5.51134443e+02] [ 8.53119620e-01 4.73129954e-01 2.19852135e-01 4.31188297e+02] [-2.46820389e-01 -5.24116374e-03 9.69047071e-01 4.50068076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.15, Y:431.21, Z:45.00 [[ 4.59794479e-01 -8.80858296e-01 1.12595293e-01 5.51146883e+02] [ 8.52829029e-01 4.73349664e-01 2.20505654e-01 4.31211759e+02] [-2.47531178e-01 -5.36274803e-03 9.68865087e-01 4.50003284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.16, Y:431.24, Z:44.99 [[ 4.59335116e-01 -8.81194926e-01 1.11833595e-01 5.51159773e+02] [ 8.53533216e-01 4.72724567e-01 2.19117622e-01 4.31235525e+02] [-2.45951824e-01 -5.19473044e-03 9.69268134e-01 4.49933701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.15, Y:431.26, Z:44.96 [[ 4.53658202e-01 -8.79619385e-01 1.43052347e-01 5.51151459e+02] [ 8.54135086e-01 4.74961850e-01 2.11812409e-01 4.31259548e+02] [-2.54258708e-01 2.60955920e-02 9.66784117e-01 4.49646122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.2892541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:551.20, Y:431.28, Z:44.99 [[ 4.56526904e-01 -8.86070675e-01 8.03862273e-02 5.51202486e+02] [ 8.55546481e-01 4.61998323e-01 2.33661657e-01 4.31278431e+02] [-2.44179044e-01 -3.78986789e-02 9.68989311e-01 4.49920896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.3192541539997 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:551.20, Y:431.30, Z:44.97 [[ 4.54090009e-01 -8.84072147e-01 1.10538237e-01 5.51201065e+02] [ 8.57041348e-01 4.67335075e-01 2.16974783e-01 4.31304333e+02] [-2.43479757e-01 -3.79024163e-03 9.69898573e-01 4.49732191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.349254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:551.22, Y:431.33, Z:44.97 [[ 4.51799528e-01 -8.85198458e-01 1.10909316e-01 5.51215178e+02] [ 8.57994820e-01 4.65202335e-01 2.17788148e-01 4.31328353e+02] [-2.44381006e-01 -3.23696379e-03 9.69673887e-01 4.49666152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.23, Y:431.35, Z:44.96 [[ 4.46646159e-01 -8.87683914e-01 1.11912809e-01 5.51231180e+02] [ 8.60012661e-01 4.60449072e-01 2.19920156e-01 4.31351457e+02] [-2.46749734e-01 -1.98006064e-03 9.69077215e-01 4.49605291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.24, Y:431.37, Z:44.95 [[ 4.43355924e-01 -8.89336141e-01 1.11878293e-01 5.51244788e+02] [ 8.61693076e-01 4.57252590e-01 2.20011618e-01 4.31374666e+02] [-2.46820922e-01 -1.13870338e-03 9.69060440e-01 4.49536984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.26, Y:431.40, Z:44.95 [[ 4.36720505e-01 -8.92604949e-01 1.11944651e-01 5.51260394e+02] [ 8.64991659e-01 4.50839239e-01 2.20302996e-01 4.31397034e+02] [-2.47112585e-01 6.20353536e-04 9.68986576e-01 4.49471669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4692541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:551.27, Y:431.42, Z:44.94 [[ 4.33130037e-01 -8.94478004e-01 1.10939047e-01 5.51273897e+02] [ 8.67384968e-01 4.47109117e-01 2.18487425e-01 4.31419636e+02] [-2.45034055e-01 1.59339518e-03 9.69513163e-01 4.49404393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.4992541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:551.29, Y:431.44, Z:44.93 [[ 4.29452820e-01 -8.96224707e-01 1.11137530e-01 5.51287581e+02] [ 8.69068807e-01 4.43593014e-01 2.18962661e-01 4.31442644e+02] [-2.45539578e-01 2.55202874e-03 9.69383207e-01 4.49333835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.30, Y:431.47, Z:44.93 [[ 4.23096958e-01 -8.99281002e-01 1.10827091e-01 5.51303247e+02] [ 8.72340319e-01 4.37350893e-01 2.18509875e-01 4.31465811e+02] [-2.44972106e-01 4.22807642e-03 9.69520908e-01 4.49265239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.5592541539997 meters Centerline goodness : 0.999757 Centerline is valid? [True, True] Translation: X:551.32, Y:431.49, Z:44.92 [[ 4.17361588e-01 -9.02118148e-01 1.09508687e-01 5.51317722e+02] [ 8.75879831e-01 4.31450941e-01 2.16066211e-01 4.31489226e+02] [-2.42164877e-01 5.73871361e-03 9.70218140e-01 4.49202747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.589254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:551.33, Y:431.51, Z:44.91 [[ 4.15110595e-01 -9.03161151e-01 1.09467479e-01 5.51330733e+02] [ 8.76938412e-01 4.29255859e-01 2.16144466e-01 4.31512495e+02] [-2.42202841e-01 6.27237953e-03 9.70205360e-01 4.49133780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.619254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:551.34, Y:431.54, Z:44.91 [[ 4.13088023e-01 -9.04075285e-01 1.09572647e-01 5.51343194e+02] [ 8.77796566e-01 4.27319919e-01 2.16496827e-01 4.31535499e+02] [-2.42552006e-01 6.75024737e-03 9.70114920e-01 4.49064355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.36, Y:431.56, Z:44.90 [[ 4.10417679e-01 -9.05352165e-01 1.09063221e-01 5.51356357e+02] [ 8.79339417e-01 4.24596735e-01 2.15591752e-01 4.31559179e+02] [-2.41494347e-01 7.42092312e-03 9.70373851e-01 4.49003205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.6792541539999 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:551.37, Y:431.58, Z:44.89 [[ 4.09020556e-01 -9.06004163e-01 1.08897392e-01 5.51368682e+02] [ 8.80055485e-01 4.23198281e-01 2.15419492e-01 4.31582756e+02] [-2.41256146e-01 7.72474646e-03 9.70430729e-01 4.48933937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7092541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:551.38, Y:431.61, Z:44.89 [[ 4.08969192e-01 -9.06172061e-01 1.07686563e-01 5.51381025e+02] [ 8.80778198e-01 4.22839596e-01 2.13158259e-01 4.31607634e+02] [-2.38692201e-01 7.67281647e-03 9.71064962e-01 4.48874854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.39, Y:431.63, Z:44.88 [[ 4.09215807e-01 -9.05952951e-01 1.08589471e-01 5.51393397e+02] [ 8.80079024e-01 4.23311152e-01 2.15101326e-01 4.31631993e+02] [-2.40838816e-01 7.54445292e-03 9.70535804e-01 4.48798267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.41, Y:431.66, Z:44.87 [[ 4.11261974e-01 -9.05030319e-01 1.08552800e-01 5.51405227e+02] [ 8.79103743e-01 4.25290573e-01 2.15184891e-01 4.31657289e+02] [-2.40915333e-01 6.93181024e-03 9.70521382e-01 4.48735844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.42, Y:431.68, Z:44.87 [[ 4.14526301e-01 -9.03548700e-01 1.08479002e-01 5.51415970e+02] [ 8.77569236e-01 4.28443481e-01 2.15193914e-01 4.31682001e+02] [-2.40915302e-01 5.99429779e-03 9.70527633e-01 4.48671722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.829254154 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:551.43, Y:431.71, Z:44.86 [[ 4.16163389e-01 -9.02917386e-01 1.07462685e-01 5.51427261e+02] [ 8.77371104e-01 4.29778895e-01 2.13330840e-01 4.31707118e+02] [-2.38805319e-01 5.50416891e-03 9.71051865e-01 4.48613535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.859254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:551.44, Y:431.73, Z:44.85 [[ 4.20336465e-01 -9.00856700e-01 1.08510192e-01 5.51438109e+02] [ 8.74695133e-01 4.34095263e-01 2.15568383e-01 4.31732196e+02] [-2.41299983e-01 4.30208493e-03 9.70441039e-01 4.48540062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.45, Y:431.76, Z:44.85 [[ 4.22490494e-01 -8.99854579e-01 1.08459756e-01 5.51449206e+02] [ 8.73644485e-01 4.36174726e-01 2.15631451e-01 4.31756437e+02] [-2.41344353e-01 3.65302962e-03 9.70432666e-01 4.48470758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.46, Y:431.78, Z:44.84 [[ 4.22250754e-01 -8.99972162e-01 1.08417748e-01 5.51461553e+02] [ 8.73760461e-01 4.35931905e-01 2.15652570e-01 4.31781116e+02] [-2.41344065e-01 3.67168158e-03 9.70432667e-01 4.48396061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9492541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:551.46, Y:431.81, Z:44.82 [[ 4.23216998e-01 -8.96731637e-01 1.29459431e-01 5.51461020e+02] [ 8.72546539e-01 4.41880028e-01 2.08337654e-01 4.31808031e+02] [-2.44028502e-01 2.47873418e-02 9.69451225e-01 4.48184327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1080.9792541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:551.49, Y:431.83, Z:44.83 [[ 4.27869227e-01 -8.99634868e-01 8.70920719e-02 5.51493138e+02] [ 8.71476037e-01 4.36182992e-01 2.24218455e-01 4.31829948e+02] [-2.39702820e-01 -2.00375233e-02 9.70639509e-01 4.48349235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.0092541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:551.48, Y:431.86, Z:44.80 [[ 4.29998779e-01 -8.92171539e-01 1.38314840e-01 5.51476018e+02] [ 8.68454283e-01 4.50615743e-01 2.06718674e-01 4.31859621e+02] [-2.46755362e-01 3.12313377e-02 9.68574414e-01 4.47983934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.51, Y:431.88, Z:44.81 [[ 4.32618596e-01 -8.96665408e-01 9.39802972e-02 5.51513596e+02] [ 8.67721676e-01 4.42402222e-01 2.26581923e-01 4.31881340e+02] [-2.44745265e-01 -1.64748125e-02 9.69447438e-01 4.48138113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.0692541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:551.52, Y:431.91, Z:44.81 [[ 4.35405476e-01 -8.95147790e-01 9.55641507e-02 5.51521565e+02] [ 8.67507240e-01 4.45568640e-01 2.21132938e-01 4.31906921e+02] [-2.40527049e-01 -1.33798995e-02 9.70550214e-01 4.48096804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.099254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:551.51, Y:431.93, Z:44.78 [[ 4.35863323e-01 -8.90463312e-01 1.30760290e-01 5.51514917e+02] [ 8.65903549e-01 4.54513909e-01 2.08873528e-01 4.31934215e+02] [-2.45426584e-01 2.21854892e-02 9.69161285e-01 4.47812348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.129254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:551.53, Y:431.96, Z:44.78 [[ 4.36895560e-01 -8.92017775e-01 1.15873032e-01 5.51533717e+02] [ 8.65390883e-01 4.51963961e-01 2.16395929e-01 4.31957743e+02] [-2.45399450e-01 5.73304463e-03 9.69405097e-01 4.47778316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.1592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:551.55, Y:431.98, Z:44.77 [[ 4.37512402e-01 -8.92177624e-01 1.12258568e-01 5.51547242e+02] [ 8.65099195e-01 4.51681620e-01 2.18144669e-01 4.31982167e+02] [-2.45328924e-01 1.67379888e-03 9.69438455e-01 4.47716871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.1892541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:551.57, Y:432.00, Z:44.79 [[ 4.40853586e-01 -8.94251532e-01 7.72160138e-02 5.51574454e+02] [ 8.66106626e-01 4.46399330e-01 2.24915430e-01 4.32004909e+02] [-2.35600145e-01 -3.22774725e-02 9.71313923e-01 4.47867790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.56, Y:432.03, Z:44.75 [[ 4.41458876e-01 -8.87375562e-01 1.32961172e-01 5.51559296e+02] [ 8.63506094e-01 4.60424961e-01 2.05830225e-01 4.32034635e+02] [-2.43867354e-01 2.39472027e-02 9.69512891e-01 4.47479116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.60, Y:432.05, Z:44.77 [[ 4.43565481e-01 -8.92521190e-01 8.15818032e-02 5.51596565e+02] [ 8.64725185e-01 4.50117624e-01 2.22810413e-01 4.32054066e+02] [-2.35584422e-01 -2.82851679e-02 9.71442191e-01 4.47692219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.2792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:551.59, Y:432.08, Z:44.74 [[ 4.45477149e-01 -8.87414246e-01 1.18516099e-01 5.51593166e+02] [ 8.63164595e-01 4.60855557e-01 2.06298419e-01 4.32083662e+02] [-2.37690959e-01 1.03976690e-02 9.71285178e-01 4.47416510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.3092541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:551.62, Y:432.10, Z:44.75 [[ 4.44202599e-01 -8.90964846e-01 9.41578128e-02 5.51615385e+02] [ 8.64588654e-01 4.53844159e-01 2.15666266e-01 4.32104225e+02] [-2.34884035e-01 -1.43917395e-02 9.71916852e-01 4.47489342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.62, Y:432.13, Z:44.74 [[ 4.43907819e-01 -8.89897539e-01 1.05015323e-01 5.51623001e+02] [ 8.64689172e-01 4.56153284e-01 2.10325502e-01 4.32129425e+02] [-2.35071231e-01 -2.55952217e-03 9.71974776e-01 4.47376227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.369254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:551.64, Y:432.15, Z:44.73 [[ 4.41812170e-01 -8.90967370e-01 1.04781450e-01 5.51636096e+02] [ 8.65863224e-01 4.54062652e-01 2.10019011e-01 4.32152406e+02] [-2.34697429e-01 -2.06255107e-03 9.72066285e-01 4.47314731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.399254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:551.65, Y:432.17, Z:44.72 [[ 4.39098668e-01 -8.92172669e-01 1.05925867e-01 5.51650054e+02] [ 8.66523208e-01 4.51692099e-01 2.12395333e-01 4.32174313e+02] [-2.37339188e-01 -1.47528593e-03 9.71425722e-01 4.47245676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:551.66, Y:432.20, Z:44.72 [[ 4.37749383e-01 -8.92852760e-01 1.05780084e-01 5.51663117e+02] [ 8.67260947e-01 4.50347179e-01 2.12240119e-01 4.32197879e+02] [-2.37136938e-01 -1.16904582e-03 9.71475530e-01 4.47182975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4592541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:551.68, Y:432.22, Z:44.71 [[ 4.35671236e-01 -8.93849438e-01 1.05942236e-01 5.51677650e+02] [ 8.68169374e-01 4.48366695e-01 2.12718701e-01 4.32221529e+02] [-2.37639461e-01 -6.99614737e-04 9.71353178e-01 4.47118514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.69, Y:432.25, Z:44.70 [[ 4.34541369e-01 -8.94353715e-01 1.06326058e-01 5.51691088e+02] [ 8.68460053e-01 4.47360238e-01 2.13649138e-01 4.32245602e+02] [-2.38643951e-01 -4.99455279e-04 9.71107005e-01 4.47041844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.70, Y:432.27, Z:44.70 [[ 4.33331870e-01 -8.94936296e-01 1.06360312e-01 5.51704808e+02] [ 8.69003674e-01 4.46193861e-01 2.13877660e-01 4.32268945e+02] [-2.38864200e-01 -2.52504084e-04 9.71052949e-01 4.46971580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.5492541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:551.72, Y:432.29, Z:44.69 [[ 4.33002042e-01 -8.95152210e-01 1.05885560e-01 5.51717326e+02] [ 8.69421490e-01 4.45760561e-01 2.13081663e-01 4.32292401e+02] [-2.37940128e-01 -2.05613538e-04 9.71279802e-01 4.46904718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.579254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:551.73, Y:432.32, Z:44.68 [[ 4.32487015e-01 -8.95379892e-01 1.06065224e-01 5.51730957e+02] [ 8.69532569e-01 4.45303075e-01 2.13584369e-01 4.32315956e+02] [-2.38470320e-01 -1.45299246e-04 9.71149775e-01 4.46826738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.609254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.74, Y:432.34, Z:44.68 [[ 4.32383262e-01 -8.95439228e-01 1.05987281e-01 5.51743631e+02] [ 8.69594142e-01 4.45183732e-01 2.13582472e-01 4.32340123e+02] [-2.38433937e-01 -1.83567287e-04 9.71158702e-01 4.46754693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.639254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:551.76, Y:432.36, Z:44.67 [[ 4.33629944e-01 -8.94863321e-01 1.05757786e-01 5.51756847e+02] [ 8.69074742e-01 4.46339901e-01 2.13283345e-01 4.32363141e+02] [-2.38063362e-01 -5.74624307e-04 9.71249456e-01 4.46684977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.77, Y:432.39, Z:44.66 [[ 4.34288070e-01 -8.94558569e-01 1.05635409e-01 5.51769854e+02] [ 8.68796361e-01 4.46950048e-01 2.13139713e-01 4.32387388e+02] [-2.37879708e-01 -7.88375038e-04 9.71294303e-01 4.46613124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.78, Y:432.41, Z:44.65 [[ 4.35627472e-01 -8.93934670e-01 1.05401669e-01 5.51782951e+02] [ 8.68231613e-01 4.48195680e-01 2.12825043e-01 4.32411147e+02] [-2.37492258e-01 -1.19937418e-03 9.71388691e-01 4.46543987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.80, Y:432.44, Z:44.65 [[ 4.36144235e-01 -8.93710296e-01 1.05167072e-01 5.51795360e+02] [ 8.68078025e-01 4.48642363e-01 2.12510173e-01 4.32435756e+02] [-2.37104934e-01 -1.39186252e-03 9.71483048e-01 4.46471189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.81, Y:432.46, Z:44.64 [[ 4.37581735e-01 -8.92985321e-01 1.05353885e-01 5.51806775e+02] [ 8.67199013e-01 4.50081920e-01 2.13054305e-01 4.32459064e+02] [-2.37672246e-01 -1.86588687e-03 9.71343617e-01 4.46402251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.7892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.82, Y:432.48, Z:44.63 [[ 4.37651060e-01 -8.92892645e-01 1.05850247e-01 5.51818265e+02] [ 8.66836100e-01 4.50265330e-01 2.14140861e-01 4.32483647e+02] [-2.38865496e-01 -1.96415986e-03 9.71050677e-01 4.46330831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.8192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.83, Y:432.51, Z:44.63 [[ 4.36765273e-01 -8.93303506e-01 1.06042172e-01 5.51829148e+02] [ 8.67120936e-01 4.49450249e-01 2.14699223e-01 4.32506957e+02] [-2.39452249e-01 -1.82177735e-03 9.70906433e-01 4.46262685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.849254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:551.84, Y:432.53, Z:44.62 [[ 4.34345521e-01 -8.94413384e-01 1.06623956e-01 5.51840693e+02] [ 8.67949695e-01 4.47239438e-01 2.15963449e-01 4.32531684e+02] [-2.40847037e-01 -1.25852666e-03 9.70562271e-01 4.46198773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.85, Y:432.56, Z:44.61 [[ 4.32428351e-01 -8.95288536e-01 1.07070811e-01 5.51852663e+02] [ 8.68585994e-01 4.45485934e-01 2.17026852e-01 4.32556421e+02] [-2.42000193e-01 -8.48357068e-04 9.70275830e-01 4.46127942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.86, Y:432.58, Z:44.61 [[ 4.29158372e-01 -8.96750112e-01 1.07992258e-01 5.51863791e+02] [ 8.69582188e-01 4.42537259e-01 2.19060708e-01 4.32579883e+02] [-2.44233312e-01 -1.03593078e-04 9.69716494e-01 4.46067180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9392541539999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:551.88, Y:432.60, Z:44.60 [[ 4.28492495e-01 -8.97081103e-01 1.07887335e-01 5.51875528e+02] [ 8.69940157e-01 4.41865924e-01 2.18994587e-01 4.32603554e+02] [-2.44127642e-01 1.79883368e-05 9.69743107e-01 4.46003393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.89, Y:432.63, Z:44.59 [[ 4.27040542e-01 -8.97698637e-01 1.08505913e-01 5.51886631e+02] [ 8.70223108e-01 4.40609877e-01 2.20396640e-01 4.32627868e+02] [-2.45658540e-01 3.06051892e-04 9.69356378e-01 4.45923143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1081.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.90, Y:432.65, Z:44.58 [[ 4.26866953e-01 -8.97794704e-01 1.08394069e-01 5.51898171e+02] [ 8.70338394e-01 4.40414109e-01 2.20332685e-01 4.32652424e+02] [-2.45551795e-01 2.86778184e-04 9.69383430e-01 4.45846562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.91, Y:432.68, Z:44.58 [[ 4.26721493e-01 -8.97892531e-01 1.08156229e-01 5.51908612e+02] [ 8.70519321e-01 4.40214642e-01 2.20016318e-01 4.32676578e+02] [-2.45162964e-01 2.66395441e-04 9.69481846e-01 4.45763787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.0592541539997 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:551.92, Y:432.70, Z:44.57 [[ 4.26732395e-01 -8.97937101e-01 1.07742403e-01 5.51920235e+02] [ 8.70750595e-01 4.40123737e-01 2.19281775e-01 4.32700748e+02] [-2.44321230e-01 2.42124906e-04 9.69694322e-01 4.45694046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.93, Y:432.73, Z:44.56 [[ 4.25180523e-01 -8.98665709e-01 1.07802904e-01 5.51931348e+02] [ 8.71429924e-01 4.38633787e-01 2.19568413e-01 4.32725547e+02] [-2.44604600e-01 5.86464288e-04 9.69622734e-01 4.45614930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.94, Y:432.75, Z:44.55 [[ 4.23056916e-01 -8.99637997e-01 1.08047769e-01 5.51942524e+02] [ 8.72265953e-01 4.36635222e-01 2.20231221e-01 4.32749871e+02] [-2.45305836e-01 1.07604853e-03 9.69445145e-01 4.45543950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.149254154 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:551.95, Y:432.77, Z:44.55 [[ 4.21880772e-01 -9.00192865e-01 1.08025088e-01 5.51953764e+02] [ 8.72808055e-01 4.35489444e-01 2.20352091e-01 4.32773097e+02] [-2.45403165e-01 1.32285641e-03 9.69420206e-01 4.45475477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.97, Y:432.80, Z:44.54 [[ 4.19203453e-01 -9.01395653e-01 1.08417442e-01 5.51965681e+02] [ 8.73819950e-01 4.32991849e-01 2.21261733e-01 4.32797673e+02] [-2.46388233e-01 1.98364135e-03 9.69169182e-01 4.45400379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2092541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:551.98, Y:432.82, Z:44.53 [[ 4.18243538e-01 -9.01853863e-01 1.08314136e-01 5.51977615e+02] [ 8.74304533e-01 4.32035727e-01 2.21216442e-01 4.32821631e+02] [-2.46300479e-01 2.17719252e-03 9.69191072e-01 4.45332015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:551.99, Y:432.85, Z:44.53 [[ 4.16596485e-01 -9.02574639e-01 1.08657218e-01 5.51989188e+02] [ 8.74829319e-01 4.30525939e-01 2.22083496e-01 4.32845018e+02] [-2.47226682e-01 2.53731645e-03 9.68954349e-01 4.45255969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.00, Y:432.87, Z:44.52 [[ 4.14070020e-01 -9.03757011e-01 1.08486333e-01 5.52001010e+02] [ 8.76102461e-01 4.28034125e-01 2.21881198e-01 4.32869041e+02] [-2.46962541e-01 3.17079103e-03 9.69019840e-01 4.45175860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.01, Y:432.89, Z:44.51 [[ 4.12339081e-01 -9.04622655e-01 1.07862570e-01 5.52012354e+02] [ 8.77277599e-01 4.26198237e-01 2.20769283e-01 4.32893148e+02] [-2.45683732e-01 3.59361327e-03 9.69343381e-01 4.45098129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.329254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:552.02, Y:432.92, Z:44.50 [[ 4.12332860e-01 -9.04651554e-01 1.07643754e-01 5.52023497e+02] [ 8.77378698e-01 4.26137414e-01 2.20484749e-01 4.32917660e+02] [-2.45332902e-01 3.53122921e-03 9.69432462e-01 4.45027296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.359254154 meters Centerline goodness : 0.999734 Centerline is valid? [True, True] Translation: X:552.03, Y:432.94, Z:44.50 [[ 4.12710270e-01 -9.04509805e-01 1.07388298e-01 5.52034225e+02] [ 8.77321951e-01 4.26439544e-01 2.20126123e-01 4.32941976e+02] [-2.44900854e-01 3.36579982e-03 9.69542286e-01 4.44956925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.389254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:552.04, Y:432.97, Z:44.49 [[ 4.12496507e-01 -9.04593045e-01 1.07508396e-01 5.52044803e+02] [ 8.77308207e-01 4.26263040e-01 2.20522403e-01 4.32965649e+02] [-2.45309888e-01 3.35327696e-03 9.69438917e-01 4.44887367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.06, Y:432.99, Z:44.48 [[ 4.11641429e-01 -9.04941916e-01 1.07849256e-01 5.52056197e+02] [ 8.77465407e-01 4.25520503e-01 2.21329532e-01 4.32989793e+02] [-2.46182441e-01 3.52558608e-03 9.69217094e-01 4.44810767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.07, Y:433.01, Z:44.47 [[ 4.10938080e-01 -9.05243058e-01 1.08004169e-01 5.52067906e+02] [ 8.77655650e-01 4.24878510e-01 2.21808051e-01 4.33013939e+02] [-2.46678849e-01 3.64109474e-03 9.69090444e-01 4.44740695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.4792541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:552.08, Y:433.04, Z:44.47 [[ 4.09649581e-01 -9.05799379e-01 1.08234497e-01 5.52078691e+02] [ 8.78067478e-01 4.23688803e-01 2.22452922e-01 4.33037782e+02] [-2.47355463e-01 3.90944518e-03 9.68916917e-01 4.44677665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.5092541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:552.09, Y:433.06, Z:44.46 [[ 4.08913171e-01 -9.06111909e-01 1.08403079e-01 5.52089720e+02] [ 8.78274166e-01 4.23018626e-01 2.22911940e-01 4.33062348e+02] [-2.47839685e-01 4.05599596e-03 9.68792568e-01 4.44605535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.10, Y:433.09, Z:44.45 [[ 4.07976208e-01 -9.06457794e-01 1.09039821e-01 5.52099923e+02] [ 8.78255394e-01 4.22275348e-01 2.24390272e-01 4.33087574e+02] [-2.49445139e-01 4.21891838e-03 9.68379741e-01 4.44520281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.11, Y:433.11, Z:44.44 [[ 4.08351188e-01 -9.06276338e-01 1.09144433e-01 5.52110577e+02] [ 8.77968851e-01 4.22666408e-01 2.24775010e-01 4.33112733e+02] [-2.49839958e-01 4.03827034e-03 9.68278724e-01 4.44442155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.599254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.12, Y:433.14, Z:44.44 [[ 4.08796779e-01 -9.06094618e-01 1.08985030e-01 5.52121692e+02] [ 8.77821546e-01 4.23057606e-01 2.24614326e-01 4.33137752e+02] [-2.49628778e-01 3.84779448e-03 9.68333965e-01 4.44366327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.629254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:552.13, Y:433.16, Z:44.43 [[ 4.11463040e-01 -9.04957157e-01 1.08400693e-01 5.52131662e+02] [ 8.76907983e-01 4.25491682e-01 2.23582686e-01 4.33161908e+02] [-2.48456345e-01 3.06142085e-03 9.68638257e-01 4.44292878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.6592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:552.14, Y:433.19, Z:44.42 [[ 4.12682417e-01 -9.04407088e-01 1.08356088e-01 5.52142628e+02] [ 8.76339314e-01 4.26662152e-01 2.23581787e-01 4.33186730e+02] [-2.48440394e-01 2.68842792e-03 9.68643455e-01 4.44206706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.6892541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:552.15, Y:433.21, Z:44.41 [[ 4.16128196e-01 -9.02922821e-01 1.07553265e-01 5.52152669e+02] [ 8.75186515e-01 4.29799305e-01 2.22083590e-01 4.33211786e+02] [-2.46750660e-01 1.71392322e-03 9.69077486e-01 4.44119969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.16, Y:433.24, Z:44.40 [[ 4.20023146e-01 -9.01183659e-01 1.06997986e-01 5.52162220e+02] [ 8.73640960e-01 4.33437005e-01 2.21096892e-01 4.33236782e+02] [-2.45625793e-01 6.12010738e-04 9.69364532e-01 4.44032437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.17, Y:433.26, Z:44.39 [[ 4.23302683e-01 -8.99624651e-01 1.07192934e-01 5.52172810e+02] [ 8.71889061e-01 4.36663887e-01 2.21662166e-01 4.33261881e+02] [-2.46220032e-01 -3.69843196e-04 9.69213887e-01 4.43948358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.18, Y:433.29, Z:44.39 [[ 4.24851732e-01 -8.98866529e-01 1.07424250e-01 5.52183970e+02] [ 8.70942824e-01 4.38221607e-01 2.22307040e-01 4.33285998e+02] [-2.46899985e-01 -8.87151717e-04 9.69040562e-01 4.43873540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.8092541539997 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:552.20, Y:433.31, Z:44.38 [[ 4.26432264e-01 -8.98034956e-01 1.08114486e-01 5.52195094e+02] [ 8.69676014e-01 4.39921699e-01 2.23902948e-01 4.33310781e+02] [-2.48634582e-01 -1.45486597e-03 9.68596267e-01 4.43792846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.839254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:552.21, Y:433.34, Z:44.37 [[ 4.26193294e-01 -8.98156307e-01 1.08048709e-01 5.52207050e+02] [ 8.69793159e-01 4.39673876e-01 2.23934685e-01 4.33335667e+02] [-2.48634545e-01 -1.45943304e-03 9.68596269e-01 4.43718786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.869254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:552.22, Y:433.36, Z:44.37 [[ 4.26706594e-01 -8.97885324e-01 1.08274774e-01 5.52218600e+02] [ 8.69352332e-01 4.40226169e-01 2.24560555e-01 4.33360103e+02] [-2.49295016e-01 -1.69254254e-03 9.68426110e-01 4.43651104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.899254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:552.23, Y:433.38, Z:44.36 [[ 4.26833728e-01 -8.97758016e-01 1.08827902e-01 5.52230280e+02] [ 8.68878328e-01 4.40485071e-01 2.25883498e-01 4.33384614e+02] [-2.50725787e-01 -1.85649020e-03 9.68056369e-01 4.43570447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9292541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:552.24, Y:433.41, Z:44.35 [[ 4.27760073e-01 -8.97197933e-01 1.09805237e-01 5.52241380e+02] [ 8.67723405e-01 4.41622731e-01 2.28090894e-01 4.33407611e+02] [-2.53135167e-01 -2.28760307e-03 9.67428217e-01 4.43482245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.25, Y:433.43, Z:44.34 [[ 4.28148506e-01 -8.96989454e-01 1.09994439e-01 5.52253253e+02] [ 8.67373681e-01 4.42045045e-01 2.28602440e-01 4.33432342e+02] [-2.53676475e-01 -2.46951172e-03 9.67285970e-01 4.43403427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1082.9892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:552.27, Y:433.46, Z:44.33 [[ 4.29966628e-01 -8.96173652e-01 1.09551285e-01 5.52265236e+02] [ 8.66729212e-01 4.43693226e-01 2.27852571e-01 4.33457119e+02] [-2.52802634e-01 -3.01770269e-03 9.67513164e-01 4.43328773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.28, Y:433.48, Z:44.32 [[ 4.33033560e-01 -8.94664882e-01 1.09802935e-01 5.52276311e+02] [ 8.64989689e-01 4.46720075e-01 2.28547617e-01 4.33481232e+02] [-2.53524702e-01 -3.99038116e-03 9.67320682e-01 4.43227763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.29, Y:433.50, Z:44.31 [[ 4.34666624e-01 -8.93897896e-01 1.09596889e-01 5.52286791e+02] [ 8.64264995e-01 4.48247909e-01 2.28297680e-01 4.33504706e+02] [-2.53201392e-01 -4.51262705e-03 9.67403066e-01 4.43148891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.30, Y:433.53, Z:44.31 [[ 4.36390981e-01 -8.93078426e-01 1.09425031e-01 5.52297079e+02] [ 8.63489307e-01 4.49872948e-01 2.28036285e-01 4.33527952e+02] [-2.52881648e-01 -5.02563337e-03 9.67484168e-01 4.43070560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.109254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.31, Y:433.55, Z:44.30 [[ 4.39922734e-01 -8.91390227e-01 1.09047933e-01 5.52307687e+02] [ 8.61926755e-01 4.53196512e-01 2.27365765e-01 4.33552511e+02] [-2.52091764e-01 -6.03203806e-03 9.67684534e-01 4.42979015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.139254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.32, Y:433.58, Z:44.29 [[ 4.41174082e-01 -8.90795074e-01 1.08855708e-01 5.52318780e+02] [ 8.61373866e-01 4.54359580e-01 2.27139684e-01 4.33576065e+02] [-2.51794545e-01 -6.44267949e-03 9.67759267e-01 4.42899763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:552.33, Y:433.60, Z:44.28 [[ 4.42541020e-01 -8.90188106e-01 1.08270871e-01 5.52331203e+02] [ 8.61046051e-01 4.55542528e-01 2.26010407e-01 4.33600170e+02] [-2.50513762e-01 -6.79267040e-03 9.68089208e-01 4.42827868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.34, Y:433.62, Z:44.27 [[ 4.42534973e-01 -8.90116138e-01 1.08885535e-01 5.52342631e+02] [ 8.60588627e-01 4.55680649e-01 2.27469473e-01 4.33623286e+02] [-2.52091280e-01 -6.95754391e-03 9.67678448e-01 4.42746406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.36, Y:433.65, Z:44.27 [[ 4.41721890e-01 -8.90450549e-01 1.09451323e-01 5.52355626e+02] [ 8.60595429e-01 4.55028478e-01 2.28745693e-01 4.33646915e+02] [-2.53490197e-01 -6.84867163e-03 9.67313711e-01 4.42676008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.37, Y:433.67, Z:44.26 [[ 4.40270353e-01 -8.91100732e-01 1.10006827e-01 5.52367983e+02] [ 8.60910251e-01 4.53757678e-01 2.30081529e-01 4.33670842e+02] [-2.54942261e-01 -6.59207104e-03 9.66933808e-01 4.42600941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.38, Y:433.69, Z:44.25 [[ 4.37850824e-01 -8.92161124e-01 1.11063875e-01 5.52380529e+02] [ 8.61362599e-01 4.51675824e-01 2.32472415e-01 4.33693468e+02] [-2.57567718e-01 -6.12196979e-03 9.66240856e-01 4.42524382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.3192541539997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:552.39, Y:433.72, Z:44.25 [[ 4.36208076e-01 -8.92963606e-01 1.11078859e-01 5.52393395e+02] [ 8.62155991e-01 4.50092837e-01 2.32601560e-01 4.33717672e+02] [-2.57700526e-01 -5.69537512e-03 9.66208053e-01 4.42455021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.40, Y:433.74, Z:44.23 [[ 4.32554173e-01 -8.94004939e-01 1.16842015e-01 5.52403851e+02] [ 8.63407379e-01 4.48056733e-01 2.31889763e-01 4.33741828e+02] [-2.59662445e-01 5.77373505e-04 9.65699271e-01 4.42321443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.379254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:552.42, Y:433.76, Z:44.23 [[ 4.33391784e-01 -8.94837448e-01 1.06946267e-01 5.52422364e+02] [ 8.63042407e-01 4.46274275e-01 2.36637014e-01 4.33763939e+02] [-2.59479029e-01 -1.02573736e-02 9.65694268e-01 4.42317374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4092541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:552.43, Y:433.79, Z:44.22 [[ 4.32847090e-01 -8.94546552e-01 1.11489291e-01 5.52433208e+02] [ 8.63443225e-01 4.46947122e-01 2.33889008e-01 4.33788713e+02] [-2.59054423e-01 -4.97350355e-03 9.65849921e-01 4.42227402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.44, Y:433.81, Z:44.21 [[ 4.32669962e-01 -8.94550247e-01 1.12145259e-01 5.52444911e+02] [ 8.63023973e-01 4.46938448e-01 2.35447756e-01 4.33812846e+02] [-2.60741876e-01 -5.08712483e-03 9.65395150e-01 4.42126894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4692541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:552.46, Y:433.84, Z:44.21 [[ 4.32398917e-01 -8.94704557e-01 1.11959511e-01 5.52457202e+02] [ 8.63240726e-01 4.46629667e-01 2.35239005e-01 4.33836925e+02] [-2.60473849e-01 -5.06908107e-03 9.65467596e-01 4.42060047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.47, Y:433.86, Z:44.20 [[ 4.32271366e-01 -8.94738132e-01 1.12183517e-01 5.52468587e+02] [ 8.63098101e-01 4.46561553e-01 2.35890753e-01 4.33860805e+02] [-2.61157297e-01 -5.14343768e-03 9.65282555e-01 4.41979981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.48, Y:433.88, Z:44.19 [[ 4.32134218e-01 -8.94765717e-01 1.12491461e-01 5.52480882e+02] [ 8.62899255e-01 4.46505303e-01 2.36723237e-01 4.33883547e+02] [-2.62039871e-01 -5.22741296e-03 9.65042890e-01 4.41910093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.5592541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:552.49, Y:433.91, Z:44.18 [[ 4.31836184e-01 -8.94898364e-01 1.12580764e-01 5.52493550e+02] [ 8.62956641e-01 4.46239719e-01 2.37014661e-01 4.33907806e+02] [-2.62342040e-01 -5.19918924e-03 9.64960943e-01 4.41840218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.51, Y:433.93, Z:44.18 [[ 4.31739658e-01 -8.94915327e-01 1.12815888e-01 5.52505484e+02] [ 8.62787789e-01 4.46204679e-01 2.37694373e-01 4.33931174e+02] [-2.63055315e-01 -5.28591685e-03 9.64766273e-01 4.41764273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.619254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:552.52, Y:433.96, Z:44.17 [[ 4.31244955e-01 -8.95137373e-01 1.12946323e-01 5.52517365e+02] [ 8.62906965e-01 4.45759892e-01 2.38095967e-01 4.33955517e+02] [-2.63475539e-01 -5.21551577e-03 9.64651978e-01 4.41689038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.649254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:552.53, Y:433.98, Z:44.16 [[ 4.30136440e-01 -8.95636608e-01 1.13215322e-01 5.52528999e+02] [ 8.63216146e-01 4.44758351e-01 2.38847011e-01 4.33980004e+02] [-2.64273587e-01 -5.00750945e-03 9.64434755e-01 4.41602394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.54, Y:434.00, Z:44.15 [[ 4.29285017e-01 -8.96026266e-01 1.13363599e-01 5.52540437e+02] [ 8.63482132e-01 4.43974459e-01 2.39343452e-01 4.34004300e+02] [-2.64788562e-01 -4.85911518e-03 9.64294253e-01 4.41528033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.55, Y:434.03, Z:44.15 [[ 4.27535913e-01 -8.96806020e-01 1.13806881e-01 5.52552107e+02] [ 8.63977743e-01 4.42401270e-01 2.40465333e-01 4.34028581e+02] [-2.65999067e-01 -4.48095363e-03 9.63962871e-01 4.41452208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7392541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:552.56, Y:434.05, Z:44.14 [[ 4.26430212e-01 -8.97331621e-01 1.13812290e-01 5.52564150e+02] [ 8.64466286e-01 4.41336586e-01 2.40665863e-01 4.34052632e+02] [-2.66186617e-01 -4.24030734e-03 9.63912187e-01 4.41382089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7692541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:552.57, Y:434.08, Z:44.13 [[ 4.25052204e-01 -8.97963277e-01 1.13984986e-01 5.52574727e+02] [ 8.64966864e-01 4.40052787e-01 2.41217473e-01 4.34076302e+02] [-2.66763844e-01 -3.93678268e-03 9.63753886e-01 4.41307231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.59, Y:434.10, Z:44.12 [[ 4.24940386e-01 -8.98040252e-01 1.13795315e-01 5.52585117e+02] [ 8.65129700e-01 4.39895749e-01 2.40919763e-01 4.34100416e+02] [-2.66413720e-01 -3.92883056e-03 9.63850763e-01 4.41234739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.829254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:552.60, Y:434.12, Z:44.12 [[ 4.24372189e-01 -8.98293695e-01 1.13915242e-01 5.52596284e+02] [ 8.65292427e-01 4.39378915e-01 2.41278232e-01 4.34124509e+02] [-2.66790670e-01 -3.82177517e-03 9.63746924e-01 4.41159306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.859254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:552.61, Y:434.15, Z:44.11 [[ 4.23921142e-01 -8.98521340e-01 1.13799242e-01 5.52605658e+02] [ 8.65545067e-01 4.38913738e-01 2.41218713e-01 4.34148228e+02] [-2.66688212e-01 -3.75934007e-03 9.63775526e-01 4.41078113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.889254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:552.62, Y:434.17, Z:44.10 [[ 4.23322296e-01 -8.98833852e-01 1.13560292e-01 5.52616968e+02] [ 8.65980443e-01 4.38274717e-01 2.40817658e-01 4.34173167e+02] [-2.66225668e-01 -3.60249187e-03 9.63903997e-01 4.40998922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9192541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:552.63, Y:434.20, Z:44.09 [[ 4.20964939e-01 -8.99983259e-01 1.13219494e-01 5.52627984e+02] [ 8.67319958e-01 4.35914463e-01 2.40280402e-01 4.34198018e+02] [-2.65602354e-01 -2.95209786e-03 9.64078148e-01 4.40919361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:552.64, Y:434.22, Z:44.08 [[ 4.17634266e-01 -9.01549363e-01 1.13094499e-01 5.52638868e+02] [ 8.68964289e-01 4.32671446e-01 2.40200925e-01 4.34221170e+02] [-2.65485751e-01 -2.04105580e-03 9.64112623e-01 4.40847104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1083.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.65, Y:434.24, Z:44.09 [[ 4.15016384e-01 -9.04004532e-01 1.02650904e-01 5.52654448e+02] [ 8.71300577e-01 4.27389992e-01 2.41191002e-01 4.34244788e+02] [-2.61909728e-01 -1.06584255e-02 9.65033519e-01 4.40856164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.0092541539998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:552.66, Y:434.27, Z:44.07 [[ 4.11670928e-01 -9.03230986e-01 1.21246990e-01 5.52659456e+02] [ 8.71679835e-01 4.29076187e-01 2.36786593e-01 4.34270287e+02] [-2.65897184e-01 8.21039934e-03 9.63966429e-01 4.40671014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.0392541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:552.68, Y:434.29, Z:44.06 [[ 4.09653213e-01 -9.05187174e-01 1.13227319e-01 5.52675347e+02] [ 8.72540372e-01 4.25013140e-01 2.40908967e-01 4.34293548e+02] [-2.66190805e-01 1.06275048e-04 9.63920352e-01 4.40634792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.0692541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:552.69, Y:434.32, Z:44.06 [[ 4.06388451e-01 -9.06686358e-01 1.12996793e-01 5.52686805e+02] [ 8.74180499e-01 4.21804273e-01 2.40602600e-01 4.34316836e+02] [-2.65813625e-01 1.00147539e-03 9.64023918e-01 4.40566477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.099254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:552.70, Y:434.34, Z:44.05 [[ 4.04625521e-01 -9.07459420e-01 1.13117592e-01 5.52698868e+02] [ 8.74883246e-01 4.20137189e-01 2.40964829e-01 4.34341270e+02] [-2.66190711e-01 1.46416677e-03 9.63919271e-01 4.40488520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.129254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:552.71, Y:434.37, Z:44.04 [[ 4.03284263e-01 -9.08062586e-01 1.13066989e-01 5.52710383e+02] [ 8.75488645e-01 4.18830716e-01 2.41040378e-01 4.34366006e+02] [-2.66235676e-01 1.78107375e-03 9.63906319e-01 4.40411932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.1592541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:552.72, Y:434.39, Z:44.03 [[ 4.04331774e-01 -9.07366901e-01 1.14896148e-01 5.52719465e+02] [ 8.75513407e-01 4.20318308e-01 2.38345955e-01 4.34388965e+02] [-2.64560185e-01 4.22227544e-03 9.64359933e-01 4.40338353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.73, Y:434.41, Z:44.03 [[ 4.05061966e-01 -9.07746335e-01 1.09185142e-01 5.52734507e+02] [ 8.75051761e-01 4.19513415e-01 2.41439249e-01 4.34413007e+02] [-2.64970225e-01 -2.25520561e-03 9.64253957e-01 4.40292075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2192541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:552.75, Y:434.44, Z:44.02 [[ 4.05933066e-01 -9.07143840e-01 1.10943226e-01 5.52745419e+02] [ 8.74897513e-01 4.20820619e-01 2.39717228e-01 4.34439953e+02] [-2.64145204e-01 -2.45196468e-04 9.64482893e-01 4.40203283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2492541539998 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:552.75, Y:434.46, Z:44.01 [[ 4.07164301e-01 -9.06269379e-01 1.13547547e-01 5.52754620e+02] [ 8.74432244e-01 4.22694151e-01 2.38113221e-01 4.34463634e+02] [-2.63790605e-01 2.33843314e-03 9.64577135e-01 4.40108779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.77, Y:434.49, Z:44.01 [[ 4.09530756e-01 -9.05860123e-01 1.08175775e-01 5.52767540e+02] [ 8.73971302e-01 4.23566115e-01 2.38255976e-01 4.34489117e+02] [-2.61646180e-01 -3.03062713e-03 9.65159102e-01 4.40059805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.3092541539997 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:552.77, Y:434.51, Z:43.99 [[ 4.10642323e-01 -9.04854399e-01 1.12300487e-01 5.52774844e+02] [ 8.73909597e-01 4.25717387e-01 2.34620382e-01 4.34514771e+02] [-2.60105555e-01 1.79541480e-03 9.65578519e-01 4.39947847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.339254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:552.79, Y:434.54, Z:43.99 [[ 4.11515612e-01 -9.05027923e-01 1.07607433e-01 5.52788333e+02] [ 8.73455309e-01 4.25337473e-01 2.36989150e-01 4.34539933e+02] [-2.60251272e-01 -3.53445181e-03 9.65534455e-01 4.39896053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.369254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:552.80, Y:434.57, Z:43.98 [[ 4.11634785e-01 -9.04655457e-01 1.10251110e-01 5.52798147e+02] [ 8.73353322e-01 4.26142965e-01 2.35915554e-01 4.34565227e+02] [-2.60405029e-01 -8.22874889e-04 9.65499117e-01 4.39812535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.399254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:552.81, Y:434.59, Z:43.98 [[ 4.13451760e-01 -9.03841888e-01 1.10124853e-01 5.52808622e+02] [ 8.72533960e-01 4.27864269e-01 2.35831840e-01 4.34589957e+02] [-2.60273185e-01 -1.41741547e-03 9.65533977e-01 4.39760432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4292541539999 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:552.82, Y:434.61, Z:43.97 [[ 4.12844666e-01 -9.04084015e-01 1.10414566e-01 5.52819285e+02] [ 8.72588438e-01 4.27352742e-01 2.36556658e-01 4.34614705e+02] [-2.61053060e-01 -1.31468024e-03 9.65323558e-01 4.39682196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4592541539998 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:552.83, Y:434.64, Z:43.96 [[ 4.13377416e-01 -9.03811716e-01 1.10650321e-01 5.52829556e+02] [ 8.72120354e-01 4.27927465e-01 2.37242856e-01 4.34640429e+02] [-2.61773185e-01 -1.57044170e-03 9.65128144e-01 4.39610546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.4892541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:552.84, Y:434.67, Z:43.95 [[ 4.13673876e-01 -9.03678576e-01 1.10629814e-01 5.52840100e+02] [ 8.71944733e-01 4.28207915e-01 2.37382318e-01 4.34665024e+02] [-2.61889877e-01 -1.73577978e-03 9.65096202e-01 4.39539134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.5192541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:552.85, Y:434.69, Z:43.95 [[ 4.13904718e-01 -9.03581288e-01 1.10561023e-01 5.52850099e+02] [ 8.71834397e-01 4.28412570e-01 2.37418312e-01 4.34689756e+02] [-2.61892476e-01 -1.87765657e-03 9.65095231e-01 4.39465940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.5492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:552.86, Y:434.71, Z:43.94 [[ 4.14901022e-01 -9.03205787e-01 1.09892900e-01 5.52860591e+02] [ 8.71785605e-01 4.29202214e-01 2.36167986e-01 4.34714420e+02] [-2.60474568e-01 -2.18329062e-03 9.65478241e-01 4.39409767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.87, Y:434.74, Z:43.93 [[ 4.16145078e-01 -9.02719983e-01 1.09178326e-01 5.52870835e+02] [ 8.71670791e-01 4.30221228e-01 2.34733310e-01 4.34739696e+02] [-2.58869283e-01 -2.51555356e-03 9.65909088e-01 4.39334152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.609254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.88, Y:434.77, Z:43.93 [[ 4.17608417e-01 -9.02190700e-01 1.07959021e-01 5.52880765e+02] [ 8.71779037e-01 4.31327711e-01 2.32288004e-01 4.34765210e+02] [-2.56133795e-01 -2.88901418e-03 9.66637022e-01 4.39254954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.639254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:552.89, Y:434.79, Z:43.92 [[ 4.17008435e-01 -9.02506047e-01 1.07641998e-01 5.52891405e+02] [ 8.72238658e-01 4.30668293e-01 2.31785560e-01 4.34789408e+02] [-2.55545865e-01 -2.76702174e-03 9.66792974e-01 4.39166195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6692541539999 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:552.90, Y:434.81, Z:43.91 [[ 4.17265014e-01 -9.02434054e-01 1.07250577e-01 5.52902157e+02] [ 8.72340925e-01 4.30818392e-01 2.31120800e-01 4.34814033e+02] [-2.54776801e-01 -2.87955634e-03 9.66995600e-01 4.39092423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.90, Y:434.84, Z:43.90 [[ 4.15833929e-01 -9.02182891e-01 1.14665492e-01 5.52904449e+02] [ 8.72809979e-01 4.31323473e-01 2.28391773e-01 4.34838860e+02] [-2.55509069e-01 5.10813720e-03 9.66793165e-01 4.38989674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.92, Y:434.86, Z:43.90 [[ 4.15696280e-01 -9.03386742e-01 1.05304313e-01 5.52920995e+02] [ 8.72938817e-01 4.28800218e-01 2.32611681e-01 4.34862730e+02] [-2.55292821e-01 -4.77158817e-03 9.66852009e-01 4.38952600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.94, Y:434.89, Z:43.90 [[ 4.17356957e-01 -9.03905467e-01 9.36380078e-02 5.52942611e+02] [ 8.72491146e-01 4.27388201e-01 2.36851274e-01 4.34887922e+02] [-2.54110941e-01 -1.71531944e-02 9.67022956e-01 4.38951521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.7892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:552.95, Y:434.91, Z:43.88 [[ 4.14911682e-01 -9.03128388e-01 1.10487156e-01 5.52945029e+02] [ 8.73686878e-01 4.29367507e-01 2.28724252e-01 4.34914287e+02] [-2.54006960e-01 1.63081436e-03 9.67201016e-01 4.38817180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.8192541539997 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:552.96, Y:434.94, Z:43.88 [[ 4.12344898e-01 -9.04729737e-01 1.06938243e-01 5.52958606e+02] [ 8.74731257e-01 4.25982522e-01 2.31050035e-01 4.34938226e+02] [-2.54591660e-01 -1.73007886e-03 9.67047100e-01 4.38752904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.97, Y:434.96, Z:43.87 [[ 4.09545232e-01 -9.05949860e-01 1.07366448e-01 5.52970115e+02] [ 8.75700429e-01 4.23383674e-01 2.32153015e-01 4.34963509e+02] [-2.55776193e-01 -1.05631544e-03 9.66735447e-01 4.38705724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.879254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:552.98, Y:434.99, Z:43.86 [[ 4.03144293e-01 -9.07941011e-01 1.14532965e-01 5.52975060e+02] [ 8.77708700e-01 4.19042530e-01 2.32445253e-01 4.34987310e+02] [-2.59040762e-01 6.81760267e-03 9.65842329e-01 4.38576800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:552.99, Y:435.01, Z:43.85 [[ 4.01878081e-01 -9.08487242e-01 1.14651382e-01 5.52985936e+02] [ 8.77623589e-01 4.17866135e-01 2.34871728e-01 4.35012236e+02] [-2.61286899e-01 6.23095785e-03 9.65241075e-01 4.38499431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9392541539999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:553.00, Y:435.03, Z:43.84 [[ 3.98114347e-01 -9.11085974e-01 1.06898621e-01 5.53000404e+02] [ 8.79285909e-01 4.12215173e-01 2.38610440e-01 4.35034540e+02] [-2.61459858e-01 -9.99788487e-04 9.65213833e-01 4.38436592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:553.02, Y:435.06, Z:43.85 [[ 4.01654943e-01 -9.11034998e-01 9.32123307e-02 5.53022370e+02] [ 8.78942523e-01 4.12073460e-01 2.40115608e-01 4.35060134e+02] [-2.57164051e-01 -1.45153399e-02 9.66258742e-01 4.38471749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1084.9992541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:553.02, Y:435.09, Z:43.82 [[ 3.98858897e-01 -9.09201568e-01 1.19432360e-01 5.53016027e+02] [ 8.79594221e-01 4.16149704e-01 2.30506899e-01 4.35086100e+02] [-2.59278976e-01 1.31122856e-02 9.65713457e-01 4.38247771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.0292541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:553.03, Y:435.11, Z:43.82 [[ 4.00124110e-01 -9.10221574e-01 1.06758527e-01 5.53031451e+02] [ 8.79458522e-01 4.14121584e-01 2.34640198e-01 4.35108502e+02] [-2.57785581e-01 4.49561491e-06 9.66202150e-01 4.38205451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.0592541539997 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:553.04, Y:435.13, Z:43.81 [[ 4.01769797e-01 -9.09164065e-01 1.09552427e-01 5.53038413e+02] [ 8.78939845e-01 4.16428143e-01 2.32491616e-01 4.35133958e+02] [-2.56993736e-01 2.88188394e-03 9.66408772e-01 4.38091324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.05, Y:435.16, Z:43.80 [[ 4.04255024e-01 -9.08380883e-01 1.06873974e-01 5.53051444e+02] [ 8.78026701e-01 4.18143615e-01 2.32862685e-01 4.35160071e+02] [-2.56216681e-01 -2.97707346e-04 9.66619327e-01 4.38044907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.07, Y:435.18, Z:43.80 [[ 4.05888079e-01 -9.08302911e-01 1.01196296e-01 5.53066466e+02] [ 8.77893893e-01 4.18273059e-01 2.33130779e-01 4.35184924e+02] [-2.54081049e-01 -5.78539390e-03 9.67165627e-01 4.38003282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.149254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:553.08, Y:435.21, Z:43.79 [[ 4.05932731e-01 -9.08181127e-01 1.02106111e-01 5.53077486e+02] [ 8.78372679e-01 4.18558253e-01 2.30803870e-01 4.35209758e+02] [-2.52349075e-01 -4.00362718e-03 9.67627984e-01 4.37915783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.1792541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:553.10, Y:435.23, Z:43.79 [[ 4.08648014e-01 -9.08313339e-01 8.92954580e-02 5.53099204e+02] [ 8.78130839e-01 4.17956004e-01 2.32806805e-01 4.35234719e+02] [-2.48783099e-01 -1.67229428e-02 9.68414846e-01 4.37949105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2092541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:553.10, Y:435.26, Z:43.78 [[ 4.06869780e-01 -9.07506650e-01 1.04348756e-01 5.53103125e+02] [ 8.78796837e-01 4.20037484e-01 2.26461106e-01 4.35260165e+02] [-2.49345348e-01 -4.38823727e-04 9.68414532e-01 4.37815915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2392541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:553.11, Y:435.28, Z:43.77 [[ 4.04216060e-01 -9.08009378e-01 1.10128772e-01 5.53109138e+02] [ 8.79336766e-01 4.18916206e-01 2.26442189e-01 4.35283840e+02] [-2.51746358e-01 5.30870908e-03 9.67778688e-01 4.37717629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2692541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:553.13, Y:435.31, Z:43.77 [[ 4.02519592e-01 -9.09723154e-01 1.01890928e-01 5.53127070e+02] [ 8.80025669e-01 4.15203466e-01 2.30566487e-01 4.35307341e+02] [-2.52057138e-01 -3.14089583e-03 9.67707256e-01 4.37688885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.2992541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:553.14, Y:435.33, Z:43.76 [[ 4.00750833e-01 -9.10462940e-01 1.02254608e-01 5.53140178e+02] [ 8.80702106e-01 4.13583252e-01 2.30895419e-01 4.35331993e+02] [-2.52512516e-01 -2.47568278e-03 9.67590461e-01 4.37625529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.329254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:553.15, Y:435.36, Z:43.75 [[ 3.99429255e-01 -9.10442807e-01 1.07471698e-01 5.53148329e+02] [ 8.80929361e-01 4.13625327e-01 2.29951191e-01 4.35356286e+02] [-2.53810424e-01 2.82574132e-03 9.67249856e-01 4.37521875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.359254154 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:553.16, Y:435.38, Z:43.75 [[ 4.01093033e-01 -9.10185401e-01 1.03377534e-01 5.53163940e+02] [ 8.80459110e-01 4.14198291e-01 2.30719596e-01 4.35380939e+02] [-2.52816406e-01 -1.52033133e-03 9.67513077e-01 4.37484568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.17, Y:435.41, Z:43.74 [[ 4.02892921e-01 -9.09161118e-01 1.05372459e-01 5.53174499e+02] [ 8.79826970e-01 4.16444342e-01 2.29082112e-01 4.35406406e+02] [-2.52154313e-01 4.13969945e-04 9.67686949e-01 4.37422303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4192541539999 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:553.18, Y:435.43, Z:43.73 [[ 4.03751439e-01 -9.08877324e-01 1.04531268e-01 5.53184312e+02] [ 8.79962766e-01 4.17063526e-01 2.27428110e-01 4.35429368e+02] [-2.50300431e-01 1.59197017e-04 9.68168203e-01 4.37320967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4492541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:553.18, Y:435.45, Z:43.71 [[ 4.01643562e-01 -9.07589474e-01 1.22326599e-01 5.53181765e+02] [ 8.79779328e-01 4.19481697e-01 2.23659203e-01 4.35454600e+02] [-2.54304508e-01 1.77891336e-02 9.66960580e-01 4.37140004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.22, Y:435.48, Z:43.73 [[ 4.07760716e-01 -9.09074787e-01 8.55232729e-02 5.53215723e+02] [ 8.78541403e-01 4.16128601e-01 2.34525033e-01 4.35477605e+02] [-2.48789474e-01 -2.04943591e-02 9.68340735e-01 4.37275159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.5092541539998 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:553.22, Y:435.50, Z:43.71 [[ 4.08122007e-01 -9.07049826e-01 1.03426497e-01 5.53216797e+02] [ 8.78595527e-01 4.21021788e-01 2.25411964e-01 4.35504157e+02] [-2.48004692e-01 -1.12552516e-03 9.68758177e-01 4.37088560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.5392541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:553.23, Y:435.53, Z:43.70 [[ 4.08824741e-01 -9.06762305e-01 1.03171962e-01 5.53227826e+02] [ 8.78398222e-01 4.21639948e-01 2.25025149e-01 4.35529547e+02] [-2.47545743e-01 -1.36977996e-03 9.68875239e-01 4.37018967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.5692541539997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:553.24, Y:435.55, Z:43.70 [[ 4.10473047e-01 -9.06049302e-01 1.02890914e-01 5.53239455e+02] [ 8.77777119e-01 4.23168017e-01 2.24579960e-01 4.35554275e+02] [-2.47020660e-01 -1.86873042e-03 9.69008412e-01 4.36964694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.599254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.25, Y:435.58, Z:43.69 [[ 4.11142500e-01 -9.05752090e-01 1.02834801e-01 5.53250638e+02] [ 8.77458592e-01 4.23802612e-01 2.24628059e-01 4.35578142e+02] [-2.47038991e-01 -2.12086168e-03 9.69003219e-01 4.36909307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.629254154 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:553.26, Y:435.60, Z:43.68 [[ 4.10078879e-01 -9.06258996e-01 1.02615523e-01 5.53262315e+02] [ 8.78065074e-01 4.22718709e-01 2.24300289e-01 4.35601811e+02] [-2.46651656e-01 -1.87770442e-03 9.69102386e-01 4.36808039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.6592541539999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:553.27, Y:435.63, Z:43.67 [[ 4.09367790e-01 -9.06568539e-01 1.02720479e-01 5.53274823e+02] [ 8.78281114e-01 4.22054919e-01 2.24704094e-01 4.35625149e+02] [-2.47063346e-01 -1.76916149e-03 9.68997716e-01 4.36741703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.28, Y:435.65, Z:43.66 [[ 4.07568748e-01 -9.05798872e-01 1.15827974e-01 5.53278793e+02] [ 8.78076381e-01 4.23566146e-01 2.22651272e-01 4.35650861e+02] [-2.50738080e-01 1.09601083e-02 9.67992919e-01 4.36606930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7192541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:553.31, Y:435.67, Z:43.67 [[ 4.07510692e-01 -9.08638071e-01 9.11695764e-02 5.53305381e+02] [ 8.78634877e-01 4.17334627e-01 2.32018452e-01 4.35671441e+02] [-2.48869020e-01 -1.44452304e-02 9.68429422e-01 4.36656457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:553.31, Y:435.70, Z:43.65 [[ 4.07178157e-01 -9.07439691e-01 1.03726353e-01 5.53310819e+02] [ 8.78511682e-01 4.20179926e-01 2.27301682e-01 4.35697082e+02] [-2.49846299e-01 -1.42746766e-03 9.68284457e-01 4.36542988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.7792541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:553.32, Y:435.72, Z:43.65 [[ 4.07106121e-01 -9.07447986e-01 1.03936326e-01 5.53322649e+02] [ 8.78356776e-01 4.20161760e-01 2.27933038e-01 4.35721825e+02] [-2.50507446e-01 -1.49975907e-03 9.68113511e-01 4.36490448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.33, Y:435.75, Z:43.64 [[ 4.07003257e-01 -9.07458363e-01 1.04248113e-01 5.53334698e+02] [ 8.78145163e-01 4.20139080e-01 2.28788606e-01 4.35745674e+02] [-2.51414840e-01 -1.57273105e-03 9.67878146e-01 4.36421909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.839254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:553.35, Y:435.77, Z:43.63 [[ 4.06270370e-01 -9.07840458e-01 1.03779041e-01 5.53346804e+02] [ 8.78767740e-01 4.19313432e-01 2.27911177e-01 4.35769269e+02] [-2.50422933e-01 -1.39588425e-03 9.68135531e-01 4.36339707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.869254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:553.36, Y:435.79, Z:43.63 [[ 4.05786166e-01 -9.08094811e-01 1.03447581e-01 5.53358398e+02] [ 8.79175513e-01 4.18762589e-01 2.27350637e-01 4.35793390e+02] [-2.49775911e-01 -1.30716344e-03 9.68302786e-01 4.36256564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.899254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:553.37, Y:435.82, Z:43.62 [[ 4.05536633e-01 -9.08235542e-01 1.03190303e-01 5.53370805e+02] [ 8.79423420e-01 4.18457328e-01 2.26953548e-01 4.35817553e+02] [-2.49308017e-01 -1.29000828e-03 9.68423383e-01 4.36176269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:553.38, Y:435.84, Z:43.61 [[ 4.05530305e-01 -9.08269799e-01 1.02913280e-01 5.53382012e+02] [ 8.79570503e-01 4.18382806e-01 2.26520548e-01 4.35840980e+02] [-2.48798919e-01 -1.34146147e-03 9.68554231e-01 4.36106508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.39, Y:435.87, Z:43.61 [[ 4.06791923e-01 -9.07668482e-01 1.03238841e-01 5.53394793e+02] [ 8.78724258e-01 4.19684099e-01 2.27395987e-01 4.35865663e+02] [-2.49727870e-01 -1.78437658e-03 9.68314415e-01 4.36053016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1085.9892541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:553.41, Y:435.89, Z:43.60 [[ 4.06977297e-01 -9.07632964e-01 1.02819656e-01 5.53406388e+02] [ 8.78879800e-01 4.19760505e-01 2.26652635e-01 4.35889921e+02] [-2.48877033e-01 -1.87635831e-03 9.68533273e-01 4.35968704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.0192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:553.42, Y:435.91, Z:43.59 [[ 4.08962045e-01 -9.06773624e-01 1.02526291e-01 5.53418190e+02] [ 8.78113448e-01 4.21610578e-01 2.26188622e-01 4.35912968e+02] [-2.48328045e-01 -2.47284683e-03 9.68672838e-01 4.35900851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.0492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:553.43, Y:435.94, Z:43.58 [[ 4.09976090e-01 -9.06325326e-01 1.02440275e-01 5.53430633e+02] [ 8.77675565e-01 4.22571476e-01 2.26095002e-01 4.35937186e+02] [-2.48203965e-01 -2.78421910e-03 9.68703794e-01 4.35820646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.079254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:553.44, Y:435.96, Z:43.57 [[ 4.09813569e-01 -9.06428959e-01 1.02173288e-01 5.53442196e+02] [ 8.77888703e-01 4.22349088e-01 2.25682684e-01 4.35961803e+02] [-2.47718115e-01 -2.79105120e-03 9.68828130e-01 4.35734357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.109254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:553.45, Y:435.99, Z:43.57 [[ 4.10251918e-01 -9.06213423e-01 1.02325933e-01 5.53454532e+02] [ 8.77533524e-01 4.22809891e-01 2.26200598e-01 4.35985969e+02] [-2.48250435e-01 -3.00479287e-03 9.68691227e-01 4.35665309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.139254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.47, Y:436.01, Z:43.56 [[ 4.10602829e-01 -9.06006939e-01 1.02746019e-01 5.53466439e+02] [ 8.77034224e-01 4.23250568e-01 2.27310201e-01 4.36011502e+02] [-2.49431930e-01 -3.22243674e-03 9.68386973e-01 4.35612006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.48, Y:436.04, Z:43.55 [[ 4.10563278e-01 -9.06009295e-01 1.02883193e-01 5.53477765e+02] [ 8.76910735e-01 4.23244882e-01 2.27796691e-01 4.36036536e+02] [-2.49930704e-01 -3.30557992e-03 9.68258084e-01 4.35540408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.49, Y:436.06, Z:43.55 [[ 4.10304977e-01 -9.06078720e-01 1.03301403e-01 5.53488861e+02] [ 8.76693866e-01 4.23095830e-01 2.28905622e-01 4.36061425e+02] [-2.51112906e-01 -3.35740983e-03 9.67951980e-01 4.35465513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.2292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:553.50, Y:436.09, Z:43.54 [[ 4.08474607e-01 -9.06911519e-01 1.03247238e-01 5.53500021e+02] [ 8.77536524e-01 4.21310981e-01 2.28968791e-01 4.36085359e+02] [-2.51153629e-01 -2.92471430e-03 9.67942819e-01 4.35381792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.2592541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:553.51, Y:436.11, Z:43.53 [[ 4.06734665e-01 -9.07735442e-01 1.02875073e-01 5.53510967e+02] [ 8.78553589e-01 4.19535673e-01 2.28327420e-01 4.36109243e+02] [-2.50420655e-01 -2.48741229e-03 9.68133931e-01 4.35292149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.52, Y:436.13, Z:43.52 [[ 4.05957596e-01 -9.08044012e-01 1.03220645e-01 5.53522465e+02] [ 8.78623891e-01 4.18867972e-01 2.29280790e-01 4.36134003e+02] [-2.51432871e-01 -2.38615370e-03 9.67871798e-01 4.35249233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.3192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.53, Y:436.16, Z:43.52 [[ 4.02773839e-01 -9.09448340e-01 1.03329341e-01 5.53534085e+02] [ 8.79984371e-01 4.15814011e-01 2.29621895e-01 4.36158527e+02] [-2.51795039e-01 -1.55748677e-03 9.67779331e-01 4.35178581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.55, Y:436.18, Z:43.51 [[ 4.01148155e-01 -9.10156115e-01 1.03421490e-01 5.53545328e+02] [ 8.80614453e-01 4.14263713e-01 2.30008176e-01 4.36183723e+02] [-2.52187118e-01 -1.19289667e-03 9.67677753e-01 4.35104948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.379254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:553.56, Y:436.21, Z:43.50 [[ 3.98570262e-01 -9.11281504e-01 1.03478337e-01 5.53555409e+02] [ 8.81696400e-01 4.11783566e-01 2.30316635e-01 4.36209229e+02] [-2.52493968e-01 -5.60884559e-04 9.67598306e-01 4.35023800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4092541539999 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:553.57, Y:436.23, Z:43.49 [[ 3.96912216e-01 -9.12060027e-01 1.02991266e-01 5.53565433e+02] [ 8.82736176e-01 4.10056688e-01 2.29413070e-01 4.36233283e+02] [-2.51470749e-01 -1.42733463e-04 9.67864888e-01 4.34922629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4392541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:553.58, Y:436.26, Z:43.49 [[ 3.95683365e-01 -9.12563930e-01 1.03255746e-01 5.53575796e+02] [ 8.83056021e-01 4.08934059e-01 2.30184707e-01 4.36258255e+02] [-2.52283052e-01 1.00348863e-04 9.67653477e-01 4.34862865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4692541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:553.59, Y:436.28, Z:43.48 [[ 3.94729186e-01 -9.12978371e-01 1.03244197e-01 5.53586211e+02] [ 8.83443686e-01 4.08007857e-01 2.30340710e-01 4.36283504e+02] [-2.52420529e-01 2.88232942e-04 9.67617586e-01 4.34779992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.4992541539998 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:553.60, Y:436.31, Z:43.47 [[ 3.93839813e-01 -9.13401177e-01 1.02900395e-01 5.53596033e+02] [ 8.84033610e-01 4.07060263e-01 2.29753171e-01 4.36308695e+02] [-2.51743479e-01 4.81461810e-04 9.67793877e-01 4.34704485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.5292541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:553.61, Y:436.33, Z:43.46 [[ 3.93335440e-01 -9.13631360e-01 1.02786039e-01 5.53606468e+02] [ 8.84290154e-01 4.06543275e-01 2.29681277e-01 4.36333881e+02] [-2.51630990e-01 5.50896292e-04 9.67823094e-01 4.34636223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.62, Y:436.36, Z:43.46 [[ 3.93523233e-01 -9.13580036e-01 1.02523088e-01 5.53616528e+02] [ 8.84342402e-01 4.06658732e-01 2.29275364e-01 4.36360116e+02] [-2.51153304e-01 4.40331306e-04 9.67947222e-01 4.34580629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.589254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:553.63, Y:436.39, Z:43.45 [[ 3.91969304e-01 -9.14338892e-01 1.01707699e-01 5.53625948e+02] [ 8.85550947e-01 4.04948985e-01 2.27630930e-01 4.36385079e+02] [-2.49318242e-01 8.43011717e-04 9.68421243e-01 4.34479864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.619254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:553.64, Y:436.41, Z:43.44 [[ 3.91261729e-01 -9.14640804e-01 1.01717544e-01 5.53636385e+02] [ 8.85810538e-01 4.04266346e-01 2.27834177e-01 4.36409619e+02] [-2.49507415e-01 9.59678937e-04 9.68372412e-01 4.34424369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.649254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:553.65, Y:436.43, Z:43.44 [[ 3.91021435e-01 -9.14750242e-01 1.01657431e-01 5.53647594e+02] [ 8.85916641e-01 4.04018652e-01 2.27860996e-01 4.36434865e+02] [-2.49507399e-01 9.61475759e-04 9.68372415e-01 4.34350798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.66, Y:436.46, Z:43.43 [[ 3.88520308e-01 -9.15781922e-01 1.01958039e-01 5.53657605e+02] [ 8.86766327e-01 4.01672808e-01 2.28701634e-01 4.36460333e+02] [-2.50394594e-01 1.55772688e-03 9.68142614e-01 4.34290859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7092541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:553.67, Y:436.48, Z:43.42 [[ 3.86069567e-01 -9.16834830e-01 1.01804640e-01 5.53667422e+02] [ 8.87896061e-01 3.99260860e-01 2.28541792e-01 4.36484343e+02] [-2.50181683e-01 2.15890782e-03 9.68196501e-01 4.34214481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7392541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:553.68, Y:436.51, Z:43.41 [[ 3.80970757e-01 -9.18966010e-01 1.01797618e-01 5.53677905e+02] [ 8.90073178e-01 3.94321230e-01 2.28649308e-01 4.36508663e+02] [-2.50261904e-01 3.49862951e-03 9.68171854e-01 4.34142500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.69, Y:436.53, Z:43.41 [[ 3.78558272e-01 -9.19940651e-01 1.01994282e-01 5.53689127e+02] [ 8.90927677e-01 3.92036363e-01 2.29249570e-01 4.36534455e+02] [-2.50881466e-01 4.08520778e-03 9.68009195e-01 4.34089206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.70, Y:436.56, Z:43.40 [[ 3.75776709e-01 -9.21066432e-01 1.02119991e-01 5.53699869e+02] [ 8.91973610e-01 3.89376305e-01 2.29715418e-01 4.36559180e+02] [-2.51346265e-01 4.76663275e-03 9.67885497e-01 4.34021275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.829254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:553.71, Y:436.58, Z:43.39 [[ 3.70523214e-01 -9.23185228e-01 1.02184065e-01 5.53709166e+02] [ 8.94084114e-01 3.84306575e-01 2.30047939e-01 4.36583084e+02] [-2.51646867e-01 6.12304692e-03 9.67799753e-01 4.33938513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.859254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:553.72, Y:436.61, Z:43.39 [[ 3.67845051e-01 -9.24226822e-01 1.02444135e-01 5.53718836e+02] [ 8.94981216e-01 3.81783341e-01 2.30759841e-01 4.36608544e+02] [-2.52385899e-01 6.80171128e-03 9.67602757e-01 4.33875219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.73, Y:436.63, Z:43.38 [[ 3.67479671e-01 -9.24376925e-01 1.02401135e-01 5.53729091e+02] [ 8.95114386e-01 3.81419265e-01 2.30845362e-01 4.36634603e+02] [-2.52445891e-01 6.82975110e-03 9.67586909e-01 4.33819602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.74, Y:436.66, Z:43.37 [[ 3.68236103e-01 -9.24127087e-01 1.01937726e-01 5.53737713e+02] [ 8.95076635e-01 3.82029013e-01 2.29981849e-01 4.36660699e+02] [-2.51475625e-01 6.55445644e-03 9.67841438e-01 4.33746754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9492541539998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:553.75, Y:436.69, Z:43.36 [[ 3.68890470e-01 -9.23943679e-01 1.01231907e-01 5.53747198e+02] [ 8.95247123e-01 3.82476482e-01 2.28570185e-01 4.36685335e+02] [-2.49904801e-01 6.31021049e-03 9.68249850e-01 4.33647744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1086.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.76, Y:436.71, Z:43.36 [[ 3.71410188e-01 -9.22916850e-01 1.01385209e-01 5.53756599e+02] [ 8.94046710e-01 3.84959286e-01 2.29100039e-01 4.36710706e+02] [-2.50469464e-01 5.55302389e-03 9.68108574e-01 4.33602956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.76, Y:436.74, Z:43.35 [[ 3.77433712e-01 -9.20510417e-01 1.01016656e-01 5.53764225e+02] [ 8.91725376e-01 3.90698934e-01 2.28429850e-01 4.36737034e+02] [-2.49739156e-01 3.86198900e-03 9.68305447e-01 4.33530756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.0392541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:553.77, Y:436.76, Z:43.35 [[ 3.84321965e-01 -9.17727975e-01 1.00359315e-01 5.53771175e+02] [ 8.89181597e-01 3.97204688e-01 2.27122266e-01 4.36762887e+02] [-2.48299647e-01 1.94958058e-03 9.68681312e-01 4.33450343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.0692541539997 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:553.78, Y:436.79, Z:43.34 [[ 3.87564300e-01 -9.16439423e-01 9.96629216e-02 5.53780176e+02] [ 8.88206458e-01 4.00172096e-01 2.25724570e-01 4.36788321e+02] [-2.46745215e-01 1.03846561e-03 9.69079832e-01 4.33359600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.099254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:553.79, Y:436.81, Z:43.33 [[ 3.94181421e-01 -9.13644560e-01 9.93711506e-02 5.53788127e+02] [ 8.85445172e-01 4.06513198e-01 2.25241797e-01 4.36814920e+02] [-2.46186627e-01 -7.98425973e-04 9.69222115e-01 4.33295289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.129254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:553.80, Y:436.84, Z:43.32 [[ 3.96196812e-01 -9.12809641e-01 9.90285134e-02 5.53797656e+02] [ 8.84736708e-01 4.08382948e-01 2.24642664e-01 4.36840256e+02] [-2.45497546e-01 -1.38854639e-03 9.69396218e-01 4.33220665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.81, Y:436.87, Z:43.32 [[ 4.00021158e-01 -9.11116459e-01 9.92465220e-02 5.53806357e+02] [ 8.82818694e-01 4.12141312e-01 2.25323529e-01 4.36865243e+02] [-2.46199568e-01 -2.51749425e-03 9.69215887e-01 4.33170685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.82, Y:436.89, Z:43.31 [[ 4.00730176e-01 -9.10804448e-01 9.92501072e-02 5.53816150e+02] [ 8.82469479e-01 4.12828877e-01 2.25432777e-01 4.36889760e+02] [-2.46298486e-01 -2.75252598e-03 9.69190115e-01 4.33105108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.83, Y:436.91, Z:43.30 [[ 4.00894957e-01 -9.10711775e-01 9.94348817e-02 5.53826434e+02] [ 8.82242133e-01 4.13032571e-01 2.25948918e-01 4.36914796e+02] [-2.46844185e-01 -2.85613978e-03 9.69050974e-01 4.33038477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:553.84, Y:436.94, Z:43.30 [[ 3.99171587e-01 -9.11367975e-01 1.00351676e-01 5.53836134e+02] [ 8.82334537e-01 4.11584606e-01 2.28218923e-01 4.36940655e+02] [-2.49294623e-01 -2.55475972e-03 9.68424321e-01 4.32974822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.2792541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:553.85, Y:436.96, Z:43.29 [[ 3.97397305e-01 -9.12158226e-01 1.00213540e-01 5.53846149e+02] [ 8.83182362e-01 4.09832658e-01 2.28092323e-01 4.36964389e+02] [-2.49127071e-01 -2.13644352e-03 9.68468450e-01 4.32892403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.3092541539997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:553.86, Y:436.99, Z:43.28 [[ 3.93534952e-01 -9.13819972e-01 1.00316004e-01 5.53856664e+02] [ 8.84804432e-01 4.06117905e-01 2.28449915e-01 4.36989250e+02] [-2.49502221e-01 -1.14298125e-03 9.68373552e-01 4.32825573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.87, Y:437.01, Z:43.28 [[ 3.91542158e-01 -9.14644671e-01 1.00597541e-01 5.53867640e+02] [ 8.85442618e-01 4.04258136e-01 2.29274353e-01 4.37014700e+02] [-2.50371940e-01 -6.97224465e-04 9.68149475e-01 4.32763097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.369254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:553.86, Y:437.04, Z:43.25 [[ 3.83591361e-01 -9.15345856e-01 1.22472985e-01 5.53863660e+02] [ 8.87528635e-01 4.02046819e-01 2.25058386e-01 4.37039848e+02] [-2.55246135e-01 2.23678283e-02 9.66617345e-01 4.32533789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.399254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:553.89, Y:437.06, Z:43.26 [[ 3.81833992e-01 -9.19521427e-01 9.31834097e-02 5.53891690e+02] [ 8.89188304e-01 3.92984205e-01 2.34323654e-01 4.37062114e+02] [-2.52085229e-01 -6.61513814e-03 9.67682426e-01 4.32571889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.90, Y:437.09, Z:43.25 [[ 3.77232939e-01 -9.21138294e-01 9.59143061e-02 5.53901983e+02] [ 8.91576855e-01 3.89231241e-01 2.31494608e-01 4.37088193e+02] [-2.50571392e-01 -1.81241578e-03 9.68096427e-01 4.32510088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4592541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:553.91, Y:437.11, Z:43.24 [[ 3.73405647e-01 -9.21548540e-01 1.06379089e-01 5.53906528e+02] [ 8.93162789e-01 3.88129700e-01 2.27190599e-01 4.37113234e+02] [-2.50656049e-01 1.01795912e-02 9.68022686e-01 4.32371868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.4892541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:553.92, Y:437.14, Z:43.23 [[ 3.66348333e-01 -9.24201103e-01 1.07894481e-01 5.53916025e+02] [ 8.96001266e-01 3.81666568e-01 2.26963352e-01 4.37138294e+02] [-2.50939497e-01 1.35259462e-02 9.67908269e-01 4.32265825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.95, Y:437.16, Z:43.24 [[ 3.66542529e-01 -9.27596997e-01 7.21830057e-02 5.53948744e+02] [ 8.97576641e-01 3.72970899e-01 2.35050810e-01 4.37161859e+02] [-2.44954586e-01 -2.13663385e-02 9.69299092e-01 4.32415412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.5492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:553.95, Y:437.19, Z:43.22 [[ 3.63319438e-01 -9.26578680e-01 9.72159266e-02 5.53946300e+02] [ 8.99529893e-01 3.76041916e-01 2.22347587e-01 4.37188260e+02] [-2.42579797e-01 6.66543169e-03 9.70108558e-01 4.32239352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.579254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.96, Y:437.21, Z:43.22 [[ 3.58713615e-01 -9.28375382e-01 9.71786671e-02 5.53958085e+02] [ 9.01371519e-01 3.71561808e-01 2.22421239e-01 4.37212344e+02] [-2.42598284e-01 7.80855610e-03 9.70095407e-01 4.32179262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.609254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:553.97, Y:437.24, Z:43.21 [[ 3.56185539e-01 -9.29343663e-01 9.72225198e-02 5.53969516e+02] [ 9.02310629e-01 3.69120075e-01 2.22678916e-01 4.37237219e+02] [-2.42832023e-01 8.40990316e-03 9.70031897e-01 4.32108507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.639254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:553.98, Y:437.26, Z:43.20 [[ 3.52628077e-01 -9.30761029e-01 9.66299427e-02 5.53980161e+02] [ 9.04070320e-01 3.65510919e-01 2.21491815e-01 4.37261902e+02] [-2.41475249e-01 9.25603052e-03 9.70362834e-01 4.32029227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6692541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:553.99, Y:437.29, Z:43.20 [[ 3.52525137e-01 -9.30779139e-01 9.68309016e-02 5.53990279e+02] [ 9.03931349e-01 3.65465684e-01 2.22132730e-01 4.37286137e+02] [-2.42144883e-01 9.22111647e-03 9.70196283e-01 4.31966500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.6992541539998 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:554.00, Y:437.31, Z:43.19 [[ 3.54566570e-01 -9.29991234e-01 9.69476737e-02 5.53999857e+02] [ 9.03008833e-01 3.67480329e-01 2.22560678e-01 4.37311312e+02] [-2.42605843e-01 8.63202935e-03 9.70086539e-01 4.31902892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.7292541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:554.01, Y:437.34, Z:43.18 [[ 3.57060220e-01 -9.28961096e-01 9.76692420e-02 5.54009652e+02] [ 9.01486169e-01 3.70092543e-01 2.24397409e-01 4.37336494e+02] [-2.44603121e-01 7.92408248e-03 9.69590904e-01 4.31841499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.02, Y:437.36, Z:43.18 [[ 3.60616092e-01 -9.27530485e-01 9.81999681e-02 5.54019123e+02] [ 8.99653349e-01 3.73683445e-01 2.25797551e-01 4.37361991e+02] [-2.46129815e-01 6.91969963e-03 9.69212171e-01 4.31779040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.7892541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:554.03, Y:437.39, Z:43.17 [[ 3.67898042e-01 -9.24688726e-01 9.79887287e-02 5.54026059e+02] [ 8.96786712e-01 3.80692247e-01 2.25492810e-01 4.37386862e+02] [-2.45814208e-01 4.91662658e-03 9.69304494e-01 4.31692742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.8192541539997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:554.03, Y:437.41, Z:43.16 [[ 3.77302419e-01 -9.20900276e-01 9.79059015e-02 5.54034132e+02] [ 8.92876811e-01 3.89791173e-01 2.25463616e-01 4.37412901e+02] [-2.45792362e-01 2.34994137e-03 9.69319654e-01 4.31618961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.849254154 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:554.02, Y:437.44, Z:43.13 [[ 3.78835789e-01 -9.16388764e-01 1.29286805e-01 5.54024490e+02] [ 8.90256564e-01 3.99016189e-01 2.19611776e-01 4.37439630e+02] [-2.52837293e-01 3.19016267e-02 9.66982725e-01 4.31326180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.07, Y:437.46, Z:43.16 [[ 3.91070398e-01 -9.17799903e-01 6.86096277e-02 5.54066758e+02] [ 8.86449261e-01 3.95662294e-01 2.40123002e-01 4.37461197e+02] [-2.47531111e-01 -3.30860444e-02 9.68314857e-01 4.31590430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.04, Y:437.49, Z:43.12 [[ 3.90968539e-01 -9.10965315e-01 1.31475459e-01 5.54041017e+02] [ 8.83917420e-01 4.11440277e-01 2.22276614e-01 4.37491014e+02] [-2.56580585e-01 2.93102857e-02 9.66078315e-01 4.31186014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.07, Y:437.51, Z:43.13 [[ 3.98016912e-01 -9.12704698e-01 9.24806607e-02 5.54073086e+02] [ 8.81825244e-01 4.08435548e-01 2.35721534e-01 4.37514109e+02] [-2.52916541e-01 -1.22693759e-02 9.67410299e-01 4.31270541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9692541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:554.09, Y:437.54, Z:43.13 [[ 4.01796914e-01 -9.12608777e-01 7.55278764e-02 5.54093084e+02] [ 8.82251970e-01 4.07886503e-01 2.35074588e-01 4.37539417e+02] [-2.45337934e-01 -2.78176263e-02 9.69038430e-01 4.31325263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1087.9992541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:554.09, Y:437.57, Z:43.12 [[ 4.04277693e-01 -9.09392887e-01 9.77963402e-02 5.54091501e+02] [ 8.80944283e-01 4.15906815e-01 2.25740318e-01 4.37566024e+02] [-2.45960803e-01 -5.10864788e-03 9.69266313e-01 4.31160967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.0292541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:554.10, Y:437.59, Z:43.11 [[ 4.05042605e-01 -9.08996697e-01 9.83132372e-02 5.54102830e+02] [ 8.80204573e-01 4.16768042e-01 2.27033717e-01 4.37591184e+02] [-2.47346714e-01 -5.42256725e-03 9.68911863e-01 4.31094981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.0592541539997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:554.11, Y:437.61, Z:43.10 [[ 4.04653150e-01 -9.09230692e-01 9.77516108e-02 5.54114297e+02] [ 8.80732593e-01 4.16258561e-01 2.25917928e-01 4.37614946e+02] [-2.46101459e-01 -5.32537159e-03 9.69229443e-01 4.31006799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.089254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:554.13, Y:437.64, Z:43.10 [[ 4.05258900e-01 -9.08911358e-01 9.82108278e-02 5.54126348e+02] [ 8.80083127e-01 4.16951397e-01 2.27167830e-01 4.37639773e+02] [-2.47424563e-01 -5.62809259e-03 9.68890814e-01 4.30952134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.119254154 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:554.14, Y:437.66, Z:43.09 [[ 4.03390114e-01 -9.09823264e-01 9.74579076e-02 5.54138031e+02] [ 8.81420085e-01 4.14964471e-01 2.25617201e-01 4.37662238e+02] [-2.45713347e-01 -5.11039132e-03 9.69329064e-01 4.30854692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.149254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.15, Y:437.69, Z:43.08 [[ 4.03881452e-01 -9.09539525e-01 9.80694930e-02 5.54150667e+02] [ 8.80738298e-01 4.15582837e-01 2.27136425e-01 4.37687378e+02] [-2.47345554e-01 -5.36263057e-03 9.68912493e-01 4.30802538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.1792541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:554.14, Y:437.71, Z:43.05 [[ 3.99641258e-01 -9.07157662e-01 1.31726391e-01 5.54142425e+02] [ 8.81180392e-01 4.19779803e-01 2.17499502e-01 4.37712594e+02] [-2.52602418e-01 2.91529386e-02 9.67130873e-01 4.30486492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2092541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:554.19, Y:437.73, Z:43.08 [[ 4.02224542e-01 -9.13283987e-01 6.42477829e-02 5.54192860e+02] [ 8.82264576e-01 4.05397100e-01 2.39295651e-01 4.37729977e+02] [-2.44590751e-01 -3.95670408e-02 9.68818772e-01 4.30760478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.17, Y:437.76, Z:43.04 [[ 3.98969695e-01 -9.08026956e-01 1.27711508e-01 5.54168310e+02] [ 8.81079689e-01 4.18201512e-01 2.20920975e-01 4.37758207e+02] [-2.54011346e-01 2.43832422e-02 9.66893838e-01 4.30378331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.20, Y:437.78, Z:43.04 [[ 3.99913200e-01 -9.11283842e-01 9.81386377e-02 5.54197261e+02] [ 8.80898879e-01 4.11720740e-01 2.33459201e-01 4.37778246e+02] [-2.53153310e-01 -6.91320038e-03 9.67401473e-01 4.30413179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.2992541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:554.21, Y:437.80, Z:43.03 [[ 3.99794002e-01 -9.11097229e-01 1.00332427e-01 5.54207929e+02] [ 8.81296357e-01 4.12172195e-01 2.31151061e-01 4.37803881e+02] [-2.51955327e-01 -3.99020506e-03 9.67730640e-01 4.30311527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.22, Y:437.83, Z:43.03 [[ 4.01242740e-01 -9.11045457e-01 9.48706498e-02 5.54224200e+02] [ 8.80701424e-01 4.12182368e-01 2.33389585e-01 4.37827767e+02] [-2.51732530e-01 -1.00931602e-02 9.67744213e-01 4.30276081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.24, Y:437.85, Z:43.02 [[ 4.02459137e-01 -9.10507122e-01 9.48863712e-02 5.54236907e+02] [ 8.80451287e-01 4.13374445e-01 2.32222091e-01 4.37852686e+02] [-2.50663469e-01 -9.91707457e-03 9.68023490e-01 4.30211090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.25, Y:437.88, Z:43.01 [[ 4.03418424e-01 -9.09850126e-01 9.70892498e-02 5.54247823e+02] [ 8.80059017e-01 4.14864375e-01 2.31049081e-01 4.37877072e+02] [-2.50498906e-01 -7.76518647e-03 9.68085740e-01 4.30130130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4192541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:554.26, Y:437.90, Z:43.00 [[ 4.05431021e-01 -9.08706405e-01 9.93899250e-02 5.54260212e+02] [ 8.79304520e-01 4.17398367e-01 2.29351620e-01 4.37901567e+02] [-2.49898478e-01 -5.59225115e-03 9.68255895e-01 4.30049092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.28, Y:437.92, Z:43.00 [[ 4.07415168e-01 -9.08574689e-01 9.22220998e-02 5.54277139e+02] [ 8.78843155e-01 4.17519443e-01 2.30894398e-01 4.37924488e+02] [-2.48289326e-01 -1.30211188e-02 9.68598400e-01 4.30016608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.4792541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:554.30, Y:437.95, Z:43.01 [[ 4.10645434e-01 -9.08690125e-01 7.51836718e-02 5.54300495e+02] [ 8.79530644e-01 4.16506517e-01 2.30104690e-01 4.37950007e+02] [-2.40408349e-01 -2.83650971e-02 9.70257310e-01 4.30071644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.5092541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:554.30, Y:437.97, Z:42.99 [[ 4.11911311e-01 -9.06626603e-01 9.14181359e-02 5.54304215e+02] [ 8.78778559e-01 4.21773389e-01 2.23283347e-01 4.37974668e+02] [-2.40992359e-01 -1.16366383e-02 9.70457249e-01 4.29922671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.5392541539998 meters Centerline goodness : 0.999781 Centerline is valid? [True, True] Translation: X:554.31, Y:438.00, Z:42.98 [[ 4.11699216e-01 -9.06343467e-01 9.51066566e-02 5.54313116e+02] [ 8.78843145e-01 4.22471733e-01 2.21703320e-01 4.38000528e+02] [-2.41119229e-01 -7.69124971e-03 9.70465024e-01 4.29835849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.5692541539997 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:554.31, Y:438.03, Z:42.96 [[ 4.10709310e-01 -9.03347785e-01 1.23614894e-01 5.54310310e+02] [ 8.77616437e-01 4.28434034e-01 2.15020158e-01 4.38028540e+02] [-2.47198811e-01 2.01756822e-02 9.68754711e-01 4.29593854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.599254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:554.35, Y:438.05, Z:42.98 [[ 4.12082278e-01 -9.08287319e-01 7.21272722e-02 5.54351352e+02] [ 8.78752712e-01 4.17104702e-01 2.31985645e-01 4.38046249e+02] [-2.40794244e-01 -3.22151369e-02 9.70041400e-01 4.29798403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.629254154 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:554.35, Y:438.07, Z:42.96 [[ 4.10732316e-01 -9.07181411e-01 9.12187109e-02 5.54353743e+02] [ 8.78958059e-01 4.20563436e-01 2.24853567e-01 4.38072612e+02] [-2.42346231e-01 -1.21772053e-02 9.70113406e-01 4.29642082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.6592541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:554.37, Y:438.10, Z:42.96 [[ 4.08439394e-01 -9.07700545e-01 9.62132101e-02 5.54365977e+02] [ 8.79419633e-01 4.19555750e-01 2.24931284e-01 4.38096689e+02] [-2.44537055e-01 -7.25901162e-03 9.69612776e-01 4.29578461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.6892541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:554.38, Y:438.12, Z:42.95 [[ 4.05842173e-01 -9.08871836e-01 9.61463319e-02 5.54377656e+02] [ 8.80615075e-01 4.17022781e-01 2.24964642e-01 4.38119940e+02] [-2.44559237e-01 -6.63222974e-03 9.69611671e-01 4.29507280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7192541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:554.39, Y:438.14, Z:42.94 [[ 4.01295825e-01 -9.10876262e-01 9.62605652e-02 5.54391124e+02] [ 8.82581712e-01 4.12643361e-01 2.25333038e-01 4.38143388e+02] [-2.44971799e-01 -5.46739295e-03 9.69514789e-01 4.29427282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.40, Y:438.17, Z:42.94 [[ 4.00118424e-01 -9.11395727e-01 9.62448690e-02 5.54403355e+02] [ 8.83078804e-01 4.11497882e-01 2.25480198e-01 4.38167781e+02] [-2.45106248e-01 -5.22697747e-03 9.69482133e-01 4.29373676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.42, Y:438.19, Z:42.93 [[ 3.98322502e-01 -9.12212927e-01 9.59518682e-02 5.54415903e+02] [ 8.84048146e-01 4.09688493e-01 2.24976031e-01 4.38191969e+02] [-2.44536420e-01 -4.78694448e-03 9.69628292e-01 4.29299715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.8092541539997 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:554.43, Y:438.22, Z:42.92 [[ 3.97985481e-01 -9.12404860e-01 9.55244904e-02 5.54425311e+02] [ 8.84452898e-01 4.09261576e-01 2.24160734e-01 4.38215510e+02] [-2.43619846e-01 -4.72580494e-03 9.69859287e-01 4.29210209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.41, Y:438.24, Z:42.89 [[ 3.93832510e-01 -9.10409324e-01 1.26691821e-01 5.54413520e+02] [ 8.83661010e-01 4.12945722e-01 2.20497281e-01 4.38240387e+02] [-2.53059626e-01 2.51136252e-02 9.67124672e-01 4.28938143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.869254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:554.46, Y:438.26, Z:42.92 [[ 4.00758323e-01 -9.13982707e-01 6.34695086e-02 5.54460566e+02] [ 8.83738020e-01 4.03909967e-01 2.36355350e-01 4.38263870e+02] [-2.41660669e-01 -3.86309557e-02 9.69591548e-01 4.29193096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.42, Y:438.29, Z:42.87 [[ 3.98503231e-01 -9.07200886e-01 1.34839637e-01 5.54423956e+02] [ 8.82287509e-01 4.19341186e-01 2.13826380e-01 4.38293625e+02] [-2.50527295e-01 3.37568243e-02 9.67520827e-01 4.28736196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9292541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:554.48, Y:438.32, Z:42.91 [[ 4.03430582e-01 -9.13420567e-01 5.39131960e-02 5.54483816e+02] [ 8.82496814e-01 4.03986502e-01 2.40820014e-01 4.38316291e+02] [-2.41750157e-01 -4.95759347e-02 9.69071250e-01 4.29086492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.47, Y:438.35, Z:42.89 [[ 4.05706097e-01 -9.09012457e-01 9.53882357e-02 5.54471579e+02] [ 8.80950319e-01 4.16711183e-01 2.24228290e-01 4.38345334e+02] [-2.43575654e-01 -6.93848770e-03 9.69857081e-01 4.28866395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1088.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.48, Y:438.37, Z:42.88 [[ 4.06531292e-01 -9.08642073e-01 9.54038365e-02 5.54481676e+02] [ 8.80529726e-01 4.17513510e-01 2.24387771e-01 4.38371069e+02] [-2.43720560e-01 -7.21473649e-03 9.69818662e-01 4.28796680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.49, Y:438.40, Z:42.87 [[ 4.07889862e-01 -9.08026346e-01 9.54673549e-02 5.54490451e+02] [ 8.79813222e-01 4.18842883e-01 2.24720570e-01 4.38396157e+02] [-2.44038021e-01 -7.66780151e-03 9.69735350e-01 4.28729015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.0492541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:554.50, Y:438.42, Z:42.86 [[ 4.07955412e-01 -9.08009191e-01 9.53503646e-02 5.54499616e+02] [ 8.79824702e-01 4.18878768e-01 2.24608710e-01 4.38420698e+02] [-2.43887016e-01 -7.73873250e-03 9.69772775e-01 4.28638739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.51, Y:438.45, Z:42.86 [[ 4.09615573e-01 -9.07279182e-01 9.51817686e-02 5.54507952e+02] [ 8.79130622e-01 4.20448118e-01 2.24394138e-01 4.38445863e+02] [-2.43607126e-01 -8.23812610e-03 9.69839008e-01 4.28581471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.109254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:554.52, Y:438.47, Z:42.85 [[ 4.09618634e-01 -9.07304307e-01 9.49287624e-02 5.54517287e+02] [ 8.79278121e-01 4.20393622e-01 2.23917815e-01 4.38471442e+02] [-2.43069044e-01 -8.25212546e-03 9.69973888e-01 4.28493707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.139254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:554.53, Y:438.50, Z:42.84 [[ 4.10250018e-01 -9.07070371e-01 9.44365657e-02 5.54526411e+02] [ 8.79288823e-01 4.20894798e-01 2.22932133e-01 4.38497327e+02] [-2.41962992e-01 -8.42089492e-03 9.70248937e-01 4.28412414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1692541539999 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:554.54, Y:438.52, Z:42.84 [[ 4.10870143e-01 -9.06812403e-01 9.42177900e-02 5.54536801e+02] [ 8.79109563e-01 4.21446052e-01 2.22597397e-01 4.38523333e+02] [-2.41561796e-01 -8.63086411e-03 9.70347055e-01 4.28359207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.55, Y:438.55, Z:42.83 [[ 4.10901591e-01 -9.06851304e-01 9.37048278e-02 5.54546744e+02] [ 8.79410461e-01 4.21362224e-01 2.21565154e-01 4.38548394e+02] [-2.40410324e-01 -8.63646870e-03 9.70632932e-01 4.28291713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.2292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:554.56, Y:438.57, Z:42.82 [[ 4.09994471e-01 -9.07291828e-01 9.34134543e-02 5.54556345e+02] [ 8.79989214e-01 4.20416995e-01 2.21062285e-01 4.38572208e+02] [-2.39840608e-01 -8.43148215e-03 9.70775666e-01 4.28214964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.2592541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:554.57, Y:438.60, Z:42.81 [[ 4.08400189e-01 -9.08004353e-01 9.34739586e-02 5.54566736e+02] [ 8.80653826e-01 4.18882964e-01 2.21327589e-01 4.38597344e+02] [-2.40121063e-01 -8.07202972e-03 9.70709389e-01 4.28138063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.58, Y:438.62, Z:42.81 [[ 4.07992718e-01 -9.08171788e-01 9.36266320e-02 5.54577802e+02] [ 8.80689511e-01 4.18519943e-01 2.21871682e-01 4.38623164e+02] [-2.40682215e-01 -8.06603775e-03 9.70570456e-01 4.28084792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.3192541539997 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:554.59, Y:438.65, Z:42.80 [[ 4.05495177e-01 -9.09276150e-01 9.37579062e-02 5.54587707e+02] [ 8.81698838e-01 4.16125706e-01 2.22365815e-01 4.38648402e+02] [-2.41207007e-01 -7.50202865e-03 9.70444692e-01 4.27998335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.58, Y:438.67, Z:42.78 [[ 4.00144163e-01 -9.08163637e-01 1.22977468e-01 5.54577742e+02] [ 8.81645076e-01 4.18095853e-01 2.18855700e-01 4.38673392e+02] [-2.50173158e-01 2.08486479e-02 9.67976614e-01 4.27754923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.379254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:554.63, Y:438.70, Z:42.80 [[ 4.03243577e-01 -9.12794244e-01 6.48173266e-02 5.54625294e+02] [ 8.82356268e-01 4.06617470e-01 2.36874754e-01 4.38696432e+02] [-2.42573769e-01 -3.83262488e-02 9.69375606e-01 4.28010644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.62, Y:438.72, Z:42.78 [[ 4.02776619e-01 -9.10373879e-01 9.48176956e-02 5.54620416e+02] [ 8.82104017e-01 4.13726197e-01 2.25217979e-01 4.38723936e+02] [-2.44261130e-01 -7.07346577e-03 9.69683694e-01 4.27827869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.63, Y:438.75, Z:42.78 [[ 4.01757865e-01 -9.10796376e-01 9.50819628e-02 5.54630682e+02] [ 8.82352071e-01 4.12798525e-01 2.25947340e-01 4.38748715e+02] [-2.45041712e-01 -6.88035389e-03 9.69488123e-01 4.27759552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.64, Y:438.77, Z:42.77 [[ 4.01332214e-01 -9.10994030e-01 9.49859529e-02 5.54640581e+02] [ 8.82566641e-01 4.12362958e-01 2.25904659e-01 4.38773678e+02] [-2.44966485e-01 -6.83138369e-03 9.69507480e-01 4.27687326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.63, Y:438.80, Z:42.74 [[ 3.96250951e-01 -9.09831193e-01 1.23257389e-01 5.54628586e+02] [ 8.82887368e-01 4.14430222e-01 2.20810978e-01 4.38798190e+02] [-2.51982302e-01 2.13258323e-02 9.67496836e-01 4.27415625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.5292541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:554.67, Y:438.82, Z:42.76 [[ 4.00634958e-01 -9.13960233e-01 6.45625511e-02 5.54674890e+02] [ 8.83669758e-01 4.04053996e-01 2.36364397e-01 4.38821281e+02] [-2.42114416e-01 -3.76438661e-02 9.69517173e-01 4.27630564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.5592541539997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:554.67, Y:438.85, Z:42.75 [[ 4.01781595e-01 -9.10901860e-01 9.39646295e-02 5.54668578e+02] [ 8.83011291e-01 4.12564667e-01 2.23788865e-01 4.38848786e+02] [-2.42616179e-01 -6.94241825e-03 9.70097517e-01 4.27456192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.66, Y:438.87, Z:42.73 [[ 3.99347069e-01 -9.09468485e-01 1.15710814e-01 5.54663234e+02] [ 8.82532995e-01 4.15530349e-01 2.20159127e-01 4.38874281e+02] [-2.48309143e-01 1.41987093e-02 9.68576774e-01 4.27254842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.68, Y:438.90, Z:42.72 [[ 3.99613744e-01 -9.11649051e-01 9.59419794e-02 5.54681390e+02] [ 8.82565944e-01 4.10915817e-01 2.28529093e-01 4.38897507e+02] [-2.47762407e-01 -6.64824266e-03 9.68798013e-01 4.27248211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.649254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:554.71, Y:438.92, Z:42.74 [[ 4.03883145e-01 -9.12297580e-01 6.77608305e-02 5.54711105e+02] [ 8.82777502e-01 4.08099577e-01 2.32720040e-01 4.38923981e+02] [-2.39963095e-01 -3.41739648e-02 9.70180320e-01 4.27361519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.6792541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:554.70, Y:438.95, Z:42.71 [[ 3.99066051e-01 -9.10378382e-01 1.09350302e-01 5.54695032e+02] [ 8.83515277e-01 4.13680236e-01 2.19703023e-01 4.38952525e+02] [-2.45248941e-01 8.93664486e-03 9.69418946e-01 4.27079149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.73, Y:438.98, Z:42.72 [[ 4.00033812e-01 -9.13280640e-01 7.67555981e-02 5.54725674e+02] [ 8.84286897e-01 4.06626046e-01 2.29547257e-01 4.38976385e+02] [-2.40851892e-01 -2.39526949e-02 9.70266270e-01 4.27196372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7392541539998 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:554.73, Y:439.00, Z:42.70 [[ 3.94029529e-01 -9.14346375e-01 9.33350769e-02 5.54726752e+02] [ 8.86815173e-01 4.04902154e-01 2.22739973e-01 4.39002781e+02] [-2.41453061e-01 -4.99516445e-03 9.70399643e-01 4.27038896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7692541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:554.74, Y:439.03, Z:42.70 [[ 3.90599711e-01 -9.15802931e-01 9.34711558e-02 5.54737310e+02] [ 8.88182554e-01 4.01606119e-01 2.23258318e-01 4.39027039e+02] [-2.41999210e-01 -4.18518452e-03 9.70267420e-01 4.26982745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.7992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:554.73, Y:439.05, Z:42.68 [[ 3.79394696e-01 -9.17914955e-01 1.16154209e-01 5.54731713e+02] [ 8.91469260e-01 3.96262502e-01 2.19678372e-01 4.39051783e+02] [-2.47673621e-01 2.02030971e-02 9.68632858e-01 4.26779309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.829254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:554.75, Y:439.07, Z:42.68 [[ 3.75742443e-01 -9.22001140e-01 9.34425755e-02 5.54754207e+02] [ 8.93121077e-01 3.87178577e-01 2.28970502e-01 4.39074591e+02] [-2.47290027e-01 -2.57840214e-03 9.68938076e-01 4.26787698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.859254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:554.78, Y:439.10, Z:42.69 [[ 3.72408693e-01 -9.25448282e-01 6.96939195e-02 5.54780303e+02] [ 8.96070568e-01 3.78102459e-01 2.32585615e-01 4.39100250e+02] [-2.41597400e-01 -2.41662348e-02 9.70075610e-01 4.26882508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.889254154 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:554.78, Y:439.13, Z:42.67 [[ 3.68709484e-01 -9.24882238e-01 9.29847448e-02 5.54777746e+02] [ 8.97742189e-01 3.80250820e-01 2.22414652e-01 4.39127307e+02] [-2.41064886e-01 1.46993679e-03 9.70507888e-01 4.26711330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9192541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:554.77, Y:439.15, Z:42.65 [[ 3.58257721e-01 -9.26436944e-01 1.15611392e-01 5.54771212e+02] [ 9.00655750e-01 3.75563271e-01 2.18566809e-01 4.39152676e+02] [-2.45907760e-01 2.58228185e-02 9.68949202e-01 4.26502199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9492541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:554.81, Y:439.18, Z:42.67 [[ 3.59319990e-01 -9.30643971e-01 6.92166484e-02 5.54810972e+02] [ 9.01596784e-01 3.65332838e-01 2.31635828e-01 4.39176225e+02] [-2.40857601e-01 -2.08258759e-02 9.70337003e-01 4.26673188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1089.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.81, Y:439.20, Z:42.65 [[ 3.57172543e-01 -9.29400304e-01 9.29669233e-02 5.54809587e+02] [ 9.02369530e-01 3.69047062e-01 2.22561223e-01 4.39204389e+02] [-2.41157638e-01 4.39776075e-03 9.70475993e-01 4.26545743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.81, Y:439.23, Z:42.64 [[ 3.48609500e-01 -9.30599231e-01 1.11608636e-01 5.54805727e+02] [ 9.04183918e-01 3.65270112e-01 2.21425358e-01 4.39229501e+02] [-2.46825566e-01 2.37237503e-02 9.68769489e-01 4.26355633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.0392541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:554.84, Y:439.25, Z:42.65 [[ 3.49884023e-01 -9.33880760e-01 7.38098620e-02 5.54838779e+02] [ 9.05064184e-01 3.57314810e-01 2.30618623e-01 4.39253662e+02] [-2.41743652e-01 -1.38871090e-02 9.70240772e-01 4.26471797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.0692541539997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:554.83, Y:439.28, Z:42.63 [[ 3.44108033e-01 -9.33488447e-01 1.00940480e-01 5.54830156e+02] [ 9.06552785e-01 3.58304715e-01 2.23113827e-01 4.39280426e+02] [-2.44441630e-01 1.47326129e-02 9.69552082e-01 4.26271881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.099254154 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:554.85, Y:439.31, Z:42.63 [[ 3.43371839e-01 -9.34888689e-01 8.98828084e-02 5.54845644e+02] [ 9.07115244e-01 3.54920070e-01 2.26215998e-01 4.39306248e+02] [-2.43387990e-01 3.85786249e-03 9.69921339e-01 4.26260202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.129254154 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:554.85, Y:439.33, Z:42.61 [[ 3.41976761e-01 -9.34254256e-01 1.01098367e-01 5.54848214e+02] [ 9.07198943e-01 3.56283178e-01 2.23723883e-01 4.39332270e+02] [-2.45034637e-01 1.52079629e-02 9.69395040e-01 4.26128714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.1592541539999 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:554.87, Y:439.36, Z:42.62 [[ 3.45439164e-01 -9.35119845e-01 7.88838347e-02 5.54870067e+02] [ 9.06928680e-01 3.54258099e-01 2.27994669e-01 4.39357501e+02] [-2.41147577e-01 -7.21627578e-03 9.70461628e-01 4.26176386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.1892541539999 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:554.87, Y:439.38, Z:42.61 [[ 3.46743450e-01 -9.33389971e-01 9.24777927e-02 5.54871340e+02] [ 9.06591922e-01 3.58799132e-01 2.22158208e-01 4.39384032e+02] [-2.40541195e-01 6.80771640e-03 9.70615057e-01 4.26061729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2192541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:554.87, Y:439.41, Z:42.59 [[ 3.45098049e-01 -9.32441054e-01 1.07056146e-01 5.54867948e+02] [ 9.06389616e-01 3.60702531e-01 2.19889854e-01 4.39409311e+02] [-2.43649750e-01 2.11510194e-02 9.69632628e-01 4.25891660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2492541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:554.89, Y:439.44, Z:42.60 [[ 3.52468909e-01 -9.32673197e-01 7.67227225e-02 5.54893835e+02] [ 9.04390227e-01 3.60553207e-01 2.28209778e-01 4.39435467e+02] [-2.40507767e-01 -1.10495710e-02 9.70584319e-01 4.25992611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.89, Y:439.46, Z:42.58 [[ 3.52727393e-01 -9.30335491e-01 1.00295863e-01 5.54888412e+02] [ 9.03603359e-01 3.66499623e-01 2.21763378e-01 4.39463567e+02] [-2.43072737e-01 1.24056603e-02 9.69928732e-01 4.25821711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.3092541539997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:554.90, Y:439.49, Z:42.58 [[ 3.59462756e-01 -9.29388807e-01 8.38031776e-02 5.54904751e+02] [ 9.01842757e-01 3.69065895e-01 2.24655308e-01 4.39489635e+02] [-2.39721024e-01 -5.17792761e-03 9.70828007e-01 4.25829417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.339254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:554.91, Y:439.52, Z:42.57 [[ 3.61850323e-01 -9.27686049e-01 9.19942306e-02 5.54908980e+02] [ 9.00836933e-01 3.73351522e-01 2.21588497e-01 4.39517062e+02] [-2.39910744e-01 2.68993118e-03 9.70791223e-01 4.25737363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.369254154 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:554.91, Y:439.54, Z:42.57 [[ 3.66136004e-01 -9.26025205e-01 9.17700695e-02 5.54914864e+02] [ 8.99210653e-01 3.77458625e-01 2.21235593e-01 4.39544293e+02] [-2.39509140e-01 1.51830811e-03 9.70892922e-01 4.25657360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.92, Y:439.57, Z:42.56 [[ 3.68324703e-01 -9.25132503e-01 9.20150257e-02 5.54923128e+02] [ 8.98097677e-01 3.79643392e-01 2.22016798e-01 4.39569768e+02] [-2.40327853e-01 8.64209531e-04 9.70691391e-01 4.25614577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4292541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:554.93, Y:439.60, Z:42.55 [[ 3.71363278e-01 -9.23882529e-01 9.23601022e-02 5.54929515e+02] [ 8.96577937e-01 3.82676199e-01 2.22950511e-01 4.39596481e+02] [-2.41324095e-01 1.23970356e-05 9.70444579e-01 4.25538690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4592541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:554.94, Y:439.62, Z:42.55 [[ 3.71115043e-01 -9.23988857e-01 9.22941903e-02 5.54940058e+02] [ 8.96680719e-01 3.82419394e-01 2.22977794e-01 4.39622063e+02] [-2.41324085e-01 8.00732869e-06 9.70444582e-01 4.25467508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.94, Y:439.65, Z:42.53 [[ 3.69700274e-01 -9.22966607e-01 1.07024997e-01 5.54938634e+02] [ 8.96090951e-01 3.84625431e-01 2.21549736e-01 4.39647636e+02] [-2.45647543e-01 1.39971332e-02 9.69258152e-01 4.25308666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.96, Y:439.67, Z:42.54 [[ 3.74493694e-01 -9.23974285e-01 7.76272797e-02 5.54964916e+02] [ 8.95049494e-01 3.82092144e-01 2.29982603e-01 4.39672443e+02] [-2.42158785e-01 -1.66467773e-02 9.70093814e-01 4.25398909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.5492541539998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:554.96, Y:439.70, Z:42.53 [[ 3.76143130e-01 -9.21948590e-01 9.23425275e-02 5.54964537e+02] [ 8.94448067e-01 3.87309468e-01 2.23503984e-01 4.39699546e+02] [-2.41824318e-01 -1.47389290e-03 9.70318930e-01 4.25250403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.579254154 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:554.97, Y:439.72, Z:42.52 [[ 3.77147632e-01 -9.21539706e-01 9.23267802e-02 5.54972958e+02] [ 8.93987712e-01 3.88279897e-01 2.23662007e-01 4.39724329e+02] [-2.41962052e-01 -1.81458928e-03 9.70284016e-01 4.25192511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.609254154 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:554.98, Y:439.75, Z:42.51 [[ 3.77898333e-01 -9.21241632e-01 9.22318046e-02 5.54981928e+02] [ 8.93712475e-01 3.88985441e-01 2.23535990e-01 4.39750036e+02] [-2.41807490e-01 -2.04516374e-03 9.70322089e-01 4.25120867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:554.99, Y:439.78, Z:42.51 [[ 3.79456456e-01 -9.20587301e-01 9.23678538e-02 5.54990956e+02] [ 8.92909108e-01 3.90528558e-01 2.24055284e-01 4.39776602e+02] [-2.42334734e-01 -2.54312602e-03 9.70189368e-01 4.25073705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.00, Y:439.80, Z:42.50 [[ 3.79796337e-01 -9.20465194e-01 9.21876837e-02 5.55000386e+02] [ 8.92844167e-01 3.90815258e-01 2.23814046e-01 4.39801268e+02] [-2.42041393e-01 -2.69451922e-03 9.70262183e-01 4.25005360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.6992541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:555.01, Y:439.82, Z:42.49 [[ 3.79600269e-01 -9.20595045e-01 9.16973273e-02 5.55008338e+02] [ 8.93249316e-01 3.90509666e-01 2.22728222e-01 4.39824901e+02] [-2.40851190e-01 -2.63911784e-03 9.70558468e-01 4.24903352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.7292541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:555.02, Y:439.85, Z:42.48 [[ 3.79795619e-01 -9.20497204e-01 9.18704863e-02 5.55017911e+02] [ 8.93011897e-01 3.90739416e-01 2.23276647e-01 4.39850751e+02] [-2.41422949e-01 -2.75805497e-03 9.70416072e-01 4.24842748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.7592541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:555.03, Y:439.88, Z:42.48 [[ 3.79619579e-01 -9.20609116e-01 9.14758473e-02 5.55028106e+02] [ 8.93319238e-01 3.90475720e-01 2.22507194e-01 4.39876055e+02] [-2.40561249e-01 -2.75095322e-03 9.70630062e-01 4.24776162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.7892541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:555.04, Y:439.90, Z:42.47 [[ 3.79425748e-01 -9.20733413e-01 9.10279262e-02 5.55038032e+02] [ 8.93670142e-01 3.90182646e-01 2.21610424e-01 4.39900353e+02] [-2.39561639e-01 -2.73576120e-03 9.70877303e-01 4.24702077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.8192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.04, Y:439.93, Z:42.45 [[ 3.76347543e-01 -9.19450605e-01 1.13899572e-01 5.55035360e+02] [ 8.93233590e-01 3.92728010e-01 2.18857179e-01 4.39926607e+02] [-2.45959918e-01 1.93725620e-02 9.69086386e-01 4.24520163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.849254154 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:555.07, Y:439.95, Z:42.47 [[ 3.77355624e-01 -9.23460364e-01 6.94527780e-02 5.55071541e+02] [ 8.94378033e-01 3.82867650e-01 2.31301311e-01 4.39948637e+02] [-2.40188815e-01 -2.51658114e-02 9.70399926e-01 4.24655813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.879254154 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:555.07, Y:439.98, Z:42.45 [[ 3.76445803e-01 -9.21960838e-01 9.09767644e-02 5.55070818e+02] [ 8.94891383e-01 3.87277570e-01 2.21778034e-01 4.39975710e+02] [-2.39703922e-01 -2.07308764e-03 9.70843825e-01 4.24493395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:555.08, Y:440.00, Z:42.45 [[ 3.75089779e-01 -9.22467661e-01 9.14389041e-02 5.55082585e+02] [ 8.95085695e-01 3.86070003e-01 2.23095385e-01 4.40000988e+02] [-2.41100096e-01 -1.83514346e-03 9.70498519e-01 4.24455563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9392541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:555.09, Y:440.02, Z:42.44 [[ 3.74288790e-01 -9.22804202e-01 9.13252764e-02 5.55093209e+02] [ 8.95452322e-01 3.85265535e-01 2.23014811e-01 4.40024712e+02] [-2.40983486e-01 -1.69451289e-03 9.70527737e-01 4.24391377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9692541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:555.10, Y:440.05, Z:42.43 [[ 3.73108026e-01 -9.23284156e-01 9.13059036e-02 5.55104154e+02] [ 8.95925945e-01 3.84114963e-01 2.23097281e-01 4.40049276e+02] [-2.41054149e-01 -1.43605831e-03 9.70510605e-01 4.24302340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1090.9992541539998 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:555.12, Y:440.07, Z:42.42 [[ 3.71457635e-01 -9.23970346e-01 9.10935012e-02 5.55115883e+02] [ 8.96712801e-01 3.82462629e-01 2.22774528e-01 4.40072548e+02] [-2.40676918e-01 -1.06659069e-03 9.70604700e-01 4.24228692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.0292541539998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:555.13, Y:440.10, Z:42.42 [[ 3.70979174e-01 -9.24162027e-01 9.10988455e-02 5.55127351e+02] [ 8.96874679e-01 3.81999424e-01 2.22917586e-01 4.40097518e+02] [-2.40811675e-01 -9.93534071e-04 9.70571353e-01 4.24171554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.0592541539997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:555.14, Y:440.12, Z:42.41 [[ 3.70414423e-01 -9.24383010e-01 9.11548421e-02 5.55138372e+02] [ 8.97020350e-01 3.81464536e-01 2.23247170e-01 4.40120849e+02] [-2.41138230e-01 -9.26223198e-04 9.70490338e-01 4.24102481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.089254154 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:555.15, Y:440.15, Z:42.40 [[ 3.70922025e-01 -9.24194373e-01 9.10033670e-02 5.55149939e+02] [ 8.96893165e-01 3.81920907e-01 2.22977738e-01 4.40145326e+02] [-2.40830859e-01 -1.08705607e-03 9.70566492e-01 4.24041007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.119254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:555.16, Y:440.17, Z:42.40 [[ 3.71332947e-01 -9.23979798e-01 9.15050583e-02 5.55162150e+02] [ 8.96318670e-01 3.82439045e-01 2.24395231e-01 4.40170673e+02] [-2.42331767e-01 -1.30765011e-03 9.70192561e-01 4.23988183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.149254154 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:555.17, Y:440.20, Z:42.39 [[ 3.71140582e-01 -9.24051699e-01 9.15594087e-02 5.55173249e+02] [ 8.96310661e-01 3.82265178e-01 2.24723237e-01 4.40195172e+02] [-2.42655862e-01 -1.33823872e-03 9.70111510e-01 4.23915768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.1792541539999 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:555.18, Y:440.22, Z:42.38 [[ 3.70917226e-01 -9.24158350e-01 9.13879443e-02 5.55184446e+02] [ 8.96477386e-01 3.82007255e-01 2.24496666e-01 4.40220031e+02] [-2.42381326e-01 -1.34245541e-03 9.70180133e-01 4.23840735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2092541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:555.20, Y:440.24, Z:42.38 [[ 3.71021967e-01 -9.24079764e-01 9.17566852e-02 5.55195650e+02] [ 8.96118700e-01 3.82196811e-01 2.25603356e-01 4.40244676e+02] [-2.43544608e-01 -1.47891938e-03 9.69888569e-01 4.23794813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2392541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:555.21, Y:440.27, Z:42.37 [[ 3.71198337e-01 -9.24029492e-01 9.15493968e-02 5.55206750e+02] [ 8.96168243e-01 3.82318053e-01 2.25200772e-01 4.40269377e+02] [-2.43093142e-01 -1.55049001e-03 9.70001712e-01 4.23711119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2692541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:555.22, Y:440.29, Z:42.36 [[ 3.72419343e-01 -9.23525245e-01 9.16785456e-02 5.55218406e+02] [ 8.95520553e-01 3.83532637e-01 2.25711442e-01 4.40294331e+02] [-2.43611929e-01 -1.95928487e-03 9.69870811e-01 4.23646554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.23, Y:440.32, Z:42.36 [[ 3.73048168e-01 -9.23271215e-01 9.16805762e-02 5.55229591e+02] [ 8.95208851e-01 3.84142439e-01 2.25910822e-01 4.40319206e+02] [-2.43795359e-01 -2.20235493e-03 9.69824197e-01 4.23593751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.24, Y:440.34, Z:42.35 [[ 3.74328798e-01 -9.22767740e-01 9.15294946e-02 5.55241208e+02] [ 8.94735253e-01 3.85347786e-01 2.25734162e-01 4.40342712e+02] [-2.43570891e-01 -2.60413212e-03 9.69879601e-01 4.23525924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.359254154 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:555.25, Y:440.37, Z:42.34 [[ 3.74293885e-01 -9.22836913e-01 9.09731810e-02 5.55251893e+02] [ 8.95125700e-01 3.85182240e-01 2.24465195e-01 4.40367368e+02] [-2.42186021e-01 -2.58351748e-03 9.70226395e-01 4.23424257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.389254154 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:555.26, Y:440.39, Z:42.34 [[ 3.75526758e-01 -9.22311108e-01 9.12243067e-02 5.55264468e+02] [ 8.94381159e-01 3.86436506e-01 2.25275762e-01 4.40392340e+02] [-2.43026740e-01 -3.00777536e-03 9.70014926e-01 4.23361785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4192541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:555.28, Y:440.42, Z:42.33 [[ 3.76122271e-01 -9.22064223e-01 9.12666756e-02 5.55275941e+02] [ 8.94051415e-01 3.87023284e-01 2.25577140e-01 4.40417479e+02] [-2.43318939e-01 -3.24748563e-03 9.69940899e-01 4.23292224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4492541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:555.29, Y:440.44, Z:42.32 [[ 3.76538854e-01 -9.21904290e-01 9.11645349e-02 5.55287279e+02] [ 8.93901022e-01 3.87402562e-01 2.25522100e-01 4.40441925e+02] [-2.43227166e-01 -3.42576226e-03 9.69963303e-01 4.23222306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.4792541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:555.30, Y:440.46, Z:42.31 [[ 3.77317958e-01 -9.21617729e-01 9.08400834e-02 5.55299788e+02] [ 8.93758101e-01 3.88081484e-01 2.24920474e-01 4.40464899e+02] [-2.42544051e-01 -3.67747342e-03 9.70133424e-01 4.23146693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.5092541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:555.31, Y:440.49, Z:42.31 [[ 3.77675490e-01 -9.21431715e-01 9.12404475e-02 5.55312988e+02] [ 8.93289287e-01 3.88521180e-01 2.26021110e-01 4.40489495e+02] [-2.43711865e-01 -3.85851918e-03 9.69840007e-01 4.23079546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.5392541539998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:555.32, Y:440.51, Z:42.30 [[ 3.77852993e-01 -9.21372460e-01 9.11038155e-02 5.55324579e+02] [ 8.93264797e-01 3.88660568e-01 2.25878210e-01 4.40514009e+02] [-2.43526423e-01 -3.96892657e-03 9.69886142e-01 4.23003961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.5692541539997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:555.34, Y:440.54, Z:42.29 [[ 3.78578666e-01 -9.21029513e-01 9.15577992e-02 5.55337353e+02] [ 8.92576473e-01 3.89469149e-01 2.27202601e-01 4.40536987e+02] [-2.44919239e-01 -4.29172018e-03 9.69533985e-01 4.22949427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.599254154 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:555.35, Y:440.56, Z:42.29 [[ 3.78843479e-01 -9.20970510e-01 9.10545867e-02 5.55348676e+02] [ 8.92806136e-01 3.89608038e-01 2.26059243e-01 4.40561176e+02] [-2.43669495e-01 -4.34697630e-03 9.69848587e-01 4.22860925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.629254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:555.36, Y:440.58, Z:42.28 [[ 3.80630289e-01 -9.20264029e-01 9.07452470e-02 5.55361871e+02] [ 8.92225669e-01 3.91267799e-01 2.25483623e-01 4.40583947e+02] [-2.43010161e-01 -4.86065792e-03 9.70011565e-01 4.22801891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.6592541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:555.38, Y:440.61, Z:42.27 [[ 3.82374883e-01 -9.19604234e-01 9.00971777e-02 5.55375111e+02] [ 8.91910764e-01 3.92810207e-01 2.24043144e-01 4.40607513e+02] [-2.41422115e-01 -5.30982842e-03 9.70405672e-01 4.22722972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.38, Y:440.63, Z:42.26 [[ 3.82334582e-01 -9.19061633e-01 9.56346250e-02 5.55383537e+02] [ 8.91376908e-01 3.94113679e-01 2.23878577e-01 4.40632670e+02] [-2.43449125e-01 -3.50025973e-04 9.69913605e-01 4.22635862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.40, Y:440.66, Z:42.26 [[ 3.84220281e-01 -9.19334436e-01 8.48467490e-02 5.55401115e+02] [ 8.91112571e-01 3.93313307e-01 2.26325050e-01 4.40656561e+02] [-2.41439768e-01 -1.13506697e-02 9.70349422e-01 4.22628681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.41, Y:440.68, Z:42.25 [[ 3.85731752e-01 -9.18230357e-01 8.97999298e-02 5.55411612e+02] [ 8.90587614e-01 3.95996420e-01 2.23697425e-01 4.40680183e+02] [-2.40966217e-01 -6.31249464e-03 9.70512975e-01 4.22541527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.7792541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:555.42, Y:440.70, Z:42.24 [[ 3.85977342e-01 -9.18164644e-01 8.94157634e-02 5.55422686e+02] [ 8.90728029e-01 3.96147723e-01 2.22868931e-01 4.40703234e+02] [-2.40052224e-01 -6.37723107e-03 9.70739028e-01 4.22448649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.44, Y:440.73, Z:42.24 [[ 3.87105768e-01 -9.17679409e-01 8.95188666e-02 5.55437079e+02] [ 8.90123399e-01 3.97264207e-01 2.23296851e-01 4.40727977e+02] [-2.40477564e-01 -6.75666128e-03 9.70631181e-01 4.22404153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.839254154 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:555.45, Y:440.75, Z:42.23 [[ 3.87088046e-01 -9.17752155e-01 8.88472124e-02 5.55448021e+02] [ 8.90570527e-01 3.97096502e-01 2.21807360e-01 4.40751337e+02] [-2.38845100e-01 -6.73426898e-03 9.71034329e-01 4.22303133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.46, Y:440.78, Z:42.23 [[ 3.87180483e-01 -9.17691845e-01 8.90671200e-02 5.55462459e+02] [ 8.90330589e-01 3.97233749e-01 2.22523687e-01 4.40775657e+02] [-2.39588639e-01 -6.85764742e-03 9.70850275e-01 4.22264887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.899254154 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:555.47, Y:440.80, Z:42.22 [[ 3.86722943e-01 -9.17934328e-01 8.85547036e-02 5.55473728e+02] [ 8.90849906e-01 3.96674995e-01 2.21439367e-01 4.40798718e+02] [-2.38394233e-01 -6.74673418e-03 9.71145031e-01 4.22165947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9292541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:555.49, Y:440.82, Z:42.21 [[ 3.85782012e-01 -9.18305614e-01 8.88090076e-02 5.55488130e+02] [ 8.91047162e-01 3.95817520e-01 2.22178860e-01 4.40822493e+02] [-2.39180255e-01 -6.57959341e-03 9.70952890e-01 4.22106694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.50, Y:440.85, Z:42.21 [[ 3.85451828e-01 -9.18405028e-01 8.92137489e-02 5.55500351e+02] [ 8.90848003e-01 3.95585974e-01 2.23386601e-01 4.40846744e+02] [-2.40451085e-01 -6.62888366e-03 9.70638622e-01 4.22069946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1091.9892541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:555.51, Y:440.87, Z:42.20 [[ 3.84889665e-01 -9.18621392e-01 8.94130012e-02 5.55513852e+02] [ 8.90901758e-01 3.95084096e-01 2.24059401e-01 4.40870289e+02] [-2.41151413e-01 -6.57994764e-03 9.70465198e-01 4.21994744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.0192541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:555.53, Y:440.89, Z:42.19 [[ 3.84771461e-01 -9.18643538e-01 8.96937775e-02 5.55526620e+02] [ 8.90696717e-01 3.95031079e-01 2.24966230e-01 4.40893446e+02] [-2.42095603e-01 -6.67063191e-03 9.70229469e-01 4.21935719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.0492541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:555.54, Y:440.92, Z:42.18 [[ 3.83751381e-01 -9.19120833e-01 8.91727026e-02 5.55537643e+02] [ 8.91488950e-01 3.93924188e-01 2.23765919e-01 4.40917536e+02] [-2.40795202e-01 -6.37400133e-03 9.70555018e-01 4.21844681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.079254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.55, Y:440.94, Z:42.18 [[ 3.80236692e-01 -9.20560087e-01 8.93822379e-02 5.55550888e+02] [ 8.92787181e-01 3.90561443e-01 2.24483429e-01 4.40942628e+02] [-2.41559740e-01 -5.55752022e-03 9.70370036e-01 4.21797038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.109254154 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:555.56, Y:440.97, Z:42.17 [[ 3.77152945e-01 -9.21855083e-01 8.91002950e-02 5.55561894e+02] [ 8.94246697e-01 3.87505136e-01 2.23970118e-01 4.40967110e+02] [-2.40994814e-01 -4.79334524e-03 9.70514566e-01 4.21707572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.139254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.57, Y:440.99, Z:42.17 [[ 3.74004003e-01 -9.23137993e-01 8.90912541e-02 5.55573566e+02] [ 8.95521755e-01 3.84447474e-01 2.24144879e-01 4.40991295e+02] [-2.41167562e-01 -4.04792596e-03 9.70475049e-01 4.21661097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1692541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:555.59, Y:441.01, Z:42.16 [[ 3.66778676e-01 -9.26027199e-01 8.91461137e-02 5.55586261e+02] [ 8.98426139e-01 3.77450264e-01 2.24414284e-01 4.41013842e+02] [-2.41461955e-01 -2.21917524e-03 9.70407749e-01 4.21578018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.1992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:555.60, Y:441.04, Z:42.15 [[ 3.63385745e-01 -9.27357828e-01 8.92090760e-02 5.55598361e+02] [ 8.99713075e-01 3.74173061e-01 2.24746308e-01 4.41038737e+02] [-2.41799881e-01 -1.40703252e-03 9.70325120e-01 4.21509385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.61, Y:441.06, Z:42.15 [[ 3.58778288e-01 -9.29109261e-01 8.96332551e-02 5.55611031e+02] [ 9.01201561e-01 3.69805199e-01 2.26008545e-01 4.41062482e+02] [-2.43133476e-01 -3.09329632e-04 9.69992792e-01 4.21473237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.62, Y:441.09, Z:42.14 [[ 3.58027427e-01 -9.29368218e-01 8.99504157e-02 5.55620739e+02] [ 9.01223983e-01 3.69154000e-01 2.26981623e-01 4.41088444e+02] [-2.44155062e-01 -2.00174318e-04 9.69736184e-01 4.21402847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.63, Y:441.11, Z:42.13 [[ 3.57895846e-01 -9.29412197e-01 9.00196187e-02 5.55629247e+02] [ 9.01176632e-01 3.69043234e-01 2.27349445e-01 4.41113130e+02] [-2.44522478e-01 -2.43844890e-04 9.69643594e-01 4.21331535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.3192541539997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:555.64, Y:441.14, Z:42.12 [[ 3.58135703e-01 -9.29359992e-01 8.96037047e-02 5.55637982e+02] [ 9.01344049e-01 3.69174603e-01 2.26470788e-01 4.41138519e+02] [-2.43552302e-01 -3.43508784e-04 9.69887704e-01 4.21235472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.349254154 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:555.65, Y:441.16, Z:42.12 [[ 3.57889022e-01 -9.29461387e-01 8.95375749e-02 5.55648119e+02] [ 9.01442029e-01 3.68919244e-01 2.26496931e-01 4.41164289e+02] [-2.43552286e-01 -3.47831796e-04 9.69887707e-01 4.21164330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.66, Y:441.19, Z:42.11 [[ 3.58172402e-01 -9.29363028e-01 8.94253431e-02 5.55657935e+02] [ 9.01366581e-01 3.69166803e-01 2.26393811e-01 4.41189741e+02] [-2.43414906e-01 -4.82999480e-04 9.69922136e-01 4.21114634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.67, Y:441.21, Z:42.10 [[ 3.58175402e-01 -9.29389896e-01 8.91336186e-02 5.55667534e+02] [ 9.01531585e-01 3.69099083e-01 2.25846559e-01 4.41214770e+02] [-2.42798647e-01 -5.35909612e-04 9.70076559e-01 4.21044270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.68, Y:441.24, Z:42.10 [[ 3.58942518e-01 -9.29127270e-01 8.87850460e-02 5.55676887e+02] [ 9.01433315e-01 3.69759246e-01 2.25157900e-01 4.41239273e+02] [-2.42029436e-01 -7.84945201e-04 9.70268590e-01 4.20971772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4692541539998 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:555.68, Y:441.26, Z:42.09 [[ 3.59620616e-01 -9.28931671e-01 8.80849811e-02 5.55684142e+02] [ 9.01631038e-01 3.70249918e-01 2.23554179e-01 4.41264222e+02] [-2.40280014e-01 -9.74538679e-04 9.70703129e-01 4.20869087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.4992541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:555.69, Y:441.29, Z:42.08 [[ 3.59881512e-01 -9.28802390e-01 8.83822285e-02 5.55693787e+02] [ 9.01263193e-01 3.70573647e-01 2.24499065e-01 4.41290647e+02] [-2.41267393e-01 -1.13741366e-03 9.70458011e-01 4.20819128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.70, Y:441.32, Z:42.08 [[ 3.59912932e-01 -9.28780414e-01 8.84851692e-02 5.55702166e+02] [ 9.01124408e-01 3.70628421e-01 2.24965275e-01 4.41315404e+02] [-2.41738460e-01 -1.23176595e-03 9.70340662e-01 4.20756841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.71, Y:441.34, Z:42.07 [[ 3.59664845e-01 -9.28874219e-01 8.85092327e-02 5.55711294e+02] [ 9.01178570e-01 3.70393331e-01 2.25135438e-01 4.41340798e+02] [-2.41905734e-01 -1.21067862e-03 9.70299001e-01 4.20690340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.589254154 meters Centerline goodness : 0.999780 Centerline is valid? [True, True] Translation: X:555.72, Y:441.37, Z:42.06 [[ 3.59146710e-01 -9.29092070e-01 8.83264698e-02 5.55720040e+02] [ 9.01470435e-01 3.69846772e-01 2.24865338e-01 4.41365686e+02] [-2.41587862e-01 -1.13594528e-03 9.70378284e-01 4.20604441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.73, Y:441.39, Z:42.06 [[ 3.58413097e-01 -9.29330908e-01 8.87925379e-02 5.55729122e+02] [ 9.01370440e-01 3.69246461e-01 2.26248494e-01 4.41392275e+02] [-2.43046049e-01 -1.05545472e-03 9.70014177e-01 4.20556738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.649254154 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:555.74, Y:441.42, Z:42.05 [[ 3.57314728e-01 -9.29755837e-01 8.87708777e-02 5.55737743e+02] [ 9.01772959e-01 3.68175741e-01 2.26389387e-01 4.41416918e+02] [-2.43170137e-01 -8.41085021e-04 9.69983287e-01 4.20461621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.75, Y:441.44, Z:42.04 [[ 3.56192098e-01 -9.30114992e-01 8.95169898e-02 5.55746525e+02] [ 9.01612674e-01 3.67267808e-01 2.28492763e-01 4.41443294e+02] [-2.45401253e-01 -6.77664222e-04 9.69421356e-01 4.20412182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.74, Y:441.47, Z:42.01 [[ 3.51855551e-01 -9.28361608e-01 1.19759740e-01 5.55737125e+02] [ 9.01364330e-01 3.70538999e-01 2.24149938e-01 4.41469878e+02] [-2.52467851e-01 2.90787577e-02 9.67168243e-01 4.20123903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.78, Y:441.49, Z:42.04 [[ 3.54474919e-01 -9.33101021e-01 6.05806583e-02 5.55779019e+02] [ 9.02217305e-01 3.58325235e-01 2.40014502e-01 4.41492256e+02] [-2.45665355e-01 -3.04222027e-02 9.68877197e-01 4.20385121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7692541539998 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:555.76, Y:441.52, Z:42.00 [[ 3.52173072e-01 -9.28851841e-01 1.14927740e-01 5.55759039e+02] [ 9.02463489e-01 3.69554034e-01 2.21335645e-01 4.41521181e+02] [-2.48060031e-01 2.57696349e-02 9.68401852e-01 4.20007582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.7992541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:555.80, Y:441.54, Z:42.02 [[ 3.53973332e-01 -9.33109428e-01 6.33220019e-02 5.55795481e+02] [ 9.03239305e-01 3.58634937e-01 2.35668709e-01 4.41542260e+02] [-2.42614176e-01 -2.62255170e-02 9.69768315e-01 4.20206754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.829254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:555.79, Y:441.57, Z:42.01 [[ 3.54562699e-01 -9.30864273e-01 8.81872854e-02 5.55792337e+02] [ 9.03019331e-01 3.65364841e-01 2.25974823e-01 4.41570139e+02] [-2.42572423e-01 -4.87419720e-04 9.70133177e-01 4.20054928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.859254154 meters Centerline goodness : 0.999825 Centerline is valid? [True, True] Translation: X:555.80, Y:441.59, Z:42.00 [[ 3.55782407e-01 -9.30450238e-01 8.76426451e-02 5.55799956e+02] [ 9.02892377e-01 3.66417317e-01 2.24774788e-01 4.41594113e+02] [-2.41255538e-01 -8.39038809e-04 9.70461262e-01 4.19959986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.889254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:555.81, Y:441.62, Z:41.99 [[ 3.56935045e-01 -9.29969507e-01 8.80573103e-02 5.55808304e+02] [ 9.02087454e-01 3.67634581e-01 2.26015577e-01 4.41619545e+02] [-2.42560507e-01 -1.23748540e-03 9.70135490e-01 4.19890731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9192541539999 meters Centerline goodness : 0.999759 Centerline is valid? [True, True] Translation: X:555.82, Y:441.65, Z:41.98 [[ 3.57075878e-01 -9.29935413e-01 8.78461422e-02 5.55817855e+02] [ 9.02139433e-01 3.67720485e-01 2.25668092e-01 4.41645170e+02] [-2.42159577e-01 -1.33116322e-03 9.70235522e-01 4.19809383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:555.83, Y:441.67, Z:41.98 [[ 3.57192134e-01 -9.29850944e-01 8.82666524e-02 5.55827403e+02] [ 9.01731176e-01 3.67933495e-01 2.26948956e-01 4.41669996e+02] [-2.43504959e-01 -1.47158971e-03 9.69898536e-01 4.19763864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1092.9792541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:555.84, Y:441.69, Z:41.97 [[ 3.57430076e-01 -9.29776256e-01 8.80900355e-02 5.55837560e+02] [ 9.01723794e-01 3.68121713e-01 2.26672903e-01 4.41694086e+02] [-2.43182938e-01 -1.58683175e-03 9.69979145e-01 4.19670059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.0092541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:555.85, Y:441.72, Z:41.96 [[ 3.58566677e-01 -9.29334252e-01 8.81350508e-02 5.55848155e+02] [ 9.01189616e-01 3.69234333e-01 2.26987408e-01 4.41718174e+02] [-2.43489660e-01 -1.96372797e-03 9.69901505e-01 4.19622282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.0392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.86, Y:441.74, Z:41.96 [[ 3.59258709e-01 -9.29059810e-01 8.82102626e-02 5.55858149e+02] [ 9.00824865e-01 3.69922991e-01 2.27313757e-01 4.41743537e+02] [-2.43819080e-01 -2.20244891e-03 9.69818233e-01 4.19569125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.0692541539997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:555.87, Y:441.77, Z:41.95 [[ 3.61239404e-01 -9.28315522e-01 8.79567179e-02 5.55867249e+02] [ 9.00174053e-01 3.71783001e-01 2.26856949e-01 4.41768007e+02] [-2.43295639e-01 -2.77331388e-03 9.69948215e-01 4.19484259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.88, Y:441.79, Z:41.94 [[ 3.62668477e-01 -9.27771000e-01 8.78211154e-02 5.55877114e+02] [ 8.99657849e-01 3.73136331e-01 2.26682671e-01 4.41793545e+02] [-2.43078857e-01 -3.20170317e-03 9.70001247e-01 4.19416915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.129254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.89, Y:441.82, Z:41.93 [[ 3.63855970e-01 -9.27331481e-01 8.75508912e-02 5.55886806e+02] [ 8.99332075e-01 3.74224064e-01 2.26181716e-01 4.41819408e+02] [-2.42509076e-01 -3.56024306e-03 9.70142604e-01 4.19344340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.1592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.89, Y:441.84, Z:41.91 [[ 3.64719661e-01 -9.24985230e-01 1.06685953e-01 5.55885987e+02] [ 8.97832074e-01 3.79727327e-01 2.22945562e-01 4.41844946e+02] [-2.46732923e-01 1.44734411e-02 9.68975430e-01 4.19122914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.1892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:555.92, Y:441.87, Z:41.93 [[ 3.67354450e-01 -9.27504777e-01 6.91780054e-02 5.55915624e+02] [ 8.98193894e-01 3.73086109e-01 2.32496204e-01 4.41867735e+02] [-2.41450692e-01 -2.32732531e-02 9.70133970e-01 4.19254892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2192541539998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:555.92, Y:441.89, Z:41.91 [[ 3.68964252e-01 -9.25357086e-01 8.70611560e-02 5.55915802e+02] [ 8.97515518e-01 3.79063635e-01 2.25336762e-01 4.41894059e+02] [-2.41518688e-01 -5.00247133e-03 9.70383274e-01 4.19096287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2492541539998 meters Centerline goodness : 0.999737 Centerline is valid? [True, True] Translation: X:555.93, Y:441.92, Z:41.90 [[ 3.69363902e-01 -9.25217179e-01 8.68532132e-02 5.55925633e+02] [ 8.97457437e-01 3.79402900e-01 2.24996862e-01 4.41918635e+02] [-2.41123323e-01 -5.15865675e-03 9.70480773e-01 4.19021452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.94, Y:441.94, Z:41.90 [[ 3.68906377e-01 -9.25366912e-01 8.72018582e-02 5.55937264e+02] [ 8.97339877e-01 3.79037642e-01 2.26078774e-01 4.41944444e+02] [-2.42258603e-01 -5.15219653e-03 9.70198033e-01 4.18987077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.3092541539997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:555.95, Y:441.97, Z:41.89 [[ 3.67871235e-01 -9.25794761e-01 8.70334081e-02 5.55947277e+02] [ 8.97837406e-01 3.77994228e-01 2.25850295e-01 4.41968378e+02] [-2.41989146e-01 -4.94197762e-03 9.70266371e-01 4.18905643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.339254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:555.96, Y:441.99, Z:41.89 [[ 3.67186589e-01 -9.26054072e-01 8.71657375e-02 5.55958170e+02] [ 8.97989542e-01 3.77360041e-01 2.26305506e-01 4.41993976e+02] [-2.42464001e-01 -4.82242587e-03 9.70148418e-01 4.18856448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.369254154 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:555.97, Y:442.02, Z:41.88 [[ 3.65689365e-01 -9.26635774e-01 8.72778947e-02 5.55968562e+02] [ 8.98462593e-01 3.75933083e-01 2.26802308e-01 4.42017615e+02] [-2.42973780e-01 -4.52326852e-03 9.70022310e-01 4.18781163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:555.98, Y:442.04, Z:41.87 [[ 3.65142808e-01 -9.26855727e-01 8.72306768e-02 5.55978656e+02] [ 8.98685469e-01 3.75391609e-01 2.26816154e-01 4.42042739e+02] [-2.42971515e-01 -4.42734554e-03 9.70023320e-01 4.18725275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4292541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:555.99, Y:442.07, Z:41.86 [[ 3.64030274e-01 -9.27324603e-01 8.68967203e-02 5.55988382e+02] [ 8.99335990e-01 3.74234746e-01 2.26148474e-01 4.42066870e+02] [-2.42232816e-01 -4.17554310e-03 9.70209167e-01 4.18640726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4592541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:556.00, Y:442.09, Z:41.85 [[ 3.63012364e-01 -9.27762039e-01 8.64848170e-02 5.55998217e+02] [ 9.00010150e-01 3.73151620e-01 2.25254522e-01 4.42092000e+02] [-2.41254544e-01 -3.93296324e-03 9.70453903e-01 4.18544352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.01, Y:442.12, Z:41.85 [[ 3.62188809e-01 -9.28090574e-01 8.64126868e-02 5.56009588e+02] [ 9.00345739e-01 3.72335259e-01 2.25264302e-01 4.42117244e+02] [-2.41240165e-01 -3.78691483e-03 9.70458058e-01 4.18505443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.5192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:556.02, Y:442.14, Z:41.84 [[ 3.61774797e-01 -9.28261536e-01 8.63105813e-02 5.56020112e+02] [ 9.00539366e-01 3.71909272e-01 2.25194012e-01 4.42142315e+02] [-2.41138645e-01 -3.74344184e-03 9.70483457e-01 4.18443149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.5492541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:556.03, Y:442.17, Z:41.84 [[ 3.61606513e-01 -9.28329947e-01 8.62800053e-02 5.56029095e+02] [ 9.00579923e-01 3.71738179e-01 2.25314291e-01 4.42166472e+02] [-2.41239576e-01 -3.77307449e-03 9.70458258e-01 4.18371095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.579254154 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:556.04, Y:442.19, Z:41.83 [[ 3.61118886e-01 -9.28538058e-01 8.60826696e-02 5.56038419e+02] [ 9.00878358e-01 3.71218848e-01 2.24977224e-01 4.42191967e+02] [-2.40855424e-01 -3.69351036e-03 9.70553977e-01 4.18283707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.609254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:556.05, Y:442.22, Z:41.82 [[ 3.61078874e-01 -9.28500177e-01 8.66571902e-02 5.56047579e+02] [ 9.00414068e-01 3.71312304e-01 2.26675271e-01 4.42218305e+02] [-2.42644910e-01 -3.82029838e-03 9.70107650e-01 4.18234847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.639254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:556.06, Y:442.24, Z:41.82 [[ 3.59515460e-01 -9.29090548e-01 8.68296453e-02 5.56056312e+02] [ 9.00857234e-01 3.69835716e-01 2.27327490e-01 4.42243708e+02] [-2.43320527e-01 -3.50663318e-03 9.69939599e-01 4.18163546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6692541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:556.07, Y:442.27, Z:41.81 [[ 3.58228723e-01 -9.29592174e-01 8.67788677e-02 5.56065882e+02] [ 9.01356483e-01 3.68575484e-01 2.27395258e-01 4.42269133e+02] [-2.43369415e-01 -3.24081775e-03 9.69928258e-01 4.18089272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.6992541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:556.08, Y:442.29, Z:41.80 [[ 3.54708560e-01 -9.30982603e-01 8.63320923e-02 5.56075066e+02] [ 9.03031494e-01 3.65055954e-01 2.26424980e-01 4.42293592e+02] [-2.42313761e-01 -2.35428014e-03 9.70195083e-01 4.18005317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.7292541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:556.08, Y:442.32, Z:41.80 [[ 3.50400411e-01 -9.32621702e-01 8.62340536e-02 5.56084695e+02] [ 9.04738211e-01 3.60853277e-01 2.26348586e-01 4.42318195e+02] [-2.42215445e-01 -1.29339437e-03 9.70221627e-01 4.17950716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.7592541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:556.09, Y:442.34, Z:41.79 [[ 3.45670831e-01 -9.34406413e-01 8.60019314e-02 5.56093781e+02] [ 9.06684899e-01 3.56208706e-01 2.25915585e-01 4.42343381e+02] [-2.41731608e-01 -1.15775635e-04 9.70343144e-01 4.17865811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.7892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:556.09, Y:442.37, Z:41.77 [[ 3.40296262e-01 -9.34126509e-01 1.07731697e-01 5.56091396e+02] [ 9.07491798e-01 3.56261817e-01 2.22567191e-01 4.42369940e+02] [-2.46286603e-01 2.20268488e-02 9.68946710e-01 4.17663040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.8192541539997 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:556.12, Y:442.39, Z:41.78 [[ 3.39236807e-01 -9.38410813e-01 6.56013306e-02 5.56122461e+02] [ 9.09166418e-01 3.44971514e-01 2.33261824e-01 4.42392499e+02] [-2.41526008e-01 -1.94884696e-02 9.70198633e-01 4.17815757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.849254154 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:556.12, Y:442.42, Z:41.77 [[ 3.37313331e-01 -9.37490624e-01 8.56215316e-02 5.56121286e+02] [ 9.09988405e-01 3.48005464e-01 2.25418055e-01 4.42419224e+02] [-2.41124074e-01 1.87808606e-03 9.70492480e-01 4.17655415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.879254154 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:556.13, Y:442.44, Z:41.76 [[ 3.34288659e-01 -9.38564710e-01 8.57168438e-02 5.56130263e+02] [ 9.10983504e-01 3.45093657e-01 2.25874795e-01 4.42443652e+02] [-2.41578450e-01 2.57924859e-03 9.70377865e-01 4.17594769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.14, Y:442.47, Z:41.76 [[ 3.33097909e-01 -9.38969883e-01 8.59147314e-02 5.56140277e+02] [ 9.11238314e-01 3.43987708e-01 2.26532984e-01 4.42470335e+02] [-2.42261261e-01 2.83113153e-03 9.70206919e-01 4.17555916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.15, Y:442.50, Z:41.75 [[ 3.32030629e-01 -9.39360060e-01 8.57807638e-02 5.56149301e+02] [ 9.11678035e-01 3.42919012e-01 2.26383991e-01 4.42495151e+02] [-2.42071934e-01 3.03801918e-03 9.70253549e-01 4.17488833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9692541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:556.16, Y:442.52, Z:41.74 [[ 3.30724846e-01 -9.39839145e-01 8.55771984e-02 5.56158037e+02] [ 9.12260741e-01 3.41601213e-01 2.26028652e-01 4.42520901e+02] [-2.41663850e-01 3.31542717e-03 9.70354364e-01 4.17411326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1093.9992541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:556.17, Y:442.55, Z:41.73 [[ 3.30982528e-01 -9.39781205e-01 8.52165060e-02 5.56166154e+02] [ 9.12387685e-01 3.41761781e-01 2.25272272e-01 4.42546690e+02] [-2.40830392e-01 3.18930453e-03 9.70561977e-01 4.17324718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.0292541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:556.18, Y:442.57, Z:41.73 [[ 3.31827445e-01 -9.39512647e-01 8.48913067e-02 5.56175074e+02] [ 9.12273688e-01 3.42501830e-01 2.24609029e-01 4.42572356e+02] [-2.40098451e-01 2.91266535e-03 9.70744174e-01 4.17252419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.18, Y:442.60, Z:41.72 [[ 3.33132277e-01 -9.39043236e-01 8.49746233e-02 5.56184475e+02] [ 9.11685966e-01 3.43789934e-01 2.25027069e-01 4.42598866e+02] [-2.40523567e-01 2.50639150e-03 9.70640063e-01 4.17204623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.089254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:556.18, Y:442.62, Z:41.70 [[ 3.34481896e-01 -9.36606807e-01 1.04353005e-01 5.56180400e+02] [ 9.10719125e-01 3.49719707e-01 2.19742582e-01 4.42624990e+02] [-2.42306700e-01 2.15363617e-02 9.69960643e-01 4.16951122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.119254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:556.21, Y:442.65, Z:41.71 [[ 3.38068149e-01 -9.38856097e-01 6.52622010e-02 5.56210845e+02] [ 9.10277911e-01 3.43809111e-01 2.30628316e-01 4.42650506e+02] [-2.38964540e-01 -1.85613479e-02 9.70850877e-01 4.17133024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.149254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:556.21, Y:442.68, Z:41.70 [[ 3.45929651e-01 -9.34481839e-01 8.41211623e-02 5.56206822e+02] [ 9.07408857e-01 3.56009625e-01 2.23307663e-01 4.42677343e+02] [-2.38624899e-01 -9.16454127e-04 9.71111383e-01 4.16986984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.1792541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:556.21, Y:442.70, Z:41.69 [[ 3.48251166e-01 -9.33626874e-01 8.40356195e-02 5.56214931e+02] [ 9.06553791e-01 3.58243574e-01 2.23207898e-01 4.42703085e+02] [-2.38498113e-01 -1.54960118e-03 9.71141725e-01 4.16907295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.22, Y:442.73, Z:41.69 [[ 3.51250310e-01 -9.32475891e-01 8.43322772e-02 5.56223797e+02] [ 9.05125912e-01 3.61224123e-01 2.24196824e-01 4.42729342e+02] [-2.39520986e-01 -2.41787461e-03 9.70888177e-01 4.16871904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2392541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:556.23, Y:442.76, Z:41.68 [[ 3.55539752e-01 -9.30822309e-01 8.46245500e-02 5.56230726e+02] [ 9.03183185e-01 3.65454067e-01 2.25174287e-01 4.42755091e+02] [-2.40523636e-01 -3.62693966e-03 9.70636506e-01 4.16790686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2692541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:556.24, Y:442.78, Z:41.67 [[ 3.55290941e-01 -9.30923326e-01 8.45583180e-02 5.56240415e+02] [ 9.03281111e-01 3.65196626e-01 2.25199157e-01 4.42781026e+02] [-2.40523560e-01 -3.63128884e-03 9.70636508e-01 4.16719545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.2992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.25, Y:442.81, Z:41.67 [[ 3.57498043e-01 -9.30041067e-01 8.49632999e-02 5.56249309e+02] [ 9.02057111e-01 3.67430194e-01 2.26468587e-01 4.42806472e+02] [-2.41843169e-01 -4.32032795e-03 9.70305734e-01 4.16673097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.26, Y:442.83, Z:41.66 [[ 3.61356032e-01 -9.28536909e-01 8.50942285e-02 5.56257330e+02] [ 9.00378408e-01 3.71200666e-01 2.26999533e-01 4.42832751e+02] [-2.42364479e-01 -5.41064439e-03 9.70170183e-01 4.16612048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.359254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:556.27, Y:442.86, Z:41.65 [[ 3.62737551e-01 -9.28029456e-01 8.47513902e-02 5.56265198e+02] [ 9.00037723e-01 3.72461626e-01 2.26283969e-01 4.42858058e+02] [-2.41564829e-01 -5.80224454e-03 9.70367336e-01 4.16518064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.389254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:556.27, Y:442.88, Z:41.65 [[ 3.66275298e-01 -9.26638630e-01 8.47540863e-02 5.56271889e+02] [ 8.98558382e-01 3.75891723e-01 2.26491165e-01 4.42883795e+02] [-2.41733823e-01 -6.80162454e-03 9.70318760e-01 4.16454457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:556.28, Y:442.91, Z:41.64 [[ 3.69761238e-01 -9.25266307e-01 8.46102121e-02 5.56278598e+02] [ 8.97203023e-01 3.79238795e-01 2.26284495e-01 4.42910751e+02] [-2.41460894e-01 -7.75869708e-03 9.70379534e-01 4.16383191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4492541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:556.29, Y:442.94, Z:41.63 [[ 3.71112212e-01 -9.24754045e-01 8.42952138e-02 5.56286821e+02] [ 8.96840304e-01 3.80478277e-01 2.25640755e-01 4.42936775e+02] [-2.40734698e-01 -8.13869466e-03 9.70556833e-01 4.16305690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.4792541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:556.29, Y:442.96, Z:41.62 [[ 3.72298282e-01 -9.24342230e-01 8.35788961e-02 5.56294168e+02] [ 8.96849275e-01 3.81471824e-01 2.23921026e-01 4.42962910e+02] [-2.38862655e-01 -8.40774113e-03 9.71016963e-01 4.16224960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.5092541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:556.30, Y:442.99, Z:41.62 [[ 3.72235848e-01 -9.24368055e-01 8.35713667e-02 5.56303171e+02] [ 8.96831345e-01 3.81407881e-01 2.24101691e-01 4.42988485e+02] [-2.39027222e-01 -8.46926169e-03 9.70975931e-01 4.16160486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.5392541539998 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:556.31, Y:443.01, Z:41.61 [[ 3.70267739e-01 -9.25190997e-01 8.32070987e-02 5.56311838e+02] [ 8.97868587e-01 3.79417874e-01 2.23325050e-01 4.43013582e+02] [-2.38188586e-01 -7.98102099e-03 9.71186131e-01 4.16082531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.5692541539997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:556.32, Y:443.04, Z:41.60 [[ 3.68781629e-01 -9.25757102e-01 8.35098743e-02 5.56321447e+02] [ 8.98193981e-01 3.78039757e-01 2.24351320e-01 4.43038601e+02] [-2.39264880e-01 -7.72857860e-03 9.70923574e-01 4.16042532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.599254154 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:556.33, Y:443.06, Z:41.60 [[ 3.64533983e-01 -9.27457812e-01 8.32885518e-02 5.56331185e+02] [ 9.00058710e-01 3.73868806e-01 2.23867002e-01 4.43063911e+02] [-2.38766192e-01 -6.64254361e-03 9.71054366e-01 4.15958733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.629254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:556.34, Y:443.09, Z:41.59 [[ 3.62489215e-01 -9.28246634e-01 8.34251527e-02 5.56340872e+02] [ 9.00723720e-01 3.71913341e-01 2.24448761e-01 4.43088851e+02] [-2.39370734e-01 -6.21724145e-03 9.70908336e-01 4.15910516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.6592541539999 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:556.35, Y:443.11, Z:41.58 [[ 3.59406812e-01 -9.29505045e-01 8.27472992e-02 5.56349897e+02] [ 9.02439967e-01 3.68770187e-01 2.22734495e-01 4.43114209e+02] [-2.37547574e-01 -5.37782466e-03 9.71361019e-01 4.15824471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.36, Y:443.14, Z:41.58 [[ 3.58241827e-01 -9.29948285e-01 8.28189595e-02 5.56359653e+02] [ 9.02797062e-01 3.67654040e-01 2.23132184e-01 4.43140813e+02] [-2.37950117e-01 -5.16656781e-03 9.71263635e-01 4.15780689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7192541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:556.37, Y:443.16, Z:41.57 [[ 3.55873940e-01 -9.30968488e-01 8.15561986e-02 5.56367289e+02] [ 9.04626701e-01 3.65071900e-01 2.19938718e-01 4.43164953e+02] [-2.34529892e-01 -4.49254310e-03 9.72098527e-01 4.15679666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7492541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:556.38, Y:443.19, Z:41.56 [[ 3.54572469e-01 -9.31499453e-01 8.11611599e-02 5.56376359e+02] [ 9.05403859e-01 3.63718927e-01 2.18980350e-01 4.43190827e+02] [-2.33499927e-01 -4.16077610e-03 9.72347917e-01 4.15610989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.39, Y:443.22, Z:41.56 [[ 3.52219815e-01 -9.32410222e-01 8.09467719e-02 5.56385206e+02] [ 9.06428870e-01 3.61383505e-01 2.18606192e-01 4.43217190e+02] [-2.33083476e-01 -3.62494153e-03 9.72449975e-01 4.15572595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.8092541539997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:556.39, Y:443.24, Z:41.55 [[ 3.50550032e-01 -9.33092422e-01 8.03318523e-02 5.56393412e+02] [ 9.07478491e-01 3.59622224e-01 2.17151202e-01 4.43241011e+02] [-2.31511260e-01 -3.22293268e-03 9.72826885e-01 4.15483304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.839254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:556.39, Y:443.27, Z:41.53 [[ 3.45481622e-01 -9.33235410e-01 9.85602280e-02 5.56392032e+02] [ 9.08168332e-01 3.58947949e-01 2.15375604e-01 4.43267823e+02] [-2.36374132e-01 1.51009648e-02 9.71544765e-01 4.15314285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.869254154 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:556.42, Y:443.29, Z:41.54 [[ 3.45335712e-01 -9.36329292e-01 6.34878128e-02 5.56420178e+02] [ 9.09158671e-01 3.50557939e-01 2.24810237e-01 4.43291540e+02] [-2.32752567e-01 -1.99145078e-02 9.72332070e-01 4.15435095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.899254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:556.42, Y:443.32, Z:41.53 [[ 3.43136306e-01 -9.35780657e-01 8.10681023e-02 5.56420656e+02] [ 9.09658332e-01 3.52579085e-01 2.19567092e-01 4.43319329e+02] [-2.34049555e-01 -1.59716614e-03 9.72223357e-01 4.15325151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.43, Y:443.35, Z:41.52 [[ 3.42062556e-01 -9.35587639e-01 8.75726951e-02 5.56426092e+02] [ 9.10267523e-01 3.53047924e-01 2.16264192e-01 4.43345561e+02] [-2.33251463e-01 5.73869782e-03 9.72399518e-01 4.15247872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9592541539998 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:556.44, Y:443.37, Z:41.52 [[ 3.41230407e-01 -9.37044406e-01 7.42266162e-02 5.56439798e+02] [ 9.10514133e-01 3.49118299e-01 2.21541031e-01 4.43369912e+02] [-2.33507654e-01 -8.01215300e-03 9.72321954e-01 4.15210179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1094.9892541539998 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:556.44, Y:443.40, Z:41.51 [[ 3.41605571e-01 -9.36333902e-01 8.11446767e-02 5.56444465e+02] [ 9.10059725e-01 3.51108070e-01 2.20259894e-01 4.43395620e+02] [-2.34727357e-01 -1.39550462e-03 9.72060245e-01 4.15125604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.0192541539998 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:556.45, Y:443.42, Z:41.51 [[ 3.43183866e-01 -9.35737073e-01 8.13693125e-02 5.56451602e+02] [ 9.09254369e-01 3.52693368e-01 2.21051760e-01 4.43422713e+02] [-2.35544744e-01 -1.87599481e-03 9.71861695e-01 4.15063158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.0492541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:556.46, Y:443.45, Z:41.50 [[ 3.44173807e-01 -9.35325525e-01 8.19179643e-02 5.56460041e+02] [ 9.08417478e-01 3.53781158e-01 2.22747793e-01 4.43449565e+02] [-2.37322728e-01 -2.24824518e-03 9.71428262e-01 4.15019775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.079254154 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:556.47, Y:443.47, Z:41.49 [[ 3.46768068e-01 -9.34414145e-01 8.13763678e-02 5.56466468e+02] [ 9.07791523e-01 3.56176399e-01 2.21478946e-01 4.43474699e+02] [-2.35937402e-01 -2.92904949e-03 9.71763841e-01 4.14938096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.109254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:556.47, Y:443.50, Z:41.49 [[ 3.47874140e-01 -9.33983303e-01 8.16013029e-02 5.56474655e+02] [ 9.07154638e-01 3.57301425e-01 2.22274953e-01 4.43500992e+02] [-2.36757357e-01 -3.29870768e-03 9.71563211e-01 4.14876296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.139254154 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:556.48, Y:443.53, Z:41.48 [[ 3.49749848e-01 -9.33264332e-01 8.18091095e-02 5.56480965e+02] [ 9.06227543e-01 3.59169449e-01 2.23044720e-01 4.43527091e+02] [-2.37543014e-01 -3.87218863e-03 9.71369303e-01 4.14804545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.49, Y:443.55, Z:41.48 [[ 3.50284884e-01 -9.32984626e-01 8.27054302e-02 5.56489410e+02] [ 9.05283466e-01 3.59891870e-01 2.25698225e-01 4.43553884e+02] [-2.40337986e-01 -4.18681787e-03 9.70680237e-01 4.14760840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.1992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:556.50, Y:443.58, Z:41.47 [[ 3.50799608e-01 -9.32746723e-01 8.32056816e-02 5.56496181e+02] [ 9.04644917e-01 3.60504773e-01 2.27274906e-01 4.43579701e+02] [-2.41985969e-01 -4.45635107e-03 9.70269515e-01 4.14685353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.2292541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:556.50, Y:443.60, Z:41.46 [[ 3.50596184e-01 -9.32841779e-01 8.29971823e-02 5.56503893e+02] [ 9.04831621e-01 3.60258699e-01 2.26921587e-01 4.43604132e+02] [-2.41582394e-01 -4.45936738e-03 9.70370064e-01 4.14605997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.2592541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:556.51, Y:443.63, Z:41.45 [[ 3.49491922e-01 -9.33229023e-01 8.33005826e-02 5.56511542e+02] [ 9.04992091e-01 3.59256892e-01 2.27867945e-01 4.43630324e+02] [-2.42579288e-01 -4.25163756e-03 9.70122267e-01 4.14529257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.2892541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:556.52, Y:443.66, Z:41.45 [[ 3.48395317e-01 -9.33626905e-01 8.34356379e-02 5.56520094e+02] [ 9.05254446e-01 3.58223828e-01 2.28451477e-01 4.43656131e+02] [-2.43177079e-01 -4.06094244e-03 9.69973411e-01 4.14460670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.3192541539997 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:556.53, Y:443.68, Z:41.44 [[ 3.46311593e-01 -9.34450168e-01 8.28924866e-02 5.56527342e+02] [ 9.06421551e-01 3.56076342e-01 2.27177488e-01 4.43681010e+02] [-2.41802095e-01 -3.53866143e-03 9.70319136e-01 4.14368518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.349254154 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:556.54, Y:443.71, Z:41.43 [[ 3.45026382e-01 -9.34957135e-01 8.25345463e-02 5.56535916e+02] [ 9.07160019e-01 3.54746174e-01 2.26309197e-01 4.43706778e+02] [-2.40868213e-01 -3.21060306e-03 9.70552521e-01 4.14297585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.379254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:556.54, Y:443.73, Z:41.42 [[ 3.42433046e-01 -9.35978264e-01 8.17575553e-02 5.56544096e+02] [ 9.08688316e-01 3.52048602e-01 2.24382097e-01 4.43732120e+02] [-2.38799399e-01 -2.54370972e-03 9.71065588e-01 4.14222733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4092541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:556.55, Y:443.76, Z:41.42 [[ 3.40920969e-01 -9.36576044e-01 8.12293488e-02 5.56552751e+02] [ 9.09609009e-01 3.50457610e-01 2.23138780e-01 4.43757684e+02] [-2.37453879e-01 -2.18574173e-03 9.71396355e-01 4.14151077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4392541539999 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:556.56, Y:443.78, Z:41.41 [[ 3.39095773e-01 -9.37078792e-01 8.30505597e-02 5.56559300e+02] [ 9.11059375e-01 3.49115512e-01 2.19292441e-01 4.43782985e+02] [-2.34488534e-01 1.30285134e-03 9.72118012e-01 4.14058731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.57, Y:443.81, Z:41.40 [[ 3.37020655e-01 -9.38299693e-01 7.75291171e-02 5.56571269e+02] [ 9.11193069e-01 3.45789410e-01 2.23957305e-01 4.43808831e+02] [-2.36947818e-01 -4.83424352e-03 9.71510351e-01 4.14033302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.4992541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:556.58, Y:443.83, Z:41.39 [[ 3.34349870e-01 -9.39013916e-01 8.03929690e-02 5.56577500e+02] [ 9.12560360e-01 3.43878559e-01 2.21316800e-01 4.43834860e+02] [-2.35464973e-01 -6.33806613e-04 9.71882629e-01 4.13930989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.5292541539998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:556.59, Y:443.86, Z:41.39 [[ 3.32849016e-01 -9.39553953e-01 8.03112856e-02 5.56586070e+02] [ 9.13120521e-01 3.42400737e-01 2.21297651e-01 4.43860316e+02] [-2.35419726e-01 -3.24822451e-04 9.71893743e-01 4.13861112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.5592541539997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:556.59, Y:443.89, Z:41.38 [[ 3.31540347e-01 -9.40019389e-01 8.02779305e-02 5.56595000e+02] [ 9.13571165e-01 3.41121010e-01 2.21414054e-01 4.43885942e+02] [-2.35517992e-01 -6.80897841e-05 9.71869987e-01 4.13794331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.589254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:556.60, Y:443.91, Z:41.37 [[ 3.29503601e-01 -9.40697778e-01 8.07159750e-02 5.56603683e+02] [ 9.13924180e-01 3.39245594e-01 2.22834063e-01 4.43912325e+02] [-2.37002047e-01 3.43655271e-04 9.71509090e-01 4.13743155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.619254154 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:556.61, Y:443.94, Z:41.37 [[ 3.28673348e-01 -9.41054685e-01 7.99369126e-02 5.56612288e+02] [ 9.14763114e-01 3.38254057e-01 2.20890559e-01 4.43937794e+02] [-2.34909080e-01 5.22499519e-04 9.72017207e-01 4.13655084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.649254154 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:556.62, Y:443.96, Z:41.36 [[ 3.28136361e-01 -9.41249124e-01 7.98537055e-02 5.56620153e+02] [ 9.14966890e-01 3.37712514e-01 2.20875185e-01 4.43963327e+02] [-2.34866170e-01 5.86317017e-04 9.72027540e-01 4.13589196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.6792541539999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:556.63, Y:443.99, Z:41.35 [[ 3.28016048e-01 -9.41286177e-01 7.99112351e-02 5.56628691e+02] [ 9.14939880e-01 3.37609245e-01 2.21144780e-01 4.43989862e+02] [-2.35139297e-01 5.74939007e-04 9.71961512e-01 4.13526084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7092541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:556.64, Y:444.02, Z:41.35 [[ 3.28557952e-01 -9.41056193e-01 8.03922456e-02 5.56635356e+02] [ 9.14327751e-01 3.38250096e-01 2.22691798e-01 4.44015555e+02] [-2.36758181e-01 3.37699834e-04 9.71568551e-01 4.13471585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7392541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:556.64, Y:444.04, Z:41.34 [[ 3.30037030e-01 -9.39928385e-01 8.72364026e-02 5.56638881e+02] [ 9.14090145e-01 3.41290073e-01 2.18998387e-01 4.44042669e+02] [-2.35615719e-01 7.46435858e-03 9.71817635e-01 4.13379808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7692541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:556.65, Y:444.07, Z:41.34 [[ 3.30351066e-01 -9.40998933e-01 7.34110421e-02 5.56654395e+02] [ 9.13572839e-01 3.38326881e-01 2.25653694e-01 4.44067746e+02] [-2.37176815e-01 -7.47860447e-03 9.71437712e-01 4.13354078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.7992541539998 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:556.66, Y:444.09, Z:41.33 [[ 3.31894304e-01 -9.39887415e-01 8.03605468e-02 5.56657758e+02] [ 9.13024336e-01 3.41483806e-01 2.23103947e-01 4.44093640e+02] [-2.37134418e-01 -6.75794538e-04 9.71476614e-01 4.13258462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.829254154 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:556.67, Y:444.12, Z:41.32 [[ 3.32311272e-01 -9.39723874e-01 8.05497279e-02 5.56666023e+02] [ 9.12699622e-01 3.41933245e-01 2.23743283e-01 4.44119906e+02] [-2.37799534e-01 -8.34708668e-04 9.71313896e-01 4.13195662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.859254154 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:556.67, Y:444.15, Z:41.31 [[ 3.33019388e-01 -9.39472542e-01 8.05570023e-02 5.56673909e+02] [ 9.12383234e-01 3.42622466e-01 2.23979197e-01 4.44145321e+02] [-2.38022945e-01 -1.09055693e-03 9.71258919e-01 4.13127147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.889254154 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:556.68, Y:444.17, Z:41.31 [[ 3.34847498e-01 -9.38807596e-01 8.07307355e-02 5.56680807e+02] [ 9.11552572e-01 3.44438255e-01 2.24575594e-01 4.44171263e+02] [-2.38640027e-01 -1.60826595e-03 9.71106766e-01 4.13053474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9192541539999 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:556.69, Y:444.20, Z:41.30 [[ 3.37139511e-01 -9.37976330e-01 8.08539042e-02 5.56687788e+02] [ 9.10561259e-01 3.46691819e-01 2.25128800e-01 4.44196746e+02] [-2.39196873e-01 -2.27738091e-03 9.70968418e-01 4.12985930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9492541539998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:556.70, Y:444.22, Z:41.29 [[ 3.36975505e-01 -9.38039143e-01 8.08088786e-02 5.56697063e+02] [ 9.10621979e-01 3.46521801e-01 2.25144961e-01 4.44222790e+02] [-2.39196824e-01 -2.28199601e-03 9.70968420e-01 4.12914872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1095.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.69, Y:444.25, Z:41.27 [[ 3.37017390e-01 -9.36096643e-01 1.00709254e-01 5.56691402e+02] [ 9.08605960e-01 3.51404185e-01 2.25721751e-01 4.44248222e+02] [-2.46687027e-01 1.54328729e-02 9.68972310e-01 4.12736815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.72, Y:444.27, Z:41.29 [[ 3.42055137e-01 -9.37669135e-01 6.14400253e-02 5.56722244e+02] [ 9.08501959e-01 3.46701064e-01 2.33286441e-01 4.44273506e+02] [-2.40046818e-01 -2.39784423e-02 9.70465125e-01 4.12858568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.0392541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:556.72, Y:444.30, Z:41.27 [[ 3.45675534e-01 -9.34893266e-01 8.05171237e-02 5.56719289e+02] [ 9.07495856e-01 3.54899037e-01 2.24717479e-01 4.44300038e+02] [-2.38662307e-01 -4.61037833e-03 9.71091678e-01 4.12708700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.0692541539997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:556.73, Y:444.33, Z:41.26 [[ 3.48373095e-01 -9.33919883e-01 8.01862722e-02 5.56727050e+02] [ 9.06698013e-01 3.57443125e-01 2.23904278e-01 4.44325674e+02] [-2.37770689e-01 -5.29749271e-03 9.71306870e-01 4.12635621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.74, Y:444.35, Z:41.26 [[ 3.50325896e-01 -9.33415399e-01 7.75078055e-02 5.56736604e+02] [ 9.05712114e-01 3.58686221e-01 2.25897679e-01 4.44348683e+02] [-2.38657354e-01 -8.93804861e-03 9.71062706e-01 4.12588632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.129254154 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:556.74, Y:444.38, Z:41.25 [[ 3.49167925e-01 -9.33555267e-01 8.09711311e-02 5.56744384e+02] [ 9.06841676e-01 3.58411108e-01 2.21764858e-01 4.44376378e+02] [-2.36050704e-01 -4.00517890e-03 9.71732486e-01 4.12474704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.1592541539999 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:556.75, Y:444.40, Z:41.24 [[ 3.48905330e-01 -9.33785358e-01 7.94353547e-02 5.56754368e+02] [ 9.06952097e-01 3.57791010e-01 2.22313936e-01 4.44402317e+02] [-2.36014755e-01 -5.52245573e-03 9.71733780e-01 4.12408291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.76, Y:444.43, Z:41.24 [[ 3.48881807e-01 -9.33727629e-01 8.02134695e-02 5.56763806e+02] [ 9.06308879e-01 3.57939005e-01 2.24686190e-01 4.44428011e+02] [-2.38507233e-01 -5.69074445e-03 9.71124047e-01 4.12372652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2192541539998 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:556.77, Y:444.45, Z:41.23 [[ 3.47919838e-01 -9.34098801e-01 8.00700696e-02 5.56772645e+02] [ 9.06744244e-01 3.56972338e-01 2.24467427e-01 4.44453539e+02] [-2.38257554e-01 -5.49359599e-03 9.71186469e-01 4.12282055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2492541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:556.78, Y:444.48, Z:41.22 [[ 3.47843788e-01 -9.34097587e-01 8.04139150e-02 5.56781847e+02] [ 9.06453632e-01 3.56973949e-01 2.25635577e-01 4.44478937e+02] [-2.39471321e-01 -5.59444846e-03 9.70887320e-01 4.12219931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.79, Y:444.50, Z:41.22 [[ 3.47953015e-01 -9.34041355e-01 8.05943340e-02 5.56791550e+02] [ 9.06215814e-01 3.57118959e-01 2.26360219e-01 4.44503831e+02] [-2.40211570e-01 -5.72686091e-03 9.70703665e-01 4.12167601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.3092541539997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:556.80, Y:444.53, Z:41.21 [[ 3.47281000e-01 -9.34327178e-01 8.01787499e-02 5.56800604e+02] [ 9.06771380e-01 3.56373425e-01 2.25307891e-01 4.44527565e+02] [-2.39084862e-01 -5.54135411e-03 9.70982864e-01 4.12075041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.339254154 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:556.81, Y:444.55, Z:41.20 [[ 3.47158801e-01 -9.34368203e-01 8.02298484e-02 5.56810209e+02] [ 9.06731893e-01 3.56265164e-01 2.25637780e-01 4.44552719e+02] [-2.39411867e-01 -5.58517890e-03 9.70902036e-01 4.12006515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.369254154 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:556.82, Y:444.58, Z:41.19 [[ 3.47174198e-01 -9.34396556e-01 7.98320300e-02 5.56820661e+02] [ 9.06988553e-01 3.56190388e-01 2.24722435e-01 4.44577816e+02] [-2.38415271e-01 -5.61109372e-03 9.71147092e-01 4.11933834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.399254154 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:556.83, Y:444.60, Z:41.19 [[ 3.46930124e-01 -9.34492721e-01 7.97674358e-02 5.56829861e+02] [ 9.07081970e-01 3.55937948e-01 2.24745361e-01 4.44603910e+02] [-2.38415161e-01 -5.61533322e-03 9.71147094e-01 4.11862846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4292541539999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:556.84, Y:444.63, Z:41.18 [[ 3.46973349e-01 -9.34473120e-01 7.98090415e-02 5.56840601e+02] [ 9.06985831e-01 3.55988027e-01 2.25053832e-01 4.44628746e+02] [-2.38717820e-01 -5.70201224e-03 9.71072237e-01 4.11794137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4592541539998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:556.85, Y:444.65, Z:41.17 [[ 3.46196604e-01 -9.34777766e-01 7.96143144e-02 5.56851386e+02] [ 9.07381301e-01 3.55189592e-01 2.24721002e-01 4.44653487e+02] [-2.38342372e-01 -5.55710777e-03 9.71165296e-01 4.11718601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.4892541539998 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:556.86, Y:444.68, Z:41.17 [[ 3.45580656e-01 -9.34981238e-01 7.99005247e-02 5.56861112e+02] [ 9.07335049e-01 3.54654238e-01 2.25750924e-01 4.44678563e+02] [-2.39409938e-01 -5.51860587e-03 9.70902892e-01 4.11662653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.5192541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:556.87, Y:444.70, Z:41.16 [[ 3.44001080e-01 -9.35079733e-01 8.53765244e-02 5.56868921e+02] [ 9.08496360e-01 3.54434635e-01 2.21383048e-01 4.44703500e+02] [-2.37271199e-01 1.40825400e-03 9.71442430e-01 4.11558012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.5492541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:556.89, Y:444.73, Z:41.15 [[ 3.42064703e-01 -9.36818022e-01 7.32375064e-02 5.56885202e+02] [ 9.08849870e-01 3.49636125e-01 2.27478558e-01 4.44727190e+02] [-2.38712491e-01 -1.12504873e-02 9.71025115e-01 4.11537309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.579254154 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:556.89, Y:444.75, Z:41.14 [[ 3.40200101e-01 -9.37031037e-01 7.89729577e-02 5.56892293e+02] [ 9.09994922e-01 3.49221191e-01 2.23503472e-01 4.44752572e+02] [-2.37008721e-01 -4.17091335e-03 9.71498569e-01 4.11431876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.609254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:556.90, Y:444.78, Z:41.14 [[ 3.35938740e-01 -9.38544139e-01 7.92468403e-02 5.56904080e+02] [ 9.11305691e-01 3.45144422e-01 2.24493353e-01 4.44777678e+02] [-2.38048526e-01 -3.19791782e-03 9.71247998e-01 4.11375562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.639254154 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:556.91, Y:444.80, Z:41.13 [[ 3.33484978e-01 -9.39447749e-01 7.89030881e-02 5.56914278e+02] [ 9.12421692e-01 3.42682176e-01 2.23731049e-01 4.44802304e+02] [-2.37222313e-01 -2.61805492e-03 9.71451862e-01 4.11302094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6692541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:556.93, Y:444.83, Z:41.12 [[ 3.29341539e-01 -9.40908312e-01 7.89031006e-02 5.56925809e+02] [ 9.13870851e-01 3.38657401e-01 2.23944707e-01 4.44827079e+02] [-2.37432555e-01 -1.64705049e-03 9.71402630e-01 4.11237360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.6992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:556.93, Y:444.85, Z:41.11 [[ 3.24319298e-01 -9.41106664e-01 9.55784546e-02 5.56926201e+02] [ 9.14585513e-01 3.37763676e-01 2.22371400e-01 4.44851156e+02] [-2.41558136e-01 1.52953336e-02 9.70265798e-01 4.11078153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.7292541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:556.96, Y:444.88, Z:41.12 [[ 3.25081908e-01 -9.43676644e-01 6.16128670e-02 5.56955290e+02] [ 9.15620499e-01 3.30375601e-01 2.29109285e-01 4.44875446e+02] [-2.36560469e-01 -1.80652793e-02 9.71448810e-01 4.11166081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.7592541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:556.96, Y:444.90, Z:41.10 [[ 3.24052780e-01 -9.42785522e-01 7.83916761e-02 5.56957442e+02] [ 9.16037980e-01 3.33399549e-01 2.22977936e-01 4.44901346e+02] [-2.36356119e-01 -4.46867261e-04 9.71666396e-01 4.11043250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.7892541539998 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:556.97, Y:444.93, Z:41.10 [[ 3.23415408e-01 -9.43004725e-01 7.83872633e-02 5.56967141e+02] [ 9.16238967e-01 3.32779180e-01 2.23078850e-01 4.44926655e+02] [-2.36450059e-01 -3.25672073e-04 9.71643589e-01 4.10970079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.8192541539997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:556.97, Y:444.95, Z:41.08 [[ 3.20723548e-01 -9.42737794e-01 9.15524904e-02 5.56968554e+02] [ 9.16578210e-01 3.33279074e-01 2.20928594e-01 4.44951844e+02] [-2.38790265e-01 1.30580153e-02 9.70983366e-01 4.10808083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:556.99, Y:444.98, Z:41.09 [[ 3.22465501e-01 -9.44179263e-01 6.73908060e-02 5.56992473e+02] [ 9.16368106e-01 3.29224489e-01 2.27773420e-01 4.44977808e+02] [-2.37245644e-01 -1.16942849e-02 9.71379302e-01 4.10882053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.879254154 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:556.99, Y:445.00, Z:41.07 [[ 3.21721233e-01 -9.42877331e-01 8.64742033e-02 5.56991394e+02] [ 9.16448926e-01 3.33046744e-01 2.21813509e-01 4.45003396e+02] [-2.37942881e-01 7.88707506e-03 9.71247126e-01 4.10697938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9092541539999 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:557.00, Y:445.03, Z:41.07 [[ 3.22321828e-01 -9.43263350e-01 7.97677340e-02 5.57004705e+02] [ 9.15957992e-01 3.32045266e-01 2.25315110e-01 4.45028240e+02] [-2.39017984e-01 4.39915389e-04 9.71015041e-01 4.10664352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9392541539999 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:557.02, Y:445.05, Z:41.07 [[ 3.24516095e-01 -9.43632413e-01 6.51703428e-02 5.57022811e+02] [ 9.16346711e-01 3.30719045e-01 2.25684778e-01 4.45053627e+02] [-2.34516545e-01 -1.35197136e-02 9.72018111e-01 4.10669761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9692541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:557.03, Y:445.08, Z:41.06 [[ 3.27192202e-01 -9.41733983e-01 7.79895394e-02 5.57026611e+02] [ 9.14992834e-01 3.36355031e-01 2.22830445e-01 4.45080309e+02] [-2.36079176e-01 -1.54851414e-03 9.71732589e-01 4.10574597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1096.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.04, Y:445.11, Z:41.05 [[ 3.28834680e-01 -9.41132945e-01 7.83360248e-02 5.57035472e+02] [ 9.14080982e-01 3.38030348e-01 2.24034467e-01 4.45106161e+02] [-2.37326172e-01 -2.06483190e-03 9.71427828e-01 4.10523363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.04, Y:445.13, Z:41.04 [[ 3.30206682e-01 -9.39283245e-01 9.33302379e-02 5.57036209e+02] [ 9.12378356e-01 3.42954891e-01 2.23489774e-01 4.45131557e+02] [-2.41928262e-01 1.13546722e-02 9.70227699e-01 4.10363486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.06, Y:445.16, Z:41.04 [[ 3.34048295e-01 -9.40365422e-01 6.42231321e-02 5.57061066e+02] [ 9.11947734e-01 3.39672451e-01 2.30160718e-01 4.45155975e+02] [-2.38250010e-01 -1.83166557e-02 9.71031119e-01 4.10442030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.089254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:557.06, Y:445.18, Z:41.03 [[ 3.37795375e-01 -9.37940875e-01 7.84933076e-02 5.57062904e+02] [ 9.10564589e-01 3.46765601e-01 2.25001659e-01 4.45182453e+02] [-2.38257032e-01 -4.53129348e-03 9.71191564e-01 4.10311100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.06, Y:445.21, Z:41.02 [[ 3.37530666e-01 -9.36631389e-01 9.37800075e-02 5.57061777e+02] [ 9.09436756e-01 3.50185186e-01 2.24265740e-01 4.45207513e+02] [-2.42894701e-01 9.59042114e-03 9.70005252e-01 4.10150568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.149254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:557.09, Y:445.23, Z:41.02 [[ 3.44044339e-01 -9.36837987e-01 6.29926941e-02 5.57088386e+02] [ 9.08457747e-01 3.49079509e-01 2.29886967e-01 4.45232931e+02] [-2.37356303e-01 -2.18651087e-02 9.71176556e-01 4.10219576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.1792541539999 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:557.09, Y:445.26, Z:41.01 [[ 3.45887640e-01 -9.35062573e-01 7.75868876e-02 5.57089622e+02] [ 9.08127534e-01 3.54420425e-01 2.22913762e-01 4.45259246e+02] [-2.35936693e-01 -6.64432604e-03 9.71745713e-01 4.10082033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.10, Y:445.28, Z:41.00 [[ 3.50462288e-01 -9.33338998e-01 7.78106670e-02 5.57098490e+02] [ 9.06150604e-01 3.58908960e-01 2.23775425e-01 4.45284320e+02] [-2.36785276e-01 -7.91666440e-03 9.71529752e-01 4.10039382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.09, Y:445.31, Z:40.98 [[ 3.47962593e-01 -9.31857390e-01 1.02780538e-01 5.57090900e+02] [ 9.05389201e-01 3.62466512e-01 2.21107266e-01 4.45308154e+02] [-2.43294943e-01 1.61193316e-02 9.69818405e-01 4.09811613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2692541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:557.13, Y:445.33, Z:41.00 [[ 3.52992945e-01 -9.34224448e-01 5.11923944e-02 5.57129877e+02] [ 9.06065541e-01 3.54973043e-01 2.30302791e-01 4.45332451e+02] [-2.33326417e-01 -3.49115957e-02 9.71771559e-01 4.09968928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.2992541539998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:557.13, Y:445.36, Z:40.98 [[ 3.53463782e-01 -9.32279728e-01 7.69276501e-02 5.57126392e+02] [ 9.05571598e-01 3.61633354e-01 2.21723696e-01 4.45358600e+02] [-2.34528111e-01 -8.70780109e-03 9.72070337e-01 4.09810089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.14, Y:445.38, Z:40.98 [[ 3.53271077e-01 -9.32324567e-01 7.72686789e-02 5.57137399e+02] [ 9.05348080e-01 3.61516421e-01 2.22824438e-01 4.45383670e+02] [-2.35678594e-01 -8.76237916e-03 9.71791552e-01 4.09764040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.359254154 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:557.15, Y:445.41, Z:40.97 [[ 3.52047019e-01 -9.32821029e-01 7.68623792e-02 5.57146884e+02] [ 9.06092853e-01 3.60240667e-01 2.21861229e-01 4.45407624e+02] [-2.34645774e-01 -8.46113181e-03 9.72044119e-01 4.09676793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.16, Y:445.43, Z:40.96 [[ 3.51237746e-01 -9.33089109e-01 7.73095090e-02 5.57158237e+02] [ 9.06005020e-01 3.59547090e-01 2.23340088e-01 4.45433265e+02] [-2.36192613e-01 -8.40266583e-03 9.71669926e-01 4.09627296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.17, Y:445.46, Z:40.96 [[ 3.51002889e-01 -9.33185765e-01 7.72094491e-02 5.57168076e+02] [ 9.06122215e-01 3.59296054e-01 2.23268622e-01 4.45457784e+02] [-2.36092150e-01 -8.40673444e-03 9.71694306e-01 4.09560722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4492541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:557.17, Y:445.48, Z:40.94 [[ 3.48584381e-01 -9.32218371e-01 9.72514199e-02 5.57165643e+02] [ 9.05821751e-01 3.61722576e-01 2.20553244e-01 4.45481439e+02] [-2.40781820e-01 1.12110353e-02 9.70514517e-01 4.09354897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.4792541539998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:557.20, Y:445.51, Z:40.95 [[ 3.51859118e-01 -9.34395414e-01 5.56809887e-02 5.57198795e+02] [ 9.06588280e-01 3.54987337e-01 2.28214115e-01 4.45505683e+02] [-2.33008268e-01 -2.98194852e-02 9.72017462e-01 4.09484609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.5092541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:557.20, Y:445.53, Z:40.93 [[ 3.54331501e-01 -9.31983435e-01 7.65249335e-02 5.57199014e+02] [ 9.05268528e-01 3.62381713e-01 2.21739458e-01 4.45532370e+02] [-2.34388738e-01 -9.29366090e-03 9.72098528e-01 4.09347661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.5392541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:557.19, Y:445.56, Z:40.91 [[ 3.51992098e-01 -9.29217819e-01 1.12498034e-01 5.57185727e+02] [ 9.03291207e-01 3.68725030e-01 2.19332734e-01 4.45555659e+02] [-2.45288726e-01 2.44150954e-02 9.69142582e-01 4.09061425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.24, Y:445.58, Z:40.94 [[ 3.57199691e-01 -9.33138159e-01 4.07622077e-02 5.57235728e+02] [ 9.04126617e-01 3.56389140e-01 2.35673165e-01 4.45580763e+02] [-2.34442832e-01 -4.73281849e-02 9.70977138e-01 4.09362592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.599254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:557.23, Y:445.61, Z:40.91 [[ 3.58782488e-01 -9.30220595e-01 7.72319247e-02 5.57228222e+02] [ 9.02843244e-01 3.66843754e-01 2.24276032e-01 4.45608283e+02] [-2.36958233e-01 -1.07379912e-02 9.71460494e-01 4.09146432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.24, Y:445.63, Z:40.91 [[ 3.59644878e-01 -9.29851483e-01 7.76645397e-02 5.57237199e+02] [ 9.02099182e-01 3.67766694e-01 2.25753683e-01 4.45632965e+02] [-2.38479828e-01 -1.11300380e-02 9.71083670e-01 4.09097639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.6592541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.25, Y:445.66, Z:40.90 [[ 3.60260449e-01 -9.29594133e-01 7.78919529e-02 5.57246744e+02] [ 9.01622060e-01 3.68408133e-01 2.26612244e-01 4.45658735e+02] [-2.39353442e-01 -1.14103260e-02 9.70865456e-01 4.09028589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.26, Y:445.68, Z:40.90 [[ 3.60867233e-01 -9.29350168e-01 7.79942619e-02 5.57256242e+02] [ 9.01243405e-01 3.69014939e-01 2.27130577e-01 4.45683722e+02] [-2.39864888e-01 -1.16721687e-02 9.70736110e-01 4.08959582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7192541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:557.27, Y:445.71, Z:40.89 [[ 3.61882020e-01 -9.29008167e-01 7.73642674e-02 5.57265753e+02] [ 9.01299821e-01 3.69868461e-01 2.25512646e-01 4.45708457e+02] [-2.38117692e-01 -1.18805715e-02 9.71163641e-01 4.08867641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7492541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:557.27, Y:445.73, Z:40.88 [[ 3.62552698e-01 -9.28751356e-01 7.73075651e-02 5.57274815e+02] [ 9.01025412e-01 3.70504999e-01 2.25564298e-01 4.45734161e+02] [-2.38135987e-01 -1.21228641e-02 9.71156160e-01 4.08796181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.28, Y:445.76, Z:40.87 [[ 3.64657950e-01 -9.27909287e-01 7.75173176e-02 5.57283652e+02] [ 8.99957880e-01 3.72586431e-01 2.26396040e-01 4.45760140e+02] [-2.38956889e-01 -1.27947951e-02 9.70945878e-01 4.08740051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.8092541539997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:557.27, Y:445.79, Z:40.84 [[ 3.62131604e-01 -9.25437398e-01 1.11473419e-01 5.57273173e+02] [ 8.98740353e-01 3.78375270e-01 2.21580532e-01 4.45786380e+02] [-2.47237696e-01 1.99443467e-02 9.68749578e-01 4.08449183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.839254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:557.32, Y:445.81, Z:40.87 [[ 3.64860112e-01 -9.30035400e-01 4.37178842e-02 5.57317643e+02] [ 9.00654048e-01 3.64456752e-01 2.36629588e-01 4.45809070e+02] [-2.36007171e-01 -4.69620084e-02 9.70615879e-01 4.08704191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.869254154 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:557.31, Y:445.84, Z:40.85 [[ 3.64868091e-01 -9.27884284e-01 7.68246842e-02 5.57310360e+02] [ 9.00299803e-01 3.72644838e-01 2.24935745e-01 4.45835890e+02] [-2.37342664e-01 -1.29066278e-02 9.71340249e-01 4.08505677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.899254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.32, Y:445.86, Z:40.85 [[ 3.65004240e-01 -9.27796345e-01 7.72388964e-02 5.57319778e+02] [ 8.99859069e-01 3.72856550e-01 2.26344095e-01 4.45862244e+02] [-2.38800252e-01 -1.31124330e-02 9.70980177e-01 4.08457316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.33, Y:445.89, Z:40.84 [[ 3.64010897e-01 -9.28185658e-01 7.72492757e-02 5.57329309e+02] [ 9.00195550e-01 3.71892285e-01 2.26592364e-01 4.45886910e+02] [-2.39048192e-01 -1.29426354e-02 9.70921444e-01 4.08385656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.34, Y:445.91, Z:40.83 [[ 3.63454227e-01 -9.28412401e-01 7.71455704e-02 5.57338496e+02] [ 9.00455795e-01 3.71329101e-01 2.26481919e-01 4.45912407e+02] [-2.38915018e-01 -1.28496349e-02 9.70955458e-01 4.08318724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1097.9892541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:557.35, Y:445.94, Z:40.82 [[ 3.61959897e-01 -9.29010356e-01 7.69726697e-02 5.57347373e+02] [ 9.01141105e-01 3.69842274e-01 2.26188862e-01 4.45936852e+02] [-2.38599542e-01 -1.25080605e-02 9.71037490e-01 4.08231535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.0192541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:557.36, Y:445.96, Z:40.82 [[ 3.61423073e-01 -9.29224209e-01 7.69137922e-02 5.57356317e+02] [ 9.01355907e-01 3.69307284e-01 2.26207114e-01 4.45962395e+02] [-2.38601951e-01 -1.24297695e-02 9.71037904e-01 4.08166421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.0492541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:557.37, Y:445.99, Z:40.81 [[ 3.62125253e-01 -9.28925454e-01 7.72191805e-02 5.57365791e+02] [ 9.00770825e-01 3.70046732e-01 2.27326499e-01 4.45988472e+02] [-2.39744077e-01 -1.27638810e-02 9.70752214e-01 4.08111347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.079254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:557.37, Y:446.01, Z:40.80 [[ 3.61878212e-01 -9.29027260e-01 7.71525127e-02 5.57374638e+02] [ 9.00870166e-01 3.69790915e-01 2.27349124e-01 4.46014710e+02] [-2.39743832e-01 -1.27682974e-02 9.70752217e-01 4.08040566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.109254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.37, Y:446.04, Z:40.78 [[ 3.59560625e-01 -9.27685036e-01 1.00581463e-01 5.57367701e+02] [ 8.99921544e-01 3.73244102e-01 2.25455218e-01 4.46039201e+02] [-2.46692870e-01 9.45060593e-03 9.69047632e-01 4.07811534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.139254154 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:557.40, Y:446.06, Z:40.80 [[ 3.62858961e-01 -9.30322786e-01 5.32248769e-02 5.57402590e+02] [ 9.01150978e-01 3.64873053e-01 2.34082401e-01 4.46064059e+02] [-2.37192515e-01 -3.69752470e-02 9.70758746e-01 4.07973439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.38, Y:446.09, Z:40.77 [[ 3.60981125e-01 -9.27202402e-01 9.99416473e-02 5.57384600e+02] [ 8.99621617e-01 3.74456849e-01 2.24639746e-01 4.46090900e+02] [-2.45710346e-01 8.81895812e-03 9.69303178e-01 4.07670931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.1992541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:557.42, Y:446.12, Z:40.78 [[ 3.64373605e-01 -9.29750027e-01 5.28844384e-02 5.57419420e+02] [ 9.00852441e-01 3.66301493e-01 2.32998061e-01 4.46116608e+02] [-2.36001602e-01 -3.72572682e-02 9.71038176e-01 4.07837079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.2292541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:557.42, Y:446.14, Z:40.77 [[ 3.64255700e-01 -9.28161456e-01 7.63812653e-02 5.57415915e+02] [ 9.00377984e-01 3.71933735e-01 2.25798103e-01 4.46142908e+02] [-2.37985865e-01 -1.34762364e-02 9.71175123e-01 4.07683032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.2592541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:557.42, Y:446.17, Z:40.76 [[ 3.62596765e-01 -9.28840449e-01 7.60197795e-02 5.57424003e+02] [ 9.01290222e-01 3.70250405e-01 2.24923482e-01 4.46168401e+02] [-2.37064382e-01 -1.30406430e-02 9.71406414e-01 4.07608246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.2892541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:557.43, Y:446.19, Z:40.75 [[ 3.62342061e-01 -9.28945409e-01 7.59516851e-02 5.57432821e+02] [ 9.01392720e-01 3.69986822e-01 2.24946473e-01 4.46194653e+02] [-2.37064116e-01 -1.30452727e-02 9.71406416e-01 4.07537513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.3192541539997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:557.44, Y:446.22, Z:40.75 [[ 3.59998261e-01 -9.29850647e-01 7.60199052e-02 5.57441596e+02] [ 9.02215681e-01 3.67723354e-01 2.25358381e-01 4.46220536e+02] [-2.37503931e-01 -1.25422748e-02 9.71305603e-01 4.07478085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.349254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:557.45, Y:446.25, Z:40.74 [[ 3.58610387e-01 -9.30366587e-01 7.62666646e-02 5.57450286e+02] [ 9.02504819e-01 3.66423289e-01 2.26316208e-01 4.46246134e+02] [-2.38502920e-01 -1.23283107e-02 9.71063525e-01 4.07423386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.379254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:557.46, Y:446.27, Z:40.73 [[ 3.54071136e-01 -9.32164199e-01 7.55217699e-02 5.57459571e+02] [ 9.04843201e-01 3.61866076e-01 2.24302753e-01 4.46271795e+02] [-2.36415762e-01 -1.10837704e-02 9.71588770e-01 4.07344283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4092541539999 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:557.47, Y:446.30, Z:40.73 [[ 3.51252976e-01 -9.33247391e-01 7.53037484e-02 5.57468608e+02] [ 9.06056790e-01 3.59083549e-01 2.23875185e-01 4.46297842e+02] [-2.35971270e-01 -1.04073526e-02 9.71704300e-01 4.07268562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4392541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:557.48, Y:446.32, Z:40.72 [[ 3.44543666e-01 -9.35750465e-01 7.52378262e-02 5.57477814e+02] [ 9.08611728e-01 3.52553488e-01 2.23899007e-01 4.46323905e+02] [-2.36038958e-01 -8.78101321e-03 9.71703918e-01 4.07207429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4692541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:557.49, Y:446.35, Z:40.71 [[ 3.40186616e-01 -9.37372573e-01 7.48713887e-02 5.57486274e+02] [ 9.10485315e-01 3.48243192e-01 2.23031772e-01 4.46348069e+02] [-2.35137318e-01 -7.70312400e-03 9.71931635e-01 4.07127655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.4992541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:557.50, Y:446.37, Z:40.71 [[ 3.31349777e-01 -9.40543249e-01 7.47376837e-02 5.57496093e+02] [ 9.13782531e-01 3.39628756e-01 2.22831311e-01 4.46373865e+02] [-2.34965552e-01 -5.54111556e-03 9.71987904e-01 4.07071995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.5292541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:557.51, Y:446.40, Z:40.70 [[ 3.26752836e-01 -9.42166520e-01 7.45307566e-02 5.57505121e+02] [ 9.15542806e-01 3.35115622e-01 2.22438509e-01 4.46398136e+02] [-2.34550537e-01 -4.44631567e-03 9.72093759e-01 4.07011116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.5592541539997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:557.52, Y:446.42, Z:40.70 [[ 3.17543813e-01 -9.45319030e-01 7.44167858e-02 5.57515252e+02] [ 9.18812811e-01 3.26139586e-01 2.22297076e-01 4.46424206e+02] [-2.34411916e-01 -2.21396500e-03 9.72134843e-01 4.06951092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.589254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:557.52, Y:446.45, Z:40.68 [[ 3.06600615e-01 -9.48116797e-01 8.40868789e-02 5.57517572e+02] [ 9.21732234e-01 3.17784859e-01 2.22311657e-01 4.46449076e+02] [-2.37498953e-01 9.34469592e-03 9.71342846e-01 4.06834302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.53, Y:446.47, Z:40.68 [[ 3.03196302e-01 -9.50106177e-01 7.32820286e-02 5.57532316e+02] [ 9.22887980e-01 3.11925583e-01 2.25787971e-01 4.46474947e+02] [-2.37381086e-01 -8.26974631e-04 9.71416253e-01 4.06812370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.54, Y:446.50, Z:40.67 [[ 2.95963808e-01 -9.52220903e-01 7.53709306e-02 5.57539511e+02] [ 9.25086102e-01 3.05396179e-01 2.25718583e-01 4.46500492e+02] [-2.37951947e-01 2.92006902e-03 9.71272539e-01 4.06742350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.6792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.54, Y:446.53, Z:40.66 [[ 2.92275852e-01 -9.52969863e-01 8.01452828e-02 5.57544601e+02] [ 9.25779139e-01 3.02956957e-01 2.26163809e-01 4.46525639e+02] [-2.39807866e-01 8.09461072e-03 9.70786622e-01 4.06640611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7092541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:557.55, Y:446.55, Z:40.66 [[ 2.89502961e-01 -9.53962258e-01 7.83839706e-02 5.57553213e+02] [ 9.26449182e-01 2.99850916e-01 2.27555141e-01 4.46551291e+02] [-2.40582521e-01 6.74087845e-03 9.70605281e-01 4.06567715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7392541539998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:557.56, Y:446.58, Z:40.65 [[ 2.86931676e-01 -9.55118272e-01 7.36159011e-02 5.57563199e+02] [ 9.27309008e-01 2.96213219e-01 2.28813752e-01 4.46576733e+02] [-2.40350199e-01 2.61077488e-03 9.70682732e-01 4.06520627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7692541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:557.58, Y:446.61, Z:40.66 [[ 2.89589256e-01 -9.55652151e-01 5.35446369e-02 5.57583031e+02] [ 9.27467553e-01 2.93992695e-01 2.31024315e-01 4.46605284e+02] [-2.36520616e-01 -1.72412462e-02 9.71473488e-01 4.06608899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.7992541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:557.58, Y:446.63, Z:40.65 [[ 2.89950631e-01 -9.54152800e-01 7.43038730e-02 5.57579497e+02] [ 9.27697314e-01 2.99290141e-01 2.23166091e-01 4.46632116e+02] [-2.35172968e-01 4.22435453e-03 9.71944356e-01 4.06451444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.829254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:557.59, Y:446.66, Z:40.64 [[ 2.91356115e-01 -9.53699135e-01 7.46295808e-02 5.57586465e+02] [ 9.26946054e-01 3.00738098e-01 2.24338158e-01 4.46658550e+02] [-2.36395065e-01 3.81530137e-03 9.71649534e-01 4.06398420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.859254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:557.59, Y:446.68, Z:40.63 [[ 2.95436560e-01 -9.52468442e-01 7.43041500e-02 5.57590968e+02] [ 9.25858846e-01 3.04624943e-01 2.23582295e-01 4.46684429e+02] [-2.35589977e-01 2.74077053e-03 9.71848677e-01 4.06334938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.889254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:557.58, Y:446.71, Z:40.61 [[ 2.97254096e-01 -9.50042571e-01 9.51793920e-02 5.57580637e+02] [ 9.24257996e-01 3.11323556e-01 2.20963348e-01 4.46709539e+02] [-2.39556173e-01 2.22880541e-02 9.70626644e-01 4.06105507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.60, Y:446.74, Z:40.61 [[ 3.00201875e-01 -9.50813058e-01 7.63764558e-02 5.57596608e+02] [ 9.23092573e-01 3.09758304e-01 2.27925197e-01 4.46735895e+02] [-2.40372495e-01 2.07896759e-03 9.70678496e-01 4.06114705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9492541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:557.62, Y:446.76, Z:40.62 [[ 3.06332102e-01 -9.50622767e-01 4.97694565e-02 5.57619768e+02] [ 9.22606183e-01 3.09367078e-01 2.30412332e-01 4.46763913e+02] [-2.34432240e-01 -2.46650856e-02 9.71819509e-01 4.06216942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1098.9792541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:557.61, Y:446.79, Z:40.60 [[ 3.10537288e-01 -9.47678022e-01 7.39794486e-02 5.57612724e+02] [ 9.21070222e-01 3.19225848e-01 2.22989919e-01 4.46792111e+02] [-2.34938798e-01 -1.10641769e-03 9.72009536e-01 4.06048002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.0092541539998 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:557.61, Y:446.82, Z:40.58 [[ 3.08612091e-01 -9.46420953e-01 9.51102336e-02 5.57605256e+02] [ 9.20235552e-01 3.22373707e-01 2.21904757e-01 4.46816868e+02] [-2.40676350e-01 1.90413272e-02 9.70418633e-01 4.05844665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.0392541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:557.63, Y:446.84, Z:40.59 [[ 3.12319266e-01 -9.47500631e-01 6.85509281e-02 5.57625846e+02] [ 9.19057317e-01 3.19626763e-01 2.30591374e-01 4.46844382e+02] [-2.40396183e-01 -9.01589661e-03 9.70632984e-01 4.05894270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.0692541539997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:557.64, Y:446.87, Z:40.59 [[ 3.16238794e-01 -9.46919810e-01 5.77572373e-02 5.57639821e+02] [ 9.18896137e-01 3.20877779e-01 2.29493662e-01 4.46872624e+02] [-2.35845109e-01 -1.95018966e-02 9.71594957e-01 4.05902515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.64, Y:446.90, Z:40.58 [[ 3.16979233e-01 -9.45496575e-01 7.45680378e-02 5.57639106e+02] [ 9.18267463e-01 3.25618768e-01 2.25293773e-01 4.46900049e+02] [-2.37295243e-01 -2.94004439e-03 9.71433129e-01 4.05792826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.129254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.63, Y:446.92, Z:40.56 [[ 3.13618130e-01 -9.45010511e-01 9.27297287e-02 5.57633449e+02] [ 9.18140828e-01 3.26704247e-01 2.24235935e-01 4.46924957e+02] [-2.42200512e-01 1.48144953e-02 9.70113108e-01 4.05604428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.1592541539999 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:557.66, Y:446.95, Z:40.57 [[ 3.16557191e-01 -9.46966811e-01 5.51851833e-02 5.57661972e+02] [ 9.18565436e-01 3.20541100e-01 2.31281091e-01 4.46951688e+02] [-2.36704636e-01 -2.25224904e-02 9.71320572e-01 4.05701033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.1892541539999 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:557.65, Y:446.98, Z:40.55 [[ 3.13045125e-01 -9.45514117e-01 8.94751638e-02 5.57649214e+02] [ 9.18693657e-01 3.25356197e-01 2.23931483e-01 4.46977586e+02] [-2.40841678e-01 1.20996063e-02 9.70488993e-01 4.05467959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2192541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:557.68, Y:447.00, Z:40.55 [[ 3.14451550e-01 -9.47536395e-01 5.74021216e-02 5.57676181e+02] [ 9.19691007e-01 3.19073021e-01 2.28824952e-01 4.47004550e+02] [-2.35135438e-01 -1.91621457e-02 9.71773707e-01 4.05546996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.68, Y:447.03, Z:40.54 [[ 3.13712445e-01 -9.46656970e-01 7.36551661e-02 5.57676467e+02] [ 9.19965696e-01 3.22235073e-01 2.23221136e-01 4.47031997e+02] [-2.35048122e-01 -2.26702218e-03 9.71981091e-01 4.05434941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.2792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.67, Y:447.06, Z:40.52 [[ 3.06982346e-01 -9.46782939e-01 9.67672757e-02 5.57666575e+02] [ 9.21051377e-01 3.21153579e-01 2.20283319e-01 4.47055858e+02] [-2.39637645e-01 2.15045425e-02 9.70624208e-01 4.05210675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.3092541539997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:557.70, Y:447.08, Z:40.54 [[ 3.09617978e-01 -9.49696114e-01 4.70531477e-02 5.57704274e+02] [ 9.22306532e-01 3.11988118e-01 2.28065944e-01 4.47083105e+02] [-2.31273364e-01 -2.72158909e-02 9.72508060e-01 4.05357366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.70, Y:447.11, Z:40.52 [[ 3.09484187e-01 -9.48141333e-01 7.24399738e-02 5.57700039e+02] [ 9.22287231e-01 3.17846590e-01 2.19908638e-01 4.47109982e+02] [-2.31529268e-01 -1.24778336e-03 9.72827138e-01 4.05222673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.70, Y:447.13, Z:40.51 [[ 3.05642270e-01 -9.48205617e-01 8.65384974e-02 5.57697096e+02] [ 9.22680673e-01 3.17393583e-01 2.18910231e-01 4.47133696e+02] [-2.35038674e-01 1.29391790e-02 9.71899892e-01 4.05065458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.399254154 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:557.72, Y:447.16, Z:40.51 [[ 3.07665275e-01 -9.49835638e-01 5.61635016e-02 5.57724336e+02] [ 9.23478788e-01 3.12303797e-01 2.22830129e-01 4.47159454e+02] [-2.29192073e-01 -1.66912906e-02 9.73238098e-01 4.05131679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.72, Y:447.19, Z:40.50 [[ 3.04882495e-01 -9.48836983e-01 8.21890784e-02 5.57717186e+02] [ 9.23229235e-01 3.15636109e-01 2.19138372e-01 4.47185494e+02] [-2.33868433e-01 9.06790631e-03 9.72225966e-01 4.04975392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4592541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:557.74, Y:447.21, Z:40.50 [[ 3.06785391e-01 -9.49817514e-01 6.10689261e-02 5.57738938e+02] [ 9.23459800e-01 3.12579185e-01 2.22522475e-01 4.47211401e+02] [-2.30444619e-01 -1.18719461e-02 9.73013019e-01 4.05011633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.4892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.74, Y:447.24, Z:40.49 [[ 3.06978624e-01 -9.48986010e-01 7.20394142e-02 5.57741987e+02] [ 9.23303202e-01 3.15317157e-01 2.19285857e-01 4.47238187e+02] [-2.30814474e-01 -8.01848770e-04 9.72997449e-01 4.04918573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.5192541539998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:557.75, Y:447.26, Z:40.48 [[ 3.06850239e-01 -9.49053261e-01 7.16996435e-02 5.57750310e+02] [ 9.23566293e-01 3.15114645e-01 2.18467532e-01 4.47263701e+02] [-2.29930932e-01 -8.17440441e-04 9.73206606e-01 4.04843238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.5492541539998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:557.76, Y:447.29, Z:40.48 [[ 3.07772095e-01 -9.48795772e-01 7.11542021e-02 5.57758497e+02] [ 9.23643733e-01 3.15888329e-01 2.17018016e-01 4.47289946e+02] [-2.28382558e-01 -1.07095668e-03 9.73570881e-01 4.04777950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.579254154 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:557.77, Y:447.32, Z:40.47 [[ 3.08106475e-01 -9.48690989e-01 7.11041999e-02 5.57766669e+02] [ 9.23521187e-01 3.16202345e-01 2.17082230e-01 4.47316004e+02] [-2.28427270e-01 -1.21820536e-03 9.73560218e-01 4.04712818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.609254154 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:557.77, Y:447.34, Z:40.47 [[ 3.09427333e-01 -9.48256182e-01 7.11683797e-02 5.57774519e+02] [ 9.22977860e-01 3.17502147e-01 2.17495419e-01 4.47341936e+02] [-2.28837489e-01 -1.61218878e-03 9.73463304e-01 4.04650902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.78, Y:447.37, Z:40.46 [[ 3.10217824e-01 -9.47967767e-01 7.15682560e-02 5.57782444e+02] [ 9.22337936e-01 3.18360577e-01 2.18950395e-01 4.47367069e+02] [-2.30342428e-01 -1.91219742e-03 9.73107758e-01 4.04600860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6692541539999 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:557.79, Y:447.39, Z:40.45 [[ 3.09976683e-01 -9.48085562e-01 7.10508519e-02 5.57790462e+02] [ 9.22798674e-01 3.18009927e-01 2.17513895e-01 4.47392536e+02] [-2.28816659e-01 -1.85860372e-03 9.73467761e-01 4.04514964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.6992541539998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:557.80, Y:447.42, Z:40.45 [[ 3.10871461e-01 -9.47773355e-01 7.13063999e-02 5.57799112e+02] [ 9.22240694e-01 3.18937233e-01 2.18520350e-01 4.47418035e+02] [-2.29850031e-01 -2.17007682e-03 9.73223640e-01 4.04450997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.7292541539998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:557.81, Y:447.44, Z:40.44 [[ 3.11266297e-01 -9.47629446e-01 7.14963385e-02 5.57807658e+02] [ 9.21901293e-01 3.19363238e-01 2.19328814e-01 4.47443123e+02] [-2.30675745e-01 -2.35710082e-03 9.73027823e-01 4.04388817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.7592541539998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:557.82, Y:447.47, Z:40.43 [[ 3.12359703e-01 -9.47239861e-01 7.18892346e-02 5.57816433e+02] [ 9.21165675e-01 3.20513975e-01 2.20736475e-01 4.47468860e+02] [-2.32131892e-01 -2.72728446e-03 9.72680496e-01 4.04330818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.7892541539998 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:557.82, Y:447.49, Z:40.43 [[ 3.12706110e-01 -9.47138549e-01 7.17179025e-02 5.57824536e+02] [ 9.21133936e-01 3.20811990e-01 2.20435792e-01 4.47493476e+02] [-2.31791199e-01 -2.86982519e-03 9.72761330e-01 4.04254592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.8192541539997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:557.83, Y:447.52, Z:40.42 [[ 3.14771120e-01 -9.46463248e-01 7.15993134e-02 5.57833256e+02] [ 9.20480860e-01 3.22793370e-01 2.20271259e-01 4.47518927e+02] [-2.31590435e-01 -3.42923336e-03 9.72807335e-01 4.04186582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.849254154 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:557.84, Y:447.54, Z:40.41 [[ 3.17401948e-01 -9.45589509e-01 7.15296039e-02 5.57841898e+02] [ 9.19580986e-01 3.25335697e-01 2.20289572e-01 4.47543898e+02] [-2.31574642e-01 -4.14307557e-03 9.72808316e-01 4.04122981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.879254154 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:557.85, Y:447.57, Z:40.40 [[ 3.19794280e-01 -9.44800822e-01 7.12953355e-02 5.57851127e+02] [ 9.18917255e-01 3.27610957e-01 2.19686456e-01 4.47569810e+02] [-2.30917077e-01 -4.73995800e-03 9.72961888e-01 4.04045729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.84, Y:447.59, Z:40.38 [[ 3.17026663e-01 -9.43308034e-01 9.83058933e-02 5.57842503e+02] [ 9.17553727e-01 3.31285266e-01 2.19875488e-01 4.47593480e+02] [-2.39977608e-01 2.04945465e-02 9.70562065e-01 4.03831010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9392541539999 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:557.88, Y:447.62, Z:40.40 [[ 3.21291028e-01 -9.45960745e-01 4.39356878e-02 5.57881761e+02] [ 9.18567331e-01 3.22595142e-01 2.28399721e-01 4.47619018e+02] [-2.30230609e-01 -3.30248935e-02 9.72575562e-01 4.04007125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9692541539998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:557.88, Y:447.65, Z:40.38 [[ 3.21431749e-01 -9.44258875e-01 7.11112394e-02 5.57877407e+02] [ 9.18357585e-01 3.29160927e-01 2.19709878e-01 4.47647078e+02] [-2.30870044e-01 -5.31618420e-03 9.72970072e-01 4.03844872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1099.9992541539998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:557.89, Y:447.67, Z:40.38 [[ 3.21951439e-01 -9.44085814e-01 7.10580560e-02 5.57886400e+02] [ 9.18173122e-01 3.29653906e-01 2.19741712e-01 4.47673110e+02] [-2.30879599e-01 -5.50256319e-03 9.72966769e-01 4.03779751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.0292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.90, Y:447.70, Z:40.37 [[ 3.23215839e-01 -9.43641808e-01 7.12155859e-02 5.57895943e+02] [ 9.17547226e-01 3.30915680e-01 2.20458389e-01 4.47697422e+02] [-2.31600106e-01 -5.91197981e-03 9.72793112e-01 4.03724286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.89, Y:447.72, Z:40.35 [[ 3.20403060e-01 -9.43019142e-01 8.97595474e-02 5.57894282e+02] [ 9.17193876e-01 3.32522190e-01 2.19509423e-01 4.47721718e+02] [-2.36848629e-01 1.19954165e-02 9.71472510e-01 4.03545240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.089254154 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:557.92, Y:447.75, Z:40.36 [[ 3.21875780e-01 -9.45352714e-01 5.20021958e-02 5.57924178e+02] [ 9.18471562e-01 3.25110827e-01 2.25195339e-01 4.47747327e+02] [-2.29795502e-01 -2.47223876e-02 9.72924885e-01 4.03642043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.119254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:557.92, Y:447.77, Z:40.35 [[ 3.21709560e-01 -9.44162857e-01 7.11298670e-02 5.57924536e+02] [ 9.18032096e-01 3.29429988e-01 2.20664799e-01 4.47773893e+02] [-2.31775818e-01 -5.69047440e-03 9.72752584e-01 4.03517132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.149254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:557.93, Y:447.80, Z:40.35 [[ 3.21135808e-01 -9.44349518e-01 7.12445144e-02 5.57934197e+02] [ 9.18083599e-01 3.28895357e-01 2.21247260e-01 4.47798074e+02] [-2.32366734e-01 -5.64199744e-03 9.72611880e-01 4.03456872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.1792541539999 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:557.94, Y:447.82, Z:40.34 [[ 3.20102475e-01 -9.44742662e-01 7.06803208e-02 5.57943169e+02] [ 9.18872215e-01 3.27769072e-01 2.19638994e-01 4.47823082e+02] [-2.30669151e-01 -5.36080259e-03 9.73017474e-01 4.03380003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2092541539998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:557.95, Y:447.85, Z:40.33 [[ 3.18759318e-01 -9.45220019e-01 7.03677009e-02 5.57953426e+02] [ 9.19539989e-01 3.26394606e-01 2.18889858e-01 4.47847721e+02] [-2.29866713e-01 -5.06726681e-03 9.73208928e-01 4.03309666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.96, Y:447.87, Z:40.33 [[ 3.18485107e-01 -9.45285943e-01 7.07228644e-02 5.57963224e+02] [ 9.19296432e-01 3.26202911e-01 2.20194757e-01 4.47874125e+02] [-2.31217012e-01 -5.11347370e-03 9.72888763e-01 4.03259025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.97, Y:447.90, Z:40.32 [[ 3.16836422e-01 -9.45836901e-01 7.07618499e-02 5.57973731e+02] [ 9.19778730e-01 3.24606866e-01 2.20539047e-01 4.47899309e+02] [-2.31563751e-01 -4.78955806e-03 9.72807941e-01 4.03193928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.2992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:557.98, Y:447.93, Z:40.31 [[ 3.15824829e-01 -9.46183237e-01 7.06538016e-02 5.57982770e+02] [ 9.20161329e-01 3.23598667e-01 2.20424660e-01 4.47925175e+02] [-2.31425594e-01 -4.60268458e-03 9.72841719e-01 4.03123259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.329254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:557.99, Y:447.95, Z:40.31 [[ 3.15258923e-01 -9.46363766e-01 7.07632198e-02 5.57992572e+02] [ 9.20210678e-01 3.23071039e-01 2.20991881e-01 4.47950304e+02] [-2.32000256e-01 -4.55259202e-03 9.72705071e-01 4.03059303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.359254154 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:558.00, Y:447.98, Z:40.30 [[ 3.14455877e-01 -9.46667114e-01 7.02771486e-02 5.58001283e+02] [ 9.20830096e-01 3.22183560e-01 2.19703637e-01 4.47975069e+02] [-2.30628349e-01 -4.37378617e-03 9.73032083e-01 4.02984982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.389254154 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:558.01, Y:448.00, Z:40.29 [[ 3.15428447e-01 -9.46090797e-01 7.36009457e-02 5.58008949e+02] [ 9.20793042e-01 3.23900601e-01 2.17321363e-01 4.47999314e+02] [-2.29445132e-01 -7.78101538e-04 9.73321286e-01 4.02906550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.02, Y:448.02, Z:40.29 [[ 3.12715743e-01 -9.47669533e-01 6.42753446e-02 5.58021921e+02] [ 9.21482356e-01 3.19095428e-01 2.21468681e-01 4.48024492e+02] [-2.30389090e-01 -1.00281472e-02 9.73046917e-01 4.02886598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4492541539998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:558.03, Y:448.05, Z:40.28 [[ 3.11592986e-01 -9.47744035e-01 6.84912739e-02 5.58029321e+02] [ 9.22425845e-01 3.18997990e-01 2.17648440e-01 4.48050675e+02] [-2.28123589e-01 -4.63960613e-03 9.73621129e-01 4.02782480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.04, Y:448.08, Z:40.27 [[ 3.10903772e-01 -9.47785204e-01 7.10074062e-02 5.58038875e+02] [ 9.22081744e-01 3.18898056e-01 2.19247092e-01 4.48076181e+02] [-2.30443273e-01 -2.69011479e-03 9.73082042e-01 4.02722062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.5092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.05, Y:448.10, Z:40.27 [[ 3.09889076e-01 -9.48188270e-01 7.00554470e-02 5.58048352e+02] [ 9.22418768e-01 3.17690526e-01 2.19582210e-01 4.48101310e+02] [-2.30461228e-01 -3.42566923e-03 9.73075479e-01 4.02662944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.5392541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:558.06, Y:448.13, Z:40.26 [[ 3.07219684e-01 -9.49100056e-01 6.94633016e-02 5.58058429e+02] [ 9.23745944e-01 3.14962424e-01 2.17926830e-01 4.48126550e+02] [-2.28712696e-01 -2.78496871e-03 9.73489983e-01 4.02589702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.5692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.07, Y:448.15, Z:40.25 [[ 3.06825725e-01 -9.49184767e-01 7.00446431e-02 5.58067146e+02] [ 9.23344717e-01 3.14706709e-01 2.19986867e-01 4.48152046e+02] [-2.30851702e-01 -2.82227889e-03 9.72984854e-01 4.02537624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.599254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.08, Y:448.18, Z:40.25 [[ 3.05842137e-01 -9.49500184e-01 7.00713111e-02 5.58076229e+02] [ 9.23612366e-01 3.13755416e-01 2.20222015e-01 4.48177331e+02] [-2.31086097e-01 -2.63444226e-03 9.72929738e-01 4.02472524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.629254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:558.09, Y:448.20, Z:40.24 [[ 3.05189362e-01 -9.49736104e-01 6.97193410e-02 5.58085006e+02] [ 9.24064425e-01 3.13041543e-01 2.19339761e-01 4.48203209e+02] [-2.30139940e-01 -2.51499891e-03 9.73154295e-01 4.02403011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.6592541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:558.09, Y:448.23, Z:40.23 [[ 3.04744375e-01 -9.49905019e-01 6.93636886e-02 5.58094290e+02] [ 9.24449176e-01 3.12529143e-01 2.18447374e-01 4.48228807e+02] [-2.29182431e-01 -2.44740357e-03 9.73380411e-01 4.02332350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.6892541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:558.08, Y:448.25, Z:40.20 [[ 3.00810176e-01 -9.48107401e-01 1.02983471e-01 5.58082164e+02] [ 9.23750296e-01 3.16507136e-01 2.15658583e-01 4.48252623e+02] [-2.37062502e-01 3.02587156e-02 9.71023059e-01 4.02045208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7192541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:558.13, Y:448.28, Z:40.23 [[ 3.04639603e-01 -9.51825966e-01 3.49577253e-02 5.58127956e+02] [ 9.24759050e-01 3.04366297e-01 2.28433485e-01 4.48278992e+02] [-2.28068876e-01 -3.72624132e-02 9.72931704e-01 4.02323986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7492541539998 meters Centerline goodness : 0.997505 Centerline is valid? [True, True] Translation: X:558.11, Y:448.31, Z:40.20 [[ 3.04340567e-01 -9.48315386e-01 8.98596004e-02 5.58110002e+02] [ 9.23722220e-01 3.16847170e-01 2.15279195e-01 4.48306918e+02] [-2.32624333e-01 1.74871174e-02 9.72409441e-01 4.02008735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.13, Y:448.33, Z:40.20 [[ 3.04446345e-01 -9.50084946e-01 6.81983750e-02 5.58128814e+02] [ 9.23738732e-01 3.11956502e-01 2.22238375e-01 4.48332607e+02] [-2.32420261e-01 -4.66218038e-03 9.72604281e-01 4.02044518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.13, Y:448.36, Z:40.19 [[ 3.03334363e-01 -9.48964075e-01 8.63449367e-02 5.58126422e+02] [ 9.22898408e-01 3.15133339e-01 2.21245358e-01 4.48357405e+02] [-2.37164065e-01 1.25762846e-02 9.71388204e-01 4.01867795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.839254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.17, Y:448.39, Z:40.21 [[ 3.08802551e-01 -9.50743865e-01 2.69645559e-02 5.58168520e+02] [ 9.23805004e-01 3.06557822e-01 2.29361323e-01 4.48386125e+02] [-2.26330067e-01 -4.59173701e-02 9.72967778e-01 4.02140993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.869254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:558.16, Y:448.41, Z:40.19 [[ 3.08622416e-01 -9.48729480e-01 6.82977198e-02 5.58157658e+02] [ 9.24001383e-01 3.16071806e-01 2.15220951e-01 4.48414191e+02] [-2.25773444e-01 -3.31482236e-03 9.74174196e-01 4.01904799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.899254154 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:558.17, Y:448.44, Z:40.18 [[ 3.08999927e-01 -9.48589157e-01 6.85394558e-02 5.58165619e+02] [ 9.23624560e-01 3.16490616e-01 2.16220636e-01 4.48438942e+02] [-2.26796645e-01 -3.50743601e-03 9.73935819e-01 4.01846302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.14, Y:448.46, Z:40.15 [[ 3.02047614e-01 -9.46478063e-01 1.13782757e-01 5.58143758e+02] [ 9.22481741e-01 3.20295854e-01 2.15494789e-01 4.48459867e+02] [-2.40405236e-01 3.98728285e-02 9.69853329e-01 4.01490602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.21, Y:448.49, Z:40.19 [[ 3.07876770e-01 -9.51177348e-01 2.17611427e-02 5.58205012e+02] [ 9.24004772e-01 3.04376742e-01 2.31451897e-01 4.48488384e+02] [-2.26775387e-01 -5.11512627e-02 9.72602937e-01 4.01905159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1100.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.19, Y:448.52, Z:40.17 [[ 3.07736035e-01 -9.48985465e-01 6.87395151e-02 5.58191815e+02] [ 9.23844455e-01 3.15302772e-01 2.17015171e-01 4.48516240e+02] [-2.27618003e-01 -3.27876844e-03 9.73744984e-01 4.01660913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.20, Y:448.54, Z:40.16 [[ 3.06988452e-01 -9.49242608e-01 6.85314599e-02 5.58199727e+02] [ 9.24207691e-01 3.14529053e-01 2.16590903e-01 4.48541023e+02] [-2.27152449e-01 -3.15360387e-03 9.73854106e-01 4.01599089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.21, Y:448.57, Z:40.15 [[ 3.05983004e-01 -9.49583753e-01 6.83015190e-02 5.58208588e+02] [ 9.24692268e-01 3.13499697e-01 2.16014235e-01 4.48566994e+02] [-2.26536113e-01 -2.93879804e-03 9.73998333e-01 4.01526220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.079254154 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:558.22, Y:448.59, Z:40.14 [[ 3.04663784e-01 -9.50076766e-01 6.73358482e-02 5.58216788e+02] [ 9.25853661e-01 3.12005359e-01 2.13184556e-01 4.48592024e+02] [-2.23550839e-01 -2.60647190e-03 9.74688786e-01 4.01445733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.109254154 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:558.23, Y:448.62, Z:40.14 [[ 3.05627257e-01 -9.49738009e-01 6.77472839e-02 5.58225157e+02] [ 9.25158195e-01 3.13032068e-01 2.14693362e-01 4.48617609e+02] [-2.25109518e-01 -2.93918833e-03 9.74329034e-01 4.01392046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.139254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.23, Y:448.64, Z:40.13 [[ 3.07111849e-01 -9.49273955e-01 6.75371853e-02 5.58233510e+02] [ 9.24791385e-01 3.14432577e-01 2.14226630e-01 4.48644017e+02] [-2.24595652e-01 -3.33372948e-03 9.74446345e-01 4.01323837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.24, Y:448.67, Z:40.13 [[ 3.08002085e-01 -9.48991211e-01 6.74566358e-02 5.58241425e+02] [ 9.24510264e-01 3.15281890e-01 2.14191741e-01 4.48669777e+02] [-2.24533935e-01 -3.60715045e-03 9.74459594e-01 4.01254735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.1992541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:558.25, Y:448.70, Z:40.12 [[ 3.09910474e-01 -9.48384807e-01 6.72440016e-02 5.58249333e+02] [ 9.23995343e-01 3.17095252e-01 2.13736302e-01 4.48695926e+02] [-2.24027015e-01 -4.10597440e-03 9.74574285e-01 4.01184952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.25, Y:448.72, Z:40.10 [[ 3.09443628e-01 -9.46973557e-01 8.65200792e-02 5.58245730e+02] [ 9.22745071e-01 3.21013501e-01 2.13288223e-01 4.48719993e+02] [-2.29752421e-01 1.38352952e-02 9.73150764e-01 4.00987538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.2592541539998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:558.28, Y:448.75, Z:40.11 [[ 3.12594803e-01 -9.48715809e-01 4.71466077e-02 5.58275752e+02] [ 9.23498964e-01 3.15154132e-01 2.18695079e-01 4.48746298e+02] [-2.22337927e-01 -2.48231017e-02 9.74653610e-01 4.01126255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.28, Y:448.77, Z:40.10 [[ 3.16066390e-01 -9.46349336e-01 6.72679023e-02 5.58275920e+02] [ 9.21788432e-01 3.23094748e-01 2.14279890e-01 4.48773600e+02] [-2.24517538e-01 -5.71989721e-03 9.74453261e-01 4.01008558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.3192541539997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:558.28, Y:448.80, Z:40.09 [[ 3.16350822e-01 -9.46265719e-01 6.71069839e-02 5.58284023e+02] [ 9.21770662e-01 3.23337439e-01 2.13990064e-01 4.48799909e+02] [-2.24189662e-01 -5.83868350e-03 9.74528042e-01 4.00935142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.29, Y:448.83, Z:40.09 [[ 3.17908539e-01 -9.45738722e-01 6.71746233e-02 5.58292271e+02] [ 9.21129158e-01 3.24867129e-01 2.14435126e-01 4.48825301e+02] [-2.24622429e-01 -6.29425329e-03 9.74425547e-01 4.00886844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.30, Y:448.85, Z:40.08 [[ 3.19842544e-01 -9.45071269e-01 6.73872709e-02 5.58299789e+02] [ 9.20241231e-01 3.26792430e-01 2.15320191e-01 4.48850629e+02] [-2.25514576e-01 -6.85601262e-03 9.74215670e-01 4.00826082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.31, Y:448.88, Z:40.08 [[ 3.20808307e-01 -9.44733405e-01 6.75338713e-02 5.58307972e+02] [ 9.19739535e-01 3.27760995e-01 2.15990550e-01 4.48876491e+02] [-2.26188457e-01 -7.17799130e-03 9.74057113e-01 4.00760544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.32, Y:448.90, Z:40.07 [[ 3.22346759e-01 -9.44195601e-01 6.77291246e-02 5.58316028e+02] [ 9.18990055e-01 3.29296288e-01 2.16843801e-01 4.48902063e+02] [-2.27045912e-01 -7.65650450e-03 9.73853958e-01 4.00697687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4692541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:558.32, Y:448.93, Z:40.06 [[ 3.22472204e-01 -9.44157203e-01 6.76672261e-02 5.58324665e+02] [ 9.18950288e-01 3.29404303e-01 2.16848274e-01 4.48928347e+02] [-2.27028735e-01 -7.74472395e-03 9.73857265e-01 4.00629248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.4992541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:558.33, Y:448.95, Z:40.06 [[ 3.22581639e-01 -9.44134407e-01 6.74633831e-02 5.58333294e+02] [ 9.19029463e-01 3.29468076e-01 2.16415417e-01 4.48953931e+02] [-2.26552272e-01 -7.81080312e-03 9.73967689e-01 4.00562073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.5292541539998 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:558.34, Y:448.98, Z:40.05 [[ 3.22247118e-01 -9.44267380e-01 6.72005194e-02 5.58341136e+02] [ 9.19309184e-01 3.29087872e-01 2.15804996e-01 4.48979086e+02] [-2.25892495e-01 -7.76448345e-03 9.74121293e-01 4.00488804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.35, Y:449.00, Z:40.04 [[ 3.23515323e-01 -9.43825565e-01 6.73137363e-02 5.58350652e+02] [ 9.18737407e-01 3.30343843e-01 2.16320416e-01 4.49004617e+02] [-2.26405417e-01 -8.13932164e-03 9.73999147e-01 4.00445888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.36, Y:449.03, Z:40.04 [[ 3.24144925e-01 -9.43608873e-01 6.73228204e-02 5.58359683e+02] [ 9.18455760e-01 3.30956545e-01 2.16579737e-01 4.49030453e+02] [-2.26647489e-01 -8.37019053e-03 9.73940889e-01 4.00383242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.619254154 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:558.37, Y:449.06, Z:40.03 [[ 3.24371572e-01 -9.43544258e-01 6.71365506e-02 5.58368273e+02] [ 9.18478502e-01 3.31138245e-01 2.16205238e-01 4.49056794e+02] [-2.26230690e-01 -8.46735448e-03 9.74036949e-01 4.00317699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.649254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.38, Y:449.08, Z:40.03 [[ 3.24337211e-01 -9.43552461e-01 6.71872485e-02 5.58376309e+02] [ 9.18394730e-01 3.31112825e-01 2.16599671e-01 4.49081462e+02] [-2.26619713e-01 -8.54691844e-03 9.73945818e-01 4.00251099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.6792541539999 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:558.38, Y:449.11, Z:40.02 [[ 3.23408294e-01 -9.43884307e-01 6.70036603e-02 5.58384668e+02] [ 9.18824911e-01 3.30170434e-01 2.16213477e-01 4.49106325e+02] [-2.26203135e-01 -8.36059950e-03 9.74044271e-01 4.00175775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.39, Y:449.13, Z:40.01 [[ 3.23828712e-01 -9.43707629e-01 6.74601811e-02 5.58393634e+02] [ 9.18250174e-01 3.30668610e-01 2.17887329e-01 4.49132220e+02] [-2.27928899e-01 -8.61285030e-03 9.73639685e-01 4.00123664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7392541539998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:558.40, Y:449.16, Z:40.01 [[ 3.22188621e-01 -9.44259139e-01 6.75956375e-02 5.58401915e+02] [ 9.18656571e-01 3.29098004e-01 2.18551158e-01 4.49157974e+02] [-2.28614517e-01 -8.31751951e-03 9.73481495e-01 4.00050830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.41, Y:449.18, Z:40.00 [[ 3.22703210e-01 -9.44061838e-01 6.78961331e-02 5.58411077e+02] [ 9.18169503e-01 3.29656978e-01 2.19752224e-01 4.49184371e+02] [-2.29842123e-01 -8.57458943e-03 9.73190154e-01 4.00001238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.42, Y:449.21, Z:39.99 [[ 3.22267925e-01 -9.44187861e-01 6.82104586e-02 5.58419578e+02] [ 9.17999730e-01 3.29295080e-01 2.21000556e-01 4.49210229e+02] [-2.31127411e-01 -8.60420799e-03 9.72885444e-01 3.99933121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.829254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.43, Y:449.24, Z:39.99 [[ 3.23147171e-01 -9.43895611e-01 6.80953873e-02 5.58428012e+02] [ 9.17736741e-01 3.30124688e-01 2.20855076e-01 4.49236084e+02] [-2.30944106e-01 -8.87505441e-03 9.72926541e-01 3.99865861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.44, Y:449.26, Z:39.98 [[ 3.23446857e-01 -9.43811424e-01 6.78389713e-02 5.58435911e+02] [ 9.17794027e-01 3.30362448e-01 2.20260703e-01 4.49261922e+02] [-2.30296016e-01 -8.98042937e-03 9.73079183e-01 3.99797915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.44, Y:449.29, Z:39.97 [[ 3.23187229e-01 -9.43905148e-01 6.77723111e-02 5.58444031e+02] [ 9.17885529e-01 3.30094446e-01 2.20281212e-01 4.49288461e+02] [-2.30295833e-01 -8.98485083e-03 9.73079186e-01 3.99729414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9192541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:558.45, Y:449.31, Z:39.96 [[ 3.23293098e-01 -9.43884464e-01 6.75550976e-02 5.58451327e+02] [ 9.17981092e-01 3.30151963e-01 2.19796262e-01 4.49313360e+02] [-2.29765725e-01 -9.04431199e-03 9.73203942e-01 3.99648039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.46, Y:449.34, Z:39.96 [[ 3.25198736e-01 -9.43258449e-01 6.71511773e-02 5.58459389e+02] [ 9.17606150e-01 3.31923568e-01 2.18690875e-01 4.49339271e+02] [-2.28571074e-01 -9.49966286e-03 9.73480878e-01 3.99580871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1101.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.47, Y:449.37, Z:39.95 [[ 3.25892566e-01 -9.43044589e-01 6.67902545e-02 5.58467827e+02] [ 9.17612737e-01 3.32525652e-01 2.17746542e-01 4.49365653e+02] [-2.27554171e-01 -9.67439103e-03 9.73717364e-01 3.99510567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.0092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:558.48, Y:449.39, Z:39.94 [[ 3.26524968e-01 -9.42866652e-01 6.62111868e-02 5.58476145e+02] [ 9.17823519e-01 3.33026550e-01 2.16086339e-01 4.49390784e+02] [-2.25790686e-01 -9.78740036e-03 9.74126672e-01 3.99427321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.0392541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:558.49, Y:449.42, Z:39.94 [[ 3.26737984e-01 -9.42828204e-01 6.57059227e-02 5.58485318e+02] [ 9.18118376e-01 3.33134646e-01 2.14662421e-01 4.49416607e+02] [-2.24278704e-01 -9.81255166e-03 9.74475642e-01 3.99355806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.49, Y:449.44, Z:39.93 [[ 3.26908340e-01 -9.42769601e-01 6.56994485e-02 5.58494395e+02] [ 9.18011149e-01 3.33296989e-01 2.14868909e-01 4.49442824e+02] [-2.24469304e-01 -9.92961217e-03 9.74430569e-01 3.99300102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.099254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.50, Y:449.47, Z:39.92 [[ 3.26122353e-01 -9.43055310e-01 6.55049128e-02 5.58503382e+02] [ 9.18398720e-01 3.32492147e-01 2.14459237e-01 4.49468921e+02] [-2.24026791e-01 -9.78032286e-03 9.74533910e-01 3.99237130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.129254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:558.51, Y:449.49, Z:39.92 [[ 3.23213268e-01 -9.44052252e-01 6.55631703e-02 5.58513029e+02] [ 9.19318032e-01 3.29668167e-01 2.14879633e-01 4.49493996e+02] [-2.24471692e-01 -9.17854372e-03 9.74437383e-01 3.99161817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.1592541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:558.52, Y:449.52, Z:39.91 [[ 3.20453729e-01 -9.44961076e-01 6.60149438e-02 5.58523605e+02] [ 9.19845024e-01 3.27067503e-01 2.16591737e-01 4.49519608e+02] [-2.26262104e-01 -8.68411239e-03 9.74027744e-01 3.99113351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.1892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.53, Y:449.55, Z:39.91 [[ 3.19044563e-01 -9.45415765e-01 6.63294728e-02 5.58532874e+02] [ 9.20011914e-01 3.25756186e-01 2.17855423e-01 4.49545981e+02] [-2.27571187e-01 -8.48168291e-03 9.73724507e-01 3.99056318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2192541539998 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:558.54, Y:449.57, Z:39.90 [[ 3.14788780e-01 -9.46818611e-01 6.66523940e-02 5.58542150e+02] [ 9.21139241e-01 3.21678294e-01 2.19147378e-01 4.49571908e+02] [-2.28933444e-01 -7.58900017e-03 9.73412495e-01 3.98979565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.55, Y:449.60, Z:39.89 [[ 3.12804527e-01 -9.47454551e-01 6.69567168e-02 5.58552039e+02] [ 9.21494105e-01 3.19808506e-01 2.20388597e-01 4.49596870e+02] [-2.30221507e-01 -7.23833109e-03 9.73111332e-01 3.98935214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.2792541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:558.56, Y:449.62, Z:39.89 [[ 3.10738401e-01 -9.48143682e-01 6.68221869e-02 5.58559705e+02] [ 9.22254301e-01 3.17769618e-01 2.20157839e-01 4.49622172e+02] [-2.29975325e-01 -6.78444554e-03 9.73172812e-01 3.98852629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.3092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.57, Y:449.65, Z:39.88 [[ 3.10692998e-01 -9.48155800e-01 6.68613564e-02 5.58568318e+02] [ 9.22178619e-01 3.17731864e-01 2.20529037e-01 4.49647494e+02] [-2.30339869e-01 -6.85871441e-03 9.73086072e-01 3.98800425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.58, Y:449.67, Z:39.87 [[ 3.10283285e-01 -9.48302583e-01 6.66820349e-02 5.58576380e+02] [ 9.22419114e-01 3.17294753e-01 2.20152263e-01 4.49673530e+02] [-2.29928820e-01 -6.80078386e-03 9.73183686e-01 3.98732092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.369254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.58, Y:449.70, Z:39.87 [[ 3.09686968e-01 -9.48537599e-01 6.61090338e-02 5.58584224e+02] [ 9.23053493e-01 3.16594845e-01 2.18494746e-01 4.49698330e+02] [-2.28180261e-01 -6.64280076e-03 9.73596242e-01 3.98664799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.59, Y:449.72, Z:39.86 [[ 3.07980414e-01 -9.49106070e-01 6.59221694e-02 5.58592872e+02] [ 9.23744744e-01 3.14894521e-01 2.18030018e-01 4.49724165e+02] [-2.27692143e-01 -6.25371765e-03 9.73713089e-01 3.98591669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4292541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:558.60, Y:449.75, Z:39.85 [[ 3.06463487e-01 -9.49604593e-01 6.58122172e-02 5.58601298e+02] [ 9.24285039e-01 3.13393866e-01 2.17902389e-01 4.49750357e+02] [-2.27546255e-01 -5.94987830e-03 9.73749095e-01 3.98519933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:558.61, Y:449.77, Z:39.85 [[ 3.03861170e-01 -9.50435171e-01 6.58891167e-02 5.58610772e+02] [ 9.25018753e-01 3.10875671e-01 2.18395569e-01 4.49774920e+02] [-2.28054153e-01 -5.41326448e-03 9.73633401e-01 3.98466074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.4892541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:558.62, Y:449.80, Z:39.84 [[ 3.01663987e-01 -9.51133936e-01 6.59020141e-02 5.58619278e+02] [ 9.25673978e-01 3.08738858e-01 2.18650417e-01 4.49800391e+02] [-2.28312345e-01 -4.95517706e-03 9.73575328e-01 3.98399380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.63, Y:449.83, Z:39.83 [[ 2.97900111e-01 -9.52307600e-01 6.60738947e-02 5.58628831e+02] [ 9.26684119e-01 3.05111503e-01 2.19461876e-01 4.49825244e+02] [-2.29155118e-01 -4.14808843e-03 9.73381079e-01 3.98339884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.5492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:558.64, Y:449.85, Z:39.83 [[ 2.95162288e-01 -9.53170664e-01 6.59159160e-02 5.58636914e+02] [ 9.27642210e-01 3.02412242e-01 2.19150099e-01 4.49851086e+02] [-2.28821225e-01 -3.53845877e-03 9.73462031e-01 3.98257849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.5792541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.65, Y:449.88, Z:39.82 [[ 2.93797453e-01 -9.53568468e-01 6.62588335e-02 5.58646376e+02] [ 9.27722707e-01 3.01158000e-01 2.20532170e-01 4.49876398e+02] [-2.30246902e-01 -3.32196544e-03 9.73126574e-01 3.98209871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.609254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:558.65, Y:449.90, Z:39.81 [[ 2.93038826e-01 -9.53815294e-01 6.60653522e-02 5.58653897e+02] [ 9.28078027e-01 3.00376834e-01 2.20102098e-01 4.49901029e+02] [-2.29781248e-01 -3.18465859e-03 9.73237091e-01 3.98139885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.66, Y:449.93, Z:39.81 [[ 2.94833002e-01 -9.53272036e-01 6.59236429e-02 5.58661948e+02] [ 9.27582595e-01 3.02091002e-01 2.19844391e-01 4.49926197e+02] [-2.29486450e-01 -3.66775800e-03 9.73304946e-01 3.98088335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6692541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.67, Y:449.95, Z:39.80 [[ 2.96336406e-01 -9.52832424e-01 6.55370557e-02 5.58669245e+02] [ 9.27401067e-01 3.03470121e-01 2.18707904e-01 4.49952161e+02] [-2.28280520e-01 -4.03197888e-03 9.73587052e-01 3.98012829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.6992541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:558.65, Y:449.97, Z:39.77 [[ 2.88795067e-01 -9.51531221e-01 1.05762686e-01 5.58646869e+02] [ 9.27179129e-01 3.05502612e-01 2.16811018e-01 4.49971254e+02] [-2.38613229e-01 3.54470026e-02 9.70467535e-01 3.97659866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.7292541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:558.71, Y:450.00, Z:39.81 [[ 2.97942195e-01 -9.54370862e-01 2.01669519e-02 5.58706660e+02] [ 9.27584311e-01 2.94439608e-01 2.29984051e-01 4.50003259e+02] [-2.25428027e-01 -4.98154049e-02 9.72985421e-01 3.98055706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.7592541539998 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:558.69, Y:450.03, Z:39.78 [[ 2.98733924e-01 -9.52129964e-01 6.48581129e-02 5.58694620e+02] [ 9.27176123e-01 3.05659339e-01 2.16602875e-01 4.50029931e+02] [-2.26058576e-01 -4.57173328e-03 9.74102982e-01 3.97813286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.7892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.70, Y:450.06, Z:39.77 [[ 2.98600686e-01 -9.52163661e-01 6.49768698e-02 5.58703237e+02] [ 9.27069251e-01 3.05553618e-01 2.17208636e-01 4.50056138e+02] [-2.26672087e-01 -4.62058962e-03 9.73960171e-01 3.97747448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.8192541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.71, Y:450.08, Z:39.77 [[ 2.97597104e-01 -9.52470631e-01 6.50819523e-02 5.58712521e+02] [ 9.27245869e-01 3.04597649e-01 2.17796630e-01 4.50081619e+02] [-2.27268703e-01 -4.46867476e-03 9.73821836e-01 3.97685591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.72, Y:450.11, Z:39.76 [[ 2.96536862e-01 -9.52782478e-01 6.53562516e-02 5.58722176e+02] [ 9.27293073e-01 3.03622888e-01 2.18953648e-01 4.50107190e+02] [-2.28458853e-01 -4.32342812e-03 9.73543970e-01 3.97624480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.879254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:558.73, Y:450.13, Z:39.76 [[ 2.95835896e-01 -9.53000892e-01 6.53484789e-02 5.58730238e+02] [ 9.27466702e-01 3.02937976e-01 2.19166829e-01 4.50132226e+02] [-2.28662719e-01 -4.22887679e-03 9.73496522e-01 3.97551669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9092541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:558.74, Y:450.16, Z:39.75 [[ 2.96199898e-01 -9.52875328e-01 6.55303687e-02 5.58739095e+02] [ 9.27143288e-01 3.03330186e-01 2.19991185e-01 4.50158162e+02] [-2.29501511e-01 -4.40532490e-03 9.73298335e-01 3.97484971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9392541539999 meters Centerline goodness : 0.999758 Centerline is valid? [True, True] Translation: X:558.75, Y:450.18, Z:39.74 [[ 2.97016897e-01 -9.52607089e-01 6.57320141e-02 5.58747339e+02] [ 9.26650862e-01 3.04167087e-01 2.20908496e-01 4.50183889e+02] [-2.30432515e-01 -4.70292847e-03 9.73076944e-01 3.97422542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.76, Y:450.21, Z:39.74 [[ 2.99177174e-01 -9.51925430e-01 6.58102889e-02 5.58755970e+02] [ 9.25833374e-01 3.06283792e-01 2.21410936e-01 4.50209970e+02] [-2.30923325e-01 -5.31173623e-03 9.72957452e-01 3.97353107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1102.9992541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:558.76, Y:450.23, Z:39.73 [[ 2.99657266e-01 -9.51792050e-01 6.55546824e-02 5.58763466e+02] [ 9.25844276e-01 3.06695255e-01 2.20794920e-01 4.50234905e+02] [-2.30256160e-01 -5.46937471e-03 9.73114683e-01 3.97278439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.0292541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:558.77, Y:450.26, Z:39.72 [[ 3.01186093e-01 -9.51325887e-01 6.53145819e-02 5.58771980e+02] [ 9.25508494e-01 3.08130760e-01 2.20203228e-01 4.50260279e+02] [-2.29610463e-01 -5.87294947e-03 9.73264889e-01 3.97205351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.0592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.78, Y:450.29, Z:39.71 [[ 3.02292924e-01 -9.50956140e-01 6.55851159e-02 5.58780876e+02] [ 9.24855716e-01 3.09262446e-01 2.21356375e-01 4.50286195e+02] [-2.30783217e-01 -6.25769654e-03 9.72985071e-01 3.97148705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.79, Y:450.31, Z:39.71 [[ 3.02701184e-01 -9.50828889e-01 6.55470540e-02 5.58790102e+02] [ 9.24698688e-01 3.09649967e-01 2.21470619e-01 4.50312386e+02] [-2.30877306e-01 -6.42814377e-03 9.72961638e-01 3.97078738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.80, Y:450.34, Z:39.70 [[ 3.02543324e-01 -9.50881544e-01 6.55120356e-02 5.58798596e+02] [ 9.24722506e-01 3.09487519e-01 2.21598202e-01 4.50337449e+02] [-2.30988798e-01 -6.46260300e-03 9.72934946e-01 3.97015455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.149254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:558.81, Y:450.36, Z:39.69 [[ 3.01394134e-01 -9.51236257e-01 6.56594235e-02 5.58808168e+02] [ 9.24913498e-01 3.08399414e-01 2.22316943e-01 4.50362830e+02] [-2.31725265e-01 -6.27573540e-03 9.72761028e-01 3.96946960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.1792541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.82, Y:450.39, Z:39.69 [[ 3.01013222e-01 -9.51355039e-01 6.56858449e-02 5.58816761e+02] [ 9.24954483e-01 3.08033008e-01 2.22654148e-01 4.50387575e+02] [-2.32056554e-01 -6.26542576e-03 9.72682117e-01 3.96888044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2092541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:558.83, Y:450.41, Z:39.68 [[ 3.01044334e-01 -9.51340659e-01 6.57514973e-02 5.58825844e+02] [ 9.24833214e-01 3.08075616e-01 2.23098503e-01 4.50413242e+02] [-2.32499110e-01 -6.35337191e-03 9.72575857e-01 3.96819158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.83, Y:450.44, Z:39.68 [[ 3.01632274e-01 -9.51143833e-01 6.59043293e-02 5.58834205e+02] [ 9.24448439e-01 3.08677620e-01 2.23859801e-01 4.50439271e+02] [-2.33266061e-01 -6.59818649e-03 9.72390564e-01 3.96754025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2692541539998 meters Centerline goodness : 0.999801 Centerline is valid? [True, True] Translation: X:558.84, Y:450.46, Z:39.67 [[ 3.02374236e-01 -9.50927798e-01 6.56212217e-02 5.58842435e+02] [ 9.24401016e-01 3.09337865e-01 2.23143110e-01 4.50464929e+02] [-2.32492115e-01 -6.81240331e-03 9.72574423e-01 3.96672714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.2992541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:558.85, Y:450.49, Z:39.66 [[ 3.02800534e-01 -9.50780986e-01 6.57826244e-02 5.58850341e+02] [ 9.24057716e-01 3.09784096e-01 2.23944528e-01 4.50489703e+02] [-2.33300610e-01 -7.02358103e-03 9.72379296e-01 3.96608558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.3292541539997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:558.86, Y:450.52, Z:39.65 [[ 3.02544379e-01 -9.50884226e-01 6.54682124e-02 5.58858683e+02] [ 9.24368460e-01 3.09468037e-01 2.23097479e-01 4.50515056e+02] [-2.32400193e-01 -6.98013764e-03 9.72595203e-01 3.96534306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.359254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.87, Y:450.54, Z:39.65 [[ 3.01740043e-01 -9.51123665e-01 6.57017581e-02 5.58867313e+02] [ 9.24361520e-01 3.08733151e-01 2.24141969e-01 4.50541491e+02] [-2.33471042e-01 -6.90043038e-03 9.72339270e-01 3.96472918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.88, Y:450.57, Z:39.64 [[ 3.00861101e-01 -9.51402042e-01 6.57019998e-02 5.58875024e+02] [ 9.24586555e-01 3.07877269e-01 2.24390929e-01 4.50567261e+02] [-2.33714140e-01 -6.76331630e-03 9.72281831e-01 3.96404957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.88, Y:450.59, Z:39.63 [[ 2.99025231e-01 -9.51972594e-01 6.58186212e-02 5.58882561e+02] [ 9.25013931e-01 3.06116163e-01 2.25038046e-01 4.50592460e+02] [-2.34378196e-01 -6.40891196e-03 9.72124368e-01 3.96337932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4492541539998 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:558.89, Y:450.62, Z:39.63 [[ 2.97920406e-01 -9.52320294e-01 6.57988538e-02 5.58889755e+02] [ 9.25332145e-01 3.05036985e-01 2.25195159e-01 4.50617339e+02] [-2.34529004e-01 -6.20443866e-03 9.72089323e-01 3.96262453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.87, Y:450.64, Z:39.59 [[ 2.90145309e-01 -9.50457368e-01 1.11563843e-01 5.58867135e+02] [ 9.23948904e-01 3.08585322e-01 2.26038761e-01 4.50637551e+02] [-2.49267170e-01 3.74952040e-02 9.67708627e-01 3.95880337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.5092541539998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:558.93, Y:450.67, Z:39.63 [[ 2.97494447e-01 -9.54558751e-01 1.77382335e-02 5.58927128e+02] [ 9.25766491e-01 2.92962726e-01 2.39017248e-01 4.50669221e+02] [-2.33352647e-01 -5.46848418e-02 9.70853290e-01 3.96342020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.5392541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:558.91, Y:450.70, Z:39.61 [[ 2.96973102e-01 -9.52631954e-01 6.55693337e-02 5.58912462e+02] [ 9.25777884e-01 3.04065980e-01 2.24675744e-01 4.50696237e+02] [-2.33970696e-01 -6.02001356e-03 9.72225011e-01 3.96054609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.5692541539997 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:558.92, Y:450.72, Z:39.60 [[ 2.95709309e-01 -9.53030525e-01 6.54891112e-02 5.58919764e+02] [ 9.26193257e-01 3.02819204e-01 2.24647681e-01 4.50722585e+02] [-2.33927458e-01 -5.77483740e-03 9.72236903e-01 3.95975609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.599254154 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:558.93, Y:450.75, Z:39.59 [[ 2.94078877e-01 -9.53530530e-01 6.55525909e-02 5.58927367e+02] [ 9.26592769e-01 3.01246925e-01 2.25113597e-01 4.50748431e+02] [-2.34400204e-01 -5.46059714e-03 9.72124851e-01 3.95911200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.94, Y:450.77, Z:39.59 [[ 2.93278212e-01 -9.53761162e-01 6.57840184e-02 5.58935471e+02] [ 9.26575700e-01 3.00517518e-01 2.26156346e-01 4.50774966e+02] [-2.35468389e-01 -5.37285580e-03 9.71867157e-01 3.95855830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.6592541539999 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:558.94, Y:450.80, Z:39.58 [[ 2.92041677e-01 -9.54150008e-01 6.56461791e-02 5.58942893e+02] [ 9.27028355e-01 2.99284944e-01 2.25935722e-01 4.50800395e+02] [-2.35223484e-01 -5.12677763e-03 9.71927790e-01 3.95780130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.6892541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.95, Y:450.83, Z:39.57 [[ 2.91096088e-01 -9.54432719e-01 6.57362290e-02 5.58951751e+02] [ 9.27187135e-01 2.98384691e-01 2.26474265e-01 4.50826307e+02] [-2.35769133e-01 -4.97598677e-03 9.71796355e-01 3.95727754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7192541539998 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:558.96, Y:450.85, Z:39.57 [[ 2.90170459e-01 -9.54715169e-01 6.57270897e-02 5.58959401e+02] [ 9.27423499e-01 2.97482243e-01 2.26693557e-01 4.50852312e+02] [-2.35980420e-01 -4.82292605e-03 9.71745842e-01 3.95654215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.97, Y:450.88, Z:39.56 [[ 2.89220518e-01 -9.55003276e-01 6.57284937e-02 5.58967911e+02] [ 9.27656739e-01 2.96558563e-01 2.26949319e-01 4.50878609e+02] [-2.36229691e-01 -4.66491950e-03 9.71686046e-01 3.95590658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.7792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.98, Y:450.91, Z:39.55 [[ 2.88963717e-01 -9.55085632e-01 6.56612941e-02 5.58975584e+02] [ 9.27736789e-01 2.96293154e-01 2.26968760e-01 4.50905302e+02] [-2.36229594e-01 -4.66933867e-03 9.71686048e-01 3.95522498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:558.98, Y:450.93, Z:39.55 [[ 2.88273561e-01 -9.55290484e-01 6.57148757e-02 5.58983121e+02] [ 9.27844098e-01 2.95633453e-01 2.27389954e-01 4.50931252e+02] [-2.36650975e-01 -4.57735231e-03 9.71583946e-01 3.95453710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.839254154 meters Centerline goodness : 0.999866 Centerline is valid? [True, True] Translation: X:558.99, Y:450.96, Z:39.54 [[ 2.88243958e-01 -9.55318072e-01 6.54431149e-02 5.58989964e+02] [ 9.28040622e-01 2.95543753e-01 2.26703539e-01 4.50955959e+02] [-2.35915291e-01 -4.61205626e-03 9.71762679e-01 3.95373809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.869254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.00, Y:450.98, Z:39.53 [[ 2.88836408e-01 -9.55139389e-01 6.54391048e-02 5.58997362e+02] [ 9.27819088e-01 2.96117559e-01 2.26861480e-01 4.50981118e+02] [-2.36062003e-01 -4.81020440e-03 9.71726089e-01 3.95313743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.899254154 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:559.00, Y:451.01, Z:39.52 [[ 2.88225325e-01 -9.55355192e-01 6.49816911e-02 5.59004548e+02] [ 9.28372384e-01 2.95422871e-01 2.25499545e-01 4.51007399e+02] [-2.34629239e-01 -4.66747212e-03 9.72073729e-01 3.95230129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.01, Y:451.03, Z:39.52 [[ 2.88209969e-01 -9.55359930e-01 6.49801386e-02 5.59012436e+02] [ 9.28317333e-01 2.95406384e-01 2.25747643e-01 4.51033561e+02] [-2.34865800e-01 -4.74053234e-03 9.72016246e-01 3.95173598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9592541539998 meters Centerline goodness : 0.999844 Centerline is valid? [True, True] Translation: X:559.02, Y:451.06, Z:39.51 [[ 2.87796902e-01 -9.55506799e-01 6.46506048e-02 5.59019577e+02] [ 9.28685317e-01 2.94932080e-01 2.24852510e-01 4.51058164e+02] [-2.33915639e-01 -4.67178838e-03 9.72245673e-01 3.95091704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1103.9892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.03, Y:451.08, Z:39.50 [[ 2.87644865e-01 -9.55540885e-01 6.48232077e-02 5.59027597e+02] [ 9.28520166e-01 2.94820766e-01 2.25679013e-01 4.51084363e+02] [-2.34756751e-01 -4.72575372e-03 9.72042661e-01 3.95040675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.04, Y:451.11, Z:39.50 [[ 2.86982779e-01 -9.55737026e-01 6.48661794e-02 5.59035925e+02] [ 9.28624383e-01 2.94185599e-01 2.26078721e-01 4.51110591e+02] [-2.35154501e-01 -4.64438398e-03 9.71946907e-01 3.94982425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.04, Y:451.14, Z:39.49 [[ 2.86226060e-01 -9.55954697e-01 6.50019975e-02 5.59043512e+02] [ 9.28670946e-01 2.93478955e-01 2.26804710e-01 4.51136921e+02] [-2.35891747e-01 -4.55195213e-03 9.71768678e-01 3.94918249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.0792541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.03, Y:451.16, Z:39.46 [[ 2.80012150e-01 -9.54797243e-01 9.97768586e-02 5.59028158e+02] [ 9.28111288e-01 2.95810028e-01 2.26066062e-01 4.51159041e+02] [-2.45362248e-01 2.93027845e-02 9.68988500e-01 3.94601293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.109254154 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:559.07, Y:451.19, Z:39.49 [[ 2.84537379e-01 -9.58208881e-01 2.95672159e-02 5.59074874e+02] [ 9.28867446e-01 2.83191963e-01 2.38762601e-01 4.51188794e+02] [-2.37157642e-01 -4.04728603e-02 9.70627735e-01 3.94946105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.139254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.07, Y:451.22, Z:39.47 [[ 2.84206871e-01 -9.56528119e-01 6.54248538e-02 5.59065795e+02] [ 9.28764001e-01 2.91608856e-01 2.28826802e-01 4.51215599e+02] [-2.37957737e-01 -4.26990034e-03 9.71266124e-01 3.94727090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1692541539999 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:559.07, Y:451.24, Z:39.46 [[ 2.83457235e-01 -9.56773130e-01 6.50935698e-02 5.59072007e+02] [ 9.29238495e-01 2.90806152e-01 2.27920167e-01 4.51241271e+02] [-2.36997502e-01 -4.11816963e-03 9.71501531e-01 3.94645477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.1992541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:559.08, Y:451.27, Z:39.46 [[ 2.83419386e-01 -9.56808185e-01 6.47421726e-02 5.59078984e+02] [ 9.29520719e-01 2.90690587e-01 2.26914555e-01 4.51267815e+02] [-2.35933644e-01 -4.13279299e-03 9.71760380e-01 3.94573623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.09, Y:451.29, Z:39.45 [[ 2.84554438e-01 -9.56499229e-01 6.43272629e-02 5.59085688e+02] [ 9.29496404e-01 2.91701126e-01 2.25714174e-01 4.51293712e+02] [-2.34659768e-01 -4.43601024e-03 9.72067444e-01 3.94514738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.09, Y:451.32, Z:39.44 [[ 2.84940980e-01 -9.56402116e-01 6.40595771e-02 5.59092571e+02] [ 9.29569956e-01 2.92017396e-01 2.25001193e-01 4.51320238e+02] [-2.33898129e-01 -4.56420237e-03 9.72250397e-01 3.94444862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.2892541539998 meters Centerline goodness : 0.999933 Centerline is valid? [True, True] Translation: X:559.10, Y:451.35, Z:39.44 [[ 2.85489699e-01 -9.56258996e-01 6.37523608e-02 5.59098274e+02] [ 9.29625056e-01 2.92483065e-01 2.24167150e-01 4.51346862e+02] [-2.33008340e-01 -4.73162028e-03 9.72463226e-01 3.94365906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.3192541539997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:559.11, Y:451.37, Z:39.43 [[ 2.85748609e-01 -9.56194233e-01 6.35635213e-02 5.59105042e+02] [ 9.29659329e-01 2.92692883e-01 2.23750773e-01 4.51373695e+02] [-2.32553789e-01 -4.84405145e-03 9.72571473e-01 3.94293176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.11, Y:451.40, Z:39.42 [[ 2.86381175e-01 -9.55988152e-01 6.38159462e-02 5.59111272e+02] [ 9.29174262e-01 2.93360811e-01 2.24888030e-01 4.51399371e+02] [-2.33711390e-01 -5.10756360e-03 9.72292600e-01 3.94239109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.12, Y:451.43, Z:39.42 [[ 2.85803405e-01 -9.56152834e-01 6.39388094e-02 5.59117602e+02] [ 9.29174694e-01 2.92824401e-01 2.25584263e-01 4.51425546e+02] [-2.34415875e-01 -5.06242677e-03 9.72123227e-01 3.94175056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4092541539999 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:559.12, Y:451.45, Z:39.41 [[ 2.85377388e-01 -9.56283037e-01 6.38944401e-02 5.59124540e+02] [ 9.29284224e-01 2.92399489e-01 2.25684228e-01 4.51451864e+02] [-2.34500700e-01 -5.02908014e-03 9.72102942e-01 3.94110949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4392541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.13, Y:451.48, Z:39.40 [[ 2.85092262e-01 -9.56362171e-01 6.39828145e-02 5.59130905e+02] [ 9.29226233e-01 2.92140201e-01 2.26258062e-01 4.51478646e+02] [-2.35076603e-01 -5.04991302e-03 9.71963728e-01 3.94045929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.14, Y:451.50, Z:39.40 [[ 2.84887037e-01 -9.56429283e-01 6.38936813e-02 5.59137002e+02] [ 9.29309051e-01 2.91920147e-01 2.26201936e-01 4.51504037e+02] [-2.34998008e-01 -5.06502307e-03 9.71982655e-01 3.93981854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.14, Y:451.53, Z:39.39 [[ 2.85763505e-01 -9.56190087e-01 6.35589306e-02 5.59142364e+02] [ 9.29296106e-01 2.92698485e-01 2.25247296e-01 4.51531156e+02] [-2.33982834e-01 -5.30238997e-03 9.72226269e-01 3.93910806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.5292541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:559.15, Y:451.56, Z:39.38 [[ 2.85905857e-01 -9.56176107e-01 6.31275937e-02 5.59147983e+02] [ 9.29589787e-01 2.92743234e-01 2.23973719e-01 4.51556842e+02] [-2.32638495e-01 -5.35263158e-03 9.72548549e-01 3.93824163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.5592541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.15, Y:451.58, Z:39.38 [[ 2.87180744e-01 -9.55815168e-01 6.28059298e-02 5.59154031e+02] [ 9.29454264e-01 2.93913689e-01 2.23001155e-01 4.51584249e+02] [-2.31607409e-01 -5.66639822e-03 9.72792835e-01 3.93772627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.589254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.16, Y:451.61, Z:39.37 [[ 2.87233424e-01 -9.55819280e-01 6.25017104e-02 5.59160381e+02] [ 9.29657940e-01 2.93899486e-01 2.22169320e-01 4.51610168e+02] [-2.30722940e-01 -5.70924304e-03 9.73002739e-01 3.93704801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.17, Y:451.64, Z:39.36 [[ 2.86830313e-01 -9.55959773e-01 6.22035638e-02 5.59166438e+02] [ 9.30001908e-01 2.93443622e-01 2.21330728e-01 4.51637180e+02] [-2.29836512e-01 -5.63492899e-03 9.73212939e-01 3.93635653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.649254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:559.17, Y:451.66, Z:39.36 [[ 2.85507515e-01 -9.56360246e-01 6.21332328e-02 5.59172749e+02] [ 9.30412976e-01 2.92140592e-01 2.21326835e-01 4.51663297e+02] [-2.29819825e-01 -5.38090852e-03 9.73218318e-01 3.93551001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.6792541539999 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:559.18, Y:451.69, Z:39.35 [[ 2.82719173e-01 -9.57174127e-01 6.23502984e-02 5.59178933e+02] [ 9.31001535e-01 2.89472796e-01 2.22354766e-01 4.51690445e+02] [-2.30880944e-01 -4.81573207e-03 9.72970091e-01 3.93487503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7092541539998 meters Centerline goodness : 0.999868 Centerline is valid? [True, True] Translation: X:559.19, Y:451.72, Z:39.34 [[ 2.79252371e-01 -9.58170904e-01 6.26628444e-02 5.59185723e+02] [ 9.31695000e-01 2.86167375e-01 2.23724521e-01 4.51715484e+02] [-2.32298388e-01 -4.09294407e-03 9.72635958e-01 3.93425519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7392541539998 meters Centerline goodness : 0.999824 Centerline is valid? [True, True] Translation: X:559.19, Y:451.74, Z:39.34 [[ 2.75698334e-01 -9.59190906e-01 6.27951769e-02 5.59192829e+02] [ 9.32572631e-01 2.82739868e-01 2.24424718e-01 4.51741520e+02] [-2.33020849e-01 -3.31245758e-03 9.72466098e-01 3.93367025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.20, Y:451.77, Z:39.33 [[ 2.74720771e-01 -9.59474821e-01 6.27420567e-02 5.59200342e+02] [ 9.32848426e-01 2.81776842e-01 2.24489700e-01 4.51767946e+02] [-2.33071473e-01 -3.14315460e-03 9.72454528e-01 3.93327395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.7992541539998 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:559.21, Y:451.79, Z:39.32 [[ 2.73006108e-01 -9.59972082e-01 6.26200171e-02 5.59206270e+02] [ 9.33402497e-01 2.80081828e-01 2.24307709e-01 4.51794452e+02] [-2.32867867e-01 -2.78769422e-03 9.72504388e-01 3.93235960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.8292541539997 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:559.21, Y:451.82, Z:39.32 [[ 2.72228394e-01 -9.60197916e-01 6.25432917e-02 5.59212868e+02] [ 9.33639314e-01 2.79307828e-01 2.24287246e-01 4.51821461e+02] [-2.32828977e-01 -2.66448081e-03 9.72514045e-01 3.93177334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.859254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.22, Y:451.85, Z:39.31 [[ 2.71207641e-01 -9.60505923e-01 6.22477825e-02 5.59217471e+02] [ 9.34148221e-01 2.78248650e-01 2.23483310e-01 4.51847277e+02] [-2.31977405e-01 -2.46172613e-03 9.72718060e-01 3.93119129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.22, Y:451.87, Z:39.31 [[ 2.71131353e-01 -9.60535896e-01 6.21174924e-02 5.59223490e+02] [ 9.34236240e-01 2.78144859e-01 2.23244451e-01 4.51874031e+02] [-2.31711970e-01 -2.49615755e-03 9.72781236e-01 3.93051198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9192541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.23, Y:451.90, Z:39.30 [[ 2.71770409e-01 -9.60363620e-01 6.19883988e-02 5.59227821e+02] [ 9.34109125e-01 2.78737093e-01 2.23037610e-01 4.51899709e+02] [-2.31475673e-01 -2.71109361e-03 9.72836915e-01 3.92988845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.23, Y:451.93, Z:39.29 [[ 2.71830707e-01 -9.60354683e-01 6.18623537e-02 5.59233708e+02] [ 9.34167802e-01 2.78767390e-01 2.22753812e-01 4.51926317e+02] [-2.31167873e-01 -2.76150708e-03 9.72909959e-01 3.92926837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1104.9792541539998 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:559.24, Y:451.95, Z:39.28 [[ 2.71371002e-01 -9.60497383e-01 6.16648780e-02 5.59237286e+02] [ 9.34423074e-01 2.78275882e-01 2.22297218e-01 4.51952169e+02] [-2.30675744e-01 -2.70393369e-03 9.73026922e-01 3.92838160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.0092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.24, Y:451.98, Z:39.28 [[ 2.71829512e-01 -9.60363285e-01 6.17339196e-02 5.59243921e+02] [ 9.34171933e-01 2.78736483e-01 2.22775164e-01 4.51979559e+02] [-2.31152584e-01 -2.88676915e-03 9.72913228e-01 3.92798139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.0392541539998 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:559.25, Y:452.01, Z:39.27 [[ 2.71185386e-01 -9.60549903e-01 6.16633642e-02 5.59249382e+02] [ 9.34365451e-01 2.78093639e-01 2.22766993e-01 4.52005884e+02] [-2.31127002e-01 -2.79503582e-03 9.72919574e-01 3.92708852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.0692541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.25, Y:452.03, Z:39.27 [[ 2.71413388e-01 -9.60477960e-01 6.17807529e-02 5.59254774e+02] [ 9.34131574e-01 2.78340596e-01 2.23438392e-01 4.52032321e+02] [-2.31803742e-01 -2.93281900e-03 9.72758153e-01 3.92673654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.099254154 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:559.26, Y:452.06, Z:39.26 [[ 2.71040560e-01 -9.60599927e-01 6.15206937e-02 5.59260442e+02] [ 9.34419617e-01 2.77919825e-01 2.22756705e-01 4.52058998e+02] [-2.31077894e-01 -2.88995894e-03 9.72930961e-01 3.92590249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.129254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.27, Y:452.09, Z:39.25 [[ 2.72004867e-01 -9.60320196e-01 6.16317674e-02 5.59265533e+02] [ 9.33975226e-01 2.78881391e-01 2.23417653e-01 4.52086187e+02] [-2.31740437e-01 -3.20814505e-03 9.72772367e-01 3.92546877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.1592541539999 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:559.27, Y:452.11, Z:39.25 [[ 2.72205629e-01 -9.60272400e-01 6.14899538e-02 5.59270742e+02] [ 9.33988221e-01 2.79044681e-01 2.23159291e-01 4.52112633e+02] [-2.31452153e-01 -3.31432270e-03 9.72840643e-01 3.92472976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.1892541539999 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:559.27, Y:452.14, Z:39.24 [[ 2.72671061e-01 -9.60149380e-01 6.13486826e-02 5.59274683e+02] [ 9.33922314e-01 2.79465594e-01 2.22908264e-01 4.52138767e+02] [-2.31170078e-01 -3.48572932e-03 9.72907110e-01 3.92406874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2192541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:559.28, Y:452.17, Z:39.23 [[ 2.72291805e-01 -9.60267800e-01 6.11794522e-02 5.59280408e+02] [ 9.34149273e-01 2.79059174e-01 2.22465983e-01 4.52165190e+02] [-2.30699608e-01 -3.42492345e-03 9.73018993e-01 3.92330775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2492541539998 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:559.29, Y:452.19, Z:39.23 [[ 2.71113280e-01 -9.60611727e-01 6.10139260e-02 5.59285862e+02] [ 9.34584207e-01 2.77875671e-01 2.22120398e-01 4.52192192e+02] [-2.30325745e-01 -3.19713820e-03 9.73108334e-01 3.92261123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.2792541539998 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:559.29, Y:452.22, Z:39.22 [[ 2.69996768e-01 -9.60933197e-01 6.09026784e-02 5.59292679e+02] [ 9.34948591e-01 2.76764235e-01 2.21974528e-01 4.52218657e+02] [-2.30158376e-01 -2.99153168e-03 9.73148587e-01 3.92198939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.3092541539997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:559.30, Y:452.25, Z:39.21 [[ 2.66890840e-01 -9.61781354e-01 6.12038172e-02 5.59298886e+02] [ 9.35494769e-01 2.73808518e-01 2.23334802e-01 4.52245466e+02] [-2.31557374e-01 -2.35016216e-03 9.72818410e-01 3.92143047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.339254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.31, Y:452.27, Z:39.21 [[ 2.65420433e-01 -9.62180723e-01 6.13208875e-02 5.59305824e+02] [ 9.35739523e-01 2.72403980e-01 2.24025931e-01 4.52272493e+02] [-2.32257486e-01 -2.08068149e-03 9.72652112e-01 3.92087040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.369254154 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:559.31, Y:452.30, Z:39.20 [[ 2.62113452e-01 -9.63102277e-01 6.10781694e-02 5.59310879e+02] [ 9.36834169e-01 2.69132340e-01 2.23404393e-01 4.52297756e+02] [-2.31599390e-01 -1.33718059e-03 9.72810328e-01 3.92003977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.399254154 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:559.32, Y:452.32, Z:39.19 [[ 2.60290240e-01 -9.63602553e-01 6.09845066e-02 5.59317446e+02] [ 9.37387655e-01 2.67337305e-01 2.23237879e-01 4.52324309e+02] [-2.31416023e-01 -9.40517380e-04 9.72854429e-01 3.91930195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.32, Y:452.35, Z:39.19 [[ 2.59475819e-01 -9.63816314e-01 6.10771005e-02 5.59324551e+02] [ 9.37464350e-01 2.66566007e-01 2.23837344e-01 4.52351271e+02] [-2.32019163e-01 -8.22773957e-04 9.72710867e-01 3.91879197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4592541539998 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:559.33, Y:452.38, Z:39.18 [[ 2.57648436e-01 -9.64347227e-01 6.04293752e-02 5.59329856e+02] [ 9.38512677e-01 2.64639862e-01 2.21719866e-01 4.52377624e+02] [-2.29806959e-01 -4.12042122e-04 9.73236144e-01 3.91787315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.4892541539998 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:559.34, Y:452.40, Z:39.17 [[ 2.57221230e-01 -9.64476257e-01 6.01896069e-02 5.59335169e+02] [ 9.38792020e-01 2.64169295e-01 2.21097551e-01 4.52404308e+02] [-2.29143584e-01 -3.65461302e-04 9.73392564e-01 3.91723733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.33, Y:452.43, Z:39.16 [[ 2.54968565e-01 -9.64074692e-01 7.45051634e-02 5.59332167e+02] [ 9.38349837e-01 2.65292918e-01 2.21628632e-01 4.52429005e+02] [-2.33432248e-01 1.34035737e-02 9.72280685e-01 3.91567118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.5492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.35, Y:452.46, Z:39.17 [[ 2.57809750e-01 -9.65142599e-01 4.50987501e-02 5.59354999e+02] [ 9.38598816e-01 2.61249247e-01 2.25346609e-01 4.52457049e+02] [-2.29273627e-01 -1.57669197e-02 9.73234303e-01 3.91659640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.5792541539997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:559.35, Y:452.48, Z:39.15 [[ 2.57632088e-01 -9.64377038e-01 6.00219624e-02 5.59354431e+02] [ 9.38698448e-01 2.64530823e-01 2.21062587e-01 4.52483648e+02] [-2.29065342e-01 -6.10292895e-04 9.73410857e-01 3.91527063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.609254154 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:559.34, Y:452.51, Z:39.13 [[ 2.54951210e-01 -9.63074589e-01 8.65287087e-02 5.59344742e+02] [ 9.37507360e-01 2.68111044e-01 2.21802655e-01 4.52507812e+02] [-2.36811803e-01 2.45724459e-02 9.71244750e-01 3.91295871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.639254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.36, Y:452.53, Z:39.13 [[ 2.55788810e-01 -9.64647003e-01 6.34684587e-02 5.59361781e+02] [ 9.36838218e-01 2.63544590e-01 2.29953044e-01 4.52533873e+02] [-2.38550284e-01 6.40262201e-04 9.71129936e-01 3.91306922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6692541539999 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:559.39, Y:452.56, Z:39.14 [[ 2.59800143e-01 -9.65206574e-01 2.96674128e-02 5.59387993e+02] [ 9.38037888e-01 2.59544808e-01 2.29611439e-01 4.52563629e+02] [-2.29322493e-01 -3.18239273e-02 9.72830115e-01 3.91443181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.6992541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:559.38, Y:452.59, Z:39.13 [[ 2.59900059e-01 -9.63772606e-01 5.99526787e-02 5.59381322e+02] [ 9.37966264e-01 2.66721874e-01 2.21537196e-01 4.52591306e+02] [-2.29502172e-01 -1.34394041e-03 9.73307221e-01 3.91262808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.7292541539998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:559.37, Y:452.61, Z:39.10 [[ 2.56187814e-01 -9.61935046e-01 9.51250336e-02 5.59366499e+02] [ 9.36803706e-01 2.71334737e-01 2.20853519e-01 4.52614663e+02] [-2.38257466e-01 3.25335036e-02 9.70656969e-01 3.90968188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.7592541539998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:559.39, Y:452.64, Z:39.11 [[ 2.58561170e-01 -9.64497439e-01 5.37662753e-02 5.59393249e+02] [ 9.36480555e-01 2.63925965e-01 2.30970249e-01 4.52641479e+02] [-2.36960529e-01 -9.36886637e-03 9.71474103e-01 3.91081329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.7892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.42, Y:452.67, Z:39.12 [[ 2.63245600e-01 -9.64267626e-01 2.98278474e-02 5.59415005e+02] [ 9.37056666e-01 2.62924587e-01 2.29772640e-01 4.52671106e+02] [-2.29404792e-01 -3.25362531e-02 9.72787147e-01 3.91200392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.8192541539997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:559.41, Y:452.70, Z:39.10 [[ 2.65054052e-01 -9.62378754e-01 5.97786230e-02 5.59407124e+02] [ 9.36588353e-01 2.71698336e-01 2.21319386e-01 4.52698003e+02] [-2.29234828e-01 -2.67363812e-03 9.73367477e-01 3.91023401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.849254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.37, Y:452.71, Z:39.06 [[ 2.57006780e-01 -9.58678839e-01 1.21993436e-01 5.59370324e+02] [ 9.34675276e-01 2.78662279e-01 2.20747511e-01 4.52714650e+02] [-2.45620936e-01 5.72906412e-02 9.67671503e-01 3.90570511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.879254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.44, Y:452.75, Z:39.10 [[ 2.64789378e-01 -9.64158691e-01 1.68701978e-02 5.59435982e+02] [ 9.35446069e-01 2.61073366e-01 2.38288377e-01 4.52746455e+02] [-2.34152169e-01 -4.73150710e-02 9.71047911e-01 3.90987315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.44, Y:452.78, Z:39.09 [[ 2.70069640e-01 -9.62208575e-01 3.48862077e-02 5.59438952e+02] [ 9.35517968e-01 2.70803806e-01 2.26873161e-01 4.52776670e+02] [-2.27746618e-01 -2.86348787e-02 9.73299297e-01 3.90938767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9392541539999 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:559.43, Y:452.80, Z:39.08 [[ 2.72266019e-01 -9.60393931e-01 5.92850130e-02 5.59434163e+02] [ 9.34964732e-01 2.78611788e-01 2.19582382e-01 4.52803032e+02] [-2.27403090e-01 -4.35542481e-03 9.73790976e-01 3.90772175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9692541539998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:559.44, Y:452.83, Z:39.07 [[ 2.73073225e-01 -9.60170084e-01 5.91981752e-02 5.59441316e+02] [ 9.34758005e-01 2.79378320e-01 2.19488559e-01 4.52829479e+02] [-2.27285035e-01 -4.60048042e-03 9.73817410e-01 3.90703996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1105.9992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.45, Y:452.86, Z:39.07 [[ 2.74837446e-01 -9.59645821e-01 5.95338317e-02 5.59449290e+02] [ 9.33867736e-01 2.81164501e-01 2.20992251e-01 4.52855663e+02] [-2.28813090e-01 -5.14022121e-03 9.73456803e-01 3.90651905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.0292541539998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:559.46, Y:452.88, Z:39.06 [[ 2.74827926e-01 -9.59668112e-01 5.92176071e-02 5.59456576e+02] [ 9.34108103e-01 2.81087929e-01 2.20071869e-01 4.52881571e+02] [-2.27841310e-01 -5.16624878e-03 9.73684573e-01 3.90577241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.0592541539997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:559.47, Y:452.91, Z:39.05 [[ 2.75202048e-01 -9.59566072e-01 5.91336372e-02 5.59465332e+02] [ 9.34017707e-01 2.81433277e-01 2.20014169e-01 4.52907635e+02] [-2.27760305e-01 -5.31648563e-03 9.73702716e-01 3.90505469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.089254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.47, Y:452.93, Z:39.05 [[ 2.75535035e-01 -9.59463851e-01 5.92415646e-02 5.59473518e+02] [ 9.33758092e-01 2.81778322e-01 2.20673520e-01 4.52933687e+02] [-2.28421254e-01 -5.48599594e-03 9.73546935e-01 3.90453163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.119254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.46, Y:452.96, Z:39.02 [[ 2.70036667e-01 -9.58867451e-01 8.74837739e-02 5.59462477e+02] [ 9.33532057e-01 2.82981866e-01 2.20088990e-01 4.52955184e+02] [-2.35792490e-01 2.22368102e-02 9.71548983e-01 3.90190710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.149254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.50, Y:452.98, Z:39.04 [[ 2.74436720e-01 -9.61189335e-01 2.82763097e-02 5.59504487e+02] [ 9.34718983e-01 2.73552980e-01 2.26868223e-01 4.52984585e+02] [-2.25798385e-01 -3.58305675e-02 9.73514900e-01 3.90434113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.1792541539999 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:559.50, Y:453.01, Z:39.02 [[ 2.72253091e-01 -9.60478044e-01 5.79670809e-02 5.59499854e+02] [ 9.35800793e-01 2.78316711e-01 2.16371636e-01 4.53010455e+02] [-2.23953413e-01 -4.66220631e-03 9.74588699e-01 3.90248261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2092541539998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:559.49, Y:453.03, Z:39.00 [[ 2.65171809e-01 -9.59924507e-01 9.07130273e-02 5.59485668e+02] [ 9.35542559e-01 2.78916192e-01 2.16716125e-01 4.53031192e+02] [-2.33332451e-01 2.73988908e-02 9.72010940e-01 3.89963493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.53, Y:453.06, Z:39.03 [[ 2.66817689e-01 -9.63479297e-01 2.27148775e-02 5.59534723e+02] [ 9.37533175e-01 2.64947913e-01 2.25464296e-01 4.53060655e+02] [-2.23248440e-01 -3.88619111e-02 9.73986594e-01 3.90260557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2692541539998 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:559.53, Y:453.09, Z:39.01 [[ 2.64315709e-01 -9.62724019e-01 5.74427556e-02 5.59527115e+02] [ 9.38464861e-01 2.70470476e-01 2.14777623e-01 4.53087938e+02] [-2.22308146e-01 -2.86109204e-03 9.74972257e-01 3.90055516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.2992541539998 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:559.54, Y:453.11, Z:39.00 [[ 2.61567491e-01 -9.63481813e-01 5.73170459e-02 5.59535713e+02] [ 9.39294423e-01 2.67764073e-01 2.14542278e-01 4.53113552e+02] [-2.22055029e-01 -2.27970383e-03 9.75031470e-01 3.89986847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.3292541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.55, Y:453.14, Z:38.99 [[ 2.57782255e-01 -9.64474921e-01 5.77618946e-02 5.59546635e+02] [ 9.39870784e-01 2.64170099e-01 2.16464937e-01 4.53139488e+02] [-2.24033968e-01 -1.51210250e-03 9.74580163e-01 3.89939962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.359254154 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:559.56, Y:453.17, Z:38.99 [[ 2.55188017e-01 -9.65183438e-01 5.74456824e-02 5.59556642e+02] [ 9.40811388e-01 2.61572203e-01 2.15531702e-01 4.53165277e+02] [-2.23053823e-01 -9.55555533e-04 9.74805662e-01 3.89881730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.389254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.50, Y:453.18, Z:38.92 [[ 2.39008325e-01 -9.58709977e-01 1.54111001e-01 5.59499060e+02] [ 9.39120004e-01 2.68572162e-01 2.14295618e-01 4.53177803e+02] [-2.46837271e-01 9.35102873e-02 9.64534700e-01 3.89237274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4192541539999 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:559.62, Y:453.22, Z:39.02 [[ 2.55839993e-01 -9.65532989e-01 -4.78742739e-02 5.59620489e+02] [ 9.41302005e-01 2.37526517e-01 2.39857643e-01 4.53217910e+02] [-2.20219057e-01 -1.06429328e-01 9.69626921e-01 3.90200156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4492541539998 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:559.58, Y:453.25, Z:38.97 [[ 2.58326397e-01 -9.64390860e-01 5.67251364e-02 5.59581999e+02] [ 9.40647734e-01 2.64476392e-01 2.12683047e-01 4.53245966e+02] [-2.20112046e-01 -1.58327414e-03 9.75473311e-01 3.89708829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.4792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.59, Y:453.27, Z:38.97 [[ 2.61631066e-01 -9.63482942e-01 5.70070708e-02 5.59589613e+02] [ 9.39420198e-01 2.67758646e-01 2.13997661e-01 4.53271558e+02] [-2.21447232e-01 -2.43484225e-03 9.75169316e-01 3.89654117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.5092541539998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:559.59, Y:453.30, Z:38.96 [[ 2.60628935e-01 -9.63579456e-01 5.98931623e-02 5.59592164e+02] [ 9.39589938e-01 2.67421559e-01 2.13673721e-01 4.53296036e+02] [-2.21908331e-01 5.85458139e-04 9.75067357e-01 3.89564271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.5392541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.60, Y:453.32, Z:38.95 [[ 2.63326010e-01 -9.63147717e-01 5.48259790e-02 5.59602470e+02] [ 9.38384847e-01 2.68912329e-01 2.17071505e-01 4.53322347e+02] [-2.23815307e-01 -5.71270554e-03 9.74614834e-01 3.89531926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.5692541539997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:559.61, Y:453.35, Z:38.95 [[ 2.66461931e-01 -9.62375606e-01 5.32093380e-02 5.59613950e+02] [ 9.38055529e-01 2.71621694e-01 2.15112715e-01 4.53351083e+02] [-2.21472040e-01 -7.40603561e-03 9.75138599e-01 3.89485923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.599254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.62, Y:453.38, Z:38.94 [[ 2.67572919e-01 -9.61796847e-01 5.78926391e-02 5.59619883e+02] [ 9.36874762e-01 2.73735296e-01 2.17565320e-01 4.53376882e+02] [-2.25100897e-01 -3.97643516e-03 9.74327344e-01 3.89414044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.629254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.63, Y:453.40, Z:38.94 [[ 2.67779663e-01 -9.61728435e-01 5.80729637e-02 5.59626938e+02] [ 9.36593344e-01 2.73973548e-01 2.18475179e-01 4.53403070e+02] [-2.26024248e-01 -4.11245855e-03 9.74112995e-01 3.89354903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.6592541539999 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:559.63, Y:453.43, Z:38.93 [[ 2.68935100e-01 -9.61417714e-01 5.78782442e-02 5.59634456e+02] [ 9.36387299e-01 2.75056994e-01 2.17996505e-01 4.53429174e+02] [-2.25505518e-01 -4.43045917e-03 9.74231817e-01 3.89301823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.6892541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:559.64, Y:453.46, Z:38.92 [[ 2.69887758e-01 -9.61127589e-01 5.82610988e-02 5.59641550e+02] [ 9.35692557e-01 2.76063232e-01 2.19701005e-01 4.53456088e+02] [-2.27244444e-01 -4.78013516e-03 9.73826018e-01 3.89236530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.67, Y:453.48, Z:38.94 [[ 2.74829346e-01 -9.61268563e-01 2.07744920e-02 5.59666906e+02] [ 9.36026267e-01 2.72427470e-01 2.22796100e-01 4.53484764e+02] [-2.19826429e-01 -4.17854362e-02 9.74643688e-01 3.89411132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7492541539998 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:559.64, Y:453.51, Z:38.90 [[ 2.74177739e-01 -9.57040709e-01 9.43379499e-02 5.59637795e+02] [ 9.34509754e-01 2.88299582e-01 2.08745947e-01 4.53509220e+02] [-2.26975961e-01 3.09262425e-02 9.73409205e-01 3.88957098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.7792541539998 meters Centerline goodness : 0.999891 Centerline is valid? [True, True] Translation: X:559.66, Y:453.53, Z:38.90 [[ 2.77139248e-01 -9.59114594e-01 5.73849538e-02 5.59661390e+02] [ 9.34247710e-01 2.82942199e-01 2.17082768e-01 4.53533094e+02] [-2.24443876e-01 -6.55039335e-03 9.74465002e-01 3.89021321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.8092541539997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.67, Y:453.56, Z:38.89 [[ 2.78452050e-01 -9.58722603e-01 5.75797444e-02 5.59668531e+02] [ 9.33621930e-01 2.84257860e-01 2.18054033e-01 4.53558335e+02] [-2.25420825e-01 -6.95988039e-03 9.74236630e-01 3.88948709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.839254154 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:559.68, Y:453.58, Z:38.89 [[ 2.79936682e-01 -9.58346235e-01 5.66387545e-02 5.59677308e+02] [ 9.34005318e-01 2.85517895e-01 2.14740769e-01 4.53584514e+02] [-2.21967385e-01 -7.21292042e-03 9.75027412e-01 3.88885522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.869254154 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:559.69, Y:453.61, Z:38.88 [[ 2.79961550e-01 -9.58331461e-01 5.67656661e-02 5.59686517e+02] [ 9.33821667e-01 2.85564857e-01 2.15475769e-01 4.53610642e+02] [-2.22707488e-01 -7.31592131e-03 9.74857863e-01 3.88811501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.899254154 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:559.69, Y:453.64, Z:38.87 [[ 2.79211825e-01 -9.58570056e-01 5.64287608e-02 5.59694860e+02] [ 9.34300942e-01 2.84766993e-01 2.14451651e-01 4.53636399e+02] [-2.21635980e-01 -7.15599261e-03 9.75103217e-01 3.88749208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9292541539999 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:559.70, Y:453.66, Z:38.87 [[ 2.76928435e-01 -9.59212483e-01 5.67631388e-02 5.59704791e+02] [ 9.34604677e-01 2.82605214e-01 2.15982388e-01 4.53661376e+02] [-2.23214561e-01 -6.76056968e-03 9.74745892e-01 3.88681348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9592541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:559.71, Y:453.69, Z:38.86 [[ 2.75244833e-01 -9.59686303e-01 5.69427910e-02 5.59713569e+02] [ 9.34876993e-01 2.80998927e-01 2.16897696e-01 4.53687278e+02] [-2.24154611e-01 -6.46546481e-03 9.74532148e-01 3.88614794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1106.9892541539998 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:559.72, Y:453.71, Z:38.85 [[ 2.71695243e-01 -9.60665703e-01 5.74726285e-02 5.59724294e+02] [ 9.35344119e-01 2.77646929e-01 2.19188416e-01 4.53713010e+02] [-2.26523893e-01 -5.79576490e-03 9.73988365e-01 3.88549140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.0192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.73, Y:453.74, Z:38.85 [[ 2.69874342e-01 -9.61141103e-01 5.81000816e-02 5.59732591e+02] [ 9.35201751e-01 2.76002007e-01 2.21857111e-01 4.53738575e+02] [-2.29271728e-01 -5.53824387e-03 9.73346702e-01 3.88478083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.0492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.76, Y:453.77, Z:38.86 [[ 2.69886978e-01 -9.62233282e-01 3.56108118e-02 5.59758868e+02] [ 9.36497929e-01 2.70909239e-01 2.22665249e-01 4.53769154e+02] [-2.23903212e-01 -2.67449997e-02 9.74244352e-01 3.88579355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.0792541539997 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:559.74, Y:453.79, Z:38.82 [[ 2.63705434e-01 -9.61116379e-01 8.19435849e-02 5.59739714e+02] [ 9.37055062e-01 2.75405424e-01 2.14661743e-01 4.53790552e+02] [-2.28882624e-01 2.01781831e-02 9.73244874e-01 3.88246523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.109254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:559.76, Y:453.81, Z:38.83 [[ 2.59534058e-01 -9.64003420e-01 5.77882306e-02 5.59759998e+02] [ 9.38247683e-01 2.65870182e-01 2.21369223e-01 4.53814891e+02] [-2.28764855e-01 -3.23317927e-03 9.73476342e-01 3.88268594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.139254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:559.77, Y:453.84, Z:38.82 [[ 2.58001584e-01 -9.64403429e-01 5.79759323e-02 5.59767665e+02] [ 9.38430097e-01 2.64418777e-01 2.22332326e-01 4.53840322e+02] [-2.29747983e-01 -2.95573245e-03 9.73245667e-01 3.88195842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1692541539999 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:559.77, Y:453.87, Z:38.80 [[ 2.55850883e-01 -9.63908564e-01 7.36247625e-02 5.59771869e+02] [ 9.39052542e-01 2.65896661e-01 2.17897427e-01 4.53867390e+02] [-2.29609774e-01 1.33882712e-02 9.73190683e-01 3.88031409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.1992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.78, Y:453.89, Z:38.80 [[ 2.53546530e-01 -9.64924218e-01 6.80838531e-02 5.59780837e+02] [ 9.38939645e-01 2.62421410e-01 2.22547406e-01 4.53892968e+02] [-2.32608042e-01 7.50050637e-03 9.72541640e-01 3.87961477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.2292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.79, Y:453.92, Z:38.79 [[ 2.51225573e-01 -9.66019682e-01 6.07592368e-02 5.59791847e+02] [ 9.39801314e-01 2.58466793e-01 2.23536145e-01 4.53919240e+02] [-2.31644561e-01 9.43614457e-04 9.72800035e-01 3.87906930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.2592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.79, Y:453.94, Z:38.77 [[ 2.48203503e-01 -9.65969776e-01 7.27833298e-02 5.59790104e+02] [ 9.39626158e-01 2.58343535e-01 2.24413238e-01 4.53942616e+02] [-2.35579508e-01 1.26889688e-02 9.71772240e-01 3.87743274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.2892541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.82, Y:453.97, Z:38.80 [[ 2.49135115e-01 -9.68341529e-01 1.56964110e-02 5.59823720e+02] [ 9.41202057e-01 2.45907836e-01 2.31663601e-01 4.53970733e+02] [-2.28189357e-01 -4.29420437e-02 9.72669316e-01 3.88006060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.3192541539997 meters Centerline goodness : 0.999955 Centerline is valid? [True, True] Translation: X:559.81, Y:454.00, Z:38.78 [[ 2.48474603e-01 -9.66946181e-01 5.72315839e-02 5.59810970e+02] [ 9.41413344e-01 2.54978708e-01 2.20741419e-01 4.53997628e+02] [-2.28037907e-01 -9.70059529e-04 9.73651771e-01 3.87764037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.349254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.79, Y:454.02, Z:38.74 [[ 2.45357731e-01 -9.64078136e-01 1.01749359e-01 5.59793863e+02] [ 9.39747662e-01 2.62305325e-01 2.19249282e-01 4.54022462e+02] [-2.38062838e-01 4.18242162e-02 9.70348814e-01 3.87405379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.379254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.84, Y:454.05, Z:38.78 [[ 2.48393507e-01 -9.68558101e-01 1.39954058e-02 5.59840889e+02] [ 9.41204782e-01 2.44743642e-01 2.32882178e-01 4.54050471e+02] [-2.28985206e-01 -4.46738781e-02 9.72404247e-01 3.87811775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4092541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.80, Y:454.08, Z:38.73 [[ 2.47681362e-01 -9.63621224e-01 1.00439436e-01 5.59804727e+02] [ 9.39449728e-01 2.64214978e-01 2.18230736e-01 4.54078146e+02] [-2.36829373e-01 4.03061151e-02 9.70714822e-01 3.87260525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4392541539999 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:559.83, Y:454.10, Z:38.73 [[ 2.48678069e-01 -9.66656639e-01 6.11077821e-02 5.59829477e+02] [ 9.39718379e-01 2.56073817e-01 2.26617669e-01 4.54104695e+02] [-2.34709578e-01 1.06926156e-03 9.72064952e-01 3.87339685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4692541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.86, Y:454.13, Z:38.76 [[ 2.54034490e-01 -9.67095383e-01 1.38923673e-02 5.59855191e+02] [ 9.40844981e-01 2.50418022e-01 2.28257607e-01 4.54131031e+02] [-2.24225777e-01 -4.49147407e-02 9.73501652e-01 3.87575633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.4992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.81, Y:454.16, Z:38.70 [[ 2.51624078e-01 -9.61698519e-01 1.08725725e-01 5.59814206e+02] [ 9.38777281e-01 2.69843445e-01 2.14200215e-01 4.54157625e+02] [-2.35334953e-01 4.81713086e-02 9.70719828e-01 3.86969305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.5292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.84, Y:454.18, Z:38.70 [[ 2.53214355e-01 -9.65064766e-01 6.73237624e-02 5.59837590e+02] [ 9.38730612e-01 2.61931344e-01 2.24001807e-01 4.54183200e+02] [-2.33810455e-01 6.47840363e-03 9.72260614e-01 3.87026560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.5592541539997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:559.85, Y:454.21, Z:38.70 [[ 2.53642622e-01 -9.65684720e-01 5.58430131e-02 5.59847751e+02] [ 9.38961291e-01 2.59672796e-01 2.25658444e-01 4.54209527e+02] [-2.32415823e-01 -4.80217180e-03 9.72604660e-01 3.86993264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.589254154 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:559.85, Y:454.24, Z:38.69 [[ 2.53516234e-01 -9.65651649e-01 5.69772949e-02 5.59854179e+02] [ 9.39217021e-01 2.59818133e-01 2.24423539e-01 4.54237179e+02] [-2.31518695e-01 -3.38096528e-03 9.72824580e-01 3.86925326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.619254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.85, Y:454.26, Z:38.68 [[ 2.52646465e-01 -9.65156099e-01 6.81430037e-02 5.59853035e+02] [ 9.39268697e-01 2.61556363e-01 2.22176920e-01 4.54264150e+02] [-2.32258645e-01 7.87237684e-03 9.72622202e-01 3.86785398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.649254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:559.87, Y:454.29, Z:38.68 [[ 2.52701921e-01 -9.66301315e-01 4.90255888e-02 5.59870203e+02] [ 9.39666782e-01 2.57181225e-01 2.25575167e-01 4.54290854e+02] [-2.30582042e-01 -1.09355607e-02 9.72991437e-01 3.86811367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.6792541539999 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:559.87, Y:454.32, Z:38.67 [[ 2.49929692e-01 -9.66238863e-01 6.25908034e-02 5.59868600e+02] [ 9.40330159e-01 2.57626777e-01 2.22278285e-01 4.54316771e+02] [-2.30898984e-01 3.30207682e-03 9.72972125e-01 3.86660623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7092541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.88, Y:454.34, Z:38.67 [[ 2.49404446e-01 -9.67005132e-01 5.19470602e-02 5.59881051e+02] [ 9.40516774e-01 2.54654175e-01 2.24898752e-01 4.54344326e+02] [-2.30706783e-01 -7.23366701e-03 9.72996431e-01 3.86650813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7392541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:559.89, Y:454.37, Z:38.66 [[ 2.46546893e-01 -9.67563361e-01 5.50978445e-02 5.59887792e+02] [ 9.41466695e-01 2.52608671e-01 2.23224825e-01 4.54371753e+02] [-2.29902355e-01 -3.16260147e-03 9.73208562e-01 3.86569528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7692541539998 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:559.90, Y:454.40, Z:38.65 [[ 2.47901029e-01 -9.67579105e-01 4.83296631e-02 5.59901372e+02] [ 9.40866571e-01 2.52347219e-01 2.26033134e-01 4.54397568e+02] [-2.30900793e-01 -1.05620822e-02 9.72919969e-01 3.86522272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.7992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.90, Y:454.43, Z:38.64 [[ 2.43195159e-01 -9.68015535e-01 6.16606804e-02 5.59898999e+02] [ 9.41390134e-01 2.50869768e-01 2.25497175e-01 4.54426309e+02] [-2.33753569e-01 3.20693473e-03 9.72290587e-01 3.86436356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.8292541539997 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:559.91, Y:454.45, Z:38.64 [[ 2.44997603e-01 -9.67841054e-01 5.70952568e-02 5.59911573e+02] [ 9.40495736e-01 2.51552247e-01 2.28449639e-01 4.54452880e+02] [-2.35465380e-01 -2.27176840e-03 9.71880082e-01 3.86384451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.859254154 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:559.92, Y:454.48, Z:38.63 [[ 2.43138717e-01 -9.68071420e-01 6.10023736e-02 5.59916237e+02] [ 9.40532875e-01 2.50669232e-01 2.29265888e-01 4.54479855e+02] [-2.37237172e-01 1.63132387e-03 9.71450391e-01 3.86298586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.889254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.92, Y:454.51, Z:38.63 [[ 2.41642040e-01 -9.68901077e-01 5.32900382e-02 5.59923226e+02] [ 9.40765151e-01 2.47378114e-01 2.31872809e-01 4.54505675e+02] [-2.37844603e-01 -5.89680768e-03 9.71285320e-01 3.86285652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9192541539999 meters Centerline goodness : 0.999823 Centerline is valid? [True, True] Translation: X:559.96, Y:454.53, Z:38.66 [[ 2.45539841e-01 -9.69372245e-01 5.25718343e-03 5.59955601e+02] [ 9.42627407e-01 2.40023847e-01 2.32039057e-01 4.54533810e+02] [-2.26194070e-01 -5.20192679e-02 9.72692263e-01 3.86562937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9492541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.94, Y:454.56, Z:38.63 [[ 2.44782396e-01 -9.67995210e-01 5.53791770e-02 5.59937579e+02] [ 9.42826358e-01 2.50964371e-01 2.19306505e-01 4.54560383e+02] [-2.26185847e-01 -1.46942394e-03 9.74083058e-01 3.86281066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1107.9792541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:559.94, Y:454.59, Z:38.62 [[ 2.43105713e-01 -9.68413936e-01 5.54442203e-02 5.59943631e+02] [ 9.43169472e-01 2.49345571e-01 2.19677341e-01 4.54586884e+02] [-2.26563369e-01 -1.11152049e-03 9.73995793e-01 3.86206458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.0092541539998 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:559.95, Y:454.61, Z:38.61 [[ 2.37064773e-01 -9.69866457e-01 5.62080948e-02 5.59949292e+02] [ 9.44213515e-01 2.43636539e-01 2.21589879e-01 4.54611758e+02] [-2.28606937e-01 5.41288417e-04 9.73518657e-01 3.86102811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.0392541539998 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:559.96, Y:454.64, Z:38.60 [[ 2.33768205e-01 -9.70649156e-01 5.65034766e-02 5.59956082e+02] [ 9.44685989e-01 2.40496696e-01 2.23001618e-01 4.54638594e+02] [-2.30045231e-01 1.24735488e-03 9.73179139e-01 3.86031995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.0692541539997 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:559.96, Y:454.66, Z:38.60 [[ 2.30526540e-01 -9.71409161e-01 5.67605236e-02 5.59962548e+02] [ 9.45163845e-01 2.37403590e-01 2.24287410e-01 4.54664365e+02] [-2.31349997e-01 1.94379411e-03 9.72868645e-01 3.85974938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.099254154 meters Centerline goodness : 0.999911 Centerline is valid? [True, True] Translation: X:559.97, Y:454.69, Z:38.59 [[ 2.23403264e-01 -9.73011518e-01 5.77889980e-02 5.59969326e+02] [ 9.45772375e-01 2.30728857e-01 2.28645598e-01 4.54690461e+02] [-2.35808390e-01 3.57506497e-03 9.71792994e-01 3.85894013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.129254154 meters Centerline goodness : 0.999867 Centerline is valid? [True, True] Translation: X:559.98, Y:454.72, Z:38.58 [[ 2.20253547e-01 -9.73704586e-01 5.82044128e-02 5.59976064e+02] [ 9.46022722e-01 2.27774141e-01 2.30564419e-01 4.54716995e+02] [-2.37759092e-01 4.28006611e-03 9.71314725e-01 3.85818738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.1592541539999 meters Centerline goodness : 0.999822 Centerline is valid? [True, True] Translation: X:559.98, Y:454.74, Z:38.57 [[ 2.15428764e-01 -9.74735762e-01 5.89969591e-02 5.59982089e+02] [ 9.46249274e-01 2.23295417e-01 2.33990315e-01 4.54742061e+02] [-2.41252479e-01 5.41758529e-03 9.70447264e-01 3.85738059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.1892541539999 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:559.99, Y:454.77, Z:38.57 [[ 2.14089727e-01 -9.75023532e-01 5.91159967e-02 5.59988425e+02] [ 9.46380236e-01 2.22028254e-01 2.34665516e-01 4.54768319e+02] [-2.41929821e-01 5.70673479e-03 9.70276968e-01 3.85673717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2192541539998 meters Centerline goodness : 0.999956 Centerline is valid? [True, True] Translation: X:559.98, Y:454.79, Z:38.55 [[ 2.06017878e-01 -9.75897577e-01 7.19760570e-02 5.59978305e+02] [ 9.46706314e-01 2.17385067e-01 2.37678119e-01 4.54788493e+02] [-2.47596021e-01 1.91742457e-02 9.68673608e-01 3.85492044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2492541539998 meters Centerline goodness : 0.999845 Centerline is valid? [True, True] Translation: X:560.01, Y:454.82, Z:38.56 [[ 2.11937727e-01 -9.76326859e-01 4.32234249e-02 5.60006762e+02] [ 9.46129855e-01 2.16059047e-01 2.41157183e-01 4.54819651e+02] [-2.44787047e-01 -1.02153324e-02 9.69523052e-01 3.85582257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.2792541539998 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:560.00, Y:454.85, Z:38.54 [[ 2.11299624e-01 -9.75597198e-01 5.96873210e-02 5.60002679e+02] [ 9.46330771e-01 2.19476080e-01 2.37251601e-01 4.54847068e+02] [-2.44561936e-01 6.35277447e-03 9.69612862e-01 3.85442085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.3092541539997 meters Centerline goodness : 0.999889 Centerline is valid? [True, True] Translation: X:560.00, Y:454.87, Z:38.53 [[ 2.04072670e-01 -9.76757692e-01 6.55649038e-02 5.59996163e+02] [ 9.47109784e-01 2.13934467e-01 2.39196783e-01 4.54867924e+02] [-2.47663891e-01 1.32836357e-02 9.68754944e-01 3.85307297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.339254154 meters Centerline goodness : 0.999890 Centerline is valid? [True, True] Translation: X:560.01, Y:454.89, Z:38.53 [[ 2.02199398e-01 -9.77923942e-01 5.27272891e-02 5.60005889e+02] [ 9.47869986e-01 2.08956901e-01 2.40581595e-01 4.54893356e+02] [-2.46288232e-01 1.33316117e-03 9.69195713e-01 3.85290054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.369254154 meters Centerline goodness : 0.999934 Centerline is valid? [True, True] Translation: X:560.02, Y:454.93, Z:38.53 [[ 2.04350902e-01 -9.77617981e-01 5.00379145e-02 5.60021179e+02] [ 9.48325036e-01 2.10385133e-01 2.37524151e-01 4.54926241e+02] [-2.42735114e-01 -1.08606729e-03 9.70091998e-01 3.85250588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.399254154 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.00, Y:454.94, Z:38.50 [[ 1.91104010e-01 -9.78281016e-01 8.02839365e-02 5.59997598e+02] [ 9.49639549e-01 2.04959951e-01 2.37015077e-01 4.54943932e+02] [-2.48322342e-01 3.09462696e-02 9.68183011e-01 3.85004895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4292541539999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.04, Y:454.98, Z:38.52 [[ 1.93658455e-01 -9.80569519e-01 3.13020975e-02 5.60041340e+02] [ 9.50056494e-01 1.95400057e-01 2.43334082e-01 4.54979712e+02] [-2.44722415e-01 -1.73849413e-02 9.69437313e-01 3.85211658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4592541539998 meters Centerline goodness : 0.999912 Centerline is valid? [True, True] Translation: X:560.03, Y:455.00, Z:38.50 [[ 1.82544714e-01 -9.81613136e-01 5.57949706e-02 5.60025157e+02] [ 9.51746061e-01 1.90659167e-01 2.40475607e-01 4.55000813e+02] [-2.46691838e-01 9.20509248e-03 9.69050259e-01 3.85043249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.4892541539998 meters Centerline goodness : 0.999847 Centerline is valid? [True, True] Translation: X:560.03, Y:455.03, Z:38.50 [[ 1.79065397e-01 -9.82354074e-01 5.40005294e-02 5.60030124e+02] [ 9.52073974e-01 1.86857322e-01 2.42155918e-01 4.55025741e+02] [-2.47973247e-01 8.05075311e-03 9.68733428e-01 3.84981564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.5192541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.03, Y:455.05, Z:38.49 [[ 1.76562682e-01 -9.82616069e-01 5.73696769e-02 5.60031397e+02] [ 9.52325636e-01 1.85271450e-01 2.42384761e-01 4.55053905e+02] [-2.48800125e-01 1.18385106e-02 9.68482497e-01 3.84905624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.5492541539998 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:560.04, Y:455.08, Z:38.49 [[ 1.79547956e-01 -9.82590232e-01 4.77385324e-02 5.60042608e+02] [ 9.51994032e-01 1.85777629e-01 2.43298245e-01 4.55081027e+02] [-2.47931231e-01 1.76309531e-03 9.68776030e-01 3.84894348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.5792541539997 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:560.04, Y:455.11, Z:38.48 [[ 1.83241946e-01 -9.81445615e-01 5.64525907e-02 5.60038470e+02] [ 9.51141854e-01 1.91514238e-01 2.42180655e-01 4.55109389e+02] [-2.48498617e-01 9.31676729e-03 9.68587443e-01 3.84778709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.609254154 meters Centerline goodness : 0.999869 Centerline is valid? [True, True] Translation: X:560.04, Y:455.14, Z:38.47 [[ 1.89899393e-01 -9.80355126e-01 5.33108557e-02 5.60044159e+02] [ 9.50065282e-01 1.97184036e-01 2.41856190e-01 4.55136314e+02] [-2.47617005e-01 4.72044951e-03 9.68846498e-01 3.84743647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.639254154 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:560.03, Y:455.16, Z:38.46 [[ 1.97140633e-01 -9.78128734e-01 6.63306199e-02 5.60033638e+02] [ 9.48110633e-01 2.07430524e-01 2.40953950e-01 4.55162474e+02] [-2.49442977e-01 1.53869517e-02 9.68267237e-01 3.84587579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6692541539999 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:560.05, Y:455.19, Z:38.46 [[ 2.05209497e-01 -9.77685994e-01 4.49350512e-02 5.60049911e+02] [ 9.47166699e-01 2.09948278e-01 2.42480856e-01 4.55190999e+02] [-2.46504174e-01 -7.19839036e-03 9.69114996e-01 3.84637572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.6992541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.05, Y:455.22, Z:38.45 [[ 2.18832406e-01 -9.73684120e-01 6.36522756e-02 5.60048976e+02] [ 9.43995603e-01 2.27766765e-01 2.38735426e-01 4.55224481e+02] [-2.46950766e-01 7.84442072e-03 9.68996277e-01 3.84480537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.7292541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.05, Y:455.25, Z:38.45 [[ 2.17164954e-01 -9.74621525e-01 5.43347535e-02 5.60049373e+02] [ 9.44119741e-01 2.23855642e-01 2.41922645e-01 4.55245440e+02] [-2.47946158e-01 -1.23860675e-03 9.68773022e-01 3.84471551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.7592541539998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:560.06, Y:455.28, Z:38.44 [[ 2.28982460e-01 -9.71425947e-01 6.24392661e-02 5.60057426e+02] [ 9.40838421e-01 2.37319059e-01 2.41873377e-01 4.55278176e+02] [-2.49780102e-01 3.36049982e-03 9.68296756e-01 3.84357166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.7892541539998 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:560.03, Y:455.30, Z:38.40 [[ 2.27421196e-01 -9.68404213e-01 1.02337086e-01 5.60032407e+02] [ 9.38567475e-01 2.45991255e-01 2.42031813e-01 4.55300139e+02] [-2.59558655e-01 4.10070961e-02 9.64856322e-01 3.84016215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.8192541539997 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:560.09, Y:455.33, Z:38.44 [[ 2.41201866e-01 -9.70320400e-01 1.73199634e-02 5.60089373e+02] [ 9.37932829e-01 2.37659578e-01 2.52586487e-01 4.55330415e+02] [-2.49206076e-01 -4.46793696e-02 9.67419292e-01 3.84366418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.849254154 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:560.07, Y:455.36, Z:38.41 [[ 2.42540444e-01 -9.68223462e-01 6.09709866e-02 5.60073337e+02] [ 9.37711439e-01 2.50083176e-01 2.41154852e-01 4.55358603e+02] [-2.48739604e-01 -1.31661345e-03 9.68569500e-01 3.84128083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.879254154 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:560.08, Y:455.39, Z:38.41 [[ 2.47866897e-01 -9.66910045e-01 6.03901136e-02 5.60079743e+02] [ 9.36871725e-01 2.55103262e-01 2.39152038e-01 4.55385175e+02] [-2.46644222e-01 -2.70008364e-03 9.69102336e-01 3.84052602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9092541539999 meters Centerline goodness : 0.997262 Centerline is valid? [True, True] Translation: X:560.09, Y:455.41, Z:38.39 [[ 2.47504245e-01 -9.66934001e-01 6.14840335e-02 5.60086205e+02] [ 9.35697533e-01 2.55011240e-01 2.43801956e-01 4.55409774e+02] [-2.51419521e-01 -2.81156064e-03 9.67874124e-01 3.83911147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9392541539999 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:560.09, Y:455.44, Z:38.39 [[ 2.49000167e-01 -9.66135965e-01 6.76772827e-02 5.60092505e+02] [ 9.36991085e-01 2.57989645e-01 2.35561138e-01 4.55438485e+02] [-2.45044125e-01 4.75824780e-03 9.69500251e-01 3.83872310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9692541539998 meters Centerline goodness : 0.996555 Centerline is valid? [True, True] Translation: X:560.10, Y:455.46, Z:38.38 [[ 2.48687270e-01 -9.66466712e-01 6.40057553e-02 5.60103023e+02] [ 9.37341612e-01 2.56787923e-01 2.35479651e-01 4.55464349e+02] [-2.44019149e-01 1.43446619e-03 9.69769353e-01 3.83827416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1108.9992541539998 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:560.12, Y:455.49, Z:38.38 [[ 2.44295023e-01 -9.67993263e-01 5.75237745e-02 5.60118172e+02] [ 9.38881356e-01 2.50950969e-01 2.35638306e-01 4.55487851e+02] [-2.42531940e-01 -3.55726618e-03 9.70136900e-01 3.83776345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.0292541539998 meters Centerline goodness : 0.994402 Centerline is valid? [True, True] Translation: X:560.12, Y:455.51, Z:38.37 [[ 2.39859968e-01 -9.68664263e-01 6.44727993e-02 5.60121972e+02] [ 9.40002539e-01 2.48333164e-01 2.33935602e-01 4.55512319e+02] [-2.42615792e-01 4.49280919e-03 9.70112052e-01 3.83701649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.0592541539997 meters Centerline goodness : 0.993645 Centerline is valid? [True, True] Translation: X:560.14, Y:455.54, Z:38.37 [[ 2.33976842e-01 -9.70634339e-01 5.58911222e-02 5.60141132e+02] [ 9.41555566e-01 2.40546189e-01 2.35819097e-01 4.55537010e+02] [-2.42338510e-01 -2.55161026e-03 9.70188402e-01 3.83678690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.089254154 meters Centerline goodness : 0.992959 Centerline is valid? [True, True] Translation: X:560.15, Y:455.56, Z:38.36 [[ 2.30172322e-01 -9.71524561e-01 5.62203616e-02 5.60151553e+02] [ 9.42634898e-01 2.36936162e-01 2.35161018e-01 4.55562459e+02] [-2.41785342e-01 -1.13228264e-03 9.70329102e-01 3.83603196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.119254154 meters Centerline goodness : 0.992611 Centerline is valid? [True, True] Translation: X:560.16, Y:455.59, Z:38.35 [[ 2.24703474e-01 -9.72612450e-01 5.94421703e-02 5.60164614e+02] [ 9.44082867e-01 2.32405465e-01 2.33870137e-01 4.55587882e+02] [-2.41279692e-01 3.56690228e-03 9.70449065e-01 3.83540948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.149254154 meters Centerline goodness : 0.789689 Centerline is valid? [True, False] Translation: X:560.42, Y:454.57, Z:38.56 [[ 9.71247771e-01 2.12069054e-01 1.08187264e-01 5.60415745e+02] [-2.21597766e-01 9.71406034e-01 8.52334831e-02 4.54566101e+02] [-8.70183766e-02 -1.06756886e-01 9.90469974e-01 3.85569628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.1792541539999 meters Centerline goodness : 0.990468 Centerline is valid? [False, True] Translation: X:560.42, Y:454.56, Z:38.55 [[ 9.72373484e-01 2.08906107e-01 1.04153956e-01 5.60421912e+02] [-2.17376406e-01 9.72976937e-01 7.78676948e-02 4.54564005e+02] [-8.50723604e-02 -9.83570944e-02 9.91508233e-01 3.85546712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2092541539998 meters Centerline goodness : 0.989393 Centerline is valid? [True, True] Translation: X:560.46, Y:454.60, Z:38.51 [[ 9.73343603e-01 2.15080470e-01 7.96405834e-02 5.60461587e+02] [-2.13636427e-01 9.76558335e-01 -2.63304985e-02 4.54601900e+02] [-8.34368515e-02 8.61449264e-03 9.96475831e-01 3.85105703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2392541539998 meters Centerline goodness : 0.988608 Centerline is valid? [True, True] Translation: X:560.49, Y:454.58, Z:38.51 [[ 9.75059989e-01 2.07983997e-01 7.74640186e-02 5.60492585e+02] [-2.06873837e-01 9.78116192e-01 -2.21795092e-02 4.54584391e+02] [-8.03817939e-02 5.60107323e-03 9.96748411e-01 3.85096580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2692541539998 meters Centerline goodness : 0.989956 Centerline is valid? [True, True] Translation: X:560.52, Y:454.56, Z:38.52 [[ 9.74530076e-01 2.06848167e-01 8.66312165e-02 5.60518546e+02] [-2.07667227e-01 9.78199426e-01 4.52497717e-04 4.54561317e+02] [-8.46490079e-02 -1.84314371e-02 9.96240346e-01 3.85201420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.2992541539998 meters Centerline goodness : 0.986881 Centerline is valid? [True, True] Translation: X:560.55, Y:454.56, Z:38.50 [[ 9.74749801e-01 2.07516146e-01 8.24613507e-02 5.60550435e+02] [-2.05621808e-01 9.78142616e-01 -3.09304803e-02 4.54561657e+02] [-8.70775354e-02 1.31936275e-02 9.96114166e-01 3.85031326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.3292541539997 meters Centerline goodness : 0.986244 Centerline is valid? [True, True] Translation: X:560.58, Y:454.54, Z:38.51 [[ 9.74562374e-01 2.06536684e-01 8.70102129e-02 5.60580204e+02] [-2.06046525e-01 9.78432140e-01 -1.46757397e-02 4.54542954e+02] [-8.81646675e-02 -3.62572827e-03 9.96099315e-01 3.85067108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.359254154 meters Centerline goodness : 0.985428 Centerline is valid? [True, True] Translation: X:560.61, Y:454.54, Z:38.50 [[ 9.73383448e-01 2.14229486e-01 8.14272154e-02 5.60612587e+02] [-2.12401268e-01 9.76703624e-01 -3.05897396e-02 4.54542535e+02] [-8.60834806e-02 1.24803025e-02 9.96209755e-01 3.85000616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.389254154 meters Centerline goodness : 0.985161 Centerline is valid? [True, True] Translation: X:560.64, Y:454.52, Z:38.51 [[ 9.71584814e-01 2.18589530e-01 9.07830744e-02 5.60641317e+02] [-2.18440493e-01 9.75780169e-01 -1.16967005e-02 4.54524589e+02] [-9.11411000e-02 -8.46636291e-03 9.95801999e-01 3.85055471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4192541539999 meters Centerline goodness : 0.984778 Centerline is valid? [True, True] Translation: X:560.67, Y:454.52, Z:38.50 [[ 9.69702882e-01 2.26787591e-01 9.07948718e-02 5.60671131e+02] [-2.26109958e-01 9.73938815e-01 -1.78177434e-02 4.54518413e+02] [-9.24694929e-02 -3.25170750e-03 9.95710208e-01 3.85003403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4492541539998 meters Centerline goodness : 0.984984 Centerline is valid? [True, True] Translation: X:560.70, Y:454.51, Z:38.50 [[ 9.69632942e-01 2.29284825e-01 8.50906972e-02 5.60702761e+02] [-2.28188524e-01 9.73356352e-01 -2.25257511e-02 4.54512778e+02] [-8.79883835e-02 2.42498973e-03 9.96118549e-01 3.84978977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.4792541539998 meters Centerline goodness : 0.984417 Centerline is valid? [True, True] Translation: X:560.73, Y:454.50, Z:38.49 [[ 9.69650103e-01 2.30447945e-01 8.16848924e-02 5.60733152e+02] [-2.29082565e-01 9.73063986e-01 -2.58390856e-02 4.54504138e+02] [-8.54391912e-02 6.34228739e-03 9.96323201e-01 3.84942012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.5092541539998 meters Centerline goodness : 0.984417 Centerline is valid? [True, True] Translation: X:560.76, Y:454.49, Z:38.49 [[ 9.69552699e-01 2.30246996e-01 8.33899576e-02 5.60764841e+02] [-2.29337529e-01 9.73131963e-01 -2.04567900e-02 4.54493464e+02] [-8.58595476e-02 7.09489065e-04 9.96306998e-01 3.84940777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.5392541539998 meters Centerline goodness : 0.984732 Centerline is valid? [True, True] Translation: X:560.80, Y:454.49, Z:38.49 [[ 9.69995349e-01 2.29709060e-01 7.96415170e-02 5.60796275e+02] [-2.28174450e-01 9.73217970e-01 -2.79857762e-02 4.54488745e+02] [-8.39371418e-02 8.97391342e-03 9.96430642e-01 3.84885836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.5692541539997 meters Centerline goodness : 0.178390 Centerline is valid? [True, False] Translation: X:560.79, Y:454.49, Z:38.49 [[ 9.72318586e-01 2.22795948e-01 7.04168533e-02 5.60792567e+02] [-2.21434723e-01 9.74810180e-01 -2.66791485e-02 4.54493621e+02] [-7.45870717e-02 1.03478956e-02 9.97160814e-01 3.84945610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.599254154 meters Centerline goodness : 0.174774 Centerline is valid? [False, False] Translation: X:560.79, Y:454.50, Z:38.50 [[ 9.74054044e-01 2.18536248e-01 5.88270961e-02 5.60789304e+02] [-2.16920249e-01 9.75642837e-01 -3.26597561e-02 4.54501026e+02] [-6.45315755e-02 1.90515792e-02 9.97733789e-01 3.84976089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.629254154 meters Centerline goodness : 0.174719 Centerline is valid? [False, False] Translation: X:560.79, Y:454.50, Z:38.50 [[ 9.76003561e-01 2.12372341e-01 4.81148311e-02 5.60786674e+02] [-2.11009825e-01 9.76964003e-01 -3.18777424e-02 4.54504457e+02] [-5.37764088e-02 2.09600880e-02 9.98332997e-01 3.85037450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.6592541539999 meters Centerline goodness : 0.173373 Centerline is valid? [False, False] Translation: X:560.79, Y:454.50, Z:38.51 [[ 9.76107739e-01 2.11884612e-01 4.81517691e-02 5.60785642e+02] [-2.10496040e-01 9.77059724e-01 -3.23374899e-02 4.54504947e+02] [-5.38989707e-02 2.14291174e-02 9.98316430e-01 3.85053110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.6892541539999 meters Centerline goodness : 0.987184 Centerline is valid? [False, True] Translation: X:560.78, Y:454.51, Z:38.51 [[ 9.77314133e-01 2.08425205e-01 3.76300283e-02 5.60780390e+02] [-2.07030764e-01 9.77603250e-01 -3.78173090e-02 4.54512155e+02] [-4.46693183e-02 2.91688171e-02 9.98575902e-01 3.85085175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7192541539998 meters Centerline goodness : 0.987830 Centerline is valid? [True, True] Translation: X:560.81, Y:454.49, Z:38.52 [[ 9.77010391e-01 2.08320824e-01 4.53114899e-02 5.60807781e+02] [-2.08162374e-01 9.78059572e-01 -8.24014991e-03 4.54492626e+02] [-4.60339312e-02 -1.38143521e-03 9.98938921e-01 3.85204394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7492541539998 meters Centerline goodness : 0.988982 Centerline is valid? [True, True] Translation: X:560.84, Y:454.49, Z:38.52 [[ 9.76751316e-01 2.09824538e-01 4.39378012e-02 5.60841707e+02] [-2.09424965e-01 9.77730699e-01 -1.35596881e-02 4.54492124e+02] [-4.58044924e-02 4.04277076e-03 9.98942243e-01 3.85191260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.7792541539998 meters Centerline goodness : 0.989174 Centerline is valid? [True, True] Translation: X:560.87, Y:454.49, Z:38.52 [[ 9.76283451e-01 2.11581707e-01 4.58672509e-02 5.60872223e+02] [-2.11261402e-01 9.77358640e-01 -1.17774487e-02 4.54486330e+02] [-4.73206466e-02 1.80814850e-03 9.98878114e-01 3.85202655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.8092541539997 meters Centerline goodness : 0.989298 Centerline is valid? [True, True] Translation: X:560.91, Y:454.48, Z:38.52 [[ 9.75651420e-01 2.14644959e-01 4.50760285e-02 5.60905277e+02] [-2.14101733e-01 9.76670155e-01 -1.66089480e-02 4.54483285e+02] [-4.75894387e-02 6.55368790e-03 9.98845481e-01 3.85213252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.839254154 meters Centerline goodness : 0.989822 Centerline is valid? [True, True] Translation: X:560.94, Y:454.48, Z:38.52 [[ 9.74883792e-01 2.17828720e-01 4.63922583e-02 5.60937811e+02] [-2.17846297e-01 9.75971588e-01 -4.73823430e-03 4.54477690e+02] [-4.63096495e-02 -5.48715387e-03 9.98912062e-01 3.85230805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.869254154 meters Centerline goodness : 0.989249 Centerline is valid? [True, True] Translation: X:560.97, Y:454.48, Z:38.52 [[ 9.74475560e-01 2.20084977e-01 4.42717311e-02 5.60970584e+02] [-2.19817859e-01 9.75480320e-01 -1.08745001e-02 4.54478203e+02] [-4.55795165e-02 8.65217466e-04 9.98960339e-01 3.85188180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.899254154 meters Centerline goodness : 0.989615 Centerline is valid? [True, True] Translation: X:561.00, Y:454.48, Z:38.52 [[ 9.73493622e-01 2.24715375e-01 4.25813176e-02 5.61003976e+02] [-2.24516572e-01 9.74424381e-01 -9.45695118e-03 4.54480019e+02] [-4.36173964e-02 -3.53929781e-04 9.99048246e-01 3.85173763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9292541539999 meters Centerline goodness : 0.989858 Centerline is valid? [True, True] Translation: X:561.04, Y:454.48, Z:38.52 [[ 9.72864758e-01 2.27603863e-01 4.16010040e-02 5.61035641e+02] [-2.27434272e-01 9.73753418e-01 -8.82795813e-03 4.54476139e+02] [-4.25183972e-02 -8.73084704e-04 9.99095303e-01 3.85166834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9592541539998 meters Centerline goodness : 0.991740 Centerline is valid? [True, True] Translation: X:561.07, Y:454.47, Z:38.52 [[ 9.72019530e-01 2.31452777e-01 4.00954429e-02 5.61068237e+02] [-2.31708011e-01 9.72783760e-01 1.77601547e-03 4.54470479e+02] [-3.85931320e-02 -1.10167571e-02 9.99194276e-01 3.85222538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1109.9892541539998 meters Centerline goodness : 0.990321 Centerline is valid? [True, True] Translation: X:561.10, Y:454.48, Z:38.51 [[ 9.71704093e-01 2.33463718e-01 3.58587213e-02 5.61101503e+02] [-2.32802636e-01 9.72282345e-01 -2.16788959e-02 4.54479085e+02] [-3.99260372e-02 1.27174670e-02 9.99121703e-01 3.85110740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1110.0192541539998 meters Centerline goodness : 0.989748 Centerline is valid? [True, True] Translation: X:561.13, Y:454.47, Z:38.51 [[ 9.70862890e-01 2.36737928e-01 3.71537564e-02 5.61133733e+02] [-2.36518786e-01 9.71572848e-01 -1.02501370e-02 4.54472633e+02] [-3.85241771e-02 1.16391626e-03 9.99256991e-01 3.85148035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 20151.91 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%| | 0/37001 [00:00